diff --git a/json/chunk-0005/episode_0005438.json b/json/chunk-0005/episode_0005438.json new file mode 100644 index 0000000000000000000000000000000000000000..f36aaca2b73ad60ed6bcd71352712546b36cb636 --- /dev/null +++ b/json/chunk-0005/episode_0005438.json @@ -0,0 +1,2782 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 45, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the green spatula near the utensil." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005438.mp4", + "start": 0, + "end": 45, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2569434940814972, + 0.0012075599515810609, + 0.10249757766723633, + 0.012244830839335918, + -0.09710850566625595, + 0.09779216349124908, + 0.0, + 1.0001531839370728 + ], + [ + 0.2535438537597656, + 0.0006547595257870853, + 0.09704133868217468, + 0.01407818403095007, + -0.06799346953630447, + 0.09694041311740875, + 0.0, + 1.0001531839370728 + ], + [ + 0.25327807664871216, + 6.980612670304254e-05, + 0.10514761507511139, + 0.01095246896147728, + -0.041284799575805664, + 0.0938708484172821, + 0.0, + 1.0001531839370728 + ], + [ + 0.2659947872161865, + 0.0042436253279447556, + 0.11960800737142563, + 0.036459438502788544, + -0.05953742563724518, + 0.09066436439752579, + 0.0, + 1.0001531839370728 + ], + [ + 0.28303059935569763, + 0.0031616471242159605, + 0.12636899948120117, + 0.08645008504390717, + -0.02515270560979843, + 0.05810186266899109, + 0.0, + 1.0001531839370728 + ], + [ + 0.3150103986263275, + 0.001857456867583096, + 0.11959701776504517, + 0.16173683106899261, + 0.015758953988552094, + -0.06439340859651566, + 0.0, + 1.0001531839370728 + ], + [ + 0.3389420211315155, + 0.0008694369462318718, + 0.11031840741634369, + 0.16974055767059326, + 0.0132030313834548, + -0.20002944767475128, + 0.0, + 1.0001531839370728 + ], + [ + 0.36419886350631714, + 0.0009984367061406374, + 0.0896870493888855, + 0.16293996572494507, + 0.0031285916920751333, + -0.40074220299720764, + 0.0, + 1.0001531839370728 + ], + [ + 0.3735232353210449, + -0.0002015913196373731, + 0.08127313107252121, + 0.1389160454273224, + -0.02516600303351879, + -0.534656286239624, + 0.0, + 1.0001531839370728 + ], + [ + 0.383897066116333, + -0.004284811206161976, + 0.07410062104463577, + 0.10077974945306778, + -0.10017760843038559, + -0.6349936127662659, + 0.0, + 1.0001531839370728 + ], + [ + 0.387441486120224, + -0.00551353907212615, + 0.06758059561252594, + 0.09469426423311234, + -0.11514504998922348, + -0.6641232967376709, + 0.0, + 1.0001531839370728 + ], + [ + 0.38736456632614136, + -0.007148710545152426, + 0.057643067091703415, + 0.07770369201898575, + -0.1048879399895668, + -0.6859786510467529, + 0.0, + 1.0001531839370728 + ], + [ + 0.38759851455688477, + -0.007697626482695341, + 0.05767868459224701, + 0.08632344752550125, + -0.10020431876182556, + -0.6776688098907471, + 0.0, + 1.0001531839370728 + ], + [ + 0.38588419556617737, + -0.00878058560192585, + 0.04577679932117462, + 0.06616917252540588, + -0.06382966041564941, + -0.6631746292114258, + 0.0, + 1.0001531839370728 + ], + [ + 0.39093542098999023, + -0.008293445222079754, + 0.046150289475917816, + 0.07724621146917343, + -0.06754012405872345, + -0.6543188095092773, + 0.0, + 1.0001531839370728 + ], + [ + 0.3894960880279541, + -0.007841821759939194, + 0.03660294786095619, + 0.06583428382873535, + -0.04748665913939476, + -0.6520519852638245, + 0.0, + 1.0008161067962646 + ], + [ + 0.3900543451309204, + -0.01046857051551342, + 0.03601469099521637, + 0.07134583592414856, + -0.05118980258703232, + -0.6586403846740723, + 0.0, + 1.0008161067962646 + ], + [ + 0.3900706470012665, + -0.010887299664318562, + 0.03013106994330883, + 0.06773564219474792, + -0.04444470629096031, + -0.6579106450080872, + 0.0, + 1.0001531839370728 + ], + [ + 0.3877560794353485, + -0.01077516470104456, + 0.02058720774948597, + 0.055750567466020584, + -0.021212011575698853, + -0.6551604270935059, + 0.0, + 0.9900195002555847 + ], + [ + 0.38763365149497986, + -0.010174814611673355, + 0.019992327317595482, + 0.05480551719665527, + -0.02012612670660019, + -0.650544285774231, + 0.0, + 0.9430103898048401 + ], + [ + 0.38789573311805725, + -0.010786277242004871, + 0.015668675303459167, + 0.05029473453760147, + -0.014167996123433113, + -0.6459269523620605, + 0.0, + 0.6350118517875671 + ], + [ + 0.3888591229915619, + -0.010228280909359455, + 0.016050148755311966, + 0.05595575273036957, + -0.01625552587211132, + -0.6393029689788818, + 0.0, + 0.4681091010570526 + ], + [ + 0.3893551826477051, + -0.00863416027277708, + 0.0167285967618227, + 0.06620114296674728, + -0.013561584055423737, + -0.6351064443588257, + 0.0, + 0.46716928482055664 + ], + [ + 0.38986796140670776, + -0.007405311334878206, + 0.022719856351614, + 0.07769995927810669, + -0.018416941165924072, + -0.6166771054267883, + 0.0, + 0.46716928482055664 + ], + [ + 0.38927966356277466, + -0.00497357128188014, + 0.045671235769987106, + 0.1075349971652031, + -0.039652373641729355, + -0.5979902744293213, + 0.0, + 0.46716928482055664 + ], + [ + 0.38801467418670654, + -0.005096174776554108, + 0.05849115923047066, + 0.11795991659164429, + -0.06405685842037201, + -0.5731645822525024, + 0.0, + 0.46716928482055664 + ], + [ + 0.3841622769832611, + -0.0015668639680370688, + 0.0674285814166069, + 0.1137632206082344, + -0.061207421123981476, + -0.5208783149719238, + 0.0, + 0.46716928482055664 + ], + [ + 0.37704741954803467, + 0.021069228649139404, + 0.06732089072465897, + 0.09867379814386368, + -0.03369831293821335, + -0.31723836064338684, + 0.0, + 0.46716928482055664 + ], + [ + 0.371015727519989, + 0.04537832364439964, + 0.06643261015415192, + 0.05618855357170105, + -0.03054250404238701, + -0.11698533594608307, + 0.0, + 0.46716928482055664 + ], + [ + 0.36396947503089905, + 0.06952990591526031, + 0.06512311846017838, + 0.0520167201757431, + -0.027694983407855034, + 0.0046928352676332, + 0.0, + 0.46716928482055664 + ], + [ + 0.36270198225975037, + 0.08433467149734497, + 0.06560777127742767, + 0.09466120600700378, + -0.02514779008924961, + -0.04121404141187668, + 0.0, + 0.46716928482055664 + ], + [ + 0.36618614196777344, + 0.09887205064296722, + 0.051292482763528824, + 0.08661849796772003, + -0.042415838688611984, + -0.021705007180571556, + 0.0, + 0.46716928482055664 + ], + [ + 0.3729674816131592, + 0.10626531392335892, + 0.0328410342335701, + 0.0855727344751358, + -0.04795268177986145, + -0.0005953682702966034, + 0.0, + 0.46716928482055664 + ], + [ + 0.37975743412971497, + 0.11419554054737091, + 0.022187890484929085, + 0.07311278581619263, + -0.04956182464957237, + 0.02765597589313984, + 0.0, + 0.46716928482055664 + ], + [ + 0.38625800609588623, + 0.1178801879286766, + 0.012638934887945652, + 0.05539500713348389, + -0.05951743572950363, + 0.037626687437295914, + 0.0, + 0.46716928482055664 + ], + [ + 0.392924964427948, + 0.12374234199523926, + 0.011574577540159225, + 0.08305094391107559, + -0.07074321061372757, + 0.03485386446118355, + 0.0, + 0.5217453241348267 + ], + [ + 0.3924711048603058, + 0.12278702110052109, + 0.01114689465612173, + 0.07789387553930283, + -0.06821836531162262, + 0.027636852115392685, + 0.0, + 0.8158720135688782 + ], + [ + 0.39174720644950867, + 0.12222710251808167, + 0.01169627346098423, + 0.07420685887336731, + -0.060825083404779434, + 0.022388683632016182, + 0.0, + 1.002137303352356 + ], + [ + 0.3903343379497528, + 0.12187599390745163, + 0.01159273274242878, + 0.07231175899505615, + -0.05164748802781105, + 0.019982237368822098, + 0.0, + 1.0001531839370728 + ], + [ + 0.388679176568985, + 0.11975722014904022, + 0.011052461341023445, + 0.059393640607595444, + -0.042077068239450455, + 0.021037403494119644, + 0.0, + 1.0001531839370728 + ], + [ + 0.38813266158103943, + 0.1177155002951622, + 0.01122632808983326, + 0.04245719686150551, + -0.038269441574811935, + 0.02342342399060726, + 0.0, + 0.9994885921478271 + ], + [ + 0.38564130663871765, + 0.11707551777362823, + 0.016947224736213684, + 0.044067416340112686, + -0.028787171468138695, + 0.03266200050711632, + 0.0, + 1.0001531839370728 + ], + [ + 0.38722825050354004, + 0.11912393569946289, + 0.03645704314112663, + 0.0696369931101799, + -0.06122800335288048, + 0.0382348857820034, + 0.0, + 1.0001531839370728 + ], + [ + 0.3824023902416229, + 0.11139338463544846, + 0.0471302755177021, + 0.08746594935655594, + -0.05685136467218399, + 0.02749379351735115, + 0.0, + 1.0001531839370728 + ], + [ + 0.3704378008842468, + 0.10394462943077087, + 0.06758813560009003, + 0.11297889053821564, + -0.05378488823771477, + 0.008338050916790962, + 0.0, + 1.0001531839370728 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 0.9900195002555847 + ], + [ + 0.9430103898048401 + ], + [ + 0.6350118517875671 + ], + [ + 0.4681091010570526 + ], + [ + 0.46716928482055664 + ], + [ + 0.46716928482055664 + ], + [ + 0.46716928482055664 + ], + [ + 0.46716928482055664 + ], + [ + 0.46716928482055664 + ], + [ + 0.46716928482055664 + ], + [ + 0.46716928482055664 + ], + [ + 0.46716928482055664 + ], + [ + 0.46716928482055664 + ], + [ + 0.46716928482055664 + ], + [ + 0.46716928482055664 + ], + [ + 0.46716928482055664 + ], + [ + 0.46716928482055664 + ], + [ + 0.5217453241348267 + ], + [ + 0.8158720135688782 + ], + [ + 1.002137303352356 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2569434940814972, + 0.0012075599515810609, + 0.10249757766723633 + ], + [ + 0.2535438537597656, + 0.0006547595257870853, + 0.09704133868217468 + ], + [ + 0.25327807664871216, + 6.980612670304254e-05, + 0.10514761507511139 + ], + [ + 0.2659947872161865, + 0.0042436253279447556, + 0.11960800737142563 + ], + [ + 0.28303059935569763, + 0.0031616471242159605, + 0.12636899948120117 + ], + [ + 0.3150103986263275, + 0.001857456867583096, + 0.11959701776504517 + ], + [ + 0.3389420211315155, + 0.0008694369462318718, + 0.11031840741634369 + ], + [ + 0.36419886350631714, + 0.0009984367061406374, + 0.0896870493888855 + ], + [ + 0.3735232353210449, + -0.0002015913196373731, + 0.08127313107252121 + ], + [ + 0.383897066116333, + -0.004284811206161976, + 0.07410062104463577 + ], + [ + 0.387441486120224, + -0.00551353907212615, + 0.06758059561252594 + ], + [ + 0.38736456632614136, + -0.007148710545152426, + 0.057643067091703415 + ], + [ + 0.38759851455688477, + -0.007697626482695341, + 0.05767868459224701 + ], + [ + 0.38588419556617737, + -0.00878058560192585, + 0.04577679932117462 + ], + [ + 0.39093542098999023, + -0.008293445222079754, + 0.046150289475917816 + ], + [ + 0.3894960880279541, + -0.007841821759939194, + 0.03660294786095619 + ], + [ + 0.3900543451309204, + -0.01046857051551342, + 0.03601469099521637 + ], + [ + 0.3900706470012665, + -0.010887299664318562, + 0.03013106994330883 + ], + [ + 0.3877560794353485, + -0.01077516470104456, + 0.02058720774948597 + ], + [ + 0.38763365149497986, + -0.010174814611673355, + 0.019992327317595482 + ], + [ + 0.38789573311805725, + -0.010786277242004871, + 0.015668675303459167 + ], + [ + 0.3888591229915619, + -0.010228280909359455, + 0.016050148755311966 + ], + [ + 0.3893551826477051, + -0.00863416027277708, + 0.0167285967618227 + ], + [ + 0.38986796140670776, + -0.007405311334878206, + 0.022719856351614 + ], + [ + 0.38927966356277466, + -0.00497357128188014, + 0.045671235769987106 + ], + [ + 0.38801467418670654, + -0.005096174776554108, + 0.05849115923047066 + ], + [ + 0.3841622769832611, + -0.0015668639680370688, + 0.0674285814166069 + ], + [ + 0.37704741954803467, + 0.021069228649139404, + 0.06732089072465897 + ], + [ + 0.371015727519989, + 0.04537832364439964, + 0.06643261015415192 + ], + [ + 0.36396947503089905, + 0.06952990591526031, + 0.06512311846017838 + ], + [ + 0.36270198225975037, + 0.08433467149734497, + 0.06560777127742767 + ], + [ + 0.36618614196777344, + 0.09887205064296722, + 0.051292482763528824 + ], + [ + 0.3729674816131592, + 0.10626531392335892, + 0.0328410342335701 + ], + [ + 0.37975743412971497, + 0.11419554054737091, + 0.022187890484929085 + ], + [ + 0.38625800609588623, + 0.1178801879286766, + 0.012638934887945652 + ], + [ + 0.392924964427948, + 0.12374234199523926, + 0.011574577540159225 + ], + [ + 0.3924711048603058, + 0.12278702110052109, + 0.01114689465612173 + ], + [ + 0.39174720644950867, + 0.12222710251808167, + 0.01169627346098423 + ], + [ + 0.3903343379497528, + 0.12187599390745163, + 0.01159273274242878 + ], + [ + 0.388679176568985, + 0.11975722014904022, + 0.011052461341023445 + ], + [ + 0.38813266158103943, + 0.1177155002951622, + 0.01122632808983326 + ], + [ + 0.38564130663871765, + 0.11707551777362823, + 0.016947224736213684 + ], + [ + 0.38722825050354004, + 0.11912393569946289, + 0.03645704314112663 + ], + [ + 0.3824023902416229, + 0.11139338463544846, + 0.0471302755177021 + ], + [ + 0.3704378008842468, + 0.10394462943077087, + 0.06758813560009003 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9905333390044491, + 0.09881055651626763, + 0.09528996926036984, + 0.0971763717434328, + -0.995031635139048, + 0.021651740052340135, + 0.09695595440961274, + -0.012186836893034856, + -0.9952140593415384 + ], + [ + 0.9930051398006637, + 0.09773102605558565, + 0.06625284050957475, + 0.0965650062270487, + -0.9951137518802848, + 0.020586898530699907, + 0.06794109140891658, + -0.01404519009717299, + -0.9975904674430786 + ], + [ + 0.9947490214063014, + 0.0941774692684494, + 0.040062310135537474, + 0.09365317870208227, + -0.9954952821767316, + 0.014772450130746026, + 0.041273072701236646, + -0.010942917620991267, + -0.9990879771190015 + ], + [ + 0.9941282493169729, + 0.09264006445264204, + 0.05591817565140153, + 0.09037978308643806, + -0.9950345828140221, + 0.04168541487586902, + 0.059502258101849156, + -0.03638677592663635, + -0.9975647767530917 + ], + [ + 0.9979967827009582, + 0.060020172348024065, + 0.020000015746244992, + 0.05805080987167391, + -0.9944582831716261, + 0.08765173417899261, + 0.025150053514442612, + -0.08631513159727847, + -0.9959503867490415 + ], + [ + 0.9978035483647718, + -0.06604144551347084, + -0.005158133883689195, + -0.06434092630300449, + -0.9847403031313499, + 0.16169966169181907, + -0.015758301721383122, + -0.16101261709340872, + -0.9868265364609878 + ], + [ + 0.9799753061959066, + -0.19802843433170783, + 0.02081197833873552, + -0.19868087310420726, + -0.9655327562084488, + 0.16814400777626995, + -0.013202647794643398, + -0.1689119175329228, + -0.985542720640035 + ], + [ + 0.9207672065856689, + -0.38540211413056513, + 0.06043973610229321, + -0.3900999400440659, + -0.9083777644057667, + 0.15057182309714334, + -0.0031285865882568938, + -0.16221913437345192, + -0.9867497982716223 + ], + [ + 0.860171360760666, + -0.5016386097653659, + 0.09199964847658362, + -0.5093839770826131, + -0.8539303207245424, + 0.10644703489895697, + 0.025163346729796067, + -0.1384258376891785, + -0.9900530760728967 + ], + [ + 0.8010391735232792, + -0.582062001776793, + 0.1397857953038665, + -0.5901984540292673, + -0.8069590135768225, + 0.021975788235793492, + 0.1000101361993109, + -0.10010482752951624, + -0.9899378749005825 + ], + [ + 0.7822430193533201, + -0.6050532321654614, + 0.14834569396895023, + -0.6122874876668369, + -0.7906252987568912, + 0.003958460838422752, + 0.11489077908881155, + -0.09392669062468165, + -0.9889276443040012 + ], + [ + 0.7695469411905289, + -0.6252305573338414, + 0.12993943004459788, + -0.6299494506729574, + -0.7766125660107009, + -0.0060507777280311426, + 0.10469572532410323, + -0.07719891508492147, + -0.991503470800063 + ], + [ + 0.7751285965233621, + -0.6179250293306698, + 0.1316978245014467, + -0.6238335635309956, + -0.7815432161254138, + 0.004678283933681124, + 0.10003671258064385, + -0.08578379482766921, + -0.9912788692799933 + ], + [ + 0.7864370501005203, + -0.6109508232809304, + 0.09086175081707738, + -0.6143680255190267, + -0.7889137510830196, + 0.012923721289619002, + 0.06378632650532513, + -0.06598624769201891, + -0.9957796541737952 + ], + [ + 0.7916536285725352, + -0.6026715712394151, + 0.100356911011414, + -0.6072312541901839, + -0.7942663173401787, + 0.02027858657516611, + 0.06748878649490198, + -0.07699346958466616, + -0.9947448262437761 + ], + [ + 0.7939442826248888, + -0.6030219931836892, + 0.07756901329797684, + -0.6061346284151415, + -0.7950134167511993, + 0.023547386725976595, + 0.04746881421827821, + -0.06571257811374467, + -0.9967088686042459 + ], + [ + 0.7897891929494929, + -0.6076006182369508, + 0.08399118655111282, + -0.6112404787288116, + -0.7910456342922135, + 0.02513725582880261, + 0.05116744925791981, + -0.07119194607049807, + -0.9961493858609428 + ], + [ + 0.7904901416912234, + -0.6076832296781876, + 0.07646193992357916, + -0.6108611170098994, + -0.7912957923800042, + 0.026451175533793485, + 0.04443007556158057, + -0.06761701952606922, + -0.9967215795075393 + ], + [ + 0.7927718051932963, + -0.6074026652089597, + 0.05074314916927367, + -0.6091493929540257, + -0.7924383207419358, + 0.031281382377436204, + 0.021210420889381444, + -0.055709156489340494, + -0.9982217228296236 + ], + [ + 0.7955931272312344, + -0.6038330711726715, + 0.04916500849795313, + -0.605496960863327, + -0.7952271366158441, + 0.031420241486021454, + 0.020124768016029596, + -0.054766991408554656, + -0.9982963339431613 + ], + [ + 0.7984619962151346, + -0.6006089848645679, + 0.0415606532683957, + -0.6018784943132265, + -0.7979611058518852, + 0.031628335885403744, + 0.01416752213288787, + -0.05026848761987833, + -0.9986352489618141 + ], + [ + 0.802405800369866, + -0.5949728627160784, + 0.046392070057603416, + -0.5965573842349361, + -0.801798191092479, + 0.03519869423145877, + 0.016254809982463026, + -0.05591916837957564, + -0.9983029739313466 + ], + [ + 0.8049345254444414, + -0.591241485356157, + 0.050138964302997774, + -0.5932086517071913, + -0.8037774058143307, + 0.04522584926920842, + 0.013561168359260429, + -0.06614671493150841, + -0.9977177490736053 + ], + [ + 0.8156663285006811, + -0.5754164672409533, + 0.05986927240379507, + -0.578229448554039, + -0.8141699999250632, + 0.052705939389356624, + 0.018415900062472023, + -0.07760863643927392, + -0.9968138011559258 + ], + [ + 0.8258190761033395, + -0.5562143014842006, + 0.0929973352751029, + -0.5625401022943611, + -0.8240900937145654, + 0.06651428983435573, + 0.03964198348313058, + -0.10724349987743675, + -0.9934421698717856 + ], + [ + 0.8384658757792025, + -0.5321955522309031, + 0.11722998481386403, + -0.5411813959097286, + -0.8384357602502541, + 0.06440630912244168, + 0.06401306019096574, + -0.11744517920809734, + -0.9910141058561 + ], + [ + 0.8657581765292619, + -0.4884024410505509, + 0.10920547307067646, + -0.49671028518769406, + -0.8652311470309626, + 0.06821990029488609, + 0.06116921089475274, + -0.1133054181553014, + -0.991675455910433 + ], + [ + 0.9495611118657907, + -0.3072730297527706, + 0.06258578128261838, + -0.3117668172156085, + -0.9465143116895992, + 0.08313909700022612, + 0.03369193546610439, + -0.09845782322048671, + -0.994570716707078 + ], + [ + 0.9927018176989297, + -0.11483123460307855, + 0.036835970148399975, + -0.11666424736956112, + -0.9917978101755067, + 0.052216444888211526, + 0.030537755695776485, + -0.05613280048779427, + -0.9979561885105291 + ], + [ + 0.999605511350634, + 0.006126223420948311, + 0.027409689236364474, + 0.0046910184337390064, + -0.998629682416647, + 0.0521224686913524, + 0.027691443145704254, + -0.05197332761160588, + -0.9982644725690105 + ], + [ + 0.9988349010981387, + -0.03864321282791818, + 0.028905751168372584, + -0.041189346988773405, + -0.9947755224061152, + 0.09340823152313209, + 0.025145139548431162, + -0.09449001071000492, + -0.9952081992392914 + ], + [ + 0.9988652506033271, + -0.017954496948774525, + 0.04411175780297758, + -0.02168378267342054, + -0.9960959157446833, + 0.08557301096567979, + 0.04240312141958389, + -0.08643241681265734, + -0.9953549179151117 + ], + [ + 0.9988503134233391, + 0.003503674938398498, + 0.04780978598595858, + -0.0005946838536526246, + -0.9963431498152399, + 0.08543988627895337, + 0.04793430634953768, + -0.08537008889635946, + -0.995195583891235 + ], + [ + 0.9983901315937924, + 0.031196085442399935, + 0.04737034292889519, + 0.02761849513334999, + -0.996846998854526, + 0.07438601751199334, + 0.04954153674140287, + -0.07295796822689032, + -0.9961037952992173 + ], + [ + 0.9975228131647624, + 0.040851113926443375, + 0.05726625277445343, + 0.0375512020338479, + -0.9976354861609155, + 0.057561653713973614, + 0.059482303600919724, + -0.055268646115523935, + -0.9966981651005912 + ], + [ + 0.9968929271386665, + 0.04058678376239225, + 0.06750707225710059, + 0.034759647350479, + -0.995743681761963, + 0.08535975133047202, + 0.07068421844351769, + -0.08274801033834284, + -0.9940606158821875 + ], + [ + 0.9972930443026071, + 0.03285182345802701, + 0.0657825317323751, + 0.027569059780672676, + -0.9964405144879163, + 0.07966334181960193, + 0.06816546580525952, + -0.07763413413273614, + -0.9946488880449285 + ], + [ + 0.9979005722149193, + 0.026830790742494996, + 0.05894536997312552, + 0.022345413902035656, + -0.9968971168598655, + 0.07547728714013409, + 0.060787584675515066, + -0.07400166933671147, + -0.9954037484783231 + ], + [ + 0.9984671928795916, + 0.023657753821611494, + 0.05003574149809345, + 0.019954264368612185, + -0.9971130023348017, + 0.07326314154051018, + 0.051624529795975274, + -0.07215241686176092, + -0.9960566934990953 + ], + [ + 0.9988938086082054, + 0.02349511135618449, + 0.040732528359457176, + 0.02101723273961882, + -0.9979633038224094, + 0.06022889797953769, + 0.04206465323953339, + -0.059306188262451626, + -0.9973531676300106 + ], + [ + 0.9989936992844205, + 0.025023658738724253, + 0.03722103294317323, + 0.023404133417768487, + -0.9987867254627063, + 0.04332809225488607, + 0.03826010100603774, + -0.042413365143696105, + -0.9983673027138836 + ], + [ + 0.9990525432536286, + 0.03389180476154066, + 0.027301307449684245, + 0.03264266329939128, + -0.9984549428501002, + 0.04496869612214448, + 0.02878319563876027, + -0.044034902840914825, + -0.9986152687499886 + ], + [ + 0.9973966566414423, + 0.04238743983274407, + 0.05833707453153956, + 0.038153941556592796, + -0.9966844812002168, + 0.07186321505715466, + 0.06118975456862857, + -0.06945034110125205, + -0.9957070171776188 + ], + [ + 0.9980070764367455, + 0.03234691244934372, + 0.05418074046351574, + 0.027445916372423367, + -0.9956643565221008, + 0.08887750461117318, + 0.0568207449498711, + -0.08721333846623268, + -0.9945678642188859 + ], + [ + 0.9985192304690432, + 0.014345301500700241, + 0.052474362391206605, + 0.008325897133313926, + -0.9935395971281636, + 0.11318015892961018, + 0.053758960373459105, + -0.11257566905535295, + -0.9921878314695785 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0033996403217315674, + -0.0005528004257939756, + -0.0054562389850616455, + 0.001833353191614151, + 0.029115036129951477, + -0.000851750373840332, + 1.0 + ], + [ + -0.0002657771110534668, + -0.0005849534063600004, + 0.008106276392936707, + -0.0031257150694727898, + 0.02670866996049881, + -0.003069564700126648, + 1.0 + ], + [ + 0.012716710567474365, + 0.004173818975687027, + 0.01446039229631424, + 0.025506969541311264, + -0.018252626061439514, + -0.003206484019756317, + 1.0 + ], + [ + 0.01703581213951111, + -0.001081978203728795, + 0.006760992109775543, + 0.04999064654111862, + 0.03438472002744675, + -0.0325625017285347, + 1.0 + ], + [ + 0.03197979927062988, + -0.0013041902566328645, + -0.006771981716156006, + 0.07528674602508545, + 0.040911659598350525, + -0.12249527126550674, + 1.0 + ], + [ + 0.02393162250518799, + -0.0009880198631435633, + -0.009278610348701477, + 0.008003726601600647, + -0.002555922605097294, + -0.13563603162765503, + 1.0 + ], + [ + 0.025256842374801636, + 0.00012899975990876555, + -0.02063135802745819, + -0.006800591945648193, + -0.010074439458549023, + -0.20071275532245636, + 1.0 + ], + [ + 0.009324371814727783, + -0.00120002799667418, + -0.008413918316364288, + -0.02402392029762268, + -0.028294594958424568, + -0.13391408324241638, + 1.0 + ], + [ + 0.010373830795288086, + -0.004083219915628433, + -0.007172510027885437, + -0.03813629597425461, + -0.07501160353422165, + -0.10033732652664185, + 1.0 + ], + [ + 0.003544420003890991, + -0.0012287278659641743, + -0.006520025432109833, + -0.006085485219955444, + -0.01496744155883789, + -0.02912968397140503, + 1.0 + ], + [ + -7.69197940826416e-05, + -0.0016351714730262756, + -0.009937528520822525, + -0.016990572214126587, + 0.010257109999656677, + -0.02185535430908203, + 1.0 + ], + [ + 0.0002339482307434082, + -0.0005489159375429153, + 3.561750054359436e-05, + 0.008619755506515503, + 0.0046836212277412415, + 0.00830984115600586, + 1.0 + ], + [ + -0.0017143189907073975, + -0.0010829591192305088, + -0.011901885271072388, + -0.020154275000095367, + 0.03637465834617615, + 0.014494180679321289, + 1.0 + ], + [ + 0.005051225423812866, + 0.00048714037984609604, + 0.0003734901547431946, + 0.011077038943767548, + -0.0037104636430740356, + 0.008855819702148438, + 1.0 + ], + [ + -0.0014393329620361328, + 0.00045162346214056015, + -0.009547341614961624, + -0.01141192764043808, + 0.02005346491932869, + 0.002266824245452881, + 1.0 + ], + [ + 0.0005582571029663086, + -0.0026267487555742264, + -0.0005882568657398224, + 0.005511552095413208, + -0.003703143447637558, + -0.006588399410247803, + 1.0 + ], + [ + 1.6301870346069336e-05, + -0.00041872914880514145, + -0.005883621051907539, + -0.0036101937294006348, + 0.006745096296072006, + 0.0007297396659851074, + 1.0 + ], + [ + -0.0023145675659179688, + 0.00011213496327400208, + -0.00954386219382286, + -0.01198507472872734, + 0.02323269471526146, + 0.002750217914581299, + 1.0 + ], + [ + -0.00012242794036865234, + 0.0006003500893712044, + -0.0005948804318904877, + -0.0009450502693653107, + 0.0010858848690986633, + 0.004616141319274902, + 0.0 + ], + [ + 0.0002620816230773926, + -0.0006114626303315163, + -0.004323652014136314, + -0.0045107826590538025, + 0.005958130583167076, + 0.00461733341217041, + 0.0 + ], + [ + 0.0009633898735046387, + 0.0005579963326454163, + 0.00038147345185279846, + 0.005661018192768097, + -0.0020875297486782074, + 0.006623983383178711, + 0.0 + ], + [ + 0.0004960596561431885, + 0.0015941206365823746, + 0.0006784480065107346, + 0.010245390236377716, + 0.002693941816687584, + 0.004196524620056152, + 0.0 + ], + [ + 0.0005127787590026855, + 0.0012288489378988743, + 0.005991259589791298, + 0.011498816311359406, + -0.004855357110500336, + 0.018429338932037354, + 0.0 + ], + [ + -0.0005882978439331055, + 0.002431740052998066, + 0.022951379418373108, + 0.029835037887096405, + -0.021235432475805283, + 0.01868683099746704, + 0.0 + ], + [ + -0.0012649893760681152, + -0.00012260349467396736, + 0.012819923460483551, + 0.010424919426441193, + -0.024404484778642654, + 0.024825692176818848, + 0.0 + ], + [ + -0.0038523972034454346, + 0.003529310692101717, + 0.008937422186136246, + -0.004196695983409882, + 0.0028494372963905334, + 0.05228626728057861, + 0.0 + ], + [ + -0.00711485743522644, + 0.022636093199253082, + -0.00010769069194793701, + -0.015089422464370728, + 0.027509108185768127, + 0.203639954328537, + 0.0 + ], + [ + -0.006031692028045654, + 0.02430909499526024, + -0.0008882805705070496, + -0.04248524457216263, + 0.0031558088958263397, + 0.20025302469730377, + 0.0 + ], + [ + -0.007046252489089966, + 0.024151582270860672, + -0.0013094916939735413, + -0.004171833395957947, + 0.002847520634531975, + 0.1216781735420227, + 0.0 + ], + [ + -0.0012674927711486816, + 0.014804765582084656, + 0.0004846528172492981, + 0.04264448583126068, + 0.002547193318605423, + -0.045906875282526016, + 0.0 + ], + [ + 0.0034841597080230713, + 0.014537379145622253, + -0.01431528851389885, + -0.008042708039283752, + -0.017268048599362373, + 0.019509034231305122, + 0.0 + ], + [ + 0.006781339645385742, + 0.007393263280391693, + -0.018451448529958725, + -0.0010457634925842285, + -0.005536843091249466, + 0.02110963873565197, + 0.0 + ], + [ + 0.006789952516555786, + 0.007930226624011993, + -0.010653143748641014, + -0.012459948658943176, + -0.0016091428697109222, + 0.028251344338059425, + 0.0 + ], + [ + 0.006500571966171265, + 0.0036846473813056946, + -0.009548955596983433, + -0.01771777868270874, + -0.00995561107993126, + 0.009970711544156075, + 0.0 + ], + [ + 0.006666958332061768, + 0.005862154066562653, + -0.0010643573477864265, + 0.027655936777591705, + -0.011225774884223938, + -0.0027728229761123657, + 1.0 + ], + [ + -0.0004538595676422119, + -0.0009553208947181702, + -0.00042768288403749466, + -0.005157068371772766, + 0.00252484530210495, + -0.007217012345790863, + 1.0 + ], + [ + -0.0007238984107971191, + -0.0005599185824394226, + 0.0005493788048624992, + -0.0036870166659355164, + 0.007393281906843185, + -0.005248168483376503, + 1.0 + ], + [ + -0.0014128684997558594, + -0.0003511086106300354, + -0.00010354071855545044, + -0.0018950998783111572, + 0.009177595376968384, + -0.002406446263194084, + 1.0 + ], + [ + -0.0016551613807678223, + -0.0021187737584114075, + -0.0005402714014053345, + -0.012918118387460709, + 0.009570419788360596, + 0.0010551661252975464, + 1.0 + ], + [ + -0.0005465149879455566, + -0.0020417198538780212, + 0.00017386674880981445, + -0.016936443746089935, + 0.0038076266646385193, + 0.0023860204964876175, + 1.0 + ], + [ + -0.0024913549423217773, + -0.0006399825215339661, + 0.0057208966463804245, + 0.0016102194786071777, + 0.00948227010667324, + 0.009238576516509056, + 1.0 + ], + [ + 0.0015869438648223877, + 0.0020484179258346558, + 0.01950981840491295, + 0.025569576770067215, + -0.03244083374738693, + 0.005572885274887085, + 1.0 + ], + [ + -0.004825860261917114, + -0.007730551064014435, + 0.01067323237657547, + 0.017828956246376038, + 0.004376638680696487, + -0.010741092264652252, + 1.0 + ], + [ + -0.011964589357376099, + -0.007448755204677582, + 0.020457860082387924, + 0.0255129411816597, + 0.003066476434469223, + -0.01915574260056019, + 1.0 + ], + [ + -0.022043555974960327, + -0.007414147257804871, + 0.011372052133083344, + -0.020160511136054993, + 0.06041095778346062, + -0.017281442880630493, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 0.9900195002555847 + ], + [ + 0.9430103898048401 + ], + [ + 0.6350118517875671 + ], + [ + 0.4681091010570526 + ], + [ + 0.46716928482055664 + ], + [ + 0.46716928482055664 + ], + [ + 0.46716928482055664 + ], + [ + 0.46716928482055664 + ], + [ + 0.46716928482055664 + ], + [ + 0.46716928482055664 + ], + [ + 0.46716928482055664 + ], + [ + 0.46716928482055664 + ], + [ + 0.46716928482055664 + ], + [ + 0.46716928482055664 + ], + [ + 0.46716928482055664 + ], + [ + 0.46716928482055664 + ], + [ + 0.46716928482055664 + ], + [ + 0.5217453241348267 + ], + [ + 0.8158720135688782 + ], + [ + 1.002137303352356 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2535438537597656, + 0.0006547595257870853, + 0.09704133868217468 + ], + [ + 0.25327807664871216, + 6.980612670304254e-05, + 0.10514761507511139 + ], + [ + 0.2659947872161865, + 0.0042436253279447556, + 0.11960800737142563 + ], + [ + 0.28303059935569763, + 0.0031616471242159605, + 0.12636899948120117 + ], + [ + 0.3150103986263275, + 0.001857456867583096, + 0.11959701776504517 + ], + [ + 0.3389420211315155, + 0.0008694369462318718, + 0.11031840741634369 + ], + [ + 0.36419886350631714, + 0.0009984367061406374, + 0.0896870493888855 + ], + [ + 0.3735232353210449, + -0.0002015913196373731, + 0.08127313107252121 + ], + [ + 0.383897066116333, + -0.004284811206161976, + 0.07410062104463577 + ], + [ + 0.387441486120224, + -0.00551353907212615, + 0.06758059561252594 + ], + [ + 0.38736456632614136, + -0.007148710545152426, + 0.057643067091703415 + ], + [ + 0.38759851455688477, + -0.007697626482695341, + 0.05767868459224701 + ], + [ + 0.38588419556617737, + -0.00878058560192585, + 0.04577679932117462 + ], + [ + 0.39093542098999023, + -0.008293445222079754, + 0.046150289475917816 + ], + [ + 0.3894960880279541, + -0.007841821759939194, + 0.03660294786095619 + ], + [ + 0.3900543451309204, + -0.01046857051551342, + 0.03601469099521637 + ], + [ + 0.3900706470012665, + -0.010887299664318562, + 0.03013106994330883 + ], + [ + 0.3877560794353485, + -0.01077516470104456, + 0.02058720774948597 + ], + [ + 0.38763365149497986, + -0.010174814611673355, + 0.019992327317595482 + ], + [ + 0.38789573311805725, + -0.010786277242004871, + 0.015668675303459167 + ], + [ + 0.3888591229915619, + -0.010228280909359455, + 0.016050148755311966 + ], + [ + 0.3893551826477051, + -0.00863416027277708, + 0.0167285967618227 + ], + [ + 0.38986796140670776, + -0.007405311334878206, + 0.022719856351614 + ], + [ + 0.38927966356277466, + -0.00497357128188014, + 0.045671235769987106 + ], + [ + 0.38801467418670654, + -0.005096174776554108, + 0.05849115923047066 + ], + [ + 0.3841622769832611, + -0.0015668639680370688, + 0.0674285814166069 + ], + [ + 0.37704741954803467, + 0.021069228649139404, + 0.06732089072465897 + ], + [ + 0.371015727519989, + 0.04537832364439964, + 0.06643261015415192 + ], + [ + 0.36396947503089905, + 0.06952990591526031, + 0.06512311846017838 + ], + [ + 0.36270198225975037, + 0.08433467149734497, + 0.06560777127742767 + ], + [ + 0.36618614196777344, + 0.09887205064296722, + 0.051292482763528824 + ], + [ + 0.3729674816131592, + 0.10626531392335892, + 0.0328410342335701 + ], + [ + 0.37975743412971497, + 0.11419554054737091, + 0.022187890484929085 + ], + [ + 0.38625800609588623, + 0.1178801879286766, + 0.012638934887945652 + ], + [ + 0.392924964427948, + 0.12374234199523926, + 0.011574577540159225 + ], + [ + 0.3924711048603058, + 0.12278702110052109, + 0.01114689465612173 + ], + [ + 0.39174720644950867, + 0.12222710251808167, + 0.01169627346098423 + ], + [ + 0.3903343379497528, + 0.12187599390745163, + 0.01159273274242878 + ], + [ + 0.388679176568985, + 0.11975722014904022, + 0.011052461341023445 + ], + [ + 0.38813266158103943, + 0.1177155002951622, + 0.01122632808983326 + ], + [ + 0.38564130663871765, + 0.11707551777362823, + 0.016947224736213684 + ], + [ + 0.38722825050354004, + 0.11912393569946289, + 0.03645704314112663 + ], + [ + 0.3824023902416229, + 0.11139338463544846, + 0.0471302755177021 + ], + [ + 0.3704378008842468, + 0.10394462943077087, + 0.06758813560009003 + ], + [ + 0.3483942449092865, + 0.096530482172966, + 0.07896018773317337 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9930051398006637, + 0.09773102605558565, + 0.06625284050957475, + 0.0965650062270487, + -0.9951137518802848, + 0.020586898530699907, + 0.06794109140891658, + -0.01404519009717299, + -0.9975904674430786 + ], + [ + 0.9947490214063014, + 0.0941774692684494, + 0.040062310135537474, + 0.09365317870208227, + -0.9954952821767316, + 0.014772450130746026, + 0.041273072701236646, + -0.010942917620991267, + -0.9990879771190015 + ], + [ + 0.9941282493169729, + 0.09264006445264204, + 0.05591817565140153, + 0.09037978308643806, + -0.9950345828140221, + 0.04168541487586902, + 0.059502258101849156, + -0.03638677592663635, + -0.9975647767530917 + ], + [ + 0.9979967827009582, + 0.060020172348024065, + 0.020000015746244992, + 0.05805080987167391, + -0.9944582831716261, + 0.08765173417899261, + 0.025150053514442612, + -0.08631513159727847, + -0.9959503867490415 + ], + [ + 0.9978035483647718, + -0.06604144551347084, + -0.005158133883689195, + -0.06434092630300449, + -0.9847403031313499, + 0.16169966169181907, + -0.015758301721383122, + -0.16101261709340872, + -0.9868265364609878 + ], + [ + 0.9799753061959066, + -0.19802843433170783, + 0.02081197833873552, + -0.19868087310420726, + -0.9655327562084488, + 0.16814400777626995, + -0.013202647794643398, + -0.1689119175329228, + -0.985542720640035 + ], + [ + 0.9207672065856689, + -0.38540211413056513, + 0.06043973610229321, + -0.3900999400440659, + -0.9083777644057667, + 0.15057182309714334, + -0.0031285865882568938, + -0.16221913437345192, + -0.9867497982716223 + ], + [ + 0.860171360760666, + -0.5016386097653659, + 0.09199964847658362, + -0.5093839770826131, + -0.8539303207245424, + 0.10644703489895697, + 0.025163346729796067, + -0.1384258376891785, + -0.9900530760728967 + ], + [ + 0.8010391735232792, + -0.582062001776793, + 0.1397857953038665, + -0.5901984540292673, + -0.8069590135768225, + 0.021975788235793492, + 0.1000101361993109, + -0.10010482752951624, + -0.9899378749005825 + ], + [ + 0.7822430193533201, + -0.6050532321654614, + 0.14834569396895023, + -0.6122874876668369, + -0.7906252987568912, + 0.003958460838422752, + 0.11489077908881155, + -0.09392669062468165, + -0.9889276443040012 + ], + [ + 0.7695469411905289, + -0.6252305573338414, + 0.12993943004459788, + -0.6299494506729574, + -0.7766125660107009, + -0.0060507777280311426, + 0.10469572532410323, + -0.07719891508492147, + -0.991503470800063 + ], + [ + 0.7751285965233621, + -0.6179250293306698, + 0.1316978245014467, + -0.6238335635309956, + -0.7815432161254138, + 0.004678283933681124, + 0.10003671258064385, + -0.08578379482766921, + -0.9912788692799933 + ], + [ + 0.7864370501005203, + -0.6109508232809304, + 0.09086175081707738, + -0.6143680255190267, + -0.7889137510830196, + 0.012923721289619002, + 0.06378632650532513, + -0.06598624769201891, + -0.9957796541737952 + ], + [ + 0.7916536285725352, + -0.6026715712394151, + 0.100356911011414, + -0.6072312541901839, + -0.7942663173401787, + 0.02027858657516611, + 0.06748878649490198, + -0.07699346958466616, + -0.9947448262437761 + ], + [ + 0.7939442826248888, + -0.6030219931836892, + 0.07756901329797684, + -0.6061346284151415, + -0.7950134167511993, + 0.023547386725976595, + 0.04746881421827821, + -0.06571257811374467, + -0.9967088686042459 + ], + [ + 0.7897891929494929, + -0.6076006182369508, + 0.08399118655111282, + -0.6112404787288116, + -0.7910456342922135, + 0.02513725582880261, + 0.05116744925791981, + -0.07119194607049807, + -0.9961493858609428 + ], + [ + 0.7904901416912234, + -0.6076832296781876, + 0.07646193992357916, + -0.6108611170098994, + -0.7912957923800042, + 0.026451175533793485, + 0.04443007556158057, + -0.06761701952606922, + -0.9967215795075393 + ], + [ + 0.7927718051932963, + -0.6074026652089597, + 0.05074314916927367, + -0.6091493929540257, + -0.7924383207419358, + 0.031281382377436204, + 0.021210420889381444, + -0.055709156489340494, + -0.9982217228296236 + ], + [ + 0.7955931272312344, + -0.6038330711726715, + 0.04916500849795313, + -0.605496960863327, + -0.7952271366158441, + 0.031420241486021454, + 0.020124768016029596, + -0.054766991408554656, + -0.9982963339431613 + ], + [ + 0.7984619962151346, + -0.6006089848645679, + 0.0415606532683957, + -0.6018784943132265, + -0.7979611058518852, + 0.031628335885403744, + 0.01416752213288787, + -0.05026848761987833, + -0.9986352489618141 + ], + [ + 0.802405800369866, + -0.5949728627160784, + 0.046392070057603416, + -0.5965573842349361, + -0.801798191092479, + 0.03519869423145877, + 0.016254809982463026, + -0.05591916837957564, + -0.9983029739313466 + ], + [ + 0.8049345254444414, + -0.591241485356157, + 0.050138964302997774, + -0.5932086517071913, + -0.8037774058143307, + 0.04522584926920842, + 0.013561168359260429, + -0.06614671493150841, + -0.9977177490736053 + ], + [ + 0.8156663285006811, + -0.5754164672409533, + 0.05986927240379507, + -0.578229448554039, + -0.8141699999250632, + 0.052705939389356624, + 0.018415900062472023, + -0.07760863643927392, + -0.9968138011559258 + ], + [ + 0.8258190761033395, + -0.5562143014842006, + 0.0929973352751029, + -0.5625401022943611, + -0.8240900937145654, + 0.06651428983435573, + 0.03964198348313058, + -0.10724349987743675, + -0.9934421698717856 + ], + [ + 0.8384658757792025, + -0.5321955522309031, + 0.11722998481386403, + -0.5411813959097286, + -0.8384357602502541, + 0.06440630912244168, + 0.06401306019096574, + -0.11744517920809734, + -0.9910141058561 + ], + [ + 0.8657581765292619, + -0.4884024410505509, + 0.10920547307067646, + -0.49671028518769406, + -0.8652311470309626, + 0.06821990029488609, + 0.06116921089475274, + -0.1133054181553014, + -0.991675455910433 + ], + [ + 0.9495611118657907, + -0.3072730297527706, + 0.06258578128261838, + -0.3117668172156085, + -0.9465143116895992, + 0.08313909700022612, + 0.03369193546610439, + -0.09845782322048671, + -0.994570716707078 + ], + [ + 0.9927018176989297, + -0.11483123460307855, + 0.036835970148399975, + -0.11666424736956112, + -0.9917978101755067, + 0.052216444888211526, + 0.030537755695776485, + -0.05613280048779427, + -0.9979561885105291 + ], + [ + 0.999605511350634, + 0.006126223420948311, + 0.027409689236364474, + 0.0046910184337390064, + -0.998629682416647, + 0.0521224686913524, + 0.027691443145704254, + -0.05197332761160588, + -0.9982644725690105 + ], + [ + 0.9988349010981387, + -0.03864321282791818, + 0.028905751168372584, + -0.041189346988773405, + -0.9947755224061152, + 0.09340823152313209, + 0.025145139548431162, + -0.09449001071000492, + -0.9952081992392914 + ], + [ + 0.9988652506033271, + -0.017954496948774525, + 0.04411175780297758, + -0.02168378267342054, + -0.9960959157446833, + 0.08557301096567979, + 0.04240312141958389, + -0.08643241681265734, + -0.9953549179151117 + ], + [ + 0.9988503134233391, + 0.003503674938398498, + 0.04780978598595858, + -0.0005946838536526246, + -0.9963431498152399, + 0.08543988627895337, + 0.04793430634953768, + -0.08537008889635946, + -0.995195583891235 + ], + [ + 0.9983901315937924, + 0.031196085442399935, + 0.04737034292889519, + 0.02761849513334999, + -0.996846998854526, + 0.07438601751199334, + 0.04954153674140287, + -0.07295796822689032, + -0.9961037952992173 + ], + [ + 0.9975228131647624, + 0.040851113926443375, + 0.05726625277445343, + 0.0375512020338479, + -0.9976354861609155, + 0.057561653713973614, + 0.059482303600919724, + -0.055268646115523935, + -0.9966981651005912 + ], + [ + 0.9968929271386665, + 0.04058678376239225, + 0.06750707225710059, + 0.034759647350479, + -0.995743681761963, + 0.08535975133047202, + 0.07068421844351769, + -0.08274801033834284, + -0.9940606158821875 + ], + [ + 0.9972930443026071, + 0.03285182345802701, + 0.0657825317323751, + 0.027569059780672676, + -0.9964405144879163, + 0.07966334181960193, + 0.06816546580525952, + -0.07763413413273614, + -0.9946488880449285 + ], + [ + 0.9979005722149193, + 0.026830790742494996, + 0.05894536997312552, + 0.022345413902035656, + -0.9968971168598655, + 0.07547728714013409, + 0.060787584675515066, + -0.07400166933671147, + -0.9954037484783231 + ], + [ + 0.9984671928795916, + 0.023657753821611494, + 0.05003574149809345, + 0.019954264368612185, + -0.9971130023348017, + 0.07326314154051018, + 0.051624529795975274, + -0.07215241686176092, + -0.9960566934990953 + ], + [ + 0.9988938086082054, + 0.02349511135618449, + 0.040732528359457176, + 0.02101723273961882, + -0.9979633038224094, + 0.06022889797953769, + 0.04206465323953339, + -0.059306188262451626, + -0.9973531676300106 + ], + [ + 0.9989936992844205, + 0.025023658738724253, + 0.03722103294317323, + 0.023404133417768487, + -0.9987867254627063, + 0.04332809225488607, + 0.03826010100603774, + -0.042413365143696105, + -0.9983673027138836 + ], + [ + 0.9990525432536286, + 0.03389180476154066, + 0.027301307449684245, + 0.03264266329939128, + -0.9984549428501002, + 0.04496869612214448, + 0.02878319563876027, + -0.044034902840914825, + -0.9986152687499886 + ], + [ + 0.9973966566414423, + 0.04238743983274407, + 0.05833707453153956, + 0.038153941556592796, + -0.9966844812002168, + 0.07186321505715466, + 0.06118975456862857, + -0.06945034110125205, + -0.9957070171776188 + ], + [ + 0.9980070764367455, + 0.03234691244934372, + 0.05418074046351574, + 0.027445916372423367, + -0.9956643565221008, + 0.08887750461117318, + 0.0568207449498711, + -0.08721333846623268, + -0.9945678642188859 + ], + [ + 0.9985192304690432, + 0.014345301500700241, + 0.052474362391206605, + 0.008325897133313926, + -0.9935395971281636, + 0.11318015892961018, + 0.053758960373459105, + -0.11257566905535295, + -0.9921878314695785 + ], + [ + 0.9999380567074851, + -0.009518884419600084, + -0.005768326227272097, + -0.008943075485742987, + -0.995650153867134, + 0.09274045775824363, + -0.006626020594160813, + -0.09268312653206387, + -0.9956736081203152 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005439.json b/json/chunk-0005/episode_0005439.json new file mode 100644 index 0000000000000000000000000000000000000000..18d9e04feced8c2f60460b1f736e4bc0cf196e63 --- /dev/null +++ b/json/chunk-0005/episode_0005439.json @@ -0,0 +1,2842 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 46, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the bottle inside the orange pot." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005439.mp4", + "start": 0, + "end": 46, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.31349286437034607, + 0.061585668474435806, + 0.09484487771987915, + 0.07324354350566864, + -0.21051715314388275, + -0.2504395842552185, + 0.0, + 0.9994885921478271 + ], + [ + 0.3126661479473114, + 0.06120665743947029, + 0.08789883553981781, + 0.06208660826086998, + -0.18873119354248047, + -0.2536391019821167, + 0.0, + 0.9994885921478271 + ], + [ + 0.3162738084793091, + 0.054565198719501495, + 0.08529403060674667, + 0.04445521906018257, + -0.15922848880290985, + -0.4147222340106964, + 0.0, + 0.9994885921478271 + ], + [ + 0.31728851795196533, + 0.05095859616994858, + 0.08719652891159058, + 0.031163355335593224, + -0.16070866584777832, + -0.6222742795944214, + 0.0, + 0.9994885921478271 + ], + [ + 0.32075461745262146, + 0.05459496006369591, + 0.0871226117014885, + 0.02850709669291973, + -0.1758657842874527, + -0.8516855835914612, + 0.0, + 0.9994885921478271 + ], + [ + 0.3291425108909607, + 0.051241435110569, + 0.09151272475719452, + 0.035172220319509506, + -0.14722931385040283, + -1.0176992416381836, + 0.0, + 0.9994885921478271 + ], + [ + 0.3437824249267578, + 0.032329656183719635, + 0.09533056616783142, + 0.0985073372721672, + -0.10750944167375565, + -1.0469183921813965, + 0.0, + 0.9994885921478271 + ], + [ + 0.3648226261138916, + 0.01263255812227726, + 0.09728651493787766, + 0.1722126305103302, + -0.08871093392372131, + -1.0219167470932007, + 0.0, + 0.9994885921478271 + ], + [ + 0.38257449865341187, + -0.0036996935959905386, + 0.08690299838781357, + 0.18704256415367126, + -0.07535533607006073, + -1.036457896232605, + 0.0, + 0.9994885921478271 + ], + [ + 0.38793259859085083, + -0.009906085208058357, + 0.0758977085351944, + 0.1768781542778015, + -0.09088073670864105, + -1.0502170324325562, + 0.0, + 0.9994885921478271 + ], + [ + 0.39389052987098694, + -0.013692201115190983, + 0.0649460032582283, + 0.1524232178926468, + -0.09535958617925644, + -1.0833983421325684, + 0.0, + 0.9994885921478271 + ], + [ + 0.39781686663627625, + -0.01710633561015129, + 0.04928363859653473, + 0.13478434085845947, + -0.10087128728628159, + -1.1701680421829224, + 0.0, + 0.9994885921478271 + ], + [ + 0.401639461517334, + -0.011217332445085049, + 0.041761115193367004, + 0.13643670082092285, + -0.12648341059684753, + -1.1786108016967773, + 0.0, + 0.9994885921478271 + ], + [ + 0.3941965103149414, + -0.010971787385642529, + 0.026159854605793953, + 0.14460432529449463, + -0.13439537584781647, + -1.1688940525054932, + 0.0, + 0.9994885921478271 + ], + [ + 0.39645111560821533, + -0.011878656223416328, + 0.024964259937405586, + 0.14539237320423126, + -0.1437905877828598, + -1.193613052368164, + 0.0, + 0.9994885921478271 + ], + [ + 0.39570388197898865, + -0.008248400874435902, + 0.01820233464241028, + 0.1313984990119934, + -0.1430489718914032, + -1.1989799737930298, + 0.0, + 0.9994885921478271 + ], + [ + 0.3994811773300171, + -0.007464215159416199, + 0.012107178568840027, + 0.11699115484952927, + -0.16106073558330536, + -1.2140415906906128, + 0.0, + 0.9994885921478271 + ], + [ + 0.40164098143577576, + -0.0027209618128836155, + 0.009944367222487926, + 0.12652531266212463, + -0.18281547725200653, + -1.21708345413208, + 0.0, + 0.9994885921478271 + ], + [ + 0.4008505940437317, + 0.001449810923077166, + 0.007361451629549265, + 0.13227809965610504, + -0.18597908318042755, + -1.223707675933838, + 0.0, + 0.9132781028747559 + ], + [ + 0.3955123722553253, + 0.002020615618675947, + 0.0015776227228343487, + 0.11836814880371094, + -0.19162362813949585, + -1.1769928932189941, + 0.0, + 0.7071652412414551 + ], + [ + 0.3946520686149597, + -0.0007349027437157929, + 0.001038862974382937, + 0.12087229639291763, + -0.20768281817436218, + -1.1746426820755005, + 0.0, + 0.6701657772064209 + ], + [ + 0.3959520161151886, + -0.0020780700724571943, + 0.0038517657667398453, + 0.10029000788927078, + -0.2125876098871231, + -1.1796550750732422, + 0.0, + 0.6701657772064209 + ], + [ + 0.3937361240386963, + -0.011529861018061638, + 0.007677364628762007, + 0.05063333362340927, + -0.22937870025634766, + -1.1598241329193115, + 0.0, + 0.6701657772064209 + ], + [ + 0.3962198793888092, + -0.02313833311200142, + 0.015263568609952927, + 0.005859442986547947, + -0.30604052543640137, + -1.0432032346725464, + 0.0, + 0.6701657772064209 + ], + [ + 0.3880915343761444, + -0.05044351890683174, + 0.03547414764761925, + -0.0803094133734703, + -0.3883448839187622, + -0.9245817065238953, + 0.0, + 0.6701657772064209 + ], + [ + 0.3779945969581604, + -0.0528695285320282, + 0.04669764265418053, + -0.10030713677406311, + -0.3622658848762512, + -0.8228356838226318, + 0.0, + 0.6701657772064209 + ], + [ + 0.3656352758407593, + -0.059912946075201035, + 0.0588715560734272, + -0.044445279985666275, + -0.3190798759460449, + -0.8418732285499573, + 0.0, + 0.6701657772064209 + ], + [ + 0.36413440108299255, + -0.046723153442144394, + 0.06269765645265579, + 0.016950802877545357, + -0.27004918456077576, + -0.910637378692627, + 0.0, + 0.6701657772064209 + ], + [ + 0.36906400322914124, + -0.02386346459388733, + 0.06820963323116302, + 0.10617466270923615, + -0.25367406010627747, + -0.9617486596107483, + 0.0, + 0.6701657772064209 + ], + [ + 0.3711007833480835, + -0.010518824681639671, + 0.06700482964515686, + 0.18282167613506317, + -0.25631996989250183, + -0.9524442553520203, + 0.0, + 0.6701657772064209 + ], + [ + 0.37743204832077026, + 0.0045850505121052265, + 0.07850821316242218, + 0.29886114597320557, + -0.29493778944015503, + -0.9005128741264343, + 0.0, + 0.6701657772064209 + ], + [ + 0.3845089077949524, + 0.02136293053627014, + 0.08402306586503983, + 0.32583704590797424, + -0.3291642963886261, + -0.8334308862686157, + 0.0, + 0.6701657772064209 + ], + [ + 0.3924139440059662, + 0.031643759459257126, + 0.08965875208377838, + 0.3216239809989929, + -0.3502798080444336, + -0.8249680399894714, + 0.0, + 0.6701657772064209 + ], + [ + 0.3949483335018158, + 0.0461764931678772, + 0.08624681830406189, + 0.333286851644516, + -0.3690659999847412, + -0.8362526297569275, + 0.0, + 0.6701657772064209 + ], + [ + 0.4006195068359375, + 0.06348492950201035, + 0.073854461312294, + 0.3517976403236389, + -0.40832504630088806, + -0.8519688248634338, + 0.0, + 0.6701657772064209 + ], + [ + 0.40010565519332886, + 0.07569781690835953, + 0.06367043405771255, + 0.3399359881877899, + -0.4201619327068329, + -0.855095624923706, + 0.0, + 0.6701657772064209 + ], + [ + 0.3961961269378662, + 0.08020459115505219, + 0.05763106420636177, + 0.3569917380809784, + -0.40671491622924805, + -0.8515162467956543, + 0.0, + 0.7437760233879089 + ], + [ + 0.39379987120628357, + 0.0812177062034607, + 0.05606527999043465, + 0.3483814299106598, + -0.4004082977771759, + -0.8372080326080322, + 0.0, + 0.9837720394134521 + ], + [ + 0.39057090878486633, + 0.082661472260952, + 0.05628025159239769, + 0.3337446451187134, + -0.3904782235622406, + -0.8334339261054993, + 0.0, + 0.9994885921478271 + ], + [ + 0.38771018385887146, + 0.08545948565006256, + 0.0648721382021904, + 0.3319810628890991, + -0.3652423620223999, + -0.8266957402229309, + 0.0, + 0.9994885921478271 + ], + [ + 0.3872958719730377, + 0.08571556210517883, + 0.07396393269300461, + 0.29844656586647034, + -0.331084668636322, + -0.8215014934539795, + 0.0, + 0.9994885921478271 + ], + [ + 0.3807718753814697, + 0.07687947154045105, + 0.09131740778684616, + 0.2780519127845764, + -0.29752740263938904, + -0.8352788686752319, + 0.0, + 0.9994885921478271 + ], + [ + 0.36517560482025146, + 0.05512120947241783, + 0.0991978570818901, + 0.1512119323015213, + -0.25221818685531616, + -0.7242627143859863, + 0.0, + 0.9994885921478271 + ], + [ + 0.35946032404899597, + 0.031001921743154526, + 0.1069311574101448, + 0.08745644986629486, + -0.25861209630966187, + -0.5838642716407776, + 0.0, + 0.9994885921478271 + ], + [ + 0.35882413387298584, + -0.0022426501382142305, + 0.10658467561006546, + 0.07427214831113815, + -0.23169390857219696, + -0.385069876909256, + 0.0, + 0.9994885921478271 + ], + [ + 0.3618443012237549, + -0.037522200495004654, + 0.10919714719057083, + 0.14999492466449738, + -0.274086058139801, + -0.1668078452348709, + 0.0, + 0.9994885921478271 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9132781028747559 + ], + [ + 0.7071652412414551 + ], + [ + 0.6701657772064209 + ], + [ + 0.6701657772064209 + ], + [ + 0.6701657772064209 + ], + [ + 0.6701657772064209 + ], + [ + 0.6701657772064209 + ], + [ + 0.6701657772064209 + ], + [ + 0.6701657772064209 + ], + [ + 0.6701657772064209 + ], + [ + 0.6701657772064209 + ], + [ + 0.6701657772064209 + ], + [ + 0.6701657772064209 + ], + [ + 0.6701657772064209 + ], + [ + 0.6701657772064209 + ], + [ + 0.6701657772064209 + ], + [ + 0.6701657772064209 + ], + [ + 0.6701657772064209 + ], + [ + 0.7437760233879089 + ], + [ + 0.9837720394134521 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.31349286437034607, + 0.061585668474435806, + 0.09484487771987915 + ], + [ + 0.3126661479473114, + 0.06120665743947029, + 0.08789883553981781 + ], + [ + 0.3162738084793091, + 0.054565198719501495, + 0.08529403060674667 + ], + [ + 0.31728851795196533, + 0.05095859616994858, + 0.08719652891159058 + ], + [ + 0.32075461745262146, + 0.05459496006369591, + 0.0871226117014885 + ], + [ + 0.3291425108909607, + 0.051241435110569, + 0.09151272475719452 + ], + [ + 0.3437824249267578, + 0.032329656183719635, + 0.09533056616783142 + ], + [ + 0.3648226261138916, + 0.01263255812227726, + 0.09728651493787766 + ], + [ + 0.38257449865341187, + -0.0036996935959905386, + 0.08690299838781357 + ], + [ + 0.38793259859085083, + -0.009906085208058357, + 0.0758977085351944 + ], + [ + 0.39389052987098694, + -0.013692201115190983, + 0.0649460032582283 + ], + [ + 0.39781686663627625, + -0.01710633561015129, + 0.04928363859653473 + ], + [ + 0.401639461517334, + -0.011217332445085049, + 0.041761115193367004 + ], + [ + 0.3941965103149414, + -0.010971787385642529, + 0.026159854605793953 + ], + [ + 0.39645111560821533, + -0.011878656223416328, + 0.024964259937405586 + ], + [ + 0.39570388197898865, + -0.008248400874435902, + 0.01820233464241028 + ], + [ + 0.3994811773300171, + -0.007464215159416199, + 0.012107178568840027 + ], + [ + 0.40164098143577576, + -0.0027209618128836155, + 0.009944367222487926 + ], + [ + 0.4008505940437317, + 0.001449810923077166, + 0.007361451629549265 + ], + [ + 0.3955123722553253, + 0.002020615618675947, + 0.0015776227228343487 + ], + [ + 0.3946520686149597, + -0.0007349027437157929, + 0.001038862974382937 + ], + [ + 0.3959520161151886, + -0.0020780700724571943, + 0.0038517657667398453 + ], + [ + 0.3937361240386963, + -0.011529861018061638, + 0.007677364628762007 + ], + [ + 0.3962198793888092, + -0.02313833311200142, + 0.015263568609952927 + ], + [ + 0.3880915343761444, + -0.05044351890683174, + 0.03547414764761925 + ], + [ + 0.3779945969581604, + -0.0528695285320282, + 0.04669764265418053 + ], + [ + 0.3656352758407593, + -0.059912946075201035, + 0.0588715560734272 + ], + [ + 0.36413440108299255, + -0.046723153442144394, + 0.06269765645265579 + ], + [ + 0.36906400322914124, + -0.02386346459388733, + 0.06820963323116302 + ], + [ + 0.3711007833480835, + -0.010518824681639671, + 0.06700482964515686 + ], + [ + 0.37743204832077026, + 0.0045850505121052265, + 0.07850821316242218 + ], + [ + 0.3845089077949524, + 0.02136293053627014, + 0.08402306586503983 + ], + [ + 0.3924139440059662, + 0.031643759459257126, + 0.08965875208377838 + ], + [ + 0.3949483335018158, + 0.0461764931678772, + 0.08624681830406189 + ], + [ + 0.4006195068359375, + 0.06348492950201035, + 0.073854461312294 + ], + [ + 0.40010565519332886, + 0.07569781690835953, + 0.06367043405771255 + ], + [ + 0.3961961269378662, + 0.08020459115505219, + 0.05763106420636177 + ], + [ + 0.39379987120628357, + 0.0812177062034607, + 0.05606527999043465 + ], + [ + 0.39057090878486633, + 0.082661472260952, + 0.05628025159239769 + ], + [ + 0.38771018385887146, + 0.08545948565006256, + 0.0648721382021904 + ], + [ + 0.3872958719730377, + 0.08571556210517883, + 0.07396393269300461 + ], + [ + 0.3807718753814697, + 0.07687947154045105, + 0.09131740778684616 + ], + [ + 0.36517560482025146, + 0.05512120947241783, + 0.0991978570818901 + ], + [ + 0.35946032404899597, + 0.031001921743154526, + 0.1069311574101448 + ], + [ + 0.35882413387298584, + -0.0022426501382142305, + 0.10658467561006546 + ], + [ + 0.3618443012237549, + -0.037522200495004654, + 0.10919714719057083 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9474152756585249, + -0.23235073681181537, + 0.22003961132461558, + -0.24235850890605334, + -0.9699958457903485, + 0.01924609857350868, + 0.20896566370989245, + -0.07156251988627324, + -0.9753010597440214 + ], + [ + 0.9508168706761146, + -0.23917648687705445, + 0.19682958762043679, + -0.24647256841133863, + -0.9690615661235065, + 0.013074941031424897, + 0.18761276997688353, + -0.060944968515927816, + -0.9803505288182354 + ], + [ + 0.9036505532841579, + -0.3960886260188901, + 0.16287872140860823, + -0.39783855155710995, + -0.9171632822536465, + -0.023151686345891386, + 0.15855650237116084, + -0.0438784004287487, + -0.986374432724023 + ], + [ + 0.8020844412594796, + -0.5785503263259657, + 0.1481218045987392, + -0.575373668944019, + -0.8150665853597557, + -0.06790878084523842, + 0.16001778081003049, + -0.03075680962172009, + -0.986634850634482 + ], + [ + 0.6485554538996829, + -0.7488011182646757, + 0.1366481192792186, + -0.7407864740382459, + -0.6622003627663399, + -0.11280992613290348, + 0.1749606329977102, + -0.028063585617295064, + -0.9841753970016429 + ], + [ + 0.5196417396263114, + -0.8476654068023856, + 0.10693839604504678, + -0.8416960037564204, + -0.5293896433971528, + -0.1062753156866992, + 0.1466979880523686, + -0.03478453067646547, + -0.9885695406631774 + ], + [ + 0.49735355573366224, + -0.8564089931405985, + 0.13857516756976823, + -0.8608865333239957, + -0.5069542911182636, + -0.04326341939990403, + 0.10730245729001768, + -0.09778028014219056, + -0.9894064884944098 + ], + [ + 0.5196801435046796, + -0.8325696003902163, + 0.19173004186363396, + -0.8497549886240532, + -0.526966017780493, + 0.01494240319038892, + 0.08859462599667482, + -0.17068882977700764, + -0.9813339470505771 + ], + [ + 0.5078265532650602, + -0.8384659841441247, + 0.19770428733882645, + -0.858163448980902, + -0.5124372526070565, + 0.031041214115014287, + 0.07528403969057035, + -0.18542614587418907, + -0.9797701045623469 + ], + [ + 0.4953301716928432, + -0.8460530314272037, + 0.19708447179719146, + -0.8639510555607535, + -0.5034762261833841, + 0.010013154527827792, + 0.0907556863573778, + -0.17523115499527298, + -0.9803353751205881 + ], + [ + 0.466200706215186, + -0.8665400024328132, + 0.17822829659793626, + -0.8795402100331544, + -0.4756721065315677, + -0.01204433487808669, + 0.09521512726083226, + -0.15114387599754397, + -0.9839154477337686 + ], + [ + 0.3880145229150057, + -0.9071873037555571, + 0.1626527771412558, + -0.9161354577485314, + -0.39892008102795573, + -0.03947900718784624, + 0.10070031312230028, + -0.133693548301224, + -0.985893240711031 + ], + [ + 0.3791556919300546, + -0.9089306405234934, + 0.1734533135878189, + -0.9166940814246025, + -0.3945120048541334, + -0.06349991422889426, + 0.12614643220537886, + -0.13492727205248362, + -0.9827928107685411 + ], + [ + 0.3876423845366703, + -0.9031603811619462, + 0.18448497936182257, + -0.9120195994588591, + -0.4048568463995559, + -0.06565960802737315, + 0.13399116356546098, + -0.14280146996027132, + -0.9806396424087491 + ], + [ + 0.36450229425870717, + -0.9122502756189924, + 0.1869157888280478, + -0.9201111060151116, + -0.38371869147961435, + -0.07845711183073698, + 0.14329560379783832, + -0.1433854959270465, + -0.9792379534566499 + ], + [ + 0.3595974144321679, + -0.9168515943872557, + 0.17341526289011241, + -0.9221528556276644, + -0.3775786191775958, + -0.08407435517257512, + 0.1425616020934243, + -0.12968245914342952, + -0.9812536111521165 + ], + [ + 0.3447152570131185, + -0.9240926827383855, + 0.16499728874061328, + -0.9249077580431602, + -0.3643878398526334, + -0.10847645495270745, + 0.16036530389693035, + -0.11521378336338607, + -0.980310539282905 + ], + [ + 0.3406109875092439, + -0.9226479931903222, + 0.18084478386132244, + -0.922460477974941, + -0.3651349768057812, + -0.12547157162992992, + 0.18179884972744112, + -0.12408516984278319, + -0.9754752938249469 + ], + [ + 0.3342956623482168, + -0.9238560807579967, + 0.18637690892822628, + -0.9241510362732421, + -0.36012364977805816, + -0.12749830989320077, + 0.18490882155878663, + -0.12961828156939825, + -0.9741703284296521 + ], + [ + 0.37668029502072564, + -0.9083647565111702, + 0.18161889899319764, + -0.9065536879655517, + -0.40178801409775744, + -0.12933214048888694, + 0.19045305505335433, + -0.11593041385151048, + -0.9748270477192666 + ], + [ + 0.37758084985281803, + -0.9062272083264116, + 0.19022341788891867, + -0.9027276006863456, + -0.4059941950448661, + -0.14230809024417626, + 0.2061930667687376, + -0.11798711996989206, + -0.9713719466495381 + ], + [ + 0.37266124967463654, + -0.9117755692596639, + 0.1725946241693342, + -0.9036630063792153, + -0.3988573133091796, + -0.15590386307420623, + 0.21098996159205335, + -0.09786804851941422, + -0.9725765168799754 + ], + [ + 0.3890369746986146, + -0.910960645804986, + 0.13711649832136413, + -0.8927216587301904, + -0.40953825816262784, + -0.1879533323331578, + 0.22737254089130293, + -0.04928607202530856, + -0.9725598237398814 + ], + [ + 0.4800616199677411, + -0.8631177328824804, + 0.15674380439990354, + -0.8238737037896129, + -0.5049718437532635, + -0.2573626958601707, + 0.30128551448407404, + -0.0055871459831245696, + -0.9535176047466717 + ], + [ + 0.557329346607136, + -0.8140878571963519, + 0.16323284037201174, + -0.7389200416051713, + -0.5759756747013356, + -0.3496415225149221, + 0.3786570632177279, + 0.07424946409094854, + -0.9225539797526929 + ], + [ + 0.6360011688428213, + -0.753530046979743, + 0.16641809255387918, + -0.6854979454520818, + -0.6507104511554395, + -0.3266014016168016, + 0.3543939615901208, + 0.09363961264225097, + -0.9303959065541235 + ], + [ + 0.6324466866660491, + -0.754438894764392, + 0.17559368608187084, + -0.7082428128621509, + -0.6550130745056403, + -0.2633438631443244, + 0.3136930132378539, + 0.042187987548007774, + -0.9485867736545794 + ], + [ + 0.5910171432127841, + -0.7870082701306768, + 0.17696530500219498, + -0.76126722475273, + -0.616726137046519, + -0.20030248226358915, + 0.2667788390144105, + -0.016335685770685546, + -0.9636193213217165 + ], + [ + 0.5537780814639092, + -0.8003594126023416, + 0.2296837981856487, + -0.7939444872631142, + -0.5906787488734893, + -0.14405126439486404, + 0.2509621239045081, + -0.10258375255411137, + -0.9625458877774369 + ], + [ + 0.5607542912473015, + -0.7745363094493221, + 0.292657018013169, + -0.7882137905106836, + -0.6075894226002713, + -0.09774514818163019, + 0.2535224749337155, + -0.17586528619626093, + -0.9512085763987784 + ], + [ + 0.5943845123734013, + -0.6957420339345809, + 0.40329898793228647, + -0.7498079749612362, + -0.660740265555045, + -0.03478939721781796, + 0.29068032636414254, + -0.2817185185443465, + -0.9144067061073067 + ], + [ + 0.6362439920362879, + -0.6317237006632176, + 0.44285296500994265, + -0.700500913878327, + -0.7135592062436619, + -0.011477318525857483, + 0.323252304327992, + -0.30291653174642796, + -0.8965207875678949 + ], + [ + 0.6373748184169173, + -0.6232525344720232, + 0.45311104502340377, + -0.6899232691589416, + -0.7234633302702922, + -0.024631127202311198, + 0.3431606380706273, + -0.296912593246594, + -0.8911137348568601 + ], + [ + 0.6251171884025453, + -0.6221971971516588, + 0.4712739634441062, + -0.6921646628329593, + -0.720951613481148, + -0.033717214360996006, + 0.36074448060785724, + -0.3051219737671304, + -0.881342158775704 + ], + [ + 0.6043653672999738, + -0.6163864666611275, + 0.5047873082055239, + -0.6907067580562297, + -0.7211445976028013, + -0.05361570407769542, + 0.39707263464487297, + -0.3162565304706052, + -0.8615771177038505 + ], + [ + 0.5990766432438592, + -0.6222096647248564, + 0.5039467319495698, + -0.6889978148470762, + -0.7212349062801942, + -0.07142983339581346, + 0.40790830667641953, + -0.30442625229434683, + -0.8607760860167961 + ], + [ + 0.6050983440442581, + -0.6137700439282526, + 0.5070920303171876, + -0.6909132314163279, + -0.7213024302882847, + -0.048597435262183075, + 0.39559436382327845, + -0.3209503656899696, + -0.8605207505195505 + ], + [ + 0.6165799715970754, + -0.6090620338160887, + 0.4988713036336722, + -0.6840244749189867, + -0.7281565852729696, + -0.04357183764099873, + 0.38979437699530056, + -0.3143746591050536, + -0.865580104539971 + ], + [ + 0.6217289956908681, + -0.6155668553813005, + 0.4842834939095086, + -0.6845241687487797, + -0.7275395290113064, + -0.04596624984484135, + 0.380630684937534, + -0.30292520575545245, + -0.8737028106867919 + ], + [ + 0.6326331141339234, + -0.6166818864052466, + 0.468485638927044, + -0.6871687394195858, + -0.72597039263377, + -0.027678738838086275, + 0.3571756801151379, + -0.304418199191238, + -0.8830374247649146 + ], + [ + 0.6441310677014562, + -0.6347003690587267, + 0.4269081975536409, + -0.6924054634692447, + -0.7209953492635933, + -0.02720993381487452, + 0.3250689800330427, + -0.2780668046656875, + -0.9038855073311509 + ], + [ + 0.6414913348276036, + -0.6590139677721353, + 0.3926696545728058, + -0.7089060281305045, + -0.7048649533744996, + -0.02485237985780908, + 0.2931571432207166, + -0.26242329886195637, + -0.919343734189273 + ], + [ + 0.7252910904235581, + -0.6268670976009455, + 0.28458825713225255, + -0.6416200940970406, + -0.7653492459237733, + -0.05063779828168559, + 0.24955257763267272, + -0.1458704003877367, + -0.9573115152799587 + ], + [ + 0.8065934726407477, + -0.5305082727582645, + 0.2607066213742605, + -0.5329207342229986, + -0.8434635663359589, + -0.06756258801322895, + 0.2557390485017086, + -0.08444042159338169, + -0.96305106524658 + ], + [ + 0.9020077459007185, + -0.3587969011793295, + 0.24009750110989256, + -0.36558678582229365, + -0.9306174838147749, + -0.017245313867282036, + 0.2296264975285491, + -0.07222106702595274, + -0.9705955847367139 + ], + [ + 0.9493108810728267, + -0.12428584269559613, + 0.28872457530002377, + -0.15983774733775546, + -0.9817630594407272, + 0.10292322208119509, + 0.2706672229929686, + -0.14385522035375944, + -0.9518639240848693 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.000826716423034668, + -0.00037901103496551514, + -0.00694604218006134, + -0.01115693524479866, + 0.021785959601402283, + -0.0031995177268981934, + 1.0 + ], + [ + 0.0036076605319976807, + -0.006641458719968796, + -0.0026048049330711365, + -0.01763138920068741, + 0.029502704739570618, + -0.1610831320285797, + 1.0 + ], + [ + 0.00101470947265625, + -0.0036066025495529175, + 0.0019024983048439026, + -0.013291863724589348, + -0.0014801770448684692, + -0.20755204558372498, + 1.0 + ], + [ + 0.003466099500656128, + 0.0036363638937473297, + -7.39172101020813e-05, + -0.0026562586426734924, + -0.015157118439674377, + -0.2294113039970398, + 1.0 + ], + [ + 0.008387893438339233, + -0.0033535249531269073, + 0.004390113055706024, + 0.006665123626589775, + 0.028636470437049866, + -0.1660136580467224, + 1.0 + ], + [ + 0.01463991403579712, + -0.018911778926849365, + 0.003817841410636902, + 0.063335120677948, + 0.039719872176647186, + -0.02921915054321289, + 1.0 + ], + [ + 0.02104020118713379, + -0.019697098061442375, + 0.001955948770046234, + 0.073705293238163, + 0.018798507750034332, + 0.0250016450881958, + 1.0 + ], + [ + 0.017751872539520264, + -0.016332251951098442, + -0.010383516550064087, + 0.014829933643341064, + 0.013355597853660583, + -0.014541149139404297, + 1.0 + ], + [ + 0.005358099937438965, + -0.006206391379237175, + -0.011005289852619171, + -0.010164409875869751, + -0.015525400638580322, + -0.013759136199951172, + 1.0 + ], + [ + 0.005957931280136108, + -0.0037861159071326256, + -0.010951705276966095, + -0.024454936385154724, + -0.004478849470615387, + -0.03318130970001221, + 1.0 + ], + [ + 0.003926336765289307, + -0.003414134494960308, + -0.015662364661693573, + -0.017638877034187317, + -0.0055117011070251465, + -0.086769700050354, + 1.0 + ], + [ + 0.0038225948810577393, + 0.005889003165066242, + -0.007522523403167725, + 0.001652359962463379, + -0.02561212331056595, + -0.00844275951385498, + 1.0 + ], + [ + -0.007442951202392578, + 0.00024554505944252014, + -0.015601260587573051, + 0.008167624473571777, + -0.007911965250968933, + 0.00971674919128418, + 1.0 + ], + [ + 0.0022546052932739258, + -0.0009068688377737999, + -0.0011955946683883667, + 0.0007880479097366333, + -0.009395211935043335, + -0.0247189998626709, + 1.0 + ], + [ + -0.0007472336292266846, + 0.003630255348980427, + -0.006761925294995308, + -0.013993874192237854, + 0.000741615891456604, + -0.005366921424865723, + 1.0 + ], + [ + 0.0037772953510284424, + 0.0007841857150197029, + -0.0060951560735702515, + -0.014407344162464142, + -0.01801176369190216, + -0.015061616897583008, + 1.0 + ], + [ + 0.002159804105758667, + 0.004743253346532583, + -0.0021628113463521004, + 0.009534157812595367, + -0.021754741668701172, + -0.003041863441467285, + 1.0 + ], + [ + -0.0007903873920440674, + 0.00417077261954546, + -0.0025829155929386616, + 0.005752786993980408, + -0.0031636059284210205, + -0.0066242218017578125, + 0.0 + ], + [ + -0.005338221788406372, + 0.0005708046955987811, + -0.005783828906714916, + -0.013909950852394104, + -0.005644544959068298, + 0.04671478271484375, + 0.0 + ], + [ + -0.0008603036403656006, + -0.002755518304184079, + -0.0005387597484514117, + 0.0025041475892066956, + -0.016059190034866333, + 0.0023502111434936523, + 0.0 + ], + [ + 0.0012999475002288818, + -0.0013431673869490623, + 0.00281290290877223, + -0.02058228850364685, + -0.004904791712760925, + -0.005012392997741699, + 0.0 + ], + [ + -0.0022158920764923096, + -0.0094517907127738, + 0.0038255988620221615, + -0.04965667426586151, + -0.01679109036922455, + 0.019830942153930664, + 0.0 + ], + [ + 0.002483755350112915, + -0.011608472093939781, + 0.00758620398119092, + -0.0447738915681839, + -0.07666182518005371, + 0.11662089824676514, + 0.0 + ], + [ + -0.008128345012664795, + -0.027305185794830322, + 0.02021057903766632, + -0.08616885542869568, + -0.08230435848236084, + 0.11862152814865112, + 0.0 + ], + [ + -0.010096937417984009, + -0.002426009625196457, + 0.01122349500656128, + -0.019997723400592804, + 0.026078999042510986, + 0.10174602270126343, + 0.0 + ], + [ + -0.012359321117401123, + -0.007043417543172836, + 0.012173913419246674, + 0.055861856788396835, + 0.0431860089302063, + -0.01903754472732544, + 0.0 + ], + [ + -0.0015008747577667236, + 0.01318979263305664, + 0.003826100379228592, + 0.06139608472585678, + 0.049030691385269165, + -0.06876415014266968, + 0.0 + ], + [ + 0.004929602146148682, + 0.022859688848257065, + 0.005511976778507233, + 0.08922386169433594, + 0.01637512445449829, + -0.05111128091812134, + 0.0 + ], + [ + 0.0020367801189422607, + 0.013344639912247658, + -0.0012048035860061646, + 0.07664701342582703, + -0.0026459097862243652, + 0.009304404258728027, + 0.0 + ], + [ + 0.006331264972686768, + 0.01510387472808361, + 0.01150338351726532, + 0.1160394698381424, + -0.0386178195476532, + 0.05193138122558594, + 0.0 + ], + [ + 0.007076859474182129, + 0.016777880489826202, + 0.005514852702617645, + 0.026975899934768677, + -0.03422650694847107, + 0.0670819878578186, + 0.0 + ], + [ + 0.007905036211013794, + 0.010280828922986984, + 0.005635686218738556, + -0.004213064908981323, + -0.021115511655807495, + 0.008462846279144287, + 0.0 + ], + [ + 0.0025343894958496094, + 0.014532733708620071, + -0.0034119337797164917, + 0.011662870645523071, + -0.018786191940307617, + -0.011284589767456055, + 0.0 + ], + [ + 0.005671173334121704, + 0.017308436334133148, + -0.012392356991767883, + 0.018510788679122925, + -0.03925904631614685, + -0.015716195106506348, + 0.0 + ], + [ + -0.0005138516426086426, + 0.012212887406349182, + -0.010184027254581451, + -0.011861652135848999, + -0.011836886405944824, + -0.003126800060272217, + 1.0 + ], + [ + -0.0039095282554626465, + 0.0045067742466926575, + -0.006039369851350784, + 0.017055749893188477, + 0.013447016477584839, + 0.003579378128051758, + 1.0 + ], + [ + -0.0023962557315826416, + 0.0010131150484085083, + -0.001565784215927124, + -0.008610308170318604, + 0.0063066184520721436, + 0.01430821418762207, + 1.0 + ], + [ + -0.0032289624214172363, + 0.0014437660574913025, + 0.0002149716019630432, + -0.014636784791946411, + 0.009930074214935303, + 0.003774106502532959, + 1.0 + ], + [ + -0.002860724925994873, + 0.002798013389110565, + 0.00859188660979271, + -0.0017635822296142578, + 0.025235861539840698, + 0.006738185882568359, + 1.0 + ], + [ + -0.00041431188583374023, + 0.00025607645511627197, + 0.009091794490814209, + -0.033534497022628784, + 0.03415769338607788, + 0.005194246768951416, + 1.0 + ], + [ + -0.006523996591567993, + -0.008836090564727783, + 0.017353475093841553, + -0.02039465308189392, + 0.03355726599693298, + -0.013777375221252441, + 1.0 + ], + [ + -0.015596270561218262, + -0.02175826206803322, + 0.007880449295043945, + -0.12683998048305511, + 0.045309215784072876, + 0.1110161542892456, + 1.0 + ], + [ + -0.005715280771255493, + -0.024119287729263306, + 0.0077333003282547, + -0.06375548243522644, + -0.006393909454345703, + 0.14039844274520874, + 1.0 + ], + [ + -0.0006361901760101318, + -0.03324457257986069, + -0.0003464818000793457, + -0.013184301555156708, + 0.026918187737464905, + 0.1987943947315216, + 1.0 + ], + [ + 0.003020167350769043, + -0.03527954965829849, + 0.002612471580505371, + 0.07572277635335922, + -0.042392149567604065, + 0.21826203167438507, + 1.0 + ], + [ + 0.00616145133972168, + -0.0301961787045002, + -0.0036909133195877075, + 0.0399736613035202, + -0.054490238428115845, + 0.07629042863845825, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9132781028747559 + ], + [ + 0.7071652412414551 + ], + [ + 0.6701657772064209 + ], + [ + 0.6701657772064209 + ], + [ + 0.6701657772064209 + ], + [ + 0.6701657772064209 + ], + [ + 0.6701657772064209 + ], + [ + 0.6701657772064209 + ], + [ + 0.6701657772064209 + ], + [ + 0.6701657772064209 + ], + [ + 0.6701657772064209 + ], + [ + 0.6701657772064209 + ], + [ + 0.6701657772064209 + ], + [ + 0.6701657772064209 + ], + [ + 0.6701657772064209 + ], + [ + 0.6701657772064209 + ], + [ + 0.6701657772064209 + ], + [ + 0.6701657772064209 + ], + [ + 0.7437760233879089 + ], + [ + 0.9837720394134521 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3126661479473114, + 0.06120665743947029, + 0.08789883553981781 + ], + [ + 0.3162738084793091, + 0.054565198719501495, + 0.08529403060674667 + ], + [ + 0.31728851795196533, + 0.05095859616994858, + 0.08719652891159058 + ], + [ + 0.32075461745262146, + 0.05459496006369591, + 0.0871226117014885 + ], + [ + 0.3291425108909607, + 0.051241435110569, + 0.09151272475719452 + ], + [ + 0.3437824249267578, + 0.032329656183719635, + 0.09533056616783142 + ], + [ + 0.3648226261138916, + 0.01263255812227726, + 0.09728651493787766 + ], + [ + 0.38257449865341187, + -0.0036996935959905386, + 0.08690299838781357 + ], + [ + 0.38793259859085083, + -0.009906085208058357, + 0.0758977085351944 + ], + [ + 0.39389052987098694, + -0.013692201115190983, + 0.0649460032582283 + ], + [ + 0.39781686663627625, + -0.01710633561015129, + 0.04928363859653473 + ], + [ + 0.401639461517334, + -0.011217332445085049, + 0.041761115193367004 + ], + [ + 0.3941965103149414, + -0.010971787385642529, + 0.026159854605793953 + ], + [ + 0.39645111560821533, + -0.011878656223416328, + 0.024964259937405586 + ], + [ + 0.39570388197898865, + -0.008248400874435902, + 0.01820233464241028 + ], + [ + 0.3994811773300171, + -0.007464215159416199, + 0.012107178568840027 + ], + [ + 0.40164098143577576, + -0.0027209618128836155, + 0.009944367222487926 + ], + [ + 0.4008505940437317, + 0.001449810923077166, + 0.007361451629549265 + ], + [ + 0.3955123722553253, + 0.002020615618675947, + 0.0015776227228343487 + ], + [ + 0.3946520686149597, + -0.0007349027437157929, + 0.001038862974382937 + ], + [ + 0.3959520161151886, + -0.0020780700724571943, + 0.0038517657667398453 + ], + [ + 0.3937361240386963, + -0.011529861018061638, + 0.007677364628762007 + ], + [ + 0.3962198793888092, + -0.02313833311200142, + 0.015263568609952927 + ], + [ + 0.3880915343761444, + -0.05044351890683174, + 0.03547414764761925 + ], + [ + 0.3779945969581604, + -0.0528695285320282, + 0.04669764265418053 + ], + [ + 0.3656352758407593, + -0.059912946075201035, + 0.0588715560734272 + ], + [ + 0.36413440108299255, + -0.046723153442144394, + 0.06269765645265579 + ], + [ + 0.36906400322914124, + -0.02386346459388733, + 0.06820963323116302 + ], + [ + 0.3711007833480835, + -0.010518824681639671, + 0.06700482964515686 + ], + [ + 0.37743204832077026, + 0.0045850505121052265, + 0.07850821316242218 + ], + [ + 0.3845089077949524, + 0.02136293053627014, + 0.08402306586503983 + ], + [ + 0.3924139440059662, + 0.031643759459257126, + 0.08965875208377838 + ], + [ + 0.3949483335018158, + 0.0461764931678772, + 0.08624681830406189 + ], + [ + 0.4006195068359375, + 0.06348492950201035, + 0.073854461312294 + ], + [ + 0.40010565519332886, + 0.07569781690835953, + 0.06367043405771255 + ], + [ + 0.3961961269378662, + 0.08020459115505219, + 0.05763106420636177 + ], + [ + 0.39379987120628357, + 0.0812177062034607, + 0.05606527999043465 + ], + [ + 0.39057090878486633, + 0.082661472260952, + 0.05628025159239769 + ], + [ + 0.38771018385887146, + 0.08545948565006256, + 0.0648721382021904 + ], + [ + 0.3872958719730377, + 0.08571556210517883, + 0.07396393269300461 + ], + [ + 0.3807718753814697, + 0.07687947154045105, + 0.09131740778684616 + ], + [ + 0.36517560482025146, + 0.05512120947241783, + 0.0991978570818901 + ], + [ + 0.35946032404899597, + 0.031001921743154526, + 0.1069311574101448 + ], + [ + 0.35882413387298584, + -0.0022426501382142305, + 0.10658467561006546 + ], + [ + 0.3618443012237549, + -0.037522200495004654, + 0.10919714719057083 + ], + [ + 0.36800575256347656, + -0.06771837919950485, + 0.10550623387098312 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9508168706761146, + -0.23917648687705445, + 0.19682958762043679, + -0.24647256841133863, + -0.9690615661235065, + 0.013074941031424897, + 0.18761276997688353, + -0.060944968515927816, + -0.9803505288182354 + ], + [ + 0.9036505532841579, + -0.3960886260188901, + 0.16287872140860823, + -0.39783855155710995, + -0.9171632822536465, + -0.023151686345891386, + 0.15855650237116084, + -0.0438784004287487, + -0.986374432724023 + ], + [ + 0.8020844412594796, + -0.5785503263259657, + 0.1481218045987392, + -0.575373668944019, + -0.8150665853597557, + -0.06790878084523842, + 0.16001778081003049, + -0.03075680962172009, + -0.986634850634482 + ], + [ + 0.6485554538996829, + -0.7488011182646757, + 0.1366481192792186, + -0.7407864740382459, + -0.6622003627663399, + -0.11280992613290348, + 0.1749606329977102, + -0.028063585617295064, + -0.9841753970016429 + ], + [ + 0.5196417396263114, + -0.8476654068023856, + 0.10693839604504678, + -0.8416960037564204, + -0.5293896433971528, + -0.1062753156866992, + 0.1466979880523686, + -0.03478453067646547, + -0.9885695406631774 + ], + [ + 0.49735355573366224, + -0.8564089931405985, + 0.13857516756976823, + -0.8608865333239957, + -0.5069542911182636, + -0.04326341939990403, + 0.10730245729001768, + -0.09778028014219056, + -0.9894064884944098 + ], + [ + 0.5196801435046796, + -0.8325696003902163, + 0.19173004186363396, + -0.8497549886240532, + -0.526966017780493, + 0.01494240319038892, + 0.08859462599667482, + -0.17068882977700764, + -0.9813339470505771 + ], + [ + 0.5078265532650602, + -0.8384659841441247, + 0.19770428733882645, + -0.858163448980902, + -0.5124372526070565, + 0.031041214115014287, + 0.07528403969057035, + -0.18542614587418907, + -0.9797701045623469 + ], + [ + 0.4953301716928432, + -0.8460530314272037, + 0.19708447179719146, + -0.8639510555607535, + -0.5034762261833841, + 0.010013154527827792, + 0.0907556863573778, + -0.17523115499527298, + -0.9803353751205881 + ], + [ + 0.466200706215186, + -0.8665400024328132, + 0.17822829659793626, + -0.8795402100331544, + -0.4756721065315677, + -0.01204433487808669, + 0.09521512726083226, + -0.15114387599754397, + -0.9839154477337686 + ], + [ + 0.3880145229150057, + -0.9071873037555571, + 0.1626527771412558, + -0.9161354577485314, + -0.39892008102795573, + -0.03947900718784624, + 0.10070031312230028, + -0.133693548301224, + -0.985893240711031 + ], + [ + 0.3791556919300546, + -0.9089306405234934, + 0.1734533135878189, + -0.9166940814246025, + -0.3945120048541334, + -0.06349991422889426, + 0.12614643220537886, + -0.13492727205248362, + -0.9827928107685411 + ], + [ + 0.3876423845366703, + -0.9031603811619462, + 0.18448497936182257, + -0.9120195994588591, + -0.4048568463995559, + -0.06565960802737315, + 0.13399116356546098, + -0.14280146996027132, + -0.9806396424087491 + ], + [ + 0.36450229425870717, + -0.9122502756189924, + 0.1869157888280478, + -0.9201111060151116, + -0.38371869147961435, + -0.07845711183073698, + 0.14329560379783832, + -0.1433854959270465, + -0.9792379534566499 + ], + [ + 0.3595974144321679, + -0.9168515943872557, + 0.17341526289011241, + -0.9221528556276644, + -0.3775786191775958, + -0.08407435517257512, + 0.1425616020934243, + -0.12968245914342952, + -0.9812536111521165 + ], + [ + 0.3447152570131185, + -0.9240926827383855, + 0.16499728874061328, + -0.9249077580431602, + -0.3643878398526334, + -0.10847645495270745, + 0.16036530389693035, + -0.11521378336338607, + -0.980310539282905 + ], + [ + 0.3406109875092439, + -0.9226479931903222, + 0.18084478386132244, + -0.922460477974941, + -0.3651349768057812, + -0.12547157162992992, + 0.18179884972744112, + -0.12408516984278319, + -0.9754752938249469 + ], + [ + 0.3342956623482168, + -0.9238560807579967, + 0.18637690892822628, + -0.9241510362732421, + -0.36012364977805816, + -0.12749830989320077, + 0.18490882155878663, + -0.12961828156939825, + -0.9741703284296521 + ], + [ + 0.37668029502072564, + -0.9083647565111702, + 0.18161889899319764, + -0.9065536879655517, + -0.40178801409775744, + -0.12933214048888694, + 0.19045305505335433, + -0.11593041385151048, + -0.9748270477192666 + ], + [ + 0.37758084985281803, + -0.9062272083264116, + 0.19022341788891867, + -0.9027276006863456, + -0.4059941950448661, + -0.14230809024417626, + 0.2061930667687376, + -0.11798711996989206, + -0.9713719466495381 + ], + [ + 0.37266124967463654, + -0.9117755692596639, + 0.1725946241693342, + -0.9036630063792153, + -0.3988573133091796, + -0.15590386307420623, + 0.21098996159205335, + -0.09786804851941422, + -0.9725765168799754 + ], + [ + 0.3890369746986146, + -0.910960645804986, + 0.13711649832136413, + -0.8927216587301904, + -0.40953825816262784, + -0.1879533323331578, + 0.22737254089130293, + -0.04928607202530856, + -0.9725598237398814 + ], + [ + 0.4800616199677411, + -0.8631177328824804, + 0.15674380439990354, + -0.8238737037896129, + -0.5049718437532635, + -0.2573626958601707, + 0.30128551448407404, + -0.0055871459831245696, + -0.9535176047466717 + ], + [ + 0.557329346607136, + -0.8140878571963519, + 0.16323284037201174, + -0.7389200416051713, + -0.5759756747013356, + -0.3496415225149221, + 0.3786570632177279, + 0.07424946409094854, + -0.9225539797526929 + ], + [ + 0.6360011688428213, + -0.753530046979743, + 0.16641809255387918, + -0.6854979454520818, + -0.6507104511554395, + -0.3266014016168016, + 0.3543939615901208, + 0.09363961264225097, + -0.9303959065541235 + ], + [ + 0.6324466866660491, + -0.754438894764392, + 0.17559368608187084, + -0.7082428128621509, + -0.6550130745056403, + -0.2633438631443244, + 0.3136930132378539, + 0.042187987548007774, + -0.9485867736545794 + ], + [ + 0.5910171432127841, + -0.7870082701306768, + 0.17696530500219498, + -0.76126722475273, + -0.616726137046519, + -0.20030248226358915, + 0.2667788390144105, + -0.016335685770685546, + -0.9636193213217165 + ], + [ + 0.5537780814639092, + -0.8003594126023416, + 0.2296837981856487, + -0.7939444872631142, + -0.5906787488734893, + -0.14405126439486404, + 0.2509621239045081, + -0.10258375255411137, + -0.9625458877774369 + ], + [ + 0.5607542912473015, + -0.7745363094493221, + 0.292657018013169, + -0.7882137905106836, + -0.6075894226002713, + -0.09774514818163019, + 0.2535224749337155, + -0.17586528619626093, + -0.9512085763987784 + ], + [ + 0.5943845123734013, + -0.6957420339345809, + 0.40329898793228647, + -0.7498079749612362, + -0.660740265555045, + -0.03478939721781796, + 0.29068032636414254, + -0.2817185185443465, + -0.9144067061073067 + ], + [ + 0.6362439920362879, + -0.6317237006632176, + 0.44285296500994265, + -0.700500913878327, + -0.7135592062436619, + -0.011477318525857483, + 0.323252304327992, + -0.30291653174642796, + -0.8965207875678949 + ], + [ + 0.6373748184169173, + -0.6232525344720232, + 0.45311104502340377, + -0.6899232691589416, + -0.7234633302702922, + -0.024631127202311198, + 0.3431606380706273, + -0.296912593246594, + -0.8911137348568601 + ], + [ + 0.6251171884025453, + -0.6221971971516588, + 0.4712739634441062, + -0.6921646628329593, + -0.720951613481148, + -0.033717214360996006, + 0.36074448060785724, + -0.3051219737671304, + -0.881342158775704 + ], + [ + 0.6043653672999738, + -0.6163864666611275, + 0.5047873082055239, + -0.6907067580562297, + -0.7211445976028013, + -0.05361570407769542, + 0.39707263464487297, + -0.3162565304706052, + -0.8615771177038505 + ], + [ + 0.5990766432438592, + -0.6222096647248564, + 0.5039467319495698, + -0.6889978148470762, + -0.7212349062801942, + -0.07142983339581346, + 0.40790830667641953, + -0.30442625229434683, + -0.8607760860167961 + ], + [ + 0.6050983440442581, + -0.6137700439282526, + 0.5070920303171876, + -0.6909132314163279, + -0.7213024302882847, + -0.048597435262183075, + 0.39559436382327845, + -0.3209503656899696, + -0.8605207505195505 + ], + [ + 0.6165799715970754, + -0.6090620338160887, + 0.4988713036336722, + -0.6840244749189867, + -0.7281565852729696, + -0.04357183764099873, + 0.38979437699530056, + -0.3143746591050536, + -0.865580104539971 + ], + [ + 0.6217289956908681, + -0.6155668553813005, + 0.4842834939095086, + -0.6845241687487797, + -0.7275395290113064, + -0.04596624984484135, + 0.380630684937534, + -0.30292520575545245, + -0.8737028106867919 + ], + [ + 0.6326331141339234, + -0.6166818864052466, + 0.468485638927044, + -0.6871687394195858, + -0.72597039263377, + -0.027678738838086275, + 0.3571756801151379, + -0.304418199191238, + -0.8830374247649146 + ], + [ + 0.6441310677014562, + -0.6347003690587267, + 0.4269081975536409, + -0.6924054634692447, + -0.7209953492635933, + -0.02720993381487452, + 0.3250689800330427, + -0.2780668046656875, + -0.9038855073311509 + ], + [ + 0.6414913348276036, + -0.6590139677721353, + 0.3926696545728058, + -0.7089060281305045, + -0.7048649533744996, + -0.02485237985780908, + 0.2931571432207166, + -0.26242329886195637, + -0.919343734189273 + ], + [ + 0.7252910904235581, + -0.6268670976009455, + 0.28458825713225255, + -0.6416200940970406, + -0.7653492459237733, + -0.05063779828168559, + 0.24955257763267272, + -0.1458704003877367, + -0.9573115152799587 + ], + [ + 0.8065934726407477, + -0.5305082727582645, + 0.2607066213742605, + -0.5329207342229986, + -0.8434635663359589, + -0.06756258801322895, + 0.2557390485017086, + -0.08444042159338169, + -0.96305106524658 + ], + [ + 0.9020077459007185, + -0.3587969011793295, + 0.24009750110989256, + -0.36558678582229365, + -0.9306174838147749, + -0.017245313867282036, + 0.2296264975285491, + -0.07222106702595274, + -0.9705955847367139 + ], + [ + 0.9493108810728267, + -0.12428584269559613, + 0.28872457530002377, + -0.15983774733775546, + -0.9817630594407272, + 0.10292322208119509, + 0.2706672229929686, + -0.14385522035375944, + -0.9518639240848693 + ], + [ + 0.9426278335619193, + -0.028083126730959685, + 0.33266214901514607, + -0.08555803451988804, + -0.983497972461567, + 0.15941004012633686, + 0.32269581671204856, + -0.17872626040120554, + -0.9294753002202609 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005440.json b/json/chunk-0005/episode_0005440.json new file mode 100644 index 0000000000000000000000000000000000000000..44cac4c3f2424e4845786fdc0e145b8efc9adf6f --- /dev/null +++ b/json/chunk-0005/episode_0005440.json @@ -0,0 +1,1582 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 25, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut potato on plate." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005440.mp4", + "start": 0, + "end": 25, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.31679773330688477, + -0.04062768816947937, + 0.06891777366399765, + 0.10171487182378769, + -0.09669352322816849, + 0.031651243567466736, + 0.0, + 1.0027955770492554 + ], + [ + 0.3119881749153137, + -0.03603160381317139, + 0.058849576860666275, + 0.11567996442317963, + -0.07227635383605957, + 0.026335928589105606, + 0.0, + 1.0027955770492554 + ], + [ + 0.30708131194114685, + -0.01477882917970419, + 0.05425712838768959, + 0.1587606966495514, + -0.058837875723838806, + 0.025841249153017998, + 0.0, + 1.0027955770492554 + ], + [ + 0.2999787926673889, + 0.027646802365779877, + 0.060824353247880936, + 0.20078347623348236, + -0.022820530459284782, + 0.0487138107419014, + 0.0, + 1.0027955770492554 + ], + [ + 0.2992832660675049, + 0.07164061069488525, + 0.0697944387793541, + 0.22819188237190247, + -0.023202136158943176, + 0.029557297006249428, + 0.0, + 1.0027955770492554 + ], + [ + 0.2938975393772125, + 0.11594393104314804, + 0.07586818933486938, + 0.26203519105911255, + -0.0449683740735054, + 0.03749014064669609, + 0.0, + 1.0027955770492554 + ], + [ + 0.2901555895805359, + 0.15743403136730194, + 0.08613445609807968, + 0.31839314103126526, + -0.07823337614536285, + 0.08252882212400436, + 0.0, + 1.0027955770492554 + ], + [ + 0.2914179265499115, + 0.18780863285064697, + 0.08829637616872787, + 0.354641854763031, + -0.11194075644016266, + 0.12303381413221359, + 0.0, + 1.0027955770492554 + ], + [ + 0.29839006066322327, + 0.20823641121387482, + 0.08266351372003555, + 0.33206912875175476, + -0.1436465084552765, + 0.16198262572288513, + 0.0, + 1.0027955770492554 + ], + [ + 0.298361212015152, + 0.21602296829223633, + 0.07254919409751892, + 0.29544928669929504, + -0.14249101281166077, + 0.20365449786186218, + 0.0, + 1.0027955770492554 + ], + [ + 0.29843658208847046, + 0.21833443641662598, + 0.06553965061903, + 0.2816666066646576, + -0.15228848159313202, + 0.22823087871074677, + 0.0, + 1.0027955770492554 + ], + [ + 0.294633686542511, + 0.21660040318965912, + 0.057810306549072266, + 0.26564958691596985, + -0.1622215211391449, + 0.24923951923847198, + 0.0, + 1.0027955770492554 + ], + [ + 0.29577627778053284, + 0.21650995314121246, + 0.051954519003629684, + 0.24526113271713257, + -0.1734423041343689, + 0.25842729210853577, + 0.0, + 1.0027955770492554 + ], + [ + 0.294165700674057, + 0.21619458496570587, + 0.040044598281383514, + 0.22102929651737213, + -0.17048795521259308, + 0.2737196087837219, + 0.0, + 1.0027955770492554 + ], + [ + 0.29415223002433777, + 0.21662746369838715, + 0.03805477172136307, + 0.2155686914920807, + -0.1806575357913971, + 0.2771643400192261, + 0.0, + 1.0027955770492554 + ], + [ + 0.29117056727409363, + 0.21797163784503937, + 0.029336929321289062, + 0.19266286492347717, + -0.16482895612716675, + 0.290107786655426, + 0.0, + 1.0027955770492554 + ], + [ + 0.28784170746803284, + 0.2201126515865326, + 0.0204079058021307, + 0.16529838740825653, + -0.14177171885967255, + 0.29281967878341675, + 0.0, + 1.0027955770492554 + ], + [ + 0.2868165075778961, + 0.22411781549453735, + 0.014478796161711216, + 0.13936589658260345, + -0.12738437950611115, + 0.3067706525325775, + 0.0, + 0.8130597472190857 + ], + [ + 0.28737199306488037, + 0.22350482642650604, + 0.016556041315197945, + 0.13132241368293762, + -0.11760149151086807, + 0.30309316515922546, + 0.0, + 0.6551066637039185 + ], + [ + 0.297200471162796, + 0.21279536187648773, + 0.020909255370497704, + 0.1367080807685852, + -0.09422116726636887, + 0.178788423538208, + 0.0, + 0.6561112403869629 + ], + [ + 0.31548067927360535, + 0.18171626329421997, + 0.03884276747703552, + 0.1418493241071701, + -0.0923185870051384, + 0.006923644803464413, + 0.0, + 0.6561112403869629 + ], + [ + 0.3452626168727875, + 0.1333470344543457, + 0.06489399075508118, + 0.15889646112918854, + -0.1900687962770462, + -0.17313268780708313, + 0.0, + 0.6561112403869629 + ], + [ + 0.3612688183784485, + 0.09301112592220306, + 0.0710507482290268, + 0.18687976896762848, + -0.2843274772167206, + -0.2732899785041809, + 0.0, + 0.6561112403869629 + ], + [ + 0.37899523973464966, + 0.06320001184940338, + 0.07793831080198288, + 0.2583332359790802, + -0.4065902829170227, + -0.2806853950023651, + 0.0, + 0.6561112403869629 + ], + [ + 0.3921511173248291, + 0.04184308275580406, + 0.07574301213026047, + 0.2804422378540039, + -0.4710330665111542, + -0.3041645586490631, + 0.0, + 0.6551066637039185 + ] + ], + "left_gripper_pos": [ + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 0.8130597472190857 + ], + [ + 0.6551066637039185 + ], + [ + 0.6561112403869629 + ], + [ + 0.6561112403869629 + ], + [ + 0.6561112403869629 + ], + [ + 0.6561112403869629 + ], + [ + 0.6561112403869629 + ], + [ + 0.6551066637039185 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.31679773330688477, + -0.04062768816947937, + 0.06891777366399765 + ], + [ + 0.3119881749153137, + -0.03603160381317139, + 0.058849576860666275 + ], + [ + 0.30708131194114685, + -0.01477882917970419, + 0.05425712838768959 + ], + [ + 0.2999787926673889, + 0.027646802365779877, + 0.060824353247880936 + ], + [ + 0.2992832660675049, + 0.07164061069488525, + 0.0697944387793541 + ], + [ + 0.2938975393772125, + 0.11594393104314804, + 0.07586818933486938 + ], + [ + 0.2901555895805359, + 0.15743403136730194, + 0.08613445609807968 + ], + [ + 0.2914179265499115, + 0.18780863285064697, + 0.08829637616872787 + ], + [ + 0.29839006066322327, + 0.20823641121387482, + 0.08266351372003555 + ], + [ + 0.298361212015152, + 0.21602296829223633, + 0.07254919409751892 + ], + [ + 0.29843658208847046, + 0.21833443641662598, + 0.06553965061903 + ], + [ + 0.294633686542511, + 0.21660040318965912, + 0.057810306549072266 + ], + [ + 0.29577627778053284, + 0.21650995314121246, + 0.051954519003629684 + ], + [ + 0.294165700674057, + 0.21619458496570587, + 0.040044598281383514 + ], + [ + 0.29415223002433777, + 0.21662746369838715, + 0.03805477172136307 + ], + [ + 0.29117056727409363, + 0.21797163784503937, + 0.029336929321289062 + ], + [ + 0.28784170746803284, + 0.2201126515865326, + 0.0204079058021307 + ], + [ + 0.2868165075778961, + 0.22411781549453735, + 0.014478796161711216 + ], + [ + 0.28737199306488037, + 0.22350482642650604, + 0.016556041315197945 + ], + [ + 0.297200471162796, + 0.21279536187648773, + 0.020909255370497704 + ], + [ + 0.31548067927360535, + 0.18171626329421997, + 0.03884276747703552 + ], + [ + 0.3452626168727875, + 0.1333470344543457, + 0.06489399075508118 + ], + [ + 0.3612688183784485, + 0.09301112592220306, + 0.0710507482290268 + ], + [ + 0.37899523973464966, + 0.06320001184940338, + 0.07793831080198288 + ], + [ + 0.3921511173248291, + 0.04184308275580406, + 0.07574301213026047 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9948303032757468, + 0.041280413933227685, + 0.09278251510811085, + 0.0314981352299206, + -0.9940230076752603, + 0.1045281191319688, + 0.09654291875286904, + -0.10106526424905249, + -0.9901844662490652 + ], + [ + 0.9970433359989973, + 0.034489028770921124, + 0.06866653504021068, + 0.026264134480629395, + -0.9927525927364685, + 0.11727098897426569, + 0.07221344320812657, + -0.11512079095218858, + -0.9907231813733686 + ], + [ + 0.9979362627352695, + 0.034806910150061134, + 0.05396011975309603, + 0.02579366127220547, + -0.9868540923699188, + 0.1595421179843057, + 0.0588039331689439, + -0.1578210359190085, + -0.9857152824549861 + ], + [ + 0.9985536488160661, + 0.05226177082516616, + 0.012622113386366155, + 0.04868186748841506, + -0.9785265706269002, + 0.20028935656943567, + 0.022818549777776597, + -0.19938519977013328, + -0.9796554781649839 + ], + [ + 0.9992941749753868, + 0.034032837838313235, + 0.0159033898566174, + 0.029545039075826892, + -0.9734964498735267, + 0.22678569785074065, + 0.02320005444537466, + -0.2261557605552214, + -0.9738148332416283 + ], + [ + 0.9982871303558469, + 0.04783872976692076, + 0.03367879600246658, + 0.03744346896486335, + -0.9647496119693808, + 0.26049217423332777, + 0.04495322010452138, + -0.25878493414265175, + -0.9648883696381763 + ], + [ + 0.9935481695745874, + 0.1026739503967729, + 0.04816736078412089, + 0.08218302798007165, + -0.9444903517056681, + 0.3180942084460669, + 0.07815359650722037, + -0.31208337899481947, + -0.9468347162563074 + ], + [ + 0.9862293673742575, + 0.15358424745551172, + 0.061347484562087815, + 0.12195554256822147, + -0.9259216474470763, + 0.3574855919135518, + 0.11170711958269346, + -0.3450811233933492, + -0.9319015708282294 + ], + [ + 0.9767448686104518, + 0.1985216517332357, + 0.08098527913305516, + 0.15961415163478013, + -0.9254680772244952, + 0.34355808917314823, + 0.14315300989172527, + -0.32264220404575616, + -0.9356330605143429 + ], + [ + 0.9694087622229103, + 0.23398075376347968, + 0.07415968307456128, + 0.2001999120669193, + -0.928538064529259, + 0.312629265950352, + 0.14200931988374307, + -0.2882187877091499, + -0.9469758621409657 + ], + [ + 0.9627948153727107, + 0.2584115076592068, + 0.07905464060207273, + 0.2236360763210243, + -0.9261432977434503, + 0.3037194386479455, + 0.1517005235955505, + -0.27474003121893587, + -0.9494761010086844 + ], + [ + 0.9563768911448605, + 0.27910673944537634, + 0.08627091097387635, + 0.24342853682977647, + -0.9246470570561419, + 0.2928657838231193, + 0.16151095795953246, + -0.259089266226115, + -0.952253623036115 + ], + [ + 0.9522878651623332, + 0.28842365450131796, + 0.09979788268630738, + 0.2517260983961052, + -0.9271521449791511, + 0.27752994693696253, + 0.17257402252610318, + -0.2391666690503993, + -0.9555194980556371 + ], + [ + 0.948813917702502, + 0.2995495328091985, + 0.10011107315287529, + 0.26639544126908243, + -0.9292954705701562, + 0.25581907131573006, + 0.16966325013119457, + -0.21605556176961205, + -0.9615271061095141 + ], + [ + 0.9461820884256249, + 0.3042626690549507, + 0.11028909176378314, + 0.26917620603138726, + -0.9290569730035249, + 0.253766252721034, + 0.1796764471183433, + -0.2104218836839102, + -0.9609573378760599 + ], + [ + 0.9452258455412819, + 0.3108676288832711, + 0.09954606086260433, + 0.28217843748415933, + -0.931496865131936, + 0.22954067105498768, + 0.16408360777288777, + -0.1888780229721513, + -0.9681950537460746 + ], + [ + 0.9478280428604414, + 0.30697881267199406, + 0.08594189745309139, + 0.28575702982559875, + -0.937672100482573, + 0.19777247503596418, + 0.14129727907003997, + -0.16289579659123188, + -0.9764732655737745 + ], + [ + 0.9455895897885693, + 0.3158776028433676, + 0.07798504796057446, + 0.2995348516123331, + -0.9387413679180365, + 0.1704215855722249, + 0.1270401525229836, + -0.13778963742350633, + -0.9822804159025241 + ], + [ + 0.9478255783368383, + 0.31056739195677685, + 0.07193447089958582, + 0.29641221653824723, + -0.9416141867957084, + 0.15969508793929701, + 0.11733060528830866, + -0.13004083311876422, + -0.984541980204225 + ], + [ + 0.9796950502519468, + 0.18879555635554604, + 0.06748219329745307, + 0.17704863692219266, + -0.9725984129109103, + 0.15068545837993652, + 0.09408181905038075, + -0.1356781673799356, + -0.9862758469214346 + ], + [ + 0.9957177986518447, + 0.019886664805627376, + 0.09028059598182125, + 0.006894106523305275, + -0.9898422804110751, + 0.1420025746451369, + 0.09218750860702082, + -0.14077208698286384, + -0.985740677249001 + ], + [ + 0.9673104082815218, + -0.14065221361021374, + 0.2110154706100548, + -0.16916669139015894, + -0.9777905042384035, + 0.12372695884614555, + 0.18892645276493927, + -0.15537916407213637, + -0.9696206014817867 + ], + [ + 0.9242286835772835, + -0.21501821650459568, + 0.315544778160224, + -0.2590643973828715, + -0.9601895741470658, + 0.1045065534209532, + 0.28051199343638017, + -0.17833437209483688, + -0.9431383107836777 + ], + [ + 0.8825308637278501, + -0.17074297184508602, + 0.43816219843031146, + -0.2544305951046386, + -0.95696910629915, + 0.1395535806194381, + 0.3954798943593403, + -0.23464221093936768, + -0.8879970078795372 + ], + [ + 0.8501962327029834, + -0.16795637707951783, + 0.498955931216352, + -0.266881037805781, + -0.954442116973484, + 0.13347193340505423, + 0.45380709289009963, + -0.24663921169493055, + -0.8562874644049973 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.004809558391571045, + 0.004596084356307983, + -0.010068196803331375, + 0.013965092599391937, + 0.024417169392108917, + -0.00531531497836113, + 1.0 + ], + [ + -0.00490686297416687, + 0.021252773702144623, + -0.004592448472976685, + 0.043080732226371765, + 0.013438478112220764, + -0.0004946794360876083, + 1.0 + ], + [ + -0.007102519273757935, + 0.04242563247680664, + 0.006567224860191345, + 0.04202277958393097, + 0.036017343401908875, + 0.0228725615888834, + 1.0 + ], + [ + -0.0006955265998840332, + 0.04399380832910538, + 0.00897008553147316, + 0.027408406138420105, + -0.00038160569965839386, + -0.01915651373565197, + 1.0 + ], + [ + -0.005385726690292358, + 0.04430332034826279, + 0.006073750555515289, + 0.03384330868721008, + -0.021766237914562225, + 0.007932843640446663, + 1.0 + ], + [ + -0.0037419497966766357, + 0.0414901003241539, + 0.010266266763210297, + 0.05635794997215271, + -0.03326500207185745, + 0.04503868147730827, + 1.0 + ], + [ + 0.0012623369693756104, + 0.030374601483345032, + 0.0021619200706481934, + 0.03624871373176575, + -0.033707380294799805, + 0.04050499200820923, + 1.0 + ], + [ + 0.006972134113311768, + 0.020427778363227844, + -0.005632862448692322, + -0.022572726011276245, + -0.03170575201511383, + 0.03894881159067154, + 1.0 + ], + [ + -2.8848648071289062e-05, + 0.007786557078361511, + -0.010114319622516632, + -0.03661984205245972, + 0.0011554956436157227, + 0.04167187213897705, + 1.0 + ], + [ + 7.537007331848145e-05, + 0.0023114681243896484, + -0.007009543478488922, + -0.013782680034637451, + -0.009797468781471252, + 0.024576380848884583, + 1.0 + ], + [ + -0.0038028955459594727, + -0.001734033226966858, + -0.007729344069957733, + -0.016017019748687744, + -0.009933039546012878, + 0.02100864052772522, + 1.0 + ], + [ + 0.0011425912380218506, + -9.045004844665527e-05, + -0.005855787545442581, + -0.02038845419883728, + -0.011220782995223999, + 0.009187772870063782, + 1.0 + ], + [ + -0.00161057710647583, + -0.0003153681755065918, + -0.01190992072224617, + -0.024231836199760437, + 0.002954348921775818, + 0.015292316675186157, + 1.0 + ], + [ + -1.3470649719238281e-05, + 0.0004328787326812744, + -0.0019898265600204468, + -0.005460605025291443, + -0.010169580578804016, + 0.0034447312355041504, + 1.0 + ], + [ + -0.0029816627502441406, + 0.0013441741466522217, + -0.008717842400074005, + -0.022905826568603516, + 0.015828579664230347, + 0.012943446636199951, + 1.0 + ], + [ + -0.003328859806060791, + 0.002141013741493225, + -0.008929023519158363, + -0.027364477515220642, + 0.0230572372674942, + 0.0027118921279907227, + 1.0 + ], + [ + -0.0010251998901367188, + 0.004005163908004761, + -0.005929109640419483, + -0.025932490825653076, + 0.014387339353561401, + 0.013950973749160767, + 0.0 + ], + [ + 0.0005554854869842529, + -0.000612989068031311, + 0.0020772451534867287, + -0.008043482899665833, + 0.009782887995243073, + -0.0036774873733520508, + 0.0 + ], + [ + 0.00982847809791565, + -0.01070946455001831, + 0.004353214055299759, + 0.005385667085647583, + 0.023380324244499207, + -0.12430474162101746, + 0.0 + ], + [ + 0.018280208110809326, + -0.03107909858226776, + 0.01793351210653782, + 0.0051412433385849, + 0.0019025802612304688, + -0.17186477780342102, + 0.0 + ], + [ + 0.02978193759918213, + -0.04836922883987427, + 0.026051223278045654, + 0.017047137022018433, + -0.0977502092719078, + -0.18005633354187012, + 0.0 + ], + [ + 0.01600620150566101, + -0.04033590853214264, + 0.006156757473945618, + 0.02798330783843994, + -0.09425868093967438, + -0.10015729069709778, + 0.0 + ], + [ + 0.017726421356201172, + -0.029811114072799683, + 0.006887562572956085, + 0.07145346701145172, + -0.12226280570030212, + -0.007395416498184204, + 0.0 + ], + [ + 0.013155877590179443, + -0.02135692909359932, + -0.002195298671722412, + 0.022109001874923706, + -0.06444278359413147, + -0.023479163646697998, + 0.0 + ], + [ + 0.0063478052616119385, + 0.001120876520872116, + -0.014126189053058624, + -0.011503666639328003, + 0.01180410385131836, + -0.04560136795043945, + 0.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 0.8130597472190857 + ], + [ + 0.6551066637039185 + ], + [ + 0.6561112403869629 + ], + [ + 0.6561112403869629 + ], + [ + 0.6561112403869629 + ], + [ + 0.6561112403869629 + ], + [ + 0.6561112403869629 + ], + [ + 0.6551066637039185 + ], + [ + 0.6561112403869629 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3119881749153137, + -0.03603160381317139, + 0.058849576860666275 + ], + [ + 0.30708131194114685, + -0.01477882917970419, + 0.05425712838768959 + ], + [ + 0.2999787926673889, + 0.027646802365779877, + 0.060824353247880936 + ], + [ + 0.2992832660675049, + 0.07164061069488525, + 0.0697944387793541 + ], + [ + 0.2938975393772125, + 0.11594393104314804, + 0.07586818933486938 + ], + [ + 0.2901555895805359, + 0.15743403136730194, + 0.08613445609807968 + ], + [ + 0.2914179265499115, + 0.18780863285064697, + 0.08829637616872787 + ], + [ + 0.29839006066322327, + 0.20823641121387482, + 0.08266351372003555 + ], + [ + 0.298361212015152, + 0.21602296829223633, + 0.07254919409751892 + ], + [ + 0.29843658208847046, + 0.21833443641662598, + 0.06553965061903 + ], + [ + 0.294633686542511, + 0.21660040318965912, + 0.057810306549072266 + ], + [ + 0.29577627778053284, + 0.21650995314121246, + 0.051954519003629684 + ], + [ + 0.294165700674057, + 0.21619458496570587, + 0.040044598281383514 + ], + [ + 0.29415223002433777, + 0.21662746369838715, + 0.03805477172136307 + ], + [ + 0.29117056727409363, + 0.21797163784503937, + 0.029336929321289062 + ], + [ + 0.28784170746803284, + 0.2201126515865326, + 0.0204079058021307 + ], + [ + 0.2868165075778961, + 0.22411781549453735, + 0.014478796161711216 + ], + [ + 0.28737199306488037, + 0.22350482642650604, + 0.016556041315197945 + ], + [ + 0.297200471162796, + 0.21279536187648773, + 0.020909255370497704 + ], + [ + 0.31548067927360535, + 0.18171626329421997, + 0.03884276747703552 + ], + [ + 0.3452626168727875, + 0.1333470344543457, + 0.06489399075508118 + ], + [ + 0.3612688183784485, + 0.09301112592220306, + 0.0710507482290268 + ], + [ + 0.37899523973464966, + 0.06320001184940338, + 0.07793831080198288 + ], + [ + 0.3921511173248291, + 0.04184308275580406, + 0.07574301213026047 + ], + [ + 0.39849892258644104, + 0.04296395927667618, + 0.06161682307720184 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9970433359989973, + 0.034489028770921124, + 0.06866653504021068, + 0.026264134480629395, + -0.9927525927364685, + 0.11727098897426569, + 0.07221344320812657, + -0.11512079095218858, + -0.9907231813733686 + ], + [ + 0.9979362627352695, + 0.034806910150061134, + 0.05396011975309603, + 0.02579366127220547, + -0.9868540923699188, + 0.1595421179843057, + 0.0588039331689439, + -0.1578210359190085, + -0.9857152824549861 + ], + [ + 0.9985536488160661, + 0.05226177082516616, + 0.012622113386366155, + 0.04868186748841506, + -0.9785265706269002, + 0.20028935656943567, + 0.022818549777776597, + -0.19938519977013328, + -0.9796554781649839 + ], + [ + 0.9992941749753868, + 0.034032837838313235, + 0.0159033898566174, + 0.029545039075826892, + -0.9734964498735267, + 0.22678569785074065, + 0.02320005444537466, + -0.2261557605552214, + -0.9738148332416283 + ], + [ + 0.9982871303558469, + 0.04783872976692076, + 0.03367879600246658, + 0.03744346896486335, + -0.9647496119693808, + 0.26049217423332777, + 0.04495322010452138, + -0.25878493414265175, + -0.9648883696381763 + ], + [ + 0.9935481695745874, + 0.1026739503967729, + 0.04816736078412089, + 0.08218302798007165, + -0.9444903517056681, + 0.3180942084460669, + 0.07815359650722037, + -0.31208337899481947, + -0.9468347162563074 + ], + [ + 0.9862293673742575, + 0.15358424745551172, + 0.061347484562087815, + 0.12195554256822147, + -0.9259216474470763, + 0.3574855919135518, + 0.11170711958269346, + -0.3450811233933492, + -0.9319015708282294 + ], + [ + 0.9767448686104518, + 0.1985216517332357, + 0.08098527913305516, + 0.15961415163478013, + -0.9254680772244952, + 0.34355808917314823, + 0.14315300989172527, + -0.32264220404575616, + -0.9356330605143429 + ], + [ + 0.9694087622229103, + 0.23398075376347968, + 0.07415968307456128, + 0.2001999120669193, + -0.928538064529259, + 0.312629265950352, + 0.14200931988374307, + -0.2882187877091499, + -0.9469758621409657 + ], + [ + 0.9627948153727107, + 0.2584115076592068, + 0.07905464060207273, + 0.2236360763210243, + -0.9261432977434503, + 0.3037194386479455, + 0.1517005235955505, + -0.27474003121893587, + -0.9494761010086844 + ], + [ + 0.9563768911448605, + 0.27910673944537634, + 0.08627091097387635, + 0.24342853682977647, + -0.9246470570561419, + 0.2928657838231193, + 0.16151095795953246, + -0.259089266226115, + -0.952253623036115 + ], + [ + 0.9522878651623332, + 0.28842365450131796, + 0.09979788268630738, + 0.2517260983961052, + -0.9271521449791511, + 0.27752994693696253, + 0.17257402252610318, + -0.2391666690503993, + -0.9555194980556371 + ], + [ + 0.948813917702502, + 0.2995495328091985, + 0.10011107315287529, + 0.26639544126908243, + -0.9292954705701562, + 0.25581907131573006, + 0.16966325013119457, + -0.21605556176961205, + -0.9615271061095141 + ], + [ + 0.9461820884256249, + 0.3042626690549507, + 0.11028909176378314, + 0.26917620603138726, + -0.9290569730035249, + 0.253766252721034, + 0.1796764471183433, + -0.2104218836839102, + -0.9609573378760599 + ], + [ + 0.9452258455412819, + 0.3108676288832711, + 0.09954606086260433, + 0.28217843748415933, + -0.931496865131936, + 0.22954067105498768, + 0.16408360777288777, + -0.1888780229721513, + -0.9681950537460746 + ], + [ + 0.9478280428604414, + 0.30697881267199406, + 0.08594189745309139, + 0.28575702982559875, + -0.937672100482573, + 0.19777247503596418, + 0.14129727907003997, + -0.16289579659123188, + -0.9764732655737745 + ], + [ + 0.9455895897885693, + 0.3158776028433676, + 0.07798504796057446, + 0.2995348516123331, + -0.9387413679180365, + 0.1704215855722249, + 0.1270401525229836, + -0.13778963742350633, + -0.9822804159025241 + ], + [ + 0.9478255783368383, + 0.31056739195677685, + 0.07193447089958582, + 0.29641221653824723, + -0.9416141867957084, + 0.15969508793929701, + 0.11733060528830866, + -0.13004083311876422, + -0.984541980204225 + ], + [ + 0.9796950502519468, + 0.18879555635554604, + 0.06748219329745307, + 0.17704863692219266, + -0.9725984129109103, + 0.15068545837993652, + 0.09408181905038075, + -0.1356781673799356, + -0.9862758469214346 + ], + [ + 0.9957177986518447, + 0.019886664805627376, + 0.09028059598182125, + 0.006894106523305275, + -0.9898422804110751, + 0.1420025746451369, + 0.09218750860702082, + -0.14077208698286384, + -0.985740677249001 + ], + [ + 0.9673104082815218, + -0.14065221361021374, + 0.2110154706100548, + -0.16916669139015894, + -0.9777905042384035, + 0.12372695884614555, + 0.18892645276493927, + -0.15537916407213637, + -0.9696206014817867 + ], + [ + 0.9242286835772835, + -0.21501821650459568, + 0.315544778160224, + -0.2590643973828715, + -0.9601895741470658, + 0.1045065534209532, + 0.28051199343638017, + -0.17833437209483688, + -0.9431383107836777 + ], + [ + 0.8825308637278501, + -0.17074297184508602, + 0.43816219843031146, + -0.2544305951046386, + -0.95696910629915, + 0.1395535806194381, + 0.3954798943593403, + -0.23464221093936768, + -0.8879970078795372 + ], + [ + 0.8501962327029834, + -0.16795637707951783, + 0.498955931216352, + -0.266881037805781, + -0.954442116973484, + 0.13347193340505423, + 0.45380709289009963, + -0.24663921169493055, + -0.8562874644049973 + ], + [ + 0.842120487507187, + -0.21971379722024098, + 0.4925027226642715, + -0.30717460994856827, + -0.9460424849979245, + 0.10318612107205337, + 0.4432570851363827, + -0.23817947831417868, + -0.8641722586304094 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005441.json b/json/chunk-0005/episode_0005441.json new file mode 100644 index 0000000000000000000000000000000000000000..0b4c1bf3ce8d2627e9c7482284122635e858a932 --- /dev/null +++ b/json/chunk-0005/episode_0005441.json @@ -0,0 +1,2182 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 35, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nOpen fridge." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005441.mp4", + "start": 0, + "end": 35, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.26753655076026917, + 0.04027678817510605, + 0.11812237650156021, + -0.01498223003000021, + -0.03625616058707237, + 0.021899979561567307, + 0.0, + 1.003452181816101 + ], + [ + 0.26508328318595886, + 0.03726879134774208, + 0.11077429354190826, + -0.02702552266418934, + -0.01159337442368269, + 0.020993229001760483, + 0.0, + 1.003452181816101 + ], + [ + 0.2683243751525879, + 0.018123554065823555, + 0.10501648485660553, + -0.10496740788221359, + -0.04362845420837402, + 0.009692320600152016, + 0.0, + 1.003452181816101 + ], + [ + 0.2691034972667694, + -0.006784671451896429, + 0.09081153571605682, + -0.1475415825843811, + -0.09044259786605835, + -0.02544538676738739, + 0.0, + 1.003452181816101 + ], + [ + 0.27041685581207275, + -0.03337826207280159, + 0.074058897793293, + -0.09915930777788162, + -0.1978551149368286, + -0.000642541388515383, + 0.0, + 1.003452181816101 + ], + [ + 0.27186161279678345, + -0.05608859658241272, + 0.06945987790822983, + -0.050770387053489685, + -0.26840516924858093, + -0.011060976423323154, + 0.0, + 1.003452181816101 + ], + [ + 0.2801743149757385, + -0.06916115432977676, + 0.06922923773527145, + -0.02405017986893654, + -0.37487828731536865, + 0.021856384351849556, + 0.0, + 1.003452181816101 + ], + [ + 0.28904736042022705, + -0.07283362746238708, + 0.05823139101266861, + -0.03016495518386364, + -0.37415724992752075, + 0.04795638844370842, + 0.0, + 1.003452181816101 + ], + [ + 0.2964441478252411, + -0.07229612022638321, + 0.05578583851456642, + -0.06675128638744354, + -0.3950653374195099, + 0.07905928045511246, + 0.0, + 1.003452181816101 + ], + [ + 0.3035255968570709, + -0.07063986361026764, + 0.05194021016359329, + -0.10494263470172882, + -0.3970585763454437, + 0.09724061191082001, + 0.0, + 0.9568231701850891 + ], + [ + 0.306252121925354, + -0.0719897672533989, + 0.052861545234918594, + -0.1226113960146904, + -0.41653135418891907, + 0.0961819440126419, + 0.0, + 0.6902000904083252 + ], + [ + 0.3056831657886505, + -0.06922191381454468, + 0.04853331297636032, + -0.20610783994197845, + -0.425762414932251, + 0.151905819773674, + 0.0, + 0.39448216557502747 + ], + [ + 0.30370038747787476, + -0.06766895204782486, + 0.0475633330643177, + -0.22440451383590698, + -0.405709445476532, + 0.15242716670036316, + 0.0, + 0.27449509501457214 + ], + [ + 0.29410117864608765, + -0.06669961661100388, + 0.04680180177092552, + -0.22378306090831757, + -0.4122924208641052, + 0.1365475207567215, + 0.0, + 0.2824830114841461 + ], + [ + 0.2720007300376892, + -0.06503743678331375, + 0.047806765884160995, + -0.22198614478111267, + -0.3822129964828491, + 0.10362781584262848, + 0.0, + 0.3011319041252136 + ], + [ + 0.2552565038204193, + -0.060533009469509125, + 0.050117455422878265, + -0.2265930473804474, + -0.3240412175655365, + 0.10135101526975632, + 0.0, + 0.36359503865242004 + ], + [ + 0.23951014876365662, + -0.05457841232419014, + 0.051751941442489624, + -0.1780349612236023, + -0.18771928548812866, + 0.042604222893714905, + 0.0, + 0.6460646390914917 + ], + [ + 0.22640347480773926, + -0.05436944589018822, + 0.04824385792016983, + -0.09372200816869736, + -0.13174158334732056, + -0.14195884764194489, + 0.0, + 0.927155077457428 + ], + [ + 0.21850061416625977, + -0.0771234855055809, + 0.04228263348340988, + -0.0032918890938162804, + -0.1319521963596344, + -0.28638985753059387, + 0.0, + 1.0008161067962646 + ], + [ + 0.21853624284267426, + -0.10464762151241302, + 0.03443178907036781, + -0.04449133202433586, + -0.08433889597654343, + -0.3953556418418884, + 0.0, + 1.0001531839370728 + ], + [ + 0.22203820943832397, + -0.1392335146665573, + 0.034329917281866074, + -0.11083046346902847, + -0.07065656781196594, + -0.44219285249710083, + 0.0, + 1.0001531839370728 + ], + [ + 0.2242102175951004, + -0.16420982778072357, + 0.027930250391364098, + -0.10150802135467529, + -0.0685199499130249, + -0.449273020029068, + 0.0, + 1.0001531839370728 + ], + [ + 0.23435954749584198, + -0.17559760808944702, + 0.02512989565730095, + -0.04578713700175285, + -0.1133074089884758, + -0.4370141625404358, + 0.0, + 1.0001531839370728 + ], + [ + 0.25089481472969055, + -0.17771150171756744, + 0.02599157765507698, + -0.012007982470095158, + -0.18958565592765808, + -0.3773241341114044, + 0.0, + 1.0001531839370728 + ], + [ + 0.2648095488548279, + -0.17841649055480957, + 0.02497943677008152, + 0.040746670216321945, + -0.24902915954589844, + -0.36894676089286804, + 0.0, + 1.0001531839370728 + ], + [ + 0.2799822986125946, + -0.1763889044523239, + 0.019391531124711037, + 0.025784606114029884, + -0.2493213564157486, + -0.29597920179367065, + 0.0, + 1.0001531839370728 + ], + [ + 0.2947242259979248, + -0.15823955833911896, + 0.02066289260983467, + 0.04505804926156998, + -0.2666906714439392, + -0.20827652513980865, + 0.0, + 1.0001531839370728 + ], + [ + 0.29668471217155457, + -0.13671444356441498, + 0.018902508541941643, + 0.05136149004101753, + -0.21926459670066833, + -0.11573639512062073, + 0.0, + 1.0001531839370728 + ], + [ + 0.28488773107528687, + -0.12253215909004211, + 0.01411770936101675, + 0.0432405024766922, + -0.11564331501722336, + -0.08219513297080994, + 0.0, + 1.0001531839370728 + ], + [ + 0.2623256742954254, + -0.11617928743362427, + 0.011184261180460453, + 0.03314102068543434, + -0.032517965883016586, + -0.09314560145139694, + 0.0, + 1.0001531839370728 + ], + [ + 0.24009111523628235, + -0.10039663314819336, + 0.013949290849268436, + 0.06214158609509468, + -0.040995799005031586, + -0.0824018269777298, + 0.0, + 1.0001531839370728 + ], + [ + 0.22012870013713837, + -0.07585284113883972, + 0.01997232623398304, + 0.08803015947341919, + -0.08967024832963943, + -0.043621454387903214, + 0.0, + 1.0001531839370728 + ], + [ + 0.2065083384513855, + -0.030898243188858032, + 0.023311050608754158, + 0.08110411465167999, + -0.09465496242046356, + 0.04390835762023926, + 0.0, + 1.0001531839370728 + ], + [ + 0.19863228499889374, + -0.0056876144371926785, + 0.02299588732421398, + 0.08331473171710968, + -0.09555212408304214, + 0.024614961817860603, + 0.0, + 1.0001531839370728 + ], + [ + 0.20510461926460266, + 0.025102026760578156, + 0.02064714953303337, + 0.07555137574672699, + -0.05442322790622711, + 0.08558089286088943, + 0.0, + 1.0001531839370728 + ] + ], + "left_gripper_pos": [ + [ + 1.003452181816101 + ], + [ + 1.003452181816101 + ], + [ + 1.003452181816101 + ], + [ + 1.003452181816101 + ], + [ + 1.003452181816101 + ], + [ + 1.003452181816101 + ], + [ + 1.003452181816101 + ], + [ + 1.003452181816101 + ], + [ + 1.003452181816101 + ], + [ + 0.9568231701850891 + ], + [ + 0.6902000904083252 + ], + [ + 0.39448216557502747 + ], + [ + 0.27449509501457214 + ], + [ + 0.2824830114841461 + ], + [ + 0.3011319041252136 + ], + [ + 0.36359503865242004 + ], + [ + 0.6460646390914917 + ], + [ + 0.927155077457428 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.26753655076026917, + 0.04027678817510605, + 0.11812237650156021 + ], + [ + 0.26508328318595886, + 0.03726879134774208, + 0.11077429354190826 + ], + [ + 0.2683243751525879, + 0.018123554065823555, + 0.10501648485660553 + ], + [ + 0.2691034972667694, + -0.006784671451896429, + 0.09081153571605682 + ], + [ + 0.27041685581207275, + -0.03337826207280159, + 0.074058897793293 + ], + [ + 0.27186161279678345, + -0.05608859658241272, + 0.06945987790822983 + ], + [ + 0.2801743149757385, + -0.06916115432977676, + 0.06922923773527145 + ], + [ + 0.28904736042022705, + -0.07283362746238708, + 0.05823139101266861 + ], + [ + 0.2964441478252411, + -0.07229612022638321, + 0.05578583851456642 + ], + [ + 0.3035255968570709, + -0.07063986361026764, + 0.05194021016359329 + ], + [ + 0.306252121925354, + -0.0719897672533989, + 0.052861545234918594 + ], + [ + 0.3056831657886505, + -0.06922191381454468, + 0.04853331297636032 + ], + [ + 0.30370038747787476, + -0.06766895204782486, + 0.0475633330643177 + ], + [ + 0.29410117864608765, + -0.06669961661100388, + 0.04680180177092552 + ], + [ + 0.2720007300376892, + -0.06503743678331375, + 0.047806765884160995 + ], + [ + 0.2552565038204193, + -0.060533009469509125, + 0.050117455422878265 + ], + [ + 0.23951014876365662, + -0.05457841232419014, + 0.051751941442489624 + ], + [ + 0.22640347480773926, + -0.05436944589018822, + 0.04824385792016983 + ], + [ + 0.21850061416625977, + -0.0771234855055809, + 0.04228263348340988 + ], + [ + 0.21853624284267426, + -0.10464762151241302, + 0.03443178907036781 + ], + [ + 0.22203820943832397, + -0.1392335146665573, + 0.034329917281866074 + ], + [ + 0.2242102175951004, + -0.16420982778072357, + 0.027930250391364098 + ], + [ + 0.23435954749584198, + -0.17559760808944702, + 0.02512989565730095 + ], + [ + 0.25089481472969055, + -0.17771150171756744, + 0.02599157765507698 + ], + [ + 0.2648095488548279, + -0.17841649055480957, + 0.02497943677008152 + ], + [ + 0.2799822986125946, + -0.1763889044523239, + 0.019391531124711037 + ], + [ + 0.2947242259979248, + -0.15823955833911896, + 0.02066289260983467 + ], + [ + 0.29668471217155457, + -0.13671444356441498, + 0.018902508541941643 + ], + [ + 0.28488773107528687, + -0.12253215909004211, + 0.01411770936101675 + ], + [ + 0.2623256742954254, + -0.11617928743362427, + 0.011184261180460453 + ], + [ + 0.24009111523628235, + -0.10039663314819336, + 0.013949290849268436 + ], + [ + 0.22012870013713837, + -0.07585284113883972, + 0.01997232623398304 + ], + [ + 0.2065083384513855, + -0.030898243188858032, + 0.023311050608754158 + ], + [ + 0.19863228499889374, + -0.0056876144371926785, + 0.02299588732421398 + ], + [ + 0.20510461926460266, + 0.025102026760578156, + 0.02064714953303337 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9991031800247518, + 0.021352842761196845, + 0.03656353060692073, + 0.021883837896941337, + -0.9996598924618822, + -0.014184394311980913, + 0.03624821793313458, + 0.014971823840566844, + -0.9992306596514933 + ], + [ + 0.999712462656328, + 0.020670818734943145, + 0.01215356994663295, + 0.020990276336251324, + -0.9994211396189578, + -0.026773008461354747, + 0.011593114721608856, + 0.027020417013271437, + -0.9995676549166049 + ], + [ + 0.9990015044680671, + 0.005069326947705281, + 0.04438801634265458, + 0.009682946072037034, + -0.994493556868184, + -0.10434944131634953, + 0.04361461482008667, + 0.10467505563392608, + -0.9935496455145711 + ], + [ + 0.9955904620978951, + -0.038439485143361034, + 0.08556890651172915, + -0.025338653259316887, + -0.9884774552288224, + -0.1492322792004317, + 0.09031934693466194, + 0.14640603295720028, + -0.985092731210129 + ], + [ + 0.9804902435793529, + -0.02009887729963425, + 0.1955375088748848, + -0.0006300056492365268, + -0.9950750338821855, + -0.09912255059898961, + 0.19656674525103002, + 0.09706550404578124, + -0.975674024757119 + ], + [ + 0.9641360802977211, + -0.02450389633411763, + 0.26427481479057563, + -0.010664721382417228, + -0.9985015095340228, + -0.05367493992649833, + 0.26519404666391294, + 0.04893152892281835, + -0.9629526588006774 + ], + [ + 0.9303299407736947, + 0.013045079717149018, + 0.36649151039988176, + 0.02033688718347273, + -0.9996644739102071, + -0.016042151399212615, + 0.3661592717926177, + 0.02237779026181504, + -0.9302830871209569 + ], + [ + 0.9297458204068214, + 0.03690561003926571, + 0.3663477656321604, + 0.044621464003427466, + -0.9989243413406091, + -0.012612899247249062, + 0.36548821374462614, + 0.028073763995233685, + -0.9303925136139599 + ], + [ + 0.9200884657588648, + 0.05320985613572429, + 0.3880797938407948, + 0.07289346575165578, + -0.9966838070924388, + -0.03616533326867924, + 0.3848684942005652, + 0.06156378716208072, + -0.9209159257402663 + ], + [ + 0.9178458349804606, + 0.05623703244285723, + 0.3929330978564195, + 0.08953427285728473, + -0.9937332028066278, + -0.06691737908495089, + 0.3867074310029984, + 0.09660081687906556, + -0.9171290230852793 + ], + [ + 0.9102710868212227, + 0.04605822081963261, + 0.411442813513907, + 0.08782262459118069, + -0.9926574748052222, + -0.08317646495996397, + 0.40459082429934845, + 0.1118471189090248, + -0.9076323522685404 + ], + [ + 0.9002366472472185, + 0.0645685995304452, + 0.43058666364364334, + 0.13781284804298566, + -0.9803534760570636, + -0.1411193852633768, + 0.41301525137380585, + 0.18638121669714847, + -0.8914485089982049 + ], + [ + 0.9081693002995053, + 0.06122439598624494, + 0.41410155195268944, + 0.13951182512189392, + -0.9769580095521909, + -0.16152243876000263, + 0.39467071419686633, + 0.2044617834900698, + -0.8957847991830374 + ], + [ + 0.9076764756390011, + 0.04463137307959432, + 0.4172906134920742, + 0.12471706352623411, + -0.9780937393995223, + -0.16666820636477842, + 0.40071070566801037, + 0.20332407010604808, + -0.8933589720143609 + ], + [ + 0.9228640561629396, + 0.019227810849065927, + 0.3846455837942758, + 0.09597819379016127, + -0.9787235373874085, + -0.18135165750733157, + 0.3729746910438628, + 0.20428051462102492, + -0.9050742241313164 + ], + [ + 0.9430918869799049, + 0.027426878485645165, + 0.3313992441892645, + 0.09591194876682385, + -0.976674386853518, + -0.1921146536525894, + 0.3184000483612278, + 0.2129669185597563, + -0.9237242558267752 + ], + [ + 0.9815409325322297, + 0.008898689426613409, + 0.19104504989726687, + 0.041843108484651614, + -0.98470813250233, + -0.16911253074835983, + 0.18661873441887386, + 0.17398478988193752, + -0.9669036874754566 + ], + [ + 0.98136254150617, + -0.1530313277461013, + 0.11622811560382575, + -0.14025652828455737, + -0.983856907077729, + -0.11114716671606269, + 0.13136083283122907, + 0.09277391402603648, + -0.9869839575566443 + ], + [ + 0.950930959196998, + -0.2829049128195446, + 0.12528017059073196, + -0.2800352593687581, + -0.9591424093395835, + -0.04032483250468491, + 0.1315696178870693, + 0.0032632665880004234, + -0.9913015619579271 + ], + [ + 0.919579424026957, + -0.3882129463210367, + 0.06053421524220638, + -0.3837674852067859, + -0.9205034345190038, + -0.07345709180724076, + 0.08423894707502742, + 0.04431856662232994, + -0.9954595242641625 + ], + [ + 0.9015603228629091, + -0.4323542784615623, + 0.01608608514551226, + -0.4268547012637784, + -0.8949288064576137, + -0.12999036649444978, + 0.07059779209251073, + 0.11032773571651269, + -0.9913847600620709 + ], + [ + 0.8986493688871561, + -0.43832464301197105, + 0.01734413812052812, + -0.4332916699961429, + -0.8931131538189568, + -0.12086034580254106, + 0.06846634582529865, + 0.10109600290804958, + -0.9925179885953433 + ], + [ + 0.9002096377192556, + -0.4274813157304296, + 0.08295982677626045, + -0.42052216137889165, + -0.9028795652169713, + -0.089272630200067, + 0.11306511374686602, + 0.045477636427075904, + -0.9925462531481415 + ], + [ + 0.9129966805322793, + -0.3705112895182335, + 0.17075844247525498, + -0.3618327077137194, + -0.9287530997120568, + -0.08059014458235403, + 0.18845199114256486, + 0.011792544881506772, + -0.982011600196057 + ], + [ + 0.9039356733362315, + -0.3509697555204967, + 0.24437784101684995, + -0.3495085087402422, + -0.93555419688952, + -0.050814830518043065, + 0.24646318343384688, + -0.03947879674316548, + -0.9683477287727617 + ], + [ + 0.9269415787638058, + -0.2854947251449712, + 0.24345856212764605, + -0.282658000582368, + -0.9580545562132133, + -0.047285537174502644, + 0.24674635613447587, + -0.024984579914430545, + -0.9687579710644234 + ], + [ + 0.9438010511209192, + -0.19495004918070463, + 0.26689708546083607, + -0.19946417168438507, + -0.9798502617043916, + -0.010368647553917861, + 0.26354054738751326, + -0.04345046561633217, + -0.9636692570173719 + ], + [ + 0.9695278620700923, + -0.10423378838683431, + 0.22170034286920903, + -0.11271337165065434, + -0.9932896513674387, + 0.025910699286078684, + 0.21751188593025822, + -0.05010973802446758, + -0.9747705338356211 + ], + [ + 0.9899671918616499, + -0.0770549256435426, + 0.11843773668736983, + -0.08155422895440972, + -0.996101822291316, + 0.03361647464518788, + 0.1153857303881652, + -0.04293830529942887, + -0.9923922788700053 + ], + [ + 0.9951387132487443, + -0.09188727469466526, + 0.03543543625837325, + -0.09296179832026291, + -0.9952185509236928, + 0.029968983139376713, + 0.0325122353383594, + -0.03311743719753407, + -0.9989225144658473 + ], + [ + 0.9957695309017066, + -0.07961318151270134, + 0.04587791034060655, + -0.08223944987119676, + -0.9948927633873397, + 0.058524031340857596, + 0.04098431666720795, + -0.06204942134241412, + -0.9972312445458141 + ], + [ + 0.9950348735602726, + -0.03557332104171027, + 0.09295234923849642, + -0.043432420035831955, + -0.9955235856284266, + 0.08394292910872056, + 0.08955012724012766, + -0.08756328732741842, + -0.9921257205736039 + ], + [ + 0.9945640601812505, + 0.05139963127000778, + 0.09055610471466023, + 0.04369776031710465, + -0.995416114520965, + 0.08507211467486543, + 0.09451368122686866, + -0.08065256882016729, + -0.9922511411954403 + ], + [ + 0.9951368170890206, + 0.03246429691209171, + 0.09299884246557277, + 0.024500203150593945, + -0.9960340395908808, + 0.08553322174366507, + 0.09540678864479454, + -0.08283876750818367, + -0.9919855257402762 + ], + [ + 0.9948650302022174, + 0.08932341502817145, + 0.04759095721296729, + 0.08534990949064791, + -0.9931470319336758, + 0.07983962619695148, + 0.05439636596942538, + -0.07536776823706381, + -0.9956709973079888 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0024532675743103027, + -0.003007996827363968, + -0.007348082959651947, + -0.012043292634189129, + 0.024662785232067108, + -0.0009067505598068237, + 1.0 + ], + [ + 0.0032410919666290283, + -0.019145237281918526, + -0.005757808685302734, + -0.0779418870806694, + -0.03203507885336876, + -0.011300908401608467, + 1.0 + ], + [ + 0.0007791221141815186, + -0.02490822598338127, + -0.014204949140548706, + -0.04257417470216751, + -0.046814143657684326, + -0.03513770550489426, + 1.0 + ], + [ + 0.0013133585453033447, + -0.026593590155243874, + -0.016752637922763824, + 0.04838227480649948, + -0.10741251707077026, + 0.02480284497141838, + 1.0 + ], + [ + 0.0014447569847106934, + -0.02271033450961113, + -0.004599019885063171, + 0.04838892072439194, + -0.07055005431175232, + -0.010418434627354145, + 1.0 + ], + [ + 0.008312702178955078, + -0.013072557747364044, + -0.00023064017295837402, + 0.026720207184553146, + -0.10647311806678772, + 0.032917361706495285, + 1.0 + ], + [ + 0.008873045444488525, + -0.003672473132610321, + -0.010997846722602844, + -0.006114775314927101, + 0.0007210373878479004, + 0.026100004091858864, + 1.0 + ], + [ + 0.007396787405014038, + 0.0005375072360038757, + -0.002445552498102188, + -0.03658632934093475, + -0.020908087491989136, + 0.031102892011404037, + 1.0 + ], + [ + 0.007081449031829834, + 0.00165625661611557, + -0.0038456283509731293, + -0.03819134831428528, + -0.001993238925933838, + 0.01818133145570755, + 0.0 + ], + [ + 0.002726525068283081, + -0.001349903643131256, + 0.0009213350713253021, + -0.01766876131296158, + -0.019472777843475342, + -0.0010586678981781006, + 0.0 + ], + [ + -0.0005689561367034912, + 0.0027678534388542175, + -0.004328232258558273, + -0.08349644392728806, + -0.00923106074333191, + 0.055723875761032104, + 0.0 + ], + [ + -0.001982778310775757, + 0.0015529617667198181, + -0.0009699799120426178, + -0.018296673893928528, + 0.020052969455718994, + 0.000521346926689148, + 0.0 + ], + [ + -0.00959920883178711, + 0.0009693354368209839, + -0.0007615312933921814, + 0.0006214529275894165, + -0.006582975387573242, + -0.015879645943641663, + 0.0 + ], + [ + -0.022100448608398438, + 0.0016621798276901245, + 0.0010049641132354736, + 0.001796916127204895, + 0.030079424381256104, + -0.03291970491409302, + 0.0 + ], + [ + -0.016744226217269897, + 0.0045044273138046265, + 0.00231068953871727, + -0.004606902599334717, + 0.05817177891731262, + -0.002276800572872162, + 1.0 + ], + [ + -0.015746355056762695, + 0.005954597145318985, + 0.0016344860196113586, + 0.04855808615684509, + 0.13632193207740784, + -0.05874679237604141, + 1.0 + ], + [ + -0.013106673955917358, + 0.0002089664340019226, + -0.0035080835223197937, + 0.08431295305490494, + 0.055977702140808105, + -0.1845630705356598, + 1.0 + ], + [ + -0.007902860641479492, + -0.022754039615392685, + -0.005961224436759949, + 0.0904301181435585, + -0.00021061301231384277, + -0.144431009888649, + 1.0 + ], + [ + 3.5628676414489746e-05, + -0.027524136006832123, + -0.007850844413042068, + -0.041199441999197006, + 0.04761330038309097, + -0.10896578431129456, + 1.0 + ], + [ + 0.0035019665956497192, + -0.03458589315414429, + -0.0001018717885017395, + -0.06633913516998291, + 0.013682328164577484, + -0.0468372106552124, + 1.0 + ], + [ + 0.0021720081567764282, + -0.02497631311416626, + -0.006399666890501976, + 0.00932244211435318, + 0.00213661789894104, + -0.007080167531967163, + 1.0 + ], + [ + 0.010149329900741577, + -0.01138778030872345, + -0.0028003547340631485, + 0.05572088435292244, + -0.0447874590754509, + 0.012258857488632202, + 1.0 + ], + [ + 0.016535267233848572, + -0.0021138936281204224, + 0.0008616819977760315, + 0.03377915546298027, + -0.07627824693918228, + 0.05969002842903137, + 1.0 + ], + [ + 0.013914734125137329, + -0.0007049888372421265, + -0.0010121408849954605, + 0.05275465175509453, + -0.059443503618240356, + 0.008377373218536377, + 1.0 + ], + [ + 0.015172749757766724, + 0.0020275861024856567, + -0.005587905645370483, + -0.01496206410229206, + -0.0002921968698501587, + 0.07296755909919739, + 1.0 + ], + [ + 0.0147419273853302, + 0.018149346113204956, + 0.0012713614851236343, + 0.019273443147540092, + -0.017369315028190613, + 0.087702676653862, + 1.0 + ], + [ + 0.0019604861736297607, + 0.02152511477470398, + -0.0017603840678930283, + 0.0063034407794475555, + 0.047426074743270874, + 0.09254013001918793, + 1.0 + ], + [ + -0.0117969810962677, + 0.014182284474372864, + -0.004784799180924892, + -0.008120987564325333, + 0.10362128168344498, + 0.03354126214981079, + 1.0 + ], + [ + -0.02256205677986145, + 0.006352871656417847, + -0.0029334481805562973, + -0.010099481791257858, + 0.08312535285949707, + -0.010950468480587006, + 1.0 + ], + [ + -0.022234559059143066, + 0.015782654285430908, + 0.0027650296688079834, + 0.02900056540966034, + -0.008477833122015, + 0.010743774473667145, + 1.0 + ], + [ + -0.019962415099143982, + 0.024543792009353638, + 0.006023035384714603, + 0.02588857337832451, + -0.04867444932460785, + 0.038780372589826584, + 1.0 + ], + [ + -0.013620361685752869, + 0.04495459794998169, + 0.003338724374771118, + -0.006926044821739197, + -0.004984714090824127, + 0.08752980828285217, + 1.0 + ], + [ + -0.00787605345249176, + 0.025210628286004066, + -0.0003151632845401764, + 0.0022106170654296875, + -0.0008971616625785828, + -0.019293395802378654, + 1.0 + ], + [ + 0.006472334265708923, + 0.03078964166343212, + -0.0023487377911806107, + -0.00776335597038269, + 0.04112889617681503, + 0.06096593290567398, + 1.0 + ], + [ + 0.006139889359474182, + 0.0019484646618366241, + 0.003128413110971451, + -0.007596276700496674, + 0.005560226738452911, + -0.006690613925457001, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.003452181816101 + ], + [ + 1.003452181816101 + ], + [ + 1.003452181816101 + ], + [ + 1.003452181816101 + ], + [ + 1.003452181816101 + ], + [ + 1.003452181816101 + ], + [ + 1.003452181816101 + ], + [ + 1.003452181816101 + ], + [ + 0.9568231701850891 + ], + [ + 0.6902000904083252 + ], + [ + 0.39448216557502747 + ], + [ + 0.27449509501457214 + ], + [ + 0.2824830114841461 + ], + [ + 0.3011319041252136 + ], + [ + 0.36359503865242004 + ], + [ + 0.6460646390914917 + ], + [ + 0.927155077457428 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.26508328318595886, + 0.03726879134774208, + 0.11077429354190826 + ], + [ + 0.2683243751525879, + 0.018123554065823555, + 0.10501648485660553 + ], + [ + 0.2691034972667694, + -0.006784671451896429, + 0.09081153571605682 + ], + [ + 0.27041685581207275, + -0.03337826207280159, + 0.074058897793293 + ], + [ + 0.27186161279678345, + -0.05608859658241272, + 0.06945987790822983 + ], + [ + 0.2801743149757385, + -0.06916115432977676, + 0.06922923773527145 + ], + [ + 0.28904736042022705, + -0.07283362746238708, + 0.05823139101266861 + ], + [ + 0.2964441478252411, + -0.07229612022638321, + 0.05578583851456642 + ], + [ + 0.3035255968570709, + -0.07063986361026764, + 0.05194021016359329 + ], + [ + 0.306252121925354, + -0.0719897672533989, + 0.052861545234918594 + ], + [ + 0.3056831657886505, + -0.06922191381454468, + 0.04853331297636032 + ], + [ + 0.30370038747787476, + -0.06766895204782486, + 0.0475633330643177 + ], + [ + 0.29410117864608765, + -0.06669961661100388, + 0.04680180177092552 + ], + [ + 0.2720007300376892, + -0.06503743678331375, + 0.047806765884160995 + ], + [ + 0.2552565038204193, + -0.060533009469509125, + 0.050117455422878265 + ], + [ + 0.23951014876365662, + -0.05457841232419014, + 0.051751941442489624 + ], + [ + 0.22640347480773926, + -0.05436944589018822, + 0.04824385792016983 + ], + [ + 0.21850061416625977, + -0.0771234855055809, + 0.04228263348340988 + ], + [ + 0.21853624284267426, + -0.10464762151241302, + 0.03443178907036781 + ], + [ + 0.22203820943832397, + -0.1392335146665573, + 0.034329917281866074 + ], + [ + 0.2242102175951004, + -0.16420982778072357, + 0.027930250391364098 + ], + [ + 0.23435954749584198, + -0.17559760808944702, + 0.02512989565730095 + ], + [ + 0.25089481472969055, + -0.17771150171756744, + 0.02599157765507698 + ], + [ + 0.2648095488548279, + -0.17841649055480957, + 0.02497943677008152 + ], + [ + 0.2799822986125946, + -0.1763889044523239, + 0.019391531124711037 + ], + [ + 0.2947242259979248, + -0.15823955833911896, + 0.02066289260983467 + ], + [ + 0.29668471217155457, + -0.13671444356441498, + 0.018902508541941643 + ], + [ + 0.28488773107528687, + -0.12253215909004211, + 0.01411770936101675 + ], + [ + 0.2623256742954254, + -0.11617928743362427, + 0.011184261180460453 + ], + [ + 0.24009111523628235, + -0.10039663314819336, + 0.013949290849268436 + ], + [ + 0.22012870013713837, + -0.07585284113883972, + 0.01997232623398304 + ], + [ + 0.2065083384513855, + -0.030898243188858032, + 0.023311050608754158 + ], + [ + 0.19863228499889374, + -0.0056876144371926785, + 0.02299588732421398 + ], + [ + 0.20510461926460266, + 0.025102026760578156, + 0.02064714953303337 + ], + [ + 0.21124450862407684, + 0.02705049142241478, + 0.023775562644004822 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.999712462656328, + 0.020670818734943145, + 0.01215356994663295, + 0.020990276336251324, + -0.9994211396189578, + -0.026773008461354747, + 0.011593114721608856, + 0.027020417013271437, + -0.9995676549166049 + ], + [ + 0.9990015044680671, + 0.005069326947705281, + 0.04438801634265458, + 0.009682946072037034, + -0.994493556868184, + -0.10434944131634953, + 0.04361461482008667, + 0.10467505563392608, + -0.9935496455145711 + ], + [ + 0.9955904620978951, + -0.038439485143361034, + 0.08556890651172915, + -0.025338653259316887, + -0.9884774552288224, + -0.1492322792004317, + 0.09031934693466194, + 0.14640603295720028, + -0.985092731210129 + ], + [ + 0.9804902435793529, + -0.02009887729963425, + 0.1955375088748848, + -0.0006300056492365268, + -0.9950750338821855, + -0.09912255059898961, + 0.19656674525103002, + 0.09706550404578124, + -0.975674024757119 + ], + [ + 0.9641360802977211, + -0.02450389633411763, + 0.26427481479057563, + -0.010664721382417228, + -0.9985015095340228, + -0.05367493992649833, + 0.26519404666391294, + 0.04893152892281835, + -0.9629526588006774 + ], + [ + 0.9303299407736947, + 0.013045079717149018, + 0.36649151039988176, + 0.02033688718347273, + -0.9996644739102071, + -0.016042151399212615, + 0.3661592717926177, + 0.02237779026181504, + -0.9302830871209569 + ], + [ + 0.9297458204068214, + 0.03690561003926571, + 0.3663477656321604, + 0.044621464003427466, + -0.9989243413406091, + -0.012612899247249062, + 0.36548821374462614, + 0.028073763995233685, + -0.9303925136139599 + ], + [ + 0.9200884657588648, + 0.05320985613572429, + 0.3880797938407948, + 0.07289346575165578, + -0.9966838070924388, + -0.03616533326867924, + 0.3848684942005652, + 0.06156378716208072, + -0.9209159257402663 + ], + [ + 0.9178458349804606, + 0.05623703244285723, + 0.3929330978564195, + 0.08953427285728473, + -0.9937332028066278, + -0.06691737908495089, + 0.3867074310029984, + 0.09660081687906556, + -0.9171290230852793 + ], + [ + 0.9102710868212227, + 0.04605822081963261, + 0.411442813513907, + 0.08782262459118069, + -0.9926574748052222, + -0.08317646495996397, + 0.40459082429934845, + 0.1118471189090248, + -0.9076323522685404 + ], + [ + 0.9002366472472185, + 0.0645685995304452, + 0.43058666364364334, + 0.13781284804298566, + -0.9803534760570636, + -0.1411193852633768, + 0.41301525137380585, + 0.18638121669714847, + -0.8914485089982049 + ], + [ + 0.9081693002995053, + 0.06122439598624494, + 0.41410155195268944, + 0.13951182512189392, + -0.9769580095521909, + -0.16152243876000263, + 0.39467071419686633, + 0.2044617834900698, + -0.8957847991830374 + ], + [ + 0.9076764756390011, + 0.04463137307959432, + 0.4172906134920742, + 0.12471706352623411, + -0.9780937393995223, + -0.16666820636477842, + 0.40071070566801037, + 0.20332407010604808, + -0.8933589720143609 + ], + [ + 0.9228640561629396, + 0.019227810849065927, + 0.3846455837942758, + 0.09597819379016127, + -0.9787235373874085, + -0.18135165750733157, + 0.3729746910438628, + 0.20428051462102492, + -0.9050742241313164 + ], + [ + 0.9430918869799049, + 0.027426878485645165, + 0.3313992441892645, + 0.09591194876682385, + -0.976674386853518, + -0.1921146536525894, + 0.3184000483612278, + 0.2129669185597563, + -0.9237242558267752 + ], + [ + 0.9815409325322297, + 0.008898689426613409, + 0.19104504989726687, + 0.041843108484651614, + -0.98470813250233, + -0.16911253074835983, + 0.18661873441887386, + 0.17398478988193752, + -0.9669036874754566 + ], + [ + 0.98136254150617, + -0.1530313277461013, + 0.11622811560382575, + -0.14025652828455737, + -0.983856907077729, + -0.11114716671606269, + 0.13136083283122907, + 0.09277391402603648, + -0.9869839575566443 + ], + [ + 0.950930959196998, + -0.2829049128195446, + 0.12528017059073196, + -0.2800352593687581, + -0.9591424093395835, + -0.04032483250468491, + 0.1315696178870693, + 0.0032632665880004234, + -0.9913015619579271 + ], + [ + 0.919579424026957, + -0.3882129463210367, + 0.06053421524220638, + -0.3837674852067859, + -0.9205034345190038, + -0.07345709180724076, + 0.08423894707502742, + 0.04431856662232994, + -0.9954595242641625 + ], + [ + 0.9015603228629091, + -0.4323542784615623, + 0.01608608514551226, + -0.4268547012637784, + -0.8949288064576137, + -0.12999036649444978, + 0.07059779209251073, + 0.11032773571651269, + -0.9913847600620709 + ], + [ + 0.8986493688871561, + -0.43832464301197105, + 0.01734413812052812, + -0.4332916699961429, + -0.8931131538189568, + -0.12086034580254106, + 0.06846634582529865, + 0.10109600290804958, + -0.9925179885953433 + ], + [ + 0.9002096377192556, + -0.4274813157304296, + 0.08295982677626045, + -0.42052216137889165, + -0.9028795652169713, + -0.089272630200067, + 0.11306511374686602, + 0.045477636427075904, + -0.9925462531481415 + ], + [ + 0.9129966805322793, + -0.3705112895182335, + 0.17075844247525498, + -0.3618327077137194, + -0.9287530997120568, + -0.08059014458235403, + 0.18845199114256486, + 0.011792544881506772, + -0.982011600196057 + ], + [ + 0.9039356733362315, + -0.3509697555204967, + 0.24437784101684995, + -0.3495085087402422, + -0.93555419688952, + -0.050814830518043065, + 0.24646318343384688, + -0.03947879674316548, + -0.9683477287727617 + ], + [ + 0.9269415787638058, + -0.2854947251449712, + 0.24345856212764605, + -0.282658000582368, + -0.9580545562132133, + -0.047285537174502644, + 0.24674635613447587, + -0.024984579914430545, + -0.9687579710644234 + ], + [ + 0.9438010511209192, + -0.19495004918070463, + 0.26689708546083607, + -0.19946417168438507, + -0.9798502617043916, + -0.010368647553917861, + 0.26354054738751326, + -0.04345046561633217, + -0.9636692570173719 + ], + [ + 0.9695278620700923, + -0.10423378838683431, + 0.22170034286920903, + -0.11271337165065434, + -0.9932896513674387, + 0.025910699286078684, + 0.21751188593025822, + -0.05010973802446758, + -0.9747705338356211 + ], + [ + 0.9899671918616499, + -0.0770549256435426, + 0.11843773668736983, + -0.08155422895440972, + -0.996101822291316, + 0.03361647464518788, + 0.1153857303881652, + -0.04293830529942887, + -0.9923922788700053 + ], + [ + 0.9951387132487443, + -0.09188727469466526, + 0.03543543625837325, + -0.09296179832026291, + -0.9952185509236928, + 0.029968983139376713, + 0.0325122353383594, + -0.03311743719753407, + -0.9989225144658473 + ], + [ + 0.9957695309017066, + -0.07961318151270134, + 0.04587791034060655, + -0.08223944987119676, + -0.9948927633873397, + 0.058524031340857596, + 0.04098431666720795, + -0.06204942134241412, + -0.9972312445458141 + ], + [ + 0.9950348735602726, + -0.03557332104171027, + 0.09295234923849642, + -0.043432420035831955, + -0.9955235856284266, + 0.08394292910872056, + 0.08955012724012766, + -0.08756328732741842, + -0.9921257205736039 + ], + [ + 0.9945640601812505, + 0.05139963127000778, + 0.09055610471466023, + 0.04369776031710465, + -0.995416114520965, + 0.08507211467486543, + 0.09451368122686866, + -0.08065256882016729, + -0.9922511411954403 + ], + [ + 0.9951368170890206, + 0.03246429691209171, + 0.09299884246557277, + 0.024500203150593945, + -0.9960340395908808, + 0.08553322174366507, + 0.09540678864479454, + -0.08283876750818367, + -0.9919855257402762 + ], + [ + 0.9948650302022174, + 0.08932341502817145, + 0.04759095721296729, + 0.08534990949064791, + -0.9931470319336758, + 0.07983962619695148, + 0.05439636596942538, + -0.07536776823706381, + -0.9956709973079888 + ], + [ + 0.9956999288333757, + 0.08193287799545475, + 0.04322794494990965, + 0.07871441058152194, + -0.9943275174185419, + 0.07153201850278462, + 0.048843559329906326, + -0.06782176352514774, + -0.9965011365293692 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005442.json b/json/chunk-0005/episode_0005442.json new file mode 100644 index 0000000000000000000000000000000000000000..1b35f8f751fd5ccf068cebd51f202fb4d49426c9 --- /dev/null +++ b/json/chunk-0005/episode_0005442.json @@ -0,0 +1,1042 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 16, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut sweet potato in pot." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005442.mp4", + "start": 0, + "end": 16, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2977100908756256, + 0.1337895393371582, + 0.11418202519416809, + 0.035200126469135284, + -0.16964876651763916, + 0.05349138751626015, + 0.0, + 1.0073583126068115 + ], + [ + 0.30186980962753296, + 0.1348240077495575, + 0.0968911275267601, + 0.04230435565114021, + -0.1917826384305954, + 0.049590762704610825, + 0.0, + 1.0073583126068115 + ], + [ + 0.31854891777038574, + 0.13633735477924347, + 0.08475638926029205, + 0.04953835904598236, + -0.2781393527984619, + 0.020367367193102837, + 0.0, + 1.0073583126068115 + ], + [ + 0.33397558331489563, + 0.14162521064281464, + 0.06948163360357285, + 0.036271028220653534, + -0.32563477754592896, + 0.005513481330126524, + 0.0, + 1.0073583126068115 + ], + [ + 0.3498796820640564, + 0.14621183276176453, + 0.06421948224306107, + 0.03626805916428566, + -0.36590003967285156, + 0.0024079966824501753, + 0.0, + 1.0073583126068115 + ], + [ + 0.35651516914367676, + 0.14470459520816803, + 0.05183811113238335, + 0.02393443137407303, + -0.36066991090774536, + 0.007603914476931095, + 0.0, + 1.0073583126068115 + ], + [ + 0.3586910665035248, + 0.1449129432439804, + 0.04225822538137436, + 0.017988769337534904, + -0.3576001822948456, + 0.016316616907715797, + 0.0, + 1.0054124593734741 + ], + [ + 0.3608297109603882, + 0.14337198436260223, + 0.03686194866895676, + 0.002470256295055151, + -0.3720856010913849, + 0.03188857436180115, + 0.0, + 1.0047606229782104 + ], + [ + 0.36154693365097046, + 0.13760492205619812, + 0.02134684845805168, + -0.02870159037411213, + -0.3885512948036194, + 0.04059717804193497, + 0.0, + 1.0041072368621826 + ], + [ + 0.3656459450721741, + 0.13267986476421356, + 0.011564168147742748, + -0.0446188785135746, + -0.4059533178806305, + 0.0526309572160244, + 0.0, + 1.0041072368621826 + ], + [ + 0.3656172454357147, + 0.12698493897914886, + 0.01042564120143652, + -0.02906017191708088, + -0.39219149947166443, + 0.0695013627409935, + 0.0, + 0.8224069476127625 + ], + [ + 0.35111624002456665, + 0.10835029929876328, + 0.014704274944961071, + -0.014067228883504868, + -0.31440621614456177, + 0.07235017418861389, + 0.0, + 0.7807356715202332 + ], + [ + 0.33638596534729004, + 0.10651916265487671, + 0.03795894235372543, + 0.03222549334168434, + -0.28944456577301025, + 0.08949605375528336, + 0.0, + 0.7807356715202332 + ], + [ + 0.31260114908218384, + 0.11503513157367706, + 0.062254901975393295, + 0.08842065185308456, + -0.25542038679122925, + 0.09828370809555054, + 0.0, + 0.7807356715202332 + ], + [ + 0.2909408211708069, + 0.12370499968528748, + 0.07357475161552429, + 0.12068863958120346, + -0.2314324676990509, + 0.10428740829229355, + 0.0, + 0.7807356715202332 + ], + [ + 0.2731471657752991, + 0.13380008935928345, + 0.06796810775995255, + 0.1107209101319313, + -0.2035565823316574, + 0.13413766026496887, + 0.0, + 0.7807356715202332 + ] + ], + "left_gripper_pos": [ + [ + 1.0073583126068115 + ], + [ + 1.0073583126068115 + ], + [ + 1.0073583126068115 + ], + [ + 1.0073583126068115 + ], + [ + 1.0073583126068115 + ], + [ + 1.0073583126068115 + ], + [ + 1.0054124593734741 + ], + [ + 1.0047606229782104 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 0.8224069476127625 + ], + [ + 0.7807356715202332 + ], + [ + 0.7807356715202332 + ], + [ + 0.7807356715202332 + ], + [ + 0.7807356715202332 + ], + [ + 0.7807356715202332 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2977100908756256, + 0.1337895393371582, + 0.11418202519416809 + ], + [ + 0.30186980962753296, + 0.1348240077495575, + 0.0968911275267601 + ], + [ + 0.31854891777038574, + 0.13633735477924347, + 0.08475638926029205 + ], + [ + 0.33397558331489563, + 0.14162521064281464, + 0.06948163360357285 + ], + [ + 0.3498796820640564, + 0.14621183276176453, + 0.06421948224306107 + ], + [ + 0.35651516914367676, + 0.14470459520816803, + 0.05183811113238335 + ], + [ + 0.3586910665035248, + 0.1449129432439804, + 0.04225822538137436 + ], + [ + 0.3608297109603882, + 0.14337198436260223, + 0.03686194866895676 + ], + [ + 0.36154693365097046, + 0.13760492205619812, + 0.02134684845805168 + ], + [ + 0.3656459450721741, + 0.13267986476421356, + 0.011564168147742748 + ], + [ + 0.3656172454357147, + 0.12698493897914886, + 0.01042564120143652 + ], + [ + 0.35111624002456665, + 0.10835029929876328, + 0.014704274944961071 + ], + [ + 0.33638596534729004, + 0.10651916265487671, + 0.03795894235372543 + ], + [ + 0.31260114908218384, + 0.11503513157367706, + 0.062254901975393295 + ], + [ + 0.2909408211708069, + 0.12370499968528748, + 0.07357475161552429 + ], + [ + 0.2731471657752991, + 0.13380008935928345, + 0.06796810775995255 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9842343389877131, + 0.05936609028811365, + 0.16660862307012497, + 0.05269833243821153, + -0.9976334173405258, + 0.044163903401939424, + 0.16883616826868342, + -0.03468763366630293, + -0.9850335610297656 + ], + [ + 0.9804591772250024, + 0.057577371000427556, + 0.18810807570104612, + 0.0486616151984559, + -0.99747743735677, + 0.051679872004956516, + 0.19060915246007673, + -0.04151636198958678, + -0.9807877154030841 + ], + [ + 0.9613685382308923, + 0.0339341901730849, + 0.2731647935534419, + 0.01958325400571406, + -0.9982891768901242, + 0.05509278960613936, + 0.27456698611148667, + -0.04761501907314079, + -0.960388348584217 + ], + [ + 0.9474334450075673, + 0.017110581081471364, + 0.3194950630231203, + 0.0052237095416309805, + -0.9992631279766206, + 0.03802517488460586, + 0.31991026888757085, + -0.03435737302871949, + -0.9468246885135853 + ], + [ + 0.9337994070281672, + 0.015379873808949025, + 0.3574662598280629, + 0.0022485902203106187, + -0.9993082485986435, + 0.03712099304615793, + 0.3577898982306019, + -0.03385976615885859, + -0.933188033013606 + ], + [ + 0.9356335717465191, + 0.016047100450382833, + 0.35260787000290694, + 0.007114614783027599, + -0.9996204642132758, + 0.026614089924784406, + 0.35290112167197873, + -0.02239236685057452, + -0.9353926342608696 + ], + [ + 0.9366148295906632, + 0.022608634685808066, + 0.349630534462447, + 0.015283741728901746, + -0.9996023865022162, + 0.02369548771049156, + 0.35002723926805596, + -0.016849882394767788, + -0.9365879634255746 + ], + [ + 0.9310975244885713, + 0.032780699552679544, + 0.3632944062714037, + 0.029701440942366403, + -0.9994599192246915, + 0.014060379415952479, + 0.3635591070200303, + -0.002301217115001253, + -0.9315682906274709 + ], + [ + 0.9246963360967781, + 0.029706219551163184, + 0.3795447622207057, + 0.03756069904134516, + -0.9992057780467892, + -0.013304397973434624, + 0.37884809607112907, + 0.02655849464649924, + -0.9250777083388141 + ], + [ + 0.9174542040312896, + 0.03496477877865052, + 0.3963019653626165, + 0.04833112722847524, + -0.9985480412964352, + -0.023788891606744494, + 0.3948947779423494, + 0.04097893932268781, + -0.9178119855862907 + ], + [ + 0.921842714140118, + 0.05833725929994117, + 0.38314850197299705, + 0.06417268557879677, + -0.997935791438083, + -0.0024540970745312325, + 0.3822144382573546, + 0.02684995985504933, + -0.9236834971154332 + ], + [ + 0.9484922852916784, + 0.06794112598012697, + 0.30942913266646765, + 0.06874357110368662, + -0.9975996459154038, + 0.00832273400836404, + 0.30925184910373993, + 0.013377214583541415, + -0.9508860835851496 + ], + [ + 0.9545669329579652, + 0.09848962950558313, + 0.28125035712524304, + 0.08565879169828014, + -0.9946588561434622, + 0.05758759675633671, + 0.2854199395767829, + -0.03087964985605831, + -0.957904956306602 + ], + [ + 0.9628877802611513, + 0.11994512204135496, + 0.2417856288579568, + 0.09494208217975789, + -0.9890970989988404, + 0.1125741079620475, + 0.25265217920121974, + -0.08544060188553854, + -0.9637773497516489 + ], + [ + 0.9680506709751313, + 0.13080666880714809, + 0.2139334331519389, + 0.10132308753725011, + -0.9844577510467334, + 0.14344534964900987, + 0.22937203481792806, + -0.11718597100158798, + -0.9662587220014618 + ], + [ + 0.9705562865889469, + 0.15505315474373563, + 0.18433397344681, + 0.13097463166720638, + -0.981961481856363, + 0.1363718959686903, + 0.20215375441063096, + -0.10821352667051767, + -0.9733569192352903 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + 0.004159718751907349, + 0.001034468412399292, + -0.01729089766740799, + 0.007104229182004929, + -0.022133871912956238, + -0.0039006248116493225, + 1.0 + ], + [ + 0.016679108142852783, + 0.0015133470296859741, + -0.012134738266468048, + 0.007234003394842148, + -0.08635671436786652, + -0.029223395511507988, + 1.0 + ], + [ + 0.015426665544509888, + 0.005287855863571167, + -0.015274755656719208, + -0.013267330825328827, + -0.04749542474746704, + -0.014853885397315025, + 1.0 + ], + [ + 0.015904098749160767, + 0.00458662211894989, + -0.00526215136051178, + -2.9690563678741455e-06, + -0.04026526212692261, + -0.0031054846476763487, + 1.0 + ], + [ + 0.006635487079620361, + -0.0015072375535964966, + -0.012381371110677719, + -0.012333627790212631, + 0.005230128765106201, + 0.005195917561650276, + 1.0 + ], + [ + 0.0021758973598480225, + 0.00020834803581237793, + -0.009579885751008987, + -0.005945662036538124, + 0.0030697286128997803, + 0.008712702430784702, + 1.0 + ], + [ + 0.0021386444568634033, + -0.0015409588813781738, + -0.0053962767124176025, + -0.015518512576818466, + -0.014485418796539307, + 0.01557195745408535, + 1.0 + ], + [ + 0.0007172226905822754, + -0.005767062306404114, + -0.015515100210905075, + -0.031171847134828568, + -0.016465693712234497, + 0.00870860368013382, + 1.0 + ], + [ + 0.004099011421203613, + -0.004925057291984558, + -0.009782680310308933, + -0.01591728813946247, + -0.01740202307701111, + 0.012033779174089432, + 1.0 + ], + [ + -2.8699636459350586e-05, + -0.005694925785064697, + -0.0011385269463062286, + 0.015558706596493721, + 0.013761818408966064, + 0.0168704055249691, + 0.0 + ], + [ + -0.014501005411148071, + -0.01863463968038559, + 0.004278633743524551, + 0.014992943033576012, + 0.07778528332710266, + 0.002848811447620392, + 0.0 + ], + [ + -0.014730274677276611, + -0.0018311366438865662, + 0.023254666477441788, + 0.04629272222518921, + 0.024961650371551514, + 0.017145879566669464, + 0.0 + ], + [ + -0.0237848162651062, + 0.008515968918800354, + 0.024295959621667862, + 0.05619515851140022, + 0.034024178981781006, + 0.008787654340267181, + 0.0 + ], + [ + -0.021660327911376953, + 0.008669868111610413, + 0.011319849640130997, + 0.032267987728118896, + 0.023987919092178345, + 0.0060037001967430115, + 0.0 + ], + [ + -0.017793655395507812, + 0.010095089673995972, + -0.005606643855571747, + -0.009967729449272156, + 0.027875885367393494, + 0.029850251972675323, + 0.0 + ], + [ + -0.008880615234375, + 0.0044694989919662476, + -0.006589226424694061, + -0.020857833325862885, + 0.006881088018417358, + 0.0024689584970474243, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0073583126068115 + ], + [ + 1.0073583126068115 + ], + [ + 1.0073583126068115 + ], + [ + 1.0073583126068115 + ], + [ + 1.0073583126068115 + ], + [ + 1.0054124593734741 + ], + [ + 1.0047606229782104 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 0.8224069476127625 + ], + [ + 0.7807356715202332 + ], + [ + 0.7807356715202332 + ], + [ + 0.7807356715202332 + ], + [ + 0.7807356715202332 + ], + [ + 0.7807356715202332 + ], + [ + 0.7807356715202332 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.30186980962753296, + 0.1348240077495575, + 0.0968911275267601 + ], + [ + 0.31854891777038574, + 0.13633735477924347, + 0.08475638926029205 + ], + [ + 0.33397558331489563, + 0.14162521064281464, + 0.06948163360357285 + ], + [ + 0.3498796820640564, + 0.14621183276176453, + 0.06421948224306107 + ], + [ + 0.35651516914367676, + 0.14470459520816803, + 0.05183811113238335 + ], + [ + 0.3586910665035248, + 0.1449129432439804, + 0.04225822538137436 + ], + [ + 0.3608297109603882, + 0.14337198436260223, + 0.03686194866895676 + ], + [ + 0.36154693365097046, + 0.13760492205619812, + 0.02134684845805168 + ], + [ + 0.3656459450721741, + 0.13267986476421356, + 0.011564168147742748 + ], + [ + 0.3656172454357147, + 0.12698493897914886, + 0.01042564120143652 + ], + [ + 0.35111624002456665, + 0.10835029929876328, + 0.014704274944961071 + ], + [ + 0.33638596534729004, + 0.10651916265487671, + 0.03795894235372543 + ], + [ + 0.31260114908218384, + 0.11503513157367706, + 0.062254901975393295 + ], + [ + 0.2909408211708069, + 0.12370499968528748, + 0.07357475161552429 + ], + [ + 0.2731471657752991, + 0.13380008935928345, + 0.06796810775995255 + ], + [ + 0.2642665505409241, + 0.1382695883512497, + 0.061378881335258484 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9804591772250024, + 0.057577371000427556, + 0.18810807570104612, + 0.0486616151984559, + -0.99747743735677, + 0.051679872004956516, + 0.19060915246007673, + -0.04151636198958678, + -0.9807877154030841 + ], + [ + 0.9613685382308923, + 0.0339341901730849, + 0.2731647935534419, + 0.01958325400571406, + -0.9982891768901242, + 0.05509278960613936, + 0.27456698611148667, + -0.04761501907314079, + -0.960388348584217 + ], + [ + 0.9474334450075673, + 0.017110581081471364, + 0.3194950630231203, + 0.0052237095416309805, + -0.9992631279766206, + 0.03802517488460586, + 0.31991026888757085, + -0.03435737302871949, + -0.9468246885135853 + ], + [ + 0.9337994070281672, + 0.015379873808949025, + 0.3574662598280629, + 0.0022485902203106187, + -0.9993082485986435, + 0.03712099304615793, + 0.3577898982306019, + -0.03385976615885859, + -0.933188033013606 + ], + [ + 0.9356335717465191, + 0.016047100450382833, + 0.35260787000290694, + 0.007114614783027599, + -0.9996204642132758, + 0.026614089924784406, + 0.35290112167197873, + -0.02239236685057452, + -0.9353926342608696 + ], + [ + 0.9366148295906632, + 0.022608634685808066, + 0.349630534462447, + 0.015283741728901746, + -0.9996023865022162, + 0.02369548771049156, + 0.35002723926805596, + -0.016849882394767788, + -0.9365879634255746 + ], + [ + 0.9310975244885713, + 0.032780699552679544, + 0.3632944062714037, + 0.029701440942366403, + -0.9994599192246915, + 0.014060379415952479, + 0.3635591070200303, + -0.002301217115001253, + -0.9315682906274709 + ], + [ + 0.9246963360967781, + 0.029706219551163184, + 0.3795447622207057, + 0.03756069904134516, + -0.9992057780467892, + -0.013304397973434624, + 0.37884809607112907, + 0.02655849464649924, + -0.9250777083388141 + ], + [ + 0.9174542040312896, + 0.03496477877865052, + 0.3963019653626165, + 0.04833112722847524, + -0.9985480412964352, + -0.023788891606744494, + 0.3948947779423494, + 0.04097893932268781, + -0.9178119855862907 + ], + [ + 0.921842714140118, + 0.05833725929994117, + 0.38314850197299705, + 0.06417268557879677, + -0.997935791438083, + -0.0024540970745312325, + 0.3822144382573546, + 0.02684995985504933, + -0.9236834971154332 + ], + [ + 0.9484922852916784, + 0.06794112598012697, + 0.30942913266646765, + 0.06874357110368662, + -0.9975996459154038, + 0.00832273400836404, + 0.30925184910373993, + 0.013377214583541415, + -0.9508860835851496 + ], + [ + 0.9545669329579652, + 0.09848962950558313, + 0.28125035712524304, + 0.08565879169828014, + -0.9946588561434622, + 0.05758759675633671, + 0.2854199395767829, + -0.03087964985605831, + -0.957904956306602 + ], + [ + 0.9628877802611513, + 0.11994512204135496, + 0.2417856288579568, + 0.09494208217975789, + -0.9890970989988404, + 0.1125741079620475, + 0.25265217920121974, + -0.08544060188553854, + -0.9637773497516489 + ], + [ + 0.9680506709751313, + 0.13080666880714809, + 0.2139334331519389, + 0.10132308753725011, + -0.9844577510467334, + 0.14344534964900987, + 0.22937203481792806, + -0.11718597100158798, + -0.9662587220014618 + ], + [ + 0.9705562865889469, + 0.15505315474373563, + 0.18433397344681, + 0.13097463166720638, + -0.981961481856363, + 0.1363718959686903, + 0.20215375441063096, + -0.10821352667051767, + -0.9733569192352903 + ], + [ + 0.9715850557927711, + 0.15300579248829688, + 0.18058711699671703, + 0.13355676873936562, + -0.9842982770628373, + 0.11541010048964224, + 0.1954100020061853, + -0.0880120971012391, + -0.9767644556799682 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005443.json b/json/chunk-0005/episode_0005443.json new file mode 100644 index 0000000000000000000000000000000000000000..dffa4ee5f590b713a6c7aaab03e9814d5ce76989 --- /dev/null +++ b/json/chunk-0005/episode_0005443.json @@ -0,0 +1,2602 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 42, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPlace the colander on the back left corner of the table." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005443.mp4", + "start": 0, + "end": 42, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.28735506534576416, + 0.016920069232583046, + 0.17475305497646332, + 0.011475814506411552, + -0.1316397786140442, + -0.08054627478122711, + 0.0, + 1.0008161067962646 + ], + [ + 0.2853519320487976, + 0.017406269907951355, + 0.16584518551826477, + 0.0035679482389241457, + -0.10036341100931168, + -0.08654075860977173, + 0.0, + 1.0008161067962646 + ], + [ + 0.26812058687210083, + 0.04549942910671234, + 0.15915195643901825, + -0.0007687133620493114, + -0.08432044833898544, + -0.0759301632642746, + 0.0, + 1.0008161067962646 + ], + [ + 0.2530084550380707, + 0.05558992549777031, + 0.1519014984369278, + -0.017827162519097328, + -0.07670729607343674, + -0.10151777416467667, + 0.0, + 1.0008161067962646 + ], + [ + 0.23130948841571808, + 0.07399864494800568, + 0.13616202771663666, + -0.058287546038627625, + -0.10499881953001022, + -0.09046928584575653, + 0.0, + 1.0008161067962646 + ], + [ + 0.22414208948612213, + 0.09532738476991653, + 0.11845209449529648, + -0.029946496710181236, + -0.11390414088964462, + -0.1733207106590271, + 0.0, + 1.0008161067962646 + ], + [ + 0.22265173494815826, + 0.11521042883396149, + 0.09322141110897064, + -0.006498910021036863, + -0.036112524569034576, + -0.21205228567123413, + 0.0, + 1.0008161067962646 + ], + [ + 0.23131130635738373, + 0.1294788122177124, + 0.07569107413291931, + 0.023983469232916832, + 0.0022908656392246485, + -0.21273890137672424, + 0.0, + 1.0008161067962646 + ], + [ + 0.2386033982038498, + 0.13315851986408234, + 0.0590815506875515, + 0.035367146134376526, + 0.027097392827272415, + -0.21973849833011627, + 0.0, + 1.0008161067962646 + ], + [ + 0.2440672367811203, + 0.12860456109046936, + 0.042541634291410446, + 0.04800133779644966, + 0.06784970313310623, + -0.26519685983657837, + 0.0, + 1.0008161067962646 + ], + [ + 0.24841344356536865, + 0.11681618541479111, + 0.03915557265281677, + 0.055824458599090576, + 0.06792397052049637, + -0.31506049633026123, + 0.0, + 1.0008161067962646 + ], + [ + 0.2492171674966812, + 0.104088693857193, + 0.034876201301813126, + 0.05987876281142235, + 0.12087187170982361, + -0.36092549562454224, + 0.0, + 1.0008161067962646 + ], + [ + 0.2462777942419052, + 0.10595570504665375, + 0.0310908704996109, + 0.038219720125198364, + 0.10509728640317917, + -0.32887521386146545, + 0.0, + 1.0008161067962646 + ], + [ + 0.24057374894618988, + 0.11027700453996658, + 0.026825128123164177, + 0.006160850170999765, + 0.07853980362415314, + -0.28482165932655334, + 0.0, + 1.0008161067962646 + ], + [ + 0.238578662276268, + 0.11702919006347656, + 0.01917237602174282, + -0.010366984643042088, + 0.04019969329237938, + -0.20639339089393616, + 0.0, + 1.0008161067962646 + ], + [ + 0.2384873628616333, + 0.1216244176030159, + 0.012580295093357563, + 0.016728302463889122, + 0.049217235296964645, + -0.1857796013355255, + 0.0, + 0.9406655430793762 + ], + [ + 0.23681101202964783, + 0.12424424290657043, + 0.008275044150650501, + 0.06366656720638275, + 0.039821457117795944, + -0.15894950926303864, + 0.0, + 0.6530976295471191 + ], + [ + 0.23885446786880493, + 0.12380120903253555, + 0.011693738400936127, + 0.08181976526975632, + 0.026325983926653862, + -0.15877828001976013, + 0.0, + 0.3788849711418152 + ], + [ + 0.24134740233421326, + 0.12408018112182617, + 0.017200471833348274, + 0.10114292055368423, + 0.01095141563564539, + -0.1520255208015442, + 0.0, + 0.2432183027267456 + ], + [ + 0.24224472045898438, + 0.1226068064570427, + 0.01991863176226616, + 0.10251684486865997, + 0.008106455206871033, + -0.15635047852993011, + 0.0, + 0.1660143882036209 + ], + [ + 0.24822700023651123, + 0.12027955055236816, + 0.029183555394411087, + 0.0853508785367012, + -0.01845625415444374, + -0.15589243173599243, + 0.0, + 0.10082460194826126 + ], + [ + 0.2466510832309723, + 0.11748003959655762, + 0.044508885592222214, + 0.09584939479827881, + -0.02263479121029377, + -0.16947756707668304, + 0.0, + 0.07854863256216049 + ], + [ + 0.25553277134895325, + 0.11565031856298447, + 0.07832211256027222, + 0.13306808471679688, + -0.08060114085674286, + -0.1519118845462799, + 0.0, + 0.07821663469076157 + ], + [ + 0.2583208680152893, + 0.11622317880392075, + 0.09002842009067535, + 0.1371045559644699, + -0.0913456529378891, + -0.12632527947425842, + 0.0, + 0.07821663469076157 + ], + [ + 0.28046464920043945, + 0.12546128034591675, + 0.10665767639875412, + 0.18675313889980316, + -0.14165425300598145, + -0.09425023198127747, + 0.0, + 0.07821663469076157 + ], + [ + 0.3055594861507416, + 0.12846766412258148, + 0.10510260611772537, + 0.2371419221162796, + -0.1665082573890686, + -0.11629007011651993, + 0.0, + 0.07821663469076157 + ], + [ + 0.3325670063495636, + 0.1280149519443512, + 0.0971425473690033, + 0.2902030646800995, + -0.16870824992656708, + -0.17698228359222412, + 0.0, + 0.07821663469076157 + ], + [ + 0.34328633546829224, + 0.13034191727638245, + 0.0824253037571907, + 0.31401410698890686, + -0.1539817750453949, + -0.2143099457025528, + 0.0, + 0.07821663469076157 + ], + [ + 0.3491395115852356, + 0.12768901884555817, + 0.05615483596920967, + 0.3301171660423279, + -0.08666884154081345, + -0.2505684196949005, + 0.0, + 0.07821663469076157 + ], + [ + 0.3560308814048767, + 0.11567681282758713, + 0.03738939017057419, + 0.3470325767993927, + -0.04943280667066574, + -0.2810153365135193, + 0.0, + 0.07821663469076157 + ], + [ + 0.35984817147254944, + 0.10669652372598648, + 0.023233996704220772, + 0.350688099861145, + -0.021387441083788872, + -0.31078431010246277, + 0.0, + 0.07821663469076157 + ], + [ + 0.36159542202949524, + 0.10310287028551102, + 0.01762380264699459, + 0.3685755133628845, + -0.010263711214065552, + -0.3126307427883148, + 0.0, + 0.07821663469076157 + ], + [ + 0.3616892993450165, + 0.10268553346395493, + 0.01627996377646923, + 0.3757287263870239, + -0.0009530900861136615, + -0.30679354071617126, + 0.0, + 0.10713252425193787 + ], + [ + 0.3613056242465973, + 0.10271967947483063, + 0.013090222142636776, + 0.3735623061656952, + 0.029467515647411346, + -0.2762482464313507, + 0.0, + 0.2876356244087219 + ], + [ + 0.36118751764297485, + 0.10343106091022491, + 0.013357044197618961, + 0.3785970211029053, + 0.02261894755065441, + -0.25362464785575867, + 0.0, + 0.5650128126144409 + ], + [ + 0.3600946366786957, + 0.10457757860422134, + 0.013796191662549973, + 0.3819015920162201, + 0.024818511679768562, + -0.2445661723613739, + 0.0, + 0.8371937274932861 + ], + [ + 0.36093977093696594, + 0.10422244668006897, + 0.015168419107794762, + 0.3779807984828949, + 0.01913912035524845, + -0.2529781460762024, + 0.0, + 0.9907060265541077 + ], + [ + 0.36034563183784485, + 0.10015461593866348, + 0.018082495778799057, + 0.35229650139808655, + 0.0011326386593282223, + -0.25133219361305237, + 0.0, + 0.9927561283111572 + ], + [ + 0.3583170473575592, + 0.09766583144664764, + 0.028512464836239815, + 0.340471088886261, + -0.011312569491565228, + -0.24471525847911835, + 0.0, + 0.9941151142120361 + ], + [ + 0.36014240980148315, + 0.0942642018198967, + 0.05036891996860504, + 0.3330994248390198, + -0.057614341378211975, + -0.24544769525527954, + 0.0, + 0.9968144297599792 + ], + [ + 0.35789909958839417, + 0.09255459159612656, + 0.07280988246202469, + 0.3225446045398712, + -0.09558228403329849, + -0.24082905054092407, + 0.0, + 0.9968144297599792 + ], + [ + 0.35281774401664734, + 0.09475503861904144, + 0.10932690650224686, + 0.31643104553222656, + -0.17173658311367035, + -0.21463218331336975, + 0.0, + 0.9968144297599792 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9406655430793762 + ], + [ + 0.6530976295471191 + ], + [ + 0.3788849711418152 + ], + [ + 0.2432183027267456 + ], + [ + 0.1660143882036209 + ], + [ + 0.10082460194826126 + ], + [ + 0.07854863256216049 + ], + [ + 0.07821663469076157 + ], + [ + 0.07821663469076157 + ], + [ + 0.07821663469076157 + ], + [ + 0.07821663469076157 + ], + [ + 0.07821663469076157 + ], + [ + 0.07821663469076157 + ], + [ + 0.07821663469076157 + ], + [ + 0.07821663469076157 + ], + [ + 0.07821663469076157 + ], + [ + 0.07821663469076157 + ], + [ + 0.10713252425193787 + ], + [ + 0.2876356244087219 + ], + [ + 0.5650128126144409 + ], + [ + 0.8371937274932861 + ], + [ + 0.9907060265541077 + ], + [ + 0.9927561283111572 + ], + [ + 0.9941151142120361 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.28735506534576416, + 0.016920069232583046, + 0.17475305497646332 + ], + [ + 0.2853519320487976, + 0.017406269907951355, + 0.16584518551826477 + ], + [ + 0.26812058687210083, + 0.04549942910671234, + 0.15915195643901825 + ], + [ + 0.2530084550380707, + 0.05558992549777031, + 0.1519014984369278 + ], + [ + 0.23130948841571808, + 0.07399864494800568, + 0.13616202771663666 + ], + [ + 0.22414208948612213, + 0.09532738476991653, + 0.11845209449529648 + ], + [ + 0.22265173494815826, + 0.11521042883396149, + 0.09322141110897064 + ], + [ + 0.23131130635738373, + 0.1294788122177124, + 0.07569107413291931 + ], + [ + 0.2386033982038498, + 0.13315851986408234, + 0.0590815506875515 + ], + [ + 0.2440672367811203, + 0.12860456109046936, + 0.042541634291410446 + ], + [ + 0.24841344356536865, + 0.11681618541479111, + 0.03915557265281677 + ], + [ + 0.2492171674966812, + 0.104088693857193, + 0.034876201301813126 + ], + [ + 0.2462777942419052, + 0.10595570504665375, + 0.0310908704996109 + ], + [ + 0.24057374894618988, + 0.11027700453996658, + 0.026825128123164177 + ], + [ + 0.238578662276268, + 0.11702919006347656, + 0.01917237602174282 + ], + [ + 0.2384873628616333, + 0.1216244176030159, + 0.012580295093357563 + ], + [ + 0.23681101202964783, + 0.12424424290657043, + 0.008275044150650501 + ], + [ + 0.23885446786880493, + 0.12380120903253555, + 0.011693738400936127 + ], + [ + 0.24134740233421326, + 0.12408018112182617, + 0.017200471833348274 + ], + [ + 0.24224472045898438, + 0.1226068064570427, + 0.01991863176226616 + ], + [ + 0.24822700023651123, + 0.12027955055236816, + 0.029183555394411087 + ], + [ + 0.2466510832309723, + 0.11748003959655762, + 0.044508885592222214 + ], + [ + 0.25553277134895325, + 0.11565031856298447, + 0.07832211256027222 + ], + [ + 0.2583208680152893, + 0.11622317880392075, + 0.09002842009067535 + ], + [ + 0.28046464920043945, + 0.12546128034591675, + 0.10665767639875412 + ], + [ + 0.3055594861507416, + 0.12846766412258148, + 0.10510260611772537 + ], + [ + 0.3325670063495636, + 0.1280149519443512, + 0.0971425473690033 + ], + [ + 0.34328633546829224, + 0.13034191727638245, + 0.0824253037571907 + ], + [ + 0.3491395115852356, + 0.12768901884555817, + 0.05615483596920967 + ], + [ + 0.3560308814048767, + 0.11567681282758713, + 0.03738939017057419 + ], + [ + 0.35984817147254944, + 0.10669652372598648, + 0.023233996704220772 + ], + [ + 0.36159542202949524, + 0.10310287028551102, + 0.01762380264699459 + ], + [ + 0.3616892993450165, + 0.10268553346395493, + 0.01627996377646923 + ], + [ + 0.3613056242465973, + 0.10271967947483063, + 0.013090222142636776 + ], + [ + 0.36118751764297485, + 0.10343106091022491, + 0.013357044197618961 + ], + [ + 0.3600946366786957, + 0.10457757860422134, + 0.013796191662549973 + ], + [ + 0.36093977093696594, + 0.10422244668006897, + 0.015168419107794762 + ], + [ + 0.36034563183784485, + 0.10015461593866348, + 0.018082495778799057 + ], + [ + 0.3583170473575592, + 0.09766583144664764, + 0.028512464836239815 + ], + [ + 0.36014240980148315, + 0.0942642018198967, + 0.05036891996860504 + ], + [ + 0.35789909958839417, + 0.09255459159612656, + 0.07280988246202469 + ], + [ + 0.35281774401664734, + 0.09475503861904144, + 0.10932690650224686 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9881339422796808, + -0.07895251389862881, + 0.13174905185200872, + -0.07976307571929717, + -0.9968134634398372, + 0.0008779845521595065, + 0.13125990959395836, + -0.011376275935603412, + -0.9912827126905941 + ], + [ + 0.9912443360537944, + -0.08607607524335063, + 0.10012779590090654, + -0.08599783201470289, + -0.9962822425743959, + -0.005105489173793572, + 0.10019500551446411, + -0.0035499861455817712, + -0.9949614859221049 + ], + [ + 0.993576063573771, + -0.07592175564468087, + 0.08391956215971848, + -0.07558771279371884, + -0.9971134841587341, + -0.007155234688248522, + 0.08422056499373391, + 0.0007659821531930296, + -0.9964468423872279 + ], + [ + 0.9919260718386996, + -0.10268641650769207, + 0.0744188677114614, + -0.10104548583343718, + -0.9945549717980644, + -0.025499369883121698, + 0.07663209379451831, + 0.017773799159448034, + -0.996901005247817 + ], + [ + 0.9904256535468643, + -0.09627295417766223, + 0.09893706631072247, + -0.08984836246495322, + -0.9936675511860756, + -0.06746902609519381, + 0.10480599486018408, + 0.05793372086939788, + -0.9928038010743078 + ], + [ + 0.9786345496480942, + -0.175729092605899, + 0.10674129588392242, + -0.17133673716211376, + -0.9839889952762985, + -0.04908543239884208, + 0.11365799898692763, + 0.02974799467271577, + -0.9930744766024547 + ], + [ + 0.9769636535505016, + -0.21069159737371862, + 0.033927428982563165, + -0.2103294368764338, + -0.9775310074953689, + -0.013951966468273229, + 0.03610467593675759, + 0.006494627102490592, + -0.9993269095717886 + ], + [ + 0.9774537310685079, + -0.21113082286955517, + 0.0028247574547044336, + -0.2111372907945376, + -0.9771635902627966, + 0.023924094563102984, + -0.002290863635456401, + -0.02398110712927878, + -0.9997097871105683 + ], + [ + 0.9755961988833224, + -0.21877310984454607, + -0.018718523802884156, + -0.21789439581050252, + -0.9751353396668336, + 0.04041165187449147, + -0.02709407682112483, + -0.03534679252485602, + -0.9990077653649224 + ], + [ + 0.9628204521902722, + -0.2649367560619781, + -0.05277586694196103, + -0.26149618470869984, + -0.9630767045404618, + 0.06405471531649798, + -0.0677976565001562, + -0.04787250211593293, + -0.9965498990588714 + ], + [ + 0.9485851924280072, + -0.31299180896551715, + -0.04714085517694021, + -0.30915943763004183, + -0.9481230585415092, + 0.07404801135864213, + -0.06787175281806347, + -0.055666806827646735, + -0.9961398655746173 + ], + [ + 0.9287443652996499, + -0.35925818027952716, + -0.09147384230692983, + -0.35056369875887194, + -0.9313455017436486, + 0.09849187527085748, + -0.12057776344189337, + -0.059406365686801715, + -0.9909247633797617 + ], + [ + 0.9411842969170165, + -0.3265364578161723, + -0.08686806636324217, + -0.32119664853239965, + -0.9444204430667704, + 0.07001956647337554, + -0.10490391893716684, + -0.037999584661314784, + -0.9937561065760513 + ], + [ + 0.956753309034919, + -0.28144486498373705, + -0.07356557364024556, + -0.2801201134111185, + -0.9595577450199524, + 0.027958112145952764, + -0.07845908305145115, + -0.006141819478750095, + -0.9968984152561461 + ], + [ + 0.9779856332128573, + -0.20451237667003547, + -0.04145828045180343, + -0.20476561284249312, + -0.9788091697817571, + -0.001911268789478662, + -0.040188866947017426, + 0.010358423621427741, + -0.9991384078462774 + ], + [ + 0.9816024602330334, + -0.1854957211035423, + -0.045254254128563896, + -0.18448910289466164, + -0.9825030303757504, + 0.025525795102014852, + -0.049197367587897854, + -0.0167072665251963, + -0.9986493309804383 + ], + [ + 0.9866113250449404, + -0.16046134726101804, + -0.029159035104854295, + -0.15815556540399925, + -0.9849926972910741, + 0.06911008186217207, + -0.039810933483258926, + -0.0635731257563586, + -0.9971828053354902 + ], + [ + 0.9870790387618708, + -0.1597073032305115, + -0.012982624225438319, + -0.15805718554363182, + -0.9837777477054164, + 0.08484850745702174, + -0.02632294312890237, + -0.08170018613501309, + -0.9963092804197585 + ], + [ + 0.988407085240381, + -0.1517596458701261, + 0.004521474536913455, + -0.15143151962783222, + -0.9832472619811566, + 0.101455983903189, + -0.010951196730015503, + -0.10096450709002941, + -0.9948297540776753 + ], + [ + 0.9877696865227945, + -0.1557161726330155, + 0.007969941479435465, + -0.15570913014366675, + -0.9824867554885215, + 0.10234472179619873, + -0.00810636642173089, + -0.10233400642095263, + -0.994717064271682 + ], + [ + 0.9877051171347773, + -0.1531424124233621, + 0.03140068634487484, + -0.15523532762752593, + -0.9845215976890338, + 0.08135856894149036, + 0.01845520636977615, + -0.08523277069874839, + -0.9961901325333753 + ], + [ + 0.985420532825507, + -0.16575824122690846, + 0.03834812839312876, + -0.16862421890725526, + -0.9815140806515887, + 0.09053166451902181, + 0.0226328584984733, + -0.09567818428476099, + -0.995154982285754 + ], + [ + 0.9852744370095471, + -0.1394312382809773, + 0.09896066676691911, + -0.1508369850155512, + -0.9813613974477401, + 0.11907145565095326, + 0.08051389772541301, + -0.13224499004065096, + -0.9879416859725121 + ], + [ + 0.9878956743753669, + -0.11243925682621335, + 0.10686229491644136, + -0.12546429786465155, + -0.9842929839594275, + 0.12420157684013788, + 0.09121867413950746, + -0.13610560331086857, + -0.9864858935816647 + ], + [ + 0.9855899901771853, + -0.06637772115524308, + 0.1555839625307567, + -0.09316812283632202, + -0.9807180869325542, + 0.1717897984471324, + 0.1411809907519108, + -0.18380977149647718, + -0.9727702173446312 + ], + [ + 0.9795088373375407, + -0.07410735341196811, + 0.18727129451128505, + -0.11442341411371082, + -0.9699660629650677, + 0.21464649775528177, + 0.16573991637569102, + -0.2316763623383266, + -0.9585699469801142 + ], + [ + 0.9704037312463232, + -0.12140186730149574, + 0.20875388618879434, + -0.17356018998369058, + -0.9516775047330468, + 0.2533511149332227, + 0.16790907907566913, + -0.28208423139337624, + -0.9445819326893613 + ], + [ + 0.9655622664176967, + -0.15598353884758387, + 0.20822738839764843, + -0.21015690650727853, + -0.9394185613656278, + 0.27078929301031307, + 0.15337400143965674, + -0.305224347276423, + -0.9398481332173139 + ], + [ + 0.9651354545519615, + -0.20738355040408782, + 0.15970478198405347, + -0.24702399667041394, + -0.9234195321335996, + 0.2937269356785984, + 0.08656038028887228, + -0.32293719311339686, + -0.9424536433524392 + ], + [ + 0.9596007127785386, + -0.24465202822780782, + 0.13896710804697568, + -0.27699252590768203, + -0.9081595841068065, + 0.31388104496167596, + 0.04941267677632933, + -0.3396933247489145, + -0.9392373674928112 + ], + [ + 0.9518762700524589, + -0.28019808387571055, + 0.12417970970894764, + -0.30573552887390776, + -0.896393026128544, + 0.3209444330289955, + 0.021385810604466857, + -0.34346553902901494, + -0.9389217595754707 + ], + [ + 0.951477626227802, + -0.2833888878807284, + 0.1199210782707997, + -0.3075467228228465, + -0.8887618948777906, + 0.3398783716186813, + 0.010263531012012751, + -0.3602680008534801, + -0.9327923817721725 + ], + [ + 0.9533063976757711, + -0.28060242677659475, + 0.11166552842095119, + -0.30200331748179077, + -0.8869102087062182, + 0.34954867747237295, + 0.000953089941818891, + -0.36695035056500225, + -0.9302400399035642 + ], + [ + 0.9616678146583556, + -0.26428201073587837, + 0.07314392012753951, + -0.2726296592038681, + -0.8928009499038925, + 0.35857988339153973, + -0.0294632512225912, + -0.36477593485879606, + -0.9306290529396157 + ], + [ + 0.9677616922811668, + -0.24123778371843238, + 0.07239916200973094, + -0.25085010944669905, + -0.897361317919709, + 0.3630659550164162, + -0.02261701889444162, + -0.36952266075035517, + -0.9289464320660835 + ], + [ + 0.9699436620954901, + -0.23366475795258568, + 0.06789752021796554, + -0.24206086072867056, + -0.8981044798035512, + 0.3671714627528773, + -0.02481596389594087, + -0.3725709653847868, + -0.927671840516981 + ], + [ + 0.9679940028245952, + -0.239458946409407, + 0.0751466797677356, + -0.25024258089329715, + -0.8980620318537096, + 0.3617502420878924, + -0.019137951914441953, + -0.3689769639520656, + -0.929241485766341 + ], + [ + 0.9685813507676972, + -0.23379893290037285, + 0.08478340592162226, + -0.24869435875234402, + -0.9089971562289172, + 0.33447763137839653, + -0.0011326384171568074, + -0.3450539507705847, + -0.9385821691188404 + ], + [ + 0.970144271457652, + -0.2247075921243833, + 0.09125015397008004, + -0.2422645739443579, + -0.9154292639490829, + 0.32139872264400665, + 0.011312328206883625, + -0.3339098093008083, + -0.942537145412974 + ], + [ + 0.9684191192232373, + -0.2113706188787227, + 0.1322379332782946, + -0.2425874448482868, + -0.921284528559947, + 0.30395089905781697, + 0.05758247237544043, + -0.326431124298682, + -0.9434654100518098 + ], + [ + 0.9667077928872803, + -0.19682982932167883, + 0.16350553953980598, + -0.23741916157356827, + -0.9282759538444191, + 0.28624446760057864, + 0.09543681097306303, + -0.31553410561052453, + -0.9441027715814942 + ], + [ + 0.9626818183562155, + -0.1504556917979045, + 0.22495955505820173, + -0.20985490082418615, + -0.9398723351559838, + 0.26944556817381277, + 0.17089364296673273, + -0.30659921463378176, + -0.9363718729113486 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0020031332969665527, + 0.000486200675368309, + -0.008907869458198547, + -0.00790786650031805, + 0.03127636760473251, + -0.005994483828544617, + 1.0 + ], + [ + -0.017231345176696777, + 0.028093159198760986, + -0.006693229079246521, + -0.004336661659181118, + 0.016042962670326233, + 0.010610595345497131, + 1.0 + ], + [ + -0.015112131834030151, + 0.010090496391057968, + -0.007250458002090454, + -0.017058448866009712, + 0.007613152265548706, + -0.02558761090040207, + 1.0 + ], + [ + -0.0216989666223526, + 0.018408719450235367, + -0.015739470720291138, + -0.040460385382175446, + -0.028291523456573486, + 0.011048488318920135, + 1.0 + ], + [ + -0.007167398929595947, + 0.021328739821910858, + -0.01770993322134018, + 0.028341049328446388, + -0.0089053213596344, + -0.08285142481327057, + 1.0 + ], + [ + -0.0014903545379638672, + 0.019883044064044952, + -0.025230683386325836, + 0.023447586223483086, + 0.07779161632061005, + -0.03873157501220703, + 1.0 + ], + [ + 0.008659571409225464, + 0.014268383383750916, + -0.01753033697605133, + 0.030482379719614983, + 0.03840339183807373, + -0.0006866157054901123, + 1.0 + ], + [ + 0.0072920918464660645, + 0.003679707646369934, + -0.016609523445367813, + 0.011383676901459694, + 0.02480652742087841, + -0.006999596953392029, + 1.0 + ], + [ + 0.005463838577270508, + -0.004553958773612976, + -0.016539916396141052, + 0.012634191662073135, + 0.040752310305833817, + -0.0454583615064621, + 1.0 + ], + [ + 0.004346206784248352, + -0.011788375675678253, + -0.0033860616385936737, + 0.007823120802640915, + 7.426738739013672e-05, + -0.04986363649368286, + 1.0 + ], + [ + 0.000803723931312561, + -0.012727491557598114, + -0.004279371351003647, + 0.004054304212331772, + 0.05294790118932724, + -0.045864999294281006, + 1.0 + ], + [ + -0.002939373254776001, + 0.0018670111894607544, + -0.0037853308022022247, + -0.021659042686223984, + -0.01577458530664444, + 0.03205028176307678, + 1.0 + ], + [ + -0.005704045295715332, + 0.004321299493312836, + -0.004265742376446724, + -0.03205886855721474, + -0.02655748277902603, + 0.04405355453491211, + 1.0 + ], + [ + -0.001995086669921875, + 0.006752185523509979, + -0.007652752101421356, + -0.01652783527970314, + -0.03834011033177376, + 0.07842826843261719, + 1.0 + ], + [ + -9.129941463470459e-05, + 0.004595227539539337, + -0.006592080928385258, + 0.027095288038253784, + 0.009017542004585266, + 0.020613789558410645, + 0.0 + ], + [ + -0.0016763508319854736, + 0.002619825303554535, + -0.004305250942707062, + 0.04693826287984848, + -0.009395778179168701, + 0.026830092072486877, + 0.0 + ], + [ + 0.0020434558391571045, + -0.0004430338740348816, + 0.0034186942502856255, + 0.018153198063373566, + -0.013495473191142082, + 0.00017122924327850342, + 0.0 + ], + [ + 0.002492934465408325, + 0.0002789720892906189, + 0.0055067334324121475, + 0.019323155283927917, + -0.015374568291008472, + 0.006752759218215942, + 0.0 + ], + [ + 0.0008973181247711182, + -0.0014733746647834778, + 0.002718159928917885, + 0.0013739243149757385, + -0.002844960428774357, + -0.004324957728385925, + 0.0 + ], + [ + 0.0059822797775268555, + -0.00232725590467453, + 0.009264923632144928, + -0.01716596633195877, + -0.026562709361314774, + 0.0004580467939376831, + 0.0 + ], + [ + -0.0015759170055389404, + -0.002799510955810547, + 0.015325330197811127, + 0.010498516261577606, + -0.004178537055850029, + -0.013585135340690613, + 0.0 + ], + [ + 0.008881688117980957, + -0.0018297210335731506, + 0.03381322696805, + 0.037218689918518066, + -0.05796635150909424, + 0.017565682530403137, + 0.0 + ], + [ + 0.0027880966663360596, + 0.0005728602409362793, + 0.011706307530403137, + 0.004036471247673035, + -0.01074451208114624, + 0.025586605072021484, + 0.0 + ], + [ + 0.022143781185150146, + 0.009238101541996002, + 0.016629256308078766, + 0.04964858293533325, + -0.050308600068092346, + 0.03207504749298096, + 0.0 + ], + [ + 0.025094836950302124, + 0.003006383776664734, + -0.0015550702810287476, + 0.05038878321647644, + -0.024854004383087158, + -0.022039838135242462, + 0.0 + ], + [ + 0.02700752019882202, + -0.00045271217823028564, + -0.007960058748722076, + 0.053061142563819885, + -0.002199992537498474, + -0.06069221347570419, + 0.0 + ], + [ + 0.010719329118728638, + 0.00232696533203125, + -0.014717243611812592, + 0.023811042308807373, + 0.01472647488117218, + -0.037327662110328674, + 0.0 + ], + [ + 0.005853176116943359, + -0.00265289843082428, + -0.026270467787981033, + 0.01610305905342102, + 0.06731293350458145, + -0.03625847399234772, + 0.0 + ], + [ + 0.006891369819641113, + -0.012012206017971039, + -0.018765445798635483, + 0.01691541075706482, + 0.037236034870147705, + -0.030446916818618774, + 0.0 + ], + [ + 0.0038172900676727295, + -0.008980289101600647, + -0.014155393466353416, + 0.0036555230617523193, + 0.02804536558687687, + -0.02976897358894348, + 0.0 + ], + [ + 0.0017472505569458008, + -0.003593653440475464, + -0.005610194057226181, + 0.017887413501739502, + 0.01112372986972332, + -0.0018464326858520508, + 0.0 + ], + [ + 9.387731552124023e-05, + -0.0004173368215560913, + -0.00134383887052536, + 0.007153213024139404, + 0.009310620836913586, + 0.005837202072143555, + 1.0 + ], + [ + -0.00038367509841918945, + 3.4146010875701904e-05, + -0.0031897416338324547, + -0.0021664202213287354, + 0.030420605093240738, + 0.030545294284820557, + 1.0 + ], + [ + -0.00011810660362243652, + 0.0007113814353942871, + 0.00026682205498218536, + 0.005034714937210083, + -0.006848568096756935, + 0.02262359857559204, + 1.0 + ], + [ + -0.0010928809642791748, + 0.0011465176939964294, + 0.0004391474649310112, + 0.0033045709133148193, + 0.002199564129114151, + 0.009058475494384766, + 1.0 + ], + [ + 0.0008451342582702637, + -0.00035513192415237427, + 0.0013722274452447891, + -0.003920793533325195, + -0.005679391324520111, + -0.008411973714828491, + 1.0 + ], + [ + -0.0005941390991210938, + -0.004067830741405487, + 0.0029140766710042953, + -0.02568429708480835, + -0.01800648123025894, + 0.0016459524631500244, + 1.0 + ], + [ + -0.0020285844802856445, + -0.0024887844920158386, + 0.010429969057440758, + -0.011825412511825562, + -0.012445207685232162, + 0.006616935133934021, + 1.0 + ], + [ + 0.0018253624439239502, + -0.003401629626750946, + 0.021856455132365227, + -0.007371664047241211, + -0.04630177095532417, + -0.0007324367761611938, + 1.0 + ], + [ + -0.0022433102130889893, + -0.0017096102237701416, + 0.022440962493419647, + -0.01055482029914856, + -0.03796794265508652, + 0.004618644714355469, + 1.0 + ], + [ + -0.005081355571746826, + 0.0022004470229148865, + 0.03651702404022217, + -0.006113559007644653, + -0.07615429908037186, + 0.02619686722755432, + 1.0 + ], + [ + -0.004189223051071167, + -0.003963552415370941, + 0.021144352853298187, + -0.008172810077667236, + -0.039962634444236755, + -0.007506757974624634, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9406655430793762 + ], + [ + 0.6530976295471191 + ], + [ + 0.3788849711418152 + ], + [ + 0.2432183027267456 + ], + [ + 0.1660143882036209 + ], + [ + 0.10082460194826126 + ], + [ + 0.07854863256216049 + ], + [ + 0.07821663469076157 + ], + [ + 0.07821663469076157 + ], + [ + 0.07821663469076157 + ], + [ + 0.07821663469076157 + ], + [ + 0.07821663469076157 + ], + [ + 0.07821663469076157 + ], + [ + 0.07821663469076157 + ], + [ + 0.07821663469076157 + ], + [ + 0.07821663469076157 + ], + [ + 0.07821663469076157 + ], + [ + 0.10713252425193787 + ], + [ + 0.2876356244087219 + ], + [ + 0.5650128126144409 + ], + [ + 0.8371937274932861 + ], + [ + 0.9907060265541077 + ], + [ + 0.9927561283111572 + ], + [ + 0.9941151142120361 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2853519320487976, + 0.017406269907951355, + 0.16584518551826477 + ], + [ + 0.26812058687210083, + 0.04549942910671234, + 0.15915195643901825 + ], + [ + 0.2530084550380707, + 0.05558992549777031, + 0.1519014984369278 + ], + [ + 0.23130948841571808, + 0.07399864494800568, + 0.13616202771663666 + ], + [ + 0.22414208948612213, + 0.09532738476991653, + 0.11845209449529648 + ], + [ + 0.22265173494815826, + 0.11521042883396149, + 0.09322141110897064 + ], + [ + 0.23131130635738373, + 0.1294788122177124, + 0.07569107413291931 + ], + [ + 0.2386033982038498, + 0.13315851986408234, + 0.0590815506875515 + ], + [ + 0.2440672367811203, + 0.12860456109046936, + 0.042541634291410446 + ], + [ + 0.24841344356536865, + 0.11681618541479111, + 0.03915557265281677 + ], + [ + 0.2492171674966812, + 0.104088693857193, + 0.034876201301813126 + ], + [ + 0.2462777942419052, + 0.10595570504665375, + 0.0310908704996109 + ], + [ + 0.24057374894618988, + 0.11027700453996658, + 0.026825128123164177 + ], + [ + 0.238578662276268, + 0.11702919006347656, + 0.01917237602174282 + ], + [ + 0.2384873628616333, + 0.1216244176030159, + 0.012580295093357563 + ], + [ + 0.23681101202964783, + 0.12424424290657043, + 0.008275044150650501 + ], + [ + 0.23885446786880493, + 0.12380120903253555, + 0.011693738400936127 + ], + [ + 0.24134740233421326, + 0.12408018112182617, + 0.017200471833348274 + ], + [ + 0.24224472045898438, + 0.1226068064570427, + 0.01991863176226616 + ], + [ + 0.24822700023651123, + 0.12027955055236816, + 0.029183555394411087 + ], + [ + 0.2466510832309723, + 0.11748003959655762, + 0.044508885592222214 + ], + [ + 0.25553277134895325, + 0.11565031856298447, + 0.07832211256027222 + ], + [ + 0.2583208680152893, + 0.11622317880392075, + 0.09002842009067535 + ], + [ + 0.28046464920043945, + 0.12546128034591675, + 0.10665767639875412 + ], + [ + 0.3055594861507416, + 0.12846766412258148, + 0.10510260611772537 + ], + [ + 0.3325670063495636, + 0.1280149519443512, + 0.0971425473690033 + ], + [ + 0.34328633546829224, + 0.13034191727638245, + 0.0824253037571907 + ], + [ + 0.3491395115852356, + 0.12768901884555817, + 0.05615483596920967 + ], + [ + 0.3560308814048767, + 0.11567681282758713, + 0.03738939017057419 + ], + [ + 0.35984817147254944, + 0.10669652372598648, + 0.023233996704220772 + ], + [ + 0.36159542202949524, + 0.10310287028551102, + 0.01762380264699459 + ], + [ + 0.3616892993450165, + 0.10268553346395493, + 0.01627996377646923 + ], + [ + 0.3613056242465973, + 0.10271967947483063, + 0.013090222142636776 + ], + [ + 0.36118751764297485, + 0.10343106091022491, + 0.013357044197618961 + ], + [ + 0.3600946366786957, + 0.10457757860422134, + 0.013796191662549973 + ], + [ + 0.36093977093696594, + 0.10422244668006897, + 0.015168419107794762 + ], + [ + 0.36034563183784485, + 0.10015461593866348, + 0.018082495778799057 + ], + [ + 0.3583170473575592, + 0.09766583144664764, + 0.028512464836239815 + ], + [ + 0.36014240980148315, + 0.0942642018198967, + 0.05036891996860504 + ], + [ + 0.35789909958839417, + 0.09255459159612656, + 0.07280988246202469 + ], + [ + 0.35281774401664734, + 0.09475503861904144, + 0.10932690650224686 + ], + [ + 0.34862852096557617, + 0.0907914862036705, + 0.13047125935554504 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9912443360537944, + -0.08607607524335063, + 0.10012779590090654, + -0.08599783201470289, + -0.9962822425743959, + -0.005105489173793572, + 0.10019500551446411, + -0.0035499861455817712, + -0.9949614859221049 + ], + [ + 0.993576063573771, + -0.07592175564468087, + 0.08391956215971848, + -0.07558771279371884, + -0.9971134841587341, + -0.007155234688248522, + 0.08422056499373391, + 0.0007659821531930296, + -0.9964468423872279 + ], + [ + 0.9919260718386996, + -0.10268641650769207, + 0.0744188677114614, + -0.10104548583343718, + -0.9945549717980644, + -0.025499369883121698, + 0.07663209379451831, + 0.017773799159448034, + -0.996901005247817 + ], + [ + 0.9904256535468643, + -0.09627295417766223, + 0.09893706631072247, + -0.08984836246495322, + -0.9936675511860756, + -0.06746902609519381, + 0.10480599486018408, + 0.05793372086939788, + -0.9928038010743078 + ], + [ + 0.9786345496480942, + -0.175729092605899, + 0.10674129588392242, + -0.17133673716211376, + -0.9839889952762985, + -0.04908543239884208, + 0.11365799898692763, + 0.02974799467271577, + -0.9930744766024547 + ], + [ + 0.9769636535505016, + -0.21069159737371862, + 0.033927428982563165, + -0.2103294368764338, + -0.9775310074953689, + -0.013951966468273229, + 0.03610467593675759, + 0.006494627102490592, + -0.9993269095717886 + ], + [ + 0.9774537310685079, + -0.21113082286955517, + 0.0028247574547044336, + -0.2111372907945376, + -0.9771635902627966, + 0.023924094563102984, + -0.002290863635456401, + -0.02398110712927878, + -0.9997097871105683 + ], + [ + 0.9755961988833224, + -0.21877310984454607, + -0.018718523802884156, + -0.21789439581050252, + -0.9751353396668336, + 0.04041165187449147, + -0.02709407682112483, + -0.03534679252485602, + -0.9990077653649224 + ], + [ + 0.9628204521902722, + -0.2649367560619781, + -0.05277586694196103, + -0.26149618470869984, + -0.9630767045404618, + 0.06405471531649798, + -0.0677976565001562, + -0.04787250211593293, + -0.9965498990588714 + ], + [ + 0.9485851924280072, + -0.31299180896551715, + -0.04714085517694021, + -0.30915943763004183, + -0.9481230585415092, + 0.07404801135864213, + -0.06787175281806347, + -0.055666806827646735, + -0.9961398655746173 + ], + [ + 0.9287443652996499, + -0.35925818027952716, + -0.09147384230692983, + -0.35056369875887194, + -0.9313455017436486, + 0.09849187527085748, + -0.12057776344189337, + -0.059406365686801715, + -0.9909247633797617 + ], + [ + 0.9411842969170165, + -0.3265364578161723, + -0.08686806636324217, + -0.32119664853239965, + -0.9444204430667704, + 0.07001956647337554, + -0.10490391893716684, + -0.037999584661314784, + -0.9937561065760513 + ], + [ + 0.956753309034919, + -0.28144486498373705, + -0.07356557364024556, + -0.2801201134111185, + -0.9595577450199524, + 0.027958112145952764, + -0.07845908305145115, + -0.006141819478750095, + -0.9968984152561461 + ], + [ + 0.9779856332128573, + -0.20451237667003547, + -0.04145828045180343, + -0.20476561284249312, + -0.9788091697817571, + -0.001911268789478662, + -0.040188866947017426, + 0.010358423621427741, + -0.9991384078462774 + ], + [ + 0.9816024602330334, + -0.1854957211035423, + -0.045254254128563896, + -0.18448910289466164, + -0.9825030303757504, + 0.025525795102014852, + -0.049197367587897854, + -0.0167072665251963, + -0.9986493309804383 + ], + [ + 0.9866113250449404, + -0.16046134726101804, + -0.029159035104854295, + -0.15815556540399925, + -0.9849926972910741, + 0.06911008186217207, + -0.039810933483258926, + -0.0635731257563586, + -0.9971828053354902 + ], + [ + 0.9870790387618708, + -0.1597073032305115, + -0.012982624225438319, + -0.15805718554363182, + -0.9837777477054164, + 0.08484850745702174, + -0.02632294312890237, + -0.08170018613501309, + -0.9963092804197585 + ], + [ + 0.988407085240381, + -0.1517596458701261, + 0.004521474536913455, + -0.15143151962783222, + -0.9832472619811566, + 0.101455983903189, + -0.010951196730015503, + -0.10096450709002941, + -0.9948297540776753 + ], + [ + 0.9877696865227945, + -0.1557161726330155, + 0.007969941479435465, + -0.15570913014366675, + -0.9824867554885215, + 0.10234472179619873, + -0.00810636642173089, + -0.10233400642095263, + -0.994717064271682 + ], + [ + 0.9877051171347773, + -0.1531424124233621, + 0.03140068634487484, + -0.15523532762752593, + -0.9845215976890338, + 0.08135856894149036, + 0.01845520636977615, + -0.08523277069874839, + -0.9961901325333753 + ], + [ + 0.985420532825507, + -0.16575824122690846, + 0.03834812839312876, + -0.16862421890725526, + -0.9815140806515887, + 0.09053166451902181, + 0.0226328584984733, + -0.09567818428476099, + -0.995154982285754 + ], + [ + 0.9852744370095471, + -0.1394312382809773, + 0.09896066676691911, + -0.1508369850155512, + -0.9813613974477401, + 0.11907145565095326, + 0.08051389772541301, + -0.13224499004065096, + -0.9879416859725121 + ], + [ + 0.9878956743753669, + -0.11243925682621335, + 0.10686229491644136, + -0.12546429786465155, + -0.9842929839594275, + 0.12420157684013788, + 0.09121867413950746, + -0.13610560331086857, + -0.9864858935816647 + ], + [ + 0.9855899901771853, + -0.06637772115524308, + 0.1555839625307567, + -0.09316812283632202, + -0.9807180869325542, + 0.1717897984471324, + 0.1411809907519108, + -0.18380977149647718, + -0.9727702173446312 + ], + [ + 0.9795088373375407, + -0.07410735341196811, + 0.18727129451128505, + -0.11442341411371082, + -0.9699660629650677, + 0.21464649775528177, + 0.16573991637569102, + -0.2316763623383266, + -0.9585699469801142 + ], + [ + 0.9704037312463232, + -0.12140186730149574, + 0.20875388618879434, + -0.17356018998369058, + -0.9516775047330468, + 0.2533511149332227, + 0.16790907907566913, + -0.28208423139337624, + -0.9445819326893613 + ], + [ + 0.9655622664176967, + -0.15598353884758387, + 0.20822738839764843, + -0.21015690650727853, + -0.9394185613656278, + 0.27078929301031307, + 0.15337400143965674, + -0.305224347276423, + -0.9398481332173139 + ], + [ + 0.9651354545519615, + -0.20738355040408782, + 0.15970478198405347, + -0.24702399667041394, + -0.9234195321335996, + 0.2937269356785984, + 0.08656038028887228, + -0.32293719311339686, + -0.9424536433524392 + ], + [ + 0.9596007127785386, + -0.24465202822780782, + 0.13896710804697568, + -0.27699252590768203, + -0.9081595841068065, + 0.31388104496167596, + 0.04941267677632933, + -0.3396933247489145, + -0.9392373674928112 + ], + [ + 0.9518762700524589, + -0.28019808387571055, + 0.12417970970894764, + -0.30573552887390776, + -0.896393026128544, + 0.3209444330289955, + 0.021385810604466857, + -0.34346553902901494, + -0.9389217595754707 + ], + [ + 0.951477626227802, + -0.2833888878807284, + 0.1199210782707997, + -0.3075467228228465, + -0.8887618948777906, + 0.3398783716186813, + 0.010263531012012751, + -0.3602680008534801, + -0.9327923817721725 + ], + [ + 0.9533063976757711, + -0.28060242677659475, + 0.11166552842095119, + -0.30200331748179077, + -0.8869102087062182, + 0.34954867747237295, + 0.000953089941818891, + -0.36695035056500225, + -0.9302400399035642 + ], + [ + 0.9616678146583556, + -0.26428201073587837, + 0.07314392012753951, + -0.2726296592038681, + -0.8928009499038925, + 0.35857988339153973, + -0.0294632512225912, + -0.36477593485879606, + -0.9306290529396157 + ], + [ + 0.9677616922811668, + -0.24123778371843238, + 0.07239916200973094, + -0.25085010944669905, + -0.897361317919709, + 0.3630659550164162, + -0.02261701889444162, + -0.36952266075035517, + -0.9289464320660835 + ], + [ + 0.9699436620954901, + -0.23366475795258568, + 0.06789752021796554, + -0.24206086072867056, + -0.8981044798035512, + 0.3671714627528773, + -0.02481596389594087, + -0.3725709653847868, + -0.927671840516981 + ], + [ + 0.9679940028245952, + -0.239458946409407, + 0.0751466797677356, + -0.25024258089329715, + -0.8980620318537096, + 0.3617502420878924, + -0.019137951914441953, + -0.3689769639520656, + -0.929241485766341 + ], + [ + 0.9685813507676972, + -0.23379893290037285, + 0.08478340592162226, + -0.24869435875234402, + -0.9089971562289172, + 0.33447763137839653, + -0.0011326384171568074, + -0.3450539507705847, + -0.9385821691188404 + ], + [ + 0.970144271457652, + -0.2247075921243833, + 0.09125015397008004, + -0.2422645739443579, + -0.9154292639490829, + 0.32139872264400665, + 0.011312328206883625, + -0.3339098093008083, + -0.942537145412974 + ], + [ + 0.9684191192232373, + -0.2113706188787227, + 0.1322379332782946, + -0.2425874448482868, + -0.921284528559947, + 0.30395089905781697, + 0.05758247237544043, + -0.326431124298682, + -0.9434654100518098 + ], + [ + 0.9667077928872803, + -0.19682982932167883, + 0.16350553953980598, + -0.23741916157356827, + -0.9282759538444191, + 0.28624446760057864, + 0.09543681097306303, + -0.31553410561052453, + -0.9441027715814942 + ], + [ + 0.9626818183562155, + -0.1504556917979045, + 0.22495955505820173, + -0.20985490082418615, + -0.9398723351559838, + 0.26944556817381277, + 0.17089364296673273, + -0.30659921463378176, + -0.9363718729113486 + ], + [ + 0.953652274317468, + -0.14774726848365086, + 0.26214134421098245, + -0.21539800616941088, + -0.9434954610891357, + 0.25183330566555645, + 0.21012148540157244, + -0.2966261275744589, + -0.9315910593242175 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005445.json b/json/chunk-0005/episode_0005445.json new file mode 100644 index 0000000000000000000000000000000000000000..8a2845f64ca10e643966c52ef357a8db5108237f --- /dev/null +++ b/json/chunk-0005/episode_0005445.json @@ -0,0 +1,2542 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 41, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPlace the metal pot between the green bell pepper and the spoon." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005445.mp4", + "start": 0, + "end": 41, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.30802369117736816, + -0.011426607146859169, + 0.12434546649456024, + 0.0312984399497509, + -0.11009794473648071, + -0.07023261487483978, + 0.0, + 1.0001531839370728 + ], + [ + 0.3084762692451477, + -0.012117568403482437, + 0.11630652099847794, + 0.025961263105273247, + -0.08579282462596893, + -0.06215573474764824, + 0.0, + 1.0001531839370728 + ], + [ + 0.3111133277416229, + -0.04465380311012268, + 0.10596758872270584, + 0.009175519458949566, + -0.08328602463006973, + -0.11031195521354675, + 0.0, + 0.9994885921478271 + ], + [ + 0.31753677129745483, + -0.07621502876281738, + 0.10115895420312881, + 0.02758840098977089, + -0.10542133450508118, + -0.1415015459060669, + 0.0, + 1.0001531839370728 + ], + [ + 0.3156680166721344, + -0.10458190739154816, + 0.10060201585292816, + 0.04216814041137695, + -0.14543280005455017, + -0.1611461192369461, + 0.0, + 0.9994885921478271 + ], + [ + 0.31395649909973145, + -0.1151275560259819, + 0.08276153355836868, + 0.03703957796096802, + -0.1252947300672531, + -0.1268707513809204, + 0.0, + 0.9994885921478271 + ], + [ + 0.3071354031562805, + -0.11332076787948608, + 0.07213129848241806, + 0.03151290491223335, + -0.1169641986489296, + -0.10859072208404541, + 0.0, + 0.9994885921478271 + ], + [ + 0.30300289392471313, + -0.10941949486732483, + 0.06599581241607666, + 0.03939344361424446, + -0.10808740556240082, + -0.08759983628988266, + 0.0, + 0.9994885921478271 + ], + [ + 0.2996201813220978, + -0.10051985085010529, + 0.05887356400489807, + 0.03968333080410957, + -0.09435278922319412, + -0.07584286481142044, + 0.0, + 0.9994885921478271 + ], + [ + 0.29686790704727173, + -0.09918437898159027, + 0.048947110772132874, + 0.0419982373714447, + -0.08097183704376221, + -0.07004428654909134, + 0.0, + 0.9994885921478271 + ], + [ + 0.29839658737182617, + -0.0988556370139122, + 0.039077162742614746, + 0.043770529329776764, + -0.11518755555152893, + -0.10097948461771011, + 0.0, + 0.9994885921478271 + ], + [ + 0.302853524684906, + -0.10149981081485748, + 0.026986803859472275, + 0.03834029287099838, + -0.12587851285934448, + -0.12996679544448853, + 0.0, + 0.9994885921478271 + ], + [ + 0.3043479025363922, + -0.10362736135721207, + 0.009496022015810013, + 0.03299484774470329, + -0.11231241375207901, + -0.16909722983837128, + 0.0, + 0.9287639856338501 + ], + [ + 0.3052300810813904, + -0.10395986586809158, + 0.008627704344689846, + 0.02894383855164051, + -0.11175071448087692, + -0.1869649589061737, + 0.0, + 0.6330026388168335 + ], + [ + 0.30536577105522156, + -0.10304096341133118, + 0.009400620125234127, + 0.032384686172008514, + -0.10627748817205429, + -0.1842505931854248, + 0.0, + 0.36191558837890625 + ], + [ + 0.30479443073272705, + -0.10204722732305527, + 0.009640495292842388, + 0.041079357266426086, + -0.10047806054353714, + -0.18419955670833588, + 0.0, + 0.14669357240200043 + ], + [ + 0.3052867650985718, + -0.1021956130862236, + 0.010212106630206108, + 0.04124901816248894, + -0.10051760822534561, + -0.18402448296546936, + 0.0, + 0.08747956901788712 + ], + [ + 0.3037551939487457, + -0.10199174284934998, + 0.013229269534349442, + 0.047365330159664154, + -0.09840438514947891, + -0.1715613752603531, + 0.0, + 0.0853668823838234 + ], + [ + 0.29652950167655945, + -0.10524892807006836, + 0.04667820408940315, + 0.07605846971273422, + -0.13805840909481049, + -0.1377093642950058, + 0.0, + 0.08432227373123169 + ], + [ + 0.2858782708644867, + -0.0979476347565651, + 0.08416508883237839, + 0.13199537992477417, + -0.19099444150924683, + -0.09228315204381943, + 0.0, + 0.08432227373123169 + ], + [ + 0.28658628463745117, + -0.08301321417093277, + 0.10544535517692566, + 0.08964712917804718, + -0.2079015076160431, + -0.05255197361111641, + 0.0, + 0.08397578448057175 + ], + [ + 0.3113142251968384, + -0.06113119050860405, + 0.09903852641582489, + 0.03185999020934105, + -0.18979062139987946, + -0.024860123172402382, + 0.0, + 0.08397578448057175 + ], + [ + 0.3337806761264801, + -0.05263710021972656, + 0.08711226284503937, + 0.03470055013895035, + -0.18183588981628418, + 0.004520887043327093, + 0.0, + 0.08397578448057175 + ], + [ + 0.3458610475063324, + -0.04323066025972366, + 0.07456643134355545, + 0.05847243592143059, + -0.1731230467557907, + 0.050271160900592804, + 0.0, + 0.08397578448057175 + ], + [ + 0.3523029088973999, + -0.04267046973109245, + 0.06502524018287659, + 0.07274788618087769, + -0.15910814702510834, + 0.06890003383159637, + 0.0, + 0.08397578448057175 + ], + [ + 0.3540838658809662, + -0.04295549541711807, + 0.05393192544579506, + 0.06614506244659424, + -0.13070735335350037, + 0.06884917616844177, + 0.0, + 0.08397578448057175 + ], + [ + 0.3544727563858032, + -0.03451276570558548, + 0.04390721023082733, + 0.06047544255852699, + -0.10281116515398026, + 0.0910809114575386, + 0.0, + 0.08397578448057175 + ], + [ + 0.35956862568855286, + -0.02916402742266655, + 0.03424770012497902, + 0.062412992119789124, + -0.09337066859006882, + 0.10227108746767044, + 0.0, + 0.08397578448057175 + ], + [ + 0.3652113974094391, + -0.02707115188241005, + 0.028609054163098335, + 0.0646585151553154, + -0.09604394435882568, + 0.11253614723682404, + 0.0, + 0.08397578448057175 + ], + [ + 0.3697841465473175, + -0.026628578081727028, + 0.024103067815303802, + 0.0645059272646904, + -0.09247109293937683, + 0.11187905073165894, + 0.0, + 0.08397578448057175 + ], + [ + 0.37365037202835083, + -0.026859808713197708, + 0.020440667867660522, + 0.059911567717790604, + -0.08865272998809814, + 0.10429272800683975, + 0.0, + 0.08397578448057175 + ], + [ + 0.37908536195755005, + -0.027816785499453545, + 0.01892021857202053, + 0.056098539382219315, + -0.09411819279193878, + 0.10630585253238678, + 0.0, + 0.08397578448057175 + ], + [ + 0.3816644847393036, + -0.02788187563419342, + 0.01688525266945362, + 0.04685287922620773, + -0.09276125580072403, + 0.10455910116434097, + 0.0, + 0.11535319685935974 + ], + [ + 0.38289809226989746, + -0.029793327674269676, + 0.016269000247120857, + 0.029394105076789856, + -0.09649865329265594, + 0.08141271024942398, + 0.0, + 0.2965938150882721 + ], + [ + 0.38370388746261597, + -0.029741056263446808, + 0.01640649512410164, + 0.03768515959382057, + -0.10244729369878769, + 0.06840992718935013, + 0.0, + 0.603904664516449 + ], + [ + 0.3822615444660187, + -0.031593941152095795, + 0.015431800857186317, + 0.04467863589525223, + -0.09903886914253235, + 0.057393770664930344, + 0.0, + 0.8792814016342163 + ], + [ + 0.3800034821033478, + -0.030161086469888687, + 0.028498902916908264, + 0.04760830104351044, + -0.12212949991226196, + 0.06465267390012741, + 0.0, + 1.0112061500549316 + ], + [ + 0.37682369351387024, + -0.027986571192741394, + 0.07358787953853607, + 0.05213357135653496, + -0.2080748975276947, + 0.07817257940769196, + 0.0, + 1.0067112445831299 + ], + [ + 0.36613592505455017, + -0.029069308191537857, + 0.12065520137548447, + 0.03508472442626953, + -0.2602250277996063, + 0.06182895228266716, + 0.0, + 1.0008161067962646 + ], + [ + 0.3508531451225281, + -0.033644501119852066, + 0.1279357671737671, + 0.017939072102308273, + -0.18933600187301636, + 0.0036587873473763466, + 0.0, + 1.0008161067962646 + ], + [ + 0.3373148441314697, + -0.030385207384824753, + 0.12447361648082733, + -0.012712071649730206, + -0.1300567239522934, + -0.05272245034575462, + 0.0, + 1.0008161067962646 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9287639856338501 + ], + [ + 0.6330026388168335 + ], + [ + 0.36191558837890625 + ], + [ + 0.14669357240200043 + ], + [ + 0.08747956901788712 + ], + [ + 0.0853668823838234 + ], + [ + 0.08432227373123169 + ], + [ + 0.08432227373123169 + ], + [ + 0.08397578448057175 + ], + [ + 0.08397578448057175 + ], + [ + 0.08397578448057175 + ], + [ + 0.08397578448057175 + ], + [ + 0.08397578448057175 + ], + [ + 0.08397578448057175 + ], + [ + 0.08397578448057175 + ], + [ + 0.08397578448057175 + ], + [ + 0.08397578448057175 + ], + [ + 0.08397578448057175 + ], + [ + 0.08397578448057175 + ], + [ + 0.08397578448057175 + ], + [ + 0.11535319685935974 + ], + [ + 0.2965938150882721 + ], + [ + 0.603904664516449 + ], + [ + 0.8792814016342163 + ], + [ + 1.0112061500549316 + ], + [ + 1.0067112445831299 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.30802369117736816, + -0.011426607146859169, + 0.12434546649456024 + ], + [ + 0.3084762692451477, + -0.012117568403482437, + 0.11630652099847794 + ], + [ + 0.3111133277416229, + -0.04465380311012268, + 0.10596758872270584 + ], + [ + 0.31753677129745483, + -0.07621502876281738, + 0.10115895420312881 + ], + [ + 0.3156680166721344, + -0.10458190739154816, + 0.10060201585292816 + ], + [ + 0.31395649909973145, + -0.1151275560259819, + 0.08276153355836868 + ], + [ + 0.3071354031562805, + -0.11332076787948608, + 0.07213129848241806 + ], + [ + 0.30300289392471313, + -0.10941949486732483, + 0.06599581241607666 + ], + [ + 0.2996201813220978, + -0.10051985085010529, + 0.05887356400489807 + ], + [ + 0.29686790704727173, + -0.09918437898159027, + 0.048947110772132874 + ], + [ + 0.29839658737182617, + -0.0988556370139122, + 0.039077162742614746 + ], + [ + 0.302853524684906, + -0.10149981081485748, + 0.026986803859472275 + ], + [ + 0.3043479025363922, + -0.10362736135721207, + 0.009496022015810013 + ], + [ + 0.3052300810813904, + -0.10395986586809158, + 0.008627704344689846 + ], + [ + 0.30536577105522156, + -0.10304096341133118, + 0.009400620125234127 + ], + [ + 0.30479443073272705, + -0.10204722732305527, + 0.009640495292842388 + ], + [ + 0.3052867650985718, + -0.1021956130862236, + 0.010212106630206108 + ], + [ + 0.3037551939487457, + -0.10199174284934998, + 0.013229269534349442 + ], + [ + 0.29652950167655945, + -0.10524892807006836, + 0.04667820408940315 + ], + [ + 0.2858782708644867, + -0.0979476347565651, + 0.08416508883237839 + ], + [ + 0.28658628463745117, + -0.08301321417093277, + 0.10544535517692566 + ], + [ + 0.3113142251968384, + -0.06113119050860405, + 0.09903852641582489 + ], + [ + 0.3337806761264801, + -0.05263710021972656, + 0.08711226284503937 + ], + [ + 0.3458610475063324, + -0.04323066025972366, + 0.07456643134355545 + ], + [ + 0.3523029088973999, + -0.04267046973109245, + 0.06502524018287659 + ], + [ + 0.3540838658809662, + -0.04295549541711807, + 0.05393192544579506 + ], + [ + 0.3544727563858032, + -0.03451276570558548, + 0.04390721023082733 + ], + [ + 0.35956862568855286, + -0.02916402742266655, + 0.03424770012497902 + ], + [ + 0.3652113974094391, + -0.02707115188241005, + 0.028609054163098335 + ], + [ + 0.3697841465473175, + -0.026628578081727028, + 0.024103067815303802 + ], + [ + 0.37365037202835083, + -0.026859808713197708, + 0.020440667867660522 + ], + [ + 0.37908536195755005, + -0.027816785499453545, + 0.01892021857202053 + ], + [ + 0.3816644847393036, + -0.02788187563419342, + 0.01688525266945362 + ], + [ + 0.38289809226989746, + -0.029793327674269676, + 0.016269000247120857 + ], + [ + 0.38370388746261597, + -0.029741056263446808, + 0.01640649512410164 + ], + [ + 0.3822615444660187, + -0.031593941152095795, + 0.015431800857186317 + ], + [ + 0.3800034821033478, + -0.030161086469888687, + 0.028498902916908264 + ], + [ + 0.37682369351387024, + -0.027986571192741394, + 0.07358787953853607 + ], + [ + 0.36613592505455017, + -0.029069308191537857, + 0.12065520137548447 + ], + [ + 0.3508531451225281, + -0.033644501119852066, + 0.1279357671737671 + ], + [ + 0.3373148441314697, + -0.030385207384824753, + 0.12447361648082733 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9914949710301106, + -0.06671062357320252, + 0.11174710342766862, + -0.0697500056097677, + -0.9972874423193033, + 0.023509447242739293, + 0.10987565307854587, + -0.031103859803828893, + -0.993458550099533 + ], + [ + 0.9943981087994447, + -0.05987477596323169, + 0.08710575422691959, + -0.06188726270157862, + -0.9978707947312077, + 0.020587465551006892, + 0.08568761830856021, + -0.02586287350355549, + -0.9959863170961464 + ], + [ + 0.9904765958055597, + -0.10932507195315387, + 0.08369075100551635, + -0.1097067685546075, + -0.9939639950584581, + -3.821956160890427e-05, + 0.08318977157520863, + -0.0091435862694479, + -0.9964917745447763 + ], + [ + 0.9845091523540355, + -0.13810250204094926, + 0.10802512606411403, + -0.1402468585463999, + -0.9900379778273601, + 0.01247481973325692, + 0.10522617354538853, + -0.027431758775928988, + -0.9940698924177588 + ], + [ + 0.9766240867270976, + -0.15427687760255285, + 0.14967978574833987, + -0.1587557600950302, + -0.9871468326883072, + 0.018377686200716198, + 0.14492067437433212, + -0.04171061915927062, + -0.9885637169086464 + ], + [ + 0.9841865798798187, + -0.12185340510087234, + 0.1285633060005394, + -0.12553878003668256, + -0.9918678641660917, + 0.0209321461273592, + 0.12496715845119892, + -0.03674081789942066, + -0.9914803687460054 + ], + [ + 0.9873175466458232, + -0.10466840640915157, + 0.11936744441028051, + -0.10763694124950096, + -0.9940147431561691, + 0.01868098676800966, + 0.11669769048153526, + -0.03129241262580682, + -0.9926743846540678 + ], + [ + 0.9903522052530317, + -0.08318770867533916, + 0.11082560478428913, + -0.08697728505499898, + -0.9957644372423606, + 0.029801634315353487, + 0.10787706630659732, + -0.039153424483070534, + -0.9933929473860433 + ], + [ + 0.9926901715382199, + -0.07198356954160494, + 0.09687408862780578, + -0.07543315600192642, + -0.9966234975259958, + 0.03242596420525145, + 0.0942128563785648, + -0.03949645420920896, + -0.994768298548909 + ], + [ + 0.9942795074038754, + -0.06653767722291609, + 0.08355237080111005, + -0.06975771787796817, + -0.9969059408655602, + 0.03622714263380752, + 0.08088338490175195, + -0.04184832824297129, + -0.9958446643277775 + ], + [ + 0.988312905495125, + -0.09570795475382603, + 0.11864901275874054, + -0.1001399302704294, + -0.9944599755239889, + 0.03195858955368423, + 0.11493300308100246, + -0.04346659036164338, + -0.9924218157240979 + ], + [ + 0.9837206839199141, + -0.12473425601284259, + 0.12936375614931406, + -0.12857578171608194, + -0.991461177117034, + 0.021748623538141096, + 0.12554634357174643, + -0.03802761689388356, + -0.9913586717072369 + ], + [ + 0.9795265480653009, + -0.1645563849874585, + 0.1159695554666624, + -0.1672322114680227, + -0.985822804068678, + 0.013666983049815366, + 0.11207644303238071, + -0.0327810179529061, + -0.9931587364460834 + ], + [ + 0.9764439937652906, + -0.18262867959110332, + 0.11490819131158367, + -0.18471817344427235, + -0.98276124724294, + 0.007715394799548936, + 0.11151826504703663, + -0.02875928212440826, + -0.9933461532882623 + ], + [ + 0.9775271865854634, + -0.17973724776336616, + 0.11015952638223905, + -0.18217616737536405, + -0.9831876308880793, + 0.012406712260291303, + 0.10607753544804968, + -0.03219633884677954, + -0.9938364816397773 + ], + [ + 0.9781248226245239, + -0.17895538427971647, + 0.10605093966129109, + -0.18223589203646695, + -0.9830083295308473, + 0.02201598797797738, + 0.10030907745272585, + -0.040860671926343684, + -0.9941169420497323 + ], + [ + 0.9781528115792534, + -0.17876369275986367, + 0.10611606546823694, + -0.18206391921828788, + -0.9830361892218861, + 0.0221941433488489, + 0.10034842559043382, + -0.04102917048844117, + -0.9941060308893372 + ], + [ + 0.9805526246168267, + -0.16594613353240478, + 0.10477800877425253, + -0.16989509480787418, + -0.9850084881767827, + 0.029898745457156393, + 0.09824564681081552, + -0.04711856306524704, + -0.9940460924410851 + ], + [ + 0.9811081832785253, + -0.12651955837982962, + 0.14635413916689935, + -0.13596836825601635, + -0.989104851773621, + 0.056428672070848854, + 0.13762025845676787, + -0.07526216543028742, + -0.9876215221009697 + ], + [ + 0.9776382458489621, + -0.06647223637963108, + 0.19951165891760594, + -0.09047652294550111, + -0.9893855900982508, + 0.11371083018617205, + 0.18983534720661718, + -0.1292191777431922, + -0.9732753695919345 + ], + [ + 0.9771154034469504, + -0.03386334277899486, + 0.20999705322345763, + -0.05139666583794125, + -0.99558005533224, + 0.0786049372838431, + 0.20640705193245312, + -0.087599243378503, + -0.9745370703426666 + ], + [ + 0.9817403080796177, + -0.018837329706037034, + 0.18929110518268752, + -0.02441121410880949, + -0.9993330542033837, + 0.027157676672914213, + 0.18865328016621144, + -0.03128261156110121, + -0.9815453825964676 + ], + [ + 0.9835033056719541, + 0.010791917999640896, + 0.18056794355097547, + 0.0044463376437612135, + -0.9993594200912829, + 0.03551027395519321, + 0.18083549931884754, + -0.03412160577558196, + -0.9829212777254337 + ], + [ + 0.9838071530016341, + 0.06021808998392586, + 0.16881133653136945, + 0.04949883235566323, + -0.996523953078874, + 0.06700654099026684, + 0.1722595463196319, + -0.05756555027742001, + -0.9833681183173535 + ], + [ + 0.9850262798995891, + 0.08015195859334635, + 0.15263974397524108, + 0.06797594353318313, + -0.9941958321302679, + 0.08339015814578075, + 0.15843768178040904, + -0.07176566664119631, + -0.9847574270263693 + ], + [ + 0.9891209891974893, + 0.0772387107956601, + 0.12519524864628276, + 0.06820797266039326, + -0.9948565742935465, + 0.07488704193963243, + 0.13033549476078735, + -0.06553303090452632, + -0.9893018147491326 + ], + [ + 0.9905964736147643, + 0.09696586981211258, + 0.09652070531017752, + 0.09047475295805979, + -0.9934703177811406, + 0.06950573188606604, + 0.10263013952622176, + -0.06011944593407429, + -0.9929011565515513 + ], + [ + 0.9904417541106222, + 0.10767903396709588, + 0.08619952063780122, + 0.10164819483462986, + -0.9922442830102877, + 0.07154667930981311, + 0.09323505886271984, + -0.06210079288795854, + -0.9937055475952381 + ], + [ + 0.9890949646848202, + 0.11822110301980221, + 0.08783462663389313, + 0.11178121555831655, + -0.9909022469298455, + 0.07495129670451682, + 0.09589635385894121, + -0.06431568883378809, + -0.9933113215333831 + ], + [ + 0.9895023693404779, + 0.11732869341522861, + 0.08437439641890945, + 0.11116880370377971, + -0.9910167310125537, + 0.07434605528379967, + 0.09233936404724954, + -0.0641857971413193, + -0.9936566938800757 + ], + [ + 0.9906606989541762, + 0.1091893795035815, + 0.08166430647012483, + 0.10369494209375625, + -0.9922301540864586, + 0.06875085676364677, + 0.08853665078257793, + -0.05964059628462638, + -0.9942858043555779 + ], + [ + 0.9899539881611226, + 0.11117841418405294, + 0.08735251309153685, + 0.105636131794725, + -0.992231515283926, + 0.06570865800495108, + 0.09397930082382733, + -0.055820966463178565, + -0.9940080033479515 + ], + [ + 0.990262913823411, + 0.10856877551227635, + 0.08713313083857771, + 0.10391998188245778, + -0.9929944891494075, + 0.05623683743292447, + 0.0926282833238175, + -0.04663438112243444, + -0.9946080814199181 + ], + [ + 0.9920508417847651, + 0.08410998077998702, + 0.09359828228834956, + 0.08094446089460097, + -0.9960269900774736, + 0.037124510605407245, + 0.09634895725757374, + -0.02925313949645055, + -0.9949176509967946 + ], + [ + 0.9924300814652942, + 0.07215211567587103, + 0.09938111292537319, + 0.06799817802546647, + -0.9966892290721259, + 0.04457385373544643, + 0.10226818267675936, + -0.03747869868482268, + -0.9940505852102728 + ], + [ + 0.9934611570274527, + 0.06171397315866891, + 0.09605370890624827, + 0.05708117156000211, + -0.9971038240413788, + 0.050256382036483103, + 0.09887704147582892, + -0.044444905208926126, + -0.994106624598165 + ], + [ + 0.9904777635291129, + 0.07032006878946769, + 0.11835914785013894, + 0.0641264095441622, + -0.9964054713472047, + 0.055352870461511834, + 0.1218261201604192, + -0.047235840151298884, + -0.991426836358518 + ], + [ + 0.9754423602457835, + 0.08871871384020391, + 0.2015966062528701, + 0.07640855181119294, + -0.9947509340770181, + 0.06806109287262319, + 0.20657670499901717, + -0.05098596833874596, + -0.9771010674358661 + ], + [ + 0.9644856352078961, + 0.07075967286479941, + 0.2544808994280068, + 0.05970924159567826, + -0.9969172950855314, + 0.05089904937634746, + 0.2572980099917014, + -0.033896540463792195, + -0.9657374170026221 + ], + [ + 0.9821228468401151, + 0.007034242238165839, + 0.18810963066999575, + 0.003593394680197452, + -0.9998200545725293, + 0.018626486229461232, + 0.18820680441827742, + -0.017617545536163202, + -0.9819713951332498 + ], + [ + 0.990176767303845, + -0.0543400692031654, + 0.12882983494013636, + -0.05225296952874028, + -0.9984429311000717, + -0.019527941820028347, + 0.1296903877206639, + 0.012604372863933646, + -0.9914744238343071 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + 0.000452578067779541, + -0.0006909612566232681, + -0.008038945496082306, + -0.0053371768444776535, + 0.02430512011051178, + 0.008076880127191544, + 1.0 + ], + [ + 0.0026370584964752197, + -0.032536234706640244, + -0.010338932275772095, + -0.016785744577646255, + 0.0025067999958992004, + -0.048156220465898514, + 1.0 + ], + [ + 0.006423443555831909, + -0.0315612256526947, + -0.004808634519577026, + 0.01841288059949875, + -0.022135309875011444, + -0.03118959069252014, + 1.0 + ], + [ + -0.0018687546253204346, + -0.028366878628730774, + -0.0005569383502006531, + 0.014579739421606064, + -0.040011465549468994, + -0.01964457333087921, + 1.0 + ], + [ + -0.001711517572402954, + -0.010545648634433746, + -0.01784048229455948, + -0.0051285624504089355, + 0.020138069987297058, + 0.034275367856025696, + 1.0 + ], + [ + -0.006821095943450928, + 0.001806788146495819, + -0.010630235075950623, + -0.005526673048734665, + 0.008330531418323517, + 0.018280029296875, + 1.0 + ], + [ + -0.004132509231567383, + 0.003901273012161255, + -0.0061354860663414, + 0.007880538702011108, + 0.008876793086528778, + 0.02099088579416275, + 1.0 + ], + [ + -0.0033827126026153564, + 0.008899644017219543, + -0.007122248411178589, + 0.0002898871898651123, + 0.013734616339206696, + 0.01175697147846222, + 1.0 + ], + [ + -0.00275227427482605, + 0.0013354718685150146, + -0.009926453232765198, + 0.002314906567335129, + 0.013380952179431915, + 0.0057985782623291016, + 1.0 + ], + [ + 0.0015286803245544434, + 0.00032874196767807007, + -0.009869948029518127, + 0.0017722919583320618, + -0.034215718507766724, + -0.030935198068618774, + 1.0 + ], + [ + 0.004456937313079834, + -0.002644173800945282, + -0.012090358883142471, + -0.005430236458778381, + -0.010690957307815552, + -0.028987310826778412, + 1.0 + ], + [ + 0.001494377851486206, + -0.0021275505423545837, + -0.017490781843662262, + -0.00534544512629509, + 0.013566099107265472, + -0.03913043439388275, + 0.0 + ], + [ + 0.0008821785449981689, + -0.0003325045108795166, + -0.0008683176711201668, + -0.004051009193062782, + 0.0005616992712020874, + -0.01786772906780243, + 0.0 + ], + [ + 0.00013568997383117676, + 0.0009189024567604065, + 0.000772915780544281, + 0.003440847620368004, + 0.005473226308822632, + 0.0027143657207489014, + 0.0 + ], + [ + -0.0005713403224945068, + 0.0009937360882759094, + 0.0002398751676082611, + 0.008694671094417572, + 0.005799427628517151, + 5.103647708892822e-05, + 0.0 + ], + [ + 0.0004923343658447266, + -0.00014838576316833496, + 0.0005716113373637199, + 0.00016966089606285095, + -3.954768180847168e-05, + 0.0001750737428665161, + 0.0 + ], + [ + -0.0015315711498260498, + 0.0002038702368736267, + 0.0030171629041433334, + 0.006116311997175217, + 0.0021132230758666992, + 0.012463107705116272, + 0.0 + ], + [ + -0.007225692272186279, + -0.003257185220718384, + 0.03344893455505371, + 0.02869313955307007, + -0.039654023945331573, + 0.03385201096534729, + 0.0 + ], + [ + -0.010651230812072754, + 0.007301293313503265, + 0.037486884742975235, + 0.05593691021203995, + -0.05293603241443634, + 0.04542621225118637, + 0.0 + ], + [ + 0.0007080137729644775, + 0.014934420585632324, + 0.02128026634454727, + -0.04234825074672699, + -0.016907066106796265, + 0.03973117843270302, + 0.0 + ], + [ + 0.024727940559387207, + 0.02188202366232872, + -0.006406828761100769, + -0.05778713896870613, + 0.018110886216163635, + 0.027691850438714027, + 0.0 + ], + [ + 0.022466450929641724, + 0.008494090288877487, + -0.011926263570785522, + 0.0028405599296092987, + 0.007954731583595276, + 0.029381010681390762, + 0.0 + ], + [ + 0.012080371379852295, + 0.0094064399600029, + -0.012545831501483917, + 0.02377188578248024, + 0.00871284306049347, + 0.04575027525424957, + 0.0 + ], + [ + 0.006441861391067505, + 0.0005601905286312103, + -0.009541191160678864, + 0.014275450259447098, + 0.014014899730682373, + 0.01862887293100357, + 0.0 + ], + [ + 0.0017809569835662842, + -0.0002850256860256195, + -0.011093314737081528, + -0.006602823734283447, + 0.02840079367160797, + -5.085766315460205e-05, + 0.0 + ], + [ + 0.00038889050483703613, + 0.008442729711532593, + -0.010024715214967728, + -0.0056696198880672455, + 0.02789618819952011, + 0.022231735289096832, + 0.0 + ], + [ + 0.005095869302749634, + 0.00534873828291893, + -0.009659510105848312, + 0.0019375495612621307, + 0.009440496563911438, + 0.011190176010131836, + 0.0 + ], + [ + 0.0056427717208862305, + 0.0020928755402565002, + -0.005638645961880684, + 0.0022455230355262756, + -0.0026732757687568665, + 0.010265059769153595, + 0.0 + ], + [ + 0.004572749137878418, + 0.00044257380068302155, + -0.004505986347794533, + -0.000152587890625, + 0.0035728514194488525, + -0.0006570965051651001, + 0.0 + ], + [ + 0.003866225481033325, + -0.00023123063147068024, + -0.00366239994764328, + -0.0045943595468997955, + 0.0038183629512786865, + -0.007586322724819183, + 0.0 + ], + [ + 0.005434989929199219, + -0.0009569767862558365, + -0.0015204492956399918, + -0.003813028335571289, + -0.005465462803840637, + 0.0020131245255470276, + 0.0 + ], + [ + 0.00257912278175354, + -6.50901347398758e-05, + -0.00203496590256691, + -0.009245660156011581, + 0.0013569369912147522, + -0.0017467513680458069, + 1.0 + ], + [ + 0.001233607530593872, + -0.0019114520400762558, + -0.0006162524223327637, + -0.017458774149417877, + -0.0037373974919319153, + -0.023146390914916992, + 1.0 + ], + [ + 0.0008057951927185059, + 5.227141082286835e-05, + 0.00013749487698078156, + 0.008291054517030716, + -0.005948640406131744, + -0.013002783060073853, + 1.0 + ], + [ + -0.00144234299659729, + -0.0018528848886489868, + -0.0009746942669153214, + 0.006993476301431656, + 0.0034084245562553406, + -0.011016156524419785, + 1.0 + ], + [ + -0.0022580623626708984, + 0.0014328546822071075, + 0.013067102059721947, + 0.0029296651482582092, + -0.023090630769729614, + 0.007258903235197067, + 1.0 + ], + [ + -0.003179788589477539, + 0.002174515277147293, + 0.04508897662162781, + 0.004525270313024521, + -0.08594539761543274, + 0.013519905507564545, + 1.0 + ], + [ + -0.010687768459320068, + -0.001082736998796463, + 0.047067321836948395, + -0.017048846930265427, + -0.05215013027191162, + -0.016343627125024796, + 1.0 + ], + [ + -0.015282779932022095, + -0.004575192928314209, + 0.007280565798282623, + -0.017145652323961258, + 0.07088902592658997, + -0.05817016586661339, + 1.0 + ], + [ + -0.01353830099105835, + 0.0032592937350273132, + -0.0034621506929397583, + -0.030651144683361053, + 0.05927927792072296, + -0.056381236761808395, + 1.0 + ], + [ + -0.011925160884857178, + 0.003992455080151558, + -0.0021911710500717163, + -0.0034353742375969887, + 0.01616036891937256, + -0.037400227040052414, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9287639856338501 + ], + [ + 0.6330026388168335 + ], + [ + 0.36191558837890625 + ], + [ + 0.14669357240200043 + ], + [ + 0.08747956901788712 + ], + [ + 0.0853668823838234 + ], + [ + 0.08432227373123169 + ], + [ + 0.08432227373123169 + ], + [ + 0.08397578448057175 + ], + [ + 0.08397578448057175 + ], + [ + 0.08397578448057175 + ], + [ + 0.08397578448057175 + ], + [ + 0.08397578448057175 + ], + [ + 0.08397578448057175 + ], + [ + 0.08397578448057175 + ], + [ + 0.08397578448057175 + ], + [ + 0.08397578448057175 + ], + [ + 0.08397578448057175 + ], + [ + 0.08397578448057175 + ], + [ + 0.08397578448057175 + ], + [ + 0.11535319685935974 + ], + [ + 0.2965938150882721 + ], + [ + 0.603904664516449 + ], + [ + 0.8792814016342163 + ], + [ + 1.0112061500549316 + ], + [ + 1.0067112445831299 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3084762692451477, + -0.012117568403482437, + 0.11630652099847794 + ], + [ + 0.3111133277416229, + -0.04465380311012268, + 0.10596758872270584 + ], + [ + 0.31753677129745483, + -0.07621502876281738, + 0.10115895420312881 + ], + [ + 0.3156680166721344, + -0.10458190739154816, + 0.10060201585292816 + ], + [ + 0.31395649909973145, + -0.1151275560259819, + 0.08276153355836868 + ], + [ + 0.3071354031562805, + -0.11332076787948608, + 0.07213129848241806 + ], + [ + 0.30300289392471313, + -0.10941949486732483, + 0.06599581241607666 + ], + [ + 0.2996201813220978, + -0.10051985085010529, + 0.05887356400489807 + ], + [ + 0.29686790704727173, + -0.09918437898159027, + 0.048947110772132874 + ], + [ + 0.29839658737182617, + -0.0988556370139122, + 0.039077162742614746 + ], + [ + 0.302853524684906, + -0.10149981081485748, + 0.026986803859472275 + ], + [ + 0.3043479025363922, + -0.10362736135721207, + 0.009496022015810013 + ], + [ + 0.3052300810813904, + -0.10395986586809158, + 0.008627704344689846 + ], + [ + 0.30536577105522156, + -0.10304096341133118, + 0.009400620125234127 + ], + [ + 0.30479443073272705, + -0.10204722732305527, + 0.009640495292842388 + ], + [ + 0.3052867650985718, + -0.1021956130862236, + 0.010212106630206108 + ], + [ + 0.3037551939487457, + -0.10199174284934998, + 0.013229269534349442 + ], + [ + 0.29652950167655945, + -0.10524892807006836, + 0.04667820408940315 + ], + [ + 0.2858782708644867, + -0.0979476347565651, + 0.08416508883237839 + ], + [ + 0.28658628463745117, + -0.08301321417093277, + 0.10544535517692566 + ], + [ + 0.3113142251968384, + -0.06113119050860405, + 0.09903852641582489 + ], + [ + 0.3337806761264801, + -0.05263710021972656, + 0.08711226284503937 + ], + [ + 0.3458610475063324, + -0.04323066025972366, + 0.07456643134355545 + ], + [ + 0.3523029088973999, + -0.04267046973109245, + 0.06502524018287659 + ], + [ + 0.3540838658809662, + -0.04295549541711807, + 0.05393192544579506 + ], + [ + 0.3544727563858032, + -0.03451276570558548, + 0.04390721023082733 + ], + [ + 0.35956862568855286, + -0.02916402742266655, + 0.03424770012497902 + ], + [ + 0.3652113974094391, + -0.02707115188241005, + 0.028609054163098335 + ], + [ + 0.3697841465473175, + -0.026628578081727028, + 0.024103067815303802 + ], + [ + 0.37365037202835083, + -0.026859808713197708, + 0.020440667867660522 + ], + [ + 0.37908536195755005, + -0.027816785499453545, + 0.01892021857202053 + ], + [ + 0.3816644847393036, + -0.02788187563419342, + 0.01688525266945362 + ], + [ + 0.38289809226989746, + -0.029793327674269676, + 0.016269000247120857 + ], + [ + 0.38370388746261597, + -0.029741056263446808, + 0.01640649512410164 + ], + [ + 0.3822615444660187, + -0.031593941152095795, + 0.015431800857186317 + ], + [ + 0.3800034821033478, + -0.030161086469888687, + 0.028498902916908264 + ], + [ + 0.37682369351387024, + -0.027986571192741394, + 0.07358787953853607 + ], + [ + 0.36613592505455017, + -0.029069308191537857, + 0.12065520137548447 + ], + [ + 0.3508531451225281, + -0.033644501119852066, + 0.1279357671737671 + ], + [ + 0.3373148441314697, + -0.030385207384824753, + 0.12447361648082733 + ], + [ + 0.32538968324661255, + -0.026392752304673195, + 0.12228244543075562 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9943981087994447, + -0.05987477596323169, + 0.08710575422691959, + -0.06188726270157862, + -0.9978707947312077, + 0.020587465551006892, + 0.08568761830856021, + -0.02586287350355549, + -0.9959863170961464 + ], + [ + 0.9904765958055597, + -0.10932507195315387, + 0.08369075100551635, + -0.1097067685546075, + -0.9939639950584581, + -3.821956160890427e-05, + 0.08318977157520863, + -0.0091435862694479, + -0.9964917745447763 + ], + [ + 0.9845091523540355, + -0.13810250204094926, + 0.10802512606411403, + -0.1402468585463999, + -0.9900379778273601, + 0.01247481973325692, + 0.10522617354538853, + -0.027431758775928988, + -0.9940698924177588 + ], + [ + 0.9766240867270976, + -0.15427687760255285, + 0.14967978574833987, + -0.1587557600950302, + -0.9871468326883072, + 0.018377686200716198, + 0.14492067437433212, + -0.04171061915927062, + -0.9885637169086464 + ], + [ + 0.9841865798798187, + -0.12185340510087234, + 0.1285633060005394, + -0.12553878003668256, + -0.9918678641660917, + 0.0209321461273592, + 0.12496715845119892, + -0.03674081789942066, + -0.9914803687460054 + ], + [ + 0.9873175466458232, + -0.10466840640915157, + 0.11936744441028051, + -0.10763694124950096, + -0.9940147431561691, + 0.01868098676800966, + 0.11669769048153526, + -0.03129241262580682, + -0.9926743846540678 + ], + [ + 0.9903522052530317, + -0.08318770867533916, + 0.11082560478428913, + -0.08697728505499898, + -0.9957644372423606, + 0.029801634315353487, + 0.10787706630659732, + -0.039153424483070534, + -0.9933929473860433 + ], + [ + 0.9926901715382199, + -0.07198356954160494, + 0.09687408862780578, + -0.07543315600192642, + -0.9966234975259958, + 0.03242596420525145, + 0.0942128563785648, + -0.03949645420920896, + -0.994768298548909 + ], + [ + 0.9942795074038754, + -0.06653767722291609, + 0.08355237080111005, + -0.06975771787796817, + -0.9969059408655602, + 0.03622714263380752, + 0.08088338490175195, + -0.04184832824297129, + -0.9958446643277775 + ], + [ + 0.988312905495125, + -0.09570795475382603, + 0.11864901275874054, + -0.1001399302704294, + -0.9944599755239889, + 0.03195858955368423, + 0.11493300308100246, + -0.04346659036164338, + -0.9924218157240979 + ], + [ + 0.9837206839199141, + -0.12473425601284259, + 0.12936375614931406, + -0.12857578171608194, + -0.991461177117034, + 0.021748623538141096, + 0.12554634357174643, + -0.03802761689388356, + -0.9913586717072369 + ], + [ + 0.9795265480653009, + -0.1645563849874585, + 0.1159695554666624, + -0.1672322114680227, + -0.985822804068678, + 0.013666983049815366, + 0.11207644303238071, + -0.0327810179529061, + -0.9931587364460834 + ], + [ + 0.9764439937652906, + -0.18262867959110332, + 0.11490819131158367, + -0.18471817344427235, + -0.98276124724294, + 0.007715394799548936, + 0.11151826504703663, + -0.02875928212440826, + -0.9933461532882623 + ], + [ + 0.9775271865854634, + -0.17973724776336616, + 0.11015952638223905, + -0.18217616737536405, + -0.9831876308880793, + 0.012406712260291303, + 0.10607753544804968, + -0.03219633884677954, + -0.9938364816397773 + ], + [ + 0.9781248226245239, + -0.17895538427971647, + 0.10605093966129109, + -0.18223589203646695, + -0.9830083295308473, + 0.02201598797797738, + 0.10030907745272585, + -0.040860671926343684, + -0.9941169420497323 + ], + [ + 0.9781528115792534, + -0.17876369275986367, + 0.10611606546823694, + -0.18206391921828788, + -0.9830361892218861, + 0.0221941433488489, + 0.10034842559043382, + -0.04102917048844117, + -0.9941060308893372 + ], + [ + 0.9805526246168267, + -0.16594613353240478, + 0.10477800877425253, + -0.16989509480787418, + -0.9850084881767827, + 0.029898745457156393, + 0.09824564681081552, + -0.04711856306524704, + -0.9940460924410851 + ], + [ + 0.9811081832785253, + -0.12651955837982962, + 0.14635413916689935, + -0.13596836825601635, + -0.989104851773621, + 0.056428672070848854, + 0.13762025845676787, + -0.07526216543028742, + -0.9876215221009697 + ], + [ + 0.9776382458489621, + -0.06647223637963108, + 0.19951165891760594, + -0.09047652294550111, + -0.9893855900982508, + 0.11371083018617205, + 0.18983534720661718, + -0.1292191777431922, + -0.9732753695919345 + ], + [ + 0.9771154034469504, + -0.03386334277899486, + 0.20999705322345763, + -0.05139666583794125, + -0.99558005533224, + 0.0786049372838431, + 0.20640705193245312, + -0.087599243378503, + -0.9745370703426666 + ], + [ + 0.9817403080796177, + -0.018837329706037034, + 0.18929110518268752, + -0.02441121410880949, + -0.9993330542033837, + 0.027157676672914213, + 0.18865328016621144, + -0.03128261156110121, + -0.9815453825964676 + ], + [ + 0.9835033056719541, + 0.010791917999640896, + 0.18056794355097547, + 0.0044463376437612135, + -0.9993594200912829, + 0.03551027395519321, + 0.18083549931884754, + -0.03412160577558196, + -0.9829212777254337 + ], + [ + 0.9838071530016341, + 0.06021808998392586, + 0.16881133653136945, + 0.04949883235566323, + -0.996523953078874, + 0.06700654099026684, + 0.1722595463196319, + -0.05756555027742001, + -0.9833681183173535 + ], + [ + 0.9850262798995891, + 0.08015195859334635, + 0.15263974397524108, + 0.06797594353318313, + -0.9941958321302679, + 0.08339015814578075, + 0.15843768178040904, + -0.07176566664119631, + -0.9847574270263693 + ], + [ + 0.9891209891974893, + 0.0772387107956601, + 0.12519524864628276, + 0.06820797266039326, + -0.9948565742935465, + 0.07488704193963243, + 0.13033549476078735, + -0.06553303090452632, + -0.9893018147491326 + ], + [ + 0.9905964736147643, + 0.09696586981211258, + 0.09652070531017752, + 0.09047475295805979, + -0.9934703177811406, + 0.06950573188606604, + 0.10263013952622176, + -0.06011944593407429, + -0.9929011565515513 + ], + [ + 0.9904417541106222, + 0.10767903396709588, + 0.08619952063780122, + 0.10164819483462986, + -0.9922442830102877, + 0.07154667930981311, + 0.09323505886271984, + -0.06210079288795854, + -0.9937055475952381 + ], + [ + 0.9890949646848202, + 0.11822110301980221, + 0.08783462663389313, + 0.11178121555831655, + -0.9909022469298455, + 0.07495129670451682, + 0.09589635385894121, + -0.06431568883378809, + -0.9933113215333831 + ], + [ + 0.9895023693404779, + 0.11732869341522861, + 0.08437439641890945, + 0.11116880370377971, + -0.9910167310125537, + 0.07434605528379967, + 0.09233936404724954, + -0.0641857971413193, + -0.9936566938800757 + ], + [ + 0.9906606989541762, + 0.1091893795035815, + 0.08166430647012483, + 0.10369494209375625, + -0.9922301540864586, + 0.06875085676364677, + 0.08853665078257793, + -0.05964059628462638, + -0.9942858043555779 + ], + [ + 0.9899539881611226, + 0.11117841418405294, + 0.08735251309153685, + 0.105636131794725, + -0.992231515283926, + 0.06570865800495108, + 0.09397930082382733, + -0.055820966463178565, + -0.9940080033479515 + ], + [ + 0.990262913823411, + 0.10856877551227635, + 0.08713313083857771, + 0.10391998188245778, + -0.9929944891494075, + 0.05623683743292447, + 0.0926282833238175, + -0.04663438112243444, + -0.9946080814199181 + ], + [ + 0.9920508417847651, + 0.08410998077998702, + 0.09359828228834956, + 0.08094446089460097, + -0.9960269900774736, + 0.037124510605407245, + 0.09634895725757374, + -0.02925313949645055, + -0.9949176509967946 + ], + [ + 0.9924300814652942, + 0.07215211567587103, + 0.09938111292537319, + 0.06799817802546647, + -0.9966892290721259, + 0.04457385373544643, + 0.10226818267675936, + -0.03747869868482268, + -0.9940505852102728 + ], + [ + 0.9934611570274527, + 0.06171397315866891, + 0.09605370890624827, + 0.05708117156000211, + -0.9971038240413788, + 0.050256382036483103, + 0.09887704147582892, + -0.044444905208926126, + -0.994106624598165 + ], + [ + 0.9904777635291129, + 0.07032006878946769, + 0.11835914785013894, + 0.0641264095441622, + -0.9964054713472047, + 0.055352870461511834, + 0.1218261201604192, + -0.047235840151298884, + -0.991426836358518 + ], + [ + 0.9754423602457835, + 0.08871871384020391, + 0.2015966062528701, + 0.07640855181119294, + -0.9947509340770181, + 0.06806109287262319, + 0.20657670499901717, + -0.05098596833874596, + -0.9771010674358661 + ], + [ + 0.9644856352078961, + 0.07075967286479941, + 0.2544808994280068, + 0.05970924159567826, + -0.9969172950855314, + 0.05089904937634746, + 0.2572980099917014, + -0.033896540463792195, + -0.9657374170026221 + ], + [ + 0.9821228468401151, + 0.007034242238165839, + 0.18810963066999575, + 0.003593394680197452, + -0.9998200545725293, + 0.018626486229461232, + 0.18820680441827742, + -0.017617545536163202, + -0.9819713951332498 + ], + [ + 0.990176767303845, + -0.0543400692031654, + 0.12882983494013636, + -0.05225296952874028, + -0.9984429311000717, + -0.019527941820028347, + 0.1296903877206639, + 0.012604372863933646, + -0.9914744238343071 + ], + [ + 0.9894888128166366, + -0.0918166306775851, + 0.1117210617642815, + -0.08941759837417, + -0.9956467026552599, + -0.0263084889855638, + 0.11365026357962436, + 0.016042126502550724, + -0.99339129640115 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005447.json b/json/chunk-0005/episode_0005447.json new file mode 100644 index 0000000000000000000000000000000000000000..6190a0babd95580a657bbaf259fa25f9489da28a --- /dev/null +++ b/json/chunk-0005/episode_0005447.json @@ -0,0 +1,1522 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 24, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nTake the yelow things and put it between two burners." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005447.mp4", + "start": 0, + "end": 24, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2730862498283386, + 0.025317491963505745, + 0.060942329466342926, + -0.003917573019862175, + -0.15677602589130402, + 0.05976353585720062, + 0.0, + 1.0001531839370728 + ], + [ + 0.27075499296188354, + 0.02602415904402733, + 0.05262582004070282, + -0.0008589616045355797, + -0.11832157522439957, + 0.0504886619746685, + 0.0, + 1.0001531839370728 + ], + [ + 0.3102891445159912, + 0.06223946064710617, + 0.06852427124977112, + 0.05604536831378937, + -0.14010421931743622, + 0.04545724391937256, + 0.0, + 1.0001531839370728 + ], + [ + 0.3349689543247223, + 0.10055088251829147, + 0.08219649642705917, + 0.08903192728757858, + -0.15842953324317932, + 0.04052290320396423, + 0.0, + 1.0001531839370728 + ], + [ + 0.35071873664855957, + 0.12675100564956665, + 0.0824405625462532, + 0.07537606358528137, + -0.15115179121494293, + 0.003482139203697443, + 0.0, + 1.0001531839370728 + ], + [ + 0.3692552149295807, + 0.15089373290538788, + 0.061374008655548096, + 0.08867700397968292, + -0.10358333587646484, + -0.05253227427601814, + 0.0, + 1.0001531839370728 + ], + [ + 0.38309046626091003, + 0.15883849561214447, + 0.04221215844154358, + 0.08983907103538513, + -0.07762124389410019, + -0.05850852280855179, + 0.0, + 1.0001531839370728 + ], + [ + 0.3886771500110626, + 0.16259416937828064, + 0.022974351420998573, + 0.08778255432844162, + -0.052092742174863815, + -0.053900908678770065, + 0.0, + 1.0001531839370728 + ], + [ + 0.39124491810798645, + 0.16443239152431488, + 0.013914109207689762, + 0.10734421759843826, + -0.02494644932448864, + -0.054983824491500854, + 0.0, + 0.9499720335006714 + ], + [ + 0.3898339867591858, + 0.16133125126361847, + 0.01156677771359682, + 0.09551578760147095, + -0.027303563430905342, + -0.04542187601327896, + 0.0, + 0.7131344676017761 + ], + [ + 0.37966805696487427, + 0.15795132517814636, + 0.012375066988170147, + 0.08564316481351852, + -0.031574975699186325, + -0.013888115994632244, + 0.0, + 0.6911999583244324 + ], + [ + 0.37041419744491577, + 0.16287024319171906, + 0.028483033180236816, + 0.04983843117952347, + -0.05736809968948364, + 0.059638649225234985, + 0.0, + 0.6911999583244324 + ], + [ + 0.36377403140068054, + 0.1674395054578781, + 0.08484753221273422, + 0.06896176189184189, + -0.15781432390213013, + 0.14873217046260834, + 0.0, + 0.6911999583244324 + ], + [ + 0.3429010808467865, + 0.1522279977798462, + 0.1284414678812027, + 0.1098192110657692, + -0.21738389134407043, + 0.2116798609495163, + 0.0, + 0.6911999583244324 + ], + [ + 0.31693941354751587, + 0.09804227203130722, + 0.1300783008337021, + 0.13389338552951813, + -0.1653156727552414, + 0.23520535230636597, + 0.0, + 0.6911999583244324 + ], + [ + 0.29881009459495544, + 0.06045449525117874, + 0.11464168131351471, + 0.10813213139772415, + -0.09123454242944717, + 0.30006009340286255, + 0.0, + 0.6902000904083252 + ], + [ + 0.29496851563453674, + 0.04584404081106186, + 0.09401024878025055, + 0.08343764394521713, + -0.047299761325120926, + 0.4199393391609192, + 0.0, + 0.6902000904083252 + ], + [ + 0.2960815727710724, + 0.06074129417538643, + 0.06945386528968811, + 0.09055129438638687, + -0.017235349863767624, + 0.5355374813079834, + 0.0, + 0.6902000904083252 + ], + [ + 0.2993742525577545, + 0.07503727823495865, + 0.044799160212278366, + 0.09191562235355377, + 0.0004900079220533371, + 0.5252465009689331, + 0.0, + 0.6902000904083252 + ], + [ + 0.2997981905937195, + 0.06863151490688324, + 0.0150997843593359, + 0.09137765318155289, + 0.04714285582304001, + 0.3944531977176666, + 0.0, + 0.6902000904083252 + ], + [ + 0.3052484095096588, + 0.0573541559278965, + 0.005306930746883154, + 0.028969047591090202, + 0.038352902978658676, + 0.21539495885372162, + 0.0, + 0.763324499130249 + ], + [ + 0.3055723011493683, + 0.05669856444001198, + 0.004407826811075211, + 0.02594912052154541, + 0.03339334949851036, + 0.17312325537204742, + 0.0, + 0.9809558987617493 + ], + [ + 0.2978864908218384, + 0.05520675331354141, + 0.007765891961753368, + 0.028916679322719574, + 0.019479740411043167, + 0.22733771800994873, + 0.0, + 0.9900195002555847 + ], + [ + 0.28683823347091675, + 0.049305688589811325, + 0.03686864301562309, + 0.042840391397476196, + -0.04603315889835358, + 0.25822508335113525, + 0.0, + 0.9920742511749268 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9499720335006714 + ], + [ + 0.7131344676017761 + ], + [ + 0.6911999583244324 + ], + [ + 0.6911999583244324 + ], + [ + 0.6911999583244324 + ], + [ + 0.6911999583244324 + ], + [ + 0.6911999583244324 + ], + [ + 0.6902000904083252 + ], + [ + 0.6902000904083252 + ], + [ + 0.6902000904083252 + ], + [ + 0.6902000904083252 + ], + [ + 0.6902000904083252 + ], + [ + 0.763324499130249 + ], + [ + 0.9809558987617493 + ], + [ + 0.9900195002555847 + ], + [ + 0.9920742511749268 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2730862498283386, + 0.025317491963505745, + 0.060942329466342926 + ], + [ + 0.27075499296188354, + 0.02602415904402733, + 0.05262582004070282 + ], + [ + 0.3102891445159912, + 0.06223946064710617, + 0.06852427124977112 + ], + [ + 0.3349689543247223, + 0.10055088251829147, + 0.08219649642705917 + ], + [ + 0.35071873664855957, + 0.12675100564956665, + 0.0824405625462532 + ], + [ + 0.3692552149295807, + 0.15089373290538788, + 0.061374008655548096 + ], + [ + 0.38309046626091003, + 0.15883849561214447, + 0.04221215844154358 + ], + [ + 0.3886771500110626, + 0.16259416937828064, + 0.022974351420998573 + ], + [ + 0.39124491810798645, + 0.16443239152431488, + 0.013914109207689762 + ], + [ + 0.3898339867591858, + 0.16133125126361847, + 0.01156677771359682 + ], + [ + 0.37966805696487427, + 0.15795132517814636, + 0.012375066988170147 + ], + [ + 0.37041419744491577, + 0.16287024319171906, + 0.028483033180236816 + ], + [ + 0.36377403140068054, + 0.1674395054578781, + 0.08484753221273422 + ], + [ + 0.3429010808467865, + 0.1522279977798462, + 0.1284414678812027 + ], + [ + 0.31693941354751587, + 0.09804227203130722, + 0.1300783008337021 + ], + [ + 0.29881009459495544, + 0.06045449525117874, + 0.11464168131351471 + ], + [ + 0.29496851563453674, + 0.04584404081106186, + 0.09401024878025055 + ], + [ + 0.2960815727710724, + 0.06074129417538643, + 0.06945386528968811 + ], + [ + 0.2993742525577545, + 0.07503727823495865, + 0.044799160212278366 + ], + [ + 0.2997981905937195, + 0.06863151490688324, + 0.0150997843593359 + ], + [ + 0.3052484095096588, + 0.0573541559278965, + 0.005306930746883154 + ], + [ + 0.3055723011493683, + 0.05669856444001198, + 0.004407826811075211 + ], + [ + 0.2978864908218384, + 0.05520675331354141, + 0.007765891961753368 + ], + [ + 0.28683823347091675, + 0.049305688589811325, + 0.03686864301562309 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9859723764045707, + 0.05911693276289268, + 0.15608863260286313, + 0.05899544982861575, + -0.9982435650168164, + 0.005414960945061319, + 0.15613458895018503, + 0.003869517182399399, + -0.9877282100710358 + ], + [ + 0.9917427930669549, + 0.050365928450265975, + 0.11793856727592486, + 0.050114356134901526, + -0.9987304670018716, + 0.0050995677667557485, + 0.11804568483828379, + 0.0008529557820691827, + -0.993007798940922 + ], + [ + 0.9891785670626008, + 0.05318459295445107, + 0.13673756446657087, + 0.04499632855965075, + -0.9970430249674331, + 0.062293954601894685, + 0.139646313521454, + -0.05546715637258062, + -0.988646702155936 + ], + [ + 0.9866656105321512, + 0.054367645789544464, + 0.15341164259768336, + 0.04000445460858232, + -0.9946532945160764, + 0.09520749613231407, + 0.1577676031531397, + -0.08780081320590004, + -0.9835651481196838 + ], + [ + 0.9885923070665973, + 0.014811325007487454, + 0.1498862070380895, + 0.003442429942412605, + -0.997115039424257, + 0.07582709166289939, + 0.1505768909389287, + -0.07444610671811347, + -0.9857912441839201 + ], + [ + 0.9932679327576841, + -0.04315740107012711, + 0.1075000115727851, + -0.052226674584790383, + -0.9951775064948823, + 0.08303074748816147, + 0.10339820219467624, + -0.08808614703516446, + -0.9907318721447333 + ], + [ + 0.9952830003558341, + -0.051294179232706176, + 0.08234474105570477, + -0.058299077366039696, + -0.9946697641515122, + 0.08504867936095661, + 0.07754332196234937, + -0.08944812720016726, + -0.9929683105514623 + ], + [ + 0.9971931476740731, + -0.049109103795534896, + 0.056516565326224386, + -0.05380173041426919, + -0.9949488077528492, + 0.0847481194812837, + 0.05206918509353023, + -0.08755093303662169, + -0.9947982881409239 + ], + [ + 0.9981780939950983, + -0.05197140275298439, + 0.030650709032575305, + -0.05493902456337805, + -0.9928884753084124, + 0.10561334754547132, + 0.02494386193709888, + -0.10710485000980606, + -0.9939347840054897 + ], + [ + 0.9985962692233978, + -0.042598340887635845, + 0.03147812648064766, + -0.04538933517641975, + -0.9945333606846914, + 0.09403830462878325, + 0.027300171159784052, + -0.09533507139995219, + -0.9950708139704492 + ], + [ + 0.9994051616053912, + -0.011136602240000118, + 0.03263891920774918, + -0.013880747259912866, + -0.9962762829920132, + 0.08509343572288258, + 0.031569729362292215, + -0.08549587146854493, + -0.995838243968279 + ], + [ + 0.9965799693798398, + 0.062380600945001745, + 0.054194328638868354, + 0.05950524875053576, + -0.9968124227729148, + 0.05314244232934967, + 0.057336637519251867, + -0.04973584654282906, + -0.9971152669409158 + ], + [ + 0.97667008397311, + 0.15854208398269817, + 0.14484458801895675, + 0.14634295293932073, + -0.9850043117241413, + 0.0913796805085814, + 0.15716006871008295, + -0.06805081550777868, + -0.9852257605806743 + ], + [ + 0.9546696888159366, + 0.23194704679868577, + 0.18656460740840106, + 0.2051578016427697, + -0.9668233850497242, + 0.1521933590735762, + 0.21567582544455113, + -0.10701920202636915, + -0.9705827263641418 + ], + [ + 0.9592083412932848, + 0.25232023208363225, + 0.12749062112424833, + 0.2298654909644776, + -0.9586430720316516, + 0.1678252558746059, + 0.16456370820154834, + -0.13167369109651034, + -0.9775381450439548 + ], + [ + 0.9513455725092206, + 0.3032444577613336, + 0.05462966688657328, + 0.2943483127363101, + -0.9468328365568858, + 0.12987166899262081, + 0.09110802630059867, + -0.10747268701710333, + -0.9900247214534257 + ], + [ + 0.9120924244083739, + 0.40988485274003517, + 0.009045265675148767, + 0.4072490759633324, + -0.9083304660867075, + 0.09530978179450583, + 0.04728212626211189, + -0.08324765385873675, + -0.9954065645067594 + ], + [ + 0.8598667443494605, + 0.5095529268137851, + -0.03138465767480273, + 0.5102275512848273, + -0.8556758107000688, + 0.08652602436647872, + 0.017234496562069143, + -0.09041416790683332, + -0.9957551156634681 + ], + [ + 0.8652002619725169, + 0.4992707248197534, + -0.04644620566469001, + 0.5014262324359827, + -0.8615706756986359, + 0.07916883352211464, + -0.0004900079024442172, + -0.09178624142078444, + -0.9957786128342492 + ], + [ + 0.9221811403561131, + 0.37873011732820133, + -0.07839287340100384, + 0.3838764663988264, + -0.9210077789482575, + 0.06620822956361644, + -0.04712539566570953, + -0.09114915987196301, + -0.9947215830261178 + ], + [ + 0.9761736652954701, + 0.2125586450809888, + -0.04363252897715625, + 0.21357610142954345, + -0.9767195528336159, + 0.02010383074588968, + -0.038343501167283994, + -0.028943695580147505, + -0.9988453525968867 + ], + [ + 0.9845023887984061, + 0.17134843852281934, + -0.037346473274244216, + 0.17216371595748187, + -0.9848691574550456, + 0.019809028282587324, + -0.033387143602646566, + -0.025931743280783074, + -0.9991060220679665 + ], + [ + 0.9740850416761907, + 0.22474163562147723, + -0.02548585491751809, + 0.2253417832770627, + -0.9739895138439968, + 0.02378040435837457, + -0.01947850846977088, + -0.02890716416595799, + -0.9993922971324499 + ], + [ + 0.9658205360901249, + 0.2570360240470708, + 0.03351379430408812, + 0.2550943682619756, + -0.9654543954413993, + 0.05314765849879992, + 0.046016902846743875, + -0.04278191983718267, + -0.9980241239506376 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.002331256866455078, + 0.0007066670805215836, + -0.008316509425640106, + 0.0030586114153265953, + 0.03845445066690445, + -0.00927487388253212, + 1.0 + ], + [ + 0.039534151554107666, + 0.03621530160307884, + 0.0158984512090683, + 0.05690433084964752, + -0.02178264409303665, + -0.005031418055295944, + 1.0 + ], + [ + 0.02467980980873108, + 0.0383114218711853, + 0.013672225177288055, + 0.032986558973789215, + -0.018325313925743103, + -0.004934340715408325, + 1.0 + ], + [ + 0.01574978232383728, + 0.026200123131275177, + 0.00024406611919403076, + -0.01365586370229721, + 0.007277742028236389, + -0.03704076260328293, + 1.0 + ], + [ + 0.018536478281021118, + 0.024142727255821228, + -0.02106655389070511, + 0.01330094039440155, + 0.04756845533847809, + -0.05601441487669945, + 1.0 + ], + [ + 0.013835251331329346, + 0.007944762706756592, + -0.019161850214004517, + 0.0011620670557022095, + 0.025962091982364655, + -0.005976248532533646, + 1.0 + ], + [ + 0.005586683750152588, + 0.0037556737661361694, + -0.019237807020545006, + -0.002056516706943512, + 0.025528501719236374, + 0.004607614129781723, + 1.0 + ], + [ + 0.002567768096923828, + 0.0018382221460342407, + -0.009060242213308811, + 0.019561663269996643, + 0.027146292850375175, + -0.0010829158127307892, + 0.0 + ], + [ + -0.0014109313488006592, + -0.003101140260696411, + -0.0023473314940929413, + -0.011828429996967316, + -0.0023571141064167023, + 0.009561948478221893, + 0.0 + ], + [ + -0.010165929794311523, + -0.003379926085472107, + 0.0008082892745733261, + -0.009872622787952423, + -0.004271412268280983, + 0.03153375908732414, + 0.0 + ], + [ + -0.009253859519958496, + 0.004918918013572693, + 0.016107965260744095, + -0.035804733633995056, + -0.025793123990297318, + 0.0735267624258995, + 0.0 + ], + [ + -0.0066401660442352295, + 0.004569262266159058, + 0.056364499032497406, + 0.01912333071231842, + -0.10044622421264648, + 0.08909352123737335, + 0.0 + ], + [ + -0.020872950553894043, + -0.015211507678031921, + 0.043593935668468475, + 0.04085744917392731, + -0.05956956744194031, + 0.06294769048690796, + 0.0 + ], + [ + -0.02596166729927063, + -0.05418572574853897, + 0.0016368329524993896, + 0.024074174463748932, + 0.05206821858882904, + 0.02352549135684967, + 0.0 + ], + [ + -0.018129318952560425, + -0.03758777678012848, + -0.015436619520187378, + -0.025761254131793976, + 0.07408113032579422, + 0.06485474109649658, + 0.0 + ], + [ + -0.003841578960418701, + -0.014610454440116882, + -0.02063143253326416, + -0.02469448745250702, + 0.04393478110432625, + 0.11987924575805664, + 0.0 + ], + [ + 0.0011130571365356445, + 0.01489725336432457, + -0.02455638349056244, + 0.007113650441169739, + 0.030064411461353302, + 0.11559814214706421, + 0.0 + ], + [ + 0.003292679786682129, + 0.01429598405957222, + -0.024654705077409744, + 0.0013643279671669006, + 0.01772535778582096, + -0.010290980339050293, + 0.0 + ], + [ + 0.0004239380359649658, + -0.006405763328075409, + -0.029699375852942467, + -0.000537969172000885, + 0.04665284603834152, + -0.13079330325126648, + 0.0 + ], + [ + 0.005450218915939331, + -0.01127735897898674, + -0.009792853146791458, + -0.062408603727817535, + -0.008789952844381332, + -0.179058238863945, + 1.0 + ], + [ + 0.00032389163970947266, + -0.0006555914878845215, + -0.0008991039358079433, + -0.003019927069544792, + -0.004959553480148315, + -0.042271703481674194, + 1.0 + ], + [ + -0.007685810327529907, + -0.0014918111264705658, + 0.003358065150678158, + 0.002967558801174164, + -0.013913609087467194, + 0.054214462637901306, + 1.0 + ], + [ + -0.01104825735092163, + -0.005901064723730087, + 0.02910275012254715, + 0.013923712074756622, + -0.06551289558410645, + 0.030887365341186523, + 1.0 + ], + [ + -0.005205869674682617, + -0.01051730290055275, + 0.017769068479537964, + -0.003583136945962906, + -0.050695739686489105, + -0.0338049978017807, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9499720335006714 + ], + [ + 0.7131344676017761 + ], + [ + 0.6911999583244324 + ], + [ + 0.6911999583244324 + ], + [ + 0.6911999583244324 + ], + [ + 0.6911999583244324 + ], + [ + 0.6911999583244324 + ], + [ + 0.6902000904083252 + ], + [ + 0.6902000904083252 + ], + [ + 0.6902000904083252 + ], + [ + 0.6902000904083252 + ], + [ + 0.6902000904083252 + ], + [ + 0.763324499130249 + ], + [ + 0.9809558987617493 + ], + [ + 0.9900195002555847 + ], + [ + 0.9920742511749268 + ], + [ + 0.9941151142120361 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.27075499296188354, + 0.02602415904402733, + 0.05262582004070282 + ], + [ + 0.3102891445159912, + 0.06223946064710617, + 0.06852427124977112 + ], + [ + 0.3349689543247223, + 0.10055088251829147, + 0.08219649642705917 + ], + [ + 0.35071873664855957, + 0.12675100564956665, + 0.0824405625462532 + ], + [ + 0.3692552149295807, + 0.15089373290538788, + 0.061374008655548096 + ], + [ + 0.38309046626091003, + 0.15883849561214447, + 0.04221215844154358 + ], + [ + 0.3886771500110626, + 0.16259416937828064, + 0.022974351420998573 + ], + [ + 0.39124491810798645, + 0.16443239152431488, + 0.013914109207689762 + ], + [ + 0.3898339867591858, + 0.16133125126361847, + 0.01156677771359682 + ], + [ + 0.37966805696487427, + 0.15795132517814636, + 0.012375066988170147 + ], + [ + 0.37041419744491577, + 0.16287024319171906, + 0.028483033180236816 + ], + [ + 0.36377403140068054, + 0.1674395054578781, + 0.08484753221273422 + ], + [ + 0.3429010808467865, + 0.1522279977798462, + 0.1284414678812027 + ], + [ + 0.31693941354751587, + 0.09804227203130722, + 0.1300783008337021 + ], + [ + 0.29881009459495544, + 0.06045449525117874, + 0.11464168131351471 + ], + [ + 0.29496851563453674, + 0.04584404081106186, + 0.09401024878025055 + ], + [ + 0.2960815727710724, + 0.06074129417538643, + 0.06945386528968811 + ], + [ + 0.2993742525577545, + 0.07503727823495865, + 0.044799160212278366 + ], + [ + 0.2997981905937195, + 0.06863151490688324, + 0.0150997843593359 + ], + [ + 0.3052484095096588, + 0.0573541559278965, + 0.005306930746883154 + ], + [ + 0.3055723011493683, + 0.05669856444001198, + 0.004407826811075211 + ], + [ + 0.2978864908218384, + 0.05520675331354141, + 0.007765891961753368 + ], + [ + 0.28683823347091675, + 0.049305688589811325, + 0.03686864301562309 + ], + [ + 0.28163236379623413, + 0.038788385689258575, + 0.054637711495161057 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9917427930669549, + 0.050365928450265975, + 0.11793856727592486, + 0.050114356134901526, + -0.9987304670018716, + 0.0050995677667557485, + 0.11804568483828379, + 0.0008529557820691827, + -0.993007798940922 + ], + [ + 0.9891785670626008, + 0.05318459295445107, + 0.13673756446657087, + 0.04499632855965075, + -0.9970430249674331, + 0.062293954601894685, + 0.139646313521454, + -0.05546715637258062, + -0.988646702155936 + ], + [ + 0.9866656105321512, + 0.054367645789544464, + 0.15341164259768336, + 0.04000445460858232, + -0.9946532945160764, + 0.09520749613231407, + 0.1577676031531397, + -0.08780081320590004, + -0.9835651481196838 + ], + [ + 0.9885923070665973, + 0.014811325007487454, + 0.1498862070380895, + 0.003442429942412605, + -0.997115039424257, + 0.07582709166289939, + 0.1505768909389287, + -0.07444610671811347, + -0.9857912441839201 + ], + [ + 0.9932679327576841, + -0.04315740107012711, + 0.1075000115727851, + -0.052226674584790383, + -0.9951775064948823, + 0.08303074748816147, + 0.10339820219467624, + -0.08808614703516446, + -0.9907318721447333 + ], + [ + 0.9952830003558341, + -0.051294179232706176, + 0.08234474105570477, + -0.058299077366039696, + -0.9946697641515122, + 0.08504867936095661, + 0.07754332196234937, + -0.08944812720016726, + -0.9929683105514623 + ], + [ + 0.9971931476740731, + -0.049109103795534896, + 0.056516565326224386, + -0.05380173041426919, + -0.9949488077528492, + 0.0847481194812837, + 0.05206918509353023, + -0.08755093303662169, + -0.9947982881409239 + ], + [ + 0.9981780939950983, + -0.05197140275298439, + 0.030650709032575305, + -0.05493902456337805, + -0.9928884753084124, + 0.10561334754547132, + 0.02494386193709888, + -0.10710485000980606, + -0.9939347840054897 + ], + [ + 0.9985962692233978, + -0.042598340887635845, + 0.03147812648064766, + -0.04538933517641975, + -0.9945333606846914, + 0.09403830462878325, + 0.027300171159784052, + -0.09533507139995219, + -0.9950708139704492 + ], + [ + 0.9994051616053912, + -0.011136602240000118, + 0.03263891920774918, + -0.013880747259912866, + -0.9962762829920132, + 0.08509343572288258, + 0.031569729362292215, + -0.08549587146854493, + -0.995838243968279 + ], + [ + 0.9965799693798398, + 0.062380600945001745, + 0.054194328638868354, + 0.05950524875053576, + -0.9968124227729148, + 0.05314244232934967, + 0.057336637519251867, + -0.04973584654282906, + -0.9971152669409158 + ], + [ + 0.97667008397311, + 0.15854208398269817, + 0.14484458801895675, + 0.14634295293932073, + -0.9850043117241413, + 0.0913796805085814, + 0.15716006871008295, + -0.06805081550777868, + -0.9852257605806743 + ], + [ + 0.9546696888159366, + 0.23194704679868577, + 0.18656460740840106, + 0.2051578016427697, + -0.9668233850497242, + 0.1521933590735762, + 0.21567582544455113, + -0.10701920202636915, + -0.9705827263641418 + ], + [ + 0.9592083412932848, + 0.25232023208363225, + 0.12749062112424833, + 0.2298654909644776, + -0.9586430720316516, + 0.1678252558746059, + 0.16456370820154834, + -0.13167369109651034, + -0.9775381450439548 + ], + [ + 0.9513455725092206, + 0.3032444577613336, + 0.05462966688657328, + 0.2943483127363101, + -0.9468328365568858, + 0.12987166899262081, + 0.09110802630059867, + -0.10747268701710333, + -0.9900247214534257 + ], + [ + 0.9120924244083739, + 0.40988485274003517, + 0.009045265675148767, + 0.4072490759633324, + -0.9083304660867075, + 0.09530978179450583, + 0.04728212626211189, + -0.08324765385873675, + -0.9954065645067594 + ], + [ + 0.8598667443494605, + 0.5095529268137851, + -0.03138465767480273, + 0.5102275512848273, + -0.8556758107000688, + 0.08652602436647872, + 0.017234496562069143, + -0.09041416790683332, + -0.9957551156634681 + ], + [ + 0.8652002619725169, + 0.4992707248197534, + -0.04644620566469001, + 0.5014262324359827, + -0.8615706756986359, + 0.07916883352211464, + -0.0004900079024442172, + -0.09178624142078444, + -0.9957786128342492 + ], + [ + 0.9221811403561131, + 0.37873011732820133, + -0.07839287340100384, + 0.3838764663988264, + -0.9210077789482575, + 0.06620822956361644, + -0.04712539566570953, + -0.09114915987196301, + -0.9947215830261178 + ], + [ + 0.9761736652954701, + 0.2125586450809888, + -0.04363252897715625, + 0.21357610142954345, + -0.9767195528336159, + 0.02010383074588968, + -0.038343501167283994, + -0.028943695580147505, + -0.9988453525968867 + ], + [ + 0.9845023887984061, + 0.17134843852281934, + -0.037346473274244216, + 0.17216371595748187, + -0.9848691574550456, + 0.019809028282587324, + -0.033387143602646566, + -0.025931743280783074, + -0.9991060220679665 + ], + [ + 0.9740850416761907, + 0.22474163562147723, + -0.02548585491751809, + 0.2253417832770627, + -0.9739895138439968, + 0.02378040435837457, + -0.01947850846977088, + -0.02890716416595799, + -0.9993922971324499 + ], + [ + 0.9658205360901249, + 0.2570360240470708, + 0.03351379430408812, + 0.2550943682619756, + -0.9654543954413993, + 0.05314765849879992, + 0.046016902846743875, + -0.04278191983718267, + -0.9980241239506376 + ], + [ + 0.9703659556154939, + 0.22606493425337112, + 0.08534962028883637, + 0.22150073864219946, + -0.9733286558398468, + 0.05973901992799314, + 0.096578128804557, + -0.03906370722315158, + -0.994558541170199 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005449.json b/json/chunk-0005/episode_0005449.json new file mode 100644 index 0000000000000000000000000000000000000000..87d35b1e1ed17defef1a6d3407e9ced71990c760 --- /dev/null +++ b/json/chunk-0005/episode_0005449.json @@ -0,0 +1,1582 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 25, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut banana on plate." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005449.mp4", + "start": 0, + "end": 25, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2623160481452942, + 0.10710670053958893, + 0.04839656874537468, + -0.05904141068458557, + -0.1614867001771927, + -0.06999135762453079, + 0.0, + 0.9974852800369263 + ], + [ + 0.26302146911621094, + 0.09964147210121155, + 0.045392561703920364, + -0.038584254682064056, + -0.12038092315196991, + 0.016974901780486107, + 0.0, + 0.9981546401977539 + ], + [ + 0.2849777042865753, + 0.07724113762378693, + 0.06822433322668076, + 0.032390911132097244, + -0.11738346517086029, + 0.1616094708442688, + 0.0, + 0.9974852800369263 + ], + [ + 0.3116070032119751, + 0.05812815576791763, + 0.09664168953895569, + 0.08640503883361816, + -0.13535664975643158, + 0.2775938808917999, + 0.0, + 0.9974852800369263 + ], + [ + 0.3494328260421753, + 0.029791291803121567, + 0.11001148819923401, + 0.1055714413523674, + -0.16265438497066498, + 0.422088623046875, + 0.0, + 0.9981546401977539 + ], + [ + 0.3841298818588257, + 0.01897415891289711, + 0.1067013218998909, + 0.11032562702894211, + -0.2079397439956665, + 0.58223956823349, + 0.0, + 0.9974852800369263 + ], + [ + 0.42078688740730286, + -0.01911424845457077, + 0.08864414691925049, + 0.10777313262224197, + -0.2511437237262726, + 0.6775133013725281, + 0.0, + 0.9974852800369263 + ], + [ + 0.44814422726631165, + -0.03535475581884384, + 0.07327013462781906, + 0.07183046638965607, + -0.2385530173778534, + 0.7851212620735168, + 0.0, + 0.9981546401977539 + ], + [ + 0.46319666504859924, + -0.04892789572477341, + 0.06534639000892639, + 0.03613165393471718, + -0.20902538299560547, + 0.8451874852180481, + 0.0, + 0.9981546401977539 + ], + [ + 0.4668245315551758, + -0.06731321662664413, + 0.06340143084526062, + -0.00554219726473093, + -0.1726481169462204, + 0.8864598870277405, + 0.0, + 0.9974852800369263 + ], + [ + 0.4678264260292053, + -0.07732909172773361, + 0.06725898385047913, + -0.03261597454547882, + -0.1374271661043167, + 0.9417252540588379, + 0.0, + 0.9974852800369263 + ], + [ + 0.46196699142456055, + -0.08711716532707214, + 0.06292317807674408, + -0.015827078372240067, + -0.12539245188236237, + 0.9851405024528503, + 0.0, + 0.9981546401977539 + ], + [ + 0.4506872296333313, + -0.09567441046237946, + 0.040366336703300476, + -0.0023530314210802317, + -0.10164493322372437, + 1.0336754322052002, + 0.0, + 0.9974852800369263 + ], + [ + 0.4389461874961853, + -0.09692001342773438, + 0.02690361998975277, + -0.0432346947491169, + -0.11842674016952515, + 1.0964889526367188, + 0.0, + 0.9974852800369263 + ], + [ + 0.4272593855857849, + -0.10220389813184738, + 0.009791496209800243, + -0.07074261456727982, + -0.1367150843143463, + 1.0878742933273315, + 0.0, + 0.9082958698272705 + ], + [ + 0.4308905005455017, + -0.09894455224275589, + 0.01271313987672329, + -0.0979536697268486, + -0.1225643903017044, + 1.0927636623382568, + 0.0, + 0.684196949005127 + ], + [ + 0.4456787407398224, + -0.08812353014945984, + 0.03534555807709694, + -0.08771639317274094, + -0.12688834965229034, + 1.0860379934310913, + 0.0, + 0.5899012684822083 + ], + [ + 0.45071670413017273, + -0.08637416362762451, + 0.06745397299528122, + -0.02211696282029152, + -0.142985999584198, + 1.0629948377609253, + 0.0, + 0.5899012684822083 + ], + [ + 0.4369453489780426, + -0.0791020542383194, + 0.09451223164796829, + 0.0791223868727684, + -0.16772226989269257, + 1.0605077743530273, + 0.0, + 0.5899012684822083 + ], + [ + 0.4022807478904724, + -0.07057971507310867, + 0.1239309161901474, + 0.10670388489961624, + -0.21461524069309235, + 1.1198444366455078, + 0.0, + 0.5899012684822083 + ], + [ + 0.3623337745666504, + -0.07112425565719604, + 0.14408431947231293, + 0.04521644115447998, + -0.2713928818702698, + 1.2152765989303589, + 0.0, + 0.5899012684822083 + ], + [ + 0.3296245336532593, + -0.08403841406106949, + 0.1436714082956314, + 0.02501203678548336, + -0.2904990315437317, + 1.2768170833587646, + 0.0, + 0.5899012684822083 + ], + [ + 0.3034529983997345, + -0.09552053362131119, + 0.1382688283920288, + -0.03511768579483032, + -0.24441364407539368, + 1.3895506858825684, + 0.0, + 0.5899012684822083 + ], + [ + 0.27650198340415955, + -0.09985727816820145, + 0.11345374584197998, + -0.05909885838627815, + -0.19773247838020325, + 1.4566899538040161, + 0.0, + 0.5899012684822083 + ], + [ + 0.25941774249076843, + -0.09613631665706635, + 0.09413394331932068, + -0.10669302940368652, + -0.15671025216579437, + 1.4848828315734863, + 0.0, + 0.5899012684822083 + ] + ], + "left_gripper_pos": [ + [ + 0.9974852800369263 + ], + [ + 0.9981546401977539 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9981546401977539 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9981546401977539 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9082958698272705 + ], + [ + 0.684196949005127 + ], + [ + 0.5899012684822083 + ], + [ + 0.5899012684822083 + ], + [ + 0.5899012684822083 + ], + [ + 0.5899012684822083 + ], + [ + 0.5899012684822083 + ], + [ + 0.5899012684822083 + ], + [ + 0.5899012684822083 + ], + [ + 0.5899012684822083 + ], + [ + 0.5899012684822083 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2623160481452942, + 0.10710670053958893, + 0.04839656874537468 + ], + [ + 0.26302146911621094, + 0.09964147210121155, + 0.045392561703920364 + ], + [ + 0.2849777042865753, + 0.07724113762378693, + 0.06822433322668076 + ], + [ + 0.3116070032119751, + 0.05812815576791763, + 0.09664168953895569 + ], + [ + 0.3494328260421753, + 0.029791291803121567, + 0.11001148819923401 + ], + [ + 0.3841298818588257, + 0.01897415891289711, + 0.1067013218998909 + ], + [ + 0.42078688740730286, + -0.01911424845457077, + 0.08864414691925049 + ], + [ + 0.44814422726631165, + -0.03535475581884384, + 0.07327013462781906 + ], + [ + 0.46319666504859924, + -0.04892789572477341, + 0.06534639000892639 + ], + [ + 0.4668245315551758, + -0.06731321662664413, + 0.06340143084526062 + ], + [ + 0.4678264260292053, + -0.07732909172773361, + 0.06725898385047913 + ], + [ + 0.46196699142456055, + -0.08711716532707214, + 0.06292317807674408 + ], + [ + 0.4506872296333313, + -0.09567441046237946, + 0.040366336703300476 + ], + [ + 0.4389461874961853, + -0.09692001342773438, + 0.02690361998975277 + ], + [ + 0.4272593855857849, + -0.10220389813184738, + 0.009791496209800243 + ], + [ + 0.4308905005455017, + -0.09894455224275589, + 0.01271313987672329 + ], + [ + 0.4456787407398224, + -0.08812353014945984, + 0.03534555807709694 + ], + [ + 0.45071670413017273, + -0.08637416362762451, + 0.06745397299528122 + ], + [ + 0.4369453489780426, + -0.0791020542383194, + 0.09451223164796829 + ], + [ + 0.4022807478904724, + -0.07057971507310867, + 0.1239309161901474 + ], + [ + 0.3623337745666504, + -0.07112425565719604, + 0.14408431947231293 + ], + [ + 0.3296245336532593, + -0.08403841406106949, + 0.1436714082956314 + ], + [ + 0.3034529983997345, + -0.09552053362131119, + 0.1382688283920288 + ], + [ + 0.27650198340415955, + -0.09985727816820145, + 0.11345374584197998 + ], + [ + 0.25941774249076843, + -0.09613631665706635, + 0.09413394331932068 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9845727939759195, + -0.07927664358666127, + 0.155985983806511, + -0.06902433526892827, + -0.9951499318709419, + -0.07008747561399342, + 0.16078574098201062, + 0.0582393928444744, + -0.9852695664730403 + ], + [ + 0.9926199351297441, + 0.01232967222741411, + 0.12063848293884821, + 0.016851244482085522, + -0.9991903886100676, + -0.036532216859462154, + 0.1200903823893788, + 0.0382955152991355, + -0.9920240690454775 + ], + [ + 0.9801777241743613, + 0.1645658582376597, + 0.11031639649151061, + 0.15979962706113418, + -0.9858415994166484, + 0.050797835099018314, + 0.11711408208875702, + -0.032162387382268655, + -0.9925975380859963 + ], + [ + 0.9529210257932348, + 0.28421959880344916, + 0.10564439529466302, + 0.271535843857707, + -0.9549385128373019, + 0.119836230750824, + 0.13494370715839835, + -0.08550822390909651, + -0.9871567958243815 + ], + [ + 0.9001946195091969, + 0.42295250400878903, + 0.10373440296925561, + 0.40425943545000587, + -0.9001657542719909, + 0.16209849994858255, + 0.16193812354209614, + -0.10398458630313114, + -0.9813069091548433 + ], + [ + 0.8172408891292742, + 0.5655374732833421, + 0.11083634533620448, + 0.5380501947717876, + -0.8176561478804814, + 0.20479358324736152, + 0.20644446478710635, + -0.10773017286510583, + -0.9725095849467087 + ], + [ + 0.754691585835606, + 0.644047628883981, + 0.1250730266598699, + 0.6071922375657471, + -0.7578568831134203, + 0.23868500446721336, + 0.24851196532328185, + -0.10419019361981319, + -0.9630089338342747 + ], + [ + 0.6872723878227767, + 0.7170829922046893, + 0.11596830268288222, + 0.6868918799080175, + -0.6934903261189279, + 0.21737229100299985, + 0.2362968689018301, + -0.0697362880445522, + -0.969175236929297 + ], + [ + 0.6491470617834688, + 0.7525815027534043, + 0.11058559531564915, + 0.7318122061229596, + -0.6575502583080637, + 0.17910486528412684, + 0.20750659543093036, + -0.03533750857694891, + -0.9775951479729417 + ], + [ + 0.6227608785485707, + 0.7742249156005245, + 0.11289228588691559, + 0.7633193965493343, + -0.6328870127590435, + 0.1296052774098895, + 0.1717916965425642, + 0.00545977511396134, + -0.9851181674574541 + ], + [ + 0.5828463741946609, + 0.8055157785036537, + 0.10693191604843565, + 0.8009509820319938, + -0.5916932177366981, + 0.09152409773593503, + 0.13699499432505557, + 0.032302734652729745, + -0.9900449004281742 + ], + [ + 0.5484062362856805, + 0.8321513278840178, + 0.08230897584006222, + 0.8268068501701844, + -0.554326266472975, + 0.09546110626737028, + 0.1250641136163055, + 0.01570215905529973, + -0.9920243997434588 + ], + [ + 0.5090235256207414, + 0.8590608316515171, + 0.053940132432488415, + 0.8547507766741327, + -0.5118681546871069, + 0.08597733417699839, + 0.10146999625306866, + 0.002340884324326664, + -0.9948358458162746 + ], + [ + 0.4535233905549334, + 0.8864456608281951, + 0.09236138055714714, + 0.8833782229715909, + -0.46083846763669556, + 0.08526911472401291, + 0.11815011383452818, + 0.04291849420852353, + -0.9920678169640225 + ], + [ + 0.46003602056525505, + 0.8789531506716591, + 0.1257307389099748, + 0.8773779157331892, + -0.47173932149824005, + 0.08757856778952818, + 0.13628959155478113, + 0.07002407783572852, + -0.9881911635696238 + ], + [ + 0.4565822730042886, + 0.8781450448298602, + 0.142807241479556, + 0.8812409818927895, + -0.46844419508341945, + 0.0630425881867134, + 0.122257759716386, + 0.09706346549248171, + -0.9877407169170057 + ], + [ + 0.46224817172624366, + 0.8762198514335998, + 0.13625490702879456, + 0.8776743128946137, + -0.4740118368273364, + 0.07071477237849468, + 0.1265481261051023, + 0.08689965765902012, + -0.9881467610016401 + ], + [ + 0.48129502883239983, + 0.8720695629668899, + 0.08859894225078087, + 0.8648982902626033, + -0.4888921438738778, + 0.11373398418779251, + 0.14249927270707352, + 0.021889472472888194, + -0.9895528324818306 + ], + [ + 0.48157520846605906, + 0.8763182924339292, + 0.012311333662709645, + 0.8603588502851209, + -0.47538726410021803, + 0.18381947086033798, + 0.16693701604778022, + -0.07793073512416257, + -0.9828829193734475 + ], + [ + 0.42582400306872437, + 0.9047989883892594, + -0.0035649712901767855, + 0.8793844742717033, + -0.4129293899654263, + 0.23700688874516024, + 0.21297151175780976, + -0.10405820252413377, + -0.9715014285460621 + ], + [ + 0.335337453350714, + 0.9407252640646955, + 0.05084063267374704, + 0.9031529987937741, + -0.33636240963624325, + 0.26678641298520694, + 0.2680735965179543, + -0.043546606459163764, + -0.9624137571314221 + ], + [ + 0.27762227180437365, + 0.9588747587012297, + 0.0590344926618047, + 0.9169970063547886, + -0.2828162667769339, + 0.28130312757364395, + 0.286430383399761, + -0.02396156030012192, + -0.9578013776840423 + ], + [ + 0.1748976617497564, + 0.9814819610650398, + 0.07812789526405887, + 0.9543861315402531, + -0.18850093399264545, + 0.23154807234682723, + 0.24198743735594835, + 0.034066963290323674, + -0.9696811445903634 + ], + [ + 0.11164032544268115, + 0.9904413465279692, + 0.08100849846106113, + 0.9741381885805308, + -0.12518769172778482, + 0.18810324661980593, + 0.1964464998010773, + 0.057913564281026744, + -0.9788027338479255 + ], + [ + 0.08475636002954245, + 0.9892202503261659, + 0.11941380062279242, + 0.9841029583655595, + -0.10187858245906956, + 0.14547206526438028, + 0.15606962154979467, + 0.10518579172477621, + -0.9821294326352996 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + 0.000705420970916748, + -0.00746522843837738, + -0.003004007041454315, + 0.020457156002521515, + 0.04110577702522278, + 0.08696626126766205, + 1.0 + ], + [ + 0.02195623517036438, + -0.02240033447742462, + 0.02283177152276039, + 0.0709751695394516, + 0.002997457981109619, + 0.14463457465171814, + 1.0 + ], + [ + 0.02662929892539978, + -0.019112981855869293, + 0.028417356312274933, + 0.05401412770152092, + -0.01797318458557129, + 0.11598441004753113, + 1.0 + ], + [ + 0.037825822830200195, + -0.028336863964796066, + 0.01336979866027832, + 0.019166402518749237, + -0.0272977352142334, + 0.14449474215507507, + 1.0 + ], + [ + 0.03469705581665039, + -0.010817132890224457, + -0.003310166299343109, + 0.004754185676574707, + -0.045285359025001526, + 0.160150945186615, + 1.0 + ], + [ + 0.03665700554847717, + -0.03808840736746788, + -0.01805717498064041, + -0.0025524944067001343, + -0.04320397973060608, + 0.09527373313903809, + 1.0 + ], + [ + 0.02735733985900879, + -0.01624050736427307, + -0.015374012291431427, + -0.03594266623258591, + 0.01259070634841919, + 0.10760796070098877, + 1.0 + ], + [ + 0.015052437782287598, + -0.013573139905929565, + -0.00792374461889267, + -0.03569881245493889, + 0.029527634382247925, + 0.06006622314453125, + 1.0 + ], + [ + 0.003627866506576538, + -0.018385320901870728, + -0.0019449591636657715, + -0.041673850268125534, + 0.03637726604938507, + 0.04127240180969238, + 1.0 + ], + [ + 0.001001894474029541, + -0.010015875101089478, + 0.003857553005218506, + -0.027073778212070465, + 0.035220950841903687, + 0.05526536703109741, + 1.0 + ], + [ + -0.005859434604644775, + -0.009788073599338531, + -0.004335805773735046, + 0.016788896173238754, + 0.012034714221954346, + 0.04341524839401245, + 1.0 + ], + [ + -0.011279761791229248, + -0.008557245135307312, + -0.022556841373443604, + 0.013474047183990479, + 0.023747518658638, + 0.048534929752349854, + 1.0 + ], + [ + -0.011741042137145996, + -0.0012456029653549194, + -0.013462716713547707, + -0.04088166356086731, + -0.01678180694580078, + 0.06281352043151855, + 1.0 + ], + [ + -0.01168680191040039, + -0.005283884704113007, + -0.0171121247112751, + -0.027507919818162918, + -0.018288344144821167, + -0.008614659309387207, + 0.0 + ], + [ + 0.003631114959716797, + 0.0032593458890914917, + 0.002921643666923046, + -0.027211055159568787, + 0.014150694012641907, + 0.004889369010925293, + 0.0 + ], + [ + 0.014788240194320679, + 0.010821022093296051, + 0.02263241820037365, + 0.010237276554107666, + -0.0043239593505859375, + -0.006725668907165527, + 0.0 + ], + [ + 0.005037963390350342, + 0.0017493665218353271, + 0.03210841491818428, + 0.06559942662715912, + -0.016097649931907654, + -0.023043155670166016, + 0.0 + ], + [ + -0.013771355152130127, + 0.007272109389305115, + 0.027058258652687073, + 0.10123935341835022, + -0.024736270308494568, + -0.0024870634078979492, + 0.0 + ], + [ + -0.03466460108757019, + 0.008522339165210724, + 0.029418684542179108, + 0.02758149802684784, + -0.04689297080039978, + 0.05933666229248047, + 0.0 + ], + [ + -0.03994697332382202, + -0.0005445405840873718, + 0.020153403282165527, + -0.06148744374513626, + -0.05677764117717743, + 0.09543216228485107, + 0.0 + ], + [ + -0.03270924091339111, + -0.012914158403873444, + -0.00041291117668151855, + -0.02020440436899662, + -0.019106149673461914, + 0.06154048442840576, + 0.0 + ], + [ + -0.02617153525352478, + -0.0114821195602417, + -0.0054025799036026, + -0.06012972444295883, + 0.04608538746833801, + 0.11273360252380371, + 0.0 + ], + [ + -0.02695101499557495, + -0.004336744546890259, + -0.024815082550048828, + -0.02398117259144783, + 0.04668116569519043, + 0.06713926792144775, + 0.0 + ], + [ + -0.017084240913391113, + 0.0037209615111351013, + -0.019319802522659302, + -0.04759417101740837, + 0.041022226214408875, + 0.028192877769470215, + 0.0 + ], + [ + -0.007856041193008423, + -0.001751035451889038, + -0.02027895301580429, + -0.016354411840438843, + 0.03773808479309082, + -0.007613539695739746, + 0.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9981546401977539 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9981546401977539 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9981546401977539 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9082958698272705 + ], + [ + 0.684196949005127 + ], + [ + 0.5899012684822083 + ], + [ + 0.5899012684822083 + ], + [ + 0.5899012684822083 + ], + [ + 0.5899012684822083 + ], + [ + 0.5899012684822083 + ], + [ + 0.5899012684822083 + ], + [ + 0.5899012684822083 + ], + [ + 0.5899012684822083 + ], + [ + 0.5899012684822083 + ], + [ + 0.5899012684822083 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.26302146911621094, + 0.09964147210121155, + 0.045392561703920364 + ], + [ + 0.2849777042865753, + 0.07724113762378693, + 0.06822433322668076 + ], + [ + 0.3116070032119751, + 0.05812815576791763, + 0.09664168953895569 + ], + [ + 0.3494328260421753, + 0.029791291803121567, + 0.11001148819923401 + ], + [ + 0.3841298818588257, + 0.01897415891289711, + 0.1067013218998909 + ], + [ + 0.42078688740730286, + -0.01911424845457077, + 0.08864414691925049 + ], + [ + 0.44814422726631165, + -0.03535475581884384, + 0.07327013462781906 + ], + [ + 0.46319666504859924, + -0.04892789572477341, + 0.06534639000892639 + ], + [ + 0.4668245315551758, + -0.06731321662664413, + 0.06340143084526062 + ], + [ + 0.4678264260292053, + -0.07732909172773361, + 0.06725898385047913 + ], + [ + 0.46196699142456055, + -0.08711716532707214, + 0.06292317807674408 + ], + [ + 0.4506872296333313, + -0.09567441046237946, + 0.040366336703300476 + ], + [ + 0.4389461874961853, + -0.09692001342773438, + 0.02690361998975277 + ], + [ + 0.4272593855857849, + -0.10220389813184738, + 0.009791496209800243 + ], + [ + 0.4308905005455017, + -0.09894455224275589, + 0.01271313987672329 + ], + [ + 0.4456787407398224, + -0.08812353014945984, + 0.03534555807709694 + ], + [ + 0.45071670413017273, + -0.08637416362762451, + 0.06745397299528122 + ], + [ + 0.4369453489780426, + -0.0791020542383194, + 0.09451223164796829 + ], + [ + 0.4022807478904724, + -0.07057971507310867, + 0.1239309161901474 + ], + [ + 0.3623337745666504, + -0.07112425565719604, + 0.14408431947231293 + ], + [ + 0.3296245336532593, + -0.08403841406106949, + 0.1436714082956314 + ], + [ + 0.3034529983997345, + -0.09552053362131119, + 0.1382688283920288 + ], + [ + 0.27650198340415955, + -0.09985727816820145, + 0.11345374584197998 + ], + [ + 0.25941774249076843, + -0.09613631665706635, + 0.09413394331932068 + ], + [ + 0.25156170129776, + -0.09788735210895538, + 0.07385499030351639 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9926199351297441, + 0.01232967222741411, + 0.12063848293884821, + 0.016851244482085522, + -0.9991903886100676, + -0.036532216859462154, + 0.1200903823893788, + 0.0382955152991355, + -0.9920240690454775 + ], + [ + 0.9801777241743613, + 0.1645658582376597, + 0.11031639649151061, + 0.15979962706113418, + -0.9858415994166484, + 0.050797835099018314, + 0.11711408208875702, + -0.032162387382268655, + -0.9925975380859963 + ], + [ + 0.9529210257932348, + 0.28421959880344916, + 0.10564439529466302, + 0.271535843857707, + -0.9549385128373019, + 0.119836230750824, + 0.13494370715839835, + -0.08550822390909651, + -0.9871567958243815 + ], + [ + 0.9001946195091969, + 0.42295250400878903, + 0.10373440296925561, + 0.40425943545000587, + -0.9001657542719909, + 0.16209849994858255, + 0.16193812354209614, + -0.10398458630313114, + -0.9813069091548433 + ], + [ + 0.8172408891292742, + 0.5655374732833421, + 0.11083634533620448, + 0.5380501947717876, + -0.8176561478804814, + 0.20479358324736152, + 0.20644446478710635, + -0.10773017286510583, + -0.9725095849467087 + ], + [ + 0.754691585835606, + 0.644047628883981, + 0.1250730266598699, + 0.6071922375657471, + -0.7578568831134203, + 0.23868500446721336, + 0.24851196532328185, + -0.10419019361981319, + -0.9630089338342747 + ], + [ + 0.6872723878227767, + 0.7170829922046893, + 0.11596830268288222, + 0.6868918799080175, + -0.6934903261189279, + 0.21737229100299985, + 0.2362968689018301, + -0.0697362880445522, + -0.969175236929297 + ], + [ + 0.6491470617834688, + 0.7525815027534043, + 0.11058559531564915, + 0.7318122061229596, + -0.6575502583080637, + 0.17910486528412684, + 0.20750659543093036, + -0.03533750857694891, + -0.9775951479729417 + ], + [ + 0.6227608785485707, + 0.7742249156005245, + 0.11289228588691559, + 0.7633193965493343, + -0.6328870127590435, + 0.1296052774098895, + 0.1717916965425642, + 0.00545977511396134, + -0.9851181674574541 + ], + [ + 0.5828463741946609, + 0.8055157785036537, + 0.10693191604843565, + 0.8009509820319938, + -0.5916932177366981, + 0.09152409773593503, + 0.13699499432505557, + 0.032302734652729745, + -0.9900449004281742 + ], + [ + 0.5484062362856805, + 0.8321513278840178, + 0.08230897584006222, + 0.8268068501701844, + -0.554326266472975, + 0.09546110626737028, + 0.1250641136163055, + 0.01570215905529973, + -0.9920243997434588 + ], + [ + 0.5090235256207414, + 0.8590608316515171, + 0.053940132432488415, + 0.8547507766741327, + -0.5118681546871069, + 0.08597733417699839, + 0.10146999625306866, + 0.002340884324326664, + -0.9948358458162746 + ], + [ + 0.4535233905549334, + 0.8864456608281951, + 0.09236138055714714, + 0.8833782229715909, + -0.46083846763669556, + 0.08526911472401291, + 0.11815011383452818, + 0.04291849420852353, + -0.9920678169640225 + ], + [ + 0.46003602056525505, + 0.8789531506716591, + 0.1257307389099748, + 0.8773779157331892, + -0.47173932149824005, + 0.08757856778952818, + 0.13628959155478113, + 0.07002407783572852, + -0.9881911635696238 + ], + [ + 0.4565822730042886, + 0.8781450448298602, + 0.142807241479556, + 0.8812409818927895, + -0.46844419508341945, + 0.0630425881867134, + 0.122257759716386, + 0.09706346549248171, + -0.9877407169170057 + ], + [ + 0.46224817172624366, + 0.8762198514335998, + 0.13625490702879456, + 0.8776743128946137, + -0.4740118368273364, + 0.07071477237849468, + 0.1265481261051023, + 0.08689965765902012, + -0.9881467610016401 + ], + [ + 0.48129502883239983, + 0.8720695629668899, + 0.08859894225078087, + 0.8648982902626033, + -0.4888921438738778, + 0.11373398418779251, + 0.14249927270707352, + 0.021889472472888194, + -0.9895528324818306 + ], + [ + 0.48157520846605906, + 0.8763182924339292, + 0.012311333662709645, + 0.8603588502851209, + -0.47538726410021803, + 0.18381947086033798, + 0.16693701604778022, + -0.07793073512416257, + -0.9828829193734475 + ], + [ + 0.42582400306872437, + 0.9047989883892594, + -0.0035649712901767855, + 0.8793844742717033, + -0.4129293899654263, + 0.23700688874516024, + 0.21297151175780976, + -0.10405820252413377, + -0.9715014285460621 + ], + [ + 0.335337453350714, + 0.9407252640646955, + 0.05084063267374704, + 0.9031529987937741, + -0.33636240963624325, + 0.26678641298520694, + 0.2680735965179543, + -0.043546606459163764, + -0.9624137571314221 + ], + [ + 0.27762227180437365, + 0.9588747587012297, + 0.0590344926618047, + 0.9169970063547886, + -0.2828162667769339, + 0.28130312757364395, + 0.286430383399761, + -0.02396156030012192, + -0.9578013776840423 + ], + [ + 0.1748976617497564, + 0.9814819610650398, + 0.07812789526405887, + 0.9543861315402531, + -0.18850093399264545, + 0.23154807234682723, + 0.24198743735594835, + 0.034066963290323674, + -0.9696811445903634 + ], + [ + 0.11164032544268115, + 0.9904413465279692, + 0.08100849846106113, + 0.9741381885805308, + -0.12518769172778482, + 0.18810324661980593, + 0.1964464998010773, + 0.057913564281026744, + -0.9788027338479255 + ], + [ + 0.08475636002954245, + 0.9892202503261659, + 0.11941380062279242, + 0.9841029583655595, + -0.10187858245906956, + 0.14547206526438028, + 0.15606962154979467, + 0.10518579172477621, + -0.9821294326352996 + ], + [ + 0.09273057829981285, + 0.9867412831855925, + 0.13320165128643216, + 0.9885915837479701, + -0.10718885080905344, + 0.10581696841676436, + 0.11869170312562834, + 0.12186956272787924, + -0.9854238120167653 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005451.json b/json/chunk-0005/episode_0005451.json new file mode 100644 index 0000000000000000000000000000000000000000..a27ea4cc23ab3c174668287b728cdb9f1a600a91 --- /dev/null +++ b/json/chunk-0005/episode_0005451.json @@ -0,0 +1,1702 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 27, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut the salmon sushi on the top of drawer." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005451.mp4", + "start": 0, + "end": 27, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.4178539514541626, + -0.099701426923275, + 0.13599823415279388, + 0.0254110898822546, + -0.17162105441093445, + -0.052225109189748764, + 0.0, + 1.0014774799346924 + ], + [ + 0.4136941730976105, + -0.0993817076086998, + 0.1154661476612091, + 0.030560670420527458, + -0.12548162043094635, + -0.05647890269756317, + 0.0, + 1.0014774799346924 + ], + [ + 0.3762984871864319, + -0.0899590477347374, + 0.08932630717754364, + 0.028697773814201355, + -0.07403457909822464, + -0.0745442733168602, + 0.0, + 1.0014774799346924 + ], + [ + 0.34302961826324463, + -0.06622207909822464, + 0.09387601912021637, + 0.04798906296491623, + -0.09471429139375687, + -0.05099552124738693, + 0.0, + 1.0014774799346924 + ], + [ + 0.3002690374851227, + -0.04390905052423477, + 0.08223114907741547, + 0.0684289038181305, + -0.07546282559633255, + -0.059269942343235016, + 0.0, + 1.0014774799346924 + ], + [ + 0.2690260410308838, + -0.027181850746273994, + 0.06975828111171722, + 0.101035475730896, + -0.0710190087556839, + -0.09359072893857956, + 0.0, + 1.0014774799346924 + ], + [ + 0.2492520958185196, + -0.019465509802103043, + 0.05704424902796745, + 0.13133113086223602, + -0.06328354775905609, + -0.12317437678575516, + 0.0, + 1.0014774799346924 + ], + [ + 0.24317552149295807, + -0.008429067209362984, + 0.04420251026749611, + 0.1523379385471344, + -0.05804656445980072, + -0.09911146759986877, + 0.0, + 1.0014774799346924 + ], + [ + 0.24460670351982117, + -0.003929708618670702, + 0.030464863404631615, + 0.1853998452425003, + -0.027284033596515656, + -0.08992600440979004, + 0.0, + 1.0014774799346924 + ], + [ + 0.2495349794626236, + -0.004099249839782715, + 0.02132144756615162, + 0.18957756459712982, + -0.008481811732053757, + -0.06529568135738373, + 0.0, + 1.0014774799346924 + ], + [ + 0.2472478747367859, + -0.007104706019163132, + 0.011380312032997608, + 0.17105580866336823, + 0.022034188732504845, + -0.053038377314805984, + 0.0, + 1.0014774799346924 + ], + [ + 0.24905890226364136, + -0.007378798443824053, + 0.010989312082529068, + 0.1674358993768692, + 0.005857300478965044, + -0.03585222736001015, + 0.0, + 1.0014774799346924 + ], + [ + 0.24978603422641754, + -0.004118225537240505, + 0.005331170279532671, + 0.1773187220096588, + 0.010309786535799503, + -0.018745729699730873, + 0.0, + 0.9453431367874146 + ], + [ + 0.2523399889469147, + -0.0015283589018508792, + 0.0027433980721980333, + 0.188942551612854, + 0.011051535606384277, + -0.004408576991409063, + 0.0, + 0.6651484370231628 + ], + [ + 0.2510797679424286, + -0.0014650082448497415, + 0.0027734956238418818, + 0.18929721415042877, + 0.019310325384140015, + -0.0052626607939600945, + 0.0, + 0.5978984832763672 + ], + [ + 0.2573419511318207, + -0.005232763011008501, + 0.019835112616419792, + 0.16697919368743896, + -0.007692041341215372, + -0.0015499123837798834, + 0.0, + 0.5978984832763672 + ], + [ + 0.2903473377227783, + -0.008419009856879711, + 0.06948594003915787, + 0.11618839204311371, + -0.1115623489022255, + 0.03188103809952736, + 0.0, + 0.5978984832763672 + ], + [ + 0.3229968547821045, + -0.0011736892629414797, + 0.10959415882825851, + 0.06232278421521187, + -0.16231712698936462, + 0.1081322506070137, + 0.0, + 0.5978984832763672 + ], + [ + 0.34854698181152344, + 0.016453666612505913, + 0.1205931231379509, + 0.026363953948020935, + -0.15521053969860077, + 0.17876912653446198, + 0.0, + 0.5978984832763672 + ], + [ + 0.3745182752609253, + 0.0341167077422142, + 0.1279415488243103, + 0.014741775579750538, + -0.17628635466098785, + 0.22386020421981812, + 0.0, + 0.5978984832763672 + ], + [ + 0.3889209032058716, + 0.054241422563791275, + 0.1283779740333557, + 0.02804100699722767, + -0.16966493427753448, + 0.27584633231163025, + 0.0, + 0.5978984832763672 + ], + [ + 0.3991037607192993, + 0.07889661192893982, + 0.12479884922504425, + 0.053990431129932404, + -0.16517344117164612, + 0.3252333700656891, + 0.0, + 0.5978984832763672 + ], + [ + 0.4049786925315857, + 0.09194988757371902, + 0.11976782977581024, + 0.06889131665229797, + -0.15804257988929749, + 0.35825738310813904, + 0.0, + 0.5978984832763672 + ], + [ + 0.40864115953445435, + 0.0989217460155487, + 0.11693645268678665, + 0.09698685258626938, + -0.15289585292339325, + 0.3632234036922455, + 0.0, + 0.67718505859375 + ], + [ + 0.40477365255355835, + 0.09888153523206711, + 0.10944489389657974, + 0.11274107545614243, + -0.10956834256649017, + 0.36525771021842957, + 0.0, + 0.9507390260696411 + ], + [ + 0.410122811794281, + 0.0875561311841011, + 0.11597813665866852, + 0.06468465179204941, + -0.11086434870958328, + 0.34130483865737915, + 0.0, + 1.0054124593734741 + ], + [ + 0.41762804985046387, + 0.06546765565872192, + 0.14194808900356293, + -0.014378673397004604, + -0.13886277377605438, + 0.26923614740371704, + 0.0, + 1.0008161067962646 + ] + ], + "left_gripper_pos": [ + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 0.9453431367874146 + ], + [ + 0.6651484370231628 + ], + [ + 0.5978984832763672 + ], + [ + 0.5978984832763672 + ], + [ + 0.5978984832763672 + ], + [ + 0.5978984832763672 + ], + [ + 0.5978984832763672 + ], + [ + 0.5978984832763672 + ], + [ + 0.5978984832763672 + ], + [ + 0.5978984832763672 + ], + [ + 0.5978984832763672 + ], + [ + 0.67718505859375 + ], + [ + 0.9507390260696411 + ], + [ + 1.0054124593734741 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.4178539514541626, + -0.099701426923275, + 0.13599823415279388 + ], + [ + 0.4136941730976105, + -0.0993817076086998, + 0.1154661476612091 + ], + [ + 0.3762984871864319, + -0.0899590477347374, + 0.08932630717754364 + ], + [ + 0.34302961826324463, + -0.06622207909822464, + 0.09387601912021637 + ], + [ + 0.3002690374851227, + -0.04390905052423477, + 0.08223114907741547 + ], + [ + 0.2690260410308838, + -0.027181850746273994, + 0.06975828111171722 + ], + [ + 0.2492520958185196, + -0.019465509802103043, + 0.05704424902796745 + ], + [ + 0.24317552149295807, + -0.008429067209362984, + 0.04420251026749611 + ], + [ + 0.24460670351982117, + -0.003929708618670702, + 0.030464863404631615 + ], + [ + 0.2495349794626236, + -0.004099249839782715, + 0.02132144756615162 + ], + [ + 0.2472478747367859, + -0.007104706019163132, + 0.011380312032997608 + ], + [ + 0.24905890226364136, + -0.007378798443824053, + 0.010989312082529068 + ], + [ + 0.24978603422641754, + -0.004118225537240505, + 0.005331170279532671 + ], + [ + 0.2523399889469147, + -0.0015283589018508792, + 0.0027433980721980333 + ], + [ + 0.2510797679424286, + -0.0014650082448497415, + 0.0027734956238418818 + ], + [ + 0.2573419511318207, + -0.005232763011008501, + 0.019835112616419792 + ], + [ + 0.2903473377227783, + -0.008419009856879711, + 0.06948594003915787 + ], + [ + 0.3229968547821045, + -0.0011736892629414797, + 0.10959415882825851 + ], + [ + 0.34854698181152344, + 0.016453666612505913, + 0.1205931231379509 + ], + [ + 0.3745182752609253, + 0.0341167077422142, + 0.1279415488243103 + ], + [ + 0.3889209032058716, + 0.054241422563791275, + 0.1283779740333557 + ], + [ + 0.3991037607192993, + 0.07889661192893982, + 0.12479884922504425 + ], + [ + 0.4049786925315857, + 0.09194988757371902, + 0.11976782977581024 + ], + [ + 0.40864115953445435, + 0.0989217460155487, + 0.11693645268678665 + ], + [ + 0.40477365255355835, + 0.09888153523206711, + 0.10944489389657974 + ], + [ + 0.410122811794281, + 0.0875561311841011, + 0.11597813665866852 + ], + [ + 0.41762804985046387, + 0.06546765565872192, + 0.14194808900356293 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.983965826907146, + -0.047851201235258496, + 0.1718182586900448, + -0.05143449312984503, + -0.9985406886945514, + 0.016461650521343428, + 0.17077981261089464, + -0.025035086613665186, + -0.984991116732955 + ], + [ + 0.9905555337766494, + -0.052604468675838525, + 0.12661952606051638, + -0.05600505182150281, + -0.9981551633659387, + 0.023445767558068185, + 0.1251525815751631, + -0.030315667916918827, + -0.991674236634099 + ], + [ + 0.9944911615603815, + -0.07232808684409574, + 0.07586815822040469, + -0.07427124330330302, + -0.9969703186434492, + 0.023107707851735118, + 0.07396696557562019, + -0.028615233660631165, + -0.9968500671646077 + ], + [ + 0.9942237904146618, + -0.04638392015288207, + 0.09678629306236218, + -0.05074495620689443, + -0.9977815045853695, + 0.043093137817013995, + 0.09457274445136275, + -0.047755639024170286, + -0.9943718594913726 + ], + [ + 0.9954030803996656, + -0.05395075392195178, + 0.07913294940863246, + -0.05906666499625264, + -0.9962131692036558, + 0.0638000830048689, + 0.07539122374041053, + -0.06818091856568599, + -0.9948203484682359 + ], + [ + 0.9931138256297026, + -0.08585167161799409, + 0.07971461486786947, + -0.09321858008619804, + -0.9912150307595048, + 0.093824618960841, + 0.07095932405152779, + -0.10060940948455087, + -0.9923923221454911 + ], + [ + 0.9904370531189287, + -0.11358615263725978, + 0.07831110865105502, + -0.122617208005398, + -0.9848948379001835, + 0.1222586544115877, + 0.06324131647944391, + -0.13069179089229818, + -0.9894039577863586 + ], + [ + 0.9934165142701956, + -0.08904296989193985, + 0.07207620056632644, + -0.09878263067772317, + -0.9844394190703333, + 0.14533073335276753, + 0.058013972900007205, + -0.1514938272448345, + -0.98675427501231 + ], + [ + 0.9955886986089099, + -0.08325725075652808, + 0.04325937353548194, + -0.08977142871881623, + -0.9793428682568984, + 0.1811867461491987, + 0.027280648599332203, + -0.18427093257162477, + -0.9824968140514166 + ], + [ + 0.9978331005961925, + -0.06248536022291409, + 0.02060784104173892, + -0.06524694590162644, + -0.9800953914773771, + 0.18749895907795638, + 0.008481710033899133, + -0.18843726638491548, + -0.9820486022760184 + ], + [ + 0.9983513933894007, + -0.05598495817158585, + -0.012656214914743533, + -0.053000645383914476, + -0.9838210882299473, + 0.1711344440576797, + -0.022032405822581865, + -0.17018152312330603, + -0.9851663931951298 + ], + [ + 0.9993402348237826, + -0.036318786480937046, + 0.0002020170756048315, + -0.03584393234272196, + -0.9853467023560268, + 0.16675457616003714, + -0.005857266987008716, + -0.16665179838410193, + -0.9859984130407042 + ], + [ + 0.9997711679130746, + -0.020268921025263346, + -0.006839784367823133, + -0.018743635646122827, + -0.9841131550476734, + 0.17655020301568444, + -0.010309603895983297, + -0.17638160023819274, + -0.9842678716512707 + ], + [ + 0.9999292152355574, + -0.006405746351492479, + -0.010026511461264534, + -0.004408293490566655, + -0.9821846990773435, + 0.1878663989297966, + -0.011051310641890215, + -0.18780890104579387, + -0.9821434137747236 + ], + [ + 0.9997997162746904, + -0.008801951432761676, + -0.017973674861410965, + -0.005261655343639107, + -0.9821039984322516, + 0.18826590569306112, + -0.019309125306268167, + -0.18813362781374077, + -0.9819536118195948 + ], + [ + 0.9999692153174438, + -0.00024991819635051323, + 0.007842573449524251, + -0.0015498659112633249, + -0.9860921334376822, + 0.16619236531194137, + 0.007691965488297104, + -0.16619940406997796, + -0.9860621642440761 + ], + [ + 0.9932783747003638, + 0.044560458668131256, + 0.10682900297151982, + 0.03167747877059342, + -0.9923415913601585, + 0.11939306259379737, + 0.1113310724431496, + -0.1152064736899519, + -0.9870830059972587 + ], + [ + 0.9810916473237044, + 0.11771851394667669, + 0.15362789794124865, + 0.10650307049523734, + -0.9911430552584639, + 0.07932553175368383, + 0.16160530785449817, + -0.06146377377857855, + -0.9849395560064329 + ], + [ + 0.9722338907919137, + 0.181766795952671, + 0.14738416972224977, + 0.1756808964371007, + -0.9829967147111278, + 0.053419860484523275, + 0.1545881115179093, + -0.026044015746986636, + -0.9876356742347335 + ], + [ + 0.9599362446154325, + 0.22449176300551146, + 0.1677076462666442, + 0.21855461698177, + -0.9743679118319928, + 0.053301517690527864, + 0.1753747007683047, + -0.014512778329427767, + -0.9843947854370159 + ], + [ + 0.9483792592460343, + 0.27680948726017346, + 0.15476849936179962, + 0.26845064283599446, + -0.960527369756374, + 0.0729480932570796, + 0.16885210390422992, + -0.02763475550212248, + -0.9852539202131871 + ], + [ + 0.9346795317717084, + 0.3274721574373713, + 0.13833350639065467, + 0.31518108095369185, + -0.9433602601581087, + 0.1035968424387904, + 0.16442341407440153, + -0.053229744107395074, + -0.9849525548199664 + ], + [ + 0.924837795231904, + 0.35995710646432494, + 0.1229062000731495, + 0.3462728142754455, + -0.93048898180359, + 0.11952151620474448, + 0.15738548409670194, + -0.06797893973833975, + -0.9851947386926595 + ], + [ + 0.9238517427302203, + 0.36740529406995515, + 0.1072907607564813, + 0.35114443232374726, + -0.9251237006866362, + 0.14437356432497056, + 0.15230083749726386, + -0.09570521572638001, + -0.9836894665393134 + ], + [ + 0.9284307184325606, + 0.3664128850607997, + 0.06130251815562482, + 0.35504808734349, + -0.9237078269388773, + 0.1438912996869048, + 0.1093492420848402, + -0.11182776092401374, + -0.9876929154054882 + ], + [ + 0.9365336708109646, + 0.3407559899151477, + 0.08240169157418989, + 0.33266206969229656, + -0.9379542782908501, + 0.09786582255276197, + 0.11063738439324106, + -0.06424272077705637, + -0.991782356165799 + ], + [ + 0.9546951877290916, + 0.2640491982111341, + 0.13724109971496, + 0.26343472319613553, + -0.9644040904890941, + 0.022954234086074027, + 0.13841692505430764, + 0.014239774294561776, + -0.9902716716571013 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.004159778356552124, + 0.0003197193145751953, + -0.020532086491584778, + 0.005149580538272858, + 0.0461394339799881, + -0.004253793507814407, + 1.0 + ], + [ + -0.03739568591117859, + 0.009422659873962402, + -0.026139840483665466, + -0.0018628966063261032, + 0.05144704133272171, + -0.018065370619297028, + 1.0 + ], + [ + -0.033268868923187256, + 0.023736968636512756, + 0.0045497119426727295, + 0.019291289150714874, + -0.020679712295532227, + 0.023548752069473267, + 1.0 + ], + [ + -0.04276058077812195, + 0.022313028573989868, + -0.011644870042800903, + 0.020439840853214264, + 0.019251465797424316, + -0.008274421095848083, + 1.0 + ], + [ + -0.03124299645423889, + 0.016727199777960777, + -0.012472867965698242, + 0.0326065719127655, + 0.004443816840648651, + -0.03432078659534454, + 1.0 + ], + [ + -0.019773945212364197, + 0.007716340944170952, + -0.012714032083749771, + 0.030295655131340027, + 0.007735460996627808, + -0.029583647847175598, + 1.0 + ], + [ + -0.0060765743255615234, + 0.011036442592740059, + -0.012841738760471344, + 0.021006807684898376, + 0.005236983299255371, + 0.024062909185886383, + 1.0 + ], + [ + 0.0014311820268630981, + 0.004499358590692282, + -0.013737646862864494, + 0.033061906695365906, + 0.030762530863285065, + 0.009185463190078735, + 1.0 + ], + [ + 0.004928275942802429, + -0.00016954122111201286, + -0.009143415838479996, + 0.004177719354629517, + 0.0188022218644619, + 0.02463032305240631, + 1.0 + ], + [ + -0.0022871047258377075, + -0.003005456179380417, + -0.00994113553315401, + -0.018521755933761597, + 0.0305160004645586, + 0.012257304042577744, + 1.0 + ], + [ + 0.0018110275268554688, + -0.0002740924246609211, + -0.0003909999504685402, + -0.0036199092864990234, + -0.016176888719201088, + 0.017186149954795837, + 1.0 + ], + [ + 0.0007271319627761841, + 0.0032605729065835476, + -0.005658141802996397, + 0.009882822632789612, + 0.004452486056834459, + 0.017106497660279274, + 0.0 + ], + [ + 0.0025539547204971313, + 0.002589866518974304, + -0.0025877722073346376, + 0.01162382960319519, + 0.000741749070584774, + 0.014337152242660522, + 0.0 + ], + [ + -0.001260221004486084, + 6.335065700113773e-05, + 3.009755164384842e-05, + 0.00035466253757476807, + 0.008258789777755737, + -0.0008540838025510311, + 0.0 + ], + [ + 0.00626218318939209, + -0.0037677548825740814, + 0.017061617225408554, + -0.022318020462989807, + -0.0270023662596941, + 0.003712748410180211, + 0.0 + ], + [ + 0.03300538659095764, + -0.00318624684587121, + 0.049650825560092926, + -0.050790801644325256, + -0.10387030988931656, + 0.03343094885349274, + 0.0 + ], + [ + 0.03264951705932617, + 0.007245320826768875, + 0.04010821878910065, + -0.05386560782790184, + -0.05075477808713913, + 0.07625120878219604, + 0.0 + ], + [ + 0.025550127029418945, + 0.017627356573939323, + 0.010998964309692383, + -0.03595883026719093, + 0.007106587290763855, + 0.07063687592744827, + 0.0 + ], + [ + 0.025971293449401855, + 0.01766304112970829, + 0.0073484256863594055, + -0.011622178368270397, + -0.021075814962387085, + 0.04509107768535614, + 0.0 + ], + [ + 0.014402627944946289, + 0.020124714821577072, + 0.00043642520904541016, + 0.013299231417477131, + 0.006621420383453369, + 0.051986128091812134, + 0.0 + ], + [ + 0.010182857513427734, + 0.024655189365148544, + -0.0035791248083114624, + 0.025949424132704735, + 0.004491493105888367, + 0.04938703775405884, + 0.0 + ], + [ + 0.005874931812286377, + 0.013053275644779205, + -0.005031019449234009, + 0.01490088552236557, + 0.007130861282348633, + 0.03302401304244995, + 0.0 + ], + [ + 0.0036624670028686523, + 0.006971858441829681, + -0.00283137708902359, + 0.028095535933971405, + 0.005146726965904236, + 0.004966020584106445, + 1.0 + ], + [ + -0.003867506980895996, + -4.02107834815979e-05, + -0.007491558790206909, + 0.015754222869873047, + 0.043327510356903076, + 0.002034306526184082, + 1.0 + ], + [ + 0.005349159240722656, + -0.011325404047966003, + 0.006533242762088776, + -0.04805642366409302, + -0.0012960061430931091, + -0.023952871561050415, + 1.0 + ], + [ + 0.007505238056182861, + -0.02208847552537918, + 0.02596995234489441, + -0.07906332612037659, + -0.0279984250664711, + -0.07206869125366211, + 1.0 + ], + [ + -0.0002842247486114502, + -0.010021105408668518, + 0.019681021571159363, + -0.03697211667895317, + -0.015333324670791626, + -0.10016348958015442, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 0.9453431367874146 + ], + [ + 0.6651484370231628 + ], + [ + 0.5978984832763672 + ], + [ + 0.5978984832763672 + ], + [ + 0.5978984832763672 + ], + [ + 0.5978984832763672 + ], + [ + 0.5978984832763672 + ], + [ + 0.5978984832763672 + ], + [ + 0.5978984832763672 + ], + [ + 0.5978984832763672 + ], + [ + 0.5978984832763672 + ], + [ + 0.67718505859375 + ], + [ + 0.9507390260696411 + ], + [ + 1.0054124593734741 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.4136941730976105, + -0.0993817076086998, + 0.1154661476612091 + ], + [ + 0.3762984871864319, + -0.0899590477347374, + 0.08932630717754364 + ], + [ + 0.34302961826324463, + -0.06622207909822464, + 0.09387601912021637 + ], + [ + 0.3002690374851227, + -0.04390905052423477, + 0.08223114907741547 + ], + [ + 0.2690260410308838, + -0.027181850746273994, + 0.06975828111171722 + ], + [ + 0.2492520958185196, + -0.019465509802103043, + 0.05704424902796745 + ], + [ + 0.24317552149295807, + -0.008429067209362984, + 0.04420251026749611 + ], + [ + 0.24460670351982117, + -0.003929708618670702, + 0.030464863404631615 + ], + [ + 0.2495349794626236, + -0.004099249839782715, + 0.02132144756615162 + ], + [ + 0.2472478747367859, + -0.007104706019163132, + 0.011380312032997608 + ], + [ + 0.24905890226364136, + -0.007378798443824053, + 0.010989312082529068 + ], + [ + 0.24978603422641754, + -0.004118225537240505, + 0.005331170279532671 + ], + [ + 0.2523399889469147, + -0.0015283589018508792, + 0.0027433980721980333 + ], + [ + 0.2510797679424286, + -0.0014650082448497415, + 0.0027734956238418818 + ], + [ + 0.2573419511318207, + -0.005232763011008501, + 0.019835112616419792 + ], + [ + 0.2903473377227783, + -0.008419009856879711, + 0.06948594003915787 + ], + [ + 0.3229968547821045, + -0.0011736892629414797, + 0.10959415882825851 + ], + [ + 0.34854698181152344, + 0.016453666612505913, + 0.1205931231379509 + ], + [ + 0.3745182752609253, + 0.0341167077422142, + 0.1279415488243103 + ], + [ + 0.3889209032058716, + 0.054241422563791275, + 0.1283779740333557 + ], + [ + 0.3991037607192993, + 0.07889661192893982, + 0.12479884922504425 + ], + [ + 0.4049786925315857, + 0.09194988757371902, + 0.11976782977581024 + ], + [ + 0.40864115953445435, + 0.0989217460155487, + 0.11693645268678665 + ], + [ + 0.40477365255355835, + 0.09888153523206711, + 0.10944489389657974 + ], + [ + 0.410122811794281, + 0.0875561311841011, + 0.11597813665866852 + ], + [ + 0.41762804985046387, + 0.06546765565872192, + 0.14194808900356293 + ], + [ + 0.4173438251018524, + 0.055446550250053406, + 0.1616291105747223 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9905555337766494, + -0.052604468675838525, + 0.12661952606051638, + -0.05600505182150281, + -0.9981551633659387, + 0.023445767558068185, + 0.1251525815751631, + -0.030315667916918827, + -0.991674236634099 + ], + [ + 0.9944911615603815, + -0.07232808684409574, + 0.07586815822040469, + -0.07427124330330302, + -0.9969703186434492, + 0.023107707851735118, + 0.07396696557562019, + -0.028615233660631165, + -0.9968500671646077 + ], + [ + 0.9942237904146618, + -0.04638392015288207, + 0.09678629306236218, + -0.05074495620689443, + -0.9977815045853695, + 0.043093137817013995, + 0.09457274445136275, + -0.047755639024170286, + -0.9943718594913726 + ], + [ + 0.9954030803996656, + -0.05395075392195178, + 0.07913294940863246, + -0.05906666499625264, + -0.9962131692036558, + 0.0638000830048689, + 0.07539122374041053, + -0.06818091856568599, + -0.9948203484682359 + ], + [ + 0.9931138256297026, + -0.08585167161799409, + 0.07971461486786947, + -0.09321858008619804, + -0.9912150307595048, + 0.093824618960841, + 0.07095932405152779, + -0.10060940948455087, + -0.9923923221454911 + ], + [ + 0.9904370531189287, + -0.11358615263725978, + 0.07831110865105502, + -0.122617208005398, + -0.9848948379001835, + 0.1222586544115877, + 0.06324131647944391, + -0.13069179089229818, + -0.9894039577863586 + ], + [ + 0.9934165142701956, + -0.08904296989193985, + 0.07207620056632644, + -0.09878263067772317, + -0.9844394190703333, + 0.14533073335276753, + 0.058013972900007205, + -0.1514938272448345, + -0.98675427501231 + ], + [ + 0.9955886986089099, + -0.08325725075652808, + 0.04325937353548194, + -0.08977142871881623, + -0.9793428682568984, + 0.1811867461491987, + 0.027280648599332203, + -0.18427093257162477, + -0.9824968140514166 + ], + [ + 0.9978331005961925, + -0.06248536022291409, + 0.02060784104173892, + -0.06524694590162644, + -0.9800953914773771, + 0.18749895907795638, + 0.008481710033899133, + -0.18843726638491548, + -0.9820486022760184 + ], + [ + 0.9983513933894007, + -0.05598495817158585, + -0.012656214914743533, + -0.053000645383914476, + -0.9838210882299473, + 0.1711344440576797, + -0.022032405822581865, + -0.17018152312330603, + -0.9851663931951298 + ], + [ + 0.9993402348237826, + -0.036318786480937046, + 0.0002020170756048315, + -0.03584393234272196, + -0.9853467023560268, + 0.16675457616003714, + -0.005857266987008716, + -0.16665179838410193, + -0.9859984130407042 + ], + [ + 0.9997711679130746, + -0.020268921025263346, + -0.006839784367823133, + -0.018743635646122827, + -0.9841131550476734, + 0.17655020301568444, + -0.010309603895983297, + -0.17638160023819274, + -0.9842678716512707 + ], + [ + 0.9999292152355574, + -0.006405746351492479, + -0.010026511461264534, + -0.004408293490566655, + -0.9821846990773435, + 0.1878663989297966, + -0.011051310641890215, + -0.18780890104579387, + -0.9821434137747236 + ], + [ + 0.9997997162746904, + -0.008801951432761676, + -0.017973674861410965, + -0.005261655343639107, + -0.9821039984322516, + 0.18826590569306112, + -0.019309125306268167, + -0.18813362781374077, + -0.9819536118195948 + ], + [ + 0.9999692153174438, + -0.00024991819635051323, + 0.007842573449524251, + -0.0015498659112633249, + -0.9860921334376822, + 0.16619236531194137, + 0.007691965488297104, + -0.16619940406997796, + -0.9860621642440761 + ], + [ + 0.9932783747003638, + 0.044560458668131256, + 0.10682900297151982, + 0.03167747877059342, + -0.9923415913601585, + 0.11939306259379737, + 0.1113310724431496, + -0.1152064736899519, + -0.9870830059972587 + ], + [ + 0.9810916473237044, + 0.11771851394667669, + 0.15362789794124865, + 0.10650307049523734, + -0.9911430552584639, + 0.07932553175368383, + 0.16160530785449817, + -0.06146377377857855, + -0.9849395560064329 + ], + [ + 0.9722338907919137, + 0.181766795952671, + 0.14738416972224977, + 0.1756808964371007, + -0.9829967147111278, + 0.053419860484523275, + 0.1545881115179093, + -0.026044015746986636, + -0.9876356742347335 + ], + [ + 0.9599362446154325, + 0.22449176300551146, + 0.1677076462666442, + 0.21855461698177, + -0.9743679118319928, + 0.053301517690527864, + 0.1753747007683047, + -0.014512778329427767, + -0.9843947854370159 + ], + [ + 0.9483792592460343, + 0.27680948726017346, + 0.15476849936179962, + 0.26845064283599446, + -0.960527369756374, + 0.0729480932570796, + 0.16885210390422992, + -0.02763475550212248, + -0.9852539202131871 + ], + [ + 0.9346795317717084, + 0.3274721574373713, + 0.13833350639065467, + 0.31518108095369185, + -0.9433602601581087, + 0.1035968424387904, + 0.16442341407440153, + -0.053229744107395074, + -0.9849525548199664 + ], + [ + 0.924837795231904, + 0.35995710646432494, + 0.1229062000731495, + 0.3462728142754455, + -0.93048898180359, + 0.11952151620474448, + 0.15738548409670194, + -0.06797893973833975, + -0.9851947386926595 + ], + [ + 0.9238517427302203, + 0.36740529406995515, + 0.1072907607564813, + 0.35114443232374726, + -0.9251237006866362, + 0.14437356432497056, + 0.15230083749726386, + -0.09570521572638001, + -0.9836894665393134 + ], + [ + 0.9284307184325606, + 0.3664128850607997, + 0.06130251815562482, + 0.35504808734349, + -0.9237078269388773, + 0.1438912996869048, + 0.1093492420848402, + -0.11182776092401374, + -0.9876929154054882 + ], + [ + 0.9365336708109646, + 0.3407559899151477, + 0.08240169157418989, + 0.33266206969229656, + -0.9379542782908501, + 0.09786582255276197, + 0.11063738439324106, + -0.06424272077705637, + -0.991782356165799 + ], + [ + 0.9546951877290916, + 0.2640491982111341, + 0.13724109971496, + 0.26343472319613553, + -0.9644040904890941, + 0.022954234086074027, + 0.13841692505430764, + 0.014239774294561776, + -0.9902716716571013 + ], + [ + 0.9740457266760006, + 0.160275617227328, + 0.15983319075405208, + 0.16627185221884208, + -0.9857683733623176, + -0.02478679564458127, + 0.153585785487908, + 0.05071923304831943, + -0.9868327953078236 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005452.json b/json/chunk-0005/episode_0005452.json new file mode 100644 index 0000000000000000000000000000000000000000..384141a4cea34d12a83162de3a2a38b72cb0b431 --- /dev/null +++ b/json/chunk-0005/episode_0005452.json @@ -0,0 +1,1882 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 30, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMoved the silver fork to the left side of the table." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005452.mp4", + "start": 0, + "end": 30, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.19259348511695862, + 0.2209825962781906, + 0.03588711842894554, + -0.16417793929576874, + -0.26402512192726135, + 1.2367969751358032, + 0.0, + 1.0001531839370728 + ], + [ + 0.19169621169567108, + 0.21817053854465485, + 0.030809951946139336, + -0.16190919280052185, + -0.2438465654850006, + 1.236899495124817, + 0.0, + 1.0001531839370728 + ], + [ + 0.20187878608703613, + 0.19924955070018768, + 0.030849268659949303, + -0.1972435563802719, + -0.21013903617858887, + 1.167884349822998, + 0.0, + 1.0001531839370728 + ], + [ + 0.21758849918842316, + 0.18113209307193756, + 0.03883424773812294, + -0.24800460040569305, + -0.19956597685813904, + 1.108008861541748, + 0.0, + 1.0001531839370728 + ], + [ + 0.24700124561786652, + 0.14891457557678223, + 0.04760993272066116, + -0.2953360974788666, + -0.16505321860313416, + 0.9994348883628845, + 0.0, + 1.0001531839370728 + ], + [ + 0.29498398303985596, + 0.10987315326929092, + 0.06336382031440735, + -0.35648518800735474, + -0.1558411419391632, + 0.9155417680740356, + 0.0, + 1.0001531839370728 + ], + [ + 0.3354922831058502, + 0.07842455059289932, + 0.05765907093882561, + -0.3403013050556183, + -0.1503485143184662, + 0.85748690366745, + 0.0, + 1.0001531839370728 + ], + [ + 0.37885114550590515, + 0.04580806940793991, + 0.03726072236895561, + -0.31525981426239014, + -0.10766743868589401, + 0.8053099513053894, + 0.0, + 1.0001531839370728 + ], + [ + 0.4046112895011902, + 0.033170755952596664, + 0.02424887754023075, + -0.2905401587486267, + -0.14831046760082245, + 0.7946950197219849, + 0.0, + 1.0001531839370728 + ], + [ + 0.41555845737457275, + 0.02819456346333027, + 0.009742293506860733, + -0.2618713974952698, + -0.18760843575000763, + 0.8048471212387085, + 0.0, + 1.0001531839370728 + ], + [ + 0.4173470437526703, + 0.02343025431036949, + -0.009084213525056839, + -0.21156229078769684, + -0.1992964744567871, + 0.775314211845398, + 0.0, + 1.0001531839370728 + ], + [ + 0.4192467927932739, + 0.02042822167277336, + -0.022003797814249992, + -0.20779584348201752, + -0.16577933728694916, + 0.7687447667121887, + 0.0, + 1.0001531839370728 + ], + [ + 0.42057013511657715, + 0.019979095086455345, + -0.02612297609448433, + -0.20638838410377502, + -0.16425588726997375, + 0.7548158168792725, + 0.0, + 0.9620732665061951 + ], + [ + 0.4222506284713745, + 0.021485084667801857, + -0.026569949463009834, + -0.20472662150859833, + -0.18245945870876312, + 0.7548619508743286, + 0.0, + 0.6791892647743225 + ], + [ + 0.4190518260002136, + 0.023757390677928925, + -0.029851892963051796, + -0.1973021924495697, + -0.18949343264102936, + 0.7620195746421814, + 0.0, + 0.3901194632053375 + ], + [ + 0.4165441691875458, + 0.02487800642848015, + -0.030186958611011505, + -0.17954641580581665, + -0.1859559416770935, + 0.7482603192329407, + 0.0, + 0.3486233055591583 + ], + [ + 0.4102100729942322, + 0.031282808631658554, + -0.028112193569540977, + -0.1676950305700302, + -0.15711651742458344, + 0.701297402381897, + 0.0, + 0.3486233055591583 + ], + [ + 0.39768677949905396, + 0.050424765795469284, + 0.0027652226854115725, + -0.2048083245754242, + -0.1715410202741623, + 0.7437412142753601, + 0.0, + 0.3486233055591583 + ], + [ + 0.3800849914550781, + 0.08193027228116989, + 0.032884739339351654, + -0.25561368465423584, + -0.19134864211082458, + 0.8803940415382385, + 0.0, + 0.3486233055591583 + ], + [ + 0.3696136176586151, + 0.10950455814599991, + 0.04673122242093086, + -0.2610795795917511, + -0.22445447742938995, + 1.0177192687988281, + 0.0, + 0.3486233055591583 + ], + [ + 0.35951778292655945, + 0.14154821634292603, + 0.046507298946380615, + -0.2761076092720032, + -0.2184826284646988, + 1.1661615371704102, + 0.0, + 0.3486233055591583 + ], + [ + 0.3622644543647766, + 0.16608119010925293, + 0.03425892814993858, + -0.2639974355697632, + -0.191081240773201, + 1.2953784465789795, + 0.0, + 0.3486233055591583 + ], + [ + 0.3720596730709076, + 0.1812208741903305, + 0.013683735392987728, + -0.19169695675373077, + -0.1950962245464325, + 1.3123104572296143, + 0.0, + 0.3486233055591583 + ], + [ + 0.3813355565071106, + 0.1928577870130539, + -0.010894717648625374, + -0.1652761548757553, + -0.16151951253414154, + 1.325537919998169, + 0.0, + 0.347801148891449 + ], + [ + 0.3907744586467743, + 0.2044338583946228, + -0.024999093264341354, + -0.1559189260005951, + -0.15567003190517426, + 1.3322386741638184, + 0.0, + 0.3486233055591583 + ], + [ + 0.4017554521560669, + 0.21205386519432068, + -0.027332043275237083, + -0.1641998291015625, + -0.17065992951393127, + 1.3553946018218994, + 0.0, + 0.3486233055591583 + ], + [ + 0.40300631523132324, + 0.21367673575878143, + -0.02692502923309803, + -0.14288219809532166, + -0.1652435064315796, + 1.3542083501815796, + 0.0, + 0.41573449969291687 + ], + [ + 0.4004928767681122, + 0.20780514180660248, + -0.029149893671274185, + -0.15268446505069733, + -0.13124971091747284, + 1.3653852939605713, + 0.0, + 0.7220669984817505 + ], + [ + 0.395283967256546, + 0.201774463057518, + -0.025141898542642593, + -0.163496196269989, + -0.1183893233537674, + 1.3552525043487549, + 0.0, + 0.9774019718170166 + ], + [ + 0.3978134095668793, + 0.20387251675128937, + -0.0068405610509216785, + -0.1881299614906311, + -0.15165264904499054, + 1.3359359502792358, + 0.0, + 1.003452181816101 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9620732665061951 + ], + [ + 0.6791892647743225 + ], + [ + 0.3901194632053375 + ], + [ + 0.3486233055591583 + ], + [ + 0.3486233055591583 + ], + [ + 0.3486233055591583 + ], + [ + 0.3486233055591583 + ], + [ + 0.3486233055591583 + ], + [ + 0.3486233055591583 + ], + [ + 0.3486233055591583 + ], + [ + 0.3486233055591583 + ], + [ + 0.347801148891449 + ], + [ + 0.3486233055591583 + ], + [ + 0.3486233055591583 + ], + [ + 0.41573449969291687 + ], + [ + 0.7220669984817505 + ], + [ + 0.9774019718170166 + ], + [ + 1.003452181816101 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.19259348511695862, + 0.2209825962781906, + 0.03588711842894554 + ], + [ + 0.19169621169567108, + 0.21817053854465485, + 0.030809951946139336 + ], + [ + 0.20187878608703613, + 0.19924955070018768, + 0.030849268659949303 + ], + [ + 0.21758849918842316, + 0.18113209307193756, + 0.03883424773812294 + ], + [ + 0.24700124561786652, + 0.14891457557678223, + 0.04760993272066116 + ], + [ + 0.29498398303985596, + 0.10987315326929092, + 0.06336382031440735 + ], + [ + 0.3354922831058502, + 0.07842455059289932, + 0.05765907093882561 + ], + [ + 0.37885114550590515, + 0.04580806940793991, + 0.03726072236895561 + ], + [ + 0.4046112895011902, + 0.033170755952596664, + 0.02424887754023075 + ], + [ + 0.41555845737457275, + 0.02819456346333027, + 0.009742293506860733 + ], + [ + 0.4173470437526703, + 0.02343025431036949, + -0.009084213525056839 + ], + [ + 0.4192467927932739, + 0.02042822167277336, + -0.022003797814249992 + ], + [ + 0.42057013511657715, + 0.019979095086455345, + -0.02612297609448433 + ], + [ + 0.4222506284713745, + 0.021485084667801857, + -0.026569949463009834 + ], + [ + 0.4190518260002136, + 0.023757390677928925, + -0.029851892963051796 + ], + [ + 0.4165441691875458, + 0.02487800642848015, + -0.030186958611011505 + ], + [ + 0.4102100729942322, + 0.031282808631658554, + -0.028112193569540977 + ], + [ + 0.39768677949905396, + 0.050424765795469284, + 0.0027652226854115725 + ], + [ + 0.3800849914550781, + 0.08193027228116989, + 0.032884739339351654 + ], + [ + 0.3696136176586151, + 0.10950455814599991, + 0.04673122242093086 + ], + [ + 0.35951778292655945, + 0.14154821634292603, + 0.046507298946380615 + ], + [ + 0.3622644543647766, + 0.16608119010925293, + 0.03425892814993858 + ], + [ + 0.3720596730709076, + 0.1812208741903305, + 0.013683735392987728 + ], + [ + 0.3813355565071106, + 0.1928577870130539, + -0.010894717648625374 + ], + [ + 0.3907744586467743, + 0.2044338583946228, + -0.024999093264341354 + ], + [ + 0.4017554521560669, + 0.21205386519432068, + -0.027332043275237083 + ], + [ + 0.40300631523132324, + 0.21367673575878143, + -0.02692502923309803 + ], + [ + 0.4004928767681122, + 0.20780514180660248, + -0.029149893671274185 + ], + [ + 0.395283967256546, + 0.201774463057518, + -0.025141898542642593 + ], + [ + 0.3978134095668793, + 0.20387251675128937, + -0.0068405610509216785 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.316464020244845, + 0.9180522785951811, + 0.2388106732469596, + 0.9120011360762604, + -0.36371171154158377, + 0.18965157179180456, + 0.26096829632367335, + 0.15777770645337544, + -0.9523663915007877 + ], + [ + 0.3180317954443206, + 0.9196607940559932, + 0.23039054008956572, + 0.9168227027010994, + -0.36021174085828345, + 0.17228938899333346, + 0.24143717381197355, + 0.15643377392412683, + -0.9577246814599392 + ], + [ + 0.3834733758933894, + 0.8860580553329641, + 0.260478967597181, + 0.8996865726638711, + -0.4221007349775316, + 0.11133301621605662, + 0.20859587951171119, + 0.1916561820317666, + -0.959038928792644 + ], + [ + 0.43758338996493695, + 0.8457087286031743, + 0.3054464326051233, + 0.8770519465080627, + -0.4763289407305503, + 0.06237486151431387, + 0.19824394052079328, + 0.24059818492024027, + -0.9501641192235548 + ], + [ + 0.5334283656067115, + 0.7788852262175845, + 0.32983629749640175, + 0.82973375412457, + -0.5575913183098713, + -0.02517576238781219, + 0.16430482656483425, + 0.28710577515167146, + -0.9437023883842075 + ], + [ + 0.6019764521409575, + 0.7100364087902578, + 0.36533908805385074, + 0.7832840255769269, + -0.6139979000404601, + -0.09732786868060599, + 0.15521110251457382, + 0.3447533566742158, + -0.925772454071772 + ], + [ + 0.6469582868975103, + 0.6801230499818584, + 0.34478632788730673, + 0.7476697870885703, + -0.6546210981765846, + -0.11162932991384573, + 0.14978272426942485, + 0.3300058404111313, + -0.9320200002172553 + ], + [ + 0.688875583797961, + 0.6624228068432573, + 0.29435769910250187, + 0.7168701954662738, + -0.6827641106751351, + -0.14117468620874668, + 0.10745954075448465, + 0.3082680556721575, + -0.945210692360673 + ], + [ + 0.6928124349973002, + 0.6540875228410545, + 0.3036123225048093, + 0.7058156540239551, + -0.7013533184027214, + -0.09963827226636916, + 0.1477673592098333, + 0.2833249640062512, + -0.947571513038994 + ], + [ + 0.6810575357845432, + 0.6626807574753932, + 0.3114720639526524, + 0.7080781848990669, + -0.7043879424271474, + -0.04962772041201326, + 0.18650983089673567, + 0.25434590666077017, + -0.9489585042264927 + ], + [ + 0.7000643168002514, + 0.6546429796219257, + 0.2852236343200267, + 0.6860859706534261, + -0.7273761824525812, + -0.014488963843409877, + 0.1979797798148678, + 0.20583114057993362, + -0.9583514743308011 + ], + [ + 0.7089294228273237, + 0.6558070942950225, + 0.259492058687809, + 0.685701926428059, + -0.726990287593956, + -0.036027626023732315, + 0.16502103363682638, + 0.20347524865785682, + -0.9650729929083379 + ], + [ + 0.7185937375199927, + 0.646205749253639, + 0.25698476614109045, + 0.6759325504720404, + -0.7358982382056334, + -0.03961022870683151, + 0.1635182791293091, + 0.20216803070067185, + -0.965603365649272 + ], + [ + 0.71627555447174, + 0.6440107755155738, + 0.2686995554258142, + 0.6738142773038455, + -0.7384308986802001, + -0.02634630098985559, + 0.18144875245561062, + 0.1999248081008978, + -0.9628636566711412 + ], + [ + 0.7104934118690378, + 0.6502777171795457, + 0.2689572498194691, + 0.6780258751289048, + -0.7348990386913284, + -0.014293900316004027, + 0.18836141947430823, + 0.19251569668554266, + -0.963046043646566 + ], + [ + 0.7202388243500475, + 0.6452301189131431, + 0.2548217603467027, + 0.6686353069249911, + -0.7435564932134924, + -0.007111099308559868, + 0.18488607906541799, + 0.17550451574641768, + -0.9669618931066679 + ], + [ + 0.7545951470012935, + 0.6162053062444324, + 0.22555971421843246, + 0.6372621304947581, + -0.7701390103550317, + -0.027980024421964345, + 0.1564708955664842, + 0.16485425467841908, + -0.973827466009788 + ], + [ + 0.7251392528843668, + 0.6373459761315403, + 0.2606974695604788, + 0.667108872924945, + -0.7440646230229389, + -0.03651833006233475, + 0.1707009536912792, + 0.20039446967086227, + -0.9647296206369025 + ], + [ + 0.6252240600153757, + 0.7153158428824962, + 0.312118758967151, + 0.7569182684548403, + -0.6532287668344667, + -0.019154974791125504, + 0.1901830950879093, + 0.24822454169808927, + -0.9498499709120158 + ], + [ + 0.5121310188722719, + 0.7918964593144041, + 0.33259858273023163, + 0.8295675898840248, + -0.556392721435341, + 0.04737882805415573, + 0.22257455677336294, + 0.25164883719001174, + -0.9418776085129403 + ], + [ + 0.38432422233665886, + 0.8611666043048274, + 0.3326965159953068, + 0.8973934187689716, + -0.4330886794333775, + 0.08437563449711323, + 0.21674857341043718, + 0.26613206378928905, + -0.9392517130928186 + ], + [ + 0.26699947114522055, + 0.9154946651251084, + 0.3009664442020718, + 0.9447970472485279, + -0.3102177104162967, + 0.1054680598784973, + 0.18992056739236057, + 0.25619229159273493, + -0.9477846210030143 + ], + [ + 0.25076771193800085, + 0.9396276996348636, + 0.2328418792405574, + 0.9484373951698519, + -0.2866430111657646, + 0.13528596229191456, + 0.1938609349322493, + 0.1869105942120934, + -0.9630588599241878 + ], + [ + 0.239646644786548, + 0.9504310440707762, + 0.19811692534734213, + 0.9574481792151825, + -0.2651650417234001, + 0.11393193040302182, + 0.16081812634178275, + 0.16238328459038429, + -0.9735343851788474 + ], + [ + 0.23344398582673487, + 0.954203378551502, + 0.1870823825009343, + 0.9599301349175374, + -0.2568291817752333, + 0.11212897692328352, + 0.15504206383599675, + 0.15341018137517096, + -0.9759238057819429 + ], + [ + 0.21063486700847645, + 0.9578172008290495, + 0.19549721889665295, + 0.9626992246167081, + -0.2379847869237519, + 0.12873788919834622, + 0.16983272865590632, + 0.161088332876285, + -0.9722177705063968 + ], + [ + 0.21197129677048532, + 0.9616505426228179, + 0.17405862006427167, + 0.9633329530620696, + -0.2355846065329983, + 0.12841150536227197, + 0.16449252533215983, + 0.1404568511605327, + -0.976326831584545 + ], + [ + 0.20221524995097212, + 0.9635281902015851, + 0.17527812006672103, + 0.970557157735412, + -0.221082962351058, + 0.09560924289334924, + 0.13087320679124767, + 0.1507837870758612, + -0.9798655281717163 + ], + [ + 0.21238158295190535, + 0.9597212166856146, + 0.18392729396782584, + 0.9700223668225612, + -0.2298067002473968, + 0.07902840239660883, + 0.11811295901297272, + 0.16162941181878743, + -0.9797577568707038 + ], + [ + 0.23003636080878925, + 0.9488120585636987, + 0.21642308155546908, + 0.9613846876829736, + -0.2560794016180767, + 0.10081082459557306, + 0.1510720192310943, + 0.18487568144849253, + -0.9710809582184153 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0008972734212875366, + -0.0028120577335357666, + -0.005077166482806206, + 0.002268746495246887, + 0.020178556442260742, + 0.00010251998901367188, + 1.0 + ], + [ + 0.010182574391365051, + -0.018920987844467163, + 3.931671380996704e-05, + -0.03533436357975006, + 0.03370752930641174, + -0.06901514530181885, + 1.0 + ], + [ + 0.015709713101387024, + -0.018117457628250122, + 0.007984979078173637, + -0.05076104402542114, + 0.010573059320449829, + -0.05987548828125, + 1.0 + ], + [ + 0.02941274642944336, + -0.032217517495155334, + 0.008775684982538223, + -0.04733149707317352, + 0.03451275825500488, + -0.10857397317886353, + 1.0 + ], + [ + 0.04798273742198944, + -0.0390414223074913, + 0.015753887593746185, + -0.06114909052848816, + 0.009212076663970947, + -0.08389312028884888, + 1.0 + ], + [ + 0.04050830006599426, + -0.0314486026763916, + -0.005704749375581741, + 0.01618388295173645, + 0.0054926276206970215, + -0.05805486440658569, + 1.0 + ], + [ + 0.04335886240005493, + -0.03261648118495941, + -0.020398348569869995, + 0.02504149079322815, + 0.042681075632572174, + -0.05217695236206055, + 1.0 + ], + [ + 0.025760143995285034, + -0.012637313455343246, + -0.013011844828724861, + 0.024719655513763428, + -0.040643028914928436, + -0.010614931583404541, + 1.0 + ], + [ + 0.010947167873382568, + -0.004976192489266396, + -0.014506584033370018, + 0.028668761253356934, + -0.03929796814918518, + 0.010152101516723633, + 1.0 + ], + [ + 0.0017885863780975342, + -0.004764309152960777, + -0.018826507031917572, + 0.05030910670757294, + -0.01168803870677948, + -0.029532909393310547, + 1.0 + ], + [ + 0.0018997490406036377, + -0.0030020326375961304, + -0.012919584289193153, + 0.0037664473056793213, + 0.03351713716983795, + -0.0065694451332092285, + 1.0 + ], + [ + 0.0013233423233032227, + -0.00044912658631801605, + -0.004119178280234337, + 0.0014074593782424927, + 0.0015234500169754028, + -0.01392894983291626, + 0.0 + ], + [ + 0.0016804933547973633, + 0.0015059895813465118, + -0.00044697336852550507, + 0.0016617625951766968, + -0.018203571438789368, + 4.6133995056152344e-05, + 0.0 + ], + [ + -0.0031988024711608887, + 0.0022723060101270676, + -0.0032819435000419617, + 0.0074244290590286255, + -0.007033973932266235, + 0.007157623767852783, + 0.0 + ], + [ + -0.0025076568126678467, + 0.0011206157505512238, + -0.00033506564795970917, + 0.017755776643753052, + 0.003537490963935852, + -0.013759255409240723, + 0.0 + ], + [ + -0.006334096193313599, + 0.006404802203178406, + 0.0020747650414705276, + 0.011851385235786438, + 0.02883942425251007, + -0.0469629168510437, + 0.0 + ], + [ + -0.012523293495178223, + 0.01914195716381073, + 0.03087741695344448, + -0.03711329400539398, + -0.014424502849578857, + 0.042443811893463135, + 0.0 + ], + [ + -0.01760178804397583, + 0.03150550648570061, + 0.03011951595544815, + -0.050805360078811646, + -0.019807621836662292, + 0.13665282726287842, + 0.0 + ], + [ + -0.010471373796463013, + 0.027574285864830017, + 0.013846483081579208, + -0.005465894937515259, + -0.03310583531856537, + 0.1373252272605896, + 0.0 + ], + [ + -0.010095834732055664, + 0.03204365819692612, + -0.0002239234745502472, + -0.015028029680252075, + 0.005971848964691162, + 0.14844226837158203, + 0.0 + ], + [ + 0.002746671438217163, + 0.024532973766326904, + -0.012248370796442032, + 0.01211017370223999, + 0.027401387691497803, + 0.12921690940856934, + 0.0 + ], + [ + 0.009795218706130981, + 0.015139684081077576, + -0.02057519182562828, + 0.07230047881603241, + -0.004014983773231506, + 0.016932010650634766, + 0.0 + ], + [ + 0.009275883436203003, + 0.011636912822723389, + -0.024578452110290527, + 0.026420801877975464, + 0.033576712012290955, + 0.013227462768554688, + 0.0 + ], + [ + 0.009438902139663696, + 0.011576071381568909, + -0.01410437561571598, + 0.009357228875160217, + 0.005849480628967285, + 0.006700754165649414, + 0.0 + ], + [ + 0.010980993509292603, + 0.007620006799697876, + -0.002332950010895729, + -0.008280903100967407, + -0.014989897608757019, + 0.023155927658081055, + 0.0 + ], + [ + 0.0012508630752563477, + 0.0016228705644607544, + 0.00040701404213905334, + 0.021317631006240845, + 0.005416423082351685, + -0.0011862516403198242, + 1.0 + ], + [ + -0.0025134384632110596, + -0.005871593952178955, + -0.002224864438176155, + -0.009802266955375671, + 0.03399379551410675, + 0.0111769437789917, + 1.0 + ], + [ + -0.005208909511566162, + -0.006030678749084473, + 0.004007995128631592, + -0.010811731219291687, + 0.012860387563705444, + -0.010132789611816406, + 1.0 + ], + [ + 0.002529442310333252, + 0.0020980536937713623, + 0.018301337957382202, + -0.02463376522064209, + -0.033263325691223145, + -0.019316554069519043, + 1.0 + ], + [ + 0.0022100508213043213, + 0.0033199340105056763, + 0.03544708713889122, + -0.026532068848609924, + -0.0608784556388855, + -0.022583603858947754, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9620732665061951 + ], + [ + 0.6791892647743225 + ], + [ + 0.3901194632053375 + ], + [ + 0.3486233055591583 + ], + [ + 0.3486233055591583 + ], + [ + 0.3486233055591583 + ], + [ + 0.3486233055591583 + ], + [ + 0.3486233055591583 + ], + [ + 0.3486233055591583 + ], + [ + 0.3486233055591583 + ], + [ + 0.3486233055591583 + ], + [ + 0.347801148891449 + ], + [ + 0.3486233055591583 + ], + [ + 0.3486233055591583 + ], + [ + 0.41573449969291687 + ], + [ + 0.7220669984817505 + ], + [ + 0.9774019718170166 + ], + [ + 1.003452181816101 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.19169621169567108, + 0.21817053854465485, + 0.030809951946139336 + ], + [ + 0.20187878608703613, + 0.19924955070018768, + 0.030849268659949303 + ], + [ + 0.21758849918842316, + 0.18113209307193756, + 0.03883424773812294 + ], + [ + 0.24700124561786652, + 0.14891457557678223, + 0.04760993272066116 + ], + [ + 0.29498398303985596, + 0.10987315326929092, + 0.06336382031440735 + ], + [ + 0.3354922831058502, + 0.07842455059289932, + 0.05765907093882561 + ], + [ + 0.37885114550590515, + 0.04580806940793991, + 0.03726072236895561 + ], + [ + 0.4046112895011902, + 0.033170755952596664, + 0.02424887754023075 + ], + [ + 0.41555845737457275, + 0.02819456346333027, + 0.009742293506860733 + ], + [ + 0.4173470437526703, + 0.02343025431036949, + -0.009084213525056839 + ], + [ + 0.4192467927932739, + 0.02042822167277336, + -0.022003797814249992 + ], + [ + 0.42057013511657715, + 0.019979095086455345, + -0.02612297609448433 + ], + [ + 0.4222506284713745, + 0.021485084667801857, + -0.026569949463009834 + ], + [ + 0.4190518260002136, + 0.023757390677928925, + -0.029851892963051796 + ], + [ + 0.4165441691875458, + 0.02487800642848015, + -0.030186958611011505 + ], + [ + 0.4102100729942322, + 0.031282808631658554, + -0.028112193569540977 + ], + [ + 0.39768677949905396, + 0.050424765795469284, + 0.0027652226854115725 + ], + [ + 0.3800849914550781, + 0.08193027228116989, + 0.032884739339351654 + ], + [ + 0.3696136176586151, + 0.10950455814599991, + 0.04673122242093086 + ], + [ + 0.35951778292655945, + 0.14154821634292603, + 0.046507298946380615 + ], + [ + 0.3622644543647766, + 0.16608119010925293, + 0.03425892814993858 + ], + [ + 0.3720596730709076, + 0.1812208741903305, + 0.013683735392987728 + ], + [ + 0.3813355565071106, + 0.1928577870130539, + -0.010894717648625374 + ], + [ + 0.3907744586467743, + 0.2044338583946228, + -0.024999093264341354 + ], + [ + 0.4017554521560669, + 0.21205386519432068, + -0.027332043275237083 + ], + [ + 0.40300631523132324, + 0.21367673575878143, + -0.02692502923309803 + ], + [ + 0.4004928767681122, + 0.20780514180660248, + -0.029149893671274185 + ], + [ + 0.395283967256546, + 0.201774463057518, + -0.025141898542642593 + ], + [ + 0.3978134095668793, + 0.20387251675128937, + -0.0068405610509216785 + ], + [ + 0.4000234603881836, + 0.20719245076179504, + 0.02860652655363083 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.3180317954443206, + 0.9196607940559932, + 0.23039054008956572, + 0.9168227027010994, + -0.36021174085828345, + 0.17228938899333346, + 0.24143717381197355, + 0.15643377392412683, + -0.9577246814599392 + ], + [ + 0.3834733758933894, + 0.8860580553329641, + 0.260478967597181, + 0.8996865726638711, + -0.4221007349775316, + 0.11133301621605662, + 0.20859587951171119, + 0.1916561820317666, + -0.959038928792644 + ], + [ + 0.43758338996493695, + 0.8457087286031743, + 0.3054464326051233, + 0.8770519465080627, + -0.4763289407305503, + 0.06237486151431387, + 0.19824394052079328, + 0.24059818492024027, + -0.9501641192235548 + ], + [ + 0.5334283656067115, + 0.7788852262175845, + 0.32983629749640175, + 0.82973375412457, + -0.5575913183098713, + -0.02517576238781219, + 0.16430482656483425, + 0.28710577515167146, + -0.9437023883842075 + ], + [ + 0.6019764521409575, + 0.7100364087902578, + 0.36533908805385074, + 0.7832840255769269, + -0.6139979000404601, + -0.09732786868060599, + 0.15521110251457382, + 0.3447533566742158, + -0.925772454071772 + ], + [ + 0.6469582868975103, + 0.6801230499818584, + 0.34478632788730673, + 0.7476697870885703, + -0.6546210981765846, + -0.11162932991384573, + 0.14978272426942485, + 0.3300058404111313, + -0.9320200002172553 + ], + [ + 0.688875583797961, + 0.6624228068432573, + 0.29435769910250187, + 0.7168701954662738, + -0.6827641106751351, + -0.14117468620874668, + 0.10745954075448465, + 0.3082680556721575, + -0.945210692360673 + ], + [ + 0.6928124349973002, + 0.6540875228410545, + 0.3036123225048093, + 0.7058156540239551, + -0.7013533184027214, + -0.09963827226636916, + 0.1477673592098333, + 0.2833249640062512, + -0.947571513038994 + ], + [ + 0.6810575357845432, + 0.6626807574753932, + 0.3114720639526524, + 0.7080781848990669, + -0.7043879424271474, + -0.04962772041201326, + 0.18650983089673567, + 0.25434590666077017, + -0.9489585042264927 + ], + [ + 0.7000643168002514, + 0.6546429796219257, + 0.2852236343200267, + 0.6860859706534261, + -0.7273761824525812, + -0.014488963843409877, + 0.1979797798148678, + 0.20583114057993362, + -0.9583514743308011 + ], + [ + 0.7089294228273237, + 0.6558070942950225, + 0.259492058687809, + 0.685701926428059, + -0.726990287593956, + -0.036027626023732315, + 0.16502103363682638, + 0.20347524865785682, + -0.9650729929083379 + ], + [ + 0.7185937375199927, + 0.646205749253639, + 0.25698476614109045, + 0.6759325504720404, + -0.7358982382056334, + -0.03961022870683151, + 0.1635182791293091, + 0.20216803070067185, + -0.965603365649272 + ], + [ + 0.71627555447174, + 0.6440107755155738, + 0.2686995554258142, + 0.6738142773038455, + -0.7384308986802001, + -0.02634630098985559, + 0.18144875245561062, + 0.1999248081008978, + -0.9628636566711412 + ], + [ + 0.7104934118690378, + 0.6502777171795457, + 0.2689572498194691, + 0.6780258751289048, + -0.7348990386913284, + -0.014293900316004027, + 0.18836141947430823, + 0.19251569668554266, + -0.963046043646566 + ], + [ + 0.7202388243500475, + 0.6452301189131431, + 0.2548217603467027, + 0.6686353069249911, + -0.7435564932134924, + -0.007111099308559868, + 0.18488607906541799, + 0.17550451574641768, + -0.9669618931066679 + ], + [ + 0.7545951470012935, + 0.6162053062444324, + 0.22555971421843246, + 0.6372621304947581, + -0.7701390103550317, + -0.027980024421964345, + 0.1564708955664842, + 0.16485425467841908, + -0.973827466009788 + ], + [ + 0.7251392528843668, + 0.6373459761315403, + 0.2606974695604788, + 0.667108872924945, + -0.7440646230229389, + -0.03651833006233475, + 0.1707009536912792, + 0.20039446967086227, + -0.9647296206369025 + ], + [ + 0.6252240600153757, + 0.7153158428824962, + 0.312118758967151, + 0.7569182684548403, + -0.6532287668344667, + -0.019154974791125504, + 0.1901830950879093, + 0.24822454169808927, + -0.9498499709120158 + ], + [ + 0.5121310188722719, + 0.7918964593144041, + 0.33259858273023163, + 0.8295675898840248, + -0.556392721435341, + 0.04737882805415573, + 0.22257455677336294, + 0.25164883719001174, + -0.9418776085129403 + ], + [ + 0.38432422233665886, + 0.8611666043048274, + 0.3326965159953068, + 0.8973934187689716, + -0.4330886794333775, + 0.08437563449711323, + 0.21674857341043718, + 0.26613206378928905, + -0.9392517130928186 + ], + [ + 0.26699947114522055, + 0.9154946651251084, + 0.3009664442020718, + 0.9447970472485279, + -0.3102177104162967, + 0.1054680598784973, + 0.18992056739236057, + 0.25619229159273493, + -0.9477846210030143 + ], + [ + 0.25076771193800085, + 0.9396276996348636, + 0.2328418792405574, + 0.9484373951698519, + -0.2866430111657646, + 0.13528596229191456, + 0.1938609349322493, + 0.1869105942120934, + -0.9630588599241878 + ], + [ + 0.239646644786548, + 0.9504310440707762, + 0.19811692534734213, + 0.9574481792151825, + -0.2651650417234001, + 0.11393193040302182, + 0.16081812634178275, + 0.16238328459038429, + -0.9735343851788474 + ], + [ + 0.23344398582673487, + 0.954203378551502, + 0.1870823825009343, + 0.9599301349175374, + -0.2568291817752333, + 0.11212897692328352, + 0.15504206383599675, + 0.15341018137517096, + -0.9759238057819429 + ], + [ + 0.21063486700847645, + 0.9578172008290495, + 0.19549721889665295, + 0.9626992246167081, + -0.2379847869237519, + 0.12873788919834622, + 0.16983272865590632, + 0.161088332876285, + -0.9722177705063968 + ], + [ + 0.21197129677048532, + 0.9616505426228179, + 0.17405862006427167, + 0.9633329530620696, + -0.2355846065329983, + 0.12841150536227197, + 0.16449252533215983, + 0.1404568511605327, + -0.976326831584545 + ], + [ + 0.20221524995097212, + 0.9635281902015851, + 0.17527812006672103, + 0.970557157735412, + -0.221082962351058, + 0.09560924289334924, + 0.13087320679124767, + 0.1507837870758612, + -0.9798655281717163 + ], + [ + 0.21238158295190535, + 0.9597212166856146, + 0.18392729396782584, + 0.9700223668225612, + -0.2298067002473968, + 0.07902840239660883, + 0.11811295901297272, + 0.16162941181878743, + -0.9797577568707038 + ], + [ + 0.23003636080878925, + 0.9488120585636987, + 0.21642308155546908, + 0.9613846876829736, + -0.2560794016180767, + 0.10081082459557306, + 0.1510720192310943, + 0.18487568144849253, + -0.9710809582184153 + ], + [ + 0.24888092481149837, + 0.9334084553451822, + 0.2584703866114913, + 0.945285578940563, + -0.29221784081636937, + 0.14506518450553013, + 0.210934728084253, + 0.20822437176934777, + -0.9550649985677846 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005454.json b/json/chunk-0005/episode_0005454.json new file mode 100644 index 0000000000000000000000000000000000000000..aa9cb3c6c94b2e9eddb641603a8d73a0fe1cbd12 --- /dev/null +++ b/json/chunk-0005/episode_0005454.json @@ -0,0 +1,1522 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 24, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the towel to the bottom right corner of the desk." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005454.mp4", + "start": 0, + "end": 24, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2725977599620819, + 0.032649602741003036, + 0.08213573694229126, + -0.04990600422024727, + -0.1329374611377716, + -0.05749722197651863, + 0.0, + 1.0008161067962646 + ], + [ + 0.2706858217716217, + 0.03233293443918228, + 0.07561495155096054, + -0.05600230023264885, + -0.10865088552236557, + -0.05067941173911095, + 0.0, + 1.0008161067962646 + ], + [ + 0.2749471068382263, + 0.03258470818400383, + 0.07133286446332932, + -0.05981544777750969, + -0.10951699316501617, + -0.01293526403605938, + 0.0, + 1.0014774799346924 + ], + [ + 0.2929987609386444, + 0.022672057151794434, + 0.06536444276571274, + -0.028260257095098495, + -0.0993165671825409, + -0.01030159555375576, + 0.0, + 1.0008161067962646 + ], + [ + 0.31596794724464417, + 0.017860356718301773, + 0.04356187582015991, + 0.006052030716091394, + -0.12737397849559784, + -0.040527328848838806, + 0.0, + 1.0008161067962646 + ], + [ + 0.33495959639549255, + 0.009705603122711182, + 0.019074931740760803, + 0.020562002435326576, + -0.12946172058582306, + -0.03848354145884514, + 0.0, + 1.0008161067962646 + ], + [ + 0.357066810131073, + 0.0022161726374179125, + 0.0020577977411448956, + -0.030125411227345467, + -0.127502903342247, + -0.012185554951429367, + 0.0, + 1.0008161067962646 + ], + [ + 0.3708913028240204, + 0.0009790393523871899, + -0.01698583923280239, + -0.035329800099134445, + -0.1419396847486496, + -0.01661517843604088, + 0.0, + 1.0008161067962646 + ], + [ + 0.3755265176296234, + 0.00412519508972764, + -0.03117457404732704, + -0.013859703205525875, + -0.12643466889858246, + -0.011152639985084534, + 0.0, + 1.0008161067962646 + ], + [ + 0.37777844071388245, + -0.002984527964144945, + -0.03493424132466316, + 0.00923221092671156, + -0.12872996926307678, + -0.029976755380630493, + 0.0, + 1.0008161067962646 + ], + [ + 0.37647882103919983, + -0.010145886801183224, + -0.03712911531329155, + 0.029899107292294502, + -0.13950197398662567, + -0.0584854893386364, + 0.0, + 1.0008161067962646 + ], + [ + 0.373813271522522, + -0.023023320361971855, + -0.03839195892214775, + 0.019003860652446747, + -0.1334904283285141, + -0.07842154800891876, + 0.0, + 1.0008161067962646 + ], + [ + 0.36596304178237915, + -0.045816950500011444, + -0.03989791125059128, + 0.004601775202900171, + -0.12742772698402405, + -0.11277852952480316, + 0.0, + 1.0001531839370728 + ], + [ + 0.35913270711898804, + -0.0779564157128334, + -0.03955528140068054, + -0.02538863755762577, + -0.11478950828313828, + -0.17936767637729645, + 0.0, + 1.0001531839370728 + ], + [ + 0.34652936458587646, + -0.1050642877817154, + -0.041013121604919434, + -0.027610892429947853, + -0.10694095492362976, + -0.2519036531448364, + 0.0, + 1.0008161067962646 + ], + [ + 0.3329527974128723, + -0.1278718262910843, + -0.04137503728270531, + -0.03141745924949646, + -0.0991319864988327, + -0.31746384501457214, + 0.0, + 1.0008161067962646 + ], + [ + 0.32258516550064087, + -0.14460566639900208, + -0.04089454561471939, + -0.027356399223208427, + -0.09740723669528961, + -0.3663981556892395, + 0.0, + 1.0008161067962646 + ], + [ + 0.3184627592563629, + -0.14730699360370636, + -0.03992729261517525, + -0.013481779024004936, + -0.09609910100698471, + -0.3752504885196686, + 0.0, + 1.0001531839370728 + ], + [ + 0.3153817653656006, + -0.1443590372800827, + -0.03711888566613197, + -0.027174919843673706, + -0.09434318542480469, + -0.37404584884643555, + 0.0, + 1.0001531839370728 + ], + [ + 0.32041341066360474, + -0.1350136697292328, + -0.021747997030615807, + -0.032464299350976944, + -0.12493741512298584, + -0.3415299952030182, + 0.0, + 1.0001531839370728 + ], + [ + 0.3213858902454376, + -0.12844941020011902, + -0.004762490279972553, + -0.020780211314558983, + -0.16190636157989502, + -0.3258497714996338, + 0.0, + 1.0001531839370728 + ], + [ + 0.31972306966781616, + -0.11578082293272018, + 0.021818440407514572, + -0.004006183240562677, + -0.2256537526845932, + -0.29654374718666077, + 0.0, + 1.0001531839370728 + ], + [ + 0.3090982139110565, + -0.10659211128950119, + 0.05216457322239876, + 0.014850824140012264, + -0.3054232895374298, + -0.2687283158302307, + 0.0, + 1.0001531839370728 + ], + [ + 0.30579227209091187, + -0.10338098555803299, + 0.05783781409263611, + -0.002955560339614749, + -0.31945449113845825, + -0.23681306838989258, + 0.0, + 1.0001531839370728 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2725977599620819, + 0.032649602741003036, + 0.08213573694229126 + ], + [ + 0.2706858217716217, + 0.03233293443918228, + 0.07561495155096054 + ], + [ + 0.2749471068382263, + 0.03258470818400383, + 0.07133286446332932 + ], + [ + 0.2929987609386444, + 0.022672057151794434, + 0.06536444276571274 + ], + [ + 0.31596794724464417, + 0.017860356718301773, + 0.04356187582015991 + ], + [ + 0.33495959639549255, + 0.009705603122711182, + 0.019074931740760803 + ], + [ + 0.357066810131073, + 0.0022161726374179125, + 0.0020577977411448956 + ], + [ + 0.3708913028240204, + 0.0009790393523871899, + -0.01698583923280239 + ], + [ + 0.3755265176296234, + 0.00412519508972764, + -0.03117457404732704 + ], + [ + 0.37777844071388245, + -0.002984527964144945, + -0.03493424132466316 + ], + [ + 0.37647882103919983, + -0.010145886801183224, + -0.03712911531329155 + ], + [ + 0.373813271522522, + -0.023023320361971855, + -0.03839195892214775 + ], + [ + 0.36596304178237915, + -0.045816950500011444, + -0.03989791125059128 + ], + [ + 0.35913270711898804, + -0.0779564157128334, + -0.03955528140068054 + ], + [ + 0.34652936458587646, + -0.1050642877817154, + -0.041013121604919434 + ], + [ + 0.3329527974128723, + -0.1278718262910843, + -0.04137503728270531 + ], + [ + 0.32258516550064087, + -0.14460566639900208, + -0.04089454561471939 + ], + [ + 0.3184627592563629, + -0.14730699360370636, + -0.03992729261517525 + ], + [ + 0.3153817653656006, + -0.1443590372800827, + -0.03711888566613197 + ], + [ + 0.32041341066360474, + -0.1350136697292328, + -0.021747997030615807 + ], + [ + 0.3213858902454376, + -0.12844941020011902, + -0.004762490279972553 + ], + [ + 0.31972306966781616, + -0.11578082293272018, + 0.021818440407514572 + ], + [ + 0.3090982139110565, + -0.10659211128950119, + 0.05216457322239876 + ], + [ + 0.30579227209091187, + -0.10338098555803299, + 0.05783781409263611 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9895388915308092, + -0.06399518147538022, + 0.12929578065780592, + -0.05695851810673061, + -0.9967245329042399, + -0.05741021443881551, + 0.13254625367419312, + 0.04944514389461002, + -0.9899427601544336 + ], + [ + 0.9928269412375202, + -0.05664007152754235, + 0.10529276827163526, + -0.05035900679567163, + -0.9968428971365638, + -0.061385738269857465, + 0.1084372407778015, + 0.05564297552914323, + -0.9925448222054056 + ], + [ + 0.9939258475229058, + -0.019445046742765273, + 0.10832035719588878, + -0.012857410383131679, + -0.9980435653143658, + -0.0611860174617439, + 0.10929820046145772, + 0.05942164497690017, + -0.9922313094657547 + ], + [ + 0.9950193628420617, + -0.013098878290791063, + 0.09881744257417688, + -0.010250649656176992, + -0.9995188039837904, + -0.029276008341975534, + 0.09915337488458989, + 0.0281172521832441, + -0.9946748355008586 + ], + [ + 0.9910844286540084, + -0.03974734113948686, + 0.12716840862375675, + -0.04018800942466125, + -0.9991917299859041, + 0.0009003478546096991, + 0.12702983577900448, + -0.006002965943366425, + -0.991880731349209 + ], + [ + 0.9908973253700889, + -0.03581350009291664, + 0.12976857780487125, + -0.038152074352851235, + -0.9991504904456934, + 0.015579366633627505, + 0.12910038650979624, + -0.020388493157296707, + -0.9914219079432309 + ], + [ + 0.9918088706365938, + -0.01600953921105354, + 0.12672355258914794, + -0.012086339724841038, + -0.9994253841190401, + -0.031667364439835664, + 0.12715771513604882, + 0.02987634905337963, + -0.9914324582383919 + ], + [ + 0.9898068231396294, + -0.021600195890705425, + 0.14076890424990157, + -0.016447330517662253, + -0.9991550051977378, + -0.03766644271963843, + 0.14146355779874042, + 0.03496722931248884, + -0.9893257070798932 + ], + [ + 0.991956085590645, + -0.012898854989041395, + 0.12592356332178983, + -0.011063387800552077, + -0.9998222815396112, + -0.015264559846301748, + 0.12609807972391857, + 0.01374863181914528, + -0.9919225017172673 + ], + [ + 0.9912801814193454, + -0.028786355481628573, + 0.12858828742663342, + -0.029724267512522436, + -0.9995436554041978, + 0.005380414673408337, + 0.12837472432715552, + -0.009155691088013902, + -0.9916834693966756 + ], + [ + 0.9885921906957601, + -0.05427628557297633, + 0.14049756339438182, + -0.05788431185942221, + -0.9980870072103433, + 0.02171940327129484, + 0.13904994403421664, + -0.02960423723558337, + -0.9898427664037255 + ], + [ + 0.9880573246308566, + -0.07580566490665568, + 0.13415000712401562, + -0.07764421929177902, + -0.9969447299325944, + 0.008519428982986181, + 0.1330943216440271, + -0.018833656779442695, + -0.9909244143316028 + ], + [ + 0.9855908144515271, + -0.11195732742011272, + 0.12679236296292132, + -0.11162714631740012, + -0.993702532274868, + -0.009729211455638775, + 0.12708314866184758, + -0.0045644482098567765, + -0.9918815650765621 + ], + [ + 0.9774811985644365, + -0.18121092664032146, + 0.10813466844258987, + -0.17723331570173861, + -0.9831208521886353, + -0.045406407006715624, + 0.11453758447950899, + 0.025218843313040654, + -0.993098762300886 + ], + [ + 0.9629072543621405, + -0.2520067165503664, + 0.0964480912733269, + -0.24782409501282798, + -0.9673361000174672, + -0.053329987193606064, + 0.10673723543280247, + 0.02744967060823645, + -0.9939082845794488 + ], + [ + 0.9453659307771258, + -0.31495761274797907, + 0.08417219908017448, + -0.3106255865070201, + -0.9485908681755927, + -0.06072157623979367, + 0.09896970209649136, + 0.0312580707333219, + -0.994599382204193 + ], + [ + 0.9291980881308765, + -0.36060454554525384, + 0.08096465121289186, + -0.356556746915256, + -0.9323214318643508, + -0.060365834009122946, + 0.09725327368852109, + 0.02722332489810583, + -0.9948872756942658 + ], + [ + 0.9261229384670328, + -0.36767583539859017, + 0.0843254582503843, + -0.3648145546522227, + -0.9298571965593261, + -0.04770675760027109, + 0.09595125616212057, + 0.013419168036038966, + -0.995295575379561 + ], + [ + 0.9267171408652879, + -0.3676322810691593, + 0.0777293171355137, + -0.3637596458960867, + -0.9295777338285847, + -0.05970055935807511, + 0.09420329529278809, + 0.027050742799414676, + -0.9951854080873475 + ], + [ + 0.9348989828960368, + -0.33856377081777944, + 0.10648222795190772, + -0.3323184957032932, + -0.9403921376614979, + -0.07229830453018148, + 0.12461263657212378, + 0.03220559755826145, + -0.9916826560409631 + ], + [ + 0.9349890052144333, + -0.3232181163426021, + 0.14603290518257875, + -0.3159274335917249, + -0.9461022743720046, + -0.07127652581506659, + 0.16119992813977976, + 0.02050696701269418, + -0.9867086943326635 + ], + [ + 0.9321067738016062, + -0.29307145020274056, + 0.21280528026631315, + -0.28480830177602395, + -0.956082569190968, + -0.06921236976621524, + 0.22374358867377367, + 0.003904608208331245, + -0.9746402210878232 + ], + [ + 0.9194901009319996, + -0.26117116623217035, + 0.29381554794971143, + -0.2532179448181738, + -0.9651885987999131, + -0.06551061874780693, + 0.3006969017301665, + -0.014163003762912785, + -0.9536145880880232 + ], + [ + 0.922909483168512, + -0.2355070954980431, + 0.30458905733414965, + -0.22273639458543004, + -0.9718685786630441, + -0.07655040388239773, + 0.31404869750520203, + 0.0028060252226612056, + -0.949402728992147 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.001911938190460205, + -0.000316668301820755, + -0.006520785391330719, + -0.006096296012401581, + 0.024286575615406036, + 0.006817810237407684, + 1.0 + ], + [ + 0.004261285066604614, + 0.00025177374482154846, + -0.004282087087631226, + -0.00381314754486084, + -0.0008661076426506042, + 0.037744149565696716, + 1.0 + ], + [ + 0.01805165410041809, + -0.009912651032209396, + -0.005968421697616577, + 0.031555190682411194, + 0.01020042598247528, + 0.0026336684823036194, + 1.0 + ], + [ + 0.022969186305999756, + -0.0048117004334926605, + -0.021802566945552826, + 0.03431228920817375, + -0.028057411313056946, + -0.030225733295083046, + 1.0 + ], + [ + 0.01899164915084839, + -0.008154753595590591, + -0.02448694407939911, + 0.014509972184896469, + -0.0020877420902252197, + 0.0020437873899936676, + 1.0 + ], + [ + 0.022107213735580444, + -0.007489430718123913, + -0.01701713353395462, + -0.05068741366267204, + 0.00195881724357605, + 0.02629798650741577, + 1.0 + ], + [ + 0.013824492692947388, + -0.0012371332850307226, + -0.019043637439608574, + -0.005204388871788979, + -0.014436781406402588, + -0.004429623484611511, + 1.0 + ], + [ + 0.004635214805603027, + 0.0031461557373404503, + -0.01418873481452465, + 0.021470095962285995, + 0.015505015850067139, + 0.005462538450956345, + 1.0 + ], + [ + 0.002251923084259033, + -0.007109723053872585, + -0.0037596672773361206, + 0.023091914132237434, + -0.0022953003644943237, + -0.01882411539554596, + 1.0 + ], + [ + -0.0012996196746826172, + -0.007161358837038279, + -0.0021948739886283875, + 0.020666897296905518, + -0.01077200472354889, + -0.028508733958005905, + 1.0 + ], + [ + -0.0026655495166778564, + -0.012877433560788631, + -0.0012628436088562012, + -0.010895246639847755, + 0.006011545658111572, + -0.019936058670282364, + 1.0 + ], + [ + -0.007850229740142822, + -0.02279363013803959, + -0.0015059523284435272, + -0.014402085915207863, + 0.006062701344490051, + -0.0343569815158844, + 1.0 + ], + [ + -0.006830334663391113, + -0.03213946521282196, + 0.0003426298499107361, + -0.029990412294864655, + 0.012638218700885773, + -0.06658914685249329, + 1.0 + ], + [ + -0.012603342533111572, + -0.02710787206888199, + -0.0014578402042388916, + -0.0022222548723220825, + 0.007848553359508514, + -0.07253597676753998, + 1.0 + ], + [ + -0.01357656717300415, + -0.022807538509368896, + -0.0003619156777858734, + -0.003806566819548607, + 0.007808968424797058, + -0.06556019186973572, + 1.0 + ], + [ + -0.010367631912231445, + -0.016733840107917786, + 0.00048049166798591614, + 0.0040610600262880325, + 0.0017247498035430908, + -0.04893431067466736, + 1.0 + ], + [ + -0.004122406244277954, + -0.0027013272047042847, + 0.0009672529995441437, + 0.013874620199203491, + 0.0013081356883049011, + -0.008852332830429077, + 1.0 + ], + [ + -0.003080993890762329, + 0.0029479563236236572, + 0.002808406949043274, + -0.01369314081966877, + 0.0017559155821800232, + 0.0012046396732330322, + 1.0 + ], + [ + 0.00503164529800415, + 0.009345367550849915, + 0.015370888635516167, + -0.005289379507303238, + -0.030594229698181152, + 0.03251585364341736, + 1.0 + ], + [ + 0.0009724795818328857, + 0.0065642595291137695, + 0.01698550581932068, + 0.011684088036417961, + -0.03696894645690918, + 0.0156802237033844, + 1.0 + ], + [ + -0.00166282057762146, + 0.012668587267398834, + 0.02658092975616455, + 0.016774028539657593, + -0.06374739110469818, + 0.029306024312973022, + 1.0 + ], + [ + -0.010624855756759644, + 0.009188711643218994, + 0.030346132814884186, + 0.01885700784623623, + -0.07976953685283661, + 0.027815431356430054, + 1.0 + ], + [ + -0.0033059418201446533, + 0.0032111257314682007, + 0.0056732408702373505, + -0.017806384712457657, + -0.014031201601028442, + 0.031915247440338135, + 1.0 + ], + [ + 0.0004725158214569092, + 0.0014083310961723328, + 0.0, + 0.0, + 0.0, + 0.004601955413818359, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2706858217716217, + 0.03233293443918228, + 0.07561495155096054 + ], + [ + 0.2749471068382263, + 0.03258470818400383, + 0.07133286446332932 + ], + [ + 0.2929987609386444, + 0.022672057151794434, + 0.06536444276571274 + ], + [ + 0.31596794724464417, + 0.017860356718301773, + 0.04356187582015991 + ], + [ + 0.33495959639549255, + 0.009705603122711182, + 0.019074931740760803 + ], + [ + 0.357066810131073, + 0.0022161726374179125, + 0.0020577977411448956 + ], + [ + 0.3708913028240204, + 0.0009790393523871899, + -0.01698583923280239 + ], + [ + 0.3755265176296234, + 0.00412519508972764, + -0.03117457404732704 + ], + [ + 0.37777844071388245, + -0.002984527964144945, + -0.03493424132466316 + ], + [ + 0.37647882103919983, + -0.010145886801183224, + -0.03712911531329155 + ], + [ + 0.373813271522522, + -0.023023320361971855, + -0.03839195892214775 + ], + [ + 0.36596304178237915, + -0.045816950500011444, + -0.03989791125059128 + ], + [ + 0.35913270711898804, + -0.0779564157128334, + -0.03955528140068054 + ], + [ + 0.34652936458587646, + -0.1050642877817154, + -0.041013121604919434 + ], + [ + 0.3329527974128723, + -0.1278718262910843, + -0.04137503728270531 + ], + [ + 0.32258516550064087, + -0.14460566639900208, + -0.04089454561471939 + ], + [ + 0.3184627592563629, + -0.14730699360370636, + -0.03992729261517525 + ], + [ + 0.3153817653656006, + -0.1443590372800827, + -0.03711888566613197 + ], + [ + 0.32041341066360474, + -0.1350136697292328, + -0.021747997030615807 + ], + [ + 0.3213858902454376, + -0.12844941020011902, + -0.004762490279972553 + ], + [ + 0.31972306966781616, + -0.11578082293272018, + 0.021818440407514572 + ], + [ + 0.3090982139110565, + -0.10659211128950119, + 0.05216457322239876 + ], + [ + 0.30579227209091187, + -0.10338098555803299, + 0.05783781409263611 + ], + [ + 0.3062647879123688, + -0.10197265446186066, + 0.05783781409263611 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9928269412375202, + -0.05664007152754235, + 0.10529276827163526, + -0.05035900679567163, + -0.9968428971365638, + -0.061385738269857465, + 0.1084372407778015, + 0.05564297552914323, + -0.9925448222054056 + ], + [ + 0.9939258475229058, + -0.019445046742765273, + 0.10832035719588878, + -0.012857410383131679, + -0.9980435653143658, + -0.0611860174617439, + 0.10929820046145772, + 0.05942164497690017, + -0.9922313094657547 + ], + [ + 0.9950193628420617, + -0.013098878290791063, + 0.09881744257417688, + -0.010250649656176992, + -0.9995188039837904, + -0.029276008341975534, + 0.09915337488458989, + 0.0281172521832441, + -0.9946748355008586 + ], + [ + 0.9910844286540084, + -0.03974734113948686, + 0.12716840862375675, + -0.04018800942466125, + -0.9991917299859041, + 0.0009003478546096991, + 0.12702983577900448, + -0.006002965943366425, + -0.991880731349209 + ], + [ + 0.9908973253700889, + -0.03581350009291664, + 0.12976857780487125, + -0.038152074352851235, + -0.9991504904456934, + 0.015579366633627505, + 0.12910038650979624, + -0.020388493157296707, + -0.9914219079432309 + ], + [ + 0.9918088706365938, + -0.01600953921105354, + 0.12672355258914794, + -0.012086339724841038, + -0.9994253841190401, + -0.031667364439835664, + 0.12715771513604882, + 0.02987634905337963, + -0.9914324582383919 + ], + [ + 0.9898068231396294, + -0.021600195890705425, + 0.14076890424990157, + -0.016447330517662253, + -0.9991550051977378, + -0.03766644271963843, + 0.14146355779874042, + 0.03496722931248884, + -0.9893257070798932 + ], + [ + 0.991956085590645, + -0.012898854989041395, + 0.12592356332178983, + -0.011063387800552077, + -0.9998222815396112, + -0.015264559846301748, + 0.12609807972391857, + 0.01374863181914528, + -0.9919225017172673 + ], + [ + 0.9912801814193454, + -0.028786355481628573, + 0.12858828742663342, + -0.029724267512522436, + -0.9995436554041978, + 0.005380414673408337, + 0.12837472432715552, + -0.009155691088013902, + -0.9916834693966756 + ], + [ + 0.9885921906957601, + -0.05427628557297633, + 0.14049756339438182, + -0.05788431185942221, + -0.9980870072103433, + 0.02171940327129484, + 0.13904994403421664, + -0.02960423723558337, + -0.9898427664037255 + ], + [ + 0.9880573246308566, + -0.07580566490665568, + 0.13415000712401562, + -0.07764421929177902, + -0.9969447299325944, + 0.008519428982986181, + 0.1330943216440271, + -0.018833656779442695, + -0.9909244143316028 + ], + [ + 0.9855908144515271, + -0.11195732742011272, + 0.12679236296292132, + -0.11162714631740012, + -0.993702532274868, + -0.009729211455638775, + 0.12708314866184758, + -0.0045644482098567765, + -0.9918815650765621 + ], + [ + 0.9774811985644365, + -0.18121092664032146, + 0.10813466844258987, + -0.17723331570173861, + -0.9831208521886353, + -0.045406407006715624, + 0.11453758447950899, + 0.025218843313040654, + -0.993098762300886 + ], + [ + 0.9629072543621405, + -0.2520067165503664, + 0.0964480912733269, + -0.24782409501282798, + -0.9673361000174672, + -0.053329987193606064, + 0.10673723543280247, + 0.02744967060823645, + -0.9939082845794488 + ], + [ + 0.9453659307771258, + -0.31495761274797907, + 0.08417219908017448, + -0.3106255865070201, + -0.9485908681755927, + -0.06072157623979367, + 0.09896970209649136, + 0.0312580707333219, + -0.994599382204193 + ], + [ + 0.9291980881308765, + -0.36060454554525384, + 0.08096465121289186, + -0.356556746915256, + -0.9323214318643508, + -0.060365834009122946, + 0.09725327368852109, + 0.02722332489810583, + -0.9948872756942658 + ], + [ + 0.9261229384670328, + -0.36767583539859017, + 0.0843254582503843, + -0.3648145546522227, + -0.9298571965593261, + -0.04770675760027109, + 0.09595125616212057, + 0.013419168036038966, + -0.995295575379561 + ], + [ + 0.9267171408652879, + -0.3676322810691593, + 0.0777293171355137, + -0.3637596458960867, + -0.9295777338285847, + -0.05970055935807511, + 0.09420329529278809, + 0.027050742799414676, + -0.9951854080873475 + ], + [ + 0.9348989828960368, + -0.33856377081777944, + 0.10648222795190772, + -0.3323184957032932, + -0.9403921376614979, + -0.07229830453018148, + 0.12461263657212378, + 0.03220559755826145, + -0.9916826560409631 + ], + [ + 0.9349890052144333, + -0.3232181163426021, + 0.14603290518257875, + -0.3159274335917249, + -0.9461022743720046, + -0.07127652581506659, + 0.16119992813977976, + 0.02050696701269418, + -0.9867086943326635 + ], + [ + 0.9321067738016062, + -0.29307145020274056, + 0.21280528026631315, + -0.28480830177602395, + -0.956082569190968, + -0.06921236976621524, + 0.22374358867377367, + 0.003904608208331245, + -0.9746402210878232 + ], + [ + 0.9194901009319996, + -0.26117116623217035, + 0.29381554794971143, + -0.2532179448181738, + -0.9651885987999131, + -0.06551061874780693, + 0.3006969017301665, + -0.014163003762912785, + -0.9536145880880232 + ], + [ + 0.922909483168512, + -0.2355070954980431, + 0.30458905733414965, + -0.22273639458543004, + -0.9718685786630441, + -0.07655040388239773, + 0.31404869750520203, + 0.0028060252226612056, + -0.949402728992147 + ], + [ + 0.923924729839113, + -0.23103212163785972, + 0.3049381123494254, + -0.21848686273322646, + -0.972942076895618, + -0.07514789297800223, + 0.314048697505202, + 0.0028060252226611918, + -0.9494027289921467 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005455.json b/json/chunk-0005/episode_0005455.json new file mode 100644 index 0000000000000000000000000000000000000000..aecf7f437cb4f0e3e7a67e9e7cb743a84c4d1fb9 --- /dev/null +++ b/json/chunk-0005/episode_0005455.json @@ -0,0 +1,1402 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 22, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut corn into bowl." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005455.mp4", + "start": 0, + "end": 22, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.22911514341831207, + 0.13955779373645782, + 0.05164593085646629, + 0.15292520821094513, + -0.1703806221485138, + 0.04744216427206993, + 0.0, + 0.9988223910331726 + ], + [ + 0.23341350257396698, + 0.12427771836519241, + 0.05105484649538994, + 0.13161423802375793, + -0.14108431339263916, + 0.08659812062978745, + 0.0, + 0.9988223910331726 + ], + [ + 0.2583560347557068, + 0.09494190663099289, + 0.06702392548322678, + 0.10690852999687195, + -0.15586990118026733, + 0.13486281037330627, + 0.0, + 0.9988223910331726 + ], + [ + 0.28123459219932556, + 0.06296554952859879, + 0.08193876594305038, + 0.08948361873626709, + -0.19911758601665497, + 0.17760686576366425, + 0.0, + 0.9988223910331726 + ], + [ + 0.31554552912712097, + 0.028448915109038353, + 0.09214093536138535, + 0.09065490961074829, + -0.2789546847343445, + 0.18500353395938873, + 0.0, + 0.9988223910331726 + ], + [ + 0.34556126594543457, + 0.005040639080107212, + 0.08943337947130203, + 0.07066672295331955, + -0.31412801146507263, + 0.16954338550567627, + 0.0, + 0.9988223910331726 + ], + [ + 0.36571013927459717, + -0.007399079855531454, + 0.08727608621120453, + 0.06267499923706055, + -0.3247644603252411, + 0.15222688019275665, + 0.0, + 0.9988223910331726 + ], + [ + 0.38441357016563416, + -0.02479219064116478, + 0.08703236281871796, + 0.0492948517203331, + -0.3452511429786682, + 0.12885518372058868, + 0.0, + 0.9988223910331726 + ], + [ + 0.39921724796295166, + -0.03127142786979675, + 0.0772935003042221, + 0.0142036909237504, + -0.353389710187912, + 0.13630975782871246, + 0.0, + 0.9988223910331726 + ], + [ + 0.40885141491889954, + -0.03433651477098465, + 0.0620904304087162, + -0.017578329890966415, + -0.3659904897212982, + 0.13237129151821136, + 0.0, + 0.9988223910331726 + ], + [ + 0.4189743101596832, + -0.03390495106577873, + 0.05069657415151596, + -0.03291148319840431, + -0.40844863653182983, + 0.12703879177570343, + 0.0, + 0.9988223910331726 + ], + [ + 0.4233710467815399, + -0.03389972075819969, + 0.038628824055194855, + -0.027509666979312897, + -0.4387855529785156, + 0.10636699944734573, + 0.0, + 0.9988223910331726 + ], + [ + 0.4272487461566925, + -0.03266306594014168, + 0.024050354957580566, + -0.026271672919392586, + -0.4478539526462555, + 0.09913720935583115, + 0.0, + 0.9988223910331726 + ], + [ + 0.4276774525642395, + -0.03105989843606949, + 0.013541358523070812, + -0.026130199432373047, + -0.4399101436138153, + 0.10173332691192627, + 0.0, + 0.8186774849891663 + ], + [ + 0.42687422037124634, + -0.0310248713940382, + 0.013484927825629711, + -0.012988714501261711, + -0.42398232221603394, + 0.09354916214942932, + 0.0, + 0.6741776466369629 + ], + [ + 0.42000848054885864, + -0.02936469577252865, + 0.014326803386211395, + 0.053978756070137024, + -0.36850258708000183, + 0.08291307091712952, + 0.0, + 0.6731748580932617 + ], + [ + 0.4024513065814972, + -0.03389178216457367, + 0.031452976167201996, + 0.1643606573343277, + -0.30645737051963806, + 0.09945852309465408, + 0.0, + 0.6731748580932617 + ], + [ + 0.3806500732898712, + -0.05932427570223808, + 0.07117698341608047, + 0.17115655541419983, + -0.32216304540634155, + 0.2004956752061844, + 0.0, + 0.6731748580932617 + ], + [ + 0.3487805724143982, + -0.07312323898077011, + 0.07080323249101639, + 0.16528090834617615, + -0.3082093596458435, + 0.2917674779891968, + 0.0, + 0.6731748580932617 + ], + [ + 0.3118364214897156, + -0.08632057905197144, + 0.06756868213415146, + 0.1429213285446167, + -0.3003845512866974, + 0.3435262143611908, + 0.0, + 0.6731748580932617 + ], + [ + 0.288933664560318, + -0.09255898743867874, + 0.06572944670915604, + 0.1246284618973732, + -0.2686692774295807, + 0.3662232756614685, + 0.0, + 0.6731748580932617 + ], + [ + 0.2766511142253876, + -0.10342070460319519, + 0.06154415011405945, + 0.12725819647312164, + -0.2700333595275879, + 0.3578447997570038, + 0.0, + 0.6731748580932617 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.8186774849891663 + ], + [ + 0.6741776466369629 + ], + [ + 0.6731748580932617 + ], + [ + 0.6731748580932617 + ], + [ + 0.6731748580932617 + ], + [ + 0.6731748580932617 + ], + [ + 0.6731748580932617 + ], + [ + 0.6731748580932617 + ], + [ + 0.6731748580932617 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.22911514341831207, + 0.13955779373645782, + 0.05164593085646629 + ], + [ + 0.23341350257396698, + 0.12427771836519241, + 0.05105484649538994 + ], + [ + 0.2583560347557068, + 0.09494190663099289, + 0.06702392548322678 + ], + [ + 0.28123459219932556, + 0.06296554952859879, + 0.08193876594305038 + ], + [ + 0.31554552912712097, + 0.028448915109038353, + 0.09214093536138535 + ], + [ + 0.34556126594543457, + 0.005040639080107212, + 0.08943337947130203 + ], + [ + 0.36571013927459717, + -0.007399079855531454, + 0.08727608621120453 + ], + [ + 0.38441357016563416, + -0.02479219064116478, + 0.08703236281871796 + ], + [ + 0.39921724796295166, + -0.03127142786979675, + 0.0772935003042221 + ], + [ + 0.40885141491889954, + -0.03433651477098465, + 0.0620904304087162 + ], + [ + 0.4189743101596832, + -0.03390495106577873, + 0.05069657415151596 + ], + [ + 0.4233710467815399, + -0.03389972075819969, + 0.038628824055194855 + ], + [ + 0.4272487461566925, + -0.03266306594014168, + 0.024050354957580566 + ], + [ + 0.4276774525642395, + -0.03105989843606949, + 0.013541358523070812 + ], + [ + 0.42687422037124634, + -0.0310248713940382, + 0.013484927825629711 + ], + [ + 0.42000848054885864, + -0.02936469577252865, + 0.014326803386211395 + ], + [ + 0.4024513065814972, + -0.03389178216457367, + 0.031452976167201996 + ], + [ + 0.3806500732898712, + -0.05932427570223808, + 0.07117698341608047 + ], + [ + 0.3487805724143982, + -0.07312323898077011, + 0.07080323249101639 + ], + [ + 0.3118364214897156, + -0.08632057905197144, + 0.06756868213415146 + ], + [ + 0.288933664560318, + -0.09255898743867874, + 0.06572944670915604 + ], + [ + 0.2766511142253876, + -0.10342070460319519, + 0.06154415011405945 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9844114246580432, + 0.0726705160962021, + 0.16016598606768429, + 0.04673767886560975, + -0.9859927650396203, + 0.16010576711592742, + 0.1695574721944661, + -0.15012415988053382, + -0.9740189937794782 + ], + [ + 0.9863540636199396, + 0.10412653120966628, + 0.12752774866151517, + 0.08563056985236076, + -0.986040409867119, + 0.14279956448058265, + 0.14061673686724552, + -0.12993065691870612, + -0.9815013793701369 + ], + [ + 0.978906728495044, + 0.15010115063501173, + 0.1386046950329466, + 0.13282435943234894, + -0.9830351377846436, + 0.12648955459686537, + 0.15523951316761075, + -0.10541139624714549, + -0.982236799907594 + ], + [ + 0.9648216363738231, + 0.1933662979968018, + 0.17812547483150684, + 0.17318376890049939, + -0.9772082531799556, + 0.12276567967635603, + 0.1978044291070252, + -0.08759854288737505, + -0.9763195701765135 + ], + [ + 0.9449390375104266, + 0.20769700203878796, + 0.2528876642562242, + 0.1768391974391386, + -0.9743138731958754, + 0.139428744336071, + 0.27535089184157446, + -0.08703121188488523, + -0.9573961847218205 + ], + [ + 0.9374297064348303, + 0.18981530374102112, + 0.2918830175930275, + 0.16047558215701202, + -0.9795206231094044, + 0.12160154783032998, + 0.30898727000456794, + -0.06715280611462074, + -0.9486924515384615 + ], + [ + 0.9367662613940361, + 0.17109638105559674, + 0.3052785611593434, + 0.14371281093343422, + -0.9834645076131336, + 0.11020068166244634, + 0.3190855676577239, + -0.05935984042208062, + -0.9458651118725193 + ], + [ + 0.9331893478393587, + 0.1448808057242696, + 0.32888781250122207, + 0.12091624413539377, + -0.9883620969325261, + 0.09230182691220101, + 0.33843301107212104, + -0.04636720263102486, + -0.9398474235410933 + ], + [ + 0.9295023928179543, + 0.14074418266790054, + 0.3409052313925995, + 0.12749083398902708, + -0.9899563148999224, + 0.06109485934633045, + 0.34608003264343273, + -0.013325525689825767, + -0.9381103567121568 + ], + [ + 0.925600855989507, + 0.12572918889599827, + 0.3570087204131663, + 0.1232436546402993, + -0.9919288158500724, + 0.029803118581383053, + 0.3578743592133901, + 0.01641326737209049, + -0.9336254857659885 + ], + [ + 0.9103424404434205, + 0.11366444634248304, + 0.39794099407471806, + 0.11627499284697107, + -0.9930601361316379, + 0.01765480287768853, + 0.39718606114257693, + 0.030198669902331894, + -0.9172411205185775 + ], + [ + 0.9001520284428793, + 0.09450667166339254, + 0.4251997350672714, + 0.09610920186390871, + -0.9952127685658503, + 0.017736025501172866, + 0.42484037826841803, + 0.0249004878386655, + -0.904925753141187 + ], + [ + 0.8969526535356496, + 0.08762142797400514, + 0.4333571537140622, + 0.0892138447692659, + -0.9958724003755993, + 0.016704851739164216, + 0.4330321318526403, + 0.023677996746734292, + -0.9010674365735448 + ], + [ + 0.9001118312469193, + 0.09045429964168944, + 0.4261651216672347, + 0.09188859566952776, + -0.9956200010924057, + 0.017242372535129516, + 0.4258581656317036, + 0.023639651035698622, + -0.9044810609756906 + ], + [ + 0.9074724915225095, + 0.0880849362247804, + 0.4107733208719932, + 0.08514180758673433, + -0.9960426185046334, + 0.025494601846217456, + 0.4113934245108843, + 0.011838333189685803, + -0.9113809873683439 + ], + [ + 0.9296630884420607, + 0.10206544548678888, + 0.35399037674201345, + 0.07725834225501306, + -0.9935036367539697, + 0.08355640196085334, + 0.3602189480585059, + -0.05033059302471768, + -0.9315090664429433 + ], + [ + 0.9486966308410387, + 0.14707437142071897, + 0.2798996818541635, + 0.09466832477083756, + -0.9767464779108175, + 0.19236482571898605, + 0.30168296424548857, + -0.1559982280669016, + -0.9405593771389671 + ], + [ + 0.9295513499338661, + 0.24909209258187479, + 0.2718224001978321, + 0.1889091240234924, + -0.9549092371893615, + 0.22904517369093164, + 0.31661906243434623, + -0.16155951888890663, + -0.9346929395045097 + ], + [ + 0.9126067642260713, + 0.33152657277885644, + 0.2392467877116116, + 0.2740911078280802, + -0.9303285748840007, + 0.24364483857426464, + 0.3033528613651024, + -0.15677651066345802, + -0.9398926359993438 + ], + [ + 0.8994118407738935, + 0.373057719753936, + 0.22778559745451504, + 0.32172797844129686, + -0.9177779252532828, + 0.23275478041461578, + 0.2958875606776889, + -0.13605740571454877, + -0.9454834391920536 + ], + [ + 0.9001904040743394, + 0.38612307559711473, + 0.20141054317960158, + 0.3452451734725092, + -0.9146287564741457, + 0.2103806265426899, + 0.26544868921585263, + -0.11984660329764285, + -0.9566471580847364 + ], + [ + 0.9027114059921554, + 0.37913569050447377, + 0.2033918525343681, + 0.3375637804701291, + -0.9172213267316055, + 0.21155550549070576, + 0.26676358748221385, + -0.12231584514857183, + -0.9559686304577206 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + 0.004298359155654907, + -0.015280075371265411, + -0.000591084361076355, + -0.021310970187187195, + 0.029296308755874634, + 0.039155956357717514, + 1.0 + ], + [ + 0.024942532181739807, + -0.029335811734199524, + 0.015969078987836838, + -0.024705708026885986, + -0.014785587787628174, + 0.04826468974351883, + 1.0 + ], + [ + 0.022878557443618774, + -0.031976357102394104, + 0.014914840459823608, + -0.01742491126060486, + -0.043247684836387634, + 0.04274405539035797, + 1.0 + ], + [ + 0.03431093692779541, + -0.03451663255691528, + 0.010202169418334961, + 0.0011712908744812012, + -0.07983709871768951, + 0.007396668195724487, + 1.0 + ], + [ + 0.0300157368183136, + -0.023408275097608566, + -0.002707555890083313, + -0.01998818665742874, + -0.03517332673072815, + -0.015460148453712463, + 1.0 + ], + [ + 0.020148873329162598, + -0.012439718469977379, + -0.0021572932600975037, + -0.007991723716259003, + -0.010636448860168457, + -0.017316505312919617, + 1.0 + ], + [ + 0.018703430891036987, + -0.01739311031997204, + -0.00024372339248657227, + -0.013380147516727448, + -0.020486682653427124, + -0.02337169647216797, + 1.0 + ], + [ + 0.014803677797317505, + -0.006479237228631973, + -0.00973886251449585, + -0.03509116172790527, + -0.008138567209243774, + 0.007454574108123779, + 1.0 + ], + [ + 0.009634166955947876, + -0.0030650869011878967, + -0.015203069895505905, + -0.03178201988339424, + -0.01260077953338623, + -0.003938466310501099, + 1.0 + ], + [ + 0.010122895240783691, + 0.00043156370520591736, + -0.011393856257200241, + -0.015333153307437897, + -0.042458146810531616, + -0.005332499742507935, + 1.0 + ], + [ + 0.0043967366218566895, + 5.230307579040527e-06, + -0.012067750096321106, + 0.005401816219091415, + -0.03033691644668579, + -0.020671792328357697, + 1.0 + ], + [ + 0.003877699375152588, + 0.001236654818058014, + -0.014578469097614288, + 0.001237994059920311, + -0.009068399667739868, + -0.007229790091514587, + 1.0 + ], + [ + 0.00042870640754699707, + 0.0016031675040721893, + -0.010508996434509754, + 0.00014147348701953888, + 0.007943809032440186, + 0.0025961175560951233, + 0.0 + ], + [ + -0.0008032321929931641, + 3.502704203128815e-05, + -5.6430697441101074e-05, + 0.013141484931111336, + 0.015927821397781372, + -0.008184164762496948, + 0.0 + ], + [ + -0.006865739822387695, + 0.001660175621509552, + 0.0008418755605816841, + 0.06696747243404388, + 0.055479735136032104, + -0.010636091232299805, + 0.0 + ], + [ + -0.01755717396736145, + -0.004527086392045021, + 0.0171261727809906, + 0.11038190126419067, + 0.06204521656036377, + 0.016545452177524567, + 0.0 + ], + [ + -0.021801233291625977, + -0.025432493537664413, + 0.03972400724887848, + 0.006795898079872131, + -0.01570567488670349, + 0.1010371521115303, + 0.0 + ], + [ + -0.03186950087547302, + -0.013798963278532028, + -0.0003737509250640869, + -0.005875647068023682, + 0.013953685760498047, + 0.09127180278301239, + 0.0 + ], + [ + -0.03694415092468262, + -0.013197340071201324, + -0.003234550356864929, + -0.022359579801559448, + 0.007824808359146118, + 0.05175873637199402, + 0.0 + ], + [ + -0.022902756929397583, + -0.006238408386707306, + -0.0018392354249954224, + -0.0182928666472435, + 0.0317152738571167, + 0.02269706130027771, + 0.0 + ], + [ + -0.01228255033493042, + -0.010861717164516449, + -0.004185296595096588, + 0.0026297345757484436, + -0.0013640820980072021, + -0.008378475904464722, + 0.0 + ], + [ + -0.0009812116622924805, + -0.0033555030822753906, + -0.003257662057876587, + -0.006324730813503265, + -0.028455495834350586, + -0.007873326539993286, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.8186774849891663 + ], + [ + 0.6741776466369629 + ], + [ + 0.6731748580932617 + ], + [ + 0.6731748580932617 + ], + [ + 0.6731748580932617 + ], + [ + 0.6731748580932617 + ], + [ + 0.6731748580932617 + ], + [ + 0.6731748580932617 + ], + [ + 0.6731748580932617 + ], + [ + 0.8687413334846497 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.23341350257396698, + 0.12427771836519241, + 0.05105484649538994 + ], + [ + 0.2583560347557068, + 0.09494190663099289, + 0.06702392548322678 + ], + [ + 0.28123459219932556, + 0.06296554952859879, + 0.08193876594305038 + ], + [ + 0.31554552912712097, + 0.028448915109038353, + 0.09214093536138535 + ], + [ + 0.34556126594543457, + 0.005040639080107212, + 0.08943337947130203 + ], + [ + 0.36571013927459717, + -0.007399079855531454, + 0.08727608621120453 + ], + [ + 0.38441357016563416, + -0.02479219064116478, + 0.08703236281871796 + ], + [ + 0.39921724796295166, + -0.03127142786979675, + 0.0772935003042221 + ], + [ + 0.40885141491889954, + -0.03433651477098465, + 0.0620904304087162 + ], + [ + 0.4189743101596832, + -0.03390495106577873, + 0.05069657415151596 + ], + [ + 0.4233710467815399, + -0.03389972075819969, + 0.038628824055194855 + ], + [ + 0.4272487461566925, + -0.03266306594014168, + 0.024050354957580566 + ], + [ + 0.4276774525642395, + -0.03105989843606949, + 0.013541358523070812 + ], + [ + 0.42687422037124634, + -0.0310248713940382, + 0.013484927825629711 + ], + [ + 0.42000848054885864, + -0.02936469577252865, + 0.014326803386211395 + ], + [ + 0.4024513065814972, + -0.03389178216457367, + 0.031452976167201996 + ], + [ + 0.3806500732898712, + -0.05932427570223808, + 0.07117698341608047 + ], + [ + 0.3487805724143982, + -0.07312323898077011, + 0.07080323249101639 + ], + [ + 0.3118364214897156, + -0.08632057905197144, + 0.06756868213415146 + ], + [ + 0.288933664560318, + -0.09255898743867874, + 0.06572944670915604 + ], + [ + 0.2766511142253876, + -0.10342070460319519, + 0.06154415011405945 + ], + [ + 0.2756699025630951, + -0.10677620768547058, + 0.05828648805618286 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9863540636199396, + 0.10412653120966628, + 0.12752774866151517, + 0.08563056985236076, + -0.986040409867119, + 0.14279956448058265, + 0.14061673686724552, + -0.12993065691870612, + -0.9815013793701369 + ], + [ + 0.978906728495044, + 0.15010115063501173, + 0.1386046950329466, + 0.13282435943234894, + -0.9830351377846436, + 0.12648955459686537, + 0.15523951316761075, + -0.10541139624714549, + -0.982236799907594 + ], + [ + 0.9648216363738231, + 0.1933662979968018, + 0.17812547483150684, + 0.17318376890049939, + -0.9772082531799556, + 0.12276567967635603, + 0.1978044291070252, + -0.08759854288737505, + -0.9763195701765135 + ], + [ + 0.9449390375104266, + 0.20769700203878796, + 0.2528876642562242, + 0.1768391974391386, + -0.9743138731958754, + 0.139428744336071, + 0.27535089184157446, + -0.08703121188488523, + -0.9573961847218205 + ], + [ + 0.9374297064348303, + 0.18981530374102112, + 0.2918830175930275, + 0.16047558215701202, + -0.9795206231094044, + 0.12160154783032998, + 0.30898727000456794, + -0.06715280611462074, + -0.9486924515384615 + ], + [ + 0.9367662613940361, + 0.17109638105559674, + 0.3052785611593434, + 0.14371281093343422, + -0.9834645076131336, + 0.11020068166244634, + 0.3190855676577239, + -0.05935984042208062, + -0.9458651118725193 + ], + [ + 0.9331893478393587, + 0.1448808057242696, + 0.32888781250122207, + 0.12091624413539377, + -0.9883620969325261, + 0.09230182691220101, + 0.33843301107212104, + -0.04636720263102486, + -0.9398474235410933 + ], + [ + 0.9295023928179543, + 0.14074418266790054, + 0.3409052313925995, + 0.12749083398902708, + -0.9899563148999224, + 0.06109485934633045, + 0.34608003264343273, + -0.013325525689825767, + -0.9381103567121568 + ], + [ + 0.925600855989507, + 0.12572918889599827, + 0.3570087204131663, + 0.1232436546402993, + -0.9919288158500724, + 0.029803118581383053, + 0.3578743592133901, + 0.01641326737209049, + -0.9336254857659885 + ], + [ + 0.9103424404434205, + 0.11366444634248304, + 0.39794099407471806, + 0.11627499284697107, + -0.9930601361316379, + 0.01765480287768853, + 0.39718606114257693, + 0.030198669902331894, + -0.9172411205185775 + ], + [ + 0.9001520284428793, + 0.09450667166339254, + 0.4251997350672714, + 0.09610920186390871, + -0.9952127685658503, + 0.017736025501172866, + 0.42484037826841803, + 0.0249004878386655, + -0.904925753141187 + ], + [ + 0.8969526535356496, + 0.08762142797400514, + 0.4333571537140622, + 0.0892138447692659, + -0.9958724003755993, + 0.016704851739164216, + 0.4330321318526403, + 0.023677996746734292, + -0.9010674365735448 + ], + [ + 0.9001118312469193, + 0.09045429964168944, + 0.4261651216672347, + 0.09188859566952776, + -0.9956200010924057, + 0.017242372535129516, + 0.4258581656317036, + 0.023639651035698622, + -0.9044810609756906 + ], + [ + 0.9074724915225095, + 0.0880849362247804, + 0.4107733208719932, + 0.08514180758673433, + -0.9960426185046334, + 0.025494601846217456, + 0.4113934245108843, + 0.011838333189685803, + -0.9113809873683439 + ], + [ + 0.9296630884420607, + 0.10206544548678888, + 0.35399037674201345, + 0.07725834225501306, + -0.9935036367539697, + 0.08355640196085334, + 0.3602189480585059, + -0.05033059302471768, + -0.9315090664429433 + ], + [ + 0.9486966308410387, + 0.14707437142071897, + 0.2798996818541635, + 0.09466832477083756, + -0.9767464779108175, + 0.19236482571898605, + 0.30168296424548857, + -0.1559982280669016, + -0.9405593771389671 + ], + [ + 0.9295513499338661, + 0.24909209258187479, + 0.2718224001978321, + 0.1889091240234924, + -0.9549092371893615, + 0.22904517369093164, + 0.31661906243434623, + -0.16155951888890663, + -0.9346929395045097 + ], + [ + 0.9126067642260713, + 0.33152657277885644, + 0.2392467877116116, + 0.2740911078280802, + -0.9303285748840007, + 0.24364483857426464, + 0.3033528613651024, + -0.15677651066345802, + -0.9398926359993438 + ], + [ + 0.8994118407738935, + 0.373057719753936, + 0.22778559745451504, + 0.32172797844129686, + -0.9177779252532828, + 0.23275478041461578, + 0.2958875606776889, + -0.13605740571454877, + -0.9454834391920536 + ], + [ + 0.9001904040743394, + 0.38612307559711473, + 0.20141054317960158, + 0.3452451734725092, + -0.9146287564741457, + 0.2103806265426899, + 0.26544868921585263, + -0.11984660329764285, + -0.9566471580847364 + ], + [ + 0.9027114059921554, + 0.37913569050447377, + 0.2033918525343681, + 0.3375637804701291, + -0.9172213267316055, + 0.21155550549070576, + 0.26676358748221385, + -0.12231584514857183, + -0.9559686304577206 + ], + [ + 0.8978448527551562, + 0.37369334101972074, + 0.23286886279318342, + 0.32770993009462235, + -0.9203576265425015, + 0.2134198701677772, + 0.29407621817897744, + -0.11530449315864412, + -0.9488013763475359 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005457.json b/json/chunk-0005/episode_0005457.json new file mode 100644 index 0000000000000000000000000000000000000000..8a945fa816860d10fbd62ae06f5797e0721c91dc --- /dev/null +++ b/json/chunk-0005/episode_0005457.json @@ -0,0 +1,2422 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 39, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the brown object to the right burner." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005457.mp4", + "start": 0, + "end": 39, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2877941131591797, + 0.14417435228824615, + 0.12736207246780396, + -0.28635087609291077, + -0.21985098719596863, + 1.6417334079742432, + 0.0, + 1.0014774799346924 + ], + [ + 0.2882519066333771, + 0.14311712980270386, + 0.11870349198579788, + -0.2602538466453552, + -0.2036847621202469, + 1.6241861581802368, + 0.0, + 1.0014774799346924 + ], + [ + 0.29405322670936584, + 0.16154852509498596, + 0.12012084573507309, + -0.25561419129371643, + -0.19067446887493134, + 1.5567516088485718, + 0.0, + 1.0014774799346924 + ], + [ + 0.2961866855621338, + 0.17100119590759277, + 0.11482628434896469, + -0.20651838183403015, + -0.17836377024650574, + 1.4925365447998047, + 0.0, + 1.0014774799346924 + ], + [ + 0.3057367205619812, + 0.1827402561903, + 0.11036670207977295, + -0.127999410033226, + -0.17767319083213806, + 1.3591445684432983, + 0.0, + 1.0014774799346924 + ], + [ + 0.3186836540699005, + 0.18957819044589996, + 0.08879827708005905, + -0.06440506130456924, + -0.18983475863933563, + 1.2369980812072754, + 0.0, + 1.0014774799346924 + ], + [ + 0.338400274515152, + 0.18959730863571167, + 0.08138926327228546, + -0.0014900758396834135, + -0.25041064620018005, + 1.0698153972625732, + 0.0, + 1.0014774799346924 + ], + [ + 0.3488844931125641, + 0.1920352578163147, + 0.07119037955999374, + 0.012542512267827988, + -0.27749812602996826, + 0.9926280379295349, + 0.0, + 1.0014774799346924 + ], + [ + 0.3595921993255615, + 0.19146327674388885, + 0.06119872257113457, + 0.03163667768239975, + -0.2890171706676483, + 0.9286686182022095, + 0.0, + 1.0014774799346924 + ], + [ + 0.3672224283218384, + 0.18813462555408478, + 0.05441742390394211, + 0.022171001881361008, + -0.29055333137512207, + 0.9183307886123657, + 0.0, + 1.0014774799346924 + ], + [ + 0.37841588258743286, + 0.1828187257051468, + 0.0451045036315918, + -0.05113411322236061, + -0.2898049056529999, + 0.9121603965759277, + 0.0, + 1.0014774799346924 + ], + [ + 0.3861446678638458, + 0.18491040170192719, + 0.03845827281475067, + -0.06025172024965286, + -0.29279348254203796, + 0.9089593291282654, + 0.0, + 1.0014774799346924 + ], + [ + 0.3915926218032837, + 0.18521256744861603, + 0.027950799092650414, + -0.06596216559410095, + -0.27683383226394653, + 0.9096023440361023, + 0.0, + 1.0014774799346924 + ], + [ + 0.3929157555103302, + 0.1917487233877182, + 0.016030440106987953, + -0.023989932611584663, + -0.26725661754608154, + 0.9001821279525757, + 0.0, + 1.0027955770492554 + ], + [ + 0.39685919880867004, + 0.19579820334911346, + 0.01594645529985428, + -0.014483253471553326, + -0.27351418137550354, + 0.8925884366035461, + 0.0, + 0.9499720335006714 + ], + [ + 0.39919641613960266, + 0.19673076272010803, + 0.015843234956264496, + 0.0026538637466728687, + -0.2806742489337921, + 0.8474836349487305, + 0.0, + 0.6811928749084473 + ], + [ + 0.40008485317230225, + 0.1951662003993988, + 0.016705788671970367, + 0.011592098511755466, + -0.28590357303619385, + 0.8398609757423401, + 0.0, + 0.6059080362319946 + ], + [ + 0.4002857506275177, + 0.19417893886566162, + 0.0147874616086483, + 0.0031714122742414474, + -0.28847238421440125, + 0.8413851857185364, + 0.0, + 0.6059080362319946 + ], + [ + 0.39896342158317566, + 0.1929170936346054, + 0.015160785987973213, + 7.320591976167634e-05, + -0.2878871560096741, + 0.8377077579498291, + 0.0, + 0.6059080362319946 + ], + [ + 0.3964574635028839, + 0.18866853415966034, + 0.015151609666645527, + 0.011242279782891273, + -0.2668064534664154, + 0.8351374268531799, + 0.0, + 0.6049063205718994 + ], + [ + 0.39425188302993774, + 0.1846359372138977, + 0.028096582740545273, + 0.01895679347217083, + -0.25914886593818665, + 0.8410525321960449, + 0.0, + 0.6049063205718994 + ], + [ + 0.403685063123703, + 0.17947521805763245, + 0.04533083736896515, + -0.0018101001624017954, + -0.28344079852104187, + 0.8349550366401672, + 0.0, + 0.6049063205718994 + ], + [ + 0.40406888723373413, + 0.1579379290342331, + 0.06030605733394623, + -0.015905022621154785, + -0.3012879490852356, + 0.7883268594741821, + 0.0, + 0.6049063205718994 + ], + [ + 0.401915580034256, + 0.12443232536315918, + 0.06975021213293076, + -0.05191851779818535, + -0.3016970455646515, + 0.725339412689209, + 0.0, + 0.603904664516449 + ], + [ + 0.403407484292984, + 0.09318899363279343, + 0.06684698164463043, + -0.046008914709091187, + -0.28493842482566833, + 0.6308627724647522, + 0.0, + 0.603904664516449 + ], + [ + 0.4092513918876648, + 0.06281676143407822, + 0.06686396896839142, + -0.041084010154008865, + -0.28605028986930847, + 0.5419144034385681, + 0.0, + 0.603904664516449 + ], + [ + 0.4136388301849365, + 0.04009244218468666, + 0.062367454171180725, + -0.034549564123153687, + -0.28815144300460815, + 0.4585806429386139, + 0.0, + 0.603904664516449 + ], + [ + 0.4129466712474823, + 0.02067553997039795, + 0.04882064461708069, + -0.011559470556676388, + -0.2730599343776703, + 0.3856571912765503, + 0.0, + 0.6049063205718994 + ], + [ + 0.40666425228118896, + 0.012004288844764233, + 0.0411667674779892, + 0.010149101726710796, + -0.25712892413139343, + 0.3517431616783142, + 0.0, + 0.603904664516449 + ], + [ + 0.39758315682411194, + 0.0014385541435331106, + 0.020424798130989075, + 0.04873698577284813, + -0.2098698616027832, + 0.30483055114746094, + 0.0, + 0.603904664516449 + ], + [ + 0.3955594301223755, + -5.758669431088492e-06, + 0.01736569032073021, + 0.05956238880753517, + -0.20707641541957855, + 0.29874104261398315, + 0.0, + 0.603904664516449 + ], + [ + 0.3925723433494568, + -0.0032486184500157833, + 0.012013030238449574, + 0.04174703359603882, + -0.19849839806556702, + 0.3086315989494324, + 0.0, + 0.6811928749084473 + ], + [ + 0.387684166431427, + -0.0016891347477212548, + 0.010847410187125206, + 0.04687311127781868, + -0.16512244939804077, + 0.31496337056159973, + 0.0, + 0.9522681832313538 + ], + [ + 0.38812315464019775, + 0.0004938520141877234, + 0.01117637101560831, + 0.04409675672650337, + -0.16638416051864624, + 0.32847365736961365, + 0.0, + 1.0027955770492554 + ], + [ + 0.3841764032840729, + 0.006935202982276678, + 0.01103956252336502, + 0.03376876935362816, + -0.1555020809173584, + 0.35818853974342346, + 0.0, + 1.0001531839370728 + ], + [ + 0.37776657938957214, + 0.012228284031152725, + 0.014356291852891445, + 0.011017031967639923, + -0.1296948343515396, + 0.3633783459663391, + 0.0, + 1.0001531839370728 + ], + [ + 0.37544095516204834, + 0.017417041584849358, + 0.04499689117074013, + -0.06716418266296387, + -0.20257946848869324, + 0.3880952298641205, + 0.0, + 1.0001531839370728 + ], + [ + 0.37271395325660706, + 0.016411414369940758, + 0.07217022776603699, + -0.12443401664495468, + -0.2686325013637543, + 0.382979154586792, + 0.0, + 1.0001531839370728 + ], + [ + 0.36937689781188965, + 0.01651664450764656, + 0.09360035508871078, + -0.15204738080501556, + -0.3153001368045807, + 0.37025585770606995, + 0.0, + 1.0001531839370728 + ] + ], + "left_gripper_pos": [ + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0027955770492554 + ], + [ + 0.9499720335006714 + ], + [ + 0.6811928749084473 + ], + [ + 0.6059080362319946 + ], + [ + 0.6059080362319946 + ], + [ + 0.6059080362319946 + ], + [ + 0.6049063205718994 + ], + [ + 0.6049063205718994 + ], + [ + 0.6049063205718994 + ], + [ + 0.6049063205718994 + ], + [ + 0.603904664516449 + ], + [ + 0.603904664516449 + ], + [ + 0.603904664516449 + ], + [ + 0.603904664516449 + ], + [ + 0.6049063205718994 + ], + [ + 0.603904664516449 + ], + [ + 0.603904664516449 + ], + [ + 0.603904664516449 + ], + [ + 0.6811928749084473 + ], + [ + 0.9522681832313538 + ], + [ + 1.0027955770492554 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2877941131591797, + 0.14417435228824615, + 0.12736207246780396 + ], + [ + 0.2882519066333771, + 0.14311712980270386, + 0.11870349198579788 + ], + [ + 0.29405322670936584, + 0.16154852509498596, + 0.12012084573507309 + ], + [ + 0.2961866855621338, + 0.17100119590759277, + 0.11482628434896469 + ], + [ + 0.3057367205619812, + 0.1827402561903, + 0.11036670207977295 + ], + [ + 0.3186836540699005, + 0.18957819044589996, + 0.08879827708005905 + ], + [ + 0.338400274515152, + 0.18959730863571167, + 0.08138926327228546 + ], + [ + 0.3488844931125641, + 0.1920352578163147, + 0.07119037955999374 + ], + [ + 0.3595921993255615, + 0.19146327674388885, + 0.06119872257113457 + ], + [ + 0.3672224283218384, + 0.18813462555408478, + 0.05441742390394211 + ], + [ + 0.37841588258743286, + 0.1828187257051468, + 0.0451045036315918 + ], + [ + 0.3861446678638458, + 0.18491040170192719, + 0.03845827281475067 + ], + [ + 0.3915926218032837, + 0.18521256744861603, + 0.027950799092650414 + ], + [ + 0.3929157555103302, + 0.1917487233877182, + 0.016030440106987953 + ], + [ + 0.39685919880867004, + 0.19579820334911346, + 0.01594645529985428 + ], + [ + 0.39919641613960266, + 0.19673076272010803, + 0.015843234956264496 + ], + [ + 0.40008485317230225, + 0.1951662003993988, + 0.016705788671970367 + ], + [ + 0.4002857506275177, + 0.19417893886566162, + 0.0147874616086483 + ], + [ + 0.39896342158317566, + 0.1929170936346054, + 0.015160785987973213 + ], + [ + 0.3964574635028839, + 0.18866853415966034, + 0.015151609666645527 + ], + [ + 0.39425188302993774, + 0.1846359372138977, + 0.028096582740545273 + ], + [ + 0.403685063123703, + 0.17947521805763245, + 0.04533083736896515 + ], + [ + 0.40406888723373413, + 0.1579379290342331, + 0.06030605733394623 + ], + [ + 0.401915580034256, + 0.12443232536315918, + 0.06975021213293076 + ], + [ + 0.403407484292984, + 0.09318899363279343, + 0.06684698164463043 + ], + [ + 0.4092513918876648, + 0.06281676143407822, + 0.06686396896839142 + ], + [ + 0.4136388301849365, + 0.04009244218468666, + 0.062367454171180725 + ], + [ + 0.4129466712474823, + 0.02067553997039795, + 0.04882064461708069 + ], + [ + 0.40666425228118896, + 0.012004288844764233, + 0.0411667674779892 + ], + [ + 0.39758315682411194, + 0.0014385541435331106, + 0.020424798130989075 + ], + [ + 0.3955594301223755, + -5.758669431088492e-06, + 0.01736569032073021 + ], + [ + 0.3925723433494568, + -0.0032486184500157833, + 0.012013030238449574 + ], + [ + 0.387684166431427, + -0.0016891347477212548, + 0.010847410187125206 + ], + [ + 0.38812315464019775, + 0.0004938520141877234, + 0.01117637101560831 + ], + [ + 0.3841764032840729, + 0.006935202982276678, + 0.01103956252336502 + ], + [ + 0.37776657938957214, + 0.012228284031152725, + 0.014356291852891445 + ], + [ + 0.37544095516204834, + 0.017417041584849358, + 0.04499689117074013 + ], + [ + 0.37271395325660706, + 0.016411414369940758, + 0.07217022776603699 + ], + [ + 0.36937689781188965, + 0.01651664450764656, + 0.09360035508871078 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + -0.06917157584890371, + 0.9612343614948216, + 0.26691533372255327, + 0.9734755133272817, + 0.006547792284539944, + 0.22869751063005425, + 0.2180841994431614, + 0.2756549087134875, + -0.9361910345946463 + ], + [ + -0.05226131370418863, + 0.9677254842680848, + 0.24652817726988716, + 0.9779324340156824, + -0.0004101171576894602, + 0.2089210049374635, + 0.20227928611223409, + 0.25200638662942154, + -0.9463487050278598 + ], + [ + 0.013789727001879859, + 0.9667397859618296, + 0.2553899560822419, + 0.9817797943146382, + -0.061501684371143006, + 0.17979426657994152, + 0.18952118326118692, + 0.24825738469980735, + -0.9499736796550162 + ], + [ + 0.07693962127866283, + 0.9729108428689656, + 0.21800180390422258, + 0.9811231326617859, + -0.1127878068730448, + 0.1570869478241036, + 0.17741954016798667, + 0.2018004024990236, + -0.9632231851018809 + ], + [ + 0.2067679987702148, + 0.964947582630294, + 0.16162659886452005, + 0.9622941398065741, + -0.23041395039102952, + 0.1445662476483571, + 0.17673987433085495, + 0.12564065520822545, + -0.9762056353967444 + ], + [ + 0.32174817952932705, + 0.9388668845430457, + 0.12250339618965247, + 0.9278317157776248, + -0.3384289956356526, + 0.15682513226581957, + 0.18869662468288165, + 0.06320433546425808, + -0.9799993856180773 + ], + [ + 0.465306386887894, + 0.8769335408681087, + 0.12032261309435878, + 0.8497553912897238, + -0.4806094889999781, + 0.2166340094658002, + 0.24780181858772138, + 0.0014436009494295937, + -0.9688096689860795 + ], + [ + 0.5255842167989392, + 0.8392769031267521, + 0.13919594437272315, + 0.8054268673565154, + -0.5435703994569807, + 0.23625998851783725, + 0.27395034658148526, + -0.012062367601219662, + -0.9616681896037413 + ], + [ + 0.5740609807250099, + 0.8058218095932501, + 0.14527629398115785, + 0.7676087030746404, + -0.5913813835970267, + 0.24707273847783146, + 0.2850102969597915, + -0.030319470950631047, + -0.9580448112213569 + ], + [ + 0.5816990636790477, + 0.7982500290519652, + 0.15627888671684503, + 0.76128446023246, + -0.6019516214519018, + 0.24103986400593314, + 0.28648240770332073, + -0.021239975281613144, + -0.9578500370760265 + ], + [ + 0.5865164472108911, + 0.780854739082204, + 0.21509145404682503, + 0.7578500291223895, + -0.622789524521949, + 0.19441332645916667, + 0.2857652717009327, + 0.048980451188081864, + -0.9570470860365776 + ], + [ + 0.5884118782663679, + 0.7767520841478148, + 0.22456104133858804, + 0.7552915806363407, + -0.6271621629248798, + 0.19026888767017178, + 0.2886279434408646, + 0.05765259029230649, + -0.9557039756628013 + ], + [ + 0.59067970398196, + 0.7764808313625748, + 0.21948805395799675, + 0.759209037612089, + -0.6269428708615032, + 0.17476920176067046, + 0.27331140574793, + 0.06340469385164474, + -0.9598336940770883 + ], + [ + 0.5994045912487583, + 0.7792778023225487, + 0.18286673507570322, + 0.7556272136626919, + -0.6262514112840256, + 0.1919288509764034, + 0.2640864441092448, + 0.023136047028492368, + -0.964221485637833 + ], + [ + 0.6040766135154632, + 0.7761622628589843, + 0.1807307021989083, + 0.7497522532341191, + -0.6303790095939148, + 0.20123086998210787, + 0.2701166484577555, + 0.013944388728653875, + -0.96272662280054 + ], + [ + 0.635971779934911, + 0.7501011909050682, + 0.18135076103843467, + 0.720283911969522, + -0.661318154023482, + 0.2094024482112274, + 0.27700357630236977, + -0.00255001211220858, + -0.9608655036756834 + ], + [ + 0.6404679655822174, + 0.7466826906340701, + 0.1796266811207093, + 0.7143269479557642, + -0.6650874200661018, + 0.2177056156694619, + 0.2820244607958295, + -0.011121293867264806, + -0.9593427543560953 + ], + [ + 0.6388935212871331, + 0.7461644879309146, + 0.18722613441537472, + 0.7147598269021251, + -0.6657546944205713, + 0.21421735854924567, + 0.2844880635530636, + -0.003040363098068599, + -0.9586747612658113 + ], + [ + 0.6416289731784652, + 0.7431250853940251, + 0.18994043338918512, + 0.7125291133108121, + -0.6691525256105951, + 0.21103829072817493, + 0.28392696853672833, + -7.019319658985168e-05, + -0.9588459060821289 + ], + [ + 0.6473316637241047, + 0.7433309532194162, + 0.1685847298129236, + 0.7151567774654429, + -0.6688359258376124, + 0.20300070924552535, + 0.26365223455420445, + -0.010844274750186345, + -0.9645568417256273 + ], + [ + 0.6444172524747186, + 0.7484497307807964, + 0.15668249808797377, + 0.7204569919738969, + -0.6629383675672563, + 0.20360364319723057, + 0.2562579314457577, + -0.018322699075584856, + -0.966434763069772 + ], + [ + 0.6444289333046986, + 0.7409253419377417, + 0.18905286983859526, + 0.7116889661039498, + -0.6715851528047825, + 0.20608784063614244, + 0.2796608042712803, + 0.0017378741661964597, + -0.9600972942091459 + ], + [ + 0.6732747037449124, + 0.7057574596083632, + 0.22047127138098888, + 0.677229932683581, + -0.7082907133590354, + 0.19920814151720964, + 0.29675038597210335, + 0.01518794181243674, + -0.9548342970635844 + ], + [ + 0.7144774476548916, + 0.6509570281107107, + 0.25647012369050554, + 0.6334265428191188, + -0.7574956227471354, + 0.15802277168544035, + 0.29714102989114594, + 0.0495512772005036, + -0.9535469989901013 + ], + [ + 0.7749589100502692, + 0.5787775157100014, + 0.2538804345400758, + 0.5660586542578033, + -0.8142901237179829, + 0.12848810978139796, + 0.28109835942876504, + 0.04413821160753019, + -0.958663408398665 + ], + [ + 0.821910621813665, + 0.5054130735010773, + 0.26271763337101894, + 0.4948188749086219, + -0.8619773713181937, + 0.11022382850156473, + 0.2821652189481194, + 0.03940350834089961, + -0.9585562856433568 + ], + [ + 0.8597122789647964, + 0.43360951731780056, + 0.26995848549097473, + 0.42442468731563127, + -0.9004920598236764, + 0.09475091024123022, + 0.28418036912176986, + 0.033118524815231414, + -0.9581986647454056 + ], + [ + 0.8922228782171058, + 0.3732546874430843, + 0.2542032137636123, + 0.3622311869800805, + -0.9276621369488232, + 0.09072776229216993, + 0.26967925905598544, + 0.011130946649227175, + -0.9628858703198975 + ], + [ + 0.907910526344666, + 0.3469399215401849, + 0.23522577876211287, + 0.3332078709226109, + -0.9378359938025604, + 0.09713991704538827, + 0.25430491719149434, + -0.009815272286318913, + -0.9670742833527181 + ], + [ + 0.9329674306328846, + 0.30945673430243986, + 0.18387034283196016, + 0.29354606684737156, + -0.9497189731344284, + 0.10892464692127792, + 0.2083326187055495, + -0.047648732022539095, + -0.9768966774024427 + ], + [ + 0.935290214349521, + 0.3054920127469869, + 0.17862487253969456, + 0.2880295054550501, + -0.9504109283701391, + 0.11729480475251214, + 0.20559965692905863, + -0.05825544937948269, + -0.976900754267417 + ], + [ + 0.9340417240454453, + 0.3113316705940224, + 0.17503899173426357, + 0.29779057806836523, + -0.9494200974718234, + 0.09961049206937196, + 0.19719743749836438, + -0.040915393212441184, + -0.9795096228431603 + ], + [ + 0.9378750637559776, + 0.316764383771684, + 0.14160045889214667, + 0.30556806687008925, + -0.9473775191706059, + 0.09541484517319788, + 0.1643731160926199, + -0.04621862550848889, + -0.9853148315955204 + ], + [ + 0.9334642377782927, + 0.3291955639222258, + 0.1423895975235535, + 0.31814359814105386, + -0.9432604724654469, + 0.09510169318222629, + 0.16561753455131334, + -0.04347369064377209, + -0.9852313791546404 + ], + [ + 0.925233107964922, + 0.3552755649889374, + 0.13312764118455062, + 0.3463482015326641, + -0.9341663228696363, + 0.08588483283625581, + 0.15487614154756124, + -0.033354971713581816, + -0.9873706632472559 + ], + [ + 0.9268512048411953, + 0.35674421216061997, + 0.11696328985764194, + 0.3524488548768942, + -0.9341382269888221, + 0.05626346571395416, + 0.12933154595994797, + -0.010924283412559535, + -0.9915412302327783 + ], + [ + 0.9067031807576832, + 0.3650739087727613, + 0.21121170217882707, + 0.3706875000686736, + -0.9286544703262898, + 0.013843844691242425, + 0.20119671790746763, + 0.06574127985045375, + -0.9773422966529625 + ], + [ + 0.8942884772391353, + 0.34024128891289696, + 0.29066128878163244, + 0.3602831325372299, + -0.9326933684988586, + -0.016707626025666174, + 0.26541323231231295, + 0.11966179706632887, + -0.9566801296339269 + ], + [ + 0.886278739536064, + 0.3138934084706933, + 0.34055972158347875, + 0.3440157746370986, + -0.938475458879562, + -0.03028134543960994, + 0.3101018262558333, + 0.14399562909840866, + -0.9397351308498321 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + 0.0004577934741973877, + -0.0010572224855422974, + -0.008658580482006073, + 0.026097029447555542, + 0.01616622507572174, + -0.017547249794006348, + 1.0 + ], + [ + 0.0058013200759887695, + 0.018431395292282104, + 0.0014173537492752075, + 0.004639655351638794, + 0.013010293245315552, + -0.06743454933166504, + 1.0 + ], + [ + 0.0021334588527679443, + 0.009452670812606812, + -0.0052945613861083984, + 0.04909580945968628, + 0.012310698628425598, + -0.06421506404876709, + 1.0 + ], + [ + 0.009550034999847412, + 0.011739060282707214, + -0.004459582269191742, + 0.07851897180080414, + 0.0006905794143676758, + -0.13339197635650635, + 1.0 + ], + [ + 0.012946933507919312, + 0.006837934255599976, + -0.021568424999713898, + 0.06359434872865677, + -0.01216156780719757, + -0.12214648723602295, + 1.0 + ], + [ + 0.019716620445251465, + 1.9118189811706543e-05, + -0.00740901380777359, + 0.06291498243808746, + -0.06057588756084442, + -0.16718268394470215, + 1.0 + ], + [ + 0.01048421859741211, + 0.0024379491806030273, + -0.010198883712291718, + 0.014032588340342045, + -0.027087479829788208, + -0.07718735933303833, + 1.0 + ], + [ + 0.010707706212997437, + -0.0005719810724258423, + -0.009991656988859177, + 0.019094165414571762, + -0.011519044637680054, + -0.06395941972732544, + 1.0 + ], + [ + 0.0076302289962768555, + -0.003328651189804077, + -0.006781298667192459, + -0.009465675801038742, + -0.0015361607074737549, + -0.01033782958984375, + 1.0 + ], + [ + 0.011193454265594482, + -0.005315899848937988, + -0.009312920272350311, + -0.07330511510372162, + 0.0007484257221221924, + -0.006170392036437988, + 1.0 + ], + [ + 0.007728785276412964, + 0.0020916759967803955, + -0.0066462308168411255, + -0.009117607027292252, + -0.002988576889038086, + -0.0032010674476623535, + 1.0 + ], + [ + 0.005447953939437866, + 0.0003021657466888428, + -0.010507473722100258, + -0.00571044534444809, + 0.01595965027809143, + 0.0006430149078369141, + 1.0 + ], + [ + 0.0013231337070465088, + 0.006536155939102173, + -0.01192035898566246, + 0.04197223484516144, + 0.00957721471786499, + -0.009420216083526611, + 1.0 + ], + [ + 0.003943443298339844, + 0.004049479961395264, + -8.398480713367462e-05, + 0.009506679140031338, + -0.006257563829421997, + -0.007593691349029541, + 0.0 + ], + [ + 0.002337217330932617, + 0.0009325593709945679, + -0.00010322034358978271, + 0.01713711768388748, + -0.007160067558288574, + -0.045104801654815674, + 0.0 + ], + [ + 0.000888437032699585, + -0.0015645623207092285, + 0.0008625537157058716, + 0.00893823429942131, + -0.005229324102401733, + -0.007622659206390381, + 0.0 + ], + [ + 0.0002008974552154541, + -0.0009872615337371826, + -0.0019183270633220673, + -0.008420686237514019, + -0.0025688111782073975, + 0.001524209976196289, + 0.0 + ], + [ + -0.001322329044342041, + -0.0012618452310562134, + 0.000373324379324913, + -0.0030982063617557287, + 0.0005852282047271729, + -0.0036774277687072754, + 0.0 + ], + [ + -0.002505958080291748, + -0.004248559474945068, + -9.17632132768631e-06, + 0.011169074103236198, + 0.021080702543258667, + -0.00257033109664917, + 0.0 + ], + [ + -0.002205580472946167, + -0.004032596945762634, + 0.012944973073899746, + 0.007714513689279556, + 0.00765758752822876, + 0.00591510534286499, + 0.0 + ], + [ + 0.009433180093765259, + -0.005160719156265259, + 0.017234254628419876, + -0.02076689340174198, + -0.024291932582855225, + -0.0060974955558776855, + 0.0 + ], + [ + 0.00038382411003112793, + -0.021537289023399353, + 0.014975219964981079, + -0.014094922691583633, + -0.017847150564193726, + -0.04662817716598511, + 0.0 + ], + [ + -0.0021533071994781494, + -0.033505603671073914, + 0.009444154798984528, + -0.03601349517703056, + -0.00040909647941589355, + -0.06298744678497314, + 0.0 + ], + [ + 0.0014919042587280273, + -0.031243331730365753, + -0.0029032304883003235, + 0.005909603089094162, + 0.016758620738983154, + -0.09447664022445679, + 0.0 + ], + [ + 0.005843907594680786, + -0.03037223219871521, + 1.6987323760986328e-05, + 0.004924904555082321, + -0.0011118650436401367, + -0.08894836902618408, + 0.0 + ], + [ + 0.0043874382972717285, + -0.022724319249391556, + -0.004496514797210693, + 0.006534446030855179, + -0.0021011531352996826, + -0.08333376049995422, + 0.0 + ], + [ + -0.0006921589374542236, + -0.01941690221428871, + -0.013546809554100037, + 0.022990092635154724, + 0.015091508626937866, + -0.0729234516620636, + 0.0 + ], + [ + -0.006282418966293335, + -0.008671251125633717, + -0.007653877139091492, + 0.021708572283387184, + 0.015931010246276855, + -0.033914029598236084, + 0.0 + ], + [ + -0.009081095457077026, + -0.010565734468400478, + -0.020741969347000122, + 0.03858788311481476, + 0.04725906252861023, + -0.04691261053085327, + 0.0 + ], + [ + -0.00202372670173645, + -0.0014443128602579236, + -0.0030591078102588654, + 0.010825403034687042, + 0.002793446183204651, + -0.006089508533477783, + 0.0 + ], + [ + -0.002987086772918701, + -0.003242859849706292, + -0.005352660082280636, + -0.017815355211496353, + 0.008578017354011536, + 0.009890556335449219, + 1.0 + ], + [ + -0.004888176918029785, + 0.0015594837022945285, + -0.0011656200513243675, + 0.0051260776817798615, + 0.033375948667526245, + 0.006331771612167358, + 1.0 + ], + [ + 0.00043898820877075195, + 0.002182986820116639, + 0.0003289608284831047, + -0.0027763545513153076, + -0.0012617111206054688, + 0.013510286808013916, + 1.0 + ], + [ + -0.003946751356124878, + 0.006441351026296616, + -0.00013680849224328995, + -0.010327987372875214, + 0.010882079601287842, + 0.029714882373809814, + 1.0 + ], + [ + -0.006409823894500732, + 0.005293081048876047, + 0.0033167293295264244, + -0.022751737385988235, + 0.025807246565818787, + 0.005189806222915649, + 1.0 + ], + [ + -0.0023256242275238037, + 0.005188757553696632, + 0.030640598386526108, + -0.07818121463060379, + -0.07288463413715363, + 0.024716883897781372, + 1.0 + ], + [ + -0.002727001905441284, + -0.0010056272149085999, + 0.02717333659529686, + -0.057269833981990814, + -0.06605303287506104, + -0.005116075277328491, + 1.0 + ], + [ + -0.0033370554447174072, + 0.00010523013770580292, + 0.021430127322673798, + -0.027613364160060883, + -0.046667635440826416, + -0.012723296880722046, + 1.0 + ], + [ + -0.00020250678062438965, + 0.0011605098843574524, + 0.0010884031653404236, + -0.0037264972925186157, + -0.000681459903717041, + 0.00472414493560791, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0027955770492554 + ], + [ + 0.9499720335006714 + ], + [ + 0.6811928749084473 + ], + [ + 0.6059080362319946 + ], + [ + 0.6059080362319946 + ], + [ + 0.6059080362319946 + ], + [ + 0.6049063205718994 + ], + [ + 0.6049063205718994 + ], + [ + 0.6049063205718994 + ], + [ + 0.6049063205718994 + ], + [ + 0.603904664516449 + ], + [ + 0.603904664516449 + ], + [ + 0.603904664516449 + ], + [ + 0.603904664516449 + ], + [ + 0.6049063205718994 + ], + [ + 0.603904664516449 + ], + [ + 0.603904664516449 + ], + [ + 0.603904664516449 + ], + [ + 0.6811928749084473 + ], + [ + 0.9522681832313538 + ], + [ + 1.0027955770492554 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2882519066333771, + 0.14311712980270386, + 0.11870349198579788 + ], + [ + 0.29405322670936584, + 0.16154852509498596, + 0.12012084573507309 + ], + [ + 0.2961866855621338, + 0.17100119590759277, + 0.11482628434896469 + ], + [ + 0.3057367205619812, + 0.1827402561903, + 0.11036670207977295 + ], + [ + 0.3186836540699005, + 0.18957819044589996, + 0.08879827708005905 + ], + [ + 0.338400274515152, + 0.18959730863571167, + 0.08138926327228546 + ], + [ + 0.3488844931125641, + 0.1920352578163147, + 0.07119037955999374 + ], + [ + 0.3595921993255615, + 0.19146327674388885, + 0.06119872257113457 + ], + [ + 0.3672224283218384, + 0.18813462555408478, + 0.05441742390394211 + ], + [ + 0.37841588258743286, + 0.1828187257051468, + 0.0451045036315918 + ], + [ + 0.3861446678638458, + 0.18491040170192719, + 0.03845827281475067 + ], + [ + 0.3915926218032837, + 0.18521256744861603, + 0.027950799092650414 + ], + [ + 0.3929157555103302, + 0.1917487233877182, + 0.016030440106987953 + ], + [ + 0.39685919880867004, + 0.19579820334911346, + 0.01594645529985428 + ], + [ + 0.39919641613960266, + 0.19673076272010803, + 0.015843234956264496 + ], + [ + 0.40008485317230225, + 0.1951662003993988, + 0.016705788671970367 + ], + [ + 0.4002857506275177, + 0.19417893886566162, + 0.0147874616086483 + ], + [ + 0.39896342158317566, + 0.1929170936346054, + 0.015160785987973213 + ], + [ + 0.3964574635028839, + 0.18866853415966034, + 0.015151609666645527 + ], + [ + 0.39425188302993774, + 0.1846359372138977, + 0.028096582740545273 + ], + [ + 0.403685063123703, + 0.17947521805763245, + 0.04533083736896515 + ], + [ + 0.40406888723373413, + 0.1579379290342331, + 0.06030605733394623 + ], + [ + 0.401915580034256, + 0.12443232536315918, + 0.06975021213293076 + ], + [ + 0.403407484292984, + 0.09318899363279343, + 0.06684698164463043 + ], + [ + 0.4092513918876648, + 0.06281676143407822, + 0.06686396896839142 + ], + [ + 0.4136388301849365, + 0.04009244218468666, + 0.062367454171180725 + ], + [ + 0.4129466712474823, + 0.02067553997039795, + 0.04882064461708069 + ], + [ + 0.40666425228118896, + 0.012004288844764233, + 0.0411667674779892 + ], + [ + 0.39758315682411194, + 0.0014385541435331106, + 0.020424798130989075 + ], + [ + 0.3955594301223755, + -5.758669431088492e-06, + 0.01736569032073021 + ], + [ + 0.3925723433494568, + -0.0032486184500157833, + 0.012013030238449574 + ], + [ + 0.387684166431427, + -0.0016891347477212548, + 0.010847410187125206 + ], + [ + 0.38812315464019775, + 0.0004938520141877234, + 0.01117637101560831 + ], + [ + 0.3841764032840729, + 0.006935202982276678, + 0.01103956252336502 + ], + [ + 0.37776657938957214, + 0.012228284031152725, + 0.014356291852891445 + ], + [ + 0.37544095516204834, + 0.017417041584849358, + 0.04499689117074013 + ], + [ + 0.37271395325660706, + 0.016411414369940758, + 0.07217022776603699 + ], + [ + 0.36937689781188965, + 0.01651664450764656, + 0.09360035508871078 + ], + [ + 0.36917439103126526, + 0.017677154392004013, + 0.09468875825405121 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + -0.05226131370418863, + 0.9677254842680848, + 0.24652817726988716, + 0.9779324340156824, + -0.0004101171576894602, + 0.2089210049374635, + 0.20227928611223409, + 0.25200638662942154, + -0.9463487050278598 + ], + [ + 0.013789727001879859, + 0.9667397859618296, + 0.2553899560822419, + 0.9817797943146382, + -0.061501684371143006, + 0.17979426657994152, + 0.18952118326118692, + 0.24825738469980735, + -0.9499736796550162 + ], + [ + 0.07693962127866283, + 0.9729108428689656, + 0.21800180390422258, + 0.9811231326617859, + -0.1127878068730448, + 0.1570869478241036, + 0.17741954016798667, + 0.2018004024990236, + -0.9632231851018809 + ], + [ + 0.2067679987702148, + 0.964947582630294, + 0.16162659886452005, + 0.9622941398065741, + -0.23041395039102952, + 0.1445662476483571, + 0.17673987433085495, + 0.12564065520822545, + -0.9762056353967444 + ], + [ + 0.32174817952932705, + 0.9388668845430457, + 0.12250339618965247, + 0.9278317157776248, + -0.3384289956356526, + 0.15682513226581957, + 0.18869662468288165, + 0.06320433546425808, + -0.9799993856180773 + ], + [ + 0.465306386887894, + 0.8769335408681087, + 0.12032261309435878, + 0.8497553912897238, + -0.4806094889999781, + 0.2166340094658002, + 0.24780181858772138, + 0.0014436009494295937, + -0.9688096689860795 + ], + [ + 0.5255842167989392, + 0.8392769031267521, + 0.13919594437272315, + 0.8054268673565154, + -0.5435703994569807, + 0.23625998851783725, + 0.27395034658148526, + -0.012062367601219662, + -0.9616681896037413 + ], + [ + 0.5740609807250099, + 0.8058218095932501, + 0.14527629398115785, + 0.7676087030746404, + -0.5913813835970267, + 0.24707273847783146, + 0.2850102969597915, + -0.030319470950631047, + -0.9580448112213569 + ], + [ + 0.5816990636790477, + 0.7982500290519652, + 0.15627888671684503, + 0.76128446023246, + -0.6019516214519018, + 0.24103986400593314, + 0.28648240770332073, + -0.021239975281613144, + -0.9578500370760265 + ], + [ + 0.5865164472108911, + 0.780854739082204, + 0.21509145404682503, + 0.7578500291223895, + -0.622789524521949, + 0.19441332645916667, + 0.2857652717009327, + 0.048980451188081864, + -0.9570470860365776 + ], + [ + 0.5884118782663679, + 0.7767520841478148, + 0.22456104133858804, + 0.7552915806363407, + -0.6271621629248798, + 0.19026888767017178, + 0.2886279434408646, + 0.05765259029230649, + -0.9557039756628013 + ], + [ + 0.59067970398196, + 0.7764808313625748, + 0.21948805395799675, + 0.759209037612089, + -0.6269428708615032, + 0.17476920176067046, + 0.27331140574793, + 0.06340469385164474, + -0.9598336940770883 + ], + [ + 0.5994045912487583, + 0.7792778023225487, + 0.18286673507570322, + 0.7556272136626919, + -0.6262514112840256, + 0.1919288509764034, + 0.2640864441092448, + 0.023136047028492368, + -0.964221485637833 + ], + [ + 0.6040766135154632, + 0.7761622628589843, + 0.1807307021989083, + 0.7497522532341191, + -0.6303790095939148, + 0.20123086998210787, + 0.2701166484577555, + 0.013944388728653875, + -0.96272662280054 + ], + [ + 0.635971779934911, + 0.7501011909050682, + 0.18135076103843467, + 0.720283911969522, + -0.661318154023482, + 0.2094024482112274, + 0.27700357630236977, + -0.00255001211220858, + -0.9608655036756834 + ], + [ + 0.6404679655822174, + 0.7466826906340701, + 0.1796266811207093, + 0.7143269479557642, + -0.6650874200661018, + 0.2177056156694619, + 0.2820244607958295, + -0.011121293867264806, + -0.9593427543560953 + ], + [ + 0.6388935212871331, + 0.7461644879309146, + 0.18722613441537472, + 0.7147598269021251, + -0.6657546944205713, + 0.21421735854924567, + 0.2844880635530636, + -0.003040363098068599, + -0.9586747612658113 + ], + [ + 0.6416289731784652, + 0.7431250853940251, + 0.18994043338918512, + 0.7125291133108121, + -0.6691525256105951, + 0.21103829072817493, + 0.28392696853672833, + -7.019319658985168e-05, + -0.9588459060821289 + ], + [ + 0.6473316637241047, + 0.7433309532194162, + 0.1685847298129236, + 0.7151567774654429, + -0.6688359258376124, + 0.20300070924552535, + 0.26365223455420445, + -0.010844274750186345, + -0.9645568417256273 + ], + [ + 0.6444172524747186, + 0.7484497307807964, + 0.15668249808797377, + 0.7204569919738969, + -0.6629383675672563, + 0.20360364319723057, + 0.2562579314457577, + -0.018322699075584856, + -0.966434763069772 + ], + [ + 0.6444289333046986, + 0.7409253419377417, + 0.18905286983859526, + 0.7116889661039498, + -0.6715851528047825, + 0.20608784063614244, + 0.2796608042712803, + 0.0017378741661964597, + -0.9600972942091459 + ], + [ + 0.6732747037449124, + 0.7057574596083632, + 0.22047127138098888, + 0.677229932683581, + -0.7082907133590354, + 0.19920814151720964, + 0.29675038597210335, + 0.01518794181243674, + -0.9548342970635844 + ], + [ + 0.7144774476548916, + 0.6509570281107107, + 0.25647012369050554, + 0.6334265428191188, + -0.7574956227471354, + 0.15802277168544035, + 0.29714102989114594, + 0.0495512772005036, + -0.9535469989901013 + ], + [ + 0.7749589100502692, + 0.5787775157100014, + 0.2538804345400758, + 0.5660586542578033, + -0.8142901237179829, + 0.12848810978139796, + 0.28109835942876504, + 0.04413821160753019, + -0.958663408398665 + ], + [ + 0.821910621813665, + 0.5054130735010773, + 0.26271763337101894, + 0.4948188749086219, + -0.8619773713181937, + 0.11022382850156473, + 0.2821652189481194, + 0.03940350834089961, + -0.9585562856433568 + ], + [ + 0.8597122789647964, + 0.43360951731780056, + 0.26995848549097473, + 0.42442468731563127, + -0.9004920598236764, + 0.09475091024123022, + 0.28418036912176986, + 0.033118524815231414, + -0.9581986647454056 + ], + [ + 0.8922228782171058, + 0.3732546874430843, + 0.2542032137636123, + 0.3622311869800805, + -0.9276621369488232, + 0.09072776229216993, + 0.26967925905598544, + 0.011130946649227175, + -0.9628858703198975 + ], + [ + 0.907910526344666, + 0.3469399215401849, + 0.23522577876211287, + 0.3332078709226109, + -0.9378359938025604, + 0.09713991704538827, + 0.25430491719149434, + -0.009815272286318913, + -0.9670742833527181 + ], + [ + 0.9329674306328846, + 0.30945673430243986, + 0.18387034283196016, + 0.29354606684737156, + -0.9497189731344284, + 0.10892464692127792, + 0.2083326187055495, + -0.047648732022539095, + -0.9768966774024427 + ], + [ + 0.935290214349521, + 0.3054920127469869, + 0.17862487253969456, + 0.2880295054550501, + -0.9504109283701391, + 0.11729480475251214, + 0.20559965692905863, + -0.05825544937948269, + -0.976900754267417 + ], + [ + 0.9340417240454453, + 0.3113316705940224, + 0.17503899173426357, + 0.29779057806836523, + -0.9494200974718234, + 0.09961049206937196, + 0.19719743749836438, + -0.040915393212441184, + -0.9795096228431603 + ], + [ + 0.9378750637559776, + 0.316764383771684, + 0.14160045889214667, + 0.30556806687008925, + -0.9473775191706059, + 0.09541484517319788, + 0.1643731160926199, + -0.04621862550848889, + -0.9853148315955204 + ], + [ + 0.9334642377782927, + 0.3291955639222258, + 0.1423895975235535, + 0.31814359814105386, + -0.9432604724654469, + 0.09510169318222629, + 0.16561753455131334, + -0.04347369064377209, + -0.9852313791546404 + ], + [ + 0.925233107964922, + 0.3552755649889374, + 0.13312764118455062, + 0.3463482015326641, + -0.9341663228696363, + 0.08588483283625581, + 0.15487614154756124, + -0.033354971713581816, + -0.9873706632472559 + ], + [ + 0.9268512048411953, + 0.35674421216061997, + 0.11696328985764194, + 0.3524488548768942, + -0.9341382269888221, + 0.05626346571395416, + 0.12933154595994797, + -0.010924283412559535, + -0.9915412302327783 + ], + [ + 0.9067031807576832, + 0.3650739087727613, + 0.21121170217882707, + 0.3706875000686736, + -0.9286544703262898, + 0.013843844691242425, + 0.20119671790746763, + 0.06574127985045375, + -0.9773422966529625 + ], + [ + 0.8942884772391353, + 0.34024128891289696, + 0.29066128878163244, + 0.3602831325372299, + -0.9326933684988586, + -0.016707626025666174, + 0.26541323231231295, + 0.11966179706632887, + -0.9566801296339269 + ], + [ + 0.886278739536064, + 0.3138934084706933, + 0.34055972158347875, + 0.3440157746370986, + -0.938475458879562, + -0.03028134543960994, + 0.3101018262558333, + 0.14399562909840866, + -0.9397351308498321 + ], + [ + 0.8844468318005352, + 0.31695804387227144, + 0.3424783206900233, + 0.348121351155383, + -0.9369055710977696, + -0.03192922980142436, + 0.3107496204144838, + 0.14746372187973855, + -0.938983026546076 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005460.json b/json/chunk-0005/episode_0005460.json new file mode 100644 index 0000000000000000000000000000000000000000..4616137cb56ea84ef686438913005744217a8196 --- /dev/null +++ b/json/chunk-0005/episode_0005460.json @@ -0,0 +1,2482 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 40, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the silver pot with knife to the left." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005460.mp4", + "start": 0, + "end": 40, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.24716797471046448, + -0.07479245215654373, + 0.09679433703422546, + 0.013277307152748108, + 0.0023491878528147936, + 0.12668244540691376, + 0.0, + 0.9981546401977539 + ], + [ + 0.24462775886058807, + -0.07446891814470291, + 0.08928214758634567, + 0.021500669419765472, + 0.027289697900414467, + 0.12505954504013062, + 0.0, + 0.9981546401977539 + ], + [ + 0.2599058449268341, + -0.06243198364973068, + 0.08392289280891418, + -0.03002377599477768, + -0.02100938931107521, + 0.16349196434020996, + 0.0, + 0.9981546401977539 + ], + [ + 0.2785908579826355, + -0.04789905995130539, + 0.08099136501550674, + -0.08342158794403076, + -0.053658872842788696, + 0.24377357959747314, + 0.0, + 0.9981546401977539 + ], + [ + 0.2995803654193878, + -0.03782277926802635, + 0.08414730429649353, + -0.16475677490234375, + -0.15131792426109314, + 0.32380661368370056, + 0.0, + 0.9981546401977539 + ], + [ + 0.31221604347229004, + -0.03673882409930229, + 0.0742368996143341, + -0.2659911513328552, + -0.14070633053779602, + 0.4136233627796173, + 0.0, + 0.9981546401977539 + ], + [ + 0.32312464714050293, + -0.0400305837392807, + 0.07343955338001251, + -0.3092498481273651, + -0.15025906264781952, + 0.47208595275878906, + 0.0, + 0.9981546401977539 + ], + [ + 0.33232977986335754, + -0.04555787518620491, + 0.06894724071025848, + -0.3155379891395569, + -0.1768374890089035, + 0.523183286190033, + 0.0, + 0.9981546401977539 + ], + [ + 0.338866651058197, + -0.045138612389564514, + 0.07039517164230347, + -0.3357383608818054, + -0.20750193297863007, + 0.5644941329956055, + 0.0, + 0.9981546401977539 + ], + [ + 0.3394775986671448, + -0.042480021715164185, + 0.061808161437511444, + -0.31427595019340515, + -0.20188172161579132, + 0.5890752077102661, + 0.0, + 0.9981546401977539 + ], + [ + 0.33961617946624756, + -0.04323709011077881, + 0.05547233670949936, + -0.3001605272293091, + -0.1942601203918457, + 0.5965694785118103, + 0.0, + 0.9981546401977539 + ], + [ + 0.339290976524353, + -0.04501304030418396, + 0.05093272402882576, + -0.3049374222755432, + -0.17204231023788452, + 0.6135281920433044, + 0.0, + 0.9981546401977539 + ], + [ + 0.34056633710861206, + -0.04671601578593254, + 0.04309588670730591, + -0.3009950518608093, + -0.14552609622478485, + 0.622528612613678, + 0.0, + 0.9537920951843262 + ], + [ + 0.3418889045715332, + -0.05054031312465668, + 0.041884250938892365, + -0.3157491385936737, + -0.11857448518276215, + 0.6264628171920776, + 0.0, + 0.6991904973983765 + ], + [ + 0.3426026403903961, + -0.05152508243918419, + 0.03886512294411659, + -0.3084279000759125, + -0.09134158492088318, + 0.6124110221862793, + 0.0, + 0.413944274187088 + ], + [ + 0.342892050743103, + -0.04962306469678879, + 0.03978171572089195, + -0.3308452069759369, + -0.07569698244333267, + 0.6125918626785278, + 0.0, + 0.1949377954006195 + ], + [ + 0.3440108299255371, + -0.04607678949832916, + 0.04258279129862785, + -0.34028202295303345, + -0.06326434761285782, + 0.6066455841064453, + 0.0, + 0.07788556814193726 + ], + [ + 0.34122782945632935, + -0.0441308356821537, + 0.04285994917154312, + -0.34298843145370483, + -0.041077397763729095, + 0.5917441248893738, + 0.0, + 0.05896064639091492 + ], + [ + 0.33507436513900757, + -0.03735921531915665, + 0.04327787458896637, + -0.3556056320667267, + 0.005771107506006956, + 0.576956570148468, + 0.0, + 0.058401256799697876 + ], + [ + 0.32560425996780396, + -0.02732357382774353, + 0.04214778542518616, + -0.3606458008289337, + 0.018220312893390656, + 0.5595086812973022, + 0.0, + 0.058401256799697876 + ], + [ + 0.31987088918685913, + -0.00823255069553852, + 0.04579183831810951, + -0.3747774362564087, + 0.008215377107262611, + 0.5952742099761963, + 0.0, + 0.058401256799697876 + ], + [ + 0.3193373680114746, + 0.013639163225889206, + 0.04835688695311546, + -0.3762737810611725, + -0.024681949988007545, + 0.653385579586029, + 0.0, + 0.05812275409698486 + ], + [ + 0.3192569613456726, + 0.03486701473593712, + 0.05221248418092728, + -0.3772141933441162, + -0.01567668281495571, + 0.7051150798797607, + 0.0, + 0.05812275409698486 + ], + [ + 0.3267589807510376, + 0.05683521553874016, + 0.05550454184412956, + -0.3844267725944519, + -0.027502913028001785, + 0.754864513874054, + 0.0, + 0.05812275409698486 + ], + [ + 0.3323444128036499, + 0.07505636662244797, + 0.05498332157731056, + -0.3912573754787445, + -0.04273455590009689, + 0.8267605304718018, + 0.0, + 0.05812275409698486 + ], + [ + 0.3373296558856964, + 0.09175768494606018, + 0.05058569833636284, + -0.37920689582824707, + -0.059639230370521545, + 0.8827325105667114, + 0.0, + 0.05812275409698486 + ], + [ + 0.3364642262458801, + 0.10394170880317688, + 0.052888043224811554, + -0.3655504584312439, + -0.07051578909158707, + 0.9051972031593323, + 0.0, + 0.05812275409698486 + ], + [ + 0.33471766114234924, + 0.10791870951652527, + 0.051028911024332047, + -0.3440583050251007, + -0.04100315272808075, + 0.9068688750267029, + 0.0, + 0.05812275409698486 + ], + [ + 0.3322138488292694, + 0.1103610098361969, + 0.052808620035648346, + -0.3110405504703522, + -0.03036353550851345, + 0.9081627726554871, + 0.0, + 0.05812275409698486 + ], + [ + 0.3342145085334778, + 0.11095185577869415, + 0.05149013176560402, + -0.2783648371696472, + -0.02849099226295948, + 0.902927815914154, + 0.0, + 0.07954961806535721 + ], + [ + 0.3315233886241913, + 0.11111288517713547, + 0.04924079775810242, + -0.23777717351913452, + -0.017056751996278763, + 0.9052189588546753, + 0.0, + 0.21794094145298004 + ], + [ + 0.3288869857788086, + 0.1107482835650444, + 0.05021040886640549, + -0.2105397880077362, + -0.005645191762596369, + 0.8967557549476624, + 0.0, + 0.443907231092453 + ], + [ + 0.3287651538848877, + 0.11101695150136948, + 0.049972761422395706, + -0.20302756130695343, + -0.011004247702658176, + 0.8897559642791748, + 0.0, + 0.728995144367218 + ], + [ + 0.32090988755226135, + 0.10800369083881378, + 0.04487048462033272, + -0.17269538342952728, + 0.013964817859232426, + 0.8863247632980347, + 0.0, + 0.9679883122444153 + ], + [ + 0.3085850775241852, + 0.10468734800815582, + 0.05132235214114189, + -0.09090088307857513, + 0.04953911155462265, + 0.876977264881134, + 0.0, + 0.9968144297599792 + ], + [ + 0.3018263876438141, + 0.09852687269449234, + 0.06930910795927048, + -0.09344619512557983, + 0.07585164904594421, + 0.8534184098243713, + 0.0, + 0.9968144297599792 + ], + [ + 0.2967367172241211, + 0.09209857136011124, + 0.08130042254924774, + -0.09273166209459305, + 0.055852554738521576, + 0.8092605471611023, + 0.0, + 0.9968144297599792 + ], + [ + 0.2865845263004303, + 0.079740509390831, + 0.09245487302541733, + -0.09408015757799149, + 0.030464109033346176, + 0.752335250377655, + 0.0, + 0.9968144297599792 + ], + [ + 0.27052491903305054, + 0.05256231129169464, + 0.08357785642147064, + -0.008102395571768284, + 0.05093677341938019, + 0.5864706039428711, + 0.0, + 0.9968144297599792 + ], + [ + 0.26061129570007324, + 0.02159346640110016, + 0.08282303065061569, + 0.02590956725180149, + 0.07387766987085342, + 0.4579029083251953, + 0.0, + 0.9968144297599792 + ] + ], + "left_gripper_pos": [ + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9537920951843262 + ], + [ + 0.6991904973983765 + ], + [ + 0.413944274187088 + ], + [ + 0.1949377954006195 + ], + [ + 0.07788556814193726 + ], + [ + 0.05896064639091492 + ], + [ + 0.058401256799697876 + ], + [ + 0.058401256799697876 + ], + [ + 0.058401256799697876 + ], + [ + 0.05812275409698486 + ], + [ + 0.05812275409698486 + ], + [ + 0.05812275409698486 + ], + [ + 0.05812275409698486 + ], + [ + 0.05812275409698486 + ], + [ + 0.05812275409698486 + ], + [ + 0.05812275409698486 + ], + [ + 0.05812275409698486 + ], + [ + 0.07954961806535721 + ], + [ + 0.21794094145298004 + ], + [ + 0.443907231092453 + ], + [ + 0.728995144367218 + ], + [ + 0.9679883122444153 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.24716797471046448, + -0.07479245215654373, + 0.09679433703422546 + ], + [ + 0.24462775886058807, + -0.07446891814470291, + 0.08928214758634567 + ], + [ + 0.2599058449268341, + -0.06243198364973068, + 0.08392289280891418 + ], + [ + 0.2785908579826355, + -0.04789905995130539, + 0.08099136501550674 + ], + [ + 0.2995803654193878, + -0.03782277926802635, + 0.08414730429649353 + ], + [ + 0.31221604347229004, + -0.03673882409930229, + 0.0742368996143341 + ], + [ + 0.32312464714050293, + -0.0400305837392807, + 0.07343955338001251 + ], + [ + 0.33232977986335754, + -0.04555787518620491, + 0.06894724071025848 + ], + [ + 0.338866651058197, + -0.045138612389564514, + 0.07039517164230347 + ], + [ + 0.3394775986671448, + -0.042480021715164185, + 0.061808161437511444 + ], + [ + 0.33961617946624756, + -0.04323709011077881, + 0.05547233670949936 + ], + [ + 0.339290976524353, + -0.04501304030418396, + 0.05093272402882576 + ], + [ + 0.34056633710861206, + -0.04671601578593254, + 0.04309588670730591 + ], + [ + 0.3418889045715332, + -0.05054031312465668, + 0.041884250938892365 + ], + [ + 0.3426026403903961, + -0.05152508243918419, + 0.03886512294411659 + ], + [ + 0.342892050743103, + -0.04962306469678879, + 0.03978171572089195 + ], + [ + 0.3440108299255371, + -0.04607678949832916, + 0.04258279129862785 + ], + [ + 0.34122782945632935, + -0.0441308356821537, + 0.04285994917154312 + ], + [ + 0.33507436513900757, + -0.03735921531915665, + 0.04327787458896637 + ], + [ + 0.32560425996780396, + -0.02732357382774353, + 0.04214778542518616 + ], + [ + 0.31987088918685913, + -0.00823255069553852, + 0.04579183831810951 + ], + [ + 0.3193373680114746, + 0.013639163225889206, + 0.04835688695311546 + ], + [ + 0.3192569613456726, + 0.03486701473593712, + 0.05221248418092728 + ], + [ + 0.3267589807510376, + 0.05683521553874016, + 0.05550454184412956 + ], + [ + 0.3323444128036499, + 0.07505636662244797, + 0.05498332157731056 + ], + [ + 0.3373296558856964, + 0.09175768494606018, + 0.05058569833636284 + ], + [ + 0.3364642262458801, + 0.10394170880317688, + 0.052888043224811554 + ], + [ + 0.33471766114234924, + 0.10791870951652527, + 0.051028911024332047 + ], + [ + 0.3322138488292694, + 0.1103610098361969, + 0.052808620035648346 + ], + [ + 0.3342145085334778, + 0.11095185577869415, + 0.05149013176560402 + ], + [ + 0.3315233886241913, + 0.11111288517713547, + 0.04924079775810242 + ], + [ + 0.3288869857788086, + 0.1107482835650444, + 0.05021040886640549 + ], + [ + 0.3287651538848877, + 0.11101695150136948, + 0.049972761422395706 + ], + [ + 0.32090988755226135, + 0.10800369083881378, + 0.04487048462033272 + ], + [ + 0.3085850775241852, + 0.10468734800815582, + 0.05132235214114189 + ], + [ + 0.3018263876438141, + 0.09852687269449234, + 0.06930910795927048 + ], + [ + 0.2967367172241211, + 0.09209857136011124, + 0.08130042254924774 + ], + [ + 0.2865845263004303, + 0.079740509390831, + 0.09245487302541733 + ], + [ + 0.27052491903305054, + 0.05256231129169464, + 0.08357785642147064 + ], + [ + 0.26061129570007324, + 0.02159346640110016, + 0.08282303065061569 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9919837673989794, + 0.12630179832859303, + -0.004007612243093496, + 0.12634352592638734, + -0.9919030094647995, + 0.012873743478966164, + -0.00234918569207799, + -0.013276880418131088, + -0.9999090987549553 + ], + [ + 0.9918208089020165, + 0.12412293650754672, + -0.029748607726973953, + 0.12468737013895742, + -0.9920340887338676, + 0.01792837186684463, + -0.02728631079461785, + -0.021491007950041843, + -0.99939661487345 + ], + [ + 0.9864471857850614, + 0.1620690056202508, + 0.025604434654866573, + 0.16272867035867697, + -0.9863229079888286, + -0.02620116447330798, + 0.021007843773916277, + 0.03001264056565826, + -0.9993287306518546 + ], + [ + 0.9690373334062483, + 0.2361901360639124, + 0.07197823345302085, + 0.2410189498295923, + -0.96813798517971, + -0.06796107323469554, + 0.05363312677765016, + 0.08320493542021244, + -0.995088150082077 + ], + [ + 0.9371982158066187, + 0.2904304052460022, + 0.19315714845051354, + 0.31454191565898576, + -0.9430595729539281, + -0.10817589913437481, + 0.15074112770729267, + 0.16213827915886442, + -0.9751862852034662 + ], + [ + 0.9066210978975509, + 0.35403873487048027, + 0.22955339043096162, + 0.3979575682912418, + -0.8982857151675222, + -0.18631303702557958, + 0.14024249957399265, + 0.26026783922967345, + -0.9552971753208295 + ], + [ + 0.8805864197623915, + 0.3925974788514051, + 0.26539551037946035, + 0.44962115111850415, + -0.8690900060213886, + -0.20621198292197868, + 0.14969428110961683, + 0.30091490663186443, + -0.941828987221041 + ], + [ + 0.8527241298770544, + 0.4276832470826887, + 0.29991431858153855, + 0.49184822206914625, + -0.8507431447151376, + -0.18526043335698672, + 0.1759172668410936, + 0.3054883662023917, + -0.9358044525124644 + ], + [ + 0.8267359337723759, + 0.44777350592587684, + 0.3405973916523239, + 0.5235122507600898, + -0.8340011075130839, + -0.1742902061822595, + 0.20601606518333143, + 0.3223988834623941, + -0.9239136003050172 + ], + [ + 0.8145688278088079, + 0.47684258402339086, + 0.33030103666818794, + 0.5443088142056492, + -0.8251685257976558, + -0.15107884964799995, + 0.2005131904394925, + 0.3028498870642326, + -0.9317061802762483 + ], + [ + 0.8117074987698806, + 0.4894708864833922, + 0.318667832901137, + 0.55124064945088, + -0.8223461448318011, + -0.1409984555704313, + 0.19304062482730633, + 0.2901121668690181, + -0.937320781696878 + ], + [ + 0.8055513388345499, + 0.5071692252326399, + 0.30637626781261573, + 0.5672559905403081, + -0.8094943051842699, + -0.15145828161698396, + 0.17119486469517048, + 0.2958011948102298, + -0.9397840025510342 + ], + [ + 0.803819303788436, + 0.5219495768433302, + 0.2853824908611987, + 0.5769278646720193, + -0.8009507486175395, + -0.16010039741982818, + 0.14501298501188697, + 0.2933369010575917, + -0.9449469279572639 + ], + [ + 0.8044180206059842, + 0.5275405677840409, + 0.2731530660022725, + 0.5821662218474329, + -0.791594799492358, + -0.18563448913534036, + 0.11829682271403393, + 0.3083482167270391, + -0.9438894209477184 + ], + [ + 0.8148533065993151, + 0.5250592283775237, + 0.24561534035919225, + 0.5724456142379051, + -0.7955690791893333, + -0.19843351273820573, + 0.09121462308177343, + 0.30229562837301416, + -0.9488399473054527 + ], + [ + 0.8158175483816394, + 0.5237081343479192, + 0.24529883360993177, + 0.5733433793722688, + -0.7879153668724325, + -0.22464804467492386, + 0.07562471211553683, + 0.3239122792734196, + -0.9430597744858701 + ], + [ + 0.8199214800780739, + 0.5200892484246278, + 0.23924033978341944, + 0.5689742750377114, + -0.7864867269511066, + -0.24022261066570283, + 0.06322215475520479, + 0.33308527737328886, + -0.9407747643008223 + ], + [ + 0.8292689258685975, + 0.5138568480569468, + 0.21969112019770504, + 0.5573388958444858, + -0.7893302178910302, + -0.2575483688609739, + 0.04106584672927106, + 0.33601926556237627, + -0.940959430264307 + ], + [ + 0.8381126887479079, + 0.5130324435444985, + 0.1853775413325814, + 0.545466603604346, + -0.7845939315612783, + -0.29475166990121543, + -0.0057710754709485446, + 0.348152372429051, + -0.9374201940751712 + ], + [ + 0.8473753152519117, + 0.5020738259087208, + 0.1728494964965278, + 0.5306817615436087, + -0.7895821223602026, + -0.3081183863616885, + -0.018219304780813544, + 0.35281999006084924, + -0.9355138222104291 + ], + [ + 0.8279668290859103, + 0.5243047069763379, + 0.198935929826362, + 0.5607168974008215, + -0.7688366045840807, + -0.30738711166998905, + -0.008215284694959399, + 0.3660530695050627, + -0.9305577141710784 + ], + [ + 0.7937884844835253, + 0.5581503944337411, + 0.24159465866365387, + 0.6076929874070927, + -0.7439928542674713, + -0.2778198442429635, + 0.02467944402921668, + 0.36734557298598375, + -0.9297570408714356 + ], + [ + 0.7614433959326037, + 0.5981577614686747, + 0.24982243130953596, + 0.6480418323984015, + -0.7117388590426547, + -0.27105272548045345, + 0.015676040710139824, + 0.3682866939266798, + -0.9295801056521218 + ], + [ + 0.7280889298350285, + 0.6276687509082389, + 0.27553302775706134, + 0.6849308656545069, + -0.6822700644859246, + -0.2556897893544821, + 0.02749944591169376, + 0.37488598031890014, + -0.9266629820138962 + ], + [ + 0.6766443921622021, + 0.6691076065230394, + 0.30732292047364995, + 0.735069544830332, + -0.6380688026218406, + -0.22921816547485657, + 0.04272154981238571, + 0.38100290551876365, + -0.923586300877123 + ], + [ + 0.6339136787508354, + 0.703587280157341, + 0.3211205180199135, + 0.7711036409755213, + -0.6069725795488339, + -0.19231084875827603, + 0.05960388214601947, + 0.36952567823715515, + -0.9273069342760754 + ], + [ + 0.6159957905823734, + 0.719024457556172, + 0.32179654351911413, + 0.7845922162831451, + -0.5965383910708607, + -0.16898817155792498, + 0.0704573639352103, + 0.3565750656098111, + -0.9316061305362152 + ], + [ + 0.615696836163101, + 0.7329006222292459, + 0.2894375301766021, + 0.7869161895678617, + -0.5909903624367057, + -0.17746352330247528, + 0.04099166421047665, + 0.33702680819619557, + -0.9406022613317172 + ], + [ + 0.6149116446438042, + 0.7448291726094792, + 0.2590621024220458, + 0.7880114264940196, + -0.5930004918155484, + -0.16549443622484197, + 0.03035887014222187, + 0.3059083528385529, + -0.9515768064992396 + ], + [ + 0.6190625274264694, + 0.7500723586454102, + 0.2327080658947226, + 0.7848248658848954, + -0.6016199762667246, + -0.14867190065907382, + 0.02848713788901075, + 0.27467227918546233, + -0.9611158213357824 + ], + [ + 0.6174235451110688, + 0.7619488790104654, + 0.19550465906769388, + 0.7864459684979543, + -0.60329891073029, + -0.13241285037699363, + 0.01705592494690568, + 0.23550866244437985, + -0.9717225763240579 + ], + [ + 0.6241380517978478, + 0.763317176500186, + 0.16672906272684096, + 0.7812936864243025, + -0.6112874772686763, + -0.12612611025486056, + 0.005645161778970176, + 0.20898446878723156, + -0.9779026658897131 + ], + [ + 0.6295635211557749, + 0.7595637335361343, + 0.16344022615803744, + 0.7768710859919024, + -0.6183938320762588, + -0.1185764909237998, + 0.011004025613584253, + 0.20162341914243986, + -0.9794013009352232 + ], + [ + 0.6322020420970501, + 0.7647461355152098, + 0.12443442523221758, + 0.7746777229966321, + -0.6209997735147481, + -0.1193050995866691, + -0.01396436396951746, + 0.1718215047925731, + -0.9850291198892257 + ], + [ + 0.6386934508099431, + 0.7685098077217067, + 0.03825377534351609, + 0.7678662378541206, + -0.633381910656984, + -0.09596247191620046, + -0.049518851523899655, + 0.09066438489315275, + -0.9946496130073648 + ], + [ + 0.6555208185941974, + 0.7548930264603012, + 0.020711711450289418, + 0.7513654300103819, + -0.6492146894971751, + -0.11819592855255237, + -0.07577893490216708, + 0.09304195581936808, + -0.992774268140749 + ], + [ + 0.6889578173977027, + 0.7242343333944765, + 0.028666289945720118, + 0.7226485040483575, + -0.683327747134497, + -0.1041265076374126, + -0.055823520520163185, + 0.09245442298100812, + -0.9941508508410501 + ], + [ + 0.7297563175292543, + 0.6824127283130654, + 0.042054551031489, + 0.6830285075683713, + -0.724911072369338, + -0.08930842628363367, + -0.030459397155312994, + 0.09389784551657324, + -0.9951157820737646 + ], + [ + 0.83181885042625, + 0.5537502726285397, + -0.037921440365180754, + 0.5527070547026518, + -0.8326434761438183, + -0.034924966958591, + -0.050914749900907115, + 0.008091798252348624, + -0.9986702213661782 + ], + [ + 0.8945348172576907, + 0.44020446130872154, + -0.07763693037239879, + 0.44086219273065635, + -0.8975257841528332, + -0.009380501135865157, + -0.07381048526102547, + -0.025836002491496313, + -0.9969375673736003 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.002540215849876404, + 0.0003235340118408203, + -0.007512189447879791, + 0.008223362267017365, + 0.024940509349107742, + -0.001622900366783142, + 1.0 + ], + [ + 0.015278086066246033, + 0.012036934494972229, + -0.005359254777431488, + -0.05152444541454315, + -0.04829908907413483, + 0.038432419300079346, + 1.0 + ], + [ + 0.01868501305580139, + 0.014532923698425293, + -0.00293152779340744, + -0.05339781194925308, + -0.032649483531713486, + 0.08028161525726318, + 1.0 + ], + [ + 0.02098950743675232, + 0.010076280683279037, + 0.003155939280986786, + -0.08133518695831299, + -0.09765905141830444, + 0.08003303408622742, + 1.0 + ], + [ + 0.012635678052902222, + 0.00108395516872406, + -0.009910404682159424, + -0.10123437643051147, + 0.01061159372329712, + 0.08981674909591675, + 1.0 + ], + [ + 0.01090860366821289, + -0.003291759639978409, + -0.0007973462343215942, + -0.04325869679450989, + -0.009552732110023499, + 0.05846258997917175, + 1.0 + ], + [ + 0.009205132722854614, + -0.00552729144692421, + -0.004492312669754028, + -0.0062881410121917725, + -0.026578426361083984, + 0.051097333431243896, + 1.0 + ], + [ + 0.0065368711948394775, + 0.0004192627966403961, + 0.001447930932044983, + -0.020200371742248535, + -0.030664443969726562, + 0.04131084680557251, + 1.0 + ], + [ + 0.0006109476089477539, + 0.0026585906744003296, + -0.008587010204792023, + 0.02146241068840027, + 0.005620211362838745, + 0.024581074714660645, + 1.0 + ], + [ + 0.0001385807991027832, + -0.000757068395614624, + -0.006335824728012085, + 0.01411542296409607, + 0.007621601223945618, + 0.0074942708015441895, + 1.0 + ], + [ + -0.00032520294189453125, + -0.0017759501934051514, + -0.004539612680673599, + -0.004776895046234131, + 0.02221781015396118, + 0.01695871353149414, + 1.0 + ], + [ + 0.0012753605842590332, + -0.001702975481748581, + -0.007836837321519852, + 0.003942370414733887, + 0.02651621401309967, + 0.009000420570373535, + 0.0 + ], + [ + 0.0013225674629211426, + -0.0038242973387241364, + -0.0012116357684135437, + -0.01475408673286438, + 0.026951611042022705, + 0.003934204578399658, + 0.0 + ], + [ + 0.000713735818862915, + -0.0009847693145275116, + -0.003019127994775772, + 0.0073212385177612305, + 0.027232900261878967, + -0.01405179500579834, + 0.0 + ], + [ + 0.0002894103527069092, + 0.001902017742395401, + 0.0009165927767753601, + -0.022417306900024414, + 0.015644602477550507, + 0.00018084049224853516, + 0.0 + ], + [ + 0.001118779182434082, + 0.0035462751984596252, + 0.002801075577735901, + -0.009436815977096558, + 0.012432634830474854, + -0.0059462785720825195, + 0.0 + ], + [ + -0.0027830004692077637, + 0.0019459538161754608, + 0.00027715787291526794, + -0.0027064085006713867, + 0.022186949849128723, + -0.014901459217071533, + 0.0 + ], + [ + -0.006153464317321777, + 0.006771620362997055, + 0.0004179254174232483, + -0.01261720061302185, + 0.04684850573539734, + -0.014787554740905762, + 0.0 + ], + [ + -0.009470105171203613, + 0.010035641491413116, + -0.0011300891637802124, + -0.005040168762207031, + 0.012449204921722412, + -0.01744788885116577, + 0.0 + ], + [ + -0.005733370780944824, + 0.01909102313220501, + 0.003644052892923355, + -0.014131635427474976, + -0.010004935786128044, + 0.03576552867889404, + 0.0 + ], + [ + -0.0005335211753845215, + 0.021871713921427727, + 0.002565048635005951, + -0.001496344804763794, + -0.03289732709527016, + 0.058111369609832764, + 0.0 + ], + [ + -8.040666580200195e-05, + 0.021227851510047913, + 0.0038555972278118134, + -0.0009404122829437256, + 0.009005267173051834, + 0.05172950029373169, + 0.0 + ], + [ + 0.00750201940536499, + 0.02196820080280304, + 0.0032920576632022858, + -0.007212579250335693, + -0.011826230213046074, + 0.04974943399429321, + 0.0 + ], + [ + 0.005585432052612305, + 0.01822115108370781, + -0.0005212202668190002, + -0.0068306028842926025, + -0.015231642872095108, + 0.0718960165977478, + 0.0 + ], + [ + 0.004985243082046509, + 0.016701318323612213, + -0.004397623240947723, + 0.012050479650497437, + -0.016904674470424652, + 0.05597198009490967, + 0.0 + ], + [ + -0.0008654296398162842, + 0.0121840238571167, + 0.002302344888448715, + 0.013656437397003174, + -0.010876558721065521, + 0.02246469259262085, + 0.0 + ], + [ + -0.0017465651035308838, + 0.003977000713348389, + -0.0018591322004795074, + 0.02149215340614319, + 0.029512636363506317, + 0.0016716718673706055, + 0.0 + ], + [ + -0.002503812313079834, + 0.002442300319671631, + 0.0017797090113162994, + 0.033017754554748535, + 0.010639617219567299, + 0.0012938976287841797, + 0.0 + ], + [ + 0.002000659704208374, + 0.0005908459424972534, + -0.0013184882700443268, + 0.032675713300704956, + 0.0018725432455539703, + -0.005234956741333008, + 1.0 + ], + [ + -0.002691119909286499, + 0.0001610293984413147, + -0.002249334007501602, + 0.040587663650512695, + 0.011434240266680717, + 0.0022911429405212402, + 1.0 + ], + [ + -0.0026364028453826904, + -0.00036460161209106445, + 0.0009696111083030701, + 0.027237385511398315, + 0.011411560699343681, + -0.00846320390701294, + 1.0 + ], + [ + -0.00012183189392089844, + 0.00026866793632507324, + -0.00023764744400978088, + 0.007512226700782776, + -0.005359055940061808, + -0.006999790668487549, + 1.0 + ], + [ + -0.007855266332626343, + -0.0030132606625556946, + -0.005102276802062988, + 0.030332177877426147, + 0.024969065561890602, + -0.0034312009811401367, + 1.0 + ], + [ + -0.012324810028076172, + -0.003316342830657959, + 0.006451867520809174, + 0.08179450035095215, + 0.0355742946267128, + -0.009347498416900635, + 1.0 + ], + [ + -0.006758689880371094, + -0.006160475313663483, + 0.017986755818128586, + -0.0025453120470046997, + 0.026312537491321564, + -0.023558855056762695, + 1.0 + ], + [ + -0.005089670419692993, + -0.0064283013343811035, + 0.011991314589977264, + 0.0007145330309867859, + -0.019999094307422638, + -0.04415786266326904, + 1.0 + ], + [ + -0.010152190923690796, + -0.012358061969280243, + 0.011154450476169586, + -0.0013484954833984375, + -0.0253884457051754, + -0.056925296783447266, + 1.0 + ], + [ + -0.01605960726737976, + -0.027178198099136353, + -0.008877016603946686, + 0.08597776293754578, + 0.020472664386034012, + -0.16586464643478394, + 1.0 + ], + [ + -0.009913623332977295, + -0.030968844890594482, + -0.00075482577085495, + 0.03401196375489235, + 0.022940896451473236, + -0.12856769561767578, + 1.0 + ], + [ + 0.0028708577156066895, + -0.030289897695183754, + -1.3187527656555176e-06, + 0.00808887742459774, + -0.040840622037649155, + -0.05771932005882263, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9537920951843262 + ], + [ + 0.6991904973983765 + ], + [ + 0.413944274187088 + ], + [ + 0.1949377954006195 + ], + [ + 0.07788556814193726 + ], + [ + 0.05896064639091492 + ], + [ + 0.058401256799697876 + ], + [ + 0.058401256799697876 + ], + [ + 0.058401256799697876 + ], + [ + 0.05812275409698486 + ], + [ + 0.05812275409698486 + ], + [ + 0.05812275409698486 + ], + [ + 0.05812275409698486 + ], + [ + 0.05812275409698486 + ], + [ + 0.05812275409698486 + ], + [ + 0.05812275409698486 + ], + [ + 0.05812275409698486 + ], + [ + 0.07954961806535721 + ], + [ + 0.21794094145298004 + ], + [ + 0.443907231092453 + ], + [ + 0.728995144367218 + ], + [ + 0.9679883122444153 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.24462775886058807, + -0.07446891814470291, + 0.08928214758634567 + ], + [ + 0.2599058449268341, + -0.06243198364973068, + 0.08392289280891418 + ], + [ + 0.2785908579826355, + -0.04789905995130539, + 0.08099136501550674 + ], + [ + 0.2995803654193878, + -0.03782277926802635, + 0.08414730429649353 + ], + [ + 0.31221604347229004, + -0.03673882409930229, + 0.0742368996143341 + ], + [ + 0.32312464714050293, + -0.0400305837392807, + 0.07343955338001251 + ], + [ + 0.33232977986335754, + -0.04555787518620491, + 0.06894724071025848 + ], + [ + 0.338866651058197, + -0.045138612389564514, + 0.07039517164230347 + ], + [ + 0.3394775986671448, + -0.042480021715164185, + 0.061808161437511444 + ], + [ + 0.33961617946624756, + -0.04323709011077881, + 0.05547233670949936 + ], + [ + 0.339290976524353, + -0.04501304030418396, + 0.05093272402882576 + ], + [ + 0.34056633710861206, + -0.04671601578593254, + 0.04309588670730591 + ], + [ + 0.3418889045715332, + -0.05054031312465668, + 0.041884250938892365 + ], + [ + 0.3426026403903961, + -0.05152508243918419, + 0.03886512294411659 + ], + [ + 0.342892050743103, + -0.04962306469678879, + 0.03978171572089195 + ], + [ + 0.3440108299255371, + -0.04607678949832916, + 0.04258279129862785 + ], + [ + 0.34122782945632935, + -0.0441308356821537, + 0.04285994917154312 + ], + [ + 0.33507436513900757, + -0.03735921531915665, + 0.04327787458896637 + ], + [ + 0.32560425996780396, + -0.02732357382774353, + 0.04214778542518616 + ], + [ + 0.31987088918685913, + -0.00823255069553852, + 0.04579183831810951 + ], + [ + 0.3193373680114746, + 0.013639163225889206, + 0.04835688695311546 + ], + [ + 0.3192569613456726, + 0.03486701473593712, + 0.05221248418092728 + ], + [ + 0.3267589807510376, + 0.05683521553874016, + 0.05550454184412956 + ], + [ + 0.3323444128036499, + 0.07505636662244797, + 0.05498332157731056 + ], + [ + 0.3373296558856964, + 0.09175768494606018, + 0.05058569833636284 + ], + [ + 0.3364642262458801, + 0.10394170880317688, + 0.052888043224811554 + ], + [ + 0.33471766114234924, + 0.10791870951652527, + 0.051028911024332047 + ], + [ + 0.3322138488292694, + 0.1103610098361969, + 0.052808620035648346 + ], + [ + 0.3342145085334778, + 0.11095185577869415, + 0.05149013176560402 + ], + [ + 0.3315233886241913, + 0.11111288517713547, + 0.04924079775810242 + ], + [ + 0.3288869857788086, + 0.1107482835650444, + 0.05021040886640549 + ], + [ + 0.3287651538848877, + 0.11101695150136948, + 0.049972761422395706 + ], + [ + 0.32090988755226135, + 0.10800369083881378, + 0.04487048462033272 + ], + [ + 0.3085850775241852, + 0.10468734800815582, + 0.05132235214114189 + ], + [ + 0.3018263876438141, + 0.09852687269449234, + 0.06930910795927048 + ], + [ + 0.2967367172241211, + 0.09209857136011124, + 0.08130042254924774 + ], + [ + 0.2865845263004303, + 0.079740509390831, + 0.09245487302541733 + ], + [ + 0.27052491903305054, + 0.05256231129169464, + 0.08357785642147064 + ], + [ + 0.26061129570007324, + 0.02159346640110016, + 0.08282303065061569 + ], + [ + 0.26348215341567993, + -0.008696431294083595, + 0.08282171189785004 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9918208089020165, + 0.12412293650754672, + -0.029748607726973953, + 0.12468737013895742, + -0.9920340887338676, + 0.01792837186684463, + -0.02728631079461785, + -0.021491007950041843, + -0.99939661487345 + ], + [ + 0.9864471857850614, + 0.1620690056202508, + 0.025604434654866573, + 0.16272867035867697, + -0.9863229079888286, + -0.02620116447330798, + 0.021007843773916277, + 0.03001264056565826, + -0.9993287306518546 + ], + [ + 0.9690373334062483, + 0.2361901360639124, + 0.07197823345302085, + 0.2410189498295923, + -0.96813798517971, + -0.06796107323469554, + 0.05363312677765016, + 0.08320493542021244, + -0.995088150082077 + ], + [ + 0.9371982158066187, + 0.2904304052460022, + 0.19315714845051354, + 0.31454191565898576, + -0.9430595729539281, + -0.10817589913437481, + 0.15074112770729267, + 0.16213827915886442, + -0.9751862852034662 + ], + [ + 0.9066210978975509, + 0.35403873487048027, + 0.22955339043096162, + 0.3979575682912418, + -0.8982857151675222, + -0.18631303702557958, + 0.14024249957399265, + 0.26026783922967345, + -0.9552971753208295 + ], + [ + 0.8805864197623915, + 0.3925974788514051, + 0.26539551037946035, + 0.44962115111850415, + -0.8690900060213886, + -0.20621198292197868, + 0.14969428110961683, + 0.30091490663186443, + -0.941828987221041 + ], + [ + 0.8527241298770544, + 0.4276832470826887, + 0.29991431858153855, + 0.49184822206914625, + -0.8507431447151376, + -0.18526043335698672, + 0.1759172668410936, + 0.3054883662023917, + -0.9358044525124644 + ], + [ + 0.8267359337723759, + 0.44777350592587684, + 0.3405973916523239, + 0.5235122507600898, + -0.8340011075130839, + -0.1742902061822595, + 0.20601606518333143, + 0.3223988834623941, + -0.9239136003050172 + ], + [ + 0.8145688278088079, + 0.47684258402339086, + 0.33030103666818794, + 0.5443088142056492, + -0.8251685257976558, + -0.15107884964799995, + 0.2005131904394925, + 0.3028498870642326, + -0.9317061802762483 + ], + [ + 0.8117074987698806, + 0.4894708864833922, + 0.318667832901137, + 0.55124064945088, + -0.8223461448318011, + -0.1409984555704313, + 0.19304062482730633, + 0.2901121668690181, + -0.937320781696878 + ], + [ + 0.8055513388345499, + 0.5071692252326399, + 0.30637626781261573, + 0.5672559905403081, + -0.8094943051842699, + -0.15145828161698396, + 0.17119486469517048, + 0.2958011948102298, + -0.9397840025510342 + ], + [ + 0.803819303788436, + 0.5219495768433302, + 0.2853824908611987, + 0.5769278646720193, + -0.8009507486175395, + -0.16010039741982818, + 0.14501298501188697, + 0.2933369010575917, + -0.9449469279572639 + ], + [ + 0.8044180206059842, + 0.5275405677840409, + 0.2731530660022725, + 0.5821662218474329, + -0.791594799492358, + -0.18563448913534036, + 0.11829682271403393, + 0.3083482167270391, + -0.9438894209477184 + ], + [ + 0.8148533065993151, + 0.5250592283775237, + 0.24561534035919225, + 0.5724456142379051, + -0.7955690791893333, + -0.19843351273820573, + 0.09121462308177343, + 0.30229562837301416, + -0.9488399473054527 + ], + [ + 0.8158175483816394, + 0.5237081343479192, + 0.24529883360993177, + 0.5733433793722688, + -0.7879153668724325, + -0.22464804467492386, + 0.07562471211553683, + 0.3239122792734196, + -0.9430597744858701 + ], + [ + 0.8199214800780739, + 0.5200892484246278, + 0.23924033978341944, + 0.5689742750377114, + -0.7864867269511066, + -0.24022261066570283, + 0.06322215475520479, + 0.33308527737328886, + -0.9407747643008223 + ], + [ + 0.8292689258685975, + 0.5138568480569468, + 0.21969112019770504, + 0.5573388958444858, + -0.7893302178910302, + -0.2575483688609739, + 0.04106584672927106, + 0.33601926556237627, + -0.940959430264307 + ], + [ + 0.8381126887479079, + 0.5130324435444985, + 0.1853775413325814, + 0.545466603604346, + -0.7845939315612783, + -0.29475166990121543, + -0.0057710754709485446, + 0.348152372429051, + -0.9374201940751712 + ], + [ + 0.8473753152519117, + 0.5020738259087208, + 0.1728494964965278, + 0.5306817615436087, + -0.7895821223602026, + -0.3081183863616885, + -0.018219304780813544, + 0.35281999006084924, + -0.9355138222104291 + ], + [ + 0.8279668290859103, + 0.5243047069763379, + 0.198935929826362, + 0.5607168974008215, + -0.7688366045840807, + -0.30738711166998905, + -0.008215284694959399, + 0.3660530695050627, + -0.9305577141710784 + ], + [ + 0.7937884844835253, + 0.5581503944337411, + 0.24159465866365387, + 0.6076929874070927, + -0.7439928542674713, + -0.2778198442429635, + 0.02467944402921668, + 0.36734557298598375, + -0.9297570408714356 + ], + [ + 0.7614433959326037, + 0.5981577614686747, + 0.24982243130953596, + 0.6480418323984015, + -0.7117388590426547, + -0.27105272548045345, + 0.015676040710139824, + 0.3682866939266798, + -0.9295801056521218 + ], + [ + 0.7280889298350285, + 0.6276687509082389, + 0.27553302775706134, + 0.6849308656545069, + -0.6822700644859246, + -0.2556897893544821, + 0.02749944591169376, + 0.37488598031890014, + -0.9266629820138962 + ], + [ + 0.6766443921622021, + 0.6691076065230394, + 0.30732292047364995, + 0.735069544830332, + -0.6380688026218406, + -0.22921816547485657, + 0.04272154981238571, + 0.38100290551876365, + -0.923586300877123 + ], + [ + 0.6339136787508354, + 0.703587280157341, + 0.3211205180199135, + 0.7711036409755213, + -0.6069725795488339, + -0.19231084875827603, + 0.05960388214601947, + 0.36952567823715515, + -0.9273069342760754 + ], + [ + 0.6159957905823734, + 0.719024457556172, + 0.32179654351911413, + 0.7845922162831451, + -0.5965383910708607, + -0.16898817155792498, + 0.0704573639352103, + 0.3565750656098111, + -0.9316061305362152 + ], + [ + 0.615696836163101, + 0.7329006222292459, + 0.2894375301766021, + 0.7869161895678617, + -0.5909903624367057, + -0.17746352330247528, + 0.04099166421047665, + 0.33702680819619557, + -0.9406022613317172 + ], + [ + 0.6149116446438042, + 0.7448291726094792, + 0.2590621024220458, + 0.7880114264940196, + -0.5930004918155484, + -0.16549443622484197, + 0.03035887014222187, + 0.3059083528385529, + -0.9515768064992396 + ], + [ + 0.6190625274264694, + 0.7500723586454102, + 0.2327080658947226, + 0.7848248658848954, + -0.6016199762667246, + -0.14867190065907382, + 0.02848713788901075, + 0.27467227918546233, + -0.9611158213357824 + ], + [ + 0.6174235451110688, + 0.7619488790104654, + 0.19550465906769388, + 0.7864459684979543, + -0.60329891073029, + -0.13241285037699363, + 0.01705592494690568, + 0.23550866244437985, + -0.9717225763240579 + ], + [ + 0.6241380517978478, + 0.763317176500186, + 0.16672906272684096, + 0.7812936864243025, + -0.6112874772686763, + -0.12612611025486056, + 0.005645161778970176, + 0.20898446878723156, + -0.9779026658897131 + ], + [ + 0.6295635211557749, + 0.7595637335361343, + 0.16344022615803744, + 0.7768710859919024, + -0.6183938320762588, + -0.1185764909237998, + 0.011004025613584253, + 0.20162341914243986, + -0.9794013009352232 + ], + [ + 0.6322020420970501, + 0.7647461355152098, + 0.12443442523221758, + 0.7746777229966321, + -0.6209997735147481, + -0.1193050995866691, + -0.01396436396951746, + 0.1718215047925731, + -0.9850291198892257 + ], + [ + 0.6386934508099431, + 0.7685098077217067, + 0.03825377534351609, + 0.7678662378541206, + -0.633381910656984, + -0.09596247191620046, + -0.049518851523899655, + 0.09066438489315275, + -0.9946496130073648 + ], + [ + 0.6555208185941974, + 0.7548930264603012, + 0.020711711450289418, + 0.7513654300103819, + -0.6492146894971751, + -0.11819592855255237, + -0.07577893490216708, + 0.09304195581936808, + -0.992774268140749 + ], + [ + 0.6889578173977027, + 0.7242343333944765, + 0.028666289945720118, + 0.7226485040483575, + -0.683327747134497, + -0.1041265076374126, + -0.055823520520163185, + 0.09245442298100812, + -0.9941508508410501 + ], + [ + 0.7297563175292543, + 0.6824127283130654, + 0.042054551031489, + 0.6830285075683713, + -0.724911072369338, + -0.08930842628363367, + -0.030459397155312994, + 0.09389784551657324, + -0.9951157820737646 + ], + [ + 0.83181885042625, + 0.5537502726285397, + -0.037921440365180754, + 0.5527070547026518, + -0.8326434761438183, + -0.034924966958591, + -0.050914749900907115, + 0.008091798252348624, + -0.9986702213661782 + ], + [ + 0.8945348172576907, + 0.44020446130872154, + -0.07763693037239879, + 0.44086219273065635, + -0.8975257841528332, + -0.009380501135865157, + -0.07381048526102547, + -0.025836002491496313, + -0.9969375673736003 + ], + [ + 0.9204869261661246, + 0.3883282169145139, + -0.04364647414435585, + 0.3893748441477699, + -0.9208946778295414, + 0.018445137302965004, + -0.0330310384659582, + -0.0339733468062766, + -0.9988767502573284 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005462.json b/json/chunk-0005/episode_0005462.json new file mode 100644 index 0000000000000000000000000000000000000000..6535f1105a0de4488bec01454e15d3c4edcefb75 --- /dev/null +++ b/json/chunk-0005/episode_0005462.json @@ -0,0 +1,2182 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 35, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nTake carrot out of pot cardboard fence." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005462.mp4", + "start": 0, + "end": 35, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.18944628536701202, + 0.09030236303806305, + 0.0960429459810257, + 0.3224336802959442, + -0.1400275081396103, + 0.4653007984161377, + 0.0, + 0.9954678416252136 + ], + [ + 0.18753117322921753, + 0.0883912593126297, + 0.09379003942012787, + 0.31372779607772827, + -0.13120943307876587, + 0.48156556487083435, + 0.0, + 0.9961419701576233 + ], + [ + 0.19023630023002625, + 0.06381256133317947, + 0.0984697937965393, + 0.25373363494873047, + -0.10535182803869247, + 0.5900697112083435, + 0.0, + 0.9954678416252136 + ], + [ + 0.2099461704492569, + 0.04628922790288925, + 0.10735867917537689, + 0.1512947529554367, + -0.10203804820775986, + 0.8206111788749695, + 0.0, + 0.9954678416252136 + ], + [ + 0.2298334687948227, + 0.032646093517541885, + 0.10413780808448792, + 0.10610423237085342, + -0.0835360512137413, + 0.976145327091217, + 0.0, + 0.9954678416252136 + ], + [ + 0.2454616129398346, + 0.017747769132256508, + 0.0977315604686737, + -0.007345019839704037, + -0.14264555275440216, + 1.0671007633209229, + 0.0, + 0.9954678416252136 + ], + [ + 0.25225773453712463, + 0.007213870529085398, + 0.08726146817207336, + -0.10017336159944534, + -0.18944591283798218, + 1.10000479221344, + 0.0, + 0.9961419701576233 + ], + [ + 0.2551606595516205, + -0.0025565384421497583, + 0.07791510969400406, + -0.16647416353225708, + -0.21422341465950012, + 1.1201865673065186, + 0.0, + 0.9961419701576233 + ], + [ + 0.2601608335971832, + -0.013919929042458534, + 0.06630884110927582, + -0.17797419428825378, + -0.21115408837795258, + 1.1446601152420044, + 0.0, + 0.9961419701576233 + ], + [ + 0.26244720816612244, + -0.018724875524640083, + 0.05620831996202469, + -0.16834595799446106, + -0.2171250879764557, + 1.1596530675888062, + 0.0, + 0.9961419701576233 + ], + [ + 0.26055097579956055, + -0.019522666931152344, + 0.04618960618972778, + -0.14712564647197723, + -0.22549135982990265, + 1.1683229207992554, + 0.0, + 0.9961419701576233 + ], + [ + 0.257199764251709, + -0.018688786774873734, + 0.04320091754198074, + -0.13576270639896393, + -0.22495029866695404, + 1.1750149726867676, + 0.0, + 0.9954678416252136 + ], + [ + 0.25567713379859924, + -0.01853678934276104, + 0.037825167179107666, + -0.11862529814243317, + -0.22135290503501892, + 1.194054126739502, + 0.0, + 0.9961419701576233 + ], + [ + 0.2563222050666809, + -0.019364139065146446, + 0.03134520351886749, + -0.10419595241546631, + -0.22225265204906464, + 1.1998512744903564, + 0.0, + 0.9961419701576233 + ], + [ + 0.25696396827697754, + -0.02041969634592533, + 0.025817304849624634, + -0.09651545435190201, + -0.22400027513504028, + 1.2013959884643555, + 0.0, + 0.9961419701576233 + ], + [ + 0.2585543990135193, + -0.021671539172530174, + 0.02070467174053192, + -0.08397052437067032, + -0.22700227797031403, + 1.2070335149765015, + 0.0, + 0.9961419701576233 + ], + [ + 0.25926995277404785, + -0.021943874657154083, + 0.016161873936653137, + -0.07557106763124466, + -0.23223605751991272, + 1.2053320407867432, + 0.0, + 0.9961419701576233 + ], + [ + 0.2602863013744354, + -0.023769648745656013, + 0.011208182200789452, + -0.07211292535066605, + -0.23592905700206757, + 1.2062329053878784, + 0.0, + 0.9851709604263306 + ], + [ + 0.26130223274230957, + -0.024722080677747726, + 0.009693065658211708, + -0.08046205341815948, + -0.23932766914367676, + 1.2121384143829346, + 0.0, + 0.9116221070289612 + ], + [ + 0.2610037326812744, + -0.02561579830944538, + 0.009222031570971012, + -0.0817195475101471, + -0.229401096701622, + 1.2255953550338745, + 0.0, + 0.629988968372345 + ], + [ + 0.2597435712814331, + -0.02537493221461773, + 0.009074214845895767, + -0.07204677909612656, + -0.22847917675971985, + 1.2182730436325073, + 0.0, + 0.5266194939613342 + ], + [ + 0.2597765028476715, + -0.02284535951912403, + 0.02072099968791008, + -0.1020345389842987, + -0.2348293513059616, + 1.2357957363128662, + 0.0, + 0.5580781102180481 + ], + [ + 0.2601987421512604, + -0.023010434582829475, + 0.03993560001254082, + -0.15748322010040283, + -0.23568852245807648, + 1.260495901107788, + 0.0, + 0.5600578188896179 + ], + [ + 0.2562727928161621, + -0.02616230398416519, + 0.07220833748579025, + -0.25441044569015503, + -0.2536095976829529, + 1.3016283512115479, + 0.0, + 0.5600578188896179 + ], + [ + 0.24066516757011414, + -0.04099181294441223, + 0.08629132807254791, + -0.25966086983680725, + -0.2241770178079605, + 1.260143518447876, + 0.0, + 0.5600578188896179 + ], + [ + 0.21890172362327576, + -0.057945407927036285, + 0.08500707149505615, + -0.20349422097206116, + -0.197099968791008, + 1.172590732574463, + 0.0, + 0.5600578188896179 + ], + [ + 0.2006731480360031, + -0.07738257944583893, + 0.07423719018697739, + -0.1197262853384018, + -0.15831027925014496, + 1.0819649696350098, + 0.0, + 0.5600578188896179 + ], + [ + 0.19269569218158722, + -0.0870620608329773, + 0.05671639367938042, + -0.04914591461420059, + -0.15357999503612518, + 1.0122666358947754, + 0.0, + 0.5600578188896179 + ], + [ + 0.18992213904857635, + -0.09582463651895523, + 0.03714887052774429, + 0.022029384970664978, + -0.19781824946403503, + 0.875693142414093, + 0.0, + 0.5600578188896179 + ], + [ + 0.19168560206890106, + -0.10148268938064575, + 0.030103834345936775, + 0.030660895630717278, + -0.2224864363670349, + 0.8009365200996399, + 0.0, + 0.5600578188896179 + ], + [ + 0.1936519742012024, + -0.10821188986301422, + 0.028706980869174004, + -0.008628176525235176, + -0.20883528888225555, + 0.796544075012207, + 0.0, + 0.5600578188896179 + ], + [ + 0.19182483851909637, + -0.11188353598117828, + 0.02788749895989895, + -0.01989404670894146, + -0.1813613921403885, + 0.8135451674461365, + 0.0, + 0.6330026388168335 + ], + [ + 0.18971319496631622, + -0.10773102939128876, + 0.02447420358657837, + 0.0030159892048686743, + -0.1386660635471344, + 0.8375127911567688, + 0.0, + 0.9157527089118958 + ], + [ + 0.19049668312072754, + -0.10675213485956192, + 0.024044860154390335, + -0.001386472606100142, + -0.1174965426325798, + 0.8474497199058533, + 0.0, + 0.9947922229766846 + ], + [ + 0.19013898074626923, + -0.10500802844762802, + 0.023911800235509872, + 0.0014276040019467473, + -0.08920758962631226, + 0.8530860543251038, + 0.0, + 0.9941151142120361 + ] + ], + "left_gripper_pos": [ + [ + 0.9954678416252136 + ], + [ + 0.9961419701576233 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9954678416252136 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9851709604263306 + ], + [ + 0.9116221070289612 + ], + [ + 0.629988968372345 + ], + [ + 0.5266194939613342 + ], + [ + 0.5580781102180481 + ], + [ + 0.5600578188896179 + ], + [ + 0.5600578188896179 + ], + [ + 0.5600578188896179 + ], + [ + 0.5600578188896179 + ], + [ + 0.5600578188896179 + ], + [ + 0.5600578188896179 + ], + [ + 0.5600578188896179 + ], + [ + 0.5600578188896179 + ], + [ + 0.5600578188896179 + ], + [ + 0.6330026388168335 + ], + [ + 0.9157527089118958 + ], + [ + 0.9947922229766846 + ], + [ + 0.9941151142120361 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.18944628536701202, + 0.09030236303806305, + 0.0960429459810257 + ], + [ + 0.18753117322921753, + 0.0883912593126297, + 0.09379003942012787 + ], + [ + 0.19023630023002625, + 0.06381256133317947, + 0.0984697937965393 + ], + [ + 0.2099461704492569, + 0.04628922790288925, + 0.10735867917537689 + ], + [ + 0.2298334687948227, + 0.032646093517541885, + 0.10413780808448792 + ], + [ + 0.2454616129398346, + 0.017747769132256508, + 0.0977315604686737 + ], + [ + 0.25225773453712463, + 0.007213870529085398, + 0.08726146817207336 + ], + [ + 0.2551606595516205, + -0.0025565384421497583, + 0.07791510969400406 + ], + [ + 0.2601608335971832, + -0.013919929042458534, + 0.06630884110927582 + ], + [ + 0.26244720816612244, + -0.018724875524640083, + 0.05620831996202469 + ], + [ + 0.26055097579956055, + -0.019522666931152344, + 0.04618960618972778 + ], + [ + 0.257199764251709, + -0.018688786774873734, + 0.04320091754198074 + ], + [ + 0.25567713379859924, + -0.01853678934276104, + 0.037825167179107666 + ], + [ + 0.2563222050666809, + -0.019364139065146446, + 0.03134520351886749 + ], + [ + 0.25696396827697754, + -0.02041969634592533, + 0.025817304849624634 + ], + [ + 0.2585543990135193, + -0.021671539172530174, + 0.02070467174053192 + ], + [ + 0.25926995277404785, + -0.021943874657154083, + 0.016161873936653137 + ], + [ + 0.2602863013744354, + -0.023769648745656013, + 0.011208182200789452 + ], + [ + 0.26130223274230957, + -0.024722080677747726, + 0.009693065658211708 + ], + [ + 0.2610037326812744, + -0.02561579830944538, + 0.009222031570971012 + ], + [ + 0.2597435712814331, + -0.02537493221461773, + 0.009074214845895767 + ], + [ + 0.2597765028476715, + -0.02284535951912403, + 0.02072099968791008 + ], + [ + 0.2601987421512604, + -0.023010434582829475, + 0.03993560001254082 + ], + [ + 0.2562727928161621, + -0.02616230398416519, + 0.07220833748579025 + ], + [ + 0.24066516757011414, + -0.04099181294441223, + 0.08629132807254791 + ], + [ + 0.21890172362327576, + -0.057945407927036285, + 0.08500707149505615 + ], + [ + 0.2006731480360031, + -0.07738257944583893, + 0.07423719018697739 + ], + [ + 0.19269569218158722, + -0.0870620608329773, + 0.05671639367938042 + ], + [ + 0.18992213904857635, + -0.09582463651895523, + 0.03714887052774429 + ], + [ + 0.19168560206890106, + -0.10148268938064575, + 0.030103834345936775 + ], + [ + 0.1936519742012024, + -0.10821188986301422, + 0.028706980869174004 + ], + [ + 0.19182483851909637, + -0.11188353598117828, + 0.02788749895989895 + ], + [ + 0.18971319496631622, + -0.10773102939128876, + 0.02447420358657837 + ], + [ + 0.19049668312072754, + -0.10675213485956192, + 0.024044860154390335 + ], + [ + 0.19013898074626923, + -0.10500802844762802, + 0.023911800235509872 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8849393760156573, + 0.4650938372546523, + -0.023875161251026893, + 0.44429991804570207, + -0.8277882904250451, + 0.3425844845578445, + 0.1395703535913052, + -0.3137742321844236, + -0.93918360697761 + ], + [ + 0.8786528472166583, + 0.4763440377209389, + -0.032642484675229747, + 0.4591860496136576, + -0.8243109474374914, + 0.3311489600993924, + 0.13083327527148225, + -0.3059539502317598, + -0.9430136978959099 + ], + [ + 0.8262950625450634, + 0.5605364032665655, + -0.05509455714162912, + 0.5533339533053275, + -0.7896105242880016, + 0.26521077665344767, + 0.10515705270283895, + -0.24962804439126923, + -0.9626151015438325 + ], + [ + 0.6782280615364831, + 0.7336726552534137, + -0.04160686815742663, + 0.7277575269786828, + -0.6627549671477713, + 0.1764223212828459, + 0.10186107436275947, + -0.14993428045100815, + -0.9834348138414168 + ], + [ + 0.5582661500567668, + 0.828636094652792, + -0.041244737111110596, + 0.8254555414107356, + -0.5497493841283739, + 0.12805765812626232, + 0.08343892889475864, + -0.10553595258982937, + -0.990908728317524 + ], + [ + 0.4777631618997527, + 0.8752772139466195, + 0.07504771733633789, + 0.866909593837997, + -0.48356689371996003, + 0.12095790759461852, + 0.1421622919173368, + 0.007270353765330438, + -0.9898166621718071 + ], + [ + 0.4454765156871622, + 0.8781994520338864, + 0.17411604296734695, + 0.8752646621884989, + -0.4681017054594684, + 0.12162468692658465, + 0.18831475007358883, + 0.09821667777581622, + -0.9771852634538668 + ], + [ + 0.4255594238154987, + 0.8723948414079585, + 0.2404712404563254, + 0.8796051608988225, + -0.4612045381333696, + 0.11655528699008935, + 0.21258865849799607, + 0.16191854337897302, + -0.96363294235308 + ], + [ + 0.40417488783866334, + 0.880849171988955, + 0.24646986884196706, + 0.8903456198880785, + -0.44061287531196797, + 0.11465152094688337, + 0.20958849488155926, + 0.17310410253859582, + -0.9623448615218924 + ], + [ + 0.3902739365576039, + 0.8892803935134338, + 0.2384672643287203, + 0.8951419663585495, + -0.42709431369193607, + 0.12771572838050743, + 0.21542310578854076, + 0.16361793582797235, + -0.9627159791796398 + ], + [ + 0.3817792907459614, + 0.8973163346886489, + 0.221512908559387, + 0.8968021980227482, + -0.41762121201059477, + 0.14607648989611371, + 0.22358530984632746, + 0.14288428457927238, + -0.9641543913923699 + ], + [ + 0.3758159237648854, + 0.9025661959060973, + 0.21008725199864559, + 0.899448474768632, + -0.4098379536453456, + 0.15174087448073173, + 0.2230579132896376, + 0.1319360214626473, + -0.9658354174286012 + ], + [ + 0.3589169939245271, + 0.9137742170841758, + 0.1902505497084888, + 0.9071805289606869, + -0.38946851466034366, + 0.15917840294108251, + 0.21954971953247618, + 0.11545976043828791, + -0.9687450461152015 + ], + [ + 0.35358018240422745, + 0.9186199414310547, + 0.17640424545968095, + 0.9090614967958679, + -0.381897167247586, + 0.1666185724687567, + 0.22042742491407516, + 0.10144928217328822, + -0.970113288998906 + ], + [ + 0.3520358958182483, + 0.9204752374639643, + 0.1696940342825931, + 0.9092459649899548, + -0.37933784991871616, + 0.17139011280856165, + 0.2221317248952282, + 0.0939581440573622, + -0.9704789353511835 + ], + [ + 0.34666561055146394, + 0.9245558045620627, + 0.15817559455104746, + 0.9105888073467888, + -0.3721805691503648, + 0.17974884667686403, + 0.22505772236413707, + 0.081720182314451, + -0.9709123716416221 + ], + [ + 0.3477887217860683, + 0.9250822480321638, + 0.15253143733070545, + 0.9088850770883928, + -0.37259180396421726, + 0.18735865142746, + 0.23015412584709177, + 0.07347232128120373, + -0.9703766775644973 + ], + [ + 0.34666438740949823, + 0.9258466024562487, + 0.15043892854649915, + 0.9083977213275102, + -0.3713494849015577, + 0.19212792600331519, + 0.23374640615201958, + 0.07005447011839526, + -0.9697705856683045 + ], + [ + 0.3410129989148889, + 0.9266513923431876, + 0.15820028963155003, + 0.909679978513602, + -0.36772275983799463, + 0.19303447512975913, + 0.23704951225971133, + 0.07808437081491332, + -0.9683544597779641 + ], + [ + 0.329521024932503, + 0.9315860709354056, + 0.15350337640119321, + 0.9163556642546011, + -0.35472341907797933, + 0.18564372476907742, + 0.2273943506684839, + 0.07949017798924557, + -0.9705529974644851 + ], + [ + 0.3362942113726042, + 0.9304404704545591, + 0.14555663618529066, + 0.9141146236858503, + -0.35967290066551394, + 0.18716265463636655, + 0.22649648597926345, + 0.07011373237215524, + -0.9714851549930608 + ], + [ + 0.31974633381642664, + 0.9317064140604215, + 0.17229463140105186, + 0.9184898935736455, + -0.34944223683158343, + 0.18511196212350117, + 0.23267702382063263, + 0.0990620064243079, + -0.9674957991997499 + ], + [ + 0.29690310464138, + 0.929275522095571, + 0.21976248653560976, + 0.9259160035405255, + -0.3364395910987938, + 0.17172057514700567, + 0.23351252823318008, + 0.15249723136923093, + -0.9603210367282744 + ], + [ + 0.25742319981426903, + 0.9161711875786083, + 0.3071866716642919, + 0.9331573418860433, + -0.31824114012181, + 0.16715248134007668, + 0.25089972395671756, + 0.24362457138961394, + -0.9368545227161311 + ], + [ + 0.29803134454923136, + 0.902768558031342, + 0.3101390789568268, + 0.9283093383658281, + -0.34977811979180323, + 0.12608346131713552, + 0.2223040484763514, + 0.2503281796860323, + -0.942293326139001 + ], + [ + 0.3802572877774415, + 0.8873932747073764, + 0.26064836676308345, + 0.9039117572195813, + -0.41624260924311984, + 0.09841557504118978, + 0.19582627569443448, + 0.19817988357701263, + -0.9604044999337774 + ], + [ + 0.46372219288957195, + 0.8677196635906942, + 0.17895338286754672, + 0.8718418751603044, + -0.48285724905474414, + 0.0821012895894373, + 0.15764984154337272, + 0.1179468628380462, + -0.9804259610026717 + ], + [ + 0.523702374928634, + 0.8430286837253237, + 0.12263140262778047, + 0.8380536207994828, + -0.5356731645213908, + 0.10353931367609158, + 0.15297696283749881, + 0.04854790652528067, + -0.9870365492792187 + ], + [ + 0.6279741475717819, + 0.7705739120796384, + 0.10892344102063427, + 0.7530100887025859, + -0.6369845930698282, + 0.16500434692391894, + 0.1965305988736042, + -0.021598014120447873, + -0.9802597867363709 + ], + [ + 0.6788785991705604, + 0.7223790660151562, + 0.13150031395889544, + 0.7003106587029239, + -0.6908505240501753, + 0.1796956725318532, + 0.220655452901791, + -0.029900474957240894, + -0.9748933955577075 + ], + [ + 0.6839905852850567, + 0.7136667537499594, + 0.1511179798481981, + 0.6994104899478221, + -0.7004345228012364, + 0.14218454845429424, + 0.2073206352304395, + 0.008440607809809111, + -0.9782366331044079 + ], + [ + 0.6756601419874484, + 0.7241184887920854, + 0.13833216082663974, + 0.714807993106681, + -0.689397974507131, + 0.11738809878460382, + 0.1803688041771635, + 0.019566474770158937, + -0.9834044170862608 + ], + [ + 0.6628882802707783, + 0.7432563401284614, + 0.09027259129157159, + 0.7358490180623248, + -0.6690000676240095, + 0.10471452686128663, + 0.13822210567185933, + -0.0029870349706019803, + -0.9903967523804397 + ], + [ + 0.6573333382475488, + 0.7494865226223589, + 0.07863100429078924, + 0.7444265296903266, + -0.6620181693267577, + 0.08695450174928258, + 0.11722638065534234, + 0.0013769127397491726, + -0.9931042643095217 + ], + [ + 0.6550464163985195, + 0.7533964447783081, + 0.05751512287097356, + 0.7503181230784817, + -0.6575650348972568, + 0.06805100337654114, + 0.08908931778525449, + -0.001421926852949687, + -0.9960226260384766 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0019151121377944946, + -0.0019111037254333496, + -0.002252906560897827, + -0.008705884218215942, + 0.008818075060844421, + 0.016264766454696655, + 1.0 + ], + [ + 0.002705127000808716, + -0.024578697979450226, + 0.004679754376411438, + -0.0599941611289978, + 0.025857605040073395, + 0.10850414633750916, + 1.0 + ], + [ + 0.019709870219230652, + -0.017523333430290222, + 0.008888885378837585, + -0.10243888199329376, + 0.003313779830932617, + 0.23054146766662598, + 1.0 + ], + [ + 0.019887298345565796, + -0.013643134385347366, + -0.003220871090888977, + -0.04519052058458328, + 0.018501996994018555, + 0.15553414821624756, + 1.0 + ], + [ + 0.015628144145011902, + -0.014898324385285378, + -0.006406247615814209, + -0.11344925314188004, + -0.05910950154066086, + 0.09095543622970581, + 1.0 + ], + [ + 0.006796121597290039, + -0.010533899068832397, + -0.010470092296600342, + -0.09282834082841873, + -0.04680036008358002, + 0.03290402889251709, + 1.0 + ], + [ + 0.0029029250144958496, + -0.0097704092040658, + -0.009346358478069305, + -0.06630080193281174, + -0.024777501821517944, + 0.020181775093078613, + 1.0 + ], + [ + 0.005000174045562744, + -0.01136339083313942, + -0.011606268584728241, + -0.011500030755996704, + 0.0030693262815475464, + 0.02447354793548584, + 1.0 + ], + [ + 0.002286374568939209, + -0.004804946482181549, + -0.01010052114725113, + 0.009628236293792725, + -0.005970999598503113, + 0.014992952346801758, + 1.0 + ], + [ + -0.0018962323665618896, + -0.0007977914065122604, + -0.010018713772296906, + 0.021220311522483826, + -0.00836627185344696, + 0.008669853210449219, + 1.0 + ], + [ + -0.0033512115478515625, + 0.0008338801562786102, + -0.00298868864774704, + 0.011362940073013306, + 0.0005410611629486084, + 0.006692051887512207, + 1.0 + ], + [ + -0.0015226304531097412, + 0.0001519974321126938, + -0.005375750362873077, + 0.01713740825653076, + 0.0035973936319351196, + 0.019039154052734375, + 1.0 + ], + [ + 0.000645071268081665, + -0.0008273497223854065, + -0.006479963660240173, + 0.014429345726966858, + -0.0008997470140457153, + 0.005797147750854492, + 1.0 + ], + [ + 0.0006417632102966309, + -0.0010555572807788849, + -0.005527898669242859, + 0.0076804980635643005, + -0.001747623085975647, + 0.0015447139739990234, + 1.0 + ], + [ + 0.001590430736541748, + -0.0012518428266048431, + -0.005112633109092712, + 0.01254492998123169, + -0.0030020028352737427, + 0.005637526512145996, + 1.0 + ], + [ + 0.0007155537605285645, + -0.000272335484623909, + -0.004542797803878784, + 0.00839945673942566, + -0.005233779549598694, + -0.0017014741897583008, + 1.0 + ], + [ + 0.0010163486003875732, + -0.0018257740885019302, + -0.004953691735863686, + 0.0034581422805786133, + -0.003692999482154846, + 0.0009008646011352539, + 1.0 + ], + [ + 0.0010159313678741455, + -0.000952431932091713, + -0.0015151165425777435, + -0.008349128067493439, + -0.003398612141609192, + 0.005905508995056152, + 0.0 + ], + [ + -0.00029850006103515625, + -0.0008937176316976547, + -0.00047103408724069595, + -0.0012574940919876099, + 0.009926572442054749, + 0.013456940650939941, + 0.0 + ], + [ + -0.0012601613998413086, + 0.00024086609482765198, + -0.0001478167250752449, + 0.009672768414020538, + 0.0009219199419021606, + -0.0073223114013671875, + 0.0 + ], + [ + 3.293156623840332e-05, + 0.002529572695493698, + 0.011646784842014313, + -0.02998775988817215, + -0.00635017454624176, + 0.017522692680358887, + 0.0 + ], + [ + 0.0004222393035888672, + -0.00016507506370544434, + 0.019214600324630737, + -0.055448681116104126, + -0.0008591711521148682, + 0.024700164794921875, + 0.0 + ], + [ + -0.003925949335098267, + -0.0031518694013357162, + 0.032272737473249435, + -0.0969272255897522, + -0.017921075224876404, + 0.041132450103759766, + 0.0 + ], + [ + -0.015607625246047974, + -0.01482950896024704, + 0.01408299058675766, + -0.005250424146652222, + 0.02943257987499237, + -0.041484832763671875, + 0.0 + ], + [ + -0.02176344394683838, + -0.016953594982624054, + -0.0012842565774917603, + 0.056166648864746094, + 0.027077049016952515, + -0.08755278587341309, + 0.0 + ], + [ + -0.018228575587272644, + -0.019437171518802643, + -0.010769881308078766, + 0.08376793563365936, + 0.03878968954086304, + -0.09062576293945312, + 0.0 + ], + [ + -0.007977455854415894, + -0.009679481387138367, + -0.01752079650759697, + 0.0705803707242012, + 0.004730284214019775, + -0.06969833374023438, + 0.0 + ], + [ + -0.0027735531330108643, + -0.008762575685977936, + -0.019567523151636124, + 0.07117529958486557, + -0.04423825442790985, + -0.13657349348068237, + 0.0 + ], + [ + 0.001763463020324707, + -0.005658052861690521, + -0.007045036181807518, + 0.0086315106600523, + -0.024668186902999878, + -0.07475662231445312, + 0.0 + ], + [ + 0.0019663721323013306, + -0.006729200482368469, + -0.0013968534767627716, + -0.039289072155952454, + 0.013651147484779358, + -0.004392445087432861, + 0.0 + ], + [ + -0.001827135682106018, + -0.0036716461181640625, + -0.0008194819092750549, + -0.011265870183706284, + 0.027473896741867065, + 0.017001092433929443, + 1.0 + ], + [ + -0.0021116435527801514, + 0.004152506589889526, + -0.0034132953733205795, + 0.022910036146640778, + 0.04269532859325409, + 0.023967623710632324, + 1.0 + ], + [ + 0.0007834881544113159, + 0.0009788945317268372, + -0.00042934343218803406, + -0.004402461927384138, + 0.021169520914554596, + 0.009936928749084473, + 1.0 + ], + [ + -0.000357702374458313, + 0.001744106411933899, + -0.00013305991888046265, + 0.0028140766080468893, + 0.028288953006267548, + 0.005636334419250488, + 1.0 + ], + [ + -0.0026900023221969604, + 0.0013684332370758057, + 0.011529307812452316, + -0.014243001118302345, + 0.022518500685691833, + 0.0032881498336791992, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9961419701576233 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9954678416252136 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9851709604263306 + ], + [ + 0.9116221070289612 + ], + [ + 0.629988968372345 + ], + [ + 0.5266194939613342 + ], + [ + 0.5580781102180481 + ], + [ + 0.5600578188896179 + ], + [ + 0.5600578188896179 + ], + [ + 0.5600578188896179 + ], + [ + 0.5600578188896179 + ], + [ + 0.5600578188896179 + ], + [ + 0.5600578188896179 + ], + [ + 0.5600578188896179 + ], + [ + 0.5600578188896179 + ], + [ + 0.5600578188896179 + ], + [ + 0.6330026388168335 + ], + [ + 0.9157527089118958 + ], + [ + 0.9947922229766846 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.18753117322921753, + 0.0883912593126297, + 0.09379003942012787 + ], + [ + 0.19023630023002625, + 0.06381256133317947, + 0.0984697937965393 + ], + [ + 0.2099461704492569, + 0.04628922790288925, + 0.10735867917537689 + ], + [ + 0.2298334687948227, + 0.032646093517541885, + 0.10413780808448792 + ], + [ + 0.2454616129398346, + 0.017747769132256508, + 0.0977315604686737 + ], + [ + 0.25225773453712463, + 0.007213870529085398, + 0.08726146817207336 + ], + [ + 0.2551606595516205, + -0.0025565384421497583, + 0.07791510969400406 + ], + [ + 0.2601608335971832, + -0.013919929042458534, + 0.06630884110927582 + ], + [ + 0.26244720816612244, + -0.018724875524640083, + 0.05620831996202469 + ], + [ + 0.26055097579956055, + -0.019522666931152344, + 0.04618960618972778 + ], + [ + 0.257199764251709, + -0.018688786774873734, + 0.04320091754198074 + ], + [ + 0.25567713379859924, + -0.01853678934276104, + 0.037825167179107666 + ], + [ + 0.2563222050666809, + -0.019364139065146446, + 0.03134520351886749 + ], + [ + 0.25696396827697754, + -0.02041969634592533, + 0.025817304849624634 + ], + [ + 0.2585543990135193, + -0.021671539172530174, + 0.02070467174053192 + ], + [ + 0.25926995277404785, + -0.021943874657154083, + 0.016161873936653137 + ], + [ + 0.2602863013744354, + -0.023769648745656013, + 0.011208182200789452 + ], + [ + 0.26130223274230957, + -0.024722080677747726, + 0.009693065658211708 + ], + [ + 0.2610037326812744, + -0.02561579830944538, + 0.009222031570971012 + ], + [ + 0.2597435712814331, + -0.02537493221461773, + 0.009074214845895767 + ], + [ + 0.2597765028476715, + -0.02284535951912403, + 0.02072099968791008 + ], + [ + 0.2601987421512604, + -0.023010434582829475, + 0.03993560001254082 + ], + [ + 0.2562727928161621, + -0.02616230398416519, + 0.07220833748579025 + ], + [ + 0.24066516757011414, + -0.04099181294441223, + 0.08629132807254791 + ], + [ + 0.21890172362327576, + -0.057945407927036285, + 0.08500707149505615 + ], + [ + 0.2006731480360031, + -0.07738257944583893, + 0.07423719018697739 + ], + [ + 0.19269569218158722, + -0.0870620608329773, + 0.05671639367938042 + ], + [ + 0.18992213904857635, + -0.09582463651895523, + 0.03714887052774429 + ], + [ + 0.19168560206890106, + -0.10148268938064575, + 0.030103834345936775 + ], + [ + 0.1936519742012024, + -0.10821188986301422, + 0.028706980869174004 + ], + [ + 0.19182483851909637, + -0.11188353598117828, + 0.02788749895989895 + ], + [ + 0.18971319496631622, + -0.10773102939128876, + 0.02447420358657837 + ], + [ + 0.19049668312072754, + -0.10675213485956192, + 0.024044860154390335 + ], + [ + 0.19013898074626923, + -0.10500802844762802, + 0.023911800235509872 + ], + [ + 0.18744897842407227, + -0.10363959521055222, + 0.03544110804796219 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8786528472166583, + 0.4763440377209389, + -0.032642484675229747, + 0.4591860496136576, + -0.8243109474374914, + 0.3311489600993924, + 0.13083327527148225, + -0.3059539502317598, + -0.9430136978959099 + ], + [ + 0.8262950625450634, + 0.5605364032665655, + -0.05509455714162912, + 0.5533339533053275, + -0.7896105242880016, + 0.26521077665344767, + 0.10515705270283895, + -0.24962804439126923, + -0.9626151015438325 + ], + [ + 0.6782280615364831, + 0.7336726552534137, + -0.04160686815742663, + 0.7277575269786828, + -0.6627549671477713, + 0.1764223212828459, + 0.10186107436275947, + -0.14993428045100815, + -0.9834348138414168 + ], + [ + 0.5582661500567668, + 0.828636094652792, + -0.041244737111110596, + 0.8254555414107356, + -0.5497493841283739, + 0.12805765812626232, + 0.08343892889475864, + -0.10553595258982937, + -0.990908728317524 + ], + [ + 0.4777631618997527, + 0.8752772139466195, + 0.07504771733633789, + 0.866909593837997, + -0.48356689371996003, + 0.12095790759461852, + 0.1421622919173368, + 0.007270353765330438, + -0.9898166621718071 + ], + [ + 0.4454765156871622, + 0.8781994520338864, + 0.17411604296734695, + 0.8752646621884989, + -0.4681017054594684, + 0.12162468692658465, + 0.18831475007358883, + 0.09821667777581622, + -0.9771852634538668 + ], + [ + 0.4255594238154987, + 0.8723948414079585, + 0.2404712404563254, + 0.8796051608988225, + -0.4612045381333696, + 0.11655528699008935, + 0.21258865849799607, + 0.16191854337897302, + -0.96363294235308 + ], + [ + 0.40417488783866334, + 0.880849171988955, + 0.24646986884196706, + 0.8903456198880785, + -0.44061287531196797, + 0.11465152094688337, + 0.20958849488155926, + 0.17310410253859582, + -0.9623448615218924 + ], + [ + 0.3902739365576039, + 0.8892803935134338, + 0.2384672643287203, + 0.8951419663585495, + -0.42709431369193607, + 0.12771572838050743, + 0.21542310578854076, + 0.16361793582797235, + -0.9627159791796398 + ], + [ + 0.3817792907459614, + 0.8973163346886489, + 0.221512908559387, + 0.8968021980227482, + -0.41762121201059477, + 0.14607648989611371, + 0.22358530984632746, + 0.14288428457927238, + -0.9641543913923699 + ], + [ + 0.3758159237648854, + 0.9025661959060973, + 0.21008725199864559, + 0.899448474768632, + -0.4098379536453456, + 0.15174087448073173, + 0.2230579132896376, + 0.1319360214626473, + -0.9658354174286012 + ], + [ + 0.3589169939245271, + 0.9137742170841758, + 0.1902505497084888, + 0.9071805289606869, + -0.38946851466034366, + 0.15917840294108251, + 0.21954971953247618, + 0.11545976043828791, + -0.9687450461152015 + ], + [ + 0.35358018240422745, + 0.9186199414310547, + 0.17640424545968095, + 0.9090614967958679, + -0.381897167247586, + 0.1666185724687567, + 0.22042742491407516, + 0.10144928217328822, + -0.970113288998906 + ], + [ + 0.3520358958182483, + 0.9204752374639643, + 0.1696940342825931, + 0.9092459649899548, + -0.37933784991871616, + 0.17139011280856165, + 0.2221317248952282, + 0.0939581440573622, + -0.9704789353511835 + ], + [ + 0.34666561055146394, + 0.9245558045620627, + 0.15817559455104746, + 0.9105888073467888, + -0.3721805691503648, + 0.17974884667686403, + 0.22505772236413707, + 0.081720182314451, + -0.9709123716416221 + ], + [ + 0.3477887217860683, + 0.9250822480321638, + 0.15253143733070545, + 0.9088850770883928, + -0.37259180396421726, + 0.18735865142746, + 0.23015412584709177, + 0.07347232128120373, + -0.9703766775644973 + ], + [ + 0.34666438740949823, + 0.9258466024562487, + 0.15043892854649915, + 0.9083977213275102, + -0.3713494849015577, + 0.19212792600331519, + 0.23374640615201958, + 0.07005447011839526, + -0.9697705856683045 + ], + [ + 0.3410129989148889, + 0.9266513923431876, + 0.15820028963155003, + 0.909679978513602, + -0.36772275983799463, + 0.19303447512975913, + 0.23704951225971133, + 0.07808437081491332, + -0.9683544597779641 + ], + [ + 0.329521024932503, + 0.9315860709354056, + 0.15350337640119321, + 0.9163556642546011, + -0.35472341907797933, + 0.18564372476907742, + 0.2273943506684839, + 0.07949017798924557, + -0.9705529974644851 + ], + [ + 0.3362942113726042, + 0.9304404704545591, + 0.14555663618529066, + 0.9141146236858503, + -0.35967290066551394, + 0.18716265463636655, + 0.22649648597926345, + 0.07011373237215524, + -0.9714851549930608 + ], + [ + 0.31974633381642664, + 0.9317064140604215, + 0.17229463140105186, + 0.9184898935736455, + -0.34944223683158343, + 0.18511196212350117, + 0.23267702382063263, + 0.0990620064243079, + -0.9674957991997499 + ], + [ + 0.29690310464138, + 0.929275522095571, + 0.21976248653560976, + 0.9259160035405255, + -0.3364395910987938, + 0.17172057514700567, + 0.23351252823318008, + 0.15249723136923093, + -0.9603210367282744 + ], + [ + 0.25742319981426903, + 0.9161711875786083, + 0.3071866716642919, + 0.9331573418860433, + -0.31824114012181, + 0.16715248134007668, + 0.25089972395671756, + 0.24362457138961394, + -0.9368545227161311 + ], + [ + 0.29803134454923136, + 0.902768558031342, + 0.3101390789568268, + 0.9283093383658281, + -0.34977811979180323, + 0.12608346131713552, + 0.2223040484763514, + 0.2503281796860323, + -0.942293326139001 + ], + [ + 0.3802572877774415, + 0.8873932747073764, + 0.26064836676308345, + 0.9039117572195813, + -0.41624260924311984, + 0.09841557504118978, + 0.19582627569443448, + 0.19817988357701263, + -0.9604044999337774 + ], + [ + 0.46372219288957195, + 0.8677196635906942, + 0.17895338286754672, + 0.8718418751603044, + -0.48285724905474414, + 0.0821012895894373, + 0.15764984154337272, + 0.1179468628380462, + -0.9804259610026717 + ], + [ + 0.523702374928634, + 0.8430286837253237, + 0.12263140262778047, + 0.8380536207994828, + -0.5356731645213908, + 0.10353931367609158, + 0.15297696283749881, + 0.04854790652528067, + -0.9870365492792187 + ], + [ + 0.6279741475717819, + 0.7705739120796384, + 0.10892344102063427, + 0.7530100887025859, + -0.6369845930698282, + 0.16500434692391894, + 0.1965305988736042, + -0.021598014120447873, + -0.9802597867363709 + ], + [ + 0.6788785991705604, + 0.7223790660151562, + 0.13150031395889544, + 0.7003106587029239, + -0.6908505240501753, + 0.1796956725318532, + 0.220655452901791, + -0.029900474957240894, + -0.9748933955577075 + ], + [ + 0.6839905852850567, + 0.7136667537499594, + 0.1511179798481981, + 0.6994104899478221, + -0.7004345228012364, + 0.14218454845429424, + 0.2073206352304395, + 0.008440607809809111, + -0.9782366331044079 + ], + [ + 0.6756601419874484, + 0.7241184887920854, + 0.13833216082663974, + 0.714807993106681, + -0.689397974507131, + 0.11738809878460382, + 0.1803688041771635, + 0.019566474770158937, + -0.9834044170862608 + ], + [ + 0.6628882802707783, + 0.7432563401284614, + 0.09027259129157159, + 0.7358490180623248, + -0.6690000676240095, + 0.10471452686128663, + 0.13822210567185933, + -0.0029870349706019803, + -0.9903967523804397 + ], + [ + 0.6573333382475488, + 0.7494865226223589, + 0.07863100429078924, + 0.7444265296903266, + -0.6620181693267577, + 0.08695450174928258, + 0.11722638065534234, + 0.0013769127397491726, + -0.9931042643095217 + ], + [ + 0.6550464163985195, + 0.7533964447783081, + 0.05751512287097356, + 0.7503181230784817, + -0.6575650348972568, + 0.06805100337654114, + 0.08908931778525449, + -0.001421926852949687, + -0.9960226260384766 + ], + [ + 0.6537245586288352, + 0.7548504269110506, + 0.053338864233683364, + 0.7537926479995104, + -0.6557723209136027, + 0.0419440930939393, + 0.06663966737177503, + 0.012786559967072324, + -0.9976951731950936 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005464.json b/json/chunk-0005/episode_0005464.json new file mode 100644 index 0000000000000000000000000000000000000000..722b6b9ab55d10497b1552320af79dd110392368 --- /dev/null +++ b/json/chunk-0005/episode_0005464.json @@ -0,0 +1,1642 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 26, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPick green block and place on table." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005464.mp4", + "start": 0, + "end": 26, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.29656746983528137, + 0.10134655237197876, + 0.11738615483045578, + -0.033064622431993484, + -0.2341504693031311, + 0.15129098296165466, + 0.0, + 1.0008161067962646 + ], + [ + 0.29627278447151184, + 0.10123184323310852, + 0.1088181808590889, + -0.03921939432621002, + -0.2071997970342636, + 0.15263831615447998, + 0.0, + 1.0008161067962646 + ], + [ + 0.29555362462997437, + 0.10331067442893982, + 0.10691751539707184, + -0.04010367766022682, + -0.20189251005649567, + 0.15207858383655548, + 0.0, + 1.0008161067962646 + ], + [ + 0.291736364364624, + 0.11283471435308456, + 0.10445757210254669, + -0.03967859596014023, + -0.19287589192390442, + 0.17744992673397064, + 0.0, + 1.0008161067962646 + ], + [ + 0.2897767722606659, + 0.11669771373271942, + 0.1046377420425415, + -0.0341925285756588, + -0.18820515275001526, + 0.1867060661315918, + 0.0, + 1.0008161067962646 + ], + [ + 0.2857009768486023, + 0.12578736245632172, + 0.10066553950309753, + -0.02465968392789364, + -0.1732923984527588, + 0.20551389455795288, + 0.0, + 1.0008161067962646 + ], + [ + 0.28530266880989075, + 0.13045373558998108, + 0.09415477514266968, + -0.017465487122535706, + -0.16182319819927216, + 0.21286745369434357, + 0.0, + 1.0008161067962646 + ], + [ + 0.2850474417209625, + 0.13239042460918427, + 0.09042519330978394, + -0.017645880579948425, + -0.16638164222240448, + 0.22395068407058716, + 0.0, + 1.0008161067962646 + ], + [ + 0.28422030806541443, + 0.13078321516513824, + 0.08220700919628143, + -0.029634572565555573, + -0.15447354316711426, + 0.23872919380664825, + 0.0, + 1.0008161067962646 + ], + [ + 0.2832328975200653, + 0.1291332095861435, + 0.07385006546974182, + -0.035120368003845215, + -0.13931916654109955, + 0.24736471474170685, + 0.0, + 1.0008161067962646 + ], + [ + 0.2824423909187317, + 0.12785184383392334, + 0.06468119472265244, + -0.03900314122438431, + -0.12506352365016937, + 0.2598515450954437, + 0.0, + 0.9468915462493896 + ], + [ + 0.2823277711868286, + 0.12676256895065308, + 0.05668032914400101, + -0.04899553954601288, + -0.11935354769229889, + 0.2860141694545746, + 0.0, + 0.6631406545639038 + ], + [ + 0.28291407227516174, + 0.12456565350294113, + 0.05617779493331909, + -0.045305028557777405, + -0.12130070477724075, + 0.28187721967697144, + 0.0, + 0.5978984832763672 + ], + [ + 0.28756779432296753, + 0.11017149686813354, + 0.06850363314151764, + -0.04102519527077675, + -0.1582299917936325, + 0.23082345724105835, + 0.0, + 0.5978984832763672 + ], + [ + 0.2897004783153534, + 0.08647537231445312, + 0.0912381261587143, + -0.02092437818646431, + -0.22341743111610413, + 0.16225393116474152, + 0.0, + 0.5978984832763672 + ], + [ + 0.28816482424736023, + 0.05407632142305374, + 0.0950077548623085, + -0.021549392491579056, + -0.23050354421138763, + 0.070829376578331, + 0.0, + 0.5978984832763672 + ], + [ + 0.2849787175655365, + 0.021773312240839005, + 0.08190418779850006, + -0.058951977640390396, + -0.20807117223739624, + 2.0435738406376913e-05, + 0.0, + 0.5978984832763672 + ], + [ + 0.27389803528785706, + -0.007272022310644388, + 0.05253685265779495, + -0.11363481730222702, + -0.13669104874134064, + -0.045336946845054626, + 0.0, + 0.5978984832763672 + ], + [ + 0.26522985100746155, + -0.028428616002202034, + 0.037256788462400436, + -0.1298743486404419, + -0.10381249338388443, + -0.08781430870294571, + 0.0, + 0.5978984832763672 + ], + [ + 0.26054731011390686, + -0.037083063274621964, + 0.02711743675172329, + -0.11928422003984451, + -0.09005261957645416, + -0.10783064365386963, + 0.0, + 0.5978984832763672 + ], + [ + 0.2624194920063019, + -0.03688479959964752, + 0.02345147542655468, + -0.10561220347881317, + -0.08774538338184357, + -0.10150162130594254, + 0.0, + 0.6781873106956482 + ], + [ + 0.26382434368133545, + -0.03390100970864296, + 0.023372549563646317, + -0.07751134037971497, + -0.09143878519535065, + -0.08716341853141785, + 0.0, + 0.9476637244224548 + ], + [ + 0.2612050771713257, + -0.03243960440158844, + 0.03103804588317871, + -0.07905317842960358, + -0.09519414603710175, + -0.08923692256212234, + 0.0, + 1.003452181816101 + ], + [ + 0.2646152079105377, + -0.027243681252002716, + 0.06882171332836151, + -0.12502087652683258, + -0.18970179557800293, + -0.07010158896446228, + 0.0, + 0.9994885921478271 + ], + [ + 0.2672324776649475, + -0.01998564414680004, + 0.09885188192129135, + -0.1723322719335556, + -0.2564660608768463, + -0.04959889128804207, + 0.0, + 0.9994885921478271 + ], + [ + 0.27105262875556946, + -0.0015824949368834496, + 0.12360537797212601, + -0.18292486667633057, + -0.30601343512535095, + -0.0005777731421403587, + 0.0, + 0.9994885921478271 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9468915462493896 + ], + [ + 0.6631406545639038 + ], + [ + 0.5978984832763672 + ], + [ + 0.5978984832763672 + ], + [ + 0.5978984832763672 + ], + [ + 0.5978984832763672 + ], + [ + 0.5978984832763672 + ], + [ + 0.5978984832763672 + ], + [ + 0.5978984832763672 + ], + [ + 0.5978984832763672 + ], + [ + 0.6781873106956482 + ], + [ + 0.9476637244224548 + ], + [ + 1.003452181816101 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.29656746983528137, + 0.10134655237197876, + 0.11738615483045578 + ], + [ + 0.29627278447151184, + 0.10123184323310852, + 0.1088181808590889 + ], + [ + 0.29555362462997437, + 0.10331067442893982, + 0.10691751539707184 + ], + [ + 0.291736364364624, + 0.11283471435308456, + 0.10445757210254669 + ], + [ + 0.2897767722606659, + 0.11669771373271942, + 0.1046377420425415 + ], + [ + 0.2857009768486023, + 0.12578736245632172, + 0.10066553950309753 + ], + [ + 0.28530266880989075, + 0.13045373558998108, + 0.09415477514266968 + ], + [ + 0.2850474417209625, + 0.13239042460918427, + 0.09042519330978394 + ], + [ + 0.28422030806541443, + 0.13078321516513824, + 0.08220700919628143 + ], + [ + 0.2832328975200653, + 0.1291332095861435, + 0.07385006546974182 + ], + [ + 0.2824423909187317, + 0.12785184383392334, + 0.06468119472265244 + ], + [ + 0.2823277711868286, + 0.12676256895065308, + 0.05668032914400101 + ], + [ + 0.28291407227516174, + 0.12456565350294113, + 0.05617779493331909 + ], + [ + 0.28756779432296753, + 0.11017149686813354, + 0.06850363314151764 + ], + [ + 0.2897004783153534, + 0.08647537231445312, + 0.0912381261587143 + ], + [ + 0.28816482424736023, + 0.05407632142305374, + 0.0950077548623085 + ], + [ + 0.2849787175655365, + 0.021773312240839005, + 0.08190418779850006 + ], + [ + 0.27389803528785706, + -0.007272022310644388, + 0.05253685265779495 + ], + [ + 0.26522985100746155, + -0.028428616002202034, + 0.037256788462400436 + ], + [ + 0.26054731011390686, + -0.037083063274621964, + 0.02711743675172329 + ], + [ + 0.2624194920063019, + -0.03688479959964752, + 0.02345147542655468 + ], + [ + 0.26382434368133545, + -0.03390100970864296, + 0.023372549563646317 + ], + [ + 0.2612050771713257, + -0.03243960440158844, + 0.03103804588317871 + ], + [ + 0.2646152079105377, + -0.027243681252002716, + 0.06882171332836151 + ], + [ + 0.2672324776649475, + -0.01998564414680004, + 0.09885188192129135 + ], + [ + 0.27105262875556946, + -0.0015824949368834496, + 0.12360537797212601 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9616008336626722, + 0.1430495819933606, + 0.23422351246358433, + 0.14660176658759533, + -0.9891929929756711, + 0.002268188975952927, + 0.23201672080401933, + 0.03215648829333229, + -0.9721801281285227 + ], + [ + 0.9672328657963521, + 0.14395700014852925, + 0.20913384573428662, + 0.1487941527894498, + -0.9888397608611335, + -0.007498495566874588, + 0.2057204010764268, + 0.038370684751942004, + -0.9778582755863047 + ], + [ + 0.9683815866024429, + 0.14342445005517981, + 0.20412381011460864, + 0.1484160520246978, + -0.9888814990272482, + -0.009276657966356051, + 0.20052375976611295, + 0.03927859478127735, + -0.9789011256308119 + ], + [ + 0.9660452486124216, + 0.16889689646956124, + 0.19552599826190661, + 0.1732469145037422, + -0.9848645031183182, + -0.00523613525813954, + 0.19168224813033116, + 0.038932619491357054, + -0.980684539947094 + ], + [ + 0.9652695063498675, + 0.17922983753404828, + 0.19008273316795948, + 0.18234541503918159, + -0.9832338995423938, + 0.0011173203866539638, + 0.1870960441197826, + 0.03358219957323347, + -0.9817674399502929 + ], + [ + 0.964293838345, + 0.19984614253794616, + 0.17377834342221937, + 0.2010137864047786, + -0.9795262213027346, + 0.011038091121260437, + 0.17242636400818162, + 0.024287879551128162, + -0.9847229295095291 + ], + [ + 0.9646592039648691, + 0.20848092841423305, + 0.16114689787086853, + 0.20850337653637024, + -0.9778745359522242, + 0.016962721160075585, + 0.16111785183150037, + 0.01723642723308115, + -0.9867846489469935 + ], + [ + 0.9615630112504302, + 0.21919950172109984, + 0.165372772366635, + 0.21901650683601556, + -0.9755248706892101, + 0.01957029381868558, + 0.1656150510320692, + 0.01740129627417697, + -0.9860369413767538 + ], + [ + 0.9600696334074849, + 0.23193461398925178, + 0.15643731601658967, + 0.23365234897147732, + -0.9722906806193591, + 0.007577083928161211, + 0.15385993250007796, + 0.029277418164862005, + -0.9876588246741236 + ], + [ + 0.9601667389220568, + 0.23997105376628686, + 0.14315630206903596, + 0.2424773376114358, + -0.9701570680766394, + -6.329146241925224e-05, + 0.13886891017305847, + 0.03477292934507101, + -0.9897000905183905 + ], + [ + 0.9588800826199964, + 0.2520410365320325, + 0.13047721279414098, + 0.25493033969629336, + -0.9669428628120523, + -0.005658794850943349, + 0.12473776115115014, + 0.03868870585443808, + -0.9914351592425535 + ], + [ + 0.9525508409736009, + 0.27619731625143457, + 0.12791379071855494, + 0.28012343749218366, + -0.9598699949751877, + -0.013433261476484427, + 0.11907037888596776, + 0.048627515275180916, + -0.9916943125934089 + ], + [ + 0.9534770365121246, + 0.27260994028029484, + 0.1287064928604232, + 0.27611538228864185, + -0.9610737283159659, + -0.009878481889718155, + 0.1210034565938232, + 0.04495674811663328, + -0.9916335282205436 + ], + [ + 0.9613173822399788, + 0.22229556831660668, + 0.1626455376272943, + 0.2259212473212977, + -0.974137732681876, + -0.003907399928725547, + 0.15757055756728092, + 0.040501334202848516, + -0.9866768271910137 + ], + [ + 0.9623380918855676, + 0.1569327286119163, + 0.22198539500711187, + 0.1575279488317762, + -0.9873985229130527, + 0.015136125196860924, + 0.22156340456604776, + 0.020402834105593744, + -0.974932501313584 + ], + [ + 0.9711104387751354, + 0.06584312006139938, + 0.22936695324859788, + 0.06889840203470314, + -0.9976094499573284, + -0.0053287477798712405, + 0.22846777868887494, + 0.02097781915302964, + -0.973325436431492 + ], + [ + 0.9784311781916679, + -0.012150437693187436, + 0.20621541263040477, + 1.999496360895192e-05, + -0.9982630838677116, + -0.058913623103040186, + 0.20657306006027398, + 0.05764704893391864, + -0.9767314823463735 + ], + [ + 0.9896543569717094, + -0.060464473901187615, + 0.13010880493942442, + -0.04489867335080862, + -0.9918293207288019, + -0.11940983072587034, + 0.1362657802173751, + 0.11233274651007259, + -0.9842829832945675 + ], + [ + 0.9907838657758583, + -0.10033174558387933, + 0.09099929750463884, + -0.08722933432471172, + -0.9865804219359237, + -0.1380221514323064, + 0.10362612871044505, + 0.12881231261345538, + -0.9862398357233699 + ], + [ + 0.9901634438334735, + -0.11749681101286087, + 0.07596613651913313, + -0.10718571595833683, + -0.9859754880509211, + -0.12792012842882344, + 0.08993095568453756, + 0.118519350169312, + -0.9888708645951249 + ], + [ + 0.9910257755092106, + -0.10995320276502936, + 0.07601450833939741, + -0.10093760049455598, + -0.988373969190183, + -0.11370355242315287, + 0.08763283107813755, + 0.10501042914375507, + -0.990602491763611 + ], + [ + 0.9920419195386752, + -0.09383545654848607, + 0.08395080090361247, + -0.08668941614508577, + -0.9925970556087852, + -0.0850648595202168, + 0.09131141772223746, + 0.07711026060847712, + -0.9928324293164722 + ], + [ + 0.9915115001502208, + -0.09631655836221324, + 0.08733879810895519, + -0.08871504612527294, + -0.9922414355108089, + -0.0871009428562044, + 0.09505043745743184, + 0.07861332101309204, + -0.9923635221522622 + ], + [ + 0.979648461062014, + -0.09295307315792932, + 0.17790058720904825, + -0.06878763015541721, + -0.9881111517782009, + -0.13749404957727632, + 0.1885660485782875, + 0.12245847427619545, + -0.9743955908159257 + ], + [ + 0.966102898770396, + -0.09228908603394367, + 0.24109731144593233, + -0.04795696461073682, + -0.9818193625088528, + -0.18365965519959424, + 0.25366379034612346, + 0.1658718300427431, + -0.9529644366215924 + ], + [ + 0.9535419759870132, + -0.055369193249458534, + 0.29612827029800204, + -0.0005509310049330064, + -0.9832840208789888, + -0.18207754051248648, + 0.30125968284158144, + 0.17345543151758747, + -0.9376330928306857 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.00029468536376953125, + -0.00011470913887023926, + -0.008567973971366882, + -0.0061547718942165375, + 0.026950672268867493, + 0.0013473331928253174, + 1.0 + ], + [ + -0.0007191598415374756, + 0.002078831195831299, + -0.0019006654620170593, + -0.0008842833340167999, + 0.005307286977767944, + -0.0005597323179244995, + 1.0 + ], + [ + -0.003817260265350342, + 0.009524039924144745, + -0.0024599432945251465, + 0.00042508170008659363, + 0.009016618132591248, + 0.02537134289741516, + 1.0 + ], + [ + -0.00195959210395813, + 0.003862999379634857, + 0.000180169939994812, + 0.00548606738448143, + 0.00467073917388916, + 0.009256139397621155, + 1.0 + ], + [ + -0.004075795412063599, + 0.009089648723602295, + -0.00397220253944397, + 0.00953284464776516, + 0.01491275429725647, + 0.018807828426361084, + 1.0 + ], + [ + -0.00039830803871154785, + 0.004666373133659363, + -0.0065107643604278564, + 0.007194196805357933, + 0.011469200253486633, + 0.007353559136390686, + 1.0 + ], + [ + -0.00025522708892822266, + 0.001936689019203186, + -0.003729581832885742, + -0.00018039345741271973, + -0.004558444023132324, + 0.011083230376243591, + 1.0 + ], + [ + -0.0008271336555480957, + -0.0016072094440460205, + -0.008218184113502502, + -0.011988691985607147, + 0.011908099055290222, + 0.014778509736061096, + 1.0 + ], + [ + -0.000987410545349121, + -0.001650005578994751, + -0.008356943726539612, + -0.005485795438289642, + 0.01515437662601471, + 0.008635520935058594, + 1.0 + ], + [ + -0.0007905066013336182, + -0.0012813657522201538, + -0.009168870747089386, + -0.003882773220539093, + 0.014255642890930176, + 0.012486830353736877, + 0.0 + ], + [ + -0.00011461973190307617, + -0.0010892748832702637, + -0.008000865578651428, + -0.00999239832162857, + 0.005709975957870483, + 0.02616262435913086, + 0.0 + ], + [ + 0.0005863010883331299, + -0.0021969154477119446, + -0.0005025342106819153, + 0.0036905109882354736, + -0.001947157084941864, + -0.004136949777603149, + 0.0 + ], + [ + 0.004653722047805786, + -0.014394156634807587, + 0.012325838208198547, + 0.004279833287000656, + -0.036929287016391754, + -0.051053762435913086, + 0.0 + ], + [ + 0.0021326839923858643, + -0.02369612455368042, + 0.022734493017196655, + 0.02010081708431244, + -0.06518743932247162, + -0.06856952607631683, + 0.0 + ], + [ + -0.001535654067993164, + -0.032399050891399384, + 0.0037696287035942078, + -0.0006250143051147461, + -0.007086113095283508, + -0.09142455458641052, + 0.0 + ], + [ + -0.0031861066818237305, + -0.03230300918221474, + -0.013103567063808441, + -0.03740258514881134, + 0.022432371973991394, + -0.07080893963575363, + 0.0 + ], + [ + -0.011080682277679443, + -0.029045334085822105, + -0.02936733514070511, + -0.054682839661836624, + 0.0713801234960556, + -0.04535738378763199, + 0.0 + ], + [ + -0.008668184280395508, + -0.021156594157218933, + -0.015280064195394516, + -0.016239531338214874, + 0.03287855535745621, + -0.04247736185789108, + 0.0 + ], + [ + -0.0046825408935546875, + -0.00865444727241993, + -0.010139351710677147, + 0.010590128600597382, + 0.013759873807430267, + -0.02001633495092392, + 0.0 + ], + [ + 0.0018721818923950195, + 0.00019826367497444153, + -0.0036659613251686096, + 0.013672016561031342, + 0.0023072361946105957, + 0.0063290223479270935, + 1.0 + ], + [ + 0.0014048516750335693, + 0.0029837898910045624, + -7.892586290836334e-05, + 0.028100863099098206, + -0.00369340181350708, + 0.014338202774524689, + 1.0 + ], + [ + -0.0026192665100097656, + 0.0014614053070545197, + 0.007665496319532394, + -0.0015418380498886108, + -0.0037553608417510986, + -0.0020735040307044983, + 1.0 + ], + [ + 0.003410130739212036, + 0.005195923149585724, + 0.0377836674451828, + -0.045967698097229004, + -0.09450764954090118, + 0.019135333597660065, + 1.0 + ], + [ + 0.00261726975440979, + 0.007258037105202675, + 0.03003016859292984, + -0.04731139540672302, + -0.06676426529884338, + 0.020502697676420212, + 1.0 + ], + [ + 0.0038201510906219482, + 0.018403150141239166, + 0.024753496050834656, + -0.010592594742774963, + -0.04954737424850464, + 0.04902111738920212, + 1.0 + ], + [ + 0.0069453418254852295, + 0.02831292524933815, + 0.007384829223155975, + 0.0611906573176384, + -0.0024755895137786865, + 0.05392888933420181, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9468915462493896 + ], + [ + 0.6631406545639038 + ], + [ + 0.5978984832763672 + ], + [ + 0.5978984832763672 + ], + [ + 0.5978984832763672 + ], + [ + 0.5978984832763672 + ], + [ + 0.5978984832763672 + ], + [ + 0.5978984832763672 + ], + [ + 0.5978984832763672 + ], + [ + 0.5978984832763672 + ], + [ + 0.6781873106956482 + ], + [ + 0.9476637244224548 + ], + [ + 1.003452181816101 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.29627278447151184, + 0.10123184323310852, + 0.1088181808590889 + ], + [ + 0.29555362462997437, + 0.10331067442893982, + 0.10691751539707184 + ], + [ + 0.291736364364624, + 0.11283471435308456, + 0.10445757210254669 + ], + [ + 0.2897767722606659, + 0.11669771373271942, + 0.1046377420425415 + ], + [ + 0.2857009768486023, + 0.12578736245632172, + 0.10066553950309753 + ], + [ + 0.28530266880989075, + 0.13045373558998108, + 0.09415477514266968 + ], + [ + 0.2850474417209625, + 0.13239042460918427, + 0.09042519330978394 + ], + [ + 0.28422030806541443, + 0.13078321516513824, + 0.08220700919628143 + ], + [ + 0.2832328975200653, + 0.1291332095861435, + 0.07385006546974182 + ], + [ + 0.2824423909187317, + 0.12785184383392334, + 0.06468119472265244 + ], + [ + 0.2823277711868286, + 0.12676256895065308, + 0.05668032914400101 + ], + [ + 0.28291407227516174, + 0.12456565350294113, + 0.05617779493331909 + ], + [ + 0.28756779432296753, + 0.11017149686813354, + 0.06850363314151764 + ], + [ + 0.2897004783153534, + 0.08647537231445312, + 0.0912381261587143 + ], + [ + 0.28816482424736023, + 0.05407632142305374, + 0.0950077548623085 + ], + [ + 0.2849787175655365, + 0.021773312240839005, + 0.08190418779850006 + ], + [ + 0.27389803528785706, + -0.007272022310644388, + 0.05253685265779495 + ], + [ + 0.26522985100746155, + -0.028428616002202034, + 0.037256788462400436 + ], + [ + 0.26054731011390686, + -0.037083063274621964, + 0.02711743675172329 + ], + [ + 0.2624194920063019, + -0.03688479959964752, + 0.02345147542655468 + ], + [ + 0.26382434368133545, + -0.03390100970864296, + 0.023372549563646317 + ], + [ + 0.2612050771713257, + -0.03243960440158844, + 0.03103804588317871 + ], + [ + 0.2646152079105377, + -0.027243681252002716, + 0.06882171332836151 + ], + [ + 0.2672324776649475, + -0.01998564414680004, + 0.09885188192129135 + ], + [ + 0.27105262875556946, + -0.0015824949368834496, + 0.12360537797212601 + ], + [ + 0.2779979705810547, + 0.026730429381132126, + 0.13099020719528198 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9672328657963521, + 0.14395700014852925, + 0.20913384573428662, + 0.1487941527894498, + -0.9888397608611335, + -0.007498495566874588, + 0.2057204010764268, + 0.038370684751942004, + -0.9778582755863047 + ], + [ + 0.9683815866024429, + 0.14342445005517981, + 0.20412381011460864, + 0.1484160520246978, + -0.9888814990272482, + -0.009276657966356051, + 0.20052375976611295, + 0.03927859478127735, + -0.9789011256308119 + ], + [ + 0.9660452486124216, + 0.16889689646956124, + 0.19552599826190661, + 0.1732469145037422, + -0.9848645031183182, + -0.00523613525813954, + 0.19168224813033116, + 0.038932619491357054, + -0.980684539947094 + ], + [ + 0.9652695063498675, + 0.17922983753404828, + 0.19008273316795948, + 0.18234541503918159, + -0.9832338995423938, + 0.0011173203866539638, + 0.1870960441197826, + 0.03358219957323347, + -0.9817674399502929 + ], + [ + 0.964293838345, + 0.19984614253794616, + 0.17377834342221937, + 0.2010137864047786, + -0.9795262213027346, + 0.011038091121260437, + 0.17242636400818162, + 0.024287879551128162, + -0.9847229295095291 + ], + [ + 0.9646592039648691, + 0.20848092841423305, + 0.16114689787086853, + 0.20850337653637024, + -0.9778745359522242, + 0.016962721160075585, + 0.16111785183150037, + 0.01723642723308115, + -0.9867846489469935 + ], + [ + 0.9615630112504302, + 0.21919950172109984, + 0.165372772366635, + 0.21901650683601556, + -0.9755248706892101, + 0.01957029381868558, + 0.1656150510320692, + 0.01740129627417697, + -0.9860369413767538 + ], + [ + 0.9600696334074849, + 0.23193461398925178, + 0.15643731601658967, + 0.23365234897147732, + -0.9722906806193591, + 0.007577083928161211, + 0.15385993250007796, + 0.029277418164862005, + -0.9876588246741236 + ], + [ + 0.9601667389220568, + 0.23997105376628686, + 0.14315630206903596, + 0.2424773376114358, + -0.9701570680766394, + -6.329146241925224e-05, + 0.13886891017305847, + 0.03477292934507101, + -0.9897000905183905 + ], + [ + 0.9588800826199964, + 0.2520410365320325, + 0.13047721279414098, + 0.25493033969629336, + -0.9669428628120523, + -0.005658794850943349, + 0.12473776115115014, + 0.03868870585443808, + -0.9914351592425535 + ], + [ + 0.9525508409736009, + 0.27619731625143457, + 0.12791379071855494, + 0.28012343749218366, + -0.9598699949751877, + -0.013433261476484427, + 0.11907037888596776, + 0.048627515275180916, + -0.9916943125934089 + ], + [ + 0.9534770365121246, + 0.27260994028029484, + 0.1287064928604232, + 0.27611538228864185, + -0.9610737283159659, + -0.009878481889718155, + 0.1210034565938232, + 0.04495674811663328, + -0.9916335282205436 + ], + [ + 0.9613173822399788, + 0.22229556831660668, + 0.1626455376272943, + 0.2259212473212977, + -0.974137732681876, + -0.003907399928725547, + 0.15757055756728092, + 0.040501334202848516, + -0.9866768271910137 + ], + [ + 0.9623380918855676, + 0.1569327286119163, + 0.22198539500711187, + 0.1575279488317762, + -0.9873985229130527, + 0.015136125196860924, + 0.22156340456604776, + 0.020402834105593744, + -0.974932501313584 + ], + [ + 0.9711104387751354, + 0.06584312006139938, + 0.22936695324859788, + 0.06889840203470314, + -0.9976094499573284, + -0.0053287477798712405, + 0.22846777868887494, + 0.02097781915302964, + -0.973325436431492 + ], + [ + 0.9784311781916679, + -0.012150437693187436, + 0.20621541263040477, + 1.999496360895192e-05, + -0.9982630838677116, + -0.058913623103040186, + 0.20657306006027398, + 0.05764704893391864, + -0.9767314823463735 + ], + [ + 0.9896543569717094, + -0.060464473901187615, + 0.13010880493942442, + -0.04489867335080862, + -0.9918293207288019, + -0.11940983072587034, + 0.1362657802173751, + 0.11233274651007259, + -0.9842829832945675 + ], + [ + 0.9907838657758583, + -0.10033174558387933, + 0.09099929750463884, + -0.08722933432471172, + -0.9865804219359237, + -0.1380221514323064, + 0.10362612871044505, + 0.12881231261345538, + -0.9862398357233699 + ], + [ + 0.9901634438334735, + -0.11749681101286087, + 0.07596613651913313, + -0.10718571595833683, + -0.9859754880509211, + -0.12792012842882344, + 0.08993095568453756, + 0.118519350169312, + -0.9888708645951249 + ], + [ + 0.9910257755092106, + -0.10995320276502936, + 0.07601450833939741, + -0.10093760049455598, + -0.988373969190183, + -0.11370355242315287, + 0.08763283107813755, + 0.10501042914375507, + -0.990602491763611 + ], + [ + 0.9920419195386752, + -0.09383545654848607, + 0.08395080090361247, + -0.08668941614508577, + -0.9925970556087852, + -0.0850648595202168, + 0.09131141772223746, + 0.07711026060847712, + -0.9928324293164722 + ], + [ + 0.9915115001502208, + -0.09631655836221324, + 0.08733879810895519, + -0.08871504612527294, + -0.9922414355108089, + -0.0871009428562044, + 0.09505043745743184, + 0.07861332101309204, + -0.9923635221522622 + ], + [ + 0.979648461062014, + -0.09295307315792932, + 0.17790058720904825, + -0.06878763015541721, + -0.9881111517782009, + -0.13749404957727632, + 0.1885660485782875, + 0.12245847427619545, + -0.9743955908159257 + ], + [ + 0.966102898770396, + -0.09228908603394367, + 0.24109731144593233, + -0.04795696461073682, + -0.9818193625088528, + -0.18365965519959424, + 0.25366379034612346, + 0.1658718300427431, + -0.9529644366215924 + ], + [ + 0.9535419759870132, + -0.055369193249458534, + 0.29612827029800204, + -0.0005509310049330064, + -0.9832840208789888, + -0.18207754051248648, + 0.30125968284158144, + 0.17345543151758747, + -0.9376330928306857 + ], + [ + 0.9514377525531221, + 0.016113994502073407, + 0.30741916368022826, + 0.050808480611851434, + -0.9931533367572661, + -0.10519005649691106, + 0.30361933620008286, + 0.11570129156191546, + -0.9457423062422056 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005465.json b/json/chunk-0005/episode_0005465.json new file mode 100644 index 0000000000000000000000000000000000000000..d94de7049a8031c9cb4b10d2579e4d97de508cea --- /dev/null +++ b/json/chunk-0005/episode_0005465.json @@ -0,0 +1,1282 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 20, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut carrot on plate." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005465.mp4", + "start": 0, + "end": 20, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.27354517579078674, + -0.04520038142800331, + 0.1660948097705841, + -0.04840873181819916, + -0.29808592796325684, + 0.17528638243675232, + 0.0, + 1.0008161067962646 + ], + [ + 0.27663561701774597, + -0.04698165878653526, + 0.15507963299751282, + -0.04961100220680237, + -0.2696276903152466, + 0.15554527938365936, + 0.0, + 1.0008161067962646 + ], + [ + 0.2867114245891571, + -0.04159446805715561, + 0.14865578711032867, + -0.051712486892938614, + -0.28345638513565063, + 0.14828181266784668, + 0.0, + 1.0008161067962646 + ], + [ + 0.2955089509487152, + -0.04217292368412018, + 0.14389778673648834, + -0.053323376923799515, + -0.31144097447395325, + 0.13651637732982635, + 0.0, + 1.0008161067962646 + ], + [ + 0.3029767572879791, + -0.0370599627494812, + 0.13668443262577057, + -0.05348043516278267, + -0.3216063678264618, + 0.13586415350437164, + 0.0, + 1.0008161067962646 + ], + [ + 0.3115680515766144, + -0.03522470220923424, + 0.12833751738071442, + -0.049198418855667114, + -0.3086570203304291, + 0.1116047129034996, + 0.0, + 1.0008161067962646 + ], + [ + 0.32227134704589844, + -0.032528676092624664, + 0.1255144327878952, + -0.04568096995353699, + -0.3056049346923828, + 0.09778448194265366, + 0.0, + 1.0001531839370728 + ], + [ + 0.32557934522628784, + -0.03202168643474579, + 0.11780162900686264, + -0.06229940429329872, + -0.28341144323349, + 0.1032315120100975, + 0.0, + 1.0008161067962646 + ], + [ + 0.32590800523757935, + -0.032738905400037766, + 0.1104031503200531, + -0.0894840881228447, + -0.25050005316734314, + 0.11741197109222412, + 0.0, + 1.0008161067962646 + ], + [ + 0.32668814063072205, + -0.034774620085954666, + 0.10569705814123154, + -0.10407514870166779, + -0.21076564490795135, + 0.1218976378440857, + 0.0, + 0.9537920951843262 + ], + [ + 0.32719969749450684, + -0.03372390940785408, + 0.10413605719804764, + -0.10955438017845154, + -0.19960322976112366, + 0.12238572537899017, + 0.0, + 0.7681795358657837 + ], + [ + 0.32735511660575867, + -0.032590534538030624, + 0.10173054784536362, + -0.11760513484477997, + -0.19035498797893524, + 0.134388729929924, + 0.0, + 0.4699908196926117 + ], + [ + 0.32563337683677673, + -0.03155140206217766, + 0.10037937015295029, + -0.12728792428970337, + -0.18231427669525146, + 0.1473122239112854, + 0.0, + 0.39711064100265503 + ], + [ + 0.3179570138454437, + -0.031150830909609795, + 0.10325131565332413, + -0.129171222448349, + -0.15816932916641235, + 0.16770097613334656, + 0.0, + 0.3962334990501404 + ], + [ + 0.31464892625808716, + -0.03493966907262802, + 0.11223247647285461, + -0.10172377526760101, + -0.14565187692642212, + 0.16011863946914673, + 0.0, + 0.3962334990501404 + ], + [ + 0.3188551664352417, + -0.03883057087659836, + 0.13287568092346191, + -0.040478337556123734, + -0.14959174394607544, + 0.14415991306304932, + 0.0, + 0.3962334990501404 + ], + [ + 0.31803038716316223, + -0.03241312876343727, + 0.16427657008171082, + 0.01188366673886776, + -0.20358771085739136, + 0.14539827406406403, + 0.0, + 0.39711064100265503 + ], + [ + 0.31447169184684753, + -0.02121318317949772, + 0.18105007708072662, + 0.037820812314748764, + -0.2484162151813507, + 0.14693117141723633, + 0.0, + 0.3962334990501404 + ], + [ + 0.31305378675460815, + -0.0034143333323299885, + 0.193719744682312, + 0.0314149335026741, + -0.3104313910007477, + 0.1754007637500763, + 0.0, + 0.3962334990501404 + ], + [ + 0.31492072343826294, + 0.009571874514222145, + 0.19238989055156708, + 0.007018658332526684, + -0.34151560068130493, + 0.1912081241607666, + 0.0, + 0.3962334990501404 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9537920951843262 + ], + [ + 0.7681795358657837 + ], + [ + 0.4699908196926117 + ], + [ + 0.39711064100265503 + ], + [ + 0.3962334990501404 + ], + [ + 0.3962334990501404 + ], + [ + 0.3962334990501404 + ], + [ + 0.39711064100265503 + ], + [ + 0.3962334990501404 + ], + [ + 0.3962334990501404 + ], + [ + 0.3962334990501404 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.27354517579078674, + -0.04520038142800331, + 0.1660948097705841 + ], + [ + 0.27663561701774597, + -0.04698165878653526, + 0.15507963299751282 + ], + [ + 0.2867114245891571, + -0.04159446805715561, + 0.14865578711032867 + ], + [ + 0.2955089509487152, + -0.04217292368412018, + 0.14389778673648834 + ], + [ + 0.3029767572879791, + -0.0370599627494812, + 0.13668443262577057 + ], + [ + 0.3115680515766144, + -0.03522470220923424, + 0.12833751738071442 + ], + [ + 0.32227134704589844, + -0.032528676092624664, + 0.1255144327878952 + ], + [ + 0.32557934522628784, + -0.03202168643474579, + 0.11780162900686264 + ], + [ + 0.32590800523757935, + -0.032738905400037766, + 0.1104031503200531 + ], + [ + 0.32668814063072205, + -0.034774620085954666, + 0.10569705814123154 + ], + [ + 0.32719969749450684, + -0.03372390940785408, + 0.10413605719804764 + ], + [ + 0.32735511660575867, + -0.032590534538030624, + 0.10173054784536362 + ], + [ + 0.32563337683677673, + -0.03155140206217766, + 0.10037937015295029 + ], + [ + 0.3179570138454437, + -0.031150830909609795, + 0.10325131565332413 + ], + [ + 0.31464892625808716, + -0.03493966907262802, + 0.11223247647285461 + ], + [ + 0.3188551664352417, + -0.03883057087659836, + 0.13287568092346191 + ], + [ + 0.31803038716316223, + -0.03241312876343727, + 0.16427657008171082 + ], + [ + 0.31447169184684753, + -0.02121318317949772, + 0.18105007708072662 + ], + [ + 0.31305378675460815, + -0.0034143333323299885, + 0.193719744682312 + ], + [ + 0.31492072343826294, + 0.009571874514222145, + 0.19238989055156708 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9412527771339189, + 0.16019195501239927, + 0.2972906777667124, + 0.16669960097972805, + -0.9860014875644064, + 0.0035084973959710435, + 0.29369108357402546, + 0.04625585444117898, + -0.954780573408902 + ], + [ + 0.9522335283633389, + 0.1416780960944946, + 0.2705154793126364, + 0.14932162282484923, + -0.988758098545157, + -0.00777660069176337, + 0.2663725969720979, + 0.047798950285595415, + -0.9626842161030456 + ], + [ + 0.9495587966631569, + 0.13324387569654744, + 0.2838734951857619, + 0.1418434205522468, + -0.9898400150257731, + -0.00985843292901814, + 0.27967576892833634, + 0.04962674927033312, + -0.9588110606533509 + ], + [ + 0.9430366845687538, + 0.11971908040195259, + 0.31040160010103635, + 0.1295457227040633, + -0.9915106620899861, + -0.011158525483216903, + 0.30643060762047714, + 0.05073409848995522, + -0.9505400222840471 + ], + [ + 0.9399860195784865, + 0.1185119809903972, + 0.31997061327366394, + 0.12850205564927197, + -0.9916566821084182, + -0.010210118688571513, + 0.3160909753392277, + 0.0507142503785183, + -0.9473724505798342 + ], + [ + 0.9468150599186462, + 0.09639191750316765, + 0.3070013689730272, + 0.1061099439564205, + -0.9942400378685534, + -0.015080679450968026, + 0.3037793971039109, + 0.046854512474254484, + -0.9515895819921445 + ], + [ + 0.9491093722107765, + 0.08385325172364731, + 0.30357870768062145, + 0.09310510856733988, + -0.9955260416142978, + -0.0161040127431385, + 0.30087013534136187, + 0.043549197962051533, + -0.9526702624814802 + ], + [ + 0.9549958095478474, + 0.08553135023940563, + 0.28402005540502917, + 0.09893736140373192, + -0.9945407422255994, + -0.033167914794589984, + 0.2796326201724667, + 0.059775414507788824, + -0.9582444873600385 + ], + [ + 0.9621186012957839, + 0.0946737394691633, + 0.25566517184702714, + 0.11348621204546624, + -0.9917366401312974, + -0.05982738751322326, + 0.24788843602761385, + 0.08657551429827548, + -0.9649124331294384 + ], + [ + 0.9706149039648733, + 0.09936517158250288, + 0.219164939891489, + 0.11890518702383021, + -0.9898516810571628, + -0.07781520421573884, + 0.209208663061758, + 0.10158844513373036, + -0.9725798286594387 + ], + [ + 0.9728140458508, + 0.09983164035580715, + 0.2089652501715696, + 0.11965656601211384, + -0.9892165606031728, + -0.08445651211492428, + 0.19828045391713864, + 0.10716454550035887, + -0.9742692758073177 + ], + [ + 0.9730834130687299, + 0.11105873654475637, + 0.2019272845545983, + 0.13156443164858783, + -0.9871127087740122, + -0.09110049671552775, + 0.18920748276824406, + 0.11521483070297076, + -0.9751543832904563 + ], + [ + 0.972775399050722, + 0.12282601210904093, + 0.19652428285354076, + 0.14434737671413334, + -0.9845448679032638, + -0.09917276804190324, + 0.18130597849342098, + 0.12484059369746205, + -0.9754706393981362 + ], + [ + 0.9736635228140655, + 0.1455207669649976, + 0.17550797908705607, + 0.16483245645705047, + -0.9811435931205797, + -0.10093320056736936, + 0.15751065246401025, + 0.1272043869540556, + -0.9792902727485884 + ], + [ + 0.9767553234220657, + 0.14406119437665457, + 0.15873062225489892, + 0.15774714932046333, + -0.9844549310072938, + -0.07722904697516168, + 0.1451374350328788, + 0.10047318592637557, + -0.9842968372710951 + ], + [ + 0.9785747937013081, + 0.13757497052936749, + 0.1531812671846205, + 0.14205670123746714, + -0.9896827267169191, + -0.018654599210192913, + 0.14903444825264867, + 0.04001534608131738, + -0.9880220166130009 + ], + [ + 0.9690137028855328, + 0.14725356401236692, + 0.19831498053784008, + 0.14189424461197228, + -0.9890303057269388, + 0.04104969792429012, + 0.2021842401525547, + -0.011637965429294142, + -0.9792783520504271 + ], + [ + 0.9588588213183676, + 0.15549494867402153, + 0.23751017181757506, + 0.1419089357346881, + -0.9871565319620642, + 0.07337462342852677, + 0.24586910082114583, + -0.03665108922656129, + -0.9686098713723228 + ], + [ + 0.9375919469751051, + 0.1838641739562221, + 0.29515302218142325, + 0.16616186243876632, + -0.9824965398534476, + 0.08420679691618087, + 0.30546943617702926, + -0.0299084387990835, + -0.9517320572778292 + ], + [ + 0.9250760102677356, + 0.19234825791106894, + 0.3274698809138109, + 0.17906968143124954, + -0.9813044443107644, + 0.07053819368294809, + 0.334915548189748, + -0.006613263530149051, + -0.9422249414689899 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + 0.0030904412269592285, + -0.001781277358531952, + -0.011015176773071289, + -0.0012022703886032104, + 0.028458237648010254, + -0.019741103053092957, + 1.0 + ], + [ + 0.010075807571411133, + 0.005387190729379654, + -0.006423845887184143, + -0.0021014846861362457, + -0.013828694820404053, + -0.007263466715812683, + 1.0 + ], + [ + 0.008797526359558105, + -0.0005784556269645691, + -0.004758000373840332, + -0.0016108900308609009, + -0.027984589338302612, + -0.011765435338020325, + 1.0 + ], + [ + 0.007467806339263916, + 0.005112960934638977, + -0.0072133541107177734, + -0.0001570582389831543, + -0.010165393352508545, + -0.0006522238254547119, + 1.0 + ], + [ + 0.008591294288635254, + 0.0018352605402469635, + -0.008346915245056152, + 0.004282016307115555, + 0.012949347496032715, + -0.02425944060087204, + 1.0 + ], + [ + 0.010703295469284058, + 0.0026960261166095734, + -0.002823084592819214, + 0.003517448902130127, + 0.0030520856380462646, + -0.013820230960845947, + 1.0 + ], + [ + 0.0033079981803894043, + 0.0005069896578788757, + -0.007712803781032562, + -0.016618434339761734, + 0.022193491458892822, + 0.005447030067443848, + 1.0 + ], + [ + 0.0003286600112915039, + -0.0007172189652919769, + -0.00739847868680954, + -0.027184683829545975, + 0.03291139006614685, + 0.014180459082126617, + 1.0 + ], + [ + 0.0007801353931427002, + -0.0020357146859169006, + -0.004706092178821564, + -0.01459106057882309, + 0.039734408259391785, + 0.004485666751861572, + 0.0 + ], + [ + 0.00051155686378479, + 0.001050710678100586, + -0.001561000943183899, + -0.0054792314767837524, + 0.011162415146827698, + 0.00048808753490448, + 0.0 + ], + [ + 0.00015541911125183105, + 0.0011333748698234558, + -0.002405509352684021, + -0.00805075466632843, + 0.009248241782188416, + 0.012003004550933838, + 0.0 + ], + [ + -0.0017217397689819336, + 0.0010391324758529663, + -0.00135117769241333, + -0.009682789444923401, + 0.008040711283683777, + 0.01292349398136139, + 0.0 + ], + [ + -0.007676362991333008, + 0.00040057115256786346, + 0.0028719455003738403, + -0.0018832981586456299, + 0.02414494752883911, + 0.020388752222061157, + 0.0 + ], + [ + -0.0033080875873565674, + -0.0037888381630182266, + 0.008981160819530487, + 0.027447447180747986, + 0.012517452239990234, + -0.007582336664199829, + 0.0 + ], + [ + 0.004206240177154541, + -0.003890901803970337, + 0.0206432044506073, + 0.06124543771147728, + -0.00393986701965332, + -0.015958726406097412, + 0.0 + ], + [ + -0.0008247792720794678, + 0.006417442113161087, + 0.0314008891582489, + 0.052362002432346344, + -0.05399596691131592, + 0.0012383610010147095, + 0.0 + ], + [ + -0.0035586953163146973, + 0.011199945583939552, + 0.016773506999015808, + 0.025937145575881004, + -0.04482850432395935, + 0.0015328973531723022, + 0.0 + ], + [ + -0.0014179050922393799, + 0.017798850312829018, + 0.012669667601585388, + -0.006405878812074661, + -0.06201517581939697, + 0.028469592332839966, + 0.0 + ], + [ + 0.0018669366836547852, + 0.012986207380890846, + -0.001329854130744934, + -0.024396274238824844, + -0.03108420968055725, + 0.015807360410690308, + 0.0 + ], + [ + -0.0005733370780944824, + 0.01864676922559738, + 0.0018539130687713623, + -0.02680158242583275, + -0.07086282968521118, + 0.016796469688415527, + 0.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9537920951843262 + ], + [ + 0.7681795358657837 + ], + [ + 0.4699908196926117 + ], + [ + 0.39711064100265503 + ], + [ + 0.3962334990501404 + ], + [ + 0.3962334990501404 + ], + [ + 0.3962334990501404 + ], + [ + 0.39711064100265503 + ], + [ + 0.3962334990501404 + ], + [ + 0.3962334990501404 + ], + [ + 0.3962334990501404 + ], + [ + 0.3962334990501404 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.27663561701774597, + -0.04698165878653526, + 0.15507963299751282 + ], + [ + 0.2867114245891571, + -0.04159446805715561, + 0.14865578711032867 + ], + [ + 0.2955089509487152, + -0.04217292368412018, + 0.14389778673648834 + ], + [ + 0.3029767572879791, + -0.0370599627494812, + 0.13668443262577057 + ], + [ + 0.3115680515766144, + -0.03522470220923424, + 0.12833751738071442 + ], + [ + 0.32227134704589844, + -0.032528676092624664, + 0.1255144327878952 + ], + [ + 0.32557934522628784, + -0.03202168643474579, + 0.11780162900686264 + ], + [ + 0.32590800523757935, + -0.032738905400037766, + 0.1104031503200531 + ], + [ + 0.32668814063072205, + -0.034774620085954666, + 0.10569705814123154 + ], + [ + 0.32719969749450684, + -0.03372390940785408, + 0.10413605719804764 + ], + [ + 0.32735511660575867, + -0.032590534538030624, + 0.10173054784536362 + ], + [ + 0.32563337683677673, + -0.03155140206217766, + 0.10037937015295029 + ], + [ + 0.3179570138454437, + -0.031150830909609795, + 0.10325131565332413 + ], + [ + 0.31464892625808716, + -0.03493966907262802, + 0.11223247647285461 + ], + [ + 0.3188551664352417, + -0.03883057087659836, + 0.13287568092346191 + ], + [ + 0.31803038716316223, + -0.03241312876343727, + 0.16427657008171082 + ], + [ + 0.31447169184684753, + -0.02121318317949772, + 0.18105007708072662 + ], + [ + 0.31305378675460815, + -0.0034143333323299885, + 0.193719744682312 + ], + [ + 0.31492072343826294, + 0.009571874514222145, + 0.19238989055156708 + ], + [ + 0.31434738636016846, + 0.028218643739819527, + 0.19424380362033844 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9522335283633389, + 0.1416780960944946, + 0.2705154793126364, + 0.14932162282484923, + -0.988758098545157, + -0.00777660069176337, + 0.2663725969720979, + 0.047798950285595415, + -0.9626842161030456 + ], + [ + 0.9495587966631569, + 0.13324387569654744, + 0.2838734951857619, + 0.1418434205522468, + -0.9898400150257731, + -0.00985843292901814, + 0.27967576892833634, + 0.04962674927033312, + -0.9588110606533509 + ], + [ + 0.9430366845687538, + 0.11971908040195259, + 0.31040160010103635, + 0.1295457227040633, + -0.9915106620899861, + -0.011158525483216903, + 0.30643060762047714, + 0.05073409848995522, + -0.9505400222840471 + ], + [ + 0.9399860195784865, + 0.1185119809903972, + 0.31997061327366394, + 0.12850205564927197, + -0.9916566821084182, + -0.010210118688571513, + 0.3160909753392277, + 0.0507142503785183, + -0.9473724505798342 + ], + [ + 0.9468150599186462, + 0.09639191750316765, + 0.3070013689730272, + 0.1061099439564205, + -0.9942400378685534, + -0.015080679450968026, + 0.3037793971039109, + 0.046854512474254484, + -0.9515895819921445 + ], + [ + 0.9491093722107765, + 0.08385325172364731, + 0.30357870768062145, + 0.09310510856733988, + -0.9955260416142978, + -0.0161040127431385, + 0.30087013534136187, + 0.043549197962051533, + -0.9526702624814802 + ], + [ + 0.9549958095478474, + 0.08553135023940563, + 0.28402005540502917, + 0.09893736140373192, + -0.9945407422255994, + -0.033167914794589984, + 0.2796326201724667, + 0.059775414507788824, + -0.9582444873600385 + ], + [ + 0.9621186012957839, + 0.0946737394691633, + 0.25566517184702714, + 0.11348621204546624, + -0.9917366401312974, + -0.05982738751322326, + 0.24788843602761385, + 0.08657551429827548, + -0.9649124331294384 + ], + [ + 0.9706149039648733, + 0.09936517158250288, + 0.219164939891489, + 0.11890518702383021, + -0.9898516810571628, + -0.07781520421573884, + 0.209208663061758, + 0.10158844513373036, + -0.9725798286594387 + ], + [ + 0.9728140458508, + 0.09983164035580715, + 0.2089652501715696, + 0.11965656601211384, + -0.9892165606031728, + -0.08445651211492428, + 0.19828045391713864, + 0.10716454550035887, + -0.9742692758073177 + ], + [ + 0.9730834130687299, + 0.11105873654475637, + 0.2019272845545983, + 0.13156443164858783, + -0.9871127087740122, + -0.09110049671552775, + 0.18920748276824406, + 0.11521483070297076, + -0.9751543832904563 + ], + [ + 0.972775399050722, + 0.12282601210904093, + 0.19652428285354076, + 0.14434737671413334, + -0.9845448679032638, + -0.09917276804190324, + 0.18130597849342098, + 0.12484059369746205, + -0.9754706393981362 + ], + [ + 0.9736635228140655, + 0.1455207669649976, + 0.17550797908705607, + 0.16483245645705047, + -0.9811435931205797, + -0.10093320056736936, + 0.15751065246401025, + 0.1272043869540556, + -0.9792902727485884 + ], + [ + 0.9767553234220657, + 0.14406119437665457, + 0.15873062225489892, + 0.15774714932046333, + -0.9844549310072938, + -0.07722904697516168, + 0.1451374350328788, + 0.10047318592637557, + -0.9842968372710951 + ], + [ + 0.9785747937013081, + 0.13757497052936749, + 0.1531812671846205, + 0.14205670123746714, + -0.9896827267169191, + -0.018654599210192913, + 0.14903444825264867, + 0.04001534608131738, + -0.9880220166130009 + ], + [ + 0.9690137028855328, + 0.14725356401236692, + 0.19831498053784008, + 0.14189424461197228, + -0.9890303057269388, + 0.04104969792429012, + 0.2021842401525547, + -0.011637965429294142, + -0.9792783520504271 + ], + [ + 0.9588588213183676, + 0.15549494867402153, + 0.23751017181757506, + 0.1419089357346881, + -0.9871565319620642, + 0.07337462342852677, + 0.24586910082114583, + -0.03665108922656129, + -0.9686098713723228 + ], + [ + 0.9375919469751051, + 0.1838641739562221, + 0.29515302218142325, + 0.16616186243876632, + -0.9824965398534476, + 0.08420679691618087, + 0.30546943617702926, + -0.0299084387990835, + -0.9517320572778292 + ], + [ + 0.9250760102677356, + 0.19234825791106894, + 0.3274698809138109, + 0.17906968143124954, + -0.9813044443107644, + 0.07053819368294809, + 0.334915548189748, + -0.006613263530149051, + -0.9422249414689899 + ], + [ + 0.896422052663892, + 0.19871013151378658, + 0.3961587902995819, + 0.18919639263222232, + -0.979890722506513, + 0.06339477076713676, + 0.4007895064903876, + 0.018123343494992276, + -0.9159908929174755 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005466.json b/json/chunk-0005/episode_0005466.json new file mode 100644 index 0000000000000000000000000000000000000000..a385287e5dde3ff258a8b4b87cd3748b20fc6138 --- /dev/null +++ b/json/chunk-0005/episode_0005466.json @@ -0,0 +1,2242 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 36, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the can to the center of the table." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005466.mp4", + "start": 0, + "end": 36, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.29651781916618347, + -0.01454965677112341, + 0.08264530450105667, + 0.04658474400639534, + -0.1482178270816803, + -0.21735942363739014, + 0.0, + 0.9981546401977539 + ], + [ + 0.2930576801300049, + -0.015105572529137135, + 0.07495859265327454, + 0.036965060979127884, + -0.12017431110143661, + -0.21452359855175018, + 0.0, + 0.9981546401977539 + ], + [ + 0.3125627934932709, + -0.0020171350333839655, + 0.07907560467720032, + 0.022170815616846085, + -0.15184853971004486, + -0.17403754591941833, + 0.0, + 0.9981546401977539 + ], + [ + 0.33556875586509705, + 0.018494291231036186, + 0.08869000524282455, + 0.04138454794883728, + -0.23287054896354675, + -0.08677715808153152, + 0.0, + 0.9981546401977539 + ], + [ + 0.3713284730911255, + 0.043040093034505844, + 0.10830891877412796, + 0.034656938165426254, + -0.3254047632217407, + 0.04844009876251221, + 0.0, + 0.9981546401977539 + ], + [ + 0.4090336263179779, + 0.0666007548570633, + 0.10800237208604813, + 0.04262144863605499, + -0.3599298894405365, + 0.19056297838687897, + 0.0, + 0.9981546401977539 + ], + [ + 0.43589693307876587, + 0.08288410305976868, + 0.11470703780651093, + 0.0420510359108448, + -0.4431476294994354, + 0.28174951672554016, + 0.0, + 0.9981546401977539 + ], + [ + 0.45037758350372314, + 0.09689469635486603, + 0.11634305119514465, + 0.016716167330741882, + -0.5049319863319397, + 0.33300721645355225, + 0.0, + 0.9981546401977539 + ], + [ + 0.4584016501903534, + 0.11006739735603333, + 0.11974417418241501, + 0.02493802271783352, + -0.5930790901184082, + 0.3621464669704437, + 0.0, + 0.9981546401977539 + ], + [ + 0.4633074104785919, + 0.12286042422056198, + 0.1206088587641716, + 0.039817534387111664, + -0.6128019094467163, + 0.43540123105049133, + 0.0, + 0.9981546401977539 + ], + [ + 0.4688115417957306, + 0.1384011059999466, + 0.11435123533010483, + 0.06932944059371948, + -0.6307040452957153, + 0.4900245666503906, + 0.0, + 0.9981546401977539 + ], + [ + 0.47555050253868103, + 0.14561758935451508, + 0.10908275097608566, + 0.09276183694601059, + -0.6380452513694763, + 0.5042917728424072, + 0.0, + 0.9981546401977539 + ], + [ + 0.47867417335510254, + 0.1528014838695526, + 0.11002755165100098, + 0.12560613453388214, + -0.6495102643966675, + 0.5094403624534607, + 0.0, + 0.9981546401977539 + ], + [ + 0.47801268100738525, + 0.15788058936595917, + 0.10460235178470612, + 0.12115170806646347, + -0.6036763787269592, + 0.5137419700622559, + 0.0, + 0.9981546401977539 + ], + [ + 0.47381165623664856, + 0.15937793254852295, + 0.09195718169212341, + 0.15298879146575928, + -0.543084442615509, + 0.503727376461029, + 0.0, + 0.9981546401977539 + ], + [ + 0.47275683283805847, + 0.16097252070903778, + 0.08626711368560791, + 0.13886258006095886, + -0.5403715968132019, + 0.49573761224746704, + 0.0, + 0.9981546401977539 + ], + [ + 0.4615844786167145, + 0.15086127817630768, + 0.06569057703018188, + 0.09676498919725418, + -0.46733397245407104, + 0.47309792041778564, + 0.0, + 0.9981546401977539 + ], + [ + 0.447104275226593, + 0.137050598859787, + 0.06951223313808441, + 0.013407907448709011, + -0.4624170660972595, + 0.5939158201217651, + 0.0, + 0.9981546401977539 + ], + [ + 0.4344708323478699, + 0.12610217928886414, + 0.07297415286302567, + -0.0071914284490048885, + -0.4994332790374756, + 0.7135761380195618, + 0.0, + 0.9981546401977539 + ], + [ + 0.4233274459838867, + 0.10796668380498886, + 0.07536902278661728, + -0.009776966646313667, + -0.5358631014823914, + 0.7593010663986206, + 0.0, + 0.9981546401977539 + ], + [ + 0.42163199186325073, + 0.09920652955770493, + 0.07387899607419968, + -0.06453298032283783, + -0.5072228312492371, + 0.8074565529823303, + 0.0, + 0.9981546401977539 + ], + [ + 0.422896146774292, + 0.09604901820421219, + 0.07034904509782791, + -0.07079338282346725, + -0.4627930521965027, + 0.8291518688201904, + 0.0, + 0.9981546401977539 + ], + [ + 0.41561150550842285, + 0.0903630331158638, + 0.0571853406727314, + -0.06417574733495712, + -0.4509335458278656, + 0.8214161992073059, + 0.0, + 0.9981546401977539 + ], + [ + 0.4073041081428528, + 0.08218079060316086, + 0.05472869426012039, + -0.06307724118232727, + -0.4040967524051666, + 0.7890104651451111, + 0.0, + 0.9981546401977539 + ], + [ + 0.3894180357456207, + 0.06919875741004944, + 0.054096389561891556, + -0.05585307627916336, + -0.36118483543395996, + 0.7518477439880371, + 0.0, + 0.9981546401977539 + ], + [ + 0.37531229853630066, + 0.057066161185503006, + 0.05427092686295509, + -0.06176164001226425, + -0.3148166835308075, + 0.7295911908149719, + 0.0, + 0.9981546401977539 + ], + [ + 0.3624151349067688, + 0.04039054736495018, + 0.05304412171244621, + -0.06866364926099777, + -0.28547006845474243, + 0.6946985125541687, + 0.0, + 0.9981546401977539 + ], + [ + 0.3501300513744354, + 0.023980412632226944, + 0.05287156254053116, + -0.06982709467411041, + -0.29718834161758423, + 0.6727562546730042, + 0.0, + 0.9981546401977539 + ], + [ + 0.3363761901855469, + 0.008671879768371582, + 0.05085984244942665, + -0.05922262370586395, + -0.2841872572898865, + 0.6427975296974182, + 0.0, + 0.9981546401977539 + ], + [ + 0.31952694058418274, + -0.0065754191018640995, + 0.050975751131772995, + -0.08361627906560898, + -0.27329322695732117, + 0.6270517110824585, + 0.0, + 0.9981546401977539 + ], + [ + 0.2985231578350067, + -0.024073828011751175, + 0.05009602755308151, + -0.09454822540283203, + -0.23782820999622345, + 0.59151291847229, + 0.0, + 0.9981546401977539 + ], + [ + 0.28395435214042664, + -0.039314087480306625, + 0.048780184239149094, + -0.08784063905477524, + -0.24046693742275238, + 0.539217472076416, + 0.0, + 0.9981546401977539 + ], + [ + 0.27715572714805603, + -0.048204582184553146, + 0.048692043870687485, + -0.1023016944527626, + -0.26281362771987915, + 0.4978005886077881, + 0.0, + 0.9981546401977539 + ], + [ + 0.28166353702545166, + -0.04405524954199791, + 0.05232662707567215, + -0.12611594796180725, + -0.28512948751449585, + 0.5104511976242065, + 0.0, + 0.9981546401977539 + ], + [ + 0.300894170999527, + -0.030448034405708313, + 0.05752236768603325, + -0.10122930258512497, + -0.3101901412010193, + 0.5105699896812439, + 0.0, + 0.9981546401977539 + ], + [ + 0.32009562849998474, + -0.01770496927201748, + 0.0688784271478653, + -0.11819034814834595, + -0.33712029457092285, + 0.5206679701805115, + 0.0, + 0.9981546401977539 + ] + ], + "left_gripper_pos": [ + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.29651781916618347, + -0.01454965677112341, + 0.08264530450105667 + ], + [ + 0.2930576801300049, + -0.015105572529137135, + 0.07495859265327454 + ], + [ + 0.3125627934932709, + -0.0020171350333839655, + 0.07907560467720032 + ], + [ + 0.33556875586509705, + 0.018494291231036186, + 0.08869000524282455 + ], + [ + 0.3713284730911255, + 0.043040093034505844, + 0.10830891877412796 + ], + [ + 0.4090336263179779, + 0.0666007548570633, + 0.10800237208604813 + ], + [ + 0.43589693307876587, + 0.08288410305976868, + 0.11470703780651093 + ], + [ + 0.45037758350372314, + 0.09689469635486603, + 0.11634305119514465 + ], + [ + 0.4584016501903534, + 0.11006739735603333, + 0.11974417418241501 + ], + [ + 0.4633074104785919, + 0.12286042422056198, + 0.1206088587641716 + ], + [ + 0.4688115417957306, + 0.1384011059999466, + 0.11435123533010483 + ], + [ + 0.47555050253868103, + 0.14561758935451508, + 0.10908275097608566 + ], + [ + 0.47867417335510254, + 0.1528014838695526, + 0.11002755165100098 + ], + [ + 0.47801268100738525, + 0.15788058936595917, + 0.10460235178470612 + ], + [ + 0.47381165623664856, + 0.15937793254852295, + 0.09195718169212341 + ], + [ + 0.47275683283805847, + 0.16097252070903778, + 0.08626711368560791 + ], + [ + 0.4615844786167145, + 0.15086127817630768, + 0.06569057703018188 + ], + [ + 0.447104275226593, + 0.137050598859787, + 0.06951223313808441 + ], + [ + 0.4344708323478699, + 0.12610217928886414, + 0.07297415286302567 + ], + [ + 0.4233274459838867, + 0.10796668380498886, + 0.07536902278661728 + ], + [ + 0.42163199186325073, + 0.09920652955770493, + 0.07387899607419968 + ], + [ + 0.422896146774292, + 0.09604901820421219, + 0.07034904509782791 + ], + [ + 0.41561150550842285, + 0.0903630331158638, + 0.0571853406727314 + ], + [ + 0.4073041081428528, + 0.08218079060316086, + 0.05472869426012039 + ], + [ + 0.3894180357456207, + 0.06919875741004944, + 0.054096389561891556 + ], + [ + 0.37531229853630066, + 0.057066161185503006, + 0.05427092686295509 + ], + [ + 0.3624151349067688, + 0.04039054736495018, + 0.05304412171244621 + ], + [ + 0.3501300513744354, + 0.023980412632226944, + 0.05287156254053116 + ], + [ + 0.3363761901855469, + 0.008671879768371582, + 0.05085984244942665 + ], + [ + 0.31952694058418274, + -0.0065754191018640995, + 0.050975751131772995 + ], + [ + 0.2985231578350067, + -0.024073828011751175, + 0.05009602755308151 + ], + [ + 0.28395435214042664, + -0.039314087480306625, + 0.048780184239149094 + ], + [ + 0.27715572714805603, + -0.048204582184553146, + 0.048692043870687485 + ], + [ + 0.28166353702545166, + -0.04405524954199791, + 0.05232662707567215 + ], + [ + 0.300894170999527, + -0.030448034405708313, + 0.05752236768603325 + ], + [ + 0.32009562849998474, + -0.01770496927201748, + 0.0688784271478653 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9657641141033169, + -0.20870284274758164, + 0.15408698627500517, + -0.21328748952403412, + -0.9768939793309533, + 0.013660159569708775, + 0.14767573505072001, + -0.046057318376269904, + -0.9879628539075831 + ], + [ + 0.9700309956365467, + -0.2084075457305737, + 0.124924626823254, + -0.21134661390974582, + -0.9773536367325939, + 0.010605543572024808, + 0.11988526303618507, + -0.03669010286347134, + -0.9921095504321149 + ], + [ + 0.9735606268022161, + -0.169814996180357, + 0.15278276412194358, + -0.17116777276960665, + -0.985232281184424, + -0.00435266323398272, + 0.1512656587119774, + -0.02191390390600207, + -0.988250211894756 + ], + [ + 0.9693467532390847, + -0.07708235859580143, + 0.23329205296827601, + -0.08432893614633563, + -0.9962117065853209, + 0.02123360993306156, + 0.23077153748517573, + -0.04025600148636771, + -0.972174856613283 + ], + [ + 0.9464099691262972, + 0.05945642682903687, + 0.3174477967274068, + 0.045880082991462685, + -0.9976908429995243, + 0.050079933901669545, + 0.3196923338509357, + -0.032831617438415665, + -0.946952425718061 + ], + [ + 0.9189792398347326, + 0.20397513144291982, + 0.33744822196245283, + 0.17727449747731003, + -0.9781635193340602, + 0.10848908695427892, + 0.35220861615943533, + -0.03987825468660184, + -0.9350715563560932 + ], + [ + 0.8677855988714843, + 0.29510562746769864, + 0.3998259909362507, + 0.2511800738178359, + -0.9547095586646567, + 0.15949366479958615, + 0.42878517337721167, + -0.03797798350665982, + -0.902607859405535 + ], + [ + 0.8271266351293147, + 0.3344826599440109, + 0.4516446386889101, + 0.28609348791317707, + -0.9422883475490454, + 0.17390568204334692, + 0.48374791537879497, + -0.0146294316385851, + -0.8750851010596636 + ], + [ + 0.7754389861499804, + 0.3672050069185137, + 0.5136680461666512, + 0.2937792576764973, + -0.9299101796885878, + 0.22127088708319656, + 0.5589169227333672, + -0.020677055049325183, + -0.8289658212958786 + ], + [ + 0.7417173027557709, + 0.44219927389542973, + 0.5042967826181906, + 0.3450280575735227, + -0.8963255025434375, + 0.2784891972362591, + 0.5751617879168833, + -0.03256371687336668, + -0.8173912906702916 + ], + [ + 0.712573728909879, + 0.5055612965308541, + 0.48646321167947704, + 0.3801008668298419, + -0.8609748932046422, + 0.33800231405488546, + 0.5897134998477419, + -0.05594648086605972, + -0.8056723771956132 + ], + [ + 0.7032690990311663, + 0.5294143212686104, + 0.47448187613815995, + 0.38812595769270253, + -0.8450942797059049, + 0.36766003233079353, + 0.5956264058224872, + -0.07440520710309306, + -0.7998081331437757 + ], + [ + 0.6952538086905848, + 0.5499922276331829, + 0.46274257535299745, + 0.3883856077794171, + -0.8291893720499098, + 0.4019970210701676, + 0.6047964625979951, + -0.0997674036074167, + -0.7901061346467235 + ], + [ + 0.7169816816606482, + 0.5475875367941357, + 0.43137588911620905, + 0.40457972031376244, + -0.8308120521058674, + 0.3821865826876648, + 0.5676728970753374, + -0.09949484219480187, + -0.8172198347462725 + ], + [ + 0.7497798136242039, + 0.546026795574881, + 0.37374452450287676, + 0.41324278345137483, + -0.8275465530307496, + 0.3799961901023284, + 0.5167790949787098, + -0.13046624498755194, + -0.8461193331391464 + ], + [ + 0.7542879603737722, + 0.5337385753129305, + 0.3823255236811919, + 0.407904470628607, + -0.8372781391081479, + 0.36411435101186646, + 0.5144546779614023, + -0.11869478082257902, + -0.8492631708305203 + ], + [ + 0.7947112899728426, + 0.49225915991452773, + 0.3551265761245479, + 0.40678833318567786, + -0.8661645935594575, + 0.2903138798748658, + 0.4505077330898093, + -0.08625437000073383, + -0.888596064633452 + ], + [ + 0.7417171524186349, + 0.5645172642614208, + 0.36218216985212465, + 0.5008384875346626, + -0.825334036971329, + 0.260738445229316, + 0.44611262615171926, + -0.011999406960790021, + -0.8948963845164457 + ], + [ + 0.6636805261345529, + 0.6519208135554033, + 0.3667797869062905, + 0.5745920446524369, + -0.7582607725936685, + 0.30803341209645524, + 0.4789281172074729, + 0.006312970688473585, + -0.877831421714438 + ], + [ + 0.6236483529955461, + 0.6847610675862829, + 0.3770477584126935, + 0.5919183862450671, + -0.7287191592934794, + 0.34438497485174935, + 0.510583348564148, + 0.008406378334255366, + -0.8597871695787993 + ], + [ + 0.6042967344620984, + 0.6993708152888625, + 0.3817144475136298, + 0.6315622149961395, + -0.7125328105013038, + 0.3056569360382369, + 0.4857516086515966, + 0.05636893365413863, + -0.8722774317905292 + ], + [ + 0.60444473704694, + 0.7141799567212536, + 0.3529781144403773, + 0.6597952461230504, + -0.6970946148834143, + 0.2805874749413588, + 0.446449093458234, + 0.06329365938364445, + -0.8925677115110922 + ], + [ + 0.6130942578385157, + 0.7115657376790315, + 0.34320494164090243, + 0.6589298917635474, + -0.7002445792799936, + 0.2747160842205356, + 0.4358059530868289, + 0.057721141276662, + -0.8981878651506043 + ], + [ + 0.6478021367981776, + 0.6907830675264347, + 0.321202654376461, + 0.6524992381578302, + -0.7207354406865403, + 0.23406231807326355, + 0.39318842272270216, + 0.05795841748311882, + -0.9176293838362447 + ], + [ + 0.6833000126647669, + 0.667515185224263, + 0.29584551743663073, + 0.6389222489937917, + -0.7427626260766204, + 0.20020499755120605, + 0.35338286946744474, + 0.05222220599305541, + -0.9340200151860636 + ], + [ + 0.7088105979677117, + 0.651047170820836, + 0.27152369615714894, + 0.6338053827047182, + -0.7567649514634713, + 0.1599923282254966, + 0.3096421693877954, + 0.05868892231652076, + -0.9490402190287537 + ], + [ + 0.7371553159759521, + 0.6238020235050034, + 0.25975579993420256, + 0.6142464307698726, + -0.7788048841770927, + 0.12713880079809312, + 0.2816085268859347, + 0.06583303010623506, + -0.9572683269241521 + ], + [ + 0.7478223464686854, + 0.6056462058055214, + 0.27194560396418505, + 0.5958276548998578, + -0.7929326566345745, + 0.12746453506356972, + 0.292832962247431, + 0.06671188376752712, + -0.9538335183802163 + ], + [ + 0.768316900435519, + 0.5851031002784104, + 0.25950626687952905, + 0.5753934773602665, + -0.8089663372362721, + 0.12039855244059469, + 0.28037740050941584, + 0.05681397066851257, + -0.9582070162655145 + ], + [ + 0.7797085185429133, + 0.5664561889772177, + 0.26679957286514083, + 0.5649836372994765, + -0.8201585993876649, + 0.09018515085265917, + 0.269903900852634, + 0.08041926274139798, + -0.9595231245179353 + ], + [ + 0.8067323379057281, + 0.5366642370447053, + 0.24733465518277584, + 0.5419216704961057, + -0.8387928396831504, + 0.05241636331325382, + 0.23559252539897882, + 0.0917500341880109, + -0.9675112884109572 + ], + [ + 0.8334202182394294, + 0.49355656687736277, + 0.2486215097733357, + 0.49869067153961705, + -0.8655300546923952, + 0.04653319829481687, + 0.23815615454803452, + 0.08520351938981333, + -0.9674823028533813 + ], + [ + 0.8484650522783874, + 0.4516862504530444, + 0.27583797094291235, + 0.46109841300626003, + -0.8867098025712808, + 0.033674612798198035, + 0.2597985923467287, + 0.09861671854036622, + -0.9606140922550472 + ], + [ + 0.8372961995325846, + 0.45382067398779996, + 0.3049292870643107, + 0.46884504060649407, + -0.8828802099955608, + 0.026586889567771076, + 0.28128171314002043, + 0.12070348238328885, + -0.9520038167956901 + ], + [ + 0.8308281433092386, + 0.4592604564852073, + 0.3143317187213563, + 0.4653528945556219, + -0.8830735645566864, + 0.060230914901333074, + 0.30523970877660583, + 0.09623363596033542, + -0.9474005528264304 + ], + [ + 0.8186571910329316, + 0.46015467776605107, + 0.3435958033796279, + 0.4694582446372609, + -0.880837594944638, + 0.06110718349136682, + 0.33077085741064305, + 0.11127804753035328, + -0.9371274385192552 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.003460139036178589, + -0.0005559157580137253, + -0.007686711847782135, + -0.009619683027267456, + 0.028043515980243683, + 0.0028358250856399536, + 1.0 + ], + [ + 0.01950511336326599, + 0.013088437728583813, + 0.004117012023925781, + -0.0147942453622818, + -0.031674228608608246, + 0.04048605263233185, + 1.0 + ], + [ + 0.023005962371826172, + 0.020511426031589508, + 0.009614400565624237, + 0.019213732331991196, + -0.08102200925350189, + 0.08726038783788681, + 1.0 + ], + [ + 0.03575971722602844, + 0.024545801803469658, + 0.019618913531303406, + -0.006727609783411026, + -0.09253421425819397, + 0.13521724939346313, + 1.0 + ], + [ + 0.03770515322685242, + 0.02356066182255745, + -0.000306546688079834, + 0.007964510470628738, + -0.034525126218795776, + 0.14212287962436676, + 1.0 + ], + [ + 0.026863306760787964, + 0.016283348202705383, + 0.006704665720462799, + -0.0005704127252101898, + -0.08321774005889893, + 0.0911865383386612, + 1.0 + ], + [ + 0.014480650424957275, + 0.014010593295097351, + 0.001636013388633728, + -0.02533486858010292, + -0.06178435683250427, + 0.051257699728012085, + 1.0 + ], + [ + 0.008024066686630249, + 0.013172701001167297, + 0.0034011229872703552, + 0.008221855387091637, + -0.0881471037864685, + 0.02913925051689148, + 1.0 + ], + [ + 0.004905760288238525, + 0.012793026864528656, + 0.0008646845817565918, + 0.014879511669278145, + -0.019722819328308105, + 0.07325476408004761, + 1.0 + ], + [ + 0.005504131317138672, + 0.015540681779384613, + -0.0062576234340667725, + 0.02951190620660782, + -0.017902135848999023, + 0.05462333559989929, + 1.0 + ], + [ + 0.0067389607429504395, + 0.0072164833545684814, + -0.005268484354019165, + 0.023432396352291107, + -0.007341206073760986, + 0.014267206192016602, + 1.0 + ], + [ + 0.003123670816421509, + 0.007183894515037537, + 0.0009448006749153137, + 0.03284429758787155, + -0.011465013027191162, + 0.005148589611053467, + 1.0 + ], + [ + -0.0006614923477172852, + 0.005079105496406555, + -0.005425199866294861, + -0.004454426467418671, + 0.04583388566970825, + 0.004301607608795166, + 1.0 + ], + [ + -0.004201024770736694, + 0.0014973431825637817, + -0.012645170092582703, + 0.03183708339929581, + 0.060591936111450195, + -0.010014593601226807, + 1.0 + ], + [ + -0.0010548233985900879, + 0.0015945881605148315, + -0.005690068006515503, + -0.014126211404800415, + 0.002712845802307129, + -0.007989764213562012, + 1.0 + ], + [ + -0.011172354221343994, + -0.010111242532730103, + -0.020576536655426025, + -0.04209759086370468, + 0.07303762435913086, + -0.022639691829681396, + 1.0 + ], + [ + -0.01448020339012146, + -0.013810679316520691, + 0.003821656107902527, + -0.0833570808172226, + 0.0049169063568115234, + 0.12081789970397949, + 1.0 + ], + [ + -0.012633442878723145, + -0.010948419570922852, + 0.0034619197249412537, + -0.020599335432052612, + -0.037016212940216064, + 0.11966031789779663, + 1.0 + ], + [ + -0.011143386363983154, + -0.018135495483875275, + 0.0023948699235916138, + -0.0025855381973087788, + -0.03642982244491577, + 0.04572492837905884, + 1.0 + ], + [ + -0.0016954541206359863, + -0.008760154247283936, + -0.0014900267124176025, + -0.05475601553916931, + 0.028640270233154297, + 0.04815548658370972, + 1.0 + ], + [ + 0.0012641549110412598, + -0.003157511353492737, + -0.003529950976371765, + -0.006260402500629425, + 0.044429779052734375, + 0.021695315837860107, + 1.0 + ], + [ + -0.007284641265869141, + -0.005685985088348389, + -0.013163704425096512, + 0.006617635488510132, + 0.011859506368637085, + -0.0077356696128845215, + 1.0 + ], + [ + -0.008307397365570068, + -0.008182242512702942, + -0.0024566464126110077, + 0.0010985061526298523, + 0.046836793422698975, + -0.032405734062194824, + 1.0 + ], + [ + -0.017886072397232056, + -0.01298203319311142, + -0.0006323046982288361, + 0.00722416490316391, + 0.042911916971206665, + -0.037162721157073975, + 1.0 + ], + [ + -0.014105737209320068, + -0.012132596224546432, + 0.0001745373010635376, + -0.005908563733100891, + 0.046368151903152466, + -0.022256553173065186, + 1.0 + ], + [ + -0.01289716362953186, + -0.016675613820552826, + -0.0012268051505088806, + -0.0069020092487335205, + 0.029346615076065063, + -0.03489267826080322, + 1.0 + ], + [ + -0.012285083532333374, + -0.016410134732723236, + -0.00017255917191505432, + -0.0011634454131126404, + -0.011718273162841797, + -0.02194225788116455, + 1.0 + ], + [ + -0.01375386118888855, + -0.015308532863855362, + -0.0020117200911045074, + 0.01060447096824646, + 0.013001084327697754, + -0.029958724975585938, + 1.0 + ], + [ + -0.016849249601364136, + -0.015247298404574394, + 0.000115908682346344, + -0.024393655359745026, + 0.010894030332565308, + -0.015745818614959717, + 1.0 + ], + [ + -0.021003782749176025, + -0.017498409375548363, + -0.0008797235786914825, + -0.010931946337223053, + 0.03546501696109772, + -0.03553879261016846, + 1.0 + ], + [ + -0.014568805694580078, + -0.01524025946855545, + -0.0013158433139324188, + 0.006707586348056793, + -0.0026387274265289307, + -0.05229544639587402, + 1.0 + ], + [ + -0.0067986249923706055, + -0.008890494704246521, + -8.814036846160889e-05, + -0.014461055397987366, + -0.02234669029712677, + -0.04141688346862793, + 1.0 + ], + [ + 0.00450780987739563, + 0.004149332642555237, + 0.003634583204984665, + -0.023814253509044647, + -0.0223158597946167, + 0.012650609016418457, + 1.0 + ], + [ + 0.019230633974075317, + 0.013607215136289597, + 0.005195740610361099, + 0.02488664537668228, + -0.025060653686523438, + 0.00011879205703735352, + 1.0 + ], + [ + 0.019201457500457764, + 0.012743065133690834, + 0.011356059461832047, + -0.016961045563220978, + -0.026930153369903564, + 0.010097980499267578, + 1.0 + ], + [ + 0.011888086795806885, + 0.015175764448940754, + 0.008930452167987823, + 0.034955479204654694, + 0.0033105313777923584, + -0.017930030822753906, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2930576801300049, + -0.015105572529137135, + 0.07495859265327454 + ], + [ + 0.3125627934932709, + -0.0020171350333839655, + 0.07907560467720032 + ], + [ + 0.33556875586509705, + 0.018494291231036186, + 0.08869000524282455 + ], + [ + 0.3713284730911255, + 0.043040093034505844, + 0.10830891877412796 + ], + [ + 0.4090336263179779, + 0.0666007548570633, + 0.10800237208604813 + ], + [ + 0.43589693307876587, + 0.08288410305976868, + 0.11470703780651093 + ], + [ + 0.45037758350372314, + 0.09689469635486603, + 0.11634305119514465 + ], + [ + 0.4584016501903534, + 0.11006739735603333, + 0.11974417418241501 + ], + [ + 0.4633074104785919, + 0.12286042422056198, + 0.1206088587641716 + ], + [ + 0.4688115417957306, + 0.1384011059999466, + 0.11435123533010483 + ], + [ + 0.47555050253868103, + 0.14561758935451508, + 0.10908275097608566 + ], + [ + 0.47867417335510254, + 0.1528014838695526, + 0.11002755165100098 + ], + [ + 0.47801268100738525, + 0.15788058936595917, + 0.10460235178470612 + ], + [ + 0.47381165623664856, + 0.15937793254852295, + 0.09195718169212341 + ], + [ + 0.47275683283805847, + 0.16097252070903778, + 0.08626711368560791 + ], + [ + 0.4615844786167145, + 0.15086127817630768, + 0.06569057703018188 + ], + [ + 0.447104275226593, + 0.137050598859787, + 0.06951223313808441 + ], + [ + 0.4344708323478699, + 0.12610217928886414, + 0.07297415286302567 + ], + [ + 0.4233274459838867, + 0.10796668380498886, + 0.07536902278661728 + ], + [ + 0.42163199186325073, + 0.09920652955770493, + 0.07387899607419968 + ], + [ + 0.422896146774292, + 0.09604901820421219, + 0.07034904509782791 + ], + [ + 0.41561150550842285, + 0.0903630331158638, + 0.0571853406727314 + ], + [ + 0.4073041081428528, + 0.08218079060316086, + 0.05472869426012039 + ], + [ + 0.3894180357456207, + 0.06919875741004944, + 0.054096389561891556 + ], + [ + 0.37531229853630066, + 0.057066161185503006, + 0.05427092686295509 + ], + [ + 0.3624151349067688, + 0.04039054736495018, + 0.05304412171244621 + ], + [ + 0.3501300513744354, + 0.023980412632226944, + 0.05287156254053116 + ], + [ + 0.3363761901855469, + 0.008671879768371582, + 0.05085984244942665 + ], + [ + 0.31952694058418274, + -0.0065754191018640995, + 0.050975751131772995 + ], + [ + 0.2985231578350067, + -0.024073828011751175, + 0.05009602755308151 + ], + [ + 0.28395435214042664, + -0.039314087480306625, + 0.048780184239149094 + ], + [ + 0.27715572714805603, + -0.048204582184553146, + 0.048692043870687485 + ], + [ + 0.28166353702545166, + -0.04405524954199791, + 0.05232662707567215 + ], + [ + 0.300894170999527, + -0.030448034405708313, + 0.05752236768603325 + ], + [ + 0.32009562849998474, + -0.01770496927201748, + 0.0688784271478653 + ], + [ + 0.3319837152957916, + -0.0025292050559073687, + 0.07780887931585312 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9700309956365467, + -0.2084075457305737, + 0.124924626823254, + -0.21134661390974582, + -0.9773536367325939, + 0.010605543572024808, + 0.11988526303618507, + -0.03669010286347134, + -0.9921095504321149 + ], + [ + 0.9735606268022161, + -0.169814996180357, + 0.15278276412194358, + -0.17116777276960665, + -0.985232281184424, + -0.00435266323398272, + 0.1512656587119774, + -0.02191390390600207, + -0.988250211894756 + ], + [ + 0.9693467532390847, + -0.07708235859580143, + 0.23329205296827601, + -0.08432893614633563, + -0.9962117065853209, + 0.02123360993306156, + 0.23077153748517573, + -0.04025600148636771, + -0.972174856613283 + ], + [ + 0.9464099691262972, + 0.05945642682903687, + 0.3174477967274068, + 0.045880082991462685, + -0.9976908429995243, + 0.050079933901669545, + 0.3196923338509357, + -0.032831617438415665, + -0.946952425718061 + ], + [ + 0.9189792398347326, + 0.20397513144291982, + 0.33744822196245283, + 0.17727449747731003, + -0.9781635193340602, + 0.10848908695427892, + 0.35220861615943533, + -0.03987825468660184, + -0.9350715563560932 + ], + [ + 0.8677855988714843, + 0.29510562746769864, + 0.3998259909362507, + 0.2511800738178359, + -0.9547095586646567, + 0.15949366479958615, + 0.42878517337721167, + -0.03797798350665982, + -0.902607859405535 + ], + [ + 0.8271266351293147, + 0.3344826599440109, + 0.4516446386889101, + 0.28609348791317707, + -0.9422883475490454, + 0.17390568204334692, + 0.48374791537879497, + -0.0146294316385851, + -0.8750851010596636 + ], + [ + 0.7754389861499804, + 0.3672050069185137, + 0.5136680461666512, + 0.2937792576764973, + -0.9299101796885878, + 0.22127088708319656, + 0.5589169227333672, + -0.020677055049325183, + -0.8289658212958786 + ], + [ + 0.7417173027557709, + 0.44219927389542973, + 0.5042967826181906, + 0.3450280575735227, + -0.8963255025434375, + 0.2784891972362591, + 0.5751617879168833, + -0.03256371687336668, + -0.8173912906702916 + ], + [ + 0.712573728909879, + 0.5055612965308541, + 0.48646321167947704, + 0.3801008668298419, + -0.8609748932046422, + 0.33800231405488546, + 0.5897134998477419, + -0.05594648086605972, + -0.8056723771956132 + ], + [ + 0.7032690990311663, + 0.5294143212686104, + 0.47448187613815995, + 0.38812595769270253, + -0.8450942797059049, + 0.36766003233079353, + 0.5956264058224872, + -0.07440520710309306, + -0.7998081331437757 + ], + [ + 0.6952538086905848, + 0.5499922276331829, + 0.46274257535299745, + 0.3883856077794171, + -0.8291893720499098, + 0.4019970210701676, + 0.6047964625979951, + -0.0997674036074167, + -0.7901061346467235 + ], + [ + 0.7169816816606482, + 0.5475875367941357, + 0.43137588911620905, + 0.40457972031376244, + -0.8308120521058674, + 0.3821865826876648, + 0.5676728970753374, + -0.09949484219480187, + -0.8172198347462725 + ], + [ + 0.7497798136242039, + 0.546026795574881, + 0.37374452450287676, + 0.41324278345137483, + -0.8275465530307496, + 0.3799961901023284, + 0.5167790949787098, + -0.13046624498755194, + -0.8461193331391464 + ], + [ + 0.7542879603737722, + 0.5337385753129305, + 0.3823255236811919, + 0.407904470628607, + -0.8372781391081479, + 0.36411435101186646, + 0.5144546779614023, + -0.11869478082257902, + -0.8492631708305203 + ], + [ + 0.7947112899728426, + 0.49225915991452773, + 0.3551265761245479, + 0.40678833318567786, + -0.8661645935594575, + 0.2903138798748658, + 0.4505077330898093, + -0.08625437000073383, + -0.888596064633452 + ], + [ + 0.7417171524186349, + 0.5645172642614208, + 0.36218216985212465, + 0.5008384875346626, + -0.825334036971329, + 0.260738445229316, + 0.44611262615171926, + -0.011999406960790021, + -0.8948963845164457 + ], + [ + 0.6636805261345529, + 0.6519208135554033, + 0.3667797869062905, + 0.5745920446524369, + -0.7582607725936685, + 0.30803341209645524, + 0.4789281172074729, + 0.006312970688473585, + -0.877831421714438 + ], + [ + 0.6236483529955461, + 0.6847610675862829, + 0.3770477584126935, + 0.5919183862450671, + -0.7287191592934794, + 0.34438497485174935, + 0.510583348564148, + 0.008406378334255366, + -0.8597871695787993 + ], + [ + 0.6042967344620984, + 0.6993708152888625, + 0.3817144475136298, + 0.6315622149961395, + -0.7125328105013038, + 0.3056569360382369, + 0.4857516086515966, + 0.05636893365413863, + -0.8722774317905292 + ], + [ + 0.60444473704694, + 0.7141799567212536, + 0.3529781144403773, + 0.6597952461230504, + -0.6970946148834143, + 0.2805874749413588, + 0.446449093458234, + 0.06329365938364445, + -0.8925677115110922 + ], + [ + 0.6130942578385157, + 0.7115657376790315, + 0.34320494164090243, + 0.6589298917635474, + -0.7002445792799936, + 0.2747160842205356, + 0.4358059530868289, + 0.057721141276662, + -0.8981878651506043 + ], + [ + 0.6478021367981776, + 0.6907830675264347, + 0.321202654376461, + 0.6524992381578302, + -0.7207354406865403, + 0.23406231807326355, + 0.39318842272270216, + 0.05795841748311882, + -0.9176293838362447 + ], + [ + 0.6833000126647669, + 0.667515185224263, + 0.29584551743663073, + 0.6389222489937917, + -0.7427626260766204, + 0.20020499755120605, + 0.35338286946744474, + 0.05222220599305541, + -0.9340200151860636 + ], + [ + 0.7088105979677117, + 0.651047170820836, + 0.27152369615714894, + 0.6338053827047182, + -0.7567649514634713, + 0.1599923282254966, + 0.3096421693877954, + 0.05868892231652076, + -0.9490402190287537 + ], + [ + 0.7371553159759521, + 0.6238020235050034, + 0.25975579993420256, + 0.6142464307698726, + -0.7788048841770927, + 0.12713880079809312, + 0.2816085268859347, + 0.06583303010623506, + -0.9572683269241521 + ], + [ + 0.7478223464686854, + 0.6056462058055214, + 0.27194560396418505, + 0.5958276548998578, + -0.7929326566345745, + 0.12746453506356972, + 0.292832962247431, + 0.06671188376752712, + -0.9538335183802163 + ], + [ + 0.768316900435519, + 0.5851031002784104, + 0.25950626687952905, + 0.5753934773602665, + -0.8089663372362721, + 0.12039855244059469, + 0.28037740050941584, + 0.05681397066851257, + -0.9582070162655145 + ], + [ + 0.7797085185429133, + 0.5664561889772177, + 0.26679957286514083, + 0.5649836372994765, + -0.8201585993876649, + 0.09018515085265917, + 0.269903900852634, + 0.08041926274139798, + -0.9595231245179353 + ], + [ + 0.8067323379057281, + 0.5366642370447053, + 0.24733465518277584, + 0.5419216704961057, + -0.8387928396831504, + 0.05241636331325382, + 0.23559252539897882, + 0.0917500341880109, + -0.9675112884109572 + ], + [ + 0.8334202182394294, + 0.49355656687736277, + 0.2486215097733357, + 0.49869067153961705, + -0.8655300546923952, + 0.04653319829481687, + 0.23815615454803452, + 0.08520351938981333, + -0.9674823028533813 + ], + [ + 0.8484650522783874, + 0.4516862504530444, + 0.27583797094291235, + 0.46109841300626003, + -0.8867098025712808, + 0.033674612798198035, + 0.2597985923467287, + 0.09861671854036622, + -0.9606140922550472 + ], + [ + 0.8372961995325846, + 0.45382067398779996, + 0.3049292870643107, + 0.46884504060649407, + -0.8828802099955608, + 0.026586889567771076, + 0.28128171314002043, + 0.12070348238328885, + -0.9520038167956901 + ], + [ + 0.8308281433092386, + 0.4592604564852073, + 0.3143317187213563, + 0.4653528945556219, + -0.8830735645566864, + 0.060230914901333074, + 0.30523970877660583, + 0.09623363596033542, + -0.9474005528264304 + ], + [ + 0.8186571910329316, + 0.46015467776605107, + 0.3435958033796279, + 0.4694582446372609, + -0.880837594944638, + 0.06110718349136682, + 0.33077085741064305, + 0.11127804753035328, + -0.9371274385192552 + ], + [ + 0.827897553589074, + 0.4562889103833775, + 0.32616877689683416, + 0.4552301428626768, + -0.8863579349623029, + 0.08446968780923293, + 0.3276448653503569, + 0.07854961101439357, + -0.941530031820034 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005467.json b/json/chunk-0005/episode_0005467.json new file mode 100644 index 0000000000000000000000000000000000000000..ca83216fd9f4b02161962ba3cdab333583377417 --- /dev/null +++ b/json/chunk-0005/episode_0005467.json @@ -0,0 +1,1522 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 24, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut bowl on plate cardboard fence." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005467.mp4", + "start": 0, + "end": 24, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.31937167048454285, + -0.014783823862671852, + 0.09644991904497147, + 0.007291184738278389, + -0.1759343147277832, + 0.10460710525512695, + 0.0, + 0.9968144297599792 + ], + [ + 0.31354445219039917, + -0.01501521561294794, + 0.08576363325119019, + 0.009428699500858784, + -0.13894207775592804, + 0.10621660947799683, + 0.0, + 0.9968144297599792 + ], + [ + 0.2874923050403595, + -0.01564165949821472, + 0.07789742946624756, + -0.007040269207209349, + -0.10764198005199432, + 0.09801975637674332, + 0.0, + 0.9968144297599792 + ], + [ + 0.27021244168281555, + -0.012086025439202785, + 0.06348232179880142, + 0.003632541513070464, + -0.10090890526771545, + 0.06300137937068939, + 0.0, + 0.9968144297599792 + ], + [ + 0.2689899504184723, + -0.00823631789535284, + 0.0505724772810936, + 0.004210954532027245, + -0.12190255522727966, + 0.03519720956683159, + 0.0, + 0.9968144297599792 + ], + [ + 0.2681084871292114, + -0.007394792977720499, + 0.03304700180888176, + 0.01118265837430954, + -0.11917364597320557, + 0.021086519584059715, + 0.0, + 0.9968144297599792 + ], + [ + 0.2699124217033386, + -0.01050732284784317, + 0.019923321902751923, + -0.005698622204363346, + -0.11491245031356812, + 0.003008917672559619, + 0.0, + 0.9968144297599792 + ], + [ + 0.2682645618915558, + -0.014517899602651596, + 0.011380421929061413, + -0.028870964422822, + -0.08562930673360825, + -0.012227100320160389, + 0.0, + 0.9499720335006714 + ], + [ + 0.2701127231121063, + -0.015014822594821453, + 0.010365333408117294, + -0.07410680502653122, + -0.07986575365066528, + -0.00896859634667635, + 0.0, + 0.680191159248352 + ], + [ + 0.2696823477745056, + -0.013323965482413769, + 0.008103176951408386, + -0.07647088915109634, + -0.07556861639022827, + -0.0019423337653279305, + 0.0, + 0.3814634680747986 + ], + [ + 0.2718397378921509, + -0.009761855937540531, + 0.00987520907074213, + -0.09121464937925339, + -0.07646636664867401, + 0.024884449318051338, + 0.0, + 0.1623418778181076 + ], + [ + 0.272739976644516, + -0.0008469156455248594, + 0.016298016533255577, + -0.09097717702388763, + -0.08251810818910599, + 0.1486702412366867, + 0.0, + 0.061516307294368744 + ], + [ + 0.28185221552848816, + 0.019498948007822037, + 0.03616686537861824, + -0.1033257469534874, + -0.14081351459026337, + 0.32403531670570374, + 0.0, + 0.05324139446020126 + ], + [ + 0.28977441787719727, + 0.05131043121218681, + 0.04308998957276344, + -0.09293278306722641, + -0.19081102311611176, + 0.5267515182495117, + 0.0, + 0.056468017399311066 + ], + [ + 0.2953993082046509, + 0.08125939965248108, + 0.04916844516992569, + -0.09770140051841736, + -0.25193968415260315, + 0.719822108745575, + 0.0, + 0.056741900742053986 + ], + [ + 0.29356905817985535, + 0.09839855134487152, + 0.03878812864422798, + -0.08982028812170029, + -0.23030389845371246, + 0.7833078503608704, + 0.0, + 0.056741900742053986 + ], + [ + 0.29897910356521606, + 0.11441674083471298, + 0.03795861452817917, + -0.1034323200583458, + -0.23050546646118164, + 0.8492634296417236, + 0.0, + 0.056741900742053986 + ], + [ + 0.29809924960136414, + 0.12424551695585251, + 0.028731942176818848, + -0.07648690044879913, + -0.20847588777542114, + 0.8693806529045105, + 0.0, + 0.056741900742053986 + ], + [ + 0.297323614358902, + 0.12488332390785217, + 0.02886192314326763, + -0.07515880465507507, + -0.20396241545677185, + 0.8733978271484375, + 0.0, + 0.056741900742053986 + ], + [ + 0.2973039448261261, + 0.12632626295089722, + 0.025087129324674606, + -0.05788417533040047, + -0.19462473690509796, + 0.8748525977134705, + 0.0, + 0.05377154052257538 + ], + [ + 0.29912444949150085, + 0.1279657930135727, + 0.02457636035978794, + -0.03729723393917084, + -0.17864997684955597, + 0.8765255212783813, + 0.0, + 0.07365728914737701 + ], + [ + 0.3029293715953827, + 0.12714818120002747, + 0.0293451976031065, + -0.01949893683195114, + -0.1827438920736313, + 0.8641803860664368, + 0.0, + 0.21606682240962982 + ], + [ + 0.3043716847896576, + 0.12285643815994263, + 0.03271540626883507, + -0.012232373468577862, + -0.16350536048412323, + 0.8689320683479309, + 0.0, + 0.4681091010570526 + ], + [ + 0.30612504482269287, + 0.1171233206987381, + 0.04259469732642174, + -0.024983543902635574, + -0.17192327976226807, + 0.8775730729103088, + 0.0, + 0.7565051317214966 + ] + ], + "left_gripper_pos": [ + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9499720335006714 + ], + [ + 0.680191159248352 + ], + [ + 0.3814634680747986 + ], + [ + 0.1623418778181076 + ], + [ + 0.061516307294368744 + ], + [ + 0.05324139446020126 + ], + [ + 0.056468017399311066 + ], + [ + 0.056741900742053986 + ], + [ + 0.056741900742053986 + ], + [ + 0.056741900742053986 + ], + [ + 0.056741900742053986 + ], + [ + 0.056741900742053986 + ], + [ + 0.05377154052257538 + ], + [ + 0.07365728914737701 + ], + [ + 0.21606682240962982 + ], + [ + 0.4681091010570526 + ], + [ + 0.7565051317214966 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.31937167048454285, + -0.014783823862671852, + 0.09644991904497147 + ], + [ + 0.31354445219039917, + -0.01501521561294794, + 0.08576363325119019 + ], + [ + 0.2874923050403595, + -0.01564165949821472, + 0.07789742946624756 + ], + [ + 0.27021244168281555, + -0.012086025439202785, + 0.06348232179880142 + ], + [ + 0.2689899504184723, + -0.00823631789535284, + 0.0505724772810936 + ], + [ + 0.2681084871292114, + -0.007394792977720499, + 0.03304700180888176 + ], + [ + 0.2699124217033386, + -0.01050732284784317, + 0.019923321902751923 + ], + [ + 0.2682645618915558, + -0.014517899602651596, + 0.011380421929061413 + ], + [ + 0.2701127231121063, + -0.015014822594821453, + 0.010365333408117294 + ], + [ + 0.2696823477745056, + -0.013323965482413769, + 0.008103176951408386 + ], + [ + 0.2718397378921509, + -0.009761855937540531, + 0.00987520907074213 + ], + [ + 0.272739976644516, + -0.0008469156455248594, + 0.016298016533255577 + ], + [ + 0.28185221552848816, + 0.019498948007822037, + 0.03616686537861824 + ], + [ + 0.28977441787719727, + 0.05131043121218681, + 0.04308998957276344 + ], + [ + 0.2953993082046509, + 0.08125939965248108, + 0.04916844516992569 + ], + [ + 0.29356905817985535, + 0.09839855134487152, + 0.03878812864422798 + ], + [ + 0.29897910356521606, + 0.11441674083471298, + 0.03795861452817917 + ], + [ + 0.29809924960136414, + 0.12424551695585251, + 0.028731942176818848 + ], + [ + 0.297323614358902, + 0.12488332390785217, + 0.02886192314326763 + ], + [ + 0.2973039448261261, + 0.12632626295089722, + 0.025087129324674606 + ], + [ + 0.29912444949150085, + 0.1279657930135727, + 0.02457636035978794 + ], + [ + 0.3029293715953827, + 0.12714818120002747, + 0.0293451976031065 + ], + [ + 0.3043716847896576, + 0.12285643815994263, + 0.03271540626883507 + ], + [ + 0.30612504482269287, + 0.1171233206987381, + 0.04259469732642174 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9791814829366791, + 0.10568282947802607, + 0.17330540391876084, + 0.10280459908431555, + -0.9943739777779336, + 0.025526588593133163, + 0.1750281059745535, + -0.007178570303925068, + -0.9845372670688257 + ], + [ + 0.9847816959082412, + 0.10731074123229777, + 0.136709239703329, + 0.1049953214047279, + -0.9941816796860099, + 0.02405764451938256, + 0.1384954652225311, + -0.009337697407708151, + -0.9903190463279579 + ], + [ + 0.9894398845619448, + 0.09710771718970039, + 0.1076048609508443, + 0.09729646020643902, + -0.9952492646420386, + 0.0035071442482871988, + 0.10743422950504276, + 0.006999463671355852, + -0.9941875546590649 + ], + [ + 0.9929391768487612, + 0.06332450224714004, + 0.1003085165579513, + 0.06263943531269098, + -0.9979864458109973, + 0.009967703910181296, + 0.10073773981290247, + -0.0036140548814038126, + -0.9949064510720104 + ], + [ + 0.9919643184320691, + 0.03570136776089845, + 0.12137628803683716, + 0.03492880096345903, + -0.9993537624416259, + 0.00848742346187375, + 0.12160086274716657, + -0.00417969302307979, + -0.9925702798015752 + ], + [ + 0.9926864859282982, + 0.022412841226868447, + 0.11862211093833017, + 0.020935406033783303, + -0.9996871437993875, + 0.01368661011438993, + 0.11889175509482125, + -0.011103110841646016, + -0.9928451397373667 + ], + [ + 0.9934003296092279, + 0.002355468363845598, + 0.11467448234487305, + 0.002989068828289995, + -0.9999812022010053, + -0.005353570039905573, + 0.11465971655214148, + 0.005661008162805635, + -0.9933886965265729 + ], + [ + 0.9962615743443822, + -0.014690353332895072, + 0.08512971868747009, + -0.012181997298261634, + -0.9994783577735474, + -0.02991005322827113, + 0.08552470068160568, + 0.02876118671486913, + -0.9959208400832239 + ], + [ + 0.9967723361822166, + -0.014850518975807492, + 0.07889468871853915, + -0.008939888429492686, + -0.9971622641029926, + -0.07474956484061857, + 0.07978087625937828, + 0.07380298865996415, + -0.9940765215254522 + ], + [ + 0.9971441697008543, + -0.007704320818607391, + 0.0751275466943911, + -0.0019367892253265065, + -0.9970644425813409, + -0.07654244696543719, + 0.0754967130350097, + 0.07617834850325964, + -0.9942319173815662 + ], + [ + 0.9967691743993417, + 0.017822198024571835, + 0.07831718984250882, + 0.024809173123088592, + -0.9957076506128801, + -0.08916714327557532, + 0.07639187061594471, + 0.09082204450765963, + -0.9929328468407344 + ], + [ + 0.9856037680378839, + 0.14010479764563835, + 0.09463539563081101, + 0.14761915684278995, + -0.9859881771082553, + -0.07769104926414505, + 0.08242449249191151, + 0.09054258820806238, + -0.9924758146967796 + ], + [ + 0.9385755663331503, + 0.3029738536475537, + 0.16517490816815067, + 0.31524303347206617, + -0.9475115427470803, + -0.05332641192109017, + 0.1403486235405822, + 0.10212110637374983, + -0.9848215795276144 + ], + [ + 0.8487557016453051, + 0.48534444038909436, + 0.2098917175783326, + 0.4936037286456641, + -0.869562453508006, + 0.014713888549075543, + 0.18965526091222293, + 0.09111483760910621, + -0.9776139158051009 + ], + [ + 0.7281853430937737, + 0.6378227841359168, + 0.25085494242791084, + 0.6384388408229098, + -0.7643678180641337, + 0.09020911947566257, + 0.2492828767326428, + 0.09446658004280062, + -0.9638122808010462 + ], + [ + 0.6898746328892508, + 0.6882737179068078, + 0.2243931374500149, + 0.6869965369414052, + -0.7201753572571632, + 0.09686698627516958, + 0.22827340871515892, + 0.08733123174590625, + -0.969672370873433 + ], + [ + 0.6430658356222051, + 0.7312001534790133, + 0.22762395877363595, + 0.7309363515654468, + -0.6747167032491961, + 0.10241787108082911, + 0.2284696500975747, + 0.1005171921056445, + -0.9683480330312486 + ], + [ + 0.631327451074738, + 0.7514905114956492, + 0.19154023246170038, + 0.7473884333967562, + -0.6554946823773997, + 0.10833859422982493, + 0.2069690294324663, + 0.07475782572386507, + -0.9754871031176289 + ], + [ + 0.6289135081474345, + 0.7545838592319373, + 0.18727252509731027, + 0.7506269472271322, + -0.6520707791433173, + 0.10659683430526061, + 0.20255119196431046, + 0.07353161479297828, + -0.9765070999535919 + ], + [ + 0.6290060335216412, + 0.758990639539484, + 0.16818031657960747, + 0.7529598130989733, + -0.648622812819816, + 0.1110854020457647, + 0.19339837034300777, + 0.05675963161574413, + -0.9794771128349625 + ], + [ + 0.6296420644392342, + 0.7637463600577981, + 0.1422756767236197, + 0.756289068141687, + -0.6444726259796154, + 0.11261385248857207, + 0.1777011989213307, + 0.03669512040317434, + -0.9834000976410968 + ], + [ + 0.638452651065075, + 0.758118264071567, + 0.13279649855734674, + 0.7478990441666252, + -0.6518351725790703, + 0.1255305840162549, + 0.18172845699731752, + 0.019173040184789172, + -0.9831618190549543 + ], + [ + 0.6370313368918092, + 0.7622971946160754, + 0.11442929213403047, + 0.7534550158892396, + -0.6471146174357132, + 0.11639678231109316, + 0.16277780822083693, + 0.012068926277499802, + -0.986588934749082 + ], + [ + 0.6295990816084974, + 0.7662192820696713, + 0.12850295024774241, + 0.7578505489595692, + -0.6421076455807999, + 0.1155868371760438, + 0.17107759023149685, + 0.024612664856107705, + -0.9849500874913737 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.005827218294143677, + -0.00023139175027608871, + -0.01068628579378128, + 0.0021375147625803947, + 0.036992236971855164, + 0.001609504222869873, + 1.0 + ], + [ + -0.026052147150039673, + -0.0006264438852667809, + -0.007866203784942627, + -0.016468968242406845, + 0.031300097703933716, + -0.00819685310125351, + 1.0 + ], + [ + -0.017279863357543945, + 0.003555634059011936, + -0.014415107667446136, + 0.01067281048744917, + 0.00673307478427887, + -0.035018377006053925, + 1.0 + ], + [ + -0.0012224912643432617, + 0.003849707543849945, + -0.012909844517707825, + 0.0005784130189567804, + -0.02099364995956421, + -0.027804169803857803, + 1.0 + ], + [ + -0.0008814632892608643, + 0.0008415249176323414, + -0.017525475472211838, + 0.006971703842282295, + 0.0027289092540740967, + -0.014110689982771873, + 1.0 + ], + [ + 0.0018039345741271973, + -0.003112529870122671, + -0.013123679906129837, + -0.01688127964735031, + 0.004261195659637451, + -0.018077602609992027, + 1.0 + ], + [ + -0.001647859811782837, + -0.004010576754808426, + -0.00854289997369051, + -0.023172341287136078, + 0.02928314357995987, + -0.015236018225550652, + 0.0 + ], + [ + 0.0018481612205505371, + -0.000496922992169857, + -0.0010150885209441185, + -0.04523584246635437, + 0.005763553082942963, + 0.0032585039734840393, + 0.0 + ], + [ + -0.000430375337600708, + 0.0016908571124076843, + -0.002262156456708908, + -0.0023640841245651245, + 0.004297137260437012, + 0.007026262581348419, + 0.0 + ], + [ + 0.0021573901176452637, + 0.0035621095448732376, + 0.001772032119333744, + -0.014743760228157043, + -0.0008977502584457397, + 0.026826784014701843, + 0.0 + ], + [ + 0.0009002387523651123, + 0.008914940059185028, + 0.006422807462513447, + 0.00023747235536575317, + -0.006051741540431976, + 0.12378579378128052, + 0.0 + ], + [ + 0.009112238883972168, + 0.020345862954854965, + 0.019868848845362663, + -0.012348569929599762, + -0.05829540640115738, + 0.17536507546901703, + 0.0 + ], + [ + 0.007922202348709106, + 0.03181148320436478, + 0.006923124194145203, + 0.010392963886260986, + -0.04999750852584839, + 0.20271620154380798, + 0.0 + ], + [ + 0.005624890327453613, + 0.029948968440294266, + 0.006078455597162247, + -0.0047686174511909485, + -0.061128661036491394, + 0.19307059049606323, + 0.0 + ], + [ + -0.0018302500247955322, + 0.017139151692390442, + -0.010380316525697708, + 0.007881112396717072, + 0.021635785698890686, + 0.06348574161529541, + 0.0 + ], + [ + 0.005410045385360718, + 0.01601818948984146, + -0.0008295141160488129, + -0.013612031936645508, + -0.00020156800746917725, + 0.06595557928085327, + 0.0 + ], + [ + -0.0008798539638519287, + 0.009828776121139526, + -0.009226672351360321, + 0.02694541960954666, + 0.022029578685760498, + 0.020117223262786865, + 0.0 + ], + [ + -0.0007756352424621582, + 0.0006378069519996643, + 0.00012998096644878387, + 0.00132809579372406, + 0.004513472318649292, + 0.004017174243927002, + 0.0 + ], + [ + -1.9669532775878906e-05, + 0.001442939043045044, + -0.003774793818593025, + 0.017274629324674606, + 0.00933767855167389, + 0.001454770565032959, + 0.0 + ], + [ + 0.0018205046653747559, + 0.001639530062675476, + -0.0005107689648866653, + 0.02058694139122963, + 0.015974760055541992, + 0.0016729235649108887, + 1.0 + ], + [ + 0.003804922103881836, + -0.000817611813545227, + 0.004768837243318558, + 0.017798297107219696, + -0.004093915224075317, + -0.01234513521194458, + 1.0 + ], + [ + 0.0014423131942749023, + -0.004291743040084839, + 0.003370208665728569, + 0.00726656336337328, + 0.019238531589508057, + 0.004751682281494141, + 1.0 + ], + [ + 0.0017533600330352783, + -0.005733117461204529, + 0.00987929105758667, + -0.012751170434057713, + -0.008417919278144836, + 0.00864100456237793, + 1.0 + ], + [ + 0.004719734191894531, + -0.010127000510692596, + 0.022041145712137222, + -0.03399534523487091, + -0.038989365100860596, + -0.01685231924057007, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9499720335006714 + ], + [ + 0.680191159248352 + ], + [ + 0.3814634680747986 + ], + [ + 0.1623418778181076 + ], + [ + 0.061516307294368744 + ], + [ + 0.05324139446020126 + ], + [ + 0.056468017399311066 + ], + [ + 0.056741900742053986 + ], + [ + 0.056741900742053986 + ], + [ + 0.056741900742053986 + ], + [ + 0.056741900742053986 + ], + [ + 0.056741900742053986 + ], + [ + 0.05377154052257538 + ], + [ + 0.07365728914737701 + ], + [ + 0.21606682240962982 + ], + [ + 0.4681091010570526 + ], + [ + 0.7565051317214966 + ], + [ + 0.9823668599128723 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.31354445219039917, + -0.01501521561294794, + 0.08576363325119019 + ], + [ + 0.2874923050403595, + -0.01564165949821472, + 0.07789742946624756 + ], + [ + 0.27021244168281555, + -0.012086025439202785, + 0.06348232179880142 + ], + [ + 0.2689899504184723, + -0.00823631789535284, + 0.0505724772810936 + ], + [ + 0.2681084871292114, + -0.007394792977720499, + 0.03304700180888176 + ], + [ + 0.2699124217033386, + -0.01050732284784317, + 0.019923321902751923 + ], + [ + 0.2682645618915558, + -0.014517899602651596, + 0.011380421929061413 + ], + [ + 0.2701127231121063, + -0.015014822594821453, + 0.010365333408117294 + ], + [ + 0.2696823477745056, + -0.013323965482413769, + 0.008103176951408386 + ], + [ + 0.2718397378921509, + -0.009761855937540531, + 0.00987520907074213 + ], + [ + 0.272739976644516, + -0.0008469156455248594, + 0.016298016533255577 + ], + [ + 0.28185221552848816, + 0.019498948007822037, + 0.03616686537861824 + ], + [ + 0.28977441787719727, + 0.05131043121218681, + 0.04308998957276344 + ], + [ + 0.2953993082046509, + 0.08125939965248108, + 0.04916844516992569 + ], + [ + 0.29356905817985535, + 0.09839855134487152, + 0.03878812864422798 + ], + [ + 0.29897910356521606, + 0.11441674083471298, + 0.03795861452817917 + ], + [ + 0.29809924960136414, + 0.12424551695585251, + 0.028731942176818848 + ], + [ + 0.297323614358902, + 0.12488332390785217, + 0.02886192314326763 + ], + [ + 0.2973039448261261, + 0.12632626295089722, + 0.025087129324674606 + ], + [ + 0.29912444949150085, + 0.1279657930135727, + 0.02457636035978794 + ], + [ + 0.3029293715953827, + 0.12714818120002747, + 0.0293451976031065 + ], + [ + 0.3043716847896576, + 0.12285643815994263, + 0.03271540626883507 + ], + [ + 0.30612504482269287, + 0.1171233206987381, + 0.04259469732642174 + ], + [ + 0.3108447790145874, + 0.1069963201880455, + 0.06463584303855896 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9847816959082412, + 0.10731074123229777, + 0.136709239703329, + 0.1049953214047279, + -0.9941816796860099, + 0.02405764451938256, + 0.1384954652225311, + -0.009337697407708151, + -0.9903190463279579 + ], + [ + 0.9894398845619448, + 0.09710771718970039, + 0.1076048609508443, + 0.09729646020643902, + -0.9952492646420386, + 0.0035071442482871988, + 0.10743422950504276, + 0.006999463671355852, + -0.9941875546590649 + ], + [ + 0.9929391768487612, + 0.06332450224714004, + 0.1003085165579513, + 0.06263943531269098, + -0.9979864458109973, + 0.009967703910181296, + 0.10073773981290247, + -0.0036140548814038126, + -0.9949064510720104 + ], + [ + 0.9919643184320691, + 0.03570136776089845, + 0.12137628803683716, + 0.03492880096345903, + -0.9993537624416259, + 0.00848742346187375, + 0.12160086274716657, + -0.00417969302307979, + -0.9925702798015752 + ], + [ + 0.9926864859282982, + 0.022412841226868447, + 0.11862211093833017, + 0.020935406033783303, + -0.9996871437993875, + 0.01368661011438993, + 0.11889175509482125, + -0.011103110841646016, + -0.9928451397373667 + ], + [ + 0.9934003296092279, + 0.002355468363845598, + 0.11467448234487305, + 0.002989068828289995, + -0.9999812022010053, + -0.005353570039905573, + 0.11465971655214148, + 0.005661008162805635, + -0.9933886965265729 + ], + [ + 0.9962615743443822, + -0.014690353332895072, + 0.08512971868747009, + -0.012181997298261634, + -0.9994783577735474, + -0.02991005322827113, + 0.08552470068160568, + 0.02876118671486913, + -0.9959208400832239 + ], + [ + 0.9967723361822166, + -0.014850518975807492, + 0.07889468871853915, + -0.008939888429492686, + -0.9971622641029926, + -0.07474956484061857, + 0.07978087625937828, + 0.07380298865996415, + -0.9940765215254522 + ], + [ + 0.9971441697008543, + -0.007704320818607391, + 0.0751275466943911, + -0.0019367892253265065, + -0.9970644425813409, + -0.07654244696543719, + 0.0754967130350097, + 0.07617834850325964, + -0.9942319173815662 + ], + [ + 0.9967691743993417, + 0.017822198024571835, + 0.07831718984250882, + 0.024809173123088592, + -0.9957076506128801, + -0.08916714327557532, + 0.07639187061594471, + 0.09082204450765963, + -0.9929328468407344 + ], + [ + 0.9856037680378839, + 0.14010479764563835, + 0.09463539563081101, + 0.14761915684278995, + -0.9859881771082553, + -0.07769104926414505, + 0.08242449249191151, + 0.09054258820806238, + -0.9924758146967796 + ], + [ + 0.9385755663331503, + 0.3029738536475537, + 0.16517490816815067, + 0.31524303347206617, + -0.9475115427470803, + -0.05332641192109017, + 0.1403486235405822, + 0.10212110637374983, + -0.9848215795276144 + ], + [ + 0.8487557016453051, + 0.48534444038909436, + 0.2098917175783326, + 0.4936037286456641, + -0.869562453508006, + 0.014713888549075543, + 0.18965526091222293, + 0.09111483760910621, + -0.9776139158051009 + ], + [ + 0.7281853430937737, + 0.6378227841359168, + 0.25085494242791084, + 0.6384388408229098, + -0.7643678180641337, + 0.09020911947566257, + 0.2492828767326428, + 0.09446658004280062, + -0.9638122808010462 + ], + [ + 0.6898746328892508, + 0.6882737179068078, + 0.2243931374500149, + 0.6869965369414052, + -0.7201753572571632, + 0.09686698627516958, + 0.22827340871515892, + 0.08733123174590625, + -0.969672370873433 + ], + [ + 0.6430658356222051, + 0.7312001534790133, + 0.22762395877363595, + 0.7309363515654468, + -0.6747167032491961, + 0.10241787108082911, + 0.2284696500975747, + 0.1005171921056445, + -0.9683480330312486 + ], + [ + 0.631327451074738, + 0.7514905114956492, + 0.19154023246170038, + 0.7473884333967562, + -0.6554946823773997, + 0.10833859422982493, + 0.2069690294324663, + 0.07475782572386507, + -0.9754871031176289 + ], + [ + 0.6289135081474345, + 0.7545838592319373, + 0.18727252509731027, + 0.7506269472271322, + -0.6520707791433173, + 0.10659683430526061, + 0.20255119196431046, + 0.07353161479297828, + -0.9765070999535919 + ], + [ + 0.6290060335216412, + 0.758990639539484, + 0.16818031657960747, + 0.7529598130989733, + -0.648622812819816, + 0.1110854020457647, + 0.19339837034300777, + 0.05675963161574413, + -0.9794771128349625 + ], + [ + 0.6296420644392342, + 0.7637463600577981, + 0.1422756767236197, + 0.756289068141687, + -0.6444726259796154, + 0.11261385248857207, + 0.1777011989213307, + 0.03669512040317434, + -0.9834000976410968 + ], + [ + 0.638452651065075, + 0.758118264071567, + 0.13279649855734674, + 0.7478990441666252, + -0.6518351725790703, + 0.1255305840162549, + 0.18172845699731752, + 0.019173040184789172, + -0.9831618190549543 + ], + [ + 0.6370313368918092, + 0.7622971946160754, + 0.11442929213403047, + 0.7534550158892396, + -0.6471146174357132, + 0.11639678231109316, + 0.16277780822083693, + 0.012068926277499802, + -0.986588934749082 + ], + [ + 0.6295990816084974, + 0.7662192820696713, + 0.12850295024774241, + 0.7578505489595692, + -0.6421076455807999, + 0.1155868371760438, + 0.17107759023149685, + 0.024612664856107705, + -0.9849500874913737 + ], + [ + 0.6374453424993777, + 0.748949619938035, + 0.18093618245260887, + 0.7415086005403824, + -0.6601153458421936, + 0.12005301124205277, + 0.20935240779722222, + 0.05763850256828133, + -0.976140037274976 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005469.json b/json/chunk-0005/episode_0005469.json new file mode 100644 index 0000000000000000000000000000000000000000..1f005e27293b03ecd33e1bdd9360253a1d9c8452 --- /dev/null +++ b/json/chunk-0005/episode_0005469.json @@ -0,0 +1,1642 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 26, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the pink dolly from the top of the drawer to the table." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005469.mp4", + "start": 0, + "end": 26, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3560800850391388, + 0.011146513745188713, + 0.13395236432552338, + -0.12897129356861115, + -0.4246358275413513, + 0.24093209207057953, + 0.0, + 0.9994885921478271 + ], + [ + 0.35552623867988586, + 0.010732416063547134, + 0.12502723932266235, + -0.12627290189266205, + -0.3954533040523529, + 0.24059617519378662, + 0.0, + 0.9994885921478271 + ], + [ + 0.363620787858963, + -0.013530738651752472, + 0.140687957406044, + -0.1553681194782257, + -0.40309861302375793, + 0.19513531029224396, + 0.0, + 0.9994885921478271 + ], + [ + 0.37660977244377136, + -0.04117273539304733, + 0.15406404435634613, + -0.17024961113929749, + -0.4212442636489868, + 0.1164480447769165, + 0.0, + 0.9994885921478271 + ], + [ + 0.38885101675987244, + -0.07562541961669922, + 0.1654062718153, + -0.2173057645559311, + -0.4605449140071869, + 0.02749299630522728, + 0.0, + 0.9994885921478271 + ], + [ + 0.3939272165298462, + -0.11514268070459366, + 0.15767423808574677, + -0.2406497448682785, + -0.44300204515457153, + -0.08690199255943298, + 0.0, + 0.9994885921478271 + ], + [ + 0.391692191362381, + -0.1435077041387558, + 0.13212470710277557, + -0.22461353242397308, + -0.37287941575050354, + -0.18744990229606628, + 0.0, + 0.9994885921478271 + ], + [ + 0.3895428478717804, + -0.15467879176139832, + 0.11752410978078842, + -0.19635023176670074, + -0.32656192779541016, + -0.22976042330265045, + 0.0, + 0.9461179971694946 + ], + [ + 0.39231956005096436, + -0.15259265899658203, + 0.11233257502317429, + -0.17491555213928223, + -0.3147974908351898, + -0.23680804669857025, + 0.0, + 0.657115638256073 + ], + [ + 0.3901747763156891, + -0.14515742659568787, + 0.11095481365919113, + -0.16230453550815582, + -0.3131406903266907, + -0.2263181358575821, + 0.0, + 0.4211256504058838 + ], + [ + 0.3892475664615631, + -0.1167168840765953, + 0.11439944058656693, + -0.15113770961761475, + -0.2962046265602112, + -0.1569579839706421, + 0.0, + 0.3502708673477173 + ], + [ + 0.39838555455207825, + -0.06441350281238556, + 0.11737702041864395, + -0.16404840350151062, + -0.30369484424591064, + -0.0014143858570605516, + 0.0, + 0.3494465947151184 + ], + [ + 0.4141518473625183, + -0.015082691796123981, + 0.12143592536449432, + -0.17231275141239166, + -0.32086023688316345, + 0.09656523168087006, + 0.0, + 0.3486233055591583 + ], + [ + 0.43094402551651, + 0.00019887470989488065, + 0.09993736445903778, + -0.1498832106590271, + -0.32330411672592163, + 0.09181983023881912, + 0.0, + 0.3486233055591583 + ], + [ + 0.4494164288043976, + 0.016583537682890892, + 0.08632403612136841, + -0.11909998208284378, + -0.3448044955730438, + 0.1168893426656723, + 0.0, + 0.3486233055591583 + ], + [ + 0.4668433666229248, + 0.027630800381302834, + 0.06646434962749481, + -0.06676498800516129, + -0.3306807577610016, + 0.11006472259759903, + 0.0, + 0.3486233055591583 + ], + [ + 0.47407373785972595, + 0.03244560584425926, + 0.056172072887420654, + -0.037919797003269196, + -0.3200850784778595, + 0.10442154854536057, + 0.0, + 0.3486233055591583 + ], + [ + 0.4736057221889496, + 0.03653151914477348, + 0.03894324228167534, + -0.012032820843160152, + -0.28049662709236145, + 0.10815304517745972, + 0.0, + 0.4211256504058838 + ], + [ + 0.4760410487651825, + 0.039132822304964066, + 0.04210170358419418, + -0.0030846833251416683, + -0.2794390916824341, + 0.1307855099439621, + 0.0, + 0.729983389377594 + ], + [ + 0.4715122580528259, + 0.040546584874391556, + 0.04770813509821892, + 0.00745273195207119, + -0.23884519934654236, + 0.14206337928771973, + 0.0, + 0.9809558987617493 + ], + [ + 0.4609619975090027, + 0.04236133396625519, + 0.07132218033075333, + 0.0231417715549469, + -0.21047134697437286, + 0.1351170837879181, + 0.0, + 1.002137303352356 + ], + [ + 0.4428406059741974, + 0.048642221838235855, + 0.10737603902816772, + -0.005524385720491409, + -0.21476800739765167, + 0.1599719375371933, + 0.0, + 1.0008161067962646 + ], + [ + 0.42822831869125366, + 0.05737300589680672, + 0.10828143358230591, + -0.040875036269426346, + -0.18759433925151825, + 0.1814865618944168, + 0.0, + 1.0008161067962646 + ], + [ + 0.4140681326389313, + 0.059908490628004074, + 0.10911376029253006, + -0.01992178149521351, + -0.24505652487277985, + 0.17530828714370728, + 0.0, + 1.0008161067962646 + ], + [ + 0.4149058163166046, + 0.05939482897520065, + 0.11053924262523651, + -0.019779415801167488, + -0.2558211088180542, + 0.1723899245262146, + 0.0, + 1.0008161067962646 + ], + [ + 0.41513827443122864, + 0.05943113937973976, + 0.110601045191288, + -0.019813265651464462, + -0.25735458731651306, + 0.17242132127285004, + 0.0, + 1.0008161067962646 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9461179971694946 + ], + [ + 0.657115638256073 + ], + [ + 0.4211256504058838 + ], + [ + 0.3502708673477173 + ], + [ + 0.3494465947151184 + ], + [ + 0.3486233055591583 + ], + [ + 0.3486233055591583 + ], + [ + 0.3486233055591583 + ], + [ + 0.3486233055591583 + ], + [ + 0.3486233055591583 + ], + [ + 0.4211256504058838 + ], + [ + 0.729983389377594 + ], + [ + 0.9809558987617493 + ], + [ + 1.002137303352356 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3560800850391388, + 0.011146513745188713, + 0.13395236432552338 + ], + [ + 0.35552623867988586, + 0.010732416063547134, + 0.12502723932266235 + ], + [ + 0.363620787858963, + -0.013530738651752472, + 0.140687957406044 + ], + [ + 0.37660977244377136, + -0.04117273539304733, + 0.15406404435634613 + ], + [ + 0.38885101675987244, + -0.07562541961669922, + 0.1654062718153 + ], + [ + 0.3939272165298462, + -0.11514268070459366, + 0.15767423808574677 + ], + [ + 0.391692191362381, + -0.1435077041387558, + 0.13212470710277557 + ], + [ + 0.3895428478717804, + -0.15467879176139832, + 0.11752410978078842 + ], + [ + 0.39231956005096436, + -0.15259265899658203, + 0.11233257502317429 + ], + [ + 0.3901747763156891, + -0.14515742659568787, + 0.11095481365919113 + ], + [ + 0.3892475664615631, + -0.1167168840765953, + 0.11439944058656693 + ], + [ + 0.39838555455207825, + -0.06441350281238556, + 0.11737702041864395 + ], + [ + 0.4141518473625183, + -0.015082691796123981, + 0.12143592536449432 + ], + [ + 0.43094402551651, + 0.00019887470989488065, + 0.09993736445903778 + ], + [ + 0.4494164288043976, + 0.016583537682890892, + 0.08632403612136841 + ], + [ + 0.4668433666229248, + 0.027630800381302834, + 0.06646434962749481 + ], + [ + 0.47407373785972595, + 0.03244560584425926, + 0.056172072887420654 + ], + [ + 0.4736057221889496, + 0.03653151914477348, + 0.03894324228167534 + ], + [ + 0.4760410487651825, + 0.039132822304964066, + 0.04210170358419418 + ], + [ + 0.4715122580528259, + 0.040546584874391556, + 0.04770813509821892 + ], + [ + 0.4609619975090027, + 0.04236133396625519, + 0.07132218033075333 + ], + [ + 0.4428406059741974, + 0.048642221838235855, + 0.10737603902816772 + ], + [ + 0.42822831869125366, + 0.05737300589680672, + 0.10828143358230591 + ], + [ + 0.4140681326389313, + 0.059908490628004074, + 0.10911376029253006 + ], + [ + 0.4149058163166046, + 0.05939482897520065, + 0.11053924262523651 + ], + [ + 0.41513827443122864, + 0.05943113937973976, + 0.110601045191288 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8848700431881988, + 0.1851691181297113, + 0.42745456408743643, + 0.21741685236128214, + -0.9756938592282017, + -0.027411774362321298, + 0.4119889791941378, + 0.11719168381520677, + -0.9036211541719954 + ], + [ + 0.8962411514464749, + 0.18926741213867246, + 0.4011603733623581, + 0.21989157709607568, + -0.9750237045743353, + -0.031248517410265436, + 0.38522654734077877, + 0.116217994391871, + -0.9154746774233755 + ], + [ + 0.9023924924070666, + 0.13201429386893862, + 0.4101950948776056, + 0.17835823581429908, + -0.9809746412696314, + -0.07666219996275173, + 0.3922704798535995, + 0.1423410671598452, + -0.9087699880801651 + ], + [ + 0.9064004953067916, + 0.04569586525257311, + 0.419940507698914, + 0.10602825217278691, + -0.9869171430418519, + -0.12146012724879236, + 0.40889626049743577, + 0.15461707754619994, + -0.8993872400041516 + ], + [ + 0.8954719164730025, + -0.06894102129692811, + 0.4397467252757032, + 0.024625410897837492, + -0.9787469019984684, + -0.20358804229746258, + 0.4444363125873953, + 0.19313631820798816, + -0.8747426630974289 + ], + [ + 0.9000595662799457, + -0.1860686658517384, + 0.3940447039818074, + -0.0784144633848026, + -0.9586515000794653, + -0.2735662137901251, + 0.4286536469925685, + 0.21532708372043008, + -0.877433927960633 + ], + [ + 0.9149686441638165, + -0.2613916149251109, + 0.3074195892324847, + -0.1735482423090542, + -0.9426821576063595, + -0.2850111529783638, + 0.3642984872168219, + 0.20742413884951053, + -0.9078886709470902 + ], + [ + 0.9222606425942694, + -0.28430651849789884, + 0.26192577319005816, + -0.21570815544585703, + -0.9407581688863313, + -0.2616181556157434, + 0.3207885577693691, + 0.1847806029139457, + -0.9289514680493312 + ], + [ + 0.9243222970531846, + -0.2833997714117901, + 0.25556380951548996, + -0.2230724532497121, + -0.9446180064508447, + -0.24069794866177602, + 0.3096239198955396, + 0.16547323485257986, + -0.9363501678196803 + ], + [ + 0.9271100408847451, + -0.26995101335119415, + 0.25998735061796674, + -0.21347911582990275, + -0.9505220030323136, + -0.22568692663936338, + 0.30804811181886693, + 0.15373474604689022, + -0.9388673967407373 + ], + [ + 0.9446939079662163, + -0.19794031747546842, + 0.2614824104394567, + -0.1495070145055678, + -0.9695781885193202, + -0.19381895924089934, + 0.29189222816846233, + 0.14400613551270733, + -0.9455480739071631 + ], + [ + 0.9542371149451813, + -0.05023394827229945, + 0.2948017620403119, + -0.0013496603796536825, + -0.9865041472292955, + -0.16373071158539568, + 0.2990480009596392, + 0.15584003959309164, + -0.941426670103236 + ], + [ + 0.9445434294105234, + 0.04116334440242846, + 0.3257963919920142, + 0.0914946230723567, + -0.9858147955945257, + -0.14070509136406756, + 0.3153830114420472, + 0.16271068761618057, + -0.9349111124749854 + ], + [ + 0.944196638962115, + 0.04342272477375023, + 0.32650754041196095, + 0.08694044071515442, + -0.9889730859458743, + -0.11988992886372461, + 0.31770122244162025, + 0.14158637733877283, + -0.9375602546029682 + ], + [ + 0.9347194065275054, + 0.07590904263881076, + 0.34718503468111567, + 0.10975907668501514, + -0.9908243823039053, + -0.07886690381482955, + 0.33801268636860543, + 0.11182513437391353, + -0.9344744850321678 + ], + [ + 0.9400983546909177, + 0.08806736149079913, + 0.3293314794359609, + 0.10389152623167944, + -0.9941138875357329, + -0.030726688494607857, + 0.3246869789269075, + 0.06310085933362011, + -0.9437142826442105 + ], + [ + 0.9440383333705239, + 0.09229342754451003, + 0.31665998856674327, + 0.09893780765921442, + -0.9950813989227721, + -0.004931504180991688, + 0.3146473189820501, + 0.03598517403021864, + -0.9485262947896715 + ], + [ + 0.955303581703708, + 0.10462297050277017, + 0.27649430523474383, + 0.10372372877740588, + -0.9944447434707557, + 0.01791759671089746, + 0.27683290063245436, + 0.011562276011222913, + -0.9608485098603537 + ], + [ + 0.9530013296222442, + 0.1295688245631345, + 0.2738619824648227, + 0.12535430338540637, + -0.9915659979698837, + 0.032911552572743676, + 0.2758165411301408, + 0.0029650246738671046, + -0.9612057242170841 + ], + [ + 0.9618237680259574, + 0.14332746986473194, + 0.23313574509826632, + 0.13756663914302736, + -0.9896488280792182, + 0.04087318040380828, + 0.2365807664524772, + -0.007241095469921584, + -0.9715848431717912 + ], + [ + 0.9690192475332328, + 0.13946056471790536, + 0.20384417774047442, + 0.13173370327986655, + -0.9899690277991651, + 0.05106422836534153, + 0.20892086858497233, + -0.022629071720656375, + -0.9776706990509442 + ], + [ + 0.9645509562260528, + 0.15812574925438397, + 0.21127635993207336, + 0.1556309406854138, + -0.9874042308301362, + 0.028493775462732712, + 0.21312077126545068, + 0.005397440271749369, + -0.9770109541319035 + ], + [ + 0.9663203298429512, + 0.17284541524090047, + 0.19065540265728217, + 0.17732531948626706, + -0.9841304295431984, + -0.006559627749571348, + 0.18649598172964219, + 0.04014673183859822, + -0.981635109763998 + ], + [ + 0.9552543506253248, + 0.16961824726742294, + 0.24231957371478743, + 0.1692009161586989, + -0.985320345115748, + 0.022690691308119997, + 0.24261116128992474, + 0.019325312284949537, + -0.9699311092663454 + ], + [ + 0.9531158499163792, + 0.1665733093178731, + 0.2526331515479913, + 0.1659547998029499, + -0.9858433977657023, + 0.02391232954227148, + 0.2530398803756851, + 0.019134463793572573, + -0.9672666081462709 + ], + [ + 0.9527272409296987, + 0.16656675899255408, + 0.2540990342154037, + 0.1659179554792341, + -0.9858440183589388, + 0.024141323813993545, + 0.25452315501752565, + 0.019159495416571234, + -0.9668768677010056 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0005538463592529297, + -0.0004140976816415787, + -0.008925125002861023, + 0.0026983916759490967, + 0.029182523488998413, + -0.0003359168767929077, + 1.0 + ], + [ + 0.008094549179077148, + -0.024263154715299606, + 0.015660718083381653, + -0.02909521758556366, + -0.007645308971405029, + -0.045460864901542664, + 1.0 + ], + [ + 0.01298898458480835, + -0.02764199674129486, + 0.013376086950302124, + -0.014881491661071777, + -0.018145650625228882, + -0.07868726551532745, + 1.0 + ], + [ + 0.012241244316101074, + -0.034452684223651886, + 0.011342227458953857, + -0.047056153416633606, + -0.03930065035820007, + -0.08895504474639893, + 1.0 + ], + [ + 0.005076199769973755, + -0.03951726108789444, + -0.007732033729553223, + -0.023343980312347412, + 0.017542868852615356, + -0.11439499258995056, + 1.0 + ], + [ + -0.00223502516746521, + -0.02836502343416214, + -0.02554953098297119, + 0.01603621244430542, + 0.070122629404068, + -0.1005479097366333, + 1.0 + ], + [ + -0.002149343490600586, + -0.011171087622642517, + -0.014600597321987152, + 0.02826330065727234, + 0.046317487955093384, + -0.04231052100658417, + 0.0 + ], + [ + 0.00277671217918396, + 0.002086132764816284, + -0.005191534757614136, + 0.021434679627418518, + 0.011764436960220337, + -0.0070476233959198, + 0.0 + ], + [ + -0.0021447837352752686, + 0.007435232400894165, + -0.0013777613639831543, + 0.012611016631126404, + 0.0016568005084991455, + 0.01048991084098816, + 0.0 + ], + [ + -0.0009272098541259766, + 0.02844054251909256, + 0.0034446269273757935, + 0.011166825890541077, + 0.016936063766479492, + 0.06936015188694, + 0.0 + ], + [ + 0.009137988090515137, + 0.05230338126420975, + 0.0029775798320770264, + -0.012910693883895874, + -0.007490217685699463, + 0.15554359555244446, + 0.0 + ], + [ + 0.015766292810440063, + 0.04933081194758415, + 0.004058904945850372, + -0.008264347910881042, + -0.017165392637252808, + 0.09797962009906769, + 0.0 + ], + [ + 0.0167921781539917, + 0.01528156641870737, + -0.021498560905456543, + 0.022429540753364563, + -0.0024438798427581787, + -0.004745401442050934, + 0.0 + ], + [ + 0.018472403287887573, + 0.016384663060307503, + -0.013613328337669373, + 0.03078322857618332, + -0.021500378847122192, + 0.02506951242685318, + 0.0 + ], + [ + 0.01742693781852722, + 0.011047262698411942, + -0.019859686493873596, + 0.052334994077682495, + 0.014123737812042236, + -0.006824620068073273, + 0.0 + ], + [ + 0.0072303712368011475, + 0.0048148054629564285, + -0.010292276740074158, + 0.02884519100189209, + 0.01059567928314209, + -0.005643174052238464, + 0.0 + ], + [ + -0.0004680156707763672, + 0.004085913300514221, + -0.017228830605745316, + 0.02588697522878647, + 0.03958845138549805, + 0.0037314966320991516, + 1.0 + ], + [ + 0.00243532657623291, + 0.0026013031601905823, + 0.0031584613025188446, + 0.008948137983679771, + 0.0010575354099273682, + 0.02263246476650238, + 1.0 + ], + [ + -0.004528790712356567, + 0.0014137625694274902, + 0.0056064315140247345, + 0.010537415742874146, + 0.040593892335891724, + 0.01127786934375763, + 1.0 + ], + [ + -0.010550260543823242, + 0.0018147490918636322, + 0.02361404523253441, + 0.01568903960287571, + 0.028373852372169495, + -0.006946295499801636, + 1.0 + ], + [ + -0.018121391534805298, + 0.006280887871980667, + 0.0360538586974144, + -0.02866615727543831, + -0.004296660423278809, + 0.024854853749275208, + 1.0 + ], + [ + -0.014612287282943726, + 0.008730784058570862, + 0.0009053945541381836, + -0.035350650548934937, + 0.027173668146133423, + 0.02151462435722351, + 1.0 + ], + [ + -0.014160186052322388, + 0.002535484731197357, + 0.0008323267102241516, + 0.020953254774212837, + -0.0574621856212616, + -0.006178274750709534, + 1.0 + ], + [ + 0.0008376836776733398, + -0.000513661652803421, + 0.0014254823327064514, + 0.0001423656940460205, + -0.010764583945274353, + -0.0029183626174926758, + 1.0 + ], + [ + 0.00023245811462402344, + 3.6310404539108276e-05, + 6.180256605148315e-05, + -3.384985029697418e-05, + -0.0015334784984588623, + 3.139674663543701e-05, + 1.0 + ], + [ + -0.00032407045364379883, + 0.000600077211856842, + -6.180256605148315e-05, + 3.384985029697418e-05, + 0.0015334784984588623, + 0.0015025883913040161, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9461179971694946 + ], + [ + 0.657115638256073 + ], + [ + 0.4211256504058838 + ], + [ + 0.3502708673477173 + ], + [ + 0.3494465947151184 + ], + [ + 0.3486233055591583 + ], + [ + 0.3486233055591583 + ], + [ + 0.3486233055591583 + ], + [ + 0.3486233055591583 + ], + [ + 0.3486233055591583 + ], + [ + 0.4211256504058838 + ], + [ + 0.729983389377594 + ], + [ + 0.9809558987617493 + ], + [ + 1.002137303352356 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.35552623867988586, + 0.010732416063547134, + 0.12502723932266235 + ], + [ + 0.363620787858963, + -0.013530738651752472, + 0.140687957406044 + ], + [ + 0.37660977244377136, + -0.04117273539304733, + 0.15406404435634613 + ], + [ + 0.38885101675987244, + -0.07562541961669922, + 0.1654062718153 + ], + [ + 0.3939272165298462, + -0.11514268070459366, + 0.15767423808574677 + ], + [ + 0.391692191362381, + -0.1435077041387558, + 0.13212470710277557 + ], + [ + 0.3895428478717804, + -0.15467879176139832, + 0.11752410978078842 + ], + [ + 0.39231956005096436, + -0.15259265899658203, + 0.11233257502317429 + ], + [ + 0.3901747763156891, + -0.14515742659568787, + 0.11095481365919113 + ], + [ + 0.3892475664615631, + -0.1167168840765953, + 0.11439944058656693 + ], + [ + 0.39838555455207825, + -0.06441350281238556, + 0.11737702041864395 + ], + [ + 0.4141518473625183, + -0.015082691796123981, + 0.12143592536449432 + ], + [ + 0.43094402551651, + 0.00019887470989488065, + 0.09993736445903778 + ], + [ + 0.4494164288043976, + 0.016583537682890892, + 0.08632403612136841 + ], + [ + 0.4668433666229248, + 0.027630800381302834, + 0.06646434962749481 + ], + [ + 0.47407373785972595, + 0.03244560584425926, + 0.056172072887420654 + ], + [ + 0.4736057221889496, + 0.03653151914477348, + 0.03894324228167534 + ], + [ + 0.4760410487651825, + 0.039132822304964066, + 0.04210170358419418 + ], + [ + 0.4715122580528259, + 0.040546584874391556, + 0.04770813509821892 + ], + [ + 0.4609619975090027, + 0.04236133396625519, + 0.07132218033075333 + ], + [ + 0.4428406059741974, + 0.048642221838235855, + 0.10737603902816772 + ], + [ + 0.42822831869125366, + 0.05737300589680672, + 0.10828143358230591 + ], + [ + 0.4140681326389313, + 0.059908490628004074, + 0.10911376029253006 + ], + [ + 0.4149058163166046, + 0.05939482897520065, + 0.11053924262523651 + ], + [ + 0.41513827443122864, + 0.05943113937973976, + 0.110601045191288 + ], + [ + 0.41481420397758484, + 0.0600312165915966, + 0.11053924262523651 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8962411514464749, + 0.18926741213867246, + 0.4011603733623581, + 0.21989157709607568, + -0.9750237045743353, + -0.031248517410265436, + 0.38522654734077877, + 0.116217994391871, + -0.9154746774233755 + ], + [ + 0.9023924924070666, + 0.13201429386893862, + 0.4101950948776056, + 0.17835823581429908, + -0.9809746412696314, + -0.07666219996275173, + 0.3922704798535995, + 0.1423410671598452, + -0.9087699880801651 + ], + [ + 0.9064004953067916, + 0.04569586525257311, + 0.419940507698914, + 0.10602825217278691, + -0.9869171430418519, + -0.12146012724879236, + 0.40889626049743577, + 0.15461707754619994, + -0.8993872400041516 + ], + [ + 0.8954719164730025, + -0.06894102129692811, + 0.4397467252757032, + 0.024625410897837492, + -0.9787469019984684, + -0.20358804229746258, + 0.4444363125873953, + 0.19313631820798816, + -0.8747426630974289 + ], + [ + 0.9000595662799457, + -0.1860686658517384, + 0.3940447039818074, + -0.0784144633848026, + -0.9586515000794653, + -0.2735662137901251, + 0.4286536469925685, + 0.21532708372043008, + -0.877433927960633 + ], + [ + 0.9149686441638165, + -0.2613916149251109, + 0.3074195892324847, + -0.1735482423090542, + -0.9426821576063595, + -0.2850111529783638, + 0.3642984872168219, + 0.20742413884951053, + -0.9078886709470902 + ], + [ + 0.9222606425942694, + -0.28430651849789884, + 0.26192577319005816, + -0.21570815544585703, + -0.9407581688863313, + -0.2616181556157434, + 0.3207885577693691, + 0.1847806029139457, + -0.9289514680493312 + ], + [ + 0.9243222970531846, + -0.2833997714117901, + 0.25556380951548996, + -0.2230724532497121, + -0.9446180064508447, + -0.24069794866177602, + 0.3096239198955396, + 0.16547323485257986, + -0.9363501678196803 + ], + [ + 0.9271100408847451, + -0.26995101335119415, + 0.25998735061796674, + -0.21347911582990275, + -0.9505220030323136, + -0.22568692663936338, + 0.30804811181886693, + 0.15373474604689022, + -0.9388673967407373 + ], + [ + 0.9446939079662163, + -0.19794031747546842, + 0.2614824104394567, + -0.1495070145055678, + -0.9695781885193202, + -0.19381895924089934, + 0.29189222816846233, + 0.14400613551270733, + -0.9455480739071631 + ], + [ + 0.9542371149451813, + -0.05023394827229945, + 0.2948017620403119, + -0.0013496603796536825, + -0.9865041472292955, + -0.16373071158539568, + 0.2990480009596392, + 0.15584003959309164, + -0.941426670103236 + ], + [ + 0.9445434294105234, + 0.04116334440242846, + 0.3257963919920142, + 0.0914946230723567, + -0.9858147955945257, + -0.14070509136406756, + 0.3153830114420472, + 0.16271068761618057, + -0.9349111124749854 + ], + [ + 0.944196638962115, + 0.04342272477375023, + 0.32650754041196095, + 0.08694044071515442, + -0.9889730859458743, + -0.11988992886372461, + 0.31770122244162025, + 0.14158637733877283, + -0.9375602546029682 + ], + [ + 0.9347194065275054, + 0.07590904263881076, + 0.34718503468111567, + 0.10975907668501514, + -0.9908243823039053, + -0.07886690381482955, + 0.33801268636860543, + 0.11182513437391353, + -0.9344744850321678 + ], + [ + 0.9400983546909177, + 0.08806736149079913, + 0.3293314794359609, + 0.10389152623167944, + -0.9941138875357329, + -0.030726688494607857, + 0.3246869789269075, + 0.06310085933362011, + -0.9437142826442105 + ], + [ + 0.9440383333705239, + 0.09229342754451003, + 0.31665998856674327, + 0.09893780765921442, + -0.9950813989227721, + -0.004931504180991688, + 0.3146473189820501, + 0.03598517403021864, + -0.9485262947896715 + ], + [ + 0.955303581703708, + 0.10462297050277017, + 0.27649430523474383, + 0.10372372877740588, + -0.9944447434707557, + 0.01791759671089746, + 0.27683290063245436, + 0.011562276011222913, + -0.9608485098603537 + ], + [ + 0.9530013296222442, + 0.1295688245631345, + 0.2738619824648227, + 0.12535430338540637, + -0.9915659979698837, + 0.032911552572743676, + 0.2758165411301408, + 0.0029650246738671046, + -0.9612057242170841 + ], + [ + 0.9618237680259574, + 0.14332746986473194, + 0.23313574509826632, + 0.13756663914302736, + -0.9896488280792182, + 0.04087318040380828, + 0.2365807664524772, + -0.007241095469921584, + -0.9715848431717912 + ], + [ + 0.9690192475332328, + 0.13946056471790536, + 0.20384417774047442, + 0.13173370327986655, + -0.9899690277991651, + 0.05106422836534153, + 0.20892086858497233, + -0.022629071720656375, + -0.9776706990509442 + ], + [ + 0.9645509562260528, + 0.15812574925438397, + 0.21127635993207336, + 0.1556309406854138, + -0.9874042308301362, + 0.028493775462732712, + 0.21312077126545068, + 0.005397440271749369, + -0.9770109541319035 + ], + [ + 0.9663203298429512, + 0.17284541524090047, + 0.19065540265728217, + 0.17732531948626706, + -0.9841304295431984, + -0.006559627749571348, + 0.18649598172964219, + 0.04014673183859822, + -0.981635109763998 + ], + [ + 0.9552543506253248, + 0.16961824726742294, + 0.24231957371478743, + 0.1692009161586989, + -0.985320345115748, + 0.022690691308119997, + 0.24261116128992474, + 0.019325312284949537, + -0.9699311092663454 + ], + [ + 0.9531158499163792, + 0.1665733093178731, + 0.2526331515479913, + 0.1659547998029499, + -0.9858433977657023, + 0.02391232954227148, + 0.2530398803756851, + 0.019134463793572573, + -0.9672666081462709 + ], + [ + 0.9527272409296987, + 0.16656675899255408, + 0.2540990342154037, + 0.1659179554792341, + -0.9858440183589388, + 0.024141323813993545, + 0.25452315501752565, + 0.019159495416571234, + -0.9668768677010056 + ], + [ + 0.9528601564265599, + 0.168085381862637, + 0.2525961731674554, + 0.16741666952311124, + -0.9855867169860923, + 0.024299836755941093, + 0.25303988037568503, + 0.019134463793572573, + -0.9672666081462707 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005470.json b/json/chunk-0005/episode_0005470.json new file mode 100644 index 0000000000000000000000000000000000000000..a593aa134d11e0145105ee0c57371796ce0ad549 --- /dev/null +++ b/json/chunk-0005/episode_0005470.json @@ -0,0 +1,1522 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 24, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the towel close to the cans." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005470.mp4", + "start": 0, + "end": 24, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2243790477514267, + 0.04291617497801781, + 0.0986909344792366, + 0.031907059252262115, + -0.07317005842924118, + -0.19129081070423126, + 0.0, + 1.0008161067962646 + ], + [ + 0.22403520345687866, + 0.042637355625629425, + 0.09273790568113327, + 0.020916370674967766, + -0.049469318240880966, + -0.18840204179286957, + 0.0, + 1.0008161067962646 + ], + [ + 0.2440938949584961, + 0.06455289572477341, + 0.09494109451770782, + 0.024957571178674698, + -0.06107858568429947, + -0.11040584743022919, + 0.0, + 1.0008161067962646 + ], + [ + 0.2750423550605774, + 0.09251400828361511, + 0.09684770554304123, + 0.02561049349606037, + -0.0755644217133522, + -0.018673090264201164, + 0.0, + 1.0008161067962646 + ], + [ + 0.3119179904460907, + 0.1281786412000656, + 0.09765543788671494, + 0.031722404062747955, + -0.10744703561067581, + 0.07938113808631897, + 0.0, + 1.0008161067962646 + ], + [ + 0.3481747806072235, + 0.15620476007461548, + 0.08465287834405899, + 0.046679988503456116, + -0.1239333376288414, + 0.13767553865909576, + 0.0, + 1.0008161067962646 + ], + [ + 0.3704253137111664, + 0.171515092253685, + 0.06556001305580139, + 0.06313969939947128, + -0.0988137349486351, + 0.1819278597831726, + 0.0, + 1.0008161067962646 + ], + [ + 0.38419440388679504, + 0.18150392174720764, + 0.05009504407644272, + 0.08082052320241928, + -0.08336417376995087, + 0.1967378556728363, + 0.0, + 1.0008161067962646 + ], + [ + 0.3939959406852722, + 0.18421179056167603, + 0.032126933336257935, + 0.09847009181976318, + -0.04972757026553154, + 0.17852884531021118, + 0.0, + 1.0008161067962646 + ], + [ + 0.3985536992549896, + 0.18470244109630585, + 0.02555817738175392, + 0.10205309838056564, + -0.06870237737894058, + 0.18391764163970947, + 0.0, + 1.0008161067962646 + ], + [ + 0.4020141661167145, + 0.1856895387172699, + 0.018900873139500618, + 0.10222408920526505, + -0.0866980329155922, + 0.19220641255378723, + 0.0, + 1.0008161067962646 + ], + [ + 0.40103453397750854, + 0.18073613941669464, + 0.015417263843119144, + 0.08707748353481293, + -0.0798133984208107, + 0.1854684203863144, + 0.0, + 1.0008161067962646 + ], + [ + 0.39772146940231323, + 0.1710246056318283, + 0.011883710511028767, + 0.08020292222499847, + -0.07973329722881317, + 0.17267563939094543, + 0.0, + 1.0008161067962646 + ], + [ + 0.389461874961853, + 0.149414524435997, + 0.011454133316874504, + 0.05952194705605507, + -0.07648056000471115, + 0.15509484708309174, + 0.0, + 0.9994885921478271 + ], + [ + 0.38450655341148376, + 0.10975287109613419, + 0.011724666692316532, + 0.05528648570179939, + -0.0762711837887764, + 0.11403418332338333, + 0.0, + 0.9994885921478271 + ], + [ + 0.3881281614303589, + 0.057730499655008316, + 0.012933658435940742, + 0.034339312463998795, + -0.06324177980422974, + 0.08828692138195038, + 0.0, + 0.9994885921478271 + ], + [ + 0.39899614453315735, + 0.00963891763240099, + 0.022884570062160492, + 0.050872914493083954, + -0.07028844207525253, + 0.09116032719612122, + 0.0, + 0.9994885921478271 + ], + [ + 0.4013550877571106, + -0.014830359257757664, + 0.018980301916599274, + 0.08672966063022614, + -0.046276964247226715, + 0.08847133070230484, + 0.0, + 1.0001531839370728 + ], + [ + 0.4046053886413574, + -0.031215554103255272, + 0.020090600475668907, + 0.10971298068761826, + -0.04846596345305443, + 0.08062171190977097, + 0.0, + 1.0001531839370728 + ], + [ + 0.40363481640815735, + -0.03417707234621048, + 0.02159498631954193, + 0.10978030413389206, + -0.04823942109942436, + 0.08415418118238449, + 0.0, + 0.9994885921478271 + ], + [ + 0.40638911724090576, + -0.03591896966099739, + 0.07017211616039276, + 0.05572105199098587, + -0.14981797337532043, + 0.08451449126005173, + 0.0, + 1.0001531839370728 + ], + [ + 0.4018889367580414, + -0.02924313023686409, + 0.1089727133512497, + 0.014286234974861145, + -0.21246932446956635, + 0.09323635697364807, + 0.0, + 0.9994885921478271 + ], + [ + 0.3888181149959564, + -0.027793925255537033, + 0.13270340859889984, + -0.02133037894964218, + -0.21687264740467072, + 0.05099835991859436, + 0.0, + 1.0001531839370728 + ], + [ + 0.37859541177749634, + -0.020210271701216698, + 0.13006044924259186, + -0.017011763527989388, + -0.1833217740058899, + 0.025539901107549667, + 0.0, + 0.9994885921478271 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2243790477514267, + 0.04291617497801781, + 0.0986909344792366 + ], + [ + 0.22403520345687866, + 0.042637355625629425, + 0.09273790568113327 + ], + [ + 0.2440938949584961, + 0.06455289572477341, + 0.09494109451770782 + ], + [ + 0.2750423550605774, + 0.09251400828361511, + 0.09684770554304123 + ], + [ + 0.3119179904460907, + 0.1281786412000656, + 0.09765543788671494 + ], + [ + 0.3481747806072235, + 0.15620476007461548, + 0.08465287834405899 + ], + [ + 0.3704253137111664, + 0.171515092253685, + 0.06556001305580139 + ], + [ + 0.38419440388679504, + 0.18150392174720764, + 0.05009504407644272 + ], + [ + 0.3939959406852722, + 0.18421179056167603, + 0.032126933336257935 + ], + [ + 0.3985536992549896, + 0.18470244109630585, + 0.02555817738175392 + ], + [ + 0.4020141661167145, + 0.1856895387172699, + 0.018900873139500618 + ], + [ + 0.40103453397750854, + 0.18073613941669464, + 0.015417263843119144 + ], + [ + 0.39772146940231323, + 0.1710246056318283, + 0.011883710511028767 + ], + [ + 0.389461874961853, + 0.149414524435997, + 0.011454133316874504 + ], + [ + 0.38450655341148376, + 0.10975287109613419, + 0.011724666692316532 + ], + [ + 0.3881281614303589, + 0.057730499655008316, + 0.012933658435940742 + ], + [ + 0.39899614453315735, + 0.00963891763240099, + 0.022884570062160492 + ], + [ + 0.4013550877571106, + -0.014830359257757664, + 0.018980301916599274 + ], + [ + 0.4046053886413574, + -0.031215554103255272, + 0.020090600475668907 + ], + [ + 0.40363481640815735, + -0.03417707234621048, + 0.02159498631954193 + ], + [ + 0.40638911724090576, + -0.03591896966099739, + 0.07017211616039276 + ], + [ + 0.4018889367580414, + -0.02924313023686409, + 0.1089727133512497 + ], + [ + 0.3888181149959564, + -0.027793925255537033, + 0.13270340859889984 + ], + [ + 0.37859541177749634, + -0.020210271701216698, + 0.13006044924259186 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9791327077574271, + -0.1877399235722527, + 0.0778001394387783, + -0.18961759129280417, + -0.9817033386346917, + 0.01742767872709418, + 0.07310478556102677, + -0.031816285304611676, + -0.9968166402691578 + ], + [ + 0.9811030602298931, + -0.1862325648073283, + 0.05248063464577022, + -0.18706033089249308, + -0.98228359991061, + 0.011285475313144114, + 0.049449143712804046, + -0.02088925924816042, + -0.9985581710817519 + ], + [ + 0.9920580992590139, + -0.10863338018363294, + 0.06339965618574606, + -0.10997622864997109, + -0.9937697711291824, + 0.01807957747796676, + 0.0610406162036543, + -0.024908446353210944, + -0.9978244397055763 + ], + [ + 0.996972527732342, + -0.016733029404141495, + 0.07593276416636438, + -0.018618722070271196, + -0.9995338858487189, + 0.024194094912398562, + 0.0754925303288648, + -0.025534618993051175, + -0.9968193723525969 + ], + [ + 0.9911022502798189, + 0.08264854248594622, + 0.10433382919852913, + 0.07884049511071639, + -0.9960797228219724, + 0.040116855729227276, + 0.10724041132416554, + -0.03153417523657904, + -0.9937329067567262 + ], + [ + 0.9829403471043081, + 0.14280525403177197, + 0.11590916036010075, + 0.13618839446040737, + -0.9886670287725543, + 0.06316824702606476, + 0.12361632274404123, + -0.04630513620507476, + -0.991249130699377 + ], + [ + 0.9786991195805973, + 0.1866874844146771, + 0.08541555183386168, + 0.18004337627990333, + -0.980410732475344, + 0.07986975838759211, + 0.09865300801240967, + -0.06278995787607189, + -0.9931389657042081 + ], + [ + 0.9773036610118376, + 0.20142583558357752, + 0.06561392331141751, + 0.19479233225978487, + -0.9761941796444792, + 0.0953984848990574, + 0.08326764957444492, + -0.08045219939628563, + -0.9932743539156981 + ], + [ + 0.9828894948998054, + 0.18153082430214165, + 0.031221797574619205, + 0.17736247403913588, + -0.9784709400467374, + 0.10553280194693451, + 0.04970707815112828, + -0.0981895071392001, + -0.9939255641492669 + ], + [ + 0.9808154771315785, + 0.1888066901053037, + 0.04850807758130637, + 0.18245110214903487, + -0.9767406082069048, + 0.11264714645390816, + 0.06864834407148271, + -0.1016357124788605, + -0.9924502943750673 + ], + [ + 0.9778983882958239, + 0.19870132996362586, + 0.06505784840522336, + 0.19030766466063034, + -0.9747730210689789, + 0.11662139669663467, + 0.08658946206004411, + -0.10166286867260356, + -0.9910433523279443 + ], + [ + 0.9797211750051833, + 0.1905231389286147, + 0.062027032649088154, + 0.18381989986705302, + -0.9778474668188857, + 0.10012280483863359, + 0.07972868780639672, + -0.08669062907071493, + -0.9930398134878551 + ], + [ + 0.9819987996630348, + 0.17755281846831653, + 0.06444652135155256, + 0.1712729387017217, + -0.9808654283332074, + 0.09256668930662987, + 0.0796488413527489, + -0.07986243268690793, + -0.99361866624802 + ], + [ + 0.9851087587673587, + 0.15869084402216377, + 0.06616607456519519, + 0.15402224880571957, + -0.9855451254077984, + 0.0705546076295221, + 0.0764060224894785, + -0.05931291434805826, + -0.9953110558608685 + ], + [ + 0.990616790349884, + 0.11779652734182186, + 0.06929901026061759, + 0.11345639142716851, + -0.9915080555502861, + 0.06355645540160253, + 0.07619725665152842, + -0.05509767622230705, + -0.9955692965101339 + ], + [ + 0.9941139316335251, + 0.09028164661879418, + 0.059889191144430136, + 0.08799600807626146, + -0.9953266837481408, + 0.03976801706863199, + 0.06319963207786458, + -0.03426393005374084, + -0.9974125473456282 + ], + [ + 0.9933888110929199, + 0.09447280886241738, + 0.06521930987858905, + 0.09080933659904891, + -0.9942342887852255, + 0.05702493656442487, + 0.07023058010464463, + -0.05072541167286076, + -0.9962402311836152 + ], + [ + 0.9950225633291814, + 0.09201531534232449, + 0.03825284575398595, + 0.08826136961033276, + -0.9919909506574942, + 0.0903542165488122, + 0.04626044855309863, + -0.08652823560025943, + -0.9951747762798113 + ], + [ + 0.9955813989653198, + 0.0853375709203652, + 0.03918133514401944, + 0.08043983486429027, + -0.9903317213079773, + 0.11301555086882575, + 0.04844699166369409, + -0.10936444011007448, + -0.9928203806520833 + ], + [ + 0.9953019476319576, + 0.08881325508903902, + 0.038551767281440164, + 0.08395710674602468, + -0.9900185544371916, + 0.11320099865695171, + 0.048220714085024194, + -0.10943247959625083, + -0.9928238993610838 + ], + [ + 0.9852690204194106, + 0.09256575384150681, + 0.14379338864331973, + 0.08346833444671367, + -0.9941826067377701, + 0.06807335458741498, + 0.14925814733697715, + -0.05506837273649865, + -0.9872636323584939 + ], + [ + 0.9732674853538748, + 0.09609124427680496, + 0.2086069862834898, + 0.09100777841133009, + -0.995274567791062, + 0.03385437899221252, + 0.21087433751307663, + -0.013964507927224508, + -0.9774134264970842 + ], + [ + 0.9753054778114787, + 0.04638117698201147, + 0.2159352017913867, + 0.049782145617340706, + -0.9987066303009995, + -0.010334629676814248, + 0.21517658545635826, + 0.020829138594438665, + -0.9763530017656301 + ], + [ + 0.9829229093014362, + 0.022433402298938258, + 0.18264527596325683, + 0.025109213604754214, + -0.9996084166909392, + -0.012350735718330159, + 0.1822966860986537, + 0.016725900332334943, + -0.9831012981862659 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.00034384429454803467, + -0.00027881935238838196, + -0.0059530287981033325, + -0.01099068857729435, + 0.023700740188360214, + 0.0028887689113616943, + 1.0 + ], + [ + 0.02005869150161743, + 0.021915540099143982, + 0.0022031888365745544, + 0.004041200503706932, + -0.011609267443418503, + 0.07799619436264038, + 1.0 + ], + [ + 0.0309484601020813, + 0.027961112558841705, + 0.0019066110253334045, + 0.0006529223173856735, + -0.014485836029052734, + 0.09173275530338287, + 1.0 + ], + [ + 0.036875635385513306, + 0.0356646329164505, + 0.0008077323436737061, + 0.006111910566687584, + -0.03188261389732361, + 0.09805423021316528, + 1.0 + ], + [ + 0.03625679016113281, + 0.028026118874549866, + -0.013002559542655945, + 0.01495758444070816, + -0.01648630201816559, + 0.058294400572776794, + 1.0 + ], + [ + 0.02225053310394287, + 0.015310332179069519, + -0.0190928652882576, + 0.016459710896015167, + 0.0251196026802063, + 0.04425232112407684, + 1.0 + ], + [ + 0.013769090175628662, + 0.009988829493522644, + -0.015464968979358673, + 0.017680823802947998, + 0.015449561178684235, + 0.014809995889663696, + 1.0 + ], + [ + 0.009801536798477173, + 0.002707868814468384, + -0.017968110740184784, + 0.017649568617343903, + 0.03363660350441933, + -0.018209010362625122, + 1.0 + ], + [ + 0.004557758569717407, + 0.0004906505346298218, + -0.006568755954504013, + 0.0035830065608024597, + -0.018974807113409042, + 0.005388796329498291, + 1.0 + ], + [ + 0.0034604668617248535, + 0.0009870976209640503, + -0.0066573042422533035, + 0.00017099082469940186, + -0.01799565553665161, + 0.008288770914077759, + 1.0 + ], + [ + -0.0009796321392059326, + -0.004953399300575256, + -0.0034836092963814735, + -0.015146605670452118, + 0.006884634494781494, + -0.006737992167472839, + 1.0 + ], + [ + -0.0033130645751953125, + -0.009711533784866333, + -0.003533553332090378, + -0.006874561309814453, + 8.010119199752808e-05, + -0.012792780995368958, + 1.0 + ], + [ + -0.008259594440460205, + -0.0216100811958313, + -0.00042957719415426254, + -0.020680975168943405, + 0.0032527372241020203, + -0.0175807923078537, + 1.0 + ], + [ + -0.004955321550369263, + -0.039661653339862823, + 0.00027053337544202805, + -0.004235461354255676, + 0.00020937621593475342, + -0.041060663759708405, + 1.0 + ], + [ + 0.003621608018875122, + -0.05202237144112587, + 0.0012089917436242104, + -0.020947173237800598, + 0.013029403984546661, + -0.025747261941432953, + 1.0 + ], + [ + 0.010867983102798462, + -0.0480915829539299, + 0.00995091162621975, + 0.01653360202908516, + -0.007046662271022797, + 0.0028734058141708374, + 1.0 + ], + [ + 0.002358943223953247, + -0.024469276890158653, + -0.0039042681455612183, + 0.03585674613714218, + 0.024011477828025818, + -0.0026889964938163757, + 1.0 + ], + [ + 0.003250300884246826, + -0.016385193914175034, + 0.0011102985590696335, + 0.02298332005739212, + -0.002188999205827713, + -0.007849618792533875, + 1.0 + ], + [ + -0.0009705722332000732, + -0.002961518242955208, + 0.001504385843873024, + 6.732344627380371e-05, + 0.00022654235363006592, + 0.0035324692726135254, + 1.0 + ], + [ + 0.002754300832748413, + -0.001741897314786911, + 0.04857712984085083, + -0.05405925214290619, + -0.10157854855060577, + 0.00036031007766723633, + 1.0 + ], + [ + -0.00450018048286438, + 0.006675839424133301, + 0.038800597190856934, + -0.041434817016124725, + -0.06265135109424591, + 0.008721865713596344, + 1.0 + ], + [ + -0.013070821762084961, + 0.0014492049813270569, + 0.023730695247650146, + -0.035616613924503326, + -0.00440332293510437, + -0.04223799705505371, + 1.0 + ], + [ + -0.010222703218460083, + 0.007583653554320335, + -0.0026429593563079834, + 0.004318615421652794, + 0.03355087339878082, + -0.025458458811044693, + 1.0 + ], + [ + -0.010947614908218384, + 0.002255108207464218, + -0.010752461850643158, + 0.015798602253198624, + 0.046734005212783813, + -0.03618475794792175, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.22403520345687866, + 0.042637355625629425, + 0.09273790568113327 + ], + [ + 0.2440938949584961, + 0.06455289572477341, + 0.09494109451770782 + ], + [ + 0.2750423550605774, + 0.09251400828361511, + 0.09684770554304123 + ], + [ + 0.3119179904460907, + 0.1281786412000656, + 0.09765543788671494 + ], + [ + 0.3481747806072235, + 0.15620476007461548, + 0.08465287834405899 + ], + [ + 0.3704253137111664, + 0.171515092253685, + 0.06556001305580139 + ], + [ + 0.38419440388679504, + 0.18150392174720764, + 0.05009504407644272 + ], + [ + 0.3939959406852722, + 0.18421179056167603, + 0.032126933336257935 + ], + [ + 0.3985536992549896, + 0.18470244109630585, + 0.02555817738175392 + ], + [ + 0.4020141661167145, + 0.1856895387172699, + 0.018900873139500618 + ], + [ + 0.40103453397750854, + 0.18073613941669464, + 0.015417263843119144 + ], + [ + 0.39772146940231323, + 0.1710246056318283, + 0.011883710511028767 + ], + [ + 0.389461874961853, + 0.149414524435997, + 0.011454133316874504 + ], + [ + 0.38450655341148376, + 0.10975287109613419, + 0.011724666692316532 + ], + [ + 0.3881281614303589, + 0.057730499655008316, + 0.012933658435940742 + ], + [ + 0.39899614453315735, + 0.00963891763240099, + 0.022884570062160492 + ], + [ + 0.4013550877571106, + -0.014830359257757664, + 0.018980301916599274 + ], + [ + 0.4046053886413574, + -0.031215554103255272, + 0.020090600475668907 + ], + [ + 0.40363481640815735, + -0.03417707234621048, + 0.02159498631954193 + ], + [ + 0.40638911724090576, + -0.03591896966099739, + 0.07017211616039276 + ], + [ + 0.4018889367580414, + -0.02924313023686409, + 0.1089727133512497 + ], + [ + 0.3888181149959564, + -0.027793925255537033, + 0.13270340859889984 + ], + [ + 0.37859541177749634, + -0.020210271701216698, + 0.13006044924259186 + ], + [ + 0.36764779686927795, + -0.01795516349375248, + 0.1193079873919487 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9811030602298931, + -0.1862325648073283, + 0.05248063464577022, + -0.18706033089249308, + -0.98228359991061, + 0.011285475313144114, + 0.049449143712804046, + -0.02088925924816042, + -0.9985581710817519 + ], + [ + 0.9920580992590139, + -0.10863338018363294, + 0.06339965618574606, + -0.10997622864997109, + -0.9937697711291824, + 0.01807957747796676, + 0.0610406162036543, + -0.024908446353210944, + -0.9978244397055763 + ], + [ + 0.996972527732342, + -0.016733029404141495, + 0.07593276416636438, + -0.018618722070271196, + -0.9995338858487189, + 0.024194094912398562, + 0.0754925303288648, + -0.025534618993051175, + -0.9968193723525969 + ], + [ + 0.9911022502798189, + 0.08264854248594622, + 0.10433382919852913, + 0.07884049511071639, + -0.9960797228219724, + 0.040116855729227276, + 0.10724041132416554, + -0.03153417523657904, + -0.9937329067567262 + ], + [ + 0.9829403471043081, + 0.14280525403177197, + 0.11590916036010075, + 0.13618839446040737, + -0.9886670287725543, + 0.06316824702606476, + 0.12361632274404123, + -0.04630513620507476, + -0.991249130699377 + ], + [ + 0.9786991195805973, + 0.1866874844146771, + 0.08541555183386168, + 0.18004337627990333, + -0.980410732475344, + 0.07986975838759211, + 0.09865300801240967, + -0.06278995787607189, + -0.9931389657042081 + ], + [ + 0.9773036610118376, + 0.20142583558357752, + 0.06561392331141751, + 0.19479233225978487, + -0.9761941796444792, + 0.0953984848990574, + 0.08326764957444492, + -0.08045219939628563, + -0.9932743539156981 + ], + [ + 0.9828894948998054, + 0.18153082430214165, + 0.031221797574619205, + 0.17736247403913588, + -0.9784709400467374, + 0.10553280194693451, + 0.04970707815112828, + -0.0981895071392001, + -0.9939255641492669 + ], + [ + 0.9808154771315785, + 0.1888066901053037, + 0.04850807758130637, + 0.18245110214903487, + -0.9767406082069048, + 0.11264714645390816, + 0.06864834407148271, + -0.1016357124788605, + -0.9924502943750673 + ], + [ + 0.9778983882958239, + 0.19870132996362586, + 0.06505784840522336, + 0.19030766466063034, + -0.9747730210689789, + 0.11662139669663467, + 0.08658946206004411, + -0.10166286867260356, + -0.9910433523279443 + ], + [ + 0.9797211750051833, + 0.1905231389286147, + 0.062027032649088154, + 0.18381989986705302, + -0.9778474668188857, + 0.10012280483863359, + 0.07972868780639672, + -0.08669062907071493, + -0.9930398134878551 + ], + [ + 0.9819987996630348, + 0.17755281846831653, + 0.06444652135155256, + 0.1712729387017217, + -0.9808654283332074, + 0.09256668930662987, + 0.0796488413527489, + -0.07986243268690793, + -0.99361866624802 + ], + [ + 0.9851087587673587, + 0.15869084402216377, + 0.06616607456519519, + 0.15402224880571957, + -0.9855451254077984, + 0.0705546076295221, + 0.0764060224894785, + -0.05931291434805826, + -0.9953110558608685 + ], + [ + 0.990616790349884, + 0.11779652734182186, + 0.06929901026061759, + 0.11345639142716851, + -0.9915080555502861, + 0.06355645540160253, + 0.07619725665152842, + -0.05509767622230705, + -0.9955692965101339 + ], + [ + 0.9941139316335251, + 0.09028164661879418, + 0.059889191144430136, + 0.08799600807626146, + -0.9953266837481408, + 0.03976801706863199, + 0.06319963207786458, + -0.03426393005374084, + -0.9974125473456282 + ], + [ + 0.9933888110929199, + 0.09447280886241738, + 0.06521930987858905, + 0.09080933659904891, + -0.9942342887852255, + 0.05702493656442487, + 0.07023058010464463, + -0.05072541167286076, + -0.9962402311836152 + ], + [ + 0.9950225633291814, + 0.09201531534232449, + 0.03825284575398595, + 0.08826136961033276, + -0.9919909506574942, + 0.0903542165488122, + 0.04626044855309863, + -0.08652823560025943, + -0.9951747762798113 + ], + [ + 0.9955813989653198, + 0.0853375709203652, + 0.03918133514401944, + 0.08043983486429027, + -0.9903317213079773, + 0.11301555086882575, + 0.04844699166369409, + -0.10936444011007448, + -0.9928203806520833 + ], + [ + 0.9953019476319576, + 0.08881325508903902, + 0.038551767281440164, + 0.08395710674602468, + -0.9900185544371916, + 0.11320099865695171, + 0.048220714085024194, + -0.10943247959625083, + -0.9928238993610838 + ], + [ + 0.9852690204194106, + 0.09256575384150681, + 0.14379338864331973, + 0.08346833444671367, + -0.9941826067377701, + 0.06807335458741498, + 0.14925814733697715, + -0.05506837273649865, + -0.9872636323584939 + ], + [ + 0.9732674853538748, + 0.09609124427680496, + 0.2086069862834898, + 0.09100777841133009, + -0.995274567791062, + 0.03385437899221252, + 0.21087433751307663, + -0.013964507927224508, + -0.9774134264970842 + ], + [ + 0.9753054778114787, + 0.04638117698201147, + 0.2159352017913867, + 0.049782145617340706, + -0.9987066303009995, + -0.010334629676814248, + 0.21517658545635826, + 0.020829138594438665, + -0.9763530017656301 + ], + [ + 0.9829229093014362, + 0.022433402298938258, + 0.18264527596325683, + 0.025109213604754214, + -0.9996084166909392, + -0.012350735718330159, + 0.1822966860986537, + 0.016725900332334943, + -0.9831012981862659 + ], + [ + 0.9906302556811866, + -0.010809826879137889, + 0.13614273455410614, + -0.010545515571064729, + -0.9999408498352884, + -0.0026625048397249575, + 0.13616346290531528, + 0.001201862523001473, + -0.9906856549360693 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005471.json b/json/chunk-0005/episode_0005471.json new file mode 100644 index 0000000000000000000000000000000000000000..4b1dc6f36cdde0f69ff4be562a5cdb44d6ecf24e --- /dev/null +++ b/json/chunk-0005/episode_0005471.json @@ -0,0 +1,1462 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 23, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut the orange slice on the left, the small red spoon." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005471.mp4", + "start": 0, + "end": 23, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3118361532688141, + 0.03959169238805771, + 0.07363878935575485, + 0.09333252906799316, + -0.138446643948555, + -0.026351310312747955, + 0.0, + 0.9994885921478271 + ], + [ + 0.30846142768859863, + 0.03795899078249931, + 0.06513158231973648, + 0.08085349947214127, + -0.11049389094114304, + -0.019316252321004868, + 0.0, + 0.9994885921478271 + ], + [ + 0.2903333306312561, + 0.015092738904058933, + 0.07154927402734756, + 0.010375033132731915, + -0.1192285418510437, + -0.016175467520952225, + 0.0, + 0.9994885921478271 + ], + [ + 0.2765410840511322, + -0.002526320982724428, + 0.07647575438022614, + -0.025403423234820366, + -0.12325343489646912, + -0.0038895774632692337, + 0.0, + 0.9994885921478271 + ], + [ + 0.2713518738746643, + -0.01168624684214592, + 0.06660517305135727, + -0.0328952930867672, + -0.08328425139188766, + 0.019683388993144035, + 0.0, + 0.9994885921478271 + ], + [ + 0.26785334944725037, + -0.005165579728782177, + 0.025937307626008987, + 0.024420224130153656, + 0.0513947457075119, + 0.06772666424512863, + 0.0, + 0.9994885921478271 + ], + [ + 0.280129998922348, + -0.0011073540663346648, + 0.013151894323527813, + 0.08747046440839767, + 0.05774524062871933, + 0.07302188873291016, + 0.0, + 0.9476637244224548 + ], + [ + 0.28031259775161743, + -0.0038735561538487673, + 0.007830427028238773, + 0.12902216613292694, + 0.046915698796510696, + 0.0412948913872242, + 0.0, + 0.7021830081939697 + ], + [ + 0.27272436022758484, + -0.009783375076949596, + 0.011484301649034023, + 0.10731340944766998, + 0.04805070906877518, + 0.00315744336694479, + 0.0, + 0.6460646390914917 + ], + [ + 0.2633207440376282, + -0.016738947480916977, + 0.020760850980877876, + 0.09149996191263199, + 0.03556393086910248, + -0.03798529878258705, + 0.0, + 0.6179407835006714 + ], + [ + 0.2656199336051941, + 0.00361919985152781, + 0.05820809677243233, + 0.10603248327970505, + -0.05265921354293823, + -0.016644872725009918, + 0.0, + 0.6179407835006714 + ], + [ + 0.27858176827430725, + 0.056903474032878876, + 0.06862089037895203, + 0.13588078320026398, + -0.09533423185348511, + 0.10032153874635696, + 0.0, + 0.6179407835006714 + ], + [ + 0.2985614240169525, + 0.09708142280578613, + 0.048426996916532516, + 0.21216648817062378, + -0.051136314868927, + 0.08994556963443756, + 0.0, + 0.6179407835006714 + ], + [ + 0.31384599208831787, + 0.14880308508872986, + 0.025475312024354935, + 0.2746063768863678, + 0.008913987316191196, + 0.10758106410503387, + 0.0, + 0.6179407835006714 + ], + [ + 0.32651302218437195, + 0.17432668805122375, + 0.02255069464445114, + 0.2896588444709778, + 0.03229391202330589, + 0.12387724220752716, + 0.0, + 0.6179407835006714 + ], + [ + 0.3234015703201294, + 0.19668447971343994, + 0.024849893525242805, + 0.2891834080219269, + 0.04132603108882904, + 0.16345521807670593, + 0.0, + 0.6179407835006714 + ], + [ + 0.3213377296924591, + 0.1991024613380432, + 0.02520221471786499, + 0.2885275185108185, + 0.04963870346546173, + 0.15963903069496155, + 0.0, + 0.6179407835006714 + ], + [ + 0.3194507658481598, + 0.19581931829452515, + 0.023087114095687866, + 0.28919851779937744, + 0.063517726957798, + 0.15188919007778168, + 0.0, + 0.6892001032829285 + ], + [ + 0.3172319829463959, + 0.1877269446849823, + 0.02153152786195278, + 0.2595735192298889, + 0.06667456775903702, + 0.1439366191625595, + 0.0, + 0.9781157374382019 + ], + [ + 0.3215639591217041, + 0.18015798926353455, + 0.04606872424483299, + 0.24608096480369568, + 0.00336435716599226, + 0.12341960519552231, + 0.0, + 1.0073583126068115 + ], + [ + 0.32367321848869324, + 0.16715149581432343, + 0.07388675212860107, + 0.22808615863323212, + -0.059101976454257965, + 0.0958150178194046, + 0.0, + 1.0008161067962646 + ], + [ + 0.3241727948188782, + 0.15853404998779297, + 0.08249839395284653, + 0.21833665668964386, + -0.08053748309612274, + 0.06989786028862, + 0.0, + 0.9994885921478271 + ], + [ + 0.32356399297714233, + 0.14845269918441772, + 0.07727943360805511, + 0.1967850774526596, + -0.06468735635280609, + 0.043530743569135666, + 0.0, + 1.0001531839370728 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9476637244224548 + ], + [ + 0.7021830081939697 + ], + [ + 0.6460646390914917 + ], + [ + 0.6179407835006714 + ], + [ + 0.6179407835006714 + ], + [ + 0.6179407835006714 + ], + [ + 0.6179407835006714 + ], + [ + 0.6179407835006714 + ], + [ + 0.6179407835006714 + ], + [ + 0.6179407835006714 + ], + [ + 0.6179407835006714 + ], + [ + 0.6892001032829285 + ], + [ + 0.9781157374382019 + ], + [ + 1.0073583126068115 + ], + [ + 1.0008161067962646 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3118361532688141, + 0.03959169238805771, + 0.07363878935575485 + ], + [ + 0.30846142768859863, + 0.03795899078249931, + 0.06513158231973648 + ], + [ + 0.2903333306312561, + 0.015092738904058933, + 0.07154927402734756 + ], + [ + 0.2765410840511322, + -0.002526320982724428, + 0.07647575438022614 + ], + [ + 0.2713518738746643, + -0.01168624684214592, + 0.06660517305135727 + ], + [ + 0.26785334944725037, + -0.005165579728782177, + 0.025937307626008987 + ], + [ + 0.280129998922348, + -0.0011073540663346648, + 0.013151894323527813 + ], + [ + 0.28031259775161743, + -0.0038735561538487673, + 0.007830427028238773 + ], + [ + 0.27272436022758484, + -0.009783375076949596, + 0.011484301649034023 + ], + [ + 0.2633207440376282, + -0.016738947480916977, + 0.020760850980877876 + ], + [ + 0.2656199336051941, + 0.00361919985152781, + 0.05820809677243233 + ], + [ + 0.27858176827430725, + 0.056903474032878876, + 0.06862089037895203 + ], + [ + 0.2985614240169525, + 0.09708142280578613, + 0.048426996916532516 + ], + [ + 0.31384599208831787, + 0.14880308508872986, + 0.025475312024354935 + ], + [ + 0.32651302218437195, + 0.17432668805122375, + 0.02255069464445114 + ], + [ + 0.3234015703201294, + 0.19668447971343994, + 0.024849893525242805 + ], + [ + 0.3213377296924591, + 0.1991024613380432, + 0.02520221471786499 + ], + [ + 0.3194507658481598, + 0.19581931829452515, + 0.023087114095687866 + ], + [ + 0.3172319829463959, + 0.1877269446849823, + 0.02153152786195278 + ], + [ + 0.3215639591217041, + 0.18015798926353455, + 0.04606872424483299 + ], + [ + 0.32367321848869324, + 0.16715149581432343, + 0.07388675212860107 + ], + [ + 0.3241727948188782, + 0.15853404998779297, + 0.08249839395284653 + ], + [ + 0.32356399297714233, + 0.14845269918441772, + 0.07727943360805511 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9900877078556766, + -0.013376405829179924, + 0.13981202566369355, + -0.02609614902135157, + -0.9956408975771378, + 0.08954436932631049, + 0.13800478890005097, + -0.0923053348343657, + -0.9861208868094052 + ], + [ + 0.9937163428676613, + -0.010347673613236817, + 0.11144844354460282, + -0.019197263286022528, + -0.9967192112112927, + 0.07862747029293068, + 0.11026919334087709, + -0.08027290734196993, + -0.990654816445577 + ], + [ + 0.992770802077791, + -0.014940003802355937, + 0.11909211068834595, + -0.016059932560222243, + -0.9998353272982647, + 0.008449665823746882, + 0.11894626142918814, + -0.010301192783239849, + -0.9928472552811243 + ], + [ + 0.9924063993006035, + -0.007011090823621733, + 0.12280221183949973, + -0.003860061031190397, + -0.9996576420909841, + -0.025878534307970862, + 0.12294160628544727, + 0.025207999019284864, + -0.9920937043593197 + ], + [ + 0.9963408307124655, + 0.016935999663194555, + 0.08377422617131364, + 0.019613897248099442, + -0.9993192420658701, + -0.031246559356763987, + 0.08318800448342978, + 0.03277536197058778, + -0.9959947447440481 + ], + [ + 0.9963900338961975, + 0.06640320405145325, + -0.052891538491855086, + 0.06758554095910188, + -0.9974948416826906, + 0.020886250733181212, + -0.05137212284498169, + -0.024385555317130096, + -0.9983818155827334 + ], + [ + 0.9956727350436473, + 0.06764976376774469, + -0.06371274717724337, + 0.07283540727713812, + -0.993890003874302, + 0.0829316805901902, + -0.057713153938044416, + -0.08721335712440069, + -0.9945164765862934 + ], + [ + 0.9980480856371623, + 0.034910991323986236, + -0.051780705294272145, + 0.04123773042231011, + -0.9910918629749449, + 0.12663478485183294, + -0.04689848980097956, + -0.12852292336244803, + -0.9905969865817066 + ], + [ + 0.9988408078153147, + -0.002005313301475093, + -0.04809385991383973, + 0.0031537937638054982, + -0.9942587276314838, + 0.1069562345705851, + -0.048032220724681204, + -0.10698392985484113, + -0.9930998663402738 + ], + [ + 0.9986467714765088, + -0.04106383374614075, + -0.03191218227597022, + -0.03795215125253911, + -0.9949750813288353, + 0.09265107527698664, + -0.03555643450698944, + -0.09131456123065347, + -0.995187113497961 + ], + [ + 0.998475493301308, + -0.010980844433472681, + 0.05409353318315863, + -0.016621032495650733, + -0.9943387932147604, + 0.1049481090205651, + 0.0526348796473226, + -0.10568720529819005, + -0.9930054300358936 + ], + [ + 0.9904539778150652, + 0.11206004664825701, + 0.08027118895036257, + 0.09969856084483479, + -0.9845093130926996, + 0.14422763049849127, + 0.09518988809628427, + -0.13484790832241714, + -0.9862833907276781 + ], + [ + 0.9946557312933358, + 0.09853020308624627, + 0.03085085550033371, + 0.0897069227316564, + -0.972658434975962, + 0.21421539833571437, + 0.051114031530843214, + -0.2103030383753293, + -0.9762991282546394 + ], + [ + 0.9941792367921138, + 0.10094740788901099, + -0.0376465930987116, + 0.10736940004555004, + -0.9572268979616465, + 0.26867913531307647, + -0.008913869266988134, + -0.27115730980228697, + -0.9624937694735888 + ], + [ + 0.991819613793766, + 0.10926160579751573, + -0.06599814537191642, + 0.12349623247027636, + -0.9521371446998583, + 0.279613193981343, + -0.03228829911332889, + -0.2854763723696744, + -0.9578416918045585 + ], + [ + 0.9858284937678551, + 0.14434683847740634, + -0.08547614343768567, + 0.16258939709772421, + -0.9476186335596583, + 0.2749247411236844, + -0.04131426904594582, + -0.2849261580692512, + -0.9576587156294749 + ], + [ + 0.9860686425529537, + 0.1384520515982639, + -0.09219360922541114, + 0.15876603665163325, + -0.9487185173205767, + 0.27336151978466133, + -0.049618321008558904, + -0.2841904366816012, + -0.9574830640376952 + ], + [ + 0.9864936407010144, + 0.12712886632416387, + -0.10328866444867518, + 0.1510007219691939, + -0.9501768020376207, + 0.2726954837072713, + -0.06347502517715414, + -0.28460902342809397, + -0.9565399233498132 + ], + [ + 0.987460048129233, + 0.1217110753359198, + -0.10054385853540053, + 0.1431214132947694, + -0.9589578643811373, + 0.24477760395525533, + -0.06662517846220285, + -0.2560980837143107, + -0.9643520400314074 + ], + [ + 0.9923878469728662, + 0.11858453868035283, + -0.03322752423108229, + 0.12310581758846596, + -0.9625980716648689, + 0.24135018148522555, + -0.003364350819192615, + -0.2436034885075414, + -0.9698690744273278 + ], + [ + 0.9936752468959045, + 0.10648547989703179, + 0.03564191742122675, + 0.09550144140133078, + -0.9683552219201389, + 0.23058108957645737, + 0.059067574832820845, + -0.22571886662637866, + -0.9724001310429117 + ], + [ + 0.9943246635425188, + 0.08556637250334681, + 0.06322071944920653, + 0.06961457558756456, + -0.9726581485641739, + 0.22156248982505303, + 0.08045044646749976, + -0.2159039645961416, + -0.9730946530193494 + ], + [ + 0.9969631705215729, + 0.05530384532066696, + 0.0548262830795661, + 0.04342598125799812, + -0.9792211903099122, + 0.19809100080472775, + 0.0646422522453617, + -0.19510854707261388, + -0.9786490862836691 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.003374725580215454, + -0.0016327016055583954, + -0.008507207036018372, + -0.012479029595851898, + 0.027952753007411957, + 0.007035057991743088, + 1.0 + ], + [ + -0.01812809705734253, + -0.022866252809762955, + 0.006417691707611084, + -0.07047846913337708, + -0.008734650909900665, + 0.003140784800052643, + 1.0 + ], + [ + -0.013792246580123901, + -0.01761906035244465, + 0.0049264803528785706, + -0.035778455436229706, + -0.004024893045425415, + 0.012285890057682991, + 1.0 + ], + [ + -0.0051892101764678955, + -0.009159926325082779, + -0.009870581328868866, + -0.007491869851946831, + 0.03996918350458145, + 0.02357296645641327, + 1.0 + ], + [ + -0.0034985244274139404, + 0.006520667113363743, + -0.04066786542534828, + 0.05731551721692085, + 0.13467898964881897, + 0.04804327338933945, + 1.0 + ], + [ + 0.012276649475097656, + 0.00405822554603219, + -0.012785413302481174, + 0.06305024027824402, + 0.006350494921207428, + 0.005295224487781525, + 0.0 + ], + [ + 0.00018259882926940918, + -0.0027662022039294243, + -0.00532146729528904, + 0.041551701724529266, + -0.010829541832208633, + -0.03172699734568596, + 0.0 + ], + [ + -0.007588237524032593, + -0.005909819155931473, + 0.00365387462079525, + -0.021708756685256958, + 0.0011350102722644806, + -0.03813744708895683, + 0.0 + ], + [ + -0.009403616189956665, + -0.0069555724039673805, + 0.009276549331843853, + -0.015813447535037994, + -0.012486778199672699, + -0.041142743080854416, + 0.0 + ], + [ + 0.002299189567565918, + 0.020358147099614143, + 0.0374472439289093, + 0.014532521367073059, + -0.08822314441204071, + 0.021340426057577133, + 0.0 + ], + [ + 0.01296183466911316, + 0.05328427255153656, + 0.010412793606519699, + 0.02984829992055893, + -0.042675018310546875, + 0.11696641147136688, + 0.0 + ], + [ + 0.019979655742645264, + 0.04017794877290726, + -0.02019389346241951, + 0.0762857049703598, + 0.044197916984558105, + -0.010375969111919403, + 0.0 + ], + [ + 0.015284568071365356, + 0.051721662282943726, + -0.022951684892177582, + 0.06243988871574402, + 0.060050301253795624, + 0.017635494470596313, + 0.0 + ], + [ + 0.012667030096054077, + 0.025523602962493896, + -0.0029246173799037933, + 0.015052467584609985, + 0.02337992563843727, + 0.016296178102493286, + 0.0 + ], + [ + -0.0031114518642425537, + 0.022357791662216187, + 0.002299198880791664, + -0.0004754364490509033, + 0.009032119065523148, + 0.03957797586917877, + 0.0 + ], + [ + -0.002063840627670288, + 0.0024179816246032715, + 0.00035232119262218475, + -0.0006558895111083984, + 0.00831267237663269, + -0.0038161873817443848, + 0.0 + ], + [ + -0.0018869638442993164, + -0.0032831430435180664, + -0.002115100622177124, + 0.00067099928855896, + 0.013879023492336273, + -0.007749840617179871, + 1.0 + ], + [ + -0.002218782901763916, + -0.008092373609542847, + -0.0015555862337350845, + -0.029624998569488525, + 0.0031568408012390137, + -0.007952570915222168, + 1.0 + ], + [ + 0.0043319761753082275, + -0.007568955421447754, + 0.02453719638288021, + -0.013492554426193237, + -0.06331021338701248, + -0.0205170139670372, + 1.0 + ], + [ + 0.0021092593669891357, + -0.01300649344921112, + 0.02781802788376808, + -0.017994806170463562, + -0.0624663345515728, + -0.027604587376117706, + 1.0 + ], + [ + 0.0004995763301849365, + -0.008617445826530457, + 0.008611641824245453, + -0.009749501943588257, + -0.021435506641864777, + -0.025917157530784607, + 1.0 + ], + [ + -0.0006088018417358398, + -0.010081350803375244, + -0.005218960344791412, + -0.021551579236984253, + 0.01585012674331665, + -0.02636711671948433, + 1.0 + ], + [ + 0.00040730834007263184, + -0.0047555118799209595, + -0.0015403404831886292, + -0.015895381569862366, + 0.003210224211215973, + -0.01820138283073902, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9476637244224548 + ], + [ + 0.7021830081939697 + ], + [ + 0.6460646390914917 + ], + [ + 0.6179407835006714 + ], + [ + 0.6179407835006714 + ], + [ + 0.6179407835006714 + ], + [ + 0.6179407835006714 + ], + [ + 0.6179407835006714 + ], + [ + 0.6179407835006714 + ], + [ + 0.6179407835006714 + ], + [ + 0.6179407835006714 + ], + [ + 0.6892001032829285 + ], + [ + 0.9781157374382019 + ], + [ + 1.0073583126068115 + ], + [ + 1.0008161067962646 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.30846142768859863, + 0.03795899078249931, + 0.06513158231973648 + ], + [ + 0.2903333306312561, + 0.015092738904058933, + 0.07154927402734756 + ], + [ + 0.2765410840511322, + -0.002526320982724428, + 0.07647575438022614 + ], + [ + 0.2713518738746643, + -0.01168624684214592, + 0.06660517305135727 + ], + [ + 0.26785334944725037, + -0.005165579728782177, + 0.025937307626008987 + ], + [ + 0.280129998922348, + -0.0011073540663346648, + 0.013151894323527813 + ], + [ + 0.28031259775161743, + -0.0038735561538487673, + 0.007830427028238773 + ], + [ + 0.27272436022758484, + -0.009783375076949596, + 0.011484301649034023 + ], + [ + 0.2633207440376282, + -0.016738947480916977, + 0.020760850980877876 + ], + [ + 0.2656199336051941, + 0.00361919985152781, + 0.05820809677243233 + ], + [ + 0.27858176827430725, + 0.056903474032878876, + 0.06862089037895203 + ], + [ + 0.2985614240169525, + 0.09708142280578613, + 0.048426996916532516 + ], + [ + 0.31384599208831787, + 0.14880308508872986, + 0.025475312024354935 + ], + [ + 0.32651302218437195, + 0.17432668805122375, + 0.02255069464445114 + ], + [ + 0.3234015703201294, + 0.19668447971343994, + 0.024849893525242805 + ], + [ + 0.3213377296924591, + 0.1991024613380432, + 0.02520221471786499 + ], + [ + 0.3194507658481598, + 0.19581931829452515, + 0.023087114095687866 + ], + [ + 0.3172319829463959, + 0.1877269446849823, + 0.02153152786195278 + ], + [ + 0.3215639591217041, + 0.18015798926353455, + 0.04606872424483299 + ], + [ + 0.32367321848869324, + 0.16715149581432343, + 0.07388675212860107 + ], + [ + 0.3241727948188782, + 0.15853404998779297, + 0.08249839395284653 + ], + [ + 0.32356399297714233, + 0.14845269918441772, + 0.07727943360805511 + ], + [ + 0.32397130131721497, + 0.14369718730449677, + 0.07573909312486649 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9937163428676613, + -0.010347673613236817, + 0.11144844354460282, + -0.019197263286022528, + -0.9967192112112927, + 0.07862747029293068, + 0.11026919334087709, + -0.08027290734196993, + -0.990654816445577 + ], + [ + 0.992770802077791, + -0.014940003802355937, + 0.11909211068834595, + -0.016059932560222243, + -0.9998353272982647, + 0.008449665823746882, + 0.11894626142918814, + -0.010301192783239849, + -0.9928472552811243 + ], + [ + 0.9924063993006035, + -0.007011090823621733, + 0.12280221183949973, + -0.003860061031190397, + -0.9996576420909841, + -0.025878534307970862, + 0.12294160628544727, + 0.025207999019284864, + -0.9920937043593197 + ], + [ + 0.9963408307124655, + 0.016935999663194555, + 0.08377422617131364, + 0.019613897248099442, + -0.9993192420658701, + -0.031246559356763987, + 0.08318800448342978, + 0.03277536197058778, + -0.9959947447440481 + ], + [ + 0.9963900338961975, + 0.06640320405145325, + -0.052891538491855086, + 0.06758554095910188, + -0.9974948416826906, + 0.020886250733181212, + -0.05137212284498169, + -0.024385555317130096, + -0.9983818155827334 + ], + [ + 0.9956727350436473, + 0.06764976376774469, + -0.06371274717724337, + 0.07283540727713812, + -0.993890003874302, + 0.0829316805901902, + -0.057713153938044416, + -0.08721335712440069, + -0.9945164765862934 + ], + [ + 0.9980480856371623, + 0.034910991323986236, + -0.051780705294272145, + 0.04123773042231011, + -0.9910918629749449, + 0.12663478485183294, + -0.04689848980097956, + -0.12852292336244803, + -0.9905969865817066 + ], + [ + 0.9988408078153147, + -0.002005313301475093, + -0.04809385991383973, + 0.0031537937638054982, + -0.9942587276314838, + 0.1069562345705851, + -0.048032220724681204, + -0.10698392985484113, + -0.9930998663402738 + ], + [ + 0.9986467714765088, + -0.04106383374614075, + -0.03191218227597022, + -0.03795215125253911, + -0.9949750813288353, + 0.09265107527698664, + -0.03555643450698944, + -0.09131456123065347, + -0.995187113497961 + ], + [ + 0.998475493301308, + -0.010980844433472681, + 0.05409353318315863, + -0.016621032495650733, + -0.9943387932147604, + 0.1049481090205651, + 0.0526348796473226, + -0.10568720529819005, + -0.9930054300358936 + ], + [ + 0.9904539778150652, + 0.11206004664825701, + 0.08027118895036257, + 0.09969856084483479, + -0.9845093130926996, + 0.14422763049849127, + 0.09518988809628427, + -0.13484790832241714, + -0.9862833907276781 + ], + [ + 0.9946557312933358, + 0.09853020308624627, + 0.03085085550033371, + 0.0897069227316564, + -0.972658434975962, + 0.21421539833571437, + 0.051114031530843214, + -0.2103030383753293, + -0.9762991282546394 + ], + [ + 0.9941792367921138, + 0.10094740788901099, + -0.0376465930987116, + 0.10736940004555004, + -0.9572268979616465, + 0.26867913531307647, + -0.008913869266988134, + -0.27115730980228697, + -0.9624937694735888 + ], + [ + 0.991819613793766, + 0.10926160579751573, + -0.06599814537191642, + 0.12349623247027636, + -0.9521371446998583, + 0.279613193981343, + -0.03228829911332889, + -0.2854763723696744, + -0.9578416918045585 + ], + [ + 0.9858284937678551, + 0.14434683847740634, + -0.08547614343768567, + 0.16258939709772421, + -0.9476186335596583, + 0.2749247411236844, + -0.04131426904594582, + -0.2849261580692512, + -0.9576587156294749 + ], + [ + 0.9860686425529537, + 0.1384520515982639, + -0.09219360922541114, + 0.15876603665163325, + -0.9487185173205767, + 0.27336151978466133, + -0.049618321008558904, + -0.2841904366816012, + -0.9574830640376952 + ], + [ + 0.9864936407010144, + 0.12712886632416387, + -0.10328866444867518, + 0.1510007219691939, + -0.9501768020376207, + 0.2726954837072713, + -0.06347502517715414, + -0.28460902342809397, + -0.9565399233498132 + ], + [ + 0.987460048129233, + 0.1217110753359198, + -0.10054385853540053, + 0.1431214132947694, + -0.9589578643811373, + 0.24477760395525533, + -0.06662517846220285, + -0.2560980837143107, + -0.9643520400314074 + ], + [ + 0.9923878469728662, + 0.11858453868035283, + -0.03322752423108229, + 0.12310581758846596, + -0.9625980716648689, + 0.24135018148522555, + -0.003364350819192615, + -0.2436034885075414, + -0.9698690744273278 + ], + [ + 0.9936752468959045, + 0.10648547989703179, + 0.03564191742122675, + 0.09550144140133078, + -0.9683552219201389, + 0.23058108957645737, + 0.059067574832820845, + -0.22571886662637866, + -0.9724001310429117 + ], + [ + 0.9943246635425188, + 0.08556637250334681, + 0.06322071944920653, + 0.06961457558756456, + -0.9726581485641739, + 0.22156248982505303, + 0.08045044646749976, + -0.2159039645961416, + -0.9730946530193494 + ], + [ + 0.9969631705215729, + 0.05530384532066696, + 0.0548262830795661, + 0.04342598125799812, + -0.9792211903099122, + 0.19809100080472775, + 0.0646422522453617, + -0.19510854707261388, + -0.9786490862836691 + ], + [ + 0.9977907110788661, + 0.03596294493112372, + 0.055860213717919965, + 0.025278807189923924, + -0.983088546946915, + 0.18137775709512405, + 0.061438414626236754, + -0.17956496165367042, + -0.9818257206625474 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005472.json b/json/chunk-0005/episode_0005472.json new file mode 100644 index 0000000000000000000000000000000000000000..cd4978950bd865a0a41be3dcd8222d16f6eacc98 --- /dev/null +++ b/json/chunk-0005/episode_0005472.json @@ -0,0 +1,1882 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 30, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nOpen the drawer." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005472.mp4", + "start": 0, + "end": 30, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.33436647057533264, + 0.03582853078842163, + 0.17012809216976166, + 0.05524732172489166, + -0.18862438201904297, + -0.06491245329380035, + 0.0, + 0.9994885921478271 + ], + [ + 0.3342285752296448, + 0.03581331670284271, + 0.15887024998664856, + 0.04955887421965599, + -0.15538211166858673, + -0.0624687597155571, + 0.0, + 0.9994885921478271 + ], + [ + 0.3287781774997711, + 0.039619430899620056, + 0.1308109611272812, + 0.05144356191158295, + -0.09124915301799774, + -0.061836112290620804, + 0.0, + 0.9994885921478271 + ], + [ + 0.3178192973136902, + 0.048476848751306534, + 0.11078988760709763, + 0.05103986710309982, + -0.06814374774694443, + -0.06900126487016678, + 0.0, + 0.9994885921478271 + ], + [ + 0.3116738498210907, + 0.054064854979515076, + 0.0979209765791893, + 0.08863700181245804, + -0.05824274942278862, + -0.09036947041749954, + 0.0, + 0.9994885921478271 + ], + [ + 0.30724895000457764, + 0.05872298404574394, + 0.09216675162315369, + 0.13030144572257996, + -0.06871512532234192, + -0.11491049081087112, + 0.0, + 0.9994885921478271 + ], + [ + 0.3037816882133484, + 0.06317368894815445, + 0.08140286058187485, + 0.1641044020652771, + -0.0772273987531662, + -0.13675741851329803, + 0.0, + 0.9994885921478271 + ], + [ + 0.30518001317977905, + 0.0671095922589302, + 0.07765460014343262, + 0.18826207518577576, + -0.09817441552877426, + -0.15378116071224213, + 0.0, + 0.9994885921478271 + ], + [ + 0.30343711376190186, + 0.07645130157470703, + 0.07047803699970245, + 0.1833568662405014, + -0.13023081421852112, + -0.1412489116191864, + 0.0, + 0.9994885921478271 + ], + [ + 0.3062276840209961, + 0.08156698942184448, + 0.0643562376499176, + 0.17789024114608765, + -0.14699581265449524, + -0.12574367225170135, + 0.0, + 0.9994885921478271 + ], + [ + 0.30460333824157715, + 0.0821857675909996, + 0.0499044731259346, + 0.15902824699878693, + -0.11251406371593475, + -0.11540834605693817, + 0.0, + 0.9994885921478271 + ], + [ + 0.30677980184555054, + 0.08094193041324615, + 0.045523785054683685, + 0.08370108902454376, + -0.1435556560754776, + -0.0980706512928009, + 0.0, + 0.9994885921478271 + ], + [ + 0.30500540137290955, + 0.07206717878580093, + 0.04033612832427025, + 0.025106023997068405, + -0.16520434617996216, + -0.11720352619886398, + 0.0, + 0.9994885921478271 + ], + [ + 0.30577075481414795, + 0.05632787197828293, + 0.03901449963450432, + -0.015784669667482376, + -0.17353029549121857, + -0.17696499824523926, + 0.0, + 0.9994885921478271 + ], + [ + 0.30481261014938354, + 0.03618931770324707, + 0.038166344165802, + -0.03107907995581627, + -0.15563665330410004, + -0.278825044631958, + 0.0, + 0.9994885921478271 + ], + [ + 0.3027857840061188, + 0.00953610334545374, + 0.0363728329539299, + -0.038367245346307755, + -0.1415843367576599, + -0.38713228702545166, + 0.0, + 0.9994885921478271 + ], + [ + 0.2991332709789276, + -0.003739705076441169, + 0.034209102392196655, + -0.0429471917450428, + -0.13035115599632263, + -0.4192558825016022, + 0.0, + 0.9988223910331726 + ], + [ + 0.2941693663597107, + -0.019360322505235672, + 0.03190811723470688, + -0.05179322883486748, + -0.11510054767131805, + -0.4633614420890808, + 0.0, + 0.9994885921478271 + ], + [ + 0.2914915084838867, + -0.028385765850543976, + 0.0321790985763073, + -0.050812751054763794, + -0.10767358541488647, + -0.484321653842926, + 0.0, + 0.9994885921478271 + ], + [ + 0.28952842950820923, + -0.03674737364053726, + 0.03569654002785683, + -0.044272638857364655, + -0.11907756328582764, + -0.5230414867401123, + 0.0, + 0.9994885921478271 + ], + [ + 0.28909367322921753, + -0.03766052797436714, + 0.03647175803780556, + -0.044934239238500595, + -0.12373344600200653, + -0.5305575728416443, + 0.0, + 0.9994885921478271 + ], + [ + 0.28871795535087585, + -0.03724274784326553, + 0.03879926726222038, + -0.028339479118585587, + -0.1174493208527565, + -0.5214851498603821, + 0.0, + 0.9994885921478271 + ], + [ + 0.2887739837169647, + -0.027202017605304718, + 0.05247305706143379, + 0.030516162514686584, + -0.1129361242055893, + -0.4311550259590149, + 0.0, + 0.9994885921478271 + ], + [ + 0.2841164171695709, + -0.016302241012454033, + 0.07286161184310913, + 0.08037342131137848, + -0.07951261103153229, + -0.37993407249450684, + 0.0, + 1.0001531839370728 + ], + [ + 0.28067806363105774, + -0.013043899089097977, + 0.09961341321468353, + 0.05333464965224266, + -0.10372217744588852, + -0.3750019371509552, + 0.0, + 1.0001531839370728 + ], + [ + 0.27197977900505066, + -0.005986656527966261, + 0.12380227446556091, + 0.019302060827612877, + -0.13653260469436646, + -0.34644821286201477, + 0.0, + 1.0001531839370728 + ], + [ + 0.26061663031578064, + 0.0004970746231265366, + 0.1487656533718109, + 0.011602876707911491, + -0.15236537158489227, + -0.3142375648021698, + 0.0, + 0.9994885921478271 + ], + [ + 0.24610300362110138, + 0.00986900832504034, + 0.16868802905082703, + -0.005827570334076881, + -0.17519746720790863, + -0.2610820233821869, + 0.0, + 0.9994885921478271 + ], + [ + 0.2370828539133072, + 0.016471436247229576, + 0.1823117882013321, + 0.0144729008898139, + -0.20865394175052643, + -0.2602965533733368, + 0.0, + 0.9994885921478271 + ], + [ + 0.22923587262630463, + 0.02576446905732155, + 0.17695041000843048, + -0.0014922195114195347, + -0.17978203296661377, + -0.20585326850414276, + 0.0, + 0.9994885921478271 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.33436647057533264, + 0.03582853078842163, + 0.17012809216976166 + ], + [ + 0.3342285752296448, + 0.03581331670284271, + 0.15887024998664856 + ], + [ + 0.3287781774997711, + 0.039619430899620056, + 0.1308109611272812 + ], + [ + 0.3178192973136902, + 0.048476848751306534, + 0.11078988760709763 + ], + [ + 0.3116738498210907, + 0.054064854979515076, + 0.0979209765791893 + ], + [ + 0.30724895000457764, + 0.05872298404574394, + 0.09216675162315369 + ], + [ + 0.3037816882133484, + 0.06317368894815445, + 0.08140286058187485 + ], + [ + 0.30518001317977905, + 0.0671095922589302, + 0.07765460014343262 + ], + [ + 0.30343711376190186, + 0.07645130157470703, + 0.07047803699970245 + ], + [ + 0.3062276840209961, + 0.08156698942184448, + 0.0643562376499176 + ], + [ + 0.30460333824157715, + 0.0821857675909996, + 0.0499044731259346 + ], + [ + 0.30677980184555054, + 0.08094193041324615, + 0.045523785054683685 + ], + [ + 0.30500540137290955, + 0.07206717878580093, + 0.04033612832427025 + ], + [ + 0.30577075481414795, + 0.05632787197828293, + 0.03901449963450432 + ], + [ + 0.30481261014938354, + 0.03618931770324707, + 0.038166344165802 + ], + [ + 0.3027857840061188, + 0.00953610334545374, + 0.0363728329539299 + ], + [ + 0.2991332709789276, + -0.003739705076441169, + 0.034209102392196655 + ], + [ + 0.2941693663597107, + -0.019360322505235672, + 0.03190811723470688 + ], + [ + 0.2914915084838867, + -0.028385765850543976, + 0.0321790985763073 + ], + [ + 0.28952842950820923, + -0.03674737364053726, + 0.03569654002785683 + ], + [ + 0.28909367322921753, + -0.03766052797436714, + 0.03647175803780556 + ], + [ + 0.28871795535087585, + -0.03724274784326553, + 0.03879926726222038 + ], + [ + 0.2887739837169647, + -0.027202017605304718, + 0.05247305706143379 + ], + [ + 0.2841164171695709, + -0.016302241012454033, + 0.07286161184310913 + ], + [ + 0.28067806363105774, + -0.013043899089097977, + 0.09961341321468353 + ], + [ + 0.27197977900505066, + -0.005986656527966261, + 0.12380227446556091 + ], + [ + 0.26061663031578064, + 0.0004970746231265366, + 0.1487656533718109 + ], + [ + 0.24610300362110138, + 0.00986900832504034, + 0.16868802905082703 + ], + [ + 0.2370828539133072, + 0.016471436247229576, + 0.1823117882013321 + ], + [ + 0.22923587262630463, + 0.02576446905732155, + 0.17695041000843048 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9801943851782944, + -0.05443567515346156, + 0.1904093604199446, + -0.0637163396837214, + -0.9970430286545242, + 0.04295843419774821, + 0.18750785402818249, + -0.05423980348416135, + -0.9807644204373165 + ], + [ + 0.986025428843891, + -0.05469996943872213, + 0.1573587208152894, + -0.061676033540259606, + -0.9973026703451723, + 0.039792594903195144, + 0.15475761874609628, + -0.04894177219709035, + -0.9867394703640098 + ], + [ + 0.9939363920497359, + -0.05703831280789142, + 0.09400574147988253, + -0.06153961879524158, + -0.9970579117613425, + 0.0456989705862958, + 0.09112257611420851, + -0.05120694744016586, + -0.9945222595076343 + ], + [ + 0.9953049931180274, + -0.06539115624505071, + 0.07135802238892515, + -0.06878650631153876, + -0.9965607144633141, + 0.04620778005727125, + 0.06809102160913445, + -0.05089930326933642, + -0.9963798842323746 + ], + [ + 0.9942307471377816, + -0.08476047352453618, + 0.06573342813018067, + -0.09009349346690217, + -0.992474810114545, + 0.08292715913998161, + 0.05820982632492972, + -0.08837088556756112, + -0.9943853391433459 + ], + [ + 0.9910606595949459, + -0.10482328515796857, + 0.08252786130708599, + -0.11438718274818646, + -0.9860066301133644, + 0.1212703500259633, + 0.06866106193588477, + -0.1296264026391918, + -0.9891828214807709 + ], + [ + 0.9877105444757619, + -0.12201359286678372, + 0.0976758080956243, + -0.13592518715611562, + -0.9790720960935189, + 0.15146674271145769, + 0.07715065669175748, + -0.16288190140952655, + -0.9836245535595624 + ], + [ + 0.9834405476522746, + -0.13234173599853713, + 0.123815807336088, + -0.15243817983576882, + -0.9735483100248562, + 0.1701948570788903, + 0.09801678714256844, + -0.186250779758474, + -0.9776008165287141 + ], + [ + 0.9816572266797786, + -0.11497756676393452, + 0.15208303142826715, + -0.1395875676606862, + -0.9767784536542508, + 0.16253972877848796, + 0.12986300574813317, + -0.18078719981750938, + -0.974911066774916 + ], + [ + 0.9814053779289237, + -0.09772023899981175, + 0.1652096821073337, + -0.12406006382944157, + -0.97969890651572, + 0.15747746865674905, + 0.14646700903214163, + -0.17504515834984458, + -0.9736049546933584 + ], + [ + 0.9870668743752228, + -0.0960375475836751, + 0.1283579953304101, + -0.11442421574254878, + -0.9828608304834489, + 0.1445395681226699, + 0.11227682023833274, + -0.1573574826803563, + -0.9811383889552333 + ], + [ + 0.9849579242294054, + -0.08566764923449031, + 0.1500631246253961, + -0.09690634148175999, + -0.9928819577517418, + 0.0692428982039969, + 0.14306309264908737, + -0.08274340968140537, + -0.986248690582641 + ], + [ + 0.9796177028087845, + -0.11279850114406471, + 0.16620967024602482, + -0.11534327743934407, + -0.993309297948466, + 0.005706746768177768, + 0.16445389838246574, + -0.02476159826784289, + -0.9860739214470847 + ], + [ + 0.9695984319554086, + -0.17870357238181403, + 0.1671643322230858, + -0.17339886339944213, + -0.9837801203817629, + -0.04592939051876642, + 0.17266069304098736, + 0.015546959819253723, + -0.9848586584474871 + ], + [ + 0.9497593288802605, + -0.2797240881372636, + 0.14039818987684335, + -0.27189961310114713, + -0.9595895150933895, + -0.07251594940618658, + 0.1550090887669632, + 0.030698485933519565, + -0.987435965195225 + ], + [ + 0.9167297098965561, + -0.38226881663451606, + 0.11609130381653349, + -0.3737567472347999, + -0.9232705596152467, + -0.08875453590781142, + 0.14111177445357925, + 0.037974011858056975, + -0.9892651017467291 + ], + [ + 0.905643174383397, + -0.4118028608290379, + 0.10113775015187894, + -0.4036273469724862, + -0.9102781003814947, + -0.0920800995970883, + 0.1299823275246143, + 0.04256975192407734, + -0.9906020445932899 + ], + [ + 0.8886360770854149, + -0.4516769462331653, + 0.07945979325248184, + -0.4440002112075811, + -0.8906981227372079, + -0.0975739032735573, + 0.11484657134572282, + 0.05142752564431302, + -0.9920511451816563 + ], + [ + 0.8798658344044097, + -0.46983770558698945, + 0.07133473106828889, + -0.46291170552492966, + -0.8813073294149079, + -0.09492177836283797, + 0.10746565188855689, + 0.050496747700385085, + -0.992925582375563 + ], + [ + 0.8601693041717954, + -0.5035826072774338, + 0.08070517832376756, + -0.4959800344679954, + -0.8628287285998373, + -0.09762371900268048, + 0.11879635335200892, + 0.043944769318430596, + -0.9919457060141016 + ], + [ + 0.8559308697079897, + -0.5102852721932946, + 0.08361391788177071, + -0.5021457487483801, + -0.8588491996109991, + -0.1011320885845574, + 0.12341796179994584, + 0.04457570313703836, + -0.9913531224518263 + ], + [ + 0.8611067515107216, + -0.5008474178909622, + 0.08744727837164795, + -0.4947364257411403, + -0.865078018269821, + -0.08292099463489719, + 0.11717948432867317, + 0.02814047437971465, + -0.992711983484712 + ], + [ + 0.9026961439210522, + -0.4146019860679859, + 0.11508633671528773, + -0.415258037612621, + -0.9094977017220072, + -0.01935698221577501, + 0.11269620201310224, + -0.030317053136287228, + -0.9931668753744023 + ], + [ + 0.9257549290246992, + -0.36373969333052897, + 0.10330172739255986, + -0.36968752817009615, + -0.9280560942573977, + 0.04519975030006959, + 0.07942885434121771, + -0.08003325188643162, + -0.9936225317949089 + ], + [ + 0.9255060665282864, + -0.3606176152476782, + 0.11573010149661662, + -0.3643058545992409, + -0.9312054076822427, + 0.011735970691226352, + 0.1035362985819775, + -0.05302286559990996, + -0.9932113625002071 + ], + [ + 0.9318315041525548, + -0.33702501457150447, + 0.13455180200155226, + -0.3363992257158195, + -0.9413015019049927, + -0.028054294665922266, + 0.13610881237666006, + -0.019121246415505094, + -0.990509348329905 + ], + [ + 0.9400144516552218, + -0.30739588241740323, + 0.1479209320960303, + -0.30551058519903806, + -0.9515126125827664, + -0.03587520630267136, + 0.15177652325268787, + -0.011468198147221817, + -0.9883483026851324 + ], + [ + 0.9513221487109622, + -0.2591030068670803, + 0.16688858919769062, + -0.2541746999516895, + -0.9658326477184053, + -0.05062132461446831, + 0.1743025853979981, + 0.005738330218147333, + -0.9846754187496919 + ], + [ + 0.9453549600633602, + -0.2544433006500216, + 0.20386909093319047, + -0.2517849953797758, + -0.9669840452022587, + -0.039321399083484296, + 0.2071432248112621, + -0.014158498458489705, + -0.9782081687126682 + ], + [ + 0.9631099084871163, + -0.20466345771580988, + 0.17473457943334272, + -0.20110806974343462, + -0.9788312998455573, + -0.03801092904319023, + 0.17881512368367528, + 0.0014681684050267992, + -0.9838815965468234 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0001378953456878662, + -1.5214085578918457e-05, + -0.011257842183113098, + -0.005688447505235672, + 0.03324227035045624, + 0.0024436935782432556, + 1.0 + ], + [ + -0.005450397729873657, + 0.0038061141967773438, + -0.02805928885936737, + 0.0018846876919269562, + 0.06413295865058899, + 0.0006326474249362946, + 1.0 + ], + [ + -0.010958880186080933, + 0.008857417851686478, + -0.020021073520183563, + -0.0004036948084831238, + 0.023105405271053314, + -0.007165152579545975, + 1.0 + ], + [ + -0.006145447492599487, + 0.005588006228208542, + -0.012868911027908325, + 0.037597134709358215, + 0.009900998324155807, + -0.021368205547332764, + 1.0 + ], + [ + -0.0044248998165130615, + 0.004658129066228867, + -0.005754224956035614, + 0.04166444391012192, + -0.010472375899553299, + -0.024541020393371582, + 1.0 + ], + [ + -0.003467261791229248, + 0.004450704902410507, + -0.010763891041278839, + 0.033802956342697144, + -0.00851227343082428, + -0.02184692770242691, + 1.0 + ], + [ + 0.001398324966430664, + 0.003935903310775757, + -0.0037482604384422302, + 0.024157673120498657, + -0.020947016775608063, + -0.017023742198944092, + 1.0 + ], + [ + -0.0017428994178771973, + 0.009341709315776825, + -0.007176563143730164, + -0.004905208945274353, + -0.03205639868974686, + 0.012532249093055725, + 1.0 + ], + [ + 0.0027905702590942383, + 0.005115687847137451, + -0.006121799349784851, + -0.005466625094413757, + -0.01676499843597412, + 0.015505239367485046, + 1.0 + ], + [ + -0.0016243457794189453, + 0.0006187781691551208, + -0.014451764523983002, + -0.01886199414730072, + 0.034481748938560486, + 0.010335326194763184, + 1.0 + ], + [ + 0.0021764636039733887, + -0.0012438371777534485, + -0.0043806880712509155, + -0.07532715797424316, + -0.031041592359542847, + 0.017337694764137268, + 1.0 + ], + [ + -0.0017744004726409912, + -0.008874751627445221, + -0.005187656730413437, + -0.05859506502747536, + -0.021648690104484558, + -0.01913287490606308, + 1.0 + ], + [ + 0.0007653534412384033, + -0.015739306807518005, + -0.0013216286897659302, + -0.04089069366455078, + -0.008325949311256409, + -0.059761472046375275, + 1.0 + ], + [ + -0.0009581446647644043, + -0.020138554275035858, + -0.0008481554687023163, + -0.015294410288333893, + 0.01789364218711853, + -0.10186004638671875, + 1.0 + ], + [ + -0.0020268261432647705, + -0.026653215289115906, + -0.0017935112118721008, + -0.007288165390491486, + 0.014052316546440125, + -0.10830724239349365, + 1.0 + ], + [ + -0.003652513027191162, + -0.013275808654725552, + -0.002163730561733246, + -0.004579946398735046, + 0.01123318076133728, + -0.03212359547615051, + 1.0 + ], + [ + -0.004963904619216919, + -0.01562061719596386, + -0.0023009851574897766, + -0.008846037089824677, + 0.015250608325004578, + -0.04410555958747864, + 1.0 + ], + [ + -0.0026778578758239746, + -0.009025443345308304, + 0.0002709813416004181, + 0.0009804777801036835, + 0.00742696225643158, + -0.020960211753845215, + 1.0 + ], + [ + -0.0019630789756774902, + -0.008361607789993286, + 0.00351744145154953, + 0.006540112197399139, + -0.011403977870941162, + -0.03871983289718628, + 1.0 + ], + [ + -0.0004347562789916992, + -0.0009131543338298798, + 0.0007752180099487305, + -0.0006616003811359406, + -0.004655882716178894, + -0.007516086101531982, + 1.0 + ], + [ + -0.0003757178783416748, + 0.0004177801311016083, + 0.0023275092244148254, + 0.01659476011991501, + 0.0062841251492500305, + 0.009072422981262207, + 1.0 + ], + [ + 5.602836608886719e-05, + 0.010040730237960815, + 0.01367378979921341, + 0.05885564163327217, + 0.004513196647167206, + 0.09033012390136719, + 1.0 + ], + [ + -0.004657566547393799, + 0.010899776592850685, + 0.02038855478167534, + 0.049857258796691895, + 0.03342351317405701, + 0.05122095346450806, + 1.0 + ], + [ + -0.0034383535385131836, + 0.003258341923356056, + 0.026751801371574402, + -0.02703877165913582, + -0.02420956641435623, + 0.004932135343551636, + 1.0 + ], + [ + -0.00869828462600708, + 0.007057242561131716, + 0.02418886125087738, + -0.03403259068727493, + -0.032810427248477936, + 0.02855372428894043, + 1.0 + ], + [ + -0.01136314868927002, + 0.00648373132571578, + 0.02496337890625, + -0.0076991841197013855, + -0.015832766890525818, + 0.03221064805984497, + 1.0 + ], + [ + -0.01451362669467926, + 0.009371933527290821, + 0.019922375679016113, + -0.017430447041988373, + -0.022832095623016357, + 0.05315554141998291, + 1.0 + ], + [ + -0.00902014970779419, + 0.006602427922189236, + 0.013623759150505066, + 0.020300470292568207, + -0.0334564745426178, + 0.0007854700088500977, + 1.0 + ], + [ + -0.007846981287002563, + 0.009293032810091972, + -0.005361378192901611, + -0.015965120866894722, + 0.02887190878391266, + 0.05444328486919403, + 1.0 + ], + [ + -0.003772169351577759, + 0.01158420741558075, + -0.0028592348098754883, + -0.008131694048643112, + 0.007242545485496521, + 0.026183098554611206, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3342285752296448, + 0.03581331670284271, + 0.15887024998664856 + ], + [ + 0.3287781774997711, + 0.039619430899620056, + 0.1308109611272812 + ], + [ + 0.3178192973136902, + 0.048476848751306534, + 0.11078988760709763 + ], + [ + 0.3116738498210907, + 0.054064854979515076, + 0.0979209765791893 + ], + [ + 0.30724895000457764, + 0.05872298404574394, + 0.09216675162315369 + ], + [ + 0.3037816882133484, + 0.06317368894815445, + 0.08140286058187485 + ], + [ + 0.30518001317977905, + 0.0671095922589302, + 0.07765460014343262 + ], + [ + 0.30343711376190186, + 0.07645130157470703, + 0.07047803699970245 + ], + [ + 0.3062276840209961, + 0.08156698942184448, + 0.0643562376499176 + ], + [ + 0.30460333824157715, + 0.0821857675909996, + 0.0499044731259346 + ], + [ + 0.30677980184555054, + 0.08094193041324615, + 0.045523785054683685 + ], + [ + 0.30500540137290955, + 0.07206717878580093, + 0.04033612832427025 + ], + [ + 0.30577075481414795, + 0.05632787197828293, + 0.03901449963450432 + ], + [ + 0.30481261014938354, + 0.03618931770324707, + 0.038166344165802 + ], + [ + 0.3027857840061188, + 0.00953610334545374, + 0.0363728329539299 + ], + [ + 0.2991332709789276, + -0.003739705076441169, + 0.034209102392196655 + ], + [ + 0.2941693663597107, + -0.019360322505235672, + 0.03190811723470688 + ], + [ + 0.2914915084838867, + -0.028385765850543976, + 0.0321790985763073 + ], + [ + 0.28952842950820923, + -0.03674737364053726, + 0.03569654002785683 + ], + [ + 0.28909367322921753, + -0.03766052797436714, + 0.03647175803780556 + ], + [ + 0.28871795535087585, + -0.03724274784326553, + 0.03879926726222038 + ], + [ + 0.2887739837169647, + -0.027202017605304718, + 0.05247305706143379 + ], + [ + 0.2841164171695709, + -0.016302241012454033, + 0.07286161184310913 + ], + [ + 0.28067806363105774, + -0.013043899089097977, + 0.09961341321468353 + ], + [ + 0.27197977900505066, + -0.005986656527966261, + 0.12380227446556091 + ], + [ + 0.26061663031578064, + 0.0004970746231265366, + 0.1487656533718109 + ], + [ + 0.24610300362110138, + 0.00986900832504034, + 0.16868802905082703 + ], + [ + 0.2370828539133072, + 0.016471436247229576, + 0.1823117882013321 + ], + [ + 0.22923587262630463, + 0.02576446905732155, + 0.17695041000843048 + ], + [ + 0.22546370327472687, + 0.0373486764729023, + 0.174091175198555 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.986025428843891, + -0.05469996943872213, + 0.1573587208152894, + -0.061676033540259606, + -0.9973026703451723, + 0.039792594903195144, + 0.15475761874609628, + -0.04894177219709035, + -0.9867394703640098 + ], + [ + 0.9939363920497359, + -0.05703831280789142, + 0.09400574147988253, + -0.06153961879524158, + -0.9970579117613425, + 0.0456989705862958, + 0.09112257611420851, + -0.05120694744016586, + -0.9945222595076343 + ], + [ + 0.9953049931180274, + -0.06539115624505071, + 0.07135802238892515, + -0.06878650631153876, + -0.9965607144633141, + 0.04620778005727125, + 0.06809102160913445, + -0.05089930326933642, + -0.9963798842323746 + ], + [ + 0.9942307471377816, + -0.08476047352453618, + 0.06573342813018067, + -0.09009349346690217, + -0.992474810114545, + 0.08292715913998161, + 0.05820982632492972, + -0.08837088556756112, + -0.9943853391433459 + ], + [ + 0.9910606595949459, + -0.10482328515796857, + 0.08252786130708599, + -0.11438718274818646, + -0.9860066301133644, + 0.1212703500259633, + 0.06866106193588477, + -0.1296264026391918, + -0.9891828214807709 + ], + [ + 0.9877105444757619, + -0.12201359286678372, + 0.0976758080956243, + -0.13592518715611562, + -0.9790720960935189, + 0.15146674271145769, + 0.07715065669175748, + -0.16288190140952655, + -0.9836245535595624 + ], + [ + 0.9834405476522746, + -0.13234173599853713, + 0.123815807336088, + -0.15243817983576882, + -0.9735483100248562, + 0.1701948570788903, + 0.09801678714256844, + -0.186250779758474, + -0.9776008165287141 + ], + [ + 0.9816572266797786, + -0.11497756676393452, + 0.15208303142826715, + -0.1395875676606862, + -0.9767784536542508, + 0.16253972877848796, + 0.12986300574813317, + -0.18078719981750938, + -0.974911066774916 + ], + [ + 0.9814053779289237, + -0.09772023899981175, + 0.1652096821073337, + -0.12406006382944157, + -0.97969890651572, + 0.15747746865674905, + 0.14646700903214163, + -0.17504515834984458, + -0.9736049546933584 + ], + [ + 0.9870668743752228, + -0.0960375475836751, + 0.1283579953304101, + -0.11442421574254878, + -0.9828608304834489, + 0.1445395681226699, + 0.11227682023833274, + -0.1573574826803563, + -0.9811383889552333 + ], + [ + 0.9849579242294054, + -0.08566764923449031, + 0.1500631246253961, + -0.09690634148175999, + -0.9928819577517418, + 0.0692428982039969, + 0.14306309264908737, + -0.08274340968140537, + -0.986248690582641 + ], + [ + 0.9796177028087845, + -0.11279850114406471, + 0.16620967024602482, + -0.11534327743934407, + -0.993309297948466, + 0.005706746768177768, + 0.16445389838246574, + -0.02476159826784289, + -0.9860739214470847 + ], + [ + 0.9695984319554086, + -0.17870357238181403, + 0.1671643322230858, + -0.17339886339944213, + -0.9837801203817629, + -0.04592939051876642, + 0.17266069304098736, + 0.015546959819253723, + -0.9848586584474871 + ], + [ + 0.9497593288802605, + -0.2797240881372636, + 0.14039818987684335, + -0.27189961310114713, + -0.9595895150933895, + -0.07251594940618658, + 0.1550090887669632, + 0.030698485933519565, + -0.987435965195225 + ], + [ + 0.9167297098965561, + -0.38226881663451606, + 0.11609130381653349, + -0.3737567472347999, + -0.9232705596152467, + -0.08875453590781142, + 0.14111177445357925, + 0.037974011858056975, + -0.9892651017467291 + ], + [ + 0.905643174383397, + -0.4118028608290379, + 0.10113775015187894, + -0.4036273469724862, + -0.9102781003814947, + -0.0920800995970883, + 0.1299823275246143, + 0.04256975192407734, + -0.9906020445932899 + ], + [ + 0.8886360770854149, + -0.4516769462331653, + 0.07945979325248184, + -0.4440002112075811, + -0.8906981227372079, + -0.0975739032735573, + 0.11484657134572282, + 0.05142752564431302, + -0.9920511451816563 + ], + [ + 0.8798658344044097, + -0.46983770558698945, + 0.07133473106828889, + -0.46291170552492966, + -0.8813073294149079, + -0.09492177836283797, + 0.10746565188855689, + 0.050496747700385085, + -0.992925582375563 + ], + [ + 0.8601693041717954, + -0.5035826072774338, + 0.08070517832376756, + -0.4959800344679954, + -0.8628287285998373, + -0.09762371900268048, + 0.11879635335200892, + 0.043944769318430596, + -0.9919457060141016 + ], + [ + 0.8559308697079897, + -0.5102852721932946, + 0.08361391788177071, + -0.5021457487483801, + -0.8588491996109991, + -0.1011320885845574, + 0.12341796179994584, + 0.04457570313703836, + -0.9913531224518263 + ], + [ + 0.8611067515107216, + -0.5008474178909622, + 0.08744727837164795, + -0.4947364257411403, + -0.865078018269821, + -0.08292099463489719, + 0.11717948432867317, + 0.02814047437971465, + -0.992711983484712 + ], + [ + 0.9026961439210522, + -0.4146019860679859, + 0.11508633671528773, + -0.415258037612621, + -0.9094977017220072, + -0.01935698221577501, + 0.11269620201310224, + -0.030317053136287228, + -0.9931668753744023 + ], + [ + 0.9257549290246992, + -0.36373969333052897, + 0.10330172739255986, + -0.36968752817009615, + -0.9280560942573977, + 0.04519975030006959, + 0.07942885434121771, + -0.08003325188643162, + -0.9936225317949089 + ], + [ + 0.9255060665282864, + -0.3606176152476782, + 0.11573010149661662, + -0.3643058545992409, + -0.9312054076822427, + 0.011735970691226352, + 0.1035362985819775, + -0.05302286559990996, + -0.9932113625002071 + ], + [ + 0.9318315041525548, + -0.33702501457150447, + 0.13455180200155226, + -0.3363992257158195, + -0.9413015019049927, + -0.028054294665922266, + 0.13610881237666006, + -0.019121246415505094, + -0.990509348329905 + ], + [ + 0.9400144516552218, + -0.30739588241740323, + 0.1479209320960303, + -0.30551058519903806, + -0.9515126125827664, + -0.03587520630267136, + 0.15177652325268787, + -0.011468198147221817, + -0.9883483026851324 + ], + [ + 0.9513221487109622, + -0.2591030068670803, + 0.16688858919769062, + -0.2541746999516895, + -0.9658326477184053, + -0.05062132461446831, + 0.1743025853979981, + 0.005738330218147333, + -0.9846754187496919 + ], + [ + 0.9453549600633602, + -0.2544433006500216, + 0.20386909093319047, + -0.2517849953797758, + -0.9669840452022587, + -0.039321399083484296, + 0.2071432248112621, + -0.014158498458489705, + -0.9782081687126682 + ], + [ + 0.9631099084871163, + -0.20466345771580988, + 0.17473457943334272, + -0.20110806974343462, + -0.9788312998455573, + -0.03801092904319023, + 0.17881512368367528, + 0.0014681684050267992, + -0.9838815965468234 + ], + [ + 0.9692936551420873, + -0.18032244300761283, + 0.1671933809965531, + -0.17605164129389303, + -0.9835618585662763, + -0.04014834954738006, + 0.17168468102605647, + 0.009480871342783826, + -0.9851063310016654 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005473.json b/json/chunk-0005/episode_0005473.json new file mode 100644 index 0000000000000000000000000000000000000000..7fc60b83591d0c4acef672454fed8759e9f55eb2 --- /dev/null +++ b/json/chunk-0005/episode_0005473.json @@ -0,0 +1,2122 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 34, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut pot on top of yellow cloth." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005473.mp4", + "start": 0, + "end": 34, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2532292604446411, + 0.0883231982588768, + 0.11481281369924545, + -0.029068466275930405, + -0.184951052069664, + -0.1034778282046318, + 0.0, + 0.9994885921478271 + ], + [ + 0.25203266739845276, + 0.08714289218187332, + 0.10756725817918777, + -0.04464058205485344, + -0.1612699031829834, + -0.09719869494438171, + 0.0, + 0.9994885921478271 + ], + [ + 0.2601523995399475, + 0.07075054943561554, + 0.1013227328658104, + -0.07732833176851273, + -0.15110500156879425, + -0.10845619440078735, + 0.0, + 0.9994885921478271 + ], + [ + 0.2765895426273346, + 0.03519859537482262, + 0.09634041041135788, + -0.08835621923208237, + -0.1507975459098816, + -0.1864389330148697, + 0.0, + 0.9994885921478271 + ], + [ + 0.29077833890914917, + -0.004593975841999054, + 0.09411972016096115, + -0.07576806843280792, + -0.16547663509845734, + -0.27547380328178406, + 0.0, + 0.9994885921478271 + ], + [ + 0.30645519495010376, + -0.043548062443733215, + 0.08251547813415527, + -0.04862470552325249, + -0.1654171496629715, + -0.3592368960380554, + 0.0, + 0.9994885921478271 + ], + [ + 0.31986987590789795, + -0.06111829727888107, + 0.0689697414636612, + -0.019187267869710922, + -0.16804549098014832, + -0.39190956950187683, + 0.0, + 0.9994885921478271 + ], + [ + 0.3336453437805176, + -0.0760883167386055, + 0.059384673833847046, + -0.006104595959186554, + -0.18536041676998138, + -0.4095246195793152, + 0.0, + 0.9994885921478271 + ], + [ + 0.35043296217918396, + -0.07980814576148987, + 0.05300719663500786, + 0.005757232662290335, + -0.2073838859796524, + -0.4057385325431824, + 0.0, + 0.9994885921478271 + ], + [ + 0.3602477014064789, + -0.08479274809360504, + 0.04889179766178131, + 0.00435505760833621, + -0.2278282195329666, + -0.40437301993370056, + 0.0, + 0.9994885921478271 + ], + [ + 0.36351802945137024, + -0.09425240755081177, + 0.0413985401391983, + 0.0019473504507914186, + -0.22776564955711365, + -0.4141867458820343, + 0.0, + 0.9994885921478271 + ], + [ + 0.3624873459339142, + -0.09733413904905319, + 0.03087531588971615, + -0.002710549160838127, + -0.2078413963317871, + -0.4109049439430237, + 0.0, + 0.9994885921478271 + ], + [ + 0.3645648658275604, + -0.09551428258419037, + 0.024495979771018028, + 0.005495945457369089, + -0.19369573891162872, + -0.40766027569770813, + 0.0, + 0.9499720335006714 + ], + [ + 0.36469054222106934, + -0.09579251706600189, + 0.018981309607625008, + 0.005424213130027056, + -0.18119695782661438, + -0.40793323516845703, + 0.0, + 0.6591242551803589 + ], + [ + 0.36511483788490295, + -0.09497501701116562, + 0.015945103019475937, + 0.00710406294092536, + -0.17017893493175507, + -0.41468262672424316, + 0.0, + 0.35357794165611267 + ], + [ + 0.3626684546470642, + -0.09296821802854538, + 0.015781879425048828, + 0.00015273827011696994, + -0.151656374335289, + -0.42324090003967285, + 0.0, + 0.1541406512260437 + ], + [ + 0.36205413937568665, + -0.09234311431646347, + 0.018087735399603844, + -0.025158531963825226, + -0.1486552655696869, + -0.44718560576438904, + 0.0, + 0.1004381775856018 + ], + [ + 0.362054705619812, + -0.08846690505743027, + 0.0338636077940464, + -0.050957709550857544, + -0.17994092404842377, + -0.47656404972076416, + 0.0, + 0.09624730050563812 + ], + [ + 0.35854873061180115, + -0.08005522936582565, + 0.07524309307336807, + -0.0693684071302414, + -0.2592795491218567, + -0.47685426473617554, + 0.0, + 0.07656946033239365 + ], + [ + 0.34643101692199707, + -0.048969022929668427, + 0.11553525179624557, + -0.07729668915271759, + -0.31920862197875977, + -0.4127283990383148, + 0.0, + 0.07591649144887924 + ], + [ + 0.32193484902381897, + -0.004562234506011009, + 0.13415652513504028, + -0.06074274331331253, + -0.3022333085536957, + -0.3303331732749939, + 0.0, + 0.07559127360582352 + ], + [ + 0.2980250418186188, + 0.03500019386410713, + 0.1191910058259964, + -0.04765831306576729, + -0.2251165360212326, + -0.2526873052120209, + 0.0, + 0.07559127360582352 + ], + [ + 0.2721693813800812, + 0.05879680812358856, + 0.09485305845737457, + -0.029559986665844917, + -0.14736327528953552, + -0.22214609384536743, + 0.0, + 0.07559127360582352 + ], + [ + 0.26376214623451233, + 0.07169387489557266, + 0.08434967696666718, + -0.011459114961326122, + -0.13017573952674866, + -0.20732831954956055, + 0.0, + 0.07559127360582352 + ], + [ + 0.26317551732063293, + 0.08186154812574387, + 0.058498211205005646, + -0.05346650630235672, + -0.08658020198345184, + -0.16212016344070435, + 0.0, + 0.07333792001008987 + ], + [ + 0.26379743218421936, + 0.08471199125051498, + 0.0420713946223259, + -0.03802581876516342, + -0.04478340595960617, + -0.15620596706867218, + 0.0, + 0.07270156592130661 + ], + [ + 0.2680559456348419, + 0.08103065937757492, + 0.03355030715465546, + -0.027116427198052406, + -0.03382463380694389, + -0.1623365879058838, + 0.0, + 0.07238461822271347 + ], + [ + 0.26999789476394653, + 0.07895919680595398, + 0.03246746584773064, + -0.02833961695432663, + -0.04321521520614624, + -0.16606397926807404, + 0.0, + 0.09775853902101517 + ], + [ + 0.26552093029022217, + 0.0649624913930893, + 0.02729875035583973, + -0.05100799724459648, + -0.031244471669197083, + -0.22251063585281372, + 0.0, + 0.2752157151699066 + ], + [ + 0.2613072097301483, + 0.058840323239564896, + 0.040448520332574844, + -0.04767363891005516, + -0.06577292084693909, + -0.25897136330604553, + 0.0, + 0.5590677857398987 + ], + [ + 0.25626301765441895, + 0.055538929998874664, + 0.04338590428233147, + -0.06620658189058304, + -0.06214456260204315, + -0.2627219557762146, + 0.0, + 0.8625253438949585 + ], + [ + 0.25121384859085083, + 0.05756030231714249, + 0.049672357738018036, + -0.08635049313306808, + -0.05098133534193039, + -0.23772192001342773, + 0.0, + 1.0168675184249878 + ], + [ + 0.2547769844532013, + 0.06600173562765121, + 0.07582059502601624, + -0.08023147284984589, + -0.08840831369161606, + -0.14935581386089325, + 0.0, + 1.0099300146102905 + ], + [ + 0.2558840215206146, + 0.08001033961772919, + 0.09520169347524643, + 0.009286930784583092, + -0.1135178804397583, + -0.04753098636865616, + 0.0, + 1.0054124593734741 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9499720335006714 + ], + [ + 0.6591242551803589 + ], + [ + 0.35357794165611267 + ], + [ + 0.1541406512260437 + ], + [ + 0.1004381775856018 + ], + [ + 0.09624730050563812 + ], + [ + 0.07656946033239365 + ], + [ + 0.07591649144887924 + ], + [ + 0.07559127360582352 + ], + [ + 0.07559127360582352 + ], + [ + 0.07559127360582352 + ], + [ + 0.07559127360582352 + ], + [ + 0.07333792001008987 + ], + [ + 0.07270156592130661 + ], + [ + 0.07238461822271347 + ], + [ + 0.09775853902101517 + ], + [ + 0.2752157151699066 + ], + [ + 0.5590677857398987 + ], + [ + 0.8625253438949585 + ], + [ + 1.0168675184249878 + ], + [ + 1.0099300146102905 + ], + [ + 1.0054124593734741 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2532292604446411, + 0.0883231982588768, + 0.11481281369924545 + ], + [ + 0.25203266739845276, + 0.08714289218187332, + 0.10756725817918777 + ], + [ + 0.2601523995399475, + 0.07075054943561554, + 0.1013227328658104 + ], + [ + 0.2765895426273346, + 0.03519859537482262, + 0.09634041041135788 + ], + [ + 0.29077833890914917, + -0.004593975841999054, + 0.09411972016096115 + ], + [ + 0.30645519495010376, + -0.043548062443733215, + 0.08251547813415527 + ], + [ + 0.31986987590789795, + -0.06111829727888107, + 0.0689697414636612 + ], + [ + 0.3336453437805176, + -0.0760883167386055, + 0.059384673833847046 + ], + [ + 0.35043296217918396, + -0.07980814576148987, + 0.05300719663500786 + ], + [ + 0.3602477014064789, + -0.08479274809360504, + 0.04889179766178131 + ], + [ + 0.36351802945137024, + -0.09425240755081177, + 0.0413985401391983 + ], + [ + 0.3624873459339142, + -0.09733413904905319, + 0.03087531588971615 + ], + [ + 0.3645648658275604, + -0.09551428258419037, + 0.024495979771018028 + ], + [ + 0.36469054222106934, + -0.09579251706600189, + 0.018981309607625008 + ], + [ + 0.36511483788490295, + -0.09497501701116562, + 0.015945103019475937 + ], + [ + 0.3626684546470642, + -0.09296821802854538, + 0.015781879425048828 + ], + [ + 0.36205413937568665, + -0.09234311431646347, + 0.018087735399603844 + ], + [ + 0.362054705619812, + -0.08846690505743027, + 0.0338636077940464 + ], + [ + 0.35854873061180115, + -0.08005522936582565, + 0.07524309307336807 + ], + [ + 0.34643101692199707, + -0.048969022929668427, + 0.11553525179624557 + ], + [ + 0.32193484902381897, + -0.004562234506011009, + 0.13415652513504028 + ], + [ + 0.2980250418186188, + 0.03500019386410713, + 0.1191910058259964 + ], + [ + 0.2721693813800812, + 0.05879680812358856, + 0.09485305845737457 + ], + [ + 0.26376214623451233, + 0.07169387489557266, + 0.08434967696666718 + ], + [ + 0.26317551732063293, + 0.08186154812574387, + 0.058498211205005646 + ], + [ + 0.26379743218421936, + 0.08471199125051498, + 0.0420713946223259 + ], + [ + 0.2680559456348419, + 0.08103065937757492, + 0.03355030715465546 + ], + [ + 0.26999789476394653, + 0.07895919680595398, + 0.03246746584773064 + ], + [ + 0.26552093029022217, + 0.0649624913930893, + 0.02729875035583973 + ], + [ + 0.2613072097301483, + 0.058840323239564896, + 0.040448520332574844 + ], + [ + 0.25626301765441895, + 0.055538929998874664, + 0.04338590428233147 + ], + [ + 0.25121384859085083, + 0.05756030231714249, + 0.049672357738018036 + ], + [ + 0.2547769844532013, + 0.06600173562765121, + 0.07582059502601624 + ], + [ + 0.2558840215206146, + 0.08001033961772919, + 0.09520169347524643 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9776874251121634, + -0.10856592451239379, + 0.17983531024889843, + -0.1015316190836457, + -0.9936786553731085, + -0.047896348317435375, + 0.18389842061258116, + 0.02856868724076828, + -0.9825300000537072 + ], + [ + 0.9823653403214545, + -0.10408085302558667, + 0.1553239008284916, + -0.09578646951243427, + -0.9935930073156655, + -0.059982398016045366, + 0.1605717608842114, + 0.044046700749068676, + -0.9860408702278347 + ], + [ + 0.9827966852713752, + -0.11948058589062914, + 0.14083701578359697, + -0.10701029606385083, + -0.9898948703522712, + -0.09304269012978354, + 0.15053063460945132, + 0.07637103669253102, + -0.9856510502193886 + ], + [ + 0.9715187880149838, + -0.1976641281289318, + 0.13069099810211024, + -0.18325717065023145, + -0.9763800961155356, + -0.11444962784862635, + 0.15022667519175312, + 0.08723990119461593, + -0.9847949764800716 + ], + [ + 0.9491514171221751, + -0.2832211715376859, + 0.13746765207781497, + -0.2682873346972666, + -0.9561440347059563, + -0.1175180451558463, + 0.16472247392509415, + 0.07466158911405113, + -0.9835101187557559 + ], + [ + 0.9233864832415433, + -0.35863708749425455, + 0.13688258486912605, + -0.3467610636766391, + -0.9322451380937182, + -0.1033236043625561, + 0.1646638007719393, + 0.04794206894015528, + -0.985183937516785 + ], + [ + 0.9111629454178759, + -0.38484927498106414, + 0.14721794199067678, + -0.37657352550798273, + -0.9227855802111133, + -0.08160363252287003, + 0.1672556928296004, + 0.018915826732877374, + -0.985732075523112 + ], + [ + 0.9015965848713963, + -0.3991979251756767, + 0.16662717270502586, + -0.3913525489721859, + -0.9168451432493756, + -0.07898205943760331, + 0.18430078828157104, + 0.005999986288912247, + -0.982851575571472 + ], + [ + 0.8991237127782933, + -0.3936017299586944, + 0.19145293754158013, + -0.38624022710280786, + -0.9192638021866263, + -0.07597729237712111, + 0.20590054902148405, + -0.005633840866600542, + -0.9785567044120342 + ], + [ + 0.8955925523742885, + -0.39253438367167925, + 0.2093579178517085, + -0.3832755632022965, + -0.9197275459490987, + -0.0848592002932591, + 0.22586239789675086, + -0.0042425060923928365, + -0.9741499773435229 + ], + [ + 0.8918010603422306, + -0.4020422781996961, + 0.20749186806347666, + -0.3920517523340726, + -0.9156191390090367, + -0.08908993081226035, + 0.2258014443360716, + -0.0018970557051664755, + -0.9741714987184728 + ], + [ + 0.8970297920011041, + -0.3999503989400942, + 0.18808835862465073, + -0.3908426260006512, + -0.9165329476694648, + -0.08490817120417132, + 0.2063482346989447, + 0.002652211149461209, + -0.9784750236018535 + ], + [ + 0.9008829883649615, + -0.3954852428144015, + 0.1788889711263689, + -0.38904840603439433, + -0.9184564969222606, + -0.071267110390326, + 0.192486828216151, + -0.005393141693274109, + -0.9812847369576083 + ], + [ + 0.9029147774154024, + -0.3958099012648266, + 0.16756917015257738, + -0.39021829621342496, + -0.9183169690918059, + -0.06651034189005277, + 0.18020706430433553, + -0.005335385531356943, + -0.9836142270402791 + ], + [ + 0.902023055822596, + -0.40178815695599124, + 0.15786286356953766, + -0.3970793835683176, + -0.9157058794055076, + -0.06173091257377883, + 0.16935870190064511, + -0.007001382156003946, + -0.9855296092652086 + ], + [ + 0.9012976038033397, + -0.4106964926704102, + 0.13780791082728894, + -0.40600340111233757, + -0.9117721031659733, + -0.06191017827071793, + 0.15107570176428986, + -0.00015098516962938624, + -0.9885221846473179 + ], + [ + 0.891723330898482, + -0.4356521852035251, + 0.12262411940034522, + -0.42766039548647794, + -0.8997712136334549, + -0.08670841509870425, + 0.1481083632468671, + 0.024878437329812046, + -0.9886581694864818 + ], + [ + 0.8742296182542708, + -0.46623361378612455, + 0.13545771274801285, + -0.4513222729660124, + -0.8832411211061785, + -0.1272530074768125, + 0.17897145161110053, + 0.05011326533995129, + -0.9825771624382401 + ], + [ + 0.8587469016624529, + -0.47367103367517327, + 0.19542136715884123, + -0.44364498857839774, + -0.8781499230732761, + -0.17897440240345228, + 0.2563842487252505, + 0.06699600333969472, + -0.9642503059590372 + ], + [ + 0.8697557382798026, + -0.4221103437669044, + 0.2556321838390891, + -0.380847659156645, + -0.9035746757835729, + -0.19623421158787657, + 0.3138152581444376, + 0.07331891275515035, + -0.9466489955565067 + ], + [ + 0.9030590221334661, + -0.34085222598721165, + 0.26135065062653084, + -0.309656385099935, + -0.9383288916288451, + -0.1537914636819097, + 0.29765302906268054, + 0.057953871088532234, + -0.95291343946639 + ], + [ + 0.943813436864788, + -0.2600195170615651, + 0.20397560427793193, + -0.243698679087319, + -0.9644860509782742, + -0.10187056139744195, + 0.22321995924328308, + 0.046438219339295386, + -0.973661307426778 + ], + [ + 0.9648548605066868, + -0.22446027097965424, + 0.1366480329472868, + -0.2179355472435415, + -0.9740445991835931, + -0.06116548086079332, + 0.14683049888998087, + 0.029235347663644714, + -0.9887295378629616 + ], + [ + 0.9703046539781807, + -0.20728826003824616, + 0.12466136417751679, + -0.20410452830740386, + -0.9782139255856993, + -0.0379322727321763, + 0.1298083972349062, + 0.011361911834390746, + -0.9914739971208384 + ], + [ + 0.9831906758399929, + -0.1657408363066777, + 0.07659027432814783, + -0.16080632921837715, + -0.9847311236742375, + -0.06667787152109901, + 0.0864720730907313, + 0.05324086069586359, + -0.9948306344940101 + ], + [ + 0.9868342330329897, + -0.1571402588298257, + 0.03827708934972554, + -0.15541551870578127, + -0.9868457678812763, + -0.04451344695962746, + 0.04476843820823369, + 0.037978539594223495, + -0.9982752213045689 + ], + [ + 0.9862878498264492, + -0.16246995591984487, + 0.02897914263954267, + -0.1615320639751051, + -0.986341337336601, + -0.03222046816835299, + 0.03381818434898372, + 0.027097595547372125, + -0.9990605841103376 + ], + [ + 0.9853222478109591, + -0.16644270813168383, + 0.037906369894123146, + -0.1651474354660099, + -0.9856446644544413, + -0.03508446937737512, + 0.04320176533151239, + 0.02830936845432961, + -0.9986652027230938 + ], + [ + 0.974870442924867, + -0.2219455353749145, + 0.019178082245534966, + -0.22057134928814184, + -0.9737264277775692, + -0.056613812102198055, + 0.03123938835320634, + 0.050960996602078396, + -0.9982119401412912 + ], + [ + 0.9645637533106983, + -0.25882313469955615, + 0.05125768960335424, + -0.2555326268789078, + -0.9647535130850865, + -0.06287873718792969, + 0.06572550798239042, + 0.04755253867333765, + -0.996704025107844 + ], + [ + 0.9638225219951729, + -0.2631088237670042, + 0.04266020336106473, + -0.2592087352281871, + -0.9625038793421582, + -0.0799819594202292, + 0.06210457049418695, + 0.06603051648472205, + -0.995883021853718 + ], + [ + 0.9706142320330623, + -0.23888311210082, + 0.029032246346010527, + -0.235183262603988, + -0.9672209056910553, + -0.09577344404957878, + 0.05095925397621129, + 0.08613116942896591, + -0.9949796862685119 + ], + [ + 0.9850051476049912, + -0.15531999850348013, + 0.07510364343058373, + -0.14822001043551222, + -0.9846331717826518, + -0.09234904185605657, + 0.08829319168636951, + 0.07983241879157842, + -0.9928902745075712 + ], + [ + 0.9924416457846892, + -0.046460275734718795, + 0.11358266809171076, + -0.04720728584238912, + -0.9988775224139017, + 0.003894532020757984, + 0.11327423306106645, + -0.009227025247588824, + -0.9935209157987103 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0011965930461883545, + -0.001180306077003479, + -0.007245555520057678, + -0.015572115778923035, + 0.023681148886680603, + 0.0062791332602500916, + 1.0 + ], + [ + 0.008119732141494751, + -0.016392342746257782, + -0.00624452531337738, + -0.032687749713659286, + 0.010164901614189148, + -0.01125749945640564, + 1.0 + ], + [ + 0.016437143087387085, + -0.03555195406079292, + -0.004982322454452515, + -0.011027887463569641, + 0.0003074556589126587, + -0.07798273861408234, + 1.0 + ], + [ + 0.014188796281814575, + -0.03979257121682167, + -0.0022206902503967285, + 0.012588150799274445, + -0.014679089188575745, + -0.08903487026691437, + 1.0 + ], + [ + 0.01567685604095459, + -0.03895408660173416, + -0.011604242026805878, + 0.027143362909555435, + 5.9485435485839844e-05, + -0.08376309275627136, + 1.0 + ], + [ + 0.01341468095779419, + -0.017570234835147858, + -0.01354573667049408, + 0.029437437653541565, + -0.002628341317176819, + -0.03267267346382141, + 1.0 + ], + [ + 0.013775467872619629, + -0.014970019459724426, + -0.009585067629814148, + 0.013082671910524368, + -0.01731492578983307, + -0.017615050077438354, + 1.0 + ], + [ + 0.016787618398666382, + -0.003719829022884369, + -0.006377477198839188, + 0.011861829087138176, + -0.02202346920967102, + 0.0037860870361328125, + 1.0 + ], + [ + 0.009814739227294922, + -0.004984602332115173, + -0.004115398973226547, + -0.0014021750539541245, + -0.02044433355331421, + 0.0013655126094818115, + 1.0 + ], + [ + 0.0032703280448913574, + -0.009459659457206726, + -0.007493257522583008, + -0.0024077072739601135, + 6.256997585296631e-05, + -0.00981372594833374, + 1.0 + ], + [ + -0.0010306835174560547, + -0.0030817314982414246, + -0.010523224249482155, + -0.004657899495214224, + 0.019924253225326538, + 0.00328180193901062, + 1.0 + ], + [ + 0.0020775198936462402, + 0.0018198564648628235, + -0.00637933611869812, + 0.008206494152545929, + 0.014145657420158386, + 0.0032446682453155518, + 0.0 + ], + [ + 0.00012567639350891113, + -0.00027823448181152344, + -0.005514670163393021, + -7.173232734203339e-05, + 0.012498781085014343, + -0.00027295947074890137, + 0.0 + ], + [ + 0.00042429566383361816, + 0.0008175000548362732, + -0.0030362065881490707, + 0.001679849810898304, + 0.011018022894859314, + -0.006749391555786133, + 0.0 + ], + [ + -0.002446383237838745, + 0.0020067989826202393, + -0.00016322359442710876, + -0.006951324641704559, + 0.018522560596466064, + -0.008558273315429688, + 0.0 + ], + [ + -0.0006143152713775635, + 0.0006251037120819092, + 0.0023058559745550156, + -0.025311270728707314, + 0.003001108765602112, + -0.023944705724716187, + 0.0 + ], + [ + 5.662441253662109e-07, + 0.003876209259033203, + 0.01577587239444256, + -0.025799177587032318, + -0.03128565847873688, + -0.029378443956375122, + 0.0 + ], + [ + -0.0035059750080108643, + 0.008411675691604614, + 0.04137948527932167, + -0.01841069757938385, + -0.07933862507343292, + -0.00029021501541137695, + 0.0 + ], + [ + -0.012117713689804077, + 0.031086206436157227, + 0.0402921587228775, + -0.007928282022476196, + -0.059929072856903076, + 0.06412586569786072, + 0.0 + ], + [ + -0.0244961678981781, + 0.04440678656101227, + 0.018621273338794708, + 0.01655394583940506, + 0.016975313425064087, + 0.08239522576332092, + 0.0 + ], + [ + -0.023909807205200195, + 0.03956242650747299, + -0.014965519309043884, + 0.013084430247545242, + 0.07711677253246307, + 0.07764586806297302, + 0.0 + ], + [ + -0.025855660438537598, + 0.02379661425948143, + -0.024337947368621826, + 0.01809832639992237, + 0.07775326073169708, + 0.030541211366653442, + 0.0 + ], + [ + -0.008407235145568848, + 0.0128970667719841, + -0.010503381490707397, + 0.01810087263584137, + 0.017187535762786865, + 0.014817774295806885, + 0.0 + ], + [ + -0.0005866289138793945, + 0.010167673230171204, + -0.02585146576166153, + -0.04200739040970802, + 0.043595537543296814, + 0.0452081561088562, + 0.0 + ], + [ + 0.0006219148635864258, + 0.002850443124771118, + -0.01642681658267975, + 0.015440687537193298, + 0.04179679602384567, + 0.0059141963720321655, + 0.0 + ], + [ + 0.004258513450622559, + -0.0036813318729400635, + -0.00852108746767044, + 0.010909391567111015, + 0.010958772152662277, + -0.006130620837211609, + 0.0 + ], + [ + 0.0019419491291046143, + -0.002071462571620941, + -0.00108284130692482, + -0.0012231897562742233, + -0.009390581399202347, + -0.0037273913621902466, + 1.0 + ], + [ + -0.004476964473724365, + -0.013996705412864685, + -0.005168715491890907, + -0.02266838029026985, + 0.011970743536949158, + -0.056446656584739685, + 1.0 + ], + [ + -0.0042137205600738525, + -0.006122168153524399, + 0.013149769976735115, + 0.003334358334541321, + -0.034528449177742004, + -0.03646072745323181, + 1.0 + ], + [ + -0.00504419207572937, + -0.0033013932406902313, + 0.0029373839497566223, + -0.018532942980527878, + 0.003628358244895935, + -0.0037505924701690674, + 1.0 + ], + [ + -0.005049169063568115, + 0.0020213723182678223, + 0.006286453455686569, + -0.020143911242485046, + 0.011163227260112762, + 0.025000035762786865, + 1.0 + ], + [ + 0.003563135862350464, + 0.008441433310508728, + 0.0261482372879982, + 0.0061190202832221985, + -0.03742697834968567, + 0.08836610615253448, + 1.0 + ], + [ + 0.00110703706741333, + 0.014008603990077972, + 0.019381098449230194, + 0.08951840549707413, + -0.025109566748142242, + 0.10182482749223709, + 1.0 + ], + [ + 7.984042167663574e-05, + 0.00456681102514267, + 0.004117980599403381, + 0.02775794081389904, + -0.011782631278038025, + 0.023644601926207542, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9499720335006714 + ], + [ + 0.6591242551803589 + ], + [ + 0.35357794165611267 + ], + [ + 0.1541406512260437 + ], + [ + 0.1004381775856018 + ], + [ + 0.09624730050563812 + ], + [ + 0.07656946033239365 + ], + [ + 0.07591649144887924 + ], + [ + 0.07559127360582352 + ], + [ + 0.07559127360582352 + ], + [ + 0.07559127360582352 + ], + [ + 0.07559127360582352 + ], + [ + 0.07333792001008987 + ], + [ + 0.07270156592130661 + ], + [ + 0.07238461822271347 + ], + [ + 0.09775853902101517 + ], + [ + 0.2752157151699066 + ], + [ + 0.5590677857398987 + ], + [ + 0.8625253438949585 + ], + [ + 1.0168675184249878 + ], + [ + 1.0099300146102905 + ], + [ + 1.0054124593734741 + ], + [ + 1.0047606229782104 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.25203266739845276, + 0.08714289218187332, + 0.10756725817918777 + ], + [ + 0.2601523995399475, + 0.07075054943561554, + 0.1013227328658104 + ], + [ + 0.2765895426273346, + 0.03519859537482262, + 0.09634041041135788 + ], + [ + 0.29077833890914917, + -0.004593975841999054, + 0.09411972016096115 + ], + [ + 0.30645519495010376, + -0.043548062443733215, + 0.08251547813415527 + ], + [ + 0.31986987590789795, + -0.06111829727888107, + 0.0689697414636612 + ], + [ + 0.3336453437805176, + -0.0760883167386055, + 0.059384673833847046 + ], + [ + 0.35043296217918396, + -0.07980814576148987, + 0.05300719663500786 + ], + [ + 0.3602477014064789, + -0.08479274809360504, + 0.04889179766178131 + ], + [ + 0.36351802945137024, + -0.09425240755081177, + 0.0413985401391983 + ], + [ + 0.3624873459339142, + -0.09733413904905319, + 0.03087531588971615 + ], + [ + 0.3645648658275604, + -0.09551428258419037, + 0.024495979771018028 + ], + [ + 0.36469054222106934, + -0.09579251706600189, + 0.018981309607625008 + ], + [ + 0.36511483788490295, + -0.09497501701116562, + 0.015945103019475937 + ], + [ + 0.3626684546470642, + -0.09296821802854538, + 0.015781879425048828 + ], + [ + 0.36205413937568665, + -0.09234311431646347, + 0.018087735399603844 + ], + [ + 0.362054705619812, + -0.08846690505743027, + 0.0338636077940464 + ], + [ + 0.35854873061180115, + -0.08005522936582565, + 0.07524309307336807 + ], + [ + 0.34643101692199707, + -0.048969022929668427, + 0.11553525179624557 + ], + [ + 0.32193484902381897, + -0.004562234506011009, + 0.13415652513504028 + ], + [ + 0.2980250418186188, + 0.03500019386410713, + 0.1191910058259964 + ], + [ + 0.2721693813800812, + 0.05879680812358856, + 0.09485305845737457 + ], + [ + 0.26376214623451233, + 0.07169387489557266, + 0.08434967696666718 + ], + [ + 0.26317551732063293, + 0.08186154812574387, + 0.058498211205005646 + ], + [ + 0.26379743218421936, + 0.08471199125051498, + 0.0420713946223259 + ], + [ + 0.2680559456348419, + 0.08103065937757492, + 0.03355030715465546 + ], + [ + 0.26999789476394653, + 0.07895919680595398, + 0.03246746584773064 + ], + [ + 0.26552093029022217, + 0.0649624913930893, + 0.02729875035583973 + ], + [ + 0.2613072097301483, + 0.058840323239564896, + 0.040448520332574844 + ], + [ + 0.25626301765441895, + 0.055538929998874664, + 0.04338590428233147 + ], + [ + 0.25121384859085083, + 0.05756030231714249, + 0.049672357738018036 + ], + [ + 0.2547769844532013, + 0.06600173562765121, + 0.07582059502601624 + ], + [ + 0.2558840215206146, + 0.08001033961772919, + 0.09520169347524643 + ], + [ + 0.25596386194229126, + 0.08457715064287186, + 0.09931967407464981 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9823653403214545, + -0.10408085302558667, + 0.1553239008284916, + -0.09578646951243427, + -0.9935930073156655, + -0.059982398016045366, + 0.1605717608842114, + 0.044046700749068676, + -0.9860408702278347 + ], + [ + 0.9827966852713752, + -0.11948058589062914, + 0.14083701578359697, + -0.10701029606385083, + -0.9898948703522712, + -0.09304269012978354, + 0.15053063460945132, + 0.07637103669253102, + -0.9856510502193886 + ], + [ + 0.9715187880149838, + -0.1976641281289318, + 0.13069099810211024, + -0.18325717065023145, + -0.9763800961155356, + -0.11444962784862635, + 0.15022667519175312, + 0.08723990119461593, + -0.9847949764800716 + ], + [ + 0.9491514171221751, + -0.2832211715376859, + 0.13746765207781497, + -0.2682873346972666, + -0.9561440347059563, + -0.1175180451558463, + 0.16472247392509415, + 0.07466158911405113, + -0.9835101187557559 + ], + [ + 0.9233864832415433, + -0.35863708749425455, + 0.13688258486912605, + -0.3467610636766391, + -0.9322451380937182, + -0.1033236043625561, + 0.1646638007719393, + 0.04794206894015528, + -0.985183937516785 + ], + [ + 0.9111629454178759, + -0.38484927498106414, + 0.14721794199067678, + -0.37657352550798273, + -0.9227855802111133, + -0.08160363252287003, + 0.1672556928296004, + 0.018915826732877374, + -0.985732075523112 + ], + [ + 0.9015965848713963, + -0.3991979251756767, + 0.16662717270502586, + -0.3913525489721859, + -0.9168451432493756, + -0.07898205943760331, + 0.18430078828157104, + 0.005999986288912247, + -0.982851575571472 + ], + [ + 0.8991237127782933, + -0.3936017299586944, + 0.19145293754158013, + -0.38624022710280786, + -0.9192638021866263, + -0.07597729237712111, + 0.20590054902148405, + -0.005633840866600542, + -0.9785567044120342 + ], + [ + 0.8955925523742885, + -0.39253438367167925, + 0.2093579178517085, + -0.3832755632022965, + -0.9197275459490987, + -0.0848592002932591, + 0.22586239789675086, + -0.0042425060923928365, + -0.9741499773435229 + ], + [ + 0.8918010603422306, + -0.4020422781996961, + 0.20749186806347666, + -0.3920517523340726, + -0.9156191390090367, + -0.08908993081226035, + 0.2258014443360716, + -0.0018970557051664755, + -0.9741714987184728 + ], + [ + 0.8970297920011041, + -0.3999503989400942, + 0.18808835862465073, + -0.3908426260006512, + -0.9165329476694648, + -0.08490817120417132, + 0.2063482346989447, + 0.002652211149461209, + -0.9784750236018535 + ], + [ + 0.9008829883649615, + -0.3954852428144015, + 0.1788889711263689, + -0.38904840603439433, + -0.9184564969222606, + -0.071267110390326, + 0.192486828216151, + -0.005393141693274109, + -0.9812847369576083 + ], + [ + 0.9029147774154024, + -0.3958099012648266, + 0.16756917015257738, + -0.39021829621342496, + -0.9183169690918059, + -0.06651034189005277, + 0.18020706430433553, + -0.005335385531356943, + -0.9836142270402791 + ], + [ + 0.902023055822596, + -0.40178815695599124, + 0.15786286356953766, + -0.3970793835683176, + -0.9157058794055076, + -0.06173091257377883, + 0.16935870190064511, + -0.007001382156003946, + -0.9855296092652086 + ], + [ + 0.9012976038033397, + -0.4106964926704102, + 0.13780791082728894, + -0.40600340111233757, + -0.9117721031659733, + -0.06191017827071793, + 0.15107570176428986, + -0.00015098516962938624, + -0.9885221846473179 + ], + [ + 0.891723330898482, + -0.4356521852035251, + 0.12262411940034522, + -0.42766039548647794, + -0.8997712136334549, + -0.08670841509870425, + 0.1481083632468671, + 0.024878437329812046, + -0.9886581694864818 + ], + [ + 0.8742296182542708, + -0.46623361378612455, + 0.13545771274801285, + -0.4513222729660124, + -0.8832411211061785, + -0.1272530074768125, + 0.17897145161110053, + 0.05011326533995129, + -0.9825771624382401 + ], + [ + 0.8587469016624529, + -0.47367103367517327, + 0.19542136715884123, + -0.44364498857839774, + -0.8781499230732761, + -0.17897440240345228, + 0.2563842487252505, + 0.06699600333969472, + -0.9642503059590372 + ], + [ + 0.8697557382798026, + -0.4221103437669044, + 0.2556321838390891, + -0.380847659156645, + -0.9035746757835729, + -0.19623421158787657, + 0.3138152581444376, + 0.07331891275515035, + -0.9466489955565067 + ], + [ + 0.9030590221334661, + -0.34085222598721165, + 0.26135065062653084, + -0.309656385099935, + -0.9383288916288451, + -0.1537914636819097, + 0.29765302906268054, + 0.057953871088532234, + -0.95291343946639 + ], + [ + 0.943813436864788, + -0.2600195170615651, + 0.20397560427793193, + -0.243698679087319, + -0.9644860509782742, + -0.10187056139744195, + 0.22321995924328308, + 0.046438219339295386, + -0.973661307426778 + ], + [ + 0.9648548605066868, + -0.22446027097965424, + 0.1366480329472868, + -0.2179355472435415, + -0.9740445991835931, + -0.06116548086079332, + 0.14683049888998087, + 0.029235347663644714, + -0.9887295378629616 + ], + [ + 0.9703046539781807, + -0.20728826003824616, + 0.12466136417751679, + -0.20410452830740386, + -0.9782139255856993, + -0.0379322727321763, + 0.1298083972349062, + 0.011361911834390746, + -0.9914739971208384 + ], + [ + 0.9831906758399929, + -0.1657408363066777, + 0.07659027432814783, + -0.16080632921837715, + -0.9847311236742375, + -0.06667787152109901, + 0.0864720730907313, + 0.05324086069586359, + -0.9948306344940101 + ], + [ + 0.9868342330329897, + -0.1571402588298257, + 0.03827708934972554, + -0.15541551870578127, + -0.9868457678812763, + -0.04451344695962746, + 0.04476843820823369, + 0.037978539594223495, + -0.9982752213045689 + ], + [ + 0.9862878498264492, + -0.16246995591984487, + 0.02897914263954267, + -0.1615320639751051, + -0.986341337336601, + -0.03222046816835299, + 0.03381818434898372, + 0.027097595547372125, + -0.9990605841103376 + ], + [ + 0.9853222478109591, + -0.16644270813168383, + 0.037906369894123146, + -0.1651474354660099, + -0.9856446644544413, + -0.03508446937737512, + 0.04320176533151239, + 0.02830936845432961, + -0.9986652027230938 + ], + [ + 0.974870442924867, + -0.2219455353749145, + 0.019178082245534966, + -0.22057134928814184, + -0.9737264277775692, + -0.056613812102198055, + 0.03123938835320634, + 0.050960996602078396, + -0.9982119401412912 + ], + [ + 0.9645637533106983, + -0.25882313469955615, + 0.05125768960335424, + -0.2555326268789078, + -0.9647535130850865, + -0.06287873718792969, + 0.06572550798239042, + 0.04755253867333765, + -0.996704025107844 + ], + [ + 0.9638225219951729, + -0.2631088237670042, + 0.04266020336106473, + -0.2592087352281871, + -0.9625038793421582, + -0.0799819594202292, + 0.06210457049418695, + 0.06603051648472205, + -0.995883021853718 + ], + [ + 0.9706142320330623, + -0.23888311210082, + 0.029032246346010527, + -0.235183262603988, + -0.9672209056910553, + -0.09577344404957878, + 0.05095925397621129, + 0.08613116942896591, + -0.9949796862685119 + ], + [ + 0.9850051476049912, + -0.15531999850348013, + 0.07510364343058373, + -0.14822001043551222, + -0.9846331717826518, + -0.09234904185605657, + 0.08829319168636951, + 0.07983241879157842, + -0.9928902745075712 + ], + [ + 0.9924416457846892, + -0.046460275734718795, + 0.11358266809171076, + -0.04720728584238912, + -0.9988775224139017, + 0.003894532020757984, + 0.11327423306106645, + -0.009227025247588824, + -0.9935209157987103 + ], + [ + 0.9918771265350098, + -0.019240500934504006, + 0.12573610849887554, + -0.02369686535831444, + -0.9991393955259084, + 0.034043015147189944, + 0.12497289477659372, + -0.03674603967655885, + -0.9914794522022363 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005474.json b/json/chunk-0005/episode_0005474.json new file mode 100644 index 0000000000000000000000000000000000000000..3969398ce9ae012c08b0c46574f26a0eadf3481a --- /dev/null +++ b/json/chunk-0005/episode_0005474.json @@ -0,0 +1,3382 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 55, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut the spatula to the right corner of the sink." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005474.mp4", + "start": 0, + "end": 55, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.23486328125, + -0.04466252774000168, + 0.11957327276468277, + -0.06904222816228867, + -0.2688324749469757, + -0.35957247018814087, + 0.0, + 0.9974852800369263 + ], + [ + 0.2310808151960373, + -0.04456855356693268, + 0.11477423459291458, + -0.0795791894197464, + -0.24913981556892395, + -0.35261470079421997, + 0.0, + 0.9974852800369263 + ], + [ + 0.22382473945617676, + -0.040318239480257034, + 0.11852962523698807, + -0.11133178323507309, + -0.24239005148410797, + -0.32337528467178345, + 0.0, + 0.9974852800369263 + ], + [ + 0.21611297130584717, + -0.025743842124938965, + 0.13288865983486176, + -0.1553364247083664, + -0.245754212141037, + -0.2977929413318634, + 0.0, + 0.9974852800369263 + ], + [ + 0.219120055437088, + -0.010396472178399563, + 0.14244449138641357, + -0.13448940217494965, + -0.27599698305130005, + -0.2258930653333664, + 0.0, + 0.9974852800369263 + ], + [ + 0.22959212958812714, + 0.017233850434422493, + 0.14420099556446075, + -0.058593589812517166, + -0.27874061465263367, + -0.08256516605615616, + 0.0, + 0.9974852800369263 + ], + [ + 0.23888331651687622, + 0.054024990648031235, + 0.14775122702121735, + -0.07014954090118408, + -0.30588817596435547, + -0.05351563170552254, + 0.0, + 0.9974852800369263 + ], + [ + 0.25206753611564636, + 0.08396989852190018, + 0.140924334526062, + -0.11843255162239075, + -0.3077543377876282, + -0.025262420997023582, + 0.0, + 0.9974852800369263 + ], + [ + 0.2706947922706604, + 0.11224229633808136, + 0.12786436080932617, + -0.1877613663673401, + -0.30259770154953003, + -0.1077326163649559, + 0.0, + 0.9974852800369263 + ], + [ + 0.282842755317688, + 0.13335104286670685, + 0.11818303167819977, + -0.22201816737651825, + -0.26373419165611267, + -0.11674358695745468, + 0.0, + 0.9974852800369263 + ], + [ + 0.28833651542663574, + 0.13711509108543396, + 0.11562655866146088, + -0.221330925822258, + -0.26410964131355286, + -0.13240085542201996, + 0.0, + 0.9974852800369263 + ], + [ + 0.2860495448112488, + 0.14084823429584503, + 0.11545729637145996, + -0.22657932341098785, + -0.26721468567848206, + -0.1265018731355667, + 0.0, + 0.9974852800369263 + ], + [ + 0.29030150175094604, + 0.14327950775623322, + 0.11555614322423935, + -0.20930059254169464, + -0.29126372933387756, + -0.11827757954597473, + 0.0, + 0.9974852800369263 + ], + [ + 0.2915749251842499, + 0.13646572828292847, + 0.10798860341310501, + -0.21036474406719208, + -0.2882072329521179, + -0.10769328474998474, + 0.0, + 0.9974852800369263 + ], + [ + 0.299245685338974, + 0.13246050477027893, + 0.10476765036582947, + -0.20023605227470398, + -0.29405757784843445, + -0.060718901455402374, + 0.0, + 0.9974852800369263 + ], + [ + 0.30023372173309326, + 0.12561357021331787, + 0.09646288305521011, + -0.18965350091457367, + -0.2945520579814911, + -0.0656316727399826, + 0.0, + 0.9974852800369263 + ], + [ + 0.3026042580604553, + 0.12167438119649887, + 0.09213995188474655, + -0.1837884932756424, + -0.3014136850833893, + -0.049827687442302704, + 0.0, + 0.9974852800369263 + ], + [ + 0.300481379032135, + 0.11864378303289413, + 0.0829983651638031, + -0.17358112335205078, + -0.300126850605011, + -0.03889540955424309, + 0.0, + 0.9560673832893372 + ], + [ + 0.3019128143787384, + 0.11740974336862564, + 0.0781707912683487, + -0.1693948656320572, + -0.31975266337394714, + -0.01788356341421604, + 0.0, + 0.6902000904083252 + ], + [ + 0.30376628041267395, + 0.11689312756061554, + 0.0777469351887703, + -0.1694379597902298, + -0.3433466851711273, + -0.004597004037350416, + 0.0, + 0.42745357751846313 + ], + [ + 0.3044060170650482, + 0.11704999953508377, + 0.07806959003210068, + -0.18234382569789886, + -0.35925164818763733, + 0.009022794663906097, + 0.0, + 0.40327540040016174 + ], + [ + 0.3050576150417328, + 0.11618149280548096, + 0.08221519738435745, + -0.1964959055185318, + -0.3788389265537262, + 0.008016449399292469, + 0.0, + 0.40327540040016174 + ], + [ + 0.3022109270095825, + 0.11506172269582748, + 0.09329088777303696, + -0.22373604774475098, + -0.39094558358192444, + 0.03525925427675247, + 0.0, + 0.40327540040016174 + ], + [ + 0.300452321767807, + 0.11618615686893463, + 0.10292001813650131, + -0.2586194574832916, + -0.3795066773891449, + 0.05782308802008629, + 0.0, + 0.40327540040016174 + ], + [ + 0.29777443408966064, + 0.1186111718416214, + 0.1175280436873436, + -0.24911969900131226, + -0.38975977897644043, + 0.06989161670207977, + 0.0, + 0.40327540040016174 + ], + [ + 0.2911161184310913, + 0.1230514645576477, + 0.131850928068161, + -0.21682380139827728, + -0.39089515805244446, + 0.11401718854904175, + 0.0, + 0.40327540040016174 + ], + [ + 0.2835276424884796, + 0.12551169097423553, + 0.1494804322719574, + -0.23021581768989563, + -0.3880079388618469, + 0.13581952452659607, + 0.0, + 0.40327540040016174 + ], + [ + 0.2677541971206665, + 0.1158289760351181, + 0.15976187586784363, + -0.22741521894931793, + -0.37703490257263184, + 0.08765203505754471, + 0.0, + 0.40327540040016174 + ], + [ + 0.24798321723937988, + 0.10032135248184204, + 0.17068037390708923, + -0.23799344897270203, + -0.3708924949169159, + 0.034860994666814804, + 0.0, + 0.40327540040016174 + ], + [ + 0.22884269058704376, + 0.08114895969629288, + 0.17982660233974457, + -0.2493826448917389, + -0.3504523038864136, + -0.0207514651119709, + 0.0, + 0.40327540040016174 + ], + [ + 0.20982828736305237, + 0.04878607764840126, + 0.17561016976833344, + -0.23108971118927002, + -0.32479792833328247, + -0.060357917100191116, + 0.0, + 0.40327540040016174 + ], + [ + 0.19297194480895996, + 0.010502445511519909, + 0.16621500253677368, + -0.22376373410224915, + -0.3035091459751129, + -0.08627186715602875, + 0.0, + 0.40327540040016174 + ], + [ + 0.18601438403129578, + -0.023372402414679527, + 0.15304720401763916, + -0.2320079505443573, + -0.2866300046443939, + -0.10262182354927063, + 0.0, + 0.40327540040016174 + ], + [ + 0.1833837479352951, + -0.057065896689891815, + 0.13474704325199127, + -0.22690759599208832, + -0.28646335005760193, + -0.1040884405374527, + 0.0, + 0.40327540040016174 + ], + [ + 0.190837562084198, + -0.08298440277576447, + 0.11309963464736938, + -0.16899652779102325, + -0.24871616065502167, + -0.08286528289318085, + 0.0, + 0.40327540040016174 + ], + [ + 0.19937624037265778, + -0.09706958383321762, + 0.09020122140645981, + -0.1329387128353119, + -0.2231300324201584, + -0.04953055828809738, + 0.0, + 0.40327540040016174 + ], + [ + 0.20505639910697937, + -0.11064916849136353, + 0.07151350378990173, + -0.10842099785804749, + -0.2697056531906128, + -0.028043391183018684, + 0.0, + 0.40327540040016174 + ], + [ + 0.2164343297481537, + -0.11953273415565491, + 0.05163349211215973, + -0.07347723096609116, + -0.2965274751186371, + -0.008654137142002583, + 0.0, + 0.40327540040016174 + ], + [ + 0.22402697801589966, + -0.11811995506286621, + 0.03525211662054062, + -0.03704696148633957, + -0.2750545144081116, + -0.007312836591154337, + 0.0, + 0.40327540040016174 + ], + [ + 0.23341497778892517, + -0.1199425458908081, + 0.029207346960902214, + -0.029438138008117676, + -0.2983852028846741, + 0.004742758814245462, + 0.0, + 0.40239205956459045 + ], + [ + 0.24622882902622223, + -0.11884571611881256, + 0.03063553385436535, + -0.041855957359075546, + -0.31717950105667114, + 0.024285877123475075, + 0.0, + 0.4466742277145386 + ], + [ + 0.24927496910095215, + -0.12005177140235901, + 0.03276211768388748, + -0.04493403062224388, + -0.3269902169704437, + 0.01959836483001709, + 0.0, + 0.7388594746589661 + ], + [ + 0.25141459703445435, + -0.11694333702325821, + 0.0328119695186615, + -0.048059217631816864, + -0.32754090428352356, + 0.01829148456454277, + 0.0, + 0.9781157374382019 + ], + [ + 0.2536031901836395, + -0.11723974347114563, + 0.03297552093863487, + -0.05956409126520157, + -0.33932462334632874, + 0.006675003562122583, + 0.0, + 0.9954678416252136 + ], + [ + 0.2481967806816101, + -0.1163371279835701, + 0.03909354656934738, + -0.08878965675830841, + -0.35044974088668823, + -0.008142448030412197, + 0.0, + 0.9954678416252136 + ], + [ + 0.24279391765594482, + -0.11253112554550171, + 0.054872822016477585, + -0.12436489760875702, + -0.3603137731552124, + -0.01658216305077076, + 0.0, + 0.9954678416252136 + ], + [ + 0.23193104565143585, + -0.10538870841264725, + 0.07619885355234146, + -0.17430201172828674, + -0.34903842210769653, + -0.03592740744352341, + 0.0, + 0.9954678416252136 + ], + [ + 0.22460541129112244, + -0.09286655485630035, + 0.08509362488985062, + -0.19031637907028198, + -0.2661535441875458, + -0.03728712722659111, + 0.0, + 0.9954678416252136 + ], + [ + 0.21797612309455872, + -0.07349586486816406, + 0.0970437303185463, + -0.1934722363948822, + -0.24547748267650604, + -0.07159540057182312, + 0.0, + 0.9954678416252136 + ], + [ + 0.20679819583892822, + -0.050135184079408646, + 0.11469146609306335, + -0.21034246683120728, + -0.23350806534290314, + -0.09821120649576187, + 0.0, + 0.9954678416252136 + ], + [ + 0.20144298672676086, + -0.029326319694519043, + 0.12678475677967072, + -0.19094926118850708, + -0.23882852494716644, + -0.1265411525964737, + 0.0, + 0.9954678416252136 + ], + [ + 0.2115657776594162, + -0.013503707014024258, + 0.13697946071624756, + -0.1787416785955429, + -0.2446059286594391, + -0.12372922897338867, + 0.0, + 0.9954678416252136 + ], + [ + 0.21188665926456451, + 0.002605333225801587, + 0.14213578402996063, + -0.17107030749320984, + -0.22970719635486603, + -0.12361957877874374, + 0.0, + 0.9954678416252136 + ], + [ + 0.20873871445655823, + 0.023006945848464966, + 0.1345406025648117, + -0.1594831943511963, + -0.1990884691476822, + -0.1450662612915039, + 0.0, + 0.9954678416252136 + ], + [ + 0.1997566819190979, + 0.03179709240794182, + 0.12417328357696533, + -0.1469794064760208, + -0.18183958530426025, + -0.1745419055223465, + 0.0, + 0.9954678416252136 + ] + ], + "left_gripper_pos": [ + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9560673832893372 + ], + [ + 0.6902000904083252 + ], + [ + 0.42745357751846313 + ], + [ + 0.40327540040016174 + ], + [ + 0.40327540040016174 + ], + [ + 0.40327540040016174 + ], + [ + 0.40327540040016174 + ], + [ + 0.40327540040016174 + ], + [ + 0.40327540040016174 + ], + [ + 0.40327540040016174 + ], + [ + 0.40327540040016174 + ], + [ + 0.40327540040016174 + ], + [ + 0.40327540040016174 + ], + [ + 0.40327540040016174 + ], + [ + 0.40327540040016174 + ], + [ + 0.40327540040016174 + ], + [ + 0.40327540040016174 + ], + [ + 0.40327540040016174 + ], + [ + 0.40327540040016174 + ], + [ + 0.40327540040016174 + ], + [ + 0.40327540040016174 + ], + [ + 0.40327540040016174 + ], + [ + 0.40239205956459045 + ], + [ + 0.4466742277145386 + ], + [ + 0.7388594746589661 + ], + [ + 0.9781157374382019 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.23486328125, + -0.04466252774000168, + 0.11957327276468277 + ], + [ + 0.2310808151960373, + -0.04456855356693268, + 0.11477423459291458 + ], + [ + 0.22382473945617676, + -0.040318239480257034, + 0.11852962523698807 + ], + [ + 0.21611297130584717, + -0.025743842124938965, + 0.13288865983486176 + ], + [ + 0.219120055437088, + -0.010396472178399563, + 0.14244449138641357 + ], + [ + 0.22959212958812714, + 0.017233850434422493, + 0.14420099556446075 + ], + [ + 0.23888331651687622, + 0.054024990648031235, + 0.14775122702121735 + ], + [ + 0.25206753611564636, + 0.08396989852190018, + 0.140924334526062 + ], + [ + 0.2706947922706604, + 0.11224229633808136, + 0.12786436080932617 + ], + [ + 0.282842755317688, + 0.13335104286670685, + 0.11818303167819977 + ], + [ + 0.28833651542663574, + 0.13711509108543396, + 0.11562655866146088 + ], + [ + 0.2860495448112488, + 0.14084823429584503, + 0.11545729637145996 + ], + [ + 0.29030150175094604, + 0.14327950775623322, + 0.11555614322423935 + ], + [ + 0.2915749251842499, + 0.13646572828292847, + 0.10798860341310501 + ], + [ + 0.299245685338974, + 0.13246050477027893, + 0.10476765036582947 + ], + [ + 0.30023372173309326, + 0.12561357021331787, + 0.09646288305521011 + ], + [ + 0.3026042580604553, + 0.12167438119649887, + 0.09213995188474655 + ], + [ + 0.300481379032135, + 0.11864378303289413, + 0.0829983651638031 + ], + [ + 0.3019128143787384, + 0.11740974336862564, + 0.0781707912683487 + ], + [ + 0.30376628041267395, + 0.11689312756061554, + 0.0777469351887703 + ], + [ + 0.3044060170650482, + 0.11704999953508377, + 0.07806959003210068 + ], + [ + 0.3050576150417328, + 0.11618149280548096, + 0.08221519738435745 + ], + [ + 0.3022109270095825, + 0.11506172269582748, + 0.09329088777303696 + ], + [ + 0.300452321767807, + 0.11618615686893463, + 0.10292001813650131 + ], + [ + 0.29777443408966064, + 0.1186111718416214, + 0.1175280436873436 + ], + [ + 0.2911161184310913, + 0.1230514645576477, + 0.131850928068161 + ], + [ + 0.2835276424884796, + 0.12551169097423553, + 0.1494804322719574 + ], + [ + 0.2677541971206665, + 0.1158289760351181, + 0.15976187586784363 + ], + [ + 0.24798321723937988, + 0.10032135248184204, + 0.17068037390708923 + ], + [ + 0.22884269058704376, + 0.08114895969629288, + 0.17982660233974457 + ], + [ + 0.20982828736305237, + 0.04878607764840126, + 0.17561016976833344 + ], + [ + 0.19297194480895996, + 0.010502445511519909, + 0.16621500253677368 + ], + [ + 0.18601438403129578, + -0.023372402414679527, + 0.15304720401763916 + ], + [ + 0.1833837479352951, + -0.057065896689891815, + 0.13474704325199127 + ], + [ + 0.190837562084198, + -0.08298440277576447, + 0.11309963464736938 + ], + [ + 0.19937624037265778, + -0.09706958383321762, + 0.09020122140645981 + ], + [ + 0.20505639910697937, + -0.11064916849136353, + 0.07151350378990173 + ], + [ + 0.2164343297481537, + -0.11953273415565491, + 0.05163349211215973 + ], + [ + 0.22402697801589966, + -0.11811995506286621, + 0.03525211662054062 + ], + [ + 0.23341497778892517, + -0.1199425458908081, + 0.029207346960902214 + ], + [ + 0.24622882902622223, + -0.11884571611881256, + 0.03063553385436535 + ], + [ + 0.24927496910095215, + -0.12005177140235901, + 0.03276211768388748 + ], + [ + 0.25141459703445435, + -0.11694333702325821, + 0.0328119695186615 + ], + [ + 0.2536031901836395, + -0.11723974347114563, + 0.03297552093863487 + ], + [ + 0.2481967806816101, + -0.1163371279835701, + 0.03909354656934738 + ], + [ + 0.24279391765594482, + -0.11253112554550171, + 0.054872822016477585 + ], + [ + 0.23193104565143585, + -0.10538870841264725, + 0.07619885355234146 + ], + [ + 0.22460541129112244, + -0.09286655485630035, + 0.08509362488985062 + ], + [ + 0.21797612309455872, + -0.07349586486816406, + 0.0970437303185463 + ], + [ + 0.20679819583892822, + -0.050135184079408646, + 0.11469146609306335 + ], + [ + 0.20144298672676086, + -0.029326319694519043, + 0.12678475677967072 + ], + [ + 0.2115657776594162, + -0.013503707014024258, + 0.13697946071624756 + ], + [ + 0.21188665926456451, + 0.002605333225801587, + 0.14213578402996063 + ], + [ + 0.20873871445655823, + 0.023006945848464966, + 0.1345406025648117 + ], + [ + 0.1997566819190979, + 0.03179709240794182, + 0.12417328357696533 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9024260744327041, + -0.36818738070307044, + 0.22375261534782453, + -0.33923534281748524, + -0.927369690173293, + -0.15781267354491382, + 0.2656060284848266, + 0.0665094763090383, + -0.961784761364836 + ], + [ + 0.9094974598493112, + -0.3626550227829541, + 0.20321344684332737, + -0.33469000032157986, + -0.9287335732003341, + -0.15948841241695472, + 0.2465704244478475, + 0.07704079737927705, + -0.9660578353943275 + ], + [ + 0.9204505339716406, + -0.3410862755437527, + 0.1908689790065777, + -0.30847939524033396, + -0.9338242045944462, + -0.1811430860554943, + 0.24002349306574147, + 0.10785410307096147, + -0.964757075759115 + ], + [ + 0.9272629304081859, + -0.32586122440291587, + 0.18438524973938802, + -0.2845952102007129, + -0.9334319771576071, + -0.2184268993289346, + 0.24328794508079515, + 0.15006400784422963, + -0.9582754141310791 + ], + [ + 0.9377099593800018, + -0.25756484253204576, + 0.23315313416507552, + -0.21550019897506256, + -0.9576099557971509, + -0.1911618079007598, + 0.2725063234518856, + 0.12900978431739593, + -0.9534656675670683 + ], + [ + 0.9581276311414842, + -0.09838748680144557, + 0.2689076884064555, + -0.07928821833958852, + -0.9935543437570072, + -0.08101323616617627, + 0.27514509058993175, + 0.056299808547439004, + -0.9597528383296295 + ], + [ + 0.9522146994816051, + -0.07443584415387822, + 0.29622030854797227, + -0.05100707390279302, + -0.9949833875040186, + -0.08606007786949008, + 0.30114024059071104, + 0.06683834001624545, + -0.9512345619251023 + ], + [ + 0.9527121401552664, + -0.06086306263878338, + 0.2977167539911027, + -0.02407293642655144, + -0.9917741273864468, + -0.12571624389335873, + 0.3029192495246455, + 0.11260447527997622, + -0.9463404040905926 + ], + [ + 0.9490314537904366, + -0.16093693332843123, + 0.27099557783707556, + -0.10263903616811469, + -0.9707478794732545, + -0.21705709560541972, + 0.29800088585588275, + 0.17817928608292252, + -0.9377886830411686 + ], + [ + 0.9588518150064012, + -0.17063192521995946, + 0.22690954795834473, + -0.1124511329617377, + -0.962129090244419, + -0.24831906169496573, + 0.2606874365107605, + 0.2125849472591528, + -0.9417269777617456 + ], + [ + 0.9568765946452273, + -0.1856002854045919, + 0.22347195948907558, + -0.127436806539579, + -0.9595019840618042, + -0.2512285869889308, + 0.2610498859588851, + 0.21191620192707042, + -0.9417772987291941 + ], + [ + 0.9568029796447503, + -0.1817828331693314, + 0.22689878736533298, + -0.12168717144024119, + -0.9591703895043625, + -0.25531235027887467, + 0.26404600063208855, + 0.2166729458492234, + -0.939857725449559 + ], + [ + 0.9511893672214621, + -0.17467543054253892, + 0.25441556880350913, + -0.11303195837967987, + -0.9643016549664941, + -0.2394704462219394, + 0.28716295734249697, + 0.19902465222594687, + -0.9369773869932252 + ], + [ + 0.9532006072537242, + -0.1641246084910292, + 0.2539128102691903, + -0.10305200647923693, + -0.9659096658763918, + -0.23748431806576348, + 0.2842338584541517, + 0.2002039716245005, + -0.9376190502832382 + ], + [ + 0.9553119928358295, + -0.11701189731540883, + 0.2714538860113902, + -0.05807688462953582, + -0.9747154163116991, + -0.21577055562805394, + 0.28983800961185924, + 0.19036300347220766, + -0.9379530132652043 + ], + [ + 0.9548720198510794, + -0.11901984959627024, + 0.27212809687277956, + -0.0627599870295252, + -0.9763658518410616, + -0.20681128447628747, + 0.29031122908625756, + 0.1803995531057638, + -0.9397741172780122 + ], + [ + 0.9537325732170814, + -0.10315562966695871, + 0.28240590442258395, + -0.047561657081141795, + -0.9792358730384286, + -0.19706596289152098, + 0.29687045585645644, + 0.17451653509819556, + -0.9388354016636249 + ], + [ + 0.9545764721988982, + -0.08932308268438063, + 0.2842624590480875, + -0.037147377565727564, + -0.9822421038533414, + -0.18390356646283645, + 0.2956413892950302, + 0.16499041280486854, + -0.9409433206193578 + ], + [ + 0.9491613913781126, + -0.07061008854677284, + 0.3067684281548253, + -0.016976197757894378, + -0.9845817129867144, + -0.17409956680541178, + 0.3143317703110047, + 0.16004082556511656, + -0.9357256394507878 + ], + [ + 0.9416233622522396, + -0.0612976712603767, + 0.331040842131061, + -0.0043286768898236835, + -0.9854083258957722, + -0.1701519726940447, + 0.3366403217339996, + 0.15878610377909713, + -0.9281488388343127 + ], + [ + 0.9361220801215495, + -0.05487695623065908, + 0.3473671987735197, + 0.008446666527222185, + -0.9839565655516915, + -0.17820811129771277, + 0.35157375461413715, + 0.1697586427330827, + -0.9206399395441958 + ], + [ + 0.9290648221652265, + -0.06434125781278137, + 0.3642784083062915, + 0.007447960680143879, + -0.981304029308305, + -0.1923198636256595, + 0.36984197178903727, + 0.1813907511599046, + -0.9112158423210399 + ], + [ + 0.9239744993425189, + -0.050122111936990635, + 0.37915550696214023, + 0.03259215929100864, + -0.977449753419119, + -0.20863779785468686, + 0.3810628238460048, + 0.20513350149568313, + -0.9015050586916468 + ], + [ + 0.9272951333895848, + -0.03871698923526078, + 0.37232342168677623, + 0.05367890676965555, + -0.9706036154371821, + -0.23462139004848961, + 0.3704622930339968, + 0.23754918742194756, + -0.8979577233896737 + ], + [ + 0.922742043438715, + -0.025773390157951825, + 0.38455539734908184, + 0.06459714968972584, + -0.973305967425704, + -0.22023329000284492, + 0.3799662215546369, + 0.22805969861700692, + -0.8964454497314447 + ], + [ + 0.9185652111833645, + 0.029671076174295312, + 0.3941542591959656, + 0.10518843211295337, + -0.9795702509811275, + -0.1713987081117882, + 0.3810162024813116, + 0.1989013590487268, + -0.9029202084432987 + ], + [ + 0.9171398584401593, + 0.04629141007326255, + 0.3958681414483782, + 0.1253371446961132, + -0.9763406210376923, + -0.17620894378878332, + 0.3783451865952436, + 0.21122522828763157, + -0.9012429321304262 + ], + [ + 0.9261910347712173, + 0.002598004012905185, + 0.3770456437681917, + 0.08139107515631974, + -0.9777786584040021, + -0.19319520712110735, + 0.3681652617973612, + 0.20962381912563796, + -0.9058212817442863 + ], + [ + 0.9314379645212719, + -0.051524675893647946, + 0.3602339878780523, + 0.03248401413438059, + -0.9742007269552181, + -0.22333323179867887, + 0.3624473852494835, + 0.21972289679043372, + -0.9057338138503129 + ], + [ + 0.9390153055340678, + -0.10482383605859297, + 0.32750911341018085, + -0.01948874086803929, + -0.9670981011157674, + -0.25365616845969924, + 0.3433226542949648, + 0.2318042842836131, + -0.9101628034783789 + ], + [ + 0.9459894540216808, + -0.13167479607258598, + 0.2962527653187477, + -0.05716739166856115, + -0.967235918829949, + -0.24735918550762875, + 0.31911728597739025, + 0.2170631829777382, + -0.9225224834040617 + ], + [ + 0.9507444628934375, + -0.15008983182327099, + 0.27121579721825007, + -0.08222660097253812, + -0.9657283570953618, + -0.24618595897084783, + 0.2988707954450748, + 0.21175878419833072, + -0.9305022648789592 + ], + [ + 0.9541557280051597, + -0.1643617576577779, + 0.2501440771527273, + -0.09826238472035023, + -0.9614272196869103, + -0.2569089430015379, + 0.28272133004782923, + 0.2205513859959702, + -0.9335018669886219 + ], + [ + 0.9540574371434172, + -0.16445980668941645, + 0.2504543443724119, + -0.09966655361907024, + -0.9624885554074416, + -0.2523536383716184, + 0.2825614706944878, + 0.21579794413612083, + -0.9346605065934861 + ], + [ + 0.9659034723021769, + -0.12285169242771063, + 0.2278989773172427, + -0.08022357112451478, + -0.978944661649304, + -0.1877006341607817, + 0.24615982781645715, + 0.16301782447320562, + -0.9554216493639839 + ], + [ + 0.9740136194493393, + -0.07836801734575578, + 0.21249923055035408, + -0.04828292859728868, + -0.988508925272375, + -0.1432440695558557, + 0.22128313974016717, + 0.1292615894771104, + -0.9666049935483388 + ], + [ + 0.963470390108378, + -0.05669570090996536, + 0.2617449233179838, + -0.027026062132667124, + -0.9929288774668433, + -0.11559340923268607, + 0.2664477422497903, + 0.10429689252687144, + -0.9581898344583014 + ], + [ + 0.9563211158936746, + -0.03008068175972163, + 0.2907663596098211, + -0.008276340706102774, + -0.9970787808777752, + -0.07593027662142732, + 0.2922010018470059, + 0.07020724541071466, + -0.9537764503338537 + ], + [ + 0.9623846594033911, + -0.017367115835110147, + 0.27113493067583194, + -0.0070378872088877565, + -0.99921355569965, + -0.03902227888907814, + 0.27159940259259274, + 0.03564622551732351, + -0.9617500252756505 + ], + [ + 0.9558016986541504, + -0.003912106478465406, + 0.2939860681609617, + 0.0045331709203684034, + -0.9995965257357807, + -0.02803990189646276, + 0.2939771474302844, + 0.028133274957915556, + -0.9553983230197209 + ], + [ + 0.9498386977712202, + 0.011215510780185671, + 0.31253905441434354, + 0.02307220210393221, + -0.9991464512701156, + -0.03426430218769378, + 0.3118879954508473, + 0.03975652439881824, + -0.949286730688562 + ], + [ + 0.946831490111217, + 0.005152407332926413, + 0.3216886414414531, + 0.018558725146698356, + -0.9990815294199876, + -0.038622160643179713, + 0.32119418278465356, + 0.042538808992423384, + -0.9460574753548563 + ], + [ + 0.9466779440386316, + 0.0028164805594271015, + 0.32216911352277117, + 0.017318076462206136, + -0.9989609740493526, + -0.04215514860628885, + 0.32171564229679445, + 0.045486698754993025, + -0.9457430971135522 + ], + [ + 0.9429586724275921, + -0.01315064654729536, + 0.33264997007211783, + 0.006294345980605725, + -0.9983366045888686, + -0.05730972994741004, + 0.3328503016406462, + 0.05613452087046565, + -0.9413073845797523 + ], + [ + 0.9391872680222159, + -0.03855252405660537, + 0.34123449191696814, + -0.007647452528766875, + -0.9957798885763669, + -0.09145452409071149, + 0.34332024707958425, + 0.08328335005091435, + -0.9355186217010916 + ], + [ + 0.9356575906614728, + -0.06018145388442142, + 0.3477399396760821, + -0.015516648948766986, + -0.9914150560428123, + -0.1298284262287276, + 0.3525678752282583, + 0.11607919391512282, + -0.9285588371756778 + ], + [ + 0.9390955930734025, + -0.09464607039262667, + 0.3303658402882294, + -0.033753794142420676, + -0.9820819249978396, + -0.18540704941702807, + 0.3419943690342065, + 0.16296384246749696, + -0.9254634717789371 + ], + [ + 0.964119124643303, + -0.08632664795291341, + 0.25104187569058073, + -0.03596590216318629, + -0.9794070786664086, + -0.198666122274834, + 0.2630223704908374, + 0.18250886036394215, + -0.9473699111276628 + ], + [ + 0.9675363427150168, + -0.1168046584084121, + 0.22412072037128472, + -0.06938975423904005, + -0.9754860751640366, + -0.20883481311244265, + 0.24301952088730455, + 0.18650358960394672, + -0.9519232760745727 + ], + [ + 0.9681725803838152, + -0.1439728483121254, + 0.2047282919917004, + -0.09539229486748546, + -0.9685095370354453, + -0.22997736138868635, + 0.23139179906137536, + 0.20312827380815668, + -0.9514182779970431 + ], + [ + 0.9638470676508041, + -0.1684487344073442, + 0.2064554529614326, + -0.1226215176444563, + -0.9683079154549938, + -0.2175861766697852, + 0.23656456537595946, + 0.1844039173764177, + -0.9539561843526749 + ], + [ + 0.9628156943146742, + -0.1641748832077996, + 0.21455196691024964, + -0.11974009864052898, + -0.9712315226496196, + -0.20584372273464516, + 0.24217400264873168, + 0.1724990931437219, + -0.9547752695297912 + ], + [ + 0.9663023786442401, + -0.15997100425689337, + 0.20166554198356426, + -0.12006612587922794, + -0.9731038314832113, + -0.19660381117630235, + 0.22769242069695053, + 0.16576553004088265, + -0.9595196457641856 + ], + [ + 0.9699510695555399, + -0.17380196631936928, + 0.17025803702493572, + -0.14170257939636383, + -0.9723987806870674, + -0.18536717700477934, + 0.19777588745972233, + 0.15567108858688183, + -0.9678074242935387 + ], + [ + 0.9685693866836165, + -0.19786628322108132, + 0.15073910290166198, + -0.17079388407397103, + -0.9695888340065978, + -0.1752910212550916, + 0.18083913387939554, + 0.14403620008178802, + -0.9729084133276622 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0037824660539627075, + 9.397417306900024e-05, + -0.0047990381717681885, + -0.010536961257457733, + 0.019692659378051758, + 0.0069577693939208984, + 1.0 + ], + [ + -0.007256075739860535, + 0.004250314086675644, + 0.0037553906440734863, + -0.03175259381532669, + 0.006749764084815979, + 0.029239416122436523, + 1.0 + ], + [ + -0.00771176815032959, + 0.01457439735531807, + 0.014359034597873688, + -0.044004641473293304, + -0.003364160656929016, + 0.025582343339920044, + 1.0 + ], + [ + 0.0030070841312408447, + 0.015347369946539402, + 0.009555831551551819, + 0.020847022533416748, + -0.03024277091026306, + 0.07189987599849701, + 1.0 + ], + [ + 0.010472074151039124, + 0.02763032168149948, + 0.0017565041780471802, + 0.07589581608772278, + -0.002743631601333618, + 0.14332789182662964, + 1.0 + ], + [ + 0.009291186928749084, + 0.03679113835096359, + 0.003550231456756592, + -0.011555951088666916, + -0.027147561311721802, + 0.02904953435063362, + 1.0 + ], + [ + 0.013184219598770142, + 0.029944907873868942, + -0.0068268924951553345, + -0.048283010721206665, + -0.001866161823272705, + 0.028253210708498955, + 1.0 + ], + [ + 0.018627256155014038, + 0.028272397816181183, + -0.01305997371673584, + -0.06932881474494934, + 0.0051566362380981445, + -0.08247019350528717, + 1.0 + ], + [ + 0.012147963047027588, + 0.02110874652862549, + -0.009681329131126404, + -0.03425680100917816, + 0.03886350989341736, + -0.00901097059249878, + 1.0 + ], + [ + 0.005493760108947754, + 0.003764048218727112, + -0.0025564730167388916, + 0.0006872415542602539, + -0.00037544965744018555, + -0.015657268464565277, + 1.0 + ], + [ + -0.002286970615386963, + 0.0037331432104110718, + -0.00016926229000091553, + -0.005248397588729858, + -0.0031050443649291992, + 0.005898982286453247, + 1.0 + ], + [ + 0.004251956939697266, + 0.0024312734603881836, + 9.884685277938843e-05, + 0.017278730869293213, + -0.024049043655395508, + 0.00822429358959198, + 1.0 + ], + [ + 0.001273423433303833, + -0.0068137794733047485, + -0.007567539811134338, + -0.0010641515254974365, + 0.0030564963817596436, + 0.01058429479598999, + 1.0 + ], + [ + 0.007670760154724121, + -0.004005223512649536, + -0.003220953047275543, + 0.010128691792488098, + -0.005850344896316528, + 0.04697438329458237, + 1.0 + ], + [ + 0.0009880363941192627, + -0.00684693455696106, + -0.008304767310619354, + 0.01058255136013031, + -0.0004944801330566406, + -0.004912771284580231, + 1.0 + ], + [ + 0.0023705363273620605, + -0.003939189016819, + -0.004322931170463562, + 0.005865007638931274, + -0.006861627101898193, + 0.0158039852976799, + 1.0 + ], + [ + -0.0021228790283203125, + -0.0030305981636047363, + -0.009141586720943451, + 0.010207369923591614, + 0.001286834478378296, + 0.010932277888059616, + 0.0 + ], + [ + 0.0014314353466033936, + -0.0012340396642684937, + -0.004827573895454407, + 0.004186257719993591, + -0.019625812768936157, + 0.021011846140027046, + 0.0 + ], + [ + 0.0018534660339355469, + -0.0005166158080101013, + -0.00042385607957839966, + -4.309415817260742e-05, + -0.023594021797180176, + 0.013286558911204338, + 0.0 + ], + [ + 0.0006397366523742676, + 0.0001568719744682312, + 0.0003226548433303833, + -0.012905865907669067, + -0.01590496301651001, + 0.013619799166917801, + 0.0 + ], + [ + 0.0006515979766845703, + -0.0008685067296028137, + 0.004145607352256775, + -0.014152079820632935, + -0.019587278366088867, + -0.0010063452646136284, + 0.0 + ], + [ + -0.0028466880321502686, + -0.001119770109653473, + 0.011075690388679504, + -0.027240142226219177, + -0.012106657028198242, + 0.027242805808782578, + 0.0 + ], + [ + -0.0017586052417755127, + 0.0011244341731071472, + 0.009629130363464355, + -0.03488340973854065, + 0.011438906192779541, + 0.022563833743333817, + 0.0 + ], + [ + -0.0026778876781463623, + 0.0024250149726867676, + 0.014608025550842285, + 0.00949975848197937, + -0.010253101587295532, + 0.012068528681993484, + 0.0 + ], + [ + -0.006658315658569336, + 0.004440292716026306, + 0.014322884380817413, + 0.03229589760303497, + -0.0011353790760040283, + 0.044125571846961975, + 0.0 + ], + [ + -0.007588475942611694, + 0.0024602264165878296, + 0.017629504203796387, + -0.013392016291618347, + 0.002887219190597534, + 0.02180233597755432, + 0.0 + ], + [ + -0.01577344536781311, + -0.009682714939117432, + 0.01028144359588623, + 0.0028005987405776978, + 0.010973036289215088, + -0.04816748946905136, + 0.0 + ], + [ + -0.01977097988128662, + -0.015507623553276062, + 0.010918498039245605, + -0.010578230023384094, + 0.006142407655715942, + -0.052791040390729904, + 0.0 + ], + [ + -0.01914052665233612, + -0.019172392785549164, + 0.009146228432655334, + -0.011389195919036865, + 0.02044019103050232, + -0.055612459778785706, + 0.0 + ], + [ + -0.019014403223991394, + -0.03236288204789162, + -0.004216432571411133, + 0.018292933702468872, + 0.025654375553131104, + -0.039606451988220215, + 0.0 + ], + [ + -0.016856342554092407, + -0.03828363120555878, + -0.009395167231559753, + 0.007325977087020874, + 0.021288782358169556, + -0.02591395005583763, + 0.0 + ], + [ + -0.006957560777664185, + -0.03387484699487686, + -0.013167798519134521, + -0.008244216442108154, + 0.016879141330718994, + -0.016349956393241882, + 0.0 + ], + [ + -0.0026306360960006714, + -0.03369349241256714, + -0.018300160765647888, + 0.005100354552268982, + 0.0001666545867919922, + -0.0014666169881820679, + 0.0 + ], + [ + 0.007453814148902893, + -0.02591850608587265, + -0.021647408604621887, + 0.057911068201065063, + 0.03774718940258026, + 0.02122315764427185, + 0.0 + ], + [ + 0.008538678288459778, + -0.014085181057453156, + -0.022898413240909576, + 0.036057814955711365, + 0.02558612823486328, + 0.033334724605083466, + 0.0 + ], + [ + 0.005680158734321594, + -0.013579584658145905, + -0.018687717616558075, + 0.024517714977264404, + -0.04657562077045441, + 0.021487167105078697, + 0.0 + ], + [ + 0.011377930641174316, + -0.008883565664291382, + -0.019880011677742004, + 0.03494376689195633, + -0.026821821928024292, + 0.019389253109693527, + 0.0 + ], + [ + 0.007592648267745972, + 0.0014127790927886963, + -0.01638137549161911, + 0.03643026947975159, + 0.021472960710525513, + 0.0013413005508482456, + 0.0 + ], + [ + 0.009387999773025513, + -0.0018225908279418945, + -0.006044769659638405, + 0.007608823478221893, + -0.0233306884765625, + 0.0120555954053998, + 0.0 + ], + [ + 0.012813851237297058, + 0.0010968297719955444, + 0.0014281868934631348, + -0.01241781935095787, + -0.01879429817199707, + 0.0195431187748909, + 1.0 + ], + [ + 0.0030461400747299194, + -0.0012060552835464478, + 0.002126583829522133, + -0.003078073263168335, + -0.009810715913772583, + -0.004687512293457985, + 1.0 + ], + [ + 0.0021396279335021973, + 0.0031084343791007996, + 4.9851834774017334e-05, + -0.003125187009572983, + -0.000550687313079834, + -0.0013068802654743195, + 1.0 + ], + [ + 0.0021885931491851807, + -0.00029640644788742065, + 0.0001635514199733734, + -0.011504873633384705, + -0.011783719062805176, + -0.011616481468081474, + 1.0 + ], + [ + -0.005406409502029419, + 0.000902615487575531, + 0.006118025630712509, + -0.029225565493106842, + -0.011125117540359497, + -0.014817452058196068, + 1.0 + ], + [ + -0.005402863025665283, + 0.00380600243806839, + 0.015779275447130203, + -0.03557524085044861, + -0.00986403226852417, + -0.008439715020358562, + 1.0 + ], + [ + -0.010862872004508972, + 0.007142417132854462, + 0.021326031535863876, + -0.049937114119529724, + 0.01127535104751587, + -0.019345244392752647, + 1.0 + ], + [ + -0.0073256343603134155, + 0.012522153556346893, + 0.008894771337509155, + -0.01601436734199524, + 0.08288487792015076, + -0.0013597197830677032, + 1.0 + ], + [ + -0.006629288196563721, + 0.01937068998813629, + 0.011950105428695679, + -0.0031558573246002197, + 0.020676061511039734, + -0.03430827334523201, + 1.0 + ], + [ + -0.011177927255630493, + 0.023360680788755417, + 0.01764773577451706, + -0.016870230436325073, + 0.011969417333602905, + -0.02661580592393875, + 1.0 + ], + [ + -0.005355209112167358, + 0.020808864384889603, + 0.01209329068660736, + 0.019393205642700195, + -0.005320459604263306, + -0.028329946100711823, + 1.0 + ], + [ + 0.010122790932655334, + 0.01582261174917221, + 0.010194703936576843, + 0.012207582592964172, + -0.005777403712272644, + 0.002811923623085022, + 1.0 + ], + [ + 0.00032088160514831543, + 0.0161090400069952, + 0.005156323313713074, + 0.007671371102333069, + 0.014898732304573059, + 0.00010965019464492798, + 1.0 + ], + [ + -0.0031479448080062866, + 0.020401611924171448, + -0.007595181465148926, + 0.01158711314201355, + 0.030618727207183838, + -0.021446682512760162, + 1.0 + ], + [ + -0.008982032537460327, + 0.008790146559476852, + -0.010367318987846375, + 0.012503787875175476, + 0.017248883843421936, + -0.02947564423084259, + 1.0 + ], + [ + -0.0189068466424942, + -0.006441378965973854, + -0.0170968696475029, + -0.011872336268424988, + -0.002769455313682556, + -0.04348786175251007, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9560673832893372 + ], + [ + 0.6902000904083252 + ], + [ + 0.42745357751846313 + ], + [ + 0.40327540040016174 + ], + [ + 0.40327540040016174 + ], + [ + 0.40327540040016174 + ], + [ + 0.40327540040016174 + ], + [ + 0.40327540040016174 + ], + [ + 0.40327540040016174 + ], + [ + 0.40327540040016174 + ], + [ + 0.40327540040016174 + ], + [ + 0.40327540040016174 + ], + [ + 0.40327540040016174 + ], + [ + 0.40327540040016174 + ], + [ + 0.40327540040016174 + ], + [ + 0.40327540040016174 + ], + [ + 0.40327540040016174 + ], + [ + 0.40327540040016174 + ], + [ + 0.40327540040016174 + ], + [ + 0.40327540040016174 + ], + [ + 0.40327540040016174 + ], + [ + 0.40327540040016174 + ], + [ + 0.40239205956459045 + ], + [ + 0.4466742277145386 + ], + [ + 0.7388594746589661 + ], + [ + 0.9781157374382019 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2310808151960373, + -0.04456855356693268, + 0.11477423459291458 + ], + [ + 0.22382473945617676, + -0.040318239480257034, + 0.11852962523698807 + ], + [ + 0.21611297130584717, + -0.025743842124938965, + 0.13288865983486176 + ], + [ + 0.219120055437088, + -0.010396472178399563, + 0.14244449138641357 + ], + [ + 0.22959212958812714, + 0.017233850434422493, + 0.14420099556446075 + ], + [ + 0.23888331651687622, + 0.054024990648031235, + 0.14775122702121735 + ], + [ + 0.25206753611564636, + 0.08396989852190018, + 0.140924334526062 + ], + [ + 0.2706947922706604, + 0.11224229633808136, + 0.12786436080932617 + ], + [ + 0.282842755317688, + 0.13335104286670685, + 0.11818303167819977 + ], + [ + 0.28833651542663574, + 0.13711509108543396, + 0.11562655866146088 + ], + [ + 0.2860495448112488, + 0.14084823429584503, + 0.11545729637145996 + ], + [ + 0.29030150175094604, + 0.14327950775623322, + 0.11555614322423935 + ], + [ + 0.2915749251842499, + 0.13646572828292847, + 0.10798860341310501 + ], + [ + 0.299245685338974, + 0.13246050477027893, + 0.10476765036582947 + ], + [ + 0.30023372173309326, + 0.12561357021331787, + 0.09646288305521011 + ], + [ + 0.3026042580604553, + 0.12167438119649887, + 0.09213995188474655 + ], + [ + 0.300481379032135, + 0.11864378303289413, + 0.0829983651638031 + ], + [ + 0.3019128143787384, + 0.11740974336862564, + 0.0781707912683487 + ], + [ + 0.30376628041267395, + 0.11689312756061554, + 0.0777469351887703 + ], + [ + 0.3044060170650482, + 0.11704999953508377, + 0.07806959003210068 + ], + [ + 0.3050576150417328, + 0.11618149280548096, + 0.08221519738435745 + ], + [ + 0.3022109270095825, + 0.11506172269582748, + 0.09329088777303696 + ], + [ + 0.300452321767807, + 0.11618615686893463, + 0.10292001813650131 + ], + [ + 0.29777443408966064, + 0.1186111718416214, + 0.1175280436873436 + ], + [ + 0.2911161184310913, + 0.1230514645576477, + 0.131850928068161 + ], + [ + 0.2835276424884796, + 0.12551169097423553, + 0.1494804322719574 + ], + [ + 0.2677541971206665, + 0.1158289760351181, + 0.15976187586784363 + ], + [ + 0.24798321723937988, + 0.10032135248184204, + 0.17068037390708923 + ], + [ + 0.22884269058704376, + 0.08114895969629288, + 0.17982660233974457 + ], + [ + 0.20982828736305237, + 0.04878607764840126, + 0.17561016976833344 + ], + [ + 0.19297194480895996, + 0.010502445511519909, + 0.16621500253677368 + ], + [ + 0.18601438403129578, + -0.023372402414679527, + 0.15304720401763916 + ], + [ + 0.1833837479352951, + -0.057065896689891815, + 0.13474704325199127 + ], + [ + 0.190837562084198, + -0.08298440277576447, + 0.11309963464736938 + ], + [ + 0.19937624037265778, + -0.09706958383321762, + 0.09020122140645981 + ], + [ + 0.20505639910697937, + -0.11064916849136353, + 0.07151350378990173 + ], + [ + 0.2164343297481537, + -0.11953273415565491, + 0.05163349211215973 + ], + [ + 0.22402697801589966, + -0.11811995506286621, + 0.03525211662054062 + ], + [ + 0.23341497778892517, + -0.1199425458908081, + 0.029207346960902214 + ], + [ + 0.24622882902622223, + -0.11884571611881256, + 0.03063553385436535 + ], + [ + 0.24927496910095215, + -0.12005177140235901, + 0.03276211768388748 + ], + [ + 0.25141459703445435, + -0.11694333702325821, + 0.0328119695186615 + ], + [ + 0.2536031901836395, + -0.11723974347114563, + 0.03297552093863487 + ], + [ + 0.2481967806816101, + -0.1163371279835701, + 0.03909354656934738 + ], + [ + 0.24279391765594482, + -0.11253112554550171, + 0.054872822016477585 + ], + [ + 0.23193104565143585, + -0.10538870841264725, + 0.07619885355234146 + ], + [ + 0.22460541129112244, + -0.09286655485630035, + 0.08509362488985062 + ], + [ + 0.21797612309455872, + -0.07349586486816406, + 0.0970437303185463 + ], + [ + 0.20679819583892822, + -0.050135184079408646, + 0.11469146609306335 + ], + [ + 0.20144298672676086, + -0.029326319694519043, + 0.12678475677967072 + ], + [ + 0.2115657776594162, + -0.013503707014024258, + 0.13697946071624756 + ], + [ + 0.21188665926456451, + 0.002605333225801587, + 0.14213578402996063 + ], + [ + 0.20873871445655823, + 0.023006945848464966, + 0.1345406025648117 + ], + [ + 0.1997566819190979, + 0.03179709240794182, + 0.12417328357696533 + ], + [ + 0.1808498352766037, + 0.025355713441967964, + 0.10707641392946243 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9094974598493112, + -0.3626550227829541, + 0.20321344684332737, + -0.33469000032157986, + -0.9287335732003341, + -0.15948841241695472, + 0.2465704244478475, + 0.07704079737927705, + -0.9660578353943275 + ], + [ + 0.9204505339716406, + -0.3410862755437527, + 0.1908689790065777, + -0.30847939524033396, + -0.9338242045944462, + -0.1811430860554943, + 0.24002349306574147, + 0.10785410307096147, + -0.964757075759115 + ], + [ + 0.9272629304081859, + -0.32586122440291587, + 0.18438524973938802, + -0.2845952102007129, + -0.9334319771576071, + -0.2184268993289346, + 0.24328794508079515, + 0.15006400784422963, + -0.9582754141310791 + ], + [ + 0.9377099593800018, + -0.25756484253204576, + 0.23315313416507552, + -0.21550019897506256, + -0.9576099557971509, + -0.1911618079007598, + 0.2725063234518856, + 0.12900978431739593, + -0.9534656675670683 + ], + [ + 0.9581276311414842, + -0.09838748680144557, + 0.2689076884064555, + -0.07928821833958852, + -0.9935543437570072, + -0.08101323616617627, + 0.27514509058993175, + 0.056299808547439004, + -0.9597528383296295 + ], + [ + 0.9522146994816051, + -0.07443584415387822, + 0.29622030854797227, + -0.05100707390279302, + -0.9949833875040186, + -0.08606007786949008, + 0.30114024059071104, + 0.06683834001624545, + -0.9512345619251023 + ], + [ + 0.9527121401552664, + -0.06086306263878338, + 0.2977167539911027, + -0.02407293642655144, + -0.9917741273864468, + -0.12571624389335873, + 0.3029192495246455, + 0.11260447527997622, + -0.9463404040905926 + ], + [ + 0.9490314537904366, + -0.16093693332843123, + 0.27099557783707556, + -0.10263903616811469, + -0.9707478794732545, + -0.21705709560541972, + 0.29800088585588275, + 0.17817928608292252, + -0.9377886830411686 + ], + [ + 0.9588518150064012, + -0.17063192521995946, + 0.22690954795834473, + -0.1124511329617377, + -0.962129090244419, + -0.24831906169496573, + 0.2606874365107605, + 0.2125849472591528, + -0.9417269777617456 + ], + [ + 0.9568765946452273, + -0.1856002854045919, + 0.22347195948907558, + -0.127436806539579, + -0.9595019840618042, + -0.2512285869889308, + 0.2610498859588851, + 0.21191620192707042, + -0.9417772987291941 + ], + [ + 0.9568029796447503, + -0.1817828331693314, + 0.22689878736533298, + -0.12168717144024119, + -0.9591703895043625, + -0.25531235027887467, + 0.26404600063208855, + 0.2166729458492234, + -0.939857725449559 + ], + [ + 0.9511893672214621, + -0.17467543054253892, + 0.25441556880350913, + -0.11303195837967987, + -0.9643016549664941, + -0.2394704462219394, + 0.28716295734249697, + 0.19902465222594687, + -0.9369773869932252 + ], + [ + 0.9532006072537242, + -0.1641246084910292, + 0.2539128102691903, + -0.10305200647923693, + -0.9659096658763918, + -0.23748431806576348, + 0.2842338584541517, + 0.2002039716245005, + -0.9376190502832382 + ], + [ + 0.9553119928358295, + -0.11701189731540883, + 0.2714538860113902, + -0.05807688462953582, + -0.9747154163116991, + -0.21577055562805394, + 0.28983800961185924, + 0.19036300347220766, + -0.9379530132652043 + ], + [ + 0.9548720198510794, + -0.11901984959627024, + 0.27212809687277956, + -0.0627599870295252, + -0.9763658518410616, + -0.20681128447628747, + 0.29031122908625756, + 0.1803995531057638, + -0.9397741172780122 + ], + [ + 0.9537325732170814, + -0.10315562966695871, + 0.28240590442258395, + -0.047561657081141795, + -0.9792358730384286, + -0.19706596289152098, + 0.29687045585645644, + 0.17451653509819556, + -0.9388354016636249 + ], + [ + 0.9545764721988982, + -0.08932308268438063, + 0.2842624590480875, + -0.037147377565727564, + -0.9822421038533414, + -0.18390356646283645, + 0.2956413892950302, + 0.16499041280486854, + -0.9409433206193578 + ], + [ + 0.9491613913781126, + -0.07061008854677284, + 0.3067684281548253, + -0.016976197757894378, + -0.9845817129867144, + -0.17409956680541178, + 0.3143317703110047, + 0.16004082556511656, + -0.9357256394507878 + ], + [ + 0.9416233622522396, + -0.0612976712603767, + 0.331040842131061, + -0.0043286768898236835, + -0.9854083258957722, + -0.1701519726940447, + 0.3366403217339996, + 0.15878610377909713, + -0.9281488388343127 + ], + [ + 0.9361220801215495, + -0.05487695623065908, + 0.3473671987735197, + 0.008446666527222185, + -0.9839565655516915, + -0.17820811129771277, + 0.35157375461413715, + 0.1697586427330827, + -0.9206399395441958 + ], + [ + 0.9290648221652265, + -0.06434125781278137, + 0.3642784083062915, + 0.007447960680143879, + -0.981304029308305, + -0.1923198636256595, + 0.36984197178903727, + 0.1813907511599046, + -0.9112158423210399 + ], + [ + 0.9239744993425189, + -0.050122111936990635, + 0.37915550696214023, + 0.03259215929100864, + -0.977449753419119, + -0.20863779785468686, + 0.3810628238460048, + 0.20513350149568313, + -0.9015050586916468 + ], + [ + 0.9272951333895848, + -0.03871698923526078, + 0.37232342168677623, + 0.05367890676965555, + -0.9706036154371821, + -0.23462139004848961, + 0.3704622930339968, + 0.23754918742194756, + -0.8979577233896737 + ], + [ + 0.922742043438715, + -0.025773390157951825, + 0.38455539734908184, + 0.06459714968972584, + -0.973305967425704, + -0.22023329000284492, + 0.3799662215546369, + 0.22805969861700692, + -0.8964454497314447 + ], + [ + 0.9185652111833645, + 0.029671076174295312, + 0.3941542591959656, + 0.10518843211295337, + -0.9795702509811275, + -0.1713987081117882, + 0.3810162024813116, + 0.1989013590487268, + -0.9029202084432987 + ], + [ + 0.9171398584401593, + 0.04629141007326255, + 0.3958681414483782, + 0.1253371446961132, + -0.9763406210376923, + -0.17620894378878332, + 0.3783451865952436, + 0.21122522828763157, + -0.9012429321304262 + ], + [ + 0.9261910347712173, + 0.002598004012905185, + 0.3770456437681917, + 0.08139107515631974, + -0.9777786584040021, + -0.19319520712110735, + 0.3681652617973612, + 0.20962381912563796, + -0.9058212817442863 + ], + [ + 0.9314379645212719, + -0.051524675893647946, + 0.3602339878780523, + 0.03248401413438059, + -0.9742007269552181, + -0.22333323179867887, + 0.3624473852494835, + 0.21972289679043372, + -0.9057338138503129 + ], + [ + 0.9390153055340678, + -0.10482383605859297, + 0.32750911341018085, + -0.01948874086803929, + -0.9670981011157674, + -0.25365616845969924, + 0.3433226542949648, + 0.2318042842836131, + -0.9101628034783789 + ], + [ + 0.9459894540216808, + -0.13167479607258598, + 0.2962527653187477, + -0.05716739166856115, + -0.967235918829949, + -0.24735918550762875, + 0.31911728597739025, + 0.2170631829777382, + -0.9225224834040617 + ], + [ + 0.9507444628934375, + -0.15008983182327099, + 0.27121579721825007, + -0.08222660097253812, + -0.9657283570953618, + -0.24618595897084783, + 0.2988707954450748, + 0.21175878419833072, + -0.9305022648789592 + ], + [ + 0.9541557280051597, + -0.1643617576577779, + 0.2501440771527273, + -0.09826238472035023, + -0.9614272196869103, + -0.2569089430015379, + 0.28272133004782923, + 0.2205513859959702, + -0.9335018669886219 + ], + [ + 0.9540574371434172, + -0.16445980668941645, + 0.2504543443724119, + -0.09966655361907024, + -0.9624885554074416, + -0.2523536383716184, + 0.2825614706944878, + 0.21579794413612083, + -0.9346605065934861 + ], + [ + 0.9659034723021769, + -0.12285169242771063, + 0.2278989773172427, + -0.08022357112451478, + -0.978944661649304, + -0.1877006341607817, + 0.24615982781645715, + 0.16301782447320562, + -0.9554216493639839 + ], + [ + 0.9740136194493393, + -0.07836801734575578, + 0.21249923055035408, + -0.04828292859728868, + -0.988508925272375, + -0.1432440695558557, + 0.22128313974016717, + 0.1292615894771104, + -0.9666049935483388 + ], + [ + 0.963470390108378, + -0.05669570090996536, + 0.2617449233179838, + -0.027026062132667124, + -0.9929288774668433, + -0.11559340923268607, + 0.2664477422497903, + 0.10429689252687144, + -0.9581898344583014 + ], + [ + 0.9563211158936746, + -0.03008068175972163, + 0.2907663596098211, + -0.008276340706102774, + -0.9970787808777752, + -0.07593027662142732, + 0.2922010018470059, + 0.07020724541071466, + -0.9537764503338537 + ], + [ + 0.9623846594033911, + -0.017367115835110147, + 0.27113493067583194, + -0.0070378872088877565, + -0.99921355569965, + -0.03902227888907814, + 0.27159940259259274, + 0.03564622551732351, + -0.9617500252756505 + ], + [ + 0.9558016986541504, + -0.003912106478465406, + 0.2939860681609617, + 0.0045331709203684034, + -0.9995965257357807, + -0.02803990189646276, + 0.2939771474302844, + 0.028133274957915556, + -0.9553983230197209 + ], + [ + 0.9498386977712202, + 0.011215510780185671, + 0.31253905441434354, + 0.02307220210393221, + -0.9991464512701156, + -0.03426430218769378, + 0.3118879954508473, + 0.03975652439881824, + -0.949286730688562 + ], + [ + 0.946831490111217, + 0.005152407332926413, + 0.3216886414414531, + 0.018558725146698356, + -0.9990815294199876, + -0.038622160643179713, + 0.32119418278465356, + 0.042538808992423384, + -0.9460574753548563 + ], + [ + 0.9466779440386316, + 0.0028164805594271015, + 0.32216911352277117, + 0.017318076462206136, + -0.9989609740493526, + -0.04215514860628885, + 0.32171564229679445, + 0.045486698754993025, + -0.9457430971135522 + ], + [ + 0.9429586724275921, + -0.01315064654729536, + 0.33264997007211783, + 0.006294345980605725, + -0.9983366045888686, + -0.05730972994741004, + 0.3328503016406462, + 0.05613452087046565, + -0.9413073845797523 + ], + [ + 0.9391872680222159, + -0.03855252405660537, + 0.34123449191696814, + -0.007647452528766875, + -0.9957798885763669, + -0.09145452409071149, + 0.34332024707958425, + 0.08328335005091435, + -0.9355186217010916 + ], + [ + 0.9356575906614728, + -0.06018145388442142, + 0.3477399396760821, + -0.015516648948766986, + -0.9914150560428123, + -0.1298284262287276, + 0.3525678752282583, + 0.11607919391512282, + -0.9285588371756778 + ], + [ + 0.9390955930734025, + -0.09464607039262667, + 0.3303658402882294, + -0.033753794142420676, + -0.9820819249978396, + -0.18540704941702807, + 0.3419943690342065, + 0.16296384246749696, + -0.9254634717789371 + ], + [ + 0.964119124643303, + -0.08632664795291341, + 0.25104187569058073, + -0.03596590216318629, + -0.9794070786664086, + -0.198666122274834, + 0.2630223704908374, + 0.18250886036394215, + -0.9473699111276628 + ], + [ + 0.9675363427150168, + -0.1168046584084121, + 0.22412072037128472, + -0.06938975423904005, + -0.9754860751640366, + -0.20883481311244265, + 0.24301952088730455, + 0.18650358960394672, + -0.9519232760745727 + ], + [ + 0.9681725803838152, + -0.1439728483121254, + 0.2047282919917004, + -0.09539229486748546, + -0.9685095370354453, + -0.22997736138868635, + 0.23139179906137536, + 0.20312827380815668, + -0.9514182779970431 + ], + [ + 0.9638470676508041, + -0.1684487344073442, + 0.2064554529614326, + -0.1226215176444563, + -0.9683079154549938, + -0.2175861766697852, + 0.23656456537595946, + 0.1844039173764177, + -0.9539561843526749 + ], + [ + 0.9628156943146742, + -0.1641748832077996, + 0.21455196691024964, + -0.11974009864052898, + -0.9712315226496196, + -0.20584372273464516, + 0.24217400264873168, + 0.1724990931437219, + -0.9547752695297912 + ], + [ + 0.9663023786442401, + -0.15997100425689337, + 0.20166554198356426, + -0.12006612587922794, + -0.9731038314832113, + -0.19660381117630235, + 0.22769242069695053, + 0.16576553004088265, + -0.9595196457641856 + ], + [ + 0.9699510695555399, + -0.17380196631936928, + 0.17025803702493572, + -0.14170257939636383, + -0.9723987806870674, + -0.18536717700477934, + 0.19777588745972233, + 0.15567108858688183, + -0.9678074242935387 + ], + [ + 0.9685693866836165, + -0.19786628322108132, + 0.15073910290166198, + -0.17079388407397103, + -0.9695888340065978, + -0.1752910212550916, + 0.18083913387939554, + 0.14403620008178802, + -0.9729084133276622 + ], + [ + 0.9597358838408063, + -0.24193233747219112, + 0.14274374716094862, + -0.2126309960876444, + -0.9577523347056263, + -0.19364535850027204, + 0.1835622313306393, + 0.15549665414781294, + -0.9706315973518238 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005475.json b/json/chunk-0005/episode_0005475.json new file mode 100644 index 0000000000000000000000000000000000000000..6917e8d4c6306ba15cf8e74de2661f732a4d8be2 --- /dev/null +++ b/json/chunk-0005/episode_0005475.json @@ -0,0 +1,2242 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 36, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nD placer la pot d' argent vers le milieu du tableau." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005475.mp4", + "start": 0, + "end": 36, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.23388095200061798, + -0.024245955049991608, + 0.07300250232219696, + -0.07881224900484085, + -0.0710696205496788, + 0.42288118600845337, + 0.0, + 1.0014774799346924 + ], + [ + 0.23119349777698517, + -0.02422238700091839, + 0.06878381222486496, + -0.07105192542076111, + -0.05432119593024254, + 0.4232334792613983, + 0.0, + 1.0008161067962646 + ], + [ + 0.23023617267608643, + -0.02241024374961853, + 0.0705956369638443, + -0.08466178923845291, + -0.04820149764418602, + 0.4285324513912201, + 0.0, + 1.0014774799346924 + ], + [ + 0.22569936513900757, + -0.016297148540616035, + 0.0859067365527153, + -0.112543985247612, + -0.05964982509613037, + 0.41982823610305786, + 0.0, + 1.0014774799346924 + ], + [ + 0.22186779975891113, + -0.004329268354922533, + 0.09643790870904922, + -0.09779153764247894, + -0.0876612514257431, + 0.4267216622829437, + 0.0, + 1.0014774799346924 + ], + [ + 0.2138749212026596, + 0.0051005990244448185, + 0.08685459196567535, + -0.07696522772312164, + -0.10097003728151321, + 0.4142134189605713, + 0.0, + 1.0014774799346924 + ], + [ + 0.20824404060840607, + 0.009471820667386055, + 0.07295367866754532, + -0.05908140167593956, + -0.12558332085609436, + 0.4034019112586975, + 0.0, + 1.0014774799346924 + ], + [ + 0.2097385972738266, + 0.013894750736653805, + 0.060414087027311325, + -0.050455667078495026, + -0.14824292063713074, + 0.420038104057312, + 0.0, + 1.0008161067962646 + ], + [ + 0.2095077484846115, + 0.012703783810138702, + 0.04949134215712547, + -0.05595044791698456, + -0.13971199095249176, + 0.41268208622932434, + 0.0, + 1.0008161067962646 + ], + [ + 0.20676574110984802, + 0.008434569463133812, + 0.03815769404172897, + -0.053433507680892944, + -0.11922067403793335, + 0.41598251461982727, + 0.0, + 1.0014774799346924 + ], + [ + 0.20988409221172333, + 0.005005203187465668, + 0.03247411176562309, + -0.041676729917526245, + -0.12740059196949005, + 0.4168279767036438, + 0.0, + 0.9968144297599792 + ], + [ + 0.21268315613269806, + 0.004885205999016762, + 0.030731860548257828, + -0.03724329546093941, + -0.13289295136928558, + 0.4179575443267822, + 0.0, + 0.9430103898048401 + ], + [ + 0.21349669992923737, + 0.005822178907692432, + 0.03013577312231064, + -0.04472099244594574, + -0.13129857182502747, + 0.43417268991470337, + 0.0, + 0.6941980719566345 + ], + [ + 0.2207064926624298, + 0.007612011861056089, + 0.029381150379776955, + -0.07316192984580994, + -0.11205936223268509, + 0.4760705828666687, + 0.0, + 0.4256414473056793 + ], + [ + 0.22843284904956818, + 0.009720704518258572, + 0.028155598789453506, + -0.09242608398199081, + -0.08930452167987823, + 0.5036845803260803, + 0.0, + 0.22553777694702148 + ], + [ + 0.2320360243320465, + 0.010882127098739147, + 0.02863677591085434, + -0.07574236392974854, + -0.06605451554059982, + 0.5039887428283691, + 0.0, + 0.12795238196849823 + ], + [ + 0.23270967602729797, + 0.005358500871807337, + 0.03075917437672615, + -0.06603584438562393, + -0.028917307034134865, + 0.5372483134269714, + 0.0, + 0.0885477215051651 + ], + [ + 0.2312466949224472, + -0.009231130592525005, + 0.03604371100664139, + -0.058186836540699005, + 0.018648358061909676, + 0.6164206266403198, + 0.0, + 0.07755524665117264 + ], + [ + 0.22925788164138794, + -0.028851892799139023, + 0.04180433973670006, + -0.0496516115963459, + 0.06967706233263016, + 0.7017122507095337, + 0.0, + 0.06803370267152786 + ], + [ + 0.22897014021873474, + -0.045415349304676056, + 0.045451320707798004, + -0.06365303695201874, + 0.08124777674674988, + 0.7771233916282654, + 0.0, + 0.06681985408067703 + ], + [ + 0.23018087446689606, + -0.07099311798810959, + 0.05332665517926216, + -0.10824423283338547, + 0.07006365060806274, + 0.8623346090316772, + 0.0, + 0.06681985408067703 + ], + [ + 0.23998317122459412, + -0.10045818984508514, + 0.06264851987361908, + -0.16660968959331512, + 0.03918776288628578, + 0.9378402829170227, + 0.0, + 0.06681985408067703 + ], + [ + 0.25071585178375244, + -0.12438689172267914, + 0.061903081834316254, + -0.16900110244750977, + 0.03796502202749252, + 0.9912475943565369, + 0.0, + 0.06681985408067703 + ], + [ + 0.2589458227157593, + -0.14015597105026245, + 0.05498286336660385, + -0.1578289121389389, + 0.028806641697883606, + 0.9990119338035583, + 0.0, + 0.06681985408067703 + ], + [ + 0.25961753726005554, + -0.146229550242424, + 0.04910922423005104, + -0.16258306801319122, + 0.006040783599019051, + 0.9739804863929749, + 0.0, + 0.0665184035897255 + ], + [ + 0.2628526985645294, + -0.15049363672733307, + 0.049532290548086166, + -0.192701056599617, + -0.0011201200541108847, + 0.9626791477203369, + 0.0, + 0.0665184035897255 + ], + [ + 0.2643050253391266, + -0.1515585035085678, + 0.046811822801828384, + -0.20774002373218536, + -0.006486440543085337, + 0.9503382444381714, + 0.0, + 0.0665184035897255 + ], + [ + 0.264336496591568, + -0.15069538354873657, + 0.04560054466128349, + -0.2053624838590622, + -0.009645660407841206, + 0.9060144424438477, + 0.0, + 0.09107078611850739 + ], + [ + 0.2615717649459839, + -0.1470056176185608, + 0.04314478859305382, + -0.1819213330745697, + -0.00890089850872755, + 0.8680323362350464, + 0.0, + 0.24793511629104614 + ], + [ + 0.261094331741333, + -0.1409871131181717, + 0.04450404644012451, + -0.16682066023349762, + -0.005626572296023369, + 0.887668788433075, + 0.0, + 0.4860933721065521 + ], + [ + 0.2590011656284332, + -0.13653136789798737, + 0.04742364585399628, + -0.15107829868793488, + 0.004727066494524479, + 0.8851007223129272, + 0.0, + 0.7701175808906555 + ], + [ + 0.2601841688156128, + -0.13492891192436218, + 0.059284768998622894, + -0.18080678582191467, + 0.0043565863743424416, + 0.8729184865951538, + 0.0, + 0.9830701947212219 + ], + [ + 0.2575993835926056, + -0.12880447506904602, + 0.07366982102394104, + -0.1867118775844574, + 0.04547450318932533, + 0.857198178768158, + 0.0, + 0.9994885921478271 + ], + [ + 0.2587175965309143, + -0.11964874714612961, + 0.0863560289144516, + -0.1613103747367859, + 0.013250919058918953, + 0.8085794448852539, + 0.0, + 0.9994885921478271 + ], + [ + 0.2746012508869171, + -0.10529392212629318, + 0.0940273255109787, + -0.16125978529453278, + -0.08360280096530914, + 0.7917070984840393, + 0.0, + 0.9994885921478271 + ], + [ + 0.3063391149044037, + -0.09591305255889893, + 0.1009424477815628, + -0.1631387174129486, + -0.15655159950256348, + 0.7881617546081543, + 0.0, + 0.9994885921478271 + ] + ], + "left_gripper_pos": [ + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 0.9968144297599792 + ], + [ + 0.9430103898048401 + ], + [ + 0.6941980719566345 + ], + [ + 0.4256414473056793 + ], + [ + 0.22553777694702148 + ], + [ + 0.12795238196849823 + ], + [ + 0.0885477215051651 + ], + [ + 0.07755524665117264 + ], + [ + 0.06803370267152786 + ], + [ + 0.06681985408067703 + ], + [ + 0.06681985408067703 + ], + [ + 0.06681985408067703 + ], + [ + 0.06681985408067703 + ], + [ + 0.06681985408067703 + ], + [ + 0.0665184035897255 + ], + [ + 0.0665184035897255 + ], + [ + 0.0665184035897255 + ], + [ + 0.09107078611850739 + ], + [ + 0.24793511629104614 + ], + [ + 0.4860933721065521 + ], + [ + 0.7701175808906555 + ], + [ + 0.9830701947212219 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.23388095200061798, + -0.024245955049991608, + 0.07300250232219696 + ], + [ + 0.23119349777698517, + -0.02422238700091839, + 0.06878381222486496 + ], + [ + 0.23023617267608643, + -0.02241024374961853, + 0.0705956369638443 + ], + [ + 0.22569936513900757, + -0.016297148540616035, + 0.0859067365527153 + ], + [ + 0.22186779975891113, + -0.004329268354922533, + 0.09643790870904922 + ], + [ + 0.2138749212026596, + 0.0051005990244448185, + 0.08685459196567535 + ], + [ + 0.20824404060840607, + 0.009471820667386055, + 0.07295367866754532 + ], + [ + 0.2097385972738266, + 0.013894750736653805, + 0.060414087027311325 + ], + [ + 0.2095077484846115, + 0.012703783810138702, + 0.04949134215712547 + ], + [ + 0.20676574110984802, + 0.008434569463133812, + 0.03815769404172897 + ], + [ + 0.20988409221172333, + 0.005005203187465668, + 0.03247411176562309 + ], + [ + 0.21268315613269806, + 0.004885205999016762, + 0.030731860548257828 + ], + [ + 0.21349669992923737, + 0.005822178907692432, + 0.03013577312231064 + ], + [ + 0.2207064926624298, + 0.007612011861056089, + 0.029381150379776955 + ], + [ + 0.22843284904956818, + 0.009720704518258572, + 0.028155598789453506 + ], + [ + 0.2320360243320465, + 0.010882127098739147, + 0.02863677591085434 + ], + [ + 0.23270967602729797, + 0.005358500871807337, + 0.03075917437672615 + ], + [ + 0.2312466949224472, + -0.009231130592525005, + 0.03604371100664139 + ], + [ + 0.22925788164138794, + -0.028851892799139023, + 0.04180433973670006 + ], + [ + 0.22897014021873474, + -0.045415349304676056, + 0.045451320707798004 + ], + [ + 0.23018087446689606, + -0.07099311798810959, + 0.05332665517926216 + ], + [ + 0.23998317122459412, + -0.10045818984508514, + 0.06264851987361908 + ], + [ + 0.25071585178375244, + -0.12438689172267914, + 0.061903081834316254 + ], + [ + 0.2589458227157593, + -0.14015597105026245, + 0.05498286336660385 + ], + [ + 0.25961753726005554, + -0.146229550242424, + 0.04910922423005104 + ], + [ + 0.2628526985645294, + -0.15049363672733307, + 0.049532290548086166 + ], + [ + 0.2643050253391266, + -0.1515585035085678, + 0.046811822801828384 + ], + [ + 0.264336496591568, + -0.15069538354873657, + 0.04560054466128349 + ], + [ + 0.2615717649459839, + -0.1470056176185608, + 0.04314478859305382 + ], + [ + 0.261094331741333, + -0.1409871131181717, + 0.04450404644012451 + ], + [ + 0.2590011656284332, + -0.13653136789798737, + 0.04742364585399628 + ], + [ + 0.2601841688156128, + -0.13492891192436218, + 0.059284768998622894 + ], + [ + 0.2575993835926056, + -0.12880447506904602, + 0.07366982102394104 + ], + [ + 0.2587175965309143, + -0.11964874714612961, + 0.0863560289144516 + ], + [ + 0.2746012508869171, + -0.10529392212629318, + 0.0940273255109787 + ], + [ + 0.3063391149044037, + -0.09591305255889893, + 0.1009424477815628 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9096083077307833, + 0.4040174826497124, + 0.09686382307409608, + 0.40935355580523125, + -0.9113740221371149, + -0.04274410044942782, + 0.07100980817291255, + 0.0785319392795487, + -0.9943793751160768 + ], + [ + 0.9104207994581544, + 0.4061601102822544, + 0.07853618738824422, + 0.4101049583177403, + -0.9110482618372145, + -0.042485147600001896, + 0.05429448477680707, + 0.07088744189838159, + -0.9960055619844319 + ], + [ + 0.9085201053990294, + 0.4103421339189683, + 0.07880705055109823, + 0.4150537706429371, + -0.9080117970904975, + -0.056964408357892085, + 0.048182834711295454, + 0.08446247376978737, + -0.9952610235329581 + ], + [ + 0.9115348908012033, + 0.3989112655551096, + 0.09986964035811367, + 0.4068786787797909, + -0.9101109079449419, + -0.0784083923699814, + 0.05961445803200678, + 0.1121068126959911, + -0.9919063357700141 + ], + [ + 0.9068320416343306, + 0.40412979932032866, + 0.11972783121155403, + 0.4122994263007933, + -0.909516043449797, + -0.05281808193662118, + 0.08754902248082636, + 0.09726084519855749, + -0.9914007749915842 + ], + [ + 0.9107707450223858, + 0.39418362931687323, + 0.12294680308957313, + 0.40042015456277813, + -0.9158424400330807, + -0.02993868491056237, + 0.10079856066080158, + 0.07649765625710966, + -0.9919615712092278 + ], + [ + 0.9124878106351798, + 0.3850623421415468, + 0.13817737914247386, + 0.3894580346529497, + -0.9210293908223601, + -0.005224986665477528, + 0.12525348173395584, + 0.058582027157302936, + -0.9903937153514571 + ], + [ + 0.9030589284107458, + 0.400474640432382, + 0.15525667196030712, + 0.40332259834305184, + -0.9149491448865746, + 0.014104748744145652, + 0.14770055342971922, + 0.04988110505873493, + -0.9877734668812858 + ], + [ + 0.90712257766915, + 0.3933063832720806, + 0.14979558725246983, + 0.39715974297779605, + -0.917738277663525, + 0.004537870535587928, + 0.13925791769478696, + 0.05537637211502752, + -0.988706574151649 + ], + [ + 0.908226718962022, + 0.39770157184623606, + 0.13022168296606335, + 0.40122047829283375, + -0.9159811065971045, + -0.0008603229707881237, + 0.11893844946841413, + 0.053028974232748244, + -0.9914845299498487 + ], + [ + 0.9069672096325958, + 0.3996700131128911, + 0.13294495578849272, + 0.40158086875778376, + -0.9157270117678533, + 0.013298336981046231, + 0.1270562336094002, + 0.0413269952580546, + -0.9910342037305948 + ], + [ + 0.9058615802024342, + 0.4011042079076139, + 0.1361257209786422, + 0.40231577316603473, + -0.9152886614024084, + 0.019715094978311018, + 0.13250213649207795, + 0.03690637759241245, + -0.9904953826838577 + ], + [ + 0.8994096850892856, + 0.41492946732439734, + 0.13746183293367026, + 0.4170392555108345, + -0.9087734373649693, + 0.014460252516039378, + 0.13092164729547712, + 0.04432128930605002, + -0.9904015072604083 + ], + [ + 0.8832279498865642, + 0.44979915237266443, + 0.1326239460429714, + 0.45541581206913984, + -0.8901710020715821, + -0.013857315334538291, + 0.11182498225612326, + 0.07263821030082952, + -0.9910695554539599 + ], + [ + 0.8723200241759614, + 0.473386588120658, + 0.12232298888243562, + 0.48073241734583266, + -0.8760448676649687, + -0.03797015605313717, + 0.08918586398349321, + 0.09192675358865834, + -0.9917637589870724 + ], + [ + 0.8737536285074249, + 0.47716390621043137, + 0.09417644758702236, + 0.48186900687992185, + -0.8755647379489059, + -0.03447680189665408, + 0.06600649118583944, + 0.07550494202677066, + -0.9949583643805741 + ], + [ + 0.858760995807559, + 0.5090193164236834, + 0.05855670403272239, + 0.5115599422259971, + -0.8582240837460788, + -0.04192669302411105, + 0.028913277042634876, + 0.06596027278422771, + -0.9974032608854286 + ], + [ + 0.8158111060255867, + 0.5780247068558036, + 0.018430343175632507, + 0.5780177491545272, + -0.8139451612687363, + -0.058213023538943, + -0.018647277217959165, + 0.0581438965969232, + -0.9981340422713191 + ], + [ + 0.7618848212294684, + 0.6473697943483329, + -0.02106818799845928, + 0.6439599970051676, + -0.7605662571719053, + -0.08279185170428416, + -0.06962069690290233, + 0.049510784854583045, + -0.9963441377083713 + ], + [ + 0.7105818382361004, + 0.7034918932270033, + -0.013138010994453296, + 0.6989182802374245, + -0.7078697391003297, + -0.10214533771049751, + -0.08115841742521043, + 0.06340022578758896, + -0.9946827246168084 + ], + [ + 0.6490700457263456, + 0.7598403491037726, + 0.03675213755220921, + 0.7575006190302969, + -0.6411152147749695, + -0.12314257408695652, + -0.07000634192354639, + 0.10776792313996587, + -0.9917082165801501 + ], + [ + 0.5910766021341175, + 0.7989609067468586, + 0.11085991114836606, + 0.8056634257515625, + -0.5781010259593636, + -0.12925033149275755, + -0.0391777336741513, + 0.16571262255775387, + -0.9853955712855567 + ], + [ + 0.5472517868129192, + 0.8282857197901506, + 0.12024245598697483, + 0.8361069496716517, + -0.5345026046760073, + -0.12341853307072767, + -0.03795590258225395, + 0.16807656584508243, + -0.9850429520954355 + ], + [ + 0.5409089641586682, + 0.8329343255484004, + 0.11678142753035742, + 0.8405878296743757, + -0.5306006856801276, + -0.10897253304893488, + -0.02880265779610358, + 0.1571092666872641, + -0.9871611242471366 + ], + [ + 0.5620013609290231, + 0.8167710749842262, + 0.13053536449191663, + 0.8271142482700317, + -0.5537912959663222, + -0.09590214189809251, + -0.00604074685998008, + 0.1618647941371225, + -0.9867944556980043 + ], + [ + 0.5713228367506326, + 0.805411430035173, + 0.15780571781753444, + 0.8207246563487652, + -0.5609243662173127, + -0.10851218293310164, + 0.001120119819880916, + 0.19151053170100943, + -0.9814899192448108 + ], + [ + 0.5813956919140407, + 0.795341350382607, + 0.1714968973345144, + 0.813595093460465, + -0.5699958407678258, + -0.11475088411178605, + 0.0064863950581940805, + 0.2062447038809738, + -0.978478946528845 + ], + [ + 0.616858782184052, + 0.7692997732503506, + 0.1663222826904674, + 0.787014743802855, + -0.6054729797177235, + -0.11836496047677365, + 0.009645510838482155, + 0.20391255407331021, + -0.978941588866243 + ], + [ + 0.646303637466823, + 0.7494257871445228, + 0.14371011711068274, + 0.7630284295457946, + -0.636892224163951, + -0.11025384575775163, + 0.008900780978770756, + 0.1809123665267474, + -0.9834589425775029 + ], + [ + 0.6312118416113933, + 0.7642454438515507, + 0.13228950284017282, + 0.7755900676438765, + -0.6231836320820663, + -0.1005097392155171, + 0.0056265426081032605, + 0.16604536204649184, + -0.9861020635619464 + ], + [ + 0.6332044731759233, + 0.7656131518796857, + 0.1135279561115001, + 0.7739701222649312, + -0.6254482254987854, + -0.09891798148783562, + -0.00472704889003648, + 0.15050255442773616, + -0.9885983188937343 + ], + [ + 0.642587022326708, + 0.7542210122187942, + 0.13502808398608154, + 0.7662003256411052, + -0.6315179105860499, + -0.1188368191954593, + -0.004356572593133268, + 0.17982155971041774, + -0.9836895988768781 + ], + [ + 0.6538815700505514, + 0.7483955061567853, + 0.1110993191363231, + 0.7552300225496689, + -0.6368023827429891, + -0.15527504104806406, + -0.0454588317915472, + 0.18543702892675012, + -0.9816040968307778 + ], + [ + 0.6904660039473812, + 0.7153863352284907, + 0.10714050943169984, + 0.7232434727072915, + -0.6800226467463232, + -0.12036643676051226, + -0.013250531281120831, + 0.16059760670842702, + -0.9869310169106518 + ], + [ + 0.7001775807842382, + 0.6929011920392869, + 0.17216066170198868, + 0.7090685410495257, + -0.7030559176510771, + -0.05416807869676337, + 0.08350544569684305, + 0.16000098351678008, + -0.9835784289077483 + ], + [ + 0.6965265137009269, + 0.681787276017566, + 0.2236446421718624, + 0.7003870214970486, + -0.7137425172455298, + -0.005444189058771809, + 0.15591291104371616, + 0.16042982682955897, + -0.9746555467616815 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0026874542236328125, + 2.35680490732193e-05, + -0.004218690097332001, + 0.007760323584079742, + 0.016748424619436264, + 0.0003522932529449463, + 1.0 + ], + [ + -0.0009573251008987427, + 0.001812143251299858, + 0.0018118247389793396, + -0.013609863817691803, + 0.0061196982860565186, + 0.005298972129821777, + 1.0 + ], + [ + -0.004536807537078857, + 0.006113095209002495, + 0.015311099588871002, + -0.027882196009159088, + -0.011448327451944351, + -0.008704215288162231, + 1.0 + ], + [ + -0.0038315653800964355, + 0.01196788065135479, + 0.010531172156333923, + 0.014752447605133057, + -0.028011426329612732, + 0.006893426179885864, + 1.0 + ], + [ + -0.007992878556251526, + 0.009429867379367352, + -0.00958331674337387, + 0.0208263099193573, + -0.013308785855770111, + -0.012508243322372437, + 1.0 + ], + [ + -0.00563088059425354, + 0.0043712216429412365, + -0.013900913298130035, + 0.017883826047182083, + -0.024613283574581146, + -0.01081150770187378, + 1.0 + ], + [ + 0.0014945566654205322, + 0.00442293006926775, + -0.012539591640233994, + 0.008625734597444534, + -0.022659599781036377, + 0.016636192798614502, + 1.0 + ], + [ + -0.0002308487892150879, + -0.0011909669265151024, + -0.010922744870185852, + -0.0054947808384895325, + 0.008530929684638977, + -0.007356017827987671, + 1.0 + ], + [ + -0.0027420073747634888, + -0.0042692143470048904, + -0.0113336481153965, + 0.0025169402360916138, + 0.02049131691455841, + 0.0033004283905029297, + 1.0 + ], + [ + 0.003118351101875305, + -0.0034293662756681442, + -0.005683582276105881, + 0.0117567777633667, + -0.008179917931556702, + 0.0008454620838165283, + 1.0 + ], + [ + 0.0027990639209747314, + -0.00011999718844890594, + -0.001742251217365265, + 0.004433434456586838, + -0.005492359399795532, + 0.0011295676231384277, + 0.0 + ], + [ + 0.0008135437965393066, + 0.0009369729086756706, + -0.0005960874259471893, + -0.007477696985006332, + 0.0015943795442581177, + 0.016215145587921143, + 0.0 + ], + [ + 0.007209792733192444, + 0.001789832953363657, + -0.0007546227425336838, + -0.028440937399864197, + 0.019239209592342377, + 0.04189789295196533, + 0.0 + ], + [ + 0.007726356387138367, + 0.0021086926572024822, + -0.0012255515903234482, + -0.019264154136180878, + 0.022754840552806854, + 0.02761399745941162, + 0.0 + ], + [ + 0.0036031752824783325, + 0.0011614225804805756, + 0.00048117712140083313, + 0.01668372005224228, + 0.023250006139278412, + 0.00030416250228881836, + 0.0 + ], + [ + 0.0006736516952514648, + -0.00552362622693181, + 0.002122398465871811, + 0.009706519544124603, + 0.03713721036911011, + 0.033259570598602295, + 0.0 + ], + [ + -0.001462981104850769, + -0.01458963192999363, + 0.005284536629915237, + 0.007849007844924927, + 0.04756566509604454, + 0.07917231321334839, + 0.0 + ], + [ + -0.001988813281059265, + -0.019620761275291443, + 0.00576062873005867, + 0.008535224944353104, + 0.05102870613336563, + 0.08529162406921387, + 0.0 + ], + [ + -0.00028774142265319824, + -0.016563456505537033, + 0.003646980971097946, + -0.014001425355672836, + 0.01157071441411972, + 0.07541114091873169, + 0.0 + ], + [ + 0.001210734248161316, + -0.025577768683433533, + 0.007875334471464157, + -0.04459119588136673, + -0.011184126138687134, + 0.08521121740341187, + 0.0 + ], + [ + 0.009802296757698059, + -0.029465071856975555, + 0.009321864694356918, + -0.05836545675992966, + -0.030875887721776962, + 0.07550567388534546, + 0.0 + ], + [ + 0.010732680559158325, + -0.023928701877593994, + -0.0007454380393028259, + -0.002391412854194641, + -0.0012227408587932587, + 0.05340731143951416, + 0.0 + ], + [ + 0.008229970932006836, + -0.015769079327583313, + -0.006920218467712402, + 0.011172190308570862, + -0.009158380329608917, + 0.007764339447021484, + 0.0 + ], + [ + 0.0006717145442962646, + -0.00607357919216156, + -0.005873639136552811, + -0.004754155874252319, + -0.022765858098864555, + -0.025031447410583496, + 0.0 + ], + [ + 0.003235161304473877, + -0.004264086484909058, + 0.00042306631803512573, + -0.03011798858642578, + -0.007160903885960579, + -0.01130133867263794, + 0.0 + ], + [ + 0.001452326774597168, + -0.0010648667812347412, + -0.002720467746257782, + -0.01503896713256836, + -0.005366320721805096, + -0.012340903282165527, + 0.0 + ], + [ + 3.147125244140625e-05, + 0.0008631199598312378, + -0.0012112781405448914, + 0.002377539873123169, + -0.003159219864755869, + -0.04432380199432373, + 1.0 + ], + [ + -0.0027647316455841064, + 0.0036897659301757812, + -0.0024557560682296753, + 0.023441150784492493, + 0.0007447618991136551, + -0.03798210620880127, + 1.0 + ], + [ + -0.0004774332046508789, + 0.006018504500389099, + 0.001359257847070694, + 0.015100672841072083, + 0.0032743262127041817, + 0.019636452198028564, + 1.0 + ], + [ + -0.0020931661128997803, + 0.004455745220184326, + 0.002919599413871765, + 0.015742361545562744, + 0.010353638790547848, + -0.002568066120147705, + 1.0 + ], + [ + 0.0011830031871795654, + 0.001602455973625183, + 0.011861123144626617, + -0.029728487133979797, + -0.00037048012018203735, + -0.012182235717773438, + 1.0 + ], + [ + -0.002584785223007202, + 0.006124436855316162, + 0.014385052025318146, + -0.005905091762542725, + 0.041117917746305466, + -0.01572030782699585, + 1.0 + ], + [ + 0.0011182129383087158, + 0.009155727922916412, + 0.012686207890510559, + 0.02540150284767151, + -0.03222358226776123, + -0.04861873388290405, + 1.0 + ], + [ + 0.015883654356002808, + 0.014354825019836426, + 0.0076712965965271, + 5.058944225311279e-05, + -0.09685371816158295, + -0.0168723464012146, + 1.0 + ], + [ + 0.03173786401748657, + 0.009380869567394257, + 0.0069151222705841064, + -0.0018789321184158325, + -0.07294879853725433, + -0.0035453438758850098, + 1.0 + ], + [ + 0.033652156591415405, + 0.0026787295937538147, + 0.004014506936073303, + -0.0026067793369293213, + -0.035107389092445374, + -0.03185337781906128, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 0.9968144297599792 + ], + [ + 0.9430103898048401 + ], + [ + 0.6941980719566345 + ], + [ + 0.4256414473056793 + ], + [ + 0.22553777694702148 + ], + [ + 0.12795238196849823 + ], + [ + 0.0885477215051651 + ], + [ + 0.07755524665117264 + ], + [ + 0.06803370267152786 + ], + [ + 0.06681985408067703 + ], + [ + 0.06681985408067703 + ], + [ + 0.06681985408067703 + ], + [ + 0.06681985408067703 + ], + [ + 0.06681985408067703 + ], + [ + 0.0665184035897255 + ], + [ + 0.0665184035897255 + ], + [ + 0.0665184035897255 + ], + [ + 0.09107078611850739 + ], + [ + 0.24793511629104614 + ], + [ + 0.4860933721065521 + ], + [ + 0.7701175808906555 + ], + [ + 0.9830701947212219 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.23119349777698517, + -0.02422238700091839, + 0.06878381222486496 + ], + [ + 0.23023617267608643, + -0.02241024374961853, + 0.0705956369638443 + ], + [ + 0.22569936513900757, + -0.016297148540616035, + 0.0859067365527153 + ], + [ + 0.22186779975891113, + -0.004329268354922533, + 0.09643790870904922 + ], + [ + 0.2138749212026596, + 0.0051005990244448185, + 0.08685459196567535 + ], + [ + 0.20824404060840607, + 0.009471820667386055, + 0.07295367866754532 + ], + [ + 0.2097385972738266, + 0.013894750736653805, + 0.060414087027311325 + ], + [ + 0.2095077484846115, + 0.012703783810138702, + 0.04949134215712547 + ], + [ + 0.20676574110984802, + 0.008434569463133812, + 0.03815769404172897 + ], + [ + 0.20988409221172333, + 0.005005203187465668, + 0.03247411176562309 + ], + [ + 0.21268315613269806, + 0.004885205999016762, + 0.030731860548257828 + ], + [ + 0.21349669992923737, + 0.005822178907692432, + 0.03013577312231064 + ], + [ + 0.2207064926624298, + 0.007612011861056089, + 0.029381150379776955 + ], + [ + 0.22843284904956818, + 0.009720704518258572, + 0.028155598789453506 + ], + [ + 0.2320360243320465, + 0.010882127098739147, + 0.02863677591085434 + ], + [ + 0.23270967602729797, + 0.005358500871807337, + 0.03075917437672615 + ], + [ + 0.2312466949224472, + -0.009231130592525005, + 0.03604371100664139 + ], + [ + 0.22925788164138794, + -0.028851892799139023, + 0.04180433973670006 + ], + [ + 0.22897014021873474, + -0.045415349304676056, + 0.045451320707798004 + ], + [ + 0.23018087446689606, + -0.07099311798810959, + 0.05332665517926216 + ], + [ + 0.23998317122459412, + -0.10045818984508514, + 0.06264851987361908 + ], + [ + 0.25071585178375244, + -0.12438689172267914, + 0.061903081834316254 + ], + [ + 0.2589458227157593, + -0.14015597105026245, + 0.05498286336660385 + ], + [ + 0.25961753726005554, + -0.146229550242424, + 0.04910922423005104 + ], + [ + 0.2628526985645294, + -0.15049363672733307, + 0.049532290548086166 + ], + [ + 0.2643050253391266, + -0.1515585035085678, + 0.046811822801828384 + ], + [ + 0.264336496591568, + -0.15069538354873657, + 0.04560054466128349 + ], + [ + 0.2615717649459839, + -0.1470056176185608, + 0.04314478859305382 + ], + [ + 0.261094331741333, + -0.1409871131181717, + 0.04450404644012451 + ], + [ + 0.2590011656284332, + -0.13653136789798737, + 0.04742364585399628 + ], + [ + 0.2601841688156128, + -0.13492891192436218, + 0.059284768998622894 + ], + [ + 0.2575993835926056, + -0.12880447506904602, + 0.07366982102394104 + ], + [ + 0.2587175965309143, + -0.11964874714612961, + 0.0863560289144516 + ], + [ + 0.2746012508869171, + -0.10529392212629318, + 0.0940273255109787 + ], + [ + 0.3063391149044037, + -0.09591305255889893, + 0.1009424477815628 + ], + [ + 0.3399912714958191, + -0.09323432296514511, + 0.10495695471763611 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9104207994581544, + 0.4061601102822544, + 0.07853618738824422, + 0.4101049583177403, + -0.9110482618372145, + -0.042485147600001896, + 0.05429448477680707, + 0.07088744189838159, + -0.9960055619844319 + ], + [ + 0.9085201053990294, + 0.4103421339189683, + 0.07880705055109823, + 0.4150537706429371, + -0.9080117970904975, + -0.056964408357892085, + 0.048182834711295454, + 0.08446247376978737, + -0.9952610235329581 + ], + [ + 0.9115348908012033, + 0.3989112655551096, + 0.09986964035811367, + 0.4068786787797909, + -0.9101109079449419, + -0.0784083923699814, + 0.05961445803200678, + 0.1121068126959911, + -0.9919063357700141 + ], + [ + 0.9068320416343306, + 0.40412979932032866, + 0.11972783121155403, + 0.4122994263007933, + -0.909516043449797, + -0.05281808193662118, + 0.08754902248082636, + 0.09726084519855749, + -0.9914007749915842 + ], + [ + 0.9107707450223858, + 0.39418362931687323, + 0.12294680308957313, + 0.40042015456277813, + -0.9158424400330807, + -0.02993868491056237, + 0.10079856066080158, + 0.07649765625710966, + -0.9919615712092278 + ], + [ + 0.9124878106351798, + 0.3850623421415468, + 0.13817737914247386, + 0.3894580346529497, + -0.9210293908223601, + -0.005224986665477528, + 0.12525348173395584, + 0.058582027157302936, + -0.9903937153514571 + ], + [ + 0.9030589284107458, + 0.400474640432382, + 0.15525667196030712, + 0.40332259834305184, + -0.9149491448865746, + 0.014104748744145652, + 0.14770055342971922, + 0.04988110505873493, + -0.9877734668812858 + ], + [ + 0.90712257766915, + 0.3933063832720806, + 0.14979558725246983, + 0.39715974297779605, + -0.917738277663525, + 0.004537870535587928, + 0.13925791769478696, + 0.05537637211502752, + -0.988706574151649 + ], + [ + 0.908226718962022, + 0.39770157184623606, + 0.13022168296606335, + 0.40122047829283375, + -0.9159811065971045, + -0.0008603229707881237, + 0.11893844946841413, + 0.053028974232748244, + -0.9914845299498487 + ], + [ + 0.9069672096325958, + 0.3996700131128911, + 0.13294495578849272, + 0.40158086875778376, + -0.9157270117678533, + 0.013298336981046231, + 0.1270562336094002, + 0.0413269952580546, + -0.9910342037305948 + ], + [ + 0.9058615802024342, + 0.4011042079076139, + 0.1361257209786422, + 0.40231577316603473, + -0.9152886614024084, + 0.019715094978311018, + 0.13250213649207795, + 0.03690637759241245, + -0.9904953826838577 + ], + [ + 0.8994096850892856, + 0.41492946732439734, + 0.13746183293367026, + 0.4170392555108345, + -0.9087734373649693, + 0.014460252516039378, + 0.13092164729547712, + 0.04432128930605002, + -0.9904015072604083 + ], + [ + 0.8832279498865642, + 0.44979915237266443, + 0.1326239460429714, + 0.45541581206913984, + -0.8901710020715821, + -0.013857315334538291, + 0.11182498225612326, + 0.07263821030082952, + -0.9910695554539599 + ], + [ + 0.8723200241759614, + 0.473386588120658, + 0.12232298888243562, + 0.48073241734583266, + -0.8760448676649687, + -0.03797015605313717, + 0.08918586398349321, + 0.09192675358865834, + -0.9917637589870724 + ], + [ + 0.8737536285074249, + 0.47716390621043137, + 0.09417644758702236, + 0.48186900687992185, + -0.8755647379489059, + -0.03447680189665408, + 0.06600649118583944, + 0.07550494202677066, + -0.9949583643805741 + ], + [ + 0.858760995807559, + 0.5090193164236834, + 0.05855670403272239, + 0.5115599422259971, + -0.8582240837460788, + -0.04192669302411105, + 0.028913277042634876, + 0.06596027278422771, + -0.9974032608854286 + ], + [ + 0.8158111060255867, + 0.5780247068558036, + 0.018430343175632507, + 0.5780177491545272, + -0.8139451612687363, + -0.058213023538943, + -0.018647277217959165, + 0.0581438965969232, + -0.9981340422713191 + ], + [ + 0.7618848212294684, + 0.6473697943483329, + -0.02106818799845928, + 0.6439599970051676, + -0.7605662571719053, + -0.08279185170428416, + -0.06962069690290233, + 0.049510784854583045, + -0.9963441377083713 + ], + [ + 0.7105818382361004, + 0.7034918932270033, + -0.013138010994453296, + 0.6989182802374245, + -0.7078697391003297, + -0.10214533771049751, + -0.08115841742521043, + 0.06340022578758896, + -0.9946827246168084 + ], + [ + 0.6490700457263456, + 0.7598403491037726, + 0.03675213755220921, + 0.7575006190302969, + -0.6411152147749695, + -0.12314257408695652, + -0.07000634192354639, + 0.10776792313996587, + -0.9917082165801501 + ], + [ + 0.5910766021341175, + 0.7989609067468586, + 0.11085991114836606, + 0.8056634257515625, + -0.5781010259593636, + -0.12925033149275755, + -0.0391777336741513, + 0.16571262255775387, + -0.9853955712855567 + ], + [ + 0.5472517868129192, + 0.8282857197901506, + 0.12024245598697483, + 0.8361069496716517, + -0.5345026046760073, + -0.12341853307072767, + -0.03795590258225395, + 0.16807656584508243, + -0.9850429520954355 + ], + [ + 0.5409089641586682, + 0.8329343255484004, + 0.11678142753035742, + 0.8405878296743757, + -0.5306006856801276, + -0.10897253304893488, + -0.02880265779610358, + 0.1571092666872641, + -0.9871611242471366 + ], + [ + 0.5620013609290231, + 0.8167710749842262, + 0.13053536449191663, + 0.8271142482700317, + -0.5537912959663222, + -0.09590214189809251, + -0.00604074685998008, + 0.1618647941371225, + -0.9867944556980043 + ], + [ + 0.5713228367506326, + 0.805411430035173, + 0.15780571781753444, + 0.8207246563487652, + -0.5609243662173127, + -0.10851218293310164, + 0.001120119819880916, + 0.19151053170100943, + -0.9814899192448108 + ], + [ + 0.5813956919140407, + 0.795341350382607, + 0.1714968973345144, + 0.813595093460465, + -0.5699958407678258, + -0.11475088411178605, + 0.0064863950581940805, + 0.2062447038809738, + -0.978478946528845 + ], + [ + 0.616858782184052, + 0.7692997732503506, + 0.1663222826904674, + 0.787014743802855, + -0.6054729797177235, + -0.11836496047677365, + 0.009645510838482155, + 0.20391255407331021, + -0.978941588866243 + ], + [ + 0.646303637466823, + 0.7494257871445228, + 0.14371011711068274, + 0.7630284295457946, + -0.636892224163951, + -0.11025384575775163, + 0.008900780978770756, + 0.1809123665267474, + -0.9834589425775029 + ], + [ + 0.6312118416113933, + 0.7642454438515507, + 0.13228950284017282, + 0.7755900676438765, + -0.6231836320820663, + -0.1005097392155171, + 0.0056265426081032605, + 0.16604536204649184, + -0.9861020635619464 + ], + [ + 0.6332044731759233, + 0.7656131518796857, + 0.1135279561115001, + 0.7739701222649312, + -0.6254482254987854, + -0.09891798148783562, + -0.00472704889003648, + 0.15050255442773616, + -0.9885983188937343 + ], + [ + 0.642587022326708, + 0.7542210122187942, + 0.13502808398608154, + 0.7662003256411052, + -0.6315179105860499, + -0.1188368191954593, + -0.004356572593133268, + 0.17982155971041774, + -0.9836895988768781 + ], + [ + 0.6538815700505514, + 0.7483955061567853, + 0.1110993191363231, + 0.7552300225496689, + -0.6368023827429891, + -0.15527504104806406, + -0.0454588317915472, + 0.18543702892675012, + -0.9816040968307778 + ], + [ + 0.6904660039473812, + 0.7153863352284907, + 0.10714050943169984, + 0.7232434727072915, + -0.6800226467463232, + -0.12036643676051226, + -0.013250531281120831, + 0.16059760670842702, + -0.9869310169106518 + ], + [ + 0.7001775807842382, + 0.6929011920392869, + 0.17216066170198868, + 0.7090685410495257, + -0.7030559176510771, + -0.05416807869676337, + 0.08350544569684305, + 0.16000098351678008, + -0.9835784289077483 + ], + [ + 0.6965265137009269, + 0.681787276017566, + 0.2236446421718624, + 0.7003870214970486, + -0.7137425172455298, + -0.005444189058771809, + 0.15591291104371616, + 0.16042982682955897, + -0.9746555467616815 + ], + [ + 0.7140557674047989, + 0.6539764222782811, + 0.24987837069270996, + 0.6736755682198288, + -0.7389733686308037, + 0.008921280072575602, + 0.19048776816277407, + 0.16196666187380027, + -0.9682361337100694 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005476.json b/json/chunk-0005/episode_0005476.json new file mode 100644 index 0000000000000000000000000000000000000000..3313c412f52eb3c6f45d0979c83bbba0991cfab0 --- /dev/null +++ b/json/chunk-0005/episode_0005476.json @@ -0,0 +1,1282 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 20, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nClose brown1fbox flap." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005476.mp4", + "start": 0, + "end": 20, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.18374422192573547, + -0.1072721779346466, + 0.08465930819511414, + 0.2619304060935974, + -0.16632899641990662, + -0.053800806403160095, + 0.0, + 1.00800359249115 + ], + [ + 0.18266592919826508, + -0.10536707192659378, + 0.07778467237949371, + 0.2831260859966278, + -0.15594401955604553, + -0.08076245337724686, + 0.0, + 1.00800359249115 + ], + [ + 0.18444319069385529, + -0.10613006353378296, + 0.06779253482818604, + 0.34515488147735596, + -0.16332238912582397, + -0.22273047268390656, + 0.0, + 1.00800359249115 + ], + [ + 0.18713407218456268, + -0.1081271767616272, + 0.06209922954440117, + 0.41836750507354736, + -0.14373457431793213, + -0.35287532210350037, + 0.0, + 1.00800359249115 + ], + [ + 0.18697409331798553, + -0.1092885360121727, + 0.05666797608137131, + 0.474597692489624, + -0.11935760080814362, + -0.4098091423511505, + 0.0, + 1.00800359249115 + ], + [ + 0.18309907615184784, + -0.11210153251886368, + 0.0497918501496315, + 0.5625155568122864, + -0.09159168601036072, + -0.4511493444442749, + 0.0, + 1.00800359249115 + ], + [ + 0.18648770451545715, + -0.11604465544223785, + 0.046199481934309006, + 0.6737211346626282, + -0.07844559848308563, + -0.4777308702468872, + 0.0, + 1.00800359249115 + ], + [ + 0.189859539270401, + -0.11551814526319504, + 0.0430021658539772, + 0.7223575115203857, + -0.07523944228887558, + -0.49938303232192993, + 0.0, + 1.00800359249115 + ], + [ + 0.19422775506973267, + -0.11077756434679031, + 0.04730309173464775, + 0.7645366787910461, + -0.04401414468884468, + -0.5412843823432922, + 0.0, + 1.00800359249115 + ], + [ + 0.19699221849441528, + -0.104490727186203, + 0.05062578618526459, + 0.7920333743095398, + -0.003970910795032978, + -0.5595394372940063, + 0.0, + 1.00800359249115 + ], + [ + 0.19825342297554016, + -0.10318513214588165, + 0.05860280618071556, + 0.8033198714256287, + -0.0038107794243842363, + -0.5655637383460999, + 0.0, + 1.00800359249115 + ], + [ + 0.19924157857894897, + -0.10273567587137222, + 0.06554778665304184, + 0.8253872990608215, + 0.014650932513177395, + -0.5581094622612, + 0.0, + 1.00800359249115 + ], + [ + 0.20028845965862274, + -0.10311214625835419, + 0.08324771374464035, + 0.8360357284545898, + 0.016855107620358467, + -0.5518465638160706, + 0.0, + 1.00800359249115 + ], + [ + 0.19978079199790955, + -0.09950589388608932, + 0.10241451114416122, + 0.8727232813835144, + 0.043245863169431686, + -0.5438901782035828, + 0.0, + 1.0086473226547241 + ], + [ + 0.198855459690094, + -0.09356575459241867, + 0.12809808552265167, + 0.8881072402000427, + 0.05851806327700615, + -0.562450110912323, + 0.0, + 1.00800359249115 + ], + [ + 0.19986265897750854, + -0.08101769536733627, + 0.15077418088912964, + 0.8934267163276672, + 0.11805634945631027, + -0.5662199854850769, + 0.0, + 1.00800359249115 + ], + [ + 0.19851933419704437, + -0.06630358844995499, + 0.17341740429401398, + 0.9080850481987, + 0.15162959694862366, + -0.5869013667106628, + 0.0, + 1.00800359249115 + ], + [ + 0.19556988775730133, + -0.04026519134640694, + 0.18376339972019196, + 0.9201586246490479, + 0.13956934213638306, + -0.6478484272956848, + 0.0, + 1.00800359249115 + ], + [ + 0.1944410800933838, + -0.009838899597525597, + 0.1883750855922699, + 0.9088033437728882, + 0.12363972514867783, + -0.6864797472953796, + 0.0, + 1.00800359249115 + ], + [ + 0.18977618217468262, + 0.02255578525364399, + 0.1881427764892578, + 0.8953747749328613, + 0.08481868356466293, + -0.7234596014022827, + 0.0, + 1.00800359249115 + ] + ], + "left_gripper_pos": [ + [ + 1.00800359249115 + ], + [ + 1.00800359249115 + ], + [ + 1.00800359249115 + ], + [ + 1.00800359249115 + ], + [ + 1.00800359249115 + ], + [ + 1.00800359249115 + ], + [ + 1.00800359249115 + ], + [ + 1.00800359249115 + ], + [ + 1.00800359249115 + ], + [ + 1.00800359249115 + ], + [ + 1.00800359249115 + ], + [ + 1.00800359249115 + ], + [ + 1.00800359249115 + ], + [ + 1.0086473226547241 + ], + [ + 1.00800359249115 + ], + [ + 1.00800359249115 + ], + [ + 1.00800359249115 + ], + [ + 1.00800359249115 + ], + [ + 1.00800359249115 + ], + [ + 1.00800359249115 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.18374422192573547, + -0.1072721779346466, + 0.08465930819511414 + ], + [ + 0.18266592919826508, + -0.10536707192659378, + 0.07778467237949371 + ], + [ + 0.18444319069385529, + -0.10613006353378296, + 0.06779253482818604 + ], + [ + 0.18713407218456268, + -0.1081271767616272, + 0.06209922954440117 + ], + [ + 0.18697409331798553, + -0.1092885360121727, + 0.05666797608137131 + ], + [ + 0.18309907615184784, + -0.11210153251886368, + 0.0497918501496315 + ], + [ + 0.18648770451545715, + -0.11604465544223785, + 0.046199481934309006 + ], + [ + 0.189859539270401, + -0.11551814526319504, + 0.0430021658539772 + ], + [ + 0.19422775506973267, + -0.11077756434679031, + 0.04730309173464775 + ], + [ + 0.19699221849441528, + -0.104490727186203, + 0.05062578618526459 + ], + [ + 0.19825342297554016, + -0.10318513214588165, + 0.05860280618071556 + ], + [ + 0.19924157857894897, + -0.10273567587137222, + 0.06554778665304184 + ], + [ + 0.20028845965862274, + -0.10311214625835419, + 0.08324771374464035 + ], + [ + 0.19978079199790955, + -0.09950589388608932, + 0.10241451114416122 + ], + [ + 0.198855459690094, + -0.09356575459241867, + 0.12809808552265167 + ], + [ + 0.19986265897750854, + -0.08101769536733627, + 0.15077418088912964 + ], + [ + 0.19851933419704437, + -0.06630358844995499, + 0.17341740429401398 + ], + [ + 0.19556988775730133, + -0.04026519134640694, + 0.18376339972019196 + ], + [ + 0.1944410800933838, + -0.009838899597525597, + 0.1883750855922699 + ], + [ + 0.18977618217468262, + 0.02255578525364399, + 0.1881427764892578 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9847722477905863, + -0.009130885644741946, + 0.17360946664516586, + -0.05303271913956401, + -0.966799772350964, + 0.24997146013652874, + 0.16556313201356282, + -0.2553719387667069, + -0.952561820675379 + ], + [ + 0.9846453911215349, + -0.034216241365444974, + 0.17118032179529713, + -0.07969572664132729, + -0.960557398692619, + 0.26641710713086736, + 0.15531273256958267, + -0.2759687167845131, + -0.948535303748932 + ], + [ + 0.9623191829673663, + -0.1542112383843144, + 0.2239658100000903, + -0.217953931891336, + -0.9299299901366377, + 0.29618625393083226, + 0.16259727447324346, + -0.333839942787631, + -0.9285004140728337 + ], + [ + 0.9287062456800965, + -0.26118245129867645, + 0.26322696740340795, + -0.3420335706581543, + -0.8775622692612541, + 0.3360022323019172, + 0.14324016817085078, + -0.40207983125575036, + -0.9043307268470611 + ], + [ + 0.9106713342850409, + -0.3044889952396222, + 0.27922065233336335, + -0.39559955437552113, + -0.8375058834148291, + 0.37694149124689913, + 0.11907440316622517, + -0.4537293764167275, + -0.8831483111499989 + ], + [ + 0.8961743781389292, + -0.32492108897376076, + 0.30215520830759957, + -0.4341726378347301, + -0.7825470601844432, + 0.44622216344811644, + 0.09146367870874066, + -0.5310803936663363, + -0.8423704713131114 + ], + [ + 0.8853095034707932, + -0.31589109583057995, + 0.34123290966618924, + -0.45835137559962646, + -0.7164872897878942, + 0.525889703320315, + 0.0783651679652923, + -0.6219797256722716, + -0.7791021250788744 + ], + [ + 0.8753945342481986, + -0.31565349576909646, + 0.36612467824107287, + -0.4775291717586046, + -0.6824269400102835, + 0.5534070488056171, + 0.07516847429555296, + -0.6592847200997083, + -0.7481265657060501 + ], + [ + 0.8562176053244216, + -0.34574531264237823, + 0.38386402686151366, + -0.5147382034096406, + -0.634226483544337, + 0.5768893737291406, + 0.04399993503549929, + -0.6915323176517557, + -0.7210042020405033 + ], + [ + 0.8474929839636881, + -0.37043537678214494, + 0.3801753197678596, + -0.530791742666236, + -0.596783548791796, + 0.601755367079356, + 0.003970900359399898, + -0.7117773721605235, + -0.7023939097334169 + ], + [ + 0.844280501432607, + -0.3697657173782948, + 0.3878965701735724, + -0.5358879667721428, + -0.5876759010302506, + 0.6061857161110796, + 0.0038107702010092004, + -0.7196598846677497, + -0.6943163028695761 + ], + [ + 0.8481667863003185, + -0.36833360072383503, + 0.38071440896662223, + -0.5295266453647324, + -0.5696487797970319, + 0.6285712366347396, + -0.01465040838212292, + -0.7347316695594164, + -0.6781996308467514 + ], + [ + 0.8514369351577397, + -0.3621186639359773, + 0.3793747733817021, + -0.5241861097916841, + -0.564336264623409, + 0.6377722969307762, + -0.016854309557370023, + -0.7418858764393081, + -0.6703143132808846 + ], + [ + 0.8549020713745243, + -0.3609397136836997, + 0.3726459062507964, + -0.516984921710593, + -0.532857931995485, + 0.6699171702780783, + -0.04323238466058113, + -0.7653658911889297, + -0.6421417394322967 + ], + [ + 0.8445030953029262, + -0.37481102522473264, + 0.38253263572375296, + -0.532347692082445, + -0.5094973014927623, + 0.6760313857404014, + -0.058484671139290595, + -0.77455096355345, + -0.6298018324045676 + ], + [ + 0.8380605131534751, + -0.4136703325618308, + 0.3557125697120055, + -0.5327118394595668, + -0.4796979948366746, + 0.69721440737357, + -0.11778230933607461, + -0.7738001613516619, + -0.6223830315003802 + ], + [ + 0.8231068985966082, + -0.4398689913588485, + 0.3591800438827606, + -0.5474295964732455, + -0.446357425212773, + 0.7078742020038328, + -0.1510492316690559, + -0.7792819254919062, + -0.6081971803731211 + ], + [ + 0.7896302946609887, + -0.4537857161442394, + 0.41299215679847884, + -0.5976040105154866, + -0.41616946212246164, + 0.6853265100756766, + -0.13911665741170492, + -0.7879603433042554, + -0.5998041788871045 + ], + [ + 0.7675775056430277, + -0.4648421564251543, + 0.4413009658281294, + -0.6289799105147663, + -0.41379712115620837, + 0.6581460435888606, + -0.12332495692139542, + -0.7827475404834219, + -0.6099977400511328 + ], + [ + 0.7468255405201685, + -0.46344429390207464, + 0.4769391978820421, + -0.659601878878147, + -0.42485154673413633, + 0.6200213904519991, + -0.08471701958388525, + -0.777637801092012, + -0.6229787130437155 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.001078292727470398, + 0.001905106008052826, + -0.006874635815620422, + 0.021195679903030396, + 0.010384976863861084, + -0.02696164697408676, + 1.0 + ], + [ + 0.00177726149559021, + -0.0007629916071891785, + -0.009992137551307678, + 0.06202879548072815, + -0.007378369569778442, + -0.1419680118560791, + 1.0 + ], + [ + 0.0026908814907073975, + -0.0019971132278442383, + -0.005693305283784866, + 0.0732126235961914, + 0.019587814807891846, + -0.1301448494195938, + 1.0 + ], + [ + -0.00015997886657714844, + -0.0011613592505455017, + -0.0054312534630298615, + 0.05623018741607666, + 0.024376973509788513, + -0.056933820247650146, + 1.0 + ], + [ + -0.0038750171661376953, + -0.002812996506690979, + -0.006876125931739807, + 0.08791786432266235, + 0.027765914797782898, + -0.04134020209312439, + 1.0 + ], + [ + 0.003388628363609314, + -0.003943122923374176, + -0.0035923682153224945, + 0.1112055778503418, + 0.013146087527275085, + -0.026581525802612305, + 1.0 + ], + [ + 0.0033718347549438477, + 0.0005265101790428162, + -0.0031973160803318024, + 0.04863637685775757, + 0.0032061561942100525, + -0.021652162075042725, + 1.0 + ], + [ + 0.004368215799331665, + 0.004740580916404724, + 0.0043009258806705475, + 0.0421791672706604, + 0.0312252976000309, + -0.041901350021362305, + 1.0 + ], + [ + 0.002764463424682617, + 0.006286837160587311, + 0.0033226944506168365, + 0.027496695518493652, + 0.04004323482513428, + -0.01825505495071411, + 1.0 + ], + [ + 0.001261204481124878, + 0.00130559504032135, + 0.007977019995450974, + 0.011286497116088867, + 0.00016013137064874172, + -0.006024301052093506, + 1.0 + ], + [ + 0.0009881556034088135, + 0.00044945627450942993, + 0.006944980472326279, + 0.02206742763519287, + 0.018461711704730988, + 0.007454276084899902, + 1.0 + ], + [ + 0.001046881079673767, + -0.0003764703869819641, + 0.01769992709159851, + 0.01064842939376831, + 0.0022041751071810722, + 0.0062628984451293945, + 1.0 + ], + [ + -0.0005076676607131958, + 0.003606252372264862, + 0.019166797399520874, + 0.03668755292892456, + 0.02639075554907322, + 0.007956385612487793, + 1.0 + ], + [ + -0.0009253323078155518, + 0.005940139293670654, + 0.025683574378490448, + 0.01538395881652832, + 0.015272200107574463, + -0.018559932708740234, + 1.0 + ], + [ + 0.0010071992874145508, + 0.012548059225082397, + 0.022676095366477966, + 0.005319476127624512, + 0.05953828617930412, + -0.0037698745727539062, + 1.0 + ], + [ + -0.0013433247804641724, + 0.014714106917381287, + 0.02264322340488434, + 0.014658331871032715, + 0.033573247492313385, + -0.020681381225585938, + 1.0 + ], + [ + -0.002949446439743042, + 0.02603839710354805, + 0.010345995426177979, + 0.0120735764503479, + -0.0120602548122406, + -0.06094706058502197, + 1.0 + ], + [ + -0.0011288076639175415, + 0.03042629174888134, + 0.004611685872077942, + -0.011355280876159668, + -0.01592961698770523, + -0.038631319999694824, + 1.0 + ], + [ + -0.004664897918701172, + 0.032394684851169586, + -0.00023230910301208496, + -0.013428568840026855, + -0.03882104158401489, + -0.036979854106903076, + 1.0 + ], + [ + 0.0021420568227767944, + 0.027394907549023628, + -0.00287841260433197, + -0.042832016944885254, + -0.012253008782863617, + -0.03674173355102539, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.00800359249115 + ], + [ + 1.00800359249115 + ], + [ + 1.00800359249115 + ], + [ + 1.00800359249115 + ], + [ + 1.00800359249115 + ], + [ + 1.00800359249115 + ], + [ + 1.00800359249115 + ], + [ + 1.00800359249115 + ], + [ + 1.00800359249115 + ], + [ + 1.00800359249115 + ], + [ + 1.00800359249115 + ], + [ + 1.00800359249115 + ], + [ + 1.0086473226547241 + ], + [ + 1.00800359249115 + ], + [ + 1.00800359249115 + ], + [ + 1.00800359249115 + ], + [ + 1.00800359249115 + ], + [ + 1.00800359249115 + ], + [ + 1.00800359249115 + ], + [ + 1.00800359249115 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.18266592919826508, + -0.10536707192659378, + 0.07778467237949371 + ], + [ + 0.18444319069385529, + -0.10613006353378296, + 0.06779253482818604 + ], + [ + 0.18713407218456268, + -0.1081271767616272, + 0.06209922954440117 + ], + [ + 0.18697409331798553, + -0.1092885360121727, + 0.05666797608137131 + ], + [ + 0.18309907615184784, + -0.11210153251886368, + 0.0497918501496315 + ], + [ + 0.18648770451545715, + -0.11604465544223785, + 0.046199481934309006 + ], + [ + 0.189859539270401, + -0.11551814526319504, + 0.0430021658539772 + ], + [ + 0.19422775506973267, + -0.11077756434679031, + 0.04730309173464775 + ], + [ + 0.19699221849441528, + -0.104490727186203, + 0.05062578618526459 + ], + [ + 0.19825342297554016, + -0.10318513214588165, + 0.05860280618071556 + ], + [ + 0.19924157857894897, + -0.10273567587137222, + 0.06554778665304184 + ], + [ + 0.20028845965862274, + -0.10311214625835419, + 0.08324771374464035 + ], + [ + 0.19978079199790955, + -0.09950589388608932, + 0.10241451114416122 + ], + [ + 0.198855459690094, + -0.09356575459241867, + 0.12809808552265167 + ], + [ + 0.19986265897750854, + -0.08101769536733627, + 0.15077418088912964 + ], + [ + 0.19851933419704437, + -0.06630358844995499, + 0.17341740429401398 + ], + [ + 0.19556988775730133, + -0.04026519134640694, + 0.18376339972019196 + ], + [ + 0.1944410800933838, + -0.009838899597525597, + 0.1883750855922699 + ], + [ + 0.18977618217468262, + 0.02255578525364399, + 0.1881427764892578 + ], + [ + 0.1919182389974594, + 0.04995069280266762, + 0.18526436388492584 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9846453911215349, + -0.034216241365444974, + 0.17118032179529713, + -0.07969572664132729, + -0.960557398692619, + 0.26641710713086736, + 0.15531273256958267, + -0.2759687167845131, + -0.948535303748932 + ], + [ + 0.9623191829673663, + -0.1542112383843144, + 0.2239658100000903, + -0.217953931891336, + -0.9299299901366377, + 0.29618625393083226, + 0.16259727447324346, + -0.333839942787631, + -0.9285004140728337 + ], + [ + 0.9287062456800965, + -0.26118245129867645, + 0.26322696740340795, + -0.3420335706581543, + -0.8775622692612541, + 0.3360022323019172, + 0.14324016817085078, + -0.40207983125575036, + -0.9043307268470611 + ], + [ + 0.9106713342850409, + -0.3044889952396222, + 0.27922065233336335, + -0.39559955437552113, + -0.8375058834148291, + 0.37694149124689913, + 0.11907440316622517, + -0.4537293764167275, + -0.8831483111499989 + ], + [ + 0.8961743781389292, + -0.32492108897376076, + 0.30215520830759957, + -0.4341726378347301, + -0.7825470601844432, + 0.44622216344811644, + 0.09146367870874066, + -0.5310803936663363, + -0.8423704713131114 + ], + [ + 0.8853095034707932, + -0.31589109583057995, + 0.34123290966618924, + -0.45835137559962646, + -0.7164872897878942, + 0.525889703320315, + 0.0783651679652923, + -0.6219797256722716, + -0.7791021250788744 + ], + [ + 0.8753945342481986, + -0.31565349576909646, + 0.36612467824107287, + -0.4775291717586046, + -0.6824269400102835, + 0.5534070488056171, + 0.07516847429555296, + -0.6592847200997083, + -0.7481265657060501 + ], + [ + 0.8562176053244216, + -0.34574531264237823, + 0.38386402686151366, + -0.5147382034096406, + -0.634226483544337, + 0.5768893737291406, + 0.04399993503549929, + -0.6915323176517557, + -0.7210042020405033 + ], + [ + 0.8474929839636881, + -0.37043537678214494, + 0.3801753197678596, + -0.530791742666236, + -0.596783548791796, + 0.601755367079356, + 0.003970900359399898, + -0.7117773721605235, + -0.7023939097334169 + ], + [ + 0.844280501432607, + -0.3697657173782948, + 0.3878965701735724, + -0.5358879667721428, + -0.5876759010302506, + 0.6061857161110796, + 0.0038107702010092004, + -0.7196598846677497, + -0.6943163028695761 + ], + [ + 0.8481667863003185, + -0.36833360072383503, + 0.38071440896662223, + -0.5295266453647324, + -0.5696487797970319, + 0.6285712366347396, + -0.01465040838212292, + -0.7347316695594164, + -0.6781996308467514 + ], + [ + 0.8514369351577397, + -0.3621186639359773, + 0.3793747733817021, + -0.5241861097916841, + -0.564336264623409, + 0.6377722969307762, + -0.016854309557370023, + -0.7418858764393081, + -0.6703143132808846 + ], + [ + 0.8549020713745243, + -0.3609397136836997, + 0.3726459062507964, + -0.516984921710593, + -0.532857931995485, + 0.6699171702780783, + -0.04323238466058113, + -0.7653658911889297, + -0.6421417394322967 + ], + [ + 0.8445030953029262, + -0.37481102522473264, + 0.38253263572375296, + -0.532347692082445, + -0.5094973014927623, + 0.6760313857404014, + -0.058484671139290595, + -0.77455096355345, + -0.6298018324045676 + ], + [ + 0.8380605131534751, + -0.4136703325618308, + 0.3557125697120055, + -0.5327118394595668, + -0.4796979948366746, + 0.69721440737357, + -0.11778230933607461, + -0.7738001613516619, + -0.6223830315003802 + ], + [ + 0.8231068985966082, + -0.4398689913588485, + 0.3591800438827606, + -0.5474295964732455, + -0.446357425212773, + 0.7078742020038328, + -0.1510492316690559, + -0.7792819254919062, + -0.6081971803731211 + ], + [ + 0.7896302946609887, + -0.4537857161442394, + 0.41299215679847884, + -0.5976040105154866, + -0.41616946212246164, + 0.6853265100756766, + -0.13911665741170492, + -0.7879603433042554, + -0.5998041788871045 + ], + [ + 0.7675775056430277, + -0.4648421564251543, + 0.4413009658281294, + -0.6289799105147663, + -0.41379712115620837, + 0.6581460435888606, + -0.12332495692139542, + -0.7827475404834219, + -0.6099977400511328 + ], + [ + 0.7468255405201685, + -0.46344429390207464, + 0.4769391978820421, + -0.659601878878147, + -0.42485154673413633, + 0.6200213904519991, + -0.08471701958388525, + -0.777637801092012, + -0.6229787130437155 + ], + [ + 0.7227900819932767, + -0.49301686464403893, + 0.4842611573817515, + -0.6872539243479587, + -0.4392852867972205, + 0.5785416841264022, + -0.0725020057686841, + -0.7509745721261438, + -0.6563388234589453 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005477.json b/json/chunk-0005/episode_0005477.json new file mode 100644 index 0000000000000000000000000000000000000000..ff26254c0c388407f2ad19bce3bfee52d64438c1 --- /dev/null +++ b/json/chunk-0005/episode_0005477.json @@ -0,0 +1,1462 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 23, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut the bowl above the napkin." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005477.mp4", + "start": 0, + "end": 23, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.23344062268733978, + 0.11921613663434982, + 0.08141285926103592, + 0.09811432659626007, + -0.08226653933525085, + -0.31478506326675415, + 0.0, + 1.0001531839370728 + ], + [ + 0.2316289097070694, + 0.11721409112215042, + 0.0739792212843895, + 0.07429944723844528, + -0.06483462452888489, + -0.30457812547683716, + 0.0, + 1.0001531839370728 + ], + [ + 0.24669407308101654, + 0.09152079373598099, + 0.07426667958498001, + 0.07296998798847198, + -0.09303950518369675, + -0.33975091576576233, + 0.0, + 1.0001531839370728 + ], + [ + 0.2667033076286316, + 0.05571850389242172, + 0.07325474917888641, + 0.07400794327259064, + -0.1019950583577156, + -0.37945660948753357, + 0.0, + 1.0001531839370728 + ], + [ + 0.2784481942653656, + 0.038310907781124115, + 0.06888566166162491, + 0.05428449064493179, + -0.11525122821331024, + -0.3219202160835266, + 0.0, + 1.0001531839370728 + ], + [ + 0.28531765937805176, + 0.018413981422781944, + 0.050751861184835434, + 0.015086428262293339, + -0.09345730394124985, + -0.23459428548812866, + 0.0, + 1.0001531839370728 + ], + [ + 0.2831435799598694, + 0.014376796782016754, + 0.032959599047899246, + 0.01554630883038044, + -0.040457405149936676, + -0.18788699805736542, + 0.0, + 1.0001531839370728 + ], + [ + 0.2839203476905823, + 0.013867653906345367, + 0.02005511336028576, + 0.012645239010453224, + -0.024116583168506622, + -0.15015169978141785, + 0.0, + 0.9499720335006714 + ], + [ + 0.28422603011131287, + 0.012295947410166264, + 0.017534105107188225, + 0.03441023826599121, + -0.017730316147208214, + -0.1495528519153595, + 0.0, + 0.6701657772064209 + ], + [ + 0.2843509316444397, + 0.011908747255802155, + 0.01601061224937439, + 0.0430283285677433, + -0.016154829412698746, + -0.1644345372915268, + 0.0, + 0.3669656813144684 + ], + [ + 0.2813172936439514, + 0.012019950896501541, + 0.01732003316283226, + 0.06434497982263565, + 0.009581412188708782, + -0.19540686905384064, + 0.0, + 0.15820781886577606 + ], + [ + 0.28303006291389465, + 0.01836964301764965, + 0.04246797785162926, + 0.11527635157108307, + -0.018482470884919167, + -0.22945570945739746, + 0.0, + 0.07921512424945831 + ], + [ + 0.3037954568862915, + 0.04187924787402153, + 0.07612530887126923, + 0.15365836024284363, + -0.08900359272956848, + -0.2092924565076828, + 0.0, + 0.06987876445055008 + ], + [ + 0.33123940229415894, + 0.08587732166051865, + 0.10403841733932495, + 0.1822669953107834, + -0.13646213710308075, + -0.12524151802062988, + 0.0, + 0.06895258277654648 + ], + [ + 0.3616233170032501, + 0.13347089290618896, + 0.09729135781526566, + 0.17670747637748718, + -0.11105751991271973, + -0.022437553852796555, + 0.0, + 0.06895258277654648 + ], + [ + 0.3813477158546448, + 0.18444131314754486, + 0.08531095087528229, + 0.18068480491638184, + -0.08384575694799423, + 0.08651111274957657, + 0.0, + 0.06895258277654648 + ], + [ + 0.3907400369644165, + 0.21701504290103912, + 0.06825868040323257, + 0.1749667227268219, + -0.04465486481785774, + 0.15350212156772614, + 0.0, + 0.06895258277654648 + ], + [ + 0.3937494456768036, + 0.22687748074531555, + 0.052072349935770035, + 0.1615171730518341, + -0.003268212080001831, + 0.1712658554315567, + 0.0, + 0.06895258277654648 + ], + [ + 0.3898000717163086, + 0.22306063771247864, + 0.04624669998884201, + 0.1530410796403885, + 0.02016301266849041, + 0.15613825619220734, + 0.0, + 0.0686454325914383 + ], + [ + 0.3843270540237427, + 0.21690084040164948, + 0.033240195363759995, + 0.14189958572387695, + 0.034181609749794006, + 0.13983723521232605, + 0.0, + 0.0951233059167862 + ], + [ + 0.3785405158996582, + 0.20905077457427979, + 0.021045248955488205, + 0.12643152475357056, + 0.05701688304543495, + 0.11725263297557831, + 0.0, + 0.2631158232688904 + ], + [ + 0.3765828311443329, + 0.20334498584270477, + 0.05526859685778618, + 0.18328310549259186, + 0.020473262295126915, + 0.05348917469382286, + 0.0, + 0.5334634184837341 + ], + [ + 0.37034136056900024, + 0.19607342779636383, + 0.08730881661176682, + 0.23564402759075165, + -0.00853528268635273, + -0.026908336207270622, + 0.0, + 0.8362758755683899 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9499720335006714 + ], + [ + 0.6701657772064209 + ], + [ + 0.3669656813144684 + ], + [ + 0.15820781886577606 + ], + [ + 0.07921512424945831 + ], + [ + 0.06987876445055008 + ], + [ + 0.06895258277654648 + ], + [ + 0.06895258277654648 + ], + [ + 0.06895258277654648 + ], + [ + 0.06895258277654648 + ], + [ + 0.06895258277654648 + ], + [ + 0.0686454325914383 + ], + [ + 0.0951233059167862 + ], + [ + 0.2631158232688904 + ], + [ + 0.5334634184837341 + ], + [ + 0.8362758755683899 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.23344062268733978, + 0.11921613663434982, + 0.08141285926103592 + ], + [ + 0.2316289097070694, + 0.11721409112215042, + 0.0739792212843895 + ], + [ + 0.24669407308101654, + 0.09152079373598099, + 0.07426667958498001 + ], + [ + 0.2667033076286316, + 0.05571850389242172, + 0.07325474917888641 + ], + [ + 0.2784481942653656, + 0.038310907781124115, + 0.06888566166162491 + ], + [ + 0.28531765937805176, + 0.018413981422781944, + 0.050751861184835434 + ], + [ + 0.2831435799598694, + 0.014376796782016754, + 0.032959599047899246 + ], + [ + 0.2839203476905823, + 0.013867653906345367, + 0.02005511336028576 + ], + [ + 0.28422603011131287, + 0.012295947410166264, + 0.017534105107188225 + ], + [ + 0.2843509316444397, + 0.011908747255802155, + 0.01601061224937439 + ], + [ + 0.2813172936439514, + 0.012019950896501541, + 0.01732003316283226 + ], + [ + 0.28303006291389465, + 0.01836964301764965, + 0.04246797785162926 + ], + [ + 0.3037954568862915, + 0.04187924787402153, + 0.07612530887126923 + ], + [ + 0.33123940229415894, + 0.08587732166051865, + 0.10403841733932495 + ], + [ + 0.3616233170032501, + 0.13347089290618896, + 0.09729135781526566 + ], + [ + 0.3813477158546448, + 0.18444131314754486, + 0.08531095087528229 + ], + [ + 0.3907400369644165, + 0.21701504290103912, + 0.06825868040323257 + ], + [ + 0.3937494456768036, + 0.22687748074531555, + 0.052072349935770035 + ], + [ + 0.3898000717163086, + 0.22306063771247864, + 0.04624669998884201 + ], + [ + 0.3843270540237427, + 0.21690084040164948, + 0.033240195363759995 + ], + [ + 0.3785405158996582, + 0.20905077457427979, + 0.021045248955488205 + ], + [ + 0.3765828311443329, + 0.20334498584270477, + 0.05526859685778618 + ], + [ + 0.37034136056900024, + 0.19607342779636383, + 0.08730881661176682 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9476471448781953, + -0.30046910269358135, + 0.10808888532462058, + -0.30856499991207104, + -0.9487821358620006, + 0.06782403333925335, + 0.08217377704273135, + -0.09762569843875438, + -0.9918249308072857 + ], + [ + 0.9519692284442397, + -0.294475349503122, + 0.08389789407543452, + -0.29926066587745564, + -0.9527838902857456, + 0.05143843184372933, + 0.0647892117088992, + -0.0740751439213874, + -0.9951458340862233 + ], + [ + 0.938759879171511, + -0.3259793195952303, + 0.11165738871261838, + -0.33181092264233925, + -0.942585903392558, + 0.037859296624144445, + 0.09290533285624478, + -0.07258992989296845, + -0.9930253275747827 + ], + [ + 0.924038747144984, + -0.3624088781592765, + 0.12170537706306532, + -0.3684907406241625, + -0.9291121030283076, + 0.031068860303714533, + 0.10181830802456131, + -0.0735561352821788, + -0.9920798995612023 + ], + [ + 0.9423363528714644, + -0.3100037381898245, + 0.12609472774561933, + -0.31428977031163396, + -0.9492063529644047, + 0.01514066608424297, + 0.11499625356665963, + -0.05389788307854891, + -0.9919026564463288 + ], + [ + 0.9683643072601691, + -0.23105268137978968, + 0.09426148127279853, + -0.2314340085486416, + -0.972825296426367, + -0.007017287229309707, + 0.09332131649114282, + -0.015020021976040347, + -0.9955227424967242 + ], + [ + 0.9815972136143691, + -0.18614322605047723, + 0.04263343312505001, + -0.18663065514011057, + -0.9823998302599808, + 0.0077182943151104105, + 0.040446369262027645, + -0.015532961748568174, + -0.9990609682661203 + ], + [ + 0.9884608779908617, + -0.14927467613669199, + 0.02573254254480505, + -0.14954462827409282, + -0.9887149591742579, + 0.008895710168875505, + 0.024114245497172015, + -0.012641224993289072, + -0.9996292825816834 + ], + [ + 0.9886823765742667, + -0.1483046450834892, + 0.02264708586375523, + -0.14897257157274743, + -0.9883433143665781, + 0.03137938600244134, + 0.017729387199298445, + -0.03439804054808742, + -0.999250941273507 + ], + [ + 0.9863823499092379, + -0.16285751273970872, + 0.022962803220987503, + -0.1636731620536741, + -0.9857117320263747, + 0.0397929311425599, + 0.016154126744640604, + -0.04300943954297004, + -0.9989440586435849 + ], + [ + 0.9809237229244743, + -0.19436822194541076, + 0.0031054954144075497, + -0.1941567643779551, + -0.978819088613825, + 0.06493337055385609, + -0.00958126558825069, + -0.06429763652717488, + -0.9978847695434313 + ], + [ + 0.9736240172866439, + -0.22386793147573503, + 0.04403887168618744, + -0.22740868525208247, + -0.9678108230907976, + 0.10783088880386833, + 0.018481418628887088, + -0.11500156505495272, + -0.9931933735181561 + ], + [ + 0.9743063338957829, + -0.19201233798336348, + 0.11772183226879353, + -0.20694546041996803, + -0.9694795981280654, + 0.13146438766834362, + 0.08888613020109955, + -0.15244858436734554, + -0.9843061947291939 + ], + [ + 0.9829438244083077, + -0.09837997254926764, + 0.15537959666177256, + -0.12375309480968769, + -0.9788127585854753, + 0.16312803301491824, + 0.13603900022638446, + -0.1795743985970638, + -0.9742927823739168 + ], + [ + 0.9935892887742093, + -0.002608588098475466, + 0.11302000044812213, + -0.022297455138711512, + -0.9846171319281072, + 0.17329722158189861, + 0.110829367622026, + -0.17470632152787433, + -0.9783632007034508 + ], + [ + 0.9927603880191836, + 0.09999009882437909, + 0.06654917067169333, + 0.08609970813489198, + -0.9787416450559075, + 0.1861494896376073, + 0.0837475506452916, + -0.1790719753907522, + -0.9802650536413953 + ], + [ + 0.9872565235756718, + 0.15824493707189802, + 0.016825473199587077, + 0.1527475851661006, + -0.9719653750037669, + 0.17874978327178948, + 0.04464002557351222, + -0.1739018392222978, + -0.983750689164637 + ], + [ + 0.9853645544594112, + 0.16872947036798605, + -0.02422933437684813, + 0.1704289108186627, + -0.9724550966322011, + 0.15901280260161726, + 0.0032682062619282352, + -0.16081495845659227, + -0.986979162882598 + ], + [ + 0.9876343727126179, + 0.15065093919177855, + -0.04338940374317729, + 0.15547300038015202, + -0.9767673498030552, + 0.14749132351263514, + -0.020161646493941116, + -0.15241338156261278, + -0.9881111623351405 + ], + [ + 0.9896602633695476, + 0.13319505544991003, + -0.05321315919030598, + 0.1393005227216593, + -0.980959595427505, + 0.1353278851832765, + -0.034174953939836404, + -0.14134125138260584, + -0.9893708724137824 + ], + [ + 0.9915199175281676, + 0.10891409369362523, + -0.07089409947120201, + 0.11679404738152699, + -0.9860473693526509, + 0.11861591751935777, + -0.05698599513194524, + -0.12589005356903174, + -0.990406124158776 + ], + [ + 0.9983605249534321, + 0.04884235620722201, + -0.029844370571919857, + 0.05345246772525046, + -0.9820438507261342, + 0.18092183103502776, + -0.02047183208187024, + -0.18222046946244244, + -0.9830445588070251 + ], + [ + 0.9996015804470497, + -0.02416956439392827, + 0.014577809326787892, + -0.02690410909692323, + -0.9720657931107799, + 0.23316145216911685, + 0.0085351790526785, + -0.23346075906010041, + -0.9723287636893297 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0018117129802703857, + -0.002002045512199402, + -0.007433637976646423, + -0.02381487935781479, + 0.017431914806365967, + 0.010206937789916992, + 1.0 + ], + [ + 0.015065163373947144, + -0.025693297386169434, + 0.00028745830059051514, + -0.0013294592499732971, + -0.02820488065481186, + -0.03517279028892517, + 1.0 + ], + [ + 0.02000923454761505, + -0.035802289843559265, + -0.0010119304060935974, + 0.0010379552841186523, + -0.00895555317401886, + -0.03970569372177124, + 1.0 + ], + [ + 0.011744886636734009, + -0.017407596111297607, + -0.004369087517261505, + -0.019723452627658844, + -0.013256169855594635, + 0.05753639340400696, + 1.0 + ], + [ + 0.006869465112686157, + -0.01989692635834217, + -0.018133800476789474, + -0.03919806331396103, + 0.021793924272060394, + 0.08732593059539795, + 1.0 + ], + [ + -0.002174079418182373, + -0.00403718464076519, + -0.017792262136936188, + 0.000459880568087101, + 0.05299989879131317, + 0.046707287430763245, + 1.0 + ], + [ + 0.0007767677307128906, + -0.0005091428756713867, + -0.012904485687613487, + -0.0029010698199272156, + 0.016340821981430054, + 0.03773529827594757, + 0.0 + ], + [ + 0.0003056824207305908, + -0.0015717064961791039, + -0.002521008253097534, + 0.021764999255537987, + 0.0063862670212984085, + 0.0005988478660583496, + 0.0 + ], + [ + 0.00012490153312683105, + -0.00038720015436410904, + -0.0015234928578138351, + 0.00861809030175209, + 0.001575486734509468, + -0.014881685376167297, + 0.0 + ], + [ + -0.0030336380004882812, + 0.0001112036406993866, + 0.0013094209134578705, + 0.02131665125489235, + 0.025736242532730103, + -0.030972331762313843, + 0.0 + ], + [ + 0.0017127692699432373, + 0.0063496921211481094, + 0.025147944688796997, + 0.05093137174844742, + -0.028063882142305374, + -0.034048840403556824, + 0.0 + ], + [ + 0.02076539397239685, + 0.02350960485637188, + 0.03365733101963997, + 0.03838200867176056, + -0.07052112370729446, + 0.02016325294971466, + 0.0 + ], + [ + 0.02744394540786743, + 0.043998073786497116, + 0.027913108468055725, + 0.02860863506793976, + -0.04745854437351227, + 0.08405093848705292, + 0.0 + ], + [ + 0.030383914709091187, + 0.04759357124567032, + -0.006747059524059296, + -0.005559518933296204, + 0.025404617190361023, + 0.10280396044254303, + 0.0 + ], + [ + 0.019724398851394653, + 0.050970420241355896, + -0.011980406939983368, + 0.003977328538894653, + 0.027211762964725494, + 0.10894866287708282, + 0.0 + ], + [ + 0.009392321109771729, + 0.03257372975349426, + -0.017052270472049713, + -0.0057180821895599365, + 0.03919089213013649, + 0.06699100881814957, + 0.0 + ], + [ + 0.003009408712387085, + 0.009862437844276428, + -0.01618633046746254, + -0.013449549674987793, + 0.04138665273785591, + 0.017763733863830566, + 0.0 + ], + [ + -0.003949373960494995, + -0.003816843032836914, + -0.005825649946928024, + -0.008476093411445618, + 0.02343122474849224, + -0.015127599239349365, + 0.0 + ], + [ + -0.005473017692565918, + -0.006159797310829163, + -0.013006504625082016, + -0.011141493916511536, + 0.014018597081303596, + -0.016301020979881287, + 1.0 + ], + [ + -0.005786538124084473, + -0.00785006582736969, + -0.01219494640827179, + -0.015468060970306396, + 0.022835273295640945, + -0.02258460223674774, + 1.0 + ], + [ + -0.0019576847553253174, + -0.005705788731575012, + 0.034223347902297974, + 0.0568515807390213, + -0.036543622612953186, + -0.06376345455646515, + 1.0 + ], + [ + -0.006241470575332642, + -0.007271558046340942, + 0.03204021975398064, + 0.05236092209815979, + -0.029008544981479645, + -0.08039750903844833, + 1.0 + ], + [ + -0.00670352578163147, + -0.007473617792129517, + 0.024983622133731842, + -0.0008533895015716553, + -0.04801351577043533, + -0.06359174102544785, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9499720335006714 + ], + [ + 0.6701657772064209 + ], + [ + 0.3669656813144684 + ], + [ + 0.15820781886577606 + ], + [ + 0.07921512424945831 + ], + [ + 0.06987876445055008 + ], + [ + 0.06895258277654648 + ], + [ + 0.06895258277654648 + ], + [ + 0.06895258277654648 + ], + [ + 0.06895258277654648 + ], + [ + 0.06895258277654648 + ], + [ + 0.0686454325914383 + ], + [ + 0.0951233059167862 + ], + [ + 0.2631158232688904 + ], + [ + 0.5334634184837341 + ], + [ + 0.8362758755683899 + ], + [ + 1.0112061500549316 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2316289097070694, + 0.11721409112215042, + 0.0739792212843895 + ], + [ + 0.24669407308101654, + 0.09152079373598099, + 0.07426667958498001 + ], + [ + 0.2667033076286316, + 0.05571850389242172, + 0.07325474917888641 + ], + [ + 0.2784481942653656, + 0.038310907781124115, + 0.06888566166162491 + ], + [ + 0.28531765937805176, + 0.018413981422781944, + 0.050751861184835434 + ], + [ + 0.2831435799598694, + 0.014376796782016754, + 0.032959599047899246 + ], + [ + 0.2839203476905823, + 0.013867653906345367, + 0.02005511336028576 + ], + [ + 0.28422603011131287, + 0.012295947410166264, + 0.017534105107188225 + ], + [ + 0.2843509316444397, + 0.011908747255802155, + 0.01601061224937439 + ], + [ + 0.2813172936439514, + 0.012019950896501541, + 0.01732003316283226 + ], + [ + 0.28303006291389465, + 0.01836964301764965, + 0.04246797785162926 + ], + [ + 0.3037954568862915, + 0.04187924787402153, + 0.07612530887126923 + ], + [ + 0.33123940229415894, + 0.08587732166051865, + 0.10403841733932495 + ], + [ + 0.3616233170032501, + 0.13347089290618896, + 0.09729135781526566 + ], + [ + 0.3813477158546448, + 0.18444131314754486, + 0.08531095087528229 + ], + [ + 0.3907400369644165, + 0.21701504290103912, + 0.06825868040323257 + ], + [ + 0.3937494456768036, + 0.22687748074531555, + 0.052072349935770035 + ], + [ + 0.3898000717163086, + 0.22306063771247864, + 0.04624669998884201 + ], + [ + 0.3843270540237427, + 0.21690084040164948, + 0.033240195363759995 + ], + [ + 0.3785405158996582, + 0.20905077457427979, + 0.021045248955488205 + ], + [ + 0.3765828311443329, + 0.20334498584270477, + 0.05526859685778618 + ], + [ + 0.37034136056900024, + 0.19607342779636383, + 0.08730881661176682 + ], + [ + 0.3636378347873688, + 0.18859981000423431, + 0.11229243874549866 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9519692284442397, + -0.294475349503122, + 0.08389789407543452, + -0.29926066587745564, + -0.9527838902857456, + 0.05143843184372933, + 0.0647892117088992, + -0.0740751439213874, + -0.9951458340862233 + ], + [ + 0.938759879171511, + -0.3259793195952303, + 0.11165738871261838, + -0.33181092264233925, + -0.942585903392558, + 0.037859296624144445, + 0.09290533285624478, + -0.07258992989296845, + -0.9930253275747827 + ], + [ + 0.924038747144984, + -0.3624088781592765, + 0.12170537706306532, + -0.3684907406241625, + -0.9291121030283076, + 0.031068860303714533, + 0.10181830802456131, + -0.0735561352821788, + -0.9920798995612023 + ], + [ + 0.9423363528714644, + -0.3100037381898245, + 0.12609472774561933, + -0.31428977031163396, + -0.9492063529644047, + 0.01514066608424297, + 0.11499625356665963, + -0.05389788307854891, + -0.9919026564463288 + ], + [ + 0.9683643072601691, + -0.23105268137978968, + 0.09426148127279853, + -0.2314340085486416, + -0.972825296426367, + -0.007017287229309707, + 0.09332131649114282, + -0.015020021976040347, + -0.9955227424967242 + ], + [ + 0.9815972136143691, + -0.18614322605047723, + 0.04263343312505001, + -0.18663065514011057, + -0.9823998302599808, + 0.0077182943151104105, + 0.040446369262027645, + -0.015532961748568174, + -0.9990609682661203 + ], + [ + 0.9884608779908617, + -0.14927467613669199, + 0.02573254254480505, + -0.14954462827409282, + -0.9887149591742579, + 0.008895710168875505, + 0.024114245497172015, + -0.012641224993289072, + -0.9996292825816834 + ], + [ + 0.9886823765742667, + -0.1483046450834892, + 0.02264708586375523, + -0.14897257157274743, + -0.9883433143665781, + 0.03137938600244134, + 0.017729387199298445, + -0.03439804054808742, + -0.999250941273507 + ], + [ + 0.9863823499092379, + -0.16285751273970872, + 0.022962803220987503, + -0.1636731620536741, + -0.9857117320263747, + 0.0397929311425599, + 0.016154126744640604, + -0.04300943954297004, + -0.9989440586435849 + ], + [ + 0.9809237229244743, + -0.19436822194541076, + 0.0031054954144075497, + -0.1941567643779551, + -0.978819088613825, + 0.06493337055385609, + -0.00958126558825069, + -0.06429763652717488, + -0.9978847695434313 + ], + [ + 0.9736240172866439, + -0.22386793147573503, + 0.04403887168618744, + -0.22740868525208247, + -0.9678108230907976, + 0.10783088880386833, + 0.018481418628887088, + -0.11500156505495272, + -0.9931933735181561 + ], + [ + 0.9743063338957829, + -0.19201233798336348, + 0.11772183226879353, + -0.20694546041996803, + -0.9694795981280654, + 0.13146438766834362, + 0.08888613020109955, + -0.15244858436734554, + -0.9843061947291939 + ], + [ + 0.9829438244083077, + -0.09837997254926764, + 0.15537959666177256, + -0.12375309480968769, + -0.9788127585854753, + 0.16312803301491824, + 0.13603900022638446, + -0.1795743985970638, + -0.9742927823739168 + ], + [ + 0.9935892887742093, + -0.002608588098475466, + 0.11302000044812213, + -0.022297455138711512, + -0.9846171319281072, + 0.17329722158189861, + 0.110829367622026, + -0.17470632152787433, + -0.9783632007034508 + ], + [ + 0.9927603880191836, + 0.09999009882437909, + 0.06654917067169333, + 0.08609970813489198, + -0.9787416450559075, + 0.1861494896376073, + 0.0837475506452916, + -0.1790719753907522, + -0.9802650536413953 + ], + [ + 0.9872565235756718, + 0.15824493707189802, + 0.016825473199587077, + 0.1527475851661006, + -0.9719653750037669, + 0.17874978327178948, + 0.04464002557351222, + -0.1739018392222978, + -0.983750689164637 + ], + [ + 0.9853645544594112, + 0.16872947036798605, + -0.02422933437684813, + 0.1704289108186627, + -0.9724550966322011, + 0.15901280260161726, + 0.0032682062619282352, + -0.16081495845659227, + -0.986979162882598 + ], + [ + 0.9876343727126179, + 0.15065093919177855, + -0.04338940374317729, + 0.15547300038015202, + -0.9767673498030552, + 0.14749132351263514, + -0.020161646493941116, + -0.15241338156261278, + -0.9881111623351405 + ], + [ + 0.9896602633695476, + 0.13319505544991003, + -0.05321315919030598, + 0.1393005227216593, + -0.980959595427505, + 0.1353278851832765, + -0.034174953939836404, + -0.14134125138260584, + -0.9893708724137824 + ], + [ + 0.9915199175281676, + 0.10891409369362523, + -0.07089409947120201, + 0.11679404738152699, + -0.9860473693526509, + 0.11861591751935777, + -0.05698599513194524, + -0.12589005356903174, + -0.990406124158776 + ], + [ + 0.9983605249534321, + 0.04884235620722201, + -0.029844370571919857, + 0.05345246772525046, + -0.9820438507261342, + 0.18092183103502776, + -0.02047183208187024, + -0.18222046946244244, + -0.9830445588070251 + ], + [ + 0.9996015804470497, + -0.02416956439392827, + 0.014577809326787892, + -0.02690410909692323, + -0.9720657931107799, + 0.23316145216911685, + 0.0085351790526785, + -0.23346075906010041, + -0.9723287636893297 + ], + [ + 0.994315746141709, + -0.0748022774450364, + 0.07576817447776005, + -0.09023212994818308, + -0.9697713254331717, + 0.22671951634696896, + 0.056518666824958735, + -0.23226750882683767, + -0.9710084678537588 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005478.json b/json/chunk-0005/episode_0005478.json new file mode 100644 index 0000000000000000000000000000000000000000..80b05d762f7c915ac851a0e117d7eaf477b3ce74 --- /dev/null +++ b/json/chunk-0005/episode_0005478.json @@ -0,0 +1,1282 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 20, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut carrot on cutting board." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005478.mp4", + "start": 0, + "end": 20, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.36773020029067993, + -0.028522908687591553, + 0.07650719583034515, + 0.13262209296226501, + -0.2819913625717163, + 0.1955001950263977, + 0.0, + 1.0014774799346924 + ], + [ + 0.3662107586860657, + -0.020458918064832687, + 0.06599274277687073, + 0.16282659769058228, + -0.2510315775871277, + 0.1536557376384735, + 0.0, + 1.0014774799346924 + ], + [ + 0.36890384554862976, + 0.012894348241388798, + 0.06705333292484283, + 0.19751514494419098, + -0.2537565231323242, + 0.1489701271057129, + 0.0, + 1.0014774799346924 + ], + [ + 0.37023112177848816, + 0.021023543551564217, + 0.0677846148610115, + 0.21307151019573212, + -0.25137701630592346, + 0.1084158644080162, + 0.0, + 1.0014774799346924 + ], + [ + 0.3752824366092682, + 0.03958787024021149, + 0.07038423418998718, + 0.21852287650108337, + -0.274050772190094, + 0.10433432459831238, + 0.0, + 1.0014774799346924 + ], + [ + 0.386016309261322, + 0.044225867837667465, + 0.06587287038564682, + 0.21054603159427643, + -0.32150086760520935, + 0.06844863295555115, + 0.0, + 1.0014774799346924 + ], + [ + 0.39310723543167114, + 0.054096393287181854, + 0.0539853535592556, + 0.19203783571720123, + -0.34571292996406555, + 0.06419732421636581, + 0.0, + 1.0014774799346924 + ], + [ + 0.39866089820861816, + 0.055883683264255524, + 0.04554811865091324, + 0.17108699679374695, + -0.36595550179481506, + 0.0536494217813015, + 0.0, + 1.0014774799346924 + ], + [ + 0.40101975202560425, + 0.060575954616069794, + 0.03753235191106796, + 0.14771243929862976, + -0.3854827880859375, + 0.05844401568174362, + 0.0, + 1.0014774799346924 + ], + [ + 0.4036913514137268, + 0.05978846922516823, + 0.027292681857943535, + 0.1250014454126358, + -0.39856985211372375, + 0.05763756483793259, + 0.0, + 0.9795387983322144 + ], + [ + 0.40555357933044434, + 0.05905279889702797, + 0.019918285310268402, + 0.11313328146934509, + -0.4029894173145294, + 0.06468889117240906, + 0.0, + 0.7720533609390259 + ], + [ + 0.40624362230300903, + 0.05993977189064026, + 0.02034510299563408, + 0.11078352481126785, + -0.41044944524765015, + 0.08399543166160583, + 0.0, + 0.562038779258728 + ], + [ + 0.4043077826499939, + 0.06048232316970825, + 0.02135024033486843, + 0.13767395913600922, + -0.3825547993183136, + 0.07777199894189835, + 0.0, + 0.5600578188896179 + ], + [ + 0.4137229025363922, + 0.05325179547071457, + 0.03712907433509827, + 0.16286054253578186, + -0.36351877450942993, + 0.03912293165922165, + 0.0, + 0.5600578188896179 + ], + [ + 0.42478206753730774, + 0.049699801951646805, + 0.053213171660900116, + 0.19881592690944672, + -0.3740338087081909, + 0.005182528402656317, + 0.0, + 0.5600578188896179 + ], + [ + 0.43009111285209656, + 0.03668764978647232, + 0.05702519416809082, + 0.20934940874576569, + -0.3953806161880493, + -0.032088976353406906, + 0.0, + 0.5600578188896179 + ], + [ + 0.43716078996658325, + 0.033574629575014114, + 0.060410771518945694, + 0.22877489030361176, + -0.43440330028533936, + -0.07870738208293915, + 0.0, + 0.5600578188896179 + ], + [ + 0.4466744363307953, + 0.017973873764276505, + 0.06532751023769379, + 0.22989505529403687, + -0.47791531682014465, + -0.13896922767162323, + 0.0, + 0.5600578188896179 + ], + [ + 0.4633665084838867, + 0.01542659942060709, + 0.06227933242917061, + 0.23015634715557098, + -0.5018337965011597, + -0.1550411432981491, + 0.0, + 0.5600578188896179 + ], + [ + 0.4727451205253601, + 0.006987699307501316, + 0.05131181702017784, + 0.2226397544145584, + -0.48649120330810547, + -0.15549080073833466, + 0.0, + 0.5600578188896179 + ] + ], + "left_gripper_pos": [ + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 0.9795387983322144 + ], + [ + 0.7720533609390259 + ], + [ + 0.562038779258728 + ], + [ + 0.5600578188896179 + ], + [ + 0.5600578188896179 + ], + [ + 0.5600578188896179 + ], + [ + 0.5600578188896179 + ], + [ + 0.5600578188896179 + ], + [ + 0.5600578188896179 + ], + [ + 0.5600578188896179 + ], + [ + 0.5600578188896179 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.36773020029067993, + -0.028522908687591553, + 0.07650719583034515 + ], + [ + 0.3662107586860657, + -0.020458918064832687, + 0.06599274277687073 + ], + [ + 0.36890384554862976, + 0.012894348241388798, + 0.06705333292484283 + ], + [ + 0.37023112177848816, + 0.021023543551564217, + 0.0677846148610115 + ], + [ + 0.3752824366092682, + 0.03958787024021149, + 0.07038423418998718 + ], + [ + 0.386016309261322, + 0.044225867837667465, + 0.06587287038564682 + ], + [ + 0.39310723543167114, + 0.054096393287181854, + 0.0539853535592556 + ], + [ + 0.39866089820861816, + 0.055883683264255524, + 0.04554811865091324 + ], + [ + 0.40101975202560425, + 0.060575954616069794, + 0.03753235191106796 + ], + [ + 0.4036913514137268, + 0.05978846922516823, + 0.027292681857943535 + ], + [ + 0.40555357933044434, + 0.05905279889702797, + 0.019918285310268402 + ], + [ + 0.40624362230300903, + 0.05993977189064026, + 0.02034510299563408 + ], + [ + 0.4043077826499939, + 0.06048232316970825, + 0.02135024033486843 + ], + [ + 0.4137229025363922, + 0.05325179547071457, + 0.03712907433509827 + ], + [ + 0.42478206753730774, + 0.049699801951646805, + 0.053213171660900116 + ], + [ + 0.43009111285209656, + 0.03668764978647232, + 0.05702519416809082 + ], + [ + 0.43716078996658325, + 0.033574629575014114, + 0.060410771518945694 + ], + [ + 0.4466744363307953, + 0.017973873764276505, + 0.06532751023769379 + ], + [ + 0.4633665084838867, + 0.01542659942060709, + 0.06227933242917061 + ], + [ + 0.4727451205253601, + 0.006987699307501316, + 0.05131181702017784 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9422062237611464, + 0.22864693626657415, + 0.24488366715987797, + 0.18658468878493165, + -0.9651884898587334, + 0.18329575269287618, + 0.2782689091810131, + -0.1270108561506732, + -0.9520686196924475 + ], + [ + 0.9572441369180561, + 0.1908211489339334, + 0.21741883877792, + 0.1482546630313735, + -0.9689838968255509, + 0.1977138401382758, + 0.248403335777641, + -0.15702705758022534, + -0.9558442791387292 + ], + [ + 0.9572553455616715, + 0.19425125331782336, + 0.2143097150809081, + 0.14366678195530577, + -0.9623854370745861, + 0.23059515664767252, + 0.2510419470052999, + -0.18994925925418296, + -0.9491560565853097 + ], + [ + 0.9628841067683112, + 0.1580467225592174, + 0.21880454844742422, + 0.10480285244438828, + -0.965956156619028, + 0.2365270927596148, + 0.24873793247615297, + -0.20481683763325076, + -0.9466675783871565 + ], + [ + 0.9574475621928312, + 0.16001939765789516, + 0.24018317598076835, + 0.10025870278156243, + -0.9647999708225515, + 0.24312385489162072, + 0.27063325399433574, + -0.20869788852311835, + -0.9397887172968343 + ], + [ + 0.9465405163346724, + 0.13277034355743175, + 0.2939950455509973, + 0.06489077847221875, + -0.9711101315380488, + 0.22963949854809954, + 0.3159908824731512, + -0.1982855221537738, + -0.9278106562753222 + ], + [ + 0.9388960405522897, + 0.12751684042260583, + 0.31970874314580305, + 0.06035755343477577, + -0.9754460758205497, + 0.21180632405492233, + 0.3388675121321039, + -0.17956728147111395, + -0.9235390628698238 + ], + [ + 0.9324387571091752, + 0.11367696960704546, + 0.3429803359110482, + 0.05007285028785092, + -0.9807155444016469, + 0.1889172586955249, + 0.35784168832704083, + -0.15897977088277704, + -0.92014931317983 + ], + [ + 0.9250349353590727, + 0.11301928236029268, + 0.36268031402324635, + 0.05412439459063604, + -0.9841891688368447, + 0.16864824296279476, + 0.376006540203004, + -0.13637566410106008, + -0.9165264644109091 + ], + [ + 0.9200865546957196, + 0.10546274461899176, + 0.377251032292279, + 0.05309035176643058, + -0.9877624995398728, + 0.1466514884072431, + 0.3881006910809069, + -0.11490367270097337, + -0.9144260492693492 + ], + [ + 0.9179687015109057, + 0.10841083056300548, + 0.3815501996631908, + 0.059465347856298964, + -0.9886670596933814, + 0.1378452664460154, + 0.3921700338510208, + -0.10384862490126162, + -0.914012104764158 + ], + [ + 0.9137088604000599, + 0.12734150585005669, + 0.38590187783199964, + 0.07692837114222414, + -0.9866647757472506, + 0.14343864895150013, + 0.3990214833061346, + -0.10137436158845814, + -0.9113205224687441 + ], + [ + 0.9249097609219347, + 0.1280339872578151, + 0.3579793740681095, + 0.0720774593614017, + -0.9835635109157403, + 0.16555258936998857, + 0.3732918081117443, + -0.12731896206758914, + -0.9189358562460693 + ], + [ + 0.9339362593204054, + 0.09620317883056687, + 0.3442499265206933, + 0.0365569777670722, + -0.9837574935156606, + 0.1757406649820215, + 0.35556525547801565, + -0.15154584235365648, + -0.9222836910420645 + ], + [ + 0.9308485760739906, + 0.07724386183896984, + 0.3571474684625758, + 0.004824192374505119, + -0.979913972567602, + 0.19936231723852693, + 0.3653733099022946, + -0.18385318103036297, + -0.9125241652888206 + ], + [ + 0.9223749436042702, + 0.04862103331945447, + 0.38322377083104875, + -0.029608231007531124, + -0.9802308911111235, + 0.19562912045014555, + 0.385159468360346, + -0.19178997687689883, + -0.9027008301214388 + ], + [ + 0.9043130452899768, + 0.018573589546726544, + 0.42646563506303536, + -0.07132345265004042, + -0.9784343953796903, + 0.19385329256955444, + 0.4208691972815851, + -0.20572106287235045, + -0.8834862551676878 + ], + [ + 0.8793951503537645, + -0.03108178736973078, + 0.47507693274687934, + -0.12300170749642125, + -0.9788213077585033, + 0.16364420989114878, + 0.45992907006107464, + -0.20234319848177842, + -0.8645938240242749 + ], + [ + 0.8661860346870283, + -0.04192690260046012, + 0.49795972543117756, + -0.13538096700466165, + -0.9788980635579156, + 0.15307049008690604, + 0.48103403942553263, + -0.20000178999422585, + -0.8535839366536021 + ], + [ + 0.8733141180640551, + -0.049055737732830826, + 0.4846813239495504, + -0.1368973675448486, + -0.9795384632986424, + 0.14752460702480968, + 0.46752707081974615, + -0.19518691942346345, + -0.8621603705440688 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0015194416046142578, + 0.008063990622758865, + -0.010514453053474426, + 0.03020450472831726, + 0.030959784984588623, + -0.041844457387924194, + 1.0 + ], + [ + 0.002693086862564087, + 0.03335326537489891, + 0.001060590147972107, + 0.034688547253608704, + -0.002724945545196533, + -0.00468561053276062, + 1.0 + ], + [ + 0.0013272762298583984, + 0.008129195310175419, + 0.0007312819361686707, + 0.015556365251541138, + 0.002379506826400757, + -0.040554262697696686, + 1.0 + ], + [ + 0.005051314830780029, + 0.01856432668864727, + 0.0025996193289756775, + 0.005451366305351257, + -0.022673755884170532, + -0.004081539809703827, + 1.0 + ], + [ + 0.010733872652053833, + 0.004637997597455978, + -0.0045113638043403625, + -0.007976844906806946, + -0.047450095415115356, + -0.03588569164276123, + 1.0 + ], + [ + 0.007090926170349121, + 0.009870525449514389, + -0.01188751682639122, + -0.018508195877075195, + -0.0242120623588562, + -0.004251308739185333, + 1.0 + ], + [ + 0.0055536627769470215, + 0.0017872899770736694, + -0.008437234908342361, + -0.020950838923454285, + -0.02024257183074951, + -0.010547902435064316, + 1.0 + ], + [ + 0.002358853816986084, + 0.00469227135181427, + -0.008015766739845276, + -0.023374557495117188, + -0.019527286291122437, + 0.004794593900442123, + 1.0 + ], + [ + 0.0026715993881225586, + -0.0007874853909015656, + -0.010239670053124428, + -0.022710993885993958, + -0.013087064027786255, + -0.0008064508438110352, + 1.0 + ], + [ + 0.0018622279167175293, + -0.0007356703281402588, + -0.007374396547675133, + -0.01186816394329071, + -0.004419565200805664, + 0.007051326334476471, + 0.0 + ], + [ + 0.0006900429725646973, + 0.0008869729936122894, + 0.0004268176853656769, + -0.00234975665807724, + -0.0074600279331207275, + 0.019306540489196777, + 0.0 + ], + [ + -0.0019358396530151367, + 0.0005425512790679932, + 0.0010051373392343521, + 0.026890434324741364, + 0.027894645929336548, + -0.006223432719707489, + 0.0 + ], + [ + 0.009415119886398315, + -0.007230527698993683, + 0.015778834000229836, + 0.025186583399772644, + 0.019036024808883667, + -0.0386490672826767, + 0.0 + ], + [ + 0.011059165000915527, + -0.0035519935190677643, + 0.01608409732580185, + 0.035955384373664856, + -0.010515034198760986, + -0.033940404653549194, + 0.0 + ], + [ + 0.005309045314788818, + -0.013012152165174484, + 0.0038120225071907043, + 0.01053348183631897, + -0.0213468074798584, + -0.03727150335907936, + 0.0 + ], + [ + 0.007069677114486694, + -0.003113020211458206, + 0.0033855773508548737, + 0.01942548155784607, + -0.03902268409729004, + -0.04661840572953224, + 0.0 + ], + [ + 0.009513646364212036, + -0.01560075581073761, + 0.004916738718748093, + 0.0011201649904251099, + -0.0435120165348053, + -0.06026184558868408, + 0.0 + ], + [ + 0.01669207215309143, + -0.0025472743436694145, + -0.003048177808523178, + 0.00026129186153411865, + -0.023918479681015015, + -0.01607191562652588, + 0.0 + ], + [ + 0.009378612041473389, + -0.008438900113105774, + -0.010967515408992767, + -0.007516592741012573, + 0.0153425931930542, + -0.0004496574401855469, + 0.0 + ], + [ + 0.00302085280418396, + -0.004437771625816822, + -7.040798664093018e-06, + -0.023635879158973694, + -0.00865328311920166, + 0.0015611350536346436, + 0.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 0.9795387983322144 + ], + [ + 0.7720533609390259 + ], + [ + 0.562038779258728 + ], + [ + 0.5600578188896179 + ], + [ + 0.5600578188896179 + ], + [ + 0.5600578188896179 + ], + [ + 0.5600578188896179 + ], + [ + 0.5600578188896179 + ], + [ + 0.5600578188896179 + ], + [ + 0.5600578188896179 + ], + [ + 0.5600578188896179 + ], + [ + 0.5600578188896179 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3662107586860657, + -0.020458918064832687, + 0.06599274277687073 + ], + [ + 0.36890384554862976, + 0.012894348241388798, + 0.06705333292484283 + ], + [ + 0.37023112177848816, + 0.021023543551564217, + 0.0677846148610115 + ], + [ + 0.3752824366092682, + 0.03958787024021149, + 0.07038423418998718 + ], + [ + 0.386016309261322, + 0.044225867837667465, + 0.06587287038564682 + ], + [ + 0.39310723543167114, + 0.054096393287181854, + 0.0539853535592556 + ], + [ + 0.39866089820861816, + 0.055883683264255524, + 0.04554811865091324 + ], + [ + 0.40101975202560425, + 0.060575954616069794, + 0.03753235191106796 + ], + [ + 0.4036913514137268, + 0.05978846922516823, + 0.027292681857943535 + ], + [ + 0.40555357933044434, + 0.05905279889702797, + 0.019918285310268402 + ], + [ + 0.40624362230300903, + 0.05993977189064026, + 0.02034510299563408 + ], + [ + 0.4043077826499939, + 0.06048232316970825, + 0.02135024033486843 + ], + [ + 0.4137229025363922, + 0.05325179547071457, + 0.03712907433509827 + ], + [ + 0.42478206753730774, + 0.049699801951646805, + 0.053213171660900116 + ], + [ + 0.43009111285209656, + 0.03668764978647232, + 0.05702519416809082 + ], + [ + 0.43716078996658325, + 0.033574629575014114, + 0.060410771518945694 + ], + [ + 0.4466744363307953, + 0.017973873764276505, + 0.06532751023769379 + ], + [ + 0.4633665084838867, + 0.01542659942060709, + 0.06227933242917061 + ], + [ + 0.4727451205253601, + 0.006987699307501316, + 0.05131181702017784 + ], + [ + 0.47576597332954407, + 0.0025499274488538504, + 0.05130477622151375 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9572441369180561, + 0.1908211489339334, + 0.21741883877792, + 0.1482546630313735, + -0.9689838968255509, + 0.1977138401382758, + 0.248403335777641, + -0.15702705758022534, + -0.9558442791387292 + ], + [ + 0.9572553455616715, + 0.19425125331782336, + 0.2143097150809081, + 0.14366678195530577, + -0.9623854370745861, + 0.23059515664767252, + 0.2510419470052999, + -0.18994925925418296, + -0.9491560565853097 + ], + [ + 0.9628841067683112, + 0.1580467225592174, + 0.21880454844742422, + 0.10480285244438828, + -0.965956156619028, + 0.2365270927596148, + 0.24873793247615297, + -0.20481683763325076, + -0.9466675783871565 + ], + [ + 0.9574475621928312, + 0.16001939765789516, + 0.24018317598076835, + 0.10025870278156243, + -0.9647999708225515, + 0.24312385489162072, + 0.27063325399433574, + -0.20869788852311835, + -0.9397887172968343 + ], + [ + 0.9465405163346724, + 0.13277034355743175, + 0.2939950455509973, + 0.06489077847221875, + -0.9711101315380488, + 0.22963949854809954, + 0.3159908824731512, + -0.1982855221537738, + -0.9278106562753222 + ], + [ + 0.9388960405522897, + 0.12751684042260583, + 0.31970874314580305, + 0.06035755343477577, + -0.9754460758205497, + 0.21180632405492233, + 0.3388675121321039, + -0.17956728147111395, + -0.9235390628698238 + ], + [ + 0.9324387571091752, + 0.11367696960704546, + 0.3429803359110482, + 0.05007285028785092, + -0.9807155444016469, + 0.1889172586955249, + 0.35784168832704083, + -0.15897977088277704, + -0.92014931317983 + ], + [ + 0.9250349353590727, + 0.11301928236029268, + 0.36268031402324635, + 0.05412439459063604, + -0.9841891688368447, + 0.16864824296279476, + 0.376006540203004, + -0.13637566410106008, + -0.9165264644109091 + ], + [ + 0.9200865546957196, + 0.10546274461899176, + 0.377251032292279, + 0.05309035176643058, + -0.9877624995398728, + 0.1466514884072431, + 0.3881006910809069, + -0.11490367270097337, + -0.9144260492693492 + ], + [ + 0.9179687015109057, + 0.10841083056300548, + 0.3815501996631908, + 0.059465347856298964, + -0.9886670596933814, + 0.1378452664460154, + 0.3921700338510208, + -0.10384862490126162, + -0.914012104764158 + ], + [ + 0.9137088604000599, + 0.12734150585005669, + 0.38590187783199964, + 0.07692837114222414, + -0.9866647757472506, + 0.14343864895150013, + 0.3990214833061346, + -0.10137436158845814, + -0.9113205224687441 + ], + [ + 0.9249097609219347, + 0.1280339872578151, + 0.3579793740681095, + 0.0720774593614017, + -0.9835635109157403, + 0.16555258936998857, + 0.3732918081117443, + -0.12731896206758914, + -0.9189358562460693 + ], + [ + 0.9339362593204054, + 0.09620317883056687, + 0.3442499265206933, + 0.0365569777670722, + -0.9837574935156606, + 0.1757406649820215, + 0.35556525547801565, + -0.15154584235365648, + -0.9222836910420645 + ], + [ + 0.9308485760739906, + 0.07724386183896984, + 0.3571474684625758, + 0.004824192374505119, + -0.979913972567602, + 0.19936231723852693, + 0.3653733099022946, + -0.18385318103036297, + -0.9125241652888206 + ], + [ + 0.9223749436042702, + 0.04862103331945447, + 0.38322377083104875, + -0.029608231007531124, + -0.9802308911111235, + 0.19562912045014555, + 0.385159468360346, + -0.19178997687689883, + -0.9027008301214388 + ], + [ + 0.9043130452899768, + 0.018573589546726544, + 0.42646563506303536, + -0.07132345265004042, + -0.9784343953796903, + 0.19385329256955444, + 0.4208691972815851, + -0.20572106287235045, + -0.8834862551676878 + ], + [ + 0.8793951503537645, + -0.03108178736973078, + 0.47507693274687934, + -0.12300170749642125, + -0.9788213077585033, + 0.16364420989114878, + 0.45992907006107464, + -0.20234319848177842, + -0.8645938240242749 + ], + [ + 0.8661860346870283, + -0.04192690260046012, + 0.49795972543117756, + -0.13538096700466165, + -0.9788980635579156, + 0.15307049008690604, + 0.48103403942553263, + -0.20000178999422585, + -0.8535839366536021 + ], + [ + 0.8733141180640551, + -0.049055737732830826, + 0.4846813239495504, + -0.1368973675448486, + -0.9795384632986424, + 0.14752460702480968, + 0.46752707081974615, + -0.19518691942346345, + -0.8621603705440688 + ], + [ + 0.8694963053814189, + -0.057471659418062204, + 0.49058453225901494, + -0.13490848512648868, + -0.9830759827551457, + 0.12394076315272609, + 0.47515878984707643, + -0.17395005172099956, + -0.862534349424603 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005479.json b/json/chunk-0005/episode_0005479.json new file mode 100644 index 0000000000000000000000000000000000000000..70aacad4b44edb9ab45ba748a062759e0c157358 --- /dev/null +++ b/json/chunk-0005/episode_0005479.json @@ -0,0 +1,1342 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 21, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut red polygon beside wood cylinder." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005479.mp4", + "start": 0, + "end": 21, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.40492138266563416, + -0.016046812757849693, + 0.09928397834300995, + 0.060223180800676346, + -0.2708486020565033, + -0.4919376075267792, + 0.0, + 0.9974852800369263 + ], + [ + 0.40200069546699524, + -0.016627956181764603, + 0.08252379298210144, + 0.03913751244544983, + -0.23132823407649994, + -0.48823145031929016, + 0.0, + 0.9974852800369263 + ], + [ + 0.40159904956817627, + -0.01886904425919056, + 0.07480818778276443, + 0.035579051822423935, + -0.21528440713882446, + -0.489574670791626, + 0.0, + 0.9974852800369263 + ], + [ + 0.40272095799446106, + -0.020068448036909103, + 0.06409432739019394, + 0.03456982225179672, + -0.20088692009449005, + -0.48159104585647583, + 0.0, + 0.9974852800369263 + ], + [ + 0.40500181913375854, + -0.02065589837729931, + 0.06395844370126724, + 0.03914659842848778, + -0.2134406715631485, + -0.47409895062446594, + 0.0, + 0.9974852800369263 + ], + [ + 0.40460631251335144, + -0.0206344835460186, + 0.05360798537731171, + 0.02760080248117447, + -0.19285579025745392, + -0.4641648232936859, + 0.0, + 0.9974852800369263 + ], + [ + 0.41072216629981995, + -0.022105365991592407, + 0.05233672633767128, + 0.022855689749121666, + -0.1948396861553192, + -0.4605097472667694, + 0.0, + 0.9974852800369263 + ], + [ + 0.41651225090026855, + -0.023404093459248543, + 0.04656805843114853, + 0.013938233256340027, + -0.18653713166713715, + -0.4523719251155853, + 0.0, + 0.9974852800369263 + ], + [ + 0.4238632917404175, + -0.0270663034170866, + 0.043454721570014954, + 0.0077659618109464645, + -0.17859700322151184, + -0.4515841007232666, + 0.0, + 0.9499720335006714 + ], + [ + 0.43048998713493347, + -0.030713612213730812, + 0.042876340448856354, + 0.006508455611765385, + -0.18309523165225983, + -0.4446932375431061, + 0.0, + 0.7739869356155396 + ], + [ + 0.4309164583683014, + -0.031152626499533653, + 0.0429917648434639, + 0.001243785722181201, + -0.18424297869205475, + -0.4290706515312195, + 0.0, + 0.7720533609390259 + ], + [ + 0.42073240876197815, + -0.031209595501422882, + 0.04355619102716446, + -0.008884592913091183, + -0.17667832970619202, + -0.3854127824306488, + 0.0, + 0.7720533609390259 + ], + [ + 0.3987133800983429, + -0.029293496161699295, + 0.053674161434173584, + -0.018142029643058777, + -0.18124361336231232, + -0.27198004722595215, + 0.0, + 0.7710858583450317 + ], + [ + 0.3774007260799408, + -0.030710352584719658, + 0.06663551181554794, + -0.02705218642950058, + -0.19946184754371643, + -0.1648179292678833, + 0.0, + 0.7710858583450317 + ], + [ + 0.3599306046962738, + -0.02700718864798546, + 0.07337021082639694, + -0.012904238887131214, + -0.20478086173534393, + -0.10254550725221634, + 0.0, + 0.7720533609390259 + ], + [ + 0.34833166003227234, + -0.022052161395549774, + 0.06873665004968643, + 0.007642401847988367, + -0.19339519739151, + -0.05833786725997925, + 0.0, + 0.7720533609390259 + ], + [ + 0.34258681535720825, + -0.014979178085923195, + 0.06059236079454422, + 0.04712297022342682, + -0.1879311352968216, + -0.04408848285675049, + 0.0, + 0.7710858583450317 + ], + [ + 0.3371519446372986, + -0.012549898587167263, + 0.054284099489450455, + 0.059533555060625076, + -0.1739344447851181, + -0.03878232091665268, + 0.0, + 0.7710858583450317 + ], + [ + 0.3325331211090088, + -0.012338858097791672, + 0.04950888454914093, + 0.05805908516049385, + -0.16359522938728333, + -0.03177032247185707, + 0.0, + 0.7710858583450317 + ], + [ + 0.3294861614704132, + -0.012959413230419159, + 0.04954995959997177, + 0.05565788969397545, + -0.14690299332141876, + -0.005784612614661455, + 0.0, + 0.8381108045578003 + ], + [ + 0.32848095893859863, + -0.016599562019109726, + 0.05040576308965683, + 0.029129687696695328, + -0.13595522940158844, + 0.022791337221860886, + 0.0, + 1.0054124593734741 + ] + ], + "left_gripper_pos": [ + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9499720335006714 + ], + [ + 0.7739869356155396 + ], + [ + 0.7720533609390259 + ], + [ + 0.7720533609390259 + ], + [ + 0.7710858583450317 + ], + [ + 0.7710858583450317 + ], + [ + 0.7720533609390259 + ], + [ + 0.7720533609390259 + ], + [ + 0.7710858583450317 + ], + [ + 0.7710858583450317 + ], + [ + 0.7710858583450317 + ], + [ + 0.8381108045578003 + ], + [ + 1.0054124593734741 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.40492138266563416, + -0.016046812757849693, + 0.09928397834300995 + ], + [ + 0.40200069546699524, + -0.016627956181764603, + 0.08252379298210144 + ], + [ + 0.40159904956817627, + -0.01886904425919056, + 0.07480818778276443 + ], + [ + 0.40272095799446106, + -0.020068448036909103, + 0.06409432739019394 + ], + [ + 0.40500181913375854, + -0.02065589837729931, + 0.06395844370126724 + ], + [ + 0.40460631251335144, + -0.0206344835460186, + 0.05360798537731171 + ], + [ + 0.41072216629981995, + -0.022105365991592407, + 0.05233672633767128 + ], + [ + 0.41651225090026855, + -0.023404093459248543, + 0.04656805843114853 + ], + [ + 0.4238632917404175, + -0.0270663034170866, + 0.043454721570014954 + ], + [ + 0.43048998713493347, + -0.030713612213730812, + 0.042876340448856354 + ], + [ + 0.4309164583683014, + -0.031152626499533653, + 0.0429917648434639 + ], + [ + 0.42073240876197815, + -0.031209595501422882, + 0.04355619102716446 + ], + [ + 0.3987133800983429, + -0.029293496161699295, + 0.053674161434173584 + ], + [ + 0.3774007260799408, + -0.030710352584719658, + 0.06663551181554794 + ], + [ + 0.3599306046962738, + -0.02700718864798546, + 0.07337021082639694 + ], + [ + 0.34833166003227234, + -0.022052161395549774, + 0.06873665004968643 + ], + [ + 0.34258681535720825, + -0.014979178085923195, + 0.06059236079454422 + ], + [ + 0.3371519446372986, + -0.012549898587167263, + 0.054284099489450455 + ], + [ + 0.3325331211090088, + -0.012338858097791672, + 0.04950888454914093 + ], + [ + 0.3294861614704132, + -0.012959413230419159, + 0.04954995959997177 + ], + [ + 0.32848095893859863, + -0.016599562019109726, + 0.05040576308965683 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.849286468852852, + -0.4572849083740503, + 0.26382381696274154, + -0.4551152823156825, + -0.8874273873421655, + -0.07309385745583967, + 0.26754919851528297, + -0.05799262684509528, + -0.9617974223324968 + ], + [ + 0.8596387297410333, + -0.4607828289743344, + 0.22068175921818395, + -0.456570099723576, + -0.886695379839398, + -0.07290437167872811, + 0.22927057894031483, + -0.038085271350950425, + -0.9726173521681062 + ], + [ + 0.8621602742058868, + -0.4632466058087975, + 0.20513957148209708, + -0.45939514785094815, + -0.8855478484236182, + -0.06900077016458321, + 0.21362527872945022, + -0.0347504008455837, + -0.9762974187863224 + ], + [ + 0.8684364081625464, + -0.4568008881982814, + 0.19274634502110846, + -0.45387508708438223, + -0.8889240212271057, + -0.06173726435125302, + 0.19953849328357534, + -0.03386787602866819, + -0.979304527035093 + ], + [ + 0.869515169521943, + -0.448811493867171, + 0.20618344488330215, + -0.44617717568085524, + -0.8928075350079843, + -0.061811271904262964, + 0.21182374246689767, + -0.0382485085419789, + -0.976559139899695 + ], + [ + 0.8776181725092846, + -0.44277590600746514, + 0.18367318895454438, + -0.4393766289039764, + -0.8962231103923026, + -0.06109267036006752, + 0.1916625191696092, + -0.027085668867776178, + -0.9810870732445436 + ], + [ + 0.8788759040572874, + -0.4403249891958786, + 0.1835512167138506, + -0.43599610192176896, + -0.8975584605769176, + -0.06554547242804991, + 0.19360925694942377, + -0.022421278653172342, + -0.9808224823519538 + ], + [ + 0.883810155624997, + -0.43473278528486, + 0.17287861120620576, + -0.42951743746214505, + -0.9004553432267556, + -0.06851967433035727, + 0.18545721805869655, + -0.0136959940440168, + -0.9825568889469329 + ], + [ + 0.8854453218118061, + -0.435136920834033, + 0.16322512738136682, + -0.4294501026526223, + -0.9003318579714739, + -0.07053477761562504, + 0.17764906814627288, + -0.007642358844624046, + -0.9840642270390946 + ], + [ + 0.8876531856144255, + -0.42910210110620994, + 0.16716222328863115, + -0.42299043041430295, + -0.9032333207332273, + -0.07244766452515657, + 0.18207393511012207, + -0.006399620571789472, + -0.9832640169405429 + ], + [ + 0.8939621800384588, + -0.4158183456403405, + 0.1671129082082431, + -0.4089847303352129, + -0.9094468694481331, + -0.07508583091118977, + 0.18320237720488114, + -0.001222734607715173, + -0.9830744600011536 + ], + [ + 0.9122182184004882, + -0.37737382458115015, + 0.15952090314198533, + -0.37008936479240034, + -0.9260197087622613, + -0.07430586148760157, + 0.17576058740740755, + 0.008746170868005991, + -0.9843940879593654 + ], + [ + 0.9474632590794962, + -0.27174479025782877, + 0.16872504752462616, + -0.2642389914609346, + -0.9622039100799747, + -0.0658892314306008, + 0.18025295583198306, + 0.017843889557374742, + -0.9834584218558997 + ], + [ + 0.9668902807536838, + -0.16929958446779395, + 0.19094720653388583, + -0.16081971780789497, + -0.9852079642575663, + -0.05918011091279314, + 0.19814187681621262, + 0.026512598184519353, + -0.9798147165608683 + ], + [ + 0.9739621479144555, + -0.10496761117139125, + 0.2009465974701538, + -0.10022700409663726, + -0.9943953821496914, + -0.03365072969761729, + 0.20335260529354687, + 0.01263426152733366, + -0.9790240514696184 + ], + [ + 0.9796879066472759, + -0.05683678518677597, + 0.19230492822262932, + -0.057217827726096335, + -0.9983553135206065, + -0.0035760530586463734, + 0.1921918982667716, + -0.007499854318836874, + -0.9813287045765099 + ], + [ + 0.98143822657413, + -0.0352332484123149, + 0.18851425841389954, + -0.04329818031572284, + -0.9983071357205465, + 0.03883465399337438, + 0.18682685834850818, + -0.04627613829776711, + -0.9813023204007377 + ], + [ + 0.9841709073620963, + -0.028414934533305954, + 0.17492917594711377, + -0.03818757946355649, + -0.9978770239705396, + 0.05275560450240464, + 0.17305875845152396, + -0.05860065295854232, + -0.9831666336873165 + ], + [ + 0.9861502223987498, + -0.02226565747266284, + 0.16435321524146126, + -0.03134085594732134, + -0.9981114578071654, + 0.05283245728285033, + 0.1628664778626507, + -0.05725170994271705, + -0.9849856608586998 + ], + [ + 0.9892125956003122, + 0.002366969408469893, + 0.14646787416192078, + -0.005722275485004695, + -0.99848189681535, + 0.054782819344151745, + 0.14637519007320401, + -0.05502998444338886, + -0.9876973243576159 + ], + [ + 0.9905149997716848, + 0.026726256711580198, + 0.13478034882536083, + 0.022579071047414478, + -0.9992261965694237, + 0.032205490836798814, + 0.13553678754469223, + -0.02885680667693565, + -0.9903519899159464 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.002920687198638916, + -0.0005811434239149094, + -0.01676018536090851, + -0.021085668355226517, + 0.03952036798000336, + 0.0037061572074890137, + 1.0 + ], + [ + -0.0004016458988189697, + -0.0022410880774259567, + -0.007715605199337006, + -0.003558460623025894, + 0.016043826937675476, + -0.0013432204723358154, + 1.0 + ], + [ + 0.00112190842628479, + -0.001199403777718544, + -0.010713860392570496, + -0.0010092295706272125, + 0.014397487044334412, + 0.007983624935150146, + 1.0 + ], + [ + 0.0022808611392974854, + -0.0005874503403902054, + -0.00013588368892669678, + 0.004576776176691055, + -0.012553751468658447, + 0.007492095232009888, + 1.0 + ], + [ + -0.0003955066204071045, + 2.1414831280708313e-05, + -0.010350458323955536, + -0.011545795947313309, + 0.02058488130569458, + 0.00993412733078003, + 1.0 + ], + [ + 0.006115853786468506, + -0.0014708824455738068, + -0.0012712590396404266, + -0.004745112732052803, + -0.0019838958978652954, + 0.003655076026916504, + 1.0 + ], + [ + 0.005790084600448608, + -0.0012987274676561356, + -0.005768667906522751, + -0.008917456492781639, + 0.008302554488182068, + 0.008137822151184082, + 1.0 + ], + [ + 0.007351040840148926, + -0.0036622099578380585, + -0.0031133368611335754, + -0.006172271445393562, + 0.007940128445625305, + 0.0007878243923187256, + 0.0 + ], + [ + 0.006626695394515991, + -0.003647308796644211, + -0.0005783811211585999, + -0.0012575061991810799, + -0.004498228430747986, + 0.0068908631801605225, + 0.0 + ], + [ + 0.0004264712333679199, + -0.0004390142858028412, + 0.00011542439460754395, + -0.00526466965675354, + -0.0011477470397949219, + 0.015622586011886597, + 0.0 + ], + [ + -0.010184049606323242, + -5.696900188922882e-05, + 0.0005644261837005615, + -0.010128378868103027, + 0.007564648985862732, + 0.04365786910057068, + 0.0 + ], + [ + -0.022019028663635254, + 0.001916099339723587, + 0.010117970407009125, + -0.009257436729967594, + -0.0045652836561203, + 0.11343273520469666, + 0.0 + ], + [ + -0.0213126540184021, + -0.0014168564230203629, + 0.012961350381374359, + -0.008910156786441803, + -0.018218234181404114, + 0.10716211795806885, + 0.0 + ], + [ + -0.017470121383666992, + 0.0037031639367341995, + 0.006734699010848999, + 0.014147947542369366, + -0.0053190141916275024, + 0.06227242201566696, + 0.0 + ], + [ + -0.011598944664001465, + 0.004955027252435684, + -0.00463356077671051, + 0.02054664120078087, + 0.011385664343833923, + 0.04420763999223709, + 0.0 + ], + [ + -0.005744844675064087, + 0.007072983309626579, + -0.008144289255142212, + 0.03948056697845459, + 0.0054640620946884155, + 0.01424938440322876, + 0.0 + ], + [ + -0.005434870719909668, + 0.002429279498755932, + -0.006308261305093765, + 0.012410584837198257, + 0.013996690511703491, + 0.005306161940097809, + 0.0 + ], + [ + -0.004618823528289795, + 0.00021104048937559128, + -0.0047752149403095245, + -0.0014744699001312256, + 0.010339215397834778, + 0.0070119984447956085, + 1.0 + ], + [ + -0.003046959638595581, + -0.0006205551326274872, + 4.1075050830841064e-05, + -0.002401195466518402, + 0.016692236065864563, + 0.025985710322856903, + 1.0 + ], + [ + -0.0010052025318145752, + -0.003640148788690567, + 0.0008558034896850586, + -0.02652820199728012, + 0.010947763919830322, + 0.028575949370861053, + 1.0 + ], + [ + 0.005384236574172974, + -0.0012459717690944672, + 0.015753209590911865, + -0.009348507970571518, + -0.04204954206943512, + -7.068365812301636e-05, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9499720335006714 + ], + [ + 0.7739869356155396 + ], + [ + 0.7720533609390259 + ], + [ + 0.7720533609390259 + ], + [ + 0.7710858583450317 + ], + [ + 0.7710858583450317 + ], + [ + 0.7720533609390259 + ], + [ + 0.7720533609390259 + ], + [ + 0.7710858583450317 + ], + [ + 0.7710858583450317 + ], + [ + 0.7710858583450317 + ], + [ + 0.8381108045578003 + ], + [ + 1.0054124593734741 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.40200069546699524, + -0.016627956181764603, + 0.08252379298210144 + ], + [ + 0.40159904956817627, + -0.01886904425919056, + 0.07480818778276443 + ], + [ + 0.40272095799446106, + -0.020068448036909103, + 0.06409432739019394 + ], + [ + 0.40500181913375854, + -0.02065589837729931, + 0.06395844370126724 + ], + [ + 0.40460631251335144, + -0.0206344835460186, + 0.05360798537731171 + ], + [ + 0.41072216629981995, + -0.022105365991592407, + 0.05233672633767128 + ], + [ + 0.41651225090026855, + -0.023404093459248543, + 0.04656805843114853 + ], + [ + 0.4238632917404175, + -0.0270663034170866, + 0.043454721570014954 + ], + [ + 0.43048998713493347, + -0.030713612213730812, + 0.042876340448856354 + ], + [ + 0.4309164583683014, + -0.031152626499533653, + 0.0429917648434639 + ], + [ + 0.42073240876197815, + -0.031209595501422882, + 0.04355619102716446 + ], + [ + 0.3987133800983429, + -0.029293496161699295, + 0.053674161434173584 + ], + [ + 0.3774007260799408, + -0.030710352584719658, + 0.06663551181554794 + ], + [ + 0.3599306046962738, + -0.02700718864798546, + 0.07337021082639694 + ], + [ + 0.34833166003227234, + -0.022052161395549774, + 0.06873665004968643 + ], + [ + 0.34258681535720825, + -0.014979178085923195, + 0.06059236079454422 + ], + [ + 0.3371519446372986, + -0.012549898587167263, + 0.054284099489450455 + ], + [ + 0.3325331211090088, + -0.012338858097791672, + 0.04950888454914093 + ], + [ + 0.3294861614704132, + -0.012959413230419159, + 0.04954995959997177 + ], + [ + 0.32848095893859863, + -0.016599562019109726, + 0.05040576308965683 + ], + [ + 0.3338651955127716, + -0.017845533788204193, + 0.0661589726805687 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8596387297410333, + -0.4607828289743344, + 0.22068175921818395, + -0.456570099723576, + -0.886695379839398, + -0.07290437167872811, + 0.22927057894031483, + -0.038085271350950425, + -0.9726173521681062 + ], + [ + 0.8621602742058868, + -0.4632466058087975, + 0.20513957148209708, + -0.45939514785094815, + -0.8855478484236182, + -0.06900077016458321, + 0.21362527872945022, + -0.0347504008455837, + -0.9762974187863224 + ], + [ + 0.8684364081625464, + -0.4568008881982814, + 0.19274634502110846, + -0.45387508708438223, + -0.8889240212271057, + -0.06173726435125302, + 0.19953849328357534, + -0.03386787602866819, + -0.979304527035093 + ], + [ + 0.869515169521943, + -0.448811493867171, + 0.20618344488330215, + -0.44617717568085524, + -0.8928075350079843, + -0.061811271904262964, + 0.21182374246689767, + -0.0382485085419789, + -0.976559139899695 + ], + [ + 0.8776181725092846, + -0.44277590600746514, + 0.18367318895454438, + -0.4393766289039764, + -0.8962231103923026, + -0.06109267036006752, + 0.1916625191696092, + -0.027085668867776178, + -0.9810870732445436 + ], + [ + 0.8788759040572874, + -0.4403249891958786, + 0.1835512167138506, + -0.43599610192176896, + -0.8975584605769176, + -0.06554547242804991, + 0.19360925694942377, + -0.022421278653172342, + -0.9808224823519538 + ], + [ + 0.883810155624997, + -0.43473278528486, + 0.17287861120620576, + -0.42951743746214505, + -0.9004553432267556, + -0.06851967433035727, + 0.18545721805869655, + -0.0136959940440168, + -0.9825568889469329 + ], + [ + 0.8854453218118061, + -0.435136920834033, + 0.16322512738136682, + -0.4294501026526223, + -0.9003318579714739, + -0.07053477761562504, + 0.17764906814627288, + -0.007642358844624046, + -0.9840642270390946 + ], + [ + 0.8876531856144255, + -0.42910210110620994, + 0.16716222328863115, + -0.42299043041430295, + -0.9032333207332273, + -0.07244766452515657, + 0.18207393511012207, + -0.006399620571789472, + -0.9832640169405429 + ], + [ + 0.8939621800384588, + -0.4158183456403405, + 0.1671129082082431, + -0.4089847303352129, + -0.9094468694481331, + -0.07508583091118977, + 0.18320237720488114, + -0.001222734607715173, + -0.9830744600011536 + ], + [ + 0.9122182184004882, + -0.37737382458115015, + 0.15952090314198533, + -0.37008936479240034, + -0.9260197087622613, + -0.07430586148760157, + 0.17576058740740755, + 0.008746170868005991, + -0.9843940879593654 + ], + [ + 0.9474632590794962, + -0.27174479025782877, + 0.16872504752462616, + -0.2642389914609346, + -0.9622039100799747, + -0.0658892314306008, + 0.18025295583198306, + 0.017843889557374742, + -0.9834584218558997 + ], + [ + 0.9668902807536838, + -0.16929958446779395, + 0.19094720653388583, + -0.16081971780789497, + -0.9852079642575663, + -0.05918011091279314, + 0.19814187681621262, + 0.026512598184519353, + -0.9798147165608683 + ], + [ + 0.9739621479144555, + -0.10496761117139125, + 0.2009465974701538, + -0.10022700409663726, + -0.9943953821496914, + -0.03365072969761729, + 0.20335260529354687, + 0.01263426152733366, + -0.9790240514696184 + ], + [ + 0.9796879066472759, + -0.05683678518677597, + 0.19230492822262932, + -0.057217827726096335, + -0.9983553135206065, + -0.0035760530586463734, + 0.1921918982667716, + -0.007499854318836874, + -0.9813287045765099 + ], + [ + 0.98143822657413, + -0.0352332484123149, + 0.18851425841389954, + -0.04329818031572284, + -0.9983071357205465, + 0.03883465399337438, + 0.18682685834850818, + -0.04627613829776711, + -0.9813023204007377 + ], + [ + 0.9841709073620963, + -0.028414934533305954, + 0.17492917594711377, + -0.03818757946355649, + -0.9978770239705396, + 0.05275560450240464, + 0.17305875845152396, + -0.05860065295854232, + -0.9831666336873165 + ], + [ + 0.9861502223987498, + -0.02226565747266284, + 0.16435321524146126, + -0.03134085594732134, + -0.9981114578071654, + 0.05283245728285033, + 0.1628664778626507, + -0.05725170994271705, + -0.9849856608586998 + ], + [ + 0.9892125956003122, + 0.002366969408469893, + 0.14646787416192078, + -0.005722275485004695, + -0.99848189681535, + 0.054782819344151745, + 0.14637519007320401, + -0.05502998444338886, + -0.9876973243576159 + ], + [ + 0.9905149997716848, + 0.026726256711580198, + 0.13478034882536083, + 0.022579071047414478, + -0.9992261965694237, + 0.032205490836798814, + 0.13553678754469223, + -0.02885680667693565, + -0.9903519899159464 + ], + [ + 0.9839449145091622, + 0.026215700503115683, + 0.17653651820144295, + 0.022359719232565627, + -0.9994667375499654, + 0.023796711686058538, + 0.177066225371747, + -0.019467346464259076, + -0.9840063893360866 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005480.json b/json/chunk-0005/episode_0005480.json new file mode 100644 index 0000000000000000000000000000000000000000..a76f16c57ebf7e324a684994515876d93391139b --- /dev/null +++ b/json/chunk-0005/episode_0005480.json @@ -0,0 +1,2782 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 45, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPressing the cloth down." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005480.mp4", + "start": 0, + "end": 45, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2587727904319763, + 0.03591686859726906, + 0.18240569531917572, + 0.054778117686510086, + -0.0763142853975296, + -0.09504500776529312, + 0.0, + 1.0008161067962646 + ], + [ + 0.2588350474834442, + 0.036327559500932693, + 0.17600080370903015, + 0.04941180720925331, + -0.05253725126385689, + -0.08857900649309158, + 0.0, + 1.0008161067962646 + ], + [ + 0.26421046257019043, + 0.03515380248427391, + 0.17027835547924042, + 0.06265892833471298, + -0.022808389738202095, + -0.08847663551568985, + 0.0, + 1.0008161067962646 + ], + [ + 0.27468448877334595, + 0.03250739723443985, + 0.17076508700847626, + 0.08970660716295242, + -0.005093619227409363, + -0.08886253088712692, + 0.0, + 1.0008161067962646 + ], + [ + 0.28539785742759705, + 0.027616482228040695, + 0.16894251108169556, + 0.1306729018688202, + 0.003728099400177598, + -0.08416914939880371, + 0.0, + 1.0008161067962646 + ], + [ + 0.2982980012893677, + 0.019867483526468277, + 0.15771527588367462, + 0.13711333274841309, + 0.006561911199241877, + -0.06634718179702759, + 0.0, + 1.0008161067962646 + ], + [ + 0.3070257306098938, + 0.010359857231378555, + 0.15060414373874664, + 0.1308266669511795, + 0.010064315050840378, + -0.05302591621875763, + 0.0, + 1.0008161067962646 + ], + [ + 0.3112216293811798, + 0.00027250396669842303, + 0.14604714512825012, + 0.12830761075019836, + -0.015253701247274876, + -0.05639775097370148, + 0.0, + 1.0008161067962646 + ], + [ + 0.31456685066223145, + -0.0019717318937182426, + 0.1255057454109192, + 0.12454503774642944, + -0.008914891630411148, + -0.041331153362989426, + 0.0, + 1.0008161067962646 + ], + [ + 0.3170829117298126, + -0.004611931275576353, + 0.1089075580239296, + 0.10861626267433167, + -0.01444926019757986, + -0.027556084096431732, + 0.0, + 1.0008161067962646 + ], + [ + 0.31906676292419434, + -0.008551167324185371, + 0.09087369590997696, + 0.07290390133857727, + -0.04083452746272087, + 0.011854525655508041, + 0.0, + 1.0008161067962646 + ], + [ + 0.3223508596420288, + -0.006802400108426809, + 0.07620999962091446, + 0.06611580401659012, + -0.08818041533231735, + 0.018483342602849007, + 0.0, + 1.0008161067962646 + ], + [ + 0.32445332407951355, + -0.003442104673013091, + 0.06251228600740433, + 0.053166527301073074, + -0.07884339988231659, + 0.008354726247489452, + 0.0, + 1.0008161067962646 + ], + [ + 0.325049489736557, + -0.00033954603713937104, + 0.05372762680053711, + 0.05419004335999489, + -0.08484294265508652, + 0.011952380649745464, + 0.0, + 1.0008161067962646 + ], + [ + 0.32301977276802063, + 0.0025159886572510004, + 0.0424359068274498, + 0.07228754460811615, + -0.06115679442882538, + 0.02155640907585621, + 0.0, + 1.0008161067962646 + ], + [ + 0.31855759024620056, + 0.004977218806743622, + 0.028864141553640366, + 0.0876891240477562, + -0.04235376790165901, + 0.02996346727013588, + 0.0, + 1.0008161067962646 + ], + [ + 0.310606986284256, + 0.004873262718319893, + 0.018894756212830544, + 0.08604099601507187, + -0.03595372289419174, + 0.026676829904317856, + 0.0, + 1.0008161067962646 + ], + [ + 0.30944180488586426, + 0.00856570154428482, + 0.009890159592032433, + 0.08800483494997025, + -0.04090775549411774, + 0.034601058810949326, + 0.0, + 1.0008161067962646 + ], + [ + 0.31080061197280884, + 0.009456698782742023, + 0.006277373060584068, + 0.08471505343914032, + -0.05049479380249977, + 0.028987515717744827, + 0.0, + 1.003452181816101 + ], + [ + 0.30977529287338257, + 0.011313801631331444, + 0.004436738323420286, + 0.07797067612409592, + -0.06193149462342262, + 0.03606266528367996, + 0.0, + 1.0008161067962646 + ], + [ + 0.3067876696586609, + 0.02418205887079239, + 0.004699867218732834, + 0.07863004505634308, + -0.06965889036655426, + 0.07564558833837509, + 0.0, + 1.0008161067962646 + ], + [ + 0.304960697889328, + 0.046923842281103134, + 0.0092247249558568, + 0.13390924036502838, + -0.10597367584705353, + 0.10474874079227448, + 0.0, + 1.0008161067962646 + ], + [ + 0.30019187927246094, + 0.08113616704940796, + 0.012953395023941994, + 0.16584958136081696, + -0.1166742816567421, + 0.18307313323020935, + 0.0, + 1.0008161067962646 + ], + [ + 0.2988540828227997, + 0.09218624979257584, + 0.01438983902335167, + 0.16382133960723877, + -0.11570050567388535, + 0.21849140524864197, + 0.0, + 1.0008161067962646 + ], + [ + 0.29820698499679565, + 0.09573658555746078, + 0.014908747747540474, + 0.1618988811969757, + -0.11603586375713348, + 0.2351299524307251, + 0.0, + 1.0001531839370728 + ], + [ + 0.3009503483772278, + 0.09147856384515762, + 0.014401448890566826, + 0.13197682797908783, + -0.1256761997938156, + 0.23075547814369202, + 0.0, + 1.0001531839370728 + ], + [ + 0.29721540212631226, + 0.06850646436214447, + 0.007821843959391117, + 0.047439854592084885, + -0.11271139979362488, + 0.21690502762794495, + 0.0, + 1.0001531839370728 + ], + [ + 0.29177582263946533, + 0.028578100726008415, + 0.004609801806509495, + 0.005481376312673092, + -0.1058202013373375, + 0.08744746446609497, + 0.0, + 0.9994885921478271 + ], + [ + 0.2847759425640106, + -0.01810806803405285, + 0.003192128147929907, + 0.0003295490751042962, + -0.12127826362848282, + -0.032093197107315063, + 0.0, + 0.9994885921478271 + ], + [ + 0.2809634804725647, + -0.03307093679904938, + 0.0026922374963760376, + 0.005083142779767513, + -0.1077808290719986, + -0.07782948762178421, + 0.0, + 0.9994885921478271 + ], + [ + 0.28023770451545715, + -0.03166523203253746, + 0.0026443060487508774, + 0.019606001675128937, + -0.1032169759273529, + -0.061611056327819824, + 0.0, + 0.9994885921478271 + ], + [ + 0.279328852891922, + -0.03122134506702423, + 0.0025584104005247355, + 0.020026275888085365, + -0.09773309528827667, + -0.04085105285048485, + 0.0, + 0.9988223910331726 + ], + [ + 0.27966031432151794, + -0.01827210932970047, + 0.0024491301737725735, + 0.04455878958106041, + -0.09219212085008621, + -0.003507846500724554, + 0.0, + 0.9988223910331726 + ], + [ + 0.2842239439487457, + 0.010370926931500435, + 0.00441774120554328, + 0.07019764184951782, + -0.09319239109754562, + 0.06313857436180115, + 0.0, + 1.0008161067962646 + ], + [ + 0.2867157459259033, + 0.024110181257128716, + 0.004778089467436075, + 0.09242107719182968, + -0.07846599817276001, + 0.08661574870347977, + 0.0, + 1.0008161067962646 + ], + [ + 0.28744056820869446, + 0.028306683525443077, + 0.004665200132876635, + 0.0969533622264862, + -0.07267709076404572, + 0.09618701040744781, + 0.0, + 1.0008161067962646 + ], + [ + 0.28852128982543945, + 0.03201945126056671, + 0.0053770639933645725, + 0.11214174330234528, + -0.07164042443037033, + 0.09573239833116531, + 0.0, + 1.0014774799346924 + ], + [ + 0.2884571850299835, + 0.03547830507159233, + 0.005686594173312187, + 0.11436208337545395, + -0.07194973528385162, + 0.10581409931182861, + 0.0, + 1.0008161067962646 + ], + [ + 0.28584200143814087, + 0.033850252628326416, + 0.007081430405378342, + 0.10159073024988174, + -0.06793636828660965, + 0.12024075537919998, + 0.0, + 1.0008161067962646 + ], + [ + 0.27325060963630676, + 0.03670203313231468, + 0.026900634169578552, + 0.07962971180677414, + -0.054463934153318405, + 0.1478588581085205, + 0.0, + 1.0001531839370728 + ], + [ + 0.27322638034820557, + 0.032822974026203156, + 0.06744908541440964, + 0.0578390434384346, + -0.10036163032054901, + 0.14298291504383087, + 0.0, + 1.0001531839370728 + ], + [ + 0.2726939916610718, + 0.030677955597639084, + 0.09236647188663483, + 0.040366657078266144, + -0.1024065837264061, + 0.13385267555713654, + 0.0, + 1.0001531839370728 + ], + [ + 0.26959750056266785, + 0.03206631541252136, + 0.10117528587579727, + 0.037612538784742355, + -0.09191427379846573, + 0.11974320560693741, + 0.0, + 1.0001531839370728 + ], + [ + 0.2635113298892975, + 0.03161090984940529, + 0.12362822890281677, + 0.04110032692551613, + -0.14143528044223785, + 0.09190454334020615, + 0.0, + 1.0001531839370728 + ], + [ + 0.2538895308971405, + 0.031430844217538834, + 0.13146992027759552, + 0.03681490942835808, + -0.19976259768009186, + 0.061353735625743866, + 0.0, + 1.0001531839370728 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.003452181816101 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2587727904319763, + 0.03591686859726906, + 0.18240569531917572 + ], + [ + 0.2588350474834442, + 0.036327559500932693, + 0.17600080370903015 + ], + [ + 0.26421046257019043, + 0.03515380248427391, + 0.17027835547924042 + ], + [ + 0.27468448877334595, + 0.03250739723443985, + 0.17076508700847626 + ], + [ + 0.28539785742759705, + 0.027616482228040695, + 0.16894251108169556 + ], + [ + 0.2982980012893677, + 0.019867483526468277, + 0.15771527588367462 + ], + [ + 0.3070257306098938, + 0.010359857231378555, + 0.15060414373874664 + ], + [ + 0.3112216293811798, + 0.00027250396669842303, + 0.14604714512825012 + ], + [ + 0.31456685066223145, + -0.0019717318937182426, + 0.1255057454109192 + ], + [ + 0.3170829117298126, + -0.004611931275576353, + 0.1089075580239296 + ], + [ + 0.31906676292419434, + -0.008551167324185371, + 0.09087369590997696 + ], + [ + 0.3223508596420288, + -0.006802400108426809, + 0.07620999962091446 + ], + [ + 0.32445332407951355, + -0.003442104673013091, + 0.06251228600740433 + ], + [ + 0.325049489736557, + -0.00033954603713937104, + 0.05372762680053711 + ], + [ + 0.32301977276802063, + 0.0025159886572510004, + 0.0424359068274498 + ], + [ + 0.31855759024620056, + 0.004977218806743622, + 0.028864141553640366 + ], + [ + 0.310606986284256, + 0.004873262718319893, + 0.018894756212830544 + ], + [ + 0.30944180488586426, + 0.00856570154428482, + 0.009890159592032433 + ], + [ + 0.31080061197280884, + 0.009456698782742023, + 0.006277373060584068 + ], + [ + 0.30977529287338257, + 0.011313801631331444, + 0.004436738323420286 + ], + [ + 0.3067876696586609, + 0.02418205887079239, + 0.004699867218732834 + ], + [ + 0.304960697889328, + 0.046923842281103134, + 0.0092247249558568 + ], + [ + 0.30019187927246094, + 0.08113616704940796, + 0.012953395023941994 + ], + [ + 0.2988540828227997, + 0.09218624979257584, + 0.01438983902335167 + ], + [ + 0.29820698499679565, + 0.09573658555746078, + 0.014908747747540474 + ], + [ + 0.3009503483772278, + 0.09147856384515762, + 0.014401448890566826 + ], + [ + 0.29721540212631226, + 0.06850646436214447, + 0.007821843959391117 + ], + [ + 0.29177582263946533, + 0.028578100726008415, + 0.004609801806509495 + ], + [ + 0.2847759425640106, + -0.01810806803405285, + 0.003192128147929907 + ], + [ + 0.2809634804725647, + -0.03307093679904938, + 0.0026922374963760376 + ], + [ + 0.28023770451545715, + -0.03166523203253746, + 0.0026443060487508774 + ], + [ + 0.279328852891922, + -0.03122134506702423, + 0.0025584104005247355 + ], + [ + 0.27966031432151794, + -0.01827210932970047, + 0.0024491301737725735 + ], + [ + 0.2842239439487457, + 0.010370926931500435, + 0.00441774120554328 + ], + [ + 0.2867157459259033, + 0.024110181257128716, + 0.004778089467436075 + ], + [ + 0.28744056820869446, + 0.028306683525443077, + 0.004665200132876635 + ], + [ + 0.28852128982543945, + 0.03201945126056671, + 0.0053770639933645725 + ], + [ + 0.2884571850299835, + 0.03547830507159233, + 0.005686594173312187 + ], + [ + 0.28584200143814087, + 0.033850252628326416, + 0.007081430405378342 + ], + [ + 0.27325060963630676, + 0.03670203313231468, + 0.026900634169578552 + ], + [ + 0.27322638034820557, + 0.032822974026203156, + 0.06744908541440964 + ], + [ + 0.2726939916610718, + 0.030677955597639084, + 0.09236647188663483 + ], + [ + 0.26959750056266785, + 0.03206631541252136, + 0.10117528587579727 + ], + [ + 0.2635113298892975, + 0.03161090984940529, + 0.12362822890281677 + ], + [ + 0.2538895308971405, + 0.031430844217538834, + 0.13146992027759552 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9925892365984951, + -0.09060425713690588, + 0.08097824385281643, + -0.09462575906579525, + -0.9943895868869485, + 0.04727912025435942, + 0.07624023288290002, + -0.05459137367271089, + -0.9955938975357812 + ], + [ + 0.9947050897435024, + -0.08577170392393739, + 0.05661271274506685, + -0.08834115820561218, + -0.9950931623825645, + 0.04455825340336373, + 0.052513086038263185, + -0.049323554063467466, + -0.9974014050568037 + ], + [ + 0.9958294124629492, + -0.08676533939377125, + 0.02820562272989581, + -0.08833826371127822, + -0.9942599305655869, + 0.06036175640412712, + 0.02280641221617711, + -0.06260164815400793, + -0.9977779819229465 + ], + [ + 0.9960414014986317, + -0.08793426872632533, + 0.013003495076624443, + -0.08874447457834793, + -0.992089744078329, + 0.08878264428596787, + 0.005093597201816106, + -0.08958517778160709, + -0.9959661395797467 + ], + [ + 0.9964529431218705, + -0.08383711583761864, + 0.0072711864088038786, + -0.08406921840373953, + -0.9879236486403751, + 0.13015080089677727, + -0.0037280907642121244, + -0.13030043156151838, + -0.991467548069091 + ], + [ + 0.9977783511025542, + -0.06657121311257892, + 0.0025759766667061965, + -0.0662970890046775, + -0.9883757034836017, + 0.13681434410470664, + -0.006561864108139052, + -0.13668117042231828, + -0.9905933573325693 + ], + [ + 0.9985438818795517, + -0.05385920454563038, + -0.0030499256758165787, + -0.05299838623340215, + -0.989991271964478, + 0.13079928321978804, + -0.010064145148555179, + -0.13044718287439996, + -0.9914041786590179 + ], + [ + 0.9982939178553214, + -0.053955885380552605, + 0.022316272221707605, + -0.056361300701095095, + -0.9903130173571658, + 0.12689969044968716, + 0.015253109727312236, + -0.1279409632828609, + -0.9916644858811372 + ], + [ + 0.9991062860171309, + -0.039892861917482106, + 0.01397099885790644, + -0.041317745021858976, + -0.9914526492474639, + 0.12375172017589803, + 0.00891477354527665, + -0.1242183717016844, + -0.9922148572483777 + ], + [ + 0.9995160060255114, + -0.025824539329689, + 0.017344937798087767, + -0.027549720651948766, + -0.9937727982780624, + 0.10796591265112038, + 0.014448757414039988, + -0.1083915059910098, + -0.9940032770761832 + ], + [ + 0.9990961810344405, + 0.014796083899653931, + 0.03984842460663994, + 0.011844366144307927, + -0.9972383609923261, + 0.07331686269869103, + 0.04082318009460113, + -0.07277861819637374, + -0.9965122882836871 + ], + [ + 0.9959444773632314, + 0.02425924052317739, + 0.08663767805590258, + 0.018410479584582154, + -0.9975371714006838, + 0.06768046923144218, + 0.08806618108641523, + -0.06581094835330316, + -0.9939382610734397 + ], + [ + 0.9968586768010688, + 0.012528193514212083, + 0.07820372659722237, + 0.008328675137544848, + -0.9985171734389712, + 0.053796724044324624, + 0.07876173980351052, + -0.05297639771368403, + -0.995484851531356 + ], + [ + 0.996331824096536, + 0.016524105140002004, + 0.08396338631684025, + 0.011909104329637283, + -0.998405896167219, + 0.05517100445521798, + 0.08474119143919687, + -0.05396869877858856, + -0.9949403550090884 + ], + [ + 0.9978986099903726, + 0.025911693996877535, + 0.05938811575975936, + 0.021514443191435365, + -0.997061520861537, + 0.07352178147625038, + 0.061118678924244565, + -0.07208958129640644, + -0.9955237814111042 + ], + [ + 0.9986547446832105, + 0.03355030827731824, + 0.03953577792593848, + 0.029932117071084202, + -0.9955995344524453, + 0.08880110002538069, + 0.04234110637849609, + -0.0874982503400592, + -0.9952644306404573 + ], + [ + 0.9989981589464181, + 0.029662907479117925, + 0.03350806382876547, + 0.026656427638784893, + -0.9958638718727417, + 0.08685956230703508, + 0.0359459773438636, + -0.08587933755285244, + -0.9956568817088935 + ], + [ + 0.9985653382896043, + 0.038052558992033025, + 0.0376731724271581, + 0.03456521330564634, + -0.9954094862551691, + 0.08924797309942585, + 0.040896346972605115, + -0.08781775120884454, + -0.9952967051974593 + ], + [ + 0.9983058356068196, + 0.03314846142640368, + 0.04781880486201707, + 0.028946514242703583, + -0.995871442543442, + 0.08603586019585494, + 0.05047333857163006, + -0.08450591358896703, + -0.9951438050161029 + ], + [ + 0.9974339169301033, + 0.04076303986681923, + 0.05885538155757612, + 0.035985726843984295, + -0.9961397988343771, + 0.08006577696941969, + 0.0618919124036567, + -0.07774236785063093, + -0.9950505089793157 + ], + [ + 0.9947219724576114, + 0.08079154245425836, + 0.06325285904922136, + 0.075390184347826, + -0.993646146516793, + 0.08356826919548313, + 0.06960256901896443, + -0.07835854886475177, + -0.9944925440674608 + ], + [ + 0.9889396571969514, + 0.11766585534823153, + 0.09029452313593171, + 0.10397072822331936, + -0.9841389225873739, + 0.14373819506754493, + 0.10577543238337016, + -0.1327604140311862, + -0.98548781340531 + ], + [ + 0.9766037543449552, + 0.19845113374824316, + 0.08283872592800759, + 0.18081448291520305, + -0.9662979208656027, + 0.18323332365844686, + 0.1164097494518668, + -0.16396791041191655, + -0.9795730164656964 + ], + [ + 0.9696986707618748, + 0.23223489900232963, + 0.07583824634068773, + 0.21530793794661768, + -0.9590741469018, + 0.18390017020590205, + 0.11544253886600253, + -0.16199917416444465, + -0.9800149426361872 + ], + [ + 0.9659444979282388, + 0.24807148304842344, + 0.07356470770905274, + 0.23140273590145702, + -0.9554191641319617, + 0.18337664689568317, + 0.11577564830085446, + -0.16010858848774878, + -0.9802863046850024 + ], + [ + 0.9658160706341964, + 0.2427816087353346, + 0.09086477956064158, + 0.22690921328448765, + -0.9612555210109002, + 0.1565248614523517, + 0.1253456286885824, + -0.13055617099909875, + -0.9834854140162519 + ], + [ + 0.9703716604731187, + 0.22017480415811638, + 0.09950827183997334, + 0.21384266619219086, + -0.9743216368012746, + 0.07048873794231936, + 0.11247290636619191, + -0.04712115952330574, + -0.9925368716872546 + ], + [ + 0.9906065458706118, + 0.08791148566297599, + 0.10473892288363486, + 0.08684751969744589, + -0.996113377428815, + 0.014684945684651306, + 0.10562281761389151, + -0.00545068765274423, + -0.9943913265930144 + ], + [ + 0.9921436409362524, + -0.032047837754269656, + 0.12092944986657489, + -0.03185199774738284, + -0.9994862825883318, + -0.003552626810931989, + 0.12098118031023322, + -0.00032712846565657937, + -0.9926547471289852 + ], + [ + 0.9911876470175188, + -0.07720478490805813, + 0.10764046445075719, + -0.07729976906138072, + -0.9970024483734737, + -0.003296003694745533, + 0.10757227385777178, + -0.005053624896947418, + -0.9941844229178354 + ], + [ + 0.9927905927197062, + -0.0595441327875686, + 0.10402564711565467, + -0.06124438972815815, + -0.9980351849525919, + 0.013224761754787165, + 0.10303379898887448, + -0.019500406334787057, + -0.9944866868986725 + ], + [ + 0.9943976143973376, + -0.038879147774915655, + 0.09829443702051356, + -0.04064480147958655, + -0.9990451600457892, + 0.016023991443086815, + 0.09757758243350999, + -0.019929376743375384, + -0.9950283590677463 + ], + [ + 0.9957471891969665, + 0.0005964125262044883, + 0.09212588940379039, + -0.0034929426201139044, + -0.9990156599314542, + 0.04422115515874362, + 0.09206158025035972, + -0.04435488139787629, + -0.9947649521057661 + ], + [ + 0.9936767995904764, + 0.06945528721828438, + 0.08821780451277239, + 0.06282283935248216, + -0.9951376514949529, + 0.07585740196448622, + 0.09305755644395744, + -0.0698356474483844, + -0.9932085750405826 + ], + [ + 0.9931858579512226, + 0.09334533541616159, + 0.06977463666504016, + 0.08624131368810121, + -0.9913736017531212, + 0.09869558024751932, + 0.07838550490393362, + -0.0920055982160232, + -0.9926684655603135 + ], + [ + 0.9927499798175, + 0.10258430456834398, + 0.06264134440274159, + 0.09578523478218402, + -0.9900279439943346, + 0.10329500911502393, + 0.07261312808353275, + -0.09654600233350022, + -0.9926762831171824 + ], + [ + 0.9928678197838811, + 0.10295935382455021, + 0.06010710355385366, + 0.09534105285232203, + -0.9884029504688082, + 0.1181934479806953, + 0.07157915952715113, + -0.11161979647260455, + -0.9911697356945484 + ], + [ + 0.9918341147951175, + 0.1130842714602057, + 0.05896639955856429, + 0.10534349111760999, + -0.9870448185494615, + 0.12101766422227327, + 0.0718876735451897, + -0.1138177214803361, + -0.9908974158152221 + ], + [ + 0.9904896535803851, + 0.1261676043139012, + 0.0548815248685679, + 0.11967452582652503, + -0.9868353017024818, + 0.1087846275076026, + 0.06788412199037981, + -0.10118212754959405, + -0.992549204345121 + ], + [ + 0.9876221650491139, + 0.1511368427996009, + 0.041953710828362946, + 0.14710224620586873, + -0.9853166524316772, + 0.08667193087742918, + 0.05443701190264907, + -0.07942763492263007, + -0.9953531345938027 + ], + [ + 0.9848146934850163, + 0.1479906822819942, + 0.09076771151529259, + 0.14177917830012704, + -0.9873148825699216, + 0.07147018438819651, + 0.10019323378629075, + -0.05751591617675818, + -0.9933042007813084 + ], + [ + 0.9858629865203985, + 0.13743319064154694, + 0.09584513508344875, + 0.13275417888094107, + -0.9896972039294271, + 0.053626229812667014, + 0.10222768606755914, + -0.040144272871209016, + -0.9939506715913593 + ], + [ + 0.9886484268585136, + 0.12279950224131443, + 0.08657118642753923, + 0.11895300939460389, + -0.9917248402061039, + 0.048291022707592474, + 0.09178490957752054, + -0.03744494047883298, + -0.995074573490039 + ], + [ + 0.9858365825626405, + 0.09746531620472879, + 0.13647983227688515, + 0.09085881642540986, + -0.9944072475586955, + 0.05384144760789287, + 0.14096420807775334, + -0.040678472683374316, + -0.9891786258816758 + ], + [ + 0.9782695817216905, + 0.0685637389701952, + 0.19567227493054745, + 0.06009591818957029, + -0.9969942996370849, + 0.048896289308200586, + 0.19843665511951486, + -0.036074647463082865, + -0.9794495973328047 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + 6.225705146789551e-05, + 0.00041069090366363525, + -0.006404891610145569, + -0.005366310477256775, + 0.023777034133672714, + 0.006466001272201538, + 1.0 + ], + [ + 0.005375415086746216, + -0.001173757016658783, + -0.005722448229789734, + 0.013247121125459671, + 0.029728861525654793, + 0.0001023709774017334, + 1.0 + ], + [ + 0.010474026203155518, + -0.0026464052498340607, + 0.00048673152923583984, + 0.02704767882823944, + 0.017714770510792732, + -0.00038589537143707275, + 1.0 + ], + [ + 0.010713368654251099, + -0.004890915006399155, + -0.0018225759267807007, + 0.04096629470586777, + 0.008821718394756317, + 0.004693381488323212, + 1.0 + ], + [ + 0.01290014386177063, + -0.007748998701572418, + -0.011227235198020935, + 0.0064404308795928955, + 0.0028338117990642786, + 0.017821967601776123, + 1.0 + ], + [ + 0.008727729320526123, + -0.009507626295089722, + -0.0071111321449279785, + -0.0062866657972335815, + 0.003502403851598501, + 0.013321265578269958, + 1.0 + ], + [ + 0.004195898771286011, + -0.010087353177368641, + -0.004556998610496521, + -0.00251905620098114, + -0.02531801536679268, + -0.0033718347549438477, + 1.0 + ], + [ + 0.0033452212810516357, + -0.002244235947728157, + -0.020541399717330933, + -0.003762573003768921, + 0.006338809616863728, + 0.015066597610712051, + 1.0 + ], + [ + 0.0025160610675811768, + -0.0026401993818581104, + -0.016598187386989594, + -0.01592877507209778, + -0.005534368567168713, + 0.013775069266557693, + 1.0 + ], + [ + 0.001983851194381714, + -0.003939236048609018, + -0.018033862113952637, + -0.035712361335754395, + -0.026385266333818436, + 0.039410609751939774, + 1.0 + ], + [ + 0.0032840967178344727, + 0.001748767215758562, + -0.0146636962890625, + -0.006788097321987152, + -0.04734588786959648, + 0.006628816947340965, + 1.0 + ], + [ + 0.002102464437484741, + 0.0033602954354137182, + -0.013697713613510132, + -0.012949276715517044, + 0.009337015450000763, + -0.010128616355359554, + 1.0 + ], + [ + 0.000596165657043457, + 0.0031025586649775505, + -0.008784659206867218, + 0.001023516058921814, + -0.005999542772769928, + 0.003597654402256012, + 1.0 + ], + [ + -0.002029716968536377, + 0.002855534665286541, + -0.01129171997308731, + 0.01809750124812126, + 0.02368614822626114, + 0.009604028426110744, + 1.0 + ], + [ + -0.004462182521820068, + 0.0024612301494926214, + -0.013571765273809433, + 0.015401579439640045, + 0.018803026527166367, + 0.00840705819427967, + 1.0 + ], + [ + -0.00795060396194458, + -0.00010395608842372894, + -0.009969385340809822, + -0.0016481280326843262, + 0.00640004500746727, + -0.0032866373658180237, + 1.0 + ], + [ + -0.0011651813983917236, + 0.0036924388259649277, + -0.009004596620798111, + 0.0019638389348983765, + -0.004954032599925995, + 0.00792422890663147, + 1.0 + ], + [ + 0.00135880708694458, + 0.0008909972384572029, + -0.0036127865314483643, + -0.0032897815108299255, + -0.009587038308382034, + -0.005613543093204498, + 1.0 + ], + [ + -0.0010253190994262695, + 0.0018571028485894203, + -0.0018406347371637821, + -0.006744377315044403, + -0.011436700820922852, + 0.007075149565935135, + 1.0 + ], + [ + -0.0029876232147216797, + 0.012868257239460945, + 0.0002631288953125477, + 0.0006593689322471619, + -0.007727395743131638, + 0.03958292305469513, + 1.0 + ], + [ + -0.0018269717693328857, + 0.022741783410310745, + 0.004524857737123966, + 0.0552791953086853, + -0.03631478548049927, + 0.029103152453899384, + 1.0 + ], + [ + -0.004768818616867065, + 0.034212324768304825, + 0.0037286700680851936, + 0.031940340995788574, + -0.010700605809688568, + 0.07832439243793488, + 1.0 + ], + [ + -0.0013377964496612549, + 0.011050082743167877, + 0.0014364439994096756, + -0.002028241753578186, + 0.0009737759828567505, + 0.03541827201843262, + 1.0 + ], + [ + -0.0006470978260040283, + 0.0035503357648849487, + 0.0005189087241888046, + -0.0019224584102630615, + -0.00033535808324813843, + 0.01663854718208313, + 1.0 + ], + [ + 0.002743363380432129, + -0.004258021712303162, + -0.0005072988569736481, + -0.02992205321788788, + -0.009640336036682129, + -0.004374474287033081, + 1.0 + ], + [ + -0.0037349462509155273, + -0.022972099483013153, + -0.006579604931175709, + -0.08453696966171265, + 0.012964800000190735, + -0.01385045051574707, + 1.0 + ], + [ + -0.005439579486846924, + -0.039928361773490906, + -0.0032120421528816223, + -0.04195847734808922, + 0.006891198456287384, + -0.12945756316184998, + 1.0 + ], + [ + -0.006999880075454712, + -0.046686168760061264, + -0.001417673658579588, + -0.0051518273539841175, + -0.015458062291145325, + -0.11954066157341003, + 1.0 + ], + [ + -0.003812462091445923, + -0.014962868764996529, + -0.0004998906515538692, + 0.004753593821078539, + 0.013497434556484222, + -0.04573629051446915, + 1.0 + ], + [ + -0.0007257759571075439, + 0.0014057047665119171, + -4.793144762516022e-05, + 0.014522858895361423, + 0.004563853144645691, + 0.016218431293964386, + 1.0 + ], + [ + -0.0009088516235351562, + 0.00044388696551322937, + -8.589564822614193e-05, + 0.00042027421295642853, + 0.005483880639076233, + 0.020760003477334976, + 1.0 + ], + [ + 0.00033146142959594727, + 0.012949235737323761, + -0.00010928022675216198, + 0.024532513692975044, + 0.00554097443819046, + 0.037343207746744156, + 1.0 + ], + [ + 0.004563629627227783, + 0.028643036261200905, + 0.001968611031770706, + 0.025638852268457413, + -0.0010002702474594116, + 0.06664641946554184, + 1.0 + ], + [ + 0.0024918019771575928, + 0.01373925432562828, + 0.00036034826189279556, + 0.02222343534231186, + 0.014726392924785614, + 0.02347717434167862, + 1.0 + ], + [ + 0.0007248222827911377, + 0.004196502268314362, + -0.00011288933455944061, + 0.004532285034656525, + 0.005788907408714294, + 0.009571261703968048, + 1.0 + ], + [ + 0.0010807216167449951, + 0.0037127677351236343, + 0.0007118638604879379, + 0.01518838107585907, + 0.0010366663336753845, + -0.0004546120762825012, + 1.0 + ], + [ + -6.410479545593262e-05, + 0.0034588538110256195, + 0.00030953017994761467, + 0.002220340073108673, + -0.0003093108534812927, + 0.0100817009806633, + 1.0 + ], + [ + -0.0026151835918426514, + -0.001628052443265915, + 0.0013948362320661545, + -0.012771353125572205, + 0.004013366997241974, + 0.014426656067371368, + 1.0 + ], + [ + -0.012591391801834106, + 0.002851780503988266, + 0.01981920376420021, + -0.021961018443107605, + 0.013472434133291245, + 0.027618102729320526, + 1.0 + ], + [ + -2.422928810119629e-05, + -0.0038790591061115265, + 0.040548451244831085, + -0.02179066836833954, + -0.045897696167230606, + -0.004875943064689636, + 1.0 + ], + [ + -0.0005323886871337891, + -0.0021450184285640717, + 0.02491738647222519, + -0.017472386360168457, + -0.002044953405857086, + -0.009130239486694336, + 1.0 + ], + [ + -0.0030964910984039307, + 0.0013883598148822784, + 0.008808813989162445, + -0.0027541182935237885, + 0.010492309927940369, + -0.014109469950199127, + 1.0 + ], + [ + -0.006086170673370361, + -0.0004554055631160736, + 0.0224529430270195, + 0.003487788140773773, + -0.049521006643772125, + -0.027838662266731262, + 1.0 + ], + [ + -0.009621798992156982, + -0.00018006563186645508, + 0.007841691374778748, + -0.0042854174971580505, + -0.058327317237854004, + -0.03055080771446228, + 1.0 + ], + [ + -0.007996156811714172, + 0.0002818778157234192, + 0.006491720676422119, + 0.008391626179218292, + -0.0324966162443161, + -0.02583380788564682, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.003452181816101 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2588350474834442, + 0.036327559500932693, + 0.17600080370903015 + ], + [ + 0.26421046257019043, + 0.03515380248427391, + 0.17027835547924042 + ], + [ + 0.27468448877334595, + 0.03250739723443985, + 0.17076508700847626 + ], + [ + 0.28539785742759705, + 0.027616482228040695, + 0.16894251108169556 + ], + [ + 0.2982980012893677, + 0.019867483526468277, + 0.15771527588367462 + ], + [ + 0.3070257306098938, + 0.010359857231378555, + 0.15060414373874664 + ], + [ + 0.3112216293811798, + 0.00027250396669842303, + 0.14604714512825012 + ], + [ + 0.31456685066223145, + -0.0019717318937182426, + 0.1255057454109192 + ], + [ + 0.3170829117298126, + -0.004611931275576353, + 0.1089075580239296 + ], + [ + 0.31906676292419434, + -0.008551167324185371, + 0.09087369590997696 + ], + [ + 0.3223508596420288, + -0.006802400108426809, + 0.07620999962091446 + ], + [ + 0.32445332407951355, + -0.003442104673013091, + 0.06251228600740433 + ], + [ + 0.325049489736557, + -0.00033954603713937104, + 0.05372762680053711 + ], + [ + 0.32301977276802063, + 0.0025159886572510004, + 0.0424359068274498 + ], + [ + 0.31855759024620056, + 0.004977218806743622, + 0.028864141553640366 + ], + [ + 0.310606986284256, + 0.004873262718319893, + 0.018894756212830544 + ], + [ + 0.30944180488586426, + 0.00856570154428482, + 0.009890159592032433 + ], + [ + 0.31080061197280884, + 0.009456698782742023, + 0.006277373060584068 + ], + [ + 0.30977529287338257, + 0.011313801631331444, + 0.004436738323420286 + ], + [ + 0.3067876696586609, + 0.02418205887079239, + 0.004699867218732834 + ], + [ + 0.304960697889328, + 0.046923842281103134, + 0.0092247249558568 + ], + [ + 0.30019187927246094, + 0.08113616704940796, + 0.012953395023941994 + ], + [ + 0.2988540828227997, + 0.09218624979257584, + 0.01438983902335167 + ], + [ + 0.29820698499679565, + 0.09573658555746078, + 0.014908747747540474 + ], + [ + 0.3009503483772278, + 0.09147856384515762, + 0.014401448890566826 + ], + [ + 0.29721540212631226, + 0.06850646436214447, + 0.007821843959391117 + ], + [ + 0.29177582263946533, + 0.028578100726008415, + 0.004609801806509495 + ], + [ + 0.2847759425640106, + -0.01810806803405285, + 0.003192128147929907 + ], + [ + 0.2809634804725647, + -0.03307093679904938, + 0.0026922374963760376 + ], + [ + 0.28023770451545715, + -0.03166523203253746, + 0.0026443060487508774 + ], + [ + 0.279328852891922, + -0.03122134506702423, + 0.0025584104005247355 + ], + [ + 0.27966031432151794, + -0.01827210932970047, + 0.0024491301737725735 + ], + [ + 0.2842239439487457, + 0.010370926931500435, + 0.00441774120554328 + ], + [ + 0.2867157459259033, + 0.024110181257128716, + 0.004778089467436075 + ], + [ + 0.28744056820869446, + 0.028306683525443077, + 0.004665200132876635 + ], + [ + 0.28852128982543945, + 0.03201945126056671, + 0.0053770639933645725 + ], + [ + 0.2884571850299835, + 0.03547830507159233, + 0.005686594173312187 + ], + [ + 0.28584200143814087, + 0.033850252628326416, + 0.007081430405378342 + ], + [ + 0.27325060963630676, + 0.03670203313231468, + 0.026900634169578552 + ], + [ + 0.27322638034820557, + 0.032822974026203156, + 0.06744908541440964 + ], + [ + 0.2726939916610718, + 0.030677955597639084, + 0.09236647188663483 + ], + [ + 0.26959750056266785, + 0.03206631541252136, + 0.10117528587579727 + ], + [ + 0.2635113298892975, + 0.03161090984940529, + 0.12362822890281677 + ], + [ + 0.2538895308971405, + 0.031430844217538834, + 0.13146992027759552 + ], + [ + 0.24589337408542633, + 0.03171272203326225, + 0.13796164095401764 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9947050897435024, + -0.08577170392393739, + 0.05661271274506685, + -0.08834115820561218, + -0.9950931623825645, + 0.04455825340336373, + 0.052513086038263185, + -0.049323554063467466, + -0.9974014050568037 + ], + [ + 0.9958294124629492, + -0.08676533939377125, + 0.02820562272989581, + -0.08833826371127822, + -0.9942599305655869, + 0.06036175640412712, + 0.02280641221617711, + -0.06260164815400793, + -0.9977779819229465 + ], + [ + 0.9960414014986317, + -0.08793426872632533, + 0.013003495076624443, + -0.08874447457834793, + -0.992089744078329, + 0.08878264428596787, + 0.005093597201816106, + -0.08958517778160709, + -0.9959661395797467 + ], + [ + 0.9964529431218705, + -0.08383711583761864, + 0.0072711864088038786, + -0.08406921840373953, + -0.9879236486403751, + 0.13015080089677727, + -0.0037280907642121244, + -0.13030043156151838, + -0.991467548069091 + ], + [ + 0.9977783511025542, + -0.06657121311257892, + 0.0025759766667061965, + -0.0662970890046775, + -0.9883757034836017, + 0.13681434410470664, + -0.006561864108139052, + -0.13668117042231828, + -0.9905933573325693 + ], + [ + 0.9985438818795517, + -0.05385920454563038, + -0.0030499256758165787, + -0.05299838623340215, + -0.989991271964478, + 0.13079928321978804, + -0.010064145148555179, + -0.13044718287439996, + -0.9914041786590179 + ], + [ + 0.9982939178553214, + -0.053955885380552605, + 0.022316272221707605, + -0.056361300701095095, + -0.9903130173571658, + 0.12689969044968716, + 0.015253109727312236, + -0.1279409632828609, + -0.9916644858811372 + ], + [ + 0.9991062860171309, + -0.039892861917482106, + 0.01397099885790644, + -0.041317745021858976, + -0.9914526492474639, + 0.12375172017589803, + 0.00891477354527665, + -0.1242183717016844, + -0.9922148572483777 + ], + [ + 0.9995160060255114, + -0.025824539329689, + 0.017344937798087767, + -0.027549720651948766, + -0.9937727982780624, + 0.10796591265112038, + 0.014448757414039988, + -0.1083915059910098, + -0.9940032770761832 + ], + [ + 0.9990961810344405, + 0.014796083899653931, + 0.03984842460663994, + 0.011844366144307927, + -0.9972383609923261, + 0.07331686269869103, + 0.04082318009460113, + -0.07277861819637374, + -0.9965122882836871 + ], + [ + 0.9959444773632314, + 0.02425924052317739, + 0.08663767805590258, + 0.018410479584582154, + -0.9975371714006838, + 0.06768046923144218, + 0.08806618108641523, + -0.06581094835330316, + -0.9939382610734397 + ], + [ + 0.9968586768010688, + 0.012528193514212083, + 0.07820372659722237, + 0.008328675137544848, + -0.9985171734389712, + 0.053796724044324624, + 0.07876173980351052, + -0.05297639771368403, + -0.995484851531356 + ], + [ + 0.996331824096536, + 0.016524105140002004, + 0.08396338631684025, + 0.011909104329637283, + -0.998405896167219, + 0.05517100445521798, + 0.08474119143919687, + -0.05396869877858856, + -0.9949403550090884 + ], + [ + 0.9978986099903726, + 0.025911693996877535, + 0.05938811575975936, + 0.021514443191435365, + -0.997061520861537, + 0.07352178147625038, + 0.061118678924244565, + -0.07208958129640644, + -0.9955237814111042 + ], + [ + 0.9986547446832105, + 0.03355030827731824, + 0.03953577792593848, + 0.029932117071084202, + -0.9955995344524453, + 0.08880110002538069, + 0.04234110637849609, + -0.0874982503400592, + -0.9952644306404573 + ], + [ + 0.9989981589464181, + 0.029662907479117925, + 0.03350806382876547, + 0.026656427638784893, + -0.9958638718727417, + 0.08685956230703508, + 0.0359459773438636, + -0.08587933755285244, + -0.9956568817088935 + ], + [ + 0.9985653382896043, + 0.038052558992033025, + 0.0376731724271581, + 0.03456521330564634, + -0.9954094862551691, + 0.08924797309942585, + 0.040896346972605115, + -0.08781775120884454, + -0.9952967051974593 + ], + [ + 0.9983058356068196, + 0.03314846142640368, + 0.04781880486201707, + 0.028946514242703583, + -0.995871442543442, + 0.08603586019585494, + 0.05047333857163006, + -0.08450591358896703, + -0.9951438050161029 + ], + [ + 0.9974339169301033, + 0.04076303986681923, + 0.05885538155757612, + 0.035985726843984295, + -0.9961397988343771, + 0.08006577696941969, + 0.0618919124036567, + -0.07774236785063093, + -0.9950505089793157 + ], + [ + 0.9947219724576114, + 0.08079154245425836, + 0.06325285904922136, + 0.075390184347826, + -0.993646146516793, + 0.08356826919548313, + 0.06960256901896443, + -0.07835854886475177, + -0.9944925440674608 + ], + [ + 0.9889396571969514, + 0.11766585534823153, + 0.09029452313593171, + 0.10397072822331936, + -0.9841389225873739, + 0.14373819506754493, + 0.10577543238337016, + -0.1327604140311862, + -0.98548781340531 + ], + [ + 0.9766037543449552, + 0.19845113374824316, + 0.08283872592800759, + 0.18081448291520305, + -0.9662979208656027, + 0.18323332365844686, + 0.1164097494518668, + -0.16396791041191655, + -0.9795730164656964 + ], + [ + 0.9696986707618748, + 0.23223489900232963, + 0.07583824634068773, + 0.21530793794661768, + -0.9590741469018, + 0.18390017020590205, + 0.11544253886600253, + -0.16199917416444465, + -0.9800149426361872 + ], + [ + 0.9659444979282388, + 0.24807148304842344, + 0.07356470770905274, + 0.23140273590145702, + -0.9554191641319617, + 0.18337664689568317, + 0.11577564830085446, + -0.16010858848774878, + -0.9802863046850024 + ], + [ + 0.9658160706341964, + 0.2427816087353346, + 0.09086477956064158, + 0.22690921328448765, + -0.9612555210109002, + 0.1565248614523517, + 0.1253456286885824, + -0.13055617099909875, + -0.9834854140162519 + ], + [ + 0.9703716604731187, + 0.22017480415811638, + 0.09950827183997334, + 0.21384266619219086, + -0.9743216368012746, + 0.07048873794231936, + 0.11247290636619191, + -0.04712115952330574, + -0.9925368716872546 + ], + [ + 0.9906065458706118, + 0.08791148566297599, + 0.10473892288363486, + 0.08684751969744589, + -0.996113377428815, + 0.014684945684651306, + 0.10562281761389151, + -0.00545068765274423, + -0.9943913265930144 + ], + [ + 0.9921436409362524, + -0.032047837754269656, + 0.12092944986657489, + -0.03185199774738284, + -0.9994862825883318, + -0.003552626810931989, + 0.12098118031023322, + -0.00032712846565657937, + -0.9926547471289852 + ], + [ + 0.9911876470175188, + -0.07720478490805813, + 0.10764046445075719, + -0.07729976906138072, + -0.9970024483734737, + -0.003296003694745533, + 0.10757227385777178, + -0.005053624896947418, + -0.9941844229178354 + ], + [ + 0.9927905927197062, + -0.0595441327875686, + 0.10402564711565467, + -0.06124438972815815, + -0.9980351849525919, + 0.013224761754787165, + 0.10303379898887448, + -0.019500406334787057, + -0.9944866868986725 + ], + [ + 0.9943976143973376, + -0.038879147774915655, + 0.09829443702051356, + -0.04064480147958655, + -0.9990451600457892, + 0.016023991443086815, + 0.09757758243350999, + -0.019929376743375384, + -0.9950283590677463 + ], + [ + 0.9957471891969665, + 0.0005964125262044883, + 0.09212588940379039, + -0.0034929426201139044, + -0.9990156599314542, + 0.04422115515874362, + 0.09206158025035972, + -0.04435488139787629, + -0.9947649521057661 + ], + [ + 0.9936767995904764, + 0.06945528721828438, + 0.08821780451277239, + 0.06282283935248216, + -0.9951376514949529, + 0.07585740196448622, + 0.09305755644395744, + -0.0698356474483844, + -0.9932085750405826 + ], + [ + 0.9931858579512226, + 0.09334533541616159, + 0.06977463666504016, + 0.08624131368810121, + -0.9913736017531212, + 0.09869558024751932, + 0.07838550490393362, + -0.0920055982160232, + -0.9926684655603135 + ], + [ + 0.9927499798175, + 0.10258430456834398, + 0.06264134440274159, + 0.09578523478218402, + -0.9900279439943346, + 0.10329500911502393, + 0.07261312808353275, + -0.09654600233350022, + -0.9926762831171824 + ], + [ + 0.9928678197838811, + 0.10295935382455021, + 0.06010710355385366, + 0.09534105285232203, + -0.9884029504688082, + 0.1181934479806953, + 0.07157915952715113, + -0.11161979647260455, + -0.9911697356945484 + ], + [ + 0.9918341147951175, + 0.1130842714602057, + 0.05896639955856429, + 0.10534349111760999, + -0.9870448185494615, + 0.12101766422227327, + 0.0718876735451897, + -0.1138177214803361, + -0.9908974158152221 + ], + [ + 0.9904896535803851, + 0.1261676043139012, + 0.0548815248685679, + 0.11967452582652503, + -0.9868353017024818, + 0.1087846275076026, + 0.06788412199037981, + -0.10118212754959405, + -0.992549204345121 + ], + [ + 0.9876221650491139, + 0.1511368427996009, + 0.041953710828362946, + 0.14710224620586873, + -0.9853166524316772, + 0.08667193087742918, + 0.05443701190264907, + -0.07942763492263007, + -0.9953531345938027 + ], + [ + 0.9848146934850163, + 0.1479906822819942, + 0.09076771151529259, + 0.14177917830012704, + -0.9873148825699216, + 0.07147018438819651, + 0.10019323378629075, + -0.05751591617675818, + -0.9933042007813084 + ], + [ + 0.9858629865203985, + 0.13743319064154694, + 0.09584513508344875, + 0.13275417888094107, + -0.9896972039294271, + 0.053626229812667014, + 0.10222768606755914, + -0.040144272871209016, + -0.9939506715913593 + ], + [ + 0.9886484268585136, + 0.12279950224131443, + 0.08657118642753923, + 0.11895300939460389, + -0.9917248402061039, + 0.048291022707592474, + 0.09178490957752054, + -0.03744494047883298, + -0.995074573490039 + ], + [ + 0.9858365825626405, + 0.09746531620472879, + 0.13647983227688515, + 0.09085881642540986, + -0.9944072475586955, + 0.05384144760789287, + 0.14096420807775334, + -0.040678472683374316, + -0.9891786258816758 + ], + [ + 0.9782695817216905, + 0.0685637389701952, + 0.19567227493054745, + 0.06009591818957029, + -0.9969942996370849, + 0.048896289308200586, + 0.19843665511951486, + -0.036074647463082865, + -0.9794495973328047 + ], + [ + 0.9725350311121362, + 0.04587156257136875, + 0.22819161467279397, + 0.03455890917754727, + -0.9979788380125915, + 0.05332842277337154, + 0.23017666053745311, + -0.0439777060145071, + -0.9721546514405655 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005482.json b/json/chunk-0005/episode_0005482.json new file mode 100644 index 0000000000000000000000000000000000000000..44a2fa6d4606b6061f6051bc23001b764878e352 --- /dev/null +++ b/json/chunk-0005/episode_0005482.json @@ -0,0 +1,2062 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 33, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMoved the silver pot to the center of the burner." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005482.mp4", + "start": 0, + "end": 33, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.26405927538871765, + -0.030487598851323128, + 0.08339308947324753, + 0.029774056747555733, + -0.001996659906581044, + 0.24091492593288422, + 0.0, + 0.9994885921478271 + ], + [ + 0.25079870223999023, + -0.028770748525857925, + 0.0713072195649147, + 0.047393716871738434, + 0.05045673996210098, + 0.24288028478622437, + 0.0, + 0.9994885921478271 + ], + [ + 0.2325466424226761, + -0.006914257071912289, + 0.06709939241409302, + 0.04558343440294266, + 0.08475100249052048, + 0.298577219247818, + 0.0, + 0.9994885921478271 + ], + [ + 0.21446722745895386, + 0.033518023788928986, + 0.07011043280363083, + 0.05444927141070366, + 0.07061505317687988, + 0.39953333139419556, + 0.0, + 0.9994885921478271 + ], + [ + 0.2032323181629181, + 0.07202877104282379, + 0.07321173697710037, + 0.08029842376708984, + 0.04279178008437157, + 0.47398531436920166, + 0.0, + 0.9994885921478271 + ], + [ + 0.18829698860645294, + 0.11938091367483139, + 0.0750960186123848, + 0.04174647480249405, + -0.001000555232167244, + 0.5831189155578613, + 0.0, + 0.9994885921478271 + ], + [ + 0.18362712860107422, + 0.14137281477451324, + 0.07123006135225296, + -0.00471712090075016, + -0.013956205919384956, + 0.6307811737060547, + 0.0, + 0.9994885921478271 + ], + [ + 0.1932429075241089, + 0.15091955661773682, + 0.052959144115448, + -0.09067164361476898, + 0.012651495635509491, + 0.6554396748542786, + 0.0, + 0.9994885921478271 + ], + [ + 0.19966961443424225, + 0.15151380002498627, + 0.03659716993570328, + -0.11792277544736862, + 0.02382519841194153, + 0.65814208984375, + 0.0, + 0.9994885921478271 + ], + [ + 0.20021778345108032, + 0.15348750352859497, + 0.030151640996336937, + -0.1635645478963852, + 0.024780195206403732, + 0.6626142859458923, + 0.0, + 0.9994885921478271 + ], + [ + 0.2053486704826355, + 0.1595015525817871, + 0.0148781668394804, + -0.23386278748512268, + 0.052507467567920685, + 0.6831852197647095, + 0.0, + 0.9994885921478271 + ], + [ + 0.2120068222284317, + 0.16026286780834198, + 0.003606010926887393, + -0.2541055977344513, + 0.07292011380195618, + 0.7265352606773376, + 0.0, + 0.9643021821975708 + ], + [ + 0.21824173629283905, + 0.16378310322761536, + 0.0015789910685271025, + -0.2511446475982666, + 0.06841285526752472, + 0.7441181540489197, + 0.0, + 0.648074209690094 + ], + [ + 0.22955510020256042, + 0.16642744839191437, + 0.00030726136174052954, + -0.2872163951396942, + 0.0618915855884552, + 0.7571389079093933, + 0.0, + 0.3797435760498047 + ], + [ + 0.2332608997821808, + 0.1641920655965805, + 0.005186316557228565, + -0.30959752202033997, + 0.0532543919980526, + 0.7446357607841492, + 0.0, + 0.20928038656711578 + ], + [ + 0.2249830961227417, + 0.1553952991962433, + 0.023028414696455002, + -0.3110511004924774, + 0.011079683899879456, + 0.7302719950675964, + 0.0, + 0.08926420658826828 + ], + [ + 0.20357856154441833, + 0.13099098205566406, + 0.05121646448969841, + -0.34900304675102234, + -0.016276046633720398, + 0.7082698941230774, + 0.0, + 0.06296365708112717 + ], + [ + 0.20208267867565155, + 0.12077099084854126, + 0.07230661064386368, + -0.38526231050491333, + -0.06857366114854813, + 0.6994037628173828, + 0.0, + 0.06267260015010834 + ], + [ + 0.20819953083992004, + 0.11383739113807678, + 0.08214381337165833, + -0.41600871086120605, + -0.09784024208784103, + 0.7337713241577148, + 0.0, + 0.06267260015010834 + ], + [ + 0.22988206148147583, + 0.09616419672966003, + 0.07079993933439255, + -0.3792089521884918, + -0.11474093794822693, + 0.7105042338371277, + 0.0, + 0.06267260015010834 + ], + [ + 0.24740588665008545, + 0.07740684598684311, + 0.048631634563207626, + -0.35905447602272034, + -0.08598414063453674, + 0.6983941793441772, + 0.0, + 0.06267260015010834 + ], + [ + 0.27153030037879944, + 0.07312631607055664, + 0.04279625043272972, + -0.3770594596862793, + -0.07580378651618958, + 0.7057380676269531, + 0.0, + 0.06267260015010834 + ], + [ + 0.2846267819404602, + 0.05923285707831383, + 0.03194085881114006, + -0.35900601744651794, + -0.07239461690187454, + 0.6560580134391785, + 0.0, + 0.06267260015010834 + ], + [ + 0.29391902685165405, + 0.05673765018582344, + 0.028348106890916824, + -0.3534363806247711, + -0.08213478326797485, + 0.6563776731491089, + 0.0, + 0.06267260015010834 + ], + [ + 0.2972988486289978, + 0.04972376674413681, + 0.0240218173712492, + -0.32057318091392517, + -0.10163383930921555, + 0.6073070764541626, + 0.0, + 0.06267260015010834 + ], + [ + 0.29599523544311523, + 0.04972930997610092, + 0.01894282177090645, + -0.29445549845695496, + -0.07624957710504532, + 0.6162503957748413, + 0.0, + 0.07854863256216049 + ], + [ + 0.2967787981033325, + 0.055420804768800735, + 0.022655608132481575, + -0.25173264741897583, + -0.06675609946250916, + 0.6088384389877319, + 0.0, + 0.23394888639450073 + ], + [ + 0.2866796553134918, + 0.06457626819610596, + 0.02123885042965412, + -0.14652372896671295, + -0.03732353448867798, + 0.6470174789428711, + 0.0, + 0.5178548097610474 + ], + [ + 0.2891800105571747, + 0.06808515638113022, + 0.04287596791982651, + -0.02651267871260643, + -0.08769417554140091, + 0.6674166321754456, + 0.0, + 0.8205437660217285 + ], + [ + 0.2876298129558563, + 0.07238432765007019, + 0.07019466161727905, + 0.10043785721063614, + -0.13164742290973663, + 0.6729609370231628, + 0.0, + 1.013738751411438 + ], + [ + 0.2883080244064331, + 0.04948670417070389, + 0.08462325483560562, + 0.22135968506336212, + -0.13013294339179993, + 0.5286357998847961, + 0.0, + 1.0086473226547241 + ], + [ + 0.29101938009262085, + 0.02255762740969658, + 0.09827589243650436, + 0.21218952536582947, + -0.144169881939888, + 0.347226619720459, + 0.0, + 1.0001531839370728 + ], + [ + 0.26385971903800964, + -0.004688279703259468, + 0.10194970667362213, + 0.20883221924304962, + -0.09043100476264954, + 0.19542180001735687, + 0.0, + 0.9988223910331726 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9643021821975708 + ], + [ + 0.648074209690094 + ], + [ + 0.3797435760498047 + ], + [ + 0.20928038656711578 + ], + [ + 0.08926420658826828 + ], + [ + 0.06296365708112717 + ], + [ + 0.06267260015010834 + ], + [ + 0.06267260015010834 + ], + [ + 0.06267260015010834 + ], + [ + 0.06267260015010834 + ], + [ + 0.06267260015010834 + ], + [ + 0.06267260015010834 + ], + [ + 0.06267260015010834 + ], + [ + 0.06267260015010834 + ], + [ + 0.07854863256216049 + ], + [ + 0.23394888639450073 + ], + [ + 0.5178548097610474 + ], + [ + 0.8205437660217285 + ], + [ + 1.013738751411438 + ], + [ + 1.0086473226547241 + ], + [ + 1.0001531839370728 + ], + [ + 0.9988223910331726 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.26405927538871765, + -0.030487598851323128, + 0.08339308947324753 + ], + [ + 0.25079870223999023, + -0.028770748525857925, + 0.0713072195649147 + ], + [ + 0.2325466424226761, + -0.006914257071912289, + 0.06709939241409302 + ], + [ + 0.21446722745895386, + 0.033518023788928986, + 0.07011043280363083 + ], + [ + 0.2032323181629181, + 0.07202877104282379, + 0.07321173697710037 + ], + [ + 0.18829698860645294, + 0.11938091367483139, + 0.0750960186123848 + ], + [ + 0.18362712860107422, + 0.14137281477451324, + 0.07123006135225296 + ], + [ + 0.1932429075241089, + 0.15091955661773682, + 0.052959144115448 + ], + [ + 0.19966961443424225, + 0.15151380002498627, + 0.03659716993570328 + ], + [ + 0.20021778345108032, + 0.15348750352859497, + 0.030151640996336937 + ], + [ + 0.2053486704826355, + 0.1595015525817871, + 0.0148781668394804 + ], + [ + 0.2120068222284317, + 0.16026286780834198, + 0.003606010926887393 + ], + [ + 0.21824173629283905, + 0.16378310322761536, + 0.0015789910685271025 + ], + [ + 0.22955510020256042, + 0.16642744839191437, + 0.00030726136174052954 + ], + [ + 0.2332608997821808, + 0.1641920655965805, + 0.005186316557228565 + ], + [ + 0.2249830961227417, + 0.1553952991962433, + 0.023028414696455002 + ], + [ + 0.20357856154441833, + 0.13099098205566406, + 0.05121646448969841 + ], + [ + 0.20208267867565155, + 0.12077099084854126, + 0.07230661064386368 + ], + [ + 0.20819953083992004, + 0.11383739113807678, + 0.08214381337165833 + ], + [ + 0.22988206148147583, + 0.09616419672966003, + 0.07079993933439255 + ], + [ + 0.24740588665008545, + 0.07740684598684311, + 0.048631634563207626 + ], + [ + 0.27153030037879944, + 0.07312631607055664, + 0.04279625043272972 + ], + [ + 0.2846267819404602, + 0.05923285707831383, + 0.03194085881114006 + ], + [ + 0.29391902685165405, + 0.05673765018582344, + 0.028348106890916824 + ], + [ + 0.2972988486289978, + 0.04972376674413681, + 0.0240218173712492 + ], + [ + 0.29599523544311523, + 0.04972930997610092, + 0.01894282177090645 + ], + [ + 0.2967787981033325, + 0.055420804768800735, + 0.022655608132481575 + ], + [ + 0.2866796553134918, + 0.06457626819610596, + 0.02123885042965412 + ], + [ + 0.2891800105571747, + 0.06808515638113022, + 0.04287596791982651 + ], + [ + 0.2876298129558563, + 0.07238432765007019, + 0.07019466161727905 + ], + [ + 0.2883080244064331, + 0.04948670417070389, + 0.08462325483560562 + ], + [ + 0.29101938009262085, + 0.02255762740969658, + 0.09827589243650436 + ], + [ + 0.26385971903800964, + -0.004688279703259468, + 0.10194970667362213 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9711181522790887, + 0.23854320525363418, + -0.005164643392446624, + 0.23859075352696266, + -0.9706754917230178, + 0.02938608683907327, + 0.001996658579917012, + -0.02976959851257557, + -0.9995547930748545 + ], + [ + 0.9694139779481865, + 0.2379100246436938, + -0.06029394275306421, + 0.24019328992272235, + -0.9701340352580563, + 0.03386941260221864, + -0.05043533319778716, + -0.04731568247375599, + -0.9976058857872034 + ], + [ + 0.9523255668083213, + 0.29016849490745966, + -0.0942245157395307, + 0.2931048671274443, + -0.955897856705299, + 0.018676841607152862, + -0.08464958162573955, + -0.045404097935704026, + -0.9953757663421549 + ], + [ + 0.9189466957065218, + 0.38487456118238483, + -0.08607289123023613, + 0.3880190298849875, + -0.9213710013422695, + 0.022731263331742427, + -0.0705563809813013, + -0.05428673908249179, + -0.996029491060687 + ], + [ + 0.8889418101832974, + 0.45191205148438274, + -0.07455169904984921, + 0.45601802494999566, + -0.8884555596541416, + 0.05190644892835054, + -0.04277872168202068, + -0.08013873122793351, + -0.995865334635376 + ], + [ + 0.8347489260674775, + 0.5501852398631598, + -0.022145705360407157, + 0.5506298478276982, + -0.8339990693042562, + 0.03538817713417974, + 0.0010005550652228187, + -0.04173432923088024, + -0.999128242345901 + ], + [ + 0.8074883914883701, + 0.5897160636305612, + 0.01405211399043712, + 0.5897183519048625, + -0.8075968781299286, + 0.004421296348987938, + 0.013955752868872254, + 0.004716644026082166, + -0.9998914892282031 + ], + [ + 0.7927165739809383, + 0.6079122493386039, + 0.04520100043143577, + 0.6094590893027169, + -0.78882518208214, + -0.07946351728549134, + -0.012651158137757856, + 0.09054020773754431, + -0.9958124416679156 + ], + [ + 0.7909054554871022, + 0.6096176124868975, + 0.053244032778464054, + 0.6114744702751937, + -0.7839214109664817, + -0.10754623949721111, + -0.02382294445299477, + 0.11761627427399308, + -0.9927733272723911 + ], + [ + 0.7881446257436353, + 0.6101501869884337, + 0.08089992725215518, + 0.6149911515751857, + -0.775382098164371, + -0.14341717236943485, + -0.024777659204442037, + 0.16278621306547036, + -0.9863501996959049 + ], + [ + 0.7744970484230953, + 0.6235152358093283, + 0.10669148371614035, + 0.6303965582457229, + -0.7467761990557258, + -0.21195633483297915, + -0.05248334341351079, + 0.23141749985150412, + -0.9714378206692484 + ], + [ + 0.7454940299438328, + 0.6566423244165395, + 0.11427820922182785, + 0.6625184724624736, + -0.7113117864065099, + -0.2347441504386647, + -0.07285550743831537, + 0.25071178732565386, + -0.9653163599213896 + ], + [ + 0.7339645332654176, + 0.6685727132643328, + 0.1196101625567238, + 0.6757388862438646, + -0.7010994828478841, + -0.22767624550736676, + -0.06835950209282615, + 0.24793152729896523, + -0.9663627353353518 + ], + [ + 0.72541251693913, + 0.6714438268026475, + 0.15145912886535748, + 0.6855297225421031, + -0.6849967262177046, + -0.24663431347315481, + -0.061852079830703476, + 0.28274135268765277, + -0.9571998995512759 + ], + [ + 0.7342923280710881, + 0.6574088304364683, + 0.16919931028256543, + 0.6767432501900761, + -0.6893834865543896, + -0.25839694616671716, + -0.053229223722623654, + 0.30424338633776093, + -0.9511059938890188 + ], + [ + 0.7449472625544953, + 0.637587344330833, + 0.19630576752026285, + 0.6670313498183199, + -0.7069805374269882, + -0.235048288781256, + -0.011079457212054875, + 0.30604068038187743, + -0.9519539629516144 + ], + [ + 0.7593878861667538, + 0.6070765647349565, + 0.23406854315091885, + 0.6504345870575474, + -0.7173225269102148, + -0.24976637152831876, + 0.01627532802948313, + 0.34191583311795964, + -0.9395896321058382 + ], + [ + 0.7634276833052333, + 0.5768692218494136, + 0.2905169069883131, + 0.6422485433453948, + -0.7257118176520109, + -0.24669650644249635, + 0.06851993092467717, + 0.3749190027233433, + -0.924521909130882 + ], + [ + 0.7391023547815858, + 0.5832414154839554, + 0.3369824334005962, + 0.6664724321643911, + -0.7057482528486854, + -0.24027879799497343, + 0.09768421735979756, + 0.4021801273873441, + -0.9103345202800472 + ], + [ + 0.7530486392228167, + 0.5737539889634458, + 0.32206227210463195, + 0.6479274183455273, + -0.7318231633497323, + -0.2112461079899251, + 0.11448933365499163, + 0.36775157067417824, + -0.9228493781467866 + ], + [ + 0.7630462787941041, + 0.5788733573545723, + 0.2875169778700317, + 0.6406132266707736, + -0.7364386764652952, + -0.21742301998754604, + 0.08587822909754664, + 0.35009100524162345, + -0.9327707209255548 + ], + [ + 0.7589472818148363, + 0.5818098565739451, + 0.29239752772428995, + 0.6467331808959678, + -0.7257494735603314, + -0.23457172539563556, + 0.07573120990750828, + 0.3671307565708808, + -0.9270813294558562 + ], + [ + 0.7903274081123103, + 0.5509709767716456, + 0.2679805417222984, + 0.6084001618946259, + -0.7573865268584103, + -0.23709679867081235, + 0.07233139700759918, + 0.3504235033336852, + -0.9337941621783014 + ], + [ + 0.789537289332312, + 0.5500346787596891, + 0.2721997812554422, + 0.6081939678667366, + -0.7605698754667265, + -0.22723019601946218, + 0.08204246585945582, + 0.3449569780338613, + -0.9350260515629745 + ], + [ + 0.8169501781983717, + 0.5153319108884029, + 0.25889269584473873, + 0.5677133835484833, + -0.7975966823450591, + -0.2038162075304319, + 0.10145895959244727, + 0.3134845353957076, + -0.9441575745531865 + ], + [ + 0.8136802706638925, + 0.5350623490729758, + 0.22722829871484704, + 0.5762999895167125, + -0.7937065341158682, + -0.19470043601598183, + 0.07617571276576254, + 0.2893755696431287, + -0.954179773668643 + ], + [ + 0.8184857522807059, + 0.5402597159306003, + 0.19544951434084945, + 0.5706411414634495, + -0.8039611210511561, + -0.16737742830937405, + 0.06670652878675648, + 0.24852757428654712, + -0.9663251439533519 + ], + [ + 0.7973295553227001, + 0.5920031755840033, + 0.1174641234903709, + 0.6023895589411438, + -0.7926196568514596, + -0.09423852105889936, + 0.03731486952408687, + 0.1458983196309337, + -0.9885956103692097 + ], + [ + 0.7824051607719424, + 0.616917928480429, + 0.08517296470622303, + 0.6165805617926993, + -0.7865843264553202, + 0.03336927020823301, + 0.08758182012741399, + 0.026407705205997806, + -0.9958072393234159 + ], + [ + 0.7752130523934151, + 0.6304553471819376, + 0.03963304944849335, + 0.6179106489286292, + -0.7698346624612586, + 0.15981558876955754, + 0.1312674877472884, + -0.0994014470863605, + -0.9863509512225621 + ], + [ + 0.8561947567093193, + 0.5166512681296052, + -0.0014162356937622994, + 0.5000913250704022, + -0.8280568923063952, + 0.2534372697398792, + 0.12976596307506316, + -0.21769990869071557, + -0.967350786727987 + ], + [ + 0.9305647443315732, + 0.3611107270026116, + 0.06040115438267372, + 0.33676090634000055, + -0.9089344510502059, + 0.24582566109973703, + 0.1436709732972379, + -0.20841594597752522, + -0.9674303307701895 + ], + [ + 0.9769575293641533, + 0.20832753501106635, + 0.04640715435040159, + 0.19338688388742456, + -0.956017555144364, + 0.22052652311253668, + 0.09030780120787381, + -0.20647051220938384, + -0.9742763615263348 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.013260573148727417, + 0.0017168503254652023, + -0.012085869908332825, + 0.0176196601241827, + 0.05245339870452881, + 0.001965358853340149, + 1.0 + ], + [ + -0.018252059817314148, + 0.021856490522623062, + -0.004207827150821686, + -0.0018102824687957764, + 0.034294262528419495, + 0.05569693446159363, + 1.0 + ], + [ + -0.01807941496372223, + 0.04043228179216385, + 0.0030110403895378113, + 0.008865837007761002, + -0.014135949313640594, + 0.10095611214637756, + 1.0 + ], + [ + -0.011234909296035767, + 0.038510747253894806, + 0.0031013041734695435, + 0.025849152356386185, + -0.027823273092508316, + 0.0744519829750061, + 1.0 + ], + [ + -0.014935329556465149, + 0.0473521426320076, + 0.0018842816352844238, + -0.038551948964595795, + -0.04379233717918396, + 0.10913360118865967, + 1.0 + ], + [ + -0.004669860005378723, + 0.021991901099681854, + -0.003865957260131836, + -0.04646359384059906, + -0.012955650687217712, + 0.04766225814819336, + 1.0 + ], + [ + 0.009615778923034668, + 0.009546741843223572, + -0.018270917236804962, + -0.08595452457666397, + 0.026607701554894447, + 0.024658501148223877, + 1.0 + ], + [ + 0.006426706910133362, + 0.0005942434072494507, + -0.01636197417974472, + -0.02725113183259964, + 0.011173702776432037, + 0.0027024149894714355, + 1.0 + ], + [ + 0.0005481690168380737, + 0.0019737035036087036, + -0.006445528939366341, + -0.04564177244901657, + 0.000954996794462204, + 0.004472196102142334, + 1.0 + ], + [ + 0.005130887031555176, + 0.006014049053192139, + -0.015273474156856537, + -0.07029823958873749, + 0.027727272361516953, + 0.02057093381881714, + 1.0 + ], + [ + 0.006658151745796204, + 0.0007613152265548706, + -0.011272155679762363, + -0.020242810249328613, + 0.020412646234035492, + 0.043350040912628174, + 0.0 + ], + [ + 0.006234914064407349, + 0.0035202354192733765, + -0.0020270198583602905, + 0.0029609501361846924, + -0.0045072585344314575, + 0.01758289337158203, + 0.0 + ], + [ + 0.011313363909721375, + 0.0026443451642990112, + -0.001271729706786573, + -0.03607174754142761, + -0.006521269679069519, + 0.013020753860473633, + 0.0 + ], + [ + 0.0037057995796203613, + -0.0022353827953338623, + 0.004879055079072714, + -0.022381126880645752, + -0.008637193590402603, + -0.01250314712524414, + 0.0 + ], + [ + -0.008277803659439087, + -0.00879676640033722, + 0.01784209907054901, + -0.0014535784721374512, + -0.04217470809817314, + -0.014363765716552734, + 0.0 + ], + [ + -0.021404534578323364, + -0.024404317140579224, + 0.028188049793243408, + -0.03795194625854492, + -0.027355730533599854, + -0.022002100944519043, + 0.0 + ], + [ + -0.0014958828687667847, + -0.010219991207122803, + 0.021090146154165268, + -0.03625926375389099, + -0.05229761451482773, + -0.00886613130569458, + 0.0 + ], + [ + 0.006116852164268494, + -0.0069335997104644775, + 0.009837202727794647, + -0.030746400356292725, + -0.029266580939292908, + 0.03436756134033203, + 0.0 + ], + [ + 0.021682530641555786, + -0.017673194408416748, + -0.011343874037265778, + 0.03679975867271423, + -0.016900695860385895, + -0.023267090320587158, + 0.0 + ], + [ + 0.01752382516860962, + -0.018757350742816925, + -0.02216830477118492, + 0.020154476165771484, + 0.028756797313690186, + -0.01211005449295044, + 0.0 + ], + [ + 0.02412441372871399, + -0.0042805299162864685, + -0.005835384130477905, + -0.01800498366355896, + 0.010180354118347168, + 0.007343888282775879, + 0.0 + ], + [ + 0.013096481561660767, + -0.013893458992242813, + -0.01085539162158966, + 0.018053442239761353, + 0.003409169614315033, + -0.04968005418777466, + 0.0 + ], + [ + 0.009292244911193848, + -0.002495206892490387, + -0.003592751920223236, + 0.005569636821746826, + -0.009740166366100311, + 0.0003196597099304199, + 0.0 + ], + [ + 0.00337982177734375, + -0.00701388344168663, + -0.004326289519667625, + 0.03286319971084595, + -0.019499056041240692, + -0.04907059669494629, + 0.0 + ], + [ + -0.0013036131858825684, + 5.543231964111328e-06, + -0.0050789956003427505, + 0.026117682456970215, + 0.025384262204170227, + 0.008943319320678711, + 1.0 + ], + [ + 0.0007835626602172852, + 0.005691494792699814, + 0.0037127863615751266, + 0.042722851037979126, + 0.009493477642536163, + -0.007411956787109375, + 1.0 + ], + [ + -0.010099142789840698, + 0.009155463427305222, + -0.0014167577028274536, + 0.10520891845226288, + 0.029432564973831177, + 0.03817903995513916, + 1.0 + ], + [ + 0.0025003552436828613, + 0.0035088881850242615, + 0.021637117490172386, + 0.12001104652881622, + -0.05037064105272293, + 0.020399153232574463, + 1.0 + ], + [ + -0.0015501976013183594, + 0.004299171268939972, + 0.027318693697452545, + 0.12695053219795227, + -0.043953247368335724, + 0.005544304847717285, + 1.0 + ], + [ + 0.0006782114505767822, + -0.022897623479366302, + 0.014428593218326569, + 0.12092182785272598, + 0.0015144795179367065, + -0.1443251371383667, + 1.0 + ], + [ + 0.002711355686187744, + -0.02692907676100731, + 0.013652637600898743, + -0.009170159697532654, + -0.014036938548088074, + -0.18140918016433716, + 1.0 + ], + [ + -0.027159661054611206, + -0.027245907112956047, + 0.0036738142371177673, + -0.003357306122779846, + 0.053738877177238464, + -0.1518048197031021, + 1.0 + ], + [ + -0.023444607853889465, + -0.012887360528111458, + 0.004295051097869873, + -0.11229143291711807, + 0.028869859874248505, + -0.03045514225959778, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9643021821975708 + ], + [ + 0.648074209690094 + ], + [ + 0.3797435760498047 + ], + [ + 0.20928038656711578 + ], + [ + 0.08926420658826828 + ], + [ + 0.06296365708112717 + ], + [ + 0.06267260015010834 + ], + [ + 0.06267260015010834 + ], + [ + 0.06267260015010834 + ], + [ + 0.06267260015010834 + ], + [ + 0.06267260015010834 + ], + [ + 0.06267260015010834 + ], + [ + 0.06267260015010834 + ], + [ + 0.06267260015010834 + ], + [ + 0.07854863256216049 + ], + [ + 0.23394888639450073 + ], + [ + 0.5178548097610474 + ], + [ + 0.8205437660217285 + ], + [ + 1.013738751411438 + ], + [ + 1.0086473226547241 + ], + [ + 1.0001531839370728 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.25079870223999023, + -0.028770748525857925, + 0.0713072195649147 + ], + [ + 0.2325466424226761, + -0.006914257071912289, + 0.06709939241409302 + ], + [ + 0.21446722745895386, + 0.033518023788928986, + 0.07011043280363083 + ], + [ + 0.2032323181629181, + 0.07202877104282379, + 0.07321173697710037 + ], + [ + 0.18829698860645294, + 0.11938091367483139, + 0.0750960186123848 + ], + [ + 0.18362712860107422, + 0.14137281477451324, + 0.07123006135225296 + ], + [ + 0.1932429075241089, + 0.15091955661773682, + 0.052959144115448 + ], + [ + 0.19966961443424225, + 0.15151380002498627, + 0.03659716993570328 + ], + [ + 0.20021778345108032, + 0.15348750352859497, + 0.030151640996336937 + ], + [ + 0.2053486704826355, + 0.1595015525817871, + 0.0148781668394804 + ], + [ + 0.2120068222284317, + 0.16026286780834198, + 0.003606010926887393 + ], + [ + 0.21824173629283905, + 0.16378310322761536, + 0.0015789910685271025 + ], + [ + 0.22955510020256042, + 0.16642744839191437, + 0.00030726136174052954 + ], + [ + 0.2332608997821808, + 0.1641920655965805, + 0.005186316557228565 + ], + [ + 0.2249830961227417, + 0.1553952991962433, + 0.023028414696455002 + ], + [ + 0.20357856154441833, + 0.13099098205566406, + 0.05121646448969841 + ], + [ + 0.20208267867565155, + 0.12077099084854126, + 0.07230661064386368 + ], + [ + 0.20819953083992004, + 0.11383739113807678, + 0.08214381337165833 + ], + [ + 0.22988206148147583, + 0.09616419672966003, + 0.07079993933439255 + ], + [ + 0.24740588665008545, + 0.07740684598684311, + 0.048631634563207626 + ], + [ + 0.27153030037879944, + 0.07312631607055664, + 0.04279625043272972 + ], + [ + 0.2846267819404602, + 0.05923285707831383, + 0.03194085881114006 + ], + [ + 0.29391902685165405, + 0.05673765018582344, + 0.028348106890916824 + ], + [ + 0.2972988486289978, + 0.04972376674413681, + 0.0240218173712492 + ], + [ + 0.29599523544311523, + 0.04972930997610092, + 0.01894282177090645 + ], + [ + 0.2967787981033325, + 0.055420804768800735, + 0.022655608132481575 + ], + [ + 0.2866796553134918, + 0.06457626819610596, + 0.02123885042965412 + ], + [ + 0.2891800105571747, + 0.06808515638113022, + 0.04287596791982651 + ], + [ + 0.2876298129558563, + 0.07238432765007019, + 0.07019466161727905 + ], + [ + 0.2883080244064331, + 0.04948670417070389, + 0.08462325483560562 + ], + [ + 0.29101938009262085, + 0.02255762740969658, + 0.09827589243650436 + ], + [ + 0.26385971903800964, + -0.004688279703259468, + 0.10194970667362213 + ], + [ + 0.24041511118412018, + -0.017575640231370926, + 0.106244757771492 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9694139779481865, + 0.2379100246436938, + -0.06029394275306421, + 0.24019328992272235, + -0.9701340352580563, + 0.03386941260221864, + -0.05043533319778716, + -0.04731568247375599, + -0.9976058857872034 + ], + [ + 0.9523255668083213, + 0.29016849490745966, + -0.0942245157395307, + 0.2931048671274443, + -0.955897856705299, + 0.018676841607152862, + -0.08464958162573955, + -0.045404097935704026, + -0.9953757663421549 + ], + [ + 0.9189466957065218, + 0.38487456118238483, + -0.08607289123023613, + 0.3880190298849875, + -0.9213710013422695, + 0.022731263331742427, + -0.0705563809813013, + -0.05428673908249179, + -0.996029491060687 + ], + [ + 0.8889418101832974, + 0.45191205148438274, + -0.07455169904984921, + 0.45601802494999566, + -0.8884555596541416, + 0.05190644892835054, + -0.04277872168202068, + -0.08013873122793351, + -0.995865334635376 + ], + [ + 0.8347489260674775, + 0.5501852398631598, + -0.022145705360407157, + 0.5506298478276982, + -0.8339990693042562, + 0.03538817713417974, + 0.0010005550652228187, + -0.04173432923088024, + -0.999128242345901 + ], + [ + 0.8074883914883701, + 0.5897160636305612, + 0.01405211399043712, + 0.5897183519048625, + -0.8075968781299286, + 0.004421296348987938, + 0.013955752868872254, + 0.004716644026082166, + -0.9998914892282031 + ], + [ + 0.7927165739809383, + 0.6079122493386039, + 0.04520100043143577, + 0.6094590893027169, + -0.78882518208214, + -0.07946351728549134, + -0.012651158137757856, + 0.09054020773754431, + -0.9958124416679156 + ], + [ + 0.7909054554871022, + 0.6096176124868975, + 0.053244032778464054, + 0.6114744702751937, + -0.7839214109664817, + -0.10754623949721111, + -0.02382294445299477, + 0.11761627427399308, + -0.9927733272723911 + ], + [ + 0.7881446257436353, + 0.6101501869884337, + 0.08089992725215518, + 0.6149911515751857, + -0.775382098164371, + -0.14341717236943485, + -0.024777659204442037, + 0.16278621306547036, + -0.9863501996959049 + ], + [ + 0.7744970484230953, + 0.6235152358093283, + 0.10669148371614035, + 0.6303965582457229, + -0.7467761990557258, + -0.21195633483297915, + -0.05248334341351079, + 0.23141749985150412, + -0.9714378206692484 + ], + [ + 0.7454940299438328, + 0.6566423244165395, + 0.11427820922182785, + 0.6625184724624736, + -0.7113117864065099, + -0.2347441504386647, + -0.07285550743831537, + 0.25071178732565386, + -0.9653163599213896 + ], + [ + 0.7339645332654176, + 0.6685727132643328, + 0.1196101625567238, + 0.6757388862438646, + -0.7010994828478841, + -0.22767624550736676, + -0.06835950209282615, + 0.24793152729896523, + -0.9663627353353518 + ], + [ + 0.72541251693913, + 0.6714438268026475, + 0.15145912886535748, + 0.6855297225421031, + -0.6849967262177046, + -0.24663431347315481, + -0.061852079830703476, + 0.28274135268765277, + -0.9571998995512759 + ], + [ + 0.7342923280710881, + 0.6574088304364683, + 0.16919931028256543, + 0.6767432501900761, + -0.6893834865543896, + -0.25839694616671716, + -0.053229223722623654, + 0.30424338633776093, + -0.9511059938890188 + ], + [ + 0.7449472625544953, + 0.637587344330833, + 0.19630576752026285, + 0.6670313498183199, + -0.7069805374269882, + -0.235048288781256, + -0.011079457212054875, + 0.30604068038187743, + -0.9519539629516144 + ], + [ + 0.7593878861667538, + 0.6070765647349565, + 0.23406854315091885, + 0.6504345870575474, + -0.7173225269102148, + -0.24976637152831876, + 0.01627532802948313, + 0.34191583311795964, + -0.9395896321058382 + ], + [ + 0.7634276833052333, + 0.5768692218494136, + 0.2905169069883131, + 0.6422485433453948, + -0.7257118176520109, + -0.24669650644249635, + 0.06851993092467717, + 0.3749190027233433, + -0.924521909130882 + ], + [ + 0.7391023547815858, + 0.5832414154839554, + 0.3369824334005962, + 0.6664724321643911, + -0.7057482528486854, + -0.24027879799497343, + 0.09768421735979756, + 0.4021801273873441, + -0.9103345202800472 + ], + [ + 0.7530486392228167, + 0.5737539889634458, + 0.32206227210463195, + 0.6479274183455273, + -0.7318231633497323, + -0.2112461079899251, + 0.11448933365499163, + 0.36775157067417824, + -0.9228493781467866 + ], + [ + 0.7630462787941041, + 0.5788733573545723, + 0.2875169778700317, + 0.6406132266707736, + -0.7364386764652952, + -0.21742301998754604, + 0.08587822909754664, + 0.35009100524162345, + -0.9327707209255548 + ], + [ + 0.7589472818148363, + 0.5818098565739451, + 0.29239752772428995, + 0.6467331808959678, + -0.7257494735603314, + -0.23457172539563556, + 0.07573120990750828, + 0.3671307565708808, + -0.9270813294558562 + ], + [ + 0.7903274081123103, + 0.5509709767716456, + 0.2679805417222984, + 0.6084001618946259, + -0.7573865268584103, + -0.23709679867081235, + 0.07233139700759918, + 0.3504235033336852, + -0.9337941621783014 + ], + [ + 0.789537289332312, + 0.5500346787596891, + 0.2721997812554422, + 0.6081939678667366, + -0.7605698754667265, + -0.22723019601946218, + 0.08204246585945582, + 0.3449569780338613, + -0.9350260515629745 + ], + [ + 0.8169501781983717, + 0.5153319108884029, + 0.25889269584473873, + 0.5677133835484833, + -0.7975966823450591, + -0.2038162075304319, + 0.10145895959244727, + 0.3134845353957076, + -0.9441575745531865 + ], + [ + 0.8136802706638925, + 0.5350623490729758, + 0.22722829871484704, + 0.5762999895167125, + -0.7937065341158682, + -0.19470043601598183, + 0.07617571276576254, + 0.2893755696431287, + -0.954179773668643 + ], + [ + 0.8184857522807059, + 0.5402597159306003, + 0.19544951434084945, + 0.5706411414634495, + -0.8039611210511561, + -0.16737742830937405, + 0.06670652878675648, + 0.24852757428654712, + -0.9663251439533519 + ], + [ + 0.7973295553227001, + 0.5920031755840033, + 0.1174641234903709, + 0.6023895589411438, + -0.7926196568514596, + -0.09423852105889936, + 0.03731486952408687, + 0.1458983196309337, + -0.9885956103692097 + ], + [ + 0.7824051607719424, + 0.616917928480429, + 0.08517296470622303, + 0.6165805617926993, + -0.7865843264553202, + 0.03336927020823301, + 0.08758182012741399, + 0.026407705205997806, + -0.9958072393234159 + ], + [ + 0.7752130523934151, + 0.6304553471819376, + 0.03963304944849335, + 0.6179106489286292, + -0.7698346624612586, + 0.15981558876955754, + 0.1312674877472884, + -0.0994014470863605, + -0.9863509512225621 + ], + [ + 0.8561947567093193, + 0.5166512681296052, + -0.0014162356937622994, + 0.5000913250704022, + -0.8280568923063952, + 0.2534372697398792, + 0.12976596307506316, + -0.21769990869071557, + -0.967350786727987 + ], + [ + 0.9305647443315732, + 0.3611107270026116, + 0.06040115438267372, + 0.33676090634000055, + -0.9089344510502059, + 0.24582566109973703, + 0.1436709732972379, + -0.20841594597752522, + -0.9674303307701895 + ], + [ + 0.9769575293641533, + 0.20832753501106635, + 0.04640715435040159, + 0.19338688388742456, + -0.956017555144364, + 0.22052652311253668, + 0.09030780120787381, + -0.20647051220938384, + -0.9742763615263348 + ], + [ + 0.9845552596023474, + 0.16930444020893728, + 0.04457518721096396, + 0.16390836243052245, + -0.9808567526173462, + 0.10513838295455276, + 0.061522268445649814, + -0.09620830198320764, + -0.9934580882527501 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005484.json b/json/chunk-0005/episode_0005484.json new file mode 100644 index 0000000000000000000000000000000000000000..71b9512b0de2c94b1821f47c592a0f748077b442 --- /dev/null +++ b/json/chunk-0005/episode_0005484.json @@ -0,0 +1,1042 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 16, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut knife on cutting board." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005484.mp4", + "start": 0, + "end": 16, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.4529525339603424, + -0.06540104746818542, + 0.038861408829689026, + 0.13423815369606018, + -0.1610289216041565, + -0.773735523223877, + 0.0, + 1.0008161067962646 + ], + [ + 0.44767653942108154, + -0.06320281326770782, + 0.013249427080154419, + 0.1002480611205101, + -0.11134087294340134, + -0.7765688300132751, + 0.0, + 1.0008161067962646 + ], + [ + 0.4525192975997925, + -0.06680464744567871, + 0.015396851114928722, + 0.1114782989025116, + -0.13717131316661835, + -0.7982223629951477, + 0.0, + 1.0008161067962646 + ], + [ + 0.45478391647338867, + -0.06865847855806351, + 0.009820830076932907, + 0.0971183180809021, + -0.16244421899318695, + -0.8181689381599426, + 0.0, + 1.0008161067962646 + ], + [ + 0.4551813304424286, + -0.06122540310025215, + 0.003196215722709894, + 0.06496117264032364, + -0.1770726889371872, + -0.8081669211387634, + 0.0, + 0.9165752530097961 + ], + [ + 0.45905473828315735, + -0.06054682657122612, + 0.002645232481881976, + 0.04897305741906166, + -0.20096471905708313, + -0.8038212656974792, + 0.0, + 0.710151195526123 + ], + [ + 0.45964959263801575, + -0.06069926917552948, + 0.0033315017353743315, + 0.04789148271083832, + -0.19865348935127258, + -0.8105517625808716, + 0.0, + 0.4229295253753662 + ], + [ + 0.4604482650756836, + -0.0588989332318306, + 0.007411491591483355, + 0.04566570743918419, + -0.17886118590831757, + -0.8055397272109985, + 0.0, + 0.365278422832489 + ], + [ + 0.4604845941066742, + -0.052974775433540344, + 0.020087847486138344, + 0.05380203202366829, + -0.11912520974874496, + -0.7952678799629211, + 0.0, + 0.3644362688064575 + ], + [ + 0.4561478793621063, + -0.05389992892742157, + 0.03410852327942848, + 0.044532839208841324, + -0.05673689767718315, + -0.7641170620918274, + 0.0, + 0.365278422832489 + ], + [ + 0.4394260346889496, + -0.05396922677755356, + 0.03295474871993065, + 0.02470058761537075, + -0.03702962398529053, + -0.6789949536323547, + 0.0, + 0.3644362688064575 + ], + [ + 0.415413498878479, + -0.06833937764167786, + 0.036064308136701584, + 0.028422806411981583, + -0.09180609881877899, + -0.5988735556602478, + 0.0, + 0.3644362688064575 + ], + [ + 0.39161214232444763, + -0.07550760358572006, + 0.028925789520144463, + 0.027423758059740067, + -0.12079839408397675, + -0.5384971499443054, + 0.0, + 0.365278422832489 + ], + [ + 0.37675753235816956, + -0.0761832594871521, + 0.02439751662313938, + 0.03494469076395035, + -0.15459595620632172, + -0.4903521239757538, + 0.0, + 0.3644362688064575 + ], + [ + 0.3650052547454834, + -0.08017239719629288, + 0.014578970149159431, + 0.028746897354722023, + -0.17360608279705048, + -0.47597450017929077, + 0.0, + 0.3644362688064575 + ], + [ + 0.3619018793106079, + -0.08241971582174301, + 0.011101145297288895, + 0.015344038605690002, + -0.1928781419992447, + -0.4584081470966339, + 0.0, + 0.365278422832489 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9165752530097961 + ], + [ + 0.710151195526123 + ], + [ + 0.4229295253753662 + ], + [ + 0.365278422832489 + ], + [ + 0.3644362688064575 + ], + [ + 0.365278422832489 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.365278422832489 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.365278422832489 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.4529525339603424, + -0.06540104746818542, + 0.038861408829689026 + ], + [ + 0.44767653942108154, + -0.06320281326770782, + 0.013249427080154419 + ], + [ + 0.4525192975997925, + -0.06680464744567871, + 0.015396851114928722 + ], + [ + 0.45478391647338867, + -0.06865847855806351, + 0.009820830076932907 + ], + [ + 0.4551813304424286, + -0.06122540310025215, + 0.003196215722709894 + ], + [ + 0.45905473828315735, + -0.06054682657122612, + 0.002645232481881976 + ], + [ + 0.45964959263801575, + -0.06069926917552948, + 0.0033315017353743315 + ], + [ + 0.4604482650756836, + -0.0588989332318306, + 0.007411491591483355 + ], + [ + 0.4604845941066742, + -0.052974775433540344, + 0.020087847486138344 + ], + [ + 0.4561478793621063, + -0.05389992892742157, + 0.03410852327942848 + ], + [ + 0.4394260346889496, + -0.05396922677755356, + 0.03295474871993065 + ], + [ + 0.415413498878479, + -0.06833937764167786, + 0.036064308136701584 + ], + [ + 0.39161214232444763, + -0.07550760358572006, + 0.028925789520144463 + ], + [ + 0.37675753235816956, + -0.0761832594871521, + 0.02439751662313938 + ], + [ + 0.3650052547454834, + -0.08017239719629288, + 0.014578970149159431 + ], + [ + 0.3619018793106079, + -0.08241971582174301, + 0.011101145297288895 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.7060512154362875, + -0.6771760737539076, + 0.20718167466304296, + -0.6897714992550459, + -0.7238654037793016, + -0.015302157588866105, + 0.16033390158162744, + -0.1321039073860818, + -0.9781828038035335 + ], + [ + 0.7089055314007491, + -0.6893852266032049, + 0.14899985533774798, + -0.6964964463399465, + -0.7175343967283614, + -0.006090135260637099, + 0.11111097058908256, + -0.09946053917466319, + -0.9888184632994257 + ], + [ + 0.6914245038947964, + -0.7010535391376653, + 0.1745167346599991, + -0.7093898111396246, + -0.7045419284559478, + -0.019666390082111282, + 0.13674154915431672, + -0.11020256943523539, + -0.9844577910833707 + ], + [ + 0.67455973359239, + -0.7157361454728188, + 0.1808063491127332, + -0.7202862885270405, + -0.6917841822236133, + -0.05120847376311139, + 0.1617307279885446, + -0.09568915972521766, + -0.9821846854514567 + ], + [ + 0.6800229008612684, + -0.7135975943593394, + 0.16836664642615096, + -0.7117165564288223, + -0.6976354394428269, + -0.08224558917359757, + 0.17614879394796873, + -0.0639004456790153, + -0.9822872978068578 + ], + [ + 0.6799940940980485, + -0.7123686278347668, + 0.1736057892715152, + -0.7055224962500436, + -0.7001642544957711, + -0.1095811298148005, + 0.1996147271041933, + -0.04796826871164253, + -0.9786996505158905 + ], + [ + 0.6755463270331794, + -0.7173261858652326, + 0.17052947869508572, + -0.7104156124255895, + -0.695155063178557, + -0.10985943636843576, + 0.197349481007563, + -0.04693166531515378, + -0.9792091712891537 + ], + [ + 0.6816710425832945, + -0.7148268196778782, + 0.15603591757225116, + -0.7096992055052249, + -0.6978571983367376, + -0.0965524128898465, + 0.17790904251514772, + -0.04492158277275105, + -0.9830210699636779 + ], + [ + 0.6951319337701839, + -0.7085436936722971, + 0.12148015809235006, + -0.7089906759536402, + -0.7036439523220058, + -0.04708938066556738, + 0.11884366227832528, + -0.05339496715875419, + -0.991476253582702 + ], + [ + 0.720831779155142, + -0.6893911799330257, + 0.07170318814796936, + -0.6907864527253962, + -0.7230244192508959, + -0.007054494876925558, + 0.05670646251615846, + -0.04444648689666235, + -0.9974010662273468 + ], + [ + 0.7776708188719024, + -0.6271080866397791, + 0.044311907497875204, + -0.6275806968283086, + -0.7785411284914363, + -0.004022463893653884, + 0.037021162104930776, + -0.02468114499524759, + -0.99900964691945 + ], + [ + 0.8224927826381809, + -0.5613327746163965, + 0.09171226008315239, + -0.561338503237168, + -0.8271061997723197, + -0.028185440951800526, + 0.09167719068316757, + -0.028299301045244078, + -0.995386579309161 + ], + [ + 0.8522244136868469, + -0.5098169095070771, + 0.11747453978102107, + -0.509109159895233, + -0.8598521751210121, + -0.03823741950543065, + 0.12050482159183512, + -0.027220501838081123, + -0.9923394742993966 + ], + [ + 0.871646207491906, + -0.46590322968927517, + 0.15220732416700564, + -0.46532007851952245, + -0.8841620255963617, + -0.04165017430845175, + 0.1539808867735307, + -0.034520907555298685, + -0.9874706038409427 + ], + [ + 0.8754857245785661, + -0.4536024787546156, + 0.1666419434800597, + -0.45131723633328097, + -0.8907543349403108, + -0.053567405887664746, + 0.17273534162884077, + -0.02831088223127104, + -0.9845613214521758 + ], + [ + 0.880129123801923, + -0.4398316152523968, + 0.178664142065851, + -0.43431531699769954, + -0.8979539961710479, + -0.07105509258056826, + 0.1916844564821227, + -0.015058917122852043, + -0.9813410712684147 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.005275994539260864, + 0.0021982342004776, + -0.025611981749534607, + -0.03399009257555008, + 0.04968804866075516, + -0.0028333067893981934, + 1.0 + ], + [ + 0.0048427581787109375, + -0.0036018341779708862, + 0.0021474240347743034, + 0.011230237782001495, + -0.02583044022321701, + -0.02165353298187256, + 1.0 + ], + [ + 0.0022646188735961914, + -0.0018538311123847961, + -0.005576021037995815, + -0.014359980821609497, + -0.025272905826568604, + -0.019946575164794922, + 1.0 + ], + [ + 0.000397413969039917, + 0.007433075457811356, + -0.006624614354223013, + -0.03215714544057846, + -0.014628469944000244, + 0.0100020170211792, + 0.0 + ], + [ + 0.0038734078407287598, + 0.0006785765290260315, + -0.000550983240827918, + -0.015988115221261978, + -0.023892030119895935, + 0.00434565544128418, + 0.0 + ], + [ + 0.0005948543548583984, + -0.00015244260430335999, + 0.0006862692534923553, + -0.001081574708223343, + 0.002311229705810547, + -0.006730496883392334, + 0.0 + ], + [ + 0.0007986724376678467, + 0.001800335943698883, + 0.004079990088939667, + -0.002225775271654129, + 0.019792303442955017, + 0.005012035369873047, + 0.0 + ], + [ + 3.6329030990600586e-05, + 0.005924157798290253, + 0.012676356360316277, + 0.0081363245844841, + 0.0597359761595726, + 0.010271847248077393, + 0.0 + ], + [ + -0.004336714744567871, + -0.0009251534938812256, + 0.014020675793290138, + -0.009269192814826965, + 0.06238831207156181, + 0.03115081787109375, + 0.0 + ], + [ + -0.01672184467315674, + -6.929785013198853e-05, + -0.0011537745594978333, + -0.019832251593470573, + 0.019707273691892624, + 0.08512210845947266, + 0.0 + ], + [ + -0.02401253581047058, + -0.014370150864124298, + 0.003109559416770935, + 0.003722218796610832, + -0.054776474833488464, + 0.08012139797210693, + 0.0 + ], + [ + -0.023801356554031372, + -0.007168225944042206, + -0.007138518616557121, + -0.0009990483522415161, + -0.028992295265197754, + 0.06037640571594238, + 0.0 + ], + [ + -0.014854609966278076, + -0.0006756559014320374, + -0.004528272897005081, + 0.007520932704210281, + -0.03379756212234497, + 0.048145025968551636, + 0.0 + ], + [ + -0.011752277612686157, + -0.003989137709140778, + -0.00981854647397995, + -0.006197793409228325, + -0.01901012659072876, + 0.014377623796463013, + 0.0 + ], + [ + -0.0031033754348754883, + -0.0022473186254501343, + -0.003477824851870537, + -0.01340285874903202, + -0.019272059202194214, + 0.01756635308265686, + 1.0 + ], + [ + 0.0007590353488922119, + -0.0026434138417243958, + -0.0002193208783864975, + 0.005533982068300247, + -0.014234974980354309, + -0.0039081573486328125, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9165752530097961 + ], + [ + 0.710151195526123 + ], + [ + 0.4229295253753662 + ], + [ + 0.365278422832489 + ], + [ + 0.3644362688064575 + ], + [ + 0.365278422832489 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.365278422832489 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.365278422832489 + ], + [ + 0.5413121581077576 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.44767653942108154, + -0.06320281326770782, + 0.013249427080154419 + ], + [ + 0.4525192975997925, + -0.06680464744567871, + 0.015396851114928722 + ], + [ + 0.45478391647338867, + -0.06865847855806351, + 0.009820830076932907 + ], + [ + 0.4551813304424286, + -0.06122540310025215, + 0.003196215722709894 + ], + [ + 0.45905473828315735, + -0.06054682657122612, + 0.002645232481881976 + ], + [ + 0.45964959263801575, + -0.06069926917552948, + 0.0033315017353743315 + ], + [ + 0.4604482650756836, + -0.0588989332318306, + 0.007411491591483355 + ], + [ + 0.4604845941066742, + -0.052974775433540344, + 0.020087847486138344 + ], + [ + 0.4561478793621063, + -0.05389992892742157, + 0.03410852327942848 + ], + [ + 0.4394260346889496, + -0.05396922677755356, + 0.03295474871993065 + ], + [ + 0.415413498878479, + -0.06833937764167786, + 0.036064308136701584 + ], + [ + 0.39161214232444763, + -0.07550760358572006, + 0.028925789520144463 + ], + [ + 0.37675753235816956, + -0.0761832594871521, + 0.02439751662313938 + ], + [ + 0.3650052547454834, + -0.08017239719629288, + 0.014578970149159431 + ], + [ + 0.3619018793106079, + -0.08241971582174301, + 0.011101145297288895 + ], + [ + 0.3626609146595001, + -0.08506312966346741, + 0.010881824418902397 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.7089055314007491, + -0.6893852266032049, + 0.14899985533774798, + -0.6964964463399465, + -0.7175343967283614, + -0.006090135260637099, + 0.11111097058908256, + -0.09946053917466319, + -0.9888184632994257 + ], + [ + 0.6914245038947964, + -0.7010535391376653, + 0.1745167346599991, + -0.7093898111396246, + -0.7045419284559478, + -0.019666390082111282, + 0.13674154915431672, + -0.11020256943523539, + -0.9844577910833707 + ], + [ + 0.67455973359239, + -0.7157361454728188, + 0.1808063491127332, + -0.7202862885270405, + -0.6917841822236133, + -0.05120847376311139, + 0.1617307279885446, + -0.09568915972521766, + -0.9821846854514567 + ], + [ + 0.6800229008612684, + -0.7135975943593394, + 0.16836664642615096, + -0.7117165564288223, + -0.6976354394428269, + -0.08224558917359757, + 0.17614879394796873, + -0.0639004456790153, + -0.9822872978068578 + ], + [ + 0.6799940940980485, + -0.7123686278347668, + 0.1736057892715152, + -0.7055224962500436, + -0.7001642544957711, + -0.1095811298148005, + 0.1996147271041933, + -0.04796826871164253, + -0.9786996505158905 + ], + [ + 0.6755463270331794, + -0.7173261858652326, + 0.17052947869508572, + -0.7104156124255895, + -0.695155063178557, + -0.10985943636843576, + 0.197349481007563, + -0.04693166531515378, + -0.9792091712891537 + ], + [ + 0.6816710425832945, + -0.7148268196778782, + 0.15603591757225116, + -0.7096992055052249, + -0.6978571983367376, + -0.0965524128898465, + 0.17790904251514772, + -0.04492158277275105, + -0.9830210699636779 + ], + [ + 0.6951319337701839, + -0.7085436936722971, + 0.12148015809235006, + -0.7089906759536402, + -0.7036439523220058, + -0.04708938066556738, + 0.11884366227832528, + -0.05339496715875419, + -0.991476253582702 + ], + [ + 0.720831779155142, + -0.6893911799330257, + 0.07170318814796936, + -0.6907864527253962, + -0.7230244192508959, + -0.007054494876925558, + 0.05670646251615846, + -0.04444648689666235, + -0.9974010662273468 + ], + [ + 0.7776708188719024, + -0.6271080866397791, + 0.044311907497875204, + -0.6275806968283086, + -0.7785411284914363, + -0.004022463893653884, + 0.037021162104930776, + -0.02468114499524759, + -0.99900964691945 + ], + [ + 0.8224927826381809, + -0.5613327746163965, + 0.09171226008315239, + -0.561338503237168, + -0.8271061997723197, + -0.028185440951800526, + 0.09167719068316757, + -0.028299301045244078, + -0.995386579309161 + ], + [ + 0.8522244136868469, + -0.5098169095070771, + 0.11747453978102107, + -0.509109159895233, + -0.8598521751210121, + -0.03823741950543065, + 0.12050482159183512, + -0.027220501838081123, + -0.9923394742993966 + ], + [ + 0.871646207491906, + -0.46590322968927517, + 0.15220732416700564, + -0.46532007851952245, + -0.8841620255963617, + -0.04165017430845175, + 0.1539808867735307, + -0.034520907555298685, + -0.9874706038409427 + ], + [ + 0.8754857245785661, + -0.4536024787546156, + 0.1666419434800597, + -0.45131723633328097, + -0.8907543349403108, + -0.053567405887664746, + 0.17273534162884077, + -0.02831088223127104, + -0.9845613214521758 + ], + [ + 0.880129123801923, + -0.4398316152523968, + 0.178664142065851, + -0.43431531699769954, + -0.8979539961710479, + -0.07105509258056826, + 0.1916844564821227, + -0.015058917122852043, + -0.9813410712684147 + ], + [ + 0.8758939410896975, + -0.4420829539103243, + 0.19331959503444054, + -0.436490337303091, + -0.8967414693659906, + -0.07301316703416089, + 0.20563557426523218, + -0.02043034461888834, + -0.9784153574098079 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005485.json b/json/chunk-0005/episode_0005485.json new file mode 100644 index 0000000000000000000000000000000000000000..e0ea348d8b587d75ed8180f65a9ad95e68cbfdf1 --- /dev/null +++ b/json/chunk-0005/episode_0005485.json @@ -0,0 +1,2602 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 42, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut the red object was taken and placed in the container." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005485.mp4", + "start": 0, + "end": 42, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.30963587760925293, + -0.09710517525672913, + 0.0558173693716526, + -0.17851686477661133, + -0.05545317754149437, + 0.17214834690093994, + 0.0, + 0.9941151142120361 + ], + [ + 0.3071330785751343, + -0.09591308236122131, + 0.04560413211584091, + -0.1666802614927292, + -0.027784116566181183, + 0.179929718375206, + 0.0, + 0.9941151142120361 + ], + [ + 0.3250001072883606, + -0.09650804102420807, + 0.03888227045536041, + -0.16948063671588898, + -0.090825155377388, + 0.20023533701896667, + 0.0, + 0.9941151142120361 + ], + [ + 0.3477674126625061, + -0.10052551329135895, + 0.040927182883024216, + -0.19163329899311066, + -0.15868183970451355, + 0.18960584700107574, + 0.0, + 0.9941151142120361 + ], + [ + 0.364744633436203, + -0.10130766779184341, + 0.041073888540267944, + -0.18999017775058746, + -0.21895506978034973, + 0.19357717037200928, + 0.0, + 0.9941151142120361 + ], + [ + 0.3753264248371124, + -0.10730507224798203, + 0.03646797314286232, + -0.17921650409698486, + -0.21767070889472961, + 0.23028382658958435, + 0.0, + 0.9941151142120361 + ], + [ + 0.38379573822021484, + -0.11295294016599655, + 0.03560863062739372, + -0.1579272598028183, + -0.24808983504772186, + 0.2584318518638611, + 0.0, + 0.9941151142120361 + ], + [ + 0.38853564858436584, + -0.1167946606874466, + 0.03455241397023201, + -0.1805391162633896, + -0.2410397082567215, + 0.2977868914604187, + 0.0, + 0.9941151142120361 + ], + [ + 0.39191871881484985, + -0.1180076152086258, + 0.032431524246931076, + -0.2005917727947235, + -0.22662484645843506, + 0.31680917739868164, + 0.0, + 0.9941151142120361 + ], + [ + 0.3956766128540039, + -0.11512229591608047, + 0.02762698195874691, + -0.17749446630477905, + -0.22517025470733643, + 0.3486061692237854, + 0.0, + 0.9941151142120361 + ], + [ + 0.3994031846523285, + -0.11167211830615997, + 0.01918083429336548, + -0.13566890358924866, + -0.2265036702156067, + 0.3886049687862396, + 0.0, + 0.9941151142120361 + ], + [ + 0.4014846682548523, + -0.10816410928964615, + 0.01067502610385418, + -0.08418159931898117, + -0.24319405853748322, + 0.41780000925064087, + 0.0, + 0.9941151142120361 + ], + [ + 0.40541791915893555, + -0.11000265181064606, + 0.008426911197602749, + -0.07485697418451309, + -0.2105468213558197, + 0.4480419158935547, + 0.0, + 0.9499720335006714 + ], + [ + 0.4065853953361511, + -0.10623777657747269, + 0.008610685355961323, + -0.0762547180056572, + -0.20219959318637848, + 0.4738459289073944, + 0.0, + 0.8634164333343506 + ], + [ + 0.40556859970092773, + -0.1044820100069046, + 0.008337960578501225, + -0.06820301711559296, + -0.19637390971183777, + 0.4702077805995941, + 0.0, + 0.8634164333343506 + ], + [ + 0.39850708842277527, + -0.09255260229110718, + 0.013245154172182083, + -0.06003335490822792, + -0.18103519082069397, + 0.49925053119659424, + 0.0, + 0.8625253438949585 + ], + [ + 0.3932633697986603, + -0.07779369503259659, + 0.04403157904744148, + -0.10054703801870346, + -0.1872725635766983, + 0.5175271034240723, + 0.0, + 0.8625253438949585 + ], + [ + 0.38617411255836487, + -0.05092477425932884, + 0.059702444821596146, + -0.11361624300479889, + -0.22617119550704956, + 0.5380381941795349, + 0.0, + 0.8634164333343506 + ], + [ + 0.37453821301460266, + -0.022530797868967056, + 0.06762969493865967, + -0.1137620359659195, + -0.19781659543514252, + 0.5368319153785706, + 0.0, + 0.8625253438949585 + ], + [ + 0.3551102876663208, + 0.016211440786719322, + 0.08871234953403473, + -0.15539711713790894, + -0.1686611920595169, + 0.5154674053192139, + 0.0, + 0.8625253438949585 + ], + [ + 0.33108416199684143, + 0.05511061102151871, + 0.10449482500553131, + -0.18259678781032562, + -0.1661304533481598, + 0.4696810245513916, + 0.0, + 0.8625253438949585 + ], + [ + 0.29900428652763367, + 0.08186982572078705, + 0.11146144568920135, + -0.1578017622232437, + -0.1669313758611679, + 0.391427606344223, + 0.0, + 0.8625253438949585 + ], + [ + 0.27820128202438354, + 0.0989297404885292, + 0.10256700217723846, + -0.13992910087108612, + -0.14678844809532166, + 0.3124999701976776, + 0.0, + 0.8625253438949585 + ], + [ + 0.2563546299934387, + 0.11245270073413849, + 0.08277235925197601, + -0.13374249637126923, + -0.14983627200126648, + 0.2528977394104004, + 0.0, + 0.8625253438949585 + ], + [ + 0.2460605353116989, + 0.11912935227155685, + 0.07441605627536774, + -0.12969863414764404, + -0.16678105294704437, + 0.18926098942756653, + 0.0, + 0.8634164333343506 + ], + [ + 0.24136215448379517, + 0.11646854877471924, + 0.06713572889566422, + -0.1401178240776062, + -0.17483747005462646, + 0.15977416932582855, + 0.0, + 0.8625253438949585 + ], + [ + 0.24028784036636353, + 0.11247017234563828, + 0.05814226344227791, + -0.1436968743801117, + -0.2057066559791565, + 0.15802210569381714, + 0.0, + 0.8625253438949585 + ], + [ + 0.24523966014385223, + 0.11289479583501816, + 0.05423944070935249, + -0.11019241064786911, + -0.23869818449020386, + 0.16119793057441711, + 0.0, + 0.8625253438949585 + ], + [ + 0.24568384885787964, + 0.11755623668432236, + 0.0391838476061821, + -0.07401400059461594, + -0.20881788432598114, + 0.13897912204265594, + 0.0, + 0.8625253438949585 + ], + [ + 0.24324439465999603, + 0.11386928707361221, + 0.03103591315448284, + -0.08907169848680496, + -0.20405922830104828, + 0.12177427858114243, + 0.0, + 0.8634164333343506 + ], + [ + 0.24158459901809692, + 0.11375313252210617, + 0.02833673171699047, + -0.08076441287994385, + -0.20934231579303741, + 0.11688567698001862, + 0.0, + 0.904950737953186 + ], + [ + 0.23684677481651306, + 0.11055928468704224, + 0.027522267773747444, + -0.09705743193626404, + -0.17486493289470673, + 0.1274901032447815, + 0.0, + 1.0008161067962646 + ], + [ + 0.23402303457260132, + 0.10903340578079224, + 0.02735282853245735, + -0.09520434588193893, + -0.14761243760585785, + 0.1295432597398758, + 0.0, + 1.0008161067962646 + ], + [ + 0.2346063256263733, + 0.10659211128950119, + 0.037976257503032684, + -0.08893632143735886, + -0.12465935200452805, + 0.14203336834907532, + 0.0, + 1.0008161067962646 + ], + [ + 0.23918463289737701, + 0.1040072962641716, + 0.05086201801896095, + -0.10276730358600616, + -0.09495783597230911, + 0.20008544623851776, + 0.0, + 1.0008161067962646 + ], + [ + 0.2440839409828186, + 0.10265061259269714, + 0.06654851883649826, + -0.12423639744520187, + -0.10595984756946564, + 0.2218053638935089, + 0.0, + 1.0008161067962646 + ], + [ + 0.24729973077774048, + 0.11111663281917572, + 0.0752980187535286, + -0.11509902030229568, + -0.11285651475191116, + 0.2323174774646759, + 0.0, + 1.0008161067962646 + ], + [ + 0.24500949680805206, + 0.11495799571275711, + 0.0737840011715889, + -0.12426244467496872, + -0.0856516882777214, + 0.21505704522132874, + 0.0, + 1.0008161067962646 + ], + [ + 0.2309379279613495, + 0.10579933971166611, + 0.06620617210865021, + -0.14943882822990417, + -0.030308881774544716, + 0.14944760501384735, + 0.0, + 1.0008161067962646 + ], + [ + 0.21032579243183136, + 0.08499356359243393, + 0.06363478302955627, + -0.17784461379051208, + -0.028845494613051414, + 0.0649690330028534, + 0.0, + 1.0008161067962646 + ], + [ + 0.20557980239391327, + 0.06012039631605148, + 0.05914895981550217, + -0.2222348153591156, + -0.025140710175037384, + 0.026415737345814705, + 0.0, + 1.0008161067962646 + ], + [ + 0.19908057153224945, + 0.023886172100901604, + 0.052199117839336395, + -0.25616833567619324, + -0.062217988073825836, + -0.03306983783841133, + 0.0, + 1.0008161067962646 + ] + ], + "left_gripper_pos": [ + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9499720335006714 + ], + [ + 0.8634164333343506 + ], + [ + 0.8634164333343506 + ], + [ + 0.8625253438949585 + ], + [ + 0.8625253438949585 + ], + [ + 0.8634164333343506 + ], + [ + 0.8625253438949585 + ], + [ + 0.8625253438949585 + ], + [ + 0.8625253438949585 + ], + [ + 0.8625253438949585 + ], + [ + 0.8625253438949585 + ], + [ + 0.8625253438949585 + ], + [ + 0.8634164333343506 + ], + [ + 0.8625253438949585 + ], + [ + 0.8625253438949585 + ], + [ + 0.8625253438949585 + ], + [ + 0.8625253438949585 + ], + [ + 0.8634164333343506 + ], + [ + 0.904950737953186 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.30963587760925293, + -0.09710517525672913, + 0.0558173693716526 + ], + [ + 0.3071330785751343, + -0.09591308236122131, + 0.04560413211584091 + ], + [ + 0.3250001072883606, + -0.09650804102420807, + 0.03888227045536041 + ], + [ + 0.3477674126625061, + -0.10052551329135895, + 0.040927182883024216 + ], + [ + 0.364744633436203, + -0.10130766779184341, + 0.041073888540267944 + ], + [ + 0.3753264248371124, + -0.10730507224798203, + 0.03646797314286232 + ], + [ + 0.38379573822021484, + -0.11295294016599655, + 0.03560863062739372 + ], + [ + 0.38853564858436584, + -0.1167946606874466, + 0.03455241397023201 + ], + [ + 0.39191871881484985, + -0.1180076152086258, + 0.032431524246931076 + ], + [ + 0.3956766128540039, + -0.11512229591608047, + 0.02762698195874691 + ], + [ + 0.3994031846523285, + -0.11167211830615997, + 0.01918083429336548 + ], + [ + 0.4014846682548523, + -0.10816410928964615, + 0.01067502610385418 + ], + [ + 0.40541791915893555, + -0.11000265181064606, + 0.008426911197602749 + ], + [ + 0.4065853953361511, + -0.10623777657747269, + 0.008610685355961323 + ], + [ + 0.40556859970092773, + -0.1044820100069046, + 0.008337960578501225 + ], + [ + 0.39850708842277527, + -0.09255260229110718, + 0.013245154172182083 + ], + [ + 0.3932633697986603, + -0.07779369503259659, + 0.04403157904744148 + ], + [ + 0.38617411255836487, + -0.05092477425932884, + 0.059702444821596146 + ], + [ + 0.37453821301460266, + -0.022530797868967056, + 0.06762969493865967 + ], + [ + 0.3551102876663208, + 0.016211440786719322, + 0.08871234953403473 + ], + [ + 0.33108416199684143, + 0.05511061102151871, + 0.10449482500553131 + ], + [ + 0.29900428652763367, + 0.08186982572078705, + 0.11146144568920135 + ], + [ + 0.27820128202438354, + 0.0989297404885292, + 0.10256700217723846 + ], + [ + 0.2563546299934387, + 0.11245270073413849, + 0.08277235925197601 + ], + [ + 0.2460605353116989, + 0.11912935227155685, + 0.07441605627536774 + ], + [ + 0.24136215448379517, + 0.11646854877471924, + 0.06713572889566422 + ], + [ + 0.24028784036636353, + 0.11247017234563828, + 0.05814226344227791 + ], + [ + 0.24523966014385223, + 0.11289479583501816, + 0.05423944070935249 + ], + [ + 0.24568384885787964, + 0.11755623668432236, + 0.0391838476061821 + ], + [ + 0.24324439465999603, + 0.11386928707361221, + 0.03103591315448284 + ], + [ + 0.24158459901809692, + 0.11375313252210617, + 0.02833673171699047 + ], + [ + 0.23684677481651306, + 0.11055928468704224, + 0.027522267773747444 + ], + [ + 0.23402303457260132, + 0.10903340578079224, + 0.02735282853245735 + ], + [ + 0.2346063256263733, + 0.10659211128950119, + 0.037976257503032684 + ], + [ + 0.23918463289737701, + 0.1040072962641716, + 0.05086201801896095 + ], + [ + 0.2440839409828186, + 0.10265061259269714, + 0.06654851883649826 + ], + [ + 0.24729973077774048, + 0.11111663281917572, + 0.0752980187535286 + ], + [ + 0.24500949680805206, + 0.11495799571275711, + 0.0737840011715889 + ], + [ + 0.2309379279613495, + 0.10579933971166611, + 0.06620617210865021 + ], + [ + 0.21032579243183136, + 0.08499356359243393, + 0.06363478302955627 + ], + [ + 0.20557980239391327, + 0.06012039631605148, + 0.05914895981550217 + ], + [ + 0.19908057153224945, + 0.023886172100901604, + 0.052199117839336395 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9837046172152727, + 0.15888075412700814, + 0.08415540408902503, + 0.171036025051438, + -0.9712479546640392, + -0.16560220015303032, + 0.05542476164998608, + 0.177297254713528, + -0.9825954301069636 + ], + [ + 0.9834765498419853, + 0.1719455604606158, + 0.056644506783890616, + 0.17889135640485807, + -0.9710458240841814, + -0.15832842490312238, + 0.027780542012991155, + 0.165845505717093, + -0.9857603713473709 + ], + [ + 0.9759803804430279, + 0.18105743241303277, + 0.12116312623187715, + 0.19808015134146914, + -0.9690214283609169, + -0.14751855822881507, + 0.09070033425970599, + 0.16797522896358172, + -0.9816097859230057 + ], + [ + 0.9697401874480421, + 0.15546483781260267, + 0.18824094414376702, + 0.18610394197826374, + -0.9697734205796278, + -0.1578126595601223, + 0.15801674477214972, + 0.18806965981037232, + -0.9693608778109543 + ], + [ + 0.9578932536725541, + 0.1486552329453745, + 0.2456463642852551, + 0.1877776211220827, + -0.9715555644888572, + -0.14428911988251067, + 0.21720975939017878, + 0.18434046443658111, + -0.9585606468017379 + ], + [ + 0.9506276901412324, + 0.18711829532367763, + 0.24757572233946265, + 0.22286778806366214, + -0.9667949777742757, + -0.12504967010771703, + 0.21595588387528672, + 0.1740523326634815, + -0.9607647171467346 + ], + [ + 0.9371918899173772, + 0.21504836364100874, + 0.2746371474662856, + 0.24774022683785066, + -0.9646301007730049, + -0.09007523904487738, + 0.24555272647524023, + 0.15245645272662606, + -0.957319637604175 + ], + [ + 0.9283508443511186, + 0.24765981465918338, + 0.2771810346967203, + 0.2849229669076, + -0.9530268056168141, + -0.10275607380774204, + 0.23871240588024786, + 0.17436893065793113, + -0.9553072088600995 + ], + [ + 0.9259371104994012, + 0.26274812663954367, + 0.2713003673927301, + 0.3035702395178627, + -0.9451282666639608, + -0.12073801899917339, + 0.22468995767298428, + 0.19415452995021162, + -0.9548918480229712 + ], + [ + 0.916124276374591, + 0.29917090317006656, + 0.26685779159233586, + 0.33296513388676496, + -0.9385499562824334, + -0.09087463440372606, + 0.22327232218280124, + 0.1721067989901876, + -0.959441879369694 + ], + [ + 0.9018005454284104, + 0.34730679869704895, + 0.25716485732663585, + 0.3692197824842197, + -0.9284434120745667, + -0.0408605286020831, + 0.22457187822015226, + 0.13179839966457763, + -0.9655033160784738 + ], + [ + 0.8870887156001207, + 0.38580811763535505, + 0.25342791286989813, + 0.3938109740190944, + -0.9189625850747761, + 0.020510582020445083, + 0.24080391898194012, + 0.08160798735019317, + -0.9671368098690021 + ], + [ + 0.8813935314847743, + 0.41790101464405005, + 0.2202366559323667, + 0.4236350643037341, + -0.9055439990999244, + 0.02287789296432506, + 0.20899467684409884, + 0.07313554302519037, + -0.9751781464928555 + ], + [ + 0.8716918207792821, + 0.441372458816846, + 0.2129406541374169, + 0.4470154931754248, + -0.8942152377289951, + 0.02358511128674032, + 0.20082459622175555, + 0.07462882292551433, + -0.9767804360966289 + ], + [ + 0.8743405033580972, + 0.4401641799525312, + 0.20441178751291325, + 0.44436372976941174, + -0.8954260791420019, + 0.027441072460786, + 0.19511422257981584, + 0.06684034320002094, + -0.9785002854715869 + ], + [ + 0.8635941636826173, + 0.4684213335891146, + 0.1865115939879244, + 0.47094358321855484, + -0.8815318880881667, + 0.03337172019809785, + 0.18004794327786436, + 0.05901681558935076, + -0.9818858149495305 + ], + [ + 0.8538505950289313, + 0.47599291576305347, + 0.21064165189279643, + 0.48608253198744134, + -0.8739017753088332, + 0.00441125931535552, + 0.18617984172680307, + 0.0986226711028245, + -0.9775533925464769 + ], + [ + 0.8368460125992941, + 0.4873168766034951, + 0.24942135629106732, + 0.499401279551659, + -0.8662074869355414, + 0.016821164019745802, + 0.22424788333187734, + 0.11048462044206629, + -0.9682489532485665 + ], + [ + 0.8425744991127955, + 0.48893920772355953, + 0.22584655099310202, + 0.5014424938157243, + -0.8651878934320506, + 0.0023096437990025587, + 0.19652897710182404, + 0.11130301078258764, + -0.9741601515921507 + ], + [ + 0.8577165642245749, + 0.46439702791976584, + 0.22058489502701484, + 0.4859469241117698, + -0.8723851664040126, + -0.052912270642575705, + 0.16786268912745556, + 0.15257628222476635, + -0.9739315148927916 + ], + [ + 0.8794356425319365, + 0.4183012089733606, + 0.2271938582265479, + 0.44637047194442353, + -0.8904791432114886, + -0.08831929167201022, + 0.16536732573441607, + 0.17908376273899848, + -0.9698364055358457 + ], + [ + 0.9115160166885858, + 0.35263193709216495, + 0.21163475202055237, + 0.3762051924454492, + -0.9228418739095864, + -0.08265911284380646, + 0.16615716805860586, + 0.15496319789443563, + -0.973847114695666 + ], + [ + 0.9413347062458353, + 0.2850219710783519, + 0.18069711347909778, + 0.30413226393655557, + -0.9485388374434837, + -0.0881909286388885, + 0.1462618776369704, + 0.13797300411303423, + -0.9795769052433465 + ], + [ + 0.9573433724430351, + 0.22870418124879344, + 0.17660142898265388, + 0.24740709594469518, + -0.9645257645771734, + -0.09208571193747511, + 0.1492762409615431, + 0.131850092704322, + -0.9799653855816812 + ], + [ + 0.9685155563954848, + 0.1654655614320072, + 0.18600743264701988, + 0.18552264344087177, + -0.9779338017343295, + -0.0960563802990336, + 0.16600893286403637, + 0.12754068921497982, + -0.9778417084599696 + ], + [ + 0.9722122350194232, + 0.1335519195843361, + 0.19226870482186514, + 0.15666982111659983, + -0.9814525999426821, + -0.1104778765954658, + 0.1739480877441057, + 0.13753064691583974, + -0.9751037811069548 + ], + [ + 0.9667200405575079, + 0.12685733686460507, + 0.2221701583654076, + 0.15404751554559173, + -0.981965247719047, + -0.10960663860506481, + 0.20425896831894763, + 0.14018369504222208, + -0.9688275416737431 + ], + [ + 0.9590499009494826, + 0.13386339066144956, + 0.24960745207106202, + 0.15594998006303698, + -0.9852224834897446, + -0.07082557267426932, + 0.23643792252328252, + 0.10685153563201598, + -0.9657535183088665 + ], + [ + 0.9688440495808553, + 0.12297132315996681, + 0.21498665370681996, + 0.13552277068486793, + -0.9897701584727492, + -0.04459385633386852, + 0.20730360879074394, + 0.07234007932754852, + -0.9755983429184462 + ], + [ + 0.9720003772246041, + 0.10309930865979743, + 0.2111534968431727, + 0.11895321155039994, + -0.9908494674198904, + -0.06377669147553648, + 0.20264599709116815, + 0.08710835475195126, + -0.9753700499786402 + ], + [ + 0.9714934159491097, + 0.09958801662125884, + 0.21513430622049745, + 0.11407364069470101, + -0.9918944519873051, + -0.055969640122664185, + 0.2078166193214276, + 0.07891529042111016, + -0.9749792970476683 + ], + [ + 0.9767579511941678, + 0.1098243713716646, + 0.18407203000942424, + 0.12520606326879904, + -0.9893595067326543, + -0.07410268658050438, + 0.17397513184274693, + 0.09542732255773327, + -0.9801154419810766 + ], + [ + 0.9808371728542791, + 0.11473217038665123, + 0.15746418458047368, + 0.12777640360893558, + -0.9889365438057038, + -0.07535053421440067, + 0.14707695614198524, + 0.09402681215481891, + -0.9846457878689224 + ], + [ + 0.9822484274390492, + 0.13006456126801066, + 0.13517113854545545, + 0.14045783307274914, + -0.9875810505433537, + -0.07039364840803057, + 0.12433673601161702, + 0.08812989566455638, + -0.9883185203000759 + ], + [ + 0.9756343688708937, + 0.18817176193157403, + 0.11282272062603069, + 0.19785766889959883, + -0.9768121651292128, + -0.08179447972324067, + 0.09481519464468277, + 0.10212434610388416, + -0.9902427463997625 + ], + [ + 0.970030778605796, + 0.20551094117451957, + 0.12963618944953623, + 0.21875729758662849, + -0.970866404770733, + -0.0977940122918895, + 0.10576168167171013, + 0.1232220643598951, + -0.9867273126577867 + ], + [ + 0.9669448078654728, + 0.21612393742743452, + 0.1353077315339609, + 0.22876872049046848, + -0.9696743438299824, + -0.08600313623959908, + 0.11261709935510672, + 0.11411446266251925, + -0.987063968719397 + ], + [ + 0.9733828042917375, + 0.20139898696139724, + 0.10938173686715559, + 0.21262085284851107, + -0.9716938963868885, + -0.10297254322603815, + 0.08554700019944904, + 0.12348854106915923, + -0.9886517541487931 + ], + [ + 0.9883993163177303, + 0.14277098193283053, + 0.051799982824112085, + 0.14882353458518613, + -0.9785042586910568, + -0.14276193917510674, + 0.030304241554852264, + 0.14881485961220522, + -0.9884006224716698 + ], + [ + 0.9974751298562404, + 0.05880777616783966, + 0.03981219386656402, + 0.06489632893498032, + -0.9824820749736481, + -0.17469241210263556, + 0.028841494570123173, + 0.17683500167576408, + -0.9838178441018913 + ], + [ + 0.9993352239374014, + 0.020224358958797286, + 0.030332911213561436, + 0.026404318648557145, + -0.9752133584433704, + -0.21968549672271934, + 0.02513806187217986, + 0.22034037491641925, + -0.9750990703651616 + ], + [ + 0.9975193859571894, + -0.047730619105399566, + 0.05173840584524123, + -0.03299983490716227, + -0.9663181133035882, + -0.25522600729058476, + 0.06217785406148769, + 0.25288553122155655, + -0.9654961535723999 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0025027990341186523, + 0.0011920928955078125, + -0.010213237255811691, + 0.011836603283882141, + 0.027669060975313187, + 0.007781371474266052, + 1.0 + ], + [ + 0.01786702871322632, + -0.0005949586629867554, + -0.006721861660480499, + -0.00280037522315979, + -0.06304103881120682, + 0.02030561864376068, + 1.0 + ], + [ + 0.022767305374145508, + -0.004017472267150879, + 0.002044912427663803, + -0.02215266227722168, + -0.06785668432712555, + -0.01062949001789093, + 1.0 + ], + [ + 0.0169772207736969, + -0.0007821545004844666, + 0.00014670565724372864, + 0.0016431212425231934, + -0.06027323007583618, + 0.003971323370933533, + 1.0 + ], + [ + 0.010581791400909424, + -0.005997404456138611, + -0.004605915397405624, + 0.0107736736536026, + 0.0012843608856201172, + 0.03670665621757507, + 1.0 + ], + [ + 0.008469313383102417, + -0.005647867918014526, + -0.0008593425154685974, + 0.021289244294166565, + -0.03041912615299225, + 0.028148025274276733, + 1.0 + ], + [ + 0.004739910364151001, + -0.0038417205214500427, + -0.0010562166571617126, + -0.02261185646057129, + 0.007050126791000366, + 0.03935503959655762, + 1.0 + ], + [ + 0.003383070230484009, + -0.0012129545211791992, + -0.002120889723300934, + -0.020052656531333923, + 0.014414861798286438, + 0.01902228593826294, + 1.0 + ], + [ + 0.0037578940391540527, + 0.0028853192925453186, + -0.004804542288184166, + 0.023097306489944458, + 0.0014545917510986328, + 0.03179699182510376, + 1.0 + ], + [ + 0.003726571798324585, + 0.0034501776099205017, + -0.008446147665381432, + 0.041825562715530396, + -0.0013334155082702637, + 0.039998799562454224, + 1.0 + ], + [ + 0.0020814836025238037, + 0.0035080090165138245, + -0.0085058081895113, + 0.05148730427026749, + -0.016690388321876526, + 0.029195040464401245, + 1.0 + ], + [ + 0.003933250904083252, + -0.0018385425209999084, + -0.0022481149062514305, + 0.009324625134468079, + 0.03264723718166351, + 0.03024190664291382, + 0.0 + ], + [ + 0.0011674761772155762, + 0.0037648752331733704, + 0.00018377415835857391, + -0.001397743821144104, + 0.008347228169441223, + 0.02580401301383972, + 0.0 + ], + [ + -0.0010167956352233887, + 0.0017557665705680847, + -0.00027272477746009827, + 0.00805170089006424, + 0.0058256834745407104, + -0.003638148307800293, + 0.0 + ], + [ + -0.007061511278152466, + 0.011929407715797424, + 0.004907193593680859, + 0.008169662207365036, + 0.015338718891143799, + 0.029042750597000122, + 0.0 + ], + [ + -0.00524371862411499, + 0.01475890725851059, + 0.0307864248752594, + -0.04051368311047554, + -0.0062373727560043335, + 0.018276572227478027, + 0.0 + ], + [ + -0.00708925724029541, + 0.026868920773267746, + 0.015670865774154663, + -0.013069204986095428, + -0.03889863193035126, + 0.020511090755462646, + 0.0 + ], + [ + -0.011635899543762207, + 0.028393976390361786, + 0.007927250117063522, + -0.00014579296112060547, + 0.028354600071907043, + -0.0012062788009643555, + 0.0 + ], + [ + -0.01942792534828186, + 0.03874223679304123, + 0.02108265459537506, + -0.04163508117198944, + 0.02915540337562561, + -0.02136451005935669, + 0.0 + ], + [ + -0.02402612566947937, + 0.038899168372154236, + 0.015782475471496582, + -0.027199670672416687, + 0.0025307387113571167, + -0.045786380767822266, + 0.0 + ], + [ + -0.032079875469207764, + 0.02675921469926834, + 0.006966620683670044, + 0.02479502558708191, + -0.0008009225130081177, + -0.07825341820716858, + 0.0 + ], + [ + -0.020803004503250122, + 0.017059914767742157, + -0.00889444351196289, + 0.017872661352157593, + 0.020142927765846252, + -0.07892763614654541, + 0.0 + ], + [ + -0.021846652030944824, + 0.013522960245609283, + -0.01979464292526245, + 0.0061866044998168945, + -0.0030478239059448242, + -0.05960223078727722, + 0.0 + ], + [ + -0.010294094681739807, + 0.0066766515374183655, + -0.008356302976608276, + 0.004043862223625183, + -0.016944780945777893, + -0.06363674998283386, + 0.0 + ], + [ + -0.0046983808279037476, + -0.002660803496837616, + -0.007280327379703522, + -0.010419189929962158, + -0.008056417107582092, + -0.029486820101737976, + 0.0 + ], + [ + -0.0010743141174316406, + -0.003998376429080963, + -0.008993465453386307, + -0.003579050302505493, + -0.03086918592453003, + -0.0017520636320114136, + 0.0 + ], + [ + 0.0049518197774887085, + 0.0004246234893798828, + -0.003902822732925415, + 0.033504463732242584, + -0.03299152851104736, + 0.0031758248805999756, + 1.0 + ], + [ + 0.0004441887140274048, + 0.004661440849304199, + -0.015055593103170395, + 0.036178410053253174, + 0.029880300164222717, + -0.02221880853176117, + 1.0 + ], + [ + -0.002439454197883606, + -0.003686949610710144, + -0.008147934451699257, + -0.015057697892189026, + 0.004758656024932861, + -0.01720484346151352, + 1.0 + ], + [ + -0.0016597956418991089, + -0.00011615455150604248, + -0.0026991814374923706, + 0.008307285606861115, + -0.005283087491989136, + -0.00488860160112381, + 1.0 + ], + [ + -0.004737824201583862, + -0.0031938478350639343, + -0.0008144639432430267, + -0.01629301905632019, + 0.03447738289833069, + 0.010604426264762878, + 1.0 + ], + [ + -0.002823740243911743, + -0.00152587890625, + -0.00016943924129009247, + 0.0018530860543251038, + 0.027252495288848877, + 0.0020531564950942993, + 1.0 + ], + [ + 0.0005832910537719727, + -0.002441294491291046, + 0.010623428970575333, + 0.006268024444580078, + 0.022953085601329803, + 0.012490108609199524, + 1.0 + ], + [ + 0.004578307271003723, + -0.00258481502532959, + 0.012885760515928268, + -0.013830982148647308, + 0.029701516032218933, + 0.058052077889442444, + 1.0 + ], + [ + 0.004899308085441589, + -0.0013566836714744568, + 0.015686500817537308, + -0.02146909385919571, + -0.011002011597156525, + 0.02171991765499115, + 1.0 + ], + [ + 0.003215789794921875, + 0.008466020226478577, + 0.008749499917030334, + 0.009137377142906189, + -0.006896667182445526, + 0.010512113571166992, + 1.0 + ], + [ + -0.0022902339696884155, + 0.0038413628935813904, + -0.0015140175819396973, + -0.009163424372673035, + 0.02720482647418976, + -0.017260432243347168, + 1.0 + ], + [ + -0.014071568846702576, + -0.009158656001091003, + -0.00757782906293869, + -0.025176383554935455, + 0.05534280836582184, + -0.06560944020748138, + 1.0 + ], + [ + -0.020612135529518127, + -0.020805776119232178, + -0.002571389079093933, + -0.02840578556060791, + 0.0014633871614933014, + -0.08447857201099396, + 1.0 + ], + [ + -0.004745990037918091, + -0.024873167276382446, + -0.004485823214054108, + -0.044390201568603516, + 0.0037047844380140305, + -0.03855329751968384, + 1.0 + ], + [ + -0.006499230861663818, + -0.03623422235250473, + -0.0069498419761657715, + -0.03393352031707764, + -0.03707727789878845, + -0.059485577046871185, + 1.0 + ], + [ + -0.003891989588737488, + -0.02911479026079178, + -0.015613559633493423, + 0.03587441146373749, + -0.03577377647161484, + -0.05569246783852577, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9499720335006714 + ], + [ + 0.8634164333343506 + ], + [ + 0.8634164333343506 + ], + [ + 0.8625253438949585 + ], + [ + 0.8625253438949585 + ], + [ + 0.8634164333343506 + ], + [ + 0.8625253438949585 + ], + [ + 0.8625253438949585 + ], + [ + 0.8625253438949585 + ], + [ + 0.8625253438949585 + ], + [ + 0.8625253438949585 + ], + [ + 0.8625253438949585 + ], + [ + 0.8634164333343506 + ], + [ + 0.8625253438949585 + ], + [ + 0.8625253438949585 + ], + [ + 0.8625253438949585 + ], + [ + 0.8625253438949585 + ], + [ + 0.8634164333343506 + ], + [ + 0.904950737953186 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3071330785751343, + -0.09591308236122131, + 0.04560413211584091 + ], + [ + 0.3250001072883606, + -0.09650804102420807, + 0.03888227045536041 + ], + [ + 0.3477674126625061, + -0.10052551329135895, + 0.040927182883024216 + ], + [ + 0.364744633436203, + -0.10130766779184341, + 0.041073888540267944 + ], + [ + 0.3753264248371124, + -0.10730507224798203, + 0.03646797314286232 + ], + [ + 0.38379573822021484, + -0.11295294016599655, + 0.03560863062739372 + ], + [ + 0.38853564858436584, + -0.1167946606874466, + 0.03455241397023201 + ], + [ + 0.39191871881484985, + -0.1180076152086258, + 0.032431524246931076 + ], + [ + 0.3956766128540039, + -0.11512229591608047, + 0.02762698195874691 + ], + [ + 0.3994031846523285, + -0.11167211830615997, + 0.01918083429336548 + ], + [ + 0.4014846682548523, + -0.10816410928964615, + 0.01067502610385418 + ], + [ + 0.40541791915893555, + -0.11000265181064606, + 0.008426911197602749 + ], + [ + 0.4065853953361511, + -0.10623777657747269, + 0.008610685355961323 + ], + [ + 0.40556859970092773, + -0.1044820100069046, + 0.008337960578501225 + ], + [ + 0.39850708842277527, + -0.09255260229110718, + 0.013245154172182083 + ], + [ + 0.3932633697986603, + -0.07779369503259659, + 0.04403157904744148 + ], + [ + 0.38617411255836487, + -0.05092477425932884, + 0.059702444821596146 + ], + [ + 0.37453821301460266, + -0.022530797868967056, + 0.06762969493865967 + ], + [ + 0.3551102876663208, + 0.016211440786719322, + 0.08871234953403473 + ], + [ + 0.33108416199684143, + 0.05511061102151871, + 0.10449482500553131 + ], + [ + 0.29900428652763367, + 0.08186982572078705, + 0.11146144568920135 + ], + [ + 0.27820128202438354, + 0.0989297404885292, + 0.10256700217723846 + ], + [ + 0.2563546299934387, + 0.11245270073413849, + 0.08277235925197601 + ], + [ + 0.2460605353116989, + 0.11912935227155685, + 0.07441605627536774 + ], + [ + 0.24136215448379517, + 0.11646854877471924, + 0.06713572889566422 + ], + [ + 0.24028784036636353, + 0.11247017234563828, + 0.05814226344227791 + ], + [ + 0.24523966014385223, + 0.11289479583501816, + 0.05423944070935249 + ], + [ + 0.24568384885787964, + 0.11755623668432236, + 0.0391838476061821 + ], + [ + 0.24324439465999603, + 0.11386928707361221, + 0.03103591315448284 + ], + [ + 0.24158459901809692, + 0.11375313252210617, + 0.02833673171699047 + ], + [ + 0.23684677481651306, + 0.11055928468704224, + 0.027522267773747444 + ], + [ + 0.23402303457260132, + 0.10903340578079224, + 0.02735282853245735 + ], + [ + 0.2346063256263733, + 0.10659211128950119, + 0.037976257503032684 + ], + [ + 0.23918463289737701, + 0.1040072962641716, + 0.05086201801896095 + ], + [ + 0.2440839409828186, + 0.10265061259269714, + 0.06654851883649826 + ], + [ + 0.24729973077774048, + 0.11111663281917572, + 0.0752980187535286 + ], + [ + 0.24500949680805206, + 0.11495799571275711, + 0.0737840011715889 + ], + [ + 0.2309379279613495, + 0.10579933971166611, + 0.06620617210865021 + ], + [ + 0.21032579243183136, + 0.08499356359243393, + 0.06363478302955627 + ], + [ + 0.20557980239391327, + 0.06012039631605148, + 0.05914895981550217 + ], + [ + 0.19908057153224945, + 0.023886172100901604, + 0.052199117839336395 + ], + [ + 0.19518858194351196, + -0.005228618159890175, + 0.03658555820584297 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9834765498419853, + 0.1719455604606158, + 0.056644506783890616, + 0.17889135640485807, + -0.9710458240841814, + -0.15832842490312238, + 0.027780542012991155, + 0.165845505717093, + -0.9857603713473709 + ], + [ + 0.9759803804430279, + 0.18105743241303277, + 0.12116312623187715, + 0.19808015134146914, + -0.9690214283609169, + -0.14751855822881507, + 0.09070033425970599, + 0.16797522896358172, + -0.9816097859230057 + ], + [ + 0.9697401874480421, + 0.15546483781260267, + 0.18824094414376702, + 0.18610394197826374, + -0.9697734205796278, + -0.1578126595601223, + 0.15801674477214972, + 0.18806965981037232, + -0.9693608778109543 + ], + [ + 0.9578932536725541, + 0.1486552329453745, + 0.2456463642852551, + 0.1877776211220827, + -0.9715555644888572, + -0.14428911988251067, + 0.21720975939017878, + 0.18434046443658111, + -0.9585606468017379 + ], + [ + 0.9506276901412324, + 0.18711829532367763, + 0.24757572233946265, + 0.22286778806366214, + -0.9667949777742757, + -0.12504967010771703, + 0.21595588387528672, + 0.1740523326634815, + -0.9607647171467346 + ], + [ + 0.9371918899173772, + 0.21504836364100874, + 0.2746371474662856, + 0.24774022683785066, + -0.9646301007730049, + -0.09007523904487738, + 0.24555272647524023, + 0.15245645272662606, + -0.957319637604175 + ], + [ + 0.9283508443511186, + 0.24765981465918338, + 0.2771810346967203, + 0.2849229669076, + -0.9530268056168141, + -0.10275607380774204, + 0.23871240588024786, + 0.17436893065793113, + -0.9553072088600995 + ], + [ + 0.9259371104994012, + 0.26274812663954367, + 0.2713003673927301, + 0.3035702395178627, + -0.9451282666639608, + -0.12073801899917339, + 0.22468995767298428, + 0.19415452995021162, + -0.9548918480229712 + ], + [ + 0.916124276374591, + 0.29917090317006656, + 0.26685779159233586, + 0.33296513388676496, + -0.9385499562824334, + -0.09087463440372606, + 0.22327232218280124, + 0.1721067989901876, + -0.959441879369694 + ], + [ + 0.9018005454284104, + 0.34730679869704895, + 0.25716485732663585, + 0.3692197824842197, + -0.9284434120745667, + -0.0408605286020831, + 0.22457187822015226, + 0.13179839966457763, + -0.9655033160784738 + ], + [ + 0.8870887156001207, + 0.38580811763535505, + 0.25342791286989813, + 0.3938109740190944, + -0.9189625850747761, + 0.020510582020445083, + 0.24080391898194012, + 0.08160798735019317, + -0.9671368098690021 + ], + [ + 0.8813935314847743, + 0.41790101464405005, + 0.2202366559323667, + 0.4236350643037341, + -0.9055439990999244, + 0.02287789296432506, + 0.20899467684409884, + 0.07313554302519037, + -0.9751781464928555 + ], + [ + 0.8716918207792821, + 0.441372458816846, + 0.2129406541374169, + 0.4470154931754248, + -0.8942152377289951, + 0.02358511128674032, + 0.20082459622175555, + 0.07462882292551433, + -0.9767804360966289 + ], + [ + 0.8743405033580972, + 0.4401641799525312, + 0.20441178751291325, + 0.44436372976941174, + -0.8954260791420019, + 0.027441072460786, + 0.19511422257981584, + 0.06684034320002094, + -0.9785002854715869 + ], + [ + 0.8635941636826173, + 0.4684213335891146, + 0.1865115939879244, + 0.47094358321855484, + -0.8815318880881667, + 0.03337172019809785, + 0.18004794327786436, + 0.05901681558935076, + -0.9818858149495305 + ], + [ + 0.8538505950289313, + 0.47599291576305347, + 0.21064165189279643, + 0.48608253198744134, + -0.8739017753088332, + 0.00441125931535552, + 0.18617984172680307, + 0.0986226711028245, + -0.9775533925464769 + ], + [ + 0.8368460125992941, + 0.4873168766034951, + 0.24942135629106732, + 0.499401279551659, + -0.8662074869355414, + 0.016821164019745802, + 0.22424788333187734, + 0.11048462044206629, + -0.9682489532485665 + ], + [ + 0.8425744991127955, + 0.48893920772355953, + 0.22584655099310202, + 0.5014424938157243, + -0.8651878934320506, + 0.0023096437990025587, + 0.19652897710182404, + 0.11130301078258764, + -0.9741601515921507 + ], + [ + 0.8577165642245749, + 0.46439702791976584, + 0.22058489502701484, + 0.4859469241117698, + -0.8723851664040126, + -0.052912270642575705, + 0.16786268912745556, + 0.15257628222476635, + -0.9739315148927916 + ], + [ + 0.8794356425319365, + 0.4183012089733606, + 0.2271938582265479, + 0.44637047194442353, + -0.8904791432114886, + -0.08831929167201022, + 0.16536732573441607, + 0.17908376273899848, + -0.9698364055358457 + ], + [ + 0.9115160166885858, + 0.35263193709216495, + 0.21163475202055237, + 0.3762051924454492, + -0.9228418739095864, + -0.08265911284380646, + 0.16615716805860586, + 0.15496319789443563, + -0.973847114695666 + ], + [ + 0.9413347062458353, + 0.2850219710783519, + 0.18069711347909778, + 0.30413226393655557, + -0.9485388374434837, + -0.0881909286388885, + 0.1462618776369704, + 0.13797300411303423, + -0.9795769052433465 + ], + [ + 0.9573433724430351, + 0.22870418124879344, + 0.17660142898265388, + 0.24740709594469518, + -0.9645257645771734, + -0.09208571193747511, + 0.1492762409615431, + 0.131850092704322, + -0.9799653855816812 + ], + [ + 0.9685155563954848, + 0.1654655614320072, + 0.18600743264701988, + 0.18552264344087177, + -0.9779338017343295, + -0.0960563802990336, + 0.16600893286403637, + 0.12754068921497982, + -0.9778417084599696 + ], + [ + 0.9722122350194232, + 0.1335519195843361, + 0.19226870482186514, + 0.15666982111659983, + -0.9814525999426821, + -0.1104778765954658, + 0.1739480877441057, + 0.13753064691583974, + -0.9751037811069548 + ], + [ + 0.9667200405575079, + 0.12685733686460507, + 0.2221701583654076, + 0.15404751554559173, + -0.981965247719047, + -0.10960663860506481, + 0.20425896831894763, + 0.14018369504222208, + -0.9688275416737431 + ], + [ + 0.9590499009494826, + 0.13386339066144956, + 0.24960745207106202, + 0.15594998006303698, + -0.9852224834897446, + -0.07082557267426932, + 0.23643792252328252, + 0.10685153563201598, + -0.9657535183088665 + ], + [ + 0.9688440495808553, + 0.12297132315996681, + 0.21498665370681996, + 0.13552277068486793, + -0.9897701584727492, + -0.04459385633386852, + 0.20730360879074394, + 0.07234007932754852, + -0.9755983429184462 + ], + [ + 0.9720003772246041, + 0.10309930865979743, + 0.2111534968431727, + 0.11895321155039994, + -0.9908494674198904, + -0.06377669147553648, + 0.20264599709116815, + 0.08710835475195126, + -0.9753700499786402 + ], + [ + 0.9714934159491097, + 0.09958801662125884, + 0.21513430622049745, + 0.11407364069470101, + -0.9918944519873051, + -0.055969640122664185, + 0.2078166193214276, + 0.07891529042111016, + -0.9749792970476683 + ], + [ + 0.9767579511941678, + 0.1098243713716646, + 0.18407203000942424, + 0.12520606326879904, + -0.9893595067326543, + -0.07410268658050438, + 0.17397513184274693, + 0.09542732255773327, + -0.9801154419810766 + ], + [ + 0.9808371728542791, + 0.11473217038665123, + 0.15746418458047368, + 0.12777640360893558, + -0.9889365438057038, + -0.07535053421440067, + 0.14707695614198524, + 0.09402681215481891, + -0.9846457878689224 + ], + [ + 0.9822484274390492, + 0.13006456126801066, + 0.13517113854545545, + 0.14045783307274914, + -0.9875810505433537, + -0.07039364840803057, + 0.12433673601161702, + 0.08812989566455638, + -0.9883185203000759 + ], + [ + 0.9756343688708937, + 0.18817176193157403, + 0.11282272062603069, + 0.19785766889959883, + -0.9768121651292128, + -0.08179447972324067, + 0.09481519464468277, + 0.10212434610388416, + -0.9902427463997625 + ], + [ + 0.970030778605796, + 0.20551094117451957, + 0.12963618944953623, + 0.21875729758662849, + -0.970866404770733, + -0.0977940122918895, + 0.10576168167171013, + 0.1232220643598951, + -0.9867273126577867 + ], + [ + 0.9669448078654728, + 0.21612393742743452, + 0.1353077315339609, + 0.22876872049046848, + -0.9696743438299824, + -0.08600313623959908, + 0.11261709935510672, + 0.11411446266251925, + -0.987063968719397 + ], + [ + 0.9733828042917375, + 0.20139898696139724, + 0.10938173686715559, + 0.21262085284851107, + -0.9716938963868885, + -0.10297254322603815, + 0.08554700019944904, + 0.12348854106915923, + -0.9886517541487931 + ], + [ + 0.9883993163177303, + 0.14277098193283053, + 0.051799982824112085, + 0.14882353458518613, + -0.9785042586910568, + -0.14276193917510674, + 0.030304241554852264, + 0.14881485961220522, + -0.9884006224716698 + ], + [ + 0.9974751298562404, + 0.05880777616783966, + 0.03981219386656402, + 0.06489632893498032, + -0.9824820749736481, + -0.17469241210263556, + 0.028841494570123173, + 0.17683500167576408, + -0.9838178441018913 + ], + [ + 0.9993352239374014, + 0.020224358958797286, + 0.030332911213561436, + 0.026404318648557145, + -0.9752133584433704, + -0.21968549672271934, + 0.02513806187217986, + 0.22034037491641925, + -0.9750990703651616 + ], + [ + 0.9975193859571894, + -0.047730619105399566, + 0.05173840584524123, + -0.03299983490716227, + -0.9663181133035882, + -0.25522600729058476, + 0.06217785406148769, + 0.25288553122155655, + -0.9654961535723999 + ], + [ + 0.9912847461876584, + -0.10779791355058252, + 0.07572424849287515, + -0.08822053051739778, + -0.970096496337941, + -0.2261192733671325, + 0.09783501403331249, + 0.217468153132803, + -0.9711518482719935 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005486.json b/json/chunk-0005/episode_0005486.json new file mode 100644 index 0000000000000000000000000000000000000000..b5a8e2d7465d157e4a3ddaa48037a175d2786c57 --- /dev/null +++ b/json/chunk-0005/episode_0005486.json @@ -0,0 +1,1942 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 31, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the white object to top left side on the table." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005486.mp4", + "start": 0, + "end": 31, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3491855561733246, + -0.012906856834888458, + 0.09796258062124252, + 0.21610631048679352, + -0.24746736884117126, + -0.7324872016906738, + 0.0, + 1.0001531839370728 + ], + [ + 0.3480058014392853, + -0.012846829369664192, + 0.08810727298259735, + 0.19341878592967987, + -0.22401919960975647, + -0.7198086380958557, + 0.0, + 1.0001531839370728 + ], + [ + 0.3448541760444641, + -0.017910851165652275, + 0.06770391762256622, + 0.12246949225664139, + -0.1545923948287964, + -0.6613519787788391, + 0.0, + 1.0001531839370728 + ], + [ + 0.3473164439201355, + -0.020085906609892845, + 0.0534505695104599, + 0.09276112169027328, + -0.11085306107997894, + -0.6178612112998962, + 0.0, + 1.0001531839370728 + ], + [ + 0.34719884395599365, + -0.021191459149122238, + 0.04025110602378845, + 0.06170453503727913, + -0.08168655633926392, + -0.5747795701026917, + 0.0, + 1.0001531839370728 + ], + [ + 0.3487371504306793, + -0.017689809203147888, + 0.031856052577495575, + 0.06983984261751175, + -0.05653097853064537, + -0.533446192741394, + 0.0, + 1.0001531839370728 + ], + [ + 0.3543822467327118, + -0.014770311303436756, + 0.032038845121860504, + 0.0796821117401123, + -0.0649188682436943, + -0.5056986808776855, + 0.0, + 1.0001531839370728 + ], + [ + 0.355587363243103, + -0.008425594307482243, + 0.022564008831977844, + 0.07433359324932098, + -0.04347718134522438, + -0.4668307304382324, + 0.0, + 1.0001531839370728 + ], + [ + 0.35727575421333313, + -0.007876274175941944, + 0.018707627430558205, + 0.08075925707817078, + -0.030890032649040222, + -0.47179508209228516, + 0.0, + 1.0001531839370728 + ], + [ + 0.355365514755249, + -0.012048641219735146, + 0.010981305502355099, + 0.08477990329265594, + -0.004912964999675751, + -0.48721572756767273, + 0.0, + 0.9628177285194397 + ], + [ + 0.3561384975910187, + -0.016267644241452217, + 0.010955813340842724, + 0.1251848340034485, + 0.0014742587227374315, + -0.5167617797851562, + 0.0, + 0.6991904973983765 + ], + [ + 0.3492980897426605, + -0.023683371022343636, + 0.010597956366837025, + 0.16724006831645966, + 0.01685390993952751, + -0.563032329082489, + 0.0, + 0.657115638256073 + ], + [ + 0.3441239893436432, + -0.02515997737646103, + 0.011291158385574818, + 0.1738814264535904, + 0.01906396821141243, + -0.5838621854782104, + 0.0, + 0.657115638256073 + ], + [ + 0.3447610139846802, + -0.02796267904341221, + 0.012648403644561768, + 0.15679344534873962, + 0.019095858559012413, + -0.6158571243286133, + 0.0, + 0.6561112403869629 + ], + [ + 0.36084094643592834, + -0.0226422231644392, + 0.03565560653805733, + 0.14676572382450104, + -0.03962794691324234, + -0.6166478395462036, + 0.0, + 0.6561112403869629 + ], + [ + 0.3886011242866516, + -0.004371737129986286, + 0.06552733480930328, + 0.09759657829999924, + -0.14904984831809998, + -0.5810143947601318, + 0.0, + 0.6561112403869629 + ], + [ + 0.40979161858558655, + 0.011687841266393661, + 0.08514577895402908, + 0.09057741612195969, + -0.20840726792812347, + -0.586603581905365, + 0.0, + 0.6561112403869629 + ], + [ + 0.43046706914901733, + 0.03025437705218792, + 0.07863400131464005, + 0.0899546891450882, + -0.18446415662765503, + -0.6221327185630798, + 0.0, + 0.6561112403869629 + ], + [ + 0.44647711515426636, + 0.04627741500735283, + 0.06571433693170547, + 0.10199813544750214, + -0.14544007182121277, + -0.6662402153015137, + 0.0, + 0.6561112403869629 + ], + [ + 0.4563879668712616, + 0.05300937592983246, + 0.05729690194129944, + 0.12989027798175812, + -0.12865523993968964, + -0.6929705142974854, + 0.0, + 0.6561112403869629 + ], + [ + 0.46148476004600525, + 0.06598848104476929, + 0.047199998050928116, + 0.14129112660884857, + -0.1081434115767479, + -0.6693668365478516, + 0.0, + 0.6561112403869629 + ], + [ + 0.4657389223575592, + 0.07157035171985626, + 0.039080534130334854, + 0.15232013165950775, + -0.08843810111284256, + -0.6633628010749817, + 0.0, + 0.6561112403869629 + ], + [ + 0.46865057945251465, + 0.07662230730056763, + 0.027895107865333557, + 0.16421708464622498, + -0.05961199477314949, + -0.6610588431358337, + 0.0, + 0.6561112403869629 + ], + [ + 0.46710631251335144, + 0.07816362380981445, + 0.019347965717315674, + 0.1600523442029953, + -0.04020070284605026, + -0.6600392460823059, + 0.0, + 0.6561112403869629 + ], + [ + 0.4669880270957947, + 0.07705364376306534, + 0.019222231581807137, + 0.1535307914018631, + -0.04550614953041077, + -0.649745762348175, + 0.0, + 0.7220669984817505 + ], + [ + 0.4677398204803467, + 0.07092811167240143, + 0.01676592417061329, + 0.12675753235816956, + -0.07889070361852646, + -0.6266480088233948, + 0.0, + 0.9795387983322144 + ], + [ + 0.4646183252334595, + 0.0749422162771225, + 0.014408822171390057, + 0.12596577405929565, + -0.06850749254226685, + -0.598113477230072, + 0.0, + 1.0041072368621826 + ], + [ + 0.4616873264312744, + 0.07581153512001038, + 0.014519230462610722, + 0.12701833248138428, + -0.05149358510971069, + -0.596052348613739, + 0.0, + 1.0001531839370728 + ], + [ + 0.46129122376441956, + 0.07621661573648453, + 0.04207886755466461, + 0.16048601269721985, + -0.09208940714597702, + -0.5909664630889893, + 0.0, + 1.0001531839370728 + ], + [ + 0.45778200030326843, + 0.0729408711194992, + 0.0689602792263031, + 0.17236757278442383, + -0.14747042953968048, + -0.5821235179901123, + 0.0, + 1.0001531839370728 + ], + [ + 0.4484074115753174, + 0.07884751260280609, + 0.09991563856601715, + 0.18698567152023315, + -0.2189401537179947, + -0.5640246868133545, + 0.0, + 1.0001531839370728 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9628177285194397 + ], + [ + 0.6991904973983765 + ], + [ + 0.657115638256073 + ], + [ + 0.657115638256073 + ], + [ + 0.6561112403869629 + ], + [ + 0.6561112403869629 + ], + [ + 0.6561112403869629 + ], + [ + 0.6561112403869629 + ], + [ + 0.6561112403869629 + ], + [ + 0.6561112403869629 + ], + [ + 0.6561112403869629 + ], + [ + 0.6561112403869629 + ], + [ + 0.6561112403869629 + ], + [ + 0.6561112403869629 + ], + [ + 0.6561112403869629 + ], + [ + 0.7220669984817505 + ], + [ + 0.9795387983322144 + ], + [ + 1.0041072368621826 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3491855561733246, + -0.012906856834888458, + 0.09796258062124252 + ], + [ + 0.3480058014392853, + -0.012846829369664192, + 0.08810727298259735 + ], + [ + 0.3448541760444641, + -0.017910851165652275, + 0.06770391762256622 + ], + [ + 0.3473164439201355, + -0.020085906609892845, + 0.0534505695104599 + ], + [ + 0.34719884395599365, + -0.021191459149122238, + 0.04025110602378845 + ], + [ + 0.3487371504306793, + -0.017689809203147888, + 0.031856052577495575 + ], + [ + 0.3543822467327118, + -0.014770311303436756, + 0.032038845121860504 + ], + [ + 0.355587363243103, + -0.008425594307482243, + 0.022564008831977844 + ], + [ + 0.35727575421333313, + -0.007876274175941944, + 0.018707627430558205 + ], + [ + 0.355365514755249, + -0.012048641219735146, + 0.010981305502355099 + ], + [ + 0.3561384975910187, + -0.016267644241452217, + 0.010955813340842724 + ], + [ + 0.3492980897426605, + -0.023683371022343636, + 0.010597956366837025 + ], + [ + 0.3441239893436432, + -0.02515997737646103, + 0.011291158385574818 + ], + [ + 0.3447610139846802, + -0.02796267904341221, + 0.012648403644561768 + ], + [ + 0.36084094643592834, + -0.0226422231644392, + 0.03565560653805733 + ], + [ + 0.3886011242866516, + -0.004371737129986286, + 0.06552733480930328 + ], + [ + 0.40979161858558655, + 0.011687841266393661, + 0.08514577895402908 + ], + [ + 0.43046706914901733, + 0.03025437705218792, + 0.07863400131464005 + ], + [ + 0.44647711515426636, + 0.04627741500735283, + 0.06571433693170547 + ], + [ + 0.4563879668712616, + 0.05300937592983246, + 0.05729690194129944 + ], + [ + 0.46148476004600525, + 0.06598848104476929, + 0.047199998050928116 + ], + [ + 0.4657389223575592, + 0.07157035171985626, + 0.039080534130334854 + ], + [ + 0.46865057945251465, + 0.07662230730056763, + 0.027895107865333557 + ], + [ + 0.46710631251335144, + 0.07816362380981445, + 0.019347965717315674 + ], + [ + 0.4669880270957947, + 0.07705364376306534, + 0.019222231581807137 + ], + [ + 0.4677398204803467, + 0.07092811167240143, + 0.01676592417061329 + ], + [ + 0.4646183252334595, + 0.0749422162771225, + 0.014408822171390057 + ], + [ + 0.4616873264312744, + 0.07581153512001038, + 0.014519230462610722 + ], + [ + 0.46129122376441956, + 0.07621661573648453, + 0.04207886755466461 + ], + [ + 0.45778200030326843, + 0.0729408711194992, + 0.0689602792263031 + ], + [ + 0.4484074115753174, + 0.07884751260280609, + 0.09991563856601715 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.7208629889697787, + -0.6141140518323627, + 0.32127944608330444, + -0.6483489846895152, + -0.7613430749256516, + -0.0005624187307953776, + 0.24494927063706823, + -0.2078957758223865, + -0.946984266611424 + ], + [ + 0.7331429688773972, + -0.6148398692505607, + 0.29064294652647116, + -0.6427679878865263, + -0.7660604758719439, + 0.0008130529853715568, + 0.22215017653367286, + -0.18741206601178106, + -0.9568312372509865 + ], + [ + 0.7797513315482603, + -0.5947396073151656, + 0.19563399612367416, + -0.6068598117629491, + -0.7948048144196351, + 0.0025447676529320867, + 0.15397736786863525, + -0.12070669602790116, + -0.9806736785079301 + ], + [ + 0.8101161756568005, + -0.568449998581687, + 0.1434446968405601, + -0.5757374690981821, + -0.817550994114457, + 0.011693532352675423, + 0.11062616605315356, + -0.09205960642400855, + -0.9895892482487049 + ], + [ + 0.8365134798359383, + -0.5383920524222199, + 0.1018783389212749, + -0.5418369985344393, + -0.8404502932037424, + 0.007481421852328567, + 0.08159574175138415, + -0.06145976360458996, + -0.9947687331162498 + ], + [ + 0.8596842849904952, + -0.5038691061692558, + 0.08401698630976832, + -0.5076914234379696, + -0.8609656155308112, + 0.031426540394695765, + 0.056500873514566056, + -0.06967160628151363, + -0.9959686333264941 + ], + [ + 0.8729934002667615, + -0.4783643037072177, + 0.09513209778716589, + -0.48339836663654, + -0.8745618587519051, + 0.03830893302531732, + 0.06487327819528943, + -0.07943014638738699, + -0.9947272538847396 + ], + [ + 0.8921552572497979, + -0.4459331300688082, + 0.07212933154121745, + -0.4496330975339541, + -0.8919858456014471, + 0.04681163155342542, + 0.043463485405213186, + -0.07419497795476014, + -0.9962961561115872 + ], + [ + 0.8903289418459716, + -0.4507853496233515, + 0.06408544200039273, + -0.4542691764265272, + -0.8889830625672257, + 0.057867346728195886, + 0.030885120368837952, + -0.08063301453839695, + -0.996265238933013 + ], + [ + 0.8836291233224489, + -0.4661183000636931, + 0.0439693388867013, + -0.4681617619856558, + -0.8806608175715949, + 0.07253336479590927, + 0.004912945235475925, + -0.08467735671277918, + -0.9963963108267966 + ], + [ + 0.8694226893505669, + -0.490361113913483, + 0.060416597090165766, + -0.49406681107439343, + -0.8625291072972546, + 0.10927728611097663, + -0.001474258188702303, + -0.12485798743584135, + -0.992173527935645 + ], + [ + 0.8455203858080275, + -0.5286783137672957, + 0.07479650884375276, + -0.5336771025605163, + -0.8323446757941884, + 0.149636529228929, + -0.016853112046650295, + -0.16643792004599423, + -0.9859079020806694 + ], + [ + 0.834188237045814, + -0.5456895771566339, + 0.07970489669405921, + -0.5511502465903488, + -0.8199405461990305, + 0.15469617442662612, + -0.019062813480550295, + -0.172975102490068, + -0.9847417037278131 + ], + [ + 0.8161297975314697, + -0.5730061660897344, + 0.07480699970180446, + -0.5775530677683479, + -0.804543001326994, + 0.13835827740732623, + -0.019094698023594613, + -0.15612332509556712, + -0.9875529858536662 + ], + [ + 0.8151811145731832, + -0.567359855062258, + 0.11654417749058141, + -0.5778496327935002, + -0.8104013819135593, + 0.09664058191572689, + 0.039617575943507226, + -0.14612458744621626, + -0.9884725856694425 + ], + [ + 0.8266382965744757, + -0.5341646752542663, + 0.17702323674295803, + -0.5427866040953698, + -0.8398705801132161, + 0.0003332790210942363, + 0.1484985826567555, + -0.09636134271996225, + -0.984206615796775 + ], + [ + 0.8148045846872073, + -0.53568012257453, + 0.22167610392472134, + -0.5415580252048959, + -0.8397709224748497, + -0.038726000334567405, + 0.20690189488953628, + -0.08849635045738352, + -0.9743510670424922 + ], + [ + 0.7988507650440813, + -0.5670233472027915, + 0.2008033339250845, + -0.572882736246779, + -0.8189541984481021, + -0.03345730644612932, + 0.18341980726979792, + -0.0883093685356734, + -0.9790600746276712 + ], + [ + 0.7778508881375692, + -0.6032214565188888, + 0.17627214816534367, + -0.6115095326347232, + -0.7911852153423833, + -0.009057953438204133, + 0.14492786937113575, + -0.10074636181449217, + -0.9842997933864897 + ], + [ + 0.7629933290700286, + -0.6206587468978354, + 0.18062087280777978, + -0.6335456830447875, + -0.7734869544322278, + 0.018379304080159184, + 0.12830061297573447, + -0.1284548606412615, + -0.9833810560955938 + ], + [ + 0.7796334673366423, + -0.6023869232671326, + 0.17117725107444182, + -0.6168647980697213, + -0.7858309736956239, + 0.0441305073955617, + 0.10793274531413904, + -0.13999884091429263, + -0.9842514145438694 + ], + [ + 0.7848466845503854, + -0.5980810966690837, + 0.16221801243195688, + -0.6133634759819375, + -0.7870553078753145, + 0.06579657040187925, + 0.08832286273453488, + -0.15113882410684715, + -0.9845588493157615 + ], + [ + 0.787940509532318, + -0.5980053812030576, + 0.14676279327587338, + -0.6128624404031996, + -0.7847029462552564, + 0.09295652360837689, + 0.05957669494849053, + -0.1631896142237795, + -0.9847942766022294 + ], + [ + 0.7893299220173849, + -0.600251387531125, + 0.12906024165089736, + -0.6126524692682215, + -0.7837987861757597, + 0.10156975282512223, + 0.040189875685050565, + -0.15924112080855443, + -0.9864213295220533 + ], + [ + 0.7954133479635224, + -0.5923284863310796, + 0.12831434121793653, + -0.6043576964507777, + -0.7910804538303606, + 0.09457002859395205, + 0.04549044539428643, + -0.1527700227409926, + -0.9872142318309368 + ], + [ + 0.8074784712104707, + -0.5736580895702506, + 0.13745877491892639, + -0.584608994426093, + -0.8093417410913009, + 0.056553247151818045, + 0.07880889650105495, + -0.12602516573253414, + -0.9888917106712817 + ], + [ + 0.8244608544741203, + -0.5515159343175567, + 0.12686399660122727, + -0.5617636162959264, + -0.8246941895447828, + 0.06558302476401495, + 0.06845391768136401, + -0.1253382141443967, + -0.9897496618989908 + ], + [ + 0.8264612599687545, + -0.5514616512692914, + 0.11336592499602853, + -0.5606358348134133, + -0.8245516852140676, + 0.07617072359974122, + 0.05147083148663685, + -0.12650915219851713, + -0.9906291878983209 + ], + [ + 0.8268839788786664, + -0.537801441224238, + 0.16441561753956813, + -0.5548030030585958, + -0.827919169822024, + 0.08211867046155885, + 0.09195930225349003, + -0.15912089133216575, + -0.9829669519728057 + ], + [ + 0.8262306524151452, + -0.5206006844526939, + 0.21521579021305592, + -0.5438313862261973, + -0.8367750936029624, + 0.0636778303732621, + 0.14693649092358263, + -0.169653676863014, + -0.9744882234085355 + ], + [ + 0.8249360828051624, + -0.4911510836341793, + 0.2797339313187548, + -0.5218301492177748, + -0.8519640809457084, + 0.04301744001785093, + 0.21719519942537702, + -0.18146023758197255, + -0.9591133548873484 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0011797547340393066, + 6.002746522426605e-05, + -0.009855307638645172, + -0.022687524557113647, + 0.023448169231414795, + 0.012678563594818115, + 1.0 + ], + [ + -0.003151625394821167, + -0.005064021795988083, + -0.020403355360031128, + -0.07094929367303848, + 0.06942680478096008, + 0.0584566593170166, + 1.0 + ], + [ + 0.0024622678756713867, + -0.00217505544424057, + -0.014253348112106323, + -0.029708370566368103, + 0.043739333748817444, + 0.04349076747894287, + 1.0 + ], + [ + -0.0001175999641418457, + -0.001105552539229393, + -0.013199463486671448, + -0.031056586652994156, + 0.029166504740715027, + 0.04308164119720459, + 1.0 + ], + [ + 0.001538306474685669, + 0.00350164994597435, + -0.008395053446292877, + 0.00813530758023262, + 0.025155577808618546, + 0.04133337736129761, + 1.0 + ], + [ + 0.005645096302032471, + 0.002919497899711132, + 0.0001827925443649292, + 0.009842269122600555, + -0.008387889713048935, + 0.027747511863708496, + 1.0 + ], + [ + 0.0012051165103912354, + 0.0063447169959545135, + -0.00947483628988266, + -0.005348518490791321, + 0.021441686898469925, + 0.038867950439453125, + 1.0 + ], + [ + 0.0016883909702301025, + 0.0005493201315402985, + -0.0038563814014196396, + 0.0064256638288497925, + 0.012587148696184158, + -0.004964351654052734, + 1.0 + ], + [ + -0.0019102394580841064, + -0.0041723670437932014, + -0.007726321928203106, + 0.0040206462144851685, + 0.02597706764936447, + -0.015420645475387573, + 0.0 + ], + [ + 0.0007729828357696533, + -0.0042190030217170715, + -2.5492161512374878e-05, + 0.04040493071079254, + 0.006387223489582539, + -0.02954605221748352, + 0.0 + ], + [ + -0.006840407848358154, + -0.0074157267808914185, + -0.00035785697400569916, + 0.04205523431301117, + 0.015379651449620724, + -0.046270549297332764, + 0.0 + ], + [ + -0.005174100399017334, + -0.0014766063541173935, + 0.000693202018737793, + 0.006641358137130737, + 0.002210058271884918, + -0.020829856395721436, + 0.0 + ], + [ + 0.0006370246410369873, + -0.0028027016669511795, + 0.00135724525898695, + -0.01708798110485077, + 3.1890347599983215e-05, + -0.03199493885040283, + 0.0 + ], + [ + 0.01607993245124817, + 0.005320455878973007, + 0.02300720289349556, + -0.010027721524238586, + -0.0587238073348999, + -0.000790715217590332, + 0.0 + ], + [ + 0.027760177850723267, + 0.01827048510313034, + 0.029871728271245956, + -0.0491691455245018, + -0.10942190140485764, + 0.03563344478607178, + 0.0 + ], + [ + 0.021190494298934937, + 0.016059577465057373, + 0.0196184441447258, + -0.007019162178039551, + -0.0593574196100235, + -0.005589187145233154, + 0.0 + ], + [ + 0.020675450563430786, + 0.018566535785794258, + -0.006511777639389038, + -0.0006227269768714905, + 0.023943111300468445, + -0.035529136657714844, + 0.0 + ], + [ + 0.016010046005249023, + 0.01602303795516491, + -0.01291966438293457, + 0.01204344630241394, + 0.03902408480644226, + -0.04410749673843384, + 0.0 + ], + [ + 0.00991085171699524, + 0.0067319609224796295, + -0.008417434990406036, + 0.02789214253425598, + 0.016784831881523132, + -0.02673029899597168, + 0.0 + ], + [ + 0.005096793174743652, + 0.012979105114936829, + -0.010096903890371323, + 0.011400848627090454, + 0.020511828362941742, + 0.02360367774963379, + 0.0 + ], + [ + 0.004254162311553955, + 0.005581870675086975, + -0.008119463920593262, + 0.01102900505065918, + 0.019705310463905334, + 0.006004035472869873, + 0.0 + ], + [ + 0.0029116570949554443, + 0.005051955580711365, + -0.011185426265001297, + 0.011896952986717224, + 0.02882610633969307, + 0.0023039579391479492, + 0.0 + ], + [ + -0.001544266939163208, + 0.0015413165092468262, + -0.008547142148017883, + -0.004164740443229675, + 0.019411291927099228, + 0.001019597053527832, + 0.0 + ], + [ + -0.0001182854175567627, + -0.001109980046749115, + -0.0001257341355085373, + -0.006521552801132202, + -0.005305446684360504, + 0.01029348373413086, + 1.0 + ], + [ + 0.000751793384552002, + -0.00612553209066391, + -0.0024563074111938477, + -0.026773259043693542, + -0.03338455408811569, + 0.023097753524780273, + 1.0 + ], + [ + -0.003121495246887207, + 0.004014104604721069, + -0.0023571019992232323, + -0.0007917582988739014, + 0.010383211076259613, + 0.028534531593322754, + 1.0 + ], + [ + -0.0029309988021850586, + 0.0008693188428878784, + 0.00011040829122066498, + 0.001052558422088623, + 0.017013907432556152, + 0.002061128616333008, + 1.0 + ], + [ + -0.0003961026668548584, + 0.0004050806164741516, + 0.027559638023376465, + 0.03346768021583557, + -0.04059582203626633, + 0.005085885524749756, + 1.0 + ], + [ + -0.003509223461151123, + -0.003275744616985321, + 0.02688141167163849, + 0.01188156008720398, + -0.05538102239370346, + 0.008842945098876953, + 1.0 + ], + [ + -0.00937458872795105, + 0.005906641483306885, + 0.03095535933971405, + 0.014618098735809326, + -0.07146972417831421, + 0.018098831176757812, + 1.0 + ], + [ + -0.0009517669677734375, + 0.003433622419834137, + 0.0019791126251220703, + -0.0002254098653793335, + -0.006431952118873596, + 0.010221660137176514, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9628177285194397 + ], + [ + 0.6991904973983765 + ], + [ + 0.657115638256073 + ], + [ + 0.657115638256073 + ], + [ + 0.6561112403869629 + ], + [ + 0.6561112403869629 + ], + [ + 0.6561112403869629 + ], + [ + 0.6561112403869629 + ], + [ + 0.6561112403869629 + ], + [ + 0.6561112403869629 + ], + [ + 0.6561112403869629 + ], + [ + 0.6561112403869629 + ], + [ + 0.6561112403869629 + ], + [ + 0.6561112403869629 + ], + [ + 0.6561112403869629 + ], + [ + 0.7220669984817505 + ], + [ + 0.9795387983322144 + ], + [ + 1.0041072368621826 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3480058014392853, + -0.012846829369664192, + 0.08810727298259735 + ], + [ + 0.3448541760444641, + -0.017910851165652275, + 0.06770391762256622 + ], + [ + 0.3473164439201355, + -0.020085906609892845, + 0.0534505695104599 + ], + [ + 0.34719884395599365, + -0.021191459149122238, + 0.04025110602378845 + ], + [ + 0.3487371504306793, + -0.017689809203147888, + 0.031856052577495575 + ], + [ + 0.3543822467327118, + -0.014770311303436756, + 0.032038845121860504 + ], + [ + 0.355587363243103, + -0.008425594307482243, + 0.022564008831977844 + ], + [ + 0.35727575421333313, + -0.007876274175941944, + 0.018707627430558205 + ], + [ + 0.355365514755249, + -0.012048641219735146, + 0.010981305502355099 + ], + [ + 0.3561384975910187, + -0.016267644241452217, + 0.010955813340842724 + ], + [ + 0.3492980897426605, + -0.023683371022343636, + 0.010597956366837025 + ], + [ + 0.3441239893436432, + -0.02515997737646103, + 0.011291158385574818 + ], + [ + 0.3447610139846802, + -0.02796267904341221, + 0.012648403644561768 + ], + [ + 0.36084094643592834, + -0.0226422231644392, + 0.03565560653805733 + ], + [ + 0.3886011242866516, + -0.004371737129986286, + 0.06552733480930328 + ], + [ + 0.40979161858558655, + 0.011687841266393661, + 0.08514577895402908 + ], + [ + 0.43046706914901733, + 0.03025437705218792, + 0.07863400131464005 + ], + [ + 0.44647711515426636, + 0.04627741500735283, + 0.06571433693170547 + ], + [ + 0.4563879668712616, + 0.05300937592983246, + 0.05729690194129944 + ], + [ + 0.46148476004600525, + 0.06598848104476929, + 0.047199998050928116 + ], + [ + 0.4657389223575592, + 0.07157035171985626, + 0.039080534130334854 + ], + [ + 0.46865057945251465, + 0.07662230730056763, + 0.027895107865333557 + ], + [ + 0.46710631251335144, + 0.07816362380981445, + 0.019347965717315674 + ], + [ + 0.4669880270957947, + 0.07705364376306534, + 0.019222231581807137 + ], + [ + 0.4677398204803467, + 0.07092811167240143, + 0.01676592417061329 + ], + [ + 0.4646183252334595, + 0.0749422162771225, + 0.014408822171390057 + ], + [ + 0.4616873264312744, + 0.07581153512001038, + 0.014519230462610722 + ], + [ + 0.46129122376441956, + 0.07621661573648453, + 0.04207886755466461 + ], + [ + 0.45778200030326843, + 0.0729408711194992, + 0.0689602792263031 + ], + [ + 0.4484074115753174, + 0.07884751260280609, + 0.09991563856601715 + ], + [ + 0.44745564460754395, + 0.08228113502264023, + 0.10189475119113922 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.7331429688773972, + -0.6148398692505607, + 0.29064294652647116, + -0.6427679878865263, + -0.7660604758719439, + 0.0008130529853715568, + 0.22215017653367286, + -0.18741206601178106, + -0.9568312372509865 + ], + [ + 0.7797513315482603, + -0.5947396073151656, + 0.19563399612367416, + -0.6068598117629491, + -0.7948048144196351, + 0.0025447676529320867, + 0.15397736786863525, + -0.12070669602790116, + -0.9806736785079301 + ], + [ + 0.8101161756568005, + -0.568449998581687, + 0.1434446968405601, + -0.5757374690981821, + -0.817550994114457, + 0.011693532352675423, + 0.11062616605315356, + -0.09205960642400855, + -0.9895892482487049 + ], + [ + 0.8365134798359383, + -0.5383920524222199, + 0.1018783389212749, + -0.5418369985344393, + -0.8404502932037424, + 0.007481421852328567, + 0.08159574175138415, + -0.06145976360458996, + -0.9947687331162498 + ], + [ + 0.8596842849904952, + -0.5038691061692558, + 0.08401698630976832, + -0.5076914234379696, + -0.8609656155308112, + 0.031426540394695765, + 0.056500873514566056, + -0.06967160628151363, + -0.9959686333264941 + ], + [ + 0.8729934002667615, + -0.4783643037072177, + 0.09513209778716589, + -0.48339836663654, + -0.8745618587519051, + 0.03830893302531732, + 0.06487327819528943, + -0.07943014638738699, + -0.9947272538847396 + ], + [ + 0.8921552572497979, + -0.4459331300688082, + 0.07212933154121745, + -0.4496330975339541, + -0.8919858456014471, + 0.04681163155342542, + 0.043463485405213186, + -0.07419497795476014, + -0.9962961561115872 + ], + [ + 0.8903289418459716, + -0.4507853496233515, + 0.06408544200039273, + -0.4542691764265272, + -0.8889830625672257, + 0.057867346728195886, + 0.030885120368837952, + -0.08063301453839695, + -0.996265238933013 + ], + [ + 0.8836291233224489, + -0.4661183000636931, + 0.0439693388867013, + -0.4681617619856558, + -0.8806608175715949, + 0.07253336479590927, + 0.004912945235475925, + -0.08467735671277918, + -0.9963963108267966 + ], + [ + 0.8694226893505669, + -0.490361113913483, + 0.060416597090165766, + -0.49406681107439343, + -0.8625291072972546, + 0.10927728611097663, + -0.001474258188702303, + -0.12485798743584135, + -0.992173527935645 + ], + [ + 0.8455203858080275, + -0.5286783137672957, + 0.07479650884375276, + -0.5336771025605163, + -0.8323446757941884, + 0.149636529228929, + -0.016853112046650295, + -0.16643792004599423, + -0.9859079020806694 + ], + [ + 0.834188237045814, + -0.5456895771566339, + 0.07970489669405921, + -0.5511502465903488, + -0.8199405461990305, + 0.15469617442662612, + -0.019062813480550295, + -0.172975102490068, + -0.9847417037278131 + ], + [ + 0.8161297975314697, + -0.5730061660897344, + 0.07480699970180446, + -0.5775530677683479, + -0.804543001326994, + 0.13835827740732623, + -0.019094698023594613, + -0.15612332509556712, + -0.9875529858536662 + ], + [ + 0.8151811145731832, + -0.567359855062258, + 0.11654417749058141, + -0.5778496327935002, + -0.8104013819135593, + 0.09664058191572689, + 0.039617575943507226, + -0.14612458744621626, + -0.9884725856694425 + ], + [ + 0.8266382965744757, + -0.5341646752542663, + 0.17702323674295803, + -0.5427866040953698, + -0.8398705801132161, + 0.0003332790210942363, + 0.1484985826567555, + -0.09636134271996225, + -0.984206615796775 + ], + [ + 0.8148045846872073, + -0.53568012257453, + 0.22167610392472134, + -0.5415580252048959, + -0.8397709224748497, + -0.038726000334567405, + 0.20690189488953628, + -0.08849635045738352, + -0.9743510670424922 + ], + [ + 0.7988507650440813, + -0.5670233472027915, + 0.2008033339250845, + -0.572882736246779, + -0.8189541984481021, + -0.03345730644612932, + 0.18341980726979792, + -0.0883093685356734, + -0.9790600746276712 + ], + [ + 0.7778508881375692, + -0.6032214565188888, + 0.17627214816534367, + -0.6115095326347232, + -0.7911852153423833, + -0.009057953438204133, + 0.14492786937113575, + -0.10074636181449217, + -0.9842997933864897 + ], + [ + 0.7629933290700286, + -0.6206587468978354, + 0.18062087280777978, + -0.6335456830447875, + -0.7734869544322278, + 0.018379304080159184, + 0.12830061297573447, + -0.1284548606412615, + -0.9833810560955938 + ], + [ + 0.7796334673366423, + -0.6023869232671326, + 0.17117725107444182, + -0.6168647980697213, + -0.7858309736956239, + 0.0441305073955617, + 0.10793274531413904, + -0.13999884091429263, + -0.9842514145438694 + ], + [ + 0.7848466845503854, + -0.5980810966690837, + 0.16221801243195688, + -0.6133634759819375, + -0.7870553078753145, + 0.06579657040187925, + 0.08832286273453488, + -0.15113882410684715, + -0.9845588493157615 + ], + [ + 0.787940509532318, + -0.5980053812030576, + 0.14676279327587338, + -0.6128624404031996, + -0.7847029462552564, + 0.09295652360837689, + 0.05957669494849053, + -0.1631896142237795, + -0.9847942766022294 + ], + [ + 0.7893299220173849, + -0.600251387531125, + 0.12906024165089736, + -0.6126524692682215, + -0.7837987861757597, + 0.10156975282512223, + 0.040189875685050565, + -0.15924112080855443, + -0.9864213295220533 + ], + [ + 0.7954133479635224, + -0.5923284863310796, + 0.12831434121793653, + -0.6043576964507777, + -0.7910804538303606, + 0.09457002859395205, + 0.04549044539428643, + -0.1527700227409926, + -0.9872142318309368 + ], + [ + 0.8074784712104707, + -0.5736580895702506, + 0.13745877491892639, + -0.584608994426093, + -0.8093417410913009, + 0.056553247151818045, + 0.07880889650105495, + -0.12602516573253414, + -0.9888917106712817 + ], + [ + 0.8244608544741203, + -0.5515159343175567, + 0.12686399660122727, + -0.5617636162959264, + -0.8246941895447828, + 0.06558302476401495, + 0.06845391768136401, + -0.1253382141443967, + -0.9897496618989908 + ], + [ + 0.8264612599687545, + -0.5514616512692914, + 0.11336592499602853, + -0.5606358348134133, + -0.8245516852140676, + 0.07617072359974122, + 0.05147083148663685, + -0.12650915219851713, + -0.9906291878983209 + ], + [ + 0.8268839788786664, + -0.537801441224238, + 0.16441561753956813, + -0.5548030030585958, + -0.827919169822024, + 0.08211867046155885, + 0.09195930225349003, + -0.15912089133216575, + -0.9829669519728057 + ], + [ + 0.8262306524151452, + -0.5206006844526939, + 0.21521579021305592, + -0.5438313862261973, + -0.8367750936029624, + 0.0636778303732621, + 0.14693649092358263, + -0.169653676863014, + -0.9744882234085355 + ], + [ + 0.8249360828051624, + -0.4911510836341793, + 0.2797339313187548, + -0.5218301492177748, + -0.8519640809457084, + 0.04301744001785093, + 0.21719519942537702, + -0.18146023758197255, + -0.9591133548873484 + ], + [ + 0.8290215181595167, + -0.48148923782475095, + 0.2844141984631408, + -0.5126254926623434, + -0.8575628409650597, + 0.042439110129994725, + 0.22346907325439952, + -0.1809809041166402, + -0.957761706085571 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005487.json b/json/chunk-0005/episode_0005487.json new file mode 100644 index 0000000000000000000000000000000000000000..a580b6eea15a95d622b7a5df51fcb59ac2b26302 --- /dev/null +++ b/json/chunk-0005/episode_0005487.json @@ -0,0 +1,1702 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 27, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nBring the napkin across so it is near the bowl." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005487.mp4", + "start": 0, + "end": 27, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2641446590423584, + -0.061908066272735596, + 0.11874078214168549, + 0.026175295934081078, + -0.322750985622406, + -0.009485851973295212, + 0.0, + 1.0001531839370728 + ], + [ + 0.2621036767959595, + -0.06169303134083748, + 0.11085475981235504, + 0.0314844474196434, + -0.29543447494506836, + -0.01008557714521885, + 0.0, + 1.0001531839370728 + ], + [ + 0.2603627145290375, + -0.0656726285815239, + 0.09426593780517578, + 0.02187676914036274, + -0.2590147852897644, + -0.006670205853879452, + 0.0, + 1.0001531839370728 + ], + [ + 0.2586105763912201, + -0.06808069348335266, + 0.07911558449268341, + 0.026267994195222855, + -0.2281283587217331, + -0.01576022244989872, + 0.0, + 1.0001531839370728 + ], + [ + 0.2569133937358856, + -0.06954119354486465, + 0.06309859454631805, + 0.022612158209085464, + -0.2059558779001236, + -0.015588255599141121, + 0.0, + 1.0001531839370728 + ], + [ + 0.2563911974430084, + -0.07180029153823853, + 0.04724184423685074, + 0.015862833708524704, + -0.17740707099437714, + -0.015064762905240059, + 0.0, + 1.0001531839370728 + ], + [ + 0.25691869854927063, + -0.07800573855638504, + 0.031300485134124756, + -0.013113611377775669, + -0.15559257566928864, + -0.013971985317766666, + 0.0, + 1.0001531839370728 + ], + [ + 0.2568099796772003, + -0.07954444736242294, + 0.025813279673457146, + -0.02262779511511326, + -0.1555028259754181, + -0.01603635586798191, + 0.0, + 1.0001531839370728 + ], + [ + 0.25039148330688477, + -0.08041331171989441, + 0.012446257285773754, + -0.03111589327454567, + -0.12366072088479996, + -0.018740644678473473, + 0.0, + 1.0001531839370728 + ], + [ + 0.24868951737880707, + -0.07695816457271576, + 0.009690255858004093, + -0.03296774625778198, + -0.12622977793216705, + -0.01965787447988987, + 0.0, + 1.0008161067962646 + ], + [ + 0.24696798622608185, + -0.07162584364414215, + 0.006675580982118845, + -0.03166022151708603, + -0.1329355537891388, + -0.01452714204788208, + 0.0, + 1.0008161067962646 + ], + [ + 0.2423429787158966, + -0.057767126709222794, + 0.005895975977182388, + -0.01479712687432766, + -0.1295100748538971, + 0.007298413664102554, + 0.0, + 1.0008161067962646 + ], + [ + 0.24181310832500458, + -0.03672455996274948, + 0.006205520126968622, + 0.01543891616165638, + -0.11839374154806137, + 0.052283525466918945, + 0.0, + 1.0008161067962646 + ], + [ + 0.24055086076259613, + -0.010816634632647038, + 0.0067304279655218124, + 0.03256916627287865, + -0.10998357832431793, + 0.11204536259174347, + 0.0, + 1.0008161067962646 + ], + [ + 0.24092888832092285, + 0.007997564040124416, + 0.0071511100977659225, + 0.033295001834630966, + -0.1057417020201683, + 0.1457485556602478, + 0.0, + 1.0008161067962646 + ], + [ + 0.24255883693695068, + 0.03129364177584648, + 0.00912813376635313, + 0.030553221702575684, + -0.10383244603872299, + 0.18912701308727264, + 0.0, + 1.0008161067962646 + ], + [ + 0.24659502506256104, + 0.05424647033214569, + 0.008403630927205086, + 0.03149566799402237, + -0.100041463971138, + 0.22589372098445892, + 0.0, + 1.0008161067962646 + ], + [ + 0.247603178024292, + 0.07994598150253296, + 0.009419968351721764, + 0.032201267778873444, + -0.09870266169309616, + 0.28798434138298035, + 0.0, + 1.0008161067962646 + ], + [ + 0.25037282705307007, + 0.10181837528944016, + 0.012275975197553635, + 0.033975452184677124, + -0.10085895657539368, + 0.33705830574035645, + 0.0, + 1.0008161067962646 + ], + [ + 0.2531271278858185, + 0.1192789226770401, + 0.013801347464323044, + 0.0444147065281868, + -0.1070123091340065, + 0.3836444020271301, + 0.0, + 1.0008161067962646 + ], + [ + 0.25696519017219543, + 0.13455058634281158, + 0.015423217788338661, + 0.05890394374728203, + -0.11793406307697296, + 0.4162061810493469, + 0.0, + 1.0008161067962646 + ], + [ + 0.2569023370742798, + 0.1376972496509552, + 0.01530707348138094, + 0.0626787319779396, + -0.11815393716096878, + 0.4253104031085968, + 0.0, + 1.0001531839370728 + ], + [ + 0.25837263464927673, + 0.1324293166399002, + 0.014618655666708946, + 0.05197673290967941, + -0.11569803208112717, + 0.42852428555488586, + 0.0, + 1.0001531839370728 + ], + [ + 0.2603268027305603, + 0.11913157999515533, + 0.024057062342762947, + 0.04533487185835838, + -0.12289276719093323, + 0.41278985142707825, + 0.0, + 0.9994885921478271 + ], + [ + 0.2614143490791321, + 0.11156172305345535, + 0.050945743918418884, + 0.00015119918680284172, + -0.15043962001800537, + 0.4351637363433838, + 0.0, + 1.0001531839370728 + ], + [ + 0.26130178570747375, + 0.11031544953584671, + 0.07979781180620193, + -0.009966546669602394, + -0.19149552285671234, + 0.45717594027519226, + 0.0, + 1.0001531839370728 + ], + [ + 0.25831499695777893, + 0.10885927826166153, + 0.10405024141073227, + -0.018148262053728104, + -0.22323691844940186, + 0.48063620924949646, + 0.0, + 0.9994885921478271 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2641446590423584, + -0.061908066272735596, + 0.11874078214168549 + ], + [ + 0.2621036767959595, + -0.06169303134083748, + 0.11085475981235504 + ], + [ + 0.2603627145290375, + -0.0656726285815239, + 0.09426593780517578 + ], + [ + 0.2586105763912201, + -0.06808069348335266, + 0.07911558449268341 + ], + [ + 0.2569133937358856, + -0.06954119354486465, + 0.06309859454631805 + ], + [ + 0.2563911974430084, + -0.07180029153823853, + 0.04724184423685074 + ], + [ + 0.25691869854927063, + -0.07800573855638504, + 0.031300485134124756 + ], + [ + 0.2568099796772003, + -0.07954444736242294, + 0.025813279673457146 + ], + [ + 0.25039148330688477, + -0.08041331171989441, + 0.012446257285773754 + ], + [ + 0.24868951737880707, + -0.07695816457271576, + 0.009690255858004093 + ], + [ + 0.24696798622608185, + -0.07162584364414215, + 0.006675580982118845 + ], + [ + 0.2423429787158966, + -0.057767126709222794, + 0.005895975977182388 + ], + [ + 0.24181310832500458, + -0.03672455996274948, + 0.006205520126968622 + ], + [ + 0.24055086076259613, + -0.010816634632647038, + 0.0067304279655218124 + ], + [ + 0.24092888832092285, + 0.007997564040124416, + 0.0071511100977659225 + ], + [ + 0.24255883693695068, + 0.03129364177584648, + 0.00912813376635313 + ], + [ + 0.24659502506256104, + 0.05424647033214569, + 0.008403630927205086 + ], + [ + 0.247603178024292, + 0.07994598150253296, + 0.009419968351721764 + ], + [ + 0.25037282705307007, + 0.10181837528944016, + 0.012275975197553635 + ], + [ + 0.2531271278858185, + 0.1192789226770401, + 0.013801347464323044 + ], + [ + 0.25696519017219543, + 0.13455058634281158, + 0.015423217788338661 + ], + [ + 0.2569023370742798, + 0.1376972496509552, + 0.01530707348138094 + ], + [ + 0.25837263464927673, + 0.1324293166399002, + 0.014618655666708946 + ], + [ + 0.2603268027305603, + 0.11913157999515533, + 0.024057062342762947 + ], + [ + 0.2614143490791321, + 0.11156172305345535, + 0.050945743918418884 + ], + [ + 0.26130178570747375, + 0.11031544953584671, + 0.07979781180620193 + ], + [ + 0.25831499695777893, + 0.10885927826166153, + 0.10405024141073227 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9483237918758508, + -0.0011815878460828093, + 0.3173020479170755, + -0.008995928936163269, + -0.9996912147651195, + 0.023163514068798696, + 0.31717670000298503, + -0.02482093816925388, + -0.9480415929713287 + ], + [ + 0.9566270772644652, + -0.0009155174839087631, + 0.29131391465596707, + -0.009648463332758546, + -0.9995460082731873, + 0.028542678578826124, + 0.29115552922753124, + -0.03011543081004194, + -0.9562016098226159 + ], + [ + 0.9666212849380383, + -0.0010658716352902995, + 0.2562072509168947, + -0.00644765857587639, + -0.9997758442532158, + 0.020166530357462166, + 0.2561283256565437, + -0.02114533436544807, + -0.9664114835984456 + ], + [ + 0.9739704093528675, + -0.00981492185037482, + 0.22646259959224846, + -0.0153512613377625, + -0.9996244802292972, + 0.02269883921365726, + 0.2261547710758005, + -0.02558448427033035, + -0.9737553356384107 + ], + [ + 0.9787470251868883, + -0.010960342654005865, + 0.20477824976477318, + -0.01525819469732594, + -0.9996949676765016, + 0.019420584359318357, + 0.2045029295203263, + -0.022132385573762396, + -0.9786157107498423 + ], + [ + 0.9841929054996064, + -0.012263292704253406, + 0.17667466263245868, + -0.014827754496544642, + -0.9998029003117958, + 0.01320220529729517, + 0.17647793760363784, + -0.015613205313821172, + -0.9841807584783373 + ], + [ + 0.9878234479217239, + -0.01600223075413966, + 0.15475388314006422, + -0.013802752897053384, + -0.9997880280809083, + -0.015276875287571145, + 0.15496554374602206, + 0.012954826011196923, + -0.9878349319266451 + ], + [ + 0.9878067514226412, + -0.019535336081069787, + 0.15445449973389483, + -0.015842178634313694, + -0.9995592631224377, + -0.025105873461152017, + 0.1548768776156291, + 0.022352855529630556, + -0.9876808708432621 + ], + [ + 0.9921894917981988, + -0.022567198001076778, + 0.12268143274192755, + -0.018596447867561875, + -0.9992685128590054, + -0.0334157348454389, + 0.12334579235604654, + 0.030873302106056336, + -0.9918833876646626 + ], + [ + 0.9918519222181809, + -0.023794842258545924, + 0.12515418440464113, + -0.01950021248987502, + -0.9991819389101768, + -0.0354287266007367, + 0.12589482159703677, + 0.03269951739079558, + -0.9915045312339523 + ], + [ + 0.9910724877823999, + -0.01871459133432979, + 0.1320041212689715, + -0.014398463697649931, + -0.9993324437191535, + -0.03357605059341741, + 0.1325443631541974, + 0.03137564344349446, + -0.9906803524823505 + ], + [ + 0.9915988754813909, + 0.00538664619936127, + 0.12923874878210506, + 0.007237227283992551, + -0.999877840941751, + -0.0138537263904843, + 0.12914833597565628, + 0.014672669708866009, + -0.9915167270794446 + ], + [ + 0.9916427373559082, + 0.054074520000294224, + 0.11713508328429556, + 0.051893872058010715, + -0.9984192157400785, + 0.021589249264237914, + 0.11811734627948553, + -0.015330229212388252, + -0.9928813003477243 + ], + [ + 0.9877252702284809, + 0.11530358574185985, + 0.10537491953564587, + 0.11113549680592232, + -0.9928028417629321, + 0.044625314980929254, + 0.10976197839769061, + -0.03236665726509133, + -0.9934307764488218 + ], + [ + 0.9838712414243015, + 0.1486288092924926, + 0.09953319720826467, + 0.14442189775802347, + -0.9883388456902786, + 0.048256000119965815, + 0.10554475707572811, + -0.03310291751346083, + -0.993863421756693 + ], + [ + 0.9768790198513405, + 0.19102357137484216, + 0.09600716511534556, + 0.18698901749360497, + -0.981115085627499, + 0.049480259608473964, + 0.10364597392596071, + -0.030383942031051145, + -0.9941500531386563 + ], + [ + 0.9697213756403246, + 0.22693158192017301, + 0.09023586179255176, + 0.22285758511318102, + -0.9734065438646866, + 0.053049006766643814, + 0.09987467338498777, + -0.031333009568407885, + -0.9945065571064015 + ], + [ + 0.9541515938334076, + 0.28691490183566704, + 0.08529111964206734, + 0.28263778306121035, + -0.9574201488805693, + 0.058843369242020764, + 0.09854247597565285, + -0.03203900157835946, + -0.9946169528046713 + ], + [ + 0.9389356011743325, + 0.33374931075829917, + 0.08373371134587959, + 0.3290316921281641, + -0.9420558415047812, + 0.06533710325684543, + 0.10068804508317702, + -0.03379628759314959, + -0.9943438683484951 + ], + [ + 0.9220021646387218, + 0.37833086123816717, + 0.08232719985702301, + 0.3721612832014328, + -0.9246171528975184, + 0.08111165054139917, + 0.10680818174360239, + -0.04414612103541908, + -0.9932991152267034 + ], + [ + 0.9082761684565441, + 0.4099275990443051, + 0.0836287352270159, + 0.4014851438322752, + -0.9102426483662567, + 0.10133114218817381, + 0.11766087325817463, + -0.05846096678087005, + -0.9913315460869634 + ], + [ + 0.9045597795777948, + 0.4185192103428661, + 0.08132204955702504, + 0.4097268545251217, + -0.9060754427235, + 0.1055992271485123, + 0.1178792172145762, + -0.06220098606450783, + -0.9910779623629423 + ], + [ + 0.903498895641715, + 0.4204230118909275, + 0.08327206402367053, + 0.4127509334764556, + -0.9058594329413545, + 0.09515962728742791, + 0.11544008181093689, + -0.05160599600558715, + -0.9919729878821074 + ], + [ + 0.9090968506583866, + 0.40584301181570026, + 0.09399130748832675, + 0.39814088058566377, + -0.912835401034801, + 0.09063867730779794, + 0.12258366665048008, + -0.044977554157560565, + -0.9914384823540634 + ], + [ + 0.8965589720158984, + 0.4215794271798472, + 0.13584106991814798, + 0.41679749644754693, + -0.9067914667833077, + 0.06331731772615036, + 0.14987280157804617, + -0.00014949143472113569, + -0.9887052750943823 + ], + [ + 0.8809005890401455, + 0.43969184057691724, + 0.1751720227627891, + 0.43334705925489714, + -0.8980954040073537, + 0.07506644747155966, + 0.190327293008273, + 0.009784203133138526, + -0.9816719364967056 + ], + [ + 0.8646983101880792, + 0.45870487186235637, + 0.20466233871335385, + 0.45087078265901476, + -0.8884124369824293, + 0.08624893714932648, + 0.22138737475820033, + 0.017696958627973783, + -0.9750253575948638 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0020409822463989258, + 0.00021503493189811707, + -0.007886022329330444, + 0.0053091514855623245, + 0.027316510677337646, + -0.0005997251719236374, + 1.0 + ], + [ + -0.001740962266921997, + -0.003979597240686417, + -0.01658882200717926, + -0.009607678279280663, + 0.036419689655303955, + 0.0034153712913393974, + 1.0 + ], + [ + -0.0017521381378173828, + -0.002408064901828766, + -0.01515035331249237, + 0.004391225054860115, + 0.03088642656803131, + -0.009090016596019268, + 1.0 + ], + [ + -0.0016971826553344727, + -0.0014605000615119934, + -0.016016989946365356, + -0.00365583598613739, + 0.022172480821609497, + 0.00017196685075759888, + 1.0 + ], + [ + -0.0005221962928771973, + -0.002259097993373871, + -0.015856750309467316, + -0.0067493245005607605, + 0.02854880690574646, + 0.000523492693901062, + 1.0 + ], + [ + 0.000527501106262207, + -0.006205447018146515, + -0.015941359102725983, + -0.0289764441549778, + 0.0218144953250885, + 0.0010927775874733925, + 1.0 + ], + [ + -0.0001087188720703125, + -0.0015387088060379028, + -0.00548720546066761, + -0.00951418373733759, + 8.974969387054443e-05, + -0.0020643705502152443, + 1.0 + ], + [ + -0.006418496370315552, + -0.0008688643574714661, + -0.013367022387683392, + -0.008488098159432411, + 0.031842105090618134, + -0.002704288810491562, + 1.0 + ], + [ + -0.0017019659280776978, + 0.00345514714717865, + -0.002756001427769661, + -0.0018518529832363129, + -0.002569057047367096, + -0.0009172298014163971, + 1.0 + ], + [ + -0.0017215311527252197, + 0.005332320928573608, + -0.003014674875885248, + 0.0013075247406959534, + -0.006705775856971741, + 0.00513073243200779, + 1.0 + ], + [ + -0.004625007510185242, + 0.013858716934919357, + -0.0007796050049364567, + 0.01686309464275837, + 0.0034254789352416992, + 0.021825555711984634, + 1.0 + ], + [ + -0.0005298703908920288, + 0.021042566746473312, + 0.0003095441497862339, + 0.03023604303598404, + 0.011116333305835724, + 0.04498511180281639, + 1.0 + ], + [ + -0.0012622475624084473, + 0.02590792626142502, + 0.0005249078385531902, + 0.017130250111222267, + 0.008410163223743439, + 0.059761837124824524, + 1.0 + ], + [ + 0.0003780275583267212, + 0.018814198672771454, + 0.0004206821322441101, + 0.0007258355617523193, + 0.004241876304149628, + 0.033703193068504333, + 1.0 + ], + [ + 0.001629948616027832, + 0.02329607680439949, + 0.001977023668587208, + -0.0027417801320552826, + 0.0019092559814453125, + 0.04337845742702484, + 1.0 + ], + [ + 0.0040361881256103516, + 0.02295282855629921, + -0.0007245028391480446, + 0.0009424462914466858, + 0.0037909820675849915, + 0.03676670789718628, + 1.0 + ], + [ + 0.001008152961730957, + 0.025699511170387268, + 0.0010163374245166779, + 0.0007055997848510742, + 0.0013388022780418396, + 0.06209062039852142, + 1.0 + ], + [ + 0.002769649028778076, + 0.021872393786907196, + 0.002856006845831871, + 0.0017741844058036804, + -0.002156294882297516, + 0.0490739643573761, + 1.0 + ], + [ + 0.002754300832748413, + 0.017460547387599945, + 0.0015253722667694092, + 0.010439254343509674, + -0.0061533525586128235, + 0.04658609628677368, + 1.0 + ], + [ + 0.003838062286376953, + 0.015271663665771484, + 0.0016218703240156174, + 0.01448923721909523, + -0.010921753942966461, + 0.0325617790222168, + 1.0 + ], + [ + -6.285309791564941e-05, + 0.0031466633081436157, + -0.00011614430695772171, + 0.0037747882306575775, + -0.0002198740839958191, + 0.009104222059249878, + 1.0 + ], + [ + 0.0014702975749969482, + -0.005267933011054993, + -0.0006884178146719933, + -0.010701999068260193, + 0.0024559050798416138, + 0.0032138824462890625, + 1.0 + ], + [ + 0.0019541680812835693, + -0.013297736644744873, + 0.009438406676054, + -0.00664186105132103, + -0.007194735109806061, + -0.015734434127807617, + 1.0 + ], + [ + 0.0010875463485717773, + -0.007569856941699982, + 0.026888681575655937, + -0.04518367350101471, + -0.027546852827072144, + 0.022373884916305542, + 1.0 + ], + [ + -0.0001125633716583252, + -0.0012462735176086426, + 0.02885206788778305, + -0.010117745958268642, + -0.04105590283870697, + 0.02201220393180847, + 1.0 + ], + [ + -0.0029867887496948242, + -0.0014561712741851807, + 0.024252429604530334, + -0.00818171538412571, + -0.031741395592689514, + 0.0234602689743042, + 1.0 + ], + [ + -0.002395451068878174, + -0.0012200623750686646, + 0.008449636399745941, + -0.003990368917584419, + -0.016601696610450745, + 0.006012529134750366, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2621036767959595, + -0.06169303134083748, + 0.11085475981235504 + ], + [ + 0.2603627145290375, + -0.0656726285815239, + 0.09426593780517578 + ], + [ + 0.2586105763912201, + -0.06808069348335266, + 0.07911558449268341 + ], + [ + 0.2569133937358856, + -0.06954119354486465, + 0.06309859454631805 + ], + [ + 0.2563911974430084, + -0.07180029153823853, + 0.04724184423685074 + ], + [ + 0.25691869854927063, + -0.07800573855638504, + 0.031300485134124756 + ], + [ + 0.2568099796772003, + -0.07954444736242294, + 0.025813279673457146 + ], + [ + 0.25039148330688477, + -0.08041331171989441, + 0.012446257285773754 + ], + [ + 0.24868951737880707, + -0.07695816457271576, + 0.009690255858004093 + ], + [ + 0.24696798622608185, + -0.07162584364414215, + 0.006675580982118845 + ], + [ + 0.2423429787158966, + -0.057767126709222794, + 0.005895975977182388 + ], + [ + 0.24181310832500458, + -0.03672455996274948, + 0.006205520126968622 + ], + [ + 0.24055086076259613, + -0.010816634632647038, + 0.0067304279655218124 + ], + [ + 0.24092888832092285, + 0.007997564040124416, + 0.0071511100977659225 + ], + [ + 0.24255883693695068, + 0.03129364177584648, + 0.00912813376635313 + ], + [ + 0.24659502506256104, + 0.05424647033214569, + 0.008403630927205086 + ], + [ + 0.247603178024292, + 0.07994598150253296, + 0.009419968351721764 + ], + [ + 0.25037282705307007, + 0.10181837528944016, + 0.012275975197553635 + ], + [ + 0.2531271278858185, + 0.1192789226770401, + 0.013801347464323044 + ], + [ + 0.25696519017219543, + 0.13455058634281158, + 0.015423217788338661 + ], + [ + 0.2569023370742798, + 0.1376972496509552, + 0.01530707348138094 + ], + [ + 0.25837263464927673, + 0.1324293166399002, + 0.014618655666708946 + ], + [ + 0.2603268027305603, + 0.11913157999515533, + 0.024057062342762947 + ], + [ + 0.2614143490791321, + 0.11156172305345535, + 0.050945743918418884 + ], + [ + 0.26130178570747375, + 0.11031544953584671, + 0.07979781180620193 + ], + [ + 0.25831499695777893, + 0.10885927826166153, + 0.10405024141073227 + ], + [ + 0.25591954588890076, + 0.10763921588659286, + 0.11249987781047821 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9566270772644652, + -0.0009155174839087631, + 0.29131391465596707, + -0.009648463332758546, + -0.9995460082731873, + 0.028542678578826124, + 0.29115552922753124, + -0.03011543081004194, + -0.9562016098226159 + ], + [ + 0.9666212849380383, + -0.0010658716352902995, + 0.2562072509168947, + -0.00644765857587639, + -0.9997758442532158, + 0.020166530357462166, + 0.2561283256565437, + -0.02114533436544807, + -0.9664114835984456 + ], + [ + 0.9739704093528675, + -0.00981492185037482, + 0.22646259959224846, + -0.0153512613377625, + -0.9996244802292972, + 0.02269883921365726, + 0.2261547710758005, + -0.02558448427033035, + -0.9737553356384107 + ], + [ + 0.9787470251868883, + -0.010960342654005865, + 0.20477824976477318, + -0.01525819469732594, + -0.9996949676765016, + 0.019420584359318357, + 0.2045029295203263, + -0.022132385573762396, + -0.9786157107498423 + ], + [ + 0.9841929054996064, + -0.012263292704253406, + 0.17667466263245868, + -0.014827754496544642, + -0.9998029003117958, + 0.01320220529729517, + 0.17647793760363784, + -0.015613205313821172, + -0.9841807584783373 + ], + [ + 0.9878234479217239, + -0.01600223075413966, + 0.15475388314006422, + -0.013802752897053384, + -0.9997880280809083, + -0.015276875287571145, + 0.15496554374602206, + 0.012954826011196923, + -0.9878349319266451 + ], + [ + 0.9878067514226412, + -0.019535336081069787, + 0.15445449973389483, + -0.015842178634313694, + -0.9995592631224377, + -0.025105873461152017, + 0.1548768776156291, + 0.022352855529630556, + -0.9876808708432621 + ], + [ + 0.9921894917981988, + -0.022567198001076778, + 0.12268143274192755, + -0.018596447867561875, + -0.9992685128590054, + -0.0334157348454389, + 0.12334579235604654, + 0.030873302106056336, + -0.9918833876646626 + ], + [ + 0.9918519222181809, + -0.023794842258545924, + 0.12515418440464113, + -0.01950021248987502, + -0.9991819389101768, + -0.0354287266007367, + 0.12589482159703677, + 0.03269951739079558, + -0.9915045312339523 + ], + [ + 0.9910724877823999, + -0.01871459133432979, + 0.1320041212689715, + -0.014398463697649931, + -0.9993324437191535, + -0.03357605059341741, + 0.1325443631541974, + 0.03137564344349446, + -0.9906803524823505 + ], + [ + 0.9915988754813909, + 0.00538664619936127, + 0.12923874878210506, + 0.007237227283992551, + -0.999877840941751, + -0.0138537263904843, + 0.12914833597565628, + 0.014672669708866009, + -0.9915167270794446 + ], + [ + 0.9916427373559082, + 0.054074520000294224, + 0.11713508328429556, + 0.051893872058010715, + -0.9984192157400785, + 0.021589249264237914, + 0.11811734627948553, + -0.015330229212388252, + -0.9928813003477243 + ], + [ + 0.9877252702284809, + 0.11530358574185985, + 0.10537491953564587, + 0.11113549680592232, + -0.9928028417629321, + 0.044625314980929254, + 0.10976197839769061, + -0.03236665726509133, + -0.9934307764488218 + ], + [ + 0.9838712414243015, + 0.1486288092924926, + 0.09953319720826467, + 0.14442189775802347, + -0.9883388456902786, + 0.048256000119965815, + 0.10554475707572811, + -0.03310291751346083, + -0.993863421756693 + ], + [ + 0.9768790198513405, + 0.19102357137484216, + 0.09600716511534556, + 0.18698901749360497, + -0.981115085627499, + 0.049480259608473964, + 0.10364597392596071, + -0.030383942031051145, + -0.9941500531386563 + ], + [ + 0.9697213756403246, + 0.22693158192017301, + 0.09023586179255176, + 0.22285758511318102, + -0.9734065438646866, + 0.053049006766643814, + 0.09987467338498777, + -0.031333009568407885, + -0.9945065571064015 + ], + [ + 0.9541515938334076, + 0.28691490183566704, + 0.08529111964206734, + 0.28263778306121035, + -0.9574201488805693, + 0.058843369242020764, + 0.09854247597565285, + -0.03203900157835946, + -0.9946169528046713 + ], + [ + 0.9389356011743325, + 0.33374931075829917, + 0.08373371134587959, + 0.3290316921281641, + -0.9420558415047812, + 0.06533710325684543, + 0.10068804508317702, + -0.03379628759314959, + -0.9943438683484951 + ], + [ + 0.9220021646387218, + 0.37833086123816717, + 0.08232719985702301, + 0.3721612832014328, + -0.9246171528975184, + 0.08111165054139917, + 0.10680818174360239, + -0.04414612103541908, + -0.9932991152267034 + ], + [ + 0.9082761684565441, + 0.4099275990443051, + 0.0836287352270159, + 0.4014851438322752, + -0.9102426483662567, + 0.10133114218817381, + 0.11766087325817463, + -0.05846096678087005, + -0.9913315460869634 + ], + [ + 0.9045597795777948, + 0.4185192103428661, + 0.08132204955702504, + 0.4097268545251217, + -0.9060754427235, + 0.1055992271485123, + 0.1178792172145762, + -0.06220098606450783, + -0.9910779623629423 + ], + [ + 0.903498895641715, + 0.4204230118909275, + 0.08327206402367053, + 0.4127509334764556, + -0.9058594329413545, + 0.09515962728742791, + 0.11544008181093689, + -0.05160599600558715, + -0.9919729878821074 + ], + [ + 0.9090968506583866, + 0.40584301181570026, + 0.09399130748832675, + 0.39814088058566377, + -0.912835401034801, + 0.09063867730779794, + 0.12258366665048008, + -0.044977554157560565, + -0.9914384823540634 + ], + [ + 0.8965589720158984, + 0.4215794271798472, + 0.13584106991814798, + 0.41679749644754693, + -0.9067914667833077, + 0.06331731772615036, + 0.14987280157804617, + -0.00014949143472113569, + -0.9887052750943823 + ], + [ + 0.8809005890401455, + 0.43969184057691724, + 0.1751720227627891, + 0.43334705925489714, + -0.8980954040073537, + 0.07506644747155966, + 0.190327293008273, + 0.009784203133138526, + -0.9816719364967056 + ], + [ + 0.8646983101880792, + 0.45870487186235637, + 0.20466233871335385, + 0.45087078265901476, + -0.8884124369824293, + 0.08624893714932648, + 0.22138737475820033, + 0.017696958627973783, + -0.9750253575948638 + ], + [ + 0.8586044783122411, + 0.462903696952895, + 0.22026919251113403, + 0.45427999330066093, + -0.8861477192699133, + 0.09149812740970543, + 0.2375458640113865, + 0.021503185347142864, + -0.9711382885619384 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005488.json b/json/chunk-0005/episode_0005488.json new file mode 100644 index 0000000000000000000000000000000000000000..807017d4a312a2bdb659a6b3fc7fd725517dff1a --- /dev/null +++ b/json/chunk-0005/episode_0005488.json @@ -0,0 +1,2062 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 33, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nUnfold the cloth from top left to bottom right." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005488.mp4", + "start": 0, + "end": 33, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.32337674498558044, + 0.018672721460461617, + 0.1364821344614029, + -0.06634657084941864, + -0.34108495712280273, + -0.21425415575504303, + 0.0, + 0.9994885921478271 + ], + [ + 0.32234030961990356, + 0.018770815804600716, + 0.1272931694984436, + -0.0707501545548439, + -0.3127293884754181, + -0.20810353755950928, + 0.0, + 0.9994885921478271 + ], + [ + 0.33627331256866455, + 0.02432273142039776, + 0.10947610437870026, + -0.03748321160674095, + -0.2789945602416992, + -0.13880906999111176, + 0.0, + 0.9994885921478271 + ], + [ + 0.3556588888168335, + 0.02750549651682377, + 0.09854491800069809, + -0.01680132746696472, + -0.27310264110565186, + -0.06125473231077194, + 0.0, + 1.0001531839370728 + ], + [ + 0.37261325120925903, + 0.01966063492000103, + 0.08311625570058823, + 0.04195213317871094, + -0.29213646054267883, + -0.04450567811727524, + 0.0, + 0.9994885921478271 + ], + [ + 0.38705122470855713, + 0.021372968330979347, + 0.06017614156007767, + 0.08233294636011124, + -0.26152947545051575, + -0.016902325674891472, + 0.0, + 0.9994885921478271 + ], + [ + 0.3921537399291992, + 0.023974407464265823, + 0.04529260843992233, + 0.09295724332332611, + -0.24381491541862488, + 0.0005286813830025494, + 0.0, + 0.9994885921478271 + ], + [ + 0.3947851359844208, + 0.028622176498174667, + 0.03333692625164986, + 0.11739593744277954, + -0.22671201825141907, + 0.01889318786561489, + 0.0, + 0.9994885921478271 + ], + [ + 0.39962226152420044, + 0.03012208268046379, + 0.029407475143671036, + 0.12229922413825989, + -0.21574459969997406, + 0.03639271855354309, + 0.0, + 1.0001531839370728 + ], + [ + 0.4044288694858551, + 0.031342096626758575, + 0.01906277798116207, + 0.11577549576759338, + -0.18532174825668335, + 0.05161116644740105, + 0.0, + 1.0001531839370728 + ], + [ + 0.40859395265579224, + 0.03398478776216507, + 0.014262314885854721, + 0.11692409217357635, + -0.17535921931266785, + 0.05231129750609398, + 0.0, + 0.9994885921478271 + ], + [ + 0.4084055721759796, + 0.03430488705635071, + 0.006450389977544546, + 0.1218375638127327, + -0.15877512097358704, + 0.05981632322072983, + 0.0, + 0.9359400868415833 + ], + [ + 0.4113229513168335, + 0.036316294223070145, + 0.007123584393411875, + 0.12770329415798187, + -0.17986267805099487, + 0.07124097645282745, + 0.0, + 0.641040563583374 + ], + [ + 0.41121965646743774, + 0.036358464509248734, + 0.006907755509018898, + 0.13196703791618347, + -0.18060564994812012, + 0.06988507509231567, + 0.0, + 0.35274967551231384 + ], + [ + 0.4106050133705139, + 0.03699814900755882, + 0.006861614994704723, + 0.1210939884185791, + -0.1750393509864807, + 0.07126174122095108, + 0.0, + 0.1949377954006195 + ], + [ + 0.40952831506729126, + 0.03644130751490593, + 0.007003008853644133, + 0.10552480816841125, + -0.168578639626503, + 0.07889218628406525, + 0.0, + 0.11284734308719635 + ], + [ + 0.407020628452301, + 0.03574436530470848, + 0.006609216798096895, + 0.08695205301046371, + -0.15351368486881256, + 0.0816347673535347, + 0.0, + 0.08157449960708618 + ], + [ + 0.40750205516815186, + 0.02827068604528904, + 0.032356712967157364, + 0.04137382283806801, + -0.1808990091085434, + 0.06724885106086731, + 0.0, + 0.08055824041366577 + ], + [ + 0.39479389786720276, + 0.019204603508114815, + 0.04917887970805168, + 0.0009795690421015024, + -0.19021537899971008, + 0.037564389407634735, + 0.0, + 0.08055824041366577 + ], + [ + 0.3768005669116974, + 0.005905425641685724, + 0.05803682282567024, + -0.0315907821059227, + -0.1907321661710739, + -0.008705257438123226, + 0.0, + 0.08055824041366577 + ], + [ + 0.3586657643318176, + -0.008630357682704926, + 0.05289946123957634, + -0.06225825101137161, + -0.16558459401130676, + -0.05108281597495079, + 0.0, + 0.08055824041366577 + ], + [ + 0.3447219729423523, + -0.02907354012131691, + 0.042376380413770676, + -0.07554984837770462, + -0.14840182662010193, + -0.09874619543552399, + 0.0, + 0.08055824041366577 + ], + [ + 0.33253368735313416, + -0.04779081791639328, + 0.02913445234298706, + -0.09757720679044724, + -0.1415533721446991, + -0.09811180830001831, + 0.0, + 0.08055824041366577 + ], + [ + 0.3287162780761719, + -0.06796950101852417, + 0.022328367456793785, + -0.10499759763479233, + -0.17139925062656403, + -0.11332269757986069, + 0.0, + 0.08055824041366577 + ], + [ + 0.3298974633216858, + -0.08152524381875992, + 0.011001496575772762, + -0.08566080778837204, + -0.1898108273744583, + -0.12268343567848206, + 0.0, + 0.08055824041366577 + ], + [ + 0.3313380479812622, + -0.08669028431177139, + 0.004896093625575304, + -0.0808718204498291, + -0.2054976522922516, + -0.12363071739673615, + 0.0, + 0.08055824041366577 + ], + [ + 0.32834330201148987, + -0.09188124537467957, + -0.0034879629965871572, + -0.11119900643825531, + -0.19184499979019165, + -0.14718548953533173, + 0.0, + 0.10996698588132858 + ], + [ + 0.3271111249923706, + -0.0903194397687912, + -0.00461496040225029, + -0.09529318660497665, + -0.18756960332393646, + -0.18706920742988586, + 0.0, + 0.300372838973999 + ], + [ + 0.320096492767334, + -0.09428242594003677, + -0.008079987950623035, + -0.08507424592971802, + -0.17869174480438232, + -0.2032221406698227, + 0.0, + 0.5769375562667847 + ], + [ + 0.31940150260925293, + -0.09727635234594345, + 0.004601325839757919, + -0.09227310866117477, + -0.20530593395233154, + -0.19784776866436005, + 0.0, + 0.8844947218894958 + ], + [ + 0.3157695233821869, + -0.09939291328191757, + 0.019136032089591026, + -0.11613460630178452, + -0.20258668065071106, + -0.20091061294078827, + 0.0, + 1.0230003595352173 + ], + [ + 0.3174842298030853, + -0.09739458560943604, + 0.043646667152643204, + -0.13340148329734802, + -0.24627813696861267, + -0.19484969973564148, + 0.0, + 1.0041072368621826 + ], + [ + 0.3168036937713623, + -0.09399162232875824, + 0.06528206914663315, + -0.12996654212474823, + -0.2716604471206665, + -0.19971515238285065, + 0.0, + 0.9974852800369263 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9359400868415833 + ], + [ + 0.641040563583374 + ], + [ + 0.35274967551231384 + ], + [ + 0.1949377954006195 + ], + [ + 0.11284734308719635 + ], + [ + 0.08157449960708618 + ], + [ + 0.08055824041366577 + ], + [ + 0.08055824041366577 + ], + [ + 0.08055824041366577 + ], + [ + 0.08055824041366577 + ], + [ + 0.08055824041366577 + ], + [ + 0.08055824041366577 + ], + [ + 0.08055824041366577 + ], + [ + 0.08055824041366577 + ], + [ + 0.08055824041366577 + ], + [ + 0.10996698588132858 + ], + [ + 0.300372838973999 + ], + [ + 0.5769375562667847 + ], + [ + 0.8844947218894958 + ], + [ + 1.0230003595352173 + ], + [ + 1.0041072368621826 + ], + [ + 0.9974852800369263 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.32337674498558044, + 0.018672721460461617, + 0.1364821344614029 + ], + [ + 0.32234030961990356, + 0.018770815804600716, + 0.1272931694984436 + ], + [ + 0.33627331256866455, + 0.02432273142039776, + 0.10947610437870026 + ], + [ + 0.3556588888168335, + 0.02750549651682377, + 0.09854491800069809 + ], + [ + 0.37261325120925903, + 0.01966063492000103, + 0.08311625570058823 + ], + [ + 0.38705122470855713, + 0.021372968330979347, + 0.06017614156007767 + ], + [ + 0.3921537399291992, + 0.023974407464265823, + 0.04529260843992233 + ], + [ + 0.3947851359844208, + 0.028622176498174667, + 0.03333692625164986 + ], + [ + 0.39962226152420044, + 0.03012208268046379, + 0.029407475143671036 + ], + [ + 0.4044288694858551, + 0.031342096626758575, + 0.01906277798116207 + ], + [ + 0.40859395265579224, + 0.03398478776216507, + 0.014262314885854721 + ], + [ + 0.4084055721759796, + 0.03430488705635071, + 0.006450389977544546 + ], + [ + 0.4113229513168335, + 0.036316294223070145, + 0.007123584393411875 + ], + [ + 0.41121965646743774, + 0.036358464509248734, + 0.006907755509018898 + ], + [ + 0.4106050133705139, + 0.03699814900755882, + 0.006861614994704723 + ], + [ + 0.40952831506729126, + 0.03644130751490593, + 0.007003008853644133 + ], + [ + 0.407020628452301, + 0.03574436530470848, + 0.006609216798096895 + ], + [ + 0.40750205516815186, + 0.02827068604528904, + 0.032356712967157364 + ], + [ + 0.39479389786720276, + 0.019204603508114815, + 0.04917887970805168 + ], + [ + 0.3768005669116974, + 0.005905425641685724, + 0.05803682282567024 + ], + [ + 0.3586657643318176, + -0.008630357682704926, + 0.05289946123957634 + ], + [ + 0.3447219729423523, + -0.02907354012131691, + 0.042376380413770676 + ], + [ + 0.33253368735313416, + -0.04779081791639328, + 0.02913445234298706 + ], + [ + 0.3287162780761719, + -0.06796950101852417, + 0.022328367456793785 + ], + [ + 0.3298974633216858, + -0.08152524381875992, + 0.011001496575772762 + ], + [ + 0.3313380479812622, + -0.08669028431177139, + 0.004896093625575304 + ], + [ + 0.32834330201148987, + -0.09188124537467957, + -0.0034879629965871572 + ], + [ + 0.3271111249923706, + -0.0903194397687912, + -0.00461496040225029 + ], + [ + 0.320096492767334, + -0.09428242594003677, + -0.008079987950623035 + ], + [ + 0.31940150260925293, + -0.09727635234594345, + 0.004601325839757919 + ], + [ + 0.3157695233821869, + -0.09939291328191757, + 0.019136032089591026 + ], + [ + 0.3174842298030853, + -0.09739458560943604, + 0.043646667152643204 + ], + [ + 0.3168036937713623, + -0.09399162232875824, + 0.06528206914663315 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.920844723995084, + -0.23382112619429168, + 0.3120459505195534, + -0.20037022090554502, + -0.9702701175211459, + -0.13574856765272178, + 0.334509744050426, + 0.06247863627461486, + -0.9403189092773705 + ], + [ + 0.9309683604681864, + -0.2273672272557043, + 0.285660735448941, + -0.19658386078454254, + -0.9714833544851538, + -0.1325702743352246, + 0.30765678521076134, + 0.06726244069557712, + -0.9491169930969804 + ], + [ + 0.9520862126130569, + -0.14848734145172976, + 0.267363709543241, + -0.1330136012734386, + -0.9882579014109517, + -0.07519110436143576, + 0.2753892256940998, + 0.036025403917500365, + -0.9606575584692941 + ], + [ + 0.961132710304112, + -0.06573074201773904, + 0.2681480612222836, + -0.05894767201678518, + -0.9977062420994285, + -0.0332780173633912, + 0.26972038326250697, + 0.016177887057155473, + -0.9628027787782357 + ], + [ + 0.9566825037900533, + -0.03238518045470129, + 0.28932643679572595, + -0.04260593793646762, + -0.9986681851179889, + 0.02909622115835877, + 0.28799882116867886, + -0.04016286991810581, + -0.9567881807826604 + ], + [ + 0.9658576658657426, + 0.004416520449246436, + 0.2590356416316122, + -0.01632679564686877, + -0.9968295911172047, + 0.07787298643953482, + 0.2585583203694768, + -0.07944344290265858, + -0.9627233945155208 + ], + [ + 0.9704239578045643, + 0.022934570474166097, + 0.24031510064099232, + 0.0005130451279103145, + -0.9956705997833531, + 0.09295048957242767, + 0.24140645994592086, + -0.09007808947920003, + -0.9662343705810487 + ], + [ + 0.9742368125071266, + 0.04508442154250637, + 0.22097517528023677, + 0.018408629512154634, + -0.9924423917711029, + 0.12132279824969662, + 0.22477489965616268, + -0.11412928611811234, + -0.9677038547689741 + ], + [ + 0.9761704733217546, + 0.062211595714154286, + 0.20789642703394565, + 0.035541189286805386, + -0.9909233491953121, + 0.12964466777937814, + 0.21407482542060272, + -0.11916641044457317, + -0.9695211889086769 + ], + [ + 0.9815682549323796, + 0.07250004492811858, + 0.17682619826944154, + 0.05070491168410328, + -0.9908847722776699, + 0.12480536847162307, + 0.18426278202640475, + -0.11353903097019591, + -0.9762971451388346 + ], + [ + 0.9833169870007488, + 0.0722549388553753, + 0.16693389975309325, + 0.05148555894706546, + -0.990749406263354, + 0.12555815867047576, + 0.17446185914313206, + -0.11486878514121274, + -0.9779408069533168 + ], + [ + 0.9856557212105118, + 0.07851911046816473, + 0.14939059052120476, + 0.05902871944201682, + -0.9896630324191602, + 0.13070077484065773, + 0.15810885340809286, + -0.12000763123318779, + -0.9801019125171514 + ], + [ + 0.981372622115945, + 0.09332668417110021, + 0.1679223230630838, + 0.07003246201175756, + -0.9877193628604657, + 0.13966357612164934, + 0.17889446840482998, + -0.1253019962017514, + -0.9758566385089614 + ], + [ + 0.9813338170852361, + 0.09279924006299024, + 0.1684406141304757, + 0.06869245349339566, + -0.9872347847744967, + 0.14369699566904942, + 0.17962540543580682, + -0.1294441222110322, + -0.9751814871843278 + ], + [ + 0.982220425372895, + 0.09166328841778516, + 0.1638318575147313, + 0.07011346220511759, + -0.9886597812196461, + 0.13280037430795463, + 0.17414688741950238, + -0.11895242139258554, + -0.9775086613667113 + ], + [ + 0.9827579574852416, + 0.095989267842441, + 0.15802802744610941, + 0.0776931776269639, + -0.9899515924583834, + 0.11815081353649654, + 0.1677813075096902, + -0.10383595257993766, + -0.9803405162504281 + ], + [ + 0.9849487936027563, + 0.09447104746819344, + 0.144744931416395, + 0.0805851580203089, + -0.9918215235331538, + 0.09897523813164129, + 0.15291143282082081, + -0.08582124822347666, + -0.9845063773617962 + ], + [ + 0.9814588777146205, + 0.07456545344935255, + 0.17657424644338748, + 0.06610165816735332, + -0.996385745560298, + 0.05334807242792876, + 0.17991398540047981, + -0.040687088813794445, + -0.9828405357234583 + ], + [ + 0.981270801366835, + 0.03774061441710015, + 0.18890013342586254, + 0.03687818619374582, + -0.9992871062762827, + 0.0080795181188141, + 0.18907039368433204, + -0.0009619009266041909, + -0.981963064976814 + ], + [ + 0.9818284924293105, + -0.014688493174783459, + 0.18920110893502057, + -0.008547285696502833, + -0.9994110554392426, + -0.03323381069094039, + 0.18957783457252997, + 0.031012746316204334, + -0.9813757966267137 + ], + [ + 0.9850355644783744, + -0.061203633704260574, + 0.1611181303707464, + -0.05036220404464033, + -0.9962370213581406, + -0.07053683916383978, + 0.164828957154185, + 0.06136703102525074, + -0.9844112465766579 + ], + [ + 0.9841907416868414, + -0.1094102175644643, + 0.13927666089622026, + -0.09750220605506728, + -0.9911897001693244, + -0.08964540196038574, + 0.14785771468644893, + 0.07464839295484212, + -0.9861874637395059 + ], + [ + 0.9852370357703831, + -0.11116689139606149, + 0.13019180313569978, + -0.09697474431282509, + -0.9891105607816191, + -0.11070771208788077, + 0.14108111961510206, + 0.09644802127367452, + -0.9852887378228485 + ], + [ + 0.9790269114238789, + -0.1302185287059712, + 0.1566826138710739, + -0.11142334691663734, + -0.98609260786354, + -0.12331344808566866, + 0.17056126309837932, + 0.10326908297517884, + -0.9799205845535395 + ], + [ + 0.9746587571700194, + -0.13794800913830624, + 0.17609842090879604, + -0.12017803303427138, + -0.9868693284150992, + -0.10791741754482997, + 0.18867312327887956, + 0.08401949421598168, + -0.9784391535215073 + ], + [ + 0.9714876017775954, + -0.13927142767549175, + 0.1918731586899176, + -0.12072139435732089, + -0.9870912799627924, + -0.10524804019952153, + 0.2040543666203697, + 0.07908397090843478, + -0.9757599812497505 + ], + [ + 0.9710402357546258, + -0.16667877781878584, + 0.17116963974500882, + -0.14396412923122412, + -0.9799752743339322, + -0.13756013662696553, + 0.1906703701163232, + 0.10893413936397464, + -0.975591186532932 + ], + [ + 0.9653198648570817, + -0.202569306561551, + 0.1646913311363967, + -0.182718009991068, + -0.9747959469144176, + -0.1280116819049269, + 0.1864716797189586, + 0.09348014718856931, + -0.9780029523188536 + ], + [ + 0.9638260904042545, + -0.2158885333598627, + 0.15630549772729516, + -0.19861254126816447, + -0.9728309516363571, + -0.11896637335525304, + 0.17774230196284643, + 0.083618662402763, + -0.9805180229811796 + ], + [ + 0.9599002470243886, + -0.21414162432960754, + 0.18092783227573123, + -0.19243152863506424, + -0.9726284189580889, + -0.1302461723900578, + 0.2038666783701798, + 0.0902071137137501, + -0.9748338597349521 + ], + [ + 0.9598460245667465, + -0.22106272480608752, + 0.1727046056847366, + -0.195480554015537, + -0.9686320791071057, + -0.15342505768753753, + 0.2012037825817175, + 0.1135040396900195, + -0.9729511143160561 + ], + [ + 0.9514742735509734, + -0.2237115888038226, + 0.21130506810182473, + -0.18777691811427252, + -0.966081753714677, + -0.17727344460770214, + 0.24379609470652555, + 0.128992907457905, + -0.9612098074985519 + ], + [ + 0.9441787540658013, + -0.23080174170685003, + 0.23506815266180958, + -0.19111452645357369, + -0.96495777928611, + -0.17981023878980174, + 0.2683313588628389, + 0.12484806854855111, + -0.9552021993434264 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0010364353656768799, + 9.809434413909912e-05, + -0.00918896496295929, + -0.0044035837054252625, + 0.028355568647384644, + 0.0061506181955337524, + 1.0 + ], + [ + 0.013933002948760986, + 0.005551915615797043, + -0.017817065119743347, + 0.03326694294810295, + 0.03373482823371887, + 0.06929446756839752, + 1.0 + ], + [ + 0.019385576248168945, + 0.00318276509642601, + -0.010931186378002167, + 0.02068188413977623, + 0.005891919136047363, + 0.07755433768033981, + 1.0 + ], + [ + 0.016954362392425537, + -0.007844861596822739, + -0.015428662300109863, + 0.05875346064567566, + -0.019033819437026978, + 0.016749054193496704, + 1.0 + ], + [ + 0.014437973499298096, + 0.0017123334109783173, + -0.02294011414051056, + 0.0403808131814003, + 0.030606985092163086, + 0.027603352442383766, + 1.0 + ], + [ + 0.00510251522064209, + 0.002601439133286476, + -0.014883533120155334, + 0.010624296963214874, + 0.01771456003189087, + 0.01743100769817829, + 1.0 + ], + [ + 0.0026313960552215576, + 0.004647769033908844, + -0.011955682188272476, + 0.02443869411945343, + 0.01710289716720581, + 0.01836450584232807, + 1.0 + ], + [ + 0.004837125539779663, + 0.0014999061822891235, + -0.003929451107978821, + 0.004903286695480347, + 0.010967418551445007, + 0.0174995306879282, + 1.0 + ], + [ + 0.004806607961654663, + 0.0012200139462947845, + -0.010344697162508965, + -0.006523728370666504, + 0.03042285144329071, + 0.015218447893857956, + 1.0 + ], + [ + 0.004165083169937134, + 0.002642691135406494, + -0.00480046309530735, + 0.0011485964059829712, + 0.009962528944015503, + 0.0007001310586929321, + 1.0 + ], + [ + -0.00018838047981262207, + 0.00032009929418563843, + -0.007811924908310175, + 0.0049134716391563416, + 0.01658409833908081, + 0.007505025714635849, + 0.0 + ], + [ + 0.002917379140853882, + 0.0020114071667194366, + 0.0006731944158673286, + 0.005865730345249176, + -0.021087557077407837, + 0.011424653232097626, + 0.0 + ], + [ + -0.00010329484939575195, + 4.217028617858887e-05, + -0.00021582888439297676, + 0.004263743758201599, + -0.0007429718971252441, + -0.0013559013605117798, + 0.0 + ], + [ + -0.0006146430969238281, + 0.0006396844983100891, + -4.614051431417465e-05, + -0.01087304949760437, + 0.005566298961639404, + 0.0013766661286354065, + 0.0 + ], + [ + -0.0010766983032226562, + -0.0005568414926528931, + 0.00014139385893940926, + -0.015569180250167847, + 0.006460711359977722, + 0.007630445063114166, + 0.0 + ], + [ + -0.0025076866149902344, + -0.0006969422101974487, + -0.0003937920555472374, + -0.01857275515794754, + 0.01506495475769043, + 0.002742581069469452, + 0.0 + ], + [ + 0.0004814267158508301, + -0.007473679259419441, + 0.025747496634721756, + -0.045578230172395706, + -0.027385324239730835, + -0.014385916292667389, + 0.0 + ], + [ + -0.012708157300949097, + -0.009066082537174225, + 0.016822166740894318, + -0.04039425402879715, + -0.009316369891166687, + -0.029684461653232574, + 0.0 + ], + [ + -0.01799333095550537, + -0.013299178332090378, + 0.00885794311761856, + -0.03257035091519356, + -0.0005167871713638306, + -0.046269647777080536, + 0.0 + ], + [ + -0.01813480257987976, + -0.014535782858729362, + -0.005137361586093903, + -0.030667468905448914, + 0.02514757215976715, + -0.04237755760550499, + 0.0 + ], + [ + -0.013943791389465332, + -0.020443182438611984, + -0.010523080825805664, + -0.013291597366333008, + 0.017182767391204834, + -0.047663379460573196, + 0.0 + ], + [ + -0.01218828558921814, + -0.01871727779507637, + -0.013241928070783615, + -0.022027358412742615, + 0.006848454475402832, + 0.0006343871355056763, + 0.0 + ], + [ + -0.0038174092769622803, + -0.02017868310213089, + -0.0068060848861932755, + -0.007420390844345093, + -0.02984587848186493, + -0.015210889279842377, + 0.0 + ], + [ + 0.001181185245513916, + -0.013555742800235748, + -0.011326870881021023, + 0.019336789846420288, + -0.018411576747894287, + -0.009360738098621368, + 0.0 + ], + [ + 0.001440584659576416, + -0.005165040493011475, + -0.006105402950197458, + 0.004788987338542938, + -0.015686824917793274, + -0.0009472817182540894, + 0.0 + ], + [ + -0.002994745969772339, + -0.005190961062908173, + -0.008384056389331818, + -0.03032718598842621, + 0.013652652502059937, + -0.02355477213859558, + 1.0 + ], + [ + -0.0012321770191192627, + 0.0015618056058883667, + -0.0011269974056631327, + 0.015905819833278656, + 0.004275396466255188, + -0.03988371789455414, + 1.0 + ], + [ + -0.007014632225036621, + -0.003962986171245575, + -0.0034650275483727455, + 0.010218940675258636, + 0.008877858519554138, + -0.01615293323993683, + 1.0 + ], + [ + -0.0006949901580810547, + -0.0029939264059066772, + 0.012681313790380955, + -0.007198862731456757, + -0.02661418914794922, + 0.0053743720054626465, + 1.0 + ], + [ + -0.00363197922706604, + -0.002116560935974121, + 0.014534706249833107, + -0.02386149764060974, + 0.0027192533016204834, + -0.0030628442764282227, + 1.0 + ], + [ + 0.0017147064208984375, + 0.001998327672481537, + 0.024510635063052177, + -0.017266876995563507, + -0.04369145631790161, + 0.0060609132051467896, + 1.0 + ], + [ + -0.0006805360317230225, + 0.0034029632806777954, + 0.021635401993989944, + 0.0034349411725997925, + -0.025382310152053833, + -0.0048654526472091675, + 1.0 + ], + [ + 0.0029026269912719727, + 0.007937416434288025, + 0.018847770988941193, + 0.06397966295480728, + -0.053627997636795044, + -0.038572534918785095, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9359400868415833 + ], + [ + 0.641040563583374 + ], + [ + 0.35274967551231384 + ], + [ + 0.1949377954006195 + ], + [ + 0.11284734308719635 + ], + [ + 0.08157449960708618 + ], + [ + 0.08055824041366577 + ], + [ + 0.08055824041366577 + ], + [ + 0.08055824041366577 + ], + [ + 0.08055824041366577 + ], + [ + 0.08055824041366577 + ], + [ + 0.08055824041366577 + ], + [ + 0.08055824041366577 + ], + [ + 0.08055824041366577 + ], + [ + 0.08055824041366577 + ], + [ + 0.10996698588132858 + ], + [ + 0.300372838973999 + ], + [ + 0.5769375562667847 + ], + [ + 0.8844947218894958 + ], + [ + 1.0230003595352173 + ], + [ + 1.0041072368621826 + ], + [ + 0.9974852800369263 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.32234030961990356, + 0.018770815804600716, + 0.1272931694984436 + ], + [ + 0.33627331256866455, + 0.02432273142039776, + 0.10947610437870026 + ], + [ + 0.3556588888168335, + 0.02750549651682377, + 0.09854491800069809 + ], + [ + 0.37261325120925903, + 0.01966063492000103, + 0.08311625570058823 + ], + [ + 0.38705122470855713, + 0.021372968330979347, + 0.06017614156007767 + ], + [ + 0.3921537399291992, + 0.023974407464265823, + 0.04529260843992233 + ], + [ + 0.3947851359844208, + 0.028622176498174667, + 0.03333692625164986 + ], + [ + 0.39962226152420044, + 0.03012208268046379, + 0.029407475143671036 + ], + [ + 0.4044288694858551, + 0.031342096626758575, + 0.01906277798116207 + ], + [ + 0.40859395265579224, + 0.03398478776216507, + 0.014262314885854721 + ], + [ + 0.4084055721759796, + 0.03430488705635071, + 0.006450389977544546 + ], + [ + 0.4113229513168335, + 0.036316294223070145, + 0.007123584393411875 + ], + [ + 0.41121965646743774, + 0.036358464509248734, + 0.006907755509018898 + ], + [ + 0.4106050133705139, + 0.03699814900755882, + 0.006861614994704723 + ], + [ + 0.40952831506729126, + 0.03644130751490593, + 0.007003008853644133 + ], + [ + 0.407020628452301, + 0.03574436530470848, + 0.006609216798096895 + ], + [ + 0.40750205516815186, + 0.02827068604528904, + 0.032356712967157364 + ], + [ + 0.39479389786720276, + 0.019204603508114815, + 0.04917887970805168 + ], + [ + 0.3768005669116974, + 0.005905425641685724, + 0.05803682282567024 + ], + [ + 0.3586657643318176, + -0.008630357682704926, + 0.05289946123957634 + ], + [ + 0.3447219729423523, + -0.02907354012131691, + 0.042376380413770676 + ], + [ + 0.33253368735313416, + -0.04779081791639328, + 0.02913445234298706 + ], + [ + 0.3287162780761719, + -0.06796950101852417, + 0.022328367456793785 + ], + [ + 0.3298974633216858, + -0.08152524381875992, + 0.011001496575772762 + ], + [ + 0.3313380479812622, + -0.08669028431177139, + 0.004896093625575304 + ], + [ + 0.32834330201148987, + -0.09188124537467957, + -0.0034879629965871572 + ], + [ + 0.3271111249923706, + -0.0903194397687912, + -0.00461496040225029 + ], + [ + 0.320096492767334, + -0.09428242594003677, + -0.008079987950623035 + ], + [ + 0.31940150260925293, + -0.09727635234594345, + 0.004601325839757919 + ], + [ + 0.3157695233821869, + -0.09939291328191757, + 0.019136032089591026 + ], + [ + 0.3174842298030853, + -0.09739458560943604, + 0.043646667152643204 + ], + [ + 0.3168036937713623, + -0.09399162232875824, + 0.06528206914663315 + ], + [ + 0.3197063207626343, + -0.08605420589447021, + 0.08412984013557434 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9309683604681864, + -0.2273672272557043, + 0.285660735448941, + -0.19658386078454254, + -0.9714833544851538, + -0.1325702743352246, + 0.30765678521076134, + 0.06726244069557712, + -0.9491169930969804 + ], + [ + 0.9520862126130569, + -0.14848734145172976, + 0.267363709543241, + -0.1330136012734386, + -0.9882579014109517, + -0.07519110436143576, + 0.2753892256940998, + 0.036025403917500365, + -0.9606575584692941 + ], + [ + 0.961132710304112, + -0.06573074201773904, + 0.2681480612222836, + -0.05894767201678518, + -0.9977062420994285, + -0.0332780173633912, + 0.26972038326250697, + 0.016177887057155473, + -0.9628027787782357 + ], + [ + 0.9566825037900533, + -0.03238518045470129, + 0.28932643679572595, + -0.04260593793646762, + -0.9986681851179889, + 0.02909622115835877, + 0.28799882116867886, + -0.04016286991810581, + -0.9567881807826604 + ], + [ + 0.9658576658657426, + 0.004416520449246436, + 0.2590356416316122, + -0.01632679564686877, + -0.9968295911172047, + 0.07787298643953482, + 0.2585583203694768, + -0.07944344290265858, + -0.9627233945155208 + ], + [ + 0.9704239578045643, + 0.022934570474166097, + 0.24031510064099232, + 0.0005130451279103145, + -0.9956705997833531, + 0.09295048957242767, + 0.24140645994592086, + -0.09007808947920003, + -0.9662343705810487 + ], + [ + 0.9742368125071266, + 0.04508442154250637, + 0.22097517528023677, + 0.018408629512154634, + -0.9924423917711029, + 0.12132279824969662, + 0.22477489965616268, + -0.11412928611811234, + -0.9677038547689741 + ], + [ + 0.9761704733217546, + 0.062211595714154286, + 0.20789642703394565, + 0.035541189286805386, + -0.9909233491953121, + 0.12964466777937814, + 0.21407482542060272, + -0.11916641044457317, + -0.9695211889086769 + ], + [ + 0.9815682549323796, + 0.07250004492811858, + 0.17682619826944154, + 0.05070491168410328, + -0.9908847722776699, + 0.12480536847162307, + 0.18426278202640475, + -0.11353903097019591, + -0.9762971451388346 + ], + [ + 0.9833169870007488, + 0.0722549388553753, + 0.16693389975309325, + 0.05148555894706546, + -0.990749406263354, + 0.12555815867047576, + 0.17446185914313206, + -0.11486878514121274, + -0.9779408069533168 + ], + [ + 0.9856557212105118, + 0.07851911046816473, + 0.14939059052120476, + 0.05902871944201682, + -0.9896630324191602, + 0.13070077484065773, + 0.15810885340809286, + -0.12000763123318779, + -0.9801019125171514 + ], + [ + 0.981372622115945, + 0.09332668417110021, + 0.1679223230630838, + 0.07003246201175756, + -0.9877193628604657, + 0.13966357612164934, + 0.17889446840482998, + -0.1253019962017514, + -0.9758566385089614 + ], + [ + 0.9813338170852361, + 0.09279924006299024, + 0.1684406141304757, + 0.06869245349339566, + -0.9872347847744967, + 0.14369699566904942, + 0.17962540543580682, + -0.1294441222110322, + -0.9751814871843278 + ], + [ + 0.982220425372895, + 0.09166328841778516, + 0.1638318575147313, + 0.07011346220511759, + -0.9886597812196461, + 0.13280037430795463, + 0.17414688741950238, + -0.11895242139258554, + -0.9775086613667113 + ], + [ + 0.9827579574852416, + 0.095989267842441, + 0.15802802744610941, + 0.0776931776269639, + -0.9899515924583834, + 0.11815081353649654, + 0.1677813075096902, + -0.10383595257993766, + -0.9803405162504281 + ], + [ + 0.9849487936027563, + 0.09447104746819344, + 0.144744931416395, + 0.0805851580203089, + -0.9918215235331538, + 0.09897523813164129, + 0.15291143282082081, + -0.08582124822347666, + -0.9845063773617962 + ], + [ + 0.9814588777146205, + 0.07456545344935255, + 0.17657424644338748, + 0.06610165816735332, + -0.996385745560298, + 0.05334807242792876, + 0.17991398540047981, + -0.040687088813794445, + -0.9828405357234583 + ], + [ + 0.981270801366835, + 0.03774061441710015, + 0.18890013342586254, + 0.03687818619374582, + -0.9992871062762827, + 0.0080795181188141, + 0.18907039368433204, + -0.0009619009266041909, + -0.981963064976814 + ], + [ + 0.9818284924293105, + -0.014688493174783459, + 0.18920110893502057, + -0.008547285696502833, + -0.9994110554392426, + -0.03323381069094039, + 0.18957783457252997, + 0.031012746316204334, + -0.9813757966267137 + ], + [ + 0.9850355644783744, + -0.061203633704260574, + 0.1611181303707464, + -0.05036220404464033, + -0.9962370213581406, + -0.07053683916383978, + 0.164828957154185, + 0.06136703102525074, + -0.9844112465766579 + ], + [ + 0.9841907416868414, + -0.1094102175644643, + 0.13927666089622026, + -0.09750220605506728, + -0.9911897001693244, + -0.08964540196038574, + 0.14785771468644893, + 0.07464839295484212, + -0.9861874637395059 + ], + [ + 0.9852370357703831, + -0.11116689139606149, + 0.13019180313569978, + -0.09697474431282509, + -0.9891105607816191, + -0.11070771208788077, + 0.14108111961510206, + 0.09644802127367452, + -0.9852887378228485 + ], + [ + 0.9790269114238789, + -0.1302185287059712, + 0.1566826138710739, + -0.11142334691663734, + -0.98609260786354, + -0.12331344808566866, + 0.17056126309837932, + 0.10326908297517884, + -0.9799205845535395 + ], + [ + 0.9746587571700194, + -0.13794800913830624, + 0.17609842090879604, + -0.12017803303427138, + -0.9868693284150992, + -0.10791741754482997, + 0.18867312327887956, + 0.08401949421598168, + -0.9784391535215073 + ], + [ + 0.9714876017775954, + -0.13927142767549175, + 0.1918731586899176, + -0.12072139435732089, + -0.9870912799627924, + -0.10524804019952153, + 0.2040543666203697, + 0.07908397090843478, + -0.9757599812497505 + ], + [ + 0.9710402357546258, + -0.16667877781878584, + 0.17116963974500882, + -0.14396412923122412, + -0.9799752743339322, + -0.13756013662696553, + 0.1906703701163232, + 0.10893413936397464, + -0.975591186532932 + ], + [ + 0.9653198648570817, + -0.202569306561551, + 0.1646913311363967, + -0.182718009991068, + -0.9747959469144176, + -0.1280116819049269, + 0.1864716797189586, + 0.09348014718856931, + -0.9780029523188536 + ], + [ + 0.9638260904042545, + -0.2158885333598627, + 0.15630549772729516, + -0.19861254126816447, + -0.9728309516363571, + -0.11896637335525304, + 0.17774230196284643, + 0.083618662402763, + -0.9805180229811796 + ], + [ + 0.9599002470243886, + -0.21414162432960754, + 0.18092783227573123, + -0.19243152863506424, + -0.9726284189580889, + -0.1302461723900578, + 0.2038666783701798, + 0.0902071137137501, + -0.9748338597349521 + ], + [ + 0.9598460245667465, + -0.22106272480608752, + 0.1727046056847366, + -0.195480554015537, + -0.9686320791071057, + -0.15342505768753753, + 0.2012037825817175, + 0.1135040396900195, + -0.9729511143160561 + ], + [ + 0.9514742735509734, + -0.2237115888038226, + 0.21130506810182473, + -0.18777691811427252, + -0.966081753714677, + -0.17727344460770214, + 0.24379609470652555, + 0.128992907457905, + -0.9612098074985519 + ], + [ + 0.9441787540658013, + -0.23080174170685003, + 0.23506815266180958, + -0.19111452645357369, + -0.96495777928611, + -0.17981023878980174, + 0.2683313588628389, + 0.12484806854855111, + -0.9552021993434264 + ], + [ + 0.920783963038647, + -0.2560028225208914, + 0.29431182149580853, + -0.22366082270831716, + -0.9646546900638289, + -0.13934548906691277, + 0.31958211745384374, + 0.06248106752605448, + -0.945496370381464 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005490.json b/json/chunk-0005/episode_0005490.json new file mode 100644 index 0000000000000000000000000000000000000000..47f7d3c96a98e639b67a1d76c436d9b47ccc8f11 --- /dev/null +++ b/json/chunk-0005/episode_0005490.json @@ -0,0 +1,1822 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 29, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPlace the cheese in front of the microwave and to the left of the brush." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005490.mp4", + "start": 0, + "end": 29, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.32389307022094727, + -0.03713628649711609, + 0.10332214087247849, + 0.003922251518815756, + -0.11033210903406143, + 0.002107014413923025, + 0.0, + 1.0008161067962646 + ], + [ + 0.3221425414085388, + -0.037576381117105484, + 0.09316236525774002, + 0.0031288014724850655, + -0.08240014314651489, + 0.0038643477018922567, + 0.0, + 1.0008161067962646 + ], + [ + 0.3027665317058563, + -0.03755252808332443, + 0.07181254774332047, + -0.0057691349647939205, + -0.03327736631035805, + 0.0100703751668334, + 0.0, + 1.0008161067962646 + ], + [ + 0.2803177237510681, + -0.03861955180764198, + 0.06962332129478455, + -0.031942881643772125, + -0.04862357676029205, + 0.008230890147387981, + 0.0, + 1.0008161067962646 + ], + [ + 0.25789690017700195, + -0.042502038180828094, + 0.05121718347072601, + -0.03372408449649811, + -0.014536557719111443, + -0.014000149443745613, + 0.0, + 1.0008161067962646 + ], + [ + 0.2536196708679199, + -0.049261901527643204, + 0.03636070340871811, + -0.015551278367638588, + -0.0143347829580307, + 0.0004250148485880345, + 0.0, + 1.0008161067962646 + ], + [ + 0.256500780582428, + -0.05256401002407074, + 0.023585911840200424, + 0.010070319287478924, + -0.015063827857375145, + 0.020978402346372604, + 0.0, + 1.0008161067962646 + ], + [ + 0.25971129536628723, + -0.052076343446969986, + 0.013895085081458092, + 0.03272271528840065, + 0.0036666691303253174, + 0.03890187293291092, + 0.0, + 0.9468915462493896 + ], + [ + 0.26023146510124207, + -0.05239039286971092, + 0.013475055806338787, + 0.03074014186859131, + 0.0016244619619101286, + 0.019913356751203537, + 0.0, + 0.7807356715202332 + ], + [ + 0.2621522843837738, + -0.05513773858547211, + 0.037950318306684494, + 0.0048109800554811954, + -0.03867649286985397, + -0.009562980383634567, + 0.0, + 0.7797733545303345 + ], + [ + 0.2758129835128784, + -0.05193601921200752, + 0.09029606729745865, + -0.09727121144533157, + -0.1556578278541565, + -0.0014880397357046604, + 0.0, + 0.7797733545303345 + ], + [ + 0.29544928669929504, + -0.00696425698697567, + 0.13583239912986755, + -0.14212597906589508, + -0.2390112429857254, + 0.1473265141248703, + 0.0, + 0.7797733545303345 + ], + [ + 0.3221172094345093, + 0.038572125136852264, + 0.12526766955852509, + -0.11485752463340759, + -0.18109387159347534, + 0.22587941586971283, + 0.0, + 0.7797733545303345 + ], + [ + 0.3436254560947418, + 0.08855582028627396, + 0.11233349144458771, + -0.04122581705451012, + -0.14787332713603973, + 0.23625631630420685, + 0.0, + 0.7797733545303345 + ], + [ + 0.35617795586586, + 0.13499324023723602, + 0.08999952673912048, + -0.00954817607998848, + -0.11990883946418762, + 0.21108004450798035, + 0.0, + 0.7797733545303345 + ], + [ + 0.36483338475227356, + 0.1848074346780777, + 0.06513603776693344, + 0.005665368400514126, + -0.08649534732103348, + 0.11916526407003403, + 0.0, + 0.7797733545303345 + ], + [ + 0.37074190378189087, + 0.20422466099262238, + 0.050771478563547134, + 0.017380762845277786, + -0.0686190128326416, + 0.04096640646457672, + 0.0, + 0.7797733545303345 + ], + [ + 0.3704921007156372, + 0.20763488113880157, + 0.039903413504362106, + 0.031114857643842697, + -0.05466612055897713, + -0.00698668509721756, + 0.0, + 0.7797733545303345 + ], + [ + 0.3724052309989929, + 0.20465117692947388, + 0.028584972023963928, + -0.0003861677832901478, + -0.043143145740032196, + -0.023928893730044365, + 0.0, + 0.7797733545303345 + ], + [ + 0.3763289451599121, + 0.1951873004436493, + 0.027241300791502, + 0.0003812129143625498, + -0.03367804363369942, + -0.04788556694984436, + 0.0, + 0.7797733545303345 + ], + [ + 0.3803991973400116, + 0.18107950687408447, + 0.02377345971763134, + 0.003439977066591382, + -0.017446419224143028, + -0.06811082363128662, + 0.0, + 0.7797733545303345 + ], + [ + 0.37747320532798767, + 0.1757054328918457, + 0.017104947939515114, + 0.0022313520312309265, + -0.004024793393909931, + -0.07056760042905807, + 0.0, + 0.84995037317276 + ], + [ + 0.37824249267578125, + 0.16879189014434814, + 0.01671624556183815, + 0.026296325027942657, + 0.015811685472726822, + -0.04025301709771156, + 0.0, + 1.0205672979354858 + ], + [ + 0.373158723115921, + 0.16407284140586853, + 0.022097783163189888, + 0.030424144119024277, + 0.009597115218639374, + -0.007563125807791948, + 0.0, + 1.0118417739868164 + ], + [ + 0.36541545391082764, + 0.16046689450740814, + 0.06057971343398094, + 0.06131318584084511, + -0.08416972309350967, + 0.10054343193769455, + 0.0, + 1.00800359249115 + ], + [ + 0.348530650138855, + 0.13252083957195282, + 0.11491059511899948, + 0.08686138689517975, + -0.21337327361106873, + 0.11468983441591263, + 0.0, + 1.0073583126068115 + ], + [ + 0.34543949365615845, + 0.1000402569770813, + 0.13366366922855377, + 0.09002380818128586, + -0.2252972424030304, + 0.06441187858581543, + 0.0, + 1.0067112445831299 + ], + [ + 0.34098875522613525, + 0.06655433028936386, + 0.1264641433954239, + 0.05174205079674721, + -0.18736527860164642, + 0.011546315625309944, + 0.0, + 1.0060625076293945 + ], + [ + 0.3381778597831726, + 0.05094889551401138, + 0.12696218490600586, + 0.023735716938972473, + -0.18784642219543457, + -0.049523208290338516, + 0.0, + 1.0060625076293945 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9468915462493896 + ], + [ + 0.7807356715202332 + ], + [ + 0.7797733545303345 + ], + [ + 0.7797733545303345 + ], + [ + 0.7797733545303345 + ], + [ + 0.7797733545303345 + ], + [ + 0.7797733545303345 + ], + [ + 0.7797733545303345 + ], + [ + 0.7797733545303345 + ], + [ + 0.7797733545303345 + ], + [ + 0.7797733545303345 + ], + [ + 0.7797733545303345 + ], + [ + 0.7797733545303345 + ], + [ + 0.7797733545303345 + ], + [ + 0.84995037317276 + ], + [ + 1.0205672979354858 + ], + [ + 1.0118417739868164 + ], + [ + 1.00800359249115 + ], + [ + 1.0073583126068115 + ], + [ + 1.0067112445831299 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.32389307022094727, + -0.03713628649711609, + 0.10332214087247849 + ], + [ + 0.3221425414085388, + -0.037576381117105484, + 0.09316236525774002 + ], + [ + 0.3027665317058563, + -0.03755252808332443, + 0.07181254774332047 + ], + [ + 0.2803177237510681, + -0.03861955180764198, + 0.06962332129478455 + ], + [ + 0.25789690017700195, + -0.042502038180828094, + 0.05121718347072601 + ], + [ + 0.2536196708679199, + -0.049261901527643204, + 0.03636070340871811 + ], + [ + 0.256500780582428, + -0.05256401002407074, + 0.023585911840200424 + ], + [ + 0.25971129536628723, + -0.052076343446969986, + 0.013895085081458092 + ], + [ + 0.26023146510124207, + -0.05239039286971092, + 0.013475055806338787 + ], + [ + 0.2621522843837738, + -0.05513773858547211, + 0.037950318306684494 + ], + [ + 0.2758129835128784, + -0.05193601921200752, + 0.09029606729745865 + ], + [ + 0.29544928669929504, + -0.00696425698697567, + 0.13583239912986755 + ], + [ + 0.3221172094345093, + 0.038572125136852264, + 0.12526766955852509 + ], + [ + 0.3436254560947418, + 0.08855582028627396, + 0.11233349144458771 + ], + [ + 0.35617795586586, + 0.13499324023723602, + 0.08999952673912048 + ], + [ + 0.36483338475227356, + 0.1848074346780777, + 0.06513603776693344 + ], + [ + 0.37074190378189087, + 0.20422466099262238, + 0.050771478563547134 + ], + [ + 0.3704921007156372, + 0.20763488113880157, + 0.039903413504362106 + ], + [ + 0.3724052309989929, + 0.20465117692947388, + 0.028584972023963928 + ], + [ + 0.3763289451599121, + 0.1951873004436493, + 0.027241300791502 + ], + [ + 0.3803991973400116, + 0.18107950687408447, + 0.02377345971763134 + ], + [ + 0.37747320532798767, + 0.1757054328918457, + 0.017104947939515114 + ], + [ + 0.37824249267578125, + 0.16879189014434814, + 0.01671624556183815 + ], + [ + 0.373158723115921, + 0.16407284140586853, + 0.022097783163189888 + ], + [ + 0.36541545391082764, + 0.16046689450740814, + 0.06057971343398094 + ], + [ + 0.348530650138855, + 0.13252083957195282, + 0.11491059511899948 + ], + [ + 0.34543949365615845, + 0.1000402569770813, + 0.13366366922855377 + ], + [ + 0.34098875522613525, + 0.06655433028936386, + 0.1264641433954239 + ], + [ + 0.3381778597831726, + 0.05094889551401138, + 0.12696218490600586 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.993917378519998, + 0.0025388674074555955, + 0.11009904099592495, + 0.002094201341866892, + -0.9999891782851359, + 0.004154230778195053, + 0.11010839657662229, + -0.0038983926054387942, + -0.9939119395290607 + ], + [ + 0.9965995874033516, + 0.004121838864716348, + 0.08229382013154064, + 0.003851226495664883, + -0.9999866436083268, + 0.0034468332469215846, + 0.08230692827428406, + -0.003118180451210137, + -0.9966021505639677 + ], + [ + 0.9993956818128608, + 0.009878101985882232, + 0.03332708020460388, + 0.010064629684540685, + -0.9999345865580878, + -0.005433767957827379, + 0.03327122485152376, + 0.005765908953752093, + -0.9994297273399549 + ], + [ + 0.9987842732267433, + 0.006674349811963586, + 0.04884084980335544, + 0.008221069287147944, + -0.9994687899054949, + -0.031536518904626575, + 0.0486044192918946, + 0.031899703124535474, + -0.9983085792308231 + ], + [ + 0.9997963559679839, + -0.014481805720146774, + 0.01405431948633973, + -0.01399821297825442, + -0.9993265906314243, + -0.03391777248565842, + 0.014536045767526118, + 0.03371412997627823, + -0.9993258031359876 + ], + [ + 0.9998971684485852, + 0.0002020558831212561, + 0.014339166709465584, + 0.00042497116924037395, + -0.9998790857386737, + -0.01554455859455168, + 0.01433429203020032, + 0.015549053855917797, + -0.9997763524889849 + ], + [ + 0.9996665290430915, + 0.021127455878528906, + 0.014847939892092857, + 0.02097448365911099, + -0.99972608534299, + 0.010383897149666433, + 0.015063258152606765, + -0.010069006548909328, + -0.9998358432067468 + ], + [ + 0.9992367004254314, + 0.038751370197472504, + -0.0049343521069440234, + 0.03889180017222994, + -0.9987131478734864, + 0.03254959514333785, + -0.0036666609142648973, + -0.03271665588733525, + -0.9994579410987187 + ], + [ + 0.9998004164868088, + 0.019852715028109955, + -0.002235374424218373, + 0.01991201442494762, + -0.9993303825496009, + 0.03069687597800891, + -0.0016244612474510954, + -0.030735260195437417, + -0.9995262402290269 + ], + [ + 0.999206466926202, + -0.009376707733586443, + 0.03871064201141373, + -0.009555683135157683, + -0.999944481762241, + 0.004440981092471164, + 0.03866685108303226, + -0.004807363656113769, + -0.9992405935919539 + ], + [ + 0.9879086677318715, + -0.016537175948188453, + 0.15415247656751044, + -0.001470048437856493, + -0.995249378589191, + -0.09734738504663971, + 0.155030007346412, + 0.09594371386123761, + -0.9832397981126902 + ], + [ + 0.9610475476536078, + 0.11214325812079257, + 0.2526093838459676, + 0.14262115017797072, + -0.9841159851513718, + -0.10571156649798223, + 0.23674209315391892, + 0.13762128261136752, + -0.9617762545943329 + ], + [ + 0.9586601955437579, + 0.2023711531310281, + 0.2000413603743529, + 0.22030110984248635, + -0.9727988629301896, + -0.07162257523922719, + 0.18010566476980258, + 0.11273104568905579, + -0.9771661377962703 + ], + [ + 0.9616108587107652, + 0.22796210709518583, + 0.15276725479718428, + 0.23151015777290385, + -0.9728162956149096, + -0.005612649467958086, + 0.14733500350395345, + 0.040764355935155226, + -0.9882462567739289 + ], + [ + 0.9707841119007061, + 0.20838974261435353, + 0.11896185629974101, + 0.20801167403245843, + -0.9779999257605773, + 0.01572541505077612, + 0.1196217018244223, + 0.009479471790580198, + -0.9927742885808436 + ], + [ + 0.9891963389219024, + 0.11936746855522451, + 0.08510000302128397, + 0.1184389998876261, + -0.9928341004023001, + 0.015895042748430004, + 0.08638753595932665, + -0.005644158845479259, + -0.9962456208695741 + ], + [ + 0.9968096077721819, + 0.042139418158558074, + 0.06778550944211581, + 0.04085856703264406, + -0.9989612750153921, + 0.02017296506865255, + 0.06856517595038986, + -0.017338986616302857, + -0.9974959529692398 + ], + [ + 0.9984818093705669, + -0.005283480808891684, + 0.054828470584367954, + -0.006976191489140692, + -0.9995034528187577, + 0.03072752114453838, + 0.05463889739357548, + -0.031063364819724302, + -0.9980228746164543 + ], + [ + 0.9987834629100736, + -0.023943258985827418, + 0.043108172850388156, + -0.02390434599620973, + -0.9997132446361744, + -0.0014180061725884612, + 0.04312976303963239, + 0.0003858084364056698, + -0.9990694043418581 + ], + [ + 0.9982873036007543, + -0.04785444371850288, + 0.03365132517343367, + -0.047840125344159476, + -0.9988542471541475, + -0.0012309951976377893, + 0.033671677662252604, + -0.0003809967376988295, + -0.9994328756674434 + ], + [ + 0.9975295223773081, + -0.06799789821656033, + 0.017639099291919105, + -0.06804781644254601, + -0.9976795357448418, + 0.002244690036236252, + 0.0174455341879073, + -0.003439446770560205, + -0.9998418992734858 + ], + [ + 0.9975030606630799, + -0.07049991253881958, + 0.004172085786095923, + -0.07050847533022318, + -0.9975092899261878, + 0.0019420137897525438, + 0.004024782527672949, + -0.0022313321068525888, + -0.9999894110852543 + ], + [ + 0.9990650558552948, + -0.04064362198554989, + -0.014734658487794466, + -0.040237117262210374, + -0.998827778690043, + 0.026908045479762537, + -0.015811026635969592, + -0.026290007778803772, + -0.9995293126905817 + ], + [ + 0.9999253490606462, + -0.00785147982884077, + -0.009362188336173168, + -0.007562705411677201, + -0.9995064264454195, + 0.030491129548826552, + -0.009596967896208614, + -0.030418049884968656, + -0.9994911907807865 + ], + [ + 0.9914274640766713, + 0.10531088717808366, + 0.07733822157423609, + 0.10001877643641614, + -0.9925631242261129, + 0.06938795851342089, + 0.08407037429833955, + -0.0610578534527946, + -0.9945874072684986 + ], + [ + 0.9709014722906958, + 0.13225689732044463, + 0.1996457968877083, + 0.1118433464345931, + -0.9875827269328031, + 0.11032417378924411, + 0.21175787343584254, + -0.08478484873570935, + -0.9736375775732939 + ], + [ + 0.9727064271816255, + 0.0841488649295849, + 0.21624332371340282, + 0.06274064030334967, + -0.9925925204292069, + 0.104037014770322, + 0.22339610241426044, + -0.08763022834077851, + -0.9707806778603807 + ], + [ + 0.9824329253562729, + 0.02116370476408265, + 0.18541209447221785, + 0.011343984758208941, + -0.9984838782282718, + 0.053863335656410764, + 0.18627093489248775, + -0.05081380244469403, + -0.9811835181531486 + ], + [ + 0.9812042238066607, + -0.0450623797539185, + 0.18763702490415385, + -0.04863214521235343, + -0.9987120439743754, + 0.014462630209260618, + 0.18674363613256806, + -0.023315984891033113, + -0.9821319561100474 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0017505288124084473, + -0.00044009461998939514, + -0.010159775614738464, + -0.0007934500463306904, + 0.02793196588754654, + 0.0017573332879692316, + 1.0 + ], + [ + -0.019376009702682495, + 2.3853033781051636e-05, + -0.021349817514419556, + -0.008897935971617699, + 0.049122776836156845, + 0.0062060272321105, + 1.0 + ], + [ + -0.022448807954788208, + -0.0010670237243175507, + -0.002189226448535919, + -0.026173746213316917, + -0.015346210449934006, + -0.0018394850194454193, + 1.0 + ], + [ + -0.022420823574066162, + -0.0038824863731861115, + -0.018406137824058533, + -0.0017812028527259827, + 0.03408701717853546, + -0.02223103865981102, + 1.0 + ], + [ + -0.004277229309082031, + -0.006759863346815109, + -0.014856480062007904, + 0.01817280612885952, + 0.00020177476108074188, + 0.014425164088606834, + 1.0 + ], + [ + 0.0028811097145080566, + -0.003302108496427536, + -0.012774791568517685, + 0.025621596723794937, + -0.0007290448993444443, + 0.020553387701511383, + 1.0 + ], + [ + 0.003210514783859253, + 0.0004876665771007538, + -0.009690826758742332, + 0.02265239506959915, + 0.018730496987700462, + 0.017923470586538315, + 0.0 + ], + [ + 0.000520169734954834, + -0.0003140494227409363, + -0.00042002927511930466, + -0.0019825734198093414, + -0.002042207168415189, + -0.018988516181707382, + 0.0 + ], + [ + 0.0019208192825317383, + -0.0027473457157611847, + 0.024475261569023132, + -0.0259291622787714, + -0.04030095413327217, + -0.029476337134838104, + 0.0 + ], + [ + 0.013660699129104614, + 0.0032017193734645844, + 0.052345748990774155, + -0.10208219289779663, + -0.11698133498430252, + 0.008074941113591194, + 0.0 + ], + [ + 0.019636303186416626, + 0.044971764087677, + 0.045536331832408905, + -0.04485476762056351, + -0.08335341513156891, + 0.14881455898284912, + 0.0 + ], + [ + 0.026667922735214233, + 0.045536383986473083, + -0.010564729571342468, + 0.027268454432487488, + 0.05791737139225006, + 0.07855290174484253, + 0.0 + ], + [ + 0.021508246660232544, + 0.04998369514942169, + -0.012934178113937378, + 0.07363170385360718, + 0.03322054445743561, + 0.010376900434494019, + 0.0 + ], + [ + 0.012552499771118164, + 0.04643741995096207, + -0.022333964705467224, + 0.03167764097452164, + 0.027964487671852112, + -0.0251762717962265, + 0.0 + ], + [ + 0.008655428886413574, + 0.049814194440841675, + -0.024863488972187042, + 0.015213544480502605, + 0.033413492143154144, + -0.09191478043794632, + 0.0 + ], + [ + 0.00590851902961731, + 0.019417226314544678, + -0.014364559203386307, + 0.01171539444476366, + 0.017876334488391876, + -0.0781988576054573, + 0.0 + ], + [ + -0.0002498030662536621, + 0.0034102201461791992, + -0.010868065059185028, + 0.013734094798564911, + 0.013952892273664474, + -0.04795309156179428, + 0.0 + ], + [ + 0.0019131302833557129, + -0.0029837042093276978, + -0.011318441480398178, + -0.03150102496147156, + 0.011522974818944931, + -0.016942208632826805, + 0.0 + ], + [ + 0.0039237141609191895, + -0.009463876485824585, + -0.0013436712324619293, + 0.0007673806976526976, + 0.009465102106332779, + -0.023956673219799995, + 0.0 + ], + [ + 0.004070252180099487, + -0.01410779356956482, + -0.003467841073870659, + 0.0030587641522288322, + 0.01623162440955639, + -0.02022525668144226, + 0.0 + ], + [ + -0.0029259920120239258, + -0.0053740739822387695, + -0.006668511778116226, + -0.0012086250353604555, + 0.013421625830233097, + -0.002456776797771454, + 1.0 + ], + [ + 0.0007692873477935791, + -0.006913542747497559, + -0.0003887023776769638, + 0.02406497299671173, + 0.01983647793531418, + 0.030314583331346512, + 1.0 + ], + [ + -0.0050837695598602295, + -0.004719048738479614, + 0.005381537601351738, + 0.004127819091081619, + -0.006214570254087448, + 0.0326898917555809, + 1.0 + ], + [ + -0.007743269205093384, + -0.003605946898460388, + 0.038481928408145905, + 0.03088904172182083, + -0.09376683831214905, + 0.10810656100511551, + 1.0 + ], + [ + -0.016884803771972656, + -0.027946054935455322, + 0.05433088168501854, + 0.02554820105433464, + -0.12920355796813965, + 0.014146402478218079, + 1.0 + ], + [ + -0.003091156482696533, + -0.03248058259487152, + 0.01875307410955429, + 0.0031624212861061096, + -0.01192396879196167, + -0.0502779558300972, + 1.0 + ], + [ + -0.004450738430023193, + -0.03348592668771744, + -0.007199525833129883, + -0.03828175738453865, + 0.03793196380138397, + -0.052865564823150635, + 1.0 + ], + [ + -0.0028108954429626465, + -0.015605434775352478, + 0.0004980415105819702, + -0.028006333857774734, + -0.00048114359378814697, + -0.06106952577829361, + 1.0 + ], + [ + -0.003615647554397583, + -0.014205463230609894, + -0.005784943699836731, + -0.012089001014828682, + 0.022567957639694214, + -0.033968549221754074, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9468915462493896 + ], + [ + 0.7807356715202332 + ], + [ + 0.7797733545303345 + ], + [ + 0.7797733545303345 + ], + [ + 0.7797733545303345 + ], + [ + 0.7797733545303345 + ], + [ + 0.7797733545303345 + ], + [ + 0.7797733545303345 + ], + [ + 0.7797733545303345 + ], + [ + 0.7797733545303345 + ], + [ + 0.7797733545303345 + ], + [ + 0.7797733545303345 + ], + [ + 0.7797733545303345 + ], + [ + 0.7797733545303345 + ], + [ + 0.84995037317276 + ], + [ + 1.0205672979354858 + ], + [ + 1.0118417739868164 + ], + [ + 1.00800359249115 + ], + [ + 1.0073583126068115 + ], + [ + 1.0067112445831299 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3221425414085388, + -0.037576381117105484, + 0.09316236525774002 + ], + [ + 0.3027665317058563, + -0.03755252808332443, + 0.07181254774332047 + ], + [ + 0.2803177237510681, + -0.03861955180764198, + 0.06962332129478455 + ], + [ + 0.25789690017700195, + -0.042502038180828094, + 0.05121718347072601 + ], + [ + 0.2536196708679199, + -0.049261901527643204, + 0.03636070340871811 + ], + [ + 0.256500780582428, + -0.05256401002407074, + 0.023585911840200424 + ], + [ + 0.25971129536628723, + -0.052076343446969986, + 0.013895085081458092 + ], + [ + 0.26023146510124207, + -0.05239039286971092, + 0.013475055806338787 + ], + [ + 0.2621522843837738, + -0.05513773858547211, + 0.037950318306684494 + ], + [ + 0.2758129835128784, + -0.05193601921200752, + 0.09029606729745865 + ], + [ + 0.29544928669929504, + -0.00696425698697567, + 0.13583239912986755 + ], + [ + 0.3221172094345093, + 0.038572125136852264, + 0.12526766955852509 + ], + [ + 0.3436254560947418, + 0.08855582028627396, + 0.11233349144458771 + ], + [ + 0.35617795586586, + 0.13499324023723602, + 0.08999952673912048 + ], + [ + 0.36483338475227356, + 0.1848074346780777, + 0.06513603776693344 + ], + [ + 0.37074190378189087, + 0.20422466099262238, + 0.050771478563547134 + ], + [ + 0.3704921007156372, + 0.20763488113880157, + 0.039903413504362106 + ], + [ + 0.3724052309989929, + 0.20465117692947388, + 0.028584972023963928 + ], + [ + 0.3763289451599121, + 0.1951873004436493, + 0.027241300791502 + ], + [ + 0.3803991973400116, + 0.18107950687408447, + 0.02377345971763134 + ], + [ + 0.37747320532798767, + 0.1757054328918457, + 0.017104947939515114 + ], + [ + 0.37824249267578125, + 0.16879189014434814, + 0.01671624556183815 + ], + [ + 0.373158723115921, + 0.16407284140586853, + 0.022097783163189888 + ], + [ + 0.36541545391082764, + 0.16046689450740814, + 0.06057971343398094 + ], + [ + 0.348530650138855, + 0.13252083957195282, + 0.11491059511899948 + ], + [ + 0.34543949365615845, + 0.1000402569770813, + 0.13366366922855377 + ], + [ + 0.34098875522613525, + 0.06655433028936386, + 0.1264641433954239 + ], + [ + 0.3381778597831726, + 0.05094889551401138, + 0.12696218490600586 + ], + [ + 0.334562212228775, + 0.03674343228340149, + 0.12117724120616913 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9965995874033516, + 0.004121838864716348, + 0.08229382013154064, + 0.003851226495664883, + -0.9999866436083268, + 0.0034468332469215846, + 0.08230692827428406, + -0.003118180451210137, + -0.9966021505639677 + ], + [ + 0.9993956818128608, + 0.009878101985882232, + 0.03332708020460388, + 0.010064629684540685, + -0.9999345865580878, + -0.005433767957827379, + 0.03327122485152376, + 0.005765908953752093, + -0.9994297273399549 + ], + [ + 0.9987842732267433, + 0.006674349811963586, + 0.04884084980335544, + 0.008221069287147944, + -0.9994687899054949, + -0.031536518904626575, + 0.0486044192918946, + 0.031899703124535474, + -0.9983085792308231 + ], + [ + 0.9997963559679839, + -0.014481805720146774, + 0.01405431948633973, + -0.01399821297825442, + -0.9993265906314243, + -0.03391777248565842, + 0.014536045767526118, + 0.03371412997627823, + -0.9993258031359876 + ], + [ + 0.9998971684485852, + 0.0002020558831212561, + 0.014339166709465584, + 0.00042497116924037395, + -0.9998790857386737, + -0.01554455859455168, + 0.01433429203020032, + 0.015549053855917797, + -0.9997763524889849 + ], + [ + 0.9996665290430915, + 0.021127455878528906, + 0.014847939892092857, + 0.02097448365911099, + -0.99972608534299, + 0.010383897149666433, + 0.015063258152606765, + -0.010069006548909328, + -0.9998358432067468 + ], + [ + 0.9992367004254314, + 0.038751370197472504, + -0.0049343521069440234, + 0.03889180017222994, + -0.9987131478734864, + 0.03254959514333785, + -0.0036666609142648973, + -0.03271665588733525, + -0.9994579410987187 + ], + [ + 0.9998004164868088, + 0.019852715028109955, + -0.002235374424218373, + 0.01991201442494762, + -0.9993303825496009, + 0.03069687597800891, + -0.0016244612474510954, + -0.030735260195437417, + -0.9995262402290269 + ], + [ + 0.999206466926202, + -0.009376707733586443, + 0.03871064201141373, + -0.009555683135157683, + -0.999944481762241, + 0.004440981092471164, + 0.03866685108303226, + -0.004807363656113769, + -0.9992405935919539 + ], + [ + 0.9879086677318715, + -0.016537175948188453, + 0.15415247656751044, + -0.001470048437856493, + -0.995249378589191, + -0.09734738504663971, + 0.155030007346412, + 0.09594371386123761, + -0.9832397981126902 + ], + [ + 0.9610475476536078, + 0.11214325812079257, + 0.2526093838459676, + 0.14262115017797072, + -0.9841159851513718, + -0.10571156649798223, + 0.23674209315391892, + 0.13762128261136752, + -0.9617762545943329 + ], + [ + 0.9586601955437579, + 0.2023711531310281, + 0.2000413603743529, + 0.22030110984248635, + -0.9727988629301896, + -0.07162257523922719, + 0.18010566476980258, + 0.11273104568905579, + -0.9771661377962703 + ], + [ + 0.9616108587107652, + 0.22796210709518583, + 0.15276725479718428, + 0.23151015777290385, + -0.9728162956149096, + -0.005612649467958086, + 0.14733500350395345, + 0.040764355935155226, + -0.9882462567739289 + ], + [ + 0.9707841119007061, + 0.20838974261435353, + 0.11896185629974101, + 0.20801167403245843, + -0.9779999257605773, + 0.01572541505077612, + 0.1196217018244223, + 0.009479471790580198, + -0.9927742885808436 + ], + [ + 0.9891963389219024, + 0.11936746855522451, + 0.08510000302128397, + 0.1184389998876261, + -0.9928341004023001, + 0.015895042748430004, + 0.08638753595932665, + -0.005644158845479259, + -0.9962456208695741 + ], + [ + 0.9968096077721819, + 0.042139418158558074, + 0.06778550944211581, + 0.04085856703264406, + -0.9989612750153921, + 0.02017296506865255, + 0.06856517595038986, + -0.017338986616302857, + -0.9974959529692398 + ], + [ + 0.9984818093705669, + -0.005283480808891684, + 0.054828470584367954, + -0.006976191489140692, + -0.9995034528187577, + 0.03072752114453838, + 0.05463889739357548, + -0.031063364819724302, + -0.9980228746164543 + ], + [ + 0.9987834629100736, + -0.023943258985827418, + 0.043108172850388156, + -0.02390434599620973, + -0.9997132446361744, + -0.0014180061725884612, + 0.04312976303963239, + 0.0003858084364056698, + -0.9990694043418581 + ], + [ + 0.9982873036007543, + -0.04785444371850288, + 0.03365132517343367, + -0.047840125344159476, + -0.9988542471541475, + -0.0012309951976377893, + 0.033671677662252604, + -0.0003809967376988295, + -0.9994328756674434 + ], + [ + 0.9975295223773081, + -0.06799789821656033, + 0.017639099291919105, + -0.06804781644254601, + -0.9976795357448418, + 0.002244690036236252, + 0.0174455341879073, + -0.003439446770560205, + -0.9998418992734858 + ], + [ + 0.9975030606630799, + -0.07049991253881958, + 0.004172085786095923, + -0.07050847533022318, + -0.9975092899261878, + 0.0019420137897525438, + 0.004024782527672949, + -0.0022313321068525888, + -0.9999894110852543 + ], + [ + 0.9990650558552948, + -0.04064362198554989, + -0.014734658487794466, + -0.040237117262210374, + -0.998827778690043, + 0.026908045479762537, + -0.015811026635969592, + -0.026290007778803772, + -0.9995293126905817 + ], + [ + 0.9999253490606462, + -0.00785147982884077, + -0.009362188336173168, + -0.007562705411677201, + -0.9995064264454195, + 0.030491129548826552, + -0.009596967896208614, + -0.030418049884968656, + -0.9994911907807865 + ], + [ + 0.9914274640766713, + 0.10531088717808366, + 0.07733822157423609, + 0.10001877643641614, + -0.9925631242261129, + 0.06938795851342089, + 0.08407037429833955, + -0.0610578534527946, + -0.9945874072684986 + ], + [ + 0.9709014722906958, + 0.13225689732044463, + 0.1996457968877083, + 0.1118433464345931, + -0.9875827269328031, + 0.11032417378924411, + 0.21175787343584254, + -0.08478484873570935, + -0.9736375775732939 + ], + [ + 0.9727064271816255, + 0.0841488649295849, + 0.21624332371340282, + 0.06274064030334967, + -0.9925925204292069, + 0.104037014770322, + 0.22339610241426044, + -0.08763022834077851, + -0.9707806778603807 + ], + [ + 0.9824329253562729, + 0.02116370476408265, + 0.18541209447221785, + 0.011343984758208941, + -0.9984838782282718, + 0.053863335656410764, + 0.18627093489248775, + -0.05081380244469403, + -0.9811835181531486 + ], + [ + 0.9812042238066607, + -0.0450623797539185, + 0.18763702490415385, + -0.04863214521235343, + -0.9987120439743754, + 0.014462630209260618, + 0.18674363613256806, + -0.023315984891033113, + -0.9821319561100474 + ], + [ + 0.982936636035332, + -0.08147965231562487, + 0.1649140254740938, + -0.08225833363231805, + -0.9966087989043981, + -0.002113881351194883, + 0.16452700716775784, + -0.011487741503775288, + -0.9863056806627258 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005491.json b/json/chunk-0005/episode_0005491.json new file mode 100644 index 0000000000000000000000000000000000000000..e36331ee3d9bb1bdb5338c30da1615dcbcd98a11 --- /dev/null +++ b/json/chunk-0005/episode_0005491.json @@ -0,0 +1,2182 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 35, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMoved the bear doll to the right side of the table." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005491.mp4", + "start": 0, + "end": 35, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.4289022386074066, + -0.024369502440094948, + 0.10167764872312546, + -0.2085677534341812, + 0.00476516829803586, + 1.5365500450134277, + 0.0, + 0.9994885921478271 + ], + [ + 0.4254058301448822, + -0.024617375805974007, + 0.08223329484462738, + -0.15930041670799255, + 0.01126263476908207, + 1.541942834854126, + 0.0, + 0.9994885921478271 + ], + [ + 0.41914910078048706, + -0.021289918571710587, + 0.07281740754842758, + -0.14076706767082214, + 0.02748347632586956, + 1.5472385883331299, + 0.0, + 0.9994885921478271 + ], + [ + 0.4080734848976135, + -0.0089270556345582, + 0.08454758673906326, + -0.1680140197277069, + 0.04514673724770546, + 1.5884560346603394, + 0.0, + 0.9994885921478271 + ], + [ + 0.3933013677597046, + 0.005776775069534779, + 0.09751467406749725, + -0.18253090977668762, + 0.05367766320705414, + 1.61531662940979, + 0.0, + 0.9994885921478271 + ], + [ + 0.3654065728187561, + 0.03196999430656433, + 0.1104448214173317, + -0.19779881834983826, + 0.03834152966737747, + 1.6822971105575562, + 0.0, + 0.9994885921478271 + ], + [ + 0.33743053674697876, + 0.05384617671370506, + 0.11461799591779709, + -0.18573619425296783, + 0.0512322373688221, + 1.7587029933929443, + 0.0, + 0.9994885921478271 + ], + [ + 0.3030999004840851, + 0.08317974209785461, + 0.10769078135490417, + -0.16697192192077637, + 0.05002941936254501, + 1.8772673606872559, + 0.0, + 0.9994885921478271 + ], + [ + 0.28205209970474243, + 0.0994289368391037, + 0.09638851135969162, + -0.1479179412126541, + 0.04566492140293121, + 1.961531639099121, + 0.0, + 0.9994885921478271 + ], + [ + 0.2684113383293152, + 0.12667034566402435, + 0.08513351529836655, + -0.16811791062355042, + 0.035634588450193405, + 2.1030502319335938, + 0.0, + 0.9994885921478271 + ], + [ + 0.2556850016117096, + 0.15347148478031158, + 0.07410731911659241, + -0.14809095859527588, + 0.014576752670109272, + 2.2161741256713867, + 0.0, + 0.9994885921478271 + ], + [ + 0.24177539348602295, + 0.1763930469751358, + 0.07295677810907364, + -0.1594018042087555, + 0.0016874242573976517, + 2.327043294906616, + 0.0, + 0.9994885921478271 + ], + [ + 0.22301951050758362, + 0.19640037417411804, + 0.0721978098154068, + -0.15356145799160004, + -0.023220054805278778, + 2.4516050815582275, + 0.0, + 0.9994885921478271 + ], + [ + 0.20620718598365784, + 0.20834647119045258, + 0.07055089622735977, + -0.13711586594581604, + -0.03244445100426674, + 2.5646588802337646, + 0.0, + 0.9994885921478271 + ], + [ + 0.2036154568195343, + 0.2095319777727127, + 0.05452517047524452, + -0.07690117508172989, + -0.061966028064489365, + 2.598090171813965, + 0.0, + 0.9994885921478271 + ], + [ + 0.2103295773267746, + 0.2050863802433014, + 0.03619905561208725, + -0.02994040958583355, + -0.01844029501080513, + 2.5664749145507812, + 0.0, + 0.9994885921478271 + ], + [ + 0.21819303929805756, + 0.20096231997013092, + 0.027239006012678146, + -0.029015855863690376, + -0.0027796367648988962, + 2.5369551181793213, + 0.0, + 0.9994885921478271 + ], + [ + 0.22470226883888245, + 0.19663725793361664, + 0.027596736326813698, + -0.0348518043756485, + 0.020494870841503143, + 2.511025905609131, + 0.0, + 0.9994885921478271 + ], + [ + 0.23295575380325317, + 0.1926373839378357, + 0.029515808448195457, + -0.04636865109205246, + 0.035052623599767685, + 2.4754903316497803, + 0.0, + 0.9453431367874146 + ], + [ + 0.24361497163772583, + 0.18923531472682953, + 0.0335659384727478, + -0.07148320227861404, + 0.010508115403354168, + 2.437779426574707, + 0.0, + 0.684196949005127 + ], + [ + 0.24445560574531555, + 0.18938569724559784, + 0.03364294394850731, + -0.07868994772434235, + -0.0003579827316571027, + 2.4349558353424072, + 0.0, + 0.5373842120170593 + ], + [ + 0.24590332806110382, + 0.1882258802652359, + 0.03551984950900078, + -0.08212689310312271, + 0.012316503562033176, + 2.4382011890411377, + 0.0, + 0.5110665559768677 + ], + [ + 0.25562211871147156, + 0.1778097152709961, + 0.06331910938024521, + -0.1552085429430008, + 0.04492336884140968, + 2.3926708698272705, + 0.0, + 0.5110665559768677 + ], + [ + 0.26150357723236084, + 0.15277153253555298, + 0.08185499161481857, + -0.17685796320438385, + 0.10261545330286026, + 2.3258581161499023, + 0.0, + 0.5110665559768677 + ], + [ + 0.2620982825756073, + 0.11853630095720291, + 0.1061614528298378, + -0.24388711154460907, + 0.13679710030555725, + 2.2248175144195557, + 0.0, + 0.5110665559768677 + ], + [ + 0.26550063490867615, + 0.06081438064575195, + 0.10505547374486923, + -0.24636363983154297, + 0.05886281654238701, + 2.0418474674224854, + 0.0, + 0.5110665559768677 + ], + [ + 0.2638017535209656, + 0.017728447914123535, + 0.09688462316989899, + -0.22740431129932404, + 0.09217344224452972, + 1.8692126274108887, + 0.0, + 0.5100988745689392 + ], + [ + 0.26594817638397217, + -0.035968802869319916, + 0.08090370893478394, + -0.19940876960754395, + 0.07881300151348114, + 1.6831353902816772, + 0.0, + 0.5100988745689392 + ], + [ + 0.26374292373657227, + -0.05939534679055214, + 0.056618206202983856, + -0.1332608163356781, + 0.10590153932571411, + 1.5905505418777466, + 0.0, + 0.5100988745689392 + ], + [ + 0.2674427032470703, + -0.08105982840061188, + 0.035681478679180145, + -0.07742641121149063, + 0.10202576220035553, + 1.5320359468460083, + 0.0, + 0.5100988745689392 + ], + [ + 0.26812291145324707, + -0.08418938517570496, + 0.03332524374127388, + -0.065233014523983, + 0.12389907240867615, + 1.5384999513626099, + 0.0, + 0.5928986668586731 + ], + [ + 0.27098560333251953, + -0.0790325254201889, + 0.036075983196496964, + -0.05701367184519768, + 0.12517981231212616, + 1.537140965461731, + 0.0, + 0.8956556916236877 + ], + [ + 0.2771225869655609, + -0.07482654601335526, + 0.04780517518520355, + -0.05414720997214317, + 0.12482231855392456, + 1.5373483896255493, + 0.0, + 1.0149952173233032 + ], + [ + 0.27623531222343445, + -0.07246336340904236, + 0.07046811282634735, + -0.08674650639295578, + 0.11137809604406357, + 1.5360685586929321, + 0.0, + 1.0092895030975342 + ], + [ + 0.2718091309070587, + -0.07666345685720444, + 0.09003570675849915, + -0.126584991812706, + 0.10231243818998337, + 1.5193679332733154, + 0.0, + 1.003452181816101 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9453431367874146 + ], + [ + 0.684196949005127 + ], + [ + 0.5373842120170593 + ], + [ + 0.5110665559768677 + ], + [ + 0.5110665559768677 + ], + [ + 0.5110665559768677 + ], + [ + 0.5110665559768677 + ], + [ + 0.5110665559768677 + ], + [ + 0.5100988745689392 + ], + [ + 0.5100988745689392 + ], + [ + 0.5100988745689392 + ], + [ + 0.5100988745689392 + ], + [ + 0.5928986668586731 + ], + [ + 0.8956556916236877 + ], + [ + 1.0149952173233032 + ], + [ + 1.0092895030975342 + ], + [ + 1.003452181816101 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.4289022386074066, + -0.024369502440094948, + 0.10167764872312546 + ], + [ + 0.4254058301448822, + -0.024617375805974007, + 0.08223329484462738 + ], + [ + 0.41914910078048706, + -0.021289918571710587, + 0.07281740754842758 + ], + [ + 0.4080734848976135, + -0.0089270556345582, + 0.08454758673906326 + ], + [ + 0.3933013677597046, + 0.005776775069534779, + 0.09751467406749725 + ], + [ + 0.3654065728187561, + 0.03196999430656433, + 0.1104448214173317 + ], + [ + 0.33743053674697876, + 0.05384617671370506, + 0.11461799591779709 + ], + [ + 0.3030999004840851, + 0.08317974209785461, + 0.10769078135490417 + ], + [ + 0.28205209970474243, + 0.0994289368391037, + 0.09638851135969162 + ], + [ + 0.2684113383293152, + 0.12667034566402435, + 0.08513351529836655 + ], + [ + 0.2556850016117096, + 0.15347148478031158, + 0.07410731911659241 + ], + [ + 0.24177539348602295, + 0.1763930469751358, + 0.07295677810907364 + ], + [ + 0.22301951050758362, + 0.19640037417411804, + 0.0721978098154068 + ], + [ + 0.20620718598365784, + 0.20834647119045258, + 0.07055089622735977 + ], + [ + 0.2036154568195343, + 0.2095319777727127, + 0.05452517047524452 + ], + [ + 0.2103295773267746, + 0.2050863802433014, + 0.03619905561208725 + ], + [ + 0.21819303929805756, + 0.20096231997013092, + 0.027239006012678146 + ], + [ + 0.22470226883888245, + 0.19663725793361664, + 0.027596736326813698 + ], + [ + 0.23295575380325317, + 0.1926373839378357, + 0.029515808448195457 + ], + [ + 0.24361497163772583, + 0.18923531472682953, + 0.0335659384727478 + ], + [ + 0.24445560574531555, + 0.18938569724559784, + 0.03364294394850731 + ], + [ + 0.24590332806110382, + 0.1882258802652359, + 0.03551984950900078 + ], + [ + 0.25562211871147156, + 0.1778097152709961, + 0.06331910938024521 + ], + [ + 0.26150357723236084, + 0.15277153253555298, + 0.08185499161481857 + ], + [ + 0.2620982825756073, + 0.11853630095720291, + 0.1061614528298378 + ], + [ + 0.26550063490867615, + 0.06081438064575195, + 0.10505547374486923 + ], + [ + 0.2638017535209656, + 0.017728447914123535, + 0.09688462316989899 + ], + [ + 0.26594817638397217, + -0.035968802869319916, + 0.08090370893478394 + ], + [ + 0.26374292373657227, + -0.05939534679055214, + 0.056618206202983856 + ], + [ + 0.2674427032470703, + -0.08105982840061188, + 0.035681478679180145 + ], + [ + 0.26812291145324707, + -0.08418938517570496, + 0.03332524374127388 + ], + [ + 0.27098560333251953, + -0.0790325254201889, + 0.036075983196496964 + ], + [ + 0.2771225869655609, + -0.07482654601335526, + 0.04780517518520355 + ], + [ + 0.27623531222343445, + -0.07246336340904236, + 0.07046811282634735 + ], + [ + 0.2718091309070587, + -0.07666345685720444, + 0.09003570675849915 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.03423919938734454, + 0.9777886209553892, + 0.20677787588490307, + 0.9994023066654747, + -0.032511475849627214, + -0.011748760351963775, + -0.004765150264412765, + 0.20705655427500436, + -0.9783173701180616 + ], + [ + 0.028847658854652625, + 0.9869790755181688, + 0.1582406934638067, + 0.9995203704777383, + -0.02669842827613883, + -0.015691492205284582, + -0.011262396665462429, + 0.15861745936965677, + -0.9872758783665613 + ], + [ + 0.023546663875282925, + 0.9899247586623241, + 0.13962280189024942, + 0.9993449871343145, + -0.01946811467925258, + -0.030505560154702634, + -0.027480016554965077, + 0.14024965132995826, + -0.9897347543619776 + ], + [ + -0.017640796708909834, + 0.9856318105720984, + 0.16798433343571587, + 0.9988252894385731, + 0.02495604010665753, + -0.04153597525212696, + -0.04513140225414364, + 0.16705427276954563, + -0.9849142229047221 + ], + [ + -0.04444149570038308, + 0.9819795975683887, + 0.18368729792595367, + 0.9975702622622318, + 0.05349543343781632, + -0.0446297036889346, + -0.05365189008762662, + 0.18125757518163318, + -0.9819710617575754 + ], + [ + -0.11118811241446219, + 0.9735746533328239, + 0.19947330158590443, + 0.993059842603018, + 0.11658622599652663, + -0.015485506680641706, + -0.03833213621725644, + 0.19636712121880046, + -0.9797808944030615 + ], + [ + -0.1865577194174527, + 0.9637341658285281, + 0.19082105476217653, + 0.9811084398781829, + 0.19288037597400687, + -0.01494622908707946, + -0.05120982840780379, + 0.18442781292125202, + -0.9815110469554209 + ], + [ + -0.3013185058309892, + 0.937637273992809, + 0.17333061028887572, + 0.9522112700373492, + 0.30542417551045997, + 0.0031257363315731757, + -0.050008551845048155, + 0.16598920276057041, + -0.9848587357125241 + ], + [ + -0.3804713686960427, + 0.911969994065914, + 0.1534674803532533, + 0.9236653623602639, + 0.3829299988091194, + 0.014384519037136126, + -0.04564905232797181, + 0.1472254934970979, + -0.9880489957922599 + ], + [ + -0.5071545718198812, + 0.8464919546403504, + 0.1620049721809545, + 0.8611184319136513, + 0.5054587549748703, + 0.0546488173506836, + -0.03562704732036011, + 0.1672208651706271, + -0.9852755430593108 + ], + [ + -0.6014363918193072, + 0.7888349024467445, + 0.12654549884214886, + 0.7987877064189426, + 0.5966347661270198, + 0.07723442187601245, + -0.014576236460017551, + 0.1475345807951201, + -0.9889494834420361 + ], + [ + -0.6861952900878174, + 0.7180107655037985, + 0.11660430730442821, + 0.727415408458863, + 0.6776917839811822, + 0.1077064039926523, + -0.001687423456602291, + 0.15872739695796712, + -0.9873210045659042 + ], + [ + -0.7710460162893027, + 0.631776339021963, + 0.07966616732592546, + 0.6363560062685351, + 0.7599177080814128, + 0.13257492308220623, + 0.023217968265046983, + 0.1529174103766426, + -0.987966189478843 + ], + [ + -0.8376979891046353, + 0.5440533717295472, + 0.04762360506893287, + 0.5451695203780699, + 0.8278540667220239, + 0.13209026558589457, + 0.03243875923637762, + 0.13661468779570582, + -0.9900930026910029 + ], + [ + -0.8542599552564651, + 0.5196805477832136, + -0.013117053821674572, + 0.5161444103684296, + 0.8509128157252546, + 0.09768483853671764, + 0.06192637960229703, + 0.07667795178705228, + -0.9951309538041182 + ], + [ + -0.8389855995938629, + 0.5441530077631991, + 0.0008172003361894935, + 0.5438411144219502, + 0.8384519357393321, + 0.03514532286460541, + 0.018439249941818857, + 0.029930846918020167, + -0.9993818781948932 + ], + [ + -0.8227050214337082, + 0.5682909722023731, + 0.014206288081099878, + 0.5684617149352414, + 0.8223160546740993, + 0.025447689052400045, + 0.002779633185478375, + 0.029011672452739244, + -0.999575208026314 + ], + [ + -0.8075238562188259, + 0.588667802863617, + 0.037086918302798304, + 0.5894787873320788, + 0.8076240283922794, + 0.01606823104539426, + -0.02049343609496413, + 0.03483743152340926, + -0.9991828523558003 + ], + [ + -0.7857531399880827, + 0.6159848418406344, + 0.05616651690675581, + 0.617546613397441, + 0.786394813086971, + 0.014811422323979462, + -0.0350454459269631, + 0.04632356390085361, + -0.9983115466362711 + ], + [ + -0.7623379934818021, + 0.6449046839632137, + 0.05421007559898004, + 0.6470937855280158, + 0.7609187612575327, + 0.0476683490098395, + -0.010507922019214386, + 0.07141839656985521, + -0.9973910949102306 + ], + [ + -0.7605497696610457, + 0.6472918153475664, + 0.050767643756450584, + 0.6492795389636881, + 0.7581780588285945, + 0.06001759237094373, + 0.00035798272401109735, + 0.07860875838579279, + -0.996905479447983 + ], + [ + -0.7625951063406415, + 0.6438572852920228, + 0.062421950960316934, + 0.6467588539755307, + 0.760735920683639, + 0.05462457126489883, + -0.012316192169807276, + 0.08202838019857883, + -0.9965538902901505 + ], + [ + -0.7316844665308923, + 0.6675805422966509, + 0.137746364686381, + 0.6801625464491293, + 0.7283457553346336, + 0.08301428246909279, + -0.04490826032301773, + 0.15443017915204227, + -0.9869825570504417 + ], + [ + -0.6817285736934418, + 0.7045185666330537, + 0.19723017284181618, + 0.7243984597709624, + 0.6877677033042646, + 0.04714295040654613, + -0.10243545915044608, + 0.1750119297673277, + -0.9792230599550609 + ], + [ + -0.6026991094630363, + 0.7501229723802996, + 0.27215677423097023, + 0.7862294683865081, + 0.6165136047799304, + 0.04188314890173016, + -0.13637084179960063, + 0.23922061246598314, + -0.9613409863717807 + ], + [ + -0.45303721525872326, + 0.857674769842861, + 0.24321034263701918, + 0.8895484530120338, + 0.4529049062860409, + 0.05983891380974174, + -0.058828830810398025, + 0.24345663892575928, + -0.9681260422220102 + ], + [ + -0.2927588219998122, + 0.9250950810426003, + 0.24184987734556965, + 0.9517459544431784, + 0.30627153640049765, + -0.01942637876501814, + -0.09204298095088823, + 0.22449239858325598, + -0.9701191950662613 + ], + [ + -0.11175494194940905, + 0.9722570297708708, + 0.2054923380834627, + 0.9906120299904257, + 0.12537906944503807, + -0.05447839005829595, + -0.07873143583176748, + 0.19747495285787575, + -0.9771412405612855 + ], + [ + -0.019642267912131472, + 0.9906631112542494, + 0.13491027133364855, + 0.994203655726819, + 0.0336195658720026, + -0.1021215732840375, + -0.10570370026965477, + 0.132122385652957, + -0.9855812513226265 + ], + [ + 0.03854916732569452, + 0.9965605077791152, + 0.07335609063689116, + 0.9940527013159356, + -0.03076258364267853, + -0.10446478092696507, + -0.10184885225169307, + 0.07694685037517385, + -0.9918195367668221 + ], + [ + 0.03204323071669363, + 0.9976128399924505, + 0.061170686177564104, + 0.991816838677268, + -0.024170351449429084, + -0.1253600918436222, + -0.12358232026251592, + 0.06468705892996197, + -0.9902237093331612 + ], + [ + 0.033385712570651316, + 0.9980491879308088, + 0.05275616235855747, + 0.9916133759924574, + -0.02648388264183349, + -0.12649710080888926, + -0.12485314072537605, + 0.056536912109401684, + -0.9905631079442352 + ], + [ + 0.03318151780248835, + 0.9982012161038956, + 0.04993314575537263, + 0.9916648255508138, + -0.026658507980602653, + -0.12605632755844567, + -0.12449843630181526, + 0.05369968455170182, + -0.9907656045894259 + ], + [ + 0.034505653590711394, + 0.9959735470585183, + 0.08274088124954446, + 0.9932046567364039, + -0.024966430168689657, + -0.11367140010466042, + -0.11114796312753408, + 0.08610093451470396, + -0.990067047915592 + ], + [ + 0.05113690748917499, + 0.9913500753750895, + 0.12087201804490472, + 0.9934554121516792, + -0.0381173314495451, + -0.1076727129299838, + -0.1021340333041868, + 0.12558701006461512, + -0.9868113001704274 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.003496408462524414, + -0.00024787336587905884, + -0.019444353878498077, + 0.04926733672618866, + 0.006497466471046209, + 0.005392789840698242, + 1.0 + ], + [ + -0.006256729364395142, + 0.00332745723426342, + -0.009415887296199799, + 0.01853334903717041, + 0.01622084155678749, + 0.005295753479003906, + 1.0 + ], + [ + -0.011075615882873535, + 0.012362862937152386, + 0.011730179190635681, + -0.027246952056884766, + 0.0176632609218359, + 0.04121744632720947, + 1.0 + ], + [ + -0.014772117137908936, + 0.01470383070409298, + 0.01296708732843399, + -0.014516890048980713, + 0.008530925959348679, + 0.026860594749450684, + 1.0 + ], + [ + -0.027894794940948486, + 0.026193220168352127, + 0.012930147349834442, + -0.015267908573150635, + -0.015336133539676666, + 0.06698048114776611, + 1.0 + ], + [ + -0.027976036071777344, + 0.021876182407140732, + 0.004173174500465393, + 0.012062624096870422, + 0.012890707701444626, + 0.07640588283538818, + 1.0 + ], + [ + -0.03433063626289368, + 0.02933356538414955, + -0.006927214562892914, + 0.018764272332191467, + -0.0012028180062770844, + 0.11856436729431152, + 1.0 + ], + [ + -0.02104780077934265, + 0.016249194741249084, + -0.011302269995212555, + 0.019053980708122253, + -0.0043644979596138, + 0.08426427841186523, + 1.0 + ], + [ + -0.013640761375427246, + 0.027241408824920654, + -0.011254996061325073, + -0.0201999694108963, + -0.010030332952737808, + 0.14151859283447266, + 1.0 + ], + [ + -0.01272633671760559, + 0.02680113911628723, + -0.01102619618177414, + 0.020026952028274536, + -0.021057836711406708, + 0.11312389373779297, + 1.0 + ], + [ + -0.013909608125686646, + 0.02292156219482422, + -0.0011505410075187683, + -0.011310845613479614, + -0.01288932841271162, + 0.11086916923522949, + 1.0 + ], + [ + -0.01875588297843933, + 0.02000732719898224, + -0.0007589682936668396, + 0.0058403462171554565, + -0.02490747906267643, + 0.12456178665161133, + 1.0 + ], + [ + -0.01681232452392578, + 0.011946097016334534, + -0.0016469135880470276, + 0.016445592045783997, + -0.00922439619898796, + 0.11305379867553711, + 1.0 + ], + [ + -0.002591729164123535, + 0.0011855065822601318, + -0.01602572575211525, + 0.06021469086408615, + -0.029521577060222626, + 0.033431291580200195, + 1.0 + ], + [ + 0.006714120507240295, + -0.004445597529411316, + -0.018326114863157272, + 0.04696076363325119, + 0.043525733053684235, + -0.031615257263183594, + 1.0 + ], + [ + 0.007863461971282959, + -0.004124060273170471, + -0.008960049599409103, + 0.0009245537221431732, + 0.015660658478736877, + -0.02951979637145996, + 1.0 + ], + [ + 0.00650922954082489, + -0.004325062036514282, + 0.00035773031413555145, + -0.005835948511958122, + 0.023274507373571396, + -0.02592921257019043, + 1.0 + ], + [ + 0.008253484964370728, + -0.003999873995780945, + 0.0019190721213817596, + -0.011516846716403961, + 0.014557752758264542, + -0.035535573959350586, + 0.0 + ], + [ + 0.010659217834472656, + -0.0034020692110061646, + 0.004050130024552345, + -0.025114551186561584, + -0.024544507265090942, + -0.03771090507507324, + 0.0 + ], + [ + 0.0008406341075897217, + 0.00015038251876831055, + 7.700547575950623e-05, + -0.007206745445728302, + -0.01086609810590744, + -0.0028235912322998047, + 0.0 + ], + [ + 0.001447722315788269, + -0.0011598169803619385, + 0.0018769055604934692, + -0.003436945378780365, + 0.012674486264586449, + 0.0032453536987304688, + 0.0 + ], + [ + 0.009718790650367737, + -0.010416164994239807, + 0.02779925987124443, + -0.07308164983987808, + 0.03260686621069908, + -0.04553031921386719, + 0.0 + ], + [ + 0.005881458520889282, + -0.025038182735443115, + 0.018535882234573364, + -0.021649420261383057, + 0.05769208446145058, + -0.06681275367736816, + 0.0 + ], + [ + 0.00059470534324646, + -0.03423523157835007, + 0.024306461215019226, + -0.06702914834022522, + 0.03418164700269699, + -0.10104060173034668, + 0.0 + ], + [ + 0.0034023523330688477, + -0.05772192031145096, + -0.001105979084968567, + -0.002476528286933899, + -0.07793428003787994, + -0.1829700469970703, + 0.0 + ], + [ + -0.0016988813877105713, + -0.04308593273162842, + -0.008170850574970245, + 0.018959328532218933, + 0.033310625702142715, + -0.17263484001159668, + 0.0 + ], + [ + 0.002146422863006592, + -0.05369725078344345, + -0.01598091423511505, + 0.02799554169178009, + -0.013360440731048584, + -0.18607723712921143, + 0.0 + ], + [ + -0.0022052526473999023, + -0.023426543921232224, + -0.02428550273180008, + 0.06614795327186584, + 0.02708853781223297, + -0.09258484840393066, + 0.0 + ], + [ + 0.003699779510498047, + -0.021664481610059738, + -0.02093672752380371, + 0.05583440512418747, + -0.0038757771253585815, + -0.05851459503173828, + 0.0 + ], + [ + 0.0006802082061767578, + -0.0031295567750930786, + -0.0023562349379062653, + 0.01219339668750763, + 0.021873310208320618, + 0.0064640045166015625, + 1.0 + ], + [ + 0.002862691879272461, + 0.005156859755516052, + 0.0027507394552230835, + 0.008219342678785324, + 0.0012807399034500122, + -0.0013589859008789062, + 1.0 + ], + [ + 0.006136983633041382, + 0.004205979406833649, + 0.011729191988706589, + 0.0028664618730545044, + -0.0003574937582015991, + 0.00020742416381835938, + 1.0 + ], + [ + -0.0008872747421264648, + 0.0023631826043128967, + 0.0226629376411438, + -0.03259929642081261, + -0.013444222509860992, + -0.0012798309326171875, + 1.0 + ], + [ + -0.004426181316375732, + -0.004200093448162079, + 0.019567593932151794, + -0.039838485419750214, + -0.0090656578540802, + -0.0167006254196167, + 1.0 + ], + [ + -0.0026016533374786377, + 0.004556111991405487, + 0.02085377275943756, + -0.03535798192024231, + 0.0005208775401115417, + -0.008373498916625977, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9453431367874146 + ], + [ + 0.684196949005127 + ], + [ + 0.5373842120170593 + ], + [ + 0.5110665559768677 + ], + [ + 0.5110665559768677 + ], + [ + 0.5110665559768677 + ], + [ + 0.5110665559768677 + ], + [ + 0.5110665559768677 + ], + [ + 0.5100988745689392 + ], + [ + 0.5100988745689392 + ], + [ + 0.5100988745689392 + ], + [ + 0.5100988745689392 + ], + [ + 0.5928986668586731 + ], + [ + 0.8956556916236877 + ], + [ + 1.0149952173233032 + ], + [ + 1.0092895030975342 + ], + [ + 1.003452181816101 + ], + [ + 1.0014774799346924 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.4254058301448822, + -0.024617375805974007, + 0.08223329484462738 + ], + [ + 0.41914910078048706, + -0.021289918571710587, + 0.07281740754842758 + ], + [ + 0.4080734848976135, + -0.0089270556345582, + 0.08454758673906326 + ], + [ + 0.3933013677597046, + 0.005776775069534779, + 0.09751467406749725 + ], + [ + 0.3654065728187561, + 0.03196999430656433, + 0.1104448214173317 + ], + [ + 0.33743053674697876, + 0.05384617671370506, + 0.11461799591779709 + ], + [ + 0.3030999004840851, + 0.08317974209785461, + 0.10769078135490417 + ], + [ + 0.28205209970474243, + 0.0994289368391037, + 0.09638851135969162 + ], + [ + 0.2684113383293152, + 0.12667034566402435, + 0.08513351529836655 + ], + [ + 0.2556850016117096, + 0.15347148478031158, + 0.07410731911659241 + ], + [ + 0.24177539348602295, + 0.1763930469751358, + 0.07295677810907364 + ], + [ + 0.22301951050758362, + 0.19640037417411804, + 0.0721978098154068 + ], + [ + 0.20620718598365784, + 0.20834647119045258, + 0.07055089622735977 + ], + [ + 0.2036154568195343, + 0.2095319777727127, + 0.05452517047524452 + ], + [ + 0.2103295773267746, + 0.2050863802433014, + 0.03619905561208725 + ], + [ + 0.21819303929805756, + 0.20096231997013092, + 0.027239006012678146 + ], + [ + 0.22470226883888245, + 0.19663725793361664, + 0.027596736326813698 + ], + [ + 0.23295575380325317, + 0.1926373839378357, + 0.029515808448195457 + ], + [ + 0.24361497163772583, + 0.18923531472682953, + 0.0335659384727478 + ], + [ + 0.24445560574531555, + 0.18938569724559784, + 0.03364294394850731 + ], + [ + 0.24590332806110382, + 0.1882258802652359, + 0.03551984950900078 + ], + [ + 0.25562211871147156, + 0.1778097152709961, + 0.06331910938024521 + ], + [ + 0.26150357723236084, + 0.15277153253555298, + 0.08185499161481857 + ], + [ + 0.2620982825756073, + 0.11853630095720291, + 0.1061614528298378 + ], + [ + 0.26550063490867615, + 0.06081438064575195, + 0.10505547374486923 + ], + [ + 0.2638017535209656, + 0.017728447914123535, + 0.09688462316989899 + ], + [ + 0.26594817638397217, + -0.035968802869319916, + 0.08090370893478394 + ], + [ + 0.26374292373657227, + -0.05939534679055214, + 0.056618206202983856 + ], + [ + 0.2674427032470703, + -0.08105982840061188, + 0.035681478679180145 + ], + [ + 0.26812291145324707, + -0.08418938517570496, + 0.03332524374127388 + ], + [ + 0.27098560333251953, + -0.0790325254201889, + 0.036075983196496964 + ], + [ + 0.2771225869655609, + -0.07482654601335526, + 0.04780517518520355 + ], + [ + 0.27623531222343445, + -0.07246336340904236, + 0.07046811282634735 + ], + [ + 0.2718091309070587, + -0.07666345685720444, + 0.09003570675849915 + ], + [ + 0.2692074775695801, + -0.07210734486579895, + 0.1108894795179367 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.028847658854652625, + 0.9869790755181688, + 0.1582406934638067, + 0.9995203704777383, + -0.02669842827613883, + -0.015691492205284582, + -0.011262396665462429, + 0.15861745936965677, + -0.9872758783665613 + ], + [ + 0.023546663875282925, + 0.9899247586623241, + 0.13962280189024942, + 0.9993449871343145, + -0.01946811467925258, + -0.030505560154702634, + -0.027480016554965077, + 0.14024965132995826, + -0.9897347543619776 + ], + [ + -0.017640796708909834, + 0.9856318105720984, + 0.16798433343571587, + 0.9988252894385731, + 0.02495604010665753, + -0.04153597525212696, + -0.04513140225414364, + 0.16705427276954563, + -0.9849142229047221 + ], + [ + -0.04444149570038308, + 0.9819795975683887, + 0.18368729792595367, + 0.9975702622622318, + 0.05349543343781632, + -0.0446297036889346, + -0.05365189008762662, + 0.18125757518163318, + -0.9819710617575754 + ], + [ + -0.11118811241446219, + 0.9735746533328239, + 0.19947330158590443, + 0.993059842603018, + 0.11658622599652663, + -0.015485506680641706, + -0.03833213621725644, + 0.19636712121880046, + -0.9797808944030615 + ], + [ + -0.1865577194174527, + 0.9637341658285281, + 0.19082105476217653, + 0.9811084398781829, + 0.19288037597400687, + -0.01494622908707946, + -0.05120982840780379, + 0.18442781292125202, + -0.9815110469554209 + ], + [ + -0.3013185058309892, + 0.937637273992809, + 0.17333061028887572, + 0.9522112700373492, + 0.30542417551045997, + 0.0031257363315731757, + -0.050008551845048155, + 0.16598920276057041, + -0.9848587357125241 + ], + [ + -0.3804713686960427, + 0.911969994065914, + 0.1534674803532533, + 0.9236653623602639, + 0.3829299988091194, + 0.014384519037136126, + -0.04564905232797181, + 0.1472254934970979, + -0.9880489957922599 + ], + [ + -0.5071545718198812, + 0.8464919546403504, + 0.1620049721809545, + 0.8611184319136513, + 0.5054587549748703, + 0.0546488173506836, + -0.03562704732036011, + 0.1672208651706271, + -0.9852755430593108 + ], + [ + -0.6014363918193072, + 0.7888349024467445, + 0.12654549884214886, + 0.7987877064189426, + 0.5966347661270198, + 0.07723442187601245, + -0.014576236460017551, + 0.1475345807951201, + -0.9889494834420361 + ], + [ + -0.6861952900878174, + 0.7180107655037985, + 0.11660430730442821, + 0.727415408458863, + 0.6776917839811822, + 0.1077064039926523, + -0.001687423456602291, + 0.15872739695796712, + -0.9873210045659042 + ], + [ + -0.7710460162893027, + 0.631776339021963, + 0.07966616732592546, + 0.6363560062685351, + 0.7599177080814128, + 0.13257492308220623, + 0.023217968265046983, + 0.1529174103766426, + -0.987966189478843 + ], + [ + -0.8376979891046353, + 0.5440533717295472, + 0.04762360506893287, + 0.5451695203780699, + 0.8278540667220239, + 0.13209026558589457, + 0.03243875923637762, + 0.13661468779570582, + -0.9900930026910029 + ], + [ + -0.8542599552564651, + 0.5196805477832136, + -0.013117053821674572, + 0.5161444103684296, + 0.8509128157252546, + 0.09768483853671764, + 0.06192637960229703, + 0.07667795178705228, + -0.9951309538041182 + ], + [ + -0.8389855995938629, + 0.5441530077631991, + 0.0008172003361894935, + 0.5438411144219502, + 0.8384519357393321, + 0.03514532286460541, + 0.018439249941818857, + 0.029930846918020167, + -0.9993818781948932 + ], + [ + -0.8227050214337082, + 0.5682909722023731, + 0.014206288081099878, + 0.5684617149352414, + 0.8223160546740993, + 0.025447689052400045, + 0.002779633185478375, + 0.029011672452739244, + -0.999575208026314 + ], + [ + -0.8075238562188259, + 0.588667802863617, + 0.037086918302798304, + 0.5894787873320788, + 0.8076240283922794, + 0.01606823104539426, + -0.02049343609496413, + 0.03483743152340926, + -0.9991828523558003 + ], + [ + -0.7857531399880827, + 0.6159848418406344, + 0.05616651690675581, + 0.617546613397441, + 0.786394813086971, + 0.014811422323979462, + -0.0350454459269631, + 0.04632356390085361, + -0.9983115466362711 + ], + [ + -0.7623379934818021, + 0.6449046839632137, + 0.05421007559898004, + 0.6470937855280158, + 0.7609187612575327, + 0.0476683490098395, + -0.010507922019214386, + 0.07141839656985521, + -0.9973910949102306 + ], + [ + -0.7605497696610457, + 0.6472918153475664, + 0.050767643756450584, + 0.6492795389636881, + 0.7581780588285945, + 0.06001759237094373, + 0.00035798272401109735, + 0.07860875838579279, + -0.996905479447983 + ], + [ + -0.7625951063406415, + 0.6438572852920228, + 0.062421950960316934, + 0.6467588539755307, + 0.760735920683639, + 0.05462457126489883, + -0.012316192169807276, + 0.08202838019857883, + -0.9965538902901505 + ], + [ + -0.7316844665308923, + 0.6675805422966509, + 0.137746364686381, + 0.6801625464491293, + 0.7283457553346336, + 0.08301428246909279, + -0.04490826032301773, + 0.15443017915204227, + -0.9869825570504417 + ], + [ + -0.6817285736934418, + 0.7045185666330537, + 0.19723017284181618, + 0.7243984597709624, + 0.6877677033042646, + 0.04714295040654613, + -0.10243545915044608, + 0.1750119297673277, + -0.9792230599550609 + ], + [ + -0.6026991094630363, + 0.7501229723802996, + 0.27215677423097023, + 0.7862294683865081, + 0.6165136047799304, + 0.04188314890173016, + -0.13637084179960063, + 0.23922061246598314, + -0.9613409863717807 + ], + [ + -0.45303721525872326, + 0.857674769842861, + 0.24321034263701918, + 0.8895484530120338, + 0.4529049062860409, + 0.05983891380974174, + -0.058828830810398025, + 0.24345663892575928, + -0.9681260422220102 + ], + [ + -0.2927588219998122, + 0.9250950810426003, + 0.24184987734556965, + 0.9517459544431784, + 0.30627153640049765, + -0.01942637876501814, + -0.09204298095088823, + 0.22449239858325598, + -0.9701191950662613 + ], + [ + -0.11175494194940905, + 0.9722570297708708, + 0.2054923380834627, + 0.9906120299904257, + 0.12537906944503807, + -0.05447839005829595, + -0.07873143583176748, + 0.19747495285787575, + -0.9771412405612855 + ], + [ + -0.019642267912131472, + 0.9906631112542494, + 0.13491027133364855, + 0.994203655726819, + 0.0336195658720026, + -0.1021215732840375, + -0.10570370026965477, + 0.132122385652957, + -0.9855812513226265 + ], + [ + 0.03854916732569452, + 0.9965605077791152, + 0.07335609063689116, + 0.9940527013159356, + -0.03076258364267853, + -0.10446478092696507, + -0.10184885225169307, + 0.07694685037517385, + -0.9918195367668221 + ], + [ + 0.03204323071669363, + 0.9976128399924505, + 0.061170686177564104, + 0.991816838677268, + -0.024170351449429084, + -0.1253600918436222, + -0.12358232026251592, + 0.06468705892996197, + -0.9902237093331612 + ], + [ + 0.033385712570651316, + 0.9980491879308088, + 0.05275616235855747, + 0.9916133759924574, + -0.02648388264183349, + -0.12649710080888926, + -0.12485314072537605, + 0.056536912109401684, + -0.9905631079442352 + ], + [ + 0.03318151780248835, + 0.9982012161038956, + 0.04993314575537263, + 0.9916648255508138, + -0.026658507980602653, + -0.12605632755844567, + -0.12449843630181526, + 0.05369968455170182, + -0.9907656045894259 + ], + [ + 0.034505653590711394, + 0.9959735470585183, + 0.08274088124954446, + 0.9932046567364039, + -0.024966430168689657, + -0.11367140010466042, + -0.11114796312753408, + 0.08610093451470396, + -0.990067047915592 + ], + [ + 0.05113690748917499, + 0.9913500753750895, + 0.12087201804490472, + 0.9934554121516792, + -0.0381173314495451, + -0.1076727129299838, + -0.1021340333041868, + 0.12558701006461512, + -0.9868113001704274 + ], + [ + 0.05945052777178367, + 0.9861408630279174, + 0.15489297277220393, + 0.9929391552873958, + -0.04246261963504344, + -0.11076443396182059, + -0.10265217311294128, + 0.1603843016017589, + -0.9817023006771997 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005493.json b/json/chunk-0005/episode_0005493.json new file mode 100644 index 0000000000000000000000000000000000000000..4465d56a4ce41ef4097df7c4771a185ad649f59f --- /dev/null +++ b/json/chunk-0005/episode_0005493.json @@ -0,0 +1,2482 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 40, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPlace the vegetable behind the pot near the blue rag." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005493.mp4", + "start": 0, + "end": 40, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.36312153935432434, + 0.09001784026622772, + 0.13184374570846558, + 0.19610470533370972, + -0.07372159510850906, + -1.0456874370574951, + 0.0, + 1.0008161067962646 + ], + [ + 0.36040791869163513, + 0.08865312486886978, + 0.11728084087371826, + 0.15633165836334229, + -0.06730275601148605, + -1.0401026010513306, + 0.0, + 1.0008161067962646 + ], + [ + 0.3475949466228485, + 0.0816875621676445, + 0.11641883105039597, + 0.15959015488624573, + -0.09408243000507355, + -1.0298542976379395, + 0.0, + 1.0008161067962646 + ], + [ + 0.3319934010505676, + 0.06818807125091553, + 0.13108354806900024, + 0.18362367153167725, + -0.2035258710384369, + -0.9979615211486816, + 0.0, + 1.0008161067962646 + ], + [ + 0.3170420527458191, + 0.05937223881483078, + 0.13006791472434998, + 0.17459413409233093, + -0.2407120168209076, + -0.986869215965271, + 0.0, + 1.0008161067962646 + ], + [ + 0.29361599683761597, + 0.03442138433456421, + 0.12507355213165283, + 0.16751950979232788, + -0.2364591658115387, + -1.0075018405914307, + 0.0, + 1.0008161067962646 + ], + [ + 0.27938881516456604, + 0.00883779302239418, + 0.10937568545341492, + 0.13642676174640656, + -0.22161073982715607, + -1.0411311388015747, + 0.0, + 1.0008161067962646 + ], + [ + 0.2717576026916504, + -0.01144195906817913, + 0.0967467650771141, + 0.128794327378273, + -0.19966475665569305, + -1.0842180252075195, + 0.0, + 1.0008161067962646 + ], + [ + 0.26759159564971924, + -0.028959693387150764, + 0.08681105822324753, + 0.14084486663341522, + -0.1888328641653061, + -1.127097487449646, + 0.0, + 1.0008161067962646 + ], + [ + 0.2650505006313324, + -0.04205172881484032, + 0.07176656275987625, + 0.12566934525966644, + -0.15471215546131134, + -1.1472171545028687, + 0.0, + 1.0008161067962646 + ], + [ + 0.26325538754463196, + -0.04126628115773201, + 0.06022806093096733, + 0.1230098083615303, + -0.1337427943944931, + -1.1270701885223389, + 0.0, + 1.0008161067962646 + ], + [ + 0.258770614862442, + -0.038417838513851166, + 0.0453520305454731, + 0.10064440220594406, + -0.09931669384241104, + -1.1254208087921143, + 0.0, + 1.0008161067962646 + ], + [ + 0.2579001486301422, + -0.03767772391438484, + 0.03310248255729675, + 0.08419407904148102, + -0.08472144603729248, + -1.1184561252593994, + 0.0, + 1.0008161067962646 + ], + [ + 0.2583288550376892, + -0.038499001413583755, + 0.015871578827500343, + 0.05483795702457428, + -0.07097628712654114, + -1.1178547143936157, + 0.0, + 0.9430103898048401 + ], + [ + 0.26111263036727905, + -0.035746652632951736, + 0.0126072708517313, + 0.0699029192328453, + -0.058387093245983124, + -1.1101670265197754, + 0.0, + 0.729983389377594 + ], + [ + 0.26258575916290283, + -0.03595876321196556, + 0.012982399202883244, + 0.0858130231499672, + -0.04857715591788292, + -1.1124857664108276, + 0.0, + 0.41932523250579834 + ], + [ + 0.2622748017311096, + -0.03474810719490051, + 0.012944456189870834, + 0.08611536771059036, + -0.04274546355009079, + -1.113470435142517, + 0.0, + 0.21050429344177246 + ], + [ + 0.25999170541763306, + -0.03403300791978836, + 0.014052113518118858, + 0.07576072216033936, + -0.03877493739128113, + -1.1110121011734009, + 0.0, + 0.1885753720998764 + ], + [ + 0.2636187970638275, + -0.03379806503653526, + 0.025983909144997597, + 0.10592807829380035, + -0.06527281552553177, + -1.1120599508285522, + 0.0, + 0.18686315417289734 + ], + [ + 0.2610277831554413, + -0.030393779277801514, + 0.03589199483394623, + 0.10160166025161743, + -0.07747265696525574, + -1.1031746864318848, + 0.0, + 0.1862945258617401 + ], + [ + 0.2650899291038513, + -0.02729097194969654, + 0.059469323605298996, + 0.1353449821472168, + -0.11681687831878662, + -1.0941935777664185, + 0.0, + 0.1862945258617401 + ], + [ + 0.2708543539047241, + -0.01983409933745861, + 0.08519887179136276, + 0.1707606464624405, + -0.15559697151184082, + -1.0789068937301636, + 0.0, + 0.1862945258617401 + ], + [ + 0.28779590129852295, + -0.012888889759778976, + 0.10789989680051804, + 0.20674338936805725, + -0.18560630083084106, + -1.0701072216033936, + 0.0, + 0.18572701513767242 + ], + [ + 0.31296274065971375, + -0.010165274143218994, + 0.12739335000514984, + 0.2602357268333435, + -0.2175055295228958, + -1.068979024887085, + 0.0, + 0.18572701513767242 + ], + [ + 0.338085800409317, + -0.006578084081411362, + 0.12173700332641602, + 0.2611488103866577, + -0.2040461301803589, + -1.0504404306411743, + 0.0, + 0.18516062200069427 + ], + [ + 0.3559739887714386, + -0.0028296199161559343, + 0.10538739711046219, + 0.24367853999137878, + -0.17148622870445251, + -1.040543794631958, + 0.0, + 0.18516062200069427 + ], + [ + 0.3707472085952759, + 0.0022484108339995146, + 0.08484099805355072, + 0.23299875855445862, + -0.13163615763187408, + -1.0359508991241455, + 0.0, + 0.18516062200069427 + ], + [ + 0.38102424144744873, + 0.0045544602908194065, + 0.0570145882666111, + 0.2098619043827057, + -0.09896038472652435, + -1.02571702003479, + 0.0, + 0.18403103947639465 + ], + [ + 0.3886796832084656, + 0.00708342669531703, + 0.04163684323430061, + 0.20629212260246277, + -0.07141982764005661, + -1.0180108547210693, + 0.0, + 0.18403103947639465 + ], + [ + 0.3950415849685669, + 0.004909788724035025, + 0.03003930300474167, + 0.20571549236774445, + -0.06270309537649155, + -1.0158066749572754, + 0.0, + 0.18403103947639465 + ], + [ + 0.3955325186252594, + 0.0035830216947942972, + 0.023175155743956566, + 0.19717608392238617, + -0.053557734936475754, + -1.019580364227295, + 0.0, + 0.18403103947639465 + ], + [ + 0.3980201482772827, + 0.005014807917177677, + 0.020155813544988632, + 0.19870294630527496, + -0.049773529171943665, + -1.0103756189346313, + 0.0, + 0.2365749180316925 + ], + [ + 0.4023340046405792, + 0.008807278238236904, + 0.01806570030748844, + 0.1909458190202713, + -0.018972132354974747, + -0.9919316172599792, + 0.0, + 0.4985305666923523 + ], + [ + 0.40208086371421814, + 0.008649067021906376, + 0.01800817809998989, + 0.18863308429718018, + -0.022573910653591156, + -0.9728412628173828, + 0.0, + 0.8111810088157654 + ], + [ + 0.40100571513175964, + 0.008825617842376232, + 0.01697053387761116, + 0.18670900166034698, + -0.02067757211625576, + -0.9692513346672058, + 0.0, + 1.0099300146102905 + ], + [ + 0.3951627016067505, + 0.007449951022863388, + 0.013674085959792137, + 0.16694822907447815, + -0.013658777810633183, + -0.968869149684906, + 0.0, + 1.0073583126068115 + ], + [ + 0.393094927072525, + 0.00677134282886982, + 0.03336139768362045, + 0.19559642672538757, + -0.03828384727239609, + -0.9752700924873352, + 0.0, + 1.0008161067962646 + ], + [ + 0.3889349699020386, + 0.004246219526976347, + 0.05945205315947533, + 0.22151532769203186, + -0.07321389019489288, + -0.9895778894424438, + 0.0, + 1.0008161067962646 + ], + [ + 0.3803570568561554, + 0.006198891904205084, + 0.0850331261754036, + 0.24340005218982697, + -0.1075059249997139, + -0.9881395101547241, + 0.0, + 1.0008161067962646 + ], + [ + 0.3706108033657074, + 0.009673542343080044, + 0.11446978151798248, + 0.2857283651828766, + -0.15674501657485962, + -0.9881502389907837, + 0.0, + 1.0008161067962646 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9430103898048401 + ], + [ + 0.729983389377594 + ], + [ + 0.41932523250579834 + ], + [ + 0.21050429344177246 + ], + [ + 0.1885753720998764 + ], + [ + 0.18686315417289734 + ], + [ + 0.1862945258617401 + ], + [ + 0.1862945258617401 + ], + [ + 0.1862945258617401 + ], + [ + 0.18572701513767242 + ], + [ + 0.18572701513767242 + ], + [ + 0.18516062200069427 + ], + [ + 0.18516062200069427 + ], + [ + 0.18516062200069427 + ], + [ + 0.18403103947639465 + ], + [ + 0.18403103947639465 + ], + [ + 0.18403103947639465 + ], + [ + 0.18403103947639465 + ], + [ + 0.2365749180316925 + ], + [ + 0.4985305666923523 + ], + [ + 0.8111810088157654 + ], + [ + 1.0099300146102905 + ], + [ + 1.0073583126068115 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.36312153935432434, + 0.09001784026622772, + 0.13184374570846558 + ], + [ + 0.36040791869163513, + 0.08865312486886978, + 0.11728084087371826 + ], + [ + 0.3475949466228485, + 0.0816875621676445, + 0.11641883105039597 + ], + [ + 0.3319934010505676, + 0.06818807125091553, + 0.13108354806900024 + ], + [ + 0.3170420527458191, + 0.05937223881483078, + 0.13006791472434998 + ], + [ + 0.29361599683761597, + 0.03442138433456421, + 0.12507355213165283 + ], + [ + 0.27938881516456604, + 0.00883779302239418, + 0.10937568545341492 + ], + [ + 0.2717576026916504, + -0.01144195906817913, + 0.0967467650771141 + ], + [ + 0.26759159564971924, + -0.028959693387150764, + 0.08681105822324753 + ], + [ + 0.2650505006313324, + -0.04205172881484032, + 0.07176656275987625 + ], + [ + 0.26325538754463196, + -0.04126628115773201, + 0.06022806093096733 + ], + [ + 0.258770614862442, + -0.038417838513851166, + 0.0453520305454731 + ], + [ + 0.2579001486301422, + -0.03767772391438484, + 0.03310248255729675 + ], + [ + 0.2583288550376892, + -0.038499001413583755, + 0.015871578827500343 + ], + [ + 0.26111263036727905, + -0.035746652632951736, + 0.0126072708517313 + ], + [ + 0.26258575916290283, + -0.03595876321196556, + 0.012982399202883244 + ], + [ + 0.2622748017311096, + -0.03474810719490051, + 0.012944456189870834 + ], + [ + 0.25999170541763306, + -0.03403300791978836, + 0.014052113518118858 + ], + [ + 0.2636187970638275, + -0.03379806503653526, + 0.025983909144997597 + ], + [ + 0.2610277831554413, + -0.030393779277801514, + 0.03589199483394623 + ], + [ + 0.2650899291038513, + -0.02729097194969654, + 0.059469323605298996 + ], + [ + 0.2708543539047241, + -0.01983409933745861, + 0.08519887179136276 + ], + [ + 0.28779590129852295, + -0.012888889759778976, + 0.10789989680051804 + ], + [ + 0.31296274065971375, + -0.010165274143218994, + 0.12739335000514984 + ], + [ + 0.338085800409317, + -0.006578084081411362, + 0.12173700332641602 + ], + [ + 0.3559739887714386, + -0.0028296199161559343, + 0.10538739711046219 + ], + [ + 0.3707472085952759, + 0.0022484108339995146, + 0.08484099805355072 + ], + [ + 0.38102424144744873, + 0.0045544602908194065, + 0.0570145882666111 + ], + [ + 0.3886796832084656, + 0.00708342669531703, + 0.04163684323430061 + ], + [ + 0.3950415849685669, + 0.004909788724035025, + 0.03003930300474167 + ], + [ + 0.3955325186252594, + 0.0035830216947942972, + 0.023175155743956566 + ], + [ + 0.3980201482772827, + 0.005014807917177677, + 0.020155813544988632 + ], + [ + 0.4023340046405792, + 0.008807278238236904, + 0.01806570030748844 + ], + [ + 0.40208086371421814, + 0.008649067021906376, + 0.01800817809998989 + ], + [ + 0.40100571513175964, + 0.008825617842376232, + 0.01697053387761116 + ], + [ + 0.3951627016067505, + 0.007449951022863388, + 0.013674085959792137 + ], + [ + 0.393094927072525, + 0.00677134282886982, + 0.03336139768362045 + ], + [ + 0.3889349699020386, + 0.004246219526976347, + 0.05945205315947533 + ], + [ + 0.3803570568561554, + 0.006198891904205084, + 0.0850331261754036 + ], + [ + 0.3706108033657074, + 0.009673542343080044, + 0.11446978151798248 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.49994557276594687, + -0.8414901655922888, + 0.20481388010384433, + -0.8629191094793218, + -0.504116729213885, + 0.0351700699758877, + 0.07365483532765267, + -0.1943209318065275, + -0.9781688712562363 + ], + [ + 0.5049859009560683, + -0.8466389481152337, + 0.167903934944713, + -0.8605035816402664, + -0.5089901695798289, + 0.02150798120164335, + 0.0672519577399885, + -0.1553431646562779, + -0.9855687065723582 + ], + [ + 0.5126664173169415, + -0.8386432340827208, + 0.18398551704600566, + -0.8534329068467423, + -0.5211975364562516, + 0.002324113390827068, + 0.0939436962575497, + -0.15821078951578715, + -0.982926206800012 + ], + [ + 0.530829284927082, + -0.8062360729712547, + 0.261158313870518, + -0.8230226542580302, + -0.5639194003474988, + -0.06803396570672467, + 0.20212367709367715, + -0.17882478729641127, + -0.9628954847783449 + ], + [ + 0.5354096350867177, + -0.7987901116858104, + 0.2743553901954153, + -0.8102498009494484, + -0.5774726032998405, + -0.1001032092366903, + 0.23839417509177388, + -0.16870017756681777, + -0.9564039247991598 + ], + [ + 0.5191159633217064, + -0.8128075804790628, + 0.2643150652920648, + -0.8219732521083597, + -0.5595250407933825, + -0.10626241830285259, + 0.23426179680644382, + -0.16209739615717247, + -0.9585644708187764 + ], + [ + 0.4928885165210796, + -0.8398540630210133, + 0.22738967238805063, + -0.8418719130944913, + -0.5263475269055985, + -0.11920554879275315, + 0.2198012561935681, + -0.13267793240571657, + -0.9664801984667215 + ], + [ + 0.4583142307815343, + -0.864704760130075, + 0.20550850024152248, + -0.8663769440872202, + -0.48624908430181535, + -0.11381045105672699, + 0.19834075883998245, + -0.12588687709223473, + -0.9720151426591791 + ], + [ + 0.4216521346196183, + -0.8829145245933478, + 0.20657061657656367, + -0.8871152373313655, + -0.44883167111873506, + -0.10759501240893267, + 0.18771263427173474, + -0.13788427489335403, + -0.9724977602400429 + ], + [ + 0.40611661325022363, + -0.8964959542627123, + 0.17709969066250994, + -0.9007351508282305, + -0.42539184226364, + -0.0878519698014263, + 0.15409569917623453, + -0.12384177213741272, + -0.9802641128641056 + ], + [ + 0.4254739072892873, + -0.8893098087017304, + 0.1676306009142684, + -0.8950928527255204, + -0.4408406862888013, + -0.06684515174721797, + 0.1333444382630068, + -0.12160408487921157, + -0.9835810629150059 + ], + [ + 0.42867389440595, + -0.8935904549816263, + 0.13317203542999037, + -0.8980018237788188, + -0.43760736662914396, + -0.04574403963164457, + 0.09915350092029997, + -0.0999794550777116, + -0.9900367123584923 + ], + [ + 0.43550391742587435, + -0.8931305109080387, + 0.11249101471612308, + -0.8962007427462977, + -0.44192377194792454, + -0.039084632380299286, + 0.08462013122006817, + -0.0837930204281037, + -0.9928837611321044 + ], + [ + 0.43651061197137964, + -0.8961110737852976, + 0.08027097280918306, + -0.8968998304560384, + -0.4404496154201727, + -0.039684132901600354, + 0.07091671004989937, + -0.054672476764666404, + -0.9959828013174301 + ], + [ + 0.44375443808363546, + -0.8917735374266043, + 0.08844182622898437, + -0.8942465085998175, + -0.44707729278462727, + -0.02109682756732049, + 0.058353924787571274, + -0.06972698345697738, + -0.9958579051450447 + ], + [ + 0.4419117359774444, + -0.8916599807543802, + 0.09826747339023148, + -0.8957433410686589, + -0.4445379423410536, + -0.005466694644679214, + 0.04855805326161248, + -0.0856066384124527, + -0.9951450240659208 + ], + [ + 0.4411470476409034, + -0.8922887620042973, + 0.09596899269322996, + -0.8964168786274941, + -0.44321183484207827, + -0.00022173781656854158, + 0.04273244750134793, + -0.08593040589196041, + -0.9953842992903735 + ], + [ + 0.44342120155970655, + -0.892275685243153, + 0.08498081860753957, + -0.8954746761279497, + -0.44511121780798346, + -0.001052708429432829, + 0.03876522179595471, + -0.07563137778300341, + -0.9963820312880772 + ], + [ + 0.4418724976017113, + -0.8885332968861025, + 0.12352034726286441, + -0.8947034160633084, + -0.44651684025650806, + -0.01133616566526701, + 0.06522647581980758, + -0.10550493681367262, + -0.9922772874353574 + ], + [ + 0.4494124657080135, + -0.8845010413929755, + 0.1252451334024021, + -0.889965404684419, + -0.45544714744449544, + -0.02301030963655938, + 0.07739518157574093, + -0.1011227158427518, + -0.9918589527798013 + ], + [ + 0.4556365470622347, + -0.8732178199352898, + 0.17287560825247728, + -0.8825027557242693, + -0.4685416507761205, + -0.04071372774702659, + 0.11655137545423909, + -0.13401253835163332, + -0.9841018323549028 + ], + [ + 0.4665864861853683, + -0.8561846907596813, + 0.22191175322172574, + -0.8707935376379952, + -0.4886352365416875, + -0.054352740664612924, + 0.1549698864847513, + -0.16787906635014996, + -0.9735506937824581 + ], + [ + 0.4717854338740108, + -0.8403861791551552, + 0.2667762625671757, + -0.8621847753121561, + -0.5030395496939408, + -0.05990513052856229, + 0.1845424547475139, + -0.20174806400240014, + -0.9618949012584718 + ], + [ + 0.469686170364194, + -0.8204814882968338, + 0.32589113018127636, + -0.8560534984988347, + -0.5135033107380735, + -0.05904877279794023, + 0.2157945992756136, + -0.2512458501612509, + -0.9435614519999358 + ], + [ + 0.486874633530235, + -0.81221209071517, + 0.3213481148550458, + -0.8496428010358004, + -0.5257245612240603, + -0.041482482734385526, + 0.2026331707120991, + -0.2528343438337869, + -0.9460521088741886 + ], + [ + 0.4983329716080265, + -0.8163701073057245, + 0.29189740887159965, + -0.850025801012566, + -0.5263286424585066, + -0.020839811437032105, + 0.1706469660476257, + -0.2377351636284068, + -0.956222570824029 + ], + [ + 0.50529830234557, + -0.8216519187494284, + 0.26374561619497533, + -0.8529041001909714, + -0.5220091186921441, + 0.007815105864932642, + 0.13125631993970377, + -0.22889867718629017, + -0.9645606119152141 + ], + [ + 0.5159491703500884, + -0.8256537020837132, + 0.22823763460593952, + -0.8509025930163975, + -0.5247097834823063, + 0.025385435113901414, + 0.09879894135579767, + -0.20730558929611642, + -0.9732744534988902 + ], + [ + 0.5237213399325497, + -0.8253456528319084, + 0.2109988422971218, + -0.8488956550219721, + -0.5263668189320853, + 0.04810549669356315, + 0.07135912684493662, + -0.2043098756271667, + -0.9763018742874254 + ], + [ + 0.5258989761689943, + -0.8252410308955699, + 0.20593083254049388, + -0.8482356622377686, + -0.5267027780521112, + 0.0555017558302697, + 0.06266201538777622, + -0.2038661926818812, + -0.9769913240704527 + ], + [ + 0.5229725273734457, + -0.8298895906611787, + 0.1943785042767127, + -0.8506668244527109, + -0.522509402066781, + 0.05787813514062112, + 0.0535321341641779, + -0.1956200195890913, + -0.9792176053093573 + ], + [ + 0.5308843107731916, + -0.8251445402192065, + 0.19312777200938158, + -0.845982558648135, + -0.5294024800370853, + 0.06361229907602878, + 0.04975298019242699, + -0.19715349826218598, + -0.9791093601252897 + ], + [ + 0.5469755013146538, + -0.8199006945977314, + 0.1690581318947429, + -0.8369336307852913, + -0.5401448675231131, + 0.08823615896551781, + 0.01897099423152697, + -0.18975345342468944, + -0.9816484749090537 + ], + [ + 0.562810106195237, + -0.8094450879515592, + 0.16746173878112866, + -0.8262779734896591, + -0.5564657794108095, + 0.08723844835015492, + 0.02257199349478145, + -0.187468626537384, + -0.9820112113279862 + ], + [ + 0.5657959580399117, + -0.8079614767130245, + 0.16453931449172726, + -0.8242860139599726, + -0.559245860219308, + 0.08829855614644266, + 0.020676098657113548, + -0.18558642185050966, + -0.98241039233563 + ], + [ + 0.5661791738464764, + -0.811500844985223, + 0.14459433491942347, + -0.8241690315055352, + -0.5602301334878679, + 0.08299159619740742, + 0.013658353112629543, + -0.16615828634297677, + -0.986004499619457 + ], + [ + 0.5605334522599132, + -0.8078951525868159, + 0.1819551354711081, + -0.8272468264320474, + -0.5564065090183694, + 0.07793898177483108, + 0.0382744961520055, + -0.19420921489135592, + -0.9802131624272312 + ], + [ + 0.5475718546751719, + -0.8065483543314722, + 0.2228111668942705, + -0.8335552536689497, + -0.5490595202629425, + 0.06098591878065229, + 0.07314849997426665, + -0.21911959139661952, + -0.9729521579284838 + ], + [ + 0.5470676582215054, + -0.7961622429417959, + 0.2585394752101253, + -0.8301830583152853, + -0.555618161112323, + 0.045656858503846195, + 0.10729896091909648, + -0.23961248288862047, + -0.9649211320256349 + ], + [ + 0.5434898307112516, + -0.776945738419054, + 0.31776425769102107, + -0.824772912763509, + -0.5646664627114526, + 0.030023794905584586, + 0.15610395986345776, + -0.27840097959850324, + -0.9476942799624473 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.002713620662689209, + -0.0013647153973579407, + -0.014562904834747314, + -0.03977304697036743, + 0.00641883909702301, + 0.005584836006164551, + 1.0 + ], + [ + -0.012812972068786621, + -0.006965562701225281, + -0.0008620098233222961, + 0.0032584965229034424, + -0.026779673993587494, + 0.010248303413391113, + 1.0 + ], + [ + -0.015601545572280884, + -0.013499490916728973, + 0.014664717018604279, + 0.02403351664543152, + -0.10944344103336334, + 0.03189277648925781, + 1.0 + ], + [ + -0.014951348304748535, + -0.008815832436084747, + -0.0010156333446502686, + -0.009029537439346313, + -0.0371861457824707, + 0.011092305183410645, + 1.0 + ], + [ + -0.023426055908203125, + -0.02495085448026657, + -0.0049943625926971436, + -0.007074624300003052, + 0.0042528510093688965, + -0.020632624626159668, + 1.0 + ], + [ + -0.014227181673049927, + -0.02558359131217003, + -0.015697866678237915, + -0.031092748045921326, + 0.01484842598438263, + -0.03362929821014404, + 1.0 + ], + [ + -0.007631212472915649, + -0.02027975209057331, + -0.012628920376300812, + -0.007632434368133545, + 0.021945983171463013, + -0.043086886405944824, + 1.0 + ], + [ + -0.004166007041931152, + -0.017517734318971634, + -0.009935706853866577, + 0.012050539255142212, + 0.010831892490386963, + -0.042879462242126465, + 1.0 + ], + [ + -0.002541095018386841, + -0.013092035427689552, + -0.015044495463371277, + -0.01517552137374878, + 0.03412070870399475, + -0.020119667053222656, + 1.0 + ], + [ + -0.0017951130867004395, + 0.0007854476571083069, + -0.01153850182890892, + -0.002659536898136139, + 0.020969361066818237, + 0.020146965980529785, + 1.0 + ], + [ + -0.004484772682189941, + 0.002848442643880844, + -0.014876030385494232, + -0.022365406155586243, + 0.03442610055208206, + 0.0016493797302246094, + 1.0 + ], + [ + -0.0008704662322998047, + 0.0007401145994663239, + -0.012249547988176346, + -0.016450323164463043, + 0.01459524780511856, + 0.006964683532714844, + 1.0 + ], + [ + 0.00042870640754699707, + -0.0008212774991989136, + -0.01723090372979641, + -0.02935612201690674, + 0.013745158910751343, + 0.0006014108657836914, + 0.0 + ], + [ + 0.0027837753295898438, + 0.002752348780632019, + -0.003264307975769043, + 0.015064962208271027, + 0.012589193880558014, + 0.007687687873840332, + 0.0 + ], + [ + 0.0014731287956237793, + -0.00021211057901382446, + 0.0003751283511519432, + 0.015910103917121887, + 0.009809937328100204, + -0.002318739891052246, + 0.0 + ], + [ + -0.0003109574317932129, + 0.0012106560170650482, + -3.794301301240921e-05, + 0.00030234456062316895, + 0.0058316923677921295, + -0.0009846687316894531, + 0.0 + ], + [ + -0.0022830963134765625, + 0.0007150992751121521, + 0.001107657328248024, + -0.010354645550251007, + 0.003970526158809662, + 0.002458333969116211, + 0.0 + ], + [ + 0.003627091646194458, + 0.00023494288325309753, + 0.011931795626878738, + 0.030167356133461, + -0.02649787813425064, + -0.0010478496551513672, + 0.0 + ], + [ + -0.0025910139083862305, + 0.0034042857587337494, + 0.009908085688948631, + -0.004326418042182922, + -0.012199841439723969, + 0.00888526439666748, + 0.0 + ], + [ + 0.004062145948410034, + 0.003102807328104973, + 0.023577328771352768, + 0.033743321895599365, + -0.039344221353530884, + 0.008981108665466309, + 0.0 + ], + [ + 0.005764424800872803, + 0.00745687261223793, + 0.025729548186063766, + 0.035415664315223694, + -0.0387800931930542, + 0.015286684036254883, + 0.0 + ], + [ + 0.016941547393798828, + 0.006945209577679634, + 0.022701025009155273, + 0.03598274290561676, + -0.030009329319000244, + 0.00879967212677002, + 0.0 + ], + [ + 0.025166839361190796, + 0.0027236156165599823, + 0.019493453204631805, + 0.053492337465286255, + -0.03189922869205475, + 0.0011281967163085938, + 0.0 + ], + [ + 0.02512305974960327, + 0.0035871900618076324, + -0.005656346678733826, + 0.000913083553314209, + 0.013459399342536926, + 0.018538594245910645, + 0.0 + ], + [ + 0.017888188362121582, + 0.0037484641652554274, + -0.016349606215953827, + -0.01747027039527893, + 0.03255990147590637, + 0.009896636009216309, + 0.0 + ], + [ + 0.01477321982383728, + 0.005078030750155449, + -0.02054639905691147, + -0.010679781436920166, + 0.03985007107257843, + 0.0045928955078125, + 0.0 + ], + [ + 0.010277032852172852, + 0.002306049456819892, + -0.02782640978693962, + -0.02313685417175293, + 0.03267577290534973, + 0.010233879089355469, + 0.0 + ], + [ + 0.007655441761016846, + 0.0025289664044976234, + -0.015377745032310486, + -0.00356978178024292, + 0.027540557086467743, + 0.007706165313720703, + 0.0 + ], + [ + 0.006361901760101318, + -0.0021736379712820053, + -0.011597540229558945, + -0.0005766302347183228, + 0.008716732263565063, + 0.0022041797637939453, + 0.0 + ], + [ + 0.0004909336566925049, + -0.0013267670292407274, + -0.006864147260785103, + -0.008539408445358276, + 0.009145360440015793, + -0.0037736892700195312, + 0.0 + ], + [ + 0.0024876296520233154, + 0.00143178622238338, + -0.0030193421989679337, + 0.001526862382888794, + 0.0037842057645320892, + 0.009204745292663574, + 1.0 + ], + [ + 0.004313856363296509, + 0.003792470321059227, + -0.0020901132375001907, + -0.007757127285003662, + 0.030801396816968918, + 0.0184440016746521, + 1.0 + ], + [ + -0.000253140926361084, + -0.00015821121633052826, + -5.7522207498550415e-05, + -0.0023127347230911255, + -0.0036017782986164093, + 0.019090354442596436, + 1.0 + ], + [ + -0.001075148582458496, + 0.00017655082046985626, + -0.0010376442223787308, + -0.001924082636833191, + 0.0018963385373353958, + 0.003589928150177002, + 1.0 + ], + [ + -0.005843013525009155, + -0.001375666819512844, + -0.003296447917819023, + -0.019760772585868835, + 0.007018794305622578, + 0.0003821849822998047, + 1.0 + ], + [ + -0.002067774534225464, + -0.0006786081939935684, + 0.019687311723828316, + 0.028648197650909424, + -0.02462507039308548, + -0.006400942802429199, + 1.0 + ], + [ + -0.00415995717048645, + -0.0025251233018934727, + 0.026090655475854874, + 0.025918900966644287, + -0.034930042922496796, + -0.014307796955108643, + 1.0 + ], + [ + -0.008577913045883179, + 0.0019526723772287369, + 0.02558107301592827, + 0.021884724497795105, + -0.034292034804821014, + 0.0014383792877197266, + 1.0 + ], + [ + -0.009746253490447998, + 0.00347465043887496, + 0.029436655342578888, + 0.04232831299304962, + -0.04923909157514572, + -1.0728836059570312e-05, + 1.0 + ], + [ + -0.0005114078521728516, + -0.0003919759765267372, + 0.0008956864476203918, + 0.0012794435024261475, + -0.003658279776573181, + -0.000645756721496582, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9430103898048401 + ], + [ + 0.729983389377594 + ], + [ + 0.41932523250579834 + ], + [ + 0.21050429344177246 + ], + [ + 0.1885753720998764 + ], + [ + 0.18686315417289734 + ], + [ + 0.1862945258617401 + ], + [ + 0.1862945258617401 + ], + [ + 0.1862945258617401 + ], + [ + 0.18572701513767242 + ], + [ + 0.18572701513767242 + ], + [ + 0.18516062200069427 + ], + [ + 0.18516062200069427 + ], + [ + 0.18516062200069427 + ], + [ + 0.18403103947639465 + ], + [ + 0.18403103947639465 + ], + [ + 0.18403103947639465 + ], + [ + 0.18403103947639465 + ], + [ + 0.2365749180316925 + ], + [ + 0.4985305666923523 + ], + [ + 0.8111810088157654 + ], + [ + 1.0099300146102905 + ], + [ + 1.0073583126068115 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.36040791869163513, + 0.08865312486886978, + 0.11728084087371826 + ], + [ + 0.3475949466228485, + 0.0816875621676445, + 0.11641883105039597 + ], + [ + 0.3319934010505676, + 0.06818807125091553, + 0.13108354806900024 + ], + [ + 0.3170420527458191, + 0.05937223881483078, + 0.13006791472434998 + ], + [ + 0.29361599683761597, + 0.03442138433456421, + 0.12507355213165283 + ], + [ + 0.27938881516456604, + 0.00883779302239418, + 0.10937568545341492 + ], + [ + 0.2717576026916504, + -0.01144195906817913, + 0.0967467650771141 + ], + [ + 0.26759159564971924, + -0.028959693387150764, + 0.08681105822324753 + ], + [ + 0.2650505006313324, + -0.04205172881484032, + 0.07176656275987625 + ], + [ + 0.26325538754463196, + -0.04126628115773201, + 0.06022806093096733 + ], + [ + 0.258770614862442, + -0.038417838513851166, + 0.0453520305454731 + ], + [ + 0.2579001486301422, + -0.03767772391438484, + 0.03310248255729675 + ], + [ + 0.2583288550376892, + -0.038499001413583755, + 0.015871578827500343 + ], + [ + 0.26111263036727905, + -0.035746652632951736, + 0.0126072708517313 + ], + [ + 0.26258575916290283, + -0.03595876321196556, + 0.012982399202883244 + ], + [ + 0.2622748017311096, + -0.03474810719490051, + 0.012944456189870834 + ], + [ + 0.25999170541763306, + -0.03403300791978836, + 0.014052113518118858 + ], + [ + 0.2636187970638275, + -0.03379806503653526, + 0.025983909144997597 + ], + [ + 0.2610277831554413, + -0.030393779277801514, + 0.03589199483394623 + ], + [ + 0.2650899291038513, + -0.02729097194969654, + 0.059469323605298996 + ], + [ + 0.2708543539047241, + -0.01983409933745861, + 0.08519887179136276 + ], + [ + 0.28779590129852295, + -0.012888889759778976, + 0.10789989680051804 + ], + [ + 0.31296274065971375, + -0.010165274143218994, + 0.12739335000514984 + ], + [ + 0.338085800409317, + -0.006578084081411362, + 0.12173700332641602 + ], + [ + 0.3559739887714386, + -0.0028296199161559343, + 0.10538739711046219 + ], + [ + 0.3707472085952759, + 0.0022484108339995146, + 0.08484099805355072 + ], + [ + 0.38102424144744873, + 0.0045544602908194065, + 0.0570145882666111 + ], + [ + 0.3886796832084656, + 0.00708342669531703, + 0.04163684323430061 + ], + [ + 0.3950415849685669, + 0.004909788724035025, + 0.03003930300474167 + ], + [ + 0.3955325186252594, + 0.0035830216947942972, + 0.023175155743956566 + ], + [ + 0.3980201482772827, + 0.005014807917177677, + 0.020155813544988632 + ], + [ + 0.4023340046405792, + 0.008807278238236904, + 0.01806570030748844 + ], + [ + 0.40208086371421814, + 0.008649067021906376, + 0.01800817809998989 + ], + [ + 0.40100571513175964, + 0.008825617842376232, + 0.01697053387761116 + ], + [ + 0.3951627016067505, + 0.007449951022863388, + 0.013674085959792137 + ], + [ + 0.393094927072525, + 0.00677134282886982, + 0.03336139768362045 + ], + [ + 0.3889349699020386, + 0.004246219526976347, + 0.05945205315947533 + ], + [ + 0.3803570568561554, + 0.006198891904205084, + 0.0850331261754036 + ], + [ + 0.3706108033657074, + 0.009673542343080044, + 0.11446978151798248 + ], + [ + 0.37009939551353455, + 0.009281566366553307, + 0.11536546796560287 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.5049859009560683, + -0.8466389481152337, + 0.167903934944713, + -0.8605035816402664, + -0.5089901695798289, + 0.02150798120164335, + 0.0672519577399885, + -0.1553431646562779, + -0.9855687065723582 + ], + [ + 0.5126664173169415, + -0.8386432340827208, + 0.18398551704600566, + -0.8534329068467423, + -0.5211975364562516, + 0.002324113390827068, + 0.0939436962575497, + -0.15821078951578715, + -0.982926206800012 + ], + [ + 0.530829284927082, + -0.8062360729712547, + 0.261158313870518, + -0.8230226542580302, + -0.5639194003474988, + -0.06803396570672467, + 0.20212367709367715, + -0.17882478729641127, + -0.9628954847783449 + ], + [ + 0.5354096350867177, + -0.7987901116858104, + 0.2743553901954153, + -0.8102498009494484, + -0.5774726032998405, + -0.1001032092366903, + 0.23839417509177388, + -0.16870017756681777, + -0.9564039247991598 + ], + [ + 0.5191159633217064, + -0.8128075804790628, + 0.2643150652920648, + -0.8219732521083597, + -0.5595250407933825, + -0.10626241830285259, + 0.23426179680644382, + -0.16209739615717247, + -0.9585644708187764 + ], + [ + 0.4928885165210796, + -0.8398540630210133, + 0.22738967238805063, + -0.8418719130944913, + -0.5263475269055985, + -0.11920554879275315, + 0.2198012561935681, + -0.13267793240571657, + -0.9664801984667215 + ], + [ + 0.4583142307815343, + -0.864704760130075, + 0.20550850024152248, + -0.8663769440872202, + -0.48624908430181535, + -0.11381045105672699, + 0.19834075883998245, + -0.12588687709223473, + -0.9720151426591791 + ], + [ + 0.4216521346196183, + -0.8829145245933478, + 0.20657061657656367, + -0.8871152373313655, + -0.44883167111873506, + -0.10759501240893267, + 0.18771263427173474, + -0.13788427489335403, + -0.9724977602400429 + ], + [ + 0.40611661325022363, + -0.8964959542627123, + 0.17709969066250994, + -0.9007351508282305, + -0.42539184226364, + -0.0878519698014263, + 0.15409569917623453, + -0.12384177213741272, + -0.9802641128641056 + ], + [ + 0.4254739072892873, + -0.8893098087017304, + 0.1676306009142684, + -0.8950928527255204, + -0.4408406862888013, + -0.06684515174721797, + 0.1333444382630068, + -0.12160408487921157, + -0.9835810629150059 + ], + [ + 0.42867389440595, + -0.8935904549816263, + 0.13317203542999037, + -0.8980018237788188, + -0.43760736662914396, + -0.04574403963164457, + 0.09915350092029997, + -0.0999794550777116, + -0.9900367123584923 + ], + [ + 0.43550391742587435, + -0.8931305109080387, + 0.11249101471612308, + -0.8962007427462977, + -0.44192377194792454, + -0.039084632380299286, + 0.08462013122006817, + -0.0837930204281037, + -0.9928837611321044 + ], + [ + 0.43651061197137964, + -0.8961110737852976, + 0.08027097280918306, + -0.8968998304560384, + -0.4404496154201727, + -0.039684132901600354, + 0.07091671004989937, + -0.054672476764666404, + -0.9959828013174301 + ], + [ + 0.44375443808363546, + -0.8917735374266043, + 0.08844182622898437, + -0.8942465085998175, + -0.44707729278462727, + -0.02109682756732049, + 0.058353924787571274, + -0.06972698345697738, + -0.9958579051450447 + ], + [ + 0.4419117359774444, + -0.8916599807543802, + 0.09826747339023148, + -0.8957433410686589, + -0.4445379423410536, + -0.005466694644679214, + 0.04855805326161248, + -0.0856066384124527, + -0.9951450240659208 + ], + [ + 0.4411470476409034, + -0.8922887620042973, + 0.09596899269322996, + -0.8964168786274941, + -0.44321183484207827, + -0.00022173781656854158, + 0.04273244750134793, + -0.08593040589196041, + -0.9953842992903735 + ], + [ + 0.44342120155970655, + -0.892275685243153, + 0.08498081860753957, + -0.8954746761279497, + -0.44511121780798346, + -0.001052708429432829, + 0.03876522179595471, + -0.07563137778300341, + -0.9963820312880772 + ], + [ + 0.4418724976017113, + -0.8885332968861025, + 0.12352034726286441, + -0.8947034160633084, + -0.44651684025650806, + -0.01133616566526701, + 0.06522647581980758, + -0.10550493681367262, + -0.9922772874353574 + ], + [ + 0.4494124657080135, + -0.8845010413929755, + 0.1252451334024021, + -0.889965404684419, + -0.45544714744449544, + -0.02301030963655938, + 0.07739518157574093, + -0.1011227158427518, + -0.9918589527798013 + ], + [ + 0.4556365470622347, + -0.8732178199352898, + 0.17287560825247728, + -0.8825027557242693, + -0.4685416507761205, + -0.04071372774702659, + 0.11655137545423909, + -0.13401253835163332, + -0.9841018323549028 + ], + [ + 0.4665864861853683, + -0.8561846907596813, + 0.22191175322172574, + -0.8707935376379952, + -0.4886352365416875, + -0.054352740664612924, + 0.1549698864847513, + -0.16787906635014996, + -0.9735506937824581 + ], + [ + 0.4717854338740108, + -0.8403861791551552, + 0.2667762625671757, + -0.8621847753121561, + -0.5030395496939408, + -0.05990513052856229, + 0.1845424547475139, + -0.20174806400240014, + -0.9618949012584718 + ], + [ + 0.469686170364194, + -0.8204814882968338, + 0.32589113018127636, + -0.8560534984988347, + -0.5135033107380735, + -0.05904877279794023, + 0.2157945992756136, + -0.2512458501612509, + -0.9435614519999358 + ], + [ + 0.486874633530235, + -0.81221209071517, + 0.3213481148550458, + -0.8496428010358004, + -0.5257245612240603, + -0.041482482734385526, + 0.2026331707120991, + -0.2528343438337869, + -0.9460521088741886 + ], + [ + 0.4983329716080265, + -0.8163701073057245, + 0.29189740887159965, + -0.850025801012566, + -0.5263286424585066, + -0.020839811437032105, + 0.1706469660476257, + -0.2377351636284068, + -0.956222570824029 + ], + [ + 0.50529830234557, + -0.8216519187494284, + 0.26374561619497533, + -0.8529041001909714, + -0.5220091186921441, + 0.007815105864932642, + 0.13125631993970377, + -0.22889867718629017, + -0.9645606119152141 + ], + [ + 0.5159491703500884, + -0.8256537020837132, + 0.22823763460593952, + -0.8509025930163975, + -0.5247097834823063, + 0.025385435113901414, + 0.09879894135579767, + -0.20730558929611642, + -0.9732744534988902 + ], + [ + 0.5237213399325497, + -0.8253456528319084, + 0.2109988422971218, + -0.8488956550219721, + -0.5263668189320853, + 0.04810549669356315, + 0.07135912684493662, + -0.2043098756271667, + -0.9763018742874254 + ], + [ + 0.5258989761689943, + -0.8252410308955699, + 0.20593083254049388, + -0.8482356622377686, + -0.5267027780521112, + 0.0555017558302697, + 0.06266201538777622, + -0.2038661926818812, + -0.9769913240704527 + ], + [ + 0.5229725273734457, + -0.8298895906611787, + 0.1943785042767127, + -0.8506668244527109, + -0.522509402066781, + 0.05787813514062112, + 0.0535321341641779, + -0.1956200195890913, + -0.9792176053093573 + ], + [ + 0.5308843107731916, + -0.8251445402192065, + 0.19312777200938158, + -0.845982558648135, + -0.5294024800370853, + 0.06361229907602878, + 0.04975298019242699, + -0.19715349826218598, + -0.9791093601252897 + ], + [ + 0.5469755013146538, + -0.8199006945977314, + 0.1690581318947429, + -0.8369336307852913, + -0.5401448675231131, + 0.08823615896551781, + 0.01897099423152697, + -0.18975345342468944, + -0.9816484749090537 + ], + [ + 0.562810106195237, + -0.8094450879515592, + 0.16746173878112866, + -0.8262779734896591, + -0.5564657794108095, + 0.08723844835015492, + 0.02257199349478145, + -0.187468626537384, + -0.9820112113279862 + ], + [ + 0.5657959580399117, + -0.8079614767130245, + 0.16453931449172726, + -0.8242860139599726, + -0.559245860219308, + 0.08829855614644266, + 0.020676098657113548, + -0.18558642185050966, + -0.98241039233563 + ], + [ + 0.5661791738464764, + -0.811500844985223, + 0.14459433491942347, + -0.8241690315055352, + -0.5602301334878679, + 0.08299159619740742, + 0.013658353112629543, + -0.16615828634297677, + -0.986004499619457 + ], + [ + 0.5605334522599132, + -0.8078951525868159, + 0.1819551354711081, + -0.8272468264320474, + -0.5564065090183694, + 0.07793898177483108, + 0.0382744961520055, + -0.19420921489135592, + -0.9802131624272312 + ], + [ + 0.5475718546751719, + -0.8065483543314722, + 0.2228111668942705, + -0.8335552536689497, + -0.5490595202629425, + 0.06098591878065229, + 0.07314849997426665, + -0.21911959139661952, + -0.9729521579284838 + ], + [ + 0.5470676582215054, + -0.7961622429417959, + 0.2585394752101253, + -0.8301830583152853, + -0.555618161112323, + 0.045656858503846195, + 0.10729896091909648, + -0.23961248288862047, + -0.9649211320256349 + ], + [ + 0.5434898307112516, + -0.776945738419054, + 0.31776425769102107, + -0.824772912763509, + -0.5646664627114526, + 0.030023794905584586, + 0.15610395986345776, + -0.27840097959850324, + -0.9476942799624473 + ], + [ + 0.5426395662862831, + -0.7763408690700704, + 0.3206823289677221, + -0.8246411293515792, + -0.5649802627951142, + 0.02764616490068067, + 0.15971633880848393, + -0.2794497408542214, + -0.9467832557951803 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005494.json b/json/chunk-0005/episode_0005494.json new file mode 100644 index 0000000000000000000000000000000000000000..38d868cdc42a02e80f3b9d3fca39db6c59884fe8 --- /dev/null +++ b/json/chunk-0005/episode_0005494.json @@ -0,0 +1,2542 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 41, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the arch to the right and lay down." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005494.mp4", + "start": 0, + "end": 41, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.34013840556144714, + 0.05555209517478943, + 0.17864511907100677, + -0.21128666400909424, + -0.3574323058128357, + 0.6408666968345642, + 0.0, + 0.9994885921478271 + ], + [ + 0.3390667736530304, + 0.05514564737677574, + 0.16687816381454468, + -0.19588589668273926, + -0.3234759271144867, + 0.6373440027236938, + 0.0, + 0.9994885921478271 + ], + [ + 0.3401940166950226, + 0.06298290193080902, + 0.1700602024793625, + -0.22847741842269897, + -0.3147004246711731, + 0.7563506960868835, + 0.0, + 0.9994885921478271 + ], + [ + 0.34566518664360046, + 0.08880335092544556, + 0.18651527166366577, + -0.33416473865509033, + -0.29878735542297363, + 1.0143067836761475, + 0.0, + 0.9994885921478271 + ], + [ + 0.3573327362537384, + 0.12432649731636047, + 0.19276468455791473, + -0.37279343605041504, + -0.22155623137950897, + 1.2796255350112915, + 0.0, + 0.9994885921478271 + ], + [ + 0.37098783254623413, + 0.16830502450466156, + 0.19206860661506653, + -0.29915156960487366, + -0.12055230140686035, + 1.5113964080810547, + 0.0, + 0.9994885921478271 + ], + [ + 0.3666350543498993, + 0.2062515765428543, + 0.18067622184753418, + -0.19306311011314392, + -0.09905515611171722, + 1.737952709197998, + 0.0, + 0.9994885921478271 + ], + [ + 0.35089758038520813, + 0.2315284013748169, + 0.15967613458633423, + -0.04438198730349541, + -0.08587565273046494, + 1.9753873348236084, + 0.0, + 0.9994885921478271 + ], + [ + 0.3293456435203552, + 0.24419674277305603, + 0.13299427926540375, + 0.01984860934317112, + -0.09411963075399399, + 2.1212973594665527, + 0.0, + 0.9994885921478271 + ], + [ + 0.3109106421470642, + 0.24319981038570404, + 0.11900089681148529, + 0.035529159009456635, + -0.06985504180192947, + 2.1534423828125, + 0.0, + 0.9994885921478271 + ], + [ + 0.2922057807445526, + 0.23957635462284088, + 0.12167291343212128, + 0.01778103969991207, + -0.056210748851299286, + 2.1579203605651855, + 0.0, + 0.9994885921478271 + ], + [ + 0.28125277161598206, + 0.23127640783786774, + 0.11674568802118301, + 0.012662897817790508, + -0.025418275967240334, + 2.1118862628936768, + 0.0, + 0.9994885921478271 + ], + [ + 0.26907825469970703, + 0.2203419804573059, + 0.10265973210334778, + -0.01250888779759407, + -0.027105947956442833, + 2.0732028484344482, + 0.0, + 0.9994885921478271 + ], + [ + 0.2637680470943451, + 0.21129237115383148, + 0.08755963295698166, + -0.053688593208789825, + -0.03082243539392948, + 2.054253339767456, + 0.0, + 0.9994885921478271 + ], + [ + 0.2589952349662781, + 0.20698894560337067, + 0.07063569128513336, + -0.06455276906490326, + -0.047198858112096786, + 2.035612106323242, + 0.0, + 0.9994885921478271 + ], + [ + 0.2571219503879547, + 0.20015650987625122, + 0.05404822528362274, + -0.09192214906215668, + -0.04581121355295181, + 2.044085741043091, + 0.0, + 0.9994885921478271 + ], + [ + 0.2547650635242462, + 0.19504322111606598, + 0.03951697051525116, + -0.13849206268787384, + -0.039612725377082825, + 2.067267417907715, + 0.0, + 0.9994885921478271 + ], + [ + 0.2547810971736908, + 0.1923864632844925, + 0.03183181211352348, + -0.17281249165534973, + -0.027461577206850052, + 2.0878262519836426, + 0.0, + 0.9981546401977539 + ], + [ + 0.2562839984893799, + 0.19316676259040833, + 0.031883604824543, + -0.18627899885177612, + -0.018388409167528152, + 2.1049857139587402, + 0.0, + 0.9981546401977539 + ], + [ + 0.2551176846027374, + 0.1935862898826599, + 0.03441886976361275, + -0.18208947777748108, + 0.0004945312975905836, + 2.1314568519592285, + 0.0, + 0.9620732665061951 + ], + [ + 0.26040220260620117, + 0.19615864753723145, + 0.04448070004582405, + -0.21316879987716675, + 0.029673956334590912, + 2.1504688262939453, + 0.0, + 0.6851980090141296 + ], + [ + 0.2647034227848053, + 0.1922728419303894, + 0.05558697506785393, + -0.2208082377910614, + 0.07326184213161469, + 2.1427013874053955, + 0.0, + 0.5354229807853699 + ], + [ + 0.27102941274642944, + 0.19031888246536255, + 0.07337848097085953, + -0.227577343583107, + 0.07252922654151917, + 2.1282660961151123, + 0.0, + 0.5354229807853699 + ], + [ + 0.27039897441864014, + 0.18048301339149475, + 0.07307299971580505, + -0.18477711081504822, + 0.07954888790845871, + 2.1101272106170654, + 0.0, + 0.5354229807853699 + ], + [ + 0.2733514904975891, + 0.1727346032857895, + 0.07776027172803879, + -0.15635059773921967, + 0.08635002374649048, + 2.0728840827941895, + 0.0, + 0.5354229807853699 + ], + [ + 0.2751431167125702, + 0.16048917174339294, + 0.07482258230447769, + -0.14296479523181915, + 0.09734915941953659, + 2.030107021331787, + 0.0, + 0.5354229807853699 + ], + [ + 0.27335476875305176, + 0.1424723118543625, + 0.0874975323677063, + -0.17488718032836914, + 0.10968244075775146, + 1.9819046258926392, + 0.0, + 0.5354229807853699 + ], + [ + 0.2649901509284973, + 0.12165294587612152, + 0.08727938681840897, + -0.16769959032535553, + 0.1123119667172432, + 1.9275164604187012, + 0.0, + 0.5354229807853699 + ], + [ + 0.2563443183898926, + 0.10064569860696793, + 0.08249098062515259, + -0.16035735607147217, + 0.10433121770620346, + 1.868078589439392, + 0.0, + 0.5354229807853699 + ], + [ + 0.2503190040588379, + 0.08765660226345062, + 0.0741000846028328, + -0.15223118662834167, + 0.09333287179470062, + 1.8248436450958252, + 0.0, + 0.5354229807853699 + ], + [ + 0.24669089913368225, + 0.07397826015949249, + 0.06453562527894974, + -0.14406554400920868, + 0.08225597441196442, + 1.7720657587051392, + 0.0, + 0.5354229807853699 + ], + [ + 0.24958941340446472, + 0.060999758541584015, + 0.061255160719156265, + -0.15330466628074646, + 0.07799338549375534, + 1.7393478155136108, + 0.0, + 0.5354229807853699 + ], + [ + 0.2522237002849579, + 0.052161458879709244, + 0.06070410832762718, + -0.15748067200183868, + 0.07535801082849503, + 1.7290197610855103, + 0.0, + 0.5354229807853699 + ], + [ + 0.2562699615955353, + 0.03767218068242073, + 0.060658130794763565, + -0.1651812642812729, + 0.08098382502794266, + 1.7100181579589844, + 0.0, + 0.5354229807853699 + ], + [ + 0.25949305295944214, + 0.026954371482133865, + 0.056423403322696686, + -0.15974177420139313, + 0.07371785491704941, + 1.708376169204712, + 0.0, + 0.5354229807853699 + ], + [ + 0.271971732378006, + 0.018200377002358437, + 0.05213802680373192, + -0.15392136573791504, + 0.07182346284389496, + 1.7170131206512451, + 0.0, + 0.5354229807853699 + ], + [ + 0.28648412227630615, + 0.009058539755642414, + 0.04783625155687332, + -0.15351393818855286, + 0.06427960097789764, + 1.7270325422286987, + 0.0, + 0.5354229807853699 + ], + [ + 0.30192238092422485, + 0.000603999593295157, + 0.04391372948884964, + -0.15372706949710846, + 0.06702420860528946, + 1.7431117296218872, + 0.0, + 0.5354229807853699 + ], + [ + 0.31725916266441345, + -0.0030428883619606495, + 0.042899880558252335, + -0.16432347893714905, + 0.06516610831022263, + 1.7711420059204102, + 0.0, + 0.6009007096290588 + ], + [ + 0.3210018277168274, + 0.0026163780130445957, + 0.0367276556789875, + -0.14496175944805145, + 0.033757444471120834, + 1.7928190231323242, + 0.0, + 0.904950737953186 + ], + [ + 0.31667548418045044, + 0.037230148911476135, + 0.03698629140853882, + -0.13278402388095856, + 0.008487260900437832, + 1.8664875030517578, + 0.0, + 1.0073583126068115 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9620732665061951 + ], + [ + 0.6851980090141296 + ], + [ + 0.5354229807853699 + ], + [ + 0.5354229807853699 + ], + [ + 0.5354229807853699 + ], + [ + 0.5354229807853699 + ], + [ + 0.5354229807853699 + ], + [ + 0.5354229807853699 + ], + [ + 0.5354229807853699 + ], + [ + 0.5354229807853699 + ], + [ + 0.5354229807853699 + ], + [ + 0.5354229807853699 + ], + [ + 0.5354229807853699 + ], + [ + 0.5354229807853699 + ], + [ + 0.5354229807853699 + ], + [ + 0.5354229807853699 + ], + [ + 0.5354229807853699 + ], + [ + 0.5354229807853699 + ], + [ + 0.5354229807853699 + ], + [ + 0.6009007096290588 + ], + [ + 0.904950737953186 + ], + [ + 1.0073583126068115 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.34013840556144714, + 0.05555209517478943, + 0.17864511907100677 + ], + [ + 0.3390667736530304, + 0.05514564737677574, + 0.16687816381454468 + ], + [ + 0.3401940166950226, + 0.06298290193080902, + 0.1700602024793625 + ], + [ + 0.34566518664360046, + 0.08880335092544556, + 0.18651527166366577 + ], + [ + 0.3573327362537384, + 0.12432649731636047, + 0.19276468455791473 + ], + [ + 0.37098783254623413, + 0.16830502450466156, + 0.19206860661506653 + ], + [ + 0.3666350543498993, + 0.2062515765428543, + 0.18067622184753418 + ], + [ + 0.35089758038520813, + 0.2315284013748169, + 0.15967613458633423 + ], + [ + 0.3293456435203552, + 0.24419674277305603, + 0.13299427926540375 + ], + [ + 0.3109106421470642, + 0.24319981038570404, + 0.11900089681148529 + ], + [ + 0.2922057807445526, + 0.23957635462284088, + 0.12167291343212128 + ], + [ + 0.28125277161598206, + 0.23127640783786774, + 0.11674568802118301 + ], + [ + 0.26907825469970703, + 0.2203419804573059, + 0.10265973210334778 + ], + [ + 0.2637680470943451, + 0.21129237115383148, + 0.08755963295698166 + ], + [ + 0.2589952349662781, + 0.20698894560337067, + 0.07063569128513336 + ], + [ + 0.2571219503879547, + 0.20015650987625122, + 0.05404822528362274 + ], + [ + 0.2547650635242462, + 0.19504322111606598, + 0.03951697051525116 + ], + [ + 0.2547810971736908, + 0.1923864632844925, + 0.03183181211352348 + ], + [ + 0.2562839984893799, + 0.19316676259040833, + 0.031883604824543 + ], + [ + 0.2551176846027374, + 0.1935862898826599, + 0.03441886976361275 + ], + [ + 0.26040220260620117, + 0.19615864753723145, + 0.04448070004582405 + ], + [ + 0.2647034227848053, + 0.1922728419303894, + 0.05558697506785393 + ], + [ + 0.27102941274642944, + 0.19031888246536255, + 0.07337848097085953 + ], + [ + 0.27039897441864014, + 0.18048301339149475, + 0.07307299971580505 + ], + [ + 0.2733514904975891, + 0.1727346032857895, + 0.07776027172803879 + ], + [ + 0.2751431167125702, + 0.16048917174339294, + 0.07482258230447769 + ], + [ + 0.27335476875305176, + 0.1424723118543625, + 0.0874975323677063 + ], + [ + 0.2649901509284973, + 0.12165294587612152, + 0.08727938681840897 + ], + [ + 0.2563443183898926, + 0.10064569860696793, + 0.08249098062515259 + ], + [ + 0.2503190040588379, + 0.08765660226345062, + 0.0741000846028328 + ], + [ + 0.24669089913368225, + 0.07397826015949249, + 0.06453562527894974 + ], + [ + 0.24958941340446472, + 0.060999758541584015, + 0.061255160719156265 + ], + [ + 0.2522237002849579, + 0.052161458879709244, + 0.06070410832762718 + ], + [ + 0.2562699615955353, + 0.03767218068242073, + 0.060658130794763565 + ], + [ + 0.25949305295944214, + 0.026954371482133865, + 0.056423403322696686 + ], + [ + 0.271971732378006, + 0.018200377002358437, + 0.05213802680373192 + ], + [ + 0.28648412227630615, + 0.009058539755642414, + 0.04783625155687332 + ], + [ + 0.30192238092422485, + 0.000603999593295157, + 0.04391372948884964 + ], + [ + 0.31725916266441345, + -0.0030428883619606495, + 0.042899880558252335 + ], + [ + 0.3210018277168274, + 0.0026163780130445957, + 0.0367276556789875 + ], + [ + 0.31667548418045044, + 0.037230148911476135, + 0.03698629140853882 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.7509167612108942, + 0.52577940194251, + 0.39959984762949735, + 0.5601026837697521, + -0.8276219450041895, + 0.03642663560368503, + 0.34986997780098555, + 0.19646357586193683, + -0.9159656445484619 + ], + [ + 0.7619972861538382, + 0.5339610201707206, + 0.3663956397563008, + 0.5642007912007398, + -0.8251243744866424, + 0.02910728150284908, + 0.31786412679420856, + 0.18454104033051938, + -0.9300037641488795 + ], + [ + 0.6916247180611965, + 0.6174449400244794, + 0.3747225579077636, + 0.6525683291657219, + -0.7565559440294769, + 0.042162534595593285, + 0.30953162219170466, + 0.21537142241215218, + -0.9261778043505133 + ], + [ + 0.5048059427660572, + 0.7511496931603359, + 0.4253764199073632, + 0.811493847114005, + -0.5809681568645793, + 0.06287874685047093, + 0.2943615060502718, + 0.31344878237840834, + -0.9028295324042679 + ], + [ + 0.28005688485808633, + 0.8691367735852457, + 0.40763882303506616, + 0.9344939391916472, + -0.34402329027011214, + 0.09148253038588297, + 0.21974808044136, + 0.3553156970266801, + -0.908549138235672 + ], + [ + 0.058934144926520826, + 0.9517975368919404, + 0.3010119853564233, + 0.9909915106728525, + -0.09210782686978314, + 0.09722126312522479, + 0.1202605186090513, + 0.292570670088035, + -0.9486515749568545 + ], + [ + -0.16556346057982185, + 0.9708988772846063, + 0.17304366676745125, + 0.9812282435285784, + 0.14457812299118944, + 0.12762562616561585, + 0.09889324862019033, + 0.19092547352261685, + -0.9766102543683995 + ], + [ + -0.39219222908387263, + 0.9198562231272761, + 0.007055793381792373, + 0.915875940439779, + 0.3897570294733492, + 0.09623263323666155, + 0.08577014148160275, + 0.0442039223387949, + -0.9953338616163384 + ], + [ + -0.5207990105547826, + 0.8511189089435099, + -0.06606809702093985, + 0.8484904316129097, + 0.524600959292983, + 0.06969807006094067, + 0.09398073242158306, + -0.019759462231825044, + -0.9953779109392631 + ], + [ + -0.548893389451172, + 0.8331184249173222, + -0.06804217133575309, + 0.8329731401635962, + 0.5519583744883687, + 0.03870013692683247, + 0.06979824340770872, + -0.03543505179109814, + -0.9969315735404112 + ], + [ + -0.553094024857385, + 0.8318523464176049, + -0.04592029427805912, + 0.8312223997050538, + 0.5547130244730294, + 0.03691588693985086, + 0.056181152494675674, + -0.01775202071622828, + -0.9982627629361223 + ], + [ + -0.5149041520543676, + 0.8569133131938349, + -0.02394343058830824, + 0.8568709147681457, + 0.5153050910210994, + 0.015261015435988713, + 0.025415538978620904, + -0.012658469058334901, + -0.9995968254949218 + ], + [ + -0.481359180483694, + 0.8765209544710646, + -0.0020870402966865, + 0.8761043241964559, + 0.481201275134766, + 0.029774921208061543, + 0.027102628808614034, + 0.012503966642979774, + -0.9995544499074842 + ], + [ + -0.46462197497682106, + 0.884886234808421, + 0.03320800829942198, + 0.8849727106835092, + 0.46270875265863626, + 0.05219110612518991, + 0.030817555291102826, + 0.05363731592525054, + -0.9980848243642495 + ], + [ + -0.44775892675166534, + 0.893406635110566, + 0.036558553781738466, + 0.8929086543871195, + 0.44460383779930895, + 0.07100395999314928, + 0.047181335661251385, + 0.06443610598524195, + -0.9968058536197901 + ], + [ + -0.45533834733709116, + 0.8882320650169012, + 0.060916238558678594, + 0.8891399158069394, + 0.45015059729326384, + 0.0824296662333812, + 0.04579519148508201, + 0.09169644721759475, + -0.9947334125304708 + ], + [ + -0.4759519823214877, + 0.8734543190700204, + 0.10269986865704153, + 0.878579172928367, + 0.4669579230019767, + 0.1002443766112938, + 0.039602366352948365, + 0.13794147542928253, + -0.9896483223527638 + ], + [ + -0.4941140884502026, + 0.8586769209992229, + 0.13610735813437913, + 0.86896335879489, + 0.482833500192596, + 0.10851033205953328, + 0.027458125699493803, + 0.1718887908941741, + -0.9847336162120242 + ], + [ + -0.5090574503658312, + 0.8475258332847481, + 0.15020144520620463, + 0.8605361216968469, + 0.49740446435503904, + 0.10984708505293211, + 0.01838737289524195, + 0.18517224617817302, + -0.9825340420379038 + ], + [ + -0.5317456503029012, + 0.832854976047057, + 0.15362015576610005, + 0.8469039608023808, + 0.5230304538459958, + 0.09587922364564305, + -0.0004945312774333882, + 0.18108487850537858, + -0.9834673467967852 + ], + [ + -0.5475088242792994, + 0.8142669155939214, + 0.1928820300221376, + 0.836273760244696, + 0.5406033554197851, + 0.09161992160587015, + -0.02966960165717855, + 0.21146489608923494, + -0.97693516287391 + ], + [ + -0.5397831059858715, + 0.8117789696239041, + 0.22282078666183283, + 0.8386158218981262, + 0.5415744533646201, + 0.058486021620068815, + -0.07319632336651591, + 0.21843080354923755, + -0.9731034283705196 + ], + [ + -0.5276498524405219, + 0.818066501118821, + 0.2288074145798281, + 0.8463653834464594, + 0.5292740564605504, + 0.05945259339441701, + -0.07246565340230585, + 0.2250248273080197, + -0.9716545456961402 + ], + [ + -0.511937909905408, + 0.8359481164568634, + 0.19776330042225843, + 0.8553390482997492, + 0.517347204930688, + 0.027330971517375235, + -0.07946501655043736, + 0.18314643360608124, + -0.9798687131458028 + ], + [ + -0.47946358180238674, + 0.859424406684964, + 0.177494684200467, + 0.8733137242586174, + 0.487158157420508, + 0.00026206907304171523, + -0.08624275474942511, + 0.15513419627165723, + -0.9841217243818863 + ], + [ + -0.44123131657227016, + 0.8810742417541759, + 0.17036169109634156, + 0.892114323158862, + 0.4512204480802691, + -0.02306819561749824, + -0.09719547155452787, + 0.14180369442135643, + -0.9851115432060209 + ], + [ + -0.39722414096818803, + 0.8950842896430692, + 0.20257614930254747, + 0.9111700768315413, + 0.4109889310140944, + -0.029277801671164033, + -0.10946265536195005, + 0.17295147590597476, + -0.978828746034288 + ], + [ + -0.3470026238507004, + 0.9173691108470882, + 0.1949951114883456, + 0.9311434634526333, + 0.3618333443747945, + -0.04526015209857464, + -0.11207599881403738, + 0.1658630319335033, + -0.9797593710333481 + ], + [ + -0.29132997781665354, + 0.9389982990288739, + 0.18278139524095288, + 0.9509370526971022, + 0.3050637241260798, + -0.05152519801102684, + -0.10414204642264613, + 0.15880276648474476, + -0.9818024829484262 + ], + [ + -0.25022957129407497, + 0.953157643753681, + 0.1699284196475528, + 0.9636905111693667, + 0.26209611394136867, + -0.05105120702743826, + -0.09319742663887609, + 0.1509838839438318, + -0.9841331751633654 + ], + [ + -0.19923736820039623, + 0.96730503264203, + 0.15692496594863659, + 0.9765007280161639, + 0.2094001667339042, + -0.05096958265195595, + -0.08216324784525765, + 0.14308229798690714, + -0.986294406709429 + ], + [ + -0.16724457724260694, + 0.9722709076420577, + 0.16345804824428584, + 0.9828319324126717, + 0.17751637991607677, + -0.050292419821132375, + -0.07791433765948083, + 0.15224065493284217, + -0.9852675468991681 + ], + [ + -0.15711690385800547, + 0.9734284623881619, + 0.16658723580962914, + 0.9847061441326208, + 0.1672740779085492, + -0.04871542432649684, + -0.07528670685811842, + 0.15638545799550344, + -0.9848225730038871 + ], + [ + -0.13831770444911573, + 0.9749986389735951, + 0.17391338831603698, + 0.9870785974973281, + 0.15005663189188923, + -0.05620364390295403, + -0.0808953336023475, + 0.16389222441866985, + -0.9831557779805119 + ], + [ + -0.1367737498929707, + 0.976332812605933, + 0.1675326247905256, + 0.9878605448286046, + 0.14700462425924538, + -0.050211397285179225, + -0.07365110529480931, + 0.15863126890807516, + -0.9845870379064852 + ], + [ + -0.1453207133711461, + 0.9760300197934247, + 0.16201015624752596, + 0.986778670609506, + 0.15485854850600927, + -0.04781929720047953, + -0.07176172723281535, + 0.15291903222509148, + -0.985629760147239 + ], + [ + -0.1552800246869565, + 0.9746746574974638, + 0.16092677205928033, + 0.9857798610604589, + 0.16347417974193873, + -0.038913469201839704, + -0.06423534432725003, + 0.15259588654318873, + -0.9861989231130084 + ], + [ + -0.17107893450812023, + 0.9718138913807683, + 0.16220283193253526, + 0.9829783702372417, + 0.17954523076412737, + -0.03894911752007297, + -0.06697403835295099, + 0.1527785018555431, + -0.985988441898521 + ], + [ + -0.19858570092004768, + 0.9646765731745628, + 0.17309774278792742, + 0.977917739679754, + 0.20676689485166022, + -0.030403052692833984, + -0.06511999546785988, + 0.16323774184172185, + -0.984435282702058 + ], + [ + -0.22007766353421487, + 0.9641493251596279, + 0.14826294482288718, + 0.974898297136599, + 0.22264932189324627, + -0.0007679196811491845, + -0.0337510333690684, + 0.14437229046708105, + -0.9889476778332655 + ], + [ + -0.29139060427571495, + 0.9478527106626641, + 0.12909978555084128, + 0.9565665078141915, + 0.2899108235024176, + 0.0305324506764858, + -0.008487159006148763, + 0.13238940027656895, + -0.9911614474072397 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.001071631908416748, + -0.00040644779801368713, + -0.011766955256462097, + 0.01540076732635498, + 0.033956378698349, + -0.0035226941108703613, + 1.0 + ], + [ + 0.0011272430419921875, + 0.00783725455403328, + 0.00318203866481781, + -0.03259152173995972, + 0.008775502443313599, + 0.1190066933631897, + 1.0 + ], + [ + 0.005471169948577881, + 0.025820448994636536, + 0.016455069184303284, + -0.10568732023239136, + 0.015913069248199463, + 0.2579560875892639, + 1.0 + ], + [ + 0.01166754961013794, + 0.03552314639091492, + 0.006249412894248962, + -0.03862869739532471, + 0.07723112404346466, + 0.26531875133514404, + 1.0 + ], + [ + 0.013655096292495728, + 0.043978527188301086, + -0.0006960779428482056, + 0.07364186644554138, + 0.10100392997264862, + 0.23177087306976318, + 1.0 + ], + [ + -0.004352778196334839, + 0.03794655203819275, + -0.011392384767532349, + 0.10608845949172974, + 0.021497145295143127, + 0.22655630111694336, + 1.0 + ], + [ + -0.015737473964691162, + 0.025276824831962585, + -0.02100008726119995, + 0.14868111908435822, + 0.013179503381252289, + 0.23743462562561035, + 1.0 + ], + [ + -0.021551936864852905, + 0.012668341398239136, + -0.02668185532093048, + 0.06423059850931168, + -0.008243978023529053, + 0.14591002464294434, + 1.0 + ], + [ + -0.018435001373291016, + -0.0009969323873519897, + -0.013993382453918457, + 0.015680549666285515, + 0.024264588952064514, + 0.032145023345947266, + 1.0 + ], + [ + -0.018704861402511597, + -0.003623455762863159, + 0.0026720166206359863, + -0.017748119309544563, + 0.013644292950630188, + 0.004477977752685547, + 1.0 + ], + [ + -0.010953009128570557, + -0.008299946784973145, + -0.004927225410938263, + -0.005118141882121563, + 0.030792472884058952, + -0.04603409767150879, + 1.0 + ], + [ + -0.012174516916275024, + -0.010934427380561829, + -0.014085955917835236, + -0.025171786546707153, + -0.0016876719892024994, + -0.038683414459228516, + 1.0 + ], + [ + -0.0053102076053619385, + -0.009049609303474426, + -0.01510009914636612, + -0.041179705411195755, + -0.0037164874374866486, + -0.018949508666992188, + 1.0 + ], + [ + -0.004772812128067017, + -0.004303425550460815, + -0.016923941671848297, + -0.010864175856113434, + -0.016376422718167305, + -0.018641233444213867, + 1.0 + ], + [ + -0.0018732845783233643, + -0.006832435727119446, + -0.01658746600151062, + -0.027369379997253418, + 0.0013876445591449738, + 0.008473634719848633, + 1.0 + ], + [ + -0.002356886863708496, + -0.005113288760185242, + -0.014531254768371582, + -0.04656991362571716, + 0.006198488175868988, + 0.023181676864624023, + 1.0 + ], + [ + 1.6033649444580078e-05, + -0.0026567578315734863, + -0.007685158401727676, + -0.03432042896747589, + 0.012151148170232773, + 0.020558834075927734, + 1.0 + ], + [ + 0.001502901315689087, + 0.0007802993059158325, + 5.179271101951599e-05, + -0.013466507196426392, + 0.0090731680393219, + 0.017159461975097656, + 1.0 + ], + [ + -0.001166313886642456, + 0.0004195272922515869, + 0.002535264939069748, + 0.004189521074295044, + 0.018882939592003822, + 0.02647113800048828, + 0.0 + ], + [ + 0.005284518003463745, + 0.002572357654571533, + 0.010061830282211304, + -0.03107932209968567, + 0.029179425910115242, + 0.019011974334716797, + 0.0 + ], + [ + 0.004301220178604126, + -0.003885805606842041, + 0.011106275022029877, + -0.007639437913894653, + 0.04358788579702377, + -0.007767438888549805, + 0.0 + ], + [ + 0.0063259899616241455, + -0.0019539594650268555, + 0.0177915059030056, + -0.006769105792045593, + -0.00073261559009552, + -0.014435291290283203, + 0.0 + ], + [ + -0.0006304383277893066, + -0.009835869073867798, + -0.0003054812550544739, + 0.04280023276805878, + 0.007019661366939545, + -0.018138885498046875, + 0.0 + ], + [ + 0.0029525160789489746, + -0.007748410105705261, + 0.004687272012233734, + 0.028426513075828552, + 0.006801135838031769, + -0.03724312782287598, + 0.0 + ], + [ + 0.001791626214981079, + -0.012245431542396545, + -0.002937689423561096, + 0.013385802507400513, + 0.010999135673046112, + -0.042777061462402344, + 0.0 + ], + [ + -0.0017883479595184326, + -0.018016859889030457, + 0.012674950063228607, + -0.03192238509654999, + 0.012333281338214874, + -0.04820239543914795, + 0.0 + ], + [ + -0.008364617824554443, + -0.020819365978240967, + -0.00021814554929733276, + 0.007187590003013611, + 0.0026295259594917297, + -0.05438816547393799, + 0.0 + ], + [ + -0.008645832538604736, + -0.021007247269153595, + -0.004788406193256378, + 0.007342234253883362, + -0.007980749011039734, + -0.05943787097930908, + 0.0 + ], + [ + -0.0060253143310546875, + -0.012989096343517303, + -0.008390896022319794, + 0.008126169443130493, + -0.010998345911502838, + -0.043234944343566895, + 0.0 + ], + [ + -0.0036281049251556396, + -0.01367834210395813, + -0.009564459323883057, + 0.008165642619132996, + -0.011076897382736206, + -0.052777886390686035, + 0.0 + ], + [ + 0.0028985142707824707, + -0.012978501617908478, + -0.0032804645597934723, + -0.00923912227153778, + -0.004262588918209076, + -0.03271794319152832, + 0.0 + ], + [ + 0.002634286880493164, + -0.008838299661874771, + -0.0005510523915290833, + -0.004176005721092224, + -0.002635374665260315, + -0.010328054428100586, + 0.0 + ], + [ + 0.004046261310577393, + -0.014489278197288513, + -4.597753286361694e-05, + -0.007700592279434204, + 0.005625814199447632, + -0.01900160312652588, + 0.0 + ], + [ + 0.0032230913639068604, + -0.010717809200286865, + -0.004234727472066879, + 0.005439490079879761, + -0.0072659701108932495, + -0.001641988754272461, + 0.0 + ], + [ + 0.012478679418563843, + -0.008753994479775429, + -0.0042853765189647675, + 0.005820408463478088, + -0.0018943920731544495, + 0.008636951446533203, + 0.0 + ], + [ + 0.014512389898300171, + -0.009141837246716022, + -0.004301775246858597, + 0.0004074275493621826, + -0.0075438618659973145, + 0.010019421577453613, + 0.0 + ], + [ + 0.015438258647918701, + -0.008454539813101292, + -0.003922522068023682, + -0.00021313130855560303, + 0.002744607627391815, + 0.016079187393188477, + 0.0 + ], + [ + 0.015336781740188599, + -0.0036468878388404846, + -0.0010138489305973053, + -0.010596409440040588, + -0.0018581002950668335, + 0.02803027629852295, + 1.0 + ], + [ + 0.0037426650524139404, + 0.005659266375005245, + -0.0061722248792648315, + 0.019361719489097595, + -0.03140866383910179, + 0.021677017211914062, + 1.0 + ], + [ + -0.004326343536376953, + 0.03461376950144768, + 0.0002586357295513153, + 0.012177735567092896, + -0.025270182639360428, + 0.0736684799194336, + 1.0 + ], + [ + -0.015896320343017578, + 0.03817883878946304, + 0.029208242893218994, + -0.022978991270065308, + 0.02084416151046753, + 0.06704139709472656, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9620732665061951 + ], + [ + 0.6851980090141296 + ], + [ + 0.5354229807853699 + ], + [ + 0.5354229807853699 + ], + [ + 0.5354229807853699 + ], + [ + 0.5354229807853699 + ], + [ + 0.5354229807853699 + ], + [ + 0.5354229807853699 + ], + [ + 0.5354229807853699 + ], + [ + 0.5354229807853699 + ], + [ + 0.5354229807853699 + ], + [ + 0.5354229807853699 + ], + [ + 0.5354229807853699 + ], + [ + 0.5354229807853699 + ], + [ + 0.5354229807853699 + ], + [ + 0.5354229807853699 + ], + [ + 0.5354229807853699 + ], + [ + 0.5354229807853699 + ], + [ + 0.5354229807853699 + ], + [ + 0.6009007096290588 + ], + [ + 0.904950737953186 + ], + [ + 1.0073583126068115 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3390667736530304, + 0.05514564737677574, + 0.16687816381454468 + ], + [ + 0.3401940166950226, + 0.06298290193080902, + 0.1700602024793625 + ], + [ + 0.34566518664360046, + 0.08880335092544556, + 0.18651527166366577 + ], + [ + 0.3573327362537384, + 0.12432649731636047, + 0.19276468455791473 + ], + [ + 0.37098783254623413, + 0.16830502450466156, + 0.19206860661506653 + ], + [ + 0.3666350543498993, + 0.2062515765428543, + 0.18067622184753418 + ], + [ + 0.35089758038520813, + 0.2315284013748169, + 0.15967613458633423 + ], + [ + 0.3293456435203552, + 0.24419674277305603, + 0.13299427926540375 + ], + [ + 0.3109106421470642, + 0.24319981038570404, + 0.11900089681148529 + ], + [ + 0.2922057807445526, + 0.23957635462284088, + 0.12167291343212128 + ], + [ + 0.28125277161598206, + 0.23127640783786774, + 0.11674568802118301 + ], + [ + 0.26907825469970703, + 0.2203419804573059, + 0.10265973210334778 + ], + [ + 0.2637680470943451, + 0.21129237115383148, + 0.08755963295698166 + ], + [ + 0.2589952349662781, + 0.20698894560337067, + 0.07063569128513336 + ], + [ + 0.2571219503879547, + 0.20015650987625122, + 0.05404822528362274 + ], + [ + 0.2547650635242462, + 0.19504322111606598, + 0.03951697051525116 + ], + [ + 0.2547810971736908, + 0.1923864632844925, + 0.03183181211352348 + ], + [ + 0.2562839984893799, + 0.19316676259040833, + 0.031883604824543 + ], + [ + 0.2551176846027374, + 0.1935862898826599, + 0.03441886976361275 + ], + [ + 0.26040220260620117, + 0.19615864753723145, + 0.04448070004582405 + ], + [ + 0.2647034227848053, + 0.1922728419303894, + 0.05558697506785393 + ], + [ + 0.27102941274642944, + 0.19031888246536255, + 0.07337848097085953 + ], + [ + 0.27039897441864014, + 0.18048301339149475, + 0.07307299971580505 + ], + [ + 0.2733514904975891, + 0.1727346032857895, + 0.07776027172803879 + ], + [ + 0.2751431167125702, + 0.16048917174339294, + 0.07482258230447769 + ], + [ + 0.27335476875305176, + 0.1424723118543625, + 0.0874975323677063 + ], + [ + 0.2649901509284973, + 0.12165294587612152, + 0.08727938681840897 + ], + [ + 0.2563443183898926, + 0.10064569860696793, + 0.08249098062515259 + ], + [ + 0.2503190040588379, + 0.08765660226345062, + 0.0741000846028328 + ], + [ + 0.24669089913368225, + 0.07397826015949249, + 0.06453562527894974 + ], + [ + 0.24958941340446472, + 0.060999758541584015, + 0.061255160719156265 + ], + [ + 0.2522237002849579, + 0.052161458879709244, + 0.06070410832762718 + ], + [ + 0.2562699615955353, + 0.03767218068242073, + 0.060658130794763565 + ], + [ + 0.25949305295944214, + 0.026954371482133865, + 0.056423403322696686 + ], + [ + 0.271971732378006, + 0.018200377002358437, + 0.05213802680373192 + ], + [ + 0.28648412227630615, + 0.009058539755642414, + 0.04783625155687332 + ], + [ + 0.30192238092422485, + 0.000603999593295157, + 0.04391372948884964 + ], + [ + 0.31725916266441345, + -0.0030428883619606495, + 0.042899880558252335 + ], + [ + 0.3210018277168274, + 0.0026163780130445957, + 0.0367276556789875 + ], + [ + 0.31667548418045044, + 0.037230148911476135, + 0.03698629140853882 + ], + [ + 0.30077916383743286, + 0.07540898770093918, + 0.06619453430175781 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.7619972861538382, + 0.5339610201707206, + 0.3663956397563008, + 0.5642007912007398, + -0.8251243744866424, + 0.02910728150284908, + 0.31786412679420856, + 0.18454104033051938, + -0.9300037641488795 + ], + [ + 0.6916247180611965, + 0.6174449400244794, + 0.3747225579077636, + 0.6525683291657219, + -0.7565559440294769, + 0.042162534595593285, + 0.30953162219170466, + 0.21537142241215218, + -0.9261778043505133 + ], + [ + 0.5048059427660572, + 0.7511496931603359, + 0.4253764199073632, + 0.811493847114005, + -0.5809681568645793, + 0.06287874685047093, + 0.2943615060502718, + 0.31344878237840834, + -0.9028295324042679 + ], + [ + 0.28005688485808633, + 0.8691367735852457, + 0.40763882303506616, + 0.9344939391916472, + -0.34402329027011214, + 0.09148253038588297, + 0.21974808044136, + 0.3553156970266801, + -0.908549138235672 + ], + [ + 0.058934144926520826, + 0.9517975368919404, + 0.3010119853564233, + 0.9909915106728525, + -0.09210782686978314, + 0.09722126312522479, + 0.1202605186090513, + 0.292570670088035, + -0.9486515749568545 + ], + [ + -0.16556346057982185, + 0.9708988772846063, + 0.17304366676745125, + 0.9812282435285784, + 0.14457812299118944, + 0.12762562616561585, + 0.09889324862019033, + 0.19092547352261685, + -0.9766102543683995 + ], + [ + -0.39219222908387263, + 0.9198562231272761, + 0.007055793381792373, + 0.915875940439779, + 0.3897570294733492, + 0.09623263323666155, + 0.08577014148160275, + 0.0442039223387949, + -0.9953338616163384 + ], + [ + -0.5207990105547826, + 0.8511189089435099, + -0.06606809702093985, + 0.8484904316129097, + 0.524600959292983, + 0.06969807006094067, + 0.09398073242158306, + -0.019759462231825044, + -0.9953779109392631 + ], + [ + -0.548893389451172, + 0.8331184249173222, + -0.06804217133575309, + 0.8329731401635962, + 0.5519583744883687, + 0.03870013692683247, + 0.06979824340770872, + -0.03543505179109814, + -0.9969315735404112 + ], + [ + -0.553094024857385, + 0.8318523464176049, + -0.04592029427805912, + 0.8312223997050538, + 0.5547130244730294, + 0.03691588693985086, + 0.056181152494675674, + -0.01775202071622828, + -0.9982627629361223 + ], + [ + -0.5149041520543676, + 0.8569133131938349, + -0.02394343058830824, + 0.8568709147681457, + 0.5153050910210994, + 0.015261015435988713, + 0.025415538978620904, + -0.012658469058334901, + -0.9995968254949218 + ], + [ + -0.481359180483694, + 0.8765209544710646, + -0.0020870402966865, + 0.8761043241964559, + 0.481201275134766, + 0.029774921208061543, + 0.027102628808614034, + 0.012503966642979774, + -0.9995544499074842 + ], + [ + -0.46462197497682106, + 0.884886234808421, + 0.03320800829942198, + 0.8849727106835092, + 0.46270875265863626, + 0.05219110612518991, + 0.030817555291102826, + 0.05363731592525054, + -0.9980848243642495 + ], + [ + -0.44775892675166534, + 0.893406635110566, + 0.036558553781738466, + 0.8929086543871195, + 0.44460383779930895, + 0.07100395999314928, + 0.047181335661251385, + 0.06443610598524195, + -0.9968058536197901 + ], + [ + -0.45533834733709116, + 0.8882320650169012, + 0.060916238558678594, + 0.8891399158069394, + 0.45015059729326384, + 0.0824296662333812, + 0.04579519148508201, + 0.09169644721759475, + -0.9947334125304708 + ], + [ + -0.4759519823214877, + 0.8734543190700204, + 0.10269986865704153, + 0.878579172928367, + 0.4669579230019767, + 0.1002443766112938, + 0.039602366352948365, + 0.13794147542928253, + -0.9896483223527638 + ], + [ + -0.4941140884502026, + 0.8586769209992229, + 0.13610735813437913, + 0.86896335879489, + 0.482833500192596, + 0.10851033205953328, + 0.027458125699493803, + 0.1718887908941741, + -0.9847336162120242 + ], + [ + -0.5090574503658312, + 0.8475258332847481, + 0.15020144520620463, + 0.8605361216968469, + 0.49740446435503904, + 0.10984708505293211, + 0.01838737289524195, + 0.18517224617817302, + -0.9825340420379038 + ], + [ + -0.5317456503029012, + 0.832854976047057, + 0.15362015576610005, + 0.8469039608023808, + 0.5230304538459958, + 0.09587922364564305, + -0.0004945312774333882, + 0.18108487850537858, + -0.9834673467967852 + ], + [ + -0.5475088242792994, + 0.8142669155939214, + 0.1928820300221376, + 0.836273760244696, + 0.5406033554197851, + 0.09161992160587015, + -0.02966960165717855, + 0.21146489608923494, + -0.97693516287391 + ], + [ + -0.5397831059858715, + 0.8117789696239041, + 0.22282078666183283, + 0.8386158218981262, + 0.5415744533646201, + 0.058486021620068815, + -0.07319632336651591, + 0.21843080354923755, + -0.9731034283705196 + ], + [ + -0.5276498524405219, + 0.818066501118821, + 0.2288074145798281, + 0.8463653834464594, + 0.5292740564605504, + 0.05945259339441701, + -0.07246565340230585, + 0.2250248273080197, + -0.9716545456961402 + ], + [ + -0.511937909905408, + 0.8359481164568634, + 0.19776330042225843, + 0.8553390482997492, + 0.517347204930688, + 0.027330971517375235, + -0.07946501655043736, + 0.18314643360608124, + -0.9798687131458028 + ], + [ + -0.47946358180238674, + 0.859424406684964, + 0.177494684200467, + 0.8733137242586174, + 0.487158157420508, + 0.00026206907304171523, + -0.08624275474942511, + 0.15513419627165723, + -0.9841217243818863 + ], + [ + -0.44123131657227016, + 0.8810742417541759, + 0.17036169109634156, + 0.892114323158862, + 0.4512204480802691, + -0.02306819561749824, + -0.09719547155452787, + 0.14180369442135643, + -0.9851115432060209 + ], + [ + -0.39722414096818803, + 0.8950842896430692, + 0.20257614930254747, + 0.9111700768315413, + 0.4109889310140944, + -0.029277801671164033, + -0.10946265536195005, + 0.17295147590597476, + -0.978828746034288 + ], + [ + -0.3470026238507004, + 0.9173691108470882, + 0.1949951114883456, + 0.9311434634526333, + 0.3618333443747945, + -0.04526015209857464, + -0.11207599881403738, + 0.1658630319335033, + -0.9797593710333481 + ], + [ + -0.29132997781665354, + 0.9389982990288739, + 0.18278139524095288, + 0.9509370526971022, + 0.3050637241260798, + -0.05152519801102684, + -0.10414204642264613, + 0.15880276648474476, + -0.9818024829484262 + ], + [ + -0.25022957129407497, + 0.953157643753681, + 0.1699284196475528, + 0.9636905111693667, + 0.26209611394136867, + -0.05105120702743826, + -0.09319742663887609, + 0.1509838839438318, + -0.9841331751633654 + ], + [ + -0.19923736820039623, + 0.96730503264203, + 0.15692496594863659, + 0.9765007280161639, + 0.2094001667339042, + -0.05096958265195595, + -0.08216324784525765, + 0.14308229798690714, + -0.986294406709429 + ], + [ + -0.16724457724260694, + 0.9722709076420577, + 0.16345804824428584, + 0.9828319324126717, + 0.17751637991607677, + -0.050292419821132375, + -0.07791433765948083, + 0.15224065493284217, + -0.9852675468991681 + ], + [ + -0.15711690385800547, + 0.9734284623881619, + 0.16658723580962914, + 0.9847061441326208, + 0.1672740779085492, + -0.04871542432649684, + -0.07528670685811842, + 0.15638545799550344, + -0.9848225730038871 + ], + [ + -0.13831770444911573, + 0.9749986389735951, + 0.17391338831603698, + 0.9870785974973281, + 0.15005663189188923, + -0.05620364390295403, + -0.0808953336023475, + 0.16389222441866985, + -0.9831557779805119 + ], + [ + -0.1367737498929707, + 0.976332812605933, + 0.1675326247905256, + 0.9878605448286046, + 0.14700462425924538, + -0.050211397285179225, + -0.07365110529480931, + 0.15863126890807516, + -0.9845870379064852 + ], + [ + -0.1453207133711461, + 0.9760300197934247, + 0.16201015624752596, + 0.986778670609506, + 0.15485854850600927, + -0.04781929720047953, + -0.07176172723281535, + 0.15291903222509148, + -0.985629760147239 + ], + [ + -0.1552800246869565, + 0.9746746574974638, + 0.16092677205928033, + 0.9857798610604589, + 0.16347417974193873, + -0.038913469201839704, + -0.06423534432725003, + 0.15259588654318873, + -0.9861989231130084 + ], + [ + -0.17107893450812023, + 0.9718138913807683, + 0.16220283193253526, + 0.9829783702372417, + 0.17954523076412737, + -0.03894911752007297, + -0.06697403835295099, + 0.1527785018555431, + -0.985988441898521 + ], + [ + -0.19858570092004768, + 0.9646765731745628, + 0.17309774278792742, + 0.977917739679754, + 0.20676689485166022, + -0.030403052692833984, + -0.06511999546785988, + 0.16323774184172185, + -0.984435282702058 + ], + [ + -0.22007766353421487, + 0.9641493251596279, + 0.14826294482288718, + 0.974898297136599, + 0.22264932189324627, + -0.0007679196811491845, + -0.0337510333690684, + 0.14437229046708105, + -0.9889476778332655 + ], + [ + -0.29139060427571495, + 0.9478527106626641, + 0.12909978555084128, + 0.9565665078141915, + 0.2899108235024176, + 0.0305324506764858, + -0.008487159006148763, + 0.13238940027656895, + -0.9911614474072397 + ], + [ + -0.3546776965571145, + 0.9219975766314512, + 0.15531967116457235, + 0.9345285688380571, + 0.35478815396696545, + 0.0279592530337599, + -0.029327215865682543, + 0.1550671934692969, + -0.9874685209763012 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005495.json b/json/chunk-0005/episode_0005495.json new file mode 100644 index 0000000000000000000000000000000000000000..4433af3684a70d00c2a0030126558060fc420e4c --- /dev/null +++ b/json/chunk-0005/episode_0005495.json @@ -0,0 +1,1282 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 20, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nOpen book." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005495.mp4", + "start": 0, + "end": 20, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.22283826768398285, + -0.067538782954216, + 0.09989453852176666, + -0.10086024552583694, + 0.03844086080789566, + 0.16788065433502197, + 0.0, + 0.9994885921478271 + ], + [ + 0.2267790138721466, + -0.06930654495954514, + 0.09432580322027206, + -0.07351436465978622, + 0.08277573436498642, + 0.16176508367061615, + 0.0, + 0.9994885921478271 + ], + [ + 0.26461780071258545, + -0.09277496486902237, + 0.09494838118553162, + -0.0245506651699543, + 0.09423153102397919, + 0.171111598610878, + 0.0, + 0.9994885921478271 + ], + [ + 0.28769880533218384, + -0.1219315305352211, + 0.07455587387084961, + 0.06463433057069778, + 0.06559441983699799, + 0.18181252479553223, + 0.0, + 0.9994885921478271 + ], + [ + 0.30458876490592957, + -0.13986444473266602, + 0.0541430227458477, + 0.15929819643497467, + 0.056082963943481445, + 0.15702733397483826, + 0.0, + 0.9994885921478271 + ], + [ + 0.3176577389240265, + -0.1609252244234085, + 0.04140587896108627, + 0.17062485218048096, + -0.03338398039340973, + 0.09974890947341919, + 0.0, + 0.9994885921478271 + ], + [ + 0.3302099108695984, + -0.1716357320547104, + 0.029997514560818672, + 0.27619311213493347, + -0.039734404534101486, + 0.04889851436018944, + 0.0, + 0.9994885921478271 + ], + [ + 0.332055002450943, + -0.17276333272457123, + 0.02431485801935196, + 0.37168654799461365, + -0.017592288553714752, + 0.015451977960765362, + 0.0, + 0.9994885921478271 + ], + [ + 0.32930225133895874, + -0.1649216115474701, + 0.02305792085826397, + 0.45377087593078613, + 0.018347930163145065, + 0.055700838565826416, + 0.0, + 0.9994885921478271 + ], + [ + 0.3220151960849762, + -0.14900784194469452, + 0.022786105051636696, + 0.5156557559967041, + 0.0637793242931366, + 0.08456066250801086, + 0.0, + 1.0001531839370728 + ], + [ + 0.31585460901260376, + -0.14031606912612915, + 0.0381477028131485, + 0.5169628262519836, + 0.047641150653362274, + 0.07635273784399033, + 0.0, + 1.0001531839370728 + ], + [ + 0.31637877225875854, + -0.13133837282657623, + 0.04680202901363373, + 0.5718332529067993, + 0.02208482101559639, + 0.08223475515842438, + 0.0, + 1.0008161067962646 + ], + [ + 0.31341612339019775, + -0.11869003623723984, + 0.07059452682733536, + 0.5981591939926147, + -0.051877837628126144, + 0.07956279069185257, + 0.0, + 1.0008161067962646 + ], + [ + 0.3107855021953583, + -0.11529143899679184, + 0.07427449524402618, + 0.6145524978637695, + -0.05046873539686203, + 0.08235091716051102, + 0.0, + 1.0008161067962646 + ], + [ + 0.30277884006500244, + -0.10406597703695297, + 0.07807497680187225, + 0.6467539072036743, + -0.024007858708500862, + 0.11346399039030075, + 0.0, + 1.0008161067962646 + ], + [ + 0.2879899740219116, + -0.08465000241994858, + 0.09204557538032532, + 0.6561954617500305, + -0.029683740809559822, + 0.13059361279010773, + 0.0, + 1.0008161067962646 + ], + [ + 0.27692678570747375, + -0.07641995698213577, + 0.09986612945795059, + 0.6562526822090149, + -0.03341210260987282, + 0.13158300518989563, + 0.0, + 1.0008161067962646 + ], + [ + 0.27018284797668457, + -0.060854651033878326, + 0.1136971190571785, + 0.629159688949585, + -0.006910244002938271, + 0.24675340950489044, + 0.0, + 1.0008161067962646 + ], + [ + 0.2635946273803711, + -0.03853907436132431, + 0.12884144484996796, + 0.6080625653266907, + 0.12852157652378082, + 0.43159157037734985, + 0.0, + 1.0008161067962646 + ], + [ + 0.24814485013484955, + -0.009064936079084873, + 0.14266690611839294, + 0.6391748189926147, + 0.30954211950302124, + 0.6544536352157593, + 0.0, + 1.0001531839370728 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.22283826768398285, + -0.067538782954216, + 0.09989453852176666 + ], + [ + 0.2267790138721466, + -0.06930654495954514, + 0.09432580322027206 + ], + [ + 0.26461780071258545, + -0.09277496486902237, + 0.09494838118553162 + ], + [ + 0.28769880533218384, + -0.1219315305352211, + 0.07455587387084961 + ], + [ + 0.30458876490592957, + -0.13986444473266602, + 0.0541430227458477 + ], + [ + 0.3176577389240265, + -0.1609252244234085, + 0.04140587896108627 + ], + [ + 0.3302099108695984, + -0.1716357320547104, + 0.029997514560818672 + ], + [ + 0.332055002450943, + -0.17276333272457123, + 0.02431485801935196 + ], + [ + 0.32930225133895874, + -0.1649216115474701, + 0.02305792085826397 + ], + [ + 0.3220151960849762, + -0.14900784194469452, + 0.022786105051636696 + ], + [ + 0.31585460901260376, + -0.14031606912612915, + 0.0381477028131485 + ], + [ + 0.31637877225875854, + -0.13133837282657623, + 0.04680202901363373 + ], + [ + 0.31341612339019775, + -0.11869003623723984, + 0.07059452682733536 + ], + [ + 0.3107855021953583, + -0.11529143899679184, + 0.07427449524402618 + ], + [ + 0.30277884006500244, + -0.10406597703695297, + 0.07807497680187225 + ], + [ + 0.2879899740219116, + -0.08465000241994858, + 0.09204557538032532 + ], + [ + 0.27692678570747375, + -0.07641995698213577, + 0.09986612945795059 + ], + [ + 0.27018284797668457, + -0.060854651033878326, + 0.1136971190571785 + ], + [ + 0.2635946273803711, + -0.03853907436132431, + 0.12884144484996796 + ], + [ + 0.24814485013484955, + -0.009064936079084873, + 0.14266690611839294 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9852127363007859, + 0.17005922280868652, + -0.020874026167076946, + 0.1669697343030131, + -0.9802838844511187, + -0.10566273568390636, + -0.038431394165441266, + 0.10061494234521709, + -0.9941829113997932 + ], + [ + 0.9835652816192328, + 0.1666189800302896, + -0.06955179571330633, + 0.16050903233068373, + -0.9833007480425827, + -0.0857699798249081, + -0.0826812393082437, + 0.07319668293415744, + -0.9938843284174923 + ], + [ + 0.9810243790802664, + 0.17250256584537196, + -0.08851006963583746, + 0.16952238034005443, + -0.9847058372146913, + -0.040206675057205474, + -0.09409213683416703, + 0.024439290744145897, + -0.9952634781071309 + ], + [ + 0.981402484777325, + 0.17627108843019101, + -0.07601096142352197, + 0.18042367441411, + -0.9822294257417427, + 0.05169770708607463, + -0.06554739189169616, + -0.06445043514734497, + -0.9957658765119008 + ], + [ + 0.9861436272918999, + 0.14562070467380445, + -0.07946921870686444, + 0.15613693912460558, + -0.9765816273102175, + 0.14801885501829495, + -0.056053568953047424, + -0.15837593115884888, + -0.98578651940326 + ], + [ + 0.9944747775114096, + 0.10377682404513439, + 0.015820483075364915, + 0.0995280900783039, + -0.9800158548598219, + 0.17222974048850495, + 0.033377779719413816, + -0.16970355038854654, + -0.9849297583109795 + ], + [ + 0.998016341703156, + 0.057846116015307925, + 0.02484368240402926, + 0.04884044951470025, + -0.9604210503680938, + 0.2742371537575625, + 0.03972394976145692, + -0.2724797843359953, + -0.961341133491935 + ], + [ + 0.999725898719326, + 0.020784488395138755, + 0.01077647771713721, + 0.015448972124240774, + -0.9315061921448405, + 0.3633972251629388, + 0.017591381132248937, + -0.3631311320142788, + -0.931571964086451 + ], + [ + 0.9982810518294796, + 0.04200802185981451, + -0.04086890820237089, + 0.05566266964695265, + -0.8978543048031096, + 0.43676001940917125, + -0.01834690071926834, + -0.4382841241089515, + -0.8986492184317789 + ], + [ + 0.9944009302531397, + 0.042161245701918454, + -0.09689798384152838, + 0.08428819837506912, + -0.8695155027187096, + 0.4866603437167599, + -0.06373609280757354, + -0.49210285499343775, + -0.8682007202144745 + ], + [ + 0.9959552262025797, + 0.04284203351967446, + -0.07897941227729413, + 0.07619202578071879, + -0.8685869454403623, + 0.48964425189928534, + -0.04762313101002486, + -0.49368135307552335, + -0.8683379290450935 + ], + [ + 0.9963775919439262, + 0.05716375087069774, + -0.06296030383039569, + 0.08212206916610931, + -0.839050191459325, + 0.5378203621730464, + -0.022083025786782333, + -0.5410425877862692, + -0.8407052147891301 + ], + [ + 0.9954954531886926, + 0.09478733305376354, + -0.0020406305875093275, + 0.07937194819767203, + -0.8214386021504306, + 0.5647465951525984, + 0.05185457086839923, + -0.5623646365034894, + -0.8252618488033678 + ], + [ + 0.9953421177876731, + 0.09619626492372543, + -0.006351942433182326, + 0.08215313221319184, + -0.811870018789785, + 0.5780293551869455, + 0.05044731336267423, + -0.5758587945017413, + -0.8159912483412366 + ], + [ + 0.9932835425953571, + 0.10472780933120407, + -0.04919237707109446, + 0.11318806234697851, + -0.7912747412077642, + 0.6008932904174606, + 0.02400555251091463, + -0.6024254060705552, + -0.7978141159251151 + ], + [ + 0.991047987861674, + 0.12113135993795662, + -0.05613447599209953, + 0.130165356565863, + -0.7832143323101879, + 0.6079739218206547, + 0.029679381823214335, + -0.6098380959758803, + -0.7919700947580686 + ], + [ + 0.9908021323348303, + 0.12415703962014611, + -0.05381602060274382, + 0.13113039817065372, + -0.782760993641809, + 0.6083502654791019, + 0.033405886253163444, + -0.6098116564527521, + -0.7918420236499143 + ], + [ + 0.969687380848071, + 0.20143046657402808, + -0.13831901734677515, + 0.24425116726822588, + -0.7830393302477735, + 0.5720059217990906, + 0.006910189007348869, + -0.5884515055812906, + -0.808502983833081 + ], + [ + 0.9008098734483685, + 0.2768308299109798, + -0.33452393562902594, + 0.4148668726986507, + -0.7761229471774174, + 0.4748880381751908, + -0.12816805309895316, + -0.5665667325879963, + -0.8139871544990043 + ], + [ + 0.7556737509012401, + 0.3443850831705389, + -0.5570961287681608, + 0.5797950366532054, + -0.7473741467105964, + 0.3244527705243332, + -0.3046225495119465, + -0.5681820124909169, + -0.7644437866910901 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + 0.003940746188163757, + -0.001767762005329132, + -0.005568735301494598, + 0.02734588086605072, + 0.04433487355709076, + -0.006115570664405823, + 1.0 + ], + [ + 0.03783878684043884, + -0.023468419909477234, + 0.000622577965259552, + 0.048963699489831924, + 0.011455796658992767, + 0.00934651494026184, + 1.0 + ], + [ + 0.02308100461959839, + -0.02915656566619873, + -0.020392507314682007, + 0.08918499946594238, + -0.0286371111869812, + 0.010700926184654236, + 1.0 + ], + [ + 0.016889959573745728, + -0.017932914197444916, + -0.020412851125001907, + 0.09466386586427689, + -0.00951145589351654, + -0.02478519082069397, + 1.0 + ], + [ + 0.013068974018096924, + -0.021060779690742493, + -0.012737143784761429, + 0.011326655745506287, + -0.08946694433689117, + -0.05727842450141907, + 1.0 + ], + [ + 0.0125521719455719, + -0.01071050763130188, + -0.011408364400267601, + 0.10556825995445251, + -0.006350424140691757, + -0.05085039511322975, + 1.0 + ], + [ + 0.0018450915813446045, + -0.0011276006698608398, + -0.005682656541466713, + 0.09549343585968018, + 0.022142115980386734, + -0.0334465354681015, + 1.0 + ], + [ + -0.002752751111984253, + 0.007841721177101135, + -0.0012569371610879898, + 0.08208432793617249, + 0.03594021871685982, + 0.04024885967373848, + 1.0 + ], + [ + -0.007287055253982544, + 0.015913769602775574, + -0.00027181580662727356, + 0.06188488006591797, + 0.04543139412999153, + 0.028859823942184448, + 1.0 + ], + [ + -0.0061605870723724365, + 0.008691772818565369, + 0.015361597761511803, + 0.001307070255279541, + -0.016138173639774323, + -0.008207924664020538, + 1.0 + ], + [ + 0.0005241632461547852, + 0.008977696299552917, + 0.00865432620048523, + 0.054870426654815674, + -0.025556329637765884, + 0.0058820173144340515, + 1.0 + ], + [ + -0.002962648868560791, + 0.012648336589336395, + 0.02379249781370163, + 0.02632594108581543, + -0.07396265864372253, + -0.002671964466571808, + 1.0 + ], + [ + -0.0026306211948394775, + 0.003398597240447998, + 0.0036799684166908264, + 0.016393303871154785, + 0.0014091022312641144, + 0.0027881264686584473, + 1.0 + ], + [ + -0.008006662130355835, + 0.011225461959838867, + 0.0038004815578460693, + 0.032201409339904785, + 0.026460876688361168, + 0.031113073229789734, + 1.0 + ], + [ + -0.01478886604309082, + 0.019415974617004395, + 0.013970598578453064, + 0.009441554546356201, + -0.00567588210105896, + 0.017129622399806976, + 1.0 + ], + [ + -0.011063188314437866, + 0.008230045437812805, + 0.007820554077625275, + 5.7220458984375e-05, + -0.003728361800312996, + 0.0009893923997879028, + 1.0 + ], + [ + -0.006743937730789185, + 0.015565305948257446, + 0.013830989599227905, + -0.02709299325942993, + 0.026501858606934547, + 0.11517040431499481, + 1.0 + ], + [ + -0.0065882205963134766, + 0.022315576672554016, + 0.01514432579278946, + -0.021097123622894287, + 0.13543182611465454, + 0.1848381608724594, + 1.0 + ], + [ + -0.015449777245521545, + 0.02947413921356201, + 0.013825461268424988, + 0.031112253665924072, + 0.18102054297924042, + 0.22286206483840942, + 1.0 + ], + [ + -0.005143284797668457, + 0.03215964138507843, + 0.006308078765869141, + 0.0272408127784729, + 0.048670172691345215, + 0.10022789239883423, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2267790138721466, + -0.06930654495954514, + 0.09432580322027206 + ], + [ + 0.26461780071258545, + -0.09277496486902237, + 0.09494838118553162 + ], + [ + 0.28769880533218384, + -0.1219315305352211, + 0.07455587387084961 + ], + [ + 0.30458876490592957, + -0.13986444473266602, + 0.0541430227458477 + ], + [ + 0.3176577389240265, + -0.1609252244234085, + 0.04140587896108627 + ], + [ + 0.3302099108695984, + -0.1716357320547104, + 0.029997514560818672 + ], + [ + 0.332055002450943, + -0.17276333272457123, + 0.02431485801935196 + ], + [ + 0.32930225133895874, + -0.1649216115474701, + 0.02305792085826397 + ], + [ + 0.3220151960849762, + -0.14900784194469452, + 0.022786105051636696 + ], + [ + 0.31585460901260376, + -0.14031606912612915, + 0.0381477028131485 + ], + [ + 0.31637877225875854, + -0.13133837282657623, + 0.04680202901363373 + ], + [ + 0.31341612339019775, + -0.11869003623723984, + 0.07059452682733536 + ], + [ + 0.3107855021953583, + -0.11529143899679184, + 0.07427449524402618 + ], + [ + 0.30277884006500244, + -0.10406597703695297, + 0.07807497680187225 + ], + [ + 0.2879899740219116, + -0.08465000241994858, + 0.09204557538032532 + ], + [ + 0.27692678570747375, + -0.07641995698213577, + 0.09986612945795059 + ], + [ + 0.27018284797668457, + -0.060854651033878326, + 0.1136971190571785 + ], + [ + 0.2635946273803711, + -0.03853907436132431, + 0.12884144484996796 + ], + [ + 0.24814485013484955, + -0.009064936079084873, + 0.14266690611839294 + ], + [ + 0.2430015653371811, + 0.023094704374670982, + 0.14897498488426208 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9835652816192328, + 0.1666189800302896, + -0.06955179571330633, + 0.16050903233068373, + -0.9833007480425827, + -0.0857699798249081, + -0.0826812393082437, + 0.07319668293415744, + -0.9938843284174923 + ], + [ + 0.9810243790802664, + 0.17250256584537196, + -0.08851006963583746, + 0.16952238034005443, + -0.9847058372146913, + -0.040206675057205474, + -0.09409213683416703, + 0.024439290744145897, + -0.9952634781071309 + ], + [ + 0.981402484777325, + 0.17627108843019101, + -0.07601096142352197, + 0.18042367441411, + -0.9822294257417427, + 0.05169770708607463, + -0.06554739189169616, + -0.06445043514734497, + -0.9957658765119008 + ], + [ + 0.9861436272918999, + 0.14562070467380445, + -0.07946921870686444, + 0.15613693912460558, + -0.9765816273102175, + 0.14801885501829495, + -0.056053568953047424, + -0.15837593115884888, + -0.98578651940326 + ], + [ + 0.9944747775114096, + 0.10377682404513439, + 0.015820483075364915, + 0.0995280900783039, + -0.9800158548598219, + 0.17222974048850495, + 0.033377779719413816, + -0.16970355038854654, + -0.9849297583109795 + ], + [ + 0.998016341703156, + 0.057846116015307925, + 0.02484368240402926, + 0.04884044951470025, + -0.9604210503680938, + 0.2742371537575625, + 0.03972394976145692, + -0.2724797843359953, + -0.961341133491935 + ], + [ + 0.999725898719326, + 0.020784488395138755, + 0.01077647771713721, + 0.015448972124240774, + -0.9315061921448405, + 0.3633972251629388, + 0.017591381132248937, + -0.3631311320142788, + -0.931571964086451 + ], + [ + 0.9982810518294796, + 0.04200802185981451, + -0.04086890820237089, + 0.05566266964695265, + -0.8978543048031096, + 0.43676001940917125, + -0.01834690071926834, + -0.4382841241089515, + -0.8986492184317789 + ], + [ + 0.9944009302531397, + 0.042161245701918454, + -0.09689798384152838, + 0.08428819837506912, + -0.8695155027187096, + 0.4866603437167599, + -0.06373609280757354, + -0.49210285499343775, + -0.8682007202144745 + ], + [ + 0.9959552262025797, + 0.04284203351967446, + -0.07897941227729413, + 0.07619202578071879, + -0.8685869454403623, + 0.48964425189928534, + -0.04762313101002486, + -0.49368135307552335, + -0.8683379290450935 + ], + [ + 0.9963775919439262, + 0.05716375087069774, + -0.06296030383039569, + 0.08212206916610931, + -0.839050191459325, + 0.5378203621730464, + -0.022083025786782333, + -0.5410425877862692, + -0.8407052147891301 + ], + [ + 0.9954954531886926, + 0.09478733305376354, + -0.0020406305875093275, + 0.07937194819767203, + -0.8214386021504306, + 0.5647465951525984, + 0.05185457086839923, + -0.5623646365034894, + -0.8252618488033678 + ], + [ + 0.9953421177876731, + 0.09619626492372543, + -0.006351942433182326, + 0.08215313221319184, + -0.811870018789785, + 0.5780293551869455, + 0.05044731336267423, + -0.5758587945017413, + -0.8159912483412366 + ], + [ + 0.9932835425953571, + 0.10472780933120407, + -0.04919237707109446, + 0.11318806234697851, + -0.7912747412077642, + 0.6008932904174606, + 0.02400555251091463, + -0.6024254060705552, + -0.7978141159251151 + ], + [ + 0.991047987861674, + 0.12113135993795662, + -0.05613447599209953, + 0.130165356565863, + -0.7832143323101879, + 0.6079739218206547, + 0.029679381823214335, + -0.6098380959758803, + -0.7919700947580686 + ], + [ + 0.9908021323348303, + 0.12415703962014611, + -0.05381602060274382, + 0.13113039817065372, + -0.782760993641809, + 0.6083502654791019, + 0.033405886253163444, + -0.6098116564527521, + -0.7918420236499143 + ], + [ + 0.969687380848071, + 0.20143046657402808, + -0.13831901734677515, + 0.24425116726822588, + -0.7830393302477735, + 0.5720059217990906, + 0.006910189007348869, + -0.5884515055812906, + -0.808502983833081 + ], + [ + 0.9008098734483685, + 0.2768308299109798, + -0.33452393562902594, + 0.4148668726986507, + -0.7761229471774174, + 0.4748880381751908, + -0.12816805309895316, + -0.5665667325879963, + -0.8139871544990043 + ], + [ + 0.7556737509012401, + 0.3443850831705389, + -0.5570961287681608, + 0.5797950366532054, + -0.7473741467105964, + 0.3244527705243332, + -0.3046225495119465, + -0.5681820124909169, + -0.7644437866910901 + ], + [ + 0.6822489312258273, + 0.3805968914987873, + -0.6242454661610903, + 0.6415727880235987, + -0.7210973343098004, + 0.2615396568762123, + -0.3506005611929951, + -0.5789340555130271, + -0.7361484944346464 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005496.json b/json/chunk-0005/episode_0005496.json new file mode 100644 index 0000000000000000000000000000000000000000..0adcd905583b269000ff78a68c560f22fe7008e1 --- /dev/null +++ b/json/chunk-0005/episode_0005496.json @@ -0,0 +1,5422 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 89, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nSweep into pile." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005496.mp4", + "start": 0, + "end": 89, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2410253882408142, + 0.015001557767391205, + 0.05719209089875221, + 0.0590297132730484, + -0.2730637490749359, + -0.1430012434720993, + 0.0, + 1.0008161067962646 + ], + [ + 0.23829521238803864, + 0.01483924686908722, + 0.05309824272990227, + 0.05520401522517204, + -0.25503024458885193, + -0.14199542999267578, + 0.0, + 1.0008161067962646 + ], + [ + 0.23619438707828522, + 0.014717060141265392, + 0.048917438834905624, + 0.05625922232866287, + -0.23275332152843475, + -0.16452397406101227, + 0.0, + 1.0008161067962646 + ], + [ + 0.23401954770088196, + 0.011554600670933723, + 0.04814489558339119, + 0.03945271670818329, + -0.22277097404003143, + -0.1861499696969986, + 0.0, + 1.0008161067962646 + ], + [ + 0.23221932351589203, + 0.007474119774997234, + 0.04733142629265785, + 0.01699909381568432, + -0.21891498565673828, + -0.20537127554416656, + 0.0, + 1.0008161067962646 + ], + [ + 0.2309260070323944, + -0.0006855612737126648, + 0.04669201374053955, + -0.0025807826314121485, + -0.21782156825065613, + -0.23176881670951843, + 0.0, + 1.0008161067962646 + ], + [ + 0.23055292665958405, + -0.0064864931628108025, + 0.04359034076333046, + -0.004804685246199369, + -0.20694999396800995, + -0.23470854759216309, + 0.0, + 1.0008161067962646 + ], + [ + 0.23149482905864716, + -0.008597610518336296, + 0.034325022250413895, + 0.007620638702064753, + -0.17928475141525269, + -0.22607113420963287, + 0.0, + 1.0008161067962646 + ], + [ + 0.23756000399589539, + -0.0058495779521763325, + 0.027605148032307625, + 0.04711756855249405, + -0.14777594804763794, + -0.21464316546916962, + 0.0, + 0.9461179971694946 + ], + [ + 0.2408272624015808, + -0.0019263027934357524, + 0.021894387900829315, + 0.06041048839688301, + -0.11491107940673828, + -0.21218013763427734, + 0.0, + 0.7408273816108704 + ], + [ + 0.2418469786643982, + -0.0006848907214589417, + 0.021564725786447525, + 0.06490921974182129, + -0.11720100790262222, + -0.21431121230125427, + 0.0, + 0.7398436665534973 + ], + [ + 0.24227841198444366, + -0.004427396692335606, + 0.022890787571668625, + 0.0393100306391716, + -0.11443937569856644, + -0.22272585332393646, + 0.0, + 0.7398436665534973 + ], + [ + 0.24625618755817413, + -0.012831669300794601, + 0.025648359209299088, + -0.006253392901271582, + -0.09806561470031738, + -0.26444634795188904, + 0.0, + 0.7398436665534973 + ], + [ + 0.24759986996650696, + -0.03060292825102806, + 0.032138463109731674, + -0.047630079090595245, + -0.09477197378873825, + -0.4300410747528076, + 0.0, + 0.7398436665534973 + ], + [ + 0.2514929473400116, + -0.04242141172289848, + 0.03512048348784447, + -0.01603006385266781, + -0.11341843008995056, + -0.6306245923042297, + 0.0, + 0.7398436665534973 + ], + [ + 0.2585831582546234, + -0.0418570302426815, + 0.024812400341033936, + 0.0008768665720708668, + -0.10317915678024292, + -0.6691849231719971, + 0.0, + 0.7398436665534973 + ], + [ + 0.2739045321941376, + -0.038831066340208054, + 0.020874517038464546, + 0.032433900982141495, + -0.10382217913866043, + -0.649605393409729, + 0.0, + 0.7398436665534973 + ], + [ + 0.29045945405960083, + -0.03528660908341408, + 0.01757434569299221, + 0.04407257214188576, + -0.10692553222179413, + -0.6005264520645142, + 0.0, + 0.7398436665534973 + ], + [ + 0.30781152844429016, + -0.03329326584935188, + 0.01722409762442112, + 0.042677730321884155, + -0.12921170890331268, + -0.5356439352035522, + 0.0, + 0.7398436665534973 + ], + [ + 0.31957414746284485, + -0.030580835416913033, + 0.017685553058981895, + 0.027062246575951576, + -0.12735402584075928, + -0.4900737404823303, + 0.0, + 0.7398436665534973 + ], + [ + 0.3398796617984772, + -0.018623650074005127, + 0.01884211041033268, + 0.020975274965167046, + -0.13224592804908752, + -0.4150882065296173, + 0.0, + 0.7398436665534973 + ], + [ + 0.3492830693721771, + -0.009623376652598381, + 0.018509728834033012, + 0.00951068289577961, + -0.1284613311290741, + -0.3772810101509094, + 0.0, + 0.7398436665534973 + ], + [ + 0.3591800630092621, + -0.0015867195324972272, + 0.0190090611577034, + -0.005455197300761938, + -0.12701475620269775, + -0.33025026321411133, + 0.0, + 0.7398436665534973 + ], + [ + 0.3660427927970886, + 0.010148588567972183, + 0.0195847749710083, + -0.010569068603217602, + -0.13859905302524567, + -0.23868191242218018, + 0.0, + 0.7398436665534973 + ], + [ + 0.3699725866317749, + 0.02390928938984871, + 0.01919502578675747, + -0.01446169801056385, + -0.15154485404491425, + -0.15428297221660614, + 0.0, + 0.7398436665534973 + ], + [ + 0.37151914834976196, + 0.03720630332827568, + 0.01826906017959118, + -0.025243612006306648, + -0.19042041897773743, + -0.012937383726239204, + 0.0, + 0.7398436665534973 + ], + [ + 0.37143275141716003, + 0.04958190396428108, + 0.01886625960469246, + -0.03396976739168167, + -0.20983248949050903, + 0.08116309344768524, + 0.0, + 0.7398436665534973 + ], + [ + 0.3715386390686035, + 0.05854478105902672, + 0.019674813374876976, + -0.036817517131567, + -0.21510455012321472, + 0.12502077221870422, + 0.0, + 0.7398436665534973 + ], + [ + 0.3684595823287964, + 0.07240195572376251, + 0.021217258647084236, + -0.013702192343771458, + -0.19250810146331787, + 0.16936363279819489, + 0.0, + 0.7398436665534973 + ], + [ + 0.3621031939983368, + 0.09525742381811142, + 0.022165769711136818, + 0.02289641834795475, + -0.14042839407920837, + 0.20804749429225922, + 0.0, + 0.7398436665534973 + ], + [ + 0.3540497422218323, + 0.11421159654855728, + 0.023084785789251328, + 0.03708798438310623, + -0.11501607298851013, + 0.24063299596309662, + 0.0, + 0.7398436665534973 + ], + [ + 0.34998175501823425, + 0.12547528743743896, + 0.023076238110661507, + 0.04364870488643646, + -0.11221799999475479, + 0.24369435012340546, + 0.0, + 0.7398436665534973 + ], + [ + 0.3453664779663086, + 0.1369713395833969, + 0.022715628147125244, + 0.039166562259197235, + -0.11148308217525482, + 0.24734587967395782, + 0.0, + 0.7398436665534973 + ], + [ + 0.34016236662864685, + 0.15172544121742249, + 0.022796276956796646, + 0.03342605382204056, + -0.11774392426013947, + 0.26874876022338867, + 0.0, + 0.7398436665534973 + ], + [ + 0.3352554738521576, + 0.1648179143667221, + 0.023189298808574677, + 0.031437695026397705, + -0.1270318329334259, + 0.2886733412742615, + 0.0, + 0.7398436665534973 + ], + [ + 0.3273519277572632, + 0.18032371997833252, + 0.02487311325967312, + 0.030819445848464966, + -0.13014765083789825, + 0.32738399505615234, + 0.0, + 0.7398436665534973 + ], + [ + 0.32669565081596375, + 0.17688368260860443, + 0.03211721405386925, + -0.00734969275072217, + -0.13408175110816956, + 0.33399608731269836, + 0.0, + 0.7398436665534973 + ], + [ + 0.33063995838165283, + 0.16386018693447113, + 0.05147532746195793, + -0.044242434203624725, + -0.1696270853281021, + 0.32429054379463196, + 0.0, + 0.7398436665534973 + ], + [ + 0.33721184730529785, + 0.1370299607515335, + 0.06987015157938004, + -0.10252554714679718, + -0.19669704139232635, + 0.2859448194503784, + 0.0, + 0.7398436665534973 + ], + [ + 0.3423521816730499, + 0.10506344586610794, + 0.07266964763402939, + -0.16324418783187866, + -0.1793929785490036, + 0.23400411009788513, + 0.0, + 0.7398436665534973 + ], + [ + 0.3509511947631836, + 0.05483584478497505, + 0.07192642986774445, + -0.2061421126127243, + -0.16943272948265076, + 0.1121547669172287, + 0.0, + 0.7398436665534973 + ], + [ + 0.3537715971469879, + 0.005463086999952793, + 0.06828809529542923, + -0.2434445321559906, + -0.15471355617046356, + 0.04670281335711479, + 0.0, + 0.7398436665534973 + ], + [ + 0.3574797511100769, + -0.029083384200930595, + 0.05833981931209564, + -0.2722437083721161, + -0.11038868874311447, + 0.06093642860651016, + 0.0, + 0.7398436665534973 + ], + [ + 0.3669421672821045, + -0.04609529301524162, + 0.04985209181904793, + -0.26856765151023865, + -0.10372460633516312, + 0.0758676528930664, + 0.0, + 0.7398436665534973 + ], + [ + 0.37721186876296997, + -0.055363014340400696, + 0.03893845155835152, + -0.244216188788414, + -0.09730715304613113, + 0.100531667470932, + 0.0, + 0.7398436665534973 + ], + [ + 0.38606101274490356, + -0.05844616889953613, + 0.03193383663892746, + -0.21941812336444855, + -0.1011943593621254, + 0.11300799995660782, + 0.0, + 0.7398436665534973 + ], + [ + 0.39421308040618896, + -0.05814201757311821, + 0.029594065621495247, + -0.20596402883529663, + -0.11271989345550537, + 0.12230350822210312, + 0.0, + 0.7398436665534973 + ], + [ + 0.39891302585601807, + -0.05538226664066315, + 0.028914866968989372, + -0.18933485448360443, + -0.12475942075252533, + 0.1300308257341385, + 0.0, + 0.7398436665534973 + ], + [ + 0.4008484184741974, + -0.04397307708859444, + 0.028457200154662132, + -0.17829173803329468, + -0.1342701017856598, + 0.14083006978034973, + 0.0, + 0.7398436665534973 + ], + [ + 0.3963983952999115, + -0.024644481018185616, + 0.024150948971509933, + -0.17260988056659698, + -0.13306808471679688, + 0.16327135264873505, + 0.0, + 0.7398436665534973 + ], + [ + 0.3895372748374939, + -0.0010990650625899434, + 0.023916568607091904, + -0.14642973244190216, + -0.14043588936328888, + 0.17439228296279907, + 0.0, + 0.7398436665534973 + ], + [ + 0.38484153151512146, + 0.021414613351225853, + 0.024979332461953163, + -0.12957419455051422, + -0.1510627716779709, + 0.19664593040943146, + 0.0, + 0.7398436665534973 + ], + [ + 0.3811396360397339, + 0.04118950292468071, + 0.024090996012091637, + -0.10991115868091583, + -0.15419934689998627, + 0.2144376039505005, + 0.0, + 0.7398436665534973 + ], + [ + 0.37906327843666077, + 0.05300327390432358, + 0.02357827126979828, + -0.0973406508564949, + -0.1546536535024643, + 0.21978414058685303, + 0.0, + 0.7398436665534973 + ], + [ + 0.3766457438468933, + 0.07043145596981049, + 0.024399595335125923, + -0.08752482384443283, + -0.16216017305850983, + 0.24450081586837769, + 0.0, + 0.7398436665534973 + ], + [ + 0.37067389488220215, + 0.09751182049512863, + 0.02477112039923668, + -0.06618110835552216, + -0.16527244448661804, + 0.2957663834095001, + 0.0, + 0.7398436665534973 + ], + [ + 0.3619852066040039, + 0.13226225972175598, + 0.027107011526823044, + -0.06265877932310104, + -0.17336224019527435, + 0.3793926537036896, + 0.0, + 0.7398436665534973 + ], + [ + 0.3520859181880951, + 0.15777477622032166, + 0.027141191065311432, + -0.05509927123785019, + -0.1771174967288971, + 0.4319279193878174, + 0.0, + 0.7398436665534973 + ], + [ + 0.3465701639652252, + 0.1719820201396942, + 0.026927772909402847, + -0.03370410576462746, + -0.18609832227230072, + 0.4423753321170807, + 0.0, + 0.7398436665534973 + ], + [ + 0.33744433522224426, + 0.19023913145065308, + 0.028668222948908806, + -0.0058268713764846325, + -0.2077697366476059, + 0.46921828389167786, + 0.0, + 0.7398436665534973 + ], + [ + 0.332000195980072, + 0.19688057899475098, + 0.02868855930864811, + -0.004801079165190458, + -0.20769403874874115, + 0.4912020266056061, + 0.0, + 0.7398436665534973 + ], + [ + 0.32918551564216614, + 0.18558672070503235, + 0.04256663843989372, + -0.03665350377559662, + -0.22892557084560394, + 0.4800916016101837, + 0.0, + 0.7398436665534973 + ], + [ + 0.3308086693286896, + 0.16004307568073273, + 0.053519394248723984, + -0.11116023361682892, + -0.2282324582338333, + 0.46915945410728455, + 0.0, + 0.7398436665534973 + ], + [ + 0.3324948251247406, + 0.1287899762392044, + 0.06857229024171829, + -0.18865711987018585, + -0.23851756751537323, + 0.4307984411716461, + 0.0, + 0.7398436665534973 + ], + [ + 0.32872340083122253, + 0.09160619974136353, + 0.061650119721889496, + -0.2661266624927521, + -0.19497984647750854, + 0.41071438789367676, + 0.0, + 0.7398436665534973 + ], + [ + 0.3243626356124878, + 0.044675469398498535, + 0.06148887425661087, + -0.3256930708885193, + -0.16186180710792542, + 0.40362927317619324, + 0.0, + 0.7398436665534973 + ], + [ + 0.3175942003726959, + 0.01704379729926586, + 0.052081696689128876, + -0.33885329961776733, + -0.13541719317436218, + 0.403778612613678, + 0.0, + 0.7398436665534973 + ], + [ + 0.3136984407901764, + -0.0012007663026452065, + 0.04381875321269035, + -0.31836023926734924, + -0.13611488044261932, + 0.38673439621925354, + 0.0, + 0.7398436665534973 + ], + [ + 0.31273770332336426, + 0.0016372526297345757, + 0.0269028153270483, + -0.23476864397525787, + -0.15447469055652618, + 0.34782689809799194, + 0.0, + 0.7398436665534973 + ], + [ + 0.31199783086776733, + 0.01196964643895626, + 0.0201855581253767, + -0.16859789192676544, + -0.18736688792705536, + 0.30839022994041443, + 0.0, + 0.7398436665534973 + ], + [ + 0.313921719789505, + 0.022817445918917656, + 0.01842154748737812, + -0.12972787022590637, + -0.20267686247825623, + 0.2785739004611969, + 0.0, + 0.7398436665534973 + ], + [ + 0.3126241862773895, + 0.04368603602051735, + 0.017659951001405716, + -0.06928842514753342, + -0.18191036581993103, + 0.2371385544538498, + 0.0, + 0.7398436665534973 + ], + [ + 0.30411413311958313, + 0.07997682690620422, + 0.02316683903336525, + -0.006639066152274609, + -0.1322074681520462, + 0.23517082631587982, + 0.0, + 0.7398436665534973 + ], + [ + 0.2931513786315918, + 0.11122560501098633, + 0.029673093929886818, + 0.040658388286828995, + -0.08220430463552475, + 0.2724153995513916, + 0.0, + 0.7398436665534973 + ], + [ + 0.28935009241104126, + 0.13495244085788727, + 0.03141583129763603, + 0.10099752992391586, + -0.07854870706796646, + 0.2745562493801117, + 0.0, + 0.7398436665534973 + ], + [ + 0.28955233097076416, + 0.15702980756759644, + 0.0234980471432209, + 0.15777647495269775, + -0.1112900972366333, + 0.2643378674983978, + 0.0, + 0.7398436665534973 + ], + [ + 0.2927742600440979, + 0.16464859247207642, + 0.022455794736742973, + 0.19944101572036743, + -0.15515398979187012, + 0.24131199717521667, + 0.0, + 0.7398436665534973 + ], + [ + 0.2922484874725342, + 0.16691303253173828, + 0.02224690094590187, + 0.21839314699172974, + -0.1663896143436432, + 0.2319214642047882, + 0.0, + 0.7398436665534973 + ], + [ + 0.29237115383148193, + 0.1669699102640152, + 0.022761419415473938, + 0.22121714055538177, + -0.16454525291919708, + 0.2166900783777237, + 0.0, + 0.7398436665534973 + ], + [ + 0.2920866012573242, + 0.16766169667243958, + 0.02363416738808155, + 0.22784747183322906, + -0.15996821224689484, + 0.20378123223781586, + 0.0, + 0.7398436665534973 + ], + [ + 0.28722938895225525, + 0.161500483751297, + 0.02704813703894615, + 0.19774889945983887, + -0.1348595917224884, + 0.2263341248035431, + 0.0, + 0.7398436665534973 + ], + [ + 0.295171856880188, + 0.13377085328102112, + 0.06289119273424149, + 0.15323543548583984, + -0.21766376495361328, + 0.19836100935935974, + 0.0, + 0.7398436665534973 + ], + [ + 0.3011850118637085, + 0.09411852806806564, + 0.08189644664525986, + 0.13308566808700562, + -0.25567734241485596, + 0.12281647324562073, + 0.0, + 0.7398436665534973 + ], + [ + 0.3063891530036926, + 0.061504267156124115, + 0.07982141524553299, + 0.17678216099739075, + -0.27013516426086426, + 0.04018013924360275, + 0.0, + 0.7398436665534973 + ], + [ + 0.3135504126548767, + 0.03694406524300575, + 0.02966054528951645, + 0.24765536189079285, + -0.1618390530347824, + -0.057507287710905075, + 0.0, + 0.7398436665534973 + ], + [ + 0.33130180835723877, + 0.018855230882763863, + 0.018385302275419235, + 0.31076663732528687, + -0.18809986114501953, + -0.14448709785938263, + 0.0, + 0.7855378985404968 + ], + [ + 0.337413489818573, + 0.017597664147615433, + 0.011759031563997269, + 0.3173275887966156, + -0.18648375570774078, + -0.15566293895244598, + 0.0, + 0.9907060265541077 + ], + [ + 0.3255913257598877, + 0.01571977138519287, + 0.0172453373670578, + 0.291603684425354, + -0.15818451344966888, + -0.14667242765426636, + 0.0, + 0.9954678416252136 + ], + [ + 0.32388991117477417, + 0.01141779962927103, + 0.06406639516353607, + 0.24927131831645966, + -0.23607668280601501, + -0.1320101022720337, + 0.0, + 0.9968144297599792 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9461179971694946 + ], + [ + 0.7408273816108704 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7855378985404968 + ], + [ + 0.9907060265541077 + ], + [ + 0.9954678416252136 + ], + [ + 0.9968144297599792 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2410253882408142, + 0.015001557767391205, + 0.05719209089875221 + ], + [ + 0.23829521238803864, + 0.01483924686908722, + 0.05309824272990227 + ], + [ + 0.23619438707828522, + 0.014717060141265392, + 0.048917438834905624 + ], + [ + 0.23401954770088196, + 0.011554600670933723, + 0.04814489558339119 + ], + [ + 0.23221932351589203, + 0.007474119774997234, + 0.04733142629265785 + ], + [ + 0.2309260070323944, + -0.0006855612737126648, + 0.04669201374053955 + ], + [ + 0.23055292665958405, + -0.0064864931628108025, + 0.04359034076333046 + ], + [ + 0.23149482905864716, + -0.008597610518336296, + 0.034325022250413895 + ], + [ + 0.23756000399589539, + -0.0058495779521763325, + 0.027605148032307625 + ], + [ + 0.2408272624015808, + -0.0019263027934357524, + 0.021894387900829315 + ], + [ + 0.2418469786643982, + -0.0006848907214589417, + 0.021564725786447525 + ], + [ + 0.24227841198444366, + -0.004427396692335606, + 0.022890787571668625 + ], + [ + 0.24625618755817413, + -0.012831669300794601, + 0.025648359209299088 + ], + [ + 0.24759986996650696, + -0.03060292825102806, + 0.032138463109731674 + ], + [ + 0.2514929473400116, + -0.04242141172289848, + 0.03512048348784447 + ], + [ + 0.2585831582546234, + -0.0418570302426815, + 0.024812400341033936 + ], + [ + 0.2739045321941376, + -0.038831066340208054, + 0.020874517038464546 + ], + [ + 0.29045945405960083, + -0.03528660908341408, + 0.01757434569299221 + ], + [ + 0.30781152844429016, + -0.03329326584935188, + 0.01722409762442112 + ], + [ + 0.31957414746284485, + -0.030580835416913033, + 0.017685553058981895 + ], + [ + 0.3398796617984772, + -0.018623650074005127, + 0.01884211041033268 + ], + [ + 0.3492830693721771, + -0.009623376652598381, + 0.018509728834033012 + ], + [ + 0.3591800630092621, + -0.0015867195324972272, + 0.0190090611577034 + ], + [ + 0.3660427927970886, + 0.010148588567972183, + 0.0195847749710083 + ], + [ + 0.3699725866317749, + 0.02390928938984871, + 0.01919502578675747 + ], + [ + 0.37151914834976196, + 0.03720630332827568, + 0.01826906017959118 + ], + [ + 0.37143275141716003, + 0.04958190396428108, + 0.01886625960469246 + ], + [ + 0.3715386390686035, + 0.05854478105902672, + 0.019674813374876976 + ], + [ + 0.3684595823287964, + 0.07240195572376251, + 0.021217258647084236 + ], + [ + 0.3621031939983368, + 0.09525742381811142, + 0.022165769711136818 + ], + [ + 0.3540497422218323, + 0.11421159654855728, + 0.023084785789251328 + ], + [ + 0.34998175501823425, + 0.12547528743743896, + 0.023076238110661507 + ], + [ + 0.3453664779663086, + 0.1369713395833969, + 0.022715628147125244 + ], + [ + 0.34016236662864685, + 0.15172544121742249, + 0.022796276956796646 + ], + [ + 0.3352554738521576, + 0.1648179143667221, + 0.023189298808574677 + ], + [ + 0.3273519277572632, + 0.18032371997833252, + 0.02487311325967312 + ], + [ + 0.32669565081596375, + 0.17688368260860443, + 0.03211721405386925 + ], + [ + 0.33063995838165283, + 0.16386018693447113, + 0.05147532746195793 + ], + [ + 0.33721184730529785, + 0.1370299607515335, + 0.06987015157938004 + ], + [ + 0.3423521816730499, + 0.10506344586610794, + 0.07266964763402939 + ], + [ + 0.3509511947631836, + 0.05483584478497505, + 0.07192642986774445 + ], + [ + 0.3537715971469879, + 0.005463086999952793, + 0.06828809529542923 + ], + [ + 0.3574797511100769, + -0.029083384200930595, + 0.05833981931209564 + ], + [ + 0.3669421672821045, + -0.04609529301524162, + 0.04985209181904793 + ], + [ + 0.37721186876296997, + -0.055363014340400696, + 0.03893845155835152 + ], + [ + 0.38606101274490356, + -0.05844616889953613, + 0.03193383663892746 + ], + [ + 0.39421308040618896, + -0.05814201757311821, + 0.029594065621495247 + ], + [ + 0.39891302585601807, + -0.05538226664066315, + 0.028914866968989372 + ], + [ + 0.4008484184741974, + -0.04397307708859444, + 0.028457200154662132 + ], + [ + 0.3963983952999115, + -0.024644481018185616, + 0.024150948971509933 + ], + [ + 0.3895372748374939, + -0.0010990650625899434, + 0.023916568607091904 + ], + [ + 0.38484153151512146, + 0.021414613351225853, + 0.024979332461953163 + ], + [ + 0.3811396360397339, + 0.04118950292468071, + 0.024090996012091637 + ], + [ + 0.37906327843666077, + 0.05300327390432358, + 0.02357827126979828 + ], + [ + 0.3766457438468933, + 0.07043145596981049, + 0.024399595335125923 + ], + [ + 0.37067389488220215, + 0.09751182049512863, + 0.02477112039923668 + ], + [ + 0.3619852066040039, + 0.13226225972175598, + 0.027107011526823044 + ], + [ + 0.3520859181880951, + 0.15777477622032166, + 0.027141191065311432 + ], + [ + 0.3465701639652252, + 0.1719820201396942, + 0.026927772909402847 + ], + [ + 0.33744433522224426, + 0.19023913145065308, + 0.028668222948908806 + ], + [ + 0.332000195980072, + 0.19688057899475098, + 0.02868855930864811 + ], + [ + 0.32918551564216614, + 0.18558672070503235, + 0.04256663843989372 + ], + [ + 0.3308086693286896, + 0.16004307568073273, + 0.053519394248723984 + ], + [ + 0.3324948251247406, + 0.1287899762392044, + 0.06857229024171829 + ], + [ + 0.32872340083122253, + 0.09160619974136353, + 0.061650119721889496 + ], + [ + 0.3243626356124878, + 0.044675469398498535, + 0.06148887425661087 + ], + [ + 0.3175942003726959, + 0.01704379729926586, + 0.052081696689128876 + ], + [ + 0.3136984407901764, + -0.0012007663026452065, + 0.04381875321269035 + ], + [ + 0.31273770332336426, + 0.0016372526297345757, + 0.0269028153270483 + ], + [ + 0.31199783086776733, + 0.01196964643895626, + 0.0201855581253767 + ], + [ + 0.313921719789505, + 0.022817445918917656, + 0.01842154748737812 + ], + [ + 0.3126241862773895, + 0.04368603602051735, + 0.017659951001405716 + ], + [ + 0.30411413311958313, + 0.07997682690620422, + 0.02316683903336525 + ], + [ + 0.2931513786315918, + 0.11122560501098633, + 0.029673093929886818 + ], + [ + 0.28935009241104126, + 0.13495244085788727, + 0.03141583129763603 + ], + [ + 0.28955233097076416, + 0.15702980756759644, + 0.0234980471432209 + ], + [ + 0.2927742600440979, + 0.16464859247207642, + 0.022455794736742973 + ], + [ + 0.2922484874725342, + 0.16691303253173828, + 0.02224690094590187 + ], + [ + 0.29237115383148193, + 0.1669699102640152, + 0.022761419415473938 + ], + [ + 0.2920866012573242, + 0.16766169667243958, + 0.02363416738808155 + ], + [ + 0.28722938895225525, + 0.161500483751297, + 0.02704813703894615 + ], + [ + 0.295171856880188, + 0.13377085328102112, + 0.06289119273424149 + ], + [ + 0.3011850118637085, + 0.09411852806806564, + 0.08189644664525986 + ], + [ + 0.3063891530036926, + 0.061504267156124115, + 0.07982141524553299 + ], + [ + 0.3135504126548767, + 0.03694406524300575, + 0.02966054528951645 + ], + [ + 0.33130180835723877, + 0.018855230882763863, + 0.018385302275419235 + ], + [ + 0.337413489818573, + 0.017597664147615433, + 0.011759031563997269 + ], + [ + 0.3255913257598877, + 0.01571977138519287, + 0.0172453373670578 + ], + [ + 0.32388991117477417, + 0.01141779962927103, + 0.06406639516353607 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9531200981279396, + -0.126518472562338, + 0.2748729791104967, + -0.1372340865356152, + -0.990336177531407, + 0.02002650656546654, + 0.26968293241753716, + -0.05680960810438956, + -0.9612719617203571 + ], + [ + 0.9579167697510613, + -0.12752374816159173, + 0.2571636752819333, + -0.13694141277980315, + -0.9903974239518716, + 0.018973457654541667, + 0.2522746750975299, + -0.05339135027620158, + -0.9661815833579732 + ], + [ + 0.959895565334131, + -0.1507289980028915, + 0.2363922012523119, + -0.15936635138104718, + -0.9870598876282625, + 0.017752303590651292, + 0.23065747267184258, + -0.05471332009964651, + -0.9714955393126167 + ], + [ + 0.958439968325472, + -0.17636913988182873, + 0.22424708161671267, + -0.18050332582317474, + -0.9835721393852787, + -0.0020966620707663676, + 0.22093296830269918, + -0.038467819309263004, + -0.9745300664394858 + ], + [ + 0.9556205377883709, + -0.20028723316083916, + 0.21604261614283485, + -0.19906356851335735, + -0.9795967079573557, + -0.02764028671774009, + 0.2171706321024842, + -0.016592588462522623, + -0.9759926242345894 + ], + [ + 0.9502639669693148, + -0.2302414407689024, + 0.20973142833729352, + -0.22427172861787215, + -0.9731302736911243, + -0.052150380330247735, + 0.21610318096338327, + 0.002519797312879546, + -0.9763672801763738 + ], + [ + 0.9518293684750845, + -0.2335170249819474, + 0.19872255119110727, + -0.22759721785631368, + -0.9723413438039245, + -0.0524577692400649, + 0.20547593467943487, + 0.00470214559097781, + -0.978650872423079 + ], + [ + 0.9589339150892162, + -0.2228194959189719, + 0.17549136369087578, + -0.22055757322063627, + -0.9748308806947511, + -0.03254398468103999, + 0.1783258348829234, + -0.007498418654046485, + -0.9839429202606202 + ], + [ + 0.9664035575761193, + -0.20598658202144993, + 0.1537325337439695, + -0.21067731989197608, + -0.9774452408561107, + 0.014692447409254149, + 0.14723868644943228, + -0.04658679163518552, + -0.98800325913318 + ], + [ + 0.9711270022987727, + -0.20344037710926557, + 0.12459678313599747, + -0.20920278943352352, + -0.9772486593142264, + 0.034917771432027275, + 0.11465835468657219, + -0.05997558528423286, + -0.9915928553949859 + ], + [ + 0.9704198730198228, + -0.2048154058480835, + 0.12781204784947203, + -0.2112154634107199, + -0.9766784957223855, + 0.038563506189828456, + 0.11693287845762512, + -0.06441867369593184, + -0.9910484026599665 + ], + [ + 0.968919491037258, + -0.21634151980725427, + 0.1199640225050343, + -0.21944411835578756, + -0.9755367768916331, + 0.013125389553665698, + 0.11418974913341418, + -0.03904284491903462, + -0.9926914714318222 + ], + [ + 0.9605997993281306, + -0.26196076482949865, + 0.09286863421360182, + -0.26011910593339443, + -0.965058458402796, + -0.03162629592017577, + 0.09790850963612503, + 0.006223307413515358, + -0.9951759614187181 + ], + [ + 0.9048697161704815, + -0.42053062594400753, + 0.06606655281376231, + -0.41503726101729005, + -0.9060393938005635, + -0.08268427207621512, + 0.09463016815380948, + 0.04739841268068959, + -0.9943834882732784 + ], + [ + 0.8024701815035856, + -0.5910387737163554, + 0.08194373533998185, + -0.5858608466171649, + -0.8064859069439794, + -0.07967151499604908, + 0.11317542223743175, + 0.015926388938290494, + -0.993447368478454 + ], + [ + 0.7801563078646239, + -0.6202758317853837, + 0.08132667337342969, + -0.6170477469278698, + -0.7843832811609144, + -0.06320558714605314, + 0.10299618104705441, + -0.0008722030659330283, + -0.9946813690582197 + ], + [ + 0.7920346026074541, + -0.6018778772308954, + 0.10209901651085451, + -0.6016151735468164, + -0.7979365427430067, + -0.036830106076031294, + 0.10363576231536284, + -0.03225359910721719, + -0.9940922161016776 + ], + [ + 0.8203263754190243, + -0.5606488648932585, + 0.11286048062004071, + -0.5618496895757584, + -0.8268940830935609, + -0.02389773354280659, + 0.10672190082410322, + -0.0438066848638406, + -0.993323416740857 + ], + [ + 0.8527714918570495, + -0.5052026599261618, + 0.1324803950757748, + -0.5061401243252984, + -0.861962998841118, + -0.029016601744491846, + 0.1288524630105063, + -0.042309112876045135, + -0.9907608095518153 + ], + [ + 0.8751527994421225, + -0.4674863573312504, + 0.12475609539326812, + -0.4668790273340819, + -0.8835927402322582, + -0.035886532911807933, + 0.12701004473740393, + -0.026839804731166383, + -0.9915382359837643 + ], + [ + 0.9070904912679574, + -0.40065117967790603, + 0.12909482125150307, + -0.3997493872272863, + -0.9159947506397065, + -0.03397122623501535, + 0.13186079046731197, + -0.02079059939500942, + -0.9910501919247741 + ], + [ + 0.9220094229427412, + -0.36724472049101226, + 0.12259665279391346, + -0.36535857231210495, + -0.9300765287637165, + -0.03835054472749652, + 0.12810830434774118, + -0.009432174421288204, + -0.9917153303457765 + ], + [ + 0.938340993607545, + -0.32492863611495115, + 0.11805744850742385, + -0.3216675305546747, + -0.9457230567488867, + -0.046237427700940484, + 0.12667351539474542, + 0.005411225925788826, + -0.9919297047329098 + ], + [ + 0.9623328183780898, + -0.2378276628005403, + 0.13173287167337833, + -0.23415494595364272, + -0.9712509633425586, + -0.04293049605581856, + 0.13815573805647346, + 0.01046752181676729, + -0.9903552004352209 + ], + [ + 0.9767971432712116, + -0.15581276812460057, + 0.14693441457517517, + -0.15191040326563235, + -0.9876831583373777, + -0.03748610564429462, + 0.1509654605427114, + 0.014295454733995367, + -0.9884356679607809 + ], + [ + 0.9818425743484435, + -0.017709895973104448, + 0.1888690519419306, + -0.012703182886559177, + -0.9995359315625438, + -0.02768665129532229, + 0.18927173149039583, + 0.024784694874457506, + -0.9816119042465856 + ], + [ + 0.9748461095441203, + 0.07397612040043369, + 0.2102441350363762, + 0.07929572120704867, + -0.9967066165926299, + -0.016973775028748618, + 0.20829606646537394, + 0.0332182788683143, + -0.97750155736146 + ], + [ + 0.969329032211044, + 0.1168152536188443, + 0.2162300252850319, + 0.12182162501438103, + -0.9925023981491281, + -0.009923776855857573, + 0.213449570136967, + 0.03596089807269007, + -0.9762920130873495 + ], + [ + 0.9674839998234107, + 0.16595536636948363, + 0.19087568325710003, + 0.1654414814455176, + -0.9860415559138113, + 0.018739429772069868, + 0.19132126463832183, + 0.01344865733968794, + -0.9814353301735946 + ], + [ + 0.96880446787297, + 0.20963112263848555, + 0.13218432377063274, + 0.2045166416244122, + -0.9775177270416745, + 0.05130337823136006, + 0.13996730449659658, + -0.022669048074554728, + -0.9898965945649831 + ], + [ + 0.9647706224625422, + 0.24228627763235752, + 0.1025427018577865, + 0.23674285417784527, + -0.9695053272524564, + 0.06334225623416637, + 0.11476265520179554, + -0.036834496062298314, + -0.9927098029489133 + ], + [ + 0.9643492011523067, + 0.2458016104127078, + 0.09804175924282103, + 0.23977178783962041, + -0.9683498566515661, + 0.0693400669100006, + 0.11198262362125617, + -0.043360390235913746, + -0.9927637022804013 + ], + [ + 0.9635467733253559, + 0.24886739284825335, + 0.09819692658738942, + 0.2433116145465906, + -0.9677555282145698, + 0.0651820208099684, + 0.11125229813818376, + -0.0389134730787805, + -0.9930300437408328 + ], + [ + 0.957428613527631, + 0.2691619692705763, + 0.10431818775718754, + 0.263686872541069, + -0.9625229150219167, + 0.06339456843628076, + 0.11747205305121941, + -0.03318843708428598, + -0.9925214579019609 + ], + [ + 0.95089810255508, + 0.28835746971340487, + 0.11244006500190051, + 0.2823868397861045, + -0.9570150596842517, + 0.06618042197784206, + 0.1266904545447909, + -0.03117924306379367, + -0.9914521589714772 + ], + [ + 0.9388787379207334, + 0.32520108942325815, + 0.1129201794113715, + 0.31884749539746887, + -0.9451511556041894, + 0.07089123880160275, + 0.12978054615053577, + -0.03055396043053749, + -0.9910718769811185 + ], + [ + 0.9362603771252118, + 0.32688383716509556, + 0.12869911897747813, + 0.32487854266429, + -0.9450364571258707, + 0.03687854687090054, + 0.13368036034392963, + 0.007283660014402019, + -0.9909977343844493 + ], + [ + 0.9342728924224851, + 0.31124741805709877, + 0.17395173824171295, + 0.31406325216779396, + -0.9493285389245412, + 0.01181519450474438, + 0.16881479829183366, + 0.043593232687951386, + -0.984683296264084 + ], + [ + 0.9408959661840006, + 0.26139342799588833, + 0.21537933192215764, + 0.2766251124173715, + -0.959999391070337, + -0.04335569541201205, + 0.19543113364751585, + 0.10037253082960952, + -0.9755675410017015 + ], + [ + 0.9571353025224885, + 0.2005831369636794, + 0.2089459686880662, + 0.22815327657799456, + -0.9665374026674259, + -0.11726692471294378, + 0.17843232625258693, + 0.15991202084495068, + -0.9708707692259431 + ], + [ + 0.9794877899137984, + 0.07525236930101517, + 0.1869244508467702, + 0.11031716164841693, + -0.976540988920322, + -0.18492652812497354, + 0.168623228695278, + 0.20175425118966692, + -0.9648116027864077 + ], + [ + 0.9869783570828147, + 0.008205092646890354, + 0.16064370235015002, + 0.04612820843268285, + -0.9711893418109792, + -0.23380216153737282, + 0.1540970831550637, + 0.2381678794619727, + -0.9589213472207657 + ], + [ + 0.9920686006761799, + 0.029088285957954672, + 0.12228558039456003, + 0.060528054576392785, + -0.9631862855474429, + -0.26193230793950695, + 0.11016463208127808, + 0.26725652649345677, + -0.957307527853536 + ], + [ + 0.9917643144112003, + 0.04568275431730772, + 0.11965212333454958, + 0.07538752733239676, + -0.9634609034291282, + -0.2570210269340529, + 0.10353871441730814, + 0.26392456028477623, + -0.9589700522411002 + ], + [ + 0.9902442250252369, + 0.0740116312734246, + 0.11806207367488888, + 0.09988763876951272, + -0.967785560443843, + -0.231113756876237, + 0.09715366398247466, + 0.24065200483819718, + -0.9657369093817099 + ], + [ + 0.9885382388726194, + 0.08821562312759079, + 0.12251593415891492, + 0.11219072510232606, + -0.9722781856774013, + -0.20515450484177908, + 0.10102173769855184, + 0.216548224402954, + -0.9710311400878416 + ], + [ + 0.9862314848326782, + 0.0965884674955697, + 0.13423161427766706, + 0.1212246059903792, + -0.9743588275664015, + -0.1895507057383464, + 0.11248134612996252, + 0.20321304852367414, + -0.9726522521860045 + ], + [ + 0.9838511449694441, + 0.10412569622215857, + 0.1455842159321016, + 0.12865690643958747, + -0.9768750884548312, + -0.1707702022653868, + 0.12443602761141674, + 0.18674287387372146, + -0.9744961642252238 + ], + [ + 0.9811882375024131, + 0.11463386720813978, + 0.1553342173373748, + 0.13910163208908904, + -0.9777372725986433, + -0.15710048288123793, + 0.13386701810774726, + 0.17575238905993, + -0.9752900692628154 + ], + [ + 0.9779778861495177, + 0.13764691417530323, + 0.1568839737530186, + 0.16110992076194053, + -0.9757423609617973, + -0.14822428430179435, + 0.13267572360685415, + 0.17023563681766113, + -0.9764307350358669 + ], + [ + 0.9751365684908313, + 0.1515393068818729, + 0.1616926444266641, + 0.17180148100292725, + -0.9778364350752184, + -0.11966685992616696, + 0.1399747259941126, + 0.14447056693025603, + -0.979558743197019 + ], + [ + 0.9695585975068642, + 0.1746729264815935, + 0.1715968961108522, + 0.1931559506134387, + -0.9763051547898582, + -0.09756548300177736, + 0.1504888857794541, + 0.12774041445489018, + -0.9803241717777602 + ], + [ + 0.9655028018647681, + 0.19505257916247853, + 0.1725074808619837, + 0.21027306076575963, + -0.9747853217408684, + -0.07469147498042347, + 0.15358899539837412, + 0.10838850437485109, + -0.9821722621882077 + ], + [ + 0.9642965774567694, + 0.2023765302159629, + 0.17080939881314627, + 0.21541689207632048, + -0.9745883960565397, + -0.0614249206765515, + 0.15403789570537474, + 0.09602707060870486, + -0.9833875779147158 + ], + [ + 0.9575292964990134, + 0.22745225859328677, + 0.17720924469935936, + 0.23889623236107893, + -0.9699606127945204, + -0.04588027670971734, + 0.1614504150189345, + 0.08626632997926514, + -0.9831031908208429 + ], + [ + 0.9435442849235903, + 0.28042714808071206, + 0.1763088114852713, + 0.2875013046912028, + -0.9576562253916706, + -0.01541277941948712, + 0.16452106913367268, + 0.06523165326661584, + -0.9842142293338464 + ], + [ + 0.9149660236890685, + 0.3595964012827541, + 0.1831054441547491, + 0.36480487321762384, + -0.9310671878773469, + 0.005594294847716914, + 0.17249515926914843, + 0.06167916862817015, + -0.9830773622589676 + ], + [ + 0.8939527963382464, + 0.40917509422275017, + 0.1828227015084098, + 0.4120733667462157, + -0.9108441334827504, + 0.02363270865762574, + 0.1761929009281259, + 0.05420984013867725, + -0.9828618188202605 + ], + [ + 0.8881330960653897, + 0.42220946149870486, + 0.1815455157647213, + 0.42069583054239523, + -0.9058932103835848, + 0.048708413494654, + 0.1850260031388812, + 0.033115887454446664, + -0.9821755017106438 + ], + [ + 0.8727398357714166, + 0.4511094723091907, + 0.1866157095493422, + 0.4424641427598384, + -0.8924504112997789, + 0.08807806618368065, + 0.20627811670044466, + 0.0057015229350592805, + -0.9784767913480313 + ], + [ + 0.8628164850002592, + 0.4708077520160901, + 0.18408632174432055, + 0.4615491355602382, + -0.8822233223814943, + 0.09302905411620116, + 0.20620404621489502, + 0.004697881194115433, + -0.9784977369605367 + ], + [ + 0.8638127161351017, + 0.4541743430790994, + 0.21806709410630193, + 0.44981084494186235, + -0.8901976991283808, + 0.07223752653036196, + 0.22693125658662822, + 0.03568924985489885, + -0.9732566373926297 + ], + [ + 0.8688184842451637, + 0.42695920896439105, + 0.25071951522455815, + 0.4404118367342272, + -0.8977917374082057, + 0.002722187712044466, + 0.22625617228778627, + 0.10805475520335342, + -0.9680559458934296 + ], + [ + 0.8829085746734375, + 0.369926705782502, + 0.28918278150163956, + 0.40577397198611054, + -0.9110138493468204, + -0.07349319667087421, + 0.23626242279874712, + 0.182230619400788, + -0.9544485679836662 + ], + [ + 0.8994632317045653, + 0.3384919215593569, + 0.27638580616709263, + 0.3916989743417054, + -0.9049046780637972, + -0.16649155269235666, + 0.19374676335679927, + 0.2580130668344336, + -0.9465154246135953 + ], + [ + 0.9076209464940435, + 0.3246902002973827, + 0.26608361715089246, + 0.3876247867023901, + -0.8915476630686184, + -0.2342856999708097, + 0.1611559562013884, + 0.3157832141006408, + -0.9350453034335211 + ], + [ + 0.9111642662184101, + 0.3292872161473398, + 0.24768853273537167, + 0.3892989620886431, + -0.8849238155933699, + -0.2556485061806085, + 0.13500369655446987, + 0.32936267225902593, + -0.9345021305695467 + ], + [ + 0.917579437551787, + 0.3188764453993723, + 0.23741480230096845, + 0.3736774713876594, + -0.895626494052887, + -0.241284749886642, + 0.1356949636481466, + 0.31011448808463543, + -0.9409653984714491 + ], + [ + 0.9289212113159913, + 0.29785781892460483, + 0.219968413352258, + 0.33679690536985374, + -0.9265260811478149, + -0.16768203686192373, + 0.1538610662270424, + 0.2298480816938681, + -0.9609873212697073 + ], + [ + 0.9361472061018984, + 0.2694395202538807, + 0.22589987479626622, + 0.2982129411532974, + -0.9488004967058009, + -0.10414729559391217, + 0.1862725160519128, + 0.16486346586246559, + -0.968567285937072 + ], + [ + 0.9417689274801472, + 0.24763801168365845, + 0.2274790153008789, + 0.269356213837668, + -0.9605302568478131, + -0.06948996867829535, + 0.20129211931898808, + 0.12671637956175294, + -0.9713003870331938 + ], + [ + 0.9559758255895656, + 0.2221841981637178, + 0.19168829639467905, + 0.23104598278511582, + -0.9726242060189744, + -0.024897945795180162, + 0.18090874696157871, + 0.0680906451159448, + -0.9811399947614438 + ], + [ + 0.9639880721662628, + 0.23215289453657542, + 0.12973831461623606, + 0.2309757159789733, + -0.9726570428132638, + 0.02425893018575064, + 0.1318226662951877, + 0.006581080765812694, + -0.991251468612673 + ], + [ + 0.959871477129329, + 0.2720507212323783, + 0.06808195407376941, + 0.26814997197194734, + -0.96142984710725, + 0.0612228847962398, + 0.0821117526606508, + -0.04050992678680876, + -0.9957994807724713 + ], + [ + 0.9595777236607325, + 0.2773535086832954, + 0.04780819464434721, + 0.2702838723588044, + -0.9554955572435582, + 0.1182153476945838, + 0.07846795904581758, + -0.10051503026357314, + -0.9918364321269393 + ], + [ + 0.9592942327383456, + 0.2748689864819925, + 0.06481986813710033, + 0.2596538818197614, + -0.9487170323419852, + 0.1803215300515885, + 0.11106050914199092, + -0.15615067343619995, + -0.9814695769582178 + ], + [ + 0.9593610716362653, + 0.26396874921358426, + 0.09973381406289772, + 0.23610616398991657, + -0.9444605529867799, + 0.2285785273770759, + 0.1545322411501348, + -0.19574157271903653, + -0.9684033370216125 + ], + [ + 0.9597854668381076, + 0.25931167581854064, + 0.10756073833205136, + 0.22667357216252773, + -0.9418614745254317, + 0.2480243022122205, + 0.1656229130568451, + -0.21366894390378693, + -0.9627640588854598 + ], + [ + 0.9634232420285852, + 0.24485987973632703, + 0.10890039492417711, + 0.2120942961220321, + -0.9450880831585745, + 0.24864537925356914, + 0.16380374315512466, + -0.21645358478704604, + -0.9624532089204166 + ], + [ + 0.9668048893435297, + 0.23237879284078344, + 0.1062468944454629, + 0.19978992313842353, + -0.9467166176366127, + 0.25260964451705775, + 0.15928682479661618, + -0.22299718053946718, + -0.9617171959145059 + ], + [ + 0.9656473814193411, + 0.24577420908820624, + 0.0843811169932943, + 0.22236909686770745, + -0.9495763356309026, + 0.22103567035215727, + 0.1344511789320178, + -0.19467876349734214, + -0.9716084908680741 + ], + [ + 0.9572581844851872, + 0.22706899797060065, + 0.17915478893054984, + 0.192412974642776, + -0.9624075323530283, + 0.19170025784873698, + 0.2159491037842967, + -0.14903493493399853, + -0.9649635085038071 + ], + [ + 0.9602046133669847, + 0.1547300570691162, + 0.2325203429985156, + 0.11852548598804369, + -0.9795801600485321, + 0.16240202957657332, + 0.252900790113549, + -0.12837959136358154, + -0.9589368440524445 + ], + [ + 0.9629569918986222, + 0.08643644487862692, + 0.25542625697116683, + 0.038712581355625136, + -0.9817349638262759, + 0.1862734464324006, + 0.26686170163277567, + -0.16948510789377455, + -0.9487147255123084 + ], + [ + 0.9853011325678742, + -0.016288399378305538, + 0.17004812908749398, + -0.056724540521576994, + -0.9701574012191342, + 0.23574762641933752, + 0.16113349950609332, + -0.2419283053002033, + -0.9568211381608849 + ], + [ + 0.9721250034916905, + -0.08050353934778028, + 0.22020934979868964, + -0.14144518764801914, + -0.9504115236129883, + 0.2769678585591752, + 0.18699261075640908, + -0.30039493327304806, + -0.9353056439401954 + ], + [ + 0.9707808375480048, + -0.09014244976513416, + 0.2223935794935076, + -0.1523470955839498, + -0.947554347769866, + 0.2809468285807106, + 0.18540476778316592, + -0.306618813468392, + -0.933600543760824 + ], + [ + 0.9769118195446079, + -0.0951767937987565, + 0.19127120733720582, + -0.14432244216344664, + -0.9541187516067524, + 0.2623517496041352, + 0.15752564718807532, + -0.28389925282494355, + -0.9458260330121057 + ], + [ + 0.963803722716315, + -0.07036063276599097, + 0.2571609718346506, + -0.12797609202378835, + -0.9682555716232447, + 0.21471671544354093, + 0.233889939818906, + -0.23985522587034253, + -0.9422128032850092 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0027301758527755737, + -0.0001623108983039856, + -0.004093848168849945, + -0.003825698047876358, + 0.018033504486083984, + 0.001005813479423523, + 1.0 + ], + [ + -0.002100825309753418, + -0.00012218672782182693, + -0.004180803894996643, + 0.0010552071034908295, + 0.022276923060417175, + -0.022528544068336487, + 1.0 + ], + [ + -0.0021748393774032593, + -0.003162459470331669, + -0.0007725432515144348, + -0.016806505620479584, + 0.00998234748840332, + -0.021625995635986328, + 1.0 + ], + [ + -0.0018002241849899292, + -0.004080480895936489, + -0.0008134692907333374, + -0.02245362289249897, + 0.003855988383293152, + -0.01922130584716797, + 1.0 + ], + [ + -0.0012933164834976196, + -0.008159681223332882, + -0.0006394125521183014, + -0.019579876214265823, + 0.0010934174060821533, + -0.026397541165351868, + 1.0 + ], + [ + -0.00037308037281036377, + -0.005800931714475155, + -0.003101672977209091, + -0.002223902614787221, + 0.01087157428264618, + -0.0029397308826446533, + 1.0 + ], + [ + 0.0009419023990631104, + -0.0021111173555254936, + -0.009265318512916565, + 0.012425323948264122, + 0.027665242552757263, + 0.008637413382530212, + 1.0 + ], + [ + 0.00606517493724823, + 0.0027480325661599636, + -0.00671987421810627, + 0.039496928453445435, + 0.031508803367614746, + 0.011427968740463257, + 0.0 + ], + [ + 0.003267258405685425, + 0.003923275042325258, + -0.00571076013147831, + 0.013292919844388962, + 0.03286486864089966, + 0.002463027834892273, + 0.0 + ], + [ + 0.0010197162628173828, + 0.0012414120137691498, + -0.00032966211438179016, + 0.004498731344938278, + -0.0022899284958839417, + -0.0021310746669769287, + 0.0 + ], + [ + 0.0004314333200454712, + -0.003742506029084325, + 0.0013260617852210999, + -0.02559918910264969, + 0.002761632204055786, + -0.00841464102268219, + 0.0 + ], + [ + 0.003977775573730469, + -0.008404272608458996, + 0.0027575716376304626, + -0.04556342214345932, + 0.016373760998249054, + -0.041720494627952576, + 0.0 + ], + [ + 0.0013436824083328247, + -0.01777125895023346, + 0.006490103900432587, + -0.041376687586307526, + 0.003293640911579132, + -0.16559472680091858, + 0.0 + ], + [ + 0.0038930773735046387, + -0.011818483471870422, + 0.002982020378112793, + 0.03160001337528229, + -0.01864645630121231, + -0.20058351755142212, + 0.0 + ], + [ + 0.007090210914611816, + 0.00056438148021698, + -0.010308083146810532, + 0.01690693013370037, + 0.010239273309707642, + -0.038560330867767334, + 0.0 + ], + [ + 0.01532137393951416, + 0.0030259639024734497, + -0.003937883302569389, + 0.03155703470110893, + -0.000643022358417511, + 0.019579529762268066, + 0.0 + ], + [ + 0.016554921865463257, + 0.003544457256793976, + -0.003300171345472336, + 0.011638671159744263, + -0.0031033530831336975, + 0.049078941345214844, + 0.0 + ], + [ + 0.01735207438468933, + 0.001993343234062195, + -0.0003502480685710907, + -0.0013948418200016022, + -0.022286176681518555, + 0.06488251686096191, + 0.0 + ], + [ + 0.011762619018554688, + 0.0027124304324388504, + 0.00046145543456077576, + -0.015615483745932579, + 0.0018576830625534058, + 0.045570194721221924, + 0.0 + ], + [ + 0.020305514335632324, + 0.011957185342907906, + 0.0011565573513507843, + -0.006086971610784531, + -0.004891902208328247, + 0.07498553395271301, + 0.0 + ], + [ + 0.009403407573699951, + 0.009000273421406746, + -0.00033238157629966736, + -0.011464592069387436, + 0.0037845969200134277, + 0.037807196378707886, + 0.0 + ], + [ + 0.009896993637084961, + 0.008036657236516476, + 0.0004993323236703873, + -0.014965880662202835, + 0.0014465749263763428, + 0.047030746936798096, + 0.0 + ], + [ + 0.006862729787826538, + 0.011735307984054089, + 0.0005757138133049011, + -0.005113871302455664, + -0.011584296822547913, + 0.09156835079193115, + 0.0 + ], + [ + 0.003929793834686279, + 0.013760700821876526, + -0.0003897491842508316, + -0.0038926294073462486, + -0.012945801019668579, + 0.08439894020557404, + 0.0 + ], + [ + 0.0015465617179870605, + 0.013297013938426971, + -0.0009259656071662903, + -0.010781913995742798, + -0.03887556493282318, + 0.14134559035301208, + 0.0 + ], + [ + -8.639693260192871e-05, + 0.012375600636005402, + 0.0005971994251012802, + -0.008726155385375023, + -0.019412070512771606, + 0.0941004753112793, + 0.0 + ], + [ + 0.00010588765144348145, + 0.008962877094745636, + 0.0008085537701845169, + -0.00284774973988533, + -0.0052720606327056885, + 0.04385767877101898, + 0.0 + ], + [ + -0.003079056739807129, + 0.013857174664735794, + 0.0015424452722072601, + 0.02311532571911812, + 0.02259644865989685, + 0.04434286057949066, + 0.0 + ], + [ + -0.006356388330459595, + 0.022855468094348907, + 0.0009485110640525818, + 0.03659861162304878, + 0.0520797073841095, + 0.03868386149406433, + 0.0 + ], + [ + -0.008053451776504517, + 0.018954172730445862, + 0.0009190160781145096, + 0.014191566035151482, + 0.025412321090698242, + 0.0325855016708374, + 0.0 + ], + [ + -0.0040679872035980225, + 0.011263690888881683, + -8.547678589820862e-06, + 0.006560720503330231, + 0.0027980729937553406, + 0.003061354160308838, + 0.0 + ], + [ + -0.004615277051925659, + 0.011496052145957947, + -0.0003606099635362625, + -0.004482142627239227, + 0.0007349178194999695, + 0.003651529550552368, + 0.0 + ], + [ + -0.005204111337661743, + 0.014754101634025574, + 8.064880967140198e-05, + -0.005740508437156677, + -0.0062608420848846436, + 0.021402880549430847, + 0.0 + ], + [ + -0.004906892776489258, + 0.013092473149299622, + 0.0003930218517780304, + -0.001988358795642853, + -0.009287908673286438, + 0.019924581050872803, + 0.0 + ], + [ + -0.00790354609489441, + 0.015505805611610413, + 0.001683814451098442, + -0.0006182491779327393, + -0.003115817904472351, + 0.03871065378189087, + 0.0 + ], + [ + -0.0006562769412994385, + -0.0034400373697280884, + 0.007244100794196129, + -0.03816913813352585, + -0.003934100270271301, + 0.0066120922565460205, + 0.0 + ], + [ + 0.003944307565689087, + -0.0130234956741333, + 0.019358113408088684, + -0.03689274191856384, + -0.035545334219932556, + -0.009705543518066406, + 0.0 + ], + [ + 0.0065718889236450195, + -0.026830226182937622, + 0.018394824117422104, + -0.058283112943172455, + -0.027069956064224243, + -0.03834572434425354, + 0.0 + ], + [ + 0.005140334367752075, + -0.03196651488542557, + 0.002799496054649353, + -0.06071864068508148, + 0.017304062843322754, + -0.051940709352493286, + 0.0 + ], + [ + 0.008599013090133667, + -0.05022760108113289, + -0.0007432177662849426, + -0.04289792478084564, + 0.009960249066352844, + -0.12184934318065643, + 0.0 + ], + [ + 0.0028204023838043213, + -0.04937275871634483, + -0.003638334572315216, + -0.037302419543266296, + 0.014719173312187195, + -0.06545194983482361, + 0.0 + ], + [ + 0.0037081539630889893, + -0.03454647213220596, + -0.009948275983333588, + -0.02879917621612549, + 0.04432486742734909, + 0.01423361524939537, + 0.0 + ], + [ + 0.009462416172027588, + -0.017011908814311028, + -0.008487727493047714, + 0.0036760568618774414, + 0.006664082407951355, + 0.014931224286556244, + 0.0 + ], + [ + 0.010269701480865479, + -0.009267721325159073, + -0.010913640260696411, + 0.024351462721824646, + 0.006417453289031982, + 0.0246640145778656, + 0.0 + ], + [ + 0.008849143981933594, + -0.003083154559135437, + -0.007004614919424057, + 0.024798065423965454, + -0.0038872063159942627, + 0.012476332485675812, + 0.0 + ], + [ + 0.0081520676612854, + 0.000304151326417923, + -0.002339771017432213, + 0.013454094529151917, + -0.011525534093379974, + 0.0092955082654953, + 0.0 + ], + [ + 0.0046999454498291016, + 0.002759750932455063, + -0.0006791986525058746, + 0.0166291743516922, + -0.012039527297019958, + 0.00772731751203537, + 0.0 + ], + [ + 0.0019353926181793213, + 0.01140918955206871, + -0.00045766681432724, + 0.011043116450309753, + -0.00951068103313446, + 0.010799244046211243, + 0.0 + ], + [ + -0.004450023174285889, + 0.01932859607040882, + -0.004306251183152199, + 0.005681857466697693, + 0.001202017068862915, + 0.022441282868385315, + 0.0 + ], + [ + -0.0068611204624176025, + 0.023545416072010994, + -0.00023438036441802979, + 0.026180148124694824, + -0.007367804646492004, + 0.011120930314064026, + 0.0 + ], + [ + -0.0046957433223724365, + 0.022513678297400475, + 0.0010627638548612595, + 0.01685553789138794, + -0.010626882314682007, + 0.022253647446632385, + 0.0 + ], + [ + -0.0037018954753875732, + 0.019774889573454857, + -0.0008883364498615265, + 0.01966303586959839, + -0.003136575222015381, + 0.01779167354106903, + 0.0 + ], + [ + -0.00207635760307312, + 0.011813770979642868, + -0.0005127247422933578, + 0.012570507824420929, + -0.00045430660247802734, + 0.005346536636352539, + 0.0 + ], + [ + -0.002417534589767456, + 0.017428182065486908, + 0.0008213240653276443, + 0.009815827012062073, + -0.007506519556045532, + 0.024716675281524658, + 0.0 + ], + [ + -0.005971848964691162, + 0.027080364525318146, + 0.0003715250641107559, + 0.021343715488910675, + -0.0031122714281082153, + 0.051265567541122437, + 0.0 + ], + [ + -0.008688688278198242, + 0.03475043922662735, + 0.0023358911275863647, + 0.003522329032421112, + -0.008089795708656311, + 0.08362627029418945, + 0.0 + ], + [ + -0.009899288415908813, + 0.025512516498565674, + 3.417953848838806e-05, + 0.0075595080852508545, + -0.0037552565336227417, + 0.05253526568412781, + 0.0 + ], + [ + -0.005515754222869873, + 0.014207243919372559, + -0.0002134181559085846, + 0.021395165473222733, + -0.008980825543403625, + 0.010447412729263306, + 0.0 + ], + [ + -0.009125828742980957, + 0.018257111310958862, + 0.0017404500395059586, + 0.027877233922481537, + -0.021671414375305176, + 0.026842951774597168, + 0.0 + ], + [ + -0.005444139242172241, + 0.0066414475440979, + 2.033635973930359e-05, + 0.0010257922112941742, + 7.56978988647461e-05, + 0.021983742713928223, + 0.0 + ], + [ + -0.002814680337905884, + -0.011293858289718628, + 0.013878079131245613, + -0.03185242414474487, + -0.021231532096862793, + -0.011110424995422363, + 0.0 + ], + [ + 0.0016231536865234375, + -0.02554364502429962, + 0.010952755808830261, + -0.0745067298412323, + 0.0006931126117706299, + -0.01093214750289917, + 0.0 + ], + [ + 0.0016861557960510254, + -0.03125309944152832, + 0.015052895992994308, + -0.07749688625335693, + -0.010285109281539917, + -0.03836101293563843, + 0.0 + ], + [ + -0.0037714242935180664, + -0.03718377649784088, + -0.006922170519828796, + -0.07746954262256622, + 0.043537721037864685, + -0.02008405327796936, + 0.0 + ], + [ + -0.004360765218734741, + -0.04693073034286499, + -0.0001612454652786255, + -0.05956640839576721, + 0.03311803936958313, + -0.0070851147174835205, + 0.0 + ], + [ + -0.00676843523979187, + -0.027631672099232674, + -0.009407177567481995, + -0.013160228729248047, + 0.026444613933563232, + 0.0001493394374847412, + 0.0 + ], + [ + -0.0038957595825195312, + -0.018244564533233643, + -0.008262943476438522, + 0.02049306035041809, + -0.0006976872682571411, + -0.01704421639442444, + 0.0 + ], + [ + -0.0009607374668121338, + 0.0028380188159644604, + -0.01691593788564205, + 0.08359159529209137, + -0.01835981011390686, + -0.0389074981212616, + 0.0 + ], + [ + -0.0007398724555969238, + 0.01033239345997572, + -0.0067172572016716, + 0.06617075204849243, + -0.032892197370529175, + -0.039436668157577515, + 0.0 + ], + [ + 0.001923888921737671, + 0.010847799479961395, + -0.001764010637998581, + 0.03887002170085907, + -0.015309974551200867, + -0.02981632947921753, + 0.0 + ], + [ + -0.0012975335121154785, + 0.020868590101599693, + -0.0007615964859724045, + 0.060439445078372955, + 0.020766496658325195, + -0.04143534600734711, + 0.0 + ], + [ + -0.008510053157806396, + 0.036290790885686874, + 0.005506888031959534, + 0.06264936178922653, + 0.04970289766788483, + -0.0019677281379699707, + 0.0 + ], + [ + -0.010962754487991333, + 0.031248778104782104, + 0.006506254896521568, + 0.04729745537042618, + 0.050003163516521454, + 0.03724457323551178, + 0.0 + ], + [ + -0.003801286220550537, + 0.02372683584690094, + 0.0017427373677492142, + 0.06033914163708687, + 0.0036555975675582886, + 0.0021408498287200928, + 0.0 + ], + [ + 0.0002022385597229004, + 0.022077366709709167, + -0.00791778415441513, + 0.05677894502878189, + -0.03274139016866684, + -0.010218381881713867, + 0.0 + ], + [ + 0.0032219290733337402, + 0.0076187849044799805, + -0.0010422524064779282, + 0.04166454076766968, + -0.043863892555236816, + -0.023025870323181152, + 0.0 + ], + [ + -0.0005257725715637207, + 0.0022644400596618652, + -0.0002088937908411026, + 0.018952131271362305, + -0.011235624551773071, + -0.009390532970428467, + 0.0 + ], + [ + 0.0001226663589477539, + 5.6877732276916504e-05, + 0.0005145184695720673, + 0.0028239935636520386, + 0.001844361424446106, + -0.015231385827064514, + 0.0 + ], + [ + -0.00028455257415771484, + 0.0006917864084243774, + 0.0008727479726076126, + 0.00663033127784729, + 0.004577040672302246, + -0.012908846139907837, + 0.0 + ], + [ + -0.00485721230506897, + -0.006161212921142578, + 0.003413969650864601, + -0.030098572373390198, + 0.025108620524406433, + 0.022552892565727234, + 0.0 + ], + [ + 0.00794246792793274, + -0.02772963047027588, + 0.035843055695295334, + -0.04451346397399902, + -0.08280417323112488, + -0.02797311544418335, + 0.0 + ], + [ + 0.006013154983520508, + -0.039652325212955475, + 0.01900525391101837, + -0.02014976739883423, + -0.038013577461242676, + -0.07554453611373901, + 0.0 + ], + [ + 0.005204141139984131, + -0.03261426091194153, + -0.0020750313997268677, + 0.04369649291038513, + -0.0144578218460083, + -0.08263633400201797, + 0.0 + ], + [ + 0.007161259651184082, + -0.024560201913118362, + -0.05016086995601654, + 0.0708732008934021, + 0.10829611122608185, + -0.09768742322921753, + 0.0 + ], + [ + 0.01775139570236206, + -0.01808883436024189, + -0.011275243014097214, + 0.06311127543449402, + -0.02626080811023712, + -0.08697980642318726, + 1.0 + ], + [ + 0.0061116814613342285, + -0.0012575667351484299, + -0.0066262707114219666, + 0.006560951471328735, + 0.0016161054372787476, + -0.011175841093063354, + 1.0 + ], + [ + -0.011822164058685303, + -0.0018778927624225616, + 0.005486305803060532, + -0.025723904371261597, + 0.0282992422580719, + 0.008990511298179626, + 1.0 + ], + [ + -0.0017014145851135254, + -0.004301971755921841, + 0.04682105779647827, + -0.04233236610889435, + -0.07789216935634613, + 0.014662325382232666, + 1.0 + ], + [ + -0.011176764965057373, + 0.003536076284945011, + 0.03476353734731674, + -0.044761642813682556, + -0.02994847297668457, + 0.026874780654907227, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9461179971694946 + ], + [ + 0.7408273816108704 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7855378985404968 + ], + [ + 0.9907060265541077 + ], + [ + 0.9954678416252136 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.23829521238803864, + 0.01483924686908722, + 0.05309824272990227 + ], + [ + 0.23619438707828522, + 0.014717060141265392, + 0.048917438834905624 + ], + [ + 0.23401954770088196, + 0.011554600670933723, + 0.04814489558339119 + ], + [ + 0.23221932351589203, + 0.007474119774997234, + 0.04733142629265785 + ], + [ + 0.2309260070323944, + -0.0006855612737126648, + 0.04669201374053955 + ], + [ + 0.23055292665958405, + -0.0064864931628108025, + 0.04359034076333046 + ], + [ + 0.23149482905864716, + -0.008597610518336296, + 0.034325022250413895 + ], + [ + 0.23756000399589539, + -0.0058495779521763325, + 0.027605148032307625 + ], + [ + 0.2408272624015808, + -0.0019263027934357524, + 0.021894387900829315 + ], + [ + 0.2418469786643982, + -0.0006848907214589417, + 0.021564725786447525 + ], + [ + 0.24227841198444366, + -0.004427396692335606, + 0.022890787571668625 + ], + [ + 0.24625618755817413, + -0.012831669300794601, + 0.025648359209299088 + ], + [ + 0.24759986996650696, + -0.03060292825102806, + 0.032138463109731674 + ], + [ + 0.2514929473400116, + -0.04242141172289848, + 0.03512048348784447 + ], + [ + 0.2585831582546234, + -0.0418570302426815, + 0.024812400341033936 + ], + [ + 0.2739045321941376, + -0.038831066340208054, + 0.020874517038464546 + ], + [ + 0.29045945405960083, + -0.03528660908341408, + 0.01757434569299221 + ], + [ + 0.30781152844429016, + -0.03329326584935188, + 0.01722409762442112 + ], + [ + 0.31957414746284485, + -0.030580835416913033, + 0.017685553058981895 + ], + [ + 0.3398796617984772, + -0.018623650074005127, + 0.01884211041033268 + ], + [ + 0.3492830693721771, + -0.009623376652598381, + 0.018509728834033012 + ], + [ + 0.3591800630092621, + -0.0015867195324972272, + 0.0190090611577034 + ], + [ + 0.3660427927970886, + 0.010148588567972183, + 0.0195847749710083 + ], + [ + 0.3699725866317749, + 0.02390928938984871, + 0.01919502578675747 + ], + [ + 0.37151914834976196, + 0.03720630332827568, + 0.01826906017959118 + ], + [ + 0.37143275141716003, + 0.04958190396428108, + 0.01886625960469246 + ], + [ + 0.3715386390686035, + 0.05854478105902672, + 0.019674813374876976 + ], + [ + 0.3684595823287964, + 0.07240195572376251, + 0.021217258647084236 + ], + [ + 0.3621031939983368, + 0.09525742381811142, + 0.022165769711136818 + ], + [ + 0.3540497422218323, + 0.11421159654855728, + 0.023084785789251328 + ], + [ + 0.34998175501823425, + 0.12547528743743896, + 0.023076238110661507 + ], + [ + 0.3453664779663086, + 0.1369713395833969, + 0.022715628147125244 + ], + [ + 0.34016236662864685, + 0.15172544121742249, + 0.022796276956796646 + ], + [ + 0.3352554738521576, + 0.1648179143667221, + 0.023189298808574677 + ], + [ + 0.3273519277572632, + 0.18032371997833252, + 0.02487311325967312 + ], + [ + 0.32669565081596375, + 0.17688368260860443, + 0.03211721405386925 + ], + [ + 0.33063995838165283, + 0.16386018693447113, + 0.05147532746195793 + ], + [ + 0.33721184730529785, + 0.1370299607515335, + 0.06987015157938004 + ], + [ + 0.3423521816730499, + 0.10506344586610794, + 0.07266964763402939 + ], + [ + 0.3509511947631836, + 0.05483584478497505, + 0.07192642986774445 + ], + [ + 0.3537715971469879, + 0.005463086999952793, + 0.06828809529542923 + ], + [ + 0.3574797511100769, + -0.029083384200930595, + 0.05833981931209564 + ], + [ + 0.3669421672821045, + -0.04609529301524162, + 0.04985209181904793 + ], + [ + 0.37721186876296997, + -0.055363014340400696, + 0.03893845155835152 + ], + [ + 0.38606101274490356, + -0.05844616889953613, + 0.03193383663892746 + ], + [ + 0.39421308040618896, + -0.05814201757311821, + 0.029594065621495247 + ], + [ + 0.39891302585601807, + -0.05538226664066315, + 0.028914866968989372 + ], + [ + 0.4008484184741974, + -0.04397307708859444, + 0.028457200154662132 + ], + [ + 0.3963983952999115, + -0.024644481018185616, + 0.024150948971509933 + ], + [ + 0.3895372748374939, + -0.0010990650625899434, + 0.023916568607091904 + ], + [ + 0.38484153151512146, + 0.021414613351225853, + 0.024979332461953163 + ], + [ + 0.3811396360397339, + 0.04118950292468071, + 0.024090996012091637 + ], + [ + 0.37906327843666077, + 0.05300327390432358, + 0.02357827126979828 + ], + [ + 0.3766457438468933, + 0.07043145596981049, + 0.024399595335125923 + ], + [ + 0.37067389488220215, + 0.09751182049512863, + 0.02477112039923668 + ], + [ + 0.3619852066040039, + 0.13226225972175598, + 0.027107011526823044 + ], + [ + 0.3520859181880951, + 0.15777477622032166, + 0.027141191065311432 + ], + [ + 0.3465701639652252, + 0.1719820201396942, + 0.026927772909402847 + ], + [ + 0.33744433522224426, + 0.19023913145065308, + 0.028668222948908806 + ], + [ + 0.332000195980072, + 0.19688057899475098, + 0.02868855930864811 + ], + [ + 0.32918551564216614, + 0.18558672070503235, + 0.04256663843989372 + ], + [ + 0.3308086693286896, + 0.16004307568073273, + 0.053519394248723984 + ], + [ + 0.3324948251247406, + 0.1287899762392044, + 0.06857229024171829 + ], + [ + 0.32872340083122253, + 0.09160619974136353, + 0.061650119721889496 + ], + [ + 0.3243626356124878, + 0.044675469398498535, + 0.06148887425661087 + ], + [ + 0.3175942003726959, + 0.01704379729926586, + 0.052081696689128876 + ], + [ + 0.3136984407901764, + -0.0012007663026452065, + 0.04381875321269035 + ], + [ + 0.31273770332336426, + 0.0016372526297345757, + 0.0269028153270483 + ], + [ + 0.31199783086776733, + 0.01196964643895626, + 0.0201855581253767 + ], + [ + 0.313921719789505, + 0.022817445918917656, + 0.01842154748737812 + ], + [ + 0.3126241862773895, + 0.04368603602051735, + 0.017659951001405716 + ], + [ + 0.30411413311958313, + 0.07997682690620422, + 0.02316683903336525 + ], + [ + 0.2931513786315918, + 0.11122560501098633, + 0.029673093929886818 + ], + [ + 0.28935009241104126, + 0.13495244085788727, + 0.03141583129763603 + ], + [ + 0.28955233097076416, + 0.15702980756759644, + 0.0234980471432209 + ], + [ + 0.2927742600440979, + 0.16464859247207642, + 0.022455794736742973 + ], + [ + 0.2922484874725342, + 0.16691303253173828, + 0.02224690094590187 + ], + [ + 0.29237115383148193, + 0.1669699102640152, + 0.022761419415473938 + ], + [ + 0.2920866012573242, + 0.16766169667243958, + 0.02363416738808155 + ], + [ + 0.28722938895225525, + 0.161500483751297, + 0.02704813703894615 + ], + [ + 0.295171856880188, + 0.13377085328102112, + 0.06289119273424149 + ], + [ + 0.3011850118637085, + 0.09411852806806564, + 0.08189644664525986 + ], + [ + 0.3063891530036926, + 0.061504267156124115, + 0.07982141524553299 + ], + [ + 0.3135504126548767, + 0.03694406524300575, + 0.02966054528951645 + ], + [ + 0.33130180835723877, + 0.018855230882763863, + 0.018385302275419235 + ], + [ + 0.337413489818573, + 0.017597664147615433, + 0.011759031563997269 + ], + [ + 0.3255913257598877, + 0.01571977138519287, + 0.0172453373670578 + ], + [ + 0.32388991117477417, + 0.01141779962927103, + 0.06406639516353607 + ], + [ + 0.3127131462097168, + 0.014953875914216042, + 0.09882993251085281 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9579167697510613, + -0.12752374816159173, + 0.2571636752819333, + -0.13694141277980315, + -0.9903974239518716, + 0.018973457654541667, + 0.2522746750975299, + -0.05339135027620158, + -0.9661815833579732 + ], + [ + 0.959895565334131, + -0.1507289980028915, + 0.2363922012523119, + -0.15936635138104718, + -0.9870598876282625, + 0.017752303590651292, + 0.23065747267184258, + -0.05471332009964651, + -0.9714955393126167 + ], + [ + 0.958439968325472, + -0.17636913988182873, + 0.22424708161671267, + -0.18050332582317474, + -0.9835721393852787, + -0.0020966620707663676, + 0.22093296830269918, + -0.038467819309263004, + -0.9745300664394858 + ], + [ + 0.9556205377883709, + -0.20028723316083916, + 0.21604261614283485, + -0.19906356851335735, + -0.9795967079573557, + -0.02764028671774009, + 0.2171706321024842, + -0.016592588462522623, + -0.9759926242345894 + ], + [ + 0.9502639669693148, + -0.2302414407689024, + 0.20973142833729352, + -0.22427172861787215, + -0.9731302736911243, + -0.052150380330247735, + 0.21610318096338327, + 0.002519797312879546, + -0.9763672801763738 + ], + [ + 0.9518293684750845, + -0.2335170249819474, + 0.19872255119110727, + -0.22759721785631368, + -0.9723413438039245, + -0.0524577692400649, + 0.20547593467943487, + 0.00470214559097781, + -0.978650872423079 + ], + [ + 0.9589339150892162, + -0.2228194959189719, + 0.17549136369087578, + -0.22055757322063627, + -0.9748308806947511, + -0.03254398468103999, + 0.1783258348829234, + -0.007498418654046485, + -0.9839429202606202 + ], + [ + 0.9664035575761193, + -0.20598658202144993, + 0.1537325337439695, + -0.21067731989197608, + -0.9774452408561107, + 0.014692447409254149, + 0.14723868644943228, + -0.04658679163518552, + -0.98800325913318 + ], + [ + 0.9711270022987727, + -0.20344037710926557, + 0.12459678313599747, + -0.20920278943352352, + -0.9772486593142264, + 0.034917771432027275, + 0.11465835468657219, + -0.05997558528423286, + -0.9915928553949859 + ], + [ + 0.9704198730198228, + -0.2048154058480835, + 0.12781204784947203, + -0.2112154634107199, + -0.9766784957223855, + 0.038563506189828456, + 0.11693287845762512, + -0.06441867369593184, + -0.9910484026599665 + ], + [ + 0.968919491037258, + -0.21634151980725427, + 0.1199640225050343, + -0.21944411835578756, + -0.9755367768916331, + 0.013125389553665698, + 0.11418974913341418, + -0.03904284491903462, + -0.9926914714318222 + ], + [ + 0.9605997993281306, + -0.26196076482949865, + 0.09286863421360182, + -0.26011910593339443, + -0.965058458402796, + -0.03162629592017577, + 0.09790850963612503, + 0.006223307413515358, + -0.9951759614187181 + ], + [ + 0.9048697161704815, + -0.42053062594400753, + 0.06606655281376231, + -0.41503726101729005, + -0.9060393938005635, + -0.08268427207621512, + 0.09463016815380948, + 0.04739841268068959, + -0.9943834882732784 + ], + [ + 0.8024701815035856, + -0.5910387737163554, + 0.08194373533998185, + -0.5858608466171649, + -0.8064859069439794, + -0.07967151499604908, + 0.11317542223743175, + 0.015926388938290494, + -0.993447368478454 + ], + [ + 0.7801563078646239, + -0.6202758317853837, + 0.08132667337342969, + -0.6170477469278698, + -0.7843832811609144, + -0.06320558714605314, + 0.10299618104705441, + -0.0008722030659330283, + -0.9946813690582197 + ], + [ + 0.7920346026074541, + -0.6018778772308954, + 0.10209901651085451, + -0.6016151735468164, + -0.7979365427430067, + -0.036830106076031294, + 0.10363576231536284, + -0.03225359910721719, + -0.9940922161016776 + ], + [ + 0.8203263754190243, + -0.5606488648932585, + 0.11286048062004071, + -0.5618496895757584, + -0.8268940830935609, + -0.02389773354280659, + 0.10672190082410322, + -0.0438066848638406, + -0.993323416740857 + ], + [ + 0.8527714918570495, + -0.5052026599261618, + 0.1324803950757748, + -0.5061401243252984, + -0.861962998841118, + -0.029016601744491846, + 0.1288524630105063, + -0.042309112876045135, + -0.9907608095518153 + ], + [ + 0.8751527994421225, + -0.4674863573312504, + 0.12475609539326812, + -0.4668790273340819, + -0.8835927402322582, + -0.035886532911807933, + 0.12701004473740393, + -0.026839804731166383, + -0.9915382359837643 + ], + [ + 0.9070904912679574, + -0.40065117967790603, + 0.12909482125150307, + -0.3997493872272863, + -0.9159947506397065, + -0.03397122623501535, + 0.13186079046731197, + -0.02079059939500942, + -0.9910501919247741 + ], + [ + 0.9220094229427412, + -0.36724472049101226, + 0.12259665279391346, + -0.36535857231210495, + -0.9300765287637165, + -0.03835054472749652, + 0.12810830434774118, + -0.009432174421288204, + -0.9917153303457765 + ], + [ + 0.938340993607545, + -0.32492863611495115, + 0.11805744850742385, + -0.3216675305546747, + -0.9457230567488867, + -0.046237427700940484, + 0.12667351539474542, + 0.005411225925788826, + -0.9919297047329098 + ], + [ + 0.9623328183780898, + -0.2378276628005403, + 0.13173287167337833, + -0.23415494595364272, + -0.9712509633425586, + -0.04293049605581856, + 0.13815573805647346, + 0.01046752181676729, + -0.9903552004352209 + ], + [ + 0.9767971432712116, + -0.15581276812460057, + 0.14693441457517517, + -0.15191040326563235, + -0.9876831583373777, + -0.03748610564429462, + 0.1509654605427114, + 0.014295454733995367, + -0.9884356679607809 + ], + [ + 0.9818425743484435, + -0.017709895973104448, + 0.1888690519419306, + -0.012703182886559177, + -0.9995359315625438, + -0.02768665129532229, + 0.18927173149039583, + 0.024784694874457506, + -0.9816119042465856 + ], + [ + 0.9748461095441203, + 0.07397612040043369, + 0.2102441350363762, + 0.07929572120704867, + -0.9967066165926299, + -0.016973775028748618, + 0.20829606646537394, + 0.0332182788683143, + -0.97750155736146 + ], + [ + 0.969329032211044, + 0.1168152536188443, + 0.2162300252850319, + 0.12182162501438103, + -0.9925023981491281, + -0.009923776855857573, + 0.213449570136967, + 0.03596089807269007, + -0.9762920130873495 + ], + [ + 0.9674839998234107, + 0.16595536636948363, + 0.19087568325710003, + 0.1654414814455176, + -0.9860415559138113, + 0.018739429772069868, + 0.19132126463832183, + 0.01344865733968794, + -0.9814353301735946 + ], + [ + 0.96880446787297, + 0.20963112263848555, + 0.13218432377063274, + 0.2045166416244122, + -0.9775177270416745, + 0.05130337823136006, + 0.13996730449659658, + -0.022669048074554728, + -0.9898965945649831 + ], + [ + 0.9647706224625422, + 0.24228627763235752, + 0.1025427018577865, + 0.23674285417784527, + -0.9695053272524564, + 0.06334225623416637, + 0.11476265520179554, + -0.036834496062298314, + -0.9927098029489133 + ], + [ + 0.9643492011523067, + 0.2458016104127078, + 0.09804175924282103, + 0.23977178783962041, + -0.9683498566515661, + 0.0693400669100006, + 0.11198262362125617, + -0.043360390235913746, + -0.9927637022804013 + ], + [ + 0.9635467733253559, + 0.24886739284825335, + 0.09819692658738942, + 0.2433116145465906, + -0.9677555282145698, + 0.0651820208099684, + 0.11125229813818376, + -0.0389134730787805, + -0.9930300437408328 + ], + [ + 0.957428613527631, + 0.2691619692705763, + 0.10431818775718754, + 0.263686872541069, + -0.9625229150219167, + 0.06339456843628076, + 0.11747205305121941, + -0.03318843708428598, + -0.9925214579019609 + ], + [ + 0.95089810255508, + 0.28835746971340487, + 0.11244006500190051, + 0.2823868397861045, + -0.9570150596842517, + 0.06618042197784206, + 0.1266904545447909, + -0.03117924306379367, + -0.9914521589714772 + ], + [ + 0.9388787379207334, + 0.32520108942325815, + 0.1129201794113715, + 0.31884749539746887, + -0.9451511556041894, + 0.07089123880160275, + 0.12978054615053577, + -0.03055396043053749, + -0.9910718769811185 + ], + [ + 0.9362603771252118, + 0.32688383716509556, + 0.12869911897747813, + 0.32487854266429, + -0.9450364571258707, + 0.03687854687090054, + 0.13368036034392963, + 0.007283660014402019, + -0.9909977343844493 + ], + [ + 0.9342728924224851, + 0.31124741805709877, + 0.17395173824171295, + 0.31406325216779396, + -0.9493285389245412, + 0.01181519450474438, + 0.16881479829183366, + 0.043593232687951386, + -0.984683296264084 + ], + [ + 0.9408959661840006, + 0.26139342799588833, + 0.21537933192215764, + 0.2766251124173715, + -0.959999391070337, + -0.04335569541201205, + 0.19543113364751585, + 0.10037253082960952, + -0.9755675410017015 + ], + [ + 0.9571353025224885, + 0.2005831369636794, + 0.2089459686880662, + 0.22815327657799456, + -0.9665374026674259, + -0.11726692471294378, + 0.17843232625258693, + 0.15991202084495068, + -0.9708707692259431 + ], + [ + 0.9794877899137984, + 0.07525236930101517, + 0.1869244508467702, + 0.11031716164841693, + -0.976540988920322, + -0.18492652812497354, + 0.168623228695278, + 0.20175425118966692, + -0.9648116027864077 + ], + [ + 0.9869783570828147, + 0.008205092646890354, + 0.16064370235015002, + 0.04612820843268285, + -0.9711893418109792, + -0.23380216153737282, + 0.1540970831550637, + 0.2381678794619727, + -0.9589213472207657 + ], + [ + 0.9920686006761799, + 0.029088285957954672, + 0.12228558039456003, + 0.060528054576392785, + -0.9631862855474429, + -0.26193230793950695, + 0.11016463208127808, + 0.26725652649345677, + -0.957307527853536 + ], + [ + 0.9917643144112003, + 0.04568275431730772, + 0.11965212333454958, + 0.07538752733239676, + -0.9634609034291282, + -0.2570210269340529, + 0.10353871441730814, + 0.26392456028477623, + -0.9589700522411002 + ], + [ + 0.9902442250252369, + 0.0740116312734246, + 0.11806207367488888, + 0.09988763876951272, + -0.967785560443843, + -0.231113756876237, + 0.09715366398247466, + 0.24065200483819718, + -0.9657369093817099 + ], + [ + 0.9885382388726194, + 0.08821562312759079, + 0.12251593415891492, + 0.11219072510232606, + -0.9722781856774013, + -0.20515450484177908, + 0.10102173769855184, + 0.216548224402954, + -0.9710311400878416 + ], + [ + 0.9862314848326782, + 0.0965884674955697, + 0.13423161427766706, + 0.1212246059903792, + -0.9743588275664015, + -0.1895507057383464, + 0.11248134612996252, + 0.20321304852367414, + -0.9726522521860045 + ], + [ + 0.9838511449694441, + 0.10412569622215857, + 0.1455842159321016, + 0.12865690643958747, + -0.9768750884548312, + -0.1707702022653868, + 0.12443602761141674, + 0.18674287387372146, + -0.9744961642252238 + ], + [ + 0.9811882375024131, + 0.11463386720813978, + 0.1553342173373748, + 0.13910163208908904, + -0.9777372725986433, + -0.15710048288123793, + 0.13386701810774726, + 0.17575238905993, + -0.9752900692628154 + ], + [ + 0.9779778861495177, + 0.13764691417530323, + 0.1568839737530186, + 0.16110992076194053, + -0.9757423609617973, + -0.14822428430179435, + 0.13267572360685415, + 0.17023563681766113, + -0.9764307350358669 + ], + [ + 0.9751365684908313, + 0.1515393068818729, + 0.1616926444266641, + 0.17180148100292725, + -0.9778364350752184, + -0.11966685992616696, + 0.1399747259941126, + 0.14447056693025603, + -0.979558743197019 + ], + [ + 0.9695585975068642, + 0.1746729264815935, + 0.1715968961108522, + 0.1931559506134387, + -0.9763051547898582, + -0.09756548300177736, + 0.1504888857794541, + 0.12774041445489018, + -0.9803241717777602 + ], + [ + 0.9655028018647681, + 0.19505257916247853, + 0.1725074808619837, + 0.21027306076575963, + -0.9747853217408684, + -0.07469147498042347, + 0.15358899539837412, + 0.10838850437485109, + -0.9821722621882077 + ], + [ + 0.9642965774567694, + 0.2023765302159629, + 0.17080939881314627, + 0.21541689207632048, + -0.9745883960565397, + -0.0614249206765515, + 0.15403789570537474, + 0.09602707060870486, + -0.9833875779147158 + ], + [ + 0.9575292964990134, + 0.22745225859328677, + 0.17720924469935936, + 0.23889623236107893, + -0.9699606127945204, + -0.04588027670971734, + 0.1614504150189345, + 0.08626632997926514, + -0.9831031908208429 + ], + [ + 0.9435442849235903, + 0.28042714808071206, + 0.1763088114852713, + 0.2875013046912028, + -0.9576562253916706, + -0.01541277941948712, + 0.16452106913367268, + 0.06523165326661584, + -0.9842142293338464 + ], + [ + 0.9149660236890685, + 0.3595964012827541, + 0.1831054441547491, + 0.36480487321762384, + -0.9310671878773469, + 0.005594294847716914, + 0.17249515926914843, + 0.06167916862817015, + -0.9830773622589676 + ], + [ + 0.8939527963382464, + 0.40917509422275017, + 0.1828227015084098, + 0.4120733667462157, + -0.9108441334827504, + 0.02363270865762574, + 0.1761929009281259, + 0.05420984013867725, + -0.9828618188202605 + ], + [ + 0.8881330960653897, + 0.42220946149870486, + 0.1815455157647213, + 0.42069583054239523, + -0.9058932103835848, + 0.048708413494654, + 0.1850260031388812, + 0.033115887454446664, + -0.9821755017106438 + ], + [ + 0.8727398357714166, + 0.4511094723091907, + 0.1866157095493422, + 0.4424641427598384, + -0.8924504112997789, + 0.08807806618368065, + 0.20627811670044466, + 0.0057015229350592805, + -0.9784767913480313 + ], + [ + 0.8628164850002592, + 0.4708077520160901, + 0.18408632174432055, + 0.4615491355602382, + -0.8822233223814943, + 0.09302905411620116, + 0.20620404621489502, + 0.004697881194115433, + -0.9784977369605367 + ], + [ + 0.8638127161351017, + 0.4541743430790994, + 0.21806709410630193, + 0.44981084494186235, + -0.8901976991283808, + 0.07223752653036196, + 0.22693125658662822, + 0.03568924985489885, + -0.9732566373926297 + ], + [ + 0.8688184842451637, + 0.42695920896439105, + 0.25071951522455815, + 0.4404118367342272, + -0.8977917374082057, + 0.002722187712044466, + 0.22625617228778627, + 0.10805475520335342, + -0.9680559458934296 + ], + [ + 0.8829085746734375, + 0.369926705782502, + 0.28918278150163956, + 0.40577397198611054, + -0.9110138493468204, + -0.07349319667087421, + 0.23626242279874712, + 0.182230619400788, + -0.9544485679836662 + ], + [ + 0.8994632317045653, + 0.3384919215593569, + 0.27638580616709263, + 0.3916989743417054, + -0.9049046780637972, + -0.16649155269235666, + 0.19374676335679927, + 0.2580130668344336, + -0.9465154246135953 + ], + [ + 0.9076209464940435, + 0.3246902002973827, + 0.26608361715089246, + 0.3876247867023901, + -0.8915476630686184, + -0.2342856999708097, + 0.1611559562013884, + 0.3157832141006408, + -0.9350453034335211 + ], + [ + 0.9111642662184101, + 0.3292872161473398, + 0.24768853273537167, + 0.3892989620886431, + -0.8849238155933699, + -0.2556485061806085, + 0.13500369655446987, + 0.32936267225902593, + -0.9345021305695467 + ], + [ + 0.917579437551787, + 0.3188764453993723, + 0.23741480230096845, + 0.3736774713876594, + -0.895626494052887, + -0.241284749886642, + 0.1356949636481466, + 0.31011448808463543, + -0.9409653984714491 + ], + [ + 0.9289212113159913, + 0.29785781892460483, + 0.219968413352258, + 0.33679690536985374, + -0.9265260811478149, + -0.16768203686192373, + 0.1538610662270424, + 0.2298480816938681, + -0.9609873212697073 + ], + [ + 0.9361472061018984, + 0.2694395202538807, + 0.22589987479626622, + 0.2982129411532974, + -0.9488004967058009, + -0.10414729559391217, + 0.1862725160519128, + 0.16486346586246559, + -0.968567285937072 + ], + [ + 0.9417689274801472, + 0.24763801168365845, + 0.2274790153008789, + 0.269356213837668, + -0.9605302568478131, + -0.06948996867829535, + 0.20129211931898808, + 0.12671637956175294, + -0.9713003870331938 + ], + [ + 0.9559758255895656, + 0.2221841981637178, + 0.19168829639467905, + 0.23104598278511582, + -0.9726242060189744, + -0.024897945795180162, + 0.18090874696157871, + 0.0680906451159448, + -0.9811399947614438 + ], + [ + 0.9639880721662628, + 0.23215289453657542, + 0.12973831461623606, + 0.2309757159789733, + -0.9726570428132638, + 0.02425893018575064, + 0.1318226662951877, + 0.006581080765812694, + -0.991251468612673 + ], + [ + 0.959871477129329, + 0.2720507212323783, + 0.06808195407376941, + 0.26814997197194734, + -0.96142984710725, + 0.0612228847962398, + 0.0821117526606508, + -0.04050992678680876, + -0.9957994807724713 + ], + [ + 0.9595777236607325, + 0.2773535086832954, + 0.04780819464434721, + 0.2702838723588044, + -0.9554955572435582, + 0.1182153476945838, + 0.07846795904581758, + -0.10051503026357314, + -0.9918364321269393 + ], + [ + 0.9592942327383456, + 0.2748689864819925, + 0.06481986813710033, + 0.2596538818197614, + -0.9487170323419852, + 0.1803215300515885, + 0.11106050914199092, + -0.15615067343619995, + -0.9814695769582178 + ], + [ + 0.9593610716362653, + 0.26396874921358426, + 0.09973381406289772, + 0.23610616398991657, + -0.9444605529867799, + 0.2285785273770759, + 0.1545322411501348, + -0.19574157271903653, + -0.9684033370216125 + ], + [ + 0.9597854668381076, + 0.25931167581854064, + 0.10756073833205136, + 0.22667357216252773, + -0.9418614745254317, + 0.2480243022122205, + 0.1656229130568451, + -0.21366894390378693, + -0.9627640588854598 + ], + [ + 0.9634232420285852, + 0.24485987973632703, + 0.10890039492417711, + 0.2120942961220321, + -0.9450880831585745, + 0.24864537925356914, + 0.16380374315512466, + -0.21645358478704604, + -0.9624532089204166 + ], + [ + 0.9668048893435297, + 0.23237879284078344, + 0.1062468944454629, + 0.19978992313842353, + -0.9467166176366127, + 0.25260964451705775, + 0.15928682479661618, + -0.22299718053946718, + -0.9617171959145059 + ], + [ + 0.9656473814193411, + 0.24577420908820624, + 0.0843811169932943, + 0.22236909686770745, + -0.9495763356309026, + 0.22103567035215727, + 0.1344511789320178, + -0.19467876349734214, + -0.9716084908680741 + ], + [ + 0.9572581844851872, + 0.22706899797060065, + 0.17915478893054984, + 0.192412974642776, + -0.9624075323530283, + 0.19170025784873698, + 0.2159491037842967, + -0.14903493493399853, + -0.9649635085038071 + ], + [ + 0.9602046133669847, + 0.1547300570691162, + 0.2325203429985156, + 0.11852548598804369, + -0.9795801600485321, + 0.16240202957657332, + 0.252900790113549, + -0.12837959136358154, + -0.9589368440524445 + ], + [ + 0.9629569918986222, + 0.08643644487862692, + 0.25542625697116683, + 0.038712581355625136, + -0.9817349638262759, + 0.1862734464324006, + 0.26686170163277567, + -0.16948510789377455, + -0.9487147255123084 + ], + [ + 0.9853011325678742, + -0.016288399378305538, + 0.17004812908749398, + -0.056724540521576994, + -0.9701574012191342, + 0.23574762641933752, + 0.16113349950609332, + -0.2419283053002033, + -0.9568211381608849 + ], + [ + 0.9721250034916905, + -0.08050353934778028, + 0.22020934979868964, + -0.14144518764801914, + -0.9504115236129883, + 0.2769678585591752, + 0.18699261075640908, + -0.30039493327304806, + -0.9353056439401954 + ], + [ + 0.9707808375480048, + -0.09014244976513416, + 0.2223935794935076, + -0.1523470955839498, + -0.947554347769866, + 0.2809468285807106, + 0.18540476778316592, + -0.306618813468392, + -0.933600543760824 + ], + [ + 0.9769118195446079, + -0.0951767937987565, + 0.19127120733720582, + -0.14432244216344664, + -0.9541187516067524, + 0.2623517496041352, + 0.15752564718807532, + -0.28389925282494355, + -0.9458260330121057 + ], + [ + 0.963803722716315, + -0.07036063276599097, + 0.2571609718346506, + -0.12797609202378835, + -0.9682555716232447, + 0.21471671544354093, + 0.233889939818906, + -0.23985522587034253, + -0.9422128032850092 + ], + [ + 0.9594960985715328, + -0.04965834834752311, + 0.2773108098603502, + -0.10125026052550484, + -0.9793570936602455, + 0.1749516157138153, + 0.2628985005083229, + -0.19594318446109105, + -0.9447172311828138 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005497.json b/json/chunk-0005/episode_0005497.json new file mode 100644 index 0000000000000000000000000000000000000000..e0a929c03798118f893e4a3ae39432d70495d921 --- /dev/null +++ b/json/chunk-0005/episode_0005497.json @@ -0,0 +1,4102 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 67, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut pot or pan on stove and put pickle in pot or pan." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005497.mp4", + "start": 0, + "end": 67, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.36608484387397766, + -0.0006270763697102666, + 0.10826852172613144, + 0.0830659419298172, + -0.15456511080265045, + -0.027958493679761887, + 0.0, + 1.0014774799346924 + ], + [ + 0.3630277216434479, + -0.0013557373313233256, + 0.0931292250752449, + 0.08164607733488083, + -0.1176854744553566, + -0.029734065756201744, + 0.0, + 1.0014774799346924 + ], + [ + 0.36135685443878174, + -0.002625809283927083, + 0.07346364855766296, + 0.06965310871601105, + -0.1495593637228012, + -0.030091295018792152, + 0.0, + 1.0014774799346924 + ], + [ + 0.36153438687324524, + 0.00012053630052832887, + 0.05695087090134621, + 0.06119019538164139, + -0.18870963156223297, + -0.048171255737543106, + 0.0, + 1.0014774799346924 + ], + [ + 0.3603077530860901, + 0.0031775536481291056, + 0.044450730085372925, + 0.06787890195846558, + -0.21651208400726318, + -0.04613913223147392, + 0.0, + 1.0014774799346924 + ], + [ + 0.3596382737159729, + 0.004311855882406235, + 0.04163859412074089, + 0.07022514194250107, + -0.2264365255832672, + -0.03785160928964615, + 0.0, + 0.9530308246612549 + ], + [ + 0.3590168356895447, + 0.0036410202737897635, + 0.03953544422984123, + 0.07752811163663864, + -0.21691162884235382, + -0.01957438886165619, + 0.0, + 0.6641445755958557 + ], + [ + 0.35801565647125244, + 0.003680039197206497, + 0.03907787799835205, + 0.07563604414463043, + -0.20531350374221802, + -0.009533265605568886, + 0.0, + 0.36024010181427 + ], + [ + 0.3599298298358917, + 0.0014363751979544759, + 0.041613269597291946, + 0.07045963406562805, + -0.2070516049861908, + -0.005653558764606714, + 0.0, + 0.15923498570919037 + ], + [ + 0.36192741990089417, + -0.0011174636892974377, + 0.04291927441954613, + 0.06076836958527565, + -0.1911669224500656, + -0.0018136372091248631, + 0.0, + 0.06561893224716187 + ], + [ + 0.3616138696670532, + -0.00420922227203846, + 0.04895542189478874, + 0.06184609606862068, + -0.1623949110507965, + -0.003371909260749817, + 0.0, + 0.06472665071487427 + ], + [ + 0.36343443393707275, + -0.013066048733890057, + 0.06377849727869034, + 0.10409094393253326, + -0.12747184932231903, + 0.0015050473157316446, + 0.0, + 0.07050029188394547 + ], + [ + 0.36258313059806824, + -0.024035625159740448, + 0.09311266243457794, + 0.10522957146167755, + -0.0776292234659195, + -0.019575688987970352, + 0.0, + 0.07270156592130661 + ], + [ + 0.36109164357185364, + -0.045606352388858795, + 0.11639872938394547, + 0.1126987487077713, + -0.05743134394288063, + -0.020892364904284477, + 0.0, + 0.07333792001008987 + ], + [ + 0.3611566126346588, + -0.07428499311208725, + 0.1290813535451889, + 0.11745692044496536, + -0.08333012461662292, + 0.0012388566974550486, + 0.0, + 0.07333792001008987 + ], + [ + 0.3605087697505951, + -0.10346287488937378, + 0.1245512068271637, + 0.13071636855602264, + -0.09603746980428696, + 0.008443942293524742, + 0.0, + 0.07333792001008987 + ], + [ + 0.35784268379211426, + -0.12460881471633911, + 0.11696241796016693, + 0.13342095911502838, + -0.09420298784971237, + 0.019811879843473434, + 0.0, + 0.07333792001008987 + ], + [ + 0.35340189933776855, + -0.13815097510814667, + 0.11035636812448502, + 0.14787594974040985, + -0.09224077314138412, + 0.024938106536865234, + 0.0, + 0.07333792001008987 + ], + [ + 0.35413801670074463, + -0.14493542909622192, + 0.11028371006250381, + 0.15025287866592407, + -0.11934845894575119, + 0.03043719381093979, + 0.0, + 0.100052610039711 + ], + [ + 0.3580424189567566, + -0.14707261323928833, + 0.1105748862028122, + 0.14139264822006226, + -0.14336715638637543, + 0.01462132390588522, + 0.0, + 0.2759375274181366 + ], + [ + 0.35949456691741943, + -0.14615492522716522, + 0.10926926136016846, + 0.12951572239398956, + -0.14603926241397858, + 0.01766264997422695, + 0.0, + 0.5630297660827637 + ], + [ + 0.35997119545936584, + -0.14399707317352295, + 0.10824593901634216, + 0.13091498613357544, + -0.14143674075603485, + 0.01495273131877184, + 0.0, + 0.8801529407501221 + ], + [ + 0.3593524098396301, + -0.14362552762031555, + 0.10763907432556152, + 0.12795814871788025, + -0.13326141238212585, + 0.004074383527040482, + 0.0, + 1.0067112445831299 + ], + [ + 0.35341307520866394, + -0.14105162024497986, + 0.10458923876285553, + 0.14301928877830505, + -0.09960106015205383, + -0.01277048047631979, + 0.0, + 1.0008161067962646 + ], + [ + 0.3449167013168335, + -0.13863644003868103, + 0.10093171894550323, + 0.1556803286075592, + -0.057942576706409454, + -0.02116854302585125, + 0.0, + 1.0008161067962646 + ], + [ + 0.33098551630973816, + -0.1439010202884674, + 0.11332251131534576, + 0.18034595251083374, + -0.08479109406471252, + -0.01206379383802414, + 0.0, + 1.0008161067962646 + ], + [ + 0.31391140818595886, + -0.1555398404598236, + 0.10722275078296661, + 0.20705801248550415, + -0.09385360777378082, + -0.02756422758102417, + 0.0, + 1.0008161067962646 + ], + [ + 0.2966454029083252, + -0.1625455617904663, + 0.10668088495731354, + 0.22358466684818268, + -0.1188034862279892, + -0.04038551077246666, + 0.0, + 1.0008161067962646 + ], + [ + 0.29543331265449524, + -0.16459448635578156, + 0.10688664764165878, + 0.22351500391960144, + -0.12144147604703903, + -0.04596550390124321, + 0.0, + 1.0008161067962646 + ], + [ + 0.295680433511734, + -0.16413749754428864, + 0.1063714548945427, + 0.22436164319515228, + -0.12015822529792786, + -0.04453354328870773, + 0.0, + 1.0008161067962646 + ], + [ + 0.2962968349456787, + -0.16396982967853546, + 0.10299955308437347, + 0.22364237904548645, + -0.13335731625556946, + -0.04340074211359024, + 0.0, + 1.0008161067962646 + ], + [ + 0.28492531180381775, + -0.1639566719532013, + 0.0753808468580246, + 0.251433402299881, + -0.18516482412815094, + -0.061123210936784744, + 0.0, + 1.0008161067962646 + ], + [ + 0.27033567428588867, + -0.17913082242012024, + 0.06044068560004234, + 0.23481765389442444, + -0.23525749146938324, + -0.06727220863103867, + 0.0, + 1.0008161067962646 + ], + [ + 0.26401665806770325, + -0.19286368787288666, + 0.05236758291721344, + 0.22138004004955292, + -0.26787352561950684, + -0.060295768082141876, + 0.0, + 1.0008161067962646 + ], + [ + 0.25977689027786255, + -0.1924186795949936, + 0.04520707577466965, + 0.21653643250465393, + -0.2777848541736603, + -0.03937273100018501, + 0.0, + 1.0014774799346924 + ], + [ + 0.2579895257949829, + -0.19337177276611328, + 0.03259797766804695, + 0.217874675989151, + -0.28947970271110535, + -0.034617289900779724, + 0.0, + 1.0008161067962646 + ], + [ + 0.2587953209877014, + -0.19254383444786072, + 0.022461507469415665, + 0.22063346207141876, + -0.29886797070503235, + -0.04778965190052986, + 0.0, + 1.0008161067962646 + ], + [ + 0.2594592869281769, + -0.19001910090446472, + 0.016657916828989983, + 0.21031443774700165, + -0.30762147903442383, + -0.04341934993863106, + 0.0, + 1.0014774799346924 + ], + [ + 0.26146531105041504, + -0.1899576187133789, + 0.00934875849634409, + 0.21013830602169037, + -0.32663655281066895, + -0.04036574810743332, + 0.0, + 1.0014774799346924 + ], + [ + 0.26082348823547363, + -0.1946675032377243, + 0.005627177655696869, + 0.21430617570877075, + -0.3468130826950073, + -0.046822573989629745, + 0.0, + 1.002137303352356 + ], + [ + 0.2604672908782959, + -0.197296604514122, + 0.0034095558803528547, + 0.21996447443962097, + -0.3622305691242218, + -0.043326593935489655, + 0.0, + 1.0027955770492554 + ], + [ + 0.2587295472621918, + -0.2011536955833435, + 0.0030075886752456427, + 0.2171555906534195, + -0.37249571084976196, + -0.03821522369980812, + 0.0, + 1.0027955770492554 + ], + [ + 0.25684958696365356, + -0.20412154495716095, + 0.003020228585228324, + 0.20082128047943115, + -0.3614402413368225, + -0.012690435163676739, + 0.0, + 1.002137303352356 + ], + [ + 0.2556256651878357, + -0.2048998326063156, + 0.0029953555203974247, + 0.2032299041748047, + -0.3410181403160095, + -0.003204053035005927, + 0.0, + 1.002137303352356 + ], + [ + 0.2551761269569397, + -0.20446662604808807, + 0.003160160966217518, + 0.20498298108577728, + -0.33915963768959045, + -0.004961605183780193, + 0.0, + 0.9575772881507874 + ], + [ + 0.2556726932525635, + -0.20392325520515442, + 0.003740748157724738, + 0.20595093071460724, + -0.34056356549263, + -0.004262351896613836, + 0.0, + 0.7903241515159607 + ], + [ + 0.25496193766593933, + -0.20270805060863495, + 0.005947059951722622, + 0.18818804621696472, + -0.3298392593860626, + 0.0216963067650795, + 0.0, + 0.6651484370231628 + ], + [ + 0.2541259229183197, + -0.2014203518629074, + 0.008272250182926655, + 0.18157587945461273, + -0.32031843066215515, + 0.023332560434937477, + 0.0, + 0.5541232228279114 + ], + [ + 0.24212895333766937, + -0.21152789890766144, + 0.006553900893777609, + 0.15283331274986267, + -0.29678913950920105, + 0.03546471893787384, + 0.0, + 0.3552374839782715 + ], + [ + 0.24084383249282837, + -0.2119642198085785, + 0.006904901470988989, + 0.16216756403446198, + -0.29959458112716675, + 0.026551784947514534, + 0.0, + 0.30189207196235657 + ], + [ + 0.2417997419834137, + -0.2089383751153946, + 0.008686888962984085, + 0.17628078162670135, + -0.2944009304046631, + 0.04617971554398537, + 0.0, + 0.33237314224243164 + ], + [ + 0.24010159075260162, + -0.2103649526834488, + 0.008742518723011017, + 0.17962902784347534, + -0.285605788230896, + 0.03892093896865845, + 0.0, + 0.33397963643074036 + ], + [ + 0.23468425869941711, + -0.2059074491262436, + 0.013492384925484657, + 0.1988445520401001, + -0.2359079271554947, + 0.015221279114484787, + 0.0, + 0.33397963643074036 + ], + [ + 0.23730170726776123, + -0.19797030091285706, + 0.05471659451723099, + 0.16532565653324127, + -0.19993598759174347, + 0.0007323249592445791, + 0.0, + 0.33397963643074036 + ], + [ + 0.24665145576000214, + -0.1804284304380417, + 0.073392853140831, + 0.16814042627811432, + -0.1620974987745285, + -0.011139092035591602, + 0.0, + 0.33397963643074036 + ], + [ + 0.26119741797447205, + -0.1584293246269226, + 0.08814794570207596, + 0.15726318955421448, + -0.1516917645931244, + -0.04194718226790428, + 0.0, + 0.33397963643074036 + ], + [ + 0.288173645734787, + -0.13462676107883453, + 0.09682846069335938, + 0.14738427102565765, + -0.1752656251192093, + -0.07046978175640106, + 0.0, + 0.33397963643074036 + ], + [ + 0.3161041736602783, + -0.10812371224164963, + 0.10577206313610077, + 0.14585746824741364, + -0.21544210612773895, + -0.09176086634397507, + 0.0, + 0.33397963643074036 + ], + [ + 0.33368077874183655, + -0.08900480717420578, + 0.10048198699951172, + 0.14166130125522614, + -0.2198609709739685, + -0.11445630341768265, + 0.0, + 0.33397963643074036 + ], + [ + 0.3429047465324402, + -0.08091997355222702, + 0.09446895867586136, + 0.13910260796546936, + -0.2244592159986496, + -0.11025992780923843, + 0.0, + 0.39886748790740967 + ], + [ + 0.3461628556251526, + -0.08476244658231735, + 0.09109698235988617, + 0.11596521735191345, + -0.22672124207019806, + -0.09979643672704697, + 0.0, + 0.7071652412414551 + ], + [ + 0.34727969765663147, + -0.09011378884315491, + 0.08810049295425415, + 0.13147354125976562, + -0.23538391292095184, + -0.07952000945806503, + 0.0, + 0.9752515554428101 + ], + [ + 0.3473474979400635, + -0.09689617902040482, + 0.09501123428344727, + 0.15670529007911682, + -0.240559384226799, + -0.07045794278383255, + 0.0, + 1.0001531839370728 + ], + [ + 0.33705076575279236, + -0.0977918952703476, + 0.09368238598108292, + 0.15729664266109467, + -0.17183591425418854, + -0.09847486019134521, + 0.0, + 1.0001531839370728 + ], + [ + 0.32911932468414307, + -0.07961299270391464, + 0.10947075486183167, + 0.1362871378660202, + -0.1763378530740738, + -0.15661980211734772, + 0.0, + 1.0001531839370728 + ], + [ + 0.33125725388526917, + -0.057018913328647614, + 0.11160217970609665, + 0.12411414086818695, + -0.17157064378261566, + -0.1787230670452118, + 0.0, + 1.0001531839370728 + ], + [ + 0.33170902729034424, + -0.04087574779987335, + 0.11389259994029999, + 0.10998030006885529, + -0.1435374766588211, + -0.1934676170349121, + 0.0, + 1.0008161067962646 + ] + ], + "left_gripper_pos": [ + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 0.9530308246612549 + ], + [ + 0.6641445755958557 + ], + [ + 0.36024010181427 + ], + [ + 0.15923498570919037 + ], + [ + 0.06561893224716187 + ], + [ + 0.06472665071487427 + ], + [ + 0.07050029188394547 + ], + [ + 0.07270156592130661 + ], + [ + 0.07333792001008987 + ], + [ + 0.07333792001008987 + ], + [ + 0.07333792001008987 + ], + [ + 0.07333792001008987 + ], + [ + 0.07333792001008987 + ], + [ + 0.100052610039711 + ], + [ + 0.2759375274181366 + ], + [ + 0.5630297660827637 + ], + [ + 0.8801529407501221 + ], + [ + 1.0067112445831299 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.002137303352356 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 0.9575772881507874 + ], + [ + 0.7903241515159607 + ], + [ + 0.6651484370231628 + ], + [ + 0.5541232228279114 + ], + [ + 0.3552374839782715 + ], + [ + 0.30189207196235657 + ], + [ + 0.33237314224243164 + ], + [ + 0.33397963643074036 + ], + [ + 0.33397963643074036 + ], + [ + 0.33397963643074036 + ], + [ + 0.33397963643074036 + ], + [ + 0.33397963643074036 + ], + [ + 0.33397963643074036 + ], + [ + 0.33397963643074036 + ], + [ + 0.33397963643074036 + ], + [ + 0.39886748790740967 + ], + [ + 0.7071652412414551 + ], + [ + 0.9752515554428101 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.36608484387397766, + -0.0006270763697102666, + 0.10826852172613144 + ], + [ + 0.3630277216434479, + -0.0013557373313233256, + 0.0931292250752449 + ], + [ + 0.36135685443878174, + -0.002625809283927083, + 0.07346364855766296 + ], + [ + 0.36153438687324524, + 0.00012053630052832887, + 0.05695087090134621 + ], + [ + 0.3603077530860901, + 0.0031775536481291056, + 0.044450730085372925 + ], + [ + 0.3596382737159729, + 0.004311855882406235, + 0.04163859412074089 + ], + [ + 0.3590168356895447, + 0.0036410202737897635, + 0.03953544422984123 + ], + [ + 0.35801565647125244, + 0.003680039197206497, + 0.03907787799835205 + ], + [ + 0.3599298298358917, + 0.0014363751979544759, + 0.041613269597291946 + ], + [ + 0.36192741990089417, + -0.0011174636892974377, + 0.04291927441954613 + ], + [ + 0.3616138696670532, + -0.00420922227203846, + 0.04895542189478874 + ], + [ + 0.36343443393707275, + -0.013066048733890057, + 0.06377849727869034 + ], + [ + 0.36258313059806824, + -0.024035625159740448, + 0.09311266243457794 + ], + [ + 0.36109164357185364, + -0.045606352388858795, + 0.11639872938394547 + ], + [ + 0.3611566126346588, + -0.07428499311208725, + 0.1290813535451889 + ], + [ + 0.3605087697505951, + -0.10346287488937378, + 0.1245512068271637 + ], + [ + 0.35784268379211426, + -0.12460881471633911, + 0.11696241796016693 + ], + [ + 0.35340189933776855, + -0.13815097510814667, + 0.11035636812448502 + ], + [ + 0.35413801670074463, + -0.14493542909622192, + 0.11028371006250381 + ], + [ + 0.3580424189567566, + -0.14707261323928833, + 0.1105748862028122 + ], + [ + 0.35949456691741943, + -0.14615492522716522, + 0.10926926136016846 + ], + [ + 0.35997119545936584, + -0.14399707317352295, + 0.10824593901634216 + ], + [ + 0.3593524098396301, + -0.14362552762031555, + 0.10763907432556152 + ], + [ + 0.35341307520866394, + -0.14105162024497986, + 0.10458923876285553 + ], + [ + 0.3449167013168335, + -0.13863644003868103, + 0.10093171894550323 + ], + [ + 0.33098551630973816, + -0.1439010202884674, + 0.11332251131534576 + ], + [ + 0.31391140818595886, + -0.1555398404598236, + 0.10722275078296661 + ], + [ + 0.2966454029083252, + -0.1625455617904663, + 0.10668088495731354 + ], + [ + 0.29543331265449524, + -0.16459448635578156, + 0.10688664764165878 + ], + [ + 0.295680433511734, + -0.16413749754428864, + 0.1063714548945427 + ], + [ + 0.2962968349456787, + -0.16396982967853546, + 0.10299955308437347 + ], + [ + 0.28492531180381775, + -0.1639566719532013, + 0.0753808468580246 + ], + [ + 0.27033567428588867, + -0.17913082242012024, + 0.06044068560004234 + ], + [ + 0.26401665806770325, + -0.19286368787288666, + 0.05236758291721344 + ], + [ + 0.25977689027786255, + -0.1924186795949936, + 0.04520707577466965 + ], + [ + 0.2579895257949829, + -0.19337177276611328, + 0.03259797766804695 + ], + [ + 0.2587953209877014, + -0.19254383444786072, + 0.022461507469415665 + ], + [ + 0.2594592869281769, + -0.19001910090446472, + 0.016657916828989983 + ], + [ + 0.26146531105041504, + -0.1899576187133789, + 0.00934875849634409 + ], + [ + 0.26082348823547363, + -0.1946675032377243, + 0.005627177655696869 + ], + [ + 0.2604672908782959, + -0.197296604514122, + 0.0034095558803528547 + ], + [ + 0.2587295472621918, + -0.2011536955833435, + 0.0030075886752456427 + ], + [ + 0.25684958696365356, + -0.20412154495716095, + 0.003020228585228324 + ], + [ + 0.2556256651878357, + -0.2048998326063156, + 0.0029953555203974247 + ], + [ + 0.2551761269569397, + -0.20446662604808807, + 0.003160160966217518 + ], + [ + 0.2556726932525635, + -0.20392325520515442, + 0.003740748157724738 + ], + [ + 0.25496193766593933, + -0.20270805060863495, + 0.005947059951722622 + ], + [ + 0.2541259229183197, + -0.2014203518629074, + 0.008272250182926655 + ], + [ + 0.24212895333766937, + -0.21152789890766144, + 0.006553900893777609 + ], + [ + 0.24084383249282837, + -0.2119642198085785, + 0.006904901470988989 + ], + [ + 0.2417997419834137, + -0.2089383751153946, + 0.008686888962984085 + ], + [ + 0.24010159075260162, + -0.2103649526834488, + 0.008742518723011017 + ], + [ + 0.23468425869941711, + -0.2059074491262436, + 0.013492384925484657 + ], + [ + 0.23730170726776123, + -0.19797030091285706, + 0.05471659451723099 + ], + [ + 0.24665145576000214, + -0.1804284304380417, + 0.073392853140831 + ], + [ + 0.26119741797447205, + -0.1584293246269226, + 0.08814794570207596 + ], + [ + 0.288173645734787, + -0.13462676107883453, + 0.09682846069335938 + ], + [ + 0.3161041736602783, + -0.10812371224164963, + 0.10577206313610077 + ], + [ + 0.33368077874183655, + -0.08900480717420578, + 0.10048198699951172 + ], + [ + 0.3429047465324402, + -0.08091997355222702, + 0.09446895867586136 + ], + [ + 0.3461628556251526, + -0.08476244658231735, + 0.09109698235988617 + ], + [ + 0.34727969765663147, + -0.09011378884315491, + 0.08810049295425415 + ], + [ + 0.3473474979400635, + -0.09689617902040482, + 0.09501123428344727 + ], + [ + 0.33705076575279236, + -0.0977918952703476, + 0.09368238598108292 + ], + [ + 0.32911932468414307, + -0.07961299270391464, + 0.10947075486183167 + ], + [ + 0.33125725388526917, + -0.057018913328647614, + 0.11160217970609665 + ], + [ + 0.33170902729034424, + -0.04087574779987335, + 0.11389259994029999 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9876924214033646, + -0.015090120599074566, + 0.1556790575596586, + -0.027621589753635004, + -0.9965196188790987, + 0.07864920195740903, + 0.15395040916425, + -0.08198132378390101, + -0.9846716884671757 + ], + [ + 0.992644086014057, + -0.02005913596402928, + 0.11939576862558399, + -0.029524045919597952, + -0.9965129417577013, + 0.078040294860728, + 0.1174140077412183, + -0.08099128331980229, + -0.9897749051235621 + ], + [ + 0.9883891746159512, + -0.019648401874734524, + 0.15066777958730018, + -0.029750890460816352, + -0.9974355940904691, + 0.06509316521863977, + 0.14900242957343632, + -0.0688198804500673, + -0.9864391010275552 + ], + [ + 0.9811076979988007, + -0.03660421148999901, + 0.18996793579098842, + -0.047297779844980015, + -0.997523012352408, + 0.052064957976677526, + 0.1875915908275994, + -0.06006639267154987, + -0.9804088042863535 + ], + [ + 0.975613303979207, + -0.03146120195842525, + 0.21723000223290184, + -0.04504592065494058, + -0.9973073895921667, + 0.05786912559566663, + 0.21482445422047314, + -0.06624321426523187, + -0.9744035562500202 + ], + [ + 0.9737746016845443, + -0.02200753984350913, + 0.22644799249307532, + -0.03687654899700787, + -0.9974168423605113, + 0.06164221532082139, + 0.22450644812160478, + -0.0683762441614307, + -0.9720707505044054 + ], + [ + 0.9763796851877079, + -0.0028490622902440244, + 0.21604303552028276, + -0.019114476976816584, + -0.9971314585681303, + 0.0732358594111864, + 0.215214653596484, + -0.07563555498479946, + -0.9736333579430638 + ], + [ + 0.9789526305052952, + 0.005898965455826858, + 0.20400232702916454, + -0.009332898177995062, + -0.9972425092877065, + 0.07362251477067441, + 0.20387408917849864, + -0.0739768874454039, + -0.9761981232749467 + ], + [ + 0.9786256449581315, + 0.008833051587235668, + 0.20546003073575697, + -0.005532776539989039, + -0.9975846273962187, + 0.06924088074617532, + 0.20557537647792234, + -0.06889766601565511, + -0.9762130280853435 + ], + [ + 0.9817815682019913, + 0.009728862603926405, + 0.189763804692236, + -0.001780597535619096, + -0.9981734570093014, + 0.06038691244397934, + 0.1900046889191299, + -0.05962465056111106, + -0.9799709787714177 + ], + [ + 0.9868372895541252, + 0.006627518397472828, + 0.16158044419223194, + -0.0033275384066280994, + -0.998116161232501, + 0.0612621920490015, + 0.16168206899226717, + -0.06099348068759059, + -0.9849561938888411 + ], + [ + 0.9918853358119809, + 0.014705762948808196, + 0.12628230730093512, + 0.0014928354893516795, + -0.9945664209811201, + 0.10409325481993277, + 0.12712691313548083, + -0.10306005430281505, + -0.9865178017470061 + ], + [ + 0.9967973440463436, + -0.01132208782823704, + 0.0791635347200028, + -0.01951548768250147, + -0.9944373841894122, + 0.10350572287092899, + 0.07755127750507747, + -0.10471914463807039, + -0.9914734994459516 + ], + [ + 0.9981333959122364, + -0.014304528528604291, + 0.05937258987345386, + -0.02085640176212862, + -0.993574216139445, + 0.11124426964308927, + 0.05739977761493235, + -0.11227491922269202, + -0.9920179474401128 + ], + [ + 0.9965292890590303, + 0.01098422541589603, + 0.08251498554515047, + 0.0012345576155466135, + -0.9930970170295588, + 0.11728934578420143, + 0.08323371861810275, + -0.11678039886472753, + -0.989663825006248 + ], + [ + 0.9953564599872741, + 0.02087007588846273, + 0.09396785351390669, + 0.008404932268245055, + -0.991327890559403, + 0.13114255797646215, + 0.09588990914151202, + -0.1297437988169505, + -0.9869000314081353 + ], + [ + 0.9953708001413746, + 0.032144934582326, + 0.09057413210524143, + 0.019722747221965736, + -0.9906702273727355, + 0.13484626001217526, + 0.09406372025355039, + -0.13243565901203014, + -0.986718203315471 + ], + [ + 0.9954392187581083, + 0.03823043205588181, + 0.08740249323141527, + 0.024829516736396485, + -0.9884403096791912, + 0.14956352931093064, + 0.09211002582175296, + -0.14671124110348605, + -0.9848814928086479 + ], + [ + 0.9924265417514424, + 0.04790403470832249, + 0.11311393674492808, + 0.030216010504106668, + -0.9877329111449071, + 0.1532014652358851, + 0.11906532634015442, + -0.1486233484344577, + -0.981699825997561 + ], + [ + 0.9896347271894794, + 0.034607191906689136, + 0.13937520944894763, + 0.014470801113749054, + -0.989620496815956, + 0.14297506145082275, + 0.1428765294081948, + -0.1394762149976612, + -0.9798636041787628 + ], + [ + 0.9892008858160423, + 0.036305447408155916, + 0.14199831685358688, + 0.01747372612630098, + -0.9911379375206832, + 0.13168241227479813, + 0.14552070779109433, + -0.12777911916952825, + -0.9810689172062477 + ], + [ + 0.9899038132644329, + 0.03322401647523574, + 0.1377918909580236, + 0.01480286899669403, + -0.9910568841944047, + 0.1326164671537616, + 0.14096565380971818, + -0.12923783122650764, + -0.9815427995894357 + ], + [ + 0.9911256038456953, + 0.02099602338810476, + 0.13126006400802864, + 0.004038248179344103, + -0.9917472063568268, + 0.1281451178745079, + 0.1328673396781453, + -0.12647784661874847, + -0.9830308359159119 + ], + [ + 0.9949627762750781, + 0.0015319918146349427, + 0.10023336185157397, + -0.012706843482512779, + -0.9898904433089069, + 0.14126374755897755, + 0.09943646190256164, + -0.1418258200990761, + -0.9848846769025928 + ], + [ + 0.9980981292585467, + -0.011933886568583877, + 0.06047897752077052, + -0.02113143967104688, + -0.9878749975018618, + 0.15380653941925176, + 0.05791015997231055, + -0.15479202712693285, + -0.9862483671519647 + ], + [ + 0.9963348831339724, + 0.0033217974839167327, + 0.08547377557993792, + -0.012020161747985694, + -0.9838933653442389, + 0.178351790972619, + 0.0846895292345282, + -0.17872551942312087, + -0.9802473526334922 + ], + [ + 0.9952207846505471, + -0.007713091952102314, + 0.09734525161551208, + -0.027439441927316066, + -0.9787992049317903, + 0.20297584450276873, + 0.09371588353244284, + -0.2046768786097568, + -0.9743329556862479 + ], + [ + 0.9921415260507257, + -0.013111038773115709, + 0.12443188075419832, + -0.04008994008188889, + -0.9753748533399104, + 0.21687944157153033, + 0.11852421267389938, + -0.22016356677351984, + -0.968235516222987 + ], + [ + 0.9915865934663842, + -0.01798223774208338, + 0.1281899636614287, + -0.045610904614552625, + -0.9753282414092873, + 0.2159964511044306, + 0.12114319228901559, + -0.22002604535657522, + -0.9679425945410051 + ], + [ + 0.9918053762627048, + -0.01676045476472584, + 0.12665379099132473, + -0.04419782977102576, + -0.9751569978252422, + 0.21706077820737643, + 0.119869293231945, + -0.22087986949593216, + -0.9679067288698503 + ], + [ + 0.9901877800696738, + -0.012845612567546832, + 0.13915153767909338, + -0.043001887679795806, + -0.9754573218144522, + 0.21594872302134774, + 0.13296239264042253, + -0.21981356545113637, + -0.9664383056289695 + ], + [ + 0.9810703987117718, + -0.0134451499752004, + 0.19318411092444795, + -0.060040963506524034, + -0.9695460689273864, + 0.23743526049990982, + 0.1841085426392086, + -0.244539665840935, + -0.9520002081710227 + ], + [ + 0.9702547383108615, + -0.011266551309768957, + 0.24182391859968227, + -0.06536982040990301, + -0.9740025465187655, + 0.21690049781993762, + 0.2330933919374345, + -0.22625672188145943, + -0.9457670783224362 + ], + [ + 0.962583485479842, + -0.0007765139081277496, + 0.2709841886672148, + -0.05811014903266849, + -0.9773245948954583, + 0.20361691185122305, + 0.2646814010482777, + -0.2117452083013407, + -0.9408016383385724 + ], + [ + 0.9609199517951671, + 0.020427988250523634, + 0.27607162754982706, + -0.03785360516686985, + -0.9782096633785956, + 0.20413955777508075, + 0.27422609434159373, + -0.2066120804037636, + -0.9392079095777378 + ], + [ + 0.9578183352334444, + 0.027873114413259334, + 0.28601945070840695, + -0.033170326003191176, + -0.9779096363542644, + 0.2063794384097229, + 0.28545361473184305, + -0.20716136854726547, + -0.9357352196097724 + ], + [ + 0.954579317806349, + 0.017750216405055384, + 0.297427732119819, + -0.045653774072233054, + -0.9777232417033065, + 0.20487312060428742, + 0.2944385486469573, + -0.20914634218831346, + -0.9325040206990649 + ], + [ + 0.952158234785962, + 0.020704381714076295, + 0.30490330353592215, + -0.04136809112031935, + -0.9797874291886064, + 0.19571733352220605, + 0.30279263030387943, + -0.19896713844707953, + -0.9320561682923614 + ], + [ + 0.9463553754180839, + 0.027408100395652116, + 0.3219631958003875, + -0.038221104033929636, + -0.9799063403421878, + 0.19576187413183205, + 0.32085923802147936, + -0.19756609068836073, + -0.9262920647324976 + ], + [ + 0.9394300047922038, + 0.026472897109079727, + 0.34171691765959117, + -0.044018703795535546, + -0.9794367005604329, + 0.1968910950537219, + 0.3399023680592423, + -0.20000733815024122, + -0.9189469216846936 + ], + [ + 0.934231171222369, + 0.03497778680483478, + 0.3549488317303162, + -0.040502401387795456, + -0.9783383173622805, + 0.2030115569679807, + 0.35436093774328836, + -0.2040360046927436, + -0.9125774677202588 + ], + [ + 0.9307419123614261, + 0.041046290325941495, + 0.3633657862598979, + -0.035585835298540425, + -0.9787970787202552, + 0.2017174435065037, + 0.36394112284805136, + -0.2006775541488706, + -0.9095467983347126 + ], + [ + 0.9353131734656005, + 0.05809767044927036, + 0.3490185213281313, + -0.01187016841134923, + -0.9807193189818423, + 0.1950608020020363, + 0.3536217847412592, + -0.18658584636611475, + -0.9165900693833896 + ], + [ + 0.9424098029099481, + 0.06436421296800712, + 0.328208792490758, + -0.0030195413220660064, + -0.979631038314736, + 0.2007832441729053, + 0.3344467756600992, + -0.19021113757979893, + -0.9230195433419391 + ], + [ + 0.9430229750224313, + 0.06286163064238036, + 0.3267354954283718, + -0.00467894607605035, + -0.979388397217463, + 0.20193185697018215, + 0.3326947189894364, + -0.1919551582760662, + -0.9232916338664344 + ], + [ + 0.9425580119147583, + 0.064133228854295, + 0.327828191484535, + -0.004017538259517433, + -0.9791492155820151, + 0.20310261694881726, + 0.33401834315143775, + -0.19275306114779944, + -0.9226472803062507 + ], + [ + 0.945871749533009, + 0.08189059556374423, + 0.3140391118850959, + 0.02052514433789584, + -0.9807990789661165, + 0.1939378383635484, + 0.3238909567821755, + -0.17699462437439323, + -0.9293909570559067 + ], + [ + 0.9488768554641894, + 0.07979035958080163, + 0.3053951729847058, + 0.02214374513472884, + -0.9819660809259231, + 0.18775587996755794, + 0.3148688103255071, + -0.1713946161025784, + -0.9335317444282492 + ], + [ + 0.955679121018263, + 0.07953848004654299, + 0.28346260395622797, + 0.03390710812696009, + -0.9861435804302956, + 0.16239195421751415, + 0.29245123639373843, + -0.1455832029047385, + -0.9451337499866201 + ], + [ + 0.955119442845988, + 0.07383501808564474, + 0.28687146948043035, + 0.025366087333379382, + -0.9852666956613776, + 0.16913337941963283, + 0.2951328709428422, + -0.15426577236964337, + -0.9429202829318248 + ], + [ + 0.9559559178970392, + 0.0962799391423252, + 0.2772696455733645, + 0.04417718041285222, + -0.9811040854845469, + 0.18836971671768488, + 0.290166606914716, + -0.16782415429335762, + -0.9421456328335442 + ], + [ + 0.95876450889522, + 0.08858365013283756, + 0.27004361390718096, + 0.037334868951445915, + -0.9812062428054775, + 0.1893156534466619, + 0.2817387514050666, + -0.17142708656656702, + -0.9440529804772679 + ], + [ + 0.9721899031365556, + 0.061084881226919, + 0.22608721663293482, + 0.01479911680823797, + -0.9794791857873659, + 0.20100127052089675, + 0.23372586160078765, + -0.19206551459023505, + -0.9531437770473863 + ], + [ + 0.9800790303274138, + 0.0334077241281488, + 0.19577798211508252, + 0.0007177364642483135, + -0.9863406123758226, + 0.164716973115872, + 0.19860659396617208, + -0.1612951342932096, + -0.9667157288916381 + ], + [ + 0.9868297164537659, + 0.016024808043943815, + 0.1609668172355232, + -0.010992841700425532, + -0.9861373468348227, + 0.16556657455212878, + 0.16138856265277585, + -0.16515549856039, + -0.9729734801833705 + ], + [ + 0.9876472960965823, + -0.017771892425106593, + 0.15568229942013537, + -0.04145333729398203, + -0.9877832546701438, + 0.1502193816404846, + 0.15111068572507239, + -0.15481731696709072, + -0.9763181648554994 + ], + [ + 0.9822363120828156, + -0.04410525382843421, + 0.18239121089208027, + -0.06933278520224667, + -0.9885065099710888, + 0.13434226676990738, + 0.1743696995525571, + -0.14460154331647787, + -0.9740049289138346 + ], + [ + 0.972772160717193, + -0.059719013902559175, + 0.22393740802311132, + -0.08951379443623371, + -0.9880663321251715, + 0.12534833036916715, + 0.21377933468703472, + -0.14198085328387106, + -0.9665090963677231 + ], + [ + 0.9695423089534774, + -0.08247176901003397, + 0.2306211578878121, + -0.11145736054360197, + -0.9870220498973834, + 0.11560592457577724, + 0.21809394290033154, + -0.13778926058558547, + -0.9661517229387236 + ], + [ + 0.9689944770608472, + -0.07829960392048492, + 0.23434776604753527, + -0.10727634233468698, + -0.9877229137519136, + 0.11355717513535143, + 0.22257917647629616, + -0.13517624671267145, + -0.9654977434068961 + ], + [ + 0.9695604409212402, + -0.0730823845651293, + 0.2336910705758454, + -0.09708117917732251, + -0.9909327230470596, + 0.09288478370583639, + 0.22478388743446628, + -0.11274441653941872, + -0.9678640919514656 + ], + [ + 0.9693519667763483, + -0.04827377236100227, + 0.24088671073528237, + -0.07724576569253887, + -0.9906656628247718, + 0.1123148974202848, + 0.23321632916543142, + -0.1274801451285409, + -0.9640326531858802 + ], + [ + 0.9687951662373668, + -0.0324475093203125, + 0.24572969908828898, + -0.06837249287098972, + -0.987913684205199, + 0.13911058471128995, + 0.23824594035097277, + -0.15157081413985596, + -0.9593045190174296 + ], + [ + 0.9804991205062913, + -0.07044616439037617, + 0.18346338220220634, + -0.09686783518147586, + -0.9855028973514314, + 0.13928625854400717, + 0.17099151205145588, + -0.15434175467001038, + -0.9731086915508147 + ], + [ + 0.9724427025282687, + -0.1309913625726088, + 0.19286382043008776, + -0.1535614503993712, + -0.982318618194597, + 0.10709347925760844, + 0.17542540081401908, + -0.13375872038723194, + -0.9753637954474278 + ], + [ + 0.9696231905308659, + -0.15560664069932906, + 0.18872583753957312, + -0.175163029439102, + -0.9802591010048962, + 0.09170609584312359, + 0.17073014233713896, + -0.12197814667940235, + -0.9777384876490225 + ], + [ + 0.9712514740578206, + -0.17569383373345826, + 0.16063079072379252, + -0.19028576785035461, + -0.9784330351240754, + 0.08037488619892992, + 0.14304510021008007, + -0.10862998005122675, + -0.9837365636896691 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.003057122230529785, + -0.000728660961613059, + -0.015139296650886536, + -0.0014198645949363708, + 0.036879636347293854, + -0.0017755720764398575, + 1.0 + ], + [ + -0.0016708672046661377, + -0.0012700719526037574, + -0.01966557651758194, + -0.011992968618869781, + -0.03187388926744461, + -0.0003572292625904083, + 1.0 + ], + [ + 0.00017753243446350098, + 0.0027463454753160477, + -0.016512777656316757, + -0.00846291333436966, + -0.03915026783943176, + -0.018079960718750954, + 1.0 + ], + [ + -0.0012266337871551514, + 0.003057017456740141, + -0.012500140815973282, + 0.006688706576824188, + -0.027802452445030212, + 0.0020321235060691833, + 1.0 + ], + [ + -0.0006694793701171875, + 0.0011343022342771292, + -0.0028121359646320343, + 0.002346239984035492, + -0.009924441576004028, + 0.008287522941827774, + 0.0 + ], + [ + -0.0006214380264282227, + -0.0006708356086164713, + -0.002103149890899658, + 0.007302969694137573, + 0.009524896740913391, + 0.01827722042798996, + 0.0 + ], + [ + -0.0010011792182922363, + 3.901892341673374e-05, + -0.0004575662314891815, + -0.0018920674920082092, + 0.011598125100135803, + 0.010041123256087303, + 0.0 + ], + [ + 0.0019141733646392822, + -0.002243664115667343, + 0.0025353915989398956, + -0.00517641007900238, + -0.0017381012439727783, + 0.0038797068409621716, + 0.0 + ], + [ + 0.0019975900650024414, + -0.0025538387708365917, + 0.001306004822254181, + -0.009691264480352402, + 0.015884682536125183, + 0.003839921671897173, + 0.0 + ], + [ + -0.0003135502338409424, + -0.003091758582741022, + 0.006036147475242615, + 0.0010777264833450317, + 0.028772011399269104, + -0.0015582720516249537, + 0.0 + ], + [ + 0.0018205642700195312, + -0.008856826461851597, + 0.014823075383901596, + 0.04224484786391258, + 0.03492306172847748, + 0.004876956343650818, + 0.0 + ], + [ + -0.0008513033390045166, + -0.010969576425850391, + 0.029334165155887604, + 0.0011386275291442871, + 0.049842625856399536, + -0.021080736070871353, + 0.0 + ], + [ + -0.0014914870262145996, + -0.021570727229118347, + 0.023286066949367523, + 0.00746917724609375, + 0.020197879523038864, + -0.001316675916314125, + 0.0 + ], + [ + 6.496906280517578e-05, + -0.028678640723228455, + 0.012682624161243439, + 0.004758171737194061, + -0.025898780673742294, + 0.022131221368908882, + 0.0 + ], + [ + -0.0006478428840637207, + -0.02917788177728653, + -0.0045301467180252075, + 0.013259448111057281, + -0.012707345187664032, + 0.007205085828900337, + 0.0 + ], + [ + -0.002666085958480835, + -0.021145939826965332, + -0.007588788866996765, + 0.0027045905590057373, + 0.001834481954574585, + 0.011367937549948692, + 0.0 + ], + [ + -0.004440784454345703, + -0.013542160391807556, + -0.006606049835681915, + 0.01445499062538147, + 0.001962214708328247, + 0.0051262266933918, + 0.0 + ], + [ + 0.0007361173629760742, + -0.006784453988075256, + -7.265806198120117e-05, + 0.002376928925514221, + -0.027107685804367065, + 0.0054990872740745544, + 1.0 + ], + [ + 0.003904402256011963, + -0.0021371841430664062, + 0.0002911761403083801, + -0.008860230445861816, + -0.024018697440624237, + -0.015815868973731995, + 1.0 + ], + [ + 0.0014521479606628418, + 0.0009176880121231079, + -0.0013056248426437378, + -0.011876925826072693, + -0.0026721060276031494, + 0.003041326068341732, + 1.0 + ], + [ + 0.00047662854194641113, + 0.002157852053642273, + -0.001023322343826294, + 0.0013992637395858765, + 0.004602521657943726, + -0.0027099186554551125, + 1.0 + ], + [ + -0.0006187856197357178, + 0.00037154555320739746, + -0.0006068646907806396, + -0.0029568374156951904, + 0.008175328373908997, + -0.010878347791731358, + 1.0 + ], + [ + -0.0059393346309661865, + 0.0025739073753356934, + -0.0030498355627059937, + 0.015061140060424805, + 0.03366035223007202, + -0.016844864934682846, + 1.0 + ], + [ + -0.008496373891830444, + 0.002415180206298828, + -0.003657519817352295, + 0.01266103982925415, + 0.04165848344564438, + -0.00839806254953146, + 1.0 + ], + [ + -0.013931185007095337, + -0.005264580249786377, + 0.01239079236984253, + 0.024665623903274536, + -0.02684851735830307, + 0.00910474918782711, + 1.0 + ], + [ + -0.017074108123779297, + -0.011638820171356201, + -0.00609976053237915, + 0.02671205997467041, + -0.009062513709068298, + -0.01550043374300003, + 1.0 + ], + [ + -0.017266005277633667, + -0.0070057213306427, + -0.0005418658256530762, + 0.016526654362678528, + -0.024949878454208374, + -0.01282128319144249, + 1.0 + ], + [ + -0.001212090253829956, + -0.0020489245653152466, + 0.00020576268434524536, + -6.966292858123779e-05, + -0.002637989819049835, + -0.00557999312877655, + 1.0 + ], + [ + 0.00024712085723876953, + 0.0004569888114929199, + -0.0005151927471160889, + 0.0008466392755508423, + 0.0012832507491111755, + 0.0014319606125354767, + 1.0 + ], + [ + 0.0006164014339447021, + 0.00016766786575317383, + -0.00337190181016922, + -0.0007192641496658325, + -0.013199090957641602, + 0.0011328011751174927, + 1.0 + ], + [ + -0.011371523141860962, + 1.315772533416748e-05, + -0.027618706226348877, + 0.02779102325439453, + -0.05180750787258148, + -0.017722468823194504, + 1.0 + ], + [ + -0.014589637517929077, + -0.015174150466918945, + -0.014940161257982254, + -0.016615748405456543, + -0.0500926673412323, + -0.0061489976942539215, + 1.0 + ], + [ + -0.006319016218185425, + -0.013732865452766418, + -0.008073102682828903, + -0.013437613844871521, + -0.032616034150123596, + 0.0069764405488967896, + 1.0 + ], + [ + -0.004239767789840698, + 0.0004450082778930664, + -0.007160507142543793, + -0.004843607544898987, + -0.009911328554153442, + 0.020923037081956863, + 1.0 + ], + [ + -0.0017873644828796387, + -0.0009530931711196899, + -0.012609098106622696, + 0.0013382434844970703, + -0.011694848537445068, + 0.004755441099405289, + 1.0 + ], + [ + 0.0008057951927185059, + 0.0008279383182525635, + -0.010136470198631287, + 0.0027587860822677612, + -0.009388267993927002, + -0.013172361999750137, + 1.0 + ], + [ + 0.0006639659404754639, + 0.002524733543395996, + -0.005803590640425682, + -0.010319024324417114, + -0.00875350832939148, + 0.004370301961898804, + 1.0 + ], + [ + 0.002006024122238159, + 6.148219108581543e-05, + -0.007309158332645893, + -0.0001761317253112793, + -0.019015073776245117, + 0.0030536018311977386, + 1.0 + ], + [ + -0.0006418228149414062, + -0.004709884524345398, + -0.0037215808406472206, + 0.004167869687080383, + -0.02017652988433838, + -0.006456825882196426, + 1.0 + ], + [ + -0.0003561973571777344, + -0.002629101276397705, + -0.002217621775344014, + 0.00565829873085022, + -0.015417486429214478, + 0.003495980054140091, + 1.0 + ], + [ + -0.001737743616104126, + -0.0038570910692214966, + -0.00040196720510721207, + -0.002808883786201477, + -0.010265141725540161, + 0.005111370235681534, + 1.0 + ], + [ + -0.001879960298538208, + -0.002967849373817444, + 1.2639909982681274e-05, + -0.016334310173988342, + 0.011055469512939453, + 0.025524787604808807, + 1.0 + ], + [ + -0.001223921775817871, + -0.0007782876491546631, + -2.487306483089924e-05, + 0.002408623695373535, + 0.02042210102081299, + 0.009486381895840168, + 1.0 + ], + [ + -0.0004495382308959961, + 0.00043320655822753906, + 0.00016480544582009315, + 0.0017530769109725952, + 0.0018585026264190674, + -0.0017575521487742662, + 0.0 + ], + [ + 0.0004965662956237793, + 0.0005433708429336548, + 0.0005805871915072203, + 0.0009679496288299561, + -0.0014039278030395508, + 0.000699253287166357, + 0.0 + ], + [ + -0.0007107555866241455, + 0.0012152045965194702, + 0.002206311793997884, + -0.017762884497642517, + 0.010724306106567383, + 0.025958659127354622, + 0.0 + ], + [ + -0.0008360147476196289, + 0.001287698745727539, + 0.002325190231204033, + -0.00661216676235199, + 0.00952082872390747, + 0.0016362536698579788, + 0.0 + ], + [ + -0.01199696958065033, + -0.010107547044754028, + -0.001718349289149046, + -0.02874256670475006, + 0.0235292911529541, + 0.012132158502936363, + 0.0 + ], + [ + -0.0012851208448410034, + -0.0004363209009170532, + 0.00035100057721138, + 0.009334251284599304, + -0.0028054416179656982, + -0.008912933990359306, + 0.0 + ], + [ + 0.0009559094905853271, + 0.003025844693183899, + 0.0017819874919950962, + 0.01411321759223938, + 0.005193650722503662, + 0.019627930596470833, + 0.0 + ], + [ + -0.0016981512308120728, + -0.0014265775680541992, + 5.562976002693176e-05, + 0.003348246216773987, + 0.00879514217376709, + -0.0072587765753269196, + 0.0 + ], + [ + -0.005417332053184509, + 0.0044575035572052, + 0.0047498662024736404, + 0.019215524196624756, + 0.049697861075401306, + -0.02369965985417366, + 0.0 + ], + [ + 0.002617448568344116, + 0.007937148213386536, + 0.04122421145439148, + -0.033518895506858826, + 0.03597193956375122, + -0.014488954097032547, + 0.0 + ], + [ + 0.009349748492240906, + 0.01754187047481537, + 0.018676258623600006, + 0.002814769744873047, + 0.037838488817214966, + -0.011871417053043842, + 0.0 + ], + [ + 0.01454596221446991, + 0.02199910581111908, + 0.014755092561244965, + -0.010877236723899841, + 0.010405734181404114, + -0.030808091163635254, + 0.0 + ], + [ + 0.02697622776031494, + 0.023802563548088074, + 0.008680514991283417, + -0.009878918528556824, + -0.0235738605260849, + -0.02852259948849678, + 0.0 + ], + [ + 0.027930527925491333, + 0.026503048837184906, + 0.008943602442741394, + -0.0015268027782440186, + -0.04017648100852966, + -0.021291084587574005, + 0.0 + ], + [ + 0.017576605081558228, + 0.019118905067443848, + -0.00529007613658905, + -0.0041961669921875, + -0.004418864846229553, + -0.02269543707370758, + 0.0 + ], + [ + 0.009223967790603638, + 0.00808483362197876, + -0.00601302832365036, + -0.002558693289756775, + -0.004598245024681091, + 0.004196375608444214, + 1.0 + ], + [ + 0.0032581090927124023, + -0.003842473030090332, + -0.003371976315975189, + -0.023137390613555908, + -0.002262026071548462, + 0.010463491082191467, + 1.0 + ], + [ + 0.0011168420314788818, + -0.005351342260837555, + -0.002996489405632019, + 0.015508323907852173, + -0.008662670850753784, + 0.020276427268981934, + 1.0 + ], + [ + 6.780028343200684e-05, + -0.0067823901772499084, + 0.006910741329193115, + 0.025231748819351196, + -0.005175471305847168, + 0.009062066674232483, + 1.0 + ], + [ + -0.010296732187271118, + -0.0008957162499427795, + -0.0013288483023643494, + 0.0005913525819778442, + 0.06872346997261047, + -0.028016917407512665, + 1.0 + ], + [ + -0.007931441068649292, + 0.018178902566432953, + 0.01578836888074875, + -0.021009504795074463, + -0.004501938819885254, + -0.0581449419260025, + 1.0 + ], + [ + 0.0021379292011260986, + 0.02259407937526703, + 0.002131424844264984, + -0.012172996997833252, + 0.00476720929145813, + -0.022103264927864075, + 1.0 + ], + [ + 0.00045177340507507324, + 0.01614316552877426, + 0.0022904202342033386, + -0.014133840799331665, + 0.028033167123794556, + -0.014744549989700317, + 1.0 + ], + [ + 0.0031937360763549805, + 0.005352690815925598, + 4.526972770690918e-05, + -0.02273058146238327, + -0.016594409942626953, + 0.015882357954978943, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 0.9530308246612549 + ], + [ + 0.6641445755958557 + ], + [ + 0.36024010181427 + ], + [ + 0.15923498570919037 + ], + [ + 0.06561893224716187 + ], + [ + 0.06472665071487427 + ], + [ + 0.07050029188394547 + ], + [ + 0.07270156592130661 + ], + [ + 0.07333792001008987 + ], + [ + 0.07333792001008987 + ], + [ + 0.07333792001008987 + ], + [ + 0.07333792001008987 + ], + [ + 0.07333792001008987 + ], + [ + 0.100052610039711 + ], + [ + 0.2759375274181366 + ], + [ + 0.5630297660827637 + ], + [ + 0.8801529407501221 + ], + [ + 1.0067112445831299 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.002137303352356 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 0.9575772881507874 + ], + [ + 0.7903241515159607 + ], + [ + 0.6651484370231628 + ], + [ + 0.5541232228279114 + ], + [ + 0.3552374839782715 + ], + [ + 0.30189207196235657 + ], + [ + 0.33237314224243164 + ], + [ + 0.33397963643074036 + ], + [ + 0.33397963643074036 + ], + [ + 0.33397963643074036 + ], + [ + 0.33397963643074036 + ], + [ + 0.33397963643074036 + ], + [ + 0.33397963643074036 + ], + [ + 0.33397963643074036 + ], + [ + 0.33397963643074036 + ], + [ + 0.39886748790740967 + ], + [ + 0.7071652412414551 + ], + [ + 0.9752515554428101 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3630277216434479, + -0.0013557373313233256, + 0.0931292250752449 + ], + [ + 0.36135685443878174, + -0.002625809283927083, + 0.07346364855766296 + ], + [ + 0.36153438687324524, + 0.00012053630052832887, + 0.05695087090134621 + ], + [ + 0.3603077530860901, + 0.0031775536481291056, + 0.044450730085372925 + ], + [ + 0.3596382737159729, + 0.004311855882406235, + 0.04163859412074089 + ], + [ + 0.3590168356895447, + 0.0036410202737897635, + 0.03953544422984123 + ], + [ + 0.35801565647125244, + 0.003680039197206497, + 0.03907787799835205 + ], + [ + 0.3599298298358917, + 0.0014363751979544759, + 0.041613269597291946 + ], + [ + 0.36192741990089417, + -0.0011174636892974377, + 0.04291927441954613 + ], + [ + 0.3616138696670532, + -0.00420922227203846, + 0.04895542189478874 + ], + [ + 0.36343443393707275, + -0.013066048733890057, + 0.06377849727869034 + ], + [ + 0.36258313059806824, + -0.024035625159740448, + 0.09311266243457794 + ], + [ + 0.36109164357185364, + -0.045606352388858795, + 0.11639872938394547 + ], + [ + 0.3611566126346588, + -0.07428499311208725, + 0.1290813535451889 + ], + [ + 0.3605087697505951, + -0.10346287488937378, + 0.1245512068271637 + ], + [ + 0.35784268379211426, + -0.12460881471633911, + 0.11696241796016693 + ], + [ + 0.35340189933776855, + -0.13815097510814667, + 0.11035636812448502 + ], + [ + 0.35413801670074463, + -0.14493542909622192, + 0.11028371006250381 + ], + [ + 0.3580424189567566, + -0.14707261323928833, + 0.1105748862028122 + ], + [ + 0.35949456691741943, + -0.14615492522716522, + 0.10926926136016846 + ], + [ + 0.35997119545936584, + -0.14399707317352295, + 0.10824593901634216 + ], + [ + 0.3593524098396301, + -0.14362552762031555, + 0.10763907432556152 + ], + [ + 0.35341307520866394, + -0.14105162024497986, + 0.10458923876285553 + ], + [ + 0.3449167013168335, + -0.13863644003868103, + 0.10093171894550323 + ], + [ + 0.33098551630973816, + -0.1439010202884674, + 0.11332251131534576 + ], + [ + 0.31391140818595886, + -0.1555398404598236, + 0.10722275078296661 + ], + [ + 0.2966454029083252, + -0.1625455617904663, + 0.10668088495731354 + ], + [ + 0.29543331265449524, + -0.16459448635578156, + 0.10688664764165878 + ], + [ + 0.295680433511734, + -0.16413749754428864, + 0.1063714548945427 + ], + [ + 0.2962968349456787, + -0.16396982967853546, + 0.10299955308437347 + ], + [ + 0.28492531180381775, + -0.1639566719532013, + 0.0753808468580246 + ], + [ + 0.27033567428588867, + -0.17913082242012024, + 0.06044068560004234 + ], + [ + 0.26401665806770325, + -0.19286368787288666, + 0.05236758291721344 + ], + [ + 0.25977689027786255, + -0.1924186795949936, + 0.04520707577466965 + ], + [ + 0.2579895257949829, + -0.19337177276611328, + 0.03259797766804695 + ], + [ + 0.2587953209877014, + -0.19254383444786072, + 0.022461507469415665 + ], + [ + 0.2594592869281769, + -0.19001910090446472, + 0.016657916828989983 + ], + [ + 0.26146531105041504, + -0.1899576187133789, + 0.00934875849634409 + ], + [ + 0.26082348823547363, + -0.1946675032377243, + 0.005627177655696869 + ], + [ + 0.2604672908782959, + -0.197296604514122, + 0.0034095558803528547 + ], + [ + 0.2587295472621918, + -0.2011536955833435, + 0.0030075886752456427 + ], + [ + 0.25684958696365356, + -0.20412154495716095, + 0.003020228585228324 + ], + [ + 0.2556256651878357, + -0.2048998326063156, + 0.0029953555203974247 + ], + [ + 0.2551761269569397, + -0.20446662604808807, + 0.003160160966217518 + ], + [ + 0.2556726932525635, + -0.20392325520515442, + 0.003740748157724738 + ], + [ + 0.25496193766593933, + -0.20270805060863495, + 0.005947059951722622 + ], + [ + 0.2541259229183197, + -0.2014203518629074, + 0.008272250182926655 + ], + [ + 0.24212895333766937, + -0.21152789890766144, + 0.006553900893777609 + ], + [ + 0.24084383249282837, + -0.2119642198085785, + 0.006904901470988989 + ], + [ + 0.2417997419834137, + -0.2089383751153946, + 0.008686888962984085 + ], + [ + 0.24010159075260162, + -0.2103649526834488, + 0.008742518723011017 + ], + [ + 0.23468425869941711, + -0.2059074491262436, + 0.013492384925484657 + ], + [ + 0.23730170726776123, + -0.19797030091285706, + 0.05471659451723099 + ], + [ + 0.24665145576000214, + -0.1804284304380417, + 0.073392853140831 + ], + [ + 0.26119741797447205, + -0.1584293246269226, + 0.08814794570207596 + ], + [ + 0.288173645734787, + -0.13462676107883453, + 0.09682846069335938 + ], + [ + 0.3161041736602783, + -0.10812371224164963, + 0.10577206313610077 + ], + [ + 0.33368077874183655, + -0.08900480717420578, + 0.10048198699951172 + ], + [ + 0.3429047465324402, + -0.08091997355222702, + 0.09446895867586136 + ], + [ + 0.3461628556251526, + -0.08476244658231735, + 0.09109698235988617 + ], + [ + 0.34727969765663147, + -0.09011378884315491, + 0.08810049295425415 + ], + [ + 0.3473474979400635, + -0.09689617902040482, + 0.09501123428344727 + ], + [ + 0.33705076575279236, + -0.0977918952703476, + 0.09368238598108292 + ], + [ + 0.32911932468414307, + -0.07961299270391464, + 0.10947075486183167 + ], + [ + 0.33125725388526917, + -0.057018913328647614, + 0.11160217970609665 + ], + [ + 0.33170902729034424, + -0.04087574779987335, + 0.11389259994029999 + ], + [ + 0.3349027633666992, + -0.035523056983947754, + 0.1139378696680069 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.992644086014057, + -0.02005913596402928, + 0.11939576862558399, + -0.029524045919597952, + -0.9965129417577013, + 0.078040294860728, + 0.1174140077412183, + -0.08099128331980229, + -0.9897749051235621 + ], + [ + 0.9883891746159512, + -0.019648401874734524, + 0.15066777958730018, + -0.029750890460816352, + -0.9974355940904691, + 0.06509316521863977, + 0.14900242957343632, + -0.0688198804500673, + -0.9864391010275552 + ], + [ + 0.9811076979988007, + -0.03660421148999901, + 0.18996793579098842, + -0.047297779844980015, + -0.997523012352408, + 0.052064957976677526, + 0.1875915908275994, + -0.06006639267154987, + -0.9804088042863535 + ], + [ + 0.975613303979207, + -0.03146120195842525, + 0.21723000223290184, + -0.04504592065494058, + -0.9973073895921667, + 0.05786912559566663, + 0.21482445422047314, + -0.06624321426523187, + -0.9744035562500202 + ], + [ + 0.9737746016845443, + -0.02200753984350913, + 0.22644799249307532, + -0.03687654899700787, + -0.9974168423605113, + 0.06164221532082139, + 0.22450644812160478, + -0.0683762441614307, + -0.9720707505044054 + ], + [ + 0.9763796851877079, + -0.0028490622902440244, + 0.21604303552028276, + -0.019114476976816584, + -0.9971314585681303, + 0.0732358594111864, + 0.215214653596484, + -0.07563555498479946, + -0.9736333579430638 + ], + [ + 0.9789526305052952, + 0.005898965455826858, + 0.20400232702916454, + -0.009332898177995062, + -0.9972425092877065, + 0.07362251477067441, + 0.20387408917849864, + -0.0739768874454039, + -0.9761981232749467 + ], + [ + 0.9786256449581315, + 0.008833051587235668, + 0.20546003073575697, + -0.005532776539989039, + -0.9975846273962187, + 0.06924088074617532, + 0.20557537647792234, + -0.06889766601565511, + -0.9762130280853435 + ], + [ + 0.9817815682019913, + 0.009728862603926405, + 0.189763804692236, + -0.001780597535619096, + -0.9981734570093014, + 0.06038691244397934, + 0.1900046889191299, + -0.05962465056111106, + -0.9799709787714177 + ], + [ + 0.9868372895541252, + 0.006627518397472828, + 0.16158044419223194, + -0.0033275384066280994, + -0.998116161232501, + 0.0612621920490015, + 0.16168206899226717, + -0.06099348068759059, + -0.9849561938888411 + ], + [ + 0.9918853358119809, + 0.014705762948808196, + 0.12628230730093512, + 0.0014928354893516795, + -0.9945664209811201, + 0.10409325481993277, + 0.12712691313548083, + -0.10306005430281505, + -0.9865178017470061 + ], + [ + 0.9967973440463436, + -0.01132208782823704, + 0.0791635347200028, + -0.01951548768250147, + -0.9944373841894122, + 0.10350572287092899, + 0.07755127750507747, + -0.10471914463807039, + -0.9914734994459516 + ], + [ + 0.9981333959122364, + -0.014304528528604291, + 0.05937258987345386, + -0.02085640176212862, + -0.993574216139445, + 0.11124426964308927, + 0.05739977761493235, + -0.11227491922269202, + -0.9920179474401128 + ], + [ + 0.9965292890590303, + 0.01098422541589603, + 0.08251498554515047, + 0.0012345576155466135, + -0.9930970170295588, + 0.11728934578420143, + 0.08323371861810275, + -0.11678039886472753, + -0.989663825006248 + ], + [ + 0.9953564599872741, + 0.02087007588846273, + 0.09396785351390669, + 0.008404932268245055, + -0.991327890559403, + 0.13114255797646215, + 0.09588990914151202, + -0.1297437988169505, + -0.9869000314081353 + ], + [ + 0.9953708001413746, + 0.032144934582326, + 0.09057413210524143, + 0.019722747221965736, + -0.9906702273727355, + 0.13484626001217526, + 0.09406372025355039, + -0.13243565901203014, + -0.986718203315471 + ], + [ + 0.9954392187581083, + 0.03823043205588181, + 0.08740249323141527, + 0.024829516736396485, + -0.9884403096791912, + 0.14956352931093064, + 0.09211002582175296, + -0.14671124110348605, + -0.9848814928086479 + ], + [ + 0.9924265417514424, + 0.04790403470832249, + 0.11311393674492808, + 0.030216010504106668, + -0.9877329111449071, + 0.1532014652358851, + 0.11906532634015442, + -0.1486233484344577, + -0.981699825997561 + ], + [ + 0.9896347271894794, + 0.034607191906689136, + 0.13937520944894763, + 0.014470801113749054, + -0.989620496815956, + 0.14297506145082275, + 0.1428765294081948, + -0.1394762149976612, + -0.9798636041787628 + ], + [ + 0.9892008858160423, + 0.036305447408155916, + 0.14199831685358688, + 0.01747372612630098, + -0.9911379375206832, + 0.13168241227479813, + 0.14552070779109433, + -0.12777911916952825, + -0.9810689172062477 + ], + [ + 0.9899038132644329, + 0.03322401647523574, + 0.1377918909580236, + 0.01480286899669403, + -0.9910568841944047, + 0.1326164671537616, + 0.14096565380971818, + -0.12923783122650764, + -0.9815427995894357 + ], + [ + 0.9911256038456953, + 0.02099602338810476, + 0.13126006400802864, + 0.004038248179344103, + -0.9917472063568268, + 0.1281451178745079, + 0.1328673396781453, + -0.12647784661874847, + -0.9830308359159119 + ], + [ + 0.9949627762750781, + 0.0015319918146349427, + 0.10023336185157397, + -0.012706843482512779, + -0.9898904433089069, + 0.14126374755897755, + 0.09943646190256164, + -0.1418258200990761, + -0.9848846769025928 + ], + [ + 0.9980981292585467, + -0.011933886568583877, + 0.06047897752077052, + -0.02113143967104688, + -0.9878749975018618, + 0.15380653941925176, + 0.05791015997231055, + -0.15479202712693285, + -0.9862483671519647 + ], + [ + 0.9963348831339724, + 0.0033217974839167327, + 0.08547377557993792, + -0.012020161747985694, + -0.9838933653442389, + 0.178351790972619, + 0.0846895292345282, + -0.17872551942312087, + -0.9802473526334922 + ], + [ + 0.9952207846505471, + -0.007713091952102314, + 0.09734525161551208, + -0.027439441927316066, + -0.9787992049317903, + 0.20297584450276873, + 0.09371588353244284, + -0.2046768786097568, + -0.9743329556862479 + ], + [ + 0.9921415260507257, + -0.013111038773115709, + 0.12443188075419832, + -0.04008994008188889, + -0.9753748533399104, + 0.21687944157153033, + 0.11852421267389938, + -0.22016356677351984, + -0.968235516222987 + ], + [ + 0.9915865934663842, + -0.01798223774208338, + 0.1281899636614287, + -0.045610904614552625, + -0.9753282414092873, + 0.2159964511044306, + 0.12114319228901559, + -0.22002604535657522, + -0.9679425945410051 + ], + [ + 0.9918053762627048, + -0.01676045476472584, + 0.12665379099132473, + -0.04419782977102576, + -0.9751569978252422, + 0.21706077820737643, + 0.119869293231945, + -0.22087986949593216, + -0.9679067288698503 + ], + [ + 0.9901877800696738, + -0.012845612567546832, + 0.13915153767909338, + -0.043001887679795806, + -0.9754573218144522, + 0.21594872302134774, + 0.13296239264042253, + -0.21981356545113637, + -0.9664383056289695 + ], + [ + 0.9810703987117718, + -0.0134451499752004, + 0.19318411092444795, + -0.060040963506524034, + -0.9695460689273864, + 0.23743526049990982, + 0.1841085426392086, + -0.244539665840935, + -0.9520002081710227 + ], + [ + 0.9702547383108615, + -0.011266551309768957, + 0.24182391859968227, + -0.06536982040990301, + -0.9740025465187655, + 0.21690049781993762, + 0.2330933919374345, + -0.22625672188145943, + -0.9457670783224362 + ], + [ + 0.962583485479842, + -0.0007765139081277496, + 0.2709841886672148, + -0.05811014903266849, + -0.9773245948954583, + 0.20361691185122305, + 0.2646814010482777, + -0.2117452083013407, + -0.9408016383385724 + ], + [ + 0.9609199517951671, + 0.020427988250523634, + 0.27607162754982706, + -0.03785360516686985, + -0.9782096633785956, + 0.20413955777508075, + 0.27422609434159373, + -0.2066120804037636, + -0.9392079095777378 + ], + [ + 0.9578183352334444, + 0.027873114413259334, + 0.28601945070840695, + -0.033170326003191176, + -0.9779096363542644, + 0.2063794384097229, + 0.28545361473184305, + -0.20716136854726547, + -0.9357352196097724 + ], + [ + 0.954579317806349, + 0.017750216405055384, + 0.297427732119819, + -0.045653774072233054, + -0.9777232417033065, + 0.20487312060428742, + 0.2944385486469573, + -0.20914634218831346, + -0.9325040206990649 + ], + [ + 0.952158234785962, + 0.020704381714076295, + 0.30490330353592215, + -0.04136809112031935, + -0.9797874291886064, + 0.19571733352220605, + 0.30279263030387943, + -0.19896713844707953, + -0.9320561682923614 + ], + [ + 0.9463553754180839, + 0.027408100395652116, + 0.3219631958003875, + -0.038221104033929636, + -0.9799063403421878, + 0.19576187413183205, + 0.32085923802147936, + -0.19756609068836073, + -0.9262920647324976 + ], + [ + 0.9394300047922038, + 0.026472897109079727, + 0.34171691765959117, + -0.044018703795535546, + -0.9794367005604329, + 0.1968910950537219, + 0.3399023680592423, + -0.20000733815024122, + -0.9189469216846936 + ], + [ + 0.934231171222369, + 0.03497778680483478, + 0.3549488317303162, + -0.040502401387795456, + -0.9783383173622805, + 0.2030115569679807, + 0.35436093774328836, + -0.2040360046927436, + -0.9125774677202588 + ], + [ + 0.9307419123614261, + 0.041046290325941495, + 0.3633657862598979, + -0.035585835298540425, + -0.9787970787202552, + 0.2017174435065037, + 0.36394112284805136, + -0.2006775541488706, + -0.9095467983347126 + ], + [ + 0.9353131734656005, + 0.05809767044927036, + 0.3490185213281313, + -0.01187016841134923, + -0.9807193189818423, + 0.1950608020020363, + 0.3536217847412592, + -0.18658584636611475, + -0.9165900693833896 + ], + [ + 0.9424098029099481, + 0.06436421296800712, + 0.328208792490758, + -0.0030195413220660064, + -0.979631038314736, + 0.2007832441729053, + 0.3344467756600992, + -0.19021113757979893, + -0.9230195433419391 + ], + [ + 0.9430229750224313, + 0.06286163064238036, + 0.3267354954283718, + -0.00467894607605035, + -0.979388397217463, + 0.20193185697018215, + 0.3326947189894364, + -0.1919551582760662, + -0.9232916338664344 + ], + [ + 0.9425580119147583, + 0.064133228854295, + 0.327828191484535, + -0.004017538259517433, + -0.9791492155820151, + 0.20310261694881726, + 0.33401834315143775, + -0.19275306114779944, + -0.9226472803062507 + ], + [ + 0.945871749533009, + 0.08189059556374423, + 0.3140391118850959, + 0.02052514433789584, + -0.9807990789661165, + 0.1939378383635484, + 0.3238909567821755, + -0.17699462437439323, + -0.9293909570559067 + ], + [ + 0.9488768554641894, + 0.07979035958080163, + 0.3053951729847058, + 0.02214374513472884, + -0.9819660809259231, + 0.18775587996755794, + 0.3148688103255071, + -0.1713946161025784, + -0.9335317444282492 + ], + [ + 0.955679121018263, + 0.07953848004654299, + 0.28346260395622797, + 0.03390710812696009, + -0.9861435804302956, + 0.16239195421751415, + 0.29245123639373843, + -0.1455832029047385, + -0.9451337499866201 + ], + [ + 0.955119442845988, + 0.07383501808564474, + 0.28687146948043035, + 0.025366087333379382, + -0.9852666956613776, + 0.16913337941963283, + 0.2951328709428422, + -0.15426577236964337, + -0.9429202829318248 + ], + [ + 0.9559559178970392, + 0.0962799391423252, + 0.2772696455733645, + 0.04417718041285222, + -0.9811040854845469, + 0.18836971671768488, + 0.290166606914716, + -0.16782415429335762, + -0.9421456328335442 + ], + [ + 0.95876450889522, + 0.08858365013283756, + 0.27004361390718096, + 0.037334868951445915, + -0.9812062428054775, + 0.1893156534466619, + 0.2817387514050666, + -0.17142708656656702, + -0.9440529804772679 + ], + [ + 0.9721899031365556, + 0.061084881226919, + 0.22608721663293482, + 0.01479911680823797, + -0.9794791857873659, + 0.20100127052089675, + 0.23372586160078765, + -0.19206551459023505, + -0.9531437770473863 + ], + [ + 0.9800790303274138, + 0.0334077241281488, + 0.19577798211508252, + 0.0007177364642483135, + -0.9863406123758226, + 0.164716973115872, + 0.19860659396617208, + -0.1612951342932096, + -0.9667157288916381 + ], + [ + 0.9868297164537659, + 0.016024808043943815, + 0.1609668172355232, + -0.010992841700425532, + -0.9861373468348227, + 0.16556657455212878, + 0.16138856265277585, + -0.16515549856039, + -0.9729734801833705 + ], + [ + 0.9876472960965823, + -0.017771892425106593, + 0.15568229942013537, + -0.04145333729398203, + -0.9877832546701438, + 0.1502193816404846, + 0.15111068572507239, + -0.15481731696709072, + -0.9763181648554994 + ], + [ + 0.9822363120828156, + -0.04410525382843421, + 0.18239121089208027, + -0.06933278520224667, + -0.9885065099710888, + 0.13434226676990738, + 0.1743696995525571, + -0.14460154331647787, + -0.9740049289138346 + ], + [ + 0.972772160717193, + -0.059719013902559175, + 0.22393740802311132, + -0.08951379443623371, + -0.9880663321251715, + 0.12534833036916715, + 0.21377933468703472, + -0.14198085328387106, + -0.9665090963677231 + ], + [ + 0.9695423089534774, + -0.08247176901003397, + 0.2306211578878121, + -0.11145736054360197, + -0.9870220498973834, + 0.11560592457577724, + 0.21809394290033154, + -0.13778926058558547, + -0.9661517229387236 + ], + [ + 0.9689944770608472, + -0.07829960392048492, + 0.23434776604753527, + -0.10727634233468698, + -0.9877229137519136, + 0.11355717513535143, + 0.22257917647629616, + -0.13517624671267145, + -0.9654977434068961 + ], + [ + 0.9695604409212402, + -0.0730823845651293, + 0.2336910705758454, + -0.09708117917732251, + -0.9909327230470596, + 0.09288478370583639, + 0.22478388743446628, + -0.11274441653941872, + -0.9678640919514656 + ], + [ + 0.9693519667763483, + -0.04827377236100227, + 0.24088671073528237, + -0.07724576569253887, + -0.9906656628247718, + 0.1123148974202848, + 0.23321632916543142, + -0.1274801451285409, + -0.9640326531858802 + ], + [ + 0.9687951662373668, + -0.0324475093203125, + 0.24572969908828898, + -0.06837249287098972, + -0.987913684205199, + 0.13911058471128995, + 0.23824594035097277, + -0.15157081413985596, + -0.9593045190174296 + ], + [ + 0.9804991205062913, + -0.07044616439037617, + 0.18346338220220634, + -0.09686783518147586, + -0.9855028973514314, + 0.13928625854400717, + 0.17099151205145588, + -0.15434175467001038, + -0.9731086915508147 + ], + [ + 0.9724427025282687, + -0.1309913625726088, + 0.19286382043008776, + -0.1535614503993712, + -0.982318618194597, + 0.10709347925760844, + 0.17542540081401908, + -0.13375872038723194, + -0.9753637954474278 + ], + [ + 0.9696231905308659, + -0.15560664069932906, + 0.18872583753957312, + -0.175163029439102, + -0.9802591010048962, + 0.09170609584312359, + 0.17073014233713896, + -0.12197814667940235, + -0.9777384876490225 + ], + [ + 0.9712514740578206, + -0.17569383373345826, + 0.16063079072379252, + -0.19028576785035461, + -0.9784330351240754, + 0.08037488619892992, + 0.14304510021008007, + -0.10862998005122675, + -0.9837365636896691 + ], + [ + 0.9716806022652573, + -0.16230569194540093, + 0.1717372107132029, + -0.17439326993163048, + -0.982983567779795, + 0.05770868979155861, + 0.15944840727953322, + -0.0860242281978135, + -0.9834510855039972 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005498.json b/json/chunk-0005/episode_0005498.json new file mode 100644 index 0000000000000000000000000000000000000000..6a0992f7f96d34870623bfd89e333417fc924551 --- /dev/null +++ b/json/chunk-0005/episode_0005498.json @@ -0,0 +1,922 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 14, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut pepper in pot or pan." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005498.mp4", + "start": 0, + "end": 14, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3306567966938019, + 0.16237904131412506, + -0.010395181365311146, + 0.0268260445445776, + -0.286170095205307, + 0.6615909337997437, + 0.0, + 0.9981546401977539 + ], + [ + 0.32999280095100403, + 0.157815620303154, + -0.02455884963274002, + 0.003479467937722802, + -0.2610216438770294, + 0.6644795536994934, + 0.0, + 0.9981546401977539 + ], + [ + 0.33135220408439636, + 0.1571033000946045, + -0.03621649742126465, + -0.03778437152504921, + -0.24841247498989105, + 0.6669511795043945, + 0.0, + 0.9981546401977539 + ], + [ + 0.3316155970096588, + 0.16222167015075684, + -0.046469442546367645, + -0.07575202733278275, + -0.2541387975215912, + 0.6825628280639648, + 0.0, + 0.9981546401977539 + ], + [ + 0.3335462510585785, + 0.16142725944519043, + -0.0542575865983963, + -0.10308480262756348, + -0.2627561688423157, + 0.6910385489463806, + 0.0, + 0.9981546401977539 + ], + [ + 0.33254459500312805, + 0.16286711394786835, + -0.05999284237623215, + -0.11986132711172104, + -0.2569829225540161, + 0.7029210925102234, + 0.0, + 0.8390268683433533 + ], + [ + 0.3304422199726105, + 0.1637207269668579, + -0.06330335140228271, + -0.11268414556980133, + -0.26128706336021423, + 0.7138287425041199, + 0.0, + 0.6259716749191284 + ], + [ + 0.32728782296180725, + 0.1639523059129715, + -0.06026773527264595, + -0.08446592837572098, + -0.26278024911880493, + 0.6845362186431885, + 0.0, + 0.6219554543495178 + ], + [ + 0.3272992968559265, + 0.16875898838043213, + -0.040146730840206146, + -0.025399718433618546, + -0.2810734808444977, + 0.6388759613037109, + 0.0, + 0.6219554543495178 + ], + [ + 0.3444463908672333, + 0.17896559834480286, + 0.007398905698210001, + 0.10350633412599564, + -0.3543064594268799, + 0.5212050080299377, + 0.0, + 0.6219554543495178 + ], + [ + 0.35968488454818726, + 0.18933790922164917, + 0.04469749331474304, + 0.22291868925094604, + -0.3970166742801666, + 0.4033251404762268, + 0.0, + 0.6219554543495178 + ], + [ + 0.38069114089012146, + 0.19117093086242676, + 0.06987834721803665, + 0.2981867790222168, + -0.4159635305404663, + 0.268348753452301, + 0.0, + 0.6229594349861145 + ], + [ + 0.4021262228488922, + 0.19520245492458344, + 0.08735198527574539, + 0.3482482135295868, + -0.46268850564956665, + 0.13657499849796295, + 0.0, + 0.6229594349861145 + ], + [ + 0.42237764596939087, + 0.1958804428577423, + 0.08728896826505661, + 0.3783610761165619, + -0.4793919622898102, + -0.00036044075386598706, + 0.0, + 0.6229594349861145 + ] + ], + "left_gripper_pos": [ + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.8390268683433533 + ], + [ + 0.6259716749191284 + ], + [ + 0.6219554543495178 + ], + [ + 0.6219554543495178 + ], + [ + 0.6219554543495178 + ], + [ + 0.6219554543495178 + ], + [ + 0.6229594349861145 + ], + [ + 0.6229594349861145 + ], + [ + 0.6229594349861145 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3306567966938019, + 0.16237904131412506, + -0.010395181365311146 + ], + [ + 0.32999280095100403, + 0.157815620303154, + -0.02455884963274002 + ], + [ + 0.33135220408439636, + 0.1571033000946045, + -0.03621649742126465 + ], + [ + 0.3316155970096588, + 0.16222167015075684, + -0.046469442546367645 + ], + [ + 0.3335462510585785, + 0.16142725944519043, + -0.0542575865983963 + ], + [ + 0.33254459500312805, + 0.16286711394786835, + -0.05999284237623215 + ], + [ + 0.3304422199726105, + 0.1637207269668579, + -0.06330335140228271 + ], + [ + 0.32728782296180725, + 0.1639523059129715, + -0.06026773527264595 + ], + [ + 0.3272992968559265, + 0.16875898838043213, + -0.040146730840206146 + ], + [ + 0.3444463908672333, + 0.17896559834480286, + 0.007398905698210001 + ], + [ + 0.35968488454818726, + 0.18933790922164917, + 0.04469749331474304 + ], + [ + 0.38069114089012146, + 0.19117093086242676, + 0.06987834721803665 + ], + [ + 0.4021262228488922, + 0.19520245492458344, + 0.08735198527574539 + ], + [ + 0.42237764596939087, + 0.1958804428577423, + 0.08728896826505661 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.7569281207902837, + 0.6201259255051806, + 0.20616414934035526, + 0.5893875928251396, + -0.784080162263987, + 0.19452651379147934, + 0.2822801540680401, + -0.025731996821515085, + -0.9589868502533809 + ], + [ + 0.7605715832854336, + 0.6173526580804353, + 0.20101383599073533, + 0.595761627288092, + -0.7866793471312272, + 0.16187553319829107, + 0.25806772395968797, + -0.0033616005425358975, + -0.9661209807741777 + ], + [ + 0.7615930699414925, + 0.6108544344041439, + 0.21640900116650993, + 0.5996050064863739, + -0.7908957840193566, + 0.12230165582232674, + 0.2458654754404704, + 0.036615827031501263, + -0.9686121252582123 + ], + [ + 0.7510350186069028, + 0.614210795386214, + 0.24226328582177437, + 0.6105230762289356, + -0.7857351427475394, + 0.09940753916811554, + 0.25141196116749437, + 0.07324878348844752, + -0.9651044718057087 + ], + [ + 0.7441363302954178, + 0.6133581710978191, + 0.26467503826769895, + 0.6154629483662668, + -0.783528723073855, + 0.08537036550558152, + 0.25974310601586964, + 0.09937048890789052, + -0.9605514170576377 + ], + [ + 0.7379025195314701, + 0.6186235688447203, + 0.26982355667904523, + 0.62522050409851, + -0.777129625867878, + 0.07189482494072058, + 0.2541637128386216, + 0.11564784765949387, + -0.9602220484907713 + ], + [ + 0.7302054246341557, + 0.6286243111585385, + 0.26764064200959037, + 0.632509821734465, + -0.7700851689596551, + 0.08306718941805549, + 0.25832414375022683, + 0.1086292224442067, + -0.9599314187934883 + ], + [ + 0.7481176685771198, + 0.6130814295493859, + 0.2538722409095096, + 0.610607396218306, + -0.7858078009666137, + 0.09830924485273741, + 0.259766359727805, + 0.081469384935055, + -0.9622287553758038 + ], + [ + 0.7712645362895503, + 0.590445811632507, + 0.23774936085654474, + 0.5728938614220195, + -0.8067083523418519, + 0.14496295322206626, + 0.2773871637387596, + 0.02440036449574231, + -0.9604483242764507 + ], + [ + 0.8133544687750006, + 0.5263473157922444, + 0.2478164871069644, + 0.4669980239468615, + -0.8447296086841338, + 0.26142825754320653, + 0.346939985809453, + -0.09690403175642356, + -0.9328677585145104 + ], + [ + 0.8482207837234624, + 0.4613919546055417, + 0.2600749243676386, + 0.3619513089877203, + -0.8634522884300874, + 0.3513422768852633, + 0.38666878847617253, + -0.20388136214505467, + -0.8993995987258645 + ], + [ + 0.8819893357189876, + 0.36790171606045075, + 0.2945218820355359, + 0.24253050569442167, + -0.8901851362102347, + 0.3856804079519389, + 0.4040714856131113, + -0.26873546582120744, + -0.8743611861949682 + ], + [ + 0.8865229171232983, + 0.2788791514080989, + 0.3691930881328849, + 0.12183533025472155, + -0.9104806158948382, + 0.39519767254056415, + 0.44635554182391457, + -0.30537103168056845, + -0.8411392651002715 + ], + [ + 0.8872754803127892, + 0.17004607012175288, + 0.42874999250362394, + -0.00031981025686041165, + -0.9293326503916982, + 0.3692434463024925, + 0.46123976385076476, + -0.32775777481562507, + -0.8245196912692876 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0006639957427978516, + -0.004563421010971069, + -0.014163668267428875, + -0.02334657683968544, + 0.025148451328277588, + 0.002888619899749756, + 1.0 + ], + [ + 0.001359403133392334, + -0.0007123202085494995, + -0.011657647788524628, + -0.04126384109258652, + 0.012609168887138367, + 0.002471625804901123, + 1.0 + ], + [ + 0.00026339292526245117, + 0.005118370056152344, + -0.010252945125102997, + -0.037967655807733536, + -0.005726322531700134, + 0.015611648559570312, + 1.0 + ], + [ + 0.0019306540489196777, + -0.0007944107055664062, + -0.007788144052028656, + -0.02733277529478073, + -0.008617371320724487, + 0.008475720882415771, + 1.0 + ], + [ + -0.0010016560554504395, + 0.0014398545026779175, + -0.005735255777835846, + -0.016776524484157562, + 0.0057732462882995605, + 0.011882543563842773, + 0.0 + ], + [ + -0.002102375030517578, + 0.000853613018989563, + -0.0033105090260505676, + 0.007177181541919708, + -0.00430414080619812, + 0.010907649993896484, + 0.0 + ], + [ + -0.0031543970108032227, + 0.00023157894611358643, + 0.0030356161296367645, + 0.028218217194080353, + -0.0014931857585906982, + -0.029292523860931396, + 0.0 + ], + [ + 1.1473894119262695e-05, + 0.004806682467460632, + 0.020121004432439804, + 0.05906620994210243, + -0.01829323172569275, + -0.04566025733947754, + 0.0 + ], + [ + 0.017147094011306763, + 0.010206609964370728, + 0.04754563793540001, + 0.12890605628490448, + -0.0732329785823822, + -0.1176709532737732, + 0.0 + ], + [ + 0.01523849368095398, + 0.010372310876846313, + 0.03729858621954918, + 0.11941235512495041, + -0.04271021485328674, + -0.11787986755371094, + 0.0 + ], + [ + 0.021006256341934204, + 0.0018330216407775879, + 0.02518085390329361, + 0.07526808977127075, + -0.018946856260299683, + -0.13497638702392578, + 0.0 + ], + [ + 0.021435081958770752, + 0.004031524062156677, + 0.01747363805770874, + 0.050061434507369995, + -0.04672497510910034, + -0.13177375495433807, + 0.0 + ], + [ + 0.020251423120498657, + 0.0006779879331588745, + -6.301701068878174e-05, + 0.030112862586975098, + -0.01670345664024353, + -0.13693544268608093, + 0.0 + ], + [ + 0.013533473014831543, + 0.001693814992904663, + -0.0040308162569999695, + -0.009766876697540283, + -0.006129622459411621, + -0.08791845291852951, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.8390268683433533 + ], + [ + 0.6259716749191284 + ], + [ + 0.6219554543495178 + ], + [ + 0.6219554543495178 + ], + [ + 0.6219554543495178 + ], + [ + 0.6219554543495178 + ], + [ + 0.6229594349861145 + ], + [ + 0.6229594349861145 + ], + [ + 0.6229594349861145 + ], + [ + 0.6229594349861145 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.32999280095100403, + 0.157815620303154, + -0.02455884963274002 + ], + [ + 0.33135220408439636, + 0.1571033000946045, + -0.03621649742126465 + ], + [ + 0.3316155970096588, + 0.16222167015075684, + -0.046469442546367645 + ], + [ + 0.3335462510585785, + 0.16142725944519043, + -0.0542575865983963 + ], + [ + 0.33254459500312805, + 0.16286711394786835, + -0.05999284237623215 + ], + [ + 0.3304422199726105, + 0.1637207269668579, + -0.06330335140228271 + ], + [ + 0.32728782296180725, + 0.1639523059129715, + -0.06026773527264595 + ], + [ + 0.3272992968559265, + 0.16875898838043213, + -0.040146730840206146 + ], + [ + 0.3444463908672333, + 0.17896559834480286, + 0.007398905698210001 + ], + [ + 0.35968488454818726, + 0.18933790922164917, + 0.04469749331474304 + ], + [ + 0.38069114089012146, + 0.19117093086242676, + 0.06987834721803665 + ], + [ + 0.4021262228488922, + 0.19520245492458344, + 0.08735198527574539 + ], + [ + 0.42237764596939087, + 0.1958804428577423, + 0.08728896826505661 + ], + [ + 0.4359111189842224, + 0.19757425785064697, + 0.08325815200805664 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.7605715832854336, + 0.6173526580804353, + 0.20101383599073533, + 0.595761627288092, + -0.7866793471312272, + 0.16187553319829107, + 0.25806772395968797, + -0.0033616005425358975, + -0.9661209807741777 + ], + [ + 0.7615930699414925, + 0.6108544344041439, + 0.21640900116650993, + 0.5996050064863739, + -0.7908957840193566, + 0.12230165582232674, + 0.2458654754404704, + 0.036615827031501263, + -0.9686121252582123 + ], + [ + 0.7510350186069028, + 0.614210795386214, + 0.24226328582177437, + 0.6105230762289356, + -0.7857351427475394, + 0.09940753916811554, + 0.25141196116749437, + 0.07324878348844752, + -0.9651044718057087 + ], + [ + 0.7441363302954178, + 0.6133581710978191, + 0.26467503826769895, + 0.6154629483662668, + -0.783528723073855, + 0.08537036550558152, + 0.25974310601586964, + 0.09937048890789052, + -0.9605514170576377 + ], + [ + 0.7379025195314701, + 0.6186235688447203, + 0.26982355667904523, + 0.62522050409851, + -0.777129625867878, + 0.07189482494072058, + 0.2541637128386216, + 0.11564784765949387, + -0.9602220484907713 + ], + [ + 0.7302054246341557, + 0.6286243111585385, + 0.26764064200959037, + 0.632509821734465, + -0.7700851689596551, + 0.08306718941805549, + 0.25832414375022683, + 0.1086292224442067, + -0.9599314187934883 + ], + [ + 0.7481176685771198, + 0.6130814295493859, + 0.2538722409095096, + 0.610607396218306, + -0.7858078009666137, + 0.09830924485273741, + 0.259766359727805, + 0.081469384935055, + -0.9622287553758038 + ], + [ + 0.7712645362895503, + 0.590445811632507, + 0.23774936085654474, + 0.5728938614220195, + -0.8067083523418519, + 0.14496295322206626, + 0.2773871637387596, + 0.02440036449574231, + -0.9604483242764507 + ], + [ + 0.8133544687750006, + 0.5263473157922444, + 0.2478164871069644, + 0.4669980239468615, + -0.8447296086841338, + 0.26142825754320653, + 0.346939985809453, + -0.09690403175642356, + -0.9328677585145104 + ], + [ + 0.8482207837234624, + 0.4613919546055417, + 0.2600749243676386, + 0.3619513089877203, + -0.8634522884300874, + 0.3513422768852633, + 0.38666878847617253, + -0.20388136214505467, + -0.8993995987258645 + ], + [ + 0.8819893357189876, + 0.36790171606045075, + 0.2945218820355359, + 0.24253050569442167, + -0.8901851362102347, + 0.3856804079519389, + 0.4040714856131113, + -0.26873546582120744, + -0.8743611861949682 + ], + [ + 0.8865229171232983, + 0.2788791514080989, + 0.3691930881328849, + 0.12183533025472155, + -0.9104806158948382, + 0.39519767254056415, + 0.44635554182391457, + -0.30537103168056845, + -0.8411392651002715 + ], + [ + 0.8872754803127892, + 0.17004607012175288, + 0.42874999250362394, + -0.00031981025686041165, + -0.9293326503916982, + 0.3692434463024925, + 0.46123976385076476, + -0.32775777481562507, + -0.8245196912692876 + ], + [ + 0.8809876387868443, + 0.08524569573466918, + 0.4653965531280748, + -0.0779752804738215, + -0.9440264969335563, + 0.3205211829542424, + 0.4666697289730818, + -0.3186646269137356, + -0.825028617451613 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005500.json b/json/chunk-0005/episode_0005500.json new file mode 100644 index 0000000000000000000000000000000000000000..585ff058c4792ddc7c0c3343313fa6a17cb67096 --- /dev/null +++ b/json/chunk-0005/episode_0005500.json @@ -0,0 +1,2782 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 45, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut the yellow cloth behind the pot." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005500.mp4", + "start": 0, + "end": 45, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.18809358775615692, + -0.011591984890401363, + 0.22624769806861877, + -0.05978287383913994, + -0.101018525660038, + 0.016019325703382492, + 0.0, + 1.0001531839370728 + ], + [ + 0.18837982416152954, + -0.012045405805110931, + 0.2234172224998474, + -0.07295666635036469, + -0.08539452403783798, + 0.023275010287761688, + 0.0, + 1.0001531839370728 + ], + [ + 0.1975407749414444, + 0.022297609597444534, + 0.22881002724170685, + -0.11536377668380737, + -0.06960375607013702, + 0.2099476307630539, + 0.0, + 1.0001531839370728 + ], + [ + 0.20676177740097046, + 0.05105629563331604, + 0.22818467020988464, + -0.12232226133346558, + -0.05454166978597641, + 0.2999238073825836, + 0.0, + 1.0001531839370728 + ], + [ + 0.20773737132549286, + 0.0872872993350029, + 0.22895608842372894, + -0.14232929050922394, + -0.058944232761859894, + 0.4397673010826111, + 0.0, + 1.0001531839370728 + ], + [ + 0.20752902328968048, + 0.12240185588598251, + 0.2184385508298874, + -0.15533378720283508, + -0.0708278939127922, + 0.5979499220848083, + 0.0, + 1.0001531839370728 + ], + [ + 0.2047596424818039, + 0.14498306810855865, + 0.20936574041843414, + -0.17468763887882233, + -0.10508300364017487, + 0.690072238445282, + 0.0, + 1.0001531839370728 + ], + [ + 0.2028849571943283, + 0.1653665006160736, + 0.18580883741378784, + -0.18977780640125275, + -0.07929792255163193, + 0.7481600642204285, + 0.0, + 1.0001531839370728 + ], + [ + 0.2117306888103485, + 0.18225717544555664, + 0.1677718609571457, + -0.1883884221315384, + -0.09050314128398895, + 0.7797256708145142, + 0.0, + 1.0001531839370728 + ], + [ + 0.22132311761379242, + 0.1926211416721344, + 0.1489364355802536, + -0.185006782412529, + -0.0775737464427948, + 0.8082168698310852, + 0.0, + 1.0001531839370728 + ], + [ + 0.23033136129379272, + 0.19887703657150269, + 0.13220693171024323, + -0.16576650738716125, + -0.07773295044898987, + 0.8140104413032532, + 0.0, + 1.0001531839370728 + ], + [ + 0.2380533069372177, + 0.19892750680446625, + 0.11388470232486725, + -0.1302681267261505, + -0.09138298779726028, + 0.796481192111969, + 0.0, + 1.0001531839370728 + ], + [ + 0.2458374947309494, + 0.1946263313293457, + 0.09411698579788208, + -0.12134984135627747, + -0.09116144478321075, + 0.8060862421989441, + 0.0, + 1.0001531839370728 + ], + [ + 0.25286316871643066, + 0.1878872662782669, + 0.06853774189949036, + -0.11494182795286179, + -0.10334548354148865, + 0.8331825137138367, + 0.0, + 1.0001531839370728 + ], + [ + 0.26313158869743347, + 0.1792100965976715, + 0.042253103107213974, + -0.11960248649120331, + -0.0750400498509407, + 0.8166270852088928, + 0.0, + 1.0001531839370728 + ], + [ + 0.2729274034500122, + 0.17065748572349548, + 0.015335677191615105, + -0.12699222564697266, + -0.049534350633621216, + 0.8165159821510315, + 0.0, + 1.0001531839370728 + ], + [ + 0.28129953145980835, + 0.16982704401016235, + 0.010516457259654999, + -0.12440376728773117, + -0.059433966875076294, + 0.8206202387809753, + 0.0, + 1.0008161067962646 + ], + [ + 0.2891596853733063, + 0.16812117397785187, + 0.010383350774645805, + -0.11278046667575836, + -0.07019590586423874, + 0.8103190660476685, + 0.0, + 1.0008161067962646 + ], + [ + 0.3050094246864319, + 0.15941031277179718, + 0.009071063250303268, + -0.10269618034362793, + -0.08444301038980484, + 0.7546132802963257, + 0.0, + 1.0008161067962646 + ], + [ + 0.329179048538208, + 0.14281494915485382, + 0.009105601347982883, + -0.11915542185306549, + -0.11306322365999222, + 0.6993014216423035, + 0.0, + 1.0008161067962646 + ], + [ + 0.3443485200405121, + 0.12086597830057144, + 0.008657996542751789, + -0.12352937459945679, + -0.12244527786970139, + 0.6350307464599609, + 0.0, + 1.0001531839370728 + ], + [ + 0.35549724102020264, + 0.08816729485988617, + 0.007922442629933357, + -0.13604460656642914, + -0.12534131109714508, + 0.556601345539093, + 0.0, + 1.0001531839370728 + ], + [ + 0.36332574486732483, + 0.05436002463102341, + 0.007437283638864756, + -0.1482626348733902, + -0.12485553324222565, + 0.4792476296424866, + 0.0, + 1.0001531839370728 + ], + [ + 0.3718029260635376, + 0.028837384656071663, + 0.008061066269874573, + -0.1575474590063095, + -0.1303545981645584, + 0.41521576046943665, + 0.0, + 1.0001531839370728 + ], + [ + 0.3760846257209778, + 0.0031379307620227337, + 0.00803240668028593, + -0.1633550077676773, + -0.13010947406291962, + 0.35312288999557495, + 0.0, + 1.0001531839370728 + ], + [ + 0.3757665455341339, + -0.015156561508774757, + 0.008009716868400574, + -0.16138599812984467, + -0.1314498782157898, + 0.2968370318412781, + 0.0, + 1.0001531839370728 + ], + [ + 0.3743841350078583, + -0.031458497047424316, + 0.007419269997626543, + -0.15927553176879883, + -0.13132797181606293, + 0.23482175171375275, + 0.0, + 1.0001531839370728 + ], + [ + 0.3739534318447113, + -0.03566819429397583, + 0.007980906404554844, + -0.1608201414346695, + -0.1307392567396164, + 0.22651425004005432, + 0.0, + 1.0001531839370728 + ], + [ + 0.371366947889328, + -0.03462134674191475, + 0.009083629585802555, + -0.15185604989528656, + -0.13155505061149597, + 0.22908112406730652, + 0.0, + 0.9994885921478271 + ], + [ + 0.3646826446056366, + -0.03385128453373909, + 0.012896406464278698, + -0.14626656472682953, + -0.12317527085542679, + 0.2277800291776657, + 0.0, + 0.9981546401977539 + ], + [ + 0.3625458776950836, + -0.03379446268081665, + 0.02648613415658474, + -0.15023277699947357, + -0.13616353273391724, + 0.2283157855272293, + 0.0, + 0.9981546401977539 + ], + [ + 0.35895949602127075, + -0.03299335017800331, + 0.04821710288524628, + -0.156100794672966, + -0.14061316847801208, + 0.22143228352069855, + 0.0, + 0.9981546401977539 + ], + [ + 0.35961011052131653, + -0.03274361044168472, + 0.06978266686201096, + -0.17211714386940002, + -0.17191679775714874, + 0.2351030558347702, + 0.0, + 0.9981546401977539 + ], + [ + 0.355726420879364, + -0.028025586158037186, + 0.09993136674165726, + -0.19773231446743011, + -0.23432670533657074, + 0.2709697484970093, + 0.0, + 0.9981546401977539 + ], + [ + 0.34497296810150146, + -0.020391792058944702, + 0.1240062415599823, + -0.19662059843540192, + -0.2639143466949463, + 0.2989267110824585, + 0.0, + 0.9981546401977539 + ], + [ + 0.32782861590385437, + -0.00896642729640007, + 0.16245946288108826, + -0.2115279883146286, + -0.31809258460998535, + 0.3475923538208008, + 0.0, + 0.9981546401977539 + ], + [ + 0.30477678775787354, + 0.004483781289309263, + 0.20670440793037415, + -0.2436509132385254, + -0.37317270040512085, + 0.39336785674095154, + 0.0, + 0.9981546401977539 + ], + [ + 0.29180702567100525, + 0.012694817036390305, + 0.23142395913600922, + -0.2624179422855377, + -0.3732805848121643, + 0.4071209728717804, + 0.0, + 0.9981546401977539 + ], + [ + 0.29159584641456604, + 0.012878572568297386, + 0.23136243224143982, + -0.26122432947158813, + -0.3729954957962036, + 0.40239042043685913, + 0.0, + 0.9981546401977539 + ], + [ + 0.29181742668151855, + 0.012456817552447319, + 0.23184527456760406, + -0.2605057656764984, + -0.3752637207508087, + 0.3978346884250641, + 0.0, + 0.9981546401977539 + ], + [ + 0.2914118468761444, + 0.012855016626417637, + 0.23180846869945526, + -0.2616719901561737, + -0.3744717836380005, + 0.40255385637283325, + 0.0, + 0.9981546401977539 + ], + [ + 0.2915991544723511, + 0.0124141164124012, + 0.23174674808979034, + -0.26063990592956543, + -0.37341412901878357, + 0.3990105092525482, + 0.0, + 0.9981546401977539 + ], + [ + 0.2913951873779297, + 0.012837779708206654, + 0.2321927696466446, + -0.2605011761188507, + -0.375286728143692, + 0.3991142511367798, + 0.0, + 0.9981546401977539 + ], + [ + 0.29159584641456604, + 0.012878572568297386, + 0.23136243224143982, + -0.26122432947158813, + -0.3729954957962036, + 0.40239042043685913, + 0.0, + 0.9981546401977539 + ], + [ + 0.29161322116851807, + 0.012880796566605568, + 0.23229163885116577, + -0.2609490156173706, + -0.3767412602901459, + 0.39953145384788513, + 0.0, + 0.9981546401977539 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.18809358775615692, + -0.011591984890401363, + 0.22624769806861877 + ], + [ + 0.18837982416152954, + -0.012045405805110931, + 0.2234172224998474 + ], + [ + 0.1975407749414444, + 0.022297609597444534, + 0.22881002724170685 + ], + [ + 0.20676177740097046, + 0.05105629563331604, + 0.22818467020988464 + ], + [ + 0.20773737132549286, + 0.0872872993350029, + 0.22895608842372894 + ], + [ + 0.20752902328968048, + 0.12240185588598251, + 0.2184385508298874 + ], + [ + 0.2047596424818039, + 0.14498306810855865, + 0.20936574041843414 + ], + [ + 0.2028849571943283, + 0.1653665006160736, + 0.18580883741378784 + ], + [ + 0.2117306888103485, + 0.18225717544555664, + 0.1677718609571457 + ], + [ + 0.22132311761379242, + 0.1926211416721344, + 0.1489364355802536 + ], + [ + 0.23033136129379272, + 0.19887703657150269, + 0.13220693171024323 + ], + [ + 0.2380533069372177, + 0.19892750680446625, + 0.11388470232486725 + ], + [ + 0.2458374947309494, + 0.1946263313293457, + 0.09411698579788208 + ], + [ + 0.25286316871643066, + 0.1878872662782669, + 0.06853774189949036 + ], + [ + 0.26313158869743347, + 0.1792100965976715, + 0.042253103107213974 + ], + [ + 0.2729274034500122, + 0.17065748572349548, + 0.015335677191615105 + ], + [ + 0.28129953145980835, + 0.16982704401016235, + 0.010516457259654999 + ], + [ + 0.2891596853733063, + 0.16812117397785187, + 0.010383350774645805 + ], + [ + 0.3050094246864319, + 0.15941031277179718, + 0.009071063250303268 + ], + [ + 0.329179048538208, + 0.14281494915485382, + 0.009105601347982883 + ], + [ + 0.3443485200405121, + 0.12086597830057144, + 0.008657996542751789 + ], + [ + 0.35549724102020264, + 0.08816729485988617, + 0.007922442629933357 + ], + [ + 0.36332574486732483, + 0.05436002463102341, + 0.007437283638864756 + ], + [ + 0.3718029260635376, + 0.028837384656071663, + 0.008061066269874573 + ], + [ + 0.3760846257209778, + 0.0031379307620227337, + 0.00803240668028593 + ], + [ + 0.3757665455341339, + -0.015156561508774757, + 0.008009716868400574 + ], + [ + 0.3743841350078583, + -0.031458497047424316, + 0.007419269997626543 + ], + [ + 0.3739534318447113, + -0.03566819429397583, + 0.007980906404554844 + ], + [ + 0.371366947889328, + -0.03462134674191475, + 0.009083629585802555 + ], + [ + 0.3646826446056366, + -0.03385128453373909, + 0.012896406464278698 + ], + [ + 0.3625458776950836, + -0.03379446268081665, + 0.02648613415658474 + ], + [ + 0.35895949602127075, + -0.03299335017800331, + 0.04821710288524628 + ], + [ + 0.35961011052131653, + -0.03274361044168472, + 0.06978266686201096 + ], + [ + 0.355726420879364, + -0.028025586158037186, + 0.09993136674165726 + ], + [ + 0.34497296810150146, + -0.020391792058944702, + 0.1240062415599823 + ], + [ + 0.32782861590385437, + -0.00896642729640007, + 0.16245946288108826 + ], + [ + 0.30477678775787354, + 0.004483781289309263, + 0.20670440793037415 + ], + [ + 0.29180702567100525, + 0.012694817036390305, + 0.23142395913600922 + ], + [ + 0.29159584641456604, + 0.012878572568297386, + 0.23136243224143982 + ], + [ + 0.29181742668151855, + 0.012456817552447319, + 0.23184527456760406 + ], + [ + 0.2914118468761444, + 0.012855016626417637, + 0.23180846869945526 + ], + [ + 0.2915991544723511, + 0.0124141164124012, + 0.23174674808979034 + ], + [ + 0.2913951873779297, + 0.012837779708206654, + 0.2321927696466446 + ], + [ + 0.29159584641456604, + 0.012878572568297386, + 0.23136243224143982 + ], + [ + 0.29161322116851807, + 0.012880796566605568, + 0.23229163885116577 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9947743137506451, + 0.00996547586864261, + 0.10161079663423855, + 0.015936976999269634, + -0.9981819761736944, + -0.05812706087617796, + 0.10084680196247095, + 0.05944267602227922, + -0.9931246099061549 + ], + [ + 0.9960862389110976, + 0.016995671119987017, + 0.08673725736455604, + 0.02318810480994097, + -0.9972144002978163, + -0.07089253581294784, + 0.08529077586273431, + 0.07262635197948565, + -0.993705638783883 + ], + [ + 0.9756736353513641, + 0.19919368391964742, + 0.09155781543250861, + 0.20790404762738957, + -0.9732091757865852, + -0.09818251954876701, + 0.06954756832846028, + 0.11482933619644188, + -0.9909477076457077 + ], + [ + 0.9539383570483869, + 0.2868850242132809, + 0.08774163113351163, + 0.2950080775814373, + -0.9501857565497617, + -0.10058460225929933, + 0.05451463210486357, + 0.12183600014815835, + -0.9910520389739224 + ], + [ + 0.9032792925040596, + 0.4138628118363819, + 0.11315517094790373, + 0.424989551829931, + -0.8992586926065436, + -0.10352625081091571, + 0.05891010582879775, + 0.14160288397647058, + -0.9881691265571831 + ], + [ + 0.8244192227240073, + 0.5471224089418756, + 0.1448793112793664, + 0.5615378328883351, + -0.8227039540364744, + -0.0885068711898884, + 0.07076868967429586, + 0.1543219804382715, + -0.9854828861605835 + ], + [ + 0.7669459831504766, + 0.6128456167108226, + 0.1903000499413497, + 0.6330813586125709, + -0.7710680590173038, + -0.06827914572216742, + 0.10488971497058269, + 0.17284183070547213, + -0.9793486862460022 + ], + [ + 0.7306385806420927, + 0.6571250599735571, + 0.18534810501339577, + 0.6781535764349508, + -0.7299483825359002, + -0.08534099602013105, + 0.07921484233269072, + 0.18804790450300624, + -0.9789601597441209 + ], + [ + 0.7081961566844559, + 0.6786087737895766, + 0.19480332592944352, + 0.7002069150158688, + -0.7104254301483292, + -0.07075298129776106, + 0.0903796427373196, + 0.186509625312928, + -0.978287115239849 + ], + [ + 0.6887114013263054, + 0.7008699692496843, + 0.1856283703723739, + 0.7208820851663735, + -0.6893081526866832, + -0.07199506876066794, + 0.07749596743920227, + 0.18339999139481614, + -0.979978988645697 + ], + [ + 0.6845149048060583, + 0.7082825836458432, + 0.17255470669420073, + 0.7248510839875891, + -0.6864926850461834, + -0.057608154111184445, + 0.07765469168292091, + 0.1645101063219221, + -0.9833138734796636 + ], + [ + 0.6963090917655909, + 0.7005540734207596, + 0.1561334010971348, + 0.7119171426271107, + -0.7017766740005028, + -0.026143486042259315, + 0.09125585328201019, + 0.12935799179939683, + -0.9873899327010577 + ], + [ + 0.6894530575914093, + 0.7086472171675097, + 0.14991198410601156, + 0.7185868547611648, + -0.6951884057813768, + -0.018601414774264857, + 0.09103523242301988, + 0.1205495834413875, + -0.9885243468877205 + ], + [ + 0.6689356902657446, + 0.7272350513301444, + 0.15379929260414119, + 0.7361268383050736, + -0.6768423896814812, + -0.0012874227115250991, + 0.10316162181580871, + 0.11407698999844117, + -0.9881012701829848 + ], + [ + 0.6827565896916263, + 0.7175092434722635, + 0.13792724446069604, + 0.7267895098581006, + -0.6863117556598006, + -0.027444168841201114, + 0.07496964447616353, + 0.11898176152260735, + -0.990062065141421 + ], + [ + 0.6839244717716575, + 0.7186018475352904, + 0.12593133696870895, + 0.7278706417800378, + -0.6838202925188848, + -0.050932665099156664, + 0.04951409644308662, + 0.12649581913349583, + -0.9907306202975513 + ], + [ + 0.6805638088117089, + 0.720890230108989, + 0.1309586891699397, + 0.7302771138640076, + -0.6818907359788474, + -0.04147723656032577, + 0.059398982332657065, + 0.12386403965491678, + -0.9905197931279365 + ], + [ + 0.6875698292816502, + 0.7144636447267757, + 0.1295740337619153, + 0.7227228740330153, + -0.6906072763679691, + -0.02707835255464755, + 0.07013827208493753, + 0.11226437632368974, + -0.9911999458220285 + ], + [ + 0.7259405872305407, + 0.6750986808949488, + 0.13134700173691702, + 0.6825661684350299, + -0.7306210036300543, + -0.017215538403849907, + 0.08434269096548941, + 0.10215047776937741, + -0.9911869603521768 + ], + [ + 0.7604057697036404, + 0.6288553120492005, + 0.1622469164850822, + 0.6395734132651157, + -0.7684984847293279, + -0.018866054519606386, + 0.11282249086872716, + 0.11811467087635633, + -0.9865698201738924 + ], + [ + 0.7990259731078393, + 0.5765663983084425, + 0.17067127069515978, + 0.5887609252311873, + -0.8078462901492454, + -0.027293669834181106, + 0.12213953995322888, + 0.12229292634380534, + -0.9849499342333508 + ], + [ + 0.8423947400003995, + 0.5090264661548883, + 0.1768139100114185, + 0.5241590963562509, + -0.8501678042899534, + -0.04971867109847291, + 0.1250133741911562, + 0.13456136630796403, + -0.9829877389727077 + ], + [ + 0.8804347353580632, + 0.43972958518529726, + 0.17740509769379004, + 0.45752224979319833, + -0.8860897715136258, + -0.07428531323956446, + 0.12453139250464935, + 0.14657014952471176, + -0.9813302826006931 + ], + [ + 0.907266073066472, + 0.3797300428994417, + 0.18075775829029106, + 0.3999649733812486, + -0.9119235198842536, + -0.09177970336654165, + 0.12998574048979444, + 0.15556538304359832, + -0.9792359873226771 + ], + [ + 0.9303665280171957, + 0.32142767390366256, + 0.17635865159982886, + 0.3429066307005867, + -0.9331029519007582, + -0.10832323746852833, + 0.12974269215181453, + 0.16125486536217282, + -0.9783474343147364 + ], + [ + 0.9480166216404742, + 0.2685558543505141, + 0.17071097852055928, + 0.28997363276493515, + -0.9500006495636938, + -0.11581907498191157, + 0.13107164985033165, + 0.15930009078034002, + -0.9784905230419387 + ], + [ + 0.9641810240557018, + 0.2095254148931661, + 0.16264702076811755, + 0.23066608410338904, + -0.965078009114863, + -0.12416760433905624, + 0.13095079417592742, + 0.15723719927783872, + -0.9788403100955513 + ], + [ + 0.9661389457781238, + 0.20134209940095793, + 0.16135952546890478, + 0.22266555621399164, + -0.9665693058867383, + -0.1271370402107201, + 0.13036712594304242, + 0.1587612544874955, + -0.9786722007633134 + ], + [ + 0.9654603135287262, + 0.20514449715403785, + 0.16063037785061385, + 0.22512055112310977, + -0.9671742085735348, + -0.11787615421358176, + 0.13117591418793823, + 0.14996594799344865, + -0.9799505569054926 + ], + [ + 0.9667893116031882, + 0.20595986083861267, + 0.15132403210717432, + 0.22410456469125267, + -0.9678116637053812, + -0.11453264897122765, + 0.12286403482865917, + 0.1446413471976862, + -0.9818265170723699 + ], + [ + 0.9650332382960908, + 0.20399871911785372, + 0.1646067179128345, + 0.2242423731779714, + -0.9676759184455099, + -0.11540656364414593, + 0.13574316577740425, + 0.14828297089994497, + -0.9795845820988682 + ], + [ + 0.9659551094448028, + 0.19569988592033186, + 0.16921075967044313, + 0.21745949468713752, + -0.968507166640701, + -0.12126514889289644, + 0.14015025760908956, + 0.1539331764642393, + -0.97809124445306 + ], + [ + 0.9581545375475101, + 0.20100821061290608, + 0.20380280038143272, + 0.22950931443675382, + -0.9649462197326704, + -0.12729598426658967, + 0.17107120378335972, + 0.16874386593244262, + -0.9707008555401018 + ], + [ + 0.9371798641055474, + 0.2185021511354272, + 0.27193880242491825, + 0.26035085571002803, + -0.9569462612703086, + -0.12834050401893676, + 0.232188144068908, + 0.19107763602779232, + -0.9537179891162098 + ], + [ + 0.9225648463964076, + 0.24011954970630334, + 0.30202103576144357, + 0.28429818152987707, + -0.9522476472493635, + -0.11135062768955101, + 0.26086135814332123, + 0.18859220598130255, + -0.9467757557472245 + ], + [ + 0.8930294332110308, + 0.27130554980903865, + 0.35901494406445067, + 0.3235467341291942, + -0.941607339232594, + -0.09323695371282448, + 0.3127554032356882, + 0.1994214565841151, + -0.9286630930540699 + ], + [ + 0.8600553468816852, + 0.29074545583162326, + 0.41925157150985803, + 0.3569206453411087, + -0.9300550292069844, + -0.08720834579374752, + 0.3645716023355502, + 0.22464354555619198, + -0.9036718564890865 + ], + [ + 0.855029271078287, + 0.2955419267422231, + 0.42612194866825137, + 0.36869938243559897, + -0.9242876121047778, + -0.09875816675726562, + 0.36467205951504067, + 0.24155202265173098, + -0.8992590891183233 + ], + [ + 0.8568594746905037, + 0.29173718438012075, + 0.4250661782394288, + 0.36469121078092315, + -0.925768115878427, + -0.0997683136173599, + 0.3644065880472782, + 0.24050532400108537, + -0.8996471684582098 + ], + [ + 0.8577478008777768, + 0.28732031198969155, + 0.4262813019679422, + 0.3604626629223182, + -0.9273711072323448, + -0.10024718504579509, + 0.3665179105150099, + 0.23964529577857557, + -0.8990187725976083 + ], + [ + 0.8563039604709501, + 0.2913710367313971, + 0.42643457439076965, + 0.3646200902958874, + -0.9258149914778218, + -0.09959312881690346, + 0.3657809686607341, + 0.24076860366125863, + -0.8990187775884457 + ], + [ + 0.8579465577084067, + 0.288762116851306, + 0.4249048646318944, + 0.36173372483591665, + -0.9268468873750388, + -0.10051646471864961, + 0.36479640408401665, + 0.23994017428258002, + -0.8996400926662929 + ], + [ + 0.8572780941430298, + 0.2885035828057163, + 0.42642695976070716, + 0.36155663260329074, + -0.9270053039251249, + -0.09968935708116379, + 0.3665393167493272, + 0.2396389976672243, + -0.8990117241026306 + ], + [ + 0.8568594746905037, + 0.29173718438012075, + 0.4250661782394288, + 0.36469121078092315, + -0.925768115878427, + -0.0997683136173599, + 0.3644065880472782, + 0.24050532400108537, + -0.8996471684582098 + ], + [ + 0.8566351159618267, + 0.28837773021133306, + 0.4278020135754706, + 0.36170649145801603, + -0.9269759757359127, + -0.09941807906806804, + 0.36789222897228974, + 0.23990378306023458, + -0.8983882694777287 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + 0.00028623640537261963, + -0.000453420914709568, + -0.0028304755687713623, + -0.013173792511224747, + 0.015624001622200012, + 0.007255684584379196, + 1.0 + ], + [ + 0.009160950779914856, + 0.034343015402555466, + 0.005392804741859436, + -0.04240711033344269, + 0.015790767967700958, + 0.1866726279258728, + 1.0 + ], + [ + 0.009221002459526062, + 0.028758686035871506, + -0.0006253570318222046, + -0.006958484649658203, + 0.015062086284160614, + 0.08997617661952972, + 1.0 + ], + [ + 0.0009755939245223999, + 0.03623100370168686, + 0.0007714182138442993, + -0.020007029175758362, + -0.004402562975883484, + 0.13984349370002747, + 1.0 + ], + [ + -0.00020834803581237793, + 0.035114556550979614, + -0.010517537593841553, + -0.013004496693611145, + -0.011883661150932312, + 0.15818262100219727, + 1.0 + ], + [ + -0.002769380807876587, + 0.02258121222257614, + -0.009072810411453247, + -0.019353851675987244, + -0.03425510972738266, + 0.09212231636047363, + 1.0 + ], + [ + -0.001874685287475586, + 0.020383432507514954, + -0.0235569030046463, + -0.01509016752243042, + 0.025785081088542938, + 0.058087825775146484, + 1.0 + ], + [ + 0.008845731616020203, + 0.016890674829483032, + -0.01803697645664215, + 0.0013893842697143555, + -0.011205218732357025, + 0.03156560659408569, + 1.0 + ], + [ + 0.009592428803443909, + 0.010363966226577759, + -0.01883542537689209, + 0.0033816397190093994, + 0.012929394841194153, + 0.028491199016571045, + 1.0 + ], + [ + 0.009008243680000305, + 0.006255894899368286, + -0.016729503870010376, + 0.019240275025367737, + -0.00015920400619506836, + 0.005793571472167969, + 1.0 + ], + [ + 0.007721945643424988, + 5.047023296356201e-05, + -0.018322229385375977, + 0.03549838066101074, + -0.013650037348270416, + -0.01752924919128418, + 1.0 + ], + [ + 0.0077841877937316895, + -0.004301175475120544, + -0.01976771652698517, + 0.008918285369873047, + 0.00022154301404953003, + 0.009605050086975098, + 1.0 + ], + [ + 0.007025673985481262, + -0.006739065051078796, + -0.025579243898391724, + 0.00640801340341568, + -0.012184038758277893, + 0.027096271514892578, + 1.0 + ], + [ + 0.010268419981002808, + -0.008677169680595398, + -0.026284638792276382, + -0.004660658538341522, + 0.028305433690547943, + -0.016555428504943848, + 1.0 + ], + [ + 0.009795814752578735, + -0.008552610874176025, + -0.02691742591559887, + -0.007389739155769348, + 0.02550569921731949, + -0.00011110305786132812, + 1.0 + ], + [ + 0.008372128009796143, + -0.0008304417133331299, + -0.004819219931960106, + 0.0025884583592414856, + -0.009899616241455078, + 0.004104256629943848, + 1.0 + ], + [ + 0.007860153913497925, + -0.0017058700323104858, + -0.00013310648500919342, + 0.011623300611972809, + -0.010761938989162445, + -0.010301172733306885, + 1.0 + ], + [ + 0.01584973931312561, + -0.008710861206054688, + -0.001312287524342537, + 0.010084286332130432, + -0.014247104525566101, + -0.05570578575134277, + 1.0 + ], + [ + 0.024169623851776123, + -0.01659536361694336, + 3.453809767961502e-05, + -0.01645924150943756, + -0.028620213270187378, + -0.05531185865402222, + 1.0 + ], + [ + 0.015169471502304077, + -0.02194897085428238, + -0.00044760480523109436, + -0.004373952746391296, + -0.009382054209709167, + -0.06427067518234253, + 1.0 + ], + [ + 0.011148720979690552, + -0.03269868344068527, + -0.0007355539128184319, + -0.012515231966972351, + -0.002896033227443695, + -0.07842940092086792, + 1.0 + ], + [ + 0.007828503847122192, + -0.03380727022886276, + -0.0004851589910686016, + -0.01221802830696106, + 0.0004857778549194336, + -0.07735371589660645, + 1.0 + ], + [ + 0.008477181196212769, + -0.025522639974951744, + 0.0006237826310098171, + -0.009284824132919312, + -0.005499064922332764, + -0.06403186917304993, + 1.0 + ], + [ + 0.0042816996574401855, + -0.025699453428387642, + -2.865958958864212e-05, + -0.005807548761367798, + 0.00024512410163879395, + -0.062092870473861694, + 1.0 + ], + [ + -0.00031808018684387207, + -0.01829449273645878, + -2.2689811885356903e-05, + 0.0019690096378326416, + -0.0013404041528701782, + -0.056285858154296875, + 1.0 + ], + [ + -0.0013824105262756348, + -0.01630193553864956, + -0.0005904468707740307, + 0.0021104663610458374, + 0.00012190639972686768, + -0.06201528012752533, + 1.0 + ], + [ + -0.00043070316314697266, + -0.004209697246551514, + 0.0005616364069283009, + -0.0015446096658706665, + 0.0005887150764465332, + -0.008307501673698425, + 1.0 + ], + [ + -0.0025864839553833008, + 0.001046847552061081, + 0.0011027231812477112, + 0.008964091539382935, + -0.0008157938718795776, + 0.0025668740272521973, + 1.0 + ], + [ + -0.006684303283691406, + 0.0007700622081756592, + 0.003812776878476143, + 0.005589485168457031, + 0.008379779756069183, + -0.001301094889640808, + 1.0 + ], + [ + -0.0021367669105529785, + 5.6821852922439575e-05, + 0.013589727692306042, + -0.003966212272644043, + -0.012988261878490448, + 0.0005357563495635986, + 1.0 + ], + [ + -0.003586381673812866, + 0.0008011125028133392, + 0.021730968728661537, + -0.005868017673492432, + -0.004449635744094849, + -0.006883502006530762, + 1.0 + ], + [ + 0.0006506145000457764, + 0.00024973973631858826, + 0.02156556397676468, + -0.01601634919643402, + -0.03130362927913666, + 0.013670772314071655, + 1.0 + ], + [ + -0.0038836896419525146, + 0.004718024283647537, + 0.0301486998796463, + -0.02561517059803009, + -0.062409907579422, + 0.035866692662239075, + 1.0 + ], + [ + -0.010753452777862549, + 0.0076337940990924835, + 0.024074874818325043, + 0.0011117160320281982, + -0.02958764135837555, + 0.02795696258544922, + 1.0 + ], + [ + -0.017144352197647095, + 0.011425364762544632, + 0.03845322132110596, + -0.014907389879226685, + -0.05417823791503906, + 0.048665642738342285, + 1.0 + ], + [ + -0.023051828145980835, + 0.01345020905137062, + 0.04424494504928589, + -0.03212292492389679, + -0.0550801157951355, + 0.04577550292015076, + 1.0 + ], + [ + -0.012969762086868286, + 0.008211035281419754, + 0.02471955120563507, + -0.01876702904701233, + -0.00010788440704345703, + 0.013753116130828857, + 1.0 + ], + [ + -0.00021117925643920898, + 0.0001837555319070816, + -6.152689456939697e-05, + 0.001193612813949585, + 0.00028508901596069336, + -0.004730552434921265, + 1.0 + ], + [ + 0.00022158026695251465, + -0.00042175501585006714, + 0.0004828423261642456, + 0.0007185637950897217, + -0.0022682249546051025, + -0.004555732011795044, + 1.0 + ], + [ + -0.0004055798053741455, + 0.00039819907397031784, + -3.680586814880371e-05, + -0.001166224479675293, + 0.0007919371128082275, + 0.004719167947769165, + 1.0 + ], + [ + 0.00018730759620666504, + -0.00044090021401643753, + -6.172060966491699e-05, + 0.0010320842266082764, + 0.001057654619216919, + -0.003543347120285034, + 1.0 + ], + [ + -0.00020396709442138672, + 0.00042366329580545425, + 0.00044602155685424805, + 0.00013872981071472168, + -0.0018725991249084473, + 0.00010374188423156738, + 1.0 + ], + [ + 0.00020065903663635254, + 4.0792860090732574e-05, + -0.000830337405204773, + -0.0007231533527374268, + 0.0022912323474884033, + 0.0032761693000793457, + 1.0 + ], + [ + 1.7374753952026367e-05, + 2.2239983081817627e-06, + 0.0009292066097259521, + 0.0002753138542175293, + -0.0037457644939422607, + -0.002858966588973999, + 1.0 + ], + [ + -0.0002180337905883789, + -4.301685839891434e-05, + -9.88692045211792e-05, + 0.00044783949851989746, + 0.0014545321464538574, + -0.0004172027111053467, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.18837982416152954, + -0.012045405805110931, + 0.2234172224998474 + ], + [ + 0.1975407749414444, + 0.022297609597444534, + 0.22881002724170685 + ], + [ + 0.20676177740097046, + 0.05105629563331604, + 0.22818467020988464 + ], + [ + 0.20773737132549286, + 0.0872872993350029, + 0.22895608842372894 + ], + [ + 0.20752902328968048, + 0.12240185588598251, + 0.2184385508298874 + ], + [ + 0.2047596424818039, + 0.14498306810855865, + 0.20936574041843414 + ], + [ + 0.2028849571943283, + 0.1653665006160736, + 0.18580883741378784 + ], + [ + 0.2117306888103485, + 0.18225717544555664, + 0.1677718609571457 + ], + [ + 0.22132311761379242, + 0.1926211416721344, + 0.1489364355802536 + ], + [ + 0.23033136129379272, + 0.19887703657150269, + 0.13220693171024323 + ], + [ + 0.2380533069372177, + 0.19892750680446625, + 0.11388470232486725 + ], + [ + 0.2458374947309494, + 0.1946263313293457, + 0.09411698579788208 + ], + [ + 0.25286316871643066, + 0.1878872662782669, + 0.06853774189949036 + ], + [ + 0.26313158869743347, + 0.1792100965976715, + 0.042253103107213974 + ], + [ + 0.2729274034500122, + 0.17065748572349548, + 0.015335677191615105 + ], + [ + 0.28129953145980835, + 0.16982704401016235, + 0.010516457259654999 + ], + [ + 0.2891596853733063, + 0.16812117397785187, + 0.010383350774645805 + ], + [ + 0.3050094246864319, + 0.15941031277179718, + 0.009071063250303268 + ], + [ + 0.329179048538208, + 0.14281494915485382, + 0.009105601347982883 + ], + [ + 0.3443485200405121, + 0.12086597830057144, + 0.008657996542751789 + ], + [ + 0.35549724102020264, + 0.08816729485988617, + 0.007922442629933357 + ], + [ + 0.36332574486732483, + 0.05436002463102341, + 0.007437283638864756 + ], + [ + 0.3718029260635376, + 0.028837384656071663, + 0.008061066269874573 + ], + [ + 0.3760846257209778, + 0.0031379307620227337, + 0.00803240668028593 + ], + [ + 0.3757665455341339, + -0.015156561508774757, + 0.008009716868400574 + ], + [ + 0.3743841350078583, + -0.031458497047424316, + 0.007419269997626543 + ], + [ + 0.3739534318447113, + -0.03566819429397583, + 0.007980906404554844 + ], + [ + 0.371366947889328, + -0.03462134674191475, + 0.009083629585802555 + ], + [ + 0.3646826446056366, + -0.03385128453373909, + 0.012896406464278698 + ], + [ + 0.3625458776950836, + -0.03379446268081665, + 0.02648613415658474 + ], + [ + 0.35895949602127075, + -0.03299335017800331, + 0.04821710288524628 + ], + [ + 0.35961011052131653, + -0.03274361044168472, + 0.06978266686201096 + ], + [ + 0.355726420879364, + -0.028025586158037186, + 0.09993136674165726 + ], + [ + 0.34497296810150146, + -0.020391792058944702, + 0.1240062415599823 + ], + [ + 0.32782861590385437, + -0.00896642729640007, + 0.16245946288108826 + ], + [ + 0.30477678775787354, + 0.004483781289309263, + 0.20670440793037415 + ], + [ + 0.29180702567100525, + 0.012694817036390305, + 0.23142395913600922 + ], + [ + 0.29159584641456604, + 0.012878572568297386, + 0.23136243224143982 + ], + [ + 0.29181742668151855, + 0.012456817552447319, + 0.23184527456760406 + ], + [ + 0.2914118468761444, + 0.012855016626417637, + 0.23180846869945526 + ], + [ + 0.2915991544723511, + 0.0124141164124012, + 0.23174674808979034 + ], + [ + 0.2913951873779297, + 0.012837779708206654, + 0.2321927696466446 + ], + [ + 0.29159584641456604, + 0.012878572568297386, + 0.23136243224143982 + ], + [ + 0.29161322116851807, + 0.012880796566605568, + 0.23229163885116577 + ], + [ + 0.2913951873779297, + 0.012837779708206654, + 0.2321927696466446 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9960862389110976, + 0.016995671119987017, + 0.08673725736455604, + 0.02318810480994097, + -0.9972144002978163, + -0.07089253581294784, + 0.08529077586273431, + 0.07262635197948565, + -0.993705638783883 + ], + [ + 0.9756736353513641, + 0.19919368391964742, + 0.09155781543250861, + 0.20790404762738957, + -0.9732091757865852, + -0.09818251954876701, + 0.06954756832846028, + 0.11482933619644188, + -0.9909477076457077 + ], + [ + 0.9539383570483869, + 0.2868850242132809, + 0.08774163113351163, + 0.2950080775814373, + -0.9501857565497617, + -0.10058460225929933, + 0.05451463210486357, + 0.12183600014815835, + -0.9910520389739224 + ], + [ + 0.9032792925040596, + 0.4138628118363819, + 0.11315517094790373, + 0.424989551829931, + -0.8992586926065436, + -0.10352625081091571, + 0.05891010582879775, + 0.14160288397647058, + -0.9881691265571831 + ], + [ + 0.8244192227240073, + 0.5471224089418756, + 0.1448793112793664, + 0.5615378328883351, + -0.8227039540364744, + -0.0885068711898884, + 0.07076868967429586, + 0.1543219804382715, + -0.9854828861605835 + ], + [ + 0.7669459831504766, + 0.6128456167108226, + 0.1903000499413497, + 0.6330813586125709, + -0.7710680590173038, + -0.06827914572216742, + 0.10488971497058269, + 0.17284183070547213, + -0.9793486862460022 + ], + [ + 0.7306385806420927, + 0.6571250599735571, + 0.18534810501339577, + 0.6781535764349508, + -0.7299483825359002, + -0.08534099602013105, + 0.07921484233269072, + 0.18804790450300624, + -0.9789601597441209 + ], + [ + 0.7081961566844559, + 0.6786087737895766, + 0.19480332592944352, + 0.7002069150158688, + -0.7104254301483292, + -0.07075298129776106, + 0.0903796427373196, + 0.186509625312928, + -0.978287115239849 + ], + [ + 0.6887114013263054, + 0.7008699692496843, + 0.1856283703723739, + 0.7208820851663735, + -0.6893081526866832, + -0.07199506876066794, + 0.07749596743920227, + 0.18339999139481614, + -0.979978988645697 + ], + [ + 0.6845149048060583, + 0.7082825836458432, + 0.17255470669420073, + 0.7248510839875891, + -0.6864926850461834, + -0.057608154111184445, + 0.07765469168292091, + 0.1645101063219221, + -0.9833138734796636 + ], + [ + 0.6963090917655909, + 0.7005540734207596, + 0.1561334010971348, + 0.7119171426271107, + -0.7017766740005028, + -0.026143486042259315, + 0.09125585328201019, + 0.12935799179939683, + -0.9873899327010577 + ], + [ + 0.6894530575914093, + 0.7086472171675097, + 0.14991198410601156, + 0.7185868547611648, + -0.6951884057813768, + -0.018601414774264857, + 0.09103523242301988, + 0.1205495834413875, + -0.9885243468877205 + ], + [ + 0.6689356902657446, + 0.7272350513301444, + 0.15379929260414119, + 0.7361268383050736, + -0.6768423896814812, + -0.0012874227115250991, + 0.10316162181580871, + 0.11407698999844117, + -0.9881012701829848 + ], + [ + 0.6827565896916263, + 0.7175092434722635, + 0.13792724446069604, + 0.7267895098581006, + -0.6863117556598006, + -0.027444168841201114, + 0.07496964447616353, + 0.11898176152260735, + -0.990062065141421 + ], + [ + 0.6839244717716575, + 0.7186018475352904, + 0.12593133696870895, + 0.7278706417800378, + -0.6838202925188848, + -0.050932665099156664, + 0.04951409644308662, + 0.12649581913349583, + -0.9907306202975513 + ], + [ + 0.6805638088117089, + 0.720890230108989, + 0.1309586891699397, + 0.7302771138640076, + -0.6818907359788474, + -0.04147723656032577, + 0.059398982332657065, + 0.12386403965491678, + -0.9905197931279365 + ], + [ + 0.6875698292816502, + 0.7144636447267757, + 0.1295740337619153, + 0.7227228740330153, + -0.6906072763679691, + -0.02707835255464755, + 0.07013827208493753, + 0.11226437632368974, + -0.9911999458220285 + ], + [ + 0.7259405872305407, + 0.6750986808949488, + 0.13134700173691702, + 0.6825661684350299, + -0.7306210036300543, + -0.017215538403849907, + 0.08434269096548941, + 0.10215047776937741, + -0.9911869603521768 + ], + [ + 0.7604057697036404, + 0.6288553120492005, + 0.1622469164850822, + 0.6395734132651157, + -0.7684984847293279, + -0.018866054519606386, + 0.11282249086872716, + 0.11811467087635633, + -0.9865698201738924 + ], + [ + 0.7990259731078393, + 0.5765663983084425, + 0.17067127069515978, + 0.5887609252311873, + -0.8078462901492454, + -0.027293669834181106, + 0.12213953995322888, + 0.12229292634380534, + -0.9849499342333508 + ], + [ + 0.8423947400003995, + 0.5090264661548883, + 0.1768139100114185, + 0.5241590963562509, + -0.8501678042899534, + -0.04971867109847291, + 0.1250133741911562, + 0.13456136630796403, + -0.9829877389727077 + ], + [ + 0.8804347353580632, + 0.43972958518529726, + 0.17740509769379004, + 0.45752224979319833, + -0.8860897715136258, + -0.07428531323956446, + 0.12453139250464935, + 0.14657014952471176, + -0.9813302826006931 + ], + [ + 0.907266073066472, + 0.3797300428994417, + 0.18075775829029106, + 0.3999649733812486, + -0.9119235198842536, + -0.09177970336654165, + 0.12998574048979444, + 0.15556538304359832, + -0.9792359873226771 + ], + [ + 0.9303665280171957, + 0.32142767390366256, + 0.17635865159982886, + 0.3429066307005867, + -0.9331029519007582, + -0.10832323746852833, + 0.12974269215181453, + 0.16125486536217282, + -0.9783474343147364 + ], + [ + 0.9480166216404742, + 0.2685558543505141, + 0.17071097852055928, + 0.28997363276493515, + -0.9500006495636938, + -0.11581907498191157, + 0.13107164985033165, + 0.15930009078034002, + -0.9784905230419387 + ], + [ + 0.9641810240557018, + 0.2095254148931661, + 0.16264702076811755, + 0.23066608410338904, + -0.965078009114863, + -0.12416760433905624, + 0.13095079417592742, + 0.15723719927783872, + -0.9788403100955513 + ], + [ + 0.9661389457781238, + 0.20134209940095793, + 0.16135952546890478, + 0.22266555621399164, + -0.9665693058867383, + -0.1271370402107201, + 0.13036712594304242, + 0.1587612544874955, + -0.9786722007633134 + ], + [ + 0.9654603135287262, + 0.20514449715403785, + 0.16063037785061385, + 0.22512055112310977, + -0.9671742085735348, + -0.11787615421358176, + 0.13117591418793823, + 0.14996594799344865, + -0.9799505569054926 + ], + [ + 0.9667893116031882, + 0.20595986083861267, + 0.15132403210717432, + 0.22410456469125267, + -0.9678116637053812, + -0.11453264897122765, + 0.12286403482865917, + 0.1446413471976862, + -0.9818265170723699 + ], + [ + 0.9650332382960908, + 0.20399871911785372, + 0.1646067179128345, + 0.2242423731779714, + -0.9676759184455099, + -0.11540656364414593, + 0.13574316577740425, + 0.14828297089994497, + -0.9795845820988682 + ], + [ + 0.9659551094448028, + 0.19569988592033186, + 0.16921075967044313, + 0.21745949468713752, + -0.968507166640701, + -0.12126514889289644, + 0.14015025760908956, + 0.1539331764642393, + -0.97809124445306 + ], + [ + 0.9581545375475101, + 0.20100821061290608, + 0.20380280038143272, + 0.22950931443675382, + -0.9649462197326704, + -0.12729598426658967, + 0.17107120378335972, + 0.16874386593244262, + -0.9707008555401018 + ], + [ + 0.9371798641055474, + 0.2185021511354272, + 0.27193880242491825, + 0.26035085571002803, + -0.9569462612703086, + -0.12834050401893676, + 0.232188144068908, + 0.19107763602779232, + -0.9537179891162098 + ], + [ + 0.9225648463964076, + 0.24011954970630334, + 0.30202103576144357, + 0.28429818152987707, + -0.9522476472493635, + -0.11135062768955101, + 0.26086135814332123, + 0.18859220598130255, + -0.9467757557472245 + ], + [ + 0.8930294332110308, + 0.27130554980903865, + 0.35901494406445067, + 0.3235467341291942, + -0.941607339232594, + -0.09323695371282448, + 0.3127554032356882, + 0.1994214565841151, + -0.9286630930540699 + ], + [ + 0.8600553468816852, + 0.29074545583162326, + 0.41925157150985803, + 0.3569206453411087, + -0.9300550292069844, + -0.08720834579374752, + 0.3645716023355502, + 0.22464354555619198, + -0.9036718564890865 + ], + [ + 0.855029271078287, + 0.2955419267422231, + 0.42612194866825137, + 0.36869938243559897, + -0.9242876121047778, + -0.09875816675726562, + 0.36467205951504067, + 0.24155202265173098, + -0.8992590891183233 + ], + [ + 0.8568594746905037, + 0.29173718438012075, + 0.4250661782394288, + 0.36469121078092315, + -0.925768115878427, + -0.0997683136173599, + 0.3644065880472782, + 0.24050532400108537, + -0.8996471684582098 + ], + [ + 0.8577478008777768, + 0.28732031198969155, + 0.4262813019679422, + 0.3604626629223182, + -0.9273711072323448, + -0.10024718504579509, + 0.3665179105150099, + 0.23964529577857557, + -0.8990187725976083 + ], + [ + 0.8563039604709501, + 0.2913710367313971, + 0.42643457439076965, + 0.3646200902958874, + -0.9258149914778218, + -0.09959312881690346, + 0.3657809686607341, + 0.24076860366125863, + -0.8990187775884457 + ], + [ + 0.8579465577084067, + 0.288762116851306, + 0.4249048646318944, + 0.36173372483591665, + -0.9268468873750388, + -0.10051646471864961, + 0.36479640408401665, + 0.23994017428258002, + -0.8996400926662929 + ], + [ + 0.8572780941430298, + 0.2885035828057163, + 0.42642695976070716, + 0.36155663260329074, + -0.9270053039251249, + -0.09968935708116379, + 0.3665393167493272, + 0.2396389976672243, + -0.8990117241026306 + ], + [ + 0.8568594746905037, + 0.29173718438012075, + 0.4250661782394288, + 0.36469121078092315, + -0.925768115878427, + -0.0997683136173599, + 0.3644065880472782, + 0.24050532400108537, + -0.8996471684582098 + ], + [ + 0.8566351159618267, + 0.28837773021133306, + 0.4278020135754706, + 0.36170649145801603, + -0.9269759757359127, + -0.09941807906806804, + 0.36789222897228974, + 0.23990378306023458, + -0.8983882694777287 + ], + [ + 0.8572780941430298, + 0.2885035828057163, + 0.42642695976070716, + 0.36155663260329074, + -0.9270053039251249, + -0.09968935708116379, + 0.3665393167493272, + 0.2396389976672243, + -0.8990117241026306 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005501.json b/json/chunk-0005/episode_0005501.json new file mode 100644 index 0000000000000000000000000000000000000000..def2203dc0612e3060e65663ad7aff89e6ea2765 --- /dev/null +++ b/json/chunk-0005/episode_0005501.json @@ -0,0 +1,2182 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 35, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut cup on plate." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005501.mp4", + "start": 0, + "end": 35, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.36739736795425415, + -0.01833498291671276, + 0.07955319434404373, + -0.1422048658132553, + -0.31422799825668335, + 0.17869509756565094, + 0.0, + 0.9988223910331726 + ], + [ + 0.36173880100250244, + -0.018722468987107277, + 0.06828677654266357, + -0.14110124111175537, + -0.2759035527706146, + 0.17826156318187714, + 0.0, + 0.9988223910331726 + ], + [ + 0.36092111468315125, + -0.005205203779041767, + 0.0843455046415329, + -0.18137167394161224, + -0.31724804639816284, + 0.13482555747032166, + 0.0, + 0.9988223910331726 + ], + [ + 0.3602220416069031, + 0.009874972514808178, + 0.10039768368005753, + -0.18252688646316528, + -0.3631124198436737, + 0.11569587141275406, + 0.0, + 0.9988223910331726 + ], + [ + 0.3562060594558716, + 0.016772616654634476, + 0.10626260191202164, + -0.0636109858751297, + -0.320895791053772, + -0.01931646838784218, + 0.0, + 0.9988223910331726 + ], + [ + 0.3503934144973755, + 0.02909664623439312, + 0.10418672114610672, + 0.02203438989818096, + -0.282512903213501, + -0.13480545580387115, + 0.0, + 0.9988223910331726 + ], + [ + 0.34117957949638367, + 0.058230336755514145, + 0.10263614356517792, + 0.05752858892083168, + -0.23927441239356995, + -0.17714044451713562, + 0.0, + 0.9988223910331726 + ], + [ + 0.33554327487945557, + 0.08144131302833557, + 0.09584716707468033, + -0.0009330498287454247, + -0.239603653550148, + -0.20130057632923126, + 0.0, + 0.9988223910331726 + ], + [ + 0.33477601408958435, + 0.09677004814147949, + 0.08707508444786072, + -0.05442139133810997, + -0.18633104860782623, + -0.20579509437084198, + 0.0, + 0.9988223910331726 + ], + [ + 0.33766239881515503, + 0.1076323464512825, + 0.08416715264320374, + -0.057271748781204224, + -0.1525091677904129, + -0.19945205748081207, + 0.0, + 0.9988223910331726 + ], + [ + 0.3402182459831238, + 0.11173675209283829, + 0.08054493367671967, + -0.05772019177675247, + -0.12059768289327621, + -0.1739242970943451, + 0.0, + 0.9988223910331726 + ], + [ + 0.34105920791625977, + 0.10872416943311691, + 0.07743941992521286, + -0.03445344790816307, + -0.1135687604546547, + -0.17053309082984924, + 0.0, + 0.9988223910331726 + ], + [ + 0.3412628173828125, + 0.1019430086016655, + 0.07556024193763733, + -0.03688592091202736, + -0.10509638488292694, + -0.16302268207073212, + 0.0, + 0.9988223910331726 + ], + [ + 0.34004154801368713, + 0.0996118038892746, + 0.072258360683918, + -0.027657179161906242, + -0.09716092050075531, + -0.16431137919425964, + 0.0, + 0.9988223910331726 + ], + [ + 0.33504703640937805, + 0.0936964675784111, + 0.06561014801263809, + -0.012647038325667381, + -0.0656268373131752, + -0.18245382606983185, + 0.0, + 0.9988223910331726 + ], + [ + 0.3308906853199005, + 0.09083113074302673, + 0.05711706355214119, + -0.010338854044675827, + -0.06261245161294937, + -0.18715666234493256, + 0.0, + 0.9515043497085571 + ], + [ + 0.32598695158958435, + 0.08720321208238602, + 0.0561210960149765, + 0.003364182310178876, + -0.06763027608394623, + -0.20316176116466522, + 0.0, + 0.6851980090141296 + ], + [ + 0.32568931579589844, + 0.08649951964616776, + 0.057197801768779755, + 0.0017561264103278518, + -0.07352424412965775, + -0.19758428633213043, + 0.0, + 0.38924968242645264 + ], + [ + 0.3252677619457245, + 0.08507166057825089, + 0.05747609585523605, + -0.0038347530644387007, + -0.0686691626906395, + -0.17832592129707336, + 0.0, + 0.22108687460422516 + ], + [ + 0.3220888078212738, + 0.08168065547943115, + 0.057254716753959656, + -0.010227103717625141, + -0.04280100017786026, + -0.13738317787647247, + 0.0, + 0.20503154397010803 + ], + [ + 0.324127733707428, + 0.08066137135028839, + 0.0577847957611084, + 0.02077876776456833, + -0.04327612370252609, + -0.0719243735074997, + 0.0, + 0.22810569405555725 + ], + [ + 0.32909345626831055, + 0.08022996038198471, + 0.06114166975021362, + 0.034449320286512375, + -0.05885627865791321, + 0.08604197204113007, + 0.0, + 0.23004336655139923 + ], + [ + 0.33504796028137207, + 0.07840725034475327, + 0.06234384700655937, + 0.03904207423329353, + -0.09916555136442184, + 0.3149685263633728, + 0.0, + 0.2306915670633316 + ], + [ + 0.34117045998573303, + 0.0778457298874855, + 0.06734691560268402, + 0.002326670568436384, + -0.12160025537014008, + 0.5069450736045837, + 0.0, + 0.2306915670633316 + ], + [ + 0.3486678898334503, + 0.08042314648628235, + 0.07605989277362823, + -0.002477938774973154, + -0.15885436534881592, + 0.705574631690979, + 0.0, + 0.2306915670633316 + ], + [ + 0.35329848527908325, + 0.08690398186445236, + 0.08684747666120529, + 0.0020770493429154158, + -0.18881724774837494, + 0.8741304278373718, + 0.0, + 0.2306915670633316 + ], + [ + 0.35531115531921387, + 0.08915260434150696, + 0.08323416113853455, + 0.011464571580290794, + -0.16615159809589386, + 1.0402836799621582, + 0.0, + 0.2306915670633316 + ], + [ + 0.36119869351387024, + 0.08876597881317139, + 0.07244706153869629, + 0.04303354769945145, + -0.10704872757196426, + 1.1425529718399048, + 0.0, + 0.2306915670633316 + ], + [ + 0.3669827878475189, + 0.0832907184958458, + 0.06784287840127945, + 0.007089444436132908, + -0.11388983577489853, + 1.191739797592163, + 0.0, + 0.2306915670633316 + ], + [ + 0.3634258508682251, + 0.07565800100564957, + 0.05412467196583748, + -0.02278411015868187, + -0.1188535988330841, + 1.2302210330963135, + 0.0, + 0.2306915670633316 + ], + [ + 0.3660307824611664, + 0.06891053169965744, + 0.055455368012189865, + -0.08903206884860992, + -0.1020653173327446, + 1.2756578922271729, + 0.0, + 0.23134081065654755 + ], + [ + 0.367883563041687, + 0.06401904672384262, + 0.056846607476472855, + -0.09423740953207016, + -0.09933415055274963, + 1.3006268739700317, + 0.0, + 0.23134081065654755 + ], + [ + 0.372175931930542, + 0.059461016207933426, + 0.05856981500983238, + -0.10146845877170563, + -0.13173894584178925, + 1.29705011844635, + 0.0, + 0.23134081065654755 + ], + [ + 0.3749670088291168, + 0.059825439006090164, + 0.06068713217973709, + -0.10419434309005737, + -0.1623111218214035, + 1.3027102947235107, + 0.0, + 0.2824830114841461 + ], + [ + 0.375237375497818, + 0.06017538160085678, + 0.061759721487760544, + -0.08450216799974442, + -0.20903806388378143, + 1.2806651592254639, + 0.0, + 0.5482020378112793 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9515043497085571 + ], + [ + 0.6851980090141296 + ], + [ + 0.38924968242645264 + ], + [ + 0.22108687460422516 + ], + [ + 0.20503154397010803 + ], + [ + 0.22810569405555725 + ], + [ + 0.23004336655139923 + ], + [ + 0.2306915670633316 + ], + [ + 0.2306915670633316 + ], + [ + 0.2306915670633316 + ], + [ + 0.2306915670633316 + ], + [ + 0.2306915670633316 + ], + [ + 0.2306915670633316 + ], + [ + 0.2306915670633316 + ], + [ + 0.2306915670633316 + ], + [ + 0.23134081065654755 + ], + [ + 0.23134081065654755 + ], + [ + 0.23134081065654755 + ], + [ + 0.2824830114841461 + ], + [ + 0.5482020378112793 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.36739736795425415, + -0.01833498291671276, + 0.07955319434404373 + ], + [ + 0.36173880100250244, + -0.018722468987107277, + 0.06828677654266357 + ], + [ + 0.36092111468315125, + -0.005205203779041767, + 0.0843455046415329 + ], + [ + 0.3602220416069031, + 0.009874972514808178, + 0.10039768368005753 + ], + [ + 0.3562060594558716, + 0.016772616654634476, + 0.10626260191202164 + ], + [ + 0.3503934144973755, + 0.02909664623439312, + 0.10418672114610672 + ], + [ + 0.34117957949638367, + 0.058230336755514145, + 0.10263614356517792 + ], + [ + 0.33554327487945557, + 0.08144131302833557, + 0.09584716707468033 + ], + [ + 0.33477601408958435, + 0.09677004814147949, + 0.08707508444786072 + ], + [ + 0.33766239881515503, + 0.1076323464512825, + 0.08416715264320374 + ], + [ + 0.3402182459831238, + 0.11173675209283829, + 0.08054493367671967 + ], + [ + 0.34105920791625977, + 0.10872416943311691, + 0.07743941992521286 + ], + [ + 0.3412628173828125, + 0.1019430086016655, + 0.07556024193763733 + ], + [ + 0.34004154801368713, + 0.0996118038892746, + 0.072258360683918 + ], + [ + 0.33504703640937805, + 0.0936964675784111, + 0.06561014801263809 + ], + [ + 0.3308906853199005, + 0.09083113074302673, + 0.05711706355214119 + ], + [ + 0.32598695158958435, + 0.08720321208238602, + 0.0561210960149765 + ], + [ + 0.32568931579589844, + 0.08649951964616776, + 0.057197801768779755 + ], + [ + 0.3252677619457245, + 0.08507166057825089, + 0.05747609585523605 + ], + [ + 0.3220888078212738, + 0.08168065547943115, + 0.057254716753959656 + ], + [ + 0.324127733707428, + 0.08066137135028839, + 0.0577847957611084 + ], + [ + 0.32909345626831055, + 0.08022996038198471, + 0.06114166975021362 + ], + [ + 0.33504796028137207, + 0.07840725034475327, + 0.06234384700655937 + ], + [ + 0.34117045998573303, + 0.0778457298874855, + 0.06734691560268402 + ], + [ + 0.3486678898334503, + 0.08042314648628235, + 0.07605989277362823 + ], + [ + 0.35329848527908325, + 0.08690398186445236, + 0.08684747666120529 + ], + [ + 0.35531115531921387, + 0.08915260434150696, + 0.08323416113853455 + ], + [ + 0.36119869351387024, + 0.08876597881317139, + 0.07244706153869629 + ], + [ + 0.3669827878475189, + 0.0832907184958458, + 0.06784287840127945 + ], + [ + 0.3634258508682251, + 0.07565800100564957, + 0.05412467196583748 + ], + [ + 0.3660307824611664, + 0.06891053169965744, + 0.055455368012189865 + ], + [ + 0.367883563041687, + 0.06401904672384262, + 0.056846607476472855 + ], + [ + 0.372175931930542, + 0.059461016207933426, + 0.05856981500983238 + ], + [ + 0.3749670088291168, + 0.059825439006090164, + 0.06068713217973709 + ], + [ + 0.375237375497818, + 0.06017538160085678, + 0.061759721487760544 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9358914368505381, + 0.13284392522523786, + 0.3262816420833178, + 0.16904233674393815, + -0.9819292713259568, + -0.08508580669785255, + 0.3090823625152104, + 0.1347864891004537, + -0.9414354441691629 + ], + [ + 0.9469322111162882, + 0.13785293010749677, + 0.29037210129624097, + 0.1706126529189239, + -0.9811658944750659, + -0.09058040727944451, + 0.27241642794512894, + 0.13531465988473254, + -0.9526170440454521 + ], + [ + 0.9414751650668826, + 0.07645352411189917, + 0.32829768840666085, + 0.12770968599724788, + -0.982234489020282, + -0.13749779882437865, + 0.31195312094090366, + 0.17137755754455195, + -0.934513233242469 + ], + [ + 0.9285464714342095, + 0.04947980718643939, + 0.3679037905048974, + 0.10791090508779043, + -0.9842563722567196, + -0.1399808209547853, + 0.3551854261512042, + 0.16967952838464206, + -0.9192671922226708 + ], + [ + 0.9487762173189329, + -0.03932290377052815, + 0.3134922625664484, + -0.01832928557639143, + -0.9974040438430594, + -0.06963627370682522, + 0.3154167508871974, + 0.06032315114917798, + -0.9470339965889278 + ], + [ + 0.9516450985342277, + -0.128278607553826, + 0.2791347439496409, + -0.129069740536865, + -0.9915124243071006, + -0.015624164694552885, + 0.2787698127730591, + -0.021159189226141618, + -0.9601248253210444 + ], + [ + 0.9563076273170198, + -0.16251058057834972, + 0.24303504507658952, + -0.17119514441518763, + -0.985124411969794, + 0.014903538835827613, + 0.23699777312024523, + -0.05585878750255574, + -0.9699030113340144 + ], + [ + 0.9518163365118043, + -0.20016068466582207, + 0.23233889442656128, + -0.19423184115403783, + -0.9797626645077063, + -0.04836437861352333, + 0.23731762140886223, + 0.0009063944334290266, + -0.9714316882920645 + ], + [ + 0.9619546082304536, + -0.21390722196362852, + 0.16996185482630474, + -0.2008084300123045, + -0.9753904233860994, + -0.09104667156288397, + 0.1852547061215675, + 0.05345299204431135, + -0.981235686010921 + ], + [ + 0.9687983958512058, + -0.2063309251454802, + 0.1373215843366989, + -0.19583255953730602, + -0.9768452791132886, + -0.08615630736718792, + 0.1519186519858518, + 0.05657605502942129, + -0.9867724525827167 + ], + [ + 0.9777597427464048, + -0.17959607781154113, + 0.10831036099651452, + -0.17179189487522056, + -0.9820720406378305, + -0.07760188047095709, + 0.120305570609451, + 0.05726915253570985, + -0.991083656331884 + ], + [ + 0.9791458789899947, + -0.17345404867003866, + 0.10576880757993999, + -0.16861447345601588, + -0.9842471036687627, + -0.053167642987088905, + 0.11332478545340836, + 0.03422472672825715, + -0.9929683585504198 + ], + [ + 0.9812968181502527, + -0.16600842424930892, + 0.09745644035389049, + -0.16140604258018057, + -0.9854421417152388, + -0.05340294701875811, + 0.10490302239113462, + 0.03667408362788098, + -0.9938060009293869 + ], + [ + 0.9818783431333062, + -0.16615696505221195, + 0.09114155062555891, + -0.16280154642794775, + -0.9857151388295726, + -0.043143036087707996, + 0.09700812216748693, + 0.02752322740585709, + -0.9949029581756723 + ], + [ + 0.9812844869169314, + -0.18224430385867524, + 0.06219139367502044, + -0.18105262629350583, + -0.9831722954347585, + -0.024334831040544184, + 0.06557973961825903, + 0.012619477034114843, + -0.9977675313172837 + ], + [ + 0.9806119537884367, + -0.18669163114216075, + 0.059551918094246356, + -0.18570136585507951, + -0.9823643749929215, + -0.021799941842215984, + 0.06257154949961154, + 0.010318411032978338, + -0.9979871399907775 + ], + [ + 0.9771944956847143, + -0.2015432562552852, + 0.0668672824445102, + -0.20130581832097663, + -0.9794738637986424, + -0.010340098910590942, + 0.06757873270208176, + -0.003356485271127022, + -0.9977082984986172 + ], + [ + 0.9778945211150739, + -0.19617439888960783, + 0.0723734121996593, + -0.19577084824697824, + -0.9805674570802816, + -0.012697916827932962, + 0.07345801896171293, + -0.001751381001244963, + -0.9972967723375071 + ], + [ + 0.9818225970841328, + -0.1776399364771871, + 0.06684639723537515, + -0.17696423685891358, + -0.9840881144198644, + -0.015944965678798845, + 0.06861520770143432, + 0.003825705939649691, + -0.9976358640536898 + ], + [ + 0.9896705710417496, + -0.13737772457239908, + 0.04098196682941392, + -0.1368259974381972, + -0.9904660328711706, + -0.015990126750201117, + 0.0427879333333544, + 0.010217559383487822, + -0.9990319285394763 + ], + [ + 0.9964807124567557, + -0.07095030919040313, + 0.044634553066681314, + -0.07179509511263868, + -0.9972638399913389, + 0.017615270747170394, + 0.04326261688159141, + -0.020757819526991506, + -0.9988480659785257 + ], + [ + 0.99457554727494, + 0.08790335215334634, + 0.055610084004240536, + 0.08578704614183537, + -0.995535443380374, + 0.03936703808646345, + 0.05882230424773003, + -0.034382868607014665, + -0.9976761773588365 + ], + [ + 0.9461349375585402, + 0.3132246792465616, + 0.0819693860046895, + 0.308264603388292, + -0.9488844628947247, + 0.06775847087153442, + 0.09900310211784402, + -0.038840396340383956, + -0.9943288235705356 + ], + [ + 0.8677762714189668, + 0.4857542202903318, + 0.10491510964740727, + 0.48192370611566016, + -0.8740923885584999, + 0.06092649462953938, + 0.12130080068137411, + -0.00230948787144002, + -0.9926131079226334 + ], + [ + 0.7516544031505739, + 0.6481709891747199, + 0.1220246983877419, + 0.6403065667720585, + -0.7614908944108645, + 0.10069318883579229, + 0.15818710052634993, + 0.002446736930355478, + -0.9874061245027093 + ], + [ + 0.6302597046507951, + 0.76723432140093, + 0.1188452807558926, + 0.7533541199077264, + -0.6413636518579704, + 0.14529362027791493, + 0.1876972954294955, + -0.002040132314961307, + -0.9822248027557591 + ], + [ + 0.49900757183731076, + 0.8634504742536884, + 0.07378835789005952, + 0.8506692620451899, + -0.5043068935907871, + 0.1484465010982155, + 0.16538817932525604, + -0.011306440106901905, + -0.9861637361775102 + ], + [ + 0.41289630280889184, + 0.91076323714682, + 0.00519316749131607, + 0.9044893139617431, + -0.4107075724749309, + 0.11497117395575282, + 0.10684439178432577, + -0.04277400815441942, + -0.9933552537590178 + ], + [ + 0.3676468276821665, + 0.9292889601513868, + 0.0354660208649688, + 0.9229956120544963, + -0.36928636348469723, + 0.10819742082136008, + 0.11364378655864038, + -0.00704345689296601, + -0.9934965925918476 + ], + [ + 0.331672894378491, + 0.941415681005045, + 0.06107050591244472, + 0.9359130858812416, + -0.3364889108065303, + 0.10412448597946182, + 0.11857397189453758, + 0.02262141600436403, + -0.9926875060798899 + ], + [ + 0.28935856037538943, + 0.9503372917676747, + 0.11458907196222605, + 0.9517827577286315, + -0.2983878622047893, + 0.0712338808386674, + 0.1018882016131598, + 0.08845176970834324, + -0.990855730572064 + ], + [ + 0.26557906721526475, + 0.9569589729388933, + 0.11703539280409417, + 0.9589749200499756, + -0.2747037943668437, + 0.07003519169390429, + 0.09917087159147583, + 0.09363412557501433, + -0.9906552320336222 + ], + [ + 0.2679975379986209, + 0.9542158089939288, + 0.13285145649461017, + 0.9544225155261132, + -0.28175995794668807, + 0.09843265695228569, + 0.1313582181802248, + 0.10041671157701847, + -0.9862360278110782 + ], + [ + 0.26140477429669845, + 0.9545980260995542, + 0.14286410515495646, + 0.9516055820744961, + -0.2796566881759814, + 0.1274321502726103, + 0.16159938161871584, + 0.10263890746337972, + -0.9815044037268361 + ], + [ + 0.27985027944075375, + 0.9497766643551138, + 0.14002895751738562, + 0.9373471532028519, + -0.30184006469504604, + 0.17399106220550523, + 0.20751900028537537, + 0.08256429731648027, + -0.9747404789630902 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.005658566951751709, + -0.000387486070394516, + -0.011266417801380157, + 0.001103624701499939, + 0.038324445486068726, + -0.0004335343837738037, + 1.0 + ], + [ + -0.0008176863193511963, + 0.01351726520806551, + 0.016058728098869324, + -0.04027043282985687, + -0.04134449362754822, + -0.04343600571155548, + 1.0 + ], + [ + -0.0006990730762481689, + 0.015080176293849945, + 0.016052179038524628, + -0.0011552125215530396, + -0.045864373445510864, + -0.019129686057567596, + 1.0 + ], + [ + -0.004015982151031494, + 0.006897644139826298, + 0.005864918231964111, + 0.11891590058803558, + 0.04221662878990173, + -0.13501234352588654, + 1.0 + ], + [ + -0.005812644958496094, + 0.012324029579758644, + -0.002075880765914917, + 0.08564537763595581, + 0.038382887840270996, + -0.11548899114131927, + 1.0 + ], + [ + -0.009213835000991821, + 0.029133690521121025, + -0.0015505775809288025, + 0.03549420088529587, + 0.04323849081993103, + -0.042334988713264465, + 1.0 + ], + [ + -0.005636304616928101, + 0.023210976272821426, + -0.006788976490497589, + -0.058461640030145645, + -0.00032924115657806396, + -0.024160131812095642, + 1.0 + ], + [ + -0.0007672607898712158, + 0.015328735113143921, + -0.00877208262681961, + -0.053488340228796005, + 0.05327260494232178, + -0.004494518041610718, + 1.0 + ], + [ + 0.0028863847255706787, + 0.010862298309803009, + -0.0029079318046569824, + -0.0028503574430942535, + 0.03382188081741333, + 0.006343036890029907, + 1.0 + ], + [ + 0.00255584716796875, + 0.004104405641555786, + -0.00362221896648407, + -0.0004484429955482483, + 0.03191148489713669, + 0.02552776038646698, + 1.0 + ], + [ + 0.0008409619331359863, + -0.0030125826597213745, + -0.0031055137515068054, + 0.0232667438685894, + 0.007028922438621521, + 0.0033912062644958496, + 1.0 + ], + [ + 0.00020360946655273438, + -0.006781160831451416, + -0.001879177987575531, + -0.0024324730038642883, + 0.008472375571727753, + 0.0075104087591171265, + 1.0 + ], + [ + -0.0012212693691253662, + -0.0023312047123908997, + -0.00330188125371933, + 0.009228741750121117, + 0.00793546438217163, + -0.0012886971235275269, + 1.0 + ], + [ + -0.004994511604309082, + -0.005915336310863495, + -0.006648212671279907, + 0.015010140836238861, + 0.03153408318758011, + -0.018142446875572205, + 1.0 + ], + [ + -0.004156351089477539, + -0.002865336835384369, + -0.008493084460496902, + 0.0023081842809915543, + 0.00301438570022583, + -0.004702836275100708, + 0.0 + ], + [ + -0.004903733730316162, + -0.0036279186606407166, + -0.0009959675371646881, + 0.01370303612202406, + -0.005017824470996857, + -0.016005098819732666, + 0.0 + ], + [ + -0.0002976357936859131, + -0.0007036924362182617, + 0.0010767057538032532, + -0.0016080558998510242, + -0.005893968045711517, + 0.00557747483253479, + 0.0 + ], + [ + -0.0004215538501739502, + -0.0014278590679168701, + 0.00027829408645629883, + -0.005590879358351231, + 0.0048550814390182495, + 0.019258365035057068, + 0.0 + ], + [ + -0.0031789541244506836, + -0.0033910050988197327, + -0.0002213791012763977, + -0.006392350420355797, + 0.025868162512779236, + 0.04094274342060089, + 0.0 + ], + [ + 0.002038925886154175, + -0.0010192841291427612, + 0.0005300790071487427, + 0.031005870550870895, + -0.0004751235246658325, + 0.06545880436897278, + 0.0 + ], + [ + 0.004965722560882568, + -0.0004314109683036804, + 0.0033568739891052246, + 0.013670552521944046, + -0.015580154955387115, + 0.15796634554862976, + 0.0 + ], + [ + 0.0059545040130615234, + -0.0018227100372314453, + 0.001202177256345749, + 0.0045927539467811584, + -0.040309272706508636, + 0.22892655432224274, + 0.0 + ], + [ + 0.006122499704360962, + -0.0005615204572677612, + 0.005003068596124649, + -0.03671540319919586, + -0.02243470400571823, + 0.19197654724121094, + 0.0 + ], + [ + 0.007497429847717285, + 0.0025774165987968445, + 0.008712977170944214, + -0.004804609343409538, + -0.03725410997867584, + 0.19862955808639526, + 0.0 + ], + [ + 0.004630595445632935, + 0.006480835378170013, + 0.010787583887577057, + 0.004554987885057926, + -0.02996288239955902, + 0.16855579614639282, + 0.0 + ], + [ + 0.0020126700401306152, + 0.002248622477054596, + -0.003613315522670746, + 0.009387522004544735, + 0.02266564965248108, + 0.16615325212478638, + 0.0 + ], + [ + 0.005887538194656372, + -0.0003866255283355713, + -0.010787099599838257, + 0.0315689742565155, + 0.059102870523929596, + 0.10226929187774658, + 0.0 + ], + [ + 0.005784094333648682, + -0.005475260317325592, + -0.00460418313741684, + -0.03594410419464111, + -0.006841108202934265, + 0.0491868257522583, + 0.0 + ], + [ + -0.0035569369792938232, + -0.007632717490196228, + -0.01371820643544197, + -0.029873553663492203, + -0.004963763058185577, + 0.03848123550415039, + 0.0 + ], + [ + 0.002604931592941284, + -0.0067474693059921265, + 0.0013306960463523865, + -0.06624795496463776, + 0.016788281500339508, + 0.045436859130859375, + 0.0 + ], + [ + 0.0018527805805206299, + -0.004891484975814819, + 0.0013912394642829895, + -0.005205340683460236, + 0.0027311667799949646, + 0.024968981742858887, + 0.0 + ], + [ + 0.0042923688888549805, + -0.004558030515909195, + 0.0017232075333595276, + -0.0072310492396354675, + -0.03240479528903961, + -0.0035767555236816406, + 0.0 + ], + [ + 0.002791076898574829, + 0.0003644227981567383, + 0.002117317169904709, + -0.0027258843183517456, + -0.030572175979614258, + 0.0056601762771606445, + 1.0 + ], + [ + 0.0002703666687011719, + 0.0003499425947666168, + 0.0010725893080234528, + 0.019692175090312958, + -0.04672694206237793, + -0.022045135498046875, + 1.0 + ], + [ + 2.562999725341797e-06, + -0.0007818490266799927, + -0.0001371540129184723, + -0.0001779794692993164, + 0.004297509789466858, + -0.006171703338623047, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9515043497085571 + ], + [ + 0.6851980090141296 + ], + [ + 0.38924968242645264 + ], + [ + 0.22108687460422516 + ], + [ + 0.20503154397010803 + ], + [ + 0.22810569405555725 + ], + [ + 0.23004336655139923 + ], + [ + 0.2306915670633316 + ], + [ + 0.2306915670633316 + ], + [ + 0.2306915670633316 + ], + [ + 0.2306915670633316 + ], + [ + 0.2306915670633316 + ], + [ + 0.2306915670633316 + ], + [ + 0.2306915670633316 + ], + [ + 0.2306915670633316 + ], + [ + 0.23134081065654755 + ], + [ + 0.23134081065654755 + ], + [ + 0.23134081065654755 + ], + [ + 0.2824830114841461 + ], + [ + 0.5482020378112793 + ], + [ + 0.8445048928260803 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.36173880100250244, + -0.018722468987107277, + 0.06828677654266357 + ], + [ + 0.36092111468315125, + -0.005205203779041767, + 0.0843455046415329 + ], + [ + 0.3602220416069031, + 0.009874972514808178, + 0.10039768368005753 + ], + [ + 0.3562060594558716, + 0.016772616654634476, + 0.10626260191202164 + ], + [ + 0.3503934144973755, + 0.02909664623439312, + 0.10418672114610672 + ], + [ + 0.34117957949638367, + 0.058230336755514145, + 0.10263614356517792 + ], + [ + 0.33554327487945557, + 0.08144131302833557, + 0.09584716707468033 + ], + [ + 0.33477601408958435, + 0.09677004814147949, + 0.08707508444786072 + ], + [ + 0.33766239881515503, + 0.1076323464512825, + 0.08416715264320374 + ], + [ + 0.3402182459831238, + 0.11173675209283829, + 0.08054493367671967 + ], + [ + 0.34105920791625977, + 0.10872416943311691, + 0.07743941992521286 + ], + [ + 0.3412628173828125, + 0.1019430086016655, + 0.07556024193763733 + ], + [ + 0.34004154801368713, + 0.0996118038892746, + 0.072258360683918 + ], + [ + 0.33504703640937805, + 0.0936964675784111, + 0.06561014801263809 + ], + [ + 0.3308906853199005, + 0.09083113074302673, + 0.05711706355214119 + ], + [ + 0.32598695158958435, + 0.08720321208238602, + 0.0561210960149765 + ], + [ + 0.32568931579589844, + 0.08649951964616776, + 0.057197801768779755 + ], + [ + 0.3252677619457245, + 0.08507166057825089, + 0.05747609585523605 + ], + [ + 0.3220888078212738, + 0.08168065547943115, + 0.057254716753959656 + ], + [ + 0.324127733707428, + 0.08066137135028839, + 0.0577847957611084 + ], + [ + 0.32909345626831055, + 0.08022996038198471, + 0.06114166975021362 + ], + [ + 0.33504796028137207, + 0.07840725034475327, + 0.06234384700655937 + ], + [ + 0.34117045998573303, + 0.0778457298874855, + 0.06734691560268402 + ], + [ + 0.3486678898334503, + 0.08042314648628235, + 0.07605989277362823 + ], + [ + 0.35329848527908325, + 0.08690398186445236, + 0.08684747666120529 + ], + [ + 0.35531115531921387, + 0.08915260434150696, + 0.08323416113853455 + ], + [ + 0.36119869351387024, + 0.08876597881317139, + 0.07244706153869629 + ], + [ + 0.3669827878475189, + 0.0832907184958458, + 0.06784287840127945 + ], + [ + 0.3634258508682251, + 0.07565800100564957, + 0.05412467196583748 + ], + [ + 0.3660307824611664, + 0.06891053169965744, + 0.055455368012189865 + ], + [ + 0.367883563041687, + 0.06401904672384262, + 0.056846607476472855 + ], + [ + 0.372175931930542, + 0.059461016207933426, + 0.05856981500983238 + ], + [ + 0.3749670088291168, + 0.059825439006090164, + 0.06068713217973709 + ], + [ + 0.375237375497818, + 0.06017538160085678, + 0.061759721487760544 + ], + [ + 0.37523993849754333, + 0.05939353257417679, + 0.06162256747484207 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9469322111162882, + 0.13785293010749677, + 0.29037210129624097, + 0.1706126529189239, + -0.9811658944750659, + -0.09058040727944451, + 0.27241642794512894, + 0.13531465988473254, + -0.9526170440454521 + ], + [ + 0.9414751650668826, + 0.07645352411189917, + 0.32829768840666085, + 0.12770968599724788, + -0.982234489020282, + -0.13749779882437865, + 0.31195312094090366, + 0.17137755754455195, + -0.934513233242469 + ], + [ + 0.9285464714342095, + 0.04947980718643939, + 0.3679037905048974, + 0.10791090508779043, + -0.9842563722567196, + -0.1399808209547853, + 0.3551854261512042, + 0.16967952838464206, + -0.9192671922226708 + ], + [ + 0.9487762173189329, + -0.03932290377052815, + 0.3134922625664484, + -0.01832928557639143, + -0.9974040438430594, + -0.06963627370682522, + 0.3154167508871974, + 0.06032315114917798, + -0.9470339965889278 + ], + [ + 0.9516450985342277, + -0.128278607553826, + 0.2791347439496409, + -0.129069740536865, + -0.9915124243071006, + -0.015624164694552885, + 0.2787698127730591, + -0.021159189226141618, + -0.9601248253210444 + ], + [ + 0.9563076273170198, + -0.16251058057834972, + 0.24303504507658952, + -0.17119514441518763, + -0.985124411969794, + 0.014903538835827613, + 0.23699777312024523, + -0.05585878750255574, + -0.9699030113340144 + ], + [ + 0.9518163365118043, + -0.20016068466582207, + 0.23233889442656128, + -0.19423184115403783, + -0.9797626645077063, + -0.04836437861352333, + 0.23731762140886223, + 0.0009063944334290266, + -0.9714316882920645 + ], + [ + 0.9619546082304536, + -0.21390722196362852, + 0.16996185482630474, + -0.2008084300123045, + -0.9753904233860994, + -0.09104667156288397, + 0.1852547061215675, + 0.05345299204431135, + -0.981235686010921 + ], + [ + 0.9687983958512058, + -0.2063309251454802, + 0.1373215843366989, + -0.19583255953730602, + -0.9768452791132886, + -0.08615630736718792, + 0.1519186519858518, + 0.05657605502942129, + -0.9867724525827167 + ], + [ + 0.9777597427464048, + -0.17959607781154113, + 0.10831036099651452, + -0.17179189487522056, + -0.9820720406378305, + -0.07760188047095709, + 0.120305570609451, + 0.05726915253570985, + -0.991083656331884 + ], + [ + 0.9791458789899947, + -0.17345404867003866, + 0.10576880757993999, + -0.16861447345601588, + -0.9842471036687627, + -0.053167642987088905, + 0.11332478545340836, + 0.03422472672825715, + -0.9929683585504198 + ], + [ + 0.9812968181502527, + -0.16600842424930892, + 0.09745644035389049, + -0.16140604258018057, + -0.9854421417152388, + -0.05340294701875811, + 0.10490302239113462, + 0.03667408362788098, + -0.9938060009293869 + ], + [ + 0.9818783431333062, + -0.16615696505221195, + 0.09114155062555891, + -0.16280154642794775, + -0.9857151388295726, + -0.043143036087707996, + 0.09700812216748693, + 0.02752322740585709, + -0.9949029581756723 + ], + [ + 0.9812844869169314, + -0.18224430385867524, + 0.06219139367502044, + -0.18105262629350583, + -0.9831722954347585, + -0.024334831040544184, + 0.06557973961825903, + 0.012619477034114843, + -0.9977675313172837 + ], + [ + 0.9806119537884367, + -0.18669163114216075, + 0.059551918094246356, + -0.18570136585507951, + -0.9823643749929215, + -0.021799941842215984, + 0.06257154949961154, + 0.010318411032978338, + -0.9979871399907775 + ], + [ + 0.9771944956847143, + -0.2015432562552852, + 0.0668672824445102, + -0.20130581832097663, + -0.9794738637986424, + -0.010340098910590942, + 0.06757873270208176, + -0.003356485271127022, + -0.9977082984986172 + ], + [ + 0.9778945211150739, + -0.19617439888960783, + 0.0723734121996593, + -0.19577084824697824, + -0.9805674570802816, + -0.012697916827932962, + 0.07345801896171293, + -0.001751381001244963, + -0.9972967723375071 + ], + [ + 0.9818225970841328, + -0.1776399364771871, + 0.06684639723537515, + -0.17696423685891358, + -0.9840881144198644, + -0.015944965678798845, + 0.06861520770143432, + 0.003825705939649691, + -0.9976358640536898 + ], + [ + 0.9896705710417496, + -0.13737772457239908, + 0.04098196682941392, + -0.1368259974381972, + -0.9904660328711706, + -0.015990126750201117, + 0.0427879333333544, + 0.010217559383487822, + -0.9990319285394763 + ], + [ + 0.9964807124567557, + -0.07095030919040313, + 0.044634553066681314, + -0.07179509511263868, + -0.9972638399913389, + 0.017615270747170394, + 0.04326261688159141, + -0.020757819526991506, + -0.9988480659785257 + ], + [ + 0.99457554727494, + 0.08790335215334634, + 0.055610084004240536, + 0.08578704614183537, + -0.995535443380374, + 0.03936703808646345, + 0.05882230424773003, + -0.034382868607014665, + -0.9976761773588365 + ], + [ + 0.9461349375585402, + 0.3132246792465616, + 0.0819693860046895, + 0.308264603388292, + -0.9488844628947247, + 0.06775847087153442, + 0.09900310211784402, + -0.038840396340383956, + -0.9943288235705356 + ], + [ + 0.8677762714189668, + 0.4857542202903318, + 0.10491510964740727, + 0.48192370611566016, + -0.8740923885584999, + 0.06092649462953938, + 0.12130080068137411, + -0.00230948787144002, + -0.9926131079226334 + ], + [ + 0.7516544031505739, + 0.6481709891747199, + 0.1220246983877419, + 0.6403065667720585, + -0.7614908944108645, + 0.10069318883579229, + 0.15818710052634993, + 0.002446736930355478, + -0.9874061245027093 + ], + [ + 0.6302597046507951, + 0.76723432140093, + 0.1188452807558926, + 0.7533541199077264, + -0.6413636518579704, + 0.14529362027791493, + 0.1876972954294955, + -0.002040132314961307, + -0.9822248027557591 + ], + [ + 0.49900757183731076, + 0.8634504742536884, + 0.07378835789005952, + 0.8506692620451899, + -0.5043068935907871, + 0.1484465010982155, + 0.16538817932525604, + -0.011306440106901905, + -0.9861637361775102 + ], + [ + 0.41289630280889184, + 0.91076323714682, + 0.00519316749131607, + 0.9044893139617431, + -0.4107075724749309, + 0.11497117395575282, + 0.10684439178432577, + -0.04277400815441942, + -0.9933552537590178 + ], + [ + 0.3676468276821665, + 0.9292889601513868, + 0.0354660208649688, + 0.9229956120544963, + -0.36928636348469723, + 0.10819742082136008, + 0.11364378655864038, + -0.00704345689296601, + -0.9934965925918476 + ], + [ + 0.331672894378491, + 0.941415681005045, + 0.06107050591244472, + 0.9359130858812416, + -0.3364889108065303, + 0.10412448597946182, + 0.11857397189453758, + 0.02262141600436403, + -0.9926875060798899 + ], + [ + 0.28935856037538943, + 0.9503372917676747, + 0.11458907196222605, + 0.9517827577286315, + -0.2983878622047893, + 0.0712338808386674, + 0.1018882016131598, + 0.08845176970834324, + -0.990855730572064 + ], + [ + 0.26557906721526475, + 0.9569589729388933, + 0.11703539280409417, + 0.9589749200499756, + -0.2747037943668437, + 0.07003519169390429, + 0.09917087159147583, + 0.09363412557501433, + -0.9906552320336222 + ], + [ + 0.2679975379986209, + 0.9542158089939288, + 0.13285145649461017, + 0.9544225155261132, + -0.28175995794668807, + 0.09843265695228569, + 0.1313582181802248, + 0.10041671157701847, + -0.9862360278110782 + ], + [ + 0.26140477429669845, + 0.9545980260995542, + 0.14286410515495646, + 0.9516055820744961, + -0.2796566881759814, + 0.1274321502726103, + 0.16159938161871584, + 0.10263890746337972, + -0.9815044037268361 + ], + [ + 0.27985027944075375, + 0.9497766643551138, + 0.14002895751738562, + 0.9373471532028519, + -0.30184006469504604, + 0.17399106220550523, + 0.20751900028537537, + 0.08256429731648027, + -0.9747404789630902 + ], + [ + 0.2858877008085763, + 0.9479744599989349, + 0.14004515598946482, + 0.9364464692414417, + -0.30738660063776435, + 0.16906060449908783, + 0.2033131396925033, + 0.08281244434314901, + -0.9756053845127595 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005504.json b/json/chunk-0005/episode_0005504.json new file mode 100644 index 0000000000000000000000000000000000000000..20746f742a3cbc02b965215113bf692f418ce9fb --- /dev/null +++ b/json/chunk-0005/episode_0005504.json @@ -0,0 +1,2782 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 45, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nTake the green spatula and put it on the blue towel." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005504.mp4", + "start": 0, + "end": 45, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.35342562198638916, + 0.04048303887248039, + 0.14240193367004395, + -0.10829372704029083, + -0.15376953780651093, + -0.10672617703676224, + 0.0, + 1.0001531839370728 + ], + [ + 0.35272589325904846, + 0.03937632218003273, + 0.13050466775894165, + -0.1200038492679596, + -0.12377866357564926, + -0.1067776083946228, + 0.0, + 1.0001531839370728 + ], + [ + 0.3584388792514801, + 0.019845273345708847, + 0.12475404888391495, + -0.13887695968151093, + -0.1645033061504364, + -0.1370139718055725, + 0.0, + 1.0001531839370728 + ], + [ + 0.36300399899482727, + -0.006939212325960398, + 0.11074589937925339, + -0.14530232548713684, + -0.143736332654953, + -0.17568384110927582, + 0.0, + 1.0001531839370728 + ], + [ + 0.3688710033893585, + -0.034486427903175354, + 0.105200856924057, + -0.11477123200893402, + -0.16873854398727417, + -0.18849924206733704, + 0.0, + 1.0001531839370728 + ], + [ + 0.3719584047794342, + -0.057962190359830856, + 0.08783488720655441, + -0.0853588655591011, + -0.17072156071662903, + -0.1460004299879074, + 0.0, + 1.0001531839370728 + ], + [ + 0.3730267882347107, + -0.06718679517507553, + 0.06849870830774307, + -0.07382795959711075, + -0.1387336552143097, + -0.07495006173849106, + 0.0, + 1.0001531839370728 + ], + [ + 0.371881365776062, + -0.06988513469696045, + 0.05734655633568764, + -0.052234526723623276, + -0.11309409141540527, + -0.009294289164245129, + 0.0, + 1.0001531839370728 + ], + [ + 0.3640029728412628, + -0.06776190549135208, + 0.04546885937452316, + -0.05195067077875137, + -0.10636718571186066, + 0.009161528199911118, + 0.0, + 1.0001531839370728 + ], + [ + 0.35739725828170776, + -0.0626368448138237, + 0.03254280611872673, + -0.05911601334810257, + -0.10516475141048431, + 0.027059126645326614, + 0.0, + 1.0001531839370728 + ], + [ + 0.3566490709781647, + -0.060936275869607925, + 0.030010951682925224, + -0.04923126474022865, + -0.11165761202573776, + 0.018321985378861427, + 0.0, + 1.0001531839370728 + ], + [ + 0.34853556752204895, + -0.05919816717505455, + 0.009533246047794819, + -0.0214557908475399, + -0.06788574904203415, + 0.013178698718547821, + 0.0, + 0.9994885921478271 + ], + [ + 0.34853070974349976, + -0.05974160507321358, + 0.00871589221060276, + -0.014737861230969429, + -0.07061629742383957, + 0.005559687968343496, + 0.0, + 1.0001531839370728 + ], + [ + 0.3479980230331421, + -0.05965203419327736, + 0.007783928886055946, + -0.011597522534430027, + -0.07582779228687286, + -0.0036235880106687546, + 0.0, + 0.9568231701850891 + ], + [ + 0.3477187752723694, + -0.06032593920826912, + 0.008550427854061127, + -0.01844499260187149, + -0.07635387033224106, + -0.017871085554361343, + 0.0, + 0.6811928749084473 + ], + [ + 0.3448566198348999, + -0.062111806124448776, + 0.01737000048160553, + -0.03074868582189083, + -0.06868436932563782, + -0.029215101152658463, + 0.0, + 0.4448287785053253 + ], + [ + 0.34682536125183105, + -0.055892687290906906, + 0.03335439786314964, + -0.05191093683242798, + -0.09377756714820862, + -0.031300224363803864, + 0.0, + 0.44298648834228516 + ], + [ + 0.34889230132102966, + -0.053290899842977524, + 0.058225929737091064, + -0.08260276913642883, + -0.1292259842157364, + -0.05652051791548729, + 0.0, + 0.44298648834228516 + ], + [ + 0.34861940145492554, + -0.03787141665816307, + 0.09248494356870651, + -0.1065332293510437, + -0.17909026145935059, + -0.06332840770483017, + 0.0, + 0.442066490650177 + ], + [ + 0.3436787724494934, + -0.010698067955672741, + 0.11116742342710495, + -0.11371903866529465, + -0.1961284577846527, + -0.04527926817536354, + 0.0, + 0.442066490650177 + ], + [ + 0.33307626843452454, + 0.019930651411414146, + 0.11338607221841812, + -0.11222296953201294, + -0.180258110165596, + -0.03343094512820244, + 0.0, + 0.442066490650177 + ], + [ + 0.3120846748352051, + 0.05334853008389473, + 0.11290428787469864, + -0.10109452158212662, + -0.16677089035511017, + -0.01808873377740383, + 0.0, + 0.442066490650177 + ], + [ + 0.2850988209247589, + 0.08100411295890808, + 0.1072692796587944, + -0.10637643933296204, + -0.1485884189605713, + -0.022187652066349983, + 0.0, + 0.442066490650177 + ], + [ + 0.26192691922187805, + 0.09419383853673935, + 0.10423601418733597, + -0.10599085688591003, + -0.17458966374397278, + -0.07001259922981262, + 0.0, + 0.442066490650177 + ], + [ + 0.23873990774154663, + 0.10835140943527222, + 0.09929303079843521, + -0.10826967656612396, + -0.23678618669509888, + -0.09410471469163895, + 0.0, + 0.442066490650177 + ], + [ + 0.23111025989055634, + 0.11333983391523361, + 0.09127014875411987, + -0.10523531585931778, + -0.24940983951091766, + -0.10907062888145447, + 0.0, + 0.442066490650177 + ], + [ + 0.23012004792690277, + 0.12268946319818497, + 0.08554727584123611, + -0.07789750397205353, + -0.2567165791988373, + -0.11024154722690582, + 0.0, + 0.442066490650177 + ], + [ + 0.2299363911151886, + 0.1290394514799118, + 0.06309283524751663, + -0.07550641149282455, + -0.1905081570148468, + -0.08485241234302521, + 0.0, + 0.442066490650177 + ], + [ + 0.23356720805168152, + 0.13066813349723816, + 0.05108669400215149, + -0.007933180779218674, + -0.09817076474428177, + -0.07211921364068985, + 0.0, + 0.442066490650177 + ], + [ + 0.2333417385816574, + 0.13355652987957, + 0.050299838185310364, + 0.0333448089659214, + -0.06447529792785645, + -0.06486675888299942, + 0.0, + 0.442066490650177 + ], + [ + 0.23415890336036682, + 0.13172368705272675, + 0.050487808883190155, + 0.08119625598192215, + -0.03240646794438362, + -0.07085267454385757, + 0.0, + 0.442066490650177 + ], + [ + 0.23197074234485626, + 0.13261477649211884, + 0.05072662606835365, + 0.10293933749198914, + -0.007811402902007103, + -0.07095441222190857, + 0.0, + 0.442066490650177 + ], + [ + 0.22628504037857056, + 0.13962003588676453, + 0.04994621127843857, + 0.098237544298172, + 0.00037829464417882264, + -0.057229653000831604, + 0.0, + 0.442066490650177 + ], + [ + 0.21994233131408691, + 0.15013301372528076, + 0.04814142733812332, + 0.07071827352046967, + 0.0021387769374996424, + -0.013221604749560356, + 0.0, + 0.442066490650177 + ], + [ + 0.2185472548007965, + 0.15234321355819702, + 0.0486585907638073, + 0.06187763065099716, + -0.0001501560618635267, + -0.016216624528169632, + 0.0, + 0.442066490650177 + ], + [ + 0.21471425890922546, + 0.1616629809141159, + 0.051477983593940735, + 0.06720501184463501, + 0.002732878318056464, + -0.0022969390265643597, + 0.0, + 0.442066490650177 + ], + [ + 0.21220606565475464, + 0.1691022366285324, + 0.04984162002801895, + 0.06252604722976685, + 0.005876834969967604, + 0.01649335026741028, + 0.0, + 0.442066490650177 + ], + [ + 0.21147462725639343, + 0.17202796041965485, + 0.04754256084561348, + 0.030551187694072723, + -0.0003936555585823953, + 0.025863386690616608, + 0.0, + 0.442066490650177 + ], + [ + 0.22438567876815796, + 0.1649090051651001, + 0.03266296535730362, + -0.03198038786649704, + -0.06230713427066803, + -0.016450509428977966, + 0.0, + 0.442066490650177 + ], + [ + 0.22813540697097778, + 0.16040094196796417, + 0.0146477734670043, + -0.08246062695980072, + -0.054938800632953644, + -0.01079542189836502, + 0.0, + 0.442066490650177 + ], + [ + 0.23185935616493225, + 0.16237019002437592, + 0.008769100531935692, + -0.10366041213274002, + -0.03149385750293732, + -0.002958837430924177, + 0.0, + 0.5168834924697876 + ], + [ + 0.2288079708814621, + 0.1626465916633606, + 0.010718904435634613, + -0.10188233107328415, + -0.010404758155345917, + 0.017979657277464867, + 0.0, + 0.8417698740959167 + ], + [ + 0.2322431206703186, + 0.1626177579164505, + 0.03943648189306259, + -0.07823847979307175, + -0.07709867507219315, + -0.005613648798316717, + 0.0, + 1.00800359249115 + ], + [ + 0.2330676168203354, + 0.16290152072906494, + 0.06697233766317368, + -0.07407324761152267, + -0.13489484786987305, + -0.024330826476216316, + 0.0, + 1.0047606229782104 + ], + [ + 0.2406981736421585, + 0.1613432615995407, + 0.09489931166172028, + -0.055949218571186066, + -0.18212102353572845, + -0.02606533095240593, + 0.0, + 1.0001531839370728 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9568231701850891 + ], + [ + 0.6811928749084473 + ], + [ + 0.4448287785053253 + ], + [ + 0.44298648834228516 + ], + [ + 0.44298648834228516 + ], + [ + 0.442066490650177 + ], + [ + 0.442066490650177 + ], + [ + 0.442066490650177 + ], + [ + 0.442066490650177 + ], + [ + 0.442066490650177 + ], + [ + 0.442066490650177 + ], + [ + 0.442066490650177 + ], + [ + 0.442066490650177 + ], + [ + 0.442066490650177 + ], + [ + 0.442066490650177 + ], + [ + 0.442066490650177 + ], + [ + 0.442066490650177 + ], + [ + 0.442066490650177 + ], + [ + 0.442066490650177 + ], + [ + 0.442066490650177 + ], + [ + 0.442066490650177 + ], + [ + 0.442066490650177 + ], + [ + 0.442066490650177 + ], + [ + 0.442066490650177 + ], + [ + 0.442066490650177 + ], + [ + 0.442066490650177 + ], + [ + 0.442066490650177 + ], + [ + 0.5168834924697876 + ], + [ + 0.8417698740959167 + ], + [ + 1.00800359249115 + ], + [ + 1.0047606229782104 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.35342562198638916, + 0.04048303887248039, + 0.14240193367004395 + ], + [ + 0.35272589325904846, + 0.03937632218003273, + 0.13050466775894165 + ], + [ + 0.3584388792514801, + 0.019845273345708847, + 0.12475404888391495 + ], + [ + 0.36300399899482727, + -0.006939212325960398, + 0.11074589937925339 + ], + [ + 0.3688710033893585, + -0.034486427903175354, + 0.105200856924057 + ], + [ + 0.3719584047794342, + -0.057962190359830856, + 0.08783488720655441 + ], + [ + 0.3730267882347107, + -0.06718679517507553, + 0.06849870830774307 + ], + [ + 0.371881365776062, + -0.06988513469696045, + 0.05734655633568764 + ], + [ + 0.3640029728412628, + -0.06776190549135208, + 0.04546885937452316 + ], + [ + 0.35739725828170776, + -0.0626368448138237, + 0.03254280611872673 + ], + [ + 0.3566490709781647, + -0.060936275869607925, + 0.030010951682925224 + ], + [ + 0.34853556752204895, + -0.05919816717505455, + 0.009533246047794819 + ], + [ + 0.34853070974349976, + -0.05974160507321358, + 0.00871589221060276 + ], + [ + 0.3479980230331421, + -0.05965203419327736, + 0.007783928886055946 + ], + [ + 0.3477187752723694, + -0.06032593920826912, + 0.008550427854061127 + ], + [ + 0.3448566198348999, + -0.062111806124448776, + 0.01737000048160553 + ], + [ + 0.34682536125183105, + -0.055892687290906906, + 0.03335439786314964 + ], + [ + 0.34889230132102966, + -0.053290899842977524, + 0.058225929737091064 + ], + [ + 0.34861940145492554, + -0.03787141665816307, + 0.09248494356870651 + ], + [ + 0.3436787724494934, + -0.010698067955672741, + 0.11116742342710495 + ], + [ + 0.33307626843452454, + 0.019930651411414146, + 0.11338607221841812 + ], + [ + 0.3120846748352051, + 0.05334853008389473, + 0.11290428787469864 + ], + [ + 0.2850988209247589, + 0.08100411295890808, + 0.1072692796587944 + ], + [ + 0.26192691922187805, + 0.09419383853673935, + 0.10423601418733597 + ], + [ + 0.23873990774154663, + 0.10835140943527222, + 0.09929303079843521 + ], + [ + 0.23111025989055634, + 0.11333983391523361, + 0.09127014875411987 + ], + [ + 0.23012004792690277, + 0.12268946319818497, + 0.08554727584123611 + ], + [ + 0.2299363911151886, + 0.1290394514799118, + 0.06309283524751663 + ], + [ + 0.23356720805168152, + 0.13066813349723816, + 0.05108669400215149 + ], + [ + 0.2333417385816574, + 0.13355652987957, + 0.050299838185310364 + ], + [ + 0.23415890336036682, + 0.13172368705272675, + 0.050487808883190155 + ], + [ + 0.23197074234485626, + 0.13261477649211884, + 0.05072662606835365 + ], + [ + 0.22628504037857056, + 0.13962003588676453, + 0.04994621127843857 + ], + [ + 0.21994233131408691, + 0.15013301372528076, + 0.04814142733812332 + ], + [ + 0.2185472548007965, + 0.15234321355819702, + 0.0486585907638073 + ], + [ + 0.21471425890922546, + 0.1616629809141159, + 0.051477983593940735 + ], + [ + 0.21220606565475464, + 0.1691022366285324, + 0.04984162002801895 + ], + [ + 0.21147462725639343, + 0.17202796041965485, + 0.04754256084561348 + ], + [ + 0.22438567876815796, + 0.1649090051651001, + 0.03266296535730362 + ], + [ + 0.22813540697097778, + 0.16040094196796417, + 0.0146477734670043 + ], + [ + 0.23185935616493225, + 0.16237019002437592, + 0.008769100531935692 + ], + [ + 0.2288079708814621, + 0.1626465916633606, + 0.010718904435634613 + ], + [ + 0.2322431206703186, + 0.1626177579164505, + 0.03943648189306259 + ], + [ + 0.2330676168203354, + 0.16290152072906494, + 0.06697233766317368 + ], + [ + 0.2406981736421585, + 0.1613432615995407, + 0.09489931166172028 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9825780429586347, + -0.12235979959026626, + 0.1398873437442038, + -0.10526678161114296, + -0.9867220314225574, + -0.12368725639520614, + 0.1531642718939737, + 0.10680689186364056, + -0.9824118248807968 + ], + [ + 0.9866974562015128, + -0.12050465384444801, + 0.10911809349183738, + -0.10575943767581784, + -0.9855785932261807, + -0.13209760753623592, + 0.1234628335490418, + 0.11880010511835573, + -0.985212395250846 + ], + [ + 0.9772545976940198, + -0.15772797674643133, + 0.14175802142163613, + -0.13474175228810983, + -0.9779942074275982, + -0.15928587642472833, + 0.163762362819512, + 0.13656213087654054, + -0.9770018796984116 + ], + [ + 0.9744536871031116, + -0.19336064939818393, + 0.11424390992724057, + -0.17297909519958077, + -0.9706066224740042, + -0.16733504424817883, + 0.14324190837560505, + 0.14329844267792372, + -0.9792585521765926 + ], + [ + 0.9683355363182853, + -0.205043730446694, + 0.1424196535162287, + -0.18472357873591339, + -0.9722202679362496, + -0.14375308717715973, + 0.16793894295896933, + 0.11289295468925759, + -0.9793118462570304 + ], + [ + 0.9749779584141905, + -0.15928281713095424, + 0.1550708379203647, + -0.14336733039292723, + -0.9836515247771511, + -0.10897470522828144, + 0.16989346421361318, + 0.08401584356782106, + -0.9818745076877621 + ], + [ + 0.9876114447627332, + -0.08484762226487214, + 0.13200195138581736, + -0.07416045653721778, + -0.9937123606618643, + -0.08388069476355002, + 0.13828904822818597, + 0.07305220916455564, + -0.9876940385951106 + ], + [ + 0.9935687609609997, + -0.015173375667624528, + 0.1122091168901734, + -0.00923478128233084, + -0.9985381920109085, + -0.05325596595925219, + 0.11285316148469643, + 0.05187723745955113, + -0.9922564770141206 + ], + [ + 0.9943066131527899, + 0.0036363193745128884, + 0.10649477086709397, + 0.009109622944996516, + -0.9986594638436748, + -0.050953803050058574, + 0.10616672647505102, + 0.05163383054617106, + -0.9930068346857946 + ], + [ + 0.9941112287586238, + 0.020808978778030396, + 0.10634778445381152, + 0.026906348869102717, + -0.9980555172170238, + -0.05622484275827724, + 0.10497101145817833, + 0.0587551781111618, + -0.9927380902325509 + ], + [ + 0.9936059649919858, + 0.012816268139325727, + 0.11217365824170163, + 0.01820687132798505, + -0.9987212079360227, + -0.04716416706842613, + 0.11142574284603791, + 0.048904929095062805, + -0.9925686937141509 + ], + [ + 0.9976100095458903, + 0.011720098127817383, + 0.06809484674865594, + 0.013147962934299692, + -0.9997021941105745, + -0.02055855445262583, + 0.06783361942670381, + 0.021404728224801908, + -0.9974670108254686 + ], + [ + 0.9974922887063558, + 0.004519240816405638, + 0.0706308037176389, + 0.005545803016651855, + -0.99988172744698, + -0.014344866208638011, + 0.0705576221272854, + 0.014700597949966619, + -0.9973993755661054 + ], + [ + 0.9971199039062469, + -0.004501882951617805, + 0.0757075312230337, + -0.003613167543107444, + -0.9999230012382678, + -0.011871672795363247, + 0.07575514671824038, + 0.011563937242335148, + -0.9970593929657114 + ], + [ + 0.9969272407748557, + -0.019273768634168208, + 0.07592495270771887, + -0.01781806893782332, + -0.9996450980401296, + -0.01980389819370438, + 0.0762797025450399, + 0.018390209541388744, + -0.9969168506814718 + ], + [ + 0.9972164313098387, + -0.03130619829091554, + 0.06767060716618468, + -0.02914207051771184, + -0.9990391334412125, + -0.03273453190397399, + 0.06863037848949195, + 0.030671351479865664, + -0.9971705668273548 + ], + [ + 0.9951184455946617, + -0.036109343644928044, + 0.09184440396016023, + -0.03115760635796846, + -0.9980117219910162, + -0.054788742772296097, + 0.09364017729215642, + 0.05165963675888013, + -0.9942649541880848 + ], + [ + 0.9900783909721302, + -0.06691347559804794, + 0.12356118530277642, + -0.05601940876403071, + -0.9943982738168752, + -0.08963201923279086, + 0.12886661930758503, + 0.08182090083474024, + -0.9882806962674247 + ], + [ + 0.9820336430452097, + -0.08183069247314577, + 0.17004017671338492, + -0.062273898751629045, + -0.99113876671419, + -0.11732820057661479, + 0.17813445893937976, + 0.10463117549583366, + -0.9784275300975206 + ], + [ + 0.9798231062436994, + -0.06706186435844419, + 0.18828007547193423, + -0.044396017757780654, + -0.9915217219541191, + -0.12212153168212694, + 0.19487348223449605, + 0.11129861293793172, + -0.9744931732341143 + ], + [ + 0.9832477420299507, + -0.05328076802345025, + 0.17431304469785217, + -0.03288315260245635, + -0.9924832757604797, + -0.11787979305492455, + 0.1792835075179189, + 0.11017307790281414, + -0.9776089795196714 + ], + [ + 0.9859646089669661, + -0.034745666200238945, + 0.1632988932752445, + -0.017836796781565526, + -0.9944285138501455, + -0.10389311585646419, + 0.1659989112771263, + 0.09952220617577329, + -0.9810910721909134 + ], + [ + 0.9887376131147773, + -0.03777507785598849, + 0.14481359019466128, + -0.02194136678195474, + -0.9937538869534529, + -0.10941566884429203, + 0.14804225354888728, + 0.10500597915298944, + -0.9833906830483442 + ], + [ + 0.9823852611697471, + -0.08789441032628888, + 0.1649053403314807, + -0.06889194640297654, + -0.9906665508645969, + -0.11761668554610921, + 0.1737040539459483, + 0.10418424848045357, + -0.9792714353085696 + ], + [ + 0.9677957667403486, + -0.1186517929874484, + 0.22202050783728233, + -0.09134394193295964, + -0.987364014477897, + -0.12949357971050035, + 0.23457970532765438, + 0.1050431098880612, + -0.9664048359323519 + ], + [ + 0.9632998197795611, + -0.13402576984743483, + 0.23257375223672055, + -0.10548635195998331, + -0.9857361104595209, + -0.13113714228360215, + 0.24683210237495362, + 0.10179102884310397, + -0.9636973070856962 + ], + [ + 0.9613573587411335, + -0.12932346805978523, + 0.24303799991618766, + -0.10641295828523153, + -0.988741668808582, + -0.10519598219801647, + 0.2539061068648344, + 0.07526853904925705, + -0.9642957720150667 + ], + [ + 0.9783754228787804, + -0.09874191164374639, + 0.18174588521258522, + -0.08321733044221012, + -0.9923525986833349, + -0.09116576002263238, + 0.18935788291180178, + 0.07406993162796066, + -0.9791104316714176 + ], + [ + 0.9925981718912399, + -0.07282997164324068, + 0.09718366317758029, + -0.07170976790874206, + -0.9973131232337221, + -0.014974759172455679, + 0.09801315393682097, + 0.007894900648105437, + -0.9951538032882724 + ], + [ + 0.9958234471853916, + -0.06264173363847733, + 0.06642044295674061, + -0.06468659207935623, + -0.9974814098415571, + 0.02909436071919463, + 0.06443063588823679, + -0.03326935868431648, + -0.9973674563227797 + ], + [ + 0.9969672728425933, + -0.06793883177238556, + 0.03795486817531023, + -0.07075623852442116, + -0.9943907003458915, + 0.07861736306619727, + 0.0324007961426398, + -0.08106448175995792, + -0.9961820808498375 + ], + [ + 0.9974533595332845, + -0.06971894924077474, + 0.015035413945957428, + -0.07089272728229953, + -0.9922604401117936, + 0.10194822317052323, + 0.007811323462865834, + -0.10275449920033468, + -0.9946760759764188 + ], + [ + 0.9983627588883184, + -0.05695968222101214, + 0.005234144265005954, + -0.05719841394719431, + -0.9935471733840948, + 0.09794057229974082, + -0.0003782946351560644, + -0.0980796047185992, + -0.9951785005874134 + ], + [ + 0.9999103088745871, + -0.01333928441594336, + -0.0011990402821831535, + -0.013221189300296948, + -0.997411321109512, + 0.07068137432211859, + -0.002138775306908317, + -0.07065918209156048, + -0.9974982233700159 + ], + [ + 0.9998685021540713, + -0.016175595438239213, + 0.0011526111193178076, + -0.016215913582996653, + -0.9979551058060403, + 0.061827590461895066, + 0.00015015606129926908, + -0.06183815090923603, + -0.9980861789170732 + ], + [ + 0.9999936277369387, + -0.0024752760707242574, + -0.0025724490065107946, + -0.002296928429343088, + -0.997739539464565, + 0.0671605204627601, + -0.002732874916251014, + -0.06715418376700026, + -0.9977388671377299 + ], + [ + 0.9998467215856123, + 0.016093210207499965, + -0.006895064881510956, + 0.016492317691664073, + -0.9979161933455342, + 0.06238008108295021, + -0.00587680114179908, + -0.06248423516356296, + -0.9980286486691472 + ], + [ + 0.9996654838012187, + 0.02586045630313168, + -0.0003966059371005397, + 0.02586050138308862, + -0.9991987551208585, + 0.03054639476504579, + 0.0003936555484152762, + -0.030546432929567446, + -0.9995332713174628 + ], + [ + 0.9979244943780381, + -0.018432064709973835, + 0.06170058760549823, + -0.016417847326127714, + -0.9993206824623689, + -0.032994361520122154, + 0.06226682752085886, + 0.03191289071005467, + -0.9975492015920895 + ], + [ + 0.9984330615503445, + -0.01528114659352163, + 0.0538322223393556, + -0.010778924869341264, + -0.9964951511450929, + -0.08295317066260968, + 0.05491116809782515, + 0.08224293466983199, + -0.9950984189089171 + ], + [ + 0.999499734274196, + -0.0062012200015071775, + 0.031013320626860928, + -0.002957365856276592, + -0.9946180742347002, + -0.10356708160824392, + 0.03148865149547849, + 0.10342355281148212, + -0.9941388401781951 + ], + [ + 0.9997842500573566, + 0.01682742186384169, + 0.012177487863481563, + 0.017977715416345668, + -0.9946727167718372, + -0.1015036366744623, + 0.010404570421589992, + 0.10170066068196737, + -0.9947606347917037 + ], + [ + 0.9970136594136, + -0.011616314914742609, + 0.07634673647578656, + -0.005596943323452905, + -0.99689142899895, + -0.07858850433660879, + 0.07702231603980579, + 0.07792650393949833, + -0.9939793875205015 + ], + [ + 0.9906221870639422, + -0.034211483448654795, + 0.1322771971917069, + -0.024107413833573337, + -0.9967205289169475, + -0.07724648751740608, + 0.13448611487773796, + 0.07333322327405468, + -0.9881982206365932 + ], + [ + 0.983127690335719, + -0.036146166750796835, + 0.17931368917173754, + -0.02563135353982806, + -0.9978321407208881, + -0.06061396423338705, + 0.18111592478540164, + 0.054995214097170037, + -0.981922883028772 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0006997287273406982, + -0.0011067166924476624, + -0.011897265911102295, + -0.011710122227668762, + 0.029990874230861664, + -5.1431357860565186e-05, + 1.0 + ], + [ + 0.005712985992431641, + -0.019531048834323883, + -0.005750618875026703, + -0.01887311041355133, + -0.04072464257478714, + -0.030236363410949707, + 1.0 + ], + [ + 0.004565119743347168, + -0.026784485206007957, + -0.01400814950466156, + -0.0064253658056259155, + 0.0207669734954834, + -0.03866986930370331, + 1.0 + ], + [ + 0.00586700439453125, + -0.027547216042876244, + -0.005545042455196381, + 0.03053109347820282, + -0.025002211332321167, + -0.012815400958061218, + 1.0 + ], + [ + 0.0030874013900756836, + -0.023475762456655502, + -0.017365969717502594, + 0.029412366449832916, + -0.0019830167293548584, + 0.042498812079429626, + 1.0 + ], + [ + 0.0010683834552764893, + -0.009224604815244675, + -0.01933617889881134, + 0.011530905961990356, + 0.031987905502319336, + 0.07105036824941635, + 1.0 + ], + [ + -0.0011454224586486816, + -0.002698339521884918, + -0.011152151972055435, + 0.021593432873487473, + 0.02563956379890442, + 0.06565577536821365, + 1.0 + ], + [ + -0.007878392934799194, + 0.002123229205608368, + -0.011877696961164474, + 0.00028385594487190247, + 0.006726905703544617, + 0.01845581829547882, + 1.0 + ], + [ + -0.006605714559555054, + 0.005125060677528381, + -0.012926053255796432, + -0.007165342569351196, + 0.0012024343013763428, + 0.017897598445415497, + 1.0 + ], + [ + -0.0007481873035430908, + 0.0017005689442157745, + -0.002531854435801506, + 0.009884748607873917, + -0.0064928606152534485, + -0.008737141266465187, + 1.0 + ], + [ + -0.008113503456115723, + 0.0017381086945533752, + -0.02047770470380783, + 0.02777547389268875, + 0.04377186298370361, + -0.005143286660313606, + 1.0 + ], + [ + -4.857778549194336e-06, + -0.0005434378981590271, + -0.0008173538371920586, + 0.006717929616570473, + -0.00273054838180542, + -0.007619010750204325, + 1.0 + ], + [ + -0.000532686710357666, + 8.957087993621826e-05, + -0.000931963324546814, + 0.003140338696539402, + -0.005211494863033295, + -0.009183276444673538, + 0.0 + ], + [ + -0.0002792477607727051, + -0.0006739050149917603, + 0.0007664989680051804, + -0.0068474700674414635, + -0.0005260780453681946, + -0.014247497543692589, + 0.0 + ], + [ + -0.0028621554374694824, + -0.001785866916179657, + 0.008819572627544403, + -0.01230369322001934, + 0.007669501006603241, + -0.01134401559829712, + 0.0 + ], + [ + 0.0019687414169311523, + 0.00621911883354187, + 0.015984397381544113, + -0.021162251010537148, + -0.0250931978225708, + -0.002085123211145401, + 0.0 + ], + [ + 0.0020669400691986084, + 0.0026017874479293823, + 0.02487153187394142, + -0.030691832304000854, + -0.03544841706752777, + -0.025220293551683426, + 0.0 + ], + [ + -0.000272899866104126, + 0.015419483184814453, + 0.03425901383161545, + -0.023930460214614868, + -0.0498642772436142, + -0.00680788978934288, + 0.0 + ], + [ + -0.004940629005432129, + 0.027173347771167755, + 0.018682479858398438, + -0.007185809314250946, + -0.017038196325302124, + 0.01804913952946663, + 0.0 + ], + [ + -0.010602504014968872, + 0.030628718435764313, + 0.0022186487913131714, + 0.0014960691332817078, + 0.0158703476190567, + 0.011848323047161102, + 0.0 + ], + [ + -0.020991593599319458, + 0.03341788053512573, + -0.0004817843437194824, + 0.011128447949886322, + 0.01348721981048584, + 0.015342211350798607, + 0.0 + ], + [ + -0.026985853910446167, + 0.02765558287501335, + -0.005635008215904236, + -0.005281917750835419, + 0.01818247139453888, + -0.004098918288946152, + 0.0 + ], + [ + -0.02317190170288086, + 0.013189725577831268, + -0.003033265471458435, + 0.00038558244705200195, + -0.02600124478340149, + -0.04782494902610779, + 0.0 + ], + [ + -0.02318701148033142, + 0.014157570898532867, + -0.004942983388900757, + -0.0022788196802139282, + -0.0621965229511261, + -0.024092115461826324, + 0.0 + ], + [ + -0.007629647850990295, + 0.004988424479961395, + -0.008022882044315338, + 0.003034360706806183, + -0.012623652815818787, + -0.014965914189815521, + 0.0 + ], + [ + -0.0009902119636535645, + 0.009349629282951355, + -0.0057228729128837585, + 0.02733781188726425, + -0.007306739687919617, + -0.001170918345451355, + 0.0 + ], + [ + -0.00018365681171417236, + 0.006349988281726837, + -0.022454440593719482, + 0.0023910924792289734, + 0.06620842218399048, + 0.025389134883880615, + 0.0 + ], + [ + 0.00363081693649292, + 0.001628682017326355, + -0.012006141245365143, + 0.06757323443889618, + 0.09233739227056503, + 0.012733198702335358, + 0.0 + ], + [ + -0.0002254694700241089, + 0.002888396382331848, + -0.0007868558168411255, + 0.041277989745140076, + 0.033695466816425323, + 0.00725245475769043, + 0.0 + ], + [ + 0.0008171647787094116, + -0.0018328428268432617, + 0.00018797069787979126, + 0.04785144701600075, + 0.032068829983472824, + -0.005985915660858154, + 0.0 + ], + [ + -0.002188161015510559, + 0.0008910894393920898, + 0.00023881718516349792, + 0.021743081510066986, + 0.024595065042376518, + -0.00010173767805099487, + 0.0 + ], + [ + -0.005685701966285706, + 0.007005259394645691, + -0.0007804147899150848, + -0.004701793193817139, + 0.008189697749912739, + 0.013724759221076965, + 0.0 + ], + [ + -0.006342709064483643, + 0.010512977838516235, + -0.0018047839403152466, + -0.02751927077770233, + 0.0017604823224246502, + 0.0440080463886261, + 0.0 + ], + [ + -0.0013950765132904053, + 0.0022101998329162598, + 0.0005171634256839752, + -0.008840642869472504, + -0.0022889329120516777, + -0.002995019778609276, + 0.0 + ], + [ + -0.003832995891571045, + 0.009319767355918884, + 0.002819392830133438, + 0.005327381193637848, + 0.0028830342926084995, + 0.013919685035943985, + 0.0 + ], + [ + -0.002508193254470825, + 0.007439255714416504, + -0.0016363635659217834, + -0.004678964614868164, + 0.0031439566519111395, + 0.018790289759635925, + 0.0 + ], + [ + -0.0007314383983612061, + 0.0029257237911224365, + -0.002299059182405472, + -0.03197485953569412, + -0.00627049058675766, + 0.00937003642320633, + 0.0 + ], + [ + 0.012911051511764526, + -0.0071189552545547485, + -0.01487959548830986, + -0.06253157556056976, + -0.06191347911953926, + -0.042313896119594574, + 0.0 + ], + [ + 0.0037497282028198242, + -0.004508063197135925, + -0.018015190958976746, + -0.05048023909330368, + 0.007368333637714386, + 0.0056550875306129456, + 0.0 + ], + [ + 0.0037239491939544678, + 0.001969248056411743, + -0.005878672935068607, + -0.0211997851729393, + 0.023444943130016327, + 0.007836584001779556, + 1.0 + ], + [ + -0.003051385283470154, + 0.0002764016389846802, + 0.0019498039036989212, + 0.0017780810594558716, + 0.0210890993475914, + 0.02093849517405033, + 1.0 + ], + [ + 0.0034351497888565063, + -2.8833746910095215e-05, + 0.02871757745742798, + 0.023643851280212402, + -0.06669391691684723, + -0.02359330654144287, + 1.0 + ], + [ + 0.0008244961500167847, + 0.0002837628126144409, + 0.027535855770111084, + 0.004165232181549072, + -0.0577961727976799, + -0.018717177212238312, + 1.0 + ], + [ + 0.00763055682182312, + -0.001558259129524231, + 0.0279269739985466, + 0.01812402904033661, + -0.04722617566585541, + -0.0017345044761896133, + 1.0 + ], + [ + 0.018740281462669373, + -0.01753467321395874, + 0.015125274658203125, + -0.015272051095962524, + -0.007804125547409058, + -0.03934141620993614, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9568231701850891 + ], + [ + 0.6811928749084473 + ], + [ + 0.4448287785053253 + ], + [ + 0.44298648834228516 + ], + [ + 0.44298648834228516 + ], + [ + 0.442066490650177 + ], + [ + 0.442066490650177 + ], + [ + 0.442066490650177 + ], + [ + 0.442066490650177 + ], + [ + 0.442066490650177 + ], + [ + 0.442066490650177 + ], + [ + 0.442066490650177 + ], + [ + 0.442066490650177 + ], + [ + 0.442066490650177 + ], + [ + 0.442066490650177 + ], + [ + 0.442066490650177 + ], + [ + 0.442066490650177 + ], + [ + 0.442066490650177 + ], + [ + 0.442066490650177 + ], + [ + 0.442066490650177 + ], + [ + 0.442066490650177 + ], + [ + 0.442066490650177 + ], + [ + 0.442066490650177 + ], + [ + 0.442066490650177 + ], + [ + 0.442066490650177 + ], + [ + 0.442066490650177 + ], + [ + 0.442066490650177 + ], + [ + 0.5168834924697876 + ], + [ + 0.8417698740959167 + ], + [ + 1.00800359249115 + ], + [ + 1.0047606229782104 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.35272589325904846, + 0.03937632218003273, + 0.13050466775894165 + ], + [ + 0.3584388792514801, + 0.019845273345708847, + 0.12475404888391495 + ], + [ + 0.36300399899482727, + -0.006939212325960398, + 0.11074589937925339 + ], + [ + 0.3688710033893585, + -0.034486427903175354, + 0.105200856924057 + ], + [ + 0.3719584047794342, + -0.057962190359830856, + 0.08783488720655441 + ], + [ + 0.3730267882347107, + -0.06718679517507553, + 0.06849870830774307 + ], + [ + 0.371881365776062, + -0.06988513469696045, + 0.05734655633568764 + ], + [ + 0.3640029728412628, + -0.06776190549135208, + 0.04546885937452316 + ], + [ + 0.35739725828170776, + -0.0626368448138237, + 0.03254280611872673 + ], + [ + 0.3566490709781647, + -0.060936275869607925, + 0.030010951682925224 + ], + [ + 0.34853556752204895, + -0.05919816717505455, + 0.009533246047794819 + ], + [ + 0.34853070974349976, + -0.05974160507321358, + 0.00871589221060276 + ], + [ + 0.3479980230331421, + -0.05965203419327736, + 0.007783928886055946 + ], + [ + 0.3477187752723694, + -0.06032593920826912, + 0.008550427854061127 + ], + [ + 0.3448566198348999, + -0.062111806124448776, + 0.01737000048160553 + ], + [ + 0.34682536125183105, + -0.055892687290906906, + 0.03335439786314964 + ], + [ + 0.34889230132102966, + -0.053290899842977524, + 0.058225929737091064 + ], + [ + 0.34861940145492554, + -0.03787141665816307, + 0.09248494356870651 + ], + [ + 0.3436787724494934, + -0.010698067955672741, + 0.11116742342710495 + ], + [ + 0.33307626843452454, + 0.019930651411414146, + 0.11338607221841812 + ], + [ + 0.3120846748352051, + 0.05334853008389473, + 0.11290428787469864 + ], + [ + 0.2850988209247589, + 0.08100411295890808, + 0.1072692796587944 + ], + [ + 0.26192691922187805, + 0.09419383853673935, + 0.10423601418733597 + ], + [ + 0.23873990774154663, + 0.10835140943527222, + 0.09929303079843521 + ], + [ + 0.23111025989055634, + 0.11333983391523361, + 0.09127014875411987 + ], + [ + 0.23012004792690277, + 0.12268946319818497, + 0.08554727584123611 + ], + [ + 0.2299363911151886, + 0.1290394514799118, + 0.06309283524751663 + ], + [ + 0.23356720805168152, + 0.13066813349723816, + 0.05108669400215149 + ], + [ + 0.2333417385816574, + 0.13355652987957, + 0.050299838185310364 + ], + [ + 0.23415890336036682, + 0.13172368705272675, + 0.050487808883190155 + ], + [ + 0.23197074234485626, + 0.13261477649211884, + 0.05072662606835365 + ], + [ + 0.22628504037857056, + 0.13962003588676453, + 0.04994621127843857 + ], + [ + 0.21994233131408691, + 0.15013301372528076, + 0.04814142733812332 + ], + [ + 0.2185472548007965, + 0.15234321355819702, + 0.0486585907638073 + ], + [ + 0.21471425890922546, + 0.1616629809141159, + 0.051477983593940735 + ], + [ + 0.21220606565475464, + 0.1691022366285324, + 0.04984162002801895 + ], + [ + 0.21147462725639343, + 0.17202796041965485, + 0.04754256084561348 + ], + [ + 0.22438567876815796, + 0.1649090051651001, + 0.03266296535730362 + ], + [ + 0.22813540697097778, + 0.16040094196796417, + 0.0146477734670043 + ], + [ + 0.23185935616493225, + 0.16237019002437592, + 0.008769100531935692 + ], + [ + 0.2288079708814621, + 0.1626465916633606, + 0.010718904435634613 + ], + [ + 0.2322431206703186, + 0.1626177579164505, + 0.03943648189306259 + ], + [ + 0.2330676168203354, + 0.16290152072906494, + 0.06697233766317368 + ], + [ + 0.2406981736421585, + 0.1613432615995407, + 0.09489931166172028 + ], + [ + 0.2594384551048279, + 0.14380858838558197, + 0.1100245863199234 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9866974562015128, + -0.12050465384444801, + 0.10911809349183738, + -0.10575943767581784, + -0.9855785932261807, + -0.13209760753623592, + 0.1234628335490418, + 0.11880010511835573, + -0.985212395250846 + ], + [ + 0.9772545976940198, + -0.15772797674643133, + 0.14175802142163613, + -0.13474175228810983, + -0.9779942074275982, + -0.15928587642472833, + 0.163762362819512, + 0.13656213087654054, + -0.9770018796984116 + ], + [ + 0.9744536871031116, + -0.19336064939818393, + 0.11424390992724057, + -0.17297909519958077, + -0.9706066224740042, + -0.16733504424817883, + 0.14324190837560505, + 0.14329844267792372, + -0.9792585521765926 + ], + [ + 0.9683355363182853, + -0.205043730446694, + 0.1424196535162287, + -0.18472357873591339, + -0.9722202679362496, + -0.14375308717715973, + 0.16793894295896933, + 0.11289295468925759, + -0.9793118462570304 + ], + [ + 0.9749779584141905, + -0.15928281713095424, + 0.1550708379203647, + -0.14336733039292723, + -0.9836515247771511, + -0.10897470522828144, + 0.16989346421361318, + 0.08401584356782106, + -0.9818745076877621 + ], + [ + 0.9876114447627332, + -0.08484762226487214, + 0.13200195138581736, + -0.07416045653721778, + -0.9937123606618643, + -0.08388069476355002, + 0.13828904822818597, + 0.07305220916455564, + -0.9876940385951106 + ], + [ + 0.9935687609609997, + -0.015173375667624528, + 0.1122091168901734, + -0.00923478128233084, + -0.9985381920109085, + -0.05325596595925219, + 0.11285316148469643, + 0.05187723745955113, + -0.9922564770141206 + ], + [ + 0.9943066131527899, + 0.0036363193745128884, + 0.10649477086709397, + 0.009109622944996516, + -0.9986594638436748, + -0.050953803050058574, + 0.10616672647505102, + 0.05163383054617106, + -0.9930068346857946 + ], + [ + 0.9941112287586238, + 0.020808978778030396, + 0.10634778445381152, + 0.026906348869102717, + -0.9980555172170238, + -0.05622484275827724, + 0.10497101145817833, + 0.0587551781111618, + -0.9927380902325509 + ], + [ + 0.9936059649919858, + 0.012816268139325727, + 0.11217365824170163, + 0.01820687132798505, + -0.9987212079360227, + -0.04716416706842613, + 0.11142574284603791, + 0.048904929095062805, + -0.9925686937141509 + ], + [ + 0.9976100095458903, + 0.011720098127817383, + 0.06809484674865594, + 0.013147962934299692, + -0.9997021941105745, + -0.02055855445262583, + 0.06783361942670381, + 0.021404728224801908, + -0.9974670108254686 + ], + [ + 0.9974922887063558, + 0.004519240816405638, + 0.0706308037176389, + 0.005545803016651855, + -0.99988172744698, + -0.014344866208638011, + 0.0705576221272854, + 0.014700597949966619, + -0.9973993755661054 + ], + [ + 0.9971199039062469, + -0.004501882951617805, + 0.0757075312230337, + -0.003613167543107444, + -0.9999230012382678, + -0.011871672795363247, + 0.07575514671824038, + 0.011563937242335148, + -0.9970593929657114 + ], + [ + 0.9969272407748557, + -0.019273768634168208, + 0.07592495270771887, + -0.01781806893782332, + -0.9996450980401296, + -0.01980389819370438, + 0.0762797025450399, + 0.018390209541388744, + -0.9969168506814718 + ], + [ + 0.9972164313098387, + -0.03130619829091554, + 0.06767060716618468, + -0.02914207051771184, + -0.9990391334412125, + -0.03273453190397399, + 0.06863037848949195, + 0.030671351479865664, + -0.9971705668273548 + ], + [ + 0.9951184455946617, + -0.036109343644928044, + 0.09184440396016023, + -0.03115760635796846, + -0.9980117219910162, + -0.054788742772296097, + 0.09364017729215642, + 0.05165963675888013, + -0.9942649541880848 + ], + [ + 0.9900783909721302, + -0.06691347559804794, + 0.12356118530277642, + -0.05601940876403071, + -0.9943982738168752, + -0.08963201923279086, + 0.12886661930758503, + 0.08182090083474024, + -0.9882806962674247 + ], + [ + 0.9820336430452097, + -0.08183069247314577, + 0.17004017671338492, + -0.062273898751629045, + -0.99113876671419, + -0.11732820057661479, + 0.17813445893937976, + 0.10463117549583366, + -0.9784275300975206 + ], + [ + 0.9798231062436994, + -0.06706186435844419, + 0.18828007547193423, + -0.044396017757780654, + -0.9915217219541191, + -0.12212153168212694, + 0.19487348223449605, + 0.11129861293793172, + -0.9744931732341143 + ], + [ + 0.9832477420299507, + -0.05328076802345025, + 0.17431304469785217, + -0.03288315260245635, + -0.9924832757604797, + -0.11787979305492455, + 0.1792835075179189, + 0.11017307790281414, + -0.9776089795196714 + ], + [ + 0.9859646089669661, + -0.034745666200238945, + 0.1632988932752445, + -0.017836796781565526, + -0.9944285138501455, + -0.10389311585646419, + 0.1659989112771263, + 0.09952220617577329, + -0.9810910721909134 + ], + [ + 0.9887376131147773, + -0.03777507785598849, + 0.14481359019466128, + -0.02194136678195474, + -0.9937538869534529, + -0.10941566884429203, + 0.14804225354888728, + 0.10500597915298944, + -0.9833906830483442 + ], + [ + 0.9823852611697471, + -0.08789441032628888, + 0.1649053403314807, + -0.06889194640297654, + -0.9906665508645969, + -0.11761668554610921, + 0.1737040539459483, + 0.10418424848045357, + -0.9792714353085696 + ], + [ + 0.9677957667403486, + -0.1186517929874484, + 0.22202050783728233, + -0.09134394193295964, + -0.987364014477897, + -0.12949357971050035, + 0.23457970532765438, + 0.1050431098880612, + -0.9664048359323519 + ], + [ + 0.9632998197795611, + -0.13402576984743483, + 0.23257375223672055, + -0.10548635195998331, + -0.9857361104595209, + -0.13113714228360215, + 0.24683210237495362, + 0.10179102884310397, + -0.9636973070856962 + ], + [ + 0.9613573587411335, + -0.12932346805978523, + 0.24303799991618766, + -0.10641295828523153, + -0.988741668808582, + -0.10519598219801647, + 0.2539061068648344, + 0.07526853904925705, + -0.9642957720150667 + ], + [ + 0.9783754228787804, + -0.09874191164374639, + 0.18174588521258522, + -0.08321733044221012, + -0.9923525986833349, + -0.09116576002263238, + 0.18935788291180178, + 0.07406993162796066, + -0.9791104316714176 + ], + [ + 0.9925981718912399, + -0.07282997164324068, + 0.09718366317758029, + -0.07170976790874206, + -0.9973131232337221, + -0.014974759172455679, + 0.09801315393682097, + 0.007894900648105437, + -0.9951538032882724 + ], + [ + 0.9958234471853916, + -0.06264173363847733, + 0.06642044295674061, + -0.06468659207935623, + -0.9974814098415571, + 0.02909436071919463, + 0.06443063588823679, + -0.03326935868431648, + -0.9973674563227797 + ], + [ + 0.9969672728425933, + -0.06793883177238556, + 0.03795486817531023, + -0.07075623852442116, + -0.9943907003458915, + 0.07861736306619727, + 0.0324007961426398, + -0.08106448175995792, + -0.9961820808498375 + ], + [ + 0.9974533595332845, + -0.06971894924077474, + 0.015035413945957428, + -0.07089272728229953, + -0.9922604401117936, + 0.10194822317052323, + 0.007811323462865834, + -0.10275449920033468, + -0.9946760759764188 + ], + [ + 0.9983627588883184, + -0.05695968222101214, + 0.005234144265005954, + -0.05719841394719431, + -0.9935471733840948, + 0.09794057229974082, + -0.0003782946351560644, + -0.0980796047185992, + -0.9951785005874134 + ], + [ + 0.9999103088745871, + -0.01333928441594336, + -0.0011990402821831535, + -0.013221189300296948, + -0.997411321109512, + 0.07068137432211859, + -0.002138775306908317, + -0.07065918209156048, + -0.9974982233700159 + ], + [ + 0.9998685021540713, + -0.016175595438239213, + 0.0011526111193178076, + -0.016215913582996653, + -0.9979551058060403, + 0.061827590461895066, + 0.00015015606129926908, + -0.06183815090923603, + -0.9980861789170732 + ], + [ + 0.9999936277369387, + -0.0024752760707242574, + -0.0025724490065107946, + -0.002296928429343088, + -0.997739539464565, + 0.0671605204627601, + -0.002732874916251014, + -0.06715418376700026, + -0.9977388671377299 + ], + [ + 0.9998467215856123, + 0.016093210207499965, + -0.006895064881510956, + 0.016492317691664073, + -0.9979161933455342, + 0.06238008108295021, + -0.00587680114179908, + -0.06248423516356296, + -0.9980286486691472 + ], + [ + 0.9996654838012187, + 0.02586045630313168, + -0.0003966059371005397, + 0.02586050138308862, + -0.9991987551208585, + 0.03054639476504579, + 0.0003936555484152762, + -0.030546432929567446, + -0.9995332713174628 + ], + [ + 0.9979244943780381, + -0.018432064709973835, + 0.06170058760549823, + -0.016417847326127714, + -0.9993206824623689, + -0.032994361520122154, + 0.06226682752085886, + 0.03191289071005467, + -0.9975492015920895 + ], + [ + 0.9984330615503445, + -0.01528114659352163, + 0.0538322223393556, + -0.010778924869341264, + -0.9964951511450929, + -0.08295317066260968, + 0.05491116809782515, + 0.08224293466983199, + -0.9950984189089171 + ], + [ + 0.999499734274196, + -0.0062012200015071775, + 0.031013320626860928, + -0.002957365856276592, + -0.9946180742347002, + -0.10356708160824392, + 0.03148865149547849, + 0.10342355281148212, + -0.9941388401781951 + ], + [ + 0.9997842500573566, + 0.01682742186384169, + 0.012177487863481563, + 0.017977715416345668, + -0.9946727167718372, + -0.1015036366744623, + 0.010404570421589992, + 0.10170066068196737, + -0.9947606347917037 + ], + [ + 0.9970136594136, + -0.011616314914742609, + 0.07634673647578656, + -0.005596943323452905, + -0.99689142899895, + -0.07858850433660879, + 0.07702231603980579, + 0.07792650393949833, + -0.9939793875205015 + ], + [ + 0.9906221870639422, + -0.034211483448654795, + 0.1322771971917069, + -0.024107413833573337, + -0.9967205289169475, + -0.07724648751740608, + 0.13448611487773796, + 0.07333322327405468, + -0.9881982206365932 + ], + [ + 0.983127690335719, + -0.036146166750796835, + 0.17931368917173754, + -0.02563135353982806, + -0.9978321407208881, + -0.06061396423338705, + 0.18111592478540164, + 0.054995214097170037, + -0.981922883028772 + ], + [ + 0.9799185591825593, + -0.07859986846286987, + 0.18325304375970625, + -0.0641848400477506, + -0.9944539402238796, + -0.0833166674876368, + 0.1887853905301518, + 0.06988148145839723, + -0.9795287922626664 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005506.json b/json/chunk-0005/episode_0005506.json new file mode 100644 index 0000000000000000000000000000000000000000..61ce901d542abff536e355073536af17999e9cea --- /dev/null +++ b/json/chunk-0005/episode_0005506.json @@ -0,0 +1,1702 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 27, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nTake mushroom out of the pot and place it in between the pot and the spoon." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005506.mp4", + "start": 0, + "end": 27, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.37244048714637756, + -0.022874660789966583, + 0.0925968810915947, + -0.00845261849462986, + -0.17726173996925354, + -0.1652585119009018, + 0.0, + 1.0001531839370728 + ], + [ + 0.3703548014163971, + -0.023252658545970917, + 0.079215407371521, + -0.02000792697072029, + -0.13848011195659637, + -0.1606152355670929, + 0.0, + 1.0001531839370728 + ], + [ + 0.3754299283027649, + -0.0047635529190301895, + 0.08704479783773422, + -0.07551534473896027, + -0.15275149047374725, + -0.0847528949379921, + 0.0, + 1.0001531839370728 + ], + [ + 0.3848712146282196, + 0.021962817758321762, + 0.10076791793107986, + -0.08683806657791138, + -0.18902797996997833, + -0.013044824823737144, + 0.0, + 1.0001531839370728 + ], + [ + 0.39159926772117615, + 0.060914188623428345, + 0.11038205772638321, + -0.040970977395772934, + -0.23843325674533844, + 0.055460765957832336, + 0.0, + 1.0001531839370728 + ], + [ + 0.40216943621635437, + 0.10348007827997208, + 0.10034016519784927, + 0.04133874922990799, + -0.26613229513168335, + 0.030325867235660553, + 0.0, + 1.0001531839370728 + ], + [ + 0.40191325545310974, + 0.1486114263534546, + 0.08802907168865204, + 0.08677849918603897, + -0.27714434266090393, + 0.01886892318725586, + 0.0, + 1.0001531839370728 + ], + [ + 0.3947204649448395, + 0.1911449432373047, + 0.07292583584785461, + 0.05587445944547653, + -0.27245843410491943, + 0.06346528977155685, + 0.0, + 1.0001531839370728 + ], + [ + 0.37815070152282715, + 0.2217852920293808, + 0.06851992011070251, + 0.035511087626218796, + -0.2774769067764282, + 0.1458873450756073, + 0.0, + 1.0001531839370728 + ], + [ + 0.3747979998588562, + 0.21964755654335022, + 0.05125986039638519, + 0.01796715334057808, + -0.23957252502441406, + 0.16830217838287354, + 0.0, + 1.0001531839370728 + ], + [ + 0.37361791729927063, + 0.21230699121952057, + 0.04557891935110092, + 0.028081322088837624, + -0.2148023098707199, + 0.14900030195713043, + 0.0, + 1.0001531839370728 + ], + [ + 0.37271854281425476, + 0.208810493350029, + 0.042872458696365356, + 0.022865455597639084, + -0.2076020985841751, + 0.13698720932006836, + 0.0, + 1.0001531839370728 + ], + [ + 0.3723333775997162, + 0.20734134316444397, + 0.0410691574215889, + 0.020861001685261726, + -0.20587289333343506, + 0.14759206771850586, + 0.0, + 0.9476637244224548 + ], + [ + 0.3715546727180481, + 0.20413906872272491, + 0.03961130231618881, + 0.02202017791569233, + -0.19246524572372437, + 0.15813690423965454, + 0.0, + 0.6881998181343079 + ], + [ + 0.3704104423522949, + 0.20271462202072144, + 0.037936966866254807, + 0.03438197448849678, + -0.18381892144680023, + 0.15934279561042786, + 0.0, + 0.443907231092453 + ], + [ + 0.3705582022666931, + 0.20201899111270905, + 0.03752866014838219, + 0.048431508243083954, + -0.18152032792568207, + 0.16319379210472107, + 0.0, + 0.2943395674228668 + ], + [ + 0.37161874771118164, + 0.1968015879392624, + 0.03909482806921005, + 0.05843554064631462, + -0.1828470677137375, + 0.14593034982681274, + 0.0, + 0.1996482014656067 + ], + [ + 0.37745070457458496, + 0.18096528947353363, + 0.04993169754743576, + 0.04965986683964729, + -0.20209196209907532, + 0.12182971090078354, + 0.0, + 0.12483644485473633 + ], + [ + 0.3915116786956787, + 0.16280286014080048, + 0.09492409229278564, + 0.06942785531282425, + -0.30867308378219604, + 0.14456196129322052, + 0.0, + 0.06833917647600174 + ], + [ + 0.39357075095176697, + 0.15331976115703583, + 0.11196747422218323, + 0.10603945702314377, + -0.33200907707214355, + 0.18345823884010315, + 0.0, + 0.06122923642396927 + ], + [ + 0.40667033195495605, + 0.11390046775341034, + 0.11483155936002731, + 0.08945029228925705, + -0.32781434059143066, + 0.08771520107984543, + 0.0, + 0.0600886270403862 + ], + [ + 0.41815662384033203, + 0.07176610082387924, + 0.10550020635128021, + 0.06652781367301941, + -0.29840609431266785, + -0.018937546759843826, + 0.0, + 0.05952305346727371 + ], + [ + 0.42425423860549927, + 0.040437910705804825, + 0.09945174306631088, + 0.07233214378356934, + -0.2759189307689667, + -0.08671469241380692, + 0.0, + 0.08294149488210678 + ], + [ + 0.4256192445755005, + 0.037090007215738297, + 0.09758850932121277, + 0.06275960057973862, + -0.26709383726119995, + -0.06893385201692581, + 0.0, + 0.2418806254863739 + ], + [ + 0.4245236814022064, + 0.0379149429500103, + 0.09870167821645737, + 0.057372983545064926, + -0.25591862201690674, + -0.046660374850034714, + 0.0, + 0.5091317892074585 + ], + [ + 0.42192742228507996, + 0.04006147384643555, + 0.09845796227455139, + 0.06662672013044357, + -0.2417086958885193, + -0.030805977061390877, + 0.0, + 0.8186774849891663 + ], + [ + 0.41980406641960144, + 0.03994173929095268, + 0.09793853014707565, + 0.06382447481155396, + -0.2283775508403778, + -0.023587903007864952, + 0.0, + 1.0060625076293945 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9476637244224548 + ], + [ + 0.6881998181343079 + ], + [ + 0.443907231092453 + ], + [ + 0.2943395674228668 + ], + [ + 0.1996482014656067 + ], + [ + 0.12483644485473633 + ], + [ + 0.06833917647600174 + ], + [ + 0.06122923642396927 + ], + [ + 0.0600886270403862 + ], + [ + 0.05952305346727371 + ], + [ + 0.08294149488210678 + ], + [ + 0.2418806254863739 + ], + [ + 0.5091317892074585 + ], + [ + 0.8186774849891663 + ], + [ + 1.0060625076293945 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.37244048714637756, + -0.022874660789966583, + 0.0925968810915947 + ], + [ + 0.3703548014163971, + -0.023252658545970917, + 0.079215407371521 + ], + [ + 0.3754299283027649, + -0.0047635529190301895, + 0.08704479783773422 + ], + [ + 0.3848712146282196, + 0.021962817758321762, + 0.10076791793107986 + ], + [ + 0.39159926772117615, + 0.060914188623428345, + 0.11038205772638321 + ], + [ + 0.40216943621635437, + 0.10348007827997208, + 0.10034016519784927 + ], + [ + 0.40191325545310974, + 0.1486114263534546, + 0.08802907168865204 + ], + [ + 0.3947204649448395, + 0.1911449432373047, + 0.07292583584785461 + ], + [ + 0.37815070152282715, + 0.2217852920293808, + 0.06851992011070251 + ], + [ + 0.3747979998588562, + 0.21964755654335022, + 0.05125986039638519 + ], + [ + 0.37361791729927063, + 0.21230699121952057, + 0.04557891935110092 + ], + [ + 0.37271854281425476, + 0.208810493350029, + 0.042872458696365356 + ], + [ + 0.3723333775997162, + 0.20734134316444397, + 0.0410691574215889 + ], + [ + 0.3715546727180481, + 0.20413906872272491, + 0.03961130231618881 + ], + [ + 0.3704104423522949, + 0.20271462202072144, + 0.037936966866254807 + ], + [ + 0.3705582022666931, + 0.20201899111270905, + 0.03752866014838219 + ], + [ + 0.37161874771118164, + 0.1968015879392624, + 0.03909482806921005 + ], + [ + 0.37745070457458496, + 0.18096528947353363, + 0.04993169754743576 + ], + [ + 0.3915116786956787, + 0.16280286014080048, + 0.09492409229278564 + ], + [ + 0.39357075095176697, + 0.15331976115703583, + 0.11196747422218323 + ], + [ + 0.40667033195495605, + 0.11390046775341034, + 0.11483155936002731 + ], + [ + 0.41815662384033203, + 0.07176610082387924, + 0.10550020635128021 + ], + [ + 0.42425423860549927, + 0.040437910705804825, + 0.09945174306631088 + ], + [ + 0.4256192445755005, + 0.037090007215738297, + 0.09758850932121277 + ], + [ + 0.4245236814022064, + 0.0379149429500103, + 0.09870167821645737 + ], + [ + 0.42192742228507996, + 0.04006147384643555, + 0.09845796227455139 + ], + [ + 0.41980406641960144, + 0.03994173929095268, + 0.09793853014707565 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.970919581520948, + -0.16597161700731244, + 0.1725357602561425, + -0.1619295349485967, + -0.9860954308798646, + -0.03734470389741139, + 0.1763348857444785, + 0.00832006885981866, + -0.9842950698462578 + ], + [ + 0.9776792347039943, + -0.1626196678262114, + 0.1330344228562849, + -0.15839457720964234, + -0.9864898411658685, + -0.04182046373629123, + 0.13803793659422323, + 0.019815067818013336, + -0.9902287064856163 + ], + [ + 0.9848085748855784, + -0.09584837102603071, + 0.14479351022574372, + -0.08366579897182273, + -0.9925991787542825, + -0.08801650083212036, + 0.15215815756719303, + 0.07456514003192415, + -0.9855394132036409 + ], + [ + 0.9821037788318138, + -0.02929066034971029, + 0.1860489850027397, + -0.012812098495899258, + -0.995934599781254, + -0.08916346275624684, + 0.18790427812160937, + 0.08518409578572253, + -0.9784864087399301 + ], + [ + 0.9702151460491805, + 0.04572685514859154, + 0.2378899432405389, + 0.05386411328549272, + -0.9981607866139712, + -0.027815487882570787, + 0.2361804980872356, + 0.039800738490605454, + -0.9708937498711522 + ], + [ + 0.964351716708722, + 0.041159389556500524, + 0.2614032729945771, + 0.02925377050279839, + -0.9983567110036942, + 0.0492756989321946, + 0.26300186956048577, + -0.039872073500420276, + -0.9639710754802069 + ], + [ + 0.9616694756766391, + 0.042506267991717986, + 0.2708967270626103, + 0.0181478212800128, + -0.9956123401787591, + 0.09179719313009314, + 0.27361008046964724, + -0.08336237319793117, + -0.9582213933116929 + ], + [ + 0.961173261401974, + 0.07832145743395726, + 0.26459726164742026, + 0.06108317272921664, + -0.9954762087670874, + 0.07277337279554211, + 0.2690999954946586, + -0.0537853798362258, + -0.9616092373415761 + ], + [ + 0.9515332732144668, + 0.1549009513959387, + 0.2656880223540307, + 0.1398099369389252, + -0.9873397456582774, + 0.07492268132269322, + 0.2739299390334993, + -0.034145598546241905, + -0.9611433122074056 + ], + [ + 0.9577136288315726, + 0.1716846357658536, + 0.23088739894634208, + 0.16272462466623674, + -0.9849973484336768, + 0.057453634400780135, + 0.2372873820444179, + -0.01745306335782643, + -0.9712827028738515 + ], + [ + 0.9661931636077314, + 0.15430961358035122, + 0.2065413124640332, + 0.145037998993924, + -0.9876416396647241, + 0.059396720854042045, + 0.21315428554340918, + -0.02743236696053002, + -0.9766333579176071 + ], + [ + 0.9693610362543714, + 0.141191810107658, + 0.20100759724541242, + 0.13362696950512523, + -0.9897294288304554, + 0.05078868700622699, + 0.20611408106368476, + -0.0223725381989439, + -0.978272178446167 + ], + [ + 0.9682405509985991, + 0.15124258336666857, + 0.19908771026486183, + 0.14395139724409423, + -0.988285761068996, + 0.05068776676623508, + 0.2044216980494053, + -0.020418997155873662, + -0.9786699310399528 + ], + [ + 0.9692884535013568, + 0.1615995641697402, + 0.18537927276019317, + 0.1545708944532695, + -0.9866197388485689, + 0.05185874566838264, + 0.19127920037699941, + -0.02161184338578713, + -0.9812977100394171 + ], + [ + 0.9706980189724985, + 0.1647792777852663, + 0.17490896367948758, + 0.15599623089578418, + -0.9857512946354737, + 0.06292504327210298, + 0.18278548057538777, + -0.033796075764101444, + -0.9825717751664613 + ], + [ + 0.9705020857738422, + 0.1709034447257347, + 0.1700520922820409, + 0.15980105941788225, + -0.9841364829663699, + 0.07706493562903091, + 0.18052513098608866, + -0.047617176265103776, + -0.9824170609303331 + ], + [ + 0.97287823053999, + 0.15567116405355888, + 0.1710977417255647, + 0.1429889192815426, + -0.986138139630124, + 0.08417682893489528, + 0.18182991366679624, + -0.057428723205797366, + -0.9816515798626707 + ], + [ + 0.9723876044875387, + 0.13126847796549854, + 0.19295318948285572, + 0.1190553096928251, + -0.9901534143766917, + 0.07363456547114526, + 0.20071915671637053, + -0.04862923699586803, + -0.978441115977997 + ], + [ + 0.9427996128620729, + 0.1645669592173786, + 0.2899079266268362, + 0.13725038940079262, + -0.9841490634279738, + 0.11230739763333797, + 0.30379470139628206, + -0.06609339519034824, + -0.950442235233555 + ], + [ + 0.9295245287748038, + 0.21532532733608603, + 0.2993645834322863, + 0.17246820503067764, + -0.9714025103416539, + 0.1631927729877433, + 0.32594304511597577, + -0.10006081305656264, + -0.9400792333792852 + ], + [ + 0.9431085453427304, + 0.11590427466322505, + 0.3116287387522376, + 0.08293777141368931, + -0.9896531884422715, + 0.11708071010621787, + 0.3219745296983122, + -0.08457402509539969, + -0.9429632211834739 + ], + [ + 0.9556349211220175, + 0.0006465316493100681, + 0.29455301649947824, + -0.018099544739816703, + -0.9979790316847021, + 0.06091189373082832, + 0.2939971156530738, + -0.06354080826123311, + -0.9536919112969253 + ], + [ + 0.958560016167013, + -0.06676521928188348, + 0.2769568574708664, + -0.08333020717933007, + -0.9953427630031634, + 0.04846504625684946, + 0.27243122430688027, + -0.06953552783628414, + -0.9596593345511645 + ], + [ + 0.9622512057381838, + -0.05222974485931639, + 0.2671042321030169, + -0.06643694895168092, + -0.9968011157924773, + 0.04442597628487417, + 0.2639294391866951, + -0.060494539479222204, + -0.9626430604454559 + ], + [ + 0.9663782192912806, + -0.032067398176068615, + 0.25511726569095805, + -0.045124322796805214, + -0.9979450490515974, + 0.04549147794405434, + 0.2531342188870227, + -0.05547396729658091, + -0.9658393790795831 + ], + [ + 0.970469721539297, + -0.014804217831064658, + 0.24076825934879764, + -0.02990572883995081, + -0.9977986969128249, + 0.05918959217311809, + 0.23936199982033662, + -0.06464205731162255, + -0.9687761544694059 + ], + [ + 0.9737640365768272, + -0.009101816754811982, + 0.2273780068550291, + -0.02297331250611634, + -0.9980268694613194, + 0.058434533845450005, + 0.22639749994666494, + -0.06212507356132906, + -0.9720517718994701 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0020856857299804688, + -0.0003779977560043335, + -0.0133814737200737, + -0.011555308476090431, + 0.038781628012657166, + 0.004643276333808899, + 1.0 + ], + [ + 0.005075126886367798, + 0.018489105626940727, + 0.007829390466213226, + -0.055507417768239975, + -0.014271378517150879, + 0.0758623406291008, + 1.0 + ], + [ + 0.009441286325454712, + 0.02672637067735195, + 0.013723120093345642, + -0.01132272183895111, + -0.03627648949623108, + 0.0717080682516098, + 1.0 + ], + [ + 0.006728053092956543, + 0.03895137086510658, + 0.009614139795303345, + 0.04586708918213844, + -0.04940527677536011, + 0.06850559264421463, + 1.0 + ], + [ + 0.010570168495178223, + 0.04256588965654373, + -0.010041892528533936, + 0.08230972290039062, + -0.02769903838634491, + -0.025134898722171783, + 1.0 + ], + [ + -0.0002561807632446289, + 0.04513134807348251, + -0.012311093509197235, + 0.04543974995613098, + -0.011012047529220581, + -0.011456944048404694, + 1.0 + ], + [ + -0.007192790508270264, + 0.0425335168838501, + -0.015103235840797424, + -0.03090403974056244, + 0.004685908555984497, + 0.044596366584300995, + 1.0 + ], + [ + -0.01656976342201233, + 0.03064034879207611, + -0.0044059157371521, + -0.020363371819257736, + -0.005018472671508789, + 0.08242205530405045, + 1.0 + ], + [ + -0.0033527016639709473, + -0.0021377354860305786, + -0.017260059714317322, + -0.017543934285640717, + 0.03790438175201416, + 0.022414833307266235, + 1.0 + ], + [ + -0.0011800825595855713, + -0.007340565323829651, + -0.005680941045284271, + 0.010114168748259544, + 0.024770215153694153, + -0.019301876425743103, + 1.0 + ], + [ + -0.0008993744850158691, + -0.003496497869491577, + -0.002706460654735565, + -0.00521586649119854, + 0.0072002112865448, + -0.012013092637062073, + 1.0 + ], + [ + -0.0003851652145385742, + -0.001469150185585022, + -0.0018033012747764587, + -0.0020044539123773575, + 0.0017292052507400513, + 0.0106048583984375, + 0.0 + ], + [ + -0.0007787048816680908, + -0.003202274441719055, + -0.0014578551054000854, + 0.001159176230430603, + 0.013407647609710693, + 0.010544836521148682, + 0.0 + ], + [ + -0.0011442303657531738, + -0.001424446702003479, + -0.0016743354499340057, + 0.012361796572804451, + 0.008646324276924133, + 0.0012058913707733154, + 0.0 + ], + [ + 0.00014775991439819336, + -0.0006956309080123901, + -0.00040830671787261963, + 0.014049533754587173, + 0.002298593521118164, + 0.003850996494293213, + 0.0 + ], + [ + 0.0010605454444885254, + -0.005217403173446655, + 0.0015661679208278656, + 0.010004032403230667, + -0.00132673978805542, + -0.017263442277908325, + 0.0 + ], + [ + 0.00583195686340332, + -0.01583629846572876, + 0.010836869478225708, + -0.008775673806667328, + -0.01924489438533783, + -0.024100638926029205, + 0.0 + ], + [ + 0.01406097412109375, + -0.018162429332733154, + 0.044992394745349884, + 0.019767988473176956, + -0.10658112168312073, + 0.02273225039243698, + 0.0 + ], + [ + 0.002059072256088257, + -0.009483098983764648, + 0.017043381929397583, + 0.03661160171031952, + -0.02333599328994751, + 0.03889627754688263, + 0.0 + ], + [ + 0.013099581003189087, + -0.03941929340362549, + 0.0028640851378440857, + -0.01658916473388672, + 0.004194736480712891, + -0.09574303776025772, + 0.0 + ], + [ + 0.011486291885375977, + -0.0421343669295311, + -0.0093313530087471, + -0.02292247861623764, + 0.029408246278762817, + -0.10665275156497955, + 0.0 + ], + [ + 0.006097614765167236, + -0.03132819011807442, + -0.00604846328496933, + 0.005804330110549927, + 0.022487163543701172, + -0.06777714192867279, + 1.0 + ], + [ + 0.0013650059700012207, + -0.0033479034900665283, + -0.001863233745098114, + -0.009572543203830719, + 0.008825093507766724, + 0.017780840396881104, + 1.0 + ], + [ + -0.0010955631732940674, + 0.0008249357342720032, + 0.0011131688952445984, + -0.005386617034673691, + 0.011175215244293213, + 0.022273477166891098, + 1.0 + ], + [ + -0.002596259117126465, + 0.002146530896425247, + -0.00024371594190597534, + 0.009253736585378647, + 0.014209926128387451, + 0.015854397788643837, + 1.0 + ], + [ + -0.0021233558654785156, + -0.00011973455548286438, + -0.0005194321274757385, + -0.002802245318889618, + 0.01333114504814148, + 0.007218074053525925, + 1.0 + ], + [ + -0.004909306764602661, + -0.00448647141456604, + 0.012117452919483185, + -0.005340114235877991, + 0.012194931507110596, + 0.019217118620872498, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9476637244224548 + ], + [ + 0.6881998181343079 + ], + [ + 0.443907231092453 + ], + [ + 0.2943395674228668 + ], + [ + 0.1996482014656067 + ], + [ + 0.12483644485473633 + ], + [ + 0.06833917647600174 + ], + [ + 0.06122923642396927 + ], + [ + 0.0600886270403862 + ], + [ + 0.05952305346727371 + ], + [ + 0.08294149488210678 + ], + [ + 0.2418806254863739 + ], + [ + 0.5091317892074585 + ], + [ + 0.8186774849891663 + ], + [ + 1.0060625076293945 + ], + [ + 1.0047606229782104 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3703548014163971, + -0.023252658545970917, + 0.079215407371521 + ], + [ + 0.3754299283027649, + -0.0047635529190301895, + 0.08704479783773422 + ], + [ + 0.3848712146282196, + 0.021962817758321762, + 0.10076791793107986 + ], + [ + 0.39159926772117615, + 0.060914188623428345, + 0.11038205772638321 + ], + [ + 0.40216943621635437, + 0.10348007827997208, + 0.10034016519784927 + ], + [ + 0.40191325545310974, + 0.1486114263534546, + 0.08802907168865204 + ], + [ + 0.3947204649448395, + 0.1911449432373047, + 0.07292583584785461 + ], + [ + 0.37815070152282715, + 0.2217852920293808, + 0.06851992011070251 + ], + [ + 0.3747979998588562, + 0.21964755654335022, + 0.05125986039638519 + ], + [ + 0.37361791729927063, + 0.21230699121952057, + 0.04557891935110092 + ], + [ + 0.37271854281425476, + 0.208810493350029, + 0.042872458696365356 + ], + [ + 0.3723333775997162, + 0.20734134316444397, + 0.0410691574215889 + ], + [ + 0.3715546727180481, + 0.20413906872272491, + 0.03961130231618881 + ], + [ + 0.3704104423522949, + 0.20271462202072144, + 0.037936966866254807 + ], + [ + 0.3705582022666931, + 0.20201899111270905, + 0.03752866014838219 + ], + [ + 0.37161874771118164, + 0.1968015879392624, + 0.03909482806921005 + ], + [ + 0.37745070457458496, + 0.18096528947353363, + 0.04993169754743576 + ], + [ + 0.3915116786956787, + 0.16280286014080048, + 0.09492409229278564 + ], + [ + 0.39357075095176697, + 0.15331976115703583, + 0.11196747422218323 + ], + [ + 0.40667033195495605, + 0.11390046775341034, + 0.11483155936002731 + ], + [ + 0.41815662384033203, + 0.07176610082387924, + 0.10550020635128021 + ], + [ + 0.42425423860549927, + 0.040437910705804825, + 0.09945174306631088 + ], + [ + 0.4256192445755005, + 0.037090007215738297, + 0.09758850932121277 + ], + [ + 0.4245236814022064, + 0.0379149429500103, + 0.09870167821645737 + ], + [ + 0.42192742228507996, + 0.04006147384643555, + 0.09845796227455139 + ], + [ + 0.41980406641960144, + 0.03994173929095268, + 0.09793853014707565 + ], + [ + 0.4148947596549988, + 0.03545526787638664, + 0.11005598306655884 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9776792347039943, + -0.1626196678262114, + 0.1330344228562849, + -0.15839457720964234, + -0.9864898411658685, + -0.04182046373629123, + 0.13803793659422323, + 0.019815067818013336, + -0.9902287064856163 + ], + [ + 0.9848085748855784, + -0.09584837102603071, + 0.14479351022574372, + -0.08366579897182273, + -0.9925991787542825, + -0.08801650083212036, + 0.15215815756719303, + 0.07456514003192415, + -0.9855394132036409 + ], + [ + 0.9821037788318138, + -0.02929066034971029, + 0.1860489850027397, + -0.012812098495899258, + -0.995934599781254, + -0.08916346275624684, + 0.18790427812160937, + 0.08518409578572253, + -0.9784864087399301 + ], + [ + 0.9702151460491805, + 0.04572685514859154, + 0.2378899432405389, + 0.05386411328549272, + -0.9981607866139712, + -0.027815487882570787, + 0.2361804980872356, + 0.039800738490605454, + -0.9708937498711522 + ], + [ + 0.964351716708722, + 0.041159389556500524, + 0.2614032729945771, + 0.02925377050279839, + -0.9983567110036942, + 0.0492756989321946, + 0.26300186956048577, + -0.039872073500420276, + -0.9639710754802069 + ], + [ + 0.9616694756766391, + 0.042506267991717986, + 0.2708967270626103, + 0.0181478212800128, + -0.9956123401787591, + 0.09179719313009314, + 0.27361008046964724, + -0.08336237319793117, + -0.9582213933116929 + ], + [ + 0.961173261401974, + 0.07832145743395726, + 0.26459726164742026, + 0.06108317272921664, + -0.9954762087670874, + 0.07277337279554211, + 0.2690999954946586, + -0.0537853798362258, + -0.9616092373415761 + ], + [ + 0.9515332732144668, + 0.1549009513959387, + 0.2656880223540307, + 0.1398099369389252, + -0.9873397456582774, + 0.07492268132269322, + 0.2739299390334993, + -0.034145598546241905, + -0.9611433122074056 + ], + [ + 0.9577136288315726, + 0.1716846357658536, + 0.23088739894634208, + 0.16272462466623674, + -0.9849973484336768, + 0.057453634400780135, + 0.2372873820444179, + -0.01745306335782643, + -0.9712827028738515 + ], + [ + 0.9661931636077314, + 0.15430961358035122, + 0.2065413124640332, + 0.145037998993924, + -0.9876416396647241, + 0.059396720854042045, + 0.21315428554340918, + -0.02743236696053002, + -0.9766333579176071 + ], + [ + 0.9693610362543714, + 0.141191810107658, + 0.20100759724541242, + 0.13362696950512523, + -0.9897294288304554, + 0.05078868700622699, + 0.20611408106368476, + -0.0223725381989439, + -0.978272178446167 + ], + [ + 0.9682405509985991, + 0.15124258336666857, + 0.19908771026486183, + 0.14395139724409423, + -0.988285761068996, + 0.05068776676623508, + 0.2044216980494053, + -0.020418997155873662, + -0.9786699310399528 + ], + [ + 0.9692884535013568, + 0.1615995641697402, + 0.18537927276019317, + 0.1545708944532695, + -0.9866197388485689, + 0.05185874566838264, + 0.19127920037699941, + -0.02161184338578713, + -0.9812977100394171 + ], + [ + 0.9706980189724985, + 0.1647792777852663, + 0.17490896367948758, + 0.15599623089578418, + -0.9857512946354737, + 0.06292504327210298, + 0.18278548057538777, + -0.033796075764101444, + -0.9825717751664613 + ], + [ + 0.9705020857738422, + 0.1709034447257347, + 0.1700520922820409, + 0.15980105941788225, + -0.9841364829663699, + 0.07706493562903091, + 0.18052513098608866, + -0.047617176265103776, + -0.9824170609303331 + ], + [ + 0.97287823053999, + 0.15567116405355888, + 0.1710977417255647, + 0.1429889192815426, + -0.986138139630124, + 0.08417682893489528, + 0.18182991366679624, + -0.057428723205797366, + -0.9816515798626707 + ], + [ + 0.9723876044875387, + 0.13126847796549854, + 0.19295318948285572, + 0.1190553096928251, + -0.9901534143766917, + 0.07363456547114526, + 0.20071915671637053, + -0.04862923699586803, + -0.978441115977997 + ], + [ + 0.9427996128620729, + 0.1645669592173786, + 0.2899079266268362, + 0.13725038940079262, + -0.9841490634279738, + 0.11230739763333797, + 0.30379470139628206, + -0.06609339519034824, + -0.950442235233555 + ], + [ + 0.9295245287748038, + 0.21532532733608603, + 0.2993645834322863, + 0.17246820503067764, + -0.9714025103416539, + 0.1631927729877433, + 0.32594304511597577, + -0.10006081305656264, + -0.9400792333792852 + ], + [ + 0.9431085453427304, + 0.11590427466322505, + 0.3116287387522376, + 0.08293777141368931, + -0.9896531884422715, + 0.11708071010621787, + 0.3219745296983122, + -0.08457402509539969, + -0.9429632211834739 + ], + [ + 0.9556349211220175, + 0.0006465316493100681, + 0.29455301649947824, + -0.018099544739816703, + -0.9979790316847021, + 0.06091189373082832, + 0.2939971156530738, + -0.06354080826123311, + -0.9536919112969253 + ], + [ + 0.958560016167013, + -0.06676521928188348, + 0.2769568574708664, + -0.08333020717933007, + -0.9953427630031634, + 0.04846504625684946, + 0.27243122430688027, + -0.06953552783628414, + -0.9596593345511645 + ], + [ + 0.9622512057381838, + -0.05222974485931639, + 0.2671042321030169, + -0.06643694895168092, + -0.9968011157924773, + 0.04442597628487417, + 0.2639294391866951, + -0.060494539479222204, + -0.9626430604454559 + ], + [ + 0.9663782192912806, + -0.032067398176068615, + 0.25511726569095805, + -0.045124322796805214, + -0.9979450490515974, + 0.04549147794405434, + 0.2531342188870227, + -0.05547396729658091, + -0.9658393790795831 + ], + [ + 0.970469721539297, + -0.014804217831064658, + 0.24076825934879764, + -0.02990572883995081, + -0.9977986969128249, + 0.05918959217311809, + 0.23936199982033662, + -0.06464205731162255, + -0.9687761544694059 + ], + [ + 0.9737640365768272, + -0.009101816754811982, + 0.2273780068550291, + -0.02297331250611634, + -0.9980268694613194, + 0.058434533845450005, + 0.22639749994666494, + -0.06212507356132906, + -0.9720517718994701 + ], + [ + 0.9767140727463961, + 0.00817448280715681, + 0.21438936058019165, + -0.004269034714263902, + -0.9983355419622231, + 0.05751452857846472, + 0.21450267001078643, + -0.05709048507264695, + -0.9750534760065285 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005508.json b/json/chunk-0005/episode_0005508.json new file mode 100644 index 0000000000000000000000000000000000000000..33607bdcf2786f3c49c2709fa20deddd3ad9159d --- /dev/null +++ b/json/chunk-0005/episode_0005508.json @@ -0,0 +1,1822 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 29, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPick up the pot and place it on the middle left of the table." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005508.mp4", + "start": 0, + "end": 29, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3272496163845062, + 0.05593137443065643, + 0.08681099116802216, + 0.05155229568481445, + -0.05911761149764061, + 0.05838270112872124, + 0.0, + 1.0008161067962646 + ], + [ + 0.32508033514022827, + 0.05379079282283783, + 0.07736266404390335, + 0.040826570242643356, + -0.030616536736488342, + 0.056580957025289536, + 0.0, + 1.0008161067962646 + ], + [ + 0.32291656732559204, + 0.04385433718562126, + 0.07309433817863464, + 0.012671520933508873, + -0.02306743711233139, + -0.0051501658745110035, + 0.0, + 1.0001531839370728 + ], + [ + 0.3226011097431183, + 0.024059748277068138, + 0.06680518388748169, + -0.06339278072118759, + -0.05300772190093994, + -0.20123158395290375, + 0.0, + 1.0008161067962646 + ], + [ + 0.3133675158023834, + -0.0040502045303583145, + 0.05404681712388992, + -0.09367968142032623, + -0.060681723058223724, + -0.39837104082107544, + 0.0, + 1.0008161067962646 + ], + [ + 0.30070608854293823, + -0.015725599601864815, + 0.04176255688071251, + -0.10619274526834488, + -0.05004771798849106, + -0.5191299915313721, + 0.0, + 1.0001531839370728 + ], + [ + 0.28960055112838745, + -0.0204037856310606, + 0.03213074803352356, + -0.10493282228708267, + -0.028383098542690277, + -0.5827704071998596, + 0.0, + 1.0001531839370728 + ], + [ + 0.2828007638454437, + -0.018605714663863182, + 0.023129750043153763, + -0.11410603672266006, + -0.0034225883428007364, + -0.6196231842041016, + 0.0, + 0.9974852800369263 + ], + [ + 0.2811397314071655, + -0.015248752199113369, + 0.013181908056139946, + -0.10805284231901169, + 0.0320768803358078, + -0.6060636639595032, + 0.0, + 0.939095675945282 + ], + [ + 0.28178563714027405, + -0.00981934741139412, + 0.009127100929617882, + -0.07979939132928848, + 0.055903028696775436, + -0.580154538154602, + 0.0, + 0.6360166668891907 + ], + [ + 0.2817676365375519, + -0.008672216907143593, + 0.009091249667108059, + -0.07323089987039566, + 0.0606415830552578, + -0.5708187222480774, + 0.0, + 0.33559030294418335 + ], + [ + 0.28167134523391724, + -0.009832027368247509, + 0.012541590258479118, + -0.07522749900817871, + 0.050184015184640884, + -0.5693280696868896, + 0.0, + 0.18516062200069427 + ], + [ + 0.2750531733036041, + -0.01673126593232155, + 0.02468010038137436, + -0.10199420154094696, + 0.00912146270275116, + -0.5720427632331848, + 0.0, + 0.09549706429243088 + ], + [ + 0.2734825909137726, + -0.014833396300673485, + 0.05823102965950966, + -0.10428748279809952, + -0.06525053083896637, + -0.5232099890708923, + 0.0, + 0.07821663469076157 + ], + [ + 0.2800479233264923, + 0.027459092438220978, + 0.08796507865190506, + -0.09666279703378677, + -0.11062314361333847, + -0.26499703526496887, + 0.0, + 0.07788556814193726 + ], + [ + 0.291064977645874, + 0.06966828554868698, + 0.10760664939880371, + -0.03843771666288376, + -0.11272291839122772, + -0.04778120666742325, + 0.0, + 0.07788556814193726 + ], + [ + 0.2913174033164978, + 0.1268860101699829, + 0.09123265743255615, + 0.013460188172757626, + -0.039561379700899124, + 0.21187128126621246, + 0.0, + 0.07788556814193726 + ], + [ + 0.2842952311038971, + 0.1745082139968872, + 0.07638013362884521, + 0.05013898015022278, + -0.023807605728507042, + 0.34168899059295654, + 0.0, + 0.07788556814193726 + ], + [ + 0.2758963108062744, + 0.21532012522220612, + 0.05876895785331726, + 0.03517399728298187, + 0.001587347243912518, + 0.32893991470336914, + 0.0, + 0.07788556814193726 + ], + [ + 0.26890987157821655, + 0.2188398391008377, + 0.04211359843611717, + 0.001968790777027607, + 0.0519694909453392, + 0.21843847632408142, + 0.0, + 0.07788556814193726 + ], + [ + 0.2736470103263855, + 0.22349172830581665, + 0.028899721801280975, + -0.04620306193828583, + 0.07925838232040405, + -0.017476171255111694, + 0.0, + 0.07788556814193726 + ], + [ + 0.2741168439388275, + 0.2251158058643341, + 0.026913531124591827, + -0.04352378100156784, + 0.07612530142068863, + -0.046483367681503296, + 0.0, + 0.07788556814193726 + ], + [ + 0.2748824954032898, + 0.22502833604812622, + 0.025545703247189522, + -0.04296232387423515, + 0.07643643766641617, + -0.04038652777671814, + 0.0, + 0.1132626011967659 + ], + [ + 0.2764308452606201, + 0.22569647431373596, + 0.02562117390334606, + -0.03532804921269417, + 0.06627610325813293, + -0.01398313045501709, + 0.0, + 0.2898603677749634 + ], + [ + 0.28244253993034363, + 0.2117662876844406, + 0.051269274204969406, + -0.0954819917678833, + 0.006458010524511337, + -0.001285337726585567, + 0.0, + 0.5679898858070374 + ], + [ + 0.29401183128356934, + 0.19120007753372192, + 0.07718232274055481, + -0.1667230725288391, + -0.09607750922441483, + -0.06825854629278183, + 0.0, + 0.8625253438949585 + ], + [ + 0.3057639002799988, + 0.1631431132555008, + 0.09704333543777466, + -0.19210673868656158, + -0.18959087133407593, + -0.17481888830661774, + 0.0, + 1.0112061500549316 + ], + [ + 0.3033618628978729, + 0.12391798198223114, + 0.11466343700885773, + -0.10412910580635071, + -0.18575893342494965, + -0.20373320579528809, + 0.0, + 1.0073583126068115 + ], + [ + 0.30006879568099976, + 0.0941239446401596, + 0.11050842702388763, + -0.06684517860412598, + -0.12154024094343185, + -0.15717075765132904, + 0.0, + 1.0008161067962646 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9974852800369263 + ], + [ + 0.939095675945282 + ], + [ + 0.6360166668891907 + ], + [ + 0.33559030294418335 + ], + [ + 0.18516062200069427 + ], + [ + 0.09549706429243088 + ], + [ + 0.07821663469076157 + ], + [ + 0.07788556814193726 + ], + [ + 0.07788556814193726 + ], + [ + 0.07788556814193726 + ], + [ + 0.07788556814193726 + ], + [ + 0.07788556814193726 + ], + [ + 0.07788556814193726 + ], + [ + 0.07788556814193726 + ], + [ + 0.07788556814193726 + ], + [ + 0.1132626011967659 + ], + [ + 0.2898603677749634 + ], + [ + 0.5679898858070374 + ], + [ + 0.8625253438949585 + ], + [ + 1.0112061500549316 + ], + [ + 1.0073583126068115 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3272496163845062, + 0.05593137443065643, + 0.08681099116802216 + ], + [ + 0.32508033514022827, + 0.05379079282283783, + 0.07736266404390335 + ], + [ + 0.32291656732559204, + 0.04385433718562126, + 0.07309433817863464 + ], + [ + 0.3226011097431183, + 0.024059748277068138, + 0.06680518388748169 + ], + [ + 0.3133675158023834, + -0.0040502045303583145, + 0.05404681712388992 + ], + [ + 0.30070608854293823, + -0.015725599601864815, + 0.04176255688071251 + ], + [ + 0.28960055112838745, + -0.0204037856310606, + 0.03213074803352356 + ], + [ + 0.2828007638454437, + -0.018605714663863182, + 0.023129750043153763 + ], + [ + 0.2811397314071655, + -0.015248752199113369, + 0.013181908056139946 + ], + [ + 0.28178563714027405, + -0.00981934741139412, + 0.009127100929617882 + ], + [ + 0.2817676365375519, + -0.008672216907143593, + 0.009091249667108059 + ], + [ + 0.28167134523391724, + -0.009832027368247509, + 0.012541590258479118 + ], + [ + 0.2750531733036041, + -0.01673126593232155, + 0.02468010038137436 + ], + [ + 0.2734825909137726, + -0.014833396300673485, + 0.05823102965950966 + ], + [ + 0.2800479233264923, + 0.027459092438220978, + 0.08796507865190506 + ], + [ + 0.291064977645874, + 0.06966828554868698, + 0.10760664939880371 + ], + [ + 0.2913174033164978, + 0.1268860101699829, + 0.09123265743255615 + ], + [ + 0.2842952311038971, + 0.1745082139968872, + 0.07638013362884521 + ], + [ + 0.2758963108062744, + 0.21532012522220612, + 0.05876895785331726 + ], + [ + 0.26890987157821655, + 0.2188398391008377, + 0.04211359843611717 + ], + [ + 0.2736470103263855, + 0.22349172830581665, + 0.028899721801280975 + ], + [ + 0.2741168439388275, + 0.2251158058643341, + 0.026913531124591827 + ], + [ + 0.2748824954032898, + 0.22502833604812622, + 0.025545703247189522 + ], + [ + 0.2764308452606201, + 0.22569647431373596, + 0.02562117390334606 + ], + [ + 0.28244253993034363, + 0.2117662876844406, + 0.051269274204969406 + ], + [ + 0.29401183128356934, + 0.19120007753372192, + 0.07718232274055481 + ], + [ + 0.3057639002799988, + 0.1631431132555008, + 0.09704333543777466 + ], + [ + 0.3033618628978729, + 0.12391798198223114, + 0.11466343700885773 + ], + [ + 0.30006879568099976, + 0.0941239446401596, + 0.11050842702388763 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9965522534195874, + 0.06131135883217163, + 0.05589743717286898, + 0.05824760717612156, + -0.9967923057153074, + 0.054884565453479014, + 0.05908318256998667, + -0.051439445418022145, + -0.9969268583965866 + ], + [ + 0.9979318250642507, + 0.05775107531389958, + 0.028229166194246008, + 0.05652426960651646, + -0.9974971134821103, + 0.04247958969090975, + 0.030611753778310442, + -0.04079610146749937, + -0.9986984523046333 + ], + [ + 0.9997206999230296, + -0.004857467747143661, + 0.023128492222648202, + -0.005148772955242193, + -0.9999079615531524, + 0.012552233254470574, + 0.023065391443957892, + -0.012667810770007953, + -0.9996536971810949 + ], + [ + 0.9784449191087775, + -0.20276348718595008, + 0.03914726726619668, + -0.199595471884586, + -0.9771821579871232, + -0.0726407441784469, + 0.05298290170788513, + 0.06326134977869335, + -0.9965895914320952 + ], + [ + 0.9199976749461297, + -0.3914451739182466, + 0.01936372665137634, + -0.38720346598368394, + -0.9154521376656736, + -0.1096396806524479, + 0.06064448881751473, + 0.09337054920831468, + -0.9937827662606149 + ], + [ + 0.8671639815960926, + -0.4979341000243514, + -0.009394735512519355, + -0.49550372909391266, + -0.8607294437082089, + -0.11670852234427063, + 0.05002682756718977, + 0.10586055340255866, + -0.9931217748880881 + ], + [ + 0.8346049005554161, + -0.5497939146333314, + -0.034078019323907235, + -0.5501175110768327, + -0.8287128234433706, + -0.10298436904281764, + 0.028379287790821474, + 0.10469817425663917, + -0.9940990435222296 + ], + [ + 0.8140925738938107, + -0.577269186499095, + -0.0633527225115361, + -0.5807250356801629, + -0.808576935721216, + -0.09466663590707361, + 0.0034225816607080344, + 0.11385791732840506, + -0.9934911477192004 + ], + [ + 0.8214738614717576, + -0.5634718172166889, + -0.08763678520576663, + -0.5693435882791708, + -0.819073515994887, + -0.07047307202876371, + -0.032071379828085875, + 0.10778722836354798, + -0.9936565503219041 + ], + [ + 0.8350713869434127, + -0.5426836119905402, + -0.09027887895463696, + -0.5472968885830299, + -0.836157818674603, + -0.03614163826757304, + -0.055873915700795695, + 0.07959019755114613, + -0.9952605216716022 + ], + [ + 0.8399121672389087, + -0.5351418351054713, + -0.0903922985878116, + -0.5393279663430754, + -0.8415994848380552, + -0.028907643289666073, + -0.060604422646223635, + 0.0730309758956332, + -0.9954866048900154 + ], + [ + 0.8412030098309058, + -0.5343662155416594, + -0.08264528987855163, + -0.5383875688886531, + -0.8419135655890718, + -0.03633694735749857, + -0.05016295363703083, + 0.07506194618300639, + -0.9959163530727009 + ], + [ + 0.8407619014819292, + -0.5377565223243117, + -0.06274828853564722, + -0.5413282056591, + -0.8369300991869257, + -0.08069561842418464, + -0.009121336217349878, + 0.10181322002875907, + -0.9947617149111567 + ], + [ + 0.8643763634358069, + -0.5028281970848997, + 0.004160114161735753, + -0.4985999494641539, + -0.858122001048628, + -0.1225753715500839, + 0.06520423857259981, + 0.10387702119644786, + -0.9924504883063536 + ], + [ + 0.9591941421373791, + -0.27096658622981806, + 0.08076946722800786, + -0.26030550329426083, + -0.9577974741734627, + -0.12192228435219267, + 0.11039765687757701, + 0.09592240412903515, + -0.9892478201856435 + ], + [ + 0.9925194348387605, + -0.05204539173511207, + 0.11043753287033435, + -0.04745989941082764, + -0.9979144408682667, + -0.04375301880429064, + 0.11248435186843357, + 0.03818436729491817, + -0.9929195459245553 + ], + [ + 0.9768741624008461, + 0.21079110007947327, + 0.03583270797652067, + 0.21012516368818962, + -0.9774386066644382, + 0.02147523659690457, + 0.03955106090431255, + -0.013449250134003644, + -0.9991270345917861 + ], + [ + 0.9419230595047453, + 0.33578193197153794, + 0.005607506993515919, + 0.334983962247161, + -0.9406062439455938, + 0.055187307306622975, + 0.023805356758794485, + -0.05010377243306625, + -0.9984602731093325 + ], + [ + 0.9463841328521392, + 0.32278731843748265, + -0.012861576172617514, + 0.3230395539505161, + -0.9458179794403299, + 0.032768832003348604, + -0.001587346577313728, + -0.03516670048996944, + -0.9993801996775264 + ], + [ + 0.9749190026624954, + 0.21660521000052005, + -0.05113825620996175, + 0.21641289442549436, + -0.9762573007808236, + -0.009334977156911796, + -0.051946100661598396, + -0.001966131422576709, + -0.9986479544630751 + ], + [ + 0.9967084733191289, + -0.01380034523327145, + -0.07988597927855783, + -0.017420421502337146, + -0.9988441913739401, + -0.04479743601168458, + -0.07917542629207978, + 0.046041631486976944, + -0.9957968768988409 + ], + [ + 0.9960268393070386, + -0.04311718308165949, + -0.07791947062918976, + -0.046332056545113215, + -0.9981276143106832, + -0.03993251916376279, + -0.07605179758776869, + 0.04338403016740731, + -0.9961596006715502 + ], + [ + 0.9962671134624693, + -0.0370612869486197, + -0.07796345068601968, + -0.04025765954001372, + -0.99839500768844, + -0.039833772996794095, + -0.07636202905580555, + 0.04282370409611774, + -0.9961601130771943 + ], + [ + 0.9977069951351704, + -0.011634973636907102, + -0.06667367731584518, + -0.013951976414435045, + -0.9993110363386766, + -0.03439178689529092, + -0.06622759404115493, + 0.035243155934004164, + -0.9971819421486389 + ], + [ + 0.9999783210933105, + -0.0006638003276165801, + -0.0065510848360784985, + -0.0012853105696865681, + -0.995445025824781, + -0.09532863440457406, + -0.006457965635081494, + 0.09533498796258669, + -0.9954242988545287 + ], + [ + 0.9930701349772345, + -0.08314244682611727, + 0.08306046323049097, + -0.06789099644915214, + -0.9827516396551971, + -0.17201752049184746, + 0.09592976398093918, + 0.16518640467904197, + -0.9815859270037307 + ], + [ + 0.9671125902791239, + -0.20616338635479142, + 0.14896273309230323, + -0.1708132144947896, + -0.9603843501955155, + -0.22019251952210975, + 0.1884571130988713, + 0.1875061546356884, + -0.9640152273155113 + ], + [ + 0.9624702452359465, + -0.2200309093048104, + 0.15886291570393465, + -0.1988459728126568, + -0.9701294710283688, + -0.13895714640998377, + 0.18469246365687284, + 0.10215286776550042, + -0.9774730101008615 + ], + [ + 0.9803880814572469, + -0.16417343807272566, + 0.10902427237986723, + -0.1553697978367678, + -0.984200710693085, + -0.08490693135067497, + 0.12124122919510702, + 0.06630266437034972, + -0.990406240408779 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.002169281244277954, + -0.0021405816078186035, + -0.009448327124118805, + -0.010725725442171097, + 0.028501074761152267, + -0.0018017441034317017, + 1.0 + ], + [ + -0.0021637678146362305, + -0.009936455637216568, + -0.004268325865268707, + -0.028155049309134483, + 0.007549099624156952, + -0.06173112243413925, + 1.0 + ], + [ + -0.0003154575824737549, + -0.019794588908553123, + -0.006289154291152954, + -0.07606430351734161, + -0.02994028478860855, + -0.19608141481876373, + 1.0 + ], + [ + -0.009233593940734863, + -0.028109952807426453, + -0.012758366763591766, + -0.03028690069913864, + -0.007674001157283783, + -0.1971394568681717, + 1.0 + ], + [ + -0.01266142725944519, + -0.0116753950715065, + -0.012284260243177414, + -0.012513063848018646, + 0.010634005069732666, + -0.12075895071029663, + 1.0 + ], + [ + -0.011105537414550781, + -0.0046781860291957855, + -0.00963180884718895, + 0.001259922981262207, + 0.02166461944580078, + -0.06364041566848755, + 1.0 + ], + [ + -0.006799787282943726, + 0.0017980709671974182, + -0.009000997990369797, + -0.009173214435577393, + 0.024960510432720184, + -0.03685277700424194, + 1.0 + ], + [ + -0.0016610324382781982, + 0.003356962464749813, + -0.009947841987013817, + 0.0060531944036483765, + 0.03549946844577789, + 0.013559520244598389, + 0.0 + ], + [ + 0.0006459057331085205, + 0.00542940478771925, + -0.004054807126522064, + 0.028253450989723206, + 0.023826148360967636, + 0.025909125804901123, + 0.0 + ], + [ + -1.800060272216797e-05, + 0.0011471305042505264, + -3.5851262509822845e-05, + 0.006568491458892822, + 0.004738554358482361, + 0.009335815906524658, + 0.0 + ], + [ + -9.629130363464355e-05, + -0.0011598104611039162, + 0.0034503405913710594, + -0.0019965991377830505, + -0.010457567870616913, + 0.0014906525611877441, + 0.0 + ], + [ + -0.00661817193031311, + -0.0068992385640740395, + 0.01213851012289524, + -0.02676670253276825, + -0.041062552481889725, + -0.002714693546295166, + 0.0 + ], + [ + -0.001570582389831543, + 0.0018978696316480637, + 0.0335509292781353, + -0.0022932812571525574, + -0.07437199354171753, + 0.04883277416229248, + 0.0 + ], + [ + 0.0065653324127197266, + 0.04229249060153961, + 0.0297340489923954, + 0.007624685764312744, + -0.0453726127743721, + 0.25821295380592346, + 0.0 + ], + [ + 0.011017054319381714, + 0.042209193110466, + 0.01964157074689865, + 0.058225080370903015, + -0.0020997747778892517, + 0.21721583604812622, + 0.0 + ], + [ + 0.0002524256706237793, + 0.05721772462129593, + -0.01637399196624756, + 0.05189790576696396, + 0.0731615424156189, + 0.2596524953842163, + 0.0 + ], + [ + -0.007022172212600708, + 0.0476222038269043, + -0.014852523803710938, + 0.03667879104614258, + 0.015753773972392082, + 0.12981770932674408, + 0.0 + ], + [ + -0.00839892029762268, + 0.04081191122531891, + -0.017611175775527954, + -0.014964982867240906, + 0.025394953787326813, + -0.012749075889587402, + 0.0 + ], + [ + -0.006986439228057861, + 0.003519713878631592, + -0.01665535941720009, + -0.03320520743727684, + 0.05038214474916458, + -0.11050143837928772, + 0.0 + ], + [ + 0.004737138748168945, + 0.004651889204978943, + -0.013213876634836197, + -0.04817185178399086, + 0.02728889137506485, + -0.23591464757919312, + 0.0 + ], + [ + 0.0004698336124420166, + 0.001624077558517456, + -0.001986190676689148, + 0.002679280936717987, + -0.0031330808997154236, + -0.0290071964263916, + 0.0 + ], + [ + 0.0007656514644622803, + -8.746981620788574e-05, + -0.0013678278774023056, + 0.0005614571273326874, + 0.00031113624572753906, + 0.006096839904785156, + 1.0 + ], + [ + 0.0015483498573303223, + 0.0006681382656097412, + 7.547065615653992e-05, + 0.007634274661540985, + -0.010160334408283234, + 0.02640339732170105, + 1.0 + ], + [ + 0.006011694669723511, + -0.013930186629295349, + 0.025648100301623344, + -0.06015394255518913, + -0.0598180927336216, + 0.012697792612016201, + 1.0 + ], + [ + 0.011569291353225708, + -0.02056621015071869, + 0.025913048535585403, + -0.07124108076095581, + -0.10253551602363586, + -0.06697320938110352, + 1.0 + ], + [ + 0.011752068996429443, + -0.02805696427822113, + 0.01986101269721985, + -0.025383666157722473, + -0.0935133621096611, + -0.10656034201383591, + 1.0 + ], + [ + -0.0024020373821258545, + -0.03922513127326965, + 0.01762010157108307, + 0.08797763288021088, + 0.0038319379091262817, + -0.02891431748867035, + 1.0 + ], + [ + -0.003293067216873169, + -0.029794037342071533, + -0.004155009984970093, + 0.03728392720222473, + 0.06421869248151779, + 0.046562448143959045, + 1.0 + ], + [ + 0.0026321709156036377, + -0.023451410233974457, + -0.01127893477678299, + 0.06754936277866364, + 0.03808902949094772, + 0.043717220425605774, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9974852800369263 + ], + [ + 0.939095675945282 + ], + [ + 0.6360166668891907 + ], + [ + 0.33559030294418335 + ], + [ + 0.18516062200069427 + ], + [ + 0.09549706429243088 + ], + [ + 0.07821663469076157 + ], + [ + 0.07788556814193726 + ], + [ + 0.07788556814193726 + ], + [ + 0.07788556814193726 + ], + [ + 0.07788556814193726 + ], + [ + 0.07788556814193726 + ], + [ + 0.07788556814193726 + ], + [ + 0.07788556814193726 + ], + [ + 0.07788556814193726 + ], + [ + 0.1132626011967659 + ], + [ + 0.2898603677749634 + ], + [ + 0.5679898858070374 + ], + [ + 0.8625253438949585 + ], + [ + 1.0112061500549316 + ], + [ + 1.0073583126068115 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.32508033514022827, + 0.05379079282283783, + 0.07736266404390335 + ], + [ + 0.32291656732559204, + 0.04385433718562126, + 0.07309433817863464 + ], + [ + 0.3226011097431183, + 0.024059748277068138, + 0.06680518388748169 + ], + [ + 0.3133675158023834, + -0.0040502045303583145, + 0.05404681712388992 + ], + [ + 0.30070608854293823, + -0.015725599601864815, + 0.04176255688071251 + ], + [ + 0.28960055112838745, + -0.0204037856310606, + 0.03213074803352356 + ], + [ + 0.2828007638454437, + -0.018605714663863182, + 0.023129750043153763 + ], + [ + 0.2811397314071655, + -0.015248752199113369, + 0.013181908056139946 + ], + [ + 0.28178563714027405, + -0.00981934741139412, + 0.009127100929617882 + ], + [ + 0.2817676365375519, + -0.008672216907143593, + 0.009091249667108059 + ], + [ + 0.28167134523391724, + -0.009832027368247509, + 0.012541590258479118 + ], + [ + 0.2750531733036041, + -0.01673126593232155, + 0.02468010038137436 + ], + [ + 0.2734825909137726, + -0.014833396300673485, + 0.05823102965950966 + ], + [ + 0.2800479233264923, + 0.027459092438220978, + 0.08796507865190506 + ], + [ + 0.291064977645874, + 0.06966828554868698, + 0.10760664939880371 + ], + [ + 0.2913174033164978, + 0.1268860101699829, + 0.09123265743255615 + ], + [ + 0.2842952311038971, + 0.1745082139968872, + 0.07638013362884521 + ], + [ + 0.2758963108062744, + 0.21532012522220612, + 0.05876895785331726 + ], + [ + 0.26890987157821655, + 0.2188398391008377, + 0.04211359843611717 + ], + [ + 0.2736470103263855, + 0.22349172830581665, + 0.028899721801280975 + ], + [ + 0.2741168439388275, + 0.2251158058643341, + 0.026913531124591827 + ], + [ + 0.2748824954032898, + 0.22502833604812622, + 0.025545703247189522 + ], + [ + 0.2764308452606201, + 0.22569647431373596, + 0.02562117390334606 + ], + [ + 0.28244253993034363, + 0.2117662876844406, + 0.051269274204969406 + ], + [ + 0.29401183128356934, + 0.19120007753372192, + 0.07718232274055481 + ], + [ + 0.3057639002799988, + 0.1631431132555008, + 0.09704333543777466 + ], + [ + 0.3033618628978729, + 0.12391798198223114, + 0.11466343700885773 + ], + [ + 0.30006879568099976, + 0.0941239446401596, + 0.11050842702388763 + ], + [ + 0.3027009665966034, + 0.07067253440618515, + 0.09922949224710464 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9979318250642507, + 0.05775107531389958, + 0.028229166194246008, + 0.05652426960651646, + -0.9974971134821103, + 0.04247958969090975, + 0.030611753778310442, + -0.04079610146749937, + -0.9986984523046333 + ], + [ + 0.9997206999230296, + -0.004857467747143661, + 0.023128492222648202, + -0.005148772955242193, + -0.9999079615531524, + 0.012552233254470574, + 0.023065391443957892, + -0.012667810770007953, + -0.9996536971810949 + ], + [ + 0.9784449191087775, + -0.20276348718595008, + 0.03914726726619668, + -0.199595471884586, + -0.9771821579871232, + -0.0726407441784469, + 0.05298290170788513, + 0.06326134977869335, + -0.9965895914320952 + ], + [ + 0.9199976749461297, + -0.3914451739182466, + 0.01936372665137634, + -0.38720346598368394, + -0.9154521376656736, + -0.1096396806524479, + 0.06064448881751473, + 0.09337054920831468, + -0.9937827662606149 + ], + [ + 0.8671639815960926, + -0.4979341000243514, + -0.009394735512519355, + -0.49550372909391266, + -0.8607294437082089, + -0.11670852234427063, + 0.05002682756718977, + 0.10586055340255866, + -0.9931217748880881 + ], + [ + 0.8346049005554161, + -0.5497939146333314, + -0.034078019323907235, + -0.5501175110768327, + -0.8287128234433706, + -0.10298436904281764, + 0.028379287790821474, + 0.10469817425663917, + -0.9940990435222296 + ], + [ + 0.8140925738938107, + -0.577269186499095, + -0.0633527225115361, + -0.5807250356801629, + -0.808576935721216, + -0.09466663590707361, + 0.0034225816607080344, + 0.11385791732840506, + -0.9934911477192004 + ], + [ + 0.8214738614717576, + -0.5634718172166889, + -0.08763678520576663, + -0.5693435882791708, + -0.819073515994887, + -0.07047307202876371, + -0.032071379828085875, + 0.10778722836354798, + -0.9936565503219041 + ], + [ + 0.8350713869434127, + -0.5426836119905402, + -0.09027887895463696, + -0.5472968885830299, + -0.836157818674603, + -0.03614163826757304, + -0.055873915700795695, + 0.07959019755114613, + -0.9952605216716022 + ], + [ + 0.8399121672389087, + -0.5351418351054713, + -0.0903922985878116, + -0.5393279663430754, + -0.8415994848380552, + -0.028907643289666073, + -0.060604422646223635, + 0.0730309758956332, + -0.9954866048900154 + ], + [ + 0.8412030098309058, + -0.5343662155416594, + -0.08264528987855163, + -0.5383875688886531, + -0.8419135655890718, + -0.03633694735749857, + -0.05016295363703083, + 0.07506194618300639, + -0.9959163530727009 + ], + [ + 0.8407619014819292, + -0.5377565223243117, + -0.06274828853564722, + -0.5413282056591, + -0.8369300991869257, + -0.08069561842418464, + -0.009121336217349878, + 0.10181322002875907, + -0.9947617149111567 + ], + [ + 0.8643763634358069, + -0.5028281970848997, + 0.004160114161735753, + -0.4985999494641539, + -0.858122001048628, + -0.1225753715500839, + 0.06520423857259981, + 0.10387702119644786, + -0.9924504883063536 + ], + [ + 0.9591941421373791, + -0.27096658622981806, + 0.08076946722800786, + -0.26030550329426083, + -0.9577974741734627, + -0.12192228435219267, + 0.11039765687757701, + 0.09592240412903515, + -0.9892478201856435 + ], + [ + 0.9925194348387605, + -0.05204539173511207, + 0.11043753287033435, + -0.04745989941082764, + -0.9979144408682667, + -0.04375301880429064, + 0.11248435186843357, + 0.03818436729491817, + -0.9929195459245553 + ], + [ + 0.9768741624008461, + 0.21079110007947327, + 0.03583270797652067, + 0.21012516368818962, + -0.9774386066644382, + 0.02147523659690457, + 0.03955106090431255, + -0.013449250134003644, + -0.9991270345917861 + ], + [ + 0.9419230595047453, + 0.33578193197153794, + 0.005607506993515919, + 0.334983962247161, + -0.9406062439455938, + 0.055187307306622975, + 0.023805356758794485, + -0.05010377243306625, + -0.9984602731093325 + ], + [ + 0.9463841328521392, + 0.32278731843748265, + -0.012861576172617514, + 0.3230395539505161, + -0.9458179794403299, + 0.032768832003348604, + -0.001587346577313728, + -0.03516670048996944, + -0.9993801996775264 + ], + [ + 0.9749190026624954, + 0.21660521000052005, + -0.05113825620996175, + 0.21641289442549436, + -0.9762573007808236, + -0.009334977156911796, + -0.051946100661598396, + -0.001966131422576709, + -0.9986479544630751 + ], + [ + 0.9967084733191289, + -0.01380034523327145, + -0.07988597927855783, + -0.017420421502337146, + -0.9988441913739401, + -0.04479743601168458, + -0.07917542629207978, + 0.046041631486976944, + -0.9957968768988409 + ], + [ + 0.9960268393070386, + -0.04311718308165949, + -0.07791947062918976, + -0.046332056545113215, + -0.9981276143106832, + -0.03993251916376279, + -0.07605179758776869, + 0.04338403016740731, + -0.9961596006715502 + ], + [ + 0.9962671134624693, + -0.0370612869486197, + -0.07796345068601968, + -0.04025765954001372, + -0.99839500768844, + -0.039833772996794095, + -0.07636202905580555, + 0.04282370409611774, + -0.9961601130771943 + ], + [ + 0.9977069951351704, + -0.011634973636907102, + -0.06667367731584518, + -0.013951976414435045, + -0.9993110363386766, + -0.03439178689529092, + -0.06622759404115493, + 0.035243155934004164, + -0.9971819421486389 + ], + [ + 0.9999783210933105, + -0.0006638003276165801, + -0.0065510848360784985, + -0.0012853105696865681, + -0.995445025824781, + -0.09532863440457406, + -0.006457965635081494, + 0.09533498796258669, + -0.9954242988545287 + ], + [ + 0.9930701349772345, + -0.08314244682611727, + 0.08306046323049097, + -0.06789099644915214, + -0.9827516396551971, + -0.17201752049184746, + 0.09592976398093918, + 0.16518640467904197, + -0.9815859270037307 + ], + [ + 0.9671125902791239, + -0.20616338635479142, + 0.14896273309230323, + -0.1708132144947896, + -0.9603843501955155, + -0.22019251952210975, + 0.1884571130988713, + 0.1875061546356884, + -0.9640152273155113 + ], + [ + 0.9624702452359465, + -0.2200309093048104, + 0.15886291570393465, + -0.1988459728126568, + -0.9701294710283688, + -0.13895714640998377, + 0.18469246365687284, + 0.10215286776550042, + -0.9774730101008615 + ], + [ + 0.9803880814572469, + -0.16417343807272566, + 0.10902427237986723, + -0.1553697978367678, + -0.984200710693085, + -0.08490693135067497, + 0.12124122919510702, + 0.06630266437034972, + -0.990406240408779 + ], + [ + 0.9901133887759468, + -0.11315195602347548, + 0.08289820392911092, + -0.112816328257264, + -0.9935774466115762, + -0.008736913835554423, + 0.0833543846786733, + -0.000701735621239946, + -0.9965197208896359 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005509.json b/json/chunk-0005/episode_0005509.json new file mode 100644 index 0000000000000000000000000000000000000000..22960a3c131290695bc5882de7280d655c146f1b --- /dev/null +++ b/json/chunk-0005/episode_0005509.json @@ -0,0 +1,2122 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 34, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nFold the cloth from left to right." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005509.mp4", + "start": 0, + "end": 34, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2552749812602997, + 0.1530238687992096, + 0.21148782968521118, + -0.19135187566280365, + -0.20150847733020782, + -0.20196063816547394, + 0.0, + 0.9994885921478271 + ], + [ + 0.2568104565143585, + 0.15487632155418396, + 0.1995605230331421, + -0.21929039061069489, + -0.1746874898672104, + -0.19108697772026062, + 0.0, + 0.9994885921478271 + ], + [ + 0.24965791404247284, + 0.1542264074087143, + 0.1819017231464386, + -0.22480185329914093, + -0.16802753508090973, + -0.15293534100055695, + 0.0, + 0.9994885921478271 + ], + [ + 0.23732547461986542, + 0.1576555371284485, + 0.17274083197116852, + -0.2039274275302887, + -0.15639609098434448, + -0.10257349908351898, + 0.0, + 0.9994885921478271 + ], + [ + 0.22791306674480438, + 0.16417399048805237, + 0.1608753651380539, + -0.14343155920505524, + -0.15499545633792877, + -0.019049344584345818, + 0.0, + 0.9994885921478271 + ], + [ + 0.22215236723423004, + 0.1729823797941208, + 0.14942142367362976, + -0.08031722158193588, + -0.23583869636058807, + 0.0828564465045929, + 0.0, + 0.9994885921478271 + ], + [ + 0.21836374700069427, + 0.1796274036169052, + 0.14523151516914368, + -0.026396997272968292, + -0.35779187083244324, + 0.1792677938938141, + 0.0, + 0.9994885921478271 + ], + [ + 0.21563613414764404, + 0.1895332783460617, + 0.14367465674877167, + 0.0046801189891994, + -0.48637938499450684, + 0.25980308651924133, + 0.0, + 0.9994885921478271 + ], + [ + 0.21566946804523468, + 0.19934161007404327, + 0.13726559281349182, + 0.038000088185071945, + -0.577104389667511, + 0.3137078583240509, + 0.0, + 0.9994885921478271 + ], + [ + 0.21336622536182404, + 0.2145402431488037, + 0.1260194331407547, + 0.050860434770584106, + -0.6477888822555542, + 0.37683457136154175, + 0.0, + 0.9994885921478271 + ], + [ + 0.212224081158638, + 0.22095312178134918, + 0.11655031889677048, + 0.02866237238049507, + -0.7011687755584717, + 0.4400157332420349, + 0.0, + 0.9994885921478271 + ], + [ + 0.20794729888439178, + 0.22759826481342316, + 0.10184985399246216, + 0.012315681204199791, + -0.7217442989349365, + 0.5003173351287842, + 0.0, + 0.9994885921478271 + ], + [ + 0.2062484174966812, + 0.2323114275932312, + 0.09058921784162521, + 0.011098416522145271, + -0.7521970272064209, + 0.5107929706573486, + 0.0, + 0.9994885921478271 + ], + [ + 0.20512667298316956, + 0.23415924608707428, + 0.08478281646966934, + 0.009150749072432518, + -0.7404703497886658, + 0.5169235467910767, + 0.0, + 0.9643021821975708 + ], + [ + 0.2054852694272995, + 0.23797960579395294, + 0.0813714936375618, + 0.006987533066421747, + -0.729902982711792, + 0.5322311520576477, + 0.0, + 0.6892001032829285 + ], + [ + 0.20742633938789368, + 0.23886770009994507, + 0.0823080986738205, + 0.0037452939432114363, + -0.7267473340034485, + 0.5227423906326294, + 0.0, + 0.3936077654361725 + ], + [ + 0.20859822630882263, + 0.23935557901859283, + 0.08486535400152206, + -0.016792992129921913, + -0.7178803086280823, + 0.5257715582847595, + 0.0, + 0.18800361454486847 + ], + [ + 0.2115924060344696, + 0.2329089194536209, + 0.09475581347942352, + -0.08503343909978867, + -0.7009067535400391, + 0.54681795835495, + 0.0, + 0.07854863256216049 + ], + [ + 0.22420716285705566, + 0.2221275418996811, + 0.12369383126497269, + -0.14444753527641296, + -0.7076746225357056, + 0.5953413844108582, + 0.0, + 0.05896064639091492 + ], + [ + 0.24566663801670074, + 0.2073674201965332, + 0.14549778401851654, + -0.20257768034934998, + -0.6864763498306274, + 0.638403594493866, + 0.0, + 0.058401256799697876 + ], + [ + 0.2670246660709381, + 0.1929399073123932, + 0.16137900948524475, + -0.2388179451227188, + -0.6672225594520569, + 0.6758829355239868, + 0.0, + 0.058401256799697876 + ], + [ + 0.28577184677124023, + 0.17587372660636902, + 0.16652175784111023, + -0.26106026768684387, + -0.6449833512306213, + 0.6992461681365967, + 0.0, + 0.05812275409698486 + ], + [ + 0.30398955941200256, + 0.15715767443180084, + 0.17600101232528687, + -0.2810412347316742, + -0.6450050473213196, + 0.7139034867286682, + 0.0, + 0.05812275409698486 + ], + [ + 0.3272429406642914, + 0.1345026195049286, + 0.17571161687374115, + -0.28194093704223633, + -0.625347375869751, + 0.7119982242584229, + 0.0, + 0.05812275409698486 + ], + [ + 0.3533467650413513, + 0.11217868328094482, + 0.17713060975074768, + -0.2833716869354248, + -0.6185742616653442, + 0.7237877249717712, + 0.0, + 0.05812275409698486 + ], + [ + 0.37489786744117737, + 0.08919613063335419, + 0.17955532670021057, + -0.28891798853874207, + -0.6190386414527893, + 0.7170353531837463, + 0.0, + 0.05812275409698486 + ], + [ + 0.38782933354377747, + 0.07080104947090149, + 0.17523309588432312, + -0.28651562333106995, + -0.6072826385498047, + 0.7117761969566345, + 0.0, + 0.05812275409698486 + ], + [ + 0.39933842420578003, + 0.0587775744497776, + 0.1690807342529297, + -0.27341896295547485, + -0.6034677028656006, + 0.6943686604499817, + 0.0, + 0.05812275409698486 + ], + [ + 0.40345636010169983, + 0.05368489772081375, + 0.16156016290187836, + -0.2564651668071747, + -0.6055617332458496, + 0.6747872829437256, + 0.0, + 0.07988496869802475 + ], + [ + 0.4038456380367279, + 0.05265570059418678, + 0.14858336746692657, + -0.2138296216726303, + -0.5820485949516296, + 0.6524093747138977, + 0.0, + 0.23460371792316437 + ], + [ + 0.4047582447528839, + 0.05289512127637863, + 0.14792300760746002, + -0.22792328894138336, + -0.5809142589569092, + 0.6769493818283081, + 0.0, + 0.5014150738716125 + ], + [ + 0.4048880934715271, + 0.05177212506532669, + 0.14768068492412567, + -0.25391852855682373, + -0.5681523084640503, + 0.7038515210151672, + 0.0, + 0.8102405071258545 + ], + [ + 0.4068158268928528, + 0.05841626971960068, + 0.14785487949848175, + -0.2803916037082672, + -0.5328776836395264, + 0.7137383818626404, + 0.0, + 0.9974852800369263 + ], + [ + 0.4021948277950287, + 0.0661311224102974, + 0.14953072369098663, + -0.3098706007003784, + -0.493200421333313, + 0.6846078634262085, + 0.0, + 1.0008161067962646 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9643021821975708 + ], + [ + 0.6892001032829285 + ], + [ + 0.3936077654361725 + ], + [ + 0.18800361454486847 + ], + [ + 0.07854863256216049 + ], + [ + 0.05896064639091492 + ], + [ + 0.058401256799697876 + ], + [ + 0.058401256799697876 + ], + [ + 0.05812275409698486 + ], + [ + 0.05812275409698486 + ], + [ + 0.05812275409698486 + ], + [ + 0.05812275409698486 + ], + [ + 0.05812275409698486 + ], + [ + 0.05812275409698486 + ], + [ + 0.05812275409698486 + ], + [ + 0.07988496869802475 + ], + [ + 0.23460371792316437 + ], + [ + 0.5014150738716125 + ], + [ + 0.8102405071258545 + ], + [ + 0.9974852800369263 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2552749812602997, + 0.1530238687992096, + 0.21148782968521118 + ], + [ + 0.2568104565143585, + 0.15487632155418396, + 0.1995605230331421 + ], + [ + 0.24965791404247284, + 0.1542264074087143, + 0.1819017231464386 + ], + [ + 0.23732547461986542, + 0.1576555371284485, + 0.17274083197116852 + ], + [ + 0.22791306674480438, + 0.16417399048805237, + 0.1608753651380539 + ], + [ + 0.22215236723423004, + 0.1729823797941208, + 0.14942142367362976 + ], + [ + 0.21836374700069427, + 0.1796274036169052, + 0.14523151516914368 + ], + [ + 0.21563613414764404, + 0.1895332783460617, + 0.14367465674877167 + ], + [ + 0.21566946804523468, + 0.19934161007404327, + 0.13726559281349182 + ], + [ + 0.21336622536182404, + 0.2145402431488037, + 0.1260194331407547 + ], + [ + 0.212224081158638, + 0.22095312178134918, + 0.11655031889677048 + ], + [ + 0.20794729888439178, + 0.22759826481342316, + 0.10184985399246216 + ], + [ + 0.2062484174966812, + 0.2323114275932312, + 0.09058921784162521 + ], + [ + 0.20512667298316956, + 0.23415924608707428, + 0.08478281646966934 + ], + [ + 0.2054852694272995, + 0.23797960579395294, + 0.0813714936375618 + ], + [ + 0.20742633938789368, + 0.23886770009994507, + 0.0823080986738205 + ], + [ + 0.20859822630882263, + 0.23935557901859283, + 0.08486535400152206 + ], + [ + 0.2115924060344696, + 0.2329089194536209, + 0.09475581347942352 + ], + [ + 0.22420716285705566, + 0.2221275418996811, + 0.12369383126497269 + ], + [ + 0.24566663801670074, + 0.2073674201965332, + 0.14549778401851654 + ], + [ + 0.2670246660709381, + 0.1929399073123932, + 0.16137900948524475 + ], + [ + 0.28577184677124023, + 0.17587372660636902, + 0.16652175784111023 + ], + [ + 0.30398955941200256, + 0.15715767443180084, + 0.17600101232528687 + ], + [ + 0.3272429406642914, + 0.1345026195049286, + 0.17571161687374115 + ], + [ + 0.3533467650413513, + 0.11217868328094482, + 0.17713060975074768 + ], + [ + 0.37489786744117737, + 0.08919613063335419, + 0.17955532670021057 + ], + [ + 0.38782933354377747, + 0.07080104947090149, + 0.17523309588432312 + ], + [ + 0.39933842420578003, + 0.0587775744497776, + 0.1690807342529297 + ], + [ + 0.40345636010169983, + 0.05368489772081375, + 0.16156016290187836 + ], + [ + 0.4038456380367279, + 0.05265570059418678, + 0.14858336746692657 + ], + [ + 0.4047582447528839, + 0.05289512127637863, + 0.14792300760746002 + ], + [ + 0.4048880934715271, + 0.05177212506532669, + 0.14768068492412567 + ], + [ + 0.4068158268928528, + 0.05841626971960068, + 0.14785487949848175 + ], + [ + 0.4021948277950287, + 0.0661311224102974, + 0.14953072369098663 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9598522074563778, + -0.23422096865944164, + 0.15435115056698442, + -0.19653171020499172, + -0.9541586285405725, + -0.2257356827474896, + 0.20014751241277065, + 0.1863379977938128, + -0.9618831134047282 + ], + [ + 0.9668562834012314, + -0.22249771792109121, + 0.12523455101314399, + -0.18703569435283815, + -0.9511055877091857, + -0.24579627756806172, + 0.1738003920752452, + 0.21422634419760433, + -0.9611974288179407 + ], + [ + 0.974409102240084, + -0.18535116980793714, + 0.1271685704979933, + -0.15019439479069097, + -0.9577809833058576, + -0.24514736749784422, + 0.16723798983822996, + 0.21977381979775085, + -0.9611092148587351 + ], + [ + 0.9826031386698999, + -0.1316501000591058, + 0.1309935991966359, + -0.10114401414149687, + -0.9709017261855589, + -0.21707078682597228, + 0.1557593023848211, + 0.200045217999155, + -0.9673267030720616 + ], + [ + 0.9878329739171051, + -0.04091508062566955, + 0.15003990075804044, + -0.01881984720021567, + -0.9891314195290442, + -0.14582471756125026, + 0.15437561009903153, + 0.14122673641294992, + -0.9778666473137831 + ], + [ + 0.9689830470279703, + 0.06381255440363254, + 0.2387463349935948, + 0.08047072529529603, + -0.9949082356643953, + -0.06068002123935887, + 0.23365854776326792, + 0.0780100026127642, + -0.9691842562431137 + ], + [ + 0.9216617793400734, + 0.16915182435223922, + 0.34918079102665234, + 0.16701726016743426, + -0.9852798891232292, + 0.036452364744695265, + 0.35020679506522, + 0.024722467668619703, + -0.93634609001294 + ], + [ + 0.854363460126844, + 0.25900163504041457, + 0.45053438386706757, + 0.22709895299626104, + -0.9658680216973637, + 0.12459947917396247, + 0.46742822288356567, + -0.004137355292042601, + -0.8840213451852273 + ], + [ + 0.7971459336871205, + 0.328081113858644, + 0.5068738927340416, + 0.2586106466259336, + -0.9441128716422406, + 0.2043805740552635, + 0.5455995728167368, + -0.03183815837503809, + -0.8374410055720227 + ], + [ + 0.741468301196323, + 0.39602787415743357, + 0.5416518080938925, + 0.2934338059595877, + -0.9173431528806535, + 0.26903185942013097, + 0.603424692767134, + -0.04053964421804945, + -0.7963888355605974 + ], + [ + 0.6913054189582362, + 0.4425055653640193, + 0.5712141825452579, + 0.32546641682101163, + -0.8964983657954892, + 0.3006032129697031, + 0.6451111758764292, + -0.02189759685186421, + -0.7637748791440081 + ], + [ + 0.6586469941249888, + 0.4868070140181332, + 0.5737622053018708, + 0.3600919305431426, + -0.8734606280288927, + 0.3277198999772291, + 0.6606950421244507, + -0.009244586855102377, + -0.7505974946174874 + ], + [ + 0.6369860335577452, + 0.49545393670568433, + 0.5905710707909853, + 0.3569671355625447, + -0.8685964110761161, + 0.3436782489392697, + 0.683244653971506, + -0.008103781125533921, + -0.7301445552428824 + ], + [ + 0.6417072040607891, + 0.49955404062376446, + 0.5819429737980822, + 0.36480027981592217, + -0.8662563919772096, + 0.34135116698914647, + 0.67463517555988, + -0.006754543293042425, + -0.7381204210982059 + ], + [ + 0.6421553907502581, + 0.5114594984847907, + 0.5710040591274896, + 0.3781768969841297, + -0.8592916065079828, + 0.3443837533513813, + 0.666797337065647, + -0.0052073404552202, + -0.745220903415588 + ], + [ + 0.6475348127148783, + 0.5014108554614543, + 0.5738343143693307, + 0.37311537820890656, + -0.8652047847912109, + 0.33497103593955546, + 0.6644423081549911, + -0.002798999786867401, + -0.7473343192533453 + ], + [ + 0.6514720224061927, + 0.49225587293755924, + 0.5772939975267947, + 0.3780172638881487, + -0.8703586535289438, + 0.3155610280592358, + 0.6577895957101351, + 0.012647916261802922, + -0.7530955304539602 + ], + [ + 0.6528162751107479, + 0.4713069444567252, + 0.5930435692741249, + 0.3973924799388621, + -0.8795774913342566, + 0.2615772421793934, + 0.6449109456650348, + 0.06490917381234523, + -0.7614963370341511 + ], + [ + 0.6291443859755523, + 0.4774753706816417, + 0.6133470567206415, + 0.4261317219689317, + -0.871810242681757, + 0.24157536357619103, + 0.6500685326388581, + 0.1093808536609795, + -0.7519619217255333 + ], + [ + 0.6211449836332897, + 0.4813233823356744, + 0.6184712692794604, + 0.4609302008825146, + -0.8626180319092571, + 0.2084070078941798, + 0.6338156350403524, + 0.1556211188815522, + -0.7576673466214898 + ], + [ + 0.6128455287176402, + 0.4936310392052126, + 0.6170484219767339, + 0.49142525243828256, + -0.8495869384387383, + 0.19158093668280643, + 0.61880657656231, + 0.18582365610296517, + -0.7632483145318834 + ], + [ + 0.6115807684305871, + 0.5030773143680476, + 0.6106407941286638, + 0.5143397688869786, + -0.8392689652005401, + 0.17630146395451185, + 0.6011851344029906, + 0.2062542601243602, + -0.7720334282616335 + ], + [ + 0.6039666441270557, + 0.5030703243411232, + 0.6181784059227721, + 0.523239792695297, + -0.8353433024046222, + 0.16858732594095666, + 0.6012024718196732, + 0.22163441947282675, + -0.7677459032667371 + ], + [ + 0.613792089886164, + 0.5042540897838221, + 0.6074430700316403, + 0.5297081830686157, + -0.8335742293482881, + 0.15672665681546877, + 0.5853789466519285, + 0.2255699827164439, + -0.7787487860112412 + ], + [ + 0.6104614909850663, + 0.5143325727030431, + 0.6023277950426649, + 0.5395207954268452, + -0.8267859199624041, + 0.15919281973099508, + 0.5798741926713706, + 0.22778728500201628, + -0.7822140841643905 + ], + [ + 0.6138875521408472, + 0.5053025027935791, + 0.6064746111726886, + 0.5352094471675648, + -0.83115841437735, + 0.150753235031024, + 0.5802524631478168, + 0.23204540693638936, + -0.7806804776159176 + ], + [ + 0.6218162878895876, + 0.5044391802075427, + 0.5990706282123633, + 0.5363923001010249, + -0.8316726892669067, + 0.14354037174218004, + 0.5706380678745028, + 0.2320811310707816, + -0.7877249165116976 + ], + [ + 0.6327271713771123, + 0.4983721646232501, + 0.5926900641396435, + 0.5268764919969511, + -0.8379701876652468, + 0.14215177369719328, + 0.5675010914369287, + 0.22233117215767878, + -0.7927870843454046 + ], + [ + 0.6419928487429163, + 0.4915516753575469, + 0.5884064348867576, + 0.5136430714771999, + -0.8455062624111602, + 0.1459107787210346, + 0.5692240132728269, + 0.2085572119987689, + -0.7952910863557302 + ], + [ + 0.6637792673451408, + 0.5005784831604593, + 0.5557141949235436, + 0.5071360961892116, + -0.8473484351403102, + 0.1575233614650048, + 0.5497363587982107, + 0.17726198594747175, + -0.8163137412497989 + ], + [ + 0.6516211932755567, + 0.5135598427773591, + 0.5582527280368934, + 0.5236612038282238, + -0.837004775049653, + 0.15875122093784033, + 0.5487884511169263, + 0.18888963558272265, + -0.8143414158018191 + ], + [ + 0.6425867009378615, + 0.5233649782440537, + 0.559617218574801, + 0.545487881354817, + -0.825383283875104, + 0.14555207313735724, + 0.5380755551712308, + 0.21173458443804294, + -0.8158695745522202 + ], + [ + 0.6511105453172059, + 0.5228277041373032, + 0.550187467653751, + 0.5638942286432472, + -0.8184341118461913, + 0.1104033671106701, + 0.5080141303936023, + 0.23836274111750938, + -0.8277106058082012 + ], + [ + 0.6823439177747253, + 0.49041211383517447, + 0.5421279705748034, + 0.5570048675848882, + -0.8290677294702844, + 0.04891091327841285, + 0.47344731001726076, + 0.2685938542757505, + -0.8388712571561364 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + 0.0015354752540588379, + 0.0018524527549743652, + -0.011927306652069092, + -0.027938514947891235, + 0.026820987462997437, + 0.010873660445213318, + 1.0 + ], + [ + -0.007152542471885681, + -0.0006499141454696655, + -0.01765879988670349, + -0.005511462688446045, + 0.006659954786300659, + 0.038151636719703674, + 1.0 + ], + [ + -0.012332439422607422, + 0.003429129719734192, + -0.00916089117527008, + 0.020874425768852234, + 0.011631444096565247, + 0.050361841917037964, + 1.0 + ], + [ + -0.009412407875061035, + 0.006518453359603882, + -0.011865466833114624, + 0.06049586832523346, + 0.0014006346464157104, + 0.08352415263652802, + 1.0 + ], + [ + -0.005760699510574341, + 0.00880838930606842, + -0.011453941464424133, + 0.06311433762311935, + -0.0808432400226593, + 0.10190579295158386, + 1.0 + ], + [ + -0.0037886202335357666, + 0.006645023822784424, + -0.004189908504486084, + 0.05392022430896759, + -0.12195317447185516, + 0.09641134738922119, + 1.0 + ], + [ + -0.002727612853050232, + 0.009905874729156494, + -0.0015568584203720093, + 0.03107711672782898, + -0.1285875141620636, + 0.08053529262542725, + 1.0 + ], + [ + 3.333389759063721e-05, + 0.009808331727981567, + -0.006409063935279846, + 0.03331996873021126, + -0.09072500467300415, + 0.05390477180480957, + 1.0 + ], + [ + -0.0023032426834106445, + 0.015198633074760437, + -0.011246159672737122, + 0.012860346585512161, + -0.07068449258804321, + 0.06312671303749084, + 1.0 + ], + [ + -0.0011421442031860352, + 0.006412878632545471, + -0.009469114243984222, + -0.022198062390089035, + -0.05337989330291748, + 0.06318116188049316, + 1.0 + ], + [ + -0.004276782274246216, + 0.006645143032073975, + -0.014700464904308319, + -0.01634669117629528, + -0.020575523376464844, + 0.06030160188674927, + 1.0 + ], + [ + -0.0016988813877105713, + 0.004713162779808044, + -0.011260636150836945, + -0.0012172646820545197, + -0.030452728271484375, + 0.010475635528564453, + 1.0 + ], + [ + -0.0011217445135116577, + 0.0018478184938430786, + -0.005806401371955872, + -0.0019476674497127533, + 0.011726677417755127, + 0.006130576133728027, + 0.0 + ], + [ + 0.00035859644412994385, + 0.003820359706878662, + -0.003411322832107544, + -0.002163216006010771, + 0.01056736707687378, + 0.015307605266571045, + 0.0 + ], + [ + 0.0019410699605941772, + 0.0008880943059921265, + 0.0009366050362586975, + -0.003242239123210311, + 0.003155648708343506, + -0.00948876142501831, + 0.0 + ], + [ + 0.001171886920928955, + 0.0004878789186477661, + 0.0025572553277015686, + -0.02053828537464142, + 0.008867025375366211, + 0.003029167652130127, + 0.0 + ], + [ + 0.0029941797256469727, + -0.006446659564971924, + 0.009890459477901459, + -0.0682404488325119, + 0.016973555088043213, + 0.02104640007019043, + 0.0 + ], + [ + 0.01261475682258606, + -0.01078137755393982, + 0.028938017785549164, + -0.0594140961766243, + -0.006767868995666504, + 0.0485234260559082, + 0.0 + ], + [ + 0.02145947515964508, + -0.014760121703147888, + 0.021803952753543854, + -0.05813014507293701, + 0.021198272705078125, + 0.04306221008300781, + 0.0 + ], + [ + 0.021358028054237366, + -0.014427512884140015, + 0.01588122546672821, + -0.036240264773368835, + 0.019253790378570557, + 0.03747934103012085, + 0.0 + ], + [ + 0.018747180700302124, + -0.01706618070602417, + 0.0051427483558654785, + -0.02224232256412506, + 0.022239208221435547, + 0.023363232612609863, + 0.0 + ], + [ + 0.01821771264076233, + -0.018716052174568176, + 0.009479254484176636, + -0.019980967044830322, + -2.1696090698242188e-05, + 0.014657318592071533, + 0.0 + ], + [ + 0.02325338125228882, + -0.022655054926872253, + -0.00028939545154571533, + -0.0008997023105621338, + 0.019657671451568604, + -0.0019052624702453613, + 0.0 + ], + [ + 0.026103824377059937, + -0.022323936223983765, + 0.0014189928770065308, + -0.0014307498931884766, + 0.006773114204406738, + 0.011789500713348389, + 0.0 + ], + [ + 0.02155110239982605, + -0.022982552647590637, + 0.0024247169494628906, + -0.005546301603317261, + -0.00046437978744506836, + -0.006752371788024902, + 0.0 + ], + [ + 0.012931466102600098, + -0.018395081162452698, + -0.004322230815887451, + 0.002402365207672119, + 0.01175600290298462, + -0.005259156227111816, + 0.0 + ], + [ + 0.011509090662002563, + -0.012023475021123886, + -0.006152361631393433, + 0.013096660375595093, + 0.0038149356842041016, + -0.017407536506652832, + 0.0 + ], + [ + 0.0041179358959198, + -0.005092676728963852, + -0.007520571351051331, + 0.01695379614830017, + -0.0020940303802490234, + -0.019581377506256104, + 1.0 + ], + [ + 0.00038927793502807617, + -0.0010291971266269684, + -0.012976795434951782, + 0.04263554513454437, + 0.02351313829421997, + -0.02237790822982788, + 1.0 + ], + [ + 0.0009126067161560059, + 0.00023942068219184875, + -0.0006603598594665527, + -0.014093667268753052, + 0.001134335994720459, + 0.0245400071144104, + 1.0 + ], + [ + 0.00012984871864318848, + -0.001122996211051941, + -0.00024232268333435059, + -0.02599523961544037, + 0.012761950492858887, + 0.02690213918685913, + 1.0 + ], + [ + 0.0019277334213256836, + 0.006644144654273987, + 0.0001741945743560791, + -0.02647307515144348, + 0.035274624824523926, + 0.009886860847473145, + 1.0 + ], + [ + -0.004620999097824097, + 0.007714852690696716, + 0.0016758441925048828, + -0.029478996992111206, + 0.03967726230621338, + -0.029130518436431885, + 1.0 + ], + [ + -0.022547274827957153, + 0.019381962716579437, + 0.0355525016784668, + -0.029705345630645752, + -0.007686495780944824, + -0.020040392875671387, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9643021821975708 + ], + [ + 0.6892001032829285 + ], + [ + 0.3936077654361725 + ], + [ + 0.18800361454486847 + ], + [ + 0.07854863256216049 + ], + [ + 0.05896064639091492 + ], + [ + 0.058401256799697876 + ], + [ + 0.058401256799697876 + ], + [ + 0.05812275409698486 + ], + [ + 0.05812275409698486 + ], + [ + 0.05812275409698486 + ], + [ + 0.05812275409698486 + ], + [ + 0.05812275409698486 + ], + [ + 0.05812275409698486 + ], + [ + 0.05812275409698486 + ], + [ + 0.07988496869802475 + ], + [ + 0.23460371792316437 + ], + [ + 0.5014150738716125 + ], + [ + 0.8102405071258545 + ], + [ + 0.9974852800369263 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2568104565143585, + 0.15487632155418396, + 0.1995605230331421 + ], + [ + 0.24965791404247284, + 0.1542264074087143, + 0.1819017231464386 + ], + [ + 0.23732547461986542, + 0.1576555371284485, + 0.17274083197116852 + ], + [ + 0.22791306674480438, + 0.16417399048805237, + 0.1608753651380539 + ], + [ + 0.22215236723423004, + 0.1729823797941208, + 0.14942142367362976 + ], + [ + 0.21836374700069427, + 0.1796274036169052, + 0.14523151516914368 + ], + [ + 0.21563613414764404, + 0.1895332783460617, + 0.14367465674877167 + ], + [ + 0.21566946804523468, + 0.19934161007404327, + 0.13726559281349182 + ], + [ + 0.21336622536182404, + 0.2145402431488037, + 0.1260194331407547 + ], + [ + 0.212224081158638, + 0.22095312178134918, + 0.11655031889677048 + ], + [ + 0.20794729888439178, + 0.22759826481342316, + 0.10184985399246216 + ], + [ + 0.2062484174966812, + 0.2323114275932312, + 0.09058921784162521 + ], + [ + 0.20512667298316956, + 0.23415924608707428, + 0.08478281646966934 + ], + [ + 0.2054852694272995, + 0.23797960579395294, + 0.0813714936375618 + ], + [ + 0.20742633938789368, + 0.23886770009994507, + 0.0823080986738205 + ], + [ + 0.20859822630882263, + 0.23935557901859283, + 0.08486535400152206 + ], + [ + 0.2115924060344696, + 0.2329089194536209, + 0.09475581347942352 + ], + [ + 0.22420716285705566, + 0.2221275418996811, + 0.12369383126497269 + ], + [ + 0.24566663801670074, + 0.2073674201965332, + 0.14549778401851654 + ], + [ + 0.2670246660709381, + 0.1929399073123932, + 0.16137900948524475 + ], + [ + 0.28577184677124023, + 0.17587372660636902, + 0.16652175784111023 + ], + [ + 0.30398955941200256, + 0.15715767443180084, + 0.17600101232528687 + ], + [ + 0.3272429406642914, + 0.1345026195049286, + 0.17571161687374115 + ], + [ + 0.3533467650413513, + 0.11217868328094482, + 0.17713060975074768 + ], + [ + 0.37489786744117737, + 0.08919613063335419, + 0.17955532670021057 + ], + [ + 0.38782933354377747, + 0.07080104947090149, + 0.17523309588432312 + ], + [ + 0.39933842420578003, + 0.0587775744497776, + 0.1690807342529297 + ], + [ + 0.40345636010169983, + 0.05368489772081375, + 0.16156016290187836 + ], + [ + 0.4038456380367279, + 0.05265570059418678, + 0.14858336746692657 + ], + [ + 0.4047582447528839, + 0.05289512127637863, + 0.14792300760746002 + ], + [ + 0.4048880934715271, + 0.05177212506532669, + 0.14768068492412567 + ], + [ + 0.4068158268928528, + 0.05841626971960068, + 0.14785487949848175 + ], + [ + 0.4021948277950287, + 0.0661311224102974, + 0.14953072369098663 + ], + [ + 0.37964755296707153, + 0.08551308512687683, + 0.18508322536945343 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9668562834012314, + -0.22249771792109121, + 0.12523455101314399, + -0.18703569435283815, + -0.9511055877091857, + -0.24579627756806172, + 0.1738003920752452, + 0.21422634419760433, + -0.9611974288179407 + ], + [ + 0.974409102240084, + -0.18535116980793714, + 0.1271685704979933, + -0.15019439479069097, + -0.9577809833058576, + -0.24514736749784422, + 0.16723798983822996, + 0.21977381979775085, + -0.9611092148587351 + ], + [ + 0.9826031386698999, + -0.1316501000591058, + 0.1309935991966359, + -0.10114401414149687, + -0.9709017261855589, + -0.21707078682597228, + 0.1557593023848211, + 0.200045217999155, + -0.9673267030720616 + ], + [ + 0.9878329739171051, + -0.04091508062566955, + 0.15003990075804044, + -0.01881984720021567, + -0.9891314195290442, + -0.14582471756125026, + 0.15437561009903153, + 0.14122673641294992, + -0.9778666473137831 + ], + [ + 0.9689830470279703, + 0.06381255440363254, + 0.2387463349935948, + 0.08047072529529603, + -0.9949082356643953, + -0.06068002123935887, + 0.23365854776326792, + 0.0780100026127642, + -0.9691842562431137 + ], + [ + 0.9216617793400734, + 0.16915182435223922, + 0.34918079102665234, + 0.16701726016743426, + -0.9852798891232292, + 0.036452364744695265, + 0.35020679506522, + 0.024722467668619703, + -0.93634609001294 + ], + [ + 0.854363460126844, + 0.25900163504041457, + 0.45053438386706757, + 0.22709895299626104, + -0.9658680216973637, + 0.12459947917396247, + 0.46742822288356567, + -0.004137355292042601, + -0.8840213451852273 + ], + [ + 0.7971459336871205, + 0.328081113858644, + 0.5068738927340416, + 0.2586106466259336, + -0.9441128716422406, + 0.2043805740552635, + 0.5455995728167368, + -0.03183815837503809, + -0.8374410055720227 + ], + [ + 0.741468301196323, + 0.39602787415743357, + 0.5416518080938925, + 0.2934338059595877, + -0.9173431528806535, + 0.26903185942013097, + 0.603424692767134, + -0.04053964421804945, + -0.7963888355605974 + ], + [ + 0.6913054189582362, + 0.4425055653640193, + 0.5712141825452579, + 0.32546641682101163, + -0.8964983657954892, + 0.3006032129697031, + 0.6451111758764292, + -0.02189759685186421, + -0.7637748791440081 + ], + [ + 0.6586469941249888, + 0.4868070140181332, + 0.5737622053018708, + 0.3600919305431426, + -0.8734606280288927, + 0.3277198999772291, + 0.6606950421244507, + -0.009244586855102377, + -0.7505974946174874 + ], + [ + 0.6369860335577452, + 0.49545393670568433, + 0.5905710707909853, + 0.3569671355625447, + -0.8685964110761161, + 0.3436782489392697, + 0.683244653971506, + -0.008103781125533921, + -0.7301445552428824 + ], + [ + 0.6417072040607891, + 0.49955404062376446, + 0.5819429737980822, + 0.36480027981592217, + -0.8662563919772096, + 0.34135116698914647, + 0.67463517555988, + -0.006754543293042425, + -0.7381204210982059 + ], + [ + 0.6421553907502581, + 0.5114594984847907, + 0.5710040591274896, + 0.3781768969841297, + -0.8592916065079828, + 0.3443837533513813, + 0.666797337065647, + -0.0052073404552202, + -0.745220903415588 + ], + [ + 0.6475348127148783, + 0.5014108554614543, + 0.5738343143693307, + 0.37311537820890656, + -0.8652047847912109, + 0.33497103593955546, + 0.6644423081549911, + -0.002798999786867401, + -0.7473343192533453 + ], + [ + 0.6514720224061927, + 0.49225587293755924, + 0.5772939975267947, + 0.3780172638881487, + -0.8703586535289438, + 0.3155610280592358, + 0.6577895957101351, + 0.012647916261802922, + -0.7530955304539602 + ], + [ + 0.6528162751107479, + 0.4713069444567252, + 0.5930435692741249, + 0.3973924799388621, + -0.8795774913342566, + 0.2615772421793934, + 0.6449109456650348, + 0.06490917381234523, + -0.7614963370341511 + ], + [ + 0.6291443859755523, + 0.4774753706816417, + 0.6133470567206415, + 0.4261317219689317, + -0.871810242681757, + 0.24157536357619103, + 0.6500685326388581, + 0.1093808536609795, + -0.7519619217255333 + ], + [ + 0.6211449836332897, + 0.4813233823356744, + 0.6184712692794604, + 0.4609302008825146, + -0.8626180319092571, + 0.2084070078941798, + 0.6338156350403524, + 0.1556211188815522, + -0.7576673466214898 + ], + [ + 0.6128455287176402, + 0.4936310392052126, + 0.6170484219767339, + 0.49142525243828256, + -0.8495869384387383, + 0.19158093668280643, + 0.61880657656231, + 0.18582365610296517, + -0.7632483145318834 + ], + [ + 0.6115807684305871, + 0.5030773143680476, + 0.6106407941286638, + 0.5143397688869786, + -0.8392689652005401, + 0.17630146395451185, + 0.6011851344029906, + 0.2062542601243602, + -0.7720334282616335 + ], + [ + 0.6039666441270557, + 0.5030703243411232, + 0.6181784059227721, + 0.523239792695297, + -0.8353433024046222, + 0.16858732594095666, + 0.6012024718196732, + 0.22163441947282675, + -0.7677459032667371 + ], + [ + 0.613792089886164, + 0.5042540897838221, + 0.6074430700316403, + 0.5297081830686157, + -0.8335742293482881, + 0.15672665681546877, + 0.5853789466519285, + 0.2255699827164439, + -0.7787487860112412 + ], + [ + 0.6104614909850663, + 0.5143325727030431, + 0.6023277950426649, + 0.5395207954268452, + -0.8267859199624041, + 0.15919281973099508, + 0.5798741926713706, + 0.22778728500201628, + -0.7822140841643905 + ], + [ + 0.6138875521408472, + 0.5053025027935791, + 0.6064746111726886, + 0.5352094471675648, + -0.83115841437735, + 0.150753235031024, + 0.5802524631478168, + 0.23204540693638936, + -0.7806804776159176 + ], + [ + 0.6218162878895876, + 0.5044391802075427, + 0.5990706282123633, + 0.5363923001010249, + -0.8316726892669067, + 0.14354037174218004, + 0.5706380678745028, + 0.2320811310707816, + -0.7877249165116976 + ], + [ + 0.6327271713771123, + 0.4983721646232501, + 0.5926900641396435, + 0.5268764919969511, + -0.8379701876652468, + 0.14215177369719328, + 0.5675010914369287, + 0.22233117215767878, + -0.7927870843454046 + ], + [ + 0.6419928487429163, + 0.4915516753575469, + 0.5884064348867576, + 0.5136430714771999, + -0.8455062624111602, + 0.1459107787210346, + 0.5692240132728269, + 0.2085572119987689, + -0.7952910863557302 + ], + [ + 0.6637792673451408, + 0.5005784831604593, + 0.5557141949235436, + 0.5071360961892116, + -0.8473484351403102, + 0.1575233614650048, + 0.5497363587982107, + 0.17726198594747175, + -0.8163137412497989 + ], + [ + 0.6516211932755567, + 0.5135598427773591, + 0.5582527280368934, + 0.5236612038282238, + -0.837004775049653, + 0.15875122093784033, + 0.5487884511169263, + 0.18888963558272265, + -0.8143414158018191 + ], + [ + 0.6425867009378615, + 0.5233649782440537, + 0.559617218574801, + 0.545487881354817, + -0.825383283875104, + 0.14555207313735724, + 0.5380755551712308, + 0.21173458443804294, + -0.8158695745522202 + ], + [ + 0.6511105453172059, + 0.5228277041373032, + 0.550187467653751, + 0.5638942286432472, + -0.8184341118461913, + 0.1104033671106701, + 0.5080141303936023, + 0.23836274111750938, + -0.8277106058082012 + ], + [ + 0.6823439177747253, + 0.49041211383517447, + 0.5421279705748034, + 0.5570048675848882, + -0.8290677294702844, + 0.04891091327841285, + 0.47344731001726076, + 0.2685938542757505, + -0.8388712571561364 + ], + [ + 0.6904836166070516, + 0.4555917870969791, + 0.5618438383812951, + 0.5409591375432763, + -0.8408762724275848, + 0.017038367783469482, + 0.4802036929321563, + 0.29216984443653826, + -0.827067829924637 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005510.json b/json/chunk-0005/episode_0005510.json new file mode 100644 index 0000000000000000000000000000000000000000..a60d78a16f90eac5f2014e7697008cfea92c60ce --- /dev/null +++ b/json/chunk-0005/episode_0005510.json @@ -0,0 +1,1402 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 22, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nTake the blue spoon and place it in the middle of the table." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005510.mp4", + "start": 0, + "end": 22, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.33378878235816956, + -0.004727676976472139, + 0.04833406209945679, + 0.01768152229487896, + -0.11174166947603226, + -0.04194645583629608, + 0.0, + 0.9994885921478271 + ], + [ + 0.3305723965167999, + -0.0050368239171803, + 0.035439372062683105, + 0.014706140384078026, + -0.0733819529414177, + -0.044552940875291824, + 0.0, + 0.9994885921478271 + ], + [ + 0.3228307068347931, + 0.04464058205485344, + 0.02862614393234253, + 0.014017210341989994, + -0.06499434262514114, + 0.04340739548206329, + 0.0, + 0.9994885921478271 + ], + [ + 0.31520184874534607, + 0.09405779838562012, + 0.02025068923830986, + 0.01939169317483902, + -0.08218797296285629, + 0.09587354958057404, + 0.0, + 0.9994885921478271 + ], + [ + 0.2965075671672821, + 0.14558152854442596, + 0.012576744891703129, + 0.04893976449966431, + -0.11155534535646439, + 0.12960872054100037, + 0.0, + 0.9988223910331726 + ], + [ + 0.27874407172203064, + 0.18429842591285706, + -0.002840526634827256, + 0.05050552636384964, + -0.11781617254018784, + 0.07884914427995682, + 0.0, + 0.9994885921478271 + ], + [ + 0.2656579613685608, + 0.20589153468608856, + -0.004549377132207155, + 0.06986437737941742, + -0.11970003694295883, + 0.05903540179133415, + 0.0, + 0.9994885921478271 + ], + [ + 0.2549993395805359, + 0.2111092507839203, + -0.014231295324862003, + 0.052988383919000626, + -0.07726730406284332, + 0.050097037106752396, + 0.0, + 0.9994885921478271 + ], + [ + 0.25225260853767395, + 0.21262556314468384, + -0.014808197505772114, + 0.06287241727113724, + -0.06054118648171425, + 0.056077368557453156, + 0.0, + 0.9994885921478271 + ], + [ + 0.2484101504087448, + 0.20608122646808624, + -0.023297589272260666, + 0.050325024873018265, + -0.024826426059007645, + 0.05709784850478172, + 0.0, + 0.9515043497085571 + ], + [ + 0.24963147938251495, + 0.20312082767486572, + -0.02396521158516407, + 0.059904858469963074, + -0.008335751481354237, + 0.0536535270512104, + 0.0, + 0.6621366739273071 + ], + [ + 0.2501210570335388, + 0.20167256891727448, + -0.02341550774872303, + 0.06370678544044495, + 0.0018597912276163697, + 0.062359780073165894, + 0.0, + 0.400628000497818 + ], + [ + 0.2558666467666626, + 0.18325909972190857, + -0.014088539406657219, + 0.046632565557956696, + 0.011899076402187347, + 0.06643316894769669, + 0.0, + 0.3840504586696625 + ], + [ + 0.2745080888271332, + 0.14870613813400269, + 0.034557804465293884, + 0.09074664860963821, + -0.10805287212133408, + 0.051360826939344406, + 0.0, + 0.3840504586696625 + ], + [ + 0.2815714180469513, + 0.101863794028759, + 0.04995923861861229, + 0.06675270199775696, + -0.1338392198085785, + 0.031869400292634964, + 0.0, + 0.3831871449947357 + ], + [ + 0.29064449667930603, + 0.05719491466879845, + 0.04720514640212059, + 0.06474996358156204, + -0.1428748369216919, + -0.01784212701022625, + 0.0, + 0.3831871449947357 + ], + [ + 0.29539918899536133, + 0.029042474925518036, + 0.033462829887866974, + 0.04750819876790047, + -0.12276641279459, + -0.04850022494792938, + 0.0, + 0.3831871449947357 + ], + [ + 0.28844979405403137, + 0.019331958144903183, + 0.0017177390400320292, + 0.03281400352716446, + -0.031284231692552567, + -0.04385081306099892, + 0.0, + 0.3831871449947357 + ], + [ + 0.2852981984615326, + 0.02192775532603264, + -0.017187025398015976, + 0.027507416903972626, + 0.00342627358622849, + -0.023594930768013, + 0.0, + 0.3831871449947357 + ], + [ + 0.2867821156978607, + 0.02419702522456646, + -0.02539561502635479, + 0.00922397617250681, + 0.01625988818705082, + -0.020655440166592598, + 0.0, + 0.45315688848495483 + ], + [ + 0.28790342807769775, + 0.020768500864505768, + -0.02210390381515026, + -0.00369858811609447, + 0.005708726122975349, + -0.053223948925733566, + 0.0, + 0.7730204463005066 + ], + [ + 0.2917519509792328, + 0.015072207897901535, + 0.010707523673772812, + -0.002573966747149825, + -0.04695982486009598, + -0.09135769307613373, + 0.0, + 0.9941151142120361 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9515043497085571 + ], + [ + 0.6621366739273071 + ], + [ + 0.400628000497818 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3831871449947357 + ], + [ + 0.3831871449947357 + ], + [ + 0.3831871449947357 + ], + [ + 0.3831871449947357 + ], + [ + 0.3831871449947357 + ], + [ + 0.45315688848495483 + ], + [ + 0.7730204463005066 + ], + [ + 0.9941151142120361 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.33378878235816956, + -0.004727676976472139, + 0.04833406209945679 + ], + [ + 0.3305723965167999, + -0.0050368239171803, + 0.035439372062683105 + ], + [ + 0.3228307068347931, + 0.04464058205485344, + 0.02862614393234253 + ], + [ + 0.31520184874534607, + 0.09405779838562012, + 0.02025068923830986 + ], + [ + 0.2965075671672821, + 0.14558152854442596, + 0.012576744891703129 + ], + [ + 0.27874407172203064, + 0.18429842591285706, + -0.002840526634827256 + ], + [ + 0.2656579613685608, + 0.20589153468608856, + -0.004549377132207155 + ], + [ + 0.2549993395805359, + 0.2111092507839203, + -0.014231295324862003 + ], + [ + 0.25225260853767395, + 0.21262556314468384, + -0.014808197505772114 + ], + [ + 0.2484101504087448, + 0.20608122646808624, + -0.023297589272260666 + ], + [ + 0.24963147938251495, + 0.20312082767486572, + -0.02396521158516407 + ], + [ + 0.2501210570335388, + 0.20167256891727448, + -0.02341550774872303 + ], + [ + 0.2558666467666626, + 0.18325909972190857, + -0.014088539406657219 + ], + [ + 0.2745080888271332, + 0.14870613813400269, + 0.034557804465293884 + ], + [ + 0.2815714180469513, + 0.101863794028759, + 0.04995923861861229 + ], + [ + 0.29064449667930603, + 0.05719491466879845, + 0.04720514640212059 + ], + [ + 0.29539918899536133, + 0.029042474925518036, + 0.033462829887866974 + ], + [ + 0.28844979405403137, + 0.019331958144903183, + 0.0017177390400320292 + ], + [ + 0.2852981984615326, + 0.02192775532603264, + -0.017187025398015976 + ], + [ + 0.2867821156978607, + 0.02419702522456646, + -0.02539561502635479 + ], + [ + 0.28790342807769775, + 0.020768500864505768, + -0.02210390381515026 + ], + [ + 0.2917519509792328, + 0.015072207897901535, + 0.010707523673772812 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9928892552731594, + -0.039957784385217805, + 0.11213519621481648, + -0.041672629232758156, + -0.9990468751910064, + 0.012989732249538165, + 0.11150927645689403, + -0.01757033403524432, + -0.993608053825023 + ], + [ + 0.9963191049564825, + -0.043456298650739224, + 0.0738903999602907, + -0.04441833967567748, + -0.9989476750852094, + 0.0114260029017742, + 0.07331611145696493, + -0.0146660338685337, + -0.997200910173771 + ], + [ + 0.996948646880206, + 0.04429901316008917, + 0.06427280075403456, + 0.04330214426934389, + -0.9989203956701251, + 0.016821635352037057, + 0.06494859340588145, + -0.013987156511679586, + -0.9977905790632193 + ], + [ + 0.9920476214146313, + 0.09729330519909923, + 0.07984691358473034, + 0.09540361442343065, + -0.9950681163535556, + 0.027158685011101014, + 0.082095476126994, + -0.01932502470947336, + -0.9964370909492783 + ], + [ + 0.9854488287681218, + 0.1344917301985667, + 0.10393546260893416, + 0.12844278053095026, + -0.9897213973877926, + 0.06288090077466733, + 0.11132411243309037, + -0.048616150207018274, + -0.9925942836476712 + ], + [ + 0.9899822540432122, + 0.08458267823650562, + 0.11305267454536605, + 0.07822142657282607, + -0.9951544321792359, + 0.05957402570696521, + 0.11754380079116328, + -0.05013408677099773, + -0.9918014056449028 + ], + [ + 0.9911148826156356, + 0.06717868680138593, + 0.11479683574661813, + 0.058578933816998406, + -0.9953308085676428, + 0.07671434043870731, + 0.11941439599419514, + -0.06930804827524334, + -0.9904224333452963 + ], + [ + 0.9957655158285593, + 0.05408895419005984, + 0.07433318586814688, + 0.049926676197551215, + -0.9971388855792321, + 0.05675711294341614, + 0.07719044300007441, + -0.05280556694546922, + -0.9956169984532303 + ], + [ + 0.9965988982689388, + 0.05973280619710294, + 0.05676819384969623, + 0.05594529921170129, + -0.9962422941005094, + 0.06611667672733951, + 0.06050421031011447, + -0.06271589359304103, + -0.9961957424249391 + ], + [ + 0.9980627029636719, + 0.05824128005944966, + 0.02188136764203746, + 0.05704924312622672, + -0.997035125670239, + 0.0516366346546266, + 0.024823875837063112, + -0.050288283692799286, + -0.9984261934222572 + ], + [ + 0.9985263025916177, + 0.05402992281621426, + 0.0050980852472034405, + 0.0536259255334299, + -0.9967430536660998, + 0.06022910491666073, + 0.008335654947084497, + -0.059866955901006234, + -0.9981715606286079 + ], + [ + 0.9980545328797501, + 0.06207477957953259, + -0.005819891608660019, + 0.062319263304066806, + -0.996038989648026, + 0.06342428968603588, + -0.0018597901555016494, + -0.0636635911733877, + -0.9979696830763375 + ], + [ + 0.9977234914736824, + 0.06575870087046187, + -0.01495419076357971, + 0.06637961452586355, + -0.9967462468356577, + 0.04572380336791295, + -0.011898795609732131, + -0.046612366158122885, + -0.9988421827216643 + ], + [ + 0.9928569792353799, + 0.06088706296889188, + 0.10260499182115375, + 0.05103884242237907, + -0.9940703706047095, + 0.09601632595553403, + 0.10784273433004372, + -0.09009363933618172, + -0.990077310518417 + ], + [ + 0.990553648191362, + 0.040689387648133735, + 0.1309497758211262, + 0.0315790426257133, + -0.9969825928411371, + 0.07091173131863863, + 0.13344000195453642, + -0.06610660560476021, + -0.9888496764290263 + ], + [ + 0.9896531964204069, + -0.008592002460201337, + 0.14322265291704261, + -0.017659391972134373, + -0.997909995804495, + 0.06215936090925856, + 0.14238924358969773, + -0.06404543517844843, + -0.9877365466270634 + ], + [ + 0.9913066087751253, + -0.04261776668927317, + 0.12447864620560305, + -0.04811632699567803, + -0.9979790656975819, + 0.04150425888781623, + 0.1224582642176754, + -0.04713290137261406, + -0.9913538536430843 + ], + [ + 0.9985498658554636, + -0.042787939537067526, + 0.03267043970026146, + -0.04381531116403441, + -0.998545879227648, + 0.03140613928967719, + 0.031279128946232006, + -0.03279206165607793, + -0.9989726206381782 + ], + [ + 0.9997157844990762, + -0.023678025911812773, + -0.002775123838018821, + -0.023592603049398978, + -0.9993412294152108, + 0.027577096878542803, + -0.0034262668825278944, + -0.02750378664501614, + -0.9996158274134295 + ], + [ + 0.999654523108694, + -0.020803032896383983, + -0.016064502813405986, + -0.02065124120434472, + -0.9997410549689593, + 0.009557679962863582, + -0.016259171720906875, + -0.00922262608287439, + -0.9998252759873025 + ], + [ + 0.9985676683025724, + -0.05317737575150911, + -0.005897332358498547, + -0.05319795692356471, + -0.9985782331206257, + -0.0033896484844228663, + -0.005708695115552883, + 0.00369851941622684, + -0.9999768656095026 + ], + [ + 0.994731974949746, + -0.09135068645246858, + 0.04651182749839463, + -0.09113009048127907, + -0.9958154655326451, + -0.0068458173270209794, + 0.04694256726523951, + 0.0025711263414744242, + -0.9988942810367293 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.003216385841369629, + -0.0003091469407081604, + -0.012894690036773682, + -0.002975381910800934, + 0.03835971653461456, + -0.002606485038995743, + 1.0 + ], + [ + -0.007741689682006836, + 0.04967740550637245, + -0.006813228130340576, + -0.0006889300420880318, + 0.00838761031627655, + 0.08796033263206482, + 1.0 + ], + [ + -0.0076288580894470215, + 0.04941721633076668, + -0.008375454694032669, + 0.005374482832849026, + -0.01719363033771515, + 0.05246615409851074, + 1.0 + ], + [ + -0.018694281578063965, + 0.05152373015880585, + -0.007673944346606731, + 0.029548071324825287, + -0.029367372393608093, + 0.03373517096042633, + 1.0 + ], + [ + -0.017763495445251465, + 0.03871689736843109, + -0.015417271293699741, + 0.0015657618641853333, + -0.00626082718372345, + -0.05075957626104355, + 1.0 + ], + [ + -0.013086110353469849, + 0.021593108773231506, + -0.001708850497379899, + 0.01935885101556778, + -0.001883864402770996, + -0.019813742488622665, + 1.0 + ], + [ + -0.010658621788024902, + 0.005217716097831726, + -0.00968191772699356, + -0.016875993460416794, + 0.04243273288011551, + -0.008938364684581757, + 1.0 + ], + [ + -0.0027467310428619385, + 0.0015163123607635498, + -0.0005769021809101105, + 0.009884033352136612, + 0.016726117581129074, + 0.00598033145070076, + 1.0 + ], + [ + -0.003842458128929138, + -0.006544336676597595, + -0.008489391766488552, + -0.012547392398118973, + 0.035714760422706604, + 0.0010204799473285675, + 0.0 + ], + [ + 0.0012213289737701416, + -0.00296039879322052, + -0.0006676223129034042, + 0.009579833596944809, + 0.016490675508975983, + -0.0034443214535713196, + 0.0 + ], + [ + 0.0004895776510238647, + -0.0014482587575912476, + 0.00054970383644104, + 0.0038019269704818726, + 0.010195543058216572, + 0.00870625302195549, + 0.0 + ], + [ + 0.005745589733123779, + -0.018413469195365906, + 0.009326968342065811, + -0.01707421988248825, + 0.010039284825325012, + 0.004073388874530792, + 0.0 + ], + [ + 0.01864144206047058, + -0.034552961587905884, + 0.04864634573459625, + 0.04411408305168152, + -0.11995194852352142, + -0.01507234200835228, + 0.0 + ], + [ + 0.007063329219818115, + -0.04684234410524368, + 0.015401434153318405, + -0.023993946611881256, + -0.025786347687244415, + -0.019491426646709442, + 0.0 + ], + [ + 0.009073078632354736, + -0.044668879359960556, + -0.0027540922164916992, + -0.0020027384161949158, + -0.009035617113113403, + -0.049711525440216064, + 0.0 + ], + [ + 0.004754692316055298, + -0.02815243974328041, + -0.013742316514253616, + -0.017241764813661575, + 0.020108424127101898, + -0.030658097937703133, + 0.0 + ], + [ + -0.006949394941329956, + -0.009710516780614853, + -0.03174509108066559, + -0.014694195240736008, + 0.09148217737674713, + 0.004649411886930466, + 0.0 + ], + [ + -0.0031515955924987793, + 0.0025957971811294556, + -0.01890476420521736, + -0.0053065866231918335, + 0.03471050411462784, + 0.020255882292985916, + 0.0 + ], + [ + 0.001483917236328125, + 0.002269269898533821, + -0.008208589628338814, + -0.01828344166278839, + 0.012833614833652973, + 0.0029394906014204025, + 1.0 + ], + [ + 0.0011213123798370361, + -0.003428524360060692, + 0.003291711211204529, + -0.012922564521431923, + -0.01055116206407547, + -0.03256850689649582, + 1.0 + ], + [ + 0.003848522901535034, + -0.005696292966604233, + 0.032811425626277924, + 0.001124621368944645, + -0.05266854912042618, + -0.03813374415040016, + 1.0 + ], + [ + 0.0035229623317718506, + -0.0029809949919581413, + 0.02968437597155571, + -0.007903071120381355, + -0.06877067685127258, + -0.018684357404708862, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9515043497085571 + ], + [ + 0.6621366739273071 + ], + [ + 0.400628000497818 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3831871449947357 + ], + [ + 0.3831871449947357 + ], + [ + 0.3831871449947357 + ], + [ + 0.3831871449947357 + ], + [ + 0.3831871449947357 + ], + [ + 0.45315688848495483 + ], + [ + 0.7730204463005066 + ], + [ + 0.9941151142120361 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3305723965167999, + -0.0050368239171803, + 0.035439372062683105 + ], + [ + 0.3228307068347931, + 0.04464058205485344, + 0.02862614393234253 + ], + [ + 0.31520184874534607, + 0.09405779838562012, + 0.02025068923830986 + ], + [ + 0.2965075671672821, + 0.14558152854442596, + 0.012576744891703129 + ], + [ + 0.27874407172203064, + 0.18429842591285706, + -0.002840526634827256 + ], + [ + 0.2656579613685608, + 0.20589153468608856, + -0.004549377132207155 + ], + [ + 0.2549993395805359, + 0.2111092507839203, + -0.014231295324862003 + ], + [ + 0.25225260853767395, + 0.21262556314468384, + -0.014808197505772114 + ], + [ + 0.2484101504087448, + 0.20608122646808624, + -0.023297589272260666 + ], + [ + 0.24963147938251495, + 0.20312082767486572, + -0.02396521158516407 + ], + [ + 0.2501210570335388, + 0.20167256891727448, + -0.02341550774872303 + ], + [ + 0.2558666467666626, + 0.18325909972190857, + -0.014088539406657219 + ], + [ + 0.2745080888271332, + 0.14870613813400269, + 0.034557804465293884 + ], + [ + 0.2815714180469513, + 0.101863794028759, + 0.04995923861861229 + ], + [ + 0.29064449667930603, + 0.05719491466879845, + 0.04720514640212059 + ], + [ + 0.29539918899536133, + 0.029042474925518036, + 0.033462829887866974 + ], + [ + 0.28844979405403137, + 0.019331958144903183, + 0.0017177390400320292 + ], + [ + 0.2852981984615326, + 0.02192775532603264, + -0.017187025398015976 + ], + [ + 0.2867821156978607, + 0.02419702522456646, + -0.02539561502635479 + ], + [ + 0.28790342807769775, + 0.020768500864505768, + -0.02210390381515026 + ], + [ + 0.2917519509792328, + 0.015072207897901535, + 0.010707523673772812 + ], + [ + 0.29527491331100464, + 0.012091212905943394, + 0.04039189964532852 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9963191049564825, + -0.043456298650739224, + 0.0738903999602907, + -0.04441833967567748, + -0.9989476750852094, + 0.0114260029017742, + 0.07331611145696493, + -0.0146660338685337, + -0.997200910173771 + ], + [ + 0.996948646880206, + 0.04429901316008917, + 0.06427280075403456, + 0.04330214426934389, + -0.9989203956701251, + 0.016821635352037057, + 0.06494859340588145, + -0.013987156511679586, + -0.9977905790632193 + ], + [ + 0.9920476214146313, + 0.09729330519909923, + 0.07984691358473034, + 0.09540361442343065, + -0.9950681163535556, + 0.027158685011101014, + 0.082095476126994, + -0.01932502470947336, + -0.9964370909492783 + ], + [ + 0.9854488287681218, + 0.1344917301985667, + 0.10393546260893416, + 0.12844278053095026, + -0.9897213973877926, + 0.06288090077466733, + 0.11132411243309037, + -0.048616150207018274, + -0.9925942836476712 + ], + [ + 0.9899822540432122, + 0.08458267823650562, + 0.11305267454536605, + 0.07822142657282607, + -0.9951544321792359, + 0.05957402570696521, + 0.11754380079116328, + -0.05013408677099773, + -0.9918014056449028 + ], + [ + 0.9911148826156356, + 0.06717868680138593, + 0.11479683574661813, + 0.058578933816998406, + -0.9953308085676428, + 0.07671434043870731, + 0.11941439599419514, + -0.06930804827524334, + -0.9904224333452963 + ], + [ + 0.9957655158285593, + 0.05408895419005984, + 0.07433318586814688, + 0.049926676197551215, + -0.9971388855792321, + 0.05675711294341614, + 0.07719044300007441, + -0.05280556694546922, + -0.9956169984532303 + ], + [ + 0.9965988982689388, + 0.05973280619710294, + 0.05676819384969623, + 0.05594529921170129, + -0.9962422941005094, + 0.06611667672733951, + 0.06050421031011447, + -0.06271589359304103, + -0.9961957424249391 + ], + [ + 0.9980627029636719, + 0.05824128005944966, + 0.02188136764203746, + 0.05704924312622672, + -0.997035125670239, + 0.0516366346546266, + 0.024823875837063112, + -0.050288283692799286, + -0.9984261934222572 + ], + [ + 0.9985263025916177, + 0.05402992281621426, + 0.0050980852472034405, + 0.0536259255334299, + -0.9967430536660998, + 0.06022910491666073, + 0.008335654947084497, + -0.059866955901006234, + -0.9981715606286079 + ], + [ + 0.9980545328797501, + 0.06207477957953259, + -0.005819891608660019, + 0.062319263304066806, + -0.996038989648026, + 0.06342428968603588, + -0.0018597901555016494, + -0.0636635911733877, + -0.9979696830763375 + ], + [ + 0.9977234914736824, + 0.06575870087046187, + -0.01495419076357971, + 0.06637961452586355, + -0.9967462468356577, + 0.04572380336791295, + -0.011898795609732131, + -0.046612366158122885, + -0.9988421827216643 + ], + [ + 0.9928569792353799, + 0.06088706296889188, + 0.10260499182115375, + 0.05103884242237907, + -0.9940703706047095, + 0.09601632595553403, + 0.10784273433004372, + -0.09009363933618172, + -0.990077310518417 + ], + [ + 0.990553648191362, + 0.040689387648133735, + 0.1309497758211262, + 0.0315790426257133, + -0.9969825928411371, + 0.07091173131863863, + 0.13344000195453642, + -0.06610660560476021, + -0.9888496764290263 + ], + [ + 0.9896531964204069, + -0.008592002460201337, + 0.14322265291704261, + -0.017659391972134373, + -0.997909995804495, + 0.06215936090925856, + 0.14238924358969773, + -0.06404543517844843, + -0.9877365466270634 + ], + [ + 0.9913066087751253, + -0.04261776668927317, + 0.12447864620560305, + -0.04811632699567803, + -0.9979790656975819, + 0.04150425888781623, + 0.1224582642176754, + -0.04713290137261406, + -0.9913538536430843 + ], + [ + 0.9985498658554636, + -0.042787939537067526, + 0.03267043970026146, + -0.04381531116403441, + -0.998545879227648, + 0.03140613928967719, + 0.031279128946232006, + -0.03279206165607793, + -0.9989726206381782 + ], + [ + 0.9997157844990762, + -0.023678025911812773, + -0.002775123838018821, + -0.023592603049398978, + -0.9993412294152108, + 0.027577096878542803, + -0.0034262668825278944, + -0.02750378664501614, + -0.9996158274134295 + ], + [ + 0.999654523108694, + -0.020803032896383983, + -0.016064502813405986, + -0.02065124120434472, + -0.9997410549689593, + 0.009557679962863582, + -0.016259171720906875, + -0.00922262608287439, + -0.9998252759873025 + ], + [ + 0.9985676683025724, + -0.05317737575150911, + -0.005897332358498547, + -0.05319795692356471, + -0.9985782331206257, + -0.0033896484844228663, + -0.005708695115552883, + 0.00369851941622684, + -0.9999768656095026 + ], + [ + 0.994731974949746, + -0.09135068645246858, + 0.04651182749839463, + -0.09113009048127907, + -0.9958154655326451, + -0.0068458173270209794, + 0.04694256726523951, + 0.0025711263414744242, + -0.9988942810367293 + ], + [ + 0.9873026378426634, + -0.11101653824269588, + 0.11361703017385288, + -0.10908547712492465, + -0.9937640703444202, + -0.023093963993160733, + 0.11547233430283504, + 0.010406763622659378, + -0.9932561800872702 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005512.json b/json/chunk-0005/episode_0005512.json new file mode 100644 index 0000000000000000000000000000000000000000..00430c8456944721a651ccf85f90ed9d2e883e69 --- /dev/null +++ b/json/chunk-0005/episode_0005512.json @@ -0,0 +1,1942 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 31, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut knife on cutting board cardboard fence." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005512.mp4", + "start": 0, + "end": 31, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.20443758368492126, + 0.091101735830307, + 0.07657814025878906, + 0.19109675288200378, + 0.059097982943058014, + 0.31063973903656006, + 0.0, + 0.9851709604263306 + ], + [ + 0.20021125674247742, + 0.08732243627309799, + 0.07048280537128448, + 0.1788558065891266, + 0.08734481036663055, + 0.31503280997276306, + 0.0, + 0.9851709604263306 + ], + [ + 0.20832575857639313, + 0.06873082369565964, + 0.06651491671800613, + 0.09666355699300766, + 0.06424036622047424, + 0.30795228481292725, + 0.0, + 0.9851709604263306 + ], + [ + 0.21241043508052826, + 0.05698142200708389, + 0.07054758816957474, + 0.04009881615638733, + 0.07645078748464584, + 0.3194281756877899, + 0.0, + 0.9851709604263306 + ], + [ + 0.23490777611732483, + 0.043159689754247665, + 0.08258466422557831, + -0.019513757899403572, + 0.02974795736372471, + 0.37195834517478943, + 0.0, + 0.9851709604263306 + ], + [ + 0.25231871008872986, + 0.029942383989691734, + 0.07461477816104889, + -0.013038513250648975, + -0.0376930758357048, + 0.45123612880706787, + 0.0, + 0.9851709604263306 + ], + [ + 0.26876100897789, + 0.01890399120748043, + 0.06944441795349121, + -0.0248816329985857, + -0.07165136188268661, + 0.5292958617210388, + 0.0, + 0.9851709604263306 + ], + [ + 0.27663323283195496, + 0.01182297058403492, + 0.059407494962215424, + -0.02165742591023445, + -0.09680522233247757, + 0.5710998773574829, + 0.0, + 0.9851709604263306 + ], + [ + 0.2747749984264374, + 0.00911901704967022, + 0.045347873121500015, + 0.029208047315478325, + -0.07568211853504181, + 0.5676705837249756, + 0.0, + 0.9851709604263306 + ], + [ + 0.27968108654022217, + 0.00846077874302864, + 0.03616318479180336, + 0.03486122563481331, + -0.09549210965633392, + 0.5922740697860718, + 0.0, + 0.9851709604263306 + ], + [ + 0.28215551376342773, + 0.004232946317642927, + 0.029200192540884018, + 0.027381468564271927, + -0.09684424102306366, + 0.5923060178756714, + 0.0, + 0.9851709604263306 + ], + [ + 0.2836149334907532, + -0.0007867413805797696, + 0.02684898115694523, + 0.011173786595463753, + -0.09132944792509079, + 0.604511022567749, + 0.0, + 0.9851709604263306 + ], + [ + 0.28248971700668335, + 3.5479231883073226e-05, + 0.009961544536054134, + 0.046411335468292236, + -0.07850737869739532, + 0.6190815567970276, + 0.0, + 0.9851709604263306 + ], + [ + 0.2850368618965149, + -0.004843472503125668, + 0.0009453659295104444, + 0.0642903745174408, + -0.06987666338682175, + 0.5933152437210083, + 0.0, + 0.9795387983322144 + ], + [ + 0.2886591851711273, + -0.0053852638229727745, + -9.41116813919507e-05, + 0.06944742798805237, + -0.09220651537179947, + 0.5822424292564392, + 0.0, + 0.9206693768501282 + ], + [ + 0.28550097346305847, + -0.007019087206572294, + -0.0008139352430589497, + 0.05637529119849205, + -0.08912485092878342, + 0.5899379849433899, + 0.0, + 0.6541022062301636 + ], + [ + 0.28038012981414795, + -0.008091759867966175, + 0.0011237059952691197, + 0.06330040097236633, + -0.0697355717420578, + 0.586498498916626, + 0.0, + 0.5091317892074585 + ], + [ + 0.2768649458885193, + -0.0042641679756343365, + 0.011189762502908707, + 0.045265331864356995, + -0.05487540736794472, + 0.6165485382080078, + 0.0, + 0.5354229807853699 + ], + [ + 0.2696952819824219, + 0.008977076970040798, + 0.02532016672194004, + 0.026955051347613335, + -0.0619172602891922, + 0.6585766077041626, + 0.0, + 0.5393473505973816 + ], + [ + 0.2612418234348297, + 0.027133136987686157, + 0.04097966477274895, + -0.013570226728916168, + -0.06691518425941467, + 0.727296769618988, + 0.0, + 0.5393473505973816 + ], + [ + 0.2470419853925705, + 0.047277141362428665, + 0.0353856235742569, + -0.005238527897745371, + -0.020844534039497375, + 0.8089882731437683, + 0.0, + 0.5393473505973816 + ], + [ + 0.2321249395608902, + 0.05922132357954979, + 0.021942146122455597, + 0.020604154095053673, + -0.01018480397760868, + 0.8162031769752502, + 0.0, + 0.5393473505973816 + ], + [ + 0.22152738273143768, + 0.06594239175319672, + 0.011228074319660664, + 0.0444691926240921, + -0.007669784128665924, + 0.8287259340286255, + 0.0, + 0.5393473505973816 + ], + [ + 0.22077621519565582, + 0.07512357085943222, + 0.010175321251153946, + 0.04594719037413597, + -0.027859164401888847, + 0.8341606855392456, + 0.0, + 0.5393473505973816 + ], + [ + 0.22185146808624268, + 0.08131164312362671, + 0.009135818108916283, + 0.051235441118478775, + -0.039411503821611404, + 0.8314050436019897, + 0.0, + 0.5393473505973816 + ], + [ + 0.22684288024902344, + 0.09213744103908539, + 0.009669964201748371, + 0.05089666694402695, + -0.05247936770319939, + 0.8459174036979675, + 0.0, + 0.6109193563461304 + ], + [ + 0.23044706881046295, + 0.09857334196567535, + 0.010939002968370914, + 0.08858300000429153, + -0.04263295605778694, + 0.7989630103111267, + 0.0, + 0.8792814016342163 + ], + [ + 0.2232101410627365, + 0.09384491294622421, + 0.013844655826687813, + 0.09171953052282333, + -0.054914407432079315, + 0.7937518358230591, + 0.0, + 0.9947922229766846 + ], + [ + 0.2230558544397354, + 0.07936926931142807, + 0.034060247242450714, + 0.09155658632516861, + -0.06604328751564026, + 0.7701555490493774, + 0.0, + 0.993436336517334 + ], + [ + 0.22578293085098267, + 0.06574490666389465, + 0.05869264155626297, + 0.0510895773768425, + -0.04216916486620903, + 0.7654191255569458, + 0.0, + 0.993436336517334 + ], + [ + 0.23042750358581543, + 0.06303241848945618, + 0.07082520425319672, + 0.0643392875790596, + -0.07104559987783432, + 0.7826377153396606, + 0.0, + 0.993436336517334 + ] + ], + "left_gripper_pos": [ + [ + 0.9851709604263306 + ], + [ + 0.9851709604263306 + ], + [ + 0.9851709604263306 + ], + [ + 0.9851709604263306 + ], + [ + 0.9851709604263306 + ], + [ + 0.9851709604263306 + ], + [ + 0.9851709604263306 + ], + [ + 0.9851709604263306 + ], + [ + 0.9851709604263306 + ], + [ + 0.9851709604263306 + ], + [ + 0.9851709604263306 + ], + [ + 0.9851709604263306 + ], + [ + 0.9851709604263306 + ], + [ + 0.9795387983322144 + ], + [ + 0.9206693768501282 + ], + [ + 0.6541022062301636 + ], + [ + 0.5091317892074585 + ], + [ + 0.5354229807853699 + ], + [ + 0.5393473505973816 + ], + [ + 0.5393473505973816 + ], + [ + 0.5393473505973816 + ], + [ + 0.5393473505973816 + ], + [ + 0.5393473505973816 + ], + [ + 0.5393473505973816 + ], + [ + 0.5393473505973816 + ], + [ + 0.6109193563461304 + ], + [ + 0.8792814016342163 + ], + [ + 0.9947922229766846 + ], + [ + 0.993436336517334 + ], + [ + 0.993436336517334 + ], + [ + 0.993436336517334 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.20443758368492126, + 0.091101735830307, + 0.07657814025878906 + ], + [ + 0.20021125674247742, + 0.08732243627309799, + 0.07048280537128448 + ], + [ + 0.20832575857639313, + 0.06873082369565964, + 0.06651491671800613 + ], + [ + 0.21241043508052826, + 0.05698142200708389, + 0.07054758816957474 + ], + [ + 0.23490777611732483, + 0.043159689754247665, + 0.08258466422557831 + ], + [ + 0.25231871008872986, + 0.029942383989691734, + 0.07461477816104889 + ], + [ + 0.26876100897789, + 0.01890399120748043, + 0.06944441795349121 + ], + [ + 0.27663323283195496, + 0.01182297058403492, + 0.059407494962215424 + ], + [ + 0.2747749984264374, + 0.00911901704967022, + 0.045347873121500015 + ], + [ + 0.27968108654022217, + 0.00846077874302864, + 0.03616318479180336 + ], + [ + 0.28215551376342773, + 0.004232946317642927, + 0.029200192540884018 + ], + [ + 0.2836149334907532, + -0.0007867413805797696, + 0.02684898115694523 + ], + [ + 0.28248971700668335, + 3.5479231883073226e-05, + 0.009961544536054134 + ], + [ + 0.2850368618965149, + -0.004843472503125668, + 0.0009453659295104444 + ], + [ + 0.2886591851711273, + -0.0053852638229727745, + -9.41116813919507e-05 + ], + [ + 0.28550097346305847, + -0.007019087206572294, + -0.0008139352430589497 + ], + [ + 0.28038012981414795, + -0.008091759867966175, + 0.0011237059952691197 + ], + [ + 0.2768649458885193, + -0.0042641679756343365, + 0.011189762502908707 + ], + [ + 0.2696952819824219, + 0.008977076970040798, + 0.02532016672194004 + ], + [ + 0.2612418234348297, + 0.027133136987686157, + 0.04097966477274895 + ], + [ + 0.2470419853925705, + 0.047277141362428665, + 0.0353856235742569 + ], + [ + 0.2321249395608902, + 0.05922132357954979, + 0.021942146122455597 + ], + [ + 0.22152738273143768, + 0.06594239175319672, + 0.011228074319660664 + ], + [ + 0.22077621519565582, + 0.07512357085943222, + 0.010175321251153946 + ], + [ + 0.22185146808624268, + 0.08131164312362671, + 0.009135818108916283 + ], + [ + 0.22684288024902344, + 0.09213744103908539, + 0.009669964201748371 + ], + [ + 0.23044706881046295, + 0.09857334196567535, + 0.010939002968370914 + ], + [ + 0.2232101410627365, + 0.09384491294622421, + 0.013844655826687813 + ], + [ + 0.2230558544397354, + 0.07936926931142807, + 0.034060247242450714 + ], + [ + 0.22578293085098267, + 0.06574490666389465, + 0.05869264155626297 + ], + [ + 0.23042750358581543, + 0.06303241848945618, + 0.07082520425319672 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9504759955296946, + 0.2894222363946161, + -0.11327025647615849, + 0.3051341909057185, + -0.938235051607998, + 0.16311993585840345, + -0.059063588293874286, + -0.1896042114892918, + -0.9800825146503612 + ], + [ + 0.9471616894297931, + 0.2901494844496076, + -0.13674066970044918, + 0.3086664860178285, + -0.9404277637913122, + 0.14255041739636473, + -0.08723379211008825, + -0.17722555618222516, + -0.9802965713242066 + ], + [ + 0.9509905804915301, + 0.29578859585472594, + -0.09014445284470914, + 0.3024826688182196, + -0.9503855623635845, + 0.07260521961581082, + -0.06419619054889185, + -0.09631401462478073, + -0.9932786415230459 + ], + [ + 0.9466419565823158, + 0.31086438511234393, + -0.08504316613772472, + 0.3131064694149789, + -0.9496134240419728, + 0.014095520202058166, + -0.07637633696696372, + -0.0399709763203764, + -0.99627755982131 + ], + [ + 0.9312052076317319, + 0.3639120462990722, + -0.020612710592363883, + 0.3632797562782735, + -0.9312290915629229, + -0.02898616403201718, + -0.0297435700268284, + 0.019503886415653465, + -0.9993672590478158 + ], + [ + 0.8992695360445351, + 0.43559904996546167, + 0.039595065493482476, + 0.4357685237707934, + -0.9000465076213338, + 0.004698702934129537, + 0.03768415095062365, + 0.013028882831116976, + -0.9992047602865506 + ], + [ + 0.8609480663146422, + 0.5032320157104212, + 0.07433683792780875, + 0.5036301114321319, + -0.8637949656883634, + 0.01466179082847115, + 0.07159006891976909, + 0.02481522950661266, + -0.9971254015501748 + ], + [ + 0.837367965239653, + 0.5386699898147358, + 0.09300286481284331, + 0.5380268363341516, + -0.8422410892594997, + 0.03401574557812558, + 0.0966540954883327, + 0.021554341464402126, + -0.995084617602628 + ], + [ + 0.8407421633858975, + 0.5393018942120054, + 0.04802167848528257, + 0.536130356465544, + -0.841608861147952, + 0.0652592193745536, + 0.07560989076390533, + -0.029120297673448783, + -0.9967121714326961 + ], + [ + 0.8258934125603894, + 0.5606672176354539, + 0.05960152815383808, + 0.5557058678503097, + -0.827314028766637, + 0.08211264362234347, + 0.09534704781003085, + -0.0346953725276791, + -0.9948392692284904 + ], + [ + 0.8257679428485944, + 0.5602627537219403, + 0.0649072519485251, + 0.5556597714220429, + -0.8278665939205682, + 0.07667542692128104, + 0.09669293142109193, + -0.02724976077447357, + -0.9949411678842777 + ], + [ + 0.8193510631472369, + 0.5691628022271619, + 0.06868434960322059, + 0.5659911064879793, + -0.8221495573958496, + 0.06102599978961076, + 0.09120253667527864, + -0.011126986776906614, + -0.9957701981226699 + ], + [ + 0.8119032737230852, + 0.5826258591690348, + 0.036880650011647115, + 0.5785000585490763, + -0.8114233676732807, + 0.08324542421339379, + 0.07842675803864962, + -0.04625177425025554, + -0.9958463822308393 + ], + [ + 0.8270683443813096, + 0.5616766674645263, + 0.021846623270046776, + 0.5577482833147668, + -0.8248708271501062, + 0.09222239953574289, + 0.06981981224401838, + -0.06408931067380551, + -0.9954987463957785 + ], + [ + 0.8316835708199636, + 0.553909276645172, + 0.038561007177934134, + 0.5475622924898159, + -0.829704850967831, + 0.10846841071826577, + 0.09207591363354332, + -0.06909684165626784, + -0.9933517265307775 + ], + [ + 0.8276770470330244, + 0.5595931520246644, + 0.042499529665557166, + 0.5541015035007959, + -0.8268650723119562, + 0.09625838149844788, + 0.08900690778164413, + -0.05612179966505175, + -0.9944486482315241 + ], + [ + 0.8308593230735966, + 0.5560107896999023, + 0.022908229939828235, + 0.5521029009802565, + -0.8287761087229246, + 0.0911731777403436, + 0.06967906422211884, + -0.06310438453370866, + -0.995571526642738 + ], + [ + 0.8146509014070347, + 0.579655258293594, + 0.01853888802739851, + 0.5773522494568232, + -0.8136082533420393, + 0.06860021968523006, + 0.05484787036751467, + -0.045181762098246585, + -0.9974719642625779 + ], + [ + 0.7893486344361499, + 0.6130883827526962, + 0.03242480913543071, + 0.6108190263032965, + -0.7895562154566942, + 0.05917009159698121, + 0.06187770535239841, + -0.026900140657365002, + -0.9977211694721807 + ], + [ + 0.7453026617790252, + 0.664113840722882, + 0.058963962768820335, + 0.6633648917181659, + -0.7475088561966269, + 0.03431516200394187, + 0.06686525839960712, + 0.013539441196496122, + -0.9976701462664104 + ], + [ + 0.6900809153691103, + 0.7235039275814362, + 0.018176826388749307, + 0.7234320276079022, + -0.6903003960395537, + 0.011465803886115612, + 0.020843024599378996, + 0.005237365928716373, + -0.9997690424911538 + ], + [ + 0.6849567876412559, + 0.7285393845195509, + -0.008035189359657094, + 0.7285125067002716, + -0.6846940471035468, + 0.021531127287090286, + 0.010184627899841894, + -0.020601627723075493, + -0.9997358882673472 + ], + [ + 0.6757955078006154, + 0.7365726955609154, + -0.02758796459754679, + 0.7370492569709316, + -0.6748959730811184, + 0.03569059144211449, + 0.007669708932292825, + -0.04445323017529028, + -0.9989820248091937 + ], + [ + 0.6715389409811013, + 0.7408106856578762, + -0.015329016964177333, + 0.7404454864999834, + -0.6701428996040181, + 0.051468200202858194, + 0.027855560805403242, + -0.04591320208203749, + -0.9985569816524195 + ], + [ + 0.6733150109943888, + 0.7392689911382615, + -0.011324959648630825, + 0.738305108598079, + -0.6714630714105662, + 0.06358388435655563, + 0.03940130185165238, + -0.051173259357851435, + -0.9979122380946579 + ], + [ + 0.6621319807757284, + 0.7493797614746055, + -0.00334860064415142, + 0.7475491177157029, + -0.6601885034852821, + 0.07294831367713922, + 0.0524552822553171, + -0.05080465488641097, + -0.9973301010224187 + ], + [ + 0.6968164895451008, + 0.7164530930221981, + -0.033789723244915304, + 0.7159820611402269, + -0.692013538521276, + 0.09212464723761325, + 0.04262004250859845, + -0.08838680898294672, + -0.9951740068824031 + ], + [ + 0.7001182756798603, + 0.7135169847052214, + -0.026979855378197814, + 0.7119142068832616, + -0.694643704224838, + 0.10319053357054078, + 0.05488681168401342, + -0.09145292077328651, + -0.9942956306779182 + ], + [ + 0.7162375216684171, + 0.6976618785627977, + -0.016483802792781378, + 0.69472903679292, + -0.710594890759459, + 0.11138431964748717, + 0.0659952876428681, + -0.09122940549395246, + -0.9936406883688664 + ], + [ + 0.7204509923346963, + 0.693487666929434, + -0.005022296359406486, + 0.692223362053442, + -0.7186595965665794, + 0.0659939488907177, + 0.042156668172195266, + -0.05102195683753992, + -0.9978073838417351 + ], + [ + 0.7072672966544131, + 0.7069293091567921, + 0.004891108080882313, + 0.7033732867049567, + -0.7043706035000642, + 0.0955409465874291, + 0.07098584811795233, + -0.06413271224621528, + -0.9954134842300053 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.004226326942443848, + -0.003779299557209015, + -0.006095334887504578, + -0.012240946292877197, + 0.02824682742357254, + 0.004393070936203003, + 1.0 + ], + [ + 0.00811450183391571, + -0.018591612577438354, + -0.003967888653278351, + -0.08219224959611893, + -0.02310444414615631, + -0.007080525159835815, + 1.0 + ], + [ + 0.004084676504135132, + -0.011749401688575745, + 0.0040326714515686035, + -0.05656474083662033, + 0.0122104212641716, + 0.011475890874862671, + 1.0 + ], + [ + 0.02249734103679657, + -0.013821732252836227, + 0.01203707605600357, + -0.05961257219314575, + -0.046702831983566284, + 0.05253016948699951, + 1.0 + ], + [ + 0.01741093397140503, + -0.013217305764555931, + -0.007969886064529419, + 0.006475244648754597, + -0.06744103133678436, + 0.07927778363227844, + 1.0 + ], + [ + 0.016442298889160156, + -0.011038392782211304, + -0.005170360207557678, + -0.011843119747936726, + -0.03395828604698181, + 0.07805973291397095, + 1.0 + ], + [ + 0.007872223854064941, + -0.007081020623445511, + -0.010036922991275787, + 0.0032242070883512497, + -0.025153860449790955, + 0.04180401563644409, + 1.0 + ], + [ + -0.0018582344055175781, + -0.0027039535343647003, + -0.014059621840715408, + 0.05086547136306763, + 0.02112310379743576, + -0.0034292936325073242, + 1.0 + ], + [ + 0.00490608811378479, + -0.0006582383066415787, + -0.009184688329696655, + 0.005653178319334984, + -0.019809991121292114, + 0.02460348606109619, + 1.0 + ], + [ + 0.0024744272232055664, + -0.004227832425385714, + -0.006962992250919342, + -0.007479757070541382, + -0.0013521313667297363, + 3.1948089599609375e-05, + 1.0 + ], + [ + 0.0014594197273254395, + -0.005019687581807375, + -0.0023512113839387894, + -0.016207681968808174, + 0.00551479309797287, + 0.012205004692077637, + 1.0 + ], + [ + -0.0011252164840698242, + 0.0008222206379286945, + -0.01688743755221367, + 0.03523755073547363, + 0.012822069227695465, + 0.014570534229278564, + 1.0 + ], + [ + 0.002547144889831543, + -0.0048789517022669315, + -0.009016178548336029, + 0.01787903904914856, + 0.008630715310573578, + -0.025766313076019287, + 1.0 + ], + [ + 0.0036223232746124268, + -0.0005417913198471069, + -0.0010394776472821832, + 0.005157053470611572, + -0.022329851984977722, + -0.011072814464569092, + 0.0 + ], + [ + -0.0031582117080688477, + -0.0016338233835995197, + -0.0007198235834948719, + -0.013072136789560318, + 0.0030816644430160522, + 0.007695555686950684, + 0.0 + ], + [ + -0.0051208436489105225, + -0.0010726726613938808, + 0.0019376412965357304, + 0.006925109773874283, + 0.019389279186725616, + -0.003439486026763916, + 0.0 + ], + [ + -0.003515183925628662, + 0.0038275918923318386, + 0.010066056624054909, + -0.01803506910800934, + 0.014860164374113083, + 0.030050039291381836, + 0.0 + ], + [ + -0.007169663906097412, + 0.013241244480013847, + 0.014130404219031334, + -0.01831028051674366, + -0.007041852921247482, + 0.042028069496154785, + 0.0 + ], + [ + -0.008453458547592163, + 0.018156059086322784, + 0.015659498050808907, + -0.04052527993917465, + -0.004997923970222473, + 0.06872016191482544, + 0.0 + ], + [ + -0.014199838042259216, + 0.020144004374742508, + -0.00559404119849205, + 0.008331699296832085, + 0.0460706502199173, + 0.08169150352478027, + 0.0 + ], + [ + -0.014917045831680298, + 0.011944182217121124, + -0.0134434774518013, + 0.025842681527137756, + 0.010659730061888695, + 0.007214903831481934, + 0.0 + ], + [ + -0.010597556829452515, + 0.006721068173646927, + -0.010714071802794933, + 0.02386503852903843, + 0.0025150198489427567, + 0.012522757053375244, + 0.0 + ], + [ + -0.0007511675357818604, + 0.009181179106235504, + -0.0010527530685067177, + 0.001477997750043869, + -0.020189380273222923, + 0.005434751510620117, + 0.0 + ], + [ + 0.001075252890586853, + 0.0061880722641944885, + -0.0010395031422376633, + 0.005288250744342804, + -0.011552339419722557, + -0.0027556419372558594, + 0.0 + ], + [ + 0.004991412162780762, + 0.01082579791545868, + 0.0005341460928320885, + -0.000338774174451828, + -0.013067863881587982, + 0.014512360095977783, + 1.0 + ], + [ + 0.003604188561439514, + 0.006435900926589966, + 0.0012690387666225433, + 0.03768633306026459, + 0.009846411645412445, + -0.04695439338684082, + 1.0 + ], + [ + -0.00723692774772644, + -0.004728429019451141, + 0.0029056528583168983, + 0.0031365305185317993, + -0.012281451374292374, + -0.005211174488067627, + 1.0 + ], + [ + -0.00015428662300109863, + -0.014475643634796143, + 0.0202155914157629, + -0.00016294419765472412, + -0.011128880083560944, + -0.02359628677368164, + 1.0 + ], + [ + 0.0027270764112472534, + -0.013624362647533417, + 0.024632394313812256, + -0.04046700894832611, + 0.02387412264943123, + -0.004736423492431641, + 1.0 + ], + [ + 0.004644572734832764, + -0.0027124881744384766, + 0.012132562696933746, + 0.013249710202217102, + -0.02887643501162529, + 0.017218589782714844, + 1.0 + ], + [ + 0.017394214868545532, + 0.0022139176726341248, + 0.017859525978565216, + 0.032211147248744965, + -0.06951633840799332, + 0.012288451194763184, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9851709604263306 + ], + [ + 0.9851709604263306 + ], + [ + 0.9851709604263306 + ], + [ + 0.9851709604263306 + ], + [ + 0.9851709604263306 + ], + [ + 0.9851709604263306 + ], + [ + 0.9851709604263306 + ], + [ + 0.9851709604263306 + ], + [ + 0.9851709604263306 + ], + [ + 0.9851709604263306 + ], + [ + 0.9851709604263306 + ], + [ + 0.9851709604263306 + ], + [ + 0.9795387983322144 + ], + [ + 0.9206693768501282 + ], + [ + 0.6541022062301636 + ], + [ + 0.5091317892074585 + ], + [ + 0.5354229807853699 + ], + [ + 0.5393473505973816 + ], + [ + 0.5393473505973816 + ], + [ + 0.5393473505973816 + ], + [ + 0.5393473505973816 + ], + [ + 0.5393473505973816 + ], + [ + 0.5393473505973816 + ], + [ + 0.5393473505973816 + ], + [ + 0.6109193563461304 + ], + [ + 0.8792814016342163 + ], + [ + 0.9947922229766846 + ], + [ + 0.993436336517334 + ], + [ + 0.993436336517334 + ], + [ + 0.993436336517334 + ], + [ + 0.993436336517334 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.20021125674247742, + 0.08732243627309799, + 0.07048280537128448 + ], + [ + 0.20832575857639313, + 0.06873082369565964, + 0.06651491671800613 + ], + [ + 0.21241043508052826, + 0.05698142200708389, + 0.07054758816957474 + ], + [ + 0.23490777611732483, + 0.043159689754247665, + 0.08258466422557831 + ], + [ + 0.25231871008872986, + 0.029942383989691734, + 0.07461477816104889 + ], + [ + 0.26876100897789, + 0.01890399120748043, + 0.06944441795349121 + ], + [ + 0.27663323283195496, + 0.01182297058403492, + 0.059407494962215424 + ], + [ + 0.2747749984264374, + 0.00911901704967022, + 0.045347873121500015 + ], + [ + 0.27968108654022217, + 0.00846077874302864, + 0.03616318479180336 + ], + [ + 0.28215551376342773, + 0.004232946317642927, + 0.029200192540884018 + ], + [ + 0.2836149334907532, + -0.0007867413805797696, + 0.02684898115694523 + ], + [ + 0.28248971700668335, + 3.5479231883073226e-05, + 0.009961544536054134 + ], + [ + 0.2850368618965149, + -0.004843472503125668, + 0.0009453659295104444 + ], + [ + 0.2886591851711273, + -0.0053852638229727745, + -9.41116813919507e-05 + ], + [ + 0.28550097346305847, + -0.007019087206572294, + -0.0008139352430589497 + ], + [ + 0.28038012981414795, + -0.008091759867966175, + 0.0011237059952691197 + ], + [ + 0.2768649458885193, + -0.0042641679756343365, + 0.011189762502908707 + ], + [ + 0.2696952819824219, + 0.008977076970040798, + 0.02532016672194004 + ], + [ + 0.2612418234348297, + 0.027133136987686157, + 0.04097966477274895 + ], + [ + 0.2470419853925705, + 0.047277141362428665, + 0.0353856235742569 + ], + [ + 0.2321249395608902, + 0.05922132357954979, + 0.021942146122455597 + ], + [ + 0.22152738273143768, + 0.06594239175319672, + 0.011228074319660664 + ], + [ + 0.22077621519565582, + 0.07512357085943222, + 0.010175321251153946 + ], + [ + 0.22185146808624268, + 0.08131164312362671, + 0.009135818108916283 + ], + [ + 0.22684288024902344, + 0.09213744103908539, + 0.009669964201748371 + ], + [ + 0.23044706881046295, + 0.09857334196567535, + 0.010939002968370914 + ], + [ + 0.2232101410627365, + 0.09384491294622421, + 0.013844655826687813 + ], + [ + 0.2230558544397354, + 0.07936926931142807, + 0.034060247242450714 + ], + [ + 0.22578293085098267, + 0.06574490666389465, + 0.05869264155626297 + ], + [ + 0.23042750358581543, + 0.06303241848945618, + 0.07082520425319672 + ], + [ + 0.24782171845436096, + 0.0652463361620903, + 0.08868473023176193 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9471616894297931, + 0.2901494844496076, + -0.13674066970044918, + 0.3086664860178285, + -0.9404277637913122, + 0.14255041739636473, + -0.08723379211008825, + -0.17722555618222516, + -0.9802965713242066 + ], + [ + 0.9509905804915301, + 0.29578859585472594, + -0.09014445284470914, + 0.3024826688182196, + -0.9503855623635845, + 0.07260521961581082, + -0.06419619054889185, + -0.09631401462478073, + -0.9932786415230459 + ], + [ + 0.9466419565823158, + 0.31086438511234393, + -0.08504316613772472, + 0.3131064694149789, + -0.9496134240419728, + 0.014095520202058166, + -0.07637633696696372, + -0.0399709763203764, + -0.99627755982131 + ], + [ + 0.9312052076317319, + 0.3639120462990722, + -0.020612710592363883, + 0.3632797562782735, + -0.9312290915629229, + -0.02898616403201718, + -0.0297435700268284, + 0.019503886415653465, + -0.9993672590478158 + ], + [ + 0.8992695360445351, + 0.43559904996546167, + 0.039595065493482476, + 0.4357685237707934, + -0.9000465076213338, + 0.004698702934129537, + 0.03768415095062365, + 0.013028882831116976, + -0.9992047602865506 + ], + [ + 0.8609480663146422, + 0.5032320157104212, + 0.07433683792780875, + 0.5036301114321319, + -0.8637949656883634, + 0.01466179082847115, + 0.07159006891976909, + 0.02481522950661266, + -0.9971254015501748 + ], + [ + 0.837367965239653, + 0.5386699898147358, + 0.09300286481284331, + 0.5380268363341516, + -0.8422410892594997, + 0.03401574557812558, + 0.0966540954883327, + 0.021554341464402126, + -0.995084617602628 + ], + [ + 0.8407421633858975, + 0.5393018942120054, + 0.04802167848528257, + 0.536130356465544, + -0.841608861147952, + 0.0652592193745536, + 0.07560989076390533, + -0.029120297673448783, + -0.9967121714326961 + ], + [ + 0.8258934125603894, + 0.5606672176354539, + 0.05960152815383808, + 0.5557058678503097, + -0.827314028766637, + 0.08211264362234347, + 0.09534704781003085, + -0.0346953725276791, + -0.9948392692284904 + ], + [ + 0.8257679428485944, + 0.5602627537219403, + 0.0649072519485251, + 0.5556597714220429, + -0.8278665939205682, + 0.07667542692128104, + 0.09669293142109193, + -0.02724976077447357, + -0.9949411678842777 + ], + [ + 0.8193510631472369, + 0.5691628022271619, + 0.06868434960322059, + 0.5659911064879793, + -0.8221495573958496, + 0.06102599978961076, + 0.09120253667527864, + -0.011126986776906614, + -0.9957701981226699 + ], + [ + 0.8119032737230852, + 0.5826258591690348, + 0.036880650011647115, + 0.5785000585490763, + -0.8114233676732807, + 0.08324542421339379, + 0.07842675803864962, + -0.04625177425025554, + -0.9958463822308393 + ], + [ + 0.8270683443813096, + 0.5616766674645263, + 0.021846623270046776, + 0.5577482833147668, + -0.8248708271501062, + 0.09222239953574289, + 0.06981981224401838, + -0.06408931067380551, + -0.9954987463957785 + ], + [ + 0.8316835708199636, + 0.553909276645172, + 0.038561007177934134, + 0.5475622924898159, + -0.829704850967831, + 0.10846841071826577, + 0.09207591363354332, + -0.06909684165626784, + -0.9933517265307775 + ], + [ + 0.8276770470330244, + 0.5595931520246644, + 0.042499529665557166, + 0.5541015035007959, + -0.8268650723119562, + 0.09625838149844788, + 0.08900690778164413, + -0.05612179966505175, + -0.9944486482315241 + ], + [ + 0.8308593230735966, + 0.5560107896999023, + 0.022908229939828235, + 0.5521029009802565, + -0.8287761087229246, + 0.0911731777403436, + 0.06967906422211884, + -0.06310438453370866, + -0.995571526642738 + ], + [ + 0.8146509014070347, + 0.579655258293594, + 0.01853888802739851, + 0.5773522494568232, + -0.8136082533420393, + 0.06860021968523006, + 0.05484787036751467, + -0.045181762098246585, + -0.9974719642625779 + ], + [ + 0.7893486344361499, + 0.6130883827526962, + 0.03242480913543071, + 0.6108190263032965, + -0.7895562154566942, + 0.05917009159698121, + 0.06187770535239841, + -0.026900140657365002, + -0.9977211694721807 + ], + [ + 0.7453026617790252, + 0.664113840722882, + 0.058963962768820335, + 0.6633648917181659, + -0.7475088561966269, + 0.03431516200394187, + 0.06686525839960712, + 0.013539441196496122, + -0.9976701462664104 + ], + [ + 0.6900809153691103, + 0.7235039275814362, + 0.018176826388749307, + 0.7234320276079022, + -0.6903003960395537, + 0.011465803886115612, + 0.020843024599378996, + 0.005237365928716373, + -0.9997690424911538 + ], + [ + 0.6849567876412559, + 0.7285393845195509, + -0.008035189359657094, + 0.7285125067002716, + -0.6846940471035468, + 0.021531127287090286, + 0.010184627899841894, + -0.020601627723075493, + -0.9997358882673472 + ], + [ + 0.6757955078006154, + 0.7365726955609154, + -0.02758796459754679, + 0.7370492569709316, + -0.6748959730811184, + 0.03569059144211449, + 0.007669708932292825, + -0.04445323017529028, + -0.9989820248091937 + ], + [ + 0.6715389409811013, + 0.7408106856578762, + -0.015329016964177333, + 0.7404454864999834, + -0.6701428996040181, + 0.051468200202858194, + 0.027855560805403242, + -0.04591320208203749, + -0.9985569816524195 + ], + [ + 0.6733150109943888, + 0.7392689911382615, + -0.011324959648630825, + 0.738305108598079, + -0.6714630714105662, + 0.06358388435655563, + 0.03940130185165238, + -0.051173259357851435, + -0.9979122380946579 + ], + [ + 0.6621319807757284, + 0.7493797614746055, + -0.00334860064415142, + 0.7475491177157029, + -0.6601885034852821, + 0.07294831367713922, + 0.0524552822553171, + -0.05080465488641097, + -0.9973301010224187 + ], + [ + 0.6968164895451008, + 0.7164530930221981, + -0.033789723244915304, + 0.7159820611402269, + -0.692013538521276, + 0.09212464723761325, + 0.04262004250859845, + -0.08838680898294672, + -0.9951740068824031 + ], + [ + 0.7001182756798603, + 0.7135169847052214, + -0.026979855378197814, + 0.7119142068832616, + -0.694643704224838, + 0.10319053357054078, + 0.05488681168401342, + -0.09145292077328651, + -0.9942956306779182 + ], + [ + 0.7162375216684171, + 0.6976618785627977, + -0.016483802792781378, + 0.69472903679292, + -0.710594890759459, + 0.11138431964748717, + 0.0659952876428681, + -0.09122940549395246, + -0.9936406883688664 + ], + [ + 0.7204509923346963, + 0.693487666929434, + -0.005022296359406486, + 0.692223362053442, + -0.7186595965665794, + 0.0659939488907177, + 0.042156668172195266, + -0.05102195683753992, + -0.9978073838417351 + ], + [ + 0.7072672966544131, + 0.7069293091567921, + 0.004891108080882313, + 0.7033732867049567, + -0.7043706035000642, + 0.0955409465874291, + 0.07098584811795233, + -0.06413271224621528, + -0.9954134842300053 + ], + [ + 0.6934303405005362, + 0.7199459329482596, + 0.028848162932328808, + 0.7067718753353549, + -0.6874352337804165, + 0.1670518350459201, + 0.14009953286237475, + -0.09544974064146991, + -0.9855259854023233 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005513.json b/json/chunk-0005/episode_0005513.json new file mode 100644 index 0000000000000000000000000000000000000000..cbcc9e6c4b3ef55ca011cd777c0866565ee39789 --- /dev/null +++ b/json/chunk-0005/episode_0005513.json @@ -0,0 +1,2422 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 39, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPick up the pot and place it on the purple cloth." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005513.mp4", + "start": 0, + "end": 39, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3603387475013733, + 0.0773937925696373, + 0.09833957254886627, + -0.10907892137765884, + -0.22506794333457947, + 0.9286553859710693, + 0.0, + 0.9988223910331726 + ], + [ + 0.3571552634239197, + 0.07738078385591507, + 0.0870511457324028, + -0.08535748720169067, + -0.20039436221122742, + 0.9236879348754883, + 0.0, + 0.9988223910331726 + ], + [ + 0.34488949179649353, + 0.08073895424604416, + 0.07783254235982895, + -0.049477603286504745, + -0.1725177764892578, + 0.9113454818725586, + 0.0, + 0.9988223910331726 + ], + [ + 0.3335255980491638, + 0.09533055871725082, + 0.08647356182336807, + -0.063565194606781, + -0.18152514100074768, + 0.9540682435035706, + 0.0, + 0.9988223910331726 + ], + [ + 0.32224610447883606, + 0.10456524044275284, + 0.08172240108251572, + -0.03561994060873985, + -0.17462049424648285, + 0.9687183499336243, + 0.0, + 0.9988223910331726 + ], + [ + 0.31408125162124634, + 0.10925683379173279, + 0.07343826442956924, + 0.004214787855744362, + -0.1856366991996765, + 0.9392561316490173, + 0.0, + 0.9988223910331726 + ], + [ + 0.3105411231517792, + 0.11190593987703323, + 0.06964277476072311, + 0.0553472675383091, + -0.1826946884393692, + 0.9020352959632874, + 0.0, + 0.9988223910331726 + ], + [ + 0.30854523181915283, + 0.11108098179101944, + 0.05820486322045326, + 0.08633091300725937, + -0.15504349768161774, + 0.88531094789505, + 0.0, + 0.9988223910331726 + ], + [ + 0.3056957721710205, + 0.1074940413236618, + 0.04980384558439255, + 0.0805051177740097, + -0.129351407289505, + 0.8731149435043335, + 0.0, + 0.9988223910331726 + ], + [ + 0.29977333545684814, + 0.10938102006912231, + 0.04354644566774368, + 0.05318312719464302, + -0.10785873234272003, + 0.9075181484222412, + 0.0, + 0.9988223910331726 + ], + [ + 0.2903952896595001, + 0.10920640826225281, + 0.03330527991056442, + 0.024702316150069237, + -0.07637874782085419, + 0.9478928446769714, + 0.0, + 0.9988223910331726 + ], + [ + 0.2769486606121063, + 0.10772276669740677, + 0.022960536181926727, + 0.0376947857439518, + -0.049528300762176514, + 0.98382568359375, + 0.0, + 0.9988223910331726 + ], + [ + 0.27006253600120544, + 0.10707324743270874, + 0.016976866871118546, + 0.04806460812687874, + -0.04836972802877426, + 1.007408857345581, + 0.0, + 0.9499720335006714 + ], + [ + 0.26534146070480347, + 0.10921940952539444, + 0.011060652323067188, + 0.049737244844436646, + -0.08638974279165268, + 1.0261379480361938, + 0.0, + 0.6430501937866211 + ], + [ + 0.2658553123474121, + 0.1092967838048935, + 0.012920624576508999, + 0.03748765215277672, + -0.104668028652668, + 1.0256197452545166, + 0.0, + 0.3437051773071289 + ], + [ + 0.2665327191352844, + 0.1085599958896637, + 0.013496940024197102, + 0.04162885621190071, + -0.10476023703813553, + 1.008239984512329, + 0.0, + 0.18800361454486847 + ], + [ + 0.2696726620197296, + 0.10833288729190826, + 0.015589556656777859, + 0.03359842672944069, + -0.10796081274747849, + 0.9947406053543091, + 0.0, + 0.09549706429243088 + ], + [ + 0.2698460519313812, + 0.10745638608932495, + 0.016645262017846107, + 0.03709223121404648, + -0.09517788141965866, + 0.9852085709571838, + 0.0, + 0.08606764674186707 + ], + [ + 0.270727276802063, + 0.10487321764230728, + 0.021766560152173042, + 0.051743824034929276, + -0.06630168110132217, + 0.9750958681106567, + 0.0, + 0.0853668823838234 + ], + [ + 0.2736165225505829, + 0.09446504712104797, + 0.025231966748833656, + 0.06890323758125305, + -0.046900250017642975, + 0.9219852685928345, + 0.0, + 0.08397578448057175 + ], + [ + 0.28604963421821594, + 0.07284508645534515, + 0.03259063884615898, + 0.06635129451751709, + -0.042759161442518234, + 0.8452610373497009, + 0.0, + 0.08397578448057175 + ], + [ + 0.29626819491386414, + 0.05345646291971207, + 0.05265326425433159, + 0.025990545749664307, + -0.08440573513507843, + 0.7770158052444458, + 0.0, + 0.08397578448057175 + ], + [ + 0.30575287342071533, + 0.035277508199214935, + 0.061620306223630905, + 0.006813300773501396, + -0.09368643909692764, + 0.7347083687782288, + 0.0, + 0.08397578448057175 + ], + [ + 0.3283211886882782, + 0.01623421534895897, + 0.07912476360797882, + -0.06379998475313187, + -0.1304701864719391, + 0.7165399789810181, + 0.0, + 0.08397578448057175 + ], + [ + 0.34774714708328247, + -0.0028051023837178946, + 0.07493440061807632, + -0.09338115900754929, + -0.11996416747570038, + 0.6712976694107056, + 0.0, + 0.08397578448057175 + ], + [ + 0.36592698097229004, + -0.022049441933631897, + 0.07239056378602982, + -0.09872297942638397, + -0.1315069943666458, + 0.6223235130310059, + 0.0, + 0.08397578448057175 + ], + [ + 0.3749389350414276, + -0.03589363768696785, + 0.06453001499176025, + -0.08712369203567505, + -0.13276921212673187, + 0.569324254989624, + 0.0, + 0.08397578448057175 + ], + [ + 0.3807196617126465, + -0.04435078054666519, + 0.0607515349984169, + -0.07668281346559525, + -0.146407812833786, + 0.5251111388206482, + 0.0, + 0.08397578448057175 + ], + [ + 0.38014188408851624, + -0.04924505576491356, + 0.05099198594689369, + -0.0630326047539711, + -0.1351291537284851, + 0.4986157715320587, + 0.0, + 0.08397578448057175 + ], + [ + 0.37563955783843994, + -0.05278703197836876, + 0.04451945796608925, + -0.067890964448452, + -0.12302687764167786, + 0.46496936678886414, + 0.0, + 0.08397578448057175 + ], + [ + 0.3708055317401886, + -0.055588629096746445, + 0.03927246481180191, + -0.07235924154520035, + -0.11229894310235977, + 0.4509073495864868, + 0.0, + 0.08397578448057175 + ], + [ + 0.36851054430007935, + -0.05756488814949989, + 0.03704744577407837, + -0.07363661378622055, + -0.09507464617490768, + 0.4193855822086334, + 0.0, + 0.1284015029668808 + ], + [ + 0.36457180976867676, + -0.05465080216526985, + 0.03324722498655319, + -0.04921931400895119, + -0.07229722291231155, + 0.44970273971557617, + 0.0, + 0.3103247880935669 + ], + [ + 0.3670327067375183, + -0.05153953656554222, + 0.03313731029629707, + -0.04987845942378044, + -0.08886819332838058, + 0.4760327935218811, + 0.0, + 0.6289845705032349 + ], + [ + 0.3673597574234009, + -0.05100506916642189, + 0.03316998481750488, + -0.04814817011356354, + -0.09208714962005615, + 0.47953876852989197, + 0.0, + 0.927155077457428 + ], + [ + 0.3644099235534668, + -0.04447802156209946, + 0.03003142960369587, + -0.0860077291727066, + -0.05790024995803833, + 0.5170323848724365, + 0.0, + 1.0118417739868164 + ], + [ + 0.36980703473091125, + -0.0446670763194561, + 0.05674123391509056, + -0.1203097477555275, + -0.09241076558828354, + 0.5181846022605896, + 0.0, + 1.00800359249115 + ], + [ + 0.3746894598007202, + -0.054856814444065094, + 0.08705197274684906, + -0.15873514115810394, + -0.12175659835338593, + 0.5051857829093933, + 0.0, + 1.002137303352356 + ], + [ + 0.36923280358314514, + -0.05922146514058113, + 0.11473199725151062, + -0.1892855018377304, + -0.14469946920871735, + 0.4897536337375641, + 0.0, + 1.0014774799346924 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9499720335006714 + ], + [ + 0.6430501937866211 + ], + [ + 0.3437051773071289 + ], + [ + 0.18800361454486847 + ], + [ + 0.09549706429243088 + ], + [ + 0.08606764674186707 + ], + [ + 0.0853668823838234 + ], + [ + 0.08397578448057175 + ], + [ + 0.08397578448057175 + ], + [ + 0.08397578448057175 + ], + [ + 0.08397578448057175 + ], + [ + 0.08397578448057175 + ], + [ + 0.08397578448057175 + ], + [ + 0.08397578448057175 + ], + [ + 0.08397578448057175 + ], + [ + 0.08397578448057175 + ], + [ + 0.08397578448057175 + ], + [ + 0.08397578448057175 + ], + [ + 0.08397578448057175 + ], + [ + 0.1284015029668808 + ], + [ + 0.3103247880935669 + ], + [ + 0.6289845705032349 + ], + [ + 0.927155077457428 + ], + [ + 1.0118417739868164 + ], + [ + 1.00800359249115 + ], + [ + 1.002137303352356 + ], + [ + 1.0014774799346924 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3603387475013733, + 0.0773937925696373, + 0.09833957254886627 + ], + [ + 0.3571552634239197, + 0.07738078385591507, + 0.0870511457324028 + ], + [ + 0.34488949179649353, + 0.08073895424604416, + 0.07783254235982895 + ], + [ + 0.3335255980491638, + 0.09533055871725082, + 0.08647356182336807 + ], + [ + 0.32224610447883606, + 0.10456524044275284, + 0.08172240108251572 + ], + [ + 0.31408125162124634, + 0.10925683379173279, + 0.07343826442956924 + ], + [ + 0.3105411231517792, + 0.11190593987703323, + 0.06964277476072311 + ], + [ + 0.30854523181915283, + 0.11108098179101944, + 0.05820486322045326 + ], + [ + 0.3056957721710205, + 0.1074940413236618, + 0.04980384558439255 + ], + [ + 0.29977333545684814, + 0.10938102006912231, + 0.04354644566774368 + ], + [ + 0.2903952896595001, + 0.10920640826225281, + 0.03330527991056442 + ], + [ + 0.2769486606121063, + 0.10772276669740677, + 0.022960536181926727 + ], + [ + 0.27006253600120544, + 0.10707324743270874, + 0.016976866871118546 + ], + [ + 0.26534146070480347, + 0.10921940952539444, + 0.011060652323067188 + ], + [ + 0.2658553123474121, + 0.1092967838048935, + 0.012920624576508999 + ], + [ + 0.2665327191352844, + 0.1085599958896637, + 0.013496940024197102 + ], + [ + 0.2696726620197296, + 0.10833288729190826, + 0.015589556656777859 + ], + [ + 0.2698460519313812, + 0.10745638608932495, + 0.016645262017846107 + ], + [ + 0.270727276802063, + 0.10487321764230728, + 0.021766560152173042 + ], + [ + 0.2736165225505829, + 0.09446504712104797, + 0.025231966748833656 + ], + [ + 0.28604963421821594, + 0.07284508645534515, + 0.03259063884615898 + ], + [ + 0.29626819491386414, + 0.05345646291971207, + 0.05265326425433159 + ], + [ + 0.30575287342071533, + 0.035277508199214935, + 0.061620306223630905 + ], + [ + 0.3283211886882782, + 0.01623421534895897, + 0.07912476360797882 + ], + [ + 0.34774714708328247, + -0.0028051023837178946, + 0.07493440061807632 + ], + [ + 0.36592698097229004, + -0.022049441933631897, + 0.07239056378602982 + ], + [ + 0.3749389350414276, + -0.03589363768696785, + 0.06453001499176025 + ], + [ + 0.3807196617126465, + -0.04435078054666519, + 0.0607515349984169 + ], + [ + 0.38014188408851624, + -0.04924505576491356, + 0.05099198594689369 + ], + [ + 0.37563955783843994, + -0.05278703197836876, + 0.04451945796608925 + ], + [ + 0.3708055317401886, + -0.055588629096746445, + 0.03927246481180191 + ], + [ + 0.36851054430007935, + -0.05756488814949989, + 0.03704744577407837 + ], + [ + 0.36457180976867676, + -0.05465080216526985, + 0.03324722498655319 + ], + [ + 0.3670327067375183, + -0.05153953656554222, + 0.03313731029629707 + ], + [ + 0.3673597574234009, + -0.05100506916642189, + 0.03316998481750488 + ], + [ + 0.3644099235534668, + -0.04447802156209946, + 0.03003142960369587 + ], + [ + 0.36980703473091125, + -0.0446670763194561, + 0.05674123391509056 + ], + [ + 0.3746894598007202, + -0.054856814444065094, + 0.08705197274684906 + ], + [ + 0.36923280358314514, + -0.05922146514058113, + 0.11473199725151062 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.5838061365654801, + 0.7815052888547108, + 0.22004517354534942, + 0.7806179532392089, + -0.6148078094351481, + 0.11245874149297065, + 0.22317259237889459, + 0.10611710959910996, + -0.9689856309880008 + ], + [ + 0.5908171364033118, + 0.7846946628440649, + 0.18758837233749387, + 0.7818643700963493, + -0.61422638617248, + 0.1068365728734062, + 0.19905581655914928, + 0.08354778652684447, + -0.9764202728643212 + ], + [ + 0.6035880698784255, + 0.7841599379630962, + 0.14413408200057942, + 0.7785969149416861, + -0.6186430601994048, + 0.10520270010985583, + 0.17166329235956518, + 0.04872325687829642, + -0.9839500791683722 + ], + [ + 0.5688662208633539, + 0.8074951090717282, + 0.15602202275923732, + 0.8023716038159723, + -0.586556102865607, + 0.11023496532813946, + 0.18052986498203138, + 0.06247869249871983, + -0.9815830993009305 + ], + [ + 0.5577434426333568, + 0.8201336323503937, + 0.1276835043662287, + 0.8116271342240199, + -0.5710961929904589, + 0.12292490936791181, + 0.1737344156774823, + 0.03507083460018982, + -0.9841678664585884 + ], + [ + 0.5802450728625399, + 0.8075712649025233, + 0.1055666023062441, + 0.7932519839720433, + -0.5897554518177606, + 0.15145889533350815, + 0.18457233092520486, + -0.004142361037855424, + -0.9828102031938155 + ], + [ + 0.6096959097854691, + 0.7896203967731065, + 0.0690689987675447, + 0.7715330510530601, + -0.6111795525550721, + 0.17662475950822387, + 0.18168007244501305, + -0.05439837808670242, + -0.9818519072334234 + ], + [ + 0.6254552856733249, + 0.7796579243957708, + 0.030646476961928654, + 0.7648262544008732, + -0.6203839772745747, + 0.17367936354129923, + 0.1544230753560828, + -0.08518944575390999, + -0.9843252877629991 + ], + [ + 0.6370754649424122, + 0.7705160312167314, + 0.020973736110353247, + 0.759931691027053, + -0.6324124957088313, + 0.15019407526294531, + 0.12899099558175858, + -0.0797463535802406, + -0.9884340353050791 + ], + [ + 0.6121253650443287, + 0.7903873017795349, + 0.024299190418893682, + 0.7833990517166656, + -0.6103235865524136, + 0.11743528203750137, + 0.10764972475011862, + -0.05284915215464523, + -0.9927832109165418 + ], + [ + 0.581694934903902, + 0.8130397452649241, + 0.02444126278842082, + 0.8098201188152734, + -0.58168706743479, + 0.07636445993477968, + 0.07630450752846633, + -0.02462779321541903, + -0.9967803639379021 + ], + [ + 0.5531620960953468, + 0.8330641459495942, + -0.0039779613717960995, + 0.8316012554303842, + -0.5518943610443439, + 0.062064210411994475, + 0.0495080539913576, + -0.03763964639484073, + -0.9980642312042147 + ], + [ + 0.5334285737717097, + 0.8457151246748209, + -0.014828505660796545, + 0.8444620477848428, + -0.531472385425936, + 0.06649025026795845, + 0.04835086901918097, + -0.04798990962606649, + -0.9976768825823181 + ], + [ + 0.5161936972538217, + 0.8564692307895799, + 0.0021268817868404163, + 0.8521146795944906, + -0.5138162158967414, + 0.09946591929465969, + 0.08628232573944966, + -0.049531333439131756, + -0.9950386963695095 + ], + [ + 0.5157311095799962, + 0.8564655546449308, + 0.02209471244748973, + 0.8503563811122509, + -0.5148566988865046, + 0.10870420743176282, + 0.10447702002384346, + -0.037273761796233935, + -0.9938285661865911 + ], + [ + 0.5304263277582785, + 0.8474826491194282, + 0.020519996646774293, + 0.8412569719893485, + -0.5292070832130628, + 0.11057382220234269, + 0.10456872333628328, + -0.04138867621268852, + -0.9936560569840961 + ], + [ + 0.5415490182924036, + 0.8401160674677927, + 0.030490227434134785, + 0.8337351721199798, + -0.5413775623748469, + 0.10860938139560819, + 0.10775121139273455, + -0.03339652885436117, + -0.9936168015406535 + ], + [ + 0.550187836300424, + 0.8347619489390691, + 0.021583173782019315, + 0.8296154752568611, + -0.5493721015839015, + 0.09964164398292549, + 0.09503424646615827, + -0.03691588553366156, + -0.9947892788896929 + ], + [ + 0.5598559039258229, + 0.8285704637160775, + -0.0056880134250843345, + 0.8259369779217011, + -0.5575012950740094, + 0.08378791376069569, + 0.06625311570761948, + -0.05160709881524541, + -0.9964673762903159 + ], + [ + 0.6035750500337332, + 0.7968624303058663, + -0.026597483787093673, + 0.7959265907405654, + -0.6002337366564997, + 0.07886902770718253, + 0.04688305801541828, + -0.06877302193741351, + -0.996530105076971 + ], + [ + 0.6629295172252443, + 0.7483786797363697, + -0.02130274413196981, + 0.747460516225123, + -0.6599555643165484, + 0.07590408297383101, + 0.042746132877450355, + -0.06624201720716057, + -0.9968875379301063 + ], + [ + 0.7104707443378628, + 0.7024801137339659, + 0.04186897715872229, + 0.698658640494047, + -0.7112321234838124, + 0.07762068401990024, + 0.08430554847110103, + -0.02589510249104337, + -0.996103417404019 + ], + [ + 0.7387722295724289, + 0.6708281759641613, + 0.0648471367538957, + 0.6674309652360123, + -0.7415817852611584, + 0.06776697140198923, + 0.09354944925924039, + -0.006783369477574311, + -0.9955915258989619 + ], + [ + 0.7476736334914618, + 0.6491882869888631, + 0.13978092079443788, + 0.6511973874518328, + -0.7579963410342677, + 0.037195558263987516, + 0.1301003472615772, + 0.06321483223997058, + -0.9894835949258024 + ], + [ + 0.7773875827149, + 0.6105547239937398, + 0.15129929031430545, + 0.6175322258025574, + -0.7865448081468471, + 0.0011022125831456064, + 0.11967663237250442, + 0.09257534113449087, + -0.9884873847843527 + ], + [ + 0.8055103873498325, + 0.5695849180679309, + 0.16348099883800332, + 0.5778913322424384, + -0.8161038262870441, + -0.0040190594304929175, + 0.1311282730404949, + 0.09771164633345661, + -0.986538296357634 + ], + [ + 0.834852749287385, + 0.5273165290472019, + 0.15798153436685625, + 0.5343187797139801, + -0.845280195751541, + -0.002198252760657507, + 0.1323794872790267, + 0.08624771802110434, + -0.9874396196648655 + ], + [ + 0.8560111659965975, + 0.4901657991141901, + 0.1642631214481602, + 0.4959459200228761, + -0.8683280796005692, + 0.006632540226075255, + 0.14588532517634722, + 0.07578809639999523, + -0.9863942600919049 + ], + [ + 0.8702392181274888, + 0.4698078184830789, + 0.14820363330575723, + 0.47385091113162753, + -0.8805593540986274, + 0.00897429268157993, + 0.1347182884859491, + 0.06241664522848531, + -0.9889161466706052 + ], + [ + 0.8870794569861998, + 0.43992130528554124, + 0.1398545034989374, + 0.44500632881849495, + -0.895509041968579, + -0.005737862320015691, + 0.12271676456195468, + 0.06732607896189659, + -0.9901554397098782 + ], + [ + 0.8943827257524568, + 0.42735005217052674, + 0.13210402259376525, + 0.43303742456850897, + -0.901227408980132, + -0.016362952851830388, + 0.11206305724313825, + 0.0718407280921232, + -0.9911007925476173 + ], + [ + 0.9092144887173293, + 0.39971699947080636, + 0.11642737582089915, + 0.40536036806684456, + -0.9137081267446925, + -0.028643168843853126, + 0.09493147795751342, + 0.07323782803142458, + -0.992786097323105 + ], + [ + 0.8982237794523424, + 0.4309708722784082, + 0.08636057708201185, + 0.43356228390946233, + -0.9010306055178318, + -0.01294580593785034, + 0.07223425778369215, + 0.04907091977696873, + -0.9961798315739392 + ], + [ + 0.8853124680820842, + 0.45375376190194233, + 0.10163344635622523, + 0.45644829570856454, + -0.889742269095514, + -0.0036943104244885304, + 0.08875126592423982, + 0.04966103245605215, + -0.9948150555013949 + ], + [ + 0.8834486928312091, + 0.45690868338605706, + 0.10369600851164897, + 0.4594151796584244, + -0.8882215871097219, + -0.0003238698881002748, + 0.09195705429299979, + 0.047925642809530294, + -0.9946089849418451 + ], + [ + 0.8678331915647853, + 0.48815426813917423, + 0.09257949079567128, + 0.4934742721575384, + -0.8685338298391443, + -0.046174983958157265, + 0.05786790420488981, + 0.08575778053596979, + -0.9946340577018656 + ], + [ + 0.8650130984997442, + 0.4821022197951014, + 0.13903161184603585, + 0.4931905020098228, + -0.8679259064580119, + -0.058887601635120246, + 0.09227929427108807, + 0.11950761719519526, + -0.9885355134142404 + ], + [ + 0.8686061657623914, + 0.46108527053631654, + 0.18144889664588512, + 0.4803871062468933, + -0.8733745055200621, + -0.08028201080767128, + 0.12145598771280616, + 0.1568991599787546, + -0.9801178993604126 + ], + [ + 0.8732265580287945, + 0.4380644795516459, + 0.21348276302392638, + 0.465492391995235, + -0.8794501047867567, + -0.09942004921099712, + 0.14419504619694395, + 0.1861908293813318, + -0.9718748703956456 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0031834840774536133, + -1.3008713722229004e-05, + -0.01128842681646347, + 0.02372143417596817, + 0.02467358112335205, + -0.004967451095581055, + 1.0 + ], + [ + -0.012265771627426147, + 0.0033581703901290894, + -0.009218603372573853, + 0.03587988391518593, + 0.027876585721969604, + -0.012342453002929688, + 1.0 + ], + [ + -0.011363893747329712, + 0.014591604471206665, + 0.008641019463539124, + -0.01408759132027626, + -0.009007364511489868, + 0.04272276163101196, + 1.0 + ], + [ + -0.011279493570327759, + 0.009234681725502014, + -0.004751160740852356, + 0.027945253998041153, + 0.0069046467542648315, + 0.014650106430053711, + 1.0 + ], + [ + -0.008164852857589722, + 0.00469159334897995, + -0.008284136652946472, + 0.039834730327129364, + -0.011016204953193665, + -0.029462218284606934, + 1.0 + ], + [ + -0.003540128469467163, + 0.0026491060853004456, + -0.0037954896688461304, + 0.051132477819919586, + 0.002942010760307312, + -0.03722083568572998, + 1.0 + ], + [ + -0.0019958913326263428, + -0.0008249580860137939, + -0.011437911540269852, + 0.03098364546895027, + 0.027651190757751465, + -0.016724348068237305, + 1.0 + ], + [ + -0.0028494596481323242, + -0.0035869404673576355, + -0.008401017636060715, + -0.005825795233249664, + 0.025692090392112732, + -0.012196004390716553, + 1.0 + ], + [ + -0.005922436714172363, + 0.0018869787454605103, + -0.006257399916648865, + -0.027321990579366684, + 0.021492674946784973, + 0.034403204917907715, + 1.0 + ], + [ + -0.009378045797348022, + -0.00017461180686950684, + -0.01024116575717926, + -0.028480811044573784, + 0.031479984521865845, + 0.040374696254730225, + 1.0 + ], + [ + -0.013446629047393799, + -0.0014836415648460388, + -0.010344743728637695, + 0.01299246959388256, + 0.026850447058677673, + 0.035932838916778564, + 1.0 + ], + [ + -0.006886124610900879, + -0.0006495192646980286, + -0.005983669310808182, + 0.010369822382926941, + 0.0011585727334022522, + 0.023583173751831055, + 0.0 + ], + [ + -0.0047210752964019775, + 0.0021461620926856995, + -0.005916214548051357, + 0.001672636717557907, + -0.03802001476287842, + 0.018729090690612793, + 0.0 + ], + [ + 0.0005138516426086426, + 7.737427949905396e-05, + 0.0018599722534418106, + -0.012249592691659927, + -0.01827828586101532, + -0.0005182027816772461, + 0.0 + ], + [ + 0.0006774067878723145, + -0.0007367879152297974, + 0.0005763154476881027, + 0.004141204059123993, + -9.22083854675293e-05, + -0.0173797607421875, + 0.0 + ], + [ + 0.0031399428844451904, + -0.00022710859775543213, + 0.002092616632580757, + -0.008030429482460022, + -0.0032005757093429565, + -0.01349937915802002, + 0.0 + ], + [ + 0.00017338991165161133, + -0.000876501202583313, + 0.0010557053610682487, + 0.003493804484605789, + 0.012782931327819824, + -0.009532034397125244, + 0.0 + ], + [ + 0.0008812248706817627, + -0.0025831684470176697, + 0.005121298134326935, + 0.014651592820882797, + 0.028876200318336487, + -0.0101127028465271, + 0.0 + ], + [ + 0.0028892457485198975, + -0.010408170521259308, + 0.003465406596660614, + 0.017159413546323776, + 0.0194014310836792, + -0.053110599517822266, + 0.0 + ], + [ + 0.012433111667633057, + -0.02161996066570282, + 0.007358672097325325, + -0.002551943063735962, + 0.004141088575124741, + -0.07672423124313354, + 0.0 + ], + [ + 0.010218560695648193, + -0.019388623535633087, + 0.020062625408172607, + -0.04036074876785278, + -0.041646573692560196, + -0.06824523210525513, + 0.0 + ], + [ + 0.009484678506851196, + -0.01817895472049713, + 0.008967041969299316, + -0.01917724497616291, + -0.009280703961849213, + -0.04230743646621704, + 0.0 + ], + [ + 0.022568315267562866, + -0.019043292850255966, + 0.017504457384347916, + -0.07061328738927841, + -0.036783747375011444, + -0.018168389797210693, + 0.0 + ], + [ + 0.019425958395004272, + -0.019039317965507507, + -0.004190362989902496, + -0.02958117425441742, + 0.010506018996238708, + -0.0452423095703125, + 0.0 + ], + [ + 0.01817983388900757, + -0.01924433931708336, + -0.002543836832046509, + -0.005341820418834686, + -0.011542826890945435, + -0.04897415637969971, + 0.0 + ], + [ + 0.009011954069137573, + -0.013844195753335953, + -0.007860548794269562, + 0.011599287390708923, + -0.0012622177600860596, + -0.052999258041381836, + 0.0 + ], + [ + 0.005780726671218872, + -0.008457142859697342, + -0.0037784799933433533, + 0.010440878570079803, + -0.013638600707054138, + -0.04421311616897583, + 0.0 + ], + [ + -0.000577777624130249, + -0.004894275218248367, + -0.009759549051523209, + 0.013650208711624146, + 0.011278659105300903, + -0.026495367288589478, + 0.0 + ], + [ + -0.004502326250076294, + -0.0035419762134552, + -0.006472527980804443, + -0.004858359694480896, + 0.012102276086807251, + -0.03364640474319458, + 0.0 + ], + [ + -0.004834026098251343, + -0.0028015971183776855, + -0.005246993154287338, + -0.004468277096748352, + 0.010727934539318085, + -0.01406201720237732, + 0.0 + ], + [ + -0.002294987440109253, + -0.0019762590527534485, + -0.0022250190377235413, + -0.0012773722410202026, + 0.017224296927452087, + -0.031521767377853394, + 1.0 + ], + [ + -0.003938734531402588, + 0.0029140859842300415, + -0.003800220787525177, + 0.024417299777269363, + 0.02277742326259613, + 0.03031715750694275, + 1.0 + ], + [ + 0.0024608969688415527, + 0.0031112655997276306, + -0.00010991469025611877, + -0.0006591454148292542, + -0.01657097041606903, + 0.02633005380630493, + 1.0 + ], + [ + 0.00032705068588256836, + 0.0005344673991203308, + 3.267452120780945e-05, + 0.0017302893102169037, + -0.0032189562916755676, + 0.0035059750080108643, + 1.0 + ], + [ + -0.002949833869934082, + 0.0065270476043224335, + -0.0031385552138090134, + -0.037859559059143066, + 0.03418689966201782, + 0.037493616342544556, + 1.0 + ], + [ + 0.005397111177444458, + -0.00018905475735664368, + 0.02670980431139469, + -0.03430201858282089, + -0.03451051563024521, + 0.0011522173881530762, + 1.0 + ], + [ + 0.00488242506980896, + -0.010189738124608994, + 0.0303107388317585, + -0.03842539340257645, + -0.029345832765102386, + -0.012998819351196289, + 1.0 + ], + [ + -0.005456656217575073, + -0.004364650696516037, + 0.02768002450466156, + -0.030550360679626465, + -0.02294287085533142, + -0.015432149171829224, + 1.0 + ], + [ + -0.005989789962768555, + -0.005576338618993759, + 0.02710944414138794, + -0.059121519327163696, + -0.02670148015022278, + -0.05807077884674072, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9499720335006714 + ], + [ + 0.6430501937866211 + ], + [ + 0.3437051773071289 + ], + [ + 0.18800361454486847 + ], + [ + 0.09549706429243088 + ], + [ + 0.08606764674186707 + ], + [ + 0.0853668823838234 + ], + [ + 0.08397578448057175 + ], + [ + 0.08397578448057175 + ], + [ + 0.08397578448057175 + ], + [ + 0.08397578448057175 + ], + [ + 0.08397578448057175 + ], + [ + 0.08397578448057175 + ], + [ + 0.08397578448057175 + ], + [ + 0.08397578448057175 + ], + [ + 0.08397578448057175 + ], + [ + 0.08397578448057175 + ], + [ + 0.08397578448057175 + ], + [ + 0.08397578448057175 + ], + [ + 0.1284015029668808 + ], + [ + 0.3103247880935669 + ], + [ + 0.6289845705032349 + ], + [ + 0.927155077457428 + ], + [ + 1.0118417739868164 + ], + [ + 1.00800359249115 + ], + [ + 1.002137303352356 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3571552634239197, + 0.07738078385591507, + 0.0870511457324028 + ], + [ + 0.34488949179649353, + 0.08073895424604416, + 0.07783254235982895 + ], + [ + 0.3335255980491638, + 0.09533055871725082, + 0.08647356182336807 + ], + [ + 0.32224610447883606, + 0.10456524044275284, + 0.08172240108251572 + ], + [ + 0.31408125162124634, + 0.10925683379173279, + 0.07343826442956924 + ], + [ + 0.3105411231517792, + 0.11190593987703323, + 0.06964277476072311 + ], + [ + 0.30854523181915283, + 0.11108098179101944, + 0.05820486322045326 + ], + [ + 0.3056957721710205, + 0.1074940413236618, + 0.04980384558439255 + ], + [ + 0.29977333545684814, + 0.10938102006912231, + 0.04354644566774368 + ], + [ + 0.2903952896595001, + 0.10920640826225281, + 0.03330527991056442 + ], + [ + 0.2769486606121063, + 0.10772276669740677, + 0.022960536181926727 + ], + [ + 0.27006253600120544, + 0.10707324743270874, + 0.016976866871118546 + ], + [ + 0.26534146070480347, + 0.10921940952539444, + 0.011060652323067188 + ], + [ + 0.2658553123474121, + 0.1092967838048935, + 0.012920624576508999 + ], + [ + 0.2665327191352844, + 0.1085599958896637, + 0.013496940024197102 + ], + [ + 0.2696726620197296, + 0.10833288729190826, + 0.015589556656777859 + ], + [ + 0.2698460519313812, + 0.10745638608932495, + 0.016645262017846107 + ], + [ + 0.270727276802063, + 0.10487321764230728, + 0.021766560152173042 + ], + [ + 0.2736165225505829, + 0.09446504712104797, + 0.025231966748833656 + ], + [ + 0.28604963421821594, + 0.07284508645534515, + 0.03259063884615898 + ], + [ + 0.29626819491386414, + 0.05345646291971207, + 0.05265326425433159 + ], + [ + 0.30575287342071533, + 0.035277508199214935, + 0.061620306223630905 + ], + [ + 0.3283211886882782, + 0.01623421534895897, + 0.07912476360797882 + ], + [ + 0.34774714708328247, + -0.0028051023837178946, + 0.07493440061807632 + ], + [ + 0.36592698097229004, + -0.022049441933631897, + 0.07239056378602982 + ], + [ + 0.3749389350414276, + -0.03589363768696785, + 0.06453001499176025 + ], + [ + 0.3807196617126465, + -0.04435078054666519, + 0.0607515349984169 + ], + [ + 0.38014188408851624, + -0.04924505576491356, + 0.05099198594689369 + ], + [ + 0.37563955783843994, + -0.05278703197836876, + 0.04451945796608925 + ], + [ + 0.3708055317401886, + -0.055588629096746445, + 0.03927246481180191 + ], + [ + 0.36851054430007935, + -0.05756488814949989, + 0.03704744577407837 + ], + [ + 0.36457180976867676, + -0.05465080216526985, + 0.03324722498655319 + ], + [ + 0.3670327067375183, + -0.05153953656554222, + 0.03313731029629707 + ], + [ + 0.3673597574234009, + -0.05100506916642189, + 0.03316998481750488 + ], + [ + 0.3644099235534668, + -0.04447802156209946, + 0.03003142960369587 + ], + [ + 0.36980703473091125, + -0.0446670763194561, + 0.05674123391509056 + ], + [ + 0.3746894598007202, + -0.054856814444065094, + 0.08705197274684906 + ], + [ + 0.36923280358314514, + -0.05922146514058113, + 0.11473199725151062 + ], + [ + 0.3632430136203766, + -0.06479780375957489, + 0.14184144139289856 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.5908171364033118, + 0.7846946628440649, + 0.18758837233749387, + 0.7818643700963493, + -0.61422638617248, + 0.1068365728734062, + 0.19905581655914928, + 0.08354778652684447, + -0.9764202728643212 + ], + [ + 0.6035880698784255, + 0.7841599379630962, + 0.14413408200057942, + 0.7785969149416861, + -0.6186430601994048, + 0.10520270010985583, + 0.17166329235956518, + 0.04872325687829642, + -0.9839500791683722 + ], + [ + 0.5688662208633539, + 0.8074951090717282, + 0.15602202275923732, + 0.8023716038159723, + -0.586556102865607, + 0.11023496532813946, + 0.18052986498203138, + 0.06247869249871983, + -0.9815830993009305 + ], + [ + 0.5577434426333568, + 0.8201336323503937, + 0.1276835043662287, + 0.8116271342240199, + -0.5710961929904589, + 0.12292490936791181, + 0.1737344156774823, + 0.03507083460018982, + -0.9841678664585884 + ], + [ + 0.5802450728625399, + 0.8075712649025233, + 0.1055666023062441, + 0.7932519839720433, + -0.5897554518177606, + 0.15145889533350815, + 0.18457233092520486, + -0.004142361037855424, + -0.9828102031938155 + ], + [ + 0.6096959097854691, + 0.7896203967731065, + 0.0690689987675447, + 0.7715330510530601, + -0.6111795525550721, + 0.17662475950822387, + 0.18168007244501305, + -0.05439837808670242, + -0.9818519072334234 + ], + [ + 0.6254552856733249, + 0.7796579243957708, + 0.030646476961928654, + 0.7648262544008732, + -0.6203839772745747, + 0.17367936354129923, + 0.1544230753560828, + -0.08518944575390999, + -0.9843252877629991 + ], + [ + 0.6370754649424122, + 0.7705160312167314, + 0.020973736110353247, + 0.759931691027053, + -0.6324124957088313, + 0.15019407526294531, + 0.12899099558175858, + -0.0797463535802406, + -0.9884340353050791 + ], + [ + 0.6121253650443287, + 0.7903873017795349, + 0.024299190418893682, + 0.7833990517166656, + -0.6103235865524136, + 0.11743528203750137, + 0.10764972475011862, + -0.05284915215464523, + -0.9927832109165418 + ], + [ + 0.581694934903902, + 0.8130397452649241, + 0.02444126278842082, + 0.8098201188152734, + -0.58168706743479, + 0.07636445993477968, + 0.07630450752846633, + -0.02462779321541903, + -0.9967803639379021 + ], + [ + 0.5531620960953468, + 0.8330641459495942, + -0.0039779613717960995, + 0.8316012554303842, + -0.5518943610443439, + 0.062064210411994475, + 0.0495080539913576, + -0.03763964639484073, + -0.9980642312042147 + ], + [ + 0.5334285737717097, + 0.8457151246748209, + -0.014828505660796545, + 0.8444620477848428, + -0.531472385425936, + 0.06649025026795845, + 0.04835086901918097, + -0.04798990962606649, + -0.9976768825823181 + ], + [ + 0.5161936972538217, + 0.8564692307895799, + 0.0021268817868404163, + 0.8521146795944906, + -0.5138162158967414, + 0.09946591929465969, + 0.08628232573944966, + -0.049531333439131756, + -0.9950386963695095 + ], + [ + 0.5157311095799962, + 0.8564655546449308, + 0.02209471244748973, + 0.8503563811122509, + -0.5148566988865046, + 0.10870420743176282, + 0.10447702002384346, + -0.037273761796233935, + -0.9938285661865911 + ], + [ + 0.5304263277582785, + 0.8474826491194282, + 0.020519996646774293, + 0.8412569719893485, + -0.5292070832130628, + 0.11057382220234269, + 0.10456872333628328, + -0.04138867621268852, + -0.9936560569840961 + ], + [ + 0.5415490182924036, + 0.8401160674677927, + 0.030490227434134785, + 0.8337351721199798, + -0.5413775623748469, + 0.10860938139560819, + 0.10775121139273455, + -0.03339652885436117, + -0.9936168015406535 + ], + [ + 0.550187836300424, + 0.8347619489390691, + 0.021583173782019315, + 0.8296154752568611, + -0.5493721015839015, + 0.09964164398292549, + 0.09503424646615827, + -0.03691588553366156, + -0.9947892788896929 + ], + [ + 0.5598559039258229, + 0.8285704637160775, + -0.0056880134250843345, + 0.8259369779217011, + -0.5575012950740094, + 0.08378791376069569, + 0.06625311570761948, + -0.05160709881524541, + -0.9964673762903159 + ], + [ + 0.6035750500337332, + 0.7968624303058663, + -0.026597483787093673, + 0.7959265907405654, + -0.6002337366564997, + 0.07886902770718253, + 0.04688305801541828, + -0.06877302193741351, + -0.996530105076971 + ], + [ + 0.6629295172252443, + 0.7483786797363697, + -0.02130274413196981, + 0.747460516225123, + -0.6599555643165484, + 0.07590408297383101, + 0.042746132877450355, + -0.06624201720716057, + -0.9968875379301063 + ], + [ + 0.7104707443378628, + 0.7024801137339659, + 0.04186897715872229, + 0.698658640494047, + -0.7112321234838124, + 0.07762068401990024, + 0.08430554847110103, + -0.02589510249104337, + -0.996103417404019 + ], + [ + 0.7387722295724289, + 0.6708281759641613, + 0.0648471367538957, + 0.6674309652360123, + -0.7415817852611584, + 0.06776697140198923, + 0.09354944925924039, + -0.006783369477574311, + -0.9955915258989619 + ], + [ + 0.7476736334914618, + 0.6491882869888631, + 0.13978092079443788, + 0.6511973874518328, + -0.7579963410342677, + 0.037195558263987516, + 0.1301003472615772, + 0.06321483223997058, + -0.9894835949258024 + ], + [ + 0.7773875827149, + 0.6105547239937398, + 0.15129929031430545, + 0.6175322258025574, + -0.7865448081468471, + 0.0011022125831456064, + 0.11967663237250442, + 0.09257534113449087, + -0.9884873847843527 + ], + [ + 0.8055103873498325, + 0.5695849180679309, + 0.16348099883800332, + 0.5778913322424384, + -0.8161038262870441, + -0.0040190594304929175, + 0.1311282730404949, + 0.09771164633345661, + -0.986538296357634 + ], + [ + 0.834852749287385, + 0.5273165290472019, + 0.15798153436685625, + 0.5343187797139801, + -0.845280195751541, + -0.002198252760657507, + 0.1323794872790267, + 0.08624771802110434, + -0.9874396196648655 + ], + [ + 0.8560111659965975, + 0.4901657991141901, + 0.1642631214481602, + 0.4959459200228761, + -0.8683280796005692, + 0.006632540226075255, + 0.14588532517634722, + 0.07578809639999523, + -0.9863942600919049 + ], + [ + 0.8702392181274888, + 0.4698078184830789, + 0.14820363330575723, + 0.47385091113162753, + -0.8805593540986274, + 0.00897429268157993, + 0.1347182884859491, + 0.06241664522848531, + -0.9889161466706052 + ], + [ + 0.8870794569861998, + 0.43992130528554124, + 0.1398545034989374, + 0.44500632881849495, + -0.895509041968579, + -0.005737862320015691, + 0.12271676456195468, + 0.06732607896189659, + -0.9901554397098782 + ], + [ + 0.8943827257524568, + 0.42735005217052674, + 0.13210402259376525, + 0.43303742456850897, + -0.901227408980132, + -0.016362952851830388, + 0.11206305724313825, + 0.0718407280921232, + -0.9911007925476173 + ], + [ + 0.9092144887173293, + 0.39971699947080636, + 0.11642737582089915, + 0.40536036806684456, + -0.9137081267446925, + -0.028643168843853126, + 0.09493147795751342, + 0.07323782803142458, + -0.992786097323105 + ], + [ + 0.8982237794523424, + 0.4309708722784082, + 0.08636057708201185, + 0.43356228390946233, + -0.9010306055178318, + -0.01294580593785034, + 0.07223425778369215, + 0.04907091977696873, + -0.9961798315739392 + ], + [ + 0.8853124680820842, + 0.45375376190194233, + 0.10163344635622523, + 0.45644829570856454, + -0.889742269095514, + -0.0036943104244885304, + 0.08875126592423982, + 0.04966103245605215, + -0.9948150555013949 + ], + [ + 0.8834486928312091, + 0.45690868338605706, + 0.10369600851164897, + 0.4594151796584244, + -0.8882215871097219, + -0.0003238698881002748, + 0.09195705429299979, + 0.047925642809530294, + -0.9946089849418451 + ], + [ + 0.8678331915647853, + 0.48815426813917423, + 0.09257949079567128, + 0.4934742721575384, + -0.8685338298391443, + -0.046174983958157265, + 0.05786790420488981, + 0.08575778053596979, + -0.9946340577018656 + ], + [ + 0.8650130984997442, + 0.4821022197951014, + 0.13903161184603585, + 0.4931905020098228, + -0.8679259064580119, + -0.058887601635120246, + 0.09227929427108807, + 0.11950761719519526, + -0.9885355134142404 + ], + [ + 0.8686061657623914, + 0.46108527053631654, + 0.18144889664588512, + 0.4803871062468933, + -0.8733745055200621, + -0.08028201080767128, + 0.12145598771280616, + 0.1568991599787546, + -0.9801178993604126 + ], + [ + 0.8732265580287945, + 0.4380644795516459, + 0.21348276302392638, + 0.465492391995235, + -0.8794501047867567, + -0.09942004921099712, + 0.14419504619694395, + 0.1861908293813318, + -0.9718748703956456 + ], + [ + 0.894953956855536, + 0.3674695357555787, + 0.2530287639779292, + 0.4122689651808934, + -0.8979295191910919, + -0.1541326666022803, + 0.17056293693910893, + 0.2422575465425873, + -0.9551018614189125 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005514.json b/json/chunk-0005/episode_0005514.json new file mode 100644 index 0000000000000000000000000000000000000000..4afd50506926880aa96f0c8204dcc6689389487c --- /dev/null +++ b/json/chunk-0005/episode_0005514.json @@ -0,0 +1,2362 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 38, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the blue can to the top right of the table." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005514.mp4", + "start": 0, + "end": 38, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2531757950782776, + 0.011668195016682148, + 0.05625142157077789, + 0.0038774118293076754, + -0.045920636504888535, + -0.08873198926448822, + 0.0, + 1.0008161067962646 + ], + [ + 0.25081270933151245, + 0.012326556257903576, + 0.0505806989967823, + 0.0006389600457623601, + -0.021601984277367592, + -0.0901581346988678, + 0.0, + 1.0008161067962646 + ], + [ + 0.24144622683525085, + 0.0504264160990715, + 0.050805751234292984, + 0.015027431771159172, + 0.013563625514507294, + 0.013267242349684238, + 0.0, + 1.0008161067962646 + ], + [ + 0.24596861004829407, + 0.08769486099481583, + 0.0665808916091919, + 0.06772737205028534, + 0.0025619901716709137, + 0.06057427078485489, + 0.0, + 1.0008161067962646 + ], + [ + 0.2425682693719864, + 0.1385423094034195, + 0.08582665026187897, + 0.12083573639392853, + -0.019581684842705727, + 0.14612922072410583, + 0.0, + 1.0008161067962646 + ], + [ + 0.24516166746616364, + 0.18677160143852234, + 0.09646699577569962, + 0.13178008794784546, + -0.0364215262234211, + 0.21331436932086945, + 0.0, + 1.0008161067962646 + ], + [ + 0.25729355216026306, + 0.22155886888504028, + 0.09667828679084778, + 0.12010283768177032, + -0.06459357589483261, + 0.25442975759506226, + 0.0, + 1.0008161067962646 + ], + [ + 0.27550286054611206, + 0.23989178240299225, + 0.08625596761703491, + 0.10364633798599243, + -0.08846181631088257, + 0.2828384339809418, + 0.0, + 1.0008161067962646 + ], + [ + 0.29451513290405273, + 0.2457163780927658, + 0.07290937751531601, + 0.0955316349864006, + -0.08131217956542969, + 0.3065612316131592, + 0.0, + 1.0008161067962646 + ], + [ + 0.31298956274986267, + 0.2415057122707367, + 0.06674433499574661, + 0.10241791605949402, + -0.09464385360479355, + 0.30334776639938354, + 0.0, + 1.0008161067962646 + ], + [ + 0.3398708999156952, + 0.22511588037014008, + 0.06344674527645111, + 0.11460673809051514, + -0.10005290061235428, + 0.2568037211894989, + 0.0, + 1.0008161067962646 + ], + [ + 0.365401029586792, + 0.19778481125831604, + 0.06165655329823494, + 0.12248674035072327, + -0.10358934104442596, + 0.18966270983219147, + 0.0, + 1.0001531839370728 + ], + [ + 0.38330721855163574, + 0.17098446190357208, + 0.05315622687339783, + 0.11953496187925339, + -0.09470319747924805, + 0.12784917652606964, + 0.0, + 1.0008161067962646 + ], + [ + 0.39691075682640076, + 0.13761208951473236, + 0.04700656980276108, + 0.11331211030483246, + -0.08335214108228683, + 0.07329588383436203, + 0.0, + 1.0008161067962646 + ], + [ + 0.4072698950767517, + 0.10408171266317368, + 0.0459958016872406, + 0.1091417521238327, + -0.09243164211511612, + 0.02849925123155117, + 0.0, + 1.0001531839370728 + ], + [ + 0.4110232889652252, + 0.08328896015882492, + 0.043149158358573914, + 0.10285046696662903, + -0.09801750630140305, + 0.01332694198936224, + 0.0, + 1.0008161067962646 + ], + [ + 0.40375182032585144, + 0.08665470033884048, + 0.03285723924636841, + 0.12714000046253204, + -0.09619572758674622, + 0.05283201485872269, + 0.0, + 1.0008161067962646 + ], + [ + 0.3904833495616913, + 0.11428575217723846, + 0.06078355759382248, + 0.18090267479419708, + -0.1792273074388504, + 0.151401549577713, + 0.0, + 1.0008161067962646 + ], + [ + 0.3696776032447815, + 0.13200624287128448, + 0.06579864770174026, + 0.2014184147119522, + -0.1861688643693924, + 0.2213556319475174, + 0.0, + 1.0008161067962646 + ], + [ + 0.3559297025203705, + 0.14899303019046783, + 0.06748422235250473, + 0.19897820055484772, + -0.21365533769130707, + 0.2896635830402374, + 0.0, + 1.0008161067962646 + ], + [ + 0.34489551186561584, + 0.15689204633235931, + 0.06104046851396561, + 0.23370662331581116, + -0.21547764539718628, + 0.33026543259620667, + 0.0, + 1.0008161067962646 + ], + [ + 0.33952245116233826, + 0.16941235959529877, + 0.05840487778186798, + 0.24029375612735748, + -0.2410179078578949, + 0.3599446415901184, + 0.0, + 1.0008161067962646 + ], + [ + 0.33299028873443604, + 0.18225380778312683, + 0.05694424733519554, + 0.2254503220319748, + -0.23886799812316895, + 0.38600844144821167, + 0.0, + 1.0008161067962646 + ], + [ + 0.33198806643486023, + 0.18763428926467896, + 0.057733289897441864, + 0.22072656452655792, + -0.2502826154232025, + 0.3952769339084625, + 0.0, + 1.0008161067962646 + ], + [ + 0.3320864737033844, + 0.19351382553577423, + 0.05709454417228699, + 0.2108948528766632, + -0.2686266303062439, + 0.4107840359210968, + 0.0, + 1.0008161067962646 + ], + [ + 0.3291039764881134, + 0.19385935366153717, + 0.05573471635580063, + 0.21019227802753448, + -0.24806885421276093, + 0.3982798159122467, + 0.0, + 1.0008161067962646 + ], + [ + 0.3295666575431824, + 0.19118010997772217, + 0.05558368191123009, + 0.19586798548698425, + -0.2419756054878235, + 0.3871571719646454, + 0.0, + 1.0008161067962646 + ], + [ + 0.330044686794281, + 0.1782246083021164, + 0.04774026572704315, + 0.1821744590997696, + -0.21663685142993927, + 0.369783878326416, + 0.0, + 1.0001531839370728 + ], + [ + 0.33592233061790466, + 0.16071204841136932, + 0.045006509870290756, + 0.1566457897424698, + -0.21311651170253754, + 0.35742276906967163, + 0.0, + 1.0001531839370728 + ], + [ + 0.3424297869205475, + 0.13328437507152557, + 0.025892190635204315, + 0.12785132229328156, + -0.15854012966156006, + 0.31802254915237427, + 0.0, + 1.0008161067962646 + ], + [ + 0.3555673360824585, + 0.11037673056125641, + 0.022701451554894447, + 0.0911676362156868, + -0.16366957128047943, + 0.30262428522109985, + 0.0, + 1.0008161067962646 + ], + [ + 0.3683012127876282, + 0.0917883962392807, + 0.021658258512616158, + 0.05837606266140938, + -0.1726829707622528, + 0.28700363636016846, + 0.0, + 1.0008161067962646 + ], + [ + 0.38177624344825745, + 0.06480412185192108, + 0.019590940326452255, + 0.026874620467424393, + -0.17151249945163727, + 0.2486656904220581, + 0.0, + 1.0008161067962646 + ], + [ + 0.3890589773654938, + 0.0484888069331646, + 0.018232423812150955, + -0.004457440692931414, + -0.17245464026927948, + 0.22880925238132477, + 0.0, + 1.0001531839370728 + ], + [ + 0.3944775462150574, + 0.03587320074439049, + 0.01768498867750168, + -0.02265864796936512, + -0.1719052791595459, + 0.204209104180336, + 0.0, + 1.0001531839370728 + ], + [ + 0.4010111391544342, + 0.03219681233167648, + 0.018313778564333916, + -0.021996786817908287, + -0.16747334599494934, + 0.17302997410297394, + 0.0, + 1.0001531839370728 + ], + [ + 0.4056204557418823, + 0.035898346453905106, + 0.02608029730618, + 0.03689994663000107, + -0.16898299753665924, + 0.09981156140565872, + 0.0, + 1.0001531839370728 + ], + [ + 0.40359240770339966, + 0.04095635563135147, + 0.0491926409304142, + 0.10144608467817307, + -0.16232602298259735, + 0.04145095869898796, + 0.0, + 1.0001531839370728 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2531757950782776, + 0.011668195016682148, + 0.05625142157077789 + ], + [ + 0.25081270933151245, + 0.012326556257903576, + 0.0505806989967823 + ], + [ + 0.24144622683525085, + 0.0504264160990715, + 0.050805751234292984 + ], + [ + 0.24596861004829407, + 0.08769486099481583, + 0.0665808916091919 + ], + [ + 0.2425682693719864, + 0.1385423094034195, + 0.08582665026187897 + ], + [ + 0.24516166746616364, + 0.18677160143852234, + 0.09646699577569962 + ], + [ + 0.25729355216026306, + 0.22155886888504028, + 0.09667828679084778 + ], + [ + 0.27550286054611206, + 0.23989178240299225, + 0.08625596761703491 + ], + [ + 0.29451513290405273, + 0.2457163780927658, + 0.07290937751531601 + ], + [ + 0.31298956274986267, + 0.2415057122707367, + 0.06674433499574661 + ], + [ + 0.3398708999156952, + 0.22511588037014008, + 0.06344674527645111 + ], + [ + 0.365401029586792, + 0.19778481125831604, + 0.06165655329823494 + ], + [ + 0.38330721855163574, + 0.17098446190357208, + 0.05315622687339783 + ], + [ + 0.39691075682640076, + 0.13761208951473236, + 0.04700656980276108 + ], + [ + 0.4072698950767517, + 0.10408171266317368, + 0.0459958016872406 + ], + [ + 0.4110232889652252, + 0.08328896015882492, + 0.043149158358573914 + ], + [ + 0.40375182032585144, + 0.08665470033884048, + 0.03285723924636841 + ], + [ + 0.3904833495616913, + 0.11428575217723846, + 0.06078355759382248 + ], + [ + 0.3696776032447815, + 0.13200624287128448, + 0.06579864770174026 + ], + [ + 0.3559297025203705, + 0.14899303019046783, + 0.06748422235250473 + ], + [ + 0.34489551186561584, + 0.15689204633235931, + 0.06104046851396561 + ], + [ + 0.33952245116233826, + 0.16941235959529877, + 0.05840487778186798 + ], + [ + 0.33299028873443604, + 0.18225380778312683, + 0.05694424733519554 + ], + [ + 0.33198806643486023, + 0.18763428926467896, + 0.057733289897441864 + ], + [ + 0.3320864737033844, + 0.19351382553577423, + 0.05709454417228699 + ], + [ + 0.3291039764881134, + 0.19385935366153717, + 0.05573471635580063 + ], + [ + 0.3295666575431824, + 0.19118010997772217, + 0.05558368191123009 + ], + [ + 0.330044686794281, + 0.1782246083021164, + 0.04774026572704315 + ], + [ + 0.33592233061790466, + 0.16071204841136932, + 0.045006509870290756 + ], + [ + 0.3424297869205475, + 0.13328437507152557, + 0.025892190635204315 + ], + [ + 0.3555673360824585, + 0.11037673056125641, + 0.022701451554894447 + ], + [ + 0.3683012127876282, + 0.0917883962392807, + 0.021658258512616158 + ], + [ + 0.38177624344825745, + 0.06480412185192108, + 0.019590940326452255 + ], + [ + 0.3890589773654938, + 0.0484888069331646, + 0.018232423812150955 + ], + [ + 0.3944775462150574, + 0.03587320074439049, + 0.01768498867750168 + ], + [ + 0.4010111391544342, + 0.03219681233167648, + 0.018313778564333916 + ], + [ + 0.4056204557418823, + 0.035898346453905106, + 0.02608029730618 + ], + [ + 0.40359240770339966, + 0.04095635563135147, + 0.0491926409304142 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9950158793097114, + -0.08843764241488083, + 0.04606716103277675, + -0.08852218286897964, + -0.9960741844046856, + -0.0002056760840127743, + 0.045904499361533624, + -0.0038733146836112476, + -0.9989383236074832 + ], + [ + 0.995706141454985, + -0.09002227870477182, + 0.021570099805660405, + -0.09001503610879395, + -0.9959395469893763, + -0.0013084406478281081, + 0.021600304237632487, + -0.0006388109241050243, + -0.9997664821234233 + ], + [ + 0.9998200149682739, + 0.013061560581364937, + -0.013759843895186695, + 0.013265632791437285, + -0.9998017955911874, + 0.014845622899702371, + -0.013563209630589533, + -0.015025483946174822, + -0.9997951160996437 + ], + [ + 0.9981626638874581, + 0.06022537892702716, + -0.00664831965159089, + 0.06053703529092844, + -0.9958880188534383, + 0.06739674519113714, + -0.0025619873689427014, + -0.0676753842787034, + -0.9977041037218658 + ], + [ + 0.9891524393953213, + 0.1468830641442937, + 0.001678423626117349, + 0.1455817923500533, + -0.9817843901047025, + 0.12208748127012564, + 0.019580433458720063, + -0.12051878199816252, + -0.9925179241763082 + ], + [ + 0.9766864720280515, + 0.21454101777322318, + 0.007462375642355204, + 0.211559906975983, + -0.9678477911451446, + 0.13606270222135722, + 0.03641347439769379, + -0.1313118611104642, + -0.9906721223563296 + ], + [ + 0.9657886762074518, + 0.25736532265225437, + 0.031864142944054055, + 0.2511686732351996, + -0.9588886460671152, + 0.13208657020622674, + 0.06454866764486822, + -0.11956443927721956, + -0.9907259027428306 + ], + [ + 0.9565123183016058, + 0.28636196482937376, + 0.055506846751982405, + 0.2779911572072699, + -0.9525629749283049, + 0.12387370709840183, + 0.08834648522635456, + -0.10305631419179624, + -0.9907443134600125 + ], + [ + 0.9502269920143213, + 0.3077922742984448, + 0.04829678591382844, + 0.3007848926693266, + -0.9466918063232803, + 0.11533894477697759, + 0.08122260762445965, + -0.09507123499016898, + -0.9921513736764807 + ], + [ + 0.9500707556420261, + 0.30637217979364506, + 0.059174713537788616, + 0.29737991472815184, + -0.9464547712627244, + 0.12565250602475395, + 0.09450262213328298, + -0.10178140008132186, + -0.9903079324166899 + ], + [ + 0.9623696270160788, + 0.2633721604137082, + 0.06693135375852874, + 0.25272015638968554, + -0.9579604804135186, + 0.1358095744793919, + 0.0998860528367512, + -0.11378410734771602, + -0.9884715238001432 + ], + [ + 0.9768034264369584, + 0.199522630090284, + 0.07775465376987194, + 0.187517046312441, + -0.9723282451957247, + 0.1393382249666618, + 0.10340417517332078, + -0.12152573256910612, + -0.987187455795639 + ], + [ + 0.9873939949255186, + 0.13777584265887824, + 0.07791608283698813, + 0.12692983743000483, + -0.9833230880240473, + 0.13024792101543753, + 0.0945617002544736, + -0.11871613933449462, + -0.988415177497035 + ], + [ + 0.9938526015989213, + 0.08214907573875853, + 0.07421950990355254, + 0.072976034387141, + -0.9902299585607626, + 0.11882393518932738, + 0.08325565866764033, + -0.11267723161321622, + -0.9901375342727894 + ], + [ + 0.9953268935559815, + 0.03837556668681394, + 0.08860976721370159, + 0.028373753403027682, + -0.9933598017443354, + 0.11149544563021205, + 0.09230008170107254, + -0.1084602238607375, + -0.9898065845194478 + ], + [ + 0.9951117528082236, + 0.023302507950284837, + 0.09596662204210132, + 0.013262581789385027, + -0.9944933229168225, + 0.10395736913820239, + 0.09786063226458577, + -0.10217643464656376, + -0.9899410451414224 + ], + [ + 0.9939879222312253, + 0.06454281639930652, + 0.08844340173069523, + 0.05256329905479149, + -0.9899014464977465, + 0.1316519115476332, + 0.09604743646203312, + -0.12621153304240737, + -0.9873426653782147 + ], + [ + 0.9727256341632177, + 0.18006948915554102, + 0.14621839732752123, + 0.14840786121795133, + -0.9675915290645205, + 0.20430795288313372, + 0.1782693113535801, + -0.17703562341474097, + -0.967924811476426 + ], + [ + 0.9587428900598274, + 0.2512403940711311, + 0.13300501925383176, + 0.21575864007707146, + -0.9477477385479666, + 0.23499453889251903, + 0.18509532676926807, + -0.19660236128845882, + -0.9628536916603581 + ], + [ + 0.93654965990671, + 0.3201602355981631, + 0.14273106904369165, + 0.2791352998651607, + -0.927459701900315, + 0.248801096702097, + 0.2120335324844002, + -0.1931733027431795, + -0.9579800917605122 + ], + [ + 0.9240804711588485, + 0.36231817346776723, + 0.12165863716901149, + 0.31679462415652965, + -0.9041823885917838, + 0.28652290356266347, + 0.21381405222380345, + -0.22622941748463482, + -0.9503177372522303 + ], + [ + 0.9088641417250148, + 0.3952677301099985, + 0.13315176837031278, + 0.3420416142839535, + -0.8890174556734738, + 0.30439365565972326, + 0.2386912356675025, + -0.23110903279956924, + -0.9431940993104062 + ], + [ + 0.9001148848637744, + 0.4159655252486138, + 0.12948311029365517, + 0.36580357196626784, + -0.8830615401769926, + 0.29392186546250204, + 0.23660291795198463, + -0.21719806183500454, + -0.9470185115148088 + ], + [ + 0.8941349842355406, + 0.42576645359826554, + 0.13872835671363487, + 0.37306614396539645, + -0.8796188337425807, + 0.2951141466486018, + 0.24767777896472587, + -0.21211702976352084, + -0.9453370211154337 + ], + [ + 0.8839278967906706, + 0.44141776229301644, + 0.15434322922450353, + 0.38500687538969136, + -0.8743088847368415, + 0.2955565596850915, + 0.2654075718171738, + -0.20182748376384824, + -0.942774887032777 + ], + [ + 0.8935138761406249, + 0.4265175209111496, + 0.14041281102507414, + 0.37596116769021226, + -0.88157434899025, + 0.28544678591889805, + 0.24553238795150473, + -0.20226089972662578, + -0.9480529388745165 + ], + [ + 0.8990088892991431, + 0.413521270894213, + 0.14416371068738454, + 0.36655794262217234, + -0.8906732164130997, + 0.26895445016757746, + 0.23962114193393125, + -0.1889480883268698, + -0.9523026453055248 + ], + [ + 0.9106113076269158, + 0.39174253984324847, + 0.1316238158509288, + 0.35296619035717036, + -0.9029021019347955, + 0.24532154978002607, + 0.21494630698559142, + -0.17693382039307498, + -0.9604647355912485 + ], + [ + 0.91560787393744, + 0.37648840887228424, + 0.14113362168022414, + 0.3419459619068527, + -0.9137873824510914, + 0.21923863438906027, + 0.21150692735548438, + -0.1524765478950731, + -0.9654096135955158 + ], + [ + 0.9379432870688329, + 0.32925717660005654, + 0.10886735920316942, + 0.3087673914019456, + -0.935808650347785, + 0.1700731252758486, + 0.15787681352671912, + -0.12590425565331764, + -0.9793993210938189 + ], + [ + 0.9418009702731212, + 0.3109487568035739, + 0.12775681208812253, + 0.29404344112233083, + -0.9461724948558696, + 0.13526294655654347, + 0.16293982670159682, + -0.08982472165574343, + -0.9825386161642311 + ], + [ + 0.9448320450763736, + 0.29221228053290527, + 0.1480013165568325, + 0.27886954170723177, + -0.9546248398456347, + 0.10451408449436145, + 0.17182603209291544, + -0.05747519687182165, + -0.9834492444654932 + ], + [ + 0.9550207178513256, + 0.25046719107468757, + 0.15875016431454433, + 0.2424999098325331, + -0.9677629607552168, + 0.06803414967139815, + 0.17067285140277053, + -0.026477121925406376, + -0.9849719487419909 + ], + [ + 0.9594902872708514, + 0.22607075422747974, + 0.16813804660432363, + 0.22345347057067078, + -0.9741009857852546, + 0.034580572322010575, + 0.17160109301173354, + 0.0043913067774729204, + -0.9851567293085729 + ], + [ + 0.9647885765168531, + 0.19894558114252756, + 0.17205713692389116, + 0.19980372528784476, + -0.9797562706938522, + 0.012494854828084302, + 0.1710598549738778, + 0.022322763716382053, + -0.9850077259780142 + ], + [ + 0.971285628673386, + 0.16851457778167522, + 0.16794958948330038, + 0.1697590783817879, + -0.9854605516443302, + 0.0070254152772961055, + 0.1666915799898465, + 0.02168728263098453, + -0.9857705508547983 + ], + [ + 0.9808501675178504, + 0.10575162832625282, + 0.16355287214399766, + 0.09822659273104689, + -0.9937273769870499, + 0.05345499702447429, + 0.1681799196118663, + -0.036366101424040356, + -0.9850852863110698 + ], + [ + 0.9860063592355903, + 0.05757899213311067, + 0.15644845544750866, + 0.04089433285875095, + -0.9933259715919016, + 0.1078478915002156, + 0.16161408690771237, + -0.09994085163705467, + -0.9817803792534492 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0023630857467651367, + 0.0006583612412214279, + -0.00567072257399559, + -0.0032384516671299934, + 0.024318652227520943, + -0.0014261454343795776, + 1.0 + ], + [ + -0.009366482496261597, + 0.03809985890984535, + 0.00022505223751068115, + 0.014388471841812134, + 0.035165607929229736, + 0.10342537611722946, + 1.0 + ], + [ + 0.004522383213043213, + 0.037268444895744324, + 0.01577514037489891, + 0.05269993841648102, + -0.01100163534283638, + 0.047307029366493225, + 1.0 + ], + [ + -0.0034003406763076782, + 0.05084744840860367, + 0.019245758652687073, + 0.05310836434364319, + -0.02214367501437664, + 0.08555494993925095, + 1.0 + ], + [ + 0.002593398094177246, + 0.048229292035102844, + 0.010640345513820648, + 0.010944351553916931, + -0.01683984138071537, + 0.06718514859676361, + 1.0 + ], + [ + 0.012131884694099426, + 0.034787267446517944, + 0.00021129101514816284, + -0.011677250266075134, + -0.028172049671411514, + 0.04111538827419281, + 1.0 + ], + [ + 0.018209308385849, + 0.018332913517951965, + -0.010422319173812866, + -0.016456499695777893, + -0.023868240416049957, + 0.028408676385879517, + 1.0 + ], + [ + 0.019012272357940674, + 0.00582459568977356, + -0.013346590101718903, + -0.008114702999591827, + 0.007149636745452881, + 0.023722797632217407, + 1.0 + ], + [ + 0.018474429845809937, + -0.004210665822029114, + -0.006165042519569397, + 0.006886281073093414, + -0.013331674039363861, + -0.0032134652137756348, + 1.0 + ], + [ + 0.02688133716583252, + -0.01638983190059662, + -0.0032975897192955017, + 0.012188822031021118, + -0.00540904700756073, + -0.046544045209884644, + 1.0 + ], + [ + 0.025530129671096802, + -0.027331069111824036, + -0.0017901919782161713, + 0.00788000226020813, + -0.003536440432071686, + -0.06714101135730743, + 1.0 + ], + [ + 0.01790618896484375, + -0.026800349354743958, + -0.008500326424837112, + -0.002951778471469879, + 0.008886143565177917, + -0.061813533306121826, + 1.0 + ], + [ + 0.013603538274765015, + -0.03337237238883972, + -0.006149657070636749, + -0.006222851574420929, + 0.011351056396961212, + -0.05455329269170761, + 1.0 + ], + [ + 0.010359138250350952, + -0.033530376851558685, + -0.0010107681155204773, + -0.004170358180999756, + -0.009079501032829285, + -0.04479663074016571, + 1.0 + ], + [ + 0.0037533938884735107, + -0.020792752504348755, + -0.002846643328666687, + -0.006291285157203674, + -0.005585864186286926, + -0.01517230924218893, + 1.0 + ], + [ + -0.007271468639373779, + 0.003365740180015564, + -0.010291919112205505, + 0.024289533495903015, + 0.0018217787146568298, + 0.03950507193803787, + 1.0 + ], + [ + -0.013268470764160156, + 0.02763105183839798, + 0.02792631834745407, + 0.05376267433166504, + -0.08303157985210419, + 0.09856953471899033, + 1.0 + ], + [ + -0.02080574631690979, + 0.01772049069404602, + 0.005015090107917786, + 0.020515739917755127, + -0.006941556930541992, + 0.06995408236980438, + 1.0 + ], + [ + -0.01374790072441101, + 0.01698678731918335, + 0.0016855746507644653, + -0.002440214157104492, + -0.027486473321914673, + 0.06830795109272003, + 1.0 + ], + [ + -0.011034190654754639, + 0.00789901614189148, + -0.0064437538385391235, + 0.03472842276096344, + -0.0018223077058792114, + 0.04060184955596924, + 1.0 + ], + [ + -0.005373060703277588, + 0.012520313262939453, + -0.0026355907320976257, + 0.006587132811546326, + -0.025540262460708618, + 0.029679208993911743, + 1.0 + ], + [ + -0.006532162427902222, + 0.012841448187828064, + -0.0014606304466724396, + -0.01484343409538269, + 0.002149909734725952, + 0.02606379985809326, + 1.0 + ], + [ + -0.0010022222995758057, + 0.005380481481552124, + 0.0007890425622463226, + -0.00472375750541687, + -0.01141461730003357, + 0.009268492460250854, + 1.0 + ], + [ + 9.840726852416992e-05, + 0.005879536271095276, + -0.0006387457251548767, + -0.009831711649894714, + -0.018344014883041382, + 0.015507102012634277, + 1.0 + ], + [ + -0.002982497215270996, + 0.00034552812576293945, + -0.0013598278164863586, + -0.0007025748491287231, + 0.02055777609348297, + -0.012504220008850098, + 1.0 + ], + [ + 0.0004626810550689697, + -0.0026792436838150024, + -0.00015103444457054138, + -0.014324292540550232, + 0.006093248724937439, + -0.011122643947601318, + 1.0 + ], + [ + 0.0004780292510986328, + -0.012955501675605774, + -0.007843416184186935, + -0.01369352638721466, + 0.025338754057884216, + -0.01737329363822937, + 1.0 + ], + [ + 0.005877643823623657, + -0.01751255989074707, + -0.0027337558567523956, + -0.025528669357299805, + 0.0035203397274017334, + -0.012361109256744385, + 1.0 + ], + [ + 0.006507456302642822, + -0.02742767333984375, + -0.01911431923508644, + -0.028794467449188232, + 0.05457638204097748, + -0.03940021991729736, + 1.0 + ], + [ + 0.01313754916191101, + -0.022907644510269165, + -0.003190739080309868, + -0.03668368607759476, + -0.0051294416189193726, + -0.015398263931274414, + 1.0 + ], + [ + 0.012733876705169678, + -0.018588334321975708, + -0.0010431930422782898, + -0.03279157355427742, + -0.009013399481773376, + -0.015620648860931396, + 1.0 + ], + [ + 0.013475030660629272, + -0.02698427438735962, + -0.0020673181861639023, + -0.031501442193984985, + 0.0011704713106155396, + -0.03833794593811035, + 1.0 + ], + [ + 0.007282733917236328, + -0.016315314918756485, + -0.0013585165143013, + -0.03133206069469452, + -0.0009421408176422119, + -0.019856438040733337, + 1.0 + ], + [ + 0.005418568849563599, + -0.012615606188774109, + -0.0005474351346492767, + -0.018201207742094994, + 0.0005493611097335815, + -0.02460014820098877, + 1.0 + ], + [ + 0.006533592939376831, + -0.0036763884127140045, + 0.0006287898868322372, + 0.0006618611514568329, + 0.004431933164596558, + -0.03117913007736206, + 1.0 + ], + [ + 0.00460931658744812, + 0.0037015341222286224, + 0.007766518741846085, + 0.058896735310554504, + -0.0015096515417099, + -0.07321841269731522, + 1.0 + ], + [ + -0.002028048038482666, + 0.005058009177446365, + 0.0231123436242342, + 0.064546138048172, + 0.00665697455406189, + -0.05836060270667076, + 1.0 + ], + [ + -0.0023211538791656494, + -0.00015720725059509277, + 0.02564055100083351, + 0.014010339975357056, + 0.0287930965423584, + -0.10411284863948822, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.25081270933151245, + 0.012326556257903576, + 0.0505806989967823 + ], + [ + 0.24144622683525085, + 0.0504264160990715, + 0.050805751234292984 + ], + [ + 0.24596861004829407, + 0.08769486099481583, + 0.0665808916091919 + ], + [ + 0.2425682693719864, + 0.1385423094034195, + 0.08582665026187897 + ], + [ + 0.24516166746616364, + 0.18677160143852234, + 0.09646699577569962 + ], + [ + 0.25729355216026306, + 0.22155886888504028, + 0.09667828679084778 + ], + [ + 0.27550286054611206, + 0.23989178240299225, + 0.08625596761703491 + ], + [ + 0.29451513290405273, + 0.2457163780927658, + 0.07290937751531601 + ], + [ + 0.31298956274986267, + 0.2415057122707367, + 0.06674433499574661 + ], + [ + 0.3398708999156952, + 0.22511588037014008, + 0.06344674527645111 + ], + [ + 0.365401029586792, + 0.19778481125831604, + 0.06165655329823494 + ], + [ + 0.38330721855163574, + 0.17098446190357208, + 0.05315622687339783 + ], + [ + 0.39691075682640076, + 0.13761208951473236, + 0.04700656980276108 + ], + [ + 0.4072698950767517, + 0.10408171266317368, + 0.0459958016872406 + ], + [ + 0.4110232889652252, + 0.08328896015882492, + 0.043149158358573914 + ], + [ + 0.40375182032585144, + 0.08665470033884048, + 0.03285723924636841 + ], + [ + 0.3904833495616913, + 0.11428575217723846, + 0.06078355759382248 + ], + [ + 0.3696776032447815, + 0.13200624287128448, + 0.06579864770174026 + ], + [ + 0.3559297025203705, + 0.14899303019046783, + 0.06748422235250473 + ], + [ + 0.34489551186561584, + 0.15689204633235931, + 0.06104046851396561 + ], + [ + 0.33952245116233826, + 0.16941235959529877, + 0.05840487778186798 + ], + [ + 0.33299028873443604, + 0.18225380778312683, + 0.05694424733519554 + ], + [ + 0.33198806643486023, + 0.18763428926467896, + 0.057733289897441864 + ], + [ + 0.3320864737033844, + 0.19351382553577423, + 0.05709454417228699 + ], + [ + 0.3291039764881134, + 0.19385935366153717, + 0.05573471635580063 + ], + [ + 0.3295666575431824, + 0.19118010997772217, + 0.05558368191123009 + ], + [ + 0.330044686794281, + 0.1782246083021164, + 0.04774026572704315 + ], + [ + 0.33592233061790466, + 0.16071204841136932, + 0.045006509870290756 + ], + [ + 0.3424297869205475, + 0.13328437507152557, + 0.025892190635204315 + ], + [ + 0.3555673360824585, + 0.11037673056125641, + 0.022701451554894447 + ], + [ + 0.3683012127876282, + 0.0917883962392807, + 0.021658258512616158 + ], + [ + 0.38177624344825745, + 0.06480412185192108, + 0.019590940326452255 + ], + [ + 0.3890589773654938, + 0.0484888069331646, + 0.018232423812150955 + ], + [ + 0.3944775462150574, + 0.03587320074439049, + 0.01768498867750168 + ], + [ + 0.4010111391544342, + 0.03219681233167648, + 0.018313778564333916 + ], + [ + 0.4056204557418823, + 0.035898346453905106, + 0.02608029730618 + ], + [ + 0.40359240770339966, + 0.04095635563135147, + 0.0491926409304142 + ], + [ + 0.401271253824234, + 0.04079914838075638, + 0.07483319193124771 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.995706141454985, + -0.09002227870477182, + 0.021570099805660405, + -0.09001503610879395, + -0.9959395469893763, + -0.0013084406478281081, + 0.021600304237632487, + -0.0006388109241050243, + -0.9997664821234233 + ], + [ + 0.9998200149682739, + 0.013061560581364937, + -0.013759843895186695, + 0.013265632791437285, + -0.9998017955911874, + 0.014845622899702371, + -0.013563209630589533, + -0.015025483946174822, + -0.9997951160996437 + ], + [ + 0.9981626638874581, + 0.06022537892702716, + -0.00664831965159089, + 0.06053703529092844, + -0.9958880188534383, + 0.06739674519113714, + -0.0025619873689427014, + -0.0676753842787034, + -0.9977041037218658 + ], + [ + 0.9891524393953213, + 0.1468830641442937, + 0.001678423626117349, + 0.1455817923500533, + -0.9817843901047025, + 0.12208748127012564, + 0.019580433458720063, + -0.12051878199816252, + -0.9925179241763082 + ], + [ + 0.9766864720280515, + 0.21454101777322318, + 0.007462375642355204, + 0.211559906975983, + -0.9678477911451446, + 0.13606270222135722, + 0.03641347439769379, + -0.1313118611104642, + -0.9906721223563296 + ], + [ + 0.9657886762074518, + 0.25736532265225437, + 0.031864142944054055, + 0.2511686732351996, + -0.9588886460671152, + 0.13208657020622674, + 0.06454866764486822, + -0.11956443927721956, + -0.9907259027428306 + ], + [ + 0.9565123183016058, + 0.28636196482937376, + 0.055506846751982405, + 0.2779911572072699, + -0.9525629749283049, + 0.12387370709840183, + 0.08834648522635456, + -0.10305631419179624, + -0.9907443134600125 + ], + [ + 0.9502269920143213, + 0.3077922742984448, + 0.04829678591382844, + 0.3007848926693266, + -0.9466918063232803, + 0.11533894477697759, + 0.08122260762445965, + -0.09507123499016898, + -0.9921513736764807 + ], + [ + 0.9500707556420261, + 0.30637217979364506, + 0.059174713537788616, + 0.29737991472815184, + -0.9464547712627244, + 0.12565250602475395, + 0.09450262213328298, + -0.10178140008132186, + -0.9903079324166899 + ], + [ + 0.9623696270160788, + 0.2633721604137082, + 0.06693135375852874, + 0.25272015638968554, + -0.9579604804135186, + 0.1358095744793919, + 0.0998860528367512, + -0.11378410734771602, + -0.9884715238001432 + ], + [ + 0.9768034264369584, + 0.199522630090284, + 0.07775465376987194, + 0.187517046312441, + -0.9723282451957247, + 0.1393382249666618, + 0.10340417517332078, + -0.12152573256910612, + -0.987187455795639 + ], + [ + 0.9873939949255186, + 0.13777584265887824, + 0.07791608283698813, + 0.12692983743000483, + -0.9833230880240473, + 0.13024792101543753, + 0.0945617002544736, + -0.11871613933449462, + -0.988415177497035 + ], + [ + 0.9938526015989213, + 0.08214907573875853, + 0.07421950990355254, + 0.072976034387141, + -0.9902299585607626, + 0.11882393518932738, + 0.08325565866764033, + -0.11267723161321622, + -0.9901375342727894 + ], + [ + 0.9953268935559815, + 0.03837556668681394, + 0.08860976721370159, + 0.028373753403027682, + -0.9933598017443354, + 0.11149544563021205, + 0.09230008170107254, + -0.1084602238607375, + -0.9898065845194478 + ], + [ + 0.9951117528082236, + 0.023302507950284837, + 0.09596662204210132, + 0.013262581789385027, + -0.9944933229168225, + 0.10395736913820239, + 0.09786063226458577, + -0.10217643464656376, + -0.9899410451414224 + ], + [ + 0.9939879222312253, + 0.06454281639930652, + 0.08844340173069523, + 0.05256329905479149, + -0.9899014464977465, + 0.1316519115476332, + 0.09604743646203312, + -0.12621153304240737, + -0.9873426653782147 + ], + [ + 0.9727256341632177, + 0.18006948915554102, + 0.14621839732752123, + 0.14840786121795133, + -0.9675915290645205, + 0.20430795288313372, + 0.1782693113535801, + -0.17703562341474097, + -0.967924811476426 + ], + [ + 0.9587428900598274, + 0.2512403940711311, + 0.13300501925383176, + 0.21575864007707146, + -0.9477477385479666, + 0.23499453889251903, + 0.18509532676926807, + -0.19660236128845882, + -0.9628536916603581 + ], + [ + 0.93654965990671, + 0.3201602355981631, + 0.14273106904369165, + 0.2791352998651607, + -0.927459701900315, + 0.248801096702097, + 0.2120335324844002, + -0.1931733027431795, + -0.9579800917605122 + ], + [ + 0.9240804711588485, + 0.36231817346776723, + 0.12165863716901149, + 0.31679462415652965, + -0.9041823885917838, + 0.28652290356266347, + 0.21381405222380345, + -0.22622941748463482, + -0.9503177372522303 + ], + [ + 0.9088641417250148, + 0.3952677301099985, + 0.13315176837031278, + 0.3420416142839535, + -0.8890174556734738, + 0.30439365565972326, + 0.2386912356675025, + -0.23110903279956924, + -0.9431940993104062 + ], + [ + 0.9001148848637744, + 0.4159655252486138, + 0.12948311029365517, + 0.36580357196626784, + -0.8830615401769926, + 0.29392186546250204, + 0.23660291795198463, + -0.21719806183500454, + -0.9470185115148088 + ], + [ + 0.8941349842355406, + 0.42576645359826554, + 0.13872835671363487, + 0.37306614396539645, + -0.8796188337425807, + 0.2951141466486018, + 0.24767777896472587, + -0.21211702976352084, + -0.9453370211154337 + ], + [ + 0.8839278967906706, + 0.44141776229301644, + 0.15434322922450353, + 0.38500687538969136, + -0.8743088847368415, + 0.2955565596850915, + 0.2654075718171738, + -0.20182748376384824, + -0.942774887032777 + ], + [ + 0.8935138761406249, + 0.4265175209111496, + 0.14041281102507414, + 0.37596116769021226, + -0.88157434899025, + 0.28544678591889805, + 0.24553238795150473, + -0.20226089972662578, + -0.9480529388745165 + ], + [ + 0.8990088892991431, + 0.413521270894213, + 0.14416371068738454, + 0.36655794262217234, + -0.8906732164130997, + 0.26895445016757746, + 0.23962114193393125, + -0.1889480883268698, + -0.9523026453055248 + ], + [ + 0.9106113076269158, + 0.39174253984324847, + 0.1316238158509288, + 0.35296619035717036, + -0.9029021019347955, + 0.24532154978002607, + 0.21494630698559142, + -0.17693382039307498, + -0.9604647355912485 + ], + [ + 0.91560787393744, + 0.37648840887228424, + 0.14113362168022414, + 0.3419459619068527, + -0.9137873824510914, + 0.21923863438906027, + 0.21150692735548438, + -0.1524765478950731, + -0.9654096135955158 + ], + [ + 0.9379432870688329, + 0.32925717660005654, + 0.10886735920316942, + 0.3087673914019456, + -0.935808650347785, + 0.1700731252758486, + 0.15787681352671912, + -0.12590425565331764, + -0.9793993210938189 + ], + [ + 0.9418009702731212, + 0.3109487568035739, + 0.12775681208812253, + 0.29404344112233083, + -0.9461724948558696, + 0.13526294655654347, + 0.16293982670159682, + -0.08982472165574343, + -0.9825386161642311 + ], + [ + 0.9448320450763736, + 0.29221228053290527, + 0.1480013165568325, + 0.27886954170723177, + -0.9546248398456347, + 0.10451408449436145, + 0.17182603209291544, + -0.05747519687182165, + -0.9834492444654932 + ], + [ + 0.9550207178513256, + 0.25046719107468757, + 0.15875016431454433, + 0.2424999098325331, + -0.9677629607552168, + 0.06803414967139815, + 0.17067285140277053, + -0.026477121925406376, + -0.9849719487419909 + ], + [ + 0.9594902872708514, + 0.22607075422747974, + 0.16813804660432363, + 0.22345347057067078, + -0.9741009857852546, + 0.034580572322010575, + 0.17160109301173354, + 0.0043913067774729204, + -0.9851567293085729 + ], + [ + 0.9647885765168531, + 0.19894558114252756, + 0.17205713692389116, + 0.19980372528784476, + -0.9797562706938522, + 0.012494854828084302, + 0.1710598549738778, + 0.022322763716382053, + -0.9850077259780142 + ], + [ + 0.971285628673386, + 0.16851457778167522, + 0.16794958948330038, + 0.1697590783817879, + -0.9854605516443302, + 0.0070254152772961055, + 0.1666915799898465, + 0.02168728263098453, + -0.9857705508547983 + ], + [ + 0.9808501675178504, + 0.10575162832625282, + 0.16355287214399766, + 0.09822659273104689, + -0.9937273769870499, + 0.05345499702447429, + 0.1681799196118663, + -0.036366101424040356, + -0.9850852863110698 + ], + [ + 0.9860063592355903, + 0.05757899213311067, + 0.15644845544750866, + 0.04089433285875095, + -0.9933259715919016, + 0.1078478915002156, + 0.16161408690771237, + -0.09994085163705467, + -0.9817803792534492 + ], + [ + 0.9891525767184572, + -0.04689674825197778, + 0.13920443590140022, + -0.06206341840208907, + -0.9923531976059128, + 0.10669237694215658, + 0.1331364415458204, + -0.1141745427173265, + -0.9844992949351491 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005515.json b/json/chunk-0005/episode_0005515.json new file mode 100644 index 0000000000000000000000000000000000000000..b33285c04b8a560e9b04c5b8ed8d15d9db35414a --- /dev/null +++ b/json/chunk-0005/episode_0005515.json @@ -0,0 +1,2482 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 40, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the mushroom above the yellow plastic part of the spoon." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005515.mp4", + "start": 0, + "end": 40, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.257898211479187, + -0.04245121031999588, + 0.09231016784906387, + -0.3250015377998352, + 0.01591959409415722, + 1.4781265258789062, + 0.0, + 1.0008161067962646 + ], + [ + 0.25678008794784546, + -0.04185589402914047, + 0.08709496259689331, + -0.3050939738750458, + 0.014861875213682652, + 1.4814252853393555, + 0.0, + 1.0008161067962646 + ], + [ + 0.2712763249874115, + -0.01997625268995762, + 0.09025311470031738, + -0.3105095326900482, + 0.007427351549267769, + 1.5705784559249878, + 0.0, + 1.0008161067962646 + ], + [ + 0.28996968269348145, + 0.007622511126101017, + 0.09179247170686722, + -0.30162087082862854, + 0.019247831776738167, + 1.6678038835525513, + 0.0, + 1.0008161067962646 + ], + [ + 0.31070756912231445, + 0.040431469678878784, + 0.09982943534851074, + -0.3239997923374176, + 0.02849271148443222, + 1.7876522541046143, + 0.0, + 1.0008161067962646 + ], + [ + 0.3274620473384857, + 0.07186815142631531, + 0.0950595811009407, + -0.30839744210243225, + 0.007533025927841663, + 1.8914804458618164, + 0.0, + 1.0008161067962646 + ], + [ + 0.34672755002975464, + 0.10221334546804428, + 0.09094367921352386, + -0.29976141452789307, + -0.02228367328643799, + 1.9814209938049316, + 0.0, + 1.0008161067962646 + ], + [ + 0.3698367476463318, + 0.13080459833145142, + 0.08741346746683121, + -0.3053293228149414, + -0.029371971264481544, + 2.0597612857818604, + 0.0, + 1.0008161067962646 + ], + [ + 0.38509854674339294, + 0.1522914469242096, + 0.08340802043676376, + -0.2982160747051239, + -0.0219863373786211, + 2.1396329402923584, + 0.0, + 1.0008161067962646 + ], + [ + 0.39335188269615173, + 0.1692497432231903, + 0.06978479772806168, + -0.2642524242401123, + -0.02402491495013237, + 2.177591562271118, + 0.0, + 1.0008161067962646 + ], + [ + 0.396364688873291, + 0.1791020780801773, + 0.06233004108071327, + -0.24541953206062317, + -0.041326090693473816, + 2.19456148147583, + 0.0, + 1.0008161067962646 + ], + [ + 0.39947929978370667, + 0.18492232263088226, + 0.04599172621965408, + -0.218806654214859, + -0.07483571022748947, + 2.1970930099487305, + 0.0, + 0.9694526195526123 + ], + [ + 0.40207308530807495, + 0.1917887181043625, + 0.04045278578996658, + -0.2124355435371399, + -0.11197840422391891, + 2.1974411010742188, + 0.0, + 0.7931879758834839 + ], + [ + 0.402734637260437, + 0.19603659212589264, + 0.03716354817152023, + -0.21475055813789368, + -0.1367839127779007, + 2.1937057971954346, + 0.0, + 0.5501742362976074 + ], + [ + 0.40296071767807007, + 0.19656702876091003, + 0.03764401748776436, + -0.21671076118946075, + -0.13953082263469696, + 2.191350221633911, + 0.0, + 0.4202251136302948 + ], + [ + 0.4021359980106354, + 0.19738610088825226, + 0.03740385174751282, + -0.21157856285572052, + -0.13629859685897827, + 2.1835453510284424, + 0.0, + 0.37120094895362854 + ], + [ + 0.4010167121887207, + 0.19853800535202026, + 0.04366707801818848, + -0.2249130755662918, + -0.13506196439266205, + 2.1840028762817383, + 0.0, + 0.3661215305328369 + ], + [ + 0.3937274217605591, + 0.2014286071062088, + 0.07472168654203415, + -0.276418000459671, + -0.10090526938438416, + 2.1961143016815186, + 0.0, + 0.3661215305328369 + ], + [ + 0.3829714357852936, + 0.19435033202171326, + 0.10132189095020294, + -0.3283027410507202, + -0.08430788666009903, + 2.19899582862854, + 0.0, + 0.3661215305328369 + ], + [ + 0.36456745862960815, + 0.16357144713401794, + 0.12300929427146912, + -0.3620263934135437, + -0.06817353516817093, + 2.165677070617676, + 0.0, + 0.3661215305328369 + ], + [ + 0.3439860939979553, + 0.1117091029882431, + 0.13103193044662476, + -0.38023293018341064, + -0.0419035404920578, + 2.092073678970337, + 0.0, + 0.3661215305328369 + ], + [ + 0.32780760526657104, + 0.06541182100772858, + 0.1251993477344513, + -0.37311092019081116, + -0.047027189284563065, + 2.005753755569458, + 0.0, + 0.365278422832489 + ], + [ + 0.3153003752231598, + 0.013649605214595795, + 0.12130957096815109, + -0.3789747357368469, + -0.07040463387966156, + 1.8728320598602295, + 0.0, + 0.365278422832489 + ], + [ + 0.30449387431144714, + -0.02197704091668129, + 0.11132055521011353, + -0.367484986782074, + -0.08282048255205154, + 1.7761141061782837, + 0.0, + 0.365278422832489 + ], + [ + 0.29714328050613403, + -0.04760807380080223, + 0.10488921403884888, + -0.3585359454154968, + -0.07856769114732742, + 1.7048908472061157, + 0.0, + 0.365278422832489 + ], + [ + 0.2871805727481842, + -0.06286673247814178, + 0.08640732616186142, + -0.3169434368610382, + -0.10203496366739273, + 1.6446784734725952, + 0.0, + 0.365278422832489 + ], + [ + 0.2824958860874176, + -0.06759409606456757, + 0.06821025162935257, + -0.2817395329475403, + -0.11553793400526047, + 1.608267068862915, + 0.0, + 0.365278422832489 + ], + [ + 0.28017011284828186, + -0.07360037416219711, + 0.05173890292644501, + -0.25387147068977356, + -0.15459565818309784, + 1.5621455907821655, + 0.0, + 0.365278422832489 + ], + [ + 0.27893730998039246, + -0.07476522773504257, + 0.04453083872795105, + -0.23391412198543549, + -0.1679437756538391, + 1.5456384420394897, + 0.0, + 0.4068177044391632 + ], + [ + 0.2739671468734741, + -0.07575834542512894, + 0.0425715446472168, + -0.19782428443431854, + -0.15829910337924957, + 1.5444711446762085, + 0.0, + 0.7141282558441162 + ], + [ + 0.27619078755378723, + -0.07237395644187927, + 0.0435449443757534, + -0.1929137110710144, + -0.1558295339345932, + 1.531638741493225, + 0.0, + 0.9774019718170166 + ], + [ + 0.27974051237106323, + -0.07182107120752335, + 0.04639657214283943, + -0.19575482606887817, + -0.15921634435653687, + 1.5108648538589478, + 0.0, + 1.0054124593734741 + ], + [ + 0.28029853105545044, + -0.06493589282035828, + 0.05179748311638832, + -0.1874786615371704, + -0.16610845923423767, + 1.5245602130889893, + 0.0, + 1.0008161067962646 + ], + [ + 0.2816915214061737, + -0.05794582888484001, + 0.08742839843034744, + -0.2790079414844513, + -0.14180777966976166, + 1.5694488286972046, + 0.0, + 1.0014774799346924 + ], + [ + 0.278486043214798, + -0.04793800413608551, + 0.12347721308469772, + -0.37479910254478455, + -0.10480070114135742, + 1.6019588708877563, + 0.0, + 1.0014774799346924 + ], + [ + 0.27789971232414246, + -0.04701194167137146, + 0.12507836520671844, + -0.37855568528175354, + -0.10327576845884323, + 1.603543996810913, + 0.0, + 1.0008161067962646 + ], + [ + 0.2778315544128418, + -0.047178562730550766, + 0.12503202259540558, + -0.37811046838760376, + -0.1019248366355896, + 1.604074478149414, + 0.0, + 1.0014774799346924 + ], + [ + 0.2778315544128418, + -0.047178562730550766, + 0.12503202259540558, + -0.37811046838760376, + -0.1019248366355896, + 1.604074478149414, + 0.0, + 1.0008161067962646 + ], + [ + 0.27789971232414246, + -0.04701194167137146, + 0.12507836520671844, + -0.37855568528175354, + -0.10327576845884323, + 1.603543996810913, + 0.0, + 1.0014774799346924 + ], + [ + 0.27789971232414246, + -0.04701194167137146, + 0.12507836520671844, + -0.37855568528175354, + -0.10327576845884323, + 1.603543996810913, + 0.0, + 1.0008161067962646 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9694526195526123 + ], + [ + 0.7931879758834839 + ], + [ + 0.5501742362976074 + ], + [ + 0.4202251136302948 + ], + [ + 0.37120094895362854 + ], + [ + 0.3661215305328369 + ], + [ + 0.3661215305328369 + ], + [ + 0.3661215305328369 + ], + [ + 0.3661215305328369 + ], + [ + 0.3661215305328369 + ], + [ + 0.365278422832489 + ], + [ + 0.365278422832489 + ], + [ + 0.365278422832489 + ], + [ + 0.365278422832489 + ], + [ + 0.365278422832489 + ], + [ + 0.365278422832489 + ], + [ + 0.365278422832489 + ], + [ + 0.4068177044391632 + ], + [ + 0.7141282558441162 + ], + [ + 0.9774019718170166 + ], + [ + 1.0054124593734741 + ], + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.257898211479187, + -0.04245121031999588, + 0.09231016784906387 + ], + [ + 0.25678008794784546, + -0.04185589402914047, + 0.08709496259689331 + ], + [ + 0.2712763249874115, + -0.01997625268995762, + 0.09025311470031738 + ], + [ + 0.28996968269348145, + 0.007622511126101017, + 0.09179247170686722 + ], + [ + 0.31070756912231445, + 0.040431469678878784, + 0.09982943534851074 + ], + [ + 0.3274620473384857, + 0.07186815142631531, + 0.0950595811009407 + ], + [ + 0.34672755002975464, + 0.10221334546804428, + 0.09094367921352386 + ], + [ + 0.3698367476463318, + 0.13080459833145142, + 0.08741346746683121 + ], + [ + 0.38509854674339294, + 0.1522914469242096, + 0.08340802043676376 + ], + [ + 0.39335188269615173, + 0.1692497432231903, + 0.06978479772806168 + ], + [ + 0.396364688873291, + 0.1791020780801773, + 0.06233004108071327 + ], + [ + 0.39947929978370667, + 0.18492232263088226, + 0.04599172621965408 + ], + [ + 0.40207308530807495, + 0.1917887181043625, + 0.04045278578996658 + ], + [ + 0.402734637260437, + 0.19603659212589264, + 0.03716354817152023 + ], + [ + 0.40296071767807007, + 0.19656702876091003, + 0.03764401748776436 + ], + [ + 0.4021359980106354, + 0.19738610088825226, + 0.03740385174751282 + ], + [ + 0.4010167121887207, + 0.19853800535202026, + 0.04366707801818848 + ], + [ + 0.3937274217605591, + 0.2014286071062088, + 0.07472168654203415 + ], + [ + 0.3829714357852936, + 0.19435033202171326, + 0.10132189095020294 + ], + [ + 0.36456745862960815, + 0.16357144713401794, + 0.12300929427146912 + ], + [ + 0.3439860939979553, + 0.1117091029882431, + 0.13103193044662476 + ], + [ + 0.32780760526657104, + 0.06541182100772858, + 0.1251993477344513 + ], + [ + 0.3153003752231598, + 0.013649605214595795, + 0.12130957096815109 + ], + [ + 0.30449387431144714, + -0.02197704091668129, + 0.11132055521011353 + ], + [ + 0.29714328050613403, + -0.04760807380080223, + 0.10488921403884888 + ], + [ + 0.2871805727481842, + -0.06286673247814178, + 0.08640732616186142 + ], + [ + 0.2824958860874176, + -0.06759409606456757, + 0.06821025162935257 + ], + [ + 0.28017011284828186, + -0.07360037416219711, + 0.05173890292644501 + ], + [ + 0.27893730998039246, + -0.07476522773504257, + 0.04453083872795105 + ], + [ + 0.2739671468734741, + -0.07575834542512894, + 0.0425715446472168 + ], + [ + 0.27619078755378723, + -0.07237395644187927, + 0.0435449443757534 + ], + [ + 0.27974051237106323, + -0.07182107120752335, + 0.04639657214283943 + ], + [ + 0.28029853105545044, + -0.06493589282035828, + 0.05179748311638832 + ], + [ + 0.2816915214061737, + -0.05794582888484001, + 0.08742839843034744 + ], + [ + 0.278486043214798, + -0.04793800413608551, + 0.12347721308469772 + ], + [ + 0.27789971232414246, + -0.04701194167137146, + 0.12507836520671844 + ], + [ + 0.2778315544128418, + -0.047178562730550766, + 0.12503202259540558 + ], + [ + 0.2778315544128418, + -0.047178562730550766, + 0.12503202259540558 + ], + [ + 0.27789971232414246, + -0.04701194167137146, + 0.12507836520671844 + ], + [ + 0.27789971232414246, + -0.04701194167137146, + 0.12507836520671844 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.09252549547126582, + 0.944054455975783, + 0.31654417833860904, + 0.9955830556113635, + -0.0826316550619986, + -0.04456892371659124, + -0.015918921676332992, + 0.31926978205583945, + -0.9475301547701156 + ], + [ + 0.08924226186617817, + 0.9504105302165899, + 0.29791885262673207, + 0.9958990710024953, + -0.08068407054841548, + -0.04092824374566589, + -0.014861328116113903, + 0.30034963761116534, + -0.953713393066002 + ], + [ + 0.00021786485872937744, + 0.9521784807493957, + 0.3055422938525466, + 0.9999723936180799, + 0.0020619087590103002, + -0.007138664720897303, + -0.007427283260465989, + 0.3055354141994707, + -0.9521517453291395 + ], + [ + -0.09683753970220471, + 0.9498131576572063, + 0.29745160353521594, + 0.9951140927680749, + 0.09817374560124587, + 0.010481319048354754, + -0.019246643312418488, + 0.29701326774383197, + -0.9546793626686059 + ], + [ + -0.21507292563396802, + 0.9238155516872993, + 0.31671511350097586, + 0.9761823711374537, + 0.21282269869957643, + 0.04212454389886877, + -0.02848885641271104, + 0.31823155936977665, + -0.9475848561903972 + ], + [ + -0.3152069333490465, + 0.9035256512844113, + 0.2903204895279871, + 0.9489930683426723, + 0.302514304704968, + 0.08886648235656668, + -0.007532954682593407, + 0.30352346354104165, + -0.9527941864189768 + ], + [ + -0.3990830400388378, + 0.8786120394111372, + 0.26224723326502686, + 0.9166440133683771, + 0.3753487071788561, + 0.13739396193092127, + 0.022281829127643135, + 0.2952189564051797, + -0.955169769135185 + ], + [ + -0.46950978669212773, + 0.846134037531201, + 0.2522255949174491, + 0.8824387205732083, + 0.44019358087113314, + 0.16592623599952006, + 0.029367748184565, + 0.3004776229455324, + -0.9533366317705255 + ], + [ + -0.5385220407985456, + 0.8088201997368523, + 0.236228482769982, + 0.8423245754632616, + 0.5094350470823263, + 0.1759694359110806, + 0.02198456605906915, + 0.2937444762065595, + -0.9556311325785323 + ], + [ + -0.5700731821773997, + 0.7965424351965306, + 0.2013373186801548, + 0.8212426446959352, + 0.545289367704342, + 0.16798816625412927, + 0.024022603833874515, + 0.2611123405735162, + -0.9650094611480557 + ], + [ + -0.5835967116328769, + 0.7932263250534348, + 0.1738012526235514, + 0.810991987891156, + 0.5584456888336833, + 0.17444313743860548, + 0.041314328599700106, + 0.24275586473923907, + -0.9692072618315756 + ], + [ + -0.5845077810745181, + 0.8003988370302019, + 0.13308777383382708, + 0.8079360849099783, + 0.5590240776565767, + 0.18636352459789582, + 0.07476587833818295, + 0.21645734517662932, + -0.9734250259549557 + ], + [ + -0.5827574996887188, + 0.8056076336699697, + 0.10672411690533984, + 0.804926615413767, + 0.5541636678465991, + 0.21212207107545852, + 0.11174453165632092, + 0.2095208099723653, + -0.9713980594140763 + ], + [ + -0.5779514911860724, + 0.8104809520702884, + 0.09535565094441882, + 0.8045984280136337, + 0.5463989543751999, + 0.23252860532776912, + 0.1363577774598297, + 0.21111326104469805, + -0.9679037904344048 + ], + [ + -0.5758346212406291, + 0.8119164113606452, + 0.0959491007978324, + 0.8056498348398509, + 0.5435559462947264, + 0.23553190202213614, + 0.13907851237046598, + 0.21292880080180765, + -0.9671186551741838 + ], + [ + -0.569784713062496, + 0.8162384502812284, + 0.09539482712803658, + 0.8104830827777757, + 0.5389504046115288, + 0.2294550803536565, + 0.13587697851852115, + 0.2080558906918242, + -0.9686331571121802 + ], + [ + -0.570251733888332, + 0.8144913714380643, + 0.10684926696188544, + 0.8103591035018852, + 0.5364391623515488, + 0.2356929113638968, + 0.13465171134809958, + 0.2209905675555182, + -0.9659358600251459 + ], + [ + -0.5823776311033397, + 0.7960915517878139, + 0.16454341664901842, + 0.8066529187759813, + 0.5408450796867215, + 0.23832261413649716, + 0.1007341224245886, + 0.27152318676447174, + -0.9571456501643905 + ], + [ + -0.5856015949878639, + 0.7818312006351895, + 0.2140344497061344, + 0.8062132327183171, + 0.5343329009107607, + 0.25398538224506506, + 0.08420804793812968, + 0.32129165055698106, + -0.943228858731973 + ], + [ + -0.559108203601648, + 0.7880519261399334, + 0.2576279844513763, + 0.8262914627813372, + 0.5041030147826439, + 0.25124205265386435, + 0.06812073986691351, + 0.35334729685422817, + -0.9330087098231151 + ], + [ + -0.4975510964212485, + 0.8129903840008154, + 0.3024723821644225, + 0.8664225454359896, + 0.4489385842522954, + 0.2185546163542773, + 0.04189127845069976, + 0.3708109802739824, + -0.9277630827415017 + ], + [ + -0.4209059365090302, + 0.8517126886643231, + 0.31212767993186064, + 0.9058853492171159, + 0.3768403114413359, + 0.19329540539438855, + 0.04700985731993104, + 0.36411107596581954, + -0.9301683706048992 + ], + [ + -0.29672746989621435, + 0.8947310966763674, + 0.33377997730435516, + 0.9523676709774264, + 0.25150981024851204, + 0.17244893338548012, + 0.07034648453208944, + 0.3690515952940214, + -0.9267428403418686 + ], + [ + -0.20317945037638863, + 0.9196918878896957, + 0.33598354467836067, + 0.9756405830536191, + 0.16116949305713657, + 0.14882824734068348, + 0.08272583419671661, + 0.3580380229215788, + -0.9300350587471766 + ], + [ + -0.13328059163496841, + 0.9316872934226405, + 0.33792761231989904, + 0.9879656334321317, + 0.09789759578039314, + 0.11974960499920574, + 0.07848688457621339, + 0.34982116576218475, + -0.9335228764922189 + ], + [ + -0.07343103445194332, + 0.9499435958756718, + 0.30366930670404607, + 0.9920850920260692, + 0.038479570125933005, + 0.11952611790964113, + 0.10185800586573224, + 0.31004271856910603, + -0.9452504743735043 + ], + [ + -0.03721221198995078, + 0.9610996870596056, + 0.27368347193928766, + 0.9926356482567424, + 0.003956221518493674, + 0.12107360621214293, + 0.11528105260072624, + 0.2761733872863649, + -0.9541690306575894 + ], + [ + 0.008547459621204123, + 0.9675765843889742, + 0.25243314813270834, + 0.9880369011972961, + -0.047044625812041774, + 0.1468668957071311, + 0.15398059230457664, + 0.2481579265797709, + -0.9564034821502694 + ], + [ + 0.024801311007317695, + 0.9714841570812646, + 0.23580379028426013, + 0.9856185692575558, + -0.063202328549198, + 0.15672109494464456, + 0.16715540944584284, + 0.22852570578835166, + -0.9590803255655538 + ], + [ + 0.025993031624381213, + 0.9793412690471548, + 0.2005368820144627, + 0.9871546835901552, + -0.05677981468450338, + 0.1493374812644642, + 0.15763880541603534, + 0.19407918843993058, + -0.9682372000917459 + ], + [ + 0.038673233006891794, + 0.9795326193109258, + 0.1975353860822698, + 0.9871258553451573, + -0.0681533501219111, + 0.1446985368835904, + 0.15519963517317378, + 0.18939632671474105, + -0.969557685065245 + ], + [ + 0.05913803287282343, + 0.9772930043870128, + 0.20347254518518956, + 0.9855791855188515, + -0.08953431644124626, + 0.1435871695221972, + 0.15854451154149193, + 0.19204684260774746, + -0.9684945266259717 + ], + [ + 0.0455834598782332, + 0.9800029441982424, + 0.19369144934226273, + 0.9851816935835868, + -0.07619431868783466, + 0.15366019792865332, + 0.16534563439445782, + 0.18381690662850775, + -0.9689541609509817 + ], + [ + 0.001333971663188882, + 0.9612758043592565, + 0.27558492061988166, + 0.9899612163362203, + -0.040218750894788824, + 0.13549628122784269, + 0.14133297799775368, + 0.2726376350211533, + -0.9516794151920904 + ], + [ + -0.030986552879526785, + 0.9313225797736991, + 0.3628747524205921, + 0.9940305819612939, + -0.009282657302135844, + 0.10870618381261693, + 0.10460896551603807, + 0.3640770312407428, + -0.9254754884147887 + ], + [ + -0.03256736210046718, + 0.9299486827039376, + 0.36624420058620466, + 0.9941384959108486, + -0.0076566158485161795, + 0.10784260374204496, + 0.10309227843991295, + 0.3676096078327651, + -0.9242484289167647 + ], + [ + -0.033099333026718025, + 0.930099047937955, + 0.36581442724159463, + 0.9942593659974883, + -0.006619374343503737, + 0.10679183962069874, + 0.10174845099292118, + 0.36724915916610357, + -0.9245405928418345 + ], + [ + -0.033099333026718025, + 0.930099047937955, + 0.36581442724159463, + 0.9942593659974883, + -0.006619374343503737, + 0.10679183962069874, + 0.10174845099292118, + 0.36724915916610357, + -0.9245405928418345 + ], + [ + -0.03256736210046718, + 0.9299486827039376, + 0.36624420058620466, + 0.9941384959108486, + -0.0076566158485161795, + 0.10784260374204496, + 0.10309227843991295, + 0.3676096078327651, + -0.9242484289167647 + ], + [ + -0.03256736210046718, + 0.9299486827039376, + 0.36624420058620466, + 0.9941384959108486, + -0.0076566158485161795, + 0.10784260374204496, + 0.10309227843991295, + 0.3676096078327651, + -0.9242484289167647 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0011181235313415527, + 0.0005953162908554077, + -0.005215205252170563, + 0.01990756392478943, + -0.0010577188804745674, + 0.0032987594604492188, + 1.0 + ], + [ + 0.01449623703956604, + 0.021879641339182854, + 0.0031581521034240723, + -0.005415558815002441, + -0.007434523664414883, + 0.08915317058563232, + 1.0 + ], + [ + 0.018693357706069946, + 0.02759876474738121, + 0.0015393570065498352, + 0.008888661861419678, + 0.011820480227470398, + 0.09722542762756348, + 1.0 + ], + [ + 0.020737886428833008, + 0.03280895948410034, + 0.008036963641643524, + -0.022378921508789062, + 0.009244879707694054, + 0.11984837055206299, + 1.0 + ], + [ + 0.016754478216171265, + 0.03143668174743652, + -0.004769854247570038, + 0.015602350234985352, + -0.02095968648791313, + 0.10382819175720215, + 1.0 + ], + [ + 0.01926550269126892, + 0.030345194041728973, + -0.00411590188741684, + 0.008636027574539185, + -0.029816698282957077, + 0.08994054794311523, + 1.0 + ], + [ + 0.02310919761657715, + 0.028591252863407135, + -0.0035302117466926575, + -0.00556790828704834, + -0.007088297978043556, + 0.07834029197692871, + 1.0 + ], + [ + 0.015261799097061157, + 0.02148684859275818, + -0.004005447030067444, + 0.007113248109817505, + 0.007385633885860443, + 0.07987165451049805, + 1.0 + ], + [ + 0.008253335952758789, + 0.016958296298980713, + -0.013623222708702087, + 0.0339636504650116, + -0.0020385775715112686, + 0.037958621978759766, + 1.0 + ], + [ + 0.0030128061771392822, + 0.009852334856987, + -0.007454756647348404, + 0.018832892179489136, + -0.017301175743341446, + 0.016969919204711914, + 1.0 + ], + [ + 0.0031146109104156494, + 0.005820244550704956, + -0.01633831486105919, + 0.02661287784576416, + -0.033509619534015656, + 0.0025315284729003906, + 0.0 + ], + [ + 0.002593785524368286, + 0.006866395473480225, + -0.0055389404296875, + 0.006371110677719116, + -0.03714269399642944, + 0.00034809112548828125, + 0.0 + ], + [ + 0.0006615519523620605, + 0.004247874021530151, + -0.00328923761844635, + -0.002315014600753784, + -0.02480550855398178, + -0.0037353038787841797, + 0.0 + ], + [ + 0.00022608041763305664, + 0.000530436635017395, + 0.00048046931624412537, + -0.0019602030515670776, + -0.0027469098567962646, + -0.0023555755615234375, + 0.0 + ], + [ + -0.0008247196674346924, + 0.0008190721273422241, + -0.00024016574025154114, + 0.005132198333740234, + 0.003232225775718689, + -0.00780487060546875, + 0.0 + ], + [ + -0.0011192858219146729, + 0.0011519044637680054, + 0.006263226270675659, + -0.013334512710571289, + 0.0012366324663162231, + 0.00045752525329589844, + 0.0 + ], + [ + -0.007289290428161621, + 0.0028906017541885376, + 0.031054608523845673, + -0.05150492489337921, + 0.03415669500827789, + 0.012111425399780273, + 0.0 + ], + [ + -0.010755985975265503, + -0.007078275084495544, + 0.026600204408168793, + -0.051884740591049194, + 0.016597382724285126, + 0.0028815269470214844, + 0.0 + ], + [ + -0.018403977155685425, + -0.030778884887695312, + 0.021687403321266174, + -0.033723652362823486, + 0.0161343514919281, + -0.03331875801086426, + 0.0 + ], + [ + -0.020581364631652832, + -0.05186234414577484, + 0.00802263617515564, + -0.018206536769866943, + 0.02626999467611313, + -0.07360339164733887, + 0.0 + ], + [ + -0.016178488731384277, + -0.046297281980514526, + -0.005832582712173462, + 0.007122009992599487, + -0.005123648792505264, + -0.0863199234008789, + 0.0 + ], + [ + -0.012507230043411255, + -0.05176221579313278, + -0.0038897767663002014, + -0.005863815546035767, + -0.023377444595098495, + -0.13292169570922852, + 0.0 + ], + [ + -0.010806500911712646, + -0.035626646131277084, + -0.009989015758037567, + 0.01148974895477295, + -0.012415848672389984, + -0.0967179536819458, + 0.0 + ], + [ + -0.00735059380531311, + -0.02563103288412094, + -0.0064313411712646484, + 0.008949041366577148, + 0.004252791404724121, + -0.07122325897216797, + 0.0 + ], + [ + -0.009962707757949829, + -0.015258658677339554, + -0.018481887876987457, + 0.04159250855445862, + -0.023467272520065308, + -0.06021237373352051, + 0.0 + ], + [ + -0.0046846866607666016, + -0.004727363586425781, + -0.01819707453250885, + 0.035203903913497925, + -0.013502970337867737, + -0.036411404609680176, + 0.0 + ], + [ + -0.002325773239135742, + -0.006006278097629547, + -0.016471348702907562, + 0.027868062257766724, + -0.03905772417783737, + -0.04612147808074951, + 0.0 + ], + [ + -0.0012328028678894043, + -0.001164853572845459, + -0.0072080641984939575, + 0.019957348704338074, + -0.013348117470741272, + -0.01650714874267578, + 1.0 + ], + [ + -0.004970163106918335, + -0.0009931176900863647, + -0.001959294080734253, + 0.03608983755111694, + 0.009644672274589539, + -0.00116729736328125, + 1.0 + ], + [ + 0.0022236406803131104, + 0.0033843889832496643, + 0.0009733997285366058, + 0.004910573363304138, + 0.002469569444656372, + -0.012832403182983398, + 1.0 + ], + [ + 0.003549724817276001, + 0.0005528852343559265, + 0.002851627767086029, + -0.0028411149978637695, + -0.0033868104219436646, + -0.020773887634277344, + 1.0 + ], + [ + 0.000558018684387207, + 0.00688517838716507, + 0.005400910973548889, + 0.008276164531707764, + -0.006892114877700806, + 0.013695359230041504, + 1.0 + ], + [ + 0.0013929903507232666, + 0.006990063935518265, + 0.03563091531395912, + -0.09152927994728088, + 0.024300679564476013, + 0.04488861560821533, + 1.0 + ], + [ + -0.0032054781913757324, + 0.010007824748754501, + 0.03604881465435028, + -0.09579116106033325, + 0.037007078528404236, + 0.03251004219055176, + 1.0 + ], + [ + -0.0005863308906555176, + 0.0009260624647140503, + 0.0016011521220207214, + -0.003756582736968994, + 0.0015249326825141907, + 0.0015851259231567383, + 1.0 + ], + [ + -6.815791130065918e-05, + -0.00016662105917930603, + -4.634261131286621e-05, + 0.0004452168941497803, + 0.0013509318232536316, + 0.0005304813385009766, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 6.815791130065918e-05, + 0.00016662105917930603, + 4.634261131286621e-05, + -0.0004452168941497803, + -0.0013509318232536316, + -0.0005304813385009766, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9694526195526123 + ], + [ + 0.7931879758834839 + ], + [ + 0.5501742362976074 + ], + [ + 0.4202251136302948 + ], + [ + 0.37120094895362854 + ], + [ + 0.3661215305328369 + ], + [ + 0.3661215305328369 + ], + [ + 0.3661215305328369 + ], + [ + 0.3661215305328369 + ], + [ + 0.3661215305328369 + ], + [ + 0.365278422832489 + ], + [ + 0.365278422832489 + ], + [ + 0.365278422832489 + ], + [ + 0.365278422832489 + ], + [ + 0.365278422832489 + ], + [ + 0.365278422832489 + ], + [ + 0.365278422832489 + ], + [ + 0.4068177044391632 + ], + [ + 0.7141282558441162 + ], + [ + 0.9774019718170166 + ], + [ + 1.0054124593734741 + ], + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.25678008794784546, + -0.04185589402914047, + 0.08709496259689331 + ], + [ + 0.2712763249874115, + -0.01997625268995762, + 0.09025311470031738 + ], + [ + 0.28996968269348145, + 0.007622511126101017, + 0.09179247170686722 + ], + [ + 0.31070756912231445, + 0.040431469678878784, + 0.09982943534851074 + ], + [ + 0.3274620473384857, + 0.07186815142631531, + 0.0950595811009407 + ], + [ + 0.34672755002975464, + 0.10221334546804428, + 0.09094367921352386 + ], + [ + 0.3698367476463318, + 0.13080459833145142, + 0.08741346746683121 + ], + [ + 0.38509854674339294, + 0.1522914469242096, + 0.08340802043676376 + ], + [ + 0.39335188269615173, + 0.1692497432231903, + 0.06978479772806168 + ], + [ + 0.396364688873291, + 0.1791020780801773, + 0.06233004108071327 + ], + [ + 0.39947929978370667, + 0.18492232263088226, + 0.04599172621965408 + ], + [ + 0.40207308530807495, + 0.1917887181043625, + 0.04045278578996658 + ], + [ + 0.402734637260437, + 0.19603659212589264, + 0.03716354817152023 + ], + [ + 0.40296071767807007, + 0.19656702876091003, + 0.03764401748776436 + ], + [ + 0.4021359980106354, + 0.19738610088825226, + 0.03740385174751282 + ], + [ + 0.4010167121887207, + 0.19853800535202026, + 0.04366707801818848 + ], + [ + 0.3937274217605591, + 0.2014286071062088, + 0.07472168654203415 + ], + [ + 0.3829714357852936, + 0.19435033202171326, + 0.10132189095020294 + ], + [ + 0.36456745862960815, + 0.16357144713401794, + 0.12300929427146912 + ], + [ + 0.3439860939979553, + 0.1117091029882431, + 0.13103193044662476 + ], + [ + 0.32780760526657104, + 0.06541182100772858, + 0.1251993477344513 + ], + [ + 0.3153003752231598, + 0.013649605214595795, + 0.12130957096815109 + ], + [ + 0.30449387431144714, + -0.02197704091668129, + 0.11132055521011353 + ], + [ + 0.29714328050613403, + -0.04760807380080223, + 0.10488921403884888 + ], + [ + 0.2871805727481842, + -0.06286673247814178, + 0.08640732616186142 + ], + [ + 0.2824958860874176, + -0.06759409606456757, + 0.06821025162935257 + ], + [ + 0.28017011284828186, + -0.07360037416219711, + 0.05173890292644501 + ], + [ + 0.27893730998039246, + -0.07476522773504257, + 0.04453083872795105 + ], + [ + 0.2739671468734741, + -0.07575834542512894, + 0.0425715446472168 + ], + [ + 0.27619078755378723, + -0.07237395644187927, + 0.0435449443757534 + ], + [ + 0.27974051237106323, + -0.07182107120752335, + 0.04639657214283943 + ], + [ + 0.28029853105545044, + -0.06493589282035828, + 0.05179748311638832 + ], + [ + 0.2816915214061737, + -0.05794582888484001, + 0.08742839843034744 + ], + [ + 0.278486043214798, + -0.04793800413608551, + 0.12347721308469772 + ], + [ + 0.27789971232414246, + -0.04701194167137146, + 0.12507836520671844 + ], + [ + 0.2778315544128418, + -0.047178562730550766, + 0.12503202259540558 + ], + [ + 0.2778315544128418, + -0.047178562730550766, + 0.12503202259540558 + ], + [ + 0.27789971232414246, + -0.04701194167137146, + 0.12507836520671844 + ], + [ + 0.27789971232414246, + -0.04701194167137146, + 0.12507836520671844 + ], + [ + 0.27789971232414246, + -0.04701194167137146, + 0.12507836520671844 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.08924226186617817, + 0.9504105302165899, + 0.29791885262673207, + 0.9958990710024953, + -0.08068407054841548, + -0.04092824374566589, + -0.014861328116113903, + 0.30034963761116534, + -0.953713393066002 + ], + [ + 0.00021786485872937744, + 0.9521784807493957, + 0.3055422938525466, + 0.9999723936180799, + 0.0020619087590103002, + -0.007138664720897303, + -0.007427283260465989, + 0.3055354141994707, + -0.9521517453291395 + ], + [ + -0.09683753970220471, + 0.9498131576572063, + 0.29745160353521594, + 0.9951140927680749, + 0.09817374560124587, + 0.010481319048354754, + -0.019246643312418488, + 0.29701326774383197, + -0.9546793626686059 + ], + [ + -0.21507292563396802, + 0.9238155516872993, + 0.31671511350097586, + 0.9761823711374537, + 0.21282269869957643, + 0.04212454389886877, + -0.02848885641271104, + 0.31823155936977665, + -0.9475848561903972 + ], + [ + -0.3152069333490465, + 0.9035256512844113, + 0.2903204895279871, + 0.9489930683426723, + 0.302514304704968, + 0.08886648235656668, + -0.007532954682593407, + 0.30352346354104165, + -0.9527941864189768 + ], + [ + -0.3990830400388378, + 0.8786120394111372, + 0.26224723326502686, + 0.9166440133683771, + 0.3753487071788561, + 0.13739396193092127, + 0.022281829127643135, + 0.2952189564051797, + -0.955169769135185 + ], + [ + -0.46950978669212773, + 0.846134037531201, + 0.2522255949174491, + 0.8824387205732083, + 0.44019358087113314, + 0.16592623599952006, + 0.029367748184565, + 0.3004776229455324, + -0.9533366317705255 + ], + [ + -0.5385220407985456, + 0.8088201997368523, + 0.236228482769982, + 0.8423245754632616, + 0.5094350470823263, + 0.1759694359110806, + 0.02198456605906915, + 0.2937444762065595, + -0.9556311325785323 + ], + [ + -0.5700731821773997, + 0.7965424351965306, + 0.2013373186801548, + 0.8212426446959352, + 0.545289367704342, + 0.16798816625412927, + 0.024022603833874515, + 0.2611123405735162, + -0.9650094611480557 + ], + [ + -0.5835967116328769, + 0.7932263250534348, + 0.1738012526235514, + 0.810991987891156, + 0.5584456888336833, + 0.17444313743860548, + 0.041314328599700106, + 0.24275586473923907, + -0.9692072618315756 + ], + [ + -0.5845077810745181, + 0.8003988370302019, + 0.13308777383382708, + 0.8079360849099783, + 0.5590240776565767, + 0.18636352459789582, + 0.07476587833818295, + 0.21645734517662932, + -0.9734250259549557 + ], + [ + -0.5827574996887188, + 0.8056076336699697, + 0.10672411690533984, + 0.804926615413767, + 0.5541636678465991, + 0.21212207107545852, + 0.11174453165632092, + 0.2095208099723653, + -0.9713980594140763 + ], + [ + -0.5779514911860724, + 0.8104809520702884, + 0.09535565094441882, + 0.8045984280136337, + 0.5463989543751999, + 0.23252860532776912, + 0.1363577774598297, + 0.21111326104469805, + -0.9679037904344048 + ], + [ + -0.5758346212406291, + 0.8119164113606452, + 0.0959491007978324, + 0.8056498348398509, + 0.5435559462947264, + 0.23553190202213614, + 0.13907851237046598, + 0.21292880080180765, + -0.9671186551741838 + ], + [ + -0.569784713062496, + 0.8162384502812284, + 0.09539482712803658, + 0.8104830827777757, + 0.5389504046115288, + 0.2294550803536565, + 0.13587697851852115, + 0.2080558906918242, + -0.9686331571121802 + ], + [ + -0.570251733888332, + 0.8144913714380643, + 0.10684926696188544, + 0.8103591035018852, + 0.5364391623515488, + 0.2356929113638968, + 0.13465171134809958, + 0.2209905675555182, + -0.9659358600251459 + ], + [ + -0.5823776311033397, + 0.7960915517878139, + 0.16454341664901842, + 0.8066529187759813, + 0.5408450796867215, + 0.23832261413649716, + 0.1007341224245886, + 0.27152318676447174, + -0.9571456501643905 + ], + [ + -0.5856015949878639, + 0.7818312006351895, + 0.2140344497061344, + 0.8062132327183171, + 0.5343329009107607, + 0.25398538224506506, + 0.08420804793812968, + 0.32129165055698106, + -0.943228858731973 + ], + [ + -0.559108203601648, + 0.7880519261399334, + 0.2576279844513763, + 0.8262914627813372, + 0.5041030147826439, + 0.25124205265386435, + 0.06812073986691351, + 0.35334729685422817, + -0.9330087098231151 + ], + [ + -0.4975510964212485, + 0.8129903840008154, + 0.3024723821644225, + 0.8664225454359896, + 0.4489385842522954, + 0.2185546163542773, + 0.04189127845069976, + 0.3708109802739824, + -0.9277630827415017 + ], + [ + -0.4209059365090302, + 0.8517126886643231, + 0.31212767993186064, + 0.9058853492171159, + 0.3768403114413359, + 0.19329540539438855, + 0.04700985731993104, + 0.36411107596581954, + -0.9301683706048992 + ], + [ + -0.29672746989621435, + 0.8947310966763674, + 0.33377997730435516, + 0.9523676709774264, + 0.25150981024851204, + 0.17244893338548012, + 0.07034648453208944, + 0.3690515952940214, + -0.9267428403418686 + ], + [ + -0.20317945037638863, + 0.9196918878896957, + 0.33598354467836067, + 0.9756405830536191, + 0.16116949305713657, + 0.14882824734068348, + 0.08272583419671661, + 0.3580380229215788, + -0.9300350587471766 + ], + [ + -0.13328059163496841, + 0.9316872934226405, + 0.33792761231989904, + 0.9879656334321317, + 0.09789759578039314, + 0.11974960499920574, + 0.07848688457621339, + 0.34982116576218475, + -0.9335228764922189 + ], + [ + -0.07343103445194332, + 0.9499435958756718, + 0.30366930670404607, + 0.9920850920260692, + 0.038479570125933005, + 0.11952611790964113, + 0.10185800586573224, + 0.31004271856910603, + -0.9452504743735043 + ], + [ + -0.03721221198995078, + 0.9610996870596056, + 0.27368347193928766, + 0.9926356482567424, + 0.003956221518493674, + 0.12107360621214293, + 0.11528105260072624, + 0.2761733872863649, + -0.9541690306575894 + ], + [ + 0.008547459621204123, + 0.9675765843889742, + 0.25243314813270834, + 0.9880369011972961, + -0.047044625812041774, + 0.1468668957071311, + 0.15398059230457664, + 0.2481579265797709, + -0.9564034821502694 + ], + [ + 0.024801311007317695, + 0.9714841570812646, + 0.23580379028426013, + 0.9856185692575558, + -0.063202328549198, + 0.15672109494464456, + 0.16715540944584284, + 0.22852570578835166, + -0.9590803255655538 + ], + [ + 0.025993031624381213, + 0.9793412690471548, + 0.2005368820144627, + 0.9871546835901552, + -0.05677981468450338, + 0.1493374812644642, + 0.15763880541603534, + 0.19407918843993058, + -0.9682372000917459 + ], + [ + 0.038673233006891794, + 0.9795326193109258, + 0.1975353860822698, + 0.9871258553451573, + -0.0681533501219111, + 0.1446985368835904, + 0.15519963517317378, + 0.18939632671474105, + -0.969557685065245 + ], + [ + 0.05913803287282343, + 0.9772930043870128, + 0.20347254518518956, + 0.9855791855188515, + -0.08953431644124626, + 0.1435871695221972, + 0.15854451154149193, + 0.19204684260774746, + -0.9684945266259717 + ], + [ + 0.0455834598782332, + 0.9800029441982424, + 0.19369144934226273, + 0.9851816935835868, + -0.07619431868783466, + 0.15366019792865332, + 0.16534563439445782, + 0.18381690662850775, + -0.9689541609509817 + ], + [ + 0.001333971663188882, + 0.9612758043592565, + 0.27558492061988166, + 0.9899612163362203, + -0.040218750894788824, + 0.13549628122784269, + 0.14133297799775368, + 0.2726376350211533, + -0.9516794151920904 + ], + [ + -0.030986552879526785, + 0.9313225797736991, + 0.3628747524205921, + 0.9940305819612939, + -0.009282657302135844, + 0.10870618381261693, + 0.10460896551603807, + 0.3640770312407428, + -0.9254754884147887 + ], + [ + -0.03256736210046718, + 0.9299486827039376, + 0.36624420058620466, + 0.9941384959108486, + -0.0076566158485161795, + 0.10784260374204496, + 0.10309227843991295, + 0.3676096078327651, + -0.9242484289167647 + ], + [ + -0.033099333026718025, + 0.930099047937955, + 0.36581442724159463, + 0.9942593659974883, + -0.006619374343503737, + 0.10679183962069874, + 0.10174845099292118, + 0.36724915916610357, + -0.9245405928418345 + ], + [ + -0.033099333026718025, + 0.930099047937955, + 0.36581442724159463, + 0.9942593659974883, + -0.006619374343503737, + 0.10679183962069874, + 0.10174845099292118, + 0.36724915916610357, + -0.9245405928418345 + ], + [ + -0.03256736210046718, + 0.9299486827039376, + 0.36624420058620466, + 0.9941384959108486, + -0.0076566158485161795, + 0.10784260374204496, + 0.10309227843991295, + 0.3676096078327651, + -0.9242484289167647 + ], + [ + -0.03256736210046718, + 0.9299486827039376, + 0.36624420058620466, + 0.9941384959108486, + -0.0076566158485161795, + 0.10784260374204496, + 0.10309227843991295, + 0.3676096078327651, + -0.9242484289167647 + ], + [ + -0.03256736210046718, + 0.9299486827039376, + 0.36624420058620466, + 0.9941384959108486, + -0.0076566158485161795, + 0.10784260374204496, + 0.10309227843991295, + 0.3676096078327651, + -0.9242484289167647 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005516.json b/json/chunk-0005/episode_0005516.json new file mode 100644 index 0000000000000000000000000000000000000000..8e0307f747864ade48492c66c52eb35542d77be8 --- /dev/null +++ b/json/chunk-0005/episode_0005516.json @@ -0,0 +1,2182 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 35, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut lid on pot." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005516.mp4", + "start": 0, + "end": 35, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2984201908111572, + 0.007097586989402771, + 0.11525236815214157, + -0.04791749641299248, + -0.08229037374258041, + 0.21273940801620483, + 0.0, + 1.0008161067962646 + ], + [ + 0.2948703169822693, + 0.007395554333925247, + 0.10630549490451813, + -0.0417206808924675, + -0.0477113239467144, + 0.20917733013629913, + 0.0, + 1.0008161067962646 + ], + [ + 0.29034191370010376, + 0.023004762828350067, + 0.1052037701010704, + -0.022953089326620102, + -0.02612089365720749, + 0.16279716789722443, + 0.0, + 1.0008161067962646 + ], + [ + 0.29137909412384033, + 0.04971444606781006, + 0.10445833206176758, + -0.009238194674253464, + -0.05320429429411888, + 0.08936381340026855, + 0.0, + 1.0008161067962646 + ], + [ + 0.2876889407634735, + 0.08104236423969269, + 0.09212907403707504, + -0.05417932569980621, + -0.031905047595500946, + 0.03596177324652672, + 0.0, + 1.0008161067962646 + ], + [ + 0.29230839014053345, + 0.09865661710500717, + 0.07553627341985703, + -0.06758274883031845, + 0.001375021180137992, + -0.027383336797356606, + 0.0, + 1.0008161067962646 + ], + [ + 0.2984980046749115, + 0.11383318156003952, + 0.06886202841997147, + -0.035582683980464935, + -0.05345373600721359, + -0.02309209480881691, + 0.0, + 1.0008161067962646 + ], + [ + 0.2948493957519531, + 0.12021788209676743, + 0.05524079129099846, + -0.055155809968709946, + -0.024842018261551857, + -0.03800642490386963, + 0.0, + 1.0008161067962646 + ], + [ + 0.29726657271385193, + 0.12693029642105103, + 0.052332472056150436, + -0.04258093982934952, + -0.046932775527238846, + -0.03640104830265045, + 0.0, + 1.0008161067962646 + ], + [ + 0.2966229319572449, + 0.12975555658340454, + 0.03885354846715927, + -0.05219631642103195, + -0.016407381743192673, + -0.0451931431889534, + 0.0, + 1.0008161067962646 + ], + [ + 0.29947176575660706, + 0.134192556142807, + 0.03494594618678093, + -0.03514174371957779, + -0.017603378742933273, + -0.04957406967878342, + 0.0, + 1.0008161067962646 + ], + [ + 0.30271783471107483, + 0.13843970000743866, + 0.025121979415416718, + -0.02385583147406578, + -0.005607322324067354, + -0.0351593941450119, + 0.0, + 1.0001531839370728 + ], + [ + 0.3043867349624634, + 0.13923043012619019, + 0.025340814143419266, + -0.021770963445305824, + -0.009586421772837639, + -0.030538244172930717, + 0.0, + 1.0008161067962646 + ], + [ + 0.3057839870452881, + 0.1402197629213333, + 0.025330299511551857, + -0.012318124994635582, + -0.016778266057372093, + -0.03399909660220146, + 0.0, + 0.9453431367874146 + ], + [ + 0.30388349294662476, + 0.1367482990026474, + 0.022588683292269707, + -0.028934000059962273, + -0.01667836867272854, + -0.025833159685134888, + 0.0, + 0.6581199765205383 + ], + [ + 0.3045598566532135, + 0.13789302110671997, + 0.021768689155578613, + -0.024268195033073425, + -0.02274531126022339, + -0.020350372418761253, + 0.0, + 0.40239205956459045 + ], + [ + 0.3041243851184845, + 0.1376173198223114, + 0.020129099488258362, + -0.01843975856900215, + -0.02825109101831913, + -0.018750179558992386, + 0.0, + 0.3875128924846649 + ], + [ + 0.30376020073890686, + 0.13784761726856232, + 0.021437326446175575, + -0.017505064606666565, + -0.025532245635986328, + -0.0023910601157695055, + 0.0, + 0.41037410497665405 + ], + [ + 0.3022632896900177, + 0.13627152144908905, + 0.03815692663192749, + -0.02688421681523323, + 0.00670673418790102, + 0.030820565298199654, + 0.0, + 0.4112652540206909 + ], + [ + 0.3073863983154297, + 0.13518592715263367, + 0.060765139758586884, + -0.04827665910124779, + 0.016667695716023445, + 0.05272058770060539, + 0.0, + 0.4112652540206909 + ], + [ + 0.32302504777908325, + 0.13794703781604767, + 0.0902705118060112, + -0.06374716013669968, + -0.0027120839804410934, + 0.08176387846469879, + 0.0, + 0.4112652540206909 + ], + [ + 0.33755576610565186, + 0.13744468986988068, + 0.1002887412905693, + -0.06300058960914612, + -0.010176820680499077, + 0.11908665299415588, + 0.0, + 0.4112652540206909 + ], + [ + 0.3570992946624756, + 0.13822497427463531, + 0.09665855020284653, + -0.06596177816390991, + 0.0004113346221856773, + 0.15184323489665985, + 0.0, + 0.4112652540206909 + ], + [ + 0.37016573548316956, + 0.14046034216880798, + 0.08439896255731583, + -0.0555151142179966, + 0.011717243120074272, + 0.18076518177986145, + 0.0, + 0.4112652540206909 + ], + [ + 0.3790149390697479, + 0.13620057702064514, + 0.07460926473140717, + -0.03812186419963837, + 0.011748958379030228, + 0.1832626610994339, + 0.0, + 0.4112652540206909 + ], + [ + 0.38170936703681946, + 0.13674615323543549, + 0.07018300145864487, + -0.02758887968957424, + 0.004660559352487326, + 0.19049522280693054, + 0.0, + 0.4112652540206909 + ], + [ + 0.3823152184486389, + 0.13564954698085785, + 0.06519655883312225, + -0.028552625328302383, + 0.012807600200176239, + 0.20747330784797668, + 0.0, + 0.4112652540206909 + ], + [ + 0.38745275139808655, + 0.13500337302684784, + 0.06387283653020859, + -0.018209325149655342, + 0.0038218589033931494, + 0.21562615036964417, + 0.0, + 0.4112652540206909 + ], + [ + 0.3935837745666504, + 0.13624830543994904, + 0.06296791136264801, + -0.019508976489305496, + 0.0024325973354279995, + 0.23115788400173187, + 0.0, + 0.4112652540206909 + ], + [ + 0.39705052971839905, + 0.1374695599079132, + 0.062425993382930756, + -0.019376765936613083, + 0.0010501876240596175, + 0.23867987096309662, + 0.0, + 0.4112652540206909 + ], + [ + 0.3980005383491516, + 0.1377992033958435, + 0.06306890398263931, + -0.019566651433706284, + 0.002630353206768632, + 0.24159987270832062, + 0.0, + 0.4112652540206909 + ], + [ + 0.3980695307254791, + 0.13757212460041046, + 0.06187323108315468, + -0.021495191380381584, + 0.007094990462064743, + 0.24348236620426178, + 0.0, + 0.4889543354511261 + ], + [ + 0.3991830050945282, + 0.13590362668037415, + 0.06205388903617859, + -0.021683834493160248, + 0.008584859780967236, + 0.23725026845932007, + 0.0, + 0.8007952570915222 + ], + [ + 0.39902248978614807, + 0.13199970126152039, + 0.06363216787576675, + -0.05055795982480049, + 0.02355356328189373, + 0.22941602766513824, + 0.0, + 0.9994885921478271 + ], + [ + 0.3977472484111786, + 0.13351725041866302, + 0.06538859009742737, + -0.08463117480278015, + 0.02337915636599064, + 0.21991772949695587, + 0.0, + 1.0001531839370728 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 0.9453431367874146 + ], + [ + 0.6581199765205383 + ], + [ + 0.40239205956459045 + ], + [ + 0.3875128924846649 + ], + [ + 0.41037410497665405 + ], + [ + 0.4112652540206909 + ], + [ + 0.4112652540206909 + ], + [ + 0.4112652540206909 + ], + [ + 0.4112652540206909 + ], + [ + 0.4112652540206909 + ], + [ + 0.4112652540206909 + ], + [ + 0.4112652540206909 + ], + [ + 0.4112652540206909 + ], + [ + 0.4112652540206909 + ], + [ + 0.4112652540206909 + ], + [ + 0.4112652540206909 + ], + [ + 0.4112652540206909 + ], + [ + 0.4112652540206909 + ], + [ + 0.4889543354511261 + ], + [ + 0.8007952570915222 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2984201908111572, + 0.007097586989402771, + 0.11525236815214157 + ], + [ + 0.2948703169822693, + 0.007395554333925247, + 0.10630549490451813 + ], + [ + 0.29034191370010376, + 0.023004762828350067, + 0.1052037701010704 + ], + [ + 0.29137909412384033, + 0.04971444606781006, + 0.10445833206176758 + ], + [ + 0.2876889407634735, + 0.08104236423969269, + 0.09212907403707504 + ], + [ + 0.29230839014053345, + 0.09865661710500717, + 0.07553627341985703 + ], + [ + 0.2984980046749115, + 0.11383318156003952, + 0.06886202841997147 + ], + [ + 0.2948493957519531, + 0.12021788209676743, + 0.05524079129099846 + ], + [ + 0.29726657271385193, + 0.12693029642105103, + 0.052332472056150436 + ], + [ + 0.2966229319572449, + 0.12975555658340454, + 0.03885354846715927 + ], + [ + 0.29947176575660706, + 0.134192556142807, + 0.03494594618678093 + ], + [ + 0.30271783471107483, + 0.13843970000743866, + 0.025121979415416718 + ], + [ + 0.3043867349624634, + 0.13923043012619019, + 0.025340814143419266 + ], + [ + 0.3057839870452881, + 0.1402197629213333, + 0.025330299511551857 + ], + [ + 0.30388349294662476, + 0.1367482990026474, + 0.022588683292269707 + ], + [ + 0.3045598566532135, + 0.13789302110671997, + 0.021768689155578613 + ], + [ + 0.3041243851184845, + 0.1376173198223114, + 0.020129099488258362 + ], + [ + 0.30376020073890686, + 0.13784761726856232, + 0.021437326446175575 + ], + [ + 0.3022632896900177, + 0.13627152144908905, + 0.03815692663192749 + ], + [ + 0.3073863983154297, + 0.13518592715263367, + 0.060765139758586884 + ], + [ + 0.32302504777908325, + 0.13794703781604767, + 0.0902705118060112 + ], + [ + 0.33755576610565186, + 0.13744468986988068, + 0.1002887412905693 + ], + [ + 0.3570992946624756, + 0.13822497427463531, + 0.09665855020284653 + ], + [ + 0.37016573548316956, + 0.14046034216880798, + 0.08439896255731583 + ], + [ + 0.3790149390697479, + 0.13620057702064514, + 0.07460926473140717 + ], + [ + 0.38170936703681946, + 0.13674615323543549, + 0.07018300145864487 + ], + [ + 0.3823152184486389, + 0.13564954698085785, + 0.06519655883312225 + ], + [ + 0.38745275139808655, + 0.13500337302684784, + 0.06387283653020859 + ], + [ + 0.3935837745666504, + 0.13624830543994904, + 0.06296791136264801 + ], + [ + 0.39705052971839905, + 0.1374695599079132, + 0.062425993382930756 + ], + [ + 0.3980005383491516, + 0.1377992033958435, + 0.06306890398263931 + ], + [ + 0.3980695307254791, + 0.13757212460041046, + 0.06187323108315468 + ], + [ + 0.3991830050945282, + 0.13590362668037415, + 0.06205388903617859 + ], + [ + 0.39902248978614807, + 0.13199970126152039, + 0.06363216787576675 + ], + [ + 0.3977472484111786, + 0.13351725041866302, + 0.06538859009742737 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9741485333655467, + 0.20704755701435304, + 0.09036561335011392, + 0.2104238600277795, + -0.9771655340620522, + -0.02948420207897172, + 0.08219753081914039, + 0.04773707338759252, + -0.9954721180181914 + ], + [ + 0.9770889134688913, + 0.20552867930091956, + 0.055274018860589705, + 0.20741892755172447, + -0.9777639354326922, + -0.030904288706683485, + 0.04769322456569207, + 0.04166111558747961, + -0.9979928395427157 + ], + [ + 0.9864411614444427, + 0.16144481834497965, + 0.029485685301443434, + 0.16202373001146697, + -0.9866150101010284, + -0.01841555745882278, + 0.026117923372858173, + 0.02294324460281216, + -0.9993955481218562 + ], + [ + 0.9946003426777849, + 0.08875179856084547, + 0.05378918662192063, + 0.08911863640332249, + -0.996011053045185, + -0.004455430106503423, + 0.05317919697442883, + 0.009224991275694629, + -0.9985423739356873 + ], + [ + 0.9988448513051625, + 0.034174927290453246, + 0.033779244601675244, + 0.03593572466848203, + -0.9979491621215265, + -0.05297257321948955, + 0.03189963500917565, + 0.05412526365418799, + -0.9980244832270628 + ], + [ + 0.9996241548732172, + -0.027224588462444913, + -0.0032203690870320585, + -0.027379888822855598, + -0.99734565323759, + -0.06746843451669181, + -0.0013750207468497817, + 0.06753125018193855, + -0.9977162119394523 + ], + [ + 0.998305459424101, + -0.024975640491615405, + 0.052558796276817726, + -0.023057062816161173, + -0.9990566735630632, + -0.0367985714858385, + 0.05342828406683155, + 0.035524363346024226, + -0.997939596403777 + ], + [ + 0.9989695185202968, + -0.03930785057078447, + 0.02268907117602931, + -0.037985551643844526, + -0.9977062134152661, + -0.056030434398492736, + 0.02483946323169776, + 0.055110839188637455, + -0.9981712260280221 + ], + [ + 0.9982371438732301, + -0.038355803800251345, + 0.04529279089052066, + -0.03635293623040685, + -0.9983590435613674, + -0.04424572484048018, + 0.04691554773466659, + 0.042521200054421525, + -0.9979934262943257 + ], + [ + 0.9988445030654232, + -0.045971336113316115, + 0.014010530037951104, + -0.04517168002252853, + -0.9975797646435808, + -0.05285955445896349, + 0.01640664560262423, + 0.052165596226002704, + -0.9985036667686581 + ], + [ + 0.9986167123172224, + -0.050140866229446204, + 0.015828942305244603, + -0.049546089094621465, + -0.9981241616876477, + -0.0359630770479718, + 0.01760246960428603, + 0.035129067580727286, + -0.9992277526543881 + ], + [ + 0.9993662608972826, + -0.0352758198871833, + 0.0047637287361118824, + -0.03515159805857117, + -0.9990929094315646, + -0.024035878962497835, + 0.005607292939815983, + 0.02385319380833925, + -0.9996997466294711 + ], + [ + 0.9994878160932242, + -0.030734850697630305, + 0.008914843452972545, + -0.03053209481720875, + -0.9992905045743231, + -0.0220517267729137, + 0.009586274942312479, + 0.02176824338775727, + -0.9997170834353794 + ], + [ + 0.9992814159261272, + -0.03419651034141017, + 0.01634779695077393, + -0.03398776232396367, + -0.9993392381272128, + -0.012880960815525672, + 0.016777478859580218, + 0.012316079724944137, + -0.9997833917320915 + ], + [ + 0.9995273081251288, + -0.02630179621727148, + 0.01591778338459173, + -0.025826693982562585, + -0.9992354605100398, + -0.02935091714443687, + 0.016677595452124577, + 0.028925939484028107, + -0.9994424184688687 + ], + [ + 0.9995343284363835, + -0.020894747490978863, + 0.022238160996716303, + -0.020343704271234334, + -0.9994873107873469, + -0.024723455899240746, + 0.022743350099583035, + 0.024259536318020854, + -0.9994469545322964 + ], + [ + 0.9994252551446713, + -0.01926664636159455, + 0.02789185753918238, + -0.018741599364474407, + -0.9996444775309157, + -0.018964993941581923, + 0.02824733318864494, + 0.018431355889352304, + -0.999431024777503 + ], + [ + 0.9996712122718217, + -0.002837562454449404, + 0.02548363385202371, + -0.0023902785197561743, + -0.9998428636266653, + -0.01756515366935018, + 0.02552947166677959, + 0.017498465479778305, + -0.9995209101275813 + ], + [ + 0.9995026045964396, + 0.03098474717124067, + -0.0058727206359724905, + 0.030814993037015476, + -0.9991583412761681, + -0.027074808630637187, + -0.006706683909546612, + 0.02688037389976619, + -0.9996161592781235 + ], + [ + 0.998471881846378, + 0.05343796614717811, + -0.014081368406705997, + 0.05268884898377272, + -0.9974047347665, + -0.049068118550976904, + -0.016666923978872795, + 0.048251205574789284, + -0.9986961674131236 + ], + [ + 0.9966555304991267, + 0.08133472190600417, + 0.007900413785175765, + 0.08167250543494435, + -0.9946489300294082, + -0.06327011812326606, + 0.002712080655698782, + 0.06370375973069424, + -0.9979651675357666 + ], + [ + 0.9928661438830239, + 0.11793351016624962, + 0.01756438187701201, + 0.11879922654236177, + -0.9910238502701273, + -0.06130637787953778, + 0.01017664501645888, + 0.0629556619823759, + -0.9979644385049848 + ], + [ + 0.9884938652049031, + 0.15095827124553246, + 0.009564454758706596, + 0.15126040214183362, + -0.9863401804208884, + -0.06521762975745363, + -0.00041133461058630305, + 0.06591395019151697, + -0.9978252261663807 + ], + [ + 0.983638886995515, + 0.18014491535525268, + -0.0015327954441899123, + 0.17976999885122524, + -0.9820740649427536, + -0.056685787282589425, + -0.011716975004469249, + 0.05548279407586959, + -0.9983908914139189 + ], + [ + 0.9831864820548182, + 0.18254643307511553, + -0.004597964356437983, + 0.1822259856141824, + -0.9824583592246304, + -0.03961391872293109, + -0.011748688080397997, + 0.03811000080293332, + -0.9992044816588795 + ], + [ + 0.9818999235438298, + 0.18939936478052485, + 0.0006486642851907705, + 0.18934312632997077, + -0.9815125796247176, + -0.027968492094233376, + -0.004660542480648916, + 0.027585080372660574, + -0.9996085947432725 + ], + [ + 0.9784742488863217, + 0.20626188338392862, + -0.006646783377207156, + 0.20597115966169713, + -0.9780803332329967, + -0.03057356914797573, + -0.012807250054736563, + 0.02854640442761612, + -0.999510418725233 + ], + [ + 0.9768354809570662, + 0.2139916272631815, + 0.00016310926639854606, + 0.21395755796189403, + -0.9766657797979044, + -0.018604245825463318, + -0.0038218495993357455, + 0.018208185879079537, + -0.9998269127367162 + ], + [ + 0.973398890776595, + 0.22910735815185504, + 0.0021018742996432214, + 0.22910408533408985, + -0.9732056662453133, + -0.019546080713162942, + -0.0024325949362675064, + 0.019507681274129603, + -0.9998067477533759 + ], + [ + 0.9716503906912424, + 0.23639551767345554, + 0.003560546791562382, + 0.2364199978341842, + -0.9714637139735373, + -0.019074513278864755, + -0.001050187431018682, + 0.01937554274440392, + -0.999811725001122 + ], + [ + 0.9709530790506533, + 0.23926050919319272, + 0.002127680114609098, + 0.23925551099195183, + -0.9707582636255765, + -0.019626361421211647, + -0.002630350173640137, + 0.01956533524553462, + -0.9998051204683311 + ], + [ + 0.9704798923388334, + 0.2411760366280499, + -0.001702328520659921, + 0.24107766491529695, + -0.9702433563367581, + -0.022569646948297283, + -0.007094930936557569, + 0.021492995155829617, + -0.9997438237439815 + ], + [ + 0.9719521028390431, + 0.2351564819950282, + -0.00324634602037046, + 0.2350221516790273, + -0.9717156727313693, + -0.023091981040668966, + -0.00858475433092269, + 0.021681336304395407, + -0.9997280738526518 + ], + [ + 0.9735292565273677, + 0.22827733032929867, + -0.011412587042354814, + 0.22734581351864228, + -0.9722843960958764, + -0.05456128832811781, + -0.023551385539237427, + 0.0505224065757514, + -0.9984452006359573 + ], + [ + 0.9756487017007157, + 0.21929703228885863, + -0.004292143870793717, + 0.21808971891197051, + -0.9719914426325521, + -0.08757573838677153, + -0.02337702664168372, + 0.08450708300722402, + -0.9961486171987615 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0035498738288879395, + 0.0002979673445224762, + -0.008946873247623444, + 0.006196815520524979, + 0.03457904979586601, + -0.0035620778799057007, + 1.0 + ], + [ + -0.004528403282165527, + 0.01560920849442482, + -0.0011017248034477234, + 0.018767591565847397, + 0.021590430289506912, + -0.04638016223907471, + 1.0 + ], + [ + 0.0010371804237365723, + 0.02670968323945999, + -0.0007454380393028259, + 0.013714894652366638, + -0.027083400636911392, + -0.07343335449695587, + 1.0 + ], + [ + -0.0036901533603668213, + 0.03132791817188263, + -0.012329258024692535, + -0.04494113102555275, + 0.021299246698617935, + -0.05340204015374184, + 1.0 + ], + [ + 0.0046194493770599365, + 0.017614252865314484, + -0.016592800617218018, + -0.013403423130512238, + 0.03328006714582443, + -0.06334511190652847, + 1.0 + ], + [ + 0.006189614534378052, + 0.015176564455032349, + -0.006674244999885559, + 0.032000064849853516, + -0.05482875555753708, + 0.004291241988539696, + 1.0 + ], + [ + -0.003648608922958374, + 0.006384700536727905, + -0.013621237128973007, + -0.01957312598824501, + 0.028611717745661736, + -0.014914330095052719, + 1.0 + ], + [ + 0.0024171769618988037, + 0.0067124143242836, + -0.0029083192348480225, + 0.012574870139360428, + -0.02209075726568699, + 0.0016053766012191772, + 1.0 + ], + [ + -0.0006436407566070557, + 0.0028252601623535156, + -0.013478923588991165, + -0.009615376591682434, + 0.030525393784046173, + -0.008792094886302948, + 1.0 + ], + [ + 0.0028488337993621826, + 0.004436999559402466, + -0.003907602280378342, + 0.017054572701454163, + -0.0011959969997406006, + -0.004380926489830017, + 1.0 + ], + [ + 0.0032460689544677734, + 0.004247143864631653, + -0.009823966771364212, + 0.011285912245512009, + 0.011996056884527206, + 0.014414675533771515, + 1.0 + ], + [ + 0.0016689002513885498, + 0.0007907301187515259, + 0.00021883472800254822, + 0.0020848680287599564, + -0.003979099448770285, + 0.004621149972081184, + 1.0 + ], + [ + 0.001397252082824707, + 0.0009893327951431274, + -1.0514631867408752e-05, + 0.009452838450670242, + -0.007191844284534454, + -0.0034608524292707443, + 0.0 + ], + [ + -0.00190049409866333, + -0.003471463918685913, + -0.0027416162192821503, + -0.01661587506532669, + 9.989738464355469e-05, + 0.008165936917066574, + 0.0 + ], + [ + 0.0006763637065887451, + 0.0011447221040725708, + -0.0008199941366910934, + 0.004665805026888847, + -0.00606694258749485, + 0.005482787266373634, + 0.0 + ], + [ + -0.0004354715347290039, + -0.00027570128440856934, + -0.0016395896673202515, + 0.005828436464071274, + -0.005505779758095741, + 0.0016001928597688675, + 0.0 + ], + [ + -0.0003641843795776367, + 0.00023029744625091553, + 0.0013082269579172134, + 0.0009346939623355865, + 0.002718845382332802, + 0.01635911874473095, + 0.0 + ], + [ + -0.0014969110488891602, + -0.0015760958194732666, + 0.016719600185751915, + -0.009379152208566666, + 0.032238978892564774, + 0.03321162611246109, + 0.0 + ], + [ + 0.005123108625411987, + -0.0010855942964553833, + 0.022608213126659393, + -0.021392442286014557, + 0.009960961528122425, + 0.02190002240240574, + 0.0 + ], + [ + 0.015638649463653564, + 0.0027611106634140015, + 0.029505372047424316, + -0.015470501035451889, + -0.01937977969646454, + 0.0290432907640934, + 0.0 + ], + [ + 0.014530718326568604, + -0.0005023479461669922, + 0.010018229484558105, + 0.0007465705275535583, + -0.007464736700057983, + 0.03732277452945709, + 0.0 + ], + [ + 0.01954352855682373, + 0.0007802844047546387, + -0.0036301910877227783, + -0.002961188554763794, + 0.010588155128061771, + 0.03275658190250397, + 0.0 + ], + [ + 0.01306644082069397, + 0.0022353678941726685, + -0.0122595876455307, + 0.010446663945913315, + 0.011305908672511578, + 0.0289219468832016, + 0.0 + ], + [ + 0.00884920358657837, + -0.004259765148162842, + -0.009789697825908661, + 0.01739325001835823, + 3.1715258955955505e-05, + 0.0024974793195724487, + 0.0 + ], + [ + 0.002694427967071533, + 0.0005455762147903442, + -0.004426263272762299, + 0.010532984510064125, + -0.007088399026542902, + 0.007232561707496643, + 0.0 + ], + [ + 0.000605851411819458, + -0.0010966062545776367, + -0.0049864426255226135, + -0.0009637456387281418, + 0.008147040382027626, + 0.016978085041046143, + 0.0 + ], + [ + 0.005137532949447632, + -0.0006461739540100098, + -0.0013237223029136658, + 0.010343300178647041, + -0.008985741063952446, + 0.00815284252166748, + 0.0 + ], + [ + 0.006131023168563843, + 0.0012449324131011963, + -0.0009049251675605774, + -0.0012996513396501541, + -0.0013892615679651499, + 0.015531733632087708, + 0.0 + ], + [ + 0.0034667551517486572, + 0.0012212544679641724, + -0.0005419179797172546, + 0.00013221055269241333, + -0.001382409711368382, + 0.007521986961364746, + 0.0 + ], + [ + 0.0009500086307525635, + 0.00032964348793029785, + 0.0006429105997085571, + -0.00018988549709320068, + 0.0015801655827090144, + 0.002920001745223999, + 0.0 + ], + [ + 6.899237632751465e-05, + -0.00022707879543304443, + -0.0011956728994846344, + -0.0019285399466753006, + 0.004464637488126755, + 0.0018824934959411621, + 1.0 + ], + [ + 0.0011134743690490723, + -0.001668497920036316, + 0.00018065795302391052, + -0.00018864311277866364, + 0.0014898693189024925, + -0.006232097744941711, + 1.0 + ], + [ + -0.00016051530838012695, + -0.0039039254188537598, + 0.0015782788395881653, + -0.028874125331640244, + 0.014968703500926495, + -0.007834240794181824, + 1.0 + ], + [ + -0.0012752413749694824, + 0.0015175491571426392, + 0.001756422221660614, + -0.03407321497797966, + -0.00017440691590309143, + -0.009498298168182373, + 1.0 + ], + [ + -0.008816272020339966, + 0.0007916241884231567, + 0.007537968456745148, + -0.03662952780723572, + -0.007855204865336418, + -0.020032688975334167, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 0.9453431367874146 + ], + [ + 0.6581199765205383 + ], + [ + 0.40239205956459045 + ], + [ + 0.3875128924846649 + ], + [ + 0.41037410497665405 + ], + [ + 0.4112652540206909 + ], + [ + 0.4112652540206909 + ], + [ + 0.4112652540206909 + ], + [ + 0.4112652540206909 + ], + [ + 0.4112652540206909 + ], + [ + 0.4112652540206909 + ], + [ + 0.4112652540206909 + ], + [ + 0.4112652540206909 + ], + [ + 0.4112652540206909 + ], + [ + 0.4112652540206909 + ], + [ + 0.4112652540206909 + ], + [ + 0.4112652540206909 + ], + [ + 0.4112652540206909 + ], + [ + 0.4889543354511261 + ], + [ + 0.8007952570915222 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2948703169822693, + 0.007395554333925247, + 0.10630549490451813 + ], + [ + 0.29034191370010376, + 0.023004762828350067, + 0.1052037701010704 + ], + [ + 0.29137909412384033, + 0.04971444606781006, + 0.10445833206176758 + ], + [ + 0.2876889407634735, + 0.08104236423969269, + 0.09212907403707504 + ], + [ + 0.29230839014053345, + 0.09865661710500717, + 0.07553627341985703 + ], + [ + 0.2984980046749115, + 0.11383318156003952, + 0.06886202841997147 + ], + [ + 0.2948493957519531, + 0.12021788209676743, + 0.05524079129099846 + ], + [ + 0.29726657271385193, + 0.12693029642105103, + 0.052332472056150436 + ], + [ + 0.2966229319572449, + 0.12975555658340454, + 0.03885354846715927 + ], + [ + 0.29947176575660706, + 0.134192556142807, + 0.03494594618678093 + ], + [ + 0.30271783471107483, + 0.13843970000743866, + 0.025121979415416718 + ], + [ + 0.3043867349624634, + 0.13923043012619019, + 0.025340814143419266 + ], + [ + 0.3057839870452881, + 0.1402197629213333, + 0.025330299511551857 + ], + [ + 0.30388349294662476, + 0.1367482990026474, + 0.022588683292269707 + ], + [ + 0.3045598566532135, + 0.13789302110671997, + 0.021768689155578613 + ], + [ + 0.3041243851184845, + 0.1376173198223114, + 0.020129099488258362 + ], + [ + 0.30376020073890686, + 0.13784761726856232, + 0.021437326446175575 + ], + [ + 0.3022632896900177, + 0.13627152144908905, + 0.03815692663192749 + ], + [ + 0.3073863983154297, + 0.13518592715263367, + 0.060765139758586884 + ], + [ + 0.32302504777908325, + 0.13794703781604767, + 0.0902705118060112 + ], + [ + 0.33755576610565186, + 0.13744468986988068, + 0.1002887412905693 + ], + [ + 0.3570992946624756, + 0.13822497427463531, + 0.09665855020284653 + ], + [ + 0.37016573548316956, + 0.14046034216880798, + 0.08439896255731583 + ], + [ + 0.3790149390697479, + 0.13620057702064514, + 0.07460926473140717 + ], + [ + 0.38170936703681946, + 0.13674615323543549, + 0.07018300145864487 + ], + [ + 0.3823152184486389, + 0.13564954698085785, + 0.06519655883312225 + ], + [ + 0.38745275139808655, + 0.13500337302684784, + 0.06387283653020859 + ], + [ + 0.3935837745666504, + 0.13624830543994904, + 0.06296791136264801 + ], + [ + 0.39705052971839905, + 0.1374695599079132, + 0.062425993382930756 + ], + [ + 0.3980005383491516, + 0.1377992033958435, + 0.06306890398263931 + ], + [ + 0.3980695307254791, + 0.13757212460041046, + 0.06187323108315468 + ], + [ + 0.3991830050945282, + 0.13590362668037415, + 0.06205388903617859 + ], + [ + 0.39902248978614807, + 0.13199970126152039, + 0.06363216787576675 + ], + [ + 0.3977472484111786, + 0.13351725041866302, + 0.06538859009742737 + ], + [ + 0.3889309763908386, + 0.13430887460708618, + 0.07292655855417252 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9770889134688913, + 0.20552867930091956, + 0.055274018860589705, + 0.20741892755172447, + -0.9777639354326922, + -0.030904288706683485, + 0.04769322456569207, + 0.04166111558747961, + -0.9979928395427157 + ], + [ + 0.9864411614444427, + 0.16144481834497965, + 0.029485685301443434, + 0.16202373001146697, + -0.9866150101010284, + -0.01841555745882278, + 0.026117923372858173, + 0.02294324460281216, + -0.9993955481218562 + ], + [ + 0.9946003426777849, + 0.08875179856084547, + 0.05378918662192063, + 0.08911863640332249, + -0.996011053045185, + -0.004455430106503423, + 0.05317919697442883, + 0.009224991275694629, + -0.9985423739356873 + ], + [ + 0.9988448513051625, + 0.034174927290453246, + 0.033779244601675244, + 0.03593572466848203, + -0.9979491621215265, + -0.05297257321948955, + 0.03189963500917565, + 0.05412526365418799, + -0.9980244832270628 + ], + [ + 0.9996241548732172, + -0.027224588462444913, + -0.0032203690870320585, + -0.027379888822855598, + -0.99734565323759, + -0.06746843451669181, + -0.0013750207468497817, + 0.06753125018193855, + -0.9977162119394523 + ], + [ + 0.998305459424101, + -0.024975640491615405, + 0.052558796276817726, + -0.023057062816161173, + -0.9990566735630632, + -0.0367985714858385, + 0.05342828406683155, + 0.035524363346024226, + -0.997939596403777 + ], + [ + 0.9989695185202968, + -0.03930785057078447, + 0.02268907117602931, + -0.037985551643844526, + -0.9977062134152661, + -0.056030434398492736, + 0.02483946323169776, + 0.055110839188637455, + -0.9981712260280221 + ], + [ + 0.9982371438732301, + -0.038355803800251345, + 0.04529279089052066, + -0.03635293623040685, + -0.9983590435613674, + -0.04424572484048018, + 0.04691554773466659, + 0.042521200054421525, + -0.9979934262943257 + ], + [ + 0.9988445030654232, + -0.045971336113316115, + 0.014010530037951104, + -0.04517168002252853, + -0.9975797646435808, + -0.05285955445896349, + 0.01640664560262423, + 0.052165596226002704, + -0.9985036667686581 + ], + [ + 0.9986167123172224, + -0.050140866229446204, + 0.015828942305244603, + -0.049546089094621465, + -0.9981241616876477, + -0.0359630770479718, + 0.01760246960428603, + 0.035129067580727286, + -0.9992277526543881 + ], + [ + 0.9993662608972826, + -0.0352758198871833, + 0.0047637287361118824, + -0.03515159805857117, + -0.9990929094315646, + -0.024035878962497835, + 0.005607292939815983, + 0.02385319380833925, + -0.9996997466294711 + ], + [ + 0.9994878160932242, + -0.030734850697630305, + 0.008914843452972545, + -0.03053209481720875, + -0.9992905045743231, + -0.0220517267729137, + 0.009586274942312479, + 0.02176824338775727, + -0.9997170834353794 + ], + [ + 0.9992814159261272, + -0.03419651034141017, + 0.01634779695077393, + -0.03398776232396367, + -0.9993392381272128, + -0.012880960815525672, + 0.016777478859580218, + 0.012316079724944137, + -0.9997833917320915 + ], + [ + 0.9995273081251288, + -0.02630179621727148, + 0.01591778338459173, + -0.025826693982562585, + -0.9992354605100398, + -0.02935091714443687, + 0.016677595452124577, + 0.028925939484028107, + -0.9994424184688687 + ], + [ + 0.9995343284363835, + -0.020894747490978863, + 0.022238160996716303, + -0.020343704271234334, + -0.9994873107873469, + -0.024723455899240746, + 0.022743350099583035, + 0.024259536318020854, + -0.9994469545322964 + ], + [ + 0.9994252551446713, + -0.01926664636159455, + 0.02789185753918238, + -0.018741599364474407, + -0.9996444775309157, + -0.018964993941581923, + 0.02824733318864494, + 0.018431355889352304, + -0.999431024777503 + ], + [ + 0.9996712122718217, + -0.002837562454449404, + 0.02548363385202371, + -0.0023902785197561743, + -0.9998428636266653, + -0.01756515366935018, + 0.02552947166677959, + 0.017498465479778305, + -0.9995209101275813 + ], + [ + 0.9995026045964396, + 0.03098474717124067, + -0.0058727206359724905, + 0.030814993037015476, + -0.9991583412761681, + -0.027074808630637187, + -0.006706683909546612, + 0.02688037389976619, + -0.9996161592781235 + ], + [ + 0.998471881846378, + 0.05343796614717811, + -0.014081368406705997, + 0.05268884898377272, + -0.9974047347665, + -0.049068118550976904, + -0.016666923978872795, + 0.048251205574789284, + -0.9986961674131236 + ], + [ + 0.9966555304991267, + 0.08133472190600417, + 0.007900413785175765, + 0.08167250543494435, + -0.9946489300294082, + -0.06327011812326606, + 0.002712080655698782, + 0.06370375973069424, + -0.9979651675357666 + ], + [ + 0.9928661438830239, + 0.11793351016624962, + 0.01756438187701201, + 0.11879922654236177, + -0.9910238502701273, + -0.06130637787953778, + 0.01017664501645888, + 0.0629556619823759, + -0.9979644385049848 + ], + [ + 0.9884938652049031, + 0.15095827124553246, + 0.009564454758706596, + 0.15126040214183362, + -0.9863401804208884, + -0.06521762975745363, + -0.00041133461058630305, + 0.06591395019151697, + -0.9978252261663807 + ], + [ + 0.983638886995515, + 0.18014491535525268, + -0.0015327954441899123, + 0.17976999885122524, + -0.9820740649427536, + -0.056685787282589425, + -0.011716975004469249, + 0.05548279407586959, + -0.9983908914139189 + ], + [ + 0.9831864820548182, + 0.18254643307511553, + -0.004597964356437983, + 0.1822259856141824, + -0.9824583592246304, + -0.03961391872293109, + -0.011748688080397997, + 0.03811000080293332, + -0.9992044816588795 + ], + [ + 0.9818999235438298, + 0.18939936478052485, + 0.0006486642851907705, + 0.18934312632997077, + -0.9815125796247176, + -0.027968492094233376, + -0.004660542480648916, + 0.027585080372660574, + -0.9996085947432725 + ], + [ + 0.9784742488863217, + 0.20626188338392862, + -0.006646783377207156, + 0.20597115966169713, + -0.9780803332329967, + -0.03057356914797573, + -0.012807250054736563, + 0.02854640442761612, + -0.999510418725233 + ], + [ + 0.9768354809570662, + 0.2139916272631815, + 0.00016310926639854606, + 0.21395755796189403, + -0.9766657797979044, + -0.018604245825463318, + -0.0038218495993357455, + 0.018208185879079537, + -0.9998269127367162 + ], + [ + 0.973398890776595, + 0.22910735815185504, + 0.0021018742996432214, + 0.22910408533408985, + -0.9732056662453133, + -0.019546080713162942, + -0.0024325949362675064, + 0.019507681274129603, + -0.9998067477533759 + ], + [ + 0.9716503906912424, + 0.23639551767345554, + 0.003560546791562382, + 0.2364199978341842, + -0.9714637139735373, + -0.019074513278864755, + -0.001050187431018682, + 0.01937554274440392, + -0.999811725001122 + ], + [ + 0.9709530790506533, + 0.23926050919319272, + 0.002127680114609098, + 0.23925551099195183, + -0.9707582636255765, + -0.019626361421211647, + -0.002630350173640137, + 0.01956533524553462, + -0.9998051204683311 + ], + [ + 0.9704798923388334, + 0.2411760366280499, + -0.001702328520659921, + 0.24107766491529695, + -0.9702433563367581, + -0.022569646948297283, + -0.007094930936557569, + 0.021492995155829617, + -0.9997438237439815 + ], + [ + 0.9719521028390431, + 0.2351564819950282, + -0.00324634602037046, + 0.2350221516790273, + -0.9717156727313693, + -0.023091981040668966, + -0.00858475433092269, + 0.021681336304395407, + -0.9997280738526518 + ], + [ + 0.9735292565273677, + 0.22827733032929867, + -0.011412587042354814, + 0.22734581351864228, + -0.9722843960958764, + -0.05456128832811781, + -0.023551385539237427, + 0.0505224065757514, + -0.9984452006359573 + ], + [ + 0.9756487017007157, + 0.21929703228885863, + -0.004292143870793717, + 0.21808971891197051, + -0.9719914426325521, + -0.08757573838677153, + -0.02337702664168372, + 0.08450708300722402, + -0.9961486171987615 + ], + [ + 0.9799713152813815, + 0.19893901779847792, + 0.008915628023609134, + 0.19853273663071722, + -0.9725196989193068, + -0.12161491561407436, + -0.015523327980711845, + 0.12094917284246734, + -0.9925373161131653 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005517.json b/json/chunk-0005/episode_0005517.json new file mode 100644 index 0000000000000000000000000000000000000000..486279ee3653f7e431bc89d2be845623c0b6d1ed --- /dev/null +++ b/json/chunk-0005/episode_0005517.json @@ -0,0 +1,1942 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 31, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nClose the drawer." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005517.mp4", + "start": 0, + "end": 31, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.28009894490242004, + -0.024360723793506622, + 0.15205717086791992, + -0.010907922871410847, + -0.14884795248508453, + -0.208548903465271, + 0.0, + 0.9988223910331726 + ], + [ + 0.2799142599105835, + -0.024347953498363495, + 0.1448076367378235, + -0.014940929599106312, + -0.12297747284173965, + -0.20496273040771484, + 0.0, + 0.9988223910331726 + ], + [ + 0.2813768684864044, + -0.023724691942334175, + 0.13614821434020996, + -0.010739730671048164, + -0.1051342785358429, + -0.19942887127399445, + 0.0, + 0.9988223910331726 + ], + [ + 0.28437772393226624, + -0.026756851002573967, + 0.12505532801151276, + -0.018055692315101624, + -0.09169131517410278, + -0.18898212909698486, + 0.0, + 0.9988223910331726 + ], + [ + 0.28368714451789856, + -0.02597132697701454, + 0.11833509802818298, + -0.0329492948949337, + -0.10082979500293732, + -0.16675600409507751, + 0.0, + 0.9988223910331726 + ], + [ + 0.28021469712257385, + -0.015924712643027306, + 0.10480650514364243, + -0.05545368045568466, + -0.1109563484787941, + -0.11022484302520752, + 0.0, + 0.9988223910331726 + ], + [ + 0.2794836461544037, + -0.00920318253338337, + 0.09806717932224274, + -0.05167841166257858, + -0.12493935227394104, + -0.09375157952308655, + 0.0, + 0.9994885921478271 + ], + [ + 0.27789542078971863, + -0.00301706837490201, + 0.09269987791776657, + -0.050992969423532486, + -0.13183629512786865, + -0.08103793114423752, + 0.0, + 1.0001531839370728 + ], + [ + 0.2775421142578125, + 0.0034810916986316442, + 0.08962015062570572, + -0.028588654473423958, + -0.1377154141664505, + -0.06574346870183945, + 0.0, + 0.9994885921478271 + ], + [ + 0.2785160541534424, + 0.009274164214730263, + 0.08932968974113464, + 0.007480201311409473, + -0.14261329174041748, + -0.059358593076467514, + 0.0, + 0.9994885921478271 + ], + [ + 0.2789366841316223, + 0.013418049551546574, + 0.0875023901462555, + 0.04399273172020912, + -0.1473599076271057, + -0.059305112808942795, + 0.0, + 1.0001531839370728 + ], + [ + 0.281446635723114, + 0.014203018508851528, + 0.08842234313488007, + 0.06195756420493126, + -0.16286368668079376, + -0.07228269428014755, + 0.0, + 1.0001531839370728 + ], + [ + 0.2822672724723816, + 0.014320656657218933, + 0.08824776858091354, + 0.07566013932228088, + -0.1655588448047638, + -0.07459761202335358, + 0.0, + 1.0001531839370728 + ], + [ + 0.28294846415519714, + 0.016427334398031235, + 0.08903758227825165, + 0.0960836187005043, + -0.17026667296886444, + -0.07034894078969955, + 0.0, + 0.9994885921478271 + ], + [ + 0.2858233153820038, + 0.020812245085835457, + 0.09071415662765503, + 0.11664080619812012, + -0.17568457126617432, + -0.07033713907003403, + 0.0, + 0.9994885921478271 + ], + [ + 0.29046866297721863, + 0.028020808473229408, + 0.09099243581295013, + 0.12570449709892273, + -0.17845997214317322, + -0.05251333862543106, + 0.0, + 1.0001531839370728 + ], + [ + 0.29759401082992554, + 0.04008897393941879, + 0.09183360636234283, + 0.13160055875778198, + -0.18428276479244232, + -0.01790999248623848, + 0.0, + 0.9994885921478271 + ], + [ + 0.3011797070503235, + 0.04749316722154617, + 0.08807422965765, + 0.1350894570350647, + -0.17301379144191742, + -0.0004818564630113542, + 0.0, + 0.9994885921478271 + ], + [ + 0.3032841086387634, + 0.05484246090054512, + 0.08825363218784332, + 0.1395917683839798, + -0.16694261133670807, + 0.011051367036998272, + 0.0, + 0.9988223910331726 + ], + [ + 0.30143657326698303, + 0.06525231897830963, + 0.08908537030220032, + 0.16611982882022858, + -0.148133784532547, + 0.013387628830969334, + 0.0, + 0.9994885921478271 + ], + [ + 0.2975788414478302, + 0.08154832571744919, + 0.09017283469438553, + 0.1884031742811203, + -0.1386694610118866, + 0.033512670546770096, + 0.0, + 0.9988223910331726 + ], + [ + 0.29353073239326477, + 0.09775036573410034, + 0.0922887921333313, + 0.20696531236171722, + -0.13070392608642578, + 0.058815848082304, + 0.0, + 0.9994885921478271 + ], + [ + 0.29278799891471863, + 0.10664564371109009, + 0.09568174183368683, + 0.2332005500793457, + -0.13058272004127502, + 0.05979932099580765, + 0.0, + 0.9994885921478271 + ], + [ + 0.29049623012542725, + 0.11358477175235748, + 0.0957740917801857, + 0.2495807558298111, + -0.12608885765075684, + 0.07199707627296448, + 0.0, + 0.9988223910331726 + ], + [ + 0.28800079226493835, + 0.11796697974205017, + 0.09252776950597763, + 0.27677321434020996, + -0.10120563954114914, + 0.07431407272815704, + 0.0, + 0.9988223910331726 + ], + [ + 0.2883474826812744, + 0.11662930250167847, + 0.09123305976390839, + 0.26742127537727356, + -0.09979403764009476, + 0.073851078748703, + 0.0, + 0.9994885921478271 + ], + [ + 0.29446589946746826, + 0.09467793256044388, + 0.08880241215229034, + 0.19588525593280792, + -0.10964946448802948, + 0.04551815241575241, + 0.0, + 0.9988223910331726 + ], + [ + 0.30056121945381165, + 0.052491262555122375, + 0.08967804908752441, + 0.12221813201904297, + -0.11815375089645386, + -0.03521309047937393, + 0.0, + 0.9988223910331726 + ], + [ + 0.30135804414749146, + 0.016736455261707306, + 0.10568393766880035, + 0.07203028351068497, + -0.1599303036928177, + -0.10476640611886978, + 0.0, + 0.9988223910331726 + ], + [ + 0.30043622851371765, + -0.01639328896999359, + 0.12285973876714706, + 0.019857142120599747, + -0.15367068350315094, + -0.1754888892173767, + 0.0, + 0.9988223910331726 + ], + [ + 0.29900363087654114, + -0.04680625721812248, + 0.1508457213640213, + -0.020003320649266243, + -0.14373020827770233, + -0.2673161029815674, + 0.0, + 0.9988223910331726 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.28009894490242004, + -0.024360723793506622, + 0.15205717086791992 + ], + [ + 0.2799142599105835, + -0.024347953498363495, + 0.1448076367378235 + ], + [ + 0.2813768684864044, + -0.023724691942334175, + 0.13614821434020996 + ], + [ + 0.28437772393226624, + -0.026756851002573967, + 0.12505532801151276 + ], + [ + 0.28368714451789856, + -0.02597132697701454, + 0.11833509802818298 + ], + [ + 0.28021469712257385, + -0.015924712643027306, + 0.10480650514364243 + ], + [ + 0.2794836461544037, + -0.00920318253338337, + 0.09806717932224274 + ], + [ + 0.27789542078971863, + -0.00301706837490201, + 0.09269987791776657 + ], + [ + 0.2775421142578125, + 0.0034810916986316442, + 0.08962015062570572 + ], + [ + 0.2785160541534424, + 0.009274164214730263, + 0.08932968974113464 + ], + [ + 0.2789366841316223, + 0.013418049551546574, + 0.0875023901462555 + ], + [ + 0.281446635723114, + 0.014203018508851528, + 0.08842234313488007 + ], + [ + 0.2822672724723816, + 0.014320656657218933, + 0.08824776858091354 + ], + [ + 0.28294846415519714, + 0.016427334398031235, + 0.08903758227825165 + ], + [ + 0.2858233153820038, + 0.020812245085835457, + 0.09071415662765503 + ], + [ + 0.29046866297721863, + 0.028020808473229408, + 0.09099243581295013 + ], + [ + 0.29759401082992554, + 0.04008897393941879, + 0.09183360636234283 + ], + [ + 0.3011797070503235, + 0.04749316722154617, + 0.08807422965765 + ], + [ + 0.3032841086387634, + 0.05484246090054512, + 0.08825363218784332 + ], + [ + 0.30143657326698303, + 0.06525231897830963, + 0.08908537030220032 + ], + [ + 0.2975788414478302, + 0.08154832571744919, + 0.09017283469438553 + ], + [ + 0.29353073239326477, + 0.09775036573410034, + 0.0922887921333313 + ], + [ + 0.29278799891471863, + 0.10664564371109009, + 0.09568174183368683 + ], + [ + 0.29049623012542725, + 0.11358477175235748, + 0.0957740917801857 + ], + [ + 0.28800079226493835, + 0.11796697974205017, + 0.09252776950597763 + ], + [ + 0.2883474826812744, + 0.11662930250167847, + 0.09123305976390839 + ], + [ + 0.29446589946746826, + 0.09467793256044388, + 0.08880241215229034 + ], + [ + 0.30056121945381165, + 0.052491262555122375, + 0.08967804908752441 + ], + [ + 0.30135804414749146, + 0.016736455261707306, + 0.10568393766880035 + ], + [ + 0.30043622851371765, + -0.01639328896999359, + 0.12285973876714706 + ], + [ + 0.29900363087654114, + -0.04680625721812248, + 0.1508457213640213 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9675145498547206, + -0.20861069815705058, + 0.14281866976640634, + -0.20475113056042982, + -0.9779392696815902, + -0.041373413551028554, + 0.148298922294276, + 0.010787095487968221, + -0.9888837485858943 + ], + [ + 0.9716744448764773, + -0.20530229447407322, + 0.11704589295516157, + -0.20199356536294827, + -0.9785862823034299, + -0.03959150968978775, + 0.12266773302688269, + 0.014827540970543101, + -0.9923370250589327 + ], + [ + 0.9747678013432735, + -0.19920280492871195, + 0.10072723550725238, + -0.19701568846685968, + -0.9799000843387303, + -0.031315223308766564, + 0.10494070688883905, + 0.01068022572243517, + -0.9944211285045124 + ], + [ + 0.978070045502652, + -0.18945233174037376, + 0.08652629709271142, + -0.1870701026335718, + -0.9817253048972742, + -0.0349313959786824, + 0.09156288981408192, + 0.01797886877670459, + -0.9956369807748228 + ], + [ + 0.9811198424297621, + -0.16916418400645244, + 0.09374077896001498, + -0.1651411945418964, + -0.9850427461737369, + -0.04918510013997041, + 0.10065903166569212, + 0.032776013484475085, + -0.9943809593330873 + ], + [ + 0.9878193650356172, + -0.11593262154730735, + 0.10379079593971129, + -0.10932534348098605, + -0.9917284569374398, + -0.0672505537021737, + 0.11072881889279955, + 0.05508443484010103, + -0.9923229482910049 + ], + [ + 0.9878479956833348, + -0.09989807421414773, + 0.11906599931434064, + -0.09288460154109673, + -0.9936767725682686, + -0.06307870048487892, + 0.12461455862366014, + 0.05125276994089202, + -0.9908806009567531 + ], + [ + 0.9880688776621456, + -0.08752241249215761, + 0.1267269517783058, + -0.08024679878484683, + -0.9948802401667994, + -0.06143092877725564, + 0.1314547233090266, + 0.05052855665071548, + -0.9900335957342776 + ], + [ + 0.9883923399587248, + -0.06958492757615153, + 0.13505006540220035, + -0.06507412243050101, + -0.9971741312996542, + -0.03753812004723566, + 0.13728051901423236, + 0.028314125820908816, + -0.9901274510779817 + ], + [ + 0.9881046242873585, + -0.058260800427503555, + 0.14231981799976187, + -0.058721483774239656, + -0.9982739388872343, + -0.0009645112330453824, + 0.14213035849279507, + -0.0074041928738765115, + -0.9898202559670096 + ], + [ + 0.9874231824702671, + -0.05276711695695801, + 0.14903385551055048, + -0.05862799278232685, + -0.9976588671250068, + 0.035207148552002104, + 0.1468271677265633, + -0.04350191047411628, + -0.9882051237483526 + ], + [ + 0.9841902966507231, + -0.06206774914842578, + 0.16588265278265316, + -0.07126408281786131, + -0.9962000597404671, + 0.05006866757982704, + 0.16214465911244555, + -0.061098571904245925, + -0.9848736335350698 + ], + [ + 0.983583325733847, + -0.06189270622792277, + 0.16950850791075178, + -0.07350937301596859, + -0.9952943946648934, + 0.06313034157552788, + 0.16480356008637842, + -0.07455441545896316, + -0.983504664817828 + ], + [ + 0.9831019163917918, + -0.05375105629822366, + 0.1749898452299772, + -0.06927449544195467, + -0.9940681016459864, + 0.08384302935371114, + 0.1694451718640835, + -0.09454857606949911, + -0.9809938330566513 + ], + [ + 0.982172542847286, + -0.049511374244178334, + 0.18134420282255823, + -0.06919735805791616, + -0.9921788504999488, + 0.10388866280015692, + 0.17478221223768955, + -0.1145851318498743, + -0.9779168808463458 + ], + [ + 0.9827616211360787, + -0.029850110038597267, + 0.182451546862915, + -0.05165558521795771, + -0.9919101360299991, + 0.11595681332607974, + 0.1775142150301692, + -0.12338254727323728, + -0.9763531382090143 + ], + [ + 0.982910266655604, + 0.006287102457894892, + 0.1839779335836054, + -0.017605797988582323, + -0.9916247690054277, + 0.12794668175500837, + 0.18324148978928004, + -0.12899918541454472, + -0.9745674766696194 + ], + [ + 0.9850702970063828, + 0.02270777178625625, + 0.17064837255672827, + -0.00047466252586965234, + -0.9909003441121095, + 0.13459674117150658, + 0.1721519231703299, + -0.13266825218946057, + -0.9760957177499298 + ], + [ + 0.9860371991010854, + 0.034062695851259685, + 0.16300421694002482, + 0.010897502650201401, + -0.9899569003653335, + 0.14094885545845928, + 0.16616824734249003, + -0.13720447576666503, + -0.976505527585338 + ], + [ + 0.9889596081579402, + 0.03760619991200109, + 0.143334110246905, + 0.013240615204625225, + -0.9858187017272754, + 0.16729068543631492, + 0.14759261343677182, + -0.16354589891809462, + -0.9754328061973186 + ], + [ + 0.989844680145861, + 0.058787277649888184, + 0.12942783770678035, + 0.033184762847424845, + -0.9808855721268842, + 0.19173488443179815, + 0.13822547052442213, + -0.1854927232530424, + -0.972875207268883 + ], + [ + 0.989755990763396, + 0.08426323237421741, + 0.1152509714397954, + 0.05828055688243071, + -0.9753924675930596, + 0.2126332778569605, + 0.13033209672771193, + -0.2037381697978321, + -0.9703114462532056 + ], + [ + 0.9897139563000295, + 0.08818321761431105, + 0.11264992159842432, + 0.059254870402373205, + -0.9693943423056995, + 0.23825085401588555, + 0.13021192356517142, + -0.22912513881477062, + -0.9646483948696389 + ], + [ + 0.9894912223969426, + 0.10068680057412546, + 0.10377518484469571, + 0.07136382431621538, + -0.9642712738861243, + 0.25512372476309547, + 0.12575502128491262, + -0.24503689221865682, + -0.9613233566669718 + ], + [ + 0.9921371816962128, + 0.09895143275422205, + 0.07663176007232869, + 0.07386578136289954, + -0.957237451069056, + 0.2797146914526749, + 0.1010329601642187, + -0.27185488082192577, + -0.9570199918150886 + ], + [ + 0.9923125157874003, + 0.09741594785975709, + 0.07632826550017636, + 0.07341686972656762, + -0.9598841890164376, + 0.2706146834815292, + 0.09962848112478943, + -0.26293055504988594, + -0.9596570684207596 + ], + [ + 0.9929649661477981, + 0.06590905247927673, + 0.0983695725536441, + 0.04522917179494886, + -0.9788906375066038, + 0.1993174398306839, + 0.10942987719012438, + -0.19346606059771632, + -0.9749851205915686 + ], + [ + 0.9924123674956026, + -0.02058099527484121, + 0.12121928672975169, + -0.03496035751935611, + -0.9924313103943316, + 0.11771944423547187, + 0.11787903224870652, + -0.12106410195630468, + -0.9856206252781146 + ], + [ + 0.9818253745043068, + -0.09290566655505615, + 0.16549160432311594, + -0.10324031449624223, + -0.9931366943103411, + 0.05496311378593378, + 0.1592494001313507, + -0.07104958505360341, + -0.9846784170588467 + ], + [ + 0.9730381681926673, + -0.17156253322773865, + 0.15415258814803953, + -0.17253215448857925, + -0.9849778068845029, + -0.007167678321723255, + 0.15306658324986241, + -0.019621853568808, + -0.9880210544086279 + ], + [ + 0.954538114886831, + -0.2668542188597152, + 0.1328375440343041, + -0.2614201203406697, + -0.9635335773284299, + -0.05711887640480952, + 0.14323584715204596, + 0.019795737860693993, + -0.9894905865409666 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.00018468499183654785, + 1.2770295143127441e-05, + -0.0072495341300964355, + -0.004033006727695465, + 0.02587047964334488, + 0.0035861730575561523, + 1.0 + ], + [ + 0.0014626085758209229, + 0.0006232615560293198, + -0.008659422397613525, + 0.004201198928058147, + 0.01784319430589676, + 0.005533859133720398, + 1.0 + ], + [ + 0.0030008554458618164, + -0.003032159060239792, + -0.011092886328697205, + -0.007315961644053459, + 0.013442963361740112, + 0.010446742177009583, + 1.0 + ], + [ + -0.0006905794143676758, + 0.0007855240255594254, + -0.006720229983329773, + -0.014893602579832077, + -0.009138479828834534, + 0.02222612500190735, + 1.0 + ], + [ + -0.003472447395324707, + 0.010046614333987236, + -0.013528592884540558, + -0.02250438556075096, + -0.010126553475856781, + 0.056531161069869995, + 1.0 + ], + [ + -0.000731050968170166, + 0.006721530109643936, + -0.006739325821399689, + 0.003775268793106079, + -0.013983003795146942, + 0.01647326350212097, + 1.0 + ], + [ + -0.0015882253646850586, + 0.0061861141584813595, + -0.005367301404476166, + 0.0006854422390460968, + -0.006896942853927612, + 0.01271364837884903, + 1.0 + ], + [ + -0.00035330653190612793, + 0.0064981598407030106, + -0.003079727292060852, + 0.022404314950108528, + -0.005879119038581848, + 0.015294462442398071, + 1.0 + ], + [ + 0.0009739398956298828, + 0.005793072283267975, + -0.00029046088457107544, + 0.036068856716156006, + -0.00489787757396698, + 0.006384875625371933, + 1.0 + ], + [ + 0.00042062997817993164, + 0.004143885336816311, + -0.0018272995948791504, + 0.03651253134012222, + -0.004746615886688232, + 5.348026752471924e-05, + 1.0 + ], + [ + 0.0025099515914916992, + 0.0007849689573049545, + 0.0009199529886245728, + 0.017964832484722137, + -0.01550377905368805, + -0.012977581471204758, + 1.0 + ], + [ + 0.0008206367492675781, + 0.00011763814836740494, + -0.00017457455396652222, + 0.013702575117349625, + -0.0026951581239700317, + -0.002314917743206024, + 1.0 + ], + [ + 0.0006811916828155518, + 0.0021066777408123016, + 0.0007898136973381042, + 0.02042347937822342, + -0.004707828164100647, + 0.004248671233654022, + 1.0 + ], + [ + 0.0028748512268066406, + 0.004384910687804222, + 0.0016765743494033813, + 0.020557187497615814, + -0.0054178982973098755, + 1.1801719665527344e-05, + 1.0 + ], + [ + 0.004645347595214844, + 0.007208563387393951, + 0.000278279185295105, + 0.009063690900802612, + -0.0027754008769989014, + 0.017823800444602966, + 1.0 + ], + [ + 0.007125347852706909, + 0.012068165466189384, + 0.0008411705493927002, + 0.005896061658859253, + -0.005822792649269104, + 0.03460334613919258, + 1.0 + ], + [ + 0.0035856962203979492, + 0.00740419328212738, + -0.0037593767046928406, + 0.003488898277282715, + 0.011268973350524902, + 0.017428135499358177, + 1.0 + ], + [ + 0.0021044015884399414, + 0.007349293678998947, + 0.00017940253019332886, + 0.0045023113489151, + 0.006071180105209351, + 0.011533223092556, + 1.0 + ], + [ + -0.0018475353717803955, + 0.010409858077764511, + 0.0008317381143569946, + 0.02652806043624878, + 0.018808826804161072, + 0.0023362617939710617, + 1.0 + ], + [ + -0.003857731819152832, + 0.016296006739139557, + 0.0010874643921852112, + 0.022283345460891724, + 0.0094643235206604, + 0.020125042647123337, + 1.0 + ], + [ + -0.00404810905456543, + 0.016202040016651154, + 0.0021159574389457703, + 0.018562138080596924, + 0.007965534925460815, + 0.025303177535533905, + 1.0 + ], + [ + -0.0007427334785461426, + 0.008895277976989746, + 0.00339294970035553, + 0.02623523771762848, + 0.00012120604515075684, + 0.0009834729135036469, + 1.0 + ], + [ + -0.002291768789291382, + 0.006939128041267395, + 9.234994649887085e-05, + 0.016380205750465393, + 0.0044938623905181885, + 0.01219775527715683, + 1.0 + ], + [ + -0.0024954378604888916, + 0.004382207989692688, + -0.003246322274208069, + 0.027192458510398865, + 0.024883218109607697, + 0.002316996455192566, + 1.0 + ], + [ + 0.00034669041633605957, + -0.001337677240371704, + -0.0012947097420692444, + -0.009351938962936401, + 0.0014116019010543823, + -0.00046299397945404053, + 1.0 + ], + [ + 0.006118416786193848, + -0.02195136994123459, + -0.002430647611618042, + -0.07153601944446564, + -0.009855426847934723, + -0.028332926332950592, + 1.0 + ], + [ + 0.006095319986343384, + -0.0421866700053215, + 0.0008756369352340698, + -0.07366712391376495, + -0.008504286408424377, + -0.08073124289512634, + 1.0 + ], + [ + 0.0007968246936798096, + -0.03575480729341507, + 0.01600588858127594, + -0.050187848508358, + -0.04177655279636383, + -0.06955331563949585, + 1.0 + ], + [ + -0.0009218156337738037, + -0.0331297442317009, + 0.01717580109834671, + -0.05217314139008522, + 0.006259620189666748, + -0.07072248309850693, + 1.0 + ], + [ + -0.0014325976371765137, + -0.03041296824812889, + 0.027985982596874237, + -0.03986046463251114, + 0.009940475225448608, + -0.09182721376419067, + 1.0 + ], + [ + -0.008128225803375244, + 0.0012417957186698914, + 0.015350863337516785, + 0.004272572696208954, + -0.012193799018859863, + -0.01174655556678772, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9981546401977539 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2799142599105835, + -0.024347953498363495, + 0.1448076367378235 + ], + [ + 0.2813768684864044, + -0.023724691942334175, + 0.13614821434020996 + ], + [ + 0.28437772393226624, + -0.026756851002573967, + 0.12505532801151276 + ], + [ + 0.28368714451789856, + -0.02597132697701454, + 0.11833509802818298 + ], + [ + 0.28021469712257385, + -0.015924712643027306, + 0.10480650514364243 + ], + [ + 0.2794836461544037, + -0.00920318253338337, + 0.09806717932224274 + ], + [ + 0.27789542078971863, + -0.00301706837490201, + 0.09269987791776657 + ], + [ + 0.2775421142578125, + 0.0034810916986316442, + 0.08962015062570572 + ], + [ + 0.2785160541534424, + 0.009274164214730263, + 0.08932968974113464 + ], + [ + 0.2789366841316223, + 0.013418049551546574, + 0.0875023901462555 + ], + [ + 0.281446635723114, + 0.014203018508851528, + 0.08842234313488007 + ], + [ + 0.2822672724723816, + 0.014320656657218933, + 0.08824776858091354 + ], + [ + 0.28294846415519714, + 0.016427334398031235, + 0.08903758227825165 + ], + [ + 0.2858233153820038, + 0.020812245085835457, + 0.09071415662765503 + ], + [ + 0.29046866297721863, + 0.028020808473229408, + 0.09099243581295013 + ], + [ + 0.29759401082992554, + 0.04008897393941879, + 0.09183360636234283 + ], + [ + 0.3011797070503235, + 0.04749316722154617, + 0.08807422965765 + ], + [ + 0.3032841086387634, + 0.05484246090054512, + 0.08825363218784332 + ], + [ + 0.30143657326698303, + 0.06525231897830963, + 0.08908537030220032 + ], + [ + 0.2975788414478302, + 0.08154832571744919, + 0.09017283469438553 + ], + [ + 0.29353073239326477, + 0.09775036573410034, + 0.0922887921333313 + ], + [ + 0.29278799891471863, + 0.10664564371109009, + 0.09568174183368683 + ], + [ + 0.29049623012542725, + 0.11358477175235748, + 0.0957740917801857 + ], + [ + 0.28800079226493835, + 0.11796697974205017, + 0.09252776950597763 + ], + [ + 0.2883474826812744, + 0.11662930250167847, + 0.09123305976390839 + ], + [ + 0.29446589946746826, + 0.09467793256044388, + 0.08880241215229034 + ], + [ + 0.30056121945381165, + 0.052491262555122375, + 0.08967804908752441 + ], + [ + 0.30135804414749146, + 0.016736455261707306, + 0.10568393766880035 + ], + [ + 0.30043622851371765, + -0.01639328896999359, + 0.12285973876714706 + ], + [ + 0.29900363087654114, + -0.04680625721812248, + 0.1508457213640213 + ], + [ + 0.2908754050731659, + -0.04556446149945259, + 0.16619658470153809 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9716744448764773, + -0.20530229447407322, + 0.11704589295516157, + -0.20199356536294827, + -0.9785862823034299, + -0.03959150968978775, + 0.12266773302688269, + 0.014827540970543101, + -0.9923370250589327 + ], + [ + 0.9747678013432735, + -0.19920280492871195, + 0.10072723550725238, + -0.19701568846685968, + -0.9799000843387303, + -0.031315223308766564, + 0.10494070688883905, + 0.01068022572243517, + -0.9944211285045124 + ], + [ + 0.978070045502652, + -0.18945233174037376, + 0.08652629709271142, + -0.1870701026335718, + -0.9817253048972742, + -0.0349313959786824, + 0.09156288981408192, + 0.01797886877670459, + -0.9956369807748228 + ], + [ + 0.9811198424297621, + -0.16916418400645244, + 0.09374077896001498, + -0.1651411945418964, + -0.9850427461737369, + -0.04918510013997041, + 0.10065903166569212, + 0.032776013484475085, + -0.9943809593330873 + ], + [ + 0.9878193650356172, + -0.11593262154730735, + 0.10379079593971129, + -0.10932534348098605, + -0.9917284569374398, + -0.0672505537021737, + 0.11072881889279955, + 0.05508443484010103, + -0.9923229482910049 + ], + [ + 0.9878479956833348, + -0.09989807421414773, + 0.11906599931434064, + -0.09288460154109673, + -0.9936767725682686, + -0.06307870048487892, + 0.12461455862366014, + 0.05125276994089202, + -0.9908806009567531 + ], + [ + 0.9880688776621456, + -0.08752241249215761, + 0.1267269517783058, + -0.08024679878484683, + -0.9948802401667994, + -0.06143092877725564, + 0.1314547233090266, + 0.05052855665071548, + -0.9900335957342776 + ], + [ + 0.9883923399587248, + -0.06958492757615153, + 0.13505006540220035, + -0.06507412243050101, + -0.9971741312996542, + -0.03753812004723566, + 0.13728051901423236, + 0.028314125820908816, + -0.9901274510779817 + ], + [ + 0.9881046242873585, + -0.058260800427503555, + 0.14231981799976187, + -0.058721483774239656, + -0.9982739388872343, + -0.0009645112330453824, + 0.14213035849279507, + -0.0074041928738765115, + -0.9898202559670096 + ], + [ + 0.9874231824702671, + -0.05276711695695801, + 0.14903385551055048, + -0.05862799278232685, + -0.9976588671250068, + 0.035207148552002104, + 0.1468271677265633, + -0.04350191047411628, + -0.9882051237483526 + ], + [ + 0.9841902966507231, + -0.06206774914842578, + 0.16588265278265316, + -0.07126408281786131, + -0.9962000597404671, + 0.05006866757982704, + 0.16214465911244555, + -0.061098571904245925, + -0.9848736335350698 + ], + [ + 0.983583325733847, + -0.06189270622792277, + 0.16950850791075178, + -0.07350937301596859, + -0.9952943946648934, + 0.06313034157552788, + 0.16480356008637842, + -0.07455441545896316, + -0.983504664817828 + ], + [ + 0.9831019163917918, + -0.05375105629822366, + 0.1749898452299772, + -0.06927449544195467, + -0.9940681016459864, + 0.08384302935371114, + 0.1694451718640835, + -0.09454857606949911, + -0.9809938330566513 + ], + [ + 0.982172542847286, + -0.049511374244178334, + 0.18134420282255823, + -0.06919735805791616, + -0.9921788504999488, + 0.10388866280015692, + 0.17478221223768955, + -0.1145851318498743, + -0.9779168808463458 + ], + [ + 0.9827616211360787, + -0.029850110038597267, + 0.182451546862915, + -0.05165558521795771, + -0.9919101360299991, + 0.11595681332607974, + 0.1775142150301692, + -0.12338254727323728, + -0.9763531382090143 + ], + [ + 0.982910266655604, + 0.006287102457894892, + 0.1839779335836054, + -0.017605797988582323, + -0.9916247690054277, + 0.12794668175500837, + 0.18324148978928004, + -0.12899918541454472, + -0.9745674766696194 + ], + [ + 0.9850702970063828, + 0.02270777178625625, + 0.17064837255672827, + -0.00047466252586965234, + -0.9909003441121095, + 0.13459674117150658, + 0.1721519231703299, + -0.13266825218946057, + -0.9760957177499298 + ], + [ + 0.9860371991010854, + 0.034062695851259685, + 0.16300421694002482, + 0.010897502650201401, + -0.9899569003653335, + 0.14094885545845928, + 0.16616824734249003, + -0.13720447576666503, + -0.976505527585338 + ], + [ + 0.9889596081579402, + 0.03760619991200109, + 0.143334110246905, + 0.013240615204625225, + -0.9858187017272754, + 0.16729068543631492, + 0.14759261343677182, + -0.16354589891809462, + -0.9754328061973186 + ], + [ + 0.989844680145861, + 0.058787277649888184, + 0.12942783770678035, + 0.033184762847424845, + -0.9808855721268842, + 0.19173488443179815, + 0.13822547052442213, + -0.1854927232530424, + -0.972875207268883 + ], + [ + 0.989755990763396, + 0.08426323237421741, + 0.1152509714397954, + 0.05828055688243071, + -0.9753924675930596, + 0.2126332778569605, + 0.13033209672771193, + -0.2037381697978321, + -0.9703114462532056 + ], + [ + 0.9897139563000295, + 0.08818321761431105, + 0.11264992159842432, + 0.059254870402373205, + -0.9693943423056995, + 0.23825085401588555, + 0.13021192356517142, + -0.22912513881477062, + -0.9646483948696389 + ], + [ + 0.9894912223969426, + 0.10068680057412546, + 0.10377518484469571, + 0.07136382431621538, + -0.9642712738861243, + 0.25512372476309547, + 0.12575502128491262, + -0.24503689221865682, + -0.9613233566669718 + ], + [ + 0.9921371816962128, + 0.09895143275422205, + 0.07663176007232869, + 0.07386578136289954, + -0.957237451069056, + 0.2797146914526749, + 0.1010329601642187, + -0.27185488082192577, + -0.9570199918150886 + ], + [ + 0.9923125157874003, + 0.09741594785975709, + 0.07632826550017636, + 0.07341686972656762, + -0.9598841890164376, + 0.2706146834815292, + 0.09962848112478943, + -0.26293055504988594, + -0.9596570684207596 + ], + [ + 0.9929649661477981, + 0.06590905247927673, + 0.0983695725536441, + 0.04522917179494886, + -0.9788906375066038, + 0.1993174398306839, + 0.10942987719012438, + -0.19346606059771632, + -0.9749851205915686 + ], + [ + 0.9924123674956026, + -0.02058099527484121, + 0.12121928672975169, + -0.03496035751935611, + -0.9924313103943316, + 0.11771944423547187, + 0.11787903224870652, + -0.12106410195630468, + -0.9856206252781146 + ], + [ + 0.9818253745043068, + -0.09290566655505615, + 0.16549160432311594, + -0.10324031449624223, + -0.9931366943103411, + 0.05496311378593378, + 0.1592494001313507, + -0.07104958505360341, + -0.9846784170588467 + ], + [ + 0.9730381681926673, + -0.17156253322773865, + 0.15415258814803953, + -0.17253215448857925, + -0.9849778068845029, + -0.007167678321723255, + 0.15306658324986241, + -0.019621853568808, + -0.9880210544086279 + ], + [ + 0.954538114886831, + -0.2668542188597152, + 0.1328375440343041, + -0.2614201203406697, + -0.9635335773284299, + -0.05711887640480952, + 0.14323584715204596, + 0.019795737860693993, + -0.9894905865409666 + ], + [ + 0.9496518364157895, + -0.27776888208194905, + 0.14493390817563337, + -0.2721130007870046, + -0.9605222429855953, + -0.05789244797564572, + 0.15529296312071014, + 0.015539268865217736, + -0.9877462359980546 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005519.json b/json/chunk-0005/episode_0005519.json new file mode 100644 index 0000000000000000000000000000000000000000..d4a02821cb5b560887b32302932494f1bd6333a7 --- /dev/null +++ b/json/chunk-0005/episode_0005519.json @@ -0,0 +1,1942 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 31, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nTake sushi off plate." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005519.mp4", + "start": 0, + "end": 31, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.26962271332740784, + -0.05084284394979477, + 0.06496585160493851, + 0.01594974845647812, + 0.03341604769229889, + 0.3692602813243866, + 0.0, + 1.0008161067962646 + ], + [ + 0.26756659150123596, + -0.049190741032361984, + 0.058588042855262756, + 0.026174327358603477, + 0.05588473379611969, + 0.3683205246925354, + 0.0, + 1.0008161067962646 + ], + [ + 0.28653326630592346, + -0.027667881920933723, + 0.06886056065559387, + -0.004674683790653944, + 0.03968121111392975, + 0.3693588972091675, + 0.0, + 1.0001531839370728 + ], + [ + 0.3051506578922272, + 0.000814157712738961, + 0.0852590799331665, + -0.03179557994008064, + -0.005252529866993427, + 0.41107460856437683, + 0.0, + 1.0008161067962646 + ], + [ + 0.3228970170021057, + 0.017520463094115257, + 0.08355771750211716, + 0.004453995730727911, + -9.025043982546777e-05, + 0.42299288511276245, + 0.0, + 1.0008161067962646 + ], + [ + 0.34691891074180603, + 0.03851514682173729, + 0.07374635338783264, + 0.06235586479306221, + -0.016741130501031876, + 0.4001401662826538, + 0.0, + 1.0008161067962646 + ], + [ + 0.3669881522655487, + 0.05934273079037666, + 0.06295802444219589, + 0.1160629391670227, + -0.01833956502377987, + 0.34565499424934387, + 0.0, + 1.0008161067962646 + ], + [ + 0.38583406805992126, + 0.07821039855480194, + 0.060727909207344055, + 0.14632585644721985, + -0.013152445666491985, + 0.2962242662906647, + 0.0, + 1.0008161067962646 + ], + [ + 0.4020172953605652, + 0.09337571263313293, + 0.05978890880942345, + 0.1306251734495163, + -0.01223608199506998, + 0.2842036485671997, + 0.0, + 1.0001531839370728 + ], + [ + 0.4140305519104004, + 0.1057671457529068, + 0.05471198260784149, + 0.14107933640480042, + -0.004123091232031584, + 0.22752028703689575, + 0.0, + 1.0008161067962646 + ], + [ + 0.4231407642364502, + 0.11244764924049377, + 0.04019341990351677, + 0.11455041170120239, + 0.03412812575697899, + 0.17319993674755096, + 0.0, + 1.0008161067962646 + ], + [ + 0.42937394976615906, + 0.11745642870664597, + 0.03302360698580742, + 0.10813040286302567, + 0.05561890825629234, + 0.14180466532707214, + 0.0, + 1.0008161067962646 + ], + [ + 0.42864784598350525, + 0.12194104492664337, + 0.028610726818442345, + 0.08465215563774109, + 0.08170066028833389, + 0.12728887796401978, + 0.0, + 0.9545519351959229 + ], + [ + 0.4281744658946991, + 0.12677817046642303, + 0.029311321675777435, + 0.08923198282718658, + 0.07668499648571014, + 0.129185751080513, + 0.0, + 0.7969971895217896 + ], + [ + 0.42689278721809387, + 0.12690241634845734, + 0.024605292826890945, + 0.09653995931148529, + 0.07706323266029358, + 0.13034085929393768, + 0.0, + 0.573952317237854 + ], + [ + 0.422458291053772, + 0.12434744089841843, + 0.02276548743247986, + 0.10459744930267334, + 0.08077067136764526, + 0.12436560541391373, + 0.0, + 0.5918992757797241 + ], + [ + 0.4155985713005066, + 0.11956070363521576, + 0.024118103086948395, + 0.11198341101408005, + 0.07583792507648468, + 0.12133835256099701, + 0.0, + 0.6029031276702881 + ], + [ + 0.4026854932308197, + 0.11225943267345428, + 0.026424571871757507, + 0.12466651946306229, + 0.08384540677070618, + 0.14634062349796295, + 0.0, + 0.603904664516449 + ], + [ + 0.38808757066726685, + 0.10365468263626099, + 0.04753542318940163, + 0.13543669879436493, + 0.03515966236591339, + 0.1605280637741089, + 0.0, + 0.603904664516449 + ], + [ + 0.3640096187591553, + 0.08973698318004608, + 0.05558830872178078, + 0.13617002964019775, + 0.021794326603412628, + 0.16341353952884674, + 0.0, + 0.6029031276702881 + ], + [ + 0.3493390679359436, + 0.07621065527200699, + 0.05819712579250336, + 0.13518178462982178, + 0.010973362252116203, + 0.14301404356956482, + 0.0, + 0.6029031276702881 + ], + [ + 0.3357601761817932, + 0.06667185574769974, + 0.054731372743844986, + 0.12536877393722534, + 0.022064605727791786, + 0.1375390887260437, + 0.0, + 0.603904664516449 + ], + [ + 0.3250656723976135, + 0.07001566886901855, + 0.044405512511730194, + 0.13344179093837738, + 0.04486945644021034, + 0.15526039898395538, + 0.0, + 0.603904664516449 + ], + [ + 0.31469929218292236, + 0.08531168103218079, + 0.03756675869226456, + 0.1409507691860199, + 0.05868722125887871, + 0.19631454348564148, + 0.0, + 0.6029031276702881 + ], + [ + 0.30921444296836853, + 0.09675660729408264, + 0.034501977264881134, + 0.15928953886032104, + 0.05863383039832115, + 0.22358818352222443, + 0.0, + 0.6029031276702881 + ], + [ + 0.3073103427886963, + 0.10206639766693115, + 0.031101776286959648, + 0.16996091604232788, + 0.06786879152059555, + 0.23859912157058716, + 0.0, + 0.603904664516449 + ], + [ + 0.3048156201839447, + 0.1013251394033432, + 0.025422310456633568, + 0.17009186744689941, + 0.08923625946044922, + 0.24927902221679688, + 0.0, + 0.680191159248352 + ], + [ + 0.3053148686885834, + 0.09930303692817688, + 0.025078825652599335, + 0.15638014674186707, + 0.08984038233757019, + 0.244803324341774, + 0.0, + 0.9530308246612549 + ], + [ + 0.3019416034221649, + 0.09901455044746399, + 0.025502365082502365, + 0.16226325929164886, + 0.10773161798715591, + 0.26720964908599854, + 0.0, + 1.0008161067962646 + ], + [ + 0.30062103271484375, + 0.09796296060085297, + 0.025569723919034004, + 0.15924981236457825, + 0.1159386932849884, + 0.2778368294239044, + 0.0, + 1.0008161067962646 + ], + [ + 0.304229199886322, + 0.09252949059009552, + 0.044276703149080276, + 0.13835786283016205, + 0.07004328817129135, + 0.2869603633880615, + 0.0, + 1.0008161067962646 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9545519351959229 + ], + [ + 0.7969971895217896 + ], + [ + 0.573952317237854 + ], + [ + 0.5918992757797241 + ], + [ + 0.6029031276702881 + ], + [ + 0.603904664516449 + ], + [ + 0.603904664516449 + ], + [ + 0.6029031276702881 + ], + [ + 0.6029031276702881 + ], + [ + 0.603904664516449 + ], + [ + 0.603904664516449 + ], + [ + 0.6029031276702881 + ], + [ + 0.6029031276702881 + ], + [ + 0.603904664516449 + ], + [ + 0.680191159248352 + ], + [ + 0.9530308246612549 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.26962271332740784, + -0.05084284394979477, + 0.06496585160493851 + ], + [ + 0.26756659150123596, + -0.049190741032361984, + 0.058588042855262756 + ], + [ + 0.28653326630592346, + -0.027667881920933723, + 0.06886056065559387 + ], + [ + 0.3051506578922272, + 0.000814157712738961, + 0.0852590799331665 + ], + [ + 0.3228970170021057, + 0.017520463094115257, + 0.08355771750211716 + ], + [ + 0.34691891074180603, + 0.03851514682173729, + 0.07374635338783264 + ], + [ + 0.3669881522655487, + 0.05934273079037666, + 0.06295802444219589 + ], + [ + 0.38583406805992126, + 0.07821039855480194, + 0.060727909207344055 + ], + [ + 0.4020172953605652, + 0.09337571263313293, + 0.05978890880942345 + ], + [ + 0.4140305519104004, + 0.1057671457529068, + 0.05471198260784149 + ], + [ + 0.4231407642364502, + 0.11244764924049377, + 0.04019341990351677 + ], + [ + 0.42937394976615906, + 0.11745642870664597, + 0.03302360698580742 + ], + [ + 0.42864784598350525, + 0.12194104492664337, + 0.028610726818442345 + ], + [ + 0.4281744658946991, + 0.12677817046642303, + 0.029311321675777435 + ], + [ + 0.42689278721809387, + 0.12690241634845734, + 0.024605292826890945 + ], + [ + 0.422458291053772, + 0.12434744089841843, + 0.02276548743247986 + ], + [ + 0.4155985713005066, + 0.11956070363521576, + 0.024118103086948395 + ], + [ + 0.4026854932308197, + 0.11225943267345428, + 0.026424571871757507 + ], + [ + 0.38808757066726685, + 0.10365468263626099, + 0.04753542318940163 + ], + [ + 0.3640096187591553, + 0.08973698318004608, + 0.05558830872178078 + ], + [ + 0.3493390679359436, + 0.07621065527200699, + 0.05819712579250336 + ], + [ + 0.3357601761817932, + 0.06667185574769974, + 0.054731372743844986 + ], + [ + 0.3250656723976135, + 0.07001566886901855, + 0.044405512511730194 + ], + [ + 0.31469929218292236, + 0.08531168103218079, + 0.03756675869226456 + ], + [ + 0.30921444296836853, + 0.09675660729408264, + 0.034501977264881134 + ], + [ + 0.3073103427886963, + 0.10206639766693115, + 0.031101776286959648 + ], + [ + 0.3048156201839447, + 0.1013251394033432, + 0.025422310456633568 + ], + [ + 0.3053148686885834, + 0.09930303692817688, + 0.025078825652599335 + ], + [ + 0.3019416034221649, + 0.09901455044746399, + 0.025502365082502365 + ], + [ + 0.30062103271484375, + 0.09796296060085297, + 0.025569723919034004 + ], + [ + 0.304229199886322, + 0.09252949059009552, + 0.044276703149080276 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9320739500506517, + 0.3603828269558664, + -0.03691029222687793, + 0.3607241812718535, + -0.9326682845825757, + 0.002817087067683203, + -0.03340982913345132, + -0.015940168414857486, + -0.9993146122959375 + ], + [ + 0.9314769100431874, + 0.35856199704644803, + -0.061514716373065825, + 0.3594870129640247, + -0.9331401246374038, + 0.004312227022510976, + -0.055855649370487995, + -0.026130481544615877, + -0.9980968612152067 + ], + [ + 0.9318248799901068, + 0.3611866364133691, + -0.03530731804908694, + 0.3607334484019439, + -0.9324818473074451, + -0.018681103986013168, + -0.039670798271080575, + 0.004670986886178099, + -0.999201886330307 + ], + [ + 0.9166792990533382, + 0.3992396059789893, + 0.017515698810553808, + 0.39958913132215573, + -0.9162953381029288, + -0.027044028916650042, + 0.005252505714957714, + 0.03178978434310268, + -0.9994807756005784 + ], + [ + 0.9118644688003221, + 0.41048768792061513, + -0.001746025513766002, + 0.41049139137668306, + -0.9118552627028937, + 0.004098473700310738, + 9.025043970295064e-05, + -0.004453980986150935, + -0.999990076904883 + ], + [ + 0.9208773415110612, + 0.38975113369598496, + -0.008886825879642152, + 0.38949285310901044, + -0.9188100592791896, + 0.06390142677886713, + 0.0167403485185766, + -0.06230673117783171, + -0.9979166458083611 + ], + [ + 0.9406955151038425, + 0.3385315992444061, + -0.022097605674390293, + 0.3387560271414851, + -0.9338043893442872, + 0.1151247867171097, + 0.01833853698726943, + -0.11578306764966713, + -0.993105220662342 + ], + [ + 0.9563627573292006, + 0.29062559963871293, + -0.030117058759566703, + 0.29188576454027815, + -0.9456646129767143, + 0.14325201646866492, + 0.013152066469797928, + -0.14579163418468105, + -0.9892278921205843 + ], + [ + 0.9598133915456346, + 0.27953419455498113, + -0.024877449309861716, + 0.2803721440855414, + -0.9512607768695693, + 0.12843050731964023, + 0.012235776662850846, + -0.1302442646107756, + -0.9914064339641212 + ], + [ + 0.9742204388475584, + 0.22388621815967366, + -0.02773982425737173, + 0.22556049464987207, + -0.9644187972607396, + 0.13790883489992037, + 0.004123079550031253, + -0.14061061413814915, + -0.9900563900135774 + ], + [ + 0.9844647533546088, + 0.16736411016001557, + -0.05308864316213133, + 0.172234934210231, + -0.9792547993438573, + 0.10674814002885427, + -0.034121501140004604, + -0.11423350030690935, + -0.9928677810099312 + ], + [ + 0.9884317436937401, + 0.13456540164468156, + -0.06996313842844389, + 0.14111135186518786, + -0.9850286585615214, + 0.09902589654867183, + -0.055590236852627414, + -0.10775293264080862, + -0.9926223003106336 + ], + [ + 0.9886010466519507, + 0.11964647837300536, + -0.0913930564737043, + 0.1265219795959561, + -0.9892337672468542, + 0.0735441528451943, + -0.08160979866283344, + -0.0842690569042682, + -0.9930954469791295 + ], + [ + 0.9887527548404503, + 0.12154408719406334, + -0.08714943868770719, + 0.12844811864254754, + -0.9886012372794699, + 0.07854090951021325, + -0.07660985976106824, + -0.08885172208608791, + -0.9930943061309567 + ], + [ + 0.9885749222167858, + 0.12200908601099941, + -0.08850653136823439, + 0.1295863737018021, + -0.9878652768065832, + 0.0856128882275882, + -0.07698697886586153, + -0.09610399476927667, + -0.9923895541945683 + ], + [ + 0.9890415626514576, + 0.1150085334245214, + -0.09257334706870814, + 0.1236408539121464, + -0.9878983818776716, + 0.09364681696327515, + -0.080682876695356, + -0.10406644186777325, + -0.9912923126329304 + ], + [ + 0.9897943455097482, + 0.11187819923538722, + -0.08826336801174385, + 0.12069291789803463, + -0.9874548099574244, + 0.10181462498681366, + -0.07576525038688774, + -0.11142830353098908, + -0.990880093657158 + ], + [ + 0.9858358884431682, + 0.1343850385761879, + -0.10034073183082538, + 0.14530659745928654, + -0.9831519256125466, + 0.11089762801406655, + -0.08374720169817006, + -0.12390703196839925, + -0.9887534847657974 + ], + [ + 0.9865329243999593, + 0.1536904052484586, + -0.05596470681982163, + 0.15974071657397862, + -0.9788618751476366, + 0.1277197433871701, + -0.035152418740335006, + -0.13493957431760825, + -0.9902300837379597 + ], + [ + 0.9864433706690702, + 0.15826231962419704, + -0.04338795512826239, + 0.16264857513116257, + -0.9780254778651734, + 0.13042854616379831, + -0.021792601286817134, + -0.1357173637887503, + -0.9905078897693779 + ], + [ + 0.9897313179579161, + 0.13976297732920895, + -0.02997045914498738, + 0.1425184493577032, + -0.980971674331524, + 0.13184485485555483, + -0.010973142027793049, + -0.13476232532604046, + -0.9908171909220975 + ], + [ + 0.990315285838416, + 0.13329710672275183, + -0.03882674302745217, + 0.13707248743032227, + -0.9831603811157633, + 0.12085858758884847, + -0.022062815424161893, + -0.1250101849596685, + -0.9919101198354158 + ], + [ + 0.9869769381406915, + 0.14736670121728024, + -0.06449479785814086, + 0.15448173412219823, + -0.9801109119211696, + 0.12457124128646918, + -0.04485440224798511, + -0.1329122105202909, + -0.9901123304421503 + ], + [ + 0.9791035750141449, + 0.18503995961739134, + -0.08435877393203037, + 0.1947201884452316, + -0.9726727145607961, + 0.12645884137056715, + -0.05865353873701664, + -0.14024266003512256, + -0.9883783479517846 + ], + [ + 0.9734324260559284, + 0.20985924700909203, + -0.09158825441969354, + 0.22134887352034588, + -0.9648244453134668, + 0.1418395781044039, + -0.058600239710631975, + -0.15834420156841322, + -0.9856435084428439 + ], + [ + 0.9694330329519067, + 0.22179050008691054, + -0.10492172650535957, + 0.23579756082982034, + -0.9603806110613122, + 0.14855501406619614, + -0.06781670095466542, + -0.168754425034423, + -0.983322347505093 + ], + [ + 0.9652346151156441, + 0.22852621687150848, + -0.12687752356091564, + 0.2457237114950772, + -0.9588274197543499, + 0.1423721768334663, + -0.089117873581221, + -0.16859936930371955, + -0.981647725652512 + ], + [ + 0.9662723195291361, + 0.22585142454853768, + -0.12372929540403776, + 0.24138807369297266, + -0.9617329834247668, + 0.129620470882085, + -0.08971957640659839, + -0.15511544933466054, + -0.9838138009741108 + ], + [ + 0.9589197203001698, + 0.24381857611453744, + -0.1450016274423273, + 0.2625103800061788, + -0.9564283267105284, + 0.12780123729725945, + -0.10752334820147463, + -0.16061555904450336, + -0.981142890604812 + ], + [ + 0.9551950793252225, + 0.25316489573084616, + -0.15332937097135668, + 0.27243476127268457, + -0.9545141176364874, + 0.12116971603058833, + -0.11567913071586204, + -0.15751296709232493, + -0.9807181062438864 + ], + [ + 0.9567568766357443, + 0.27107586920215687, + -0.10551849196472843, + 0.28234417772421005, + -0.9526751701164909, + 0.1126578250666803, + -0.06998602943055834, + -0.137578680687853, + -0.9880152135998387 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.002056121826171875, + 0.001652102917432785, + -0.006377808749675751, + 0.010224578902125359, + 0.0224686861038208, + -0.0009397566318511963, + 1.0 + ], + [ + 0.0189666748046875, + 0.02152285911142826, + 0.010272517800331116, + -0.03084901161491871, + -0.01620352268218994, + 0.00103837251663208, + 1.0 + ], + [ + 0.01861739158630371, + 0.028482040390372276, + 0.016398519277572632, + -0.02712089568376541, + -0.0449337400496006, + 0.04171571135520935, + 1.0 + ], + [ + 0.01774635910987854, + 0.016706304624676704, + -0.001701362431049347, + 0.03624957427382469, + 0.005162279587239027, + 0.01191827654838562, + 1.0 + ], + [ + 0.024021893739700317, + 0.020994683727622032, + -0.009811364114284515, + 0.05790187045931816, + -0.016650879755616188, + -0.022852718830108643, + 1.0 + ], + [ + 0.020069241523742676, + 0.020827583968639374, + -0.01078832894563675, + 0.053707074373960495, + -0.0015984345227479935, + -0.054485172033309937, + 1.0 + ], + [ + 0.01884591579437256, + 0.018867667764425278, + -0.002230115234851837, + 0.030262917280197144, + 0.005187119357287884, + -0.0494307279586792, + 1.0 + ], + [ + 0.01618322730064392, + 0.015165314078330994, + -0.0009390003979206085, + -0.015700682997703552, + 0.0009163636714220047, + -0.012020617723464966, + 1.0 + ], + [ + 0.012013256549835205, + 0.012391433119773865, + -0.005076926201581955, + 0.010454162955284119, + 0.008112991228699684, + -0.056683361530303955, + 1.0 + ], + [ + 0.009110212326049805, + 0.006680503487586975, + -0.014518562704324722, + -0.026528924703598022, + 0.03825121745467186, + -0.05432035028934479, + 1.0 + ], + [ + 0.006233185529708862, + 0.005008779466152191, + -0.007169812917709351, + -0.006420008838176727, + 0.021490782499313354, + -0.03139527142047882, + 1.0 + ], + [ + -0.0007261037826538086, + 0.004484616219997406, + -0.004412880167365074, + -0.023478247225284576, + 0.02608175203204155, + -0.014515787363052368, + 0.0 + ], + [ + -0.00047338008880615234, + 0.004837125539779663, + 0.0007005948573350906, + 0.004579827189445496, + -0.005015663802623749, + 0.001896873116493225, + 0.0 + ], + [ + -0.0012816786766052246, + 0.00012424588203430176, + -0.00470602884888649, + 0.007307976484298706, + 0.00037823617458343506, + 0.0011551082134246826, + 0.0 + ], + [ + -0.004434496164321899, + -0.00255497545003891, + -0.001839805394411087, + 0.00805748999118805, + 0.0037074387073516846, + -0.005975253880023956, + 0.0 + ], + [ + -0.006859719753265381, + -0.004786737263202667, + 0.0013526156544685364, + 0.007385961711406708, + -0.0049327462911605835, + -0.0030272528529167175, + 0.0 + ], + [ + -0.01291307806968689, + -0.007301270961761475, + 0.0023064687848091125, + 0.012683108448982239, + 0.008007481694221497, + 0.025002270936965942, + 0.0 + ], + [ + -0.014597922563552856, + -0.008604750037193298, + 0.02111085131764412, + 0.010770179331302643, + -0.048685744404792786, + 0.014187440276145935, + 0.0 + ], + [ + -0.024077951908111572, + -0.013917699456214905, + 0.00805288553237915, + 0.0007333308458328247, + -0.013365335762500763, + 0.002885475754737854, + 0.0 + ], + [ + -0.01467055082321167, + -0.013526327908039093, + 0.00260881707072258, + -0.0009882450103759766, + -0.010820964351296425, + -0.02039949595928192, + 0.0 + ], + [ + -0.01357889175415039, + -0.009538799524307251, + -0.003465753048658371, + -0.009813010692596436, + 0.011091243475675583, + -0.005474954843521118, + 0.0 + ], + [ + -0.010694503784179688, + 0.003343813121318817, + -0.010325860232114792, + 0.008073017001152039, + 0.022804850712418556, + 0.017721310257911682, + 0.0 + ], + [ + -0.010366380214691162, + 0.015296012163162231, + -0.006838753819465637, + 0.007508978247642517, + 0.013817764818668365, + 0.041054144501686096, + 0.0 + ], + [ + -0.005484849214553833, + 0.011444926261901855, + -0.003064781427383423, + 0.018338769674301147, + -5.339086055755615e-05, + 0.027273640036582947, + 0.0 + ], + [ + -0.0019041001796722412, + 0.005309790372848511, + -0.003400200977921486, + 0.010671377182006836, + 0.009234961122274399, + 0.015010938048362732, + 0.0 + ], + [ + -0.002494722604751587, + -0.0007412582635879517, + -0.00567946583032608, + 0.0001309514045715332, + 0.021367467939853668, + 0.010679900646209717, + 1.0 + ], + [ + 0.0004992485046386719, + -0.002022102475166321, + -0.0003434848040342331, + -0.013711720705032349, + 0.0006041228771209717, + -0.004475697875022888, + 1.0 + ], + [ + -0.003373265266418457, + -0.0002884864807128906, + 0.0004235394299030304, + 0.005883112549781799, + 0.017891235649585724, + 0.02240632474422455, + 1.0 + ], + [ + -0.001320570707321167, + -0.001051589846611023, + 6.73588365316391e-05, + -0.0030134469270706177, + 0.008207075297832489, + 0.010627180337905884, + 1.0 + ], + [ + 0.0036081671714782715, + -0.005433470010757446, + 0.018706979230046272, + -0.0208919495344162, + -0.04589540511369705, + 0.009123533964157104, + 1.0 + ], + [ + 0.001410156488418579, + -0.004526577889919281, + 0.0215463824570179, + -0.032033853232860565, + -0.04832395166158676, + 0.029504120349884033, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9545519351959229 + ], + [ + 0.7969971895217896 + ], + [ + 0.573952317237854 + ], + [ + 0.5918992757797241 + ], + [ + 0.6029031276702881 + ], + [ + 0.603904664516449 + ], + [ + 0.603904664516449 + ], + [ + 0.6029031276702881 + ], + [ + 0.6029031276702881 + ], + [ + 0.603904664516449 + ], + [ + 0.603904664516449 + ], + [ + 0.6029031276702881 + ], + [ + 0.6029031276702881 + ], + [ + 0.603904664516449 + ], + [ + 0.680191159248352 + ], + [ + 0.9530308246612549 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.26756659150123596, + -0.049190741032361984, + 0.058588042855262756 + ], + [ + 0.28653326630592346, + -0.027667881920933723, + 0.06886056065559387 + ], + [ + 0.3051506578922272, + 0.000814157712738961, + 0.0852590799331665 + ], + [ + 0.3228970170021057, + 0.017520463094115257, + 0.08355771750211716 + ], + [ + 0.34691891074180603, + 0.03851514682173729, + 0.07374635338783264 + ], + [ + 0.3669881522655487, + 0.05934273079037666, + 0.06295802444219589 + ], + [ + 0.38583406805992126, + 0.07821039855480194, + 0.060727909207344055 + ], + [ + 0.4020172953605652, + 0.09337571263313293, + 0.05978890880942345 + ], + [ + 0.4140305519104004, + 0.1057671457529068, + 0.05471198260784149 + ], + [ + 0.4231407642364502, + 0.11244764924049377, + 0.04019341990351677 + ], + [ + 0.42937394976615906, + 0.11745642870664597, + 0.03302360698580742 + ], + [ + 0.42864784598350525, + 0.12194104492664337, + 0.028610726818442345 + ], + [ + 0.4281744658946991, + 0.12677817046642303, + 0.029311321675777435 + ], + [ + 0.42689278721809387, + 0.12690241634845734, + 0.024605292826890945 + ], + [ + 0.422458291053772, + 0.12434744089841843, + 0.02276548743247986 + ], + [ + 0.4155985713005066, + 0.11956070363521576, + 0.024118103086948395 + ], + [ + 0.4026854932308197, + 0.11225943267345428, + 0.026424571871757507 + ], + [ + 0.38808757066726685, + 0.10365468263626099, + 0.04753542318940163 + ], + [ + 0.3640096187591553, + 0.08973698318004608, + 0.05558830872178078 + ], + [ + 0.3493390679359436, + 0.07621065527200699, + 0.05819712579250336 + ], + [ + 0.3357601761817932, + 0.06667185574769974, + 0.054731372743844986 + ], + [ + 0.3250656723976135, + 0.07001566886901855, + 0.044405512511730194 + ], + [ + 0.31469929218292236, + 0.08531168103218079, + 0.03756675869226456 + ], + [ + 0.30921444296836853, + 0.09675660729408264, + 0.034501977264881134 + ], + [ + 0.3073103427886963, + 0.10206639766693115, + 0.031101776286959648 + ], + [ + 0.3048156201839447, + 0.1013251394033432, + 0.025422310456633568 + ], + [ + 0.3053148686885834, + 0.09930303692817688, + 0.025078825652599335 + ], + [ + 0.3019416034221649, + 0.09901455044746399, + 0.025502365082502365 + ], + [ + 0.30062103271484375, + 0.09796296060085297, + 0.025569723919034004 + ], + [ + 0.304229199886322, + 0.09252949059009552, + 0.044276703149080276 + ], + [ + 0.3056393563747406, + 0.08800291270017624, + 0.06582308560609818 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9314769100431874, + 0.35856199704644803, + -0.061514716373065825, + 0.3594870129640247, + -0.9331401246374038, + 0.004312227022510976, + -0.055855649370487995, + -0.026130481544615877, + -0.9980968612152067 + ], + [ + 0.9318248799901068, + 0.3611866364133691, + -0.03530731804908694, + 0.3607334484019439, + -0.9324818473074451, + -0.018681103986013168, + -0.039670798271080575, + 0.004670986886178099, + -0.999201886330307 + ], + [ + 0.9166792990533382, + 0.3992396059789893, + 0.017515698810553808, + 0.39958913132215573, + -0.9162953381029288, + -0.027044028916650042, + 0.005252505714957714, + 0.03178978434310268, + -0.9994807756005784 + ], + [ + 0.9118644688003221, + 0.41048768792061513, + -0.001746025513766002, + 0.41049139137668306, + -0.9118552627028937, + 0.004098473700310738, + 9.025043970295064e-05, + -0.004453980986150935, + -0.999990076904883 + ], + [ + 0.9208773415110612, + 0.38975113369598496, + -0.008886825879642152, + 0.38949285310901044, + -0.9188100592791896, + 0.06390142677886713, + 0.0167403485185766, + -0.06230673117783171, + -0.9979166458083611 + ], + [ + 0.9406955151038425, + 0.3385315992444061, + -0.022097605674390293, + 0.3387560271414851, + -0.9338043893442872, + 0.1151247867171097, + 0.01833853698726943, + -0.11578306764966713, + -0.993105220662342 + ], + [ + 0.9563627573292006, + 0.29062559963871293, + -0.030117058759566703, + 0.29188576454027815, + -0.9456646129767143, + 0.14325201646866492, + 0.013152066469797928, + -0.14579163418468105, + -0.9892278921205843 + ], + [ + 0.9598133915456346, + 0.27953419455498113, + -0.024877449309861716, + 0.2803721440855414, + -0.9512607768695693, + 0.12843050731964023, + 0.012235776662850846, + -0.1302442646107756, + -0.9914064339641212 + ], + [ + 0.9742204388475584, + 0.22388621815967366, + -0.02773982425737173, + 0.22556049464987207, + -0.9644187972607396, + 0.13790883489992037, + 0.004123079550031253, + -0.14061061413814915, + -0.9900563900135774 + ], + [ + 0.9844647533546088, + 0.16736411016001557, + -0.05308864316213133, + 0.172234934210231, + -0.9792547993438573, + 0.10674814002885427, + -0.034121501140004604, + -0.11423350030690935, + -0.9928677810099312 + ], + [ + 0.9884317436937401, + 0.13456540164468156, + -0.06996313842844389, + 0.14111135186518786, + -0.9850286585615214, + 0.09902589654867183, + -0.055590236852627414, + -0.10775293264080862, + -0.9926223003106336 + ], + [ + 0.9886010466519507, + 0.11964647837300536, + -0.0913930564737043, + 0.1265219795959561, + -0.9892337672468542, + 0.0735441528451943, + -0.08160979866283344, + -0.0842690569042682, + -0.9930954469791295 + ], + [ + 0.9887527548404503, + 0.12154408719406334, + -0.08714943868770719, + 0.12844811864254754, + -0.9886012372794699, + 0.07854090951021325, + -0.07660985976106824, + -0.08885172208608791, + -0.9930943061309567 + ], + [ + 0.9885749222167858, + 0.12200908601099941, + -0.08850653136823439, + 0.1295863737018021, + -0.9878652768065832, + 0.0856128882275882, + -0.07698697886586153, + -0.09610399476927667, + -0.9923895541945683 + ], + [ + 0.9890415626514576, + 0.1150085334245214, + -0.09257334706870814, + 0.1236408539121464, + -0.9878983818776716, + 0.09364681696327515, + -0.080682876695356, + -0.10406644186777325, + -0.9912923126329304 + ], + [ + 0.9897943455097482, + 0.11187819923538722, + -0.08826336801174385, + 0.12069291789803463, + -0.9874548099574244, + 0.10181462498681366, + -0.07576525038688774, + -0.11142830353098908, + -0.990880093657158 + ], + [ + 0.9858358884431682, + 0.1343850385761879, + -0.10034073183082538, + 0.14530659745928654, + -0.9831519256125466, + 0.11089762801406655, + -0.08374720169817006, + -0.12390703196839925, + -0.9887534847657974 + ], + [ + 0.9865329243999593, + 0.1536904052484586, + -0.05596470681982163, + 0.15974071657397862, + -0.9788618751476366, + 0.1277197433871701, + -0.035152418740335006, + -0.13493957431760825, + -0.9902300837379597 + ], + [ + 0.9864433706690702, + 0.15826231962419704, + -0.04338795512826239, + 0.16264857513116257, + -0.9780254778651734, + 0.13042854616379831, + -0.021792601286817134, + -0.1357173637887503, + -0.9905078897693779 + ], + [ + 0.9897313179579161, + 0.13976297732920895, + -0.02997045914498738, + 0.1425184493577032, + -0.980971674331524, + 0.13184485485555483, + -0.010973142027793049, + -0.13476232532604046, + -0.9908171909220975 + ], + [ + 0.990315285838416, + 0.13329710672275183, + -0.03882674302745217, + 0.13707248743032227, + -0.9831603811157633, + 0.12085858758884847, + -0.022062815424161893, + -0.1250101849596685, + -0.9919101198354158 + ], + [ + 0.9869769381406915, + 0.14736670121728024, + -0.06449479785814086, + 0.15448173412219823, + -0.9801109119211696, + 0.12457124128646918, + -0.04485440224798511, + -0.1329122105202909, + -0.9901123304421503 + ], + [ + 0.9791035750141449, + 0.18503995961739134, + -0.08435877393203037, + 0.1947201884452316, + -0.9726727145607961, + 0.12645884137056715, + -0.05865353873701664, + -0.14024266003512256, + -0.9883783479517846 + ], + [ + 0.9734324260559284, + 0.20985924700909203, + -0.09158825441969354, + 0.22134887352034588, + -0.9648244453134668, + 0.1418395781044039, + -0.058600239710631975, + -0.15834420156841322, + -0.9856435084428439 + ], + [ + 0.9694330329519067, + 0.22179050008691054, + -0.10492172650535957, + 0.23579756082982034, + -0.9603806110613122, + 0.14855501406619614, + -0.06781670095466542, + -0.168754425034423, + -0.983322347505093 + ], + [ + 0.9652346151156441, + 0.22852621687150848, + -0.12687752356091564, + 0.2457237114950772, + -0.9588274197543499, + 0.1423721768334663, + -0.089117873581221, + -0.16859936930371955, + -0.981647725652512 + ], + [ + 0.9662723195291361, + 0.22585142454853768, + -0.12372929540403776, + 0.24138807369297266, + -0.9617329834247668, + 0.129620470882085, + -0.08971957640659839, + -0.15511544933466054, + -0.9838138009741108 + ], + [ + 0.9589197203001698, + 0.24381857611453744, + -0.1450016274423273, + 0.2625103800061788, + -0.9564283267105284, + 0.12780123729725945, + -0.10752334820147463, + -0.16061555904450336, + -0.981142890604812 + ], + [ + 0.9551950793252225, + 0.25316489573084616, + -0.15332937097135668, + 0.27243476127268457, + -0.9545141176364874, + 0.12116971603058833, + -0.11567913071586204, + -0.15751296709232493, + -0.9807181062438864 + ], + [ + 0.9567568766357443, + 0.27107586920215687, + -0.10551849196472843, + 0.28234417772421005, + -0.9526751701164909, + 0.1126578250666803, + -0.06998602943055834, + -0.137578680687853, + -0.9880152135998387 + ], + [ + 0.9501174950197708, + 0.30726083982590485, + -0.053549248051074555, + 0.31113516408695946, + -0.9456922483039932, + 0.09413331592119423, + -0.021717627078865567, + -0.10609876440005414, + -0.9941184018349349 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005521.json b/json/chunk-0005/episode_0005521.json new file mode 100644 index 0000000000000000000000000000000000000000..f4f0dbb853cdb595271890338053bb640fa1d8b0 --- /dev/null +++ b/json/chunk-0005/episode_0005521.json @@ -0,0 +1,2482 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 40, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nSilver pot removed from yellow cloth." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005521.mp4", + "start": 0, + "end": 40, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.30393388867378235, + -0.007799582090228796, + 0.03184211254119873, + 0.015098054893314838, + -0.09962578862905502, + 0.08406122028827667, + 0.0, + 1.0099300146102905 + ], + [ + 0.29685670137405396, + -0.00752373319119215, + 0.021519357338547707, + 0.019997458904981613, + -0.061502497643232346, + 0.08056385815143585, + 0.0, + 1.0099300146102905 + ], + [ + 0.28252458572387695, + 0.009522411040961742, + 0.018814539536833763, + 0.0343647263944149, + -0.05547722056508064, + 0.08287803083658218, + 0.0, + 1.0099300146102905 + ], + [ + 0.26572030782699585, + 0.04072435200214386, + 0.02779323048889637, + 0.041415803134441376, + -0.08552148938179016, + 0.1631554365158081, + 0.0, + 1.0099300146102905 + ], + [ + 0.24305449426174164, + 0.07326994091272354, + 0.02305518090724945, + 0.049090560525655746, + -0.08099201321601868, + 0.2588063180446625, + 0.0, + 1.0099300146102905 + ], + [ + 0.2286473959684372, + 0.09857217967510223, + 0.012435364536941051, + 0.05411732196807861, + -0.06550007313489914, + 0.33383452892303467, + 0.0, + 1.0099300146102905 + ], + [ + 0.22284618020057678, + 0.10727023333311081, + 0.004080922808498144, + 0.04191940277814865, + -0.0431673601269722, + 0.3662346601486206, + 0.0, + 1.0099300146102905 + ], + [ + 0.22092600166797638, + 0.10927972942590714, + -0.0037531584966927767, + 0.02663545310497284, + -0.024766622111201286, + 0.37648966908454895, + 0.0, + 1.0099300146102905 + ], + [ + 0.22808009386062622, + 0.10998616367578506, + -0.021620841696858406, + 0.0067523205652832985, + 0.0051262457855045795, + 0.36431336402893066, + 0.0, + 0.9643021821975708 + ], + [ + 0.23406529426574707, + 0.1129993200302124, + -0.02605813555419445, + 0.0072477771900594234, + 0.009808247908949852, + 0.36000800132751465, + 0.0, + 0.672171950340271 + ], + [ + 0.2340840846300125, + 0.11221833527088165, + -0.03375522419810295, + 0.001030776766128838, + 0.029334861785173416, + 0.3585164248943329, + 0.0, + 0.35856863856315613 + ], + [ + 0.2349970042705536, + 0.11029166728258133, + -0.03375564515590668, + 0.00045069525367580354, + 0.02925899624824524, + 0.36130490899086, + 0.0, + 0.14915025234222412 + ], + [ + 0.23687851428985596, + 0.10720974951982498, + -0.03255334123969078, + 0.0008901639957912266, + 0.02619425393640995, + 0.3551821708679199, + 0.0, + 0.06681985408067703 + ], + [ + 0.23956331610679626, + 0.10066115111112595, + -0.016804855316877365, + 0.01405926700681448, + -0.021154707297682762, + 0.3570890724658966, + 0.0, + 0.06065736711025238 + ], + [ + 0.24431432783603668, + 0.08478378504514694, + -0.0022910062689334154, + 0.025166422128677368, + -0.06410033255815506, + 0.34466007351875305, + 0.0, + 0.059241458773612976 + ], + [ + 0.24925459921360016, + 0.07279493659734726, + 0.003357263281941414, + 0.024651125073432922, + -0.0809856429696083, + 0.3415675461292267, + 0.0, + 0.058401256799697876 + ], + [ + 0.2520925998687744, + 0.06344999372959137, + 0.002978599863126874, + 0.01865188591182232, + -0.08260836452245712, + 0.3327387571334839, + 0.0, + 0.05868057906627655 + ], + [ + 0.25070521235466003, + 0.061234235763549805, + -0.0029647548217326403, + 0.010721590369939804, + -0.06322458386421204, + 0.3434453308582306, + 0.0, + 0.058401256799697876 + ], + [ + 0.24734890460968018, + 0.05931861698627472, + -0.01784694939851761, + 0.0020671801175922155, + -0.014110593125224113, + 0.33861035108566284, + 0.0, + 0.08123486489057541 + ], + [ + 0.2477630376815796, + 0.06093282997608185, + -0.01928219571709633, + -0.005305380094796419, + -0.008746054954826832, + 0.34066784381866455, + 0.0, + 0.23394888639450073 + ], + [ + 0.24714180827140808, + 0.06002715229988098, + -0.01688510924577713, + 0.007974379695951939, + -0.0024450626224279404, + 0.3401639461517334, + 0.0, + 0.5014150738716125 + ], + [ + 0.2557114064693451, + 0.052812475711107254, + 0.00853297021239996, + 0.028884880244731903, + -0.08824831992387772, + 0.3067649006843567, + 0.0, + 0.8196109533309937 + ], + [ + 0.25712206959724426, + 0.048919353634119034, + 0.01878947950899601, + 0.025626786053180695, + -0.1208311915397644, + 0.3003998100757599, + 0.0, + 1.0131081342697144 + ], + [ + 0.2578715682029724, + 0.046587277203798294, + 0.0165906623005867, + 0.011735747568309307, + -0.11946868151426315, + 0.2889131009578705, + 0.0, + 1.0073583126068115 + ], + [ + 0.25570011138916016, + 0.05550086498260498, + -0.0018857162212952971, + 0.007690730970352888, + -0.06701190769672394, + 0.29295799136161804, + 0.0, + 1.0047606229782104 + ], + [ + 0.248983234167099, + 0.07380443066358566, + -0.01421596109867096, + 0.007728171069175005, + -0.03582961484789848, + 0.33750343322753906, + 0.0, + 0.9476637244224548 + ], + [ + 0.24918006360530853, + 0.08022334426641464, + -0.017021814361214638, + 0.003953887149691582, + -0.04004363343119621, + 0.3390984833240509, + 0.0, + 0.649078905582428 + ], + [ + 0.2570820748806, + 0.08130370080471039, + -0.012941735796630383, + 0.002292229328304529, + -0.056893326342105865, + 0.34044092893600464, + 0.0, + 0.3453405201435089 + ], + [ + 0.26021599769592285, + 0.07459919899702072, + -0.013433687388896942, + 0.002539171138778329, + -0.05696284770965576, + 0.323859304189682, + 0.0, + 0.14042599499225616 + ], + [ + 0.26260101795196533, + 0.07226821035146713, + -0.012397566810250282, + 0.016410527750849724, + -0.0561632439494133, + 0.29744240641593933, + 0.0, + 0.05619491636753082 + ], + [ + 0.2733716666698456, + 0.06567741930484772, + -0.004376500379294157, + 0.05127137154340744, + -0.07114467769861221, + 0.23886121809482574, + 0.0, + 0.05430474132299423 + ], + [ + 0.3030468225479126, + 0.058357592672109604, + 0.011492827907204628, + 0.053198281675577164, + -0.13999703526496887, + 0.1869925707578659, + 0.0, + 0.05403778702020645 + ], + [ + 0.32979491353034973, + 0.05699809268116951, + 0.006399486213922501, + 0.033006902784109116, + -0.13848890364170074, + 0.1857030838727951, + 0.0, + 0.05403778702020645 + ], + [ + 0.34642770886421204, + 0.054897479712963104, + -0.0026425858959555626, + -0.004164762794971466, + -0.1396314650774002, + 0.22025467455387115, + 0.0, + 0.05430474132299423 + ], + [ + 0.35593608021736145, + 0.0562407523393631, + -0.01841110549867153, + -0.04737513139843941, + -0.11904319375753403, + 0.2797796428203583, + 0.0, + 0.05403778702020645 + ], + [ + 0.3636283278465271, + 0.056686755269765854, + -0.023415211588144302, + -0.06881988048553467, + -0.11699768900871277, + 0.3001459538936615, + 0.0, + 0.07365728914737701 + ], + [ + 0.3610769212245941, + 0.055812347680330276, + -0.02484642155468464, + -0.06808557361364365, + -0.09262394905090332, + 0.29654762148857117, + 0.0, + 0.21919596195220947 + ], + [ + 0.3580472767353058, + 0.05766521766781807, + -0.010478814132511616, + -0.05232049152255058, + -0.1315739005804062, + 0.3058425784111023, + 0.0, + 0.4737623631954193 + ], + [ + 0.35486096143722534, + 0.05553751066327095, + 0.012952600605785847, + -0.043671414256095886, + -0.18701371550559998, + 0.2724563479423523, + 0.0, + 0.7912794351577759 + ], + [ + 0.34759220480918884, + 0.05042017996311188, + 0.023650450631976128, + -0.015526746399700642, + -0.18513238430023193, + 0.19290123879909515, + 0.0, + 1.0092895030975342 + ] + ], + "left_gripper_pos": [ + [ + 1.0099300146102905 + ], + [ + 1.0099300146102905 + ], + [ + 1.0099300146102905 + ], + [ + 1.0099300146102905 + ], + [ + 1.0099300146102905 + ], + [ + 1.0099300146102905 + ], + [ + 1.0099300146102905 + ], + [ + 1.0099300146102905 + ], + [ + 0.9643021821975708 + ], + [ + 0.672171950340271 + ], + [ + 0.35856863856315613 + ], + [ + 0.14915025234222412 + ], + [ + 0.06681985408067703 + ], + [ + 0.06065736711025238 + ], + [ + 0.059241458773612976 + ], + [ + 0.058401256799697876 + ], + [ + 0.05868057906627655 + ], + [ + 0.058401256799697876 + ], + [ + 0.08123486489057541 + ], + [ + 0.23394888639450073 + ], + [ + 0.5014150738716125 + ], + [ + 0.8196109533309937 + ], + [ + 1.0131081342697144 + ], + [ + 1.0073583126068115 + ], + [ + 1.0047606229782104 + ], + [ + 0.9476637244224548 + ], + [ + 0.649078905582428 + ], + [ + 0.3453405201435089 + ], + [ + 0.14042599499225616 + ], + [ + 0.05619491636753082 + ], + [ + 0.05430474132299423 + ], + [ + 0.05403778702020645 + ], + [ + 0.05403778702020645 + ], + [ + 0.05430474132299423 + ], + [ + 0.05403778702020645 + ], + [ + 0.07365728914737701 + ], + [ + 0.21919596195220947 + ], + [ + 0.4737623631954193 + ], + [ + 0.7912794351577759 + ], + [ + 1.0092895030975342 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.30393388867378235, + -0.007799582090228796, + 0.03184211254119873 + ], + [ + 0.29685670137405396, + -0.00752373319119215, + 0.021519357338547707 + ], + [ + 0.28252458572387695, + 0.009522411040961742, + 0.018814539536833763 + ], + [ + 0.26572030782699585, + 0.04072435200214386, + 0.02779323048889637 + ], + [ + 0.24305449426174164, + 0.07326994091272354, + 0.02305518090724945 + ], + [ + 0.2286473959684372, + 0.09857217967510223, + 0.012435364536941051 + ], + [ + 0.22284618020057678, + 0.10727023333311081, + 0.004080922808498144 + ], + [ + 0.22092600166797638, + 0.10927972942590714, + -0.0037531584966927767 + ], + [ + 0.22808009386062622, + 0.10998616367578506, + -0.021620841696858406 + ], + [ + 0.23406529426574707, + 0.1129993200302124, + -0.02605813555419445 + ], + [ + 0.2340840846300125, + 0.11221833527088165, + -0.03375522419810295 + ], + [ + 0.2349970042705536, + 0.11029166728258133, + -0.03375564515590668 + ], + [ + 0.23687851428985596, + 0.10720974951982498, + -0.03255334123969078 + ], + [ + 0.23956331610679626, + 0.10066115111112595, + -0.016804855316877365 + ], + [ + 0.24431432783603668, + 0.08478378504514694, + -0.0022910062689334154 + ], + [ + 0.24925459921360016, + 0.07279493659734726, + 0.003357263281941414 + ], + [ + 0.2520925998687744, + 0.06344999372959137, + 0.002978599863126874 + ], + [ + 0.25070521235466003, + 0.061234235763549805, + -0.0029647548217326403 + ], + [ + 0.24734890460968018, + 0.05931861698627472, + -0.01784694939851761 + ], + [ + 0.2477630376815796, + 0.06093282997608185, + -0.01928219571709633 + ], + [ + 0.24714180827140808, + 0.06002715229988098, + -0.01688510924577713 + ], + [ + 0.2557114064693451, + 0.052812475711107254, + 0.00853297021239996 + ], + [ + 0.25712206959724426, + 0.048919353634119034, + 0.01878947950899601 + ], + [ + 0.2578715682029724, + 0.046587277203798294, + 0.0165906623005867 + ], + [ + 0.25570011138916016, + 0.05550086498260498, + -0.0018857162212952971 + ], + [ + 0.248983234167099, + 0.07380443066358566, + -0.01421596109867096 + ], + [ + 0.24918006360530853, + 0.08022334426641464, + -0.017021814361214638 + ], + [ + 0.2570820748806, + 0.08130370080471039, + -0.012941735796630383 + ], + [ + 0.26021599769592285, + 0.07459919899702072, + -0.013433687388896942 + ], + [ + 0.26260101795196533, + 0.07226821035146713, + -0.012397566810250282 + ], + [ + 0.2733716666698456, + 0.06567741930484772, + -0.004376500379294157 + ], + [ + 0.3030468225479126, + 0.058357592672109604, + 0.011492827907204628 + ], + [ + 0.32979491353034973, + 0.05699809268116951, + 0.006399486213922501 + ], + [ + 0.34642770886421204, + 0.054897479712963104, + -0.0026425858959555626 + ], + [ + 0.35593608021736145, + 0.0562407523393631, + -0.01841110549867153 + ], + [ + 0.3636283278465271, + 0.056686755269765854, + -0.023415211588144302 + ], + [ + 0.3610769212245941, + 0.055812347680330276, + -0.02484642155468464 + ], + [ + 0.3580472767353058, + 0.05766521766781807, + -0.010478814132511616 + ], + [ + 0.35486096143722534, + 0.05553751066327095, + 0.012952600605785847 + ], + [ + 0.34759220480918884, + 0.05042017996311188, + 0.023650450631976128 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9915278990031776, + 0.0854489949722332, + 0.09783094989102124, + 0.08354592444806745, + -0.9962292859348038, + 0.023394194877116636, + 0.09946106779268986, + -0.015022619747100426, + -0.9949280460864854 + ], + [ + 0.9948719372190742, + 0.08168569542592831, + 0.05964290147829294, + 0.0803245800443398, + -0.9964582844426223, + 0.024876679970744962, + 0.061463732189538677, + -0.019958319780204167, + -0.9979097529821442 + ], + [ + 0.9950343956859911, + 0.08463287673021168, + 0.05238155761508915, + 0.08265582594313516, + -0.9958214880104257, + 0.03882754762226641, + 0.055448767700213626, + -0.03430510447542778, + -0.9978720328616577 + ], + [ + 0.983113452850657, + 0.1657828999512868, + 0.0774852818785691, + 0.16183889354941666, + -0.9852990660017216, + 0.054716753109411306, + 0.08541727787023101, + -0.04125264379257797, + -0.9954908879650095 + ], + [ + 0.9635272733948665, + 0.2594562784027005, + 0.06555633471812237, + 0.25508786315472726, + -0.9645155533279866, + 0.06811702767710137, + 0.08090349495175898, + -0.04890998860997825, + -0.9955211888848787 + ], + [ + 0.9427668603192109, + 0.33053353144551595, + 0.044025352627930926, + 0.3269656242435794, + -0.942249591464971, + 0.07252025887365308, + 0.06545324779462078, + -0.053974919863315166, + -0.9963947914250078 + ], + [ + 0.9328125516737734, + 0.3594762838818287, + 0.025249648836653857, + 0.35776875159509397, + -0.9322144949369492, + 0.05456790092661011, + 0.04315395488192621, + -0.041868087560328685, + -0.9981907630418592 + ], + [ + 0.9296757670598248, + 0.36814119352227054, + 0.013229881848485251, + 0.36754551823498544, + -0.9293886253870363, + 0.03386849607779051, + 0.02476409027407874, + -0.026624136290093414, + -0.999338728960158 + ], + [ + 0.9343563583381314, + 0.35626734281797673, + -0.007195559361403262, + 0.3563031258176606, + -0.9343596676330983, + 0.004482636850110752, + -0.00512622333394808, + -0.006752180535496308, + -0.9999640643004859 + ], + [ + 0.9358489880375502, + 0.352205939814015, + -0.011732329215441815, + 0.35226477676164863, + -0.9358944660903737, + 0.003327971526336047, + -0.009808090647974941, + -0.007247365117111151, + -0.9999256357633303 + ], + [ + 0.9360155377113248, + 0.3508568754028088, + -0.02782743512359273, + 0.3507344092876537, + -0.9364285297855189, + -0.009326454062096121, + -0.029330654691302728, + -0.0010303331061909332, + -0.9995692327743337 + ], + [ + 0.9350359614260312, + 0.3534828235456981, + -0.027525339203329117, + 0.35334389232984537, + -0.935440907008993, + -0.0099198410968751, + -0.029254821710140443, + -0.00045050233459353103, + -0.9995718845857733 + ], + [ + 0.9372615146591765, + 0.34773917426640627, + -0.024866037466877936, + 0.3476418719228546, + -0.9375908888381724, + -0.008273696490638652, + -0.02619125855623893, + -0.0008898585076429892, + -0.9996565540859904 + ], + [ + 0.9367086640477009, + 0.3497924989463081, + 0.014902562828859944, + 0.3494702044691032, + -0.9367217549276733, + 0.020565262788086475, + 0.021153129468101887, + -0.01405565815310304, + -0.9996774397712438 + ], + [ + 0.9392574159792981, + 0.3392868760098925, + 0.05176796591851484, + 0.33718285598225084, + -0.9403477010604532, + 0.045320224425461075, + 0.06405644510543321, + -0.025112086288663765, + -0.9976302696704257 + ], + [ + 0.9391425471665591, + 0.33674153471483076, + 0.06794420431065384, + 0.3338666319619013, + -0.9412765587021091, + 0.050314134200355125, + 0.0808971455857608, + -0.024567841496872293, + -0.9964196269645941 + ], + [ + 0.9419282316170319, + 0.32803052587479836, + 0.07188310355789297, + 0.3255189294762015, + -0.9444842454946395, + 0.04457506663023193, + 0.08251444137530871, + -0.01858720276763348, + -0.996416520767192 + ], + [ + 0.939718774224194, + 0.3373516974707339, + 0.05587895475215207, + 0.3360604124134322, + -0.9413178756370247, + 0.03136967029971784, + 0.06318247050482029, + -0.010699963542628211, + -0.9979446308293333 + ], + [ + 0.9431232851857718, + 0.33220347472781797, + 0.01262221530322416, + 0.3321436034556092, + -0.9432054807951409, + 0.006636842738065795, + 0.014110124872584874, + -0.002066972851980538, + -0.9998983108293108 + ], + [ + 0.9424956894750358, + 0.33406819462073967, + 0.010015820676103262, + 0.33410385180973423, + -0.9425339764178078, + -0.002078341630704781, + 0.008745943452560637, + 0.005305152295117451, + -0.9999476805474622 + ], + [ + 0.9426971610483841, + 0.33364942087268845, + -0.00035567209135930317, + 0.3336406513481276, + -0.9426635003795669, + 0.008333115872199521, + 0.002445060186196297, + -0.007974271343637188, + -0.9999652157336394 + ], + [ + 0.9496057891853176, + 0.30427673672412897, + 0.07526295658718876, + 0.30080105489980297, + -0.9521491701193114, + 0.05413578495110177, + 0.088133821640138, + -0.028768478055353194, + -0.9956931275013817 + ], + [ + 0.9482535630573484, + 0.29875530982256615, + 0.1075195098661888, + 0.2937446513160257, + -0.9539906792973597, + 0.060132051661224775, + 0.1205373799792804, + -0.025437151306391324, + -0.9923828350798627 + ], + [ + 0.9517216337778986, + 0.2862316416706312, + 0.11089354853039272, + 0.2828797284940461, + -0.9580896002933879, + 0.045203727908116074, + 0.11918469283537196, + -0.011651828877545012, + -0.9928037287790302 + ], + [ + 0.955245010299612, + 0.2892699452048767, + 0.061885936196046994, + 0.2881372803334683, + -0.9572168081624325, + 0.026699997253871538, + 0.06696176505832185, + -0.007673393805354608, + -0.9977260350656294 + ], + [ + 0.9429786957243027, + 0.3313837345295457, + 0.03124099709267399, + 0.33091988058080446, + -0.9434644527951302, + 0.019153562289339492, + 0.035821949227799514, + -0.007723134158942609, + -0.9993283450159332 + ], + [ + 0.9422989367977318, + 0.3327837193129368, + 0.03643775336258276, + 0.3323703928016002, + -0.942994903524061, + 0.01704505548705015, + 0.04003293267765819, + -0.003950707265176243, + -0.9991905505024208 + ], + [ + 0.941082401365189, + 0.33402473174554476, + 0.05283362965996137, + 0.3333624966191033, + -0.9425615318191631, + 0.021147212170660554, + 0.056862638776330576, + -0.002288518522850556, + -0.9983793883060501 + ], + [ + 0.9464767174675178, + 0.3183636162770247, + 0.05316419023109565, + 0.3177114496786497, + -0.9479652848878011, + 0.02052445835293213, + 0.05693204752161649, + -0.0025350500203690715, + -0.9983748371660771 + ], + [ + 0.9545816798240018, + 0.2939171122733921, + 0.04885230452350857, + 0.2926137757113484, + -0.9556904825150706, + 0.03213844884341349, + 0.05613372255904729, + -0.01638391720505897, + -0.9982888221595403 + ], + [ + 0.9691501447145802, + 0.23982500178343183, + 0.056850378356573215, + 0.23599780907376036, + -0.969469333789844, + 0.06659012654636771, + 0.07108467564878918, + -0.05111926604180886, + -0.9961595201207754 + ], + [ + 0.9729547327739371, + 0.19293219187686236, + 0.12702856887482594, + 0.18408592135469595, + -0.9797983640951784, + 0.07815074711994172, + 0.1395401789155709, + -0.052652968140475626, + -0.9888155558111981 + ], + [ + 0.9733970200740695, + 0.1890143443842654, + 0.1295060574950375, + 0.18286980439837452, + -0.9814302174114431, + 0.05790822904413263, + 0.1380466441106841, + -0.03268495018680322, + -0.9898862652249825 + ], + [ + 0.9663443184113493, + 0.2179106181528512, + 0.13672461654854495, + 0.21635178205693265, + -0.9759600162571809, + 0.02634298897377269, + 0.13917817600074334, + 0.004124216716550427, + -0.9902587672732722 + ], + [ + 0.9543142253447459, + 0.2704284559917946, + 0.12709370359916136, + 0.2741895196943617, + -0.9615910555739315, + -0.012757316723636662, + 0.1187622271365466, + 0.04702225037262652, + -0.991808671758551 + ], + [ + 0.9487625544182234, + 0.28729155991411137, + 0.1315795384393941, + 0.2936383833733106, + -0.9554053013835866, + -0.031260356652581006, + 0.11673095195241108, + 0.06829545878207752, + -0.9908126034553806 + ], + [ + 0.9522516120175012, + 0.2855253987446164, + 0.10813007944969992, + 0.29096765735380564, + -0.9559740348192177, + -0.038098124960471255, + 0.09249156601609142, + 0.06774135681541302, + -0.993406472091207 + ], + [ + 0.9453513354187933, + 0.2941420983608583, + 0.14068147921377303, + 0.2984942700019129, + -0.9543545268258804, + -0.010421511549433882, + 0.1311946012529829, + 0.05184460530104417, + -0.990000057324872 + ], + [ + 0.9463198172252048, + 0.26102378203189935, + 0.19064466617406023, + 0.2644059512700204, + -0.9643788111703684, + 0.007937348336998818, + 0.18592551320313994, + 0.04289631428678635, + -0.981627021714846 + ], + [ + 0.9646810158733626, + 0.18887902991551497, + 0.18361712793667068, + 0.18843121257265655, + -0.9818817748193054, + 0.020046406313599312, + 0.18407665724348649, + 0.015260810459002284, + -0.982793412636755 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0070771872997283936, + 0.0002758488990366459, + -0.010322755202651024, + 0.004899404011666775, + 0.03812329098582268, + -0.0034973621368408203, + 1.0 + ], + [ + -0.014332115650177002, + 0.017046144232153893, + -0.0027048178017139435, + 0.014367267489433289, + 0.006025277078151703, + 0.002314172685146332, + 1.0 + ], + [ + -0.016804277896881104, + 0.031201940029859543, + 0.008978690952062607, + 0.007051076740026474, + -0.03004426881670952, + 0.08027740567922592, + 1.0 + ], + [ + -0.02266581356525421, + 0.03254558891057968, + -0.004738049581646919, + 0.007674757391214371, + 0.004529476165771484, + 0.09565088152885437, + 1.0 + ], + [ + -0.014407098293304443, + 0.025302238762378693, + -0.0106198163703084, + 0.005026761442422867, + 0.015491940081119537, + 0.07502821087837219, + 1.0 + ], + [ + -0.005801215767860413, + 0.008698053658008575, + -0.008354442194104195, + -0.012197919189929962, + 0.02233271300792694, + 0.03240013122558594, + 1.0 + ], + [ + -0.0019201785326004028, + 0.0020094960927963257, + -0.007834081538021564, + -0.015283949673175812, + 0.018400738015770912, + 0.010255008935928345, + 1.0 + ], + [ + 0.007154092192649841, + 0.0007064342498779297, + -0.0178676825016737, + -0.019883133471012115, + 0.02989286743104458, + -0.012176305055618286, + 0.0 + ], + [ + 0.00598520040512085, + 0.0030131563544273376, + -0.004437293857336044, + 0.000495456624776125, + 0.0046820021234452724, + -0.004305362701416016, + 0.0 + ], + [ + 1.8790364265441895e-05, + -0.0007809847593307495, + -0.007697088643908501, + -0.006217000540345907, + 0.019526613876223564, + -0.0014915764331817627, + 0.0 + ], + [ + 0.0009129196405410767, + -0.0019266679883003235, + -4.209578037261963e-07, + -0.0005800814833492041, + -7.586553692817688e-05, + 0.0027884840965270996, + 0.0 + ], + [ + 0.0018815100193023682, + -0.0030819177627563477, + 0.0012023039162158966, + 0.0004394687421154231, + -0.003064742311835289, + -0.0061227381229400635, + 0.0 + ], + [ + 0.0026848018169403076, + -0.006548598408699036, + 0.015748485922813416, + 0.013169103302061558, + -0.04734896123409271, + 0.0019069015979766846, + 0.0 + ], + [ + 0.0047510117292404175, + -0.015877366065979004, + 0.014513849280774593, + 0.011107155121862888, + -0.04294562339782715, + -0.012428998947143555, + 0.0 + ], + [ + 0.0049402713775634766, + -0.011988848447799683, + 0.005648269318044186, + -0.0005152970552444458, + -0.016885310411453247, + -0.003092527389526367, + 0.0 + ], + [ + 0.0028380006551742554, + -0.00934494286775589, + -0.0003786634188145399, + -0.005999239161610603, + -0.001622721552848816, + -0.008828788995742798, + 0.0 + ], + [ + -0.0013873875141143799, + -0.002215757966041565, + -0.005943354684859514, + -0.007930295541882515, + 0.019383780658245087, + 0.010706573724746704, + 0.0 + ], + [ + -0.0033563077449798584, + -0.0019156187772750854, + -0.014882194809615612, + -0.008654410019516945, + 0.04911398887634277, + -0.004834979772567749, + 1.0 + ], + [ + 0.00041413307189941406, + 0.001614212989807129, + -0.00143524631857872, + -0.007372559979557991, + 0.005364538170397282, + 0.002057492733001709, + 1.0 + ], + [ + -0.0006212294101715088, + -0.0009056776762008667, + 0.0023970864713191986, + 0.013279760256409645, + 0.0063009923323988914, + -0.0005038976669311523, + 1.0 + ], + [ + 0.008569598197937012, + -0.007214676588773727, + 0.025418080389499664, + 0.02091050148010254, + -0.08580325543880463, + -0.03339904546737671, + 1.0 + ], + [ + 0.00141066312789917, + -0.00389312207698822, + 0.01025650929659605, + -0.0032580941915512085, + -0.03258287161588669, + -0.006365090608596802, + 1.0 + ], + [ + 0.0007494986057281494, + -0.0023320764303207397, + -0.0021988172084093094, + -0.013891038484871387, + 0.0013625100255012512, + -0.011486709117889404, + 1.0 + ], + [ + -0.002171456813812256, + 0.008913587778806686, + -0.018476378172636032, + -0.004045016597956419, + 0.052456773817539215, + 0.004044890403747559, + 1.0 + ], + [ + -0.006716877222061157, + 0.018303565680980682, + -0.012330245226621628, + 3.744009882211685e-05, + 0.031182292848825455, + 0.04454544186592102, + 0.0 + ], + [ + 0.0001968294382095337, + 0.0064189136028289795, + -0.0028058532625436783, + -0.0037742839194834232, + -0.0042140185832977295, + 0.0015950500965118408, + 0.0 + ], + [ + 0.007902011275291443, + 0.0010803565382957458, + 0.004080078564584255, + -0.0016616578213870525, + -0.016849692910909653, + 0.0013424456119537354, + 0.0 + ], + [ + 0.003133922815322876, + -0.006704501807689667, + -0.0004919515922665596, + 0.0002469418104737997, + -6.952136754989624e-05, + -0.016581624746322632, + 0.0 + ], + [ + 0.0023850202560424805, + -0.002330988645553589, + 0.0010361205786466599, + 0.013871356844902039, + 0.0007996037602424622, + -0.026416897773742676, + 0.0 + ], + [ + 0.010770648717880249, + -0.006590791046619415, + 0.008021065965294838, + 0.03486084192991257, + -0.014981433749198914, + -0.058581188321113586, + 0.0 + ], + [ + 0.029675155878067017, + -0.007319826632738113, + 0.015869328752160072, + 0.0019269101321697235, + -0.06885235756635666, + -0.05186864733695984, + 0.0 + ], + [ + 0.026748090982437134, + -0.001359499990940094, + -0.005093341693282127, + -0.020191378891468048, + 0.0015081316232681274, + -0.0012894868850708008, + 0.0 + ], + [ + 0.016632795333862305, + -0.0021006129682064056, + -0.009042072109878063, + -0.03717166557908058, + -0.0011425614356994629, + 0.03455159068107605, + 0.0 + ], + [ + 0.009508371353149414, + 0.001343272626399994, + -0.015768520534038544, + -0.04321036860346794, + 0.02058827131986618, + 0.05952496826648712, + 0.0 + ], + [ + 0.007692247629165649, + 0.00044600293040275574, + -0.005004106089472771, + -0.02144474908709526, + 0.0020455047488212585, + 0.020366311073303223, + 1.0 + ], + [ + -0.0025514066219329834, + -0.0008744075894355774, + -0.0014312099665403366, + 0.0007343068718910217, + 0.024373739957809448, + -0.003598332405090332, + 1.0 + ], + [ + -0.00302964448928833, + 0.001852869987487793, + 0.014367607422173023, + 0.015765082091093063, + -0.03894995152950287, + 0.009294956922531128, + 1.0 + ], + [ + -0.0031863152980804443, + -0.002127707004547119, + 0.023431414738297462, + 0.008649077266454697, + -0.05543981492519379, + -0.03338623046875, + 1.0 + ], + [ + -0.007268756628036499, + -0.005117330700159073, + 0.010697850026190281, + 0.02814466878771782, + 0.001881331205368042, + -0.07955510914325714, + 1.0 + ], + [ + -0.0076507627964019775, + -0.005292169749736786, + -0.002174112945795059, + 0.028354287147521973, + 0.0399145781993866, + -0.020276889204978943, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0099300146102905 + ], + [ + 1.0099300146102905 + ], + [ + 1.0099300146102905 + ], + [ + 1.0099300146102905 + ], + [ + 1.0099300146102905 + ], + [ + 1.0099300146102905 + ], + [ + 1.0099300146102905 + ], + [ + 0.9643021821975708 + ], + [ + 0.672171950340271 + ], + [ + 0.35856863856315613 + ], + [ + 0.14915025234222412 + ], + [ + 0.06681985408067703 + ], + [ + 0.06065736711025238 + ], + [ + 0.059241458773612976 + ], + [ + 0.058401256799697876 + ], + [ + 0.05868057906627655 + ], + [ + 0.058401256799697876 + ], + [ + 0.08123486489057541 + ], + [ + 0.23394888639450073 + ], + [ + 0.5014150738716125 + ], + [ + 0.8196109533309937 + ], + [ + 1.0131081342697144 + ], + [ + 1.0073583126068115 + ], + [ + 1.0047606229782104 + ], + [ + 0.9476637244224548 + ], + [ + 0.649078905582428 + ], + [ + 0.3453405201435089 + ], + [ + 0.14042599499225616 + ], + [ + 0.05619491636753082 + ], + [ + 0.05430474132299423 + ], + [ + 0.05403778702020645 + ], + [ + 0.05403778702020645 + ], + [ + 0.05430474132299423 + ], + [ + 0.05403778702020645 + ], + [ + 0.07365728914737701 + ], + [ + 0.21919596195220947 + ], + [ + 0.4737623631954193 + ], + [ + 0.7912794351577759 + ], + [ + 1.0092895030975342 + ], + [ + 1.0067112445831299 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.29685670137405396, + -0.00752373319119215, + 0.021519357338547707 + ], + [ + 0.28252458572387695, + 0.009522411040961742, + 0.018814539536833763 + ], + [ + 0.26572030782699585, + 0.04072435200214386, + 0.02779323048889637 + ], + [ + 0.24305449426174164, + 0.07326994091272354, + 0.02305518090724945 + ], + [ + 0.2286473959684372, + 0.09857217967510223, + 0.012435364536941051 + ], + [ + 0.22284618020057678, + 0.10727023333311081, + 0.004080922808498144 + ], + [ + 0.22092600166797638, + 0.10927972942590714, + -0.0037531584966927767 + ], + [ + 0.22808009386062622, + 0.10998616367578506, + -0.021620841696858406 + ], + [ + 0.23406529426574707, + 0.1129993200302124, + -0.02605813555419445 + ], + [ + 0.2340840846300125, + 0.11221833527088165, + -0.03375522419810295 + ], + [ + 0.2349970042705536, + 0.11029166728258133, + -0.03375564515590668 + ], + [ + 0.23687851428985596, + 0.10720974951982498, + -0.03255334123969078 + ], + [ + 0.23956331610679626, + 0.10066115111112595, + -0.016804855316877365 + ], + [ + 0.24431432783603668, + 0.08478378504514694, + -0.0022910062689334154 + ], + [ + 0.24925459921360016, + 0.07279493659734726, + 0.003357263281941414 + ], + [ + 0.2520925998687744, + 0.06344999372959137, + 0.002978599863126874 + ], + [ + 0.25070521235466003, + 0.061234235763549805, + -0.0029647548217326403 + ], + [ + 0.24734890460968018, + 0.05931861698627472, + -0.01784694939851761 + ], + [ + 0.2477630376815796, + 0.06093282997608185, + -0.01928219571709633 + ], + [ + 0.24714180827140808, + 0.06002715229988098, + -0.01688510924577713 + ], + [ + 0.2557114064693451, + 0.052812475711107254, + 0.00853297021239996 + ], + [ + 0.25712206959724426, + 0.048919353634119034, + 0.01878947950899601 + ], + [ + 0.2578715682029724, + 0.046587277203798294, + 0.0165906623005867 + ], + [ + 0.25570011138916016, + 0.05550086498260498, + -0.0018857162212952971 + ], + [ + 0.248983234167099, + 0.07380443066358566, + -0.01421596109867096 + ], + [ + 0.24918006360530853, + 0.08022334426641464, + -0.017021814361214638 + ], + [ + 0.2570820748806, + 0.08130370080471039, + -0.012941735796630383 + ], + [ + 0.26021599769592285, + 0.07459919899702072, + -0.013433687388896942 + ], + [ + 0.26260101795196533, + 0.07226821035146713, + -0.012397566810250282 + ], + [ + 0.2733716666698456, + 0.06567741930484772, + -0.004376500379294157 + ], + [ + 0.3030468225479126, + 0.058357592672109604, + 0.011492827907204628 + ], + [ + 0.32979491353034973, + 0.05699809268116951, + 0.006399486213922501 + ], + [ + 0.34642770886421204, + 0.054897479712963104, + -0.0026425858959555626 + ], + [ + 0.35593608021736145, + 0.0562407523393631, + -0.01841110549867153 + ], + [ + 0.3636283278465271, + 0.056686755269765854, + -0.023415211588144302 + ], + [ + 0.3610769212245941, + 0.055812347680330276, + -0.02484642155468464 + ], + [ + 0.3580472767353058, + 0.05766521766781807, + -0.010478814132511616 + ], + [ + 0.35486096143722534, + 0.05553751066327095, + 0.012952600605785847 + ], + [ + 0.34759220480918884, + 0.05042017996311188, + 0.023650450631976128 + ], + [ + 0.33994144201278687, + 0.04512801021337509, + 0.02147633768618107 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9948719372190742, + 0.08168569542592831, + 0.05964290147829294, + 0.0803245800443398, + -0.9964582844426223, + 0.024876679970744962, + 0.061463732189538677, + -0.019958319780204167, + -0.9979097529821442 + ], + [ + 0.9950343956859911, + 0.08463287673021168, + 0.05238155761508915, + 0.08265582594313516, + -0.9958214880104257, + 0.03882754762226641, + 0.055448767700213626, + -0.03430510447542778, + -0.9978720328616577 + ], + [ + 0.983113452850657, + 0.1657828999512868, + 0.0774852818785691, + 0.16183889354941666, + -0.9852990660017216, + 0.054716753109411306, + 0.08541727787023101, + -0.04125264379257797, + -0.9954908879650095 + ], + [ + 0.9635272733948665, + 0.2594562784027005, + 0.06555633471812237, + 0.25508786315472726, + -0.9645155533279866, + 0.06811702767710137, + 0.08090349495175898, + -0.04890998860997825, + -0.9955211888848787 + ], + [ + 0.9427668603192109, + 0.33053353144551595, + 0.044025352627930926, + 0.3269656242435794, + -0.942249591464971, + 0.07252025887365308, + 0.06545324779462078, + -0.053974919863315166, + -0.9963947914250078 + ], + [ + 0.9328125516737734, + 0.3594762838818287, + 0.025249648836653857, + 0.35776875159509397, + -0.9322144949369492, + 0.05456790092661011, + 0.04315395488192621, + -0.041868087560328685, + -0.9981907630418592 + ], + [ + 0.9296757670598248, + 0.36814119352227054, + 0.013229881848485251, + 0.36754551823498544, + -0.9293886253870363, + 0.03386849607779051, + 0.02476409027407874, + -0.026624136290093414, + -0.999338728960158 + ], + [ + 0.9343563583381314, + 0.35626734281797673, + -0.007195559361403262, + 0.3563031258176606, + -0.9343596676330983, + 0.004482636850110752, + -0.00512622333394808, + -0.006752180535496308, + -0.9999640643004859 + ], + [ + 0.9358489880375502, + 0.352205939814015, + -0.011732329215441815, + 0.35226477676164863, + -0.9358944660903737, + 0.003327971526336047, + -0.009808090647974941, + -0.007247365117111151, + -0.9999256357633303 + ], + [ + 0.9360155377113248, + 0.3508568754028088, + -0.02782743512359273, + 0.3507344092876537, + -0.9364285297855189, + -0.009326454062096121, + -0.029330654691302728, + -0.0010303331061909332, + -0.9995692327743337 + ], + [ + 0.9350359614260312, + 0.3534828235456981, + -0.027525339203329117, + 0.35334389232984537, + -0.935440907008993, + -0.0099198410968751, + -0.029254821710140443, + -0.00045050233459353103, + -0.9995718845857733 + ], + [ + 0.9372615146591765, + 0.34773917426640627, + -0.024866037466877936, + 0.3476418719228546, + -0.9375908888381724, + -0.008273696490638652, + -0.02619125855623893, + -0.0008898585076429892, + -0.9996565540859904 + ], + [ + 0.9367086640477009, + 0.3497924989463081, + 0.014902562828859944, + 0.3494702044691032, + -0.9367217549276733, + 0.020565262788086475, + 0.021153129468101887, + -0.01405565815310304, + -0.9996774397712438 + ], + [ + 0.9392574159792981, + 0.3392868760098925, + 0.05176796591851484, + 0.33718285598225084, + -0.9403477010604532, + 0.045320224425461075, + 0.06405644510543321, + -0.025112086288663765, + -0.9976302696704257 + ], + [ + 0.9391425471665591, + 0.33674153471483076, + 0.06794420431065384, + 0.3338666319619013, + -0.9412765587021091, + 0.050314134200355125, + 0.0808971455857608, + -0.024567841496872293, + -0.9964196269645941 + ], + [ + 0.9419282316170319, + 0.32803052587479836, + 0.07188310355789297, + 0.3255189294762015, + -0.9444842454946395, + 0.04457506663023193, + 0.08251444137530871, + -0.01858720276763348, + -0.996416520767192 + ], + [ + 0.939718774224194, + 0.3373516974707339, + 0.05587895475215207, + 0.3360604124134322, + -0.9413178756370247, + 0.03136967029971784, + 0.06318247050482029, + -0.010699963542628211, + -0.9979446308293333 + ], + [ + 0.9431232851857718, + 0.33220347472781797, + 0.01262221530322416, + 0.3321436034556092, + -0.9432054807951409, + 0.006636842738065795, + 0.014110124872584874, + -0.002066972851980538, + -0.9998983108293108 + ], + [ + 0.9424956894750358, + 0.33406819462073967, + 0.010015820676103262, + 0.33410385180973423, + -0.9425339764178078, + -0.002078341630704781, + 0.008745943452560637, + 0.005305152295117451, + -0.9999476805474622 + ], + [ + 0.9426971610483841, + 0.33364942087268845, + -0.00035567209135930317, + 0.3336406513481276, + -0.9426635003795669, + 0.008333115872199521, + 0.002445060186196297, + -0.007974271343637188, + -0.9999652157336394 + ], + [ + 0.9496057891853176, + 0.30427673672412897, + 0.07526295658718876, + 0.30080105489980297, + -0.9521491701193114, + 0.05413578495110177, + 0.088133821640138, + -0.028768478055353194, + -0.9956931275013817 + ], + [ + 0.9482535630573484, + 0.29875530982256615, + 0.1075195098661888, + 0.2937446513160257, + -0.9539906792973597, + 0.060132051661224775, + 0.1205373799792804, + -0.025437151306391324, + -0.9923828350798627 + ], + [ + 0.9517216337778986, + 0.2862316416706312, + 0.11089354853039272, + 0.2828797284940461, + -0.9580896002933879, + 0.045203727908116074, + 0.11918469283537196, + -0.011651828877545012, + -0.9928037287790302 + ], + [ + 0.955245010299612, + 0.2892699452048767, + 0.061885936196046994, + 0.2881372803334683, + -0.9572168081624325, + 0.026699997253871538, + 0.06696176505832185, + -0.007673393805354608, + -0.9977260350656294 + ], + [ + 0.9429786957243027, + 0.3313837345295457, + 0.03124099709267399, + 0.33091988058080446, + -0.9434644527951302, + 0.019153562289339492, + 0.035821949227799514, + -0.007723134158942609, + -0.9993283450159332 + ], + [ + 0.9422989367977318, + 0.3327837193129368, + 0.03643775336258276, + 0.3323703928016002, + -0.942994903524061, + 0.01704505548705015, + 0.04003293267765819, + -0.003950707265176243, + -0.9991905505024208 + ], + [ + 0.941082401365189, + 0.33402473174554476, + 0.05283362965996137, + 0.3333624966191033, + -0.9425615318191631, + 0.021147212170660554, + 0.056862638776330576, + -0.002288518522850556, + -0.9983793883060501 + ], + [ + 0.9464767174675178, + 0.3183636162770247, + 0.05316419023109565, + 0.3177114496786497, + -0.9479652848878011, + 0.02052445835293213, + 0.05693204752161649, + -0.0025350500203690715, + -0.9983748371660771 + ], + [ + 0.9545816798240018, + 0.2939171122733921, + 0.04885230452350857, + 0.2926137757113484, + -0.9556904825150706, + 0.03213844884341349, + 0.05613372255904729, + -0.01638391720505897, + -0.9982888221595403 + ], + [ + 0.9691501447145802, + 0.23982500178343183, + 0.056850378356573215, + 0.23599780907376036, + -0.969469333789844, + 0.06659012654636771, + 0.07108467564878918, + -0.05111926604180886, + -0.9961595201207754 + ], + [ + 0.9729547327739371, + 0.19293219187686236, + 0.12702856887482594, + 0.18408592135469595, + -0.9797983640951784, + 0.07815074711994172, + 0.1395401789155709, + -0.052652968140475626, + -0.9888155558111981 + ], + [ + 0.9733970200740695, + 0.1890143443842654, + 0.1295060574950375, + 0.18286980439837452, + -0.9814302174114431, + 0.05790822904413263, + 0.1380466441106841, + -0.03268495018680322, + -0.9898862652249825 + ], + [ + 0.9663443184113493, + 0.2179106181528512, + 0.13672461654854495, + 0.21635178205693265, + -0.9759600162571809, + 0.02634298897377269, + 0.13917817600074334, + 0.004124216716550427, + -0.9902587672732722 + ], + [ + 0.9543142253447459, + 0.2704284559917946, + 0.12709370359916136, + 0.2741895196943617, + -0.9615910555739315, + -0.012757316723636662, + 0.1187622271365466, + 0.04702225037262652, + -0.991808671758551 + ], + [ + 0.9487625544182234, + 0.28729155991411137, + 0.1315795384393941, + 0.2936383833733106, + -0.9554053013835866, + -0.031260356652581006, + 0.11673095195241108, + 0.06829545878207752, + -0.9908126034553806 + ], + [ + 0.9522516120175012, + 0.2855253987446164, + 0.10813007944969992, + 0.29096765735380564, + -0.9559740348192177, + -0.038098124960471255, + 0.09249156601609142, + 0.06774135681541302, + -0.993406472091207 + ], + [ + 0.9453513354187933, + 0.2941420983608583, + 0.14068147921377303, + 0.2984942700019129, + -0.9543545268258804, + -0.010421511549433882, + 0.1311946012529829, + 0.05184460530104417, + -0.990000057324872 + ], + [ + 0.9463198172252048, + 0.26102378203189935, + 0.19064466617406023, + 0.2644059512700204, + -0.9643788111703684, + 0.007937348336998818, + 0.18592551320313994, + 0.04289631428678635, + -0.981627021714846 + ], + [ + 0.9646810158733626, + 0.18887902991551497, + 0.18361712793667068, + 0.18843121257265655, + -0.9818817748193054, + 0.020046406313599312, + 0.18407665724348649, + 0.015260810459002284, + -0.982793412636755 + ], + [ + 0.9747682287264995, + 0.17358275917199925, + 0.14034217464339838, + 0.16996032015130866, + -0.9847374951642517, + 0.037490734744729554, + 0.14470794670461978, + -0.012692176167652204, + -0.9893930052434481 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005522.json b/json/chunk-0005/episode_0005522.json new file mode 100644 index 0000000000000000000000000000000000000000..a680173ee69d170fda67fd54c6e26c4fba2ad7cb --- /dev/null +++ b/json/chunk-0005/episode_0005522.json @@ -0,0 +1,2482 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 40, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPick up the sushi object and put it inside of the pan." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005522.mp4", + "start": 0, + "end": 40, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2752124071121216, + 0.10638773441314697, + 0.06211191415786743, + -0.015072385780513287, + -0.09265696257352829, + 0.4570465385913849, + 0.0, + 0.9994885921478271 + ], + [ + 0.2647252678871155, + 0.10228537768125534, + 0.04988279566168785, + -0.010812877677381039, + -0.04065246507525444, + 0.4598129987716675, + 0.0, + 0.9988223910331726 + ], + [ + 0.261930376291275, + 0.09877149015665054, + 0.04946819692850113, + 0.009426106698811054, + -0.019326644018292427, + 0.4396408200263977, + 0.0, + 0.9988223910331726 + ], + [ + 0.2657872140407562, + 0.08766885101795197, + 0.04906398057937622, + 0.01923033967614174, + -0.01884537562727928, + 0.39697229862213135, + 0.0, + 0.9994885921478271 + ], + [ + 0.2750505208969116, + 0.07298930734395981, + 0.051630910485982895, + 0.016117848455905914, + -0.03710421919822693, + 0.34260112047195435, + 0.0, + 0.9988223910331726 + ], + [ + 0.2955511212348938, + 0.05359156057238579, + 0.059947822242975235, + -0.014750678092241287, + -0.09571374952793121, + 0.27364662289619446, + 0.0, + 0.9994885921478271 + ], + [ + 0.31241920590400696, + 0.024122314527630806, + 0.061256103217601776, + -0.020086266100406647, + -0.11362607032060623, + 0.18377713859081268, + 0.0, + 0.9994885921478271 + ], + [ + 0.32114872336387634, + -0.00018921356240753084, + 0.0618974007666111, + -0.016970504075288773, + -0.1277441680431366, + 0.12315697222948074, + 0.0, + 0.9994885921478271 + ], + [ + 0.32155367732048035, + -0.02025025151669979, + 0.05772365629673004, + -0.016649296507239342, + -0.11539287120103836, + 0.0807286947965622, + 0.0, + 0.9988223910331726 + ], + [ + 0.3307877480983734, + -0.046285439282655716, + 0.0555596798658371, + -0.01706833951175213, + -0.11843917518854141, + 0.013934875838458538, + 0.0, + 0.9988223910331726 + ], + [ + 0.3382231295108795, + -0.07634597271680832, + 0.051384713500738144, + -0.019791439175605774, + -0.11025398224592209, + -0.06467043608427048, + 0.0, + 0.9988223910331726 + ], + [ + 0.34042853116989136, + -0.10010012239217758, + 0.04401692375540733, + -0.019486065953969955, + -0.09323336184024811, + -0.1291031837463379, + 0.0, + 0.9988223910331726 + ], + [ + 0.3434586226940155, + -0.12730954587459564, + 0.03765314072370529, + -0.016735099256038666, + -0.08285454660654068, + -0.21221309900283813, + 0.0, + 0.9994885921478271 + ], + [ + 0.3446822166442871, + -0.1369171291589737, + 0.025438833981752396, + -0.019105421379208565, + -0.05336529389023781, + -0.25176069140434265, + 0.0, + 0.9988223910331726 + ], + [ + 0.3491412103176117, + -0.14040812849998474, + 0.010053676553070545, + -0.02018170803785324, + -0.008797275833785534, + -0.26951199769973755, + 0.0, + 0.9988223910331726 + ], + [ + 0.3483845591545105, + -0.1392507255077362, + -0.0020849776919931173, + -0.011478365398943424, + 0.022923622280359268, + -0.25609198212623596, + 0.0, + 0.9583302736282349 + ], + [ + 0.3550003468990326, + -0.13966916501522064, + -0.005982026923447847, + 0.0024611884728074074, + 0.03521924465894699, + -0.2675715982913971, + 0.0, + 0.6931989789009094 + ], + [ + 0.35543161630630493, + -0.13983982801437378, + -0.0055488524958491325, + 0.002882859203964472, + 0.03980033099651337, + -0.2691004276275635, + 0.0, + 0.5879040956497192 + ], + [ + 0.3556579351425171, + -0.13992851972579956, + -0.005558365024626255, + 0.002664226572960615, + 0.03827882185578346, + -0.2706398069858551, + 0.0, + 0.5769375562667847 + ], + [ + 0.35588425397872925, + -0.14001721143722534, + -0.005567505024373531, + 0.0024502917658537626, + 0.036756739020347595, + -0.2721787691116333, + 0.0, + 0.5759422183036804 + ], + [ + 0.3558405339717865, + -0.13937021791934967, + -0.00529162771999836, + 0.0018859307747334242, + 0.036789990961551666, + -0.2859949469566345, + 0.0, + 0.5759422183036804 + ], + [ + 0.35797542333602905, + -0.13894152641296387, + 0.0070941210724413395, + -0.00019636213255580515, + 0.015394549816846848, + -0.2967970669269562, + 0.0, + 0.5759422183036804 + ], + [ + 0.358646035194397, + -0.13246585428714752, + 0.03502775356173515, + -0.00209577614441514, + -0.05213009566068649, + -0.2891044020652771, + 0.0, + 0.5759422183036804 + ], + [ + 0.3495817482471466, + -0.12276242673397064, + 0.05104489251971245, + -0.012112118303775787, + -0.08541597425937653, + -0.28320756554603577, + 0.0, + 0.5759422183036804 + ], + [ + 0.3393356502056122, + -0.10138044506311417, + 0.06305187195539474, + -0.02240908518433571, + -0.09272857755422592, + -0.23509088158607483, + 0.0, + 0.5759422183036804 + ], + [ + 0.3353356420993805, + -0.0692925974726677, + 0.07032407075166702, + -0.0328105166554451, + -0.10974261909723282, + -0.1580650955438614, + 0.0, + 0.5759422183036804 + ], + [ + 0.3338925838470459, + -0.04272223263978958, + 0.0726531445980072, + -0.03126776963472366, + -0.1132509633898735, + -0.09510698169469833, + 0.0, + 0.5759422183036804 + ], + [ + 0.3273846507072449, + -0.027346599847078323, + 0.06417366862297058, + -0.021107973530888557, + -0.09041955322027206, + -0.06258340924978256, + 0.0, + 0.5759422183036804 + ], + [ + 0.3275943696498871, + -0.02353774383664131, + 0.06201319769024849, + -0.032628003507852554, + -0.09800191223621368, + -0.0402543731033802, + 0.0, + 0.5759422183036804 + ], + [ + 0.3243802487850189, + -0.022665690630674362, + 0.0508427657186985, + -0.029759462922811508, + -0.08516235649585724, + -0.02061348780989647, + 0.0, + 0.5759422183036804 + ], + [ + 0.32310348749160767, + -0.022175997495651245, + 0.03817247971892357, + -0.026244815438985825, + -0.05600568652153015, + -0.017701858654618263, + 0.0, + 0.5759422183036804 + ], + [ + 0.3206460177898407, + -0.021832261234521866, + 0.023663537576794624, + -0.02333894930779934, + -0.016272297129034996, + -0.021672869101166725, + 0.0, + 0.5759422183036804 + ], + [ + 0.31777676939964294, + -0.021673668175935745, + 0.013165340758860111, + -0.02185872197151184, + 0.017860211431980133, + -0.0033009403850883245, + 0.0, + 0.6289845705032349 + ], + [ + 0.31650590896606445, + -0.021627875044941902, + 0.012513077817857265, + -0.020254677161574364, + 0.029451804235577583, + 0.03792763128876686, + 0.0, + 0.9553104043006897 + ], + [ + 0.3168991208076477, + -0.021654589101672173, + 0.013295785523951054, + -0.019867176190018654, + 0.02832852490246296, + 0.05783378332853317, + 0.0, + 1.0174883604049683 + ], + [ + 0.3180560767650604, + -0.02340250462293625, + 0.013015718199312687, + -0.03129426762461662, + 0.020431779325008392, + 0.06663671135902405, + 0.0, + 1.002137303352356 + ], + [ + 0.3143652677536011, + -0.02014174684882164, + 0.027557460591197014, + -0.059756144881248474, + -0.01875811442732811, + 0.08629278093576431, + 0.0, + 0.9981546401977539 + ], + [ + 0.3162206709384918, + -0.01846272684633732, + 0.05432334169745445, + -0.06943309307098389, + -0.09711011499166489, + 0.08155311644077301, + 0.0, + 1.0014774799346924 + ], + [ + 0.31346628069877625, + -0.013433258980512619, + 0.07925029844045639, + -0.04257206618785858, + -0.13912998139858246, + 0.08100362122058868, + 0.0, + 0.9994885921478271 + ], + [ + 0.3099820911884308, + -0.011355886235833168, + 0.10384203493595123, + -0.030995385721325874, + -0.21584056317806244, + 0.07171935588121414, + 0.0, + 0.9994885921478271 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9583302736282349 + ], + [ + 0.6931989789009094 + ], + [ + 0.5879040956497192 + ], + [ + 0.5769375562667847 + ], + [ + 0.5759422183036804 + ], + [ + 0.5759422183036804 + ], + [ + 0.5759422183036804 + ], + [ + 0.5759422183036804 + ], + [ + 0.5759422183036804 + ], + [ + 0.5759422183036804 + ], + [ + 0.5759422183036804 + ], + [ + 0.5759422183036804 + ], + [ + 0.5759422183036804 + ], + [ + 0.5759422183036804 + ], + [ + 0.5759422183036804 + ], + [ + 0.5759422183036804 + ], + [ + 0.5759422183036804 + ], + [ + 0.6289845705032349 + ], + [ + 0.9553104043006897 + ], + [ + 1.0174883604049683 + ], + [ + 1.002137303352356 + ], + [ + 0.9981546401977539 + ], + [ + 1.0014774799346924 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2752124071121216, + 0.10638773441314697, + 0.06211191415786743 + ], + [ + 0.2647252678871155, + 0.10228537768125534, + 0.04988279566168785 + ], + [ + 0.261930376291275, + 0.09877149015665054, + 0.04946819692850113 + ], + [ + 0.2657872140407562, + 0.08766885101795197, + 0.04906398057937622 + ], + [ + 0.2750505208969116, + 0.07298930734395981, + 0.051630910485982895 + ], + [ + 0.2955511212348938, + 0.05359156057238579, + 0.059947822242975235 + ], + [ + 0.31241920590400696, + 0.024122314527630806, + 0.061256103217601776 + ], + [ + 0.32114872336387634, + -0.00018921356240753084, + 0.0618974007666111 + ], + [ + 0.32155367732048035, + -0.02025025151669979, + 0.05772365629673004 + ], + [ + 0.3307877480983734, + -0.046285439282655716, + 0.0555596798658371 + ], + [ + 0.3382231295108795, + -0.07634597271680832, + 0.051384713500738144 + ], + [ + 0.34042853116989136, + -0.10010012239217758, + 0.04401692375540733 + ], + [ + 0.3434586226940155, + -0.12730954587459564, + 0.03765314072370529 + ], + [ + 0.3446822166442871, + -0.1369171291589737, + 0.025438833981752396 + ], + [ + 0.3491412103176117, + -0.14040812849998474, + 0.010053676553070545 + ], + [ + 0.3483845591545105, + -0.1392507255077362, + -0.0020849776919931173 + ], + [ + 0.3550003468990326, + -0.13966916501522064, + -0.005982026923447847 + ], + [ + 0.35543161630630493, + -0.13983982801437378, + -0.0055488524958491325 + ], + [ + 0.3556579351425171, + -0.13992851972579956, + -0.005558365024626255 + ], + [ + 0.35588425397872925, + -0.14001721143722534, + -0.005567505024373531 + ], + [ + 0.3558405339717865, + -0.13937021791934967, + -0.00529162771999836 + ], + [ + 0.35797542333602905, + -0.13894152641296387, + 0.0070941210724413395 + ], + [ + 0.358646035194397, + -0.13246585428714752, + 0.03502775356173515 + ], + [ + 0.3495817482471466, + -0.12276242673397064, + 0.05104489251971245 + ], + [ + 0.3393356502056122, + -0.10138044506311417, + 0.06305187195539474 + ], + [ + 0.3353356420993805, + -0.0692925974726677, + 0.07032407075166702 + ], + [ + 0.3338925838470459, + -0.04272223263978958, + 0.0726531445980072 + ], + [ + 0.3273846507072449, + -0.027346599847078323, + 0.06417366862297058 + ], + [ + 0.3275943696498871, + -0.02353774383664131, + 0.06201319769024849 + ], + [ + 0.3243802487850189, + -0.022665690630674362, + 0.0508427657186985 + ], + [ + 0.32310348749160767, + -0.022175997495651245, + 0.03817247971892357 + ], + [ + 0.3206460177898407, + -0.021832261234521866, + 0.023663537576794624 + ], + [ + 0.31777676939964294, + -0.021673668175935745, + 0.013165340758860111 + ], + [ + 0.31650590896606445, + -0.021627875044941902, + 0.012513077817857265 + ], + [ + 0.3168991208076477, + -0.021654589101672173, + 0.013295785523951054 + ], + [ + 0.3180560767650604, + -0.02340250462293625, + 0.013015718199312687 + ], + [ + 0.3143652677536011, + -0.02014174684882164, + 0.027557460591197014 + ], + [ + 0.3162206709384918, + -0.01846272684633732, + 0.05432334169745445 + ], + [ + 0.31346628069877625, + -0.013433258980512619, + 0.07925029844045639 + ], + [ + 0.3099820911884308, + -0.011355886235833168, + 0.10384203493595123 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.893510469131926, + 0.4399982142241527, + 0.0896694654339077, + 0.4394067249475097, + -0.8978732407921336, + 0.02730152999989992, + 0.09252443797478398, + 0.015007163255877382, + -0.9955973148961694 + ], + [ + 0.8953951156398668, + 0.4433607952641193, + 0.04121640584811906, + 0.4434138858431207, + -0.8962781290222468, + 0.008345134982996525, + 0.040641268801221514, + 0.01080373357447113, + -0.9991153920399177 + ], + [ + 0.9047355994357382, + 0.4257603991187055, + 0.013475075359179436, + 0.4255349838119686, + -0.9047868626747957, + 0.016754422796609807, + 0.01932544089542654, + -0.009424206777257096, + -0.9997688291104181 + ], + [ + 0.922072052644727, + 0.38689055821525914, + 0.009941111377780757, + 0.38655921097605045, + -0.9219251959281967, + 0.02501818383356207, + 0.018844260163603348, + -0.019225739950435732, + -0.9996375667121785 + ], + [ + 0.9412357547811437, + 0.33645767564609635, + 0.029520948839711188, + 0.33570695928460287, + -0.9415608463675053, + 0.027640732182651936, + 0.037095706078421616, + -0.016106057448466077, + -0.9991819171222076 + ], + [ + 0.9583850607050686, + 0.26885757789554343, + 0.09598790666267937, + 0.2690072393153242, + -0.9630680262371931, + 0.01162247975022471, + 0.09556767556705198, + 0.01468263081802186, + -0.9953146435871281 + ], + [ + 0.9768205470789352, + 0.18046862354669269, + 0.11512034885098403, + 0.18156597430857607, + -0.983378288355918, + 0.000969001322402227, + 0.11338172594288569, + 0.01995539790000292, + -0.9933510790837574 + ], + [ + 0.9843392807503931, + 0.12068267238338115, + 0.128498532902925, + 0.12184490248072116, + -0.992548435081835, + -0.0011932124973904456, + 0.12739701767020356, + 0.016831417141936325, + -0.9917089811460477 + ], + [ + 0.9901144940992248, + 0.0787192424150318, + 0.11608862755774066, + 0.08010474392830656, + -0.9967596409198798, + -0.007310829874433658, + 0.11513695573019464, + 0.016537808406071747, + -0.993211952363798 + ], + [ + 0.9928978676004337, + 0.011915851879417603, + 0.11837160549937398, + 0.013836804130611953, + -0.9997853668595393, + -0.015419567600539785, + 0.11816246174637157, + 0.016947940509817596, + -0.9928496361214588 + ], + [ + 0.9918504727595461, + -0.06678568357493161, + 0.1085002864332354, + -0.06423297402703251, + -0.9975734379777996, + -0.026858162424035013, + 0.11003074449583436, + 0.019669985017340207, + -0.9937335291490924 + ], + [ + 0.9873708146581085, + -0.1305193090822315, + 0.08979746275970465, + -0.12818569231492397, + -0.9912559416537777, + -0.03130633197655614, + 0.09309834932547015, + 0.01940020857567308, + -0.9954678946405522 + ], + [ + 0.9742136580426193, + -0.211948234132867, + 0.07736727041312931, + -0.20990132695785985, + -0.9771385913329025, + -0.03378766445437054, + 0.08275978144333458, + 0.016676911461985494, + -0.9964299770679027 + ], + [ + 0.9670966068839042, + -0.25005096369664825, + 0.046889961697751614, + -0.2487549009780254, + -0.9680447206826563, + -0.03178707281034998, + 0.05333996806384396, + 0.019077062478673468, + -0.9983941673978934 + ], + [ + 0.9638636482557486, + -0.2663779811812944, + 0.003104627658219887, + -0.2662507793519342, + -0.9636573854925694, + -0.021793711939748706, + 0.008797162361005029, + 0.020179557165682444, + -0.9997576683411789 + ], + [ + 0.9671331051055365, + -0.2530307260270896, + -0.025080045756072703, + -0.2532353778433463, + -0.9673901869566992, + -0.005298074029294855, + -0.022921614634672, + 0.011475097650398423, + -0.9996714068715045 + ], + [ + 0.9638177185349455, + -0.26447300820882147, + -0.033308157665486775, + -0.2642262723860225, + -0.9643899512142469, + 0.011683277706604588, + -0.035211964146860016, + -0.0024596597241923358, + -0.9993768396630778 + ], + [ + 0.9632470231364196, + -0.2659738224298907, + -0.037591198449350494, + -0.26565380162312385, + -0.9639759478772594, + 0.013357754201991685, + -0.03978982410123748, + -0.0028805721952172517, + -0.9992039192286128 + ], + [ + 0.9628941624268703, + -0.2674453077215783, + -0.03616406146944952, + -0.2671521650522147, + -0.963569364232173, + 0.012798477296938938, + -0.03826947441721816, + -0.0026622717585305213, + -0.9992639089034056 + ], + [ + 0.9625368753396641, + -0.2689165587802541, + -0.03473683959633867, + -0.2686490537686651, + -0.9631603649465917, + 0.012239170933893333, + -0.036748462832566685, + -0.002448634258987446, + -0.999321547185744 + ], + [ + 0.9587322511496849, + -0.2821781727869428, + -0.0347555665768893, + -0.2819212260854035, + -0.9593601653622211, + 0.012185868810849147, + -0.036781692293329005, + -0.001884653494590634, + -0.9993215474476896 + ], + [ + 0.9561648056890145, + -0.2924559209554694, + -0.014778317217362039, + -0.2924241626794813, + -0.9562789842661703, + 0.004314317103018665, + -0.015393941759439487, + 0.00019633886361022273, + -0.9998814869814108 + ], + [ + 0.9571975005318691, + -0.2851979546637237, + 0.049346444969930216, + -0.2847066189907767, + -0.9584663511620037, + -0.016864008806759864, + 0.05210648787226458, + 0.0020929275721747187, + -0.9986393410915647 + ], + [ + 0.9566635710619311, + -0.2804084967004642, + 0.07852316079488841, + -0.27841811942353767, + -0.9598049001861056, + -0.035466947365133776, + 0.08531214790224703, + 0.01206766576128953, + -0.9962811896565044 + ], + [ + 0.9683151366246839, + -0.2348906262016329, + 0.08480677983583733, + -0.23193064501096386, + -0.9717657204910426, + -0.04335389697965786, + 0.0925957455195306, + 0.022310943528441318, + -0.9954537908464425 + ], + [ + 0.9815930138151556, + -0.1608710543407695, + 0.1029352179993286, + -0.1564608046165092, + -0.98643665212294, + -0.04962608152212846, + 0.10952247188606846, + 0.03260728789359194, + -0.9934493408967516 + ], + [ + 0.9891036505497385, + -0.0984342476285483, + 0.10947450553888048, + -0.09435532642881153, + -0.9946586479230354, + -0.04184789703714472, + 0.113009029921034, + 0.03106240502151563, + -0.9931082952783076 + ], + [ + 0.9939652314044183, + -0.06443073308796185, + 0.08877949871963471, + -0.06228707367504243, + -0.9977007730031133, + -0.02671119619168054, + 0.09029639645169478, + 0.021020185126169336, + -0.9956930815291931 + ], + [ + 0.9943954441216846, + -0.0434114215788006, + 0.09640098125302012, + -0.04005040030778808, + -0.9985296329964898, + -0.036531321671698785, + 0.09784511303700057, + 0.03246568194883401, + -0.9946719626843684 + ], + [ + 0.996164197209242, + -0.0231333137008459, + 0.0843904141220125, + -0.020537327497093232, + -0.9992926955026764, + -0.03150122052036127, + 0.08505945201883004, + 0.029647234478337895, + -0.9959347022320504 + ], + [ + 0.9982756632744779, + -0.019163530245591892, + 0.05548386452319061, + -0.01767318072608884, + -0.9994730034535233, + -0.02722818485717897, + 0.05597641286224482, + 0.026200657932960253, + -0.9980882559808806 + ], + [ + 0.9996327927513224, + -0.02204490842627026, + 0.015757590826935623, + -0.02166830340254983, + -0.9994846464778254, + -0.023683878118916195, + 0.01627157902131243, + 0.023333740968262857, + -0.9995953042349586 + ], + [ + 0.9998350634336053, + -0.0029097983950971953, + -0.017927046661916118, + -0.0033004079266338287, + -0.9997569493700952, + -0.021797924069026187, + -0.0178592619174601, + 0.021853495361179833, + -0.9996016564133248 + ], + [ + 0.9988474724547134, + 0.038506741799567826, + -0.028652357788002597, + 0.03790209451232972, + -0.9990532471759574, + -0.02135510568349867, + -0.029447546628008296, + 0.02024450896308397, + -0.9993612969564283 + ], + [ + 0.9979275378236924, + 0.058351896662795874, + -0.027123521323712946, + 0.05777835735483705, + -0.9980985522583351, + -0.021469545900939982, + -0.028324736089154774, + 0.019857898571354747, + -0.9994015074982676 + ], + [ + 0.9975723374904819, + 0.06719263320939288, + -0.0182915695380227, + 0.06657350790248022, + -0.9972494909248897, + -0.032579455115257935, + -0.02043035778773176, + 0.031282629244305776, + -0.9993017550210892 + ], + [ + 0.9961038141467354, + 0.08491588315599236, + 0.02380092918698811, + 0.08617056256991862, + -0.994597405442798, + -0.057884671829755874, + 0.01875701438688762, + 0.059710081847981475, + -0.9980395185246913 + ], + [ + 0.9919805635610758, + 0.07456216249833361, + 0.1020541299537805, + 0.08107893574733369, + -0.9948228584135925, + -0.061267336778169146, + 0.09695755615283815, + 0.06905044751036704, + -0.9928903605149402 + ], + [ + 0.9870897116437958, + 0.07495892759951052, + 0.1415452589813548, + 0.08013318477446203, + -0.9962954926588419, + -0.031208396395472664, + 0.13868155560444725, + 0.04214795939077439, + -0.9894397281564571 + ], + [ + 0.9742856356846805, + 0.06500335769843867, + 0.21573609708721994, + 0.06999519003533648, + -0.9974257913515212, + -0.015571259380939482, + 0.21416856321695463, + 0.03027134345747144, + -0.9763275435502496 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.010487139225006104, + -0.004102356731891632, + -0.01222911849617958, + 0.004259508103132248, + 0.05200449749827385, + 0.0027664601802825928, + 1.0 + ], + [ + -0.002794891595840454, + -0.0035138875246047974, + -0.0004145987331867218, + 0.020238984376192093, + 0.021325821056962013, + -0.020172178745269775, + 1.0 + ], + [ + 0.003856837749481201, + -0.011102639138698578, + -0.00040421634912490845, + 0.009804232977330685, + 0.00048126839101314545, + -0.04266852140426636, + 1.0 + ], + [ + 0.009263306856155396, + -0.014679543673992157, + 0.002566929906606674, + -0.0031124912202358246, + -0.018258843570947647, + -0.054371178150177, + 1.0 + ], + [ + 0.020500600337982178, + -0.01939774677157402, + 0.00831691175699234, + -0.0308685265481472, + -0.058609530329704285, + -0.06895449757575989, + 1.0 + ], + [ + 0.01686808466911316, + -0.029469246044754982, + 0.0013082809746265411, + -0.0053355880081653595, + -0.01791232079267502, + -0.08986948430538177, + 1.0 + ], + [ + 0.008729517459869385, + -0.024311527609825134, + 0.0006412975490093231, + 0.003115762025117874, + -0.014118097722530365, + -0.06062016636133194, + 1.0 + ], + [ + 0.0004049539566040039, + -0.020061038434505463, + -0.004173744469881058, + 0.00032120756804943085, + 0.012351296842098236, + -0.04242827743291855, + 1.0 + ], + [ + 0.009234070777893066, + -0.026035187765955925, + -0.0021639764308929443, + -0.00041904300451278687, + -0.0030463039875030518, + -0.06679382175207138, + 1.0 + ], + [ + 0.0074353814125061035, + -0.030060533434152603, + -0.004174966365098953, + -0.0027230996638536453, + 0.008185192942619324, + -0.07860530912876129, + 1.0 + ], + [ + 0.002205401659011841, + -0.023754149675369263, + -0.0073677897453308105, + 0.0003053732216358185, + 0.01702062040567398, + -0.06443274766206741, + 1.0 + ], + [ + 0.0030300915241241455, + -0.02720942348241806, + -0.006363783031702042, + 0.0027509666979312897, + 0.010378815233707428, + -0.08310991525650024, + 1.0 + ], + [ + 0.0012235939502716064, + -0.009607583284378052, + -0.012214306741952896, + -0.002370322123169899, + 0.02948925271630287, + -0.03954759240150452, + 1.0 + ], + [ + 0.004458993673324585, + -0.0034909993410110474, + -0.01538515742868185, + -0.0010762866586446762, + 0.0445680171251297, + -0.017751306295394897, + 1.0 + ], + [ + -0.0007566511631011963, + 0.0011574029922485352, + -0.012138654477894306, + 0.008703342638909817, + 0.03172089904546738, + 0.013420015573501587, + 0.0 + ], + [ + 0.006615787744522095, + -0.00041843950748443604, + -0.00389704923145473, + 0.013939553871750832, + 0.012295622378587723, + -0.011479616165161133, + 0.0 + ], + [ + 0.00043126940727233887, + -0.0001706629991531372, + 0.00043317442759871483, + 0.00042167073115706444, + 0.004581086337566376, + -0.0015288293361663818, + 0.0 + ], + [ + 0.0002263188362121582, + -8.869171142578125e-05, + -9.512528777122498e-06, + -0.00021863263100385666, + -0.0015215091407299042, + -0.001539379358291626, + 0.0 + ], + [ + 0.0002263188362121582, + -8.869171142578125e-05, + -9.139999747276306e-06, + -0.00021393480710685253, + -0.0015220828354358673, + -0.0015389621257781982, + 0.0 + ], + [ + -4.3720006942749023e-05, + 0.0006469935178756714, + 0.00027587730437517166, + -0.0005643609911203384, + 3.3251941204071045e-05, + -0.01381617784500122, + 0.0 + ], + [ + 0.0021348893642425537, + 0.0004286915063858032, + 0.012385748326778412, + -0.0020822929218411446, + -0.02139544114470482, + -0.010802119970321655, + 0.0 + ], + [ + 0.0006706118583679199, + 0.006475672125816345, + 0.0279336329549551, + -0.0018994139973074198, + -0.06752464175224304, + 0.007692664861679077, + 0.0 + ], + [ + -0.009064286947250366, + 0.00970342755317688, + 0.016017138957977295, + -0.010016342625021935, + -0.03328587859869003, + 0.005896836519241333, + 0.0 + ], + [ + -0.010246098041534424, + 0.021381981670856476, + 0.012006979435682297, + -0.010296966880559921, + -0.007312603294849396, + 0.04811668395996094, + 0.0 + ], + [ + -0.0040000081062316895, + 0.03208784759044647, + 0.007272198796272278, + -0.01040143147110939, + -0.017014041543006897, + 0.07702578604221344, + 0.0 + ], + [ + -0.0014430582523345947, + 0.026570364832878113, + 0.0023290738463401794, + 0.0015427470207214355, + -0.003508344292640686, + 0.06295811384916306, + 0.0 + ], + [ + -0.006507933139801025, + 0.015375632792711258, + -0.008479475975036621, + 0.010159796103835106, + 0.02283141016960144, + 0.03252357244491577, + 0.0 + ], + [ + 0.00020971894264221191, + 0.0038088560104370117, + -0.0021604709327220917, + -0.011520029976963997, + -0.00758235901594162, + 0.02232903614640236, + 0.0 + ], + [ + -0.003214120864868164, + 0.0008720532059669495, + -0.011170431971549988, + 0.002868540585041046, + 0.012839555740356445, + 0.019640885293483734, + 0.0 + ], + [ + -0.0012767612934112549, + 0.0004896931350231171, + -0.012670285999774933, + 0.0035146474838256836, + 0.029156669974327087, + 0.002911629155278206, + 0.0 + ], + [ + -0.0024574697017669678, + 0.00034373626112937927, + -0.014508942142128944, + 0.0029058661311864853, + 0.039733387529850006, + -0.003971010446548462, + 0.0 + ], + [ + -0.002869248390197754, + 0.0001585930585861206, + -0.010498196817934513, + 0.0014802273362874985, + 0.03413251042366028, + 0.018371928483247757, + 1.0 + ], + [ + -0.0012708604335784912, + 4.579313099384308e-05, + -0.0006522629410028458, + 0.0016040448099374771, + 0.01159159280359745, + 0.04122857004404068, + 1.0 + ], + [ + 0.00039321184158325195, + -2.6714056730270386e-05, + 0.0007827077060937881, + 0.00038750097155570984, + -0.001123279333114624, + 0.01990615203976631, + 1.0 + ], + [ + 0.0011569559574127197, + -0.0017479155212640762, + -0.0002800673246383667, + -0.011427091434597969, + -0.007896745577454567, + 0.008802928030490875, + 1.0 + ], + [ + -0.0036908090114593506, + 0.0032607577741146088, + 0.014541742391884327, + -0.02846187725663185, + -0.0391898937523365, + 0.019656069576740265, + 1.0 + ], + [ + 0.001855403184890747, + 0.0016790200024843216, + 0.02676588110625744, + -0.009676948189735413, + -0.07835200428962708, + -0.0047396644949913025, + 1.0 + ], + [ + -0.002754390239715576, + 0.005029467865824699, + 0.024926956743001938, + 0.026861026883125305, + -0.04201986640691757, + -0.0005494952201843262, + 1.0 + ], + [ + -0.003484189510345459, + 0.002077372744679451, + 0.024591736495494843, + 0.011576680466532707, + -0.07671058177947998, + -0.009284265339374542, + 1.0 + ], + [ + -0.00044649839401245117, + 1.1274591088294983e-05, + 0.00132095068693161, + -0.00017664209008216858, + -0.0015244781970977783, + 7.875263690948486e-06, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9583302736282349 + ], + [ + 0.6931989789009094 + ], + [ + 0.5879040956497192 + ], + [ + 0.5769375562667847 + ], + [ + 0.5759422183036804 + ], + [ + 0.5759422183036804 + ], + [ + 0.5759422183036804 + ], + [ + 0.5759422183036804 + ], + [ + 0.5759422183036804 + ], + [ + 0.5759422183036804 + ], + [ + 0.5759422183036804 + ], + [ + 0.5759422183036804 + ], + [ + 0.5759422183036804 + ], + [ + 0.5759422183036804 + ], + [ + 0.5759422183036804 + ], + [ + 0.5759422183036804 + ], + [ + 0.5759422183036804 + ], + [ + 0.6289845705032349 + ], + [ + 0.9553104043006897 + ], + [ + 1.0174883604049683 + ], + [ + 1.002137303352356 + ], + [ + 0.9981546401977539 + ], + [ + 1.0014774799346924 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2647252678871155, + 0.10228537768125534, + 0.04988279566168785 + ], + [ + 0.261930376291275, + 0.09877149015665054, + 0.04946819692850113 + ], + [ + 0.2657872140407562, + 0.08766885101795197, + 0.04906398057937622 + ], + [ + 0.2750505208969116, + 0.07298930734395981, + 0.051630910485982895 + ], + [ + 0.2955511212348938, + 0.05359156057238579, + 0.059947822242975235 + ], + [ + 0.31241920590400696, + 0.024122314527630806, + 0.061256103217601776 + ], + [ + 0.32114872336387634, + -0.00018921356240753084, + 0.0618974007666111 + ], + [ + 0.32155367732048035, + -0.02025025151669979, + 0.05772365629673004 + ], + [ + 0.3307877480983734, + -0.046285439282655716, + 0.0555596798658371 + ], + [ + 0.3382231295108795, + -0.07634597271680832, + 0.051384713500738144 + ], + [ + 0.34042853116989136, + -0.10010012239217758, + 0.04401692375540733 + ], + [ + 0.3434586226940155, + -0.12730954587459564, + 0.03765314072370529 + ], + [ + 0.3446822166442871, + -0.1369171291589737, + 0.025438833981752396 + ], + [ + 0.3491412103176117, + -0.14040812849998474, + 0.010053676553070545 + ], + [ + 0.3483845591545105, + -0.1392507255077362, + -0.0020849776919931173 + ], + [ + 0.3550003468990326, + -0.13966916501522064, + -0.005982026923447847 + ], + [ + 0.35543161630630493, + -0.13983982801437378, + -0.0055488524958491325 + ], + [ + 0.3556579351425171, + -0.13992851972579956, + -0.005558365024626255 + ], + [ + 0.35588425397872925, + -0.14001721143722534, + -0.005567505024373531 + ], + [ + 0.3558405339717865, + -0.13937021791934967, + -0.00529162771999836 + ], + [ + 0.35797542333602905, + -0.13894152641296387, + 0.0070941210724413395 + ], + [ + 0.358646035194397, + -0.13246585428714752, + 0.03502775356173515 + ], + [ + 0.3495817482471466, + -0.12276242673397064, + 0.05104489251971245 + ], + [ + 0.3393356502056122, + -0.10138044506311417, + 0.06305187195539474 + ], + [ + 0.3353356420993805, + -0.0692925974726677, + 0.07032407075166702 + ], + [ + 0.3338925838470459, + -0.04272223263978958, + 0.0726531445980072 + ], + [ + 0.3273846507072449, + -0.027346599847078323, + 0.06417366862297058 + ], + [ + 0.3275943696498871, + -0.02353774383664131, + 0.06201319769024849 + ], + [ + 0.3243802487850189, + -0.022665690630674362, + 0.0508427657186985 + ], + [ + 0.32310348749160767, + -0.022175997495651245, + 0.03817247971892357 + ], + [ + 0.3206460177898407, + -0.021832261234521866, + 0.023663537576794624 + ], + [ + 0.31777676939964294, + -0.021673668175935745, + 0.013165340758860111 + ], + [ + 0.31650590896606445, + -0.021627875044941902, + 0.012513077817857265 + ], + [ + 0.3168991208076477, + -0.021654589101672173, + 0.013295785523951054 + ], + [ + 0.3180560767650604, + -0.02340250462293625, + 0.013015718199312687 + ], + [ + 0.3143652677536011, + -0.02014174684882164, + 0.027557460591197014 + ], + [ + 0.3162206709384918, + -0.01846272684633732, + 0.05432334169745445 + ], + [ + 0.31346628069877625, + -0.013433258980512619, + 0.07925029844045639 + ], + [ + 0.3099820911884308, + -0.011355886235833168, + 0.10384203493595123 + ], + [ + 0.30953559279441833, + -0.011344611644744873, + 0.10516298562288284 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8953951156398668, + 0.4433607952641193, + 0.04121640584811906, + 0.4434138858431207, + -0.8962781290222468, + 0.008345134982996525, + 0.040641268801221514, + 0.01080373357447113, + -0.9991153920399177 + ], + [ + 0.9047355994357382, + 0.4257603991187055, + 0.013475075359179436, + 0.4255349838119686, + -0.9047868626747957, + 0.016754422796609807, + 0.01932544089542654, + -0.009424206777257096, + -0.9997688291104181 + ], + [ + 0.922072052644727, + 0.38689055821525914, + 0.009941111377780757, + 0.38655921097605045, + -0.9219251959281967, + 0.02501818383356207, + 0.018844260163603348, + -0.019225739950435732, + -0.9996375667121785 + ], + [ + 0.9412357547811437, + 0.33645767564609635, + 0.029520948839711188, + 0.33570695928460287, + -0.9415608463675053, + 0.027640732182651936, + 0.037095706078421616, + -0.016106057448466077, + -0.9991819171222076 + ], + [ + 0.9583850607050686, + 0.26885757789554343, + 0.09598790666267937, + 0.2690072393153242, + -0.9630680262371931, + 0.01162247975022471, + 0.09556767556705198, + 0.01468263081802186, + -0.9953146435871281 + ], + [ + 0.9768205470789352, + 0.18046862354669269, + 0.11512034885098403, + 0.18156597430857607, + -0.983378288355918, + 0.000969001322402227, + 0.11338172594288569, + 0.01995539790000292, + -0.9933510790837574 + ], + [ + 0.9843392807503931, + 0.12068267238338115, + 0.128498532902925, + 0.12184490248072116, + -0.992548435081835, + -0.0011932124973904456, + 0.12739701767020356, + 0.016831417141936325, + -0.9917089811460477 + ], + [ + 0.9901144940992248, + 0.0787192424150318, + 0.11608862755774066, + 0.08010474392830656, + -0.9967596409198798, + -0.007310829874433658, + 0.11513695573019464, + 0.016537808406071747, + -0.993211952363798 + ], + [ + 0.9928978676004337, + 0.011915851879417603, + 0.11837160549937398, + 0.013836804130611953, + -0.9997853668595393, + -0.015419567600539785, + 0.11816246174637157, + 0.016947940509817596, + -0.9928496361214588 + ], + [ + 0.9918504727595461, + -0.06678568357493161, + 0.1085002864332354, + -0.06423297402703251, + -0.9975734379777996, + -0.026858162424035013, + 0.11003074449583436, + 0.019669985017340207, + -0.9937335291490924 + ], + [ + 0.9873708146581085, + -0.1305193090822315, + 0.08979746275970465, + -0.12818569231492397, + -0.9912559416537777, + -0.03130633197655614, + 0.09309834932547015, + 0.01940020857567308, + -0.9954678946405522 + ], + [ + 0.9742136580426193, + -0.211948234132867, + 0.07736727041312931, + -0.20990132695785985, + -0.9771385913329025, + -0.03378766445437054, + 0.08275978144333458, + 0.016676911461985494, + -0.9964299770679027 + ], + [ + 0.9670966068839042, + -0.25005096369664825, + 0.046889961697751614, + -0.2487549009780254, + -0.9680447206826563, + -0.03178707281034998, + 0.05333996806384396, + 0.019077062478673468, + -0.9983941673978934 + ], + [ + 0.9638636482557486, + -0.2663779811812944, + 0.003104627658219887, + -0.2662507793519342, + -0.9636573854925694, + -0.021793711939748706, + 0.008797162361005029, + 0.020179557165682444, + -0.9997576683411789 + ], + [ + 0.9671331051055365, + -0.2530307260270896, + -0.025080045756072703, + -0.2532353778433463, + -0.9673901869566992, + -0.005298074029294855, + -0.022921614634672, + 0.011475097650398423, + -0.9996714068715045 + ], + [ + 0.9638177185349455, + -0.26447300820882147, + -0.033308157665486775, + -0.2642262723860225, + -0.9643899512142469, + 0.011683277706604588, + -0.035211964146860016, + -0.0024596597241923358, + -0.9993768396630778 + ], + [ + 0.9632470231364196, + -0.2659738224298907, + -0.037591198449350494, + -0.26565380162312385, + -0.9639759478772594, + 0.013357754201991685, + -0.03978982410123748, + -0.0028805721952172517, + -0.9992039192286128 + ], + [ + 0.9628941624268703, + -0.2674453077215783, + -0.03616406146944952, + -0.2671521650522147, + -0.963569364232173, + 0.012798477296938938, + -0.03826947441721816, + -0.0026622717585305213, + -0.9992639089034056 + ], + [ + 0.9625368753396641, + -0.2689165587802541, + -0.03473683959633867, + -0.2686490537686651, + -0.9631603649465917, + 0.012239170933893333, + -0.036748462832566685, + -0.002448634258987446, + -0.999321547185744 + ], + [ + 0.9587322511496849, + -0.2821781727869428, + -0.0347555665768893, + -0.2819212260854035, + -0.9593601653622211, + 0.012185868810849147, + -0.036781692293329005, + -0.001884653494590634, + -0.9993215474476896 + ], + [ + 0.9561648056890145, + -0.2924559209554694, + -0.014778317217362039, + -0.2924241626794813, + -0.9562789842661703, + 0.004314317103018665, + -0.015393941759439487, + 0.00019633886361022273, + -0.9998814869814108 + ], + [ + 0.9571975005318691, + -0.2851979546637237, + 0.049346444969930216, + -0.2847066189907767, + -0.9584663511620037, + -0.016864008806759864, + 0.05210648787226458, + 0.0020929275721747187, + -0.9986393410915647 + ], + [ + 0.9566635710619311, + -0.2804084967004642, + 0.07852316079488841, + -0.27841811942353767, + -0.9598049001861056, + -0.035466947365133776, + 0.08531214790224703, + 0.01206766576128953, + -0.9962811896565044 + ], + [ + 0.9683151366246839, + -0.2348906262016329, + 0.08480677983583733, + -0.23193064501096386, + -0.9717657204910426, + -0.04335389697965786, + 0.0925957455195306, + 0.022310943528441318, + -0.9954537908464425 + ], + [ + 0.9815930138151556, + -0.1608710543407695, + 0.1029352179993286, + -0.1564608046165092, + -0.98643665212294, + -0.04962608152212846, + 0.10952247188606846, + 0.03260728789359194, + -0.9934493408967516 + ], + [ + 0.9891036505497385, + -0.0984342476285483, + 0.10947450553888048, + -0.09435532642881153, + -0.9946586479230354, + -0.04184789703714472, + 0.113009029921034, + 0.03106240502151563, + -0.9931082952783076 + ], + [ + 0.9939652314044183, + -0.06443073308796185, + 0.08877949871963471, + -0.06228707367504243, + -0.9977007730031133, + -0.02671119619168054, + 0.09029639645169478, + 0.021020185126169336, + -0.9956930815291931 + ], + [ + 0.9943954441216846, + -0.0434114215788006, + 0.09640098125302012, + -0.04005040030778808, + -0.9985296329964898, + -0.036531321671698785, + 0.09784511303700057, + 0.03246568194883401, + -0.9946719626843684 + ], + [ + 0.996164197209242, + -0.0231333137008459, + 0.0843904141220125, + -0.020537327497093232, + -0.9992926955026764, + -0.03150122052036127, + 0.08505945201883004, + 0.029647234478337895, + -0.9959347022320504 + ], + [ + 0.9982756632744779, + -0.019163530245591892, + 0.05548386452319061, + -0.01767318072608884, + -0.9994730034535233, + -0.02722818485717897, + 0.05597641286224482, + 0.026200657932960253, + -0.9980882559808806 + ], + [ + 0.9996327927513224, + -0.02204490842627026, + 0.015757590826935623, + -0.02166830340254983, + -0.9994846464778254, + -0.023683878118916195, + 0.01627157902131243, + 0.023333740968262857, + -0.9995953042349586 + ], + [ + 0.9998350634336053, + -0.0029097983950971953, + -0.017927046661916118, + -0.0033004079266338287, + -0.9997569493700952, + -0.021797924069026187, + -0.0178592619174601, + 0.021853495361179833, + -0.9996016564133248 + ], + [ + 0.9988474724547134, + 0.038506741799567826, + -0.028652357788002597, + 0.03790209451232972, + -0.9990532471759574, + -0.02135510568349867, + -0.029447546628008296, + 0.02024450896308397, + -0.9993612969564283 + ], + [ + 0.9979275378236924, + 0.058351896662795874, + -0.027123521323712946, + 0.05777835735483705, + -0.9980985522583351, + -0.021469545900939982, + -0.028324736089154774, + 0.019857898571354747, + -0.9994015074982676 + ], + [ + 0.9975723374904819, + 0.06719263320939288, + -0.0182915695380227, + 0.06657350790248022, + -0.9972494909248897, + -0.032579455115257935, + -0.02043035778773176, + 0.031282629244305776, + -0.9993017550210892 + ], + [ + 0.9961038141467354, + 0.08491588315599236, + 0.02380092918698811, + 0.08617056256991862, + -0.994597405442798, + -0.057884671829755874, + 0.01875701438688762, + 0.059710081847981475, + -0.9980395185246913 + ], + [ + 0.9919805635610758, + 0.07456216249833361, + 0.1020541299537805, + 0.08107893574733369, + -0.9948228584135925, + -0.061267336778169146, + 0.09695755615283815, + 0.06905044751036704, + -0.9928903605149402 + ], + [ + 0.9870897116437958, + 0.07495892759951052, + 0.1415452589813548, + 0.08013318477446203, + -0.9962954926588419, + -0.031208396395472664, + 0.13868155560444725, + 0.04214795939077439, + -0.9894397281564571 + ], + [ + 0.9742856356846805, + 0.06500335769843867, + 0.21573609708721994, + 0.06999519003533648, + -0.9974257913515212, + -0.015571259380939482, + 0.21416856321695463, + 0.03027134345747144, + -0.9763275435502496 + ], + [ + 0.9739582966251977, + 0.06492681975261747, + 0.2172320061863687, + 0.06997938292529954, + -0.9974258391168269, + -0.015639099318316405, + 0.2156574190709369, + 0.030433592277366667, + -0.9759947100577735 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005523.json b/json/chunk-0005/episode_0005523.json new file mode 100644 index 0000000000000000000000000000000000000000..f515f84ac36ad38f985f67429b0865892dfb3b32 --- /dev/null +++ b/json/chunk-0005/episode_0005523.json @@ -0,0 +1,2182 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 35, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nRemove the red block on the top of the red block and put on the green block." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005523.mp4", + "start": 0, + "end": 35, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3581959307193756, + 0.11652390658855438, + 0.13971740007400513, + -0.17307446897029877, + -0.26689544320106506, + 1.614366054534912, + 0.0, + 0.9988223910331726 + ], + [ + 0.3559829592704773, + 0.11581165343523026, + 0.12499567866325378, + -0.1296079158782959, + -0.25768887996673584, + 1.6034687757492065, + 0.0, + 0.9988223910331726 + ], + [ + 0.35480067133903503, + 0.11532910913228989, + 0.11988135427236557, + -0.115895576775074, + -0.25266116857528687, + 1.606318473815918, + 0.0, + 0.9988223910331726 + ], + [ + 0.35221612453460693, + 0.1143147200345993, + 0.11314736306667328, + -0.09659013152122498, + -0.24507160484790802, + 1.6098458766937256, + 0.0, + 0.9988223910331726 + ], + [ + 0.35068926215171814, + 0.1125086173415184, + 0.10437121242284775, + -0.08125191926956177, + -0.23180466890335083, + 1.6144496202468872, + 0.0, + 0.9988223910331726 + ], + [ + 0.3499253988265991, + 0.11324518918991089, + 0.09719947725534439, + -0.06632859259843826, + -0.215386301279068, + 1.6294089555740356, + 0.0, + 0.9988223910331726 + ], + [ + 0.34789061546325684, + 0.11315637081861496, + 0.08646451681852341, + -0.043020643293857574, + -0.1950593888759613, + 1.638965129852295, + 0.0, + 0.9988223910331726 + ], + [ + 0.34498703479766846, + 0.11190419644117355, + 0.0753660798072815, + -0.004700669087469578, + -0.17381341755390167, + 1.6482899188995361, + 0.0, + 0.9988223910331726 + ], + [ + 0.34003061056137085, + 0.11296790838241577, + 0.06691288948059082, + 0.030042514204978943, + -0.1399763822555542, + 1.6803758144378662, + 0.0, + 0.9453431367874146 + ], + [ + 0.3327398896217346, + 0.11511700600385666, + 0.055487290024757385, + 0.04679296165704727, + -0.12507256865501404, + 1.709281086921692, + 0.0, + 0.651088297367096 + ], + [ + 0.33283674716949463, + 0.11803630739450455, + 0.058797262609004974, + 0.03630959242582321, + -0.1302684247493744, + 1.7051373720169067, + 0.0, + 0.6049063205718994 + ], + [ + 0.3347631096839905, + 0.12546062469482422, + 0.08802895247936249, + -0.054520681500434875, + -0.13377675414085388, + 1.7250932455062866, + 0.0, + 0.6049063205718994 + ], + [ + 0.33035358786582947, + 0.1358957290649414, + 0.11458268761634827, + -0.1245686337351799, + -0.14470161497592926, + 1.75261390209198, + 0.0, + 0.6049063205718994 + ], + [ + 0.3144208490848541, + 0.1409112811088562, + 0.118520587682724, + -0.12210436910390854, + -0.14664608240127563, + 1.7644363641738892, + 0.0, + 0.603904664516449 + ], + [ + 0.29796668887138367, + 0.15043312311172485, + 0.11677273362874985, + -0.10508561879396439, + -0.17095330357551575, + 1.7660969495773315, + 0.0, + 0.603904664516449 + ], + [ + 0.28391629457473755, + 0.15977118909358978, + 0.11054705828428268, + -0.06989245861768723, + -0.19781039655208588, + 1.7566616535186768, + 0.0, + 0.603904664516449 + ], + [ + 0.26752322912216187, + 0.17065908014774323, + 0.1107834056019783, + -0.052701372653245926, + -0.21701671183109283, + 1.7757712602615356, + 0.0, + 0.603904664516449 + ], + [ + 0.2577866017818451, + 0.17990173399448395, + 0.10838355123996735, + -0.041861392557621, + -0.22355668246746063, + 1.795068383216858, + 0.0, + 0.603904664516449 + ], + [ + 0.25491026043891907, + 0.1892244964838028, + 0.10775037854909897, + -0.055205658078193665, + -0.2285500466823578, + 1.8120163679122925, + 0.0, + 0.603904664516449 + ], + [ + 0.25643420219421387, + 0.1939469873905182, + 0.09479629248380661, + -0.027019327506422997, + -0.2189890295267105, + 1.8160672187805176, + 0.0, + 0.603904664516449 + ], + [ + 0.26250991225242615, + 0.20017440617084503, + 0.08808466047048569, + -0.022502906620502472, + -0.2172306925058365, + 1.8345972299575806, + 0.0, + 0.603904664516449 + ], + [ + 0.2671581208705902, + 0.20510649681091309, + 0.07673723250627518, + -0.010157905519008636, + -0.1967563033103943, + 1.8564929962158203, + 0.0, + 0.603904664516449 + ], + [ + 0.2684926986694336, + 0.20916812121868134, + 0.06901450455188751, + 0.0038119640666991472, + -0.18947020173072815, + 1.873447299003601, + 0.0, + 0.6049063205718994 + ], + [ + 0.26970550417900085, + 0.21299274265766144, + 0.06390058994293213, + 0.017359083518385887, + -0.18488457798957825, + 1.886760950088501, + 0.0, + 0.6049063205718994 + ], + [ + 0.2678010165691376, + 0.21358467638492584, + 0.06168069690465927, + 0.025989295914769173, + -0.1787128746509552, + 1.898874044418335, + 0.0, + 0.603904664516449 + ], + [ + 0.266927570104599, + 0.21264010667800903, + 0.061605218797922134, + 0.030674537643790245, + -0.17526593804359436, + 1.9129502773284912, + 0.0, + 0.603904664516449 + ], + [ + 0.266749769449234, + 0.21139073371887207, + 0.06085052713751793, + 0.0322234220802784, + -0.1720488965511322, + 1.9171419143676758, + 0.0, + 0.603904664516449 + ], + [ + 0.26624464988708496, + 0.21054978668689728, + 0.06009981036186218, + 0.033283889293670654, + -0.16895972192287445, + 1.925987720489502, + 0.0, + 0.603904664516449 + ], + [ + 0.26422086358070374, + 0.20894569158554077, + 0.05804825201630592, + 0.041791319847106934, + -0.16558296978473663, + 1.9268265962600708, + 0.0, + 0.603904664516449 + ], + [ + 0.26429033279418945, + 0.20770564675331116, + 0.05771442502737045, + 0.03900362178683281, + -0.15923155844211578, + 1.9383411407470703, + 0.0, + 0.6460646390914917 + ], + [ + 0.26364341378211975, + 0.205532044172287, + 0.05597635358572006, + 0.045674681663513184, + -0.14823772013187408, + 1.9352807998657227, + 0.0, + 0.9383087754249573 + ], + [ + 0.26577427983283997, + 0.2035975605249405, + 0.060212939977645874, + 0.033373620361089706, + -0.14950783550739288, + 1.9193428754806519, + 0.0, + 1.0014774799346924 + ], + [ + 0.26950520277023315, + 0.2013656497001648, + 0.0842856615781784, + -0.029822394251823425, + -0.15520673990249634, + 1.921675443649292, + 0.0, + 0.9981546401977539 + ], + [ + 0.27875688672065735, + 0.19576193392276764, + 0.10698367655277252, + -0.09321578592061996, + -0.16128669679164886, + 1.8974827527999878, + 0.0, + 0.9981546401977539 + ], + [ + 0.29293182492256165, + 0.18055419623851776, + 0.12201111018657684, + -0.1419467329978943, + -0.14695870876312256, + 1.8494913578033447, + 0.0, + 0.9981546401977539 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9453431367874146 + ], + [ + 0.651088297367096 + ], + [ + 0.6049063205718994 + ], + [ + 0.6049063205718994 + ], + [ + 0.6049063205718994 + ], + [ + 0.603904664516449 + ], + [ + 0.603904664516449 + ], + [ + 0.603904664516449 + ], + [ + 0.603904664516449 + ], + [ + 0.603904664516449 + ], + [ + 0.603904664516449 + ], + [ + 0.603904664516449 + ], + [ + 0.603904664516449 + ], + [ + 0.603904664516449 + ], + [ + 0.6049063205718994 + ], + [ + 0.6049063205718994 + ], + [ + 0.603904664516449 + ], + [ + 0.603904664516449 + ], + [ + 0.603904664516449 + ], + [ + 0.603904664516449 + ], + [ + 0.603904664516449 + ], + [ + 0.6460646390914917 + ], + [ + 0.9383087754249573 + ], + [ + 1.0014774799346924 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3581959307193756, + 0.11652390658855438, + 0.13971740007400513 + ], + [ + 0.3559829592704773, + 0.11581165343523026, + 0.12499567866325378 + ], + [ + 0.35480067133903503, + 0.11532910913228989, + 0.11988135427236557 + ], + [ + 0.35221612453460693, + 0.1143147200345993, + 0.11314736306667328 + ], + [ + 0.35068926215171814, + 0.1125086173415184, + 0.10437121242284775 + ], + [ + 0.3499253988265991, + 0.11324518918991089, + 0.09719947725534439 + ], + [ + 0.34789061546325684, + 0.11315637081861496, + 0.08646451681852341 + ], + [ + 0.34498703479766846, + 0.11190419644117355, + 0.0753660798072815 + ], + [ + 0.34003061056137085, + 0.11296790838241577, + 0.06691288948059082 + ], + [ + 0.3327398896217346, + 0.11511700600385666, + 0.055487290024757385 + ], + [ + 0.33283674716949463, + 0.11803630739450455, + 0.058797262609004974 + ], + [ + 0.3347631096839905, + 0.12546062469482422, + 0.08802895247936249 + ], + [ + 0.33035358786582947, + 0.1358957290649414, + 0.11458268761634827 + ], + [ + 0.3144208490848541, + 0.1409112811088562, + 0.118520587682724 + ], + [ + 0.29796668887138367, + 0.15043312311172485, + 0.11677273362874985 + ], + [ + 0.28391629457473755, + 0.15977118909358978, + 0.11054705828428268 + ], + [ + 0.26752322912216187, + 0.17065908014774323, + 0.1107834056019783 + ], + [ + 0.2577866017818451, + 0.17990173399448395, + 0.10838355123996735 + ], + [ + 0.25491026043891907, + 0.1892244964838028, + 0.10775037854909897 + ], + [ + 0.25643420219421387, + 0.1939469873905182, + 0.09479629248380661 + ], + [ + 0.26250991225242615, + 0.20017440617084503, + 0.08808466047048569 + ], + [ + 0.2671581208705902, + 0.20510649681091309, + 0.07673723250627518 + ], + [ + 0.2684926986694336, + 0.20916812121868134, + 0.06901450455188751 + ], + [ + 0.26970550417900085, + 0.21299274265766144, + 0.06390058994293213 + ], + [ + 0.2678010165691376, + 0.21358467638492584, + 0.06168069690465927 + ], + [ + 0.266927570104599, + 0.21264010667800903, + 0.061605218797922134 + ], + [ + 0.266749769449234, + 0.21139073371887207, + 0.06085052713751793 + ], + [ + 0.26624464988708496, + 0.21054978668689728, + 0.06009981036186218 + ], + [ + 0.26422086358070374, + 0.20894569158554077, + 0.05804825201630592 + ], + [ + 0.26429033279418945, + 0.20770564675331116, + 0.05771442502737045 + ], + [ + 0.26364341378211975, + 0.205532044172287, + 0.05597635358572006 + ], + [ + 0.26577427983283997, + 0.2035975605249405, + 0.060212939977645874 + ], + [ + 0.26950520277023315, + 0.2013656497001648, + 0.0842856615781784 + ], + [ + 0.27875688672065735, + 0.19576193392276764, + 0.10698367655277252 + ], + [ + 0.29293182492256165, + 0.18055419623851776, + 0.12201111018657684 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + -0.042013816921180336, + 0.9861033894807403, + 0.16073252453162418, + 0.9636789232924705, + -0.0024704610535886684, + 0.26705211031566073, + 0.2637380745921579, + 0.16611442464993315, + -0.950183259131439 + ], + [ + -0.03158803435023294, + 0.9921593887359713, + 0.12092122819816321, + 0.9664654656132213, + -0.0005274886215906327, + 0.2567960777207735, + 0.25484642407322095, + 0.12497787443710927, + -0.9588711232685414 + ], + [ + -0.03438710764628594, + 0.9936916288993747, + 0.10674489909606857, + 0.9676397918406288, + 0.006387728085695543, + 0.2522546930713629, + 0.24998151946563377, + 0.11196492122629452, + -0.9617552164352645 + ], + [ + -0.03787312060227349, + 0.9954934972183788, + 0.0869386204846125, + 0.9693803961407167, + 0.015476659108361213, + 0.2450757446197215, + 0.2426257907022933, + 0.09355837759797578, + -0.9655980300659908 + ], + [ + -0.04247222340254303, + 0.996565060627501, + 0.07109282787840962, + 0.97232621229238, + 0.024867401141406786, + 0.23230012752821644, + 0.22973429680480387, + 0.07899172296498581, + -0.9700425045195827 + ], + [ + -0.05722554084772313, + 0.996917424997016, + 0.05367387830224975, + 0.9752163549491025, + 0.04430891443381779, + 0.21677126456586135, + 0.21372481960331985, + 0.06474849680892805, + -0.974745778983686 + ], + [ + -0.06682427748324121, + 0.9973221186064967, + 0.02971712767230486, + 0.9787576123038508, + 0.05973645999965099, + 0.19612519395522676, + 0.19382479793903565, + 0.04219178930739237, + -0.9801284612839958 + ], + [ + -0.07624958281018629, + 0.9970507926791372, + -0.00870160555166212, + 0.9819765328493237, + 0.07660470967076555, + 0.17278254364801704, + 0.17293955607232758, + 0.004629824420200504, + -0.9849215576234203 + ], + [ + -0.10829069892156468, + 0.9930953198982152, + -0.0451088696748271, + 0.9842801278312344, + 0.11347672898488198, + 0.1353353683832141, + 0.13951972793697553, + -0.029744202378835634, + -0.9897724627111217 + ], + [ + -0.13696423713261702, + 0.9885366916346383, + -0.06352957609432223, + 0.9826897016490004, + 0.1436707155396591, + 0.11696014607258706, + 0.12474673550710173, + -0.046410502996265646, + -0.9911025765237194 + ], + [ + -0.1328024798995729, + 0.9897050293946813, + -0.05336156035384073, + 0.9825932088052532, + 0.13852214394123902, + 0.12378288107698399, + 0.1299002976991186, + -0.03599403323879816, + -0.9908735248400196 + ], + [ + -0.15231226450691082, + 0.9877686225515449, + 0.0333784718553746, + 0.9792912018111227, + 0.1462751357071166, + 0.13997259277869725, + 0.13337809466364103, + 0.054006786392895606, + -0.9895926186504265 + ], + [ + -0.1789277588570235, + 0.9791352777109539, + 0.09632738474751595, + 0.9732379120273402, + 0.16179568654352927, + 0.1631873843425743, + 0.14419716953902362, + 0.12294821575688325, + -0.9818813128576859 + ], + [ + -0.19036673948731558, + 0.9774288034084642, + 0.09161571243223852, + 0.9707775984926583, + 0.17353433758524067, + 0.1657609361209054, + 0.146121041475195, + 0.12049385024286445, + -0.9819011525056147 + ], + [ + -0.1912326248750834, + 0.9790407550568867, + 0.07006627663167408, + 0.9666895287212187, + 0.17548568962796118, + 0.18632264434723578, + 0.1701218335315407, + 0.1033633042885121, + -0.9799870351603774 + ], + [ + -0.18119334221800548, + 0.9829134830997259, + 0.03240459036362102, + 0.963611811292824, + 0.17085793557303358, + 0.20557198979599445, + 0.19652289910550408, + 0.06847372191203277, + -0.9781053621848119 + ], + [ + -0.19876835254111175, + 0.9800153896057414, + 0.007808851644050416, + 0.9561012571856456, + 0.19215519465315128, + 0.22123916284382655, + 0.2153172729627607, + 0.05144139679009495, + -0.9751883175367533 + ], + [ + -0.2168623892352753, + 0.9761655176439438, + -0.008460868637397104, + 0.9506945734788012, + 0.213156302433873, + 0.2252647746334963, + 0.2216991928111795, + 0.04080775533707544, + -0.9742608454675887 + ], + [ + -0.23267547321952253, + 0.9725543231663075, + -0.0004611427079852515, + 0.9457960627034977, + 0.2263841917804571, + 0.23285189603366133, + 0.22656551356425156, + 0.05374277814213832, + -0.9725120985678957 + ], + [ + -0.23702000875666057, + 0.9711426227317708, + -0.02652398466766144, + 0.9469039202985765, + 0.23703709743271456, + 0.21722426237384532, + 0.2172429082206827, + 0.026370831506259962, + -0.9757612915429106 + ], + [ + -0.25462366440637096, + 0.9664259713702773, + -0.03446202816561646, + 0.9427169426055345, + 0.25600403264166827, + 0.21388478533003907, + 0.21552622960731482, + 0.021972189973228806, + -0.9762508218788014 + ], + [ + -0.2763883560534982, + 0.9599756755835508, + -0.0453451091734276, + 0.9409534679222916, + 0.27990617339526447, + 0.19041823783512218, + 0.19548925250012528, + 0.009961745987801834, + -0.9806552481753293 + ], + [ + -0.29271784793044586, + 0.9543287992546013, + -0.05977294050186163, + 0.9374672429551097, + 0.2987348780255571, + 0.17864109560009073, + 0.18833860435161356, + -0.003743736679604426, + -0.9820970189072769 + ], + [ + -0.3054378042273173, + 0.9493623189157808, + -0.07361341706269502, + 0.9342982106966219, + 0.31371971961683215, + 0.1693127018644109, + 0.18383307982483899, + -0.017062383959680044, + -0.9828093781683847 + ], + [ + -0.3170919110081397, + 0.9448553199715587, + -0.08186051731237347, + 0.9315862825928908, + 0.32648808844947663, + 0.1598515754860285, + 0.1777630953206113, + -0.025572493465638307, + -0.9837409870082598 + ], + [ + -0.33037691180217404, + 0.9397967016996327, + -0.08736850475171486, + 0.9276023914203138, + 0.3403970139697861, + 0.1538950171765432, + 0.17437000768301236, + -0.030199873425978886, + -0.9842169822075217 + ], + [ + -0.3344508640732665, + 0.9382588367249481, + -0.08839103364138307, + 0.9267322784856525, + 0.3444746566752138, + 0.15001498232271426, + 0.1712013537722063, + -0.0317421835424133, + -0.9847245961437763 + ], + [ + -0.34281765636217976, + 0.9351145795006947, + -0.08964807689840187, + 0.9242290225278299, + 0.35282379294996125, + 0.1460002912519541, + 0.16815697548301395, + -0.03280387680811911, + -0.9852142595713701 + ], + [ + -0.34378880843645626, + 0.9340692259498167, + -0.0965605319338701, + 0.9244680622878794, + 0.35470636453126253, + 0.13979340746511915, + 0.1648273551432991, + -0.04120771887068646, + -0.9854612457635963 + ], + [ + -0.35477963323287176, + 0.9302809714056948, + -0.09332055552570377, + 0.9214066888629575, + 0.3648219159657363, + 0.13384574460807552, + 0.15855953317839316, + -0.03850043988795683, + -0.9865984951167743 + ], + [ + -0.35255826235034526, + 0.9309293841930638, + -0.09525310123260043, + 0.92406100314047, + 0.36239651141956053, + 0.12157315076101519, + 0.14769540996095104, + -0.04515805749647744, + -0.9880014249582899 + ], + [ + -0.33772215391295507, + 0.9376492832498069, + -0.08220443040078815, + 0.9293853906970277, + 0.34601320596859736, + 0.1285210366215061, + 0.1489514763784765, + -0.0329951953541223, + -0.9882938706519513 + ], + [ + -0.33959179699157005, + 0.9402376968470753, + -0.025109457257062387, + 0.9277828883224132, + 0.3392421087630044, + 0.15535026159666165, + 0.15458435739801613, + 0.02945954972055531, + -0.987540283420431 + ], + [ + -0.3167415802050534, + 0.9477958706474183, + 0.03684778084102165, + 0.9348187832571373, + 0.30535614730712235, + 0.18130489726258464, + 0.16058833655920057, + 0.09187279730939545, + -0.9827363711981436 + ], + [ + -0.2721359465815479, + 0.9574446701850151, + 0.09613391759661402, + 0.9510521501482699, + 0.25241815744125723, + 0.1782831497711253, + 0.14643030518481376, + 0.13994562275494143, + -0.9792718664371063 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0022129714488983154, + -0.0007122531533241272, + -0.014721721410751343, + 0.04346655309200287, + 0.009206563234329224, + -0.010897278785705566, + 1.0 + ], + [ + -0.0011822879314422607, + -0.00048254430294036865, + -0.005114324390888214, + 0.013712339103221893, + 0.005027711391448975, + 0.0028496980667114258, + 1.0 + ], + [ + -0.0025845468044281006, + -0.0010143890976905823, + -0.006733991205692291, + 0.01930544525384903, + 0.007589563727378845, + 0.003527402877807617, + 1.0 + ], + [ + -0.001526862382888794, + -0.001806102693080902, + -0.008776150643825531, + 0.015338212251663208, + 0.01326693594455719, + 0.004603743553161621, + 1.0 + ], + [ + -0.0007638633251190186, + 0.0007365718483924866, + -0.007171735167503357, + 0.014923326671123505, + 0.016418367624282837, + 0.014959335327148438, + 1.0 + ], + [ + -0.002034783363342285, + -8.881837129592896e-05, + -0.010734960436820984, + 0.02330794930458069, + 0.02032691240310669, + 0.009556174278259277, + 1.0 + ], + [ + -0.002903580665588379, + -0.0012521743774414062, + -0.011098437011241913, + 0.03831997513771057, + 0.02124597132205963, + 0.009324789047241211, + 1.0 + ], + [ + -0.004956424236297607, + 0.001063711941242218, + -0.008453190326690674, + 0.034743182361125946, + 0.03383703529834747, + 0.03208589553833008, + 0.0 + ], + [ + -0.0072907209396362305, + 0.0021490976214408875, + -0.011425599455833435, + 0.01675044745206833, + 0.014903813600540161, + 0.028905272483825684, + 0.0 + ], + [ + 9.685754776000977e-05, + 0.002919301390647888, + 0.003309972584247589, + -0.01048336923122406, + -0.0051958560943603516, + -0.004143714904785156, + 0.0 + ], + [ + 0.0019263625144958496, + 0.007424317300319672, + 0.029231689870357513, + -0.09083027392625809, + -0.003508329391479492, + 0.019955873489379883, + 0.0 + ], + [ + -0.004409521818161011, + 0.010435104370117188, + 0.02655373513698578, + -0.07004795223474503, + -0.010924860835075378, + 0.02752065658569336, + 0.0 + ], + [ + -0.015932738780975342, + 0.005015552043914795, + 0.003937900066375732, + 0.0024642646312713623, + -0.0019444674253463745, + 0.01182246208190918, + 0.0 + ], + [ + -0.01645416021347046, + 0.009521842002868652, + -0.0017478540539741516, + 0.017018750309944153, + -0.024307221174240112, + 0.0016605854034423828, + 0.0 + ], + [ + -0.014050394296646118, + 0.00933806598186493, + -0.006225675344467163, + 0.03519316017627716, + -0.02685709297657013, + -0.009435296058654785, + 0.0 + ], + [ + -0.016393065452575684, + 0.010887891054153442, + 0.00023634731769561768, + 0.0171910859644413, + -0.019206315279006958, + 0.019109606742858887, + 0.0 + ], + [ + -0.009736627340316772, + 0.009242653846740723, + -0.002399854362010956, + 0.010839980095624924, + -0.006539970636367798, + 0.019297122955322266, + 0.0 + ], + [ + -0.0028763413429260254, + 0.009322762489318848, + -0.0006331726908683777, + -0.013344265520572662, + -0.004993364214897156, + 0.01694798469543457, + 0.0 + ], + [ + 0.0015239417552947998, + 0.004722490906715393, + -0.012954086065292358, + 0.028186330571770668, + 0.009561017155647278, + 0.004050850868225098, + 0.0 + ], + [ + 0.00607571005821228, + 0.006227418780326843, + -0.006711632013320923, + 0.004516420885920525, + 0.0017583370208740234, + 0.01853001117706299, + 0.0 + ], + [ + 0.0046482086181640625, + 0.004932090640068054, + -0.01134742796421051, + 0.012345001101493835, + 0.0204743891954422, + 0.021895766258239746, + 0.0 + ], + [ + 0.0013345777988433838, + 0.0040616244077682495, + -0.007722727954387665, + 0.01396986935287714, + 0.007286101579666138, + 0.01695430278778076, + 0.0 + ], + [ + 0.0012128055095672607, + 0.0038246214389801025, + -0.005113914608955383, + 0.013547119684517384, + 0.004585623741149902, + 0.013313651084899902, + 0.0 + ], + [ + -0.0019044876098632812, + 0.0005919337272644043, + -0.0022198930382728577, + 0.008630212396383286, + 0.006171703338623047, + 0.012113094329833984, + 0.0 + ], + [ + -0.0008734464645385742, + -0.0009445697069168091, + -7.547810673713684e-05, + 0.004685241729021072, + 0.00344693660736084, + 0.01407623291015625, + 0.0 + ], + [ + -0.00017780065536499023, + -0.0012493729591369629, + -0.0007546916604042053, + 0.0015488844364881516, + 0.003217041492462158, + 0.00419163703918457, + 0.0 + ], + [ + -0.0005051195621490479, + -0.0008409470319747925, + -0.0007507167756557465, + 0.0010604672133922577, + 0.0030891746282577515, + 0.008845806121826172, + 0.0 + ], + [ + -0.0020237863063812256, + -0.0016040951013565063, + -0.002051558345556259, + 0.00850743055343628, + 0.0033767521381378174, + 0.0008388757705688477, + 0.0 + ], + [ + 6.946921348571777e-05, + -0.0012400448322296143, + -0.0003338269889354706, + -0.002787698060274124, + 0.00635141134262085, + 0.011514544486999512, + 1.0 + ], + [ + -0.0006469190120697021, + -0.00217360258102417, + -0.0017380714416503906, + 0.006671059876680374, + 0.0109938383102417, + -0.0030603408813476562, + 1.0 + ], + [ + 0.002130866050720215, + -0.0019344836473464966, + 0.004236586391925812, + -0.012301061302423477, + -0.0012701153755187988, + -0.0159379243850708, + 1.0 + ], + [ + 0.0037309229373931885, + -0.002231910824775696, + 0.024072721600532532, + -0.06319601833820343, + -0.005698904395103455, + 0.0023325681686401367, + 1.0 + ], + [ + 0.009251683950424194, + -0.005603715777397156, + 0.022698014974594116, + -0.06339339166879654, + -0.006079956889152527, + -0.0241926908493042, + 1.0 + ], + [ + 0.014174938201904297, + -0.015207737684249878, + 0.015027433633804321, + -0.04873094707727432, + 0.014327988028526306, + -0.047991394996643066, + 1.0 + ], + [ + 0.01441916823387146, + -0.028946086764335632, + -0.0005365759134292603, + -0.0017576664686203003, + 0.04913387447595596, + -0.09421491622924805, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9453431367874146 + ], + [ + 0.651088297367096 + ], + [ + 0.6049063205718994 + ], + [ + 0.6049063205718994 + ], + [ + 0.6049063205718994 + ], + [ + 0.603904664516449 + ], + [ + 0.603904664516449 + ], + [ + 0.603904664516449 + ], + [ + 0.603904664516449 + ], + [ + 0.603904664516449 + ], + [ + 0.603904664516449 + ], + [ + 0.603904664516449 + ], + [ + 0.603904664516449 + ], + [ + 0.603904664516449 + ], + [ + 0.6049063205718994 + ], + [ + 0.6049063205718994 + ], + [ + 0.603904664516449 + ], + [ + 0.603904664516449 + ], + [ + 0.603904664516449 + ], + [ + 0.603904664516449 + ], + [ + 0.603904664516449 + ], + [ + 0.6460646390914917 + ], + [ + 0.9383087754249573 + ], + [ + 1.0014774799346924 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3559829592704773, + 0.11581165343523026, + 0.12499567866325378 + ], + [ + 0.35480067133903503, + 0.11532910913228989, + 0.11988135427236557 + ], + [ + 0.35221612453460693, + 0.1143147200345993, + 0.11314736306667328 + ], + [ + 0.35068926215171814, + 0.1125086173415184, + 0.10437121242284775 + ], + [ + 0.3499253988265991, + 0.11324518918991089, + 0.09719947725534439 + ], + [ + 0.34789061546325684, + 0.11315637081861496, + 0.08646451681852341 + ], + [ + 0.34498703479766846, + 0.11190419644117355, + 0.0753660798072815 + ], + [ + 0.34003061056137085, + 0.11296790838241577, + 0.06691288948059082 + ], + [ + 0.3327398896217346, + 0.11511700600385666, + 0.055487290024757385 + ], + [ + 0.33283674716949463, + 0.11803630739450455, + 0.058797262609004974 + ], + [ + 0.3347631096839905, + 0.12546062469482422, + 0.08802895247936249 + ], + [ + 0.33035358786582947, + 0.1358957290649414, + 0.11458268761634827 + ], + [ + 0.3144208490848541, + 0.1409112811088562, + 0.118520587682724 + ], + [ + 0.29796668887138367, + 0.15043312311172485, + 0.11677273362874985 + ], + [ + 0.28391629457473755, + 0.15977118909358978, + 0.11054705828428268 + ], + [ + 0.26752322912216187, + 0.17065908014774323, + 0.1107834056019783 + ], + [ + 0.2577866017818451, + 0.17990173399448395, + 0.10838355123996735 + ], + [ + 0.25491026043891907, + 0.1892244964838028, + 0.10775037854909897 + ], + [ + 0.25643420219421387, + 0.1939469873905182, + 0.09479629248380661 + ], + [ + 0.26250991225242615, + 0.20017440617084503, + 0.08808466047048569 + ], + [ + 0.2671581208705902, + 0.20510649681091309, + 0.07673723250627518 + ], + [ + 0.2684926986694336, + 0.20916812121868134, + 0.06901450455188751 + ], + [ + 0.26970550417900085, + 0.21299274265766144, + 0.06390058994293213 + ], + [ + 0.2678010165691376, + 0.21358467638492584, + 0.06168069690465927 + ], + [ + 0.266927570104599, + 0.21264010667800903, + 0.061605218797922134 + ], + [ + 0.266749769449234, + 0.21139073371887207, + 0.06085052713751793 + ], + [ + 0.26624464988708496, + 0.21054978668689728, + 0.06009981036186218 + ], + [ + 0.26422086358070374, + 0.20894569158554077, + 0.05804825201630592 + ], + [ + 0.26429033279418945, + 0.20770564675331116, + 0.05771442502737045 + ], + [ + 0.26364341378211975, + 0.205532044172287, + 0.05597635358572006 + ], + [ + 0.26577427983283997, + 0.2035975605249405, + 0.060212939977645874 + ], + [ + 0.26950520277023315, + 0.2013656497001648, + 0.0842856615781784 + ], + [ + 0.27875688672065735, + 0.19576193392276764, + 0.10698367655277252 + ], + [ + 0.29293182492256165, + 0.18055419623851776, + 0.12201111018657684 + ], + [ + 0.3073509931564331, + 0.15160810947418213, + 0.12147453427314758 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + -0.03158803435023294, + 0.9921593887359713, + 0.12092122819816321, + 0.9664654656132213, + -0.0005274886215906327, + 0.2567960777207735, + 0.25484642407322095, + 0.12497787443710927, + -0.9588711232685414 + ], + [ + -0.03438710764628594, + 0.9936916288993747, + 0.10674489909606857, + 0.9676397918406288, + 0.006387728085695543, + 0.2522546930713629, + 0.24998151946563377, + 0.11196492122629452, + -0.9617552164352645 + ], + [ + -0.03787312060227349, + 0.9954934972183788, + 0.0869386204846125, + 0.9693803961407167, + 0.015476659108361213, + 0.2450757446197215, + 0.2426257907022933, + 0.09355837759797578, + -0.9655980300659908 + ], + [ + -0.04247222340254303, + 0.996565060627501, + 0.07109282787840962, + 0.97232621229238, + 0.024867401141406786, + 0.23230012752821644, + 0.22973429680480387, + 0.07899172296498581, + -0.9700425045195827 + ], + [ + -0.05722554084772313, + 0.996917424997016, + 0.05367387830224975, + 0.9752163549491025, + 0.04430891443381779, + 0.21677126456586135, + 0.21372481960331985, + 0.06474849680892805, + -0.974745778983686 + ], + [ + -0.06682427748324121, + 0.9973221186064967, + 0.02971712767230486, + 0.9787576123038508, + 0.05973645999965099, + 0.19612519395522676, + 0.19382479793903565, + 0.04219178930739237, + -0.9801284612839958 + ], + [ + -0.07624958281018629, + 0.9970507926791372, + -0.00870160555166212, + 0.9819765328493237, + 0.07660470967076555, + 0.17278254364801704, + 0.17293955607232758, + 0.004629824420200504, + -0.9849215576234203 + ], + [ + -0.10829069892156468, + 0.9930953198982152, + -0.0451088696748271, + 0.9842801278312344, + 0.11347672898488198, + 0.1353353683832141, + 0.13951972793697553, + -0.029744202378835634, + -0.9897724627111217 + ], + [ + -0.13696423713261702, + 0.9885366916346383, + -0.06352957609432223, + 0.9826897016490004, + 0.1436707155396591, + 0.11696014607258706, + 0.12474673550710173, + -0.046410502996265646, + -0.9911025765237194 + ], + [ + -0.1328024798995729, + 0.9897050293946813, + -0.05336156035384073, + 0.9825932088052532, + 0.13852214394123902, + 0.12378288107698399, + 0.1299002976991186, + -0.03599403323879816, + -0.9908735248400196 + ], + [ + -0.15231226450691082, + 0.9877686225515449, + 0.0333784718553746, + 0.9792912018111227, + 0.1462751357071166, + 0.13997259277869725, + 0.13337809466364103, + 0.054006786392895606, + -0.9895926186504265 + ], + [ + -0.1789277588570235, + 0.9791352777109539, + 0.09632738474751595, + 0.9732379120273402, + 0.16179568654352927, + 0.1631873843425743, + 0.14419716953902362, + 0.12294821575688325, + -0.9818813128576859 + ], + [ + -0.19036673948731558, + 0.9774288034084642, + 0.09161571243223852, + 0.9707775984926583, + 0.17353433758524067, + 0.1657609361209054, + 0.146121041475195, + 0.12049385024286445, + -0.9819011525056147 + ], + [ + -0.1912326248750834, + 0.9790407550568867, + 0.07006627663167408, + 0.9666895287212187, + 0.17548568962796118, + 0.18632264434723578, + 0.1701218335315407, + 0.1033633042885121, + -0.9799870351603774 + ], + [ + -0.18119334221800548, + 0.9829134830997259, + 0.03240459036362102, + 0.963611811292824, + 0.17085793557303358, + 0.20557198979599445, + 0.19652289910550408, + 0.06847372191203277, + -0.9781053621848119 + ], + [ + -0.19876835254111175, + 0.9800153896057414, + 0.007808851644050416, + 0.9561012571856456, + 0.19215519465315128, + 0.22123916284382655, + 0.2153172729627607, + 0.05144139679009495, + -0.9751883175367533 + ], + [ + -0.2168623892352753, + 0.9761655176439438, + -0.008460868637397104, + 0.9506945734788012, + 0.213156302433873, + 0.2252647746334963, + 0.2216991928111795, + 0.04080775533707544, + -0.9742608454675887 + ], + [ + -0.23267547321952253, + 0.9725543231663075, + -0.0004611427079852515, + 0.9457960627034977, + 0.2263841917804571, + 0.23285189603366133, + 0.22656551356425156, + 0.05374277814213832, + -0.9725120985678957 + ], + [ + -0.23702000875666057, + 0.9711426227317708, + -0.02652398466766144, + 0.9469039202985765, + 0.23703709743271456, + 0.21722426237384532, + 0.2172429082206827, + 0.026370831506259962, + -0.9757612915429106 + ], + [ + -0.25462366440637096, + 0.9664259713702773, + -0.03446202816561646, + 0.9427169426055345, + 0.25600403264166827, + 0.21388478533003907, + 0.21552622960731482, + 0.021972189973228806, + -0.9762508218788014 + ], + [ + -0.2763883560534982, + 0.9599756755835508, + -0.0453451091734276, + 0.9409534679222916, + 0.27990617339526447, + 0.19041823783512218, + 0.19548925250012528, + 0.009961745987801834, + -0.9806552481753293 + ], + [ + -0.29271784793044586, + 0.9543287992546013, + -0.05977294050186163, + 0.9374672429551097, + 0.2987348780255571, + 0.17864109560009073, + 0.18833860435161356, + -0.003743736679604426, + -0.9820970189072769 + ], + [ + -0.3054378042273173, + 0.9493623189157808, + -0.07361341706269502, + 0.9342982106966219, + 0.31371971961683215, + 0.1693127018644109, + 0.18383307982483899, + -0.017062383959680044, + -0.9828093781683847 + ], + [ + -0.3170919110081397, + 0.9448553199715587, + -0.08186051731237347, + 0.9315862825928908, + 0.32648808844947663, + 0.1598515754860285, + 0.1777630953206113, + -0.025572493465638307, + -0.9837409870082598 + ], + [ + -0.33037691180217404, + 0.9397967016996327, + -0.08736850475171486, + 0.9276023914203138, + 0.3403970139697861, + 0.1538950171765432, + 0.17437000768301236, + -0.030199873425978886, + -0.9842169822075217 + ], + [ + -0.3344508640732665, + 0.9382588367249481, + -0.08839103364138307, + 0.9267322784856525, + 0.3444746566752138, + 0.15001498232271426, + 0.1712013537722063, + -0.0317421835424133, + -0.9847245961437763 + ], + [ + -0.34281765636217976, + 0.9351145795006947, + -0.08964807689840187, + 0.9242290225278299, + 0.35282379294996125, + 0.1460002912519541, + 0.16815697548301395, + -0.03280387680811911, + -0.9852142595713701 + ], + [ + -0.34378880843645626, + 0.9340692259498167, + -0.0965605319338701, + 0.9244680622878794, + 0.35470636453126253, + 0.13979340746511915, + 0.1648273551432991, + -0.04120771887068646, + -0.9854612457635963 + ], + [ + -0.35477963323287176, + 0.9302809714056948, + -0.09332055552570377, + 0.9214066888629575, + 0.3648219159657363, + 0.13384574460807552, + 0.15855953317839316, + -0.03850043988795683, + -0.9865984951167743 + ], + [ + -0.35255826235034526, + 0.9309293841930638, + -0.09525310123260043, + 0.92406100314047, + 0.36239651141956053, + 0.12157315076101519, + 0.14769540996095104, + -0.04515805749647744, + -0.9880014249582899 + ], + [ + -0.33772215391295507, + 0.9376492832498069, + -0.08220443040078815, + 0.9293853906970277, + 0.34601320596859736, + 0.1285210366215061, + 0.1489514763784765, + -0.0329951953541223, + -0.9882938706519513 + ], + [ + -0.33959179699157005, + 0.9402376968470753, + -0.025109457257062387, + 0.9277828883224132, + 0.3392421087630044, + 0.15535026159666165, + 0.15458435739801613, + 0.02945954972055531, + -0.987540283420431 + ], + [ + -0.3167415802050534, + 0.9477958706474183, + 0.03684778084102165, + 0.9348187832571373, + 0.30535614730712235, + 0.18130489726258464, + 0.16058833655920057, + 0.09187279730939545, + -0.9827363711981436 + ], + [ + -0.2721359465815479, + 0.9574446701850151, + 0.09613391759661402, + 0.9510521501482699, + 0.25241815744125723, + 0.1782831497711253, + 0.14643030518481376, + 0.13994562275494143, + -0.9792718664371063 + ], + [ + -0.1825584832302652, + 0.975464679875335, + 0.12304900859566151, + 0.9783318401483765, + 0.16779484057070665, + 0.12129180528684785, + 0.09766888323594397, + 0.14252561100925454, + -0.9849605268506358 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005524.json b/json/chunk-0005/episode_0005524.json new file mode 100644 index 0000000000000000000000000000000000000000..4014d225007d48fda9db5d97af096ae74a44ffbb --- /dev/null +++ b/json/chunk-0005/episode_0005524.json @@ -0,0 +1,2242 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 36, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nFold the cloth from top left to bottom right." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005524.mp4", + "start": 0, + "end": 36, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.28961682319641113, + -0.05174805223941803, + 0.1677519828081131, + -0.25289905071258545, + -0.2899160385131836, + -0.05971754714846611, + 0.0, + 0.9994885921478271 + ], + [ + 0.28991708159446716, + -0.051727790385484695, + 0.16112765669822693, + -0.2528650760650635, + -0.2687624990940094, + -0.06072400137782097, + 0.0, + 0.9994885921478271 + ], + [ + 0.30142533779144287, + -0.04108574613928795, + 0.14790667593479156, + -0.2203916311264038, + -0.2815573811531067, + -0.07721910625696182, + 0.0, + 0.9994885921478271 + ], + [ + 0.31786322593688965, + -0.025735126808285713, + 0.12694518268108368, + -0.21026568114757538, + -0.2603400647640228, + -0.13958744704723358, + 0.0, + 0.9994885921478271 + ], + [ + 0.33766719698905945, + -0.0065879481844604015, + 0.12461137026548386, + -0.1658301055431366, + -0.2833442687988281, + -0.2255753129720688, + 0.0, + 0.9994885921478271 + ], + [ + 0.3659760355949402, + 0.015628619119524956, + 0.11961881816387177, + -0.1342233270406723, + -0.3081417679786682, + -0.47330906987190247, + 0.0, + 0.9994885921478271 + ], + [ + 0.3933418393135071, + 0.03886083513498306, + 0.12477579712867737, + 0.01892968639731407, + -0.34511253237724304, + -0.59174644947052, + 0.0, + 0.9994885921478271 + ], + [ + 0.4169880151748657, + 0.05490488559007645, + 0.12251949310302734, + 0.13342969119548798, + -0.3622301518917084, + -0.583064615726471, + 0.0, + 0.9994885921478271 + ], + [ + 0.43386512994766235, + 0.07571335136890411, + 0.12083546817302704, + 0.2573682367801666, + -0.3868092894554138, + -0.5119295120239258, + 0.0, + 0.9994885921478271 + ], + [ + 0.45026662945747375, + 0.09596693515777588, + 0.12153950333595276, + 0.42767569422721863, + -0.43375518918037415, + -0.42365404963493347, + 0.0, + 0.9994885921478271 + ], + [ + 0.45938989520072937, + 0.10294025391340256, + 0.10687165707349777, + 0.503018856048584, + -0.4150741994380951, + -0.3791992664337158, + 0.0, + 0.9994885921478271 + ], + [ + 0.4713449776172638, + 0.11213292926549911, + 0.09894728660583496, + 0.5056688785552979, + -0.3869442939758301, + -0.3594004213809967, + 0.0, + 0.9994885921478271 + ], + [ + 0.47764474153518677, + 0.1214451864361763, + 0.07773313671350479, + 0.4913402497768402, + -0.3355215787887573, + -0.3430575728416443, + 0.0, + 0.9994885921478271 + ], + [ + 0.48414304852485657, + 0.12348053604364395, + 0.070573590695858, + 0.4880504310131073, + -0.32012900710105896, + -0.3373700976371765, + 0.0, + 0.9994885921478271 + ], + [ + 0.49148544669151306, + 0.12187834829092026, + 0.05304156243801117, + 0.44853854179382324, + -0.2853783667087555, + -0.33280080556869507, + 0.0, + 0.9994885921478271 + ], + [ + 0.4950799345970154, + 0.1250309944152832, + 0.03656976670026779, + 0.4413049817085266, + -0.23372489213943481, + -0.33084189891815186, + 0.0, + 0.9994885921478271 + ], + [ + 0.49807044863700867, + 0.1241140365600586, + 0.03327375277876854, + 0.423973947763443, + -0.2236098051071167, + -0.32629671692848206, + 0.0, + 0.9553104043006897 + ], + [ + 0.5001769661903381, + 0.12460695207118988, + 0.02923561818897724, + 0.4159547984600067, + -0.22251565754413605, + -0.30632084608078003, + 0.0, + 0.67718505859375 + ], + [ + 0.500460147857666, + 0.12219453603029251, + 0.02868177928030491, + 0.40611737966537476, + -0.22419200837612152, + -0.3112267851829529, + 0.0, + 0.37631502747535706 + ], + [ + 0.4986187219619751, + 0.12082058191299438, + 0.023636221885681152, + 0.39525434374809265, + -0.2250470221042633, + -0.3151741921901703, + 0.0, + 0.16130207479000092 + ], + [ + 0.4914757311344147, + 0.11658412218093872, + 0.029024813324213028, + 0.34887364506721497, + -0.2634395956993103, + -0.31961625814437866, + 0.0, + 0.06443082541227341 + ], + [ + 0.4819287657737732, + 0.10250427573919296, + 0.055804457515478134, + 0.3338482677936554, + -0.33915960788726807, + -0.34493646025657654, + 0.0, + 0.05324139446020126 + ], + [ + 0.47030219435691833, + 0.06562494486570358, + 0.08278712630271912, + 0.3500341773033142, + -0.4083887040615082, + -0.45018133521080017, + 0.0, + 0.05271430313587189 + ], + [ + 0.4515623152256012, + 0.021623708307743073, + 0.07615833729505539, + 0.4064520001411438, + -0.3592352271080017, + -0.5859285593032837, + 0.0, + 0.05271430313587189 + ], + [ + 0.4282779395580292, + -0.02267603389918804, + 0.06270765513181686, + 0.4505760371685028, + -0.2885400056838989, + -0.6655849814414978, + 0.0, + 0.052451856434345245 + ], + [ + 0.4050264060497284, + -0.04814766347408295, + 0.06543634086847305, + 0.46080899238586426, + -0.28214508295059204, + -0.7151322364807129, + 0.0, + 0.052451856434345245 + ], + [ + 0.38779762387275696, + -0.06894926726818085, + 0.08779232949018478, + 0.44169801473617554, + -0.34923720359802246, + -0.7565953731536865, + 0.0, + 0.052451856434345245 + ], + [ + 0.3801383376121521, + -0.07414848357439041, + 0.10007294267416, + 0.42390161752700806, + -0.38143154978752136, + -0.759221613407135, + 0.0, + 0.052451856434345245 + ], + [ + 0.37353745102882385, + -0.08274737745523453, + 0.10414249449968338, + 0.3889465034008026, + -0.38347405195236206, + -0.7456103563308716, + 0.0, + 0.052451856434345245 + ], + [ + 0.3642100691795349, + -0.09848380833864212, + 0.1015324741601944, + 0.37632617354393005, + -0.36292150616645813, + -0.7241309881210327, + 0.0, + 0.052451856434345245 + ], + [ + 0.35673239827156067, + -0.11076482385396957, + 0.09703491628170013, + 0.34873470664024353, + -0.34950652718544006, + -0.7022466063499451, + 0.0, + 0.052451856434345245 + ], + [ + 0.34376588463783264, + -0.1245824545621872, + 0.08749492466449738, + 0.3521389961242676, + -0.3177511990070343, + -0.7333507537841797, + 0.0, + 0.07270156592130661 + ], + [ + 0.3395753800868988, + -0.12541432678699493, + 0.08110075443983078, + 0.3443179726600647, + -0.29271602630615234, + -0.7093629837036133, + 0.0, + 0.22681957483291626 + ], + [ + 0.3351823687553406, + -0.1281750500202179, + 0.07600300014019012, + 0.30773019790649414, + -0.2866036295890808, + -0.6940451860427856, + 0.0, + 0.48228755593299866 + ], + [ + 0.3327242136001587, + -0.12746857106685638, + 0.0700194388628006, + 0.18809083104133606, + -0.26396623253822327, + -0.66507488489151, + 0.0, + 0.7922340631484985 + ], + [ + 0.3366338610649109, + -0.12639769911766052, + 0.07150120288133621, + -0.14939232170581818, + -0.22387170791625977, + -0.6852551698684692, + 0.0, + 0.9941151142120361 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9553104043006897 + ], + [ + 0.67718505859375 + ], + [ + 0.37631502747535706 + ], + [ + 0.16130207479000092 + ], + [ + 0.06443082541227341 + ], + [ + 0.05324139446020126 + ], + [ + 0.05271430313587189 + ], + [ + 0.05271430313587189 + ], + [ + 0.052451856434345245 + ], + [ + 0.052451856434345245 + ], + [ + 0.052451856434345245 + ], + [ + 0.052451856434345245 + ], + [ + 0.052451856434345245 + ], + [ + 0.052451856434345245 + ], + [ + 0.052451856434345245 + ], + [ + 0.07270156592130661 + ], + [ + 0.22681957483291626 + ], + [ + 0.48228755593299866 + ], + [ + 0.7922340631484985 + ], + [ + 0.9941151142120361 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.28961682319641113, + -0.05174805223941803, + 0.1677519828081131 + ], + [ + 0.28991708159446716, + -0.051727790385484695, + 0.16112765669822693 + ], + [ + 0.30142533779144287, + -0.04108574613928795, + 0.14790667593479156 + ], + [ + 0.31786322593688965, + -0.025735126808285713, + 0.12694518268108368 + ], + [ + 0.33766719698905945, + -0.0065879481844604015, + 0.12461137026548386 + ], + [ + 0.3659760355949402, + 0.015628619119524956, + 0.11961881816387177 + ], + [ + 0.3933418393135071, + 0.03886083513498306, + 0.12477579712867737 + ], + [ + 0.4169880151748657, + 0.05490488559007645, + 0.12251949310302734 + ], + [ + 0.43386512994766235, + 0.07571335136890411, + 0.12083546817302704 + ], + [ + 0.45026662945747375, + 0.09596693515777588, + 0.12153950333595276 + ], + [ + 0.45938989520072937, + 0.10294025391340256, + 0.10687165707349777 + ], + [ + 0.4713449776172638, + 0.11213292926549911, + 0.09894728660583496 + ], + [ + 0.47764474153518677, + 0.1214451864361763, + 0.07773313671350479 + ], + [ + 0.48414304852485657, + 0.12348053604364395, + 0.070573590695858 + ], + [ + 0.49148544669151306, + 0.12187834829092026, + 0.05304156243801117 + ], + [ + 0.4950799345970154, + 0.1250309944152832, + 0.03656976670026779 + ], + [ + 0.49807044863700867, + 0.1241140365600586, + 0.03327375277876854 + ], + [ + 0.5001769661903381, + 0.12460695207118988, + 0.02923561818897724 + ], + [ + 0.500460147857666, + 0.12219453603029251, + 0.02868177928030491 + ], + [ + 0.4986187219619751, + 0.12082058191299438, + 0.023636221885681152 + ], + [ + 0.4914757311344147, + 0.11658412218093872, + 0.029024813324213028 + ], + [ + 0.4819287657737732, + 0.10250427573919296, + 0.055804457515478134 + ], + [ + 0.47030219435691833, + 0.06562494486570358, + 0.08278712630271912 + ], + [ + 0.4515623152256012, + 0.021623708307743073, + 0.07615833729505539 + ], + [ + 0.4282779395580292, + -0.02267603389918804, + 0.06270765513181686 + ], + [ + 0.4050264060497284, + -0.04814766347408295, + 0.06543634086847305 + ], + [ + 0.38779762387275696, + -0.06894926726818085, + 0.08779232949018478 + ], + [ + 0.3801383376121521, + -0.07414848357439041, + 0.10007294267416 + ], + [ + 0.37353745102882385, + -0.08274737745523453, + 0.10414249449968338 + ], + [ + 0.3642100691795349, + -0.09848380833864212, + 0.1015324741601944 + ], + [ + 0.35673239827156067, + -0.11076482385396957, + 0.09703491628170013 + ], + [ + 0.34376588463783264, + -0.1245824545621872, + 0.08749492466449738 + ], + [ + 0.3395753800868988, + -0.12541432678699493, + 0.08110075443983078 + ], + [ + 0.3351823687553406, + -0.1281750500202179, + 0.07600300014019012 + ], + [ + 0.3327242136001587, + -0.12746857106685638, + 0.0700194388628006 + ], + [ + 0.3366338610649109, + -0.12639769911766052, + 0.07150120288133621 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9565597083566075, + -0.1291846374041787, + 0.2613519730315289, + -0.057191400699526114, + -0.9621962846464013, + -0.266284534847009, + 0.28587176851649476, + 0.2397699715798719, + -0.9277864477851783 + ], + [ + 0.9623232711428565, + -0.12506654458328276, + 0.24143794491113, + -0.05850805160867476, + -0.9623835437236935, + -0.26532003819308925, + 0.26553856539845344, + 0.24119758331256855, + -0.9334414797352364 + ], + [ + 0.957761305336603, + -0.13583719125695792, + 0.2534591475392959, + -0.07410482109424861, + -0.96821831087018, + -0.23887607244402786, + 0.2778520424443832, + 0.2100037141745728, + -0.9373882240258667 + ], + [ + 0.9569037384837735, + -0.1892740201199619, + 0.22025117612263914, + -0.13444609827990847, + -0.9609880020526335, + -0.2417153420207259, + 0.2574091722007721, + 0.20168640315726685, + -0.9450201653130992 + ], + [ + 0.9358016358163948, + -0.2655782684190883, + 0.23182640433496418, + -0.21474860173696653, + -0.9509728747461506, + -0.222561518571967, + 0.2795681248915501, + 0.15848903697278544, + -0.9469545335991911 + ], + [ + 0.8481416537866635, + -0.4878584949441067, + 0.20651833822422305, + -0.43436372864018225, + -0.8635585466147399, + -0.25611479420454497, + 0.30328845403975024, + 0.1275175496922259, + -0.9443280087801426 + ], + [ + 0.7810306896677967, + -0.5523966671921889, + 0.29128848908257277, + -0.5249213545734099, + -0.833391047272303, + -0.17296512318727975, + 0.33830257656403184, + -0.01781247880942957, + -0.9408687912184149 + ], + [ + 0.7806094750871571, + -0.5063376988794178, + 0.3664300507568251, + -0.5148567273708892, + -0.853314964599831, + -0.08231720033460495, + 0.3543605475854944, + -0.12440139019916742, + -0.9267971171898537 + ], + [ + 0.807390037858814, + -0.3900154530647884, + 0.44272934524041946, + -0.45366816515528546, + -0.8901230549538833, + 0.043198876885891635, + 0.37723536776259364, + -0.23573055255998032, + -0.8956140820123291 + ], + [ + 0.8271738246971622, + -0.21516395499146634, + 0.519122274814228, + -0.3730243720060805, + -0.9011474331718857, + 0.22087580577598634, + 0.4202811935185036, + -0.3763479456037355, + -0.8256669681018552 + ], + [ + 0.8500798955242583, + -0.14373372190055028, + 0.5066604271245996, + -0.33874369876448635, + -0.8858542624005891, + 0.3170409000966023, + 0.4032578303924443, + -0.44113812233281774, + -0.80173579142499 + ], + [ + 0.8668981252296009, + -0.1365846320795899, + 0.4794082589537708, + -0.32570964560454974, + -0.8832444434036368, + 0.3373314096800918, + 0.3773603943626852, + -0.44857986075645706, + -0.8101698842157463 + ], + [ + 0.8892184788194109, + -0.15027990850662318, + 0.4320954131037892, + -0.3176117497385843, + -0.8825793151426847, + 0.34666486541076624, + 0.3292617095170469, + -0.4454993844906081, + -0.8325365007399984 + ], + [ + 0.8956872382581715, + -0.1531200824846809, + 0.4174908520690415, + -0.314189742612088, + -0.8823016612378433, + 0.3504690916675711, + 0.31468901610764827, + -0.44508203616505015, + -0.838375097569324 + ], + [ + 0.9069054193470142, + -0.17899304901540855, + 0.38142371290099897, + -0.31347846597450824, + -0.8915232720299777, + 0.32698242582626874, + 0.281520535182223, + -0.41611025441958266, + -0.8646377533034194 + ], + [ + 0.9200541584830142, + -0.20016067878574523, + 0.3368026842620799, + -0.3160071489572878, + -0.8872936237671738, + 0.3359308069082138, + 0.23160273587762095, + -0.41550659187327804, + -0.8796103937788902 + ], + [ + 0.9236528541873037, + -0.20574560674839437, + 0.32331741409237813, + -0.3125570379504651, + -0.8926099452586297, + 0.3248931880680439, + 0.22175099318667948, + -0.4011436537315789, + -0.8887689610307057 + ], + [ + 0.9299425362917543, + -0.1908202687289088, + 0.31431593061358776, + -0.2941181255189546, + -0.8990392996617278, + 0.3243807421918967, + 0.2206839537358236, + -0.39410146245094846, + -0.8921785863029598 + ], + [ + 0.9281349498995115, + -0.19771200495249686, + 0.31539733333161724, + -0.29856310296060445, + -0.9014224424575177, + 0.31352456647678945, + 0.22231866391638586, + -0.38515911430418875, + -0.8956711831597832 + ], + [ + 0.926768110621807, + -0.2043912460462374, + 0.3151588292816057, + -0.30216546017902096, + -0.9040735309478847, + 0.3022368033748113, + 0.22315219875521358, + -0.37533354390340645, + -0.8996264930578818 + ], + [ + 0.9166032860729739, + -0.21076629036787067, + 0.33972928458522994, + -0.3033623007606746, + -0.9201343201655598, + 0.24763712833630752, + 0.26040301541536676, + -0.33004606299428757, + -0.9073366882610638 + ], + [ + 0.8874869689761794, + -0.2168714538122906, + 0.40661241055680625, + -0.3188747756636299, + -0.9260003550859062, + 0.2020945813876383, + 0.33269469088481557, + -0.3090147486805744, + -0.8909680845882965 + ], + [ + 0.8263236504726161, + -0.2861235774382198, + 0.48510052886341504, + -0.3993446473262675, + -0.9050301527116735, + 0.14643864016899422, + 0.3971310581174292, + -0.31472801133143546, + -0.8621097387002952 + ], + [ + 0.7800125196461805, + -0.39211617262952647, + 0.4876734320809248, + -0.5176747756819262, + -0.8421752315368254, + 0.1508433160884563, + 0.35155838180575977, + -0.3701159096124698, + -0.8598958760418901 + ], + [ + 0.754039740008584, + -0.4584200788462372, + 0.4703988752095361, + -0.5919913201665596, + -0.7845765243678366, + 0.18435279834691792, + 0.2845528902247189, + -0.4174813872755229, + -0.8629825861182043 + ], + [ + 0.7251538980807258, + -0.4938483512155302, + 0.47986001094072306, + -0.629790477941779, + -0.757434719104821, + 0.17221091773887873, + 0.27841655480986427, + -0.4270906839259123, + -0.8602777282433287 + ], + [ + 0.6832805397967083, + -0.5142020123534997, + 0.5183859512243074, + -0.6450114412093256, + -0.7577977080164073, + 0.0985031696654898, + 0.34218115764049234, + -0.4016701684425804, + -0.8494546080510256 + ], + [ + 0.6732415034004124, + -0.5163669490989193, + 0.5292551860656884, + -0.6388866676007563, + -0.7665669730840827, + 0.06479893316026025, + 0.3722495185505994, + -0.3817594133154824, + -0.8459846607852093 + ], + [ + 0.6813149124651598, + -0.5235124157303251, + 0.5116099496968282, + -0.629146976271138, + -0.776055267734084, + 0.043729894478075765, + 0.3741444537895435, + -0.3516716821104292, + -0.8581042802015065 + ], + [ + 0.7002833809585157, + -0.5183949399189428, + 0.49078495557601054, + -0.6193329062041243, + -0.7830884820261145, + 0.056561299585403596, + 0.35500695436295937, + -0.34356821096322643, + -0.8694428944844304 + ], + [ + 0.7172395978772959, + -0.5177261009420756, + 0.4663979455788058, + -0.6068823366122215, + -0.793023757914455, + 0.05298253383263413, + 0.3424342108272848, + -0.32104984626464406, + -0.8829868670985674 + ], + [ + 0.7057446540620199, + -0.5482303844594683, + 0.44874038019583606, + -0.6358547594399979, + -0.769477205175956, + 0.059946272712340015, + 0.3124311254666895, + -0.3276404679981144, + -0.8916493232036877 + ], + [ + 0.7265013779516702, + -0.5392131853332228, + 0.4259634827037684, + -0.6236444999208958, + -0.7776845193481949, + 0.07921064375816293, + 0.2885537827732291, + -0.323196424994099, + -0.9012662122360371 + ], + [ + 0.7373106147426314, + -0.5437843255549876, + 0.4008387015603037, + -0.6135601123589035, + -0.7873274749751147, + 0.060493269637535416, + 0.2826960309413143, + -0.29054096859137996, + -0.9141492764641943 + ], + [ + 0.7596155326024879, + -0.5678455295910301, + 0.3170736462598577, + -0.5957427795390482, + -0.803099389029836, + -0.011041375231072015, + 0.2609114471542554, + -0.18050713521461384, + -0.9483366442780146 + ], + [ + 0.754936151806299, + -0.6514051521874422, + 0.07578083134640096, + -0.6170774500151033, + -0.7447218463520558, + -0.25417472779338735, + 0.22200636787883865, + 0.1451230487194917, + -0.96418487508963 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + 0.0003002583980560303, + 2.026185393333435e-05, + -0.006624326109886169, + 3.3974647521972656e-05, + 0.021153539419174194, + -0.0010064542293548584, + 1.0 + ], + [ + 0.011508256196975708, + 0.010642044246196747, + -0.013220980763435364, + 0.03247344493865967, + -0.01279488205909729, + -0.016495104879140854, + 1.0 + ], + [ + 0.016437888145446777, + 0.015350619331002235, + -0.020961493253707886, + 0.01012594997882843, + 0.021217316389083862, + -0.06236834079027176, + 1.0 + ], + [ + 0.0198039710521698, + 0.019147178158164024, + -0.002333812415599823, + 0.04443557560443878, + -0.023004204034805298, + -0.0859878659248352, + 1.0 + ], + [ + 0.028308838605880737, + 0.022216567769646645, + -0.004992552101612091, + 0.031606778502464294, + -0.024797499179840088, + -0.24773375689983368, + 1.0 + ], + [ + 0.027365803718566895, + 0.023232216015458107, + 0.005156978964805603, + 0.15315301716327667, + -0.03697076439857483, + -0.11843737959861755, + 1.0 + ], + [ + 0.023646175861358643, + 0.016044050455093384, + -0.0022563040256500244, + 0.1145000010728836, + -0.017117619514465332, + 0.008681833744049072, + 1.0 + ], + [ + 0.01687711477279663, + 0.020808465778827667, + -0.0016840249300003052, + 0.12393854558467865, + -0.024579137563705444, + 0.07113510370254517, + 1.0 + ], + [ + 0.0164014995098114, + 0.020253583788871765, + 0.0007040351629257202, + 0.170307457447052, + -0.04694589972496033, + 0.08827546238899231, + 1.0 + ], + [ + 0.009123265743255615, + 0.0069733187556266785, + -0.014667846262454987, + 0.07534316182136536, + 0.018680989742279053, + 0.04445478320121765, + 1.0 + ], + [ + 0.011955082416534424, + 0.009192675352096558, + -0.007924370467662811, + 0.002650022506713867, + 0.028129905462265015, + 0.019798845052719116, + 1.0 + ], + [ + 0.006299763917922974, + 0.009312257170677185, + -0.02121414989233017, + -0.014328628778457642, + 0.051422715187072754, + 0.016342848539352417, + 1.0 + ], + [ + 0.0064983069896698, + 0.0020353496074676514, + -0.0071595460176467896, + -0.00328981876373291, + 0.015392571687698364, + 0.0056874752044677734, + 1.0 + ], + [ + 0.007342398166656494, + -0.0016021877527236938, + -0.017532028257846832, + -0.03951188921928406, + 0.03475064039230347, + 0.004569292068481445, + 1.0 + ], + [ + 0.0035944879055023193, + 0.0031526461243629456, + -0.016471795737743378, + -0.007233560085296631, + 0.05165347456932068, + 0.001958906650543213, + 1.0 + ], + [ + 0.002990514039993286, + -0.0009169578552246094, + -0.0032960139214992523, + -0.017331033945083618, + 0.010115087032318115, + 0.0045451819896698, + 0.0 + ], + [ + 0.0021065175533294678, + 0.0004929155111312866, + -0.004038134589791298, + -0.00801914930343628, + 0.0010941475629806519, + 0.019975870847702026, + 0.0 + ], + [ + 0.00028318166732788086, + -0.0024124160408973694, + -0.0005538389086723328, + -0.009837418794631958, + -0.0016763508319854736, + -0.0049059391021728516, + 0.0 + ], + [ + -0.001841425895690918, + -0.0013739541172981262, + -0.005045557394623756, + -0.010863035917282104, + -0.0008550137281417847, + -0.003947407007217407, + 0.0 + ], + [ + -0.007142990827560425, + -0.004236459732055664, + 0.005388591438531876, + -0.046380698680877686, + -0.038392573595047, + -0.004442065954208374, + 0.0 + ], + [ + -0.00954696536064148, + -0.014079846441745758, + 0.026779644191265106, + -0.01502537727355957, + -0.07572001218795776, + -0.025320202112197876, + 0.0 + ], + [ + -0.011626571416854858, + -0.03687933087348938, + 0.026982668787240982, + 0.016185909509658813, + -0.06922909617424011, + -0.10524487495422363, + 0.0 + ], + [ + -0.01873987913131714, + -0.04400123655796051, + -0.006628789007663727, + 0.05641782283782959, + 0.04915347695350647, + -0.13574722409248352, + 0.0 + ], + [ + -0.02328437566757202, + -0.04429974406957626, + -0.013450682163238525, + 0.04412403702735901, + 0.07069522142410278, + -0.07965642213821411, + 0.0 + ], + [ + -0.02325153350830078, + -0.025471629574894905, + 0.002728685736656189, + 0.01023295521736145, + 0.006394922733306885, + -0.04954725503921509, + 0.0 + ], + [ + -0.017228782176971436, + -0.0208016037940979, + 0.02235598862171173, + -0.01911097764968872, + -0.06709212064743042, + -0.04146313667297363, + 0.0 + ], + [ + -0.007659286260604858, + -0.005199216306209564, + 0.01228061318397522, + -0.01779639720916748, + -0.0321943461894989, + -0.0026262402534484863, + 0.0 + ], + [ + -0.006600886583328247, + -0.008598893880844116, + 0.0040695518255233765, + -0.034955114126205444, + -0.0020425021648406982, + 0.013611257076263428, + 0.0 + ], + [ + -0.00932738184928894, + -0.015736430883407593, + -0.002610020339488983, + -0.012620329856872559, + 0.02055254578590393, + 0.021479368209838867, + 0.0 + ], + [ + -0.007477670907974243, + -0.012281015515327454, + -0.004497557878494263, + -0.027591466903686523, + 0.013414978981018066, + 0.021884381771087646, + 0.0 + ], + [ + -0.012966513633728027, + -0.01381763070821762, + -0.009539991617202759, + 0.003404289484024048, + 0.03175532817840576, + -0.03110414743423462, + 1.0 + ], + [ + -0.004190504550933838, + -0.0008318722248077393, + -0.0063941702246665955, + -0.00782102346420288, + 0.025035172700881958, + 0.023987770080566406, + 1.0 + ], + [ + -0.0043930113315582275, + -0.0027607232332229614, + -0.0050977542996406555, + -0.03658777475357056, + 0.006112396717071533, + 0.015317797660827637, + 1.0 + ], + [ + -0.0024581551551818848, + 0.0007064789533615112, + -0.005983561277389526, + -0.11963936686515808, + 0.022637397050857544, + 0.028970301151275635, + 1.0 + ], + [ + 0.003909647464752197, + 0.0010708719491958618, + 0.001481764018535614, + -0.33748316764831543, + 0.0400945246219635, + -0.02018028497695923, + 1.0 + ], + [ + 0.0012786686420440674, + 0.0028606951236724854, + 0.011225856840610504, + -0.24216510355472565, + -0.050240933895111084, + 0.0451350212097168, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9553104043006897 + ], + [ + 0.67718505859375 + ], + [ + 0.37631502747535706 + ], + [ + 0.16130207479000092 + ], + [ + 0.06443082541227341 + ], + [ + 0.05324139446020126 + ], + [ + 0.05271430313587189 + ], + [ + 0.05271430313587189 + ], + [ + 0.052451856434345245 + ], + [ + 0.052451856434345245 + ], + [ + 0.052451856434345245 + ], + [ + 0.052451856434345245 + ], + [ + 0.052451856434345245 + ], + [ + 0.052451856434345245 + ], + [ + 0.052451856434345245 + ], + [ + 0.07270156592130661 + ], + [ + 0.22681957483291626 + ], + [ + 0.48228755593299866 + ], + [ + 0.7922340631484985 + ], + [ + 0.9941151142120361 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.28991708159446716, + -0.051727790385484695, + 0.16112765669822693 + ], + [ + 0.30142533779144287, + -0.04108574613928795, + 0.14790667593479156 + ], + [ + 0.31786322593688965, + -0.025735126808285713, + 0.12694518268108368 + ], + [ + 0.33766719698905945, + -0.0065879481844604015, + 0.12461137026548386 + ], + [ + 0.3659760355949402, + 0.015628619119524956, + 0.11961881816387177 + ], + [ + 0.3933418393135071, + 0.03886083513498306, + 0.12477579712867737 + ], + [ + 0.4169880151748657, + 0.05490488559007645, + 0.12251949310302734 + ], + [ + 0.43386512994766235, + 0.07571335136890411, + 0.12083546817302704 + ], + [ + 0.45026662945747375, + 0.09596693515777588, + 0.12153950333595276 + ], + [ + 0.45938989520072937, + 0.10294025391340256, + 0.10687165707349777 + ], + [ + 0.4713449776172638, + 0.11213292926549911, + 0.09894728660583496 + ], + [ + 0.47764474153518677, + 0.1214451864361763, + 0.07773313671350479 + ], + [ + 0.48414304852485657, + 0.12348053604364395, + 0.070573590695858 + ], + [ + 0.49148544669151306, + 0.12187834829092026, + 0.05304156243801117 + ], + [ + 0.4950799345970154, + 0.1250309944152832, + 0.03656976670026779 + ], + [ + 0.49807044863700867, + 0.1241140365600586, + 0.03327375277876854 + ], + [ + 0.5001769661903381, + 0.12460695207118988, + 0.02923561818897724 + ], + [ + 0.500460147857666, + 0.12219453603029251, + 0.02868177928030491 + ], + [ + 0.4986187219619751, + 0.12082058191299438, + 0.023636221885681152 + ], + [ + 0.4914757311344147, + 0.11658412218093872, + 0.029024813324213028 + ], + [ + 0.4819287657737732, + 0.10250427573919296, + 0.055804457515478134 + ], + [ + 0.47030219435691833, + 0.06562494486570358, + 0.08278712630271912 + ], + [ + 0.4515623152256012, + 0.021623708307743073, + 0.07615833729505539 + ], + [ + 0.4282779395580292, + -0.02267603389918804, + 0.06270765513181686 + ], + [ + 0.4050264060497284, + -0.04814766347408295, + 0.06543634086847305 + ], + [ + 0.38779762387275696, + -0.06894926726818085, + 0.08779232949018478 + ], + [ + 0.3801383376121521, + -0.07414848357439041, + 0.10007294267416 + ], + [ + 0.37353745102882385, + -0.08274737745523453, + 0.10414249449968338 + ], + [ + 0.3642100691795349, + -0.09848380833864212, + 0.1015324741601944 + ], + [ + 0.35673239827156067, + -0.11076482385396957, + 0.09703491628170013 + ], + [ + 0.34376588463783264, + -0.1245824545621872, + 0.08749492466449738 + ], + [ + 0.3395753800868988, + -0.12541432678699493, + 0.08110075443983078 + ], + [ + 0.3351823687553406, + -0.1281750500202179, + 0.07600300014019012 + ], + [ + 0.3327242136001587, + -0.12746857106685638, + 0.0700194388628006 + ], + [ + 0.3366338610649109, + -0.12639769911766052, + 0.07150120288133621 + ], + [ + 0.33791252970695496, + -0.12353700399398804, + 0.08272705972194672 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9623232711428565, + -0.12506654458328276, + 0.24143794491113, + -0.05850805160867476, + -0.9623835437236935, + -0.26532003819308925, + 0.26553856539845344, + 0.24119758331256855, + -0.9334414797352364 + ], + [ + 0.957761305336603, + -0.13583719125695792, + 0.2534591475392959, + -0.07410482109424861, + -0.96821831087018, + -0.23887607244402786, + 0.2778520424443832, + 0.2100037141745728, + -0.9373882240258667 + ], + [ + 0.9569037384837735, + -0.1892740201199619, + 0.22025117612263914, + -0.13444609827990847, + -0.9609880020526335, + -0.2417153420207259, + 0.2574091722007721, + 0.20168640315726685, + -0.9450201653130992 + ], + [ + 0.9358016358163948, + -0.2655782684190883, + 0.23182640433496418, + -0.21474860173696653, + -0.9509728747461506, + -0.222561518571967, + 0.2795681248915501, + 0.15848903697278544, + -0.9469545335991911 + ], + [ + 0.8481416537866635, + -0.4878584949441067, + 0.20651833822422305, + -0.43436372864018225, + -0.8635585466147399, + -0.25611479420454497, + 0.30328845403975024, + 0.1275175496922259, + -0.9443280087801426 + ], + [ + 0.7810306896677967, + -0.5523966671921889, + 0.29128848908257277, + -0.5249213545734099, + -0.833391047272303, + -0.17296512318727975, + 0.33830257656403184, + -0.01781247880942957, + -0.9408687912184149 + ], + [ + 0.7806094750871571, + -0.5063376988794178, + 0.3664300507568251, + -0.5148567273708892, + -0.853314964599831, + -0.08231720033460495, + 0.3543605475854944, + -0.12440139019916742, + -0.9267971171898537 + ], + [ + 0.807390037858814, + -0.3900154530647884, + 0.44272934524041946, + -0.45366816515528546, + -0.8901230549538833, + 0.043198876885891635, + 0.37723536776259364, + -0.23573055255998032, + -0.8956140820123291 + ], + [ + 0.8271738246971622, + -0.21516395499146634, + 0.519122274814228, + -0.3730243720060805, + -0.9011474331718857, + 0.22087580577598634, + 0.4202811935185036, + -0.3763479456037355, + -0.8256669681018552 + ], + [ + 0.8500798955242583, + -0.14373372190055028, + 0.5066604271245996, + -0.33874369876448635, + -0.8858542624005891, + 0.3170409000966023, + 0.4032578303924443, + -0.44113812233281774, + -0.80173579142499 + ], + [ + 0.8668981252296009, + -0.1365846320795899, + 0.4794082589537708, + -0.32570964560454974, + -0.8832444434036368, + 0.3373314096800918, + 0.3773603943626852, + -0.44857986075645706, + -0.8101698842157463 + ], + [ + 0.8892184788194109, + -0.15027990850662318, + 0.4320954131037892, + -0.3176117497385843, + -0.8825793151426847, + 0.34666486541076624, + 0.3292617095170469, + -0.4454993844906081, + -0.8325365007399984 + ], + [ + 0.8956872382581715, + -0.1531200824846809, + 0.4174908520690415, + -0.314189742612088, + -0.8823016612378433, + 0.3504690916675711, + 0.31468901610764827, + -0.44508203616505015, + -0.838375097569324 + ], + [ + 0.9069054193470142, + -0.17899304901540855, + 0.38142371290099897, + -0.31347846597450824, + -0.8915232720299777, + 0.32698242582626874, + 0.281520535182223, + -0.41611025441958266, + -0.8646377533034194 + ], + [ + 0.9200541584830142, + -0.20016067878574523, + 0.3368026842620799, + -0.3160071489572878, + -0.8872936237671738, + 0.3359308069082138, + 0.23160273587762095, + -0.41550659187327804, + -0.8796103937788902 + ], + [ + 0.9236528541873037, + -0.20574560674839437, + 0.32331741409237813, + -0.3125570379504651, + -0.8926099452586297, + 0.3248931880680439, + 0.22175099318667948, + -0.4011436537315789, + -0.8887689610307057 + ], + [ + 0.9299425362917543, + -0.1908202687289088, + 0.31431593061358776, + -0.2941181255189546, + -0.8990392996617278, + 0.3243807421918967, + 0.2206839537358236, + -0.39410146245094846, + -0.8921785863029598 + ], + [ + 0.9281349498995115, + -0.19771200495249686, + 0.31539733333161724, + -0.29856310296060445, + -0.9014224424575177, + 0.31352456647678945, + 0.22231866391638586, + -0.38515911430418875, + -0.8956711831597832 + ], + [ + 0.926768110621807, + -0.2043912460462374, + 0.3151588292816057, + -0.30216546017902096, + -0.9040735309478847, + 0.3022368033748113, + 0.22315219875521358, + -0.37533354390340645, + -0.8996264930578818 + ], + [ + 0.9166032860729739, + -0.21076629036787067, + 0.33972928458522994, + -0.3033623007606746, + -0.9201343201655598, + 0.24763712833630752, + 0.26040301541536676, + -0.33004606299428757, + -0.9073366882610638 + ], + [ + 0.8874869689761794, + -0.2168714538122906, + 0.40661241055680625, + -0.3188747756636299, + -0.9260003550859062, + 0.2020945813876383, + 0.33269469088481557, + -0.3090147486805744, + -0.8909680845882965 + ], + [ + 0.8263236504726161, + -0.2861235774382198, + 0.48510052886341504, + -0.3993446473262675, + -0.9050301527116735, + 0.14643864016899422, + 0.3971310581174292, + -0.31472801133143546, + -0.8621097387002952 + ], + [ + 0.7800125196461805, + -0.39211617262952647, + 0.4876734320809248, + -0.5176747756819262, + -0.8421752315368254, + 0.1508433160884563, + 0.35155838180575977, + -0.3701159096124698, + -0.8598958760418901 + ], + [ + 0.754039740008584, + -0.4584200788462372, + 0.4703988752095361, + -0.5919913201665596, + -0.7845765243678366, + 0.18435279834691792, + 0.2845528902247189, + -0.4174813872755229, + -0.8629825861182043 + ], + [ + 0.7251538980807258, + -0.4938483512155302, + 0.47986001094072306, + -0.629790477941779, + -0.757434719104821, + 0.17221091773887873, + 0.27841655480986427, + -0.4270906839259123, + -0.8602777282433287 + ], + [ + 0.6832805397967083, + -0.5142020123534997, + 0.5183859512243074, + -0.6450114412093256, + -0.7577977080164073, + 0.0985031696654898, + 0.34218115764049234, + -0.4016701684425804, + -0.8494546080510256 + ], + [ + 0.6732415034004124, + -0.5163669490989193, + 0.5292551860656884, + -0.6388866676007563, + -0.7665669730840827, + 0.06479893316026025, + 0.3722495185505994, + -0.3817594133154824, + -0.8459846607852093 + ], + [ + 0.6813149124651598, + -0.5235124157303251, + 0.5116099496968282, + -0.629146976271138, + -0.776055267734084, + 0.043729894478075765, + 0.3741444537895435, + -0.3516716821104292, + -0.8581042802015065 + ], + [ + 0.7002833809585157, + -0.5183949399189428, + 0.49078495557601054, + -0.6193329062041243, + -0.7830884820261145, + 0.056561299585403596, + 0.35500695436295937, + -0.34356821096322643, + -0.8694428944844304 + ], + [ + 0.7172395978772959, + -0.5177261009420756, + 0.4663979455788058, + -0.6068823366122215, + -0.793023757914455, + 0.05298253383263413, + 0.3424342108272848, + -0.32104984626464406, + -0.8829868670985674 + ], + [ + 0.7057446540620199, + -0.5482303844594683, + 0.44874038019583606, + -0.6358547594399979, + -0.769477205175956, + 0.059946272712340015, + 0.3124311254666895, + -0.3276404679981144, + -0.8916493232036877 + ], + [ + 0.7265013779516702, + -0.5392131853332228, + 0.4259634827037684, + -0.6236444999208958, + -0.7776845193481949, + 0.07921064375816293, + 0.2885537827732291, + -0.323196424994099, + -0.9012662122360371 + ], + [ + 0.7373106147426314, + -0.5437843255549876, + 0.4008387015603037, + -0.6135601123589035, + -0.7873274749751147, + 0.060493269637535416, + 0.2826960309413143, + -0.29054096859137996, + -0.9141492764641943 + ], + [ + 0.7596155326024879, + -0.5678455295910301, + 0.3170736462598577, + -0.5957427795390482, + -0.803099389029836, + -0.011041375231072015, + 0.2609114471542554, + -0.18050713521461384, + -0.9483366442780146 + ], + [ + 0.754936151806299, + -0.6514051521874422, + 0.07578083134640096, + -0.6170774500151033, + -0.7447218463520558, + -0.25417472779338735, + 0.22200636787883865, + 0.1451230487194917, + -0.96418487508963 + ], + [ + 0.7720810578723004, + -0.6349386155346737, + -0.027272597560589834, + -0.5749923828819297, + -0.6796207967938602, + -0.4555209459432568, + 0.27069281427949, + 0.3673806296856041, + -0.8898072112706544 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005526.json b/json/chunk-0005/episode_0005526.json new file mode 100644 index 0000000000000000000000000000000000000000..d7bdc1243ac13a55e0003c50867b7cf478219542 --- /dev/null +++ b/json/chunk-0005/episode_0005526.json @@ -0,0 +1,1942 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 31, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the blue napkin behind the pan." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005526.mp4", + "start": 0, + "end": 31, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2861868441104889, + -0.01748025044798851, + 0.16737514734268188, + -0.20573529601097107, + -0.33775195479393005, + 0.4567064940929413, + 0.0, + 1.0008161067962646 + ], + [ + 0.2839840352535248, + -0.016232386231422424, + 0.15918245911598206, + -0.19309672713279724, + -0.3112459182739258, + 0.4540703296661377, + 0.0, + 1.0008161067962646 + ], + [ + 0.2775213420391083, + 0.017514849081635475, + 0.15463793277740479, + -0.180558979511261, + -0.2870057225227356, + 0.5572050213813782, + 0.0, + 1.0008161067962646 + ], + [ + 0.2730609178543091, + 0.027650168165564537, + 0.15073077380657196, + -0.16486725211143494, + -0.28593891859054565, + 0.5856013298034668, + 0.0, + 1.0008161067962646 + ], + [ + 0.2687993347644806, + 0.045854564756155014, + 0.1444232016801834, + -0.14965282380580902, + -0.29339632391929626, + 0.6305949091911316, + 0.0, + 1.0008161067962646 + ], + [ + 0.26981788873672485, + 0.06002404913306236, + 0.12529060244560242, + -0.14640802145004272, + -0.3103070855140686, + 0.660417914390564, + 0.0, + 1.0008161067962646 + ], + [ + 0.27401697635650635, + 0.07410381734371185, + 0.1074877604842186, + -0.13985544443130493, + -0.31323474645614624, + 0.7004919648170471, + 0.0, + 1.0008161067962646 + ], + [ + 0.2804105281829834, + 0.08347945660352707, + 0.08231305330991745, + -0.11958951503038406, + -0.28360989689826965, + 0.7311842441558838, + 0.0, + 1.0008161067962646 + ], + [ + 0.2965403199195862, + 0.08824647963047028, + 0.06542810797691345, + -0.09456640481948853, + -0.2600976228713989, + 0.7614575028419495, + 0.0, + 1.0008161067962646 + ], + [ + 0.3090956211090088, + 0.08935566991567612, + 0.05112588033080101, + -0.07737431675195694, + -0.23707222938537598, + 0.7842167019844055, + 0.0, + 1.0008161067962646 + ], + [ + 0.3110623359680176, + 0.09274614602327347, + 0.041504599153995514, + -0.05335662513971329, + -0.22483685612678528, + 0.7963107824325562, + 0.0, + 1.0008161067962646 + ], + [ + 0.30798137187957764, + 0.09679832309484482, + 0.03294737637042999, + -0.015578954480588436, + -0.21550655364990234, + 0.7909460663795471, + 0.0, + 1.0008161067962646 + ], + [ + 0.304806649684906, + 0.10358034819364548, + 0.031072895973920822, + -0.000750986800994724, + -0.2136577069759369, + 0.8100308775901794, + 0.0, + 1.0008161067962646 + ], + [ + 0.30202430486679077, + 0.10010828077793121, + 0.015736792236566544, + 0.012148200534284115, + -0.16855235397815704, + 0.7959684133529663, + 0.0, + 1.0008161067962646 + ], + [ + 0.3051662743091583, + 0.0999172106385231, + 0.010765221901237965, + 0.00905905943363905, + -0.1607670783996582, + 0.7960077524185181, + 0.0, + 1.0008161067962646 + ], + [ + 0.3108265697956085, + 0.09978421032428741, + 0.010511149652302265, + -0.005706240423023701, + -0.15950535237789154, + 0.7962795495986938, + 0.0, + 1.0008161067962646 + ], + [ + 0.3148837983608246, + 0.09964685142040253, + 0.009962119162082672, + -0.02639765292406082, + -0.15319788455963135, + 0.8060005307197571, + 0.0, + 1.0008161067962646 + ], + [ + 0.32408320903778076, + 0.09785146266222, + 0.010901336558163166, + -0.05343404784798622, + -0.1531011164188385, + 0.8225266337394714, + 0.0, + 1.0014774799346924 + ], + [ + 0.33547160029411316, + 0.0823025181889534, + 0.0121937720105052, + -0.080055370926857, + -0.14761555194854736, + 0.8108635544776917, + 0.0, + 1.0008161067962646 + ], + [ + 0.35325947403907776, + 0.054992496967315674, + 0.014155198819935322, + -0.10601663589477539, + -0.14345134794712067, + 0.7524852752685547, + 0.0, + 0.9988223910331726 + ], + [ + 0.3696580231189728, + 0.024624958634376526, + 0.01708100736141205, + -0.11896747350692749, + -0.14196839928627014, + 0.6846057176589966, + 0.0, + 0.9994885921478271 + ], + [ + 0.3822535574436188, + -0.0001533577888039872, + 0.020205646753311157, + -0.13536229729652405, + -0.1511346399784088, + 0.6291975378990173, + 0.0, + 0.9994885921478271 + ], + [ + 0.3891885280609131, + -0.012287149205803871, + 0.020354878157377243, + -0.1504184901714325, + -0.1482905000448227, + 0.6080834269523621, + 0.0, + 0.9988223910331726 + ], + [ + 0.3939340114593506, + -0.022688377648591995, + 0.025778552517294884, + -0.14091862738132477, + -0.16973119974136353, + 0.5691238641738892, + 0.0, + 0.9988223910331726 + ], + [ + 0.3936408758163452, + -0.032573334872722626, + 0.026405690237879753, + -0.13454566895961761, + -0.17418310046195984, + 0.5353749394416809, + 0.0, + 0.9988223910331726 + ], + [ + 0.3919304311275482, + -0.03306297957897186, + 0.0260442104190588, + -0.1275893747806549, + -0.1659373939037323, + 0.5280284285545349, + 0.0, + 0.9988223910331726 + ], + [ + 0.3907434046268463, + -0.031787656247615814, + 0.03441987559199333, + -0.1330793797969818, + -0.16948860883712769, + 0.5423111319541931, + 0.0, + 0.9988223910331726 + ], + [ + 0.3917703628540039, + -0.019959157332777977, + 0.0645652487874031, + -0.16934609413146973, + -0.21724575757980347, + 0.6049867868423462, + 0.0, + 0.9994885921478271 + ], + [ + 0.38961726427078247, + -0.012921934016048908, + 0.09307686239480972, + -0.20390529930591583, + -0.24715588986873627, + 0.6621284484863281, + 0.0, + 0.9988223910331726 + ], + [ + 0.38241809606552124, + -0.008011164143681526, + 0.1263851374387741, + -0.2406776249408722, + -0.266862690448761, + 0.7226637005805969, + 0.0, + 0.9988223910331726 + ], + [ + 0.37079164385795593, + -0.0008983021252788603, + 0.15943430364131927, + -0.28840821981430054, + -0.2755146324634552, + 0.7907178401947021, + 0.0, + 0.9994885921478271 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2861868441104889, + -0.01748025044798851, + 0.16737514734268188 + ], + [ + 0.2839840352535248, + -0.016232386231422424, + 0.15918245911598206 + ], + [ + 0.2775213420391083, + 0.017514849081635475, + 0.15463793277740479 + ], + [ + 0.2730609178543091, + 0.027650168165564537, + 0.15073077380657196 + ], + [ + 0.2687993347644806, + 0.045854564756155014, + 0.1444232016801834 + ], + [ + 0.26981788873672485, + 0.06002404913306236, + 0.12529060244560242 + ], + [ + 0.27401697635650635, + 0.07410381734371185, + 0.1074877604842186 + ], + [ + 0.2804105281829834, + 0.08347945660352707, + 0.08231305330991745 + ], + [ + 0.2965403199195862, + 0.08824647963047028, + 0.06542810797691345 + ], + [ + 0.3090956211090088, + 0.08935566991567612, + 0.05112588033080101 + ], + [ + 0.3110623359680176, + 0.09274614602327347, + 0.041504599153995514 + ], + [ + 0.30798137187957764, + 0.09679832309484482, + 0.03294737637042999 + ], + [ + 0.304806649684906, + 0.10358034819364548, + 0.031072895973920822 + ], + [ + 0.30202430486679077, + 0.10010828077793121, + 0.015736792236566544 + ], + [ + 0.3051662743091583, + 0.0999172106385231, + 0.010765221901237965 + ], + [ + 0.3108265697956085, + 0.09978421032428741, + 0.010511149652302265 + ], + [ + 0.3148837983608246, + 0.09964685142040253, + 0.009962119162082672 + ], + [ + 0.32408320903778076, + 0.09785146266222, + 0.010901336558163166 + ], + [ + 0.33547160029411316, + 0.0823025181889534, + 0.0121937720105052 + ], + [ + 0.35325947403907776, + 0.054992496967315674, + 0.014155198819935322 + ], + [ + 0.3696580231189728, + 0.024624958634376526, + 0.01708100736141205 + ], + [ + 0.3822535574436188, + -0.0001533577888039872, + 0.020205646753311157 + ], + [ + 0.3891885280609131, + -0.012287149205803871, + 0.020354878157377243 + ], + [ + 0.3939340114593506, + -0.022688377648591995, + 0.025778552517294884 + ], + [ + 0.3936408758163452, + -0.032573334872722626, + 0.026405690237879753 + ], + [ + 0.3919304311275482, + -0.03306297957897186, + 0.0260442104190588 + ], + [ + 0.3907434046268463, + -0.031787656247615814, + 0.03441987559199333 + ], + [ + 0.3917703628540039, + -0.019959157332777977, + 0.0645652487874031 + ], + [ + 0.38961726427078247, + -0.012921934016048908, + 0.09307686239480972 + ], + [ + 0.38241809606552124, + -0.008011164143681526, + 0.1263851374387741 + ], + [ + 0.37079164385795593, + -0.0008983021252788603, + 0.15943430364131927 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8468022523191824, + 0.37093845013850596, + 0.3812225225193324, + 0.4160792299612606, + -0.9084348941830237, + -0.04030034026559633, + 0.33136689614686043, + 0.1927451925198696, + -0.9236044991761756 + ], + [ + 0.8554906139595005, + 0.3776619421180336, + 0.3542700479899928, + 0.4175522156454251, + -0.9077444166740828, + -0.04062291479726041, + 0.30624492916094653, + 0.18267876579576534, + -0.9342604090351591 + ], + [ + 0.8140195672064087, + 0.4770732646695409, + 0.3313204556658667, + 0.5071852675667757, + -0.8618216582818996, + -0.005151085269637298, + 0.28308169945849476, + 0.17223393815907206, + -0.9435042246741175 + ], + [ + 0.7995423626998426, + 0.5066274178585878, + 0.3225843606288027, + 0.5302594509971624, + -0.8476648879769395, + 0.017004479387223825, + 0.2820583713995055, + 0.15745760434155787, + -0.9463879637645843 + ], + [ + 0.7731625544193832, + 0.5482088467512718, + 0.3188835599201291, + 0.56442899317492, + -0.8240734398722351, + 0.04819623803459535, + 0.2892050762127802, + 0.14272360015352042, + -0.9465676932221898 + ], + [ + 0.752018022340516, + 0.5717041548074596, + 0.32805983212052553, + 0.584148626795108, + -0.8086137175320529, + 0.07010162360732361, + 0.3053510698989749, + 0.13891801609179993, + -0.9420522856597024 + ], + [ + 0.7273247454703156, + 0.6054604735505921, + 0.32313515685303196, + 0.6132291077450628, + -0.7847485844799, + 0.09010949212478842, + 0.308137592709385, + 0.13261702049392457, + -0.9420530504353665 + ], + [ + 0.7146471605884888, + 0.638131673519563, + 0.2864740880322908, + 0.6410760015670229, + -0.7613598818153198, + 0.09670930967079089, + 0.27982315143255987, + 0.11453862934959672, + -0.9531945794585 + ], + [ + 0.6994849866455715, + 0.6693168731480624, + 0.2504709100409586, + 0.6667696964921764, + -0.7373523248991778, + 0.10830383559924836, + 0.2571748924315443, + 0.09124950567032475, + -0.9620470895012083 + ], + [ + 0.688140400015063, + 0.6913059223571844, + 0.22036086671864288, + 0.6865162954175591, + -0.7186451392038864, + 0.1106550497030179, + 0.23485775693653307, + 0.07513511570836379, + -0.9691215343775161 + ], + [ + 0.6817461889342546, + 0.7054483839861425, + 0.19381617941998414, + 0.6967902288669221, + -0.7068519806680575, + 0.12183453689831233, + 0.2229473274771459, + 0.051988988805168924, + -0.9734431848925823 + ], + [ + 0.6869073010101014, + 0.7085900737640959, + 0.16142635219198662, + 0.6945716910647702, + -0.7054562500714425, + 0.14107319095619844, + 0.21384229186585987, + 0.0152179695798004, + -0.9767496545233201 + ], + [ + 0.6737986848347247, + 0.7241984703409597, + 0.1467375475834649, + 0.7078390576407741, + -0.6895912100156752, + 0.15306152863256606, + 0.21203584789656765, + 0.0007339107105824999, + -0.9772616131731834 + ], + [ + 0.6896789439008266, + 0.7159143943484385, + 0.10867168124469413, + 0.7044154186146261, + -0.6980853539410189, + 0.12835792391209383, + 0.16775539442241752, + -0.011975749569459099, + -0.9857559074458688 + ], + [ + 0.6905439704204334, + 0.7155540834731592, + 0.10550534839936494, + 0.7053544345214996, + -0.6985001017465919, + 0.12071756111211272, + 0.1600754403924589, + -0.008942118590601747, + -0.9870642795169282 + ], + [ + 0.6904929348859459, + 0.7141135815065566, + 0.11515771611347536, + 0.7056858955897259, + -0.7000071808853123, + 0.10953247680356912, + 0.15882985751526552, + 0.005633774656182068, + -0.9872898950889775 + ], + [ + 0.6842805020290215, + 0.7184835791226257, + 0.12466571731655911, + 0.7130733737563114, + -0.6950545988924044, + 0.09179034915671092, + 0.152599338736124, + 0.026085457436296096, + -0.987943819621155 + ], + [ + 0.6724133176173813, + 0.7262795895854289, + 0.14275254128178352, + 0.7242947955053446, + -0.6853698402089311, + 0.0752677310396364, + 0.1525037032162084, + 0.05278389795766302, + -0.9868923348682659 + ], + [ + 0.6813809441858202, + 0.7144582254888158, + 0.15896368431755853, + 0.7169989342597237, + -0.6951924950171933, + 0.05118518479198459, + 0.14708003661564745, + 0.07910018269980047, + -0.9859567048942857 + ], + [ + 0.722494423530485, + 0.6685746981700135, + 0.17609565847637343, + 0.6764349838228526, + -0.7362331428074204, + 0.019911606978982234, + 0.14295985670085554, + 0.1047312388868949, + -0.9841716552376861 + ], + [ + 0.766874810538784, + 0.6148886540978475, + 0.1838884662583323, + 0.626005625824338, + -0.7798123766457992, + -0.0031005912838056385, + 0.1414919835092542, + 0.11749297975525164, + -0.982942225316854 + ], + [ + 0.7992838281937162, + 0.566685821305841, + 0.2000313523398828, + 0.5817878203352873, + -0.8130613045585886, + -0.02131307436766372, + 0.1505599352334918, + 0.13341100014770393, + -0.9795576608562031 + ], + [ + 0.8117368637636893, + 0.5466731866526371, + 0.20550350605802453, + 0.5650255812815155, + -0.8241256112680937, + -0.039535671860691325, + 0.14774761082526877, + 0.1482073002488127, + -0.9778574740975206 + ], + [ + 0.830268711414886, + 0.5135671427965832, + 0.21657021190648323, + 0.5311504239897983, + -0.8468085388394491, + -0.028187331268766297, + 0.16891741751791778, + 0.13843441908843213, + -0.975860040000986 + ], + [ + 0.847063095667832, + 0.4855586930141282, + 0.21614085128924804, + 0.502443981405476, + -0.8641641110604084, + -0.027756705578792486, + 0.17330365693499655, + 0.13211035081925124, + -0.9759675700039275 + ], + [ + 0.8519368618527018, + 0.4815807654991304, + 0.20562964211864435, + 0.4969106238603096, + -0.8673700509029233, + -0.027368352004055192, + 0.16517692124303593, + 0.12549566166976267, + -0.9782471178545532 + ], + [ + 0.8442452409478547, + 0.4923833096642602, + 0.21168053642450962, + 0.508721536474665, + -0.8604962435843437, + -0.02736079501933452, + 0.168678307626544, + 0.13078566871528075, + -0.9769558523264712 + ], + [ + 0.8031763633344267, + 0.5307361830794852, + 0.2706045700854002, + 0.5553825999317188, + -0.8314046784496854, + -0.01778843290061516, + 0.21554094059822945, + 0.1645763185339691, + -0.9625262273329679 + ], + [ + 0.7647189970265934, + 0.5629889130854061, + 0.31344591133009536, + 0.5961145607155164, + -0.8028034358149495, + -0.012412652684222189, + 0.24464726871475165, + 0.19634186305173235, + -0.9495249268575243 + ], + [ + 0.7234972373566502, + 0.5951757118771221, + 0.349739359421921, + 0.6379738546688984, + -0.7700006824022767, + -0.009397332543607806, + 0.2637064813314265, + 0.2299235113936563, + -0.9367999095923359 + ], + [ + 0.6768091540172817, + 0.6270770671264672, + 0.3856212143055404, + 0.6840485454346348, + -0.7292893380510928, + -0.014650900783194365, + 0.2720421962254598, + 0.27369949449910747, + -0.9225408555634603 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0022028088569641113, + 0.0012478642165660858, + -0.008192688226699829, + 0.012638568878173828, + 0.026506036520004272, + -0.002636164426803589, + 1.0 + ], + [ + -0.006462693214416504, + 0.03374723345041275, + -0.0045445263385772705, + 0.012537747621536255, + 0.024240195751190186, + 0.10313469171524048, + 1.0 + ], + [ + -0.004460424184799194, + 0.010135319083929062, + -0.003907158970832825, + 0.01569172739982605, + 0.0010668039321899414, + 0.028396308422088623, + 1.0 + ], + [ + -0.004261583089828491, + 0.018204396590590477, + -0.00630757212638855, + 0.015214428305625916, + -0.00745740532875061, + 0.044993579387664795, + 1.0 + ], + [ + 0.0010185539722442627, + 0.014169484376907349, + -0.019132599234580994, + 0.0032448023557662964, + -0.01691076159477234, + 0.029823005199432373, + 1.0 + ], + [ + 0.004199087619781494, + 0.01407976821064949, + -0.01780284196138382, + 0.006552577018737793, + -0.0029276609420776367, + 0.040074050426483154, + 1.0 + ], + [ + 0.006393551826477051, + 0.009375639259815216, + -0.025174707174301147, + 0.020265929400920868, + 0.029624849557876587, + 0.03069227933883667, + 1.0 + ], + [ + 0.016129791736602783, + 0.004767023026943207, + -0.016884945333003998, + 0.02502311021089554, + 0.023512274026870728, + 0.030273258686065674, + 1.0 + ], + [ + 0.012555301189422607, + 0.001109190285205841, + -0.014302227646112442, + 0.017192088067531586, + 0.02302539348602295, + 0.022759199142456055, + 1.0 + ], + [ + 0.001966714859008789, + 0.003390476107597351, + -0.009621281176805496, + 0.024017691612243652, + 0.012235373258590698, + 0.012094080448150635, + 1.0 + ], + [ + -0.0030809640884399414, + 0.00405217707157135, + -0.008557222783565521, + 0.03777766972780228, + 0.009330302476882935, + -0.005364716053009033, + 1.0 + ], + [ + -0.003174722194671631, + 0.006782025098800659, + -0.0018744803965091705, + 0.014827967621386051, + 0.001848846673965454, + 0.019084811210632324, + 1.0 + ], + [ + -0.0027823448181152344, + -0.003472067415714264, + -0.015336103737354279, + 0.0128991873934865, + 0.045105352997779846, + -0.014062464237213135, + 1.0 + ], + [ + 0.0031419694423675537, + -0.00019107013940811157, + -0.004971570335328579, + -0.0030891411006450653, + 0.00778527557849884, + 3.933906555175781e-05, + 1.0 + ], + [ + 0.005660295486450195, + -0.00013300031423568726, + -0.00025407224893569946, + -0.01476529985666275, + 0.0012617260217666626, + 0.00027179718017578125, + 1.0 + ], + [ + 0.0040572285652160645, + -0.0001373589038848877, + -0.000549030490219593, + -0.020691413432359695, + 0.006307467818260193, + 0.009720981121063232, + 1.0 + ], + [ + 0.009199410676956177, + -0.0017953887581825256, + 0.0009392173960804939, + -0.0270363949239254, + 9.676814079284668e-05, + 0.016526103019714355, + 1.0 + ], + [ + 0.011388391256332397, + -0.015548944473266602, + 0.0012924354523420334, + -0.026621323078870773, + 0.005485564470291138, + -0.011663079261779785, + 1.0 + ], + [ + 0.0177878737449646, + -0.027310021221637726, + 0.0019614268094301224, + -0.025961264967918396, + 0.004164204001426697, + -0.05837827920913696, + 1.0 + ], + [ + 0.01639854907989502, + -0.030367538332939148, + 0.0029258085414767265, + -0.0129508376121521, + 0.001482948660850525, + -0.0678795576095581, + 1.0 + ], + [ + 0.012595534324645996, + -0.024778315797448158, + 0.003124639391899109, + -0.016394823789596558, + -0.009166240692138672, + -0.05540817975997925, + 1.0 + ], + [ + 0.0069349706172943115, + -0.012133791111409664, + 0.00014923140406608582, + -0.015056192874908447, + 0.0028441399335861206, + -0.021114110946655273, + 1.0 + ], + [ + 0.0047454833984375, + -0.010401228442788124, + 0.005423674359917641, + 0.009499862790107727, + -0.021440699696540833, + -0.0389595627784729, + 1.0 + ], + [ + -0.0002931356430053711, + -0.00988495722413063, + 0.0006271377205848694, + 0.006372958421707153, + -0.0044519007205963135, + -0.03374892473220825, + 1.0 + ], + [ + -0.001710444688796997, + -0.0004896447062492371, + -0.00036147981882095337, + 0.0069562941789627075, + 0.008245706558227539, + -0.007346510887145996, + 1.0 + ], + [ + -0.0011870265007019043, + 0.0012753233313560486, + 0.008375665172934532, + -0.005490005016326904, + -0.0035512149333953857, + 0.014282703399658203, + 1.0 + ], + [ + 0.0010269582271575928, + 0.011828498914837837, + 0.030145373195409775, + -0.036266714334487915, + -0.04775714874267578, + 0.06267565488815308, + 1.0 + ], + [ + -0.0021530985832214355, + 0.007037223316729069, + 0.028511613607406616, + -0.034559205174446106, + -0.0299101322889328, + 0.057141661643981934, + 1.0 + ], + [ + -0.0071991682052612305, + 0.004910769872367382, + 0.033308275043964386, + -0.03677232563495636, + -0.01970680058002472, + 0.0605352520942688, + 1.0 + ], + [ + -0.011626452207565308, + 0.007112862076610327, + 0.033049166202545166, + -0.047730594873428345, + -0.008651942014694214, + 0.06805413961410522, + 1.0 + ], + [ + -0.007684171199798584, + 0.0025693136267364025, + 0.012703627347946167, + -0.005361974239349365, + -0.009635299444198608, + 0.035616278648376465, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2839840352535248, + -0.016232386231422424, + 0.15918245911598206 + ], + [ + 0.2775213420391083, + 0.017514849081635475, + 0.15463793277740479 + ], + [ + 0.2730609178543091, + 0.027650168165564537, + 0.15073077380657196 + ], + [ + 0.2687993347644806, + 0.045854564756155014, + 0.1444232016801834 + ], + [ + 0.26981788873672485, + 0.06002404913306236, + 0.12529060244560242 + ], + [ + 0.27401697635650635, + 0.07410381734371185, + 0.1074877604842186 + ], + [ + 0.2804105281829834, + 0.08347945660352707, + 0.08231305330991745 + ], + [ + 0.2965403199195862, + 0.08824647963047028, + 0.06542810797691345 + ], + [ + 0.3090956211090088, + 0.08935566991567612, + 0.05112588033080101 + ], + [ + 0.3110623359680176, + 0.09274614602327347, + 0.041504599153995514 + ], + [ + 0.30798137187957764, + 0.09679832309484482, + 0.03294737637042999 + ], + [ + 0.304806649684906, + 0.10358034819364548, + 0.031072895973920822 + ], + [ + 0.30202430486679077, + 0.10010828077793121, + 0.015736792236566544 + ], + [ + 0.3051662743091583, + 0.0999172106385231, + 0.010765221901237965 + ], + [ + 0.3108265697956085, + 0.09978421032428741, + 0.010511149652302265 + ], + [ + 0.3148837983608246, + 0.09964685142040253, + 0.009962119162082672 + ], + [ + 0.32408320903778076, + 0.09785146266222, + 0.010901336558163166 + ], + [ + 0.33547160029411316, + 0.0823025181889534, + 0.0121937720105052 + ], + [ + 0.35325947403907776, + 0.054992496967315674, + 0.014155198819935322 + ], + [ + 0.3696580231189728, + 0.024624958634376526, + 0.01708100736141205 + ], + [ + 0.3822535574436188, + -0.0001533577888039872, + 0.020205646753311157 + ], + [ + 0.3891885280609131, + -0.012287149205803871, + 0.020354878157377243 + ], + [ + 0.3939340114593506, + -0.022688377648591995, + 0.025778552517294884 + ], + [ + 0.3936408758163452, + -0.032573334872722626, + 0.026405690237879753 + ], + [ + 0.3919304311275482, + -0.03306297957897186, + 0.0260442104190588 + ], + [ + 0.3907434046268463, + -0.031787656247615814, + 0.03441987559199333 + ], + [ + 0.3917703628540039, + -0.019959157332777977, + 0.0645652487874031 + ], + [ + 0.38961726427078247, + -0.012921934016048908, + 0.09307686239480972 + ], + [ + 0.38241809606552124, + -0.008011164143681526, + 0.1263851374387741 + ], + [ + 0.37079164385795593, + -0.0008983021252788603, + 0.15943430364131927 + ], + [ + 0.36310747265815735, + 0.001671011559665203, + 0.17213793098926544 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8554906139595005, + 0.3776619421180336, + 0.3542700479899928, + 0.4175522156454251, + -0.9077444166740828, + -0.04062291479726041, + 0.30624492916094653, + 0.18267876579576534, + -0.9342604090351591 + ], + [ + 0.8140195672064087, + 0.4770732646695409, + 0.3313204556658667, + 0.5071852675667757, + -0.8618216582818996, + -0.005151085269637298, + 0.28308169945849476, + 0.17223393815907206, + -0.9435042246741175 + ], + [ + 0.7995423626998426, + 0.5066274178585878, + 0.3225843606288027, + 0.5302594509971624, + -0.8476648879769395, + 0.017004479387223825, + 0.2820583713995055, + 0.15745760434155787, + -0.9463879637645843 + ], + [ + 0.7731625544193832, + 0.5482088467512718, + 0.3188835599201291, + 0.56442899317492, + -0.8240734398722351, + 0.04819623803459535, + 0.2892050762127802, + 0.14272360015352042, + -0.9465676932221898 + ], + [ + 0.752018022340516, + 0.5717041548074596, + 0.32805983212052553, + 0.584148626795108, + -0.8086137175320529, + 0.07010162360732361, + 0.3053510698989749, + 0.13891801609179993, + -0.9420522856597024 + ], + [ + 0.7273247454703156, + 0.6054604735505921, + 0.32313515685303196, + 0.6132291077450628, + -0.7847485844799, + 0.09010949212478842, + 0.308137592709385, + 0.13261702049392457, + -0.9420530504353665 + ], + [ + 0.7146471605884888, + 0.638131673519563, + 0.2864740880322908, + 0.6410760015670229, + -0.7613598818153198, + 0.09670930967079089, + 0.27982315143255987, + 0.11453862934959672, + -0.9531945794585 + ], + [ + 0.6994849866455715, + 0.6693168731480624, + 0.2504709100409586, + 0.6667696964921764, + -0.7373523248991778, + 0.10830383559924836, + 0.2571748924315443, + 0.09124950567032475, + -0.9620470895012083 + ], + [ + 0.688140400015063, + 0.6913059223571844, + 0.22036086671864288, + 0.6865162954175591, + -0.7186451392038864, + 0.1106550497030179, + 0.23485775693653307, + 0.07513511570836379, + -0.9691215343775161 + ], + [ + 0.6817461889342546, + 0.7054483839861425, + 0.19381617941998414, + 0.6967902288669221, + -0.7068519806680575, + 0.12183453689831233, + 0.2229473274771459, + 0.051988988805168924, + -0.9734431848925823 + ], + [ + 0.6869073010101014, + 0.7085900737640959, + 0.16142635219198662, + 0.6945716910647702, + -0.7054562500714425, + 0.14107319095619844, + 0.21384229186585987, + 0.0152179695798004, + -0.9767496545233201 + ], + [ + 0.6737986848347247, + 0.7241984703409597, + 0.1467375475834649, + 0.7078390576407741, + -0.6895912100156752, + 0.15306152863256606, + 0.21203584789656765, + 0.0007339107105824999, + -0.9772616131731834 + ], + [ + 0.6896789439008266, + 0.7159143943484385, + 0.10867168124469413, + 0.7044154186146261, + -0.6980853539410189, + 0.12835792391209383, + 0.16775539442241752, + -0.011975749569459099, + -0.9857559074458688 + ], + [ + 0.6905439704204334, + 0.7155540834731592, + 0.10550534839936494, + 0.7053544345214996, + -0.6985001017465919, + 0.12071756111211272, + 0.1600754403924589, + -0.008942118590601747, + -0.9870642795169282 + ], + [ + 0.6904929348859459, + 0.7141135815065566, + 0.11515771611347536, + 0.7056858955897259, + -0.7000071808853123, + 0.10953247680356912, + 0.15882985751526552, + 0.005633774656182068, + -0.9872898950889775 + ], + [ + 0.6842805020290215, + 0.7184835791226257, + 0.12466571731655911, + 0.7130733737563114, + -0.6950545988924044, + 0.09179034915671092, + 0.152599338736124, + 0.026085457436296096, + -0.987943819621155 + ], + [ + 0.6724133176173813, + 0.7262795895854289, + 0.14275254128178352, + 0.7242947955053446, + -0.6853698402089311, + 0.0752677310396364, + 0.1525037032162084, + 0.05278389795766302, + -0.9868923348682659 + ], + [ + 0.6813809441858202, + 0.7144582254888158, + 0.15896368431755853, + 0.7169989342597237, + -0.6951924950171933, + 0.05118518479198459, + 0.14708003661564745, + 0.07910018269980047, + -0.9859567048942857 + ], + [ + 0.722494423530485, + 0.6685746981700135, + 0.17609565847637343, + 0.6764349838228526, + -0.7362331428074204, + 0.019911606978982234, + 0.14295985670085554, + 0.1047312388868949, + -0.9841716552376861 + ], + [ + 0.766874810538784, + 0.6148886540978475, + 0.1838884662583323, + 0.626005625824338, + -0.7798123766457992, + -0.0031005912838056385, + 0.1414919835092542, + 0.11749297975525164, + -0.982942225316854 + ], + [ + 0.7992838281937162, + 0.566685821305841, + 0.2000313523398828, + 0.5817878203352873, + -0.8130613045585886, + -0.02131307436766372, + 0.1505599352334918, + 0.13341100014770393, + -0.9795576608562031 + ], + [ + 0.8117368637636893, + 0.5466731866526371, + 0.20550350605802453, + 0.5650255812815155, + -0.8241256112680937, + -0.039535671860691325, + 0.14774761082526877, + 0.1482073002488127, + -0.9778574740975206 + ], + [ + 0.830268711414886, + 0.5135671427965832, + 0.21657021190648323, + 0.5311504239897983, + -0.8468085388394491, + -0.028187331268766297, + 0.16891741751791778, + 0.13843441908843213, + -0.975860040000986 + ], + [ + 0.847063095667832, + 0.4855586930141282, + 0.21614085128924804, + 0.502443981405476, + -0.8641641110604084, + -0.027756705578792486, + 0.17330365693499655, + 0.13211035081925124, + -0.9759675700039275 + ], + [ + 0.8519368618527018, + 0.4815807654991304, + 0.20562964211864435, + 0.4969106238603096, + -0.8673700509029233, + -0.027368352004055192, + 0.16517692124303593, + 0.12549566166976267, + -0.9782471178545532 + ], + [ + 0.8442452409478547, + 0.4923833096642602, + 0.21168053642450962, + 0.508721536474665, + -0.8604962435843437, + -0.02736079501933452, + 0.168678307626544, + 0.13078566871528075, + -0.9769558523264712 + ], + [ + 0.8031763633344267, + 0.5307361830794852, + 0.2706045700854002, + 0.5553825999317188, + -0.8314046784496854, + -0.01778843290061516, + 0.21554094059822945, + 0.1645763185339691, + -0.9625262273329679 + ], + [ + 0.7647189970265934, + 0.5629889130854061, + 0.31344591133009536, + 0.5961145607155164, + -0.8028034358149495, + -0.012412652684222189, + 0.24464726871475165, + 0.19634186305173235, + -0.9495249268575243 + ], + [ + 0.7234972373566502, + 0.5951757118771221, + 0.349739359421921, + 0.6379738546688984, + -0.7700006824022767, + -0.009397332543607806, + 0.2637064813314265, + 0.2299235113936563, + -0.9367999095923359 + ], + [ + 0.6768091540172817, + 0.6270770671264672, + 0.3856212143055404, + 0.6840485454346348, + -0.7292893380510928, + -0.014650900783194365, + 0.2720421962254598, + 0.27369949449910747, + -0.9225408555634603 + ], + [ + 0.650215506130017, + 0.6487532595245439, + 0.39539727344073317, + 0.7057544588469545, + -0.7084541854152157, + 0.0018196113063125297, + 0.2813013320368898, + 0.277870249260232, + -0.9185084023406255 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005527.json b/json/chunk-0005/episode_0005527.json new file mode 100644 index 0000000000000000000000000000000000000000..5ba1b2c487ea507c0685e06b98e0e13c9b5241bf --- /dev/null +++ b/json/chunk-0005/episode_0005527.json @@ -0,0 +1,2722 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 44, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPick orange toy and place it on the vessel." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005527.mp4", + "start": 0, + "end": 44, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3006855249404907, + 0.08916644752025604, + 0.13410261273384094, + 0.08473026752471924, + -0.20613829791545868, + -0.14251737296581268, + 0.0, + 1.0001531839370728 + ], + [ + 0.300396591424942, + 0.08819817751646042, + 0.1242176964879036, + 0.06584886461496353, + -0.17923878133296967, + -0.13850009441375732, + 0.0, + 1.0001531839370728 + ], + [ + 0.3082325756549835, + 0.05849064886569977, + 0.1125888004899025, + -0.013311129994690418, + -0.17053264379501343, + -0.1901557892560959, + 0.0, + 1.0001531839370728 + ], + [ + 0.31913378834724426, + 0.031044449657201767, + 0.10667818784713745, + -0.04460854083299637, + -0.15778635442256927, + -0.24835269153118134, + 0.0, + 1.0001531839370728 + ], + [ + 0.32511594891548157, + -0.011359532363712788, + 0.10112373530864716, + -0.060563016682863235, + -0.17041194438934326, + -0.3339184820652008, + 0.0, + 1.0001531839370728 + ], + [ + 0.3330010175704956, + -0.043193478137254715, + 0.08664511889219284, + -0.04629698395729065, + -0.17798425257205963, + -0.2964802384376526, + 0.0, + 1.0001531839370728 + ], + [ + 0.34049785137176514, + -0.06624334305524826, + 0.06952027231454849, + -0.046207282692193985, + -0.17922204732894897, + -0.3222385346889496, + 0.0, + 1.0001531839370728 + ], + [ + 0.34975743293762207, + -0.08646669238805771, + 0.05760622397065163, + -0.025591591373085976, + -0.18990935385227203, + -0.2932950258255005, + 0.0, + 1.0001531839370728 + ], + [ + 0.3589431345462799, + -0.09925635159015656, + 0.049880702048540115, + -0.008829074911773205, + -0.19340290129184723, + -0.27325335144996643, + 0.0, + 1.0001531839370728 + ], + [ + 0.36403077840805054, + -0.10858650505542755, + 0.045545827597379684, + 0.015367970801889896, + -0.19063416123390198, + -0.2812606990337372, + 0.0, + 1.0001531839370728 + ], + [ + 0.36416956782341003, + -0.10716735571622849, + 0.0353417694568634, + 0.041871994733810425, + -0.1553402841091156, + -0.28078389167785645, + 0.0, + 1.0001531839370728 + ], + [ + 0.3655151426792145, + -0.0995582640171051, + 0.03538044914603233, + 0.06361628323793411, + -0.1494753509759903, + -0.2857621908187866, + 0.0, + 1.0001531839370728 + ], + [ + 0.3688730001449585, + -0.08474153280258179, + 0.03523441031575203, + 0.05677720904350281, + -0.14597707986831665, + -0.2662825584411621, + 0.0, + 1.0001531839370728 + ], + [ + 0.3686352074146271, + -0.08212211728096008, + 0.03618352860212326, + 0.058730293065309525, + -0.1487462818622589, + -0.2659651041030884, + 0.0, + 1.0001531839370728 + ], + [ + 0.3674749732017517, + -0.07686226814985275, + 0.033681727945804596, + 0.045940496027469635, + -0.14377810060977936, + -0.25078028440475464, + 0.0, + 1.0001531839370728 + ], + [ + 0.3672541081905365, + -0.07679959386587143, + 0.033331722021102905, + 0.04373309016227722, + -0.14335018396377563, + -0.25868552923202515, + 0.0, + 1.0001531839370728 + ], + [ + 0.3643014430999756, + -0.0757879987359047, + 0.028653617948293686, + 0.048817094415426254, + -0.12960512936115265, + -0.2591175138950348, + 0.0, + 1.0001531839370728 + ], + [ + 0.36277535557746887, + -0.07552795857191086, + 0.021229859441518784, + 0.05184711143374443, + -0.11719424277544022, + -0.26412448287010193, + 0.0, + 1.0001531839370728 + ], + [ + 0.3612842857837677, + -0.0764523595571518, + 0.018764568492770195, + 0.050856709480285645, + -0.12048622220754623, + -0.2633031904697418, + 0.0, + 1.0001531839370728 + ], + [ + 0.3613440990447998, + -0.07778752595186234, + 0.01901748776435852, + 0.04335568845272064, + -0.12489894777536392, + -0.2670639753341675, + 0.0, + 1.0008161067962646 + ], + [ + 0.36293432116508484, + -0.0772244781255722, + 0.019198667258024216, + 0.042997825890779495, + -0.13388104736804962, + -0.26953211426734924, + 0.0, + 0.9476637244224548 + ], + [ + 0.3620467483997345, + -0.07741761207580566, + 0.01817788928747177, + 0.037867702543735504, + -0.13993002474308014, + -0.27249452471733093, + 0.0, + 0.6811928749084473 + ], + [ + 0.3605089783668518, + -0.07636945694684982, + 0.01791507378220558, + 0.03226826712489128, + -0.1290120929479599, + -0.2781613767147064, + 0.0, + 0.44759801030158997 + ], + [ + 0.3570248484611511, + -0.0732027143239975, + 0.01723582297563553, + 0.01944485493004322, + -0.12483867257833481, + -0.2733496427536011, + 0.0, + 0.34207403659820557 + ], + [ + 0.35226869583129883, + -0.06634097546339035, + 0.02021609991788864, + 0.019608821719884872, + -0.10107212513685226, + -0.32486337423324585, + 0.0, + 0.3220333158969879 + ], + [ + 0.3520052433013916, + -0.059976156800985336, + 0.030234184116125107, + 0.01661427691578865, + -0.10615357011556625, + -0.3555152714252472, + 0.0, + 0.32124534249305725 + ], + [ + 0.3516906797885895, + -0.053048793226480484, + 0.04695059731602669, + 0.012298718094825745, + -0.12375055998563766, + -0.396298885345459, + 0.0, + 0.32124534249305725 + ], + [ + 0.35634845495224, + -0.049272604286670685, + 0.07733011990785599, + 0.011408951133489609, + -0.21330344676971436, + -0.42581284046173096, + 0.0, + 0.32124534249305725 + ], + [ + 0.35820272564888, + -0.037417396903038025, + 0.10100138187408447, + 0.02479245699942112, + -0.2743403911590576, + -0.4337146580219269, + 0.0, + 0.32124534249305725 + ], + [ + 0.3655572235584259, + -0.002024888526648283, + 0.1101047471165657, + 0.05197375640273094, + -0.29031622409820557, + -0.3742823302745819, + 0.0, + 0.32124534249305725 + ], + [ + 0.37075701355934143, + 0.02027934230864048, + 0.10705890506505966, + 0.052297744899988174, + -0.2857188880443573, + -0.32211726903915405, + 0.0, + 0.32124534249305725 + ], + [ + 0.368450403213501, + 0.03564426302909851, + 0.08815798908472061, + 0.035182345658540726, + -0.23531721532344818, + -0.29042327404022217, + 0.0, + 0.32124534249305725 + ], + [ + 0.36587145924568176, + 0.03466831147670746, + 0.07618968188762665, + 0.01561411377042532, + -0.19903643429279327, + -0.2924352288246155, + 0.0, + 0.32124534249305725 + ], + [ + 0.3612746596336365, + 0.03064156323671341, + 0.0711788460612297, + 0.005998279899358749, + -0.1567797064781189, + -0.2929881811141968, + 0.0, + 0.3936077654361725 + ], + [ + 0.36136695742607117, + 0.02953304350376129, + 0.0711788460612297, + 0.007210494484752417, + -0.156729057431221, + -0.30382105708122253, + 0.0, + 0.6902000904083252 + ], + [ + 0.36141183972358704, + 0.028978679329156876, + 0.0711788460612297, + 0.006968083791434765, + -0.15673993527889252, + -0.3038020431995392, + 0.0, + 0.9723638892173767 + ], + [ + 0.3620396852493286, + 0.026263538748025894, + 0.08382436633110046, + 0.02201499417424202, + -0.18340609967708588, + -0.3117350935935974, + 0.0, + 1.0041072368621826 + ], + [ + 0.35368168354034424, + 0.026693912222981453, + 0.11834612488746643, + 0.06794185936450958, + -0.2510400712490082, + -0.3332376778125763, + 0.0, + 1.0001531839370728 + ], + [ + 0.33425602316856384, + 0.030102798715233803, + 0.14540867507457733, + 0.12633009254932404, + -0.30940550565719604, + -0.3510652184486389, + 0.0, + 1.0001531839370728 + ], + [ + 0.3294644355773926, + 0.03696252405643463, + 0.14704127609729767, + 0.10000529885292053, + -0.32276448607444763, + -0.3437093198299408, + 0.0, + 1.0001531839370728 + ], + [ + 0.32355812191963196, + 0.034229811280965805, + 0.14420880377292633, + 0.056596290320158005, + -0.2976688742637634, + -0.30733993649482727, + 0.0, + 1.0001531839370728 + ], + [ + 0.31757545471191406, + 0.026181571185588837, + 0.1405872255563736, + -0.01495572179555893, + -0.2796432077884674, + -0.2575814723968506, + 0.0, + 1.0001531839370728 + ], + [ + 0.3121795356273651, + 0.020572800189256668, + 0.13842801749706268, + -0.07415782660245895, + -0.25349846482276917, + -0.1889558732509613, + 0.0, + 1.0001531839370728 + ], + [ + 0.3026413917541504, + 0.024794790893793106, + 0.13008561730384827, + -0.0673191174864769, + -0.19548794627189636, + -0.12762752175331116, + 0.0, + 1.0001531839370728 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 0.9476637244224548 + ], + [ + 0.6811928749084473 + ], + [ + 0.44759801030158997 + ], + [ + 0.34207403659820557 + ], + [ + 0.3220333158969879 + ], + [ + 0.32124534249305725 + ], + [ + 0.32124534249305725 + ], + [ + 0.32124534249305725 + ], + [ + 0.32124534249305725 + ], + [ + 0.32124534249305725 + ], + [ + 0.32124534249305725 + ], + [ + 0.32124534249305725 + ], + [ + 0.32124534249305725 + ], + [ + 0.3936077654361725 + ], + [ + 0.6902000904083252 + ], + [ + 0.9723638892173767 + ], + [ + 1.0041072368621826 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3006855249404907, + 0.08916644752025604, + 0.13410261273384094 + ], + [ + 0.300396591424942, + 0.08819817751646042, + 0.1242176964879036 + ], + [ + 0.3082325756549835, + 0.05849064886569977, + 0.1125888004899025 + ], + [ + 0.31913378834724426, + 0.031044449657201767, + 0.10667818784713745 + ], + [ + 0.32511594891548157, + -0.011359532363712788, + 0.10112373530864716 + ], + [ + 0.3330010175704956, + -0.043193478137254715, + 0.08664511889219284 + ], + [ + 0.34049785137176514, + -0.06624334305524826, + 0.06952027231454849 + ], + [ + 0.34975743293762207, + -0.08646669238805771, + 0.05760622397065163 + ], + [ + 0.3589431345462799, + -0.09925635159015656, + 0.049880702048540115 + ], + [ + 0.36403077840805054, + -0.10858650505542755, + 0.045545827597379684 + ], + [ + 0.36416956782341003, + -0.10716735571622849, + 0.0353417694568634 + ], + [ + 0.3655151426792145, + -0.0995582640171051, + 0.03538044914603233 + ], + [ + 0.3688730001449585, + -0.08474153280258179, + 0.03523441031575203 + ], + [ + 0.3686352074146271, + -0.08212211728096008, + 0.03618352860212326 + ], + [ + 0.3674749732017517, + -0.07686226814985275, + 0.033681727945804596 + ], + [ + 0.3672541081905365, + -0.07679959386587143, + 0.033331722021102905 + ], + [ + 0.3643014430999756, + -0.0757879987359047, + 0.028653617948293686 + ], + [ + 0.36277535557746887, + -0.07552795857191086, + 0.021229859441518784 + ], + [ + 0.3612842857837677, + -0.0764523595571518, + 0.018764568492770195 + ], + [ + 0.3613440990447998, + -0.07778752595186234, + 0.01901748776435852 + ], + [ + 0.36293432116508484, + -0.0772244781255722, + 0.019198667258024216 + ], + [ + 0.3620467483997345, + -0.07741761207580566, + 0.01817788928747177 + ], + [ + 0.3605089783668518, + -0.07636945694684982, + 0.01791507378220558 + ], + [ + 0.3570248484611511, + -0.0732027143239975, + 0.01723582297563553 + ], + [ + 0.35226869583129883, + -0.06634097546339035, + 0.02021609991788864 + ], + [ + 0.3520052433013916, + -0.059976156800985336, + 0.030234184116125107 + ], + [ + 0.3516906797885895, + -0.053048793226480484, + 0.04695059731602669 + ], + [ + 0.35634845495224, + -0.049272604286670685, + 0.07733011990785599 + ], + [ + 0.35820272564888, + -0.037417396903038025, + 0.10100138187408447 + ], + [ + 0.3655572235584259, + -0.002024888526648283, + 0.1101047471165657 + ], + [ + 0.37075701355934143, + 0.02027934230864048, + 0.10705890506505966 + ], + [ + 0.368450403213501, + 0.03564426302909851, + 0.08815798908472061 + ], + [ + 0.36587145924568176, + 0.03466831147670746, + 0.07618968188762665 + ], + [ + 0.3612746596336365, + 0.03064156323671341, + 0.0711788460612297 + ], + [ + 0.36136695742607117, + 0.02953304350376129, + 0.0711788460612297 + ], + [ + 0.36141183972358704, + 0.028978679329156876, + 0.0711788460612297 + ], + [ + 0.3620396852493286, + 0.026263538748025894, + 0.08382436633110046 + ], + [ + 0.35368168354034424, + 0.026693912222981453, + 0.11834612488746643 + ], + [ + 0.33425602316856384, + 0.030102798715233803, + 0.14540867507457733 + ], + [ + 0.3294644355773926, + 0.03696252405643463, + 0.14704127609729767 + ], + [ + 0.32355812191963196, + 0.034229811280965805, + 0.14420880377292633 + ], + [ + 0.31757545471191406, + 0.026181571185588837, + 0.1405872255563736 + ], + [ + 0.3121795356273651, + 0.020572800189256668, + 0.13842801749706268 + ], + [ + 0.3026413917541504, + 0.024794790893793106, + 0.13008561730384827 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9689048514432006, + -0.12437950994375441, + 0.2138998044785938, + -0.13902832858702813, + -0.9887708197553668, + 0.054803191974526724, + 0.20468149085866677, + -0.08283721088044303, + -0.9753171196043994 + ], + [ + 0.9745572797208422, + -0.12613976338493343, + 0.18527511607419392, + -0.1358459999111194, + -0.9898972518504853, + 0.04061151421710113, + 0.17828060144407518, + -0.06474713022250994, + -0.9818471552521242 + ], + [ + 0.9677307784758019, + -0.19121334494463688, + 0.16411763191595766, + -0.18627016908162092, + -0.9814608416838377, + -0.04514466027734958, + 0.16970729065341536, + 0.013117658187964454, + -0.9854072064597158 + ], + [ + 0.9572773336459464, + -0.25235513501535944, + 0.14119841471874606, + -0.2427539920756203, + -0.9666319792413844, + -0.08181146642881579, + 0.15713244674177568, + 0.044039783596917015, + -0.9865951001508569 + ], + [ + 0.9310803913685761, + -0.3368442430520854, + 0.14009018784913813, + -0.32300015397579396, + -0.9396690477121274, + -0.11266313196160095, + 0.16958834081549534, + 0.05964928075384744, + -0.9837081670724281 + ], + [ + 0.9412625323463792, + -0.29967905857879495, + 0.1556191088851532, + -0.2875405158058233, + -0.9529521078986406, + -0.09593087001408608, + 0.17704603065588084, + 0.04554933480157046, + -0.9831479853654443 + ], + [ + 0.9333359737368664, + -0.3241629904616816, + 0.15427999139096224, + -0.311618128682256, + -0.9449087592674484, + -0.10020767703235281, + 0.1782641354990526, + 0.045450987608534194, + -0.9829324013990913 + ], + [ + 0.9400855578151143, + -0.29363755719015805, + 0.17325163489803586, + -0.2839103320708869, + -0.9555864854280303, + -0.0790530974137239, + 0.18876987929975586, + 0.025128745983467794, + -0.9816997905645362 + ], + [ + 0.9449456424420631, + -0.2714889489729482, + 0.1826786342606061, + -0.26483410083774617, + -0.96240255589302, + -0.06036737069017416, + 0.19219945854038928, + 0.008664352032689681, + -0.981317633154849 + ], + [ + 0.9433023785611359, + -0.2747368374134755, + 0.18628014593333567, + -0.2725387011004203, + -0.9614010573148386, + -0.03782411131019247, + 0.18948160597640892, + -0.015088974847602315, + -0.9817683249293843 + ], + [ + 0.9492689964705563, + -0.27064327781710285, + 0.16012678886494072, + -0.27377224185534976, + -0.9617909961232374, + -0.002615218110695497, + 0.15471629497011194, + -0.041355724497161545, + -0.9870929906153908 + ], + [ + 0.948748614382271, + -0.27223522066059785, + 0.16051184174258376, + -0.2787455697718337, + -0.9601750046655428, + 0.01910151167056094, + 0.1489193541494741, + -0.06286449751171438, + -0.9868490669359237 + ], + [ + 0.9544948946498447, + -0.2547593941831807, + 0.15503917944442375, + -0.2603480766940198, + -0.9653732936343911, + 0.01653127034478148, + 0.14545918688452186, + -0.05614316532674504, + -0.9877699985006567 + ], + [ + 0.9541851926724728, + -0.25399451232358566, + 0.158168915385102, + -0.2599381843755492, + -0.9654621547518062, + 0.017747339111597277, + 0.14819837511976527, + -0.058048388879476456, + -0.987252564524579 + ], + [ + 0.9587235688802309, + -0.24152372894807791, + 0.15005134730674233, + -0.2455993282516961, + -0.9693299450735945, + 0.008968140606511188, + 0.1432832454820481, + -0.04545047787029198, + -0.9886375299499273 + ], + [ + 0.9568112953473219, + -0.24952755558910134, + 0.14915811777274332, + -0.2531861811547892, + -0.967400456732272, + 0.00575447534058611, + 0.1428597310932437, + -0.043270721231787594, + -0.9887966130180902 + ], + [ + 0.9585094644229026, + -0.249826176694842, + 0.13728251181326076, + -0.2540786463832442, + -0.967080886067201, + 0.014092595769970625, + 0.12924259384498152, + -0.04838844119740801, + -0.9904316789636255 + ], + [ + 0.9586999217464146, + -0.2548639742409694, + 0.1262490185210047, + -0.25927347186397376, + -0.9656062126142771, + 0.019542490842075416, + 0.11692615973775798, + -0.051468405792387734, + -0.9918060679256658 + ], + [ + 0.9585356899724568, + -0.254035300210043, + 0.1291332540293919, + -0.2583844278619097, + -0.9658774371153815, + 0.017839952631542057, + 0.12019491872579184, + -0.05046625326508218, + -0.9914667613157209 + ], + [ + 0.9570362794309032, + -0.25844473237265575, + 0.13148338359610126, + -0.261844918863384, + -0.9650683575403372, + 0.008961235396012606, + 0.12457446896728477, + -0.04300448329210878, + -0.9912778702756845 + ], + [ + 0.9552699888559671, + -0.26050386960042604, + 0.13998922213629625, + -0.263897611725436, + -0.9645325191717743, + 0.005921991705705107, + 0.1334814553289411, + -0.04259992233978415, + -0.9901353178732253 + ], + [ + 0.9536889334282957, + -0.2638563513426524, + 0.14442037291373433, + -0.26650416650286746, + -0.9638331960042643, + -0.0010485784743582832, + 0.13947382368391292, + -0.037488613422581446, + -0.9895158696911539 + ], + [ + 0.9535708443412885, + -0.27045402841906196, + 0.13250382384725135, + -0.272306192100773, + -0.9622011054949839, + -0.004286062039633698, + 0.1286545085328108, + -0.031994547912603956, + -0.991173227210082 + ], + [ + 0.9553787424187632, + -0.26757605860232053, + 0.1251179899022919, + -0.2678573448953638, + -0.9633435832838951, + -0.014885675374371195, + 0.12451466307205994, + -0.019292314754652137, + -0.9920301937297367 + ], + [ + 0.9428578417107647, + -0.3172430241584528, + 0.10186242657289063, + -0.31755039676488145, + -0.9481436183945229, + -0.013617063273971258, + 0.10090012804245857, + -0.019507499084719573, + -0.9947052938637024 + ], + [ + 0.932190256501392, + -0.34637522388693376, + 0.10509771625085555, + -0.3461141555323578, + -0.9379505818749146, + -0.021300171375644432, + 0.10595431574028354, + -0.016519995090358633, + -0.9942337616165641 + ], + [ + 0.9154413297434593, + -0.384577139490477, + 0.11860689515727628, + -0.38305480830921934, + -0.9230121762071452, + -0.03629788429835826, + 0.12343494492530922, + -0.012204358019658836, + -0.9922776164041057 + ], + [ + 0.8900639609069151, + -0.4108348486437323, + 0.19748638594742426, + -0.40369994576961143, + -0.9116415969831035, + -0.07704513245954761, + 0.21168962960028595, + -0.01115014753166884, + -0.977273336856028 + ], + [ + 0.8734775031099717, + -0.41402119734821596, + 0.2561708408603887, + -0.40452899857512736, + -0.9099544006671193, + -0.09131964749355945, + 0.2709120537602075, + -0.023862876039844265, + -0.9623082781907953 + ], + [ + 0.8918206772705576, + -0.35126940777021565, + 0.2850713643238228, + -0.3503053275962289, + -0.9349503258033109, + -0.05616106959434751, + 0.28625523060790087, + -0.04977641454589078, + -0.9568595777357161 + ], + [ + 0.9101116726253862, + -0.3021673270952922, + 0.28353421272768514, + -0.30374143764600087, + -0.9519345638295388, + -0.0395186695551086, + 0.28184726787350994, + -0.05015468694700432, + -0.9581474964583926 + ], + [ + 0.9317173034258792, + -0.2783229080228212, + 0.23332214932690853, + -0.27846590171877705, + -0.9598782894096413, + -0.03302137338102768, + 0.23315147024360888, + -0.03420567774129051, + -0.9718386509773639 + ], + [ + 0.9386404014911609, + -0.285293670328422, + 0.19380845791412152, + -0.2825934685216849, + -0.9583179386681221, + -0.042043548562946426, + 0.1977248801678627, + -0.015305231047553436, + -0.9801380625530187 + ], + [ + 0.945642998849184, + -0.2879125107949347, + 0.1512141026997117, + -0.28527210450698776, + -0.9576383891287307, + -0.03935151912041324, + 0.15613822439645142, + -0.00592467675798395, + -0.9877174459771565 + ], + [ + 0.9425048011852878, + -0.29808674117170925, + 0.15109266851939307, + -0.29550156463749006, + -0.954512216305081, + -0.03981525111257154, + 0.15608819634897458, + -0.007122054618737751, + -0.9877174450714796 + ], + [ + 0.9425087994411061, + -0.2981051385999343, + 0.15103141830890174, + -0.29548313596345194, + -0.954508227324104, + -0.04004697656253801, + 0.15609894085895878, + -0.006882609309718374, + -0.9877174445922279 + ], + [ + 0.9358393792489299, + -0.3028149807920228, + 0.18029903952851356, + -0.30156647432192024, + -0.9528035600492305, + -0.03497195337065154, + 0.182379598124418, + -0.021644014540729308, + -0.9829899383119527 + ], + [ + 0.9153671866488412, + -0.31041281030969087, + 0.25641138976696404, + -0.31685108311257576, + -0.9483244712631324, + -0.016914145969824334, + 0.24841156321108254, + -0.06576157235909742, + -0.9664197384490272 + ], + [ + 0.8944179473815659, + -0.3051333479348304, + 0.3269712149101634, + -0.32756815798208805, + -0.9447173588276429, + 0.014429615585478443, + 0.3044924256495855, + -0.12001146573475635, + -0.9449241296602745 + ], + [ + 0.8928935852100368, + -0.30548251236101615, + 0.33078917777395356, + -0.3195807635877969, + -0.9474785060203081, + -0.012353791894211479, + 0.31718950334998053, + -0.09468323648421839, + -0.9436238147129745 + ], + [ + 0.9112251610086278, + -0.28622690486563623, + 0.2962142212585992, + -0.2892201172905842, + -0.9566345586726254, + -0.03467051928731306, + 0.29329239625196746, + -0.05407846229571654, + -0.9544920587498409 + ], + [ + 0.9294444589589254, + -0.2587057070260721, + 0.26306720598107763, + -0.2448468264922318, + -0.9658492320631213, + -0.08476610454516437, + 0.2760127338860175, + 0.014374215638390878, + -0.9610464882915641 + ], + [ + 0.9508106948552475, + -0.20556763846012527, + 0.23173469435284944, + -0.181830478423526, + -0.9760112171022844, + -0.11974882549231526, + 0.2507921443449794, + 0.07172203363293987, + -0.965380365569138 + ], + [ + 0.9729745778794199, + -0.13995328604256765, + 0.18366695001075217, + -0.12485699430012846, + -0.9879568768173075, + -0.09138895186908229, + 0.19424521042924736, + 0.06598702353704848, + -0.9787310718220907 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.00028893351554870605, + -0.0009682700037956238, + -0.009884916245937347, + -0.018881402909755707, + 0.026899516582489014, + 0.004017278552055359, + 1.0 + ], + [ + 0.007835984230041504, + -0.02970752865076065, + -0.011628895998001099, + -0.07915999740362167, + 0.008706137537956238, + -0.05165569484233856, + 1.0 + ], + [ + 0.010901212692260742, + -0.027446199208498, + -0.005910612642765045, + -0.031297411769628525, + 0.012746289372444153, + -0.05819690227508545, + 1.0 + ], + [ + 0.005982160568237305, + -0.04240398108959198, + -0.005554452538490295, + -0.015954475849866867, + -0.012625589966773987, + -0.08556579053401947, + 1.0 + ], + [ + 0.007885068655014038, + -0.0318339467048645, + -0.014478616416454315, + 0.014266032725572586, + -0.00757230818271637, + 0.03743824362754822, + 1.0 + ], + [ + 0.007496833801269531, + -0.023049864917993546, + -0.017124846577644348, + 8.970126509666443e-05, + -0.0012377947568893433, + -0.025758296251296997, + 1.0 + ], + [ + 0.009259581565856934, + -0.020223349332809448, + -0.011914048343896866, + 0.02061569131910801, + -0.010687306523323059, + 0.028943508863449097, + 1.0 + ], + [ + 0.009185701608657837, + -0.012789659202098846, + -0.007725521922111511, + 0.016762517392635345, + -0.0034935474395751953, + 0.020041674375534058, + 1.0 + ], + [ + 0.00508764386177063, + -0.009330153465270996, + -0.004334874451160431, + 0.0241970457136631, + 0.0027687400579452515, + -0.008007347583770752, + 1.0 + ], + [ + 0.00013878941535949707, + 0.0014191493391990662, + -0.010204058140516281, + 0.026504024863243103, + 0.03529387712478638, + 0.0004768073558807373, + 1.0 + ], + [ + 0.0013455748558044434, + 0.007609091699123383, + 3.8679689168930054e-05, + 0.021744288504123688, + 0.005864933133125305, + -0.004978299140930176, + 1.0 + ], + [ + 0.0033578574657440186, + 0.014816731214523315, + -0.00014603883028030396, + -0.006839074194431305, + 0.003498271107673645, + 0.01947963237762451, + 1.0 + ], + [ + -0.0002377927303314209, + 0.002619415521621704, + 0.0009491182863712311, + 0.001953084021806717, + -0.0027692019939422607, + 0.00031745433807373047, + 1.0 + ], + [ + -0.0011602342128753662, + 0.00525984913110733, + -0.0025018006563186646, + -0.01278979703783989, + 0.004968181252479553, + 0.01518481969833374, + 1.0 + ], + [ + -0.00022086501121520996, + 6.267428398132324e-05, + -0.0003500059247016907, + -0.0022074058651924133, + 0.00042791664600372314, + -0.007905244827270508, + 1.0 + ], + [ + -0.002952665090560913, + 0.0010115951299667358, + -0.004678104072809219, + 0.005084004253149033, + 0.013745054602622986, + -0.00043198466300964355, + 1.0 + ], + [ + -0.0015260875225067139, + 0.00026004016399383545, + -0.007423758506774902, + 0.0030300170183181763, + 0.012410886585712433, + -0.005006968975067139, + 1.0 + ], + [ + -0.0014910697937011719, + -0.0009244009852409363, + -0.0024652909487485886, + -0.000990401953458786, + -0.003291979432106018, + 0.0008212924003601074, + 1.0 + ], + [ + 5.981326103210449e-05, + -0.0013351663947105408, + 0.0002529192715883255, + -0.0075010210275650024, + -0.004412725567817688, + -0.003760784864425659, + 1.0 + ], + [ + 0.0015902221202850342, + 0.0005630478262901306, + 0.0001811794936656952, + -0.00035786256194114685, + -0.0089820995926857, + -0.0024681389331817627, + 0.0 + ], + [ + -0.0008875727653503418, + -0.00019313395023345947, + -0.0010207779705524445, + -0.005130123347043991, + -0.006048977375030518, + -0.0029624104499816895, + 0.0 + ], + [ + -0.0015377700328826904, + 0.001048155128955841, + -0.0002628155052661896, + -0.005599435418844223, + 0.01091793179512024, + -0.005666851997375488, + 0.0 + ], + [ + -0.0034841299057006836, + 0.0031667426228523254, + -0.0006792508065700531, + -0.01282341219484806, + 0.0041734203696250916, + 0.004811733961105347, + 0.0 + ], + [ + -0.004756152629852295, + 0.006861738860607147, + 0.002980276942253113, + 0.00016396678984165192, + 0.023766547441482544, + -0.051513731479644775, + 0.0 + ], + [ + -0.00026345252990722656, + 0.006364818662405014, + 0.010018084198236465, + -0.002994544804096222, + -0.005081444978713989, + -0.030651897192001343, + 0.0 + ], + [ + -0.000314563512802124, + 0.006927363574504852, + 0.01671641319990158, + -0.004315558820962906, + -0.01759698987007141, + -0.04078361392021179, + 0.0 + ], + [ + 0.004657775163650513, + 0.003776188939809799, + 0.0303795225918293, + -0.0008897669613361359, + -0.08955288678407669, + -0.029513955116271973, + 0.0 + ], + [ + 0.0018542706966400146, + 0.01185520738363266, + 0.023671261966228485, + 0.013383505865931511, + -0.06103694438934326, + -0.007901817560195923, + 0.0 + ], + [ + 0.0073544979095458984, + 0.035392507910728455, + 0.009103365242481232, + 0.027181299403309822, + -0.01597583293914795, + 0.05943232774734497, + 0.0 + ], + [ + 0.005199790000915527, + 0.02230423130095005, + -0.0030458420515060425, + 0.00032398849725723267, + 0.004597336053848267, + 0.052165061235427856, + 0.0 + ], + [ + -0.002306610345840454, + 0.01536492072045803, + -0.01890091598033905, + -0.01711539924144745, + 0.05040167272090912, + 0.031693994998931885, + 0.0 + ], + [ + -0.002578943967819214, + -0.0009759515523910522, + -0.011968307197093964, + -0.01956823095679283, + 0.03628078103065491, + -0.0020119547843933105, + 1.0 + ], + [ + -0.004596799612045288, + -0.004026748239994049, + -0.005010835826396942, + -0.00961583387106657, + 0.04225672781467438, + -0.0005529522895812988, + 1.0 + ], + [ + 9.229779243469238e-05, + -0.001108519732952118, + 0.0, + 0.0012122145853936672, + 5.0649046897888184e-05, + -0.010832875967025757, + 1.0 + ], + [ + 4.488229751586914e-05, + -0.0005543641746044159, + 0.0, + -0.00024241069331765175, + -1.0877847671508789e-05, + 1.901388168334961e-05, + 1.0 + ], + [ + 0.0006278455257415771, + -0.0027151405811309814, + 0.012645520269870758, + 0.015046910382807255, + -0.02666616439819336, + -0.007933050394058228, + 1.0 + ], + [ + -0.008358001708984375, + 0.0004303734749555588, + 0.03452175855636597, + 0.04592686519026756, + -0.0676339715719223, + -0.021502584218978882, + 1.0 + ], + [ + -0.019425660371780396, + 0.00340888649225235, + 0.0270625501871109, + 0.05838823318481445, + -0.058365434408187866, + -0.017827540636062622, + 1.0 + ], + [ + -0.004791587591171265, + 0.0068597253412008286, + 0.001632601022720337, + -0.026324793696403503, + -0.013358980417251587, + 0.00735589861869812, + 1.0 + ], + [ + -0.00590631365776062, + -0.0027327127754688263, + -0.002832472324371338, + -0.04340900853276253, + 0.025095611810684204, + 0.036369383335113525, + 1.0 + ], + [ + -0.0059826672077178955, + -0.008048240095376968, + -0.0036215782165527344, + -0.07155200839042664, + 0.01802566647529602, + 0.049758464097976685, + 1.0 + ], + [ + -0.00539591908454895, + -0.005608770996332169, + -0.002159208059310913, + -0.059202104806900024, + 0.026144742965698242, + 0.06862559914588928, + 1.0 + ], + [ + -0.009538143873214722, + 0.004221990704536438, + -0.008342400193214417, + 0.006838709115982056, + 0.0580105185508728, + 0.061328351497650146, + 1.0 + ], + [ + -0.005818188190460205, + 0.0014575235545635223, + -0.0018052160739898682, + 0.0565899983048439, + 0.05517350137233734, + 0.07160066068172455, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 0.9476637244224548 + ], + [ + 0.6811928749084473 + ], + [ + 0.44759801030158997 + ], + [ + 0.34207403659820557 + ], + [ + 0.3220333158969879 + ], + [ + 0.32124534249305725 + ], + [ + 0.32124534249305725 + ], + [ + 0.32124534249305725 + ], + [ + 0.32124534249305725 + ], + [ + 0.32124534249305725 + ], + [ + 0.32124534249305725 + ], + [ + 0.32124534249305725 + ], + [ + 0.32124534249305725 + ], + [ + 0.3936077654361725 + ], + [ + 0.6902000904083252 + ], + [ + 0.9723638892173767 + ], + [ + 1.0041072368621826 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.300396591424942, + 0.08819817751646042, + 0.1242176964879036 + ], + [ + 0.3082325756549835, + 0.05849064886569977, + 0.1125888004899025 + ], + [ + 0.31913378834724426, + 0.031044449657201767, + 0.10667818784713745 + ], + [ + 0.32511594891548157, + -0.011359532363712788, + 0.10112373530864716 + ], + [ + 0.3330010175704956, + -0.043193478137254715, + 0.08664511889219284 + ], + [ + 0.34049785137176514, + -0.06624334305524826, + 0.06952027231454849 + ], + [ + 0.34975743293762207, + -0.08646669238805771, + 0.05760622397065163 + ], + [ + 0.3589431345462799, + -0.09925635159015656, + 0.049880702048540115 + ], + [ + 0.36403077840805054, + -0.10858650505542755, + 0.045545827597379684 + ], + [ + 0.36416956782341003, + -0.10716735571622849, + 0.0353417694568634 + ], + [ + 0.3655151426792145, + -0.0995582640171051, + 0.03538044914603233 + ], + [ + 0.3688730001449585, + -0.08474153280258179, + 0.03523441031575203 + ], + [ + 0.3686352074146271, + -0.08212211728096008, + 0.03618352860212326 + ], + [ + 0.3674749732017517, + -0.07686226814985275, + 0.033681727945804596 + ], + [ + 0.3672541081905365, + -0.07679959386587143, + 0.033331722021102905 + ], + [ + 0.3643014430999756, + -0.0757879987359047, + 0.028653617948293686 + ], + [ + 0.36277535557746887, + -0.07552795857191086, + 0.021229859441518784 + ], + [ + 0.3612842857837677, + -0.0764523595571518, + 0.018764568492770195 + ], + [ + 0.3613440990447998, + -0.07778752595186234, + 0.01901748776435852 + ], + [ + 0.36293432116508484, + -0.0772244781255722, + 0.019198667258024216 + ], + [ + 0.3620467483997345, + -0.07741761207580566, + 0.01817788928747177 + ], + [ + 0.3605089783668518, + -0.07636945694684982, + 0.01791507378220558 + ], + [ + 0.3570248484611511, + -0.0732027143239975, + 0.01723582297563553 + ], + [ + 0.35226869583129883, + -0.06634097546339035, + 0.02021609991788864 + ], + [ + 0.3520052433013916, + -0.059976156800985336, + 0.030234184116125107 + ], + [ + 0.3516906797885895, + -0.053048793226480484, + 0.04695059731602669 + ], + [ + 0.35634845495224, + -0.049272604286670685, + 0.07733011990785599 + ], + [ + 0.35820272564888, + -0.037417396903038025, + 0.10100138187408447 + ], + [ + 0.3655572235584259, + -0.002024888526648283, + 0.1101047471165657 + ], + [ + 0.37075701355934143, + 0.02027934230864048, + 0.10705890506505966 + ], + [ + 0.368450403213501, + 0.03564426302909851, + 0.08815798908472061 + ], + [ + 0.36587145924568176, + 0.03466831147670746, + 0.07618968188762665 + ], + [ + 0.3612746596336365, + 0.03064156323671341, + 0.0711788460612297 + ], + [ + 0.36136695742607117, + 0.02953304350376129, + 0.0711788460612297 + ], + [ + 0.36141183972358704, + 0.028978679329156876, + 0.0711788460612297 + ], + [ + 0.3620396852493286, + 0.026263538748025894, + 0.08382436633110046 + ], + [ + 0.35368168354034424, + 0.026693912222981453, + 0.11834612488746643 + ], + [ + 0.33425602316856384, + 0.030102798715233803, + 0.14540867507457733 + ], + [ + 0.3294644355773926, + 0.03696252405643463, + 0.14704127609729767 + ], + [ + 0.32355812191963196, + 0.034229811280965805, + 0.14420880377292633 + ], + [ + 0.31757545471191406, + 0.026181571185588837, + 0.1405872255563736 + ], + [ + 0.3121795356273651, + 0.020572800189256668, + 0.13842801749706268 + ], + [ + 0.3026413917541504, + 0.024794790893793106, + 0.13008561730384827 + ], + [ + 0.2968232035636902, + 0.02625231444835663, + 0.1282804012298584 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9745572797208422, + -0.12613976338493343, + 0.18527511607419392, + -0.1358459999111194, + -0.9898972518504853, + 0.04061151421710113, + 0.17828060144407518, + -0.06474713022250994, + -0.9818471552521242 + ], + [ + 0.9677307784758019, + -0.19121334494463688, + 0.16411763191595766, + -0.18627016908162092, + -0.9814608416838377, + -0.04514466027734958, + 0.16970729065341536, + 0.013117658187964454, + -0.9854072064597158 + ], + [ + 0.9572773336459464, + -0.25235513501535944, + 0.14119841471874606, + -0.2427539920756203, + -0.9666319792413844, + -0.08181146642881579, + 0.15713244674177568, + 0.044039783596917015, + -0.9865951001508569 + ], + [ + 0.9310803913685761, + -0.3368442430520854, + 0.14009018784913813, + -0.32300015397579396, + -0.9396690477121274, + -0.11266313196160095, + 0.16958834081549534, + 0.05964928075384744, + -0.9837081670724281 + ], + [ + 0.9412625323463792, + -0.29967905857879495, + 0.1556191088851532, + -0.2875405158058233, + -0.9529521078986406, + -0.09593087001408608, + 0.17704603065588084, + 0.04554933480157046, + -0.9831479853654443 + ], + [ + 0.9333359737368664, + -0.3241629904616816, + 0.15427999139096224, + -0.311618128682256, + -0.9449087592674484, + -0.10020767703235281, + 0.1782641354990526, + 0.045450987608534194, + -0.9829324013990913 + ], + [ + 0.9400855578151143, + -0.29363755719015805, + 0.17325163489803586, + -0.2839103320708869, + -0.9555864854280303, + -0.0790530974137239, + 0.18876987929975586, + 0.025128745983467794, + -0.9816997905645362 + ], + [ + 0.9449456424420631, + -0.2714889489729482, + 0.1826786342606061, + -0.26483410083774617, + -0.96240255589302, + -0.06036737069017416, + 0.19219945854038928, + 0.008664352032689681, + -0.981317633154849 + ], + [ + 0.9433023785611359, + -0.2747368374134755, + 0.18628014593333567, + -0.2725387011004203, + -0.9614010573148386, + -0.03782411131019247, + 0.18948160597640892, + -0.015088974847602315, + -0.9817683249293843 + ], + [ + 0.9492689964705563, + -0.27064327781710285, + 0.16012678886494072, + -0.27377224185534976, + -0.9617909961232374, + -0.002615218110695497, + 0.15471629497011194, + -0.041355724497161545, + -0.9870929906153908 + ], + [ + 0.948748614382271, + -0.27223522066059785, + 0.16051184174258376, + -0.2787455697718337, + -0.9601750046655428, + 0.01910151167056094, + 0.1489193541494741, + -0.06286449751171438, + -0.9868490669359237 + ], + [ + 0.9544948946498447, + -0.2547593941831807, + 0.15503917944442375, + -0.2603480766940198, + -0.9653732936343911, + 0.01653127034478148, + 0.14545918688452186, + -0.05614316532674504, + -0.9877699985006567 + ], + [ + 0.9541851926724728, + -0.25399451232358566, + 0.158168915385102, + -0.2599381843755492, + -0.9654621547518062, + 0.017747339111597277, + 0.14819837511976527, + -0.058048388879476456, + -0.987252564524579 + ], + [ + 0.9587235688802309, + -0.24152372894807791, + 0.15005134730674233, + -0.2455993282516961, + -0.9693299450735945, + 0.008968140606511188, + 0.1432832454820481, + -0.04545047787029198, + -0.9886375299499273 + ], + [ + 0.9568112953473219, + -0.24952755558910134, + 0.14915811777274332, + -0.2531861811547892, + -0.967400456732272, + 0.00575447534058611, + 0.1428597310932437, + -0.043270721231787594, + -0.9887966130180902 + ], + [ + 0.9585094644229026, + -0.249826176694842, + 0.13728251181326076, + -0.2540786463832442, + -0.967080886067201, + 0.014092595769970625, + 0.12924259384498152, + -0.04838844119740801, + -0.9904316789636255 + ], + [ + 0.9586999217464146, + -0.2548639742409694, + 0.1262490185210047, + -0.25927347186397376, + -0.9656062126142771, + 0.019542490842075416, + 0.11692615973775798, + -0.051468405792387734, + -0.9918060679256658 + ], + [ + 0.9585356899724568, + -0.254035300210043, + 0.1291332540293919, + -0.2583844278619097, + -0.9658774371153815, + 0.017839952631542057, + 0.12019491872579184, + -0.05046625326508218, + -0.9914667613157209 + ], + [ + 0.9570362794309032, + -0.25844473237265575, + 0.13148338359610126, + -0.261844918863384, + -0.9650683575403372, + 0.008961235396012606, + 0.12457446896728477, + -0.04300448329210878, + -0.9912778702756845 + ], + [ + 0.9552699888559671, + -0.26050386960042604, + 0.13998922213629625, + -0.263897611725436, + -0.9645325191717743, + 0.005921991705705107, + 0.1334814553289411, + -0.04259992233978415, + -0.9901353178732253 + ], + [ + 0.9536889334282957, + -0.2638563513426524, + 0.14442037291373433, + -0.26650416650286746, + -0.9638331960042643, + -0.0010485784743582832, + 0.13947382368391292, + -0.037488613422581446, + -0.9895158696911539 + ], + [ + 0.9535708443412885, + -0.27045402841906196, + 0.13250382384725135, + -0.272306192100773, + -0.9622011054949839, + -0.004286062039633698, + 0.1286545085328108, + -0.031994547912603956, + -0.991173227210082 + ], + [ + 0.9553787424187632, + -0.26757605860232053, + 0.1251179899022919, + -0.2678573448953638, + -0.9633435832838951, + -0.014885675374371195, + 0.12451466307205994, + -0.019292314754652137, + -0.9920301937297367 + ], + [ + 0.9428578417107647, + -0.3172430241584528, + 0.10186242657289063, + -0.31755039676488145, + -0.9481436183945229, + -0.013617063273971258, + 0.10090012804245857, + -0.019507499084719573, + -0.9947052938637024 + ], + [ + 0.932190256501392, + -0.34637522388693376, + 0.10509771625085555, + -0.3461141555323578, + -0.9379505818749146, + -0.021300171375644432, + 0.10595431574028354, + -0.016519995090358633, + -0.9942337616165641 + ], + [ + 0.9154413297434593, + -0.384577139490477, + 0.11860689515727628, + -0.38305480830921934, + -0.9230121762071452, + -0.03629788429835826, + 0.12343494492530922, + -0.012204358019658836, + -0.9922776164041057 + ], + [ + 0.8900639609069151, + -0.4108348486437323, + 0.19748638594742426, + -0.40369994576961143, + -0.9116415969831035, + -0.07704513245954761, + 0.21168962960028595, + -0.01115014753166884, + -0.977273336856028 + ], + [ + 0.8734775031099717, + -0.41402119734821596, + 0.2561708408603887, + -0.40452899857512736, + -0.9099544006671193, + -0.09131964749355945, + 0.2709120537602075, + -0.023862876039844265, + -0.9623082781907953 + ], + [ + 0.8918206772705576, + -0.35126940777021565, + 0.2850713643238228, + -0.3503053275962289, + -0.9349503258033109, + -0.05616106959434751, + 0.28625523060790087, + -0.04977641454589078, + -0.9568595777357161 + ], + [ + 0.9101116726253862, + -0.3021673270952922, + 0.28353421272768514, + -0.30374143764600087, + -0.9519345638295388, + -0.0395186695551086, + 0.28184726787350994, + -0.05015468694700432, + -0.9581474964583926 + ], + [ + 0.9317173034258792, + -0.2783229080228212, + 0.23332214932690853, + -0.27846590171877705, + -0.9598782894096413, + -0.03302137338102768, + 0.23315147024360888, + -0.03420567774129051, + -0.9718386509773639 + ], + [ + 0.9386404014911609, + -0.285293670328422, + 0.19380845791412152, + -0.2825934685216849, + -0.9583179386681221, + -0.042043548562946426, + 0.1977248801678627, + -0.015305231047553436, + -0.9801380625530187 + ], + [ + 0.945642998849184, + -0.2879125107949347, + 0.1512141026997117, + -0.28527210450698776, + -0.9576383891287307, + -0.03935151912041324, + 0.15613822439645142, + -0.00592467675798395, + -0.9877174459771565 + ], + [ + 0.9425048011852878, + -0.29808674117170925, + 0.15109266851939307, + -0.29550156463749006, + -0.954512216305081, + -0.03981525111257154, + 0.15608819634897458, + -0.007122054618737751, + -0.9877174450714796 + ], + [ + 0.9425087994411061, + -0.2981051385999343, + 0.15103141830890174, + -0.29548313596345194, + -0.954508227324104, + -0.04004697656253801, + 0.15609894085895878, + -0.006882609309718374, + -0.9877174445922279 + ], + [ + 0.9358393792489299, + -0.3028149807920228, + 0.18029903952851356, + -0.30156647432192024, + -0.9528035600492305, + -0.03497195337065154, + 0.182379598124418, + -0.021644014540729308, + -0.9829899383119527 + ], + [ + 0.9153671866488412, + -0.31041281030969087, + 0.25641138976696404, + -0.31685108311257576, + -0.9483244712631324, + -0.016914145969824334, + 0.24841156321108254, + -0.06576157235909742, + -0.9664197384490272 + ], + [ + 0.8944179473815659, + -0.3051333479348304, + 0.3269712149101634, + -0.32756815798208805, + -0.9447173588276429, + 0.014429615585478443, + 0.3044924256495855, + -0.12001146573475635, + -0.9449241296602745 + ], + [ + 0.8928935852100368, + -0.30548251236101615, + 0.33078917777395356, + -0.3195807635877969, + -0.9474785060203081, + -0.012353791894211479, + 0.31718950334998053, + -0.09468323648421839, + -0.9436238147129745 + ], + [ + 0.9112251610086278, + -0.28622690486563623, + 0.2962142212585992, + -0.2892201172905842, + -0.9566345586726254, + -0.03467051928731306, + 0.29329239625196746, + -0.05407846229571654, + -0.9544920587498409 + ], + [ + 0.9294444589589254, + -0.2587057070260721, + 0.26306720598107763, + -0.2448468264922318, + -0.9658492320631213, + -0.08476610454516437, + 0.2760127338860175, + 0.014374215638390878, + -0.9610464882915641 + ], + [ + 0.9508106948552475, + -0.20556763846012527, + 0.23173469435284944, + -0.181830478423526, + -0.9760112171022844, + -0.11974882549231526, + 0.2507921443449794, + 0.07172203363293987, + -0.965380365569138 + ], + [ + 0.9729745778794199, + -0.13995328604256765, + 0.18366695001075217, + -0.12485699430012846, + -0.9879568768173075, + -0.09138895186908229, + 0.19424521042924736, + 0.06598702353704848, + -0.9787310718220907 + ], + [ + 0.9886183957276494, + -0.05749245986926448, + 0.13902620144084288, + -0.055447210398017775, + -0.9982894164006206, + -0.018543137857070267, + 0.139854476109872, + 0.010623472157885835, + -0.9901150778325436 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005530.json b/json/chunk-0005/episode_0005530.json new file mode 100644 index 0000000000000000000000000000000000000000..8656af2a4f52525db322a3a1dfa5ec64fed0bf7a --- /dev/null +++ b/json/chunk-0005/episode_0005530.json @@ -0,0 +1,2182 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 35, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nOpen fridge." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005530.mp4", + "start": 0, + "end": 35, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3129960894584656, + -0.00792226567864418, + 0.15445701777935028, + 0.04136240854859352, + -0.23733758926391602, + 0.17584501206874847, + 0.0, + 0.9994885921478271 + ], + [ + 0.3110494911670685, + -0.011337120085954666, + 0.14409704506397247, + 0.04462360590696335, + -0.20645450055599213, + 0.1665349006652832, + 0.0, + 0.9994885921478271 + ], + [ + 0.31448566913604736, + -0.040373794734478, + 0.13000284135341644, + 0.02015755884349346, + -0.20711649954319, + 0.08437361568212509, + 0.0, + 0.9994885921478271 + ], + [ + 0.31864696741104126, + -0.07090497016906738, + 0.1101360097527504, + 0.012857485562562943, + -0.2358870804309845, + -0.002992709167301655, + 0.0, + 0.9994885921478271 + ], + [ + 0.32484740018844604, + -0.08501219004392624, + 0.08807738870382309, + 0.022743524983525276, + -0.27704691886901855, + -0.02045467682182789, + 0.0, + 0.9994885921478271 + ], + [ + 0.3300372064113617, + -0.09083016961812973, + 0.07501411437988281, + 0.019017642363905907, + -0.2535325586795807, + -0.010715567506849766, + 0.0, + 0.9994885921478271 + ], + [ + 0.3407038450241089, + -0.09232525527477264, + 0.06789945065975189, + 0.021595166996121407, + -0.27752402424812317, + -0.0015998231247067451, + 0.0, + 0.9994885921478271 + ], + [ + 0.3502790927886963, + -0.09124781936407089, + 0.05880912393331528, + 0.02035301737487316, + -0.2895192801952362, + -0.009342269971966743, + 0.0, + 0.9476637244224548 + ], + [ + 0.35096538066864014, + -0.09106286615133286, + 0.058916669338941574, + 0.015261788852512836, + -0.29218754172325134, + -0.00803312100470066, + 0.0, + 0.67718505859375 + ], + [ + 0.3501315414905548, + -0.08824115991592407, + 0.05901570990681648, + -0.00722081633284688, + -0.27637240290641785, + 0.02007068134844303, + 0.0, + 0.3840504586696625 + ], + [ + 0.35194867849349976, + -0.08421304076910019, + 0.059079136699438095, + -0.02855062112212181, + -0.2726818025112152, + 0.05339576303958893, + 0.0, + 0.23460371792316437 + ], + [ + 0.352232426404953, + -0.08318258076906204, + 0.058530066162347794, + -0.030305666849017143, + -0.2861100733280182, + 0.047274500131607056, + 0.0, + 0.24590691924095154 + ], + [ + 0.33166730403900146, + -0.07811445742845535, + 0.060216572135686874, + -0.026813659816980362, + -0.2967488169670105, + -0.0013745645992457867, + 0.0, + 0.2617134153842926 + ], + [ + 0.31007274985313416, + -0.06870900839567184, + 0.06047087535262108, + -0.0263080932199955, + -0.28088486194610596, + -0.04878507927060127, + 0.0, + 0.2617134153842926 + ], + [ + 0.30204761028289795, + -0.06531506031751633, + 0.06396638602018356, + -0.014959163032472134, + -0.25110331177711487, + -0.06707112491130829, + 0.0, + 0.2973475158214569 + ], + [ + 0.296041876077652, + -0.05850378796458244, + 0.07658344507217407, + 0.02525160275399685, + -0.24167229235172272, + -0.05485682189464569, + 0.0, + 0.5650128126144409 + ], + [ + 0.28788283467292786, + -0.059700481593608856, + 0.0774485170841217, + 0.05699092894792557, + -0.23656241595745087, + -0.08581564575433731, + 0.0, + 0.8607404828071594 + ], + [ + 0.27762076258659363, + -0.07703729718923569, + 0.0748709961771965, + 0.06696057319641113, + -0.21239696443080902, + -0.1553836166858673, + 0.0, + 1.0008161067962646 + ], + [ + 0.2740713953971863, + -0.1066945344209671, + 0.07648171484470367, + 0.05707981064915657, + -0.18022817373275757, + -0.25454550981521606, + 0.0, + 1.0001531839370728 + ], + [ + 0.2774510085582733, + -0.1397707164287567, + 0.0693947821855545, + 0.03514569625258446, + -0.1604447066783905, + -0.32314422726631165, + 0.0, + 1.0001531839370728 + ], + [ + 0.28751471638679504, + -0.16544169187545776, + 0.06945612281560898, + 0.031462837010622025, + -0.18584346771240234, + -0.34490299224853516, + 0.0, + 1.0001531839370728 + ], + [ + 0.2981046736240387, + -0.1791018694639206, + 0.06893566995859146, + 0.01332640927284956, + -0.18130162358283997, + -0.34927603602409363, + 0.0, + 1.0001531839370728 + ], + [ + 0.310798317193985, + -0.18619661033153534, + 0.06496091932058334, + 0.02864045277237892, + -0.19394570589065552, + -0.34747451543807983, + 0.0, + 1.0001531839370728 + ], + [ + 0.3286358118057251, + -0.18402022123336792, + 0.06526986509561539, + 0.04904021695256233, + -0.21890589594841003, + -0.32872092723846436, + 0.0, + 1.0001531839370728 + ], + [ + 0.33972761034965515, + -0.16745279729366302, + 0.06341136991977692, + 0.07568905502557755, + -0.2255498468875885, + -0.28887492418289185, + 0.0, + 1.0001531839370728 + ], + [ + 0.34601274132728577, + -0.152480810880661, + 0.06292205303907394, + 0.10471993684768677, + -0.2331896722316742, + -0.26250317692756653, + 0.0, + 1.0001531839370728 + ], + [ + 0.33844003081321716, + -0.13276636600494385, + 0.06233130022883415, + 0.1281675100326538, + -0.21259494125843048, + -0.23200523853302002, + 0.0, + 1.0001531839370728 + ], + [ + 0.31980255246162415, + -0.11934932321310043, + 0.07656709104776382, + 0.12460838258266449, + -0.2228621393442154, + -0.21793527901172638, + 0.0, + 1.0001531839370728 + ], + [ + 0.29611077904701233, + -0.10553322732448578, + 0.08824427425861359, + 0.09827855974435806, + -0.21909061074256897, + -0.22643545269966125, + 0.0, + 1.0001531839370728 + ], + [ + 0.27559709548950195, + -0.08528592437505722, + 0.09119638800621033, + 0.10593365132808685, + -0.21754997968673706, + -0.23338919878005981, + 0.0, + 1.0001531839370728 + ], + [ + 0.2589910924434662, + -0.05629414692521095, + 0.0937342569231987, + 0.12111742794513702, + -0.2573356330394745, + -0.2664303481578827, + 0.0, + 1.0001531839370728 + ], + [ + 0.25688380002975464, + -0.03046509623527527, + 0.08599606156349182, + 0.14517013728618622, + -0.28234562277793884, + -0.2860088050365448, + 0.0, + 1.0001531839370728 + ], + [ + 0.2579502463340759, + -0.008899624459445477, + 0.08552619814872742, + 0.1688821017742157, + -0.3339598774909973, + -0.3228052854537964, + 0.0, + 1.0001531839370728 + ], + [ + 0.26062700152397156, + 0.012423842214047909, + 0.08656401187181473, + 0.1899459809064865, + -0.363607257604599, + -0.3509177565574646, + 0.0, + 1.0001531839370728 + ], + [ + 0.2612128257751465, + 0.050729453563690186, + 0.08757205307483673, + 0.2212812453508377, + -0.38091665506362915, + -0.3203643560409546, + 0.0, + 1.0001531839370728 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9476637244224548 + ], + [ + 0.67718505859375 + ], + [ + 0.3840504586696625 + ], + [ + 0.23460371792316437 + ], + [ + 0.24590691924095154 + ], + [ + 0.2617134153842926 + ], + [ + 0.2617134153842926 + ], + [ + 0.2973475158214569 + ], + [ + 0.5650128126144409 + ], + [ + 0.8607404828071594 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3129960894584656, + -0.00792226567864418, + 0.15445701777935028 + ], + [ + 0.3110494911670685, + -0.011337120085954666, + 0.14409704506397247 + ], + [ + 0.31448566913604736, + -0.040373794734478, + 0.13000284135341644 + ], + [ + 0.31864696741104126, + -0.07090497016906738, + 0.1101360097527504 + ], + [ + 0.32484740018844604, + -0.08501219004392624, + 0.08807738870382309 + ], + [ + 0.3300372064113617, + -0.09083016961812973, + 0.07501411437988281 + ], + [ + 0.3407038450241089, + -0.09232525527477264, + 0.06789945065975189 + ], + [ + 0.3502790927886963, + -0.09124781936407089, + 0.05880912393331528 + ], + [ + 0.35096538066864014, + -0.09106286615133286, + 0.058916669338941574 + ], + [ + 0.3501315414905548, + -0.08824115991592407, + 0.05901570990681648 + ], + [ + 0.35194867849349976, + -0.08421304076910019, + 0.059079136699438095 + ], + [ + 0.352232426404953, + -0.08318258076906204, + 0.058530066162347794 + ], + [ + 0.33166730403900146, + -0.07811445742845535, + 0.060216572135686874 + ], + [ + 0.31007274985313416, + -0.06870900839567184, + 0.06047087535262108 + ], + [ + 0.30204761028289795, + -0.06531506031751633, + 0.06396638602018356 + ], + [ + 0.296041876077652, + -0.05850378796458244, + 0.07658344507217407 + ], + [ + 0.28788283467292786, + -0.059700481593608856, + 0.0774485170841217 + ], + [ + 0.27762076258659363, + -0.07703729718923569, + 0.0748709961771965 + ], + [ + 0.2740713953971863, + -0.1066945344209671, + 0.07648171484470367 + ], + [ + 0.2774510085582733, + -0.1397707164287567, + 0.0693947821855545 + ], + [ + 0.28751471638679504, + -0.16544169187545776, + 0.06945612281560898 + ], + [ + 0.2981046736240387, + -0.1791018694639206, + 0.06893566995859146 + ], + [ + 0.310798317193985, + -0.18619661033153534, + 0.06496091932058334 + ], + [ + 0.3286358118057251, + -0.18402022123336792, + 0.06526986509561539 + ], + [ + 0.33972761034965515, + -0.16745279729366302, + 0.06341136991977692 + ], + [ + 0.34601274132728577, + -0.152480810880661, + 0.06292205303907394 + ], + [ + 0.33844003081321716, + -0.13276636600494385, + 0.06233130022883415 + ], + [ + 0.31980255246162415, + -0.11934932321310043, + 0.07656709104776382 + ], + [ + 0.29611077904701233, + -0.10553322732448578, + 0.08824427425861359 + ], + [ + 0.27559709548950195, + -0.08528592437505722, + 0.09119638800621033 + ], + [ + 0.2589910924434662, + -0.05629414692521095, + 0.0937342569231987 + ], + [ + 0.25688380002975464, + -0.03046509623527527, + 0.08599606156349182 + ], + [ + 0.2579502463340759, + -0.008899624459445477, + 0.08552619814872742 + ], + [ + 0.26062700152397156, + 0.012423842214047909, + 0.08656401187181473 + ], + [ + 0.2612128257751465, + 0.050729453563690186, + 0.08757205307483673 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9569787464093733, + 0.18436280760976625, + 0.2240581042742889, + 0.17003615188475035, + -0.9820361513335872, + 0.08180895138150407, + 0.23511568636092728, + -0.040191449888744936, + -0.9711360673885354 + ], + [ + 0.9652227431513771, + 0.17461906571104283, + 0.19455908612432796, + 0.16224595713459292, + -0.9836675541711194, + 0.0779383876179652, + 0.20499098881856, + -0.04366147914593439, + -0.97778953243629 + ], + [ + 0.9751466274877769, + 0.08838657497203048, + 0.2031670944418136, + 0.082472444278827, + -0.9958909184192654, + 0.03741088805024846, + 0.20563888453765486, + -0.0197254144378789, + -0.9784291273216283 + ], + [ + 0.9723030541232275, + 1.231269716379913e-05, + 0.2337237060955556, + -0.002909828950583425, + -0.9999218583202817, + 0.01215771972011976, + 0.2337055922268924, + -0.012501084021481132, + -0.9722270409015403 + ], + [ + 0.9616661345930115, + -0.014229071842268163, + 0.2738535723547233, + -0.019673313800995615, + -0.999659464785011, + 0.01714395490641318, + 0.273516373003562, + -0.021874368110945386, + -0.96161858640457 + ], + [ + 0.9679768331679133, + -0.005943883184418524, + 0.25096916285254617, + -0.010372818117952888, + -0.9998128796283532, + 0.01632820790999895, + 0.25082514844909337, + -0.018408584463512415, + -0.9678573598023317 + ], + [ + 0.9617355108932755, + 0.00431662451990812, + 0.2739455672932211, + -0.0015386080228341863, + -0.9997750187044873, + 0.021155251352664346, + 0.27397525394130523, + -0.02076725131538751, + -0.9615124967989761 + ], + [ + 0.9583394051860523, + -0.0035302395063310666, + 0.2856100871409685, + -0.008953325925689001, + -0.9998035346341763, + 0.01768417620009946, + 0.2854915452732569, + -0.019504603098646184, + -0.958182732069125 + ], + [ + 0.9575851530180721, + -0.003636287831313145, + 0.2881274928398249, + -0.00769256287688732, + -0.9998865924189265, + 0.012947076011704917, + 0.2880477377028687, + -0.014614366619035316, + -0.9575045279749772 + ], + [ + 0.9618578533764406, + 0.018098898393774623, + 0.272950361375466, + 0.019307735140038928, + -0.9998120686971814, + -0.00174317274665304, + 0.2728675159520234, + 0.006946737679975415, + -0.9620265389134427 + ], + [ + 0.96167955404009, + 0.045671531012036144, + 0.2703452359415103, + 0.05139847039635954, + -0.9985781397354742, + -0.014138461138152592, + 0.2693151176264875, + 0.02749200060848827, + -0.9626596269296717 + ], + [ + 0.9582771415810386, + 0.038693113857007064, + 0.283209750650156, + 0.04533585125983014, + -0.9988282240113504, + -0.016936336938041703, + 0.2822225726511283, + 0.02906925968064901, + -0.9589084406906628 + ], + [ + 0.9562913252521638, + -0.009213777184869204, + 0.29227043565411803, + -0.0013144850301324354, + -0.9996288147966295, + -0.027212217061303334, + 0.29241267649772973, + 0.02563862200418568, + -0.955948475434299 + ], + [ + 0.9596673954286632, + -0.056032098437147654, + 0.27549753918301295, + -0.04685462694536044, + -0.9981090220571716, + -0.03978723440863596, + 0.27720594164804097, + 0.025274177193460465, + -0.9604780486206942 + ], + [ + 0.9664609566601862, + -0.07072180038817343, + 0.24688387189391922, + -0.06491899956759724, + -0.9973908370020164, + -0.031575968070029214, + 0.24847282094148662, + 0.014489486335703846, + -0.968530491021892 + ], + [ + 0.9694785654628533, + -0.04877818348300839, + 0.24027484247042244, + -0.053235924151713014, + -0.998508735861513, + 0.012093005745326985, + 0.23932665436135905, + -0.02451516315143385, + -0.9706295685213064 + ], + [ + 0.9685719411738914, + -0.0722710362341386, + 0.238002714464108, + -0.08332326695593063, + -0.9958466999278915, + 0.03669582301187234, + 0.23436217261842965, + -0.05537370824111175, + -0.9705710301060906 + ], + [ + 0.9657514020575637, + -0.14047723647433352, + 0.2181521841659715, + -0.15128142627274405, + -0.9879210876821249, + 0.03355375653859555, + 0.21080360406960333, + -0.06540696098658931, + -0.9753377722439363 + ], + [ + 0.9521025643683211, + -0.24149877485912813, + 0.18756078658612724, + -0.2477270480033047, + -0.9687767284914481, + 0.010146921748740555, + 0.17925405605127875, + -0.05612479019957971, + -0.9822005860893271 + ], + [ + 0.936062761447682, + -0.3120304400407514, + 0.16255310245859597, + -0.3134711120911945, + -0.9494386793202976, + -0.017379761069663983, + 0.1597572174120768, + -0.034687154661399384, + -0.9865467210356772 + ], + [ + 0.9249030756960287, + -0.3324677615579027, + 0.18444372608658588, + -0.3322834622454104, + -0.9426077606147407, + -0.03283763613700626, + 0.18477554298723875, + -0.030915969231790727, + -0.9822943558629612 + ], + [ + 0.9242201693961316, + -0.3399295245923305, + 0.17396837871239043, + -0.3366086403684191, + -0.9403595637595361, + -0.049178390328467214, + 0.18031001555850915, + -0.013107599185470917, + -0.9835224904052184 + ], + [ + 0.9226076068453218, + -0.33519536237490793, + 0.19089073532652742, + -0.33413999425373414, + -0.9417295148391887, + -0.03867796686565937, + 0.192732114685806, + -0.028099642757528315, + -0.9808489904392198 + ], + [ + 0.9238694679584788, + -0.312369192058406, + 0.22111240134125304, + -0.3151285078531209, + -0.948754866462576, + -0.023626825894405366, + 0.21716175932328013, + -0.04785071803387759, + -0.9749620910944484 + ], + [ + 0.9342857679104004, + -0.2678479336519337, + 0.23530318382559687, + -0.2776584564278415, + -0.9606381050046994, + 0.008956159170571382, + 0.22364231588449843, + -0.07370153086177691, + -0.9718807534334902 + ], + [ + 0.9396048816789093, + -0.23474998761839191, + 0.24906848383191252, + -0.2524752647848924, + -0.9667210844045375, + 0.041310841670359165, + 0.23108203521035833, + -0.10169949990476779, + -0.9676044154106361 + ], + [ + 0.9512971625506704, + -0.2017971394557167, + 0.23304854221928398, + -0.22475302119090634, + -0.9714257983920318, + 0.07627580012011442, + 0.21099712791553196, + -0.12493931617346751, + -0.9694691223992145 + ], + [ + 0.9521997933506223, + -0.1877175830183239, + 0.24099307576939039, + -0.2108669773754502, + -0.97471516749272, + 0.07392875024089311, + 0.22102187990236133, + -0.12121242215795237, + -0.9677070203935842 + ], + [ + 0.9511785595632148, + -0.2026407505281254, + 0.23280050268984823, + -0.21913871355426445, + -0.9745583065676536, + 0.04705668200977914, + 0.21734206230969197, + -0.09577490968612537, + -0.9713853996357906 + ], + [ + 0.9499563786093193, + -0.2077766593961362, + 0.2332632387446625, + -0.22582478974636389, + -0.972712531504518, + 0.053230586978563296, + 0.21583800192616212, + -0.1032433574824737, + -0.9709555942782697 + ], + [ + 0.9329502161213886, + -0.23169590728184292, + 0.2755374761949781, + -0.2546196935243951, + -0.965745674300129, + 0.05004102557034996, + 0.2545048249220387, + -0.11684305336404455, + -0.959986976459561 + ], + [ + 0.9213905644559104, + -0.2404912515533695, + 0.305292295444731, + -0.27095454198037444, + -0.9606568661978965, + 0.06100837325353263, + 0.2786091597773205, + -0.13893287355097356, + -0.950302369109456 + ], + [ + 0.8959546080152051, + -0.2604662162209238, + 0.3597536526345137, + -0.2997018958445812, + -0.9523348766116979, + 0.05689513525904512, + 0.3277866897899962, + -0.15879431034056657, + -0.9313110398787184 + ], + [ + 0.8776620271854706, + -0.2745208352636712, + 0.39287106923623993, + -0.32128476182930166, + -0.9452510631171394, + 0.057240977386892204, + 0.3556479549399645, + -0.17646172016064593, + -0.9178103254294794 + ], + [ + 0.8810917897911195, + -0.22978911129686175, + 0.4133693533537298, + -0.2923408136196147, + -0.9516740741593149, + 0.09409200425770937, + 0.3717715786002259, + -0.20374842552130212, + -0.9056889490562899 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0019465982913970947, + -0.003414854407310486, + -0.010359972715377808, + 0.0032611973583698273, + 0.03088308870792389, + -0.009310111403465271, + 1.0 + ], + [ + 0.003436177968978882, + -0.02903667464852333, + -0.01409420371055603, + -0.024466047063469887, + -0.000661998987197876, + -0.08216128498315811, + 1.0 + ], + [ + 0.0041612982749938965, + -0.030531175434589386, + -0.019866831600666046, + -0.007300073280930519, + -0.028770580887794495, + -0.08736632764339447, + 1.0 + ], + [ + 0.006200432777404785, + -0.014107219874858856, + -0.022058621048927307, + 0.009886039420962334, + -0.04115983843803406, + -0.01746196672320366, + 1.0 + ], + [ + 0.005189806222915649, + -0.005817979574203491, + -0.013063274323940277, + -0.0037258826196193695, + 0.023514360189437866, + 0.009739109314978123, + 1.0 + ], + [ + 0.010666638612747192, + -0.0014950856566429138, + -0.00711466372013092, + 0.0025775246322155, + -0.02399146556854248, + 0.00911574438214302, + 1.0 + ], + [ + 0.009575247764587402, + 0.0010774359107017517, + -0.009090326726436615, + -0.0012421496212482452, + -0.011995255947113037, + -0.007742446847259998, + 0.0 + ], + [ + 0.0006862878799438477, + 0.0001849532127380371, + 0.000107545405626297, + -0.005091228522360325, + -0.0026682615280151367, + 0.0013091489672660828, + 0.0 + ], + [ + -0.0008338391780853271, + 0.002821706235408783, + 9.904056787490845e-05, + -0.022482605651021004, + 0.015815138816833496, + 0.028103802353143692, + 0.0 + ], + [ + 0.0018171370029449463, + 0.004028119146823883, + 6.342679262161255e-05, + -0.021329805254936218, + 0.0036906003952026367, + 0.033325083553791046, + 0.0 + ], + [ + 0.00028374791145324707, + 0.001030460000038147, + -0.0005490705370903015, + -0.0017550457268953323, + -0.013428270816802979, + -0.0061212629079818726, + 0.0 + ], + [ + -0.020565122365951538, + 0.0050681233406066895, + 0.0016865059733390808, + 0.0034920070320367813, + -0.01063874363899231, + -0.04864906519651413, + 0.0 + ], + [ + -0.02159455418586731, + 0.009405449032783508, + 0.0002543032169342041, + 0.0005055665969848633, + 0.01586395502090454, + -0.0474105142056942, + 0.0 + ], + [ + -0.008025139570236206, + 0.0033939480781555176, + 0.0034955106675624847, + 0.011348930187523365, + 0.02978155016899109, + -0.018286045640707016, + 1.0 + ], + [ + -0.006005734205245972, + 0.006811272352933884, + 0.012617059051990509, + 0.04021076485514641, + 0.009431019425392151, + 0.012214303016662598, + 1.0 + ], + [ + -0.008159041404724121, + -0.001196693629026413, + 0.0008650720119476318, + 0.03173932433128357, + 0.005109876394271851, + -0.03095882385969162, + 1.0 + ], + [ + -0.010262072086334229, + -0.01733681559562683, + -0.0025775209069252014, + 0.009969644248485565, + 0.024165451526641846, + -0.06956797093153, + 1.0 + ], + [ + -0.0035493671894073486, + -0.029657237231731415, + 0.0016107186675071716, + -0.009880762547254562, + 0.03216879069805145, + -0.09916189312934875, + 1.0 + ], + [ + 0.003379613161087036, + -0.03307618200778961, + -0.00708693265914917, + -0.021934114396572113, + 0.019783467054367065, + -0.06859871745109558, + 1.0 + ], + [ + 0.010063707828521729, + -0.02567097544670105, + 6.134063005447388e-05, + -0.003682859241962433, + -0.02539876103401184, + -0.02175876498222351, + 1.0 + ], + [ + 0.010589957237243652, + -0.01366017758846283, + -0.0005204528570175171, + -0.01813642680644989, + 0.004541844129562378, + -0.004373043775558472, + 1.0 + ], + [ + 0.012693643569946289, + -0.007094740867614746, + -0.003974750638008118, + 0.015314043499529362, + -0.012644082307815552, + 0.001801520586013794, + 1.0 + ], + [ + 0.017837494611740112, + 0.0021763890981674194, + 0.00030894577503204346, + 0.02039976418018341, + -0.024960190057754517, + 0.01875358819961548, + 1.0 + ], + [ + 0.011091798543930054, + 0.016567423939704895, + -0.0018584951758384705, + 0.026648838073015213, + -0.006643950939178467, + 0.03984600305557251, + 1.0 + ], + [ + 0.006285130977630615, + 0.014971986413002014, + -0.0004893168807029724, + 0.029030881822109222, + -0.007639825344085693, + 0.026371747255325317, + 1.0 + ], + [ + -0.0075727105140686035, + 0.019714444875717163, + -0.0005907528102397919, + 0.02344757318496704, + 0.020594730973243713, + 0.03049793839454651, + 1.0 + ], + [ + -0.018637478351593018, + 0.013417042791843414, + 0.014235790818929672, + -0.003559127449989319, + -0.010267198085784912, + 0.01406995952129364, + 1.0 + ], + [ + -0.023691773414611816, + 0.013816095888614655, + 0.011677183210849762, + -0.026329822838306427, + 0.0037715286016464233, + -0.008500173687934875, + 1.0 + ], + [ + -0.020513683557510376, + 0.02024730294942856, + 0.0029521137475967407, + 0.00765509158372879, + 0.0015406310558319092, + -0.00695374608039856, + 1.0 + ], + [ + -0.016606003046035767, + 0.028991777449846268, + 0.002537868916988373, + 0.015183776617050171, + -0.03978565335273743, + -0.033041149377822876, + 1.0 + ], + [ + -0.002107292413711548, + 0.025829050689935684, + -0.007738195359706879, + 0.024052709341049194, + -0.025009989738464355, + -0.01957845687866211, + 1.0 + ], + [ + 0.001066446304321289, + 0.021565470844507217, + -0.0004698634147644043, + 0.02371196448802948, + -0.05161425471305847, + -0.03679648041725159, + 1.0 + ], + [ + 0.00267675518989563, + 0.021323466673493385, + 0.0010378137230873108, + 0.021063879132270813, + -0.029647380113601685, + -0.028112471103668213, + 1.0 + ], + [ + 0.0005858242511749268, + 0.0383056104183197, + 0.0010080412030220032, + 0.031335264444351196, + -0.01730939745903015, + 0.03055340051651001, + 1.0 + ], + [ + 0.001605302095413208, + 0.02049534022808075, + -0.0035390034317970276, + -0.009004399180412292, + 0.016967475414276123, + 0.02340644598007202, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9476637244224548 + ], + [ + 0.67718505859375 + ], + [ + 0.3840504586696625 + ], + [ + 0.23460371792316437 + ], + [ + 0.24590691924095154 + ], + [ + 0.2617134153842926 + ], + [ + 0.2617134153842926 + ], + [ + 0.2973475158214569 + ], + [ + 0.5650128126144409 + ], + [ + 0.8607404828071594 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3110494911670685, + -0.011337120085954666, + 0.14409704506397247 + ], + [ + 0.31448566913604736, + -0.040373794734478, + 0.13000284135341644 + ], + [ + 0.31864696741104126, + -0.07090497016906738, + 0.1101360097527504 + ], + [ + 0.32484740018844604, + -0.08501219004392624, + 0.08807738870382309 + ], + [ + 0.3300372064113617, + -0.09083016961812973, + 0.07501411437988281 + ], + [ + 0.3407038450241089, + -0.09232525527477264, + 0.06789945065975189 + ], + [ + 0.3502790927886963, + -0.09124781936407089, + 0.05880912393331528 + ], + [ + 0.35096538066864014, + -0.09106286615133286, + 0.058916669338941574 + ], + [ + 0.3501315414905548, + -0.08824115991592407, + 0.05901570990681648 + ], + [ + 0.35194867849349976, + -0.08421304076910019, + 0.059079136699438095 + ], + [ + 0.352232426404953, + -0.08318258076906204, + 0.058530066162347794 + ], + [ + 0.33166730403900146, + -0.07811445742845535, + 0.060216572135686874 + ], + [ + 0.31007274985313416, + -0.06870900839567184, + 0.06047087535262108 + ], + [ + 0.30204761028289795, + -0.06531506031751633, + 0.06396638602018356 + ], + [ + 0.296041876077652, + -0.05850378796458244, + 0.07658344507217407 + ], + [ + 0.28788283467292786, + -0.059700481593608856, + 0.0774485170841217 + ], + [ + 0.27762076258659363, + -0.07703729718923569, + 0.0748709961771965 + ], + [ + 0.2740713953971863, + -0.1066945344209671, + 0.07648171484470367 + ], + [ + 0.2774510085582733, + -0.1397707164287567, + 0.0693947821855545 + ], + [ + 0.28751471638679504, + -0.16544169187545776, + 0.06945612281560898 + ], + [ + 0.2981046736240387, + -0.1791018694639206, + 0.06893566995859146 + ], + [ + 0.310798317193985, + -0.18619661033153534, + 0.06496091932058334 + ], + [ + 0.3286358118057251, + -0.18402022123336792, + 0.06526986509561539 + ], + [ + 0.33972761034965515, + -0.16745279729366302, + 0.06341136991977692 + ], + [ + 0.34601274132728577, + -0.152480810880661, + 0.06292205303907394 + ], + [ + 0.33844003081321716, + -0.13276636600494385, + 0.06233130022883415 + ], + [ + 0.31980255246162415, + -0.11934932321310043, + 0.07656709104776382 + ], + [ + 0.29611077904701233, + -0.10553322732448578, + 0.08824427425861359 + ], + [ + 0.27559709548950195, + -0.08528592437505722, + 0.09119638800621033 + ], + [ + 0.2589910924434662, + -0.05629414692521095, + 0.0937342569231987 + ], + [ + 0.25688380002975464, + -0.03046509623527527, + 0.08599606156349182 + ], + [ + 0.2579502463340759, + -0.008899624459445477, + 0.08552619814872742 + ], + [ + 0.26062700152397156, + 0.012423842214047909, + 0.08656401187181473 + ], + [ + 0.2612128257751465, + 0.050729453563690186, + 0.08757205307483673 + ], + [ + 0.2628181278705597, + 0.07122479379177094, + 0.0840330496430397 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9652227431513771, + 0.17461906571104283, + 0.19455908612432796, + 0.16224595713459292, + -0.9836675541711194, + 0.0779383876179652, + 0.20499098881856, + -0.04366147914593439, + -0.97778953243629 + ], + [ + 0.9751466274877769, + 0.08838657497203048, + 0.2031670944418136, + 0.082472444278827, + -0.9958909184192654, + 0.03741088805024846, + 0.20563888453765486, + -0.0197254144378789, + -0.9784291273216283 + ], + [ + 0.9723030541232275, + 1.231269716379913e-05, + 0.2337237060955556, + -0.002909828950583425, + -0.9999218583202817, + 0.01215771972011976, + 0.2337055922268924, + -0.012501084021481132, + -0.9722270409015403 + ], + [ + 0.9616661345930115, + -0.014229071842268163, + 0.2738535723547233, + -0.019673313800995615, + -0.999659464785011, + 0.01714395490641318, + 0.273516373003562, + -0.021874368110945386, + -0.96161858640457 + ], + [ + 0.9679768331679133, + -0.005943883184418524, + 0.25096916285254617, + -0.010372818117952888, + -0.9998128796283532, + 0.01632820790999895, + 0.25082514844909337, + -0.018408584463512415, + -0.9678573598023317 + ], + [ + 0.9617355108932755, + 0.00431662451990812, + 0.2739455672932211, + -0.0015386080228341863, + -0.9997750187044873, + 0.021155251352664346, + 0.27397525394130523, + -0.02076725131538751, + -0.9615124967989761 + ], + [ + 0.9583394051860523, + -0.0035302395063310666, + 0.2856100871409685, + -0.008953325925689001, + -0.9998035346341763, + 0.01768417620009946, + 0.2854915452732569, + -0.019504603098646184, + -0.958182732069125 + ], + [ + 0.9575851530180721, + -0.003636287831313145, + 0.2881274928398249, + -0.00769256287688732, + -0.9998865924189265, + 0.012947076011704917, + 0.2880477377028687, + -0.014614366619035316, + -0.9575045279749772 + ], + [ + 0.9618578533764406, + 0.018098898393774623, + 0.272950361375466, + 0.019307735140038928, + -0.9998120686971814, + -0.00174317274665304, + 0.2728675159520234, + 0.006946737679975415, + -0.9620265389134427 + ], + [ + 0.96167955404009, + 0.045671531012036144, + 0.2703452359415103, + 0.05139847039635954, + -0.9985781397354742, + -0.014138461138152592, + 0.2693151176264875, + 0.02749200060848827, + -0.9626596269296717 + ], + [ + 0.9582771415810386, + 0.038693113857007064, + 0.283209750650156, + 0.04533585125983014, + -0.9988282240113504, + -0.016936336938041703, + 0.2822225726511283, + 0.02906925968064901, + -0.9589084406906628 + ], + [ + 0.9562913252521638, + -0.009213777184869204, + 0.29227043565411803, + -0.0013144850301324354, + -0.9996288147966295, + -0.027212217061303334, + 0.29241267649772973, + 0.02563862200418568, + -0.955948475434299 + ], + [ + 0.9596673954286632, + -0.056032098437147654, + 0.27549753918301295, + -0.04685462694536044, + -0.9981090220571716, + -0.03978723440863596, + 0.27720594164804097, + 0.025274177193460465, + -0.9604780486206942 + ], + [ + 0.9664609566601862, + -0.07072180038817343, + 0.24688387189391922, + -0.06491899956759724, + -0.9973908370020164, + -0.031575968070029214, + 0.24847282094148662, + 0.014489486335703846, + -0.968530491021892 + ], + [ + 0.9694785654628533, + -0.04877818348300839, + 0.24027484247042244, + -0.053235924151713014, + -0.998508735861513, + 0.012093005745326985, + 0.23932665436135905, + -0.02451516315143385, + -0.9706295685213064 + ], + [ + 0.9685719411738914, + -0.0722710362341386, + 0.238002714464108, + -0.08332326695593063, + -0.9958466999278915, + 0.03669582301187234, + 0.23436217261842965, + -0.05537370824111175, + -0.9705710301060906 + ], + [ + 0.9657514020575637, + -0.14047723647433352, + 0.2181521841659715, + -0.15128142627274405, + -0.9879210876821249, + 0.03355375653859555, + 0.21080360406960333, + -0.06540696098658931, + -0.9753377722439363 + ], + [ + 0.9521025643683211, + -0.24149877485912813, + 0.18756078658612724, + -0.2477270480033047, + -0.9687767284914481, + 0.010146921748740555, + 0.17925405605127875, + -0.05612479019957971, + -0.9822005860893271 + ], + [ + 0.936062761447682, + -0.3120304400407514, + 0.16255310245859597, + -0.3134711120911945, + -0.9494386793202976, + -0.017379761069663983, + 0.1597572174120768, + -0.034687154661399384, + -0.9865467210356772 + ], + [ + 0.9249030756960287, + -0.3324677615579027, + 0.18444372608658588, + -0.3322834622454104, + -0.9426077606147407, + -0.03283763613700626, + 0.18477554298723875, + -0.030915969231790727, + -0.9822943558629612 + ], + [ + 0.9242201693961316, + -0.3399295245923305, + 0.17396837871239043, + -0.3366086403684191, + -0.9403595637595361, + -0.049178390328467214, + 0.18031001555850915, + -0.013107599185470917, + -0.9835224904052184 + ], + [ + 0.9226076068453218, + -0.33519536237490793, + 0.19089073532652742, + -0.33413999425373414, + -0.9417295148391887, + -0.03867796686565937, + 0.192732114685806, + -0.028099642757528315, + -0.9808489904392198 + ], + [ + 0.9238694679584788, + -0.312369192058406, + 0.22111240134125304, + -0.3151285078531209, + -0.948754866462576, + -0.023626825894405366, + 0.21716175932328013, + -0.04785071803387759, + -0.9749620910944484 + ], + [ + 0.9342857679104004, + -0.2678479336519337, + 0.23530318382559687, + -0.2776584564278415, + -0.9606381050046994, + 0.008956159170571382, + 0.22364231588449843, + -0.07370153086177691, + -0.9718807534334902 + ], + [ + 0.9396048816789093, + -0.23474998761839191, + 0.24906848383191252, + -0.2524752647848924, + -0.9667210844045375, + 0.041310841670359165, + 0.23108203521035833, + -0.10169949990476779, + -0.9676044154106361 + ], + [ + 0.9512971625506704, + -0.2017971394557167, + 0.23304854221928398, + -0.22475302119090634, + -0.9714257983920318, + 0.07627580012011442, + 0.21099712791553196, + -0.12493931617346751, + -0.9694691223992145 + ], + [ + 0.9521997933506223, + -0.1877175830183239, + 0.24099307576939039, + -0.2108669773754502, + -0.97471516749272, + 0.07392875024089311, + 0.22102187990236133, + -0.12121242215795237, + -0.9677070203935842 + ], + [ + 0.9511785595632148, + -0.2026407505281254, + 0.23280050268984823, + -0.21913871355426445, + -0.9745583065676536, + 0.04705668200977914, + 0.21734206230969197, + -0.09577490968612537, + -0.9713853996357906 + ], + [ + 0.9499563786093193, + -0.2077766593961362, + 0.2332632387446625, + -0.22582478974636389, + -0.972712531504518, + 0.053230586978563296, + 0.21583800192616212, + -0.1032433574824737, + -0.9709555942782697 + ], + [ + 0.9329502161213886, + -0.23169590728184292, + 0.2755374761949781, + -0.2546196935243951, + -0.965745674300129, + 0.05004102557034996, + 0.2545048249220387, + -0.11684305336404455, + -0.959986976459561 + ], + [ + 0.9213905644559104, + -0.2404912515533695, + 0.305292295444731, + -0.27095454198037444, + -0.9606568661978965, + 0.06100837325353263, + 0.2786091597773205, + -0.13893287355097356, + -0.950302369109456 + ], + [ + 0.8959546080152051, + -0.2604662162209238, + 0.3597536526345137, + -0.2997018958445812, + -0.9523348766116979, + 0.05689513525904512, + 0.3277866897899962, + -0.15879431034056657, + -0.9313110398787184 + ], + [ + 0.8776620271854706, + -0.2745208352636712, + 0.39287106923623993, + -0.32128476182930166, + -0.9452510631171394, + 0.057240977386892204, + 0.3556479549399645, + -0.17646172016064593, + -0.9178103254294794 + ], + [ + 0.8810917897911195, + -0.22978911129686175, + 0.4133693533537298, + -0.2923408136196147, + -0.9516740741593149, + 0.09409200425770937, + 0.3717715786002259, + -0.20374842552130212, + -0.9056889490562899 + ], + [ + 0.8935963392725235, + -0.21432969119313947, + 0.39439620423097266, + -0.27344601010124675, + -0.956712459778217, + 0.09964210387593601, + 0.3559675013234417, + -0.19688588770698479, + -0.9135223506972221 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005533.json b/json/chunk-0005/episode_0005533.json new file mode 100644 index 0000000000000000000000000000000000000000..748bad2c8ca0487ca5cd7ec78614eaf4e6dff278 --- /dev/null +++ b/json/chunk-0005/episode_0005533.json @@ -0,0 +1,1942 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 31, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMoving the green spatula into the left side of the stove." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005533.mp4", + "start": 0, + "end": 31, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.25612443685531616, + -0.11043651401996613, + 0.06396657228469849, + -0.1993449628353119, + -0.25073641538619995, + 0.4957283139228821, + 0.0, + 1.0008161067962646 + ], + [ + 0.2544005811214447, + -0.10956433415412903, + 0.0567086860537529, + -0.17834800481796265, + -0.23310136795043945, + 0.4996470808982849, + 0.0, + 1.0001531839370728 + ], + [ + 0.2720012962818146, + -0.11352895945310593, + 0.04397108778357506, + -0.13466677069664001, + -0.21649068593978882, + 0.5564435124397278, + 0.0, + 1.0001531839370728 + ], + [ + 0.29654550552368164, + -0.12404842674732208, + 0.03249965235590935, + -0.06354367733001709, + -0.24527975916862488, + 0.6364085078239441, + 0.0, + 1.0001531839370728 + ], + [ + 0.31619635224342346, + -0.13617508113384247, + 0.023150604218244553, + -0.07172828912734985, + -0.23851095139980316, + 0.6583173274993896, + 0.0, + 1.0001531839370728 + ], + [ + 0.3334323465824127, + -0.1400572657585144, + 0.015329647809267044, + -0.06333376467227936, + -0.23700526356697083, + 0.6688252687454224, + 0.0, + 1.0008161067962646 + ], + [ + 0.3478218615055084, + -0.1383550465106964, + 0.012329109013080597, + -0.06397788971662521, + -0.24518336355686188, + 0.6949446201324463, + 0.0, + 1.0001531839370728 + ], + [ + 0.358078271150589, + -0.1298280656337738, + 0.0053015584126114845, + -0.053104717284440994, + -0.2382165640592575, + 0.7145728468894958, + 0.0, + 1.0001531839370728 + ], + [ + 0.3641546964645386, + -0.12399274110794067, + -0.0035270617809146643, + -0.03651268407702446, + -0.22610019147396088, + 0.717750072479248, + 0.0, + 1.0008161067962646 + ], + [ + 0.3641362488269806, + -0.12426399439573288, + -0.005927974823862314, + -0.038204118609428406, + -0.2208915799856186, + 0.7192060947418213, + 0.0, + 0.9620732665061951 + ], + [ + 0.36037421226501465, + -0.1295834481716156, + -0.015280311927199364, + -0.04646756127476692, + -0.18071819841861725, + 0.7102168202400208, + 0.0, + 0.676182746887207 + ], + [ + 0.35899120569229126, + -0.1311958283185959, + -0.01885683834552765, + -0.05971453711390495, + -0.17253901064395905, + 0.7132306694984436, + 0.0, + 0.43747803568840027 + ], + [ + 0.3572405278682709, + -0.1306334286928177, + -0.01980731077492237, + -0.060540761798620224, + -0.17144325375556946, + 0.7152904868125916, + 0.0, + 0.4356481730937958 + ], + [ + 0.35385701060295105, + -0.12811408936977386, + -0.017948616296052933, + -0.08301407098770142, + -0.1631309986114502, + 0.7134984135627747, + 0.0, + 0.4356481730937958 + ], + [ + 0.35015976428985596, + -0.12312987446784973, + -0.011622807011008263, + -0.08971841633319855, + -0.17453236877918243, + 0.6707934737205505, + 0.0, + 0.4356481730937958 + ], + [ + 0.3489381968975067, + -0.11770442873239517, + 0.025225212797522545, + -0.1160857081413269, + -0.23760218918323517, + 0.5500331521034241, + 0.0, + 0.4356481730937958 + ], + [ + 0.3332964777946472, + -0.0883653312921524, + 0.06393420696258545, + -0.07857029139995575, + -0.29219850897789, + 0.4333742558956146, + 0.0, + 0.4356481730937958 + ], + [ + 0.31613120436668396, + -0.0526043139398098, + 0.07549086213111877, + -0.019469909369945526, + -0.27694299817085266, + 0.342251718044281, + 0.0, + 0.4356481730937958 + ], + [ + 0.29319968819618225, + -0.003032294102013111, + 0.07923302054405212, + 0.035735126584768295, + -0.28100550174713135, + 0.28878605365753174, + 0.0, + 0.4356481730937958 + ], + [ + 0.2767779529094696, + 0.039272502064704895, + 0.07418126612901688, + 0.07281513512134552, + -0.2772916257381439, + 0.21077223122119904, + 0.0, + 0.4356481730937958 + ], + [ + 0.26645997166633606, + 0.07247363775968552, + 0.04701261594891548, + 0.07315456122159958, + -0.22937196493148804, + 0.18045222759246826, + 0.0, + 0.4356481730937958 + ], + [ + 0.2684682309627533, + 0.07832390815019608, + 0.02064053900539875, + 0.08200325816869736, + -0.1943415254354477, + 0.07767757773399353, + 0.0, + 0.4356481730937958 + ], + [ + 0.270438551902771, + 0.07974103838205338, + -0.004466887563467026, + 0.06567297875881195, + -0.16620272397994995, + 0.032059457153081894, + 0.0, + 0.4356481730937958 + ], + [ + 0.2741752862930298, + 0.08114681392908096, + -0.012127864174544811, + 0.07191866636276245, + -0.167423814535141, + 0.011935648508369923, + 0.0, + 0.4356481730937958 + ], + [ + 0.2754842936992645, + 0.08187071233987808, + -0.019150540232658386, + 0.07622101157903671, + -0.15428566932678223, + -0.019735317677259445, + 0.0, + 0.475652277469635 + ], + [ + 0.2768721282482147, + 0.08136221021413803, + -0.018150685355067253, + 0.06998942047357559, + -0.1492738574743271, + -0.025303756818175316, + 0.0, + 0.5699762105941772 + ], + [ + 0.2739526927471161, + 0.08051292598247528, + -0.016974201425909996, + 0.0644502267241478, + -0.1322849839925766, + -0.006533095613121986, + 0.0, + 0.8722711205482483 + ], + [ + 0.27621155977249146, + 0.08222087472677231, + -0.0031103428918868303, + 0.08880361169576645, + -0.15708518028259277, + -0.0069381860084831715, + 0.0, + 1.0099300146102905 + ], + [ + 0.2802421748638153, + 0.07930807769298553, + 0.02094266004860401, + 0.07877492159605026, + -0.2208186239004135, + 0.0019230532925575972, + 0.0, + 1.0054124593734741 + ], + [ + 0.2806917726993561, + 0.07842311263084412, + 0.04993893578648567, + 0.08168912678956985, + -0.2757120728492737, + 0.0190958920866251, + 0.0, + 1.0001531839370728 + ], + [ + 0.2840922474861145, + 0.07411934435367584, + 0.07771798968315125, + 0.045618198812007904, + -0.35997891426086426, + 0.08341852575540543, + 0.0, + 1.0001531839370728 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 0.9620732665061951 + ], + [ + 0.676182746887207 + ], + [ + 0.43747803568840027 + ], + [ + 0.4356481730937958 + ], + [ + 0.4356481730937958 + ], + [ + 0.4356481730937958 + ], + [ + 0.4356481730937958 + ], + [ + 0.4356481730937958 + ], + [ + 0.4356481730937958 + ], + [ + 0.4356481730937958 + ], + [ + 0.4356481730937958 + ], + [ + 0.4356481730937958 + ], + [ + 0.4356481730937958 + ], + [ + 0.4356481730937958 + ], + [ + 0.4356481730937958 + ], + [ + 0.475652277469635 + ], + [ + 0.5699762105941772 + ], + [ + 0.8722711205482483 + ], + [ + 1.0099300146102905 + ], + [ + 1.0054124593734741 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.25612443685531616, + -0.11043651401996613, + 0.06396657228469849 + ], + [ + 0.2544005811214447, + -0.10956433415412903, + 0.0567086860537529 + ], + [ + 0.2720012962818146, + -0.11352895945310593, + 0.04397108778357506 + ], + [ + 0.29654550552368164, + -0.12404842674732208, + 0.03249965235590935 + ], + [ + 0.31619635224342346, + -0.13617508113384247, + 0.023150604218244553 + ], + [ + 0.3334323465824127, + -0.1400572657585144, + 0.015329647809267044 + ], + [ + 0.3478218615055084, + -0.1383550465106964, + 0.012329109013080597 + ], + [ + 0.358078271150589, + -0.1298280656337738, + 0.0053015584126114845 + ], + [ + 0.3641546964645386, + -0.12399274110794067, + -0.0035270617809146643 + ], + [ + 0.3641362488269806, + -0.12426399439573288, + -0.005927974823862314 + ], + [ + 0.36037421226501465, + -0.1295834481716156, + -0.015280311927199364 + ], + [ + 0.35899120569229126, + -0.1311958283185959, + -0.01885683834552765 + ], + [ + 0.3572405278682709, + -0.1306334286928177, + -0.01980731077492237 + ], + [ + 0.35385701060295105, + -0.12811408936977386, + -0.017948616296052933 + ], + [ + 0.35015976428985596, + -0.12312987446784973, + -0.011622807011008263 + ], + [ + 0.3489381968975067, + -0.11770442873239517, + 0.025225212797522545 + ], + [ + 0.3332964777946472, + -0.0883653312921524, + 0.06393420696258545 + ], + [ + 0.31613120436668396, + -0.0526043139398098, + 0.07549086213111877 + ], + [ + 0.29319968819618225, + -0.003032294102013111, + 0.07923302054405212 + ], + [ + 0.2767779529094696, + 0.039272502064704895, + 0.07418126612901688 + ], + [ + 0.26645997166633606, + 0.07247363775968552, + 0.04701261594891548 + ], + [ + 0.2684682309627533, + 0.07832390815019608, + 0.02064053900539875 + ], + [ + 0.270438551902771, + 0.07974103838205338, + -0.004466887563467026 + ], + [ + 0.2741752862930298, + 0.08114681392908096, + -0.012127864174544811 + ], + [ + 0.2754842936992645, + 0.08187071233987808, + -0.019150540232658386 + ], + [ + 0.2768721282482147, + 0.08136221021413803, + -0.018150685355067253 + ], + [ + 0.2739526927471161, + 0.08051292598247528, + -0.016974201425909996 + ], + [ + 0.27621155977249146, + 0.08222087472677231, + -0.0031103428918868303 + ], + [ + 0.2802421748638153, + 0.07930807769298553, + 0.02094266004860401 + ], + [ + 0.2806917726993561, + 0.07842311263084412, + 0.04993893578648567 + ], + [ + 0.2840922474861145, + 0.07411934435367584, + 0.07771798968315125 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8521166795082461, + 0.4230330486323467, + 0.30812368339461266, + 0.46079812642184215, + -0.8855746028740147, + -0.058503926625920966, + 0.24811741412073626, + 0.19183498770910823, + -0.9495457262821445 + ], + [ + 0.854012622321625, + 0.43554615910055305, + 0.2845381946384304, + 0.46615794902376184, + -0.8834628946804497, + -0.046798293609924005, + 0.23099612004815456, + 0.17260607467756317, + -0.9575217676413953 + ], + [ + 0.8293176897272836, + 0.4988988290915208, + 0.25165875275163907, + 0.5158406749837966, + -0.856683081284779, + -0.0015799597076791155, + 0.21480355569138565, + 0.1311261094196205, + -0.9678147425467394 + ], + [ + 0.7801641786871543, + 0.5807102886074388, + 0.23263579904834847, + 0.5765228119009443, + -0.8117764243987703, + 0.0929542045750297, + 0.24282772010465953, + 0.0616003043483811, + -0.9681116159064307 + ], + [ + 0.7686296036602253, + 0.5968201868589723, + 0.23024812037179965, + 0.5944675244984384, + -0.7993473696516035, + 0.0874765394135001, + 0.23625599398496516, + 0.06963797231887552, + -0.9691922709749041 + ], + [ + 0.7626188765542983, + 0.6071628954824528, + 0.223082198914265, + 0.6027311624786118, + -0.7921920495090975, + 0.09563943993853447, + 0.2347926636422885, + 0.06152215083967245, + -0.9700966086198938 + ], + [ + 0.7451177938934109, + 0.6271128354160944, + 0.22699992264272323, + 0.6211920614654041, + -0.7764552422524947, + 0.10600792211424939, + 0.24273420854048872, + 0.06202216083792648, + -0.9681081321676914 + ], + [ + 0.7340417514552813, + 0.6449098101621784, + 0.21277698154886565, + 0.6367895249847442, + -0.7625160700551932, + 0.11431685692533704, + 0.23596993026690338, + 0.05158080712985262, + -0.9703904432472868 + ], + [ + 0.7341147652778315, + 0.6510885727121941, + 0.19276717014230477, + 0.6409519698632525, + -0.7581675653661194, + 0.11984371137121574, + 0.2241786870545247, + 0.03557545938437076, + -0.973898507525348 + ], + [ + 0.734049261917273, + 0.6520110478499113, + 0.18987699850262924, + 0.6427807048966547, + -0.7572930609015491, + 0.1154997200123114, + 0.2190996268624535, + 0.037266786714492205, + -0.9749905333472271 + ], + [ + 0.7458728002027131, + 0.6449640993522533, + 0.16641837778472834, + 0.6413803023967776, + -0.7628455505387177, + 0.08184114931193784, + 0.17973612217687868, + 0.04569438225884684, + -0.9826530159801071 + ], + [ + 0.74502325824384, + 0.6453656813675585, + 0.16865195518795464, + 0.6445656493148556, + -0.7616078566089661, + 0.06699698855034802, + 0.1716842112689794, + 0.05879294230163837, + -0.9833961162911236 + ], + [ + 0.7438355601355642, + 0.6468429430299881, + 0.16823455807328877, + 0.6462218834681427, + -0.7602894496332248, + 0.06600931830653987, + 0.17060462128763507, + 0.0596167747258395, + -0.9835343935860051 + ], + [ + 0.7460388922451149, + 0.6420471404092216, + 0.17663929559988356, + 0.6457936774250903, + -0.7622868890959794, + 0.04323453376818556, + 0.16240842790772986, + 0.08181789660407521, + -0.9833256501992738 + ], + [ + 0.7714282359832763, + 0.6069202105028854, + 0.19117095702763953, + 0.6121641752237118, + -0.7898494192750064, + 0.037321809222055594, + 0.1736476296999268, + 0.08823691378367789, + -0.980846954292834 + ], + [ + 0.828556129883075, + 0.49595628121404794, + 0.2598501621271635, + 0.5080298771884948, + -0.8610198151428585, + 0.023463201299071396, + 0.2353728606212362, + 0.11257106668984718, + -0.9653638544234429 + ], + [ + 0.8690853614792888, + 0.39812060337187577, + 0.2935823898554325, + 0.4021356546866272, + -0.9142486415223671, + 0.04935926158547975, + 0.28805824010462056, + 0.07516253485161153, + -0.9546586005805996 + ], + [ + 0.9061071171831618, + 0.3305311272996962, + 0.2640436821361428, + 0.322820936377789, + -0.9436092832008187, + 0.07340411223770199, + 0.2734164136005516, + 0.018726840182735523, + -0.9617134553652574 + ], + [ + 0.920991585957112, + 0.29410467404195567, + 0.2554935210585157, + 0.2736185103563284, + -0.9551566121980898, + 0.11317577905475727, + 0.277321851621157, + -0.03432618360584831, + -0.9601636859059346 + ], + [ + 0.9405154020269327, + 0.22813563427428646, + 0.25176360126989317, + 0.2012231676535765, + -0.971111778285173, + 0.12826203988425133, + 0.27375174035899275, + -0.06997175465913125, + -0.959251759550299 + ], + [ + 0.957997277701611, + 0.1953426477970945, + 0.20995824791591833, + 0.1747739287117305, + -0.9781489450226319, + 0.11259980103791814, + 0.2273659819739287, + -0.0711750750103721, + -0.9712048285188344 + ], + [ + 0.9782164253003693, + 0.09310978950032044, + 0.18553488181949193, + 0.07613867939390519, + -0.9924068347992354, + 0.09660008149020924, + 0.19312049806459938, + -0.08036940551583649, + -0.9778779227921612 + ], + [ + 0.9857133122947898, + 0.042836325527583624, + 0.1628935701006305, + 0.0316122648975279, + -0.9969835411175302, + 0.0708835908288951, + 0.16543860091551382, + -0.06472146441517361, + -0.9840941018881643 + ], + [ + 0.9859471079709599, + 0.02387805385027253, + 0.1653424894817534, + 0.011768476978480278, + -0.9972010035613761, + 0.07383536717448626, + 0.16664274131598777, + -0.07085193745062805, + -0.9834684538541055 + ], + [ + 0.9879291352176509, + -0.007977147502029207, + 0.1547009660791926, + -0.019499626981413755, + -0.9971333402570537, + 0.07310859248676968, + 0.15367429302160573, + -0.0752427196846426, + -0.985252629937504 + ], + [ + 0.9885627676368218, + -0.014842104458931315, + 0.15007786771358714, + -0.025019691970100778, + -0.997495540472128, + 0.06615634324793415, + 0.14872010441076236, + -0.06915459979963284, + -0.9864582970762649 + ], + [ + 0.9912419393428188, + 0.0019754024555265204, + 0.13204361201143314, + -0.006475970500087819, + -0.9979580053851602, + 0.0635443254252816, + 0.1318995052832617, + -0.06384291090489841, + -0.9892050359926498 + ], + [ + 0.9876636999792725, + 0.0069630548686435085, + 0.15643507154775135, + -0.006852704424101986, + -0.9961318364504969, + 0.08760368058384614, + 0.15643994434072686, + -0.08759497860412381, + -0.9837955394989416 + ], + [ + 0.9757166702006432, + 0.019153165668824516, + 0.21819746959447575, + 0.0018763574682403496, + -0.9968638707673448, + 0.0791132254518688, + 0.21902844284526377, + -0.07678267645510545, + -0.972692634813881 + ], + [ + 0.9620561574129456, + 0.04124069077211312, + 0.2697168059437096, + 0.01837355394195976, + -0.9960594209421274, + 0.08676429258615437, + 0.2722321849072583, + -0.07851646564302833, + -0.9590228371230518 + ], + [ + 0.9326498240260176, + 0.09924291526073839, + 0.34686474239217346, + 0.07798123872834031, + -0.99414752802616, + 0.07476375409160185, + 0.35225449912049744, + -0.04267945981412856, + -0.9349306025365424 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.00172385573387146, + 0.0008721798658370972, + -0.007257886230945587, + 0.020996958017349243, + 0.017635047435760498, + 0.003918766975402832, + 1.0 + ], + [ + 0.017600715160369873, + -0.003964625298976898, + -0.012737598270177841, + 0.04368123412132263, + 0.016610682010650635, + 0.05679643154144287, + 1.0 + ], + [ + 0.024544209241867065, + -0.010519467294216156, + -0.01147143542766571, + 0.07112309336662292, + -0.02878907322883606, + 0.07996499538421631, + 1.0 + ], + [ + 0.01965084671974182, + -0.012126654386520386, + -0.009349048137664795, + -0.008184611797332764, + 0.006768807768821716, + 0.021908819675445557, + 1.0 + ], + [ + 0.017235994338989258, + -0.003882184624671936, + -0.007820956408977509, + 0.008394524455070496, + 0.0015056878328323364, + 0.010507941246032715, + 1.0 + ], + [ + 0.014389514923095703, + 0.0017022192478179932, + -0.003000538796186447, + -0.0006441250443458557, + -0.008178099989891052, + 0.026119351387023926, + 1.0 + ], + [ + 0.010256409645080566, + 0.008526980876922607, + -0.007027550600469112, + 0.01087317243218422, + 0.00696679949760437, + 0.01962822675704956, + 1.0 + ], + [ + 0.006076425313949585, + 0.00583532452583313, + -0.008828620426356792, + 0.016592033207416534, + 0.01211637258529663, + 0.0031772255897521973, + 1.0 + ], + [ + -1.84476375579834e-05, + -0.0002712532877922058, + -0.00240091304294765, + -0.001691434532403946, + 0.005208611488342285, + 0.0014560222625732422, + 0.0 + ], + [ + -0.0037620365619659424, + -0.005319453775882721, + -0.009352337568998337, + -0.008263442665338516, + 0.04017338156700134, + -0.008989274501800537, + 0.0 + ], + [ + -0.0013830065727233887, + -0.0016123801469802856, + -0.0035765264183282852, + -0.013246975839138031, + 0.008179187774658203, + 0.0030138492584228516, + 0.0 + ], + [ + -0.0017506778240203857, + 0.0005623996257781982, + -0.000950472429394722, + -0.000826224684715271, + 0.0010957568883895874, + 0.0020598173141479492, + 0.0 + ], + [ + -0.0033835172653198242, + 0.0025193393230438232, + 0.0018586944788694382, + -0.022473309189081192, + 0.008312255144119263, + -0.0017920732498168945, + 0.0 + ], + [ + -0.0036972463130950928, + 0.004984214901924133, + 0.00632580928504467, + -0.006704345345497131, + -0.011401370167732239, + -0.04270493984222412, + 0.0 + ], + [ + -0.0012215673923492432, + 0.005425445735454559, + 0.03684801980853081, + -0.026367291808128357, + -0.06306982040405273, + -0.12076032161712646, + 0.0 + ], + [ + -0.015641719102859497, + 0.029339097440242767, + 0.038708992302417755, + 0.037515416741371155, + -0.054596319794654846, + -0.11665889620780945, + 0.0 + ], + [ + -0.017165273427963257, + 0.035761017352342606, + 0.011556655168533325, + 0.05910038203001022, + 0.015255510807037354, + -0.09112253785133362, + 0.0 + ], + [ + -0.02293151617050171, + 0.04957202076911926, + 0.0037421584129333496, + 0.05520503595471382, + -0.0040625035762786865, + -0.05346566438674927, + 0.0 + ], + [ + -0.016421735286712646, + 0.04230479523539543, + -0.005051754415035248, + 0.037080008536577225, + 0.0037138760089874268, + -0.0780138224363327, + 0.0 + ], + [ + -0.010317981243133545, + 0.03320113569498062, + -0.027168650180101395, + 0.00033942610025405884, + 0.047919660806655884, + -0.030320003628730774, + 0.0 + ], + [ + 0.0020082592964172363, + 0.005850270390510559, + -0.02637207694351673, + 0.008848696947097778, + 0.035030439496040344, + -0.10277464985847473, + 0.0 + ], + [ + 0.0019703209400177, + 0.0014171302318572998, + -0.025107426568865776, + -0.016330279409885406, + 0.02813880145549774, + -0.045618120580911636, + 0.0 + ], + [ + 0.003736734390258789, + 0.0014057755470275879, + -0.0076609766110777855, + 0.0062456876039505005, + -0.00122109055519104, + -0.020123809576034546, + 0.0 + ], + [ + 0.0013090074062347412, + 0.0007238984107971191, + -0.007022676058113575, + 0.0043023452162742615, + 0.013138145208358765, + -0.03167096525430679, + 1.0 + ], + [ + 0.0013878345489501953, + -0.0005085021257400513, + 0.0009998548775911331, + -0.006231591105461121, + 0.005011811852455139, + -0.005568439140915871, + 1.0 + ], + [ + -0.002919435501098633, + -0.0008492842316627502, + 0.001176483929157257, + -0.005539193749427795, + 0.01698887348175049, + 0.01877066120505333, + 1.0 + ], + [ + 0.002258867025375366, + 0.0017079487442970276, + 0.01386385876685381, + 0.024353384971618652, + -0.024800196290016174, + -0.0004050903953611851, + 1.0 + ], + [ + 0.0040306150913238525, + -0.0029127970337867737, + 0.024053003638982773, + -0.010028690099716187, + -0.06373344361782074, + 0.008861239068210125, + 1.0 + ], + [ + 0.0004495978355407715, + -0.0008849650621414185, + 0.02899627573788166, + 0.0029142051935195923, + -0.05489344894886017, + 0.017172839492559433, + 1.0 + ], + [ + 0.003400474786758423, + -0.004303768277168274, + 0.027779053896665573, + -0.03607092797756195, + -0.08426684141159058, + 0.06432263553142548, + 1.0 + ], + [ + 0.0007623136043548584, + 5.301833152770996e-05, + 0.0016336143016815186, + -0.0004892982542514801, + -0.004763573408126831, + 0.0009736046195030212, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 0.9620732665061951 + ], + [ + 0.676182746887207 + ], + [ + 0.43747803568840027 + ], + [ + 0.4356481730937958 + ], + [ + 0.4356481730937958 + ], + [ + 0.4356481730937958 + ], + [ + 0.4356481730937958 + ], + [ + 0.4356481730937958 + ], + [ + 0.4356481730937958 + ], + [ + 0.4356481730937958 + ], + [ + 0.4356481730937958 + ], + [ + 0.4356481730937958 + ], + [ + 0.4356481730937958 + ], + [ + 0.4356481730937958 + ], + [ + 0.4356481730937958 + ], + [ + 0.475652277469635 + ], + [ + 0.5699762105941772 + ], + [ + 0.8722711205482483 + ], + [ + 1.0099300146102905 + ], + [ + 1.0054124593734741 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2544005811214447, + -0.10956433415412903, + 0.0567086860537529 + ], + [ + 0.2720012962818146, + -0.11352895945310593, + 0.04397108778357506 + ], + [ + 0.29654550552368164, + -0.12404842674732208, + 0.03249965235590935 + ], + [ + 0.31619635224342346, + -0.13617508113384247, + 0.023150604218244553 + ], + [ + 0.3334323465824127, + -0.1400572657585144, + 0.015329647809267044 + ], + [ + 0.3478218615055084, + -0.1383550465106964, + 0.012329109013080597 + ], + [ + 0.358078271150589, + -0.1298280656337738, + 0.0053015584126114845 + ], + [ + 0.3641546964645386, + -0.12399274110794067, + -0.0035270617809146643 + ], + [ + 0.3641362488269806, + -0.12426399439573288, + -0.005927974823862314 + ], + [ + 0.36037421226501465, + -0.1295834481716156, + -0.015280311927199364 + ], + [ + 0.35899120569229126, + -0.1311958283185959, + -0.01885683834552765 + ], + [ + 0.3572405278682709, + -0.1306334286928177, + -0.01980731077492237 + ], + [ + 0.35385701060295105, + -0.12811408936977386, + -0.017948616296052933 + ], + [ + 0.35015976428985596, + -0.12312987446784973, + -0.011622807011008263 + ], + [ + 0.3489381968975067, + -0.11770442873239517, + 0.025225212797522545 + ], + [ + 0.3332964777946472, + -0.0883653312921524, + 0.06393420696258545 + ], + [ + 0.31613120436668396, + -0.0526043139398098, + 0.07549086213111877 + ], + [ + 0.29319968819618225, + -0.003032294102013111, + 0.07923302054405212 + ], + [ + 0.2767779529094696, + 0.039272502064704895, + 0.07418126612901688 + ], + [ + 0.26645997166633606, + 0.07247363775968552, + 0.04701261594891548 + ], + [ + 0.2684682309627533, + 0.07832390815019608, + 0.02064053900539875 + ], + [ + 0.270438551902771, + 0.07974103838205338, + -0.004466887563467026 + ], + [ + 0.2741752862930298, + 0.08114681392908096, + -0.012127864174544811 + ], + [ + 0.2754842936992645, + 0.08187071233987808, + -0.019150540232658386 + ], + [ + 0.2768721282482147, + 0.08136221021413803, + -0.018150685355067253 + ], + [ + 0.2739526927471161, + 0.08051292598247528, + -0.016974201425909996 + ], + [ + 0.27621155977249146, + 0.08222087472677231, + -0.0031103428918868303 + ], + [ + 0.2802421748638153, + 0.07930807769298553, + 0.02094266004860401 + ], + [ + 0.2806917726993561, + 0.07842311263084412, + 0.04993893578648567 + ], + [ + 0.2840922474861145, + 0.07411934435367584, + 0.07771798968315125 + ], + [ + 0.28485456109046936, + 0.07417236268520355, + 0.07935160398483276 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.854012622321625, + 0.43554615910055305, + 0.2845381946384304, + 0.46615794902376184, + -0.8834628946804497, + -0.046798293609924005, + 0.23099612004815456, + 0.17260607467756317, + -0.9575217676413953 + ], + [ + 0.8293176897272836, + 0.4988988290915208, + 0.25165875275163907, + 0.5158406749837966, + -0.856683081284779, + -0.0015799597076791155, + 0.21480355569138565, + 0.1311261094196205, + -0.9678147425467394 + ], + [ + 0.7801641786871543, + 0.5807102886074388, + 0.23263579904834847, + 0.5765228119009443, + -0.8117764243987703, + 0.0929542045750297, + 0.24282772010465953, + 0.0616003043483811, + -0.9681116159064307 + ], + [ + 0.7686296036602253, + 0.5968201868589723, + 0.23024812037179965, + 0.5944675244984384, + -0.7993473696516035, + 0.0874765394135001, + 0.23625599398496516, + 0.06963797231887552, + -0.9691922709749041 + ], + [ + 0.7626188765542983, + 0.6071628954824528, + 0.223082198914265, + 0.6027311624786118, + -0.7921920495090975, + 0.09563943993853447, + 0.2347926636422885, + 0.06152215083967245, + -0.9700966086198938 + ], + [ + 0.7451177938934109, + 0.6271128354160944, + 0.22699992264272323, + 0.6211920614654041, + -0.7764552422524947, + 0.10600792211424939, + 0.24273420854048872, + 0.06202216083792648, + -0.9681081321676914 + ], + [ + 0.7340417514552813, + 0.6449098101621784, + 0.21277698154886565, + 0.6367895249847442, + -0.7625160700551932, + 0.11431685692533704, + 0.23596993026690338, + 0.05158080712985262, + -0.9703904432472868 + ], + [ + 0.7341147652778315, + 0.6510885727121941, + 0.19276717014230477, + 0.6409519698632525, + -0.7581675653661194, + 0.11984371137121574, + 0.2241786870545247, + 0.03557545938437076, + -0.973898507525348 + ], + [ + 0.734049261917273, + 0.6520110478499113, + 0.18987699850262924, + 0.6427807048966547, + -0.7572930609015491, + 0.1154997200123114, + 0.2190996268624535, + 0.037266786714492205, + -0.9749905333472271 + ], + [ + 0.7458728002027131, + 0.6449640993522533, + 0.16641837778472834, + 0.6413803023967776, + -0.7628455505387177, + 0.08184114931193784, + 0.17973612217687868, + 0.04569438225884684, + -0.9826530159801071 + ], + [ + 0.74502325824384, + 0.6453656813675585, + 0.16865195518795464, + 0.6445656493148556, + -0.7616078566089661, + 0.06699698855034802, + 0.1716842112689794, + 0.05879294230163837, + -0.9833961162911236 + ], + [ + 0.7438355601355642, + 0.6468429430299881, + 0.16823455807328877, + 0.6462218834681427, + -0.7602894496332248, + 0.06600931830653987, + 0.17060462128763507, + 0.0596167747258395, + -0.9835343935860051 + ], + [ + 0.7460388922451149, + 0.6420471404092216, + 0.17663929559988356, + 0.6457936774250903, + -0.7622868890959794, + 0.04323453376818556, + 0.16240842790772986, + 0.08181789660407521, + -0.9833256501992738 + ], + [ + 0.7714282359832763, + 0.6069202105028854, + 0.19117095702763953, + 0.6121641752237118, + -0.7898494192750064, + 0.037321809222055594, + 0.1736476296999268, + 0.08823691378367789, + -0.980846954292834 + ], + [ + 0.828556129883075, + 0.49595628121404794, + 0.2598501621271635, + 0.5080298771884948, + -0.8610198151428585, + 0.023463201299071396, + 0.2353728606212362, + 0.11257106668984718, + -0.9653638544234429 + ], + [ + 0.8690853614792888, + 0.39812060337187577, + 0.2935823898554325, + 0.4021356546866272, + -0.9142486415223671, + 0.04935926158547975, + 0.28805824010462056, + 0.07516253485161153, + -0.9546586005805996 + ], + [ + 0.9061071171831618, + 0.3305311272996962, + 0.2640436821361428, + 0.322820936377789, + -0.9436092832008187, + 0.07340411223770199, + 0.2734164136005516, + 0.018726840182735523, + -0.9617134553652574 + ], + [ + 0.920991585957112, + 0.29410467404195567, + 0.2554935210585157, + 0.2736185103563284, + -0.9551566121980898, + 0.11317577905475727, + 0.277321851621157, + -0.03432618360584831, + -0.9601636859059346 + ], + [ + 0.9405154020269327, + 0.22813563427428646, + 0.25176360126989317, + 0.2012231676535765, + -0.971111778285173, + 0.12826203988425133, + 0.27375174035899275, + -0.06997175465913125, + -0.959251759550299 + ], + [ + 0.957997277701611, + 0.1953426477970945, + 0.20995824791591833, + 0.1747739287117305, + -0.9781489450226319, + 0.11259980103791814, + 0.2273659819739287, + -0.0711750750103721, + -0.9712048285188344 + ], + [ + 0.9782164253003693, + 0.09310978950032044, + 0.18553488181949193, + 0.07613867939390519, + -0.9924068347992354, + 0.09660008149020924, + 0.19312049806459938, + -0.08036940551583649, + -0.9778779227921612 + ], + [ + 0.9857133122947898, + 0.042836325527583624, + 0.1628935701006305, + 0.0316122648975279, + -0.9969835411175302, + 0.0708835908288951, + 0.16543860091551382, + -0.06472146441517361, + -0.9840941018881643 + ], + [ + 0.9859471079709599, + 0.02387805385027253, + 0.1653424894817534, + 0.011768476978480278, + -0.9972010035613761, + 0.07383536717448626, + 0.16664274131598777, + -0.07085193745062805, + -0.9834684538541055 + ], + [ + 0.9879291352176509, + -0.007977147502029207, + 0.1547009660791926, + -0.019499626981413755, + -0.9971333402570537, + 0.07310859248676968, + 0.15367429302160573, + -0.0752427196846426, + -0.985252629937504 + ], + [ + 0.9885627676368218, + -0.014842104458931315, + 0.15007786771358714, + -0.025019691970100778, + -0.997495540472128, + 0.06615634324793415, + 0.14872010441076236, + -0.06915459979963284, + -0.9864582970762649 + ], + [ + 0.9912419393428188, + 0.0019754024555265204, + 0.13204361201143314, + -0.006475970500087819, + -0.9979580053851602, + 0.0635443254252816, + 0.1318995052832617, + -0.06384291090489841, + -0.9892050359926498 + ], + [ + 0.9876636999792725, + 0.0069630548686435085, + 0.15643507154775135, + -0.006852704424101986, + -0.9961318364504969, + 0.08760368058384614, + 0.15643994434072686, + -0.08759497860412381, + -0.9837955394989416 + ], + [ + 0.9757166702006432, + 0.019153165668824516, + 0.21819746959447575, + 0.0018763574682403496, + -0.9968638707673448, + 0.0791132254518688, + 0.21902844284526377, + -0.07678267645510545, + -0.972692634813881 + ], + [ + 0.9620561574129456, + 0.04124069077211312, + 0.2697168059437096, + 0.01837355394195976, + -0.9960594209421274, + 0.08676429258615437, + 0.2722321849072583, + -0.07851646564302833, + -0.9590228371230518 + ], + [ + 0.9326498240260176, + 0.09924291526073839, + 0.34686474239217346, + 0.07798123872834031, + -0.99414752802616, + 0.07476375409160185, + 0.35225449912049744, + -0.04267945981412856, + -0.9349306025365424 + ], + [ + 0.9308908662875033, + 0.1002413094524052, + 0.35127464318075824, + 0.07874689814261063, + -0.9940701233217273, + 0.07499010569430761, + 0.35670873425726374, + -0.04214581590612839, + -0.9332644904346183 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005534.json b/json/chunk-0005/episode_0005534.json new file mode 100644 index 0000000000000000000000000000000000000000..3bd1239f3e9a8813b32617c318ceb219f8a32890 --- /dev/null +++ b/json/chunk-0005/episode_0005534.json @@ -0,0 +1,4102 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 67, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut fry in pot or pan an put pot or pan on stove." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005534.mp4", + "start": 0, + "end": 67, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.33256596326828003, + 0.06613187491893768, + 0.13703703880310059, + 0.03047925978899002, + -0.14863023161888123, + -0.1289071887731552, + 0.0, + 1.0001531839370728 + ], + [ + 0.3289523124694824, + 0.06538467109203339, + 0.1252962201833725, + 0.01867092214524746, + -0.11531317979097366, + -0.12573735415935516, + 0.0, + 1.0001531839370728 + ], + [ + 0.3191659450531006, + 0.07132729887962341, + 0.11011655628681183, + 0.02161400578916073, + -0.10060250759124756, + -0.15894725918769836, + 0.0, + 1.0001531839370728 + ], + [ + 0.30972015857696533, + 0.08004250377416611, + 0.10786206275224686, + 0.028988312929868698, + -0.12584178149700165, + -0.18144118785858154, + 0.0, + 1.0001531839370728 + ], + [ + 0.3024475574493408, + 0.08827051520347595, + 0.10629215836524963, + 0.016893666237592697, + -0.1439131647348404, + -0.19287867844104767, + 0.0, + 1.0001531839370728 + ], + [ + 0.2938123047351837, + 0.1009332463145256, + 0.10972566902637482, + 0.0324673131108284, + -0.161648690700531, + -0.19958561658859253, + 0.0, + 1.0001531839370728 + ], + [ + 0.285067617893219, + 0.10854227840900421, + 0.10163672268390656, + 0.050445228815078735, + -0.167806938290596, + -0.19291266798973083, + 0.0, + 1.0001531839370728 + ], + [ + 0.27721327543258667, + 0.11120431125164032, + 0.08678518980741501, + 0.04771792143583298, + -0.17906691133975983, + -0.18842484056949615, + 0.0, + 1.0001531839370728 + ], + [ + 0.27234628796577454, + 0.11376072466373444, + 0.07319865375757217, + 0.064765565097332, + -0.20754462480545044, + -0.19658003747463226, + 0.0, + 1.0001531839370728 + ], + [ + 0.27137449383735657, + 0.1143844723701477, + 0.06525637209415436, + 0.0796501636505127, + -0.2413477599620819, + -0.20304541289806366, + 0.0, + 1.0001531839370728 + ], + [ + 0.2727915942668915, + 0.1165367066860199, + 0.05763690918684006, + 0.103278748691082, + -0.2894893288612366, + -0.22798007726669312, + 0.0, + 1.0001531839370728 + ], + [ + 0.2734636068344116, + 0.12155917286872864, + 0.038100820034742355, + 0.11335386335849762, + -0.3074885606765747, + -0.25118643045425415, + 0.0, + 1.0001531839370728 + ], + [ + 0.2721332907676697, + 0.12804874777793884, + 0.033675625920295715, + 0.11644835770130157, + -0.32885491847991943, + -0.2655003070831299, + 0.0, + 1.0001531839370728 + ], + [ + 0.26547354459762573, + 0.1319715678691864, + 0.030661888420581818, + 0.11375902593135834, + -0.3190534710884094, + -0.2679824233055115, + 0.0, + 1.0001531839370728 + ], + [ + 0.25729742646217346, + 0.13328669965267181, + 0.02549329772591591, + 0.1084570437669754, + -0.30888432264328003, + -0.2687050402164459, + 0.0, + 1.0001531839370728 + ], + [ + 0.2535136044025421, + 0.13330191373825073, + 0.021720735356211662, + 0.10849080234766006, + -0.3229612708091736, + -0.26282405853271484, + 0.0, + 1.0001531839370728 + ], + [ + 0.25523898005485535, + 0.13392889499664307, + 0.021731479093432426, + 0.11725810915231705, + -0.34524962306022644, + -0.262908935546875, + 0.0, + 0.9507390260696411 + ], + [ + 0.25569257140159607, + 0.13473433256149292, + 0.021611105650663376, + 0.12470434606075287, + -0.3500623404979706, + -0.2601480782032013, + 0.0, + 0.6581199765205383 + ], + [ + 0.25555846095085144, + 0.13267317414283752, + 0.02103666216135025, + 0.12278524041175842, + -0.33993256092071533, + -0.2603870928287506, + 0.0, + 0.347801148891449 + ], + [ + 0.25264114141464233, + 0.12910625338554382, + 0.020375320687890053, + 0.09649965912103653, + -0.30984604358673096, + -0.2523048222064972, + 0.0, + 0.19846400618553162 + ], + [ + 0.25200656056404114, + 0.12784156203269958, + 0.020924193784594536, + 0.08102399855852127, + -0.29845359921455383, + -0.24057041108608246, + 0.0, + 0.20503154397010803 + ], + [ + 0.25006479024887085, + 0.12457095831632614, + 0.021960897371172905, + 0.05500456318259239, + -0.27239951491355896, + -0.23471230268478394, + 0.0, + 0.22362354397773743 + ], + [ + 0.2508670389652252, + 0.1240905225276947, + 0.04485900700092316, + 0.04134393855929375, + -0.23391756415367126, + -0.2106378972530365, + 0.0, + 0.2248985916376114 + ], + [ + 0.25589418411254883, + 0.11670614778995514, + 0.07566981762647629, + 0.021746447309851646, + -0.17824015021324158, + -0.1871728152036667, + 0.0, + 0.2248985916376114 + ], + [ + 0.2594718635082245, + 0.10567492991685867, + 0.11712677776813507, + -0.003628466511145234, + -0.11325457692146301, + -0.15358677506446838, + 0.0, + 0.2248985916376114 + ], + [ + 0.2724093794822693, + 0.09040623158216476, + 0.15072275698184967, + 0.004023890011012554, + -0.0784347876906395, + -0.1177520826458931, + 0.0, + 0.2248985916376114 + ], + [ + 0.2984742522239685, + 0.07256728410720825, + 0.15654444694519043, + -0.00279598799534142, + -0.06355995684862137, + -0.11407977342605591, + 0.0, + 0.2248985916376114 + ], + [ + 0.3251449167728424, + 0.06674662232398987, + 0.1432708352804184, + -0.009982427582144737, + -0.07844385504722595, + -0.11792188137769699, + 0.0, + 0.2248985916376114 + ], + [ + 0.34272029995918274, + 0.06883752346038818, + 0.12803739309310913, + -0.007644598837941885, + -0.10587906092405319, + -0.1301085501909256, + 0.0, + 0.2248985916376114 + ], + [ + 0.35399144887924194, + 0.06879844516515732, + 0.11537778377532959, + -0.010411195456981659, + -0.13912054896354675, + -0.14397959411144257, + 0.0, + 0.2248985916376114 + ], + [ + 0.35844987630844116, + 0.06912590563297272, + 0.11200235784053802, + -0.0006103315390646458, + -0.1723298579454422, + -0.1540587693452835, + 0.0, + 0.2248985916376114 + ], + [ + 0.3597314953804016, + 0.07132898271083832, + 0.10668598115444183, + -0.0019610172603279352, + -0.16904020309448242, + -0.16262935101985931, + 0.0, + 0.2248985916376114 + ], + [ + 0.36333364248275757, + 0.07930878549814224, + 0.10887704789638519, + 0.02926691062748432, + -0.15960636734962463, + -0.1743728369474411, + 0.0, + 0.26031553745269775 + ], + [ + 0.3621499538421631, + 0.08018236607313156, + 0.10758937895298004, + 0.026001809164881706, + -0.1510992795228958, + -0.1740625500679016, + 0.0, + 0.5236935019493103 + ], + [ + 0.3573089838027954, + 0.08196928352117538, + 0.1064567044377327, + 0.013284577988088131, + -0.1254512369632721, + -0.17844358086585999, + 0.0, + 0.8399420380592346 + ], + [ + 0.35298821330070496, + 0.08081386983394623, + 0.1068941280245781, + 0.0015748473815619946, + -0.10043857246637344, + -0.17837776243686676, + 0.0, + 1.0067112445831299 + ], + [ + 0.3560744524002075, + 0.0719638466835022, + 0.11553521454334259, + -0.0007439851178787649, + -0.0888269916176796, + -0.1429167240858078, + 0.0, + 1.002137303352356 + ], + [ + 0.35998472571372986, + 0.051950544118881226, + 0.11806605756282806, + -0.00043300786637701094, + -0.08460519462823868, + -0.11843916028738022, + 0.0, + 1.002137303352356 + ], + [ + 0.3631293475627899, + 0.033674776554107666, + 0.1175784021615982, + -9.32354450924322e-05, + -0.08830688893795013, + -0.12849417328834534, + 0.0, + 1.002137303352356 + ], + [ + 0.3612930476665497, + 0.03042082116007805, + 0.11830049008131027, + 0.010466072708368301, + -0.07301732897758484, + -0.11561452597379684, + 0.0, + 1.002137303352356 + ], + [ + 0.3612930476665497, + 0.03042082116007805, + 0.11830049008131027, + 0.010353859513998032, + -0.07303329557180405, + -0.11407652497291565, + 0.0, + 1.002137303352356 + ], + [ + 0.36130431294441223, + 0.030421791598200798, + 0.11774430423974991, + 0.010048354044556618, + -0.07152988016605377, + -0.11405445635318756, + 0.0, + 1.002137303352356 + ], + [ + 0.3637109398841858, + 0.03040708787739277, + 0.1166924387216568, + 0.012459181249141693, + -0.09138036519289017, + -0.1121843233704567, + 0.0, + 1.002137303352356 + ], + [ + 0.3547823429107666, + 0.02765180915594101, + 0.07275111973285675, + 0.004551304504275322, + -0.15103453397750854, + -0.10884043574333191, + 0.0, + 1.002137303352356 + ], + [ + 0.35377007722854614, + 0.02916526421904564, + 0.05337119475007057, + -0.00129709392786026, + -0.2199404537677765, + -0.11799333244562149, + 0.0, + 1.002137303352356 + ], + [ + 0.3546940088272095, + 0.03341151401400566, + 0.04644729942083359, + 0.008622919209301472, + -0.27235063910484314, + -0.11729352176189423, + 0.0, + 0.9701826572418213 + ], + [ + 0.3554610311985016, + 0.033057987689971924, + 0.0422554686665535, + 0.021915635094046593, + -0.2906727194786072, + -0.09450561553239822, + 0.0, + 0.6892001032829285 + ], + [ + 0.35435763001441956, + 0.02939346432685852, + 0.04034028574824333, + 0.025834880769252777, + -0.2890644371509552, + -0.09221179783344269, + 0.0, + 0.3814634680747986 + ], + [ + 0.3523646593093872, + 0.024524467065930367, + 0.040432158857584, + 0.01949412375688553, + -0.27711331844329834, + -0.08594634383916855, + 0.0, + 0.16866940259933472 + ], + [ + 0.34676459431648254, + 0.018364395946264267, + 0.0454629585146904, + 0.008179804310202599, + -0.24235376715660095, + -0.0748712494969368, + 0.0, + 0.07854863256216049 + ], + [ + 0.34644201397895813, + 0.008804039098322392, + 0.06358466297388077, + 0.006340422201901674, + -0.1935761272907257, + -0.062169622629880905, + 0.0, + 0.06742517650127411 + ], + [ + 0.34829238057136536, + -0.004489622078835964, + 0.09116281569004059, + 0.02373281866312027, + -0.15860356390476227, + -0.07195056229829788, + 0.0, + 0.07112513482570648 + ], + [ + 0.34606388211250305, + -0.021490883082151413, + 0.11230465769767761, + 0.041649267077445984, + -0.12913212180137634, + -0.052607808262109756, + 0.0, + 0.07559127360582352 + ], + [ + 0.33763977885246277, + -0.04920782148838043, + 0.12578824162483215, + 0.07826021313667297, + -0.12421715259552002, + -0.02112624980509281, + 0.0, + 0.07788556814193726 + ], + [ + 0.3301219940185547, + -0.08378274738788605, + 0.12636010348796844, + 0.1089392900466919, + -0.1520116627216339, + 0.008206281810998917, + 0.0, + 0.07788556814193726 + ], + [ + 0.3221495747566223, + -0.10966712981462479, + 0.12287228554487228, + 0.13002029061317444, + -0.19385318458080292, + 0.0369911752641201, + 0.0, + 0.07788556814193726 + ], + [ + 0.3194162845611572, + -0.12432408332824707, + 0.11554569751024246, + 0.13793113827705383, + -0.24774529039859772, + 0.04829748719930649, + 0.0, + 0.07788556814193726 + ], + [ + 0.3207554519176483, + -0.12385645508766174, + 0.09225255250930786, + 0.1315387487411499, + -0.27587684988975525, + 0.037775516510009766, + 0.0, + 0.07788556814193726 + ], + [ + 0.3272024095058441, + -0.11673004925251007, + 0.06710661202669144, + 0.12143318355083466, + -0.3220665454864502, + 0.025782929733395576, + 0.0, + 0.07788556814193726 + ], + [ + 0.33602604269981384, + -0.1123751625418663, + 0.04370276629924774, + 0.1091836616396904, + -0.37343016266822815, + 0.021086731925606728, + 0.0, + 0.07788556814193726 + ], + [ + 0.3453616797924042, + -0.11265280097723007, + 0.03877810016274452, + 0.10733699798583984, + -0.42620742321014404, + -0.00465594744309783, + 0.0, + 0.09851961582899094 + ], + [ + 0.3480268120765686, + -0.10982649773359299, + 0.03890867903828621, + 0.10524046421051025, + -0.42567187547683716, + 0.01753460057079792, + 0.0, + 0.26876991987228394 + ], + [ + 0.33939695358276367, + -0.10527095198631287, + 0.039862483739852905, + 0.10959672927856445, + -0.3269638419151306, + 0.0150834359228611, + 0.0, + 0.5472165942192078 + ], + [ + 0.33791422843933105, + -0.10315483808517456, + 0.06449340283870697, + 0.08984533697366714, + -0.2795908451080322, + 0.03679957240819931, + 0.0, + 0.8544629216194153 + ], + [ + 0.33833399415016174, + -0.10263200849294662, + 0.08246619999408722, + 0.07790190726518631, + -0.23464006185531616, + 0.04325602576136589, + 0.0, + 1.0073583126068115 + ], + [ + 0.33903026580810547, + -0.1013651192188263, + 0.09975004941225052, + 0.07209768891334534, + -0.20641888678073883, + 0.04278514161705971, + 0.0, + 1.0008161067962646 + ], + [ + 0.33895882964134216, + -0.09836655855178833, + 0.11337240785360336, + 0.06363730132579803, + -0.18128521740436554, + 0.041238557547330856, + 0.0, + 1.0008161067962646 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9507390260696411 + ], + [ + 0.6581199765205383 + ], + [ + 0.347801148891449 + ], + [ + 0.19846400618553162 + ], + [ + 0.20503154397010803 + ], + [ + 0.22362354397773743 + ], + [ + 0.2248985916376114 + ], + [ + 0.2248985916376114 + ], + [ + 0.2248985916376114 + ], + [ + 0.2248985916376114 + ], + [ + 0.2248985916376114 + ], + [ + 0.2248985916376114 + ], + [ + 0.2248985916376114 + ], + [ + 0.2248985916376114 + ], + [ + 0.2248985916376114 + ], + [ + 0.2248985916376114 + ], + [ + 0.26031553745269775 + ], + [ + 0.5236935019493103 + ], + [ + 0.8399420380592346 + ], + [ + 1.0067112445831299 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 0.9701826572418213 + ], + [ + 0.6892001032829285 + ], + [ + 0.3814634680747986 + ], + [ + 0.16866940259933472 + ], + [ + 0.07854863256216049 + ], + [ + 0.06742517650127411 + ], + [ + 0.07112513482570648 + ], + [ + 0.07559127360582352 + ], + [ + 0.07788556814193726 + ], + [ + 0.07788556814193726 + ], + [ + 0.07788556814193726 + ], + [ + 0.07788556814193726 + ], + [ + 0.07788556814193726 + ], + [ + 0.07788556814193726 + ], + [ + 0.07788556814193726 + ], + [ + 0.09851961582899094 + ], + [ + 0.26876991987228394 + ], + [ + 0.5472165942192078 + ], + [ + 0.8544629216194153 + ], + [ + 1.0073583126068115 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.33256596326828003, + 0.06613187491893768, + 0.13703703880310059 + ], + [ + 0.3289523124694824, + 0.06538467109203339, + 0.1252962201833725 + ], + [ + 0.3191659450531006, + 0.07132729887962341, + 0.11011655628681183 + ], + [ + 0.30972015857696533, + 0.08004250377416611, + 0.10786206275224686 + ], + [ + 0.3024475574493408, + 0.08827051520347595, + 0.10629215836524963 + ], + [ + 0.2938123047351837, + 0.1009332463145256, + 0.10972566902637482 + ], + [ + 0.285067617893219, + 0.10854227840900421, + 0.10163672268390656 + ], + [ + 0.27721327543258667, + 0.11120431125164032, + 0.08678518980741501 + ], + [ + 0.27234628796577454, + 0.11376072466373444, + 0.07319865375757217 + ], + [ + 0.27137449383735657, + 0.1143844723701477, + 0.06525637209415436 + ], + [ + 0.2727915942668915, + 0.1165367066860199, + 0.05763690918684006 + ], + [ + 0.2734636068344116, + 0.12155917286872864, + 0.038100820034742355 + ], + [ + 0.2721332907676697, + 0.12804874777793884, + 0.033675625920295715 + ], + [ + 0.26547354459762573, + 0.1319715678691864, + 0.030661888420581818 + ], + [ + 0.25729742646217346, + 0.13328669965267181, + 0.02549329772591591 + ], + [ + 0.2535136044025421, + 0.13330191373825073, + 0.021720735356211662 + ], + [ + 0.25523898005485535, + 0.13392889499664307, + 0.021731479093432426 + ], + [ + 0.25569257140159607, + 0.13473433256149292, + 0.021611105650663376 + ], + [ + 0.25555846095085144, + 0.13267317414283752, + 0.02103666216135025 + ], + [ + 0.25264114141464233, + 0.12910625338554382, + 0.020375320687890053 + ], + [ + 0.25200656056404114, + 0.12784156203269958, + 0.020924193784594536 + ], + [ + 0.25006479024887085, + 0.12457095831632614, + 0.021960897371172905 + ], + [ + 0.2508670389652252, + 0.1240905225276947, + 0.04485900700092316 + ], + [ + 0.25589418411254883, + 0.11670614778995514, + 0.07566981762647629 + ], + [ + 0.2594718635082245, + 0.10567492991685867, + 0.11712677776813507 + ], + [ + 0.2724093794822693, + 0.09040623158216476, + 0.15072275698184967 + ], + [ + 0.2984742522239685, + 0.07256728410720825, + 0.15654444694519043 + ], + [ + 0.3251449167728424, + 0.06674662232398987, + 0.1432708352804184 + ], + [ + 0.34272029995918274, + 0.06883752346038818, + 0.12803739309310913 + ], + [ + 0.35399144887924194, + 0.06879844516515732, + 0.11537778377532959 + ], + [ + 0.35844987630844116, + 0.06912590563297272, + 0.11200235784053802 + ], + [ + 0.3597314953804016, + 0.07132898271083832, + 0.10668598115444183 + ], + [ + 0.36333364248275757, + 0.07930878549814224, + 0.10887704789638519 + ], + [ + 0.3621499538421631, + 0.08018236607313156, + 0.10758937895298004 + ], + [ + 0.3573089838027954, + 0.08196928352117538, + 0.1064567044377327 + ], + [ + 0.35298821330070496, + 0.08081386983394623, + 0.1068941280245781 + ], + [ + 0.3560744524002075, + 0.0719638466835022, + 0.11553521454334259 + ], + [ + 0.35998472571372986, + 0.051950544118881226, + 0.11806605756282806 + ], + [ + 0.3631293475627899, + 0.033674776554107666, + 0.1175784021615982 + ], + [ + 0.3612930476665497, + 0.03042082116007805, + 0.11830049008131027 + ], + [ + 0.3612930476665497, + 0.03042082116007805, + 0.11830049008131027 + ], + [ + 0.36130431294441223, + 0.030421791598200798, + 0.11774430423974991 + ], + [ + 0.3637109398841858, + 0.03040708787739277, + 0.1166924387216568 + ], + [ + 0.3547823429107666, + 0.02765180915594101, + 0.07275111973285675 + ], + [ + 0.35377007722854614, + 0.02916526421904564, + 0.05337119475007057 + ], + [ + 0.3546940088272095, + 0.03341151401400566, + 0.04644729942083359 + ], + [ + 0.3554610311985016, + 0.033057987689971924, + 0.0422554686665535 + ], + [ + 0.35435763001441956, + 0.02939346432685852, + 0.04034028574824333 + ], + [ + 0.3523646593093872, + 0.024524467065930367, + 0.040432158857584 + ], + [ + 0.34676459431648254, + 0.018364395946264267, + 0.0454629585146904 + ], + [ + 0.34644201397895813, + 0.008804039098322392, + 0.06358466297388077 + ], + [ + 0.34829238057136536, + -0.004489622078835964, + 0.09116281569004059 + ], + [ + 0.34606388211250305, + -0.021490883082151413, + 0.11230465769767761 + ], + [ + 0.33763977885246277, + -0.04920782148838043, + 0.12578824162483215 + ], + [ + 0.3301219940185547, + -0.08378274738788605, + 0.12636010348796844 + ], + [ + 0.3221495747566223, + -0.10966712981462479, + 0.12287228554487228 + ], + [ + 0.3194162845611572, + -0.12432408332824707, + 0.11554569751024246 + ], + [ + 0.3207554519176483, + -0.12385645508766174, + 0.09225255250930786 + ], + [ + 0.3272024095058441, + -0.11673004925251007, + 0.06710661202669144 + ], + [ + 0.33602604269981384, + -0.1123751625418663, + 0.04370276629924774 + ], + [ + 0.3453616797924042, + -0.11265280097723007, + 0.03877810016274452 + ], + [ + 0.3480268120765686, + -0.10982649773359299, + 0.03890867903828621 + ], + [ + 0.33939695358276367, + -0.10527095198631287, + 0.039862483739852905 + ], + [ + 0.33791422843933105, + -0.10315483808517456, + 0.06449340283870697 + ], + [ + 0.33833399415016174, + -0.10263200849294662, + 0.08246619999408722 + ], + [ + 0.33903026580810547, + -0.1013651192188263, + 0.09975004941225052 + ], + [ + 0.33895882964134216, + -0.09836655855178833, + 0.11337240785360336 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9807692892205108, + -0.12401543212983177, + 0.15070425977903, + -0.12713318665766857, + -0.9918224841846633, + 0.011194316237706045, + 0.14808360534563123, + -0.030138554368357773, + -0.9885155099281068 + ], + [ + 0.9855166965052233, + -0.12325329063537523, + 0.11647088587704184, + -0.12457345208704372, + -0.9922019340325213, + 0.004095990385845731, + 0.11505779393221564, + -0.01854584723531505, + -0.9931856601893605 + ], + [ + 0.9824020270723954, + -0.15609862758604046, + 0.10256449517158696, + -0.1574785401077551, + -0.9875073860057052, + 0.005447200171527437, + 0.10043289605292675, + -0.021503047456888073, + -0.9947114417460413 + ], + [ + 0.9758068292413117, + -0.1767933840828633, + 0.12862787936737274, + -0.17902037961401643, + -0.9838278538847918, + 0.0058700599059069505, + 0.12550990275221974, + -0.028755056337532586, + -0.9916755573503636 + ], + [ + 0.9713105598919655, + -0.1892798340636473, + 0.14397548631345114, + -0.18970341280195185, + -0.9817808539537857, + -0.010907336112336958, + 0.1434169146706512, + -0.016718230367278528, + -0.9895211414415246 + ], + [ + 0.9673708886682786, + -0.19303786203473322, + 0.1641034660761445, + -0.1956784877895924, + -0.9806681006874469, + -7.556754516425956e-05, + 0.16094562179047722, + -0.03203841623949061, + -0.986443128979741 + ], + [ + 0.9676639751754293, + -0.18320886955670343, + 0.17338091378072926, + -0.18902535583724958, + -0.9818161099528446, + 0.017508314815097504, + 0.16702049574314828, + -0.049715554435389955, + -0.9846992016087424 + ], + [ + 0.9665938239968229, + -0.17875312225650497, + 0.18369458537134467, + -0.18431679063298462, + -0.9827737425430972, + 0.013531136633366178, + 0.1781114822294053, + -0.04693710953377196, + -0.9828902317383459 + ], + [ + 0.9596934170020383, + -0.18182761797344693, + 0.21430646911620455, + -0.19112485844533939, + -0.9812888732134109, + 0.023311709328230457, + 0.2060578410233434, + -0.06333138755512285, + -0.9764882495468862 + ], + [ + 0.9510691337476739, + -0.18238727626178228, + 0.24940405828746628, + -0.1958085450243596, + -0.9801866102743781, + 0.029886832121655812, + 0.239011540574703, + -0.07725988931284468, + -0.9679382175404969 + ], + [ + 0.933591351889881, + -0.19613766996635887, + 0.2998953185639814, + -0.21660598896690295, + -0.97558572254951, + 0.03625387567171533, + 0.285462840348957, + -0.09880542686369999, + -0.9532829875761907 + ], + [ + 0.9231868235987697, + -0.21379762146320563, + 0.3194004786945223, + -0.23689536106112963, + -0.9709111432341334, + 0.034815798877884316, + 0.3026659489293951, + -0.10780597850056413, + -0.9469800390495065 + ], + [ + 0.9132517480904069, + -0.22440663389722845, + 0.34001898075362086, + -0.24833121566778885, + -0.9682719727644559, + 0.027946271375388194, + 0.32295952058233873, + -0.10995930802685136, + -0.9400032439537014 + ], + [ + 0.915641148348484, + -0.22874016659024346, + 0.33057408192315546, + -0.2514233684360336, + -0.9675020983162944, + 0.026944007828190786, + 0.31366794107040635, + -0.10778509146368423, + -0.9433953555126383 + ], + [ + 0.9184871131483082, + -0.23219817906831547, + 0.3201022158902446, + -0.25291873296085887, + -0.9671866022463015, + 0.024128633461672246, + 0.3039959498051907, + -0.10312168575334901, + -0.9470756994187037 + ], + [ + 0.9157352366010689, + -0.2250963598967231, + 0.33280715919046766, + -0.24637648963068065, + -0.9689109489481156, + 0.022587571045277317, + 0.317376120406762, + -0.10268009432069702, + -0.9427243480603678 + ], + [ + 0.9086567249646469, + -0.21987351435577565, + 0.35496280630703025, + -0.24455474083459042, + -0.9692970016443474, + 0.025618378922248435, + 0.338431580842935, + -0.11008614939272832, + -0.9345293493518722 + ], + [ + 0.9077439465030158, + -0.21400412956302456, + 0.36083674995363435, + -0.24162337926123545, + -0.9698201674906031, + 0.032664741279845096, + 0.34295636775180394, + -0.11683781604630517, + -0.9320567871970133 + ], + [ + 0.9109965048868467, + -0.2160562256935454, + 0.3512905854460226, + -0.2427223293095667, + -0.9695291329740326, + 0.03315314719840111, + 0.3334235128758735, + -0.11546847038772252, + -0.9356793218874894 + ], + [ + 0.9222278012624145, + -0.22002690903941646, + 0.31793716655536275, + -0.23774891315593494, + -0.971168330914836, + 0.01753645691874548, + 0.30491201496802944, + -0.09176182390652268, + -0.9479495929644594 + ], + [ + 0.9282676500778784, + -0.21436191355849396, + 0.303921272428296, + -0.22772388055902457, + -0.9736861921873533, + 0.008776865433155714, + 0.29404252080614607, + -0.07735741179249325, + -0.9526567203346302 + ], + [ + 0.9367203658240787, + -0.2178258734228482, + 0.27405628093144957, + -0.2239881387317635, + -0.9745502628735498, + -0.009005489468941079, + 0.26904324923306394, + -0.052949730883813294, + -0.9616714907084681 + ], + [ + 0.9512654860688852, + -0.19953643020984305, + 0.23511526541941033, + -0.20338951412849268, + -0.9790651915532096, + -0.00800351369415292, + 0.23179016492660556, + -0.040206513253318116, + -0.9719345429273041 + ], + [ + 0.9669681889075438, + -0.182249878905733, + 0.17820635027885615, + -0.1831337855174456, + -0.9830193342510288, + -0.011619169106023484, + 0.17729787997298482, + -0.021400236622752814, + -0.9839245355359196 + ], + [ + 0.9818976825189972, + -0.15338789064446653, + 0.1111264867952907, + -0.152003581260339, + -0.9881594797616023, + -0.020874717754048328, + 0.11301262030346108, + 0.003605213020174261, + -0.9935870118370234 + ], + [ + 0.9900220887957859, + -0.11716609854889284, + 0.07828390030689454, + -0.11711897027897075, + -0.9931042307604475, + -0.005208996687750801, + 0.07835439041446395, + -0.004011508012027713, + -0.9969174977430414 + ], + [ + 0.9914938277522838, + -0.11400848536450743, + 0.06278578496774215, + -0.11360263493049937, + -0.9934758574196307, + -0.010008099778543125, + 0.06351716985172076, + 0.0027903385494392587, + -0.9979768449943152 + ], + [ + 0.9900014822974017, + -0.11841972622713588, + 0.07664093872883702, + -0.11728698949451628, + -0.9929137599992659, + -0.019131839938523132, + 0.07836342989086421, + 0.009951564922675557, + -0.9968751873787055 + ], + [ + 0.9859951945255601, + -0.13053904031785002, + 0.1037932335241465, + -0.12901522819206157, + -0.9914140269715146, + -0.02129079657212153, + 0.10568134777269621, + 0.0076017153998234, + -0.9943709904537273 + ], + [ + 0.9800911371011913, + -0.14490365987923437, + 0.13573611284141288, + -0.1420963755851642, + -0.98939204797649, + -0.030199262349380314, + 0.1386722143086118, + 0.010310419704837717, + -0.9902846622180193 + ], + [ + 0.9735197501483489, + -0.1535534747135732, + 0.16935355465559032, + -0.15117716959978336, + -0.9881401564819906, + -0.02691643623411512, + 0.17147816030881108, + 0.0006012912230253624, + -0.9851877379393079 + ], + [ + 0.9727397342312886, + -0.1622386695089965, + 0.16569859252145883, + -0.15960561838311038, + -0.9867496528377883, + -0.02917480428467524, + 0.1682363100765907, + 0.0019330650415263911, + -0.985744798226883 + ], + [ + 0.9723182006750338, + -0.1688360342414679, + 0.1615292858204921, + -0.17128544086587053, + -0.9852206428805957, + 0.0012580100674106556, + 0.15892958938929133, + -0.028890801019688016, + -0.9868671173126561 + ], + [ + 0.9736676980422178, + -0.16927204265187035, + 0.1527029448492449, + -0.1712116960343813, + -0.9852341595692116, + -0.0004538270368505456, + 0.15052497776182783, + -0.02570265345080422, + -0.9882720296939445 + ], + [ + 0.9763872414646002, + -0.17584666500366522, + 0.12548268849620933, + -0.1761031813439389, + -0.9843293369185344, + -0.009133783556759506, + 0.12512243693955025, + -0.013179790916653812, + -0.9920537631024344 + ], + [ + 0.9791730780162244, + -0.17727768635879934, + 0.09895809824114406, + -0.17653909711432444, + -0.9841596246099876, + -0.016241320069109905, + 0.10026978846238717, + -0.0015669099525251673, + -0.9949590515769524 + ], + [ + 0.9859024470110943, + -0.14249599061802054, + 0.08769981548056571, + -0.14186916737430388, + -0.9897951017760769, + -0.013371456487883508, + 0.08871022672757642, + 0.0007410518703987803, + -0.9960572004237845 + ], + [ + 0.9894424515660046, + -0.11819877054943487, + 0.083861109458774, + -0.11773979345471963, + -0.9929898612189877, + -0.010415207800880018, + 0.08450429620021922, + 0.0004314590335124154, + -0.9964230214957942 + ], + [ + 0.9878915788057034, + -0.1281490301155261, + 0.08745315663385263, + -0.12764157231269732, + -0.991754918039338, + -0.011393487715750047, + 0.0881921625900944, + 9.287215116215736e-05, + -0.9961034754644953 + ], + [ + 0.9906772894567708, + -0.11459240089968122, + 0.07366878450627404, + -0.11504975516039924, + -0.9933577552563698, + 0.001980886053735211, + 0.07295246392081142, + -0.010437994446848162, + -0.9972807961049936 + ], + [ + 0.9908519069706264, + -0.1130725824944874, + 0.07366878267421124, + -0.11352582442325845, + -0.9935330710542459, + 0.001980886301065397, + 0.07296838796144751, + -0.010326074256250331, + -0.9972807962398362 + ], + [ + 0.9909622813017583, + -0.11308812674497183, + 0.07214452596370587, + -0.11351631425268081, + -0.9935344107191884, + 0.0018496257355483077, + 0.07146889838035324, + -0.01002249001936012, + -0.9973924735319143 + ], + [ + 0.9895678818340107, + -0.11081070530030902, + 0.09206733858104857, + -0.11148207540387574, + -0.9937640851795474, + 0.002165610976527184, + 0.09125324162019632, + -0.012406877048845103, + -0.9957504282176839 + ], + [ + 0.9827660372653373, + -0.10794380704816249, + 0.15006348828990512, + -0.1073890712563537, + -0.9941468147257951, + -0.011819396991947778, + 0.1504609695983753, + -0.004499476692299257, + -0.9886057107548044 + ], + [ + 0.9691247998501706, + -0.11800065289870391, + 0.2165016587253933, + -0.1148839144857197, + -0.9930127106671207, + -0.026971144691603645, + 0.21817151167786525, + 0.0012658471539558243, + -0.9759096213908224 + ], + [ + 0.9565234992977104, + -0.11471684028098039, + 0.26814705265434363, + -0.11271137029458, + -0.9933635154160826, + -0.022914476789154956, + 0.2689961752471239, + -0.008304986222185305, + -0.9631054381044 + ], + [ + 0.9537761491742321, + -0.08808991877319869, + 0.2873172871180994, + -0.09040651202100147, + -0.9958912551399193, + -0.005222118347278317, + 0.2865967896724763, + -0.020994621843884766, + -0.957821228624143 + ], + [ + 0.9544387521876471, + -0.08471817171224943, + 0.28612846713359585, + -0.08826081621842594, + -0.9960972647225966, + -0.0005172355542803209, + 0.2850556027215474, + -0.02476026239552383, + -0.9581911253832193 + ], + [ + 0.9582988887178384, + -0.08051107674324123, + 0.27419191527796666, + -0.08256568399181907, + -0.9965773594114333, + -0.004058883528472886, + 0.2735802399829323, + -0.018749219455181522, + -0.961666428165558 + ], + [ + 0.9680561179904834, + -0.07284127999482029, + 0.23991977898854325, + -0.07261530851396109, + -0.9973119340154216, + -0.009794041037353611, + 0.23998826927709924, + -0.007940667423794406, + -0.9707433112879259 + ], + [ + 0.9794267483004777, + -0.060910994265517486, + 0.19238787771358876, + -0.06096916144548776, + -0.9981238089632927, + -0.005623462744826827, + 0.1923694520088539, + -0.006221957746119931, + -0.9813028488573845 + ], + [ + 0.9848939472465561, + -0.06812995466922961, + 0.15919240545285535, + -0.07098621138599959, + -0.9974012311070676, + 0.012318359434916496, + 0.15793945191167325, + -0.02343274339197891, + -0.9871707228574831 + ], + [ + 0.9903020740375875, + -0.04718358962316364, + 0.13067329883004272, + -0.05214573636892617, + -0.9980324638093423, + 0.03481412588586164, + 0.12877353895655433, + -0.04129055646182376, + -0.9908140418926641 + ], + [ + 0.992073532946811, + -0.011375796396999073, + 0.12514270447280026, + -0.020961911937398388, + -0.9969213860591682, + 0.07555361186465792, + 0.12389795589258668, + -0.07757796900023001, + -0.9892577799802424 + ], + [ + 0.9884351752871198, + 0.024620718411046932, + 0.14963196343042628, + 0.00811155968688107, + -0.9939034054936221, + 0.10995555078133329, + 0.15142690267771663, + -0.10747018550790788, + -0.982608799254479 + ], + [ + 0.9805979569390242, + 0.06163026075092512, + 0.18608964991848406, + 0.03629002484838341, + -0.9899572325621602, + 0.13662983493502445, + 0.19264132719516516, + -0.12722573897463235, + -0.9729866034015285 + ], + [ + 0.9683372890751083, + 0.08149702325361052, + 0.23596849320930588, + 0.04680465640241965, + -0.9877197779052255, + 0.14906027127945015, + 0.24521871609997717, + -0.13329619475308474, + -0.9602603322738195 + ], + [ + 0.9615002881572833, + 0.0731414908999881, + 0.26489152153737955, + 0.03633845652133175, + -0.9893047248764758, + 0.1412645670885929, + 0.2723907348848495, + -0.12620017292384048, + -0.9538746269310681 + ], + [ + 0.9482680531258876, + 0.0639200358554434, + 0.3109693368116507, + 0.024454547619666263, + -0.9913176591639957, + 0.12919471247049452, + 0.31652752569335335, + -0.11490660401323811, + -0.941598002245432 + ], + [ + 0.9308744682609355, + 0.06070312290329902, + 0.36026081553467304, + 0.019632010247711662, + -0.9929862049822971, + 0.11658893982059097, + 0.364811332764697, + -0.10145702333817315, + -0.9255372298842457 + ], + [ + 0.9105303540469812, + 0.039660538298472464, + 0.4115355586835167, + -0.004239412107607379, + -0.994440348447947, + 0.10521606704162359, + 0.4134204902324759, + -0.0975470916050343, + -0.9052999851846559 + ], + [ + 0.9106214903364304, + 0.06080709007002927, + 0.4087431946034995, + 0.015969020761291475, + -0.9935538944519163, + 0.11223033990573171, + 0.4129327932162622, + -0.09567213082526164, + -0.9057225577791304 + ], + [ + 0.946914101006337, + 0.05011704657238107, + 0.3175562421969095, + 0.014283801419486677, + -0.9933573761562866, + 0.11418010445303567, + 0.3211692051432844, + -0.10358284065789686, + -0.941339968762015 + ], + [ + 0.9605176923271459, + 0.06138670240733915, + 0.27136218508496635, + 0.03536260458971678, + -0.9943813512890562, + 0.09977582074421817, + 0.27596240490901314, + -0.08624036743952218, + -0.9572916745176104 + ], + [ + 0.9716883230273722, + 0.06118779534846955, + 0.22820573304070677, + 0.042057609508957386, + -0.995252220075881, + 0.0877734351408303, + 0.23249292542923658, + -0.07569063439041382, + -0.9696483731182822 + ], + [ + 0.9778754432233164, + 0.05741152471933202, + 0.2011554979865175, + 0.04186408746456884, + -0.9958578302752735, + 0.08071294852861786, + 0.2049561312124164, + -0.07050601895459645, + -0.9762283982601677 + ], + [ + 0.9827765317866457, + 0.05259934529006262, + 0.17715416293293515, + 0.040551276587653465, + -0.996654668467405, + 0.07095819747737822, + 0.1802938782558182, + -0.06255222375890199, + -0.9816217890645523 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0036136507987976074, + -0.0007472038269042969, + -0.011740818619728088, + -0.011808337643742561, + 0.03331705182790756, + 0.003169834613800049, + 1.0 + ], + [ + -0.009786367416381836, + 0.005942627787590027, + -0.015179663896560669, + 0.002943083643913269, + 0.014710672199726105, + -0.0332099050283432, + 1.0 + ], + [ + -0.009445786476135254, + 0.008715204894542694, + -0.002254493534564972, + 0.00737430714070797, + -0.02523927390575409, + -0.02249392867088318, + 1.0 + ], + [ + -0.007272601127624512, + 0.008228011429309845, + -0.001569904386997223, + -0.012094646692276001, + -0.018071383237838745, + -0.011437490582466125, + 1.0 + ], + [ + -0.008635252714157104, + 0.012662731111049652, + 0.003433510661125183, + 0.015573646873235703, + -0.017735525965690613, + -0.006706938147544861, + 1.0 + ], + [ + -0.008744686841964722, + 0.007609032094478607, + -0.008088946342468262, + 0.017977915704250336, + -0.0061582475900650024, + 0.006672948598861694, + 1.0 + ], + [ + -0.007854342460632324, + 0.0026620328426361084, + -0.014851532876491547, + -0.002727307379245758, + -0.011259973049163818, + 0.00448782742023468, + 1.0 + ], + [ + -0.004866987466812134, + 0.002556413412094116, + -0.013586536049842834, + 0.017047643661499023, + -0.028477713465690613, + -0.008155196905136108, + 1.0 + ], + [ + -0.0009717941284179688, + 0.000623747706413269, + -0.007942281663417816, + 0.014884598553180695, + -0.03380313515663147, + -0.0064653754234313965, + 1.0 + ], + [ + 0.0014171004295349121, + 0.0021522343158721924, + -0.0076194629073143005, + 0.023628585040569305, + -0.04814156889915466, + -0.024934664368629456, + 1.0 + ], + [ + 0.0006720125675201416, + 0.00502246618270874, + -0.019536089152097702, + 0.010075114667415619, + -0.017999231815338135, + -0.023206353187561035, + 1.0 + ], + [ + -0.0013303160667419434, + 0.006489574909210205, + -0.00442519411444664, + 0.003094494342803955, + -0.021366357803344727, + -0.014313876628875732, + 1.0 + ], + [ + -0.006659746170043945, + 0.003922820091247559, + -0.0030137374997138977, + -0.0026893317699432373, + 0.00980144739151001, + -0.002482116222381592, + 1.0 + ], + [ + -0.00817611813545227, + 0.0013151317834854126, + -0.005168590694665909, + -0.005301982164382935, + 0.010169148445129395, + -0.0007226169109344482, + 1.0 + ], + [ + -0.0037838220596313477, + 1.5214085578918457e-05, + -0.0037725623697042465, + 3.3758580684661865e-05, + -0.014076948165893555, + 0.005880981683731079, + 1.0 + ], + [ + 0.0017253756523132324, + 0.000626981258392334, + 1.074373722076416e-05, + 0.008767306804656982, + -0.022288352251052856, + -8.487701416015625e-05, + 0.0 + ], + [ + 0.00045359134674072266, + 0.0008054375648498535, + -0.0001203734427690506, + 0.0074462369084358215, + -0.004812717437744141, + 0.002760857343673706, + 0.0 + ], + [ + -0.0001341104507446289, + -0.0020611584186553955, + -0.0005744434893131256, + -0.0019191056489944458, + 0.010129779577255249, + -0.0002390146255493164, + 0.0 + ], + [ + -0.0029173195362091064, + -0.003566920757293701, + -0.0006613414734601974, + -0.026285581290721893, + 0.030086517333984375, + 0.008082270622253418, + 0.0 + ], + [ + -0.0006345808506011963, + -0.0012646913528442383, + 0.000548873096704483, + -0.015475660562515259, + 0.011392444372177124, + 0.011734411120414734, + 0.0 + ], + [ + -0.001941770315170288, + -0.0032706037163734436, + 0.0010367035865783691, + -0.02601943537592888, + 0.026054084300994873, + 0.005858108401298523, + 0.0 + ], + [ + 0.0008022487163543701, + -0.0004804357886314392, + 0.022898109629750252, + -0.013660624623298645, + 0.038481950759887695, + 0.024074405431747437, + 0.0 + ], + [ + 0.005027145147323608, + -0.007384374737739563, + 0.03081081062555313, + -0.0195974912494421, + 0.05567741394042969, + 0.023465082049369812, + 0.0 + ], + [ + 0.003577679395675659, + -0.011031217873096466, + 0.04145696014165878, + -0.025374913588166237, + 0.06498557329177856, + 0.0335860401391983, + 0.0 + ], + [ + 0.0129375159740448, + -0.015268698334693909, + 0.0335959792137146, + 0.007652356289327145, + 0.03481978923082352, + 0.03583469241857529, + 0.0 + ], + [ + 0.02606487274169922, + -0.017838947474956512, + 0.005821689963340759, + -0.006819877773523331, + 0.014874830842018127, + 0.0036723092198371887, + 0.0 + ], + [ + 0.0266706645488739, + -0.005820661783218384, + -0.013273611664772034, + -0.007186439819633961, + -0.014883898198604584, + -0.0038421079516410828, + 0.0 + ], + [ + 0.017575383186340332, + 0.0020909011363983154, + -0.015233442187309265, + 0.0023378287442028522, + -0.02743520587682724, + -0.012186668813228607, + 0.0 + ], + [ + 0.011271148920059204, + -3.907829523086548e-05, + -0.012659609317779541, + -0.002766596619039774, + -0.03324148803949356, + -0.013871043920516968, + 0.0 + ], + [ + 0.004458427429199219, + 0.00032746046781539917, + -0.003375425934791565, + 0.0098008643835783, + -0.03320930898189545, + -0.010079175233840942, + 0.0 + ], + [ + 0.0012816190719604492, + 0.0022030770778656006, + -0.005316376686096191, + -0.0013506857212632895, + 0.003289654850959778, + -0.008570581674575806, + 0.0 + ], + [ + 0.003602147102355957, + 0.007979802787303925, + 0.0021910667419433594, + 0.031227927654981613, + 0.009433835744857788, + -0.011743485927581787, + 1.0 + ], + [ + -0.0011836886405944824, + 0.0008735805749893188, + -0.0012876689434051514, + -0.0032651014626026154, + 0.00850708782672882, + 0.00031028687953948975, + 1.0 + ], + [ + -0.004840970039367676, + 0.0017869174480438232, + -0.001132674515247345, + -0.012717231176793575, + 0.025648042559623718, + -0.004381030797958374, + 1.0 + ], + [ + -0.004320770502090454, + -0.0011554136872291565, + 0.00043742358684539795, + -0.011709731072187424, + 0.02501266449689865, + 6.58184289932251e-05, + 1.0 + ], + [ + 0.0030862390995025635, + -0.00885002315044403, + 0.008641086518764496, + -0.0023188325576484203, + 0.011611580848693848, + 0.03546103835105896, + 1.0 + ], + [ + 0.003910273313522339, + -0.02001330256462097, + 0.0025308430194854736, + 0.0003109772515017539, + 0.004221796989440918, + 0.024477563798427582, + 1.0 + ], + [ + 0.0031446218490600586, + -0.01827576756477356, + -0.0004876554012298584, + 0.00033977243583649397, + -0.0037016943097114563, + -0.010055013000965118, + 1.0 + ], + [ + -0.0018362998962402344, + -0.0032539553940296173, + 0.0007220879197120667, + 0.010559308342635632, + 0.015289559960365295, + 0.012879647314548492, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + -0.00011221319437026978, + -1.5966594219207764e-05, + 0.001538001000881195, + 1.0 + ], + [ + 1.1265277862548828e-05, + 9.704381227493286e-07, + -0.0005561858415603638, + -0.0003055054694414139, + 0.0015034154057502747, + 2.206861972808838e-05, + 1.0 + ], + [ + 0.0024066269397735596, + -1.4703720808029175e-05, + -0.0010518655180931091, + 0.0024108272045850754, + -0.019850485026836395, + 0.0018701329827308655, + 1.0 + ], + [ + -0.00892859697341919, + -0.0027552787214517593, + -0.04394131898880005, + -0.007907876744866371, + -0.05965416878461838, + 0.0033438876271247864, + 1.0 + ], + [ + -0.001012265682220459, + 0.0015134550631046295, + -0.01937992498278618, + -0.005848398432135582, + -0.06890591979026794, + -0.009152896702289581, + 1.0 + ], + [ + 0.0009239315986633301, + 0.004246249794960022, + -0.006923895329236984, + 0.009920013137161732, + -0.05241018533706665, + 0.0006998106837272644, + 0.0 + ], + [ + 0.0007670223712921143, + -0.0003535263240337372, + -0.00419183075428009, + 0.013292715884745121, + -0.018322080373764038, + 0.022787906229496002, + 0.0 + ], + [ + -0.0011034011840820312, + -0.0036645233631134033, + -0.0019151829183101654, + 0.003919245675206184, + 0.0016082823276519775, + 0.002293817698955536, + 0.0 + ], + [ + -0.0019929707050323486, + -0.004868997260928154, + 9.187310934066772e-05, + -0.0063407570123672485, + 0.01195111870765686, + 0.006265453994274139, + 0.0 + ], + [ + -0.005600064992904663, + -0.0061600711196660995, + 0.0050307996571063995, + -0.01131431944668293, + 0.03475955128669739, + 0.01107509434223175, + 0.0 + ], + [ + -0.00032258033752441406, + -0.009560356847941875, + 0.01812170445919037, + -0.0018393821083009243, + 0.048777639865875244, + 0.012701626867055893, + 0.0 + ], + [ + 0.0018503665924072266, + -0.013293661177158356, + 0.02757815271615982, + 0.017392396926879883, + 0.03497256338596344, + -0.009780939668416977, + 0.0 + ], + [ + -0.0022284984588623047, + -0.017001260071992874, + 0.021141842007637024, + 0.017916448414325714, + 0.029471442103385925, + 0.019342754036188126, + 0.0 + ], + [ + -0.008424103260040283, + -0.02771693840622902, + 0.013483583927154541, + 0.03661094605922699, + 0.004914969205856323, + 0.031481556594371796, + 0.0 + ], + [ + -0.007517784833908081, + -0.034574925899505615, + 0.0005718618631362915, + 0.03067907691001892, + -0.02779451012611389, + 0.029332531616091728, + 0.0 + ], + [ + -0.007972419261932373, + -0.02588438242673874, + -0.003487817943096161, + 0.021081000566482544, + -0.041841521859169006, + 0.028784893453121185, + 0.0 + ], + [ + -0.002733290195465088, + -0.014656953513622284, + -0.007326588034629822, + 0.007910847663879395, + -0.0538921058177948, + 0.011306311935186386, + 0.0 + ], + [ + 0.0013391673564910889, + 0.00046762824058532715, + -0.0232931450009346, + -0.006392389535903931, + -0.028131559491157532, + -0.010521970689296722, + 0.0 + ], + [ + 0.006446957588195801, + 0.007126405835151672, + -0.025145940482616425, + -0.010105565190315247, + -0.046189695596694946, + -0.01199258677661419, + 0.0 + ], + [ + 0.008823633193969727, + 0.004354886710643768, + -0.023403845727443695, + -0.012249521911144257, + -0.051363617181777954, + -0.004696197807788849, + 0.0 + ], + [ + 0.009335637092590332, + -0.00027763843536376953, + -0.00492466613650322, + -0.0018466636538505554, + -0.052777260541915894, + -0.025742679834365845, + 1.0 + ], + [ + 0.0026651322841644287, + 0.002826303243637085, + 0.000130578875541687, + -0.00209653377532959, + 0.0005355477333068848, + 0.022190548479557037, + 1.0 + ], + [ + -0.008629858493804932, + 0.004555545747280121, + 0.0009538047015666962, + 0.004356265068054199, + 0.09870803356170654, + -0.002451164647936821, + 1.0 + ], + [ + -0.0014827251434326172, + 0.0021161139011383057, + 0.024630919098854065, + -0.01975139230489731, + 0.04737299680709839, + 0.02171613648533821, + 1.0 + ], + [ + 0.0004197657108306885, + 0.0005228295922279358, + 0.01797279715538025, + -0.011943429708480835, + 0.044950783252716064, + 0.00645645335316658, + 1.0 + ], + [ + 0.0006962716579437256, + 0.0012668892741203308, + 0.0172838494181633, + -0.005804218351840973, + 0.02822117507457733, + -0.00047088414430618286, + 1.0 + ], + [ + -7.143616676330566e-05, + 0.002998560667037964, + 0.013622358441352844, + -0.008460387587547302, + 0.02513366937637329, + -0.0015465840697288513, + 1.0 + ], + [ + -0.0010238885879516602, + 0.003344111144542694, + -3.053247928619385e-05, + 0.003199748694896698, + 0.015633493661880493, + -0.014246821403503418, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9507390260696411 + ], + [ + 0.6581199765205383 + ], + [ + 0.347801148891449 + ], + [ + 0.19846400618553162 + ], + [ + 0.20503154397010803 + ], + [ + 0.22362354397773743 + ], + [ + 0.2248985916376114 + ], + [ + 0.2248985916376114 + ], + [ + 0.2248985916376114 + ], + [ + 0.2248985916376114 + ], + [ + 0.2248985916376114 + ], + [ + 0.2248985916376114 + ], + [ + 0.2248985916376114 + ], + [ + 0.2248985916376114 + ], + [ + 0.2248985916376114 + ], + [ + 0.2248985916376114 + ], + [ + 0.26031553745269775 + ], + [ + 0.5236935019493103 + ], + [ + 0.8399420380592346 + ], + [ + 1.0067112445831299 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 0.9701826572418213 + ], + [ + 0.6892001032829285 + ], + [ + 0.3814634680747986 + ], + [ + 0.16866940259933472 + ], + [ + 0.07854863256216049 + ], + [ + 0.06742517650127411 + ], + [ + 0.07112513482570648 + ], + [ + 0.07559127360582352 + ], + [ + 0.07788556814193726 + ], + [ + 0.07788556814193726 + ], + [ + 0.07788556814193726 + ], + [ + 0.07788556814193726 + ], + [ + 0.07788556814193726 + ], + [ + 0.07788556814193726 + ], + [ + 0.07788556814193726 + ], + [ + 0.09851961582899094 + ], + [ + 0.26876991987228394 + ], + [ + 0.5472165942192078 + ], + [ + 0.8544629216194153 + ], + [ + 1.0073583126068115 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3289523124694824, + 0.06538467109203339, + 0.1252962201833725 + ], + [ + 0.3191659450531006, + 0.07132729887962341, + 0.11011655628681183 + ], + [ + 0.30972015857696533, + 0.08004250377416611, + 0.10786206275224686 + ], + [ + 0.3024475574493408, + 0.08827051520347595, + 0.10629215836524963 + ], + [ + 0.2938123047351837, + 0.1009332463145256, + 0.10972566902637482 + ], + [ + 0.285067617893219, + 0.10854227840900421, + 0.10163672268390656 + ], + [ + 0.27721327543258667, + 0.11120431125164032, + 0.08678518980741501 + ], + [ + 0.27234628796577454, + 0.11376072466373444, + 0.07319865375757217 + ], + [ + 0.27137449383735657, + 0.1143844723701477, + 0.06525637209415436 + ], + [ + 0.2727915942668915, + 0.1165367066860199, + 0.05763690918684006 + ], + [ + 0.2734636068344116, + 0.12155917286872864, + 0.038100820034742355 + ], + [ + 0.2721332907676697, + 0.12804874777793884, + 0.033675625920295715 + ], + [ + 0.26547354459762573, + 0.1319715678691864, + 0.030661888420581818 + ], + [ + 0.25729742646217346, + 0.13328669965267181, + 0.02549329772591591 + ], + [ + 0.2535136044025421, + 0.13330191373825073, + 0.021720735356211662 + ], + [ + 0.25523898005485535, + 0.13392889499664307, + 0.021731479093432426 + ], + [ + 0.25569257140159607, + 0.13473433256149292, + 0.021611105650663376 + ], + [ + 0.25555846095085144, + 0.13267317414283752, + 0.02103666216135025 + ], + [ + 0.25264114141464233, + 0.12910625338554382, + 0.020375320687890053 + ], + [ + 0.25200656056404114, + 0.12784156203269958, + 0.020924193784594536 + ], + [ + 0.25006479024887085, + 0.12457095831632614, + 0.021960897371172905 + ], + [ + 0.2508670389652252, + 0.1240905225276947, + 0.04485900700092316 + ], + [ + 0.25589418411254883, + 0.11670614778995514, + 0.07566981762647629 + ], + [ + 0.2594718635082245, + 0.10567492991685867, + 0.11712677776813507 + ], + [ + 0.2724093794822693, + 0.09040623158216476, + 0.15072275698184967 + ], + [ + 0.2984742522239685, + 0.07256728410720825, + 0.15654444694519043 + ], + [ + 0.3251449167728424, + 0.06674662232398987, + 0.1432708352804184 + ], + [ + 0.34272029995918274, + 0.06883752346038818, + 0.12803739309310913 + ], + [ + 0.35399144887924194, + 0.06879844516515732, + 0.11537778377532959 + ], + [ + 0.35844987630844116, + 0.06912590563297272, + 0.11200235784053802 + ], + [ + 0.3597314953804016, + 0.07132898271083832, + 0.10668598115444183 + ], + [ + 0.36333364248275757, + 0.07930878549814224, + 0.10887704789638519 + ], + [ + 0.3621499538421631, + 0.08018236607313156, + 0.10758937895298004 + ], + [ + 0.3573089838027954, + 0.08196928352117538, + 0.1064567044377327 + ], + [ + 0.35298821330070496, + 0.08081386983394623, + 0.1068941280245781 + ], + [ + 0.3560744524002075, + 0.0719638466835022, + 0.11553521454334259 + ], + [ + 0.35998472571372986, + 0.051950544118881226, + 0.11806605756282806 + ], + [ + 0.3631293475627899, + 0.033674776554107666, + 0.1175784021615982 + ], + [ + 0.3612930476665497, + 0.03042082116007805, + 0.11830049008131027 + ], + [ + 0.3612930476665497, + 0.03042082116007805, + 0.11830049008131027 + ], + [ + 0.36130431294441223, + 0.030421791598200798, + 0.11774430423974991 + ], + [ + 0.3637109398841858, + 0.03040708787739277, + 0.1166924387216568 + ], + [ + 0.3547823429107666, + 0.02765180915594101, + 0.07275111973285675 + ], + [ + 0.35377007722854614, + 0.02916526421904564, + 0.05337119475007057 + ], + [ + 0.3546940088272095, + 0.03341151401400566, + 0.04644729942083359 + ], + [ + 0.3554610311985016, + 0.033057987689971924, + 0.0422554686665535 + ], + [ + 0.35435763001441956, + 0.02939346432685852, + 0.04034028574824333 + ], + [ + 0.3523646593093872, + 0.024524467065930367, + 0.040432158857584 + ], + [ + 0.34676459431648254, + 0.018364395946264267, + 0.0454629585146904 + ], + [ + 0.34644201397895813, + 0.008804039098322392, + 0.06358466297388077 + ], + [ + 0.34829238057136536, + -0.004489622078835964, + 0.09116281569004059 + ], + [ + 0.34606388211250305, + -0.021490883082151413, + 0.11230465769767761 + ], + [ + 0.33763977885246277, + -0.04920782148838043, + 0.12578824162483215 + ], + [ + 0.3301219940185547, + -0.08378274738788605, + 0.12636010348796844 + ], + [ + 0.3221495747566223, + -0.10966712981462479, + 0.12287228554487228 + ], + [ + 0.3194162845611572, + -0.12432408332824707, + 0.11554569751024246 + ], + [ + 0.3207554519176483, + -0.12385645508766174, + 0.09225255250930786 + ], + [ + 0.3272024095058441, + -0.11673004925251007, + 0.06710661202669144 + ], + [ + 0.33602604269981384, + -0.1123751625418663, + 0.04370276629924774 + ], + [ + 0.3453616797924042, + -0.11265280097723007, + 0.03877810016274452 + ], + [ + 0.3480268120765686, + -0.10982649773359299, + 0.03890867903828621 + ], + [ + 0.33939695358276367, + -0.10527095198631287, + 0.039862483739852905 + ], + [ + 0.33791422843933105, + -0.10315483808517456, + 0.06449340283870697 + ], + [ + 0.33833399415016174, + -0.10263200849294662, + 0.08246619999408722 + ], + [ + 0.33903026580810547, + -0.1013651192188263, + 0.09975004941225052 + ], + [ + 0.33895882964134216, + -0.09836655855178833, + 0.11337240785360336 + ], + [ + 0.3379349410533905, + -0.09502244740724564, + 0.11334187537431717 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9855166965052233, + -0.12325329063537523, + 0.11647088587704184, + -0.12457345208704372, + -0.9922019340325213, + 0.004095990385845731, + 0.11505779393221564, + -0.01854584723531505, + -0.9931856601893605 + ], + [ + 0.9824020270723954, + -0.15609862758604046, + 0.10256449517158696, + -0.1574785401077551, + -0.9875073860057052, + 0.005447200171527437, + 0.10043289605292675, + -0.021503047456888073, + -0.9947114417460413 + ], + [ + 0.9758068292413117, + -0.1767933840828633, + 0.12862787936737274, + -0.17902037961401643, + -0.9838278538847918, + 0.0058700599059069505, + 0.12550990275221974, + -0.028755056337532586, + -0.9916755573503636 + ], + [ + 0.9713105598919655, + -0.1892798340636473, + 0.14397548631345114, + -0.18970341280195185, + -0.9817808539537857, + -0.010907336112336958, + 0.1434169146706512, + -0.016718230367278528, + -0.9895211414415246 + ], + [ + 0.9673708886682786, + -0.19303786203473322, + 0.1641034660761445, + -0.1956784877895924, + -0.9806681006874469, + -7.556754516425956e-05, + 0.16094562179047722, + -0.03203841623949061, + -0.986443128979741 + ], + [ + 0.9676639751754293, + -0.18320886955670343, + 0.17338091378072926, + -0.18902535583724958, + -0.9818161099528446, + 0.017508314815097504, + 0.16702049574314828, + -0.049715554435389955, + -0.9846992016087424 + ], + [ + 0.9665938239968229, + -0.17875312225650497, + 0.18369458537134467, + -0.18431679063298462, + -0.9827737425430972, + 0.013531136633366178, + 0.1781114822294053, + -0.04693710953377196, + -0.9828902317383459 + ], + [ + 0.9596934170020383, + -0.18182761797344693, + 0.21430646911620455, + -0.19112485844533939, + -0.9812888732134109, + 0.023311709328230457, + 0.2060578410233434, + -0.06333138755512285, + -0.9764882495468862 + ], + [ + 0.9510691337476739, + -0.18238727626178228, + 0.24940405828746628, + -0.1958085450243596, + -0.9801866102743781, + 0.029886832121655812, + 0.239011540574703, + -0.07725988931284468, + -0.9679382175404969 + ], + [ + 0.933591351889881, + -0.19613766996635887, + 0.2998953185639814, + -0.21660598896690295, + -0.97558572254951, + 0.03625387567171533, + 0.285462840348957, + -0.09880542686369999, + -0.9532829875761907 + ], + [ + 0.9231868235987697, + -0.21379762146320563, + 0.3194004786945223, + -0.23689536106112963, + -0.9709111432341334, + 0.034815798877884316, + 0.3026659489293951, + -0.10780597850056413, + -0.9469800390495065 + ], + [ + 0.9132517480904069, + -0.22440663389722845, + 0.34001898075362086, + -0.24833121566778885, + -0.9682719727644559, + 0.027946271375388194, + 0.32295952058233873, + -0.10995930802685136, + -0.9400032439537014 + ], + [ + 0.915641148348484, + -0.22874016659024346, + 0.33057408192315546, + -0.2514233684360336, + -0.9675020983162944, + 0.026944007828190786, + 0.31366794107040635, + -0.10778509146368423, + -0.9433953555126383 + ], + [ + 0.9184871131483082, + -0.23219817906831547, + 0.3201022158902446, + -0.25291873296085887, + -0.9671866022463015, + 0.024128633461672246, + 0.3039959498051907, + -0.10312168575334901, + -0.9470756994187037 + ], + [ + 0.9157352366010689, + -0.2250963598967231, + 0.33280715919046766, + -0.24637648963068065, + -0.9689109489481156, + 0.022587571045277317, + 0.317376120406762, + -0.10268009432069702, + -0.9427243480603678 + ], + [ + 0.9086567249646469, + -0.21987351435577565, + 0.35496280630703025, + -0.24455474083459042, + -0.9692970016443474, + 0.025618378922248435, + 0.338431580842935, + -0.11008614939272832, + -0.9345293493518722 + ], + [ + 0.9077439465030158, + -0.21400412956302456, + 0.36083674995363435, + -0.24162337926123545, + -0.9698201674906031, + 0.032664741279845096, + 0.34295636775180394, + -0.11683781604630517, + -0.9320567871970133 + ], + [ + 0.9109965048868467, + -0.2160562256935454, + 0.3512905854460226, + -0.2427223293095667, + -0.9695291329740326, + 0.03315314719840111, + 0.3334235128758735, + -0.11546847038772252, + -0.9356793218874894 + ], + [ + 0.9222278012624145, + -0.22002690903941646, + 0.31793716655536275, + -0.23774891315593494, + -0.971168330914836, + 0.01753645691874548, + 0.30491201496802944, + -0.09176182390652268, + -0.9479495929644594 + ], + [ + 0.9282676500778784, + -0.21436191355849396, + 0.303921272428296, + -0.22772388055902457, + -0.9736861921873533, + 0.008776865433155714, + 0.29404252080614607, + -0.07735741179249325, + -0.9526567203346302 + ], + [ + 0.9367203658240787, + -0.2178258734228482, + 0.27405628093144957, + -0.2239881387317635, + -0.9745502628735498, + -0.009005489468941079, + 0.26904324923306394, + -0.052949730883813294, + -0.9616714907084681 + ], + [ + 0.9512654860688852, + -0.19953643020984305, + 0.23511526541941033, + -0.20338951412849268, + -0.9790651915532096, + -0.00800351369415292, + 0.23179016492660556, + -0.040206513253318116, + -0.9719345429273041 + ], + [ + 0.9669681889075438, + -0.182249878905733, + 0.17820635027885615, + -0.1831337855174456, + -0.9830193342510288, + -0.011619169106023484, + 0.17729787997298482, + -0.021400236622752814, + -0.9839245355359196 + ], + [ + 0.9818976825189972, + -0.15338789064446653, + 0.1111264867952907, + -0.152003581260339, + -0.9881594797616023, + -0.020874717754048328, + 0.11301262030346108, + 0.003605213020174261, + -0.9935870118370234 + ], + [ + 0.9900220887957859, + -0.11716609854889284, + 0.07828390030689454, + -0.11711897027897075, + -0.9931042307604475, + -0.005208996687750801, + 0.07835439041446395, + -0.004011508012027713, + -0.9969174977430414 + ], + [ + 0.9914938277522838, + -0.11400848536450743, + 0.06278578496774215, + -0.11360263493049937, + -0.9934758574196307, + -0.010008099778543125, + 0.06351716985172076, + 0.0027903385494392587, + -0.9979768449943152 + ], + [ + 0.9900014822974017, + -0.11841972622713588, + 0.07664093872883702, + -0.11728698949451628, + -0.9929137599992659, + -0.019131839938523132, + 0.07836342989086421, + 0.009951564922675557, + -0.9968751873787055 + ], + [ + 0.9859951945255601, + -0.13053904031785002, + 0.1037932335241465, + -0.12901522819206157, + -0.9914140269715146, + -0.02129079657212153, + 0.10568134777269621, + 0.0076017153998234, + -0.9943709904537273 + ], + [ + 0.9800911371011913, + -0.14490365987923437, + 0.13573611284141288, + -0.1420963755851642, + -0.98939204797649, + -0.030199262349380314, + 0.1386722143086118, + 0.010310419704837717, + -0.9902846622180193 + ], + [ + 0.9735197501483489, + -0.1535534747135732, + 0.16935355465559032, + -0.15117716959978336, + -0.9881401564819906, + -0.02691643623411512, + 0.17147816030881108, + 0.0006012912230253624, + -0.9851877379393079 + ], + [ + 0.9727397342312886, + -0.1622386695089965, + 0.16569859252145883, + -0.15960561838311038, + -0.9867496528377883, + -0.02917480428467524, + 0.1682363100765907, + 0.0019330650415263911, + -0.985744798226883 + ], + [ + 0.9723182006750338, + -0.1688360342414679, + 0.1615292858204921, + -0.17128544086587053, + -0.9852206428805957, + 0.0012580100674106556, + 0.15892958938929133, + -0.028890801019688016, + -0.9868671173126561 + ], + [ + 0.9736676980422178, + -0.16927204265187035, + 0.1527029448492449, + -0.1712116960343813, + -0.9852341595692116, + -0.0004538270368505456, + 0.15052497776182783, + -0.02570265345080422, + -0.9882720296939445 + ], + [ + 0.9763872414646002, + -0.17584666500366522, + 0.12548268849620933, + -0.1761031813439389, + -0.9843293369185344, + -0.009133783556759506, + 0.12512243693955025, + -0.013179790916653812, + -0.9920537631024344 + ], + [ + 0.9791730780162244, + -0.17727768635879934, + 0.09895809824114406, + -0.17653909711432444, + -0.9841596246099876, + -0.016241320069109905, + 0.10026978846238717, + -0.0015669099525251673, + -0.9949590515769524 + ], + [ + 0.9859024470110943, + -0.14249599061802054, + 0.08769981548056571, + -0.14186916737430388, + -0.9897951017760769, + -0.013371456487883508, + 0.08871022672757642, + 0.0007410518703987803, + -0.9960572004237845 + ], + [ + 0.9894424515660046, + -0.11819877054943487, + 0.083861109458774, + -0.11773979345471963, + -0.9929898612189877, + -0.010415207800880018, + 0.08450429620021922, + 0.0004314590335124154, + -0.9964230214957942 + ], + [ + 0.9878915788057034, + -0.1281490301155261, + 0.08745315663385263, + -0.12764157231269732, + -0.991754918039338, + -0.011393487715750047, + 0.0881921625900944, + 9.287215116215736e-05, + -0.9961034754644953 + ], + [ + 0.9906772894567708, + -0.11459240089968122, + 0.07366878450627404, + -0.11504975516039924, + -0.9933577552563698, + 0.001980886053735211, + 0.07295246392081142, + -0.010437994446848162, + -0.9972807961049936 + ], + [ + 0.9908519069706264, + -0.1130725824944874, + 0.07366878267421124, + -0.11352582442325845, + -0.9935330710542459, + 0.001980886301065397, + 0.07296838796144751, + -0.010326074256250331, + -0.9972807962398362 + ], + [ + 0.9909622813017583, + -0.11308812674497183, + 0.07214452596370587, + -0.11351631425268081, + -0.9935344107191884, + 0.0018496257355483077, + 0.07146889838035324, + -0.01002249001936012, + -0.9973924735319143 + ], + [ + 0.9895678818340107, + -0.11081070530030902, + 0.09206733858104857, + -0.11148207540387574, + -0.9937640851795474, + 0.002165610976527184, + 0.09125324162019632, + -0.012406877048845103, + -0.9957504282176839 + ], + [ + 0.9827660372653373, + -0.10794380704816249, + 0.15006348828990512, + -0.1073890712563537, + -0.9941468147257951, + -0.011819396991947778, + 0.1504609695983753, + -0.004499476692299257, + -0.9886057107548044 + ], + [ + 0.9691247998501706, + -0.11800065289870391, + 0.2165016587253933, + -0.1148839144857197, + -0.9930127106671207, + -0.026971144691603645, + 0.21817151167786525, + 0.0012658471539558243, + -0.9759096213908224 + ], + [ + 0.9565234992977104, + -0.11471684028098039, + 0.26814705265434363, + -0.11271137029458, + -0.9933635154160826, + -0.022914476789154956, + 0.2689961752471239, + -0.008304986222185305, + -0.9631054381044 + ], + [ + 0.9537761491742321, + -0.08808991877319869, + 0.2873172871180994, + -0.09040651202100147, + -0.9958912551399193, + -0.005222118347278317, + 0.2865967896724763, + -0.020994621843884766, + -0.957821228624143 + ], + [ + 0.9544387521876471, + -0.08471817171224943, + 0.28612846713359585, + -0.08826081621842594, + -0.9960972647225966, + -0.0005172355542803209, + 0.2850556027215474, + -0.02476026239552383, + -0.9581911253832193 + ], + [ + 0.9582988887178384, + -0.08051107674324123, + 0.27419191527796666, + -0.08256568399181907, + -0.9965773594114333, + -0.004058883528472886, + 0.2735802399829323, + -0.018749219455181522, + -0.961666428165558 + ], + [ + 0.9680561179904834, + -0.07284127999482029, + 0.23991977898854325, + -0.07261530851396109, + -0.9973119340154216, + -0.009794041037353611, + 0.23998826927709924, + -0.007940667423794406, + -0.9707433112879259 + ], + [ + 0.9794267483004777, + -0.060910994265517486, + 0.19238787771358876, + -0.06096916144548776, + -0.9981238089632927, + -0.005623462744826827, + 0.1923694520088539, + -0.006221957746119931, + -0.9813028488573845 + ], + [ + 0.9848939472465561, + -0.06812995466922961, + 0.15919240545285535, + -0.07098621138599959, + -0.9974012311070676, + 0.012318359434916496, + 0.15793945191167325, + -0.02343274339197891, + -0.9871707228574831 + ], + [ + 0.9903020740375875, + -0.04718358962316364, + 0.13067329883004272, + -0.05214573636892617, + -0.9980324638093423, + 0.03481412588586164, + 0.12877353895655433, + -0.04129055646182376, + -0.9908140418926641 + ], + [ + 0.992073532946811, + -0.011375796396999073, + 0.12514270447280026, + -0.020961911937398388, + -0.9969213860591682, + 0.07555361186465792, + 0.12389795589258668, + -0.07757796900023001, + -0.9892577799802424 + ], + [ + 0.9884351752871198, + 0.024620718411046932, + 0.14963196343042628, + 0.00811155968688107, + -0.9939034054936221, + 0.10995555078133329, + 0.15142690267771663, + -0.10747018550790788, + -0.982608799254479 + ], + [ + 0.9805979569390242, + 0.06163026075092512, + 0.18608964991848406, + 0.03629002484838341, + -0.9899572325621602, + 0.13662983493502445, + 0.19264132719516516, + -0.12722573897463235, + -0.9729866034015285 + ], + [ + 0.9683372890751083, + 0.08149702325361052, + 0.23596849320930588, + 0.04680465640241965, + -0.9877197779052255, + 0.14906027127945015, + 0.24521871609997717, + -0.13329619475308474, + -0.9602603322738195 + ], + [ + 0.9615002881572833, + 0.0731414908999881, + 0.26489152153737955, + 0.03633845652133175, + -0.9893047248764758, + 0.1412645670885929, + 0.2723907348848495, + -0.12620017292384048, + -0.9538746269310681 + ], + [ + 0.9482680531258876, + 0.0639200358554434, + 0.3109693368116507, + 0.024454547619666263, + -0.9913176591639957, + 0.12919471247049452, + 0.31652752569335335, + -0.11490660401323811, + -0.941598002245432 + ], + [ + 0.9308744682609355, + 0.06070312290329902, + 0.36026081553467304, + 0.019632010247711662, + -0.9929862049822971, + 0.11658893982059097, + 0.364811332764697, + -0.10145702333817315, + -0.9255372298842457 + ], + [ + 0.9105303540469812, + 0.039660538298472464, + 0.4115355586835167, + -0.004239412107607379, + -0.994440348447947, + 0.10521606704162359, + 0.4134204902324759, + -0.0975470916050343, + -0.9052999851846559 + ], + [ + 0.9106214903364304, + 0.06080709007002927, + 0.4087431946034995, + 0.015969020761291475, + -0.9935538944519163, + 0.11223033990573171, + 0.4129327932162622, + -0.09567213082526164, + -0.9057225577791304 + ], + [ + 0.946914101006337, + 0.05011704657238107, + 0.3175562421969095, + 0.014283801419486677, + -0.9933573761562866, + 0.11418010445303567, + 0.3211692051432844, + -0.10358284065789686, + -0.941339968762015 + ], + [ + 0.9605176923271459, + 0.06138670240733915, + 0.27136218508496635, + 0.03536260458971678, + -0.9943813512890562, + 0.09977582074421817, + 0.27596240490901314, + -0.08624036743952218, + -0.9572916745176104 + ], + [ + 0.9716883230273722, + 0.06118779534846955, + 0.22820573304070677, + 0.042057609508957386, + -0.995252220075881, + 0.0877734351408303, + 0.23249292542923658, + -0.07569063439041382, + -0.9696483731182822 + ], + [ + 0.9778754432233164, + 0.05741152471933202, + 0.2011554979865175, + 0.04186408746456884, + -0.9958578302752735, + 0.08071294852861786, + 0.2049561312124164, + -0.07050601895459645, + -0.9762283982601677 + ], + [ + 0.9827765317866457, + 0.05259934529006262, + 0.17715416293293515, + 0.040551276587653465, + -0.996654668467405, + 0.07095819747737822, + 0.1802938782558182, + -0.06255222375890199, + -0.9816217890645523 + ], + [ + 0.9859518301761405, + 0.037937091286510446, + 0.16266458027806258, + 0.02661901642667511, + -0.9971065729654423, + 0.07120330128293155, + 0.1648951683245925, + -0.06587305408002951, + -0.9841088985520728 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005535.json b/json/chunk-0005/episode_0005535.json new file mode 100644 index 0000000000000000000000000000000000000000..2fe5b365626435197d6b477f468c3833e53697c1 --- /dev/null +++ b/json/chunk-0005/episode_0005535.json @@ -0,0 +1,1282 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 20, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut pan from sink into drying rack." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005535.mp4", + "start": 0, + "end": 20, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.28310728073120117, + 0.04455647990107536, + 0.15263861417770386, + 0.18927937746047974, + -0.09766387939453125, + 0.019512755796313286, + 0.0, + 1.0014774799346924 + ], + [ + 0.2784561812877655, + 0.04126657918095589, + 0.14232438802719116, + 0.1597796380519867, + -0.05577275902032852, + -0.11604327708482742, + 0.0, + 1.0014774799346924 + ], + [ + 0.2756941020488739, + 0.0395892970263958, + 0.14679613709449768, + 0.1437063366174698, + -0.08001978695392609, + -0.3259282112121582, + 0.0, + 1.0014774799346924 + ], + [ + 0.2736508250236511, + 0.03966556489467621, + 0.1411878615617752, + 0.15026547014713287, + -0.07983150333166122, + -0.48031750321388245, + 0.0, + 1.0014774799346924 + ], + [ + 0.27020296454429626, + 0.03822324797511101, + 0.13370902836322784, + 0.12172898650169373, + -0.12194649875164032, + -0.5975456833839417, + 0.0, + 1.0014774799346924 + ], + [ + 0.2652417719364166, + 0.04387369379401207, + 0.11864160001277924, + 0.08808034658432007, + -0.16772444546222687, + -0.6388933658599854, + 0.0, + 1.0014774799346924 + ], + [ + 0.2617625594139099, + 0.040934059768915176, + 0.10797185450792313, + 0.0770861804485321, + -0.19491367042064667, + -0.6642018556594849, + 0.0, + 1.0014774799346924 + ], + [ + 0.25924232602119446, + 0.03792630881071091, + 0.09909128397703171, + 0.070980966091156, + -0.22206220030784607, + -0.6858906149864197, + 0.0, + 1.0014774799346924 + ], + [ + 0.2557583749294281, + 0.03497529402375221, + 0.08772938698530197, + 0.08256907761096954, + -0.24041591584682465, + -0.716843843460083, + 0.0, + 1.0014774799346924 + ], + [ + 0.2579610049724579, + 0.034810956567525864, + 0.08347691595554352, + 0.10926524549722672, + -0.25785085558891296, + -0.7544269561767578, + 0.0, + 1.0014774799346924 + ], + [ + 0.2569080889225006, + 0.0347956046462059, + 0.0708218589425087, + 0.07800541818141937, + -0.2278515100479126, + -0.7679165601730347, + 0.0, + 1.0014774799346924 + ], + [ + 0.2587413787841797, + 0.03489872068166733, + 0.05824466049671173, + 0.03269132599234581, + -0.2158745378255844, + -0.7537264227867126, + 0.0, + 1.0014774799346924 + ], + [ + 0.26214924454689026, + 0.040269333869218826, + 0.049616407603025436, + -0.0008884341805242002, + -0.21149186789989471, + -0.7304497361183167, + 0.0, + 0.8007952570915222 + ], + [ + 0.2602318227291107, + 0.03715977072715759, + 0.049297995865345, + -0.016808444634079933, + -0.18148095905780792, + -0.7370306253433228, + 0.0, + 0.5110665559768677 + ], + [ + 0.25678563117980957, + 0.03038717992603779, + 0.05120183527469635, + -0.024757737293839455, + -0.1315639168024063, + -0.7078193426132202, + 0.0, + 0.25133779644966125 + ], + [ + 0.2600598931312561, + 0.02159932814538479, + 0.07263150066137314, + 0.011130508966743946, + -0.09690804034471512, + -0.665471613407135, + 0.0, + 0.09775853902101517 + ], + [ + 0.2611621022224426, + 0.012747782282531261, + 0.09450886398553848, + 0.061642423272132874, + -0.05225281044840813, + -0.5848745107650757, + 0.0, + 0.06384159624576569 + ], + [ + 0.2596210539340973, + 0.006230671890079975, + 0.1142074316740036, + 0.11389357596635818, + -0.037784408777952194, + -0.5234864950180054, + 0.0, + 0.06384159624576569 + ], + [ + 0.2586602568626404, + -0.003913688473403454, + 0.13397261500358582, + 0.13156673312187195, + -0.03677855432033539, + -0.4665989875793457, + 0.0, + 0.06384159624576569 + ], + [ + 0.2528853714466095, + -0.027889138087630272, + 0.14955349266529083, + 0.1314011663198471, + -0.034852929413318634, + -0.3872129023075104, + 0.0, + 0.06354815512895584 + ] + ], + "left_gripper_pos": [ + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 0.8007952570915222 + ], + [ + 0.5110665559768677 + ], + [ + 0.25133779644966125 + ], + [ + 0.09775853902101517 + ], + [ + 0.06384159624576569 + ], + [ + 0.06384159624576569 + ], + [ + 0.06384159624576569 + ], + [ + 0.06354815512895584 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.28310728073120117, + 0.04455647990107536, + 0.15263861417770386 + ], + [ + 0.2784561812877655, + 0.04126657918095589, + 0.14232438802719116 + ], + [ + 0.2756941020488739, + 0.0395892970263958, + 0.14679613709449768 + ], + [ + 0.2736508250236511, + 0.03966556489467621, + 0.1411878615617752 + ], + [ + 0.27020296454429626, + 0.03822324797511101, + 0.13370902836322784 + ], + [ + 0.2652417719364166, + 0.04387369379401207, + 0.11864160001277924 + ], + [ + 0.2617625594139099, + 0.040934059768915176, + 0.10797185450792313 + ], + [ + 0.25924232602119446, + 0.03792630881071091, + 0.09909128397703171 + ], + [ + 0.2557583749294281, + 0.03497529402375221, + 0.08772938698530197 + ], + [ + 0.2579610049724579, + 0.034810956567525864, + 0.08347691595554352 + ], + [ + 0.2569080889225006, + 0.0347956046462059, + 0.0708218589425087 + ], + [ + 0.2587413787841797, + 0.03489872068166733, + 0.05824466049671173 + ], + [ + 0.26214924454689026, + 0.040269333869218826, + 0.049616407603025436 + ], + [ + 0.2602318227291107, + 0.03715977072715759, + 0.049297995865345 + ], + [ + 0.25678563117980957, + 0.03038717992603779, + 0.05120183527469635 + ], + [ + 0.2600598931312561, + 0.02159932814538479, + 0.07263150066137314 + ], + [ + 0.2611621022224426, + 0.012747782282531261, + 0.09450886398553848 + ], + [ + 0.2596210539340973, + 0.006230671890079975, + 0.1142074316740036 + ], + [ + 0.2586602568626404, + -0.003913688473403454, + 0.13397261500358582 + ], + [ + 0.2528853714466095, + -0.027889138087630272, + 0.14955349266529083 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.995045212257058, + 0.037505928262393066, + 0.0920778524373941, + 0.019418538816556564, + -0.9815951426147622, + 0.18998393707188632, + 0.09750869660977006, + -0.18725458963742597, + -0.9774598573574175 + ], + [ + 0.991730091332973, + -0.10549897474675413, + 0.07308482928814344, + -0.11560298109207912, + -0.9816494307319684, + 0.15165864929580167, + 0.055743849053664474, + -0.15885327025587578, + -0.9857272755796586 + ], + [ + 0.9443225179093505, + -0.30604285313406315, + 0.12080047274289397, + -0.31916370571952907, + -0.9412539927373256, + 0.11034242206613253, + 0.0799344176229632, + -0.14275396037099955, + -0.986525111529186 + ], + [ + 0.8840237896769835, + -0.4462666702536329, + 0.13909708230541645, + -0.46058918520844033, + -0.8823708424151719, + 0.09632911773999085, + 0.07974673506902694, + -0.14922384352467016, + -0.9855824180501371 + ], + [ + 0.820579505668671, + -0.5462403224333034, + 0.168139183489513, + -0.5584370110847423, + -0.8289118143288937, + 0.03245471794240543, + 0.12164448005272954, + -0.1205268194799079, + -0.9852288598385447 + ], + [ + 0.7914912258506324, + -0.5822073066539385, + 0.1859470125606479, + -0.5879395852437331, + -0.808401012888407, + -0.028545515662261236, + 0.16693916108837406, + -0.086732084258157, + -0.9821450310699258 + ], + [ + 0.772498969150539, + -0.6028557381480844, + 0.19952519049804934, + -0.604758370923993, + -0.7942650125503705, + -0.05839865268752228, + 0.19368184080783807, + -0.07555163016300838, + -0.9781509575321179 + ], + [ + 0.754853519935587, + -0.6196801085992585, + 0.21492493212111452, + -0.6178104704844651, + -0.7817996550927454, + -0.08425866042507685, + 0.2202416536457587, + -0.06917992702566086, + -0.972989080974759 + ], + [ + 0.7322006905509517, + -0.639965530261151, + 0.23307996231824202, + -0.6381123689868203, + -0.7642169812404754, + -0.09372838486671402, + 0.23810660071223855, + -0.08010321879461883, + -0.9679301219798896 + ], + [ + 0.70457466963157, + -0.6605246155910468, + 0.2593872917316176, + -0.6622295526020711, + -0.743363326801025, + -0.09414342264743088, + 0.2550030481661431, + -0.10544285924429321, + -0.9611738910625711 + ], + [ + 0.7007668690522189, + -0.6798632435369142, + 0.21612904785386008, + -0.6766843598999918, + -0.7293992740340027, + -0.10037418047191068, + 0.22588508650525865, + -0.0759122462198008, + -0.9711916693260788 + ], + [ + 0.7122198864503922, + -0.6788899916880825, + 0.1784690800400608, + -0.6684762104152023, + -0.7335455372018125, + -0.12268048320835151, + 0.21420174941750736, + -0.03192685448113589, + -0.9762675281445244 + ], + [ + 0.7282777395947071, + -0.6673433543926928, + 0.1557702839399513, + -0.6523385992763515, + -0.7447496846690786, + -0.14072049985512347, + 0.2099187602502261, + 0.0008686387148592323, + -0.9777184459555783 + ], + [ + 0.7283071699666457, + -0.6742434610057149, + 0.1223291521519324, + -0.6610547045561046, + -0.7383240890890413, + -0.13373188496046418, + 0.18048640879417166, + 0.01653162913546625, + -0.9834385397566594 + ], + [ + 0.7532154237740863, + -0.6524466372013582, + 0.08354586161781291, + -0.6445596162402119, + -0.7574371997459868, + -0.10407588362934497, + 0.13118470376188793, + 0.024541272289704243, + -0.9910541354806549 + ], + [ + 0.7829349069273741, + -0.6165448011015036, + 0.08297854993509907, + -0.6145332574066844, + -0.7872418846140438, + -0.05098127745024049, + 0.09675643159890701, + -0.011078056870956973, + -0.9952464366176902 + ], + [ + 0.8326433732923753, + -0.548363486857586, + 0.0774757974704645, + -0.5513412198959915, + -0.8339741365946473, + 0.022583151569535796, + 0.05222903556350837, + -0.061519312192211954, + -0.9967384321232442 + ], + [ + 0.8654633765101188, + -0.4929457973210487, + 0.0893173265566053, + -0.49954595549310565, + -0.8626164365625802, + 0.07966631485487079, + 0.03777541886179121, + -0.11356638708522389, + -0.9928120131496317 + ], + [ + 0.8924994353212117, + -0.4416554786441863, + 0.09157071657955367, + -0.44954722297179317, + -0.8875548141828178, + 0.10076579845985775, + 0.036770263388601135, + -0.13109877956898955, + -0.9906871644095598 + ], + [ + 0.9254027481102384, + -0.3701262600171086, + 0.08146352211736496, + -0.37737980719073483, + -0.9197066250768333, + 0.10827836771241527, + 0.03484587371128018, + -0.13094378731168935, + -0.9907772149427785 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.004651099443435669, + -0.0032899007201194763, + -0.010314226150512695, + -0.029499739408493042, + 0.04189112037420273, + -0.13555602729320526, + 1.0 + ], + [ + -0.0027620792388916016, + -0.0016772821545600891, + 0.0044717490673065186, + -0.016073301434516907, + -0.024247027933597565, + -0.20988494157791138, + 1.0 + ], + [ + -0.0020432770252227783, + 7.626786828041077e-05, + -0.005608275532722473, + 0.006559133529663086, + 0.00018828362226486206, + -0.15438929200172424, + 1.0 + ], + [ + -0.0034478604793548584, + -0.0014423169195652008, + -0.007478833198547363, + -0.028536483645439148, + -0.042114995419979095, + -0.1172281801700592, + 1.0 + ], + [ + -0.004961192607879639, + 0.005650445818901062, + -0.015067428350448608, + -0.03364863991737366, + -0.04577794671058655, + -0.0413476824760437, + 1.0 + ], + [ + -0.003479212522506714, + -0.0029396340250968933, + -0.01066974550485611, + -0.010994166135787964, + -0.0271892249584198, + -0.02530848979949951, + 1.0 + ], + [ + -0.002520233392715454, + -0.0030077509582042694, + -0.008880570530891418, + -0.006105214357376099, + -0.027148529887199402, + -0.021688759326934814, + 1.0 + ], + [ + -0.0034839510917663574, + -0.0029510147869586945, + -0.011361896991729736, + 0.011588111519813538, + -0.018353715538978577, + -0.03095322847366333, + 1.0 + ], + [ + 0.002202630043029785, + -0.00016433745622634888, + -0.004252471029758453, + 0.02669616788625717, + -0.017434939742088318, + -0.037583112716674805, + 1.0 + ], + [ + -0.0010529160499572754, + -1.5351921319961548e-05, + -0.01265505701303482, + -0.03125982731580734, + 0.029999345541000366, + -0.013489603996276855, + 1.0 + ], + [ + 0.0018332898616790771, + 0.00010311603546142578, + -0.012577198445796967, + -0.04531409218907356, + 0.011976972222328186, + 0.014190137386322021, + 1.0 + ], + [ + 0.0034078657627105713, + 0.005370613187551498, + -0.008628252893686295, + -0.033579759299755096, + 0.004382669925689697, + 0.023276686668395996, + 0.0 + ], + [ + -0.001917421817779541, + -0.0031095631420612335, + -0.0003184117376804352, + -0.015920011326670647, + 0.030010908842086792, + -0.0065808892250061035, + 0.0 + ], + [ + -0.0034461915493011475, + -0.006772590801119804, + 0.0019038394093513489, + -0.007949292659759521, + 0.04991704225540161, + 0.02921128273010254, + 0.0 + ], + [ + 0.003274261951446533, + -0.008787851780653, + 0.02142966538667679, + 0.035888247191905975, + 0.03465587645769119, + 0.042347729206085205, + 0.0 + ], + [ + 0.0011022090911865234, + -0.008851545862853527, + 0.021877363324165344, + 0.0505119152367115, + 0.04465522989630699, + 0.08059710264205933, + 0.0 + ], + [ + -0.001541048288345337, + -0.006517110392451286, + 0.01969856768846512, + 0.05225115269422531, + 0.014468401670455933, + 0.06138801574707031, + 0.0 + ], + [ + -0.0009607970714569092, + -0.010144360363483429, + 0.019765183329582214, + 0.017673157155513763, + 0.001005854457616806, + 0.05688750743865967, + 0.0 + ], + [ + -0.005774885416030884, + -0.023975450545549393, + 0.015580877661705017, + -0.0001655668020248413, + 0.0019256249070167542, + 0.07938608527183533, + 0.0 + ], + [ + -0.0059868693351745605, + -0.030759049579501152, + 0.014558091759681702, + -0.014444075524806976, + -0.030689895153045654, + 0.025788187980651855, + 0.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 0.8007952570915222 + ], + [ + 0.5110665559768677 + ], + [ + 0.25133779644966125 + ], + [ + 0.09775853902101517 + ], + [ + 0.06384159624576569 + ], + [ + 0.06384159624576569 + ], + [ + 0.06384159624576569 + ], + [ + 0.06354815512895584 + ], + [ + 0.06354815512895584 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2784561812877655, + 0.04126657918095589, + 0.14232438802719116 + ], + [ + 0.2756941020488739, + 0.0395892970263958, + 0.14679613709449768 + ], + [ + 0.2736508250236511, + 0.03966556489467621, + 0.1411878615617752 + ], + [ + 0.27020296454429626, + 0.03822324797511101, + 0.13370902836322784 + ], + [ + 0.2652417719364166, + 0.04387369379401207, + 0.11864160001277924 + ], + [ + 0.2617625594139099, + 0.040934059768915176, + 0.10797185450792313 + ], + [ + 0.25924232602119446, + 0.03792630881071091, + 0.09909128397703171 + ], + [ + 0.2557583749294281, + 0.03497529402375221, + 0.08772938698530197 + ], + [ + 0.2579610049724579, + 0.034810956567525864, + 0.08347691595554352 + ], + [ + 0.2569080889225006, + 0.0347956046462059, + 0.0708218589425087 + ], + [ + 0.2587413787841797, + 0.03489872068166733, + 0.05824466049671173 + ], + [ + 0.26214924454689026, + 0.040269333869218826, + 0.049616407603025436 + ], + [ + 0.2602318227291107, + 0.03715977072715759, + 0.049297995865345 + ], + [ + 0.25678563117980957, + 0.03038717992603779, + 0.05120183527469635 + ], + [ + 0.2600598931312561, + 0.02159932814538479, + 0.07263150066137314 + ], + [ + 0.2611621022224426, + 0.012747782282531261, + 0.09450886398553848 + ], + [ + 0.2596210539340973, + 0.006230671890079975, + 0.1142074316740036 + ], + [ + 0.2586602568626404, + -0.003913688473403454, + 0.13397261500358582 + ], + [ + 0.2528853714466095, + -0.027889138087630272, + 0.14955349266529083 + ], + [ + 0.24689850211143494, + -0.058648187667131424, + 0.16411158442497253 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.991730091332973, + -0.10549897474675413, + 0.07308482928814344, + -0.11560298109207912, + -0.9816494307319684, + 0.15165864929580167, + 0.055743849053664474, + -0.15885327025587578, + -0.9857272755796586 + ], + [ + 0.9443225179093505, + -0.30604285313406315, + 0.12080047274289397, + -0.31916370571952907, + -0.9412539927373256, + 0.11034242206613253, + 0.0799344176229632, + -0.14275396037099955, + -0.986525111529186 + ], + [ + 0.8840237896769835, + -0.4462666702536329, + 0.13909708230541645, + -0.46058918520844033, + -0.8823708424151719, + 0.09632911773999085, + 0.07974673506902694, + -0.14922384352467016, + -0.9855824180501371 + ], + [ + 0.820579505668671, + -0.5462403224333034, + 0.168139183489513, + -0.5584370110847423, + -0.8289118143288937, + 0.03245471794240543, + 0.12164448005272954, + -0.1205268194799079, + -0.9852288598385447 + ], + [ + 0.7914912258506324, + -0.5822073066539385, + 0.1859470125606479, + -0.5879395852437331, + -0.808401012888407, + -0.028545515662261236, + 0.16693916108837406, + -0.086732084258157, + -0.9821450310699258 + ], + [ + 0.772498969150539, + -0.6028557381480844, + 0.19952519049804934, + -0.604758370923993, + -0.7942650125503705, + -0.05839865268752228, + 0.19368184080783807, + -0.07555163016300838, + -0.9781509575321179 + ], + [ + 0.754853519935587, + -0.6196801085992585, + 0.21492493212111452, + -0.6178104704844651, + -0.7817996550927454, + -0.08425866042507685, + 0.2202416536457587, + -0.06917992702566086, + -0.972989080974759 + ], + [ + 0.7322006905509517, + -0.639965530261151, + 0.23307996231824202, + -0.6381123689868203, + -0.7642169812404754, + -0.09372838486671402, + 0.23810660071223855, + -0.08010321879461883, + -0.9679301219798896 + ], + [ + 0.70457466963157, + -0.6605246155910468, + 0.2593872917316176, + -0.6622295526020711, + -0.743363326801025, + -0.09414342264743088, + 0.2550030481661431, + -0.10544285924429321, + -0.9611738910625711 + ], + [ + 0.7007668690522189, + -0.6798632435369142, + 0.21612904785386008, + -0.6766843598999918, + -0.7293992740340027, + -0.10037418047191068, + 0.22588508650525865, + -0.0759122462198008, + -0.9711916693260788 + ], + [ + 0.7122198864503922, + -0.6788899916880825, + 0.1784690800400608, + -0.6684762104152023, + -0.7335455372018125, + -0.12268048320835151, + 0.21420174941750736, + -0.03192685448113589, + -0.9762675281445244 + ], + [ + 0.7282777395947071, + -0.6673433543926928, + 0.1557702839399513, + -0.6523385992763515, + -0.7447496846690786, + -0.14072049985512347, + 0.2099187602502261, + 0.0008686387148592323, + -0.9777184459555783 + ], + [ + 0.7283071699666457, + -0.6742434610057149, + 0.1223291521519324, + -0.6610547045561046, + -0.7383240890890413, + -0.13373188496046418, + 0.18048640879417166, + 0.01653162913546625, + -0.9834385397566594 + ], + [ + 0.7532154237740863, + -0.6524466372013582, + 0.08354586161781291, + -0.6445596162402119, + -0.7574371997459868, + -0.10407588362934497, + 0.13118470376188793, + 0.024541272289704243, + -0.9910541354806549 + ], + [ + 0.7829349069273741, + -0.6165448011015036, + 0.08297854993509907, + -0.6145332574066844, + -0.7872418846140438, + -0.05098127745024049, + 0.09675643159890701, + -0.011078056870956973, + -0.9952464366176902 + ], + [ + 0.8326433732923753, + -0.548363486857586, + 0.0774757974704645, + -0.5513412198959915, + -0.8339741365946473, + 0.022583151569535796, + 0.05222903556350837, + -0.061519312192211954, + -0.9967384321232442 + ], + [ + 0.8654633765101188, + -0.4929457973210487, + 0.0893173265566053, + -0.49954595549310565, + -0.8626164365625802, + 0.07966631485487079, + 0.03777541886179121, + -0.11356638708522389, + -0.9928120131496317 + ], + [ + 0.8924994353212117, + -0.4416554786441863, + 0.09157071657955367, + -0.44954722297179317, + -0.8875548141828178, + 0.10076579845985775, + 0.036770263388601135, + -0.13109877956898955, + -0.9906871644095598 + ], + [ + 0.9254027481102384, + -0.3701262600171086, + 0.08146352211736496, + -0.37737980719073483, + -0.9197066250768333, + 0.10827836771241527, + 0.03484587371128018, + -0.13094378731168935, + -0.9907772149427785 + ], + [ + 0.9333855413417442, + -0.34404253595553375, + 0.10210859252513765, + -0.3528480088026878, + -0.931706199296644, + 0.08615010665217297, + 0.06549590749167242, + -0.11644007748832728, + -0.9910358189572942 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005537.json b/json/chunk-0005/episode_0005537.json new file mode 100644 index 0000000000000000000000000000000000000000..8496141bedb6dee4f08ad24a511959f17f0765c3 --- /dev/null +++ b/json/chunk-0005/episode_0005537.json @@ -0,0 +1,1162 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 18, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nOpen large4fbox flaps." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005537.mp4", + "start": 0, + "end": 18, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.4077465534210205, + -0.06038263067603111, + 0.14447002112865448, + 0.09494373202323914, + -0.09706279635429382, + 0.011937535367906094, + 0.0, + 0.9947922229766846 + ], + [ + 0.4068542420864105, + -0.06021082401275635, + 0.12404082715511322, + 0.10572901368141174, + -0.04446212574839592, + 0.011174707673490047, + 0.0, + 0.9947922229766846 + ], + [ + 0.40738219022750854, + -0.061123304069042206, + 0.12454025447368622, + 0.09680908918380737, + -0.04266168922185898, + 0.014615769498050213, + 0.0, + 0.9947922229766846 + ], + [ + 0.40713563561439514, + -0.06306160241365433, + 0.12482471764087677, + 0.07263104617595673, + -0.04002101719379425, + 0.013562383130192757, + 0.0, + 0.9947922229766846 + ], + [ + 0.39853909611701965, + -0.0657825618982315, + 0.12182926386594772, + 0.07554051280021667, + 0.010694826953113079, + 0.012780142948031425, + 0.0, + 0.9947922229766846 + ], + [ + 0.38585951924324036, + -0.06894509494304657, + 0.11965771019458771, + 0.07500360161066055, + 0.05781006067991257, + 0.03130735829472542, + 0.0, + 0.9947922229766846 + ], + [ + 0.379084974527359, + -0.06988438963890076, + 0.12153609842061996, + 0.07467249780893326, + 0.09858966618776321, + 0.03819189593195915, + 0.0, + 0.9947922229766846 + ], + [ + 0.3658609092235565, + -0.0694466307759285, + 0.13001316785812378, + 0.09650922566652298, + 0.18581649661064148, + 0.05316537246108055, + 0.0, + 0.9947922229766846 + ], + [ + 0.3522494435310364, + -0.07327550649642944, + 0.1467800885438919, + 0.13742025196552277, + 0.22712282836437225, + 0.08708261698484421, + 0.0, + 0.9947922229766846 + ], + [ + 0.3383421301841736, + -0.07371088117361069, + 0.16995257139205933, + 0.17557716369628906, + 0.2293083518743515, + 0.10825192183256149, + 0.0, + 0.9947922229766846 + ], + [ + 0.32367444038391113, + -0.06793229281902313, + 0.17959962785243988, + 0.1853419542312622, + 0.22150567173957825, + 0.1204271912574768, + 0.0, + 0.9947922229766846 + ], + [ + 0.30817142128944397, + -0.06152646616101265, + 0.18168886005878448, + 0.17274008691310883, + 0.20794321596622467, + 0.12909559905529022, + 0.0, + 0.9947922229766846 + ], + [ + 0.2894068658351898, + -0.054817862808704376, + 0.18093648552894592, + 0.15774661302566528, + 0.19949151575565338, + 0.15015709400177002, + 0.0, + 0.9947922229766846 + ], + [ + 0.27735915780067444, + -0.05305064842104912, + 0.17725372314453125, + 0.1452203094959259, + 0.1954488605260849, + 0.15967057645320892, + 0.0, + 0.9947922229766846 + ], + [ + 0.2645854353904724, + -0.05033876746892929, + 0.17105458676815033, + 0.1171482503414154, + 0.17827335000038147, + 0.16869091987609863, + 0.0, + 0.9947922229766846 + ], + [ + 0.25171470642089844, + -0.04795229807496071, + 0.15931296348571777, + 0.08899716287851334, + 0.1629638820886612, + 0.17527936398983002, + 0.0, + 0.9947922229766846 + ], + [ + 0.24154584109783173, + -0.04584890976548195, + 0.15042628347873688, + 0.07193788886070251, + 0.13336019217967987, + 0.17529717087745667, + 0.0, + 0.9947922229766846 + ], + [ + 0.2351979911327362, + -0.044581711292266846, + 0.13819773495197296, + 0.05488487333059311, + 0.10378377139568329, + 0.1746744066476822, + 0.0, + 0.9947922229766846 + ] + ], + "left_gripper_pos": [ + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.4077465534210205, + -0.06038263067603111, + 0.14447002112865448 + ], + [ + 0.4068542420864105, + -0.06021082401275635, + 0.12404082715511322 + ], + [ + 0.40738219022750854, + -0.061123304069042206, + 0.12454025447368622 + ], + [ + 0.40713563561439514, + -0.06306160241365433, + 0.12482471764087677 + ], + [ + 0.39853909611701965, + -0.0657825618982315, + 0.12182926386594772 + ], + [ + 0.38585951924324036, + -0.06894509494304657, + 0.11965771019458771 + ], + [ + 0.379084974527359, + -0.06988438963890076, + 0.12153609842061996 + ], + [ + 0.3658609092235565, + -0.0694466307759285, + 0.13001316785812378 + ], + [ + 0.3522494435310364, + -0.07327550649642944, + 0.1467800885438919 + ], + [ + 0.3383421301841736, + -0.07371088117361069, + 0.16995257139205933 + ], + [ + 0.32367444038391113, + -0.06793229281902313, + 0.17959962785243988 + ], + [ + 0.30817142128944397, + -0.06152646616101265, + 0.18168886005878448 + ], + [ + 0.2894068658351898, + -0.054817862808704376, + 0.18093648552894592 + ], + [ + 0.27735915780067444, + -0.05305064842104912, + 0.17725372314453125 + ], + [ + 0.2645854353904724, + -0.05033876746892929, + 0.17105458676815033 + ], + [ + 0.25171470642089844, + -0.04795229807496071, + 0.15931296348571777 + ], + [ + 0.24154584109783173, + -0.04584890976548195, + 0.15042628347873688 + ], + [ + 0.2351979911327362, + -0.044581711292266846, + 0.13819773495197296 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.995222187746503, + 0.021070058084393436, + 0.09533545861527382, + 0.011881064439885711, + -0.9953156277710762, + 0.09594603390679435, + 0.09691046034788806, + -0.09435493504310591, + -0.9908105312864673 + ], + [ + 0.9989493478203649, + 0.015802420200836022, + 0.043017252411846285, + 0.011163431620845427, + -0.9943013894725712, + 0.10601945428722845, + 0.044447477810501165, + -0.10542784456068152, + -0.9934331337878632 + ], + [ + 0.9989834168720487, + 0.018668715702369776, + 0.041031839693956206, + 0.01460195112794587, + -0.9951511013716563, + 0.09726802384153041, + 0.04264874954677462, + -0.09656999789170309, + -0.9944120472265473 + ], + [ + 0.9991073719100064, + 0.016429382697333236, + 0.03891702428584196, + 0.013551107831856327, + -0.9972324233098474, + 0.07310171937853942, + 0.040010334560081455, + -0.07250909793780287, + -0.996564901973091 + ], + [ + 0.9998611506383379, + 0.011936305995048567, + -0.011627727351961306, + 0.012779064184516587, + -0.9970770546508748, + 0.07532624116006516, + -0.010694623076433636, + -0.07546437363371446, + -0.9970911459587454 + ], + [ + 0.9978402470723376, + 0.026886874993747218, + -0.059932772968440934, + 0.03124995269069712, + -0.9968354132654123, + 0.0730930866553319, + -0.057777865826328906, + -0.07480811996732226, + -0.9955227086347701 + ], + [ + 0.9944182934295344, + 0.030738376020531238, + -0.10093270001497509, + 0.037997196273963724, + -0.9967664966627188, + 0.07080087715592245, + -0.0984300298080337, + -0.07424084704763662, + -0.9923708106658715 + ], + [ + 0.981397108551591, + 0.03511587943418457, + -0.18875007374340394, + 0.05222555825257965, + -0.994886248864228, + 0.08645139030733869, + -0.18474903624047143, + -0.09470072244935208, + -0.9782124343800725 + ], + [ + 0.9706263145350977, + 0.055423233143221805, + -0.2341213846703574, + 0.08473899067170952, + -0.9895018996116673, + 0.11706961230328565, + -0.22517517845436094, + -0.13347005616562002, + -0.9651330908818705 + ], + [ + 0.9681235452416012, + 0.06690734083975791, + -0.2413715163199375, + 0.10521253270777564, + -0.983152075427649, + 0.14947347438098052, + -0.2273040345221541, + -0.1701040984928313, + -0.958852163561147 + ], + [ + 0.9685021191381188, + 0.07788533717130038, + -0.23651114028452436, + 0.11720111635801612, + -0.9806186579633237, + 0.15700619726190576, + -0.21969875636745845, + -0.17978020443842688, + -0.9588594967682541 + ], + [ + 0.9703155922416775, + 0.09163193120390255, + -0.2238107250256921, + 0.12596400971323368, + -0.9814882734537328, + 0.14427001535237707, + -0.20644786196433967, + -0.1681795417304198, + -0.9638957008067309 + ], + [ + 0.9691382250070133, + 0.11695506838536665, + -0.21700832428556735, + 0.14662664404212297, + -0.9811281247975386, + 0.12604852235631384, + -0.19817095671969773, + -0.1539776435403523, + -0.9679974985518093 + ], + [ + 0.9684824962278127, + 0.12957315925669508, + -0.2127262346317079, + 0.15596585053512654, + -0.9813559552422939, + 0.11231715175047854, + -0.19420686900107284, + -0.1419552236119707, + -0.97063505321108 + ], + [ + 0.9701817084272404, + 0.14630898472405726, + -0.19323854072678298, + 0.16523113315181479, + -0.9825284834367832, + 0.0856530902698904, + -0.17733055368595746, + -0.11502808450300439, + -0.9774059619753714 + ], + [ + 0.9716316153190983, + 0.1594938703285148, + -0.17462448121620955, + 0.17207278051112412, + -0.9832955001888413, + 0.05933731975364733, + -0.16224352782027984, + -0.08770213586912795, + -0.982845548926393 + ], + [ + 0.9759315340816042, + 0.16453916166370375, + -0.1431240897407992, + 0.17285220545713098, + -0.9837947252472288, + 0.04764507995937873, + -0.13296524302889295, + -0.07123765054193865, + -0.9885572524095568 + ], + [ + 0.979484349041556, + 0.1679292130346864, + -0.11140102958317072, + 0.1728524089313443, + -0.9842879411415103, + 0.03604571611215787, + -0.1035975613094772, + -0.05456215110273668, + -0.9931216023014359 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0008923113346099854, + 0.00017180666327476501, + -0.02042919397354126, + 0.010785281658172607, + 0.0526006706058979, + -0.0007628276944160461, + 1.0 + ], + [ + 0.0005279481410980225, + -0.0009124800562858582, + 0.000499427318572998, + -0.00891992449760437, + 0.0018004365265369415, + 0.0034410618245601654, + 1.0 + ], + [ + -0.0002465546131134033, + -0.0019382983446121216, + 0.00028446316719055176, + -0.024178043007850647, + 0.002640672028064728, + -0.0010533863678574562, + 1.0 + ], + [ + -0.008596539497375488, + -0.002720959484577179, + -0.0029954537749290466, + 0.0029094666242599487, + 0.050715845078229904, + -0.0007822401821613312, + 1.0 + ], + [ + -0.012679576873779297, + -0.0031625330448150635, + -0.002171553671360016, + -0.0005369111895561218, + 0.04711523279547691, + 0.018527215346693993, + 1.0 + ], + [ + -0.006774544715881348, + -0.000939294695854187, + 0.001878388226032257, + -0.0003311038017272949, + 0.04077960550785065, + 0.006884537637233734, + 1.0 + ], + [ + -0.01322406530380249, + 0.0004377588629722595, + 0.008477069437503815, + 0.02183672785758972, + 0.08722683042287827, + 0.014973476529121399, + 1.0 + ], + [ + -0.013611465692520142, + -0.003828875720500946, + 0.016766920685768127, + 0.040911026298999786, + 0.041306331753730774, + 0.03391724452376366, + 1.0 + ], + [ + -0.013907313346862793, + -0.0004353746771812439, + 0.02317248284816742, + 0.038156911730766296, + 0.002185523509979248, + 0.021169304847717285, + 1.0 + ], + [ + -0.014667689800262451, + 0.005778588354587555, + 0.009647056460380554, + 0.009764790534973145, + -0.007802680134773254, + 0.012175269424915314, + 1.0 + ], + [ + -0.015503019094467163, + 0.006405826658010483, + 0.0020892322063446045, + -0.012601867318153381, + -0.013562455773353577, + 0.008668407797813416, + 1.0 + ], + [ + -0.01876455545425415, + 0.006708603352308273, + -0.000752374529838562, + -0.014993473887443542, + -0.008451700210571289, + 0.021061494946479797, + 1.0 + ], + [ + -0.01204770803451538, + 0.0017672143876552582, + -0.003682762384414673, + -0.01252630352973938, + -0.0040426552295684814, + 0.009513482451438904, + 1.0 + ], + [ + -0.012773722410202026, + 0.0027118809521198273, + -0.00619913637638092, + -0.028072059154510498, + -0.01717551052570343, + 0.00902034342288971, + 1.0 + ], + [ + -0.012870728969573975, + 0.002386469393968582, + -0.011741623282432556, + -0.02815108746290207, + -0.015309467911720276, + 0.006588444113731384, + 1.0 + ], + [ + -0.010168865323066711, + 0.0021033883094787598, + -0.008886680006980896, + -0.01705927401781082, + -0.029603689908981323, + 1.780688762664795e-05, + 1.0 + ], + [ + -0.00634784996509552, + 0.0012671984732151031, + -0.012228548526763916, + -0.017053015530109406, + -0.029576420783996582, + -0.0006227642297744751, + 1.0 + ], + [ + -0.006180867552757263, + 0.0021812282502651215, + -0.013685569167137146, + -0.025994515046477318, + -0.031055666506290436, + 0.0007992535829544067, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.4068542420864105, + -0.06021082401275635, + 0.12404082715511322 + ], + [ + 0.40738219022750854, + -0.061123304069042206, + 0.12454025447368622 + ], + [ + 0.40713563561439514, + -0.06306160241365433, + 0.12482471764087677 + ], + [ + 0.39853909611701965, + -0.0657825618982315, + 0.12182926386594772 + ], + [ + 0.38585951924324036, + -0.06894509494304657, + 0.11965771019458771 + ], + [ + 0.379084974527359, + -0.06988438963890076, + 0.12153609842061996 + ], + [ + 0.3658609092235565, + -0.0694466307759285, + 0.13001316785812378 + ], + [ + 0.3522494435310364, + -0.07327550649642944, + 0.1467800885438919 + ], + [ + 0.3383421301841736, + -0.07371088117361069, + 0.16995257139205933 + ], + [ + 0.32367444038391113, + -0.06793229281902313, + 0.17959962785243988 + ], + [ + 0.30817142128944397, + -0.06152646616101265, + 0.18168886005878448 + ], + [ + 0.2894068658351898, + -0.054817862808704376, + 0.18093648552894592 + ], + [ + 0.27735915780067444, + -0.05305064842104912, + 0.17725372314453125 + ], + [ + 0.2645854353904724, + -0.05033876746892929, + 0.17105458676815033 + ], + [ + 0.25171470642089844, + -0.04795229807496071, + 0.15931296348571777 + ], + [ + 0.24154584109783173, + -0.04584890976548195, + 0.15042628347873688 + ], + [ + 0.2351979911327362, + -0.044581711292266846, + 0.13819773495197296 + ], + [ + 0.22901712357997894, + -0.042400483042001724, + 0.12451216578483582 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9989493478203649, + 0.015802420200836022, + 0.043017252411846285, + 0.011163431620845427, + -0.9943013894725712, + 0.10601945428722845, + 0.044447477810501165, + -0.10542784456068152, + -0.9934331337878632 + ], + [ + 0.9989834168720487, + 0.018668715702369776, + 0.041031839693956206, + 0.01460195112794587, + -0.9951511013716563, + 0.09726802384153041, + 0.04264874954677462, + -0.09656999789170309, + -0.9944120472265473 + ], + [ + 0.9991073719100064, + 0.016429382697333236, + 0.03891702428584196, + 0.013551107831856327, + -0.9972324233098474, + 0.07310171937853942, + 0.040010334560081455, + -0.07250909793780287, + -0.996564901973091 + ], + [ + 0.9998611506383379, + 0.011936305995048567, + -0.011627727351961306, + 0.012779064184516587, + -0.9970770546508748, + 0.07532624116006516, + -0.010694623076433636, + -0.07546437363371446, + -0.9970911459587454 + ], + [ + 0.9978402470723376, + 0.026886874993747218, + -0.059932772968440934, + 0.03124995269069712, + -0.9968354132654123, + 0.0730930866553319, + -0.057777865826328906, + -0.07480811996732226, + -0.9955227086347701 + ], + [ + 0.9944182934295344, + 0.030738376020531238, + -0.10093270001497509, + 0.037997196273963724, + -0.9967664966627188, + 0.07080087715592245, + -0.0984300298080337, + -0.07424084704763662, + -0.9923708106658715 + ], + [ + 0.981397108551591, + 0.03511587943418457, + -0.18875007374340394, + 0.05222555825257965, + -0.994886248864228, + 0.08645139030733869, + -0.18474903624047143, + -0.09470072244935208, + -0.9782124343800725 + ], + [ + 0.9706263145350977, + 0.055423233143221805, + -0.2341213846703574, + 0.08473899067170952, + -0.9895018996116673, + 0.11706961230328565, + -0.22517517845436094, + -0.13347005616562002, + -0.9651330908818705 + ], + [ + 0.9681235452416012, + 0.06690734083975791, + -0.2413715163199375, + 0.10521253270777564, + -0.983152075427649, + 0.14947347438098052, + -0.2273040345221541, + -0.1701040984928313, + -0.958852163561147 + ], + [ + 0.9685021191381188, + 0.07788533717130038, + -0.23651114028452436, + 0.11720111635801612, + -0.9806186579633237, + 0.15700619726190576, + -0.21969875636745845, + -0.17978020443842688, + -0.9588594967682541 + ], + [ + 0.9703155922416775, + 0.09163193120390255, + -0.2238107250256921, + 0.12596400971323368, + -0.9814882734537328, + 0.14427001535237707, + -0.20644786196433967, + -0.1681795417304198, + -0.9638957008067309 + ], + [ + 0.9691382250070133, + 0.11695506838536665, + -0.21700832428556735, + 0.14662664404212297, + -0.9811281247975386, + 0.12604852235631384, + -0.19817095671969773, + -0.1539776435403523, + -0.9679974985518093 + ], + [ + 0.9684824962278127, + 0.12957315925669508, + -0.2127262346317079, + 0.15596585053512654, + -0.9813559552422939, + 0.11231715175047854, + -0.19420686900107284, + -0.1419552236119707, + -0.97063505321108 + ], + [ + 0.9701817084272404, + 0.14630898472405726, + -0.19323854072678298, + 0.16523113315181479, + -0.9825284834367832, + 0.0856530902698904, + -0.17733055368595746, + -0.11502808450300439, + -0.9774059619753714 + ], + [ + 0.9716316153190983, + 0.1594938703285148, + -0.17462448121620955, + 0.17207278051112412, + -0.9832955001888413, + 0.05933731975364733, + -0.16224352782027984, + -0.08770213586912795, + -0.982845548926393 + ], + [ + 0.9759315340816042, + 0.16453916166370375, + -0.1431240897407992, + 0.17285220545713098, + -0.9837947252472288, + 0.04764507995937873, + -0.13296524302889295, + -0.07123765054193865, + -0.9885572524095568 + ], + [ + 0.979484349041556, + 0.1679292130346864, + -0.11140102958317072, + 0.1728524089313443, + -0.9842879411415103, + 0.03604571611215787, + -0.1035975613094772, + -0.05456215110273668, + -0.9931216023014359 + ], + [ + 0.9820410312929685, + 0.17243492943795236, + -0.076561138750484, + 0.17411305200608396, + -0.9845995024812955, + 0.01576276735575738, + -0.07266400744639111, + -0.028809977842987153, + -0.9969402826641709 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005538.json b/json/chunk-0005/episode_0005538.json new file mode 100644 index 0000000000000000000000000000000000000000..91e68fc66c01250d1d22677b818f624f170e0e10 --- /dev/null +++ b/json/chunk-0005/episode_0005538.json @@ -0,0 +1,2242 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 36, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPush the can to the middle top of the table." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005538.mp4", + "start": 0, + "end": 36, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.32546427845954895, + 0.05379845201969147, + 0.07967560738325119, + 0.031216876581311226, + -0.34447556734085083, + -0.08876652270555496, + 0.0, + 0.9994885921478271 + ], + [ + 0.3210428059101105, + 0.05302076414227486, + 0.06988050788640976, + 0.01792191155254841, + -0.3084501028060913, + -0.08492018282413483, + 0.0, + 0.9994885921478271 + ], + [ + 0.3079163730144501, + 0.06127351522445679, + 0.06701675802469254, + -0.008461120538413525, + -0.24247685074806213, + -0.09846367686986923, + 0.0, + 0.9994885921478271 + ], + [ + 0.2896795868873596, + 0.0767371654510498, + 0.07194824516773224, + -0.015202242881059647, + -0.24676865339279175, + -0.11305627226829529, + 0.0, + 0.9994885921478271 + ], + [ + 0.2678947150707245, + 0.08950386941432953, + 0.08706825971603394, + -0.03598373010754585, + -0.24713027477264404, + -0.16096706688404083, + 0.0, + 0.9994885921478271 + ], + [ + 0.23018993437290192, + 0.10291306674480438, + 0.08457719534635544, + -0.025539839640259743, + -0.2266242355108261, + -0.2419668585062027, + 0.0, + 0.9994885921478271 + ], + [ + 0.20403435826301575, + 0.1153387650847435, + 0.09155865013599396, + -0.02726278454065323, + -0.19675253331661224, + -0.30132752656936646, + 0.0, + 0.9994885921478271 + ], + [ + 0.1768791526556015, + 0.11998306959867477, + 0.07703904062509537, + -0.031493719667196274, + -0.10261773318052292, + -0.36474791169166565, + 0.0, + 0.9994885921478271 + ], + [ + 0.16346774995326996, + 0.1273636370897293, + 0.06949692219495773, + -0.008570295758545399, + -0.044672612100839615, + -0.3634931445121765, + 0.0, + 0.9994885921478271 + ], + [ + 0.1632113754749298, + 0.13101521134376526, + 0.053558118641376495, + 0.04540913552045822, + 0.0018995036371052265, + -0.2869213819503784, + 0.0, + 0.9994885921478271 + ], + [ + 0.16838271915912628, + 0.13276398181915283, + 0.046372171491384506, + 0.10171613097190857, + -0.04995518550276756, + -0.20542657375335693, + 0.0, + 0.9994885921478271 + ], + [ + 0.17857767641544342, + 0.12928809225559235, + 0.0379457026720047, + 0.10318183898925781, + -0.04802204668521881, + -0.18339134752750397, + 0.0, + 0.9994885921478271 + ], + [ + 0.19382308423519135, + 0.12510249018669128, + 0.04191760718822479, + 0.08180957287549973, + -0.07280713319778442, + -0.18399040400981903, + 0.0, + 0.9994885921478271 + ], + [ + 0.21198882162570953, + 0.12009619176387787, + 0.038246266543865204, + 0.06407564878463745, + -0.04377860948443413, + -0.16271129250526428, + 0.0, + 0.9994885921478271 + ], + [ + 0.23358593881130219, + 0.1141432449221611, + 0.038925595581531525, + 0.04418715462088585, + -0.040426939725875854, + -0.1589049994945526, + 0.0, + 0.9994885921478271 + ], + [ + 0.25604405999183655, + 0.11256716400384903, + 0.03408921882510185, + 0.03475651890039444, + -0.03320124000310898, + -0.11546595394611359, + 0.0, + 0.9994885921478271 + ], + [ + 0.2812378704547882, + 0.11087410897016525, + 0.032196711748838425, + 0.022973166778683662, + -0.02804400958120823, + -0.08687042444944382, + 0.0, + 0.9994885921478271 + ], + [ + 0.3042314648628235, + 0.10741819441318512, + 0.028636867180466652, + 0.025741778314113617, + -0.040632136166095734, + -0.08141331374645233, + 0.0, + 0.9994885921478271 + ], + [ + 0.32505807280540466, + 0.09740680456161499, + 0.027867086231708527, + 0.04643602296710014, + -0.08006485551595688, + -0.1399690806865692, + 0.0, + 0.9994885921478271 + ], + [ + 0.34082821011543274, + 0.08796857297420502, + 0.028654795140028, + 0.053496263921260834, + -0.1139228492975235, + -0.1706567257642746, + 0.0, + 0.9994885921478271 + ], + [ + 0.35713905096054077, + 0.07629621773958206, + 0.02844984643161297, + 0.06055475026369095, + -0.12980613112449646, + -0.15307433903217316, + 0.0, + 0.9994885921478271 + ], + [ + 0.37086525559425354, + 0.06735526025295258, + 0.029607290402054787, + 0.05940898880362511, + -0.1357622593641281, + -0.1387687474489212, + 0.0, + 0.9994885921478271 + ], + [ + 0.3776378631591797, + 0.055280450731515884, + 0.031025251373648643, + 0.056260693818330765, + -0.1484559178352356, + -0.13638074696063995, + 0.0, + 0.9994885921478271 + ], + [ + 0.3824770152568817, + 0.04578995704650879, + 0.027734996750950813, + 0.07762418687343597, + -0.16157124936580658, + -0.14227300882339478, + 0.0, + 0.9994885921478271 + ], + [ + 0.3932746946811676, + 0.03917248919606209, + 0.02308686450123787, + 0.0951068103313446, + -0.18092648684978485, + -0.12953326106071472, + 0.0, + 0.9994885921478271 + ], + [ + 0.4030323624610901, + 0.03522571548819542, + 0.024798646569252014, + 0.10008250176906586, + -0.19874073565006256, + -0.12266547977924347, + 0.0, + 0.9994885921478271 + ], + [ + 0.40591979026794434, + 0.03222636505961418, + 0.021933047100901604, + 0.11682712286710739, + -0.19976767897605896, + -0.12349088490009308, + 0.0, + 0.9994885921478271 + ], + [ + 0.40574339032173157, + 0.031122183427214622, + 0.021234171465039253, + 0.1117711216211319, + -0.20108240842819214, + -0.1314735859632492, + 0.0, + 0.9994885921478271 + ], + [ + 0.39789262413978577, + 0.0328504778444767, + 0.022885287180542946, + 0.09128233045339584, + -0.18302077054977417, + -0.12257683277130127, + 0.0, + 0.9994885921478271 + ], + [ + 0.3951466381549835, + 0.04398002475500107, + 0.04933159798383713, + 0.07022096961736679, + -0.2364208698272705, + -0.10594218224287033, + 0.0, + 0.9994885921478271 + ], + [ + 0.3841789960861206, + 0.057719435542821884, + 0.061803702265024185, + 0.06927177309989929, + -0.24049708247184753, + -0.11774411797523499, + 0.0, + 0.9994885921478271 + ], + [ + 0.36433592438697815, + 0.06803658604621887, + 0.062186431139707565, + 0.06032928451895714, + -0.2311960905790329, + -0.15019896626472473, + 0.0, + 0.9994885921478271 + ], + [ + 0.34090811014175415, + 0.08034661412239075, + 0.06572027504444122, + 0.07172656059265137, + -0.22942033410072327, + -0.1907203495502472, + 0.0, + 0.9994885921478271 + ], + [ + 0.31781747937202454, + 0.08509045839309692, + 0.06113038584589958, + 0.05842431262135506, + -0.22583609819412231, + -0.22272847592830658, + 0.0, + 0.9994885921478271 + ], + [ + 0.3117409944534302, + 0.07328825443983078, + 0.05738934129476547, + 0.04036043584346771, + -0.2470192164182663, + -0.25321847200393677, + 0.0, + 0.9994885921478271 + ], + [ + 0.3071213364601135, + 0.052266672253608704, + 0.0612519308924675, + 0.0173584446310997, + -0.28762203454971313, + -0.280322402715683, + 0.0, + 0.9994885921478271 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.32546427845954895, + 0.05379845201969147, + 0.07967560738325119 + ], + [ + 0.3210428059101105, + 0.05302076414227486, + 0.06988050788640976 + ], + [ + 0.3079163730144501, + 0.06127351522445679, + 0.06701675802469254 + ], + [ + 0.2896795868873596, + 0.0767371654510498, + 0.07194824516773224 + ], + [ + 0.2678947150707245, + 0.08950386941432953, + 0.08706825971603394 + ], + [ + 0.23018993437290192, + 0.10291306674480438, + 0.08457719534635544 + ], + [ + 0.20403435826301575, + 0.1153387650847435, + 0.09155865013599396 + ], + [ + 0.1768791526556015, + 0.11998306959867477, + 0.07703904062509537 + ], + [ + 0.16346774995326996, + 0.1273636370897293, + 0.06949692219495773 + ], + [ + 0.1632113754749298, + 0.13101521134376526, + 0.053558118641376495 + ], + [ + 0.16838271915912628, + 0.13276398181915283, + 0.046372171491384506 + ], + [ + 0.17857767641544342, + 0.12928809225559235, + 0.0379457026720047 + ], + [ + 0.19382308423519135, + 0.12510249018669128, + 0.04191760718822479 + ], + [ + 0.21198882162570953, + 0.12009619176387787, + 0.038246266543865204 + ], + [ + 0.23358593881130219, + 0.1141432449221611, + 0.038925595581531525 + ], + [ + 0.25604405999183655, + 0.11256716400384903, + 0.03408921882510185 + ], + [ + 0.2812378704547882, + 0.11087410897016525, + 0.032196711748838425 + ], + [ + 0.3042314648628235, + 0.10741819441318512, + 0.028636867180466652 + ], + [ + 0.32505807280540466, + 0.09740680456161499, + 0.027867086231708527 + ], + [ + 0.34082821011543274, + 0.08796857297420502, + 0.028654795140028 + ], + [ + 0.35713905096054077, + 0.07629621773958206, + 0.02844984643161297 + ], + [ + 0.37086525559425354, + 0.06735526025295258, + 0.029607290402054787 + ], + [ + 0.3776378631591797, + 0.055280450731515884, + 0.031025251373648643 + ], + [ + 0.3824770152568817, + 0.04578995704650879, + 0.027734996750950813 + ], + [ + 0.3932746946811676, + 0.03917248919606209, + 0.02308686450123787 + ], + [ + 0.4030323624610901, + 0.03522571548819542, + 0.024798646569252014 + ], + [ + 0.40591979026794434, + 0.03222636505961418, + 0.021933047100901604 + ], + [ + 0.40574339032173157, + 0.031122183427214622, + 0.021234171465039253 + ], + [ + 0.39789262413978577, + 0.0328504778444767, + 0.022885287180542946 + ], + [ + 0.3951466381549835, + 0.04398002475500107, + 0.04933159798383713 + ], + [ + 0.3841789960861206, + 0.057719435542821884, + 0.061803702265024185 + ], + [ + 0.36433592438697815, + 0.06803658604621887, + 0.062186431139707565 + ], + [ + 0.34090811014175415, + 0.08034661412239075, + 0.06572027504444122 + ], + [ + 0.31781747937202454, + 0.08509045839309692, + 0.06113038584589958 + ], + [ + 0.3117409944534302, + 0.07328825443983078, + 0.05738934129476547 + ], + [ + 0.3071213364601135, + 0.052266672253608704, + 0.0612519308924675 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9375468207185341, + -0.07810798021293014, + 0.33897655138316735, + -0.0834420467723585, + -0.9965119492388913, + 0.0011661280137496444, + 0.3377031000612936, + -0.029378196867088834, + -0.9407940995551737 + ], + [ + 0.9493717518102506, + -0.07938365436562982, + 0.303959721483447, + -0.08081518073140025, + -0.9966978848921377, + -0.007888777781798594, + 0.30358225150375245, + -0.017075177044402933, + -0.9526522213802974 + ], + [ + 0.9660443038638352, + -0.10032284899094904, + 0.23810444964883956, + -0.09542887103586473, + -0.9949210342230191, + -0.03202290170203165, + 0.24010775402943121, + 0.008213502963834537, + -0.9707114941237716 + ], + [ + 0.9635161471280776, + -0.11649217757402756, + 0.24096930673329556, + -0.10939803991508672, + -0.9930822075952023, + -0.042659088370192166, + 0.24427178119095325, + 0.014741150630123902, + -0.9695947583356143 + ], + [ + 0.9570839132355098, + -0.1688558564861477, + 0.2355378584349717, + -0.1554035032562509, + -0.985023288535126, + -0.07469184841152685, + 0.24462243192619862, + 0.03488295821422813, + -0.968990735262591 + ], + [ + 0.946043890780681, + -0.24510525936258995, + 0.21195369435173475, + -0.23348586073810837, + -0.9691770704089835, + -0.07861398748851926, + 0.2246893623470763, + 0.024884091831085812, + -0.9741126589988482 + ], + [ + 0.9365192144362279, + -0.30176661351764134, + 0.17851798777110664, + -0.29106212169015167, + -0.9530069422615185, + -0.08402743194087256, + 0.1954855552438027, + 0.02673348027184473, + -0.9803421437047257 + ], + [ + 0.9292992074839922, + -0.3595503227634525, + 0.08441888633665749, + -0.35483727967837436, + -0.932599830299797, + -0.06593983223546594, + 0.1024377270348943, + 0.031322865856868456, + -0.9942461416341717 + ], + [ + 0.9337281024628047, + -0.3558859614979651, + 0.03869125327356159, + -0.3551865926178393, + -0.9344901715461528, + -0.023887312703002286, + 0.04465775515785674, + 0.008561640748759817, + -0.9989656566729158 + ], + [ + 0.959117940436541, + -0.2827917857510203, + 0.011026433898472333, + -0.2830002972136964, + -0.958106591478857, + 0.04407483569710352, + -0.0018995024948344668, + -0.0453934497093597, + -0.9989673801550062 + ], + [ + 0.977752788099096, + -0.1979666900357943, + 0.06934461046624739, + -0.20373031190649793, + -0.9749483878671128, + 0.08927262181541751, + 0.049934410729725376, + -0.10141415400026385, + -0.993590319997878 + ], + [ + 0.9820973798906405, + -0.17653377722383193, + 0.0657309813636308, + -0.1821548561643824, + -0.9789032173065344, + 0.09256402931295422, + 0.048003591403900724, + -0.10288010811620864, + -0.9935347696816277 + ], + [ + 0.9805169083960205, + -0.17649808437092998, + 0.08622655369955319, + -0.18246937695302054, + -0.9809209316104482, + 0.06707497598111235, + 0.07274282661463159, + -0.08150185361010125, + -0.9940150547321862 + ], + [ + 0.9858462220330442, + -0.15889653005394613, + 0.05347073255519983, + -0.16183906806200268, + -0.9852206214002144, + 0.056110990158776866, + 0.04376462672063788, + -0.0639704611878896, + -0.9969916938186659 + ], + [ + 0.9865943815504173, + -0.1563198514774447, + 0.046857553576973514, + -0.15810780814535058, + -0.9867198473052813, + 0.03722719351918813, + 0.04041592874872877, + -0.04413668505802974, + -0.9982076466023818 + ], + [ + 0.9927937689928985, + -0.11399413743808072, + 0.03695766332743015, + -0.1151460589416073, + -0.992874180335392, + 0.030696044265339686, + 0.03319514059454504, + -0.03473037075920378, + -0.9988452752993513 + ], + [ + 0.9958374122314911, + -0.08609662127972056, + 0.029920230686008416, + -0.08672708966397047, + -0.996022144904623, + 0.02045235385015707, + 0.02804033378020341, + -0.02296211366165532, + -0.9993430247005701 + ], + [ + 0.9958651284151462, + -0.08025438758216712, + 0.04256617530969693, + -0.08125628520390167, + -0.996442589228266, + 0.022351341949229022, + 0.04062095667936372, + -0.02571769130152381, + -0.9988436004863689 + ], + [ + 0.9870481606417483, + -0.13568582909288765, + 0.08558787505901354, + -0.13906557246342435, + -0.9896708464438899, + 0.03481927992441512, + 0.07997934189002621, + -0.046270633045273846, + -0.9957220161211803 + ], + [ + 0.979085419352694, + -0.16359654133559126, + 0.12094591053025402, + -0.16872870346739544, + -0.9850959329131111, + 0.03341597797849995, + 0.11367658614319734, + -0.05312414348561337, + -0.9920964968901709 + ], + [ + 0.9799923628445713, + -0.1444558314647125, + 0.13692144288661642, + -0.15119444906453514, + -0.9876899711045607, + 0.04010934494035041, + 0.12944190719541362, + -0.06000861384260512, + -0.9897695483931112 + ], + [ + 0.9812739629800569, + -0.13012100685850242, + 0.14202088984210479, + -0.13705100990177915, + -0.9897513948003952, + 0.04011479995680377, + 0.1353455956517098, + -0.05882771510777485, + -0.9890504889402169 + ], + [ + 0.9798173293879027, + -0.12750328171628392, + 0.1539510122822702, + -0.13446291179159628, + -0.990277820357776, + 0.035630939644880934, + 0.14791121114940264, + -0.055612513511166646, + -0.9874358318175853 + ], + [ + 0.9770035857791372, + -0.1290177857841402, + 0.16975984309036732, + -0.1399467656888176, + -0.9886842821843681, + 0.05402122670599155, + 0.16086918955458065, + -0.0765362731842795, + -0.9840037107344229 + ], + [ + 0.9754364389987301, + -0.11164290001244459, + 0.1898936975001752, + -0.1270629163118125, + -0.9893481647105846, + 0.07102974223615943, + 0.17994101470152402, + -0.09341344582344246, + -0.979231923176311 + ], + [ + 0.9729499022030235, + -0.1021672091961968, + 0.20719640240165296, + -0.1199495908837349, + -0.9899332807975771, + 0.07512785912143265, + 0.19743501069960148, + -0.0979487668855804, + -0.9754104036843376 + ], + [ + 0.972648840293794, + -0.09938309270906959, + 0.20994578909498948, + -0.12072758934424824, + -0.9884692375337908, + 0.09139702194542539, + 0.19844163536481926, + -0.11424345641193849, + -0.9734317387576744 + ], + [ + 0.9713946429856527, + -0.10819179507960812, + 0.2113929588615202, + -0.1284537118639553, + -0.9881042353373661, + 0.08455568589238019, + 0.1997300465306816, + -0.10929115053750232, + -0.9737367985893521 + ], + [ + 0.9759205736706298, + -0.10529514931978651, + 0.19102870312105655, + -0.12022800208699697, + -0.9903932684820257, + 0.06831106249839294, + 0.18200071813198418, + -0.08963317061899659, + -0.9792045921686785 + ], + [ + 0.966731856289915, + -0.0891416878554302, + 0.239756704850022, + -0.10280258060825265, + -0.9936805067911484, + 0.04506306518170552, + 0.2342245662917091, + -0.06821150862993702, + -0.9697865964406237 + ], + [ + 0.9644951331214162, + -0.10081832219655584, + 0.2440999879036731, + -0.11409135861273595, + -0.9926311284331888, + 0.04082407078372503, + 0.23818543212170212, + -0.06722431684238946, + -0.9688903917110916 + ], + [ + 0.9624339014110835, + -0.13570259620849334, + 0.23517183249044787, + -0.14565352935703146, + -0.9890098415598254, + 0.025388632961411747, + 0.22914195338366355, + -0.05868848848013987, + -0.9716221624270596 + ], + [ + 0.9561414075509578, + -0.173076743677542, + 0.2363007608207208, + -0.18459929026242272, + -0.9824327808398441, + 0.027366643307147328, + 0.22741308405868574, + -0.0697873335876164, + -0.9712945059402157 + ], + [ + 0.9505328533028923, + -0.2077625984663236, + 0.23091556350835873, + -0.21528247205366013, + -0.9765224729544895, + 0.007570801893643151, + 0.22392130764696494, + -0.056908369273499, + -0.9729443383299498 + ], + [ + 0.9387246839391913, + -0.24076564686873406, + 0.24663306966249482, + -0.24291666607634274, + -0.9697943914152813, + -0.022143435185585973, + 0.2445147461925754, + -0.03912469383067048, + -0.9688559218103775 + ], + [ + 0.9214909005296007, + -0.2718921268334708, + 0.27736112129697793, + -0.2653003813052632, + -0.9621837820958227, + -0.06179059112081629, + 0.2836727479340006, + -0.01664454378316624, + -0.9587766847612758 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0044214725494384766, + -0.0007776878774166107, + -0.00979509949684143, + -0.013294965028762817, + 0.03602546453475952, + 0.0038463398814201355, + 1.0 + ], + [ + -0.0131264328956604, + 0.00825275108218193, + -0.002863749861717224, + -0.02638303115963936, + 0.06597325205802917, + -0.013543494045734406, + 1.0 + ], + [ + -0.018236786127090454, + 0.015463650226593018, + 0.004931487143039703, + -0.006741122342646122, + -0.004291802644729614, + -0.014592595398426056, + 1.0 + ], + [ + -0.021784871816635132, + 0.012766703963279724, + 0.015120014548301697, + -0.020781487226486206, + -0.0003616213798522949, + -0.047910794615745544, + 1.0 + ], + [ + -0.03770478069782257, + 0.013409197330474854, + -0.0024910643696784973, + 0.01044389046728611, + 0.020506039261817932, + -0.08099979162216187, + 1.0 + ], + [ + -0.02615557610988617, + 0.012425698339939117, + 0.006981454789638519, + -0.001722944900393486, + 0.029871702194213867, + -0.05936066806316376, + 1.0 + ], + [ + -0.027155205607414246, + 0.004644304513931274, + -0.01451960951089859, + -0.004230935126543045, + 0.09413480013608932, + -0.0634203851222992, + 1.0 + ], + [ + -0.013411402702331543, + 0.007380567491054535, + -0.007542118430137634, + 0.02292342483997345, + 0.057945121079683304, + 0.0012547671794891357, + 1.0 + ], + [ + -0.0002563744783401489, + 0.0036515742540359497, + -0.015938803553581238, + 0.053979430347681046, + 0.046572115272283554, + 0.0765717625617981, + 1.0 + ], + [ + 0.005171343684196472, + 0.0017487704753875732, + -0.007185947149991989, + 0.05630699545145035, + -0.0518546886742115, + 0.08149480819702148, + 1.0 + ], + [ + 0.010194957256317139, + -0.003475889563560486, + -0.008426468819379807, + 0.0014657080173492432, + 0.0019331388175487518, + 0.022035226225852966, + 1.0 + ], + [ + 0.015245407819747925, + -0.004185602068901062, + 0.003971904516220093, + -0.021372266113758087, + -0.024785086512565613, + -0.0005990564823150635, + 1.0 + ], + [ + 0.01816573739051819, + -0.0050062984228134155, + -0.0036713406443595886, + -0.017733924090862274, + 0.029028523713350296, + 0.02127911150455475, + 1.0 + ], + [ + 0.02159711718559265, + -0.005952946841716766, + 0.0006793290376663208, + -0.019888494163751602, + 0.0033516697585582733, + 0.00380629301071167, + 1.0 + ], + [ + 0.022458121180534363, + -0.0015760809183120728, + -0.004836376756429672, + -0.00943063572049141, + 0.007225699722766876, + 0.043439045548439026, + 1.0 + ], + [ + 0.02519381046295166, + -0.0016930550336837769, + -0.0018925070762634277, + -0.011783352121710777, + 0.005157230421900749, + 0.02859552949666977, + 1.0 + ], + [ + 0.02299359440803528, + -0.003455914556980133, + -0.0035598445683717728, + 0.0027686115354299545, + -0.012588126584887505, + 0.005457110702991486, + 1.0 + ], + [ + 0.020826607942581177, + -0.01001138985157013, + -0.0007697809487581253, + 0.020694244652986526, + -0.039432719349861145, + -0.05855576694011688, + 1.0 + ], + [ + 0.015770137310028076, + -0.009438231587409973, + 0.0007877089083194733, + 0.00706024095416069, + -0.03385799378156662, + -0.030687645077705383, + 1.0 + ], + [ + 0.016310840845108032, + -0.011672355234622955, + -0.00020494870841503143, + 0.007058486342430115, + -0.01588328182697296, + 0.01758238673210144, + 1.0 + ], + [ + 0.013726204633712769, + -0.008940957486629486, + 0.0011574439704418182, + -0.0011457614600658417, + -0.005956128239631653, + 0.014305591583251953, + 1.0 + ], + [ + 0.0067726075649261475, + -0.012074809521436691, + 0.0014179609715938568, + -0.003148294985294342, + -0.012693658471107483, + 0.00238800048828125, + 1.0 + ], + [ + 0.004839152097702026, + -0.009490493685007095, + -0.00329025462269783, + 0.02136349305510521, + -0.013115331530570984, + -0.005892261862754822, + 1.0 + ], + [ + 0.010797679424285889, + -0.006617467850446701, + -0.004648132249712944, + 0.01748262345790863, + -0.01935523748397827, + 0.012739747762680054, + 1.0 + ], + [ + 0.009757667779922485, + -0.003946773707866669, + 0.001711782068014145, + 0.0049756914377212524, + -0.01781424880027771, + 0.0068677812814712524, + 1.0 + ], + [ + 0.002887427806854248, + -0.002999350428581238, + -0.0028655994683504105, + 0.016744621098041534, + -0.001026943325996399, + -0.0008254051208496094, + 1.0 + ], + [ + -0.00017639994621276855, + -0.001104181632399559, + -0.0006988756358623505, + -0.005056001245975494, + -0.0013147294521331787, + -0.007982701063156128, + 1.0 + ], + [ + -0.0078507661819458, + 0.0017282944172620773, + 0.0016511157155036926, + -0.020488791167736053, + 0.01806163787841797, + 0.008896753191947937, + 1.0 + ], + [ + -0.002745985984802246, + 0.011129546910524368, + 0.026446310803294182, + -0.021061360836029053, + -0.05340009927749634, + 0.01663465052843094, + 1.0 + ], + [ + -0.010967642068862915, + 0.013739410787820816, + 0.012472104281187057, + -0.0009491965174674988, + -0.004076212644577026, + -0.011801935732364655, + 1.0 + ], + [ + -0.019843071699142456, + 0.010317150503396988, + 0.0003827288746833801, + -0.008942488580942154, + 0.009300991892814636, + -0.032454848289489746, + 1.0 + ], + [ + -0.023427814245224, + 0.012310028076171875, + 0.003533843904733658, + 0.011397276073694229, + 0.0017757564783096313, + -0.04052138328552246, + 1.0 + ], + [ + -0.023090630769729614, + 0.004743844270706177, + -0.004589889198541641, + -0.01330224797129631, + 0.003584235906600952, + -0.03200812637805939, + 1.0 + ], + [ + -0.00607648491859436, + -0.011802203953266144, + -0.0037410445511341095, + -0.018063876777887344, + -0.021183118224143982, + -0.030489996075630188, + 1.0 + ], + [ + -0.00461965799331665, + -0.021021582186222076, + 0.0038625895977020264, + -0.02300199121236801, + -0.04060281813144684, + -0.027103930711746216, + 1.0 + ], + [ + -0.01929357647895813, + -0.022225452587008476, + 0.003812722861766815, + -0.027571886777877808, + 0.016650408506393433, + -0.031081467866897583, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3210428059101105, + 0.05302076414227486, + 0.06988050788640976 + ], + [ + 0.3079163730144501, + 0.06127351522445679, + 0.06701675802469254 + ], + [ + 0.2896795868873596, + 0.0767371654510498, + 0.07194824516773224 + ], + [ + 0.2678947150707245, + 0.08950386941432953, + 0.08706825971603394 + ], + [ + 0.23018993437290192, + 0.10291306674480438, + 0.08457719534635544 + ], + [ + 0.20403435826301575, + 0.1153387650847435, + 0.09155865013599396 + ], + [ + 0.1768791526556015, + 0.11998306959867477, + 0.07703904062509537 + ], + [ + 0.16346774995326996, + 0.1273636370897293, + 0.06949692219495773 + ], + [ + 0.1632113754749298, + 0.13101521134376526, + 0.053558118641376495 + ], + [ + 0.16838271915912628, + 0.13276398181915283, + 0.046372171491384506 + ], + [ + 0.17857767641544342, + 0.12928809225559235, + 0.0379457026720047 + ], + [ + 0.19382308423519135, + 0.12510249018669128, + 0.04191760718822479 + ], + [ + 0.21198882162570953, + 0.12009619176387787, + 0.038246266543865204 + ], + [ + 0.23358593881130219, + 0.1141432449221611, + 0.038925595581531525 + ], + [ + 0.25604405999183655, + 0.11256716400384903, + 0.03408921882510185 + ], + [ + 0.2812378704547882, + 0.11087410897016525, + 0.032196711748838425 + ], + [ + 0.3042314648628235, + 0.10741819441318512, + 0.028636867180466652 + ], + [ + 0.32505807280540466, + 0.09740680456161499, + 0.027867086231708527 + ], + [ + 0.34082821011543274, + 0.08796857297420502, + 0.028654795140028 + ], + [ + 0.35713905096054077, + 0.07629621773958206, + 0.02844984643161297 + ], + [ + 0.37086525559425354, + 0.06735526025295258, + 0.029607290402054787 + ], + [ + 0.3776378631591797, + 0.055280450731515884, + 0.031025251373648643 + ], + [ + 0.3824770152568817, + 0.04578995704650879, + 0.027734996750950813 + ], + [ + 0.3932746946811676, + 0.03917248919606209, + 0.02308686450123787 + ], + [ + 0.4030323624610901, + 0.03522571548819542, + 0.024798646569252014 + ], + [ + 0.40591979026794434, + 0.03222636505961418, + 0.021933047100901604 + ], + [ + 0.40574339032173157, + 0.031122183427214622, + 0.021234171465039253 + ], + [ + 0.39789262413978577, + 0.0328504778444767, + 0.022885287180542946 + ], + [ + 0.3951466381549835, + 0.04398002475500107, + 0.04933159798383713 + ], + [ + 0.3841789960861206, + 0.057719435542821884, + 0.061803702265024185 + ], + [ + 0.36433592438697815, + 0.06803658604621887, + 0.062186431139707565 + ], + [ + 0.34090811014175415, + 0.08034661412239075, + 0.06572027504444122 + ], + [ + 0.31781747937202454, + 0.08509045839309692, + 0.06113038584589958 + ], + [ + 0.3117409944534302, + 0.07328825443983078, + 0.05738934129476547 + ], + [ + 0.3071213364601135, + 0.052266672253608704, + 0.0612519308924675 + ], + [ + 0.2878277599811554, + 0.030041219666600227, + 0.06506465375423431 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9493717518102506, + -0.07938365436562982, + 0.303959721483447, + -0.08081518073140025, + -0.9966978848921377, + -0.007888777781798594, + 0.30358225150375245, + -0.017075177044402933, + -0.9526522213802974 + ], + [ + 0.9660443038638352, + -0.10032284899094904, + 0.23810444964883956, + -0.09542887103586473, + -0.9949210342230191, + -0.03202290170203165, + 0.24010775402943121, + 0.008213502963834537, + -0.9707114941237716 + ], + [ + 0.9635161471280776, + -0.11649217757402756, + 0.24096930673329556, + -0.10939803991508672, + -0.9930822075952023, + -0.042659088370192166, + 0.24427178119095325, + 0.014741150630123902, + -0.9695947583356143 + ], + [ + 0.9570839132355098, + -0.1688558564861477, + 0.2355378584349717, + -0.1554035032562509, + -0.985023288535126, + -0.07469184841152685, + 0.24462243192619862, + 0.03488295821422813, + -0.968990735262591 + ], + [ + 0.946043890780681, + -0.24510525936258995, + 0.21195369435173475, + -0.23348586073810837, + -0.9691770704089835, + -0.07861398748851926, + 0.2246893623470763, + 0.024884091831085812, + -0.9741126589988482 + ], + [ + 0.9365192144362279, + -0.30176661351764134, + 0.17851798777110664, + -0.29106212169015167, + -0.9530069422615185, + -0.08402743194087256, + 0.1954855552438027, + 0.02673348027184473, + -0.9803421437047257 + ], + [ + 0.9292992074839922, + -0.3595503227634525, + 0.08441888633665749, + -0.35483727967837436, + -0.932599830299797, + -0.06593983223546594, + 0.1024377270348943, + 0.031322865856868456, + -0.9942461416341717 + ], + [ + 0.9337281024628047, + -0.3558859614979651, + 0.03869125327356159, + -0.3551865926178393, + -0.9344901715461528, + -0.023887312703002286, + 0.04465775515785674, + 0.008561640748759817, + -0.9989656566729158 + ], + [ + 0.959117940436541, + -0.2827917857510203, + 0.011026433898472333, + -0.2830002972136964, + -0.958106591478857, + 0.04407483569710352, + -0.0018995024948344668, + -0.0453934497093597, + -0.9989673801550062 + ], + [ + 0.977752788099096, + -0.1979666900357943, + 0.06934461046624739, + -0.20373031190649793, + -0.9749483878671128, + 0.08927262181541751, + 0.049934410729725376, + -0.10141415400026385, + -0.993590319997878 + ], + [ + 0.9820973798906405, + -0.17653377722383193, + 0.0657309813636308, + -0.1821548561643824, + -0.9789032173065344, + 0.09256402931295422, + 0.048003591403900724, + -0.10288010811620864, + -0.9935347696816277 + ], + [ + 0.9805169083960205, + -0.17649808437092998, + 0.08622655369955319, + -0.18246937695302054, + -0.9809209316104482, + 0.06707497598111235, + 0.07274282661463159, + -0.08150185361010125, + -0.9940150547321862 + ], + [ + 0.9858462220330442, + -0.15889653005394613, + 0.05347073255519983, + -0.16183906806200268, + -0.9852206214002144, + 0.056110990158776866, + 0.04376462672063788, + -0.0639704611878896, + -0.9969916938186659 + ], + [ + 0.9865943815504173, + -0.1563198514774447, + 0.046857553576973514, + -0.15810780814535058, + -0.9867198473052813, + 0.03722719351918813, + 0.04041592874872877, + -0.04413668505802974, + -0.9982076466023818 + ], + [ + 0.9927937689928985, + -0.11399413743808072, + 0.03695766332743015, + -0.1151460589416073, + -0.992874180335392, + 0.030696044265339686, + 0.03319514059454504, + -0.03473037075920378, + -0.9988452752993513 + ], + [ + 0.9958374122314911, + -0.08609662127972056, + 0.029920230686008416, + -0.08672708966397047, + -0.996022144904623, + 0.02045235385015707, + 0.02804033378020341, + -0.02296211366165532, + -0.9993430247005701 + ], + [ + 0.9958651284151462, + -0.08025438758216712, + 0.04256617530969693, + -0.08125628520390167, + -0.996442589228266, + 0.022351341949229022, + 0.04062095667936372, + -0.02571769130152381, + -0.9988436004863689 + ], + [ + 0.9870481606417483, + -0.13568582909288765, + 0.08558787505901354, + -0.13906557246342435, + -0.9896708464438899, + 0.03481927992441512, + 0.07997934189002621, + -0.046270633045273846, + -0.9957220161211803 + ], + [ + 0.979085419352694, + -0.16359654133559126, + 0.12094591053025402, + -0.16872870346739544, + -0.9850959329131111, + 0.03341597797849995, + 0.11367658614319734, + -0.05312414348561337, + -0.9920964968901709 + ], + [ + 0.9799923628445713, + -0.1444558314647125, + 0.13692144288661642, + -0.15119444906453514, + -0.9876899711045607, + 0.04010934494035041, + 0.12944190719541362, + -0.06000861384260512, + -0.9897695483931112 + ], + [ + 0.9812739629800569, + -0.13012100685850242, + 0.14202088984210479, + -0.13705100990177915, + -0.9897513948003952, + 0.04011479995680377, + 0.1353455956517098, + -0.05882771510777485, + -0.9890504889402169 + ], + [ + 0.9798173293879027, + -0.12750328171628392, + 0.1539510122822702, + -0.13446291179159628, + -0.990277820357776, + 0.035630939644880934, + 0.14791121114940264, + -0.055612513511166646, + -0.9874358318175853 + ], + [ + 0.9770035857791372, + -0.1290177857841402, + 0.16975984309036732, + -0.1399467656888176, + -0.9886842821843681, + 0.05402122670599155, + 0.16086918955458065, + -0.0765362731842795, + -0.9840037107344229 + ], + [ + 0.9754364389987301, + -0.11164290001244459, + 0.1898936975001752, + -0.1270629163118125, + -0.9893481647105846, + 0.07102974223615943, + 0.17994101470152402, + -0.09341344582344246, + -0.979231923176311 + ], + [ + 0.9729499022030235, + -0.1021672091961968, + 0.20719640240165296, + -0.1199495908837349, + -0.9899332807975771, + 0.07512785912143265, + 0.19743501069960148, + -0.0979487668855804, + -0.9754104036843376 + ], + [ + 0.972648840293794, + -0.09938309270906959, + 0.20994578909498948, + -0.12072758934424824, + -0.9884692375337908, + 0.09139702194542539, + 0.19844163536481926, + -0.11424345641193849, + -0.9734317387576744 + ], + [ + 0.9713946429856527, + -0.10819179507960812, + 0.2113929588615202, + -0.1284537118639553, + -0.9881042353373661, + 0.08455568589238019, + 0.1997300465306816, + -0.10929115053750232, + -0.9737367985893521 + ], + [ + 0.9759205736706298, + -0.10529514931978651, + 0.19102870312105655, + -0.12022800208699697, + -0.9903932684820257, + 0.06831106249839294, + 0.18200071813198418, + -0.08963317061899659, + -0.9792045921686785 + ], + [ + 0.966731856289915, + -0.0891416878554302, + 0.239756704850022, + -0.10280258060825265, + -0.9936805067911484, + 0.04506306518170552, + 0.2342245662917091, + -0.06821150862993702, + -0.9697865964406237 + ], + [ + 0.9644951331214162, + -0.10081832219655584, + 0.2440999879036731, + -0.11409135861273595, + -0.9926311284331888, + 0.04082407078372503, + 0.23818543212170212, + -0.06722431684238946, + -0.9688903917110916 + ], + [ + 0.9624339014110835, + -0.13570259620849334, + 0.23517183249044787, + -0.14565352935703146, + -0.9890098415598254, + 0.025388632961411747, + 0.22914195338366355, + -0.05868848848013987, + -0.9716221624270596 + ], + [ + 0.9561414075509578, + -0.173076743677542, + 0.2363007608207208, + -0.18459929026242272, + -0.9824327808398441, + 0.027366643307147328, + 0.22741308405868574, + -0.0697873335876164, + -0.9712945059402157 + ], + [ + 0.9505328533028923, + -0.2077625984663236, + 0.23091556350835873, + -0.21528247205366013, + -0.9765224729544895, + 0.007570801893643151, + 0.22392130764696494, + -0.056908369273499, + -0.9729443383299498 + ], + [ + 0.9387246839391913, + -0.24076564686873406, + 0.24663306966249482, + -0.24291666607634274, + -0.9697943914152813, + -0.022143435185585973, + 0.2445147461925754, + -0.03912469383067048, + -0.9688559218103775 + ], + [ + 0.9214909005296007, + -0.2718921268334708, + 0.27736112129697793, + -0.2653003813052632, + -0.9621837820958227, + -0.06179059112081629, + 0.2836727479340006, + -0.01664454378316624, + -0.9587766847612758 + ], + [ + 0.9171705951011873, + -0.3089815875500315, + 0.2516515011614198, + -0.29521531605418944, + -0.9510171087921797, + -0.09172990761789934, + 0.2676677355393416, + 0.009840596507605888, + -0.9634610246458418 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005539.json b/json/chunk-0005/episode_0005539.json new file mode 100644 index 0000000000000000000000000000000000000000..8c5ed4c9ec2d34645ded1762da2d31a2176a7d93 --- /dev/null +++ b/json/chunk-0005/episode_0005539.json @@ -0,0 +1,1642 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 26, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut pear in bowl." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005539.mp4", + "start": 0, + "end": 26, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.25866517424583435, + 0.1237800344824791, + 0.12863634526729584, + 0.03239823877811432, + -0.04222911596298218, + 0.4466744065284729, + 0.0, + 1.0001531839370728 + ], + [ + 0.2543673515319824, + 0.1198607012629509, + 0.11799486726522446, + 0.02731429599225521, + -0.0037285310681909323, + 0.4440617263317108, + 0.0, + 1.0001531839370728 + ], + [ + 0.24197033047676086, + 0.08556412160396576, + 0.10937581956386566, + 0.001494159223511815, + 0.01686755381524563, + 0.34304705262184143, + 0.0, + 1.0001531839370728 + ], + [ + 0.22728018462657928, + 0.05317985266447067, + 0.10194278508424759, + -0.05838485807180405, + 0.02547268569469452, + 0.2986936569213867, + 0.0, + 1.0001531839370728 + ], + [ + 0.21959255635738373, + 0.020679382607340813, + 0.09897714108228683, + -0.09112899005413055, + 0.007005542982369661, + 0.2076246589422226, + 0.0, + 1.0001531839370728 + ], + [ + 0.20904184877872467, + -0.013717259280383587, + 0.0934564396739006, + -0.09986616671085358, + -0.012876707129180431, + 0.07549762725830078, + 0.0, + 1.0001531839370728 + ], + [ + 0.20370900630950928, + -0.03452470153570175, + 0.08268509805202484, + -0.07423638552427292, + -0.030695118010044098, + 0.033758386969566345, + 0.0, + 1.0001531839370728 + ], + [ + 0.20125819742679596, + -0.04318968206644058, + 0.06590595841407776, + -0.02103384956717491, + -0.03488927334547043, + 0.0024890312924981117, + 0.0, + 1.0001531839370728 + ], + [ + 0.20132525265216827, + -0.0393819585442543, + 0.050156671553850174, + 0.00847109965980053, + -0.02845112606883049, + -0.0011160913854837418, + 0.0, + 1.0001531839370728 + ], + [ + 0.19933804869651794, + -0.037303321063518524, + 0.03989134728908539, + 0.025243254378437996, + -0.017910409718751907, + -0.010642451234161854, + 0.0, + 1.0001531839370728 + ], + [ + 0.1932704746723175, + -0.03680666163563728, + 0.028367767110466957, + 0.04420147463679314, + -0.005449376534670591, + -0.020226625725626945, + 0.0, + 0.9994885921478271 + ], + [ + 0.1907644420862198, + -0.04304521530866623, + 0.011603884398937225, + 0.052259933203458786, + 0.025616232305765152, + -0.05621959641575813, + 0.0, + 0.9461179971694946 + ], + [ + 0.1948632150888443, + -0.04797372221946716, + 0.004342582542449236, + 0.08128379285335541, + -0.007553856819868088, + -0.07554484903812408, + 0.0, + 0.7091560959815979 + ], + [ + 0.19394052028656006, + -0.04809018224477768, + 0.0036617761943489313, + 0.0825899988412857, + -0.008334076032042503, + -0.0753130242228508, + 0.0, + 0.6941980719566345 + ], + [ + 0.18994159996509552, + -0.04224596917629242, + 0.011543144471943378, + 0.06912267208099365, + 0.010706824250519276, + -0.03302513435482979, + 0.0, + 0.7240482568740845 + ], + [ + 0.1900431513786316, + -0.026578817516565323, + 0.037431713193655014, + 0.07543496787548065, + -0.015350719913840294, + 0.04225875809788704, + 0.0, + 0.7280064821243286 + ], + [ + 0.2046603560447693, + -0.003566135885193944, + 0.05565851926803589, + 0.07935255765914917, + -0.04703688248991966, + 0.1612028032541275, + 0.0, + 0.728995144367218 + ], + [ + 0.2237367033958435, + 0.01717088185250759, + 0.07320766896009445, + 0.10196851193904877, + -0.09994833916425705, + 0.2726365923881531, + 0.0, + 0.728995144367218 + ], + [ + 0.24307869374752045, + 0.033019401133060455, + 0.06048787385225296, + 0.11881055682897568, + -0.08298889547586441, + 0.3443279266357422, + 0.0, + 0.728995144367218 + ], + [ + 0.26200488209724426, + 0.04184436425566673, + 0.0581386424601078, + 0.11347196251153946, + -0.09535880386829376, + 0.38328656554222107, + 0.0, + 0.728995144367218 + ], + [ + 0.2757226526737213, + 0.047710537910461426, + 0.06004690006375313, + 0.09468445181846619, + -0.10868740826845169, + 0.41961580514907837, + 0.0, + 0.728995144367218 + ], + [ + 0.2860660254955292, + 0.05063127353787422, + 0.06427481025457382, + 0.08303392678499222, + -0.11510809510946274, + 0.4437979757785797, + 0.0, + 0.728995144367218 + ], + [ + 0.29105517268180847, + 0.05207514762878418, + 0.05099301412701607, + 0.10152402520179749, + -0.07683001458644867, + 0.4578026235103607, + 0.0, + 0.8102405071258545 + ], + [ + 0.2910315692424774, + 0.0522073395550251, + 0.043115682899951935, + 0.10754306614398956, + -0.0011333504226058722, + 0.447238564491272, + 0.0, + 0.9988223910331726 + ], + [ + 0.2882091999053955, + 0.05252113193273544, + 0.04298826679587364, + 0.09731049835681915, + 0.02211635932326317, + 0.43120554089546204, + 0.0, + 1.0001531839370728 + ], + [ + 0.28603675961494446, + 0.05790979042649269, + 0.06004410237073898, + 0.06777751445770264, + 3.664844189188443e-05, + 0.4183098375797272, + 0.0, + 0.9994885921478271 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9461179971694946 + ], + [ + 0.7091560959815979 + ], + [ + 0.6941980719566345 + ], + [ + 0.7240482568740845 + ], + [ + 0.7280064821243286 + ], + [ + 0.728995144367218 + ], + [ + 0.728995144367218 + ], + [ + 0.728995144367218 + ], + [ + 0.728995144367218 + ], + [ + 0.728995144367218 + ], + [ + 0.728995144367218 + ], + [ + 0.8102405071258545 + ], + [ + 0.9988223910331726 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.25866517424583435, + 0.1237800344824791, + 0.12863634526729584 + ], + [ + 0.2543673515319824, + 0.1198607012629509, + 0.11799486726522446 + ], + [ + 0.24197033047676086, + 0.08556412160396576, + 0.10937581956386566 + ], + [ + 0.22728018462657928, + 0.05317985266447067, + 0.10194278508424759 + ], + [ + 0.21959255635738373, + 0.020679382607340813, + 0.09897714108228683 + ], + [ + 0.20904184877872467, + -0.013717259280383587, + 0.0934564396739006 + ], + [ + 0.20370900630950928, + -0.03452470153570175, + 0.08268509805202484 + ], + [ + 0.20125819742679596, + -0.04318968206644058, + 0.06590595841407776 + ], + [ + 0.20132525265216827, + -0.0393819585442543, + 0.050156671553850174 + ], + [ + 0.19933804869651794, + -0.037303321063518524, + 0.03989134728908539 + ], + [ + 0.1932704746723175, + -0.03680666163563728, + 0.028367767110466957 + ], + [ + 0.1907644420862198, + -0.04304521530866623, + 0.011603884398937225 + ], + [ + 0.1948632150888443, + -0.04797372221946716, + 0.004342582542449236 + ], + [ + 0.19394052028656006, + -0.04809018224477768, + 0.0036617761943489313 + ], + [ + 0.18994159996509552, + -0.04224596917629242, + 0.011543144471943378 + ], + [ + 0.1900431513786316, + -0.026578817516565323, + 0.037431713193655014 + ], + [ + 0.2046603560447693, + -0.003566135885193944, + 0.05565851926803589 + ], + [ + 0.2237367033958435, + 0.01717088185250759, + 0.07320766896009445 + ], + [ + 0.24307869374752045, + 0.033019401133060455, + 0.06048787385225296 + ], + [ + 0.26200488209724426, + 0.04184436425566673, + 0.0581386424601078 + ], + [ + 0.2757226526737213, + 0.047710537910461426, + 0.06004690006375313 + ], + [ + 0.2860660254955292, + 0.05063127353787422, + 0.06427481025457382 + ], + [ + 0.29105517268180847, + 0.05207514762878418, + 0.05099301412701607 + ], + [ + 0.2910315692424774, + 0.0522073395550251, + 0.043115682899951935 + ], + [ + 0.2882091999053955, + 0.05252113193273544, + 0.04298826679587364 + ], + [ + 0.28603675961494446, + 0.05790979042649269, + 0.06004410237073898 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9010845902416463, + 0.4329752616827854, + 0.024062086355270275, + 0.4315835061640742, + -0.9008246300808755, + 0.047441153514419604, + 0.04221656589739944, + -0.032363692780301545, + -0.9985841741953722 + ], + [ + 0.9030078785024663, + 0.42954249836412617, + -0.008367404709952073, + 0.4296078089175873, + -0.902633573065412, + 0.026263345030624944, + 0.0037285224292252974, + -0.027310709882252125, + -0.9996200394380971 + ], + [ + 0.9416001725968759, + 0.3363340539617746, + -0.01638655275437283, + 0.3363103144056233, + -0.9417415634188795, + -0.004266163821932301, + -0.016866753983044564, + -0.0014939461177894571, + -0.9998566300900709 + ], + [ + 0.9554116776935349, + 0.29519095084617586, + -0.0071294225120312835, + 0.2941764924955116, + -0.9536559081997039, + -0.063250296590889, + -0.025469931092617776, + 0.05833276347240704, + -0.9979722297317741 + ], + [ + 0.9784993067680289, + 0.20590464880179962, + 0.011932403625997774, + 0.20613109863597587, + -0.9743316437261937, + -0.09048656369283946, + -0.0070054856799329785, + 0.09100067931405935, + -0.9958261894200048 + ], + [ + 0.9970687400915648, + 0.07376999944396814, + 0.020295682157949337, + 0.07541967322787382, + -0.9922799479972574, + -0.09844987401089351, + 0.012876351285216484, + 0.09969198555850421, + -0.9949350268198334 + ], + [ + 0.9989594500099328, + 0.031384065977559106, + 0.033091655119816474, + 0.03373607618755545, + -0.9967543815696319, + -0.07309295441564907, + 0.030690298130192764, + 0.07413328014095232, + -0.9967759840486844 + ], + [ + 0.999388335287099, + 0.001754827660289079, + 0.0349267214602726, + 0.0024875139768351616, + -0.9997775258730155, + -0.02094542989405528, + 0.034882195548672564, + 0.021019499021490005, + -0.9991703623980195 + ], + [ + 0.9995946714356141, + -0.000875074330658609, + 0.02845570386482569, + -0.00111563946500059, + -0.9999637665944752, + 0.008439244443332564, + 0.028447287851585547, + -0.008467570082733814, + -0.9995594289839815 + ], + [ + 0.9997829916325229, + -0.010186840535554572, + 0.018171348937978855, + -0.01064054345848275, + -0.9996296044395198, + 0.025048608005185363, + 0.01790945217561785, + -0.025236525275728405, + -0.9995210699704018 + ], + [ + 0.9997806040013654, + -0.019964750446546005, + 0.006336608104683213, + -0.020224946279097288, + -0.9988237924852242, + 0.0440679374766, + 0.0054493495641979835, + -0.04418642670595846, + -0.9990084405470688 + ], + [ + 0.9980925352753158, + -0.05744910644328495, + -0.02260290239240431, + -0.056171551399485195, + -0.996981832858999, + 0.05359087387313272, + -0.025613430872638565, + -0.05221901107814223, + -0.998307130617103 + ], + [ + 0.9971193958542364, + -0.07461224846549172, + 0.01363535075479167, + -0.07547086022915722, + -0.9939018421408846, + 0.08039451128794163, + 0.00755378498194686, + -0.08119199817641938, + -0.9966698549492539 + ], + [ + 0.9971306846777602, + -0.07429980508006041, + 0.014489190423429279, + -0.07523923483676613, + -0.9938180914102805, + 0.08163736109653127, + 0.008333979555969819, + -0.08249327336633278, + -0.9965567744158225 + ], + [ + 0.9993974335715966, + -0.03367935885418924, + -0.00839467436397301, + -0.03301723891220021, + -0.9970435840823907, + 0.06938265903491708, + -0.010706619686955039, + -0.06906368240480384, + -0.997554798528666 + ], + [ + 0.9989895167515911, + 0.04328184393034292, + 0.012108980403471392, + 0.04224120414272022, + -0.9962170302580282, + 0.07594280279557525, + 0.015350117035229831, + -0.07535456595232987, + -0.9970386468423079 + ], + [ + 0.9859432503700268, + 0.1636793413119678, + 0.03354072565504631, + 0.1603280073043071, + -0.983330739109915, + 0.0857647223243832, + 0.04701953980651843, + -0.07918163138777115, + -0.9957506877362197 + ], + [ + 0.9582579409310253, + 0.2776547487785402, + 0.06818767574391409, + 0.26792772975423157, + -0.9553268625628297, + 0.12476104077236505, + 0.09978201376688524, + -0.10128388887965367, + -0.9898409587312696 + ], + [ + 0.9380629439137257, + 0.34443316905117816, + 0.03746605548061382, + 0.3364023676311789, + -0.9313499229550488, + 0.13935841583399733, + 0.08289366868495487, + -0.11812329604691313, + -0.9895329841005613 + ], + [ + 0.9232270138870708, + 0.3815642847603939, + 0.045393583516295896, + 0.3722715523218258, + -0.9174443896271228, + 0.1403911794722653, + 0.09521434850409892, + -0.11271418959920142, + -0.9890549728412141 + ], + [ + 0.9078567771341929, + 0.4149504550762942, + 0.06010151448584848, + 0.40500563153710306, + -0.9049767440682343, + 0.13033622335670897, + 0.1084735480877649, + -0.0939851718497867, + -0.9896465413659653 + ], + [ + 0.8971508752697048, + 0.43649631448680276, + 0.06775894363286025, + 0.4265311827679947, + -0.8959257260672299, + 0.1240493591174212, + 0.114854068841023, + -0.08238968873800658, + -0.9899598386097874 + ], + [ + 0.8943796516138387, + 0.4466802669216284, + 0.023701854820490247, + 0.4406742482275829, + -0.8889687781911396, + 0.12466241755399833, + 0.07675445086875043, + -0.10105073252666506, + -0.9919160769579558 + ], + [ + 0.9016442178341337, + 0.43008853519721857, + -0.04540436474815874, + 0.4324770744948714, + -0.8963832182335914, + 0.09726616115354314, + 0.0011333501799776283, + -0.10733581863059699, + -0.9942221771597478 + ], + [ + 0.9082403638780193, + 0.41403701679941074, + -0.06060354892717035, + 0.4178640781621277, + -0.9050626960341689, + 0.07906407799422759, + -0.022114556392537524, + -0.09713323307296277, + -0.9950256687283776 + ], + [ + 0.9137768165777704, + 0.4052816546825367, + -0.02754468846765557, + 0.40621660249414576, + -0.9116797787147747, + 0.06187126102393609, + -3.664844188367919e-05, + -0.06772563370219535, + -0.9977039827506589 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.004297822713851929, + -0.003919333219528198, + -0.01064147800207138, + -0.005083942785859108, + 0.0385005846619606, + -0.002612680196762085, + 1.0 + ], + [ + -0.012397021055221558, + -0.03429657965898514, + -0.008619047701358795, + -0.025820136070251465, + 0.020596085116267204, + -0.10101467370986938, + 1.0 + ], + [ + -0.01469014585018158, + -0.03238426893949509, + -0.0074330344796180725, + -0.05987901613116264, + 0.00860513187944889, + -0.04435339570045471, + 1.0 + ], + [ + -0.007687628269195557, + -0.03250046819448471, + -0.0029656440019607544, + -0.03274413198232651, + -0.018467143177986145, + -0.09106899797916412, + 1.0 + ], + [ + -0.010550707578659058, + -0.034396640956401825, + -0.0055207014083862305, + -0.008737176656723022, + -0.01988225057721138, + -0.13212703168392181, + 1.0 + ], + [ + -0.005332842469215393, + -0.02080744132399559, + -0.010771341621875763, + 0.025629781186580658, + -0.017818409949541092, + -0.041739240288734436, + 1.0 + ], + [ + -0.002450808882713318, + -0.00866498053073883, + -0.016779139637947083, + 0.05320253595709801, + -0.004194155335426331, + -0.03126935660839081, + 1.0 + ], + [ + 6.705522537231445e-05, + 0.0038077235221862793, + -0.015749286860227585, + 0.02950494922697544, + 0.006438147276639938, + -0.0036051226779818535, + 1.0 + ], + [ + -0.0019872039556503296, + 0.002078637480735779, + -0.010265324264764786, + 0.016772154718637466, + 0.010540716350078583, + -0.009526359848678112, + 1.0 + ], + [ + -0.0060675740242004395, + 0.0004966594278812408, + -0.011523580178618431, + 0.01895822025835514, + 0.012461032718420029, + -0.009584174491465092, + 1.0 + ], + [ + -0.0025060325860977173, + -0.006238553673028946, + -0.016763882711529732, + 0.00805845856666565, + 0.03106560930609703, + -0.03599297255277634, + 0.0 + ], + [ + 0.004098773002624512, + -0.004928506910800934, + -0.007261301856487989, + 0.02902385964989662, + -0.03317008912563324, + -0.01932525262236595, + 0.0 + ], + [ + -0.0009226948022842407, + -0.00011646002531051636, + -0.0006808063481003046, + 0.0013062059879302979, + -0.0007802192121744156, + 0.0002318248152732849, + 0.0 + ], + [ + -0.003998920321464539, + 0.00584421306848526, + 0.00788136851042509, + -0.013467326760292053, + 0.019040901213884354, + 0.04228788986802101, + 0.0 + ], + [ + 0.00010155141353607178, + 0.015667151659727097, + 0.02588856965303421, + 0.0063122957944869995, + -0.026057545095682144, + 0.07528389245271683, + 0.0 + ], + [ + 0.014617204666137695, + 0.023012680932879448, + 0.018226806074380875, + 0.003917589783668518, + -0.03168616443872452, + 0.11894404888153076, + 0.0 + ], + [ + 0.01907634735107422, + 0.020737018436193466, + 0.017549149692058563, + 0.022615954279899597, + -0.05291145667433739, + 0.11143378913402557, + 0.0 + ], + [ + 0.01934199035167694, + 0.015848519280552864, + -0.012719795107841492, + 0.01684204488992691, + 0.01695944368839264, + 0.07169133424758911, + 0.0 + ], + [ + 0.018926188349723816, + 0.008824963122606277, + -0.002349231392145157, + -0.005338594317436218, + -0.012369908392429352, + 0.03895863890647888, + 0.0 + ], + [ + 0.01371777057647705, + 0.005866173654794693, + 0.0019082576036453247, + -0.018787510693073273, + -0.013328604400157928, + 0.0363292396068573, + 0.0 + ], + [ + 0.010343372821807861, + 0.002920735627412796, + 0.004227910190820694, + -0.011650525033473969, + -0.006420686841011047, + 0.024182170629501343, + 0.0 + ], + [ + 0.004989147186279297, + 0.0014438740909099579, + -0.013281796127557755, + 0.018490098416805267, + 0.03827808052301407, + 0.014004647731781006, + 1.0 + ], + [ + -2.3603439331054688e-05, + 0.00013219192624092102, + -0.007877331227064133, + 0.006019040942192078, + 0.075696662068367, + -0.010564059019088745, + 1.0 + ], + [ + -0.002822369337081909, + 0.0003137923777103424, + -0.00012741610407829285, + -0.01023256778717041, + 0.023249709978699684, + -0.016033023595809937, + 1.0 + ], + [ + -0.00217244029045105, + 0.005388658493757248, + 0.01705583557486534, + -0.029532983899116516, + -0.02207971177995205, + -0.012895703315734863, + 1.0 + ], + [ + -0.006493031978607178, + 0.004058171063661575, + 0.020523004233837128, + -0.01825409010052681, + -0.034447625279426575, + -0.004022568464279175, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9461179971694946 + ], + [ + 0.7091560959815979 + ], + [ + 0.6941980719566345 + ], + [ + 0.7240482568740845 + ], + [ + 0.7280064821243286 + ], + [ + 0.728995144367218 + ], + [ + 0.728995144367218 + ], + [ + 0.728995144367218 + ], + [ + 0.728995144367218 + ], + [ + 0.728995144367218 + ], + [ + 0.728995144367218 + ], + [ + 0.8102405071258545 + ], + [ + 0.9988223910331726 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2543673515319824, + 0.1198607012629509, + 0.11799486726522446 + ], + [ + 0.24197033047676086, + 0.08556412160396576, + 0.10937581956386566 + ], + [ + 0.22728018462657928, + 0.05317985266447067, + 0.10194278508424759 + ], + [ + 0.21959255635738373, + 0.020679382607340813, + 0.09897714108228683 + ], + [ + 0.20904184877872467, + -0.013717259280383587, + 0.0934564396739006 + ], + [ + 0.20370900630950928, + -0.03452470153570175, + 0.08268509805202484 + ], + [ + 0.20125819742679596, + -0.04318968206644058, + 0.06590595841407776 + ], + [ + 0.20132525265216827, + -0.0393819585442543, + 0.050156671553850174 + ], + [ + 0.19933804869651794, + -0.037303321063518524, + 0.03989134728908539 + ], + [ + 0.1932704746723175, + -0.03680666163563728, + 0.028367767110466957 + ], + [ + 0.1907644420862198, + -0.04304521530866623, + 0.011603884398937225 + ], + [ + 0.1948632150888443, + -0.04797372221946716, + 0.004342582542449236 + ], + [ + 0.19394052028656006, + -0.04809018224477768, + 0.0036617761943489313 + ], + [ + 0.18994159996509552, + -0.04224596917629242, + 0.011543144471943378 + ], + [ + 0.1900431513786316, + -0.026578817516565323, + 0.037431713193655014 + ], + [ + 0.2046603560447693, + -0.003566135885193944, + 0.05565851926803589 + ], + [ + 0.2237367033958435, + 0.01717088185250759, + 0.07320766896009445 + ], + [ + 0.24307869374752045, + 0.033019401133060455, + 0.06048787385225296 + ], + [ + 0.26200488209724426, + 0.04184436425566673, + 0.0581386424601078 + ], + [ + 0.2757226526737213, + 0.047710537910461426, + 0.06004690006375313 + ], + [ + 0.2860660254955292, + 0.05063127353787422, + 0.06427481025457382 + ], + [ + 0.29105517268180847, + 0.05207514762878418, + 0.05099301412701607 + ], + [ + 0.2910315692424774, + 0.0522073395550251, + 0.043115682899951935 + ], + [ + 0.2882091999053955, + 0.05252113193273544, + 0.04298826679587364 + ], + [ + 0.28603675961494446, + 0.05790979042649269, + 0.06004410237073898 + ], + [ + 0.2795437276363373, + 0.061967961490154266, + 0.08056710660457611 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9030078785024663, + 0.42954249836412617, + -0.008367404709952073, + 0.4296078089175873, + -0.902633573065412, + 0.026263345030624944, + 0.0037285224292252974, + -0.027310709882252125, + -0.9996200394380971 + ], + [ + 0.9416001725968759, + 0.3363340539617746, + -0.01638655275437283, + 0.3363103144056233, + -0.9417415634188795, + -0.004266163821932301, + -0.016866753983044564, + -0.0014939461177894571, + -0.9998566300900709 + ], + [ + 0.9554116776935349, + 0.29519095084617586, + -0.0071294225120312835, + 0.2941764924955116, + -0.9536559081997039, + -0.063250296590889, + -0.025469931092617776, + 0.05833276347240704, + -0.9979722297317741 + ], + [ + 0.9784993067680289, + 0.20590464880179962, + 0.011932403625997774, + 0.20613109863597587, + -0.9743316437261937, + -0.09048656369283946, + -0.0070054856799329785, + 0.09100067931405935, + -0.9958261894200048 + ], + [ + 0.9970687400915648, + 0.07376999944396814, + 0.020295682157949337, + 0.07541967322787382, + -0.9922799479972574, + -0.09844987401089351, + 0.012876351285216484, + 0.09969198555850421, + -0.9949350268198334 + ], + [ + 0.9989594500099328, + 0.031384065977559106, + 0.033091655119816474, + 0.03373607618755545, + -0.9967543815696319, + -0.07309295441564907, + 0.030690298130192764, + 0.07413328014095232, + -0.9967759840486844 + ], + [ + 0.999388335287099, + 0.001754827660289079, + 0.0349267214602726, + 0.0024875139768351616, + -0.9997775258730155, + -0.02094542989405528, + 0.034882195548672564, + 0.021019499021490005, + -0.9991703623980195 + ], + [ + 0.9995946714356141, + -0.000875074330658609, + 0.02845570386482569, + -0.00111563946500059, + -0.9999637665944752, + 0.008439244443332564, + 0.028447287851585547, + -0.008467570082733814, + -0.9995594289839815 + ], + [ + 0.9997829916325229, + -0.010186840535554572, + 0.018171348937978855, + -0.01064054345848275, + -0.9996296044395198, + 0.025048608005185363, + 0.01790945217561785, + -0.025236525275728405, + -0.9995210699704018 + ], + [ + 0.9997806040013654, + -0.019964750446546005, + 0.006336608104683213, + -0.020224946279097288, + -0.9988237924852242, + 0.0440679374766, + 0.0054493495641979835, + -0.04418642670595846, + -0.9990084405470688 + ], + [ + 0.9980925352753158, + -0.05744910644328495, + -0.02260290239240431, + -0.056171551399485195, + -0.996981832858999, + 0.05359087387313272, + -0.025613430872638565, + -0.05221901107814223, + -0.998307130617103 + ], + [ + 0.9971193958542364, + -0.07461224846549172, + 0.01363535075479167, + -0.07547086022915722, + -0.9939018421408846, + 0.08039451128794163, + 0.00755378498194686, + -0.08119199817641938, + -0.9966698549492539 + ], + [ + 0.9971306846777602, + -0.07429980508006041, + 0.014489190423429279, + -0.07523923483676613, + -0.9938180914102805, + 0.08163736109653127, + 0.008333979555969819, + -0.08249327336633278, + -0.9965567744158225 + ], + [ + 0.9993974335715966, + -0.03367935885418924, + -0.00839467436397301, + -0.03301723891220021, + -0.9970435840823907, + 0.06938265903491708, + -0.010706619686955039, + -0.06906368240480384, + -0.997554798528666 + ], + [ + 0.9989895167515911, + 0.04328184393034292, + 0.012108980403471392, + 0.04224120414272022, + -0.9962170302580282, + 0.07594280279557525, + 0.015350117035229831, + -0.07535456595232987, + -0.9970386468423079 + ], + [ + 0.9859432503700268, + 0.1636793413119678, + 0.03354072565504631, + 0.1603280073043071, + -0.983330739109915, + 0.0857647223243832, + 0.04701953980651843, + -0.07918163138777115, + -0.9957506877362197 + ], + [ + 0.9582579409310253, + 0.2776547487785402, + 0.06818767574391409, + 0.26792772975423157, + -0.9553268625628297, + 0.12476104077236505, + 0.09978201376688524, + -0.10128388887965367, + -0.9898409587312696 + ], + [ + 0.9380629439137257, + 0.34443316905117816, + 0.03746605548061382, + 0.3364023676311789, + -0.9313499229550488, + 0.13935841583399733, + 0.08289366868495487, + -0.11812329604691313, + -0.9895329841005613 + ], + [ + 0.9232270138870708, + 0.3815642847603939, + 0.045393583516295896, + 0.3722715523218258, + -0.9174443896271228, + 0.1403911794722653, + 0.09521434850409892, + -0.11271418959920142, + -0.9890549728412141 + ], + [ + 0.9078567771341929, + 0.4149504550762942, + 0.06010151448584848, + 0.40500563153710306, + -0.9049767440682343, + 0.13033622335670897, + 0.1084735480877649, + -0.0939851718497867, + -0.9896465413659653 + ], + [ + 0.8971508752697048, + 0.43649631448680276, + 0.06775894363286025, + 0.4265311827679947, + -0.8959257260672299, + 0.1240493591174212, + 0.114854068841023, + -0.08238968873800658, + -0.9899598386097874 + ], + [ + 0.8943796516138387, + 0.4466802669216284, + 0.023701854820490247, + 0.4406742482275829, + -0.8889687781911396, + 0.12466241755399833, + 0.07675445086875043, + -0.10105073252666506, + -0.9919160769579558 + ], + [ + 0.9016442178341337, + 0.43008853519721857, + -0.04540436474815874, + 0.4324770744948714, + -0.8963832182335914, + 0.09726616115354314, + 0.0011333501799776283, + -0.10733581863059699, + -0.9942221771597478 + ], + [ + 0.9082403638780193, + 0.41403701679941074, + -0.06060354892717035, + 0.4178640781621277, + -0.9050626960341689, + 0.07906407799422759, + -0.022114556392537524, + -0.09713323307296277, + -0.9950256687283776 + ], + [ + 0.9137768165777704, + 0.4052816546825367, + -0.02754468846765557, + 0.40621660249414576, + -0.9116797787147747, + 0.06187126102393609, + -3.664844188367919e-05, + -0.06772563370219535, + -0.9977039827506589 + ], + [ + 0.9148615358311388, + 0.40360311042516755, + 0.011528205056292458, + 0.4022992944297293, + -0.9135955695374607, + 0.05914738390550239, + 0.0344041851819204, + -0.0494738777199942, + -0.9981826924292543 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005540.json b/json/chunk-0005/episode_0005540.json new file mode 100644 index 0000000000000000000000000000000000000000..e70c06524417ef514aafd6cd278c5bb42bd19846 --- /dev/null +++ b/json/chunk-0005/episode_0005540.json @@ -0,0 +1,5782 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 95, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nSweep into pile." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005540.mp4", + "start": 0, + "end": 95, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.30584320425987244, + -0.00250108540058136, + 0.09178325533866882, + 0.2774425745010376, + -0.3494319021701813, + -0.08330565690994263, + 0.0, + 0.9994885921478271 + ], + [ + 0.30315300822257996, + -0.003205139422789216, + 0.08316873013973236, + 0.2727469801902771, + -0.32172927260398865, + -0.08560744673013687, + 0.0, + 0.9994885921478271 + ], + [ + 0.30037567019462585, + -0.02445150539278984, + 0.08375739306211472, + 0.23254765570163727, + -0.3351523280143738, + -0.21172161400318146, + 0.0, + 0.9994885921478271 + ], + [ + 0.29544079303741455, + -0.041479386389255524, + 0.08836530894041061, + 0.20497485995292664, + -0.3666308522224426, + -0.27803778648376465, + 0.0, + 0.9994885921478271 + ], + [ + 0.29137811064720154, + -0.04957577958703041, + 0.08244898170232773, + 0.1727074533700943, + -0.3696402907371521, + -0.3057727813720703, + 0.0, + 0.9994885921478271 + ], + [ + 0.2885689437389374, + -0.059744082391262054, + 0.06306683272123337, + 0.1428254097700119, + -0.31737467646598816, + -0.30416542291641235, + 0.0, + 0.9994885921478271 + ], + [ + 0.29494887590408325, + -0.06543193012475967, + 0.03889300674200058, + 0.11373946070671082, + -0.24184951186180115, + -0.27973824739456177, + 0.0, + 0.9994885921478271 + ], + [ + 0.30010250210762024, + -0.07343310862779617, + 0.02354191616177559, + 0.09740962833166122, + -0.21443845331668854, + -0.2645591199398041, + 0.0, + 0.9994885921478271 + ], + [ + 0.2999214231967926, + -0.0811251848936081, + 0.017399199306964874, + 0.10208839923143387, + -0.21487702429294586, + -0.26665499806404114, + 0.0, + 0.9484345316886902 + ], + [ + 0.3034989535808563, + -0.08359126001596451, + 0.015717193484306335, + 0.10068762302398682, + -0.2400735318660736, + -0.25279828906059265, + 0.0, + 0.6551066637039185 + ], + [ + 0.3029661178588867, + -0.08868656307458878, + 0.015910031273961067, + 0.07387195527553558, + -0.243413046002388, + -0.2746972441673279, + 0.0, + 0.3953573703765869 + ], + [ + 0.30363550782203674, + -0.08850857615470886, + 0.02430509589612484, + 0.05727183073759079, + -0.25242486596107483, + -0.2974378168582916, + 0.0, + 0.3823249042034149 + ], + [ + 0.3179337978363037, + -0.06967735290527344, + 0.0415203794836998, + 0.03668773174285889, + -0.27506178617477417, + -0.2766970992088318, + 0.0, + 0.3823249042034149 + ], + [ + 0.3310350477695465, + -0.04850935935974121, + 0.05842194706201553, + 0.005558645352721214, + -0.31668516993522644, + -0.27758508920669556, + 0.0, + 0.3823249042034149 + ], + [ + 0.3364553153514862, + -0.016558276489377022, + 0.06314323097467422, + -0.014048313722014427, + -0.31834349036216736, + -0.26668286323547363, + 0.0, + 0.3823249042034149 + ], + [ + 0.3358685374259949, + 0.009827171452343464, + 0.06395357102155685, + -0.016912849619984627, + -0.3216443955898285, + -0.2782679796218872, + 0.0, + 0.3823249042034149 + ], + [ + 0.337415486574173, + 0.04315695911645889, + 0.07106282562017441, + -0.018641363829374313, + -0.3404654860496521, + -0.2744792699813843, + 0.0, + 0.3823249042034149 + ], + [ + 0.34106388688087463, + 0.0721709355711937, + 0.07269375026226044, + -0.029752012342214584, + -0.34170377254486084, + -0.23440992832183838, + 0.0, + 0.3823249042034149 + ], + [ + 0.3514747619628906, + 0.10617997497320175, + 0.0728248879313469, + 0.0005275320145301521, + -0.3343970477581024, + -0.17743705213069916, + 0.0, + 0.3823249042034149 + ], + [ + 0.35556867718696594, + 0.13420574367046356, + 0.06520404666662216, + 0.08065501600503922, + -0.30884674191474915, + -0.11266595870256424, + 0.0, + 0.3823249042034149 + ], + [ + 0.35545599460601807, + 0.15488232672214508, + 0.05746278539299965, + 0.1963091492652893, + -0.26315557956695557, + -0.1105668917298317, + 0.0, + 0.3823249042034149 + ], + [ + 0.35233616828918457, + 0.15937207639217377, + 0.040713515132665634, + 0.21308967471122742, + -0.2049616575241089, + -0.15041622519493103, + 0.0, + 0.3823249042034149 + ], + [ + 0.3507929742336273, + 0.16924802958965302, + 0.03380199894309044, + 0.26148009300231934, + -0.17810289561748505, + -0.1740921437740326, + 0.0, + 0.3823249042034149 + ], + [ + 0.3451366424560547, + 0.17869539558887482, + 0.0265086330473423, + 0.29228731989860535, + -0.17663255333900452, + -0.17576318979263306, + 0.0, + 0.3823249042034149 + ], + [ + 0.34122854471206665, + 0.18209615349769592, + 0.02100403606891632, + 0.29609933495521545, + -0.2078387290239334, + -0.16321182250976562, + 0.0, + 0.3823249042034149 + ], + [ + 0.3393672704696655, + 0.18309126794338226, + 0.019489971920847893, + 0.310786634683609, + -0.23799996078014374, + -0.14065806567668915, + 0.0, + 0.3823249042034149 + ], + [ + 0.339428186416626, + 0.1851917803287506, + 0.020677590742707253, + 0.31685569882392883, + -0.2488701492547989, + -0.10703019797801971, + 0.0, + 0.3823249042034149 + ], + [ + 0.3375914394855499, + 0.17816518247127533, + 0.018506603315472603, + 0.2646731436252594, + -0.24438560009002686, + -0.06614208221435547, + 0.0, + 0.3823249042034149 + ], + [ + 0.33953824639320374, + 0.16532397270202637, + 0.01506629679352045, + 0.24506397545337677, + -0.2434806525707245, + -0.07157693803310394, + 0.0, + 0.3823249042034149 + ], + [ + 0.34277865290641785, + 0.1519109457731247, + 0.012667340226471424, + 0.237229585647583, + -0.24147313833236694, + -0.09501533955335617, + 0.0, + 0.3823249042034149 + ], + [ + 0.3503693640232086, + 0.1317102462053299, + 0.012769946828484535, + 0.23226700723171234, + -0.25527554750442505, + -0.1263962686061859, + 0.0, + 0.3823249042034149 + ], + [ + 0.354640930891037, + 0.11308642476797104, + 0.011602220125496387, + 0.22837859392166138, + -0.26431983709335327, + -0.15874634683132172, + 0.0, + 0.3823249042034149 + ], + [ + 0.3585629165172577, + 0.09368538856506348, + 0.01127979252487421, + 0.227988138794899, + -0.2696245014667511, + -0.1930188536643982, + 0.0, + 0.3823249042034149 + ], + [ + 0.36090147495269775, + 0.07384268939495087, + 0.011621681042015553, + 0.22816535830497742, + -0.27377834916114807, + -0.22637058794498444, + 0.0, + 0.3823249042034149 + ], + [ + 0.36197981238365173, + 0.058489520102739334, + 0.012715883553028107, + 0.22819165885448456, + -0.27597054839134216, + -0.2501135468482971, + 0.0, + 0.3823249042034149 + ], + [ + 0.36143702268600464, + 0.046913765370845795, + 0.012113993056118488, + 0.1884429007768631, + -0.2799569368362427, + -0.22232277691364288, + 0.0, + 0.3823249042034149 + ], + [ + 0.3600405156612396, + 0.030490154400467873, + 0.012265226803719997, + 0.1617029905319214, + -0.27294421195983887, + -0.2226860672235489, + 0.0, + 0.3823249042034149 + ], + [ + 0.35849809646606445, + 0.019664723426103592, + 0.012247818522155285, + 0.14083842933177948, + -0.27871352434158325, + -0.20564301311969757, + 0.0, + 0.3823249042034149 + ], + [ + 0.35666510462760925, + 0.01366673968732357, + 0.011832823976874352, + 0.12330831587314606, + -0.2726999819278717, + -0.18712849915027618, + 0.0, + 0.3823249042034149 + ], + [ + 0.35411396622657776, + -0.0007227961323224008, + 0.01180907990783453, + 0.10582978278398514, + -0.26556310057640076, + -0.19709458947181702, + 0.0, + 0.3823249042034149 + ], + [ + 0.35281458497047424, + -0.007989688776433468, + 0.0122109679505229, + 0.0949455201625824, + -0.26315727829933167, + -0.19609284400939941, + 0.0, + 0.3823249042034149 + ], + [ + 0.34997034072875977, + -0.030118390917778015, + 0.013291760347783566, + 0.07238942384719849, + -0.26638123393058777, + -0.2223837673664093, + 0.0, + 0.3823249042034149 + ], + [ + 0.34905967116355896, + -0.03346642851829529, + 0.013594849966466427, + 0.0644044429063797, + -0.26429423689842224, + -0.21858449280261993, + 0.0, + 0.3823249042034149 + ], + [ + 0.3468771278858185, + -0.04300052672624588, + 0.017085926607251167, + 0.05532064661383629, + -0.26870957016944885, + -0.22356854379177094, + 0.0, + 0.3823249042034149 + ], + [ + 0.3535516560077667, + -0.039060115814208984, + 0.041663650423288345, + 0.07442309707403183, + -0.3397282063961029, + -0.22468650341033936, + 0.0, + 0.3823249042034149 + ], + [ + 0.36097878217697144, + -0.01508997194468975, + 0.06987891346216202, + 0.10827244073152542, + -0.4223792850971222, + -0.18044514954090118, + 0.0, + 0.3823249042034149 + ], + [ + 0.36558419466018677, + 0.013331625610589981, + 0.09118678420782089, + 0.15960577130317688, + -0.4895879328250885, + -0.1460597813129425, + 0.0, + 0.3823249042034149 + ], + [ + 0.36701640486717224, + 0.04793570935726166, + 0.08108770102262497, + 0.2403581440448761, + -0.4731394648551941, + -0.12041591107845306, + 0.0, + 0.3823249042034149 + ], + [ + 0.3670857846736908, + 0.08482374995946884, + 0.050245244055986404, + 0.34929782152175903, + -0.37762096524238586, + -0.12339010089635849, + 0.0, + 0.3823249042034149 + ], + [ + 0.36694806814193726, + 0.11082091927528381, + 0.038032833486795425, + 0.3811081349849701, + -0.3392639756202698, + -0.10207735747098923, + 0.0, + 0.3823249042034149 + ], + [ + 0.3736679255962372, + 0.12785667181015015, + 0.03313671424984932, + 0.3700007498264313, + -0.308002769947052, + -0.06514283269643784, + 0.0, + 0.3823249042034149 + ], + [ + 0.3787772059440613, + 0.13872981071472168, + 0.033224351704120636, + 0.3469834327697754, + -0.28312066197395325, + -0.04234650358557701, + 0.0, + 0.3823249042034149 + ], + [ + 0.38637056946754456, + 0.1367725133895874, + 0.034262944012880325, + 0.296595960855484, + -0.24846197664737701, + -0.0865699052810669, + 0.0, + 0.3823249042034149 + ], + [ + 0.3942933976650238, + 0.12916484475135803, + 0.028230607509613037, + 0.24500499665737152, + -0.23110218346118927, + -0.21418429911136627, + 0.0, + 0.3823249042034149 + ], + [ + 0.40030673146247864, + 0.12217923253774643, + 0.025113429874181747, + 0.22220738232135773, + -0.21028083562850952, + -0.3587605059146881, + 0.0, + 0.3823249042034149 + ], + [ + 0.4020498991012573, + 0.1250581294298172, + 0.02127416804432869, + 0.24205927550792694, + -0.19330011308193207, + -0.38461363315582275, + 0.0, + 0.3823249042034149 + ], + [ + 0.4055943787097931, + 0.12682940065860748, + 0.02140369825065136, + 0.2807033360004425, + -0.1948951929807663, + -0.4065433740615845, + 0.0, + 0.3823249042034149 + ], + [ + 0.40616971254348755, + 0.12511691451072693, + 0.019869539886713028, + 0.27718237042427063, + -0.1954868882894516, + -0.3982728123664856, + 0.0, + 0.3823249042034149 + ], + [ + 0.4042552709579468, + 0.1110333576798439, + 0.015672717243433, + 0.2588673532009125, + -0.19643361866474152, + -0.4200434982776642, + 0.0, + 0.3823249042034149 + ], + [ + 0.40579870343208313, + 0.08950458467006683, + 0.016601786017417908, + 0.2296748012304306, + -0.22168509662151337, + -0.4449623227119446, + 0.0, + 0.3823249042034149 + ], + [ + 0.407013475894928, + 0.04894845187664032, + 0.01869933493435383, + 0.20690105855464935, + -0.2332971841096878, + -0.5254964232444763, + 0.0, + 0.3823249042034149 + ], + [ + 0.40655210614204407, + 0.03912738338112831, + 0.017760422080755234, + 0.1895097941160202, + -0.2413317710161209, + -0.5392166376113892, + 0.0, + 0.3823249042034149 + ], + [ + 0.4048912823200226, + 0.026185184717178345, + 0.018099630251526833, + 0.18280595541000366, + -0.24047474563121796, + -0.5591874122619629, + 0.0, + 0.3823249042034149 + ], + [ + 0.4028969705104828, + 0.006264864467084408, + 0.019481653347611427, + 0.17781928181648254, + -0.2496424913406372, + -0.5889368057250977, + 0.0, + 0.3823249042034149 + ], + [ + 0.39827919006347656, + -0.0035209087654948235, + 0.01929478906095028, + 0.1675979197025299, + -0.25450560450553894, + -0.5978277325630188, + 0.0, + 0.3823249042034149 + ], + [ + 0.3955875337123871, + -0.014678850769996643, + 0.020090829581022263, + 0.14886382222175598, + -0.25527024269104004, + -0.5984249711036682, + 0.0, + 0.3823249042034149 + ], + [ + 0.39437738060951233, + -0.025013228878378868, + 0.022853534668684006, + 0.12469030171632767, + -0.2717577815055847, + -0.5955098271369934, + 0.0, + 0.3823249042034149 + ], + [ + 0.39163151383399963, + -0.029844462871551514, + 0.022509103640913963, + 0.09200362861156464, + -0.26899465918540955, + -0.5746358633041382, + 0.0, + 0.3823249042034149 + ], + [ + 0.38831356167793274, + -0.0395691879093647, + 0.02100571244955063, + 0.07233285903930664, + -0.2708218991756439, + -0.5767915844917297, + 0.0, + 0.3823249042034149 + ], + [ + 0.39000874757766724, + -0.03423019126057625, + 0.04451097548007965, + 0.1314125806093216, + -0.31833550333976746, + -0.5851403474807739, + 0.0, + 0.3823249042034149 + ], + [ + 0.39100590348243713, + 0.0035808843094855547, + 0.06563354283571243, + 0.19559332728385925, + -0.38635122776031494, + -0.5278480052947998, + 0.0, + 0.3823249042034149 + ], + [ + 0.3862464129924774, + 0.050098713487386703, + 0.07727988064289093, + 0.2634056806564331, + -0.39533212780952454, + -0.4610147178173065, + 0.0, + 0.3823249042034149 + ], + [ + 0.3776945173740387, + 0.07103201746940613, + 0.07083006948232651, + 0.30601638555526733, + -0.35725274682044983, + -0.4597629904747009, + 0.0, + 0.3823249042034149 + ], + [ + 0.35759517550468445, + 0.10563314706087112, + 0.046704936772584915, + 0.32049229741096497, + -0.26859283447265625, + -0.40488672256469727, + 0.0, + 0.3823249042034149 + ], + [ + 0.3430944085121155, + 0.11421374976634979, + 0.03506575897336006, + 0.3159376084804535, + -0.22701123356819153, + -0.38221147656440735, + 0.0, + 0.3823249042034149 + ], + [ + 0.327506422996521, + 0.11812368780374527, + 0.024722198024392128, + 0.2974078953266144, + -0.1844930648803711, + -0.3628242313861847, + 0.0, + 0.3823249042034149 + ], + [ + 0.3191399574279785, + 0.11323055624961853, + 0.01848185434937477, + 0.24899822473526, + -0.17587102949619293, + -0.3258604109287262, + 0.0, + 0.3823249042034149 + ], + [ + 0.30770543217658997, + 0.10333188623189926, + 0.0194326713681221, + 0.21799437701702118, + -0.15476134419441223, + -0.30588117241859436, + 0.0, + 0.3823249042034149 + ], + [ + 0.302411288022995, + 0.09248872846364975, + 0.014343855902552605, + 0.19656504690647125, + -0.1763569712638855, + -0.2541833221912384, + 0.0, + 0.3823249042034149 + ], + [ + 0.2999823987483978, + 0.07516981661319733, + 0.014840938150882721, + 0.18478256464004517, + -0.19280029833316803, + -0.22493606805801392, + 0.0, + 0.3823249042034149 + ], + [ + 0.3014531135559082, + 0.06413506716489792, + 0.013900090008974075, + 0.18560944497585297, + -0.21927295625209808, + -0.20079046487808228, + 0.0, + 0.3823249042034149 + ], + [ + 0.3035556375980377, + 0.05425247177481651, + 0.012973940931260586, + 0.1637016236782074, + -0.24630466103553772, + -0.13966791331768036, + 0.0, + 0.3823249042034149 + ], + [ + 0.30661168694496155, + 0.03448444604873657, + 0.01323143020272255, + 0.1304044872522354, + -0.25862887501716614, + -0.11652547866106033, + 0.0, + 0.3823249042034149 + ], + [ + 0.31013616919517517, + 0.014384795911610126, + 0.014430846087634563, + 0.10522416979074478, + -0.27029016613960266, + -0.09126162528991699, + 0.0, + 0.3823249042034149 + ], + [ + 0.31017109751701355, + -0.002362369792535901, + 0.014494628645479679, + 0.08454688638448715, + -0.2726154029369354, + -0.0806734710931778, + 0.0, + 0.3823249042034149 + ], + [ + 0.3098122477531433, + -0.025248439982533455, + 0.015276150777935982, + 0.06920672208070755, + -0.27646148204803467, + -0.08806923776865005, + 0.0, + 0.3823249042034149 + ], + [ + 0.30905717611312866, + -0.037193089723587036, + 0.01577352173626423, + 0.06414684653282166, + -0.2829269766807556, + -0.06170385330915451, + 0.0, + 0.3823249042034149 + ], + [ + 0.30993908643722534, + -0.05514705926179886, + 0.018560020253062248, + 0.040148939937353134, + -0.2953423261642456, + -0.022133011370897293, + 0.0, + 0.3823249042034149 + ], + [ + 0.31613799929618835, + -0.06522629410028458, + 0.023823531344532967, + 0.019221147522330284, + -0.3161434233188629, + 0.02450268529355526, + 0.0, + 0.3823249042034149 + ], + [ + 0.32494503259658813, + -0.07142718881368637, + 0.023513713851571083, + -0.0036847253795713186, + -0.32327020168304443, + 0.08484667539596558, + 0.0, + 0.3823249042034149 + ], + [ + 0.3360646963119507, + -0.07241436094045639, + 0.02283927984535694, + -0.0026290477253496647, + -0.33573347330093384, + 0.11821332573890686, + 0.0, + 0.3823249042034149 + ], + [ + 0.3363175690174103, + -0.06967007368803024, + 0.022710522636771202, + 0.0076360241509974, + -0.33642101287841797, + 0.13314169645309448, + 0.0, + 0.3823249042034149 + ], + [ + 0.34225744009017944, + -0.057949312031269073, + 0.052132416516542435, + 0.013628293760120869, + -0.4137854278087616, + 0.14921332895755768, + 0.0, + 0.3823249042034149 + ], + [ + 0.3424576222896576, + -0.023888058960437775, + 0.08525985479354858, + 0.011622418649494648, + -0.5026652216911316, + 0.21367263793945312, + 0.0, + 0.3823249042034149 + ], + [ + 0.34492263197898865, + 0.023174893110990524, + 0.0909058153629303, + 0.07817647606134415, + -0.4972679316997528, + 0.23339658975601196, + 0.0, + 0.3823249042034149 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9484345316886902 + ], + [ + 0.6551066637039185 + ], + [ + 0.3953573703765869 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.30584320425987244, + -0.00250108540058136, + 0.09178325533866882 + ], + [ + 0.30315300822257996, + -0.003205139422789216, + 0.08316873013973236 + ], + [ + 0.30037567019462585, + -0.02445150539278984, + 0.08375739306211472 + ], + [ + 0.29544079303741455, + -0.041479386389255524, + 0.08836530894041061 + ], + [ + 0.29137811064720154, + -0.04957577958703041, + 0.08244898170232773 + ], + [ + 0.2885689437389374, + -0.059744082391262054, + 0.06306683272123337 + ], + [ + 0.29494887590408325, + -0.06543193012475967, + 0.03889300674200058 + ], + [ + 0.30010250210762024, + -0.07343310862779617, + 0.02354191616177559 + ], + [ + 0.2999214231967926, + -0.0811251848936081, + 0.017399199306964874 + ], + [ + 0.3034989535808563, + -0.08359126001596451, + 0.015717193484306335 + ], + [ + 0.3029661178588867, + -0.08868656307458878, + 0.015910031273961067 + ], + [ + 0.30363550782203674, + -0.08850857615470886, + 0.02430509589612484 + ], + [ + 0.3179337978363037, + -0.06967735290527344, + 0.0415203794836998 + ], + [ + 0.3310350477695465, + -0.04850935935974121, + 0.05842194706201553 + ], + [ + 0.3364553153514862, + -0.016558276489377022, + 0.06314323097467422 + ], + [ + 0.3358685374259949, + 0.009827171452343464, + 0.06395357102155685 + ], + [ + 0.337415486574173, + 0.04315695911645889, + 0.07106282562017441 + ], + [ + 0.34106388688087463, + 0.0721709355711937, + 0.07269375026226044 + ], + [ + 0.3514747619628906, + 0.10617997497320175, + 0.0728248879313469 + ], + [ + 0.35556867718696594, + 0.13420574367046356, + 0.06520404666662216 + ], + [ + 0.35545599460601807, + 0.15488232672214508, + 0.05746278539299965 + ], + [ + 0.35233616828918457, + 0.15937207639217377, + 0.040713515132665634 + ], + [ + 0.3507929742336273, + 0.16924802958965302, + 0.03380199894309044 + ], + [ + 0.3451366424560547, + 0.17869539558887482, + 0.0265086330473423 + ], + [ + 0.34122854471206665, + 0.18209615349769592, + 0.02100403606891632 + ], + [ + 0.3393672704696655, + 0.18309126794338226, + 0.019489971920847893 + ], + [ + 0.339428186416626, + 0.1851917803287506, + 0.020677590742707253 + ], + [ + 0.3375914394855499, + 0.17816518247127533, + 0.018506603315472603 + ], + [ + 0.33953824639320374, + 0.16532397270202637, + 0.01506629679352045 + ], + [ + 0.34277865290641785, + 0.1519109457731247, + 0.012667340226471424 + ], + [ + 0.3503693640232086, + 0.1317102462053299, + 0.012769946828484535 + ], + [ + 0.354640930891037, + 0.11308642476797104, + 0.011602220125496387 + ], + [ + 0.3585629165172577, + 0.09368538856506348, + 0.01127979252487421 + ], + [ + 0.36090147495269775, + 0.07384268939495087, + 0.011621681042015553 + ], + [ + 0.36197981238365173, + 0.058489520102739334, + 0.012715883553028107 + ], + [ + 0.36143702268600464, + 0.046913765370845795, + 0.012113993056118488 + ], + [ + 0.3600405156612396, + 0.030490154400467873, + 0.012265226803719997 + ], + [ + 0.35849809646606445, + 0.019664723426103592, + 0.012247818522155285 + ], + [ + 0.35666510462760925, + 0.01366673968732357, + 0.011832823976874352 + ], + [ + 0.35411396622657776, + -0.0007227961323224008, + 0.01180907990783453 + ], + [ + 0.35281458497047424, + -0.007989688776433468, + 0.0122109679505229 + ], + [ + 0.34997034072875977, + -0.030118390917778015, + 0.013291760347783566 + ], + [ + 0.34905967116355896, + -0.03346642851829529, + 0.013594849966466427 + ], + [ + 0.3468771278858185, + -0.04300052672624588, + 0.017085926607251167 + ], + [ + 0.3535516560077667, + -0.039060115814208984, + 0.041663650423288345 + ], + [ + 0.36097878217697144, + -0.01508997194468975, + 0.06987891346216202 + ], + [ + 0.36558419466018677, + 0.013331625610589981, + 0.09118678420782089 + ], + [ + 0.36701640486717224, + 0.04793570935726166, + 0.08108770102262497 + ], + [ + 0.3670857846736908, + 0.08482374995946884, + 0.050245244055986404 + ], + [ + 0.36694806814193726, + 0.11082091927528381, + 0.038032833486795425 + ], + [ + 0.3736679255962372, + 0.12785667181015015, + 0.03313671424984932 + ], + [ + 0.3787772059440613, + 0.13872981071472168, + 0.033224351704120636 + ], + [ + 0.38637056946754456, + 0.1367725133895874, + 0.034262944012880325 + ], + [ + 0.3942933976650238, + 0.12916484475135803, + 0.028230607509613037 + ], + [ + 0.40030673146247864, + 0.12217923253774643, + 0.025113429874181747 + ], + [ + 0.4020498991012573, + 0.1250581294298172, + 0.02127416804432869 + ], + [ + 0.4055943787097931, + 0.12682940065860748, + 0.02140369825065136 + ], + [ + 0.40616971254348755, + 0.12511691451072693, + 0.019869539886713028 + ], + [ + 0.4042552709579468, + 0.1110333576798439, + 0.015672717243433 + ], + [ + 0.40579870343208313, + 0.08950458467006683, + 0.016601786017417908 + ], + [ + 0.407013475894928, + 0.04894845187664032, + 0.01869933493435383 + ], + [ + 0.40655210614204407, + 0.03912738338112831, + 0.017760422080755234 + ], + [ + 0.4048912823200226, + 0.026185184717178345, + 0.018099630251526833 + ], + [ + 0.4028969705104828, + 0.006264864467084408, + 0.019481653347611427 + ], + [ + 0.39827919006347656, + -0.0035209087654948235, + 0.01929478906095028 + ], + [ + 0.3955875337123871, + -0.014678850769996643, + 0.020090829581022263 + ], + [ + 0.39437738060951233, + -0.025013228878378868, + 0.022853534668684006 + ], + [ + 0.39163151383399963, + -0.029844462871551514, + 0.022509103640913963 + ], + [ + 0.38831356167793274, + -0.0395691879093647, + 0.02100571244955063 + ], + [ + 0.39000874757766724, + -0.03423019126057625, + 0.04451097548007965 + ], + [ + 0.39100590348243713, + 0.0035808843094855547, + 0.06563354283571243 + ], + [ + 0.3862464129924774, + 0.050098713487386703, + 0.07727988064289093 + ], + [ + 0.3776945173740387, + 0.07103201746940613, + 0.07083006948232651 + ], + [ + 0.35759517550468445, + 0.10563314706087112, + 0.046704936772584915 + ], + [ + 0.3430944085121155, + 0.11421374976634979, + 0.03506575897336006 + ], + [ + 0.327506422996521, + 0.11812368780374527, + 0.024722198024392128 + ], + [ + 0.3191399574279785, + 0.11323055624961853, + 0.01848185434937477 + ], + [ + 0.30770543217658997, + 0.10333188623189926, + 0.0194326713681221 + ], + [ + 0.302411288022995, + 0.09248872846364975, + 0.014343855902552605 + ], + [ + 0.2999823987483978, + 0.07516981661319733, + 0.014840938150882721 + ], + [ + 0.3014531135559082, + 0.06413506716489792, + 0.013900090008974075 + ], + [ + 0.3035556375980377, + 0.05425247177481651, + 0.012973940931260586 + ], + [ + 0.30661168694496155, + 0.03448444604873657, + 0.01323143020272255 + ], + [ + 0.31013616919517517, + 0.014384795911610126, + 0.014430846087634563 + ], + [ + 0.31017109751701355, + -0.002362369792535901, + 0.014494628645479679 + ], + [ + 0.3098122477531433, + -0.025248439982533455, + 0.015276150777935982 + ], + [ + 0.30905717611312866, + -0.037193089723587036, + 0.01577352173626423 + ], + [ + 0.30993908643722534, + -0.05514705926179886, + 0.018560020253062248 + ], + [ + 0.31613799929618835, + -0.06522629410028458, + 0.023823531344532967 + ], + [ + 0.32494503259658813, + -0.07142718881368637, + 0.023513713851571083 + ], + [ + 0.3360646963119507, + -0.07241436094045639, + 0.02283927984535694 + ], + [ + 0.3363175690174103, + -0.06967007368803024, + 0.022710522636771202 + ], + [ + 0.34225744009017944, + -0.057949312031269073, + 0.052132416516542435 + ], + [ + 0.3424576222896576, + -0.023888058960437775, + 0.08525985479354858 + ], + [ + 0.34492263197898865, + 0.023174893110990524, + 0.0909058153629303 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9363090257247279, + 0.013419944968072708, + 0.35092066542662426, + -0.07818077601645924, + -0.9662265049162746, + 0.24554858472152608, + 0.3423640965520116, + -0.25734460607196363, + -0.903637415735864 + ], + [ + 0.9452158488160451, + 0.0025251278367638755, + 0.3264362462662069, + -0.08111576825882955, + -0.9667909267189456, + 0.24235415439744887, + 0.3162075762639844, + -0.2555561146662913, + -0.913621278741868 + ], + [ + 0.9232732000945155, + -0.1303789880916025, + 0.361341829091848, + -0.19845104983119002, + -0.9672830167852767, + 0.15805298560822084, + 0.3289130262062162, + -0.21763475113819414, + -0.9189403333671262 + ], + [ + 0.8976885687076916, + -0.19856139055135935, + 0.39335557425038037, + -0.25622819704922795, + -0.9614923830736614, + 0.09939571584446544, + 0.3584722369283819, + -0.1900151874815333, + -0.913997748289305 + ], + [ + 0.8892049603455858, + -0.23734566031478072, + 0.39112859269880224, + -0.28069782667009774, + -0.95811754934388, + 0.05674056522419419, + 0.3612800417951268, + -0.1602429379692534, + -0.9185852884906731 + ], + [ + 0.9064476994908978, + -0.25406586472110815, + 0.33734715720037567, + -0.2845395276258842, + -0.9576862545966175, + 0.043293128497969346, + 0.3120734293497255, + -0.13523155748647792, + -0.9403842834467638 + ], + [ + 0.9331557339086816, + -0.24819492844163066, + 0.2600377929632609, + -0.268068534918025, + -0.9624225424781718, + 0.04338329536532577, + 0.23949871995535488, + -0.11019132100898575, + -0.9646233647979097 + ], + [ + 0.9431007995753259, + -0.24026834078777415, + 0.22985213998453574, + -0.2554947404873408, + -0.9660438819255355, + 0.03849228205170462, + 0.21279877683785448, + -0.09502811483625048, + -0.9724640548457207 + ], + [ + 0.942473123137924, + -0.24117194704512945, + 0.23147462954092585, + -0.2574461851240779, + -0.9653612847469992, + 0.04241522930130251, + 0.21322728232500315, + -0.09956747395653032, + -0.9719158627176577 + ], + [ + 0.9404483550546798, + -0.22570669851445438, + 0.25419161614941665, + -0.24294112987367125, + -0.9692904284982756, + 0.03815327819904228, + 0.2377740500783279, + -0.0976347861539867, + -0.9664010294086066 + ], + [ + 0.93413363914481, + -0.25339450872154373, + 0.25136739479861214, + -0.26325921032000904, + -0.9647074662296892, + 0.0058389024977462956, + 0.24101645669903765, + -0.07162909709371205, + -0.9678741344047687 + ], + [ + 0.9257916880643333, + -0.2789227292051217, + 0.25517025971644525, + -0.2837839547799364, + -0.9587126828155211, + -0.018348264716986674, + 0.24975271233852656, + -0.055426554479165994, + -0.96672202816431 + ], + [ + 0.9258012598822786, + -0.26341260022820656, + 0.2711195847617821, + -0.2629106124354875, + -0.9640371700997694, + -0.03886315137537643, + 0.2716064010092233, + -0.03530066156665599, + -0.9617607947009349 + ], + [ + 0.9138964968322104, + -0.27236495811252104, + 0.30101581797337246, + -0.2604070764157467, + -0.9621795195926035, + -0.07999204103628363, + 0.31141828403357646, + -0.005282203035822448, + -0.9502582547395583 + ], + [ + 0.916181709854161, + -0.2677484716935236, + 0.2981976365340409, + -0.25029185104053203, + -0.9633964637702117, + -0.09602730287660358, + 0.3129937121275917, + 0.013342020118153185, + -0.9496614800378905 + ], + [ + 0.9122222395909023, + -0.2797920756693421, + 0.2992774298011784, + -0.2606036681699128, + -0.9599265392147092, + -0.10308621366437551, + 0.3161270531481672, + 0.01604474069321224, + -0.9485811786894905 + ], + [ + 0.907314509308369, + -0.2769901131454344, + 0.3163176542942114, + -0.25548752954526377, + -0.9607121114548431, + -0.10843597719776554, + 0.33392589514047993, + 0.017570319395383283, + -0.9424355577072486 + ], + [ + 0.9164178240505089, + -0.24186189984462467, + 0.31887488638348394, + -0.21884048015123855, + -0.9699058024581871, + -0.10673133843963487, + 0.3350928468495059, + 0.028027767686515347, + -0.9417681393149827 + ], + [ + 0.9297773616382302, + -0.17633700605925415, + 0.3231397810222533, + -0.16673041284769854, + -0.9843297272662614, + -0.05741042981517376, + 0.32819967583269677, + -0.0004983111332861438, + -0.9446082386202901 + ], + [ + 0.9466446328918454, + -0.08772819329504104, + 0.31010917935180604, + -0.1071082059862692, + -0.9931829408515754, + 0.045994328039643574, + 0.30396014743295807, + -0.07675552164244166, + -0.9495877098351317 + ], + [ + 0.9596778513944348, + -0.057793951590735804, + 0.2750968569476735, + -0.10654311587896534, + -0.980402701221509, + 0.16570789931795604, + 0.26012878733766165, + -0.18833587708425653, + -0.9470283054909929 + ], + [ + 0.968013920090235, + -0.10390381397208572, + 0.22837041829797036, + -0.14671313588111506, + -0.9727962665766032, + 0.1792837959620206, + 0.20352962013295564, + -0.20705415034883068, + -0.9569243818358159 + ], + [ + 0.9693048665809282, + -0.12222007141173212, + 0.21333150204936935, + -0.17047409937133842, + -0.9593393635518979, + 0.22495903401146256, + 0.17716279820001718, + -0.25442138212805626, + -0.9507276703925207 + ], + [ + 0.9692740724330706, + -0.11759216079865013, + 0.21605521569199582, + -0.17213897677275597, + -0.9516874770984032, + 0.2542815734765396, + 0.17571552345947983, + -0.2836600600239319, + -0.9426881908471009 + ], + [ + 0.9654756602017025, + -0.09600726507496736, + 0.24215564129483277, + -0.15899129751735125, + -0.9535541653412563, + 0.2558441343359064, + 0.206345624794508, + -0.28551192411730403, + -0.9358976569662941 + ], + [ + 0.9622137911102425, + -0.06209343314709071, + 0.265120775793339, + -0.1362428253957404, + -0.952798012294276, + 0.2713187061303775, + 0.2357594382531481, + -0.2971874043900315, + -0.9252551723424601 + ], + [ + 0.9636453622377056, + -0.025202245003412886, + 0.26599335082770165, + -0.10353480253191377, + -0.952980771248097, + 0.284795003987183, + 0.24630907515241587, + -0.30198095383346596, + -0.9209448099747298 + ], + [ + 0.9681645502207242, + -0.0006354536072599865, + 0.2503138028447808, + -0.06412996461996068, + -0.967251038088018, + 0.2455865976707483, + 0.24196022675998913, + -0.25382085319446157, + -0.9364989178583658 + ], + [ + 0.9680197205418454, + -0.011037896466581914, + 0.2506311742056046, + -0.0694064571190502, + -0.9718208026666826, + 0.2252711060355182, + 0.24108206974445143, + -0.2354622949558533, + -0.9415078031019465 + ], + [ + 0.966607055797319, + -0.036269931989673904, + 0.25368344785638397, + -0.0921198814229216, + -0.9729402721012984, + 0.2118989248912746, + 0.23913328319049423, + -0.2281922850512602, + -0.9437921137165848 + ], + [ + 0.9598748909747796, + -0.06501429268694434, + 0.2727880778600318, + -0.12197485486514287, + -0.9727110509556164, + 0.1973710873695718, + 0.25251203626120833, + -0.22272483717636013, + -0.9416110229006357 + ], + [ + 0.9531333374270956, + -0.09557230442471047, + 0.28705883667296545, + -0.1525903735825822, + -0.9711374995355415, + 0.18332521617547232, + 0.26125278749711706, + -0.21853579025598102, + -0.9402069396692303 + ], + [ + 0.9459715389487683, + -0.12777244281916372, + 0.2980135070008117, + -0.18489219706962284, + -0.9675818046770959, + 0.1720474548506385, + 0.26636952333490976, + -0.2178523677030807, + -0.9389289765070067 + ], + [ + 0.9381938052228124, + -0.15903012859102858, + 0.30741145398612, + -0.21608311640305453, + -0.9629574870205823, + 0.1613101515607408, + 0.27037098706607454, + -0.21776660990915503, + -0.937804474803565 + ], + [ + 0.9322228984830163, + -0.18137599102152407, + 0.31315047089998727, + -0.23814834157667508, + -0.9590246729432873, + 0.15348304170265786, + 0.2724808891430792, + -0.21765667131282823, + -0.93721915179152 + ], + [ + 0.9374134704480034, + -0.16610454201306288, + 0.30604781741626697, + -0.2119113350350946, + -0.969534008753424, + 0.12287144482815857, + 0.27631426222016475, + -0.18003634908858254, + -0.9440536751162932 + ], + [ + 0.9392032288840572, + -0.175640507094974, + 0.29503848413585215, + -0.21267459655767187, + -0.9721693491992842, + 0.09826633429853436, + 0.26956782232453597, + -0.1550392490463631, + -0.9504188657756889 + ], + [ + 0.941153145688514, + -0.16436919280639403, + 0.2953193607212193, + -0.19631675171517296, + -0.977123105286879, + 0.0817934600718812, + 0.27511904579039653, + -0.13495630985879004, + -0.9518909102794713 + ], + [ + 0.9462348120400379, + -0.15207719241817438, + 0.2855034291033295, + -0.17916366101554002, + -0.9812450675675535, + 0.07112313228378113, + 0.26933262530756086, + -0.11845102329888556, + -0.955734948625603 + ], + [ + 0.9462632024739739, + -0.16753867673946166, + 0.27661660008048905, + -0.18895646923205917, + -0.9805820676274047, + 0.0524810573723283, + 0.26245267074094125, + -0.10192938950054548, + -0.9595462444181588 + ], + [ + 0.9470685879541006, + -0.16977250439395092, + 0.2724672208953435, + -0.18813093938265207, + -0.981222641210432, + 0.042530906680021255, + 0.2601304275889825, + -0.09153919995187688, + -0.9612246020127364 + ], + [ + 0.9409728377699447, + -0.20140723761853377, + 0.2720390472230935, + -0.2127762882754299, + -0.9770192105910069, + 0.012637772108106526, + 0.2632420363978903, + -0.0697752590177691, + -0.9622032235978503 + ], + [ + 0.9423087017099512, + -0.1999858648373853, + 0.2684398713808169, + -0.20931842449716817, + -0.9778272432996776, + 0.00629916081526408, + 0.26122807630063377, + -0.06212516499934874, + -0.9632758462798048 + ], + [ + 0.9401198737167517, + -0.207057469713955, + 0.2707431019960679, + -0.2137545114032019, + -0.9768753437854799, + -0.0048550549717286985, + 0.26548753623772436, + -0.053308225816047286, + -0.9626393931077036 + ], + [ + 0.9191459137699245, + -0.19802963229791493, + 0.3405217378259471, + -0.21006663954215804, + -0.9776858364267789, + -0.0015531265031618058, + 0.3332308451381947, + -0.07010470727720353, + -0.9402353608889967 + ], + [ + 0.8973069692257118, + -0.13483817183849858, + 0.4203080660589544, + -0.1636952223180221, + -0.9859532265898678, + 0.03316789362141679, + 0.4099317957529279, + -0.09856420441661282, + -0.9067750660657248 + ], + [ + 0.8731297627559206, + -0.06974866885616118, + 0.48247232105332566, + -0.12844382763420167, + -0.9876550567881944, + 0.08966421774255233, + 0.4702622678170823, + -0.14025908880889648, + -0.8713098114184373 + ], + [ + 0.883696344109273, + -0.008981767285119485, + 0.4679744643293489, + -0.1069284210802451, + -0.9772503489035564, + 0.18316131778616018, + 0.45568309621182007, + -0.2118987574864773, + -0.8645529667998925 + ], + [ + 0.922477201437536, + 0.009582262509487328, + 0.3859326276348902, + -0.11440575883108664, + -0.9480001702078041, + 0.2969966323584455, + 0.36871009638231333, + -0.31812553737663635, + -0.8734122779618864 + ], + [ + 0.938091200444672, + 0.028548691195245404, + 0.34520989539599295, + -0.09609185509820448, + -0.9360345596070194, + 0.3385345751988689, + 0.33279311145523965, + -0.35074816528719216, + -0.875342486981872 + ], + [ + 0.950919712602546, + 0.048702097629149545, + 0.30558109540744216, + -0.06203337662464719, + -0.9374858725436337, + 0.3424501408462944, + 0.3031560000534975, + -0.3445988166950417, + -0.8884526409234997 + ], + [ + 0.9593275586298831, + 0.05510161094717898, + 0.27686539640094715, + -0.040648468108045385, + -0.9435813759125763, + 0.32863640862113597, + 0.27935342720950657, + -0.3265241177952324, + -0.9029638216475496 + ], + [ + 0.9656619511961894, + -0.011083510118641421, + 0.25956531319769804, + -0.08380672726415384, + -0.9589697974591562, + 0.2708382543630374, + 0.24591345729187097, + -0.2832915165771746, + -0.9269695184622654 + ], + [ + 0.951172102842531, + -0.15191359873102717, + 0.2686892057651482, + -0.2068996837609785, + -0.9597776372655088, + 0.18978779693290232, + 0.2290505438407095, + -0.23611256960531757, + -0.9443445890355116 + ], + [ + 0.9157075207018286, + -0.29940840306906874, + 0.2680192991217974, + -0.34337970384849176, + -0.9294632702454424, + 0.1348644069040053, + 0.208734557548652, + -0.21552873923511245, + -0.9539272755554747 + ], + [ + 0.9096797319246985, + -0.3215800813746233, + 0.2628098867784461, + -0.3682131430208962, + -0.9171964360786793, + 0.15221622433644372, + 0.19209858571078042, + -0.23523806857662333, + -0.9527650205902073 + ], + [ + 0.9011042459686684, + -0.33068170530452184, + 0.280465234341319, + -0.38795038868451287, + -0.903759685289759, + 0.18086715335983822, + 0.19366371321642317, + -0.27178675652402423, + -0.9426697858536561 + ], + [ + 0.9041761789352424, + -0.3240296744314749, + 0.27833470414933426, + -0.38044005948079695, + -0.9071646231519744, + 0.17977126478885436, + 0.19424417259808013, + -0.2684345666812847, + -0.9435105112410347 + ], + [ + 0.8955118153813593, + -0.34859411589292705, + 0.2766599553191801, + -0.39995771407765673, + -0.9030224559085515, + 0.1567937214134021, + 0.1951727836102093, + -0.25106291340960074, + -0.9480901845542573 + ], + [ + 0.8805380923649393, + -0.37393866088969147, + 0.29124310427259564, + -0.41989067937231955, + -0.9004699176176073, + 0.11333907023613524, + 0.2198737939604573, + -0.22208963361166587, + -0.9499114218555699 + ], + [ + 0.8416396370986128, + -0.4498592582926152, + 0.29877980017553657, + -0.48805272323988647, + -0.8704490091835109, + 0.06421107186128512, + 0.2311866358651516, + -0.1998628783437847, + -0.9521594242864435 + ], + [ + 0.8332435814801785, + -0.4656378111936199, + 0.29813849585201113, + -0.4985840337709758, + -0.8658650492139185, + 0.04113001116509264, + 0.23899601501018242, + -0.1829184116938286, + -0.9536360728667197 + ], + [ + 0.8232943030635959, + -0.4849569746827407, + 0.2949630879442243, + -0.515232495486752, + -0.8565301102574993, + 0.029860438991597224, + 0.2381637380826953, + -0.176558497186741, + -0.9550419524469265 + ], + [ + 0.8057549181795612, + -0.5103800559095049, + 0.30045167724487604, + -0.5382579115773736, + -0.8426945454416255, + 0.012013480232479404, + 0.24705754887032425, + -0.1714004131055193, + -0.9537213775172728 + ], + [ + 0.7999349694023937, + -0.5202476662870169, + 0.29907592756707146, + -0.5447177597801217, + -0.8386174220753272, + -0.001838905070511987, + 0.25176696945254196, + -0.16144096479718317, + -0.9542275451788412 + ], + [ + 0.7994502096825585, + -0.5261689441604326, + 0.2898717034130937, + -0.5450868059285688, + -0.8381834846965015, + -0.018133394183664428, + 0.2525069033533613, + -0.14350849516012965, + -0.9568937117442935 + ], + [ + 0.7974805272369561, + -0.5289391312183693, + 0.2902554119113423, + -0.5403450400826333, + -0.8401610451626851, + -0.04643980888464007, + 0.2684251224009476, + -0.11980322890932925, + -0.9558217093197533 + ], + [ + 0.809204598328166, + -0.5207353231303714, + 0.27207102250857024, + -0.523983085013498, + -0.8491113493811728, + -0.06672063377862247, + 0.2657623838399417, + -0.08856997005978665, + -0.9599613095012318 + ], + [ + 0.8076647609859987, + -0.5277054391507966, + 0.2630676782732811, + -0.5254605859512144, + -0.846568274760749, + -0.08493131801882892, + 0.2675234690139094, + -0.06963566370240051, + -0.9610317725587901 + ], + [ + 0.7917508575634233, + -0.5133651456099145, + 0.33103898081720595, + -0.5245667395362817, + -0.8490984209848236, + -0.06214183175087055, + 0.3129861264015674, + -0.12445119024738172, + -0.9415686835946444 + ], + [ + 0.8002155299293306, + -0.4308063801664, + 0.41720614624888247, + -0.4665495617602265, + -0.8843062366285678, + -0.018275291547886874, + 0.37681110928588785, + -0.18002317258548375, + -0.9086281116336848 + ], + [ + 0.8265226492037226, + -0.33970934250091667, + 0.4488405874816301, + -0.41054471434910034, + -0.9093181203241232, + 0.06777605454892538, + 0.3851147204058493, + -0.24028757493428204, + -0.8910378967580034 + ], + [ + 0.8395752609162719, + -0.3287082847604514, + 0.4325092424298197, + -0.4157187260461332, + -0.9012717798851221, + 0.12201278456491668, + 0.349701761608309, + -0.2822411067023135, + -0.8933356791349483 + ], + [ + 0.8861912630456681, + -0.29701406495402505, + 0.3555948404026832, + -0.37979094395688784, + -0.9052765560376554, + 0.19035019300472936, + 0.26537498787538283, + -0.30373837806258175, + -0.915051426698004 + ], + [ + 0.9040368258490022, + -0.2896292382015881, + 0.3143760835172232, + -0.3634040607960343, + -0.9080009651686572, + 0.2084987670221065, + 0.22506644820099803, + -0.302736108899408, + -0.9261187517066226 + ], + [ + 0.9190323803933692, + -0.28907651090268804, + 0.2679818177280415, + -0.3488928668372464, + -0.9129351469076948, + 0.2117148672406188, + 0.18344822500799685, + -0.28806976305220494, + -0.9398736938314965 + ], + [ + 0.9327619074000776, + -0.2694029833237753, + 0.23953550191906522, + -0.31518596713513525, + -0.9319612748171279, + 0.17918143978192352, + 0.17496579729895304, + -0.24263185037723978, + -0.954210016169427 + ], + [ + 0.9421850907595417, + -0.2622170465011536, + 0.20863718574273027, + -0.29753451810417525, + -0.9410526262777192, + 0.16091353303039496, + 0.1541443002090926, + -0.2136870962412557, + -0.9646643766683985 + ], + [ + 0.9528567211479984, + -0.21344924265827564, + 0.21564667809102372, + -0.2475548297936923, + -0.9578469257016767, + 0.14575964177254963, + 0.17544422250077396, + -0.19227243102549707, + -0.9655312719216523 + ], + [ + 0.9567466555137872, + -0.18492916746317875, + 0.22458192310281458, + -0.2189113750949194, + -0.966065644558546, + 0.13709478566937847, + 0.1916080557211373, + -0.18032851528545588, + -0.964763172782683 + ], + [ + 0.9564461407328224, + -0.15668245520606852, + 0.2462953270118781, + -0.19466846112877081, + -0.9710844241260431, + 0.1381999691083426, + 0.21752004532696725, + -0.1801267593956793, + -0.9592910822219524 + ], + [ + 0.9603762115265316, + -0.09800402641125139, + 0.2609075375322256, + -0.13501278911117248, + -0.982555070420142, + 0.12789480195884462, + 0.24382181836408537, + -0.15805297972152488, + -0.9568543130961884 + ], + [ + 0.9601856833861041, + -0.08224316207117133, + 0.2669822385719606, + -0.1123952654291159, + -0.9886520864715999, + 0.09967124070899702, + 0.25575526921156244, + -0.12571043794326425, + -0.9585333213105499 + ], + [ + 0.959683094675251, + -0.06270343665906496, + 0.27400116208818437, + -0.08782620003688342, + -0.9928864154716478, + 0.08039356043206106, + 0.26701107913645494, + -0.10121682173929758, + -0.9583633124318672 + ], + [ + 0.9599377596833888, + -0.05763485501179638, + 0.2742220286953736, + -0.07760995146360039, + -0.9950196205919811, + 0.06255117961164369, + 0.2692511707827, + -0.08132759755925245, + -0.9596299437321587 + ], + [ + 0.9582988861527062, + -0.06894291536540673, + 0.2773267372962823, + -0.08461553038866723, + -0.9954000281448252, + 0.044933239214707175, + 0.27295321360175884, + -0.06652562205797048, + -0.9597243795977431 + ], + [ + 0.9584150191025318, + -0.04367650352384824, + 0.2820159821687853, + -0.05921306742640741, + -0.9971476482685936, + 0.0468014978218509, + 0.2791674476092245, + -0.061554289796441126, + -0.9582675021114962 + ], + [ + 0.9564682379354237, + -0.010433324000530812, + 0.29164988525800195, + -0.021172979836276827, + -0.9992079686528453, + 0.033691843308239315, + 0.2910673714890736, + -0.038400275141648184, + -0.9559315896671097 + ], + [ + 0.9501562065547099, + 0.03046946688056502, + 0.3102817989079891, + 0.02328603886511747, + -0.9993687566673245, + 0.02682999424484317, + 0.31090343121222686, + -0.018267451525054886, + -0.9502659399743022 + ], + [ + 0.9447906631157302, + 0.08357802557679475, + 0.31683641919770444, + 0.0803552640488753, + -0.9964951111869633, + 0.023249191816430682, + 0.31766906432476927, + 0.003493854771781329, + -0.9481952112038213 + ], + [ + 0.9375794986757132, + 0.11707765924018451, + 0.327471380993572, + 0.11135357399884166, + -0.9931196605046415, + 0.036245295926914126, + 0.32946178112291336, + 0.002482262271461571, + -0.9441656492127496 + ], + [ + 0.935588027764152, + 0.13524321503825298, + 0.3261660851322547, + 0.12530708118601264, + -0.9907862125773509, + 0.051388874002747595, + 0.33011085669669576, + -0.007207895167459764, + -0.9439146510878134 + ], + [ + 0.9054314447552538, + 0.15406502717154175, + 0.39554755245235124, + 0.13611411887999408, + -0.9879819194183802, + 0.07324393178889228, + 0.40207815843432265, + -0.01247775240198198, + -0.9155203221147297 + ], + [ + 0.8563734518833006, + 0.21750790906280454, + 0.4683106024900642, + 0.18582015435637517, + -0.9760054226986944, + 0.11350896483413012, + 0.4817627851385504, + -0.010184515593273429, + -0.8762424861290836 + ], + [ + 0.8550592903949695, + 0.2668211089228472, + 0.4446123094814553, + 0.20327241498461726, + -0.9612987328075786, + 0.18597062028413341, + 0.47702613682645617, + -0.06863848873427997, + -0.8762047835116522 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0026901960372924805, + -0.0007040540222078562, + -0.008614525198936462, + -0.004695594310760498, + 0.027702629566192627, + -0.0023017898201942444, + 1.0 + ], + [ + -0.0027773380279541016, + -0.02124636620283127, + 0.0005886629223823547, + -0.04019932448863983, + -0.013423055410385132, + -0.126114159822464, + 1.0 + ], + [ + -0.004934877157211304, + -0.017027880996465683, + 0.0046079158782958984, + -0.027572795748710632, + -0.03147852420806885, + -0.06631617248058319, + 1.0 + ], + [ + -0.004062682390213013, + -0.008096393197774887, + -0.005916327238082886, + -0.032267406582832336, + -0.0030094385147094727, + -0.027734994888305664, + 1.0 + ], + [ + -0.00280916690826416, + -0.010168302804231644, + -0.01938214898109436, + -0.029882043600082397, + 0.05226561427116394, + 0.001607358455657959, + 1.0 + ], + [ + 0.006379932165145874, + -0.00568784773349762, + -0.024173825979232788, + -0.029085949063301086, + 0.07552516460418701, + 0.024427175521850586, + 1.0 + ], + [ + 0.005153626203536987, + -0.008001178503036499, + -0.01535109058022499, + -0.01632983237504959, + 0.02741105854511261, + 0.01517912745475769, + 1.0 + ], + [ + -0.00018107891082763672, + -0.00769207626581192, + -0.006142716854810715, + 0.004678770899772644, + -0.0004385709762573242, + -0.0020958781242370605, + 0.0 + ], + [ + 0.0035775303840637207, + -0.002466075122356415, + -0.0016820058226585388, + -0.001400776207447052, + -0.025196507573127747, + 0.013856709003448486, + 0.0 + ], + [ + -0.0005328357219696045, + -0.005095303058624268, + 0.00019283778965473175, + -0.026815667748451233, + -0.003339514136314392, + -0.02189895510673523, + 0.0 + ], + [ + 0.0006693899631500244, + 0.00017798691987991333, + 0.008395064622163773, + -0.016600124537944794, + -0.009011819958686829, + -0.022740572690963745, + 0.0 + ], + [ + 0.014298290014266968, + 0.018831223249435425, + 0.01721528358757496, + -0.020584098994731903, + -0.02263692021369934, + 0.02074071764945984, + 0.0 + ], + [ + 0.013101249933242798, + 0.021167993545532227, + 0.016901567578315735, + -0.031129086390137672, + -0.04162338376045227, + -0.0008879899978637695, + 0.0 + ], + [ + 0.005420267581939697, + 0.03195108473300934, + 0.004721283912658691, + -0.01960695907473564, + -0.001658320426940918, + 0.010902225971221924, + 0.0 + ], + [ + -0.000586777925491333, + 0.02638544887304306, + 0.0008103400468826294, + -0.0028645358979701996, + -0.003300905227661133, + -0.011585116386413574, + 0.0 + ], + [ + 0.0015469491481781006, + 0.033329788595438004, + 0.007109254598617554, + -0.0017285142093896866, + -0.01882109045982361, + 0.0037887096405029297, + 0.0 + ], + [ + 0.00364840030670166, + 0.029013976454734802, + 0.001630924642086029, + -0.011110648512840271, + -0.0012382864952087402, + 0.0400693416595459, + 0.0 + ], + [ + 0.010410875082015991, + 0.03400903940200806, + 0.0001311376690864563, + 0.03027954511344433, + 0.007306724786758423, + 0.05697287619113922, + 0.0 + ], + [ + 0.004093915224075317, + 0.02802576869726181, + -0.0076208412647247314, + 0.08012748509645462, + 0.02555030584335327, + 0.06477109342813492, + 0.0 + ], + [ + -0.00011268258094787598, + 0.02067658305168152, + -0.007741261273622513, + 0.11565413326025009, + 0.04569116234779358, + 0.002099066972732544, + 0.0 + ], + [ + -0.003119826316833496, + 0.0044897496700286865, + -0.016749270260334015, + 0.01678052544593811, + 0.05819392204284668, + -0.039849333465099335, + 0.0 + ], + [ + -0.001543194055557251, + 0.009875953197479248, + -0.006911516189575195, + 0.04839041829109192, + 0.02685876190662384, + -0.023675918579101562, + 0.0 + ], + [ + -0.005656331777572632, + 0.009447365999221802, + -0.007293365895748138, + 0.03080722689628601, + 0.0014703422784805298, + -0.0016710460186004639, + 0.0 + ], + [ + -0.003908097743988037, + 0.003400757908821106, + -0.00550459697842598, + 0.0038120150566101074, + -0.031206175684928894, + 0.012551367282867432, + 0.0 + ], + [ + -0.001861274242401123, + 0.0009951144456863403, + -0.001514064148068428, + 0.014687299728393555, + -0.030161231756210327, + 0.022553756833076477, + 0.0 + ], + [ + 6.091594696044922e-05, + 0.002100512385368347, + 0.0011876188218593597, + 0.006069064140319824, + -0.010870188474655151, + 0.033627867698669434, + 0.0 + ], + [ + -0.0018367469310760498, + -0.007026597857475281, + -0.0021709874272346497, + -0.052182555198669434, + 0.004484549164772034, + 0.040888115763664246, + 0.0 + ], + [ + 0.0019468069076538086, + -0.012841209769248962, + -0.0034403065219521523, + -0.01960916817188263, + 0.0009049475193023682, + -0.005434855818748474, + 0.0 + ], + [ + 0.0032404065132141113, + -0.013413026928901672, + -0.0023989565670490265, + -0.007834389805793762, + 0.002007514238357544, + -0.023438401520252228, + 0.0 + ], + [ + 0.0075907111167907715, + -0.0202006995677948, + 0.00010260660201311111, + -0.0049625784158706665, + -0.013802409172058105, + -0.03138092905282974, + 0.0 + ], + [ + 0.004271566867828369, + -0.018623821437358856, + -0.0011677267029881477, + -0.0038884133100509644, + -0.009044289588928223, + -0.0323500782251358, + 0.0 + ], + [ + 0.003921985626220703, + -0.019401036202907562, + -0.0003224276006221771, + -0.00039045512676239014, + -0.005304664373397827, + -0.03427250683307648, + 0.0 + ], + [ + 0.0023385584354400635, + -0.01984269917011261, + 0.00034188851714134216, + 0.00017721951007843018, + -0.004153847694396973, + -0.03335173428058624, + 0.0 + ], + [ + 0.0010783374309539795, + -0.015353169292211533, + 0.0010942025110125542, + 2.6300549507141113e-05, + -0.002192199230194092, + -0.023742958903312683, + 0.0 + ], + [ + -0.0005427896976470947, + -0.01157575473189354, + -0.0006018904969096184, + -0.03974875807762146, + -0.003986388444900513, + 0.027790769934654236, + 0.0 + ], + [ + -0.0013965070247650146, + -0.016423610970377922, + 0.0001512337476015091, + -0.02673991024494171, + 0.007012724876403809, + -0.00036329030990600586, + 0.0 + ], + [ + -0.001542419195175171, + -0.01082543097436428, + -1.7408281564712524e-05, + -0.020864561200141907, + -0.005769312381744385, + 0.01704305410385132, + 0.0 + ], + [ + -0.0018329918384552002, + -0.005997983738780022, + -0.0004149945452809334, + -0.017530113458633423, + 0.006013542413711548, + 0.018514513969421387, + 0.0 + ], + [ + -0.002551138401031494, + -0.014389535412192345, + -2.3744069039821625e-05, + -0.01747853308916092, + 0.007136881351470947, + -0.009966090321540833, + 0.0 + ], + [ + -0.0012993812561035156, + -0.007266892585903406, + 0.00040188804268836975, + -0.01088426262140274, + 0.002405822277069092, + 0.0010017454624176025, + 0.0 + ], + [ + -0.0028442442417144775, + -0.022128701210021973, + 0.001080792397260666, + -0.02255609631538391, + -0.0032239556312561035, + -0.026290923357009888, + 0.0 + ], + [ + -0.0009106695652008057, + -0.003348037600517273, + 0.00030308961868286133, + -0.007984980940818787, + 0.0020869970321655273, + 0.0037992745637893677, + 0.0 + ], + [ + -0.0021825432777404785, + -0.009534098207950592, + 0.0034910766407847404, + -0.009083796292543411, + -0.004415333271026611, + -0.004984050989151001, + 0.0 + ], + [ + 0.006674528121948242, + 0.003940410912036896, + 0.024577723816037178, + 0.01910245046019554, + -0.07101863622665405, + -0.0011179596185684204, + 0.0 + ], + [ + 0.007427126169204712, + 0.023970143869519234, + 0.028215263038873672, + 0.03384934365749359, + -0.08265107870101929, + 0.04424135386943817, + 0.0 + ], + [ + 0.004605412483215332, + 0.028421597555279732, + 0.021307870745658875, + 0.05133333057165146, + -0.06720864772796631, + 0.03438536822795868, + 0.0 + ], + [ + 0.0014322102069854736, + 0.03460408374667168, + -0.010099083185195923, + 0.08075237274169922, + 0.01644846796989441, + 0.02564387023448944, + 0.0 + ], + [ + 6.937980651855469e-05, + 0.036888040602207184, + -0.030842456966638565, + 0.10893967747688293, + 0.09551849961280823, + -0.002974189817905426, + 0.0 + ], + [ + -0.00013771653175354004, + 0.025997169315814972, + -0.012212410569190979, + 0.03181031346321106, + 0.03835698962211609, + 0.021312743425369263, + 0.0 + ], + [ + 0.006719857454299927, + 0.017035752534866333, + -0.004896119236946106, + -0.011107385158538818, + 0.03126120567321777, + 0.03693452477455139, + 0.0 + ], + [ + 0.005109280347824097, + 0.010873138904571533, + 8.763745427131653e-05, + -0.023017317056655884, + 0.024882107973098755, + 0.022796329110860825, + 0.0 + ], + [ + 0.007593363523483276, + -0.0019572973251342773, + 0.0010385923087596893, + -0.05038747191429138, + 0.03465868532657623, + -0.04422340169548988, + 0.0 + ], + [ + 0.007922828197479248, + -0.00760766863822937, + -0.006032336503267288, + -0.05159096419811249, + 0.017359793186187744, + -0.12761439383029938, + 0.0 + ], + [ + 0.006013333797454834, + -0.006985612213611603, + -0.0031171776354312897, + -0.022797614336013794, + 0.02082134783267975, + -0.14457620680332184, + 0.0 + ], + [ + 0.0017431676387786865, + 0.0028788968920707703, + -0.003839261829853058, + 0.019851893186569214, + 0.016980722546577454, + -0.025853127241134644, + 0.0 + ], + [ + 0.0035444796085357666, + 0.0017712712287902832, + 0.00012953020632266998, + 0.038644060492515564, + -0.0015950798988342285, + -0.02192974090576172, + 0.0 + ], + [ + 0.000575333833694458, + -0.0017124861478805542, + -0.0015341583639383316, + -0.003520965576171875, + -0.0005916953086853027, + 0.008270561695098877, + 0.0 + ], + [ + -0.0019144415855407715, + -0.014083556830883026, + -0.004196822643280029, + -0.018315017223358154, + -0.000946730375289917, + -0.02177068591117859, + 0.0 + ], + [ + 0.0015434324741363525, + -0.02152877300977707, + 0.0009290687739849091, + -0.029192551970481873, + -0.02525147795677185, + -0.024918824434280396, + 0.0 + ], + [ + 0.0012147724628448486, + -0.040556132793426514, + 0.0020975489169359207, + -0.02277374267578125, + -0.011612087488174438, + -0.08053410053253174, + 0.0 + ], + [ + -0.00046136975288391113, + -0.009821068495512009, + -0.0009389128535985947, + -0.01739126443862915, + -0.008034586906433105, + -0.013720214366912842, + 0.0 + ], + [ + -0.0016608238220214844, + -0.012942198663949966, + 0.0003392081707715988, + -0.0067038387060165405, + 0.0008570253849029541, + -0.01997077465057373, + 0.0 + ], + [ + -0.001994311809539795, + -0.019920319318771362, + 0.0013820230960845947, + -0.004986673593521118, + -0.00916774570941925, + -0.029749393463134766, + 0.0 + ], + [ + -0.004617780447006226, + -0.009785773232579231, + -0.00018686428666114807, + -0.010221362113952637, + -0.004863113164901733, + -0.008890926837921143, + 0.0 + ], + [ + -0.0026916563510894775, + -0.01115794200450182, + 0.0007960405200719833, + -0.018734097480773926, + -0.0007646381855010986, + -0.0005972385406494141, + 0.0 + ], + [ + -0.0012101531028747559, + -0.010334378108382225, + 0.002762705087661743, + -0.024173520505428314, + -0.016487538814544678, + 0.0029151439666748047, + 0.0 + ], + [ + -0.0027458667755126953, + -0.004831233993172646, + -0.0003444310277700424, + -0.03268667310476303, + 0.002763122320175171, + 0.020873963832855225, + 0.0 + ], + [ + -0.0033179521560668945, + -0.009724725037813187, + -0.0015033911913633347, + -0.019670769572257996, + -0.001827239990234375, + -0.0021557211875915527, + 0.0 + ], + [ + 0.001695185899734497, + 0.005338996648788452, + 0.023505263030529022, + 0.059079721570014954, + -0.047513604164123535, + -0.00834876298904419, + 0.0 + ], + [ + 0.0009971559047698975, + 0.037811074405908585, + 0.021122567355632782, + 0.06418074667453766, + -0.06801572442054749, + 0.05729234218597412, + 0.0 + ], + [ + -0.004759490489959717, + 0.04651783034205437, + 0.011646337807178497, + 0.06781235337257385, + -0.008980900049209595, + 0.06683328747749329, + 0.0 + ], + [ + -0.00855189561843872, + 0.020933303982019424, + -0.006449811160564423, + 0.04261070489883423, + 0.03807938098907471, + 0.0012517273426055908, + 0.0 + ], + [ + -0.020099341869354248, + 0.034601129591464996, + -0.024125132709741592, + 0.014475911855697632, + 0.08865991234779358, + 0.05487626791000366, + 0.0 + ], + [ + -0.01450076699256897, + 0.008580602705478668, + -0.011639177799224854, + -0.004554688930511475, + 0.04158160090446472, + 0.022675246000289917, + 0.0 + ], + [ + -0.015587985515594482, + 0.003909938037395477, + -0.010343560948967934, + -0.01852971315383911, + 0.042518168687820435, + 0.019387245178222656, + 0.0 + ], + [ + -0.00836646556854248, + -0.0048931315541267395, + -0.006240343675017357, + -0.04840967059135437, + 0.008622035384178162, + 0.036963820457458496, + 0.0 + ], + [ + -0.01143452525138855, + -0.009898670017719269, + 0.0009508170187473297, + -0.03100384771823883, + 0.0211096853017807, + 0.019979238510131836, + 0.0 + ], + [ + -0.005294144153594971, + -0.010843157768249512, + -0.005088815465569496, + -0.021429330110549927, + -0.021595627069473267, + 0.05169785022735596, + 0.0 + ], + [ + -0.002428889274597168, + -0.017318911850452423, + 0.0004970822483301163, + -0.011782482266426086, + -0.016443327069282532, + 0.029247254133224487, + 0.0 + ], + [ + 0.001470714807510376, + -0.011034749448299408, + -0.0009408481419086456, + 0.0008268803358078003, + -0.026472657918930054, + 0.02414560317993164, + 0.0 + ], + [ + 0.0021025240421295166, + -0.009882595390081406, + -0.0009261490777134895, + -0.02190782129764557, + -0.027031704783439636, + 0.061122551560401917, + 0.0 + ], + [ + 0.003056049346923828, + -0.01976802572607994, + 0.00025748927146196365, + -0.033297136425971985, + -0.012324213981628418, + 0.023142434656620026, + 0.0 + ], + [ + 0.003524482250213623, + -0.02009965106844902, + 0.001199415884912014, + -0.02518031746149063, + -0.011661291122436523, + 0.02526385337114334, + 0.0 + ], + [ + 3.4928321838378906e-05, + -0.016747165471315384, + 6.378255784511566e-05, + -0.02067728340625763, + -0.0023252367973327637, + 0.010588154196739197, + 0.0 + ], + [ + -0.00035884976387023926, + -0.022886069491505623, + 0.0007815221324563026, + -0.015340164303779602, + -0.003846079111099243, + -0.0073957666754722595, + 0.0 + ], + [ + -0.0007550716400146484, + -0.011944649741053581, + 0.0004973709583282471, + -0.005059875547885895, + -0.006465494632720947, + 0.026365384459495544, + 0.0 + ], + [ + 0.0008819103240966797, + -0.017953969538211823, + 0.0027864985167980194, + -0.02399790659546852, + -0.01241534948348999, + 0.03957084193825722, + 0.0 + ], + [ + 0.006198912858963013, + -0.010079234838485718, + 0.005263511091470718, + -0.02092779241502285, + -0.02080109715461731, + 0.046635694801807404, + 0.0 + ], + [ + 0.00880703330039978, + -0.006200894713401794, + -0.00030981749296188354, + -0.022905873134732246, + -0.0071267783641815186, + 0.06034398823976517, + 0.0 + ], + [ + 0.011119663715362549, + -0.0009871721267700195, + -0.0006744340062141418, + 0.001055677654221654, + -0.012463271617889404, + 0.033366650342941284, + 0.0 + ], + [ + 0.0002528727054595947, + 0.0027442872524261475, + -0.00012875720858573914, + 0.010265071876347065, + -0.0006875395774841309, + 0.014928370714187622, + 0.0 + ], + [ + 0.005939871072769165, + 0.01172076165676117, + 0.029421893879771233, + 0.005992269609123468, + -0.07736441493034363, + 0.016071632504463196, + 0.0 + ], + [ + 0.00020018219947814941, + 0.0340612530708313, + 0.03312743827700615, + -0.0020058751106262207, + -0.08887979388237, + 0.06445930898189545, + 0.0 + ], + [ + 0.0024650096893310547, + 0.0470629520714283, + 0.005645960569381714, + 0.06655405461788177, + 0.005397289991378784, + 0.019723951816558838, + 0.0 + ], + [ + 0.02398023009300232, + 0.04396097734570503, + -0.032382410019636154, + 0.08825526386499405, + 0.09410589933395386, + -0.05442257225513458, + 0.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9484345316886902 + ], + [ + 0.6551066637039185 + ], + [ + 0.3953573703765869 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.30315300822257996, + -0.003205139422789216, + 0.08316873013973236 + ], + [ + 0.30037567019462585, + -0.02445150539278984, + 0.08375739306211472 + ], + [ + 0.29544079303741455, + -0.041479386389255524, + 0.08836530894041061 + ], + [ + 0.29137811064720154, + -0.04957577958703041, + 0.08244898170232773 + ], + [ + 0.2885689437389374, + -0.059744082391262054, + 0.06306683272123337 + ], + [ + 0.29494887590408325, + -0.06543193012475967, + 0.03889300674200058 + ], + [ + 0.30010250210762024, + -0.07343310862779617, + 0.02354191616177559 + ], + [ + 0.2999214231967926, + -0.0811251848936081, + 0.017399199306964874 + ], + [ + 0.3034989535808563, + -0.08359126001596451, + 0.015717193484306335 + ], + [ + 0.3029661178588867, + -0.08868656307458878, + 0.015910031273961067 + ], + [ + 0.30363550782203674, + -0.08850857615470886, + 0.02430509589612484 + ], + [ + 0.3179337978363037, + -0.06967735290527344, + 0.0415203794836998 + ], + [ + 0.3310350477695465, + -0.04850935935974121, + 0.05842194706201553 + ], + [ + 0.3364553153514862, + -0.016558276489377022, + 0.06314323097467422 + ], + [ + 0.3358685374259949, + 0.009827171452343464, + 0.06395357102155685 + ], + [ + 0.337415486574173, + 0.04315695911645889, + 0.07106282562017441 + ], + [ + 0.34106388688087463, + 0.0721709355711937, + 0.07269375026226044 + ], + [ + 0.3514747619628906, + 0.10617997497320175, + 0.0728248879313469 + ], + [ + 0.35556867718696594, + 0.13420574367046356, + 0.06520404666662216 + ], + [ + 0.35545599460601807, + 0.15488232672214508, + 0.05746278539299965 + ], + [ + 0.35233616828918457, + 0.15937207639217377, + 0.040713515132665634 + ], + [ + 0.3507929742336273, + 0.16924802958965302, + 0.03380199894309044 + ], + [ + 0.3451366424560547, + 0.17869539558887482, + 0.0265086330473423 + ], + [ + 0.34122854471206665, + 0.18209615349769592, + 0.02100403606891632 + ], + [ + 0.3393672704696655, + 0.18309126794338226, + 0.019489971920847893 + ], + [ + 0.339428186416626, + 0.1851917803287506, + 0.020677590742707253 + ], + [ + 0.3375914394855499, + 0.17816518247127533, + 0.018506603315472603 + ], + [ + 0.33953824639320374, + 0.16532397270202637, + 0.01506629679352045 + ], + [ + 0.34277865290641785, + 0.1519109457731247, + 0.012667340226471424 + ], + [ + 0.3503693640232086, + 0.1317102462053299, + 0.012769946828484535 + ], + [ + 0.354640930891037, + 0.11308642476797104, + 0.011602220125496387 + ], + [ + 0.3585629165172577, + 0.09368538856506348, + 0.01127979252487421 + ], + [ + 0.36090147495269775, + 0.07384268939495087, + 0.011621681042015553 + ], + [ + 0.36197981238365173, + 0.058489520102739334, + 0.012715883553028107 + ], + [ + 0.36143702268600464, + 0.046913765370845795, + 0.012113993056118488 + ], + [ + 0.3600405156612396, + 0.030490154400467873, + 0.012265226803719997 + ], + [ + 0.35849809646606445, + 0.019664723426103592, + 0.012247818522155285 + ], + [ + 0.35666510462760925, + 0.01366673968732357, + 0.011832823976874352 + ], + [ + 0.35411396622657776, + -0.0007227961323224008, + 0.01180907990783453 + ], + [ + 0.35281458497047424, + -0.007989688776433468, + 0.0122109679505229 + ], + [ + 0.34997034072875977, + -0.030118390917778015, + 0.013291760347783566 + ], + [ + 0.34905967116355896, + -0.03346642851829529, + 0.013594849966466427 + ], + [ + 0.3468771278858185, + -0.04300052672624588, + 0.017085926607251167 + ], + [ + 0.3535516560077667, + -0.039060115814208984, + 0.041663650423288345 + ], + [ + 0.36097878217697144, + -0.01508997194468975, + 0.06987891346216202 + ], + [ + 0.36558419466018677, + 0.013331625610589981, + 0.09118678420782089 + ], + [ + 0.36701640486717224, + 0.04793570935726166, + 0.08108770102262497 + ], + [ + 0.3670857846736908, + 0.08482374995946884, + 0.050245244055986404 + ], + [ + 0.36694806814193726, + 0.11082091927528381, + 0.038032833486795425 + ], + [ + 0.3736679255962372, + 0.12785667181015015, + 0.03313671424984932 + ], + [ + 0.3787772059440613, + 0.13872981071472168, + 0.033224351704120636 + ], + [ + 0.38637056946754456, + 0.1367725133895874, + 0.034262944012880325 + ], + [ + 0.3942933976650238, + 0.12916484475135803, + 0.028230607509613037 + ], + [ + 0.40030673146247864, + 0.12217923253774643, + 0.025113429874181747 + ], + [ + 0.4020498991012573, + 0.1250581294298172, + 0.02127416804432869 + ], + [ + 0.4055943787097931, + 0.12682940065860748, + 0.02140369825065136 + ], + [ + 0.40616971254348755, + 0.12511691451072693, + 0.019869539886713028 + ], + [ + 0.4042552709579468, + 0.1110333576798439, + 0.015672717243433 + ], + [ + 0.40579870343208313, + 0.08950458467006683, + 0.016601786017417908 + ], + [ + 0.407013475894928, + 0.04894845187664032, + 0.01869933493435383 + ], + [ + 0.40655210614204407, + 0.03912738338112831, + 0.017760422080755234 + ], + [ + 0.4048912823200226, + 0.026185184717178345, + 0.018099630251526833 + ], + [ + 0.4028969705104828, + 0.006264864467084408, + 0.019481653347611427 + ], + [ + 0.39827919006347656, + -0.0035209087654948235, + 0.01929478906095028 + ], + [ + 0.3955875337123871, + -0.014678850769996643, + 0.020090829581022263 + ], + [ + 0.39437738060951233, + -0.025013228878378868, + 0.022853534668684006 + ], + [ + 0.39163151383399963, + -0.029844462871551514, + 0.022509103640913963 + ], + [ + 0.38831356167793274, + -0.0395691879093647, + 0.02100571244955063 + ], + [ + 0.39000874757766724, + -0.03423019126057625, + 0.04451097548007965 + ], + [ + 0.39100590348243713, + 0.0035808843094855547, + 0.06563354283571243 + ], + [ + 0.3862464129924774, + 0.050098713487386703, + 0.07727988064289093 + ], + [ + 0.3776945173740387, + 0.07103201746940613, + 0.07083006948232651 + ], + [ + 0.35759517550468445, + 0.10563314706087112, + 0.046704936772584915 + ], + [ + 0.3430944085121155, + 0.11421374976634979, + 0.03506575897336006 + ], + [ + 0.327506422996521, + 0.11812368780374527, + 0.024722198024392128 + ], + [ + 0.3191399574279785, + 0.11323055624961853, + 0.01848185434937477 + ], + [ + 0.30770543217658997, + 0.10333188623189926, + 0.0194326713681221 + ], + [ + 0.302411288022995, + 0.09248872846364975, + 0.014343855902552605 + ], + [ + 0.2999823987483978, + 0.07516981661319733, + 0.014840938150882721 + ], + [ + 0.3014531135559082, + 0.06413506716489792, + 0.013900090008974075 + ], + [ + 0.3035556375980377, + 0.05425247177481651, + 0.012973940931260586 + ], + [ + 0.30661168694496155, + 0.03448444604873657, + 0.01323143020272255 + ], + [ + 0.31013616919517517, + 0.014384795911610126, + 0.014430846087634563 + ], + [ + 0.31017109751701355, + -0.002362369792535901, + 0.014494628645479679 + ], + [ + 0.3098122477531433, + -0.025248439982533455, + 0.015276150777935982 + ], + [ + 0.30905717611312866, + -0.037193089723587036, + 0.01577352173626423 + ], + [ + 0.30993908643722534, + -0.05514705926179886, + 0.018560020253062248 + ], + [ + 0.31613799929618835, + -0.06522629410028458, + 0.023823531344532967 + ], + [ + 0.32494503259658813, + -0.07142718881368637, + 0.023513713851571083 + ], + [ + 0.3360646963119507, + -0.07241436094045639, + 0.02283927984535694 + ], + [ + 0.3363175690174103, + -0.06967007368803024, + 0.022710522636771202 + ], + [ + 0.34225744009017944, + -0.057949312031269073, + 0.052132416516542435 + ], + [ + 0.3424576222896576, + -0.023888058960437775, + 0.08525985479354858 + ], + [ + 0.34492263197898865, + 0.023174893110990524, + 0.0909058153629303 + ], + [ + 0.36890286207199097, + 0.06713587045669556, + 0.058523405343294144 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9452158488160451, + 0.0025251278367638755, + 0.3264362462662069, + -0.08111576825882955, + -0.9667909267189456, + 0.24235415439744887, + 0.3162075762639844, + -0.2555561146662913, + -0.913621278741868 + ], + [ + 0.9232732000945155, + -0.1303789880916025, + 0.361341829091848, + -0.19845104983119002, + -0.9672830167852767, + 0.15805298560822084, + 0.3289130262062162, + -0.21763475113819414, + -0.9189403333671262 + ], + [ + 0.8976885687076916, + -0.19856139055135935, + 0.39335557425038037, + -0.25622819704922795, + -0.9614923830736614, + 0.09939571584446544, + 0.3584722369283819, + -0.1900151874815333, + -0.913997748289305 + ], + [ + 0.8892049603455858, + -0.23734566031478072, + 0.39112859269880224, + -0.28069782667009774, + -0.95811754934388, + 0.05674056522419419, + 0.3612800417951268, + -0.1602429379692534, + -0.9185852884906731 + ], + [ + 0.9064476994908978, + -0.25406586472110815, + 0.33734715720037567, + -0.2845395276258842, + -0.9576862545966175, + 0.043293128497969346, + 0.3120734293497255, + -0.13523155748647792, + -0.9403842834467638 + ], + [ + 0.9331557339086816, + -0.24819492844163066, + 0.2600377929632609, + -0.268068534918025, + -0.9624225424781718, + 0.04338329536532577, + 0.23949871995535488, + -0.11019132100898575, + -0.9646233647979097 + ], + [ + 0.9431007995753259, + -0.24026834078777415, + 0.22985213998453574, + -0.2554947404873408, + -0.9660438819255355, + 0.03849228205170462, + 0.21279877683785448, + -0.09502811483625048, + -0.9724640548457207 + ], + [ + 0.942473123137924, + -0.24117194704512945, + 0.23147462954092585, + -0.2574461851240779, + -0.9653612847469992, + 0.04241522930130251, + 0.21322728232500315, + -0.09956747395653032, + -0.9719158627176577 + ], + [ + 0.9404483550546798, + -0.22570669851445438, + 0.25419161614941665, + -0.24294112987367125, + -0.9692904284982756, + 0.03815327819904228, + 0.2377740500783279, + -0.0976347861539867, + -0.9664010294086066 + ], + [ + 0.93413363914481, + -0.25339450872154373, + 0.25136739479861214, + -0.26325921032000904, + -0.9647074662296892, + 0.0058389024977462956, + 0.24101645669903765, + -0.07162909709371205, + -0.9678741344047687 + ], + [ + 0.9257916880643333, + -0.2789227292051217, + 0.25517025971644525, + -0.2837839547799364, + -0.9587126828155211, + -0.018348264716986674, + 0.24975271233852656, + -0.055426554479165994, + -0.96672202816431 + ], + [ + 0.9258012598822786, + -0.26341260022820656, + 0.2711195847617821, + -0.2629106124354875, + -0.9640371700997694, + -0.03886315137537643, + 0.2716064010092233, + -0.03530066156665599, + -0.9617607947009349 + ], + [ + 0.9138964968322104, + -0.27236495811252104, + 0.30101581797337246, + -0.2604070764157467, + -0.9621795195926035, + -0.07999204103628363, + 0.31141828403357646, + -0.005282203035822448, + -0.9502582547395583 + ], + [ + 0.916181709854161, + -0.2677484716935236, + 0.2981976365340409, + -0.25029185104053203, + -0.9633964637702117, + -0.09602730287660358, + 0.3129937121275917, + 0.013342020118153185, + -0.9496614800378905 + ], + [ + 0.9122222395909023, + -0.2797920756693421, + 0.2992774298011784, + -0.2606036681699128, + -0.9599265392147092, + -0.10308621366437551, + 0.3161270531481672, + 0.01604474069321224, + -0.9485811786894905 + ], + [ + 0.907314509308369, + -0.2769901131454344, + 0.3163176542942114, + -0.25548752954526377, + -0.9607121114548431, + -0.10843597719776554, + 0.33392589514047993, + 0.017570319395383283, + -0.9424355577072486 + ], + [ + 0.9164178240505089, + -0.24186189984462467, + 0.31887488638348394, + -0.21884048015123855, + -0.9699058024581871, + -0.10673133843963487, + 0.3350928468495059, + 0.028027767686515347, + -0.9417681393149827 + ], + [ + 0.9297773616382302, + -0.17633700605925415, + 0.3231397810222533, + -0.16673041284769854, + -0.9843297272662614, + -0.05741042981517376, + 0.32819967583269677, + -0.0004983111332861438, + -0.9446082386202901 + ], + [ + 0.9466446328918454, + -0.08772819329504104, + 0.31010917935180604, + -0.1071082059862692, + -0.9931829408515754, + 0.045994328039643574, + 0.30396014743295807, + -0.07675552164244166, + -0.9495877098351317 + ], + [ + 0.9596778513944348, + -0.057793951590735804, + 0.2750968569476735, + -0.10654311587896534, + -0.980402701221509, + 0.16570789931795604, + 0.26012878733766165, + -0.18833587708425653, + -0.9470283054909929 + ], + [ + 0.968013920090235, + -0.10390381397208572, + 0.22837041829797036, + -0.14671313588111506, + -0.9727962665766032, + 0.1792837959620206, + 0.20352962013295564, + -0.20705415034883068, + -0.9569243818358159 + ], + [ + 0.9693048665809282, + -0.12222007141173212, + 0.21333150204936935, + -0.17047409937133842, + -0.9593393635518979, + 0.22495903401146256, + 0.17716279820001718, + -0.25442138212805626, + -0.9507276703925207 + ], + [ + 0.9692740724330706, + -0.11759216079865013, + 0.21605521569199582, + -0.17213897677275597, + -0.9516874770984032, + 0.2542815734765396, + 0.17571552345947983, + -0.2836600600239319, + -0.9426881908471009 + ], + [ + 0.9654756602017025, + -0.09600726507496736, + 0.24215564129483277, + -0.15899129751735125, + -0.9535541653412563, + 0.2558441343359064, + 0.206345624794508, + -0.28551192411730403, + -0.9358976569662941 + ], + [ + 0.9622137911102425, + -0.06209343314709071, + 0.265120775793339, + -0.1362428253957404, + -0.952798012294276, + 0.2713187061303775, + 0.2357594382531481, + -0.2971874043900315, + -0.9252551723424601 + ], + [ + 0.9636453622377056, + -0.025202245003412886, + 0.26599335082770165, + -0.10353480253191377, + -0.952980771248097, + 0.284795003987183, + 0.24630907515241587, + -0.30198095383346596, + -0.9209448099747298 + ], + [ + 0.9681645502207242, + -0.0006354536072599865, + 0.2503138028447808, + -0.06412996461996068, + -0.967251038088018, + 0.2455865976707483, + 0.24196022675998913, + -0.25382085319446157, + -0.9364989178583658 + ], + [ + 0.9680197205418454, + -0.011037896466581914, + 0.2506311742056046, + -0.0694064571190502, + -0.9718208026666826, + 0.2252711060355182, + 0.24108206974445143, + -0.2354622949558533, + -0.9415078031019465 + ], + [ + 0.966607055797319, + -0.036269931989673904, + 0.25368344785638397, + -0.0921198814229216, + -0.9729402721012984, + 0.2118989248912746, + 0.23913328319049423, + -0.2281922850512602, + -0.9437921137165848 + ], + [ + 0.9598748909747796, + -0.06501429268694434, + 0.2727880778600318, + -0.12197485486514287, + -0.9727110509556164, + 0.1973710873695718, + 0.25251203626120833, + -0.22272483717636013, + -0.9416110229006357 + ], + [ + 0.9531333374270956, + -0.09557230442471047, + 0.28705883667296545, + -0.1525903735825822, + -0.9711374995355415, + 0.18332521617547232, + 0.26125278749711706, + -0.21853579025598102, + -0.9402069396692303 + ], + [ + 0.9459715389487683, + -0.12777244281916372, + 0.2980135070008117, + -0.18489219706962284, + -0.9675818046770959, + 0.1720474548506385, + 0.26636952333490976, + -0.2178523677030807, + -0.9389289765070067 + ], + [ + 0.9381938052228124, + -0.15903012859102858, + 0.30741145398612, + -0.21608311640305453, + -0.9629574870205823, + 0.1613101515607408, + 0.27037098706607454, + -0.21776660990915503, + -0.937804474803565 + ], + [ + 0.9322228984830163, + -0.18137599102152407, + 0.31315047089998727, + -0.23814834157667508, + -0.9590246729432873, + 0.15348304170265786, + 0.2724808891430792, + -0.21765667131282823, + -0.93721915179152 + ], + [ + 0.9374134704480034, + -0.16610454201306288, + 0.30604781741626697, + -0.2119113350350946, + -0.969534008753424, + 0.12287144482815857, + 0.27631426222016475, + -0.18003634908858254, + -0.9440536751162932 + ], + [ + 0.9392032288840572, + -0.175640507094974, + 0.29503848413585215, + -0.21267459655767187, + -0.9721693491992842, + 0.09826633429853436, + 0.26956782232453597, + -0.1550392490463631, + -0.9504188657756889 + ], + [ + 0.941153145688514, + -0.16436919280639403, + 0.2953193607212193, + -0.19631675171517296, + -0.977123105286879, + 0.0817934600718812, + 0.27511904579039653, + -0.13495630985879004, + -0.9518909102794713 + ], + [ + 0.9462348120400379, + -0.15207719241817438, + 0.2855034291033295, + -0.17916366101554002, + -0.9812450675675535, + 0.07112313228378113, + 0.26933262530756086, + -0.11845102329888556, + -0.955734948625603 + ], + [ + 0.9462632024739739, + -0.16753867673946166, + 0.27661660008048905, + -0.18895646923205917, + -0.9805820676274047, + 0.0524810573723283, + 0.26245267074094125, + -0.10192938950054548, + -0.9595462444181588 + ], + [ + 0.9470685879541006, + -0.16977250439395092, + 0.2724672208953435, + -0.18813093938265207, + -0.981222641210432, + 0.042530906680021255, + 0.2601304275889825, + -0.09153919995187688, + -0.9612246020127364 + ], + [ + 0.9409728377699447, + -0.20140723761853377, + 0.2720390472230935, + -0.2127762882754299, + -0.9770192105910069, + 0.012637772108106526, + 0.2632420363978903, + -0.0697752590177691, + -0.9622032235978503 + ], + [ + 0.9423087017099512, + -0.1999858648373853, + 0.2684398713808169, + -0.20931842449716817, + -0.9778272432996776, + 0.00629916081526408, + 0.26122807630063377, + -0.06212516499934874, + -0.9632758462798048 + ], + [ + 0.9401198737167517, + -0.207057469713955, + 0.2707431019960679, + -0.2137545114032019, + -0.9768753437854799, + -0.0048550549717286985, + 0.26548753623772436, + -0.053308225816047286, + -0.9626393931077036 + ], + [ + 0.9191459137699245, + -0.19802963229791493, + 0.3405217378259471, + -0.21006663954215804, + -0.9776858364267789, + -0.0015531265031618058, + 0.3332308451381947, + -0.07010470727720353, + -0.9402353608889967 + ], + [ + 0.8973069692257118, + -0.13483817183849858, + 0.4203080660589544, + -0.1636952223180221, + -0.9859532265898678, + 0.03316789362141679, + 0.4099317957529279, + -0.09856420441661282, + -0.9067750660657248 + ], + [ + 0.8731297627559206, + -0.06974866885616118, + 0.48247232105332566, + -0.12844382763420167, + -0.9876550567881944, + 0.08966421774255233, + 0.4702622678170823, + -0.14025908880889648, + -0.8713098114184373 + ], + [ + 0.883696344109273, + -0.008981767285119485, + 0.4679744643293489, + -0.1069284210802451, + -0.9772503489035564, + 0.18316131778616018, + 0.45568309621182007, + -0.2118987574864773, + -0.8645529667998925 + ], + [ + 0.922477201437536, + 0.009582262509487328, + 0.3859326276348902, + -0.11440575883108664, + -0.9480001702078041, + 0.2969966323584455, + 0.36871009638231333, + -0.31812553737663635, + -0.8734122779618864 + ], + [ + 0.938091200444672, + 0.028548691195245404, + 0.34520989539599295, + -0.09609185509820448, + -0.9360345596070194, + 0.3385345751988689, + 0.33279311145523965, + -0.35074816528719216, + -0.875342486981872 + ], + [ + 0.950919712602546, + 0.048702097629149545, + 0.30558109540744216, + -0.06203337662464719, + -0.9374858725436337, + 0.3424501408462944, + 0.3031560000534975, + -0.3445988166950417, + -0.8884526409234997 + ], + [ + 0.9593275586298831, + 0.05510161094717898, + 0.27686539640094715, + -0.040648468108045385, + -0.9435813759125763, + 0.32863640862113597, + 0.27935342720950657, + -0.3265241177952324, + -0.9029638216475496 + ], + [ + 0.9656619511961894, + -0.011083510118641421, + 0.25956531319769804, + -0.08380672726415384, + -0.9589697974591562, + 0.2708382543630374, + 0.24591345729187097, + -0.2832915165771746, + -0.9269695184622654 + ], + [ + 0.951172102842531, + -0.15191359873102717, + 0.2686892057651482, + -0.2068996837609785, + -0.9597776372655088, + 0.18978779693290232, + 0.2290505438407095, + -0.23611256960531757, + -0.9443445890355116 + ], + [ + 0.9157075207018286, + -0.29940840306906874, + 0.2680192991217974, + -0.34337970384849176, + -0.9294632702454424, + 0.1348644069040053, + 0.208734557548652, + -0.21552873923511245, + -0.9539272755554747 + ], + [ + 0.9096797319246985, + -0.3215800813746233, + 0.2628098867784461, + -0.3682131430208962, + -0.9171964360786793, + 0.15221622433644372, + 0.19209858571078042, + -0.23523806857662333, + -0.9527650205902073 + ], + [ + 0.9011042459686684, + -0.33068170530452184, + 0.280465234341319, + -0.38795038868451287, + -0.903759685289759, + 0.18086715335983822, + 0.19366371321642317, + -0.27178675652402423, + -0.9426697858536561 + ], + [ + 0.9041761789352424, + -0.3240296744314749, + 0.27833470414933426, + -0.38044005948079695, + -0.9071646231519744, + 0.17977126478885436, + 0.19424417259808013, + -0.2684345666812847, + -0.9435105112410347 + ], + [ + 0.8955118153813593, + -0.34859411589292705, + 0.2766599553191801, + -0.39995771407765673, + -0.9030224559085515, + 0.1567937214134021, + 0.1951727836102093, + -0.25106291340960074, + -0.9480901845542573 + ], + [ + 0.8805380923649393, + -0.37393866088969147, + 0.29124310427259564, + -0.41989067937231955, + -0.9004699176176073, + 0.11333907023613524, + 0.2198737939604573, + -0.22208963361166587, + -0.9499114218555699 + ], + [ + 0.8416396370986128, + -0.4498592582926152, + 0.29877980017553657, + -0.48805272323988647, + -0.8704490091835109, + 0.06421107186128512, + 0.2311866358651516, + -0.1998628783437847, + -0.9521594242864435 + ], + [ + 0.8332435814801785, + -0.4656378111936199, + 0.29813849585201113, + -0.4985840337709758, + -0.8658650492139185, + 0.04113001116509264, + 0.23899601501018242, + -0.1829184116938286, + -0.9536360728667197 + ], + [ + 0.8232943030635959, + -0.4849569746827407, + 0.2949630879442243, + -0.515232495486752, + -0.8565301102574993, + 0.029860438991597224, + 0.2381637380826953, + -0.176558497186741, + -0.9550419524469265 + ], + [ + 0.8057549181795612, + -0.5103800559095049, + 0.30045167724487604, + -0.5382579115773736, + -0.8426945454416255, + 0.012013480232479404, + 0.24705754887032425, + -0.1714004131055193, + -0.9537213775172728 + ], + [ + 0.7999349694023937, + -0.5202476662870169, + 0.29907592756707146, + -0.5447177597801217, + -0.8386174220753272, + -0.001838905070511987, + 0.25176696945254196, + -0.16144096479718317, + -0.9542275451788412 + ], + [ + 0.7994502096825585, + -0.5261689441604326, + 0.2898717034130937, + -0.5450868059285688, + -0.8381834846965015, + -0.018133394183664428, + 0.2525069033533613, + -0.14350849516012965, + -0.9568937117442935 + ], + [ + 0.7974805272369561, + -0.5289391312183693, + 0.2902554119113423, + -0.5403450400826333, + -0.8401610451626851, + -0.04643980888464007, + 0.2684251224009476, + -0.11980322890932925, + -0.9558217093197533 + ], + [ + 0.809204598328166, + -0.5207353231303714, + 0.27207102250857024, + -0.523983085013498, + -0.8491113493811728, + -0.06672063377862247, + 0.2657623838399417, + -0.08856997005978665, + -0.9599613095012318 + ], + [ + 0.8076647609859987, + -0.5277054391507966, + 0.2630676782732811, + -0.5254605859512144, + -0.846568274760749, + -0.08493131801882892, + 0.2675234690139094, + -0.06963566370240051, + -0.9610317725587901 + ], + [ + 0.7917508575634233, + -0.5133651456099145, + 0.33103898081720595, + -0.5245667395362817, + -0.8490984209848236, + -0.06214183175087055, + 0.3129861264015674, + -0.12445119024738172, + -0.9415686835946444 + ], + [ + 0.8002155299293306, + -0.4308063801664, + 0.41720614624888247, + -0.4665495617602265, + -0.8843062366285678, + -0.018275291547886874, + 0.37681110928588785, + -0.18002317258548375, + -0.9086281116336848 + ], + [ + 0.8265226492037226, + -0.33970934250091667, + 0.4488405874816301, + -0.41054471434910034, + -0.9093181203241232, + 0.06777605454892538, + 0.3851147204058493, + -0.24028757493428204, + -0.8910378967580034 + ], + [ + 0.8395752609162719, + -0.3287082847604514, + 0.4325092424298197, + -0.4157187260461332, + -0.9012717798851221, + 0.12201278456491668, + 0.349701761608309, + -0.2822411067023135, + -0.8933356791349483 + ], + [ + 0.8861912630456681, + -0.29701406495402505, + 0.3555948404026832, + -0.37979094395688784, + -0.9052765560376554, + 0.19035019300472936, + 0.26537498787538283, + -0.30373837806258175, + -0.915051426698004 + ], + [ + 0.9040368258490022, + -0.2896292382015881, + 0.3143760835172232, + -0.3634040607960343, + -0.9080009651686572, + 0.2084987670221065, + 0.22506644820099803, + -0.302736108899408, + -0.9261187517066226 + ], + [ + 0.9190323803933692, + -0.28907651090268804, + 0.2679818177280415, + -0.3488928668372464, + -0.9129351469076948, + 0.2117148672406188, + 0.18344822500799685, + -0.28806976305220494, + -0.9398736938314965 + ], + [ + 0.9327619074000776, + -0.2694029833237753, + 0.23953550191906522, + -0.31518596713513525, + -0.9319612748171279, + 0.17918143978192352, + 0.17496579729895304, + -0.24263185037723978, + -0.954210016169427 + ], + [ + 0.9421850907595417, + -0.2622170465011536, + 0.20863718574273027, + -0.29753451810417525, + -0.9410526262777192, + 0.16091353303039496, + 0.1541443002090926, + -0.2136870962412557, + -0.9646643766683985 + ], + [ + 0.9528567211479984, + -0.21344924265827564, + 0.21564667809102372, + -0.2475548297936923, + -0.9578469257016767, + 0.14575964177254963, + 0.17544422250077396, + -0.19227243102549707, + -0.9655312719216523 + ], + [ + 0.9567466555137872, + -0.18492916746317875, + 0.22458192310281458, + -0.2189113750949194, + -0.966065644558546, + 0.13709478566937847, + 0.1916080557211373, + -0.18032851528545588, + -0.964763172782683 + ], + [ + 0.9564461407328224, + -0.15668245520606852, + 0.2462953270118781, + -0.19466846112877081, + -0.9710844241260431, + 0.1381999691083426, + 0.21752004532696725, + -0.1801267593956793, + -0.9592910822219524 + ], + [ + 0.9603762115265316, + -0.09800402641125139, + 0.2609075375322256, + -0.13501278911117248, + -0.982555070420142, + 0.12789480195884462, + 0.24382181836408537, + -0.15805297972152488, + -0.9568543130961884 + ], + [ + 0.9601856833861041, + -0.08224316207117133, + 0.2669822385719606, + -0.1123952654291159, + -0.9886520864715999, + 0.09967124070899702, + 0.25575526921156244, + -0.12571043794326425, + -0.9585333213105499 + ], + [ + 0.959683094675251, + -0.06270343665906496, + 0.27400116208818437, + -0.08782620003688342, + -0.9928864154716478, + 0.08039356043206106, + 0.26701107913645494, + -0.10121682173929758, + -0.9583633124318672 + ], + [ + 0.9599377596833888, + -0.05763485501179638, + 0.2742220286953736, + -0.07760995146360039, + -0.9950196205919811, + 0.06255117961164369, + 0.2692511707827, + -0.08132759755925245, + -0.9596299437321587 + ], + [ + 0.9582988861527062, + -0.06894291536540673, + 0.2773267372962823, + -0.08461553038866723, + -0.9954000281448252, + 0.044933239214707175, + 0.27295321360175884, + -0.06652562205797048, + -0.9597243795977431 + ], + [ + 0.9584150191025318, + -0.04367650352384824, + 0.2820159821687853, + -0.05921306742640741, + -0.9971476482685936, + 0.0468014978218509, + 0.2791674476092245, + -0.061554289796441126, + -0.9582675021114962 + ], + [ + 0.9564682379354237, + -0.010433324000530812, + 0.29164988525800195, + -0.021172979836276827, + -0.9992079686528453, + 0.033691843308239315, + 0.2910673714890736, + -0.038400275141648184, + -0.9559315896671097 + ], + [ + 0.9501562065547099, + 0.03046946688056502, + 0.3102817989079891, + 0.02328603886511747, + -0.9993687566673245, + 0.02682999424484317, + 0.31090343121222686, + -0.018267451525054886, + -0.9502659399743022 + ], + [ + 0.9447906631157302, + 0.08357802557679475, + 0.31683641919770444, + 0.0803552640488753, + -0.9964951111869633, + 0.023249191816430682, + 0.31766906432476927, + 0.003493854771781329, + -0.9481952112038213 + ], + [ + 0.9375794986757132, + 0.11707765924018451, + 0.327471380993572, + 0.11135357399884166, + -0.9931196605046415, + 0.036245295926914126, + 0.32946178112291336, + 0.002482262271461571, + -0.9441656492127496 + ], + [ + 0.935588027764152, + 0.13524321503825298, + 0.3261660851322547, + 0.12530708118601264, + -0.9907862125773509, + 0.051388874002747595, + 0.33011085669669576, + -0.007207895167459764, + -0.9439146510878134 + ], + [ + 0.9054314447552538, + 0.15406502717154175, + 0.39554755245235124, + 0.13611411887999408, + -0.9879819194183802, + 0.07324393178889228, + 0.40207815843432265, + -0.01247775240198198, + -0.9155203221147297 + ], + [ + 0.8563734518833006, + 0.21750790906280454, + 0.4683106024900642, + 0.18582015435637517, + -0.9760054226986944, + 0.11350896483413012, + 0.4817627851385504, + -0.010184515593273429, + -0.8762424861290836 + ], + [ + 0.8550592903949695, + 0.2668211089228472, + 0.4446123094814553, + 0.20327241498461726, + -0.9612987328075786, + 0.18597062028413341, + 0.47702613682645617, + -0.06863848873427997, + -0.8762047835116522 + ], + [ + 0.9051325404146139, + 0.23951698976228222, + 0.35123595473385505, + 0.16374732039189074, + -0.9588593440289965, + 0.23189560891219657, + 0.3923288153412433, + -0.15238231519273404, + -0.9071150592231613 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005541.json b/json/chunk-0005/episode_0005541.json new file mode 100644 index 0000000000000000000000000000000000000000..52ff1fe1fa8555564e427203fbf971300650b4e6 --- /dev/null +++ b/json/chunk-0005/episode_0005541.json @@ -0,0 +1,1582 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 25, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nTake the gray object and put it on the lower center of the table." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005541.mp4", + "start": 0, + "end": 25, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.41519495844841003, + -0.06829342246055603, + 0.0828680694103241, + -0.006836174987256527, + -0.22877547144889832, + -0.02228175476193428, + 0.0, + 1.0008161067962646 + ], + [ + 0.4095977544784546, + -0.06751912087202072, + 0.06357748061418533, + 0.0010416187578812242, + -0.17547838389873505, + -0.029299264773726463, + 0.0, + 1.0008161067962646 + ], + [ + 0.3977506160736084, + -0.03601044416427612, + 0.06959161162376404, + 0.0052011022344231606, + -0.14556831121444702, + 0.0032439606729894876, + 0.0, + 1.0008161067962646 + ], + [ + 0.38730964064598083, + 0.005612117704004049, + 0.11113405972719193, + -0.0008729435503482819, + -0.20102931559085846, + 0.04376931115984917, + 0.0, + 1.0008161067962646 + ], + [ + 0.3736511170864105, + 0.029775502160191536, + 0.14247865974903107, + 0.0058315712958574295, + -0.21625809371471405, + 0.03451590985059738, + 0.0, + 1.0008161067962646 + ], + [ + 0.3605343997478485, + 0.07686718553304672, + 0.1608039289712906, + 0.012661301530897617, + -0.20110972225666046, + 0.08052945882081985, + 0.0, + 0.9994885921478271 + ], + [ + 0.3470013439655304, + 0.11079425364732742, + 0.1696791797876358, + 0.026547811925411224, + -0.1637984663248062, + 0.09761632978916168, + 0.0, + 1.0001531839370728 + ], + [ + 0.33511319756507874, + 0.14961481094360352, + 0.17781800031661987, + 0.038743454962968826, + -0.16275770962238312, + 0.160094752907753, + 0.0, + 0.9994885921478271 + ], + [ + 0.33454450964927673, + 0.17781159281730652, + 0.16476063430309296, + 0.06451902538537979, + -0.09453197568655014, + 0.18280814588069916, + 0.0, + 0.9994885921478271 + ], + [ + 0.3217206299304962, + 0.20749139785766602, + 0.15775373578071594, + 0.07241825759410858, + -0.07303015887737274, + 0.1973479837179184, + 0.0, + 0.9994885921478271 + ], + [ + 0.3088541328907013, + 0.2281413972377777, + 0.1382339745759964, + 0.07217991352081299, + -0.034574899822473526, + 0.18303151428699493, + 0.0, + 0.9994885921478271 + ], + [ + 0.3034714460372925, + 0.23934052884578705, + 0.11959535628557205, + 0.0788145586848259, + -0.0025343552697449923, + 0.15650080144405365, + 0.0, + 0.9968144297599792 + ], + [ + 0.3039839565753937, + 0.2413436323404312, + 0.11433858424425125, + 0.08867044746875763, + -0.02035808376967907, + 0.16378585994243622, + 0.0, + 0.9830701947212219 + ], + [ + 0.3100724518299103, + 0.23524200916290283, + 0.108607217669487, + 0.10118811577558517, + -0.032430071383714676, + 0.1509888917207718, + 0.0, + 0.8696252703666687 + ], + [ + 0.310325562953949, + 0.22629983723163605, + 0.10969331860542297, + 0.11091884970664978, + -0.04254589229822159, + 0.14089754223823547, + 0.0, + 0.6289845705032349 + ], + [ + 0.314616858959198, + 0.2067124843597412, + 0.11344920098781586, + 0.12965543568134308, + -0.03161824494600296, + 0.11828845739364624, + 0.0, + 0.5023775696754456 + ], + [ + 0.31984132528305054, + 0.17357978224754333, + 0.12820041179656982, + 0.15469732880592346, + -0.06232248991727829, + 0.09338673949241638, + 0.0, + 0.4652916491031647 + ], + [ + 0.3166116178035736, + 0.12391914427280426, + 0.13976216316223145, + 0.1558341234922409, + -0.09285887330770493, + 0.07187838107347488, + 0.0, + 0.464354008436203 + ], + [ + 0.3008175194263458, + 0.08862095326185226, + 0.13127799332141876, + 0.1049513891339302, + -0.11038785427808762, + 0.04754915088415146, + 0.0, + 0.464354008436203 + ], + [ + 0.28848907351493835, + 0.07183579355478287, + 0.10761363804340363, + 0.05481809005141258, + -0.10180698335170746, + 0.06143921986222267, + 0.0, + 0.464354008436203 + ], + [ + 0.2779580354690552, + 0.06401343643665314, + 0.07748915255069733, + -0.00903163943439722, + -0.09776131063699722, + 0.036327529698610306, + 0.0, + 0.464354008436203 + ], + [ + 0.27271416783332825, + 0.06096982955932617, + 0.04994641989469528, + -0.005208874121308327, + -0.1031995415687561, + 0.03049682267010212, + 0.0, + 0.464354008436203 + ], + [ + 0.2705302834510803, + 0.04510466381907463, + 0.03202284127473831, + -0.004847333766520023, + -0.07765060663223267, + -0.013079574331641197, + 0.0, + 0.5383656024932861 + ], + [ + 0.26636359095573425, + 0.04087648168206215, + 0.027933059260249138, + -0.008779320865869522, + -0.07009381800889969, + -0.0008009622106328607, + 0.0, + 0.852660596370697 + ], + [ + 0.26092761754989624, + 0.030497586354613304, + 0.028713297098875046, + 0.014197575859725475, + -0.017083721235394478, + 0.0038096513599157333, + 0.0, + 1.0143678188323975 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9968144297599792 + ], + [ + 0.9830701947212219 + ], + [ + 0.8696252703666687 + ], + [ + 0.6289845705032349 + ], + [ + 0.5023775696754456 + ], + [ + 0.4652916491031647 + ], + [ + 0.464354008436203 + ], + [ + 0.464354008436203 + ], + [ + 0.464354008436203 + ], + [ + 0.464354008436203 + ], + [ + 0.464354008436203 + ], + [ + 0.5383656024932861 + ], + [ + 0.852660596370697 + ], + [ + 1.0143678188323975 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.41519495844841003, + -0.06829342246055603, + 0.0828680694103241 + ], + [ + 0.4095977544784546, + -0.06751912087202072, + 0.06357748061418533 + ], + [ + 0.3977506160736084, + -0.03601044416427612, + 0.06959161162376404 + ], + [ + 0.38730964064598083, + 0.005612117704004049, + 0.11113405972719193 + ], + [ + 0.3736511170864105, + 0.029775502160191536, + 0.14247865974903107 + ], + [ + 0.3605343997478485, + 0.07686718553304672, + 0.1608039289712906 + ], + [ + 0.3470013439655304, + 0.11079425364732742, + 0.1696791797876358 + ], + [ + 0.33511319756507874, + 0.14961481094360352, + 0.17781800031661987 + ], + [ + 0.33454450964927673, + 0.17781159281730652, + 0.16476063430309296 + ], + [ + 0.3217206299304962, + 0.20749139785766602, + 0.15775373578071594 + ], + [ + 0.3088541328907013, + 0.2281413972377777, + 0.1382339745759964 + ], + [ + 0.3034714460372925, + 0.23934052884578705, + 0.11959535628557205 + ], + [ + 0.3039839565753937, + 0.2413436323404312, + 0.11433858424425125 + ], + [ + 0.3100724518299103, + 0.23524200916290283, + 0.108607217669487 + ], + [ + 0.310325562953949, + 0.22629983723163605, + 0.10969331860542297 + ], + [ + 0.314616858959198, + 0.2067124843597412, + 0.11344920098781586 + ], + [ + 0.31984132528305054, + 0.17357978224754333, + 0.12820041179656982 + ], + [ + 0.3166116178035736, + 0.12391914427280426, + 0.13976216316223145 + ], + [ + 0.3008175194263458, + 0.08862095326185226, + 0.13127799332141876 + ], + [ + 0.28848907351493835, + 0.07183579355478287, + 0.10761363804340363 + ], + [ + 0.2779580354690552, + 0.06401343643665314, + 0.07748915255069733 + ], + [ + 0.27271416783332825, + 0.06096982955932617, + 0.04994641989469528 + ], + [ + 0.2705302834510803, + 0.04510466381907463, + 0.03202284127473831 + ], + [ + 0.26636359095573425, + 0.04087648168206215, + 0.027933059260249138 + ], + [ + 0.26092761754989624, + 0.030497586354613304, + 0.028713297098875046 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.97370306952646, + -0.02382933599102432, + 0.22657117014522624, + -0.021699404207102774, + -0.9996938699971937, + -0.011887057966169531, + 0.22678507061049444, + 0.006658005426640709, + -0.9739220721967092 + ], + [ + 0.9842205340018647, + -0.029113290199461038, + 0.17453468647476997, + -0.02884519251606201, + -0.9995755921550389, + -0.004073135968106692, + 0.17457919497407362, + -0.0010256225745030939, + -0.9846426015466418 + ], + [ + 0.9894184234276727, + 0.003998348338964253, + 0.14503515640167333, + 0.003209645713406285, + -0.999978765360325, + 0.0056715961451443975, + 0.1450547536494132, + -0.005146070248209397, + -0.9894102467655708 + ], + [ + 0.9789231289137889, + 0.0435811799498592, + 0.19952490679565674, + 0.042874173298016516, + -0.9990495228501318, + 0.00786486852628052, + 0.1996780231814437, + 0.0008553637249854753, + -0.9798611919099811 + ], + [ + 0.9761254686916403, + 0.03575903517943518, + 0.21424369483035388, + 0.03370524463572185, + -0.9993442101410741, + 0.013232767721047893, + 0.2145763869944035, + -0.005695705447877468, + -0.9766906025368931 + ], + [ + 0.9766700772630537, + 0.08295691789606632, + 0.19807501092304858, + 0.0788211714113635, + -0.9964759135064792, + 0.028687571154906888, + 0.1997568099372859, + -0.012405787948078952, + -0.9797669688803895 + ], + [ + 0.9819180280832246, + 0.10173498731890526, + 0.1596464170608747, + 0.09615685280149816, + -0.9944667455768249, + 0.04230545592651771, + 0.1630669978397333, + -0.02618939283491891, + -0.9862673420115236 + ], + [ + 0.9741653612800911, + 0.16548828105088548, + 0.15367328237807884, + 0.1573049910490565, + -0.9854708102796802, + 0.06405015127044608, + 0.16204008353825874, + -0.03822186444345577, + -0.986043660496522 + ], + [ + 0.9789466493203403, + 0.18739779875435628, + 0.08090440535904632, + 0.18097997342258185, + -0.9801847633285717, + 0.08052377883876059, + 0.09439124432086198, + -0.06418640635316679, + -0.9934638384133696 + ], + [ + 0.977976225653877, + 0.20073250001421308, + 0.05717486767663646, + 0.1955468561321647, + -0.9769846943434536, + 0.08521932923612442, + 0.07296525962828765, + -0.07216211233516127, + -0.9947204131969465 + ], + [ + 0.9827087727245964, + 0.18398866326382082, + 0.020775942830827312, + 0.18190250295805224, + -0.9802823512725736, + 0.07718802498516593, + 0.03456801162510305, + -0.07207415329996701, + -0.9968000647062477 + ], + [ + 0.9877755520561774, + 0.15557599411532902, + -0.00977593039772693, + 0.1558622334538815, + -0.9846813019673053, + 0.0781645555142507, + 0.0025343525567368655, + -0.07873273532019412, + -0.9968925385647736 + ], + [ + 0.9864126081400318, + 0.1641925222892022, + 0.005566159060763633, + 0.16302077223821906, + -0.98244704764937, + 0.09067539017777276, + 0.020356677558840082, + -0.08853594857088543, + -0.995864946410616 + ], + [ + 0.9881029899077141, + 0.15288454914596655, + 0.016697184429415667, + 0.1503367568209114, + -0.9830731947088135, + 0.10471844820076787, + 0.03242438718010757, + -0.10096241121051586, + -0.9943617302765391 + ], + [ + 0.989194379220029, + 0.14423023358455897, + 0.026308170587194972, + 0.1403047366355651, + -0.9833448968057251, + 0.11553092574614987, + 0.04253305769782018, + -0.11059138142857808, + -0.9929554296928904 + ], + [ + 0.9925157517468146, + 0.12108101657442555, + 0.015870411455241526, + 0.11795381392260906, + -0.9841948733469544, + 0.132088413794255, + 0.031612977012067264, + -0.12922785575438256, + -0.9911108822838939 + ], + [ + 0.9937096681933323, + 0.10169215938608472, + 0.04690202616617924, + 0.09307002047681628, + -0.9828579895788925, + 0.15914818129461292, + 0.06228215336308481, + -0.1537819138921516, + -0.9861399780620013 + ], + [ + 0.9931206977116845, + 0.0853004818214493, + 0.08021912226947799, + 0.07150709757854846, + -0.9842980267896134, + 0.1613819365789292, + 0.09272548070810314, + -0.15453550484953996, + -0.9836263329986388 + ], + [ + 0.992790076628384, + 0.05879728904890572, + 0.10445449989687819, + 0.04724193395614779, + -0.9928250870229525, + 0.10984783226786972, + 0.1101638026953067, + -0.10412120522912947, + -0.9884445918701479 + ], + [ + 0.9929451179341192, + 0.066866274339671, + 0.0979228988885161, + 0.061082650570076155, + -0.996271998361554, + 0.06091810141501697, + 0.10163120864248673, + -0.05450694117824051, + -0.9933277861779866 + ], + [ + 0.9945685459111142, + 0.03543711319387989, + 0.09786530791213141, + 0.03614612033877421, + -0.9993314864476437, + -0.005480709698384631, + 0.09760566309752217, + 0.008988392672066435, + -0.99518457751739 + ], + [ + 0.9942171335630133, + 0.029955334117325615, + 0.10312598745061861, + 0.030329867027797656, + -0.9995378100754333, + -0.002065283439024195, + 0.10301645740279498, + 0.005181137667229389, + -0.9946661577216005 + ], + [ + 0.9969014275187308, + -0.013455034373870575, + 0.07750165069928948, + -0.013039789926202382, + -0.9998977982671611, + -0.005861475852033737, + 0.07757259625536088, + 0.0048327084002063505, + -0.996974993287054 + ], + [ + 0.9975441139819418, + -0.0014157954992315457, + 0.0700266819368663, + -0.0007989953096013888, + -0.9999606487691189, + -0.008835299640524676, + 0.07003643527820298, + 0.008757650161257652, + -0.9975059906071617 + ], + [ + 0.9998468211294019, + 0.004051783916607508, + 0.017026958757290003, + 0.0038090862294934513, + -0.9998910361882739, + 0.01426206900964549, + 0.017082890256792535, + -0.014195027207889658, + -0.9997533076029512 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.005597203969955444, + 0.0007743015885353088, + -0.019290588796138763, + 0.007877794094383717, + 0.05329708755016327, + -0.007017510011792183, + 1.0 + ], + [ + -0.011847138404846191, + 0.0315086767077446, + 0.006014131009578705, + 0.004159483592957258, + 0.029910072684288025, + 0.03254322707653046, + 1.0 + ], + [ + -0.010440975427627563, + 0.04162256047129631, + 0.04154244810342789, + -0.006074045784771442, + -0.05546100437641144, + 0.04052535071969032, + 1.0 + ], + [ + -0.013658523559570312, + 0.0241633839905262, + 0.03134460002183914, + 0.006704514846205711, + -0.01522877812385559, + -0.009253401309251785, + 1.0 + ], + [ + -0.013116717338562012, + 0.047091685235500336, + 0.01832526922225952, + 0.006829730235040188, + 0.015148371458053589, + 0.04601354897022247, + 1.0 + ], + [ + -0.013533055782318115, + 0.0339270681142807, + 0.008875250816345215, + 0.013886510394513607, + 0.03731125593185425, + 0.017086870968341827, + 1.0 + ], + [ + -0.01188814640045166, + 0.03882055729627609, + 0.00813882052898407, + 0.012195643037557602, + 0.0010407567024230957, + 0.06247842311859131, + 1.0 + ], + [ + -0.000568687915802002, + 0.028196781873703003, + -0.013057366013526917, + 0.025775570422410965, + 0.06822573393583298, + 0.022713392972946167, + 1.0 + ], + [ + -0.012823879718780518, + 0.029679805040359497, + -0.007006898522377014, + 0.00789923220872879, + 0.0215018168091774, + 0.014539837837219238, + 1.0 + ], + [ + -0.012866497039794922, + 0.020649999380111694, + -0.019519761204719543, + -0.00023834407329559326, + 0.038455259054899216, + -0.014316469430923462, + 1.0 + ], + [ + -0.0053826868534088135, + 0.011199131608009338, + -0.018638618290424347, + 0.006634645164012909, + 0.0320405438542366, + -0.026530712842941284, + 1.0 + ], + [ + 0.0005125105381011963, + 0.002003103494644165, + -0.005256772041320801, + 0.009855888783931732, + -0.017823727801442146, + 0.007285058498382568, + 0.0 + ], + [ + 0.0060884952545166016, + -0.006101623177528381, + -0.005731366574764252, + 0.012517668306827545, + -0.012071987614035606, + -0.012796968221664429, + 0.0 + ], + [ + 0.0002531111240386963, + -0.008942171931266785, + 0.0010861009359359741, + 0.009730733931064606, + -0.010115820914506912, + -0.010091349482536316, + 0.0 + ], + [ + 0.0042912960052490234, + -0.019587352871894836, + 0.0037558823823928833, + 0.0187365859746933, + 0.010927647352218628, + -0.022609084844589233, + 0.0 + ], + [ + 0.005224466323852539, + -0.033132702112197876, + 0.014751210808753967, + 0.025041893124580383, + -0.03070424497127533, + -0.02490171790122986, + 0.0 + ], + [ + -0.0032297074794769287, + -0.049660637974739075, + 0.011561751365661621, + 0.0011367946863174438, + -0.030536383390426636, + -0.021508358418941498, + 0.0 + ], + [ + -0.015794098377227783, + -0.035298191010951996, + -0.008484169840812683, + -0.0508827343583107, + -0.01752898097038269, + -0.024329230189323425, + 0.0 + ], + [ + -0.01232844591140747, + -0.016785159707069397, + -0.023664355278015137, + -0.050133299082517624, + 0.008580870926380157, + 0.013890068978071213, + 0.0 + ], + [ + -0.010531038045883179, + -0.00782235711812973, + -0.0301244854927063, + -0.06384973227977753, + 0.004045672714710236, + -0.025111690163612366, + 0.0 + ], + [ + -0.005243867635726929, + -0.0030436068773269653, + -0.027542732656002045, + 0.003822765313088894, + -0.005438230931758881, + -0.005830707028508186, + 0.0 + ], + [ + -0.002183884382247925, + -0.01586516574025154, + -0.01792357861995697, + 0.0003615403547883034, + 0.025548934936523438, + -0.04357639700174332, + 1.0 + ], + [ + -0.004166692495346069, + -0.004228182137012482, + -0.004089782014489174, + -0.003931987099349499, + 0.007556788623332977, + 0.012278611771762371, + 1.0 + ], + [ + -0.005435973405838013, + -0.010378895327448845, + 0.0007802378386259079, + 0.022976897656917572, + 0.05301009863615036, + 0.004610613454133272, + 1.0 + ], + [ + -0.006137341260910034, + -0.0025849491357803345, + 0.006629813462495804, + 0.048126187175512314, + 0.02782660350203514, + 0.06515711545944214, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9968144297599792 + ], + [ + 0.9830701947212219 + ], + [ + 0.8696252703666687 + ], + [ + 0.6289845705032349 + ], + [ + 0.5023775696754456 + ], + [ + 0.4652916491031647 + ], + [ + 0.464354008436203 + ], + [ + 0.464354008436203 + ], + [ + 0.464354008436203 + ], + [ + 0.464354008436203 + ], + [ + 0.464354008436203 + ], + [ + 0.5383656024932861 + ], + [ + 0.852660596370697 + ], + [ + 1.0143678188323975 + ], + [ + 1.0105689764022827 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.4095977544784546, + -0.06751912087202072, + 0.06357748061418533 + ], + [ + 0.3977506160736084, + -0.03601044416427612, + 0.06959161162376404 + ], + [ + 0.38730964064598083, + 0.005612117704004049, + 0.11113405972719193 + ], + [ + 0.3736511170864105, + 0.029775502160191536, + 0.14247865974903107 + ], + [ + 0.3605343997478485, + 0.07686718553304672, + 0.1608039289712906 + ], + [ + 0.3470013439655304, + 0.11079425364732742, + 0.1696791797876358 + ], + [ + 0.33511319756507874, + 0.14961481094360352, + 0.17781800031661987 + ], + [ + 0.33454450964927673, + 0.17781159281730652, + 0.16476063430309296 + ], + [ + 0.3217206299304962, + 0.20749139785766602, + 0.15775373578071594 + ], + [ + 0.3088541328907013, + 0.2281413972377777, + 0.1382339745759964 + ], + [ + 0.3034714460372925, + 0.23934052884578705, + 0.11959535628557205 + ], + [ + 0.3039839565753937, + 0.2413436323404312, + 0.11433858424425125 + ], + [ + 0.3100724518299103, + 0.23524200916290283, + 0.108607217669487 + ], + [ + 0.310325562953949, + 0.22629983723163605, + 0.10969331860542297 + ], + [ + 0.314616858959198, + 0.2067124843597412, + 0.11344920098781586 + ], + [ + 0.31984132528305054, + 0.17357978224754333, + 0.12820041179656982 + ], + [ + 0.3166116178035736, + 0.12391914427280426, + 0.13976216316223145 + ], + [ + 0.3008175194263458, + 0.08862095326185226, + 0.13127799332141876 + ], + [ + 0.28848907351493835, + 0.07183579355478287, + 0.10761363804340363 + ], + [ + 0.2779580354690552, + 0.06401343643665314, + 0.07748915255069733 + ], + [ + 0.27271416783332825, + 0.06096982955932617, + 0.04994641989469528 + ], + [ + 0.2705302834510803, + 0.04510466381907463, + 0.03202284127473831 + ], + [ + 0.26636359095573425, + 0.04087648168206215, + 0.027933059260249138 + ], + [ + 0.26092761754989624, + 0.030497586354613304, + 0.028713297098875046 + ], + [ + 0.2547902762889862, + 0.02791263721883297, + 0.03534311056137085 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9842205340018647, + -0.029113290199461038, + 0.17453468647476997, + -0.02884519251606201, + -0.9995755921550389, + -0.004073135968106692, + 0.17457919497407362, + -0.0010256225745030939, + -0.9846426015466418 + ], + [ + 0.9894184234276727, + 0.003998348338964253, + 0.14503515640167333, + 0.003209645713406285, + -0.999978765360325, + 0.0056715961451443975, + 0.1450547536494132, + -0.005146070248209397, + -0.9894102467655708 + ], + [ + 0.9789231289137889, + 0.0435811799498592, + 0.19952490679565674, + 0.042874173298016516, + -0.9990495228501318, + 0.00786486852628052, + 0.1996780231814437, + 0.0008553637249854753, + -0.9798611919099811 + ], + [ + 0.9761254686916403, + 0.03575903517943518, + 0.21424369483035388, + 0.03370524463572185, + -0.9993442101410741, + 0.013232767721047893, + 0.2145763869944035, + -0.005695705447877468, + -0.9766906025368931 + ], + [ + 0.9766700772630537, + 0.08295691789606632, + 0.19807501092304858, + 0.0788211714113635, + -0.9964759135064792, + 0.028687571154906888, + 0.1997568099372859, + -0.012405787948078952, + -0.9797669688803895 + ], + [ + 0.9819180280832246, + 0.10173498731890526, + 0.1596464170608747, + 0.09615685280149816, + -0.9944667455768249, + 0.04230545592651771, + 0.1630669978397333, + -0.02618939283491891, + -0.9862673420115236 + ], + [ + 0.9741653612800911, + 0.16548828105088548, + 0.15367328237807884, + 0.1573049910490565, + -0.9854708102796802, + 0.06405015127044608, + 0.16204008353825874, + -0.03822186444345577, + -0.986043660496522 + ], + [ + 0.9789466493203403, + 0.18739779875435628, + 0.08090440535904632, + 0.18097997342258185, + -0.9801847633285717, + 0.08052377883876059, + 0.09439124432086198, + -0.06418640635316679, + -0.9934638384133696 + ], + [ + 0.977976225653877, + 0.20073250001421308, + 0.05717486767663646, + 0.1955468561321647, + -0.9769846943434536, + 0.08521932923612442, + 0.07296525962828765, + -0.07216211233516127, + -0.9947204131969465 + ], + [ + 0.9827087727245964, + 0.18398866326382082, + 0.020775942830827312, + 0.18190250295805224, + -0.9802823512725736, + 0.07718802498516593, + 0.03456801162510305, + -0.07207415329996701, + -0.9968000647062477 + ], + [ + 0.9877755520561774, + 0.15557599411532902, + -0.00977593039772693, + 0.1558622334538815, + -0.9846813019673053, + 0.0781645555142507, + 0.0025343525567368655, + -0.07873273532019412, + -0.9968925385647736 + ], + [ + 0.9864126081400318, + 0.1641925222892022, + 0.005566159060763633, + 0.16302077223821906, + -0.98244704764937, + 0.09067539017777276, + 0.020356677558840082, + -0.08853594857088543, + -0.995864946410616 + ], + [ + 0.9881029899077141, + 0.15288454914596655, + 0.016697184429415667, + 0.1503367568209114, + -0.9830731947088135, + 0.10471844820076787, + 0.03242438718010757, + -0.10096241121051586, + -0.9943617302765391 + ], + [ + 0.989194379220029, + 0.14423023358455897, + 0.026308170587194972, + 0.1403047366355651, + -0.9833448968057251, + 0.11553092574614987, + 0.04253305769782018, + -0.11059138142857808, + -0.9929554296928904 + ], + [ + 0.9925157517468146, + 0.12108101657442555, + 0.015870411455241526, + 0.11795381392260906, + -0.9841948733469544, + 0.132088413794255, + 0.031612977012067264, + -0.12922785575438256, + -0.9911108822838939 + ], + [ + 0.9937096681933323, + 0.10169215938608472, + 0.04690202616617924, + 0.09307002047681628, + -0.9828579895788925, + 0.15914818129461292, + 0.06228215336308481, + -0.1537819138921516, + -0.9861399780620013 + ], + [ + 0.9931206977116845, + 0.0853004818214493, + 0.08021912226947799, + 0.07150709757854846, + -0.9842980267896134, + 0.1613819365789292, + 0.09272548070810314, + -0.15453550484953996, + -0.9836263329986388 + ], + [ + 0.992790076628384, + 0.05879728904890572, + 0.10445449989687819, + 0.04724193395614779, + -0.9928250870229525, + 0.10984783226786972, + 0.1101638026953067, + -0.10412120522912947, + -0.9884445918701479 + ], + [ + 0.9929451179341192, + 0.066866274339671, + 0.0979228988885161, + 0.061082650570076155, + -0.996271998361554, + 0.06091810141501697, + 0.10163120864248673, + -0.05450694117824051, + -0.9933277861779866 + ], + [ + 0.9945685459111142, + 0.03543711319387989, + 0.09786530791213141, + 0.03614612033877421, + -0.9993314864476437, + -0.005480709698384631, + 0.09760566309752217, + 0.008988392672066435, + -0.99518457751739 + ], + [ + 0.9942171335630133, + 0.029955334117325615, + 0.10312598745061861, + 0.030329867027797656, + -0.9995378100754333, + -0.002065283439024195, + 0.10301645740279498, + 0.005181137667229389, + -0.9946661577216005 + ], + [ + 0.9969014275187308, + -0.013455034373870575, + 0.07750165069928948, + -0.013039789926202382, + -0.9998977982671611, + -0.005861475852033737, + 0.07757259625536088, + 0.0048327084002063505, + -0.996974993287054 + ], + [ + 0.9975441139819418, + -0.0014157954992315457, + 0.0700266819368663, + -0.0007989953096013888, + -0.9999606487691189, + -0.008835299640524676, + 0.07003643527820298, + 0.008757650161257652, + -0.9975059906071617 + ], + [ + 0.9998468211294019, + 0.004051783916607508, + 0.017026958757290003, + 0.0038090862294934513, + -0.9998910361882739, + 0.01426206900964549, + 0.017082890256792535, + -0.014195027207889658, + -0.9997533076029512 + ], + [ + 0.9975651678680493, + 0.06811081650024972, + -0.014988413260248974, + 0.06890813273267937, + -0.9957319615920269, + 0.06139649751728224, + -0.01074267656062201, + -0.06227983092272742, + -0.9980009106010627 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005542.json b/json/chunk-0005/episode_0005542.json new file mode 100644 index 0000000000000000000000000000000000000000..6c3d28b7521814b77f443c967a561d043b480b88 --- /dev/null +++ b/json/chunk-0005/episode_0005542.json @@ -0,0 +1,2182 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 35, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut lid on pot." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005542.mp4", + "start": 0, + "end": 35, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.22684353590011597, + -0.03025672398507595, + 0.12798242270946503, + 0.018422288820147514, + -0.04955340176820755, + 0.19739875197410583, + 0.0, + 0.9974852800369263 + ], + [ + 0.22385001182556152, + -0.02979090064764023, + 0.12151644378900528, + 0.027016010135412216, + -0.026389554142951965, + 0.1923680454492569, + 0.0, + 0.9974852800369263 + ], + [ + 0.22333389520645142, + -0.006840151268988848, + 0.11364752799272537, + 0.02830067276954651, + -0.023417996242642403, + 0.15344420075416565, + 0.0, + 0.9974852800369263 + ], + [ + 0.23000067472457886, + 0.014371564611792564, + 0.11384225636720657, + 0.02747892402112484, + -0.018292222172021866, + 0.08778087794780731, + 0.0, + 0.9974852800369263 + ], + [ + 0.23548847436904907, + 0.030772488564252853, + 0.11092812567949295, + -0.008827248588204384, + -0.013056186027824879, + 0.054864268749952316, + 0.0, + 0.9974852800369263 + ], + [ + 0.24297137558460236, + 0.048176925629377365, + 0.09925181418657303, + -0.041790805757045746, + -0.0030099465511739254, + 0.05032546445727348, + 0.0, + 0.9974852800369263 + ], + [ + 0.2380470484495163, + 0.05829306319355965, + 0.08235196769237518, + -0.05129658058285713, + -0.04182641953229904, + 0.018444247543811798, + 0.0, + 0.9974852800369263 + ], + [ + 0.23867884278297424, + 0.06780647486448288, + 0.07293848693370819, + -0.0461103580892086, + -0.0327456034719944, + -0.013854295015335083, + 0.0, + 0.9974852800369263 + ], + [ + 0.24089758098125458, + 0.07644907385110855, + 0.06999127566814423, + -0.0364004485309124, + -0.052900951355695724, + -0.02777946926653385, + 0.0, + 0.9974852800369263 + ], + [ + 0.24000447988510132, + 0.07912933081388474, + 0.057152554392814636, + -0.02323896437883377, + -0.04528775066137314, + -0.015507044270634651, + 0.0, + 0.9974852800369263 + ], + [ + 0.23953334987163544, + 0.08033294230699539, + 0.045546017587184906, + -0.006356929894536734, + -0.06673410534858704, + -0.01827838644385338, + 0.0, + 0.9974852800369263 + ], + [ + 0.24062860012054443, + 0.08292688429355621, + 0.03317152336239815, + 0.002016000682488084, + -0.0518290176987648, + -0.01803114265203476, + 0.0, + 0.9974852800369263 + ], + [ + 0.23914507031440735, + 0.07772892713546753, + 0.02264656312763691, + 0.01427521649748087, + -0.035659268498420715, + -0.013187014497816563, + 0.0, + 0.9974852800369263 + ], + [ + 0.2361893504858017, + 0.07572975009679794, + 0.01761823706328869, + 0.016325300559401512, + -0.03985164687037468, + -0.009848050773143768, + 0.0, + 0.9383087754249573 + ], + [ + 0.2337341010570526, + 0.07493622601032257, + 0.01474282518029213, + 0.01682785525918007, + -0.042942941188812256, + -0.0007371291285380721, + 0.0, + 0.6500836610794067 + ], + [ + 0.23174384236335754, + 0.07247523963451385, + 0.015201998874545097, + 0.0192226842045784, + -0.0647115632891655, + 0.0005430746823549271, + 0.0, + 0.40327540040016174 + ], + [ + 0.22948332130908966, + 0.07166683673858643, + 0.016490595415234566, + 0.014384661801159382, + -0.05978701636195183, + 0.00573370885103941, + 0.0, + 0.3883807957172394 + ], + [ + 0.22522565722465515, + 0.0748237669467926, + 0.02878822200000286, + 0.01293867826461792, + -0.055305834859609604, + 0.05552651733160019, + 0.0, + 0.413944274187088 + ], + [ + 0.23158487677574158, + 0.0745454877614975, + 0.057011932134628296, + -0.007939836010336876, + -0.06688424199819565, + 0.08827273547649384, + 0.0, + 0.4148389995098114 + ], + [ + 0.23847928643226624, + 0.06937820464372635, + 0.08231944590806961, + -0.04197089746594429, + -0.06824130564928055, + 0.13019180297851562, + 0.0, + 0.41573449969291687 + ], + [ + 0.24153123795986176, + 0.04782901704311371, + 0.09130722284317017, + -0.05370369926095009, + -0.04834841564297676, + 0.12729698419570923, + 0.0, + 0.41573449969291687 + ], + [ + 0.24748699367046356, + 0.02256992645561695, + 0.09433376789093018, + -0.061846278607845306, + -0.0018635386368259788, + 0.06610123068094254, + 0.0, + 0.4166308641433716 + ], + [ + 0.24763302505016327, + -0.0018397645326331258, + 0.09437453746795654, + -0.06187376379966736, + 0.005844506900757551, + 0.042758263647556305, + 0.0, + 0.4166308641433716 + ], + [ + 0.24765430390834808, + -0.026652732864022255, + 0.09400364011526108, + -0.04422357678413391, + 0.014878394082188606, + 0.025120725855231285, + 0.0, + 0.4175282120704651 + ], + [ + 0.24946679174900055, + -0.04326097294688225, + 0.0823528841137886, + -0.03224250301718712, + 0.027294140309095383, + 0.030104760080575943, + 0.0, + 0.4175282120704651 + ], + [ + 0.2574736177921295, + -0.059829749166965485, + 0.06754472851753235, + -0.0124845365062356, + 0.042598456144332886, + 0.034636545926332474, + 0.0, + 0.4175282120704651 + ], + [ + 0.26393938064575195, + -0.06825719028711319, + 0.05760917067527771, + 0.0021807407028973103, + 0.04412376880645752, + 0.04194431006908417, + 0.0, + 0.4175282120704651 + ], + [ + 0.27168479561805725, + -0.07539978623390198, + 0.05455993115901947, + 0.010181102901697159, + 0.03540387749671936, + 0.04549837484955788, + 0.0, + 0.4175282120704651 + ], + [ + 0.27450230717658997, + -0.07759051769971848, + 0.05375618860125542, + 0.015937650576233864, + 0.035096488893032074, + 0.046877820044755936, + 0.0, + 0.4175282120704651 + ], + [ + 0.27768632769584656, + -0.0793883427977562, + 0.05399637296795845, + 0.014019533060491085, + 0.03736204281449318, + 0.04699448496103287, + 0.0, + 0.4175282120704651 + ], + [ + 0.2778428792953491, + -0.0796496719121933, + 0.053845085203647614, + 0.015766248106956482, + 0.04648856446146965, + 0.04791994020342827, + 0.0, + 0.4937349259853363 + ], + [ + 0.2761978805065155, + -0.07641733437776566, + 0.05431978777050972, + 0.017205489799380302, + 0.06373462826013565, + 0.035896338522434235, + 0.0, + 0.806471049785614 + ], + [ + 0.27788829803466797, + -0.06657666712999344, + 0.06004584580659866, + -0.0031714998185634613, + 0.05480547249317169, + 0.03926200047135353, + 0.0, + 1.0001531839370728 + ], + [ + 0.27349528670310974, + -0.06170494854450226, + 0.0728088989853859, + -0.027977516874670982, + 0.06208416819572449, + 0.052335161715745926, + 0.0, + 1.0008161067962646 + ], + [ + 0.26809751987457275, + -0.053275253623723984, + 0.09441936016082764, + -0.07303591072559357, + 0.05201191082596779, + 0.04560372233390808, + 0.0, + 1.0008161067962646 + ] + ], + "left_gripper_pos": [ + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9383087754249573 + ], + [ + 0.6500836610794067 + ], + [ + 0.40327540040016174 + ], + [ + 0.3883807957172394 + ], + [ + 0.413944274187088 + ], + [ + 0.4148389995098114 + ], + [ + 0.41573449969291687 + ], + [ + 0.41573449969291687 + ], + [ + 0.4166308641433716 + ], + [ + 0.4166308641433716 + ], + [ + 0.4175282120704651 + ], + [ + 0.4175282120704651 + ], + [ + 0.4175282120704651 + ], + [ + 0.4175282120704651 + ], + [ + 0.4175282120704651 + ], + [ + 0.4175282120704651 + ], + [ + 0.4175282120704651 + ], + [ + 0.4937349259853363 + ], + [ + 0.806471049785614 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.22684353590011597, + -0.03025672398507595, + 0.12798242270946503 + ], + [ + 0.22385001182556152, + -0.02979090064764023, + 0.12151644378900528 + ], + [ + 0.22333389520645142, + -0.006840151268988848, + 0.11364752799272537 + ], + [ + 0.23000067472457886, + 0.014371564611792564, + 0.11384225636720657 + ], + [ + 0.23548847436904907, + 0.030772488564252853, + 0.11092812567949295 + ], + [ + 0.24297137558460236, + 0.048176925629377365, + 0.09925181418657303 + ], + [ + 0.2380470484495163, + 0.05829306319355965, + 0.08235196769237518 + ], + [ + 0.23867884278297424, + 0.06780647486448288, + 0.07293848693370819 + ], + [ + 0.24089758098125458, + 0.07644907385110855, + 0.06999127566814423 + ], + [ + 0.24000447988510132, + 0.07912933081388474, + 0.057152554392814636 + ], + [ + 0.23953334987163544, + 0.08033294230699539, + 0.045546017587184906 + ], + [ + 0.24062860012054443, + 0.08292688429355621, + 0.03317152336239815 + ], + [ + 0.23914507031440735, + 0.07772892713546753, + 0.02264656312763691 + ], + [ + 0.2361893504858017, + 0.07572975009679794, + 0.01761823706328869 + ], + [ + 0.2337341010570526, + 0.07493622601032257, + 0.01474282518029213 + ], + [ + 0.23174384236335754, + 0.07247523963451385, + 0.015201998874545097 + ], + [ + 0.22948332130908966, + 0.07166683673858643, + 0.016490595415234566 + ], + [ + 0.22522565722465515, + 0.0748237669467926, + 0.02878822200000286 + ], + [ + 0.23158487677574158, + 0.0745454877614975, + 0.057011932134628296 + ], + [ + 0.23847928643226624, + 0.06937820464372635, + 0.08231944590806961 + ], + [ + 0.24153123795986176, + 0.04782901704311371, + 0.09130722284317017 + ], + [ + 0.24748699367046356, + 0.02256992645561695, + 0.09433376789093018 + ], + [ + 0.24763302505016327, + -0.0018397645326331258, + 0.09437453746795654 + ], + [ + 0.24765430390834808, + -0.026652732864022255, + 0.09400364011526108 + ], + [ + 0.24946679174900055, + -0.04326097294688225, + 0.0823528841137886 + ], + [ + 0.2574736177921295, + -0.059829749166965485, + 0.06754472851753235 + ], + [ + 0.26393938064575195, + -0.06825719028711319, + 0.05760917067527771 + ], + [ + 0.27168479561805725, + -0.07539978623390198, + 0.05455993115901947 + ], + [ + 0.27450230717658997, + -0.07759051769971848, + 0.05375618860125542 + ], + [ + 0.27768632769584656, + -0.0793883427977562, + 0.05399637296795845 + ], + [ + 0.2778428792953491, + -0.0796496719121933, + 0.053845085203647614 + ], + [ + 0.2761978805065155, + -0.07641733437776566, + 0.05431978777050972 + ], + [ + 0.27788829803466797, + -0.06657666712999344, + 0.06004584580659866 + ], + [ + 0.27349528670310974, + -0.06170494854450226, + 0.0728088989853859 + ], + [ + 0.26809751987457275, + -0.053275253623723984, + 0.09441936016082764 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9793763694115535, + 0.1969807286057021, + 0.04495019016879737, + 0.19587852522706206, + -0.9802347080218486, + 0.027776258642809526, + 0.04953312420103872, + -0.018398634386491065, + -0.9986030041310694 + ], + [ + 0.9812124941647322, + 0.19181365243150336, + 0.02072592665990139, + 0.19111722678445883, + -0.981059806296241, + 0.03155728277592435, + 0.02638649126433678, + -0.027003318515848047, + -0.9992870327728107 + ], + [ + 0.9879795522052445, + 0.15343637239041963, + 0.018806489624414637, + 0.15280085771168295, + -0.9877535139839824, + 0.03154193232617056, + 0.02341585588653058, + -0.028289136430141686, + -0.9993254837404769 + ], + [ + 0.9959830781451265, + 0.08813571668870433, + 0.015805172960988934, + 0.08765352232032018, + -0.9957296052540565, + 0.02897262924626687, + 0.018291202076393447, + -0.027470869377741836, + -0.9994552432511579 + ], + [ + 0.9984102309534799, + 0.054719540055506735, + 0.013519713885011326, + 0.05483207473364925, + -0.9984627518960445, + -0.008097941502704424, + 0.013055815096051188, + 0.00882638160808339, + -0.9998758126286915 + ], + [ + 0.9987294169040885, + 0.0501347111942041, + 0.00510514876312619, + 0.05030399645692981, + -0.9978682636426255, + -0.04157446758905533, + 0.00300994200626794, + 0.041778453158607544, + -0.9991223654291768 + ], + [ + 0.9989554612797779, + 0.016275320416894282, + 0.042697778919211275, + 0.01842707143059803, + -0.9985542942750297, + -0.05049519208191279, + 0.041814225065138495, + 0.05122924292067037, + -0.9978111721422932 + ], + [ + 0.9993679928700525, + -0.015348088585894454, + 0.03206323445384367, + -0.013846424914586094, + -0.9988203316358594, + -0.046542686084028555, + 0.0327397517395496, + 0.04606930960619262, + -0.998401586220916 + ], + [ + 0.9982157860592326, + -0.029681049995362606, + 0.05181003506389072, + -0.027737039998496756, + -0.9988985587280097, + -0.037846082798976645, + 0.05287628082865314, + 0.036341500275552614, + -0.9979395744650332 + ], + [ + 0.9988545765535319, + -0.0165540953864433, + 0.044894284981507264, + -0.015490523819053748, + -0.9995934755418894, + -0.023935900356941278, + 0.0452722715343021, + 0.023213047624614694, + -0.9987049493469539 + ], + [ + 0.997607432619623, + -0.018700834919834448, + 0.06655590999592005, + -0.018236685173177652, + -0.9998050052167975, + -0.00757461928637664, + 0.06668458364553469, + 0.00634273732234334, + -0.997753945613487 + ], + [ + 0.9984948387351655, + -0.017925705461162796, + 0.05183363871999637, + -0.018005954294774244, + -0.9998372946326266, + 0.0010816060486494533, + 0.051805816557313034, + -0.002013292186845311, + -0.9986551476988441 + ], + [ + 0.9992773835129849, + -0.012676414359686094, + 0.03583321529565109, + -0.013178249240128111, + -0.9998178831932626, + 0.013803412400873833, + 0.0356517116897352, + -0.014265656869737154, + -0.9992624512547577 + ], + [ + 0.9991575750492181, + -0.009196221820123014, + 0.03999462121337223, + -0.009840072641722283, + -0.999824665002697, + 0.015931485261907352, + 0.03984109928417713, + -0.01631161415923746, + -0.9990728792492309 + ], + [ + 0.9990778221585663, + -1.4643469337754643e-05, + 0.042936057765763036, + -0.0007364494977750379, + -0.999858675832009, + 0.016795416207965062, + 0.042929743919960225, + -0.01681154808547846, + -0.9989366391007671 + ], + [ + 0.9979067901916241, + 0.0017859595362726504, + 0.06464401316428595, + 0.0005419379663810836, + -0.9998144274233586, + 0.019256609757222425, + 0.0646664085340308, + -0.019181268587769577, + -0.9977225739365995 + ], + [ + 0.998196880352957, + 0.006592544223685775, + 0.059661766771385065, + 0.005723433008179771, + -0.9998751786261266, + 0.014726489125790752, + 0.05975140473851035, + -0.014358465378650407, + -0.998110016032173 + ], + [ + 0.9969321775480976, + 0.05620744062025206, + 0.05446978050377402, + 0.055413133360092924, + -0.9983355323116901, + 0.01598591802653133, + 0.05527764485237263, + -0.012918534857144646, + -0.9983874465540519 + ], + [ + 0.9938792796480239, + 0.08762678098332874, + 0.06727202049013062, + 0.08796102785086943, + -0.9961218746574906, + -0.002017029564720852, + 0.06683438535472133, + 0.007921999958730167, + -0.9977326329487826 + ], + [ + 0.989229174724228, + 0.12687312226357844, + 0.07299897753745709, + 0.12952215417226398, + -0.9910352539362166, + -0.0327587703394851, + 0.06818835276643197, + 0.0418609161709335, + -0.9967938664760789 + ], + [ + 0.9907495722913559, + 0.1241971972621587, + 0.05468401225879084, + 0.12680511248283402, + -0.9908079887111765, + -0.047116801189476795, + 0.04832958154909851, + 0.05361516295169963, + -0.9973914306073376 + ], + [ + 0.9978143764155825, + 0.06581189146031168, + 0.005938447675811881, + 0.06605298968367225, + -0.9959160207181991, + -0.061549022987178605, + 0.0018635375582173796, + 0.06180675221400741, + -0.9980863953629091 + ], + [ + 0.9990689412384597, + 0.04302449845330867, + -0.00318483680969667, + 0.042744505853703756, + -0.9971587353317737, + -0.06202712125240364, + -0.005844473627782441, + 0.06183323608205329, + -0.9980693828805868 + ], + [ + 0.9995738448160894, + 0.025751055401177943, + -0.013748160069840006, + 0.025115303761363093, + -0.9986905755242186, + -0.04456855254638202, + -0.01487784515831979, + 0.04420427021036111, + -0.9989117239369125 + ], + [ + 0.9991745927768488, + 0.030963939613452646, + -0.026293869871757258, + 0.030089001796544813, + -0.9990008957098472, + -0.0330433403549133, + -0.02729075154893996, + 0.03222490984529788, + -0.999107987189251 + ], + [ + 0.9984935818830833, + 0.03515825057279229, + -0.04212439144903314, + 0.03459820562345865, + -0.9993039199920305, + -0.01395133169982466, + -0.04258557391802416, + 0.012472886803880217, + -0.9990149628453271 + ], + [ + 0.9981480268709108, + 0.04183580589852787, + -0.044161994956390664, + 0.04189119996297401, + -0.9991221241545467, + 0.0003292272293665919, + -0.04410945272126713, + -0.0021786164708664513, + -0.9990243289384413 + ], + [ + 0.9983391241793413, + 0.045120325467977576, + -0.03582107427883564, + 0.045454176957587564, + -0.9989297446870716, + 0.008560547677028699, + -0.03539648188640224, + -0.010174547119461409, + -0.9993215536857893 + ], + [ + 0.9982862941587347, + 0.04629609857365419, + -0.03579310201251916, + 0.04683179503585862, + -0.9988007793252796, + 0.014275370150490147, + -0.03508928424091087, + -0.015927161582424906, + -0.9992572579948508 + ], + [ + 0.9981988529531842, + 0.04644949133863942, + -0.03796702144399128, + 0.046944404690693595, + -0.9988223988992784, + 0.012249013238908011, + -0.037353351003400176, + -0.014009290184453314, + -0.9992039166042856 + ], + [ + 0.9977729008810359, + 0.04716383408388988, + -0.047167902454418285, + 0.04784984955459538, + -0.9987630127090086, + 0.01352169893271025, + -0.046471821193544795, + -0.01574856180518006, + -0.9987954508486826 + ], + [ + 0.9973267396036434, + 0.03478823483234318, + -0.06425848729013293, + 0.035815763016689164, + -0.9992472065519155, + 0.014908095710922347, + -0.06369148758742248, + -0.017169709241667577, + -0.9978219257429944 + ], + [ + 0.9977290597223935, + 0.039425311120514055, + -0.054611063242898696, + 0.03919297960351028, + -0.999217502172166, + -0.005319182513976854, + -0.05477804063005574, + 0.0031667326803569837, + -0.9984935343150019 + ], + [ + 0.9967068628087914, + 0.05402404492628443, + -0.060471747119293526, + 0.05221049119617209, + -0.9981492261674544, + -0.031179911968548364, + -0.06204429255710327, + 0.027919972620237113, + -0.9976828057503917 + ], + [ + 0.9976094218854757, + 0.04925608827514646, + -0.04846936283012015, + 0.045526267768585295, + -0.9961242208025929, + -0.07525885777428562, + -0.0519884632239685, + 0.07287231640518954, + -0.9959853539050421 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0029935240745544434, + 0.00046582333743572235, + -0.006465978920459747, + 0.008593721315264702, + 0.023163847625255585, + -0.005030706524848938, + 1.0 + ], + [ + -0.0005161166191101074, + 0.022950749844312668, + -0.007868915796279907, + 0.0012846626341342926, + 0.0029715579003095627, + -0.03892384469509125, + 1.0 + ], + [ + 0.006666779518127441, + 0.021211715415120125, + 0.00019472837448120117, + -0.000821748748421669, + 0.005125774070620537, + -0.06566332280635834, + 1.0 + ], + [ + 0.005487799644470215, + 0.01640092395246029, + -0.002914130687713623, + -0.036306172609329224, + 0.005236036144196987, + -0.032916609197854996, + 1.0 + ], + [ + 0.007482901215553284, + 0.01740443706512451, + -0.011676311492919922, + -0.03296355903148651, + 0.01004623994231224, + -0.004538804292678833, + 1.0 + ], + [ + -0.00492432713508606, + 0.010116137564182281, + -0.016899846494197845, + -0.009505774825811386, + -0.03881647437810898, + -0.031881216913461685, + 1.0 + ], + [ + 0.0006317943334579468, + 0.009513411670923233, + -0.009413480758666992, + 0.005186222493648529, + 0.009080816060304642, + -0.03229854255914688, + 1.0 + ], + [ + 0.0022187381982803345, + 0.008642598986625671, + -0.002947211265563965, + 0.009709909558296204, + -0.020155347883701324, + -0.013925174251198769, + 1.0 + ], + [ + -0.0008931010961532593, + 0.002680256962776184, + -0.01283872127532959, + 0.013161484152078629, + 0.007613200694322586, + 0.0122724249958992, + 1.0 + ], + [ + -0.00047113001346588135, + 0.0012036114931106567, + -0.01160653680562973, + 0.01688203401863575, + -0.021446354687213898, + -0.002771342173218727, + 1.0 + ], + [ + 0.0010952502489089966, + 0.0025939419865608215, + -0.012374494224786758, + 0.008372930809855461, + 0.014905087649822235, + 0.0002472437918186188, + 1.0 + ], + [ + -0.001483529806137085, + -0.005197957158088684, + -0.010524960234761238, + 0.012259216047823429, + 0.016169749200344086, + 0.004844128154218197, + 1.0 + ], + [ + -0.002955719828605652, + -0.001999177038669586, + -0.005028326064348221, + 0.002050084061920643, + -0.004192378371953964, + 0.0033389637246727943, + 0.0 + ], + [ + -0.0024552494287490845, + -0.0007935240864753723, + -0.002875411882996559, + 0.0005025546997785568, + -0.0030912943184375763, + 0.009110921993851662, + 0.0 + ], + [ + -0.0019902586936950684, + -0.002460986375808716, + 0.00045917369425296783, + 0.0023948289453983307, + -0.02176862210035324, + 0.0012802038108929992, + 0.0 + ], + [ + -0.0022605210542678833, + -0.0008084028959274292, + 0.0012885965406894684, + -0.004838022403419018, + 0.004924546927213669, + 0.005190634168684483, + 0.0 + ], + [ + -0.004257664084434509, + 0.0031569302082061768, + 0.012297626584768295, + -0.001445983536541462, + 0.004481181502342224, + 0.049792807549238205, + 0.0 + ], + [ + 0.006359219551086426, + -0.000278279185295105, + 0.028223710134625435, + -0.020878514274954796, + -0.011578407138586044, + 0.032746218144893646, + 0.0 + ], + [ + 0.006894409656524658, + -0.005167283117771149, + 0.025307513773441315, + -0.034031063318252563, + -0.0013570636510849, + 0.04191906750202179, + 0.0 + ], + [ + 0.00305195152759552, + -0.02154918760061264, + 0.008987776935100555, + -0.011732801795005798, + 0.019892890006303787, + -0.0028948187828063965, + 0.0 + ], + [ + 0.005955755710601807, + -0.025259090587496758, + 0.0030265450477600098, + -0.008142579346895218, + 0.04648487642407417, + -0.06119575351476669, + 0.0 + ], + [ + 0.00014603137969970703, + -0.024409690871834755, + 4.076957702636719e-05, + -2.7485191822052002e-05, + 0.007708045653998852, + -0.02334296703338623, + 0.0 + ], + [ + 2.1278858184814453e-05, + -0.02481296844780445, + -0.0003708973526954651, + 0.017650187015533447, + 0.009033886715769768, + -0.01763753779232502, + 0.0 + ], + [ + 0.0018124878406524658, + -0.016608240082859993, + -0.011650756001472473, + 0.011981073766946793, + 0.012415746226906776, + 0.004984034225344658, + 0.0 + ], + [ + 0.008006826043128967, + -0.016568776220083237, + -0.014808155596256256, + 0.019757967442274094, + 0.015304315835237503, + 0.004531785845756531, + 0.0 + ], + [ + 0.0064657628536224365, + -0.008427441120147705, + -0.009935557842254639, + 0.014665277674794197, + 0.0015253126621246338, + 0.007307764142751694, + 0.0 + ], + [ + 0.007745414972305298, + -0.007142595946788788, + -0.0030492395162582397, + 0.008000362664461136, + -0.00871989130973816, + 0.003554064780473709, + 0.0 + ], + [ + 0.002817511558532715, + -0.002190731465816498, + -0.0008037425577640533, + 0.005756547674536705, + -0.0003073886036872864, + 0.001379445195198059, + 0.0 + ], + [ + 0.003184020519256592, + -0.0017978250980377197, + 0.00024018436670303345, + -0.0019181175157427788, + 0.0022655539214611053, + 0.00011666491627693176, + 0.0 + ], + [ + 0.00015655159950256348, + -0.00026132911443710327, + -0.0001512877643108368, + 0.0017467150464653969, + 0.009126521646976471, + 0.000925455242395401, + 1.0 + ], + [ + -0.0016449987888336182, + 0.003232337534427643, + 0.0004747025668621063, + 0.0014392416924238205, + 0.017246063798666, + -0.012023601680994034, + 1.0 + ], + [ + 0.0016904175281524658, + 0.009840667247772217, + 0.0057260580360889435, + -0.020376989617943764, + -0.008929155766963959, + 0.0033656619489192963, + 1.0 + ], + [ + -0.0043930113315582275, + 0.00487171858549118, + 0.012763053178787231, + -0.02480601705610752, + 0.007278695702552795, + 0.013073161244392395, + 1.0 + ], + [ + -0.005397766828536987, + 0.008429694920778275, + 0.021610461175441742, + -0.045058391988277435, + -0.010072257369756699, + -0.006731439381837845, + 1.0 + ], + [ + -0.006560027599334717, + 0.013509564101696014, + 0.014848239719867706, + -0.03189869225025177, + 0.006251595914363861, + -0.010617021471261978, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9383087754249573 + ], + [ + 0.6500836610794067 + ], + [ + 0.40327540040016174 + ], + [ + 0.3883807957172394 + ], + [ + 0.413944274187088 + ], + [ + 0.4148389995098114 + ], + [ + 0.41573449969291687 + ], + [ + 0.41573449969291687 + ], + [ + 0.4166308641433716 + ], + [ + 0.4166308641433716 + ], + [ + 0.4175282120704651 + ], + [ + 0.4175282120704651 + ], + [ + 0.4175282120704651 + ], + [ + 0.4175282120704651 + ], + [ + 0.4175282120704651 + ], + [ + 0.4175282120704651 + ], + [ + 0.4175282120704651 + ], + [ + 0.4937349259853363 + ], + [ + 0.806471049785614 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.22385001182556152, + -0.02979090064764023, + 0.12151644378900528 + ], + [ + 0.22333389520645142, + -0.006840151268988848, + 0.11364752799272537 + ], + [ + 0.23000067472457886, + 0.014371564611792564, + 0.11384225636720657 + ], + [ + 0.23548847436904907, + 0.030772488564252853, + 0.11092812567949295 + ], + [ + 0.24297137558460236, + 0.048176925629377365, + 0.09925181418657303 + ], + [ + 0.2380470484495163, + 0.05829306319355965, + 0.08235196769237518 + ], + [ + 0.23867884278297424, + 0.06780647486448288, + 0.07293848693370819 + ], + [ + 0.24089758098125458, + 0.07644907385110855, + 0.06999127566814423 + ], + [ + 0.24000447988510132, + 0.07912933081388474, + 0.057152554392814636 + ], + [ + 0.23953334987163544, + 0.08033294230699539, + 0.045546017587184906 + ], + [ + 0.24062860012054443, + 0.08292688429355621, + 0.03317152336239815 + ], + [ + 0.23914507031440735, + 0.07772892713546753, + 0.02264656312763691 + ], + [ + 0.2361893504858017, + 0.07572975009679794, + 0.01761823706328869 + ], + [ + 0.2337341010570526, + 0.07493622601032257, + 0.01474282518029213 + ], + [ + 0.23174384236335754, + 0.07247523963451385, + 0.015201998874545097 + ], + [ + 0.22948332130908966, + 0.07166683673858643, + 0.016490595415234566 + ], + [ + 0.22522565722465515, + 0.0748237669467926, + 0.02878822200000286 + ], + [ + 0.23158487677574158, + 0.0745454877614975, + 0.057011932134628296 + ], + [ + 0.23847928643226624, + 0.06937820464372635, + 0.08231944590806961 + ], + [ + 0.24153123795986176, + 0.04782901704311371, + 0.09130722284317017 + ], + [ + 0.24748699367046356, + 0.02256992645561695, + 0.09433376789093018 + ], + [ + 0.24763302505016327, + -0.0018397645326331258, + 0.09437453746795654 + ], + [ + 0.24765430390834808, + -0.026652732864022255, + 0.09400364011526108 + ], + [ + 0.24946679174900055, + -0.04326097294688225, + 0.0823528841137886 + ], + [ + 0.2574736177921295, + -0.059829749166965485, + 0.06754472851753235 + ], + [ + 0.26393938064575195, + -0.06825719028711319, + 0.05760917067527771 + ], + [ + 0.27168479561805725, + -0.07539978623390198, + 0.05455993115901947 + ], + [ + 0.27450230717658997, + -0.07759051769971848, + 0.05375618860125542 + ], + [ + 0.27768632769584656, + -0.0793883427977562, + 0.05399637296795845 + ], + [ + 0.2778428792953491, + -0.0796496719121933, + 0.053845085203647614 + ], + [ + 0.2761978805065155, + -0.07641733437776566, + 0.05431978777050972 + ], + [ + 0.27788829803466797, + -0.06657666712999344, + 0.06004584580659866 + ], + [ + 0.27349528670310974, + -0.06170494854450226, + 0.0728088989853859 + ], + [ + 0.26809751987457275, + -0.053275253623723984, + 0.09441936016082764 + ], + [ + 0.26153749227523804, + -0.03976568952202797, + 0.10926759988069534 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9812124941647322, + 0.19181365243150336, + 0.02072592665990139, + 0.19111722678445883, + -0.981059806296241, + 0.03155728277592435, + 0.02638649126433678, + -0.027003318515848047, + -0.9992870327728107 + ], + [ + 0.9879795522052445, + 0.15343637239041963, + 0.018806489624414637, + 0.15280085771168295, + -0.9877535139839824, + 0.03154193232617056, + 0.02341585588653058, + -0.028289136430141686, + -0.9993254837404769 + ], + [ + 0.9959830781451265, + 0.08813571668870433, + 0.015805172960988934, + 0.08765352232032018, + -0.9957296052540565, + 0.02897262924626687, + 0.018291202076393447, + -0.027470869377741836, + -0.9994552432511579 + ], + [ + 0.9984102309534799, + 0.054719540055506735, + 0.013519713885011326, + 0.05483207473364925, + -0.9984627518960445, + -0.008097941502704424, + 0.013055815096051188, + 0.00882638160808339, + -0.9998758126286915 + ], + [ + 0.9987294169040885, + 0.0501347111942041, + 0.00510514876312619, + 0.05030399645692981, + -0.9978682636426255, + -0.04157446758905533, + 0.00300994200626794, + 0.041778453158607544, + -0.9991223654291768 + ], + [ + 0.9989554612797779, + 0.016275320416894282, + 0.042697778919211275, + 0.01842707143059803, + -0.9985542942750297, + -0.05049519208191279, + 0.041814225065138495, + 0.05122924292067037, + -0.9978111721422932 + ], + [ + 0.9993679928700525, + -0.015348088585894454, + 0.03206323445384367, + -0.013846424914586094, + -0.9988203316358594, + -0.046542686084028555, + 0.0327397517395496, + 0.04606930960619262, + -0.998401586220916 + ], + [ + 0.9982157860592326, + -0.029681049995362606, + 0.05181003506389072, + -0.027737039998496756, + -0.9988985587280097, + -0.037846082798976645, + 0.05287628082865314, + 0.036341500275552614, + -0.9979395744650332 + ], + [ + 0.9988545765535319, + -0.0165540953864433, + 0.044894284981507264, + -0.015490523819053748, + -0.9995934755418894, + -0.023935900356941278, + 0.0452722715343021, + 0.023213047624614694, + -0.9987049493469539 + ], + [ + 0.997607432619623, + -0.018700834919834448, + 0.06655590999592005, + -0.018236685173177652, + -0.9998050052167975, + -0.00757461928637664, + 0.06668458364553469, + 0.00634273732234334, + -0.997753945613487 + ], + [ + 0.9984948387351655, + -0.017925705461162796, + 0.05183363871999637, + -0.018005954294774244, + -0.9998372946326266, + 0.0010816060486494533, + 0.051805816557313034, + -0.002013292186845311, + -0.9986551476988441 + ], + [ + 0.9992773835129849, + -0.012676414359686094, + 0.03583321529565109, + -0.013178249240128111, + -0.9998178831932626, + 0.013803412400873833, + 0.0356517116897352, + -0.014265656869737154, + -0.9992624512547577 + ], + [ + 0.9991575750492181, + -0.009196221820123014, + 0.03999462121337223, + -0.009840072641722283, + -0.999824665002697, + 0.015931485261907352, + 0.03984109928417713, + -0.01631161415923746, + -0.9990728792492309 + ], + [ + 0.9990778221585663, + -1.4643469337754643e-05, + 0.042936057765763036, + -0.0007364494977750379, + -0.999858675832009, + 0.016795416207965062, + 0.042929743919960225, + -0.01681154808547846, + -0.9989366391007671 + ], + [ + 0.9979067901916241, + 0.0017859595362726504, + 0.06464401316428595, + 0.0005419379663810836, + -0.9998144274233586, + 0.019256609757222425, + 0.0646664085340308, + -0.019181268587769577, + -0.9977225739365995 + ], + [ + 0.998196880352957, + 0.006592544223685775, + 0.059661766771385065, + 0.005723433008179771, + -0.9998751786261266, + 0.014726489125790752, + 0.05975140473851035, + -0.014358465378650407, + -0.998110016032173 + ], + [ + 0.9969321775480976, + 0.05620744062025206, + 0.05446978050377402, + 0.055413133360092924, + -0.9983355323116901, + 0.01598591802653133, + 0.05527764485237263, + -0.012918534857144646, + -0.9983874465540519 + ], + [ + 0.9938792796480239, + 0.08762678098332874, + 0.06727202049013062, + 0.08796102785086943, + -0.9961218746574906, + -0.002017029564720852, + 0.06683438535472133, + 0.007921999958730167, + -0.9977326329487826 + ], + [ + 0.989229174724228, + 0.12687312226357844, + 0.07299897753745709, + 0.12952215417226398, + -0.9910352539362166, + -0.0327587703394851, + 0.06818835276643197, + 0.0418609161709335, + -0.9967938664760789 + ], + [ + 0.9907495722913559, + 0.1241971972621587, + 0.05468401225879084, + 0.12680511248283402, + -0.9908079887111765, + -0.047116801189476795, + 0.04832958154909851, + 0.05361516295169963, + -0.9973914306073376 + ], + [ + 0.9978143764155825, + 0.06581189146031168, + 0.005938447675811881, + 0.06605298968367225, + -0.9959160207181991, + -0.061549022987178605, + 0.0018635375582173796, + 0.06180675221400741, + -0.9980863953629091 + ], + [ + 0.9990689412384597, + 0.04302449845330867, + -0.00318483680969667, + 0.042744505853703756, + -0.9971587353317737, + -0.06202712125240364, + -0.005844473627782441, + 0.06183323608205329, + -0.9980693828805868 + ], + [ + 0.9995738448160894, + 0.025751055401177943, + -0.013748160069840006, + 0.025115303761363093, + -0.9986905755242186, + -0.04456855254638202, + -0.01487784515831979, + 0.04420427021036111, + -0.9989117239369125 + ], + [ + 0.9991745927768488, + 0.030963939613452646, + -0.026293869871757258, + 0.030089001796544813, + -0.9990008957098472, + -0.0330433403549133, + -0.02729075154893996, + 0.03222490984529788, + -0.999107987189251 + ], + [ + 0.9984935818830833, + 0.03515825057279229, + -0.04212439144903314, + 0.03459820562345865, + -0.9993039199920305, + -0.01395133169982466, + -0.04258557391802416, + 0.012472886803880217, + -0.9990149628453271 + ], + [ + 0.9981480268709108, + 0.04183580589852787, + -0.044161994956390664, + 0.04189119996297401, + -0.9991221241545467, + 0.0003292272293665919, + -0.04410945272126713, + -0.0021786164708664513, + -0.9990243289384413 + ], + [ + 0.9983391241793413, + 0.045120325467977576, + -0.03582107427883564, + 0.045454176957587564, + -0.9989297446870716, + 0.008560547677028699, + -0.03539648188640224, + -0.010174547119461409, + -0.9993215536857893 + ], + [ + 0.9982862941587347, + 0.04629609857365419, + -0.03579310201251916, + 0.04683179503585862, + -0.9988007793252796, + 0.014275370150490147, + -0.03508928424091087, + -0.015927161582424906, + -0.9992572579948508 + ], + [ + 0.9981988529531842, + 0.04644949133863942, + -0.03796702144399128, + 0.046944404690693595, + -0.9988223988992784, + 0.012249013238908011, + -0.037353351003400176, + -0.014009290184453314, + -0.9992039166042856 + ], + [ + 0.9977729008810359, + 0.04716383408388988, + -0.047167902454418285, + 0.04784984955459538, + -0.9987630127090086, + 0.01352169893271025, + -0.046471821193544795, + -0.01574856180518006, + -0.9987954508486826 + ], + [ + 0.9973267396036434, + 0.03478823483234318, + -0.06425848729013293, + 0.035815763016689164, + -0.9992472065519155, + 0.014908095710922347, + -0.06369148758742248, + -0.017169709241667577, + -0.9978219257429944 + ], + [ + 0.9977290597223935, + 0.039425311120514055, + -0.054611063242898696, + 0.03919297960351028, + -0.999217502172166, + -0.005319182513976854, + -0.05477804063005574, + 0.0031667326803569837, + -0.9984935343150019 + ], + [ + 0.9967068628087914, + 0.05402404492628443, + -0.060471747119293526, + 0.05221049119617209, + -0.9981492261674544, + -0.031179911968548364, + -0.06204429255710327, + 0.027919972620237113, + -0.9976828057503917 + ], + [ + 0.9976094218854757, + 0.04925608827514646, + -0.04846936283012015, + 0.045526267768585295, + -0.9961242208025929, + -0.07525885777428562, + -0.0519884632239685, + 0.07287231640518954, + -0.9959853539050421 + ], + [ + 0.9976922282125243, + 0.04088261477550637, + -0.054210972814049595, + 0.03492020895549735, + -0.9936774616472709, + -0.10670370762415356, + -0.05823054843321055, + 0.10456440131973209, + -0.9928119102860388 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005543.json b/json/chunk-0005/episode_0005543.json new file mode 100644 index 0000000000000000000000000000000000000000..076d13fa2e951663a502fc5a9ad41d65e29273ad --- /dev/null +++ b/json/chunk-0005/episode_0005543.json @@ -0,0 +1,1462 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 23, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nOpen the drawer." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005543.mp4", + "start": 0, + "end": 23, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.27235689759254456, + 0.07164914160966873, + 0.22696971893310547, + -0.011204788461327553, + -0.18680353462696075, + 0.15522752702236176, + 0.0, + 0.9988223910331726 + ], + [ + 0.2717576324939728, + 0.07148032635450363, + 0.21846388280391693, + -0.015497855842113495, + -0.15779925882816315, + 0.16054922342300415, + 0.0, + 0.9988223910331726 + ], + [ + 0.2786901295185089, + 0.04245666041970253, + 0.20608335733413696, + 0.004905992653220892, + -0.15486246347427368, + 0.12833821773529053, + 0.0, + 0.9988223910331726 + ], + [ + 0.2859688401222229, + 0.01453535258769989, + 0.20241552591323853, + 0.03049006685614586, + -0.1751926988363266, + 0.07865928113460541, + 0.0, + 0.9988223910331726 + ], + [ + 0.29521793127059937, + -0.021436575800180435, + 0.17942963540554047, + 0.041834644973278046, + -0.15184548497200012, + 0.03244578093290329, + 0.0, + 0.9988223910331726 + ], + [ + 0.29949086904525757, + -0.057031258940696716, + 0.15367048978805542, + 0.03412463515996933, + -0.1129181832075119, + -0.00632947264239192, + 0.0, + 0.9988223910331726 + ], + [ + 0.29557859897613525, + -0.08164378255605698, + 0.12530547380447388, + 0.033189062029123306, + -0.07667111605405807, + 0.002379423938691616, + 0.0, + 0.9988223910331726 + ], + [ + 0.29186558723449707, + -0.08819907903671265, + 0.10045462846755981, + 0.05651511624455452, + -0.048512205481529236, + 0.027788039296865463, + 0.0, + 0.9988223910331726 + ], + [ + 0.291314959526062, + -0.08950909972190857, + 0.07625817507505417, + 0.11642482876777649, + -0.048366717994213104, + 0.03137471526861191, + 0.0, + 0.9988223910331726 + ], + [ + 0.29186826944351196, + -0.09287375956773758, + 0.04833079129457474, + 0.15449270606040955, + -0.03198644518852234, + -0.0002847824653144926, + 0.0, + 0.9988223910331726 + ], + [ + 0.28896236419677734, + -0.09720349311828613, + 0.02843720093369484, + 0.1682715266942978, + -0.020341360941529274, + -0.03888829052448273, + 0.0, + 0.9988223910331726 + ], + [ + 0.2868076264858246, + -0.09834291785955429, + 0.015401597134768963, + 0.16999849677085876, + -0.014014177024364471, + -0.0526471845805645, + 0.0, + 0.9530308246612549 + ], + [ + 0.2863481640815735, + -0.0995931327342987, + 0.011435283347964287, + 0.1564301997423172, + -0.01715582050383091, + -0.053561482578516006, + 0.0, + 0.6811928749084473 + ], + [ + 0.28565162420272827, + -0.10010220110416412, + 0.012349754571914673, + 0.15554548799991608, + -0.013063172809779644, + -0.0660138949751854, + 0.0, + 0.4094836115837097 + ], + [ + 0.28919851779937744, + -0.10278159379959106, + 0.021586935967206955, + 0.1437022089958191, + -0.035784248262643814, + -0.05717639997601509, + 0.0, + 0.17460396885871887 + ], + [ + 0.29679566621780396, + -0.10948148369789124, + 0.031131524592638016, + 0.11800270527601242, + -0.057168807834386826, + -0.04247831925749779, + 0.0, + 0.12090048938989639 + ], + [ + 0.2983040511608124, + -0.11168509721755981, + 0.032871101051568985, + 0.11007323861122131, + -0.06107443943619728, + -0.03552968427538872, + 0.0, + 0.11746759712696075 + ], + [ + 0.29731816053390503, + -0.1123678982257843, + 0.03335125744342804, + 0.10632731765508652, + -0.05283462628722191, + -0.030268162488937378, + 0.0, + 0.12046794593334198 + ], + [ + 0.29476413130760193, + -0.1129709854722023, + 0.03316650912165642, + 0.10165208578109741, + -0.037723369896411896, + -0.020515302196145058, + 0.0, + 0.1602664440870285 + ], + [ + 0.29374566674232483, + -0.11307618767023087, + 0.03362511470913887, + 0.10560539364814758, + -0.02804707922041416, + -0.018274623900651932, + 0.0, + 0.35690104961395264 + ], + [ + 0.2944559156894684, + -0.11283718794584274, + 0.05260526388883591, + 0.09900662302970886, + -0.06685210019350052, + -0.01296114083379507, + 0.0, + 0.6921995282173157 + ], + [ + 0.30241522192955017, + -0.11688203364610672, + 0.08599277585744858, + 0.07870645821094513, + -0.1289893388748169, + -0.010020038112998009, + 0.0, + 0.9605803489685059 + ], + [ + 0.3137432634830475, + -0.12235599756240845, + 0.12177835404872894, + 0.05290200933814049, + -0.18208569288253784, + -0.006826877128332853, + 0.0, + 0.9981546401977539 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9530308246612549 + ], + [ + 0.6811928749084473 + ], + [ + 0.4094836115837097 + ], + [ + 0.17460396885871887 + ], + [ + 0.12090048938989639 + ], + [ + 0.11746759712696075 + ], + [ + 0.12046794593334198 + ], + [ + 0.1602664440870285 + ], + [ + 0.35690104961395264 + ], + [ + 0.6921995282173157 + ], + [ + 0.9605803489685059 + ], + [ + 0.9981546401977539 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.27235689759254456, + 0.07164914160966873, + 0.22696971893310547 + ], + [ + 0.2717576324939728, + 0.07148032635450363, + 0.21846388280391693 + ], + [ + 0.2786901295185089, + 0.04245666041970253, + 0.20608335733413696 + ], + [ + 0.2859688401222229, + 0.01453535258769989, + 0.20241552591323853 + ], + [ + 0.29521793127059937, + -0.021436575800180435, + 0.17942963540554047 + ], + [ + 0.29949086904525757, + -0.057031258940696716, + 0.15367048978805542 + ], + [ + 0.29557859897613525, + -0.08164378255605698, + 0.12530547380447388 + ], + [ + 0.29186558723449707, + -0.08819907903671265, + 0.10045462846755981 + ], + [ + 0.291314959526062, + -0.08950909972190857, + 0.07625817507505417 + ], + [ + 0.29186826944351196, + -0.09287375956773758, + 0.04833079129457474 + ], + [ + 0.28896236419677734, + -0.09720349311828613, + 0.02843720093369484 + ], + [ + 0.2868076264858246, + -0.09834291785955429, + 0.015401597134768963 + ], + [ + 0.2863481640815735, + -0.0995931327342987, + 0.011435283347964287 + ], + [ + 0.28565162420272827, + -0.10010220110416412, + 0.012349754571914673 + ], + [ + 0.28919851779937744, + -0.10278159379959106, + 0.021586935967206955 + ], + [ + 0.29679566621780396, + -0.10948148369789124, + 0.031131524592638016 + ], + [ + 0.2983040511608124, + -0.11168509721755981, + 0.032871101051568985 + ], + [ + 0.29731816053390503, + -0.1123678982257843, + 0.03335125744342804 + ], + [ + 0.29476413130760193, + -0.1129709854722023, + 0.03316650912165642 + ], + [ + 0.29374566674232483, + -0.11307618767023087, + 0.03362511470913887 + ], + [ + 0.2944559156894684, + -0.11283718794584274, + 0.05260526388883591 + ], + [ + 0.30241522192955017, + -0.11688203364610672, + 0.08599277585744858 + ], + [ + 0.3137432634830475, + -0.12235599756240845, + 0.12177835404872894 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9707884539556875, + 0.15253931105068605, + 0.18520673921460876, + 0.15191521753236012, + -0.9882360784206292, + 0.017641428227655912, + 0.18571899296631392, + 0.011009627241550076, + -0.9825412173336955 + ], + [ + 0.9748749272147014, + 0.15743719640672751, + 0.15758301138041475, + 0.15787420716252396, + -0.9874103987931176, + 0.009820339506377063, + 0.157145190829802, + 0.015304690222462978, + -0.9874569132150827 + ], + [ + 0.979907121805792, + 0.12873515882222897, + 0.15234595996383998, + 0.12645456206476613, + -0.9916671633840776, + 0.02460651943662593, + 0.1542442101581018, + -0.004847261989238615, + -0.9880208639922087 + ], + [ + 0.9816482537538995, + 0.08383877090617205, + 0.17128270897805825, + 0.07737539296954642, + -0.9960270769265824, + 0.04408072812348007, + 0.17429789001800355, + -0.030018702870548905, + -0.9842352986015294 + ], + [ + 0.9879733463275324, + 0.0387345488668645, + 0.14969402683627217, + 0.032066820106247014, + -0.9983939795623371, + 0.046703111480429355, + 0.15126263912365037, + -0.04134121790368912, + -0.9876287347518744 + ], + [ + 0.9936116095803765, + -0.0024814602379435715, + 0.11282646702871334, + -0.006289121485624066, + -0.9994221243768378, + 0.03340455443540639, + 0.11267837529017223, + -0.03390073245781678, + -0.9930530318572071 + ], + [ + 0.997059387033498, + 0.004919787521928878, + 0.07647466521093572, + 0.0023724314511051068, + -0.9994404166290515, + 0.03336502925756235, + 0.07659602011459497, + -0.03308548471894068, + -0.9965131210393156 + ], + [ + 0.9984379051955288, + 0.03047818535738345, + 0.04682765941284223, + 0.027751775189646947, + -0.9979418939720768, + 0.05780843562359477, + 0.04849317934088742, + -0.05641858268997, + -0.9972288378725654 + ], + [ + 0.9983389878288733, + 0.036770624863124546, + 0.04435297654042483, + 0.03133288323834106, + -0.9925652900449111, + 0.11761120450889562, + 0.04834786250489875, + -0.11602614423153149, + -0.9920687567129461 + ], + [ + 0.9994884367475163, + 0.004639807855458932, + 0.031643909225485156, + -0.00028463678876506715, + -0.9880910811321908, + 0.1538698617953398, + 0.031980991071334924, + -0.15380015464908647, + -0.9875842893849681 + ], + [ + 0.9990372237812202, + -0.03492542786815328, + 0.026548822718506164, + -0.038870446359851915, + -0.9852627859295163, + 0.16657229980460134, + 0.020339958193126208, + -0.1674438925450389, + -0.9856717653205185 + ], + [ + 0.9985163961354525, + -0.049496741738447814, + 0.02269535648421378, + -0.05261769994918461, + -0.9843442119354777, + 0.16821964832082123, + 0.014013718304779946, + -0.1691642544582058, + -0.9854882397638612 + ], + [ + 0.9984189802395771, + -0.050213395905817616, + 0.02526172537592379, + -0.05352799822757719, + -0.9865162444601896, + 0.1546623833448581, + 0.017154978959808317, + -0.15577006865174375, + -0.9876443653507672 + ], + [ + 0.9977367378137064, + -0.06315029481354592, + 0.023096369451171064, + -0.06596033080211583, + -0.9859088351911898, + 0.15373029451746456, + 0.013062801282198314, + -0.15490580672432258, + -0.9878428793415217 + ], + [ + 0.9977267331514099, + -0.051441103322317425, + 0.04353365185690351, + -0.05710866841970477, + -0.988368095798995, + 0.14095072613504742, + 0.035776611722515464, + -0.14311645641103468, + -0.989059004285389 + ], + [ + 0.9974657142750053, + -0.0354495347175105, + 0.061688567288967086, + -0.04239617011802284, + -0.992435616729838, + 0.11521332998134133, + 0.057137672381512614, + -0.11753670547696067, + -0.9914234258178717 + ], + [ + 0.9975055999327922, + -0.028606538661903665, + 0.06453095418870985, + -0.035455979669622946, + -0.9935589356187527, + 0.10762673904656957, + 0.06103647768660675, + -0.10964628310123471, + -0.9920948749961852 + ], + [ + 0.9981471690981435, + -0.024490620573930432, + 0.05569953613151627, + -0.030221310467873862, + -0.9940667295990853, + 0.10448927934378571, + 0.05281004842799037, + -0.10597899135245192, + -0.9929650306918922 + ], + [ + 0.9990782763344029, + -0.016581622592212623, + 0.03959352912898664, + -0.020499268731807754, + -0.994707038598586, + 0.1006860831688893, + 0.03771442347616649, + -0.10140491681689201, + -0.9941301047183008 + ], + [ + 0.9994397958346714, + -0.015216263961430089, + 0.029808720418813328, + -0.018266419854794276, + -0.994316902242526, + 0.10488200904118798, + 0.02804340221227218, + -0.10536775230535926, + -0.9940378284383736 + ], + [ + 0.9976824236808103, + -0.006294789900428947, + 0.06775069814027006, + -0.012931826553070786, + -0.9951048444149334, + 0.09797508093353528, + 0.06680231538192243, + -0.09862415648329244, + -0.9928800161235867 + ], + [ + 0.9916426203533192, + 0.0001243561272115095, + 0.12901510777562675, + -0.009936629402358088, + -0.9969555386824197, + 0.07733639044180034, + 0.12863194352462826, + -0.07797203617964597, + -0.9886223670740395 + ], + [ + 0.9834452346431256, + 0.00275759394710179, + 0.18118461892045698, + -0.006713964083909667, + -0.9986431120432653, + 0.051641625214771655, + 0.18108117832620893, + -0.05200317725068225, + -0.9820922952614111 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0005992650985717773, + -0.0001688152551651001, + -0.008505836129188538, + -0.004293067380785942, + 0.029004275798797607, + 0.005321696400642395, + 1.0 + ], + [ + 0.006932497024536133, + -0.0290236659348011, + -0.012380525469779968, + 0.020403848960995674, + 0.0029367953538894653, + -0.03221100568771362, + 1.0 + ], + [ + 0.007278710603713989, + -0.02792130783200264, + -0.0036678314208984375, + 0.02558407373726368, + -0.020330235362052917, + -0.04967893660068512, + 1.0 + ], + [ + 0.009249091148376465, + -0.035971928387880325, + -0.02298589050769806, + 0.011344578117132187, + 0.023347213864326477, + -0.04621350020170212, + 1.0 + ], + [ + 0.004272937774658203, + -0.03559468314051628, + -0.025759145617485046, + -0.007710009813308716, + 0.03892730176448822, + -0.0387752540409565, + 1.0 + ], + [ + -0.0039122700691223145, + -0.02461252361536026, + -0.028365015983581543, + -0.0009355731308460236, + 0.03624706715345383, + 0.008708896115422249, + 1.0 + ], + [ + -0.0037130117416381836, + -0.00655529648065567, + -0.024850845336914062, + 0.023326054215431213, + 0.02815891057252884, + 0.025408614426851273, + 1.0 + ], + [ + -0.0005506277084350586, + -0.0013100206851959229, + -0.024196453392505646, + 0.05990971252322197, + 0.0001454874873161316, + 0.0035866759717464447, + 1.0 + ], + [ + 0.0005533099174499512, + -0.00336465984582901, + -0.02792738378047943, + 0.03806787729263306, + 0.016380272805690765, + -0.03165949881076813, + 1.0 + ], + [ + -0.002905905246734619, + -0.0043297335505485535, + -0.019893590360879898, + 0.013778820633888245, + 0.011645084246993065, + -0.03860350698232651, + 1.0 + ], + [ + -0.002154737710952759, + -0.001139424741268158, + -0.013035603798925877, + 0.0017269700765609741, + 0.0063271839171648026, + -0.013758894056081772, + 0.0 + ], + [ + -0.00045946240425109863, + -0.0012502148747444153, + -0.003966313786804676, + -0.013568297028541565, + -0.0031416434794664383, + -0.0009142979979515076, + 0.0 + ], + [ + -0.0006965398788452148, + -0.0005090683698654175, + 0.000914471223950386, + -0.000884711742401123, + 0.004092647694051266, + -0.012452412396669388, + 0.0 + ], + [ + 0.00354689359664917, + -0.002679392695426941, + 0.009237181395292282, + -0.011843279004096985, + -0.022721074521541595, + 0.008837494999170303, + 0.0 + ], + [ + 0.007597148418426514, + -0.006699889898300171, + 0.00954458862543106, + -0.02569950371980667, + -0.02138455957174301, + 0.014698080718517303, + 0.0 + ], + [ + 0.0015083849430084229, + -0.002203613519668579, + 0.0017395764589309692, + -0.007929466664791107, + -0.0039056316018104553, + 0.00694863498210907, + 0.0 + ], + [ + -0.0009858906269073486, + -0.0006828010082244873, + 0.00048015639185905457, + -0.003745920956134796, + 0.008239813148975372, + 0.00526152178645134, + 1.0 + ], + [ + -0.0025540292263031006, + -0.0006030872464179993, + -0.0001847483217716217, + -0.004675231873989105, + 0.015111256390810013, + 0.00975286029279232, + 1.0 + ], + [ + -0.0010184645652770996, + -0.00010520219802856445, + 0.0004586055874824524, + 0.003953307867050171, + 0.009676290675997734, + 0.002240678295493126, + 1.0 + ], + [ + 0.0007102489471435547, + 0.00023899972438812256, + 0.018980149179697037, + -0.006598770618438721, + -0.038805022835731506, + 0.005313483066856861, + 1.0 + ], + [ + 0.007959306240081787, + -0.004044845700263977, + 0.03338751196861267, + -0.020300164818763733, + -0.062137238681316376, + 0.002941102720797062, + 1.0 + ], + [ + 0.011328041553497314, + -0.005473963916301727, + 0.035785578191280365, + -0.02580444887280464, + -0.05309635400772095, + 0.0031931609846651554, + 1.0 + ], + [ + 0.00596126914024353, + 0.0004545822739601135, + 0.014072194695472717, + -0.017973173409700394, + 0.0018976330757141113, + 0.010135993361473083, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9530308246612549 + ], + [ + 0.6811928749084473 + ], + [ + 0.4094836115837097 + ], + [ + 0.17460396885871887 + ], + [ + 0.12090048938989639 + ], + [ + 0.11746759712696075 + ], + [ + 0.12046794593334198 + ], + [ + 0.1602664440870285 + ], + [ + 0.35690104961395264 + ], + [ + 0.6921995282173157 + ], + [ + 0.9605803489685059 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2717576324939728, + 0.07148032635450363, + 0.21846388280391693 + ], + [ + 0.2786901295185089, + 0.04245666041970253, + 0.20608335733413696 + ], + [ + 0.2859688401222229, + 0.01453535258769989, + 0.20241552591323853 + ], + [ + 0.29521793127059937, + -0.021436575800180435, + 0.17942963540554047 + ], + [ + 0.29949086904525757, + -0.057031258940696716, + 0.15367048978805542 + ], + [ + 0.29557859897613525, + -0.08164378255605698, + 0.12530547380447388 + ], + [ + 0.29186558723449707, + -0.08819907903671265, + 0.10045462846755981 + ], + [ + 0.291314959526062, + -0.08950909972190857, + 0.07625817507505417 + ], + [ + 0.29186826944351196, + -0.09287375956773758, + 0.04833079129457474 + ], + [ + 0.28896236419677734, + -0.09720349311828613, + 0.02843720093369484 + ], + [ + 0.2868076264858246, + -0.09834291785955429, + 0.015401597134768963 + ], + [ + 0.2863481640815735, + -0.0995931327342987, + 0.011435283347964287 + ], + [ + 0.28565162420272827, + -0.10010220110416412, + 0.012349754571914673 + ], + [ + 0.28919851779937744, + -0.10278159379959106, + 0.021586935967206955 + ], + [ + 0.29679566621780396, + -0.10948148369789124, + 0.031131524592638016 + ], + [ + 0.2983040511608124, + -0.11168509721755981, + 0.032871101051568985 + ], + [ + 0.29731816053390503, + -0.1123678982257843, + 0.03335125744342804 + ], + [ + 0.29476413130760193, + -0.1129709854722023, + 0.03316650912165642 + ], + [ + 0.29374566674232483, + -0.11307618767023087, + 0.03362511470913887 + ], + [ + 0.2944559156894684, + -0.11283718794584274, + 0.05260526388883591 + ], + [ + 0.30241522192955017, + -0.11688203364610672, + 0.08599277585744858 + ], + [ + 0.3137432634830475, + -0.12235599756240845, + 0.12177835404872894 + ], + [ + 0.319704532623291, + -0.12190141528844833, + 0.13585054874420166 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9748749272147014, + 0.15743719640672751, + 0.15758301138041475, + 0.15787420716252396, + -0.9874103987931176, + 0.009820339506377063, + 0.157145190829802, + 0.015304690222462978, + -0.9874569132150827 + ], + [ + 0.979907121805792, + 0.12873515882222897, + 0.15234595996383998, + 0.12645456206476613, + -0.9916671633840776, + 0.02460651943662593, + 0.1542442101581018, + -0.004847261989238615, + -0.9880208639922087 + ], + [ + 0.9816482537538995, + 0.08383877090617205, + 0.17128270897805825, + 0.07737539296954642, + -0.9960270769265824, + 0.04408072812348007, + 0.17429789001800355, + -0.030018702870548905, + -0.9842352986015294 + ], + [ + 0.9879733463275324, + 0.0387345488668645, + 0.14969402683627217, + 0.032066820106247014, + -0.9983939795623371, + 0.046703111480429355, + 0.15126263912365037, + -0.04134121790368912, + -0.9876287347518744 + ], + [ + 0.9936116095803765, + -0.0024814602379435715, + 0.11282646702871334, + -0.006289121485624066, + -0.9994221243768378, + 0.03340455443540639, + 0.11267837529017223, + -0.03390073245781678, + -0.9930530318572071 + ], + [ + 0.997059387033498, + 0.004919787521928878, + 0.07647466521093572, + 0.0023724314511051068, + -0.9994404166290515, + 0.03336502925756235, + 0.07659602011459497, + -0.03308548471894068, + -0.9965131210393156 + ], + [ + 0.9984379051955288, + 0.03047818535738345, + 0.04682765941284223, + 0.027751775189646947, + -0.9979418939720768, + 0.05780843562359477, + 0.04849317934088742, + -0.05641858268997, + -0.9972288378725654 + ], + [ + 0.9983389878288733, + 0.036770624863124546, + 0.04435297654042483, + 0.03133288323834106, + -0.9925652900449111, + 0.11761120450889562, + 0.04834786250489875, + -0.11602614423153149, + -0.9920687567129461 + ], + [ + 0.9994884367475163, + 0.004639807855458932, + 0.031643909225485156, + -0.00028463678876506715, + -0.9880910811321908, + 0.1538698617953398, + 0.031980991071334924, + -0.15380015464908647, + -0.9875842893849681 + ], + [ + 0.9990372237812202, + -0.03492542786815328, + 0.026548822718506164, + -0.038870446359851915, + -0.9852627859295163, + 0.16657229980460134, + 0.020339958193126208, + -0.1674438925450389, + -0.9856717653205185 + ], + [ + 0.9985163961354525, + -0.049496741738447814, + 0.02269535648421378, + -0.05261769994918461, + -0.9843442119354777, + 0.16821964832082123, + 0.014013718304779946, + -0.1691642544582058, + -0.9854882397638612 + ], + [ + 0.9984189802395771, + -0.050213395905817616, + 0.02526172537592379, + -0.05352799822757719, + -0.9865162444601896, + 0.1546623833448581, + 0.017154978959808317, + -0.15577006865174375, + -0.9876443653507672 + ], + [ + 0.9977367378137064, + -0.06315029481354592, + 0.023096369451171064, + -0.06596033080211583, + -0.9859088351911898, + 0.15373029451746456, + 0.013062801282198314, + -0.15490580672432258, + -0.9878428793415217 + ], + [ + 0.9977267331514099, + -0.051441103322317425, + 0.04353365185690351, + -0.05710866841970477, + -0.988368095798995, + 0.14095072613504742, + 0.035776611722515464, + -0.14311645641103468, + -0.989059004285389 + ], + [ + 0.9974657142750053, + -0.0354495347175105, + 0.061688567288967086, + -0.04239617011802284, + -0.992435616729838, + 0.11521332998134133, + 0.057137672381512614, + -0.11753670547696067, + -0.9914234258178717 + ], + [ + 0.9975055999327922, + -0.028606538661903665, + 0.06453095418870985, + -0.035455979669622946, + -0.9935589356187527, + 0.10762673904656957, + 0.06103647768660675, + -0.10964628310123471, + -0.9920948749961852 + ], + [ + 0.9981471690981435, + -0.024490620573930432, + 0.05569953613151627, + -0.030221310467873862, + -0.9940667295990853, + 0.10448927934378571, + 0.05281004842799037, + -0.10597899135245192, + -0.9929650306918922 + ], + [ + 0.9990782763344029, + -0.016581622592212623, + 0.03959352912898664, + -0.020499268731807754, + -0.994707038598586, + 0.1006860831688893, + 0.03771442347616649, + -0.10140491681689201, + -0.9941301047183008 + ], + [ + 0.9994397958346714, + -0.015216263961430089, + 0.029808720418813328, + -0.018266419854794276, + -0.994316902242526, + 0.10488200904118798, + 0.02804340221227218, + -0.10536775230535926, + -0.9940378284383736 + ], + [ + 0.9976824236808103, + -0.006294789900428947, + 0.06775069814027006, + -0.012931826553070786, + -0.9951048444149334, + 0.09797508093353528, + 0.06680231538192243, + -0.09862415648329244, + -0.9928800161235867 + ], + [ + 0.9916426203533192, + 0.0001243561272115095, + 0.12901510777562675, + -0.009936629402358088, + -0.9969555386824197, + 0.07733639044180034, + 0.12863194352462826, + -0.07797203617964597, + -0.9886223670740395 + ], + [ + 0.9834452346431256, + 0.00275759394710179, + 0.18118461892045698, + -0.006713964083909667, + -0.9986431120432653, + 0.051641625214771655, + 0.18108117832620893, + -0.05200317725068225, + -0.9820922952614111 + ], + [ + 0.983804620647322, + 0.009565541377260473, + 0.17898873934172185, + 0.003255535265283302, + -0.9993638684365462, + 0.035514221850944896, + 0.1792145917137202, + -0.0343563514026381, + -0.9832099324331417 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005544.json b/json/chunk-0005/episode_0005544.json new file mode 100644 index 0000000000000000000000000000000000000000..3fcb6a7b2d0411f8b756423c77118949cb37ac82 --- /dev/null +++ b/json/chunk-0005/episode_0005544.json @@ -0,0 +1,1762 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 28, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the lid to the left of the table." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005544.mp4", + "start": 0, + "end": 28, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3758925199508667, + -0.04796912893652916, + 0.09141857922077179, + 0.12682923674583435, + -0.10879433900117874, + -0.121400386095047, + 0.0, + 1.0008161067962646 + ], + [ + 0.3741611838340759, + -0.047948408871889114, + 0.0778011679649353, + 0.12337978929281235, + -0.07169254124164581, + -0.11739078909158707, + 0.0, + 1.0008161067962646 + ], + [ + 0.3740721344947815, + -0.030067263171076775, + 0.0702657401561737, + 0.10897357016801834, + -0.05761752277612686, + -0.07779264450073242, + 0.0, + 1.0008161067962646 + ], + [ + 0.3745518624782562, + -0.0038616920355707407, + 0.06940052658319473, + 0.08752571791410446, + -0.05343419313430786, + -0.037333112210035324, + 0.0, + 1.0008161067962646 + ], + [ + 0.3713545799255371, + 0.014238839969038963, + 0.060574501752853394, + 0.10404771566390991, + -0.05355917289853096, + -0.06311886012554169, + 0.0, + 1.0008161067962646 + ], + [ + 0.37111303210258484, + 0.05015788599848747, + 0.056417420506477356, + 0.10593132674694061, + -0.08068089932203293, + -0.016924545168876648, + 0.0, + 1.0008161067962646 + ], + [ + 0.36985665559768677, + 0.06210211291909218, + 0.03493180871009827, + 0.09849275648593903, + -0.04697735235095024, + 0.01192175317555666, + 0.0, + 1.0001531839370728 + ], + [ + 0.3793085217475891, + 0.07010629028081894, + 0.03179778903722763, + 0.09311900287866592, + -0.05353916808962822, + 0.033578816801309586, + 0.0, + 1.0008161067962646 + ], + [ + 0.3795822858810425, + 0.072696752846241, + 0.030459744855761528, + 0.10039089620113373, + -0.0422501415014267, + 0.036016423255205154, + 0.0, + 0.9499720335006714 + ], + [ + 0.381337434053421, + 0.07283493131399155, + 0.029677266255021095, + 0.10304645448923111, + -0.038895606994628906, + 0.03349502757191658, + 0.0, + 0.6711689233779907 + ], + [ + 0.38006818294525146, + 0.07405003905296326, + 0.030754446983337402, + 0.11090359836816788, + -0.02644846774637699, + 0.02278927154839039, + 0.0, + 0.4148389995098114 + ], + [ + 0.3797813057899475, + 0.07244961708784103, + 0.031024955213069916, + 0.10821839421987534, + -0.0212257020175457, + 0.012767589651048183, + 0.0, + 0.2781093716621399 + ], + [ + 0.3811696767807007, + 0.06920143216848373, + 0.03471355885267258, + 0.07804054766893387, + -0.013507695868611336, + 0.005033794790506363, + 0.0, + 0.27738428115844727 + ], + [ + 0.39344900846481323, + 0.07824712991714478, + 0.050261348485946655, + 0.05890604108572006, + -0.06093449890613556, + 0.04432391747832298, + 0.0, + 0.27738428115844727 + ], + [ + 0.39947396516799927, + 0.08865324407815933, + 0.05980442836880684, + 0.04986259341239929, + -0.08616860210895538, + 0.06087123975157738, + 0.0, + 0.27738428115844727 + ], + [ + 0.40179702639579773, + 0.10674161463975906, + 0.06947143375873566, + 0.04784456640481949, + -0.10686861723661423, + 0.11395224183797836, + 0.0, + 0.27738428115844727 + ], + [ + 0.3953339755535126, + 0.12643960118293762, + 0.07155857980251312, + 0.05549759045243263, + -0.09722544252872467, + 0.1717369556427002, + 0.0, + 0.27738428115844727 + ], + [ + 0.38939976692199707, + 0.14633293449878693, + 0.06296474486589432, + 0.07011041790246964, + -0.07344888895750046, + 0.22726252675056458, + 0.0, + 0.27738428115844727 + ], + [ + 0.3846468925476074, + 0.16714562475681305, + 0.05517026036977768, + 0.06828165054321289, + -0.061879292130470276, + 0.28736361861228943, + 0.0, + 0.27738428115844727 + ], + [ + 0.38822972774505615, + 0.17983564734458923, + 0.04965249449014664, + 0.08284541964530945, + -0.055823057889938354, + 0.32034921646118164, + 0.0, + 0.27738428115844727 + ], + [ + 0.3938920795917511, + 0.18572929501533508, + 0.0468798503279686, + 0.09430570155382156, + -0.059052519500255585, + 0.3319344222545624, + 0.0, + 0.27738428115844727 + ], + [ + 0.3952287435531616, + 0.1875496357679367, + 0.03877710923552513, + 0.10038504749536514, + -0.045195940881967545, + 0.33402708172798157, + 0.0, + 0.27738428115844727 + ], + [ + 0.394296795129776, + 0.19081689417362213, + 0.03794591501355171, + 0.1046014204621315, + -0.04350607097148895, + 0.34015777707099915, + 0.0, + 0.27738428115844727 + ], + [ + 0.3942076563835144, + 0.19226787984371185, + 0.03509141877293587, + 0.10379395633935928, + -0.038671281188726425, + 0.35576915740966797, + 0.0, + 0.3380139172077179 + ], + [ + 0.39017316699028015, + 0.19903157651424408, + 0.03407997637987137, + 0.07976113259792328, + -0.03852775692939758, + 0.41083207726478577, + 0.0, + 0.6360166668891907 + ], + [ + 0.38947319984436035, + 0.19934715330600739, + 0.03377346321940422, + 0.07633306086063385, + -0.046082671731710434, + 0.39135509729385376, + 0.0, + 0.9311676621437073 + ], + [ + 0.3872007727622986, + 0.19445812702178955, + 0.050216805189847946, + 0.0809401199221611, + -0.07976248860359192, + 0.34361785650253296, + 0.0, + 1.0124757289886475 + ], + [ + 0.3910728394985199, + 0.17987605929374695, + 0.0756373405456543, + 0.08861719071865082, + -0.104998879134655, + 0.24656400084495544, + 0.0, + 1.0086473226547241 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 0.9499720335006714 + ], + [ + 0.6711689233779907 + ], + [ + 0.4148389995098114 + ], + [ + 0.2781093716621399 + ], + [ + 0.27738428115844727 + ], + [ + 0.27738428115844727 + ], + [ + 0.27738428115844727 + ], + [ + 0.27738428115844727 + ], + [ + 0.27738428115844727 + ], + [ + 0.27738428115844727 + ], + [ + 0.27738428115844727 + ], + [ + 0.27738428115844727 + ], + [ + 0.27738428115844727 + ], + [ + 0.27738428115844727 + ], + [ + 0.27738428115844727 + ], + [ + 0.3380139172077179 + ], + [ + 0.6360166668891907 + ], + [ + 0.9311676621437073 + ], + [ + 1.0124757289886475 + ], + [ + 1.0086473226547241 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3758925199508667, + -0.04796912893652916, + 0.09141857922077179 + ], + [ + 0.3741611838340759, + -0.047948408871889114, + 0.0778011679649353 + ], + [ + 0.3740721344947815, + -0.030067263171076775, + 0.0702657401561737 + ], + [ + 0.3745518624782562, + -0.0038616920355707407, + 0.06940052658319473 + ], + [ + 0.3713545799255371, + 0.014238839969038963, + 0.060574501752853394 + ], + [ + 0.37111303210258484, + 0.05015788599848747, + 0.056417420506477356 + ], + [ + 0.36985665559768677, + 0.06210211291909218, + 0.03493180871009827 + ], + [ + 0.3793085217475891, + 0.07010629028081894, + 0.03179778903722763 + ], + [ + 0.3795822858810425, + 0.072696752846241, + 0.030459744855761528 + ], + [ + 0.381337434053421, + 0.07283493131399155, + 0.029677266255021095 + ], + [ + 0.38006818294525146, + 0.07405003905296326, + 0.030754446983337402 + ], + [ + 0.3797813057899475, + 0.07244961708784103, + 0.031024955213069916 + ], + [ + 0.3811696767807007, + 0.06920143216848373, + 0.03471355885267258 + ], + [ + 0.39344900846481323, + 0.07824712991714478, + 0.050261348485946655 + ], + [ + 0.39947396516799927, + 0.08865324407815933, + 0.05980442836880684 + ], + [ + 0.40179702639579773, + 0.10674161463975906, + 0.06947143375873566 + ], + [ + 0.3953339755535126, + 0.12643960118293762, + 0.07155857980251312 + ], + [ + 0.38939976692199707, + 0.14633293449878693, + 0.06296474486589432 + ], + [ + 0.3846468925476074, + 0.16714562475681305, + 0.05517026036977768 + ], + [ + 0.38822972774505615, + 0.17983564734458923, + 0.04965249449014664 + ], + [ + 0.3938920795917511, + 0.18572929501533508, + 0.0468798503279686 + ], + [ + 0.3952287435531616, + 0.1875496357679367, + 0.03877710923552513 + ], + [ + 0.394296795129776, + 0.19081689417362213, + 0.03794591501355171 + ], + [ + 0.3942076563835144, + 0.19226787984371185, + 0.03509141877293587 + ], + [ + 0.39017316699028015, + 0.19903157651424408, + 0.03407997637987137 + ], + [ + 0.38947319984436035, + 0.19934715330600739, + 0.03377346321940422 + ], + [ + 0.3872007727622986, + 0.19445812702178955, + 0.050216805189847946 + ], + [ + 0.3910728394985199, + 0.17987605929374695, + 0.0756373405456543 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9867712642206582, + -0.10649657822772354, + 0.12223318262301183, + -0.12038641485725576, + -0.9863303283898047, + 0.11251486309051255, + 0.10857984723778585, + -0.12574164832801593, + -0.9861031663317854 + ], + [ + 0.9905664802524913, + -0.10747628303305218, + 0.08501115683008796, + -0.11682049313410547, + -0.9866007670858354, + 0.11389424379460643, + 0.07163114255751447, + -0.1227508654594341, + -0.9898490816507659 + ], + [ + 0.995321266223181, + -0.07100926450951223, + 0.06552298343102592, + -0.07758524403113548, + -0.9915485878265881, + 0.1039804206941326, + 0.05758564849433863, + -0.10857754064684727, + -0.9924186670728082 + ], + [ + 0.9978769279685784, + -0.03251614372182437, + 0.05642993022726751, + -0.0372711686365444, + -0.9956521922955918, + 0.08536727690074357, + 0.053408769097020824, + -0.0872892454684059, + -0.9947502656491716 + ], + [ + 0.996577571806239, + -0.05718690314810473, + 0.05968920740896198, + -0.06298650846767888, + -0.9929620612771719, + 0.10029478857468674, + 0.05353357006432327, + -0.10371115163047503, + -0.9931657232827001 + ], + [ + 0.9966043105545179, + -0.008308684472704359, + 0.0819195577776613, + -0.01686868532359775, + -0.9943963219099555, + 0.10436188206144084, + 0.08059339699757037, + -0.10538937676201379, + -0.9911598173988425 + ], + [ + 0.9988257822381689, + 0.01648111812727998, + 0.045556881824647386, + 0.011908318615863236, + -0.9950277390187716, + 0.0988837222748753, + 0.046960075426401626, + -0.09822510538791102, + -0.9940556221799064 + ], + [ + 0.9980042132989565, + 0.03840018501625043, + 0.050129991305097224, + 0.03352440159290448, + -0.994939229799744, + 0.09472087152961746, + 0.05351359393059908, + -0.0928512509135465, + -0.9942408865402896 + ], + [ + 0.9984596530140912, + 0.04005773956206668, + 0.03838878487473045, + 0.035976502844529135, + -0.9941673788344463, + 0.10167061573790197, + 0.04223757268189404, + -0.10013291348315083, + -0.9940771534902699 + ], + [ + 0.9986831794815691, + 0.03730883318171809, + 0.035213037176638366, + 0.03346343596625446, + -0.9940035263263435, + 0.1041018160462501, + 0.038885800415022605, + -0.10278638342413668, + -0.9939430838376361 + ], + [ + 0.9993906862697762, + 0.025573424889341362, + 0.023754076211355005, + 0.02277932935726147, + -0.9935317320526397, + 0.1112465709966611, + 0.026445384309157837, + -0.11063768500791657, + -0.9935089049952346 + ], + [ + 0.9996932570381016, + 0.01498472727836176, + 0.019719274351372173, + 0.012764366869192443, + -0.9940398071729296, + 0.10826787470913561, + 0.021224108249352332, + -0.10798296024835376, + -0.9939261630146485 + ], + [ + 0.9998961041008367, + 0.006071485572834026, + 0.013073563665169178, + 0.005033314313143665, + -0.996938449896047, + 0.07802815431555367, + 0.013507285108172796, + -0.07795424415518133, + -0.9968654317746205 + ], + [ + 0.997163746558895, + 0.047814146817694476, + 0.05812288630757526, + 0.044227170451076665, + -0.9971262459355501, + 0.06150778048643673, + 0.06089679747342034, + -0.058762718032543675, + -0.9964128276105785 + ], + [ + 0.9944445722595193, + 0.06503959897207402, + 0.08276377993502647, + 0.06060794951202268, + -0.9966463926443039, + 0.05497858205741643, + 0.08606200764291878, + -0.04965700952179612, + -0.9950515123579394 + ], + [ + 0.9878464480179537, + 0.11864399421245832, + 0.1004141313542401, + 0.11305709455346337, + -0.9917974947561148, + 0.059630719990822964, + 0.10666531071272267, + -0.04755346499266744, + -0.9931571776198115 + ], + [ + 0.9806362199261014, + 0.17593620883245356, + 0.08601775741502445, + 0.17008693376587322, + -0.9828522888443495, + 0.07121666431072672, + 0.09707233968113756, + -0.055207143877278944, + -0.9937450035767441 + ], + [ + 0.9716599979140683, + 0.2297662643784423, + 0.05553658440350923, + 0.22470381229504946, + -0.9707350145217575, + 0.08474507845010319, + 0.07338286716736761, + -0.06986412051274053, + -0.9948537377279524 + ], + [ + 0.9571589921380663, + 0.28681070806329645, + 0.03982814971187973, + 0.28288248740427835, + -0.955563853123497, + 0.0829169519684877, + 0.06183980990599558, + -0.06809802011811159, + -0.9957602610903811 + ], + [ + 0.94764705337471, + 0.31820012827569716, + 0.026715924007213926, + 0.3144075126692791, + -0.944416390705404, + 0.09604997107805198, + 0.05579406964316597, + -0.08262178485307246, + -0.9950179206729626 + ], + [ + 0.943765793388916, + 0.3296785993267975, + 0.02486258986732498, + 0.32530444018922305, + -0.9394017647457819, + 0.10817275805713226, + 0.05901820415910759, + -0.09400183795241228, + -0.9938211640126217 + ], + [ + 0.9437650053860934, + 0.33047725189621907, + 0.00961252244261003, + 0.32751539199767704, + -0.938489176174004, + 0.10941542034305349, + 0.0451805556981612, + -0.10011419571350569, + -0.9939496291077546 + ], + [ + 0.941810014953111, + 0.3360931413215127, + 0.005941051309231334, + 0.3333201335419499, + -0.936034407220002, + 0.11285954578978527, + 0.04349234771310799, + -0.10431197849210641, + -0.9935931898083162 + ], + [ + 0.9366780370890875, + 0.3501917375610166, + -4.217736756048987e-05, + 0.3480510482276461, + -0.9309389015386742, + 0.11051348075960449, + 0.03866164329889531, + -0.10353023010677986, + -0.9938746242818891 + ], + [ + 0.9161084805802127, + 0.40091623331725046, + 0.003380188119357235, + 0.39907593021748655, + -0.9126484722566663, + 0.08838081244603269, + 0.03851822594645331, + -0.07961746008433715, + -0.9960810239732795 + ], + [ + 0.9234116658623698, + 0.3835780350977928, + 0.01337110091953116, + 0.3810364622097399, + -0.9203612355755147, + 0.08801369505138378, + 0.046066363172810695, + -0.07617799577587332, + -0.9960295192129611 + ], + [ + 0.9385485067133358, + 0.3418582130103794, + 0.04753591004196825, + 0.3358245470943904, + -0.9362891935203878, + 0.10288060879383457, + 0.07967793995213235, + -0.08059471629264861, + -0.9935572039851014 + ], + [ + 0.9644160196093757, + 0.2521105423344777, + 0.07963677269091558, + 0.2427291332682008, + -0.9636876243355723, + 0.11130467449900575, + 0.10480605413656723, + -0.08801384633270562, + -0.9905903562371515 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0017313361167907715, + 2.0720064640045166e-05, + -0.013617411255836487, + -0.003449447453022003, + 0.03710179775953293, + 0.00400959700345993, + 1.0 + ], + [ + -8.90493392944336e-05, + 0.01788114570081234, + -0.007535427808761597, + -0.014406219124794006, + 0.014075018465518951, + 0.039598144590854645, + 1.0 + ], + [ + 0.00047972798347473145, + 0.026205571368336678, + -0.0008652135729789734, + -0.02144785225391388, + 0.004183329641819, + 0.0404595322906971, + 1.0 + ], + [ + -0.003197282552719116, + 0.01810053177177906, + -0.008826024830341339, + 0.01652199774980545, + -0.00012497976422309875, + -0.025785747915506363, + 1.0 + ], + [ + -0.0002415478229522705, + 0.03591904789209366, + -0.004157081246376038, + 0.0018836110830307007, + -0.02712172642350197, + 0.04619431495666504, + 1.0 + ], + [ + -0.0012563765048980713, + 0.011944226920604706, + -0.02148561179637909, + -0.007438570261001587, + 0.03370354697108269, + 0.028846297413110733, + 1.0 + ], + [ + 0.009451866149902344, + 0.00800417736172676, + -0.003134019672870636, + -0.005373753607273102, + -0.0065618157386779785, + 0.0216570645570755, + 1.0 + ], + [ + 0.00027376413345336914, + 0.002590462565422058, + -0.0013380441814661026, + 0.007271893322467804, + 0.011289026588201523, + 0.002437606453895569, + 0.0 + ], + [ + 0.00175514817237854, + 0.00013817846775054932, + -0.0007824786007404327, + 0.0026555582880973816, + 0.0033545345067977905, + -0.0025213956832885742, + 0.0 + ], + [ + -0.0012692511081695557, + 0.0012151077389717102, + 0.001077180728316307, + 0.007857143878936768, + 0.012447139248251915, + -0.010705756023526192, + 0.0 + ], + [ + -0.0002868771553039551, + -0.001600421965122223, + 0.00027050822973251343, + -0.0026852041482925415, + 0.005222765728831291, + -0.010021681897342205, + 0.0 + ], + [ + 0.0013883709907531738, + -0.0032481849193573, + 0.003688603639602661, + -0.030177846550941467, + 0.007718006148934364, + -0.0077337948605418205, + 0.0 + ], + [ + 0.012279331684112549, + 0.009045697748661041, + 0.015547789633274078, + -0.019134506583213806, + -0.04742680490016937, + 0.03929012268781662, + 0.0 + ], + [ + 0.006024956703186035, + 0.010406114161014557, + 0.009543079882860184, + -0.00904344767332077, + -0.025234103202819824, + 0.016547322273254395, + 0.0 + ], + [ + 0.002323061227798462, + 0.01808837056159973, + 0.009667005389928818, + -0.0020180270075798035, + -0.020700015127658844, + 0.053081002086400986, + 0.0 + ], + [ + -0.006463050842285156, + 0.01969798654317856, + 0.002087146043777466, + 0.007653024047613144, + 0.009643174707889557, + 0.05778471380472183, + 0.0 + ], + [ + -0.005934208631515503, + 0.019893333315849304, + -0.008593834936618805, + 0.014612827450037003, + 0.023776553571224213, + 0.05552557110786438, + 0.0 + ], + [ + -0.0047528743743896484, + 0.020812690258026123, + -0.007794484496116638, + -0.0018287673592567444, + 0.011569596827030182, + 0.060101091861724854, + 0.0 + ], + [ + 0.0035828351974487305, + 0.012690022587776184, + -0.0055177658796310425, + 0.014563769102096558, + 0.006056234240531921, + 0.03298559784889221, + 0.0 + ], + [ + 0.005662351846694946, + 0.00589364767074585, + -0.0027726441621780396, + 0.011460281908512115, + -0.0032294616103172302, + 0.011585205793380737, + 0.0 + ], + [ + 0.0013366639614105225, + 0.0018203407526016235, + -0.008102741092443466, + 0.006079345941543579, + 0.01385657861828804, + 0.0020926594734191895, + 0.0 + ], + [ + -0.0009319484233856201, + 0.003267258405685425, + -0.0008311942219734192, + 0.004216372966766357, + 0.001689869910478592, + 0.006130695343017578, + 0.0 + ], + [ + -8.913874626159668e-05, + 0.0014509856700897217, + -0.0028544962406158447, + -0.0008074641227722168, + 0.0048347897827625275, + 0.015611380338668823, + 1.0 + ], + [ + -0.004034489393234253, + 0.0067636966705322266, + -0.001011442393064499, + -0.024032823741436005, + 0.00014352425932884216, + 0.0550629198551178, + 1.0 + ], + [ + -0.0006999671459197998, + 0.00031557679176330566, + -0.00030651316046714783, + -0.0034280717372894287, + -0.007554914802312851, + -0.019476979970932007, + 1.0 + ], + [ + -0.0022724270820617676, + -0.0048890262842178345, + 0.016443341970443726, + 0.004607059061527252, + -0.033679816871881485, + -0.0477372407913208, + 1.0 + ], + [ + 0.0038720667362213135, + -0.014582067728042603, + 0.02542053535580635, + 0.007677070796489716, + -0.02523639053106308, + -0.09705385565757751, + 1.0 + ], + [ + 0.0019645988941192627, + -0.010735735297203064, + 0.002255775034427643, + 0.01337028294801712, + 0.008749254047870636, + -0.05607159435749054, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 0.9499720335006714 + ], + [ + 0.6711689233779907 + ], + [ + 0.4148389995098114 + ], + [ + 0.2781093716621399 + ], + [ + 0.27738428115844727 + ], + [ + 0.27738428115844727 + ], + [ + 0.27738428115844727 + ], + [ + 0.27738428115844727 + ], + [ + 0.27738428115844727 + ], + [ + 0.27738428115844727 + ], + [ + 0.27738428115844727 + ], + [ + 0.27738428115844727 + ], + [ + 0.27738428115844727 + ], + [ + 0.27738428115844727 + ], + [ + 0.27738428115844727 + ], + [ + 0.3380139172077179 + ], + [ + 0.6360166668891907 + ], + [ + 0.9311676621437073 + ], + [ + 1.0124757289886475 + ], + [ + 1.0086473226547241 + ], + [ + 1.002137303352356 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3741611838340759, + -0.047948408871889114, + 0.0778011679649353 + ], + [ + 0.3740721344947815, + -0.030067263171076775, + 0.0702657401561737 + ], + [ + 0.3745518624782562, + -0.0038616920355707407, + 0.06940052658319473 + ], + [ + 0.3713545799255371, + 0.014238839969038963, + 0.060574501752853394 + ], + [ + 0.37111303210258484, + 0.05015788599848747, + 0.056417420506477356 + ], + [ + 0.36985665559768677, + 0.06210211291909218, + 0.03493180871009827 + ], + [ + 0.3793085217475891, + 0.07010629028081894, + 0.03179778903722763 + ], + [ + 0.3795822858810425, + 0.072696752846241, + 0.030459744855761528 + ], + [ + 0.381337434053421, + 0.07283493131399155, + 0.029677266255021095 + ], + [ + 0.38006818294525146, + 0.07405003905296326, + 0.030754446983337402 + ], + [ + 0.3797813057899475, + 0.07244961708784103, + 0.031024955213069916 + ], + [ + 0.3811696767807007, + 0.06920143216848373, + 0.03471355885267258 + ], + [ + 0.39344900846481323, + 0.07824712991714478, + 0.050261348485946655 + ], + [ + 0.39947396516799927, + 0.08865324407815933, + 0.05980442836880684 + ], + [ + 0.40179702639579773, + 0.10674161463975906, + 0.06947143375873566 + ], + [ + 0.3953339755535126, + 0.12643960118293762, + 0.07155857980251312 + ], + [ + 0.38939976692199707, + 0.14633293449878693, + 0.06296474486589432 + ], + [ + 0.3846468925476074, + 0.16714562475681305, + 0.05517026036977768 + ], + [ + 0.38822972774505615, + 0.17983564734458923, + 0.04965249449014664 + ], + [ + 0.3938920795917511, + 0.18572929501533508, + 0.0468798503279686 + ], + [ + 0.3952287435531616, + 0.1875496357679367, + 0.03877710923552513 + ], + [ + 0.394296795129776, + 0.19081689417362213, + 0.03794591501355171 + ], + [ + 0.3942076563835144, + 0.19226787984371185, + 0.03509141877293587 + ], + [ + 0.39017316699028015, + 0.19903157651424408, + 0.03407997637987137 + ], + [ + 0.38947319984436035, + 0.19934715330600739, + 0.03377346321940422 + ], + [ + 0.3872007727622986, + 0.19445812702178955, + 0.050216805189847946 + ], + [ + 0.3910728394985199, + 0.17987605929374695, + 0.0756373405456543 + ], + [ + 0.39303743839263916, + 0.16914032399654388, + 0.07789311558008194 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9905664802524913, + -0.10747628303305218, + 0.08501115683008796, + -0.11682049313410547, + -0.9866007670858354, + 0.11389424379460643, + 0.07163114255751447, + -0.1227508654594341, + -0.9898490816507659 + ], + [ + 0.995321266223181, + -0.07100926450951223, + 0.06552298343102592, + -0.07758524403113548, + -0.9915485878265881, + 0.1039804206941326, + 0.05758564849433863, + -0.10857754064684727, + -0.9924186670728082 + ], + [ + 0.9978769279685784, + -0.03251614372182437, + 0.05642993022726751, + -0.0372711686365444, + -0.9956521922955918, + 0.08536727690074357, + 0.053408769097020824, + -0.0872892454684059, + -0.9947502656491716 + ], + [ + 0.996577571806239, + -0.05718690314810473, + 0.05968920740896198, + -0.06298650846767888, + -0.9929620612771719, + 0.10029478857468674, + 0.05353357006432327, + -0.10371115163047503, + -0.9931657232827001 + ], + [ + 0.9966043105545179, + -0.008308684472704359, + 0.0819195577776613, + -0.01686868532359775, + -0.9943963219099555, + 0.10436188206144084, + 0.08059339699757037, + -0.10538937676201379, + -0.9911598173988425 + ], + [ + 0.9988257822381689, + 0.01648111812727998, + 0.045556881824647386, + 0.011908318615863236, + -0.9950277390187716, + 0.0988837222748753, + 0.046960075426401626, + -0.09822510538791102, + -0.9940556221799064 + ], + [ + 0.9980042132989565, + 0.03840018501625043, + 0.050129991305097224, + 0.03352440159290448, + -0.994939229799744, + 0.09472087152961746, + 0.05351359393059908, + -0.0928512509135465, + -0.9942408865402896 + ], + [ + 0.9984596530140912, + 0.04005773956206668, + 0.03838878487473045, + 0.035976502844529135, + -0.9941673788344463, + 0.10167061573790197, + 0.04223757268189404, + -0.10013291348315083, + -0.9940771534902699 + ], + [ + 0.9986831794815691, + 0.03730883318171809, + 0.035213037176638366, + 0.03346343596625446, + -0.9940035263263435, + 0.1041018160462501, + 0.038885800415022605, + -0.10278638342413668, + -0.9939430838376361 + ], + [ + 0.9993906862697762, + 0.025573424889341362, + 0.023754076211355005, + 0.02277932935726147, + -0.9935317320526397, + 0.1112465709966611, + 0.026445384309157837, + -0.11063768500791657, + -0.9935089049952346 + ], + [ + 0.9996932570381016, + 0.01498472727836176, + 0.019719274351372173, + 0.012764366869192443, + -0.9940398071729296, + 0.10826787470913561, + 0.021224108249352332, + -0.10798296024835376, + -0.9939261630146485 + ], + [ + 0.9998961041008367, + 0.006071485572834026, + 0.013073563665169178, + 0.005033314313143665, + -0.996938449896047, + 0.07802815431555367, + 0.013507285108172796, + -0.07795424415518133, + -0.9968654317746205 + ], + [ + 0.997163746558895, + 0.047814146817694476, + 0.05812288630757526, + 0.044227170451076665, + -0.9971262459355501, + 0.06150778048643673, + 0.06089679747342034, + -0.058762718032543675, + -0.9964128276105785 + ], + [ + 0.9944445722595193, + 0.06503959897207402, + 0.08276377993502647, + 0.06060794951202268, + -0.9966463926443039, + 0.05497858205741643, + 0.08606200764291878, + -0.04965700952179612, + -0.9950515123579394 + ], + [ + 0.9878464480179537, + 0.11864399421245832, + 0.1004141313542401, + 0.11305709455346337, + -0.9917974947561148, + 0.059630719990822964, + 0.10666531071272267, + -0.04755346499266744, + -0.9931571776198115 + ], + [ + 0.9806362199261014, + 0.17593620883245356, + 0.08601775741502445, + 0.17008693376587322, + -0.9828522888443495, + 0.07121666431072672, + 0.09707233968113756, + -0.055207143877278944, + -0.9937450035767441 + ], + [ + 0.9716599979140683, + 0.2297662643784423, + 0.05553658440350923, + 0.22470381229504946, + -0.9707350145217575, + 0.08474507845010319, + 0.07338286716736761, + -0.06986412051274053, + -0.9948537377279524 + ], + [ + 0.9571589921380663, + 0.28681070806329645, + 0.03982814971187973, + 0.28288248740427835, + -0.955563853123497, + 0.0829169519684877, + 0.06183980990599558, + -0.06809802011811159, + -0.9957602610903811 + ], + [ + 0.94764705337471, + 0.31820012827569716, + 0.026715924007213926, + 0.3144075126692791, + -0.944416390705404, + 0.09604997107805198, + 0.05579406964316597, + -0.08262178485307246, + -0.9950179206729626 + ], + [ + 0.943765793388916, + 0.3296785993267975, + 0.02486258986732498, + 0.32530444018922305, + -0.9394017647457819, + 0.10817275805713226, + 0.05901820415910759, + -0.09400183795241228, + -0.9938211640126217 + ], + [ + 0.9437650053860934, + 0.33047725189621907, + 0.00961252244261003, + 0.32751539199767704, + -0.938489176174004, + 0.10941542034305349, + 0.0451805556981612, + -0.10011419571350569, + -0.9939496291077546 + ], + [ + 0.941810014953111, + 0.3360931413215127, + 0.005941051309231334, + 0.3333201335419499, + -0.936034407220002, + 0.11285954578978527, + 0.04349234771310799, + -0.10431197849210641, + -0.9935931898083162 + ], + [ + 0.9366780370890875, + 0.3501917375610166, + -4.217736756048987e-05, + 0.3480510482276461, + -0.9309389015386742, + 0.11051348075960449, + 0.03866164329889531, + -0.10353023010677986, + -0.9938746242818891 + ], + [ + 0.9161084805802127, + 0.40091623331725046, + 0.003380188119357235, + 0.39907593021748655, + -0.9126484722566663, + 0.08838081244603269, + 0.03851822594645331, + -0.07961746008433715, + -0.9960810239732795 + ], + [ + 0.9234116658623698, + 0.3835780350977928, + 0.01337110091953116, + 0.3810364622097399, + -0.9203612355755147, + 0.08801369505138378, + 0.046066363172810695, + -0.07617799577587332, + -0.9960295192129611 + ], + [ + 0.9385485067133358, + 0.3418582130103794, + 0.04753591004196825, + 0.3358245470943904, + -0.9362891935203878, + 0.10288060879383457, + 0.07967793995213235, + -0.08059471629264861, + -0.9935572039851014 + ], + [ + 0.9644160196093757, + 0.2521105423344777, + 0.07963677269091558, + 0.2427291332682008, + -0.9636876243355723, + 0.11130467449900575, + 0.10480605413656723, + -0.08801384633270562, + -0.9905903562371515 + ], + [ + 0.9773664232906701, + 0.19796569408933504, + 0.0745952986972365, + 0.1884660610156633, + -0.974956348586473, + 0.11807058141709753, + 0.09610108464134207, + -0.10133953973972351, + -0.9901994138637419 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005545.json b/json/chunk-0005/episode_0005545.json new file mode 100644 index 0000000000000000000000000000000000000000..3431a01c090d56142b88667f1c67546f5ef63f68 --- /dev/null +++ b/json/chunk-0005/episode_0005545.json @@ -0,0 +1,1822 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 29, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the yellow cloth straight up." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005545.mp4", + "start": 0, + "end": 29, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3239526152610779, + -0.023370889946818352, + 0.14075632393360138, + -0.11031684279441833, + -0.177470862865448, + -0.016467835754156113, + 0.0, + 1.0014774799346924 + ], + [ + 0.32070186734199524, + -0.023128103464841843, + 0.12953421473503113, + -0.1089184358716011, + -0.1360885351896286, + -0.017636502161622047, + 0.0, + 1.0008161067962646 + ], + [ + 0.3153769075870514, + -0.01757144369184971, + 0.13106009364128113, + -0.08290161192417145, + -0.11230932176113129, + -0.01860225945711136, + 0.0, + 1.0014774799346924 + ], + [ + 0.30225464701652527, + 0.0002880777174141258, + 0.14400753378868103, + -0.011003084480762482, + -0.13518096506595612, + -0.005692768841981888, + 0.0, + 1.0014774799346924 + ], + [ + 0.28991374373435974, + 0.016675634309649467, + 0.13921169936656952, + 0.01783628575503826, + -0.15752896666526794, + 0.016766618937253952, + 0.0, + 1.0014774799346924 + ], + [ + 0.2790636420249939, + 0.02912784181535244, + 0.12008462846279144, + 0.017570817843079567, + -0.19144169986248016, + 0.07275901734828949, + 0.0, + 1.0014774799346924 + ], + [ + 0.2765474319458008, + 0.036743033677339554, + 0.10280437022447586, + 0.03205971419811249, + -0.20013590157032013, + 0.08061596006155014, + 0.0, + 1.0008161067962646 + ], + [ + 0.2733392119407654, + 0.04304566606879234, + 0.08519264310598373, + 0.034371815621852875, + -0.17798246443271637, + 0.0822625681757927, + 0.0, + 1.0014774799346924 + ], + [ + 0.27169570326805115, + 0.049514930695295334, + 0.06781565397977829, + 0.03922223299741745, + -0.16222946345806122, + 0.09573809802532196, + 0.0, + 1.0014774799346924 + ], + [ + 0.27354028820991516, + 0.05110715329647064, + 0.056160278618335724, + 0.041143499314785004, + -0.15709225833415985, + 0.08567388355731964, + 0.0, + 1.0008161067962646 + ], + [ + 0.27068397402763367, + 0.053941745311021805, + 0.04608376324176788, + 0.03582677245140076, + -0.16469648480415344, + 0.085738405585289, + 0.0, + 1.0008161067962646 + ], + [ + 0.2707943022251129, + 0.05341816693544388, + 0.03382051736116409, + 0.037515439093112946, + -0.14375489950180054, + 0.10403145849704742, + 0.0, + 1.0014774799346924 + ], + [ + 0.2703382968902588, + 0.045097291469573975, + 0.023897597566246986, + 0.04458548501133919, + -0.11399511992931366, + 0.09511175751686096, + 0.0, + 1.0014774799346924 + ], + [ + 0.26986247301101685, + 0.04328979179263115, + 0.012058904394507408, + 0.03900950402021408, + -0.09172479063272476, + 0.10759259760379791, + 0.0, + 1.0008161067962646 + ], + [ + 0.2731379270553589, + 0.041486337780952454, + 0.007393288891762495, + 0.04295274242758751, + -0.08281420171260834, + 0.10148925334215164, + 0.0, + 1.0014774799346924 + ], + [ + 0.28123077750205994, + 0.04121658578515053, + 0.007035792805254459, + 0.04322540760040283, + -0.09048306941986084, + 0.09693297743797302, + 0.0, + 1.0014774799346924 + ], + [ + 0.2950736880302429, + 0.03766509145498276, + 0.00725412555038929, + 0.03540113568305969, + -0.09834037721157074, + 0.09324891865253448, + 0.0, + 1.0014774799346924 + ], + [ + 0.31544309854507446, + 0.0315980426967144, + 0.007560232188552618, + 0.023272039368748665, + -0.11349018663167953, + 0.07533157616853714, + 0.0, + 1.0014774799346924 + ], + [ + 0.33543553948402405, + 0.022894201800227165, + 0.008786533027887344, + 0.011985848657786846, + -0.1288493275642395, + 0.056299351155757904, + 0.0, + 1.0014774799346924 + ], + [ + 0.35086187720298767, + 0.014212029986083508, + 0.008727064356207848, + -0.002808491000905633, + -0.13804757595062256, + 0.0468035563826561, + 0.0, + 1.0014774799346924 + ], + [ + 0.3632011413574219, + 0.012321890331804752, + 0.00893585104495287, + -0.013561216183006763, + -0.14583876729011536, + 0.03904161974787712, + 0.0, + 1.0014774799346924 + ], + [ + 0.37545809149742126, + 0.01182396337389946, + 0.009849507361650467, + -0.01390096079558134, + -0.14763495326042175, + 0.022234471514821053, + 0.0, + 1.0014774799346924 + ], + [ + 0.3778703212738037, + 0.01064874604344368, + 0.011314489878714085, + -0.02167268469929695, + -0.14335715770721436, + 0.020212961360812187, + 0.0, + 1.0014774799346924 + ], + [ + 0.375206857919693, + 0.008410404436290264, + 0.013603501953184605, + -0.03819691762328148, + -0.11384432762861252, + 0.011900587938725948, + 0.0, + 0.9994885921478271 + ], + [ + 0.3764021098613739, + 0.007853238843381405, + 0.02210429683327675, + -0.0483451783657074, + -0.08248898386955261, + 0.035636477172374725, + 0.0, + 0.9994885921478271 + ], + [ + 0.38189592957496643, + 0.01118454523384571, + 0.03361208736896515, + -0.0632380023598671, + -0.07280489057302475, + 0.06473429501056671, + 0.0, + 0.9994885921478271 + ], + [ + 0.38392600417137146, + 0.011118289083242416, + 0.04250815510749817, + -0.0682668685913086, + -0.057066138833761215, + 0.07196799665689468, + 0.0, + 0.9994885921478271 + ], + [ + 0.3865901231765747, + 0.010415446944534779, + 0.07220392674207687, + -0.07848517596721649, + -0.08721482753753662, + 0.08048885315656662, + 0.0, + 0.9994885921478271 + ], + [ + 0.38418760895729065, + 0.005201118532568216, + 0.0979212149977684, + -0.1075950413942337, + -0.13244491815567017, + 0.07714509963989258, + 0.0, + 0.9994885921478271 + ] + ], + "left_gripper_pos": [ + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3239526152610779, + -0.023370889946818352, + 0.14075632393360138 + ], + [ + 0.32070186734199524, + -0.023128103464841843, + 0.12953421473503113 + ], + [ + 0.3153769075870514, + -0.01757144369184971, + 0.13106009364128113 + ], + [ + 0.30225464701652527, + 0.0002880777174141258, + 0.14400753378868103 + ], + [ + 0.28991374373435974, + 0.016675634309649467, + 0.13921169936656952 + ], + [ + 0.2790636420249939, + 0.02912784181535244, + 0.12008462846279144 + ], + [ + 0.2765474319458008, + 0.036743033677339554, + 0.10280437022447586 + ], + [ + 0.2733392119407654, + 0.04304566606879234, + 0.08519264310598373 + ], + [ + 0.27169570326805115, + 0.049514930695295334, + 0.06781565397977829 + ], + [ + 0.27354028820991516, + 0.05110715329647064, + 0.056160278618335724 + ], + [ + 0.27068397402763367, + 0.053941745311021805, + 0.04608376324176788 + ], + [ + 0.2707943022251129, + 0.05341816693544388, + 0.03382051736116409 + ], + [ + 0.2703382968902588, + 0.045097291469573975, + 0.023897597566246986 + ], + [ + 0.26986247301101685, + 0.04328979179263115, + 0.012058904394507408 + ], + [ + 0.2731379270553589, + 0.041486337780952454, + 0.007393288891762495 + ], + [ + 0.28123077750205994, + 0.04121658578515053, + 0.007035792805254459 + ], + [ + 0.2950736880302429, + 0.03766509145498276, + 0.00725412555038929 + ], + [ + 0.31544309854507446, + 0.0315980426967144, + 0.007560232188552618 + ], + [ + 0.33543553948402405, + 0.022894201800227165, + 0.008786533027887344 + ], + [ + 0.35086187720298767, + 0.014212029986083508, + 0.008727064356207848 + ], + [ + 0.3632011413574219, + 0.012321890331804752, + 0.00893585104495287 + ], + [ + 0.37545809149742126, + 0.01182396337389946, + 0.009849507361650467 + ], + [ + 0.3778703212738037, + 0.01064874604344368, + 0.011314489878714085 + ], + [ + 0.375206857919693, + 0.008410404436290264, + 0.013603501953184605 + ], + [ + 0.3764021098613739, + 0.007853238843381405, + 0.02210429683327675 + ], + [ + 0.38189592957496643, + 0.01118454523384571, + 0.03361208736896515 + ], + [ + 0.38392600417137146, + 0.011118289083242416, + 0.04250815510749817 + ], + [ + 0.3865901231765747, + 0.010415446944534779, + 0.07220392674207687 + ], + [ + 0.38418760895729065, + 0.005201118532568216, + 0.0979212149977684 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9841598740053092, + -0.03580029476771959, + 0.17363087655252413, + -0.01620844837506243, + -0.9934664447213821, + -0.11296773616360425, + 0.17654072787639236, + 0.10836402589051938, + -0.9783100782950527 + ], + [ + 0.9906001566992447, + -0.03227643097852822, + 0.1329269030359159, + -0.01747253343092184, + -0.993659568030337, + -0.11106472634130639, + 0.13566886202418296, + 0.10769816556029292, + -0.9848832748158589 + ], + [ + 0.993528007376269, + -0.027816121874747496, + 0.11012884237468837, + -0.01848399791285025, + -0.9962205792510711, + -0.08486989629908534, + 0.11207337052171451, + 0.08228499766366251, + -0.9902872001492259 + ], + [ + 0.9908609028978078, + -0.007175221139269863, + 0.13469664921646693, + -0.005640803009881005, + -0.999914822406553, + -0.011769845924033517, + 0.13476962732732137, + 0.010902482894934801, + -0.9908169777596572 + ], + [ + 0.9874791334828916, + 0.01956075024775488, + 0.15653222666793817, + 0.01655823798326344, + -0.9996534931515259, + 0.0204626094338459, + 0.15687825117194362, + -0.017614501971315134, + -0.9874608567581479 + ], + [ + 0.9791335027613136, + 0.07601787741871524, + 0.1884644955505259, + 0.07136677156181584, + -0.9969572492338321, + 0.03135326325846659, + 0.1902744535853529, + -0.017248927875792745, + -0.9815793940379614 + ], + [ + 0.976856687897471, + 0.08683905203296396, + 0.19547375872991082, + 0.0789212818988177, + -0.9957269274809694, + 0.04795119552999762, + 0.19880252154696268, + -0.03141440642961271, + -0.9795359577347046 + ], + [ + 0.980874651744521, + 0.08818484590588917, + 0.17351757985178087, + 0.08087177353451018, + -0.9955297550147689, + 0.048787940370721254, + 0.1770442707642568, + -0.033822179598434164, + -0.9836215666386966 + ], + [ + 0.9823503728350161, + 0.1018228935714961, + 0.15690711690561485, + 0.0943367559875756, + -0.994049604780854, + 0.054460625269713625, + 0.16151879599800492, + -0.03869730713829231, + -0.9861106413377757 + ], + [ + 0.9840637660351168, + 0.09190805575362594, + 0.15222159394898913, + 0.08451544729158288, + -0.9949384329714828, + 0.05435672695585869, + 0.15644693523967226, + -0.040625409337488344, + -0.9868505117647125 + ], + [ + 0.982844583244678, + 0.09142952338381499, + 0.16017854862747116, + 0.08447462208948553, + -0.9951844661676965, + 0.04971837207064659, + 0.16395293046918474, + -0.03533441031523058, + -0.9858351363378368 + ], + [ + 0.9843344194906276, + 0.10911500784416456, + 0.138490669971724, + 0.10277276736260382, + -0.9933358135296041, + 0.052170104927166255, + 0.143260283730981, + -0.0371197605413522, + -0.9889886826868503 + ], + [ + 0.9890192097377387, + 0.0999209777471114, + 0.108888938721066, + 0.09435203758158334, + -0.9940095336235812, + 0.05516103760476311, + 0.11374838800590664, + -0.04428143258174776, + -0.9925222712637566 + ], + [ + 0.9900380362550528, + 0.11085499768101653, + 0.0868093097391063, + 0.1069337103401056, + -0.9930775199161677, + 0.04860268542016688, + 0.0915962246008899, + -0.03883566564763802, + -0.9950386538786158 + ], + [ + 0.9914448827456378, + 0.10475533623230084, + 0.07786760564153854, + 0.100967897910503, + -0.9935769381621039, + 0.05109159954388944, + 0.08271957488420022, + -0.04279237646212838, + -0.9956536970491803 + ], + [ + 0.9912340790984002, + 0.10057713806694117, + 0.08566936285633238, + 0.0963853388405856, + -0.993998094998938, + 0.05174604907688865, + 0.0903596530013921, + -0.043035176736545666, + -0.994978947854035 + ], + [ + 0.9908449404664026, + 0.09651542681021398, + 0.09439849755040124, + 0.09266395725589426, + -0.9947080633226306, + 0.04437634264582006, + 0.09818194832966333, + -0.035222736244983247, + -0.9945449531688387 + ], + [ + 0.9907490612855123, + 0.0778677384865547, + 0.11114365868040137, + 0.07477618971224323, + -0.9966955752705562, + 0.031724622743440935, + 0.11324671745350785, + -0.023120240895902616, + -0.9932978583722613 + ], + [ + 0.9901391477205449, + 0.05780319467133944, + 0.1276058730506553, + 0.055803162248808026, + -0.9982572357803027, + 0.019196309418795916, + 0.1284930941111853, + -0.01188620620955994, + -0.9916391696921203 + ], + [ + 0.9894018875680294, + 0.04640023457943123, + 0.1375896911392508, + 0.04634137002219512, + -0.9989190557761111, + 0.0036328269748151713, + 0.13760952838116502, + 0.0027817689222333773, + -0.9904826497523199 + ], + [ + 0.9886304244584703, + 0.03705892767920194, + 0.14572755303762067, + 0.038617355907080854, + -0.9992230102319556, + -0.007878809918699778, + 0.145322343973013, + 0.013416843975273566, + -0.9892933865340112 + ], + [ + 0.9888772536196899, + 0.020186242180457736, + 0.1473577039051958, + 0.021990787121146885, + -0.9997016916980737, + -0.010626989122142222, + 0.14709922690269944, + 0.013749299714590475, + -0.9890261746799154 + ], + [ + 0.9895397692509441, + 0.017111409786142832, + 0.14324190980966084, + 0.020004253533056668, + -0.9996235058880258, + -0.018779678291095187, + 0.1428666333031387, + 0.02144868600316899, + -0.9895095143339269 + ], + [ + 0.9934563777026386, + 0.007553873691990159, + 0.11396211911946036, + 0.011823273144460467, + -0.9992514511723601, + -0.036834054108720905, + 0.1135985731164969, + 0.03794043123342377, + -0.992802038607757 + ], + [ + 0.9959669593396054, + 0.031607962087469924, + 0.0839687598842435, + 0.03550778622206591, + -0.9983392990968736, + -0.0453634323698188, + 0.08239546723836659, + 0.04816202457787797, + -0.9954352848714632 + ], + [ + 0.9952619101582284, + 0.05997251253584728, + 0.0765312219184546, + 0.06451772442270058, + -0.9962081671377742, + -0.058367379273979766, + 0.07274058993100463, + 0.0630284496726183, + -0.9953573333774938 + ], + [ + 0.9957878047865604, + 0.06785788102387806, + 0.06166000179461761, + 0.07178883707867374, + -0.9953679292047074, + -0.06394566741870938, + 0.05703517080937582, + 0.06810281560759263, + -0.9960466835430273 + ], + [ + 0.9929740227242088, + 0.07334719597179787, + 0.0928589200775978, + 0.08009638200173572, + -0.9942432017685133, + -0.07116899133279768, + 0.08710430405631542, + 0.07810662315175636, + -0.9931325166535908 + ], + [ + 0.988293826014499, + 0.06248372038346406, + 0.13918009250127722, + 0.0763936346804879, + -0.9923531669627346, + -0.09694949509582307, + 0.13205804042892338, + 0.10644706057976397, + -0.985509866643658 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0032507479190826416, + 0.0002427864819765091, + -0.011222109198570251, + 0.0013984069228172302, + 0.0413823276758194, + -0.0011686664074659348, + 1.0 + ], + [ + -0.005324959754943848, + 0.005556659772992134, + 0.00152587890625, + 0.026016823947429657, + 0.023779213428497314, + -0.0009657572954893112, + 1.0 + ], + [ + -0.013122260570526123, + 0.017859522253274918, + 0.012947440147399902, + 0.07189852744340897, + -0.02287164330482483, + 0.01290949061512947, + 1.0 + ], + [ + -0.012340903282165527, + 0.01638755574822426, + -0.004795834422111511, + 0.028839370235800743, + -0.02234800159931183, + 0.02245938777923584, + 1.0 + ], + [ + -0.010850101709365845, + 0.012452207505702972, + -0.019127070903778076, + -0.00026546791195869446, + -0.03391273319721222, + 0.05599239841103554, + 1.0 + ], + [ + -0.0025162100791931152, + 0.007615191861987114, + -0.017280258238315582, + 0.01448889635503292, + -0.008694201707839966, + 0.00785694271326065, + 1.0 + ], + [ + -0.0032082200050354004, + 0.006302632391452789, + -0.017611727118492126, + 0.002312101423740387, + 0.02215343713760376, + 0.0016466081142425537, + 1.0 + ], + [ + -0.0016435086727142334, + 0.006469264626502991, + -0.017376989126205444, + 0.004850417375564575, + 0.01575300097465515, + 0.013475529849529266, + 1.0 + ], + [ + 0.0018445849418640137, + 0.0015922226011753082, + -0.011655375361442566, + 0.0019212663173675537, + 0.005137205123901367, + -0.01006421446800232, + 1.0 + ], + [ + -0.002856314182281494, + 0.0028345920145511627, + -0.01007651537656784, + -0.005316726863384247, + -0.007604226469993591, + 6.452202796936035e-05, + 1.0 + ], + [ + 0.00011032819747924805, + -0.0005235783755779266, + -0.01226324588060379, + 0.0016886666417121887, + 0.020941585302352905, + 0.018293052911758423, + 1.0 + ], + [ + -0.000456005334854126, + -0.008320875465869904, + -0.009922919794917107, + 0.007070045918226242, + 0.029759779572486877, + -0.008919700980186462, + 1.0 + ], + [ + -0.00047582387924194336, + -0.0018074996769428253, + -0.011838693171739578, + -0.005575980991125107, + 0.022270329296588898, + 0.01248084008693695, + 1.0 + ], + [ + 0.003275454044342041, + -0.0018034540116786957, + -0.004665615502744913, + 0.003943238407373428, + 0.008910588920116425, + -0.006103344261646271, + 1.0 + ], + [ + 0.00809285044670105, + -0.00026975199580192566, + -0.00035749608650803566, + 0.0002726651728153229, + -0.0076688677072525024, + -0.004556275904178619, + 1.0 + ], + [ + 0.013842910528182983, + -0.0035514943301677704, + 0.00021833274513483047, + -0.00782427191734314, + -0.0078573077917099, + -0.0036840587854385376, + 1.0 + ], + [ + 0.020369410514831543, + -0.006067048758268356, + 0.00030610663816332817, + -0.012129096314311028, + -0.015149809420108795, + -0.017917342483997345, + 1.0 + ], + [ + 0.019992440938949585, + -0.008703840896487236, + 0.0012263008393347263, + -0.011286190710961819, + -0.015359140932559967, + -0.019032225012779236, + 1.0 + ], + [ + 0.015426337718963623, + -0.008682171814143658, + -5.9468671679496765e-05, + -0.014794339425861835, + -0.009198248386383057, + -0.009495794773101807, + 1.0 + ], + [ + 0.012339264154434204, + -0.0018901396542787552, + 0.00020878668874502182, + -0.010752725414931774, + -0.007791191339492798, + -0.0077619366347789764, + 1.0 + ], + [ + 0.01225695013999939, + -0.0004979269579052925, + 0.0009136563166975975, + -0.00033974461257457733, + -0.0017961859703063965, + -0.01680714823305607, + 1.0 + ], + [ + 0.0024122297763824463, + -0.00117521733045578, + 0.0014649825170636177, + -0.0077717239037156105, + 0.0042777955532073975, + -0.0020215101540088654, + 1.0 + ], + [ + -0.0026634633541107178, + -0.0022383416071534157, + 0.00228901207447052, + -0.016524232923984528, + 0.029512830078601837, + -0.008312373422086239, + 1.0 + ], + [ + 0.0011952519416809082, + -0.0005571655929088593, + 0.008500794880092144, + -0.010148260742425919, + 0.031355343759059906, + 0.023735888302326202, + 1.0 + ], + [ + 0.005493819713592529, + 0.003331306390464306, + 0.0115077905356884, + -0.014892823994159698, + 0.009684093296527863, + 0.029097817838191986, + 1.0 + ], + [ + 0.0020300745964050293, + -6.625615060329437e-05, + 0.00889606773853302, + -0.005028866231441498, + 0.015738751739263535, + 0.007233701646327972, + 1.0 + ], + [ + 0.002664119005203247, + -0.0007028421387076378, + 0.029695771634578705, + -0.010218307375907898, + -0.030148688703775406, + 0.008520856499671936, + 1.0 + ], + [ + -0.0024025142192840576, + -0.005214328411966562, + 0.02571728825569153, + -0.029109865427017212, + -0.045230090618133545, + -0.0033437535166740417, + 1.0 + ], + [ + 5.441904067993164e-05, + 3.0919909477233887e-06, + 0.0017666369676589966, + -0.0003049001097679138, + -0.004435926675796509, + 0.0015522167086601257, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.32070186734199524, + -0.023128103464841843, + 0.12953421473503113 + ], + [ + 0.3153769075870514, + -0.01757144369184971, + 0.13106009364128113 + ], + [ + 0.30225464701652527, + 0.0002880777174141258, + 0.14400753378868103 + ], + [ + 0.28991374373435974, + 0.016675634309649467, + 0.13921169936656952 + ], + [ + 0.2790636420249939, + 0.02912784181535244, + 0.12008462846279144 + ], + [ + 0.2765474319458008, + 0.036743033677339554, + 0.10280437022447586 + ], + [ + 0.2733392119407654, + 0.04304566606879234, + 0.08519264310598373 + ], + [ + 0.27169570326805115, + 0.049514930695295334, + 0.06781565397977829 + ], + [ + 0.27354028820991516, + 0.05110715329647064, + 0.056160278618335724 + ], + [ + 0.27068397402763367, + 0.053941745311021805, + 0.04608376324176788 + ], + [ + 0.2707943022251129, + 0.05341816693544388, + 0.03382051736116409 + ], + [ + 0.2703382968902588, + 0.045097291469573975, + 0.023897597566246986 + ], + [ + 0.26986247301101685, + 0.04328979179263115, + 0.012058904394507408 + ], + [ + 0.2731379270553589, + 0.041486337780952454, + 0.007393288891762495 + ], + [ + 0.28123077750205994, + 0.04121658578515053, + 0.007035792805254459 + ], + [ + 0.2950736880302429, + 0.03766509145498276, + 0.00725412555038929 + ], + [ + 0.31544309854507446, + 0.0315980426967144, + 0.007560232188552618 + ], + [ + 0.33543553948402405, + 0.022894201800227165, + 0.008786533027887344 + ], + [ + 0.35086187720298767, + 0.014212029986083508, + 0.008727064356207848 + ], + [ + 0.3632011413574219, + 0.012321890331804752, + 0.00893585104495287 + ], + [ + 0.37545809149742126, + 0.01182396337389946, + 0.009849507361650467 + ], + [ + 0.3778703212738037, + 0.01064874604344368, + 0.011314489878714085 + ], + [ + 0.375206857919693, + 0.008410404436290264, + 0.013603501953184605 + ], + [ + 0.3764021098613739, + 0.007853238843381405, + 0.02210429683327675 + ], + [ + 0.38189592957496643, + 0.01118454523384571, + 0.03361208736896515 + ], + [ + 0.38392600417137146, + 0.011118289083242416, + 0.04250815510749817 + ], + [ + 0.3865901231765747, + 0.010415446944534779, + 0.07220392674207687 + ], + [ + 0.38418760895729065, + 0.005201118532568216, + 0.0979212149977684 + ], + [ + 0.3842420279979706, + 0.00520421052351594, + 0.0996878519654274 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9906001566992447, + -0.03227643097852822, + 0.1329269030359159, + -0.01747253343092184, + -0.993659568030337, + -0.11106472634130639, + 0.13566886202418296, + 0.10769816556029292, + -0.9848832748158589 + ], + [ + 0.993528007376269, + -0.027816121874747496, + 0.11012884237468837, + -0.01848399791285025, + -0.9962205792510711, + -0.08486989629908534, + 0.11207337052171451, + 0.08228499766366251, + -0.9902872001492259 + ], + [ + 0.9908609028978078, + -0.007175221139269863, + 0.13469664921646693, + -0.005640803009881005, + -0.999914822406553, + -0.011769845924033517, + 0.13476962732732137, + 0.010902482894934801, + -0.9908169777596572 + ], + [ + 0.9874791334828916, + 0.01956075024775488, + 0.15653222666793817, + 0.01655823798326344, + -0.9996534931515259, + 0.0204626094338459, + 0.15687825117194362, + -0.017614501971315134, + -0.9874608567581479 + ], + [ + 0.9791335027613136, + 0.07601787741871524, + 0.1884644955505259, + 0.07136677156181584, + -0.9969572492338321, + 0.03135326325846659, + 0.1902744535853529, + -0.017248927875792745, + -0.9815793940379614 + ], + [ + 0.976856687897471, + 0.08683905203296396, + 0.19547375872991082, + 0.0789212818988177, + -0.9957269274809694, + 0.04795119552999762, + 0.19880252154696268, + -0.03141440642961271, + -0.9795359577347046 + ], + [ + 0.980874651744521, + 0.08818484590588917, + 0.17351757985178087, + 0.08087177353451018, + -0.9955297550147689, + 0.048787940370721254, + 0.1770442707642568, + -0.033822179598434164, + -0.9836215666386966 + ], + [ + 0.9823503728350161, + 0.1018228935714961, + 0.15690711690561485, + 0.0943367559875756, + -0.994049604780854, + 0.054460625269713625, + 0.16151879599800492, + -0.03869730713829231, + -0.9861106413377757 + ], + [ + 0.9840637660351168, + 0.09190805575362594, + 0.15222159394898913, + 0.08451544729158288, + -0.9949384329714828, + 0.05435672695585869, + 0.15644693523967226, + -0.040625409337488344, + -0.9868505117647125 + ], + [ + 0.982844583244678, + 0.09142952338381499, + 0.16017854862747116, + 0.08447462208948553, + -0.9951844661676965, + 0.04971837207064659, + 0.16395293046918474, + -0.03533441031523058, + -0.9858351363378368 + ], + [ + 0.9843344194906276, + 0.10911500784416456, + 0.138490669971724, + 0.10277276736260382, + -0.9933358135296041, + 0.052170104927166255, + 0.143260283730981, + -0.0371197605413522, + -0.9889886826868503 + ], + [ + 0.9890192097377387, + 0.0999209777471114, + 0.108888938721066, + 0.09435203758158334, + -0.9940095336235812, + 0.05516103760476311, + 0.11374838800590664, + -0.04428143258174776, + -0.9925222712637566 + ], + [ + 0.9900380362550528, + 0.11085499768101653, + 0.0868093097391063, + 0.1069337103401056, + -0.9930775199161677, + 0.04860268542016688, + 0.0915962246008899, + -0.03883566564763802, + -0.9950386538786158 + ], + [ + 0.9914448827456378, + 0.10475533623230084, + 0.07786760564153854, + 0.100967897910503, + -0.9935769381621039, + 0.05109159954388944, + 0.08271957488420022, + -0.04279237646212838, + -0.9956536970491803 + ], + [ + 0.9912340790984002, + 0.10057713806694117, + 0.08566936285633238, + 0.0963853388405856, + -0.993998094998938, + 0.05174604907688865, + 0.0903596530013921, + -0.043035176736545666, + -0.994978947854035 + ], + [ + 0.9908449404664026, + 0.09651542681021398, + 0.09439849755040124, + 0.09266395725589426, + -0.9947080633226306, + 0.04437634264582006, + 0.09818194832966333, + -0.035222736244983247, + -0.9945449531688387 + ], + [ + 0.9907490612855123, + 0.0778677384865547, + 0.11114365868040137, + 0.07477618971224323, + -0.9966955752705562, + 0.031724622743440935, + 0.11324671745350785, + -0.023120240895902616, + -0.9932978583722613 + ], + [ + 0.9901391477205449, + 0.05780319467133944, + 0.1276058730506553, + 0.055803162248808026, + -0.9982572357803027, + 0.019196309418795916, + 0.1284930941111853, + -0.01188620620955994, + -0.9916391696921203 + ], + [ + 0.9894018875680294, + 0.04640023457943123, + 0.1375896911392508, + 0.04634137002219512, + -0.9989190557761111, + 0.0036328269748151713, + 0.13760952838116502, + 0.0027817689222333773, + -0.9904826497523199 + ], + [ + 0.9886304244584703, + 0.03705892767920194, + 0.14572755303762067, + 0.038617355907080854, + -0.9992230102319556, + -0.007878809918699778, + 0.145322343973013, + 0.013416843975273566, + -0.9892933865340112 + ], + [ + 0.9888772536196899, + 0.020186242180457736, + 0.1473577039051958, + 0.021990787121146885, + -0.9997016916980737, + -0.010626989122142222, + 0.14709922690269944, + 0.013749299714590475, + -0.9890261746799154 + ], + [ + 0.9895397692509441, + 0.017111409786142832, + 0.14324190980966084, + 0.020004253533056668, + -0.9996235058880258, + -0.018779678291095187, + 0.1428666333031387, + 0.02144868600316899, + -0.9895095143339269 + ], + [ + 0.9934563777026386, + 0.007553873691990159, + 0.11396211911946036, + 0.011823273144460467, + -0.9992514511723601, + -0.036834054108720905, + 0.1135985731164969, + 0.03794043123342377, + -0.992802038607757 + ], + [ + 0.9959669593396054, + 0.031607962087469924, + 0.0839687598842435, + 0.03550778622206591, + -0.9983392990968736, + -0.0453634323698188, + 0.08239546723836659, + 0.04816202457787797, + -0.9954352848714632 + ], + [ + 0.9952619101582284, + 0.05997251253584728, + 0.0765312219184546, + 0.06451772442270058, + -0.9962081671377742, + -0.058367379273979766, + 0.07274058993100463, + 0.0630284496726183, + -0.9953573333774938 + ], + [ + 0.9957878047865604, + 0.06785788102387806, + 0.06166000179461761, + 0.07178883707867374, + -0.9953679292047074, + -0.06394566741870938, + 0.05703517080937582, + 0.06810281560759263, + -0.9960466835430273 + ], + [ + 0.9929740227242088, + 0.07334719597179787, + 0.0928589200775978, + 0.08009638200173572, + -0.9942432017685133, + -0.07116899133279768, + 0.08710430405631542, + 0.07810662315175636, + -0.9931325166535908 + ], + [ + 0.988293826014499, + 0.06248372038346406, + 0.13918009250127722, + 0.0763936346804879, + -0.9923531669627346, + -0.09694949509582307, + 0.13205804042892338, + 0.10644706057976397, + -0.985509866643658 + ], + [ + 0.9875803488478151, + 0.06350958918516886, + 0.14370659919140422, + 0.07788076836829569, + -0.9922626586351215, + -0.09669230681250773, + 0.1364538034940459, + 0.10668340245741761, + -0.9848852781680295 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005546.json b/json/chunk-0005/episode_0005546.json new file mode 100644 index 0000000000000000000000000000000000000000..95281d792ac803c097fa67d6d2eae025ed0a19aa --- /dev/null +++ b/json/chunk-0005/episode_0005546.json @@ -0,0 +1,922 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 14, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut corn in pan which is on stove." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005546.mp4", + "start": 0, + "end": 14, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.32067617774009705, + 0.04830112308263779, + 0.06281068176031113, + -0.0022252497728914022, + -0.38406500220298767, + 0.2476997673511505, + 0.0, + 1.0112061500549316 + ], + [ + 0.3184948265552521, + 0.04688145965337753, + 0.050532277673482895, + -0.010758479125797749, + -0.37175115942955017, + 0.24814987182617188, + 0.0, + 1.0112061500549316 + ], + [ + 0.3201935589313507, + 0.04785703867673874, + 0.04139403998851776, + -0.038084790110588074, + -0.38946688175201416, + 0.2598611116409302, + 0.0, + 1.0112061500549316 + ], + [ + 0.3222554326057434, + 0.049587495625019073, + 0.03650513291358948, + -0.06691422313451767, + -0.4087854027748108, + 0.2725541889667511, + 0.0, + 1.0112061500549316 + ], + [ + 0.32005172967910767, + 0.050599485635757446, + 0.019796688109636307, + -0.09574267268180847, + -0.4000788629055023, + 0.2794065773487091, + 0.0, + 1.0112061500549316 + ], + [ + 0.3190329074859619, + 0.05105946958065033, + 0.012405301444232464, + -0.11824420839548111, + -0.4082395136356354, + 0.29343923926353455, + 0.0, + 1.0112061500549316 + ], + [ + 0.31651702523231506, + 0.05112002417445183, + 0.005914444103837013, + -0.1371464729309082, + -0.4141107201576233, + 0.32231247425079346, + 0.0, + 0.8149353265762329 + ], + [ + 0.3163416087627411, + 0.052220430225133896, + 0.005631211679428816, + -0.13193483650684357, + -0.4187462627887726, + 0.3255870044231415, + 0.0, + 0.5978984832763672 + ], + [ + 0.31283408403396606, + 0.05244998633861542, + 0.007775298785418272, + -0.09403824806213379, + -0.3838185667991638, + 0.3112512528896332, + 0.0, + 0.5988990664482117 + ], + [ + 0.3164544403553009, + 0.06075989454984665, + 0.03863164782524109, + -0.01186649315059185, + -0.3917023241519928, + 0.2583038806915283, + 0.0, + 0.5978984832763672 + ], + [ + 0.3241211175918579, + 0.06767889112234116, + 0.0579390823841095, + 0.04740915447473526, + -0.4242282509803772, + 0.1856285184621811, + 0.0, + 0.5978984832763672 + ], + [ + 0.341276615858078, + 0.07803986221551895, + 0.07557433098554611, + 0.07738159596920013, + -0.479682594537735, + 0.09013217687606812, + 0.0, + 0.5988990664482117 + ], + [ + 0.36219578981399536, + 0.0916350781917572, + 0.0831570103764534, + 0.06729772686958313, + -0.5225422978401184, + 0.031560249626636505, + 0.0, + 0.5978984832763672 + ], + [ + 0.37914904952049255, + 0.10138075053691864, + 0.07818968594074249, + 0.0544218011200428, + -0.5450632572174072, + -0.033796526491642, + 0.0, + 0.5978984832763672 + ] + ], + "left_gripper_pos": [ + [ + 1.0112061500549316 + ], + [ + 1.0112061500549316 + ], + [ + 1.0112061500549316 + ], + [ + 1.0112061500549316 + ], + [ + 1.0112061500549316 + ], + [ + 1.0112061500549316 + ], + [ + 0.8149353265762329 + ], + [ + 0.5978984832763672 + ], + [ + 0.5988990664482117 + ], + [ + 0.5978984832763672 + ], + [ + 0.5978984832763672 + ], + [ + 0.5988990664482117 + ], + [ + 0.5978984832763672 + ], + [ + 0.5978984832763672 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.32067617774009705, + 0.04830112308263779, + 0.06281068176031113 + ], + [ + 0.3184948265552521, + 0.04688145965337753, + 0.050532277673482895 + ], + [ + 0.3201935589313507, + 0.04785703867673874, + 0.04139403998851776 + ], + [ + 0.3222554326057434, + 0.049587495625019073, + 0.03650513291358948 + ], + [ + 0.32005172967910767, + 0.050599485635757446, + 0.019796688109636307 + ], + [ + 0.3190329074859619, + 0.05105946958065033, + 0.012405301444232464 + ], + [ + 0.31651702523231506, + 0.05112002417445183, + 0.005914444103837013 + ], + [ + 0.3163416087627411, + 0.052220430225133896, + 0.005631211679428816 + ], + [ + 0.31283408403396606, + 0.05244998633861542, + 0.007775298785418272 + ], + [ + 0.3164544403553009, + 0.06075989454984665, + 0.03863164782524109 + ], + [ + 0.3241211175918579, + 0.06767889112234116, + 0.0579390823841095 + ], + [ + 0.341276615858078, + 0.07803986221551895, + 0.07557433098554611 + ], + [ + 0.36219578981399536, + 0.0916350781917572, + 0.0831570103764534 + ], + [ + 0.37914904952049255, + 0.10138075053691864, + 0.07818968594074249 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8988516031399804, + 0.24436564012122491, + 0.3638010850187659, + 0.22731341196911098, + -0.9696809668106006, + 0.08970749881821552, + 0.3746924182201297, + 0.0020631367872494047, + -0.9271468789760059 + ], + [ + 0.9031535188492839, + 0.24180850047399507, + 0.35474268207910087, + 0.2288338982294548, + -0.9702722197894799, + 0.07878366915742563, + 0.3632475304957594, + 0.010023402781146044, + -0.9316387513330578 + ], + [ + 0.8940516151714706, + 0.24278827621115617, + 0.3764645565570552, + 0.23770403316702948, + -0.9694395861173668, + 0.06069333970640018, + 0.37969527522134455, + 0.035224165043391466, + -0.9244407802404563 + ], + [ + 0.8837322830655441, + 0.24299265072815918, + 0.39996477789908463, + 0.24701193471221594, + -0.968085812076883, + 0.04236702214187508, + 0.39749510182829834, + 0.06135496840146692, + -0.9155507696872773 + ], + [ + 0.8853120490444047, + 0.23873223742385832, + 0.39903570596050114, + 0.2540066010400869, + -0.9670856230518576, + 0.015034770183212469, + 0.389490978643741, + 0.0880472401668469, + -0.9168121187321544 + ], + [ + 0.8785886550470771, + 0.24239537800222039, + 0.4114929597766273, + 0.2654762400970265, + -0.9641167739604382, + 0.0011009596102597302, + 0.39699413240816833, + 0.10827431316465672, + -0.911412273311155 + ], + [ + 0.8683325628088958, + 0.26160764992332397, + 0.42137868701125675, + 0.28998643734594587, + -0.9570246563150046, + -0.0034166299994732793, + 0.40237597657059615, + 0.12516087530351913, + -0.9068783428730207 + ], + [ + 0.8656017893345219, + 0.26640416053301486, + 0.4239839213361444, + 0.2922284925811456, + -0.9563389036560838, + 0.004290626717777843, + 0.4066153593073256, + 0.12018620804642943, + -0.9056595524648294 + ], + [ + 0.882688568067951, + 0.27142433480093575, + 0.3836531275514631, + 0.28396771132904963, + -0.958513455845545, + 0.024784952805514585, + 0.374463924463614, + 0.08706770607348953, + -0.923144616966599 + ], + [ + 0.8935978288647489, + 0.2510432984068945, + 0.37210238184294653, + 0.23609409536597556, + -0.9679137238648748, + 0.08603837101754466, + 0.38176235851839646, + 0.010967473684397613, + -0.9241954426091127 + ], + [ + 0.8956999656449303, + 0.203528921154885, + 0.3953448492104072, + 0.16820389736408245, + -0.9781158223541083, + 0.12246177759643943, + 0.41161756577581116, + -0.0431904655459419, + -0.9103326662438962 + ], + [ + 0.8835404041877208, + 0.12527181786326103, + 0.45129073313888524, + 0.07985177070679343, + -0.9897493443449719, + 0.11840578568502323, + 0.46149761525146393, + -0.06857993159760313, + -0.8844867122231286 + ], + [ + 0.8661216302223804, + 0.06502879279549269, + 0.49558508630555753, + 0.027344094148886697, + -0.9961804595304058, + 0.0829264286278273, + 0.4990847845567954, + -0.058273048292930354, + -0.8645915970367436 + ], + [ + 0.8546061951739169, + -0.005553907765159188, + 0.5192469598167112, + -0.028893722606320622, + -0.9989022535566738, + 0.03687059307018919, + 0.518472182440206, + -0.04651281487863953, + -0.8538285273330678 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0021813511848449707, + -0.001419663429260254, + -0.012278404086828232, + -0.008533229120075703, + 0.0123138427734375, + 0.0004501044750213623, + 1.0 + ], + [ + 0.0016987323760986328, + 0.0009755790233612061, + -0.009138237684965134, + -0.0273263119161129, + -0.01771572232246399, + 0.0117112398147583, + 1.0 + ], + [ + 0.0020618736743927, + 0.0017304569482803345, + -0.004888907074928284, + -0.028829433023929596, + -0.01931852102279663, + 0.012693077325820923, + 1.0 + ], + [ + -0.002203702926635742, + 0.0010119900107383728, + -0.01670844480395317, + -0.028828449547290802, + 0.008706539869308472, + 0.006852388381958008, + 1.0 + ], + [ + -0.001018822193145752, + 0.0004599839448928833, + -0.007391386665403843, + -0.022501535713672638, + -0.008160650730133057, + 0.01403266191482544, + 1.0 + ], + [ + -0.0025158822536468506, + 6.055459380149841e-05, + -0.006490857340395451, + -0.018902264535427094, + -0.005871206521987915, + 0.02887323498725891, + 0.0 + ], + [ + -0.0001754164695739746, + 0.0011004060506820679, + -0.0002832324244081974, + 0.005211636424064636, + -0.004635542631149292, + 0.0032745301723480225, + 0.0 + ], + [ + -0.0035075247287750244, + 0.0002295561134815216, + 0.002144087105989456, + 0.03789658844470978, + 0.034927695989608765, + -0.0143357515335083, + 0.0 + ], + [ + 0.003620356321334839, + 0.008309908211231232, + 0.03085634857416153, + 0.08217175304889679, + -0.00788375735282898, + -0.05294737219810486, + 0.0 + ], + [ + 0.007666677236557007, + 0.006918996572494507, + 0.019307434558868408, + 0.05927564948797226, + -0.0325259268283844, + -0.07267536222934723, + 0.0 + ], + [ + 0.017155498266220093, + 0.010360971093177795, + 0.017635248601436615, + 0.029972441494464874, + -0.05545434355735779, + -0.09549634158611298, + 0.0 + ], + [ + 0.02091917395591736, + 0.01359521597623825, + 0.007582679390907288, + -0.010083869099617004, + -0.04285970330238342, + -0.05857192724943161, + 0.0 + ], + [ + 0.016953259706497192, + 0.009745672345161438, + -0.004967324435710907, + -0.012875925749540329, + -0.02252095937728882, + -0.0653567761182785, + 0.0 + ], + [ + 0.007781118154525757, + 0.0012139230966567993, + -0.0027684569358825684, + -0.027446089312434196, + -0.035227298736572266, + -0.045947492122650146, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0112061500549316 + ], + [ + 1.0112061500549316 + ], + [ + 1.0112061500549316 + ], + [ + 1.0112061500549316 + ], + [ + 1.0112061500549316 + ], + [ + 0.8149353265762329 + ], + [ + 0.5978984832763672 + ], + [ + 0.5988990664482117 + ], + [ + 0.5978984832763672 + ], + [ + 0.5978984832763672 + ], + [ + 0.5988990664482117 + ], + [ + 0.5978984832763672 + ], + [ + 0.5978984832763672 + ], + [ + 0.8408563733100891 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3184948265552521, + 0.04688145965337753, + 0.050532277673482895 + ], + [ + 0.3201935589313507, + 0.04785703867673874, + 0.04139403998851776 + ], + [ + 0.3222554326057434, + 0.049587495625019073, + 0.03650513291358948 + ], + [ + 0.32005172967910767, + 0.050599485635757446, + 0.019796688109636307 + ], + [ + 0.3190329074859619, + 0.05105946958065033, + 0.012405301444232464 + ], + [ + 0.31651702523231506, + 0.05112002417445183, + 0.005914444103837013 + ], + [ + 0.3163416087627411, + 0.052220430225133896, + 0.005631211679428816 + ], + [ + 0.31283408403396606, + 0.05244998633861542, + 0.007775298785418272 + ], + [ + 0.3164544403553009, + 0.06075989454984665, + 0.03863164782524109 + ], + [ + 0.3241211175918579, + 0.06767889112234116, + 0.0579390823841095 + ], + [ + 0.341276615858078, + 0.07803986221551895, + 0.07557433098554611 + ], + [ + 0.36219578981399536, + 0.0916350781917572, + 0.0831570103764534 + ], + [ + 0.37914904952049255, + 0.10138075053691864, + 0.07818968594074249 + ], + [ + 0.3869301676750183, + 0.10259467363357544, + 0.07542122900485992 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9031535188492839, + 0.24180850047399507, + 0.35474268207910087, + 0.2288338982294548, + -0.9702722197894799, + 0.07878366915742563, + 0.3632475304957594, + 0.010023402781146044, + -0.9316387513330578 + ], + [ + 0.8940516151714706, + 0.24278827621115617, + 0.3764645565570552, + 0.23770403316702948, + -0.9694395861173668, + 0.06069333970640018, + 0.37969527522134455, + 0.035224165043391466, + -0.9244407802404563 + ], + [ + 0.8837322830655441, + 0.24299265072815918, + 0.39996477789908463, + 0.24701193471221594, + -0.968085812076883, + 0.04236702214187508, + 0.39749510182829834, + 0.06135496840146692, + -0.9155507696872773 + ], + [ + 0.8853120490444047, + 0.23873223742385832, + 0.39903570596050114, + 0.2540066010400869, + -0.9670856230518576, + 0.015034770183212469, + 0.389490978643741, + 0.0880472401668469, + -0.9168121187321544 + ], + [ + 0.8785886550470771, + 0.24239537800222039, + 0.4114929597766273, + 0.2654762400970265, + -0.9641167739604382, + 0.0011009596102597302, + 0.39699413240816833, + 0.10827431316465672, + -0.911412273311155 + ], + [ + 0.8683325628088958, + 0.26160764992332397, + 0.42137868701125675, + 0.28998643734594587, + -0.9570246563150046, + -0.0034166299994732793, + 0.40237597657059615, + 0.12516087530351913, + -0.9068783428730207 + ], + [ + 0.8656017893345219, + 0.26640416053301486, + 0.4239839213361444, + 0.2922284925811456, + -0.9563389036560838, + 0.004290626717777843, + 0.4066153593073256, + 0.12018620804642943, + -0.9056595524648294 + ], + [ + 0.882688568067951, + 0.27142433480093575, + 0.3836531275514631, + 0.28396771132904963, + -0.958513455845545, + 0.024784952805514585, + 0.374463924463614, + 0.08706770607348953, + -0.923144616966599 + ], + [ + 0.8935978288647489, + 0.2510432984068945, + 0.37210238184294653, + 0.23609409536597556, + -0.9679137238648748, + 0.08603837101754466, + 0.38176235851839646, + 0.010967473684397613, + -0.9241954426091127 + ], + [ + 0.8956999656449303, + 0.203528921154885, + 0.3953448492104072, + 0.16820389736408245, + -0.9781158223541083, + 0.12246177759643943, + 0.41161756577581116, + -0.0431904655459419, + -0.9103326662438962 + ], + [ + 0.8835404041877208, + 0.12527181786326103, + 0.45129073313888524, + 0.07985177070679343, + -0.9897493443449719, + 0.11840578568502323, + 0.46149761525146393, + -0.06857993159760313, + -0.8844867122231286 + ], + [ + 0.8661216302223804, + 0.06502879279549269, + 0.49558508630555753, + 0.027344094148886697, + -0.9961804595304058, + 0.0829264286278273, + 0.4990847845567954, + -0.058273048292930354, + -0.8645915970367436 + ], + [ + 0.8546061951739169, + -0.005553907765159188, + 0.5192469598167112, + -0.028893722606320622, + -0.9989022535566738, + 0.03687059307018919, + 0.518472182440206, + -0.04651281487863953, + -0.8538285273330678 + ], + [ + 0.8336457198257035, + -0.06488944375490707, + 0.5484744058800403, + -0.06661953331559514, + -0.9976374769357582, + -0.01677207184776184, + 0.548266952858821, + -0.02255714304678076, + -0.8359991170452694 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005547.json b/json/chunk-0005/episode_0005547.json new file mode 100644 index 0000000000000000000000000000000000000000..a123d911f3130ee393a221cadb5017b2d223e6f4 --- /dev/null +++ b/json/chunk-0005/episode_0005547.json @@ -0,0 +1,802 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 12, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nOpen large4fbox flaps." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005547.mp4", + "start": 0, + "end": 12, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3715263605117798, + 0.05842796340584755, + 0.17561516165733337, + 0.15645670890808105, + -0.12395316362380981, + 0.1751377433538437, + 0.0, + 0.9954678416252136 + ], + [ + 0.3702378273010254, + 0.057744432240724564, + 0.15369299054145813, + 0.15718455612659454, + -0.0762094110250473, + 0.17298895120620728, + 0.0, + 0.9954678416252136 + ], + [ + 0.36914539337158203, + 0.05928853154182434, + 0.13853713870048523, + 0.1355694681406021, + -0.06632189452648163, + 0.18578600883483887, + 0.0, + 0.9954678416252136 + ], + [ + 0.3684655427932739, + 0.05742836371064186, + 0.12518195807933807, + 0.0982927531003952, + 0.008342036046087742, + 0.22377939522266388, + 0.0, + 0.9954678416252136 + ], + [ + 0.3663756251335144, + 0.0455620139837265, + 0.1244250237941742, + 0.03312075883150101, + 0.04367062821984291, + 0.238599956035614, + 0.0, + 0.9954678416252136 + ], + [ + 0.3635958135128021, + 0.030222734436392784, + 0.13570719957351685, + -0.042689256370067596, + 0.11949095129966736, + 0.256908655166626, + 0.0, + 0.9954678416252136 + ], + [ + 0.3609018325805664, + 0.010784623213112354, + 0.14879660308361053, + -0.0913291946053505, + 0.1812262088060379, + 0.25456687808036804, + 0.0, + 0.9954678416252136 + ], + [ + 0.3545829951763153, + -0.0026211815420538187, + 0.16258713603019714, + -0.10547731071710587, + 0.23853661119937897, + 0.27939319610595703, + 0.0, + 0.9954678416252136 + ], + [ + 0.34678590297698975, + -0.02270098775625229, + 0.16860978305339813, + -0.08407943695783615, + 0.26757603883743286, + 0.33226826786994934, + 0.0, + 0.9954678416252136 + ], + [ + 0.32793375849723816, + -0.05060555785894394, + 0.1771480292081833, + -0.09582262486219406, + 0.21934188902378082, + 0.3732079863548279, + 0.0, + 0.9954678416252136 + ], + [ + 0.3062816262245178, + -0.07476946711540222, + 0.16792374849319458, + -0.09247801452875137, + 0.14418646693229675, + 0.41893789172172546, + 0.0, + 0.9954678416252136 + ], + [ + 0.2862931191921234, + -0.09292584657669067, + 0.15848016738891602, + -0.09687444567680359, + 0.0915674939751625, + 0.46516114473342896, + 0.0, + 0.9954678416252136 + ] + ], + "left_gripper_pos": [ + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3715263605117798, + 0.05842796340584755, + 0.17561516165733337 + ], + [ + 0.3702378273010254, + 0.057744432240724564, + 0.15369299054145813 + ], + [ + 0.36914539337158203, + 0.05928853154182434, + 0.13853713870048523 + ], + [ + 0.3684655427932739, + 0.05742836371064186, + 0.12518195807933807 + ], + [ + 0.3663756251335144, + 0.0455620139837265, + 0.1244250237941742 + ], + [ + 0.3635958135128021, + 0.030222734436392784, + 0.13570719957351685 + ], + [ + 0.3609018325805664, + 0.010784623213112354, + 0.14879660308361053 + ], + [ + 0.3545829951763153, + -0.0026211815420538187, + 0.16258713603019714 + ], + [ + 0.34678590297698975, + -0.02270098775625229, + 0.16860978305339813 + ], + [ + 0.32793375849723816, + -0.05060555785894394, + 0.1771480292081833 + ], + [ + 0.3062816262245178, + -0.07476946711540222, + 0.16792374849319458 + ], + [ + 0.2862931191921234, + -0.09292584657669067, + 0.15848016738891602 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9771475525189032, + 0.19108564791905835, + 0.09310711984414016, + 0.17290691408503417, + -0.9693182104259573, + 0.174715213986104, + 0.12363599665108868, + -0.15462367896274226, + -0.9802069466373511 + ], + [ + 0.982215476592122, + 0.1817457028978611, + 0.047130213463050116, + 0.17162784830012798, + -0.9708791716234999, + 0.16714519375541328, + 0.0761356633305216, + -0.15608373901796682, + -0.984805172195695 + ], + [ + 0.9806307056263606, + 0.1918271856443667, + 0.03956955939238477, + 0.1843129700179905, + -0.972119232285196, + 0.14495836403736084, + 0.06627328470728708, + -0.13485743979848636, + -0.9886462070250935 + ], + [ + 0.9750317785291087, + 0.2200469816437438, + -0.02987234051494463, + 0.22190863639612946, + -0.9705408828585349, + 0.09384536106268541, + -0.008341939293313897, + -0.09813113965328875, + -0.9951385287884161 + ], + [ + 0.9707434168421444, + 0.2348081339443497, + -0.05022309121520126, + 0.23611714667505276, + -0.9714785878371, + 0.02186427268548213, + -0.04365674866122911, + -0.03308313176840753, + -0.9984986703490014 + ], + [ + 0.9602835546242994, + 0.25878073313577893, + -0.1043457084686708, + 0.25228006784708396, + -0.9650062937403904, + -0.07153754544647181, + -0.11920680385443935, + 0.04237198601840701, + -0.9919648949008553 + ], + [ + 0.951923660234263, + 0.2666849206598628, + -0.15073320197901238, + 0.24770221716533247, + -0.9595996569533216, + -0.133462017017748, + -0.18023583633001947, + 0.08970870341115098, + -0.9795240639385581 + ], + [ + 0.9340057213996988, + 0.2981512685190847, + -0.1968225939090547, + 0.267963870301697, + -0.949020745490778, + -0.16599695431261122, + -0.23628092729960937, + 0.1023007610362138, + -0.9662845738631286 + ], + [ + 0.9116658516951851, + 0.3460252913459041, + -0.22165710591333326, + 0.3145805410328406, + -0.9347228491390323, + -0.16532476674985802, + -0.2643945121525364, + 0.08099193198332712, + -0.9610077257219268 + ], + [ + 0.9088526378079754, + 0.3823166896575901, + -0.16679577800036532, + 0.3558688492390218, + -0.9193005094599023, + -0.16805932121741618, + -0.21758732704544076, + 0.09338373582174919, + -0.9715632933541666 + ], + [ + 0.9040420149815879, + 0.41717369992334935, + -0.09313505913614722, + 0.4025692116797293, + -0.9042202935327355, + -0.14256118185233657, + -0.1436873862090604, + 0.0913879907637592, + -0.9853944236642357 + ], + [ + 0.8900050424769232, + 0.45436824913625784, + -0.03795416370441114, + 0.44668761579310956, + -0.8855915414822554, + -0.12727056042993531, + -0.09143958804979933, + 0.09631778564696164, + -0.9911416073928834 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0012885332107543945, + -0.0006835311651229858, + -0.021922171115875244, + 0.0007278472185134888, + 0.04774375259876251, + -0.0021487921476364136, + 1.0 + ], + [ + -0.0010924339294433594, + 0.0015440993010997772, + -0.0151558518409729, + -0.02161508798599243, + 0.009887516498565674, + 0.012797057628631592, + 1.0 + ], + [ + -0.0006798505783081055, + -0.0018601678311824799, + -0.013355180621147156, + -0.03727671504020691, + 0.0746639296412468, + 0.03799338638782501, + 1.0 + ], + [ + -0.0020899176597595215, + -0.01186634972691536, + -0.0007569342851638794, + -0.0651719942688942, + 0.035328593105077744, + 0.014820560812950134, + 1.0 + ], + [ + -0.0027798116207122803, + -0.015339279547333717, + 0.011282175779342651, + -0.0758100152015686, + 0.07582032680511475, + 0.018308699131011963, + 1.0 + ], + [ + -0.0026939809322357178, + -0.019438110291957855, + 0.013089403510093689, + -0.0486399382352829, + 0.061735257506370544, + -0.0023417770862579346, + 1.0 + ], + [ + -0.006318837404251099, + -0.01340580452233553, + 0.013790532946586609, + -0.014148116111755371, + 0.057310402393341064, + 0.02482631802558899, + 1.0 + ], + [ + -0.0077970921993255615, + -0.020079806447029114, + 0.006022647023200989, + 0.021397873759269714, + 0.029039427638053894, + 0.05287507176399231, + 1.0 + ], + [ + -0.018852144479751587, + -0.02790457010269165, + 0.008538246154785156, + -0.01174318790435791, + -0.04823414981365204, + 0.04093971848487854, + 1.0 + ], + [ + -0.021652132272720337, + -0.024163909256458282, + -0.009224280714988708, + 0.003344610333442688, + -0.07515542209148407, + 0.04572990536689758, + 1.0 + ], + [ + -0.01998850703239441, + -0.018156379461288452, + -0.009443581104278564, + -0.004396431148052216, + -0.05261897295713425, + 0.04622325301170349, + 1.0 + ], + [ + -0.015619874000549316, + -0.004674799740314484, + -0.018927782773971558, + 0.011317521333694458, + -0.07844296097755432, + 0.03503924608230591, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3702378273010254, + 0.057744432240724564, + 0.15369299054145813 + ], + [ + 0.36914539337158203, + 0.05928853154182434, + 0.13853713870048523 + ], + [ + 0.3684655427932739, + 0.05742836371064186, + 0.12518195807933807 + ], + [ + 0.3663756251335144, + 0.0455620139837265, + 0.1244250237941742 + ], + [ + 0.3635958135128021, + 0.030222734436392784, + 0.13570719957351685 + ], + [ + 0.3609018325805664, + 0.010784623213112354, + 0.14879660308361053 + ], + [ + 0.3545829951763153, + -0.0026211815420538187, + 0.16258713603019714 + ], + [ + 0.34678590297698975, + -0.02270098775625229, + 0.16860978305339813 + ], + [ + 0.32793375849723816, + -0.05060555785894394, + 0.1771480292081833 + ], + [ + 0.3062816262245178, + -0.07476946711540222, + 0.16792374849319458 + ], + [ + 0.2862931191921234, + -0.09292584657669067, + 0.15848016738891602 + ], + [ + 0.2706732451915741, + -0.09760064631700516, + 0.13955238461494446 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.982215476592122, + 0.1817457028978611, + 0.047130213463050116, + 0.17162784830012798, + -0.9708791716234999, + 0.16714519375541328, + 0.0761356633305216, + -0.15608373901796682, + -0.984805172195695 + ], + [ + 0.9806307056263606, + 0.1918271856443667, + 0.03956955939238477, + 0.1843129700179905, + -0.972119232285196, + 0.14495836403736084, + 0.06627328470728708, + -0.13485743979848636, + -0.9886462070250935 + ], + [ + 0.9750317785291087, + 0.2200469816437438, + -0.02987234051494463, + 0.22190863639612946, + -0.9705408828585349, + 0.09384536106268541, + -0.008341939293313897, + -0.09813113965328875, + -0.9951385287884161 + ], + [ + 0.9707434168421444, + 0.2348081339443497, + -0.05022309121520126, + 0.23611714667505276, + -0.9714785878371, + 0.02186427268548213, + -0.04365674866122911, + -0.03308313176840753, + -0.9984986703490014 + ], + [ + 0.9602835546242994, + 0.25878073313577893, + -0.1043457084686708, + 0.25228006784708396, + -0.9650062937403904, + -0.07153754544647181, + -0.11920680385443935, + 0.04237198601840701, + -0.9919648949008553 + ], + [ + 0.951923660234263, + 0.2666849206598628, + -0.15073320197901238, + 0.24770221716533247, + -0.9595996569533216, + -0.133462017017748, + -0.18023583633001947, + 0.08970870341115098, + -0.9795240639385581 + ], + [ + 0.9340057213996988, + 0.2981512685190847, + -0.1968225939090547, + 0.267963870301697, + -0.949020745490778, + -0.16599695431261122, + -0.23628092729960937, + 0.1023007610362138, + -0.9662845738631286 + ], + [ + 0.9116658516951851, + 0.3460252913459041, + -0.22165710591333326, + 0.3145805410328406, + -0.9347228491390323, + -0.16532476674985802, + -0.2643945121525364, + 0.08099193198332712, + -0.9610077257219268 + ], + [ + 0.9088526378079754, + 0.3823166896575901, + -0.16679577800036532, + 0.3558688492390218, + -0.9193005094599023, + -0.16805932121741618, + -0.21758732704544076, + 0.09338373582174919, + -0.9715632933541666 + ], + [ + 0.9040420149815879, + 0.41717369992334935, + -0.09313505913614722, + 0.4025692116797293, + -0.9042202935327355, + -0.14256118185233657, + -0.1436873862090604, + 0.0913879907637592, + -0.9853944236642357 + ], + [ + 0.8900050424769232, + 0.45436824913625784, + -0.03795416370441114, + 0.44668761579310956, + -0.8855915414822554, + -0.12727056042993531, + -0.09143958804979933, + 0.09631778564696164, + -0.9911416073928834 + ], + [ + 0.8774108978599473, + 0.478831216039026, + 0.029509030197361542, + 0.4795600825668136, + -0.8737389657704736, + -0.08125482695110563, + -0.013124158072506184, + 0.08544522362853753, + -0.996256427951136 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005548.json b/json/chunk-0005/episode_0005548.json new file mode 100644 index 0000000000000000000000000000000000000000..cd7e8944ac58d21670ca4e77fd84c84c7653498e --- /dev/null +++ b/json/chunk-0005/episode_0005548.json @@ -0,0 +1,1522 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 24, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMoved the half carrot to the left side of the burner." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005548.mp4", + "start": 0, + "end": 24, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.24062320590019226, + -0.021064113825559616, + 0.048582524061203, + 0.0566401332616806, + -0.08058060705661774, + 0.15243203938007355, + 0.0, + 1.0001531839370728 + ], + [ + 0.23880164325237274, + -0.0209417212754488, + 0.04448014125227928, + 0.06195725500583649, + -0.059776704758405685, + 0.1533980518579483, + 0.0, + 1.0008161067962646 + ], + [ + 0.24622362852096558, + -0.006913237739354372, + 0.05470630154013634, + 0.06078224629163742, + -0.05235610529780388, + 0.21430844068527222, + 0.0, + 1.0008161067962646 + ], + [ + 0.26246634125709534, + 0.017501024529337883, + 0.07355943322181702, + 0.0089704729616642, + -0.06255211681127548, + 0.2982465624809265, + 0.0, + 1.0008161067962646 + ], + [ + 0.28269508481025696, + 0.06034017726778984, + 0.08102213591337204, + 0.003585489932447672, + -0.07045008987188339, + 0.35484710335731506, + 0.0, + 1.0001531839370728 + ], + [ + 0.3027092516422272, + 0.09483930468559265, + 0.05187975987792015, + 0.04311886802315712, + -0.030939612537622452, + 0.3740747272968292, + 0.0, + 1.0008161067962646 + ], + [ + 0.31614428758621216, + 0.11980221420526505, + 0.025832653045654297, + 0.10149388015270233, + -0.01393783837556839, + 0.3539929986000061, + 0.0, + 1.0001531839370728 + ], + [ + 0.32405757904052734, + 0.13130129873752594, + 0.014459348283708096, + 0.15585511922836304, + -0.013326780870556831, + 0.32138901948928833, + 0.0, + 0.9515043497085571 + ], + [ + 0.32936298847198486, + 0.13922052085399628, + 0.013318722136318684, + 0.16598476469516754, + -0.01206442154943943, + 0.30142736434936523, + 0.0, + 0.6951970458030701 + ], + [ + 0.3280830681324005, + 0.14527295529842377, + 0.016170697286725044, + 0.1420677751302719, + -0.004922402091324329, + 0.3175678849220276, + 0.0, + 0.464354008436203 + ], + [ + 0.32646888494491577, + 0.1442125290632248, + 0.022504575550556183, + 0.10819673538208008, + -0.0063557010143995285, + 0.3194282054901123, + 0.0, + 0.32045841217041016 + ], + [ + 0.3207758665084839, + 0.14073415100574493, + 0.034216687083244324, + 0.06349402666091919, + -0.015563545748591423, + 0.3437724709510803, + 0.0, + 0.14964459836483002 + ], + [ + 0.32097333669662476, + 0.13629435002803802, + 0.051247917115688324, + 0.020362118259072304, + -0.04420790448784828, + 0.37276148796081543, + 0.0, + 0.07821663469076157 + ], + [ + 0.3231191337108612, + 0.1270892173051834, + 0.05540812760591507, + 0.013593287207186222, + -0.043278228491544724, + 0.3869965076446533, + 0.0, + 0.07755524665117264 + ], + [ + 0.3365704417228699, + 0.08808566629886627, + 0.05709463730454445, + 0.016689050942659378, + -0.04285675659775734, + 0.3195918798446655, + 0.0, + 0.07755524665117264 + ], + [ + 0.35863080620765686, + 0.03585348650813103, + 0.06762024015188217, + 0.03907883167266846, + -0.09279230237007141, + 0.18435369431972504, + 0.0, + 0.07755524665117264 + ], + [ + 0.3619978725910187, + -0.010950181633234024, + 0.06848490983247757, + 0.06415719538927078, + -0.11226291954517365, + 0.1327115297317505, + 0.0, + 0.07755524665117264 + ], + [ + 0.3690873682498932, + -0.03875972703099251, + 0.06408592313528061, + 0.0622219443321228, + -0.11777876317501068, + 0.10443172603845596, + 0.0, + 0.07755524665117264 + ], + [ + 0.37118908762931824, + -0.04028310626745224, + 0.03303007408976555, + 0.08312888443470001, + -0.062260836362838745, + 0.10115000605583191, + 0.0, + 0.07755524665117264 + ], + [ + 0.3806421160697937, + -0.04563793167471886, + 0.0278598852455616, + 0.09994138777256012, + -0.07849877327680588, + 0.07739381492137909, + 0.0, + 0.10955921560525894 + ], + [ + 0.3807946443557739, + -0.049475740641355515, + 0.021024083718657494, + 0.09311360865831375, + -0.0726754367351532, + 0.05320878326892853, + 0.0, + 0.3011319041252136 + ], + [ + 0.3711121082305908, + -0.054217271506786346, + 0.03330814838409424, + 0.05331089347600937, + -0.06592915207147598, + 0.05623231828212738, + 0.0, + 0.5928986668586731 + ], + [ + 0.36543557047843933, + -0.05631103739142418, + 0.07322651892900467, + 0.02142195776104927, + -0.10311590135097504, + 0.0559413880109787, + 0.0, + 0.8836284875869751 + ], + [ + 0.35539770126342773, + -0.04884190112352371, + 0.08661186695098877, + -0.01059406716376543, + -0.08553317934274673, + 0.06321758031845093, + 0.0, + 1.0131081342697144 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 0.9515043497085571 + ], + [ + 0.6951970458030701 + ], + [ + 0.464354008436203 + ], + [ + 0.32045841217041016 + ], + [ + 0.14964459836483002 + ], + [ + 0.07821663469076157 + ], + [ + 0.07755524665117264 + ], + [ + 0.07755524665117264 + ], + [ + 0.07755524665117264 + ], + [ + 0.07755524665117264 + ], + [ + 0.07755524665117264 + ], + [ + 0.07755524665117264 + ], + [ + 0.10955921560525894 + ], + [ + 0.3011319041252136 + ], + [ + 0.5928986668586731 + ], + [ + 0.8836284875869751 + ], + [ + 1.0131081342697144 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.24062320590019226, + -0.021064113825559616, + 0.048582524061203 + ], + [ + 0.23880164325237274, + -0.0209417212754488, + 0.04448014125227928 + ], + [ + 0.24622362852096558, + -0.006913237739354372, + 0.05470630154013634 + ], + [ + 0.26246634125709534, + 0.017501024529337883, + 0.07355943322181702 + ], + [ + 0.28269508481025696, + 0.06034017726778984, + 0.08102213591337204 + ], + [ + 0.3027092516422272, + 0.09483930468559265, + 0.05187975987792015 + ], + [ + 0.31614428758621216, + 0.11980221420526505, + 0.025832653045654297 + ], + [ + 0.32405757904052734, + 0.13130129873752594, + 0.014459348283708096 + ], + [ + 0.32936298847198486, + 0.13922052085399628, + 0.013318722136318684 + ], + [ + 0.3280830681324005, + 0.14527295529842377, + 0.016170697286725044 + ], + [ + 0.32646888494491577, + 0.1442125290632248, + 0.022504575550556183 + ], + [ + 0.3207758665084839, + 0.14073415100574493, + 0.034216687083244324 + ], + [ + 0.32097333669662476, + 0.13629435002803802, + 0.051247917115688324 + ], + [ + 0.3231191337108612, + 0.1270892173051834, + 0.05540812760591507 + ], + [ + 0.3365704417228699, + 0.08808566629886627, + 0.05709463730454445 + ], + [ + 0.35863080620765686, + 0.03585348650813103, + 0.06762024015188217 + ], + [ + 0.3619978725910187, + -0.010950181633234024, + 0.06848490983247757 + ], + [ + 0.3690873682498932, + -0.03875972703099251, + 0.06408592313528061 + ], + [ + 0.37118908762931824, + -0.04028310626745224, + 0.03303007408976555 + ], + [ + 0.3806421160697937, + -0.04563793167471886, + 0.0278598852455616 + ], + [ + 0.3807946443557739, + -0.049475740641355515, + 0.021024083718657494 + ], + [ + 0.3711121082305908, + -0.054217271506786346, + 0.03330814838409424 + ], + [ + 0.36543557047843933, + -0.05631103739142418, + 0.07322651892900467 + ], + [ + 0.35539770126342773, + -0.04884190112352371, + 0.08661186695098877 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9851974790163811, + 0.15610280510493962, + 0.07083672478408823, + 0.1513497108506836, + -0.9861277819987376, + 0.06815616329918335, + 0.08049343057158079, + -0.05642616244810302, + -0.9951567192287849 + ], + [ + 0.9864924496679782, + 0.15615957318927895, + 0.049465487457554615, + 0.15252424836125902, + -0.9857961647429624, + 0.0703013174833786, + 0.059741111555646854, + -0.06180703260477762, + -0.9962985949556927 + ], + [ + 0.9757847818010892, + 0.21538519332381442, + 0.03812188482045805, + 0.21238032296834483, + -0.9746432116371524, + 0.07046423508049278, + 0.052332189150299475, + -0.060661590042468364, + -0.9967855905219825 + ], + [ + 0.9539837905582047, + 0.29436880115005093, + 0.057113363249604886, + 0.29326994496940106, + -0.9556499652706781, + 0.026942220691627383, + 0.06251133281129098, + -0.008952808924225347, + -0.9980040984297222 + ], + [ + 0.9353735830568842, + 0.3476814295732314, + 0.06476020112106151, + 0.34658512762769794, + -0.9376059041766849, + 0.027819377424983627, + 0.07039182783973241, + -0.003576588169680244, + -0.9975130067274541 + ], + [ + 0.9304006303530531, + 0.3663129999582647, + 0.013017415266382231, + 0.36523651627998843, + -0.9294936682690557, + 0.051417971793837655, + 0.03093467656690134, + -0.04308487796559868, + -0.9985923788395294 + ], + [ + 0.9379049296876105, + 0.34618668287138865, + -0.022116135968630456, + 0.34661230807370935, + -0.9326795209076123, + 0.09984397413646316, + 0.013937387111449035, + -0.10130988047595006, + -0.9947572856523617 + ], + [ + 0.948713309982339, + 0.3140186437777977, + -0.036542397599313596, + 0.31585671258977316, + -0.9366439011722926, + 0.1514355952500255, + 0.013326386394486413, + -0.15521112639466514, + -0.9877914322714909 + ], + [ + 0.9548442079457019, + 0.2947065987995269, + -0.037690306135137804, + 0.2968619129270592, + -0.9411977168415051, + 0.16130673409881496, + 0.012064128888272345, + -0.16521161713497434, + -0.9861843531296846 + ], + [ + 0.9499861627350447, + 0.3097732106339545, + -0.039583438272546304, + 0.31225319976790283, + -0.9402091331205584, + 0.13603207427439246, + 0.004922382213013225, + -0.14158864350723654, + -0.9899133427644712 + ], + [ + 0.9493959546123601, + 0.3128390724338687, + -0.027911218611909795, + 0.31401739915841403, + -0.943647848501055, + 0.10450746884847581, + 0.00635565822479732, + -0.10798357642737402, + -0.9941323618263731 + ], + [ + 0.9413758663273855, + 0.3372917745066709, + -0.006762924404844389, + 0.3370004063750459, + -0.9392598986924334, + 0.06497360088015468, + 0.015562917445596841, + -0.06344368808968166, + -0.9978640659138702 + ], + [ + 0.9304152810506533, + 0.36495118089948614, + 0.03373485360133879, + 0.363832844563624, + -0.9308044298665762, + 0.03505388077658792, + 0.04419350635755215, + -0.02034081858795264, + -0.9988158914910177 + ], + [ + 0.9251796695573227, + 0.37791847977748877, + 0.03493138532143515, + 0.37705535809360163, + -0.9257392734555366, + 0.028914607293208584, + 0.043264719699873264, + -0.013580140819831164, + -0.9989713428345202 + ], + [ + 0.9484920044897187, + 0.3148141622790288, + 0.035425423746630616, + 0.3138906498265863, + -0.9490068787266533, + 0.029301946709015928, + 0.04284363862370259, + -0.01667295288927337, + -0.9989426586503518 + ], + [ + 0.9788257132532443, + 0.18673001222058414, + 0.0838577701252436, + 0.1825225914839161, + -0.9816407844811458, + 0.0553793629544107, + 0.092659196371829, + -0.03890080692403936, + -0.994937686766556 + ], + [ + 0.9849672283006531, + 0.1391693450004037, + 0.10233011573279738, + 0.13148936106635298, + -0.9882170709800376, + 0.07834263558240447, + 0.11202726052212186, + -0.06370960709181757, + -0.9916607176167234 + ], + [ + 0.9876618004365434, + 0.1113072504393711, + 0.11015835854837794, + 0.10351982904344613, + -0.991865670533702, + 0.07406845895214627, + 0.11750665067672364, + -0.06175101307960225, + -0.9911503414872951 + ], + [ + 0.9929610220251873, + 0.10576888232523173, + 0.05330433631860687, + 0.10078195901035646, + -0.9909314440516561, + 0.08886996077266382, + 0.062220619385624065, + -0.08287229163822646, + -0.9946158946054997 + ], + [ + 0.9939363644451614, + 0.08473152770373647, + 0.0700790385673624, + 0.07707848348856787, + -0.9914266064786521, + 0.10550920030654297, + 0.07841817912089961, + -0.0994678449510925, + -0.9919459345166689 + ], + [ + 0.9959487850814377, + 0.05969508721588969, + 0.0672496398287439, + 0.053043290775961593, + -0.9938998749221396, + 0.09669254331856324, + 0.07261147842087531, + -0.09273367884454257, + -0.9930397967903866 + ], + [ + 0.9962502742833345, + 0.059627825401648495, + 0.06268902159271593, + 0.056080585289756436, + -0.9968036347820317, + 0.056898872035295214, + 0.06588140059181981, + -0.0531698798494135, + -0.9964098579063034 + ], + [ + 0.9931322623162198, + 0.05810080072495107, + 0.10155100443514421, + 0.05561522415481265, + -0.9980833273306164, + 0.02714071750811429, + 0.10293326181986608, + -0.02130654030491206, + -0.9944600419078475 + ], + [ + 0.9943540039224453, + 0.06226872075892699, + 0.08592276356384601, + 0.06294452827195053, + -0.9980036049138797, + -0.005175996476279836, + 0.08542892510165062, + 0.010555140640825949, + -0.996288355729419 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.001821562647819519, + 0.00012239255011081696, + -0.004102382808923721, + 0.005317121744155884, + 0.02080390229821205, + 0.0009660124778747559, + 1.0 + ], + [ + 0.0074219852685928345, + 0.014028484001755714, + 0.010226160287857056, + -0.0011750087141990662, + 0.007420599460601807, + 0.060910388827323914, + 1.0 + ], + [ + 0.01624271273612976, + 0.024414261803030968, + 0.01885313168168068, + -0.05181177332997322, + -0.010196011513471603, + 0.0839381217956543, + 1.0 + ], + [ + 0.02022874355316162, + 0.04283915460109711, + 0.007462702691555023, + -0.005384983029216528, + -0.00789797306060791, + 0.05660054087638855, + 1.0 + ], + [ + 0.020014166831970215, + 0.03449912741780281, + -0.02914237603545189, + 0.039533376693725586, + 0.03951047733426094, + 0.01922762393951416, + 1.0 + ], + [ + 0.013435035943984985, + 0.024962909519672394, + -0.026047106832265854, + 0.05837501212954521, + 0.017001774162054062, + -0.02008172869682312, + 1.0 + ], + [ + 0.007913291454315186, + 0.011499084532260895, + -0.011373304761946201, + 0.054361239075660706, + 0.0006110575050115585, + -0.03260397911071777, + 0.0 + ], + [ + 0.0053054094314575195, + 0.007919222116470337, + -0.001140626147389412, + 0.010129645466804504, + 0.0012623593211174011, + -0.019961655139923096, + 0.0 + ], + [ + -0.0012799203395843506, + 0.00605243444442749, + 0.0028519751504063606, + -0.02391698956489563, + 0.007142019458115101, + 0.016140520572662354, + 0.0 + ], + [ + -0.0016141831874847412, + -0.0010604262351989746, + 0.006333878263831139, + -0.033871039748191833, + -0.0014332989230751991, + 0.0018603205680847168, + 0.0 + ], + [ + -0.005693018436431885, + -0.0034783780574798584, + 0.011712111532688141, + -0.04470270872116089, + -0.009207844734191895, + 0.024344265460968018, + 0.0 + ], + [ + 0.00019747018814086914, + -0.004439800977706909, + 0.017031230032444, + -0.043131910264492035, + -0.02864435873925686, + 0.028989017009735107, + 0.0 + ], + [ + 0.00214579701423645, + -0.009205132722854614, + 0.004160210490226746, + -0.006768831051886082, + 0.0009296759963035583, + 0.01423501968383789, + 0.0 + ], + [ + 0.013451308012008667, + -0.03900355100631714, + 0.0016865096986293793, + 0.003095763735473156, + 0.00042147189378738403, + -0.06740462779998779, + 0.0 + ], + [ + 0.022060364484786987, + -0.052232179790735245, + 0.010525602847337723, + 0.02238978073000908, + -0.04993554577231407, + -0.1352381855249405, + 0.0 + ], + [ + 0.0033670663833618164, + -0.04680366814136505, + 0.000864669680595398, + 0.025078363716602325, + -0.019470617175102234, + -0.05164216458797455, + 0.0 + ], + [ + 0.007089495658874512, + -0.027809545397758484, + -0.0043989866971969604, + -0.0019352510571479797, + -0.005515843629837036, + -0.028279803693294525, + 0.0 + ], + [ + 0.002101719379425049, + -0.001523379236459732, + -0.03105584904551506, + 0.02090694010257721, + 0.055517926812171936, + -0.003281719982624054, + 0.0 + ], + [ + 0.009453028440475464, + -0.005354825407266617, + -0.005170188844203949, + 0.016812503337860107, + -0.016237936913967133, + -0.02375619113445282, + 1.0 + ], + [ + 0.0001525282859802246, + -0.0038378089666366577, + -0.006835801526904106, + -0.006827779114246368, + 0.0058233365416526794, + -0.02418503165245056, + 1.0 + ], + [ + -0.009682536125183105, + -0.004741530865430832, + 0.012284064665436745, + -0.03980271518230438, + 0.006746284663677216, + 0.0030235350131988525, + 1.0 + ], + [ + -0.005676537752151489, + -0.0020937658846378326, + 0.03991837054491043, + -0.0318889357149601, + -0.037186749279499054, + -0.00029093027114868164, + 1.0 + ], + [ + -0.010037869215011597, + 0.007469136267900467, + 0.0133853480219841, + -0.032016023993492126, + 0.017582722008228302, + 0.007276192307472229, + 1.0 + ], + [ + -0.006635695695877075, + 0.005314234644174576, + -0.0021196752786636353, + 0.013538263738155365, + 0.02864571288228035, + -0.000598423182964325, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 0.9515043497085571 + ], + [ + 0.6951970458030701 + ], + [ + 0.464354008436203 + ], + [ + 0.32045841217041016 + ], + [ + 0.14964459836483002 + ], + [ + 0.07821663469076157 + ], + [ + 0.07755524665117264 + ], + [ + 0.07755524665117264 + ], + [ + 0.07755524665117264 + ], + [ + 0.07755524665117264 + ], + [ + 0.07755524665117264 + ], + [ + 0.07755524665117264 + ], + [ + 0.10955921560525894 + ], + [ + 0.3011319041252136 + ], + [ + 0.5928986668586731 + ], + [ + 0.8836284875869751 + ], + [ + 1.0131081342697144 + ], + [ + 1.00800359249115 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.23880164325237274, + -0.0209417212754488, + 0.04448014125227928 + ], + [ + 0.24622362852096558, + -0.006913237739354372, + 0.05470630154013634 + ], + [ + 0.26246634125709534, + 0.017501024529337883, + 0.07355943322181702 + ], + [ + 0.28269508481025696, + 0.06034017726778984, + 0.08102213591337204 + ], + [ + 0.3027092516422272, + 0.09483930468559265, + 0.05187975987792015 + ], + [ + 0.31614428758621216, + 0.11980221420526505, + 0.025832653045654297 + ], + [ + 0.32405757904052734, + 0.13130129873752594, + 0.014459348283708096 + ], + [ + 0.32936298847198486, + 0.13922052085399628, + 0.013318722136318684 + ], + [ + 0.3280830681324005, + 0.14527295529842377, + 0.016170697286725044 + ], + [ + 0.32646888494491577, + 0.1442125290632248, + 0.022504575550556183 + ], + [ + 0.3207758665084839, + 0.14073415100574493, + 0.034216687083244324 + ], + [ + 0.32097333669662476, + 0.13629435002803802, + 0.051247917115688324 + ], + [ + 0.3231191337108612, + 0.1270892173051834, + 0.05540812760591507 + ], + [ + 0.3365704417228699, + 0.08808566629886627, + 0.05709463730454445 + ], + [ + 0.35863080620765686, + 0.03585348650813103, + 0.06762024015188217 + ], + [ + 0.3619978725910187, + -0.010950181633234024, + 0.06848490983247757 + ], + [ + 0.3690873682498932, + -0.03875972703099251, + 0.06408592313528061 + ], + [ + 0.37118908762931824, + -0.04028310626745224, + 0.03303007408976555 + ], + [ + 0.3806421160697937, + -0.04563793167471886, + 0.0278598852455616 + ], + [ + 0.3807946443557739, + -0.049475740641355515, + 0.021024083718657494 + ], + [ + 0.3711121082305908, + -0.054217271506786346, + 0.03330814838409424 + ], + [ + 0.36543557047843933, + -0.05631103739142418, + 0.07322651892900467 + ], + [ + 0.35539770126342773, + -0.04884190112352371, + 0.08661186695098877 + ], + [ + 0.34876200556755066, + -0.043527666479349136, + 0.08449219167232513 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9864924496679782, + 0.15615957318927895, + 0.049465487457554615, + 0.15252424836125902, + -0.9857961647429624, + 0.0703013174833786, + 0.059741111555646854, + -0.06180703260477762, + -0.9962985949556927 + ], + [ + 0.9757847818010892, + 0.21538519332381442, + 0.03812188482045805, + 0.21238032296834483, + -0.9746432116371524, + 0.07046423508049278, + 0.052332189150299475, + -0.060661590042468364, + -0.9967855905219825 + ], + [ + 0.9539837905582047, + 0.29436880115005093, + 0.057113363249604886, + 0.29326994496940106, + -0.9556499652706781, + 0.026942220691627383, + 0.06251133281129098, + -0.008952808924225347, + -0.9980040984297222 + ], + [ + 0.9353735830568842, + 0.3476814295732314, + 0.06476020112106151, + 0.34658512762769794, + -0.9376059041766849, + 0.027819377424983627, + 0.07039182783973241, + -0.003576588169680244, + -0.9975130067274541 + ], + [ + 0.9304006303530531, + 0.3663129999582647, + 0.013017415266382231, + 0.36523651627998843, + -0.9294936682690557, + 0.051417971793837655, + 0.03093467656690134, + -0.04308487796559868, + -0.9985923788395294 + ], + [ + 0.9379049296876105, + 0.34618668287138865, + -0.022116135968630456, + 0.34661230807370935, + -0.9326795209076123, + 0.09984397413646316, + 0.013937387111449035, + -0.10130988047595006, + -0.9947572856523617 + ], + [ + 0.948713309982339, + 0.3140186437777977, + -0.036542397599313596, + 0.31585671258977316, + -0.9366439011722926, + 0.1514355952500255, + 0.013326386394486413, + -0.15521112639466514, + -0.9877914322714909 + ], + [ + 0.9548442079457019, + 0.2947065987995269, + -0.037690306135137804, + 0.2968619129270592, + -0.9411977168415051, + 0.16130673409881496, + 0.012064128888272345, + -0.16521161713497434, + -0.9861843531296846 + ], + [ + 0.9499861627350447, + 0.3097732106339545, + -0.039583438272546304, + 0.31225319976790283, + -0.9402091331205584, + 0.13603207427439246, + 0.004922382213013225, + -0.14158864350723654, + -0.9899133427644712 + ], + [ + 0.9493959546123601, + 0.3128390724338687, + -0.027911218611909795, + 0.31401739915841403, + -0.943647848501055, + 0.10450746884847581, + 0.00635565822479732, + -0.10798357642737402, + -0.9941323618263731 + ], + [ + 0.9413758663273855, + 0.3372917745066709, + -0.006762924404844389, + 0.3370004063750459, + -0.9392598986924334, + 0.06497360088015468, + 0.015562917445596841, + -0.06344368808968166, + -0.9978640659138702 + ], + [ + 0.9304152810506533, + 0.36495118089948614, + 0.03373485360133879, + 0.363832844563624, + -0.9308044298665762, + 0.03505388077658792, + 0.04419350635755215, + -0.02034081858795264, + -0.9988158914910177 + ], + [ + 0.9251796695573227, + 0.37791847977748877, + 0.03493138532143515, + 0.37705535809360163, + -0.9257392734555366, + 0.028914607293208584, + 0.043264719699873264, + -0.013580140819831164, + -0.9989713428345202 + ], + [ + 0.9484920044897187, + 0.3148141622790288, + 0.035425423746630616, + 0.3138906498265863, + -0.9490068787266533, + 0.029301946709015928, + 0.04284363862370259, + -0.01667295288927337, + -0.9989426586503518 + ], + [ + 0.9788257132532443, + 0.18673001222058414, + 0.0838577701252436, + 0.1825225914839161, + -0.9816407844811458, + 0.0553793629544107, + 0.092659196371829, + -0.03890080692403936, + -0.994937686766556 + ], + [ + 0.9849672283006531, + 0.1391693450004037, + 0.10233011573279738, + 0.13148936106635298, + -0.9882170709800376, + 0.07834263558240447, + 0.11202726052212186, + -0.06370960709181757, + -0.9916607176167234 + ], + [ + 0.9876618004365434, + 0.1113072504393711, + 0.11015835854837794, + 0.10351982904344613, + -0.991865670533702, + 0.07406845895214627, + 0.11750665067672364, + -0.06175101307960225, + -0.9911503414872951 + ], + [ + 0.9929610220251873, + 0.10576888232523173, + 0.05330433631860687, + 0.10078195901035646, + -0.9909314440516561, + 0.08886996077266382, + 0.062220619385624065, + -0.08287229163822646, + -0.9946158946054997 + ], + [ + 0.9939363644451614, + 0.08473152770373647, + 0.0700790385673624, + 0.07707848348856787, + -0.9914266064786521, + 0.10550920030654297, + 0.07841817912089961, + -0.0994678449510925, + -0.9919459345166689 + ], + [ + 0.9959487850814377, + 0.05969508721588969, + 0.0672496398287439, + 0.053043290775961593, + -0.9938998749221396, + 0.09669254331856324, + 0.07261147842087531, + -0.09273367884454257, + -0.9930397967903866 + ], + [ + 0.9962502742833345, + 0.059627825401648495, + 0.06268902159271593, + 0.056080585289756436, + -0.9968036347820317, + 0.056898872035295214, + 0.06588140059181981, + -0.0531698798494135, + -0.9964098579063034 + ], + [ + 0.9931322623162198, + 0.05810080072495107, + 0.10155100443514421, + 0.05561522415481265, + -0.9980833273306164, + 0.02714071750811429, + 0.10293326181986608, + -0.02130654030491206, + -0.9944600419078475 + ], + [ + 0.9943540039224453, + 0.06226872075892699, + 0.08592276356384601, + 0.06294452827195053, + -0.9980036049138797, + -0.005175996476279836, + 0.08542892510165062, + 0.010555140640825949, + -0.996288355729419 + ], + [ + 0.9964255760504609, + 0.06274503986292725, + 0.05656086425353604, + 0.06247701183791377, + -0.9980252600654822, + 0.006496403853824515, + 0.05685678837493763, + -0.002939429166772722, + -0.9983780172719455 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005549.json b/json/chunk-0005/episode_0005549.json new file mode 100644 index 0000000000000000000000000000000000000000..fab4f056a7ad38893bb63b4b63332b7527f1d43c --- /dev/null +++ b/json/chunk-0005/episode_0005549.json @@ -0,0 +1,1282 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 20, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nOpen book." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005549.mp4", + "start": 0, + "end": 20, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.23518851399421692, + -0.05944465845823288, + 0.08237387984991074, + -0.0721089169383049, + -0.016377605497837067, + 0.02057933807373047, + 0.0, + 1.0001531839370728 + ], + [ + 0.23436816036701202, + -0.056139688938856125, + 0.07736410200595856, + -0.0796370729804039, + 0.00948879774659872, + 0.017381837591528893, + 0.0, + 0.9994885921478271 + ], + [ + 0.24908092617988586, + -0.020749306306242943, + 0.08349748700857162, + -0.11660736054182053, + 0.02269499935209751, + -0.007288534194231033, + 0.0, + 1.0001531839370728 + ], + [ + 0.26521679759025574, + 0.026067031547427177, + 0.09354755282402039, + -0.1557971090078354, + 0.0355709083378315, + -0.06318420171737671, + 0.0, + 0.9994885921478271 + ], + [ + 0.27949607372283936, + 0.06650849431753159, + 0.08846614509820938, + -0.1408483386039734, + 0.03451010212302208, + -0.06992489099502563, + 0.0, + 1.0001531839370728 + ], + [ + 0.29219338297843933, + 0.1083291620016098, + 0.07270312309265137, + -0.1097971498966217, + 0.0547337532043457, + -0.034939635545015335, + 0.0, + 0.9994885921478271 + ], + [ + 0.2986539304256439, + 0.12825392186641693, + 0.06857484579086304, + -0.07370884716510773, + 0.03413418307900429, + -0.009385152719914913, + 0.0, + 1.0001531839370728 + ], + [ + 0.30032026767730713, + 0.1335838884115219, + 0.05757293477654457, + -0.05256367474794388, + 0.0427471399307251, + -0.011043858714401722, + 0.0, + 1.0001531839370728 + ], + [ + 0.3036653995513916, + 0.13519275188446045, + 0.054821524769067764, + -0.04418337717652321, + 0.026507267728447914, + -0.005424812436103821, + 0.0, + 1.0001531839370728 + ], + [ + 0.3057081699371338, + 0.13595916330814362, + 0.046482764184474945, + -0.04544636979699135, + 0.02792443335056305, + 0.005154122598469257, + 0.0, + 1.0001531839370728 + ], + [ + 0.30821284651756287, + 0.13083785772323608, + 0.047143109142780304, + -0.06532249599695206, + 0.01734503172338009, + 0.011820783838629723, + 0.0, + 0.9994885921478271 + ], + [ + 0.3103848397731781, + 0.1271876096725464, + 0.0468057356774807, + -0.08282379060983658, + 0.007857237011194229, + 0.017354346811771393, + 0.0, + 1.0001531839370728 + ], + [ + 0.31018567085266113, + 0.12236712872982025, + 0.04733580723404884, + -0.11626967042684555, + 0.010003660805523396, + 0.03139488026499748, + 0.0, + 1.0001531839370728 + ], + [ + 0.31038936972618103, + 0.1185404360294342, + 0.04948464035987854, + -0.15471526980400085, + 0.01147643756121397, + 0.04776455834507942, + 0.0, + 1.0001531839370728 + ], + [ + 0.31046000123023987, + 0.11467835307121277, + 0.055639173835515976, + -0.18839958310127258, + 0.026968088001012802, + 0.0534353069961071, + 0.0, + 1.0001531839370728 + ], + [ + 0.3091873526573181, + 0.10262026637792587, + 0.070875383913517, + -0.27568140625953674, + 0.04655417799949646, + 0.05523398518562317, + 0.0, + 1.0001531839370728 + ], + [ + 0.30046385526657104, + 0.08351409435272217, + 0.10431281477212906, + -0.36584725975990295, + -0.0009285351843573153, + 0.049150578677654266, + 0.0, + 1.0001531839370728 + ], + [ + 0.29521211981773376, + 0.06659228354692459, + 0.12152983248233795, + -0.44691428542137146, + -0.011251164600253105, + 0.054219577461481094, + 0.0, + 1.0001531839370728 + ], + [ + 0.2875991463661194, + 0.006262973882257938, + 0.13528886437416077, + -0.5473263263702393, + 0.009915624745190144, + -0.023741882294416428, + 0.0, + 1.0001531839370728 + ], + [ + 0.2794363498687744, + -0.035833075642585754, + 0.13264930248260498, + -0.5573193430900574, + 0.03284643962979317, + -0.05028097704052925, + 0.0, + 1.0008161067962646 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.23518851399421692, + -0.05944465845823288, + 0.08237387984991074 + ], + [ + 0.23436816036701202, + -0.056139688938856125, + 0.07736410200595856 + ], + [ + 0.24908092617988586, + -0.020749306306242943, + 0.08349748700857162 + ], + [ + 0.26521679759025574, + 0.026067031547427177, + 0.09354755282402039 + ], + [ + 0.27949607372283936, + 0.06650849431753159, + 0.08846614509820938 + ], + [ + 0.29219338297843933, + 0.1083291620016098, + 0.07270312309265137 + ], + [ + 0.2986539304256439, + 0.12825392186641693, + 0.06857484579086304 + ], + [ + 0.30032026767730713, + 0.1335838884115219, + 0.05757293477654457 + ], + [ + 0.3036653995513916, + 0.13519275188446045, + 0.054821524769067764 + ], + [ + 0.3057081699371338, + 0.13595916330814362, + 0.046482764184474945 + ], + [ + 0.30821284651756287, + 0.13083785772323608, + 0.047143109142780304 + ], + [ + 0.3103848397731781, + 0.1271876096725464, + 0.0468057356774807 + ], + [ + 0.31018567085266113, + 0.12236712872982025, + 0.04733580723404884 + ], + [ + 0.31038936972618103, + 0.1185404360294342, + 0.04948464035987854 + ], + [ + 0.31046000123023987, + 0.11467835307121277, + 0.055639173835515976 + ], + [ + 0.3091873526573181, + 0.10262026637792587, + 0.070875383913517 + ], + [ + 0.30046385526657104, + 0.08351409435272217, + 0.10431281477212906 + ], + [ + 0.29521211981773376, + 0.06659228354692459, + 0.12152983248233795 + ], + [ + 0.2875991463661194, + 0.006262973882257938, + 0.13528886437416077 + ], + [ + 0.2794363498687744, + -0.035833075642585754, + 0.13264930248260498 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.999654171309619, + 0.019344763694682705, + 0.01781341912365993, + 0.02057512581492647, + -0.9972143613096515, + -0.07169506116521028, + 0.016376873357824857, + 0.07203678029576406, + -0.997267516919929 + ], + [ + 0.9998039281612489, + 0.018080612123211087, + -0.008074447261949431, + 0.01738017988586819, + -0.996666942260631, + -0.07970530441557008, + -0.009488655356312251, + 0.07954934110408349, + -0.9967857682317877 + ], + [ + 0.9997159251480578, + -0.004598860166553747, + -0.023386309895556158, + -0.007286592733317055, + -0.993201923852943, + -0.11617591842181116, + -0.022693051176544632, + 0.11631332228073032, + -0.9929532901845471 + ], + [ + 0.9973732265484268, + -0.056870123891411155, + -0.04486018248910307, + -0.06310222663981786, + -0.9862653068426654, + -0.15263961973105034, + -0.03556340756279049, + 0.1550694474328136, + -0.987263242765274 + ], + [ + 0.9969622913423518, + -0.06434420128778137, + -0.04388636920554422, + -0.06982632170488992, + -0.9880161281007517, + -0.13765324336885243, + -0.03450325257962047, + 0.1402995166543234, + -0.9895077418534887 + ], + [ + 0.9978930690422879, + -0.028731285550293615, + -0.058171608091844636, + -0.034880214968414494, + -0.993581098980977, + -0.10761027065996641, + -0.05470642888290981, + 0.10941258144464704, + -0.9924898456208495 + ], + [ + 0.9993734707669882, + -0.00684641723843719, + -0.03472452300811354, + -0.009379548035939878, + -0.9972643986127431, + -0.07331946084230051, + -0.03412755493417705, + 0.07359922438831384, + -0.9967037996133322 + ], + [ + 0.9990255530553506, + -0.008783289932860967, + -0.04325272431194825, + -0.01103354563914217, + -0.9985827450141531, + -0.0520649808472733, + -0.04273412235063524, + 0.052491477193476584, + -0.9977065899396309 + ], + [ + 0.9996339938591605, + -0.004248846376164064, + -0.026717515334628655, + -0.005422880117448809, + -0.9990157240651584, + -0.04402471398884545, + -0.026504163680752847, + 0.04415348655587261, + -0.9986731191598904 + ], + [ + 0.999596861063523, + 0.006417223732154705, + -0.02765745092236349, + 0.005152090392772904, + -0.9989476849357797, + -0.04557388206012747, + -0.027920804367642632, + 0.04541301576659694, + -0.9985780323452175 + ], + [ + 0.9997797245658805, + 0.012927377592401425, + -0.016534365895147483, + 0.01181873049620281, + -0.9977841459621278, + -0.06547606949171898, + -0.017344162027300842, + 0.06526623150764695, + -0.9977171438180061 + ], + [ + 0.9998185538229848, + 0.017943907035224832, + -0.006393405323186962, + 0.017352940047914434, + -0.9964107233559585, + -0.08285255489693152, + -0.007857156165485957, + 0.08272657723831425, + -0.9965413079824762 + ], + [ + 0.9994572096830087, + 0.032337701236888915, + -0.006289601844956678, + 0.03138815256294882, + -0.9927224142153446, + -0.11626260014786749, + -0.010003493956584295, + 0.11600207495200929, + -0.9931985948014067 + ], + [ + 0.9987937118626203, + 0.048942538162164914, + -0.003968513819295413, + 0.047743254045757105, + -0.9868441227303436, + -0.1544644267321793, + -0.011476185638582439, + 0.15408862836310638, + -0.9879903804047715 + ], + [ + 0.998209575808856, + 0.05750775870712018, + -0.016446897944200758, + 0.053390460636353464, + -0.9806334316956554, + -0.1884344218921797, + -0.02696481923806097, + 0.18721893688749977, + -0.9819480476044407 + ], + [ + 0.9973931934333845, + 0.0657696034052388, + -0.029684624987913744, + 0.055146092052241434, + -0.9600731900126646, + -0.27425969144274914, + -0.04653736374270877, + 0.2719077584160185, + -0.9611974015201327 + ], + [ + 0.9987919228863364, + 0.0455475912320843, + 0.018442117827665687, + 0.04913077039568727, + -0.9327095914518776, + -0.3572659869257045, + 0.0009285350509302837, + 0.35774045752001044, + -0.9338205945876503 + ], + [ + 0.9984672780931756, + 0.044015112629316754, + 0.033552413287790524, + 0.05418958584286033, + -0.9007233131867115, + -0.4310000021672082, + 0.011250927223363086, + 0.4321575904021388, + -0.9017279155568119 + ], + [ + 0.99966902920123, + -0.015113127328184124, + -0.020818872165242558, + -0.023738484871402114, + -0.8538008105521179, + -0.5200583238796944, + -0.009915462262589178, + 0.5203804082427671, + -0.8538769901602985 + ], + [ + 0.9981974638717632, + -0.02530644401384047, + -0.054418811190194975, + -0.050232683265150874, + -0.8484764196549599, + -0.5268438505112147, + -0.03284053367353771, + 0.5286277983429122, + -0.8482182208412894 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.000820353627204895, + 0.0033049695193767548, + -0.005009777843952179, + -0.007528156042098999, + 0.025866404175758362, + -0.0031975004822015762, + 1.0 + ], + [ + 0.01471276581287384, + 0.03539038449525833, + 0.006133385002613068, + -0.036970287561416626, + 0.01320620160549879, + -0.024670371785759926, + 1.0 + ], + [ + 0.016135871410369873, + 0.04681633785367012, + 0.010050065815448761, + -0.03918974846601486, + 0.012875908985733986, + -0.055895667523145676, + 1.0 + ], + [ + 0.014279276132583618, + 0.04044146090745926, + -0.005081407725811005, + 0.014948770403862, + -0.0010608062148094177, + -0.006740689277648926, + 1.0 + ], + [ + 0.012697309255599976, + 0.04182066768407822, + -0.015763022005558014, + 0.031051188707351685, + 0.020223651081323624, + 0.0349852554500103, + 1.0 + ], + [ + 0.00646054744720459, + 0.01992475986480713, + -0.00412827730178833, + 0.03608830273151398, + -0.020599570125341415, + 0.025554481893777847, + 1.0 + ], + [ + 0.001666337251663208, + 0.0053299665451049805, + -0.011001911014318466, + 0.02114517241716385, + 0.00861295685172081, + -0.0016587059944868088, + 1.0 + ], + [ + 0.0033451318740844727, + 0.0016088634729385376, + -0.0027514100074768066, + 0.00838029757142067, + -0.016239872202277184, + 0.005619046278297901, + 1.0 + ], + [ + 0.0020427703857421875, + 0.0007664114236831665, + -0.00833876058459282, + -0.0012629926204681396, + 0.0014171656221151352, + 0.010578935034573078, + 1.0 + ], + [ + 0.002504676580429077, + -0.005121305584907532, + 0.0006603449583053589, + -0.01987612619996071, + -0.01057940162718296, + 0.006666661240160465, + 1.0 + ], + [ + 0.0021719932556152344, + -0.0036502480506896973, + -0.0003373734652996063, + -0.01750129461288452, + -0.00948779471218586, + 0.00553356297314167, + 1.0 + ], + [ + -0.00019916892051696777, + -0.004820480942726135, + 0.0005300715565681458, + -0.03344587981700897, + 0.0021464237943291664, + 0.01404053345322609, + 1.0 + ], + [ + 0.00020369887351989746, + -0.0038266927003860474, + 0.0021488331258296967, + -0.038445599377155304, + 0.0014727767556905746, + 0.01636967808008194, + 1.0 + ], + [ + 7.063150405883789e-05, + -0.0038620829582214355, + 0.006154533475637436, + -0.03368431329727173, + 0.015491650439798832, + 0.0056707486510276794, + 1.0 + ], + [ + -0.001272648572921753, + -0.012058086693286896, + 0.015236210078001022, + -0.08728182315826416, + 0.019586089998483658, + 0.0017986781895160675, + 1.0 + ], + [ + -0.00872349739074707, + -0.019106172025203705, + 0.03343743085861206, + -0.09016585350036621, + -0.04748271405696869, + -0.006083406507968903, + 1.0 + ], + [ + -0.00525173544883728, + -0.016921810805797577, + 0.017217017710208893, + -0.0810670256614685, + -0.01032262947410345, + 0.005068998783826828, + 1.0 + ], + [ + -0.00761297345161438, + -0.06032931059598923, + 0.013759031891822815, + -0.1004120409488678, + 0.021166790276765823, + -0.07796145975589752, + 1.0 + ], + [ + -0.00816279649734497, + -0.04209604859352112, + -0.002639561891555786, + -0.009993016719818115, + 0.022930815815925598, + -0.026539094746112823, + 1.0 + ], + [ + 0.0016953051090240479, + -0.028016917407512665, + 0.0012666434049606323, + 0.01751476526260376, + -0.0033089537173509598, + 0.03630804643034935, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.23436816036701202, + -0.056139688938856125, + 0.07736410200595856 + ], + [ + 0.24908092617988586, + -0.020749306306242943, + 0.08349748700857162 + ], + [ + 0.26521679759025574, + 0.026067031547427177, + 0.09354755282402039 + ], + [ + 0.27949607372283936, + 0.06650849431753159, + 0.08846614509820938 + ], + [ + 0.29219338297843933, + 0.1083291620016098, + 0.07270312309265137 + ], + [ + 0.2986539304256439, + 0.12825392186641693, + 0.06857484579086304 + ], + [ + 0.30032026767730713, + 0.1335838884115219, + 0.05757293477654457 + ], + [ + 0.3036653995513916, + 0.13519275188446045, + 0.054821524769067764 + ], + [ + 0.3057081699371338, + 0.13595916330814362, + 0.046482764184474945 + ], + [ + 0.30821284651756287, + 0.13083785772323608, + 0.047143109142780304 + ], + [ + 0.3103848397731781, + 0.1271876096725464, + 0.0468057356774807 + ], + [ + 0.31018567085266113, + 0.12236712872982025, + 0.04733580723404884 + ], + [ + 0.31038936972618103, + 0.1185404360294342, + 0.04948464035987854 + ], + [ + 0.31046000123023987, + 0.11467835307121277, + 0.055639173835515976 + ], + [ + 0.3091873526573181, + 0.10262026637792587, + 0.070875383913517 + ], + [ + 0.30046385526657104, + 0.08351409435272217, + 0.10431281477212906 + ], + [ + 0.29521211981773376, + 0.06659228354692459, + 0.12152983248233795 + ], + [ + 0.2875991463661194, + 0.006262973882257938, + 0.13528886437416077 + ], + [ + 0.2794363498687744, + -0.035833075642585754, + 0.13264930248260498 + ], + [ + 0.28113165497779846, + -0.06384999305009842, + 0.1339159458875656 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9998039281612489, + 0.018080612123211087, + -0.008074447261949431, + 0.01738017988586819, + -0.996666942260631, + -0.07970530441557008, + -0.009488655356312251, + 0.07954934110408349, + -0.9967857682317877 + ], + [ + 0.9997159251480578, + -0.004598860166553747, + -0.023386309895556158, + -0.007286592733317055, + -0.993201923852943, + -0.11617591842181116, + -0.022693051176544632, + 0.11631332228073032, + -0.9929532901845471 + ], + [ + 0.9973732265484268, + -0.056870123891411155, + -0.04486018248910307, + -0.06310222663981786, + -0.9862653068426654, + -0.15263961973105034, + -0.03556340756279049, + 0.1550694474328136, + -0.987263242765274 + ], + [ + 0.9969622913423518, + -0.06434420128778137, + -0.04388636920554422, + -0.06982632170488992, + -0.9880161281007517, + -0.13765324336885243, + -0.03450325257962047, + 0.1402995166543234, + -0.9895077418534887 + ], + [ + 0.9978930690422879, + -0.028731285550293615, + -0.058171608091844636, + -0.034880214968414494, + -0.993581098980977, + -0.10761027065996641, + -0.05470642888290981, + 0.10941258144464704, + -0.9924898456208495 + ], + [ + 0.9993734707669882, + -0.00684641723843719, + -0.03472452300811354, + -0.009379548035939878, + -0.9972643986127431, + -0.07331946084230051, + -0.03412755493417705, + 0.07359922438831384, + -0.9967037996133322 + ], + [ + 0.9990255530553506, + -0.008783289932860967, + -0.04325272431194825, + -0.01103354563914217, + -0.9985827450141531, + -0.0520649808472733, + -0.04273412235063524, + 0.052491477193476584, + -0.9977065899396309 + ], + [ + 0.9996339938591605, + -0.004248846376164064, + -0.026717515334628655, + -0.005422880117448809, + -0.9990157240651584, + -0.04402471398884545, + -0.026504163680752847, + 0.04415348655587261, + -0.9986731191598904 + ], + [ + 0.999596861063523, + 0.006417223732154705, + -0.02765745092236349, + 0.005152090392772904, + -0.9989476849357797, + -0.04557388206012747, + -0.027920804367642632, + 0.04541301576659694, + -0.9985780323452175 + ], + [ + 0.9997797245658805, + 0.012927377592401425, + -0.016534365895147483, + 0.01181873049620281, + -0.9977841459621278, + -0.06547606949171898, + -0.017344162027300842, + 0.06526623150764695, + -0.9977171438180061 + ], + [ + 0.9998185538229848, + 0.017943907035224832, + -0.006393405323186962, + 0.017352940047914434, + -0.9964107233559585, + -0.08285255489693152, + -0.007857156165485957, + 0.08272657723831425, + -0.9965413079824762 + ], + [ + 0.9994572096830087, + 0.032337701236888915, + -0.006289601844956678, + 0.03138815256294882, + -0.9927224142153446, + -0.11626260014786749, + -0.010003493956584295, + 0.11600207495200929, + -0.9931985948014067 + ], + [ + 0.9987937118626203, + 0.048942538162164914, + -0.003968513819295413, + 0.047743254045757105, + -0.9868441227303436, + -0.1544644267321793, + -0.011476185638582439, + 0.15408862836310638, + -0.9879903804047715 + ], + [ + 0.998209575808856, + 0.05750775870712018, + -0.016446897944200758, + 0.053390460636353464, + -0.9806334316956554, + -0.1884344218921797, + -0.02696481923806097, + 0.18721893688749977, + -0.9819480476044407 + ], + [ + 0.9973931934333845, + 0.0657696034052388, + -0.029684624987913744, + 0.055146092052241434, + -0.9600731900126646, + -0.27425969144274914, + -0.04653736374270877, + 0.2719077584160185, + -0.9611974015201327 + ], + [ + 0.9987919228863364, + 0.0455475912320843, + 0.018442117827665687, + 0.04913077039568727, + -0.9327095914518776, + -0.3572659869257045, + 0.0009285350509302837, + 0.35774045752001044, + -0.9338205945876503 + ], + [ + 0.9984672780931756, + 0.044015112629316754, + 0.033552413287790524, + 0.05418958584286033, + -0.9007233131867115, + -0.4310000021672082, + 0.011250927223363086, + 0.4321575904021388, + -0.9017279155568119 + ], + [ + 0.99966902920123, + -0.015113127328184124, + -0.020818872165242558, + -0.023738484871402114, + -0.8538008105521179, + -0.5200583238796944, + -0.009915462262589178, + 0.5203804082427671, + -0.8538769901602985 + ], + [ + 0.9981974638717632, + -0.02530644401384047, + -0.054418811190194975, + -0.050232683265150874, + -0.8484764196549599, + -0.5268438505112147, + -0.03284053367353771, + 0.5286277983429122, + -0.8482182208412894 + ], + [ + 0.9994662229405185, + 0.003191925834535575, + -0.03251277918727806, + -0.013966382068277286, + -0.8579374893706044, + -0.5135642165342001, + -0.029533191038842718, + 0.5137441736330747, + -0.8574349623645705 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005550.json b/json/chunk-0005/episode_0005550.json new file mode 100644 index 0000000000000000000000000000000000000000..e20af48f84c6ed49db0755c422fd41dfc106d82e --- /dev/null +++ b/json/chunk-0005/episode_0005550.json @@ -0,0 +1,1942 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 31, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut the blue figure on the top edge of the cloth." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005550.mp4", + "start": 0, + "end": 31, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.27227911353111267, + -0.046775881201028824, + 0.07800693809986115, + -0.001876017078757286, + 0.09913936257362366, + 0.3755900263786316, + 0.0, + 0.9988223910331726 + ], + [ + 0.2688073515892029, + -0.04583345353603363, + 0.06898123770952225, + 0.01801084354519844, + 0.12849131226539612, + 0.37633031606674194, + 0.0, + 0.9988223910331726 + ], + [ + 0.27152925729751587, + -0.011154013685882092, + 0.06990667432546616, + 0.05240681394934654, + 0.12150086462497711, + 0.44826456904411316, + 0.0, + 0.9988223910331726 + ], + [ + 0.28358808159828186, + 0.014840632677078247, + 0.07270582020282745, + 0.048282962292432785, + 0.07055394351482391, + 0.48104149103164673, + 0.0, + 0.9988223910331726 + ], + [ + 0.3087824881076813, + 0.05368852615356445, + 0.0651327520608902, + 0.03422924876213074, + 0.027743183076381683, + 0.5304808616638184, + 0.0, + 0.9988223910331726 + ], + [ + 0.3368617594242096, + 0.064728744328022, + 0.046690311282873154, + -0.012945813126862049, + 0.051778119057416916, + 0.49584323167800903, + 0.0, + 0.9988223910331726 + ], + [ + 0.3586682081222534, + 0.07028169929981232, + 0.024261539801955223, + -0.026257045567035675, + 0.11206276714801788, + 0.4971735179424286, + 0.0, + 0.9988223910331726 + ], + [ + 0.36813366413116455, + 0.08441658318042755, + 0.017751026898622513, + -0.013906603679060936, + 0.13035699725151062, + 0.5440362095832825, + 0.0, + 0.9988223910331726 + ], + [ + 0.36614957451820374, + 0.09166718274354935, + 0.019837623462080956, + 0.008278717286884785, + 0.14003317058086395, + 0.5579171776771545, + 0.0, + 0.9988223910331726 + ], + [ + 0.363334596157074, + 0.09157173335552216, + 0.01518498919904232, + 0.0019248269964009523, + 0.1434103548526764, + 0.561398446559906, + 0.0, + 0.9461179971694946 + ], + [ + 0.365628719329834, + 0.0914832279086113, + 0.013943805359303951, + -0.016806932166218758, + 0.13152919709682465, + 0.5726123452186584, + 0.0, + 0.648074209690094 + ], + [ + 0.3630606532096863, + 0.09120520204305649, + 0.003276175120845437, + -0.002342195948585868, + 0.16450153291225433, + 0.5817753076553345, + 0.0, + 0.3404468894004822 + ], + [ + 0.3632001578807831, + 0.09064815938472748, + 0.003276175120845437, + -0.0005595912807621062, + 0.1645171195268631, + 0.5911261439323425, + 0.0, + 0.13386739790439606 + ], + [ + 0.361316055059433, + 0.08176092803478241, + 0.0034386843908578157, + 0.013380981981754303, + 0.1686871349811554, + 0.5769742727279663, + 0.0, + 0.05115113407373428 + ], + [ + 0.36175835132598877, + 0.07034625113010406, + 0.019496368244290352, + 0.03580661118030548, + 0.12736530601978302, + 0.5468906164169312, + 0.0, + 0.05115113407373428 + ], + [ + 0.3622626066207886, + 0.03995072469115257, + 0.030999643728137016, + 0.02868364192545414, + 0.07936616241931915, + 0.47429007291793823, + 0.0, + 0.05115113407373428 + ], + [ + 0.3664342164993286, + 0.008835953660309315, + 0.03257241100072861, + 0.042039476335048676, + 0.05718390643596649, + 0.4132443964481354, + 0.0, + 0.05115113407373428 + ], + [ + 0.3685474693775177, + -0.037296272814273834, + 0.026218263432383537, + -0.0028136689215898514, + 0.026448143646121025, + 0.3281365931034088, + 0.0, + 0.05115113407373428 + ], + [ + 0.37148550152778625, + -0.07329525053501129, + 0.022571830078959465, + -0.012071643956005573, + 0.008773894049227238, + 0.2369621992111206, + 0.0, + 0.05115113407373428 + ], + [ + 0.36116111278533936, + -0.10321551561355591, + 0.008206796832382679, + 0.013848064467310905, + 0.06339081376791, + 0.1967729926109314, + 0.0, + 0.05115113407373428 + ], + [ + 0.3539733290672302, + -0.11860231310129166, + -0.00015349537716247141, + -0.02437475696206093, + 0.06155116483569145, + 0.17038081586360931, + 0.0, + 0.05115113407373428 + ], + [ + 0.34552001953125, + -0.12568753957748413, + -0.012795476242899895, + -0.022664809599518776, + 0.037028633058071136, + 0.14377959072589874, + 0.0, + 0.05115113407373428 + ], + [ + 0.34481024742126465, + -0.14441663026809692, + -0.009149191901087761, + -0.026217570528388023, + 0.017034778371453285, + 0.056205205619335175, + 0.0, + 0.06956923007965088 + ], + [ + 0.34653475880622864, + -0.14922302961349487, + -0.004055683501064777, + -0.011489602737128735, + 0.037032950669527054, + 0.03207647055387497, + 0.0, + 0.21234850585460663 + ], + [ + 0.3411323130130768, + -0.1485113799571991, + -0.006129149347543716, + -0.019883444532752037, + 0.04786228761076927, + 0.04701250419020653, + 0.0, + 0.4634169340133667 + ], + [ + 0.34490516781806946, + -0.1515192836523056, + 0.015439880080521107, + -0.06431695073843002, + 0.008999527432024479, + 0.08268743008375168, + 0.0, + 0.7778469324111938 + ], + [ + 0.3438741862773895, + -0.1372600495815277, + 0.021164556965231895, + 0.012919689528644085, + -0.017238695174455643, + 0.09194839745759964, + 0.0, + 1.003452181816101 + ], + [ + 0.3441201150417328, + -0.11618905514478683, + 0.04110642895102501, + 0.05972951650619507, + -0.08185601979494095, + 0.10893742740154266, + 0.0, + 1.0027955770492554 + ], + [ + 0.34314480423927307, + -0.09036743640899658, + 0.055546943098306656, + 0.16571755707263947, + -0.08671911060810089, + 0.09562899172306061, + 0.0, + 1.0001531839370728 + ], + [ + 0.3395264744758606, + -0.054499346762895584, + 0.06271970272064209, + 0.21177361905574799, + -0.038863517343997955, + 0.17822514474391937, + 0.0, + 1.0001531839370728 + ], + [ + 0.34340181946754456, + -0.01787993311882019, + 0.08320821821689606, + 0.17464111745357513, + -0.0355788953602314, + 0.2843222916126251, + 0.0, + 1.0001531839370728 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9461179971694946 + ], + [ + 0.648074209690094 + ], + [ + 0.3404468894004822 + ], + [ + 0.13386739790439606 + ], + [ + 0.05115113407373428 + ], + [ + 0.05115113407373428 + ], + [ + 0.05115113407373428 + ], + [ + 0.05115113407373428 + ], + [ + 0.05115113407373428 + ], + [ + 0.05115113407373428 + ], + [ + 0.05115113407373428 + ], + [ + 0.05115113407373428 + ], + [ + 0.05115113407373428 + ], + [ + 0.06956923007965088 + ], + [ + 0.21234850585460663 + ], + [ + 0.4634169340133667 + ], + [ + 0.7778469324111938 + ], + [ + 1.003452181816101 + ], + [ + 1.0027955770492554 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.27227911353111267, + -0.046775881201028824, + 0.07800693809986115 + ], + [ + 0.2688073515892029, + -0.04583345353603363, + 0.06898123770952225 + ], + [ + 0.27152925729751587, + -0.011154013685882092, + 0.06990667432546616 + ], + [ + 0.28358808159828186, + 0.014840632677078247, + 0.07270582020282745 + ], + [ + 0.3087824881076813, + 0.05368852615356445, + 0.0651327520608902 + ], + [ + 0.3368617594242096, + 0.064728744328022, + 0.046690311282873154 + ], + [ + 0.3586682081222534, + 0.07028169929981232, + 0.024261539801955223 + ], + [ + 0.36813366413116455, + 0.08441658318042755, + 0.017751026898622513 + ], + [ + 0.36614957451820374, + 0.09166718274354935, + 0.019837623462080956 + ], + [ + 0.363334596157074, + 0.09157173335552216, + 0.01518498919904232 + ], + [ + 0.365628719329834, + 0.0914832279086113, + 0.013943805359303951 + ], + [ + 0.3630606532096863, + 0.09120520204305649, + 0.003276175120845437 + ], + [ + 0.3632001578807831, + 0.09064815938472748, + 0.003276175120845437 + ], + [ + 0.361316055059433, + 0.08176092803478241, + 0.0034386843908578157 + ], + [ + 0.36175835132598877, + 0.07034625113010406, + 0.019496368244290352 + ], + [ + 0.3622626066207886, + 0.03995072469115257, + 0.030999643728137016 + ], + [ + 0.3664342164993286, + 0.008835953660309315, + 0.03257241100072861 + ], + [ + 0.3685474693775177, + -0.037296272814273834, + 0.026218263432383537 + ], + [ + 0.37148550152778625, + -0.07329525053501129, + 0.022571830078959465 + ], + [ + 0.36116111278533936, + -0.10321551561355591, + 0.008206796832382679 + ], + [ + 0.3539733290672302, + -0.11860231310129166, + -0.00015349537716247141 + ], + [ + 0.34552001953125, + -0.12568753957748413, + -0.012795476242899895 + ], + [ + 0.34481024742126465, + -0.14441663026809692, + -0.009149191901087761 + ], + [ + 0.34653475880622864, + -0.14922302961349487, + -0.004055683501064777 + ], + [ + 0.3411323130130768, + -0.1485113799571991, + -0.006129149347543716 + ], + [ + 0.34490516781806946, + -0.1515192836523056, + 0.015439880080521107 + ], + [ + 0.3438741862773895, + -0.1372600495815277, + 0.021164556965231895 + ], + [ + 0.3441201150417328, + -0.11618905514478683, + 0.04110642895102501 + ], + [ + 0.34314480423927307, + -0.09036743640899658, + 0.055546943098306656 + ], + [ + 0.3395264744758606, + -0.054499346762895584, + 0.06271970272064209 + ], + [ + 0.34340181946754456, + -0.01787993311882019, + 0.08320821821689606 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9257233558370718, + 0.36699358267311954, + -0.09138916092457819, + 0.3650202920708888, + -0.9302216001140764, + -0.038052083486853974, + -0.09897704195536114, + 0.001866804209239896, + -0.9950879660652173 + ], + [ + 0.9223527779949696, + 0.36530421505718075, + -0.12577035972922787, + 0.3644804467227058, + -0.9307168209280224, + -0.030334851218558258, + -0.1281380383874325, + -0.017861402607083084, + -0.9915954888033368 + ], + [ + 0.8945568089968067, + 0.42708554589337605, + -0.13178031706748664, + 0.430207108201267, + -0.9027149519449906, + -0.005249722664693337, + -0.12120214325891124, + -0.05199665396840322, + -0.9912650444989655 + ], + [ + 0.8843079484869665, + 0.45914721192321534, + -0.08475429207957993, + 0.46155156538611947, + -0.8870546661298633, + 0.010206458095710556, + -0.07049542348546806, + -0.04814412820245849, + -0.9963496064069227 + ], + [ + 0.8622319495611613, + 0.5048329575035422, + -0.04122802656186249, + 0.5057534759146443, + -0.8625389279723684, + 0.015492557327079262, + -0.027739624298362603, + -0.034209395646578836, + -0.9990296444516957 + ], + [ + 0.8783890496153419, + 0.4763229350563983, + -0.03935910384034153, + 0.47513587416615005, + -0.8791753668711131, + -0.036007990327320986, + -0.051754986196742424, + 0.012928102192596956, + -0.9985761290845446 + ], + [ + 0.8734210598529448, + 0.4793592572812384, + -0.08573420941571654, + 0.47395154689538477, + -0.8772308978912269, + -0.07639295111738852, + -0.11182836581489682, + 0.02608935115581197, + -0.9933850020789715 + ], + [ + 0.848367020614708, + 0.5190902979869775, + -0.10401279185328278, + 0.5132021893897188, + -0.8546081844452912, + -0.07917299972037245, + -0.129988119222191, + 0.013788169382259637, + -0.991419676648675 + ], + [ + 0.8400553577184784, + 0.5284219459968771, + -0.12278942526680725, + 0.5242380634683506, + -0.8489423105060737, + -0.06686857440952967, + -0.13957596060723687, + -0.008197586320540635, + -0.9901774339981114 + ], + [ + 0.8378214547001036, + 0.5321366620813225, + -0.1220073068022999, + 0.5269053882327143, + -0.8466563314543079, + -0.07445648567898999, + -0.14291928454737898, + -0.0019050662144648872, + -0.9897325137769213 + ], + [ + 0.8332286788633609, + 0.5436055624297137, + -0.10110866043565851, + 0.5371494873117612, + -0.8391754311896712, + -0.08517642847843535, + -0.13115028402687787, + 0.016660977855593305, + -0.991222485023703 + ], + [ + 0.8242094170481888, + 0.5498270028647418, + -0.13553266679977918, + 0.5420897511562095, + -0.835275360684442, + -0.09194440453270947, + -0.16376061352011287, + 0.002310574441717554, + -0.9864974012663519 + ], + [ + 0.8191023455486032, + 0.5573724377325561, + -0.13567355369726544, + 0.5497715641204798, + -0.8302624048534197, + -0.09173639611156237, + -0.16377598969720206, + 0.0005520354012269815, + -0.9864974001261321 + ], + [ + 0.8262207829159456, + 0.5435589078494905, + -0.14799639041284288, + 0.5377478486536396, + -0.8392673711100823, + -0.0803587646641805, + -0.16788826387256425, + -0.013190659098012966, + -0.9857177777469653 + ], + [ + 0.8472270520609134, + 0.5158165500991037, + -0.12704176045707546, + 0.5158216052884279, + -0.8559628487075983, + -0.03543547869074528, + -0.12702123355503717, + -0.03550898866810915, + -0.9912642018906588 + ], + [ + 0.8868168010316249, + 0.4544963137017601, + -0.08360061147830652, + 0.45526935798146545, + -0.8902896974257682, + -0.010680184487093698, + -0.07928286757666952, + -0.028589429673314525, + -0.996442106406476 + ], + [ + 0.9143257897219095, + 0.3990281453928198, + -0.06917289522474344, + 0.400926319713008, + -0.9159781831114338, + 0.015558091954343918, + -0.057152746310125256, + -0.04195839901907148, + -0.9974833614356517 + ], + [ + 0.9463134530694827, + 0.32234876679918245, + -0.024127185554029033, + 0.32216689358819095, + -0.9466167975308809, + -0.011186210623568206, + -0.02644506032225142, + 0.002812681180983949, + -0.9996463112566999 + ], + [ + 0.9720181703332217, + 0.23483665039994156, + -0.005694222597676634, + 0.23474176726909546, + -0.9719598969796918, + -0.013793526112243272, + -0.008773781478820552, + 0.012070886138263988, + -0.9998886510339035 + ], + [ + 0.9787328155660654, + 0.19462657804507372, + -0.06482723850810804, + 0.19511294185959582, + -0.9807800507807342, + 0.0011966241826360463, + -0.06334836740608452, + -0.013819808573396451, + -0.9978957847580971 + ], + [ + 0.9836540130527347, + 0.17098478713154902, + -0.0564711003507922, + 0.16923657600087028, + -0.9849733189504035, + -0.034446223295569525, + -0.06151230729497985, + 0.024326190112827946, + -0.9978098378578167 + ], + [ + 0.989003100475751, + 0.14407824584674186, + -0.03338152667385434, + 0.14318650119697116, + -0.9893071097120886, + -0.02773208517373377, + -0.03702017185699183, + 0.02264733421043774, + -0.9990578587493517 + ], + [ + 0.9982760439768606, + 0.05660214527610383, + -0.015528592082087029, + 0.05616746759035349, + -0.9980527005201877, + -0.027129735878681196, + -0.017033954514310803, + 0.026210763714612523, + -0.9995113007160554 + ], + [ + 0.9988003054719866, + 0.03249402188064397, + -0.03663452375951358, + 0.03204898107352254, + -0.999405980737641, + -0.012670772588235913, + -0.03702448650845988, + 0.011481472373089942, + -0.9992483991435417 + ], + [ + 0.9977512003906762, + 0.047936089098942786, + -0.04684734230308862, + 0.046941370475613475, + -0.9986529612199121, + -0.02210816104002722, + -0.047844015893690826, + 0.01985936576527038, + -0.9986573765484164 + ], + [ + 0.996542984705363, + 0.08299890456994363, + -0.0036416307770742854, + 0.082589892402427, + -0.9944750108074131, + -0.06479477257118355, + -0.008999405951654422, + 0.06427001415734448, + -0.9978919660828683 + ], + [ + 0.9956277685705816, + 0.09203298672990977, + 0.015977352870142875, + 0.09180524645066653, + -0.9956721698726919, + 0.014447382639703221, + 0.01723784137579857, + -0.012917410521380344, + -0.9997679717465074 + ], + [ + 0.9907436987749216, + 0.11338013305597695, + 0.07464495137647457, + 0.10835805070926895, + -0.991768820682908, + 0.06821392209601708, + 0.08176463896009566, + -0.05949413205890937, + -0.9948743599401294 + ], + [ + 0.9916904542180551, + 0.10839719924540456, + 0.06928268332375292, + 0.09512450332658798, + -0.980429670429278, + 0.1723629606638476, + 0.08661046056717003, + -0.1643402219107945, + -0.9825939749370811 + ], + [ + 0.9834167638767933, + 0.18136001238252564, + 0.00012014451999654494, + 0.177149247250667, + -0.9607255751111471, + 0.21359895488011604, + 0.03885373501502251, + -0.2100355094643902, + -0.9769214257244114 + ], + [ + 0.9592445210557925, + 0.2821727667833682, + -0.015115505623764923, + 0.28032949375909677, + -0.9435178992285933, + 0.176605064378207, + 0.03557138953164087, + -0.17364476243492338, + -0.9841657242180848 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.00347176194190979, + 0.0009424276649951935, + -0.009025700390338898, + 0.019886860623955727, + 0.02935194969177246, + 0.0007402896881103516, + 1.0 + ], + [ + 0.0027219057083129883, + 0.034679438918828964, + 0.0009254366159439087, + 0.0343959704041481, + -0.006990447640419006, + 0.07193425297737122, + 1.0 + ], + [ + 0.012058824300765991, + 0.025994647294282913, + 0.0027991458773612976, + -0.004123851656913757, + -0.0509469211101532, + 0.03277692198753357, + 1.0 + ], + [ + 0.025194406509399414, + 0.038847893476486206, + -0.007573068141937256, + -0.014053713530302048, + -0.04281076043844223, + 0.04943937063217163, + 1.0 + ], + [ + 0.02807927131652832, + 0.01104021817445755, + -0.018442440778017044, + -0.04717506095767021, + 0.024034935981035233, + -0.034637629985809326, + 1.0 + ], + [ + 0.021806448698043823, + 0.005552954971790314, + -0.02242877148091793, + -0.013311232440173626, + 0.06028464809060097, + 0.0013302862644195557, + 1.0 + ], + [ + 0.009465456008911133, + 0.014134883880615234, + -0.00651051290333271, + 0.012350441887974739, + 0.018294230103492737, + 0.04686269164085388, + 1.0 + ], + [ + -0.0019840896129608154, + 0.007250599563121796, + 0.0020865965634584427, + 0.022185321897268295, + 0.009676173329353333, + 0.01388096809387207, + 1.0 + ], + [ + -0.0028149783611297607, + -9.544938802719116e-05, + -0.004652634263038635, + -0.006353890523314476, + 0.003377184271812439, + 0.003481268882751465, + 0.0 + ], + [ + 0.0022941231727600098, + -8.850544691085815e-05, + -0.001241183839738369, + -0.01873175986111164, + -0.011881157755851746, + 0.011213898658752441, + 0.0 + ], + [ + -0.002568066120147705, + -0.00027802586555480957, + -0.010667630471289158, + 0.014464735984802246, + 0.03297233581542969, + 0.009162962436676025, + 0.0 + ], + [ + 0.00013950467109680176, + -0.00055704265832901, + 0.0, + 0.0017826047260314226, + 1.558661460876465e-05, + 0.009350836277008057, + 0.0 + ], + [ + -0.0018841028213500977, + -0.008887231349945068, + 0.0001625092700123787, + 0.013940573669970036, + 0.004170015454292297, + -0.01415187120437622, + 0.0 + ], + [ + 0.00044229626655578613, + -0.011414676904678345, + 0.016057683154940605, + 0.022425629198551178, + -0.041321828961372375, + -0.030083656311035156, + 0.0 + ], + [ + 0.0005042552947998047, + -0.030395526438951492, + 0.011503275483846664, + -0.007122969254851341, + -0.04799914360046387, + -0.07260054349899292, + 0.0 + ], + [ + 0.004171609878540039, + -0.031114771962165833, + 0.0015727672725915909, + 0.013355834409594536, + -0.02218225598335266, + -0.061045676469802856, + 0.0 + ], + [ + 0.002113252878189087, + -0.046132225543260574, + -0.00635414756834507, + -0.04485314339399338, + -0.030735762789845467, + -0.08510780334472656, + 0.0 + ], + [ + 0.0029380321502685547, + -0.03599897772073746, + -0.0036464333534240723, + -0.009257975034415722, + -0.017674248665571213, + -0.09117439389228821, + 0.0 + ], + [ + -0.0103243887424469, + -0.029920265078544617, + -0.014365033246576786, + 0.025919709354639053, + 0.05461692065000534, + -0.04018920660018921, + 0.0 + ], + [ + -0.007187783718109131, + -0.015386797487735748, + -0.008360291831195354, + -0.038222819566726685, + -0.0018396489322185516, + -0.026392176747322083, + 0.0 + ], + [ + -0.008453309535980225, + -0.007085226476192474, + -0.01264198124408722, + 0.0017099473625421524, + -0.024522531777620316, + -0.02660122513771057, + 0.0 + ], + [ + -0.0007097721099853516, + -0.018729090690612793, + 0.003646284341812134, + -0.0035527609288692474, + -0.01999385468661785, + -0.08757438510656357, + 1.0 + ], + [ + 0.0017245113849639893, + -0.004806399345397949, + 0.0050935084000229836, + 0.014727967791259289, + 0.01999817229807377, + -0.024128735065460205, + 1.0 + ], + [ + -0.0054024457931518555, + 0.0007116496562957764, + -0.002073465846478939, + -0.008393841795623302, + 0.010829336941242218, + 0.014936033636331558, + 1.0 + ], + [ + 0.0037728548049926758, + -0.0030079036951065063, + 0.02156902849674225, + -0.04443350434303284, + -0.03886276111006737, + 0.03567492589354515, + 1.0 + ], + [ + -0.0010309815406799316, + 0.014259234070777893, + 0.005724676884710789, + 0.07723663747310638, + -0.026238221675157547, + 0.009260967373847961, + 1.0 + ], + [ + 0.0002459287643432617, + 0.021070994436740875, + 0.019941871985793114, + 0.04680982604622841, + -0.06461732089519501, + 0.016989029943943024, + 1.0 + ], + [ + -0.0009753108024597168, + 0.025821618735790253, + 0.014440514147281647, + 0.1059880405664444, + -0.004863090813159943, + -0.013308435678482056, + 1.0 + ], + [ + -0.0036183297634124756, + 0.035868089646101, + 0.007172759622335434, + 0.04605606198310852, + 0.047855593264102936, + 0.08259615302085876, + 1.0 + ], + [ + 0.00387534499168396, + 0.036619413644075394, + 0.020488515496253967, + -0.03713250160217285, + 0.003284621983766556, + 0.10609714686870575, + 1.0 + ], + [ + 0.003992557525634766, + 0.01824868656694889, + 0.005631998181343079, + -0.061336152255535126, + 0.022433146834373474, + 0.04744395613670349, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9461179971694946 + ], + [ + 0.648074209690094 + ], + [ + 0.3404468894004822 + ], + [ + 0.13386739790439606 + ], + [ + 0.05115113407373428 + ], + [ + 0.05115113407373428 + ], + [ + 0.05115113407373428 + ], + [ + 0.05115113407373428 + ], + [ + 0.05115113407373428 + ], + [ + 0.05115113407373428 + ], + [ + 0.05115113407373428 + ], + [ + 0.05115113407373428 + ], + [ + 0.05115113407373428 + ], + [ + 0.06956923007965088 + ], + [ + 0.21234850585460663 + ], + [ + 0.4634169340133667 + ], + [ + 0.7778469324111938 + ], + [ + 1.003452181816101 + ], + [ + 1.0027955770492554 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2688073515892029, + -0.04583345353603363, + 0.06898123770952225 + ], + [ + 0.27152925729751587, + -0.011154013685882092, + 0.06990667432546616 + ], + [ + 0.28358808159828186, + 0.014840632677078247, + 0.07270582020282745 + ], + [ + 0.3087824881076813, + 0.05368852615356445, + 0.0651327520608902 + ], + [ + 0.3368617594242096, + 0.064728744328022, + 0.046690311282873154 + ], + [ + 0.3586682081222534, + 0.07028169929981232, + 0.024261539801955223 + ], + [ + 0.36813366413116455, + 0.08441658318042755, + 0.017751026898622513 + ], + [ + 0.36614957451820374, + 0.09166718274354935, + 0.019837623462080956 + ], + [ + 0.363334596157074, + 0.09157173335552216, + 0.01518498919904232 + ], + [ + 0.365628719329834, + 0.0914832279086113, + 0.013943805359303951 + ], + [ + 0.3630606532096863, + 0.09120520204305649, + 0.003276175120845437 + ], + [ + 0.3632001578807831, + 0.09064815938472748, + 0.003276175120845437 + ], + [ + 0.361316055059433, + 0.08176092803478241, + 0.0034386843908578157 + ], + [ + 0.36175835132598877, + 0.07034625113010406, + 0.019496368244290352 + ], + [ + 0.3622626066207886, + 0.03995072469115257, + 0.030999643728137016 + ], + [ + 0.3664342164993286, + 0.008835953660309315, + 0.03257241100072861 + ], + [ + 0.3685474693775177, + -0.037296272814273834, + 0.026218263432383537 + ], + [ + 0.37148550152778625, + -0.07329525053501129, + 0.022571830078959465 + ], + [ + 0.36116111278533936, + -0.10321551561355591, + 0.008206796832382679 + ], + [ + 0.3539733290672302, + -0.11860231310129166, + -0.00015349537716247141 + ], + [ + 0.34552001953125, + -0.12568753957748413, + -0.012795476242899895 + ], + [ + 0.34481024742126465, + -0.14441663026809692, + -0.009149191901087761 + ], + [ + 0.34653475880622864, + -0.14922302961349487, + -0.004055683501064777 + ], + [ + 0.3411323130130768, + -0.1485113799571991, + -0.006129149347543716 + ], + [ + 0.34490516781806946, + -0.1515192836523056, + 0.015439880080521107 + ], + [ + 0.3438741862773895, + -0.1372600495815277, + 0.021164556965231895 + ], + [ + 0.3441201150417328, + -0.11618905514478683, + 0.04110642895102501 + ], + [ + 0.34314480423927307, + -0.09036743640899658, + 0.055546943098306656 + ], + [ + 0.3395264744758606, + -0.054499346762895584, + 0.06271970272064209 + ], + [ + 0.34340181946754456, + -0.01787993311882019, + 0.08320821821689606 + ], + [ + 0.3473943769931793, + 0.0003687535354401916, + 0.08884021639823914 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9223527779949696, + 0.36530421505718075, + -0.12577035972922787, + 0.3644804467227058, + -0.9307168209280224, + -0.030334851218558258, + -0.1281380383874325, + -0.017861402607083084, + -0.9915954888033368 + ], + [ + 0.8945568089968067, + 0.42708554589337605, + -0.13178031706748664, + 0.430207108201267, + -0.9027149519449906, + -0.005249722664693337, + -0.12120214325891124, + -0.05199665396840322, + -0.9912650444989655 + ], + [ + 0.8843079484869665, + 0.45914721192321534, + -0.08475429207957993, + 0.46155156538611947, + -0.8870546661298633, + 0.010206458095710556, + -0.07049542348546806, + -0.04814412820245849, + -0.9963496064069227 + ], + [ + 0.8622319495611613, + 0.5048329575035422, + -0.04122802656186249, + 0.5057534759146443, + -0.8625389279723684, + 0.015492557327079262, + -0.027739624298362603, + -0.034209395646578836, + -0.9990296444516957 + ], + [ + 0.8783890496153419, + 0.4763229350563983, + -0.03935910384034153, + 0.47513587416615005, + -0.8791753668711131, + -0.036007990327320986, + -0.051754986196742424, + 0.012928102192596956, + -0.9985761290845446 + ], + [ + 0.8734210598529448, + 0.4793592572812384, + -0.08573420941571654, + 0.47395154689538477, + -0.8772308978912269, + -0.07639295111738852, + -0.11182836581489682, + 0.02608935115581197, + -0.9933850020789715 + ], + [ + 0.848367020614708, + 0.5190902979869775, + -0.10401279185328278, + 0.5132021893897188, + -0.8546081844452912, + -0.07917299972037245, + -0.129988119222191, + 0.013788169382259637, + -0.991419676648675 + ], + [ + 0.8400553577184784, + 0.5284219459968771, + -0.12278942526680725, + 0.5242380634683506, + -0.8489423105060737, + -0.06686857440952967, + -0.13957596060723687, + -0.008197586320540635, + -0.9901774339981114 + ], + [ + 0.8378214547001036, + 0.5321366620813225, + -0.1220073068022999, + 0.5269053882327143, + -0.8466563314543079, + -0.07445648567898999, + -0.14291928454737898, + -0.0019050662144648872, + -0.9897325137769213 + ], + [ + 0.8332286788633609, + 0.5436055624297137, + -0.10110866043565851, + 0.5371494873117612, + -0.8391754311896712, + -0.08517642847843535, + -0.13115028402687787, + 0.016660977855593305, + -0.991222485023703 + ], + [ + 0.8242094170481888, + 0.5498270028647418, + -0.13553266679977918, + 0.5420897511562095, + -0.835275360684442, + -0.09194440453270947, + -0.16376061352011287, + 0.002310574441717554, + -0.9864974012663519 + ], + [ + 0.8191023455486032, + 0.5573724377325561, + -0.13567355369726544, + 0.5497715641204798, + -0.8302624048534197, + -0.09173639611156237, + -0.16377598969720206, + 0.0005520354012269815, + -0.9864974001261321 + ], + [ + 0.8262207829159456, + 0.5435589078494905, + -0.14799639041284288, + 0.5377478486536396, + -0.8392673711100823, + -0.0803587646641805, + -0.16788826387256425, + -0.013190659098012966, + -0.9857177777469653 + ], + [ + 0.8472270520609134, + 0.5158165500991037, + -0.12704176045707546, + 0.5158216052884279, + -0.8559628487075983, + -0.03543547869074528, + -0.12702123355503717, + -0.03550898866810915, + -0.9912642018906588 + ], + [ + 0.8868168010316249, + 0.4544963137017601, + -0.08360061147830652, + 0.45526935798146545, + -0.8902896974257682, + -0.010680184487093698, + -0.07928286757666952, + -0.028589429673314525, + -0.996442106406476 + ], + [ + 0.9143257897219095, + 0.3990281453928198, + -0.06917289522474344, + 0.400926319713008, + -0.9159781831114338, + 0.015558091954343918, + -0.057152746310125256, + -0.04195839901907148, + -0.9974833614356517 + ], + [ + 0.9463134530694827, + 0.32234876679918245, + -0.024127185554029033, + 0.32216689358819095, + -0.9466167975308809, + -0.011186210623568206, + -0.02644506032225142, + 0.002812681180983949, + -0.9996463112566999 + ], + [ + 0.9720181703332217, + 0.23483665039994156, + -0.005694222597676634, + 0.23474176726909546, + -0.9719598969796918, + -0.013793526112243272, + -0.008773781478820552, + 0.012070886138263988, + -0.9998886510339035 + ], + [ + 0.9787328155660654, + 0.19462657804507372, + -0.06482723850810804, + 0.19511294185959582, + -0.9807800507807342, + 0.0011966241826360463, + -0.06334836740608452, + -0.013819808573396451, + -0.9978957847580971 + ], + [ + 0.9836540130527347, + 0.17098478713154902, + -0.0564711003507922, + 0.16923657600087028, + -0.9849733189504035, + -0.034446223295569525, + -0.06151230729497985, + 0.024326190112827946, + -0.9978098378578167 + ], + [ + 0.989003100475751, + 0.14407824584674186, + -0.03338152667385434, + 0.14318650119697116, + -0.9893071097120886, + -0.02773208517373377, + -0.03702017185699183, + 0.02264733421043774, + -0.9990578587493517 + ], + [ + 0.9982760439768606, + 0.05660214527610383, + -0.015528592082087029, + 0.05616746759035349, + -0.9980527005201877, + -0.027129735878681196, + -0.017033954514310803, + 0.026210763714612523, + -0.9995113007160554 + ], + [ + 0.9988003054719866, + 0.03249402188064397, + -0.03663452375951358, + 0.03204898107352254, + -0.999405980737641, + -0.012670772588235913, + -0.03702448650845988, + 0.011481472373089942, + -0.9992483991435417 + ], + [ + 0.9977512003906762, + 0.047936089098942786, + -0.04684734230308862, + 0.046941370475613475, + -0.9986529612199121, + -0.02210816104002722, + -0.047844015893690826, + 0.01985936576527038, + -0.9986573765484164 + ], + [ + 0.996542984705363, + 0.08299890456994363, + -0.0036416307770742854, + 0.082589892402427, + -0.9944750108074131, + -0.06479477257118355, + -0.008999405951654422, + 0.06427001415734448, + -0.9978919660828683 + ], + [ + 0.9956277685705816, + 0.09203298672990977, + 0.015977352870142875, + 0.09180524645066653, + -0.9956721698726919, + 0.014447382639703221, + 0.01723784137579857, + -0.012917410521380344, + -0.9997679717465074 + ], + [ + 0.9907436987749216, + 0.11338013305597695, + 0.07464495137647457, + 0.10835805070926895, + -0.991768820682908, + 0.06821392209601708, + 0.08176463896009566, + -0.05949413205890937, + -0.9948743599401294 + ], + [ + 0.9916904542180551, + 0.10839719924540456, + 0.06928268332375292, + 0.09512450332658798, + -0.980429670429278, + 0.1723629606638476, + 0.08661046056717003, + -0.1643402219107945, + -0.9825939749370811 + ], + [ + 0.9834167638767933, + 0.18136001238252564, + 0.00012014451999654494, + 0.177149247250667, + -0.9607255751111471, + 0.21359895488011604, + 0.03885373501502251, + -0.2100355094643902, + -0.9769214257244114 + ], + [ + 0.9592445210557925, + 0.2821727667833682, + -0.015115505623764923, + 0.28032949375909677, + -0.9435178992285933, + 0.176605064378207, + 0.03557138953164087, + -0.17364476243492338, + -0.9841657242180848 + ], + [ + 0.9453868355405504, + 0.32503014921464907, + -0.024477199352196468, + 0.32568532425733115, + -0.9389219563743816, + 0.11115138056497856, + 0.01314536990811917, + -0.11305291654621996, + -0.9935020066967011 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005551.json b/json/chunk-0005/episode_0005551.json new file mode 100644 index 0000000000000000000000000000000000000000..77e1094072a9d1d533968cd48b91ba94e39530a8 --- /dev/null +++ b/json/chunk-0005/episode_0005551.json @@ -0,0 +1,3082 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 50, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the cauldron to the middle of stove." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005551.mp4", + "start": 0, + "end": 50, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.30501678586006165, + -0.06794878095388412, + 0.135450080037117, + -0.022765202447772026, + -0.2919558584690094, + 0.7283567786216736, + 0.0, + 0.9988223910331726 + ], + [ + 0.30310168862342834, + -0.06755097955465317, + 0.1256183683872223, + 0.004452981054782867, + -0.27557575702667236, + 0.7204350829124451, + 0.0, + 0.9988223910331726 + ], + [ + 0.31265148520469666, + -0.06778085976839066, + 0.11660240590572357, + -0.01534249447286129, + -0.2889624238014221, + 0.703918993473053, + 0.0, + 0.9988223910331726 + ], + [ + 0.3257725238800049, + -0.07004958391189575, + 0.09453737735748291, + -0.027214013040065765, + -0.3034737706184387, + 0.7483806610107422, + 0.0, + 0.9988223910331726 + ], + [ + 0.3242717385292053, + -0.08113207668066025, + 0.10923870652914047, + 0.011405549012124538, + -0.2728659510612488, + 0.8008737564086914, + 0.0, + 0.9988223910331726 + ], + [ + 0.3225913643836975, + -0.0817476138472557, + 0.10974986851215363, + 0.01799919828772545, + -0.2676668167114258, + 0.8096014261245728, + 0.0, + 0.9988223910331726 + ], + [ + 0.32268792390823364, + -0.08155780285596848, + 0.10980712622404099, + 0.018569158390164375, + -0.26899099349975586, + 0.8089048862457275, + 0.0, + 0.9988223910331726 + ], + [ + 0.32320013642311096, + -0.08187877386808395, + 0.10948465019464493, + 0.013301215134561062, + -0.2701440155506134, + 0.811667799949646, + 0.0, + 0.9988223910331726 + ], + [ + 0.32771074771881104, + -0.08245888352394104, + 0.09233870357275009, + -0.027996327728033066, + -0.298591285943985, + 0.7931551337242126, + 0.0, + 0.9988223910331726 + ], + [ + 0.33102500438690186, + -0.06419926881790161, + 0.07646402716636658, + -0.040240462869405746, + -0.34656238555908203, + 0.7549399137496948, + 0.0, + 0.9988223910331726 + ], + [ + 0.33657583594322205, + -0.04606810584664345, + 0.06892277300357819, + -0.03788600116968155, + -0.38709038496017456, + 0.685233473777771, + 0.0, + 0.9988223910331726 + ], + [ + 0.33335018157958984, + -0.028083760291337967, + 0.06009344756603241, + 0.0006803195574320853, + -0.40562203526496887, + 0.6373612284660339, + 0.0, + 0.9988223910331726 + ], + [ + 0.33111345767974854, + -0.014956001192331314, + 0.05810476839542389, + 0.06455674022436142, + -0.4164823591709137, + 0.5569643974304199, + 0.0, + 0.9988223910331726 + ], + [ + 0.32813912630081177, + -0.0020442758686840534, + 0.06671590358018875, + 0.08744257688522339, + -0.43570777773857117, + 0.5105835795402527, + 0.0, + 0.9988223910331726 + ], + [ + 0.32868555188179016, + 0.011195010505616665, + 0.06409496068954468, + 0.08670571446418762, + -0.4500660002231598, + 0.48464658856391907, + 0.0, + 0.9988223910331726 + ], + [ + 0.3343321681022644, + 0.017054690048098564, + 0.06042544171214104, + 0.060241781175136566, + -0.48523882031440735, + 0.4824250638484955, + 0.0, + 0.9988223910331726 + ], + [ + 0.33745965361595154, + 0.01611507125198841, + 0.04663753882050514, + 0.03374204784631729, + -0.5051501393318176, + 0.4901922345161438, + 0.0, + 0.9981546401977539 + ], + [ + 0.3418188989162445, + 0.012255886569619179, + 0.03607636317610741, + 0.01493852399289608, + -0.518263578414917, + 0.5056399703025818, + 0.0, + 0.9981546401977539 + ], + [ + 0.34210172295570374, + 0.005417327396571636, + 0.031424541026353836, + 0.0160630252212286, + -0.5237186551094055, + 0.516950786113739, + 0.0, + 0.9981546401977539 + ], + [ + 0.3404381573200226, + 0.00032519668457098305, + 0.024335654452443123, + 0.021953627467155457, + -0.5145535469055176, + 0.5290948152542114, + 0.0, + 0.9981546401977539 + ], + [ + 0.33990478515625, + -0.0028927887324243784, + 0.02423769421875477, + 0.0257221981883049, + -0.5152086019515991, + 0.5302149057388306, + 0.0, + 0.9672539830207825 + ], + [ + 0.3423216938972473, + -0.006795504130423069, + 0.02183818258345127, + 0.03146708011627197, + -0.4939133822917938, + 0.5619262456893921, + 0.0, + 0.7061693072319031 + ], + [ + 0.34280166029930115, + -0.010052346624433994, + 0.02347385510802269, + 0.018833564594388008, + -0.4649757742881775, + 0.5838063955307007, + 0.0, + 0.41037410497665405 + ], + [ + 0.3444727063179016, + -0.013106216676533222, + 0.02588224597275257, + 0.0113322539255023, + -0.4441106915473938, + 0.5880292057991028, + 0.0, + 0.1845952719449997 + ], + [ + 0.34619903564453125, + -0.013769223354756832, + 0.03447115793824196, + 0.013255978003144264, + -0.4196477234363556, + 0.5994036793708801, + 0.0, + 0.08501782268285751 + ], + [ + 0.33932217955589294, + -0.016162170097231865, + 0.053979333490133286, + 0.04294082149863243, + -0.3643423020839691, + 0.5784040093421936, + 0.0, + 0.06238236278295517 + ], + [ + 0.32675978541374207, + -0.014498909935355186, + 0.07798827439546585, + 0.08291615545749664, + -0.2881566286087036, + 0.5583248138427734, + 0.0, + 0.05511022359132767 + ], + [ + 0.3113177418708801, + -0.0022153202444314957, + 0.11315970122814178, + 0.10309338569641113, + -0.22577674686908722, + 0.49153077602386475, + 0.0, + 0.05511022359132767 + ], + [ + 0.2953505218029022, + 0.03181639313697815, + 0.1364743560552597, + 0.14582747220993042, + -0.19697491824626923, + 0.395121693611145, + 0.0, + 0.05511022359132767 + ], + [ + 0.2841579020023346, + 0.06310833245515823, + 0.14229126274585724, + 0.17917096614837646, + -0.16286197304725647, + 0.351681649684906, + 0.0, + 0.05511022359132767 + ], + [ + 0.27963098883628845, + 0.07903781533241272, + 0.14497679471969604, + 0.2095162272453308, + -0.1697065532207489, + 0.30763301253318787, + 0.0, + 0.05511022359132767 + ], + [ + 0.26610779762268066, + 0.08579307049512863, + 0.13157308101654053, + 0.2159377783536911, + -0.17845924198627472, + 0.2946329712867737, + 0.0, + 0.05511022359132767 + ], + [ + 0.2571311593055725, + 0.08237616717815399, + 0.11282587796449661, + 0.20227758586406708, + -0.1911681741476059, + 0.28466328978538513, + 0.0, + 0.05511022359132767 + ], + [ + 0.2550773024559021, + 0.07656165957450867, + 0.1117810532450676, + 0.2251686304807663, + -0.17646728456020355, + 0.26315250992774963, + 0.0, + 0.05511022359132767 + ], + [ + 0.2594137489795685, + 0.07455798238515854, + 0.11215193569660187, + 0.21917377412319183, + -0.19657352566719055, + 0.2412922978401184, + 0.0, + 0.05511022359132767 + ], + [ + 0.26875895261764526, + 0.0714707151055336, + 0.09404962509870529, + 0.2067735493183136, + -0.20692302286624908, + 0.22913910448551178, + 0.0, + 0.05511022359132767 + ], + [ + 0.27507904171943665, + 0.07231315970420837, + 0.08136001229286194, + 0.20488302409648895, + -0.21317531168460846, + 0.22291314601898193, + 0.0, + 0.05511022359132767 + ], + [ + 0.27429288625717163, + 0.07294970750808716, + 0.07034821808338165, + 0.2124895602464676, + -0.20868216454982758, + 0.2233683168888092, + 0.0, + 0.05511022359132767 + ], + [ + 0.2747396230697632, + 0.07198071479797363, + 0.06177183613181114, + 0.2039167881011963, + -0.219194233417511, + 0.2284063994884491, + 0.0, + 0.05511022359132767 + ], + [ + 0.2754594683647156, + 0.07490728050470352, + 0.05991341918706894, + 0.21657031774520874, + -0.22301267087459564, + 0.24211670458316803, + 0.0, + 0.05511022359132767 + ], + [ + 0.276088684797287, + 0.0737069770693779, + 0.053522706031799316, + 0.21341677010059357, + -0.24402369558811188, + 0.26594874262809753, + 0.0, + 0.07175325602293015 + ], + [ + 0.27551981806755066, + 0.07203251123428345, + 0.04882452264428139, + 0.215176060795784, + -0.24445371329784393, + 0.26752567291259766, + 0.0, + 0.21606682240962982 + ], + [ + 0.27831292152404785, + 0.07164964079856873, + 0.0485963299870491, + 0.2081005573272705, + -0.26191356778144836, + 0.26685217022895813, + 0.0, + 0.464354008436203 + ], + [ + 0.2763976752758026, + 0.06872422248125076, + 0.048095449805259705, + 0.20887291431427002, + -0.2484981268644333, + 0.2725107967853546, + 0.0, + 0.7672095894813538 + ], + [ + 0.27317294478416443, + 0.06404884159564972, + 0.047483738511800766, + 0.20766331255435944, + -0.2246389240026474, + 0.28338122367858887, + 0.0, + 0.9920742511749268 + ], + [ + 0.2761493921279907, + 0.057571448385715485, + 0.052967097610235214, + 0.20153072476387024, + -0.21341848373413086, + 0.29818886518478394, + 0.0, + 0.9994885921478271 + ], + [ + 0.2830842435359955, + 0.04489080235362053, + 0.06637933105230331, + 0.18589049577713013, + -0.19100269675254822, + 0.34398093819618225, + 0.0, + 0.9994885921478271 + ], + [ + 0.29943570494651794, + 0.02747470699250698, + 0.08302821218967438, + 0.12192392349243164, + -0.2108108401298523, + 0.39359959959983826, + 0.0, + 0.9994885921478271 + ], + [ + 0.3171635568141937, + 0.017181145027279854, + 0.09842954576015472, + 0.04117993637919426, + -0.24346262216567993, + 0.4069089889526367, + 0.0, + 0.9994885921478271 + ], + [ + 0.3322470188140869, + 0.004683312028646469, + 0.09584222733974457, + -0.021407827734947205, + -0.23377878963947296, + 0.4099130928516388, + 0.0, + 0.9994885921478271 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9672539830207825 + ], + [ + 0.7061693072319031 + ], + [ + 0.41037410497665405 + ], + [ + 0.1845952719449997 + ], + [ + 0.08501782268285751 + ], + [ + 0.06238236278295517 + ], + [ + 0.05511022359132767 + ], + [ + 0.05511022359132767 + ], + [ + 0.05511022359132767 + ], + [ + 0.05511022359132767 + ], + [ + 0.05511022359132767 + ], + [ + 0.05511022359132767 + ], + [ + 0.05511022359132767 + ], + [ + 0.05511022359132767 + ], + [ + 0.05511022359132767 + ], + [ + 0.05511022359132767 + ], + [ + 0.05511022359132767 + ], + [ + 0.05511022359132767 + ], + [ + 0.05511022359132767 + ], + [ + 0.05511022359132767 + ], + [ + 0.07175325602293015 + ], + [ + 0.21606682240962982 + ], + [ + 0.464354008436203 + ], + [ + 0.7672095894813538 + ], + [ + 0.9920742511749268 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.30501678586006165, + -0.06794878095388412, + 0.135450080037117 + ], + [ + 0.30310168862342834, + -0.06755097955465317, + 0.1256183683872223 + ], + [ + 0.31265148520469666, + -0.06778085976839066, + 0.11660240590572357 + ], + [ + 0.3257725238800049, + -0.07004958391189575, + 0.09453737735748291 + ], + [ + 0.3242717385292053, + -0.08113207668066025, + 0.10923870652914047 + ], + [ + 0.3225913643836975, + -0.0817476138472557, + 0.10974986851215363 + ], + [ + 0.32268792390823364, + -0.08155780285596848, + 0.10980712622404099 + ], + [ + 0.32320013642311096, + -0.08187877386808395, + 0.10948465019464493 + ], + [ + 0.32771074771881104, + -0.08245888352394104, + 0.09233870357275009 + ], + [ + 0.33102500438690186, + -0.06419926881790161, + 0.07646402716636658 + ], + [ + 0.33657583594322205, + -0.04606810584664345, + 0.06892277300357819 + ], + [ + 0.33335018157958984, + -0.028083760291337967, + 0.06009344756603241 + ], + [ + 0.33111345767974854, + -0.014956001192331314, + 0.05810476839542389 + ], + [ + 0.32813912630081177, + -0.0020442758686840534, + 0.06671590358018875 + ], + [ + 0.32868555188179016, + 0.011195010505616665, + 0.06409496068954468 + ], + [ + 0.3343321681022644, + 0.017054690048098564, + 0.06042544171214104 + ], + [ + 0.33745965361595154, + 0.01611507125198841, + 0.04663753882050514 + ], + [ + 0.3418188989162445, + 0.012255886569619179, + 0.03607636317610741 + ], + [ + 0.34210172295570374, + 0.005417327396571636, + 0.031424541026353836 + ], + [ + 0.3404381573200226, + 0.00032519668457098305, + 0.024335654452443123 + ], + [ + 0.33990478515625, + -0.0028927887324243784, + 0.02423769421875477 + ], + [ + 0.3423216938972473, + -0.006795504130423069, + 0.02183818258345127 + ], + [ + 0.34280166029930115, + -0.010052346624433994, + 0.02347385510802269 + ], + [ + 0.3444727063179016, + -0.013106216676533222, + 0.02588224597275257 + ], + [ + 0.34619903564453125, + -0.013769223354756832, + 0.03447115793824196 + ], + [ + 0.33932217955589294, + -0.016162170097231865, + 0.053979333490133286 + ], + [ + 0.32675978541374207, + -0.014498909935355186, + 0.07798827439546585 + ], + [ + 0.3113177418708801, + -0.0022153202444314957, + 0.11315970122814178 + ], + [ + 0.2953505218029022, + 0.03181639313697815, + 0.1364743560552597 + ], + [ + 0.2841579020023346, + 0.06310833245515823, + 0.14229126274585724 + ], + [ + 0.27963098883628845, + 0.07903781533241272, + 0.14497679471969604 + ], + [ + 0.26610779762268066, + 0.08579307049512863, + 0.13157308101654053 + ], + [ + 0.2571311593055725, + 0.08237616717815399, + 0.11282587796449661 + ], + [ + 0.2550773024559021, + 0.07656165957450867, + 0.1117810532450676 + ], + [ + 0.2594137489795685, + 0.07455798238515854, + 0.11215193569660187 + ], + [ + 0.26875895261764526, + 0.0714707151055336, + 0.09404962509870529 + ], + [ + 0.27507904171943665, + 0.07231315970420837, + 0.08136001229286194 + ], + [ + 0.27429288625717163, + 0.07294970750808716, + 0.07034821808338165 + ], + [ + 0.2747396230697632, + 0.07198071479797363, + 0.06177183613181114 + ], + [ + 0.2754594683647156, + 0.07490728050470352, + 0.05991341918706894 + ], + [ + 0.276088684797287, + 0.0737069770693779, + 0.053522706031799316 + ], + [ + 0.27551981806755066, + 0.07203251123428345, + 0.04882452264428139 + ], + [ + 0.27831292152404785, + 0.07164964079856873, + 0.0485963299870491 + ], + [ + 0.2763976752758026, + 0.06872422248125076, + 0.048095449805259705 + ], + [ + 0.27317294478416443, + 0.06404884159564972, + 0.047483738511800766 + ], + [ + 0.2761493921279907, + 0.057571448385715485, + 0.052967097610235214 + ], + [ + 0.2830842435359955, + 0.04489080235362053, + 0.06637933105230331 + ], + [ + 0.29943570494651794, + 0.02747470699250698, + 0.08302821218967438 + ], + [ + 0.3171635568141937, + 0.017181145027279854, + 0.09842954576015472 + ], + [ + 0.3322470188140869, + 0.004683312028646469, + 0.09584222733974457 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.7146891576865791, + 0.6605823270642827, + 0.2298921422223591, + 0.6374760219278656, + -0.7504370399741955, + 0.17455248638100596, + 0.2878258663710953, + 0.021799958832645377, + -0.9574346100087585 + ], + [ + 0.723162985569543, + 0.6606157493876391, + 0.2015493189349767, + 0.6348199224544134, + -0.7507119759692525, + 0.18285293323136192, + 0.27210101498729755, + -0.004284950098698212, + -0.962259152643161 + ], + [ + 0.7307062383779042, + 0.6438013032935671, + 0.22713052430952163, + 0.6203768482403346, + -0.7650513844034902, + 0.1727105827379783, + 0.284957820322592, + 0.01470581856979182, + -0.958427242693565 + ], + [ + 0.6993061787218564, + 0.6742423241071788, + 0.23741979021131573, + 0.6493591408833189, + -0.7380535148718598, + 0.18332952663597746, + 0.2988370367821115, + 0.0259672402816256, + -0.9539507995066849 + ], + [ + 0.6703264422648203, + 0.7200573708785479, + 0.1793874116097952, + 0.691401674888488, + -0.6938276075625477, + 0.20141244982727674, + 0.2694924577088985, + -0.010983334079637017, + -0.9629398639637436 + ], + [ + 0.6652241608345004, + 0.727178554272243, + 0.1693758130565448, + 0.6982306614121491, + -0.6862288784594949, + 0.20387218994305473, + 0.26448205857106444, + -0.017357320494668635, + -0.9642343927278563 + ], + [ + 0.6654680068755734, + 0.7268132575909185, + 0.1699847652442103, + 0.6975131292560612, + -0.6866018243461895, + 0.20506918178971123, + 0.2657588499758178, + -0.017900374145857698, + -0.9638733372518244 + ], + [ + 0.6633269500566193, + 0.7278150880928022, + 0.17401883482269842, + 0.6991263381137219, + -0.6856536190157719, + 0.202734994725312, + 0.2668702319185878, + -0.012818434968476233, + -0.9636472212592521 + ], + [ + 0.670556025968011, + 0.7065137394050403, + 0.22625859557129493, + 0.6810405306384806, + -0.7071934367783329, + 0.18989796893412664, + 0.294174117939775, + 0.026754046601527318, + -0.9553773125445246 + ], + [ + 0.6850115488382778, + 0.6747380364717572, + 0.2747503595928888, + 0.6445042962823102, + -0.7370867546318506, + 0.20326664315605386, + 0.33966658656957743, + 0.03783778910724049, + -0.9397845027896811 + ], + [ + 0.716984020462526, + 0.6213288460806969, + 0.3160449009704503, + 0.5860297993759465, + -0.7827644896420107, + 0.20940111747283094, + 0.3774956802994968, + 0.03507447481448786, + -0.9253468498739853 + ], + [ + 0.7384568274149005, + 0.5952924224078303, + 0.31671508626545863, + 0.5467905738816824, + -0.8035088929522014, + 0.23535829550043016, + 0.3945903982086487, + -0.0006251164249496399, + -0.9188569131649361 + ], + [ + 0.7763008073252907, + 0.5496643676424664, + 0.30858732879091155, + 0.4834248399549064, + -0.8332997084159954, + 0.26816416626460526, + 0.4045460179765408, + -0.05899727873406806, + -0.9126126453437404 + ], + [ + 0.7909469331783588, + 0.5189767575984209, + 0.3241389732327453, + 0.44302925937738347, + -0.8511139315732186, + 0.28165608606509007, + 0.42205215818815045, + -0.07917196823755422, + -0.9031078425161172 + ], + [ + 0.796725901838328, + 0.4974790958205328, + 0.34313610501007946, + 0.41950103577558867, + -0.8639645024461114, + 0.2785394397500139, + 0.4350249628735246, + -0.07797363486864295, + -0.8970358933410972 + ], + [ + 0.7836105284167747, + 0.48796342073880256, + 0.3845077889656721, + 0.4103745528595832, + -0.8712379444824844, + 0.26932725532190943, + 0.46641962450102875, + -0.05325546089202639, + -0.8829589966501827 + ], + [ + 0.7720519105409611, + 0.4849309925098678, + 0.4108257293956232, + 0.4119939967556796, + -0.8740539895449572, + 0.25746955159362916, + 0.4839388329813307, + -0.029522124990215892, + -0.8746037102989727 + ], + [ + 0.7599780252001492, + 0.4907872571565149, + 0.4261000697320599, + 0.42076061816773974, + -0.8711828070045874, + 0.2529842267389598, + 0.49537248955910224, + -0.012976324302082967, + -0.8685837389656936 + ], + [ + 0.7528099564827613, + 0.5011510922123978, + 0.426760766934759, + 0.4279875506762521, + -0.8652480052678062, + 0.261098728158957, + 0.5001038151089886, + -0.013909426817922357, + -0.8658537416671659 + ], + [ + 0.7514824049268094, + 0.5139568036332237, + 0.4136696738758336, + 0.4393930571735102, + -0.8576031925515195, + 0.26730227352785, + 0.49214625508392834, + -0.019109372688841095, + -0.8703027608150533 + ], + [ + 0.7507114933333615, + 0.5164838782137445, + 0.41191826534214815, + 0.4400713801451826, + -0.8560043845973944, + 0.2712815399675224, + 0.49271638307885457, + -0.022380730446664096, + -0.869902102969274 + ], + [ + 0.7450925902504071, + 0.5451752424325627, + 0.3842147667549173, + 0.4691372446350599, + -0.8378642914305412, + 0.27909438339354137, + 0.4740751814323999, + -0.02770170002352984, + -0.8800484862583672 + ], + [ + 0.7457874993830095, + 0.5581519492275615, + 0.3636858635381788, + 0.49268389091840414, + -0.8295679898670273, + 0.26282985716520363, + 0.448401147850381, + -0.01683305561842109, + -0.8936739108002468 + ], + [ + 0.7513223647480202, + 0.5587377728877437, + 0.35117916421377643, + 0.5009104469290219, + -0.8292812504935586, + 0.24775256151492508, + 0.4296550108945663, + -0.010232728291289697, + -0.9029351376953421 + ], + [ + 0.7540306887655284, + 0.5685599668783211, + 0.3289031536229244, + 0.5152003210275221, + -0.822552747541583, + 0.2407812424690317, + 0.4074387679307416, + -0.012105435767248582, + -0.9131522922338662 + ], + [ + 0.782372072041879, + 0.5589927120621506, + 0.27462900201963086, + 0.5108027196154922, + -0.8282018793872723, + 0.23056935748881902, + 0.35633484606801175, + -0.040109784850976146, + -0.9334970180117849 + ], + [ + 0.8131742504221914, + 0.5479084823121974, + 0.1963260896077023, + 0.5079235478438247, + -0.8327610204872434, + 0.22027880584111303, + 0.28418534092392755, + -0.07940640885589374, + -0.9554754388452701 + ], + [ + 0.8592365596841745, + 0.48978062066909545, + 0.14774125395129267, + 0.4599974830646182, + -0.8660571840134133, + 0.19582458883647286, + 0.22386346302226512, + -0.10029904105101371, + -0.9694458480430593 + ], + [ + 0.9051027270297016, + 0.4070817393676829, + 0.12277422773847696, + 0.37747733302319497, + -0.9022072030844682, + 0.2086456943150209, + 0.19570364477212338, + -0.14250129885682827, + -0.9702543291565483 + ], + [ + 0.9263719394760122, + 0.3660900841266805, + 0.08839162887724031, + 0.33991864854591075, + -0.9138122630742971, + 0.22226664217950787, + 0.16214296815518517, + -0.17585561736592825, + -0.9709708851035004 + ], + [ + 0.939361765504648, + 0.3296602018391387, + 0.09446493969388338, + 0.29845365770601673, + -0.9215745300517297, + 0.24824544258018796, + 0.16889312511138665, + -0.20499887044399032, + -0.9640801706325037 + ], + [ + 0.9417115127404577, + 0.32004034617106786, + 0.1036995833876961, + 0.2857768103665623, + -0.9236405989293757, + 0.25538139843398555, + 0.1775134964694025, + -0.210860666868165, + -0.961263094963663 + ], + [ + 0.9422723341916434, + 0.31174471093131384, + 0.12222145238616584, + 0.2757183334718111, + -0.9294682104103912, + 0.2450882421170631, + 0.1900059178145761, + -0.19724117481615372, + -0.9617659123469621 + ], + [ + 0.9505793651653697, + 0.29140581183508774, + 0.10715187049480934, + 0.25608607266391514, + -0.9310043723697516, + 0.2600976393894744, + 0.17555282370094455, + -0.21980334723824962, + -0.9596185151577092 + ], + [ + 0.9523294572042977, + 0.2744759240968736, + 0.13315994905426806, + 0.23435573295803738, + -0.937653120066948, + 0.2566788204321089, + 0.19530999813288882, + -0.21323600427668174, + -0.9572796932503301 + ], + [ + 0.9530875861758538, + 0.2633777717346079, + 0.14918512805771678, + 0.22229381457652425, + -0.9435368730893381, + 0.24560869105512548, + 0.20544953900776325, + -0.20092366330750341, + -0.9578205303941812 + ], + [ + 0.9531817027277161, + 0.25842620231261526, + 0.15703674583794325, + 0.21606746083030712, + -0.9453441981883166, + 0.2442113824579684, + 0.2115643967103994, + -0.19884729042651714, + -0.9569222858386134 + ], + [ + 0.9540006069866923, + 0.25913907142291676, + 0.1507639994530878, + 0.21670968328960258, + -0.9435462499087438, + 0.2505142460054244, + 0.20717083539326273, + -0.206318724175036, + -0.956301641228981 + ], + [ + 0.9507228598601404, + 0.2646243115663012, + 0.1615549982743252, + 0.22100790838599774, + -0.9438771375101667, + 0.24546171537830613, + 0.2174432067694976, + -0.19766113177272693, + -0.9558496371376214 + ], + [ + 0.9467905333595951, + 0.2802962601903072, + 0.15818246572860428, + 0.2338206539743445, + -0.9367596538188935, + 0.2604020982098968, + 0.22116868611008944, + -0.20955991386816925, + -0.9524542271332004 + ], + [ + 0.9362588090671549, + 0.30623589107165594, + 0.1721598718159999, + 0.25503824139724596, + -0.9295046215442269, + 0.26641444021096805, + 0.24160905998979582, + -0.20552551556308582, + -0.9483587531010482 + ], + [ + 0.9357551807097353, + 0.308088860095891, + 0.17159107220279626, + 0.25648685030498386, + -0.9285263872919755, + 0.2684273527849599, + 0.24202631550209477, + -0.2071714323629757, + -0.947894118674208 + ], + [ + 0.9317090894351836, + 0.3096089574753126, + 0.18989593496152166, + 0.25470330440532984, + -0.9296879739227139, + 0.26609490387544954, + 0.258929332808908, + -0.1995559184652987, + -0.9450571601848241 + ], + [ + 0.9335145668234415, + 0.3124177926780498, + 0.17591383216398218, + 0.26088290521604074, + -0.9284389787661831, + 0.26446393416427394, + 0.24594849723972886, + -0.20098802333915863, + -0.948215772479944 + ], + [ + 0.9359922412772251, + 0.31769083548844124, + 0.15162802285689936, + 0.2725784541173285, + -0.9266466611849302, + 0.2588956385608457, + 0.2227543728411267, + -0.20099377692226383, + -0.9539297620992224 + ], + [ + 0.9341839258665379, + 0.3283688995620463, + 0.139550200476365, + 0.2871241558071794, + -0.9240690218471607, + 0.2523017281241776, + 0.21180205807450855, + -0.19562798537745718, + -0.9575330696809171 + ], + [ + 0.9242993016654643, + 0.3644593588067584, + 0.11331450356817227, + 0.33110461269560754, + -0.9133681645995941, + 0.23691418561930852, + 0.18984345232961422, + -0.18146066150583437, + -0.964899731543873 + ], + [ + 0.9030889357241069, + 0.40417195286662083, + 0.14517371211304628, + 0.3750248199975212, + -0.9069182954488533, + 0.19197809709957275, + 0.20925285794589857, + -0.11892955013842531, + -0.9706023920974772 + ], + [ + 0.8912656011068996, + 0.4045509634502467, + 0.20490033249127407, + 0.3841008992936898, + -0.9136422600050875, + 0.13313271534290722, + 0.24106457111184196, + -0.03995420759161553, + -0.9696863069314686 + ], + [ + 0.8922069676278176, + 0.39389026246120235, + 0.22094612025247276, + 0.3876888059308233, + -0.9189215561196276, + 0.07266748553937379, + 0.23165516759249613, + 0.020823900617506278, + -0.9725750605946902 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0019150972366333008, + 0.00039780139923095703, + -0.009831711649894714, + 0.027218183502554893, + 0.016380101442337036, + -0.007921695709228516, + 1.0 + ], + [ + 0.00954979658126831, + -0.0002298802137374878, + -0.009015962481498718, + -0.019795475527644157, + -0.013386666774749756, + -0.01651608943939209, + 1.0 + ], + [ + 0.013121038675308228, + -0.0022687241435050964, + -0.02206502854824066, + -0.011871518567204475, + -0.014511346817016602, + 0.04446166753768921, + 1.0 + ], + [ + -0.0015007853507995605, + -0.011082492768764496, + 0.014701329171657562, + 0.03861956298351288, + 0.03060781955718994, + 0.05249309539794922, + 1.0 + ], + [ + -0.0016803741455078125, + -0.000615537166595459, + 0.0005111619830131531, + 0.00659364927560091, + 0.005199134349822998, + 0.008727669715881348, + 1.0 + ], + [ + 9.655952453613281e-05, + 0.00018981099128723145, + 5.725771188735962e-05, + 0.0005699601024389267, + -0.0013241767883300781, + -0.0006965398788452148, + 1.0 + ], + [ + 0.0005122125148773193, + -0.0003209710121154785, + -0.00032247602939605713, + -0.0052679432556033134, + -0.001153022050857544, + 0.002762913703918457, + 1.0 + ], + [ + 0.004510611295700073, + -0.0005801096558570862, + -0.017145946621894836, + -0.0412975437939167, + -0.028447270393371582, + -0.01851266622543335, + 1.0 + ], + [ + 0.0033142566680908203, + 0.01825961470603943, + -0.015874676406383514, + -0.01224413514137268, + -0.047971099615097046, + -0.03821521997451782, + 1.0 + ], + [ + 0.00555083155632019, + 0.018131162971258163, + -0.007541254162788391, + 0.0023544616997241974, + -0.04052799940109253, + -0.06970643997192383, + 1.0 + ], + [ + -0.003225654363632202, + 0.01798434555530548, + -0.008829325437545776, + 0.03856632113456726, + -0.01853165030479431, + -0.04787224531173706, + 1.0 + ], + [ + -0.0022367238998413086, + 0.013127759099006653, + -0.0019886791706085205, + 0.06387642025947571, + -0.010860323905944824, + -0.08039683103561401, + 1.0 + ], + [ + -0.0029743313789367676, + 0.012911725789308548, + 0.008611135184764862, + 0.02288583666086197, + -0.01922541856765747, + -0.046380817890167236, + 1.0 + ], + [ + 0.0005464255809783936, + 0.013239286839962006, + -0.0026209428906440735, + -0.0007368624210357666, + -0.014358222484588623, + -0.025936990976333618, + 1.0 + ], + [ + 0.005646616220474243, + 0.005859679542481899, + -0.0036695189774036407, + -0.026463933289051056, + -0.03517282009124756, + -0.002221524715423584, + 1.0 + ], + [ + 0.003127485513687134, + -0.0009396187961101532, + -0.013787902891635895, + -0.026499733328819275, + -0.01991131901741028, + 0.007767170667648315, + 1.0 + ], + [ + 0.004359245300292969, + -0.003859184682369232, + -0.010561175644397736, + -0.01880352385342121, + -0.013113439083099365, + 0.015447735786437988, + 1.0 + ], + [ + 0.0002828240394592285, + -0.006838559173047543, + -0.0046518221497535706, + 0.0011245012283325195, + -0.005455076694488525, + 0.011310815811157227, + 1.0 + ], + [ + -0.0016635656356811523, + -0.00509213050827384, + -0.007088886573910713, + 0.005890602245926857, + 0.00916510820388794, + 0.012144029140472412, + 1.0 + ], + [ + -0.000533372163772583, + -0.003217985387891531, + -9.796023368835449e-05, + 0.0037685707211494446, + -0.000655055046081543, + 0.0011200904846191406, + 0.0 + ], + [ + 0.0024169087409973145, + -0.0039027153979986906, + -0.0023995116353034973, + 0.0057448819279670715, + 0.021295219659805298, + 0.03171133995056152, + 0.0 + ], + [ + 0.000479966402053833, + -0.0032568424940109253, + 0.0016356725245714188, + -0.012633515521883965, + 0.028937608003616333, + 0.021880149841308594, + 0.0 + ], + [ + 0.0016710460186004639, + -0.003053870052099228, + 0.0024083908647298813, + -0.007501310668885708, + 0.02086508274078369, + 0.0042228102684021, + 0.0 + ], + [ + 0.0017263293266296387, + -0.0006630066782236099, + 0.008588911965489388, + 0.001923724077641964, + 0.024462968111038208, + 0.011374473571777344, + 0.0 + ], + [ + -0.006876856088638306, + -0.002392946742475033, + 0.019508175551891327, + 0.029684843495488167, + 0.055305421352386475, + -0.020999670028686523, + 0.0 + ], + [ + -0.012562394142150879, + 0.0016632601618766785, + 0.024008940905332565, + 0.03997533395886421, + 0.0761856734752655, + -0.020079195499420166, + 0.0 + ], + [ + -0.015442043542861938, + 0.01228358969092369, + 0.035171426832675934, + 0.02017723023891449, + 0.062379881739616394, + -0.06679403781890869, + 0.0 + ], + [ + -0.015967220067977905, + 0.034031711518764496, + 0.02331465482711792, + 0.04273408651351929, + 0.028801828622817993, + -0.09640908241271973, + 0.0 + ], + [ + -0.011192619800567627, + 0.031291939318180084, + 0.005816906690597534, + 0.033343493938446045, + 0.034112945199012756, + -0.043440043926239014, + 0.0 + ], + [ + -0.004526913166046143, + 0.015929482877254486, + 0.002685531973838806, + 0.030345261096954346, + -0.006844580173492432, + -0.04404863715171814, + 0.0 + ], + [ + -0.013523191213607788, + 0.006755255162715912, + -0.013403713703155518, + 0.0064215511083602905, + -0.008752688765525818, + -0.013000041246414185, + 0.0 + ], + [ + -0.008976638317108154, + -0.00341690331697464, + -0.018747203052043915, + -0.013660192489624023, + -0.012708932161331177, + -0.00996968150138855, + 0.0 + ], + [ + -0.00205385684967041, + -0.005814507603645325, + -0.0010448247194290161, + 0.02289104461669922, + 0.014700889587402344, + -0.021510779857635498, + 0.0 + ], + [ + 0.004336446523666382, + -0.002003677189350128, + 0.00037088245153427124, + -0.005994856357574463, + -0.020106241106987, + -0.021860212087631226, + 0.0 + ], + [ + 0.009345203638076782, + -0.003087267279624939, + -0.018102310597896576, + -0.012400224804878235, + -0.010349497199058533, + -0.012153193354606628, + 0.0 + ], + [ + 0.006320089101791382, + 0.0008424445986747742, + -0.012689612805843353, + -0.001890525221824646, + -0.006252288818359375, + -0.006225958466529846, + 0.0 + ], + [ + -0.0007861554622650146, + 0.0006365478038787842, + -0.011011794209480286, + 0.007606536149978638, + 0.004493147134780884, + 0.0004551708698272705, + 0.0 + ], + [ + 0.00044673681259155273, + -0.0009689927101135254, + -0.00857638195157051, + -0.008572772145271301, + -0.01051206886768341, + 0.005038082599639893, + 0.0 + ], + [ + 0.0007198452949523926, + 0.002926565706729889, + -0.0018584169447422028, + 0.012653529644012451, + -0.0038184374570846558, + 0.013710305094718933, + 0.0 + ], + [ + 0.0006292164325714111, + -0.0012003034353256226, + -0.006390713155269623, + -0.0031535476446151733, + -0.021011024713516235, + 0.023832038044929504, + 1.0 + ], + [ + -0.0005688667297363281, + -0.001674465835094452, + -0.004698183387517929, + 0.0017592906951904297, + -0.00043001770973205566, + 0.001576930284500122, + 1.0 + ], + [ + 0.0027931034564971924, + -0.0003828704357147217, + -0.00022819265723228455, + -0.007075503468513489, + -0.01745985448360443, + -0.0006735026836395264, + 1.0 + ], + [ + -0.0019152462482452393, + -0.0029254183173179626, + -0.0005008801817893982, + 0.0007723569869995117, + 0.013415440917015076, + 0.005658626556396484, + 1.0 + ], + [ + -0.0032247304916381836, + -0.004675380885601044, + -0.0006117112934589386, + -0.0012096017599105835, + 0.02385920286178589, + 0.010870426893234253, + 1.0 + ], + [ + 0.002976447343826294, + -0.006477393209934235, + 0.005483359098434448, + -0.006132587790489197, + 0.01122044026851654, + 0.014807641506195068, + 1.0 + ], + [ + 0.006934851408004761, + -0.012680646032094955, + 0.0134122334420681, + -0.015640228986740112, + 0.02241578698158264, + 0.045792073011398315, + 1.0 + ], + [ + 0.01635146141052246, + -0.01741609536111355, + 0.016648881137371063, + -0.06396657228469849, + -0.019808143377304077, + 0.049618661403656006, + 1.0 + ], + [ + 0.01772785186767578, + -0.010293561965227127, + 0.015401333570480347, + -0.08074398338794708, + -0.03265178203582764, + 0.013309389352798462, + 1.0 + ], + [ + 0.015083461999893188, + -0.012497832998633385, + -0.0025873184204101562, + -0.06258776783943176, + 0.00968383252620697, + 0.003004103899002075, + 1.0 + ], + [ + 0.009104818105697632, + -0.01681985706090927, + -0.0006717443466186523, + -0.05480380356311798, + 0.0056113749742507935, + 0.0019340813159942627, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9672539830207825 + ], + [ + 0.7061693072319031 + ], + [ + 0.41037410497665405 + ], + [ + 0.1845952719449997 + ], + [ + 0.08501782268285751 + ], + [ + 0.06238236278295517 + ], + [ + 0.05511022359132767 + ], + [ + 0.05511022359132767 + ], + [ + 0.05511022359132767 + ], + [ + 0.05511022359132767 + ], + [ + 0.05511022359132767 + ], + [ + 0.05511022359132767 + ], + [ + 0.05511022359132767 + ], + [ + 0.05511022359132767 + ], + [ + 0.05511022359132767 + ], + [ + 0.05511022359132767 + ], + [ + 0.05511022359132767 + ], + [ + 0.05511022359132767 + ], + [ + 0.05511022359132767 + ], + [ + 0.05511022359132767 + ], + [ + 0.07175325602293015 + ], + [ + 0.21606682240962982 + ], + [ + 0.464354008436203 + ], + [ + 0.7672095894813538 + ], + [ + 0.9920742511749268 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.30310168862342834, + -0.06755097955465317, + 0.1256183683872223 + ], + [ + 0.31265148520469666, + -0.06778085976839066, + 0.11660240590572357 + ], + [ + 0.3257725238800049, + -0.07004958391189575, + 0.09453737735748291 + ], + [ + 0.3242717385292053, + -0.08113207668066025, + 0.10923870652914047 + ], + [ + 0.3225913643836975, + -0.0817476138472557, + 0.10974986851215363 + ], + [ + 0.32268792390823364, + -0.08155780285596848, + 0.10980712622404099 + ], + [ + 0.32320013642311096, + -0.08187877386808395, + 0.10948465019464493 + ], + [ + 0.32771074771881104, + -0.08245888352394104, + 0.09233870357275009 + ], + [ + 0.33102500438690186, + -0.06419926881790161, + 0.07646402716636658 + ], + [ + 0.33657583594322205, + -0.04606810584664345, + 0.06892277300357819 + ], + [ + 0.33335018157958984, + -0.028083760291337967, + 0.06009344756603241 + ], + [ + 0.33111345767974854, + -0.014956001192331314, + 0.05810476839542389 + ], + [ + 0.32813912630081177, + -0.0020442758686840534, + 0.06671590358018875 + ], + [ + 0.32868555188179016, + 0.011195010505616665, + 0.06409496068954468 + ], + [ + 0.3343321681022644, + 0.017054690048098564, + 0.06042544171214104 + ], + [ + 0.33745965361595154, + 0.01611507125198841, + 0.04663753882050514 + ], + [ + 0.3418188989162445, + 0.012255886569619179, + 0.03607636317610741 + ], + [ + 0.34210172295570374, + 0.005417327396571636, + 0.031424541026353836 + ], + [ + 0.3404381573200226, + 0.00032519668457098305, + 0.024335654452443123 + ], + [ + 0.33990478515625, + -0.0028927887324243784, + 0.02423769421875477 + ], + [ + 0.3423216938972473, + -0.006795504130423069, + 0.02183818258345127 + ], + [ + 0.34280166029930115, + -0.010052346624433994, + 0.02347385510802269 + ], + [ + 0.3444727063179016, + -0.013106216676533222, + 0.02588224597275257 + ], + [ + 0.34619903564453125, + -0.013769223354756832, + 0.03447115793824196 + ], + [ + 0.33932217955589294, + -0.016162170097231865, + 0.053979333490133286 + ], + [ + 0.32675978541374207, + -0.014498909935355186, + 0.07798827439546585 + ], + [ + 0.3113177418708801, + -0.0022153202444314957, + 0.11315970122814178 + ], + [ + 0.2953505218029022, + 0.03181639313697815, + 0.1364743560552597 + ], + [ + 0.2841579020023346, + 0.06310833245515823, + 0.14229126274585724 + ], + [ + 0.27963098883628845, + 0.07903781533241272, + 0.14497679471969604 + ], + [ + 0.26610779762268066, + 0.08579307049512863, + 0.13157308101654053 + ], + [ + 0.2571311593055725, + 0.08237616717815399, + 0.11282587796449661 + ], + [ + 0.2550773024559021, + 0.07656165957450867, + 0.1117810532450676 + ], + [ + 0.2594137489795685, + 0.07455798238515854, + 0.11215193569660187 + ], + [ + 0.26875895261764526, + 0.0714707151055336, + 0.09404962509870529 + ], + [ + 0.27507904171943665, + 0.07231315970420837, + 0.08136001229286194 + ], + [ + 0.27429288625717163, + 0.07294970750808716, + 0.07034821808338165 + ], + [ + 0.2747396230697632, + 0.07198071479797363, + 0.06177183613181114 + ], + [ + 0.2754594683647156, + 0.07490728050470352, + 0.05991341918706894 + ], + [ + 0.276088684797287, + 0.0737069770693779, + 0.053522706031799316 + ], + [ + 0.27551981806755066, + 0.07203251123428345, + 0.04882452264428139 + ], + [ + 0.27831292152404785, + 0.07164964079856873, + 0.0485963299870491 + ], + [ + 0.2763976752758026, + 0.06872422248125076, + 0.048095449805259705 + ], + [ + 0.27317294478416443, + 0.06404884159564972, + 0.047483738511800766 + ], + [ + 0.2761493921279907, + 0.057571448385715485, + 0.052967097610235214 + ], + [ + 0.2830842435359955, + 0.04489080235362053, + 0.06637933105230331 + ], + [ + 0.29943570494651794, + 0.02747470699250698, + 0.08302821218967438 + ], + [ + 0.3171635568141937, + 0.017181145027279854, + 0.09842954576015472 + ], + [ + 0.3322470188140869, + 0.004683312028646469, + 0.09584222733974457 + ], + [ + 0.34135183691978455, + -0.012136544100940228, + 0.09517048299312592 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.723162985569543, + 0.6606157493876391, + 0.2015493189349767, + 0.6348199224544134, + -0.7507119759692525, + 0.18285293323136192, + 0.27210101498729755, + -0.004284950098698212, + -0.962259152643161 + ], + [ + 0.7307062383779042, + 0.6438013032935671, + 0.22713052430952163, + 0.6203768482403346, + -0.7650513844034902, + 0.1727105827379783, + 0.284957820322592, + 0.01470581856979182, + -0.958427242693565 + ], + [ + 0.6993061787218564, + 0.6742423241071788, + 0.23741979021131573, + 0.6493591408833189, + -0.7380535148718598, + 0.18332952663597746, + 0.2988370367821115, + 0.0259672402816256, + -0.9539507995066849 + ], + [ + 0.6703264422648203, + 0.7200573708785479, + 0.1793874116097952, + 0.691401674888488, + -0.6938276075625477, + 0.20141244982727674, + 0.2694924577088985, + -0.010983334079637017, + -0.9629398639637436 + ], + [ + 0.6652241608345004, + 0.727178554272243, + 0.1693758130565448, + 0.6982306614121491, + -0.6862288784594949, + 0.20387218994305473, + 0.26448205857106444, + -0.017357320494668635, + -0.9642343927278563 + ], + [ + 0.6654680068755734, + 0.7268132575909185, + 0.1699847652442103, + 0.6975131292560612, + -0.6866018243461895, + 0.20506918178971123, + 0.2657588499758178, + -0.017900374145857698, + -0.9638733372518244 + ], + [ + 0.6633269500566193, + 0.7278150880928022, + 0.17401883482269842, + 0.6991263381137219, + -0.6856536190157719, + 0.202734994725312, + 0.2668702319185878, + -0.012818434968476233, + -0.9636472212592521 + ], + [ + 0.670556025968011, + 0.7065137394050403, + 0.22625859557129493, + 0.6810405306384806, + -0.7071934367783329, + 0.18989796893412664, + 0.294174117939775, + 0.026754046601527318, + -0.9553773125445246 + ], + [ + 0.6850115488382778, + 0.6747380364717572, + 0.2747503595928888, + 0.6445042962823102, + -0.7370867546318506, + 0.20326664315605386, + 0.33966658656957743, + 0.03783778910724049, + -0.9397845027896811 + ], + [ + 0.716984020462526, + 0.6213288460806969, + 0.3160449009704503, + 0.5860297993759465, + -0.7827644896420107, + 0.20940111747283094, + 0.3774956802994968, + 0.03507447481448786, + -0.9253468498739853 + ], + [ + 0.7384568274149005, + 0.5952924224078303, + 0.31671508626545863, + 0.5467905738816824, + -0.8035088929522014, + 0.23535829550043016, + 0.3945903982086487, + -0.0006251164249496399, + -0.9188569131649361 + ], + [ + 0.7763008073252907, + 0.5496643676424664, + 0.30858732879091155, + 0.4834248399549064, + -0.8332997084159954, + 0.26816416626460526, + 0.4045460179765408, + -0.05899727873406806, + -0.9126126453437404 + ], + [ + 0.7909469331783588, + 0.5189767575984209, + 0.3241389732327453, + 0.44302925937738347, + -0.8511139315732186, + 0.28165608606509007, + 0.42205215818815045, + -0.07917196823755422, + -0.9031078425161172 + ], + [ + 0.796725901838328, + 0.4974790958205328, + 0.34313610501007946, + 0.41950103577558867, + -0.8639645024461114, + 0.2785394397500139, + 0.4350249628735246, + -0.07797363486864295, + -0.8970358933410972 + ], + [ + 0.7836105284167747, + 0.48796342073880256, + 0.3845077889656721, + 0.4103745528595832, + -0.8712379444824844, + 0.26932725532190943, + 0.46641962450102875, + -0.05325546089202639, + -0.8829589966501827 + ], + [ + 0.7720519105409611, + 0.4849309925098678, + 0.4108257293956232, + 0.4119939967556796, + -0.8740539895449572, + 0.25746955159362916, + 0.4839388329813307, + -0.029522124990215892, + -0.8746037102989727 + ], + [ + 0.7599780252001492, + 0.4907872571565149, + 0.4261000697320599, + 0.42076061816773974, + -0.8711828070045874, + 0.2529842267389598, + 0.49537248955910224, + -0.012976324302082967, + -0.8685837389656936 + ], + [ + 0.7528099564827613, + 0.5011510922123978, + 0.426760766934759, + 0.4279875506762521, + -0.8652480052678062, + 0.261098728158957, + 0.5001038151089886, + -0.013909426817922357, + -0.8658537416671659 + ], + [ + 0.7514824049268094, + 0.5139568036332237, + 0.4136696738758336, + 0.4393930571735102, + -0.8576031925515195, + 0.26730227352785, + 0.49214625508392834, + -0.019109372688841095, + -0.8703027608150533 + ], + [ + 0.7507114933333615, + 0.5164838782137445, + 0.41191826534214815, + 0.4400713801451826, + -0.8560043845973944, + 0.2712815399675224, + 0.49271638307885457, + -0.022380730446664096, + -0.869902102969274 + ], + [ + 0.7450925902504071, + 0.5451752424325627, + 0.3842147667549173, + 0.4691372446350599, + -0.8378642914305412, + 0.27909438339354137, + 0.4740751814323999, + -0.02770170002352984, + -0.8800484862583672 + ], + [ + 0.7457874993830095, + 0.5581519492275615, + 0.3636858635381788, + 0.49268389091840414, + -0.8295679898670273, + 0.26282985716520363, + 0.448401147850381, + -0.01683305561842109, + -0.8936739108002468 + ], + [ + 0.7513223647480202, + 0.5587377728877437, + 0.35117916421377643, + 0.5009104469290219, + -0.8292812504935586, + 0.24775256151492508, + 0.4296550108945663, + -0.010232728291289697, + -0.9029351376953421 + ], + [ + 0.7540306887655284, + 0.5685599668783211, + 0.3289031536229244, + 0.5152003210275221, + -0.822552747541583, + 0.2407812424690317, + 0.4074387679307416, + -0.012105435767248582, + -0.9131522922338662 + ], + [ + 0.782372072041879, + 0.5589927120621506, + 0.27462900201963086, + 0.5108027196154922, + -0.8282018793872723, + 0.23056935748881902, + 0.35633484606801175, + -0.040109784850976146, + -0.9334970180117849 + ], + [ + 0.8131742504221914, + 0.5479084823121974, + 0.1963260896077023, + 0.5079235478438247, + -0.8327610204872434, + 0.22027880584111303, + 0.28418534092392755, + -0.07940640885589374, + -0.9554754388452701 + ], + [ + 0.8592365596841745, + 0.48978062066909545, + 0.14774125395129267, + 0.4599974830646182, + -0.8660571840134133, + 0.19582458883647286, + 0.22386346302226512, + -0.10029904105101371, + -0.9694458480430593 + ], + [ + 0.9051027270297016, + 0.4070817393676829, + 0.12277422773847696, + 0.37747733302319497, + -0.9022072030844682, + 0.2086456943150209, + 0.19570364477212338, + -0.14250129885682827, + -0.9702543291565483 + ], + [ + 0.9263719394760122, + 0.3660900841266805, + 0.08839162887724031, + 0.33991864854591075, + -0.9138122630742971, + 0.22226664217950787, + 0.16214296815518517, + -0.17585561736592825, + -0.9709708851035004 + ], + [ + 0.939361765504648, + 0.3296602018391387, + 0.09446493969388338, + 0.29845365770601673, + -0.9215745300517297, + 0.24824544258018796, + 0.16889312511138665, + -0.20499887044399032, + -0.9640801706325037 + ], + [ + 0.9417115127404577, + 0.32004034617106786, + 0.1036995833876961, + 0.2857768103665623, + -0.9236405989293757, + 0.25538139843398555, + 0.1775134964694025, + -0.210860666868165, + -0.961263094963663 + ], + [ + 0.9422723341916434, + 0.31174471093131384, + 0.12222145238616584, + 0.2757183334718111, + -0.9294682104103912, + 0.2450882421170631, + 0.1900059178145761, + -0.19724117481615372, + -0.9617659123469621 + ], + [ + 0.9505793651653697, + 0.29140581183508774, + 0.10715187049480934, + 0.25608607266391514, + -0.9310043723697516, + 0.2600976393894744, + 0.17555282370094455, + -0.21980334723824962, + -0.9596185151577092 + ], + [ + 0.9523294572042977, + 0.2744759240968736, + 0.13315994905426806, + 0.23435573295803738, + -0.937653120066948, + 0.2566788204321089, + 0.19530999813288882, + -0.21323600427668174, + -0.9572796932503301 + ], + [ + 0.9530875861758538, + 0.2633777717346079, + 0.14918512805771678, + 0.22229381457652425, + -0.9435368730893381, + 0.24560869105512548, + 0.20544953900776325, + -0.20092366330750341, + -0.9578205303941812 + ], + [ + 0.9531817027277161, + 0.25842620231261526, + 0.15703674583794325, + 0.21606746083030712, + -0.9453441981883166, + 0.2442113824579684, + 0.2115643967103994, + -0.19884729042651714, + -0.9569222858386134 + ], + [ + 0.9540006069866923, + 0.25913907142291676, + 0.1507639994530878, + 0.21670968328960258, + -0.9435462499087438, + 0.2505142460054244, + 0.20717083539326273, + -0.206318724175036, + -0.956301641228981 + ], + [ + 0.9507228598601404, + 0.2646243115663012, + 0.1615549982743252, + 0.22100790838599774, + -0.9438771375101667, + 0.24546171537830613, + 0.2174432067694976, + -0.19766113177272693, + -0.9558496371376214 + ], + [ + 0.9467905333595951, + 0.2802962601903072, + 0.15818246572860428, + 0.2338206539743445, + -0.9367596538188935, + 0.2604020982098968, + 0.22116868611008944, + -0.20955991386816925, + -0.9524542271332004 + ], + [ + 0.9362588090671549, + 0.30623589107165594, + 0.1721598718159999, + 0.25503824139724596, + -0.9295046215442269, + 0.26641444021096805, + 0.24160905998979582, + -0.20552551556308582, + -0.9483587531010482 + ], + [ + 0.9357551807097353, + 0.308088860095891, + 0.17159107220279626, + 0.25648685030498386, + -0.9285263872919755, + 0.2684273527849599, + 0.24202631550209477, + -0.2071714323629757, + -0.947894118674208 + ], + [ + 0.9317090894351836, + 0.3096089574753126, + 0.18989593496152166, + 0.25470330440532984, + -0.9296879739227139, + 0.26609490387544954, + 0.258929332808908, + -0.1995559184652987, + -0.9450571601848241 + ], + [ + 0.9335145668234415, + 0.3124177926780498, + 0.17591383216398218, + 0.26088290521604074, + -0.9284389787661831, + 0.26446393416427394, + 0.24594849723972886, + -0.20098802333915863, + -0.948215772479944 + ], + [ + 0.9359922412772251, + 0.31769083548844124, + 0.15162802285689936, + 0.2725784541173285, + -0.9266466611849302, + 0.2588956385608457, + 0.2227543728411267, + -0.20099377692226383, + -0.9539297620992224 + ], + [ + 0.9341839258665379, + 0.3283688995620463, + 0.139550200476365, + 0.2871241558071794, + -0.9240690218471607, + 0.2523017281241776, + 0.21180205807450855, + -0.19562798537745718, + -0.9575330696809171 + ], + [ + 0.9242993016654643, + 0.3644593588067584, + 0.11331450356817227, + 0.33110461269560754, + -0.9133681645995941, + 0.23691418561930852, + 0.18984345232961422, + -0.18146066150583437, + -0.964899731543873 + ], + [ + 0.9030889357241069, + 0.40417195286662083, + 0.14517371211304628, + 0.3750248199975212, + -0.9069182954488533, + 0.19197809709957275, + 0.20925285794589857, + -0.11892955013842531, + -0.9706023920974772 + ], + [ + 0.8912656011068996, + 0.4045509634502467, + 0.20490033249127407, + 0.3841008992936898, + -0.9136422600050875, + 0.13313271534290722, + 0.24106457111184196, + -0.03995420759161553, + -0.9696863069314686 + ], + [ + 0.8922069676278176, + 0.39389026246120235, + 0.22094612025247276, + 0.3876888059308233, + -0.9189215561196276, + 0.07266748553937379, + 0.23165516759249613, + 0.020823900617506278, + -0.9725750605946902 + ], + [ + 0.8926326464955454, + 0.3833589683687659, + 0.23715577113280242, + 0.3899279021437961, + -0.9206169218693084, + 0.020511321206052712, + 0.2261928149612555, + 0.07416457738782885, + -0.9712550776808263 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005552.json b/json/chunk-0005/episode_0005552.json new file mode 100644 index 0000000000000000000000000000000000000000..ed0904a59af110dd0274babffd276e400f8953f0 --- /dev/null +++ b/json/chunk-0005/episode_0005552.json @@ -0,0 +1,2242 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 36, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut the french fry to the right of the cloth." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005552.mp4", + "start": 0, + "end": 36, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.33322182297706604, + -0.009352898225188255, + 0.08042299747467041, + -0.32989150285720825, + -0.14686237275600433, + 0.8641995191574097, + 0.0, + 1.0001531839370728 + ], + [ + 0.32863304018974304, + -0.009843390434980392, + 0.07060494273900986, + -0.2975514829158783, + -0.1287713199853897, + 0.8538122177124023, + 0.0, + 1.0001531839370728 + ], + [ + 0.3142991364002228, + -0.024320809170603752, + 0.06546182930469513, + -0.2117319256067276, + -0.15765215456485748, + 0.7262064814567566, + 0.0, + 1.0001531839370728 + ], + [ + 0.307524174451828, + -0.03807419538497925, + 0.07690262049436569, + -0.19693799316883087, + -0.21634334325790405, + 0.6407943367958069, + 0.0, + 1.0001531839370728 + ], + [ + 0.29700767993927, + -0.05155693367123604, + 0.07397571951150894, + -0.15853336453437805, + -0.23171287775039673, + 0.5626805424690247, + 0.0, + 1.0001531839370728 + ], + [ + 0.290552020072937, + -0.06158067658543587, + 0.06650454550981522, + -0.12236577272415161, + -0.23801130056381226, + 0.5076623558998108, + 0.0, + 1.0001531839370728 + ], + [ + 0.2824515104293823, + -0.06087782606482506, + 0.05626878887414932, + -0.07790123671293259, + -0.22029267251491547, + 0.46255365014076233, + 0.0, + 1.0001531839370728 + ], + [ + 0.2728216052055359, + -0.0556437112390995, + 0.040174245834350586, + -0.019579850137233734, + -0.18284381926059723, + 0.4389464259147644, + 0.0, + 1.0001531839370728 + ], + [ + 0.2711746096611023, + -0.05324000492691994, + 0.03346806764602661, + -0.004726401064544916, + -0.17980942130088806, + 0.42199182510375977, + 0.0, + 1.0001531839370728 + ], + [ + 0.27118635177612305, + -0.05112772434949875, + 0.023196782916784286, + 0.010989557020366192, + -0.1727934032678604, + 0.40332943201065063, + 0.0, + 1.0001531839370728 + ], + [ + 0.26927536725997925, + -0.049327656626701355, + 0.010786935687065125, + 0.04168557748198509, + -0.14885814487934113, + 0.383203387260437, + 0.0, + 1.0001531839370728 + ], + [ + 0.2734958827495575, + -0.051135603338479996, + 0.006370072718709707, + 0.03959619253873825, + -0.1455109864473343, + 0.3748587965965271, + 0.0, + 0.939095675945282 + ], + [ + 0.2754139304161072, + -0.052697598934173584, + 0.005258587189018726, + 0.038476791232824326, + -0.1605042964220047, + 0.3599682152271271, + 0.0, + 0.6541022062301636 + ], + [ + 0.27668508887290955, + -0.054081279784440994, + 0.00471175741404295, + 0.039424773305654526, + -0.16187900304794312, + 0.3574766218662262, + 0.0, + 0.37205085158348083 + ], + [ + 0.27571505308151245, + -0.05356285721063614, + 0.004444865044206381, + 0.046638332307338715, + -0.15519389510154724, + 0.3531034588813782, + 0.0, + 0.21606682240962982 + ], + [ + 0.27434176206588745, + -0.05293876305222511, + 0.004239855334162712, + 0.04689262434840202, + -0.1556200534105301, + 0.36419031023979187, + 0.0, + 0.20684583485126495 + ], + [ + 0.2675064206123352, + -0.051157500594854355, + 0.006826121360063553, + 0.04020882025361061, + -0.14775553345680237, + 0.38638997077941895, + 0.0, + 0.20684583485126495 + ], + [ + 0.2647913098335266, + -0.052574191242456436, + 0.0178659837692976, + 0.016624508425593376, + -0.14435632526874542, + 0.43837541341781616, + 0.0, + 0.20684583485126495 + ], + [ + 0.267333060503006, + -0.046910740435123444, + 0.03578757122159004, + -0.016146836802363396, + -0.15280869603157043, + 0.4975704252719879, + 0.0, + 0.20684583485126495 + ], + [ + 0.27691105008125305, + -0.035955075174570084, + 0.04886476323008537, + -0.05174209550023079, + -0.16852742433547974, + 0.5706329345703125, + 0.0, + 0.2062399983406067 + ], + [ + 0.28942734003067017, + -0.016749368980526924, + 0.05799403041601181, + -0.09039086848497391, + -0.18056830763816833, + 0.7062302827835083, + 0.0, + 0.20684583485126495 + ], + [ + 0.31351613998413086, + 0.0011326782405376434, + 0.07007259875535965, + -0.15976795554161072, + -0.1912529468536377, + 0.7971388101577759, + 0.0, + 0.2062399983406067 + ], + [ + 0.32812273502349854, + 0.015581008046865463, + 0.06571821868419647, + -0.18200866878032684, + -0.1880941092967987, + 0.8565417528152466, + 0.0, + 0.2062399983406067 + ], + [ + 0.344487726688385, + 0.03433160111308098, + 0.055814772844314575, + -0.1845494955778122, + -0.1812107414007187, + 0.9342619776725769, + 0.0, + 0.2062399983406067 + ], + [ + 0.3575701117515564, + 0.04999753460288048, + 0.04117140918970108, + -0.18626384437084198, + -0.1755855530500412, + 1.0183876752853394, + 0.0, + 0.2062399983406067 + ], + [ + 0.3711622655391693, + 0.06045747920870781, + 0.029107265174388885, + -0.18628276884555817, + -0.17943507432937622, + 1.0667004585266113, + 0.0, + 0.2062399983406067 + ], + [ + 0.3856388032436371, + 0.0639018714427948, + 0.020306088030338287, + -0.18999417126178741, + -0.1763380467891693, + 1.1025089025497437, + 0.0, + 0.2062399983406067 + ], + [ + 0.3981761932373047, + 0.05882430076599121, + 0.013401651754975319, + -0.1942390352487564, + -0.17572179436683655, + 1.1217011213302612, + 0.0, + 0.2062399983406067 + ], + [ + 0.40686753392219543, + 0.05146462842822075, + 0.011911728419363499, + -0.20286376774311066, + -0.17236703634262085, + 1.124619483947754, + 0.0, + 0.2631158232688904 + ], + [ + 0.4086090624332428, + 0.04816393926739693, + 0.009888005442917347, + -0.18452538549900055, + -0.13710112869739532, + 1.1278363466262817, + 0.0, + 0.5334634184837341 + ], + [ + 0.40858423709869385, + 0.04481452330946922, + 0.009850307367742062, + -0.17787551879882812, + -0.143987238407135, + 1.1386399269104004, + 0.0, + 0.8111810088157654 + ], + [ + 0.4074938893318176, + 0.04304185137152672, + 0.009570932947099209, + -0.1774519979953766, + -0.13451746106147766, + 1.1262620687484741, + 0.0, + 0.9927561283111572 + ], + [ + 0.40321454405784607, + 0.042644064873456955, + 0.009463808499276638, + -0.16694536805152893, + -0.13058772683143616, + 1.1160080432891846, + 0.0, + 0.9941151142120361 + ], + [ + 0.396340548992157, + 0.041469916701316833, + 0.015162227675318718, + -0.16798080503940582, + -0.12862513959407806, + 1.1112228631973267, + 0.0, + 0.9981546401977539 + ], + [ + 0.3994416892528534, + 0.04106298089027405, + 0.04707302898168564, + -0.2434852123260498, + -0.1654672473669052, + 1.1327322721481323, + 0.0, + 0.9988223910331726 + ], + [ + 0.39242929220199585, + 0.04104667156934738, + 0.0730598047375679, + -0.2878541350364685, + -0.1943969875574112, + 1.144986629486084, + 0.0, + 0.9988223910331726 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.939095675945282 + ], + [ + 0.6541022062301636 + ], + [ + 0.37205085158348083 + ], + [ + 0.21606682240962982 + ], + [ + 0.20684583485126495 + ], + [ + 0.20684583485126495 + ], + [ + 0.20684583485126495 + ], + [ + 0.20684583485126495 + ], + [ + 0.2062399983406067 + ], + [ + 0.20684583485126495 + ], + [ + 0.2062399983406067 + ], + [ + 0.2062399983406067 + ], + [ + 0.2062399983406067 + ], + [ + 0.2062399983406067 + ], + [ + 0.2062399983406067 + ], + [ + 0.2062399983406067 + ], + [ + 0.2062399983406067 + ], + [ + 0.2631158232688904 + ], + [ + 0.5334634184837341 + ], + [ + 0.8111810088157654 + ], + [ + 0.9927561283111572 + ], + [ + 0.9941151142120361 + ], + [ + 0.9981546401977539 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.33322182297706604, + -0.009352898225188255, + 0.08042299747467041 + ], + [ + 0.32863304018974304, + -0.009843390434980392, + 0.07060494273900986 + ], + [ + 0.3142991364002228, + -0.024320809170603752, + 0.06546182930469513 + ], + [ + 0.307524174451828, + -0.03807419538497925, + 0.07690262049436569 + ], + [ + 0.29700767993927, + -0.05155693367123604, + 0.07397571951150894 + ], + [ + 0.290552020072937, + -0.06158067658543587, + 0.06650454550981522 + ], + [ + 0.2824515104293823, + -0.06087782606482506, + 0.05626878887414932 + ], + [ + 0.2728216052055359, + -0.0556437112390995, + 0.040174245834350586 + ], + [ + 0.2711746096611023, + -0.05324000492691994, + 0.03346806764602661 + ], + [ + 0.27118635177612305, + -0.05112772434949875, + 0.023196782916784286 + ], + [ + 0.26927536725997925, + -0.049327656626701355, + 0.010786935687065125 + ], + [ + 0.2734958827495575, + -0.051135603338479996, + 0.006370072718709707 + ], + [ + 0.2754139304161072, + -0.052697598934173584, + 0.005258587189018726 + ], + [ + 0.27668508887290955, + -0.054081279784440994, + 0.00471175741404295 + ], + [ + 0.27571505308151245, + -0.05356285721063614, + 0.004444865044206381 + ], + [ + 0.27434176206588745, + -0.05293876305222511, + 0.004239855334162712 + ], + [ + 0.2675064206123352, + -0.051157500594854355, + 0.006826121360063553 + ], + [ + 0.2647913098335266, + -0.052574191242456436, + 0.0178659837692976 + ], + [ + 0.267333060503006, + -0.046910740435123444, + 0.03578757122159004 + ], + [ + 0.27691105008125305, + -0.035955075174570084, + 0.04886476323008537 + ], + [ + 0.28942734003067017, + -0.016749368980526924, + 0.05799403041601181 + ], + [ + 0.31351613998413086, + 0.0011326782405376434, + 0.07007259875535965 + ], + [ + 0.32812273502349854, + 0.015581008046865463, + 0.06571821868419647 + ], + [ + 0.344487726688385, + 0.03433160111308098, + 0.055814772844314575 + ], + [ + 0.3575701117515564, + 0.04999753460288048, + 0.04117140918970108 + ], + [ + 0.3711622655391693, + 0.06045747920870781, + 0.029107265174388885 + ], + [ + 0.3856388032436371, + 0.0639018714427948, + 0.020306088030338287 + ], + [ + 0.3981761932373047, + 0.05882430076599121, + 0.013401651754975319 + ], + [ + 0.40686753392219543, + 0.05146462842822075, + 0.011911728419363499 + ], + [ + 0.4086090624332428, + 0.04816393926739693, + 0.009888005442917347 + ], + [ + 0.40858423709869385, + 0.04481452330946922, + 0.009850307367742062 + ], + [ + 0.4074938893318176, + 0.04304185137152672, + 0.009570932947099209 + ], + [ + 0.40321454405784607, + 0.042644064873456955, + 0.009463808499276638 + ], + [ + 0.396340548992157, + 0.041469916701316833, + 0.015162227675318718 + ], + [ + 0.3994416892528534, + 0.04106298089027405, + 0.04707302898168564 + ], + [ + 0.39242929220199585, + 0.04104667156934738, + 0.0730598047375679 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.6422600421273384, + 0.6887867555185408, + 0.3362660311551416, + 0.7523882668148415, + -0.6502942067127486, + -0.10502066784778738, + 0.14633500690520945, + 0.3204531949256837, + -0.9358930577881073 + ], + [ + 0.6516736847637118, + 0.6959276019446133, + 0.3016723080398769, + 0.7475498700138837, + -0.6566183111747906, + -0.10010786818323254, + 0.12841573279280066, + 0.2907527579948054, + -0.9481414626993708 + ], + [ + 0.7384263170730454, + 0.6245393554879888, + 0.25431706136353815, + 0.6558030205095347, + -0.7529108342853457, + -0.055205741606424635, + 0.1569999125621061, + 0.20754726946503535, + -0.965543970201823 + ], + [ + 0.7829344714187139, + 0.5526068590740884, + 0.28572586996729876, + 0.5838962648461149, + -0.8112361398394327, + -0.031001247026079204, + 0.2146596500580736, + 0.1911062131974968, + -0.9578098192826476 + ], + [ + 0.8232229940292722, + 0.4961010736418462, + 0.2760210622993985, + 0.5191985116947485, + -0.8545613518690208, + -0.01256190056280286, + 0.2296449597867086, + 0.1536509701342597, + -0.9610694937523311 + ], + [ + 0.8492474638637135, + 0.45735187197193516, + 0.26383330025759955, + 0.4724309855219687, + -0.8813391276324078, + 0.00709267388839948, + 0.23577045836955793, + 0.1186195907424756, + -0.964542214551699 + ], + [ + 0.873288937904028, + 0.4296631371046573, + 0.22968678574928847, + 0.43545094359596936, + -0.8997902174591411, + 0.027568828161744285, + 0.21851523209111767, + 0.07594177492142458, + -0.9728740618219549 + ], + [ + 0.8901107688296133, + 0.4216821125235574, + 0.17287861403662597, + 0.41790173885583065, + -0.9065393248013973, + 0.05953645311823421, + 0.18182671936442102, + 0.01925223535843234, + -0.983142103441245 + ], + [ + 0.8975670576507926, + 0.4088026574117699, + 0.16508714157430243, + 0.4029750498859097, + -0.9126109593272791, + 0.06893726195020977, + 0.17884207052465956, + 0.004650183740275052, + -0.9838668048072535 + ], + [ + 0.9060625946381917, + 0.39419692715450055, + 0.15381598492828222, + 0.3866380631588771, + -0.9189622337939485, + 0.07758492751294435, + 0.17193482112201783, + -0.01082568623164832, + -0.9850488423440504 + ], + [ + 0.9172148265865699, + 0.37930091639190416, + 0.1218514534752483, + 0.3697585723437448, + -0.9243550903269359, + 0.09405458609232417, + 0.14830900197926133, + -0.04121264139732467, + -0.988081959212378 + ], + [ + 0.9207251275230375, + 0.37119543289770024, + 0.12032950653757109, + 0.3622717342183231, + -0.9277283317121923, + 0.08988511069671763, + 0.14499803493197796, + -0.03916750099765674, + -0.9886563997322141 + ], + [ + 0.923878620528176, + 0.3577374490412744, + 0.13591251629042803, + 0.3477170220213514, + -0.9330498264533624, + 0.0922545064045819, + 0.15981604152136072, + -0.037972870694636854, + -0.9864161869939335 + ], + [ + 0.924535436254226, + 0.35559056081944895, + 0.13707508951781533, + 0.3453368132708694, + -0.9338319979824691, + 0.09327531797849778, + 0.1611729273486338, + -0.0388992622061006, + -0.9861592847454677 + ], + [ + 0.9270270884706285, + 0.3521971798220124, + 0.1287552863656113, + 0.34165534827870303, + -0.9347916990437383, + 0.09713960259070015, + 0.1545716669840485, + -0.04606111075888361, + -0.9869072772258953 + ], + [ + 0.9231206748604155, + 0.3625901136660364, + 0.12797120424885294, + 0.35188845654354556, + -0.9307974472718459, + 0.09894759372322473, + 0.15499268949422118, + -0.046308979948449736, + -0.9868296431398288 + ], + [ + 0.9161828195457214, + 0.38202399768942175, + 0.12110617803664826, + 0.3727408699048439, + -0.9232967066199556, + 0.09266841666567696, + 0.1472184943267383, + -0.03975998911136647, + -0.988304537171631 + ], + [ + 0.8960246723549705, + 0.42657569138213614, + 0.12317859413477636, + 0.4200540291932653, + -0.9043022445920464, + 0.07610560415823397, + 0.14385547987362482, + -0.016450834253583964, + -0.9894619603414221 + ], + [ + 0.8685051552774412, + 0.4750700821620084, + 0.14144685323855774, + 0.4717303057252118, + -0.879803250471291, + 0.058453050566661044, + 0.15221469678354246, + 0.01595799156325593, + -0.988218613763352 + ], + [ + 0.8296367434432258, + 0.5321414747119979, + 0.16890330020535246, + 0.5325122032565763, + -0.8451188367376212, + 0.04695641781563912, + 0.1677308180142996, + 0.05098629896933287, + -0.9845134686766168 + ], + [ + 0.7484442416658017, + 0.633987320635398, + 0.194656863199971, + 0.6384192404619157, + -0.7682282183315379, + 0.047394914992871434, + 0.17958867037019266, + 0.08880023554416974, + -0.9797256899979536 + ], + [ + 0.6860158064288151, + 0.6851179157119422, + 0.2449403088516594, + 0.7023164743062618, + -0.7114904201562474, + 0.02308575196757197, + 0.19008914552873396, + 0.15618842337513483, + -0.9692632733967306 + ], + [ + 0.6435007787602476, + 0.7209303758727555, + 0.25722779958418646, + 0.7422550938796203, + -0.6698074028128531, + 0.020381823933505974, + 0.18698696036010382, + 0.17781292495504308, + -0.9661358291535519 + ], + [ + 0.5846793000811529, + 0.7708472809614787, + 0.25287266655553753, + 0.7909934534420643, + -0.6109128934208043, + 0.03338851994350371, + 0.18022062220625565, + 0.18049904732855482, + -0.9669232757799731 + ], + [ + 0.5166709767892702, + 0.8195636524338378, + 0.247722670244225, + 0.8381744157818724, + -0.5432007700612029, + 0.048954796839872944, + 0.17468471734052327, + 0.18234128170610125, + -0.9675933580349949 + ], + [ + 0.47526099090994633, + 0.8444970922543702, + 0.24688388301630743, + 0.8615533137249081, + -0.503602561704916, + 0.0641119914982887, + 0.17847374632961094, + 0.18223369890928545, + -0.9669219207634677 + ], + [ + 0.4443593849784083, + 0.861331807006559, + 0.24627678579278645, + 0.8785047517342592, + -0.4727997183178837, + 0.06848231551909456, + 0.17542559152511827, + 0.1859245669548411, + -0.9667770773248177 + ], + [ + 0.427464982514569, + 0.8692500647576955, + 0.2483505861530455, + 0.8869678991523098, + -0.4563838895675305, + 0.07072263581449699, + 0.1748188622464894, + 0.1900475473715833, + -0.966085035150058 + ], + [ + 0.425125356151353, + 0.8686929920797605, + 0.25424578082772237, + 0.8887356801037328, + -0.4538439672458729, + 0.06461071354723014, + 0.17151478789812988, + 0.19848964432947125, + -0.9649790353298975 + ], + [ + 0.42459366413384003, + 0.8774006169049137, + 0.22335706353790605, + 0.895008926402565, + -0.44399558909299486, + 0.042742701431847024, + 0.13667202360807926, + 0.18175828542556416, + -0.9737990981932727 + ], + [ + 0.41449576215729617, + 0.8831034054148336, + 0.2198218335342661, + 0.8986678025198805, + -0.43527642146391815, + 0.05413517924284376, + 0.14349022220253016, + 0.1751080017083455, + -0.9740368288057586 + ], + [ + 0.42615256084717046, + 0.8784533007466406, + 0.21613373936230024, + 0.8946552000310557, + -0.4446573657049909, + 0.043265461764432536, + 0.13411214688010287, + 0.1749274864954905, + -0.9754046885921656 + ], + [ + 0.43553195925100885, + 0.8763591080592937, + 0.20568574620643326, + 0.8907050435591571, + -0.45260373222549144, + 0.04236020483704094, + 0.13021688772681506, + 0.16475610852734834, + -0.9777008677779043 + ], + [ + 0.43990165217262683, + 0.8741139678614349, + 0.2059400582823345, + 0.8888380888556904, + -0.4565430512609751, + 0.03918282971764722, + 0.1282707613416116, + 0.165810776292908, + -0.9777798311736575 + ], + [ + 0.41839335895236934, + 0.8620188769887632, + 0.28613013280601013, + 0.8932057737044453, + -0.44763562435105336, + 0.04249463063594795, + 0.1647132144231203, + 0.23779361540393346, + -0.9572480104275637 + ], + [ + 0.405278084040563, + 0.8505811801885506, + 0.3350542202472045, + 0.8935508527751743, + -0.44600750642203335, + 0.051421568625997977, + 0.19317491581768237, + 0.2785479494167059, + -0.9407946065824246 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.004588782787322998, + -0.0004904922097921371, + -0.009818054735660553, + 0.032340019941329956, + 0.018091052770614624, + -0.010387301445007324, + 1.0 + ], + [ + -0.014333903789520264, + -0.01447741873562336, + -0.005143113434314728, + 0.0858195573091507, + -0.028880834579467773, + -0.12760573625564575, + 1.0 + ], + [ + -0.006774961948394775, + -0.013753386214375496, + 0.011440791189670563, + 0.014793932437896729, + -0.05869118869304657, + -0.08541214466094971, + 1.0 + ], + [ + -0.010516494512557983, + -0.01348273828625679, + -0.0029269009828567505, + 0.03840462863445282, + -0.015369534492492676, + -0.07811379432678223, + 1.0 + ], + [ + -0.006455659866333008, + -0.010023742914199829, + -0.007471174001693726, + 0.03616759181022644, + -0.006298422813415527, + -0.05501818656921387, + 1.0 + ], + [ + -0.008100509643554688, + 0.0007028505206108093, + -0.010235756635665894, + 0.044464536011219025, + 0.01771862804889679, + -0.04510870575904846, + 1.0 + ], + [ + -0.009629905223846436, + 0.005234114825725555, + -0.016094543039798737, + 0.05832138657569885, + 0.03744885325431824, + -0.023607224225997925, + 1.0 + ], + [ + -0.0016469955444335938, + 0.0024037063121795654, + -0.006706178188323975, + 0.014853449538350105, + 0.0030343979597091675, + -0.01695460081100464, + 1.0 + ], + [ + 1.1742115020751953e-05, + 0.0021122805774211884, + -0.010271284729242325, + 0.015715958550572395, + 0.007016018033027649, + -0.01866239309310913, + 1.0 + ], + [ + -0.0019109845161437988, + 0.0018000677227973938, + -0.012409847229719162, + 0.030696019530296326, + 0.023935258388519287, + -0.020126044750213623, + 1.0 + ], + [ + 0.004220515489578247, + -0.0018079467117786407, + -0.004416862968355417, + -0.0020893849432468414, + 0.003347158432006836, + -0.008344590663909912, + 0.0 + ], + [ + 0.0019180476665496826, + -0.0015619955956935883, + -0.001111485529690981, + -0.0011194013059139252, + -0.01499330997467041, + -0.014890581369400024, + 0.0 + ], + [ + 0.0012711584568023682, + -0.0013836808502674103, + -0.0005468297749757767, + 0.0009479820728302002, + -0.0013747066259384155, + -0.002491593360900879, + 0.0 + ], + [ + -0.0009700357913970947, + 0.0005184225738048553, + -0.00026689236983656883, + 0.007213559001684189, + 0.006685107946395874, + -0.0043731629848480225, + 0.0 + ], + [ + -0.001373291015625, + 0.000624094158411026, + -0.00020500971004366875, + 0.0002542920410633087, + -0.0004261583089828491, + 0.011086851358413696, + 0.0 + ], + [ + -0.006835341453552246, + 0.001781262457370758, + 0.0025862660259008408, + -0.006683804094791412, + 0.007864519953727722, + 0.022199660539627075, + 0.0 + ], + [ + -0.0027151107788085938, + -0.0014166906476020813, + 0.011039862409234047, + -0.023584311828017235, + 0.003399208188056946, + 0.05198544263839722, + 0.0 + ], + [ + 0.00254175066947937, + 0.0056634508073329926, + 0.017921587452292442, + -0.03277134522795677, + -0.008452370762825012, + 0.05919501185417175, + 0.0 + ], + [ + 0.00957798957824707, + 0.01095566526055336, + 0.01307719200849533, + -0.03559526056051254, + -0.015718728303909302, + 0.07306250929832458, + 0.0 + ], + [ + 0.012516289949417114, + 0.01920570619404316, + 0.009129267185926437, + -0.03864877298474312, + -0.012040883302688599, + 0.1355973482131958, + 0.0 + ], + [ + 0.024088799953460693, + 0.017882047221064568, + 0.01207856833934784, + -0.06937708705663681, + -0.01068463921546936, + 0.09090852737426758, + 0.0 + ], + [ + 0.014606595039367676, + 0.01444832980632782, + -0.0043543800711631775, + -0.022240713238716125, + 0.0031588375568389893, + 0.0594029426574707, + 0.0 + ], + [ + 0.016364991664886475, + 0.018750593066215515, + -0.009903445839881897, + -0.0025408267974853516, + 0.006883367896080017, + 0.07772022485733032, + 0.0 + ], + [ + 0.013082385063171387, + 0.0156659334897995, + -0.014643363654613495, + -0.0017143487930297852, + 0.00562518835067749, + 0.08412569761276245, + 0.0 + ], + [ + 0.013592153787612915, + 0.010459944605827332, + -0.012064144015312195, + -1.8924474716186523e-05, + -0.003849521279335022, + 0.04831278324127197, + 0.0 + ], + [ + 0.014476537704467773, + 0.0034443922340869904, + -0.008801177144050598, + -0.003711402416229248, + 0.003097027540206909, + 0.035808444023132324, + 0.0 + ], + [ + 0.012537389993667603, + -0.005077570676803589, + -0.0069044362753629684, + -0.004244863986968994, + 0.0006162524223327637, + 0.019192218780517578, + 0.0 + ], + [ + 0.008691340684890747, + -0.007359672337770462, + -0.0014899233356118202, + -0.008624732494354248, + 0.0033547580242156982, + 0.0029183626174926758, + 1.0 + ], + [ + 0.0017415285110473633, + -0.003300689160823822, + -0.0020237229764461517, + 0.018338382244110107, + 0.035265907645225525, + 0.003216862678527832, + 1.0 + ], + [ + -2.4825334548950195e-05, + -0.003349415957927704, + -3.769807517528534e-05, + 0.006649866700172424, + -0.006886109709739685, + 0.010803580284118652, + 1.0 + ], + [ + -0.0010903477668762207, + -0.0017726719379425049, + -0.0002793744206428528, + 0.0004235208034515381, + 0.009469777345657349, + -0.01237785816192627, + 1.0 + ], + [ + -0.004279345273971558, + -0.0003977864980697632, + -0.0001071244478225708, + 0.010506629943847656, + 0.003929734230041504, + -0.01025402545928955, + 1.0 + ], + [ + -0.006873995065689087, + -0.0011741481721401215, + 0.00569841917604208, + -0.001035436987876892, + 0.0019625872373580933, + -0.00478518009185791, + 1.0 + ], + [ + 0.003101140260696411, + -0.00040693581104278564, + 0.03191079944372177, + -0.07550440728664398, + -0.03684210777282715, + 0.021509408950805664, + 1.0 + ], + [ + -0.007012397050857544, + -1.630932092666626e-05, + 0.025986775755882263, + -0.0443689227104187, + -0.02892974019050598, + 0.01225435733795166, + 1.0 + ], + [ + -0.009581536054611206, + 0.00045055896043777466, + 0.015906430780887604, + -0.02456343173980713, + -0.010025888681411743, + 0.0022183656692504883, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.939095675945282 + ], + [ + 0.6541022062301636 + ], + [ + 0.37205085158348083 + ], + [ + 0.21606682240962982 + ], + [ + 0.20684583485126495 + ], + [ + 0.20684583485126495 + ], + [ + 0.20684583485126495 + ], + [ + 0.20684583485126495 + ], + [ + 0.2062399983406067 + ], + [ + 0.20684583485126495 + ], + [ + 0.2062399983406067 + ], + [ + 0.2062399983406067 + ], + [ + 0.2062399983406067 + ], + [ + 0.2062399983406067 + ], + [ + 0.2062399983406067 + ], + [ + 0.2062399983406067 + ], + [ + 0.2062399983406067 + ], + [ + 0.2631158232688904 + ], + [ + 0.5334634184837341 + ], + [ + 0.8111810088157654 + ], + [ + 0.9927561283111572 + ], + [ + 0.9941151142120361 + ], + [ + 0.9981546401977539 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.32863304018974304, + -0.009843390434980392, + 0.07060494273900986 + ], + [ + 0.3142991364002228, + -0.024320809170603752, + 0.06546182930469513 + ], + [ + 0.307524174451828, + -0.03807419538497925, + 0.07690262049436569 + ], + [ + 0.29700767993927, + -0.05155693367123604, + 0.07397571951150894 + ], + [ + 0.290552020072937, + -0.06158067658543587, + 0.06650454550981522 + ], + [ + 0.2824515104293823, + -0.06087782606482506, + 0.05626878887414932 + ], + [ + 0.2728216052055359, + -0.0556437112390995, + 0.040174245834350586 + ], + [ + 0.2711746096611023, + -0.05324000492691994, + 0.03346806764602661 + ], + [ + 0.27118635177612305, + -0.05112772434949875, + 0.023196782916784286 + ], + [ + 0.26927536725997925, + -0.049327656626701355, + 0.010786935687065125 + ], + [ + 0.2734958827495575, + -0.051135603338479996, + 0.006370072718709707 + ], + [ + 0.2754139304161072, + -0.052697598934173584, + 0.005258587189018726 + ], + [ + 0.27668508887290955, + -0.054081279784440994, + 0.00471175741404295 + ], + [ + 0.27571505308151245, + -0.05356285721063614, + 0.004444865044206381 + ], + [ + 0.27434176206588745, + -0.05293876305222511, + 0.004239855334162712 + ], + [ + 0.2675064206123352, + -0.051157500594854355, + 0.006826121360063553 + ], + [ + 0.2647913098335266, + -0.052574191242456436, + 0.0178659837692976 + ], + [ + 0.267333060503006, + -0.046910740435123444, + 0.03578757122159004 + ], + [ + 0.27691105008125305, + -0.035955075174570084, + 0.04886476323008537 + ], + [ + 0.28942734003067017, + -0.016749368980526924, + 0.05799403041601181 + ], + [ + 0.31351613998413086, + 0.0011326782405376434, + 0.07007259875535965 + ], + [ + 0.32812273502349854, + 0.015581008046865463, + 0.06571821868419647 + ], + [ + 0.344487726688385, + 0.03433160111308098, + 0.055814772844314575 + ], + [ + 0.3575701117515564, + 0.04999753460288048, + 0.04117140918970108 + ], + [ + 0.3711622655391693, + 0.06045747920870781, + 0.029107265174388885 + ], + [ + 0.3856388032436371, + 0.0639018714427948, + 0.020306088030338287 + ], + [ + 0.3981761932373047, + 0.05882430076599121, + 0.013401651754975319 + ], + [ + 0.40686753392219543, + 0.05146462842822075, + 0.011911728419363499 + ], + [ + 0.4086090624332428, + 0.04816393926739693, + 0.009888005442917347 + ], + [ + 0.40858423709869385, + 0.04481452330946922, + 0.009850307367742062 + ], + [ + 0.4074938893318176, + 0.04304185137152672, + 0.009570932947099209 + ], + [ + 0.40321454405784607, + 0.042644064873456955, + 0.009463808499276638 + ], + [ + 0.396340548992157, + 0.041469916701316833, + 0.015162227675318718 + ], + [ + 0.3994416892528534, + 0.04106298089027405, + 0.04707302898168564 + ], + [ + 0.39242929220199585, + 0.04104667156934738, + 0.0730598047375679 + ], + [ + 0.38284775614738464, + 0.041497230529785156, + 0.0889662355184555 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.6516736847637118, + 0.6959276019446133, + 0.3016723080398769, + 0.7475498700138837, + -0.6566183111747906, + -0.10010786818323254, + 0.12841573279280066, + 0.2907527579948054, + -0.9481414626993708 + ], + [ + 0.7384263170730454, + 0.6245393554879888, + 0.25431706136353815, + 0.6558030205095347, + -0.7529108342853457, + -0.055205741606424635, + 0.1569999125621061, + 0.20754726946503535, + -0.965543970201823 + ], + [ + 0.7829344714187139, + 0.5526068590740884, + 0.28572586996729876, + 0.5838962648461149, + -0.8112361398394327, + -0.031001247026079204, + 0.2146596500580736, + 0.1911062131974968, + -0.9578098192826476 + ], + [ + 0.8232229940292722, + 0.4961010736418462, + 0.2760210622993985, + 0.5191985116947485, + -0.8545613518690208, + -0.01256190056280286, + 0.2296449597867086, + 0.1536509701342597, + -0.9610694937523311 + ], + [ + 0.8492474638637135, + 0.45735187197193516, + 0.26383330025759955, + 0.4724309855219687, + -0.8813391276324078, + 0.00709267388839948, + 0.23577045836955793, + 0.1186195907424756, + -0.964542214551699 + ], + [ + 0.873288937904028, + 0.4296631371046573, + 0.22968678574928847, + 0.43545094359596936, + -0.8997902174591411, + 0.027568828161744285, + 0.21851523209111767, + 0.07594177492142458, + -0.9728740618219549 + ], + [ + 0.8901107688296133, + 0.4216821125235574, + 0.17287861403662597, + 0.41790173885583065, + -0.9065393248013973, + 0.05953645311823421, + 0.18182671936442102, + 0.01925223535843234, + -0.983142103441245 + ], + [ + 0.8975670576507926, + 0.4088026574117699, + 0.16508714157430243, + 0.4029750498859097, + -0.9126109593272791, + 0.06893726195020977, + 0.17884207052465956, + 0.004650183740275052, + -0.9838668048072535 + ], + [ + 0.9060625946381917, + 0.39419692715450055, + 0.15381598492828222, + 0.3866380631588771, + -0.9189622337939485, + 0.07758492751294435, + 0.17193482112201783, + -0.01082568623164832, + -0.9850488423440504 + ], + [ + 0.9172148265865699, + 0.37930091639190416, + 0.1218514534752483, + 0.3697585723437448, + -0.9243550903269359, + 0.09405458609232417, + 0.14830900197926133, + -0.04121264139732467, + -0.988081959212378 + ], + [ + 0.9207251275230375, + 0.37119543289770024, + 0.12032950653757109, + 0.3622717342183231, + -0.9277283317121923, + 0.08988511069671763, + 0.14499803493197796, + -0.03916750099765674, + -0.9886563997322141 + ], + [ + 0.923878620528176, + 0.3577374490412744, + 0.13591251629042803, + 0.3477170220213514, + -0.9330498264533624, + 0.0922545064045819, + 0.15981604152136072, + -0.037972870694636854, + -0.9864161869939335 + ], + [ + 0.924535436254226, + 0.35559056081944895, + 0.13707508951781533, + 0.3453368132708694, + -0.9338319979824691, + 0.09327531797849778, + 0.1611729273486338, + -0.0388992622061006, + -0.9861592847454677 + ], + [ + 0.9270270884706285, + 0.3521971798220124, + 0.1287552863656113, + 0.34165534827870303, + -0.9347916990437383, + 0.09713960259070015, + 0.1545716669840485, + -0.04606111075888361, + -0.9869072772258953 + ], + [ + 0.9231206748604155, + 0.3625901136660364, + 0.12797120424885294, + 0.35188845654354556, + -0.9307974472718459, + 0.09894759372322473, + 0.15499268949422118, + -0.046308979948449736, + -0.9868296431398288 + ], + [ + 0.9161828195457214, + 0.38202399768942175, + 0.12110617803664826, + 0.3727408699048439, + -0.9232967066199556, + 0.09266841666567696, + 0.1472184943267383, + -0.03975998911136647, + -0.988304537171631 + ], + [ + 0.8960246723549705, + 0.42657569138213614, + 0.12317859413477636, + 0.4200540291932653, + -0.9043022445920464, + 0.07610560415823397, + 0.14385547987362482, + -0.016450834253583964, + -0.9894619603414221 + ], + [ + 0.8685051552774412, + 0.4750700821620084, + 0.14144685323855774, + 0.4717303057252118, + -0.879803250471291, + 0.058453050566661044, + 0.15221469678354246, + 0.01595799156325593, + -0.988218613763352 + ], + [ + 0.8296367434432258, + 0.5321414747119979, + 0.16890330020535246, + 0.5325122032565763, + -0.8451188367376212, + 0.04695641781563912, + 0.1677308180142996, + 0.05098629896933287, + -0.9845134686766168 + ], + [ + 0.7484442416658017, + 0.633987320635398, + 0.194656863199971, + 0.6384192404619157, + -0.7682282183315379, + 0.047394914992871434, + 0.17958867037019266, + 0.08880023554416974, + -0.9797256899979536 + ], + [ + 0.6860158064288151, + 0.6851179157119422, + 0.2449403088516594, + 0.7023164743062618, + -0.7114904201562474, + 0.02308575196757197, + 0.19008914552873396, + 0.15618842337513483, + -0.9692632733967306 + ], + [ + 0.6435007787602476, + 0.7209303758727555, + 0.25722779958418646, + 0.7422550938796203, + -0.6698074028128531, + 0.020381823933505974, + 0.18698696036010382, + 0.17781292495504308, + -0.9661358291535519 + ], + [ + 0.5846793000811529, + 0.7708472809614787, + 0.25287266655553753, + 0.7909934534420643, + -0.6109128934208043, + 0.03338851994350371, + 0.18022062220625565, + 0.18049904732855482, + -0.9669232757799731 + ], + [ + 0.5166709767892702, + 0.8195636524338378, + 0.247722670244225, + 0.8381744157818724, + -0.5432007700612029, + 0.048954796839872944, + 0.17468471734052327, + 0.18234128170610125, + -0.9675933580349949 + ], + [ + 0.47526099090994633, + 0.8444970922543702, + 0.24688388301630743, + 0.8615533137249081, + -0.503602561704916, + 0.0641119914982887, + 0.17847374632961094, + 0.18223369890928545, + -0.9669219207634677 + ], + [ + 0.4443593849784083, + 0.861331807006559, + 0.24627678579278645, + 0.8785047517342592, + -0.4727997183178837, + 0.06848231551909456, + 0.17542559152511827, + 0.1859245669548411, + -0.9667770773248177 + ], + [ + 0.427464982514569, + 0.8692500647576955, + 0.2483505861530455, + 0.8869678991523098, + -0.4563838895675305, + 0.07072263581449699, + 0.1748188622464894, + 0.1900475473715833, + -0.966085035150058 + ], + [ + 0.425125356151353, + 0.8686929920797605, + 0.25424578082772237, + 0.8887356801037328, + -0.4538439672458729, + 0.06461071354723014, + 0.17151478789812988, + 0.19848964432947125, + -0.9649790353298975 + ], + [ + 0.42459366413384003, + 0.8774006169049137, + 0.22335706353790605, + 0.895008926402565, + -0.44399558909299486, + 0.042742701431847024, + 0.13667202360807926, + 0.18175828542556416, + -0.9737990981932727 + ], + [ + 0.41449576215729617, + 0.8831034054148336, + 0.2198218335342661, + 0.8986678025198805, + -0.43527642146391815, + 0.05413517924284376, + 0.14349022220253016, + 0.1751080017083455, + -0.9740368288057586 + ], + [ + 0.42615256084717046, + 0.8784533007466406, + 0.21613373936230024, + 0.8946552000310557, + -0.4446573657049909, + 0.043265461764432536, + 0.13411214688010287, + 0.1749274864954905, + -0.9754046885921656 + ], + [ + 0.43553195925100885, + 0.8763591080592937, + 0.20568574620643326, + 0.8907050435591571, + -0.45260373222549144, + 0.04236020483704094, + 0.13021688772681506, + 0.16475610852734834, + -0.9777008677779043 + ], + [ + 0.43990165217262683, + 0.8741139678614349, + 0.2059400582823345, + 0.8888380888556904, + -0.4565430512609751, + 0.03918282971764722, + 0.1282707613416116, + 0.165810776292908, + -0.9777798311736575 + ], + [ + 0.41839335895236934, + 0.8620188769887632, + 0.28613013280601013, + 0.8932057737044453, + -0.44763562435105336, + 0.04249463063594795, + 0.1647132144231203, + 0.23779361540393346, + -0.9572480104275637 + ], + [ + 0.405278084040563, + 0.8505811801885506, + 0.3350542202472045, + 0.8935508527751743, + -0.44600750642203335, + 0.051421568625997977, + 0.19317491581768237, + 0.2785479494167059, + -0.9407946065824246 + ], + [ + 0.40247853410046336, + 0.8418436440117782, + 0.35959742577681636, + 0.8926372064803754, + -0.44802027613607226, + 0.04976594998460046, + 0.2030020866770939, + 0.3009603150050324, + -0.9317795026704643 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005553.json b/json/chunk-0005/episode_0005553.json new file mode 100644 index 0000000000000000000000000000000000000000..f71e906b8cf1e3dc2d0913b410a81b65459aaf25 --- /dev/null +++ b/json/chunk-0005/episode_0005553.json @@ -0,0 +1,1762 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 28, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPlace the pot on the cloth." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005553.mp4", + "start": 0, + "end": 28, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.29973044991493225, + 0.024965474382042885, + 0.1223815381526947, + -0.0003435756079852581, + -0.08859661966562271, + -0.06498885154724121, + 0.0, + 1.0008161067962646 + ], + [ + 0.2973973751068115, + 0.024756766855716705, + 0.11341112852096558, + -0.005215777549892664, + -0.05976804345846176, + -0.05846370756626129, + 0.0, + 1.0008161067962646 + ], + [ + 0.2932685911655426, + 0.00838025938719511, + 0.10580550879240036, + -0.0007973900646902621, + -0.0727488175034523, + -0.08751285076141357, + 0.0, + 1.0008161067962646 + ], + [ + 0.28096070885658264, + -0.026611745357513428, + 0.10666154325008392, + 0.008944321423768997, + -0.13783030211925507, + -0.13313646614551544, + 0.0, + 1.0008161067962646 + ], + [ + 0.2683834731578827, + -0.0366530567407608, + 0.09179295599460602, + -0.0027312859892845154, + -0.12576374411582947, + -0.1232902929186821, + 0.0, + 1.0008161067962646 + ], + [ + 0.2587100863456726, + -0.04767928272485733, + 0.0728231891989708, + -0.030414599925279617, + -0.1146237850189209, + -0.14035150408744812, + 0.0, + 1.0008161067962646 + ], + [ + 0.25809189677238464, + -0.05060649290680885, + 0.0451987162232399, + -0.04818360507488251, + -0.08905396610498428, + -0.14541234076023102, + 0.0, + 1.0008161067962646 + ], + [ + 0.25874632596969604, + -0.05780705437064171, + 0.024690987542271614, + -0.037561044096946716, + -0.061533208936452866, + -0.18316824734210968, + 0.0, + 1.0008161067962646 + ], + [ + 0.262773334980011, + -0.05709711089730263, + 0.005819539073854685, + -0.012443064711987972, + -0.0551346018910408, + -0.1928187608718872, + 0.0, + 0.9484345316886902 + ], + [ + 0.2738622725009918, + -0.05828363820910454, + 0.005412863567471504, + -0.001057583256624639, + -0.0843857154250145, + -0.21851269900798798, + 0.0, + 0.6671556830406189 + ], + [ + 0.27456003427505493, + -0.06310880929231644, + 0.006043813657015562, + -0.02296029031276703, + -0.09695617854595184, + -0.262848436832428, + 0.0, + 0.39448216557502747 + ], + [ + 0.27299800515174866, + -0.06427744030952454, + 0.009909492917358875, + -0.026261048391461372, + -0.0992705225944519, + -0.3504457473754883, + 0.0, + 0.19087372720241547 + ], + [ + 0.2712654769420624, + -0.06705374270677567, + 0.020736675709486008, + -0.03119235299527645, + -0.11501241475343704, + -0.466311514377594, + 0.0, + 0.09107078611850739 + ], + [ + 0.265358030796051, + -0.06514374911785126, + 0.029866961762309074, + -0.03793388605117798, + -0.10012142360210419, + -0.5344120264053345, + 0.0, + 0.08123486489057541 + ], + [ + 0.25938284397125244, + -0.0591009296476841, + 0.061629585921764374, + -0.0012973007978871465, + -0.10799895226955414, + -0.5323004126548767, + 0.0, + 0.08089608699083328 + ], + [ + 0.28382083773612976, + -0.05133962258696556, + 0.0806332379579544, + 0.03795824944972992, + -0.10544776916503906, + -0.4938121736049652, + 0.0, + 0.08089608699083328 + ], + [ + 0.3135790526866913, + -0.042520541697740555, + 0.08111011236906052, + 0.05280806124210358, + -0.08931101113557816, + -0.46799853444099426, + 0.0, + 0.08089608699083328 + ], + [ + 0.34591466188430786, + -0.03295322135090828, + 0.06766439229249954, + 0.03984154015779495, + -0.08028168231248856, + -0.44488880038261414, + 0.0, + 0.08089608699083328 + ], + [ + 0.36462047696113586, + -0.025293612852692604, + 0.05515590310096741, + 0.031498152762651443, + -0.06350529938936234, + -0.44042372703552246, + 0.0, + 0.08089608699083328 + ], + [ + 0.37131571769714355, + -0.01922963373363018, + 0.04027232900261879, + 0.012551509775221348, + -0.03795108199119568, + -0.4358898401260376, + 0.0, + 0.08089608699083328 + ], + [ + 0.37388649582862854, + -0.01878354325890541, + 0.033521320670843124, + -0.005583462305366993, + -0.030756264925003052, + -0.4424091577529907, + 0.0, + 0.08089608699083328 + ], + [ + 0.374112606048584, + -0.020045895129442215, + 0.03135443478822708, + -0.014475985430181026, + -0.029742244631052017, + -0.4467967748641968, + 0.0, + 0.11078528314828873 + ], + [ + 0.37348616123199463, + -0.023364106193184853, + 0.028361009433865547, + -0.03755415230989456, + -0.029675070196390152, + -0.4385196566581726, + 0.0, + 0.2928420901298523 + ], + [ + 0.371293306350708, + -0.02507959119975567, + 0.026289427652955055, + -0.048628438264131546, + -0.03345650061964989, + -0.41826874017715454, + 0.0, + 0.5789291858673096 + ], + [ + 0.36578458547592163, + -0.024667035788297653, + 0.04379114508628845, + -0.039366595447063446, + -0.06642358750104904, + -0.39548859000205994, + 0.0, + 0.8775349855422974 + ], + [ + 0.3357588052749634, + -0.017669107764959335, + 0.07959514856338501, + 0.002561846049502492, + -0.09366630762815475, + -0.32443514466285706, + 0.0, + 1.0112061500549316 + ], + [ + 0.29587164521217346, + -0.0005707611562684178, + 0.1074434444308281, + 0.042668502777814865, + -0.11305741220712662, + -0.12222832441329956, + 0.0, + 1.0067112445831299 + ], + [ + 0.2700181305408478, + 0.004620226100087166, + 0.11424307525157928, + 0.04865625500679016, + -0.10155940800905228, + -0.046700891107320786, + 0.0, + 1.0008161067962646 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9484345316886902 + ], + [ + 0.6671556830406189 + ], + [ + 0.39448216557502747 + ], + [ + 0.19087372720241547 + ], + [ + 0.09107078611850739 + ], + [ + 0.08123486489057541 + ], + [ + 0.08089608699083328 + ], + [ + 0.08089608699083328 + ], + [ + 0.08089608699083328 + ], + [ + 0.08089608699083328 + ], + [ + 0.08089608699083328 + ], + [ + 0.08089608699083328 + ], + [ + 0.08089608699083328 + ], + [ + 0.11078528314828873 + ], + [ + 0.2928420901298523 + ], + [ + 0.5789291858673096 + ], + [ + 0.8775349855422974 + ], + [ + 1.0112061500549316 + ], + [ + 1.0067112445831299 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.29973044991493225, + 0.024965474382042885, + 0.1223815381526947 + ], + [ + 0.2973973751068115, + 0.024756766855716705, + 0.11341112852096558 + ], + [ + 0.2932685911655426, + 0.00838025938719511, + 0.10580550879240036 + ], + [ + 0.28096070885658264, + -0.026611745357513428, + 0.10666154325008392 + ], + [ + 0.2683834731578827, + -0.0366530567407608, + 0.09179295599460602 + ], + [ + 0.2587100863456726, + -0.04767928272485733, + 0.0728231891989708 + ], + [ + 0.25809189677238464, + -0.05060649290680885, + 0.0451987162232399 + ], + [ + 0.25874632596969604, + -0.05780705437064171, + 0.024690987542271614 + ], + [ + 0.262773334980011, + -0.05709711089730263, + 0.005819539073854685 + ], + [ + 0.2738622725009918, + -0.05828363820910454, + 0.005412863567471504 + ], + [ + 0.27456003427505493, + -0.06310880929231644, + 0.006043813657015562 + ], + [ + 0.27299800515174866, + -0.06427744030952454, + 0.009909492917358875 + ], + [ + 0.2712654769420624, + -0.06705374270677567, + 0.020736675709486008 + ], + [ + 0.265358030796051, + -0.06514374911785126, + 0.029866961762309074 + ], + [ + 0.25938284397125244, + -0.0591009296476841, + 0.061629585921764374 + ], + [ + 0.28382083773612976, + -0.05133962258696556, + 0.0806332379579544 + ], + [ + 0.3135790526866913, + -0.042520541697740555, + 0.08111011236906052 + ], + [ + 0.34591466188430786, + -0.03295322135090828, + 0.06766439229249954 + ], + [ + 0.36462047696113586, + -0.025293612852692604, + 0.05515590310096741 + ], + [ + 0.37131571769714355, + -0.01922963373363018, + 0.04027232900261879 + ], + [ + 0.37388649582862854, + -0.01878354325890541, + 0.033521320670843124 + ], + [ + 0.374112606048584, + -0.020045895129442215, + 0.03135443478822708 + ], + [ + 0.37348616123199463, + -0.023364106193184853, + 0.028361009433865547 + ], + [ + 0.371293306350708, + -0.02507959119975567, + 0.026289427652955055 + ], + [ + 0.36578458547592163, + -0.024667035788297653, + 0.04379114508628845 + ], + [ + 0.3357588052749634, + -0.017669107764959335, + 0.07959514856338501 + ], + [ + 0.29587164521217346, + -0.0005707611562684178, + 0.1074434444308281 + ], + [ + 0.2700181305408478, + 0.004620226100087166, + 0.11424307525157928 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9939751334641818, + -0.06497344574324589, + 0.08827165685038314, + -0.0646883996249127, + -0.9978869345913923, + -0.006089066082920468, + 0.08848076067049777, + 0.00034222805855234654, + -0.9960778272158889 + ], + [ + 0.9965089569881519, + -0.05874063115736573, + 0.05932484212891222, + -0.05832607633805466, + -0.998259701293095, + -0.008696987595052705, + 0.0597324657233691, + 0.005206440766530889, + -0.9982008442759159 + ], + [ + 0.9935382873501296, + -0.08745889912354066, + 0.07233679930346242, + -0.08717001205096953, + -0.9961678114115363, + -0.007147062794146178, + 0.07268466529058855, + 0.000795280861068442, + -0.9973546545537083 + ], + [ + 0.9817507812501, + -0.13152018296586995, + 0.13736027441528434, + -0.1314846181369231, + -0.9912739040611303, + -0.009372423421523932, + 0.13739431832577956, + -0.008859379212388777, + -0.9904768107794171 + ], + [ + 0.9845714820831103, + -0.1233177169827926, + 0.1241440185704471, + -0.12200692237710269, + -0.9923635413206797, + -0.018135951851154106, + 0.12543248207994329, + 0.002709711355772592, + -0.9920984577669866 + ], + [ + 0.9836692945467326, + -0.14327034392060367, + 0.10894185384325714, + -0.1389731888161312, + -0.9892223930170971, + -0.04610325307181572, + 0.11437295028200331, + 0.030210357601324105, + -0.9929784300463885 + ], + [ + 0.9855253783247728, + -0.14897066438323475, + 0.08091643733526016, + -0.14432623633697822, + -0.9876771875707205, + -0.06052859371565212, + 0.0889363040755358, + 0.047974100362689474, + -0.9948813092584333 + ], + [ + 0.9814106351140519, + -0.184287876487603, + 0.05358305576134531, + -0.18180100618733833, + -0.9821573919389118, + -0.048117061516954496, + 0.061494385388463094, + 0.03748114245117137, + -0.9974034311783023 + ], + [ + 0.9799766192652514, + -0.19228431281382027, + 0.05169689293531607, + -0.19133499496150738, + -0.981260613359919, + -0.022771218052521497, + 0.05510667288567306, + 0.012423836534357593, + -0.9984031765220096 + ], + [ + 0.9727471953131492, + -0.21686482715226468, + 0.0820520612454077, + -0.2160065546238386, + -0.9762010736564757, + -0.019303682329612028, + 0.08428560001530744, + 0.0010538197959413884, + -0.9964410805932769 + ], + [ + 0.9611185209938047, + -0.2619098479892236, + 0.08748954296910877, + -0.2586118860739666, + -0.9648217910874656, + -0.047315999662280395, + 0.0968043438278853, + 0.022850447895763723, + -0.9950410926424174 + ], + [ + 0.934595738148193, + -0.3456423168713695, + 0.08403686704670706, + -0.34162625537648084, + -0.9380024930520039, + -0.058675588328269856, + 0.0991075570916649, + 0.026128754582201152, + -0.9947336227911999 + ], + [ + 0.8873314170455177, + -0.45257287427847154, + 0.08843500320187737, + -0.44662436497785213, + -0.8911890683250973, + -0.07942745813618354, + 0.11475902113613366, + 0.03098125183345047, + -0.992910131433207 + ], + [ + 0.8562585586259328, + -0.512230911819901, + 0.06663913081660958, + -0.5067844039679267, + -0.8580183990379419, + -0.08351044729398202, + 0.09995423290043148, + 0.0377348630383158, + -0.9942762349753544 + ], + [ + 0.8566217378168118, + -0.5076368746586407, + 0.09221714475363474, + -0.5045599092433987, + -0.8615701596806764, + -0.055822557556126806, + 0.10778912878392943, + 0.0012897420755290274, + -0.9941729428431354 + ], + [ + 0.8756414567614023, + -0.47012758358905626, + 0.11059879904177775, + -0.471353326674958, + -0.8817912861115728, + -0.01643682360275736, + 0.10525246141168851, + -0.03773834769054846, + -0.9937292068166094 + ], + [ + 0.8889159175759025, + -0.4462704317719074, + 0.10330146759028697, + -0.44930303825104234, + -0.893352542884574, + 0.006929209193570079, + 0.08919232757683887, + -0.05257314759248523, + -0.9946259562537291 + ], + [ + 0.8997512044496524, + -0.4271326578728564, + 0.08947325114171951, + -0.428971393369364, + -0.9033168808921906, + 0.0014684569964154813, + 0.08019547220477076, + -0.03970271116275781, + -0.9959881429837307 + ], + [ + 0.9027476800499238, + -0.42430342916210734, + 0.07080413946766634, + -0.42546341991876474, + -0.9049744686682958, + 0.0014454651723323064, + 0.06346262266491226, + -0.03142946165323446, + -0.997489190149286 + ], + [ + 0.9058419685897526, + -0.4217522583133201, + 0.039690811897160026, + -0.42191318379215126, + -0.9066243584114559, + -0.004640913421505924, + 0.03794197258724922, + -0.012542142665034655, + -0.9992012316713575 + ], + [ + 0.9032954795836593, + -0.4282664109216073, + 0.025399957481299536, + -0.42791544371102813, + -0.9036352892784443, + -0.018210903444257662, + 0.03075141618398646, + 0.005580792684480899, + -0.9995114832535401 + ], + [ + 0.901436919857175, + -0.4324219146142416, + 0.020561305400256767, + -0.43188787805594153, + -0.9015552859080015, + -0.025902263215363125, + 0.029737859821199586, + 0.014469077810809675, + -0.999453003137496 + ], + [ + 0.9049825937720571, + -0.4253088730837417, + 0.010902634811710313, + -0.4244127161611582, + -0.9042698446702466, + -0.04658212512065504, + 0.029670715028593357, + 0.037528795561353724, + -0.9988549635324471 + ], + [ + 0.91328213692796, + -0.4071847140503079, + 0.010786427215169809, + -0.40595174406698215, + -0.9120528443438628, + -0.05798957331491025, + 0.03345025945003477, + 0.04858207249633209, + -0.9982589154997249 + ], + [ + 0.9207734308339686, + -0.3873712525212074, + 0.04604130526380126, + -0.3844095226870564, + -0.9210870796196666, + -0.061870110919765596, + 0.0663747537679279, + 0.039269638117323834, + -0.9970217086826054 + ], + [ + 0.9436761383010319, + -0.31854529574236146, + 0.08946642141979003, + -0.31737611158400636, + -0.9479042087317828, + -0.02738639925929135, + 0.09352940605535964, + -0.0025506134525707085, + -0.9956132505013919 + ], + [ + 0.9862028586722512, + -0.11703687953987917, + 0.11707386717046767, + -0.12114582130852523, + -0.9922227724346944, + 0.028594751992146592, + 0.11281671651915495, + -0.0423832359498105, + -0.9927114635100474 + ], + [ + 0.9937626040305357, + -0.04170298015567286, + 0.10342508533515675, + -0.046443367981686766, + -0.9979577212188031, + 0.04385658707984012, + 0.10138491209724716, + -0.048386445477111906, + -0.99366989060408 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0023330748081207275, + -0.0002087075263261795, + -0.008970409631729126, + -0.004872201941907406, + 0.02882857620716095, + 0.006525143980979919, + 1.0 + ], + [ + -0.004128783941268921, + -0.01637650653719902, + -0.007605619728565216, + 0.004418387543410063, + -0.01298077404499054, + -0.029049143195152283, + 1.0 + ], + [ + -0.012307882308959961, + -0.03499200567603111, + 0.0008560344576835632, + 0.009741711430251598, + -0.06508148461580276, + -0.04562361538410187, + 1.0 + ], + [ + -0.012577235698699951, + -0.010041311383247375, + -0.014868587255477905, + -0.011675607413053513, + 0.012066558003425598, + 0.009846173226833344, + 1.0 + ], + [ + -0.009673386812210083, + -0.011026225984096527, + -0.018969766795635223, + -0.027683313935995102, + 0.01113995909690857, + -0.01706121116876602, + 1.0 + ], + [ + -0.0006181895732879639, + -0.002927210181951523, + -0.027624472975730896, + -0.01776900514960289, + 0.025569818913936615, + -0.005060836672782898, + 1.0 + ], + [ + 0.0006544291973114014, + -0.007200561463832855, + -0.020507728680968285, + 0.010622560977935791, + 0.027520757168531418, + -0.03775590658187866, + 1.0 + ], + [ + 0.004027009010314941, + 0.0007099434733390808, + -0.018871448934078217, + 0.02511797845363617, + 0.006398607045412064, + -0.009650513529777527, + 0.0 + ], + [ + 0.011088937520980835, + -0.0011865273118019104, + -0.0004066755063831806, + 0.011385481804609299, + -0.029251113533973694, + -0.02569393813610077, + 0.0 + ], + [ + 0.0006977617740631104, + -0.004825171083211899, + 0.0006309500895440578, + -0.02190270647406578, + -0.012570463120937347, + -0.04433573782444, + 0.0 + ], + [ + -0.0015620291233062744, + -0.0011686310172080994, + 0.0038656792603433132, + -0.0033007580786943436, + -0.002314344048500061, + -0.0875973105430603, + 0.0 + ], + [ + -0.0017325282096862793, + -0.002776302397251129, + 0.010827182792127132, + -0.004931304603815079, + -0.015741892158985138, + -0.11586576700210571, + 0.0 + ], + [ + -0.0059074461460113525, + 0.001909993588924408, + 0.009130286052823067, + -0.006741533055901527, + 0.014890991151332855, + -0.06810051202774048, + 0.0 + ], + [ + -0.005975186824798584, + 0.00604281947016716, + 0.03176262229681015, + 0.036636583507061005, + -0.007877528667449951, + 0.0021116137504577637, + 0.0 + ], + [ + 0.02443799376487732, + 0.007761307060718536, + 0.019003652036190033, + 0.03925555199384689, + 0.0025511831045150757, + 0.0384882390499115, + 0.0 + ], + [ + 0.029758214950561523, + 0.008819080889225006, + 0.0004768744111061096, + 0.014849811792373657, + 0.016136758029460907, + 0.025813639163970947, + 0.0 + ], + [ + 0.03233560919761658, + 0.009567320346832275, + -0.013445720076560974, + -0.012966521084308624, + 0.0090293288230896, + 0.023109734058380127, + 0.0 + ], + [ + 0.018705815076828003, + 0.007659608498215675, + -0.012508489191532135, + -0.008343387395143509, + 0.01677638292312622, + 0.004465073347091675, + 0.0 + ], + [ + 0.00669524073600769, + 0.006063979119062424, + -0.014883574098348618, + -0.01894664391875267, + 0.025554217398166656, + 0.004533886909484863, + 0.0 + ], + [ + 0.0025707781314849854, + 0.0004460904747247696, + -0.006751008331775665, + -0.01813497208058834, + 0.007194817066192627, + -0.006519317626953125, + 0.0 + ], + [ + 0.00022611021995544434, + -0.0012623518705368042, + -0.002166885882616043, + -0.008892523124814034, + 0.0010140202939510345, + -0.004387617111206055, + 1.0 + ], + [ + -0.0006264448165893555, + -0.0033182110637426376, + -0.002993425354361534, + -0.02307816594839096, + 6.717443466186523e-05, + 0.00827711820602417, + 1.0 + ], + [ + -0.002192854881286621, + -0.001715485006570816, + -0.002071581780910492, + -0.011074285954236984, + -0.003781430423259735, + 0.020250916481018066, + 1.0 + ], + [ + -0.005508720874786377, + 0.00041255541145801544, + 0.017501717433333397, + 0.0092618428170681, + -0.032967086881399155, + 0.022780150175094604, + 1.0 + ], + [ + -0.030025780200958252, + 0.006997928023338318, + 0.03580400347709656, + 0.04192844033241272, + -0.027242720127105713, + 0.07105344533920288, + 1.0 + ], + [ + -0.03988716006278992, + 0.01709834672510624, + 0.027848295867443085, + 0.04010665789246559, + -0.019391104578971863, + 0.2022068202495575, + 1.0 + ], + [ + -0.025853514671325684, + 0.005190987139940262, + 0.00679963082075119, + 0.005987752228975296, + 0.01149800419807434, + 0.07552742958068848, + 1.0 + ], + [ + -0.007758647203445435, + -0.0001460723578929901, + -0.005201190710067749, + -0.03740847855806351, + 0.0038733258843421936, + 0.0005135126411914825, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9484345316886902 + ], + [ + 0.6671556830406189 + ], + [ + 0.39448216557502747 + ], + [ + 0.19087372720241547 + ], + [ + 0.09107078611850739 + ], + [ + 0.08123486489057541 + ], + [ + 0.08089608699083328 + ], + [ + 0.08089608699083328 + ], + [ + 0.08089608699083328 + ], + [ + 0.08089608699083328 + ], + [ + 0.08089608699083328 + ], + [ + 0.08089608699083328 + ], + [ + 0.08089608699083328 + ], + [ + 0.11078528314828873 + ], + [ + 0.2928420901298523 + ], + [ + 0.5789291858673096 + ], + [ + 0.8775349855422974 + ], + [ + 1.0112061500549316 + ], + [ + 1.0067112445831299 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2973973751068115, + 0.024756766855716705, + 0.11341112852096558 + ], + [ + 0.2932685911655426, + 0.00838025938719511, + 0.10580550879240036 + ], + [ + 0.28096070885658264, + -0.026611745357513428, + 0.10666154325008392 + ], + [ + 0.2683834731578827, + -0.0366530567407608, + 0.09179295599460602 + ], + [ + 0.2587100863456726, + -0.04767928272485733, + 0.0728231891989708 + ], + [ + 0.25809189677238464, + -0.05060649290680885, + 0.0451987162232399 + ], + [ + 0.25874632596969604, + -0.05780705437064171, + 0.024690987542271614 + ], + [ + 0.262773334980011, + -0.05709711089730263, + 0.005819539073854685 + ], + [ + 0.2738622725009918, + -0.05828363820910454, + 0.005412863567471504 + ], + [ + 0.27456003427505493, + -0.06310880929231644, + 0.006043813657015562 + ], + [ + 0.27299800515174866, + -0.06427744030952454, + 0.009909492917358875 + ], + [ + 0.2712654769420624, + -0.06705374270677567, + 0.020736675709486008 + ], + [ + 0.265358030796051, + -0.06514374911785126, + 0.029866961762309074 + ], + [ + 0.25938284397125244, + -0.0591009296476841, + 0.061629585921764374 + ], + [ + 0.28382083773612976, + -0.05133962258696556, + 0.0806332379579544 + ], + [ + 0.3135790526866913, + -0.042520541697740555, + 0.08111011236906052 + ], + [ + 0.34591466188430786, + -0.03295322135090828, + 0.06766439229249954 + ], + [ + 0.36462047696113586, + -0.025293612852692604, + 0.05515590310096741 + ], + [ + 0.37131571769714355, + -0.01922963373363018, + 0.04027232900261879 + ], + [ + 0.37388649582862854, + -0.01878354325890541, + 0.033521320670843124 + ], + [ + 0.374112606048584, + -0.020045895129442215, + 0.03135443478822708 + ], + [ + 0.37348616123199463, + -0.023364106193184853, + 0.028361009433865547 + ], + [ + 0.371293306350708, + -0.02507959119975567, + 0.026289427652955055 + ], + [ + 0.36578458547592163, + -0.024667035788297653, + 0.04379114508628845 + ], + [ + 0.3357588052749634, + -0.017669107764959335, + 0.07959514856338501 + ], + [ + 0.29587164521217346, + -0.0005707611562684178, + 0.1074434444308281 + ], + [ + 0.2700181305408478, + 0.004620226100087166, + 0.11424307525157928 + ], + [ + 0.26225948333740234, + 0.004474153742194176, + 0.10904188454151154 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9965089569881519, + -0.05874063115736573, + 0.05932484212891222, + -0.05832607633805466, + -0.998259701293095, + -0.008696987595052705, + 0.0597324657233691, + 0.005206440766530889, + -0.9982008442759159 + ], + [ + 0.9935382873501296, + -0.08745889912354066, + 0.07233679930346242, + -0.08717001205096953, + -0.9961678114115363, + -0.007147062794146178, + 0.07268466529058855, + 0.000795280861068442, + -0.9973546545537083 + ], + [ + 0.9817507812501, + -0.13152018296586995, + 0.13736027441528434, + -0.1314846181369231, + -0.9912739040611303, + -0.009372423421523932, + 0.13739431832577956, + -0.008859379212388777, + -0.9904768107794171 + ], + [ + 0.9845714820831103, + -0.1233177169827926, + 0.1241440185704471, + -0.12200692237710269, + -0.9923635413206797, + -0.018135951851154106, + 0.12543248207994329, + 0.002709711355772592, + -0.9920984577669866 + ], + [ + 0.9836692945467326, + -0.14327034392060367, + 0.10894185384325714, + -0.1389731888161312, + -0.9892223930170971, + -0.04610325307181572, + 0.11437295028200331, + 0.030210357601324105, + -0.9929784300463885 + ], + [ + 0.9855253783247728, + -0.14897066438323475, + 0.08091643733526016, + -0.14432623633697822, + -0.9876771875707205, + -0.06052859371565212, + 0.0889363040755358, + 0.047974100362689474, + -0.9948813092584333 + ], + [ + 0.9814106351140519, + -0.184287876487603, + 0.05358305576134531, + -0.18180100618733833, + -0.9821573919389118, + -0.048117061516954496, + 0.061494385388463094, + 0.03748114245117137, + -0.9974034311783023 + ], + [ + 0.9799766192652514, + -0.19228431281382027, + 0.05169689293531607, + -0.19133499496150738, + -0.981260613359919, + -0.022771218052521497, + 0.05510667288567306, + 0.012423836534357593, + -0.9984031765220096 + ], + [ + 0.9727471953131492, + -0.21686482715226468, + 0.0820520612454077, + -0.2160065546238386, + -0.9762010736564757, + -0.019303682329612028, + 0.08428560001530744, + 0.0010538197959413884, + -0.9964410805932769 + ], + [ + 0.9611185209938047, + -0.2619098479892236, + 0.08748954296910877, + -0.2586118860739666, + -0.9648217910874656, + -0.047315999662280395, + 0.0968043438278853, + 0.022850447895763723, + -0.9950410926424174 + ], + [ + 0.934595738148193, + -0.3456423168713695, + 0.08403686704670706, + -0.34162625537648084, + -0.9380024930520039, + -0.058675588328269856, + 0.0991075570916649, + 0.026128754582201152, + -0.9947336227911999 + ], + [ + 0.8873314170455177, + -0.45257287427847154, + 0.08843500320187737, + -0.44662436497785213, + -0.8911890683250973, + -0.07942745813618354, + 0.11475902113613366, + 0.03098125183345047, + -0.992910131433207 + ], + [ + 0.8562585586259328, + -0.512230911819901, + 0.06663913081660958, + -0.5067844039679267, + -0.8580183990379419, + -0.08351044729398202, + 0.09995423290043148, + 0.0377348630383158, + -0.9942762349753544 + ], + [ + 0.8566217378168118, + -0.5076368746586407, + 0.09221714475363474, + -0.5045599092433987, + -0.8615701596806764, + -0.055822557556126806, + 0.10778912878392943, + 0.0012897420755290274, + -0.9941729428431354 + ], + [ + 0.8756414567614023, + -0.47012758358905626, + 0.11059879904177775, + -0.471353326674958, + -0.8817912861115728, + -0.01643682360275736, + 0.10525246141168851, + -0.03773834769054846, + -0.9937292068166094 + ], + [ + 0.8889159175759025, + -0.4462704317719074, + 0.10330146759028697, + -0.44930303825104234, + -0.893352542884574, + 0.006929209193570079, + 0.08919232757683887, + -0.05257314759248523, + -0.9946259562537291 + ], + [ + 0.8997512044496524, + -0.4271326578728564, + 0.08947325114171951, + -0.428971393369364, + -0.9033168808921906, + 0.0014684569964154813, + 0.08019547220477076, + -0.03970271116275781, + -0.9959881429837307 + ], + [ + 0.9027476800499238, + -0.42430342916210734, + 0.07080413946766634, + -0.42546341991876474, + -0.9049744686682958, + 0.0014454651723323064, + 0.06346262266491226, + -0.03142946165323446, + -0.997489190149286 + ], + [ + 0.9058419685897526, + -0.4217522583133201, + 0.039690811897160026, + -0.42191318379215126, + -0.9066243584114559, + -0.004640913421505924, + 0.03794197258724922, + -0.012542142665034655, + -0.9992012316713575 + ], + [ + 0.9032954795836593, + -0.4282664109216073, + 0.025399957481299536, + -0.42791544371102813, + -0.9036352892784443, + -0.018210903444257662, + 0.03075141618398646, + 0.005580792684480899, + -0.9995114832535401 + ], + [ + 0.901436919857175, + -0.4324219146142416, + 0.020561305400256767, + -0.43188787805594153, + -0.9015552859080015, + -0.025902263215363125, + 0.029737859821199586, + 0.014469077810809675, + -0.999453003137496 + ], + [ + 0.9049825937720571, + -0.4253088730837417, + 0.010902634811710313, + -0.4244127161611582, + -0.9042698446702466, + -0.04658212512065504, + 0.029670715028593357, + 0.037528795561353724, + -0.9988549635324471 + ], + [ + 0.91328213692796, + -0.4071847140503079, + 0.010786427215169809, + -0.40595174406698215, + -0.9120528443438628, + -0.05798957331491025, + 0.03345025945003477, + 0.04858207249633209, + -0.9982589154997249 + ], + [ + 0.9207734308339686, + -0.3873712525212074, + 0.04604130526380126, + -0.3844095226870564, + -0.9210870796196666, + -0.061870110919765596, + 0.0663747537679279, + 0.039269638117323834, + -0.9970217086826054 + ], + [ + 0.9436761383010319, + -0.31854529574236146, + 0.08946642141979003, + -0.31737611158400636, + -0.9479042087317828, + -0.02738639925929135, + 0.09352940605535964, + -0.0025506134525707085, + -0.9956132505013919 + ], + [ + 0.9862028586722512, + -0.11703687953987917, + 0.11707386717046767, + -0.12114582130852523, + -0.9922227724346944, + 0.028594751992146592, + 0.11281671651915495, + -0.0423832359498105, + -0.9927114635100474 + ], + [ + 0.9937626040305357, + -0.04170298015567286, + 0.10342508533515675, + -0.046443367981686766, + -0.9979577212188031, + 0.04385658707984012, + 0.10138491209724716, + -0.048386445477111906, + -0.99366989060408 + ], + [ + 0.994171144587232, + -0.04507222645810429, + 0.09793992889635314, + -0.04595083880527102, + -0.9989210132193264, + 0.006732738073529242, + 0.09753079351264063, + -0.01119391580208263, + -0.995169553677066 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005554.json b/json/chunk-0005/episode_0005554.json new file mode 100644 index 0000000000000000000000000000000000000000..7b0fae8d6a47eaf33651041fd8b967fa24e17f2e --- /dev/null +++ b/json/chunk-0005/episode_0005554.json @@ -0,0 +1,1282 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 20, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut carrot on plate." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005554.mp4", + "start": 0, + "end": 20, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2785341739654541, + 0.07534301280975342, + 0.15920579433441162, + 0.26769155263900757, + -0.07021746784448624, + 0.08581504970788956, + 0.0, + 0.9422301650047302 + ], + [ + 0.2786080837249756, + 0.0772978886961937, + 0.14796482026576996, + 0.26464974880218506, + -0.03416752442717552, + 0.09613769501447678, + 0.0, + 0.9422301650047302 + ], + [ + 0.2793334126472473, + 0.08445646613836288, + 0.13978710770606995, + 0.2780858874320984, + -0.010378976352512836, + 0.10662703216075897, + 0.0, + 0.9422301650047302 + ], + [ + 0.28148984909057617, + 0.08752798289060593, + 0.13368584215641022, + 0.2897980511188507, + 0.0009503287728875875, + 0.10369782894849777, + 0.0, + 0.9422301650047302 + ], + [ + 0.28071096539497375, + 0.08903306722640991, + 0.12192504107952118, + 0.29027894139289856, + 0.030487852171063423, + 0.10971131920814514, + 0.0, + 0.9422301650047302 + ], + [ + 0.28144893050193787, + 0.0881277471780777, + 0.11827804893255234, + 0.30216529965400696, + 0.010601536370813847, + 0.11247217655181885, + 0.0, + 0.7701175808906555 + ], + [ + 0.2792750895023346, + 0.08866479247808456, + 0.11780499666929245, + 0.3110877275466919, + -0.045939091593027115, + 0.13575395941734314, + 0.0, + 0.6951970458030701 + ], + [ + 0.2767237722873688, + 0.08912738412618637, + 0.11863833665847778, + 0.3117392063140869, + -0.0916096642613411, + 0.16068902611732483, + 0.0, + 0.6951970458030701 + ], + [ + 0.2749492824077606, + 0.08306396007537842, + 0.1205311119556427, + 0.32473045587539673, + -0.09068959206342697, + 0.1427984982728958, + 0.0, + 0.6941980719566345 + ], + [ + 0.2777550518512726, + 0.07021770626306534, + 0.12478917092084885, + 0.32319870591163635, + -0.0951307862997055, + 0.10886724293231964, + 0.0, + 0.6941980719566345 + ], + [ + 0.2900814116001129, + 0.03398257493972778, + 0.13505613803863525, + 0.30787578225135803, + -0.14210328459739685, + 0.020075887441635132, + 0.0, + 0.6941980719566345 + ], + [ + 0.2923301160335541, + 0.010398349724709988, + 0.13628315925598145, + 0.2942882180213928, + -0.15973344445228577, + -0.0005802269442938268, + 0.0, + 0.6941980719566345 + ], + [ + 0.2973164916038513, + -0.020969845354557037, + 0.13760411739349365, + 0.25388607382774353, + -0.17496909201145172, + -0.02551240846514702, + 0.0, + 0.6941980719566345 + ], + [ + 0.3035993278026581, + -0.03543909266591072, + 0.12351308763027191, + 0.2131454050540924, + -0.1481865644454956, + -0.0026408699341118336, + 0.0, + 0.6941980719566345 + ], + [ + 0.31426331400871277, + -0.046224892139434814, + 0.10479220002889633, + 0.2139844298362732, + -0.11769336462020874, + 0.00912445317953825, + 0.0, + 0.6941980719566345 + ], + [ + 0.3210219144821167, + -0.04805498942732811, + 0.08955664932727814, + 0.23771004378795624, + -0.091402567923069, + 0.017233049497008324, + 0.0, + 0.6941980719566345 + ], + [ + 0.324042409658432, + -0.037410229444503784, + 0.07902184128761292, + 0.26837652921676636, + -0.07156771421432495, + 0.025167854502797127, + 0.0, + 0.6941980719566345 + ], + [ + 0.32458052039146423, + -0.02823491021990776, + 0.07582922279834747, + 0.2889019548892975, + -0.06180441007018089, + 0.04247809574007988, + 0.0, + 0.6941980719566345 + ], + [ + 0.32073670625686646, + -0.026491215452551842, + 0.07655991613864899, + 0.2974313795566559, + -0.04153210297226906, + 0.05608510598540306, + 0.0, + 0.8535622954368591 + ], + [ + 0.31753551959991455, + -0.026320021599531174, + 0.08420167118310928, + 0.2907204329967499, + -0.04144061356782913, + 0.06626290082931519, + 0.0, + 0.898204505443573 + ] + ], + "left_gripper_pos": [ + [ + 0.9422301650047302 + ], + [ + 0.9422301650047302 + ], + [ + 0.9422301650047302 + ], + [ + 0.9422301650047302 + ], + [ + 0.9422301650047302 + ], + [ + 0.7701175808906555 + ], + [ + 0.6951970458030701 + ], + [ + 0.6951970458030701 + ], + [ + 0.6941980719566345 + ], + [ + 0.6941980719566345 + ], + [ + 0.6941980719566345 + ], + [ + 0.6941980719566345 + ], + [ + 0.6941980719566345 + ], + [ + 0.6941980719566345 + ], + [ + 0.6941980719566345 + ], + [ + 0.6941980719566345 + ], + [ + 0.6941980719566345 + ], + [ + 0.6941980719566345 + ], + [ + 0.8535622954368591 + ], + [ + 0.898204505443573 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2785341739654541, + 0.07534301280975342, + 0.15920579433441162 + ], + [ + 0.2786080837249756, + 0.0772978886961937, + 0.14796482026576996 + ], + [ + 0.2793334126472473, + 0.08445646613836288, + 0.13978710770606995 + ], + [ + 0.28148984909057617, + 0.08752798289060593, + 0.13368584215641022 + ], + [ + 0.28071096539497375, + 0.08903306722640991, + 0.12192504107952118 + ], + [ + 0.28144893050193787, + 0.0881277471780777, + 0.11827804893255234 + ], + [ + 0.2792750895023346, + 0.08866479247808456, + 0.11780499666929245 + ], + [ + 0.2767237722873688, + 0.08912738412618637, + 0.11863833665847778 + ], + [ + 0.2749492824077606, + 0.08306396007537842, + 0.1205311119556427 + ], + [ + 0.2777550518512726, + 0.07021770626306534, + 0.12478917092084885 + ], + [ + 0.2900814116001129, + 0.03398257493972778, + 0.13505613803863525 + ], + [ + 0.2923301160335541, + 0.010398349724709988, + 0.13628315925598145 + ], + [ + 0.2973164916038513, + -0.020969845354557037, + 0.13760411739349365 + ], + [ + 0.3035993278026581, + -0.03543909266591072, + 0.12351308763027191 + ], + [ + 0.31426331400871277, + -0.046224892139434814, + 0.10479220002889633 + ], + [ + 0.3210219144821167, + -0.04805498942732811, + 0.08955664932727814 + ], + [ + 0.324042409658432, + -0.037410229444503784, + 0.07902184128761292 + ], + [ + 0.32458052039146423, + -0.02823491021990776, + 0.07582922279834747 + ], + [ + 0.32073670625686646, + -0.026491215452551842, + 0.07655991613864899 + ], + [ + 0.31753551959991455, + -0.026320021599531174, + 0.08420167118310928 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9938649820853209, + 0.1011465156345996, + 0.04474125344158575, + 0.08549855274746067, + -0.9592446984095678, + 0.26933177690578314, + 0.07015978094773526, + -0.26385410921211094, + -0.962007595702471 + ], + [ + 0.9948013720325265, + 0.10154195375133962, + 0.007711149756246996, + 0.0959336473590939, + -0.9598695577465217, + 0.2635283047717599, + 0.03416087684154898, + -0.26141856043490364, + -0.9646208430018288 + ], + [ + 0.9942671666631389, + 0.10516948922641377, + -0.019291962873429703, + 0.10641936860160998, + -0.955818337938797, + 0.27401865419410926, + 0.010378790010845212, + -0.2745007894264994, + -0.9615308613467068 + ], + [ + 0.9946277472792535, + 0.09892568725480558, + -0.030485287326206555, + 0.10351203416845925, + -0.9531819059393916, + 0.2841293947694539, + -0.0009503286298433514, + -0.28575857395870535, + -0.9583011709711003 + ], + [ + 0.9935258228653585, + 0.09623827766697861, + -0.06037079767077414, + 0.1094404775654697, + -0.9533586473748547, + 0.28130067782682155, + -0.03048312926774332, + -0.28608649633857386, + -0.9577187976868602 + ], + [ + 0.9936258288371425, + 0.10401541167258199, + -0.043456948837725794, + 0.11222889068735148, + -0.9490163689973509, + 0.29457190543256206, + -0.01060133778293735, + -0.2975713788482808, + -0.9546407104914103 + ], + [ + 0.9897542660166391, + 0.14276876087399398, + 0.0018904550692067784, + 0.13519458918179533, + -0.9413399657325938, + 0.3091949093541564, + 0.04592293498710591, + -0.30577140126745617, + -0.9509968108301451 + ], + [ + 0.9829780634020309, + 0.17998397547070447, + 0.036876760217694524, + 0.15932748382070003, + -0.9350504206499244, + 0.31669459064177824, + 0.09148158158753629, + -0.30542835398200957, + -0.9478104456135111 + ], + [ + 0.9857539526837336, + 0.16347697253985177, + 0.03955280290447669, + 0.14172884665595764, + -0.9339781454658749, + 0.32802097161263544, + 0.0905653288735147, + -0.3177421961926522, + -0.9438420513860899 + ], + [ + 0.9895850588650735, + 0.13301628302091462, + 0.05502799035317242, + 0.10816104602234462, + -0.9393328567469666, + 0.3255072539267518, + 0.0949873643931715, + -0.31616523004100644, + -0.9439369406473911 + ], + [ + 0.9897208246221944, + 0.062039458776158254, + 0.12885571335383086, + 0.019872193716804227, + -0.9519258444839628, + 0.3056833042879114, + 0.14162551050585862, + -0.2999804862957846, + -0.9433736919247321 + ], + [ + 0.9872695492660429, + 0.04558001767560225, + 0.15238536373522343, + -0.0005728404580497698, + -0.9570354511675295, + 0.2899703727320655, + 0.15905505004819614, + -0.2863662116892549, + -0.9448258484275877 + ], + [ + 0.9844114645230144, + 0.019016510381405963, + 0.17484976650990264, + -0.025120157711608443, + -0.9687440347964994, + 0.24678730259626883, + 0.17407770159385005, + -0.24733250368504403, + -0.9531650363020508 + ], + [ + 0.9890369995217754, + 0.02865085663563704, + 0.1448618030779962, + -0.0026119241477859777, + -0.9774494584336944, + 0.21115334252605153, + 0.1476448151111653, + -0.2092168363725109, + -0.9666588456891438 + ], + [ + 0.9930407873104772, + 0.03385031689584967, + 0.11280137757952556, + 0.009061205636091052, + -0.9769243652405303, + 0.21339325001463325, + 0.11742184332656598, + -0.21088608452299043, + -0.9704324654834843 + ], + [ + 0.9956778271665873, + 0.03823773992307067, + 0.08463769688737796, + 0.01716026405253948, + -0.9713650693903724, + 0.23697136389421533, + 0.09127535169185153, + -0.23449472747550873, + -0.9678228313899792 + ], + [ + 0.997124241011809, + 0.043219504948973, + 0.06225208734323589, + 0.02510077782857365, + -0.9634201385227018, + 0.26681751749332155, + 0.07150663562932294, + -0.26448763880541576, + -0.9617344175915259 + ], + [ + 0.9971903789476576, + 0.05828643074205651, + 0.047053587807718115, + 0.042384244004267, + -0.9569453549835111, + 0.28715703619390714, + 0.061765070990115, + -0.28435590299276997, + -0.9567271274709171 + ], + [ + 0.9975666647407975, + 0.06574342521245817, + 0.023206711082241288, + 0.05600736889435314, + -0.9539070044229795, + 0.2948297840149615, + 0.04152016410676318, + -0.2928126174776472, + -0.9552679451433697 + ], + [ + 0.996948761941633, + 0.07528508605130121, + 0.020623333418580622, + 0.06615757290631624, + -0.9551488122813142, + 0.28864151112537645, + 0.04142875342309039, + -0.286396407477195, + -0.9572151044430744 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + 7.390975952148438e-05, + 0.001954875886440277, + -0.011240974068641663, + -0.0030418038368225098, + 0.036049943417310715, + 0.01032264530658722, + 1.0 + ], + [ + 0.0007253289222717285, + 0.0071585774421691895, + -0.008177712559700012, + 0.01343613862991333, + 0.02378854900598526, + 0.010489337146282196, + 1.0 + ], + [ + 0.0021564364433288574, + 0.003071516752243042, + -0.006101265549659729, + 0.01171216368675232, + 0.011329305358231068, + -0.0029292032122612, + 1.0 + ], + [ + -0.000778883695602417, + 0.0015050843358039856, + -0.011760801076889038, + 0.00048089027404785156, + 0.029537523165345192, + 0.006013490259647369, + 1.0 + ], + [ + 0.0007379651069641113, + -0.0009053200483322144, + -0.0036469921469688416, + 0.011886358261108398, + -0.019886314868927002, + 0.002760857343673706, + 0.0 + ], + [ + -0.0021738409996032715, + 0.0005370453000068665, + -0.0004730522632598877, + 0.008922427892684937, + -0.05654062703251839, + 0.023281782865524292, + 0.0 + ], + [ + -0.0025513172149658203, + 0.00046259164810180664, + 0.0008333399891853333, + 0.0006514787673950195, + -0.04567057266831398, + 0.02493506669998169, + 0.0 + ], + [ + -0.0017744898796081543, + -0.006063424050807953, + 0.001892775297164917, + 0.012991249561309814, + 0.0009200721979141235, + -0.017890527844429016, + 0.0 + ], + [ + 0.002805769443511963, + -0.01284625381231308, + 0.004258058965206146, + -0.001531749963760376, + -0.004441194236278534, + -0.03393125534057617, + 0.0 + ], + [ + 0.012326359748840332, + -0.036235131323337555, + 0.010266967117786407, + -0.01532292366027832, + -0.046972498297691345, + -0.08879135549068451, + 0.0 + ], + [ + 0.002248704433441162, + -0.02358422428369522, + 0.0012270212173461914, + -0.01358756422996521, + -0.017630159854888916, + -0.02065611444413662, + 0.0 + ], + [ + 0.004986375570297241, + -0.0313681960105896, + 0.001320958137512207, + -0.04040214419364929, + -0.015235647559165955, + -0.02493218146264553, + 0.0 + ], + [ + 0.006282836198806763, + -0.014469247311353683, + -0.01409102976322174, + -0.04074066877365112, + 0.026782527565956116, + 0.022871538996696472, + 0.0 + ], + [ + 0.010663986206054688, + -0.010785799473524094, + -0.01872088760137558, + 0.0008390247821807861, + 0.030493199825286865, + 0.01176532357931137, + 0.0 + ], + [ + 0.006758600473403931, + -0.0018300972878932953, + -0.015235550701618195, + 0.023725613951683044, + 0.02629079669713974, + 0.008108596317470074, + 0.0 + ], + [ + 0.0030204951763153076, + 0.010644759982824326, + -0.010534808039665222, + 0.03066648542881012, + 0.01983485370874405, + 0.007934805005788803, + 0.0 + ], + [ + 0.0005381107330322266, + 0.009175319224596024, + -0.003192618489265442, + 0.020525425672531128, + 0.009763304144144058, + 0.017310241237282753, + 0.0 + ], + [ + -0.0038438141345977783, + 0.0017436947673559189, + 0.0007306933403015137, + 0.008529424667358398, + 0.020272307097911835, + 0.013607010245323181, + 1.0 + ], + [ + -0.0032011866569519043, + 0.00017119385302066803, + 0.007641755044460297, + -0.006710946559906006, + 9.148940443992615e-05, + 0.010177794843912125, + 1.0 + ], + [ + -0.0007707774639129639, + 0.00029083527624607086, + 0.018972232937812805, + -0.02756786346435547, + -0.04964306950569153, + 0.015348605811595917, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9422301650047302 + ], + [ + 0.9422301650047302 + ], + [ + 0.9422301650047302 + ], + [ + 0.9422301650047302 + ], + [ + 0.7701175808906555 + ], + [ + 0.6951970458030701 + ], + [ + 0.6951970458030701 + ], + [ + 0.6941980719566345 + ], + [ + 0.6941980719566345 + ], + [ + 0.6941980719566345 + ], + [ + 0.6941980719566345 + ], + [ + 0.6941980719566345 + ], + [ + 0.6941980719566345 + ], + [ + 0.6941980719566345 + ], + [ + 0.6941980719566345 + ], + [ + 0.6941980719566345 + ], + [ + 0.6941980719566345 + ], + [ + 0.8535622954368591 + ], + [ + 0.898204505443573 + ], + [ + 0.9015869498252869 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2786080837249756, + 0.0772978886961937, + 0.14796482026576996 + ], + [ + 0.2793334126472473, + 0.08445646613836288, + 0.13978710770606995 + ], + [ + 0.28148984909057617, + 0.08752798289060593, + 0.13368584215641022 + ], + [ + 0.28071096539497375, + 0.08903306722640991, + 0.12192504107952118 + ], + [ + 0.28144893050193787, + 0.0881277471780777, + 0.11827804893255234 + ], + [ + 0.2792750895023346, + 0.08866479247808456, + 0.11780499666929245 + ], + [ + 0.2767237722873688, + 0.08912738412618637, + 0.11863833665847778 + ], + [ + 0.2749492824077606, + 0.08306396007537842, + 0.1205311119556427 + ], + [ + 0.2777550518512726, + 0.07021770626306534, + 0.12478917092084885 + ], + [ + 0.2900814116001129, + 0.03398257493972778, + 0.13505613803863525 + ], + [ + 0.2923301160335541, + 0.010398349724709988, + 0.13628315925598145 + ], + [ + 0.2973164916038513, + -0.020969845354557037, + 0.13760411739349365 + ], + [ + 0.3035993278026581, + -0.03543909266591072, + 0.12351308763027191 + ], + [ + 0.31426331400871277, + -0.046224892139434814, + 0.10479220002889633 + ], + [ + 0.3210219144821167, + -0.04805498942732811, + 0.08955664932727814 + ], + [ + 0.324042409658432, + -0.037410229444503784, + 0.07902184128761292 + ], + [ + 0.32458052039146423, + -0.02823491021990776, + 0.07582922279834747 + ], + [ + 0.32073670625686646, + -0.026491215452551842, + 0.07655991613864899 + ], + [ + 0.31753551959991455, + -0.026320021599531174, + 0.08420167118310928 + ], + [ + 0.3167647421360016, + -0.026029186323285103, + 0.10317390412092209 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9948013720325265, + 0.10154195375133962, + 0.007711149756246996, + 0.0959336473590939, + -0.9598695577465217, + 0.2635283047717599, + 0.03416087684154898, + -0.26141856043490364, + -0.9646208430018288 + ], + [ + 0.9942671666631389, + 0.10516948922641377, + -0.019291962873429703, + 0.10641936860160998, + -0.955818337938797, + 0.27401865419410926, + 0.010378790010845212, + -0.2745007894264994, + -0.9615308613467068 + ], + [ + 0.9946277472792535, + 0.09892568725480558, + -0.030485287326206555, + 0.10351203416845925, + -0.9531819059393916, + 0.2841293947694539, + -0.0009503286298433514, + -0.28575857395870535, + -0.9583011709711003 + ], + [ + 0.9935258228653585, + 0.09623827766697861, + -0.06037079767077414, + 0.1094404775654697, + -0.9533586473748547, + 0.28130067782682155, + -0.03048312926774332, + -0.28608649633857386, + -0.9577187976868602 + ], + [ + 0.9936258288371425, + 0.10401541167258199, + -0.043456948837725794, + 0.11222889068735148, + -0.9490163689973509, + 0.29457190543256206, + -0.01060133778293735, + -0.2975713788482808, + -0.9546407104914103 + ], + [ + 0.9897542660166391, + 0.14276876087399398, + 0.0018904550692067784, + 0.13519458918179533, + -0.9413399657325938, + 0.3091949093541564, + 0.04592293498710591, + -0.30577140126745617, + -0.9509968108301451 + ], + [ + 0.9829780634020309, + 0.17998397547070447, + 0.036876760217694524, + 0.15932748382070003, + -0.9350504206499244, + 0.31669459064177824, + 0.09148158158753629, + -0.30542835398200957, + -0.9478104456135111 + ], + [ + 0.9857539526837336, + 0.16347697253985177, + 0.03955280290447669, + 0.14172884665595764, + -0.9339781454658749, + 0.32802097161263544, + 0.0905653288735147, + -0.3177421961926522, + -0.9438420513860899 + ], + [ + 0.9895850588650735, + 0.13301628302091462, + 0.05502799035317242, + 0.10816104602234462, + -0.9393328567469666, + 0.3255072539267518, + 0.0949873643931715, + -0.31616523004100644, + -0.9439369406473911 + ], + [ + 0.9897208246221944, + 0.062039458776158254, + 0.12885571335383086, + 0.019872193716804227, + -0.9519258444839628, + 0.3056833042879114, + 0.14162551050585862, + -0.2999804862957846, + -0.9433736919247321 + ], + [ + 0.9872695492660429, + 0.04558001767560225, + 0.15238536373522343, + -0.0005728404580497698, + -0.9570354511675295, + 0.2899703727320655, + 0.15905505004819614, + -0.2863662116892549, + -0.9448258484275877 + ], + [ + 0.9844114645230144, + 0.019016510381405963, + 0.17484976650990264, + -0.025120157711608443, + -0.9687440347964994, + 0.24678730259626883, + 0.17407770159385005, + -0.24733250368504403, + -0.9531650363020508 + ], + [ + 0.9890369995217754, + 0.02865085663563704, + 0.1448618030779962, + -0.0026119241477859777, + -0.9774494584336944, + 0.21115334252605153, + 0.1476448151111653, + -0.2092168363725109, + -0.9666588456891438 + ], + [ + 0.9930407873104772, + 0.03385031689584967, + 0.11280137757952556, + 0.009061205636091052, + -0.9769243652405303, + 0.21339325001463325, + 0.11742184332656598, + -0.21088608452299043, + -0.9704324654834843 + ], + [ + 0.9956778271665873, + 0.03823773992307067, + 0.08463769688737796, + 0.01716026405253948, + -0.9713650693903724, + 0.23697136389421533, + 0.09127535169185153, + -0.23449472747550873, + -0.9678228313899792 + ], + [ + 0.997124241011809, + 0.043219504948973, + 0.06225208734323589, + 0.02510077782857365, + -0.9634201385227018, + 0.26681751749332155, + 0.07150663562932294, + -0.26448763880541576, + -0.9617344175915259 + ], + [ + 0.9971903789476576, + 0.05828643074205651, + 0.047053587807718115, + 0.042384244004267, + -0.9569453549835111, + 0.28715703619390714, + 0.061765070990115, + -0.28435590299276997, + -0.9567271274709171 + ], + [ + 0.9975666647407975, + 0.06574342521245817, + 0.023206711082241288, + 0.05600736889435314, + -0.9539070044229795, + 0.2948297840149615, + 0.04152016410676318, + -0.2928126174776472, + -0.9552679451433697 + ], + [ + 0.996948761941633, + 0.07528508605130121, + 0.020623333418580622, + 0.06615757290631624, + -0.9551488122813142, + 0.28864151112537645, + 0.04142875342309039, + -0.286396407477195, + -0.9572151044430744 + ], + [ + 0.9925401742708023, + 0.10229628550919526, + 0.06632851897567718, + 0.0811830172571445, + -0.9604320976382442, + 0.26641978818253825, + 0.09095779333026796, + -0.25904759369124347, + -0.9615721626769698 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005555.json b/json/chunk-0005/episode_0005555.json new file mode 100644 index 0000000000000000000000000000000000000000..594fecf6053ae3bd5b5660feaa4a19f178246406 --- /dev/null +++ b/json/chunk-0005/episode_0005555.json @@ -0,0 +1,2302 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 37, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPlace the pan next to the spatula." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005555.mp4", + "start": 0, + "end": 37, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.32380008697509766, + 0.19090066850185394, + 0.10191796720027924, + 0.011779102496802807, + -0.1602819710969925, + 0.1851896047592163, + 0.0, + 0.9988223910331726 + ], + [ + 0.32157835364341736, + 0.18887358903884888, + 0.08792382478713989, + -0.003186249639838934, + -0.12442441284656525, + 0.19504205882549286, + 0.0, + 0.9988223910331726 + ], + [ + 0.3267720937728882, + 0.1602097749710083, + 0.0948467031121254, + 0.0019954938907176256, + -0.1530665159225464, + 0.228721022605896, + 0.0, + 0.9988223910331726 + ], + [ + 0.3372187614440918, + 0.12322232872247696, + 0.10292283445596695, + 0.02022492326796055, + -0.167538583278656, + 0.23694881796836853, + 0.0, + 0.9988223910331726 + ], + [ + 0.34592530131340027, + 0.08341214805841446, + 0.11027443408966064, + 0.011588961817324162, + -0.18588443100452423, + 0.24649152159690857, + 0.0, + 0.9988223910331726 + ], + [ + 0.35475170612335205, + 0.03152955323457718, + 0.11260552704334259, + 0.009221079759299755, + -0.1969596892595291, + 0.21587583422660828, + 0.0, + 0.9988223910331726 + ], + [ + 0.3596665561199188, + -0.012350087985396385, + 0.11162423342466354, + -0.046582870185375214, + -0.20815269649028778, + 0.18193508684635162, + 0.0, + 0.9988223910331726 + ], + [ + 0.36154791712760925, + -0.04782874882221222, + 0.09120380878448486, + -0.042765866965055466, + -0.1585386097431183, + 0.1183026134967804, + 0.0, + 0.9988223910331726 + ], + [ + 0.3662116229534149, + -0.06014278531074524, + 0.07660243660211563, + -0.010753577575087547, + -0.1543455272912979, + 0.07973145693540573, + 0.0, + 0.9988223910331726 + ], + [ + 0.36558157205581665, + -0.07089182734489441, + 0.05786477401852608, + 0.01883687637746334, + -0.13243912160396576, + 0.06469491869211197, + 0.0, + 0.9988223910331726 + ], + [ + 0.36634501814842224, + -0.07566340267658234, + 0.04537257179617882, + 0.011447901837527752, + -0.1377420425415039, + 0.07423602789640427, + 0.0, + 0.9988223910331726 + ], + [ + 0.3644653856754303, + -0.07993203401565552, + 0.03676683455705643, + -0.008707389235496521, + -0.15910398960113525, + 0.08072563260793686, + 0.0, + 0.9988223910331726 + ], + [ + 0.36071082949638367, + -0.08066429197788239, + 0.02284109964966774, + 0.0007460945635102689, + -0.10731934010982513, + 0.08376013487577438, + 0.0, + 0.9988223910331726 + ], + [ + 0.36205053329467773, + -0.08172499388456345, + 0.013477889820933342, + 0.0017635637195780873, + -0.08271519839763641, + 0.06701575964689255, + 0.0, + 0.9499720335006714 + ], + [ + 0.36314284801483154, + -0.0806947872042656, + 0.012696363031864166, + 0.0067860097624361515, + -0.09402202814817429, + 0.06456471979618073, + 0.0, + 0.6611326336860657 + ], + [ + 0.3596756160259247, + -0.08145298063755035, + 0.010230564512312412, + -0.002418464981019497, + -0.09096479415893555, + 0.06442642211914062, + 0.0, + 0.3610773980617523 + ], + [ + 0.3590433597564697, + -0.07799018919467926, + 0.01656009443104267, + -0.013065414503216743, + -0.1002827063202858, + 0.07022236287593842, + 0.0, + 0.15820781886577606 + ], + [ + 0.35619455575942993, + -0.07010932266712189, + 0.029226314276456833, + -0.03682863339781761, + -0.12520085275173187, + 0.12585729360580444, + 0.0, + 0.0822562649846077 + ], + [ + 0.3543805181980133, + -0.05753437429666519, + 0.05137983709573746, + -0.07625336945056915, + -0.17337512969970703, + 0.18953010439872742, + 0.0, + 0.07954961806535721 + ], + [ + 0.3435986340045929, + -0.04332898557186127, + 0.05545197054743767, + -0.08113837242126465, + -0.16331332921981812, + 0.24019674956798553, + 0.0, + 0.07888144999742508 + ], + [ + 0.3250378966331482, + -0.02473374828696251, + 0.05274567753076553, + -0.09632353484630585, + -0.12493869662284851, + 0.2905157208442688, + 0.0, + 0.07854863256216049 + ], + [ + 0.29631271958351135, + -0.013709514401853085, + 0.05625421181321144, + -0.08461420983076096, + -0.10479934513568878, + 0.2861439287662506, + 0.0, + 0.07854863256216049 + ], + [ + 0.2706359326839447, + 0.002378848847001791, + 0.05308378115296364, + -0.07361135631799698, + -0.10160420835018158, + 0.33552199602127075, + 0.0, + 0.07854863256216049 + ], + [ + 0.26441481709480286, + 0.023337874561548233, + 0.04441460222005844, + -0.065982885658741, + -0.09136337786912918, + 0.4420086443424225, + 0.0, + 0.07854863256216049 + ], + [ + 0.2629588842391968, + 0.04035433009266853, + 0.030529865995049477, + -0.04552660509943962, + -0.07226911187171936, + 0.49151289463043213, + 0.0, + 0.07854863256216049 + ], + [ + 0.2606862783432007, + 0.058335110545158386, + 0.018083970993757248, + -0.03425311669707298, + -0.05826390162110329, + 0.5489539504051208, + 0.0, + 0.07854863256216049 + ], + [ + 0.2602560818195343, + 0.06383226066827774, + 0.0177450068295002, + -0.03729739785194397, + -0.062203556299209595, + 0.5667596459388733, + 0.0, + 0.07854863256216049 + ], + [ + 0.25807416439056396, + 0.06685516238212585, + 0.013009496964514256, + -0.036003030836582184, + -0.04850027710199356, + 0.5665971636772156, + 0.0, + 0.11160726845264435 + ], + [ + 0.250720351934433, + 0.07017576694488525, + 0.013249288313090801, + -0.039690252393484116, + -0.001184850581921637, + 0.5598974227905273, + 0.0, + 0.2965938150882721 + ], + [ + 0.2552143931388855, + 0.07164467871189117, + 0.019566666334867477, + -0.03739914298057556, + -0.014056233689188957, + 0.5634408593177795, + 0.0, + 0.5809218287467957 + ], + [ + 0.26885494589805603, + 0.06375248730182648, + 0.045260440558195114, + -0.015643294900655746, + -0.08666704595088959, + 0.5209317207336426, + 0.0, + 0.8784087896347046 + ], + [ + 0.2835714817047119, + 0.039860256016254425, + 0.06438997387886047, + 0.041024889796972275, + -0.11835496127605438, + 0.330333411693573, + 0.0, + 1.0124757289886475 + ], + [ + 0.29074475169181824, + 0.001931333215907216, + 0.07844480872154236, + 0.021309249103069305, + -0.17140769958496094, + 0.12780718505382538, + 0.0, + 1.0086473226547241 + ], + [ + 0.29390984773635864, + -0.03795236721634865, + 0.08258888870477676, + 0.016015909612178802, + -0.19754694402217865, + 0.004522304050624371, + 0.0, + 1.002137303352356 + ], + [ + 0.3010726869106293, + -0.07712160795927048, + 0.08763981610536575, + 0.0069317808374762535, + -0.22349965572357178, + -0.09376172721385956, + 0.0, + 1.0008161067962646 + ], + [ + 0.30016985535621643, + -0.11159828305244446, + 0.08819413930177689, + -0.005041909404098988, + -0.23026274144649506, + -0.16472245752811432, + 0.0, + 1.0008161067962646 + ], + [ + 0.2995506823062897, + -0.1428503543138504, + 0.08334284275770187, + -0.034720975905656815, + -0.2307250201702118, + -0.19622953236103058, + 0.0, + 1.0008161067962646 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9499720335006714 + ], + [ + 0.6611326336860657 + ], + [ + 0.3610773980617523 + ], + [ + 0.15820781886577606 + ], + [ + 0.0822562649846077 + ], + [ + 0.07954961806535721 + ], + [ + 0.07888144999742508 + ], + [ + 0.07854863256216049 + ], + [ + 0.07854863256216049 + ], + [ + 0.07854863256216049 + ], + [ + 0.07854863256216049 + ], + [ + 0.07854863256216049 + ], + [ + 0.07854863256216049 + ], + [ + 0.07854863256216049 + ], + [ + 0.11160726845264435 + ], + [ + 0.2965938150882721 + ], + [ + 0.5809218287467957 + ], + [ + 0.8784087896347046 + ], + [ + 1.0124757289886475 + ], + [ + 1.0086473226547241 + ], + [ + 1.002137303352356 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.32380008697509766, + 0.19090066850185394, + 0.10191796720027924 + ], + [ + 0.32157835364341736, + 0.18887358903884888, + 0.08792382478713989 + ], + [ + 0.3267720937728882, + 0.1602097749710083, + 0.0948467031121254 + ], + [ + 0.3372187614440918, + 0.12322232872247696, + 0.10292283445596695 + ], + [ + 0.34592530131340027, + 0.08341214805841446, + 0.11027443408966064 + ], + [ + 0.35475170612335205, + 0.03152955323457718, + 0.11260552704334259 + ], + [ + 0.3596665561199188, + -0.012350087985396385, + 0.11162423342466354 + ], + [ + 0.36154791712760925, + -0.04782874882221222, + 0.09120380878448486 + ], + [ + 0.3662116229534149, + -0.06014278531074524, + 0.07660243660211563 + ], + [ + 0.36558157205581665, + -0.07089182734489441, + 0.05786477401852608 + ], + [ + 0.36634501814842224, + -0.07566340267658234, + 0.04537257179617882 + ], + [ + 0.3644653856754303, + -0.07993203401565552, + 0.03676683455705643 + ], + [ + 0.36071082949638367, + -0.08066429197788239, + 0.02284109964966774 + ], + [ + 0.36205053329467773, + -0.08172499388456345, + 0.013477889820933342 + ], + [ + 0.36314284801483154, + -0.0806947872042656, + 0.012696363031864166 + ], + [ + 0.3596756160259247, + -0.08145298063755035, + 0.010230564512312412 + ], + [ + 0.3590433597564697, + -0.07799018919467926, + 0.01656009443104267 + ], + [ + 0.35619455575942993, + -0.07010932266712189, + 0.029226314276456833 + ], + [ + 0.3543805181980133, + -0.05753437429666519, + 0.05137983709573746 + ], + [ + 0.3435986340045929, + -0.04332898557186127, + 0.05545197054743767 + ], + [ + 0.3250378966331482, + -0.02473374828696251, + 0.05274567753076553 + ], + [ + 0.29631271958351135, + -0.013709514401853085, + 0.05625421181321144 + ], + [ + 0.2706359326839447, + 0.002378848847001791, + 0.05308378115296364 + ], + [ + 0.26441481709480286, + 0.023337874561548233, + 0.04441460222005844 + ], + [ + 0.2629588842391968, + 0.04035433009266853, + 0.030529865995049477 + ], + [ + 0.2606862783432007, + 0.058335110545158386, + 0.018083970993757248 + ], + [ + 0.2602560818195343, + 0.06383226066827774, + 0.0177450068295002 + ], + [ + 0.25807416439056396, + 0.06685516238212585, + 0.013009496964514256 + ], + [ + 0.250720351934433, + 0.07017576694488525, + 0.013249288313090801 + ], + [ + 0.2552143931388855, + 0.07164467871189117, + 0.019566666334867477 + ], + [ + 0.26885494589805603, + 0.06375248730182648, + 0.045260440558195114 + ], + [ + 0.2835714817047119, + 0.039860256016254425, + 0.06438997387886047 + ], + [ + 0.29074475169181824, + 0.001931333215907216, + 0.07844480872154236 + ], + [ + 0.29390984773635864, + -0.03795236721634865, + 0.08258888870477676 + ], + [ + 0.3010726869106293, + -0.07712160795927048, + 0.08763981610536575 + ], + [ + 0.30016985535621643, + -0.11159828305244446, + 0.08819413930177689 + ], + [ + 0.2995506823062897, + -0.1428503543138504, + 0.08334284275770187 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9703028417570001, + 0.18596784360235416, + 0.1546879323805832, + 0.18177274321117284, + -0.9824870249443566, + 0.04096236860182665, + 0.1595965698371195, + -0.011627852848967094, + -0.9871138373735563 + ], + [ + 0.9734553616029796, + 0.19341888572115043, + 0.12236745324145801, + 0.19230951960247503, + -0.9811111755833075, + 0.02092629484178183, + 0.12410361653343199, + 0.0031616122356258134, + -0.9922642271952536 + ], + [ + 0.9625698400779135, + 0.2270279168758062, + 0.14804603314986958, + 0.2240811288341112, + -0.9738862539011361, + 0.0365131779340317, + 0.15246950735412879, + -0.0019721616170622694, + -0.9883062075620822 + ], + [ + 0.9584481632809683, + 0.23796795417923122, + 0.1573161501152694, + 0.231451046057829, + -0.9710682952727051, + 0.05879438064049425, + 0.166755904189553, + -0.01994037863015427, + -0.9857965559475297 + ], + [ + 0.9530683360607393, + 0.2460636891293375, + 0.17638993080806625, + 0.23979963841765564, + -0.9691867467469718, + 0.05633101583304455, + 0.18481580076707527, + -0.011389065900321349, + -0.9827071837351872 + ], + [ + 0.957903983186253, + 0.21595646230361737, + 0.18916332991681445, + 0.2100616282875583, + -0.9763611199117086, + 0.05092225295422928, + 0.1956887102443342, + -0.00904267184305153, + -0.9806243719023346 + ], + [ + 0.9622660101220418, + 0.17127260949270828, + 0.21144696498499368, + 0.17702749950856123, + -0.9841696503703566, + -0.008447704282037768, + 0.2066528252445469, + 0.045560866184135095, + -0.9773529645378881 + ], + [ + 0.9805571147616645, + 0.1112165016497157, + 0.16167447062254078, + 0.11654668738206592, + -0.992899109889888, + -0.02383751749103278, + 0.157875312669673, + 0.042216671359394074, + -0.9865562012925498 + ], + [ + 0.9849732531124995, + 0.07799450102482926, + 0.15409266193712276, + 0.07870019170015292, + -0.9968971640797223, + 0.001524492101279887, + 0.15373343969136863, + 0.010625538089696459, + -0.9880552249044409 + ], + [ + 0.9891690846374949, + 0.06712043156829187, + 0.1305349365630036, + 0.06408364438288952, + -0.9975701721730906, + 0.027331997972308935, + 0.13205229464128396, + -0.018670812961336127, + -0.9910668959375725 + ], + [ + 0.9878004119522193, + 0.07573051339385893, + 0.13607070032938026, + 0.07346538415925326, + -0.9970638451450289, + 0.021599213757519657, + 0.13730689522874953, + -0.011339225975005411, + -0.9904636482359808 + ], + [ + 0.9841542243474781, + 0.07925989487380698, + 0.15861378175810226, + 0.07961949773742515, + -0.9968169116962904, + 0.004096356467689473, + 0.1584335768675756, + 0.008597303115703961, + -0.9873322075674847 + ], + [ + 0.9907611446579854, + 0.08374184235244574, + 0.10667548019773453, + 0.08318090390832712, + -0.9964872069269691, + 0.00970482642204363, + 0.10711345135412627, + -0.0007418020669086017, + -0.9942465279138275 + ], + [ + 0.994344006810088, + 0.06711088431918005, + 0.08231722375516128, + 0.06673665615918042, + -0.9977439753176698, + 0.0072923550369219745, + 0.08262091046188598, + -0.0017575332687682077, + -0.996579498199345 + ], + [ + 0.993508809531643, + 0.06515414858300163, + 0.09324796140099471, + 0.06423489931622663, + -0.9978523405716383, + 0.012829034474081588, + 0.09388356135581714, + -0.006755985355748924, + -0.9955602611439557 + ], + [ + 0.9937994686159564, + 0.06416243737460017, + 0.09080637537526197, + 0.06411567830433906, + -0.9979365615775013, + 0.0034349472264196346, + 0.09083939659760502, + 0.002408463623203667, + -0.9958626428020877 + ], + [ + 0.9925237071543311, + 0.0688538960183198, + 0.10077614668026225, + 0.06981214976670429, + -0.9975420575252927, + -0.006008927787611244, + 0.10011470661982974, + 0.012999402728736415, + -0.9948909794782147 + ], + [ + 0.9843249371355246, + 0.12087864143846162, + 0.12842418844258988, + 0.12454275625704443, + -0.9919948384970233, + -0.020864857036739244, + 0.12487401650080944, + 0.03653210148974427, + -0.9914998162197001 + ], + [ + 0.9673694737876467, + 0.1749437408591948, + 0.18327844586312583, + 0.1855730070814501, + -0.9817148633100707, + -0.04240974179168645, + 0.1725078555502906, + 0.0750374219325287, + -0.9821458267910932 + ], + [ + 0.9583671795634192, + 0.22431171556235743, + 0.17668221018860233, + 0.23472831618044557, + -0.9712306135185474, + -0.04017104613374184, + 0.16258833512509493, + 0.07997092987991633, + -0.9834478550769186 + ], + [ + 0.9506282115156035, + 0.2736360480858305, + 0.14638755636533407, + 0.28421361224064984, + -0.9570879700981568, + -0.0566148400201839, + 0.12461390808319246, + 0.09542500029530276, + -0.9876059149432405 + ], + [ + 0.9540760549517507, + 0.2727639795004468, + 0.12384947660278332, + 0.28070647987484426, + -0.9584025645255474, + -0.05165652395513343, + 0.10460761695009198, + 0.08404960319914351, + -0.9909555543403998 + ], + [ + 0.9393688729051389, + 0.3213267697142388, + 0.11972981116640027, + 0.3275640103873432, + -0.9441376495763654, + -0.036137484021127146, + 0.10142948149275849, + 0.07316560474313905, + -0.9921486050822635 + ], + [ + 0.9001243778236385, + 0.4213875688814434, + 0.11049262979852947, + 0.4259718739765109, + -0.904500568573349, + -0.020656331509449958, + 0.0912363251591582, + 0.06566002012393492, + -0.9936622639150473 + ], + [ + 0.879318570726982, + 0.468574049420847, + 0.08507180134455612, + 0.47072827931453465, + -0.8822572861333083, + -0.006080141303250887, + 0.07220622014920479, + 0.04539208382570347, + -0.9963562718715255 + ], + [ + 0.8516232696998074, + 0.519787890361864, + 0.06751559478351807, + 0.5209097463329024, + -0.8536109820377535, + 0.0011521805124973736, + 0.058230942643928946, + 0.034188307616860016, + -0.9977175536899682 + ], + [ + 0.8420135265998805, + 0.5345721987316856, + 0.07242779415392744, + 0.5358627869907431, + -0.8443029589539004, + 0.001893943030309292, + 0.06216345020464994, + 0.03721663398078542, + -0.9973718602476181 + ], + [ + 0.8427402252760738, + 0.5349438411476743, + 0.06019966378480508, + 0.536132893643412, + -0.8441223098050112, + -0.004364223068778789, + 0.04848126499147695, + 0.03595292627344575, + -0.9981768150168596 + ], + [ + 0.8473089993971965, + 0.5306411803635694, + 0.02207707505262029, + 0.5310989132640705, + -0.846667260977371, + -0.03299232514993796, + 0.0011848503046921147, + 0.03967980457907686, + -0.9992117439453568 + ], + [ + 0.8453388451723237, + 0.5332805435052808, + 0.03184491735637994, + 0.534045571228871, + -0.8451118826654131, + -0.024108787372037314, + 0.014055770827361435, + 0.03738673155590723, + -0.999202015415309 + ], + [ + 0.8641004563673989, + 0.49645318775389535, + 0.08285308488311238, + 0.49582054369888606, + -0.8679235985889617, + 0.029506193562158743, + 0.08655859143836478, + 0.015583946271148556, + -0.9961248671059386 + ], + [ + 0.9393167067366583, + 0.3286664981680886, + 0.09829779970743999, + 0.3220892929064669, + -0.9435675324165059, + 0.07706360466807836, + 0.1180788373943884, + -0.04072646254404429, + -0.9921687071301118 + ], + [ + 0.9773089301252658, + 0.13103537487734018, + 0.16642411372203128, + 0.12559168229651874, + -0.9911553482054039, + 0.042869628663603186, + 0.17056958824872323, + -0.020995386507036397, + -0.9851219261137585 + ], + [ + 0.9805409488545749, + 0.007664897850803081, + 0.19616497383658227, + 0.00443433453405361, + -0.9998473092189006, + 0.016902512386160383, + 0.1962645772843647, + -0.015703744415296622, + -0.9804252180124341 + ], + [ + 0.9708445838952436, + -0.09209253357679853, + 0.22131371213884934, + -0.09129575692898725, + -0.9957275113622781, + -0.013849472302130588, + 0.22164358481136895, + -0.006759317694149574, + -0.9751043190019594 + ], + [ + 0.9604276320574953, + -0.16511161803524133, + 0.224314326716368, + -0.1596505775859252, + -0.9862626714659939, + -0.04239853711204951, + 0.22823333818027855, + 0.004908814780161454, + -0.9735940873282567 + ], + [ + 0.9548180901433522, + -0.2026412703273498, + 0.21739119185265762, + -0.1898060095591369, + -0.9786697470475184, + -0.07860791912512977, + 0.22868339133010487, + 0.03379410857034179, + -0.9729141096498178 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.002221733331680298, + -0.002027079463005066, + -0.013994142413139343, + -0.014965351670980453, + 0.035857558250427246, + 0.00985245406627655, + 1.0 + ], + [ + 0.005193740129470825, + -0.028663814067840576, + 0.006922878324985504, + 0.005181743763387203, + -0.02864210307598114, + 0.03367896378040314, + 1.0 + ], + [ + 0.010446667671203613, + -0.03698744624853134, + 0.008076131343841553, + 0.018229428678750992, + -0.01447206735610962, + 0.008227795362472534, + 1.0 + ], + [ + 0.008706539869308472, + -0.0398101806640625, + 0.007351599633693695, + -0.008635961450636387, + -0.018345847725868225, + 0.009542703628540039, + 1.0 + ], + [ + 0.008826404809951782, + -0.05188259482383728, + 0.002331092953681946, + -0.0023678820580244064, + -0.011075258255004883, + -0.030615687370300293, + 1.0 + ], + [ + 0.0049148499965667725, + -0.04387964308261871, + -0.0009812936186790466, + -0.05580395087599754, + -0.011193007230758667, + -0.03394074738025665, + 1.0 + ], + [ + 0.0018813610076904297, + -0.035478658974170685, + -0.02042042464017868, + 0.003817003220319748, + 0.049614086747169495, + -0.06363247334957123, + 1.0 + ], + [ + 0.004663705825805664, + -0.01231403648853302, + -0.014601372182369232, + 0.03201229125261307, + 0.0041930824518203735, + -0.038571156561374664, + 1.0 + ], + [ + -0.0006300508975982666, + -0.01074904203414917, + -0.018737662583589554, + 0.029590453952550888, + 0.021906405687332153, + -0.015036538243293762, + 1.0 + ], + [ + 0.0007634460926055908, + -0.004771575331687927, + -0.01249220222234726, + -0.007388974539935589, + -0.005302920937538147, + 0.009541109204292297, + 1.0 + ], + [ + -0.0018796324729919434, + -0.004268631339073181, + -0.00860573723912239, + -0.020155292004346848, + -0.021361947059631348, + 0.006489604711532593, + 1.0 + ], + [ + -0.003754556179046631, + -0.0007322579622268677, + -0.013925734907388687, + 0.00945348385721445, + 0.05178464949131012, + 0.0030345022678375244, + 1.0 + ], + [ + 0.0013397037982940674, + -0.0010607019066810608, + -0.009363209828734398, + 0.0010174692142754793, + 0.02460414171218872, + -0.016744375228881836, + 0.0 + ], + [ + 0.0010923147201538086, + 0.0010302066802978516, + -0.0007815267890691757, + 0.005022446159273386, + -0.011306829750537872, + -0.0024510398507118225, + 0.0 + ], + [ + -0.0034672319889068604, + -0.0007581934332847595, + -0.002465798519551754, + -0.009204475209116936, + 0.003057233989238739, + -0.0001382976770401001, + 0.0 + ], + [ + -0.0006322562694549561, + 0.0034627914428710938, + 0.006329529918730259, + -0.010646949522197247, + -0.00931791216135025, + 0.0057959407567977905, + 0.0 + ], + [ + -0.002848803997039795, + 0.007880866527557373, + 0.012666219845414162, + -0.023763218894600868, + -0.024918146431446075, + 0.05563493072986603, + 0.0 + ], + [ + -0.001814037561416626, + 0.012574948370456696, + 0.022153522819280624, + -0.03942473605275154, + -0.04817427694797516, + 0.06367281079292297, + 0.0 + ], + [ + -0.01078188419342041, + 0.014205388724803925, + 0.004072133451700211, + -0.004885002970695496, + 0.010061800479888916, + 0.05066664516925812, + 0.0 + ], + [ + -0.018560737371444702, + 0.018595237284898758, + -0.0027062930166721344, + -0.015185162425041199, + 0.038374632596969604, + 0.050318971276283264, + 0.0 + ], + [ + -0.02872517704963684, + 0.011024233885109425, + 0.0035085342824459076, + 0.011709325015544891, + 0.02013935148715973, + -0.0043717920780181885, + 0.0 + ], + [ + -0.02567678689956665, + 0.016088362783193588, + -0.0031704306602478027, + 0.011002853512763977, + 0.003195136785507202, + 0.04937806725502014, + 0.0 + ], + [ + -0.006221115589141846, + 0.020959025248885155, + -0.008669178932905197, + 0.0076284706592559814, + 0.010240830481052399, + 0.10648664832115173, + 0.0 + ], + [ + -0.001455932855606079, + 0.0170164555311203, + -0.013884736225008965, + 0.020456280559301376, + 0.01909426599740982, + 0.049504250288009644, + 0.0 + ], + [ + -0.0022726058959960938, + 0.017980780452489853, + -0.012445895001292229, + 0.011273488402366638, + 0.014005210250616074, + 0.05744105577468872, + 0.0 + ], + [ + -0.00043019652366638184, + 0.005497150123119354, + -0.00033896416425704956, + -0.003044281154870987, + -0.003939654678106308, + 0.01780569553375244, + 0.0 + ], + [ + -0.002181917428970337, + 0.003022901713848114, + -0.004735509864985943, + 0.0012943670153617859, + 0.013703279197216034, + -0.00016248226165771484, + 1.0 + ], + [ + -0.0073538124561309814, + 0.0033206045627593994, + 0.00023979134857654572, + -0.0036872215569019318, + 0.04731542617082596, + -0.006699740886688232, + 1.0 + ], + [ + 0.004494041204452515, + 0.0014689117670059204, + 0.006317378021776676, + 0.002291109412908554, + -0.012871382758021355, + 0.0035434365272521973, + 1.0 + ], + [ + 0.013640552759170532, + -0.007892191410064697, + 0.025693774223327637, + 0.021755848079919815, + -0.07261081039905548, + -0.04250913858413696, + 1.0 + ], + [ + 0.014716535806655884, + -0.023892231285572052, + 0.01912953332066536, + 0.05666818469762802, + -0.031687915325164795, + -0.19059830904006958, + 1.0 + ], + [ + 0.007173269987106323, + -0.03792892396450043, + 0.014054834842681885, + -0.01971564069390297, + -0.053052738308906555, + -0.20252622663974762, + 1.0 + ], + [ + 0.0031650960445404053, + -0.039883699268102646, + 0.0041440799832344055, + -0.005293339490890503, + -0.026139244437217712, + -0.12328488379716873, + 1.0 + ], + [ + 0.00716283917427063, + -0.03916924074292183, + 0.005050927400588989, + -0.009084128774702549, + -0.025952711701393127, + -0.0982840284705162, + 1.0 + ], + [ + -0.0009028315544128418, + -0.03447667509317398, + 0.0005543231964111328, + -0.011973690241575241, + -0.006763085722923279, + -0.07096073031425476, + 1.0 + ], + [ + -0.0006191730499267578, + -0.031252071261405945, + -0.004851296544075012, + -0.0296790674328804, + -0.00046227872371673584, + -0.03150707483291626, + 1.0 + ], + [ + 0.0005197823047637939, + -0.017805099487304688, + -0.006543666124343872, + -0.010621316730976105, + 0.004182741045951843, + -0.024558812379837036, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9499720335006714 + ], + [ + 0.6611326336860657 + ], + [ + 0.3610773980617523 + ], + [ + 0.15820781886577606 + ], + [ + 0.0822562649846077 + ], + [ + 0.07954961806535721 + ], + [ + 0.07888144999742508 + ], + [ + 0.07854863256216049 + ], + [ + 0.07854863256216049 + ], + [ + 0.07854863256216049 + ], + [ + 0.07854863256216049 + ], + [ + 0.07854863256216049 + ], + [ + 0.07854863256216049 + ], + [ + 0.07854863256216049 + ], + [ + 0.11160726845264435 + ], + [ + 0.2965938150882721 + ], + [ + 0.5809218287467957 + ], + [ + 0.8784087896347046 + ], + [ + 1.0124757289886475 + ], + [ + 1.0086473226547241 + ], + [ + 1.002137303352356 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.32157835364341736, + 0.18887358903884888, + 0.08792382478713989 + ], + [ + 0.3267720937728882, + 0.1602097749710083, + 0.0948467031121254 + ], + [ + 0.3372187614440918, + 0.12322232872247696, + 0.10292283445596695 + ], + [ + 0.34592530131340027, + 0.08341214805841446, + 0.11027443408966064 + ], + [ + 0.35475170612335205, + 0.03152955323457718, + 0.11260552704334259 + ], + [ + 0.3596665561199188, + -0.012350087985396385, + 0.11162423342466354 + ], + [ + 0.36154791712760925, + -0.04782874882221222, + 0.09120380878448486 + ], + [ + 0.3662116229534149, + -0.06014278531074524, + 0.07660243660211563 + ], + [ + 0.36558157205581665, + -0.07089182734489441, + 0.05786477401852608 + ], + [ + 0.36634501814842224, + -0.07566340267658234, + 0.04537257179617882 + ], + [ + 0.3644653856754303, + -0.07993203401565552, + 0.03676683455705643 + ], + [ + 0.36071082949638367, + -0.08066429197788239, + 0.02284109964966774 + ], + [ + 0.36205053329467773, + -0.08172499388456345, + 0.013477889820933342 + ], + [ + 0.36314284801483154, + -0.0806947872042656, + 0.012696363031864166 + ], + [ + 0.3596756160259247, + -0.08145298063755035, + 0.010230564512312412 + ], + [ + 0.3590433597564697, + -0.07799018919467926, + 0.01656009443104267 + ], + [ + 0.35619455575942993, + -0.07010932266712189, + 0.029226314276456833 + ], + [ + 0.3543805181980133, + -0.05753437429666519, + 0.05137983709573746 + ], + [ + 0.3435986340045929, + -0.04332898557186127, + 0.05545197054743767 + ], + [ + 0.3250378966331482, + -0.02473374828696251, + 0.05274567753076553 + ], + [ + 0.29631271958351135, + -0.013709514401853085, + 0.05625421181321144 + ], + [ + 0.2706359326839447, + 0.002378848847001791, + 0.05308378115296364 + ], + [ + 0.26441481709480286, + 0.023337874561548233, + 0.04441460222005844 + ], + [ + 0.2629588842391968, + 0.04035433009266853, + 0.030529865995049477 + ], + [ + 0.2606862783432007, + 0.058335110545158386, + 0.018083970993757248 + ], + [ + 0.2602560818195343, + 0.06383226066827774, + 0.0177450068295002 + ], + [ + 0.25807416439056396, + 0.06685516238212585, + 0.013009496964514256 + ], + [ + 0.250720351934433, + 0.07017576694488525, + 0.013249288313090801 + ], + [ + 0.2552143931388855, + 0.07164467871189117, + 0.019566666334867477 + ], + [ + 0.26885494589805603, + 0.06375248730182648, + 0.045260440558195114 + ], + [ + 0.2835714817047119, + 0.039860256016254425, + 0.06438997387886047 + ], + [ + 0.29074475169181824, + 0.001931333215907216, + 0.07844480872154236 + ], + [ + 0.29390984773635864, + -0.03795236721634865, + 0.08258888870477676 + ], + [ + 0.3010726869106293, + -0.07712160795927048, + 0.08763981610536575 + ], + [ + 0.30016985535621643, + -0.11159828305244446, + 0.08819413930177689 + ], + [ + 0.2995506823062897, + -0.1428503543138504, + 0.08334284275770187 + ], + [ + 0.30007046461105347, + -0.1606554538011551, + 0.076799176633358 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9734553616029796, + 0.19341888572115043, + 0.12236745324145801, + 0.19230951960247503, + -0.9811111755833075, + 0.02092629484178183, + 0.12410361653343199, + 0.0031616122356258134, + -0.9922642271952536 + ], + [ + 0.9625698400779135, + 0.2270279168758062, + 0.14804603314986958, + 0.2240811288341112, + -0.9738862539011361, + 0.0365131779340317, + 0.15246950735412879, + -0.0019721616170622694, + -0.9883062075620822 + ], + [ + 0.9584481632809683, + 0.23796795417923122, + 0.1573161501152694, + 0.231451046057829, + -0.9710682952727051, + 0.05879438064049425, + 0.166755904189553, + -0.01994037863015427, + -0.9857965559475297 + ], + [ + 0.9530683360607393, + 0.2460636891293375, + 0.17638993080806625, + 0.23979963841765564, + -0.9691867467469718, + 0.05633101583304455, + 0.18481580076707527, + -0.011389065900321349, + -0.9827071837351872 + ], + [ + 0.957903983186253, + 0.21595646230361737, + 0.18916332991681445, + 0.2100616282875583, + -0.9763611199117086, + 0.05092225295422928, + 0.1956887102443342, + -0.00904267184305153, + -0.9806243719023346 + ], + [ + 0.9622660101220418, + 0.17127260949270828, + 0.21144696498499368, + 0.17702749950856123, + -0.9841696503703566, + -0.008447704282037768, + 0.2066528252445469, + 0.045560866184135095, + -0.9773529645378881 + ], + [ + 0.9805571147616645, + 0.1112165016497157, + 0.16167447062254078, + 0.11654668738206592, + -0.992899109889888, + -0.02383751749103278, + 0.157875312669673, + 0.042216671359394074, + -0.9865562012925498 + ], + [ + 0.9849732531124995, + 0.07799450102482926, + 0.15409266193712276, + 0.07870019170015292, + -0.9968971640797223, + 0.001524492101279887, + 0.15373343969136863, + 0.010625538089696459, + -0.9880552249044409 + ], + [ + 0.9891690846374949, + 0.06712043156829187, + 0.1305349365630036, + 0.06408364438288952, + -0.9975701721730906, + 0.027331997972308935, + 0.13205229464128396, + -0.018670812961336127, + -0.9910668959375725 + ], + [ + 0.9878004119522193, + 0.07573051339385893, + 0.13607070032938026, + 0.07346538415925326, + -0.9970638451450289, + 0.021599213757519657, + 0.13730689522874953, + -0.011339225975005411, + -0.9904636482359808 + ], + [ + 0.9841542243474781, + 0.07925989487380698, + 0.15861378175810226, + 0.07961949773742515, + -0.9968169116962904, + 0.004096356467689473, + 0.1584335768675756, + 0.008597303115703961, + -0.9873322075674847 + ], + [ + 0.9907611446579854, + 0.08374184235244574, + 0.10667548019773453, + 0.08318090390832712, + -0.9964872069269691, + 0.00970482642204363, + 0.10711345135412627, + -0.0007418020669086017, + -0.9942465279138275 + ], + [ + 0.994344006810088, + 0.06711088431918005, + 0.08231722375516128, + 0.06673665615918042, + -0.9977439753176698, + 0.0072923550369219745, + 0.08262091046188598, + -0.0017575332687682077, + -0.996579498199345 + ], + [ + 0.993508809531643, + 0.06515414858300163, + 0.09324796140099471, + 0.06423489931622663, + -0.9978523405716383, + 0.012829034474081588, + 0.09388356135581714, + -0.006755985355748924, + -0.9955602611439557 + ], + [ + 0.9937994686159564, + 0.06416243737460017, + 0.09080637537526197, + 0.06411567830433906, + -0.9979365615775013, + 0.0034349472264196346, + 0.09083939659760502, + 0.002408463623203667, + -0.9958626428020877 + ], + [ + 0.9925237071543311, + 0.0688538960183198, + 0.10077614668026225, + 0.06981214976670429, + -0.9975420575252927, + -0.006008927787611244, + 0.10011470661982974, + 0.012999402728736415, + -0.9948909794782147 + ], + [ + 0.9843249371355246, + 0.12087864143846162, + 0.12842418844258988, + 0.12454275625704443, + -0.9919948384970233, + -0.020864857036739244, + 0.12487401650080944, + 0.03653210148974427, + -0.9914998162197001 + ], + [ + 0.9673694737876467, + 0.1749437408591948, + 0.18327844586312583, + 0.1855730070814501, + -0.9817148633100707, + -0.04240974179168645, + 0.1725078555502906, + 0.0750374219325287, + -0.9821458267910932 + ], + [ + 0.9583671795634192, + 0.22431171556235743, + 0.17668221018860233, + 0.23472831618044557, + -0.9712306135185474, + -0.04017104613374184, + 0.16258833512509493, + 0.07997092987991633, + -0.9834478550769186 + ], + [ + 0.9506282115156035, + 0.2736360480858305, + 0.14638755636533407, + 0.28421361224064984, + -0.9570879700981568, + -0.0566148400201839, + 0.12461390808319246, + 0.09542500029530276, + -0.9876059149432405 + ], + [ + 0.9540760549517507, + 0.2727639795004468, + 0.12384947660278332, + 0.28070647987484426, + -0.9584025645255474, + -0.05165652395513343, + 0.10460761695009198, + 0.08404960319914351, + -0.9909555543403998 + ], + [ + 0.9393688729051389, + 0.3213267697142388, + 0.11972981116640027, + 0.3275640103873432, + -0.9441376495763654, + -0.036137484021127146, + 0.10142948149275849, + 0.07316560474313905, + -0.9921486050822635 + ], + [ + 0.9001243778236385, + 0.4213875688814434, + 0.11049262979852947, + 0.4259718739765109, + -0.904500568573349, + -0.020656331509449958, + 0.0912363251591582, + 0.06566002012393492, + -0.9936622639150473 + ], + [ + 0.879318570726982, + 0.468574049420847, + 0.08507180134455612, + 0.47072827931453465, + -0.8822572861333083, + -0.006080141303250887, + 0.07220622014920479, + 0.04539208382570347, + -0.9963562718715255 + ], + [ + 0.8516232696998074, + 0.519787890361864, + 0.06751559478351807, + 0.5209097463329024, + -0.8536109820377535, + 0.0011521805124973736, + 0.058230942643928946, + 0.034188307616860016, + -0.9977175536899682 + ], + [ + 0.8420135265998805, + 0.5345721987316856, + 0.07242779415392744, + 0.5358627869907431, + -0.8443029589539004, + 0.001893943030309292, + 0.06216345020464994, + 0.03721663398078542, + -0.9973718602476181 + ], + [ + 0.8427402252760738, + 0.5349438411476743, + 0.06019966378480508, + 0.536132893643412, + -0.8441223098050112, + -0.004364223068778789, + 0.04848126499147695, + 0.03595292627344575, + -0.9981768150168596 + ], + [ + 0.8473089993971965, + 0.5306411803635694, + 0.02207707505262029, + 0.5310989132640705, + -0.846667260977371, + -0.03299232514993796, + 0.0011848503046921147, + 0.03967980457907686, + -0.9992117439453568 + ], + [ + 0.8453388451723237, + 0.5332805435052808, + 0.03184491735637994, + 0.534045571228871, + -0.8451118826654131, + -0.024108787372037314, + 0.014055770827361435, + 0.03738673155590723, + -0.999202015415309 + ], + [ + 0.8641004563673989, + 0.49645318775389535, + 0.08285308488311238, + 0.49582054369888606, + -0.8679235985889617, + 0.029506193562158743, + 0.08655859143836478, + 0.015583946271148556, + -0.9961248671059386 + ], + [ + 0.9393167067366583, + 0.3286664981680886, + 0.09829779970743999, + 0.3220892929064669, + -0.9435675324165059, + 0.07706360466807836, + 0.1180788373943884, + -0.04072646254404429, + -0.9921687071301118 + ], + [ + 0.9773089301252658, + 0.13103537487734018, + 0.16642411372203128, + 0.12559168229651874, + -0.9911553482054039, + 0.042869628663603186, + 0.17056958824872323, + -0.020995386507036397, + -0.9851219261137585 + ], + [ + 0.9805409488545749, + 0.007664897850803081, + 0.19616497383658227, + 0.00443433453405361, + -0.9998473092189006, + 0.016902512386160383, + 0.1962645772843647, + -0.015703744415296622, + -0.9804252180124341 + ], + [ + 0.9708445838952436, + -0.09209253357679853, + 0.22131371213884934, + -0.09129575692898725, + -0.9957275113622781, + -0.013849472302130588, + 0.22164358481136895, + -0.006759317694149574, + -0.9751043190019594 + ], + [ + 0.9604276320574953, + -0.16511161803524133, + 0.224314326716368, + -0.1596505775859252, + -0.9862626714659939, + -0.04239853711204951, + 0.22823333818027855, + 0.004908814780161454, + -0.9735940873282567 + ], + [ + 0.9548180901433522, + -0.2026412703273498, + 0.21739119185265762, + -0.1898060095591369, + -0.9786697470475184, + -0.07860791912512977, + 0.22868339133010487, + 0.03379410857034179, + -0.9729141096498178 + ], + [ + 0.9507942128291004, + -0.22870749692769696, + 0.2090053724184096, + -0.21340322631951933, + -0.9724926812091835, + -0.09336513262986612, + 0.22460950079440234, + 0.04416860699229683, + -0.9734473310401794 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005556.json b/json/chunk-0005/episode_0005556.json new file mode 100644 index 0000000000000000000000000000000000000000..758bf127e4f660b46e4f2cf485e8131245c54bf8 --- /dev/null +++ b/json/chunk-0005/episode_0005556.json @@ -0,0 +1,1162 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 18, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut potato in pot or pan." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005556.mp4", + "start": 0, + "end": 18, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.32096564769744873, + -0.0032869887072592974, + 0.13007433712482452, + 0.14498111605644226, + -0.15638351440429688, + 0.05420130491256714, + 0.0, + 1.0118417739868164 + ], + [ + 0.32309162616729736, + -0.0048988740891218185, + 0.10857922583818436, + 0.14544127881526947, + -0.15547366440296173, + -0.013527105562388897, + 0.0, + 1.0118417739868164 + ], + [ + 0.3334711194038391, + -0.01260438933968544, + 0.09909684211015701, + 0.1538114994764328, + -0.20808103680610657, + -0.12661521136760712, + 0.0, + 1.0118417739868164 + ], + [ + 0.3407822847366333, + -0.021235203370451927, + 0.08819855749607086, + 0.15676337480545044, + -0.22265060245990753, + -0.2373143583536148, + 0.0, + 1.0118417739868164 + ], + [ + 0.3432750403881073, + -0.02764548361301422, + 0.07980927079916, + 0.13367103040218353, + -0.24846358597278595, + -0.28569313883781433, + 0.0, + 1.0118417739868164 + ], + [ + 0.3438044488430023, + -0.03060583956539631, + 0.07026386260986328, + 0.09557684510946274, + -0.2672286927700043, + -0.27872902154922485, + 0.0, + 1.0118417739868164 + ], + [ + 0.346565306186676, + -0.028793364763259888, + 0.05849364027380943, + 0.07023362815380096, + -0.2853313386440277, + -0.2776990234851837, + 0.0, + 1.0118417739868164 + ], + [ + 0.35165584087371826, + -0.02253277599811554, + 0.045430053025484085, + 0.04884966090321541, + -0.2995457351207733, + -0.29455533623695374, + 0.0, + 1.0118417739868164 + ], + [ + 0.35590142011642456, + -0.017267977818846703, + 0.036031823605298996, + -0.0026747817173600197, + -0.3112597167491913, + -0.2723633348941803, + 0.0, + 0.9295665621757507 + ], + [ + 0.35881370306015015, + -0.017448699101805687, + 0.036000847816467285, + -0.05101850628852844, + -0.3189162611961365, + -0.2233739197254181, + 0.0, + 0.7161149382591248 + ], + [ + 0.3583974540233612, + -0.01518427487462759, + 0.039362646639347076, + -0.046058543026447296, + -0.2838611304759979, + -0.20442207157611847, + 0.0, + 0.651088297367096 + ], + [ + 0.3517387807369232, + -0.015063426457345486, + 0.04521536827087402, + -0.014750920236110687, + -0.19111962616443634, + -0.2291044443845749, + 0.0, + 0.651088297367096 + ], + [ + 0.3537749648094177, + -0.0022074736189097166, + 0.059296201914548874, + 0.030579781159758568, + -0.1378481537103653, + -0.24961057305335999, + 0.0, + 0.651088297367096 + ], + [ + 0.35779812932014465, + 0.01225426234304905, + 0.07583816349506378, + 0.05800841376185417, + -0.10034601390361786, + -0.25203630328178406, + 0.0, + 0.651088297367096 + ], + [ + 0.36001497507095337, + 0.02886216901242733, + 0.09236875176429749, + 0.0909252017736435, + -0.06543613970279694, + -0.21803103387355804, + 0.0, + 0.651088297367096 + ], + [ + 0.35936006903648376, + 0.0488080270588398, + 0.10053324699401855, + 0.14326977729797363, + -0.043660346418619156, + -0.18831127882003784, + 0.0, + 0.651088297367096 + ], + [ + 0.3589823842048645, + 0.06738461554050446, + 0.10482501983642578, + 0.18287105858325958, + -0.052072539925575256, + -0.18219467997550964, + 0.0, + 0.651088297367096 + ], + [ + 0.3648635745048523, + 0.08522301912307739, + 0.10569939762353897, + 0.2333940863609314, + -0.09618338942527771, + -0.19030922651290894, + 0.0, + 0.651088297367096 + ] + ], + "left_gripper_pos": [ + [ + 1.0118417739868164 + ], + [ + 1.0118417739868164 + ], + [ + 1.0118417739868164 + ], + [ + 1.0118417739868164 + ], + [ + 1.0118417739868164 + ], + [ + 1.0118417739868164 + ], + [ + 1.0118417739868164 + ], + [ + 1.0118417739868164 + ], + [ + 0.9295665621757507 + ], + [ + 0.7161149382591248 + ], + [ + 0.651088297367096 + ], + [ + 0.651088297367096 + ], + [ + 0.651088297367096 + ], + [ + 0.651088297367096 + ], + [ + 0.651088297367096 + ], + [ + 0.651088297367096 + ], + [ + 0.651088297367096 + ], + [ + 0.651088297367096 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.32096564769744873, + -0.0032869887072592974, + 0.13007433712482452 + ], + [ + 0.32309162616729736, + -0.0048988740891218185, + 0.10857922583818436 + ], + [ + 0.3334711194038391, + -0.01260438933968544, + 0.09909684211015701 + ], + [ + 0.3407822847366333, + -0.021235203370451927, + 0.08819855749607086 + ], + [ + 0.3432750403881073, + -0.02764548361301422, + 0.07980927079916 + ], + [ + 0.3438044488430023, + -0.03060583956539631, + 0.07026386260986328 + ], + [ + 0.346565306186676, + -0.028793364763259888, + 0.05849364027380943 + ], + [ + 0.35165584087371826, + -0.02253277599811554, + 0.045430053025484085 + ], + [ + 0.35590142011642456, + -0.017267977818846703, + 0.036031823605298996 + ], + [ + 0.35881370306015015, + -0.017448699101805687, + 0.036000847816467285 + ], + [ + 0.3583974540233612, + -0.01518427487462759, + 0.039362646639347076 + ], + [ + 0.3517387807369232, + -0.015063426457345486, + 0.04521536827087402 + ], + [ + 0.3537749648094177, + -0.0022074736189097166, + 0.059296201914548874 + ], + [ + 0.35779812932014465, + 0.01225426234304905, + 0.07583816349506378 + ], + [ + 0.36001497507095337, + 0.02886216901242733, + 0.09236875176429749 + ], + [ + 0.35936006903648376, + 0.0488080270588398, + 0.10053324699401855 + ], + [ + 0.3589823842048645, + 0.06738461554050446, + 0.10482501983642578 + ], + [ + 0.3648635745048523, + 0.08522301912307739, + 0.10569939762353897 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9863463875017237, + 0.07607469372776005, + 0.14605973037263548, + 0.05351367539236703, + -0.9868365053848707, + 0.15261060967631418, + 0.1557468792891204, + -0.1427107305496102, + -0.9774336586069137 + ], + [ + 0.9878479092120388, + 0.009056053407688332, + 0.1551595828883292, + -0.013363538055685433, + -0.9896550899816015, + 0.14284333629589466, + 0.15484806784728522, + -0.14318097209540417, + -0.9775076905650294 + ], + [ + 0.9705968123830566, + -0.09339008895910539, + 0.22185607739266391, + -0.12355327173248415, + -0.9842804446974028, + 0.12620061501625685, + 0.20658271185181068, + -0.14990095887115906, + -0.966878113152562 + ], + [ + 0.9479802708070004, + -0.1987023638364996, + 0.248698163978896, + -0.22928997006382432, + -0.9681589396276729, + 0.10047077807577243, + 0.22081556962500865, + -0.15226830998210988, + -0.9633560328281416 + ], + [ + 0.9300026599439477, + -0.2478630447004812, + 0.27140184886803753, + -0.2731681841173245, + -0.9601438766032234, + 0.05918512826190066, + 0.24591501719745654, + -0.12918067693405771, + -0.960644657000513 + ], + [ + 0.9272821371035653, + -0.24965122273805712, + 0.2789661362854597, + -0.2653684477798019, + -0.9639513129308592, + 0.019428155388796275, + 0.2640595105872599, + -0.09204419201810425, + -0.9601043909826427 + ], + [ + 0.9228062053772091, + -0.25447165124167065, + 0.2892626592418285, + -0.26305950188482224, + -0.9647329652851191, + -0.009487052244554584, + 0.28147540884671585, + -0.0673385803720217, + -0.9572027527165053 + ], + [ + 0.914319784764326, + -0.27617950149396925, + 0.2962164987691601, + -0.2773868517785752, + -0.9599729757083096, + -0.03883838784121134, + 0.29508620037014255, + -0.04665585562687975, + -0.9543308469743794 + ], + [ + 0.9168576382164468, + -0.26979641677908917, + 0.29424813463694743, + -0.25608215301790305, + -0.962914020095547, + -0.08496187856414036, + 0.30625806462830396, + 0.002546251479419011, + -0.9519451215556122 + ], + [ + 0.925984135010968, + -0.23682477994549103, + 0.29405340554354864, + -0.21035094951951264, + -0.9703448100484985, + -0.11909419653443476, + 0.31353765283332147, + 0.048424923497233034, + -0.9483402169264248 + ], + [ + 0.9399929521965519, + -0.21541232021286968, + 0.2645955066158892, + -0.19487743686710177, + -0.9755223822807111, + -0.10187672093994327, + 0.28006433978805606, + 0.04419970554058478, + -0.9589631648865382 + ], + [ + 0.9561381069063054, + -0.22980949514158927, + 0.18162465819484508, + -0.22297036183214752, + -0.9731278811347108, + -0.05750082349592181, + 0.18995825400878913, + 0.01448181276759956, + -0.9816853563300699 + ], + [ + 0.9598166569407591, + -0.24283996079269787, + 0.14064401338580174, + -0.2446833201316792, + -0.969593509373327, + -0.004301096424629223, + 0.1374120005982113, + -0.030284980160414837, + -0.9900508886255697 + ], + [ + 0.9635351142389226, + -0.24333258941438107, + 0.11130738770395342, + -0.24812197174966305, + -0.9682260991720831, + 0.03120429484975345, + 0.10017769593899319, + -0.057684242310211346, + -0.9932960069513271 + ], + [ + 0.974235731985405, + -0.20961736333399622, + 0.08321838445779509, + -0.21584475480826776, + -0.9735764885590623, + 0.07456448716892372, + 0.06538945132527682, + -0.09060563952596568, + -0.9937378113675004 + ], + [ + 0.9813856499001885, + -0.17916063884166492, + 0.06916409227215253, + -0.1870219004424644, + -0.9734239213140562, + 0.1321691271381284, + 0.043646476660473624, + -0.14264408471230872, + -0.9888112308078394 + ], + [ + 0.9821153778587323, + -0.1688585322995541, + 0.0832837357653947, + -0.18094276748907434, + -0.9687650338230792, + 0.16957011569012698, + 0.05204901023837456, + -0.18160700788077733, + -0.9819927673979055 + ], + [ + 0.9774071783551037, + -0.1622236915428328, + 0.13549421243038634, + -0.18828822756505273, + -0.9595238124111425, + 0.20943160405344233, + 0.09603515533556319, + -0.2302119182800985, + -0.9683902734029662 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + 0.002125978469848633, + -0.0016118853818625212, + -0.021495111286640167, + 0.00046016275882720947, + 0.000909850001335144, + -0.06772840768098831, + 1.0 + ], + [ + 0.010379493236541748, + -0.0077055152505636215, + -0.009482383728027344, + 0.00837022066116333, + -0.052607372403144836, + -0.11308810859918594, + 1.0 + ], + [ + 0.0073111653327941895, + -0.008630814030766487, + -0.010898284614086151, + 0.002951875329017639, + -0.014569565653800964, + -0.11069914698600769, + 1.0 + ], + [ + 0.002492755651473999, + -0.006410280242562294, + -0.008389286696910858, + -0.023092344403266907, + -0.025812983512878418, + -0.048378780484199524, + 1.0 + ], + [ + 0.0005294084548950195, + -0.0029603559523820877, + -0.009545408189296722, + -0.038094185292720795, + -0.018765106797218323, + 0.0069641172885894775, + 1.0 + ], + [ + 0.002760857343673706, + 0.0018124748021364212, + -0.011770222336053848, + -0.025343216955661774, + -0.018102645874023438, + 0.0010299980640411377, + 1.0 + ], + [ + 0.005090534687042236, + 0.006260588765144348, + -0.013063587248325348, + -0.021383967250585556, + -0.014214396476745605, + -0.01685631275177002, + 1.0 + ], + [ + 0.004245579242706299, + 0.005264798179268837, + -0.009398229420185089, + -0.05152444168925285, + -0.011713981628417969, + 0.022192001342773438, + 0.0 + ], + [ + 0.002912282943725586, + -0.00018072128295898438, + -3.0975788831710815e-05, + -0.048343725502491, + -0.00765654444694519, + 0.04898941516876221, + 0.0 + ], + [ + -0.00041624903678894043, + 0.0022644242271780968, + 0.0033617988228797913, + 0.004959963262081146, + 0.03505513072013855, + 0.01895184814929962, + 0.0 + ], + [ + -0.006658673286437988, + 0.00012084841728210449, + 0.005852721631526947, + 0.03130762279033661, + 0.09274150431156158, + -0.02468237280845642, + 0.0 + ], + [ + 0.002036184072494507, + 0.012855952605605125, + 0.01408083364367485, + 0.045330703258514404, + 0.053271472454071045, + -0.020506128668785095, + 0.0 + ], + [ + 0.004023164510726929, + 0.01446173619478941, + 0.016541961580514908, + 0.027428632602095604, + 0.037502139806747437, + -0.0024257302284240723, + 0.0 + ], + [ + 0.002216845750808716, + 0.01660790666937828, + 0.016530588269233704, + 0.03291678801178932, + 0.03490987420082092, + 0.03400526940822601, + 0.0 + ], + [ + -0.0006549060344696045, + 0.019945858046412468, + 0.00816449522972107, + 0.05234457552433014, + 0.02177579328417778, + 0.029719755053520203, + 0.0 + ], + [ + -0.0003776848316192627, + 0.018576588481664658, + 0.0042917728424072266, + 0.03960128128528595, + -0.0084121935069561, + 0.006116598844528198, + 0.0 + ], + [ + 0.005881190299987793, + 0.017838403582572937, + 0.0008743777871131897, + 0.050523027777671814, + -0.044110849499702454, + -0.008114546537399292, + 0.0 + ], + [ + 0.004308581352233887, + 0.012001566588878632, + -0.004068329930305481, + -0.010307535529136658, + -0.06956903636455536, + -0.015972644090652466, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0118417739868164 + ], + [ + 1.0118417739868164 + ], + [ + 1.0118417739868164 + ], + [ + 1.0118417739868164 + ], + [ + 1.0118417739868164 + ], + [ + 1.0118417739868164 + ], + [ + 1.0118417739868164 + ], + [ + 0.9295665621757507 + ], + [ + 0.7161149382591248 + ], + [ + 0.651088297367096 + ], + [ + 0.651088297367096 + ], + [ + 0.651088297367096 + ], + [ + 0.651088297367096 + ], + [ + 0.651088297367096 + ], + [ + 0.651088297367096 + ], + [ + 0.651088297367096 + ], + [ + 0.651088297367096 + ], + [ + 0.6551066637039185 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.32309162616729736, + -0.0048988740891218185, + 0.10857922583818436 + ], + [ + 0.3334711194038391, + -0.01260438933968544, + 0.09909684211015701 + ], + [ + 0.3407822847366333, + -0.021235203370451927, + 0.08819855749607086 + ], + [ + 0.3432750403881073, + -0.02764548361301422, + 0.07980927079916 + ], + [ + 0.3438044488430023, + -0.03060583956539631, + 0.07026386260986328 + ], + [ + 0.346565306186676, + -0.028793364763259888, + 0.05849364027380943 + ], + [ + 0.35165584087371826, + -0.02253277599811554, + 0.045430053025484085 + ], + [ + 0.35590142011642456, + -0.017267977818846703, + 0.036031823605298996 + ], + [ + 0.35881370306015015, + -0.017448699101805687, + 0.036000847816467285 + ], + [ + 0.3583974540233612, + -0.01518427487462759, + 0.039362646639347076 + ], + [ + 0.3517387807369232, + -0.015063426457345486, + 0.04521536827087402 + ], + [ + 0.3537749648094177, + -0.0022074736189097166, + 0.059296201914548874 + ], + [ + 0.35779812932014465, + 0.01225426234304905, + 0.07583816349506378 + ], + [ + 0.36001497507095337, + 0.02886216901242733, + 0.09236875176429749 + ], + [ + 0.35936006903648376, + 0.0488080270588398, + 0.10053324699401855 + ], + [ + 0.3589823842048645, + 0.06738461554050446, + 0.10482501983642578 + ], + [ + 0.3648635745048523, + 0.08522301912307739, + 0.10569939762353897 + ], + [ + 0.3691721558570862, + 0.09722458571195602, + 0.10163106769323349 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9878479092120388, + 0.009056053407688332, + 0.1551595828883292, + -0.013363538055685433, + -0.9896550899816015, + 0.14284333629589466, + 0.15484806784728522, + -0.14318097209540417, + -0.9775076905650294 + ], + [ + 0.9705968123830566, + -0.09339008895910539, + 0.22185607739266391, + -0.12355327173248415, + -0.9842804446974028, + 0.12620061501625685, + 0.20658271185181068, + -0.14990095887115906, + -0.966878113152562 + ], + [ + 0.9479802708070004, + -0.1987023638364996, + 0.248698163978896, + -0.22928997006382432, + -0.9681589396276729, + 0.10047077807577243, + 0.22081556962500865, + -0.15226830998210988, + -0.9633560328281416 + ], + [ + 0.9300026599439477, + -0.2478630447004812, + 0.27140184886803753, + -0.2731681841173245, + -0.9601438766032234, + 0.05918512826190066, + 0.24591501719745654, + -0.12918067693405771, + -0.960644657000513 + ], + [ + 0.9272821371035653, + -0.24965122273805712, + 0.2789661362854597, + -0.2653684477798019, + -0.9639513129308592, + 0.019428155388796275, + 0.2640595105872599, + -0.09204419201810425, + -0.9601043909826427 + ], + [ + 0.9228062053772091, + -0.25447165124167065, + 0.2892626592418285, + -0.26305950188482224, + -0.9647329652851191, + -0.009487052244554584, + 0.28147540884671585, + -0.0673385803720217, + -0.9572027527165053 + ], + [ + 0.914319784764326, + -0.27617950149396925, + 0.2962164987691601, + -0.2773868517785752, + -0.9599729757083096, + -0.03883838784121134, + 0.29508620037014255, + -0.04665585562687975, + -0.9543308469743794 + ], + [ + 0.9168576382164468, + -0.26979641677908917, + 0.29424813463694743, + -0.25608215301790305, + -0.962914020095547, + -0.08496187856414036, + 0.30625806462830396, + 0.002546251479419011, + -0.9519451215556122 + ], + [ + 0.925984135010968, + -0.23682477994549103, + 0.29405340554354864, + -0.21035094951951264, + -0.9703448100484985, + -0.11909419653443476, + 0.31353765283332147, + 0.048424923497233034, + -0.9483402169264248 + ], + [ + 0.9399929521965519, + -0.21541232021286968, + 0.2645955066158892, + -0.19487743686710177, + -0.9755223822807111, + -0.10187672093994327, + 0.28006433978805606, + 0.04419970554058478, + -0.9589631648865382 + ], + [ + 0.9561381069063054, + -0.22980949514158927, + 0.18162465819484508, + -0.22297036183214752, + -0.9731278811347108, + -0.05750082349592181, + 0.18995825400878913, + 0.01448181276759956, + -0.9816853563300699 + ], + [ + 0.9598166569407591, + -0.24283996079269787, + 0.14064401338580174, + -0.2446833201316792, + -0.969593509373327, + -0.004301096424629223, + 0.1374120005982113, + -0.030284980160414837, + -0.9900508886255697 + ], + [ + 0.9635351142389226, + -0.24333258941438107, + 0.11130738770395342, + -0.24812197174966305, + -0.9682260991720831, + 0.03120429484975345, + 0.10017769593899319, + -0.057684242310211346, + -0.9932960069513271 + ], + [ + 0.974235731985405, + -0.20961736333399622, + 0.08321838445779509, + -0.21584475480826776, + -0.9735764885590623, + 0.07456448716892372, + 0.06538945132527682, + -0.09060563952596568, + -0.9937378113675004 + ], + [ + 0.9813856499001885, + -0.17916063884166492, + 0.06916409227215253, + -0.1870219004424644, + -0.9734239213140562, + 0.1321691271381284, + 0.043646476660473624, + -0.14264408471230872, + -0.9888112308078394 + ], + [ + 0.9821153778587323, + -0.1688585322995541, + 0.0832837357653947, + -0.18094276748907434, + -0.9687650338230792, + 0.16957011569012698, + 0.05204901023837456, + -0.18160700788077733, + -0.9819927673979055 + ], + [ + 0.9774071783551037, + -0.1622236915428328, + 0.13549421243038634, + -0.18828822756505273, + -0.9595238124111425, + 0.20943160405344233, + 0.09603515533556319, + -0.2302119182800985, + -0.9683902734029662 + ], + [ + 0.9653842892318425, + -0.1640167729936029, + 0.20280944820470087, + -0.20201483121873554, + -0.9620205510653231, + 0.18359321146392577, + 0.16499449103529518, + -0.21820851840553085, + -0.9618533466299667 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005558.json b/json/chunk-0005/episode_0005558.json new file mode 100644 index 0000000000000000000000000000000000000000..4cfa6dae2195d5b7f89f305a210413cbdace8df3 --- /dev/null +++ b/json/chunk-0005/episode_0005558.json @@ -0,0 +1,1582 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 25, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nTake the yellow object and put on the upper right burner." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005558.mp4", + "start": 0, + "end": 25, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3276016116142273, + 0.010126708075404167, + 0.045283082872629166, + 0.07408556342124939, + -0.0637156069278717, + 0.14460544288158417, + 0.0, + 0.9981546401977539 + ], + [ + 0.3210460841655731, + 0.009694719687104225, + 0.03309832140803337, + 0.08066539466381073, + -0.021270129829645157, + 0.14279188215732574, + 0.0, + 0.9981546401977539 + ], + [ + 0.34203705191612244, + 0.010384723544120789, + 0.032606326043605804, + 0.07524578273296356, + -0.05866407975554466, + 0.1204618364572525, + 0.0, + 0.9981546401977539 + ], + [ + 0.3731704354286194, + 0.016431065276265144, + 0.028798572719097137, + 0.084947869181633, + -0.09821905940771103, + 0.08906678855419159, + 0.0, + 0.9981546401977539 + ], + [ + 0.3988288342952728, + 0.024606138467788696, + 0.013644193299114704, + 0.06565079092979431, + -0.09863968938589096, + 0.0815068781375885, + 0.0, + 0.9981546401977539 + ], + [ + 0.41297343373298645, + 0.04104190692305565, + 0.0041584656573832035, + 0.06381689757108688, + -0.10763761401176453, + 0.09957349300384521, + 0.0, + 0.9981546401977539 + ], + [ + 0.4222516119480133, + 0.05676615610718727, + -0.002216513268649578, + 0.06915118545293808, + -0.11316358298063278, + 0.12022440135478973, + 0.0, + 0.9981546401977539 + ], + [ + 0.42972978949546814, + 0.06690127402544022, + -0.005637934897094965, + 0.0654517188668251, + -0.11999116092920303, + 0.1350746601819992, + 0.0, + 0.9981546401977539 + ], + [ + 0.43117159605026245, + 0.0689164325594902, + -0.021345259621739388, + 0.06483708322048187, + -0.07959297299385071, + 0.13401705026626587, + 0.0, + 0.9981546401977539 + ], + [ + 0.4307202398777008, + 0.06613849848508835, + -0.036170247942209244, + 0.04769701138138771, + -0.03915546089410782, + 0.1365213394165039, + 0.0, + 0.9981546401977539 + ], + [ + 0.43092554807662964, + 0.06515433639287949, + -0.045899007469415665, + 0.04146600142121315, + -0.02194697968661785, + 0.13319483399391174, + 0.0, + 0.9657809734344482 + ], + [ + 0.4288274347782135, + 0.06488442420959473, + -0.04854923486709595, + 0.03728710860013962, + -0.01892917975783348, + 0.13838796317577362, + 0.0, + 0.6902000904083252 + ], + [ + 0.4260093867778778, + 0.06725511699914932, + -0.05108949914574623, + 0.04199425131082535, + -0.01910468377172947, + 0.1435992419719696, + 0.0, + 0.561048150062561 + ], + [ + 0.4245390295982361, + 0.06887093186378479, + -0.04982687532901764, + 0.057845551520586014, + -0.0329834409058094, + 0.13258327543735504, + 0.0, + 0.561048150062561 + ], + [ + 0.43272504210472107, + 0.06148073077201843, + -0.04167114570736885, + 0.04665239155292511, + -0.08052084594964981, + 0.12288957834243774, + 0.0, + 0.561048150062561 + ], + [ + 0.4550935626029968, + 0.05055604875087738, + -0.013503661379218102, + 0.03879787400364876, + -0.17126032710075378, + 0.10617339611053467, + 0.0, + 0.561048150062561 + ], + [ + 0.47615745663642883, + 0.019722219556570053, + 0.0014068849850445986, + 0.010124815627932549, + -0.21962133049964905, + 0.05353432521224022, + 0.0, + 0.561048150062561 + ], + [ + 0.49105867743492126, + -0.0014253252884373069, + -0.01161552406847477, + 0.019813191145658493, + -0.20257583260536194, + -0.01068827137351036, + 0.0, + 0.561048150062561 + ], + [ + 0.5042833089828491, + -0.015503821894526482, + -0.01835981383919716, + 0.029997823759913445, + -0.19880293309688568, + -0.06749740988016129, + 0.0, + 0.561048150062561 + ], + [ + 0.5050668716430664, + -0.020022548735141754, + -0.028348589316010475, + 0.025703461840748787, + -0.1804485321044922, + -0.07556191086769104, + 0.0, + 0.561048150062561 + ], + [ + 0.5068285465240479, + -0.02009335719048977, + -0.02903280407190323, + 0.025791442021727562, + -0.18198220431804657, + -0.07544276863336563, + 0.0, + 0.6309936046600342 + ], + [ + 0.4942781329154968, + -0.0197055134922266, + -0.03771943226456642, + 0.02544623240828514, + -0.15487322211265564, + -0.05663302540779114, + 0.0, + 0.9214844703674316 + ], + [ + 0.47668322920799255, + -0.011670522391796112, + -0.02574441023170948, + 0.04873013123869896, + -0.1656728833913803, + -0.027893418446183205, + 0.0, + 1.0014774799346924 + ], + [ + 0.4568786025047302, + -0.004310763441026211, + -0.010540403425693512, + 0.055092889815568924, + -0.18432500958442688, + -0.019715765491127968, + 0.0, + 1.0008161067962646 + ], + [ + 0.4306637942790985, + 0.004661200102418661, + -0.003060032846406102, + 0.055065132677555084, + -0.1667822301387787, + 0.010556749999523163, + 0.0, + 1.0008161067962646 + ] + ], + "left_gripper_pos": [ + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9657809734344482 + ], + [ + 0.6902000904083252 + ], + [ + 0.561048150062561 + ], + [ + 0.561048150062561 + ], + [ + 0.561048150062561 + ], + [ + 0.561048150062561 + ], + [ + 0.561048150062561 + ], + [ + 0.561048150062561 + ], + [ + 0.561048150062561 + ], + [ + 0.561048150062561 + ], + [ + 0.6309936046600342 + ], + [ + 0.9214844703674316 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3276016116142273, + 0.010126708075404167, + 0.045283082872629166 + ], + [ + 0.3210460841655731, + 0.009694719687104225, + 0.03309832140803337 + ], + [ + 0.34203705191612244, + 0.010384723544120789, + 0.032606326043605804 + ], + [ + 0.3731704354286194, + 0.016431065276265144, + 0.028798572719097137 + ], + [ + 0.3988288342952728, + 0.024606138467788696, + 0.013644193299114704 + ], + [ + 0.41297343373298645, + 0.04104190692305565, + 0.0041584656573832035 + ], + [ + 0.4222516119480133, + 0.05676615610718727, + -0.002216513268649578 + ], + [ + 0.42972978949546814, + 0.06690127402544022, + -0.005637934897094965 + ], + [ + 0.43117159605026245, + 0.0689164325594902, + -0.021345259621739388 + ], + [ + 0.4307202398777008, + 0.06613849848508835, + -0.036170247942209244 + ], + [ + 0.43092554807662964, + 0.06515433639287949, + -0.045899007469415665 + ], + [ + 0.4288274347782135, + 0.06488442420959473, + -0.04854923486709595 + ], + [ + 0.4260093867778778, + 0.06725511699914932, + -0.05108949914574623 + ], + [ + 0.4245390295982361, + 0.06887093186378479, + -0.04982687532901764 + ], + [ + 0.43272504210472107, + 0.06148073077201843, + -0.04167114570736885 + ], + [ + 0.4550935626029968, + 0.05055604875087738, + -0.013503661379218102 + ], + [ + 0.47615745663642883, + 0.019722219556570053, + 0.0014068849850445986 + ], + [ + 0.49105867743492126, + -0.0014253252884373069, + -0.01161552406847477 + ], + [ + 0.5042833089828491, + -0.015503821894526482, + -0.01835981383919716 + ], + [ + 0.5050668716430664, + -0.020022548735141754, + -0.028348589316010475 + ], + [ + 0.5068285465240479, + -0.02009335719048977, + -0.02903280407190323 + ], + [ + 0.4942781329154968, + -0.0197055134922266, + -0.03771943226456642 + ], + [ + 0.47668322920799255, + -0.011670522391796112, + -0.02574441023170948 + ], + [ + 0.4568786025047302, + -0.004310763441026211, + -0.010540403425693512 + ], + [ + 0.4306637942790985, + 0.004661200102418661, + -0.003060032846406102 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9875548652910433, + 0.14837042859288327, + 0.05216899423175732, + 0.1438095969132451, + -0.9861692507484021, + 0.0823954410995213, + 0.06367250486386548, + -0.07386761670379544, + -0.9952333331067955 + ], + [ + 0.9895986510805924, + 0.1435407272405624, + 0.009516795822251681, + 0.14227494361222912, + -0.9863600720753689, + 0.08277468595899441, + 0.021268526032825967, + -0.08055971597966056, + -0.9965228456797504 + ], + [ + 0.9910454650094592, + 0.1242062621539911, + 0.04900704771682363, + 0.11996398682323346, + -0.9894144635586318, + 0.08165574790827705, + 0.058630437058408987, + -0.07504547782990699, + -0.9954549955209533 + ], + [ + 0.9912356637398351, + 0.09691543125276966, + 0.0897733708587231, + 0.08852037537250687, + -0.991704503996877, + 0.09320042862679438, + 0.09806121595288646, + -0.08443681624384823, + -0.991591862607012 + ], + [ + 0.9918353396394637, + 0.08768045624549067, + 0.09260019781216601, + 0.08102089897508291, + -0.9940070621421082, + 0.07338647246519173, + 0.09847980996904436, + -0.06528474557044339, + -0.9929952814712985 + ], + [ + 0.9892879839762323, + 0.10602392693010558, + 0.1003404787638642, + 0.09883371776338117, + -0.9923400601514843, + 0.07411545892468362, + 0.10742988873358367, + -0.0634045103826832, + -0.9921888363964906 + ], + [ + 0.9864317483253423, + 0.12739451078310093, + 0.10355213430028053, + 0.11916786750577628, + -0.9894732175238631, + 0.08210828921065207, + 0.11292220884279013, + -0.06865413625783016, + -0.9912291280651295 + ], + [ + 0.9837664683506002, + 0.14213383703153407, + 0.1095513948778421, + 0.13369601403727802, + -0.9877152702745244, + 0.08089450350343337, + 0.11970343177842283, + -0.06493471519315654, + -0.9906838906448676 + ], + [ + 0.9878956868618134, + 0.13844081233846042, + 0.06997323316021292, + 0.1331932311276919, + -0.9882624751216211, + 0.0748120541641039, + 0.07950896214636174, + -0.06458654461693049, + -0.9947396157753314 + ], + [ + 0.9899360816490089, + 0.13779191709282007, + 0.03224812914406266, + 0.13599333618915216, + -0.9893147077046394, + 0.0525568419088141, + 0.03914545646113957, + -0.047642383474898145, + -0.9980971077682169 + ], + [ + 0.9909039822157202, + 0.13358885838303278, + 0.016226982003614106, + 0.1327693693665801, + -0.9901698846587207, + 0.0439987962669005, + 0.021945217862400602, + -0.04144413626622718, + -0.9988997902603234 + ], + [ + 0.990262219312771, + 0.1385496477323606, + 0.01359161929218912, + 0.1379219560101542, + -0.989653883308419, + 0.03953132053067538, + 0.018928049346884697, + -0.03727179048294705, + -0.9991258892562623 + ], + [ + 0.9895267233482373, + 0.14377381103793593, + 0.012882353796143645, + 0.14308011476499796, + -0.9887200077598801, + 0.044281226429919364, + 0.019103521626551944, + -0.04197424823544393, + -0.9989360429709869 + ], + [ + 0.9906845739824701, + 0.1338638801275344, + 0.024990727687937753, + 0.1321232831718712, + -0.9893137617188, + 0.061658080716826796, + 0.03297746074301502, + -0.0577818524365418, + -0.9977844179039601 + ], + [ + 0.9892429561956403, + 0.12616991378729153, + 0.07402382368006415, + 0.12218333463291958, + -0.9909189453558762, + 0.05613266849863201, + 0.08043386323738154, + -0.04648436930522712, + -0.9956754476509928 + ], + [ + 0.9798220356683521, + 0.11246750065703705, + 0.16522663137244675, + 0.10442371049853073, + -0.9929200568928349, + 0.05661668751921967, + 0.17042437356330836, + -0.03822070009679696, + -0.984629225129777 + ], + [ + 0.9745818079771339, + 0.05570861066733394, + 0.21699504661981528, + 0.05222347849512745, + -0.9983981709044338, + 0.021766961858500952, + 0.2178600648441319, + -0.009881448891528075, + -0.9759299919122858 + ], + [ + 0.979495637105163, + -0.006700180091096421, + 0.20135392839151975, + -0.01046951385768946, + -0.9997892201588847, + 0.01766081916764462, + 0.20119315637350602, + -0.019406773066006376, + -0.9793593267987137 + ], + [ + 0.9780714607710149, + -0.06150575279242791, + 0.19898055181019467, + -0.0661177293850314, + -0.9976735595422768, + 0.01661067281029672, + 0.19749598346857736, + -0.029402567297426963, + -0.9798626564728853 + ], + [ + 0.980956180702775, + -0.07086573866559867, + 0.1808397595231844, + -0.07426431722760468, + -0.997165382421209, + 0.012083513043861748, + 0.17947084088436702, + -0.0252833380735723, + -0.9834383407657621 + ], + [ + 0.9806894016694887, + -0.07069223025655122, + 0.1823483096562592, + -0.07412661030753787, + -0.9971756817931272, + 0.0120791259918205, + 0.1809793996493929, + -0.025362732931736586, + -0.9831597981410645 + ], + [ + 0.9864470624059432, + -0.05266594399533903, + 0.15539784880674823, + -0.05592528404992062, + -0.9982957133280899, + 0.016674272238866514, + 0.1542548400362882, + -0.02513895570305085, + -0.9877112317026364 + ], + [ + 0.985923939491388, + -0.01982661905729047, + 0.16601473041431855, + -0.02750792348428208, + -0.9986484320366076, + 0.04409788358195827, + 0.1649160382842271, + -0.04804387960585769, + -0.9851367854004098 + ], + [ + 0.9828691316825562, + -0.009594054418381771, + 0.1840549486033853, + -0.019380528517980108, + -0.9984876841836733, + 0.051446473619562366, + 0.18328301912599934, + -0.05413223303487208, + -0.9815686609945921 + ], + [ + 0.9860691046722017, + 0.0196767930587486, + 0.16516823128521385, + 0.010410071739864107, + -0.9983322085365137, + 0.05678408055941243, + 0.1660100937212361, + -0.05427361434002844, + -0.9846293838643737 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.006555527448654175, + -0.000431988388299942, + -0.012184761464595795, + 0.00657983124256134, + 0.04244547709822655, + -0.0018135607242584229, + 1.0 + ], + [ + 0.020990967750549316, + 0.0006900038570165634, + -0.0004919953644275665, + -0.005419611930847168, + -0.037393949925899506, + -0.022330045700073242, + 1.0 + ], + [ + 0.031133383512496948, + 0.006046341732144356, + -0.003807753324508667, + 0.009702086448669434, + -0.03955497965216637, + -0.03139504790306091, + 1.0 + ], + [ + 0.025658398866653442, + 0.008175073191523552, + -0.015154379419982433, + -0.019297078251838684, + -0.00042062997817993164, + -0.007559910416603088, + 1.0 + ], + [ + 0.014144599437713623, + 0.016435768455266953, + -0.009485727176070213, + -0.001833893358707428, + -0.008997924625873566, + 0.018066614866256714, + 1.0 + ], + [ + 0.009278178215026855, + 0.015724249184131622, + -0.006374978926032782, + 0.005334287881851196, + -0.005525968968868256, + 0.02065090835094452, + 1.0 + ], + [ + 0.007478177547454834, + 0.010135117918252945, + -0.003421421628445387, + -0.003699466586112976, + -0.0068275779485702515, + 0.014850258827209473, + 1.0 + ], + [ + 0.0014418065547943115, + 0.002015158534049988, + -0.01570732519030571, + -0.0006146356463432312, + 0.040398187935352325, + -0.0010576099157333374, + 1.0 + ], + [ + -0.0004513561725616455, + -0.0027779340744018555, + -0.014824988320469856, + -0.017140071839094162, + 0.04043751209974289, + 0.002504289150238037, + 1.0 + ], + [ + 0.000205308198928833, + -0.0009841620922088623, + -0.009728759527206421, + -0.0062310099601745605, + 0.017208481207489967, + -0.003326505422592163, + 0.0 + ], + [ + -0.0020981132984161377, + -0.0002699121832847595, + -0.0026502273976802826, + -0.004178892821073532, + 0.0030177999287843704, + 0.0051931291818618774, + 0.0 + ], + [ + -0.0028180480003356934, + 0.002370692789554596, + -0.002540264278650284, + 0.00470714271068573, + -0.00017550401389598846, + 0.005211278796195984, + 0.0 + ], + [ + -0.0014703571796417236, + 0.0016158148646354675, + 0.001262623816728592, + 0.015851300209760666, + -0.013878757134079933, + -0.011015966534614563, + 0.0 + ], + [ + 0.008186012506484985, + -0.007390201091766357, + 0.008155729621648788, + -0.011193159967660904, + -0.04753740504384041, + -0.009693697094917297, + 0.0 + ], + [ + 0.022368520498275757, + -0.010924682021141052, + 0.02816748432815075, + -0.007854517549276352, + -0.09073948115110397, + -0.016716182231903076, + 0.0 + ], + [ + 0.021063894033432007, + -0.030833829194307327, + 0.014910546131432056, + -0.02867305837571621, + -0.048361003398895264, + -0.05263907089829445, + 0.0 + ], + [ + 0.014901220798492432, + -0.02114754542708397, + -0.013022408820688725, + 0.009688375517725945, + 0.01704549789428711, + -0.06422259658575058, + 0.0 + ], + [ + 0.013224631547927856, + -0.01407849695533514, + -0.006744289770722389, + 0.010184632614254951, + 0.0037728995084762573, + -0.056809138506650925, + 0.0 + ], + [ + 0.0007835626602172852, + -0.0045187268406152725, + -0.009988775476813316, + -0.004294361919164658, + 0.018354400992393494, + -0.008064500987529755, + 0.0 + ], + [ + 0.0017616748809814453, + -7.080845534801483e-05, + -0.0006842147558927536, + 8.798018097877502e-05, + -0.0015336722135543823, + 0.00011914223432540894, + 1.0 + ], + [ + -0.012550413608551025, + 0.00038784369826316833, + -0.008686628192663193, + -0.00034520961344242096, + 0.02710898220539093, + 0.018809743225574493, + 1.0 + ], + [ + -0.017594903707504272, + 0.008034991100430489, + 0.011975022032856941, + 0.02328389883041382, + -0.01079966127872467, + 0.028739606961607933, + 1.0 + ], + [ + -0.01980462670326233, + 0.007359758950769901, + 0.015204006806015968, + 0.006362758576869965, + -0.01865212619304657, + 0.008177652955055237, + 1.0 + ], + [ + -0.026214808225631714, + 0.008971963077783585, + 0.0074803708121180534, + -2.775713801383972e-05, + 0.017542779445648193, + 0.03027251549065113, + 1.0 + ], + [ + -0.016136914491653442, + 0.0065392679534852505, + 0.012614780105650425, + -0.016489248722791672, + 0.014641284942626953, + 0.026636939495801926, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9657809734344482 + ], + [ + 0.6902000904083252 + ], + [ + 0.561048150062561 + ], + [ + 0.561048150062561 + ], + [ + 0.561048150062561 + ], + [ + 0.561048150062561 + ], + [ + 0.561048150062561 + ], + [ + 0.561048150062561 + ], + [ + 0.561048150062561 + ], + [ + 0.561048150062561 + ], + [ + 0.6309936046600342 + ], + [ + 0.9214844703674316 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3210460841655731, + 0.009694719687104225, + 0.03309832140803337 + ], + [ + 0.34203705191612244, + 0.010384723544120789, + 0.032606326043605804 + ], + [ + 0.3731704354286194, + 0.016431065276265144, + 0.028798572719097137 + ], + [ + 0.3988288342952728, + 0.024606138467788696, + 0.013644193299114704 + ], + [ + 0.41297343373298645, + 0.04104190692305565, + 0.0041584656573832035 + ], + [ + 0.4222516119480133, + 0.05676615610718727, + -0.002216513268649578 + ], + [ + 0.42972978949546814, + 0.06690127402544022, + -0.005637934897094965 + ], + [ + 0.43117159605026245, + 0.0689164325594902, + -0.021345259621739388 + ], + [ + 0.4307202398777008, + 0.06613849848508835, + -0.036170247942209244 + ], + [ + 0.43092554807662964, + 0.06515433639287949, + -0.045899007469415665 + ], + [ + 0.4288274347782135, + 0.06488442420959473, + -0.04854923486709595 + ], + [ + 0.4260093867778778, + 0.06725511699914932, + -0.05108949914574623 + ], + [ + 0.4245390295982361, + 0.06887093186378479, + -0.04982687532901764 + ], + [ + 0.43272504210472107, + 0.06148073077201843, + -0.04167114570736885 + ], + [ + 0.4550935626029968, + 0.05055604875087738, + -0.013503661379218102 + ], + [ + 0.47615745663642883, + 0.019722219556570053, + 0.0014068849850445986 + ], + [ + 0.49105867743492126, + -0.0014253252884373069, + -0.01161552406847477 + ], + [ + 0.5042833089828491, + -0.015503821894526482, + -0.01835981383919716 + ], + [ + 0.5050668716430664, + -0.020022548735141754, + -0.028348589316010475 + ], + [ + 0.5068285465240479, + -0.02009335719048977, + -0.02903280407190323 + ], + [ + 0.4942781329154968, + -0.0197055134922266, + -0.03771943226456642 + ], + [ + 0.47668322920799255, + -0.011670522391796112, + -0.02574441023170948 + ], + [ + 0.4568786025047302, + -0.004310763441026211, + -0.010540403425693512 + ], + [ + 0.4306637942790985, + 0.004661200102418661, + -0.003060032846406102 + ], + [ + 0.41452687978744507, + 0.011200468055903912, + 0.009554747492074966 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9895986510805924, + 0.1435407272405624, + 0.009516795822251681, + 0.14227494361222912, + -0.9863600720753689, + 0.08277468595899441, + 0.021268526032825967, + -0.08055971597966056, + -0.9965228456797504 + ], + [ + 0.9910454650094592, + 0.1242062621539911, + 0.04900704771682363, + 0.11996398682323346, + -0.9894144635586318, + 0.08165574790827705, + 0.058630437058408987, + -0.07504547782990699, + -0.9954549955209533 + ], + [ + 0.9912356637398351, + 0.09691543125276966, + 0.0897733708587231, + 0.08852037537250687, + -0.991704503996877, + 0.09320042862679438, + 0.09806121595288646, + -0.08443681624384823, + -0.991591862607012 + ], + [ + 0.9918353396394637, + 0.08768045624549067, + 0.09260019781216601, + 0.08102089897508291, + -0.9940070621421082, + 0.07338647246519173, + 0.09847980996904436, + -0.06528474557044339, + -0.9929952814712985 + ], + [ + 0.9892879839762323, + 0.10602392693010558, + 0.1003404787638642, + 0.09883371776338117, + -0.9923400601514843, + 0.07411545892468362, + 0.10742988873358367, + -0.0634045103826832, + -0.9921888363964906 + ], + [ + 0.9864317483253423, + 0.12739451078310093, + 0.10355213430028053, + 0.11916786750577628, + -0.9894732175238631, + 0.08210828921065207, + 0.11292220884279013, + -0.06865413625783016, + -0.9912291280651295 + ], + [ + 0.9837664683506002, + 0.14213383703153407, + 0.1095513948778421, + 0.13369601403727802, + -0.9877152702745244, + 0.08089450350343337, + 0.11970343177842283, + -0.06493471519315654, + -0.9906838906448676 + ], + [ + 0.9878956868618134, + 0.13844081233846042, + 0.06997323316021292, + 0.1331932311276919, + -0.9882624751216211, + 0.0748120541641039, + 0.07950896214636174, + -0.06458654461693049, + -0.9947396157753314 + ], + [ + 0.9899360816490089, + 0.13779191709282007, + 0.03224812914406266, + 0.13599333618915216, + -0.9893147077046394, + 0.0525568419088141, + 0.03914545646113957, + -0.047642383474898145, + -0.9980971077682169 + ], + [ + 0.9909039822157202, + 0.13358885838303278, + 0.016226982003614106, + 0.1327693693665801, + -0.9901698846587207, + 0.0439987962669005, + 0.021945217862400602, + -0.04144413626622718, + -0.9988997902603234 + ], + [ + 0.990262219312771, + 0.1385496477323606, + 0.01359161929218912, + 0.1379219560101542, + -0.989653883308419, + 0.03953132053067538, + 0.018928049346884697, + -0.03727179048294705, + -0.9991258892562623 + ], + [ + 0.9895267233482373, + 0.14377381103793593, + 0.012882353796143645, + 0.14308011476499796, + -0.9887200077598801, + 0.044281226429919364, + 0.019103521626551944, + -0.04197424823544393, + -0.9989360429709869 + ], + [ + 0.9906845739824701, + 0.1338638801275344, + 0.024990727687937753, + 0.1321232831718712, + -0.9893137617188, + 0.061658080716826796, + 0.03297746074301502, + -0.0577818524365418, + -0.9977844179039601 + ], + [ + 0.9892429561956403, + 0.12616991378729153, + 0.07402382368006415, + 0.12218333463291958, + -0.9909189453558762, + 0.05613266849863201, + 0.08043386323738154, + -0.04648436930522712, + -0.9956754476509928 + ], + [ + 0.9798220356683521, + 0.11246750065703705, + 0.16522663137244675, + 0.10442371049853073, + -0.9929200568928349, + 0.05661668751921967, + 0.17042437356330836, + -0.03822070009679696, + -0.984629225129777 + ], + [ + 0.9745818079771339, + 0.05570861066733394, + 0.21699504661981528, + 0.05222347849512745, + -0.9983981709044338, + 0.021766961858500952, + 0.2178600648441319, + -0.009881448891528075, + -0.9759299919122858 + ], + [ + 0.979495637105163, + -0.006700180091096421, + 0.20135392839151975, + -0.01046951385768946, + -0.9997892201588847, + 0.01766081916764462, + 0.20119315637350602, + -0.019406773066006376, + -0.9793593267987137 + ], + [ + 0.9780714607710149, + -0.06150575279242791, + 0.19898055181019467, + -0.0661177293850314, + -0.9976735595422768, + 0.01661067281029672, + 0.19749598346857736, + -0.029402567297426963, + -0.9798626564728853 + ], + [ + 0.980956180702775, + -0.07086573866559867, + 0.1808397595231844, + -0.07426431722760468, + -0.997165382421209, + 0.012083513043861748, + 0.17947084088436702, + -0.0252833380735723, + -0.9834383407657621 + ], + [ + 0.9806894016694887, + -0.07069223025655122, + 0.1823483096562592, + -0.07412661030753787, + -0.9971756817931272, + 0.0120791259918205, + 0.1809793996493929, + -0.025362732931736586, + -0.9831597981410645 + ], + [ + 0.9864470624059432, + -0.05266594399533903, + 0.15539784880674823, + -0.05592528404992062, + -0.9982957133280899, + 0.016674272238866514, + 0.1542548400362882, + -0.02513895570305085, + -0.9877112317026364 + ], + [ + 0.985923939491388, + -0.01982661905729047, + 0.16601473041431855, + -0.02750792348428208, + -0.9986484320366076, + 0.04409788358195827, + 0.1649160382842271, + -0.04804387960585769, + -0.9851367854004098 + ], + [ + 0.9828691316825562, + -0.009594054418381771, + 0.1840549486033853, + -0.019380528517980108, + -0.9984876841836733, + 0.051446473619562366, + 0.18328301912599934, + -0.05413223303487208, + -0.9815686609945921 + ], + [ + 0.9860691046722017, + 0.0196767930587486, + 0.16516823128521385, + 0.010410071739864107, + -0.9983322085365137, + 0.05678408055941243, + 0.1660100937212361, + -0.05427361434002844, + -0.9846293838643737 + ], + [ + 0.9877652565294883, + 0.04299831451218345, + 0.14990311185010693, + 0.03675558467325587, + -0.9983476083290121, + 0.04417103054116725, + 0.15155469306016703, + -0.03812083279327677, + -0.9877135096365676 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005559.json b/json/chunk-0005/episode_0005559.json new file mode 100644 index 0000000000000000000000000000000000000000..7bb7a3aca3241c00741b7b14dafcbe11cc94900d --- /dev/null +++ b/json/chunk-0005/episode_0005559.json @@ -0,0 +1,2242 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 36, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPuting the white block to the left." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005559.mp4", + "start": 0, + "end": 36, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.276868611574173, + 0.10286933183670044, + 0.09801742434501648, + 0.12417331337928772, + -0.08494984358549118, + 0.3064127564430237, + 0.0, + 0.9988223910331726 + ], + [ + 0.2741261422634125, + 0.10115105658769608, + 0.09047922492027283, + 0.12200607359409332, + -0.057104505598545074, + 0.30483850836753845, + 0.0, + 0.9988223910331726 + ], + [ + 0.27124348282814026, + 0.09912972897291183, + 0.08513753861188889, + 0.1135408952832222, + -0.04074692353606224, + 0.2770737111568451, + 0.0, + 0.9988223910331726 + ], + [ + 0.266543984413147, + 0.10070085525512695, + 0.07892479747533798, + 0.10787233710289001, + -0.03377993404865265, + 0.25622475147247314, + 0.0, + 0.9988223910331726 + ], + [ + 0.2620771825313568, + 0.10044141858816147, + 0.07208077609539032, + 0.09659035503864288, + -0.029059981927275658, + 0.23388469219207764, + 0.0, + 0.9988223910331726 + ], + [ + 0.26024097204208374, + 0.09933393448591232, + 0.06851840019226074, + 0.07722073793411255, + -0.0669478178024292, + 0.14700040221214294, + 0.0, + 0.9988223910331726 + ], + [ + 0.25971394777297974, + 0.09298030287027359, + 0.07153820246458054, + 0.04265749081969261, + -0.11706075817346573, + 0.05565827339887619, + 0.0, + 0.9988223910331726 + ], + [ + 0.2619951367378235, + 0.09128870069980621, + 0.07108528912067413, + 0.020609324797987938, + -0.15760523080825806, + 0.011395926587283611, + 0.0, + 0.9988223910331726 + ], + [ + 0.26764675974845886, + 0.09150005877017975, + 0.06913676112890244, + 0.02082970179617405, + -0.1861036866903305, + 0.0009844660526141524, + 0.0, + 0.9988223910331726 + ], + [ + 0.27181610465049744, + 0.09196942299604416, + 0.05117734521627426, + 0.020622532814741135, + -0.1481151133775711, + -0.007597281597554684, + 0.0, + 0.9988223910331726 + ], + [ + 0.27506235241889954, + 0.09536711126565933, + 0.03999532759189606, + 0.03061334230005741, + -0.11613692343235016, + -0.00017731184198055416, + 0.0, + 0.9988223910331726 + ], + [ + 0.27719494700431824, + 0.09446912258863449, + 0.03846603259444237, + 0.045020077377557755, + -0.11918337643146515, + -0.010413877665996552, + 0.0, + 0.9430103898048401 + ], + [ + 0.2768877446651459, + 0.08922931551933289, + 0.03802867606282234, + 0.03098035231232643, + -0.11929396539926529, + -0.02363833598792553, + 0.0, + 0.6661520600318909 + ], + [ + 0.2776627242565155, + 0.08378539979457855, + 0.05151244252920151, + 0.0059475465677678585, + -0.14054463803768158, + -0.03025984950363636, + 0.0, + 0.5501742362976074 + ], + [ + 0.2836253345012665, + 0.082351915538311, + 0.06536737084388733, + -0.0044829039834439754, + -0.16583006083965302, + -0.02613897994160652, + 0.0, + 0.5501742362976074 + ], + [ + 0.3041587769985199, + 0.0847502127289772, + 0.08897709846496582, + -0.027568450197577477, + -0.20902642607688904, + 0.0424569696187973, + 0.0, + 0.5501742362976074 + ], + [ + 0.3309977650642395, + 0.08961064368486404, + 0.09187436103820801, + -0.036244068294763565, + -0.20679804682731628, + 0.2115093320608139, + 0.0, + 0.5501742362976074 + ], + [ + 0.3518546521663666, + 0.08674255758523941, + 0.08348129689693451, + -0.03841012716293335, + -0.19613483548164368, + 0.3162035346031189, + 0.0, + 0.5501742362976074 + ], + [ + 0.36920711398124695, + 0.08584247529506683, + 0.07641317695379257, + -0.03021077811717987, + -0.1755685806274414, + 0.3599674701690674, + 0.0, + 0.5501742362976074 + ], + [ + 0.37275341153144836, + 0.08733207732439041, + 0.06573212146759033, + -0.015317796729505062, + -0.15731243789196014, + 0.3501981794834137, + 0.0, + 0.5501742362976074 + ], + [ + 0.37627872824668884, + 0.08753076940774918, + 0.06428495049476624, + 0.002769912127405405, + -0.1786196380853653, + 0.29098400473594666, + 0.0, + 0.5501742362976074 + ], + [ + 0.37736016511917114, + 0.08813869208097458, + 0.058725614100694656, + 0.018111957237124443, + -0.17588987946510315, + 0.25690922141075134, + 0.0, + 0.5501742362976074 + ], + [ + 0.37780553102493286, + 0.08723632246255875, + 0.057898297905921936, + 0.016597602516412735, + -0.17365700006484985, + 0.2303868979215622, + 0.0, + 0.5501742362976074 + ], + [ + 0.3807743489742279, + 0.08846624195575714, + 0.04957256838679314, + 0.022226721048355103, + -0.16735760867595673, + 0.2179921716451645, + 0.0, + 0.5501742362976074 + ], + [ + 0.3876895010471344, + 0.09021083265542984, + 0.05115193501114845, + 0.025342587381601334, + -0.1809360682964325, + 0.20772847533226013, + 0.0, + 0.5501742362976074 + ], + [ + 0.392071932554245, + 0.09159496426582336, + 0.049510080367326736, + 0.029042551293969154, + -0.18230478465557098, + 0.20124667882919312, + 0.0, + 0.5501742362976074 + ], + [ + 0.39364269375801086, + 0.09494145214557648, + 0.048525866121053696, + 0.029363831505179405, + -0.18053384125232697, + 0.20062053203582764, + 0.0, + 0.5501742362976074 + ], + [ + 0.39477548003196716, + 0.09649182856082916, + 0.04975830018520355, + 0.02948823571205139, + -0.18360106647014618, + 0.20375049114227295, + 0.0, + 0.5501742362976074 + ], + [ + 0.3942492604255676, + 0.09805519878864288, + 0.05034845694899559, + 0.03260103613138199, + -0.1834762841463089, + 0.20344796776771545, + 0.0, + 0.5501742362976074 + ], + [ + 0.3938646614551544, + 0.09860897064208984, + 0.05030418932437897, + 0.03314165398478508, + -0.1818423867225647, + 0.20191504061222076, + 0.0, + 0.5501742362976074 + ], + [ + 0.39332666993141174, + 0.09976524114608765, + 0.05026029050350189, + 0.034230757504701614, + -0.18010278046131134, + 0.19880126416683197, + 0.0, + 0.5501742362976074 + ], + [ + 0.39274975657463074, + 0.10007277131080627, + 0.0501677505671978, + 0.03330245614051819, + -0.17698882520198822, + 0.19824229180812836, + 0.0, + 0.6009007096290588 + ], + [ + 0.3921445310115814, + 0.10265284031629562, + 0.05116637051105499, + 0.04176366701722145, + -0.17382240295410156, + 0.20298241078853607, + 0.0, + 0.8888095021247864 + ], + [ + 0.3916201591491699, + 0.10313383489847183, + 0.0508025586605072, + 0.0459090918302536, + -0.17212070524692535, + 0.20027904212474823, + 0.0, + 1.0099300146102905 + ], + [ + 0.3871866762638092, + 0.10060738027095795, + 0.04702724516391754, + 0.03721011057496071, + -0.1567767858505249, + 0.1957930028438568, + 0.0, + 1.0027955770492554 + ], + [ + 0.38254573941230774, + 0.09727723896503448, + 0.07276277244091034, + 0.009122222661972046, + -0.19768035411834717, + 0.20850230753421783, + 0.0, + 1.0001531839370728 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9430103898048401 + ], + [ + 0.6661520600318909 + ], + [ + 0.5501742362976074 + ], + [ + 0.5501742362976074 + ], + [ + 0.5501742362976074 + ], + [ + 0.5501742362976074 + ], + [ + 0.5501742362976074 + ], + [ + 0.5501742362976074 + ], + [ + 0.5501742362976074 + ], + [ + 0.5501742362976074 + ], + [ + 0.5501742362976074 + ], + [ + 0.5501742362976074 + ], + [ + 0.5501742362976074 + ], + [ + 0.5501742362976074 + ], + [ + 0.5501742362976074 + ], + [ + 0.5501742362976074 + ], + [ + 0.5501742362976074 + ], + [ + 0.5501742362976074 + ], + [ + 0.5501742362976074 + ], + [ + 0.5501742362976074 + ], + [ + 0.6009007096290588 + ], + [ + 0.8888095021247864 + ], + [ + 1.0099300146102905 + ], + [ + 1.0027955770492554 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.276868611574173, + 0.10286933183670044, + 0.09801742434501648 + ], + [ + 0.2741261422634125, + 0.10115105658769608, + 0.09047922492027283 + ], + [ + 0.27124348282814026, + 0.09912972897291183, + 0.08513753861188889 + ], + [ + 0.266543984413147, + 0.10070085525512695, + 0.07892479747533798 + ], + [ + 0.2620771825313568, + 0.10044141858816147, + 0.07208077609539032 + ], + [ + 0.26024097204208374, + 0.09933393448591232, + 0.06851840019226074 + ], + [ + 0.25971394777297974, + 0.09298030287027359, + 0.07153820246458054 + ], + [ + 0.2619951367378235, + 0.09128870069980621, + 0.07108528912067413 + ], + [ + 0.26764675974845886, + 0.09150005877017975, + 0.06913676112890244 + ], + [ + 0.27181610465049744, + 0.09196942299604416, + 0.05117734521627426 + ], + [ + 0.27506235241889954, + 0.09536711126565933, + 0.03999532759189606 + ], + [ + 0.27719494700431824, + 0.09446912258863449, + 0.03846603259444237 + ], + [ + 0.2768877446651459, + 0.08922931551933289, + 0.03802867606282234 + ], + [ + 0.2776627242565155, + 0.08378539979457855, + 0.05151244252920151 + ], + [ + 0.2836253345012665, + 0.082351915538311, + 0.06536737084388733 + ], + [ + 0.3041587769985199, + 0.0847502127289772, + 0.08897709846496582 + ], + [ + 0.3309977650642395, + 0.08961064368486404, + 0.09187436103820801 + ], + [ + 0.3518546521663666, + 0.08674255758523941, + 0.08348129689693451 + ], + [ + 0.36920711398124695, + 0.08584247529506683, + 0.07641317695379257 + ], + [ + 0.37275341153144836, + 0.08733207732439041, + 0.06573212146759033 + ], + [ + 0.37627872824668884, + 0.08753076940774918, + 0.06428495049476624 + ], + [ + 0.37736016511917114, + 0.08813869208097458, + 0.058725614100694656 + ], + [ + 0.37780553102493286, + 0.08723632246255875, + 0.057898297905921936 + ], + [ + 0.3807743489742279, + 0.08846624195575714, + 0.04957256838679314 + ], + [ + 0.3876895010471344, + 0.09021083265542984, + 0.05115193501114845 + ], + [ + 0.392071932554245, + 0.09159496426582336, + 0.049510080367326736 + ], + [ + 0.39364269375801086, + 0.09494145214557648, + 0.048525866121053696 + ], + [ + 0.39477548003196716, + 0.09649182856082916, + 0.04975830018520355 + ], + [ + 0.3942492604255676, + 0.09805519878864288, + 0.05034845694899559 + ], + [ + 0.3938646614551544, + 0.09860897064208984, + 0.05030418932437897 + ], + [ + 0.39332666993141174, + 0.09976524114608765, + 0.05026029050350189 + ], + [ + 0.39274975657463074, + 0.10007277131080627, + 0.0501677505671978 + ], + [ + 0.3921445310115814, + 0.10265284031629562, + 0.05116637051105499 + ], + [ + 0.3916201591491699, + 0.10313383489847183, + 0.0508025586605072 + ], + [ + 0.3871866762638092, + 0.10060738027095795, + 0.04702724516391754 + ], + [ + 0.38254573941230774, + 0.09727723896503448, + 0.07276277244091034 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9499836554500899, + 0.3093372030428225, + 0.04291327523422988, + 0.3005526924402386, + -0.9429109200380877, + 0.14348197078326722, + 0.08484770736212321, + -0.12340782668279436, + -0.9887220918280429 + ], + [ + 0.9523405670335259, + 0.3045338483481485, + 0.017509414397102872, + 0.2996499004251965, + -0.9447198598298334, + 0.1330951675241062, + 0.057073475077591064, + -0.12150523302873402, + -0.9909485843318012 + ], + [ + 0.9610616354859856, + 0.27622005393043464, + 0.007938173824657457, + 0.27331509232817014, + -0.9544042903047507, + 0.12004711972192085, + 0.040735649039220265, + -0.11320305850352784, + -0.9927364576980139 + ], + [ + 0.9668017687057947, + 0.2554747399884608, + 0.005195888295116326, + 0.253285787286172, + -0.9608092960803936, + 0.11265791816078721, + 0.03377351012511148, + -0.1076018298790822, + -0.9936202474892015 + ], + [ + 0.9723627118301696, + 0.23340377539641916, + 0.005782237713588054, + 0.23166033709469064, + -0.9675896916423625, + 0.10051704753230645, + 0.02905589199203515, + -0.09639951378578412, + -0.9949185337917932 + ], + [ + 0.9869988754961515, + 0.15114016495511942, + 0.0546797065342467, + 0.1461434281768624, + -0.9855110780123527, + 0.08608143537165451, + 0.06689781887360988, + -0.07697120014829807, + -0.99478646762895 + ], + [ + 0.9916182858476699, + 0.06055183335886827, + 0.11413435350239257, + 0.055248824181869646, + -0.997266124909139, + 0.04906978230266333, + 0.11679358971728765, + -0.042352704584120285, + -0.9922527429114824 + ], + [ + 0.9875418544211423, + 0.014627527997687573, + 0.15667520924233028, + 0.011254441673132578, + -0.9996858572258198, + 0.022394740572365388, + 0.15695357055217687, + -0.02035245163007046, + -0.9873962499440476 + ], + [ + 0.9827321564423215, + 0.004838118047392982, + 0.18497054173025498, + 0.0009674667593774719, + -0.9997787911223912, + 0.021010302946877432, + 0.18503127493019664, + -0.020468547471903256, + -0.9825194480833936 + ], + [ + 0.9890224520293546, + -0.004552543918304579, + 0.14769517163981688, + -0.0075140266415129366, + -0.9997816293839304, + 0.019499562816731594, + 0.1475741467380845, + -0.020395290885028717, + -0.9888406865234871 + ], + [ + 0.9932636685012078, + 0.00336956962957515, + 0.11582715931954175, + -0.00017611741247999173, + -0.9995320614082924, + 0.03058802379276774, + 0.11587602779772908, + -0.030402371904200975, + -0.9927982886590906 + ], + [ + 0.9928522253408821, + -0.00505228518692102, + 0.1192431677290057, + -0.010339815398171123, + -0.9989883236174117, + 0.04376548290153615, + 0.11890141653146741, + -0.04468560943371958, + -0.9919000198892765 + ], + [ + 0.9926155224276476, + -0.019939402893861705, + 0.11965301854915582, + -0.02346815049555925, + -0.9993280415834116, + 0.028155127728021215, + 0.11901122026097434, + -0.030755251865326454, + -0.9924164669808206 + ], + [ + 0.9896865684727433, + -0.029421936357674795, + 0.14019574118214592, + -0.02995691060915262, + -0.999549734076788, + 0.0017066381507844313, + 0.1400824032182542, + -0.0058888681414519545, + -0.9901223366537144 + ], + [ + 0.9859447586570556, + -0.02687548331923815, + 0.16489584977505684, + -0.025777461322285734, + -0.9996290110314981, + -0.008795612085989297, + 0.16507106155973805, + 0.004421391245579831, + -0.9862717657598208 + ], + [ + 0.9773518557752178, + 0.0367133029534326, + 0.2084118120428578, + 0.041520349160611106, + -0.9989619733318625, + -0.018735966548113683, + 0.2075076158079962, + 0.026964962880756418, + -0.9778616876422352 + ], + [ + 0.9568833589331297, + 0.2025235013139782, + 0.20822696466206844, + 0.2054628119375356, + -0.9786350349232495, + 0.00764861631217436, + 0.20532722738977435, + 0.03546406401270231, + -0.9780506274504049 + ], + [ + 0.9322004964660737, + 0.30361870170108995, + 0.1970226341458011, + 0.30499856104451817, + -0.9520488824132745, + 0.024058330291363193, + 0.1948797376567891, + 0.037664432465916345, + -0.9801037079706624 + ], + [ + 0.9215209251089516, + 0.3471451534888634, + 0.17403857904365702, + 0.3468288804547132, + -0.9373396746495516, + 0.03322742858547407, + 0.1746680058535964, + 0.029741834796562984, + -0.9841780890642007 + ], + [ + 0.9277061056119913, + 0.3407897045483674, + 0.15239343451759765, + 0.33884752831880377, + -0.940017829136198, + 0.039355221487206764, + 0.15666439979290223, + 0.015128059356907482, + -0.9875360285364901 + ], + [ + 0.9427207433568274, + 0.28736534752937315, + 0.16940707507088698, + 0.28233046938897244, + -0.957817167752287, + 0.053626292185733074, + 0.17767134293226094, + -0.002725839010228298, + -0.9840861058374603 + ], + [ + 0.9522575274823665, + 0.25711588045521666, + 0.1646117412911639, + 0.2501720934578175, + -0.9662160526064226, + 0.06197147198990912, + 0.17498435646680932, + -0.01783153676500645, + -0.9844097273434954 + ], + [ + 0.9589349950012337, + 0.23111468654868436, + 0.1644070467573921, + 0.22491964935870587, + -0.9727891704847713, + 0.05560918197480898, + 0.17278549329831117, + -0.01634721533026315, + -0.9848238125962457 + ], + [ + 0.9626926785844157, + 0.21983087973512946, + 0.1577884372026101, + 0.2132481093582372, + -0.9752918253362133, + 0.057715676271655275, + 0.166577460825588, + -0.02191437307422328, + -0.9857848192164775 + ], + [ + 0.9625285324592227, + 0.21063341040202946, + 0.17079926997591485, + 0.20287105125469432, + -0.9772472819374511, + 0.061895771331159866, + 0.17995043974581007, + -0.024926218491264737, + -0.9833598135306402 + ], + [ + 0.9635810394808015, + 0.20496503722009674, + 0.17175830073234402, + 0.1965785016592062, + -0.9783526034218178, + 0.06467670417679627, + 0.1812966437596665, + -0.028557256435374136, + -0.9830137384931936 + ], + [ + 0.9640170527202351, + 0.20435747455186618, + 0.17002689392968004, + 0.19603879387385412, + -0.9784701457693884, + 0.06453654107957923, + 0.17955476423942598, + -0.02888245891220215, + -0.9833238989295994 + ], + [ + 0.9628548646181894, + 0.2075272647414249, + 0.17275110439598115, + 0.19894278875938265, + -0.9777996247898791, + 0.06580015624154373, + 0.18257129150479354, + -0.028988414060007555, + -0.982765178142041 + ], + [ + 0.9629373097191063, + 0.20776432828000177, + 0.172005004128629, + 0.1986560949875005, + -0.9776537726371058, + 0.06876668359570214, + 0.18244860502411958, + -0.03204816286144807, + -0.9826929437937157 + ], + [ + 0.9635314638176443, + 0.2063062705704546, + 0.1704254703873171, + 0.19723926935797526, + -0.9779446115500213, + 0.06870958712880094, + 0.18084188910913307, + -0.032589253805335866, + -0.9829721011706546 + ], + [ + 0.96444788925258, + 0.20338848632398945, + 0.16874060728550064, + 0.19429993299178702, + -0.9785189934263642, + 0.06890657111801435, + 0.1791306923886308, + -0.033670508381835496, + -0.9832489470676683 + ], + [ + 0.9650985494149578, + 0.2025846877960732, + 0.16596455702261204, + 0.19386972100848243, + -0.9787160813153962, + 0.06730054569413241, + 0.17606624092436762, + -0.0327761566569721, + -0.983832507270196 + ], + [ + 0.9647099650891864, + 0.20848823506468542, + 0.1608332648963924, + 0.19855360005015957, + -0.9771599698228307, + 0.07572886690665383, + 0.17294840607748288, + -0.041122368796761996, + -0.9840720500145307 + ], + [ + 0.9655302282233227, + 0.2064362578270751, + 0.15854163440992972, + 0.19600317731048966, + -0.9774147991279124, + 0.07901306809595042, + 0.17127210184735622, + -0.04521484159096366, + -0.9841856965170205 + ], + [ + 0.9688637005716877, + 0.20010727495222885, + 0.1458088070924665, + 0.19215849043418198, + -0.9790847069843397, + 0.06684497814679968, + 0.15613533958906103, + -0.03674527262904472, + -0.9870519442617119 + ], + [ + 0.9592886034304027, + 0.2087390011549057, + 0.19024564311804784, + 0.20296360695236862, + -0.9779304813563613, + 0.04957567838163745, + 0.19639539093734296, + -0.008944441344623737, + -0.9804839862983997 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.002742469310760498, + -0.001718275249004364, + -0.007538199424743652, + -0.002167239785194397, + 0.027845337986946106, + -0.0015742480754852295, + 1.0 + ], + [ + -0.002882659435272217, + -0.0020213276147842407, + -0.005341686308383942, + -0.008465178310871124, + 0.016357582062482834, + -0.02776479721069336, + 1.0 + ], + [ + -0.004699498414993286, + 0.0015711262822151184, + -0.006212741136550903, + -0.005668558180332184, + 0.006966989487409592, + -0.020848959684371948, + 1.0 + ], + [ + -0.004466801881790161, + -0.0002594366669654846, + -0.006844021379947662, + -0.011281982064247131, + 0.004719952121376991, + -0.022340059280395508, + 1.0 + ], + [ + -0.0018362104892730713, + -0.0011074841022491455, + -0.0035623759031295776, + -0.019369617104530334, + -0.03788783401250839, + -0.08688428997993469, + 1.0 + ], + [ + -0.0005270242691040039, + -0.006353631615638733, + 0.0030198022723197937, + -0.03456324711441994, + -0.05011294037103653, + -0.09134212881326675, + 1.0 + ], + [ + 0.00228118896484375, + -0.0016916021704673767, + -0.0004529133439064026, + -0.022048166021704674, + -0.04054447263479233, + -0.044262345880270004, + 1.0 + ], + [ + 0.005651623010635376, + 0.00021135807037353516, + -0.001948527991771698, + 0.00022037699818611145, + -0.02849845588207245, + -0.010411460883915424, + 1.0 + ], + [ + 0.004169344902038574, + 0.0004693642258644104, + -0.017959415912628174, + -0.00020716898143291473, + 0.0379885733127594, + -0.00858174730092287, + 1.0 + ], + [ + 0.0032462477684020996, + 0.0033976882696151733, + -0.011182017624378204, + 0.009990809485316277, + 0.03197818994522095, + 0.007419969886541367, + 1.0 + ], + [ + 0.002132594585418701, + -0.0008979886770248413, + -0.0015292949974536896, + 0.014406735077500343, + -0.0030464529991149902, + -0.010236565954983234, + 0.0 + ], + [ + -0.0003072023391723633, + -0.005239807069301605, + -0.00043735653162002563, + -0.014039725065231323, + -0.00011058896780014038, + -0.013224458321928978, + 0.0 + ], + [ + 0.0007749795913696289, + -0.0054439157247543335, + 0.013483766466379166, + -0.025032805278897285, + -0.02125067263841629, + -0.006621513515710831, + 0.0 + ], + [ + 0.0059626102447509766, + -0.0014334842562675476, + 0.013854928314685822, + -0.010430450551211834, + -0.025285422801971436, + 0.0041208695620298386, + 0.0 + ], + [ + 0.020533442497253418, + 0.0023982971906661987, + 0.02360972762107849, + -0.023085545748472214, + -0.04319636523723602, + 0.06859594583511353, + 0.0 + ], + [ + 0.026838988065719604, + 0.004860430955886841, + 0.0028972625732421875, + -0.008675618097186089, + 0.002228379249572754, + 0.1690523624420166, + 0.0 + ], + [ + 0.020856887102127075, + -0.002868086099624634, + -0.008393064141273499, + -0.0021660588681697845, + 0.010663211345672607, + 0.10469420254230499, + 0.0 + ], + [ + 0.01735246181488037, + -0.0009000822901725769, + -0.007068119943141937, + 0.008199349045753479, + 0.02056625485420227, + 0.043763935565948486, + 0.0 + ], + [ + 0.003546297550201416, + 0.0014896020293235779, + -0.01068105548620224, + 0.014892981387674809, + 0.018256142735481262, + -0.009769290685653687, + 0.0 + ], + [ + 0.0035253167152404785, + 0.00019869208335876465, + -0.0014471709728240967, + 0.018087709322571754, + -0.02130720019340515, + -0.05921417474746704, + 0.0 + ], + [ + 0.0010814368724822998, + 0.0006079226732254028, + -0.005559336394071579, + 0.015342045575380325, + 0.002729758620262146, + -0.03407478332519531, + 0.0 + ], + [ + 0.00044536590576171875, + -0.0009023696184158325, + -0.0008273161947727203, + -0.001514354720711708, + 0.002232879400253296, + -0.026522323489189148, + 0.0 + ], + [ + 0.002968817949295044, + 0.0012299194931983948, + -0.0083257295191288, + 0.0056291185319423676, + 0.0062993913888931274, + -0.012394726276397705, + 0.0 + ], + [ + 0.006915152072906494, + 0.001744590699672699, + 0.0015793666243553162, + 0.003115866333246231, + -0.013578459620475769, + -0.010263696312904358, + 0.0 + ], + [ + 0.004382431507110596, + 0.0013841316103935242, + -0.0016418546438217163, + 0.0036999639123678207, + -0.0013687163591384888, + -0.006481796503067017, + 0.0 + ], + [ + 0.0015707612037658691, + 0.003346487879753113, + -0.0009842142462730408, + 0.00032128021121025085, + 0.0017709434032440186, + -0.0006261467933654785, + 0.0 + ], + [ + 0.0011327862739562988, + 0.0015503764152526855, + 0.0012324340641498566, + 0.0001244042068719864, + -0.003067225217819214, + 0.0031299591064453125, + 0.0 + ], + [ + -0.0005262196063995361, + 0.0015633702278137207, + 0.000590156763792038, + 0.003112800419330597, + 0.00012478232383728027, + -0.0003025233745574951, + 0.0 + ], + [ + -0.000384598970413208, + 0.0005537718534469604, + -4.4267624616622925e-05, + 0.0005406178534030914, + 0.0016338974237442017, + -0.00153292715549469, + 0.0 + ], + [ + -0.0005379915237426758, + 0.0011562705039978027, + -4.3898820877075195e-05, + 0.0010891035199165344, + 0.001739606261253357, + -0.003113776445388794, + 0.0 + ], + [ + -0.0005769133567810059, + 0.00030753016471862793, + -9.253993630409241e-05, + -0.0009283013641834259, + 0.00311395525932312, + -0.0005589723587036133, + 1.0 + ], + [ + -0.0006052255630493164, + 0.0025800690054893494, + 0.000998619943857193, + 0.008461210876703262, + 0.0031664222478866577, + 0.004740118980407715, + 1.0 + ], + [ + -0.000524371862411499, + 0.0004809945821762085, + -0.00036381185054779053, + 0.00414542481303215, + 0.0017016977071762085, + -0.002703368663787842, + 1.0 + ], + [ + -0.004433482885360718, + -0.0025264546275138855, + -0.0037753134965896606, + -0.008698981255292892, + 0.015343919396400452, + -0.0044860392808914185, + 1.0 + ], + [ + -0.004640936851501465, + -0.003330141305923462, + 0.025735527276992798, + -0.028087887912988663, + -0.040903568267822266, + 0.012709304690361023, + 1.0 + ], + [ + -0.019028544425964355, + 0.009407393634319305, + 0.033948250114917755, + -0.017477406188845634, + -0.0453062504529953, + 0.04443587362766266, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9430103898048401 + ], + [ + 0.6661520600318909 + ], + [ + 0.5501742362976074 + ], + [ + 0.5501742362976074 + ], + [ + 0.5501742362976074 + ], + [ + 0.5501742362976074 + ], + [ + 0.5501742362976074 + ], + [ + 0.5501742362976074 + ], + [ + 0.5501742362976074 + ], + [ + 0.5501742362976074 + ], + [ + 0.5501742362976074 + ], + [ + 0.5501742362976074 + ], + [ + 0.5501742362976074 + ], + [ + 0.5501742362976074 + ], + [ + 0.5501742362976074 + ], + [ + 0.5501742362976074 + ], + [ + 0.5501742362976074 + ], + [ + 0.5501742362976074 + ], + [ + 0.5501742362976074 + ], + [ + 0.5501742362976074 + ], + [ + 0.6009007096290588 + ], + [ + 0.8888095021247864 + ], + [ + 1.0099300146102905 + ], + [ + 1.0027955770492554 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2741261422634125, + 0.10115105658769608, + 0.09047922492027283 + ], + [ + 0.27124348282814026, + 0.09912972897291183, + 0.08513753861188889 + ], + [ + 0.266543984413147, + 0.10070085525512695, + 0.07892479747533798 + ], + [ + 0.2620771825313568, + 0.10044141858816147, + 0.07208077609539032 + ], + [ + 0.26024097204208374, + 0.09933393448591232, + 0.06851840019226074 + ], + [ + 0.25971394777297974, + 0.09298030287027359, + 0.07153820246458054 + ], + [ + 0.2619951367378235, + 0.09128870069980621, + 0.07108528912067413 + ], + [ + 0.26764675974845886, + 0.09150005877017975, + 0.06913676112890244 + ], + [ + 0.27181610465049744, + 0.09196942299604416, + 0.05117734521627426 + ], + [ + 0.27506235241889954, + 0.09536711126565933, + 0.03999532759189606 + ], + [ + 0.27719494700431824, + 0.09446912258863449, + 0.03846603259444237 + ], + [ + 0.2768877446651459, + 0.08922931551933289, + 0.03802867606282234 + ], + [ + 0.2776627242565155, + 0.08378539979457855, + 0.05151244252920151 + ], + [ + 0.2836253345012665, + 0.082351915538311, + 0.06536737084388733 + ], + [ + 0.3041587769985199, + 0.0847502127289772, + 0.08897709846496582 + ], + [ + 0.3309977650642395, + 0.08961064368486404, + 0.09187436103820801 + ], + [ + 0.3518546521663666, + 0.08674255758523941, + 0.08348129689693451 + ], + [ + 0.36920711398124695, + 0.08584247529506683, + 0.07641317695379257 + ], + [ + 0.37275341153144836, + 0.08733207732439041, + 0.06573212146759033 + ], + [ + 0.37627872824668884, + 0.08753076940774918, + 0.06428495049476624 + ], + [ + 0.37736016511917114, + 0.08813869208097458, + 0.058725614100694656 + ], + [ + 0.37780553102493286, + 0.08723632246255875, + 0.057898297905921936 + ], + [ + 0.3807743489742279, + 0.08846624195575714, + 0.04957256838679314 + ], + [ + 0.3876895010471344, + 0.09021083265542984, + 0.05115193501114845 + ], + [ + 0.392071932554245, + 0.09159496426582336, + 0.049510080367326736 + ], + [ + 0.39364269375801086, + 0.09494145214557648, + 0.048525866121053696 + ], + [ + 0.39477548003196716, + 0.09649182856082916, + 0.04975830018520355 + ], + [ + 0.3942492604255676, + 0.09805519878864288, + 0.05034845694899559 + ], + [ + 0.3938646614551544, + 0.09860897064208984, + 0.05030418932437897 + ], + [ + 0.39332666993141174, + 0.09976524114608765, + 0.05026029050350189 + ], + [ + 0.39274975657463074, + 0.10007277131080627, + 0.0501677505671978 + ], + [ + 0.3921445310115814, + 0.10265284031629562, + 0.05116637051105499 + ], + [ + 0.3916201591491699, + 0.10313383489847183, + 0.0508025586605072 + ], + [ + 0.3871866762638092, + 0.10060738027095795, + 0.04702724516391754 + ], + [ + 0.38254573941230774, + 0.09727723896503448, + 0.07276277244091034 + ], + [ + 0.3635171949863434, + 0.10668463259935379, + 0.1067110225558281 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9523405670335259, + 0.3045338483481485, + 0.017509414397102872, + 0.2996499004251965, + -0.9447198598298334, + 0.1330951675241062, + 0.057073475077591064, + -0.12150523302873402, + -0.9909485843318012 + ], + [ + 0.9610616354859856, + 0.27622005393043464, + 0.007938173824657457, + 0.27331509232817014, + -0.9544042903047507, + 0.12004711972192085, + 0.040735649039220265, + -0.11320305850352784, + -0.9927364576980139 + ], + [ + 0.9668017687057947, + 0.2554747399884608, + 0.005195888295116326, + 0.253285787286172, + -0.9608092960803936, + 0.11265791816078721, + 0.03377351012511148, + -0.1076018298790822, + -0.9936202474892015 + ], + [ + 0.9723627118301696, + 0.23340377539641916, + 0.005782237713588054, + 0.23166033709469064, + -0.9675896916423625, + 0.10051704753230645, + 0.02905589199203515, + -0.09639951378578412, + -0.9949185337917932 + ], + [ + 0.9869988754961515, + 0.15114016495511942, + 0.0546797065342467, + 0.1461434281768624, + -0.9855110780123527, + 0.08608143537165451, + 0.06689781887360988, + -0.07697120014829807, + -0.99478646762895 + ], + [ + 0.9916182858476699, + 0.06055183335886827, + 0.11413435350239257, + 0.055248824181869646, + -0.997266124909139, + 0.04906978230266333, + 0.11679358971728765, + -0.042352704584120285, + -0.9922527429114824 + ], + [ + 0.9875418544211423, + 0.014627527997687573, + 0.15667520924233028, + 0.011254441673132578, + -0.9996858572258198, + 0.022394740572365388, + 0.15695357055217687, + -0.02035245163007046, + -0.9873962499440476 + ], + [ + 0.9827321564423215, + 0.004838118047392982, + 0.18497054173025498, + 0.0009674667593774719, + -0.9997787911223912, + 0.021010302946877432, + 0.18503127493019664, + -0.020468547471903256, + -0.9825194480833936 + ], + [ + 0.9890224520293546, + -0.004552543918304579, + 0.14769517163981688, + -0.0075140266415129366, + -0.9997816293839304, + 0.019499562816731594, + 0.1475741467380845, + -0.020395290885028717, + -0.9888406865234871 + ], + [ + 0.9932636685012078, + 0.00336956962957515, + 0.11582715931954175, + -0.00017611741247999173, + -0.9995320614082924, + 0.03058802379276774, + 0.11587602779772908, + -0.030402371904200975, + -0.9927982886590906 + ], + [ + 0.9928522253408821, + -0.00505228518692102, + 0.1192431677290057, + -0.010339815398171123, + -0.9989883236174117, + 0.04376548290153615, + 0.11890141653146741, + -0.04468560943371958, + -0.9919000198892765 + ], + [ + 0.9926155224276476, + -0.019939402893861705, + 0.11965301854915582, + -0.02346815049555925, + -0.9993280415834116, + 0.028155127728021215, + 0.11901122026097434, + -0.030755251865326454, + -0.9924164669808206 + ], + [ + 0.9896865684727433, + -0.029421936357674795, + 0.14019574118214592, + -0.02995691060915262, + -0.999549734076788, + 0.0017066381507844313, + 0.1400824032182542, + -0.0058888681414519545, + -0.9901223366537144 + ], + [ + 0.9859447586570556, + -0.02687548331923815, + 0.16489584977505684, + -0.025777461322285734, + -0.9996290110314981, + -0.008795612085989297, + 0.16507106155973805, + 0.004421391245579831, + -0.9862717657598208 + ], + [ + 0.9773518557752178, + 0.0367133029534326, + 0.2084118120428578, + 0.041520349160611106, + -0.9989619733318625, + -0.018735966548113683, + 0.2075076158079962, + 0.026964962880756418, + -0.9778616876422352 + ], + [ + 0.9568833589331297, + 0.2025235013139782, + 0.20822696466206844, + 0.2054628119375356, + -0.9786350349232495, + 0.00764861631217436, + 0.20532722738977435, + 0.03546406401270231, + -0.9780506274504049 + ], + [ + 0.9322004964660737, + 0.30361870170108995, + 0.1970226341458011, + 0.30499856104451817, + -0.9520488824132745, + 0.024058330291363193, + 0.1948797376567891, + 0.037664432465916345, + -0.9801037079706624 + ], + [ + 0.9215209251089516, + 0.3471451534888634, + 0.17403857904365702, + 0.3468288804547132, + -0.9373396746495516, + 0.03322742858547407, + 0.1746680058535964, + 0.029741834796562984, + -0.9841780890642007 + ], + [ + 0.9277061056119913, + 0.3407897045483674, + 0.15239343451759765, + 0.33884752831880377, + -0.940017829136198, + 0.039355221487206764, + 0.15666439979290223, + 0.015128059356907482, + -0.9875360285364901 + ], + [ + 0.9427207433568274, + 0.28736534752937315, + 0.16940707507088698, + 0.28233046938897244, + -0.957817167752287, + 0.053626292185733074, + 0.17767134293226094, + -0.002725839010228298, + -0.9840861058374603 + ], + [ + 0.9522575274823665, + 0.25711588045521666, + 0.1646117412911639, + 0.2501720934578175, + -0.9662160526064226, + 0.06197147198990912, + 0.17498435646680932, + -0.01783153676500645, + -0.9844097273434954 + ], + [ + 0.9589349950012337, + 0.23111468654868436, + 0.1644070467573921, + 0.22491964935870587, + -0.9727891704847713, + 0.05560918197480898, + 0.17278549329831117, + -0.01634721533026315, + -0.9848238125962457 + ], + [ + 0.9626926785844157, + 0.21983087973512946, + 0.1577884372026101, + 0.2132481093582372, + -0.9752918253362133, + 0.057715676271655275, + 0.166577460825588, + -0.02191437307422328, + -0.9857848192164775 + ], + [ + 0.9625285324592227, + 0.21063341040202946, + 0.17079926997591485, + 0.20287105125469432, + -0.9772472819374511, + 0.061895771331159866, + 0.17995043974581007, + -0.024926218491264737, + -0.9833598135306402 + ], + [ + 0.9635810394808015, + 0.20496503722009674, + 0.17175830073234402, + 0.1965785016592062, + -0.9783526034218178, + 0.06467670417679627, + 0.1812966437596665, + -0.028557256435374136, + -0.9830137384931936 + ], + [ + 0.9640170527202351, + 0.20435747455186618, + 0.17002689392968004, + 0.19603879387385412, + -0.9784701457693884, + 0.06453654107957923, + 0.17955476423942598, + -0.02888245891220215, + -0.9833238989295994 + ], + [ + 0.9628548646181894, + 0.2075272647414249, + 0.17275110439598115, + 0.19894278875938265, + -0.9777996247898791, + 0.06580015624154373, + 0.18257129150479354, + -0.028988414060007555, + -0.982765178142041 + ], + [ + 0.9629373097191063, + 0.20776432828000177, + 0.172005004128629, + 0.1986560949875005, + -0.9776537726371058, + 0.06876668359570214, + 0.18244860502411958, + -0.03204816286144807, + -0.9826929437937157 + ], + [ + 0.9635314638176443, + 0.2063062705704546, + 0.1704254703873171, + 0.19723926935797526, + -0.9779446115500213, + 0.06870958712880094, + 0.18084188910913307, + -0.032589253805335866, + -0.9829721011706546 + ], + [ + 0.96444788925258, + 0.20338848632398945, + 0.16874060728550064, + 0.19429993299178702, + -0.9785189934263642, + 0.06890657111801435, + 0.1791306923886308, + -0.033670508381835496, + -0.9832489470676683 + ], + [ + 0.9650985494149578, + 0.2025846877960732, + 0.16596455702261204, + 0.19386972100848243, + -0.9787160813153962, + 0.06730054569413241, + 0.17606624092436762, + -0.0327761566569721, + -0.983832507270196 + ], + [ + 0.9647099650891864, + 0.20848823506468542, + 0.1608332648963924, + 0.19855360005015957, + -0.9771599698228307, + 0.07572886690665383, + 0.17294840607748288, + -0.041122368796761996, + -0.9840720500145307 + ], + [ + 0.9655302282233227, + 0.2064362578270751, + 0.15854163440992972, + 0.19600317731048966, + -0.9774147991279124, + 0.07901306809595042, + 0.17127210184735622, + -0.04521484159096366, + -0.9841856965170205 + ], + [ + 0.9688637005716877, + 0.20010727495222885, + 0.1458088070924665, + 0.19215849043418198, + -0.9790847069843397, + 0.06684497814679968, + 0.15613533958906103, + -0.03674527262904472, + -0.9870519442617119 + ], + [ + 0.9592886034304027, + 0.2087390011549057, + 0.19024564311804784, + 0.20296360695236862, + -0.9779304813563613, + 0.04957567838163745, + 0.19639539093734296, + -0.008944441344623737, + -0.9804839862983997 + ], + [ + 0.9397397572940155, + 0.2482947011414802, + 0.235029636314333, + 0.24289832143365994, + -0.9686505949224723, + 0.052119386038695356, + 0.2406025644204463, + 0.008109644961598387, + -0.9705898411032857 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005560.json b/json/chunk-0005/episode_0005560.json new file mode 100644 index 0000000000000000000000000000000000000000..78ab1ef0f1ff4030227ae55bdbbedb0ca275e4c8 --- /dev/null +++ b/json/chunk-0005/episode_0005560.json @@ -0,0 +1,2422 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 39, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPlaced the red object to bottom right edge of the cloth." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005560.mp4", + "start": 0, + "end": 39, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.41208913922309875, + 0.24208787083625793, + 0.13901112973690033, + 0.00925508700311184, + -0.19027963280677795, + 0.6960404515266418, + 0.0, + 1.0001531839370728 + ], + [ + 0.4125981628894806, + 0.2407028079032898, + 0.11371264606714249, + 0.010410035960376263, + -0.13576661050319672, + 0.6904431581497192, + 0.0, + 1.0001531839370728 + ], + [ + 0.41570955514907837, + 0.24153731763362885, + 0.10153032094240189, + -0.04236043244600296, + -0.14216682314872742, + 0.6401003003120422, + 0.0, + 1.0001531839370728 + ], + [ + 0.40839529037475586, + 0.25822514295578003, + 0.09519118070602417, + -0.11629990488290787, + -0.15949000418186188, + 0.6127925515174866, + 0.0, + 1.0001531839370728 + ], + [ + 0.4026657044887543, + 0.2669692635536194, + 0.08551774173974991, + -0.19747209548950195, + -0.1796836107969284, + 0.5613809823989868, + 0.0, + 1.0001531839370728 + ], + [ + 0.40327346324920654, + 0.2703196108341217, + 0.08674557507038116, + -0.19933469593524933, + -0.20812177658081055, + 0.5180299282073975, + 0.0, + 1.0001531839370728 + ], + [ + 0.4018478989601135, + 0.26857608556747437, + 0.07321193069219589, + -0.19643311202526093, + -0.2050354778766632, + 0.5064845085144043, + 0.0, + 1.0001531839370728 + ], + [ + 0.402910977602005, + 0.2674421966075897, + 0.07005532830953598, + -0.18894343078136444, + -0.2304166555404663, + 0.5060529708862305, + 0.0, + 1.0001531839370728 + ], + [ + 0.4078669250011444, + 0.2593560218811035, + 0.06465216726064682, + -0.1747080683708191, + -0.26641783118247986, + 0.49128976464271545, + 0.0, + 1.0001531839370728 + ], + [ + 0.41234809160232544, + 0.25440993905067444, + 0.05900668725371361, + -0.1675834208726883, + -0.27888134121894836, + 0.49200353026390076, + 0.0, + 1.0001531839370728 + ], + [ + 0.4124600291252136, + 0.2573080062866211, + 0.05901475250720978, + -0.1553008258342743, + -0.28595981001853943, + 0.5050598978996277, + 0.0, + 0.9560673832893372 + ], + [ + 0.4134465157985687, + 0.2587553858757019, + 0.06309578567743301, + -0.14887987077236176, + -0.29010045528411865, + 0.5137462615966797, + 0.0, + 0.6821943521499634 + ], + [ + 0.414068341255188, + 0.2556777894496918, + 0.06377893686294556, + -0.16909430921077728, + -0.2845943868160248, + 0.5013541579246521, + 0.0, + 0.5679898858070374 + ], + [ + 0.4141145646572113, + 0.2551423907279968, + 0.0641031339764595, + -0.17825786769390106, + -0.286486953496933, + 0.4918789863586426, + 0.0, + 0.5679898858070374 + ], + [ + 0.40849190950393677, + 0.25444719195365906, + 0.06327438354492188, + -0.1824658215045929, + -0.29139816761016846, + 0.4937898516654968, + 0.0, + 0.566997230052948 + ], + [ + 0.39466869831085205, + 0.24790267646312714, + 0.06945278495550156, + -0.17298756539821625, + -0.3375775218009949, + 0.48844170570373535, + 0.0, + 0.566997230052948 + ], + [ + 0.3804842233657837, + 0.2370159924030304, + 0.08039702475070953, + -0.15960581600666046, + -0.3920097351074219, + 0.46594470739364624, + 0.0, + 0.566997230052948 + ], + [ + 0.3597222566604614, + 0.22018104791641235, + 0.08911295235157013, + -0.15551304817199707, + -0.4140004813671112, + 0.4032537341117859, + 0.0, + 0.566997230052948 + ], + [ + 0.33422496914863586, + 0.20656956732273102, + 0.09913140535354614, + -0.1272122859954834, + -0.438167005777359, + 0.34042972326278687, + 0.0, + 0.566997230052948 + ], + [ + 0.31518346071243286, + 0.19126099348068237, + 0.10130590945482254, + -0.09884370863437653, + -0.42514848709106445, + 0.2798497676849365, + 0.0, + 0.566997230052948 + ], + [ + 0.29641643166542053, + 0.17375464737415314, + 0.1100177988409996, + -0.08351979404687881, + -0.395158976316452, + 0.2065599411725998, + 0.0, + 0.566997230052948 + ], + [ + 0.27836117148399353, + 0.1537395715713501, + 0.1109117865562439, + -0.05474114418029785, + -0.37295952439308167, + 0.1282842457294464, + 0.0, + 0.566997230052948 + ], + [ + 0.2619535028934479, + 0.13126368820667267, + 0.10141576081514359, + -0.023356843739748, + -0.3655017614364624, + 0.05768148973584175, + 0.0, + 0.566997230052948 + ], + [ + 0.24912407994270325, + 0.10414709150791168, + 0.08812253922224045, + 0.022708537057042122, + -0.3739931881427765, + -0.015134518034756184, + 0.0, + 0.566997230052948 + ], + [ + 0.24397729337215424, + 0.08319602161645889, + 0.07555808871984482, + 0.050307732075452805, + -0.3767104148864746, + -0.06080125272274017, + 0.0, + 0.566997230052948 + ], + [ + 0.24075272679328918, + 0.06645085662603378, + 0.07686243206262589, + 0.05383732169866562, + -0.3834278881549835, + -0.08869607001543045, + 0.0, + 0.566997230052948 + ], + [ + 0.23753982782363892, + 0.05543926730751991, + 0.0797453299164772, + 0.03322874754667282, + -0.3648526966571808, + -0.10351769626140594, + 0.0, + 0.566997230052948 + ], + [ + 0.2339625507593155, + 0.04869911074638367, + 0.08517654985189438, + 0.012615926563739777, + -0.3447340428829193, + -0.10514044016599655, + 0.0, + 0.566997230052948 + ], + [ + 0.23412854969501495, + 0.04407544434070587, + 0.08573606610298157, + 0.015198583714663982, + -0.3295120298862457, + -0.12165321409702301, + 0.0, + 0.566997230052948 + ], + [ + 0.23435862362384796, + 0.03732293099164963, + 0.0826089158654213, + 0.02938336879014969, + -0.3314465880393982, + -0.15010565519332886, + 0.0, + 0.566997230052948 + ], + [ + 0.2271958887577057, + 0.02908310294151306, + 0.07454000413417816, + 0.027193674817681313, + -0.33230623602867126, + -0.16313603520393372, + 0.0, + 0.566997230052948 + ], + [ + 0.2206297665834427, + 0.02250933088362217, + 0.07356881350278854, + 0.02174605429172516, + -0.34962472319602966, + -0.16637127101421356, + 0.0, + 0.566997230052948 + ], + [ + 0.21718589961528778, + 0.014504973776638508, + 0.06932439655065536, + 0.010716033168137074, + -0.3518477976322174, + -0.16648560762405396, + 0.0, + 0.566997230052948 + ], + [ + 0.2180759608745575, + 0.012294959276914597, + 0.0709686204791069, + 0.0024849206674844027, + -0.36346903443336487, + -0.1673818826675415, + 0.0, + 0.5998998284339905 + ], + [ + 0.21880218386650085, + 0.009812170639634132, + 0.06683395802974701, + 0.018264325335621834, + -0.3476913273334503, + -0.1778443455696106, + 0.0, + 0.7319586873054504 + ], + [ + 0.2226009964942932, + 0.012279736809432507, + 0.062168266624212265, + 0.027532676234841347, + -0.3510681986808777, + -0.16297085583209991, + 0.0, + 0.9781157374382019 + ], + [ + 0.2202807366847992, + 0.01744377799332142, + 0.06262052804231644, + 0.01011098362505436, + -0.3377046287059784, + -0.1584903746843338, + 0.0, + 1.003452181816101 + ], + [ + 0.22438788414001465, + 0.033516187220811844, + 0.07952505350112915, + -0.033213019371032715, + -0.35102328658103943, + -0.13803228735923767, + 0.0, + 1.0001531839370728 + ], + [ + 0.23231241106987, + 0.058395612984895706, + 0.10455921292304993, + -0.03703593090176582, + -0.3831426203250885, + -0.08910857886075974, + 0.0, + 1.0001531839370728 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9560673832893372 + ], + [ + 0.6821943521499634 + ], + [ + 0.5679898858070374 + ], + [ + 0.5679898858070374 + ], + [ + 0.566997230052948 + ], + [ + 0.566997230052948 + ], + [ + 0.566997230052948 + ], + [ + 0.566997230052948 + ], + [ + 0.566997230052948 + ], + [ + 0.566997230052948 + ], + [ + 0.566997230052948 + ], + [ + 0.566997230052948 + ], + [ + 0.566997230052948 + ], + [ + 0.566997230052948 + ], + [ + 0.566997230052948 + ], + [ + 0.566997230052948 + ], + [ + 0.566997230052948 + ], + [ + 0.566997230052948 + ], + [ + 0.566997230052948 + ], + [ + 0.566997230052948 + ], + [ + 0.566997230052948 + ], + [ + 0.566997230052948 + ], + [ + 0.566997230052948 + ], + [ + 0.5998998284339905 + ], + [ + 0.7319586873054504 + ], + [ + 0.9781157374382019 + ], + [ + 1.003452181816101 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.41208913922309875, + 0.24208787083625793, + 0.13901112973690033 + ], + [ + 0.4125981628894806, + 0.2407028079032898, + 0.11371264606714249 + ], + [ + 0.41570955514907837, + 0.24153731763362885, + 0.10153032094240189 + ], + [ + 0.40839529037475586, + 0.25822514295578003, + 0.09519118070602417 + ], + [ + 0.4026657044887543, + 0.2669692635536194, + 0.08551774173974991 + ], + [ + 0.40327346324920654, + 0.2703196108341217, + 0.08674557507038116 + ], + [ + 0.4018478989601135, + 0.26857608556747437, + 0.07321193069219589 + ], + [ + 0.402910977602005, + 0.2674421966075897, + 0.07005532830953598 + ], + [ + 0.4078669250011444, + 0.2593560218811035, + 0.06465216726064682 + ], + [ + 0.41234809160232544, + 0.25440993905067444, + 0.05900668725371361 + ], + [ + 0.4124600291252136, + 0.2573080062866211, + 0.05901475250720978 + ], + [ + 0.4134465157985687, + 0.2587553858757019, + 0.06309578567743301 + ], + [ + 0.414068341255188, + 0.2556777894496918, + 0.06377893686294556 + ], + [ + 0.4141145646572113, + 0.2551423907279968, + 0.0641031339764595 + ], + [ + 0.40849190950393677, + 0.25444719195365906, + 0.06327438354492188 + ], + [ + 0.39466869831085205, + 0.24790267646312714, + 0.06945278495550156 + ], + [ + 0.3804842233657837, + 0.2370159924030304, + 0.08039702475070953 + ], + [ + 0.3597222566604614, + 0.22018104791641235, + 0.08911295235157013 + ], + [ + 0.33422496914863586, + 0.20656956732273102, + 0.09913140535354614 + ], + [ + 0.31518346071243286, + 0.19126099348068237, + 0.10130590945482254 + ], + [ + 0.29641643166542053, + 0.17375464737415314, + 0.1100177988409996 + ], + [ + 0.27836117148399353, + 0.1537395715713501, + 0.1109117865562439 + ], + [ + 0.2619535028934479, + 0.13126368820667267, + 0.10141576081514359 + ], + [ + 0.24912407994270325, + 0.10414709150791168, + 0.08812253922224045 + ], + [ + 0.24397729337215424, + 0.08319602161645889, + 0.07555808871984482 + ], + [ + 0.24075272679328918, + 0.06645085662603378, + 0.07686243206262589 + ], + [ + 0.23753982782363892, + 0.05543926730751991, + 0.0797453299164772 + ], + [ + 0.2339625507593155, + 0.04869911074638367, + 0.08517654985189438 + ], + [ + 0.23412854969501495, + 0.04407544434070587, + 0.08573606610298157 + ], + [ + 0.23435862362384796, + 0.03732293099164963, + 0.0826089158654213 + ], + [ + 0.2271958887577057, + 0.02908310294151306, + 0.07454000413417816 + ], + [ + 0.2206297665834427, + 0.02250933088362217, + 0.07356881350278854 + ], + [ + 0.21718589961528778, + 0.014504973776638508, + 0.06932439655065536 + ], + [ + 0.2180759608745575, + 0.012294959276914597, + 0.0709686204791069 + ], + [ + 0.21880218386650085, + 0.009812170639634132, + 0.06683395802974701 + ], + [ + 0.2226009964942932, + 0.012279736809432507, + 0.062168266624212265 + ], + [ + 0.2202807366847992, + 0.01744377799332142, + 0.06262052804231644 + ], + [ + 0.22438788414001465, + 0.033516187220811844, + 0.07952505350112915 + ], + [ + 0.23231241106987, + 0.058395612984895706, + 0.10455921292304993 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.7535367241760352, + 0.6425000057701395, + 0.13919823240048862, + 0.6296117287370744, + -0.7662317876285336, + 0.12836634552831339, + 0.18913348818959153, + -0.00908791576503766, + -0.9819093305556705 + ], + [ + 0.763869336635247, + 0.6379306614994895, + 0.09771441893217082, + 0.6310182559091124, + -0.7700247342693767, + 0.094222445960599, + 0.1353499067522762, + -0.010314055080322376, + -0.9907441763694351 + ], + [ + 0.7939443611292725, + 0.5919277257099694, + 0.13883054046878368, + 0.5912501554994766, + -0.8049001407559421, + 0.05058672783358774, + 0.14168840832219232, + 0.04192053132878652, + -0.9890232878958088 + ], + [ + 0.8076627667759777, + 0.5561934781170421, + 0.19577964670475825, + 0.5678545103418249, + -0.823118235108544, + -0.004198346846307224, + 0.15881470413100554, + 0.11456520384419966, + -0.9806389263229959 + ], + [ + 0.8328920031506049, + 0.4923282381405097, + 0.25279204302595076, + 0.5237849606450822, + -0.8487351388395157, + -0.07278721797882987, + 0.17871828694848862, + 0.19303256209388486, + -0.9647788367712405 + ], + [ + 0.8500483872324851, + 0.44981776908389715, + 0.27401042677211496, + 0.4844841089545934, + -0.8718527220683768, + -0.07174941945712901, + 0.20662257266311557, + 0.1937441757533556, + -0.959046561345031 + ], + [ + 0.8561387451770092, + 0.44102840078014455, + 0.2692961171499578, + 0.47494496254630775, + -0.8769154993092181, + -0.0738003361994416, + 0.20360189478151225, + 0.1910841615010842, + -0.9602255524952484 + ], + [ + 0.851548326681683, + 0.43858317805357616, + 0.28724596298999744, + 0.4719179665100671, + -0.8798908904487839, + -0.05554686120969814, + 0.22838318723283696, + 0.18285736745800374, + -0.9562448969566842 + ], + [ + 0.8506180313706304, + 0.42423157255329724, + 0.310606724904838, + 0.45511977054123165, + -0.8898922450645631, + -0.030948128157421068, + 0.2632773426819137, + 0.16768829721512482, + -0.9500345655856117 + ], + [ + 0.8473348480124907, + 0.42530432253282874, + 0.3180249810605154, + 0.4541413504701404, + -0.8907313330710765, + -0.018796969930826385, + 0.2752803827678367, + 0.16035562204149542, + -0.9478959781235907 + ], + [ + 0.8396070193079521, + 0.43985304115333335, + 0.31873085090241915, + 0.46421096625641467, + -0.8857245096608518, + -0.0005213380184927868, + 0.28207841451642834, + 0.14839607533289983, + -0.9478451207289567 + ], + [ + 0.8345187190525146, + 0.44905448111346585, + 0.31926255737694365, + 0.470908454126356, + -0.882127212955535, + 0.00983910542813915, + 0.2860484843226335, + 0.14213251969629023, + -0.9476152233166729 + ], + [ + 0.8416584673705098, + 0.43232338441933355, + 0.32358540694496396, + 0.46128110217398127, + -0.887134535937454, + -0.014562277438484997, + 0.28076817675919363, + 0.16152029727328865, + -0.9460869011291018 + ], + [ + 0.8455214467580253, + 0.42063297947872813, + 0.328878974163846, + 0.4530338868193644, + -0.8911441160122524, + -0.024949186160686726, + 0.2825841121959178, + 0.17008839193663158, + -0.9440424558582393 + ], + [ + 0.8434219904327517, + 0.42019504799570045, + 0.3347767430607245, + 0.45398547059978817, + -0.8906333659978558, + -0.02587276281378502, + 0.2872917307176526, + 0.17380543435468443, + -0.9419422129037616 + ], + [ + 0.8332247543545336, + 0.41190451425571967, + 0.36887827242409765, + 0.442765780565815, + -0.8966366357237097, + 0.001098652816956286, + 0.331202313232821, + 0.16241125150009564, + -0.92947706431918 + ], + [ + 0.825627183693234, + 0.38931125855993814, + 0.40838278306664255, + 0.4151870055995774, + -0.9093211820736852, + 0.027472499219635682, + 0.38204646828368394, + 0.14687318268013871, + -0.9123972623158024 + ], + [ + 0.8420842280948602, + 0.3303681481227723, + 0.42632269409429, + 0.35926165154038464, + -0.9331393755772963, + 0.013489680488766392, + 0.40227505332341806, + 0.14180194798783163, + -0.904470557298853 + ], + [ + 0.853563621033611, + 0.2804550615765857, + 0.4390604779344907, + 0.3023496865448723, + -0.9529672488681628, + 0.020930590791054235, + 0.42428034587311175, + 0.11488420701175008, + -0.898213675627951 + ], + [ + 0.8755376908784533, + 0.23574417130020917, + 0.42173266123126335, + 0.2516222462379682, + -0.9676482127286492, + 0.018525161300512787, + 0.412456054688721, + 0.08989784258272474, + -0.9065309596751709 + ], + [ + 0.903315839139775, + 0.1729479637068016, + 0.39256782421496955, + 0.18928868284180078, + -0.9819169815029936, + -0.0029725383203924524, + 0.3849549185388083, + 0.0769937873189836, + -0.9197182543622034 + ], + [ + 0.9236008125632844, + 0.10796862229892905, + 0.3678373494240522, + 0.11913769537443487, + -0.99284773725611, + -0.00771881896995899, + 0.36437308980399397, + 0.050952401555705296, + -0.9298581097148085 + ], + [ + 0.9323912821473579, + 0.04930027112918452, + 0.35807259074410436, + 0.0538414443503899, + -0.9985458023250612, + -0.0027165288998235396, + 0.35741795680389343, + 0.021812013331845452, + -0.9336897987171872 + ], + [ + 0.9307693095394861, + -0.006835466692721386, + 0.3655431148503292, + -0.014087820540021629, + -0.999753221077417, + 0.01717644485222306, + 0.3653354974976021, + -0.02113701351709867, + -0.930635912120179 + ], + [ + 0.9281615263310817, + -0.042222528320918516, + 0.3697748492541729, + -0.05650302734846702, + -0.998013387620322, + 0.027869087374143082, + 0.3678635466300181, + -0.04676041309482272, + -0.9287033298249697 + ], + [ + 0.9237422227196007, + -0.06839970963191801, + 0.37685777912538987, + -0.0821478367415316, + -0.996409090191549, + 0.020509946424515764, + 0.37410164244993427, + -0.04990395481241081, + -0.9260440358915674 + ], + [ + 0.9291755225845398, + -0.09148510580113539, + 0.3581386933107089, + -0.09653116262753206, + -0.9953226887288621, + -0.0038052520712076633, + 0.35681169105219057, + -0.0310357973653576, + -0.9336606430659762 + ], + [ + 0.9359680935728006, + -0.10069863241072925, + 0.33737740476253936, + -0.09877232580777852, + -0.9948461231751289, + -0.02291765384891562, + 0.3379463795755468, + -0.011873358161257397, + -0.9410904674353872 + ], + [ + 0.939207336820462, + -0.11645790899202513, + 0.32299711128092196, + -0.11482459995555866, + -0.9930915168904764, + -0.024177475575798926, + 0.3235813494434761, + -0.014380351643045054, + -0.9460910716093673 + ], + [ + 0.9349399012888922, + -0.14002524963000293, + 0.3260066110433534, + -0.14140338506955316, + -0.9897581497158586, + -0.019593053920002348, + 0.32541122240756937, + -0.027780110458668395, + -0.9451644310881128 + ], + [ + 0.9327416729466367, + -0.15360098484513884, + 0.32618968255190633, + -0.15352816807887482, + -0.9877986146306265, + -0.026134240761123233, + 0.3262239616506653, + -0.02570280895970362, + -0.9449430101633255 + ], + [ + 0.9265288757747017, + -0.15822009371747797, + 0.3413365557623447, + -0.1555859512140204, + -0.9871925164703456, + -0.035269635804402615, + 0.3425452585287033, + -0.020428836701565593, + -0.939279196240673 + ], + [ + 0.9257578172419089, + -0.16206609963846702, + 0.3416241255582965, + -0.15556530721731315, + -0.9867286297820709, + -0.046540803160019184, + 0.34463299175482204, + -0.010059349699217672, + -0.9386836050969194 + ], + [ + 0.9216065137252258, + -0.1657297928330549, + 0.3509630602025626, + -0.15571718371835735, + -0.986168465023563, + -0.05677954990921148, + 0.3555187654035413, + -0.002322576281203508, + -0.9346662575943135 + ], + [ + 0.9253329873078536, + -0.17075415186819404, + 0.3385289976053708, + -0.1663224643424161, + -0.985164044551302, + -0.04229235366334915, + 0.34072819145910005, + -0.01717046717750604, + -0.9400050396683609 + ], + [ + 0.9265637053468407, + -0.1528470418522263, + 0.3436822394755904, + -0.15235409050731152, + -0.9879117142795317, + -0.028612512908989453, + 0.34390104832585666, + -0.02585007903858203, + -0.9386500105865211 + ], + [ + 0.931692239027715, + -0.15451166405545483, + 0.3287487146839309, + -0.14891320520878845, + -0.9879449069865106, + -0.0423050596720931, + 0.3313222435182516, + -0.009539729043760138, + -0.9434694295629314 + ], + [ + 0.9300899869461168, + -0.14882838844786267, + 0.33583139664805733, + -0.12920406376198124, + -0.9883712832977014, + -0.08017802853553484, + 0.34385887525257014, + 0.03118200032819016, + -0.9385034665708861 + ], + [ + 0.9238145155823952, + -0.10271699411818211, + 0.36880341635970565, + -0.08253837523409335, + -0.9941175954377619, + -0.0701257659834023, + 0.3738370733527923, + 0.034342765764688254, + -0.926858358664716 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + 0.0005090236663818359, + -0.0013850629329681396, + -0.025298483669757843, + 0.0011549489572644234, + 0.05451302230358124, + -0.005597293376922607, + 1.0 + ], + [ + 0.0031113922595977783, + 0.0008345097303390503, + -0.0121823251247406, + -0.0527704693377018, + -0.006400212645530701, + -0.050342857837677, + 1.0 + ], + [ + -0.00731426477432251, + 0.016687825322151184, + -0.006339140236377716, + -0.07393947243690491, + -0.01732318103313446, + -0.027307748794555664, + 1.0 + ], + [ + -0.005729585886001587, + 0.008744120597839355, + -0.009673438966274261, + -0.08117219060659409, + -0.02019360661506653, + -0.051411569118499756, + 1.0 + ], + [ + 0.0006077587604522705, + 0.0033503472805023193, + 0.001227833330631256, + -0.0018626004457473755, + -0.02843816578388214, + -0.043351054191589355, + 1.0 + ], + [ + -0.0014255642890930176, + -0.0017435252666473389, + -0.013533644378185272, + 0.0029015839099884033, + 0.003086298704147339, + -0.011545419692993164, + 1.0 + ], + [ + 0.0010630786418914795, + -0.0011338889598846436, + -0.003156602382659912, + 0.007489681243896484, + -0.0253811776638031, + -0.0004315376281738281, + 1.0 + ], + [ + 0.004955947399139404, + -0.008086174726486206, + -0.00540316104888916, + 0.014235362410545349, + -0.03600117564201355, + -0.014763206243515015, + 1.0 + ], + [ + 0.00448116660118103, + -0.004946082830429077, + -0.005645480006933212, + 0.007124647498130798, + -0.012463510036468506, + 0.0007137656211853027, + 1.0 + ], + [ + 0.0001119375228881836, + 0.0028980672359466553, + 8.065253496170044e-06, + 0.012282595038414001, + -0.0070784687995910645, + 0.013056367635726929, + 0.0 + ], + [ + 0.0009864866733551025, + 0.0014473795890808105, + 0.004081033170223236, + 0.006420955061912537, + -0.004140645265579224, + 0.008686363697052002, + 0.0 + ], + [ + 0.0006218254566192627, + -0.003077596426010132, + 0.0006831511855125427, + -0.020214438438415527, + 0.005506068468093872, + -0.012392103672027588, + 0.0 + ], + [ + 4.622340202331543e-05, + -0.0005353987216949463, + 0.00032419711351394653, + -0.00916355848312378, + -0.0018925666809082031, + -0.009475171566009521, + 0.0 + ], + [ + -0.005622655153274536, + -0.0006951987743377686, + -0.0008287504315376282, + -0.0042079538106918335, + -0.004911214113235474, + 0.001910865306854248, + 0.0 + ], + [ + -0.013823211193084717, + -0.006544515490531921, + 0.006178401410579681, + 0.009478256106376648, + -0.046179354190826416, + -0.005348145961761475, + 0.0 + ], + [ + -0.01418447494506836, + -0.01088668406009674, + 0.010944239795207977, + 0.013381749391555786, + -0.054432213306427, + -0.02249699831008911, + 0.0 + ], + [ + -0.020761966705322266, + -0.016834944486618042, + 0.008715927600860596, + 0.004092767834663391, + -0.02199074625968933, + -0.06269097328186035, + 0.0 + ], + [ + -0.02549728751182556, + -0.013611480593681335, + 0.010018453001976013, + 0.028300762176513672, + -0.024166524410247803, + -0.06282401084899902, + 0.0 + ], + [ + -0.019041508436203003, + -0.015308573842048645, + 0.0021745041012763977, + 0.028368577361106873, + 0.013018518686294556, + -0.06057995557785034, + 0.0 + ], + [ + -0.01876702904701233, + -0.017506346106529236, + 0.008711889386177063, + 0.015323914587497711, + 0.029989510774612427, + -0.07328982651233673, + 0.0 + ], + [ + -0.018055260181427002, + -0.02001507580280304, + 0.0008939877152442932, + 0.028778649866580963, + 0.02219945192337036, + -0.07827569544315338, + 0.0 + ], + [ + -0.016407668590545654, + -0.02247588336467743, + -0.009496025741100311, + 0.03138430044054985, + 0.007457762956619263, + -0.07060275971889496, + 0.0 + ], + [ + -0.012829422950744629, + -0.027116596698760986, + -0.013293221592903137, + 0.04606538265943527, + -0.008491426706314087, + -0.07281600683927536, + 0.0 + ], + [ + -0.005146786570549011, + -0.02095106989145279, + -0.01256445050239563, + 0.027599195018410683, + -0.00271722674369812, + -0.045666735619306564, + 0.0 + ], + [ + -0.0032245665788650513, + -0.01674516499042511, + 0.001304343342781067, + 0.0035295896232128143, + -0.006717473268508911, + -0.027894817292690277, + 0.0 + ], + [ + -0.0032128989696502686, + -0.01101158931851387, + 0.0028828978538513184, + -0.020608574151992798, + 0.018575191497802734, + -0.014821626245975494, + 0.0 + ], + [ + -0.0035772770643234253, + -0.006740156561136246, + 0.005431219935417175, + -0.020612820982933044, + 0.020118653774261475, + -0.0016227439045906067, + 0.0 + ], + [ + 0.0001659989356994629, + -0.004623666405677795, + 0.0005595162510871887, + 0.0025826571509242058, + 0.015222012996673584, + -0.01651277393102646, + 0.0 + ], + [ + 0.0002300739288330078, + -0.006752513349056244, + -0.003127150237560272, + 0.014184785075485706, + -0.0019345581531524658, + -0.028452441096305847, + 0.0 + ], + [ + -0.007162734866142273, + -0.008239828050136566, + -0.008068911731243134, + -0.002189693972468376, + -0.0008596479892730713, + -0.013030380010604858, + 0.0 + ], + [ + -0.0065661221742630005, + -0.006573772057890892, + -0.0009711906313896179, + -0.005447620525956154, + -0.0173184871673584, + -0.003235235810279846, + 0.0 + ], + [ + -0.0034438669681549072, + -0.008004357106983662, + -0.004244416952133179, + -0.011030021123588085, + -0.002223074436187744, + -0.00011433660984039307, + 0.0 + ], + [ + 0.0008900612592697144, + -0.0022100144997239113, + 0.001644223928451538, + -0.008231112733483315, + -0.011621236801147461, + -0.0008962750434875488, + 1.0 + ], + [ + 0.0007262229919433594, + -0.002482788637280464, + -0.004134662449359894, + 0.0157794039696455, + 0.01577770709991455, + -0.010462462902069092, + 1.0 + ], + [ + 0.0037988126277923584, + 0.002467566169798374, + -0.004665691405534744, + 0.009268350899219513, + -0.003376871347427368, + 0.014873489737510681, + 1.0 + ], + [ + -0.0023202598094940186, + 0.005164041183888912, + 0.00045226141810417175, + -0.017421692609786987, + 0.013363569974899292, + 0.004480481147766113, + 1.0 + ], + [ + 0.004107147455215454, + 0.016072409227490425, + 0.016904525458812714, + -0.043324001133441925, + -0.013318657875061035, + 0.02045808732509613, + 1.0 + ], + [ + 0.007924526929855347, + 0.024879425764083862, + 0.025034159421920776, + -0.0038229115307331085, + -0.03211933374404907, + 0.048923708498477936, + 1.0 + ], + [ + 0.009159326553344727, + 0.033606816083192825, + 0.028667375445365906, + 0.22179178893566132, + -0.09797564148902893, + 0.045483000576496124, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9560673832893372 + ], + [ + 0.6821943521499634 + ], + [ + 0.5679898858070374 + ], + [ + 0.5679898858070374 + ], + [ + 0.566997230052948 + ], + [ + 0.566997230052948 + ], + [ + 0.566997230052948 + ], + [ + 0.566997230052948 + ], + [ + 0.566997230052948 + ], + [ + 0.566997230052948 + ], + [ + 0.566997230052948 + ], + [ + 0.566997230052948 + ], + [ + 0.566997230052948 + ], + [ + 0.566997230052948 + ], + [ + 0.566997230052948 + ], + [ + 0.566997230052948 + ], + [ + 0.566997230052948 + ], + [ + 0.566997230052948 + ], + [ + 0.566997230052948 + ], + [ + 0.566997230052948 + ], + [ + 0.566997230052948 + ], + [ + 0.566997230052948 + ], + [ + 0.566997230052948 + ], + [ + 0.5998998284339905 + ], + [ + 0.7319586873054504 + ], + [ + 0.9781157374382019 + ], + [ + 1.003452181816101 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.4125981628894806, + 0.2407028079032898, + 0.11371264606714249 + ], + [ + 0.41570955514907837, + 0.24153731763362885, + 0.10153032094240189 + ], + [ + 0.40839529037475586, + 0.25822514295578003, + 0.09519118070602417 + ], + [ + 0.4026657044887543, + 0.2669692635536194, + 0.08551774173974991 + ], + [ + 0.40327346324920654, + 0.2703196108341217, + 0.08674557507038116 + ], + [ + 0.4018478989601135, + 0.26857608556747437, + 0.07321193069219589 + ], + [ + 0.402910977602005, + 0.2674421966075897, + 0.07005532830953598 + ], + [ + 0.4078669250011444, + 0.2593560218811035, + 0.06465216726064682 + ], + [ + 0.41234809160232544, + 0.25440993905067444, + 0.05900668725371361 + ], + [ + 0.4124600291252136, + 0.2573080062866211, + 0.05901475250720978 + ], + [ + 0.4134465157985687, + 0.2587553858757019, + 0.06309578567743301 + ], + [ + 0.414068341255188, + 0.2556777894496918, + 0.06377893686294556 + ], + [ + 0.4141145646572113, + 0.2551423907279968, + 0.0641031339764595 + ], + [ + 0.40849190950393677, + 0.25444719195365906, + 0.06327438354492188 + ], + [ + 0.39466869831085205, + 0.24790267646312714, + 0.06945278495550156 + ], + [ + 0.3804842233657837, + 0.2370159924030304, + 0.08039702475070953 + ], + [ + 0.3597222566604614, + 0.22018104791641235, + 0.08911295235157013 + ], + [ + 0.33422496914863586, + 0.20656956732273102, + 0.09913140535354614 + ], + [ + 0.31518346071243286, + 0.19126099348068237, + 0.10130590945482254 + ], + [ + 0.29641643166542053, + 0.17375464737415314, + 0.1100177988409996 + ], + [ + 0.27836117148399353, + 0.1537395715713501, + 0.1109117865562439 + ], + [ + 0.2619535028934479, + 0.13126368820667267, + 0.10141576081514359 + ], + [ + 0.24912407994270325, + 0.10414709150791168, + 0.08812253922224045 + ], + [ + 0.24397729337215424, + 0.08319602161645889, + 0.07555808871984482 + ], + [ + 0.24075272679328918, + 0.06645085662603378, + 0.07686243206262589 + ], + [ + 0.23753982782363892, + 0.05543926730751991, + 0.0797453299164772 + ], + [ + 0.2339625507593155, + 0.04869911074638367, + 0.08517654985189438 + ], + [ + 0.23412854969501495, + 0.04407544434070587, + 0.08573606610298157 + ], + [ + 0.23435862362384796, + 0.03732293099164963, + 0.0826089158654213 + ], + [ + 0.2271958887577057, + 0.02908310294151306, + 0.07454000413417816 + ], + [ + 0.2206297665834427, + 0.02250933088362217, + 0.07356881350278854 + ], + [ + 0.21718589961528778, + 0.014504973776638508, + 0.06932439655065536 + ], + [ + 0.2180759608745575, + 0.012294959276914597, + 0.0709686204791069 + ], + [ + 0.21880218386650085, + 0.009812170639634132, + 0.06683395802974701 + ], + [ + 0.2226009964942932, + 0.012279736809432507, + 0.062168266624212265 + ], + [ + 0.2202807366847992, + 0.01744377799332142, + 0.06262052804231644 + ], + [ + 0.22438788414001465, + 0.033516187220811844, + 0.07952505350112915 + ], + [ + 0.23231241106987, + 0.058395612984895706, + 0.10455921292304993 + ], + [ + 0.24147173762321472, + 0.09200242906808853, + 0.13322658836841583 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.763869336635247, + 0.6379306614994895, + 0.09771441893217082, + 0.6310182559091124, + -0.7700247342693767, + 0.094222445960599, + 0.1353499067522762, + -0.010314055080322376, + -0.9907441763694351 + ], + [ + 0.7939443611292725, + 0.5919277257099694, + 0.13883054046878368, + 0.5912501554994766, + -0.8049001407559421, + 0.05058672783358774, + 0.14168840832219232, + 0.04192053132878652, + -0.9890232878958088 + ], + [ + 0.8076627667759777, + 0.5561934781170421, + 0.19577964670475825, + 0.5678545103418249, + -0.823118235108544, + -0.004198346846307224, + 0.15881470413100554, + 0.11456520384419966, + -0.9806389263229959 + ], + [ + 0.8328920031506049, + 0.4923282381405097, + 0.25279204302595076, + 0.5237849606450822, + -0.8487351388395157, + -0.07278721797882987, + 0.17871828694848862, + 0.19303256209388486, + -0.9647788367712405 + ], + [ + 0.8500483872324851, + 0.44981776908389715, + 0.27401042677211496, + 0.4844841089545934, + -0.8718527220683768, + -0.07174941945712901, + 0.20662257266311557, + 0.1937441757533556, + -0.959046561345031 + ], + [ + 0.8561387451770092, + 0.44102840078014455, + 0.2692961171499578, + 0.47494496254630775, + -0.8769154993092181, + -0.0738003361994416, + 0.20360189478151225, + 0.1910841615010842, + -0.9602255524952484 + ], + [ + 0.851548326681683, + 0.43858317805357616, + 0.28724596298999744, + 0.4719179665100671, + -0.8798908904487839, + -0.05554686120969814, + 0.22838318723283696, + 0.18285736745800374, + -0.9562448969566842 + ], + [ + 0.8506180313706304, + 0.42423157255329724, + 0.310606724904838, + 0.45511977054123165, + -0.8898922450645631, + -0.030948128157421068, + 0.2632773426819137, + 0.16768829721512482, + -0.9500345655856117 + ], + [ + 0.8473348480124907, + 0.42530432253282874, + 0.3180249810605154, + 0.4541413504701404, + -0.8907313330710765, + -0.018796969930826385, + 0.2752803827678367, + 0.16035562204149542, + -0.9478959781235907 + ], + [ + 0.8396070193079521, + 0.43985304115333335, + 0.31873085090241915, + 0.46421096625641467, + -0.8857245096608518, + -0.0005213380184927868, + 0.28207841451642834, + 0.14839607533289983, + -0.9478451207289567 + ], + [ + 0.8345187190525146, + 0.44905448111346585, + 0.31926255737694365, + 0.470908454126356, + -0.882127212955535, + 0.00983910542813915, + 0.2860484843226335, + 0.14213251969629023, + -0.9476152233166729 + ], + [ + 0.8416584673705098, + 0.43232338441933355, + 0.32358540694496396, + 0.46128110217398127, + -0.887134535937454, + -0.014562277438484997, + 0.28076817675919363, + 0.16152029727328865, + -0.9460869011291018 + ], + [ + 0.8455214467580253, + 0.42063297947872813, + 0.328878974163846, + 0.4530338868193644, + -0.8911441160122524, + -0.024949186160686726, + 0.2825841121959178, + 0.17008839193663158, + -0.9440424558582393 + ], + [ + 0.8434219904327517, + 0.42019504799570045, + 0.3347767430607245, + 0.45398547059978817, + -0.8906333659978558, + -0.02587276281378502, + 0.2872917307176526, + 0.17380543435468443, + -0.9419422129037616 + ], + [ + 0.8332247543545336, + 0.41190451425571967, + 0.36887827242409765, + 0.442765780565815, + -0.8966366357237097, + 0.001098652816956286, + 0.331202313232821, + 0.16241125150009564, + -0.92947706431918 + ], + [ + 0.825627183693234, + 0.38931125855993814, + 0.40838278306664255, + 0.4151870055995774, + -0.9093211820736852, + 0.027472499219635682, + 0.38204646828368394, + 0.14687318268013871, + -0.9123972623158024 + ], + [ + 0.8420842280948602, + 0.3303681481227723, + 0.42632269409429, + 0.35926165154038464, + -0.9331393755772963, + 0.013489680488766392, + 0.40227505332341806, + 0.14180194798783163, + -0.904470557298853 + ], + [ + 0.853563621033611, + 0.2804550615765857, + 0.4390604779344907, + 0.3023496865448723, + -0.9529672488681628, + 0.020930590791054235, + 0.42428034587311175, + 0.11488420701175008, + -0.898213675627951 + ], + [ + 0.8755376908784533, + 0.23574417130020917, + 0.42173266123126335, + 0.2516222462379682, + -0.9676482127286492, + 0.018525161300512787, + 0.412456054688721, + 0.08989784258272474, + -0.9065309596751709 + ], + [ + 0.903315839139775, + 0.1729479637068016, + 0.39256782421496955, + 0.18928868284180078, + -0.9819169815029936, + -0.0029725383203924524, + 0.3849549185388083, + 0.0769937873189836, + -0.9197182543622034 + ], + [ + 0.9236008125632844, + 0.10796862229892905, + 0.3678373494240522, + 0.11913769537443487, + -0.99284773725611, + -0.00771881896995899, + 0.36437308980399397, + 0.050952401555705296, + -0.9298581097148085 + ], + [ + 0.9323912821473579, + 0.04930027112918452, + 0.35807259074410436, + 0.0538414443503899, + -0.9985458023250612, + -0.0027165288998235396, + 0.35741795680389343, + 0.021812013331845452, + -0.9336897987171872 + ], + [ + 0.9307693095394861, + -0.006835466692721386, + 0.3655431148503292, + -0.014087820540021629, + -0.999753221077417, + 0.01717644485222306, + 0.3653354974976021, + -0.02113701351709867, + -0.930635912120179 + ], + [ + 0.9281615263310817, + -0.042222528320918516, + 0.3697748492541729, + -0.05650302734846702, + -0.998013387620322, + 0.027869087374143082, + 0.3678635466300181, + -0.04676041309482272, + -0.9287033298249697 + ], + [ + 0.9237422227196007, + -0.06839970963191801, + 0.37685777912538987, + -0.0821478367415316, + -0.996409090191549, + 0.020509946424515764, + 0.37410164244993427, + -0.04990395481241081, + -0.9260440358915674 + ], + [ + 0.9291755225845398, + -0.09148510580113539, + 0.3581386933107089, + -0.09653116262753206, + -0.9953226887288621, + -0.0038052520712076633, + 0.35681169105219057, + -0.0310357973653576, + -0.9336606430659762 + ], + [ + 0.9359680935728006, + -0.10069863241072925, + 0.33737740476253936, + -0.09877232580777852, + -0.9948461231751289, + -0.02291765384891562, + 0.3379463795755468, + -0.011873358161257397, + -0.9410904674353872 + ], + [ + 0.939207336820462, + -0.11645790899202513, + 0.32299711128092196, + -0.11482459995555866, + -0.9930915168904764, + -0.024177475575798926, + 0.3235813494434761, + -0.014380351643045054, + -0.9460910716093673 + ], + [ + 0.9349399012888922, + -0.14002524963000293, + 0.3260066110433534, + -0.14140338506955316, + -0.9897581497158586, + -0.019593053920002348, + 0.32541122240756937, + -0.027780110458668395, + -0.9451644310881128 + ], + [ + 0.9327416729466367, + -0.15360098484513884, + 0.32618968255190633, + -0.15352816807887482, + -0.9877986146306265, + -0.026134240761123233, + 0.3262239616506653, + -0.02570280895970362, + -0.9449430101633255 + ], + [ + 0.9265288757747017, + -0.15822009371747797, + 0.3413365557623447, + -0.1555859512140204, + -0.9871925164703456, + -0.035269635804402615, + 0.3425452585287033, + -0.020428836701565593, + -0.939279196240673 + ], + [ + 0.9257578172419089, + -0.16206609963846702, + 0.3416241255582965, + -0.15556530721731315, + -0.9867286297820709, + -0.046540803160019184, + 0.34463299175482204, + -0.010059349699217672, + -0.9386836050969194 + ], + [ + 0.9216065137252258, + -0.1657297928330549, + 0.3509630602025626, + -0.15571718371835735, + -0.986168465023563, + -0.05677954990921148, + 0.3555187654035413, + -0.002322576281203508, + -0.9346662575943135 + ], + [ + 0.9253329873078536, + -0.17075415186819404, + 0.3385289976053708, + -0.1663224643424161, + -0.985164044551302, + -0.04229235366334915, + 0.34072819145910005, + -0.01717046717750604, + -0.9400050396683609 + ], + [ + 0.9265637053468407, + -0.1528470418522263, + 0.3436822394755904, + -0.15235409050731152, + -0.9879117142795317, + -0.028612512908989453, + 0.34390104832585666, + -0.02585007903858203, + -0.9386500105865211 + ], + [ + 0.931692239027715, + -0.15451166405545483, + 0.3287487146839309, + -0.14891320520878845, + -0.9879449069865106, + -0.0423050596720931, + 0.3313222435182516, + -0.009539729043760138, + -0.9434694295629314 + ], + [ + 0.9300899869461168, + -0.14882838844786267, + 0.33583139664805733, + -0.12920406376198124, + -0.9883712832977014, + -0.08017802853553484, + 0.34385887525257014, + 0.03118200032819016, + -0.9385034665708861 + ], + [ + 0.9238145155823952, + -0.10271699411818211, + 0.36880341635970565, + -0.08253837523409335, + -0.9941175954377619, + -0.0701257659834023, + 0.3738370733527923, + 0.034342765764688254, + -0.926858358664716 + ], + [ + 0.8856345435607583, + 0.04206362073025699, + 0.4624738987910439, + -0.0386608485511854, + -0.9857534873387012, + 0.1636930083689948, + 0.4627707791566252, + -0.16285181611099886, + -0.8713911245520692 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005562.json b/json/chunk-0005/episode_0005562.json new file mode 100644 index 0000000000000000000000000000000000000000..ef51d734dc95eff008c6b9189c1ab253c1e4f11c --- /dev/null +++ b/json/chunk-0005/episode_0005562.json @@ -0,0 +1,1222 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 19, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut sushi on plate." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005562.mp4", + "start": 0, + "end": 19, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.24490861594676971, + 0.040941473096609116, + 0.09058026224374771, + 0.034732602536678314, + -0.10563132166862488, + 0.02917054295539856, + 0.0, + 0.9913908839225769 + ], + [ + 0.2435690015554428, + 0.0406702421605587, + 0.08444096893072128, + 0.0398639440536499, + -0.10372822731733322, + -0.023830581456422806, + 0.0, + 0.9913908839225769 + ], + [ + 0.24956482648849487, + 0.03878741338849068, + 0.08163437992334366, + 0.041525714099407196, + -0.1477183848619461, + -0.12797944247722626, + 0.0, + 0.9913908839225769 + ], + [ + 0.2550864815711975, + 0.04157695174217224, + 0.07427941262722015, + 0.02012554742395878, + -0.17707929015159607, + -0.17696380615234375, + 0.0, + 0.9913908839225769 + ], + [ + 0.25701645016670227, + 0.04381983354687691, + 0.06675779074430466, + 0.002958473050966859, + -0.19972321391105652, + -0.20229266583919525, + 0.0, + 0.9913908839225769 + ], + [ + 0.2571822702884674, + 0.04159362241625786, + 0.05652694031596184, + -0.017905082553625107, + -0.21891576051712036, + -0.20543335378170013, + 0.0, + 0.9913908839225769 + ], + [ + 0.26165130734443665, + 0.0403471402823925, + 0.043624844402074814, + -0.038266222923994064, + -0.23936697840690613, + -0.20897890627384186, + 0.0, + 0.9913908839225769 + ], + [ + 0.2689330577850342, + 0.04259178414940834, + 0.029098935425281525, + -0.07553717494010925, + -0.2613774240016937, + -0.21300522983074188, + 0.0, + 0.9913908839225769 + ], + [ + 0.27275344729423523, + 0.043304044753313065, + 0.020081255584955215, + -0.12832239270210266, + -0.2552240192890167, + -0.16665679216384888, + 0.0, + 0.9913908839225769 + ], + [ + 0.2730979323387146, + 0.04225414618849754, + 0.021395176649093628, + -0.1301722675561905, + -0.22796401381492615, + -0.16560383141040802, + 0.0, + 0.7998467683792114 + ], + [ + 0.2679509222507477, + 0.04864851012825966, + 0.030172092840075493, + -0.10052941739559174, + -0.1598447859287262, + -0.18713347613811493, + 0.0, + 0.5679898858070374 + ], + [ + 0.27725958824157715, + 0.07078426331281662, + 0.05945824086666107, + -0.02381717599928379, + -0.142586812376976, + -0.24465282261371613, + 0.0, + 0.5660048723220825 + ], + [ + 0.2995136082172394, + 0.10189485549926758, + 0.07546000927686691, + 0.047229085117578506, + -0.16168203949928284, + -0.2869377136230469, + 0.0, + 0.5660048723220825 + ], + [ + 0.3296293616294861, + 0.11315816640853882, + 0.07660067081451416, + 0.07308600842952728, + -0.20299023389816284, + -0.3140809237957001, + 0.0, + 0.5660048723220825 + ], + [ + 0.3557792007923126, + 0.12018273025751114, + 0.06873779743909836, + 0.07604857534170151, + -0.24894477427005768, + -0.30527979135513306, + 0.0, + 0.5660048723220825 + ], + [ + 0.374235600233078, + 0.12383217364549637, + 0.059463150799274445, + 0.08581242710351944, + -0.280285507440567, + -0.3011724054813385, + 0.0, + 0.5660048723220825 + ], + [ + 0.3959590196609497, + 0.133448526263237, + 0.05172352120280266, + 0.09735564142465591, + -0.3109581470489502, + -0.3400411605834961, + 0.0, + 0.5660048723220825 + ], + [ + 0.40522682666778564, + 0.14240716397762299, + 0.04380340501666069, + 0.09561098366975784, + -0.3240621089935303, + -0.36415091156959534, + 0.0, + 0.5660048723220825 + ], + [ + 0.407888263463974, + 0.14848828315734863, + 0.03675675764679909, + 0.0863570049405098, + -0.3459625542163849, + -0.39643269777297974, + 0.0, + 0.7941413521766663 + ] + ], + "left_gripper_pos": [ + [ + 0.9913908839225769 + ], + [ + 0.9913908839225769 + ], + [ + 0.9913908839225769 + ], + [ + 0.9913908839225769 + ], + [ + 0.9913908839225769 + ], + [ + 0.9913908839225769 + ], + [ + 0.9913908839225769 + ], + [ + 0.9913908839225769 + ], + [ + 0.9913908839225769 + ], + [ + 0.7998467683792114 + ], + [ + 0.5679898858070374 + ], + [ + 0.5660048723220825 + ], + [ + 0.5660048723220825 + ], + [ + 0.5660048723220825 + ], + [ + 0.5660048723220825 + ], + [ + 0.5660048723220825 + ], + [ + 0.5660048723220825 + ], + [ + 0.5660048723220825 + ], + [ + 0.7941413521766663 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.24490861594676971, + 0.040941473096609116, + 0.09058026224374771 + ], + [ + 0.2435690015554428, + 0.0406702421605587, + 0.08444096893072128 + ], + [ + 0.24956482648849487, + 0.03878741338849068, + 0.08163437992334366 + ], + [ + 0.2550864815711975, + 0.04157695174217224, + 0.07427941262722015 + ], + [ + 0.25701645016670227, + 0.04381983354687691, + 0.06675779074430466 + ], + [ + 0.2571822702884674, + 0.04159362241625786, + 0.05652694031596184 + ], + [ + 0.26165130734443665, + 0.0403471402823925, + 0.043624844402074814 + ], + [ + 0.2689330577850342, + 0.04259178414940834, + 0.029098935425281525 + ], + [ + 0.27275344729423523, + 0.043304044753313065, + 0.020081255584955215 + ], + [ + 0.2730979323387146, + 0.04225414618849754, + 0.021395176649093628 + ], + [ + 0.2679509222507477, + 0.04864851012825966, + 0.030172092840075493 + ], + [ + 0.27725958824157715, + 0.07078426331281662, + 0.05945824086666107 + ], + [ + 0.2995136082172394, + 0.10189485549926758, + 0.07546000927686691 + ], + [ + 0.3296293616294861, + 0.11315816640853882, + 0.07660067081451416 + ], + [ + 0.3557792007923126, + 0.12018273025751114, + 0.06873779743909836 + ], + [ + 0.374235600233078, + 0.12383217364549637, + 0.059463150799274445 + ], + [ + 0.3959590196609497, + 0.133448526263237, + 0.05172352120280266 + ], + [ + 0.40522682666778564, + 0.14240716397762299, + 0.04380340501666069 + ], + [ + 0.407888263463974, + 0.14848828315734863, + 0.03675675764679909 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9940031386740561, + 0.03280855325642875, + 0.10431375335661802, + 0.029003838375500923, + -0.9988649234290964, + 0.03778415147219053, + 0.10543499260498423, + -0.034532065912796124, + -0.9938264429759259 + ], + [ + 0.9943426406250898, + -0.01968405497830645, + 0.10438031909480974, + -0.023700249893418887, + -0.9990201567781385, + 0.037376791006892306, + 0.10354231593755661, + -0.03963917671438721, + -0.9938348577503672 + ], + [ + 0.981020331918226, + -0.12146024383123254, + 0.15115064515744342, + -0.1262404083952156, + -0.9917466148888646, + 0.022405605206899645, + 0.14718175040154607, + -0.04106167343077739, + -0.9882567841020882 + ], + [ + 0.9689893316603331, + -0.17251634272116204, + 0.17691180464450462, + -0.17328874242243444, + -0.9848074407807664, + -0.011194477767554428, + 0.17615529193899337, + -0.019809494616260585, + -0.9841630439337459 + ], + [ + 0.9601354007271139, + -0.2003399070208514, + 0.1949459769409486, + -0.19692187355262195, + -0.9797221614484051, + -0.03696298260950026, + 0.19839805439345773, + -0.0028996589009159628, + -0.9801172399214028 + ], + [ + 0.9556080136927548, + -0.20776522651296492, + 0.2089184884547178, + -0.1991228570413821, + -0.978022582318521, + -0.06182164894831822, + 0.21717138846971754, + 0.017476816844842747, + -0.9759770227331721 + ], + [ + 0.9503518356940407, + -0.21618215366043503, + 0.22382284251546744, + -0.20154605047127278, + -0.9756454050561849, + -0.08657501447984067, + 0.23708770093026513, + 0.03716611402190857, + -0.9707770609342353 + ], + [ + 0.9442025909015772, + -0.22985573164293177, + 0.23589788037547374, + -0.20421801316694205, + -0.97049039936659, + -0.12823177389174423, + 0.25841143634308344, + 0.07290217670391792, + -0.963280230358194 + ], + [ + 0.9542004457406732, + -0.19638255858495315, + 0.2256887237589154, + -0.16051279779726094, + -0.9726773502709254, + -0.167733163128903, + 0.25246217754664996, + 0.12382513054125563, + -0.9596510751074292 + ], + [ + 0.9608014781760478, + -0.19238713716117323, + 0.19961890939900834, + -0.1605830740302921, + -0.9731384376775297, + -0.16496865596081642, + 0.2259946810650713, + 0.12644671039400115, + -0.965886967279729 + ], + [ + 0.9700161283625304, + -0.2007988310086108, + 0.13692530877139567, + -0.1836715058062771, + -0.9746090640775508, + -0.12807009866762392, + 0.15916497312983593, + 0.09908078362354415, + -0.9822675346590269 + ], + [ + 0.9603753893135489, + -0.2454342262872278, + 0.13206495435064908, + -0.23976138711360004, + -0.9691265875792672, + -0.05751638459019577, + 0.14210414789938958, + 0.02357324359851118, + -0.9895709743803289 + ], + [ + 0.9466061814834295, + -0.27541156863869265, + 0.1675864106583068, + -0.27932534472934345, + -0.9601964903298432, + -0.00022748644817480873, + 0.1609785357406179, + -0.04659579185103889, + -0.985857364537376 + ], + [ + 0.9315532558653363, + -0.29411691645528454, + 0.21378440294260664, + -0.30259931900202014, + -0.9530896523484349, + 0.0073325797543116605, + 0.20159906653108606, + -0.0715217032877075, + -0.976853347403089 + ], + [ + 0.9243611986004445, + -0.2818379415248835, + 0.2571453854125455, + -0.2912946619258887, + -0.9566323884768972, + -0.0013759543849794081, + 0.24638140038451037, + -0.07363319926503069, + -0.9663717491268898 + ], + [ + 0.9177223333698639, + -0.27290651430224905, + 0.28863082525185824, + -0.28506411151478767, + -0.9585084474824763, + 9.182057263621562e-05, + 0.27663002577532514, + -0.08236255554637198, + -0.9574404620045122 + ], + [ + 0.8975278763672478, + -0.3039085178839852, + 0.31950481045088813, + -0.317530274956333, + -0.9481961421853157, + -0.009929774974306999, + 0.30597097187454575, + -0.09254020046684715, + -0.9475326251204766 + ], + [ + 0.8857894067022831, + -0.3261245946717202, + 0.3301815799287169, + -0.3376180157164114, + -0.9409852033053984, + -0.023683805099925237, + 0.3184198524554184, + -0.0904963861737278, + -0.9436202634809011 + ], + [ + 0.8677890025312707, + -0.3577121027770158, + 0.34494100743841316, + -0.3632517568391772, + -0.9303001957130717, + -0.05088916396907396, + 0.3391023565813618, + -0.08113937011750631, + -0.93724382866888 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0013396143913269043, + -0.00027123093605041504, + -0.006139293313026428, + 0.005131341516971588, + 0.0019030943512916565, + -0.053001124411821365, + 1.0 + ], + [ + 0.005995824933052063, + -0.0018828287720680237, + -0.0028065890073776245, + 0.0016617700457572937, + -0.043990157544612885, + -0.10414886474609375, + 1.0 + ], + [ + 0.005521655082702637, + 0.0027895383536815643, + -0.007354967296123505, + -0.021400166675448418, + -0.029360905289649963, + -0.04898436367511749, + 1.0 + ], + [ + 0.0019299685955047607, + 0.002242881804704666, + -0.007521621882915497, + -0.017167074605822563, + -0.02264392375946045, + -0.0253288596868515, + 1.0 + ], + [ + 0.00016582012176513672, + -0.002226211130619049, + -0.01023085042834282, + -0.020863555371761322, + -0.019192546606063843, + -0.003140687942504883, + 1.0 + ], + [ + 0.004469037055969238, + -0.0012464821338653564, + -0.012902095913887024, + -0.020361140370368958, + -0.020451217889785767, + -0.0035455524921417236, + 1.0 + ], + [ + 0.007281750440597534, + 0.0022446438670158386, + -0.01452590897679329, + -0.03727095201611519, + -0.022010445594787598, + -0.004026323556900024, + 1.0 + ], + [ + 0.00382038950920105, + 0.0007122606039047241, + -0.00901767984032631, + -0.05278521776199341, + 0.006153404712677002, + 0.046348437666893005, + 1.0 + ], + [ + 0.0003444850444793701, + -0.0010498985648155212, + 0.0013139210641384125, + -0.0018498748540878296, + 0.027260005474090576, + 0.001052960753440857, + 0.0 + ], + [ + -0.005147010087966919, + 0.0063943639397621155, + 0.008776916190981865, + 0.029642850160598755, + 0.06811922788619995, + -0.02152964472770691, + 0.0 + ], + [ + 0.009308665990829468, + 0.02213575318455696, + 0.02928614802658558, + 0.0767122432589531, + 0.017257973551750183, + -0.057519346475601196, + 0.0 + ], + [ + 0.02225401997566223, + 0.031110592186450958, + 0.01600176841020584, + 0.07104626297950745, + -0.019095227122306824, + -0.04228489100933075, + 0.0 + ], + [ + 0.030115753412246704, + 0.01126331090927124, + 0.0011406615376472473, + 0.025856923311948776, + -0.041308194398880005, + -0.027143210172653198, + 0.0 + ], + [ + 0.026149839162826538, + 0.0070245638489723206, + -0.007862873375415802, + 0.002962566912174225, + -0.045954540371894836, + 0.008801132440567017, + 0.0 + ], + [ + 0.01845639944076538, + 0.0036494433879852295, + -0.009274646639823914, + 0.009763851761817932, + -0.03134073317050934, + 0.004107385873794556, + 0.0 + ], + [ + 0.021723419427871704, + 0.009616352617740631, + -0.0077396295964717865, + 0.011543214321136475, + -0.03067263960838318, + -0.03886875510215759, + 0.0 + ], + [ + 0.009267807006835938, + 0.008958637714385986, + -0.007920116186141968, + -0.0017446577548980713, + -0.013103961944580078, + -0.024109750986099243, + 0.0 + ], + [ + 0.0026614367961883545, + 0.006081119179725647, + -0.007046647369861603, + -0.009253978729248047, + -0.021900445222854614, + -0.0322817862033844, + 1.0 + ], + [ + -4.935264587402344e-05, + 0.0015415400266647339, + -0.0041201151907444, + -0.0063146501779556274, + -0.006822377443313599, + -0.014926433563232422, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9913908839225769 + ], + [ + 0.9913908839225769 + ], + [ + 0.9913908839225769 + ], + [ + 0.9913908839225769 + ], + [ + 0.9913908839225769 + ], + [ + 0.9913908839225769 + ], + [ + 0.9913908839225769 + ], + [ + 0.9913908839225769 + ], + [ + 0.7998467683792114 + ], + [ + 0.5679898858070374 + ], + [ + 0.5660048723220825 + ], + [ + 0.5660048723220825 + ], + [ + 0.5660048723220825 + ], + [ + 0.5660048723220825 + ], + [ + 0.5660048723220825 + ], + [ + 0.5660048723220825 + ], + [ + 0.5660048723220825 + ], + [ + 0.7941413521766663 + ], + [ + 1.0067112445831299 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2435690015554428, + 0.0406702421605587, + 0.08444096893072128 + ], + [ + 0.24956482648849487, + 0.03878741338849068, + 0.08163437992334366 + ], + [ + 0.2550864815711975, + 0.04157695174217224, + 0.07427941262722015 + ], + [ + 0.25701645016670227, + 0.04381983354687691, + 0.06675779074430466 + ], + [ + 0.2571822702884674, + 0.04159362241625786, + 0.05652694031596184 + ], + [ + 0.26165130734443665, + 0.0403471402823925, + 0.043624844402074814 + ], + [ + 0.2689330577850342, + 0.04259178414940834, + 0.029098935425281525 + ], + [ + 0.27275344729423523, + 0.043304044753313065, + 0.020081255584955215 + ], + [ + 0.2730979323387146, + 0.04225414618849754, + 0.021395176649093628 + ], + [ + 0.2679509222507477, + 0.04864851012825966, + 0.030172092840075493 + ], + [ + 0.27725958824157715, + 0.07078426331281662, + 0.05945824086666107 + ], + [ + 0.2995136082172394, + 0.10189485549926758, + 0.07546000927686691 + ], + [ + 0.3296293616294861, + 0.11315816640853882, + 0.07660067081451416 + ], + [ + 0.3557792007923126, + 0.12018273025751114, + 0.06873779743909836 + ], + [ + 0.374235600233078, + 0.12383217364549637, + 0.059463150799274445 + ], + [ + 0.3959590196609497, + 0.133448526263237, + 0.05172352120280266 + ], + [ + 0.40522682666778564, + 0.14240716397762299, + 0.04380340501666069 + ], + [ + 0.407888263463974, + 0.14848828315734863, + 0.03675675764679909 + ], + [ + 0.4078389108181, + 0.15002982318401337, + 0.03263664245605469 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9943426406250898, + -0.01968405497830645, + 0.10438031909480974, + -0.023700249893418887, + -0.9990201567781385, + 0.037376791006892306, + 0.10354231593755661, + -0.03963917671438721, + -0.9938348577503672 + ], + [ + 0.981020331918226, + -0.12146024383123254, + 0.15115064515744342, + -0.1262404083952156, + -0.9917466148888646, + 0.022405605206899645, + 0.14718175040154607, + -0.04106167343077739, + -0.9882567841020882 + ], + [ + 0.9689893316603331, + -0.17251634272116204, + 0.17691180464450462, + -0.17328874242243444, + -0.9848074407807664, + -0.011194477767554428, + 0.17615529193899337, + -0.019809494616260585, + -0.9841630439337459 + ], + [ + 0.9601354007271139, + -0.2003399070208514, + 0.1949459769409486, + -0.19692187355262195, + -0.9797221614484051, + -0.03696298260950026, + 0.19839805439345773, + -0.0028996589009159628, + -0.9801172399214028 + ], + [ + 0.9556080136927548, + -0.20776522651296492, + 0.2089184884547178, + -0.1991228570413821, + -0.978022582318521, + -0.06182164894831822, + 0.21717138846971754, + 0.017476816844842747, + -0.9759770227331721 + ], + [ + 0.9503518356940407, + -0.21618215366043503, + 0.22382284251546744, + -0.20154605047127278, + -0.9756454050561849, + -0.08657501447984067, + 0.23708770093026513, + 0.03716611402190857, + -0.9707770609342353 + ], + [ + 0.9442025909015772, + -0.22985573164293177, + 0.23589788037547374, + -0.20421801316694205, + -0.97049039936659, + -0.12823177389174423, + 0.25841143634308344, + 0.07290217670391792, + -0.963280230358194 + ], + [ + 0.9542004457406732, + -0.19638255858495315, + 0.2256887237589154, + -0.16051279779726094, + -0.9726773502709254, + -0.167733163128903, + 0.25246217754664996, + 0.12382513054125563, + -0.9596510751074292 + ], + [ + 0.9608014781760478, + -0.19238713716117323, + 0.19961890939900834, + -0.1605830740302921, + -0.9731384376775297, + -0.16496865596081642, + 0.2259946810650713, + 0.12644671039400115, + -0.965886967279729 + ], + [ + 0.9700161283625304, + -0.2007988310086108, + 0.13692530877139567, + -0.1836715058062771, + -0.9746090640775508, + -0.12807009866762392, + 0.15916497312983593, + 0.09908078362354415, + -0.9822675346590269 + ], + [ + 0.9603753893135489, + -0.2454342262872278, + 0.13206495435064908, + -0.23976138711360004, + -0.9691265875792672, + -0.05751638459019577, + 0.14210414789938958, + 0.02357324359851118, + -0.9895709743803289 + ], + [ + 0.9466061814834295, + -0.27541156863869265, + 0.1675864106583068, + -0.27932534472934345, + -0.9601964903298432, + -0.00022748644817480873, + 0.1609785357406179, + -0.04659579185103889, + -0.985857364537376 + ], + [ + 0.9315532558653363, + -0.29411691645528454, + 0.21378440294260664, + -0.30259931900202014, + -0.9530896523484349, + 0.0073325797543116605, + 0.20159906653108606, + -0.0715217032877075, + -0.976853347403089 + ], + [ + 0.9243611986004445, + -0.2818379415248835, + 0.2571453854125455, + -0.2912946619258887, + -0.9566323884768972, + -0.0013759543849794081, + 0.24638140038451037, + -0.07363319926503069, + -0.9663717491268898 + ], + [ + 0.9177223333698639, + -0.27290651430224905, + 0.28863082525185824, + -0.28506411151478767, + -0.9585084474824763, + 9.182057263621562e-05, + 0.27663002577532514, + -0.08236255554637198, + -0.9574404620045122 + ], + [ + 0.8975278763672478, + -0.3039085178839852, + 0.31950481045088813, + -0.317530274956333, + -0.9481961421853157, + -0.009929774974306999, + 0.30597097187454575, + -0.09254020046684715, + -0.9475326251204766 + ], + [ + 0.8857894067022831, + -0.3261245946717202, + 0.3301815799287169, + -0.3376180157164114, + -0.9409852033053984, + -0.023683805099925237, + 0.3184198524554184, + -0.0904963861737278, + -0.9436202634809011 + ], + [ + 0.8677890025312707, + -0.3577121027770158, + 0.34494100743841316, + -0.3632517568391772, + -0.9303001957130717, + -0.05088916396907396, + 0.3391023565813618, + -0.08113937011750631, + -0.93724382866888 + ], + [ + 0.8601299415687655, + -0.3732537402546031, + 0.34764655758810714, + -0.37522999922862477, + -0.9246900777097292, + -0.0644259874899948, + 0.3455125631519035, + -0.07503269668034022, + -0.9354096231775028 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005563.json b/json/chunk-0005/episode_0005563.json new file mode 100644 index 0000000000000000000000000000000000000000..c41b0814de93899ac0cabdc65bd4b6e3c4c7174b --- /dev/null +++ b/json/chunk-0005/episode_0005563.json @@ -0,0 +1,2782 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 45, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the can to the right of the pot." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005563.mp4", + "start": 0, + "end": 45, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2532445192337036, + -0.03384609892964363, + 0.1665572077035904, + -0.08247675746679306, + -0.10372775793075562, + 0.13861578702926636, + 0.0, + 1.0008161067962646 + ], + [ + 0.2534792423248291, + -0.0337093323469162, + 0.16184331476688385, + -0.07961389422416687, + -0.08547935634851456, + 0.14014853537082672, + 0.0, + 1.0008161067962646 + ], + [ + 0.2556493580341339, + 0.008516424335539341, + 0.16166411340236664, + -0.05107437074184418, + -0.0936155915260315, + 0.28536203503608704, + 0.0, + 1.0001531839370728 + ], + [ + 0.2545025050640106, + 0.03967830538749695, + 0.15978366136550903, + -0.02867540717124939, + -0.10034959763288498, + 0.4071575105190277, + 0.0, + 1.0001531839370728 + ], + [ + 0.25152137875556946, + 0.09015332907438278, + 0.15298116207122803, + -0.0027855110820382833, + -0.08649389445781708, + 0.5870760083198547, + 0.0, + 1.0001531839370728 + ], + [ + 0.2459959089756012, + 0.1369234025478363, + 0.14448638260364532, + 0.058952149003744125, + -0.14804571866989136, + 0.7606532573699951, + 0.0, + 1.0001531839370728 + ], + [ + 0.24885031580924988, + 0.17508968710899353, + 0.13488544523715973, + 0.08621513843536377, + -0.22091838717460632, + 0.8334667086601257, + 0.0, + 1.0001531839370728 + ], + [ + 0.26445940136909485, + 0.19777004420757294, + 0.12679065763950348, + 0.11553914844989777, + -0.28142818808555603, + 0.8317242860794067, + 0.0, + 1.0001531839370728 + ], + [ + 0.27705350518226624, + 0.22545771300792694, + 0.1259891241788864, + 0.09535540640354156, + -0.32366305589675903, + 0.8245784044265747, + 0.0, + 1.0001531839370728 + ], + [ + 0.2836393415927887, + 0.24393032491207123, + 0.11839820444583893, + 0.12481790781021118, + -0.3507997691631317, + 0.7658757567405701, + 0.0, + 1.0001531839370728 + ], + [ + 0.2860109806060791, + 0.2570898234844208, + 0.10790842026472092, + 0.12512780725955963, + -0.3865681290626526, + 0.7731882929801941, + 0.0, + 1.0001531839370728 + ], + [ + 0.28617754578590393, + 0.2595832645893097, + 0.09465499967336655, + 0.10886762291193008, + -0.412993460893631, + 0.8392658829689026, + 0.0, + 1.0001531839370728 + ], + [ + 0.2820473313331604, + 0.2603335976600647, + 0.08569242805242538, + 0.11308785527944565, + -0.4096125364303589, + 0.8835960030555725, + 0.0, + 1.0001531839370728 + ], + [ + 0.27809402346611023, + 0.25865843892097473, + 0.07495413720607758, + 0.1053994745016098, + -0.3978884220123291, + 0.9317068457603455, + 0.0, + 1.0001531839370728 + ], + [ + 0.27103927731513977, + 0.25556766986846924, + 0.06970904767513275, + 0.09228251129388809, + -0.3744567632675171, + 1.016862392425537, + 0.0, + 1.0001531839370728 + ], + [ + 0.2614205479621887, + 0.25476524233818054, + 0.060179367661476135, + 0.05805027112364769, + -0.3148995339870453, + 1.2005196809768677, + 0.0, + 0.9994885921478271 + ], + [ + 0.2578376829624176, + 0.25436851382255554, + 0.05909299477934837, + 0.007966981269419193, + -0.2936846613883972, + 1.345165491104126, + 0.0, + 0.9994885921478271 + ], + [ + 0.25352588295936584, + 0.24684768915176392, + 0.05894506722688675, + 0.03810001164674759, + -0.2650688886642456, + 1.391275405883789, + 0.0, + 0.9994885921478271 + ], + [ + 0.2585974335670471, + 0.23073437809944153, + 0.06494958698749542, + 0.020553434267640114, + -0.23066049814224243, + 1.378464698791504, + 0.0, + 0.9994885921478271 + ], + [ + 0.25764000415802, + 0.21966397762298584, + 0.060351647436618805, + 0.021614937111735344, + -0.19841565191745758, + 1.34769606590271, + 0.0, + 0.9994885921478271 + ], + [ + 0.2602943181991577, + 0.20730480551719666, + 0.0638013556599617, + 0.019526729360222816, + -0.20077389478683472, + 1.3228085041046143, + 0.0, + 0.9994885921478271 + ], + [ + 0.25761574506759644, + 0.1925671547651291, + 0.05544205754995346, + 0.04841218888759613, + -0.17226547002792358, + 1.271083950996399, + 0.0, + 0.9994885921478271 + ], + [ + 0.25446221232414246, + 0.16670136153697968, + 0.05546312779188156, + 0.05606422573328018, + -0.1648779809474945, + 1.2212046384811401, + 0.0, + 0.9994885921478271 + ], + [ + 0.2526482045650482, + 0.15381987392902374, + 0.051089756190776825, + 0.05614186078310013, + -0.14049124717712402, + 1.2159457206726074, + 0.0, + 0.9994885921478271 + ], + [ + 0.25014254450798035, + 0.13266529142856598, + 0.05008190497756004, + 0.05119894817471504, + -0.13338328897953033, + 1.1713281869888306, + 0.0, + 0.9994885921478271 + ], + [ + 0.25101813673973083, + 0.11627788841724396, + 0.04974770545959473, + 0.05267585813999176, + -0.13918767869472504, + 1.1510964632034302, + 0.0, + 0.9994885921478271 + ], + [ + 0.2500534951686859, + 0.10247652977705002, + 0.05601394921541214, + 0.03762161731719971, + -0.15996474027633667, + 1.1620804071426392, + 0.0, + 0.9994885921478271 + ], + [ + 0.25047242641448975, + 0.08862537890672684, + 0.056186605244874954, + 0.010354826226830482, + -0.14382682740688324, + 1.1836912631988525, + 0.0, + 0.9994885921478271 + ], + [ + 0.2517366111278534, + 0.0703352838754654, + 0.057660818099975586, + 0.011610791087150574, + -0.16492564976215363, + 1.167458176612854, + 0.0, + 0.9994885921478271 + ], + [ + 0.2535794675350189, + 0.05850573629140854, + 0.057100579142570496, + 0.013705980964004993, + -0.18664883077144623, + 1.1761211156845093, + 0.0, + 0.9994885921478271 + ], + [ + 0.2529294192790985, + 0.04433882609009743, + 0.05837583169341087, + 0.023753760382533073, + -0.22509737312793732, + 1.2684506177902222, + 0.0, + 0.9994885921478271 + ], + [ + 0.24997907876968384, + 0.034981634467840195, + 0.05590969696640968, + 0.0006656921468675137, + -0.2426120489835739, + 1.4065077304840088, + 0.0, + 0.9994885921478271 + ], + [ + 0.24823462963104248, + 0.02261178009212017, + 0.05754772573709488, + -0.02800384908914566, + -0.2628578245639801, + 1.4958044290542603, + 0.0, + 0.9994885921478271 + ], + [ + 0.24624885618686676, + 0.016595924273133278, + 0.058299072086811066, + -0.08169165998697281, + -0.2505045235157013, + 1.6198118925094604, + 0.0, + 0.9994885921478271 + ], + [ + 0.24725370109081268, + 0.010592658072710037, + 0.05797552689909935, + -0.11304281651973724, + -0.23772388696670532, + 1.7031220197677612, + 0.0, + 0.9994885921478271 + ], + [ + 0.2515120506286621, + -0.0020375617314130068, + 0.05928898975253105, + -0.19134780764579773, + -0.19706740975379944, + 1.8054566383361816, + 0.0, + 0.9994885921478271 + ], + [ + 0.2551739513874054, + -0.012432562187314034, + 0.056167662143707275, + -0.2442474514245987, + -0.14948849380016327, + 1.8655792474746704, + 0.0, + 0.9994885921478271 + ], + [ + 0.26578813791275024, + -0.02252492681145668, + 0.04756392538547516, + -0.2595955729484558, + -0.12894649803638458, + 1.8567006587982178, + 0.0, + 0.9994885921478271 + ], + [ + 0.28663110733032227, + -0.03287922590970993, + 0.044604185968637466, + -0.2824925482273102, + -0.10978105664253235, + 1.836761236190796, + 0.0, + 0.9994885921478271 + ], + [ + 0.3038177788257599, + -0.03822547569870949, + 0.038661956787109375, + -0.27210113406181335, + -0.11076038330793381, + 1.8331753015518188, + 0.0, + 0.9994885921478271 + ], + [ + 0.3155806362628937, + -0.04339748993515968, + 0.042537882924079895, + -0.28496503829956055, + -0.13711297512054443, + 1.8186602592468262, + 0.0, + 0.9994885921478271 + ], + [ + 0.3106057941913605, + -0.03990526497364044, + 0.04951317608356476, + -0.29941853880882263, + -0.16053764522075653, + 1.8101152181625366, + 0.0, + 0.9994885921478271 + ], + [ + 0.30389800667762756, + -0.030463898554444313, + 0.06971044093370438, + -0.3027119040489197, + -0.22045741975307465, + 1.7839395999908447, + 0.0, + 0.9994885921478271 + ], + [ + 0.3014114499092102, + -0.018002670258283615, + 0.0975802019238472, + -0.3054092526435852, + -0.2201584428548813, + 1.7208943367004395, + 0.0, + 0.9994885921478271 + ], + [ + 0.29887762665748596, + 0.00015958813310135156, + 0.12358762323856354, + -0.3467813730239868, + -0.19395647943019867, + 1.6515382528305054, + 0.0, + 0.9994885921478271 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2532445192337036, + -0.03384609892964363, + 0.1665572077035904 + ], + [ + 0.2534792423248291, + -0.0337093323469162, + 0.16184331476688385 + ], + [ + 0.2556493580341339, + 0.008516424335539341, + 0.16166411340236664 + ], + [ + 0.2545025050640106, + 0.03967830538749695, + 0.15978366136550903 + ], + [ + 0.25152137875556946, + 0.09015332907438278, + 0.15298116207122803 + ], + [ + 0.2459959089756012, + 0.1369234025478363, + 0.14448638260364532 + ], + [ + 0.24885031580924988, + 0.17508968710899353, + 0.13488544523715973 + ], + [ + 0.26445940136909485, + 0.19777004420757294, + 0.12679065763950348 + ], + [ + 0.27705350518226624, + 0.22545771300792694, + 0.1259891241788864 + ], + [ + 0.2836393415927887, + 0.24393032491207123, + 0.11839820444583893 + ], + [ + 0.2860109806060791, + 0.2570898234844208, + 0.10790842026472092 + ], + [ + 0.28617754578590393, + 0.2595832645893097, + 0.09465499967336655 + ], + [ + 0.2820473313331604, + 0.2603335976600647, + 0.08569242805242538 + ], + [ + 0.27809402346611023, + 0.25865843892097473, + 0.07495413720607758 + ], + [ + 0.27103927731513977, + 0.25556766986846924, + 0.06970904767513275 + ], + [ + 0.2614205479621887, + 0.25476524233818054, + 0.060179367661476135 + ], + [ + 0.2578376829624176, + 0.25436851382255554, + 0.05909299477934837 + ], + [ + 0.25352588295936584, + 0.24684768915176392, + 0.05894506722688675 + ], + [ + 0.2585974335670471, + 0.23073437809944153, + 0.06494958698749542 + ], + [ + 0.25764000415802, + 0.21966397762298584, + 0.060351647436618805 + ], + [ + 0.2602943181991577, + 0.20730480551719666, + 0.0638013556599617 + ], + [ + 0.25761574506759644, + 0.1925671547651291, + 0.05544205754995346 + ], + [ + 0.25446221232414246, + 0.16670136153697968, + 0.05546312779188156 + ], + [ + 0.2526482045650482, + 0.15381987392902374, + 0.051089756190776825 + ], + [ + 0.25014254450798035, + 0.13266529142856598, + 0.05008190497756004 + ], + [ + 0.25101813673973083, + 0.11627788841724396, + 0.04974770545959473 + ], + [ + 0.2500534951686859, + 0.10247652977705002, + 0.05601394921541214 + ], + [ + 0.25047242641448975, + 0.08862537890672684, + 0.056186605244874954 + ], + [ + 0.2517366111278534, + 0.0703352838754654, + 0.057660818099975586 + ], + [ + 0.2535794675350189, + 0.05850573629140854, + 0.057100579142570496 + ], + [ + 0.2529294192790985, + 0.04433882609009743, + 0.05837583169341087 + ], + [ + 0.24997907876968384, + 0.034981634467840195, + 0.05590969696640968 + ], + [ + 0.24823462963104248, + 0.02261178009212017, + 0.05754772573709488 + ], + [ + 0.24624885618686676, + 0.016595924273133278, + 0.058299072086811066 + ], + [ + 0.24725370109081268, + 0.010592658072710037, + 0.05797552689909935 + ], + [ + 0.2515120506286621, + -0.0020375617314130068, + 0.05928898975253105 + ], + [ + 0.2551739513874054, + -0.012432562187314034, + 0.056167662143707275 + ], + [ + 0.26578813791275024, + -0.02252492681145668, + 0.04756392538547516 + ], + [ + 0.28663110733032227, + -0.03287922590970993, + 0.044604185968637466 + ], + [ + 0.3038177788257599, + -0.03822547569870949, + 0.038661956787109375 + ], + [ + 0.3155806362628937, + -0.04339748993515968, + 0.042537882924079895 + ], + [ + 0.3106057941913605, + -0.03990526497364044, + 0.04951317608356476 + ], + [ + 0.30389800667762756, + -0.030463898554444313, + 0.06971044093370438 + ], + [ + 0.3014114499092102, + -0.018002670258283615, + 0.0975802019238472 + ], + [ + 0.29887762665748596, + 0.00015958813310135156, + 0.12358762323856354 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9850848578092088, + 0.1292543269184993, + 0.11358319368575824, + 0.13742964893125875, + -0.9882201559653251, + -0.067335094404772, + 0.10354184907389731, + 0.08194048033001941, + -0.9912440885945519 + ], + [ + 0.9865799204330217, + 0.1325244159112716, + 0.09537997581122051, + 0.13918016727383056, + -0.9880072822967834, + -0.06686173170172015, + 0.08537529874619029, + 0.0792394429302767, + -0.993192916330004 + ], + [ + 0.9553581378546719, + 0.2765584698909329, + 0.10395307194325425, + 0.28027222734126345, + -0.9596519492524542, + -0.022707154756420267, + 0.09347891214611236, + 0.050828624096574, + -0.9943229575728544 + ], + [ + 0.9136306288706426, + 0.3932004834004165, + 0.10330756914724504, + 0.3940086151414384, + -0.9190101069074308, + 0.013327962947074497, + 0.100181261639889, + 0.028527237084434113, + -0.9945601598498548 + ], + [ + 0.8294515746847477, + 0.55372649628755, + 0.07346463477147355, + 0.55185825078722, + -0.8326939810996323, + 0.045532459614156, + 0.08638608852738977, + 0.002775094513475993, + -0.9962578695093851 + ], + [ + 0.7164619260084772, + 0.6944926455164667, + 0.06604751247217966, + 0.6818536739387738, + -0.7171360836156273, + 0.14419224983554568, + 0.14750551147811264, + -0.05827351799899791, + -0.9873430615462899 + ], + [ + 0.6559740248998196, + 0.7502026052314454, + 0.08303089642225271, + 0.7222755499432232, + -0.6558486275251828, + 0.21950081486761808, + 0.21912578262483234, + -0.0840156466218402, + -0.9720726631850978 + ], + [ + 0.6471026814801119, + 0.7557330426516442, + 0.10062647696176676, + 0.7100178266758037, + -0.6454476461656529, + 0.28155287578319366, + 0.277727934179868, + -0.11074702841930502, + -0.9542548350794333 + ], + [ + 0.6436176464441543, + 0.7514827638965054, + 0.14501717399038178, + 0.6961364097342604, + -0.6535483677481374, + 0.2971003703397877, + 0.31804154481448066, + -0.09026730626430784, + -0.9437697755235671 + ], + [ + 0.6768790370942744, + 0.7186122883662324, + 0.1594714650066732, + 0.6509532612616881, + -0.6855128952417244, + 0.32608575882746055, + 0.34364897903980474, + -0.11691214422101422, + -0.9317923211416503 + ], + [ + 0.6628757898861616, + 0.7266344634005535, + 0.1805492835249894, + 0.6468830099152949, + -0.6772302357963398, + 0.35057321518644635, + 0.37701201395409895, + -0.11559223296495182, + -0.9189670162810255 + ], + [ + 0.611845413180149, + 0.768877968008371, + 0.18566599225957042, + 0.6815871458625415, + -0.6316034561961164, + 0.3694807663682571, + 0.40135290327262735, + -0.099517558412767, + -0.9105010173537392 + ], + [ + 0.5818968692650182, + 0.7965972404039163, + 0.16379520786773824, + 0.7090767427490663, + -0.5955822024376516, + 0.37748114261760246, + 0.39825394716429974, + -0.10351172262300265, + -0.9114159954969376 + ], + [ + 0.5498697668079232, + 0.8224992248149665, + 0.14539004343275802, + 0.7399379951103553, + -0.560436207108059, + 0.3720255651892763, + 0.3874725834722605, + -0.09698599353057077, + -0.916765353902633 + ], + [ + 0.4895859873430079, + 0.8645735961162351, + 0.11321686224239391, + 0.7915302082980151, + -0.4951329892150161, + 0.35822235042317446, + 0.36576698914619526, + -0.0857660765666931, + -0.9267462920137761 + ], + [ + 0.34407912569796373, + 0.937159592581854, + 0.057805305039745125, + 0.886387325204803, + -0.34451232626916495, + 0.3092390123591832, + 0.3097209469428884, + -0.055164799287422184, + -0.9492258845735184 + ], + [ + 0.2141423443690849, + 0.9751381985524118, + 0.05699605312711899, + 0.9329221621158422, + -0.2214663431290262, + 0.28391706235124103, + 0.28948108017833274, + -0.007625784222857174, + -0.9571533584717612 + ], + [ + 0.1723219712026698, + 0.9849971025399762, + 0.009265323992084462, + 0.9495650814384085, + -0.16861013342391884, + 0.2643799898245654, + 0.26197575146126645, + -0.03676045286201396, + -0.9643740844463236 + ], + [ + 0.1860856074917142, + 0.9822520272389588, + 0.023518113644504096, + 0.9555651614216325, + -0.18649570428636375, + 0.22828616813110414, + 0.2286205786050093, + -0.020007680217589252, + -0.9733099833920444 + ], + [ + 0.21691312472070018, + 0.9759310017585408, + 0.022525011220275448, + 0.9560825563147528, + -0.21704768468049035, + 0.19696813977262057, + 0.19711631549557265, + -0.021189204360003294, + -0.9801510984455613 + ], + [ + 0.24052329083770874, + 0.9701792506051831, + 0.0300128015980657, + 0.9499353258122037, + -0.2416322404793375, + 0.19808265228181482, + 0.19942773964186056, + -0.019133270920088097, + -0.9797257241724528 + ], + [ + 0.2908754774775456, + 0.9567511927422774, + 0.004314138203558374, + 0.9412802177867259, + -0.2869739674053111, + 0.17786931617069113, + 0.17141472575477196, + -0.04767700932194684, + -0.9840446608648061 + ], + [ + 0.3378691776989826, + 0.9411866351999384, + 0.003483745402834207, + 0.9267713395777936, + -0.3333352652074738, + 0.1731545122318373, + 0.16413196793493856, + -0.05527493726890664, + -0.9848885106506844 + ], + [ + 0.3440269685448461, + 0.9389510768110751, + -0.004039835289448165, + 0.9284595700585512, + -0.33953499895301625, + 0.15059485798879596, + 0.14002953860001777, + -0.05555951620827546, + -0.9885873094867081 + ], + [ + 0.3854738054270249, + 0.9227077682598969, + 0.004507740281871037, + 0.9130849365508084, + -0.382148729866565, + 0.14226119254869793, + 0.13298813470988588, + -0.05072201350707359, + -0.9898188891772948 + ], + [ + 0.40354559215895824, + 0.9149212179481159, + 0.008373768411669369, + 0.9043796379393405, + -0.4002503522606653, + 0.14797677519097674, + 0.13873869514228285, + -0.052142309725882324, + -0.9889553852457993 + ], + [ + 0.39235729727010993, + 0.9193636330015272, + 0.028744766360642465, + 0.9059164148363644, + -0.39165250538797725, + 0.16100858471941415, + 0.15928339715401243, + -0.0371325374510527, + -0.9865343248227725 + ], + [ + 0.373611391238815, + 0.9265164389351791, + 0.04451760010907701, + 0.9164445527338839, + -0.3761147065431037, + 0.13662763002550504, + 0.14333146933241284, + -0.01024772681474205, + -0.9896216822574886 + ], + [ + 0.38716492827075544, + 0.9204421000263392, + 0.053755546841265156, + 0.9072753592640754, + -0.39071110773211515, + 0.15555144733169973, + 0.16417899009722253, + -0.011452981875744048, + -0.9863640749828686 + ], + [ + 0.3778301008728545, + 0.924012711824177, + 0.058693468646342686, + 0.9070883702504322, + -0.38212450143872634, + 0.17655467696048063, + 0.18556697828768848, + -0.013467508586796795, + -0.9825393237838582 + ], + [ + 0.29024854782192394, + 0.9559498839921157, + 0.04376756541920876, + 0.9305573433011296, + -0.29261542818834757, + 0.22008916832614334, + 0.22320127982520124, + -0.023152332098740777, + -0.9744973874786846 + ], + [ + 0.15876076903775932, + 0.9865608927045535, + 0.03863448201456224, + 0.9576430668518199, + -0.16339273979003816, + 0.23711298803428232, + 0.240238995013674, + -0.0006461964865068226, + -0.9707135559499108 + ], + [ + 0.07234817039491187, + 0.9962533448488758, + 0.04738159049605245, + 0.9629373063433181, + -0.08214740844529739, + 0.25691155547774824, + 0.2598412713423013, + 0.02703842013040493, + -0.9652727270279982 + ], + [ + -0.0474666542848472, + 0.9964591769402534, + 0.06939758945781418, + 0.9676239418677303, + 0.028628583699257693, + 0.25076744469673484, + 0.24789276684759923, + 0.07905386067060302, + -0.9655566597863197 + ], + [ + -0.12822924738957475, + 0.9884358230159446, + 0.08094370817238168, + 0.9633800829553635, + 0.10476605476539014, + 0.24682562576404476, + 0.23549113758020762, + 0.10962982052200808, + -0.9656734575276946 + ], + [ + -0.22801233340668403, + 0.9635003636630857, + 0.14027624544284228, + 0.9537688134553581, + 0.19205290060803681, + 0.23117251966442148, + 0.1957943469418792, + 0.1865012938001796, + -0.9627470286199079 + ], + [ + -0.28729194881314885, + 0.938928807289, + 0.18940969085556109, + 0.9461936858532675, + 0.2474468161032381, + 0.20853676426898615, + 0.14893235040967928, + 0.23912918693297652, + -0.9594979869484992 + ], + [ + -0.27968379137350363, + 0.9365699559135877, + 0.2112195410537633, + 0.9514419204621339, + 0.24090790410794816, + 0.1916289480366717, + 0.128589458472568, + 0.25455863650313565, + -0.9584699534943156 + ], + [ + -0.26125810260186383, + 0.9346237610483914, + 0.24129365741484624, + 0.9590311056656178, + 0.2229560741496463, + 0.17478537514780781, + 0.10956067812247441, + 0.27707221853433206, + -0.9545823398354942 + ], + [ + -0.25778945350100274, + 0.9379484404814146, + 0.23194249430006678, + 0.9598577081959828, + 0.22114587537306768, + 0.17253313253469543, + 0.11053405665408975, + 0.26710901295905715, + -0.957306114842911 + ], + [ + -0.24303121152678442, + 0.939769623101388, + 0.24035158772036058, + 0.9603402419392845, + 0.19818903755711526, + 0.19613190740973446, + 0.13668375885897965, + 0.2784854769787091, + -0.9506647091252104 + ], + [ + -0.23399298937382562, + 0.9394522788892271, + 0.25035314380638124, + 0.9590076070613632, + 0.18068858549691635, + 0.21830264466918747, + 0.15984896159293227, + 0.2911718577764022, + -0.9432217441920536 + ], + [ + -0.20641345910969594, + 0.9467210367377722, + 0.24720995630541942, + 0.9537160442746336, + 0.1382007076859228, + 0.26706978729960257, + 0.21867599500520107, + 0.2908949002531113, + -0.9314295283139877 + ], + [ + -0.14592569291676977, + 0.9528198615403609, + 0.2661578546670522, + 0.9648906746258921, + 0.07768891610908496, + 0.2508992194762392, + 0.2183842443189323, + 0.29342587440101914, + -0.9307038079137993 + ], + [ + -0.07914190466839027, + 0.9426910746784867, + 0.32414517834911494, + 0.9780525629188024, + 0.010558468558359901, + 0.20809061225741204, + 0.19274268622550092, + 0.3334997098397872, + -0.9228370389420638 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + 0.00023472309112548828, + 0.00013676658272743225, + -0.004713892936706543, + 0.00286286324262619, + 0.01824840158224106, + 0.0015327483415603638, + 1.0 + ], + [ + 0.0021701157093048096, + 0.042225755751132965, + -0.00017920136451721191, + 0.028539523482322693, + -0.008136235177516937, + 0.14521349966526031, + 1.0 + ], + [ + -0.001146852970123291, + 0.031161881983280182, + -0.001880452036857605, + 0.022398963570594788, + -0.006734006106853485, + 0.12179547548294067, + 1.0 + ], + [ + -0.002981126308441162, + 0.050475023686885834, + -0.006802499294281006, + 0.025889895856380463, + 0.013855703175067902, + 0.17991849780082703, + 1.0 + ], + [ + -0.005525469779968262, + 0.04677007347345352, + -0.008494779467582703, + 0.06173766031861305, + -0.06155182421207428, + 0.17357724905014038, + 1.0 + ], + [ + 0.0028544068336486816, + 0.03816628456115723, + -0.009600937366485596, + 0.027262989431619644, + -0.07287266850471497, + 0.07281345129013062, + 1.0 + ], + [ + 0.01560908555984497, + 0.022680357098579407, + -0.00809478759765625, + 0.029324010014533997, + -0.06050980091094971, + -0.0017424225807189941, + 1.0 + ], + [ + 0.012594103813171387, + 0.027687668800354004, + -0.0008015334606170654, + -0.0201837420463562, + -0.042234867811203, + -0.007145881652832031, + 1.0 + ], + [ + 0.006585836410522461, + 0.018472611904144287, + -0.007590919733047485, + 0.029462501406669617, + -0.02713671326637268, + -0.05870264768600464, + 1.0 + ], + [ + 0.0023716390132904053, + 0.013159498572349548, + -0.010489784181118011, + 0.0003098994493484497, + -0.035768359899520874, + 0.0073125362396240234, + 1.0 + ], + [ + 0.0001665651798248291, + 0.002493441104888916, + -0.01325342059135437, + -0.016260184347629547, + -0.026425331830978394, + 0.0660775899887085, + 1.0 + ], + [ + -0.00413021445274353, + 0.0007503330707550049, + -0.008962571620941162, + 0.004220232367515564, + 0.0033809244632720947, + 0.04433012008666992, + 1.0 + ], + [ + -0.003953307867050171, + -0.0016751587390899658, + -0.010738290846347809, + -0.007688380777835846, + 0.011724114418029785, + 0.04811084270477295, + 1.0 + ], + [ + -0.007054746150970459, + -0.003090769052505493, + -0.005245089530944824, + -0.01311696320772171, + 0.02343165874481201, + 0.08515554666519165, + 1.0 + ], + [ + -0.00961872935295105, + -0.0008024275302886963, + -0.009529680013656616, + -0.0342322401702404, + 0.0595572292804718, + 0.18365728855133057, + 1.0 + ], + [ + -0.003582864999771118, + -0.000396728515625, + -0.0010863728821277618, + -0.05008329078555107, + 0.02121487259864807, + 0.1446458101272583, + 1.0 + ], + [ + -0.004311800003051758, + -0.007520824670791626, + -0.00014792755246162415, + 0.03013303130865097, + 0.02861577272415161, + 0.046109914779663086, + 1.0 + ], + [ + 0.005071550607681274, + -0.016113311052322388, + 0.006004519760608673, + -0.017546577379107475, + 0.034408390522003174, + -0.012810707092285156, + 1.0 + ], + [ + -0.0009574294090270996, + -0.011070400476455688, + -0.004597939550876617, + 0.00106150284409523, + 0.03224484622478485, + -0.030768632888793945, + 1.0 + ], + [ + 0.0026543140411376953, + -0.012359172105789185, + 0.0034497082233428955, + -0.0020882077515125275, + -0.0023582428693771362, + -0.024887561798095703, + 1.0 + ], + [ + -0.0026785731315612793, + -0.014737650752067566, + -0.00835929811000824, + 0.028885459527373314, + 0.028508424758911133, + -0.05172455310821533, + 1.0 + ], + [ + -0.0031535327434539795, + -0.025865793228149414, + 2.1070241928100586e-05, + 0.0076520368456840515, + 0.007387489080429077, + -0.04987931251525879, + 1.0 + ], + [ + -0.0018140077590942383, + -0.012881487607955933, + -0.004373371601104736, + 7.763504981994629e-05, + 0.024386733770370483, + -0.005258917808532715, + 1.0 + ], + [ + -0.002505660057067871, + -0.021154582500457764, + -0.0010078512132167816, + -0.004942912608385086, + 0.007107958197593689, + -0.044617533683776855, + 1.0 + ], + [ + 0.0008755922317504883, + -0.01638740301132202, + -0.00033419951796531677, + 0.0014769099652767181, + -0.005804389715194702, + -0.02023172378540039, + 1.0 + ], + [ + -0.0009646415710449219, + -0.01380135864019394, + 0.006266243755817413, + -0.015054240822792053, + -0.020777061581611633, + 0.010983943939208984, + 1.0 + ], + [ + 0.000418931245803833, + -0.013851150870323181, + 0.00017265602946281433, + -0.027266791090369225, + 0.01613791286945343, + 0.02161085605621338, + 1.0 + ], + [ + 0.0012641847133636475, + -0.018290095031261444, + 0.0014742128551006317, + 0.0012559648603200912, + -0.021098822355270386, + -0.016233086585998535, + 1.0 + ], + [ + 0.0018428564071655273, + -0.011829547584056854, + -0.0005602389574050903, + 0.0020951898768544197, + -0.021723181009292603, + 0.008662939071655273, + 1.0 + ], + [ + -0.0006500482559204102, + -0.014166910201311111, + 0.0012752525508403778, + 0.01004777941852808, + -0.03844854235649109, + 0.09232950210571289, + 1.0 + ], + [ + -0.002950340509414673, + -0.009357191622257233, + -0.00246613472700119, + -0.023088067770004272, + -0.017514675855636597, + 0.13805711269378662, + 1.0 + ], + [ + -0.0017444491386413574, + -0.012369854375720024, + 0.001638028770685196, + -0.02866954170167446, + -0.02024577558040619, + 0.08929669857025146, + 1.0 + ], + [ + -0.00198577344417572, + -0.006015855818986893, + 0.0007513463497161865, + -0.05368781089782715, + 0.012353301048278809, + 0.1240074634552002, + 1.0 + ], + [ + 0.0010048449039459229, + -0.006003266200423241, + -0.0003235451877117157, + -0.031351156532764435, + 0.012780636548995972, + 0.08331012725830078, + 1.0 + ], + [ + 0.004258349537849426, + -0.0126302195712924, + 0.0013134628534317017, + -0.07830499112606049, + 0.040656477212905884, + 0.10233461856842041, + 1.0 + ], + [ + 0.003661900758743286, + -0.01039500068873167, + -0.0031213276088237762, + -0.052899643778800964, + 0.04757891595363617, + 0.06012260913848877, + 1.0 + ], + [ + 0.010614186525344849, + -0.010092364624142647, + -0.008603736758232117, + -0.015348121523857117, + 0.020541995763778687, + -0.008878588676452637, + 1.0 + ], + [ + 0.02084296941757202, + -0.01035429909825325, + -0.0029597394168376923, + -0.02289697527885437, + 0.019165441393852234, + -0.019939422607421875, + 1.0 + ], + [ + 0.017186671495437622, + -0.0053462497889995575, + -0.005942229181528091, + 0.010391414165496826, + -0.0009793266654014587, + -0.0035859346389770508, + 1.0 + ], + [ + 0.011762857437133789, + -0.005172014236450195, + 0.00387592613697052, + -0.012863904237747192, + -0.026352591812610626, + -0.014515042304992676, + 1.0 + ], + [ + -0.004974842071533203, + 0.0034922249615192413, + 0.006975293159484863, + -0.014453500509262085, + -0.023424670100212097, + -0.00854504108428955, + 1.0 + ], + [ + -0.00670778751373291, + 0.009441366419196129, + 0.020197264850139618, + -0.003293365240097046, + -0.059919774532318115, + -0.026175618171691895, + 1.0 + ], + [ + -0.0024865567684173584, + 0.012461228296160698, + 0.027869760990142822, + -0.0026973485946655273, + 0.0002989768981933594, + -0.06304526329040527, + 1.0 + ], + [ + -0.002533823251724243, + 0.018162257969379425, + 0.02600742131471634, + -0.04137212038040161, + 0.026201963424682617, + -0.06935608386993408, + 1.0 + ], + [ + -0.008082002401351929, + 0.02231656201183796, + 0.006775319576263428, + 0.11364296078681946, + -0.006877616047859192, + -0.1673133373260498, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2534792423248291, + -0.0337093323469162, + 0.16184331476688385 + ], + [ + 0.2556493580341339, + 0.008516424335539341, + 0.16166411340236664 + ], + [ + 0.2545025050640106, + 0.03967830538749695, + 0.15978366136550903 + ], + [ + 0.25152137875556946, + 0.09015332907438278, + 0.15298116207122803 + ], + [ + 0.2459959089756012, + 0.1369234025478363, + 0.14448638260364532 + ], + [ + 0.24885031580924988, + 0.17508968710899353, + 0.13488544523715973 + ], + [ + 0.26445940136909485, + 0.19777004420757294, + 0.12679065763950348 + ], + [ + 0.27705350518226624, + 0.22545771300792694, + 0.1259891241788864 + ], + [ + 0.2836393415927887, + 0.24393032491207123, + 0.11839820444583893 + ], + [ + 0.2860109806060791, + 0.2570898234844208, + 0.10790842026472092 + ], + [ + 0.28617754578590393, + 0.2595832645893097, + 0.09465499967336655 + ], + [ + 0.2820473313331604, + 0.2603335976600647, + 0.08569242805242538 + ], + [ + 0.27809402346611023, + 0.25865843892097473, + 0.07495413720607758 + ], + [ + 0.27103927731513977, + 0.25556766986846924, + 0.06970904767513275 + ], + [ + 0.2614205479621887, + 0.25476524233818054, + 0.060179367661476135 + ], + [ + 0.2578376829624176, + 0.25436851382255554, + 0.05909299477934837 + ], + [ + 0.25352588295936584, + 0.24684768915176392, + 0.05894506722688675 + ], + [ + 0.2585974335670471, + 0.23073437809944153, + 0.06494958698749542 + ], + [ + 0.25764000415802, + 0.21966397762298584, + 0.060351647436618805 + ], + [ + 0.2602943181991577, + 0.20730480551719666, + 0.0638013556599617 + ], + [ + 0.25761574506759644, + 0.1925671547651291, + 0.05544205754995346 + ], + [ + 0.25446221232414246, + 0.16670136153697968, + 0.05546312779188156 + ], + [ + 0.2526482045650482, + 0.15381987392902374, + 0.051089756190776825 + ], + [ + 0.25014254450798035, + 0.13266529142856598, + 0.05008190497756004 + ], + [ + 0.25101813673973083, + 0.11627788841724396, + 0.04974770545959473 + ], + [ + 0.2500534951686859, + 0.10247652977705002, + 0.05601394921541214 + ], + [ + 0.25047242641448975, + 0.08862537890672684, + 0.056186605244874954 + ], + [ + 0.2517366111278534, + 0.0703352838754654, + 0.057660818099975586 + ], + [ + 0.2535794675350189, + 0.05850573629140854, + 0.057100579142570496 + ], + [ + 0.2529294192790985, + 0.04433882609009743, + 0.05837583169341087 + ], + [ + 0.24997907876968384, + 0.034981634467840195, + 0.05590969696640968 + ], + [ + 0.24823462963104248, + 0.02261178009212017, + 0.05754772573709488 + ], + [ + 0.24624885618686676, + 0.016595924273133278, + 0.058299072086811066 + ], + [ + 0.24725370109081268, + 0.010592658072710037, + 0.05797552689909935 + ], + [ + 0.2515120506286621, + -0.0020375617314130068, + 0.05928898975253105 + ], + [ + 0.2551739513874054, + -0.012432562187314034, + 0.056167662143707275 + ], + [ + 0.26578813791275024, + -0.02252492681145668, + 0.04756392538547516 + ], + [ + 0.28663110733032227, + -0.03287922590970993, + 0.044604185968637466 + ], + [ + 0.3038177788257599, + -0.03822547569870949, + 0.038661956787109375 + ], + [ + 0.3155806362628937, + -0.04339748993515968, + 0.042537882924079895 + ], + [ + 0.3106057941913605, + -0.03990526497364044, + 0.04951317608356476 + ], + [ + 0.30389800667762756, + -0.030463898554444313, + 0.06971044093370438 + ], + [ + 0.3014114499092102, + -0.018002670258283615, + 0.0975802019238472 + ], + [ + 0.29887762665748596, + 0.00015958813310135156, + 0.12358762323856354 + ], + [ + 0.29079562425613403, + 0.02247614972293377, + 0.13036294281482697 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9865799204330217, + 0.1325244159112716, + 0.09537997581122051, + 0.13918016727383056, + -0.9880072822967834, + -0.06686173170172015, + 0.08537529874619029, + 0.0792394429302767, + -0.993192916330004 + ], + [ + 0.9553581378546719, + 0.2765584698909329, + 0.10395307194325425, + 0.28027222734126345, + -0.9596519492524542, + -0.022707154756420267, + 0.09347891214611236, + 0.050828624096574, + -0.9943229575728544 + ], + [ + 0.9136306288706426, + 0.3932004834004165, + 0.10330756914724504, + 0.3940086151414384, + -0.9190101069074308, + 0.013327962947074497, + 0.100181261639889, + 0.028527237084434113, + -0.9945601598498548 + ], + [ + 0.8294515746847477, + 0.55372649628755, + 0.07346463477147355, + 0.55185825078722, + -0.8326939810996323, + 0.045532459614156, + 0.08638608852738977, + 0.002775094513475993, + -0.9962578695093851 + ], + [ + 0.7164619260084772, + 0.6944926455164667, + 0.06604751247217966, + 0.6818536739387738, + -0.7171360836156273, + 0.14419224983554568, + 0.14750551147811264, + -0.05827351799899791, + -0.9873430615462899 + ], + [ + 0.6559740248998196, + 0.7502026052314454, + 0.08303089642225271, + 0.7222755499432232, + -0.6558486275251828, + 0.21950081486761808, + 0.21912578262483234, + -0.0840156466218402, + -0.9720726631850978 + ], + [ + 0.6471026814801119, + 0.7557330426516442, + 0.10062647696176676, + 0.7100178266758037, + -0.6454476461656529, + 0.28155287578319366, + 0.277727934179868, + -0.11074702841930502, + -0.9542548350794333 + ], + [ + 0.6436176464441543, + 0.7514827638965054, + 0.14501717399038178, + 0.6961364097342604, + -0.6535483677481374, + 0.2971003703397877, + 0.31804154481448066, + -0.09026730626430784, + -0.9437697755235671 + ], + [ + 0.6768790370942744, + 0.7186122883662324, + 0.1594714650066732, + 0.6509532612616881, + -0.6855128952417244, + 0.32608575882746055, + 0.34364897903980474, + -0.11691214422101422, + -0.9317923211416503 + ], + [ + 0.6628757898861616, + 0.7266344634005535, + 0.1805492835249894, + 0.6468830099152949, + -0.6772302357963398, + 0.35057321518644635, + 0.37701201395409895, + -0.11559223296495182, + -0.9189670162810255 + ], + [ + 0.611845413180149, + 0.768877968008371, + 0.18566599225957042, + 0.6815871458625415, + -0.6316034561961164, + 0.3694807663682571, + 0.40135290327262735, + -0.099517558412767, + -0.9105010173537392 + ], + [ + 0.5818968692650182, + 0.7965972404039163, + 0.16379520786773824, + 0.7090767427490663, + -0.5955822024376516, + 0.37748114261760246, + 0.39825394716429974, + -0.10351172262300265, + -0.9114159954969376 + ], + [ + 0.5498697668079232, + 0.8224992248149665, + 0.14539004343275802, + 0.7399379951103553, + -0.560436207108059, + 0.3720255651892763, + 0.3874725834722605, + -0.09698599353057077, + -0.916765353902633 + ], + [ + 0.4895859873430079, + 0.8645735961162351, + 0.11321686224239391, + 0.7915302082980151, + -0.4951329892150161, + 0.35822235042317446, + 0.36576698914619526, + -0.0857660765666931, + -0.9267462920137761 + ], + [ + 0.34407912569796373, + 0.937159592581854, + 0.057805305039745125, + 0.886387325204803, + -0.34451232626916495, + 0.3092390123591832, + 0.3097209469428884, + -0.055164799287422184, + -0.9492258845735184 + ], + [ + 0.2141423443690849, + 0.9751381985524118, + 0.05699605312711899, + 0.9329221621158422, + -0.2214663431290262, + 0.28391706235124103, + 0.28948108017833274, + -0.007625784222857174, + -0.9571533584717612 + ], + [ + 0.1723219712026698, + 0.9849971025399762, + 0.009265323992084462, + 0.9495650814384085, + -0.16861013342391884, + 0.2643799898245654, + 0.26197575146126645, + -0.03676045286201396, + -0.9643740844463236 + ], + [ + 0.1860856074917142, + 0.9822520272389588, + 0.023518113644504096, + 0.9555651614216325, + -0.18649570428636375, + 0.22828616813110414, + 0.2286205786050093, + -0.020007680217589252, + -0.9733099833920444 + ], + [ + 0.21691312472070018, + 0.9759310017585408, + 0.022525011220275448, + 0.9560825563147528, + -0.21704768468049035, + 0.19696813977262057, + 0.19711631549557265, + -0.021189204360003294, + -0.9801510984455613 + ], + [ + 0.24052329083770874, + 0.9701792506051831, + 0.0300128015980657, + 0.9499353258122037, + -0.2416322404793375, + 0.19808265228181482, + 0.19942773964186056, + -0.019133270920088097, + -0.9797257241724528 + ], + [ + 0.2908754774775456, + 0.9567511927422774, + 0.004314138203558374, + 0.9412802177867259, + -0.2869739674053111, + 0.17786931617069113, + 0.17141472575477196, + -0.04767700932194684, + -0.9840446608648061 + ], + [ + 0.3378691776989826, + 0.9411866351999384, + 0.003483745402834207, + 0.9267713395777936, + -0.3333352652074738, + 0.1731545122318373, + 0.16413196793493856, + -0.05527493726890664, + -0.9848885106506844 + ], + [ + 0.3440269685448461, + 0.9389510768110751, + -0.004039835289448165, + 0.9284595700585512, + -0.33953499895301625, + 0.15059485798879596, + 0.14002953860001777, + -0.05555951620827546, + -0.9885873094867081 + ], + [ + 0.3854738054270249, + 0.9227077682598969, + 0.004507740281871037, + 0.9130849365508084, + -0.382148729866565, + 0.14226119254869793, + 0.13298813470988588, + -0.05072201350707359, + -0.9898188891772948 + ], + [ + 0.40354559215895824, + 0.9149212179481159, + 0.008373768411669369, + 0.9043796379393405, + -0.4002503522606653, + 0.14797677519097674, + 0.13873869514228285, + -0.052142309725882324, + -0.9889553852457993 + ], + [ + 0.39235729727010993, + 0.9193636330015272, + 0.028744766360642465, + 0.9059164148363644, + -0.39165250538797725, + 0.16100858471941415, + 0.15928339715401243, + -0.0371325374510527, + -0.9865343248227725 + ], + [ + 0.373611391238815, + 0.9265164389351791, + 0.04451760010907701, + 0.9164445527338839, + -0.3761147065431037, + 0.13662763002550504, + 0.14333146933241284, + -0.01024772681474205, + -0.9896216822574886 + ], + [ + 0.38716492827075544, + 0.9204421000263392, + 0.053755546841265156, + 0.9072753592640754, + -0.39071110773211515, + 0.15555144733169973, + 0.16417899009722253, + -0.011452981875744048, + -0.9863640749828686 + ], + [ + 0.3778301008728545, + 0.924012711824177, + 0.058693468646342686, + 0.9070883702504322, + -0.38212450143872634, + 0.17655467696048063, + 0.18556697828768848, + -0.013467508586796795, + -0.9825393237838582 + ], + [ + 0.29024854782192394, + 0.9559498839921157, + 0.04376756541920876, + 0.9305573433011296, + -0.29261542818834757, + 0.22008916832614334, + 0.22320127982520124, + -0.023152332098740777, + -0.9744973874786846 + ], + [ + 0.15876076903775932, + 0.9865608927045535, + 0.03863448201456224, + 0.9576430668518199, + -0.16339273979003816, + 0.23711298803428232, + 0.240238995013674, + -0.0006461964865068226, + -0.9707135559499108 + ], + [ + 0.07234817039491187, + 0.9962533448488758, + 0.04738159049605245, + 0.9629373063433181, + -0.08214740844529739, + 0.25691155547774824, + 0.2598412713423013, + 0.02703842013040493, + -0.9652727270279982 + ], + [ + -0.0474666542848472, + 0.9964591769402534, + 0.06939758945781418, + 0.9676239418677303, + 0.028628583699257693, + 0.25076744469673484, + 0.24789276684759923, + 0.07905386067060302, + -0.9655566597863197 + ], + [ + -0.12822924738957475, + 0.9884358230159446, + 0.08094370817238168, + 0.9633800829553635, + 0.10476605476539014, + 0.24682562576404476, + 0.23549113758020762, + 0.10962982052200808, + -0.9656734575276946 + ], + [ + -0.22801233340668403, + 0.9635003636630857, + 0.14027624544284228, + 0.9537688134553581, + 0.19205290060803681, + 0.23117251966442148, + 0.1957943469418792, + 0.1865012938001796, + -0.9627470286199079 + ], + [ + -0.28729194881314885, + 0.938928807289, + 0.18940969085556109, + 0.9461936858532675, + 0.2474468161032381, + 0.20853676426898615, + 0.14893235040967928, + 0.23912918693297652, + -0.9594979869484992 + ], + [ + -0.27968379137350363, + 0.9365699559135877, + 0.2112195410537633, + 0.9514419204621339, + 0.24090790410794816, + 0.1916289480366717, + 0.128589458472568, + 0.25455863650313565, + -0.9584699534943156 + ], + [ + -0.26125810260186383, + 0.9346237610483914, + 0.24129365741484624, + 0.9590311056656178, + 0.2229560741496463, + 0.17478537514780781, + 0.10956067812247441, + 0.27707221853433206, + -0.9545823398354942 + ], + [ + -0.25778945350100274, + 0.9379484404814146, + 0.23194249430006678, + 0.9598577081959828, + 0.22114587537306768, + 0.17253313253469543, + 0.11053405665408975, + 0.26710901295905715, + -0.957306114842911 + ], + [ + -0.24303121152678442, + 0.939769623101388, + 0.24035158772036058, + 0.9603402419392845, + 0.19818903755711526, + 0.19613190740973446, + 0.13668375885897965, + 0.2784854769787091, + -0.9506647091252104 + ], + [ + -0.23399298937382562, + 0.9394522788892271, + 0.25035314380638124, + 0.9590076070613632, + 0.18068858549691635, + 0.21830264466918747, + 0.15984896159293227, + 0.2911718577764022, + -0.9432217441920536 + ], + [ + -0.20641345910969594, + 0.9467210367377722, + 0.24720995630541942, + 0.9537160442746336, + 0.1382007076859228, + 0.26706978729960257, + 0.21867599500520107, + 0.2908949002531113, + -0.9314295283139877 + ], + [ + -0.14592569291676977, + 0.9528198615403609, + 0.2661578546670522, + 0.9648906746258921, + 0.07768891610908496, + 0.2508992194762392, + 0.2183842443189323, + 0.29342587440101914, + -0.9307038079137993 + ], + [ + -0.07914190466839027, + 0.9426910746784867, + 0.32414517834911494, + 0.9780525629188024, + 0.010558468558359901, + 0.20809061225741204, + 0.19274268622550092, + 0.3334997098397872, + -0.9228370389420638 + ], + [ + 0.08472544831462991, + 0.965317556259439, + 0.24694860595919427, + 0.9762308347340497, + -0.13003939997423064, + 0.17338717302269555, + 0.19948673069240735, + 0.2263885377656, + -0.9533904101919675 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005564.json b/json/chunk-0005/episode_0005564.json new file mode 100644 index 0000000000000000000000000000000000000000..1d4f08f40e9bb2247c6f6a39393e59f9bb4d88d7 --- /dev/null +++ b/json/chunk-0005/episode_0005564.json @@ -0,0 +1,1402 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 22, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the blue spoon to the bottom left of the stove top." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005564.mp4", + "start": 0, + "end": 22, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.36648985743522644, + 0.006633250508457422, + 0.07084887474775314, + 0.06438495963811874, + 0.0037762306164950132, + -0.2728136479854584, + 0.0, + 0.9994885921478271 + ], + [ + 0.3607039749622345, + 0.006068110000342131, + 0.05482581630349159, + 0.04746059328317642, + 0.03870651125907898, + -0.26475319266319275, + 0.0, + 1.0001531839370728 + ], + [ + 0.3206535577774048, + 0.021031318232417107, + 0.049368806183338165, + 0.0009060441516339779, + 0.01911861263215542, + -0.16884814202785492, + 0.0, + 0.9994885921478271 + ], + [ + 0.2884507477283478, + 0.038187090307474136, + 0.05141773447394371, + 0.0009368524188175797, + -0.02829308994114399, + -0.11827649921178818, + 0.0, + 0.9994885921478271 + ], + [ + 0.26907098293304443, + 0.044576141983270645, + 0.0390608012676239, + -0.0013970804866403341, + -0.09341157227754593, + -0.14794529974460602, + 0.0, + 0.9994885921478271 + ], + [ + 0.26495903730392456, + 0.05298513174057007, + 0.02370123751461506, + 0.0682031437754631, + -0.0517289973795414, + -0.14671052992343903, + 0.0, + 0.9994885921478271 + ], + [ + 0.26397955417633057, + 0.056384216994047165, + 0.013801486231386662, + 0.10237596929073334, + -0.036843303591012955, + -0.14356130361557007, + 0.0, + 0.9994885921478271 + ], + [ + 0.2639696002006531, + 0.05667669326066971, + 0.009596087038516998, + 0.09908201545476913, + -0.03059086576104164, + -0.13346904516220093, + 0.0, + 0.9453431367874146 + ], + [ + 0.26505598425865173, + 0.05586288124322891, + 0.00960487686097622, + 0.09697148948907852, + -0.03823816776275635, + -0.12449919432401657, + 0.0, + 0.6611326336860657 + ], + [ + 0.2634393870830536, + 0.05176886171102524, + 0.009161582216620445, + 0.07062628120183945, + -0.041832372546195984, + -0.12694036960601807, + 0.0, + 0.3814634680747986 + ], + [ + 0.26351264119148254, + 0.05316148325800896, + 0.023582477122545242, + 0.0465090274810791, + -0.07703792303800583, + -0.1298302710056305, + 0.0, + 0.35940393805503845 + ], + [ + 0.26113468408584595, + 0.06992191076278687, + 0.04460952803492546, + 0.03935655578970909, + -0.07840658724308014, + -0.1318405419588089, + 0.0, + 0.35940393805503845 + ], + [ + 0.25309664011001587, + 0.1062588021159172, + 0.05457022786140442, + 0.03542810678482056, + -0.07493091374635696, + -0.07152866572141647, + 0.0, + 0.35940393805503845 + ], + [ + 0.25077611207962036, + 0.13530233502388, + 0.05224870145320892, + 0.047509271651506424, + -0.06826743483543396, + -0.033378828316926956, + 0.0, + 0.35940393805503845 + ], + [ + 0.2522003948688507, + 0.15699806809425354, + 0.039469245821237564, + 0.06916266679763794, + -0.01601853407919407, + 0.0017750380793586373, + 0.0, + 0.35940393805503845 + ], + [ + 0.2576865255832672, + 0.16679087281227112, + 0.031361281871795654, + 0.09209346026182175, + 0.00335330399684608, + 0.014943909831345081, + 0.0, + 0.35940393805503845 + ], + [ + 0.2602264881134033, + 0.16761793196201324, + 0.01690925471484661, + 0.07647144049406052, + 0.0293964184820652, + 0.01697610318660736, + 0.0, + 0.35940393805503845 + ], + [ + 0.26879051327705383, + 0.16289526224136353, + 0.012099994346499443, + 0.07695937901735306, + 0.03817654028534889, + -0.012961049564182758, + 0.0, + 0.35940393805503845 + ], + [ + 0.27125975489616394, + 0.16125045716762543, + 0.010717948898673058, + 0.06753659248352051, + 0.03344409540295601, + -0.013580280356109142, + 0.0, + 0.4220271706581116 + ], + [ + 0.27172425389289856, + 0.16025403141975403, + 0.010638796724379063, + 0.06103646755218506, + 0.030896207317709923, + -0.021537164226174355, + 0.0, + 0.7309711575508118 + ], + [ + 0.2732638418674469, + 0.15543730556964874, + 0.025973595678806305, + 0.04735441878437996, + -0.013639603741466999, + -0.03159303590655327, + 0.0, + 0.9837720394134521 + ], + [ + 0.2654731571674347, + 0.16017110645771027, + 0.0650952011346817, + 0.05213332176208496, + -0.06888983398675919, + -0.009260826744139194, + 0.0, + 1.0041072368621826 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9453431367874146 + ], + [ + 0.6611326336860657 + ], + [ + 0.3814634680747986 + ], + [ + 0.35940393805503845 + ], + [ + 0.35940393805503845 + ], + [ + 0.35940393805503845 + ], + [ + 0.35940393805503845 + ], + [ + 0.35940393805503845 + ], + [ + 0.35940393805503845 + ], + [ + 0.35940393805503845 + ], + [ + 0.35940393805503845 + ], + [ + 0.4220271706581116 + ], + [ + 0.7309711575508118 + ], + [ + 0.9837720394134521 + ], + [ + 1.0041072368621826 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.36648985743522644, + 0.006633250508457422, + 0.07084887474775314 + ], + [ + 0.3607039749622345, + 0.006068110000342131, + 0.05482581630349159 + ], + [ + 0.3206535577774048, + 0.021031318232417107, + 0.049368806183338165 + ], + [ + 0.2884507477283478, + 0.038187090307474136, + 0.05141773447394371 + ], + [ + 0.26907098293304443, + 0.044576141983270645, + 0.0390608012676239 + ], + [ + 0.26495903730392456, + 0.05298513174057007, + 0.02370123751461506 + ], + [ + 0.26397955417633057, + 0.056384216994047165, + 0.013801486231386662 + ], + [ + 0.2639696002006531, + 0.05667669326066971, + 0.009596087038516998 + ], + [ + 0.26505598425865173, + 0.05586288124322891, + 0.00960487686097622 + ], + [ + 0.2634393870830536, + 0.05176886171102524, + 0.009161582216620445 + ], + [ + 0.26351264119148254, + 0.05316148325800896, + 0.023582477122545242 + ], + [ + 0.26113468408584595, + 0.06992191076278687, + 0.04460952803492546 + ], + [ + 0.25309664011001587, + 0.1062588021159172, + 0.05457022786140442 + ], + [ + 0.25077611207962036, + 0.13530233502388, + 0.05224870145320892 + ], + [ + 0.2522003948688507, + 0.15699806809425354, + 0.039469245821237564 + ], + [ + 0.2576865255832672, + 0.16679087281227112, + 0.031361281871795654 + ], + [ + 0.2602264881134033, + 0.16761793196201324, + 0.01690925471484661 + ], + [ + 0.26879051327705383, + 0.16289526224136353, + 0.012099994346499443 + ], + [ + 0.27125975489616394, + 0.16125045716762543, + 0.010717948898673058 + ], + [ + 0.27172425389289856, + 0.16025403141975403, + 0.010638796724379063 + ], + [ + 0.2732638418674469, + 0.15543730556964874, + 0.025973595678806305 + ], + [ + 0.2654731571674347, + 0.16017110645771027, + 0.0650952011346817 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9630097278270561, + -0.26911778482484877, + 0.013707005560138348, + -0.2694401682388354, + -0.9609557632414913, + 0.06297631961611266, + -0.0037762216417117963, + -0.06434002629723667, + -0.9979208892322996 + ], + [ + 0.9644342065728231, + -0.26314833384937675, + -0.024892078750987742, + -0.2614750757224432, + -0.9635899063972652, + 0.05590417752951574, + -0.038696847005809484, + -0.047407242923481245, + -0.9981257973573282 + ], + [ + 0.9855988309336653, + -0.16806398936104558, + -0.018693312768027957, + -0.16801627196890676, + -0.9857756716739852, + 0.00410578730262414, + -0.019117447943261576, + -0.0009058784434958168, + -0.999816834509393 + ], + [ + 0.9926160586813227, + -0.11797455433888974, + 0.02820220871663905, + -0.1179536972131811, + -0.9930161768766641, + -0.002407856929821356, + 0.02828931532748213, + -0.0009364773321575943, + -0.9995993385594591 + ], + [ + 0.984763976749841, + -0.14753493660608838, + 0.09205081518637827, + -0.14676354506110142, + -0.9890558667889754, + -0.015131232977094702, + 0.09327578430084273, + 0.0013909891971349694, + -0.9956393389235465 + ], + [ + 0.987934023435182, + -0.1423590083409369, + 0.060994082363444266, + -0.14598925341323576, + -0.9874724649862782, + 0.059877114006687826, + 0.05170593028869708, + -0.06805911869917883, + -0.9963405307096925 + ], + [ + 0.9890411060439446, + -0.13859389052659038, + 0.05088638387696419, + -0.14297159028712886, + -0.9850693530067222, + 0.09590356686634084, + 0.036834968795149636, + -0.10212787707389605, + -0.9940890713604285 + ], + [ + 0.9906425185960276, + -0.12942179012127325, + 0.043328980965678235, + -0.13301086855279398, + -0.986647856454585, + 0.09398997925525805, + 0.03058609482347112, + -0.09887369516396956, + -0.99462982219923 + ], + [ + 0.9915346488283654, + -0.11992177256409119, + 0.04977759172455423, + -0.12408704684561843, + -0.9880579114976664, + 0.09134532463132766, + 0.038228850073515425, + -0.09674880873662334, + -0.9945743929088969 + ], + [ + 0.9910860774948042, + -0.12335671148695981, + 0.05031410067849553, + -0.1264889723925969, + -0.9898545587697789, + 0.06471856260572413, + 0.041820172871805374, + -0.0705058452456896, + -0.996634335615206 + ], + [ + 0.9886428904335157, + -0.12577783441371673, + 0.08225066300923856, + -0.12908185427905003, + -0.9909748780459559, + 0.03614783503455265, + 0.07696174433538888, + -0.04635436820838781, + -0.9959559038716803 + ], + [ + 0.9882760571052417, + -0.12830202432692145, + 0.08275883944408094, + -0.1310550622480629, + -0.9909591058578348, + 0.028716218006502855, + 0.07832627663609104, + -0.03922551556136265, + -0.9961557876744339 + ], + [ + 0.9946440830578165, + -0.06877799862277197, + 0.07715396907173101, + -0.07126714816429906, + -0.9970065156767133, + 0.029983350224878174, + 0.07486081505436266, + -0.035321305236724124, + -0.996568243406226 + ], + [ + 0.9971149596274619, + -0.030097180482222805, + 0.06968441012267643, + -0.03329489509490505, + -0.9984233678828465, + 0.045191021520799124, + 0.0682144211127246, + -0.04738077872402023, + -0.9965449586244272 + ], + [ + 0.9998701308487283, + 0.0028777458221278013, + 0.015856860204023115, + 0.0017748094206698063, + -0.9976056795118632, + 0.06913579577320196, + 0.016017849046204912, + -0.06909867426121007, + -0.9974812287593566 + ], + [ + 0.99988272016666, + 0.014571683554175001, + -0.004712955603174988, + 0.014943269607838603, + -0.9956558168187484, + 0.0919031725699298, + -0.0033532977123959364, + -0.0919628211473954, + -0.9957567950664781 + ], + [ + 0.9994239280782694, + 0.014680528137173984, + -0.030598922827701824, + 0.016967953748872302, + -0.9969719320942136, + 0.07588843892126457, + -0.0293921848486658, + -0.07636392282972382, + -0.9966467030798214 + ], + [ + 0.9991874323614837, + -0.01585650828244981, + -0.03705463744194293, + -0.012951243064153111, + -0.9969183114741671, + 0.07737018515286437, + -0.038167267572600264, + -0.07682741302805848, + -0.9963136094089337 + ], + [ + 0.9993486393410611, + -0.015805259307219505, + -0.03244211499581438, + -0.013572269056788284, + -0.9975976268696023, + 0.06793208650401034, + -0.033437861172931516, + -0.06744752510188753, + -0.9971623442538383 + ], + [ + 0.9992909450777732, + -0.023379284840801484, + -0.029512982328190135, + -0.021525221450783803, + -0.9978657892615729, + 0.061648450612106435, + -0.030891292091236817, + -0.06096946499446489, + -0.9976614918955342 + ], + [ + 0.9994080100145182, + -0.03090705837852077, + 0.015112354588474862, + -0.03158484233174464, + -0.9984009241215799, + 0.04688275213822718, + 0.013639180829504391, + -0.04733231935540791, + -0.9987860753388276 + ], + [ + 0.9975852542473644, + -0.005661275817747271, + 0.06922145956520333, + -0.009238728317017478, + -0.9986317612729662, + 0.0514708779402307, + 0.06883535724688315, + -0.05198610711497041, + -0.996272622458193 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.005785882472991943, + -0.0005651405081152916, + -0.01602305844426155, + -0.016924366354942322, + 0.0349302813410759, + 0.008060455322265625, + 1.0 + ], + [ + -0.04005041718482971, + 0.014963207766413689, + -0.005457010120153427, + -0.046554550528526306, + -0.01958789862692356, + 0.09590505063533783, + 1.0 + ], + [ + -0.03220281004905701, + 0.01715577207505703, + 0.002048928290605545, + 3.0808267183601856e-05, + -0.04741170257329941, + 0.05057164281606674, + 1.0 + ], + [ + -0.019379764795303345, + 0.006389051675796509, + -0.012356933206319809, + -0.0023339330218732357, + -0.06511848419904709, + -0.02966880053281784, + 1.0 + ], + [ + -0.004111945629119873, + 0.008408989757299423, + -0.015359563753008842, + 0.06960022449493408, + 0.04168257489800453, + 0.0012347698211669922, + 1.0 + ], + [ + -0.0009794831275939941, + 0.0033990852534770966, + -0.009899751283228397, + 0.03417282551527023, + 0.014885693788528442, + 0.0031492263078689575, + 1.0 + ], + [ + -9.953975677490234e-06, + 0.00029247626662254333, + -0.004205399192869663, + -0.003293953835964203, + 0.0062524378299713135, + 0.01009225845336914, + 0.0 + ], + [ + 0.0010863840579986572, + -0.0008138120174407959, + 8.789822459220886e-06, + -0.002110525965690613, + -0.007647302001714706, + 0.008969850838184357, + 0.0 + ], + [ + -0.0016165971755981445, + -0.004094019532203674, + -0.0004432946443557739, + -0.026345208287239075, + -0.0035942047834396362, + -0.0024411752820014954, + 0.0 + ], + [ + 7.325410842895508e-05, + 0.0013926215469837189, + 0.014420894905924797, + -0.024117253720760345, + -0.035205550491809845, + -0.0028899013996124268, + 0.0 + ], + [ + -0.0023779571056365967, + 0.01676042750477791, + 0.02102705091238022, + -0.00715247169137001, + -0.0013686642050743103, + -0.0020102709531784058, + 0.0 + ], + [ + -0.008038043975830078, + 0.03633689135313034, + 0.009960699826478958, + -0.0039284490048885345, + 0.003475673496723175, + 0.060311876237392426, + 0.0 + ], + [ + -0.002320528030395508, + 0.0290435329079628, + -0.0023215264081954956, + 0.012081164866685867, + 0.006663478910923004, + 0.03814983740448952, + 0.0 + ], + [ + 0.0014242827892303467, + 0.021695733070373535, + -0.01277945563197136, + 0.021653395146131516, + 0.05224890261888504, + 0.035153865814208984, + 0.0 + ], + [ + 0.005486130714416504, + 0.009792804718017578, + -0.00810796394944191, + 0.022930793464183807, + 0.019371837377548218, + 0.013168871402740479, + 0.0 + ], + [ + 0.0025399625301361084, + 0.0008270591497421265, + -0.014452027156949043, + -0.01562201976776123, + 0.026043115183711052, + 0.0020321933552622795, + 0.0 + ], + [ + 0.008564025163650513, + -0.004722669720649719, + -0.004809260368347168, + 0.0004879385232925415, + 0.008780121803283691, + -0.029937151819467545, + 0.0 + ], + [ + 0.0024692416191101074, + -0.0016448050737380981, + -0.0013820454478263855, + -0.00942278653383255, + -0.004732444882392883, + -0.000619230791926384, + 1.0 + ], + [ + 0.00046449899673461914, + -0.000996425747871399, + -7.91521742939949e-05, + -0.006500124931335449, + -0.002547888085246086, + -0.007956883870065212, + 1.0 + ], + [ + 0.0015395879745483398, + -0.004816725850105286, + 0.015334798954427242, + -0.0136820487678051, + -0.044535811990499496, + -0.010055871680378914, + 1.0 + ], + [ + -0.007790684700012207, + 0.0047338008880615234, + 0.0391216054558754, + 0.004778902977705002, + -0.05525023117661476, + 0.02233221009373665, + 1.0 + ], + [ + -0.0018236339092254639, + -0.004167482256889343, + 0.010287761688232422, + -0.022489311173558235, + -0.021362416446208954, + -0.005152682773768902, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9453431367874146 + ], + [ + 0.6611326336860657 + ], + [ + 0.3814634680747986 + ], + [ + 0.35940393805503845 + ], + [ + 0.35940393805503845 + ], + [ + 0.35940393805503845 + ], + [ + 0.35940393805503845 + ], + [ + 0.35940393805503845 + ], + [ + 0.35940393805503845 + ], + [ + 0.35940393805503845 + ], + [ + 0.35940393805503845 + ], + [ + 0.4220271706581116 + ], + [ + 0.7309711575508118 + ], + [ + 0.9837720394134521 + ], + [ + 1.0041072368621826 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3607039749622345, + 0.006068110000342131, + 0.05482581630349159 + ], + [ + 0.3206535577774048, + 0.021031318232417107, + 0.049368806183338165 + ], + [ + 0.2884507477283478, + 0.038187090307474136, + 0.05141773447394371 + ], + [ + 0.26907098293304443, + 0.044576141983270645, + 0.0390608012676239 + ], + [ + 0.26495903730392456, + 0.05298513174057007, + 0.02370123751461506 + ], + [ + 0.26397955417633057, + 0.056384216994047165, + 0.013801486231386662 + ], + [ + 0.2639696002006531, + 0.05667669326066971, + 0.009596087038516998 + ], + [ + 0.26505598425865173, + 0.05586288124322891, + 0.00960487686097622 + ], + [ + 0.2634393870830536, + 0.05176886171102524, + 0.009161582216620445 + ], + [ + 0.26351264119148254, + 0.05316148325800896, + 0.023582477122545242 + ], + [ + 0.26113468408584595, + 0.06992191076278687, + 0.04460952803492546 + ], + [ + 0.25309664011001587, + 0.1062588021159172, + 0.05457022786140442 + ], + [ + 0.25077611207962036, + 0.13530233502388, + 0.05224870145320892 + ], + [ + 0.2522003948688507, + 0.15699806809425354, + 0.039469245821237564 + ], + [ + 0.2576865255832672, + 0.16679087281227112, + 0.031361281871795654 + ], + [ + 0.2602264881134033, + 0.16761793196201324, + 0.01690925471484661 + ], + [ + 0.26879051327705383, + 0.16289526224136353, + 0.012099994346499443 + ], + [ + 0.27125975489616394, + 0.16125045716762543, + 0.010717948898673058 + ], + [ + 0.27172425389289856, + 0.16025403141975403, + 0.010638796724379063 + ], + [ + 0.2732638418674469, + 0.15543730556964874, + 0.025973595678806305 + ], + [ + 0.2654731571674347, + 0.16017110645771027, + 0.0650952011346817 + ], + [ + 0.26364952325820923, + 0.15600362420082092, + 0.07538296282291412 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9644342065728231, + -0.26314833384937675, + -0.024892078750987742, + -0.2614750757224432, + -0.9635899063972652, + 0.05590417752951574, + -0.038696847005809484, + -0.047407242923481245, + -0.9981257973573282 + ], + [ + 0.9855988309336653, + -0.16806398936104558, + -0.018693312768027957, + -0.16801627196890676, + -0.9857756716739852, + 0.00410578730262414, + -0.019117447943261576, + -0.0009058784434958168, + -0.999816834509393 + ], + [ + 0.9926160586813227, + -0.11797455433888974, + 0.02820220871663905, + -0.1179536972131811, + -0.9930161768766641, + -0.002407856929821356, + 0.02828931532748213, + -0.0009364773321575943, + -0.9995993385594591 + ], + [ + 0.984763976749841, + -0.14753493660608838, + 0.09205081518637827, + -0.14676354506110142, + -0.9890558667889754, + -0.015131232977094702, + 0.09327578430084273, + 0.0013909891971349694, + -0.9956393389235465 + ], + [ + 0.987934023435182, + -0.1423590083409369, + 0.060994082363444266, + -0.14598925341323576, + -0.9874724649862782, + 0.059877114006687826, + 0.05170593028869708, + -0.06805911869917883, + -0.9963405307096925 + ], + [ + 0.9890411060439446, + -0.13859389052659038, + 0.05088638387696419, + -0.14297159028712886, + -0.9850693530067222, + 0.09590356686634084, + 0.036834968795149636, + -0.10212787707389605, + -0.9940890713604285 + ], + [ + 0.9906425185960276, + -0.12942179012127325, + 0.043328980965678235, + -0.13301086855279398, + -0.986647856454585, + 0.09398997925525805, + 0.03058609482347112, + -0.09887369516396956, + -0.99462982219923 + ], + [ + 0.9915346488283654, + -0.11992177256409119, + 0.04977759172455423, + -0.12408704684561843, + -0.9880579114976664, + 0.09134532463132766, + 0.038228850073515425, + -0.09674880873662334, + -0.9945743929088969 + ], + [ + 0.9910860774948042, + -0.12335671148695981, + 0.05031410067849553, + -0.1264889723925969, + -0.9898545587697789, + 0.06471856260572413, + 0.041820172871805374, + -0.0705058452456896, + -0.996634335615206 + ], + [ + 0.9886428904335157, + -0.12577783441371673, + 0.08225066300923856, + -0.12908185427905003, + -0.9909748780459559, + 0.03614783503455265, + 0.07696174433538888, + -0.04635436820838781, + -0.9959559038716803 + ], + [ + 0.9882760571052417, + -0.12830202432692145, + 0.08275883944408094, + -0.1310550622480629, + -0.9909591058578348, + 0.028716218006502855, + 0.07832627663609104, + -0.03922551556136265, + -0.9961557876744339 + ], + [ + 0.9946440830578165, + -0.06877799862277197, + 0.07715396907173101, + -0.07126714816429906, + -0.9970065156767133, + 0.029983350224878174, + 0.07486081505436266, + -0.035321305236724124, + -0.996568243406226 + ], + [ + 0.9971149596274619, + -0.030097180482222805, + 0.06968441012267643, + -0.03329489509490505, + -0.9984233678828465, + 0.045191021520799124, + 0.0682144211127246, + -0.04738077872402023, + -0.9965449586244272 + ], + [ + 0.9998701308487283, + 0.0028777458221278013, + 0.015856860204023115, + 0.0017748094206698063, + -0.9976056795118632, + 0.06913579577320196, + 0.016017849046204912, + -0.06909867426121007, + -0.9974812287593566 + ], + [ + 0.99988272016666, + 0.014571683554175001, + -0.004712955603174988, + 0.014943269607838603, + -0.9956558168187484, + 0.0919031725699298, + -0.0033532977123959364, + -0.0919628211473954, + -0.9957567950664781 + ], + [ + 0.9994239280782694, + 0.014680528137173984, + -0.030598922827701824, + 0.016967953748872302, + -0.9969719320942136, + 0.07588843892126457, + -0.0293921848486658, + -0.07636392282972382, + -0.9966467030798214 + ], + [ + 0.9991874323614837, + -0.01585650828244981, + -0.03705463744194293, + -0.012951243064153111, + -0.9969183114741671, + 0.07737018515286437, + -0.038167267572600264, + -0.07682741302805848, + -0.9963136094089337 + ], + [ + 0.9993486393410611, + -0.015805259307219505, + -0.03244211499581438, + -0.013572269056788284, + -0.9975976268696023, + 0.06793208650401034, + -0.033437861172931516, + -0.06744752510188753, + -0.9971623442538383 + ], + [ + 0.9992909450777732, + -0.023379284840801484, + -0.029512982328190135, + -0.021525221450783803, + -0.9978657892615729, + 0.061648450612106435, + -0.030891292091236817, + -0.06096946499446489, + -0.9976614918955342 + ], + [ + 0.9994080100145182, + -0.03090705837852077, + 0.015112354588474862, + -0.03158484233174464, + -0.9984009241215799, + 0.04688275213822718, + 0.013639180829504391, + -0.04733231935540791, + -0.9987860753388276 + ], + [ + 0.9975852542473644, + -0.005661275817747271, + 0.06922145956520333, + -0.009238728317017478, + -0.9986317612729662, + 0.0514708779402307, + 0.06883535724688315, + -0.05198610711497041, + -0.996272622458193 + ], + [ + 0.9958265793522701, + -0.011735538836498879, + 0.09050801612992067, + -0.014354349928623078, + -0.9994953244574616, + 0.028338119658870085, + 0.09012977584396618, + -0.029519036500042256, + -0.9954924660641213 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005565.json b/json/chunk-0005/episode_0005565.json new file mode 100644 index 0000000000000000000000000000000000000000..de9259cfb27c5737a5555c063b2ca8c18d8b2848 --- /dev/null +++ b/json/chunk-0005/episode_0005565.json @@ -0,0 +1,1582 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 25, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nTake broccoli out of pan." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005565.mp4", + "start": 0, + "end": 25, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.22484220564365387, + 0.027440765872597694, + 0.15075965225696564, + 0.2074987143278122, + 0.02439938485622406, + -0.007673519663512707, + 0.0, + 0.9837720394134521 + ], + [ + 0.23362600803375244, + 0.01886516809463501, + 0.15125037729740143, + 0.21730899810791016, + 0.08965180069208145, + 0.030468909069895744, + 0.0, + 0.9837720394134521 + ], + [ + 0.26889652013778687, + -0.01409061998128891, + 0.16681525111198425, + 0.24527046084403992, + 0.1018388569355011, + 0.07847949117422104, + 0.0, + 0.9837720394134521 + ], + [ + 0.2963907718658447, + -0.04736558347940445, + 0.16593311727046967, + 0.23184210062026978, + 0.07585503160953522, + 0.1123916506767273, + 0.0, + 0.9837720394134521 + ], + [ + 0.31861594319343567, + -0.07833872735500336, + 0.14834319055080414, + 0.20229358971118927, + 0.026976516470313072, + 0.11499037593603134, + 0.0, + 0.9837720394134521 + ], + [ + 0.33680686354637146, + -0.09950040280818939, + 0.1289430856704712, + 0.16194598376750946, + -0.02401447854936123, + 0.09720098227262497, + 0.0, + 0.9837720394134521 + ], + [ + 0.35265257954597473, + -0.11647643893957138, + 0.11267225444316864, + 0.1384514719247818, + -0.05368023365736008, + 0.0711154192686081, + 0.0, + 0.9837720394134521 + ], + [ + 0.36655160784721375, + -0.1272493302822113, + 0.1033041849732399, + 0.11158612370491028, + -0.08990690112113953, + 0.0713043212890625, + 0.0, + 0.9837720394134521 + ], + [ + 0.3812333047389984, + -0.1365112066268921, + 0.09406011551618576, + 0.08392925560474396, + -0.13038204610347748, + 0.06266120076179504, + 0.0, + 0.9837720394134521 + ], + [ + 0.39208054542541504, + -0.14281195402145386, + 0.08928614854812622, + 0.0512123629450798, + -0.17492014169692993, + 0.05815669521689415, + 0.0, + 0.9837720394134521 + ], + [ + 0.407039999961853, + -0.1483505368232727, + 0.08275430649518967, + 0.014007390476763248, + -0.25413814187049866, + 0.05674140527844429, + 0.0, + 0.9837720394134521 + ], + [ + 0.4144904613494873, + -0.15215708315372467, + 0.07067843526601791, + -0.018225474283099174, + -0.280916690826416, + 0.06461828947067261, + 0.0, + 0.9837720394134521 + ], + [ + 0.4250960946083069, + -0.1513206660747528, + 0.05689339339733124, + -0.0495573990046978, + -0.3225492238998413, + 0.07185681909322739, + 0.0, + 0.9837720394134521 + ], + [ + 0.4328535199165344, + -0.14549052715301514, + 0.04544954001903534, + -0.06874088943004608, + -0.40155935287475586, + 0.07046377658843994, + 0.0, + 0.9837720394134521 + ], + [ + 0.43815961480140686, + -0.14355678856372833, + 0.03900318220257759, + -0.09442666172981262, + -0.4563344717025757, + 0.09562356024980545, + 0.0, + 0.9837720394134521 + ], + [ + 0.43929556012153625, + -0.14065667986869812, + 0.030623970553278923, + -0.10130057483911514, + -0.48599502444267273, + 0.1353529691696167, + 0.0, + 0.9837720394134521 + ], + [ + 0.4365829527378082, + -0.14193201065063477, + 0.025207992643117905, + -0.10870875418186188, + -0.5038179755210876, + 0.16044066846370697, + 0.0, + 0.9837720394134521 + ], + [ + 0.42692887783050537, + -0.14525973796844482, + 0.015490047633647919, + -0.11747491359710693, + -0.4872290790081024, + 0.19085101783275604, + 0.0, + 0.9837720394134521 + ], + [ + 0.4194324016571045, + -0.14607475697994232, + 0.00994897074997425, + -0.12589511275291443, + -0.4513046443462372, + 0.22970716655254364, + 0.0, + 0.9837720394134521 + ], + [ + 0.4168059527873993, + -0.14693860709667206, + 0.009649847634136677, + -0.12856793403625488, + -0.4226422905921936, + 0.23514704406261444, + 0.0, + 0.8270506262779236 + ], + [ + 0.4170144498348236, + -0.1466856598854065, + 0.009707634337246418, + -0.14304327964782715, + -0.4141956567764282, + 0.2538709342479706, + 0.0, + 0.649078905582428 + ], + [ + 0.4170215129852295, + -0.14522452652454376, + 0.013219151645898819, + -0.11205808073282242, + -0.3986159861087799, + 0.230987548828125, + 0.0, + 0.6279802918434143 + ], + [ + 0.4201459288597107, + -0.14598488807678223, + 0.022617992013692856, + -0.08292066305875778, + -0.3785508871078491, + 0.1790270209312439, + 0.0, + 0.6279802918434143 + ], + [ + 0.42194950580596924, + -0.14402538537979126, + 0.029467832297086716, + -0.06102859973907471, + -0.3567294478416443, + 0.14458642899990082, + 0.0, + 0.6279802918434143 + ], + [ + 0.41656142473220825, + -0.13016104698181152, + 0.04732514172792435, + -0.0020852016750723124, + -0.3318772614002228, + 0.14082041382789612, + 0.0, + 0.6279802918434143 + ] + ], + "left_gripper_pos": [ + [ + 0.9837720394134521 + ], + [ + 0.9837720394134521 + ], + [ + 0.9837720394134521 + ], + [ + 0.9837720394134521 + ], + [ + 0.9837720394134521 + ], + [ + 0.9837720394134521 + ], + [ + 0.9837720394134521 + ], + [ + 0.9837720394134521 + ], + [ + 0.9837720394134521 + ], + [ + 0.9837720394134521 + ], + [ + 0.9837720394134521 + ], + [ + 0.9837720394134521 + ], + [ + 0.9837720394134521 + ], + [ + 0.9837720394134521 + ], + [ + 0.9837720394134521 + ], + [ + 0.9837720394134521 + ], + [ + 0.9837720394134521 + ], + [ + 0.9837720394134521 + ], + [ + 0.9837720394134521 + ], + [ + 0.8270506262779236 + ], + [ + 0.649078905582428 + ], + [ + 0.6279802918434143 + ], + [ + 0.6279802918434143 + ], + [ + 0.6279802918434143 + ], + [ + 0.6279802918434143 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.22484220564365387, + 0.027440765872597694, + 0.15075965225696564 + ], + [ + 0.23362600803375244, + 0.01886516809463501, + 0.15125037729740143 + ], + [ + 0.26889652013778687, + -0.01409061998128891, + 0.16681525111198425 + ], + [ + 0.2963907718658447, + -0.04736558347940445, + 0.16593311727046967 + ], + [ + 0.31861594319343567, + -0.07833872735500336, + 0.14834319055080414 + ], + [ + 0.33680686354637146, + -0.09950040280818939, + 0.1289430856704712 + ], + [ + 0.35265257954597473, + -0.11647643893957138, + 0.11267225444316864 + ], + [ + 0.36655160784721375, + -0.1272493302822113, + 0.1033041849732399 + ], + [ + 0.3812333047389984, + -0.1365112066268921, + 0.09406011551618576 + ], + [ + 0.39208054542541504, + -0.14281195402145386, + 0.08928614854812622 + ], + [ + 0.407039999961853, + -0.1483505368232727, + 0.08275430649518967 + ], + [ + 0.4144904613494873, + -0.15215708315372467, + 0.07067843526601791 + ], + [ + 0.4250960946083069, + -0.1513206660747528, + 0.05689339339733124 + ], + [ + 0.4328535199165344, + -0.14549052715301514, + 0.04544954001903534 + ], + [ + 0.43815961480140686, + -0.14355678856372833, + 0.03900318220257759 + ], + [ + 0.43929556012153625, + -0.14065667986869812, + 0.030623970553278923 + ], + [ + 0.4365829527378082, + -0.14193201065063477, + 0.025207992643117905 + ], + [ + 0.42692887783050537, + -0.14525973796844482, + 0.015490047633647919 + ], + [ + 0.4194324016571045, + -0.14607475697994232, + 0.00994897074997425 + ], + [ + 0.4168059527873993, + -0.14693860709667206, + 0.009649847634136677 + ], + [ + 0.4170144498348236, + -0.1466856598854065, + 0.009707634337246418 + ], + [ + 0.4170215129852295, + -0.14522452652454376, + 0.013219151645898819 + ], + [ + 0.4201459288597107, + -0.14598488807678223, + 0.022617992013692856 + ], + [ + 0.42194950580596924, + -0.14402538537979126, + 0.029467832297086716 + ], + [ + 0.41656142473220825, + -0.13016104698181152, + 0.04732514172792435 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9996729172320987, + -0.012534785099171527, + -0.0222920998379135, + -0.007671160354785657, + -0.9784818952621869, + 0.20619004326817114, + -0.02439696398073089, + -0.20595159578560374, + -0.9782580070420516 + ], + [ + 0.9955216909891617, + 0.010453384923389977, + -0.09395365620199965, + 0.03034184979113802, + -0.9766160053431427, + 0.2128392592048154, + -0.08953175370410278, + -0.2147368269562676, + -0.97255959212144 + ], + [ + 0.9917569158150742, + 0.05144293138021632, + -0.1173535033306728, + 0.07799276384384957, + -0.9690211996576992, + 0.23433958991589732, + -0.10166291713781082, + -0.24156063301987718, + -0.9650456527305156 + ], + [ + 0.9908332335871504, + 0.09185174950564279, + -0.099059372761917, + 0.1118326654110777, + -0.9690572047844865, + 0.2200490599896578, + -0.07578230773924556, + -0.2291099953472801, + -0.9704461097174247 + ], + [ + 0.9930344473104753, + 0.10701386223245639, + -0.049301315853350035, + 0.11469538146010748, + -0.9737606953765137, + 0.1965580769430987, + -0.02697324464166994, + -0.20084357452988513, + -0.9792519096961513 + ], + [ + 0.9949927300265449, + 0.0996315826843387, + 0.007938194135755687, + 0.09702001270311059, + -0.9818811090663915, + 0.16277777733352056, + 0.024012170443577646, + -0.16119254136084188, + -0.986630822689126 + ], + [ + 0.9960355672158906, + 0.07776166561280014, + 0.04320037270721227, + 0.07095314018845535, + -0.9874012929139615, + 0.1414366948469684, + 0.053654456835536025, + -0.1378107764761527, + -0.9890042412187743 + ], + [ + 0.9934302832407594, + 0.0807734969182164, + 0.08106734568115376, + 0.07095616716924598, + -0.9905431513025472, + 0.11742864960591702, + 0.08978582672579682, + -0.11090494850646702, + -0.9897669411108573 + ], + [ + 0.9895663820975416, + 0.07327747445861009, + 0.12405155041090737, + 0.06208870124700651, + -0.9938418416317218, + 0.09177901175937334, + 0.13001295550768055, + -0.08311922496652, + -0.9880221788204567 + ], + [ + 0.9830756139082721, + 0.06694121901678385, + 0.1705321393034776, + 0.05723697239345718, + -0.9964827252376144, + 0.06120545150758689, + 0.17402949844812038, + -0.05040884346584363, + -0.9834493795668039 + ], + [ + 0.9663226665071794, + 0.06022123350329176, + 0.2501877439640002, + 0.054889425792919076, + -0.9980929865758884, + 0.028240769892947177, + 0.25141132657574866, + -0.013557034460558563, + -0.9677853851376641 + ], + [ + 0.9587964747826428, + 0.05952066268708426, + 0.27778878785449096, + 0.06204216503434714, + -0.9980734878786373, + -0.0002873179817132875, + 0.27723652303083707, + 0.017510097288767935, + -0.96064213252944 + ], + [ + 0.9459829234168778, + 0.056044835163377174, + 0.3193356933622785, + 0.06809256058664473, + -0.9973222249132835, + -0.026679259486950553, + 0.31698534949806656, + 0.04698250893181211, + -0.9472660302460237 + ], + [ + 0.9181684892979854, + 0.0434593173604068, + 0.3937993308714764, + 0.06480491005243744, + -0.9970527322492625, + -0.04106303383063513, + 0.3908541273843102, + 0.06322291395410241, + -0.9182787780722156 + ], + [ + 0.8935728007948237, + 0.053694062856063804, + 0.44569563302067833, + 0.08570800609275299, + -0.9949639611319653, + -0.05196973869660616, + 0.4406606260732841, + 0.08463842899415121, + -0.8936747445050146 + ], + [ + 0.8761234228335039, + 0.08744487428841749, + 0.4740898036481998, + 0.1193154346649036, + -0.992148087661309, + -0.037496655860662614, + 0.4670884017113151, + 0.08941792946993743, + -0.8796777017044816 + ], + [ + 0.8644985160386772, + 0.10710460254811446, + 0.4910915595690224, + 0.13990321077726983, + -0.9896974164609834, + -0.030432145252429647, + 0.48277262492930884, + 0.09501383037992203, + -0.8705762256433377 + ], + [ + 0.8675895416425561, + 0.13451052901650903, + 0.4787434645153479, + 0.16762044810815954, + -0.9854851413116053, + -0.026877902263107177, + 0.4681792099276505, + 0.10356618095567796, + -0.8775433171950981 + ], + [ + 0.8762418442445418, + 0.17256585606564573, + 0.4499124978429194, + 0.20489557005027537, + -0.9784957776360816, + -0.023744863068306435, + 0.4361399268224555, + 0.11299132032457522, + -0.8927569242311215 + ], + [ + 0.8869099476808888, + 0.1799205435910987, + 0.4254636796467671, + 0.2124851600906767, + -0.9767064267711403, + -0.0299100759810318, + 0.41017167313933667, + 0.11693226200598, + -0.904481091375736 + ], + [ + 0.8860981585704178, + 0.19305434709083583, + 0.42137877550660485, + 0.22991530317187528, + -0.9724707616470692, + -0.037941680365447476, + 0.4024537324283368, + 0.130501482025685, + -0.9060906998990776 + ], + [ + 0.8971221207922607, + 0.18525221696321736, + 0.4010654765688634, + 0.21098992878502748, + -0.977272197442383, + -0.02054998923174641, + 0.3881432085409784, + 0.10305662626124004, + -0.9158188584251613 + ], + [ + 0.914350133143186, + 0.14733937043644882, + 0.3771669974168323, + 0.16546492328943205, + -0.9860872198325575, + -0.015917099098751088, + 0.369574340534973, + 0.07696170997507792, + -0.9260084783714735 + ], + [ + 0.9272664365418771, + 0.12273853139344759, + 0.3537120418847916, + 0.13501227776475988, + -0.9907921161668898, + -0.010132492008762841, + 0.34921145530423287, + 0.05715098820594443, + -0.9352994836047883 + ], + [ + 0.9360736985348863, + 0.13968247794149152, + 0.32288517505042397, + 0.1326965890573083, + -0.990194384389341, + 0.04366573457952224, + 0.32581842514470244, + 0.0019714157192671014, + -0.9454303080377142 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + 0.008783802390098572, + -0.008575597777962685, + 0.000490725040435791, + 0.009810283780097961, + 0.06525241583585739, + 0.038142427802085876, + 1.0 + ], + [ + 0.035270512104034424, + -0.03295578807592392, + 0.015564873814582825, + 0.02796146273612976, + 0.012187056243419647, + 0.048010580241680145, + 1.0 + ], + [ + 0.02749425172805786, + -0.03327496349811554, + -0.0008821338415145874, + -0.013428360223770142, + -0.02598382532596588, + 0.033912159502506256, + 1.0 + ], + [ + 0.022225171327590942, + -0.030973143875598907, + -0.017589926719665527, + -0.029548510909080505, + -0.048878513276576996, + 0.0025987252593040466, + 1.0 + ], + [ + 0.01819092035293579, + -0.021161675453186035, + -0.019400104880332947, + -0.04034760594367981, + -0.0509909950196743, + -0.017789393663406372, + 1.0 + ], + [ + 0.01584571599960327, + -0.01697603613138199, + -0.01627083122730255, + -0.02349451184272766, + -0.029665755107998848, + -0.026085563004016876, + 1.0 + ], + [ + 0.013899028301239014, + -0.010772891342639923, + -0.009368069469928741, + -0.02686534821987152, + -0.03622666746377945, + 0.00018890202045440674, + 1.0 + ], + [ + 0.014681696891784668, + -0.009261876344680786, + -0.009244069457054138, + -0.02765686810016632, + -0.04047514498233795, + -0.008643120527267456, + 1.0 + ], + [ + 0.010847240686416626, + -0.006300747394561768, + -0.00477396696805954, + -0.032716892659664154, + -0.044538095593452454, + -0.004504505544900894, + 1.0 + ], + [ + 0.014959454536437988, + -0.005538582801818848, + -0.006531842052936554, + -0.03720497339963913, + -0.07921800017356873, + -0.0014152899384498596, + 1.0 + ], + [ + 0.007450461387634277, + -0.0038065463304519653, + -0.012075871229171753, + -0.032232865691185, + -0.02677854895591736, + 0.007876884192228317, + 1.0 + ], + [ + 0.01060563325881958, + 0.0008364170789718628, + -0.013785041868686676, + -0.031331926584243774, + -0.04163253307342529, + 0.007238529622554779, + 1.0 + ], + [ + 0.007757425308227539, + 0.005830138921737671, + -0.011443853378295898, + -0.019183490425348282, + -0.07901012897491455, + -0.001393042504787445, + 1.0 + ], + [ + 0.0053060948848724365, + 0.0019337385892868042, + -0.006446357816457748, + -0.02568577229976654, + -0.054775118827819824, + 0.02515978366136551, + 1.0 + ], + [ + 0.0011359453201293945, + 0.0029001086950302124, + -0.008379211649298668, + -0.006873913109302521, + -0.029660552740097046, + 0.03972940891981125, + 1.0 + ], + [ + -0.0027126073837280273, + -0.0012753307819366455, + -0.005415977910161018, + -0.007408179342746735, + -0.017822951078414917, + 0.02508769929409027, + 1.0 + ], + [ + -0.009654074907302856, + -0.0033277273178100586, + -0.009717945009469986, + -0.008766159415245056, + 0.01658889651298523, + 0.030410349369049072, + 1.0 + ], + [ + -0.007496476173400879, + -0.0008150190114974976, + -0.005541076883673668, + -0.008420199155807495, + 0.035924434661865234, + 0.0388561487197876, + 1.0 + ], + [ + -0.0026264488697052, + -0.0008638501167297363, + -0.000299123115837574, + -0.002672821283340454, + 0.02866235375404358, + 0.005439877510070801, + 0.0 + ], + [ + 0.0002084970474243164, + 0.00025294721126556396, + 5.778670310974121e-05, + -0.014475345611572266, + 0.00844663381576538, + 0.01872389018535614, + 0.0 + ], + [ + 7.063150405883789e-06, + 0.001461133360862732, + 0.003511517308652401, + 0.03098519891500473, + 0.015579670667648315, + -0.02288338541984558, + 0.0 + ], + [ + 0.003124415874481201, + -0.0007603615522384644, + 0.009398840367794037, + 0.029137417674064636, + 0.020065099000930786, + -0.051960527896881104, + 0.0 + ], + [ + 0.001803576946258545, + 0.001959502696990967, + 0.00684984028339386, + 0.021892063319683075, + 0.021821439266204834, + -0.03444059193134308, + 0.0 + ], + [ + -0.005388081073760986, + 0.013864338397979736, + 0.01785730943083763, + 0.05894339829683304, + 0.02485218644142151, + -0.0037660151720046997, + 0.0 + ], + [ + -0.010468631982803345, + 0.03343876451253891, + 0.0411054864525795, + 0.04659714922308922, + -0.03268924355506897, + 0.015974730253219604, + 0.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9837720394134521 + ], + [ + 0.9837720394134521 + ], + [ + 0.9837720394134521 + ], + [ + 0.9837720394134521 + ], + [ + 0.9837720394134521 + ], + [ + 0.9837720394134521 + ], + [ + 0.9837720394134521 + ], + [ + 0.9837720394134521 + ], + [ + 0.9837720394134521 + ], + [ + 0.9837720394134521 + ], + [ + 0.9837720394134521 + ], + [ + 0.9837720394134521 + ], + [ + 0.9837720394134521 + ], + [ + 0.9837720394134521 + ], + [ + 0.9837720394134521 + ], + [ + 0.9837720394134521 + ], + [ + 0.9837720394134521 + ], + [ + 0.9837720394134521 + ], + [ + 0.8270506262779236 + ], + [ + 0.649078905582428 + ], + [ + 0.6279802918434143 + ], + [ + 0.6279802918434143 + ], + [ + 0.6279802918434143 + ], + [ + 0.6279802918434143 + ], + [ + 0.6279802918434143 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.23362600803375244, + 0.01886516809463501, + 0.15125037729740143 + ], + [ + 0.26889652013778687, + -0.01409061998128891, + 0.16681525111198425 + ], + [ + 0.2963907718658447, + -0.04736558347940445, + 0.16593311727046967 + ], + [ + 0.31861594319343567, + -0.07833872735500336, + 0.14834319055080414 + ], + [ + 0.33680686354637146, + -0.09950040280818939, + 0.1289430856704712 + ], + [ + 0.35265257954597473, + -0.11647643893957138, + 0.11267225444316864 + ], + [ + 0.36655160784721375, + -0.1272493302822113, + 0.1033041849732399 + ], + [ + 0.3812333047389984, + -0.1365112066268921, + 0.09406011551618576 + ], + [ + 0.39208054542541504, + -0.14281195402145386, + 0.08928614854812622 + ], + [ + 0.407039999961853, + -0.1483505368232727, + 0.08275430649518967 + ], + [ + 0.4144904613494873, + -0.15215708315372467, + 0.07067843526601791 + ], + [ + 0.4250960946083069, + -0.1513206660747528, + 0.05689339339733124 + ], + [ + 0.4328535199165344, + -0.14549052715301514, + 0.04544954001903534 + ], + [ + 0.43815961480140686, + -0.14355678856372833, + 0.03900318220257759 + ], + [ + 0.43929556012153625, + -0.14065667986869812, + 0.030623970553278923 + ], + [ + 0.4365829527378082, + -0.14193201065063477, + 0.025207992643117905 + ], + [ + 0.42692887783050537, + -0.14525973796844482, + 0.015490047633647919 + ], + [ + 0.4194324016571045, + -0.14607475697994232, + 0.00994897074997425 + ], + [ + 0.4168059527873993, + -0.14693860709667206, + 0.009649847634136677 + ], + [ + 0.4170144498348236, + -0.1466856598854065, + 0.009707634337246418 + ], + [ + 0.4170215129852295, + -0.14522452652454376, + 0.013219151645898819 + ], + [ + 0.4201459288597107, + -0.14598488807678223, + 0.022617992013692856 + ], + [ + 0.42194950580596924, + -0.14402538537979126, + 0.029467832297086716 + ], + [ + 0.41656142473220825, + -0.13016104698181152, + 0.04732514172792435 + ], + [ + 0.4060927927494049, + -0.09672228246927261, + 0.08843062818050385 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9955216909891617, + 0.010453384923389977, + -0.09395365620199965, + 0.03034184979113802, + -0.9766160053431427, + 0.2128392592048154, + -0.08953175370410278, + -0.2147368269562676, + -0.97255959212144 + ], + [ + 0.9917569158150742, + 0.05144293138021632, + -0.1173535033306728, + 0.07799276384384957, + -0.9690211996576992, + 0.23433958991589732, + -0.10166291713781082, + -0.24156063301987718, + -0.9650456527305156 + ], + [ + 0.9908332335871504, + 0.09185174950564279, + -0.099059372761917, + 0.1118326654110777, + -0.9690572047844865, + 0.2200490599896578, + -0.07578230773924556, + -0.2291099953472801, + -0.9704461097174247 + ], + [ + 0.9930344473104753, + 0.10701386223245639, + -0.049301315853350035, + 0.11469538146010748, + -0.9737606953765137, + 0.1965580769430987, + -0.02697324464166994, + -0.20084357452988513, + -0.9792519096961513 + ], + [ + 0.9949927300265449, + 0.0996315826843387, + 0.007938194135755687, + 0.09702001270311059, + -0.9818811090663915, + 0.16277777733352056, + 0.024012170443577646, + -0.16119254136084188, + -0.986630822689126 + ], + [ + 0.9960355672158906, + 0.07776166561280014, + 0.04320037270721227, + 0.07095314018845535, + -0.9874012929139615, + 0.1414366948469684, + 0.053654456835536025, + -0.1378107764761527, + -0.9890042412187743 + ], + [ + 0.9934302832407594, + 0.0807734969182164, + 0.08106734568115376, + 0.07095616716924598, + -0.9905431513025472, + 0.11742864960591702, + 0.08978582672579682, + -0.11090494850646702, + -0.9897669411108573 + ], + [ + 0.9895663820975416, + 0.07327747445861009, + 0.12405155041090737, + 0.06208870124700651, + -0.9938418416317218, + 0.09177901175937334, + 0.13001295550768055, + -0.08311922496652, + -0.9880221788204567 + ], + [ + 0.9830756139082721, + 0.06694121901678385, + 0.1705321393034776, + 0.05723697239345718, + -0.9964827252376144, + 0.06120545150758689, + 0.17402949844812038, + -0.05040884346584363, + -0.9834493795668039 + ], + [ + 0.9663226665071794, + 0.06022123350329176, + 0.2501877439640002, + 0.054889425792919076, + -0.9980929865758884, + 0.028240769892947177, + 0.25141132657574866, + -0.013557034460558563, + -0.9677853851376641 + ], + [ + 0.9587964747826428, + 0.05952066268708426, + 0.27778878785449096, + 0.06204216503434714, + -0.9980734878786373, + -0.0002873179817132875, + 0.27723652303083707, + 0.017510097288767935, + -0.96064213252944 + ], + [ + 0.9459829234168778, + 0.056044835163377174, + 0.3193356933622785, + 0.06809256058664473, + -0.9973222249132835, + -0.026679259486950553, + 0.31698534949806656, + 0.04698250893181211, + -0.9472660302460237 + ], + [ + 0.9181684892979854, + 0.0434593173604068, + 0.3937993308714764, + 0.06480491005243744, + -0.9970527322492625, + -0.04106303383063513, + 0.3908541273843102, + 0.06322291395410241, + -0.9182787780722156 + ], + [ + 0.8935728007948237, + 0.053694062856063804, + 0.44569563302067833, + 0.08570800609275299, + -0.9949639611319653, + -0.05196973869660616, + 0.4406606260732841, + 0.08463842899415121, + -0.8936747445050146 + ], + [ + 0.8761234228335039, + 0.08744487428841749, + 0.4740898036481998, + 0.1193154346649036, + -0.992148087661309, + -0.037496655860662614, + 0.4670884017113151, + 0.08941792946993743, + -0.8796777017044816 + ], + [ + 0.8644985160386772, + 0.10710460254811446, + 0.4910915595690224, + 0.13990321077726983, + -0.9896974164609834, + -0.030432145252429647, + 0.48277262492930884, + 0.09501383037992203, + -0.8705762256433377 + ], + [ + 0.8675895416425561, + 0.13451052901650903, + 0.4787434645153479, + 0.16762044810815954, + -0.9854851413116053, + -0.026877902263107177, + 0.4681792099276505, + 0.10356618095567796, + -0.8775433171950981 + ], + [ + 0.8762418442445418, + 0.17256585606564573, + 0.4499124978429194, + 0.20489557005027537, + -0.9784957776360816, + -0.023744863068306435, + 0.4361399268224555, + 0.11299132032457522, + -0.8927569242311215 + ], + [ + 0.8869099476808888, + 0.1799205435910987, + 0.4254636796467671, + 0.2124851600906767, + -0.9767064267711403, + -0.0299100759810318, + 0.41017167313933667, + 0.11693226200598, + -0.904481091375736 + ], + [ + 0.8860981585704178, + 0.19305434709083583, + 0.42137877550660485, + 0.22991530317187528, + -0.9724707616470692, + -0.037941680365447476, + 0.4024537324283368, + 0.130501482025685, + -0.9060906998990776 + ], + [ + 0.8971221207922607, + 0.18525221696321736, + 0.4010654765688634, + 0.21098992878502748, + -0.977272197442383, + -0.02054998923174641, + 0.3881432085409784, + 0.10305662626124004, + -0.9158188584251613 + ], + [ + 0.914350133143186, + 0.14733937043644882, + 0.3771669974168323, + 0.16546492328943205, + -0.9860872198325575, + -0.015917099098751088, + 0.369574340534973, + 0.07696170997507792, + -0.9260084783714735 + ], + [ + 0.9272664365418771, + 0.12273853139344759, + 0.3537120418847916, + 0.13501227776475988, + -0.9907921161668898, + -0.010132492008762841, + 0.34921145530423287, + 0.05715098820594443, + -0.9352994836047883 + ], + [ + 0.9360736985348863, + 0.13968247794149152, + 0.32288517505042397, + 0.1326965890573083, + -0.990194384389341, + 0.04366573457952224, + 0.32581842514470244, + 0.0019714157192671014, + -0.9454303080377142 + ], + [ + 0.9228174331955363, + 0.1716694237329953, + 0.34487330129423327, + 0.14589081800175482, + -0.9842770491861604, + 0.09957188191534531, + 0.3565443229293948, + -0.04157282045478668, + -0.9333530127375459 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005568.json b/json/chunk-0005/episode_0005568.json new file mode 100644 index 0000000000000000000000000000000000000000..d909692913b944f3af9ad633d49bbc23250fa3f8 --- /dev/null +++ b/json/chunk-0005/episode_0005568.json @@ -0,0 +1,2782 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 45, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nUnnfold the cloth from top left to bottom right." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005568.mp4", + "start": 0, + "end": 45, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.41063299775123596, + 0.2233084887266159, + 0.02578749880194664, + 0.2823762893676758, + -0.11097679287195206, + -0.31731265783309937, + 0.0, + 1.0008161067962646 + ], + [ + 0.4090903401374817, + 0.22205489873886108, + 0.014061597175896168, + 0.2647513151168823, + -0.0985080748796463, + -0.31195464730262756, + 0.0, + 0.9974852800369263 + ], + [ + 0.40738850831985474, + 0.22205296158790588, + 0.012539488263428211, + 0.26367029547691345, + -0.09262990206480026, + -0.30558833479881287, + 0.0, + 0.9988223910331726 + ], + [ + 0.40723687410354614, + 0.22253495454788208, + 0.01518387719988823, + 0.28332093358039856, + -0.10408759862184525, + -0.30278193950653076, + 0.0, + 0.9988223910331726 + ], + [ + 0.4031905233860016, + 0.21419256925582886, + 0.020591221749782562, + 0.31326961517333984, + -0.05605459213256836, + -0.31961461901664734, + 0.0, + 0.9988223910331726 + ], + [ + 0.4103652834892273, + 0.20623961091041565, + 0.06079010292887688, + 0.4121209979057312, + -0.10641232132911682, + -0.3339270055294037, + 0.0, + 0.9988223910331726 + ], + [ + 0.41148170828819275, + 0.20723384618759155, + 0.07653576880693436, + 0.4531749486923218, + -0.1229085624217987, + -0.3364349603652954, + 0.0, + 0.9988223910331726 + ], + [ + 0.4020449221134186, + 0.18624649941921234, + 0.09648938477039337, + 0.4691152572631836, + -0.12868452072143555, + -0.31145983934402466, + 0.0, + 0.9988223910331726 + ], + [ + 0.37615323066711426, + 0.15434010326862335, + 0.09309748560190201, + 0.38019102811813354, + -0.11200413107872009, + -0.21140745282173157, + 0.0, + 0.9988223910331726 + ], + [ + 0.34155648946762085, + 0.13149060308933258, + 0.08105579018592834, + 0.27430620789527893, + -0.12172887474298477, + -0.1077665388584137, + 0.0, + 0.9988223910331726 + ], + [ + 0.3171759247779846, + 0.114485964179039, + 0.05575837567448616, + 0.18492265045642853, + -0.11029691994190216, + -0.04507051035761833, + 0.0, + 0.9988223910331726 + ], + [ + 0.2994549572467804, + 0.11508967727422714, + 0.03669532388448715, + 0.13002334535121918, + -0.10340339690446854, + -1.814755887608044e-05, + 0.0, + 0.9988223910331726 + ], + [ + 0.2994927763938904, + 0.10636799037456512, + 0.01916351355612278, + 0.10279729962348938, + -0.06143960729241371, + -0.016786878928542137, + 0.0, + 0.9988223910331726 + ], + [ + 0.3084602952003479, + 0.10316766798496246, + 0.016612153500318527, + 0.11937279999256134, + -0.05831574648618698, + -0.035134680569171906, + 0.0, + 0.9988223910331726 + ], + [ + 0.3096563518047333, + 0.10489240288734436, + 0.016785938292741776, + 0.13208673894405365, + -0.058055512607097626, + -0.04241318628191948, + 0.0, + 0.9515043497085571 + ], + [ + 0.3115440905094147, + 0.10650759935379028, + 0.014753730967640877, + 0.1387583613395691, + -0.044483933597803116, + -0.0524350181221962, + 0.0, + 0.6691625118255615 + ], + [ + 0.31644028425216675, + 0.10547561198472977, + 0.019125886261463165, + 0.15241947770118713, + -0.04874074086546898, + -0.06798871606588364, + 0.0, + 0.36865687370300293 + ], + [ + 0.3203430473804474, + 0.10610703378915787, + 0.021055901423096657, + 0.1554103046655655, + -0.05347208306193352, + -0.0748768225312233, + 0.0, + 0.15363699197769165 + ], + [ + 0.32008427381515503, + 0.10696204006671906, + 0.02037631720304489, + 0.1572156846523285, + -0.0485524982213974, + -0.08269307017326355, + 0.0, + 0.05868057906627655 + ], + [ + 0.3204820454120636, + 0.1085972785949707, + 0.022192370146512985, + 0.17126910388469696, + -0.040945976972579956, + -0.08329261094331741, + 0.0, + 0.05166913568973541 + ], + [ + 0.3203755021095276, + 0.10731932520866394, + 0.02183961495757103, + 0.16955707967281342, + -0.040162086486816406, + -0.08383412659168243, + 0.0, + 0.07175325602293015 + ], + [ + 0.3203809857368469, + 0.10643617063760757, + 0.02093087136745453, + 0.16849729418754578, + -0.0436251275241375, + -0.0855707898736, + 0.0, + 0.2142026573419571 + ], + [ + 0.3184318542480469, + 0.10592564195394516, + 0.01956009492278099, + 0.16318564116954803, + -0.038526296615600586, + -0.08397194743156433, + 0.0, + 0.464354008436203 + ], + [ + 0.31652557849884033, + 0.10412932932376862, + 0.016972823068499565, + 0.15483766794204712, + -0.03896579518914223, + -0.08395834267139435, + 0.0, + 0.7691487669944763 + ], + [ + 0.3162781894207001, + 0.10404118150472641, + 0.015936536714434624, + 0.14686319231987, + -0.045058026909828186, + -0.08307275176048279, + 0.0, + 0.993436336517334 + ], + [ + 0.31589555740356445, + 0.10634192079305649, + 0.015884259715676308, + 0.1434798240661621, + -0.048499587923288345, + -0.07776983082294464, + 0.0, + 0.9545519351959229 + ], + [ + 0.3160838484764099, + 0.10618770122528076, + 0.015817120671272278, + 0.13954855501651764, + -0.051144398748874664, + -0.0753447487950325, + 0.0, + 0.6731748580932617 + ], + [ + 0.3174101710319519, + 0.10533152520656586, + 0.014795108698308468, + 0.13466764986515045, + -0.058063991367816925, + -0.08090812712907791, + 0.0, + 0.3703518807888031 + ], + [ + 0.3168848752975464, + 0.10875758528709412, + 0.010477826930582523, + 0.12405344843864441, + -0.0587335005402565, + -0.07087904959917068, + 0.0, + 0.16654326021671295 + ], + [ + 0.3177350163459778, + 0.10818825662136078, + 0.010204908438026905, + 0.12145891785621643, + -0.0657150000333786, + -0.07206224650144577, + 0.0, + 0.07238461822271347 + ], + [ + 0.31636348366737366, + 0.10701829195022583, + 0.013584544882178307, + 0.14981824159622192, + -0.04769275709986687, + -0.07538653910160065, + 0.0, + 0.0609428733587265 + ], + [ + 0.32040250301361084, + 0.0936570018529892, + 0.03670259937644005, + 0.2111363708972931, + -0.07656791061162949, + -0.0964929610490799, + 0.0, + 0.05896064639091492 + ], + [ + 0.31378477811813354, + 0.07306928932666779, + 0.05259883031249046, + 0.2502683699131012, + -0.10077329725027084, + -0.09448432177305222, + 0.0, + 0.05868057906627655 + ], + [ + 0.30225542187690735, + 0.052886903285980225, + 0.0520627535879612, + 0.23645906150341034, + -0.09808946400880814, + -0.07804885506629944, + 0.0, + 0.05868057906627655 + ], + [ + 0.28484100103378296, + 0.030316893011331558, + 0.04411645606160164, + 0.1799858957529068, + -0.08020288497209549, + -0.04318060353398323, + 0.0, + 0.05868057906627655 + ], + [ + 0.26916706562042236, + 0.010408633388578892, + 0.04405089095234871, + 0.12944015860557556, + -0.09595466405153275, + 0.005621348973363638, + 0.0, + 0.058401256799697876 + ], + [ + 0.26087430119514465, + -0.0038432113360613585, + 0.040239110589027405, + 0.09122582525014877, + -0.10344355553388596, + 0.03387873247265816, + 0.0, + 0.058401256799697876 + ], + [ + 0.2577376663684845, + -0.011090208776295185, + 0.033500976860523224, + 0.04235241934657097, + -0.1144910454750061, + 0.03509083762764931, + 0.0, + 0.058401256799697876 + ], + [ + 0.25825804471969604, + -0.017457686364650726, + 0.021502884104847908, + -0.009868706576526165, + -0.11616590619087219, + 0.017447637394070625, + 0.0, + 0.058401256799697876 + ], + [ + 0.2581261992454529, + -0.023217665031552315, + 0.009602777659893036, + -0.07159115374088287, + -0.11837375164031982, + 0.03215758502483368, + 0.0, + 0.058401256799697876 + ], + [ + 0.25714942812919617, + -0.026628335937857628, + 0.007040954194962978, + -0.09714805334806442, + -0.12960776686668396, + 0.05156242474913597, + 0.0, + 0.07755524665117264 + ], + [ + 0.25595760345458984, + -0.02695256471633911, + 0.0055432505905628204, + -0.08522997051477432, + -0.13064804673194885, + 0.04642576724290848, + 0.0, + 0.23004336655139923 + ], + [ + 0.25312626361846924, + -0.030139781534671783, + 0.005092492792755365, + -0.07088027894496918, + -0.11655452847480774, + 0.029752839356660843, + 0.0, + 0.49086472392082214 + ], + [ + 0.24905240535736084, + -0.03714263439178467, + 0.0075835539028048515, + -0.0691039189696312, + -0.10309534519910812, + 0.03981945291161537, + 0.0, + 0.7960459589958191 + ], + [ + 0.2452683299779892, + -0.04371482878923416, + 0.0067140948958694935, + -0.07080060243606567, + -0.0957077369093895, + 0.05427221208810806, + 0.0, + 1.002137303352356 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 0.9974852800369263 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9515043497085571 + ], + [ + 0.6691625118255615 + ], + [ + 0.36865687370300293 + ], + [ + 0.15363699197769165 + ], + [ + 0.05868057906627655 + ], + [ + 0.05166913568973541 + ], + [ + 0.07175325602293015 + ], + [ + 0.2142026573419571 + ], + [ + 0.464354008436203 + ], + [ + 0.7691487669944763 + ], + [ + 0.993436336517334 + ], + [ + 0.9545519351959229 + ], + [ + 0.6731748580932617 + ], + [ + 0.3703518807888031 + ], + [ + 0.16654326021671295 + ], + [ + 0.07238461822271347 + ], + [ + 0.0609428733587265 + ], + [ + 0.05896064639091492 + ], + [ + 0.05868057906627655 + ], + [ + 0.05868057906627655 + ], + [ + 0.05868057906627655 + ], + [ + 0.058401256799697876 + ], + [ + 0.058401256799697876 + ], + [ + 0.058401256799697876 + ], + [ + 0.058401256799697876 + ], + [ + 0.058401256799697876 + ], + [ + 0.07755524665117264 + ], + [ + 0.23004336655139923 + ], + [ + 0.49086472392082214 + ], + [ + 0.7960459589958191 + ], + [ + 1.002137303352356 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.41063299775123596, + 0.2233084887266159, + 0.02578749880194664 + ], + [ + 0.4090903401374817, + 0.22205489873886108, + 0.014061597175896168 + ], + [ + 0.40738850831985474, + 0.22205296158790588, + 0.012539488263428211 + ], + [ + 0.40723687410354614, + 0.22253495454788208, + 0.01518387719988823 + ], + [ + 0.4031905233860016, + 0.21419256925582886, + 0.020591221749782562 + ], + [ + 0.4103652834892273, + 0.20623961091041565, + 0.06079010292887688 + ], + [ + 0.41148170828819275, + 0.20723384618759155, + 0.07653576880693436 + ], + [ + 0.4020449221134186, + 0.18624649941921234, + 0.09648938477039337 + ], + [ + 0.37615323066711426, + 0.15434010326862335, + 0.09309748560190201 + ], + [ + 0.34155648946762085, + 0.13149060308933258, + 0.08105579018592834 + ], + [ + 0.3171759247779846, + 0.114485964179039, + 0.05575837567448616 + ], + [ + 0.2994549572467804, + 0.11508967727422714, + 0.03669532388448715 + ], + [ + 0.2994927763938904, + 0.10636799037456512, + 0.01916351355612278 + ], + [ + 0.3084602952003479, + 0.10316766798496246, + 0.016612153500318527 + ], + [ + 0.3096563518047333, + 0.10489240288734436, + 0.016785938292741776 + ], + [ + 0.3115440905094147, + 0.10650759935379028, + 0.014753730967640877 + ], + [ + 0.31644028425216675, + 0.10547561198472977, + 0.019125886261463165 + ], + [ + 0.3203430473804474, + 0.10610703378915787, + 0.021055901423096657 + ], + [ + 0.32008427381515503, + 0.10696204006671906, + 0.02037631720304489 + ], + [ + 0.3204820454120636, + 0.1085972785949707, + 0.022192370146512985 + ], + [ + 0.3203755021095276, + 0.10731932520866394, + 0.02183961495757103 + ], + [ + 0.3203809857368469, + 0.10643617063760757, + 0.02093087136745453 + ], + [ + 0.3184318542480469, + 0.10592564195394516, + 0.01956009492278099 + ], + [ + 0.31652557849884033, + 0.10412932932376862, + 0.016972823068499565 + ], + [ + 0.3162781894207001, + 0.10404118150472641, + 0.015936536714434624 + ], + [ + 0.31589555740356445, + 0.10634192079305649, + 0.015884259715676308 + ], + [ + 0.3160838484764099, + 0.10618770122528076, + 0.015817120671272278 + ], + [ + 0.3174101710319519, + 0.10533152520656586, + 0.014795108698308468 + ], + [ + 0.3168848752975464, + 0.10875758528709412, + 0.010477826930582523 + ], + [ + 0.3177350163459778, + 0.10818825662136078, + 0.010204908438026905 + ], + [ + 0.31636348366737366, + 0.10701829195022583, + 0.013584544882178307 + ], + [ + 0.32040250301361084, + 0.0936570018529892, + 0.03670259937644005 + ], + [ + 0.31378477811813354, + 0.07306928932666779, + 0.05259883031249046 + ], + [ + 0.30225542187690735, + 0.052886903285980225, + 0.0520627535879612 + ], + [ + 0.28484100103378296, + 0.030316893011331558, + 0.04411645606160164 + ], + [ + 0.26916706562042236, + 0.010408633388578892, + 0.04405089095234871 + ], + [ + 0.26087430119514465, + -0.0038432113360613585, + 0.040239110589027405 + ], + [ + 0.2577376663684845, + -0.011090208776295185, + 0.033500976860523224 + ], + [ + 0.25825804471969604, + -0.017457686364650726, + 0.021502884104847908 + ], + [ + 0.2581261992454529, + -0.023217665031552315, + 0.009602777659893036 + ], + [ + 0.25714942812919617, + -0.026628335937857628, + 0.007040954194962978 + ], + [ + 0.25595760345458984, + -0.02695256471633911, + 0.0055432505905628204 + ], + [ + 0.25312626361846924, + -0.030139781534671783, + 0.005092492792755365 + ], + [ + 0.24905240535736084, + -0.03714263439178467, + 0.0075835539028048515 + ], + [ + 0.2452683299779892, + -0.04371482878923416, + 0.0067140948958694935 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.944232835178658, + -0.2703390693296143, + 0.18799239496445422, + -0.3100951168656219, + -0.922078949181121, + 0.23154142172219652, + 0.11074913754323182, + -0.27692453678039747, + -0.9544880457409577 + ], + [ + 0.9471214571626113, + -0.27173293187462894, + 0.17065215825471075, + -0.3054315834321956, + -0.9264732578291525, + 0.21990645822608137, + 0.0983488343818792, + -0.2604006840664129, + -0.9604785216304791 + ], + [ + 0.9495816519299061, + -0.2674664091717701, + 0.16357385574360528, + -0.29956451727855493, + -0.9279639526013226, + 0.22168446643866713, + 0.09249749351056447, + -0.25950842498325444, + -0.9613009887943389 + ], + [ + 0.9493446475484398, + -0.25856564629796314, + 0.1785736451037643, + -0.29656294836045877, + -0.9251170700480418, + 0.23708400276163408, + 0.10389974894522327, + -0.27803275573256336, + -0.954935929216655 + ], + [ + 0.947865471197574, + -0.2825179374710641, + 0.14742680732654193, + -0.31370722146749425, + -0.9085771771725151, + 0.27581749821280205, + 0.05602524172679599, + -0.3076867370042467, + -0.9498368513387623 + ], + [ + 0.9394185309652653, + -0.26012028603941106, + 0.22322692595168314, + -0.3259017002721053, + -0.8796045486706314, + 0.3465312680230831, + 0.1062116068930985, + -0.3982879294539442, + -0.9110904564380401 + ], + [ + 0.9368167343934337, + -0.24613435480886317, + 0.2485805413608383, + -0.32763364802752115, + -0.8663779667375946, + 0.3768891235254871, + 0.12259934274130992, + -0.4345193875242578, + -0.8922792741204644 + ], + [ + 0.9440166027436714, + -0.21811639945681952, + 0.2475033131743698, + -0.30391471540094417, + -0.8668329117867586, + 0.39526769259079636, + 0.1283296517062995, + -0.44835916331807285, + -0.8845934439965385 + ], + [ + 0.9716101412529125, + -0.15429840109568568, + 0.1793480884587593, + -0.2085214107801928, + -0.9166235726600834, + 0.34105724928537035, + 0.11177009734599927, + -0.3687725985796397, + -0.9227752791856132 + ], + [ + 0.9868419167892656, + -0.07083520727642485, + 0.14534581066475113, + -0.10676215673856705, + -0.9605669018190354, + 0.25673540663163086, + 0.12142846929866734, + -0.26887469300751443, + -0.955490202097278 + ], + [ + 0.992914125994412, + -0.024068379927430064, + 0.11637117980162257, + -0.044781472802084166, + -0.9828641709615109, + 0.17880895149241732, + 0.11007342138058979, + -0.1827532066143036, + -0.9769775367825815 + ], + [ + 0.994658630412968, + 0.013365130843449627, + 0.10235029175599238, + -1.8050626059001873e-05, + -0.9915591097977717, + 0.1296554335584359, + 0.10321922601518667, + -0.12896474345567688, + -0.986262584875974 + ], + [ + 0.9979725504768494, + -0.01039762235096688, + 0.06279074728157683, + -0.016754418202894087, + -0.9946866210469999, + 0.10157664781230143, + 0.06140096062289828, + -0.10242272872535892, + -0.9928441502446578 + ], + [ + 0.9976840083735193, + -0.02794089511934139, + 0.06201552882687697, + -0.035067739871980946, + -0.9925145713035298, + 0.11698324397297845, + 0.058282699457200174, + -0.11888705619242275, + -0.9911957399090662 + ], + [ + 0.9974174627428981, + -0.0343962124309355, + 0.06305002447204952, + -0.0423290372891116, + -0.9907217672150496, + 0.12914578029679014, + 0.05802290597425369, + -0.13148110334453295, + -0.9896191498983878 + ], + [ + 0.9976377119744261, + -0.04576499836592567, + 0.05123046526237211, + -0.052359146260151444, + -0.9893496687585418, + 0.13581514175625656, + 0.044469264097130784, + -0.13817669069684227, + -0.9894087561259649 + ], + [ + 0.9965048063849206, + -0.05976845057837214, + 0.058360116237138035, + -0.06785566806859865, + -0.9866256148603456, + 0.14820763952107416, + 0.04872144458773506, + -0.15164968980154622, + -0.9872327954542326 + ], + [ + 0.9957727537906411, + -0.06565573284790663, + 0.06423353915523689, + -0.07469995469938465, + -0.9857987730355745, + 0.15040178140389654, + 0.05344660490726158, + -0.15456423850865347, + -0.9865360391785629 + ], + [ + 0.9954084618347272, + -0.07400731423719077, + 0.060703472283062616, + -0.08250151999070428, + -0.9849197214533352, + 0.15207446035251418, + 0.048533424637524546, + -0.15638433339590854, + -0.9865031408775501 + ], + [ + 0.9956979118657242, + -0.07502670127152561, + 0.05437520025296258, + -0.08312660243435274, + -0.9825335882451429, + 0.1664863836409604, + 0.04093453644488458, + -0.17029017019909648, + -0.9845433569221851 + ], + [ + 0.9956844211125301, + -0.07578358805332658, + 0.05356660653400902, + -0.08366843745014255, + -0.9827652869908038, + 0.1648392649235446, + 0.04015129049553978, + -0.16860972234022162, + -0.9848647802637152 + ], + [ + 0.995393109698764, + -0.07696911128413464, + 0.05716916190005127, + -0.0853850832128612, + -0.9828558295639325, + 0.16341299170178114, + 0.0436112913011819, + -0.16754155962125972, + -0.9848999345470172 + ], + [ + 0.9957369959073809, + -0.0765235435605787, + 0.05149740053902417, + -0.08381105931239183, + -0.9837628222406839, + 0.158702287047097, + 0.03851676671631735, + -0.16234179023891737, + -0.9859825565514554 + ], + [ + 0.9957211714411688, + -0.07686987976745349, + 0.05128713609048038, + -0.0837960848654847, + -0.9850600974382103, + 0.15044873078972687, + 0.03895593542764308, + -0.15410264767212944, + -0.98728658912972 + ], + [ + 0.9955400017921199, + -0.0755153421236182, + 0.05654677652791917, + -0.08289301906547951, + -0.9863704718649918, + 0.1421338792232281, + 0.045042782129388774, + -0.1461872954014337, + -0.9882309560225575 + ], + [ + 0.995805130213033, + -0.06998194563642698, + 0.05894633089807106, + -0.07760010522988717, + -0.987271493676664, + 0.13882802830033783, + 0.04848057662317091, + -0.1428199042794426, + -0.9885606246618848 + ], + [ + 0.9958590469579863, + -0.06745103085622725, + 0.06095175984631859, + -0.07517505562650506, + -0.9880046587702492, + 0.134890715988296, + 0.051122104842063046, + -0.13891419180456527, + -0.988984012869673 + ], + [ + 0.9950489954749481, + -0.0723222800980731, + 0.06816879348875482, + -0.08068368266376669, + -0.988334044169082, + 0.12917414790970927, + 0.05803137044831213, + -0.1340347154203071, + -0.9892760257410911 + ], + [ + 0.9957691448721915, + -0.06303047894839225, + 0.06686530373849123, + -0.07069760141781567, + -0.9903380415912826, + 0.1192996753177089, + 0.05869973828112079, + -0.1235221522670301, + -0.9906041684876197 + ], + [ + 0.9952517880258615, + -0.06353378121697506, + 0.07373830127958798, + -0.07184448477662966, + -0.9906295441587567, + 0.11615281420178544, + 0.06566771229840714, + -0.12089898628229853, + -0.9904903768726914 + ], + [ + 0.9960259259420358, + -0.06737585427760663, + 0.0582481683117405, + -0.07522951447999791, + -0.9865257502058814, + 0.14528408148116806, + 0.04767467883912714, + -0.14908869320336005, + -0.9876738766194539 + ], + [ + 0.9924319040368976, + -0.07824765434590489, + 0.09463730997371984, + -0.0960610161870549, + -0.9747893177203, + 0.2013903354868415, + 0.07649311746038671, + -0.20895715026712053, + -0.9749285678107067 + ], + [ + 0.9904889717543357, + -0.06660005274532334, + 0.12039945933167051, + -0.09386516552549164, + -0.9668752655707055, + 0.23736375361130715, + 0.1006028207055373, + -0.2464074954255601, + -0.9639307125847748 + ], + [ + 0.9921634520307169, + -0.05292808938645721, + 0.11318260382404371, + -0.07759484502731415, + -0.9710027808391388, + 0.2261252741907601, + 0.09793224433085529, + -0.23313561923601148, + -0.9675004178623197 + ], + [ + 0.9958563312670617, + -0.028141053733058977, + 0.08647686725420266, + -0.04302842383295423, + -0.9835482497878926, + 0.1754462740602512, + 0.08011692840941644, + -0.17844024611607723, + -0.9806836168450425 + ], + [ + 0.9953841553432763, + 0.017940832560150444, + 0.09427889381298901, + 0.005595460637904889, + -0.9915491279507221, + 0.12961102453268356, + 0.09580748463351843, + -0.12848522633832613, + -0.9870726784289935 + ], + [ + 0.9940837226772139, + 0.0431328496130246, + 0.09968505200115224, + 0.033691187377110667, + -0.9949517351351076, + 0.09453014675096742, + 0.10325917005928645, + -0.0906123724217572, + -0.9905185216656821 + ], + [ + 0.9928414666596163, + 0.039886138031556016, + 0.11258293864573451, + 0.034853945869339494, + -0.9983185046792008, + 0.046318092279596684, + 0.11424108078322226, + -0.042062563022380636, + -0.9925621976750219 + ], + [ + 0.9931091449469498, + 0.01630226464676655, + 0.11605370476691214, + 0.017329166738063357, + -0.9998190617634487, + -0.007844980218082841, + 0.1159048152705625, + 0.009802035596981784, + -0.9932119581918316 + ], + [ + 0.992488612173086, + 0.023626535515354628, + 0.12003391823265154, + 0.03192704305201327, + -0.9971943663478652, + -0.06770568400093209, + 0.11809749628462103, + 0.07102944842543034, + -0.9904583781399815 + ], + [ + 0.9902947640870857, + 0.038777043593765104, + 0.13346393187610908, + 0.051107299996901404, + -0.994608166781974, + -0.0902365694030316, + 0.1292452092293179, + 0.09618178341416142, + -0.9869370498823831 + ], + [ + 0.990409376799447, + 0.03516254104593447, + 0.1336146027009164, + 0.046013578437657854, + -0.9958112316556792, + -0.07901102143220609, + 0.1302766937985927, + 0.08440134249875411, + -0.9878787356944755 + ], + [ + 0.9927756268534547, + 0.021441573034265964, + 0.11805428273275959, + 0.029546612787841757, + -0.9972925758027034, + -0.06733881437606687, + 0.11629080960460911, + 0.07034043783361946, + -0.9907212879548309 + ], + [ + 0.9939018994542851, + 0.032613530691631795, + 0.10533457113877687, + 0.03959756057993637, + -0.9971053595328605, + -0.06490712739725088, + 0.1029128148350939, + 0.06868230927007826, + -0.9923163270530455 + ], + [ + 0.9939578727895662, + 0.047359450205631856, + 0.09901933950426553, + 0.05399731877365341, + -0.996392707387079, + -0.06546649701261967, + 0.09556169046692917, + 0.07041771894961638, + -0.9929296592271961 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0015426576137542725, + -0.0012535899877548218, + -0.011725901626050472, + -0.017624974250793457, + 0.012468717992305756, + 0.005358010530471802, + 1.0 + ], + [ + -0.0017018318176269531, + -1.9371509552001953e-06, + -0.0015221089124679565, + -0.001081019639968872, + 0.005878172814846039, + 0.006366312503814697, + 1.0 + ], + [ + -0.00015163421630859375, + 0.0004819929599761963, + 0.002644388936460018, + 0.019650638103485107, + -0.011457696557044983, + 0.0028063952922821045, + 1.0 + ], + [ + -0.004046350717544556, + -0.008342385292053223, + 0.005407344549894333, + 0.029948681592941284, + 0.048033006489276886, + -0.016832679510116577, + 1.0 + ], + [ + 0.007174760103225708, + -0.007952958345413208, + 0.040198881179094315, + 0.09885138273239136, + -0.05035772919654846, + -0.014312386512756348, + 1.0 + ], + [ + 0.001116424798965454, + 0.0009942352771759033, + 0.01574566587805748, + 0.041053950786590576, + -0.016496241092681885, + -0.0025079548358917236, + 1.0 + ], + [ + -0.00943678617477417, + -0.02098734676837921, + 0.019953615963459015, + 0.015940308570861816, + -0.005775958299636841, + 0.024975121021270752, + 1.0 + ], + [ + -0.02589169144630432, + -0.03190639615058899, + -0.0033918991684913635, + -0.08892422914505005, + 0.016680389642715454, + 0.10005238652229309, + 1.0 + ], + [ + -0.03459674119949341, + -0.02284950017929077, + -0.012041695415973663, + -0.10588482022285461, + -0.009724743664264679, + 0.10364091396331787, + 1.0 + ], + [ + -0.02438056468963623, + -0.01700463891029358, + -0.025297414511442184, + -0.0893835574388504, + 0.011431954801082611, + 0.06269602477550507, + 1.0 + ], + [ + -0.017720967531204224, + 0.0006037130951881409, + -0.019063051789999008, + -0.05489930510520935, + 0.006893523037433624, + 0.045052364468574524, + 1.0 + ], + [ + 3.781914710998535e-05, + -0.008721686899662018, + -0.017531810328364372, + -0.027226045727729797, + 0.041963789612054825, + -0.01676873117685318, + 1.0 + ], + [ + 0.00896751880645752, + -0.003200322389602661, + -0.0025513600558042526, + 0.01657550036907196, + 0.0031238608062267303, + -0.01834780164062977, + 1.0 + ], + [ + 0.001196056604385376, + 0.001724734902381897, + 0.0001737847924232483, + 0.01271393895149231, + 0.00026023387908935547, + -0.007278505712747574, + 0.0 + ], + [ + 0.0018877387046813965, + 0.0016151964664459229, + -0.0020322073251008987, + 0.006671622395515442, + 0.01357157900929451, + -0.010021831840276718, + 0.0 + ], + [ + 0.004896193742752075, + -0.0010319873690605164, + 0.0043721552938222885, + 0.013661116361618042, + -0.004256807267665863, + -0.015553697943687439, + 0.0 + ], + [ + 0.0039027631282806396, + 0.0006314218044281006, + 0.0019300151616334915, + 0.002990826964378357, + -0.004731342196464539, + -0.006888106465339661, + 0.0 + ], + [ + -0.0002587735652923584, + 0.0008550062775611877, + -0.0006795842200517654, + 0.0018053799867630005, + 0.0049195848405361176, + -0.007816247642040253, + 0.0 + ], + [ + 0.00039777159690856934, + 0.001635238528251648, + 0.0018160529434680939, + 0.01405341923236847, + 0.007606521248817444, + -0.0005995407700538635, + 0.0 + ], + [ + -0.00010654330253601074, + -0.0012779533863067627, + -0.00035275518894195557, + -0.001712024211883545, + 0.0007838904857635498, + -0.0005415156483650208, + 1.0 + ], + [ + 5.4836273193359375e-06, + -0.000883154571056366, + -0.0009087435901165009, + -0.0010597854852676392, + -0.0034630410373210907, + -0.001736663281917572, + 1.0 + ], + [ + -0.0019491314888000488, + -0.0005105286836624146, + -0.0013707764446735382, + -0.005311653017997742, + 0.005098830908536911, + 0.001598842442035675, + 1.0 + ], + [ + -0.001906275749206543, + -0.0017963126301765442, + -0.0025872718542814255, + -0.008347973227500916, + -0.00043949857354164124, + 1.360476016998291e-05, + 1.0 + ], + [ + -0.0002473890781402588, + -8.814781904220581e-05, + -0.0010362863540649414, + -0.007974475622177124, + -0.006092231720685959, + 0.0008855909109115601, + 1.0 + ], + [ + -0.0003826320171356201, + 0.002300739288330078, + -5.227699875831604e-05, + -0.0033833682537078857, + -0.0034415610134601593, + 0.005302920937538147, + 0.0 + ], + [ + 0.00018829107284545898, + -0.00015421956777572632, + -6.713904440402985e-05, + -0.00393126904964447, + -0.002644810825586319, + 0.00242508202791214, + 0.0 + ], + [ + 0.0013263225555419922, + -0.0008561760187149048, + -0.00102201197296381, + -0.0048809051513671875, + -0.006919592618942261, + -0.00556337833404541, + 0.0 + ], + [ + -0.0005252957344055176, + 0.0034260600805282593, + -0.0043172817677259445, + -0.010614201426506042, + -0.0006695091724395752, + 0.010029077529907227, + 0.0 + ], + [ + 0.0008501410484313965, + -0.0005693286657333374, + -0.0002729184925556183, + -0.0025945305824279785, + -0.006981499493122101, + -0.0011831969022750854, + 0.0 + ], + [ + -0.001371532678604126, + -0.0011699646711349487, + 0.0033796364441514015, + 0.028359323740005493, + 0.018022242933511734, + -0.0033242926001548767, + 0.0 + ], + [ + 0.004039019346237183, + -0.013361290097236633, + 0.02311805449426174, + 0.06131812930107117, + -0.02887515351176262, + -0.021106421947479248, + 0.0 + ], + [ + -0.006617724895477295, + -0.02058771252632141, + 0.015896230936050415, + 0.039131999015808105, + -0.024205386638641357, + 0.0020086392760276794, + 0.0 + ], + [ + -0.011529356241226196, + -0.02018238604068756, + -0.0005360767245292664, + -0.013809308409690857, + 0.0026838332414627075, + 0.016435466706752777, + 0.0 + ], + [ + -0.01741442084312439, + -0.022570010274648666, + -0.007946297526359558, + -0.05647316575050354, + 0.017886579036712646, + 0.03486825153231621, + 0.0 + ], + [ + -0.015673935413360596, + -0.01990826055407524, + -6.556510925292969e-05, + -0.05054573714733124, + -0.015751779079437256, + 0.04880195111036301, + 0.0 + ], + [ + -0.00829276442527771, + -0.014251844957470894, + -0.0038117803633213043, + -0.03821433335542679, + -0.0074888914823532104, + 0.028257383033633232, + 0.0 + ], + [ + -0.0031366348266601562, + -0.007246997207403183, + -0.006738133728504181, + -0.048873405903577805, + -0.011047489941120148, + 0.00121210515499115, + 0.0 + ], + [ + 0.0005203783512115479, + -0.006367477588355541, + -0.011998092755675316, + -0.05222112685441971, + -0.0016748607158660889, + -0.017643200233578682, + 0.0 + ], + [ + -0.00013184547424316406, + -0.0057599786669015884, + -0.011900106444954872, + -0.061722446233034134, + -0.002207845449447632, + 0.014709947630763054, + 0.0 + ], + [ + -0.0009767711162567139, + -0.003410670906305313, + -0.0025618234649300575, + -0.02555689960718155, + -0.011234015226364136, + 0.019404839724302292, + 1.0 + ], + [ + -0.0011918246746063232, + -0.00032422877848148346, + -0.001497703604400158, + 0.0119180828332901, + -0.0010402798652648926, + -0.005136657506227493, + 1.0 + ], + [ + -0.0028313398361206055, + -0.003187216818332672, + -0.00045075779780745506, + 0.014349691569805145, + 0.014093518257141113, + -0.016672927886247635, + 1.0 + ], + [ + -0.0040738582611083984, + -0.0070028528571128845, + 0.002491061110049486, + 0.0017763599753379822, + 0.013459183275699615, + 0.010066613554954529, + 1.0 + ], + [ + -0.003784075379371643, + -0.006572194397449493, + -0.000869459006935358, + -0.0016966834664344788, + 0.007387608289718628, + 0.014452759176492691, + 1.0 + ], + [ + -0.004575774073600769, + -0.009685765951871872, + 0.004425637889653444, + 0.003911241888999939, + -0.006977453827857971, + 0.006979022175073624, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9974852800369263 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9515043497085571 + ], + [ + 0.6691625118255615 + ], + [ + 0.36865687370300293 + ], + [ + 0.15363699197769165 + ], + [ + 0.05868057906627655 + ], + [ + 0.05166913568973541 + ], + [ + 0.07175325602293015 + ], + [ + 0.2142026573419571 + ], + [ + 0.464354008436203 + ], + [ + 0.7691487669944763 + ], + [ + 0.993436336517334 + ], + [ + 0.9545519351959229 + ], + [ + 0.6731748580932617 + ], + [ + 0.3703518807888031 + ], + [ + 0.16654326021671295 + ], + [ + 0.07238461822271347 + ], + [ + 0.0609428733587265 + ], + [ + 0.05896064639091492 + ], + [ + 0.05868057906627655 + ], + [ + 0.05868057906627655 + ], + [ + 0.05868057906627655 + ], + [ + 0.058401256799697876 + ], + [ + 0.058401256799697876 + ], + [ + 0.058401256799697876 + ], + [ + 0.058401256799697876 + ], + [ + 0.058401256799697876 + ], + [ + 0.07755524665117264 + ], + [ + 0.23004336655139923 + ], + [ + 0.49086472392082214 + ], + [ + 0.7960459589958191 + ], + [ + 1.002137303352356 + ], + [ + 1.003452181816101 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.4090903401374817, + 0.22205489873886108, + 0.014061597175896168 + ], + [ + 0.40738850831985474, + 0.22205296158790588, + 0.012539488263428211 + ], + [ + 0.40723687410354614, + 0.22253495454788208, + 0.01518387719988823 + ], + [ + 0.4031905233860016, + 0.21419256925582886, + 0.020591221749782562 + ], + [ + 0.4103652834892273, + 0.20623961091041565, + 0.06079010292887688 + ], + [ + 0.41148170828819275, + 0.20723384618759155, + 0.07653576880693436 + ], + [ + 0.4020449221134186, + 0.18624649941921234, + 0.09648938477039337 + ], + [ + 0.37615323066711426, + 0.15434010326862335, + 0.09309748560190201 + ], + [ + 0.34155648946762085, + 0.13149060308933258, + 0.08105579018592834 + ], + [ + 0.3171759247779846, + 0.114485964179039, + 0.05575837567448616 + ], + [ + 0.2994549572467804, + 0.11508967727422714, + 0.03669532388448715 + ], + [ + 0.2994927763938904, + 0.10636799037456512, + 0.01916351355612278 + ], + [ + 0.3084602952003479, + 0.10316766798496246, + 0.016612153500318527 + ], + [ + 0.3096563518047333, + 0.10489240288734436, + 0.016785938292741776 + ], + [ + 0.3115440905094147, + 0.10650759935379028, + 0.014753730967640877 + ], + [ + 0.31644028425216675, + 0.10547561198472977, + 0.019125886261463165 + ], + [ + 0.3203430473804474, + 0.10610703378915787, + 0.021055901423096657 + ], + [ + 0.32008427381515503, + 0.10696204006671906, + 0.02037631720304489 + ], + [ + 0.3204820454120636, + 0.1085972785949707, + 0.022192370146512985 + ], + [ + 0.3203755021095276, + 0.10731932520866394, + 0.02183961495757103 + ], + [ + 0.3203809857368469, + 0.10643617063760757, + 0.02093087136745453 + ], + [ + 0.3184318542480469, + 0.10592564195394516, + 0.01956009492278099 + ], + [ + 0.31652557849884033, + 0.10412932932376862, + 0.016972823068499565 + ], + [ + 0.3162781894207001, + 0.10404118150472641, + 0.015936536714434624 + ], + [ + 0.31589555740356445, + 0.10634192079305649, + 0.015884259715676308 + ], + [ + 0.3160838484764099, + 0.10618770122528076, + 0.015817120671272278 + ], + [ + 0.3174101710319519, + 0.10533152520656586, + 0.014795108698308468 + ], + [ + 0.3168848752975464, + 0.10875758528709412, + 0.010477826930582523 + ], + [ + 0.3177350163459778, + 0.10818825662136078, + 0.010204908438026905 + ], + [ + 0.31636348366737366, + 0.10701829195022583, + 0.013584544882178307 + ], + [ + 0.32040250301361084, + 0.0936570018529892, + 0.03670259937644005 + ], + [ + 0.31378477811813354, + 0.07306928932666779, + 0.05259883031249046 + ], + [ + 0.30225542187690735, + 0.052886903285980225, + 0.0520627535879612 + ], + [ + 0.28484100103378296, + 0.030316893011331558, + 0.04411645606160164 + ], + [ + 0.26916706562042236, + 0.010408633388578892, + 0.04405089095234871 + ], + [ + 0.26087430119514465, + -0.0038432113360613585, + 0.040239110589027405 + ], + [ + 0.2577376663684845, + -0.011090208776295185, + 0.033500976860523224 + ], + [ + 0.25825804471969604, + -0.017457686364650726, + 0.021502884104847908 + ], + [ + 0.2581261992454529, + -0.023217665031552315, + 0.009602777659893036 + ], + [ + 0.25714942812919617, + -0.026628335937857628, + 0.007040954194962978 + ], + [ + 0.25595760345458984, + -0.02695256471633911, + 0.0055432505905628204 + ], + [ + 0.25312626361846924, + -0.030139781534671783, + 0.005092492792755365 + ], + [ + 0.24905240535736084, + -0.03714263439178467, + 0.0075835539028048515 + ], + [ + 0.2452683299779892, + -0.04371482878923416, + 0.0067140948958694935 + ], + [ + 0.24069255590438843, + -0.05340059474110603, + 0.011139732785522938 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9471214571626113, + -0.27173293187462894, + 0.17065215825471075, + -0.3054315834321956, + -0.9264732578291525, + 0.21990645822608137, + 0.0983488343818792, + -0.2604006840664129, + -0.9604785216304791 + ], + [ + 0.9495816519299061, + -0.2674664091717701, + 0.16357385574360528, + -0.29956451727855493, + -0.9279639526013226, + 0.22168446643866713, + 0.09249749351056447, + -0.25950842498325444, + -0.9613009887943389 + ], + [ + 0.9493446475484398, + -0.25856564629796314, + 0.1785736451037643, + -0.29656294836045877, + -0.9251170700480418, + 0.23708400276163408, + 0.10389974894522327, + -0.27803275573256336, + -0.954935929216655 + ], + [ + 0.947865471197574, + -0.2825179374710641, + 0.14742680732654193, + -0.31370722146749425, + -0.9085771771725151, + 0.27581749821280205, + 0.05602524172679599, + -0.3076867370042467, + -0.9498368513387623 + ], + [ + 0.9394185309652653, + -0.26012028603941106, + 0.22322692595168314, + -0.3259017002721053, + -0.8796045486706314, + 0.3465312680230831, + 0.1062116068930985, + -0.3982879294539442, + -0.9110904564380401 + ], + [ + 0.9368167343934337, + -0.24613435480886317, + 0.2485805413608383, + -0.32763364802752115, + -0.8663779667375946, + 0.3768891235254871, + 0.12259934274130992, + -0.4345193875242578, + -0.8922792741204644 + ], + [ + 0.9440166027436714, + -0.21811639945681952, + 0.2475033131743698, + -0.30391471540094417, + -0.8668329117867586, + 0.39526769259079636, + 0.1283296517062995, + -0.44835916331807285, + -0.8845934439965385 + ], + [ + 0.9716101412529125, + -0.15429840109568568, + 0.1793480884587593, + -0.2085214107801928, + -0.9166235726600834, + 0.34105724928537035, + 0.11177009734599927, + -0.3687725985796397, + -0.9227752791856132 + ], + [ + 0.9868419167892656, + -0.07083520727642485, + 0.14534581066475113, + -0.10676215673856705, + -0.9605669018190354, + 0.25673540663163086, + 0.12142846929866734, + -0.26887469300751443, + -0.955490202097278 + ], + [ + 0.992914125994412, + -0.024068379927430064, + 0.11637117980162257, + -0.044781472802084166, + -0.9828641709615109, + 0.17880895149241732, + 0.11007342138058979, + -0.1827532066143036, + -0.9769775367825815 + ], + [ + 0.994658630412968, + 0.013365130843449627, + 0.10235029175599238, + -1.8050626059001873e-05, + -0.9915591097977717, + 0.1296554335584359, + 0.10321922601518667, + -0.12896474345567688, + -0.986262584875974 + ], + [ + 0.9979725504768494, + -0.01039762235096688, + 0.06279074728157683, + -0.016754418202894087, + -0.9946866210469999, + 0.10157664781230143, + 0.06140096062289828, + -0.10242272872535892, + -0.9928441502446578 + ], + [ + 0.9976840083735193, + -0.02794089511934139, + 0.06201552882687697, + -0.035067739871980946, + -0.9925145713035298, + 0.11698324397297845, + 0.058282699457200174, + -0.11888705619242275, + -0.9911957399090662 + ], + [ + 0.9974174627428981, + -0.0343962124309355, + 0.06305002447204952, + -0.0423290372891116, + -0.9907217672150496, + 0.12914578029679014, + 0.05802290597425369, + -0.13148110334453295, + -0.9896191498983878 + ], + [ + 0.9976377119744261, + -0.04576499836592567, + 0.05123046526237211, + -0.052359146260151444, + -0.9893496687585418, + 0.13581514175625656, + 0.044469264097130784, + -0.13817669069684227, + -0.9894087561259649 + ], + [ + 0.9965048063849206, + -0.05976845057837214, + 0.058360116237138035, + -0.06785566806859865, + -0.9866256148603456, + 0.14820763952107416, + 0.04872144458773506, + -0.15164968980154622, + -0.9872327954542326 + ], + [ + 0.9957727537906411, + -0.06565573284790663, + 0.06423353915523689, + -0.07469995469938465, + -0.9857987730355745, + 0.15040178140389654, + 0.05344660490726158, + -0.15456423850865347, + -0.9865360391785629 + ], + [ + 0.9954084618347272, + -0.07400731423719077, + 0.060703472283062616, + -0.08250151999070428, + -0.9849197214533352, + 0.15207446035251418, + 0.048533424637524546, + -0.15638433339590854, + -0.9865031408775501 + ], + [ + 0.9956979118657242, + -0.07502670127152561, + 0.05437520025296258, + -0.08312660243435274, + -0.9825335882451429, + 0.1664863836409604, + 0.04093453644488458, + -0.17029017019909648, + -0.9845433569221851 + ], + [ + 0.9956844211125301, + -0.07578358805332658, + 0.05356660653400902, + -0.08366843745014255, + -0.9827652869908038, + 0.1648392649235446, + 0.04015129049553978, + -0.16860972234022162, + -0.9848647802637152 + ], + [ + 0.995393109698764, + -0.07696911128413464, + 0.05716916190005127, + -0.0853850832128612, + -0.9828558295639325, + 0.16341299170178114, + 0.0436112913011819, + -0.16754155962125972, + -0.9848999345470172 + ], + [ + 0.9957369959073809, + -0.0765235435605787, + 0.05149740053902417, + -0.08381105931239183, + -0.9837628222406839, + 0.158702287047097, + 0.03851676671631735, + -0.16234179023891737, + -0.9859825565514554 + ], + [ + 0.9957211714411688, + -0.07686987976745349, + 0.05128713609048038, + -0.0837960848654847, + -0.9850600974382103, + 0.15044873078972687, + 0.03895593542764308, + -0.15410264767212944, + -0.98728658912972 + ], + [ + 0.9955400017921199, + -0.0755153421236182, + 0.05654677652791917, + -0.08289301906547951, + -0.9863704718649918, + 0.1421338792232281, + 0.045042782129388774, + -0.1461872954014337, + -0.9882309560225575 + ], + [ + 0.995805130213033, + -0.06998194563642698, + 0.05894633089807106, + -0.07760010522988717, + -0.987271493676664, + 0.13882802830033783, + 0.04848057662317091, + -0.1428199042794426, + -0.9885606246618848 + ], + [ + 0.9958590469579863, + -0.06745103085622725, + 0.06095175984631859, + -0.07517505562650506, + -0.9880046587702492, + 0.134890715988296, + 0.051122104842063046, + -0.13891419180456527, + -0.988984012869673 + ], + [ + 0.9950489954749481, + -0.0723222800980731, + 0.06816879348875482, + -0.08068368266376669, + -0.988334044169082, + 0.12917414790970927, + 0.05803137044831213, + -0.1340347154203071, + -0.9892760257410911 + ], + [ + 0.9957691448721915, + -0.06303047894839225, + 0.06686530373849123, + -0.07069760141781567, + -0.9903380415912826, + 0.1192996753177089, + 0.05869973828112079, + -0.1235221522670301, + -0.9906041684876197 + ], + [ + 0.9952517880258615, + -0.06353378121697506, + 0.07373830127958798, + -0.07184448477662966, + -0.9906295441587567, + 0.11615281420178544, + 0.06566771229840714, + -0.12089898628229853, + -0.9904903768726914 + ], + [ + 0.9960259259420358, + -0.06737585427760663, + 0.0582481683117405, + -0.07522951447999791, + -0.9865257502058814, + 0.14528408148116806, + 0.04767467883912714, + -0.14908869320336005, + -0.9876738766194539 + ], + [ + 0.9924319040368976, + -0.07824765434590489, + 0.09463730997371984, + -0.0960610161870549, + -0.9747893177203, + 0.2013903354868415, + 0.07649311746038671, + -0.20895715026712053, + -0.9749285678107067 + ], + [ + 0.9904889717543357, + -0.06660005274532334, + 0.12039945933167051, + -0.09386516552549164, + -0.9668752655707055, + 0.23736375361130715, + 0.1006028207055373, + -0.2464074954255601, + -0.9639307125847748 + ], + [ + 0.9921634520307169, + -0.05292808938645721, + 0.11318260382404371, + -0.07759484502731415, + -0.9710027808391388, + 0.2261252741907601, + 0.09793224433085529, + -0.23313561923601148, + -0.9675004178623197 + ], + [ + 0.9958563312670617, + -0.028141053733058977, + 0.08647686725420266, + -0.04302842383295423, + -0.9835482497878926, + 0.1754462740602512, + 0.08011692840941644, + -0.17844024611607723, + -0.9806836168450425 + ], + [ + 0.9953841553432763, + 0.017940832560150444, + 0.09427889381298901, + 0.005595460637904889, + -0.9915491279507221, + 0.12961102453268356, + 0.09580748463351843, + -0.12848522633832613, + -0.9870726784289935 + ], + [ + 0.9940837226772139, + 0.0431328496130246, + 0.09968505200115224, + 0.033691187377110667, + -0.9949517351351076, + 0.09453014675096742, + 0.10325917005928645, + -0.0906123724217572, + -0.9905185216656821 + ], + [ + 0.9928414666596163, + 0.039886138031556016, + 0.11258293864573451, + 0.034853945869339494, + -0.9983185046792008, + 0.046318092279596684, + 0.11424108078322226, + -0.042062563022380636, + -0.9925621976750219 + ], + [ + 0.9931091449469498, + 0.01630226464676655, + 0.11605370476691214, + 0.017329166738063357, + -0.9998190617634487, + -0.007844980218082841, + 0.1159048152705625, + 0.009802035596981784, + -0.9932119581918316 + ], + [ + 0.992488612173086, + 0.023626535515354628, + 0.12003391823265154, + 0.03192704305201327, + -0.9971943663478652, + -0.06770568400093209, + 0.11809749628462103, + 0.07102944842543034, + -0.9904583781399815 + ], + [ + 0.9902947640870857, + 0.038777043593765104, + 0.13346393187610908, + 0.051107299996901404, + -0.994608166781974, + -0.0902365694030316, + 0.1292452092293179, + 0.09618178341416142, + -0.9869370498823831 + ], + [ + 0.990409376799447, + 0.03516254104593447, + 0.1336146027009164, + 0.046013578437657854, + -0.9958112316556792, + -0.07901102143220609, + 0.1302766937985927, + 0.08440134249875411, + -0.9878787356944755 + ], + [ + 0.9927756268534547, + 0.021441573034265964, + 0.11805428273275959, + 0.029546612787841757, + -0.9972925758027034, + -0.06733881437606687, + 0.11629080960460911, + 0.07034043783361946, + -0.9907212879548309 + ], + [ + 0.9939018994542851, + 0.032613530691631795, + 0.10533457113877687, + 0.03959756057993637, + -0.9971053595328605, + -0.06490712739725088, + 0.1029128148350939, + 0.06868230927007826, + -0.9923163270530455 + ], + [ + 0.9939578727895662, + 0.047359450205631856, + 0.09901933950426553, + 0.05399731877365341, + -0.996392707387079, + -0.06546649701261967, + 0.09556169046692917, + 0.07041771894961638, + -0.9929296592271961 + ], + [ + 0.9928671142475567, + 0.054237531315670176, + 0.10617524967011392, + 0.06089050317109537, + -0.9963120563991309, + -0.06045355983981521, + 0.1025048294925666, + 0.06648741588087922, + -0.9925080268996231 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005569.json b/json/chunk-0005/episode_0005569.json new file mode 100644 index 0000000000000000000000000000000000000000..6700e7df6ded11d699009fb211f96ec6b8fe39a1 --- /dev/null +++ b/json/chunk-0005/episode_0005569.json @@ -0,0 +1,2002 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 32, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut corn in bowl sink." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005569.mp4", + "start": 0, + "end": 32, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3598092496395111, + -0.05861258879303932, + 0.06592165678739548, + -0.05422127991914749, + -0.321155309677124, + 0.5122637748718262, + 0.0, + 0.9988223910331726 + ], + [ + 0.35547196865081787, + -0.057720087468624115, + 0.05604100972414017, + -0.032017383724451065, + -0.2927929759025574, + 0.5032644867897034, + 0.0, + 0.9988223910331726 + ], + [ + 0.3489757776260376, + -0.05024459958076477, + 0.0680796429514885, + -0.024876374751329422, + -0.2577836811542511, + 0.46553686261177063, + 0.0, + 0.9994885921478271 + ], + [ + 0.3449085056781769, + -0.030000267550349236, + 0.09879016131162643, + -0.05373571440577507, + -0.2727656066417694, + 0.42116615176200867, + 0.0, + 0.9988223910331726 + ], + [ + 0.33704832196235657, + 0.0024224980734288692, + 0.11019124835729599, + -0.07503756880760193, + -0.25685766339302063, + 0.5779852867126465, + 0.0, + 0.9988223910331726 + ], + [ + 0.32100600004196167, + 0.028598662465810776, + 0.12394300848245621, + -0.07060015201568604, + -0.2170594334602356, + 0.7450649738311768, + 0.0, + 0.9988223910331726 + ], + [ + 0.30229514837265015, + 0.047841787338256836, + 0.1322486400604248, + -0.09169301390647888, + -0.19196997582912445, + 0.7993146777153015, + 0.0, + 0.9994885921478271 + ], + [ + 0.27366143465042114, + 0.05664462223649025, + 0.12506486475467682, + -0.05994304642081261, + -0.13420216739177704, + 0.7971196174621582, + 0.0, + 0.9988223910331726 + ], + [ + 0.25645917654037476, + 0.056273218244314194, + 0.10788453370332718, + -0.005532823968678713, + -0.11612574756145477, + 0.7998196482658386, + 0.0, + 0.9988223910331726 + ], + [ + 0.2506636679172516, + 0.049930743873119354, + 0.09456244856119156, + 0.00787100475281477, + -0.12696774303913116, + 0.8354650735855103, + 0.0, + 0.9988223910331726 + ], + [ + 0.25281479954719543, + 0.042388394474983215, + 0.08838316053152084, + -0.015688588842749596, + -0.15367592871189117, + 0.8933243751525879, + 0.0, + 0.9988223910331726 + ], + [ + 0.24851670861244202, + 0.03747418895363808, + 0.07799464464187622, + -0.005213392432779074, + -0.1872338503599167, + 0.9204070568084717, + 0.0, + 0.9988223910331726 + ], + [ + 0.24159379303455353, + 0.03786430507898331, + 0.07004716247320175, + 0.009617707692086697, + -0.19096679985523224, + 0.9328506588935852, + 0.0, + 0.9988223910331726 + ], + [ + 0.23755204677581787, + 0.03613947331905365, + 0.060296736657619476, + 0.00017535724327899516, + -0.20263823866844177, + 0.9539702534675598, + 0.0, + 0.9994885921478271 + ], + [ + 0.2360711544752121, + 0.031568244099617004, + 0.05347853899002075, + -0.029571184888482094, + -0.1892092376947403, + 0.9718822836875916, + 0.0, + 0.9988223910331726 + ], + [ + 0.23817461729049683, + 0.02966482937335968, + 0.045854080468416214, + -0.04253305122256279, + -0.16399139165878296, + 0.9903092980384827, + 0.0, + 0.9988223910331726 + ], + [ + 0.23886488378047943, + 0.028574030846357346, + 0.04356518015265465, + -0.06098121032118797, + -0.17070375382900238, + 0.9950695633888245, + 0.0, + 0.9476637244224548 + ], + [ + 0.24016782641410828, + 0.026226725429296494, + 0.042898111045360565, + -0.0770592913031578, + -0.17161141335964203, + 1.0073530673980713, + 0.0, + 0.680191159248352 + ], + [ + 0.23843209445476532, + 0.025252612307667732, + 0.042533621191978455, + -0.06978633254766464, + -0.1608717441558838, + 0.9993257522583008, + 0.0, + 0.6591242551803589 + ], + [ + 0.23970158398151398, + 0.02432943321764469, + 0.04749030992388725, + -0.05464596673846245, + -0.14286570250988007, + 0.9948722124099731, + 0.0, + 0.6831957101821899 + ], + [ + 0.2595055401325226, + 0.017210397869348526, + 0.0725969523191452, + -0.07138615101575851, + -0.12609192728996277, + 1.0349222421646118, + 0.0, + 0.6831957101821899 + ], + [ + 0.2827374041080475, + 0.004199992399662733, + 0.08016000688076019, + -0.06732431054115295, + -0.08268098533153534, + 1.0641448497772217, + 0.0, + 0.6831957101821899 + ], + [ + 0.3029259145259857, + -0.014587080106139183, + 0.06755045801401138, + -0.11100831627845764, + -0.09701252728700638, + 1.062353491783142, + 0.0, + 0.6831957101821899 + ], + [ + 0.3166201710700989, + -0.03510277718305588, + 0.05528891831636429, + -0.16167975962162018, + -0.08747045695781708, + 1.0611809492111206, + 0.0, + 0.6831957101821899 + ], + [ + 0.3298688232898712, + -0.05008912831544876, + 0.041583333164453506, + -0.1488751918077469, + -0.07236538827419281, + 1.1300723552703857, + 0.0, + 0.6831957101821899 + ], + [ + 0.3377501368522644, + -0.06522107869386673, + 0.03322799503803253, + -0.15459895133972168, + -0.08771472424268723, + 1.16132390499115, + 0.0, + 0.6831957101821899 + ], + [ + 0.3395253121852875, + -0.08207753300666809, + 0.017410796135663986, + -0.1454675793647766, + -0.10409897565841675, + 1.1610642671585083, + 0.0, + 0.6831957101821899 + ], + [ + 0.3384973406791687, + -0.09123288094997406, + 0.01592998206615448, + -0.1560826450586319, + -0.08812084048986435, + 1.1647170782089233, + 0.0, + 0.6831957101821899 + ], + [ + 0.33918315172195435, + -0.09747309237718582, + 0.011977013200521469, + -0.14688003063201904, + -0.08869659900665283, + 1.164782166481018, + 0.0, + 0.7652681469917297 + ], + [ + 0.3406160771846771, + -0.09463731199502945, + 0.012837759219110012, + -0.1478084772825241, + -0.10489775985479355, + 1.1906601190567017, + 0.0, + 0.9879508018493652 + ], + [ + 0.33930614590644836, + -0.09464738517999649, + 0.01234886609017849, + -0.14144109189510345, + -0.10198811441659927, + 1.188872218132019, + 0.0, + 0.9994885921478271 + ], + [ + 0.33696654438972473, + -0.09500740468502045, + 0.01273292489349842, + -0.12669053673744202, + -0.0951244905591011, + 1.1802153587341309, + 0.0, + 0.9994885921478271 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9476637244224548 + ], + [ + 0.680191159248352 + ], + [ + 0.6591242551803589 + ], + [ + 0.6831957101821899 + ], + [ + 0.6831957101821899 + ], + [ + 0.6831957101821899 + ], + [ + 0.6831957101821899 + ], + [ + 0.6831957101821899 + ], + [ + 0.6831957101821899 + ], + [ + 0.6831957101821899 + ], + [ + 0.6831957101821899 + ], + [ + 0.6831957101821899 + ], + [ + 0.7652681469917297 + ], + [ + 0.9879508018493652 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3598092496395111, + -0.05861258879303932, + 0.06592165678739548 + ], + [ + 0.35547196865081787, + -0.057720087468624115, + 0.05604100972414017 + ], + [ + 0.3489757776260376, + -0.05024459958076477, + 0.0680796429514885 + ], + [ + 0.3449085056781769, + -0.030000267550349236, + 0.09879016131162643 + ], + [ + 0.33704832196235657, + 0.0024224980734288692, + 0.11019124835729599 + ], + [ + 0.32100600004196167, + 0.028598662465810776, + 0.12394300848245621 + ], + [ + 0.30229514837265015, + 0.047841787338256836, + 0.1322486400604248 + ], + [ + 0.27366143465042114, + 0.05664462223649025, + 0.12506486475467682 + ], + [ + 0.25645917654037476, + 0.056273218244314194, + 0.10788453370332718 + ], + [ + 0.2506636679172516, + 0.049930743873119354, + 0.09456244856119156 + ], + [ + 0.25281479954719543, + 0.042388394474983215, + 0.08838316053152084 + ], + [ + 0.24851670861244202, + 0.03747418895363808, + 0.07799464464187622 + ], + [ + 0.24159379303455353, + 0.03786430507898331, + 0.07004716247320175 + ], + [ + 0.23755204677581787, + 0.03613947331905365, + 0.060296736657619476 + ], + [ + 0.2360711544752121, + 0.031568244099617004, + 0.05347853899002075 + ], + [ + 0.23817461729049683, + 0.02966482937335968, + 0.045854080468416214 + ], + [ + 0.23886488378047943, + 0.028574030846357346, + 0.04356518015265465 + ], + [ + 0.24016782641410828, + 0.026226725429296494, + 0.042898111045360565 + ], + [ + 0.23843209445476532, + 0.025252612307667732, + 0.042533621191978455 + ], + [ + 0.23970158398151398, + 0.02432943321764469, + 0.04749030992388725 + ], + [ + 0.2595055401325226, + 0.017210397869348526, + 0.0725969523191452 + ], + [ + 0.2827374041080475, + 0.004199992399662733, + 0.08016000688076019 + ], + [ + 0.3029259145259857, + -0.014587080106139183, + 0.06755045801401138 + ], + [ + 0.3166201710700989, + -0.03510277718305588, + 0.05528891831636429 + ], + [ + 0.3298688232898712, + -0.05008912831544876, + 0.041583333164453506 + ], + [ + 0.3377501368522644, + -0.06522107869386673, + 0.03322799503803253 + ], + [ + 0.3395253121852875, + -0.08207753300666809, + 0.017410796135663986 + ], + [ + 0.3384973406791687, + -0.09123288094997406, + 0.01592998206615448 + ], + [ + 0.33918315172195435, + -0.09747309237718582, + 0.011977013200521469 + ], + [ + 0.3406160771846771, + -0.09463731199502945, + 0.012837759219110012 + ], + [ + 0.33930614590644836, + -0.09464738517999649, + 0.01234886609017849 + ], + [ + 0.33696654438972473, + -0.09500740468502045, + 0.01273292489349842 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8270715294512536, + 0.47452002824895095, + 0.3013028840913722, + 0.46509090344310705, + -0.8787413351796419, + 0.1072572486183316, + 0.3156630113042047, + 0.051423813912573155, + -0.9474768887192164 + ], + [ + 0.8387310027048649, + 0.4739467214731202, + 0.2681507231140206, + 0.4617623797804059, + -0.8800199493545503, + 0.11108732311812441, + 0.2886274583632467, + 0.03064953413830305, + -0.9569507805189759 + ], + [ + 0.8640544450260332, + 0.44309725852727017, + 0.2389031927714064, + 0.4340696767755115, + -0.8961508382839366, + 0.09218020800042194, + 0.2549380939262652, + 0.024051913200733202, + -0.9666581990220885 + ], + [ + 0.8788730912087814, + 0.395030083646712, + 0.2674571415445714, + 0.3937105273309861, + -0.9172109039309257, + 0.06096046570500563, + 0.2693958244254688, + 0.05172417930026621, + -0.9616394849723238 + ], + [ + 0.8100870984983216, + 0.5288488977196497, + 0.25313580589731416, + 0.528413917296666, + -0.8456130753119688, + 0.07561255761199598, + 0.254042565043269, + 0.07250772539630923, + -0.9644713603337791 + ], + [ + 0.7177960081415347, + 0.665163915740677, + 0.20573248623541973, + 0.6621098059397914, + -0.7435130455152309, + 0.09380275063684304, + 0.21535899232316608, + 0.06888625657702285, + -0.9741022472411995 + ], + [ + 0.684390832408477, + 0.7016869754689069, + 0.1981024406021525, + 0.7037095991054919, + -0.7067931188140217, + 0.07236219540572222, + 0.19079305187039616, + 0.08988256590933316, + -0.9775065911304817 + ], + [ + 0.692487012737985, + 0.7084605078884137, + 0.1361816652553244, + 0.7089142253080477, + -0.703248953568615, + 0.05367988879030018, + 0.1337996948618079, + 0.05936849389313595, + -0.9892284991789047 + ], + [ + 0.6921428688835918, + 0.716772737392434, + 0.08470591469636633, + 0.7123998650320273, + -0.697285194204137, + 0.07924512758553867, + 0.11586492720379409, + 0.0054955322450048125, + -0.9932497761235105 + ], + [ + 0.6654329290392428, + 0.7422542056523436, + 0.07910569601275444, + 0.7356389399747933, + -0.6700729334236857, + 0.09918474623518933, + 0.12662688080741846, + -0.0078075658425051375, + -0.9919196917959632 + ], + [ + 0.6194381864395562, + 0.7775587188178539, + 0.10816086154802587, + 0.7699775109938272, + -0.6286191961724695, + 0.10941909690373441, + 0.15307176664631614, + 0.015503064013793595, + -0.9880934618050865 + ], + [ + 0.5949139264964627, + 0.7952497527635991, + 0.11685568360159476, + 0.7819390311276262, + -0.6062603345440067, + 0.14498192424498438, + 0.1861418052446861, + 0.005122254193591108, + -0.982509537283087 + ], + [ + 0.5847200847200196, + 0.8043709138681066, + 0.10530838261031414, + 0.7887174821545495, + -0.5940524117397576, + 0.15819755197209973, + 0.1898082081175654, + -0.009442723609450906, + -0.9817757784250101 + ], + [ + 0.5666134194280968, + 0.8157389188678064, + 0.1162723061110526, + 0.7990281254842189, + -0.5784202509764876, + 0.16426828039969488, + 0.20125428593989075, + -0.00017176926320287833, + -0.9795390154997121 + ], + [ + 0.553684841868211, + 0.8224522103905189, + 0.13040497501676954, + 0.8112078295839346, + -0.5680924980114572, + 0.13861014005052008, + 0.18808230407748786, + 0.029039203275098027, + -0.9817238774553928 + ], + [ + 0.5410732361248989, + 0.8316323303246577, + 0.12500968085756128, + 0.8249768450043838, + -0.5537399074414989, + 0.11307218983151254, + 0.16325733783185012, + 0.04194975644101043, + -0.9856912597657532 + ], + [ + 0.5365312903704631, + 0.8316011684377088, + 0.1434352505712704, + 0.826605315467753, + -0.5521164522339083, + 0.10904620861405072, + 0.16987591616783823, + 0.06005763752995784, + -0.9836336987316252 + ], + [ + 0.5262548899240408, + 0.8358907027237465, + 0.15602090863418547, + 0.8330025756054462, + -0.5436296272083028, + 0.10282770762812177, + 0.17077031318624555, + 0.07585223478159983, + -0.98238685791948 + ], + [ + 0.5338858481286946, + 0.8330180879332414, + 0.14507503694278792, + 0.8302461486977444, + -0.5489475250883281, + 0.09668478304243461, + 0.1601787555840903, + 0.06882935329818363, + -0.9846853743120623 + ], + [ + 0.5390616034061796, + 0.833202218661931, + 0.12323412899840012, + 0.8301448462418346, + -0.5503192967593701, + 0.08948857956405937, + 0.14238020224483208, + 0.05406231988277995, + -0.9883345301959314 + ], + [ + 0.5065391653477159, + 0.8530528704867097, + 0.1253749341903094, + 0.8529964728328441, + -0.5170047627300695, + 0.07143593387890916, + 0.12575806655466124, + 0.07075927832312658, + -0.9895342506591795 + ], + [ + 0.4835944281292849, + 0.8696974419361104, + 0.09880682452187081, + 0.8713873118095875, + -0.48901074491349616, + 0.039403606134567316, + 0.08258681432026838, + 0.067043648833677, + -0.9943261875518999 + ], + [ + 0.4845286192625946, + 0.8629034490119818, + 0.14363027117815358, + 0.8693963852281665, + -0.493194144271656, + 0.03015727786698924, + 0.09686042776945304, + 0.1102595743660173, + -0.9891718171242767 + ], + [ + 0.48597646577887826, + 0.8546872854654962, + 0.18258290931161225, + 0.8695948982061287, + -0.4937550401298288, + -0.0032670109066409714, + 0.08735895903079284, + 0.16036085685108067, + -0.9831850323652429 + ], + [ + 0.42547787128269954, + 0.8898636760164296, + 0.16465484856289295, + 0.9020759205465325, + -0.4315751240594743, + 0.0013949419971221316, + 0.0723022449089133, + 0.1479376571383232, + -0.9863502597868342 + ], + [ + 0.3965948381243276, + 0.9010198729029951, + 0.17571489125002612, + 0.9138043407570734, + -0.40575131050261326, + 0.018096984249924217, + 0.0876022898483165, + 0.15339185982079379, + -0.9842747462746615 + ], + [ + 0.3962070757435675, + 0.9015397256174289, + 0.17391399099664648, + 0.912262267018642, + -0.40797184102155715, + 0.03655862562363263, + 0.10391106439998846, + 0.1441703855413171, + -0.984082004015991 + ], + [ + 0.39347777891597047, + 0.9021050191809091, + 0.1771490103499474, + 0.91511203360154, + -0.4027767282855754, + 0.018462749232473416, + 0.0880068375582721, + 0.15484650955116447, + -0.9840108510696479 + ], + [ + 0.3933981373922203, + 0.9036900836282444, + 0.16906252762900592, + 0.9150909394939712, + -0.4026080600135614, + 0.022700715146393463, + 0.08858034743876846, + 0.14577716818518996, + -0.985343868547186 + ], + [ + 0.36900741347191474, + 0.912767113285425, + 0.1751848329832216, + 0.9235097665491793, + -0.3813204280874685, + 0.04152640378687035, + 0.10470549121726033, + 0.1464613533591086, + -0.9836594085765513 + ], + [ + 0.37076994487226195, + 0.9133333916992004, + 0.16837981941626795, + 0.9231273404981217, + -0.3823029891181135, + 0.04099192281682589, + 0.10181140016857082, + 0.14023744192829085, + -0.984869483067236 + ], + [ + 0.37900446171257907, + 0.91270799279499, + 0.15270801514687635, + 0.9205075823655157, + -0.388771580758591, + 0.03901856996430855, + 0.09498109711701291, + 0.12578067372457033, + -0.987500791547957 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.004337280988693237, + 0.0008925013244152069, + -0.00988064706325531, + 0.022203896194696426, + 0.02836233377456665, + -0.008999288082122803, + 1.0 + ], + [ + -0.0064961910247802734, + 0.0074754878878593445, + 0.012038633227348328, + 0.007141008973121643, + 0.035009294748306274, + -0.03772762417793274, + 1.0 + ], + [ + -0.004067271947860718, + 0.020244332030415535, + 0.03071051836013794, + -0.028859339654445648, + -0.01498192548751831, + -0.04437071084976196, + 1.0 + ], + [ + -0.007860183715820312, + 0.03242276608943939, + 0.011401087045669556, + -0.02130185440182686, + 0.01590794324874878, + 0.15681913495063782, + 1.0 + ], + [ + -0.016042321920394897, + 0.02617616392672062, + 0.013751760125160217, + 0.0044374167919158936, + 0.039798229932785034, + 0.16707968711853027, + 1.0 + ], + [ + -0.018710851669311523, + 0.01924312487244606, + 0.008305631577968597, + -0.021092861890792847, + 0.025089457631111145, + 0.054249703884124756, + 1.0 + ], + [ + -0.028633713722229004, + 0.008802834898233414, + -0.007183775305747986, + 0.031749967485666275, + 0.05776780843734741, + -0.0021950602531433105, + 1.0 + ], + [ + -0.017202258110046387, + -0.0003714039921760559, + -0.01718033105134964, + 0.05441022291779518, + 0.018076419830322266, + 0.00270003080368042, + 1.0 + ], + [ + -0.005795508623123169, + -0.0063424743711948395, + -0.01332208514213562, + 0.01340382918715477, + -0.010841995477676392, + 0.03564542531967163, + 1.0 + ], + [ + 0.0021511316299438477, + -0.007542349398136139, + -0.006179288029670715, + -0.02355959266424179, + -0.02670818567276001, + 0.05785930156707764, + 1.0 + ], + [ + -0.004298090934753418, + -0.0049142055213451385, + -0.010388515889644623, + 0.010475195944309235, + -0.03355792164802551, + 0.02708268165588379, + 1.0 + ], + [ + -0.006922915577888489, + 0.0003901161253452301, + -0.007947482168674469, + 0.014831099659204483, + -0.0037329494953155518, + 0.012443602085113525, + 1.0 + ], + [ + -0.004041746258735657, + -0.001724831759929657, + -0.009750425815582275, + -0.009442350827157497, + -0.011671438813209534, + 0.02111959457397461, + 1.0 + ], + [ + -0.001480892300605774, + -0.0045712292194366455, + -0.006818197667598724, + -0.029746541753411293, + 0.013429000973701477, + 0.01791203022003174, + 1.0 + ], + [ + 0.002103462815284729, + -0.0019034147262573242, + -0.007624458521604538, + -0.012961866334080696, + 0.025217846035957336, + 0.018427014350891113, + 1.0 + ], + [ + 0.000690266489982605, + -0.0010907985270023346, + -0.002288900315761566, + -0.018448159098625183, + -0.006712362170219421, + 0.004760265350341797, + 0.0 + ], + [ + 0.0013029426336288452, + -0.002347305417060852, + -0.0006670691072940826, + -0.016078080981969833, + -0.0009076595306396484, + 0.012283504009246826, + 0.0 + ], + [ + -0.0017357319593429565, + -0.0009741131216287613, + -0.0003644898533821106, + 0.007272958755493164, + 0.01073966920375824, + -0.008027315139770508, + 0.0 + ], + [ + 0.0012694895267486572, + -0.0009231790900230408, + 0.004956688731908798, + 0.015140365809202194, + 0.018006041646003723, + -0.004453539848327637, + 0.0 + ], + [ + 0.019803956151008606, + -0.0071190353482961655, + 0.02510664239525795, + -0.016740184277296066, + 0.016773775219917297, + 0.04005002975463867, + 0.0 + ], + [ + 0.023231863975524902, + -0.013010405004024506, + 0.00756305456161499, + 0.00406184047460556, + 0.04341094195842743, + 0.029222607612609863, + 0.0 + ], + [ + 0.020188510417938232, + -0.018787072971463203, + -0.01260954886674881, + -0.04368400573730469, + -0.014331541955471039, + -0.0017913579940795898, + 0.0 + ], + [ + 0.01369425654411316, + -0.020515697076916695, + -0.012261539697647095, + -0.05067144334316254, + 0.0095420703291893, + -0.0011725425720214844, + 0.0 + ], + [ + 0.013248652219772339, + -0.014986351132392883, + -0.013705585151910782, + 0.012804567813873291, + 0.015105068683624268, + 0.06889140605926514, + 0.0 + ], + [ + 0.007881313562393188, + -0.015131950378417969, + -0.008355338126420975, + -0.0057237595319747925, + -0.015349335968494415, + 0.03125154972076416, + 0.0 + ], + [ + 0.0017751753330230713, + -0.01685645431280136, + -0.015817198902368546, + 0.009131371974945068, + -0.016384251415729523, + -0.00025963783264160156, + 0.0 + ], + [ + -0.0010279715061187744, + -0.00915534794330597, + -0.0014808140695095062, + -0.010615065693855286, + 0.0159781351685524, + 0.003652811050415039, + 0.0 + ], + [ + 0.0006858110427856445, + -0.0062402114272117615, + -0.003952968865633011, + 0.009202614426612854, + -0.0005757585167884827, + 6.508827209472656e-05, + 1.0 + ], + [ + 0.0014329254627227783, + 0.002835780382156372, + 0.0008607460185885429, + -0.0009284466505050659, + -0.016201160848140717, + 0.025877952575683594, + 1.0 + ], + [ + -0.0013099312782287598, + -1.0073184967041016e-05, + -0.0004888931289315224, + 0.006367385387420654, + 0.002909645438194275, + -0.0017879009246826172, + 1.0 + ], + [ + -0.002339601516723633, + -0.0003600195050239563, + 0.00038405880331993103, + 0.014750555157661438, + 0.006863623857498169, + -0.008656859397888184, + 1.0 + ], + [ + -0.0029108822345733643, + -0.000357016921043396, + 0.013819769024848938, + 0.0014074444770812988, + 0.02530801296234131, + -0.014710426330566406, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9476637244224548 + ], + [ + 0.680191159248352 + ], + [ + 0.6591242551803589 + ], + [ + 0.6831957101821899 + ], + [ + 0.6831957101821899 + ], + [ + 0.6831957101821899 + ], + [ + 0.6831957101821899 + ], + [ + 0.6831957101821899 + ], + [ + 0.6831957101821899 + ], + [ + 0.6831957101821899 + ], + [ + 0.6831957101821899 + ], + [ + 0.6831957101821899 + ], + [ + 0.7652681469917297 + ], + [ + 0.9879508018493652 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.35547196865081787, + -0.057720087468624115, + 0.05604100972414017 + ], + [ + 0.3489757776260376, + -0.05024459958076477, + 0.0680796429514885 + ], + [ + 0.3449085056781769, + -0.030000267550349236, + 0.09879016131162643 + ], + [ + 0.33704832196235657, + 0.0024224980734288692, + 0.11019124835729599 + ], + [ + 0.32100600004196167, + 0.028598662465810776, + 0.12394300848245621 + ], + [ + 0.30229514837265015, + 0.047841787338256836, + 0.1322486400604248 + ], + [ + 0.27366143465042114, + 0.05664462223649025, + 0.12506486475467682 + ], + [ + 0.25645917654037476, + 0.056273218244314194, + 0.10788453370332718 + ], + [ + 0.2506636679172516, + 0.049930743873119354, + 0.09456244856119156 + ], + [ + 0.25281479954719543, + 0.042388394474983215, + 0.08838316053152084 + ], + [ + 0.24851670861244202, + 0.03747418895363808, + 0.07799464464187622 + ], + [ + 0.24159379303455353, + 0.03786430507898331, + 0.07004716247320175 + ], + [ + 0.23755204677581787, + 0.03613947331905365, + 0.060296736657619476 + ], + [ + 0.2360711544752121, + 0.031568244099617004, + 0.05347853899002075 + ], + [ + 0.23817461729049683, + 0.02966482937335968, + 0.045854080468416214 + ], + [ + 0.23886488378047943, + 0.028574030846357346, + 0.04356518015265465 + ], + [ + 0.24016782641410828, + 0.026226725429296494, + 0.042898111045360565 + ], + [ + 0.23843209445476532, + 0.025252612307667732, + 0.042533621191978455 + ], + [ + 0.23970158398151398, + 0.02432943321764469, + 0.04749030992388725 + ], + [ + 0.2595055401325226, + 0.017210397869348526, + 0.0725969523191452 + ], + [ + 0.2827374041080475, + 0.004199992399662733, + 0.08016000688076019 + ], + [ + 0.3029259145259857, + -0.014587080106139183, + 0.06755045801401138 + ], + [ + 0.3166201710700989, + -0.03510277718305588, + 0.05528891831636429 + ], + [ + 0.3298688232898712, + -0.05008912831544876, + 0.041583333164453506 + ], + [ + 0.3377501368522644, + -0.06522107869386673, + 0.03322799503803253 + ], + [ + 0.3395253121852875, + -0.08207753300666809, + 0.017410796135663986 + ], + [ + 0.3384973406791687, + -0.09123288094997406, + 0.01592998206615448 + ], + [ + 0.33918315172195435, + -0.09747309237718582, + 0.011977013200521469 + ], + [ + 0.3406160771846771, + -0.09463731199502945, + 0.012837759219110012 + ], + [ + 0.33930614590644836, + -0.09464738517999649, + 0.01234886609017849 + ], + [ + 0.33696654438972473, + -0.09500740468502045, + 0.01273292489349842 + ], + [ + 0.33405566215515137, + -0.09536442160606384, + 0.02655269391834736 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8387310027048649, + 0.4739467214731202, + 0.2681507231140206, + 0.4617623797804059, + -0.8800199493545503, + 0.11108732311812441, + 0.2886274583632467, + 0.03064953413830305, + -0.9569507805189759 + ], + [ + 0.8640544450260332, + 0.44309725852727017, + 0.2389031927714064, + 0.4340696767755115, + -0.8961508382839366, + 0.09218020800042194, + 0.2549380939262652, + 0.024051913200733202, + -0.9666581990220885 + ], + [ + 0.8788730912087814, + 0.395030083646712, + 0.2674571415445714, + 0.3937105273309861, + -0.9172109039309257, + 0.06096046570500563, + 0.2693958244254688, + 0.05172417930026621, + -0.9616394849723238 + ], + [ + 0.8100870984983216, + 0.5288488977196497, + 0.25313580589731416, + 0.528413917296666, + -0.8456130753119688, + 0.07561255761199598, + 0.254042565043269, + 0.07250772539630923, + -0.9644713603337791 + ], + [ + 0.7177960081415347, + 0.665163915740677, + 0.20573248623541973, + 0.6621098059397914, + -0.7435130455152309, + 0.09380275063684304, + 0.21535899232316608, + 0.06888625657702285, + -0.9741022472411995 + ], + [ + 0.684390832408477, + 0.7016869754689069, + 0.1981024406021525, + 0.7037095991054919, + -0.7067931188140217, + 0.07236219540572222, + 0.19079305187039616, + 0.08988256590933316, + -0.9775065911304817 + ], + [ + 0.692487012737985, + 0.7084605078884137, + 0.1361816652553244, + 0.7089142253080477, + -0.703248953568615, + 0.05367988879030018, + 0.1337996948618079, + 0.05936849389313595, + -0.9892284991789047 + ], + [ + 0.6921428688835918, + 0.716772737392434, + 0.08470591469636633, + 0.7123998650320273, + -0.697285194204137, + 0.07924512758553867, + 0.11586492720379409, + 0.0054955322450048125, + -0.9932497761235105 + ], + [ + 0.6654329290392428, + 0.7422542056523436, + 0.07910569601275444, + 0.7356389399747933, + -0.6700729334236857, + 0.09918474623518933, + 0.12662688080741846, + -0.0078075658425051375, + -0.9919196917959632 + ], + [ + 0.6194381864395562, + 0.7775587188178539, + 0.10816086154802587, + 0.7699775109938272, + -0.6286191961724695, + 0.10941909690373441, + 0.15307176664631614, + 0.015503064013793595, + -0.9880934618050865 + ], + [ + 0.5949139264964627, + 0.7952497527635991, + 0.11685568360159476, + 0.7819390311276262, + -0.6062603345440067, + 0.14498192424498438, + 0.1861418052446861, + 0.005122254193591108, + -0.982509537283087 + ], + [ + 0.5847200847200196, + 0.8043709138681066, + 0.10530838261031414, + 0.7887174821545495, + -0.5940524117397576, + 0.15819755197209973, + 0.1898082081175654, + -0.009442723609450906, + -0.9817757784250101 + ], + [ + 0.5666134194280968, + 0.8157389188678064, + 0.1162723061110526, + 0.7990281254842189, + -0.5784202509764876, + 0.16426828039969488, + 0.20125428593989075, + -0.00017176926320287833, + -0.9795390154997121 + ], + [ + 0.553684841868211, + 0.8224522103905189, + 0.13040497501676954, + 0.8112078295839346, + -0.5680924980114572, + 0.13861014005052008, + 0.18808230407748786, + 0.029039203275098027, + -0.9817238774553928 + ], + [ + 0.5410732361248989, + 0.8316323303246577, + 0.12500968085756128, + 0.8249768450043838, + -0.5537399074414989, + 0.11307218983151254, + 0.16325733783185012, + 0.04194975644101043, + -0.9856912597657532 + ], + [ + 0.5365312903704631, + 0.8316011684377088, + 0.1434352505712704, + 0.826605315467753, + -0.5521164522339083, + 0.10904620861405072, + 0.16987591616783823, + 0.06005763752995784, + -0.9836336987316252 + ], + [ + 0.5262548899240408, + 0.8358907027237465, + 0.15602090863418547, + 0.8330025756054462, + -0.5436296272083028, + 0.10282770762812177, + 0.17077031318624555, + 0.07585223478159983, + -0.98238685791948 + ], + [ + 0.5338858481286946, + 0.8330180879332414, + 0.14507503694278792, + 0.8302461486977444, + -0.5489475250883281, + 0.09668478304243461, + 0.1601787555840903, + 0.06882935329818363, + -0.9846853743120623 + ], + [ + 0.5390616034061796, + 0.833202218661931, + 0.12323412899840012, + 0.8301448462418346, + -0.5503192967593701, + 0.08948857956405937, + 0.14238020224483208, + 0.05406231988277995, + -0.9883345301959314 + ], + [ + 0.5065391653477159, + 0.8530528704867097, + 0.1253749341903094, + 0.8529964728328441, + -0.5170047627300695, + 0.07143593387890916, + 0.12575806655466124, + 0.07075927832312658, + -0.9895342506591795 + ], + [ + 0.4835944281292849, + 0.8696974419361104, + 0.09880682452187081, + 0.8713873118095875, + -0.48901074491349616, + 0.039403606134567316, + 0.08258681432026838, + 0.067043648833677, + -0.9943261875518999 + ], + [ + 0.4845286192625946, + 0.8629034490119818, + 0.14363027117815358, + 0.8693963852281665, + -0.493194144271656, + 0.03015727786698924, + 0.09686042776945304, + 0.1102595743660173, + -0.9891718171242767 + ], + [ + 0.48597646577887826, + 0.8546872854654962, + 0.18258290931161225, + 0.8695948982061287, + -0.4937550401298288, + -0.0032670109066409714, + 0.08735895903079284, + 0.16036085685108067, + -0.9831850323652429 + ], + [ + 0.42547787128269954, + 0.8898636760164296, + 0.16465484856289295, + 0.9020759205465325, + -0.4315751240594743, + 0.0013949419971221316, + 0.0723022449089133, + 0.1479376571383232, + -0.9863502597868342 + ], + [ + 0.3965948381243276, + 0.9010198729029951, + 0.17571489125002612, + 0.9138043407570734, + -0.40575131050261326, + 0.018096984249924217, + 0.0876022898483165, + 0.15339185982079379, + -0.9842747462746615 + ], + [ + 0.3962070757435675, + 0.9015397256174289, + 0.17391399099664648, + 0.912262267018642, + -0.40797184102155715, + 0.03655862562363263, + 0.10391106439998846, + 0.1441703855413171, + -0.984082004015991 + ], + [ + 0.39347777891597047, + 0.9021050191809091, + 0.1771490103499474, + 0.91511203360154, + -0.4027767282855754, + 0.018462749232473416, + 0.0880068375582721, + 0.15484650955116447, + -0.9840108510696479 + ], + [ + 0.3933981373922203, + 0.9036900836282444, + 0.16906252762900592, + 0.9150909394939712, + -0.4026080600135614, + 0.022700715146393463, + 0.08858034743876846, + 0.14577716818518996, + -0.985343868547186 + ], + [ + 0.36900741347191474, + 0.912767113285425, + 0.1751848329832216, + 0.9235097665491793, + -0.3813204280874685, + 0.04152640378687035, + 0.10470549121726033, + 0.1464613533591086, + -0.9836594085765513 + ], + [ + 0.37076994487226195, + 0.9133333916992004, + 0.16837981941626795, + 0.9231273404981217, + -0.3823029891181135, + 0.04099192281682589, + 0.10181140016857082, + 0.14023744192829085, + -0.984869483067236 + ], + [ + 0.37900446171257907, + 0.91270799279499, + 0.15270801514687635, + 0.9205075823655157, + -0.388771580758591, + 0.03901856996430855, + 0.09498109711701291, + 0.12578067372457033, + -0.987500791547957 + ], + [ + 0.393326011694772, + 0.9083478782089236, + 0.1421224144096575, + 0.9167487237879528, + -0.39920697780576875, + 0.014337583629882487, + 0.06975977320378517, + 0.12465119744523415, + -0.989745246524592 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005570.json b/json/chunk-0005/episode_0005570.json new file mode 100644 index 0000000000000000000000000000000000000000..09535c3017f6c78ccbddf5269ecf1d1ccbbd6eac --- /dev/null +++ b/json/chunk-0005/episode_0005570.json @@ -0,0 +1,3382 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 55, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the fork in the lower left side of the sink." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005570.mp4", + "start": 0, + "end": 55, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.1988845318555832, + 0.1273631751537323, + 0.15097618103027344, + -0.0709855854511261, + -0.3810325860977173, + 1.019296407699585, + 0.0, + 1.0014774799346924 + ], + [ + 0.1976165771484375, + 0.12582571804523468, + 0.14588412642478943, + -0.06260857731103897, + -0.36138716340065, + 1.010871171951294, + 0.0, + 1.0014774799346924 + ], + [ + 0.21000495553016663, + 0.13054630160331726, + 0.14697299897670746, + -0.039529260247945786, + -0.3306720554828644, + 0.9042368531227112, + 0.0, + 1.0014774799346924 + ], + [ + 0.22451940178871155, + 0.13715186715126038, + 0.15388642251491547, + -0.0668126568198204, + -0.2965138852596283, + 0.7698922753334045, + 0.0, + 1.0014774799346924 + ], + [ + 0.24275927245616913, + 0.13974227011203766, + 0.15945549309253693, + -0.10694471746683121, + -0.28890520334243774, + 0.6139064431190491, + 0.0, + 1.0014774799346924 + ], + [ + 0.2598115801811218, + 0.1380959004163742, + 0.14739111065864563, + -0.10168955475091934, + -0.2941441237926483, + 0.4855855703353882, + 0.0, + 1.0014774799346924 + ], + [ + 0.27129456400871277, + 0.13523270189762115, + 0.14245225489139557, + -0.09697563946247101, + -0.33492687344551086, + 0.41816848516464233, + 0.0, + 1.0014774799346924 + ], + [ + 0.27710622549057007, + 0.12890948355197906, + 0.1322171539068222, + -0.07322769612073898, + -0.33912527561187744, + 0.3650979697704315, + 0.0, + 1.0014774799346924 + ], + [ + 0.2810458540916443, + 0.12484782189130783, + 0.12174686789512634, + -0.0987379252910614, + -0.3310892879962921, + 0.33164072036743164, + 0.0, + 1.0014774799346924 + ], + [ + 0.285043329000473, + 0.12551157176494598, + 0.11266165226697922, + -0.123601034283638, + -0.314774751663208, + 0.33369794487953186, + 0.0, + 1.0014774799346924 + ], + [ + 0.2910902500152588, + 0.12682649493217468, + 0.1077640950679779, + -0.10883916914463043, + -0.3198413848876953, + 0.32975101470947266, + 0.0, + 1.0014774799346924 + ], + [ + 0.29624801874160767, + 0.12566857039928436, + 0.10008127242326736, + -0.11516739428043365, + -0.32288309931755066, + 0.3143809139728546, + 0.0, + 1.0014774799346924 + ], + [ + 0.2965817153453827, + 0.12191462516784668, + 0.098505400121212, + -0.14797015488147736, + -0.333122581243515, + 0.29949167370796204, + 0.0, + 1.0014774799346924 + ], + [ + 0.29171881079673767, + 0.11823590844869614, + 0.10227689146995544, + -0.18359515070915222, + -0.34924378991127014, + 0.29995426535606384, + 0.0, + 1.0014774799346924 + ], + [ + 0.28961390256881714, + 0.1182788759469986, + 0.10424386709928513, + -0.1792062669992447, + -0.35189583897590637, + 0.3103540539741516, + 0.0, + 1.0014774799346924 + ], + [ + 0.2951086759567261, + 0.11315859854221344, + 0.09669821709394455, + -0.1552400439977646, + -0.34859931468963623, + 0.287433385848999, + 0.0, + 1.0014774799346924 + ], + [ + 0.2971135675907135, + 0.10887599736452103, + 0.093027763068676, + -0.14966551959514618, + -0.3471110761165619, + 0.2640533149242401, + 0.0, + 1.0014774799346924 + ], + [ + 0.3020114004611969, + 0.11211032420396805, + 0.09095218777656555, + -0.1674722284078598, + -0.32803285121917725, + 0.27234357595443726, + 0.0, + 0.9730880856513977 + ], + [ + 0.3028385043144226, + 0.11575513333082199, + 0.08974681794643402, + -0.1458822339773178, + -0.3326610326766968, + 0.2757313549518585, + 0.0, + 0.7171077728271484 + ], + [ + 0.3053162395954132, + 0.11569776386022568, + 0.0849391296505928, + -0.1259315311908722, + -0.3298346698284149, + 0.27528199553489685, + 0.0, + 0.4220271706581116 + ], + [ + 0.3056338131427765, + 0.11417511850595474, + 0.0831042006611824, + -0.10397297143936157, + -0.3273155391216278, + 0.2785473167896271, + 0.0, + 0.2198251634836197 + ], + [ + 0.3052946925163269, + 0.11099467426538467, + 0.08329029381275177, + -0.11015641689300537, + -0.3328847289085388, + 0.27910882234573364, + 0.0, + 0.13995102047920227 + ], + [ + 0.29827725887298584, + 0.11091885715723038, + 0.09637424349784851, + -0.11580006778240204, + -0.3559700846672058, + 0.2814095616340637, + 0.0, + 0.1051359549164772 + ], + [ + 0.2931846082210541, + 0.11637689918279648, + 0.1094108447432518, + -0.12788470089435577, + -0.3769485056400299, + 0.31600210070610046, + 0.0, + 0.10434377193450928 + ], + [ + 0.2945472300052643, + 0.12556982040405273, + 0.12772338092327118, + -0.1506650745868683, + -0.40471696853637695, + 0.359072208404541, + 0.0, + 0.10434377193450928 + ], + [ + 0.2957187294960022, + 0.1275017112493515, + 0.14264364540576935, + -0.18152406811714172, + -0.41524526476860046, + 0.42115533351898193, + 0.0, + 0.10434377193450928 + ], + [ + 0.2932041883468628, + 0.1297185868024826, + 0.15675057470798492, + -0.1922650933265686, + -0.42485660314559937, + 0.5664650797843933, + 0.0, + 0.10394904017448425 + ], + [ + 0.2816574275493622, + 0.12601721286773682, + 0.16610415279865265, + -0.16255106031894684, + -0.40960294008255005, + 0.7467756867408752, + 0.0, + 0.10434377193450928 + ], + [ + 0.2616770267486572, + 0.11910787969827652, + 0.16875949501991272, + -0.13476306200027466, + -0.3973753750324249, + 0.883965253829956, + 0.0, + 0.10394904017448425 + ], + [ + 0.23665040731430054, + 0.1175232082605362, + 0.16392473876476288, + -0.1642836630344391, + -0.3731028735637665, + 1.0597655773162842, + 0.0, + 0.10394904017448425 + ], + [ + 0.21791556477546692, + 0.11593063175678253, + 0.15084299445152283, + -0.19797486066818237, + -0.33344170451164246, + 1.138815999031067, + 0.0, + 0.10394904017448425 + ], + [ + 0.20730014145374298, + 0.11663181334733963, + 0.14394111931324005, + -0.26043620705604553, + -0.2768310606479645, + 1.2527146339416504, + 0.0, + 0.10394904017448425 + ], + [ + 0.2024412602186203, + 0.12063584476709366, + 0.1403195858001709, + -0.3070748448371887, + -0.148253932595253, + 1.4363402128219604, + 0.0, + 0.10394904017448425 + ], + [ + 0.20356705784797668, + 0.12276406586170197, + 0.13504262268543243, + -0.293895423412323, + -0.12686850130558014, + 1.522702693939209, + 0.0, + 0.10394904017448425 + ], + [ + 0.20641788840293884, + 0.1192401796579361, + 0.13531261682510376, + -0.260974645614624, + -0.1773681938648224, + 1.6568148136138916, + 0.0, + 0.10394904017448425 + ], + [ + 0.2081497758626938, + 0.11734283715486526, + 0.1323295533657074, + -0.20774845778942108, + -0.19462449848651886, + 1.7486845254898071, + 0.0, + 0.10394904017448425 + ], + [ + 0.2091853767633438, + 0.1157006248831749, + 0.13165493309497833, + -0.1558566838502884, + -0.21040809154510498, + 1.838951826095581, + 0.0, + 0.10394904017448425 + ], + [ + 0.20635131001472473, + 0.11733340471982956, + 0.1323474645614624, + -0.17889443039894104, + -0.09595970809459686, + 1.810570240020752, + 0.0, + 0.10394904017448425 + ], + [ + 0.20004722476005554, + 0.1218729242682457, + 0.13290709257125854, + -0.23019562661647797, + -0.038834188133478165, + 1.8184266090393066, + 0.0, + 0.10394904017448425 + ], + [ + 0.1935352087020874, + 0.12385635823011398, + 0.13247108459472656, + -0.25745996832847595, + -0.0012764085549861193, + 1.8018616437911987, + 0.0, + 0.10394904017448425 + ], + [ + 0.1916867047548294, + 0.12682434916496277, + 0.13139285147190094, + -0.2590271532535553, + 0.022923355922102928, + 1.8311998844146729, + 0.0, + 0.10394904017448425 + ], + [ + 0.192866250872612, + 0.12646719813346863, + 0.12237300723791122, + -0.2191947102546692, + 0.025286294519901276, + 1.8305760622024536, + 0.0, + 0.10394904017448425 + ], + [ + 0.19242523610591888, + 0.12804679572582245, + 0.11932547390460968, + -0.2045688033103943, + 0.03924204781651497, + 1.836814284324646, + 0.0, + 0.13665413856506348 + ], + [ + 0.19719116389751434, + 0.12685294449329376, + 0.11826213449239731, + -0.1995537281036377, + 0.06188182160258293, + 1.7988134622573853, + 0.0, + 0.34207403659820557 + ], + [ + 0.1976740062236786, + 0.12771828472614288, + 0.11867642402648926, + -0.19168700277805328, + 0.046421706676483154, + 1.7970250844955444, + 0.0, + 0.6249675154685974 + ], + [ + 0.19775454699993134, + 0.12801413238048553, + 0.11999896913766861, + -0.1885891705751419, + 0.044043585658073425, + 1.796011209487915, + 0.0, + 0.8998980522155762 + ], + [ + 0.1976921707391739, + 0.12653052806854248, + 0.12121357768774033, + -0.182012677192688, + 0.045021988451480865, + 1.7905703783035278, + 0.0, + 0.9994885921478271 + ], + [ + 0.19934047758579254, + 0.12561248242855072, + 0.12395291775465012, + -0.1781945526599884, + 0.04006318375468254, + 1.7874011993408203, + 0.0, + 0.9994885921478271 + ], + [ + 0.19954396784305573, + 0.12411165237426758, + 0.12658752501010895, + -0.18237006664276123, + 0.026347892358899117, + 1.7822734117507935, + 0.0, + 0.9994885921478271 + ], + [ + 0.19947457313537598, + 0.12395481020212173, + 0.12816327810287476, + -0.1831335425376892, + 0.007282798644155264, + 1.7742459774017334, + 0.0, + 0.9994885921478271 + ], + [ + 0.19987626373767853, + 0.12273409217596054, + 0.13535065948963165, + -0.14592787623405457, + -0.03897687792778015, + 1.7124059200286865, + 0.0, + 0.9994885921478271 + ], + [ + 0.19867068529129028, + 0.1222001165151596, + 0.14526942372322083, + -0.09349695593118668, + -0.1017339900135994, + 1.623894453048706, + 0.0, + 0.9994885921478271 + ], + [ + 0.19742079079151154, + 0.12018190324306488, + 0.15449167788028717, + -0.06813061982393265, + -0.09704815596342087, + 1.5843472480773926, + 0.0, + 0.9994885921478271 + ], + [ + 0.20848789811134338, + 0.11497217416763306, + 0.16417065262794495, + -0.06976353377103806, + -0.11094532907009125, + 1.4946885108947754, + 0.0, + 0.9994885921478271 + ], + [ + 0.22575511038303375, + 0.10694655776023865, + 0.1590854376554489, + -0.02361379750072956, + -0.13682852685451508, + 1.3116822242736816, + 0.0, + 0.9994885921478271 + ] + ], + "left_gripper_pos": [ + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 0.9730880856513977 + ], + [ + 0.7171077728271484 + ], + [ + 0.4220271706581116 + ], + [ + 0.2198251634836197 + ], + [ + 0.13995102047920227 + ], + [ + 0.1051359549164772 + ], + [ + 0.10434377193450928 + ], + [ + 0.10434377193450928 + ], + [ + 0.10434377193450928 + ], + [ + 0.10394904017448425 + ], + [ + 0.10434377193450928 + ], + [ + 0.10394904017448425 + ], + [ + 0.10394904017448425 + ], + [ + 0.10394904017448425 + ], + [ + 0.10394904017448425 + ], + [ + 0.10394904017448425 + ], + [ + 0.10394904017448425 + ], + [ + 0.10394904017448425 + ], + [ + 0.10394904017448425 + ], + [ + 0.10394904017448425 + ], + [ + 0.10394904017448425 + ], + [ + 0.10394904017448425 + ], + [ + 0.10394904017448425 + ], + [ + 0.10394904017448425 + ], + [ + 0.10394904017448425 + ], + [ + 0.13665413856506348 + ], + [ + 0.34207403659820557 + ], + [ + 0.6249675154685974 + ], + [ + 0.8998980522155762 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.1988845318555832, + 0.1273631751537323, + 0.15097618103027344 + ], + [ + 0.1976165771484375, + 0.12582571804523468, + 0.14588412642478943 + ], + [ + 0.21000495553016663, + 0.13054630160331726, + 0.14697299897670746 + ], + [ + 0.22451940178871155, + 0.13715186715126038, + 0.15388642251491547 + ], + [ + 0.24275927245616913, + 0.13974227011203766, + 0.15945549309253693 + ], + [ + 0.2598115801811218, + 0.1380959004163742, + 0.14739111065864563 + ], + [ + 0.27129456400871277, + 0.13523270189762115, + 0.14245225489139557 + ], + [ + 0.27710622549057007, + 0.12890948355197906, + 0.1322171539068222 + ], + [ + 0.2810458540916443, + 0.12484782189130783, + 0.12174686789512634 + ], + [ + 0.285043329000473, + 0.12551157176494598, + 0.11266165226697922 + ], + [ + 0.2910902500152588, + 0.12682649493217468, + 0.1077640950679779 + ], + [ + 0.29624801874160767, + 0.12566857039928436, + 0.10008127242326736 + ], + [ + 0.2965817153453827, + 0.12191462516784668, + 0.098505400121212 + ], + [ + 0.29171881079673767, + 0.11823590844869614, + 0.10227689146995544 + ], + [ + 0.28961390256881714, + 0.1182788759469986, + 0.10424386709928513 + ], + [ + 0.2951086759567261, + 0.11315859854221344, + 0.09669821709394455 + ], + [ + 0.2971135675907135, + 0.10887599736452103, + 0.093027763068676 + ], + [ + 0.3020114004611969, + 0.11211032420396805, + 0.09095218777656555 + ], + [ + 0.3028385043144226, + 0.11575513333082199, + 0.08974681794643402 + ], + [ + 0.3053162395954132, + 0.11569776386022568, + 0.0849391296505928 + ], + [ + 0.3056338131427765, + 0.11417511850595474, + 0.0831042006611824 + ], + [ + 0.3052946925163269, + 0.11099467426538467, + 0.08329029381275177 + ], + [ + 0.29827725887298584, + 0.11091885715723038, + 0.09637424349784851 + ], + [ + 0.2931846082210541, + 0.11637689918279648, + 0.1094108447432518 + ], + [ + 0.2945472300052643, + 0.12556982040405273, + 0.12772338092327118 + ], + [ + 0.2957187294960022, + 0.1275017112493515, + 0.14264364540576935 + ], + [ + 0.2932041883468628, + 0.1297185868024826, + 0.15675057470798492 + ], + [ + 0.2816574275493622, + 0.12601721286773682, + 0.16610415279865265 + ], + [ + 0.2616770267486572, + 0.11910787969827652, + 0.16875949501991272 + ], + [ + 0.23665040731430054, + 0.1175232082605362, + 0.16392473876476288 + ], + [ + 0.21791556477546692, + 0.11593063175678253, + 0.15084299445152283 + ], + [ + 0.20730014145374298, + 0.11663181334733963, + 0.14394111931324005 + ], + [ + 0.2024412602186203, + 0.12063584476709366, + 0.1403195858001709 + ], + [ + 0.20356705784797668, + 0.12276406586170197, + 0.13504262268543243 + ], + [ + 0.20641788840293884, + 0.1192401796579361, + 0.13531261682510376 + ], + [ + 0.2081497758626938, + 0.11734283715486526, + 0.1323295533657074 + ], + [ + 0.2091853767633438, + 0.1157006248831749, + 0.13165493309497833 + ], + [ + 0.20635131001472473, + 0.11733340471982956, + 0.1323474645614624 + ], + [ + 0.20004722476005554, + 0.1218729242682457, + 0.13290709257125854 + ], + [ + 0.1935352087020874, + 0.12385635823011398, + 0.13247108459472656 + ], + [ + 0.1916867047548294, + 0.12682434916496277, + 0.13139285147190094 + ], + [ + 0.192866250872612, + 0.12646719813346863, + 0.12237300723791122 + ], + [ + 0.19242523610591888, + 0.12804679572582245, + 0.11932547390460968 + ], + [ + 0.19719116389751434, + 0.12685294449329376, + 0.11826213449239731 + ], + [ + 0.1976740062236786, + 0.12771828472614288, + 0.11867642402648926 + ], + [ + 0.19775454699993134, + 0.12801413238048553, + 0.11999896913766861 + ], + [ + 0.1976921707391739, + 0.12653052806854248, + 0.12121357768774033 + ], + [ + 0.19934047758579254, + 0.12561248242855072, + 0.12395291775465012 + ], + [ + 0.19954396784305573, + 0.12411165237426758, + 0.12658752501010895 + ], + [ + 0.19947457313537598, + 0.12395481020212173, + 0.12816327810287476 + ], + [ + 0.19987626373767853, + 0.12273409217596054, + 0.13535065948963165 + ], + [ + 0.19867068529129028, + 0.1222001165151596, + 0.14526942372322083 + ], + [ + 0.19742079079151154, + 0.12018190324306488, + 0.15449167788028717 + ], + [ + 0.20848789811134338, + 0.11497217416763306, + 0.16417065262794495 + ], + [ + 0.22575511038303375, + 0.10694655776023865, + 0.1590854376554489 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.4863871565813304, + 0.8357744807319543, + 0.2547715668397105, + 0.7906537777293163, + -0.545111190519975, + 0.2787837759487748, + 0.37187919769071465, + 0.06583925369510286, + -0.9259433324981516 + ], + [ + 0.496816108412898, + 0.8338851814192686, + 0.24043556024601925, + 0.7925657696626435, + -0.5488261842662209, + 0.2657617734416328, + 0.35357213575241636, + 0.05852626481447286, + -0.9335745396840796 + ], + [ + 0.5847895390187842, + 0.7774063678208555, + 0.23164743539651642, + 0.7433740011449393, + -0.6278871111181998, + 0.2305490622696294, + 0.3246787481125953, + 0.037378001059802726, + -0.9450854964291917 + ], + [ + 0.6866534080167573, + 0.6804989109602728, + 0.2557896194939408, + 0.6656825571964258, + -0.7299619685351073, + 0.15499115309196854, + 0.29218800506420467, + 0.06384948452598008, + -0.9542271286346699 + ], + [ + 0.7835277031795075, + 0.547915926595907, + 0.29304005823913265, + 0.5521907596437321, + -0.8302525636100954, + 0.07593448217340074, + 0.2849029717541108, + 0.10231724195566022, + -0.9530799959522093 + ], + [ + 0.8464172988084976, + 0.4382862939393456, + 0.30246137079408936, + 0.44668071714991975, + -0.893569328867323, + 0.044835158458901785, + 0.28992083954790043, + 0.09715440830201705, + -0.9521065737318092 + ], + [ + 0.8630564338644698, + 0.37509579510636726, + 0.3382849929551508, + 0.38352292145260913, + -0.9224647446261399, + 0.044373005783771347, + 0.32870010752295187, + 0.09144364065014551, + -0.9399969680265183 + ], + [ + 0.8808887068810584, + 0.33334979634948436, + 0.3360252957191978, + 0.33670591147695617, + -0.9402752522393841, + 0.05011565825802374, + 0.3326623141654149, + 0.06899538607704268, + -0.9405186980779228 + ], + [ + 0.8941576617605458, + 0.29371013850839073, + 0.3379592141846347, + 0.307911341137538, + -0.9513378452648145, + 0.012120650386143905, + 0.3250733485135263, + 0.09322370248108783, + -0.9410827059201128 + ], + [ + 0.8984140673534234, + 0.2889761930371472, + 0.33067343927088555, + 0.31144595135140546, + -0.9501316316673735, + -0.015852504278905333, + 0.30960229806688544, + 0.11722901672731104, + -0.9436120890857914 + ], + [ + 0.8981406533276384, + 0.2895782767623093, + 0.33088939008009016, + 0.30738566951474855, + -0.9515837342832107, + -0.001564232907646762, + 0.31441599357725497, + 0.10311555787072578, + -0.9436682492845864 + ], + [ + 0.9018452645924259, + 0.272504292499834, + 0.33528574276485756, + 0.29324830133315294, + -0.9559633384903597, + -0.011812249048595819, + 0.3173019894318938, + 0.10897479539568149, + -0.9420424308230663 + ], + [ + 0.9029595543168459, + 0.24574727065246213, + 0.3525227967590014, + 0.2788152819959815, + -0.959268770134927, + -0.045447389026496254, + 0.32699553787999, + 0.13932589712860244, + -0.9346989957178117 + ], + [ + 0.8976771929264, + 0.23082840779347014, + 0.3753583667048188, + 0.27763911340618974, + -0.9577529919943888, + -0.07500486006133429, + 0.3421873463569375, + 0.17154431637721745, + -0.9238400118591257 + ], + [ + 0.8938740250159033, + 0.24200182764507552, + 0.37739149807369954, + 0.28668142941863944, + -0.9557390987700364, + -0.06615537097412313, + 0.3446780895681558, + 0.16732570184726964, + -0.9236877849538581 + ], + [ + 0.9012943201329264, + 0.22943499940740056, + 0.36746173888318173, + 0.2664403998113711, + -0.9624149039828345, + -0.05260290809516007, + 0.3415817059569822, + 0.14531735491205872, + -0.9285498395438342 + ], + [ + 0.9077665536266752, + 0.20911218595367997, + 0.36363715129565966, + 0.24542958257418251, + -0.9677871538881918, + -0.05614574575563335, + 0.3401826040734761, + 0.14021454437634936, + -0.9298471258390391 + ], + [ + 0.9117863813452839, + 0.21350082587459385, + 0.35080335252693784, + 0.25464630861186793, + -0.9641140299931409, + -0.07509590322204243, + 0.32218139658214584, + 0.15780220062233422, + -0.9334332398062148 + ], + [ + 0.9094739253126858, + 0.22368162385324225, + 0.3504621382213951, + 0.2573250564023913, + -0.9649294722010345, + -0.051912705817934744, + 0.32655932772444546, + 0.13739594181856293, + -0.9351370812067868 + ], + [ + 0.9104740545252471, + 0.2305176596451732, + 0.34336366235824844, + 0.2571662048244903, + -0.9657853600815165, + -0.033528813703793015, + 0.3238866146238919, + 0.11882864487962258, + -0.9386038642705169 + ], + [ + 0.9104110488514945, + 0.2413931455911089, + 0.3359777840732197, + 0.26036133592066424, + -0.9654383714856506, + -0.011862783009965065, + 0.3215022502047666, + 0.09827563342336795, + -0.9417952022539227 + ], + [ + 0.9085293867848367, + 0.2392962808751597, + 0.3425078733513806, + 0.2603751696549414, + -0.9653716009963956, + -0.016200093111358234, + 0.3267707520197137, + 0.10389880629233847, + -0.9393752784034175 + ], + [ + 0.9004397586877071, + 0.2371678275092343, + 0.3646363429075253, + 0.2603000802007551, + -0.9654133636064367, + -0.01486289398424595, + 0.34849979802276027, + 0.10829800997551427, + -0.9310313806813598 + ], + [ + 0.8837539162441563, + 0.26361152898138457, + 0.3866367511129974, + 0.288950685018517, + -0.9573124819005457, + -0.007766184696967923, + 0.3680849319796275, + 0.11858235022765527, + -0.9221993868269699 + ], + [ + 0.8605894134900571, + 0.29209267759658336, + 0.4172142484183611, + 0.3230170563287527, + -0.9463858258071934, + -0.003721563104940498, + 0.3937586096957715, + 0.13797005619225894, + -0.9088005396591478 + ], + [ + 0.835060650826288, + 0.3356341367839655, + 0.4359167760787127, + 0.37407293449335466, + -0.9273958056206116, + -0.002541534345023383, + 0.40341436404905884, + 0.16518700294689925, + -0.8999833914780396 + ], + [ + 0.7687873419639206, + 0.46030424545600684, + 0.4439437176616266, + 0.48894305747492367, + -0.870523352405129, + 0.055890781569138806, + 0.41219013741612415, + 0.17409507325743567, + -0.8943098993550082 + ], + [ + 0.6731753693408782, + 0.6230224730973263, + 0.3983439721251771, + 0.6230856497081331, + -0.7679882272987566, + 0.14818352087296088, + 0.3982451446541014, + 0.14844891628504725, + -0.9051871209939022 + ], + [ + 0.5846816125907165, + 0.7332784426475092, + 0.3470592707978896, + 0.7130068367625555, + -0.6685468222481517, + 0.21134426226361763, + 0.3869995641188421, + 0.12388652876863515, + -0.9137195769827219 + ], + [ + 0.4554284977163843, + 0.831341242714524, + 0.3185225606290214, + 0.8122313933255315, + -0.5344888352672483, + 0.2336703846685036, + 0.3645065804128417, + 0.1522938709749399, + -0.9186629031909394 + ], + [ + 0.3956103090639593, + 0.8634481402659684, + 0.31296931548245865, + 0.8581195086102065, + -0.4689527529285676, + 0.20907946925342835, + 0.3272971009723369, + 0.1858510817616028, + -0.9264642373578948 + ], + [ + 0.30083771686453503, + 0.8957962218195643, + 0.3271785400748767, + 0.9136733557119967, + -0.369045814303049, + 0.17031202543384477, + 0.27330873965849134, + 0.24769803374107208, + -0.929488040217352 + ], + [ + 0.13258087736015228, + 0.9386331704318641, + 0.31841809358677986, + 0.9801038924992916, + -0.17202666985271958, + 0.09901103356252956, + 0.14771144460111818, + 0.29895584326855107, + -0.94276547078764 + ], + [ + 0.047688714445628055, + 0.9542539032059844, + 0.29516990824043576, + 0.9908159975836642, + -0.08262449717224207, + 0.10703668249400591, + 0.12652843730486762, + 0.28735462530326195, + -0.9494302891050033 + ], + [ + -0.08456460712908709, + 0.9664780382823336, + 0.242423242984321, + 0.9806721520892266, + 0.03764631193329876, + 0.1920023054926826, + 0.1764396705329836, + 0.2539743229457513, + -0.9509816433278087 + ], + [ + -0.17361071287596047, + 0.9701152346761333, + 0.16951622879232364, + 0.9656378623489088, + 0.1338863465953561, + 0.22275090346298856, + 0.19339813642569115, + 0.20236323194844172, + -0.960024105521549 + ], + [ + -0.2591099647088221, + 0.961163252625024, + 0.095011725549416, + 0.9429951965441052, + 0.23048000849049044, + 0.24008128827746675, + 0.20885900862385037, + 0.15180305494128907, + -0.9660919971861658 + ], + [ + -0.23639044912599627, + 0.9599381306831956, + 0.15046042942402324, + 0.9669227059890331, + 0.21713172611918719, + 0.13384429070882195, + 0.09581250547217246, + 0.17712311755655738, + -0.9795138411590671 + ], + [ + -0.24492241862174075, + 0.9460936782794174, + 0.2119428243092909, + 0.9687650244781094, + 0.23005345292943652, + 0.09257286936879269, + 0.03882442793403179, + 0.227995966444509, + -0.9728877135007048 + ], + [ + -0.22901447077498227, + 0.941413240645475, + 0.247575205771982, + 0.9734221812542284, + 0.2211499326556573, + 0.05951440437959418, + 0.0012764082083946832, + 0.2546248566495083, + -0.9670390649597886 + ], + [ + -0.2574028801117624, + 0.9325388499197875, + 0.25320949962521133, + 0.966032281603546, + 0.2545543545228529, + 0.04453887620159355, + -0.022921348346396406, + 0.2560729856578665, + -0.9663856568711321 + ], + [ + -0.2567855683648181, + 0.9419100918167299, + 0.216486837506018, + 0.9661376255241464, + 0.25603486814721105, + 0.032003669155346, + -0.025283599943875842, + 0.21737415951911104, + -0.9757608387034389 + ], + [ + -0.2626891630428776, + 0.9426123091983116, + 0.20609812752099185, + 0.9640825979192447, + 0.26509936214975993, + 0.01634235530976197, + -0.039231976869800816, + 0.20298857784520027, + -0.9783948534488878 + ], + [ + -0.22561375959830282, + 0.952014192207232, + 0.20680282714685178, + 0.9722520028978945, + 0.23350238542788265, + -0.014236532601765745, + -0.0618423345367219, + 0.19785250525454554, + -0.978279056212259 + ], + [ + -0.22406233784980184, + 0.9546871180592191, + 0.1958789814376819, + 0.9734693839222761, + 0.2288112753170099, + -0.001660979767360779, + -0.04640503553780925, + 0.19031002837366706, + -0.9806266699295654 + ], + [ + -0.22309926017630377, + 0.9556202850787417, + 0.19239696165690967, + 0.9738008711589251, + 0.22740224008145482, + -0.0002907508471360343, + -0.044029347473074035, + 0.18729146257093723, + -0.9813171376314258 + ], + [ + -0.217788202277644, + 0.9580493879171305, + 0.18630531194865024, + 0.9749577881544497, + 0.2223585987722569, + -0.0037369598635906554, + -0.045006780218713974, + 0.18082594908820562, + -0.9824847916739956 + ], + [ + -0.21474262288355062, + 0.9596422990635637, + 0.18158266372396697, + 0.975849069159047, + 0.2184454896893061, + -0.0004028099066646085, + -0.040052467321187765, + 0.17711077291457278, + -0.9833756016797895 + ], + [ + -0.2098314518947862, + 0.9605050918896713, + 0.1827586666884488, + 0.9773825816906455, + 0.2110948635919237, + 0.012737643927950237, + -0.026344843963366185, + 0.18129789579341696, + -0.9830752881531633 + ], + [ + -0.20204367103304405, + 0.9627301902148798, + 0.1798024912071933, + 0.9793494354810804, + 0.19996925510719682, + 0.02978221339595763, + -0.007282734265410318, + 0.18210677598786543, + -0.9832517907031368 + ], + [ + -0.14102958444589692, + 0.9802676168413453, + 0.13851373824717614, + 0.989238206127351, + 0.13402719861500373, + 0.05868970582099744, + 0.038967009751307874, + 0.14530006677081714, + -0.9886199789339876 + ], + [ + -0.05279876714344717, + 0.9947323422437352, + 0.08786271952554511, + 0.9934274721284401, + 0.043373145501990396, + 0.10592746513421565, + 0.10155859298271788, + 0.09287807891830947, + -0.9904844848092347 + ], + [ + -0.013486744963705888, + 0.9976777931362334, + 0.0667617315016599, + 0.9952031422944833, + 0.006923204150263318, + 0.09758470582771123, + 0.09689588885742839, + 0.06775758501532911, + -0.9929854462153109 + ], + [ + 0.07556689409936684, + 0.9940929325211414, + 0.07790305531680425, + 0.9909748727339724, + -0.08354487421208939, + 0.10482869646606255, + 0.11071786723949656, + 0.06927839132373206, + -0.9914343439530091 + ], + [ + 0.25382954664378143, + 0.9655226461573467, + 0.057763145758586244, + 0.9575829272450991, + -0.2592660499781879, + 0.1257618892089947, + 0.1364019746899586, + 0.02339091887940775, + -0.9903773857548734 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.001267954707145691, + -0.0015374571084976196, + -0.005092054605484009, + 0.008377008140087128, + 0.01964542269706726, + -0.008425235748291016, + 1.0 + ], + [ + 0.012388378381729126, + 0.004720583558082581, + 0.0010888725519180298, + 0.023079317063093185, + 0.030715107917785645, + -0.10663431882858276, + 1.0 + ], + [ + 0.014514446258544922, + 0.006605565547943115, + 0.006913423538208008, + -0.02728339657187462, + 0.034158170223236084, + -0.13434457778930664, + 1.0 + ], + [ + 0.01823987066745758, + 0.0025904029607772827, + 0.00556907057762146, + -0.0401320606470108, + 0.007608681917190552, + -0.15598583221435547, + 1.0 + ], + [ + 0.017052307724952698, + -0.0016463696956634521, + -0.012064382433891296, + 0.005255162715911865, + -0.005238920450210571, + -0.1283208727836609, + 1.0 + ], + [ + 0.011482983827590942, + -0.0028631985187530518, + -0.004938855767250061, + 0.004713915288448334, + -0.04078274965286255, + -0.06741708517074585, + 1.0 + ], + [ + 0.0058116614818573, + -0.00632321834564209, + -0.010235100984573364, + 0.023747943341732025, + -0.004198402166366577, + -0.053070515394210815, + 1.0 + ], + [ + 0.003939628601074219, + -0.004061661660671234, + -0.010470286011695862, + -0.025510229170322418, + 0.008035987615585327, + -0.03345724940299988, + 1.0 + ], + [ + 0.003997474908828735, + 0.0006637498736381531, + -0.009085215628147125, + -0.0248631089925766, + 0.016314536333084106, + 0.0020572245121002197, + 1.0 + ], + [ + 0.006046921014785767, + 0.0013149231672286987, + -0.004897557199001312, + 0.014761865139007568, + -0.005066633224487305, + -0.003946930170059204, + 1.0 + ], + [ + 0.005157768726348877, + -0.0011579245328903198, + -0.007682822644710541, + -0.006328225135803223, + -0.0030417144298553467, + -0.015370100736618042, + 1.0 + ], + [ + 0.0003336966037750244, + -0.003753945231437683, + -0.0015758723020553589, + -0.0328027606010437, + -0.010239481925964355, + -0.014889240264892578, + 1.0 + ], + [ + -0.0048629045486450195, + -0.003678716719150543, + 0.0037714913487434387, + -0.035624995827674866, + -0.016121208667755127, + 0.00046259164810180664, + 1.0 + ], + [ + -0.0021049082279205322, + 4.296749830245972e-05, + 0.0019669756293296814, + 0.004388883709907532, + -0.0026520490646362305, + 0.010399788618087769, + 1.0 + ], + [ + 0.0054947733879089355, + -0.005120277404785156, + -0.007545650005340576, + 0.023966223001480103, + 0.0032965242862701416, + -0.022920668125152588, + 1.0 + ], + [ + 0.0020048916339874268, + -0.004282601177692413, + -0.0036704540252685547, + 0.005574524402618408, + 0.0014882385730743408, + -0.02338007092475891, + 1.0 + ], + [ + 0.0048978328704833984, + 0.0032343268394470215, + -0.002075575292110443, + -0.017806708812713623, + 0.019078224897384644, + 0.008290261030197144, + 0.0 + ], + [ + 0.000827103853225708, + 0.003644809126853943, + -0.0012053698301315308, + 0.021589994430541992, + -0.004628181457519531, + 0.0033877789974212646, + 0.0 + ], + [ + 0.0024777352809906006, + -5.7369470596313477e-05, + -0.004807688295841217, + 0.019950702786445618, + 0.0028263628482818604, + -0.0004493594169616699, + 0.0 + ], + [ + 0.00031757354736328125, + -0.001522645354270935, + -0.0018349289894104004, + 0.02195855975151062, + 0.0025191307067871094, + 0.0032653212547302246, + 0.0 + ], + [ + -0.00033912062644958496, + -0.0031804442405700684, + 0.00018609315156936646, + -0.006183445453643799, + -0.005569189786911011, + 0.0005615055561065674, + 0.0 + ], + [ + -0.0070174336433410645, + -7.581710815429688e-05, + 0.01308394968509674, + -0.0056436508893966675, + -0.023085355758666992, + 0.002300739288330078, + 0.0 + ], + [ + -0.005092650651931763, + 0.005458042025566101, + 0.01303660124540329, + -0.012084633111953735, + -0.020978420972824097, + 0.03459253907203674, + 0.0 + ], + [ + 0.001362621784210205, + 0.009192921221256256, + 0.01831253618001938, + -0.022780373692512512, + -0.027768462896347046, + 0.04307010769844055, + 0.0 + ], + [ + 0.001171499490737915, + 0.001931890845298767, + 0.014920264482498169, + -0.030858993530273438, + -0.01052829623222351, + 0.06208312511444092, + 0.0 + ], + [ + -0.0025145411491394043, + 0.0022168755531311035, + 0.014106929302215576, + -0.01074102520942688, + -0.009611338376998901, + 0.14530974626541138, + 0.0 + ], + [ + -0.01154676079750061, + -0.0037013739347457886, + 0.009353578090667725, + 0.029714033007621765, + 0.015253663063049316, + 0.18031060695648193, + 0.0 + ], + [ + -0.019980400800704956, + -0.006909333169460297, + 0.002655342221260071, + 0.02778799831867218, + 0.012227565050125122, + 0.1371895670890808, + 0.0 + ], + [ + -0.02502661943435669, + -0.001584671437740326, + -0.004834756255149841, + -0.02952060103416443, + 0.024272501468658447, + 0.17580032348632812, + 0.0 + ], + [ + -0.018734842538833618, + -0.0015925765037536621, + -0.013081744313240051, + -0.033691197633743286, + 0.03966116905212402, + 0.07905042171478271, + 0.0 + ], + [ + -0.010615423321723938, + 0.0007011815905570984, + -0.006901875138282776, + -0.06246134638786316, + 0.05661064386367798, + 0.1138986349105835, + 0.0 + ], + [ + -0.004858881235122681, + 0.004004031419754028, + -0.003621533513069153, + -0.04663863778114319, + 0.1285771280527115, + 0.18362557888031006, + 0.0 + ], + [ + 0.0011257976293563843, + 0.002128221094608307, + -0.005276963114738464, + 0.013179421424865723, + 0.02138543128967285, + 0.08636248111724854, + 0.0 + ], + [ + 0.002850830554962158, + -0.003523886203765869, + 0.0002699941396713257, + 0.032920777797698975, + -0.05049969255924225, + 0.13411211967468262, + 0.0 + ], + [ + 0.0017318874597549438, + -0.0018973425030708313, + -0.0029830634593963623, + 0.05322618782520294, + -0.017256304621696472, + 0.09186971187591553, + 0.0 + ], + [ + 0.0010356009006500244, + -0.0016422122716903687, + -0.0006746202707290649, + 0.05189177393913269, + -0.01578359305858612, + 0.09026730060577393, + 0.0 + ], + [ + -0.0028340667486190796, + 0.001632779836654663, + 0.0006925314664840698, + -0.02303774654865265, + 0.11444838345050812, + -0.0283815860748291, + 0.0 + ], + [ + -0.0063040852546691895, + 0.004539519548416138, + 0.0005596280097961426, + -0.051301196217536926, + 0.0571255199611187, + 0.007856369018554688, + 0.0 + ], + [ + -0.00651201605796814, + 0.001983433961868286, + -0.0004360079765319824, + -0.027264341711997986, + 0.037557780742645264, + -0.01656496524810791, + 0.0 + ], + [ + -0.0018485039472579956, + 0.0029679909348487854, + -0.0010782331228256226, + -0.0015671849250793457, + 0.02419976517558098, + 0.02933824062347412, + 0.0 + ], + [ + 0.0011795461177825928, + -0.0003571510314941406, + -0.009019844233989716, + 0.03983244299888611, + 0.0023629385977983475, + -0.0006238222122192383, + 0.0 + ], + [ + -0.00044101476669311523, + 0.0015795975923538208, + -0.003047533333301544, + 0.014625906944274902, + 0.013955753296613693, + 0.006238222122192383, + 1.0 + ], + [ + 0.004765927791595459, + -0.0011938512325286865, + -0.0010633394122123718, + 0.005015075206756592, + 0.022639773786067963, + -0.03800082206726074, + 1.0 + ], + [ + 0.0004828423261642456, + 0.0008653402328491211, + 0.00041428953409194946, + 0.007866725325584412, + -0.015460114926099777, + -0.0017883777618408203, + 1.0 + ], + [ + 8.054077625274658e-05, + 0.00029584765434265137, + 0.0013225451111793518, + 0.003097832202911377, + -0.002378121018409729, + -0.0010138750076293945, + 1.0 + ], + [ + -6.237626075744629e-05, + -0.0014836043119430542, + 0.0012146085500717163, + 0.0065764933824539185, + 0.0009784027934074402, + -0.005440831184387207, + 1.0 + ], + [ + 0.0016483068466186523, + -0.0009180456399917603, + 0.00273934006690979, + 0.003818124532699585, + -0.004958804696798325, + -0.0031691789627075195, + 1.0 + ], + [ + 0.0002034902572631836, + -0.001500830054283142, + 0.002634607255458832, + -0.004175513982772827, + -0.013715291395783424, + -0.0051277875900268555, + 1.0 + ], + [ + -6.939470767974854e-05, + -0.0001568421721458435, + 0.001575753092765808, + -0.0007634758949279785, + -0.019065093249082565, + -0.008027434349060059, + 1.0 + ], + [ + 0.00040169060230255127, + -0.0012207180261611938, + 0.007187381386756897, + 0.037205666303634644, + -0.04625967517495155, + -0.061840057373046875, + 1.0 + ], + [ + -0.0012055784463882446, + -0.0005339756608009338, + 0.009918764233589172, + 0.05243092030286789, + -0.06275711208581924, + -0.08851146697998047, + 1.0 + ], + [ + -0.0012498944997787476, + -0.0020182132720947266, + 0.009222254157066345, + 0.02536633610725403, + 0.004685834050178528, + -0.03954720497131348, + 1.0 + ], + [ + 0.011067107319831848, + -0.005209729075431824, + 0.009678974747657776, + -0.0016329139471054077, + -0.01389717310667038, + -0.08965873718261719, + 1.0 + ], + [ + 0.01726721227169037, + -0.00802561640739441, + -0.005085214972496033, + 0.046149738132953644, + -0.025883197784423828, + -0.18300628662109375, + 1.0 + ], + [ + 0.013110339641571045, + -0.008664928376674652, + -0.005095824599266052, + -0.02460075356066227, + 0.008343562483787537, + -0.24550068378448486, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 0.9730880856513977 + ], + [ + 0.7171077728271484 + ], + [ + 0.4220271706581116 + ], + [ + 0.2198251634836197 + ], + [ + 0.13995102047920227 + ], + [ + 0.1051359549164772 + ], + [ + 0.10434377193450928 + ], + [ + 0.10434377193450928 + ], + [ + 0.10434377193450928 + ], + [ + 0.10394904017448425 + ], + [ + 0.10434377193450928 + ], + [ + 0.10394904017448425 + ], + [ + 0.10394904017448425 + ], + [ + 0.10394904017448425 + ], + [ + 0.10394904017448425 + ], + [ + 0.10394904017448425 + ], + [ + 0.10394904017448425 + ], + [ + 0.10394904017448425 + ], + [ + 0.10394904017448425 + ], + [ + 0.10394904017448425 + ], + [ + 0.10394904017448425 + ], + [ + 0.10394904017448425 + ], + [ + 0.10394904017448425 + ], + [ + 0.10394904017448425 + ], + [ + 0.10394904017448425 + ], + [ + 0.13665413856506348 + ], + [ + 0.34207403659820557 + ], + [ + 0.6249675154685974 + ], + [ + 0.8998980522155762 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.1976165771484375, + 0.12582571804523468, + 0.14588412642478943 + ], + [ + 0.21000495553016663, + 0.13054630160331726, + 0.14697299897670746 + ], + [ + 0.22451940178871155, + 0.13715186715126038, + 0.15388642251491547 + ], + [ + 0.24275927245616913, + 0.13974227011203766, + 0.15945549309253693 + ], + [ + 0.2598115801811218, + 0.1380959004163742, + 0.14739111065864563 + ], + [ + 0.27129456400871277, + 0.13523270189762115, + 0.14245225489139557 + ], + [ + 0.27710622549057007, + 0.12890948355197906, + 0.1322171539068222 + ], + [ + 0.2810458540916443, + 0.12484782189130783, + 0.12174686789512634 + ], + [ + 0.285043329000473, + 0.12551157176494598, + 0.11266165226697922 + ], + [ + 0.2910902500152588, + 0.12682649493217468, + 0.1077640950679779 + ], + [ + 0.29624801874160767, + 0.12566857039928436, + 0.10008127242326736 + ], + [ + 0.2965817153453827, + 0.12191462516784668, + 0.098505400121212 + ], + [ + 0.29171881079673767, + 0.11823590844869614, + 0.10227689146995544 + ], + [ + 0.28961390256881714, + 0.1182788759469986, + 0.10424386709928513 + ], + [ + 0.2951086759567261, + 0.11315859854221344, + 0.09669821709394455 + ], + [ + 0.2971135675907135, + 0.10887599736452103, + 0.093027763068676 + ], + [ + 0.3020114004611969, + 0.11211032420396805, + 0.09095218777656555 + ], + [ + 0.3028385043144226, + 0.11575513333082199, + 0.08974681794643402 + ], + [ + 0.3053162395954132, + 0.11569776386022568, + 0.0849391296505928 + ], + [ + 0.3056338131427765, + 0.11417511850595474, + 0.0831042006611824 + ], + [ + 0.3052946925163269, + 0.11099467426538467, + 0.08329029381275177 + ], + [ + 0.29827725887298584, + 0.11091885715723038, + 0.09637424349784851 + ], + [ + 0.2931846082210541, + 0.11637689918279648, + 0.1094108447432518 + ], + [ + 0.2945472300052643, + 0.12556982040405273, + 0.12772338092327118 + ], + [ + 0.2957187294960022, + 0.1275017112493515, + 0.14264364540576935 + ], + [ + 0.2932041883468628, + 0.1297185868024826, + 0.15675057470798492 + ], + [ + 0.2816574275493622, + 0.12601721286773682, + 0.16610415279865265 + ], + [ + 0.2616770267486572, + 0.11910787969827652, + 0.16875949501991272 + ], + [ + 0.23665040731430054, + 0.1175232082605362, + 0.16392473876476288 + ], + [ + 0.21791556477546692, + 0.11593063175678253, + 0.15084299445152283 + ], + [ + 0.20730014145374298, + 0.11663181334733963, + 0.14394111931324005 + ], + [ + 0.2024412602186203, + 0.12063584476709366, + 0.1403195858001709 + ], + [ + 0.20356705784797668, + 0.12276406586170197, + 0.13504262268543243 + ], + [ + 0.20641788840293884, + 0.1192401796579361, + 0.13531261682510376 + ], + [ + 0.2081497758626938, + 0.11734283715486526, + 0.1323295533657074 + ], + [ + 0.2091853767633438, + 0.1157006248831749, + 0.13165493309497833 + ], + [ + 0.20635131001472473, + 0.11733340471982956, + 0.1323474645614624 + ], + [ + 0.20004722476005554, + 0.1218729242682457, + 0.13290709257125854 + ], + [ + 0.1935352087020874, + 0.12385635823011398, + 0.13247108459472656 + ], + [ + 0.1916867047548294, + 0.12682434916496277, + 0.13139285147190094 + ], + [ + 0.192866250872612, + 0.12646719813346863, + 0.12237300723791122 + ], + [ + 0.19242523610591888, + 0.12804679572582245, + 0.11932547390460968 + ], + [ + 0.19719116389751434, + 0.12685294449329376, + 0.11826213449239731 + ], + [ + 0.1976740062236786, + 0.12771828472614288, + 0.11867642402648926 + ], + [ + 0.19775454699993134, + 0.12801413238048553, + 0.11999896913766861 + ], + [ + 0.1976921707391739, + 0.12653052806854248, + 0.12121357768774033 + ], + [ + 0.19934047758579254, + 0.12561248242855072, + 0.12395291775465012 + ], + [ + 0.19954396784305573, + 0.12411165237426758, + 0.12658752501010895 + ], + [ + 0.19947457313537598, + 0.12395481020212173, + 0.12816327810287476 + ], + [ + 0.19987626373767853, + 0.12273409217596054, + 0.13535065948963165 + ], + [ + 0.19867068529129028, + 0.1222001165151596, + 0.14526942372322083 + ], + [ + 0.19742079079151154, + 0.12018190324306488, + 0.15449167788028717 + ], + [ + 0.20848789811134338, + 0.11497217416763306, + 0.16417065262794495 + ], + [ + 0.22575511038303375, + 0.10694655776023865, + 0.1590854376554489 + ], + [ + 0.2388654500246048, + 0.098281629383564, + 0.15398961305618286 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.496816108412898, + 0.8338851814192686, + 0.24043556024601925, + 0.7925657696626435, + -0.5488261842662209, + 0.2657617734416328, + 0.35357213575241636, + 0.05852626481447286, + -0.9335745396840796 + ], + [ + 0.5847895390187842, + 0.7774063678208555, + 0.23164743539651642, + 0.7433740011449393, + -0.6278871111181998, + 0.2305490622696294, + 0.3246787481125953, + 0.037378001059802726, + -0.9450854964291917 + ], + [ + 0.6866534080167573, + 0.6804989109602728, + 0.2557896194939408, + 0.6656825571964258, + -0.7299619685351073, + 0.15499115309196854, + 0.29218800506420467, + 0.06384948452598008, + -0.9542271286346699 + ], + [ + 0.7835277031795075, + 0.547915926595907, + 0.29304005823913265, + 0.5521907596437321, + -0.8302525636100954, + 0.07593448217340074, + 0.2849029717541108, + 0.10231724195566022, + -0.9530799959522093 + ], + [ + 0.8464172988084976, + 0.4382862939393456, + 0.30246137079408936, + 0.44668071714991975, + -0.893569328867323, + 0.044835158458901785, + 0.28992083954790043, + 0.09715440830201705, + -0.9521065737318092 + ], + [ + 0.8630564338644698, + 0.37509579510636726, + 0.3382849929551508, + 0.38352292145260913, + -0.9224647446261399, + 0.044373005783771347, + 0.32870010752295187, + 0.09144364065014551, + -0.9399969680265183 + ], + [ + 0.8808887068810584, + 0.33334979634948436, + 0.3360252957191978, + 0.33670591147695617, + -0.9402752522393841, + 0.05011565825802374, + 0.3326623141654149, + 0.06899538607704268, + -0.9405186980779228 + ], + [ + 0.8941576617605458, + 0.29371013850839073, + 0.3379592141846347, + 0.307911341137538, + -0.9513378452648145, + 0.012120650386143905, + 0.3250733485135263, + 0.09322370248108783, + -0.9410827059201128 + ], + [ + 0.8984140673534234, + 0.2889761930371472, + 0.33067343927088555, + 0.31144595135140546, + -0.9501316316673735, + -0.015852504278905333, + 0.30960229806688544, + 0.11722901672731104, + -0.9436120890857914 + ], + [ + 0.8981406533276384, + 0.2895782767623093, + 0.33088939008009016, + 0.30738566951474855, + -0.9515837342832107, + -0.001564232907646762, + 0.31441599357725497, + 0.10311555787072578, + -0.9436682492845864 + ], + [ + 0.9018452645924259, + 0.272504292499834, + 0.33528574276485756, + 0.29324830133315294, + -0.9559633384903597, + -0.011812249048595819, + 0.3173019894318938, + 0.10897479539568149, + -0.9420424308230663 + ], + [ + 0.9029595543168459, + 0.24574727065246213, + 0.3525227967590014, + 0.2788152819959815, + -0.959268770134927, + -0.045447389026496254, + 0.32699553787999, + 0.13932589712860244, + -0.9346989957178117 + ], + [ + 0.8976771929264, + 0.23082840779347014, + 0.3753583667048188, + 0.27763911340618974, + -0.9577529919943888, + -0.07500486006133429, + 0.3421873463569375, + 0.17154431637721745, + -0.9238400118591257 + ], + [ + 0.8938740250159033, + 0.24200182764507552, + 0.37739149807369954, + 0.28668142941863944, + -0.9557390987700364, + -0.06615537097412313, + 0.3446780895681558, + 0.16732570184726964, + -0.9236877849538581 + ], + [ + 0.9012943201329264, + 0.22943499940740056, + 0.36746173888318173, + 0.2664403998113711, + -0.9624149039828345, + -0.05260290809516007, + 0.3415817059569822, + 0.14531735491205872, + -0.9285498395438342 + ], + [ + 0.9077665536266752, + 0.20911218595367997, + 0.36363715129565966, + 0.24542958257418251, + -0.9677871538881918, + -0.05614574575563335, + 0.3401826040734761, + 0.14021454437634936, + -0.9298471258390391 + ], + [ + 0.9117863813452839, + 0.21350082587459385, + 0.35080335252693784, + 0.25464630861186793, + -0.9641140299931409, + -0.07509590322204243, + 0.32218139658214584, + 0.15780220062233422, + -0.9334332398062148 + ], + [ + 0.9094739253126858, + 0.22368162385324225, + 0.3504621382213951, + 0.2573250564023913, + -0.9649294722010345, + -0.051912705817934744, + 0.32655932772444546, + 0.13739594181856293, + -0.9351370812067868 + ], + [ + 0.9104740545252471, + 0.2305176596451732, + 0.34336366235824844, + 0.2571662048244903, + -0.9657853600815165, + -0.033528813703793015, + 0.3238866146238919, + 0.11882864487962258, + -0.9386038642705169 + ], + [ + 0.9104110488514945, + 0.2413931455911089, + 0.3359777840732197, + 0.26036133592066424, + -0.9654383714856506, + -0.011862783009965065, + 0.3215022502047666, + 0.09827563342336795, + -0.9417952022539227 + ], + [ + 0.9085293867848367, + 0.2392962808751597, + 0.3425078733513806, + 0.2603751696549414, + -0.9653716009963956, + -0.016200093111358234, + 0.3267707520197137, + 0.10389880629233847, + -0.9393752784034175 + ], + [ + 0.9004397586877071, + 0.2371678275092343, + 0.3646363429075253, + 0.2603000802007551, + -0.9654133636064367, + -0.01486289398424595, + 0.34849979802276027, + 0.10829800997551427, + -0.9310313806813598 + ], + [ + 0.8837539162441563, + 0.26361152898138457, + 0.3866367511129974, + 0.288950685018517, + -0.9573124819005457, + -0.007766184696967923, + 0.3680849319796275, + 0.11858235022765527, + -0.9221993868269699 + ], + [ + 0.8605894134900571, + 0.29209267759658336, + 0.4172142484183611, + 0.3230170563287527, + -0.9463858258071934, + -0.003721563104940498, + 0.3937586096957715, + 0.13797005619225894, + -0.9088005396591478 + ], + [ + 0.835060650826288, + 0.3356341367839655, + 0.4359167760787127, + 0.37407293449335466, + -0.9273958056206116, + -0.002541534345023383, + 0.40341436404905884, + 0.16518700294689925, + -0.8999833914780396 + ], + [ + 0.7687873419639206, + 0.46030424545600684, + 0.4439437176616266, + 0.48894305747492367, + -0.870523352405129, + 0.055890781569138806, + 0.41219013741612415, + 0.17409507325743567, + -0.8943098993550082 + ], + [ + 0.6731753693408782, + 0.6230224730973263, + 0.3983439721251771, + 0.6230856497081331, + -0.7679882272987566, + 0.14818352087296088, + 0.3982451446541014, + 0.14844891628504725, + -0.9051871209939022 + ], + [ + 0.5846816125907165, + 0.7332784426475092, + 0.3470592707978896, + 0.7130068367625555, + -0.6685468222481517, + 0.21134426226361763, + 0.3869995641188421, + 0.12388652876863515, + -0.9137195769827219 + ], + [ + 0.4554284977163843, + 0.831341242714524, + 0.3185225606290214, + 0.8122313933255315, + -0.5344888352672483, + 0.2336703846685036, + 0.3645065804128417, + 0.1522938709749399, + -0.9186629031909394 + ], + [ + 0.3956103090639593, + 0.8634481402659684, + 0.31296931548245865, + 0.8581195086102065, + -0.4689527529285676, + 0.20907946925342835, + 0.3272971009723369, + 0.1858510817616028, + -0.9264642373578948 + ], + [ + 0.30083771686453503, + 0.8957962218195643, + 0.3271785400748767, + 0.9136733557119967, + -0.369045814303049, + 0.17031202543384477, + 0.27330873965849134, + 0.24769803374107208, + -0.929488040217352 + ], + [ + 0.13258087736015228, + 0.9386331704318641, + 0.31841809358677986, + 0.9801038924992916, + -0.17202666985271958, + 0.09901103356252956, + 0.14771144460111818, + 0.29895584326855107, + -0.94276547078764 + ], + [ + 0.047688714445628055, + 0.9542539032059844, + 0.29516990824043576, + 0.9908159975836642, + -0.08262449717224207, + 0.10703668249400591, + 0.12652843730486762, + 0.28735462530326195, + -0.9494302891050033 + ], + [ + -0.08456460712908709, + 0.9664780382823336, + 0.242423242984321, + 0.9806721520892266, + 0.03764631193329876, + 0.1920023054926826, + 0.1764396705329836, + 0.2539743229457513, + -0.9509816433278087 + ], + [ + -0.17361071287596047, + 0.9701152346761333, + 0.16951622879232364, + 0.9656378623489088, + 0.1338863465953561, + 0.22275090346298856, + 0.19339813642569115, + 0.20236323194844172, + -0.960024105521549 + ], + [ + -0.2591099647088221, + 0.961163252625024, + 0.095011725549416, + 0.9429951965441052, + 0.23048000849049044, + 0.24008128827746675, + 0.20885900862385037, + 0.15180305494128907, + -0.9660919971861658 + ], + [ + -0.23639044912599627, + 0.9599381306831956, + 0.15046042942402324, + 0.9669227059890331, + 0.21713172611918719, + 0.13384429070882195, + 0.09581250547217246, + 0.17712311755655738, + -0.9795138411590671 + ], + [ + -0.24492241862174075, + 0.9460936782794174, + 0.2119428243092909, + 0.9687650244781094, + 0.23005345292943652, + 0.09257286936879269, + 0.03882442793403179, + 0.227995966444509, + -0.9728877135007048 + ], + [ + -0.22901447077498227, + 0.941413240645475, + 0.247575205771982, + 0.9734221812542284, + 0.2211499326556573, + 0.05951440437959418, + 0.0012764082083946832, + 0.2546248566495083, + -0.9670390649597886 + ], + [ + -0.2574028801117624, + 0.9325388499197875, + 0.25320949962521133, + 0.966032281603546, + 0.2545543545228529, + 0.04453887620159355, + -0.022921348346396406, + 0.2560729856578665, + -0.9663856568711321 + ], + [ + -0.2567855683648181, + 0.9419100918167299, + 0.216486837506018, + 0.9661376255241464, + 0.25603486814721105, + 0.032003669155346, + -0.025283599943875842, + 0.21737415951911104, + -0.9757608387034389 + ], + [ + -0.2626891630428776, + 0.9426123091983116, + 0.20609812752099185, + 0.9640825979192447, + 0.26509936214975993, + 0.01634235530976197, + -0.039231976869800816, + 0.20298857784520027, + -0.9783948534488878 + ], + [ + -0.22561375959830282, + 0.952014192207232, + 0.20680282714685178, + 0.9722520028978945, + 0.23350238542788265, + -0.014236532601765745, + -0.0618423345367219, + 0.19785250525454554, + -0.978279056212259 + ], + [ + -0.22406233784980184, + 0.9546871180592191, + 0.1958789814376819, + 0.9734693839222761, + 0.2288112753170099, + -0.001660979767360779, + -0.04640503553780925, + 0.19031002837366706, + -0.9806266699295654 + ], + [ + -0.22309926017630377, + 0.9556202850787417, + 0.19239696165690967, + 0.9738008711589251, + 0.22740224008145482, + -0.0002907508471360343, + -0.044029347473074035, + 0.18729146257093723, + -0.9813171376314258 + ], + [ + -0.217788202277644, + 0.9580493879171305, + 0.18630531194865024, + 0.9749577881544497, + 0.2223585987722569, + -0.0037369598635906554, + -0.045006780218713974, + 0.18082594908820562, + -0.9824847916739956 + ], + [ + -0.21474262288355062, + 0.9596422990635637, + 0.18158266372396697, + 0.975849069159047, + 0.2184454896893061, + -0.0004028099066646085, + -0.040052467321187765, + 0.17711077291457278, + -0.9833756016797895 + ], + [ + -0.2098314518947862, + 0.9605050918896713, + 0.1827586666884488, + 0.9773825816906455, + 0.2110948635919237, + 0.012737643927950237, + -0.026344843963366185, + 0.18129789579341696, + -0.9830752881531633 + ], + [ + -0.20204367103304405, + 0.9627301902148798, + 0.1798024912071933, + 0.9793494354810804, + 0.19996925510719682, + 0.02978221339595763, + -0.007282734265410318, + 0.18210677598786543, + -0.9832517907031368 + ], + [ + -0.14102958444589692, + 0.9802676168413453, + 0.13851373824717614, + 0.989238206127351, + 0.13402719861500373, + 0.05868970582099744, + 0.038967009751307874, + 0.14530006677081714, + -0.9886199789339876 + ], + [ + -0.05279876714344717, + 0.9947323422437352, + 0.08786271952554511, + 0.9934274721284401, + 0.043373145501990396, + 0.10592746513421565, + 0.10155859298271788, + 0.09287807891830947, + -0.9904844848092347 + ], + [ + -0.013486744963705888, + 0.9976777931362334, + 0.0667617315016599, + 0.9952031422944833, + 0.006923204150263318, + 0.09758470582771123, + 0.09689588885742839, + 0.06775758501532911, + -0.9929854462153109 + ], + [ + 0.07556689409936684, + 0.9940929325211414, + 0.07790305531680425, + 0.9909748727339724, + -0.08354487421208939, + 0.10482869646606255, + 0.11071786723949656, + 0.06927839132373206, + -0.9914343439530091 + ], + [ + 0.25382954664378143, + 0.9655226461573467, + 0.057763145758586244, + 0.9575829272450991, + -0.2592660499781879, + 0.1257618892089947, + 0.1364019746899586, + 0.02339091887940775, + -0.9903773857548734 + ], + [ + 0.479485105187524, + 0.8713578926135314, + 0.10406467644409903, + 0.8681453163988192, + -0.48831415772677017, + 0.08872988774020707, + 0.1281317428200511, + 0.04779860190111271, + -0.9906046386617599 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005572.json b/json/chunk-0005/episode_0005572.json new file mode 100644 index 0000000000000000000000000000000000000000..d0ffdd3ad3822d27bc850db363ee30baa400e32c --- /dev/null +++ b/json/chunk-0005/episode_0005572.json @@ -0,0 +1,4462 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 73, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut cauliflower on plate and pickle in pot or pan in sink." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005572.mp4", + "start": 0, + "end": 73, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.36355650424957275, + -0.06188582628965378, + 0.10132598876953125, + 0.04265885800123215, + -0.2362036556005478, + -0.17140723764896393, + 0.0, + 0.9981546401977539 + ], + [ + 0.3600769639015198, + -0.061861302703619, + 0.08617914468050003, + 0.03953642025589943, + -0.19611690938472748, + -0.1722792237997055, + 0.0, + 0.9981546401977539 + ], + [ + 0.3653303384780884, + -0.058033719658851624, + 0.07811051607131958, + 0.025079742074012756, + -0.23551522195339203, + -0.20556260645389557, + 0.0, + 0.9981546401977539 + ], + [ + 0.3692782521247864, + -0.052877407521009445, + 0.07772379368543625, + 0.027072785422205925, + -0.25636452436447144, + -0.23240642249584198, + 0.0, + 0.9981546401977539 + ], + [ + 0.3699619174003601, + -0.04821203649044037, + 0.073873370885849, + 0.023873455822467804, + -0.2752879559993744, + -0.24618075788021088, + 0.0, + 0.9981546401977539 + ], + [ + 0.3673408627510071, + -0.0452437587082386, + 0.06508421897888184, + 0.034211985766887665, + -0.2848854064941406, + -0.2536163330078125, + 0.0, + 0.9981546401977539 + ], + [ + 0.3661668598651886, + -0.044357676059007645, + 0.05983372777700424, + 0.03817256540060043, + -0.30299532413482666, + -0.2332654893398285, + 0.0, + 0.9981546401977539 + ], + [ + 0.36404722929000854, + -0.04776572063565254, + 0.05264904350042343, + 0.026607925072312355, + -0.3287992775440216, + -0.22258369624614716, + 0.0, + 0.9981546401977539 + ], + [ + 0.3658144176006317, + -0.05122750997543335, + 0.05058106780052185, + 0.02483096346259117, + -0.36128008365631104, + -0.22382168471813202, + 0.0, + 0.9981546401977539 + ], + [ + 0.36669278144836426, + -0.053804971277713776, + 0.04364650323987007, + 0.020996786653995514, + -0.3708929419517517, + -0.22839541733264923, + 0.0, + 0.9981546401977539 + ], + [ + 0.36725905537605286, + -0.05567626282572746, + 0.04261334240436554, + 0.01700713485479355, + -0.3728339374065399, + -0.2310817986726761, + 0.0, + 0.9981546401977539 + ], + [ + 0.3685997426509857, + -0.05722419172525406, + 0.04087059572339058, + 0.012964463792741299, + -0.35925814509391785, + -0.22931139171123505, + 0.0, + 0.9679883122444153 + ], + [ + 0.3700665831565857, + -0.05857674404978752, + 0.04526101052761078, + 0.008632566779851913, + -0.32080599665641785, + -0.2175980508327484, + 0.0, + 0.6691625118255615 + ], + [ + 0.3705177307128906, + -0.05996667966246605, + 0.05131497234106064, + 0.0027637311723083258, + -0.29335904121398926, + -0.20970401167869568, + 0.0, + 0.5531353950500488 + ], + [ + 0.3670952022075653, + -0.06104014441370964, + 0.05530597269535065, + 0.002741330536082387, + -0.24867647886276245, + -0.20752114057540894, + 0.0, + 0.5819184184074402 + ], + [ + 0.35969313979148865, + -0.059732671827077866, + 0.06007635220885277, + 0.020472709089517593, + -0.17578375339508057, + -0.21219928562641144, + 0.0, + 0.5869058966636658 + ], + [ + 0.3499632179737091, + -0.05737483501434326, + 0.08097728341817856, + 0.03979405760765076, + -0.14788532257080078, + -0.21344098448753357, + 0.0, + 0.5869058966636658 + ], + [ + 0.3448910713195801, + -0.047197338193655014, + 0.09250708669424057, + 0.05557470768690109, + -0.13002172112464905, + -0.23724472522735596, + 0.0, + 0.5869058966636658 + ], + [ + 0.34859782457351685, + -0.029574593529105186, + 0.09349480271339417, + 0.04726426675915718, + -0.13941800594329834, + -0.2867699861526489, + 0.0, + 0.5869058966636658 + ], + [ + 0.35563358664512634, + -0.0070928968489170074, + 0.09422378987073898, + 0.05200330913066864, + -0.1734570413827896, + -0.312852680683136, + 0.0, + 0.5869058966636658 + ], + [ + 0.36168915033340454, + 0.011008469387888908, + 0.09584327042102814, + 0.05836648866534233, + -0.21326006948947906, + -0.3426264226436615, + 0.0, + 0.5869058966636658 + ], + [ + 0.36493563652038574, + 0.02534020133316517, + 0.0965447947382927, + 0.0683213323354721, + -0.24019411206245422, + -0.36262860894203186, + 0.0, + 0.5869058966636658 + ], + [ + 0.36537861824035645, + 0.03765799477696419, + 0.09255127608776093, + 0.0778760313987732, + -0.23276425898075104, + -0.3822771906852722, + 0.0, + 0.5869058966636658 + ], + [ + 0.3700863718986511, + 0.047054991126060486, + 0.0881362184882164, + 0.0823880210518837, + -0.22057385742664337, + -0.38241490721702576, + 0.0, + 0.5869058966636658 + ], + [ + 0.3707570731639862, + 0.05510915070772171, + 0.07910466194152832, + 0.07375504821538925, + -0.2070324420928955, + -0.37720006704330444, + 0.0, + 0.5869058966636658 + ], + [ + 0.37328124046325684, + 0.05902363732457161, + 0.07697605341672897, + 0.07885272800922394, + -0.2247210294008255, + -0.3780086636543274, + 0.0, + 0.6661520600318909 + ], + [ + 0.371650367975235, + 0.058697838336229324, + 0.07253722846508026, + 0.07315441220998764, + -0.20898020267486572, + -0.3630892038345337, + 0.0, + 0.9522681832313538 + ], + [ + 0.3678773045539856, + 0.05136348679661751, + 0.07063188403844833, + 0.05788891017436981, + -0.1801932007074356, + -0.3431694805622101, + 0.0, + 1.0014774799346924 + ], + [ + 0.3654063940048218, + 0.04814242944121361, + 0.07142280787229538, + 0.039379287511110306, + -0.16369597613811493, + -0.3379362225532532, + 0.0, + 1.0001531839370728 + ], + [ + 0.3587948977947235, + 0.044120535254478455, + 0.07162997871637344, + 0.01516368705779314, + -0.12378115952014923, + -0.3323008120059967, + 0.0, + 1.0001531839370728 + ], + [ + 0.35776615142822266, + 0.04712294787168503, + 0.08555154502391815, + -0.010721069760620594, + -0.08568976074457169, + -0.3554542064666748, + 0.0, + 1.0001531839370728 + ], + [ + 0.3597601652145386, + 0.05010669305920601, + 0.10074052214622498, + -0.0033429893665015697, + -0.0600186288356781, + -0.40023916959762573, + 0.0, + 1.0001531839370728 + ], + [ + 0.35832226276397705, + 0.049865201115608215, + 0.10067595541477203, + -0.008035654202103615, + -0.05228801071643829, + -0.4048924446105957, + 0.0, + 1.0001531839370728 + ], + [ + 0.35832226276397705, + 0.049865201115608215, + 0.10067595541477203, + -0.008035654202103615, + -0.05228801071643829, + -0.4048924446105957, + 0.0, + 1.0001531839370728 + ], + [ + 0.3593052327632904, + 0.05174295976758003, + 0.09985239803791046, + -0.0012700065271928906, + -0.06258655339479446, + -0.4016205072402954, + 0.0, + 1.0001531839370728 + ], + [ + 0.34247899055480957, + 0.0647713914513588, + 0.09310956299304962, + 0.016815103590488434, + -0.13978925347328186, + -0.3565237522125244, + 0.0, + 1.0001531839370728 + ], + [ + 0.3274794816970825, + 0.08446241170167923, + 0.10499624907970428, + 0.09095379710197449, + -0.20206046104431152, + -0.2874475121498108, + 0.0, + 1.0001531839370728 + ], + [ + 0.3177158832550049, + 0.094728983938694, + 0.10559672117233276, + 0.12374203652143478, + -0.23494933545589447, + -0.27711808681488037, + 0.0, + 1.0001531839370728 + ], + [ + 0.30845510959625244, + 0.1090233325958252, + 0.10468344390392303, + 0.16372258961200714, + -0.25713658332824707, + -0.2591501474380493, + 0.0, + 1.0001531839370728 + ], + [ + 0.29924827814102173, + 0.12146281450986862, + 0.09845685958862305, + 0.166347473859787, + -0.2516230642795563, + -0.2045166790485382, + 0.0, + 1.0001531839370728 + ], + [ + 0.28970080614089966, + 0.12682631611824036, + 0.08342891931533813, + 0.17475132644176483, + -0.2590963542461395, + -0.18223074078559875, + 0.0, + 1.0001531839370728 + ], + [ + 0.28386190533638, + 0.1279081404209137, + 0.07175377011299133, + 0.1706998497247696, + -0.28574657440185547, + -0.15651343762874603, + 0.0, + 1.0001531839370728 + ], + [ + 0.2821449041366577, + 0.12743087112903595, + 0.06955844908952713, + 0.14098961651325226, + -0.3018587529659271, + -0.13206185400485992, + 0.0, + 1.0001531839370728 + ], + [ + 0.27794182300567627, + 0.1266203075647354, + 0.06385393440723419, + 0.13379529118537903, + -0.30387061834335327, + -0.111484095454216, + 0.0, + 1.0001531839370728 + ], + [ + 0.2738189101219177, + 0.12841631472110748, + 0.05819607153534889, + 0.12045617401599884, + -0.3208983838558197, + -0.0881243497133255, + 0.0, + 1.0001531839370728 + ], + [ + 0.2678878903388977, + 0.1297246664762497, + 0.047797415405511856, + 0.10913272202014923, + -0.3361697494983673, + -0.07637985795736313, + 0.0, + 1.0001531839370728 + ], + [ + 0.2625204622745514, + 0.13047504425048828, + 0.03891988843679428, + 0.08898185938596725, + -0.3450453281402588, + -0.06181688979268074, + 0.0, + 1.0001531839370728 + ], + [ + 0.25593364238739014, + 0.1302710920572281, + 0.027939926832914352, + 0.07400661706924438, + -0.3597176671028137, + -0.05771371349692345, + 0.0, + 1.0001531839370728 + ], + [ + 0.25337299704551697, + 0.12949348986148834, + 0.021297499537467957, + 0.06501655280590057, + -0.38035523891448975, + -0.04339740425348282, + 0.0, + 0.9679883122444153 + ], + [ + 0.25240281224250793, + 0.12804923951625824, + 0.02060987986624241, + 0.0567290261387825, + -0.37845325469970703, + -0.04566805437207222, + 0.0, + 0.8417698740959167 + ], + [ + 0.2487735003232956, + 0.12544499337673187, + 0.022462381049990654, + 0.012536702677607536, + -0.3230108916759491, + -0.026448633521795273, + 0.0, + 0.5315056443214417 + ], + [ + 0.254693865776062, + 0.12825559079647064, + 0.033586811274290085, + -0.010857125744223595, + -0.29115810990333557, + -0.03611202910542488, + 0.0, + 0.28468459844589233 + ], + [ + 0.2653507888317108, + 0.13302066922187805, + 0.04786762595176697, + -0.025071587413549423, + -0.28463977575302124, + -0.03440343588590622, + 0.0, + 0.25822705030441284 + ], + [ + 0.2738359868526459, + 0.14441609382629395, + 0.07840822637081146, + -0.029194142669439316, + -0.21105074882507324, + -0.06050587445497513, + 0.0, + 0.2876356244087219 + ], + [ + 0.28414732217788696, + 0.15999452769756317, + 0.11217761039733887, + -0.015160012058913708, + -0.1682443618774414, + -0.09949047118425369, + 0.0, + 0.2898603677749634 + ], + [ + 0.29395660758018494, + 0.1778629869222641, + 0.1252305507659912, + -0.012085533700883389, + -0.1554175466299057, + -0.11939769238233566, + 0.0, + 0.289117693901062 + ], + [ + 0.29337045550346375, + 0.19357909262180328, + 0.10252948850393295, + -0.07650763541460037, + -0.16806194186210632, + -0.08255576342344284, + 0.0, + 0.289117693901062 + ], + [ + 0.27773213386535645, + 0.2023267298936844, + 0.07580047100782394, + -0.1212807297706604, + -0.21730822324752808, + -0.05416613444685936, + 0.0, + 0.2898603677749634 + ], + [ + 0.2602490484714508, + 0.20703701674938202, + 0.05654064193367958, + -0.13864018023014069, + -0.24790534377098083, + -0.024631040170788765, + 0.0, + 0.289117693901062 + ], + [ + 0.24638128280639648, + 0.20809340476989746, + 0.033905550837516785, + -0.16638527810573578, + -0.26529133319854736, + -0.006940961349755526, + 0.0, + 0.289117693901062 + ], + [ + 0.23921892046928406, + 0.2096872329711914, + 0.014129932969808578, + -0.2015163004398346, + -0.2961113154888153, + -0.011642774567008018, + 0.0, + 0.289117693901062 + ], + [ + 0.24016237258911133, + 0.21313448250293732, + 0.0034603262320160866, + -0.21796740591526031, + -0.3451084792613983, + -0.031160322949290276, + 0.0, + 0.2898603677749634 + ], + [ + 0.24805888533592224, + 0.21715767681598663, + -0.0053586699068546295, + -0.2253653109073639, + -0.37208548188209534, + -0.06511575728654861, + 0.0, + 0.2898603677749634 + ], + [ + 0.2585258185863495, + 0.22254057228565216, + -0.00434943987056613, + -0.2382800281047821, + -0.39376479387283325, + -0.09873133897781372, + 0.0, + 0.3486233055591583 + ], + [ + 0.26443415880203247, + 0.22333820164203644, + 0.000118341798952315, + -0.23255802690982819, + -0.3974545896053314, + -0.11372124403715134, + 0.0, + 0.6440550088882446 + ], + [ + 0.26446306705474854, + 0.21557068824768066, + 0.00012226455146446824, + -0.25774914026260376, + -0.3539283573627472, + -0.0999942198395729, + 0.0, + 0.9359400868415833 + ], + [ + 0.2692577540874481, + 0.2109077125787735, + 0.044073861092329025, + -0.18280483782291412, + -0.32667070627212524, + -0.09820367395877838, + 0.0, + 1.0008161067962646 + ], + [ + 0.2659567892551422, + 0.20018282532691956, + 0.06361617147922516, + -0.18198035657405853, + -0.26752912998199463, + -0.08038205653429031, + 0.0, + 1.0008161067962646 + ], + [ + 0.27188509702682495, + 0.19610051810741425, + 0.09814456105232239, + -0.15136969089508057, + -0.2295127511024475, + -0.0688144713640213, + 0.0, + 1.0008161067962646 + ], + [ + 0.28539201617240906, + 0.18753556907176971, + 0.12674403190612793, + -0.18528008460998535, + -0.20351485908031464, + -0.04302993789315224, + 0.0, + 1.0008161067962646 + ], + [ + 0.2863386571407318, + 0.18442705273628235, + 0.12705963850021362, + -0.1895792931318283, + -0.1977796107530594, + -0.04943408817052841, + 0.0, + 1.0008161067962646 + ], + [ + 0.28602927923202515, + 0.18552225828170776, + 0.1274324506521225, + -0.18851563334465027, + -0.1989046186208725, + -0.04657570645213127, + 0.0, + 1.0008161067962646 + ], + [ + 0.2857714891433716, + 0.185304656624794, + 0.12705963850021362, + -0.1895792931318283, + -0.1977796107530594, + -0.046366117894649506, + 0.0, + 1.0008161067962646 + ] + ], + "left_gripper_pos": [ + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9679883122444153 + ], + [ + 0.6691625118255615 + ], + [ + 0.5531353950500488 + ], + [ + 0.5819184184074402 + ], + [ + 0.5869058966636658 + ], + [ + 0.5869058966636658 + ], + [ + 0.5869058966636658 + ], + [ + 0.5869058966636658 + ], + [ + 0.5869058966636658 + ], + [ + 0.5869058966636658 + ], + [ + 0.5869058966636658 + ], + [ + 0.5869058966636658 + ], + [ + 0.5869058966636658 + ], + [ + 0.5869058966636658 + ], + [ + 0.6661520600318909 + ], + [ + 0.9522681832313538 + ], + [ + 1.0014774799346924 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9679883122444153 + ], + [ + 0.8417698740959167 + ], + [ + 0.5315056443214417 + ], + [ + 0.28468459844589233 + ], + [ + 0.25822705030441284 + ], + [ + 0.2876356244087219 + ], + [ + 0.2898603677749634 + ], + [ + 0.289117693901062 + ], + [ + 0.289117693901062 + ], + [ + 0.2898603677749634 + ], + [ + 0.289117693901062 + ], + [ + 0.289117693901062 + ], + [ + 0.289117693901062 + ], + [ + 0.2898603677749634 + ], + [ + 0.2898603677749634 + ], + [ + 0.3486233055591583 + ], + [ + 0.6440550088882446 + ], + [ + 0.9359400868415833 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.36355650424957275, + -0.06188582628965378, + 0.10132598876953125 + ], + [ + 0.3600769639015198, + -0.061861302703619, + 0.08617914468050003 + ], + [ + 0.3653303384780884, + -0.058033719658851624, + 0.07811051607131958 + ], + [ + 0.3692782521247864, + -0.052877407521009445, + 0.07772379368543625 + ], + [ + 0.3699619174003601, + -0.04821203649044037, + 0.073873370885849 + ], + [ + 0.3673408627510071, + -0.0452437587082386, + 0.06508421897888184 + ], + [ + 0.3661668598651886, + -0.044357676059007645, + 0.05983372777700424 + ], + [ + 0.36404722929000854, + -0.04776572063565254, + 0.05264904350042343 + ], + [ + 0.3658144176006317, + -0.05122750997543335, + 0.05058106780052185 + ], + [ + 0.36669278144836426, + -0.053804971277713776, + 0.04364650323987007 + ], + [ + 0.36725905537605286, + -0.05567626282572746, + 0.04261334240436554 + ], + [ + 0.3685997426509857, + -0.05722419172525406, + 0.04087059572339058 + ], + [ + 0.3700665831565857, + -0.05857674404978752, + 0.04526101052761078 + ], + [ + 0.3705177307128906, + -0.05996667966246605, + 0.05131497234106064 + ], + [ + 0.3670952022075653, + -0.06104014441370964, + 0.05530597269535065 + ], + [ + 0.35969313979148865, + -0.059732671827077866, + 0.06007635220885277 + ], + [ + 0.3499632179737091, + -0.05737483501434326, + 0.08097728341817856 + ], + [ + 0.3448910713195801, + -0.047197338193655014, + 0.09250708669424057 + ], + [ + 0.34859782457351685, + -0.029574593529105186, + 0.09349480271339417 + ], + [ + 0.35563358664512634, + -0.0070928968489170074, + 0.09422378987073898 + ], + [ + 0.36168915033340454, + 0.011008469387888908, + 0.09584327042102814 + ], + [ + 0.36493563652038574, + 0.02534020133316517, + 0.0965447947382927 + ], + [ + 0.36537861824035645, + 0.03765799477696419, + 0.09255127608776093 + ], + [ + 0.3700863718986511, + 0.047054991126060486, + 0.0881362184882164 + ], + [ + 0.3707570731639862, + 0.05510915070772171, + 0.07910466194152832 + ], + [ + 0.37328124046325684, + 0.05902363732457161, + 0.07697605341672897 + ], + [ + 0.371650367975235, + 0.058697838336229324, + 0.07253722846508026 + ], + [ + 0.3678773045539856, + 0.05136348679661751, + 0.07063188403844833 + ], + [ + 0.3654063940048218, + 0.04814242944121361, + 0.07142280787229538 + ], + [ + 0.3587948977947235, + 0.044120535254478455, + 0.07162997871637344 + ], + [ + 0.35776615142822266, + 0.04712294787168503, + 0.08555154502391815 + ], + [ + 0.3597601652145386, + 0.05010669305920601, + 0.10074052214622498 + ], + [ + 0.35832226276397705, + 0.049865201115608215, + 0.10067595541477203 + ], + [ + 0.35832226276397705, + 0.049865201115608215, + 0.10067595541477203 + ], + [ + 0.3593052327632904, + 0.05174295976758003, + 0.09985239803791046 + ], + [ + 0.34247899055480957, + 0.0647713914513588, + 0.09310956299304962 + ], + [ + 0.3274794816970825, + 0.08446241170167923, + 0.10499624907970428 + ], + [ + 0.3177158832550049, + 0.094728983938694, + 0.10559672117233276 + ], + [ + 0.30845510959625244, + 0.1090233325958252, + 0.10468344390392303 + ], + [ + 0.29924827814102173, + 0.12146281450986862, + 0.09845685958862305 + ], + [ + 0.28970080614089966, + 0.12682631611824036, + 0.08342891931533813 + ], + [ + 0.28386190533638, + 0.1279081404209137, + 0.07175377011299133 + ], + [ + 0.2821449041366577, + 0.12743087112903595, + 0.06955844908952713 + ], + [ + 0.27794182300567627, + 0.1266203075647354, + 0.06385393440723419 + ], + [ + 0.2738189101219177, + 0.12841631472110748, + 0.05819607153534889 + ], + [ + 0.2678878903388977, + 0.1297246664762497, + 0.047797415405511856 + ], + [ + 0.2625204622745514, + 0.13047504425048828, + 0.03891988843679428 + ], + [ + 0.25593364238739014, + 0.1302710920572281, + 0.027939926832914352 + ], + [ + 0.25337299704551697, + 0.12949348986148834, + 0.021297499537467957 + ], + [ + 0.25240281224250793, + 0.12804923951625824, + 0.02060987986624241 + ], + [ + 0.2487735003232956, + 0.12544499337673187, + 0.022462381049990654 + ], + [ + 0.254693865776062, + 0.12825559079647064, + 0.033586811274290085 + ], + [ + 0.2653507888317108, + 0.13302066922187805, + 0.04786762595176697 + ], + [ + 0.2738359868526459, + 0.14441609382629395, + 0.07840822637081146 + ], + [ + 0.28414732217788696, + 0.15999452769756317, + 0.11217761039733887 + ], + [ + 0.29395660758018494, + 0.1778629869222641, + 0.1252305507659912 + ], + [ + 0.29337045550346375, + 0.19357909262180328, + 0.10252948850393295 + ], + [ + 0.27773213386535645, + 0.2023267298936844, + 0.07580047100782394 + ], + [ + 0.2602490484714508, + 0.20703701674938202, + 0.05654064193367958 + ], + [ + 0.24638128280639648, + 0.20809340476989746, + 0.033905550837516785 + ], + [ + 0.23921892046928406, + 0.2096872329711914, + 0.014129932969808578 + ], + [ + 0.24016237258911133, + 0.21313448250293732, + 0.0034603262320160866 + ], + [ + 0.24805888533592224, + 0.21715767681598663, + -0.0053586699068546295 + ], + [ + 0.2585258185863495, + 0.22254057228565216, + -0.00434943987056613 + ], + [ + 0.26443415880203247, + 0.22333820164203644, + 0.000118341798952315 + ], + [ + 0.26446306705474854, + 0.21557068824768066, + 0.00012226455146446824 + ], + [ + 0.2692577540874481, + 0.2109077125787735, + 0.044073861092329025 + ], + [ + 0.2659567892551422, + 0.20018282532691956, + 0.06361617147922516 + ], + [ + 0.27188509702682495, + 0.19610051810741425, + 0.09814456105232239 + ], + [ + 0.28539201617240906, + 0.18753556907176971, + 0.12674403190612793 + ], + [ + 0.2863386571407318, + 0.18442705273628235, + 0.12705963850021362 + ], + [ + 0.28602927923202515, + 0.18552225828170776, + 0.1274324506521225 + ], + [ + 0.2857714891433716, + 0.185304656624794, + 0.12705963850021362 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9579859856359892, + -0.16058048679747625, + 0.23764839276739902, + -0.16583300378289853, + -0.9861515235658163, + 0.0021418275282143705, + 0.23401338889342116, + -0.04146178757247458, + -0.9713488837641765 + ], + [ + 0.9663110125106456, + -0.1637061839700109, + 0.19860340488175884, + -0.16814210526364048, + -0.9857470741168823, + 0.005562221455162629, + 0.19486215522302355, + -0.03876843045549275, + -0.9800641556866855 + ], + [ + 0.9519217510354698, + -0.19832536608621132, + 0.23347811261943813, + -0.19848312376083715, + -0.9798328575455768, + -0.02306557730058831, + 0.23334401532438104, + -0.024384840389870602, + -0.9720884476586764 + ], + [ + 0.9413118173407249, + -0.22355616223724942, + 0.2528926745883609, + -0.22279264451851408, + -0.9743392625870875, + -0.032038085612248156, + 0.25356557353700243, + -0.0261847991591179, + -0.9669637305555198 + ], + [ + 0.9333324423030895, + -0.23733907941836213, + 0.26937095894953983, + -0.2345255456641543, + -0.9711552047984177, + -0.04307361865311926, + 0.27182406180373536, + -0.022972365437369607, + -0.9620727362578835 + ], + [ + 0.9289945951955135, + -0.2414536201672382, + 0.2804802870179276, + -0.24079318294106344, + -0.9698569800668587, + -0.03736417086868469, + 0.2810474784562842, + -0.03282662827230009, + -0.9591322783274665 + ], + [ + 0.9285974956004638, + -0.21990862807887593, + 0.2989094954346775, + -0.2206259654843221, + -0.9748402053865033, + -0.0317924097248242, + 0.29838041912742463, + -0.036424843973131706, + -0.9537517267207833 + ], + [ + 0.9230826353357323, + -0.21229324137233563, + 0.3207023978851214, + -0.20892488505823575, + -0.9768815527297674, + -0.04530810456950879, + 0.32290686078967484, + -0.025179587047960472, + -0.9460957391570114 + ], + [ + 0.9121116728151315, + -0.2133319310515763, + 0.3500596856368752, + -0.20762914618674913, + -0.9767036694550426, + -0.054222502033899035, + 0.35347197055515445, + -0.023225616608824697, + -0.9351567444899255 + ], + [ + 0.9078008121866962, + -0.21895293128280013, + 0.3577111953459717, + -0.2110196111736335, + -0.9755391949307348, + -0.06159547754520723, + 0.36244780188780706, + -0.019567652811796073, + -0.9317986359027006 + ], + [ + 0.9065441398486417, + -0.22296758334637018, + 0.3584176045938117, + -0.21329601869882042, + -0.9746971918353596, + -0.06685949921661666, + 0.3642561336660221, + -0.015837960883389405, + -0.9311641252119507 + ], + [ + 0.9116522387690849, + -0.2228492879851824, + 0.3452946428657886, + -0.21279523946027057, + -0.9747773599859868, + -0.0672850988094369, + 0.3515798367517132, + -0.01213644524755186, + -0.9360792301330009 + ], + [ + 0.9266034556051292, + -0.2132189990795687, + 0.3097477917469958, + -0.20487082910075533, + -0.9769700859441589, + -0.059643897875908736, + 0.3153315389303812, + -0.008192045029758652, + -0.9489462107801622 + ], + [ + 0.9363064498376253, + -0.2073879326319234, + 0.28340867557490046, + -0.19927693770831006, + -0.9782552048956669, + -0.057493096908542984, + 0.28916938650220336, + -0.0026456555319256565, + -0.9572742900635877 + ], + [ + 0.9484436570518393, + -0.20537386327991114, + 0.24140465132142228, + -0.19969702593857935, + -0.9786799868323536, + -0.04802688002682229, + 0.24612136686890776, + -0.0026570011871984954, + -0.969235375497238 + ], + [ + 0.9625055154921998, + -0.20706651296069836, + 0.1752329645283439, + -0.20736481097886675, + -0.978119216890688, + -0.01681168393844386, + 0.1748798668080284, + -0.02015581205122265, + -0.9843834493863466 + ], + [ + 0.9666403869358261, + -0.2059273904710016, + 0.1523163556495511, + -0.20951196345299403, + -0.9777758134603765, + 0.007693879513681168, + 0.14734686801770913, + -0.03934931340828437, + -0.988301842566161 + ], + [ + 0.963784737573985, + -0.22766243620110296, + 0.13888410550679905, + -0.23304159318036136, + -0.9721812137208162, + 0.023564879296943873, + 0.12965568042860262, + -0.055077244223901534, + -0.9900282327799025 + ], + [ + 0.9498557911628868, + -0.27624212871400666, + 0.1465068678181376, + -0.280111061781817, + -0.959948512695101, + 0.0060535974368493665, + 0.13896679121930594, + -0.046788238885627, + -0.989191129984591 + ], + [ + 0.9371818684385192, + -0.2988223584806069, + 0.17998706493015873, + -0.30315563956166436, + -0.9529342957613497, + -0.0035897303211127295, + 0.17258853864623744, + -0.05119986361219825, + -0.9836624270012798 + ], + [ + 0.9205384061002945, + -0.3237614384099366, + 0.21860369139851601, + -0.3283511698378134, + -0.9444194918991251, + -0.01604158929586211, + 0.21164723518266945, + -0.05701187875983864, + -0.9756818608131468 + ], + [ + 0.908126377947291, + -0.3387212816257447, + 0.24611861987697473, + -0.3445493763432847, + -0.938547333811783, + -0.020362452117733645, + 0.23789117036533194, + -0.066308337097279, + -0.9690257971249301 + ], + [ + 0.902796639342475, + -0.35525363223746204, + 0.2423903561902225, + -0.36297444624971226, + -0.9316997729187467, + -0.01360457690890702, + 0.23066811518206756, + -0.07569933900137904, + -0.9700834143067835 + ], + [ + 0.9052883227128029, + -0.35519159939975903, + 0.23300639578277846, + -0.3641210759517977, + -0.9313381099964086, + -0.0050166638338921335, + 0.21878961311621917, + -0.08030101234827755, + -0.972462262819641 + ], + [ + 0.9098460210804229, + -0.3532352332911288, + 0.2177270949741551, + -0.3604534543183825, + -0.9327509603614559, + -0.006996657396773846, + 0.20555662284166054, + -0.07211460258882313, + -0.9759846099705609 + ], + [ + 0.906032839312244, + -0.35160996288795304, + 0.2355311616022932, + -0.3597906582675236, + -0.9329917800609346, + -0.0087761359464405, + 0.2228344145575708, + -0.07679044430565983, + -0.9718271715444696 + ], + [ + 0.9144655731268833, + -0.3400391313140906, + 0.21937662760850143, + -0.3474364241886192, + -0.9376893329479742, + -0.005161978555612207, + 0.20746239831050425, + -0.07149897936852947, + -0.9756265931372062 + ], + [ + 0.9264460813861995, + -0.32614538098139273, + 0.1879543794346314, + -0.3310256418466269, + -0.9436044314962471, + -0.005718505108250109, + 0.17921964938081952, + -0.05691983244130803, + -0.9821611120130289 + ], + [ + 0.9308287047494095, + -0.32523076733376427, + 0.16668194381524165, + -0.32710861318146073, + -0.9448365911007635, + -0.016845512743462195, + 0.16296587862812884, + -0.03884281267595727, + -0.9858668055606611 + ], + [ + 0.9380617264222338, + -0.3244116280818343, + 0.12164412434241123, + -0.3237228977849219, + -0.9457963208891997, + -0.02593848187899709, + 0.12346531039717748, + -0.01504709133845089, + -0.9922348019348954 + ], + [ + 0.9340487549480782, + -0.3488564013249976, + 0.07649924597351682, + -0.34673930065281144, + -0.9371153163882048, + -0.03983391988536369, + 0.08558493303580758, + 0.010681528224300824, + -0.9962736191388635 + ], + [ + 0.9193095568645473, + -0.38982111697027605, + 0.05393918261854027, + -0.388937046500931, + -0.9208845538048593, + -0.02645018757509724, + 0.05998260178287101, + 0.003336963840317387, + -0.9981938449798646 + ], + [ + 0.9178885694622864, + -0.39429320115150335, + 0.04487143385471028, + -0.3933815307417703, + -0.9189496599672381, + -0.027973089163678577, + 0.05226418775547169, + 0.008024585459545893, + -0.9986010518252337 + ], + [ + 0.9178885694622864, + -0.39429320115150335, + 0.04487143385471028, + -0.3933815307417703, + -0.9189496599672381, + -0.027973089163678577, + 0.05226418775547169, + 0.008024585459545893, + -0.9986010518252337 + ], + [ + 0.9186266230775147, + -0.39098321390696983, + 0.05707235597185538, + -0.39014505319619436, + -0.9203969360210486, + -0.025618696875610452, + 0.0625457020085329, + 0.0012675196418168479, + -0.9980412960164611 + ], + [ + 0.9279745530840209, + -0.34677387468244947, + 0.1364225372371897, + -0.3456141581168748, + -0.9378009637160363, + -0.03286648996223058, + 0.13933442696503787, + -0.016650294021257936, + -0.9901053909414543 + ], + [ + 0.9394605262392159, + -0.26485322185978005, + 0.2174090396207795, + -0.2777375149810724, + -0.9601745840938993, + 0.030440775815442783, + 0.20068829664550475, + -0.08898055366540268, + -0.9756057957284409 + ], + [ + 0.9354222023212716, + -0.2438562311301515, + 0.25596765800276466, + -0.26606839438509916, + -0.9623542076906338, + 0.05551565949773075, + 0.23279371321785627, + -0.12003548424999488, + -0.9650899282487161 + ], + [ + 0.9348281075241891, + -0.21276552575136826, + 0.2843013197902657, + -0.2478339180793463, + -0.9643041908177934, + 0.0932511480930959, + 0.25431232457783665, + -0.15763330429507746, + -0.9541891756590161 + ], + [ + 0.9483251350034891, + -0.15992380773854412, + 0.2740507508455669, + -0.19669842480104324, + -0.974015790051266, + 0.11226295208837163, + 0.24897623983304543, + -0.16036713020196147, + -0.9551404166662537 + ], + [ + 0.950616448740488, + -0.1346563204683995, + 0.2796355534297009, + -0.1751749181970458, + -0.9765364824378987, + 0.12526071412248233, + 0.25620717284783767, + -0.1680600304228451, + -0.9519000529234102 + ], + [ + 0.9477238694745853, + -0.10631253308389323, + 0.30086061978498446, + -0.14955470648521846, + -0.9808842227738096, + 0.1244971135470184, + 0.28187383169822455, + -0.16298400787410136, + -0.945506930794828 + ], + [ + 0.9464717445304626, + -0.08895866448847077, + 0.310286307815686, + -0.12572455728772255, + -0.9869574217642724, + 0.10054045613197933, + 0.29729542966596223, + -0.13416930959369205, + -0.9453116014642384 + ], + [ + 0.9482619844339144, + -0.0705924713009565, + 0.30954145420779794, + -0.10615628944234037, + -0.98935091793625, + 0.09957712282715152, + 0.29921572667439905, + -0.1272849723035803, + -0.9456576995596176 + ], + [ + 0.9452700821980632, + -0.049617303958417326, + 0.3224943330496909, + -0.0835176198335412, + -0.9922374035020999, + 0.09213979742082815, + 0.31541921133407047, + -0.1140309529878146, + -0.9420762510975871 + ], + [ + 0.9412727586677085, + -0.04002782368990551, + 0.3352661138867625, + -0.0720344142248788, + -0.9938943069980968, + 0.08357720792208523, + 0.329873668178229, + -0.10281964718585027, + -0.938409017004428 + ], + [ + 0.9392626446860565, + -0.031533065961428255, + 0.34174749457520187, + -0.05813636697145247, + -0.9959981026836209, + 0.0678818258887358, + 0.3382393341004503, + -0.08362682106657078, + -0.9373370299233805 + ], + [ + 0.9344378354426579, + -0.031539831032009656, + 0.35472689600834134, + -0.053989835254032385, + -0.9971036413269734, + 0.05356702476088139, + 0.35200998477668605, + -0.06920670134432588, + -0.9334341985949275 + ], + [ + 0.9276585797867402, + -0.019194415021874033, + 0.3729358306465282, + -0.04028326652979844, + -0.9979940729608748, + 0.04883737065662837, + 0.3712503438190154, + -0.06032747936829237, + -0.9265709780946794 + ], + [ + 0.9282684171473486, + -0.024651379692770085, + 0.37109305464532594, + -0.042421707811254365, + -0.9983067900323332, + 0.03979889045834741, + 0.3694836186262289, + -0.05268645418494073, + -0.9277424174372354 + ], + [ + 0.9479523337280646, + -0.02246552786231172, + 0.3176187542280592, + -0.025077891724624338, + -0.9996769350598097, + 0.004138218949429735, + 0.3174231754711123, + -0.01188804303883095, + -0.9482094716393329 + ], + [ + 0.9572875404128001, + -0.03921662562346351, + 0.2864657418350762, + -0.03458463052153342, + -0.9991766094897925, + -0.02121335381714576, + 0.2870617848166148, + 0.010399967461078862, + -0.9578556114439732 + ], + [ + 0.9591949402034531, + -0.04142133249693508, + 0.2796950838006863, + -0.033012627197454555, + -0.99885202968505, + -0.034710074035909096, + 0.28081173966488027, + 0.02406025785885838, + -0.9594612398935922 + ], + [ + 0.9760220173397265, + -0.06654694389743053, + 0.20724991176355914, + -0.05912723742983621, + -0.9973749750547451, + -0.04179867137197385, + 0.2094874494140558, + 0.028542308814437627, + -0.9773946721491451 + ], + [ + 0.9810049983539397, + -0.10184092719327885, + 0.16509881511688704, + -0.09792395825894933, + -0.9946884240989021, + -0.03171493910670804, + 0.16745175903371787, + 0.014945384306063384, + -0.9857669825493537 + ], + [ + 0.9809133538333737, + -0.12096289818083832, + 0.15223984214079636, + -0.1176785239059691, + -0.9925852224321692, + -0.030435854195230774, + 0.1547926267064252, + 0.01193957591262071, + -0.9878748348066935 + ], + [ + 0.9825529938099277, + -0.09496234868903056, + 0.15991174655606513, + -0.0813001957331814, + -0.9926246041127708, + -0.08992593332132524, + 0.1672719119544421, + 0.07535613871097706, + -0.983026734036098 + ], + [ + 0.975049205206851, + -0.07978801745209944, + 0.20715433786563903, + -0.05286635923011794, + -0.9897864541890783, + -0.13239306313233906, + 0.21560193757765717, + 0.11813825534040556, + -0.9693085974744498 + ], + [ + 0.969134466457867, + -0.058291753018026124, + 0.23954218303570476, + -0.023875618521047637, + -0.9892692665899837, + -0.14413976904641312, + 0.24537387954642412, + 0.1339716003882963, + -0.9601266945178307 + ], + [ + 0.9649929113898871, + -0.050267624833313235, + 0.2574137658729349, + -0.006698086065530854, + -0.9858647188351521, + -0.16740935397744222, + 0.26219042051594416, + 0.1598246603303229, + -0.9516891621427496 + ], + [ + 0.9564136212500927, + -0.06980883462111181, + 0.283548429190017, + -0.011135811358243035, + -0.9790178129712778, + -0.2034701835412976, + 0.2918029794102135, + 0.1914441132387673, + -0.9371233497856855 + ], + [ + 0.9405819385171825, + -0.10353821154493059, + 0.32339674655960277, + -0.029318326608853175, + -0.973585864313317, + -0.22643100612360478, + 0.3382987624277029, + 0.2034954632402613, + -0.9187728466713172 + ], + [ + 0.9295969142960907, + -0.14449391219739058, + 0.33907386550585056, + -0.06061710469708736, + -0.9673604654821985, + -0.2460473459320523, + 0.3635589959680949, + 0.2081711775437643, + -0.9080141063280425 + ], + [ + 0.9189738907197708, + -0.18590263910022317, + 0.3477458798475388, + -0.09102749004138908, + -0.9580866315817267, + -0.2716321086343541, + 0.38366780452903726, + 0.2179683811013719, + -0.8973788501006225 + ], + [ + 0.916093450636526, + -0.1990529219502823, + 0.348067125658138, + -0.10463072256903344, + -0.9566716757213038, + -0.27171992339038153, + 0.38707260506983077, + 0.21250232736524954, + -0.8972277075908922 + ], + [ + 0.9333327991622979, + -0.18443489532734417, + 0.30801567394121604, + -0.09364019123055792, + -0.9533165386205543, + -0.28708725464365364, + 0.3465853438825342, + 0.23910530437051597, + -0.9070321123464752 + ], + [ + 0.94255262719976, + -0.1544655345922882, + 0.2962008500695916, + -0.09286083844445084, + -0.9728804031203138, + -0.21185038566839856, + 0.3208915854961356, + 0.1721746782996101, + -0.9313347789652235 + ], + [ + 0.9613129755842885, + -0.12665643808292887, + 0.24461297934783746, + -0.07743917109823666, + -0.9764701995426958, + -0.20126878591740266, + 0.26434927227609, + 0.17453966912192892, + -0.9485016426711703 + ], + [ + 0.971472642939757, + -0.10219845162781374, + 0.21400088902740727, + -0.06695710000230329, + -0.9838668811919269, + -0.1658996891285581, + 0.22750307861416913, + 0.14683813053341452, + -0.9626426713181413 + ], + [ + 0.9784556889054831, + -0.07947955898209154, + 0.19054517719561806, + -0.04212889234404249, + -0.9803732238102917, + -0.19259672496094132, + 0.20211289241006206, + 0.18041990394584695, + -0.9626001438716965 + ], + [ + 0.979307484117891, + -0.0855116176402003, + 0.18342468426916517, + -0.04845064569767842, + -0.9790541630397259, + -0.19775105755990235, + 0.19649271355998107, + 0.18477204627090638, + -0.9629381623109021 + ], + [ + 0.9792205378420389, + -0.08272348306957644, + 0.18515929254883706, + -0.04564089597387258, + -0.9794941917993251, + -0.19623464741499994, + 0.197595665142357, + 0.18370616097514178, + -0.9629164031922631 + ], + [ + 0.9794515201919102, + -0.08250751084531759, + 0.18403051444764862, + -0.04544593613945731, + -0.9793119020878751, + -0.19718738630408522, + 0.1964927135599811, + 0.18477204627090638, + -0.9629381623109021 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0034795403480529785, + 2.452358603477478e-05, + -0.01514684408903122, + -0.003122437745332718, + 0.04008674621582031, + -0.0008719861507415771, + 1.0 + ], + [ + 0.0052533745765686035, + 0.0038275830447673798, + -0.00806862860918045, + -0.014456678181886673, + -0.03939831256866455, + -0.033283382654190063, + 1.0 + ], + [ + 0.003947913646697998, + 0.005156312137842178, + -0.0003867223858833313, + 0.0019930433481931686, + -0.020849302411079407, + -0.02684381604194641, + 1.0 + ], + [ + 0.0006836652755737305, + 0.0046653710305690765, + -0.0038504227995872498, + -0.003199329599738121, + -0.018923431634902954, + -0.013774335384368896, + 1.0 + ], + [ + -0.0026210546493530273, + 0.002968277782201767, + -0.008789151906967163, + 0.01033852994441986, + -0.009597450494766235, + -0.0074355751276016235, + 1.0 + ], + [ + -0.0011740028858184814, + 0.000886082649230957, + -0.005250491201877594, + 0.0039605796337127686, + -0.018109917640686035, + 0.02035084366798401, + 1.0 + ], + [ + -0.0021196305751800537, + -0.0034080445766448975, + -0.0071846842765808105, + -0.011564640328288078, + -0.025803953409194946, + 0.010681793093681335, + 1.0 + ], + [ + 0.001767188310623169, + -0.0034617893397808075, + -0.002067975699901581, + -0.0017769616097211838, + -0.03248080611228943, + -0.0012379884719848633, + 1.0 + ], + [ + 0.0008783638477325439, + -0.002577461302280426, + -0.006934564560651779, + -0.0038341768085956573, + -0.009612858295440674, + -0.004573732614517212, + 1.0 + ], + [ + 0.0005662739276885986, + -0.0018712915480136871, + -0.0010331608355045319, + -0.003989651799201965, + -0.001940995454788208, + -0.0026863813400268555, + 1.0 + ], + [ + 0.0013406872749328613, + -0.001547928899526596, + -0.0017427466809749603, + -0.00404267106205225, + 0.01357579231262207, + 0.00177040696144104, + 0.0 + ], + [ + 0.0014668405055999756, + -0.0013525523245334625, + 0.0043904148042202, + -0.004331897012889385, + 0.0384521484375, + 0.011713340878486633, + 0.0 + ], + [ + 0.00045114755630493164, + -0.0013899356126785278, + 0.00605396181344986, + -0.005868835374712944, + 0.02744695544242859, + 0.007894039154052734, + 0.0 + ], + [ + -0.0034225285053253174, + -0.0010734647512435913, + 0.0039910003542900085, + -2.2400636225938797e-05, + 0.04468256235122681, + 0.002182871103286743, + 0.0 + ], + [ + -0.00740206241607666, + 0.001307472586631775, + 0.004770379513502121, + 0.017731377854943275, + 0.07289272546768188, + -0.0046781450510025024, + 0.0 + ], + [ + -0.009729921817779541, + 0.002357836812734604, + 0.02090093120932579, + 0.019321348518133163, + 0.027898430824279785, + -0.0012416988611221313, + 0.0 + ], + [ + -0.005072146654129028, + 0.010177496820688248, + 0.011529803276062012, + 0.015780650079250336, + 0.017863601446151733, + -0.023803740739822388, + 0.0 + ], + [ + 0.0037067532539367676, + 0.017622744664549828, + 0.000987716019153595, + -0.008310440927743912, + -0.009396284818649292, + -0.04952526092529297, + 0.0 + ], + [ + 0.007035762071609497, + 0.02248169668018818, + 0.0007289871573448181, + 0.004739042371511459, + -0.03403903543949127, + -0.02608269453048706, + 0.0 + ], + [ + 0.006055563688278198, + 0.018101366236805916, + 0.001619480550289154, + 0.006363179534673691, + -0.03980302810668945, + -0.029773741960525513, + 0.0 + ], + [ + 0.003246486186981201, + 0.01433173194527626, + 0.0007015243172645569, + 0.009954843670129776, + -0.02693404257297516, + -0.02000218629837036, + 0.0 + ], + [ + 0.0004429817199707031, + 0.012317793443799019, + -0.003993518650531769, + 0.009554699063301086, + 0.007429853081703186, + -0.019648581743240356, + 0.0 + ], + [ + 0.004707753658294678, + 0.009396996349096298, + -0.004415057599544525, + 0.004511989653110504, + 0.012190401554107666, + -0.00013771653175354004, + 0.0 + ], + [ + 0.000670701265335083, + 0.008054159581661224, + -0.00903155654668808, + -0.008632972836494446, + 0.013541415333747864, + 0.0052148401737213135, + 0.0 + ], + [ + 0.00252416729927063, + 0.003914486616849899, + -0.002128608524799347, + 0.005097679793834686, + -0.017688587307929993, + -0.0008085966110229492, + 1.0 + ], + [ + -0.0016308724880218506, + -0.00032579898834228516, + -0.004438824951648712, + -0.005698315799236298, + 0.015740826725959778, + 0.014919459819793701, + 1.0 + ], + [ + -0.0037730634212493896, + -0.007334351539611816, + -0.0019053444266319275, + -0.015265502035617828, + 0.028787001967430115, + 0.01991972327232361, + 1.0 + ], + [ + -0.0024709105491638184, + -0.0032210573554039, + 0.0007909238338470459, + -0.018509622663259506, + 0.01649722456932068, + 0.005233258008956909, + 1.0 + ], + [ + -0.006611496210098267, + -0.004021894186735153, + 0.00020717084407806396, + -0.02421560138463974, + 0.0399148166179657, + 0.00563541054725647, + 1.0 + ], + [ + -0.0010287463665008545, + 0.0030024126172065735, + 0.013921566307544708, + -0.025884756818413734, + 0.038091398775577545, + -0.0231533944606781, + 1.0 + ], + [ + 0.001994013786315918, + 0.002983745187520981, + 0.015188977122306824, + 0.007378080394119024, + 0.025671131908893585, + -0.04478496313095093, + 1.0 + ], + [ + -0.0014379024505615234, + -0.00024149194359779358, + -6.45667314529419e-05, + -0.004692664835602045, + 0.007730618119239807, + -0.004653275012969971, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0009829699993133545, + 0.001877758651971817, + -0.0008235573768615723, + 0.006765647791326046, + -0.01029854267835617, + 0.003271937370300293, + 1.0 + ], + [ + -0.016826242208480835, + 0.013028431683778763, + -0.00674283504486084, + 0.018085110932588577, + -0.0772027000784874, + 0.045096755027770996, + 1.0 + ], + [ + -0.01499950885772705, + 0.019691020250320435, + 0.011886686086654663, + 0.07413869351148605, + -0.06227120757102966, + 0.06907624006271362, + 1.0 + ], + [ + -0.009763598442077637, + 0.01026657223701477, + 0.000600472092628479, + 0.0327882394194603, + -0.03288887441158295, + 0.01032942533493042, + 1.0 + ], + [ + -0.009260773658752441, + 0.014294348657131195, + -0.000913277268409729, + 0.03998055309057236, + -0.0221872478723526, + 0.017967939376831055, + 1.0 + ], + [ + -0.009206831455230713, + 0.012439481914043427, + -0.006226584315299988, + 0.002624884247779846, + 0.005513519048690796, + 0.05463346838951111, + 1.0 + ], + [ + -0.00954747200012207, + 0.005363501608371735, + -0.015027940273284912, + 0.008403852581977844, + -0.007473289966583252, + 0.022285938262939453, + 1.0 + ], + [ + -0.005838900804519653, + 0.0010818243026733398, + -0.011675149202346802, + -0.004051476716995239, + -0.026650220155715942, + 0.025717303156852722, + 1.0 + ], + [ + -0.00171700119972229, + -0.0004772692918777466, + -0.002195321023464203, + -0.029710233211517334, + -0.016112178564071655, + 0.02445158362388611, + 1.0 + ], + [ + -0.004203081130981445, + -0.0008105635643005371, + -0.005704514682292938, + -0.00719432532787323, + -0.0020118653774261475, + 0.02057775855064392, + 1.0 + ], + [ + -0.004122912883758545, + 0.0017960071563720703, + -0.0056578628718853, + -0.013339117169380188, + -0.01702776551246643, + 0.023359745740890503, + 1.0 + ], + [ + -0.0059310197830200195, + 0.001308351755142212, + -0.010398656129837036, + -0.01132345199584961, + -0.015271365642547607, + 0.011744491755962372, + 1.0 + ], + [ + -0.0053674280643463135, + 0.0007503777742385864, + -0.008877526968717575, + -0.020150862634181976, + -0.00887557864189148, + 0.014562968164682388, + 1.0 + ], + [ + -0.006586819887161255, + -0.00020395219326019287, + -0.010979961603879929, + -0.01497524231672287, + -0.014672338962554932, + 0.004103176295757294, + 1.0 + ], + [ + -0.002560645341873169, + -0.0007776021957397461, + -0.006642427295446396, + -0.008990064263343811, + -0.020637571811676025, + 0.014316309243440628, + 0.0 + ], + [ + -0.0009701848030090332, + -0.0014442503452301025, + -0.0006876196712255478, + -0.008287526667118073, + 0.0019019842147827148, + -0.0022706501185894012, + 0.0 + ], + [ + -0.0036293119192123413, + -0.002604246139526367, + 0.0018525011837482452, + -0.044192321598529816, + 0.055442363023757935, + 0.019219420850276947, + 0.0 + ], + [ + 0.0059203654527664185, + 0.0028105974197387695, + 0.01112443022429943, + -0.02339382842183113, + 0.031852781772613525, + -0.009663395583629608, + 0.0 + ], + [ + 0.010656923055648804, + 0.00476507842540741, + 0.014280814677476883, + -0.014214461669325829, + 0.006518334150314331, + 0.0017085932195186615, + 0.0 + ], + [ + 0.008485198020935059, + 0.011395424604415894, + 0.030540600419044495, + -0.004122555255889893, + 0.073589026927948, + -0.02610243856906891, + 0.0 + ], + [ + 0.010311335325241089, + 0.015578433871269226, + 0.033769384026527405, + 0.014034130610525608, + 0.042806386947631836, + -0.038984596729278564, + 0.0 + ], + [ + 0.009809285402297974, + 0.017868459224700928, + 0.013052940368652344, + 0.003074478358030319, + 0.012826815247535706, + -0.01990722119808197, + 0.0 + ], + [ + -0.0005861520767211914, + 0.015716105699539185, + -0.022701062262058258, + -0.06442210078239441, + -0.012644395232200623, + 0.03684192895889282, + 0.0 + ], + [ + -0.0156383216381073, + 0.008747637271881104, + -0.02672901749610901, + -0.04477309435606003, + -0.04924628138542175, + 0.02838962897658348, + 0.0 + ], + [ + -0.01748308539390564, + 0.004710286855697632, + -0.019259829074144363, + -0.017359450459480286, + -0.03059712052345276, + 0.029535094276070595, + 0.0 + ], + [ + -0.013867765665054321, + 0.001056388020515442, + -0.022635091096162796, + -0.027745097875595093, + -0.01738598942756653, + 0.017690079286694527, + 0.0 + ], + [ + -0.007162362337112427, + 0.0015938282012939453, + -0.019775617867708206, + -0.035131022334098816, + -0.030819982290267944, + -0.004701813217252493, + 0.0 + ], + [ + 0.0009434521198272705, + 0.0034472495317459106, + -0.010669606737792492, + -0.01645110547542572, + -0.04899716377258301, + -0.019517548382282257, + 0.0 + ], + [ + 0.007896512746810913, + 0.004023194313049316, + -0.008818996138870716, + -0.007397904992103577, + -0.02697700262069702, + -0.03395543247461319, + 0.0 + ], + [ + 0.010466933250427246, + 0.005382895469665527, + 0.0010092300362884998, + -0.012914717197418213, + -0.021679311990737915, + -0.033615581691265106, + 1.0 + ], + [ + 0.005908340215682983, + 0.0007976293563842773, + 0.004467781633138657, + 0.0057220011949539185, + -0.003689795732498169, + -0.014989905059337616, + 1.0 + ], + [ + 2.8908252716064453e-05, + -0.007767513394355774, + 3.922752512153238e-06, + -0.025191113352775574, + 0.04352623224258423, + 0.01372702419757843, + 1.0 + ], + [ + 0.004794687032699585, + -0.0046629756689071655, + 0.043951597064733505, + 0.07494430243968964, + 0.027257651090621948, + 0.0017905458807945251, + 1.0 + ], + [ + -0.003300964832305908, + -0.010724887251853943, + 0.019542310386896133, + 0.0008244812488555908, + 0.059141576290130615, + 0.017821617424488068, + 1.0 + ], + [ + 0.005928307771682739, + -0.00408230721950531, + 0.03452838957309723, + 0.030610665678977966, + 0.03801637887954712, + 0.011567585170269012, + 1.0 + ], + [ + 0.013506919145584106, + -0.008564949035644531, + 0.028599470853805542, + -0.033910393714904785, + 0.025997892022132874, + 0.025784533470869064, + 1.0 + ], + [ + 0.0009466409683227539, + -0.0031085163354873657, + 0.00031560659408569336, + -0.0042992085218429565, + 0.005735248327255249, + -0.006404150277376175, + 1.0 + ], + [ + -0.00030937790870666504, + 0.001095205545425415, + 0.0003728121519088745, + 0.0010636597871780396, + -0.0011250078678131104, + 0.0028583817183971405, + 1.0 + ], + [ + -0.00025779008865356445, + -0.00021760165691375732, + -0.0003728121519088745, + -0.0010636597871780396, + 0.0011250078678131104, + 0.00020958855748176575, + 1.0 + ], + [ + 0.00025779008865356445, + 0.00021760165691375732, + 0.0003728121519088745, + 0.0010636597871780396, + -0.0011250078678131104, + -0.00020958855748176575, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9679883122444153 + ], + [ + 0.6691625118255615 + ], + [ + 0.5531353950500488 + ], + [ + 0.5819184184074402 + ], + [ + 0.5869058966636658 + ], + [ + 0.5869058966636658 + ], + [ + 0.5869058966636658 + ], + [ + 0.5869058966636658 + ], + [ + 0.5869058966636658 + ], + [ + 0.5869058966636658 + ], + [ + 0.5869058966636658 + ], + [ + 0.5869058966636658 + ], + [ + 0.5869058966636658 + ], + [ + 0.5869058966636658 + ], + [ + 0.6661520600318909 + ], + [ + 0.9522681832313538 + ], + [ + 1.0014774799346924 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9679883122444153 + ], + [ + 0.8417698740959167 + ], + [ + 0.5315056443214417 + ], + [ + 0.28468459844589233 + ], + [ + 0.25822705030441284 + ], + [ + 0.2876356244087219 + ], + [ + 0.2898603677749634 + ], + [ + 0.289117693901062 + ], + [ + 0.289117693901062 + ], + [ + 0.2898603677749634 + ], + [ + 0.289117693901062 + ], + [ + 0.289117693901062 + ], + [ + 0.289117693901062 + ], + [ + 0.2898603677749634 + ], + [ + 0.2898603677749634 + ], + [ + 0.3486233055591583 + ], + [ + 0.6440550088882446 + ], + [ + 0.9359400868415833 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3600769639015198, + -0.061861302703619, + 0.08617914468050003 + ], + [ + 0.3653303384780884, + -0.058033719658851624, + 0.07811051607131958 + ], + [ + 0.3692782521247864, + -0.052877407521009445, + 0.07772379368543625 + ], + [ + 0.3699619174003601, + -0.04821203649044037, + 0.073873370885849 + ], + [ + 0.3673408627510071, + -0.0452437587082386, + 0.06508421897888184 + ], + [ + 0.3661668598651886, + -0.044357676059007645, + 0.05983372777700424 + ], + [ + 0.36404722929000854, + -0.04776572063565254, + 0.05264904350042343 + ], + [ + 0.3658144176006317, + -0.05122750997543335, + 0.05058106780052185 + ], + [ + 0.36669278144836426, + -0.053804971277713776, + 0.04364650323987007 + ], + [ + 0.36725905537605286, + -0.05567626282572746, + 0.04261334240436554 + ], + [ + 0.3685997426509857, + -0.05722419172525406, + 0.04087059572339058 + ], + [ + 0.3700665831565857, + -0.05857674404978752, + 0.04526101052761078 + ], + [ + 0.3705177307128906, + -0.05996667966246605, + 0.05131497234106064 + ], + [ + 0.3670952022075653, + -0.06104014441370964, + 0.05530597269535065 + ], + [ + 0.35969313979148865, + -0.059732671827077866, + 0.06007635220885277 + ], + [ + 0.3499632179737091, + -0.05737483501434326, + 0.08097728341817856 + ], + [ + 0.3448910713195801, + -0.047197338193655014, + 0.09250708669424057 + ], + [ + 0.34859782457351685, + -0.029574593529105186, + 0.09349480271339417 + ], + [ + 0.35563358664512634, + -0.0070928968489170074, + 0.09422378987073898 + ], + [ + 0.36168915033340454, + 0.011008469387888908, + 0.09584327042102814 + ], + [ + 0.36493563652038574, + 0.02534020133316517, + 0.0965447947382927 + ], + [ + 0.36537861824035645, + 0.03765799477696419, + 0.09255127608776093 + ], + [ + 0.3700863718986511, + 0.047054991126060486, + 0.0881362184882164 + ], + [ + 0.3707570731639862, + 0.05510915070772171, + 0.07910466194152832 + ], + [ + 0.37328124046325684, + 0.05902363732457161, + 0.07697605341672897 + ], + [ + 0.371650367975235, + 0.058697838336229324, + 0.07253722846508026 + ], + [ + 0.3678773045539856, + 0.05136348679661751, + 0.07063188403844833 + ], + [ + 0.3654063940048218, + 0.04814242944121361, + 0.07142280787229538 + ], + [ + 0.3587948977947235, + 0.044120535254478455, + 0.07162997871637344 + ], + [ + 0.35776615142822266, + 0.04712294787168503, + 0.08555154502391815 + ], + [ + 0.3597601652145386, + 0.05010669305920601, + 0.10074052214622498 + ], + [ + 0.35832226276397705, + 0.049865201115608215, + 0.10067595541477203 + ], + [ + 0.35832226276397705, + 0.049865201115608215, + 0.10067595541477203 + ], + [ + 0.3593052327632904, + 0.05174295976758003, + 0.09985239803791046 + ], + [ + 0.34247899055480957, + 0.0647713914513588, + 0.09310956299304962 + ], + [ + 0.3274794816970825, + 0.08446241170167923, + 0.10499624907970428 + ], + [ + 0.3177158832550049, + 0.094728983938694, + 0.10559672117233276 + ], + [ + 0.30845510959625244, + 0.1090233325958252, + 0.10468344390392303 + ], + [ + 0.29924827814102173, + 0.12146281450986862, + 0.09845685958862305 + ], + [ + 0.28970080614089966, + 0.12682631611824036, + 0.08342891931533813 + ], + [ + 0.28386190533638, + 0.1279081404209137, + 0.07175377011299133 + ], + [ + 0.2821449041366577, + 0.12743087112903595, + 0.06955844908952713 + ], + [ + 0.27794182300567627, + 0.1266203075647354, + 0.06385393440723419 + ], + [ + 0.2738189101219177, + 0.12841631472110748, + 0.05819607153534889 + ], + [ + 0.2678878903388977, + 0.1297246664762497, + 0.047797415405511856 + ], + [ + 0.2625204622745514, + 0.13047504425048828, + 0.03891988843679428 + ], + [ + 0.25593364238739014, + 0.1302710920572281, + 0.027939926832914352 + ], + [ + 0.25337299704551697, + 0.12949348986148834, + 0.021297499537467957 + ], + [ + 0.25240281224250793, + 0.12804923951625824, + 0.02060987986624241 + ], + [ + 0.2487735003232956, + 0.12544499337673187, + 0.022462381049990654 + ], + [ + 0.254693865776062, + 0.12825559079647064, + 0.033586811274290085 + ], + [ + 0.2653507888317108, + 0.13302066922187805, + 0.04786762595176697 + ], + [ + 0.2738359868526459, + 0.14441609382629395, + 0.07840822637081146 + ], + [ + 0.28414732217788696, + 0.15999452769756317, + 0.11217761039733887 + ], + [ + 0.29395660758018494, + 0.1778629869222641, + 0.1252305507659912 + ], + [ + 0.29337045550346375, + 0.19357909262180328, + 0.10252948850393295 + ], + [ + 0.27773213386535645, + 0.2023267298936844, + 0.07580047100782394 + ], + [ + 0.2602490484714508, + 0.20703701674938202, + 0.05654064193367958 + ], + [ + 0.24638128280639648, + 0.20809340476989746, + 0.033905550837516785 + ], + [ + 0.23921892046928406, + 0.2096872329711914, + 0.014129932969808578 + ], + [ + 0.24016237258911133, + 0.21313448250293732, + 0.0034603262320160866 + ], + [ + 0.24805888533592224, + 0.21715767681598663, + -0.0053586699068546295 + ], + [ + 0.2585258185863495, + 0.22254057228565216, + -0.00434943987056613 + ], + [ + 0.26443415880203247, + 0.22333820164203644, + 0.000118341798952315 + ], + [ + 0.26446306705474854, + 0.21557068824768066, + 0.00012226455146446824 + ], + [ + 0.2692577540874481, + 0.2109077125787735, + 0.044073861092329025 + ], + [ + 0.2659567892551422, + 0.20018282532691956, + 0.06361617147922516 + ], + [ + 0.27188509702682495, + 0.19610051810741425, + 0.09814456105232239 + ], + [ + 0.28539201617240906, + 0.18753556907176971, + 0.12674403190612793 + ], + [ + 0.2863386571407318, + 0.18442705273628235, + 0.12705963850021362 + ], + [ + 0.28602927923202515, + 0.18552225828170776, + 0.1274324506521225 + ], + [ + 0.2857714891433716, + 0.185304656624794, + 0.12705963850021362 + ], + [ + 0.28602927923202515, + 0.18552225828170776, + 0.1274324506521225 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9663110125106456, + -0.1637061839700109, + 0.19860340488175884, + -0.16814210526364048, + -0.9857470741168823, + 0.005562221455162629, + 0.19486215522302355, + -0.03876843045549275, + -0.9800641556866855 + ], + [ + 0.9519217510354698, + -0.19832536608621132, + 0.23347811261943813, + -0.19848312376083715, + -0.9798328575455768, + -0.02306557730058831, + 0.23334401532438104, + -0.024384840389870602, + -0.9720884476586764 + ], + [ + 0.9413118173407249, + -0.22355616223724942, + 0.2528926745883609, + -0.22279264451851408, + -0.9743392625870875, + -0.032038085612248156, + 0.25356557353700243, + -0.0261847991591179, + -0.9669637305555198 + ], + [ + 0.9333324423030895, + -0.23733907941836213, + 0.26937095894953983, + -0.2345255456641543, + -0.9711552047984177, + -0.04307361865311926, + 0.27182406180373536, + -0.022972365437369607, + -0.9620727362578835 + ], + [ + 0.9289945951955135, + -0.2414536201672382, + 0.2804802870179276, + -0.24079318294106344, + -0.9698569800668587, + -0.03736417086868469, + 0.2810474784562842, + -0.03282662827230009, + -0.9591322783274665 + ], + [ + 0.9285974956004638, + -0.21990862807887593, + 0.2989094954346775, + -0.2206259654843221, + -0.9748402053865033, + -0.0317924097248242, + 0.29838041912742463, + -0.036424843973131706, + -0.9537517267207833 + ], + [ + 0.9230826353357323, + -0.21229324137233563, + 0.3207023978851214, + -0.20892488505823575, + -0.9768815527297674, + -0.04530810456950879, + 0.32290686078967484, + -0.025179587047960472, + -0.9460957391570114 + ], + [ + 0.9121116728151315, + -0.2133319310515763, + 0.3500596856368752, + -0.20762914618674913, + -0.9767036694550426, + -0.054222502033899035, + 0.35347197055515445, + -0.023225616608824697, + -0.9351567444899255 + ], + [ + 0.9078008121866962, + -0.21895293128280013, + 0.3577111953459717, + -0.2110196111736335, + -0.9755391949307348, + -0.06159547754520723, + 0.36244780188780706, + -0.019567652811796073, + -0.9317986359027006 + ], + [ + 0.9065441398486417, + -0.22296758334637018, + 0.3584176045938117, + -0.21329601869882042, + -0.9746971918353596, + -0.06685949921661666, + 0.3642561336660221, + -0.015837960883389405, + -0.9311641252119507 + ], + [ + 0.9116522387690849, + -0.2228492879851824, + 0.3452946428657886, + -0.21279523946027057, + -0.9747773599859868, + -0.0672850988094369, + 0.3515798367517132, + -0.01213644524755186, + -0.9360792301330009 + ], + [ + 0.9266034556051292, + -0.2132189990795687, + 0.3097477917469958, + -0.20487082910075533, + -0.9769700859441589, + -0.059643897875908736, + 0.3153315389303812, + -0.008192045029758652, + -0.9489462107801622 + ], + [ + 0.9363064498376253, + -0.2073879326319234, + 0.28340867557490046, + -0.19927693770831006, + -0.9782552048956669, + -0.057493096908542984, + 0.28916938650220336, + -0.0026456555319256565, + -0.9572742900635877 + ], + [ + 0.9484436570518393, + -0.20537386327991114, + 0.24140465132142228, + -0.19969702593857935, + -0.9786799868323536, + -0.04802688002682229, + 0.24612136686890776, + -0.0026570011871984954, + -0.969235375497238 + ], + [ + 0.9625055154921998, + -0.20706651296069836, + 0.1752329645283439, + -0.20736481097886675, + -0.978119216890688, + -0.01681168393844386, + 0.1748798668080284, + -0.02015581205122265, + -0.9843834493863466 + ], + [ + 0.9666403869358261, + -0.2059273904710016, + 0.1523163556495511, + -0.20951196345299403, + -0.9777758134603765, + 0.007693879513681168, + 0.14734686801770913, + -0.03934931340828437, + -0.988301842566161 + ], + [ + 0.963784737573985, + -0.22766243620110296, + 0.13888410550679905, + -0.23304159318036136, + -0.9721812137208162, + 0.023564879296943873, + 0.12965568042860262, + -0.055077244223901534, + -0.9900282327799025 + ], + [ + 0.9498557911628868, + -0.27624212871400666, + 0.1465068678181376, + -0.280111061781817, + -0.959948512695101, + 0.0060535974368493665, + 0.13896679121930594, + -0.046788238885627, + -0.989191129984591 + ], + [ + 0.9371818684385192, + -0.2988223584806069, + 0.17998706493015873, + -0.30315563956166436, + -0.9529342957613497, + -0.0035897303211127295, + 0.17258853864623744, + -0.05119986361219825, + -0.9836624270012798 + ], + [ + 0.9205384061002945, + -0.3237614384099366, + 0.21860369139851601, + -0.3283511698378134, + -0.9444194918991251, + -0.01604158929586211, + 0.21164723518266945, + -0.05701187875983864, + -0.9756818608131468 + ], + [ + 0.908126377947291, + -0.3387212816257447, + 0.24611861987697473, + -0.3445493763432847, + -0.938547333811783, + -0.020362452117733645, + 0.23789117036533194, + -0.066308337097279, + -0.9690257971249301 + ], + [ + 0.902796639342475, + -0.35525363223746204, + 0.2423903561902225, + -0.36297444624971226, + -0.9316997729187467, + -0.01360457690890702, + 0.23066811518206756, + -0.07569933900137904, + -0.9700834143067835 + ], + [ + 0.9052883227128029, + -0.35519159939975903, + 0.23300639578277846, + -0.3641210759517977, + -0.9313381099964086, + -0.0050166638338921335, + 0.21878961311621917, + -0.08030101234827755, + -0.972462262819641 + ], + [ + 0.9098460210804229, + -0.3532352332911288, + 0.2177270949741551, + -0.3604534543183825, + -0.9327509603614559, + -0.006996657396773846, + 0.20555662284166054, + -0.07211460258882313, + -0.9759846099705609 + ], + [ + 0.906032839312244, + -0.35160996288795304, + 0.2355311616022932, + -0.3597906582675236, + -0.9329917800609346, + -0.0087761359464405, + 0.2228344145575708, + -0.07679044430565983, + -0.9718271715444696 + ], + [ + 0.9144655731268833, + -0.3400391313140906, + 0.21937662760850143, + -0.3474364241886192, + -0.9376893329479742, + -0.005161978555612207, + 0.20746239831050425, + -0.07149897936852947, + -0.9756265931372062 + ], + [ + 0.9264460813861995, + -0.32614538098139273, + 0.1879543794346314, + -0.3310256418466269, + -0.9436044314962471, + -0.005718505108250109, + 0.17921964938081952, + -0.05691983244130803, + -0.9821611120130289 + ], + [ + 0.9308287047494095, + -0.32523076733376427, + 0.16668194381524165, + -0.32710861318146073, + -0.9448365911007635, + -0.016845512743462195, + 0.16296587862812884, + -0.03884281267595727, + -0.9858668055606611 + ], + [ + 0.9380617264222338, + -0.3244116280818343, + 0.12164412434241123, + -0.3237228977849219, + -0.9457963208891997, + -0.02593848187899709, + 0.12346531039717748, + -0.01504709133845089, + -0.9922348019348954 + ], + [ + 0.9340487549480782, + -0.3488564013249976, + 0.07649924597351682, + -0.34673930065281144, + -0.9371153163882048, + -0.03983391988536369, + 0.08558493303580758, + 0.010681528224300824, + -0.9962736191388635 + ], + [ + 0.9193095568645473, + -0.38982111697027605, + 0.05393918261854027, + -0.388937046500931, + -0.9208845538048593, + -0.02645018757509724, + 0.05998260178287101, + 0.003336963840317387, + -0.9981938449798646 + ], + [ + 0.9178885694622864, + -0.39429320115150335, + 0.04487143385471028, + -0.3933815307417703, + -0.9189496599672381, + -0.027973089163678577, + 0.05226418775547169, + 0.008024585459545893, + -0.9986010518252337 + ], + [ + 0.9178885694622864, + -0.39429320115150335, + 0.04487143385471028, + -0.3933815307417703, + -0.9189496599672381, + -0.027973089163678577, + 0.05226418775547169, + 0.008024585459545893, + -0.9986010518252337 + ], + [ + 0.9186266230775147, + -0.39098321390696983, + 0.05707235597185538, + -0.39014505319619436, + -0.9203969360210486, + -0.025618696875610452, + 0.0625457020085329, + 0.0012675196418168479, + -0.9980412960164611 + ], + [ + 0.9279745530840209, + -0.34677387468244947, + 0.1364225372371897, + -0.3456141581168748, + -0.9378009637160363, + -0.03286648996223058, + 0.13933442696503787, + -0.016650294021257936, + -0.9901053909414543 + ], + [ + 0.9394605262392159, + -0.26485322185978005, + 0.2174090396207795, + -0.2777375149810724, + -0.9601745840938993, + 0.030440775815442783, + 0.20068829664550475, + -0.08898055366540268, + -0.9756057957284409 + ], + [ + 0.9354222023212716, + -0.2438562311301515, + 0.25596765800276466, + -0.26606839438509916, + -0.9623542076906338, + 0.05551565949773075, + 0.23279371321785627, + -0.12003548424999488, + -0.9650899282487161 + ], + [ + 0.9348281075241891, + -0.21276552575136826, + 0.2843013197902657, + -0.2478339180793463, + -0.9643041908177934, + 0.0932511480930959, + 0.25431232457783665, + -0.15763330429507746, + -0.9541891756590161 + ], + [ + 0.9483251350034891, + -0.15992380773854412, + 0.2740507508455669, + -0.19669842480104324, + -0.974015790051266, + 0.11226295208837163, + 0.24897623983304543, + -0.16036713020196147, + -0.9551404166662537 + ], + [ + 0.950616448740488, + -0.1346563204683995, + 0.2796355534297009, + -0.1751749181970458, + -0.9765364824378987, + 0.12526071412248233, + 0.25620717284783767, + -0.1680600304228451, + -0.9519000529234102 + ], + [ + 0.9477238694745853, + -0.10631253308389323, + 0.30086061978498446, + -0.14955470648521846, + -0.9808842227738096, + 0.1244971135470184, + 0.28187383169822455, + -0.16298400787410136, + -0.945506930794828 + ], + [ + 0.9464717445304626, + -0.08895866448847077, + 0.310286307815686, + -0.12572455728772255, + -0.9869574217642724, + 0.10054045613197933, + 0.29729542966596223, + -0.13416930959369205, + -0.9453116014642384 + ], + [ + 0.9482619844339144, + -0.0705924713009565, + 0.30954145420779794, + -0.10615628944234037, + -0.98935091793625, + 0.09957712282715152, + 0.29921572667439905, + -0.1272849723035803, + -0.9456576995596176 + ], + [ + 0.9452700821980632, + -0.049617303958417326, + 0.3224943330496909, + -0.0835176198335412, + -0.9922374035020999, + 0.09213979742082815, + 0.31541921133407047, + -0.1140309529878146, + -0.9420762510975871 + ], + [ + 0.9412727586677085, + -0.04002782368990551, + 0.3352661138867625, + -0.0720344142248788, + -0.9938943069980968, + 0.08357720792208523, + 0.329873668178229, + -0.10281964718585027, + -0.938409017004428 + ], + [ + 0.9392626446860565, + -0.031533065961428255, + 0.34174749457520187, + -0.05813636697145247, + -0.9959981026836209, + 0.0678818258887358, + 0.3382393341004503, + -0.08362682106657078, + -0.9373370299233805 + ], + [ + 0.9344378354426579, + -0.031539831032009656, + 0.35472689600834134, + -0.053989835254032385, + -0.9971036413269734, + 0.05356702476088139, + 0.35200998477668605, + -0.06920670134432588, + -0.9334341985949275 + ], + [ + 0.9276585797867402, + -0.019194415021874033, + 0.3729358306465282, + -0.04028326652979844, + -0.9979940729608748, + 0.04883737065662837, + 0.3712503438190154, + -0.06032747936829237, + -0.9265709780946794 + ], + [ + 0.9282684171473486, + -0.024651379692770085, + 0.37109305464532594, + -0.042421707811254365, + -0.9983067900323332, + 0.03979889045834741, + 0.3694836186262289, + -0.05268645418494073, + -0.9277424174372354 + ], + [ + 0.9479523337280646, + -0.02246552786231172, + 0.3176187542280592, + -0.025077891724624338, + -0.9996769350598097, + 0.004138218949429735, + 0.3174231754711123, + -0.01188804303883095, + -0.9482094716393329 + ], + [ + 0.9572875404128001, + -0.03921662562346351, + 0.2864657418350762, + -0.03458463052153342, + -0.9991766094897925, + -0.02121335381714576, + 0.2870617848166148, + 0.010399967461078862, + -0.9578556114439732 + ], + [ + 0.9591949402034531, + -0.04142133249693508, + 0.2796950838006863, + -0.033012627197454555, + -0.99885202968505, + -0.034710074035909096, + 0.28081173966488027, + 0.02406025785885838, + -0.9594612398935922 + ], + [ + 0.9760220173397265, + -0.06654694389743053, + 0.20724991176355914, + -0.05912723742983621, + -0.9973749750547451, + -0.04179867137197385, + 0.2094874494140558, + 0.028542308814437627, + -0.9773946721491451 + ], + [ + 0.9810049983539397, + -0.10184092719327885, + 0.16509881511688704, + -0.09792395825894933, + -0.9946884240989021, + -0.03171493910670804, + 0.16745175903371787, + 0.014945384306063384, + -0.9857669825493537 + ], + [ + 0.9809133538333737, + -0.12096289818083832, + 0.15223984214079636, + -0.1176785239059691, + -0.9925852224321692, + -0.030435854195230774, + 0.1547926267064252, + 0.01193957591262071, + -0.9878748348066935 + ], + [ + 0.9825529938099277, + -0.09496234868903056, + 0.15991174655606513, + -0.0813001957331814, + -0.9926246041127708, + -0.08992593332132524, + 0.1672719119544421, + 0.07535613871097706, + -0.983026734036098 + ], + [ + 0.975049205206851, + -0.07978801745209944, + 0.20715433786563903, + -0.05286635923011794, + -0.9897864541890783, + -0.13239306313233906, + 0.21560193757765717, + 0.11813825534040556, + -0.9693085974744498 + ], + [ + 0.969134466457867, + -0.058291753018026124, + 0.23954218303570476, + -0.023875618521047637, + -0.9892692665899837, + -0.14413976904641312, + 0.24537387954642412, + 0.1339716003882963, + -0.9601266945178307 + ], + [ + 0.9649929113898871, + -0.050267624833313235, + 0.2574137658729349, + -0.006698086065530854, + -0.9858647188351521, + -0.16740935397744222, + 0.26219042051594416, + 0.1598246603303229, + -0.9516891621427496 + ], + [ + 0.9564136212500927, + -0.06980883462111181, + 0.283548429190017, + -0.011135811358243035, + -0.9790178129712778, + -0.2034701835412976, + 0.2918029794102135, + 0.1914441132387673, + -0.9371233497856855 + ], + [ + 0.9405819385171825, + -0.10353821154493059, + 0.32339674655960277, + -0.029318326608853175, + -0.973585864313317, + -0.22643100612360478, + 0.3382987624277029, + 0.2034954632402613, + -0.9187728466713172 + ], + [ + 0.9295969142960907, + -0.14449391219739058, + 0.33907386550585056, + -0.06061710469708736, + -0.9673604654821985, + -0.2460473459320523, + 0.3635589959680949, + 0.2081711775437643, + -0.9080141063280425 + ], + [ + 0.9189738907197708, + -0.18590263910022317, + 0.3477458798475388, + -0.09102749004138908, + -0.9580866315817267, + -0.2716321086343541, + 0.38366780452903726, + 0.2179683811013719, + -0.8973788501006225 + ], + [ + 0.916093450636526, + -0.1990529219502823, + 0.348067125658138, + -0.10463072256903344, + -0.9566716757213038, + -0.27171992339038153, + 0.38707260506983077, + 0.21250232736524954, + -0.8972277075908922 + ], + [ + 0.9333327991622979, + -0.18443489532734417, + 0.30801567394121604, + -0.09364019123055792, + -0.9533165386205543, + -0.28708725464365364, + 0.3465853438825342, + 0.23910530437051597, + -0.9070321123464752 + ], + [ + 0.94255262719976, + -0.1544655345922882, + 0.2962008500695916, + -0.09286083844445084, + -0.9728804031203138, + -0.21185038566839856, + 0.3208915854961356, + 0.1721746782996101, + -0.9313347789652235 + ], + [ + 0.9613129755842885, + -0.12665643808292887, + 0.24461297934783746, + -0.07743917109823666, + -0.9764701995426958, + -0.20126878591740266, + 0.26434927227609, + 0.17453966912192892, + -0.9485016426711703 + ], + [ + 0.971472642939757, + -0.10219845162781374, + 0.21400088902740727, + -0.06695710000230329, + -0.9838668811919269, + -0.1658996891285581, + 0.22750307861416913, + 0.14683813053341452, + -0.9626426713181413 + ], + [ + 0.9784556889054831, + -0.07947955898209154, + 0.19054517719561806, + -0.04212889234404249, + -0.9803732238102917, + -0.19259672496094132, + 0.20211289241006206, + 0.18041990394584695, + -0.9626001438716965 + ], + [ + 0.979307484117891, + -0.0855116176402003, + 0.18342468426916517, + -0.04845064569767842, + -0.9790541630397259, + -0.19775105755990235, + 0.19649271355998107, + 0.18477204627090638, + -0.9629381623109021 + ], + [ + 0.9792205378420389, + -0.08272348306957644, + 0.18515929254883706, + -0.04564089597387258, + -0.9794941917993251, + -0.19623464741499994, + 0.197595665142357, + 0.18370616097514178, + -0.9629164031922631 + ], + [ + 0.9794515201919102, + -0.08250751084531759, + 0.18403051444764862, + -0.04544593613945731, + -0.9793119020878751, + -0.19718738630408522, + 0.1964927135599811, + 0.18477204627090638, + -0.9629381623109021 + ], + [ + 0.9792205378420389, + -0.08272348306957644, + 0.18515929254883706, + -0.04564089597387258, + -0.9794941917993251, + -0.19623464741499994, + 0.197595665142357, + 0.18370616097514178, + -0.9629164031922631 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005574.json b/json/chunk-0005/episode_0005574.json new file mode 100644 index 0000000000000000000000000000000000000000..080b2ffa0d75a8fa22ab97659f55afbaf0ffa373 --- /dev/null +++ b/json/chunk-0005/episode_0005574.json @@ -0,0 +1,2602 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 42, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nClose the drawer." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005574.mp4", + "start": 0, + "end": 42, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3004269599914551, + 0.13296079635620117, + 0.14523757994174957, + 0.015768947079777718, + -0.09389954805374146, + 0.2060004025697708, + 0.0, + 1.0008161067962646 + ], + [ + 0.30134740471839905, + 0.1324009895324707, + 0.13426358997821808, + 0.0010437475284561515, + -0.0627700462937355, + 0.19243283569812775, + 0.0, + 1.0008161067962646 + ], + [ + 0.29527533054351807, + 0.15621086955070496, + 0.13126114010810852, + -0.06083708256483078, + -0.0947536826133728, + 0.07567711174488068, + 0.0, + 1.0008161067962646 + ], + [ + 0.29071107506752014, + 0.17629200220108032, + 0.1260119378566742, + -0.058370351791381836, + -0.13243141770362854, + -0.056821200996637344, + 0.0, + 1.0008161067962646 + ], + [ + 0.2879328429698944, + 0.19488525390625, + 0.118293397128582, + -0.027482617646455765, + -0.14929994940757751, + -0.2162942886352539, + 0.0, + 1.0008161067962646 + ], + [ + 0.2852438688278198, + 0.20973064005374908, + 0.10292525589466095, + 0.040132373571395874, + -0.09474055469036102, + -0.45365917682647705, + 0.0, + 1.0008161067962646 + ], + [ + 0.2876511514186859, + 0.21267099678516388, + 0.08949554711580276, + 0.12931077182292938, + 0.0003923181211575866, + -0.6801559925079346, + 0.0, + 1.0008161067962646 + ], + [ + 0.29130589962005615, + 0.20322872698307037, + 0.07612782716751099, + 0.15034836530685425, + 0.04520856961607933, + -0.9363905787467957, + 0.0, + 1.0008161067962646 + ], + [ + 0.287257581949234, + 0.1916358470916748, + 0.06014891341328621, + 0.13273781538009644, + 0.04444441944360733, + -1.1568430662155151, + 0.0, + 1.0008161067962646 + ], + [ + 0.28348612785339355, + 0.18148811161518097, + 0.047376155853271484, + 0.12327815592288971, + 0.07610267400741577, + -1.224257230758667, + 0.0, + 1.0008161067962646 + ], + [ + 0.2795078456401825, + 0.17739827930927277, + 0.03996534273028374, + 0.12117277085781097, + 0.07998424023389816, + -1.2555763721466064, + 0.0, + 1.0008161067962646 + ], + [ + 0.27789536118507385, + 0.17294485867023468, + 0.03984607011079788, + 0.1305248737335205, + 0.07662992179393768, + -1.2464677095413208, + 0.0, + 1.0008161067962646 + ], + [ + 0.2791619300842285, + 0.16507983207702637, + 0.03777116909623146, + 0.135122150182724, + 0.07473339140415192, + -1.2482050657272339, + 0.0, + 1.0001531839370728 + ], + [ + 0.27917012572288513, + 0.15758541226387024, + 0.037687793374061584, + 0.12836508452892303, + 0.06571336835622787, + -1.241841197013855, + 0.0, + 1.0001531839370728 + ], + [ + 0.27904343605041504, + 0.14778873324394226, + 0.034003064036369324, + 0.11940690875053406, + 0.06409206241369247, + -1.2392473220825195, + 0.0, + 1.0008161067962646 + ], + [ + 0.27695342898368835, + 0.1390427052974701, + 0.031458545476198196, + 0.10162654519081116, + 0.048850007355213165, + -1.2365607023239136, + 0.0, + 1.0008161067962646 + ], + [ + 0.276195228099823, + 0.1277524083852768, + 0.03259044513106346, + 0.07710739225149155, + 0.016863346099853516, + -1.2294307947158813, + 0.0, + 1.0008161067962646 + ], + [ + 0.2737267017364502, + 0.10888160020112991, + 0.035544682294130325, + 0.061457499861717224, + -0.0004945530090481043, + -1.2380306720733643, + 0.0, + 1.0008161067962646 + ], + [ + 0.2741859257221222, + 0.09029161185026169, + 0.04177223891019821, + 0.05280955135822296, + -0.026164831593632698, + -1.2517136335372925, + 0.0, + 1.0008161067962646 + ], + [ + 0.27284151315689087, + 0.08330769091844559, + 0.04342399910092354, + 0.0341184176504612, + -0.0383252277970314, + -1.2481924295425415, + 0.0, + 1.0008161067962646 + ], + [ + 0.27148374915122986, + 0.07470309734344482, + 0.04348234832286835, + 0.009010099805891514, + -0.05733693391084671, + -1.2450463771820068, + 0.0, + 1.0008161067962646 + ], + [ + 0.2727898061275482, + 0.06549131870269775, + 0.04396597668528557, + 0.0016343301394954324, + -0.06367618590593338, + -1.2527467012405396, + 0.0, + 1.0008161067962646 + ], + [ + 0.27125880122184753, + 0.05787825584411621, + 0.044133011251688004, + -0.02469410002231598, + -0.08432190865278244, + -1.2415437698364258, + 0.0, + 1.0008161067962646 + ], + [ + 0.27075695991516113, + 0.05397747457027435, + 0.044649094343185425, + -0.03437764197587967, + -0.08737477660179138, + -1.2296185493469238, + 0.0, + 1.0014774799346924 + ], + [ + 0.27378806471824646, + 0.04678589850664139, + 0.04717744141817093, + -0.04052460566163063, + -0.0976739451289177, + -1.2386871576309204, + 0.0, + 1.0014774799346924 + ], + [ + 0.27731266617774963, + 0.036759499460458755, + 0.0504520945250988, + -0.05602693185210228, + -0.12175428122282028, + -1.2414593696594238, + 0.0, + 1.0008161067962646 + ], + [ + 0.27662762999534607, + 0.03502272814512253, + 0.05053830146789551, + -0.0666128471493721, + -0.12731754779815674, + -1.233849287033081, + 0.0, + 1.0008161067962646 + ], + [ + 0.27725690603256226, + 0.03457202762365341, + 0.049667440354824066, + -0.06623689085245132, + -0.1278291940689087, + -1.2263526916503906, + 0.0, + 1.0001531839370728 + ], + [ + 0.27557307481765747, + 0.030612535774707794, + 0.05022620037198067, + -0.08645093441009521, + -0.14822067320346832, + -1.2302970886230469, + 0.0, + 1.0008161067962646 + ], + [ + 0.2750124931335449, + 0.023458881303668022, + 0.05386616289615631, + -0.17571349442005157, + -0.22542162239551544, + -1.2164881229400635, + 0.0, + 0.9994885921478271 + ], + [ + 0.27973440289497375, + 0.032741744071245193, + 0.05909896641969681, + -0.2592122256755829, + -0.31270867586135864, + -1.153294563293457, + 0.0, + 1.0001531839370728 + ], + [ + 0.2821991443634033, + 0.03027261607348919, + 0.05638008937239647, + -0.31875643134117126, + -0.35867545008659363, + -1.1347377300262451, + 0.0, + 0.9994885921478271 + ], + [ + 0.2826206386089325, + 0.027300486341118813, + 0.048599496483802795, + -0.3616056442260742, + -0.37575334310531616, + -1.1115541458129883, + 0.0, + 0.9961419701576233 + ], + [ + 0.2816506326198578, + 0.02366572991013527, + 0.043339911848306656, + -0.3878159523010254, + -0.37442123889923096, + -1.095232367515564, + 0.0, + 0.9994885921478271 + ], + [ + 0.27762502431869507, + 0.017041238024830818, + 0.03806554526090622, + -0.4250577986240387, + -0.3847275972366333, + -1.082873821258545, + 0.0, + 0.9994885921478271 + ], + [ + 0.2740912437438965, + 0.01269897073507309, + 0.03774353116750717, + -0.4526214897632599, + -0.3961433470249176, + -1.0640262365341187, + 0.0, + 0.9994885921478271 + ], + [ + 0.27140265703201294, + 0.008041217923164368, + 0.04067593440413475, + -0.49081552028656006, + -0.413945734500885, + -1.0418516397476196, + 0.0, + 0.9994885921478271 + ], + [ + 0.26843878626823425, + 0.0030632345005869865, + 0.044798992574214935, + -0.5334229469299316, + -0.4299035966396332, + -1.020063877105713, + 0.0, + 0.9994885921478271 + ], + [ + 0.26630184054374695, + -0.0008704006322659552, + 0.04732999950647354, + -0.5629098415374756, + -0.43030548095703125, + -1.0111333131790161, + 0.0, + 0.9994885921478271 + ], + [ + 0.26717352867126465, + 0.0027576920110732317, + 0.057635482400655746, + -0.5380160808563232, + -0.43377813696861267, + -0.9978428483009338, + 0.0, + 1.0001531839370728 + ], + [ + 0.26758745312690735, + 0.04961824044585228, + 0.08956244587898254, + -0.371216744184494, + -0.3543128967285156, + -0.8560195565223694, + 0.0, + 1.0001531839370728 + ], + [ + 0.25154465436935425, + 0.09394942224025726, + 0.11562889069318771, + -0.25509893894195557, + -0.2544325888156891, + -0.6782546043395996, + 0.0, + 1.0001531839370728 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9961419701576233 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3004269599914551, + 0.13296079635620117, + 0.14523757994174957 + ], + [ + 0.30134740471839905, + 0.1324009895324707, + 0.13426358997821808 + ], + [ + 0.29527533054351807, + 0.15621086955070496, + 0.13126114010810852 + ], + [ + 0.29071107506752014, + 0.17629200220108032, + 0.1260119378566742 + ], + [ + 0.2879328429698944, + 0.19488525390625, + 0.118293397128582 + ], + [ + 0.2852438688278198, + 0.20973064005374908, + 0.10292525589466095 + ], + [ + 0.2876511514186859, + 0.21267099678516388, + 0.08949554711580276 + ], + [ + 0.29130589962005615, + 0.20322872698307037, + 0.07612782716751099 + ], + [ + 0.287257581949234, + 0.1916358470916748, + 0.06014891341328621 + ], + [ + 0.28348612785339355, + 0.18148811161518097, + 0.047376155853271484 + ], + [ + 0.2795078456401825, + 0.17739827930927277, + 0.03996534273028374 + ], + [ + 0.27789536118507385, + 0.17294485867023468, + 0.03984607011079788 + ], + [ + 0.2791619300842285, + 0.16507983207702637, + 0.03777116909623146 + ], + [ + 0.27917012572288513, + 0.15758541226387024, + 0.037687793374061584 + ], + [ + 0.27904343605041504, + 0.14778873324394226, + 0.034003064036369324 + ], + [ + 0.27695342898368835, + 0.1390427052974701, + 0.031458545476198196 + ], + [ + 0.276195228099823, + 0.1277524083852768, + 0.03259044513106346 + ], + [ + 0.2737267017364502, + 0.10888160020112991, + 0.035544682294130325 + ], + [ + 0.2741859257221222, + 0.09029161185026169, + 0.04177223891019821 + ], + [ + 0.27284151315689087, + 0.08330769091844559, + 0.04342399910092354 + ], + [ + 0.27148374915122986, + 0.07470309734344482, + 0.04348234832286835 + ], + [ + 0.2727898061275482, + 0.06549131870269775, + 0.04396597668528557 + ], + [ + 0.27125880122184753, + 0.05787825584411621, + 0.044133011251688004 + ], + [ + 0.27075695991516113, + 0.05397747457027435, + 0.044649094343185425 + ], + [ + 0.27378806471824646, + 0.04678589850664139, + 0.04717744141817093 + ], + [ + 0.27731266617774963, + 0.036759499460458755, + 0.0504520945250988 + ], + [ + 0.27662762999534607, + 0.03502272814512253, + 0.05053830146789551 + ], + [ + 0.27725690603256226, + 0.03457202762365341, + 0.049667440354824066 + ], + [ + 0.27557307481765747, + 0.030612535774707794, + 0.05022620037198067 + ], + [ + 0.2750124931335449, + 0.023458881303668022, + 0.05386616289615631 + ], + [ + 0.27973440289497375, + 0.032741744071245193, + 0.05909896641969681 + ], + [ + 0.2821991443634033, + 0.03027261607348919, + 0.05638008937239647 + ], + [ + 0.2826206386089325, + 0.027300486341118813, + 0.048599496483802795 + ], + [ + 0.2816506326198578, + 0.02366572991013527, + 0.043339911848306656 + ], + [ + 0.27762502431869507, + 0.017041238024830818, + 0.03806554526090622 + ], + [ + 0.2740912437438965, + 0.01269897073507309, + 0.03774353116750717 + ], + [ + 0.27140265703201294, + 0.008041217923164368, + 0.04067593440413475 + ], + [ + 0.26843878626823425, + 0.0030632345005869865, + 0.044798992574214935 + ], + [ + 0.26630184054374695, + -0.0008704006322659552, + 0.04732999950647354 + ], + [ + 0.26717352867126465, + 0.0027576920110732317, + 0.057635482400655746 + ], + [ + 0.26758745312690735, + 0.04961824044585228, + 0.08956244587898254 + ], + [ + 0.25154465436935425, + 0.09394942224025726, + 0.11562889069318771 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9745446636937264, + 0.20596828374068282, + 0.08854244495720393, + 0.20364541928126167, + -0.9784327329239539, + 0.03461113041670373, + 0.09376162152949921, + -0.015698829124508415, + -0.9954708961553214 + ], + [ + 0.979608825533802, + 0.19131154905095446, + 0.06137132991885562, + 0.19087074748871055, + -0.9815288106204205, + 0.01302120098774992, + 0.06272883459291805, + -0.0010416917906610436, + -0.9980300637700387 + ], + [ + 0.9926649201980188, + 0.0697291273706097, + 0.09876337886278559, + 0.07526575193310818, + -0.9957280511318093, + -0.05348565018014218, + 0.09461195904432303, + 0.060526828641371995, + -0.9936725216188748 + ], + [ + 0.9896440097720799, + -0.06438459704100084, + 0.12829402786609947, + -0.05629335806785911, + -0.9962483281751012, + -0.06572919021074206, + 0.13204465820200137, + 0.057826397710596264, + -0.9895556153992219 + ], + [ + 0.965834100937573, + -0.2185228695888006, + 0.13932783258482784, + -0.21222427965385357, + -0.9754534116350728, + -0.05874944131564161, + 0.14874590613362343, + 0.027173464927629634, + -0.9885020274194252 + ], + [ + 0.8948185439785566, + -0.434493080649119, + 0.10254528862962947, + -0.436292130759287, + -0.8997891005497293, + -0.005362011696221438, + 0.09459889000203453, + -0.03994167497673827, + -0.9947138847982547 + ], + [ + 0.7774745624580187, + -0.6237028420835594, + 0.08079646964814072, + -0.628914263486854, + -0.7709516745153598, + 0.10050057086778436, + -0.00039231811109373405, + -0.12895068956331013, + -0.9916509293837457 + ], + [ + 0.5920934138943419, + -0.8003500975711898, + 0.09415471597710814, + -0.8046011225879323, + -0.5805606965261324, + 0.12476502386218025, + -0.045193171532677705, + -0.14962953908529653, + -0.9877087517481755 + ], + [ + 0.40183462119289415, + -0.909849316317027, + 0.10345607187691731, + -0.9146337688170069, + -0.3933099392033512, + 0.09355405209532211, + -0.044429788997488465, + -0.1322176740125721, + -0.9902244596697982 + ], + [ + 0.3386616102593289, + -0.9365911782403401, + 0.09002932066237991, + -0.9378314715648056, + -0.3282738148641819, + 0.11273168772402707, + -0.07602923568699844, + -0.12261022517265037, + -0.9895384216916301 + ], + [ + 0.3090344333247412, + -0.94675124925606, + 0.09033156176965909, + -0.9476886995632813, + -0.2985703069467209, + 0.11288002715182859, + -0.07989898459750788, + -0.12049001552755519, + -0.9894939658322615 + ], + [ + 0.3177372898723939, + -0.9429773278360747, + 0.09918051124934896, + -0.9450832528108439, + -0.3065172556931376, + 0.11342317760855608, + -0.07655494680959993, + -0.12977261324903502, + -0.9885840424412562 + ], + [ + 0.31614032494181754, + -0.9429608366714876, + 0.10430798363255771, + -0.9457698478596638, + -0.3045962536403143, + 0.11287389932040749, + -0.07466384550229242, + -0.13433533701931605, + -0.9881190856383235 + ], + [ + 0.3223570969581081, + -0.9413097020174217, + 0.10010967450058687, + -0.9443377930772738, + -0.3124410626504367, + 0.10298890685801833, + -0.06566608414306856, + -0.12773655411720825, + -0.9896319205318596 + ], + [ + 0.32483973214324824, + -0.9412900238220355, + 0.09193606188115204, + -0.9435978897442961, + -0.31597615014689273, + 0.09890447415794576, + -0.06404819194336574, + -0.11887877687569198, + -0.9908408880932023 + ], + [ + 0.327655854286689, + -0.9414124520643631, + 0.07990141581863942, + -0.9435344273044327, + -0.3216748181178224, + 0.07917130717729769, + -0.0488305810221034, + -0.10133067890342463, + -0.9936536961487209 + ], + [ + 0.33472654341403957, + -0.9399333971001547, + 0.06695782366424329, + -0.9421644207075952, + -0.3325554392419083, + 0.04163032768718813, + -0.0168625468660667, + -0.07702005483238936, + -0.9968869372535711 + ], + [ + 0.3266581723092812, + -0.9433482618555415, + 0.058210783517221705, + -0.9451424198928442, + -0.3260702169740868, + 0.019596421141903467, + 0.0004945529888882513, + -0.06141881191134255, + -0.9981119601331008 + ], + [ + 0.3135883166834885, + -0.9477666424976583, + 0.05831602702801676, + -0.9491985700779522, + -0.3145696127747014, + -0.008248228945994824, + 0.026161846295459767, + -0.05276694123682618, + -0.9982640971761543 + ], + [ + 0.3168043956125665, + -0.9474467728505168, + 0.04449255595824602, + -0.9477166616880398, + -0.31809229181680104, + -0.025503392825514767, + 0.03831584632281874, + -0.03408674965256015, + -0.9986841289510361 + ], + [ + 0.31949349468451393, + -0.9472073055064316, + 0.026874286028132605, + -0.9458541028561749, + -0.32049556515095445, + -0.0514063111758743, + 0.05730552298353982, + -0.008995171694619938, + -0.9983161643095675 + ], + [ + 0.31208083800762676, + -0.9498133447586226, + 0.021451355828834548, + -0.9479221334135677, + -0.31281296312861107, + -0.05993061891361096, + 0.06363316378373514, + -0.0016310172090069769, + -0.9979720237810958 + ], + [ + 0.32218701745510675, + -0.9466681775057695, + 0.0038584298993065216, + -0.9429221479583736, + -0.3212693755995267, + -0.0876573510406137, + 0.08422202011914598, + 0.024603861481389704, + -0.9961432132616549 + ], + [ + 0.3333208117289287, + -0.9428080078739915, + -0.0032088560334770574, + -0.938766367576009, + -0.3315730680870007, + -0.09368568528606064, + 0.08726364407079107, + 0.034239754789552296, + -0.9955966530756506 + ], + [ + 0.3244836733138063, + -0.9458687493892393, + -0.006531055168645106, + -0.9408509159797185, + -0.3220350494606162, + -0.10532322070191176, + 0.09751871437269946, + 0.04032041477633087, + -0.9944165950442303 + ], + [ + 0.32102147637635453, + -0.9469718082886551, + -0.013769749876450486, + -0.9392519435382918, + -0.3164726141740469, + -0.1328565807078674, + 0.1214536877360538, + 0.055583080018646196, + -0.991039617245927 + ], + [ + 0.3279314349891016, + -0.9444695285079078, + -0.02093522548335025, + -0.9361295916202573, + -0.3218975475249467, + -0.141574561946399, + 0.12697386203025687, + 0.06602483333924276, + -0.9897061986992131 + ], + [ + 0.3349179583683558, + -0.9420486237936426, + -0.01934816711929973, + -0.933583668695947, + -0.32899038518481016, + -0.14208047015746547, + 0.12748135042659556, + 0.06564843383093258, + -0.9896659984201525 + ], + [ + 0.33029600092961203, + -0.94332622342875, + -0.032251945081778484, + -0.9322529686998495, + -0.3206915370834143, + -0.16751519451499045, + 0.14767854996655297, + 0.0853965703920799, + -0.9853418044744917 + ], + [ + 0.33816398282010046, + -0.9370013317738919, + -0.08759922931852669, + -0.9141581485949193, + -0.30495318230535734, + -0.2670551178302804, + 0.22351733731582485, + 0.170387971570145, + -0.9596915853874385 + ], + [ + 0.3858139140233021, + -0.9155398188435495, + -0.11372978439239219, + -0.8697741387917188, + -0.31985177926268893, + -0.37574963312239623, + 0.3076370771463403, + 0.2438886619226323, + -0.91971612432883 + ], + [ + 0.39549163811225857, + -0.9072277375519042, + -0.14326268320723232, + -0.8487410068158279, + -0.3013787396752446, + -0.4345222187886558, + 0.3510342825601762, + 0.29344281808934203, + -0.889194154827419 + ], + [ + 0.41234269384496, + -0.8959672934854617, + -0.16497306397414807, + -0.8338489157823743, + -0.29822766152766494, + -0.46449569163588544, + 0.3669734165865978, + 0.3290940152966584, + -0.8700733535827208 + ], + [ + 0.4261204994304586, + -0.8863356876262422, + -0.18119152520262405, + -0.8274418500555335, + -0.3008782250005799, + -0.4741437318969604, + 0.3657339261564516, + 0.35196781466579724, + -0.8616016206446983 + ], + [ + 0.43452347823644544, + -0.8772606355468184, + -0.20396843917943222, + -0.8187394320226411, + -0.2903697537942833, + -0.4953293334062609, + 0.3753066603626224, + 0.3822292288685413, + -0.8444203498767753 + ], + [ + 0.4477679193690261, + -0.8681788735150184, + -0.21393768711035177, + -0.8066061297319471, + -0.2889435758625663, + -0.5156531406348677, + 0.3858632424354289, + 0.4034563837020636, + -0.8296580648600185 + ], + [ + 0.46200255426094705, + -0.8570915026614496, + -0.22792059126349004, + -0.790423142875412, + -0.28137330540406247, + -0.5441142510658473, + 0.4022249309320799, + 0.4315358838747137, + -0.807460145062995 + ], + [ + 0.4756932765811426, + -0.8446588872390729, + -0.24549393235586892, + -0.7746016351669186, + -0.2700165199860518, + -0.5719120437019648, + 0.41678317313950264, + 0.4622147154112181, + -0.7827191983368583 + ], + [ + 0.48250288062655877, + -0.8348642745549881, + -0.26493888589417347, + -0.770180587218056, + -0.26033765680669063, + -0.5822767104400207, + 0.4171484547011086, + 0.4850009768239388, + -0.768609926568934 + ], + [ + 0.4919077382810906, + -0.8383505566547363, + -0.23493641943273783, + -0.7624781913529041, + -0.28454798147168703, + -0.5810847218363189, + 0.4203020160912695, + 0.4649739674402016, + -0.7791953701559912 + ], + [ + 0.614735700535028, + -0.786288886573535, + -0.06204679958433479, + -0.7083279434186359, + -0.5157537184179093, + -0.48194359266456216, + 0.3469460232659165, + 0.340217414000298, + -0.8740026133547403 + ], + [ + 0.7536007635013207, + -0.656585922606676, + 0.03131797383239571, + -0.6072354232574327, + -0.7136195172571156, + -0.34930262714598614, + 0.2516963050813283, + 0.24421734341455226, + -0.936486443673343 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + 0.0009204447269439697, + -0.0005598068237304688, + -0.010973989963531494, + -0.014725199900567532, + 0.03112950176000595, + -0.013567566871643066, + 1.0 + ], + [ + -0.0060720741748809814, + 0.023809880018234253, + -0.003002449870109558, + -0.06188083067536354, + -0.0319836363196373, + -0.11675572395324707, + 1.0 + ], + [ + -0.004564255475997925, + 0.020081132650375366, + -0.005249202251434326, + 0.002466730773448944, + -0.03767773509025574, + -0.13249830901622772, + 1.0 + ], + [ + -0.0027782320976257324, + 0.018593251705169678, + -0.007718540728092194, + 0.03088773414492607, + -0.016868531703948975, + -0.15947309136390686, + 1.0 + ], + [ + -0.002688974142074585, + 0.014845386147499084, + -0.015368141233921051, + 0.06761498749256134, + 0.05455939471721649, + -0.23736488819122314, + 1.0 + ], + [ + 0.002407282590866089, + 0.002940356731414795, + -0.013429708778858185, + 0.08917839825153351, + 0.09513287246227264, + -0.22649681568145752, + 1.0 + ], + [ + 0.0036547482013702393, + -0.009442269802093506, + -0.013367719948291779, + 0.021037593483924866, + 0.04481625184416771, + -0.2562345862388611, + 1.0 + ], + [ + -0.0040483176708221436, + -0.011592879891395569, + -0.015978913754224777, + -0.017610549926757812, + -0.0007641501724720001, + -0.22045248746871948, + 1.0 + ], + [ + -0.003771454095840454, + -0.010147735476493835, + -0.012772757560014725, + -0.009459659457206726, + 0.03165825456380844, + -0.06741416454315186, + 1.0 + ], + [ + -0.00397828221321106, + -0.004089832305908203, + -0.007410813122987747, + -0.0021053850650787354, + 0.0038815662264823914, + -0.03131914138793945, + 1.0 + ], + [ + -0.0016124844551086426, + -0.004453420639038086, + -0.0001192726194858551, + 0.009352102875709534, + -0.0033543184399604797, + 0.009108662605285645, + 1.0 + ], + [ + 0.001266568899154663, + -0.007865026593208313, + -0.0020749010145664215, + 0.004597276449203491, + -0.0018965303897857666, + -0.001737356185913086, + 1.0 + ], + [ + 8.195638656616211e-06, + -0.007494419813156128, + -8.33757221698761e-05, + -0.006757065653800964, + -0.009020023047924042, + 0.006363868713378906, + 1.0 + ], + [ + -0.00012668967247009277, + -0.009796679019927979, + -0.0036847293376922607, + -0.008958175778388977, + -0.0016213059425354004, + 0.0025938749313354492, + 1.0 + ], + [ + -0.0020900070667266846, + -0.008746027946472168, + -0.0025445185601711273, + -0.0177803635597229, + -0.015242055058479309, + 0.002686619758605957, + 1.0 + ], + [ + -0.0007582008838653564, + -0.011290296912193298, + 0.001131899654865265, + -0.02451915293931961, + -0.03198666125535965, + 0.0071299076080322266, + 1.0 + ], + [ + -0.0024685263633728027, + -0.01887080818414688, + 0.002954237163066864, + -0.015649892389774323, + -0.017357898876070976, + -0.00859987735748291, + 1.0 + ], + [ + 0.00045922398567199707, + -0.018589988350868225, + 0.006227556616067886, + -0.008647948503494263, + -0.025670278817415237, + -0.013682961463928223, + 1.0 + ], + [ + -0.0013444125652313232, + -0.006983920931816101, + 0.0016517601907253265, + -0.018691133707761765, + -0.012160396203398705, + 0.0035212039947509766, + 1.0 + ], + [ + -0.0013577640056610107, + -0.008604593575000763, + 5.834922194480896e-05, + -0.025108318775892258, + -0.019011706113815308, + 0.003146052360534668, + 1.0 + ], + [ + 0.0013060569763183594, + -0.00921177864074707, + 0.00048362836241722107, + -0.007375769782811403, + -0.00633925199508667, + -0.007700324058532715, + 1.0 + ], + [ + -0.0015310049057006836, + -0.007613062858581543, + 0.0001670345664024353, + -0.026328429579734802, + -0.02064572274684906, + 0.01120293140411377, + 1.0 + ], + [ + -0.0005018413066864014, + -0.003900781273841858, + 0.0005160830914974213, + -0.00968354195356369, + -0.0030528679490089417, + 0.011925220489501953, + 1.0 + ], + [ + 0.003031104803085327, + -0.007191576063632965, + 0.002528347074985504, + -0.006146963685750961, + -0.010299168527126312, + -0.009068608283996582, + 1.0 + ], + [ + 0.003524601459503174, + -0.010026399046182632, + 0.0032746531069278717, + -0.01550232619047165, + -0.024080336093902588, + -0.002772212028503418, + 1.0 + ], + [ + -0.0006850361824035645, + -0.0017367713153362274, + 8.620694279670715e-05, + -0.010585915297269821, + -0.005563266575336456, + 0.0076100826263427734, + 1.0 + ], + [ + 0.0006292760372161865, + -0.0004507005214691162, + -0.0008708611130714417, + 0.00037595629692077637, + -0.0005116462707519531, + 0.00749659538269043, + 1.0 + ], + [ + -0.0016838312149047852, + -0.003959491848945618, + 0.000558760017156601, + -0.02021404355764389, + -0.02039147913455963, + -0.00394439697265625, + 1.0 + ], + [ + -0.0005605816841125488, + -0.007153654471039772, + 0.003639962524175644, + -0.08926256000995636, + -0.07720094919204712, + 0.013808965682983398, + 1.0 + ], + [ + 0.004721909761428833, + 0.009282862767577171, + 0.005232803523540497, + -0.08349873125553131, + -0.0872870534658432, + 0.06319355964660645, + 1.0 + ], + [ + 0.0024647414684295654, + -0.0024691279977560043, + -0.0027188770473003387, + -0.05954420566558838, + -0.045966774225234985, + 0.018556833267211914, + 1.0 + ], + [ + 0.0004214942455291748, + -0.0029721297323703766, + -0.007780592888593674, + -0.042849212884902954, + -0.017077893018722534, + 0.023183584213256836, + 1.0 + ], + [ + -0.000970005989074707, + -0.0036347564309835434, + -0.0052595846354961395, + -0.026210308074951172, + 0.001332104206085205, + 0.016321778297424316, + 1.0 + ], + [ + -0.00402560830116272, + -0.006624491885304451, + -0.005274366587400436, + -0.037241846323013306, + -0.010306358337402344, + 0.012358546257019043, + 1.0 + ], + [ + -0.003533780574798584, + -0.004342267289757729, + -0.00032201409339904785, + -0.02756369113922119, + -0.011415749788284302, + 0.01884758472442627, + 1.0 + ], + [ + -0.002688586711883545, + -0.004657752811908722, + 0.0029324032366275787, + -0.03819403052330017, + -0.017802387475967407, + 0.022174596786499023, + 1.0 + ], + [ + -0.0029638707637786865, + -0.004977983422577381, + 0.004123058170080185, + -0.04260742664337158, + -0.01595786213874817, + 0.02178776264190674, + 1.0 + ], + [ + -0.0021369457244873047, + -0.003933635074645281, + 0.002531006932258606, + -0.029486894607543945, + -0.0004018843173980713, + 0.008930563926696777, + 1.0 + ], + [ + 0.0008716881275177002, + 0.003628092585131526, + 0.010305482894182205, + 0.024893760681152344, + -0.003472656011581421, + 0.013290464878082275, + 1.0 + ], + [ + 0.0004139244556427002, + 0.046860549598932266, + 0.0319269634783268, + 0.16679933667182922, + 0.07946524024009705, + 0.14182329177856445, + 1.0 + ], + [ + -0.0160427987575531, + 0.044331181794404984, + 0.02606644481420517, + 0.11611780524253845, + 0.09988030791282654, + 0.17776495218276978, + 1.0 + ], + [ + -0.022575318813323975, + 0.033410102128982544, + 0.017291612923145294, + 0.16253142058849335, + 0.09832504391670227, + 0.1887439787387848, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9961419701576233 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.30134740471839905, + 0.1324009895324707, + 0.13426358997821808 + ], + [ + 0.29527533054351807, + 0.15621086955070496, + 0.13126114010810852 + ], + [ + 0.29071107506752014, + 0.17629200220108032, + 0.1260119378566742 + ], + [ + 0.2879328429698944, + 0.19488525390625, + 0.118293397128582 + ], + [ + 0.2852438688278198, + 0.20973064005374908, + 0.10292525589466095 + ], + [ + 0.2876511514186859, + 0.21267099678516388, + 0.08949554711580276 + ], + [ + 0.29130589962005615, + 0.20322872698307037, + 0.07612782716751099 + ], + [ + 0.287257581949234, + 0.1916358470916748, + 0.06014891341328621 + ], + [ + 0.28348612785339355, + 0.18148811161518097, + 0.047376155853271484 + ], + [ + 0.2795078456401825, + 0.17739827930927277, + 0.03996534273028374 + ], + [ + 0.27789536118507385, + 0.17294485867023468, + 0.03984607011079788 + ], + [ + 0.2791619300842285, + 0.16507983207702637, + 0.03777116909623146 + ], + [ + 0.27917012572288513, + 0.15758541226387024, + 0.037687793374061584 + ], + [ + 0.27904343605041504, + 0.14778873324394226, + 0.034003064036369324 + ], + [ + 0.27695342898368835, + 0.1390427052974701, + 0.031458545476198196 + ], + [ + 0.276195228099823, + 0.1277524083852768, + 0.03259044513106346 + ], + [ + 0.2737267017364502, + 0.10888160020112991, + 0.035544682294130325 + ], + [ + 0.2741859257221222, + 0.09029161185026169, + 0.04177223891019821 + ], + [ + 0.27284151315689087, + 0.08330769091844559, + 0.04342399910092354 + ], + [ + 0.27148374915122986, + 0.07470309734344482, + 0.04348234832286835 + ], + [ + 0.2727898061275482, + 0.06549131870269775, + 0.04396597668528557 + ], + [ + 0.27125880122184753, + 0.05787825584411621, + 0.044133011251688004 + ], + [ + 0.27075695991516113, + 0.05397747457027435, + 0.044649094343185425 + ], + [ + 0.27378806471824646, + 0.04678589850664139, + 0.04717744141817093 + ], + [ + 0.27731266617774963, + 0.036759499460458755, + 0.0504520945250988 + ], + [ + 0.27662762999534607, + 0.03502272814512253, + 0.05053830146789551 + ], + [ + 0.27725690603256226, + 0.03457202762365341, + 0.049667440354824066 + ], + [ + 0.27557307481765747, + 0.030612535774707794, + 0.05022620037198067 + ], + [ + 0.2750124931335449, + 0.023458881303668022, + 0.05386616289615631 + ], + [ + 0.27973440289497375, + 0.032741744071245193, + 0.05909896641969681 + ], + [ + 0.2821991443634033, + 0.03027261607348919, + 0.05638008937239647 + ], + [ + 0.2826206386089325, + 0.027300486341118813, + 0.048599496483802795 + ], + [ + 0.2816506326198578, + 0.02366572991013527, + 0.043339911848306656 + ], + [ + 0.27762502431869507, + 0.017041238024830818, + 0.03806554526090622 + ], + [ + 0.2740912437438965, + 0.01269897073507309, + 0.03774353116750717 + ], + [ + 0.27140265703201294, + 0.008041217923164368, + 0.04067593440413475 + ], + [ + 0.26843878626823425, + 0.0030632345005869865, + 0.044798992574214935 + ], + [ + 0.26630184054374695, + -0.0008704006322659552, + 0.04732999950647354 + ], + [ + 0.26717352867126465, + 0.0027576920110732317, + 0.057635482400655746 + ], + [ + 0.26758745312690735, + 0.04961824044585228, + 0.08956244587898254 + ], + [ + 0.25154465436935425, + 0.09394942224025726, + 0.11562889069318771 + ], + [ + 0.22896933555603027, + 0.1273595243692398, + 0.132920503616333 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.979608825533802, + 0.19131154905095446, + 0.06137132991885562, + 0.19087074748871055, + -0.9815288106204205, + 0.01302120098774992, + 0.06272883459291805, + -0.0010416917906610436, + -0.9980300637700387 + ], + [ + 0.9926649201980188, + 0.0697291273706097, + 0.09876337886278559, + 0.07526575193310818, + -0.9957280511318093, + -0.05348565018014218, + 0.09461195904432303, + 0.060526828641371995, + -0.9936725216188748 + ], + [ + 0.9896440097720799, + -0.06438459704100084, + 0.12829402786609947, + -0.05629335806785911, + -0.9962483281751012, + -0.06572919021074206, + 0.13204465820200137, + 0.057826397710596264, + -0.9895556153992219 + ], + [ + 0.965834100937573, + -0.2185228695888006, + 0.13932783258482784, + -0.21222427965385357, + -0.9754534116350728, + -0.05874944131564161, + 0.14874590613362343, + 0.027173464927629634, + -0.9885020274194252 + ], + [ + 0.8948185439785566, + -0.434493080649119, + 0.10254528862962947, + -0.436292130759287, + -0.8997891005497293, + -0.005362011696221438, + 0.09459889000203453, + -0.03994167497673827, + -0.9947138847982547 + ], + [ + 0.7774745624580187, + -0.6237028420835594, + 0.08079646964814072, + -0.628914263486854, + -0.7709516745153598, + 0.10050057086778436, + -0.00039231811109373405, + -0.12895068956331013, + -0.9916509293837457 + ], + [ + 0.5920934138943419, + -0.8003500975711898, + 0.09415471597710814, + -0.8046011225879323, + -0.5805606965261324, + 0.12476502386218025, + -0.045193171532677705, + -0.14962953908529653, + -0.9877087517481755 + ], + [ + 0.40183462119289415, + -0.909849316317027, + 0.10345607187691731, + -0.9146337688170069, + -0.3933099392033512, + 0.09355405209532211, + -0.044429788997488465, + -0.1322176740125721, + -0.9902244596697982 + ], + [ + 0.3386616102593289, + -0.9365911782403401, + 0.09002932066237991, + -0.9378314715648056, + -0.3282738148641819, + 0.11273168772402707, + -0.07602923568699844, + -0.12261022517265037, + -0.9895384216916301 + ], + [ + 0.3090344333247412, + -0.94675124925606, + 0.09033156176965909, + -0.9476886995632813, + -0.2985703069467209, + 0.11288002715182859, + -0.07989898459750788, + -0.12049001552755519, + -0.9894939658322615 + ], + [ + 0.3177372898723939, + -0.9429773278360747, + 0.09918051124934896, + -0.9450832528108439, + -0.3065172556931376, + 0.11342317760855608, + -0.07655494680959993, + -0.12977261324903502, + -0.9885840424412562 + ], + [ + 0.31614032494181754, + -0.9429608366714876, + 0.10430798363255771, + -0.9457698478596638, + -0.3045962536403143, + 0.11287389932040749, + -0.07466384550229242, + -0.13433533701931605, + -0.9881190856383235 + ], + [ + 0.3223570969581081, + -0.9413097020174217, + 0.10010967450058687, + -0.9443377930772738, + -0.3124410626504367, + 0.10298890685801833, + -0.06566608414306856, + -0.12773655411720825, + -0.9896319205318596 + ], + [ + 0.32483973214324824, + -0.9412900238220355, + 0.09193606188115204, + -0.9435978897442961, + -0.31597615014689273, + 0.09890447415794576, + -0.06404819194336574, + -0.11887877687569198, + -0.9908408880932023 + ], + [ + 0.327655854286689, + -0.9414124520643631, + 0.07990141581863942, + -0.9435344273044327, + -0.3216748181178224, + 0.07917130717729769, + -0.0488305810221034, + -0.10133067890342463, + -0.9936536961487209 + ], + [ + 0.33472654341403957, + -0.9399333971001547, + 0.06695782366424329, + -0.9421644207075952, + -0.3325554392419083, + 0.04163032768718813, + -0.0168625468660667, + -0.07702005483238936, + -0.9968869372535711 + ], + [ + 0.3266581723092812, + -0.9433482618555415, + 0.058210783517221705, + -0.9451424198928442, + -0.3260702169740868, + 0.019596421141903467, + 0.0004945529888882513, + -0.06141881191134255, + -0.9981119601331008 + ], + [ + 0.3135883166834885, + -0.9477666424976583, + 0.05831602702801676, + -0.9491985700779522, + -0.3145696127747014, + -0.008248228945994824, + 0.026161846295459767, + -0.05276694123682618, + -0.9982640971761543 + ], + [ + 0.3168043956125665, + -0.9474467728505168, + 0.04449255595824602, + -0.9477166616880398, + -0.31809229181680104, + -0.025503392825514767, + 0.03831584632281874, + -0.03408674965256015, + -0.9986841289510361 + ], + [ + 0.31949349468451393, + -0.9472073055064316, + 0.026874286028132605, + -0.9458541028561749, + -0.32049556515095445, + -0.0514063111758743, + 0.05730552298353982, + -0.008995171694619938, + -0.9983161643095675 + ], + [ + 0.31208083800762676, + -0.9498133447586226, + 0.021451355828834548, + -0.9479221334135677, + -0.31281296312861107, + -0.05993061891361096, + 0.06363316378373514, + -0.0016310172090069769, + -0.9979720237810958 + ], + [ + 0.32218701745510675, + -0.9466681775057695, + 0.0038584298993065216, + -0.9429221479583736, + -0.3212693755995267, + -0.0876573510406137, + 0.08422202011914598, + 0.024603861481389704, + -0.9961432132616549 + ], + [ + 0.3333208117289287, + -0.9428080078739915, + -0.0032088560334770574, + -0.938766367576009, + -0.3315730680870007, + -0.09368568528606064, + 0.08726364407079107, + 0.034239754789552296, + -0.9955966530756506 + ], + [ + 0.3244836733138063, + -0.9458687493892393, + -0.006531055168645106, + -0.9408509159797185, + -0.3220350494606162, + -0.10532322070191176, + 0.09751871437269946, + 0.04032041477633087, + -0.9944165950442303 + ], + [ + 0.32102147637635453, + -0.9469718082886551, + -0.013769749876450486, + -0.9392519435382918, + -0.3164726141740469, + -0.1328565807078674, + 0.1214536877360538, + 0.055583080018646196, + -0.991039617245927 + ], + [ + 0.3279314349891016, + -0.9444695285079078, + -0.02093522548335025, + -0.9361295916202573, + -0.3218975475249467, + -0.141574561946399, + 0.12697386203025687, + 0.06602483333924276, + -0.9897061986992131 + ], + [ + 0.3349179583683558, + -0.9420486237936426, + -0.01934816711929973, + -0.933583668695947, + -0.32899038518481016, + -0.14208047015746547, + 0.12748135042659556, + 0.06564843383093258, + -0.9896659984201525 + ], + [ + 0.33029600092961203, + -0.94332622342875, + -0.032251945081778484, + -0.9322529686998495, + -0.3206915370834143, + -0.16751519451499045, + 0.14767854996655297, + 0.0853965703920799, + -0.9853418044744917 + ], + [ + 0.33816398282010046, + -0.9370013317738919, + -0.08759922931852669, + -0.9141581485949193, + -0.30495318230535734, + -0.2670551178302804, + 0.22351733731582485, + 0.170387971570145, + -0.9596915853874385 + ], + [ + 0.3858139140233021, + -0.9155398188435495, + -0.11372978439239219, + -0.8697741387917188, + -0.31985177926268893, + -0.37574963312239623, + 0.3076370771463403, + 0.2438886619226323, + -0.91971612432883 + ], + [ + 0.39549163811225857, + -0.9072277375519042, + -0.14326268320723232, + -0.8487410068158279, + -0.3013787396752446, + -0.4345222187886558, + 0.3510342825601762, + 0.29344281808934203, + -0.889194154827419 + ], + [ + 0.41234269384496, + -0.8959672934854617, + -0.16497306397414807, + -0.8338489157823743, + -0.29822766152766494, + -0.46449569163588544, + 0.3669734165865978, + 0.3290940152966584, + -0.8700733535827208 + ], + [ + 0.4261204994304586, + -0.8863356876262422, + -0.18119152520262405, + -0.8274418500555335, + -0.3008782250005799, + -0.4741437318969604, + 0.3657339261564516, + 0.35196781466579724, + -0.8616016206446983 + ], + [ + 0.43452347823644544, + -0.8772606355468184, + -0.20396843917943222, + -0.8187394320226411, + -0.2903697537942833, + -0.4953293334062609, + 0.3753066603626224, + 0.3822292288685413, + -0.8444203498767753 + ], + [ + 0.4477679193690261, + -0.8681788735150184, + -0.21393768711035177, + -0.8066061297319471, + -0.2889435758625663, + -0.5156531406348677, + 0.3858632424354289, + 0.4034563837020636, + -0.8296580648600185 + ], + [ + 0.46200255426094705, + -0.8570915026614496, + -0.22792059126349004, + -0.790423142875412, + -0.28137330540406247, + -0.5441142510658473, + 0.4022249309320799, + 0.4315358838747137, + -0.807460145062995 + ], + [ + 0.4756932765811426, + -0.8446588872390729, + -0.24549393235586892, + -0.7746016351669186, + -0.2700165199860518, + -0.5719120437019648, + 0.41678317313950264, + 0.4622147154112181, + -0.7827191983368583 + ], + [ + 0.48250288062655877, + -0.8348642745549881, + -0.26493888589417347, + -0.770180587218056, + -0.26033765680669063, + -0.5822767104400207, + 0.4171484547011086, + 0.4850009768239388, + -0.768609926568934 + ], + [ + 0.4919077382810906, + -0.8383505566547363, + -0.23493641943273783, + -0.7624781913529041, + -0.28454798147168703, + -0.5810847218363189, + 0.4203020160912695, + 0.4649739674402016, + -0.7791953701559912 + ], + [ + 0.614735700535028, + -0.786288886573535, + -0.06204679958433479, + -0.7083279434186359, + -0.5157537184179093, + -0.48194359266456216, + 0.3469460232659165, + 0.340217414000298, + -0.8740026133547403 + ], + [ + 0.7536007635013207, + -0.656585922606676, + 0.03131797383239571, + -0.6072354232574327, + -0.7136195172571156, + -0.34930262714598614, + 0.2516963050813283, + 0.24421734341455226, + -0.936486443673343 + ], + [ + 0.8718310470963566, + -0.48086459105398605, + 0.09316582200224025, + -0.4644764538880436, + -0.8720272249533492, + -0.15437014842173669, + 0.1554742715128728, + 0.09131135751177748, + -0.9836106886806882 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005576.json b/json/chunk-0005/episode_0005576.json new file mode 100644 index 0000000000000000000000000000000000000000..3ac5226201b9f6a8a1fec1b4dc04ff775194a093 --- /dev/null +++ b/json/chunk-0005/episode_0005576.json @@ -0,0 +1,2542 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 41, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nFold the cloth from bottom left to top right." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005576.mp4", + "start": 0, + "end": 41, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3018116056919098, + 0.02035551518201828, + 0.08420448005199432, + -0.06987456977367401, + -0.05340396612882614, + -0.18184782564640045, + 0.0, + 0.9994885921478271 + ], + [ + 0.29791945219039917, + 0.01838054694235325, + 0.07647784054279327, + -0.08520728349685669, + -0.026111150160431862, + -0.18088455498218536, + 0.0, + 0.9994885921478271 + ], + [ + 0.292618989944458, + 0.02981376089155674, + 0.07161416858434677, + -0.123102568089962, + -0.02451043762266636, + -0.12643979489803314, + 0.0, + 0.9994885921478271 + ], + [ + 0.28778475522994995, + 0.04625863581895828, + 0.07309024780988693, + -0.14192843437194824, + -0.010756522417068481, + -0.06409430503845215, + 0.0, + 0.9994885921478271 + ], + [ + 0.2783157527446747, + 0.0733291283249855, + 0.08271192014217377, + -0.09483402967453003, + -0.06436634808778763, + 0.038121577352285385, + 0.0, + 0.9994885921478271 + ], + [ + 0.2616361379623413, + 0.10115650296211243, + 0.08008828014135361, + -0.03687778487801552, + -0.09537392109632492, + 0.1632564514875412, + 0.0, + 0.9994885921478271 + ], + [ + 0.24201948940753937, + 0.12889336049556732, + 0.07383158057928085, + -0.0250389464199543, + -0.10843721777200699, + 0.30044203996658325, + 0.0, + 0.9994885921478271 + ], + [ + 0.2325008064508438, + 0.1387590616941452, + 0.06476064026355743, + 0.010557270608842373, + -0.11318966746330261, + 0.3967338800430298, + 0.0, + 0.9994885921478271 + ], + [ + 0.22767190635204315, + 0.15056149661540985, + 0.054960381239652634, + 0.06364525854587555, + -0.122315913438797, + 0.445540189743042, + 0.0, + 0.9994885921478271 + ], + [ + 0.22539353370666504, + 0.155196875333786, + 0.0342540480196476, + 0.07678224891424179, + -0.0895555391907692, + 0.4542243480682373, + 0.0, + 0.9994885921478271 + ], + [ + 0.2263401597738266, + 0.16039469838142395, + 0.01672823168337345, + 0.10189367085695267, + -0.08881291002035141, + 0.4753502607345581, + 0.0, + 0.9994885921478271 + ], + [ + 0.22362099587917328, + 0.15998518466949463, + -0.0013768214266747236, + 0.10416717082262039, + -0.0470476932823658, + 0.49521714448928833, + 0.0, + 0.9994885921478271 + ], + [ + 0.22992590069770813, + 0.15908735990524292, + -0.008763235062360764, + 0.08223487436771393, + -0.0465674102306366, + 0.5148563385009766, + 0.0, + 0.9994885921478271 + ], + [ + 0.2324410080909729, + 0.1594715416431427, + -0.01736348494887352, + 0.09953449666500092, + -0.043780047446489334, + 0.5180877447128296, + 0.0, + 0.9994885921478271 + ], + [ + 0.23696723580360413, + 0.15727949142456055, + -0.027938587591052055, + 0.10236185789108276, + -0.023674657568335533, + 0.5096593499183655, + 0.0, + 0.9837720394134521 + ], + [ + 0.24212773144245148, + 0.15468764305114746, + -0.03084011748433113, + 0.10233315825462341, + -0.020450595766305923, + 0.4912606179714203, + 0.0, + 0.8930966854095459 + ], + [ + 0.24507179856300354, + 0.1510242521762848, + -0.03196444362401962, + 0.11172304302453995, + -0.020532401278614998, + 0.48653724789619446, + 0.0, + 0.6219554543495178 + ], + [ + 0.24631813168525696, + 0.15053024888038635, + -0.031911686062812805, + 0.11358074098825455, + -0.025904826819896698, + 0.48528337478637695, + 0.0, + 0.39448216557502747 + ], + [ + 0.2473733276128769, + 0.1492500752210617, + -0.03203374892473221, + 0.10593570023775101, + -0.028401052579283714, + 0.4889076054096222, + 0.0, + 0.22681957483291626 + ], + [ + 0.2469344139099121, + 0.14819960296154022, + -0.030472993850708008, + 0.09614294022321701, + -0.022109754383563995, + 0.4756084978580475, + 0.0, + 0.11661893874406815 + ], + [ + 0.24002359807491302, + 0.14648573100566864, + -0.017148857936263084, + 0.0724283829331398, + -0.019583113491535187, + 0.45700106024742126, + 0.0, + 0.05701649188995361 + ], + [ + 0.2388504147529602, + 0.14625591039657593, + 0.006928016897290945, + 0.02562885172665119, + -0.04766102135181427, + 0.46535366773605347, + 0.0, + 0.050379663705825806 + ], + [ + 0.23382170498371124, + 0.14738041162490845, + 0.03152097016572952, + -0.019106145948171616, + -0.08561550080776215, + 0.47626763582229614, + 0.0, + 0.050379663705825806 + ], + [ + 0.23006205260753632, + 0.14124703407287598, + 0.04110582172870636, + -0.05127716064453125, + -0.06673865020275116, + 0.48547759652137756, + 0.0, + 0.050379663705825806 + ], + [ + 0.23937545716762543, + 0.13476084172725677, + 0.058841150254011154, + -0.07614080607891083, + -0.08807240426540375, + 0.5243375897407532, + 0.0, + 0.050379663705825806 + ], + [ + 0.2608411908149719, + 0.11986054480075836, + 0.07360907644033432, + -0.12379364669322968, + -0.1008610874414444, + 0.5322538614273071, + 0.0, + 0.050379663705825806 + ], + [ + 0.28519442677497864, + 0.11083609610795975, + 0.0771133303642273, + -0.15241782367229462, + -0.08843102306127548, + 0.5383989810943604, + 0.0, + 0.050379663705825806 + ], + [ + 0.3085872232913971, + 0.10411854833364487, + 0.07448884844779968, + -0.15197893977165222, + -0.08198007941246033, + 0.5378578901290894, + 0.0, + 0.050379663705825806 + ], + [ + 0.3322649300098419, + 0.10156305879354477, + 0.0699336975812912, + -0.15464414656162262, + -0.08169303089380264, + 0.545366108417511, + 0.0, + 0.050379663705825806 + ], + [ + 0.3485524356365204, + 0.09361407905817032, + 0.06246507912874222, + -0.12473709881305695, + -0.08597711473703384, + 0.5127660632133484, + 0.0, + 0.050379663705825806 + ], + [ + 0.36408543586730957, + 0.0896209105849266, + 0.04726243019104004, + -0.09741740673780441, + -0.08215916156768799, + 0.48005980253219604, + 0.0, + 0.050379663705825806 + ], + [ + 0.37618228793144226, + 0.08988718688488007, + 0.03266267478466034, + -0.08228719979524612, + -0.0815466046333313, + 0.46558669209480286, + 0.0, + 0.050379663705825806 + ], + [ + 0.3871971070766449, + 0.08793745189905167, + 0.021259145811200142, + -0.06513503193855286, + -0.07806414365768433, + 0.4496273100376129, + 0.0, + 0.07270156592130661 + ], + [ + 0.38697266578674316, + 0.08970092982053757, + 0.012345118448138237, + -0.04656033217906952, + -0.06099007651209831, + 0.4526226222515106, + 0.0, + 0.22553777694702148 + ], + [ + 0.38524025678634644, + 0.0915178582072258, + 0.012206852436065674, + -0.031347792595624924, + -0.05619608983397484, + 0.45050108432769775, + 0.0, + 0.48228755593299866 + ], + [ + 0.38410747051239014, + 0.09062021970748901, + 0.011191283352673054, + -0.03392995893955231, + -0.051079969853162766, + 0.44689062237739563, + 0.0, + 0.7797733545303345 + ], + [ + 0.38136327266693115, + 0.08869720995426178, + 0.009163073264062405, + -0.03854703530669212, + -0.03803524002432823, + 0.4365013837814331, + 0.0, + 1.0067112445831299 + ], + [ + 0.379275918006897, + 0.08563907444477081, + 0.011725924909114838, + -0.05589747428894043, + -0.027758361771702766, + 0.4287940263748169, + 0.0, + 1.0086473226547241 + ], + [ + 0.37709876894950867, + 0.08172184973955154, + 0.03782175853848457, + -0.08798521012067795, + -0.07211270928382874, + 0.4171929359436035, + 0.0, + 0.9994885921478271 + ], + [ + 0.3677077293395996, + 0.08220209926366806, + 0.05585753917694092, + -0.11374855786561966, + -0.09876716881990433, + 0.41583251953125, + 0.0, + 0.9994885921478271 + ], + [ + 0.35049572587013245, + 0.08065319061279297, + 0.08765687048435211, + -0.15743081271648407, + -0.15616820752620697, + 0.40524375438690186, + 0.0, + 0.9994885921478271 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9837720394134521 + ], + [ + 0.8930966854095459 + ], + [ + 0.6219554543495178 + ], + [ + 0.39448216557502747 + ], + [ + 0.22681957483291626 + ], + [ + 0.11661893874406815 + ], + [ + 0.05701649188995361 + ], + [ + 0.050379663705825806 + ], + [ + 0.050379663705825806 + ], + [ + 0.050379663705825806 + ], + [ + 0.050379663705825806 + ], + [ + 0.050379663705825806 + ], + [ + 0.050379663705825806 + ], + [ + 0.050379663705825806 + ], + [ + 0.050379663705825806 + ], + [ + 0.050379663705825806 + ], + [ + 0.050379663705825806 + ], + [ + 0.050379663705825806 + ], + [ + 0.07270156592130661 + ], + [ + 0.22553777694702148 + ], + [ + 0.48228755593299866 + ], + [ + 0.7797733545303345 + ], + [ + 1.0067112445831299 + ], + [ + 1.0086473226547241 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3018116056919098, + 0.02035551518201828, + 0.08420448005199432 + ], + [ + 0.29791945219039917, + 0.01838054694235325, + 0.07647784054279327 + ], + [ + 0.292618989944458, + 0.02981376089155674, + 0.07161416858434677 + ], + [ + 0.28778475522994995, + 0.04625863581895828, + 0.07309024780988693 + ], + [ + 0.2783157527446747, + 0.0733291283249855, + 0.08271192014217377 + ], + [ + 0.2616361379623413, + 0.10115650296211243, + 0.08008828014135361 + ], + [ + 0.24201948940753937, + 0.12889336049556732, + 0.07383158057928085 + ], + [ + 0.2325008064508438, + 0.1387590616941452, + 0.06476064026355743 + ], + [ + 0.22767190635204315, + 0.15056149661540985, + 0.054960381239652634 + ], + [ + 0.22539353370666504, + 0.155196875333786, + 0.0342540480196476 + ], + [ + 0.2263401597738266, + 0.16039469838142395, + 0.01672823168337345 + ], + [ + 0.22362099587917328, + 0.15998518466949463, + -0.0013768214266747236 + ], + [ + 0.22992590069770813, + 0.15908735990524292, + -0.008763235062360764 + ], + [ + 0.2324410080909729, + 0.1594715416431427, + -0.01736348494887352 + ], + [ + 0.23696723580360413, + 0.15727949142456055, + -0.027938587591052055 + ], + [ + 0.24212773144245148, + 0.15468764305114746, + -0.03084011748433113 + ], + [ + 0.24507179856300354, + 0.1510242521762848, + -0.03196444362401962 + ], + [ + 0.24631813168525696, + 0.15053024888038635, + -0.031911686062812805 + ], + [ + 0.2473733276128769, + 0.1492500752210617, + -0.03203374892473221 + ], + [ + 0.2469344139099121, + 0.14819960296154022, + -0.030472993850708008 + ], + [ + 0.24002359807491302, + 0.14648573100566864, + -0.017148857936263084 + ], + [ + 0.2388504147529602, + 0.14625591039657593, + 0.006928016897290945 + ], + [ + 0.23382170498371124, + 0.14738041162490845, + 0.03152097016572952 + ], + [ + 0.23006205260753632, + 0.14124703407287598, + 0.04110582172870636 + ], + [ + 0.23937545716762543, + 0.13476084172725677, + 0.058841150254011154 + ], + [ + 0.2608411908149719, + 0.11986054480075836, + 0.07360907644033432 + ], + [ + 0.28519442677497864, + 0.11083609610795975, + 0.0771133303642273 + ], + [ + 0.3085872232913971, + 0.10411854833364487, + 0.07448884844779968 + ], + [ + 0.3322649300098419, + 0.10156305879354477, + 0.0699336975812912 + ], + [ + 0.3485524356365204, + 0.09361407905817032, + 0.06246507912874222 + ], + [ + 0.36408543586730957, + 0.0896209105849266, + 0.04726243019104004 + ], + [ + 0.37618228793144226, + 0.08988718688488007, + 0.03266267478466034 + ], + [ + 0.3871971070766449, + 0.08793745189905167, + 0.021259145811200142 + ], + [ + 0.38697266578674316, + 0.08970092982053757, + 0.012345118448138237 + ], + [ + 0.38524025678634644, + 0.0915178582072258, + 0.012206852436065674 + ], + [ + 0.38410747051239014, + 0.09062021970748901, + 0.011191283352673054 + ], + [ + 0.38136327266693115, + 0.08869720995426178, + 0.009163073264062405 + ], + [ + 0.379275918006897, + 0.08563907444477081, + 0.011725924909114838 + ], + [ + 0.37709876894950867, + 0.08172184973955154, + 0.03782175853848457 + ], + [ + 0.3677077293395996, + 0.08220209926366806, + 0.05585753917694092 + ], + [ + 0.35049572587013245, + 0.08065319061279297, + 0.08765687048435211 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9821090522786597, + -0.1840712499785512, + 0.0397439852511878, + -0.18058941296040218, + -0.9804372234914117, + -0.07829632634465651, + 0.05337858520914768, + 0.06971818789803237, + -0.9961375913583849 + ], + [ + 0.983349631117971, + -0.18143276646866832, + 0.010278824430643815, + -0.1798384434713999, + -0.9797164694768034, + -0.08839555240899916, + 0.026108183198653146, + 0.08507520606753582, + -0.9960324151766508 + ], + [ + 0.9917191648703308, + -0.12813422984024736, + 0.00864390954027289, + -0.1260652877346387, + -0.9841304939360269, + -0.1248787977745403, + 0.02450798354162381, + 0.12275500009563134, + -0.9921343501231299 + ], + [ + 0.9978889310723504, + -0.06492478906460573, + 0.0015662082231974687, + -0.06404672459292172, + -0.9878149115434318, + -0.14184399036039758, + 0.010756314991687183, + 0.14144423741304762, + -0.9898877862618779 + ], + [ + 0.9972041668928919, + 0.03185474967854354, + 0.067595299055263, + 0.03803342165188292, + -0.9950154812088295, + -0.09218270440929457, + 0.06432191204327802, + 0.09449585746305827, + -0.9934451291105202 + ], + [ + 0.9822190209148299, + 0.15895733929040157, + 0.09989173759039692, + 0.16179356258023236, + -0.9866030291655038, + -0.02091186144388331, + 0.095229397040562, + 0.03670186816999769, + -0.9947785355606155 + ], + [ + 0.9495953092192503, + 0.2932615288883462, + 0.11075389105068087, + 0.29420423989876476, + -0.9557082188210626, + 0.008103437755791998, + 0.10822483048906334, + 0.02488927785094592, + -0.9938148267729114 + ], + [ + 0.9164258842715433, + 0.38748622687406276, + 0.10009007253480566, + 0.3839353062293045, + -0.9218158134806329, + 0.053378709685130685, + 0.11294812644630468, + -0.010489518575305962, + -0.9935455151790119 + ], + [ + 0.8956360955639691, + 0.4370754977988548, + 0.082468136554749, + 0.4277256893057597, + -0.8972067639698406, + 0.10986699866056275, + 0.1220111430601408, + -0.0631271091580367, + -0.9905191815702045 + ], + [ + 0.8950005555034319, + 0.44363742003674533, + 0.04647413465239093, + 0.4370071272959022, + -0.8929439885474025, + 0.10805463437372431, + 0.0894358783773679, + -0.0763994297111992, + -0.9930580802745991 + ], + [ + 0.8856281639163679, + 0.4632979340214053, + 0.03190265834723505, + 0.45584617939653715, + -0.8803919473318853, + 0.13082155710260787, + 0.08869620063848761, + -0.10131655049728275, + -0.9908924969882599 + ], + [ + 0.8788919334131519, + 0.4769494631077769, + -0.008257058949454353, + 0.47469686814721873, + -0.8727723149435511, + 0.11371618020007764, + 0.04703033863915361, + -0.10386383349981758, + -0.9934789637119693 + ], + [ + 0.8694199402300856, + 0.4940738434895248, + -6.862799988010745e-05, + 0.49187601169391676, + -0.8655393198573429, + 0.09433808828343801, + 0.04655058163331294, + -0.0820531715436788, + -0.9955402153550722 + ], + [ + 0.8679353067157354, + 0.49654697237565765, + -0.011375745286796333, + 0.49474522237112534, + -0.8623140820924946, + 0.10789619439963595, + 0.04376606330489283, + -0.09927501221126199, + -0.994097079591951 + ], + [ + 0.8726661374322386, + 0.48743766506932035, + -0.029297359110788446, + 0.4877431986982707, + -0.8671614432434399, + 0.10068566668366336, + 0.023672446064500075, + -0.10215455948573021, + -0.9944868331323446 + ], + [ + 0.8815545012136128, + 0.4711118493806655, + -0.03025370660178703, + 0.47163915531276734, + -0.8761406380868146, + 0.09966990252171483, + 0.020449170298014765, + -0.10213328383028687, + -0.9945605179013314 + ], + [ + 0.8837709036920258, + 0.4666760963553114, + -0.034094147268240976, + 0.467469217729763, + -0.8773758999030996, + 0.10809283391765578, + 0.020530958635772874, + -0.11146726586668662, + -0.9935560016313635 + ], + [ + 0.8842460278228593, + 0.4660501696538065, + -0.0301031833059845, + 0.4663025330412591, + -0.8774740180275611, + 0.1122554914731268, + 0.025901929634699748, + -0.11329866306460112, + -0.9932232895925133 + ], + [ + 0.8824904044556089, + 0.4696797414033145, + -0.02473108487494426, + 0.4694723454169958, + -0.8764870231012832, + 0.1066124534175803, + 0.02839723459143696, + -0.10569502755743207, + -0.9939930373082061 + ], + [ + 0.8887969829695028, + 0.4576516392924514, + -0.024390574352440048, + 0.45776758456171734, + -0.883936910370773, + 0.09541685914293867, + 0.022107953067638332, + -0.09597143083805933, + -0.9951385445625425 + ], + [ + 0.8972077734345933, + 0.4413736452048766, + -0.014405436720173368, + 0.4411742988611957, + -0.8944018164751776, + 0.07355697594541968, + 0.019581861833636034, + -0.07235119905338375, + -0.9971869707746215 + ], + [ + 0.8926480989004738, + 0.44968259703641095, + 0.03106337798693134, + 0.44822931415378225, + -0.8928215713573101, + 0.044273283730641017, + 0.047642979153282645, + -0.025596945943856045, + -0.9985364003859586 + ], + [ + 0.8854571210867039, + 0.4569298249973379, + 0.08473972943518657, + 0.45678612604292645, + -0.8892990518151517, + 0.02221781932072259, + 0.08551094533182416, + 0.019035006398073036, + -0.9961553828393859 + ], + [ + 0.8824832237150706, + 0.46299431832327603, + 0.082822829351707, + 0.4655920116913546, + -0.8848846824825722, + -0.014254029497484472, + 0.06668911838264581, + 0.05114058963370083, + -0.9964623432831082 + ], + [ + 0.862300593031389, + 0.49339728397560606, + 0.11400354127486542, + 0.4986992819816776, + -0.866497350782007, + -0.021940082924246162, + 0.08795858916941543, + 0.07577243069387925, + -0.9932380506897968 + ], + [ + 0.857286348408531, + 0.4928800815475079, + 0.1487593427186631, + 0.5048976207910538, + -0.8613809038764728, + -0.055689594687731665, + 0.10069016512003517, + 0.12285016748329058, + -0.9873040701817386 + ], + [ + 0.8551760353903104, + 0.49530570319531153, + 0.1527946624601389, + 0.510758520031135, + -0.8554532157608729, + -0.08558930926222938, + 0.08831581234249344, + 0.1512351018334659, + -0.9845446974432933 + ], + [ + 0.8559237543965406, + 0.4957454439474971, + 0.1470747478836159, + 0.5105769636792374, + -0.8552601004625918, + -0.08855125474440063, + 0.08188828255508092, + 0.15088610062565785, + -0.9851536397020328 + ], + [ + 0.8520862025688561, + 0.5017950346372718, + 0.14883160485987396, + 0.5170011462361609, + -0.8512549236754737, + -0.08986027881527861, + 0.08160219471486262, + 0.15351481404621156, + -0.9847711834157593 + ], + [ + 0.8681721364405892, + 0.47746819651637024, + 0.1352821600344545, + 0.4887773250793705, + -0.8698617400024531, + -0.06661290992112553, + 0.08587122915411369, + 0.12395432463334807, + -0.9885653531296007 + ], + [ + 0.8839754178193234, + 0.4525626684432189, + 0.11736478101503034, + 0.46027438259580333, + -0.8864482933683486, + -0.04854807833884578, + 0.08206676195150511, + 0.09693530995409116, + -0.9919015033091237 + ], + [ + 0.8905889578661145, + 0.4414454358240309, + 0.1094405560890451, + 0.44745523407298954, + -0.8935406199130294, + -0.03699964954057241, + 0.08145625591465763, + 0.08192122896765167, + -0.9933044803164814 + ], + [ + 0.8978663795874144, + 0.42913681473663373, + 0.09837458332458024, + 0.4333062690703809, + -0.9009055353379664, + -0.0247970478428115, + 0.07798488052754429, + 0.06489075924280824, + -0.9948404634784395 + ], + [ + 0.8976311657094614, + 0.43430035960805924, + 0.07510983951110362, + 0.43651244072188555, + -0.899569312166617, + -0.015229632402062591, + 0.06095227183703414, + 0.04645697205361098, + -0.9970589602954854 + ], + [ + 0.8988079470701735, + 0.43361798805248086, + 0.06418500386241828, + 0.4347293372822205, + -0.9005532617341746, + -0.0037717484142646435, + 0.056166516623887816, + 0.03129318164165625, + -0.997930888986347 + ], + [ + 0.9006190096833003, + 0.4303529080640227, + 0.060677622876232684, + 0.4315999357414053, + -0.9020247081655619, + -0.008539398506207468, + 0.051057760086849854, + 0.033879202760274875, + -0.9981208868444954 + ], + [ + 0.9055808839593488, + 0.42112940694386347, + 0.05072755872812015, + 0.4224657153146527, + -0.9061826703009908, + -0.01885967735263061, + 0.03802606988743229, + 0.03850961767242466, + -0.9985344397443887 + ], + [ + 0.9091174616594464, + 0.413714696080647, + 0.04843130343881605, + 0.41561413852403656, + -0.9086920709963502, + -0.039288776607154095, + 0.02775479714946122, + 0.05584684731712072, + -0.9980535060205591 + ], + [ + 0.9118538722023679, + 0.39784021904688766, + 0.10122092598999492, + 0.4041426491187163, + -0.9132588912937719, + -0.051253454870637385, + 0.07205022493270756, + 0.0876433544633861, + -0.9935428564010469 + ], + [ + 0.9103221459026756, + 0.39110274837624953, + 0.1354704059626747, + 0.40198297914393283, + -0.9133897735615637, + -0.06425578597857025, + 0.09860666893124564, + 0.1129502623533891, + -0.9886955866577863 + ], + [ + 0.9078224865226183, + 0.3669574823420504, + 0.2029791593170954, + 0.38944504975479377, + -0.9172548433163894, + -0.083523084438451, + 0.15553419619291828, + 0.1548733629963856, + -0.9756143476029927 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.00389215350151062, + -0.0019749682396650314, + -0.00772663950920105, + -0.015332713723182678, + 0.02729281596839428, + 0.0009632706642150879, + 1.0 + ], + [ + -0.005300462245941162, + 0.011433213949203491, + -0.004863671958446503, + -0.037895284593105316, + 0.001600712537765503, + 0.05444476008415222, + 1.0 + ], + [ + -0.004834234714508057, + 0.016444874927401543, + 0.0014760792255401611, + -0.018825866281986237, + 0.013753915205597878, + 0.062345489859580994, + 1.0 + ], + [ + -0.009469002485275269, + 0.02707049250602722, + 0.009621672332286835, + 0.04709440469741821, + -0.05360982567071915, + 0.10221588611602783, + 1.0 + ], + [ + -0.016679614782333374, + 0.027827374637126923, + -0.00262364000082016, + 0.05795624479651451, + -0.031007573008537292, + 0.12513487040996552, + 1.0 + ], + [ + -0.01961664855480194, + 0.027736857533454895, + -0.006256699562072754, + 0.011838838458061218, + -0.013063296675682068, + 0.13718558847904205, + 1.0 + ], + [ + -0.009518682956695557, + 0.00986570119857788, + -0.00907094031572342, + 0.03559621796011925, + -0.004752449691295624, + 0.09629184007644653, + 1.0 + ], + [ + -0.004828900098800659, + 0.011802434921264648, + -0.0098002590239048, + 0.0530879870057106, + -0.009126245975494385, + 0.04880630970001221, + 1.0 + ], + [ + -0.002278372645378113, + 0.00463537871837616, + -0.020706333220005035, + 0.013136990368366241, + 0.0327603742480278, + 0.008684158325195312, + 1.0 + ], + [ + 0.0009466260671615601, + 0.0051978230476379395, + -0.017525816336274147, + 0.025111421942710876, + 0.0007426291704177856, + 0.0211259126663208, + 1.0 + ], + [ + -0.0027191638946533203, + -0.0004095137119293213, + -0.018105052411556244, + 0.0022734999656677246, + 0.04176521673798561, + 0.019866883754730225, + 1.0 + ], + [ + 0.006304904818534851, + -0.000897824764251709, + -0.007386413402855396, + -0.021932296454906464, + 0.00048028305172920227, + 0.019639194011688232, + 1.0 + ], + [ + 0.0025151073932647705, + 0.0003841817378997803, + -0.008600249886512756, + 0.017299622297286987, + 0.0027873627841472626, + 0.0032314062118530273, + 1.0 + ], + [ + 0.004526227712631226, + -0.0021920502185821533, + -0.010575102642178535, + 0.002827361226081848, + 0.0201053898781538, + -0.008428394794464111, + 1.0 + ], + [ + 0.005160495638847351, + -0.002591848373413086, + -0.0029015298932790756, + -2.8699636459350586e-05, + 0.0032240618020296097, + -0.01839873194694519, + 0.0 + ], + [ + 0.002944067120552063, + -0.003663390874862671, + -0.0011243261396884918, + 0.009389884769916534, + -8.18055123090744e-05, + -0.00472337007522583, + 0.0 + ], + [ + 0.001246333122253418, + -0.0004940032958984375, + 5.275756120681763e-05, + 0.0018576979637145996, + -0.0053724255412817, + -0.0012538731098175049, + 0.0 + ], + [ + 0.001055195927619934, + -0.001280173659324646, + -0.00012206286191940308, + -0.00764504075050354, + -0.0024962257593870163, + 0.0036242306232452393, + 0.0 + ], + [ + -0.0004389137029647827, + -0.0010504722595214844, + 0.0015607550740242004, + -0.009792760014533997, + 0.006291298195719719, + -0.013299107551574707, + 0.0 + ], + [ + -0.0069108158349990845, + -0.001713871955871582, + 0.013324135914444923, + -0.02371455729007721, + 0.0025266408920288086, + -0.01860743761062622, + 0.0 + ], + [ + -0.0011731833219528198, + -0.0002298206090927124, + 0.024076875299215317, + -0.04679953306913376, + -0.028077907860279083, + 0.008352607488632202, + 0.0 + ], + [ + -0.005028709769248962, + 0.0011245012283325195, + 0.02459295280277729, + -0.04473499953746796, + -0.037954479455947876, + 0.010913968086242676, + 0.0 + ], + [ + -0.0037596523761749268, + -0.006133377552032471, + 0.009584851562976837, + -0.032171014696359634, + 0.018876850605010986, + 0.009209960699081421, + 0.0 + ], + [ + 0.009313404560089111, + -0.006486192345619202, + 0.017735328525304794, + -0.024863645434379578, + -0.021333754062652588, + 0.03885999321937561, + 0.0 + ], + [ + 0.021465733647346497, + -0.014900296926498413, + 0.014767926186323166, + -0.04765284061431885, + -0.01278868317604065, + 0.007916271686553955, + 0.0 + ], + [ + 0.024353235960006714, + -0.009024448692798615, + 0.003504253923892975, + -0.02862417697906494, + 0.012430064380168915, + 0.006145119667053223, + 0.0 + ], + [ + 0.023392796516418457, + -0.00671754777431488, + -0.0026244819164276123, + 0.000438883900642395, + 0.006450943648815155, + -0.0005410909652709961, + 0.0 + ], + [ + 0.023677706718444824, + -0.0025554895401000977, + -0.004555150866508484, + -0.002665206789970398, + 0.0002870485186576843, + 0.007508218288421631, + 0.0 + ], + [ + 0.016287505626678467, + -0.00794897973537445, + -0.007468618452548981, + 0.029907047748565674, + -0.004284083843231201, + -0.0326000452041626, + 0.0 + ], + [ + 0.015533000230789185, + -0.003993168473243713, + -0.015202648937702179, + 0.027319692075252533, + 0.0038179531693458557, + -0.032706260681152344, + 0.0 + ], + [ + 0.01209685206413269, + 0.0002662762999534607, + -0.0145997554063797, + 0.015130206942558289, + 0.0006125569343566895, + -0.014473110437393188, + 0.0 + ], + [ + 0.011014819145202637, + -0.0019497349858283997, + -0.011403528973460197, + 0.017152167856693268, + 0.0034824609756469727, + -0.01595938205718994, + 1.0 + ], + [ + -0.0002244412899017334, + 0.0017634779214859009, + -0.008914027363061905, + 0.018574699759483337, + 0.017074067145586014, + 0.002995312213897705, + 1.0 + ], + [ + -0.0017324090003967285, + 0.0018169283866882324, + -0.00013826601207256317, + 0.015212539583444595, + 0.004793986678123474, + -0.002121537923812866, + 1.0 + ], + [ + -0.0011327862739562988, + -0.0008976384997367859, + -0.00101556908339262, + -0.0025821663439273834, + 0.005116119980812073, + -0.003610461950302124, + 1.0 + ], + [ + -0.0027441978454589844, + -0.0019230097532272339, + -0.002028210088610649, + -0.004617076367139816, + 0.013044729828834534, + -0.010389238595962524, + 1.0 + ], + [ + -0.0020873546600341797, + -0.003058135509490967, + 0.002562851645052433, + -0.017350438982248306, + 0.010276878252625465, + -0.007707357406616211, + 1.0 + ], + [ + -0.0021771490573883057, + -0.003917224705219269, + 0.026095833629369736, + -0.03208773583173752, + -0.04435434937477112, + -0.011601090431213379, + 1.0 + ], + [ + -0.009391039609909058, + 0.0004802495241165161, + 0.018035780638456345, + -0.02576334774494171, + -0.026654459536075592, + -0.0013604164123535156, + 1.0 + ], + [ + -0.017212003469467163, + -0.0015489086508750916, + 0.031799331307411194, + -0.04368225485086441, + -0.05740103870630264, + -0.010588765144348145, + 1.0 + ], + [ + -0.015658855438232422, + 0.013911031186580658, + 0.00926663726568222, + 0.0033976733684539795, + -0.005288556218147278, + -0.00194627046585083, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9837720394134521 + ], + [ + 0.8930966854095459 + ], + [ + 0.6219554543495178 + ], + [ + 0.39448216557502747 + ], + [ + 0.22681957483291626 + ], + [ + 0.11661893874406815 + ], + [ + 0.05701649188995361 + ], + [ + 0.050379663705825806 + ], + [ + 0.050379663705825806 + ], + [ + 0.050379663705825806 + ], + [ + 0.050379663705825806 + ], + [ + 0.050379663705825806 + ], + [ + 0.050379663705825806 + ], + [ + 0.050379663705825806 + ], + [ + 0.050379663705825806 + ], + [ + 0.050379663705825806 + ], + [ + 0.050379663705825806 + ], + [ + 0.050379663705825806 + ], + [ + 0.07270156592130661 + ], + [ + 0.22553777694702148 + ], + [ + 0.48228755593299866 + ], + [ + 0.7797733545303345 + ], + [ + 1.0067112445831299 + ], + [ + 1.0086473226547241 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.29791945219039917, + 0.01838054694235325, + 0.07647784054279327 + ], + [ + 0.292618989944458, + 0.02981376089155674, + 0.07161416858434677 + ], + [ + 0.28778475522994995, + 0.04625863581895828, + 0.07309024780988693 + ], + [ + 0.2783157527446747, + 0.0733291283249855, + 0.08271192014217377 + ], + [ + 0.2616361379623413, + 0.10115650296211243, + 0.08008828014135361 + ], + [ + 0.24201948940753937, + 0.12889336049556732, + 0.07383158057928085 + ], + [ + 0.2325008064508438, + 0.1387590616941452, + 0.06476064026355743 + ], + [ + 0.22767190635204315, + 0.15056149661540985, + 0.054960381239652634 + ], + [ + 0.22539353370666504, + 0.155196875333786, + 0.0342540480196476 + ], + [ + 0.2263401597738266, + 0.16039469838142395, + 0.01672823168337345 + ], + [ + 0.22362099587917328, + 0.15998518466949463, + -0.0013768214266747236 + ], + [ + 0.22992590069770813, + 0.15908735990524292, + -0.008763235062360764 + ], + [ + 0.2324410080909729, + 0.1594715416431427, + -0.01736348494887352 + ], + [ + 0.23696723580360413, + 0.15727949142456055, + -0.027938587591052055 + ], + [ + 0.24212773144245148, + 0.15468764305114746, + -0.03084011748433113 + ], + [ + 0.24507179856300354, + 0.1510242521762848, + -0.03196444362401962 + ], + [ + 0.24631813168525696, + 0.15053024888038635, + -0.031911686062812805 + ], + [ + 0.2473733276128769, + 0.1492500752210617, + -0.03203374892473221 + ], + [ + 0.2469344139099121, + 0.14819960296154022, + -0.030472993850708008 + ], + [ + 0.24002359807491302, + 0.14648573100566864, + -0.017148857936263084 + ], + [ + 0.2388504147529602, + 0.14625591039657593, + 0.006928016897290945 + ], + [ + 0.23382170498371124, + 0.14738041162490845, + 0.03152097016572952 + ], + [ + 0.23006205260753632, + 0.14124703407287598, + 0.04110582172870636 + ], + [ + 0.23937545716762543, + 0.13476084172725677, + 0.058841150254011154 + ], + [ + 0.2608411908149719, + 0.11986054480075836, + 0.07360907644033432 + ], + [ + 0.28519442677497864, + 0.11083609610795975, + 0.0771133303642273 + ], + [ + 0.3085872232913971, + 0.10411854833364487, + 0.07448884844779968 + ], + [ + 0.3322649300098419, + 0.10156305879354477, + 0.0699336975812912 + ], + [ + 0.3485524356365204, + 0.09361407905817032, + 0.06246507912874222 + ], + [ + 0.36408543586730957, + 0.0896209105849266, + 0.04726243019104004 + ], + [ + 0.37618228793144226, + 0.08988718688488007, + 0.03266267478466034 + ], + [ + 0.3871971070766449, + 0.08793745189905167, + 0.021259145811200142 + ], + [ + 0.38697266578674316, + 0.08970092982053757, + 0.012345118448138237 + ], + [ + 0.38524025678634644, + 0.0915178582072258, + 0.012206852436065674 + ], + [ + 0.38410747051239014, + 0.09062021970748901, + 0.011191283352673054 + ], + [ + 0.38136327266693115, + 0.08869720995426178, + 0.009163073264062405 + ], + [ + 0.379275918006897, + 0.08563907444477081, + 0.011725924909114838 + ], + [ + 0.37709876894950867, + 0.08172184973955154, + 0.03782175853848457 + ], + [ + 0.3677077293395996, + 0.08220209926366806, + 0.05585753917694092 + ], + [ + 0.35049572587013245, + 0.08065319061279297, + 0.08765687048435211 + ], + [ + 0.3348368704319, + 0.09456422179937363, + 0.09692350775003433 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.983349631117971, + -0.18143276646866832, + 0.010278824430643815, + -0.1798384434713999, + -0.9797164694768034, + -0.08839555240899916, + 0.026108183198653146, + 0.08507520606753582, + -0.9960324151766508 + ], + [ + 0.9917191648703308, + -0.12813422984024736, + 0.00864390954027289, + -0.1260652877346387, + -0.9841304939360269, + -0.1248787977745403, + 0.02450798354162381, + 0.12275500009563134, + -0.9921343501231299 + ], + [ + 0.9978889310723504, + -0.06492478906460573, + 0.0015662082231974687, + -0.06404672459292172, + -0.9878149115434318, + -0.14184399036039758, + 0.010756314991687183, + 0.14144423741304762, + -0.9898877862618779 + ], + [ + 0.9972041668928919, + 0.03185474967854354, + 0.067595299055263, + 0.03803342165188292, + -0.9950154812088295, + -0.09218270440929457, + 0.06432191204327802, + 0.09449585746305827, + -0.9934451291105202 + ], + [ + 0.9822190209148299, + 0.15895733929040157, + 0.09989173759039692, + 0.16179356258023236, + -0.9866030291655038, + -0.02091186144388331, + 0.095229397040562, + 0.03670186816999769, + -0.9947785355606155 + ], + [ + 0.9495953092192503, + 0.2932615288883462, + 0.11075389105068087, + 0.29420423989876476, + -0.9557082188210626, + 0.008103437755791998, + 0.10822483048906334, + 0.02488927785094592, + -0.9938148267729114 + ], + [ + 0.9164258842715433, + 0.38748622687406276, + 0.10009007253480566, + 0.3839353062293045, + -0.9218158134806329, + 0.053378709685130685, + 0.11294812644630468, + -0.010489518575305962, + -0.9935455151790119 + ], + [ + 0.8956360955639691, + 0.4370754977988548, + 0.082468136554749, + 0.4277256893057597, + -0.8972067639698406, + 0.10986699866056275, + 0.1220111430601408, + -0.0631271091580367, + -0.9905191815702045 + ], + [ + 0.8950005555034319, + 0.44363742003674533, + 0.04647413465239093, + 0.4370071272959022, + -0.8929439885474025, + 0.10805463437372431, + 0.0894358783773679, + -0.0763994297111992, + -0.9930580802745991 + ], + [ + 0.8856281639163679, + 0.4632979340214053, + 0.03190265834723505, + 0.45584617939653715, + -0.8803919473318853, + 0.13082155710260787, + 0.08869620063848761, + -0.10131655049728275, + -0.9908924969882599 + ], + [ + 0.8788919334131519, + 0.4769494631077769, + -0.008257058949454353, + 0.47469686814721873, + -0.8727723149435511, + 0.11371618020007764, + 0.04703033863915361, + -0.10386383349981758, + -0.9934789637119693 + ], + [ + 0.8694199402300856, + 0.4940738434895248, + -6.862799988010745e-05, + 0.49187601169391676, + -0.8655393198573429, + 0.09433808828343801, + 0.04655058163331294, + -0.0820531715436788, + -0.9955402153550722 + ], + [ + 0.8679353067157354, + 0.49654697237565765, + -0.011375745286796333, + 0.49474522237112534, + -0.8623140820924946, + 0.10789619439963595, + 0.04376606330489283, + -0.09927501221126199, + -0.994097079591951 + ], + [ + 0.8726661374322386, + 0.48743766506932035, + -0.029297359110788446, + 0.4877431986982707, + -0.8671614432434399, + 0.10068566668366336, + 0.023672446064500075, + -0.10215455948573021, + -0.9944868331323446 + ], + [ + 0.8815545012136128, + 0.4711118493806655, + -0.03025370660178703, + 0.47163915531276734, + -0.8761406380868146, + 0.09966990252171483, + 0.020449170298014765, + -0.10213328383028687, + -0.9945605179013314 + ], + [ + 0.8837709036920258, + 0.4666760963553114, + -0.034094147268240976, + 0.467469217729763, + -0.8773758999030996, + 0.10809283391765578, + 0.020530958635772874, + -0.11146726586668662, + -0.9935560016313635 + ], + [ + 0.8842460278228593, + 0.4660501696538065, + -0.0301031833059845, + 0.4663025330412591, + -0.8774740180275611, + 0.1122554914731268, + 0.025901929634699748, + -0.11329866306460112, + -0.9932232895925133 + ], + [ + 0.8824904044556089, + 0.4696797414033145, + -0.02473108487494426, + 0.4694723454169958, + -0.8764870231012832, + 0.1066124534175803, + 0.02839723459143696, + -0.10569502755743207, + -0.9939930373082061 + ], + [ + 0.8887969829695028, + 0.4576516392924514, + -0.024390574352440048, + 0.45776758456171734, + -0.883936910370773, + 0.09541685914293867, + 0.022107953067638332, + -0.09597143083805933, + -0.9951385445625425 + ], + [ + 0.8972077734345933, + 0.4413736452048766, + -0.014405436720173368, + 0.4411742988611957, + -0.8944018164751776, + 0.07355697594541968, + 0.019581861833636034, + -0.07235119905338375, + -0.9971869707746215 + ], + [ + 0.8926480989004738, + 0.44968259703641095, + 0.03106337798693134, + 0.44822931415378225, + -0.8928215713573101, + 0.044273283730641017, + 0.047642979153282645, + -0.025596945943856045, + -0.9985364003859586 + ], + [ + 0.8854571210867039, + 0.4569298249973379, + 0.08473972943518657, + 0.45678612604292645, + -0.8892990518151517, + 0.02221781932072259, + 0.08551094533182416, + 0.019035006398073036, + -0.9961553828393859 + ], + [ + 0.8824832237150706, + 0.46299431832327603, + 0.082822829351707, + 0.4655920116913546, + -0.8848846824825722, + -0.014254029497484472, + 0.06668911838264581, + 0.05114058963370083, + -0.9964623432831082 + ], + [ + 0.862300593031389, + 0.49339728397560606, + 0.11400354127486542, + 0.4986992819816776, + -0.866497350782007, + -0.021940082924246162, + 0.08795858916941543, + 0.07577243069387925, + -0.9932380506897968 + ], + [ + 0.857286348408531, + 0.4928800815475079, + 0.1487593427186631, + 0.5048976207910538, + -0.8613809038764728, + -0.055689594687731665, + 0.10069016512003517, + 0.12285016748329058, + -0.9873040701817386 + ], + [ + 0.8551760353903104, + 0.49530570319531153, + 0.1527946624601389, + 0.510758520031135, + -0.8554532157608729, + -0.08558930926222938, + 0.08831581234249344, + 0.1512351018334659, + -0.9845446974432933 + ], + [ + 0.8559237543965406, + 0.4957454439474971, + 0.1470747478836159, + 0.5105769636792374, + -0.8552601004625918, + -0.08855125474440063, + 0.08188828255508092, + 0.15088610062565785, + -0.9851536397020328 + ], + [ + 0.8520862025688561, + 0.5017950346372718, + 0.14883160485987396, + 0.5170011462361609, + -0.8512549236754737, + -0.08986027881527861, + 0.08160219471486262, + 0.15351481404621156, + -0.9847711834157593 + ], + [ + 0.8681721364405892, + 0.47746819651637024, + 0.1352821600344545, + 0.4887773250793705, + -0.8698617400024531, + -0.06661290992112553, + 0.08587122915411369, + 0.12395432463334807, + -0.9885653531296007 + ], + [ + 0.8839754178193234, + 0.4525626684432189, + 0.11736478101503034, + 0.46027438259580333, + -0.8864482933683486, + -0.04854807833884578, + 0.08206676195150511, + 0.09693530995409116, + -0.9919015033091237 + ], + [ + 0.8905889578661145, + 0.4414454358240309, + 0.1094405560890451, + 0.44745523407298954, + -0.8935406199130294, + -0.03699964954057241, + 0.08145625591465763, + 0.08192122896765167, + -0.9933044803164814 + ], + [ + 0.8978663795874144, + 0.42913681473663373, + 0.09837458332458024, + 0.4333062690703809, + -0.9009055353379664, + -0.0247970478428115, + 0.07798488052754429, + 0.06489075924280824, + -0.9948404634784395 + ], + [ + 0.8976311657094614, + 0.43430035960805924, + 0.07510983951110362, + 0.43651244072188555, + -0.899569312166617, + -0.015229632402062591, + 0.06095227183703414, + 0.04645697205361098, + -0.9970589602954854 + ], + [ + 0.8988079470701735, + 0.43361798805248086, + 0.06418500386241828, + 0.4347293372822205, + -0.9005532617341746, + -0.0037717484142646435, + 0.056166516623887816, + 0.03129318164165625, + -0.997930888986347 + ], + [ + 0.9006190096833003, + 0.4303529080640227, + 0.060677622876232684, + 0.4315999357414053, + -0.9020247081655619, + -0.008539398506207468, + 0.051057760086849854, + 0.033879202760274875, + -0.9981208868444954 + ], + [ + 0.9055808839593488, + 0.42112940694386347, + 0.05072755872812015, + 0.4224657153146527, + -0.9061826703009908, + -0.01885967735263061, + 0.03802606988743229, + 0.03850961767242466, + -0.9985344397443887 + ], + [ + 0.9091174616594464, + 0.413714696080647, + 0.04843130343881605, + 0.41561413852403656, + -0.9086920709963502, + -0.039288776607154095, + 0.02775479714946122, + 0.05584684731712072, + -0.9980535060205591 + ], + [ + 0.9118538722023679, + 0.39784021904688766, + 0.10122092598999492, + 0.4041426491187163, + -0.9132588912937719, + -0.051253454870637385, + 0.07205022493270756, + 0.0876433544633861, + -0.9935428564010469 + ], + [ + 0.9103221459026756, + 0.39110274837624953, + 0.1354704059626747, + 0.40198297914393283, + -0.9133897735615637, + -0.06425578597857025, + 0.09860666893124564, + 0.1129502623533891, + -0.9886955866577863 + ], + [ + 0.9078224865226183, + 0.3669574823420504, + 0.2029791593170954, + 0.38944504975479377, + -0.9172548433163894, + -0.083523084438451, + 0.15553419619291828, + 0.1548733629963856, + -0.9756143476029927 + ], + [ + 0.9078094700577014, + 0.3651216502909058, + 0.2063204947706383, + 0.3873492121765796, + -0.918561558141822, + -0.07877342020155834, + 0.1607561939700572, + 0.15142933795309815, + -0.9753084649008988 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005578.json b/json/chunk-0005/episode_0005578.json new file mode 100644 index 0000000000000000000000000000000000000000..31f6941c1aa0542afa4ca65a5317fcc2f778f5c6 --- /dev/null +++ b/json/chunk-0005/episode_0005578.json @@ -0,0 +1,2782 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 45, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the cloth to the top left and back." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005578.mp4", + "start": 0, + "end": 45, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.11918304860591888, + -0.018444593995809555, + 0.24567271769046783, + -0.041147761046886444, + -0.12549473345279694, + 0.03099176660180092, + 0.0, + 0.9988223910331726 + ], + [ + 0.12011773139238358, + -0.01784661039710045, + 0.2425583302974701, + -0.03690977394580841, + -0.12773823738098145, + 0.030591383576393127, + 0.0, + 0.9981546401977539 + ], + [ + 0.1529325395822525, + 0.015115934424102306, + 0.19947245717048645, + 0.04599352926015854, + -0.10681402683258057, + 0.17049553990364075, + 0.0, + 0.9988223910331726 + ], + [ + 0.1808864325284958, + 0.04424862563610077, + 0.16961145401000977, + 0.07820097357034683, + -0.15154525637626648, + 0.19428126513957977, + 0.0, + 0.9981546401977539 + ], + [ + 0.21260124444961548, + 0.06326161324977875, + 0.13962560892105103, + 0.06109147146344185, + -0.23552651703357697, + 0.20047959685325623, + 0.0, + 0.9988223910331726 + ], + [ + 0.24000521004199982, + 0.07622989267110825, + 0.10541974753141403, + 0.07072176039218903, + -0.24140526354312897, + 0.19001388549804688, + 0.0, + 0.9988223910331726 + ], + [ + 0.2633494436740875, + 0.0920281931757927, + 0.06252846121788025, + 0.06494718790054321, + -0.23345282673835754, + 0.21029119193553925, + 0.0, + 0.9988223910331726 + ], + [ + 0.29534289240837097, + 0.10763061791658401, + 0.04337375983595848, + 0.05764993652701378, + -0.21621349453926086, + 0.24364805221557617, + 0.0, + 0.9988223910331726 + ], + [ + 0.31844931840896606, + 0.11703313142061234, + 0.03507719561457634, + 0.0367884561419487, + -0.1881604939699173, + 0.26157671213150024, + 0.0, + 0.9988223910331726 + ], + [ + 0.3206061124801636, + 0.11831419914960861, + 0.020890891551971436, + 0.03494636341929436, + -0.16207221150398254, + 0.2601396143436432, + 0.0, + 0.9988223910331726 + ], + [ + 0.32163989543914795, + 0.11868409067392349, + 0.02209361456334591, + 0.03559328243136406, + -0.16660372912883759, + 0.2585214078426361, + 0.0, + 0.9988223910331726 + ], + [ + 0.3217393457889557, + 0.11871344596147537, + 0.02160842902958393, + 0.035561930388212204, + -0.16660557687282562, + 0.25848811864852905, + 0.0, + 0.9988223910331726 + ], + [ + 0.3228541910648346, + 0.11840785294771194, + 0.02175995334982872, + 0.031131912022829056, + -0.1731228232383728, + 0.2629465162754059, + 0.0, + 0.9988223910331726 + ], + [ + 0.3279939889907837, + 0.11447692662477493, + 0.009023018181324005, + -0.004342083353549242, + -0.21252672374248505, + 0.2830179035663605, + 0.0, + 0.9988223910331726 + ], + [ + 0.32568299770355225, + 0.11231329292058945, + 0.005892727058380842, + -0.011538704857230186, + -0.20924532413482666, + 0.2638062536716461, + 0.0, + 0.9988223910331726 + ], + [ + 0.3253534138202667, + 0.11250314116477966, + 0.0005771609721705317, + -0.012385216541588306, + -0.19670361280441284, + 0.27244681119918823, + 0.0, + 0.9988223910331726 + ], + [ + 0.3393775224685669, + 0.12010152637958527, + -0.0019473693100735545, + -0.006269392557442188, + -0.18929913640022278, + 0.30097463726997375, + 0.0, + 1.0001531839370728 + ], + [ + 0.3629542887210846, + 0.13133369386196136, + -0.003506947308778763, + 0.005507452413439751, + -0.19021357595920563, + 0.3423243761062622, + 0.0, + 1.0001531839370728 + ], + [ + 0.378967821598053, + 0.14029857516288757, + -0.004899118561297655, + 0.020413480699062347, + -0.190937802195549, + 0.3641164004802704, + 0.0, + 1.0008161067962646 + ], + [ + 0.39372843503952026, + 0.14755241572856903, + -0.004240745212882757, + 0.02274947054684162, + -0.19803105294704437, + 0.39127713441848755, + 0.0, + 1.0008161067962646 + ], + [ + 0.40834906697273254, + 0.15581369400024414, + -0.004903767723590136, + 0.01747015491127968, + -0.18953055143356323, + 0.4316721260547638, + 0.0, + 1.0008161067962646 + ], + [ + 0.41526439785957336, + 0.16110855340957642, + -0.0060929907485842705, + 0.0044985669665038586, + -0.17799311876296997, + 0.4649561941623688, + 0.0, + 1.0008161067962646 + ], + [ + 0.39786413311958313, + 0.15674124658107758, + -0.008936514146625996, + 0.015486017800867558, + -0.17746974527835846, + 0.4555586874485016, + 0.0, + 1.0001531839370728 + ], + [ + 0.36639833450317383, + 0.14169038832187653, + -0.010406410321593285, + 0.019358009099960327, + -0.17202652990818024, + 0.4121406376361847, + 0.0, + 1.0001531839370728 + ], + [ + 0.34148362278938293, + 0.12485554814338684, + -0.009867442771792412, + 0.007211973425000906, + -0.1473960429430008, + 0.3576556146144867, + 0.0, + 0.9994885921478271 + ], + [ + 0.31883570551872253, + 0.11258232593536377, + -0.009279552847146988, + -0.001707610092125833, + -0.13205112516880035, + 0.3122851252555847, + 0.0, + 0.9994885921478271 + ], + [ + 0.30144456028938293, + 0.10628972947597504, + -0.010406579822301865, + 0.0019935534801334143, + -0.12901559472084045, + 0.2782009541988373, + 0.0, + 0.9994885921478271 + ], + [ + 0.27962079644203186, + 0.10008641332387924, + -0.011874583549797535, + 0.020326610654592514, + -0.15518952906131744, + 0.23112750053405762, + 0.0, + 0.9994885921478271 + ], + [ + 0.26132914423942566, + 0.09373477846384048, + -0.011082067154347897, + 0.031989045441150665, + -0.18136951327323914, + 0.1886170506477356, + 0.0, + 0.9994885921478271 + ], + [ + 0.25434064865112305, + 0.09067472815513611, + -0.011000423692166805, + 0.03355712816119194, + -0.18258894979953766, + 0.16280464828014374, + 0.0, + 0.9994885921478271 + ], + [ + 0.2664402723312378, + 0.09526003897190094, + -0.010591027326881886, + 0.023707523941993713, + -0.1422683447599411, + 0.19237364828586578, + 0.0, + 1.0008161067962646 + ], + [ + 0.2958205044269562, + 0.10657380521297455, + -0.009051559492945671, + 0.0258651040494442, + -0.135270893573761, + 0.2683316767215729, + 0.0, + 1.0008161067962646 + ], + [ + 0.32592129707336426, + 0.1180412545800209, + -0.009134446270763874, + 0.02422972023487091, + -0.1379704475402832, + 0.3203703463077545, + 0.0, + 1.0008161067962646 + ], + [ + 0.3397133946418762, + 0.1218002513051033, + -0.008334935642778873, + 0.01712699420750141, + -0.1369706243276596, + 0.34918567538261414, + 0.0, + 1.0008161067962646 + ], + [ + 0.3573024272918701, + 0.12761235237121582, + -0.007034832611680031, + 0.006742875091731548, + -0.1554507613182068, + 0.3798823654651642, + 0.0, + 1.0008161067962646 + ], + [ + 0.3744431734085083, + 0.13364824652671814, + -0.0052903443574905396, + -0.0026259070727974176, + -0.1659710705280304, + 0.4129182696342468, + 0.0, + 1.0008161067962646 + ], + [ + 0.3868284225463867, + 0.13920331001281738, + -0.0032899435609579086, + -0.007145744748413563, + -0.18111416697502136, + 0.42995789647102356, + 0.0, + 1.0008161067962646 + ], + [ + 0.3827518820762634, + 0.13785719871520996, + -0.005528274457901716, + -0.01018701121211052, + -0.17467668652534485, + 0.4330834150314331, + 0.0, + 1.0008161067962646 + ], + [ + 0.3634127974510193, + 0.13148640096187592, + -0.007878810167312622, + -0.0016435462748631835, + -0.19028343260288239, + 0.3797546923160553, + 0.0, + 1.0001531839370728 + ], + [ + 0.34393107891082764, + 0.12340003252029419, + -0.006897951941937208, + -0.009070446714758873, + -0.1843472123146057, + 0.33308693766593933, + 0.0, + 0.9988223910331726 + ], + [ + 0.3383099436759949, + 0.12063150852918625, + -0.00666354363784194, + -0.010991656221449375, + -0.18771623075008392, + 0.3208525776863098, + 0.0, + 0.9994885921478271 + ], + [ + 0.3464128077030182, + 0.12067706882953644, + -0.0007429889519698918, + -0.03778789937496185, + -0.1740439087152481, + 0.35482504963874817, + 0.0, + 0.9981546401977539 + ], + [ + 0.36532124876976013, + 0.12190041691064835, + 0.019385794177651405, + -0.09297410398721695, + -0.18085569143295288, + 0.41485530138015747, + 0.0, + 0.9988223910331726 + ], + [ + 0.3632703721523285, + 0.12507061660289764, + 0.03161584585905075, + -0.1027013286948204, + -0.18133853375911713, + 0.4805630147457123, + 0.0, + 0.9988223910331726 + ], + [ + 0.3498273193836212, + 0.1344662606716156, + 0.07520952820777893, + -0.11649306118488312, + -0.24982619285583496, + 0.5600616335868835, + 0.0, + 0.9988223910331726 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9981546401977539 + ], + [ + 0.9988223910331726 + ], + [ + 0.9981546401977539 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9981546401977539 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.11918304860591888, + -0.018444593995809555, + 0.24567271769046783 + ], + [ + 0.12011773139238358, + -0.01784661039710045, + 0.2425583302974701 + ], + [ + 0.1529325395822525, + 0.015115934424102306, + 0.19947245717048645 + ], + [ + 0.1808864325284958, + 0.04424862563610077, + 0.16961145401000977 + ], + [ + 0.21260124444961548, + 0.06326161324977875, + 0.13962560892105103 + ], + [ + 0.24000521004199982, + 0.07622989267110825, + 0.10541974753141403 + ], + [ + 0.2633494436740875, + 0.0920281931757927, + 0.06252846121788025 + ], + [ + 0.29534289240837097, + 0.10763061791658401, + 0.04337375983595848 + ], + [ + 0.31844931840896606, + 0.11703313142061234, + 0.03507719561457634 + ], + [ + 0.3206061124801636, + 0.11831419914960861, + 0.020890891551971436 + ], + [ + 0.32163989543914795, + 0.11868409067392349, + 0.02209361456334591 + ], + [ + 0.3217393457889557, + 0.11871344596147537, + 0.02160842902958393 + ], + [ + 0.3228541910648346, + 0.11840785294771194, + 0.02175995334982872 + ], + [ + 0.3279939889907837, + 0.11447692662477493, + 0.009023018181324005 + ], + [ + 0.32568299770355225, + 0.11231329292058945, + 0.005892727058380842 + ], + [ + 0.3253534138202667, + 0.11250314116477966, + 0.0005771609721705317 + ], + [ + 0.3393775224685669, + 0.12010152637958527, + -0.0019473693100735545 + ], + [ + 0.3629542887210846, + 0.13133369386196136, + -0.003506947308778763 + ], + [ + 0.378967821598053, + 0.14029857516288757, + -0.004899118561297655 + ], + [ + 0.39372843503952026, + 0.14755241572856903, + -0.004240745212882757 + ], + [ + 0.40834906697273254, + 0.15581369400024414, + -0.004903767723590136 + ], + [ + 0.41526439785957336, + 0.16110855340957642, + -0.0060929907485842705 + ], + [ + 0.39786413311958313, + 0.15674124658107758, + -0.008936514146625996 + ], + [ + 0.36639833450317383, + 0.14169038832187653, + -0.010406410321593285 + ], + [ + 0.34148362278938293, + 0.12485554814338684, + -0.009867442771792412 + ], + [ + 0.31883570551872253, + 0.11258232593536377, + -0.009279552847146988 + ], + [ + 0.30144456028938293, + 0.10628972947597504, + -0.010406579822301865 + ], + [ + 0.27962079644203186, + 0.10008641332387924, + -0.011874583549797535 + ], + [ + 0.26132914423942566, + 0.09373477846384048, + -0.011082067154347897 + ], + [ + 0.25434064865112305, + 0.09067472815513611, + -0.011000423692166805 + ], + [ + 0.2664402723312378, + 0.09526003897190094, + -0.010591027326881886 + ], + [ + 0.2958205044269562, + 0.10657380521297455, + -0.009051559492945671 + ], + [ + 0.32592129707336426, + 0.1180412545800209, + -0.009134446270763874 + ], + [ + 0.3397133946418762, + 0.1218002513051033, + -0.008334935642778873 + ], + [ + 0.3573024272918701, + 0.12761235237121582, + -0.007034832611680031 + ], + [ + 0.3744431734085083, + 0.13364824652671814, + -0.0052903443574905396 + ], + [ + 0.3868284225463867, + 0.13920331001281738, + -0.0032899435609579086 + ], + [ + 0.3827518820762634, + 0.13785719871520996, + -0.005528274457901716 + ], + [ + 0.3634127974510193, + 0.13148640096187592, + -0.007878810167312622 + ], + [ + 0.34393107891082764, + 0.12340003252029419, + -0.006897951941937208 + ], + [ + 0.3383099436759949, + 0.12063150852918625, + -0.00666354363784194 + ], + [ + 0.3464128077030182, + 0.12067706882953644, + -0.0007429889519698918 + ], + [ + 0.36532124876976013, + 0.12190041691064835, + 0.019385794177651405 + ], + [ + 0.3632703721523285, + 0.12507061660289764, + 0.03161584585905075 + ], + [ + 0.3498273193836212, + 0.1344662606716156, + 0.07520952820777893 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9916594350918061, + 0.025814218742326322, + 0.12627426857489077, + 0.03074312120719212, + -0.9988332962436376, + -0.03724119779907454, + 0.12516559148520096, + 0.040812650315719866, + -0.9912960719595164 + ], + [ + 0.9913884910606537, + 0.025867069200025808, + 0.12837349618780877, + 0.030337409774262643, + -0.998995135330563, + -0.03299031909604045, + 0.12739113533000931, + 0.0366007420262373, + -0.9911770196702808 + ], + [ + 0.9798842465858805, + 0.17432191383648826, + 0.09715314533871723, + 0.16870373806276268, + -0.9836269533734235, + 0.06338032313714032, + 0.10661103158900918, + -0.045715281402409914, + -0.9932493146183522 + ], + [ + 0.9699412800594361, + 0.20404311998790264, + 0.13259079312782102, + 0.19084869105025065, + -0.9759111429325196, + 0.10570817482365909, + 0.15096585826294712, + -0.07722594308744736, + -0.9855178655677359 + ], + [ + 0.9529157580349642, + 0.2127296306323811, + 0.21609641908106803, + 0.19364142822793273, + -0.9753058791558277, + 0.10621412033211314, + 0.23335499858048092, + -0.05936788976449258, + -0.9705776106537874 + ], + [ + 0.9535264932474082, + 0.2049895236288727, + 0.22083143317405693, + 0.18339579022692573, + -0.9763562055865084, + 0.11443139403047169, + 0.23906737711854706, + -0.06861381067338736, + -0.9685757245474071 + ], + [ + 0.9514411908559358, + 0.2229880193098688, + 0.21221687865695368, + 0.20308215748287492, + -0.9727741565570547, + 0.11166054650955148, + 0.2313380592439113, + -0.06314098177073665, + -0.9708222900028037 + ], + [ + 0.9478688255593805, + 0.25283961513524406, + 0.19395055697507688, + 0.2356275788406197, + -0.9658701192769109, + 0.10758511410838202, + 0.2145328264447854, + -0.05627647560275696, + -0.9750941619512159 + ], + [ + 0.9489338086313842, + 0.2650747553239213, + 0.1710555492414639, + 0.2540395857539283, + -0.9635506866772291, + 0.08386872524256588, + 0.18705217375456543, + -0.03613098799927497, + -0.9816853039543213 + ], + [ + 0.9536900286218788, + 0.2625066556807254, + 0.14685225578969005, + 0.25384466844961784, + -0.9643138963309867, + 0.07524356213427251, + 0.16136360682292347, + -0.03448137274343413, + -0.9862924623694662 + ], + [ + 0.9533828364404056, + 0.2611946774121265, + 0.15112414655647177, + 0.25211154163121435, + -0.964648028748975, + 0.07677207309333761, + 0.16583406693794622, + -0.03509303523908269, + -0.9855290666035827 + ], + [ + 0.9533909322616538, + 0.26115788928619077, + 0.15113665056774278, + 0.25207972581824634, + -0.9646591129438036, + 0.07673726373719288, + 0.16583588909717945, + -0.035062125977406, + -0.985529860130728 + ], + [ + 0.9511937284206534, + 0.26497856415240445, + 0.15816716332079372, + 0.2560414333068481, + -0.9637666873237695, + 0.07481013858523969, + 0.17225932614343814, + -0.03066158744582555, + -0.9845743200042905 + ], + [ + 0.9386131947686542, + 0.2783726873220537, + 0.2037496443169373, + 0.2729718257956009, + -0.9604637589259682, + 0.054733446005305955, + 0.21093044571136818, + 0.004244377798660805, + -0.9774918579349425 + ], + [ + 0.9443470215504702, + 0.2584257789575999, + 0.20353088133969566, + 0.25506936284891224, + -0.9659651782314528, + 0.04302202436110503, + 0.2077217442267552, + 0.011286771656912432, + -0.9781228377667904 + ], + [ + 0.9445427913960209, + 0.26673696680066006, + 0.19154713718507108, + 0.26389973132567623, + -0.9636928263169336, + 0.0406579427850985, + 0.19543757834165051, + 0.012146071268686052, + -0.9806409260910373 + ], + [ + 0.9379873749026107, + 0.2953186692604592, + 0.18156697967841082, + 0.2911554751550702, + -0.9553789669697661, + 0.04979476638169743, + 0.188170597624959, + 0.006157358038481532, + -0.982117056735831 + ], + [ + 0.9249873575824811, + 0.3366532777314725, + 0.1762468692069038, + 0.3296231849361489, + -0.9416131494057121, + 0.06865298841861034, + 0.18906862316399525, + -0.005408091984466568, + -0.9819489845587493 + ], + [ + 0.9174569517288886, + 0.35966939153909416, + 0.17003138096902423, + 0.34965181674167867, + -0.9328645575698475, + 0.08664481680548577, + 0.18977973752110436, + -0.020041108250553143, + -0.981622129541969 + ], + [ + 0.9063556944678743, + 0.3854077502871664, + 0.1731479746466654, + 0.37391579734214336, + -0.9224767994058418, + 0.09603921623973859, + 0.1967392477459601, + -0.022302927532933503, + -0.9802021464064514 + ], + [ + 0.8920028800995098, + 0.4213155430762746, + 0.1637805698381947, + 0.4108979229426277, + -0.9067518236628789, + 0.09467854670134157, + 0.18839787370247665, + -0.01715644037635844, + -0.981942919796257 + ], + [ + 0.8797194131708592, + 0.4490910450055742, + 0.1562401593257008, + 0.44129963425434626, + -0.8934750308340307, + 0.08340864513411024, + 0.1770547567768211, + -0.004427479184483357, + -0.9841910437159909 + ], + [ + 0.8839107175315571, + 0.44236632035966456, + 0.15170326972184422, + 0.4330538110142765, + -0.8967049205971224, + 0.09156791000628972, + 0.17653962784275745, + -0.01524217794015325, + -0.9841755106751953 + ], + [ + 0.9027412655438782, + 0.40353261602220997, + 0.1490625214147045, + 0.39465915523503087, + -0.9147664845581364, + 0.0862926991020748, + 0.17117931730617875, + -0.019071091615873115, + -0.9850552952962438 + ], + [ + 0.926563126219674, + 0.3510621987277866, + 0.13504112615954114, + 0.34628320549697184, + -0.9363249664460122, + 0.058167850232038104, + 0.1468629113178919, + -0.007133711116028122, + -0.9891311315720209 + ], + [ + 0.9433489778494827, + 0.3070196291353433, + 0.12582389803185973, + 0.30455923305426424, + -0.9517016769701847, + 0.03882771707860159, + 0.13166768605749074, + 0.0016927426661534281, + -0.9912924669695273 + ], + [ + 0.9535596331977266, + 0.27487229857313117, + 0.12316349058442715, + 0.272343808096492, + -0.9614787106390768, + 0.037249686969415954, + 0.12865798120333607, + -0.0019769837990670815, + -0.9916870551780638 + ], + [ + 0.9617105520287313, + 0.23208594034106503, + 0.14577012867044123, + 0.22632222024095763, + -0.9724879803033826, + 0.0551849688833085, + 0.1545673534152566, + -0.02008094772295063, + -0.9877781576835721 + ], + [ + 0.9661529704656814, + 0.19307150566179887, + 0.17109012642997914, + 0.1844251895173848, + -0.9806802364466121, + 0.06521980768519392, + 0.18037679210978605, + -0.03145898193684834, + -0.9830943725419651 + ], + [ + 0.9703732816210427, + 0.1680066202390852, + 0.17363602699856878, + 0.15939202282257875, + -0.9852335916632774, + 0.06252161961117526, + 0.18157609252468904, + -0.03299311161618092, + -0.9828232685530738 + ], + [ + 0.9716364713159785, + 0.19443471377399374, + 0.13460204191712025, + 0.18925769213548876, + -0.9806347423998406, + 0.05036891864975985, + 0.14178890498265942, + -0.023465806570895746, + -0.9896187459551254 + ], + [ + 0.9554062903792124, + 0.26839744129647, + 0.12313258630167645, + 0.26270124082972773, + -0.9629673532615355, + 0.06067894708211806, + 0.13485873486857736, + -0.025625964527819022, + -0.990533407599999 + ], + [ + 0.9400995361679791, + 0.317988172531996, + 0.12286734401993173, + 0.31192547080412075, + -0.9477909370273926, + 0.06629359209127936, + 0.13753313331840558, + -0.02399712104605186, + -0.9902064307108508 + ], + [ + 0.9308510238354544, + 0.3442798918242378, + 0.12242437465626603, + 0.33892838601304165, + -0.9387137578597496, + 0.06280151239757188, + 0.13654274268184793, + -0.0169657564027906, + -0.9904888906649081 + ], + [ + 0.9175097510834068, + 0.3717723290534558, + 0.1412840826740014, + 0.36633992342446375, + -0.9283000374494584, + 0.06367182247032276, + 0.1548254409721579, + -0.0066615179578834345, + -0.9879193828477473 + ], + [ + 0.9033669913426293, + 0.4008852847096695, + 0.1523780412520551, + 0.3957697438954621, + -0.9161245992418869, + 0.06389075426704788, + 0.16521013518996372, + 0.0025898199047836926, + -0.9862549893731208 + ], + [ + 0.894115618264581, + 0.4156519180365961, + 0.16670556141846307, + 0.41001465733597026, + -0.9094966074227854, + 0.0685849973107146, + 0.18012562822933623, + 0.007028806366847485, + -0.9836185002001764 + ], + [ + 0.8938637380190522, + 0.4180428391865451, + 0.1620117355609149, + 0.41328530043786843, + -0.9083719211855735, + 0.0636844819686184, + 0.1737897531403629, + 0.010031819699477022, + -0.9847316813715954 + ], + [ + 0.9119921781367919, + 0.37040344010995035, + 0.1762712641698147, + 0.3640018945743377, + -0.9288695747757127, + 0.0685852302050482, + 0.18913721940327582, + 0.0016138806341109355, + -0.981949340661572 + ], + [ + 0.9290249336289536, + 0.3253771520190789, + 0.17618848327762893, + 0.3214218509035611, + -0.9455422796197672, + 0.051359431589363756, + 0.1833048457009444, + 0.00891663587945718, + -0.9830156800108256 + ], + [ + 0.9322963643220147, + 0.3134101951803096, + 0.1805478845874222, + 0.30983553240438727, + -0.9495564465757655, + 0.04842001266103435, + 0.18661573334433196, + 0.010798348181321579, + -0.982373637545772 + ], + [ + 0.923540921547322, + 0.34104377635388455, + 0.1753890214289497, + 0.34217759331442427, + -0.9393107553598895, + 0.024694118708352596, + 0.17316656969828625, + 0.03720816409761907, + -0.9841894592320185 + ], + [ + 0.9002482801609338, + 0.3860339397032908, + 0.20132270479117984, + 0.39648369794874827, + -0.9179528084383805, + -0.012779622098303564, + 0.1798713743989472, + 0.09132600329175562, + -0.9794416010128362 + ], + [ + 0.872195157931956, + 0.4434476062784286, + 0.20646991782335264, + 0.4546985936956638, + -0.8906096462718969, + -0.007977898133743437, + 0.18034632064790204, + 0.10083986539746312, + -0.9784204240383505 + ], + [ + 0.8209206973727169, + 0.503291978979468, + 0.26978953374811077, + 0.5147463362098664, + -0.8567459320437134, + 0.03197838778093501, + 0.24723555161750366, + 0.11262145364662782, + -0.9623881702280578 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + 0.0009346827864646912, + 0.0005979835987091064, + -0.0031143873929977417, + 0.0042379871010780334, + -0.0022435039281845093, + -0.00040038302540779114, + 1.0 + ], + [ + 0.03281480818986893, + 0.03296254575252533, + -0.04308587312698364, + 0.08290330320596695, + 0.02092421054840088, + 0.13990415632724762, + 1.0 + ], + [ + 0.027953892946243286, + 0.029132690280675888, + -0.029861003160476685, + 0.03220744431018829, + -0.04473122954368591, + 0.023785725235939026, + 1.0 + ], + [ + 0.03171481192111969, + 0.01901298761367798, + -0.02998584508895874, + -0.017109502106904984, + -0.08398126065731049, + 0.006198331713676453, + 1.0 + ], + [ + 0.02740396559238434, + 0.012968279421329498, + -0.03420586138963699, + 0.009630288928747177, + -0.005878746509552002, + -0.01046571135520935, + 1.0 + ], + [ + 0.023344233632087708, + 0.015798300504684448, + -0.04289128631353378, + -0.005774572491645813, + 0.007952436804771423, + 0.02027730643749237, + 1.0 + ], + [ + 0.03199344873428345, + 0.01560242474079132, + -0.019154701381921768, + -0.007297251373529434, + 0.01723933219909668, + 0.033356860280036926, + 1.0 + ], + [ + 0.023106426000595093, + 0.00940251350402832, + -0.008296564221382141, + -0.02086148038506508, + 0.028053000569343567, + 0.017928659915924072, + 1.0 + ], + [ + 0.0021567940711975098, + 0.0012810677289962769, + -0.014186304062604904, + -0.0018420927226543427, + 0.026088282465934753, + -0.0014370977878570557, + 1.0 + ], + [ + 0.001033782958984375, + 0.00036989152431488037, + 0.0012027230113744736, + 0.0006469190120697021, + -0.0045315176248550415, + -0.00161820650100708, + 1.0 + ], + [ + 9.945034980773926e-05, + 2.9355287551879883e-05, + -0.00048518553376197815, + -3.135204315185547e-05, + -1.8477439880371094e-06, + -3.3289194107055664e-05, + 1.0 + ], + [ + 0.0011148452758789062, + -0.00030559301376342773, + 0.00015152432024478912, + -0.004430018365383148, + -0.00651724636554718, + 0.004458397626876831, + 1.0 + ], + [ + 0.005139797925949097, + -0.003930926322937012, + -0.012736935168504715, + -0.03547399491071701, + -0.039403900504112244, + 0.02007138729095459, + 1.0 + ], + [ + -0.0023109912872314453, + -0.002163633704185486, + -0.003130291122943163, + -0.0071966215036809444, + 0.0032813996076583862, + -0.019211649894714355, + 1.0 + ], + [ + -0.00032958388328552246, + 0.00018984824419021606, + -0.005315565969794989, + -0.00084651168435812, + 0.012541711330413818, + 0.008640557527542114, + 1.0 + ], + [ + 0.014024108648300171, + 0.007598385214805603, + -0.0025245302822440863, + 0.006115823984146118, + 0.0074044764041900635, + 0.028527826070785522, + 1.0 + ], + [ + 0.0235767662525177, + 0.011232167482376099, + -0.0015595779987052083, + 0.011776844970881939, + -0.0009144395589828491, + 0.04134973883628845, + 1.0 + ], + [ + 0.016013532876968384, + 0.008964881300926208, + -0.0013921712525188923, + 0.014906028285622597, + -0.0007242262363433838, + 0.02179202437400818, + 1.0 + ], + [ + 0.014760613441467285, + 0.0072538405656814575, + 0.0006583733484148979, + 0.002335989847779274, + -0.007093250751495361, + 0.027160733938217163, + 1.0 + ], + [ + 0.01462063193321228, + 0.00826127827167511, + -0.0006630225107073784, + -0.005279315635561943, + 0.00850050151348114, + 0.040394991636276245, + 1.0 + ], + [ + 0.00691533088684082, + 0.005294859409332275, + -0.001189223024994135, + -0.012971587479114532, + 0.011537432670593262, + 0.03328406810760498, + 1.0 + ], + [ + -0.017400264739990234, + -0.00436730682849884, + -0.002843523398041725, + 0.010987451300024986, + 0.0005233734846115112, + -0.009397506713867188, + 1.0 + ], + [ + -0.0314657986164093, + -0.01505085825920105, + -0.001469896174967289, + 0.0038719912990927696, + 0.005443215370178223, + -0.043418049812316895, + 1.0 + ], + [ + -0.024914711713790894, + -0.016834840178489685, + 0.0005389675498008728, + -0.012146035209298134, + 0.024630486965179443, + -0.054485023021698, + 1.0 + ], + [ + -0.0226479172706604, + -0.012273222208023071, + 0.0005878899246454239, + -0.00891958363354206, + 0.01534491777420044, + -0.04537048935890198, + 1.0 + ], + [ + -0.0173911452293396, + -0.006292596459388733, + -0.0011270269751548767, + 0.0037011634558439255, + 0.0030355304479599, + -0.034084171056747437, + 1.0 + ], + [ + -0.021823763847351074, + -0.006203316152095795, + -0.0014680037274956703, + 0.018333056941628456, + -0.02617393434047699, + -0.04707345366477966, + 1.0 + ], + [ + -0.0182916522026062, + -0.006351634860038757, + 0.0007925163954496384, + 0.011662434786558151, + -0.026179984211921692, + -0.04251044988632202, + 1.0 + ], + [ + -0.006988495588302612, + -0.0030600503087043762, + 8.164346218109131e-05, + 0.001568082720041275, + -0.001219436526298523, + -0.025812402367591858, + 1.0 + ], + [ + 0.012099623680114746, + 0.0045853108167648315, + 0.00040939636528491974, + -0.009849604219198227, + 0.04032060503959656, + 0.029569000005722046, + 1.0 + ], + [ + 0.029380232095718384, + 0.011313766241073608, + 0.0015394678339362144, + 0.0021575801074504852, + 0.006997451186180115, + 0.07595802843570709, + 1.0 + ], + [ + 0.03010079264640808, + 0.011467449367046356, + -8.288677781820297e-05, + -0.001635383814573288, + -0.002699553966522217, + 0.05203866958618164, + 1.0 + ], + [ + 0.013792097568511963, + 0.0037589967250823975, + 0.0007995106279850006, + -0.007102726027369499, + 0.0009998232126235962, + 0.02881532907485962, + 1.0 + ], + [ + 0.017589032649993896, + 0.005812101066112518, + 0.0013001030310988426, + -0.010384119115769863, + -0.01848013699054718, + 0.03069669008255005, + 1.0 + ], + [ + 0.017140746116638184, + 0.006035894155502319, + 0.0017444882541894913, + -0.009368781931698322, + -0.010520309209823608, + 0.03303590416908264, + 1.0 + ], + [ + 0.012385249137878418, + 0.005555063486099243, + 0.002000400796532631, + -0.004519837908446789, + -0.015143096446990967, + 0.017039626836776733, + 1.0 + ], + [ + -0.004076540470123291, + -0.0013461112976074219, + -0.0022383308969438076, + -0.0030412664636969566, + 0.006437480449676514, + 0.003125518560409546, + 1.0 + ], + [ + -0.01933908462524414, + -0.006370797753334045, + -0.002350535709410906, + 0.008543465286493301, + -0.015606746077537537, + -0.05332872271537781, + 1.0 + ], + [ + -0.01948171854019165, + -0.008086368441581726, + 0.000980858225375414, + -0.007426900323480368, + 0.005936220288276672, + -0.04666775465011597, + 1.0 + ], + [ + -0.005621135234832764, + -0.0027685239911079407, + 0.00023440830409526825, + -0.0019212095066905022, + -0.0033690184354782104, + -0.012234359979629517, + 1.0 + ], + [ + 0.008102864027023315, + 4.556030035018921e-05, + 0.005920554511249065, + -0.026796244084835052, + 0.013672322034835815, + 0.033972471952438354, + 1.0 + ], + [ + 0.018908441066741943, + 0.001223348081111908, + 0.020128782838582993, + -0.055186204612255096, + -0.006811782717704773, + 0.0600302517414093, + 1.0 + ], + [ + -0.0020508766174316406, + 0.003170199692249298, + 0.012230051681399345, + -0.009727224707603455, + -0.0004828423261642456, + 0.06570771336555481, + 1.0 + ], + [ + -0.013443052768707275, + 0.009395644068717957, + 0.04359368234872818, + -0.013791732490062714, + -0.06848765909671783, + 0.07949861884117126, + 1.0 + ], + [ + -0.019645720720291138, + 0.013547062873840332, + 0.03936726599931717, + -0.0019891858100891113, + -0.02979949116706848, + 0.05961871147155762, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9981546401977539 + ], + [ + 0.9988223910331726 + ], + [ + 0.9981546401977539 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9981546401977539 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.12011773139238358, + -0.01784661039710045, + 0.2425583302974701 + ], + [ + 0.1529325395822525, + 0.015115934424102306, + 0.19947245717048645 + ], + [ + 0.1808864325284958, + 0.04424862563610077, + 0.16961145401000977 + ], + [ + 0.21260124444961548, + 0.06326161324977875, + 0.13962560892105103 + ], + [ + 0.24000521004199982, + 0.07622989267110825, + 0.10541974753141403 + ], + [ + 0.2633494436740875, + 0.0920281931757927, + 0.06252846121788025 + ], + [ + 0.29534289240837097, + 0.10763061791658401, + 0.04337375983595848 + ], + [ + 0.31844931840896606, + 0.11703313142061234, + 0.03507719561457634 + ], + [ + 0.3206061124801636, + 0.11831419914960861, + 0.020890891551971436 + ], + [ + 0.32163989543914795, + 0.11868409067392349, + 0.02209361456334591 + ], + [ + 0.3217393457889557, + 0.11871344596147537, + 0.02160842902958393 + ], + [ + 0.3228541910648346, + 0.11840785294771194, + 0.02175995334982872 + ], + [ + 0.3279939889907837, + 0.11447692662477493, + 0.009023018181324005 + ], + [ + 0.32568299770355225, + 0.11231329292058945, + 0.005892727058380842 + ], + [ + 0.3253534138202667, + 0.11250314116477966, + 0.0005771609721705317 + ], + [ + 0.3393775224685669, + 0.12010152637958527, + -0.0019473693100735545 + ], + [ + 0.3629542887210846, + 0.13133369386196136, + -0.003506947308778763 + ], + [ + 0.378967821598053, + 0.14029857516288757, + -0.004899118561297655 + ], + [ + 0.39372843503952026, + 0.14755241572856903, + -0.004240745212882757 + ], + [ + 0.40834906697273254, + 0.15581369400024414, + -0.004903767723590136 + ], + [ + 0.41526439785957336, + 0.16110855340957642, + -0.0060929907485842705 + ], + [ + 0.39786413311958313, + 0.15674124658107758, + -0.008936514146625996 + ], + [ + 0.36639833450317383, + 0.14169038832187653, + -0.010406410321593285 + ], + [ + 0.34148362278938293, + 0.12485554814338684, + -0.009867442771792412 + ], + [ + 0.31883570551872253, + 0.11258232593536377, + -0.009279552847146988 + ], + [ + 0.30144456028938293, + 0.10628972947597504, + -0.010406579822301865 + ], + [ + 0.27962079644203186, + 0.10008641332387924, + -0.011874583549797535 + ], + [ + 0.26132914423942566, + 0.09373477846384048, + -0.011082067154347897 + ], + [ + 0.25434064865112305, + 0.09067472815513611, + -0.011000423692166805 + ], + [ + 0.2664402723312378, + 0.09526003897190094, + -0.010591027326881886 + ], + [ + 0.2958205044269562, + 0.10657380521297455, + -0.009051559492945671 + ], + [ + 0.32592129707336426, + 0.1180412545800209, + -0.009134446270763874 + ], + [ + 0.3397133946418762, + 0.1218002513051033, + -0.008334935642778873 + ], + [ + 0.3573024272918701, + 0.12761235237121582, + -0.007034832611680031 + ], + [ + 0.3744431734085083, + 0.13364824652671814, + -0.0052903443574905396 + ], + [ + 0.3868284225463867, + 0.13920331001281738, + -0.0032899435609579086 + ], + [ + 0.3827518820762634, + 0.13785719871520996, + -0.005528274457901716 + ], + [ + 0.3634127974510193, + 0.13148640096187592, + -0.007878810167312622 + ], + [ + 0.34393107891082764, + 0.12340003252029419, + -0.006897951941937208 + ], + [ + 0.3383099436759949, + 0.12063150852918625, + -0.00666354363784194 + ], + [ + 0.3464128077030182, + 0.12067706882953644, + -0.0007429889519698918 + ], + [ + 0.36532124876976013, + 0.12190041691064835, + 0.019385794177651405 + ], + [ + 0.3632703721523285, + 0.12507061660289764, + 0.03161584585905075 + ], + [ + 0.3498273193836212, + 0.1344662606716156, + 0.07520952820777893 + ], + [ + 0.3301815986633301, + 0.14801332354545593, + 0.1145767942070961 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9913884910606537, + 0.025867069200025808, + 0.12837349618780877, + 0.030337409774262643, + -0.998995135330563, + -0.03299031909604045, + 0.12739113533000931, + 0.0366007420262373, + -0.9911770196702808 + ], + [ + 0.9798842465858805, + 0.17432191383648826, + 0.09715314533871723, + 0.16870373806276268, + -0.9836269533734235, + 0.06338032313714032, + 0.10661103158900918, + -0.045715281402409914, + -0.9932493146183522 + ], + [ + 0.9699412800594361, + 0.20404311998790264, + 0.13259079312782102, + 0.19084869105025065, + -0.9759111429325196, + 0.10570817482365909, + 0.15096585826294712, + -0.07722594308744736, + -0.9855178655677359 + ], + [ + 0.9529157580349642, + 0.2127296306323811, + 0.21609641908106803, + 0.19364142822793273, + -0.9753058791558277, + 0.10621412033211314, + 0.23335499858048092, + -0.05936788976449258, + -0.9705776106537874 + ], + [ + 0.9535264932474082, + 0.2049895236288727, + 0.22083143317405693, + 0.18339579022692573, + -0.9763562055865084, + 0.11443139403047169, + 0.23906737711854706, + -0.06861381067338736, + -0.9685757245474071 + ], + [ + 0.9514411908559358, + 0.2229880193098688, + 0.21221687865695368, + 0.20308215748287492, + -0.9727741565570547, + 0.11166054650955148, + 0.2313380592439113, + -0.06314098177073665, + -0.9708222900028037 + ], + [ + 0.9478688255593805, + 0.25283961513524406, + 0.19395055697507688, + 0.2356275788406197, + -0.9658701192769109, + 0.10758511410838202, + 0.2145328264447854, + -0.05627647560275696, + -0.9750941619512159 + ], + [ + 0.9489338086313842, + 0.2650747553239213, + 0.1710555492414639, + 0.2540395857539283, + -0.9635506866772291, + 0.08386872524256588, + 0.18705217375456543, + -0.03613098799927497, + -0.9816853039543213 + ], + [ + 0.9536900286218788, + 0.2625066556807254, + 0.14685225578969005, + 0.25384466844961784, + -0.9643138963309867, + 0.07524356213427251, + 0.16136360682292347, + -0.03448137274343413, + -0.9862924623694662 + ], + [ + 0.9533828364404056, + 0.2611946774121265, + 0.15112414655647177, + 0.25211154163121435, + -0.964648028748975, + 0.07677207309333761, + 0.16583406693794622, + -0.03509303523908269, + -0.9855290666035827 + ], + [ + 0.9533909322616538, + 0.26115788928619077, + 0.15113665056774278, + 0.25207972581824634, + -0.9646591129438036, + 0.07673726373719288, + 0.16583588909717945, + -0.035062125977406, + -0.985529860130728 + ], + [ + 0.9511937284206534, + 0.26497856415240445, + 0.15816716332079372, + 0.2560414333068481, + -0.9637666873237695, + 0.07481013858523969, + 0.17225932614343814, + -0.03066158744582555, + -0.9845743200042905 + ], + [ + 0.9386131947686542, + 0.2783726873220537, + 0.2037496443169373, + 0.2729718257956009, + -0.9604637589259682, + 0.054733446005305955, + 0.21093044571136818, + 0.004244377798660805, + -0.9774918579349425 + ], + [ + 0.9443470215504702, + 0.2584257789575999, + 0.20353088133969566, + 0.25506936284891224, + -0.9659651782314528, + 0.04302202436110503, + 0.2077217442267552, + 0.011286771656912432, + -0.9781228377667904 + ], + [ + 0.9445427913960209, + 0.26673696680066006, + 0.19154713718507108, + 0.26389973132567623, + -0.9636928263169336, + 0.0406579427850985, + 0.19543757834165051, + 0.012146071268686052, + -0.9806409260910373 + ], + [ + 0.9379873749026107, + 0.2953186692604592, + 0.18156697967841082, + 0.2911554751550702, + -0.9553789669697661, + 0.04979476638169743, + 0.188170597624959, + 0.006157358038481532, + -0.982117056735831 + ], + [ + 0.9249873575824811, + 0.3366532777314725, + 0.1762468692069038, + 0.3296231849361489, + -0.9416131494057121, + 0.06865298841861034, + 0.18906862316399525, + -0.005408091984466568, + -0.9819489845587493 + ], + [ + 0.9174569517288886, + 0.35966939153909416, + 0.17003138096902423, + 0.34965181674167867, + -0.9328645575698475, + 0.08664481680548577, + 0.18977973752110436, + -0.020041108250553143, + -0.981622129541969 + ], + [ + 0.9063556944678743, + 0.3854077502871664, + 0.1731479746466654, + 0.37391579734214336, + -0.9224767994058418, + 0.09603921623973859, + 0.1967392477459601, + -0.022302927532933503, + -0.9802021464064514 + ], + [ + 0.8920028800995098, + 0.4213155430762746, + 0.1637805698381947, + 0.4108979229426277, + -0.9067518236628789, + 0.09467854670134157, + 0.18839787370247665, + -0.01715644037635844, + -0.981942919796257 + ], + [ + 0.8797194131708592, + 0.4490910450055742, + 0.1562401593257008, + 0.44129963425434626, + -0.8934750308340307, + 0.08340864513411024, + 0.1770547567768211, + -0.004427479184483357, + -0.9841910437159909 + ], + [ + 0.8839107175315571, + 0.44236632035966456, + 0.15170326972184422, + 0.4330538110142765, + -0.8967049205971224, + 0.09156791000628972, + 0.17653962784275745, + -0.01524217794015325, + -0.9841755106751953 + ], + [ + 0.9027412655438782, + 0.40353261602220997, + 0.1490625214147045, + 0.39465915523503087, + -0.9147664845581364, + 0.0862926991020748, + 0.17117931730617875, + -0.019071091615873115, + -0.9850552952962438 + ], + [ + 0.926563126219674, + 0.3510621987277866, + 0.13504112615954114, + 0.34628320549697184, + -0.9363249664460122, + 0.058167850232038104, + 0.1468629113178919, + -0.007133711116028122, + -0.9891311315720209 + ], + [ + 0.9433489778494827, + 0.3070196291353433, + 0.12582389803185973, + 0.30455923305426424, + -0.9517016769701847, + 0.03882771707860159, + 0.13166768605749074, + 0.0016927426661534281, + -0.9912924669695273 + ], + [ + 0.9535596331977266, + 0.27487229857313117, + 0.12316349058442715, + 0.272343808096492, + -0.9614787106390768, + 0.037249686969415954, + 0.12865798120333607, + -0.0019769837990670815, + -0.9916870551780638 + ], + [ + 0.9617105520287313, + 0.23208594034106503, + 0.14577012867044123, + 0.22632222024095763, + -0.9724879803033826, + 0.0551849688833085, + 0.1545673534152566, + -0.02008094772295063, + -0.9877781576835721 + ], + [ + 0.9661529704656814, + 0.19307150566179887, + 0.17109012642997914, + 0.1844251895173848, + -0.9806802364466121, + 0.06521980768519392, + 0.18037679210978605, + -0.03145898193684834, + -0.9830943725419651 + ], + [ + 0.9703732816210427, + 0.1680066202390852, + 0.17363602699856878, + 0.15939202282257875, + -0.9852335916632774, + 0.06252161961117526, + 0.18157609252468904, + -0.03299311161618092, + -0.9828232685530738 + ], + [ + 0.9716364713159785, + 0.19443471377399374, + 0.13460204191712025, + 0.18925769213548876, + -0.9806347423998406, + 0.05036891864975985, + 0.14178890498265942, + -0.023465806570895746, + -0.9896187459551254 + ], + [ + 0.9554062903792124, + 0.26839744129647, + 0.12313258630167645, + 0.26270124082972773, + -0.9629673532615355, + 0.06067894708211806, + 0.13485873486857736, + -0.025625964527819022, + -0.990533407599999 + ], + [ + 0.9400995361679791, + 0.317988172531996, + 0.12286734401993173, + 0.31192547080412075, + -0.9477909370273926, + 0.06629359209127936, + 0.13753313331840558, + -0.02399712104605186, + -0.9902064307108508 + ], + [ + 0.9308510238354544, + 0.3442798918242378, + 0.12242437465626603, + 0.33892838601304165, + -0.9387137578597496, + 0.06280151239757188, + 0.13654274268184793, + -0.0169657564027906, + -0.9904888906649081 + ], + [ + 0.9175097510834068, + 0.3717723290534558, + 0.1412840826740014, + 0.36633992342446375, + -0.9283000374494584, + 0.06367182247032276, + 0.1548254409721579, + -0.0066615179578834345, + -0.9879193828477473 + ], + [ + 0.9033669913426293, + 0.4008852847096695, + 0.1523780412520551, + 0.3957697438954621, + -0.9161245992418869, + 0.06389075426704788, + 0.16521013518996372, + 0.0025898199047836926, + -0.9862549893731208 + ], + [ + 0.894115618264581, + 0.4156519180365961, + 0.16670556141846307, + 0.41001465733597026, + -0.9094966074227854, + 0.0685849973107146, + 0.18012562822933623, + 0.007028806366847485, + -0.9836185002001764 + ], + [ + 0.8938637380190522, + 0.4180428391865451, + 0.1620117355609149, + 0.41328530043786843, + -0.9083719211855735, + 0.0636844819686184, + 0.1737897531403629, + 0.010031819699477022, + -0.9847316813715954 + ], + [ + 0.9119921781367919, + 0.37040344010995035, + 0.1762712641698147, + 0.3640018945743377, + -0.9288695747757127, + 0.0685852302050482, + 0.18913721940327582, + 0.0016138806341109355, + -0.981949340661572 + ], + [ + 0.9290249336289536, + 0.3253771520190789, + 0.17618848327762893, + 0.3214218509035611, + -0.9455422796197672, + 0.051359431589363756, + 0.1833048457009444, + 0.00891663587945718, + -0.9830156800108256 + ], + [ + 0.9322963643220147, + 0.3134101951803096, + 0.1805478845874222, + 0.30983553240438727, + -0.9495564465757655, + 0.04842001266103435, + 0.18661573334433196, + 0.010798348181321579, + -0.982373637545772 + ], + [ + 0.923540921547322, + 0.34104377635388455, + 0.1753890214289497, + 0.34217759331442427, + -0.9393107553598895, + 0.024694118708352596, + 0.17316656969828625, + 0.03720816409761907, + -0.9841894592320185 + ], + [ + 0.9002482801609338, + 0.3860339397032908, + 0.20132270479117984, + 0.39648369794874827, + -0.9179528084383805, + -0.012779622098303564, + 0.1798713743989472, + 0.09132600329175562, + -0.9794416010128362 + ], + [ + 0.872195157931956, + 0.4434476062784286, + 0.20646991782335264, + 0.4546985936956638, + -0.8906096462718969, + -0.007977898133743437, + 0.18034632064790204, + 0.10083986539746312, + -0.9784204240383505 + ], + [ + 0.8209206973727169, + 0.503291978979468, + 0.26978953374811077, + 0.5147463362098664, + -0.8567459320437134, + 0.03197838778093501, + 0.24723555161750366, + 0.11262145364662782, + -0.9623881702280578 + ], + [ + 0.7824449300049804, + 0.5501451077056707, + 0.2917538208439049, + 0.5582169826934213, + -0.8273041879304169, + 0.06294109043737614, + 0.27599589080664577, + 0.11361400045905168, + -0.954420309485049 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005581.json b/json/chunk-0005/episode_0005581.json new file mode 100644 index 0000000000000000000000000000000000000000..f0a76c4981a3116f5a0f4b866b1d25cd78c2a708 --- /dev/null +++ b/json/chunk-0005/episode_0005581.json @@ -0,0 +1,2122 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 34, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPour almonds in pot." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005581.mp4", + "start": 0, + "end": 34, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2657272219657898, + -0.012422449886798859, + 0.14533472061157227, + 0.07998169213533401, + -0.21236419677734375, + -0.0457427017390728, + 0.0, + 0.9900195002555847 + ], + [ + 0.2625366151332855, + -0.014040716923773289, + 0.13875629007816315, + 0.09472103416919708, + -0.16656146943569183, + -0.06887631118297577, + 0.0, + 0.9900195002555847 + ], + [ + 0.2694208323955536, + -0.03215420991182327, + 0.14764709770679474, + 0.16413487493991852, + -0.1265448033809662, + -0.24824492633342743, + 0.0, + 0.9900195002555847 + ], + [ + 0.27744534611701965, + -0.055800117552280426, + 0.14858068525791168, + 0.2809584438800812, + -0.00659983279183507, + -0.5315015316009521, + 0.0, + 0.9900195002555847 + ], + [ + 0.2833377420902252, + -0.07295657694339752, + 0.13935650885105133, + 0.3608078956604004, + 0.1750616580247879, + -0.7954002022743225, + 0.0, + 0.9900195002555847 + ], + [ + 0.3011092245578766, + -0.08901198953390121, + 0.12987120449543, + 0.372005820274353, + 0.2890232801437378, + -1.0387765169143677, + 0.0, + 0.9900195002555847 + ], + [ + 0.31304246187210083, + -0.10428234189748764, + 0.11858879774808884, + 0.4022051692008972, + 0.49662622809410095, + -1.2308032512664795, + 0.0, + 0.9900195002555847 + ], + [ + 0.3249582350254059, + -0.10665106773376465, + 0.1040647029876709, + 0.35122746229171753, + 0.6848127841949463, + -1.2648892402648926, + 0.0, + 0.9900195002555847 + ], + [ + 0.33522412180900574, + -0.11020459979772568, + 0.08635877817869186, + 0.22131076455116272, + 0.82978755235672, + -1.308647871017456, + 0.0, + 0.9900195002555847 + ], + [ + 0.33826208114624023, + -0.1019807904958725, + 0.07701821625232697, + 0.17052248120307922, + 0.9026800990104675, + -1.293621301651001, + 0.0, + 0.9900195002555847 + ], + [ + 0.3446638584136963, + -0.0880880206823349, + 0.07227373123168945, + 0.14787867665290833, + 0.9520895481109619, + -1.298409104347229, + 0.0, + 0.9900195002555847 + ], + [ + 0.35203975439071655, + -0.07131931930780411, + 0.0721849873661995, + 0.14861026406288147, + 0.9891520142555237, + -1.2710392475128174, + 0.0, + 0.9900195002555847 + ], + [ + 0.3516116440296173, + -0.0623556487262249, + 0.07012880593538284, + 0.1070556491613388, + 1.0043307542800903, + -1.2864599227905273, + 0.0, + 0.9900195002555847 + ], + [ + 0.34267035126686096, + -0.05354376509785652, + 0.061804864555597305, + 0.02724304422736168, + 1.037803053855896, + -1.34830904006958, + 0.0, + 0.9900195002555847 + ], + [ + 0.335038959980011, + -0.0478009432554245, + 0.056128859519958496, + -0.04581631347537041, + 1.06004798412323, + -1.406324028968811, + 0.0, + 0.9900195002555847 + ], + [ + 0.33056530356407166, + -0.04335979372262955, + 0.053335223346948624, + -0.087867371737957, + 1.0840996503829956, + -1.4444494247436523, + 0.0, + 0.9900195002555847 + ], + [ + 0.33056074380874634, + -0.033574167639017105, + 0.04559464007616043, + -0.15413470566272736, + 1.1526731252670288, + -1.4999046325683594, + 0.0, + 0.9900195002555847 + ], + [ + 0.32800960540771484, + -0.026201410219073296, + 0.04396279528737068, + -0.18637561798095703, + 1.1727010011672974, + -1.5220516920089722, + 0.0, + 0.9900195002555847 + ], + [ + 0.3223206102848053, + -0.021720677614212036, + 0.0361102931201458, + -0.16246192157268524, + 1.1781630516052246, + -1.518998146057129, + 0.0, + 0.8998980522155762 + ], + [ + 0.3242717981338501, + -0.02375098131597042, + 0.041262563318014145, + 0.010567529127001762, + 1.0766375064849854, + -1.3881242275238037, + 0.0, + 0.8435940742492676 + ], + [ + 0.33280089497566223, + -0.0295748021453619, + 0.05953976884484291, + 0.14538946747779846, + 0.8717838525772095, + -1.269058346748352, + 0.0, + 0.8634164333343506 + ], + [ + 0.3382405936717987, + -0.02516808547079563, + 0.07553698122501373, + 0.16896699368953705, + 0.6609253883361816, + -1.2204331159591675, + 0.0, + 0.8669703602790833 + ], + [ + 0.3383568823337555, + -0.012536629103124142, + 0.09060835838317871, + 0.18458929657936096, + 0.3916909992694855, + -1.111435055732727, + 0.0, + 0.8669703602790833 + ], + [ + 0.3379155099391937, + 0.007126951590180397, + 0.0915493294596672, + 0.2235223799943924, + 0.15532857179641724, + -0.9884390234947205, + 0.0, + 0.8669703602790833 + ], + [ + 0.33800917863845825, + 0.012270336039364338, + 0.08533631265163422, + 0.32558339834213257, + -0.009443084709346294, + -0.9317312240600586, + 0.0, + 0.8669703602790833 + ], + [ + 0.3408622443675995, + 0.012905800715088844, + 0.08023330569267273, + 0.4403918385505676, + -0.1481187343597412, + -0.8451114296913147, + 0.0, + 0.8669703602790833 + ], + [ + 0.3426153063774109, + 0.0068687754683196545, + 0.07952931523323059, + 0.5148370265960693, + -0.22966066002845764, + -0.8236496448516846, + 0.0, + 0.8669703602790833 + ], + [ + 0.3453209102153778, + 0.007487161085009575, + 0.08871277421712875, + 0.5904155373573303, + -0.342163622379303, + -0.7989398241043091, + 0.0, + 0.8669703602790833 + ], + [ + 0.3461970388889313, + 0.01012866199016571, + 0.09357452392578125, + 0.6386399269104004, + -0.47129371762275696, + -0.7475965619087219, + 0.0, + 0.8669703602790833 + ], + [ + 0.34896719455718994, + 0.012883111834526062, + 0.09538775682449341, + 0.6440198421478271, + -0.5599233508110046, + -0.6921454071998596, + 0.0, + 0.8669703602790833 + ], + [ + 0.35156646370887756, + 0.016502968966960907, + 0.09879221767187119, + 0.6480433940887451, + -0.6032906770706177, + -0.6623043417930603, + 0.0, + 0.8669703602790833 + ], + [ + 0.35363084077835083, + 0.018586143851280212, + 0.10141696035861969, + 0.6458114981651306, + -0.6460084915161133, + -0.6161620616912842, + 0.0, + 0.8669703602790833 + ], + [ + 0.3541927635669708, + 0.018258003517985344, + 0.1020708903670311, + 0.6256821155548096, + -0.6881024241447449, + -0.5728501081466675, + 0.0, + 0.8669703602790833 + ], + [ + 0.34982508420944214, + 0.017279881983995438, + 0.09663433581590652, + 0.5499064326286316, + -0.6907737255096436, + -0.5009235143661499, + 0.0, + 0.8669703602790833 + ] + ], + "left_gripper_pos": [ + [ + 0.9900195002555847 + ], + [ + 0.9900195002555847 + ], + [ + 0.9900195002555847 + ], + [ + 0.9900195002555847 + ], + [ + 0.9900195002555847 + ], + [ + 0.9900195002555847 + ], + [ + 0.9900195002555847 + ], + [ + 0.9900195002555847 + ], + [ + 0.9900195002555847 + ], + [ + 0.9900195002555847 + ], + [ + 0.9900195002555847 + ], + [ + 0.9900195002555847 + ], + [ + 0.9900195002555847 + ], + [ + 0.9900195002555847 + ], + [ + 0.9900195002555847 + ], + [ + 0.9900195002555847 + ], + [ + 0.9900195002555847 + ], + [ + 0.9900195002555847 + ], + [ + 0.8998980522155762 + ], + [ + 0.8435940742492676 + ], + [ + 0.8634164333343506 + ], + [ + 0.8669703602790833 + ], + [ + 0.8669703602790833 + ], + [ + 0.8669703602790833 + ], + [ + 0.8669703602790833 + ], + [ + 0.8669703602790833 + ], + [ + 0.8669703602790833 + ], + [ + 0.8669703602790833 + ], + [ + 0.8669703602790833 + ], + [ + 0.8669703602790833 + ], + [ + 0.8669703602790833 + ], + [ + 0.8669703602790833 + ], + [ + 0.8669703602790833 + ], + [ + 0.8669703602790833 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2657272219657898, + -0.012422449886798859, + 0.14533472061157227 + ], + [ + 0.2625366151332855, + -0.014040716923773289, + 0.13875629007816315 + ], + [ + 0.2694208323955536, + -0.03215420991182327, + 0.14764709770679474 + ], + [ + 0.27744534611701965, + -0.055800117552280426, + 0.14858068525791168 + ], + [ + 0.2833377420902252, + -0.07295657694339752, + 0.13935650885105133 + ], + [ + 0.3011092245578766, + -0.08901198953390121, + 0.12987120449543 + ], + [ + 0.31304246187210083, + -0.10428234189748764, + 0.11858879774808884 + ], + [ + 0.3249582350254059, + -0.10665106773376465, + 0.1040647029876709 + ], + [ + 0.33522412180900574, + -0.11020459979772568, + 0.08635877817869186 + ], + [ + 0.33826208114624023, + -0.1019807904958725, + 0.07701821625232697 + ], + [ + 0.3446638584136963, + -0.0880880206823349, + 0.07227373123168945 + ], + [ + 0.35203975439071655, + -0.07131931930780411, + 0.0721849873661995 + ], + [ + 0.3516116440296173, + -0.0623556487262249, + 0.07012880593538284 + ], + [ + 0.34267035126686096, + -0.05354376509785652, + 0.061804864555597305 + ], + [ + 0.335038959980011, + -0.0478009432554245, + 0.056128859519958496 + ], + [ + 0.33056530356407166, + -0.04335979372262955, + 0.053335223346948624 + ], + [ + 0.33056074380874634, + -0.033574167639017105, + 0.04559464007616043 + ], + [ + 0.32800960540771484, + -0.026201410219073296, + 0.04396279528737068 + ], + [ + 0.3223206102848053, + -0.021720677614212036, + 0.0361102931201458 + ], + [ + 0.3242717981338501, + -0.02375098131597042, + 0.041262563318014145 + ], + [ + 0.33280089497566223, + -0.0295748021453619, + 0.05953976884484291 + ], + [ + 0.3382405936717987, + -0.02516808547079563, + 0.07553698122501373 + ], + [ + 0.3383568823337555, + -0.012536629103124142, + 0.09060835838317871 + ], + [ + 0.3379155099391937, + 0.007126951590180397, + 0.0915493294596672 + ], + [ + 0.33800917863845825, + 0.012270336039364338, + 0.08533631265163422 + ], + [ + 0.3408622443675995, + 0.012905800715088844, + 0.08023330569267273 + ], + [ + 0.3426153063774109, + 0.0068687754683196545, + 0.07952931523323059 + ], + [ + 0.3453209102153778, + 0.007487161085009575, + 0.08871277421712875 + ], + [ + 0.3461970388889313, + 0.01012866199016571, + 0.09357452392578125 + ], + [ + 0.34896719455718994, + 0.012883111834526062, + 0.09538775682449341 + ], + [ + 0.35156646370887756, + 0.016502968966960907, + 0.09879221767187119 + ], + [ + 0.35363084077835083, + 0.018586143851280212, + 0.10141696035861969 + ], + [ + 0.3541927635669708, + 0.018258003517985344, + 0.1020708903670311 + ], + [ + 0.34982508420944214, + 0.017279881983995438, + 0.09663433581590652 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9765128250417725, + -0.02875828625602884, + 0.21353141103957837, + -0.04469951559411675, + -0.9965305320524185, + 0.07020578318753729, + 0.21077157264343874, + -0.07810159831232957, + -0.974410326559849 + ], + [ + 0.9838224558849612, + -0.05286998454662909, + 0.1711669945711585, + -0.06786941853563758, + -0.9942360739956818, + 0.08299621192131473, + 0.16579239223836015, + -0.0932705414356137, + -0.9817400311570215 + ], + [ + 0.9615941466177292, + -0.22241086794485018, + 0.16084185714713575, + -0.24373839655142646, + -0.9613841478536022, + 0.12779716077575026, + 0.1262073343235677, + -0.16209233811572277, + -0.9786714375555862 + ], + [ + 0.862028249507132, + -0.4853781118974977, + 0.14599789567829463, + -0.5068172647919694, + -0.8291737469458269, + 0.23581169921063036, + 0.006599784879581114, + -0.2772706004368986, + -0.9607692006787609 + ], + [ + 0.6893000964159499, + -0.7112022016289532, + 0.13804638886653953, + -0.7032286879330001, + -0.611016958535521, + 0.3634937260119255, + -0.17416885355594808, + -0.34763444130311844, + -0.9213118395369049 + ], + [ + 0.486234623993187, + -0.8553915070200345, + 0.17855324177454202, + -0.8260397586910441, + -0.3832974579830996, + 0.413208634669383, + -0.2850161530367107, + -0.34840842185815196, + -0.8929598894051547 + ], + [ + 0.29319445677622397, + -0.9297225656997549, + 0.22282944451835807, + -0.8288672530604738, + -0.1310348885228722, + 0.5438831995877269, + -0.4764620523396167, + -0.3441595688317608, + -0.8090352920990883 + ], + [ + 0.233258370032777, + -0.9608980821056052, + 0.14921597975894518, + -0.7385789332157269, + -0.07525452134716398, + 0.6699536673731463, + -0.6325280169443653, + -0.26648007959804254, + -0.727252827397632 + ], + [ + 0.17493886397831254, + -0.9842497976161179, + 0.0254701739807231, + -0.6519703155554478, + -0.09641769896791313, + 0.7520893131538717, + -0.7377879786934096, + -0.14817544742083189, + -0.6585688538620158 + ], + [ + 0.16952201066322747, + -0.9843338283220663, + -0.048468570450566906, + -0.5958631360921779, + -0.14154445728127996, + 0.7905139402055745, + -0.7849900706041391, + -0.10512887821037986, + -0.6105231429021638 + ], + [ + 0.15603341558395256, + -0.9849108745130107, + -0.07486082077577089, + -0.5585990221375093, + -0.15049271254705943, + 0.8156709360626052, + -0.8146291829343115, + -0.0854547408646511, + -0.5736521433547785 + ], + [ + 0.1622308839191099, + -0.981409503854037, + -0.10255011481123255, + -0.5248999556573023, + -0.17383383327936275, + 0.8332237604379538, + -0.8355603968916826, + -0.08134607644118674, + -0.5433430214825974 + ], + [ + 0.15054221407062796, + -0.9796450345132417, + -0.13278798189694196, + -0.5151053620275945, + -0.1923733202097293, + 0.8352598228586754, + -0.8438030029533754, + -0.057342061569447544, + -0.5335807157139693 + ], + [ + 0.1121184777542723, + -0.9801665832544288, + -0.1634102690084192, + -0.49558951623602887, + -0.19769142596775235, + 0.8457594997963522, + -0.8612900082684136, + -0.013840851497499973, + -0.5079251445703594 + ], + [ + 0.08003703897478592, + -0.9789277355975624, + -0.18786846693891524, + -0.48223340657361635, + -0.20297596084179031, + 0.852204025398119, + -0.8723789394389083, + 0.022388564004457212, + -0.48831725161544776 + ], + [ + 0.058936446405406795, + -0.9784277523799962, + -0.1980041127293355, + -0.46398051519824923, + -0.20247115043334615, + 0.8623963791427725, + -0.8838826714001524, + 0.04104347225596444, + -0.46590434273969156 + ], + [ + 0.028761187901762186, + -0.9757250300924094, + -0.21710241758591053, + -0.4050261601572254, + -0.20993952902064716, + 0.8898759485135459, + -0.9138526159391206, + 0.06233826919121482, + -0.401232272549792 + ], + [ + 0.01888902449358998, + -0.9731923717168915, + -0.22921564603170602, + -0.38720285525948, + -0.21848699188239873, + 0.8957328749449174, + -0.921801037986282, + 0.07183343239907458, + -0.380949871186723 + ], + [ + 0.01981029491580366, + -0.9777712432575156, + -0.2087365518398765, + -0.38210945088486886, + -0.2003327401515648, + 0.9021414305793908, + -0.9239047135715961, + 0.06188852140759338, + -0.37758428351583834 + ], + [ + 0.08615873700001359, + -0.9849968780893281, + -0.1495253229150147, + -0.4663999166483585, + -0.17249936253511317, + 0.8675915442622661, + -0.8803679854407285, + -0.005011993541146509, + -0.4742647890490889 + ], + [ + 0.19122413268092286, + -0.9777051507612647, + -0.08675234437939444, + -0.6143913809621521, + -0.18815430286793422, + 0.7662383371456306, + -0.7654779958168936, + -0.09322336878258553, + -0.636673261126127 + ], + [ + 0.27096126396066944, + -0.9613038668906777, + -0.04974805457368947, + -0.7414654877960745, + -0.24139499449384116, + 0.6260650022486867, + -0.6138476389464783, + -0.1327528987794571, + -0.7781823334061788 + ], + [ + 0.4097965533420607, + -0.9121750354088225, + -0.001868059389156157, + -0.8284517356599677, + -0.3730391887683539, + 0.4177433246923712, + -0.3817518913521648, + -0.1696421775973247, + -0.9085631651289212 + ], + [ + 0.5433726920785654, + -0.8332525466676503, + 0.10215826435080042, + -0.8251136685183401, + -0.5076716294450283, + 0.24790512435372647, + -0.15470472367545632, + -0.21899705506811118, + -0.9633829655666512 + ], + [ + 0.5964187104893721, + -0.7586842087457771, + 0.2620744038970394, + -0.8026179368665235, + -0.5675349840207445, + 0.1835987182218293, + 0.009442944367084927, + -0.3198473281307308, + -0.9474220376840052 + ], + [ + 0.656381293184314, + -0.6349190362494186, + 0.407481797588306, + -0.7398543181832888, + -0.6473863934252069, + 0.1830476590220267, + 0.14757772807313624, + -0.42162622667003624, + -0.8946799087722708 + ], + [ + 0.6617058249671572, + -0.562360627794644, + 0.49587894239516517, + -0.7143683896364856, + -0.6736944644504138, + 0.189244742217701, + 0.22764710648876654, + -0.47946458980333867, + -0.8475202074475912 + ], + [ + 0.6570353297031752, + -0.46502107860600533, + 0.5933464181858241, + -0.675075424281325, + -0.713248792175427, + 0.18854530487838475, + 0.3355260750720103, + -0.5244345115573551, + -0.7825539572670818 + ], + [ + 0.65337913491247, + -0.34740131511894523, + 0.6726128398377923, + -0.6057590118732363, + -0.7728041897540128, + 0.18928735782667602, + 0.454039343664613, + -0.5311176993400532, + -0.7153756103281242 + ], + [ + 0.6523149305764271, + -0.2648445926070555, + 0.7101708055910735, + -0.5407360205260856, + -0.8191776995317093, + 0.19118695744100742, + 0.5311212549434302, + -0.5087290421793704, + -0.6775728552639756 + ], + [ + 0.6493721925336544, + -0.2202023784734013, + 0.7278919343410056, + -0.506382949453634, + -0.83930401255457, + 0.19785116378842976, + 0.567355324348571, + -0.4970711086197373, + -0.6565274167229215 + ], + [ + 0.6516521276177045, + -0.16583802229910602, + 0.7401670452885889, + -0.46145494568685785, + -0.8611328721595004, + 0.21332957972927333, + 0.6020040179869715, + -0.4805704181972196, + -0.6376858438771331 + ], + [ + 0.6491378366260325, + -0.1267941081876502, + 0.7500288815701517, + -0.41869193798391696, + -0.8827622640148923, + 0.21313809208720397, + 0.6350725392644103, + -0.4523870459686043, + -0.6261220571997554 + ], + [ + 0.6760580929695357, + -0.11737442581436447, + 0.7274398250681243, + -0.3701433130972899, + -0.9077302829530075, + 0.19753394943506555, + 0.6371337243465901, + -0.4028014120814396, + -0.6571237628677281 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0031906068325042725, + -0.00161826703697443, + -0.006578430533409119, + 0.014739342033863068, + 0.045802727341651917, + -0.02313360944390297, + 1.0 + ], + [ + 0.006884217262268066, + -0.01811349391937256, + 0.008890807628631592, + 0.06941384077072144, + 0.04001666605472565, + -0.17936861515045166, + 1.0 + ], + [ + 0.008024513721466064, + -0.023645907640457153, + 0.0009335875511169434, + 0.11682356894016266, + 0.1199449673295021, + -0.2832565903663635, + 1.0 + ], + [ + 0.005892395973205566, + -0.017156459391117096, + -0.009224176406860352, + 0.07984945178031921, + 0.1816614866256714, + -0.26389867067337036, + 1.0 + ], + [ + 0.017771482467651367, + -0.016055412590503693, + -0.009485304355621338, + 0.011197924613952637, + 0.11396162211894989, + -0.24337631464004517, + 1.0 + ], + [ + 0.011933237314224243, + -0.015270352363586426, + -0.011282406747341156, + 0.03019934892654419, + 0.20760294795036316, + -0.19202673435211182, + 1.0 + ], + [ + 0.011915773153305054, + -0.002368725836277008, + -0.014524094760417938, + -0.05097770690917969, + 0.18818655610084534, + -0.034085988998413086, + 1.0 + ], + [ + 0.010265886783599854, + -0.003553532063961029, + -0.017705924808979034, + -0.1299166977405548, + 0.14497476816177368, + -0.04375863075256348, + 1.0 + ], + [ + 0.003037959337234497, + 0.00822380930185318, + -0.009340561926364899, + -0.050788283348083496, + 0.07289254665374756, + 0.015026569366455078, + 1.0 + ], + [ + 0.006401777267456055, + 0.013892769813537598, + -0.004744485020637512, + -0.0226438045501709, + 0.049409449100494385, + -0.004787802696228027, + 1.0 + ], + [ + 0.007375895977020264, + 0.016768701374530792, + -8.874386548995972e-05, + 0.0007315874099731445, + 0.03706246614456177, + 0.02736985683441162, + 1.0 + ], + [ + -0.00042811036109924316, + 0.008963670581579208, + -0.0020561814308166504, + -0.041554614901542664, + 0.01517874002456665, + -0.015420675277709961, + 1.0 + ], + [ + -0.008941292762756348, + 0.008811883628368378, + -0.008323941379785538, + -0.07981260120868683, + 0.033472299575805664, + -0.061849117279052734, + 1.0 + ], + [ + -0.007631391286849976, + 0.005742821842432022, + -0.005676005035638809, + -0.07305935770273209, + 0.022244930267333984, + -0.05801498889923096, + 1.0 + ], + [ + -0.004473656415939331, + 0.004441149532794952, + -0.0027936361730098724, + -0.042051058262586594, + 0.024051666259765625, + -0.03812539577484131, + 1.0 + ], + [ + -4.559755325317383e-06, + 0.009785626083612442, + -0.007740583270788193, + -0.06626733392477036, + 0.0685734748840332, + -0.05545520782470703, + 1.0 + ], + [ + -0.002551138401031494, + 0.0073727574199438095, + -0.0016318447887897491, + -0.032240912318229675, + 0.020027875900268555, + -0.022147059440612793, + 1.0 + ], + [ + -0.005688995122909546, + 0.0044807326048612595, + -0.007852502167224884, + 0.02391369640827179, + 0.005462050437927246, + 0.0030535459518432617, + 0.0 + ], + [ + 0.0019511878490447998, + -0.0020303037017583847, + 0.005152270197868347, + 0.17302945256233215, + -0.10152554512023926, + 0.1308739185333252, + 0.0 + ], + [ + 0.008529096841812134, + -0.0058238208293914795, + 0.018277205526828766, + 0.13482193648815155, + -0.20485365390777588, + 0.11906588077545166, + 0.0 + ], + [ + 0.005439698696136475, + 0.004406716674566269, + 0.015997212380170822, + 0.023577526211738586, + -0.21085846424102783, + 0.04862523078918457, + 0.0 + ], + [ + 0.00011628866195678711, + 0.01263145636767149, + 0.015071377158164978, + 0.015622302889823914, + -0.26923438906669617, + 0.10899806022644043, + 0.0 + ], + [ + -0.0004413723945617676, + 0.019663579761981964, + 0.0009409710764884949, + 0.03893308341503143, + -0.23636242747306824, + 0.12299603223800659, + 0.0 + ], + [ + 9.366869926452637e-05, + 0.005143384449183941, + -0.0062130168080329895, + 0.10206101834774017, + -0.1647716611623764, + 0.056707799434661865, + 0.0 + ], + [ + 0.0028530657291412354, + 0.0006354646757245064, + -0.005103006958961487, + 0.11480844020843506, + -0.13867564499378204, + 0.0866197943687439, + 0.0 + ], + [ + 0.0017530620098114014, + -0.00603702524676919, + -0.0007039904594421387, + 0.07444518804550171, + -0.08154192566871643, + 0.021461784839630127, + 0.0 + ], + [ + 0.002705603837966919, + 0.0006183856166899204, + 0.009183458983898163, + 0.07557851076126099, + -0.11250296235084534, + 0.02470982074737549, + 0.0 + ], + [ + 0.0008761286735534668, + 0.0026415009051561356, + 0.004861749708652496, + 0.04822438955307007, + -0.12913009524345398, + 0.05134326219558716, + 0.0 + ], + [ + 0.002770155668258667, + 0.0027544498443603516, + 0.0018132328987121582, + 0.005379915237426758, + -0.08862963318824768, + 0.055451154708862305, + 0.0 + ], + [ + 0.002599269151687622, + 0.003619857132434845, + 0.003404460847377777, + 0.004023551940917969, + -0.04336732625961304, + 0.029841065406799316, + 0.0 + ], + [ + 0.0020643770694732666, + 0.0020831748843193054, + 0.0026247426867485046, + -0.002231895923614502, + -0.042717814445495605, + 0.04614228010177612, + 0.0 + ], + [ + 0.0005619227886199951, + -0.00032814033329486847, + 0.0006539300084114075, + -0.020129382610321045, + -0.04209393262863159, + 0.0433119535446167, + 0.0 + ], + [ + -0.0043676793575286865, + -0.0009781215339899063, + -0.005436554551124573, + -0.07577568292617798, + -0.0026713013648986816, + 0.07192659378051758, + 0.0 + ], + [ + -0.004761397838592529, + 0.002877645194530487, + -0.005196794867515564, + -0.06968659162521362, + 0.011260807514190674, + 0.0851791501045227, + 0.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9900195002555847 + ], + [ + 0.9900195002555847 + ], + [ + 0.9900195002555847 + ], + [ + 0.9900195002555847 + ], + [ + 0.9900195002555847 + ], + [ + 0.9900195002555847 + ], + [ + 0.9900195002555847 + ], + [ + 0.9900195002555847 + ], + [ + 0.9900195002555847 + ], + [ + 0.9900195002555847 + ], + [ + 0.9900195002555847 + ], + [ + 0.9900195002555847 + ], + [ + 0.9900195002555847 + ], + [ + 0.9900195002555847 + ], + [ + 0.9900195002555847 + ], + [ + 0.9900195002555847 + ], + [ + 0.9900195002555847 + ], + [ + 0.8998980522155762 + ], + [ + 0.8435940742492676 + ], + [ + 0.8634164333343506 + ], + [ + 0.8669703602790833 + ], + [ + 0.8669703602790833 + ], + [ + 0.8669703602790833 + ], + [ + 0.8669703602790833 + ], + [ + 0.8669703602790833 + ], + [ + 0.8669703602790833 + ], + [ + 0.8669703602790833 + ], + [ + 0.8669703602790833 + ], + [ + 0.8669703602790833 + ], + [ + 0.8669703602790833 + ], + [ + 0.8669703602790833 + ], + [ + 0.8669703602790833 + ], + [ + 0.8669703602790833 + ], + [ + 0.8669703602790833 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2625366151332855, + -0.014040716923773289, + 0.13875629007816315 + ], + [ + 0.2694208323955536, + -0.03215420991182327, + 0.14764709770679474 + ], + [ + 0.27744534611701965, + -0.055800117552280426, + 0.14858068525791168 + ], + [ + 0.2833377420902252, + -0.07295657694339752, + 0.13935650885105133 + ], + [ + 0.3011092245578766, + -0.08901198953390121, + 0.12987120449543 + ], + [ + 0.31304246187210083, + -0.10428234189748764, + 0.11858879774808884 + ], + [ + 0.3249582350254059, + -0.10665106773376465, + 0.1040647029876709 + ], + [ + 0.33522412180900574, + -0.11020459979772568, + 0.08635877817869186 + ], + [ + 0.33826208114624023, + -0.1019807904958725, + 0.07701821625232697 + ], + [ + 0.3446638584136963, + -0.0880880206823349, + 0.07227373123168945 + ], + [ + 0.35203975439071655, + -0.07131931930780411, + 0.0721849873661995 + ], + [ + 0.3516116440296173, + -0.0623556487262249, + 0.07012880593538284 + ], + [ + 0.34267035126686096, + -0.05354376509785652, + 0.061804864555597305 + ], + [ + 0.335038959980011, + -0.0478009432554245, + 0.056128859519958496 + ], + [ + 0.33056530356407166, + -0.04335979372262955, + 0.053335223346948624 + ], + [ + 0.33056074380874634, + -0.033574167639017105, + 0.04559464007616043 + ], + [ + 0.32800960540771484, + -0.026201410219073296, + 0.04396279528737068 + ], + [ + 0.3223206102848053, + -0.021720677614212036, + 0.0361102931201458 + ], + [ + 0.3242717981338501, + -0.02375098131597042, + 0.041262563318014145 + ], + [ + 0.33280089497566223, + -0.0295748021453619, + 0.05953976884484291 + ], + [ + 0.3382405936717987, + -0.02516808547079563, + 0.07553698122501373 + ], + [ + 0.3383568823337555, + -0.012536629103124142, + 0.09060835838317871 + ], + [ + 0.3379155099391937, + 0.007126951590180397, + 0.0915493294596672 + ], + [ + 0.33800917863845825, + 0.012270336039364338, + 0.08533631265163422 + ], + [ + 0.3408622443675995, + 0.012905800715088844, + 0.08023330569267273 + ], + [ + 0.3426153063774109, + 0.0068687754683196545, + 0.07952931523323059 + ], + [ + 0.3453209102153778, + 0.007487161085009575, + 0.08871277421712875 + ], + [ + 0.3461970388889313, + 0.01012866199016571, + 0.09357452392578125 + ], + [ + 0.34896719455718994, + 0.012883111834526062, + 0.09538775682449341 + ], + [ + 0.35156646370887756, + 0.016502968966960907, + 0.09879221767187119 + ], + [ + 0.35363084077835083, + 0.018586143851280212, + 0.10141696035861969 + ], + [ + 0.3541927635669708, + 0.018258003517985344, + 0.1020708903670311 + ], + [ + 0.34982508420944214, + 0.017279881983995438, + 0.09663433581590652 + ], + [ + 0.3450636863708496, + 0.020157527178525925, + 0.09143754094839096 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9838224558849612, + -0.05286998454662909, + 0.1711669945711585, + -0.06786941853563758, + -0.9942360739956818, + 0.08299621192131473, + 0.16579239223836015, + -0.0932705414356137, + -0.9817400311570215 + ], + [ + 0.9615941466177292, + -0.22241086794485018, + 0.16084185714713575, + -0.24373839655142646, + -0.9613841478536022, + 0.12779716077575026, + 0.1262073343235677, + -0.16209233811572277, + -0.9786714375555862 + ], + [ + 0.862028249507132, + -0.4853781118974977, + 0.14599789567829463, + -0.5068172647919694, + -0.8291737469458269, + 0.23581169921063036, + 0.006599784879581114, + -0.2772706004368986, + -0.9607692006787609 + ], + [ + 0.6893000964159499, + -0.7112022016289532, + 0.13804638886653953, + -0.7032286879330001, + -0.611016958535521, + 0.3634937260119255, + -0.17416885355594808, + -0.34763444130311844, + -0.9213118395369049 + ], + [ + 0.486234623993187, + -0.8553915070200345, + 0.17855324177454202, + -0.8260397586910441, + -0.3832974579830996, + 0.413208634669383, + -0.2850161530367107, + -0.34840842185815196, + -0.8929598894051547 + ], + [ + 0.29319445677622397, + -0.9297225656997549, + 0.22282944451835807, + -0.8288672530604738, + -0.1310348885228722, + 0.5438831995877269, + -0.4764620523396167, + -0.3441595688317608, + -0.8090352920990883 + ], + [ + 0.233258370032777, + -0.9608980821056052, + 0.14921597975894518, + -0.7385789332157269, + -0.07525452134716398, + 0.6699536673731463, + -0.6325280169443653, + -0.26648007959804254, + -0.727252827397632 + ], + [ + 0.17493886397831254, + -0.9842497976161179, + 0.0254701739807231, + -0.6519703155554478, + -0.09641769896791313, + 0.7520893131538717, + -0.7377879786934096, + -0.14817544742083189, + -0.6585688538620158 + ], + [ + 0.16952201066322747, + -0.9843338283220663, + -0.048468570450566906, + -0.5958631360921779, + -0.14154445728127996, + 0.7905139402055745, + -0.7849900706041391, + -0.10512887821037986, + -0.6105231429021638 + ], + [ + 0.15603341558395256, + -0.9849108745130107, + -0.07486082077577089, + -0.5585990221375093, + -0.15049271254705943, + 0.8156709360626052, + -0.8146291829343115, + -0.0854547408646511, + -0.5736521433547785 + ], + [ + 0.1622308839191099, + -0.981409503854037, + -0.10255011481123255, + -0.5248999556573023, + -0.17383383327936275, + 0.8332237604379538, + -0.8355603968916826, + -0.08134607644118674, + -0.5433430214825974 + ], + [ + 0.15054221407062796, + -0.9796450345132417, + -0.13278798189694196, + -0.5151053620275945, + -0.1923733202097293, + 0.8352598228586754, + -0.8438030029533754, + -0.057342061569447544, + -0.5335807157139693 + ], + [ + 0.1121184777542723, + -0.9801665832544288, + -0.1634102690084192, + -0.49558951623602887, + -0.19769142596775235, + 0.8457594997963522, + -0.8612900082684136, + -0.013840851497499973, + -0.5079251445703594 + ], + [ + 0.08003703897478592, + -0.9789277355975624, + -0.18786846693891524, + -0.48223340657361635, + -0.20297596084179031, + 0.852204025398119, + -0.8723789394389083, + 0.022388564004457212, + -0.48831725161544776 + ], + [ + 0.058936446405406795, + -0.9784277523799962, + -0.1980041127293355, + -0.46398051519824923, + -0.20247115043334615, + 0.8623963791427725, + -0.8838826714001524, + 0.04104347225596444, + -0.46590434273969156 + ], + [ + 0.028761187901762186, + -0.9757250300924094, + -0.21710241758591053, + -0.4050261601572254, + -0.20993952902064716, + 0.8898759485135459, + -0.9138526159391206, + 0.06233826919121482, + -0.401232272549792 + ], + [ + 0.01888902449358998, + -0.9731923717168915, + -0.22921564603170602, + -0.38720285525948, + -0.21848699188239873, + 0.8957328749449174, + -0.921801037986282, + 0.07183343239907458, + -0.380949871186723 + ], + [ + 0.01981029491580366, + -0.9777712432575156, + -0.2087365518398765, + -0.38210945088486886, + -0.2003327401515648, + 0.9021414305793908, + -0.9239047135715961, + 0.06188852140759338, + -0.37758428351583834 + ], + [ + 0.08615873700001359, + -0.9849968780893281, + -0.1495253229150147, + -0.4663999166483585, + -0.17249936253511317, + 0.8675915442622661, + -0.8803679854407285, + -0.005011993541146509, + -0.4742647890490889 + ], + [ + 0.19122413268092286, + -0.9777051507612647, + -0.08675234437939444, + -0.6143913809621521, + -0.18815430286793422, + 0.7662383371456306, + -0.7654779958168936, + -0.09322336878258553, + -0.636673261126127 + ], + [ + 0.27096126396066944, + -0.9613038668906777, + -0.04974805457368947, + -0.7414654877960745, + -0.24139499449384116, + 0.6260650022486867, + -0.6138476389464783, + -0.1327528987794571, + -0.7781823334061788 + ], + [ + 0.4097965533420607, + -0.9121750354088225, + -0.001868059389156157, + -0.8284517356599677, + -0.3730391887683539, + 0.4177433246923712, + -0.3817518913521648, + -0.1696421775973247, + -0.9085631651289212 + ], + [ + 0.5433726920785654, + -0.8332525466676503, + 0.10215826435080042, + -0.8251136685183401, + -0.5076716294450283, + 0.24790512435372647, + -0.15470472367545632, + -0.21899705506811118, + -0.9633829655666512 + ], + [ + 0.5964187104893721, + -0.7586842087457771, + 0.2620744038970394, + -0.8026179368665235, + -0.5675349840207445, + 0.1835987182218293, + 0.009442944367084927, + -0.3198473281307308, + -0.9474220376840052 + ], + [ + 0.656381293184314, + -0.6349190362494186, + 0.407481797588306, + -0.7398543181832888, + -0.6473863934252069, + 0.1830476590220267, + 0.14757772807313624, + -0.42162622667003624, + -0.8946799087722708 + ], + [ + 0.6617058249671572, + -0.562360627794644, + 0.49587894239516517, + -0.7143683896364856, + -0.6736944644504138, + 0.189244742217701, + 0.22764710648876654, + -0.47946458980333867, + -0.8475202074475912 + ], + [ + 0.6570353297031752, + -0.46502107860600533, + 0.5933464181858241, + -0.675075424281325, + -0.713248792175427, + 0.18854530487838475, + 0.3355260750720103, + -0.5244345115573551, + -0.7825539572670818 + ], + [ + 0.65337913491247, + -0.34740131511894523, + 0.6726128398377923, + -0.6057590118732363, + -0.7728041897540128, + 0.18928735782667602, + 0.454039343664613, + -0.5311176993400532, + -0.7153756103281242 + ], + [ + 0.6523149305764271, + -0.2648445926070555, + 0.7101708055910735, + -0.5407360205260856, + -0.8191776995317093, + 0.19118695744100742, + 0.5311212549434302, + -0.5087290421793704, + -0.6775728552639756 + ], + [ + 0.6493721925336544, + -0.2202023784734013, + 0.7278919343410056, + -0.506382949453634, + -0.83930401255457, + 0.19785116378842976, + 0.567355324348571, + -0.4970711086197373, + -0.6565274167229215 + ], + [ + 0.6516521276177045, + -0.16583802229910602, + 0.7401670452885889, + -0.46145494568685785, + -0.8611328721595004, + 0.21332957972927333, + 0.6020040179869715, + -0.4805704181972196, + -0.6376858438771331 + ], + [ + 0.6491378366260325, + -0.1267941081876502, + 0.7500288815701517, + -0.41869193798391696, + -0.8827622640148923, + 0.21313809208720397, + 0.6350725392644103, + -0.4523870459686043, + -0.6261220571997554 + ], + [ + 0.6760580929695357, + -0.11737442581436447, + 0.7274398250681243, + -0.3701433130972899, + -0.9077302829530075, + 0.19753394943506555, + 0.6371337243465901, + -0.4028014120814396, + -0.6571237628677281 + ], + [ + 0.711616022661933, + -0.09260926762830582, + 0.6964381952766232, + -0.31416272816851043, + -0.9285924550278459, + 0.1975293211021501, + 0.6284142077646955, + -0.35935995327068165, + -0.6898956496925919 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005582.json b/json/chunk-0005/episode_0005582.json new file mode 100644 index 0000000000000000000000000000000000000000..930106e86a6fde031a4165a9ede8cb3de659414a --- /dev/null +++ b/json/chunk-0005/episode_0005582.json @@ -0,0 +1,1762 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 28, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the blue spoon to the upper right corner." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005582.mp4", + "start": 0, + "end": 28, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.277798056602478, + -0.06062952056527138, + 0.07064966857433319, + 0.09801781922578812, + -0.0746774896979332, + -0.13921132683753967, + 0.0, + 1.0001531839370728 + ], + [ + 0.27531909942626953, + -0.060531944036483765, + 0.06436172872781754, + 0.0977497324347496, + -0.049558594822883606, + -0.1396348774433136, + 0.0, + 1.0001531839370728 + ], + [ + 0.2779962420463562, + -0.048797912895679474, + 0.06924110651016235, + 0.07470336556434631, + -0.03816206380724907, + -0.1064988449215889, + 0.0, + 1.0001531839370728 + ], + [ + 0.2864690124988556, + -0.020189352333545685, + 0.09028889238834381, + 0.043322209268808365, + -0.10375389456748962, + -0.028912603855133057, + 0.0, + 1.0001531839370728 + ], + [ + 0.28476807475090027, + 0.03010668233036995, + 0.109785296022892, + 0.041083380579948425, + -0.15849792957305908, + 0.0481061115860939, + 0.0, + 1.0001531839370728 + ], + [ + 0.2744584381580353, + 0.07732215523719788, + 0.10843796283006668, + 0.04714193567633629, + -0.17253467440605164, + 0.09065981954336166, + 0.0, + 1.0001531839370728 + ], + [ + 0.25533121824264526, + 0.1293715387582779, + 0.1023666113615036, + 0.0011552056530490518, + -0.18850669264793396, + 0.17575055360794067, + 0.0, + 1.0001531839370728 + ], + [ + 0.24458451569080353, + 0.16917063295841217, + 0.0727316364645958, + -0.029177337884902954, + -0.13989190757274628, + 0.16955818235874176, + 0.0, + 0.9994885921478271 + ], + [ + 0.25206294655799866, + 0.19235429167747498, + 0.05528802424669266, + 0.0194283165037632, + -0.09363687038421631, + 0.1006014496088028, + 0.0, + 0.9994885921478271 + ], + [ + 0.25916168093681335, + 0.190890371799469, + 0.04045611247420311, + 0.03936640918254852, + -0.06234761327505112, + 0.02457037940621376, + 0.0, + 0.9994885921478271 + ], + [ + 0.2650536000728607, + 0.18500660359859467, + 0.029464339837431908, + 0.06741339713335037, + -0.030973175540566444, + -0.006829630117863417, + 0.0, + 0.9994885921478271 + ], + [ + 0.27052778005599976, + 0.17764098942279816, + 0.028029782697558403, + 0.0902068167924881, + -0.026420891284942627, + -0.015687549486756325, + 0.0, + 0.9672539830207825 + ], + [ + 0.2717091739177704, + 0.17346906661987305, + 0.019939148798584938, + 0.1014227643609047, + -0.00932146143168211, + -0.00792284868657589, + 0.0, + 0.7749528288841248 + ], + [ + 0.26903221011161804, + 0.1766749769449234, + 0.013215073384344578, + 0.11834238469600677, + 0.01068778894841671, + 0.019378066062927246, + 0.0, + 0.4662301242351532 + ], + [ + 0.26789432764053345, + 0.17763760685920715, + 0.012586545199155807, + 0.12537123262882233, + 0.014667029492557049, + 0.03734822943806648, + 0.0, + 0.3149794638156891 + ], + [ + 0.2668408155441284, + 0.17654871940612793, + 0.010111192241311073, + 0.12056863307952881, + 0.023092029616236687, + 0.057590730488300323, + 0.0, + 0.3142010271549225 + ], + [ + 0.26775801181793213, + 0.1737065613269806, + 0.01136990636587143, + 0.08869785070419312, + 0.004390656482428312, + 0.05980512127280235, + 0.0, + 0.31342363357543945 + ], + [ + 0.2715216279029846, + 0.16830885410308838, + 0.05596819519996643, + 0.1374797523021698, + -0.058707334101200104, + 0.08191830664873123, + 0.0, + 0.31342363357543945 + ], + [ + 0.2901899218559265, + 0.13759474456310272, + 0.10112885385751724, + 0.18284405767917633, + -0.12113258242607117, + 0.04062623903155327, + 0.0, + 0.31342363357543945 + ], + [ + 0.31757476925849915, + 0.08799727261066437, + 0.10900960117578506, + 0.16186566650867462, + -0.13973745703697205, + -0.05727063864469528, + 0.0, + 0.31342363357543945 + ], + [ + 0.34145551919937134, + 0.04060259088873863, + 0.0867878720164299, + 0.1171342059969902, + -0.10682659596204758, + -0.047384317964315414, + 0.0, + 0.31342363357543945 + ], + [ + 0.3546393811702728, + -0.009532204829156399, + 0.060708653181791306, + 0.10450764745473862, + -0.06370452791452408, + -0.013869554735720158, + 0.0, + 0.31342363357543945 + ], + [ + 0.3605272173881531, + -0.025092970579862595, + 0.04267110303044319, + 0.07964298129081726, + -0.034125588834285736, + 0.005233747884631157, + 0.0, + 0.31342363357543945 + ], + [ + 0.3606574237346649, + -0.027270659804344177, + 0.029293118044734, + 0.07178041338920593, + -0.014592978172004223, + -0.01361866109073162, + 0.0, + 0.37717074155807495 + ], + [ + 0.36181747913360596, + -0.02913719229400158, + 0.025863753631711006, + 0.06091627478599548, + -0.01620892807841301, + -0.03850864991545677, + 0.0, + 0.6821943521499634 + ], + [ + 0.3626743257045746, + -0.0335749015212059, + 0.025676565244793892, + 0.03373301774263382, + -0.021759482100605965, + -0.06572116911411285, + 0.0, + 0.9568231701850891 + ], + [ + 0.36122027039527893, + -0.03334049507975578, + 0.035764701664447784, + 0.0, + -0.04755336046218872, + -0.0920388475060463, + 0.0, + 1.003452181816101 + ], + [ + 0.359554648399353, + -0.03294892981648445, + 0.06846065074205399, + -0.020791970193386078, + -0.1278654783964157, + -0.09830605983734131, + 0.0, + 0.9994885921478271 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9672539830207825 + ], + [ + 0.7749528288841248 + ], + [ + 0.4662301242351532 + ], + [ + 0.3149794638156891 + ], + [ + 0.3142010271549225 + ], + [ + 0.31342363357543945 + ], + [ + 0.31342363357543945 + ], + [ + 0.31342363357543945 + ], + [ + 0.31342363357543945 + ], + [ + 0.31342363357543945 + ], + [ + 0.31342363357543945 + ], + [ + 0.31342363357543945 + ], + [ + 0.37717074155807495 + ], + [ + 0.6821943521499634 + ], + [ + 0.9568231701850891 + ], + [ + 1.003452181816101 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.277798056602478, + -0.06062952056527138, + 0.07064966857433319 + ], + [ + 0.27531909942626953, + -0.060531944036483765, + 0.06436172872781754 + ], + [ + 0.2779962420463562, + -0.048797912895679474, + 0.06924110651016235 + ], + [ + 0.2864690124988556, + -0.020189352333545685, + 0.09028889238834381 + ], + [ + 0.28476807475090027, + 0.03010668233036995, + 0.109785296022892 + ], + [ + 0.2744584381580353, + 0.07732215523719788, + 0.10843796283006668 + ], + [ + 0.25533121824264526, + 0.1293715387582779, + 0.1023666113615036 + ], + [ + 0.24458451569080353, + 0.16917063295841217, + 0.0727316364645958 + ], + [ + 0.25206294655799866, + 0.19235429167747498, + 0.05528802424669266 + ], + [ + 0.25916168093681335, + 0.190890371799469, + 0.04045611247420311 + ], + [ + 0.2650536000728607, + 0.18500660359859467, + 0.029464339837431908 + ], + [ + 0.27052778005599976, + 0.17764098942279816, + 0.028029782697558403 + ], + [ + 0.2717091739177704, + 0.17346906661987305, + 0.019939148798584938 + ], + [ + 0.26903221011161804, + 0.1766749769449234, + 0.013215073384344578 + ], + [ + 0.26789432764053345, + 0.17763760685920715, + 0.012586545199155807 + ], + [ + 0.2668408155441284, + 0.17654871940612793, + 0.010111192241311073 + ], + [ + 0.26775801181793213, + 0.1737065613269806, + 0.01136990636587143 + ], + [ + 0.2715216279029846, + 0.16830885410308838, + 0.05596819519996643 + ], + [ + 0.2901899218559265, + 0.13759474456310272, + 0.10112885385751724 + ], + [ + 0.31757476925849915, + 0.08799727261066437, + 0.10900960117578506 + ], + [ + 0.34145551919937134, + 0.04060259088873863, + 0.0867878720164299 + ], + [ + 0.3546393811702728, + -0.009532204829156399, + 0.060708653181791306 + ], + [ + 0.3605272173881531, + -0.025092970579862595, + 0.04267110303044319 + ], + [ + 0.3606574237346649, + -0.027270659804344177, + 0.029293118044734 + ], + [ + 0.36181747913360596, + -0.02913719229400158, + 0.025863753631711006 + ], + [ + 0.3626743257045746, + -0.0335749015212059, + 0.025676565244793892 + ], + [ + 0.36122027039527893, + -0.03334049507975578, + 0.035764701664447784 + ], + [ + 0.359554648399353, + -0.03294892981648445, + 0.06846065074205399 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9875656368208972, + -0.13086548487014885, + 0.08711106611812909, + -0.13837537507635192, + -0.9865854085531249, + 0.08661112632071447, + 0.07460809971454264, + -0.09758819856808854, + -0.9924264078294271 + ], + [ + 0.9890510547949324, + -0.13372955121530058, + 0.06240527334116894, + -0.13901067140382087, + -0.9862125352910829, + 0.0897823394136827, + 0.04953831088047565, + -0.09747431644535436, + -0.9940043829826005 + ], + [ + 0.9936103979041842, + -0.10316981702025532, + 0.045764244041572144, + -0.10622024714627984, + -0.9918638402155827, + 0.07016681244705966, + 0.03815280163857912, + -0.07457956374774966, + -0.9964849484053049 + ], + [ + 0.9942066986874261, + -0.02439794217038887, + 0.10467941871685867, + -0.02875311682313663, + -0.9987738578506007, + 0.04029936906680606, + 0.10356784519340025, + -0.04307576223443932, + -0.9936891768304199 + ], + [ + 0.986323101784179, + 0.05452206051338155, + 0.15554447532526308, + 0.047484804593012346, + -0.9976885656144909, + 0.048607811870760576, + 0.15783514253676098, + -0.04055700875896766, + -0.9866322500409793 + ], + [ + 0.9811069661914262, + 0.09849219778557992, + 0.16651849106336955, + 0.08919147545332111, + -0.9940543365840385, + 0.062456838095811, + 0.17167993941376755, + -0.04642480903388764, + -0.9840582988365333 + ], + [ + 0.9671536352283526, + 0.17506020371847436, + 0.1843034751127317, + 0.17174978952995618, + -0.984557076779519, + 0.033902394602514964, + 0.1873922508029583, + -0.001134741122517241, + -0.9822845090408311 + ], + [ + 0.9760305845209506, + 0.1646655985752062, + 0.14230087394517402, + 0.16709840800778755, + -0.9859263218516537, + -0.005235448532060616, + 0.13943607897869983, + 0.028888207385331918, + -0.989809603587027 + ], + [ + 0.9905853602333047, + 0.10222014075225093, + 0.09105870038631315, + 0.09999187867645866, + -0.9945737430019016, + 0.02871748474257589, + 0.09350009780854089, + -0.019341989447254744, + -0.9954313734025143 + ], + [ + 0.997755766959456, + 0.027000311313234156, + 0.061273262424453655, + 0.024520172252497672, + -0.9988633953491047, + 0.04087393526889491, + 0.06230722792626365, + -0.039279773683747306, + -0.997283765398544 + ], + [ + 0.9994970588970069, + -0.004728020573788036, + 0.031357217314154154, + -0.006826301351475458, + -0.9977195556264651, + 0.06714975748569857, + 0.030968223489443114, + -0.06733003892753311, + -0.997250036345913 + ], + [ + 0.9995279844191458, + -0.01324358125931054, + 0.02772031598716305, + -0.01568143113601138, + -0.9958489088051907, + 0.08966071352068217, + 0.026417817482272486, + -0.09005308649313107, + -0.9955865309115699 + ], + [ + 0.9999251712550175, + -0.0069383065513788904, + 0.010075306090784638, + -0.007922421597957486, + -0.9948373718175424, + 0.10117232265392077, + 0.00932132644252555, + -0.10124457287856929, + -0.9948178975752235 + ], + [ + 0.9997551480034975, + 0.01797971866799939, + -0.012898595160875196, + 0.019375746624095552, + -0.992843723478813, + 0.11783853865134764, + -0.010687585473969726, + -0.11805960556153783, + -0.992948994184188 + ], + [ + 0.9991951520056541, + 0.035213815358470346, + -0.019210294539576355, + 0.03733553106103396, + -0.9915279035269635, + 0.12441251805109839, + -0.014666503632027882, + -0.12502961143394742, + -0.9920446007795656 + ], + [ + 0.9980759451218191, + 0.05436846347209554, + -0.029807347229683128, + 0.057543554920906646, + -0.991254402638507, + 0.11875794094224344, + -0.023089977398258462, + -0.1202446648690086, + -0.9924757294333638 + ], + [ + 0.9982025850054034, + 0.05914628415322596, + -0.009660039306140419, + 0.05976890117830511, + -0.9943114046935528, + 0.08816183385270376, + -0.0043906423753619, + -0.08858074038525304, + -0.9960593228780763 + ], + [ + 0.9949295680156964, + 0.08906872697639598, + 0.04671098974442884, + 0.08168574761326827, + -0.9865847743351251, + 0.14134327605857952, + 0.058673616941188646, + -0.13681098247185644, + -0.9888580088921383 + ], + [ + 0.99185332925733, + 0.06189124916796928, + 0.11133933050624463, + 0.04031745408206396, + -0.9816267988131937, + 0.18650289742548892, + 0.12083656788195822, + -0.18049460138239626, + -0.9761251060874927 + ], + [ + 0.9886290643297363, + -0.034081087361821125, + 0.1464617787914181, + -0.056681401720331245, + -0.9865950892285313, + 0.1530272806043576, + 0.13928313559626956, + -0.1595888761611607, + -0.9773083437401366 + ], + [ + 0.9931834351420636, + -0.034595278631501095, + 0.11130961708594228, + -0.047096573195561056, + -0.9926231154858032, + 0.1117195748134277, + 0.10662352907611644, + -0.11620033261426885, + -0.9874861547118966 + ], + [ + 0.9978755670642807, + -0.0071530754542059125, + 0.06475481578760343, + -0.013840977312668494, + -0.9945404931270275, + 0.10342937144582691, + 0.06366144832761987, + -0.1041059126188089, + -0.9925266641025996 + ], + [ + 0.9994040905460136, + 0.007931561196212232, + 0.033593959827414366, + 0.005230676804644341, + -0.9968023144450423, + 0.07973572560133953, + 0.03411896569447183, + -0.07951249118218782, + -0.9962497979552828 + ], + [ + 0.9998008017256562, + -0.01253671516311131, + 0.015530217051104083, + -0.013616790113310524, + -0.9973466505656277, + 0.07151392614403365, + 0.014592460236212324, + -0.07171115239935325, + -0.9973186906529987 + ], + [ + 0.999127369151582, + -0.0374417218179812, + 0.018509934617491428, + -0.03849407578946946, + -0.9974431744717849, + 0.0602106288686942, + 0.016208218327548474, + -0.060870610042564555, + -0.9980140592655461 + ], + [ + 0.997604924063919, + -0.06490427423598295, + 0.023913399367771836, + -0.06565832120629915, + -0.9973216576100837, + 0.03222570586108628, + 0.021757765045902072, + -0.03371863650527884, + -0.9991945021928573 + ], + [ + 0.9946417511681606, + -0.09190895672905473, + 0.04733424242672086, + -0.09180505843311053, + -0.9957674144462534, + -0.004368932720518231, + 0.04753544024439025, + 0.0, + -0.9988695520040501 + ], + [ + 0.9870476063694802, + -0.1007649280711682, + 0.12483369749828237, + -0.09734655160935086, + -0.9946965437319383, + -0.033202933266577125, + 0.1275173386251782, + 0.020620745829117895, + -0.9916219608254968 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.002478957176208496, + 9.757652878761292e-05, + -0.0062879398465156555, + -0.0002680867910385132, + 0.02511889487504959, + -0.0004235506057739258, + 1.0 + ], + [ + 0.00267714262008667, + 0.01173403114080429, + 0.004879377782344818, + -0.02304636687040329, + 0.011396531015634537, + 0.0331360325217247, + 1.0 + ], + [ + 0.00847277045249939, + 0.02860856056213379, + 0.021047785878181458, + -0.03138115629553795, + -0.06559182703495026, + 0.07758624106645584, + 1.0 + ], + [ + -0.0017009377479553223, + 0.050296034663915634, + 0.019496403634548187, + -0.0022388286888599396, + -0.05474403500556946, + 0.07701871544122696, + 1.0 + ], + [ + -0.01030963659286499, + 0.04721547290682793, + -0.0013473331928253174, + 0.006058555096387863, + -0.014036744832992554, + 0.04255370795726776, + 1.0 + ], + [ + -0.019127219915390015, + 0.05204938352108002, + -0.00607135146856308, + -0.045986730605363846, + -0.015972018241882324, + 0.08509073406457901, + 1.0 + ], + [ + -0.010746702551841736, + 0.03979909420013428, + -0.029634974896907806, + -0.030332542955875397, + 0.04861478507518768, + -0.006192371249198914, + 1.0 + ], + [ + 0.007478430867195129, + 0.023183658719062805, + -0.017443612217903137, + 0.04860565438866615, + 0.04625503718852997, + -0.06895673274993896, + 1.0 + ], + [ + 0.007098734378814697, + -0.0014639198780059814, + -0.014831911772489548, + 0.019938092678785324, + 0.03128925710916519, + -0.07603107392787933, + 1.0 + ], + [ + 0.005891919136047363, + -0.005883768200874329, + -0.010991772636771202, + 0.02804698795080185, + 0.03137443959712982, + -0.031400009989738464, + 1.0 + ], + [ + 0.005474179983139038, + -0.007365614175796509, + -0.0014345571398735046, + 0.022793419659137726, + 0.0045522842556238174, + -0.00885791890323162, + 0.0 + ], + [ + 0.0011813938617706299, + -0.00417192280292511, + -0.008090633898973465, + 0.011215947568416595, + 0.017099428921937943, + 0.007764700800180435, + 0.0 + ], + [ + -0.0026769638061523438, + 0.003205910325050354, + -0.00672407541424036, + 0.01691962033510208, + 0.020009249448776245, + 0.027300914749503136, + 0.0 + ], + [ + -0.0011378824710845947, + 0.0009626299142837524, + -0.0006285281851887703, + 0.007028847932815552, + 0.003979240544140339, + 0.017970163375139236, + 0.0 + ], + [ + -0.0010535120964050293, + -0.0010888874530792236, + -0.002475352957844734, + -0.004802599549293518, + 0.008425000123679638, + 0.02024250105023384, + 0.0 + ], + [ + 0.0009171962738037109, + -0.002842158079147339, + 0.0012587141245603561, + -0.03187078237533569, + -0.018701372668147087, + 0.0022143907845020294, + 0.0 + ], + [ + 0.0037636160850524902, + -0.005397707223892212, + 0.044598288834095, + 0.048781901597976685, + -0.0630979910492897, + 0.02211318537592888, + 0.0 + ], + [ + 0.018668293952941895, + -0.030714109539985657, + 0.04516065865755081, + 0.04536430537700653, + -0.06242524832487106, + -0.04129206761717796, + 0.0 + ], + [ + 0.027384847402572632, + -0.049597471952438354, + 0.007880747318267822, + -0.02097839117050171, + -0.01860487461090088, + -0.09789687395095825, + 0.0 + ], + [ + 0.023880749940872192, + -0.047394681721925735, + -0.022221729159355164, + -0.04473146051168442, + 0.03291086107492447, + 0.009886320680379868, + 0.0 + ], + [ + 0.01318386197090149, + -0.050134796649217606, + -0.026079218834638596, + -0.012626558542251587, + 0.0431220680475235, + 0.03351476415991783, + 0.0 + ], + [ + 0.005887836217880249, + -0.015560765750706196, + -0.018037550151348114, + -0.024864666163921356, + 0.029578939080238342, + 0.01910330355167389, + 0.0 + ], + [ + 0.00013020634651184082, + -0.0021776892244815826, + -0.01337798498570919, + -0.007862567901611328, + 0.01953260973095894, + -0.018852408975362778, + 1.0 + ], + [ + 0.00116005539894104, + -0.001866532489657402, + -0.003429364413022995, + -0.01086413860321045, + -0.0016159499064087868, + -0.02488998882472515, + 1.0 + ], + [ + 0.0008568465709686279, + -0.004437709227204323, + -0.00018718838691711426, + -0.027183257043361664, + -0.005550554022192955, + -0.027212519198656082, + 1.0 + ], + [ + -0.0014540553092956543, + 0.00023440644145011902, + 0.010088136419653893, + -0.03373301774263382, + -0.025793878361582756, + -0.02631767839193344, + 1.0 + ], + [ + -0.0016656219959259033, + 0.0003915652632713318, + 0.0326959490776062, + -0.020791970193386078, + -0.08031211793422699, + -0.006267212331295013, + 1.0 + ], + [ + -0.008045464754104614, + 0.0030311420559883118, + 0.007411651313304901, + -0.004589095711708069, + -0.008832648396492004, + -0.020447611808776855, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9672539830207825 + ], + [ + 0.7749528288841248 + ], + [ + 0.4662301242351532 + ], + [ + 0.3149794638156891 + ], + [ + 0.3142010271549225 + ], + [ + 0.31342363357543945 + ], + [ + 0.31342363357543945 + ], + [ + 0.31342363357543945 + ], + [ + 0.31342363357543945 + ], + [ + 0.31342363357543945 + ], + [ + 0.31342363357543945 + ], + [ + 0.31342363357543945 + ], + [ + 0.37717074155807495 + ], + [ + 0.6821943521499634 + ], + [ + 0.9568231701850891 + ], + [ + 1.003452181816101 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.27531909942626953, + -0.060531944036483765, + 0.06436172872781754 + ], + [ + 0.2779962420463562, + -0.048797912895679474, + 0.06924110651016235 + ], + [ + 0.2864690124988556, + -0.020189352333545685, + 0.09028889238834381 + ], + [ + 0.28476807475090027, + 0.03010668233036995, + 0.109785296022892 + ], + [ + 0.2744584381580353, + 0.07732215523719788, + 0.10843796283006668 + ], + [ + 0.25533121824264526, + 0.1293715387582779, + 0.1023666113615036 + ], + [ + 0.24458451569080353, + 0.16917063295841217, + 0.0727316364645958 + ], + [ + 0.25206294655799866, + 0.19235429167747498, + 0.05528802424669266 + ], + [ + 0.25916168093681335, + 0.190890371799469, + 0.04045611247420311 + ], + [ + 0.2650536000728607, + 0.18500660359859467, + 0.029464339837431908 + ], + [ + 0.27052778005599976, + 0.17764098942279816, + 0.028029782697558403 + ], + [ + 0.2717091739177704, + 0.17346906661987305, + 0.019939148798584938 + ], + [ + 0.26903221011161804, + 0.1766749769449234, + 0.013215073384344578 + ], + [ + 0.26789432764053345, + 0.17763760685920715, + 0.012586545199155807 + ], + [ + 0.2668408155441284, + 0.17654871940612793, + 0.010111192241311073 + ], + [ + 0.26775801181793213, + 0.1737065613269806, + 0.01136990636587143 + ], + [ + 0.2715216279029846, + 0.16830885410308838, + 0.05596819519996643 + ], + [ + 0.2901899218559265, + 0.13759474456310272, + 0.10112885385751724 + ], + [ + 0.31757476925849915, + 0.08799727261066437, + 0.10900960117578506 + ], + [ + 0.34145551919937134, + 0.04060259088873863, + 0.0867878720164299 + ], + [ + 0.3546393811702728, + -0.009532204829156399, + 0.060708653181791306 + ], + [ + 0.3605272173881531, + -0.025092970579862595, + 0.04267110303044319 + ], + [ + 0.3606574237346649, + -0.027270659804344177, + 0.029293118044734 + ], + [ + 0.36181747913360596, + -0.02913719229400158, + 0.025863753631711006 + ], + [ + 0.3626743257045746, + -0.0335749015212059, + 0.025676565244793892 + ], + [ + 0.36122027039527893, + -0.03334049507975578, + 0.035764701664447784 + ], + [ + 0.359554648399353, + -0.03294892981648445, + 0.06846065074205399 + ], + [ + 0.3515091836452484, + -0.02991778776049614, + 0.07587230205535889 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9890510547949324, + -0.13372955121530058, + 0.06240527334116894, + -0.13901067140382087, + -0.9862125352910829, + 0.0897823394136827, + 0.04953831088047565, + -0.09747431644535436, + -0.9940043829826005 + ], + [ + 0.9936103979041842, + -0.10316981702025532, + 0.045764244041572144, + -0.10622024714627984, + -0.9918638402155827, + 0.07016681244705966, + 0.03815280163857912, + -0.07457956374774966, + -0.9964849484053049 + ], + [ + 0.9942066986874261, + -0.02439794217038887, + 0.10467941871685867, + -0.02875311682313663, + -0.9987738578506007, + 0.04029936906680606, + 0.10356784519340025, + -0.04307576223443932, + -0.9936891768304199 + ], + [ + 0.986323101784179, + 0.05452206051338155, + 0.15554447532526308, + 0.047484804593012346, + -0.9976885656144909, + 0.048607811870760576, + 0.15783514253676098, + -0.04055700875896766, + -0.9866322500409793 + ], + [ + 0.9811069661914262, + 0.09849219778557992, + 0.16651849106336955, + 0.08919147545332111, + -0.9940543365840385, + 0.062456838095811, + 0.17167993941376755, + -0.04642480903388764, + -0.9840582988365333 + ], + [ + 0.9671536352283526, + 0.17506020371847436, + 0.1843034751127317, + 0.17174978952995618, + -0.984557076779519, + 0.033902394602514964, + 0.1873922508029583, + -0.001134741122517241, + -0.9822845090408311 + ], + [ + 0.9760305845209506, + 0.1646655985752062, + 0.14230087394517402, + 0.16709840800778755, + -0.9859263218516537, + -0.005235448532060616, + 0.13943607897869983, + 0.028888207385331918, + -0.989809603587027 + ], + [ + 0.9905853602333047, + 0.10222014075225093, + 0.09105870038631315, + 0.09999187867645866, + -0.9945737430019016, + 0.02871748474257589, + 0.09350009780854089, + -0.019341989447254744, + -0.9954313734025143 + ], + [ + 0.997755766959456, + 0.027000311313234156, + 0.061273262424453655, + 0.024520172252497672, + -0.9988633953491047, + 0.04087393526889491, + 0.06230722792626365, + -0.039279773683747306, + -0.997283765398544 + ], + [ + 0.9994970588970069, + -0.004728020573788036, + 0.031357217314154154, + -0.006826301351475458, + -0.9977195556264651, + 0.06714975748569857, + 0.030968223489443114, + -0.06733003892753311, + -0.997250036345913 + ], + [ + 0.9995279844191458, + -0.01324358125931054, + 0.02772031598716305, + -0.01568143113601138, + -0.9958489088051907, + 0.08966071352068217, + 0.026417817482272486, + -0.09005308649313107, + -0.9955865309115699 + ], + [ + 0.9999251712550175, + -0.0069383065513788904, + 0.010075306090784638, + -0.007922421597957486, + -0.9948373718175424, + 0.10117232265392077, + 0.00932132644252555, + -0.10124457287856929, + -0.9948178975752235 + ], + [ + 0.9997551480034975, + 0.01797971866799939, + -0.012898595160875196, + 0.019375746624095552, + -0.992843723478813, + 0.11783853865134764, + -0.010687585473969726, + -0.11805960556153783, + -0.992948994184188 + ], + [ + 0.9991951520056541, + 0.035213815358470346, + -0.019210294539576355, + 0.03733553106103396, + -0.9915279035269635, + 0.12441251805109839, + -0.014666503632027882, + -0.12502961143394742, + -0.9920446007795656 + ], + [ + 0.9980759451218191, + 0.05436846347209554, + -0.029807347229683128, + 0.057543554920906646, + -0.991254402638507, + 0.11875794094224344, + -0.023089977398258462, + -0.1202446648690086, + -0.9924757294333638 + ], + [ + 0.9982025850054034, + 0.05914628415322596, + -0.009660039306140419, + 0.05976890117830511, + -0.9943114046935528, + 0.08816183385270376, + -0.0043906423753619, + -0.08858074038525304, + -0.9960593228780763 + ], + [ + 0.9949295680156964, + 0.08906872697639598, + 0.04671098974442884, + 0.08168574761326827, + -0.9865847743351251, + 0.14134327605857952, + 0.058673616941188646, + -0.13681098247185644, + -0.9888580088921383 + ], + [ + 0.99185332925733, + 0.06189124916796928, + 0.11133933050624463, + 0.04031745408206396, + -0.9816267988131937, + 0.18650289742548892, + 0.12083656788195822, + -0.18049460138239626, + -0.9761251060874927 + ], + [ + 0.9886290643297363, + -0.034081087361821125, + 0.1464617787914181, + -0.056681401720331245, + -0.9865950892285313, + 0.1530272806043576, + 0.13928313559626956, + -0.1595888761611607, + -0.9773083437401366 + ], + [ + 0.9931834351420636, + -0.034595278631501095, + 0.11130961708594228, + -0.047096573195561056, + -0.9926231154858032, + 0.1117195748134277, + 0.10662352907611644, + -0.11620033261426885, + -0.9874861547118966 + ], + [ + 0.9978755670642807, + -0.0071530754542059125, + 0.06475481578760343, + -0.013840977312668494, + -0.9945404931270275, + 0.10342937144582691, + 0.06366144832761987, + -0.1041059126188089, + -0.9925266641025996 + ], + [ + 0.9994040905460136, + 0.007931561196212232, + 0.033593959827414366, + 0.005230676804644341, + -0.9968023144450423, + 0.07973572560133953, + 0.03411896569447183, + -0.07951249118218782, + -0.9962497979552828 + ], + [ + 0.9998008017256562, + -0.01253671516311131, + 0.015530217051104083, + -0.013616790113310524, + -0.9973466505656277, + 0.07151392614403365, + 0.014592460236212324, + -0.07171115239935325, + -0.9973186906529987 + ], + [ + 0.999127369151582, + -0.0374417218179812, + 0.018509934617491428, + -0.03849407578946946, + -0.9974431744717849, + 0.0602106288686942, + 0.016208218327548474, + -0.060870610042564555, + -0.9980140592655461 + ], + [ + 0.997604924063919, + -0.06490427423598295, + 0.023913399367771836, + -0.06565832120629915, + -0.9973216576100837, + 0.03222570586108628, + 0.021757765045902072, + -0.03371863650527884, + -0.9991945021928573 + ], + [ + 0.9946417511681606, + -0.09190895672905473, + 0.04733424242672086, + -0.09180505843311053, + -0.9957674144462534, + -0.004368932720518231, + 0.04753544024439025, + 0.0, + -0.9988695520040501 + ], + [ + 0.9870476063694802, + -0.1007649280711682, + 0.12483369749828237, + -0.09734655160935086, + -0.9946965437319383, + -0.033202933266577125, + 0.1275173386251782, + 0.020620745829117895, + -0.9916219608254968 + ], + [ + 0.9836941177174683, + -0.12187061075420252, + 0.13226275742796711, + -0.11736953975439035, + -0.9922275214993327, + -0.04133928781599584, + 0.13627279224369843, + 0.02514159528925745, + -0.9903522738300836 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005583.json b/json/chunk-0005/episode_0005583.json new file mode 100644 index 0000000000000000000000000000000000000000..67fb7b52f55daa33982c3827c245f4da7a9ce54d --- /dev/null +++ b/json/chunk-0005/episode_0005583.json @@ -0,0 +1,2602 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 42, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nFold the cloth from bottom right to top left." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005583.mp4", + "start": 0, + "end": 42, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.11875955015420914, + -0.01857486553490162, + 0.2450307458639145, + -0.04016288369894028, + -0.11943785846233368, + 0.029274815693497658, + 0.0, + 0.9994885921478271 + ], + [ + 0.11893024295568466, + -0.01919500157237053, + 0.24225397408008575, + -0.04381992295384407, + -0.11775597184896469, + 0.014392627403140068, + 0.0, + 0.9994885921478271 + ], + [ + 0.1302606165409088, + 0.001431443728506565, + 0.22112590074539185, + -0.062333978712558746, + -0.15318633615970612, + -0.03453793004155159, + 0.0, + 0.9994885921478271 + ], + [ + 0.136817067861557, + 0.015003199689090252, + 0.20477963984012604, + -0.07582731544971466, + -0.1786254495382309, + -0.12299598753452301, + 0.0, + 0.9994885921478271 + ], + [ + 0.13707444071769714, + 0.022991448640823364, + 0.18802331387996674, + -0.06322511285543442, + -0.19738663733005524, + -0.22935038805007935, + 0.0, + 0.9994885921478271 + ], + [ + 0.13535374402999878, + 0.023150458931922913, + 0.17654435336589813, + -0.038071129471063614, + -0.20037052035331726, + -0.35272467136383057, + 0.0, + 0.9994885921478271 + ], + [ + 0.13484340906143188, + 0.02557370252907276, + 0.1714799553155899, + 0.005979674868285656, + -0.20568332076072693, + -0.45565328001976013, + 0.0, + 0.9994885921478271 + ], + [ + 0.1432965248823166, + 0.03243432939052582, + 0.16097402572631836, + 0.021457891911268234, + -0.22452697157859802, + -0.4953797161579132, + 0.0, + 0.9994885921478271 + ], + [ + 0.16095246374607086, + 0.04038403555750847, + 0.1489408165216446, + 0.042405951768159866, + -0.22815163433551788, + -0.569457471370697, + 0.0, + 0.9994885921478271 + ], + [ + 0.17174091935157776, + 0.04590172693133354, + 0.13968828320503235, + 0.06317266821861267, + -0.2280871570110321, + -0.5982975363731384, + 0.0, + 0.9994885921478271 + ], + [ + 0.18030096590518951, + 0.04724184051156044, + 0.1248597800731659, + 0.08801064640283585, + -0.2134968340396881, + -0.6460025310516357, + 0.0, + 0.9994885921478271 + ], + [ + 0.18280276656150818, + 0.050028134137392044, + 0.11503776907920837, + 0.11288731545209885, + -0.20830094814300537, + -0.6735947132110596, + 0.0, + 0.9994885921478271 + ], + [ + 0.1829330325126648, + 0.05239291489124298, + 0.10397055000066757, + 0.14841251075267792, + -0.2051776647567749, + -0.6938501000404358, + 0.0, + 0.9994885921478271 + ], + [ + 0.1860089749097824, + 0.051848653703927994, + 0.09515375643968582, + 0.16661803424358368, + -0.19811686873435974, + -0.7187778353691101, + 0.0, + 0.9994885921478271 + ], + [ + 0.19395814836025238, + 0.055665433406829834, + 0.09048983454704285, + 0.19201970100402832, + -0.2006046622991562, + -0.714759886264801, + 0.0, + 0.9994885921478271 + ], + [ + 0.19865457713603973, + 0.05778796225786209, + 0.08016996085643768, + 0.19032105803489685, + -0.17800834774971008, + -0.7113636136054993, + 0.0, + 0.9994885921478271 + ], + [ + 0.2020852267742157, + 0.059590280055999756, + 0.07772982120513916, + 0.20511816442012787, + -0.1757732331752777, + -0.7085890769958496, + 0.0, + 0.9994885921478271 + ], + [ + 0.20397725701332092, + 0.06332516670227051, + 0.0739712119102478, + 0.22654443979263306, + -0.16356565058231354, + -0.7131946682929993, + 0.0, + 0.9383087754249573 + ], + [ + 0.2002723515033722, + 0.06433319300413132, + 0.06914465874433517, + 0.23458203673362732, + -0.1501280814409256, + -0.7206684947013855, + 0.0, + 0.6731748580932617 + ], + [ + 0.19942305982112885, + 0.06663070619106293, + 0.0668538436293602, + 0.25385376811027527, + -0.1419384628534317, + -0.725686252117157, + 0.0, + 0.3669656813144684 + ], + [ + 0.19862638413906097, + 0.06700204312801361, + 0.06543206423521042, + 0.25921884179115295, + -0.13865722715854645, + -0.7370937466621399, + 0.0, + 0.15667486190795898 + ], + [ + 0.19508932530879974, + 0.06831875443458557, + 0.0697275847196579, + 0.2588224411010742, + -0.1486593633890152, + -0.7366428375244141, + 0.0, + 0.0650232583284378 + ], + [ + 0.18549850583076477, + 0.0654066801071167, + 0.082964226603508, + 0.21135170757770538, + -0.17486940324306488, + -0.7401551008224487, + 0.0, + 0.05511022359132767 + ], + [ + 0.19058680534362793, + 0.06845341622829437, + 0.10238973051309586, + 0.17747469246387482, + -0.2135537713766098, + -0.7107539176940918, + 0.0, + 0.05511022359132767 + ], + [ + 0.2058696746826172, + 0.07527472823858261, + 0.11595410108566284, + 0.1809072643518448, + -0.23639416694641113, + -0.6797363758087158, + 0.0, + 0.05511022359132767 + ], + [ + 0.2256297469139099, + 0.0863354504108429, + 0.1218905821442604, + 0.1761411875486374, + -0.2391890585422516, + -0.6265156865119934, + 0.0, + 0.05511022359132767 + ], + [ + 0.25060412287712097, + 0.10561349987983704, + 0.12294498831033707, + 0.16789284348487854, + -0.22907231748104095, + -0.5668542981147766, + 0.0, + 0.05511022359132767 + ], + [ + 0.2668878138065338, + 0.12545794248580933, + 0.11882293969392776, + 0.1489391177892685, + -0.1997632384300232, + -0.5121719241142273, + 0.0, + 0.05511022359132767 + ], + [ + 0.2793349623680115, + 0.14354208111763, + 0.11871526390314102, + 0.13027991354465485, + -0.1895308941602707, + -0.4673660099506378, + 0.0, + 0.054840996861457825 + ], + [ + 0.29033568501472473, + 0.16350916028022766, + 0.12356508523225784, + 0.12402550131082535, + -0.18940292298793793, + -0.4242900311946869, + 0.0, + 0.054572440683841705 + ], + [ + 0.2999410927295685, + 0.17916885018348694, + 0.1300019770860672, + 0.12124859541654587, + -0.19710113108158112, + -0.4007797837257385, + 0.0, + 0.054572440683841705 + ], + [ + 0.30891153216362, + 0.19538132846355438, + 0.13692477345466614, + 0.11060760915279388, + -0.20716167986392975, + -0.3802810311317444, + 0.0, + 0.054572440683841705 + ], + [ + 0.31863415241241455, + 0.2094629853963852, + 0.1360851228237152, + 0.10223627090454102, + -0.20398648083209991, + -0.3684006631374359, + 0.0, + 0.05430474132299423 + ], + [ + 0.3295873701572418, + 0.21862858533859253, + 0.1349198967218399, + 0.10416361689567566, + -0.20075085759162903, + -0.35621377825737, + 0.0, + 0.05430474132299423 + ], + [ + 0.3430013358592987, + 0.22796912491321564, + 0.13487444818019867, + 0.08859151601791382, + -0.19726353883743286, + -0.3351671099662781, + 0.0, + 0.05430474132299423 + ], + [ + 0.3553580343723297, + 0.2365991324186325, + 0.13564975559711456, + 0.07900115102529526, + -0.19497016072273254, + -0.3243227005004883, + 0.0, + 0.05430474132299423 + ], + [ + 0.36807093024253845, + 0.24640339612960815, + 0.13537590205669403, + 0.07500983774662018, + -0.19570603966712952, + -0.31420159339904785, + 0.0, + 0.05430474132299423 + ], + [ + 0.37496182322502136, + 0.2530677914619446, + 0.12842178344726562, + 0.0696854442358017, + -0.18292854726314545, + -0.3058788478374481, + 0.0, + 0.07591649144887924 + ], + [ + 0.3769676983356476, + 0.25715360045433044, + 0.12272974848747253, + 0.0703570544719696, + -0.16930869221687317, + -0.291995108127594, + 0.0, + 0.22426052391529083 + ], + [ + 0.3777213990688324, + 0.25653526186943054, + 0.12285983562469482, + 0.06972795724868774, + -0.17437241971492767, + -0.3020206689834595, + 0.0, + 0.48228755593299866 + ], + [ + 0.37579864263534546, + 0.2580046057701111, + 0.12095241248607635, + 0.062428899109363556, + -0.177372545003891, + -0.29841452836990356, + 0.0, + 0.788411557674408 + ], + [ + 0.3682560622692108, + 0.2576369643211365, + 0.1164829432964325, + 0.05184214562177658, + -0.17831765115261078, + -0.29428720474243164, + 0.0, + 0.9968144297599792 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9383087754249573 + ], + [ + 0.6731748580932617 + ], + [ + 0.3669656813144684 + ], + [ + 0.15667486190795898 + ], + [ + 0.0650232583284378 + ], + [ + 0.05511022359132767 + ], + [ + 0.05511022359132767 + ], + [ + 0.05511022359132767 + ], + [ + 0.05511022359132767 + ], + [ + 0.05511022359132767 + ], + [ + 0.05511022359132767 + ], + [ + 0.054840996861457825 + ], + [ + 0.054572440683841705 + ], + [ + 0.054572440683841705 + ], + [ + 0.054572440683841705 + ], + [ + 0.05430474132299423 + ], + [ + 0.05430474132299423 + ], + [ + 0.05430474132299423 + ], + [ + 0.05430474132299423 + ], + [ + 0.05430474132299423 + ], + [ + 0.07591649144887924 + ], + [ + 0.22426052391529083 + ], + [ + 0.48228755593299866 + ], + [ + 0.788411557674408 + ], + [ + 0.9968144297599792 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.11875955015420914, + -0.01857486553490162, + 0.2450307458639145 + ], + [ + 0.11893024295568466, + -0.01919500157237053, + 0.24225397408008575 + ], + [ + 0.1302606165409088, + 0.001431443728506565, + 0.22112590074539185 + ], + [ + 0.136817067861557, + 0.015003199689090252, + 0.20477963984012604 + ], + [ + 0.13707444071769714, + 0.022991448640823364, + 0.18802331387996674 + ], + [ + 0.13535374402999878, + 0.023150458931922913, + 0.17654435336589813 + ], + [ + 0.13484340906143188, + 0.02557370252907276, + 0.1714799553155899 + ], + [ + 0.1432965248823166, + 0.03243432939052582, + 0.16097402572631836 + ], + [ + 0.16095246374607086, + 0.04038403555750847, + 0.1489408165216446 + ], + [ + 0.17174091935157776, + 0.04590172693133354, + 0.13968828320503235 + ], + [ + 0.18030096590518951, + 0.04724184051156044, + 0.1248597800731659 + ], + [ + 0.18280276656150818, + 0.050028134137392044, + 0.11503776907920837 + ], + [ + 0.1829330325126648, + 0.05239291489124298, + 0.10397055000066757 + ], + [ + 0.1860089749097824, + 0.051848653703927994, + 0.09515375643968582 + ], + [ + 0.19395814836025238, + 0.055665433406829834, + 0.09048983454704285 + ], + [ + 0.19865457713603973, + 0.05778796225786209, + 0.08016996085643768 + ], + [ + 0.2020852267742157, + 0.059590280055999756, + 0.07772982120513916 + ], + [ + 0.20397725701332092, + 0.06332516670227051, + 0.0739712119102478 + ], + [ + 0.2002723515033722, + 0.06433319300413132, + 0.06914465874433517 + ], + [ + 0.19942305982112885, + 0.06663070619106293, + 0.0668538436293602 + ], + [ + 0.19862638413906097, + 0.06700204312801361, + 0.06543206423521042 + ], + [ + 0.19508932530879974, + 0.06831875443458557, + 0.0697275847196579 + ], + [ + 0.18549850583076477, + 0.0654066801071167, + 0.082964226603508 + ], + [ + 0.19058680534362793, + 0.06845341622829437, + 0.10238973051309586 + ], + [ + 0.2058696746826172, + 0.07527472823858261, + 0.11595410108566284 + ], + [ + 0.2256297469139099, + 0.0863354504108429, + 0.1218905821442604 + ], + [ + 0.25060412287712097, + 0.10561349987983704, + 0.12294498831033707 + ], + [ + 0.2668878138065338, + 0.12545794248580933, + 0.11882293969392776 + ], + [ + 0.2793349623680115, + 0.14354208111763, + 0.11871526390314102 + ], + [ + 0.29033568501472473, + 0.16350916028022766, + 0.12356508523225784 + ], + [ + 0.2999410927295685, + 0.17916885018348694, + 0.1300019770860672 + ], + [ + 0.30891153216362, + 0.19538132846355438, + 0.13692477345466614 + ], + [ + 0.31863415241241455, + 0.2094629853963852, + 0.1360851228237152 + ], + [ + 0.3295873701572418, + 0.21862858533859253, + 0.1349198967218399 + ], + [ + 0.3430013358592987, + 0.22796912491321564, + 0.13487444818019867 + ], + [ + 0.3553580343723297, + 0.2365991324186325, + 0.13564975559711456 + ], + [ + 0.36807093024253845, + 0.24640339612960815, + 0.13537590205669403 + ], + [ + 0.37496182322502136, + 0.2530677914619446, + 0.12842178344726562 + ], + [ + 0.3769676983356476, + 0.25715360045433044, + 0.12272974848747253 + ], + [ + 0.3777213990688324, + 0.25653526186943054, + 0.12285983562469482 + ], + [ + 0.37579864263534546, + 0.2580046057701111, + 0.12095241248607635 + ], + [ + 0.3682560622692108, + 0.2576369643211365, + 0.1164829432964325 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9924503499401671, + 0.02446479453224409, + 0.12018226463224672, + 0.029062103771838124, + -0.9989054875809658, + -0.03664997960420297, + 0.11915408943043128, + 0.03986603452976808, + -0.9920750991043353 + ], + [ + 0.9929719186543051, + 0.009232354794330554, + 0.11798954355763633, + 0.014292461744239662, + -0.9990106571465127, + -0.04211214130131625, + 0.11748401721628862, + 0.04350253478412703, + -0.9921214820605783 + ], + [ + 0.9877005078463633, + -0.04396358551389065, + 0.1500496915984772, + -0.0341267016783212, + -0.9971344232011821, + -0.06751525975514118, + 0.15258792557930057, + 0.06156415528542677, + -0.9863705083544403 + ], + [ + 0.9766545732846349, + -0.13569175284144358, + 0.1665340586577537, + -0.12073403061792741, + -0.987942379911525, + -0.09691825331433361, + 0.17767706192121965, + 0.0745493271972897, + -0.9812610557244562 + ], + [ + 0.9549051750221655, + -0.2389569199888575, + 0.1762262667859883, + -0.22293048225681464, + -0.9690516123359597, + -0.10602345358372832, + 0.19610738587985826, + 0.06195613785990607, + -0.9786231808949003 + ], + [ + 0.9196595811076251, + -0.35231485993201733, + 0.17349494041046362, + -0.33854444024626423, + -0.9351379137905602, + -0.10442578306999808, + 0.19903245176425613, + 0.0373004244281708, + -0.9792827791206109 + ], + [ + 0.879045943544544, + -0.43894451075483476, + 0.18602673360590236, + -0.4307735302604989, + -0.8984951039737447, + -0.08450274410998139, + 0.2042361250239281, + -0.005853598329982196, + -0.9789041529290812 + ], + [ + 0.8577051733682363, + -0.4710534570294199, + 0.20603513340689286, + -0.4634338532117066, + -0.8818566159741861, + -0.08693660080718135, + 0.22264523187060195, + -0.020917683504375735, + -0.9746751003499046 + ], + [ + 0.8203691105194303, + -0.5306152112951721, + 0.21317133964897475, + -0.5252030907343903, + -0.8466063121567997, + -0.08613632044211617, + 0.22617744358932526, + -0.04129466985511656, + -0.9732104162271149 + ], + [ + 0.8048952202603668, + -0.5503178696598126, + 0.22202235638579437, + -0.5486491187393792, + -0.832687535172673, + -0.07493739570174886, + 0.22611463665255677, + -0.06149561855240906, + -0.9721576312462595 + ], + [ + 0.7803675670976246, + -0.5847984470201002, + 0.2214435291107281, + -0.5883314595548814, + -0.8066174536405895, + -0.05687158499984746, + 0.2118786301639636, + -0.0859014542673818, + -0.9735134237567511 + ], + [ + 0.7646893682210201, + -0.6016218465705641, + 0.2308707947289186, + -0.610315335892639, + -0.7911411503451596, + -0.040135657522873014, + 0.20679787451517243, + -0.11021267603847942, + -0.9721562658011544 + ], + [ + 0.7526640597940896, + -0.609310622849148, + 0.24947420303001747, + -0.6260881541173444, + -0.7796044914734671, + -0.015180913949198085, + 0.20374110132277048, + -0.14476671495057114, + -0.968262444729839 + ], + [ + 0.7378891895724268, + -0.62477912807677, + 0.2552853012450537, + -0.6455850825324427, + -0.7636825103705372, + -0.0029874011670520256, + 0.19682338561188778, + -0.16260401124752377, + -0.9668611536319416 + ], + [ + 0.7401050503555731, + -0.6146693909992975, + 0.2728113894373316, + -0.6422921517127269, + -0.7662943394669264, + 0.01593038446435867, + 0.1992619037508424, + -0.18701477232962022, + -0.9619356364352505 + ], + [ + 0.7455029758915751, + -0.6157057453092036, + 0.255209224226013, + -0.6425508682530536, + -0.7656641696610069, + 0.029778532612731043, + 0.177069745140304, + -0.18618489329308824, + -0.9664271782526549 + ], + [ + 0.7475815196412054, + -0.6100771320582049, + 0.26254097666951226, + -0.6407359256502271, + -0.7665427752608658, + 0.043239418087162695, + 0.1748695086974643, + -0.20054442558945715, + -0.9639515487268548 + ], + [ + 0.7461815577526681, + -0.6098750296810154, + 0.2669560470215686, + -0.6455207963953578, + -0.7608809472071282, + 0.06605365696376185, + 0.1628372939191279, + -0.22161370072439973, + -0.9614423453126721 + ], + [ + 0.7429133622253485, + -0.6156931565689577, + 0.2626816955579143, + -0.6524646461412266, + -0.7537265899798518, + 0.07865184736004721, + 0.14956477447190505, + -0.2298220279074596, + -0.9616715726929183 + ], + [ + 0.7405215638122371, + -0.61580494526505, + 0.26909493290693537, + -0.6569750509518912, + -0.7476476832869483, + 0.09698826785967099, + 0.14146234819145026, + -0.24861056104431326, + -0.9582177169001798 + ], + [ + 0.7333188428412398, + -0.6234515723460905, + 0.2712040037926663, + -0.6656880226378503, + -0.7395001386741378, + 0.0999950069625471, + 0.1382133540960999, + -0.25386547981188484, + -0.9573136303789828 + ], + [ + 0.7325582500162654, + -0.6213487992726564, + 0.2780001438408532, + -0.6643953059723259, + -0.7415228899607925, + 0.09339529466806079, + 0.14811241587066998, + -0.2531194842492823, + -0.9560299362249757 + ], + [ + 0.7271033765988445, + -0.6324471965923706, + 0.26707905807271815, + -0.6641173100302911, + -0.746548228278038, + 0.04017388919500618, + 0.17397953401676078, + -0.2065823960974743, + -0.9628368685119703 + ], + [ + 0.7406543918635862, + -0.6138014321220896, + 0.27327435616620344, + -0.6375852375376575, + -0.7703763928888749, + -0.0022974232467144473, + 0.21193427445137342, + -0.1725340986715307, + -0.9619333906816897 + ], + [ + 0.756108597028507, + -0.5855580406211155, + 0.2922696880683029, + -0.6111062120322316, + -0.7915335661288199, + -0.004879683085051031, + 0.23419860613419607, + -0.17491825163588076, + -0.9563234903156183 + ], + [ + 0.7870128575643707, + -0.5436233815674993, + 0.2916922711377191, + -0.5696333169862546, + -0.8218825572289129, + 0.005190982768216071, + 0.23691485012046176, + -0.170243006129414, + -0.9564981299806181 + ], + [ + 0.821557507553532, + -0.49742014491223596, + 0.27859731014121125, + -0.5229537092985499, + -0.8521085009990705, + 0.020748986866940988, + 0.22707417227266483, + -0.16273998267360995, + -0.9601838461076488 + ], + [ + 0.8543475350603592, + -0.4589785858353422, + 0.24378053056156393, + -0.480325862307409, + -0.8764624358964955, + 0.03317626351814494, + 0.19843728312726958, + -0.14543815251498093, + -0.9692628067031649 + ], + [ + 0.876771224527629, + -0.42486792563458653, + 0.22529861430396173, + -0.44246845559783543, + -0.8962194099474537, + 0.031818784299594116, + 0.18839821029189266, + -0.12758532439274198, + -0.9737700443936497 + ], + [ + 0.8950337407160343, + -0.3872860626664274, + 0.22118794868662767, + -0.4043118322919552, + -0.9139192258306157, + 0.035827237207037975, + 0.1882725291926149, + -0.12149549095132531, + -0.9745728810252786 + ], + [ + 0.9029296995476267, + -0.365463479711591, + 0.22617339072474485, + -0.38258277669119456, + -0.9232378538204554, + 0.03552863988749121, + 0.19582741548130617, + -0.11860990797608362, + -0.9734389108083861 + ], + [ + 0.90870648498266, + -0.34783141910057674, + 0.23079390814520523, + -0.3632450783077383, + -0.9313133363905508, + 0.026617335447142072, + 0.20568309905206988, + -0.10802209657093087, + -0.9726385193980119 + ], + [ + 0.913562403115005, + -0.33895618307132347, + 0.22474973097304693, + -0.35265734481965805, + -0.935478620109492, + 0.022639533184010407, + 0.20257475844607672, + -0.09994226971487362, + -0.974153483782075 + ], + [ + 0.9184017540966339, + -0.32740638090307006, + 0.22213347297555158, + -0.3417247403725645, + -0.9393742884110302, + 0.028286889004879696, + 0.19940516515258505, + -0.10188723186064472, + -0.9746058547403899 + ], + [ + 0.9260410555832898, + -0.3112618723169234, + 0.21345727960402214, + -0.3225479594350656, + -0.9463555245690446, + 0.019339984020771826, + 0.19598667617586077, + -0.08675982918039707, + -0.9767609506947575 + ], + [ + 0.9299079723564134, + -0.30318050013321807, + 0.20821322553323884, + -0.31262923183964, + -0.9497826836488156, + 0.013259609353604457, + 0.1937372611227388, + -0.07742375720555862, + -0.977993576396509 + ], + [ + 0.9328886040934192, + -0.29432896007292014, + 0.20757966088956117, + -0.30315753859789357, + -0.9528729688903511, + 0.011340720848104544, + 0.1944591451793886, + -0.07350896829966617, + -0.9781523769002559 + ], + [ + 0.937672315139914, + -0.288322193055169, + 0.19401273775711564, + -0.2961070225840578, + -0.9550824783494276, + 0.011751201058569131, + 0.18191003434818476, + -0.06846731002290427, + -0.9809286247539468 + ], + [ + 0.9439781866978895, + -0.27580721752347925, + 0.18120585476336312, + -0.28374743594117446, + -0.9587120218827357, + 0.018938101655824352, + 0.16850096627430347, + -0.0692938515271985, + -0.983262826768689 + ], + [ + 0.9402593822386339, + -0.28518700719011, + 0.1859587724259634, + -0.2929393732578099, + -0.956012740773366, + 0.015038719171496667, + 0.17349010838530418, + -0.06861494304410516, + -0.9824424521993694 + ], + [ + 0.9408079230406434, + -0.28291090540109926, + 0.18665977485543336, + -0.2893924381353756, + -0.9571782957274398, + 0.007856649309768468, + 0.17644395340734578, + -0.061409525266396106, + -0.9823932010720261 + ], + [ + 0.9418343128043665, + -0.2808718841045838, + 0.18455110930001892, + -0.2854584684876001, + -0.9583894115851281, + -0.0017884435203045015, + 0.17737415255059039, + -0.050997259544535684, + -0.9828212907369818 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + 0.0001706928014755249, + -0.0006201360374689102, + -0.0027767717838287354, + -0.0036570392549037933, + 0.001681886613368988, + -0.01488218829035759, + 1.0 + ], + [ + 0.011330373585224152, + 0.02062644436955452, + -0.02112807333469391, + -0.018514055758714676, + -0.035430364310741425, + -0.04893055558204651, + 1.0 + ], + [ + 0.006556451320648193, + 0.013571755960583687, + -0.016346260905265808, + -0.013493336737155914, + -0.02543911337852478, + -0.08845806121826172, + 1.0 + ], + [ + 0.0002573728561401367, + 0.007988248951733112, + -0.016756325960159302, + 0.012602202594280243, + -0.01876118779182434, + -0.10635440051555634, + 1.0 + ], + [ + -0.0017206966876983643, + 0.00015901029109954834, + -0.011478960514068604, + 0.025153983384370804, + -0.002983883023262024, + -0.12337428331375122, + 1.0 + ], + [ + -0.0005103349685668945, + 0.002423243597149849, + -0.0050643980503082275, + 0.044050805270671844, + -0.005312800407409668, + -0.10292860865592957, + 1.0 + ], + [ + 0.008453115820884705, + 0.006860626861453056, + -0.010505929589271545, + 0.015478217042982578, + -0.018843650817871094, + -0.039726436138153076, + 1.0 + ], + [ + 0.017655938863754272, + 0.00794970616698265, + -0.012033209204673767, + 0.020948059856891632, + -0.003624662756919861, + -0.07407775521278381, + 1.0 + ], + [ + 0.010788455605506897, + 0.005517691373825073, + -0.009252533316612244, + 0.020766716450452805, + 6.447732448577881e-05, + -0.028840065002441406, + 1.0 + ], + [ + 0.008560046553611755, + 0.0013401135802268982, + -0.014828503131866455, + 0.024837978184223175, + 0.014590322971343994, + -0.047704994678497314, + 1.0 + ], + [ + 0.0025018006563186646, + 0.002786293625831604, + -0.00982201099395752, + 0.024876669049263, + 0.005195885896682739, + -0.027592182159423828, + 1.0 + ], + [ + 0.0001302659511566162, + 0.002364780753850937, + -0.011067219078540802, + 0.03552519530057907, + 0.0031232833862304688, + -0.02025538682937622, + 1.0 + ], + [ + 0.0030759423971176147, + -0.0005442611873149872, + -0.00881679356098175, + 0.01820552349090576, + 0.007060796022415161, + -0.024927735328674316, + 1.0 + ], + [ + 0.00794917345046997, + 0.00381677970290184, + -0.004663921892642975, + 0.02540166676044464, + -0.0024877935647964478, + 0.004017949104309082, + 1.0 + ], + [ + 0.0046964287757873535, + 0.002122528851032257, + -0.010319873690605164, + -0.0016986429691314697, + 0.022596314549446106, + 0.003396272659301758, + 1.0 + ], + [ + 0.0034306496381759644, + 0.0018023177981376648, + -0.002440139651298523, + 0.014797106385231018, + 0.002235114574432373, + 0.002774536609649658, + 1.0 + ], + [ + 0.0018920302391052246, + 0.003734886646270752, + -0.0037586092948913574, + 0.021426275372505188, + 0.012207582592964172, + -0.004605591297149658, + 0.0 + ], + [ + -0.0037049055099487305, + 0.0010080263018608093, + -0.004826553165912628, + 0.008037596940994263, + 0.01343756914138794, + -0.0074738264083862305, + 0.0 + ], + [ + -0.0008492916822433472, + 0.00229751318693161, + -0.0022908151149749756, + 0.01927173137664795, + 0.008189618587493896, + -0.005017757415771484, + 0.0 + ], + [ + -0.0007966756820678711, + 0.0003713369369506836, + -0.0014217793941497803, + 0.0053650736808776855, + 0.003281235694885254, + -0.01140749454498291, + 0.0 + ], + [ + -0.0035370588302612305, + 0.0013167113065719604, + 0.004295520484447479, + -0.00039640069007873535, + -0.01000213623046875, + 0.0004509091377258301, + 0.0 + ], + [ + -0.009590819478034973, + -0.002912074327468872, + 0.013236641883850098, + -0.047470733523368835, + -0.026210039854049683, + -0.003512263298034668, + 0.0 + ], + [ + 0.005088299512863159, + 0.0030467361211776733, + 0.01942550390958786, + -0.033877015113830566, + -0.03868436813354492, + 0.029401183128356934, + 0.0 + ], + [ + 0.015282869338989258, + 0.0068213120102882385, + 0.013564370572566986, + 0.0034325718879699707, + -0.02284039556980133, + 0.031017541885375977, + 0.0 + ], + [ + 0.019760072231292725, + 0.011060722172260284, + 0.005936481058597565, + -0.0047660768032073975, + -0.002794891595840454, + 0.05322068929672241, + 0.0 + ], + [ + 0.02497437596321106, + 0.01927804946899414, + 0.0010544061660766602, + -0.00824834406375885, + 0.010116741061210632, + 0.0596613883972168, + 0.0 + ], + [ + 0.016283690929412842, + 0.01984444260597229, + -0.004122048616409302, + -0.018953725695610046, + 0.02930907905101776, + 0.054682374000549316, + 0.0 + ], + [ + 0.012447148561477661, + 0.01808413863182068, + -0.00010767579078674316, + -0.018659204244613647, + 0.010232344269752502, + 0.04480591416358948, + 0.0 + ], + [ + 0.011000722646713257, + 0.019967079162597656, + 0.004849821329116821, + -0.006254412233829498, + 0.00012797117233276367, + 0.04307597875595093, + 0.0 + ], + [ + 0.00960540771484375, + 0.015659689903259277, + 0.006436891853809357, + -0.00277690589427948, + -0.0076982080936431885, + 0.023510247468948364, + 0.0 + ], + [ + 0.008970439434051514, + 0.016212478280067444, + 0.006922796368598938, + -0.010640986263751984, + -0.010060548782348633, + 0.02049875259399414, + 0.0 + ], + [ + 0.009722620248794556, + 0.01408165693283081, + -0.0008396506309509277, + -0.008371338248252869, + 0.003175199031829834, + 0.011880367994308472, + 0.0 + ], + [ + 0.01095321774482727, + 0.009165599942207336, + -0.0011652261018753052, + 0.0019273459911346436, + 0.0032356232404708862, + 0.012186884880065918, + 0.0 + ], + [ + 0.013413965702056885, + 0.009340539574623108, + -4.544854164123535e-05, + -0.01557210087776184, + 0.003487318754196167, + 0.02104666829109192, + 0.0 + ], + [ + 0.012356698513031006, + 0.00863000750541687, + 0.0007753074169158936, + -0.00959036499261856, + 0.0022933781147003174, + 0.010844409465789795, + 0.0 + ], + [ + 0.01271289587020874, + 0.009804263710975647, + -0.0002738535404205322, + -0.003991313278675079, + -0.0007358789443969727, + 0.01012110710144043, + 0.0 + ], + [ + 0.00689089298248291, + 0.006664395332336426, + -0.006954118609428406, + -0.0053243935108184814, + 0.01277749240398407, + 0.008322745561599731, + 1.0 + ], + [ + 0.0020058751106262207, + 0.004085808992385864, + -0.005692034959793091, + 0.0006716102361679077, + 0.013619855046272278, + 0.013883739709854126, + 1.0 + ], + [ + 0.0007537007331848145, + -0.0006183385848999023, + 0.00013008713722229004, + -0.0006290972232818604, + -0.005063727498054504, + -0.010025560855865479, + 1.0 + ], + [ + -0.0019227564334869385, + 0.001469343900680542, + -0.0019074231386184692, + -0.007299058139324188, + -0.003000125288963318, + 0.003606140613555908, + 1.0 + ], + [ + -0.0075425803661346436, + -0.0003676414489746094, + -0.00446946918964386, + -0.010586753487586975, + -0.0009451061487197876, + 0.004127323627471924, + 1.0 + ], + [ + -0.007101327180862427, + 3.269314765930176e-05, + 0.024673521518707275, + 0.01728259027004242, + -0.04402172565460205, + -0.0010571181774139404, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9383087754249573 + ], + [ + 0.6731748580932617 + ], + [ + 0.3669656813144684 + ], + [ + 0.15667486190795898 + ], + [ + 0.0650232583284378 + ], + [ + 0.05511022359132767 + ], + [ + 0.05511022359132767 + ], + [ + 0.05511022359132767 + ], + [ + 0.05511022359132767 + ], + [ + 0.05511022359132767 + ], + [ + 0.05511022359132767 + ], + [ + 0.054840996861457825 + ], + [ + 0.054572440683841705 + ], + [ + 0.054572440683841705 + ], + [ + 0.054572440683841705 + ], + [ + 0.05430474132299423 + ], + [ + 0.05430474132299423 + ], + [ + 0.05430474132299423 + ], + [ + 0.05430474132299423 + ], + [ + 0.05430474132299423 + ], + [ + 0.07591649144887924 + ], + [ + 0.22426052391529083 + ], + [ + 0.48228755593299866 + ], + [ + 0.788411557674408 + ], + [ + 0.9968144297599792 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.11893024295568466, + -0.01919500157237053, + 0.24225397408008575 + ], + [ + 0.1302606165409088, + 0.001431443728506565, + 0.22112590074539185 + ], + [ + 0.136817067861557, + 0.015003199689090252, + 0.20477963984012604 + ], + [ + 0.13707444071769714, + 0.022991448640823364, + 0.18802331387996674 + ], + [ + 0.13535374402999878, + 0.023150458931922913, + 0.17654435336589813 + ], + [ + 0.13484340906143188, + 0.02557370252907276, + 0.1714799553155899 + ], + [ + 0.1432965248823166, + 0.03243432939052582, + 0.16097402572631836 + ], + [ + 0.16095246374607086, + 0.04038403555750847, + 0.1489408165216446 + ], + [ + 0.17174091935157776, + 0.04590172693133354, + 0.13968828320503235 + ], + [ + 0.18030096590518951, + 0.04724184051156044, + 0.1248597800731659 + ], + [ + 0.18280276656150818, + 0.050028134137392044, + 0.11503776907920837 + ], + [ + 0.1829330325126648, + 0.05239291489124298, + 0.10397055000066757 + ], + [ + 0.1860089749097824, + 0.051848653703927994, + 0.09515375643968582 + ], + [ + 0.19395814836025238, + 0.055665433406829834, + 0.09048983454704285 + ], + [ + 0.19865457713603973, + 0.05778796225786209, + 0.08016996085643768 + ], + [ + 0.2020852267742157, + 0.059590280055999756, + 0.07772982120513916 + ], + [ + 0.20397725701332092, + 0.06332516670227051, + 0.0739712119102478 + ], + [ + 0.2002723515033722, + 0.06433319300413132, + 0.06914465874433517 + ], + [ + 0.19942305982112885, + 0.06663070619106293, + 0.0668538436293602 + ], + [ + 0.19862638413906097, + 0.06700204312801361, + 0.06543206423521042 + ], + [ + 0.19508932530879974, + 0.06831875443458557, + 0.0697275847196579 + ], + [ + 0.18549850583076477, + 0.0654066801071167, + 0.082964226603508 + ], + [ + 0.19058680534362793, + 0.06845341622829437, + 0.10238973051309586 + ], + [ + 0.2058696746826172, + 0.07527472823858261, + 0.11595410108566284 + ], + [ + 0.2256297469139099, + 0.0863354504108429, + 0.1218905821442604 + ], + [ + 0.25060412287712097, + 0.10561349987983704, + 0.12294498831033707 + ], + [ + 0.2668878138065338, + 0.12545794248580933, + 0.11882293969392776 + ], + [ + 0.2793349623680115, + 0.14354208111763, + 0.11871526390314102 + ], + [ + 0.29033568501472473, + 0.16350916028022766, + 0.12356508523225784 + ], + [ + 0.2999410927295685, + 0.17916885018348694, + 0.1300019770860672 + ], + [ + 0.30891153216362, + 0.19538132846355438, + 0.13692477345466614 + ], + [ + 0.31863415241241455, + 0.2094629853963852, + 0.1360851228237152 + ], + [ + 0.3295873701572418, + 0.21862858533859253, + 0.1349198967218399 + ], + [ + 0.3430013358592987, + 0.22796912491321564, + 0.13487444818019867 + ], + [ + 0.3553580343723297, + 0.2365991324186325, + 0.13564975559711456 + ], + [ + 0.36807093024253845, + 0.24640339612960815, + 0.13537590205669403 + ], + [ + 0.37496182322502136, + 0.2530677914619446, + 0.12842178344726562 + ], + [ + 0.3769676983356476, + 0.25715360045433044, + 0.12272974848747253 + ], + [ + 0.3777213990688324, + 0.25653526186943054, + 0.12285983562469482 + ], + [ + 0.37579864263534546, + 0.2580046057701111, + 0.12095241248607635 + ], + [ + 0.3682560622692108, + 0.2576369643211365, + 0.1164829432964325 + ], + [ + 0.3611547350883484, + 0.2576696574687958, + 0.14115646481513977 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9929719186543051, + 0.009232354794330554, + 0.11798954355763633, + 0.014292461744239662, + -0.9990106571465127, + -0.04211214130131625, + 0.11748401721628862, + 0.04350253478412703, + -0.9921214820605783 + ], + [ + 0.9877005078463633, + -0.04396358551389065, + 0.1500496915984772, + -0.0341267016783212, + -0.9971344232011821, + -0.06751525975514118, + 0.15258792557930057, + 0.06156415528542677, + -0.9863705083544403 + ], + [ + 0.9766545732846349, + -0.13569175284144358, + 0.1665340586577537, + -0.12073403061792741, + -0.987942379911525, + -0.09691825331433361, + 0.17767706192121965, + 0.0745493271972897, + -0.9812610557244562 + ], + [ + 0.9549051750221655, + -0.2389569199888575, + 0.1762262667859883, + -0.22293048225681464, + -0.9690516123359597, + -0.10602345358372832, + 0.19610738587985826, + 0.06195613785990607, + -0.9786231808949003 + ], + [ + 0.9196595811076251, + -0.35231485993201733, + 0.17349494041046362, + -0.33854444024626423, + -0.9351379137905602, + -0.10442578306999808, + 0.19903245176425613, + 0.0373004244281708, + -0.9792827791206109 + ], + [ + 0.879045943544544, + -0.43894451075483476, + 0.18602673360590236, + -0.4307735302604989, + -0.8984951039737447, + -0.08450274410998139, + 0.2042361250239281, + -0.005853598329982196, + -0.9789041529290812 + ], + [ + 0.8577051733682363, + -0.4710534570294199, + 0.20603513340689286, + -0.4634338532117066, + -0.8818566159741861, + -0.08693660080718135, + 0.22264523187060195, + -0.020917683504375735, + -0.9746751003499046 + ], + [ + 0.8203691105194303, + -0.5306152112951721, + 0.21317133964897475, + -0.5252030907343903, + -0.8466063121567997, + -0.08613632044211617, + 0.22617744358932526, + -0.04129466985511656, + -0.9732104162271149 + ], + [ + 0.8048952202603668, + -0.5503178696598126, + 0.22202235638579437, + -0.5486491187393792, + -0.832687535172673, + -0.07493739570174886, + 0.22611463665255677, + -0.06149561855240906, + -0.9721576312462595 + ], + [ + 0.7803675670976246, + -0.5847984470201002, + 0.2214435291107281, + -0.5883314595548814, + -0.8066174536405895, + -0.05687158499984746, + 0.2118786301639636, + -0.0859014542673818, + -0.9735134237567511 + ], + [ + 0.7646893682210201, + -0.6016218465705641, + 0.2308707947289186, + -0.610315335892639, + -0.7911411503451596, + -0.040135657522873014, + 0.20679787451517243, + -0.11021267603847942, + -0.9721562658011544 + ], + [ + 0.7526640597940896, + -0.609310622849148, + 0.24947420303001747, + -0.6260881541173444, + -0.7796044914734671, + -0.015180913949198085, + 0.20374110132277048, + -0.14476671495057114, + -0.968262444729839 + ], + [ + 0.7378891895724268, + -0.62477912807677, + 0.2552853012450537, + -0.6455850825324427, + -0.7636825103705372, + -0.0029874011670520256, + 0.19682338561188778, + -0.16260401124752377, + -0.9668611536319416 + ], + [ + 0.7401050503555731, + -0.6146693909992975, + 0.2728113894373316, + -0.6422921517127269, + -0.7662943394669264, + 0.01593038446435867, + 0.1992619037508424, + -0.18701477232962022, + -0.9619356364352505 + ], + [ + 0.7455029758915751, + -0.6157057453092036, + 0.255209224226013, + -0.6425508682530536, + -0.7656641696610069, + 0.029778532612731043, + 0.177069745140304, + -0.18618489329308824, + -0.9664271782526549 + ], + [ + 0.7475815196412054, + -0.6100771320582049, + 0.26254097666951226, + -0.6407359256502271, + -0.7665427752608658, + 0.043239418087162695, + 0.1748695086974643, + -0.20054442558945715, + -0.9639515487268548 + ], + [ + 0.7461815577526681, + -0.6098750296810154, + 0.2669560470215686, + -0.6455207963953578, + -0.7608809472071282, + 0.06605365696376185, + 0.1628372939191279, + -0.22161370072439973, + -0.9614423453126721 + ], + [ + 0.7429133622253485, + -0.6156931565689577, + 0.2626816955579143, + -0.6524646461412266, + -0.7537265899798518, + 0.07865184736004721, + 0.14956477447190505, + -0.2298220279074596, + -0.9616715726929183 + ], + [ + 0.7405215638122371, + -0.61580494526505, + 0.26909493290693537, + -0.6569750509518912, + -0.7476476832869483, + 0.09698826785967099, + 0.14146234819145026, + -0.24861056104431326, + -0.9582177169001798 + ], + [ + 0.7333188428412398, + -0.6234515723460905, + 0.2712040037926663, + -0.6656880226378503, + -0.7395001386741378, + 0.0999950069625471, + 0.1382133540960999, + -0.25386547981188484, + -0.9573136303789828 + ], + [ + 0.7325582500162654, + -0.6213487992726564, + 0.2780001438408532, + -0.6643953059723259, + -0.7415228899607925, + 0.09339529466806079, + 0.14811241587066998, + -0.2531194842492823, + -0.9560299362249757 + ], + [ + 0.7271033765988445, + -0.6324471965923706, + 0.26707905807271815, + -0.6641173100302911, + -0.746548228278038, + 0.04017388919500618, + 0.17397953401676078, + -0.2065823960974743, + -0.9628368685119703 + ], + [ + 0.7406543918635862, + -0.6138014321220896, + 0.27327435616620344, + -0.6375852375376575, + -0.7703763928888749, + -0.0022974232467144473, + 0.21193427445137342, + -0.1725340986715307, + -0.9619333906816897 + ], + [ + 0.756108597028507, + -0.5855580406211155, + 0.2922696880683029, + -0.6111062120322316, + -0.7915335661288199, + -0.004879683085051031, + 0.23419860613419607, + -0.17491825163588076, + -0.9563234903156183 + ], + [ + 0.7870128575643707, + -0.5436233815674993, + 0.2916922711377191, + -0.5696333169862546, + -0.8218825572289129, + 0.005190982768216071, + 0.23691485012046176, + -0.170243006129414, + -0.9564981299806181 + ], + [ + 0.821557507553532, + -0.49742014491223596, + 0.27859731014121125, + -0.5229537092985499, + -0.8521085009990705, + 0.020748986866940988, + 0.22707417227266483, + -0.16273998267360995, + -0.9601838461076488 + ], + [ + 0.8543475350603592, + -0.4589785858353422, + 0.24378053056156393, + -0.480325862307409, + -0.8764624358964955, + 0.03317626351814494, + 0.19843728312726958, + -0.14543815251498093, + -0.9692628067031649 + ], + [ + 0.876771224527629, + -0.42486792563458653, + 0.22529861430396173, + -0.44246845559783543, + -0.8962194099474537, + 0.031818784299594116, + 0.18839821029189266, + -0.12758532439274198, + -0.9737700443936497 + ], + [ + 0.8950337407160343, + -0.3872860626664274, + 0.22118794868662767, + -0.4043118322919552, + -0.9139192258306157, + 0.035827237207037975, + 0.1882725291926149, + -0.12149549095132531, + -0.9745728810252786 + ], + [ + 0.9029296995476267, + -0.365463479711591, + 0.22617339072474485, + -0.38258277669119456, + -0.9232378538204554, + 0.03552863988749121, + 0.19582741548130617, + -0.11860990797608362, + -0.9734389108083861 + ], + [ + 0.90870648498266, + -0.34783141910057674, + 0.23079390814520523, + -0.3632450783077383, + -0.9313133363905508, + 0.026617335447142072, + 0.20568309905206988, + -0.10802209657093087, + -0.9726385193980119 + ], + [ + 0.913562403115005, + -0.33895618307132347, + 0.22474973097304693, + -0.35265734481965805, + -0.935478620109492, + 0.022639533184010407, + 0.20257475844607672, + -0.09994226971487362, + -0.974153483782075 + ], + [ + 0.9184017540966339, + -0.32740638090307006, + 0.22213347297555158, + -0.3417247403725645, + -0.9393742884110302, + 0.028286889004879696, + 0.19940516515258505, + -0.10188723186064472, + -0.9746058547403899 + ], + [ + 0.9260410555832898, + -0.3112618723169234, + 0.21345727960402214, + -0.3225479594350656, + -0.9463555245690446, + 0.019339984020771826, + 0.19598667617586077, + -0.08675982918039707, + -0.9767609506947575 + ], + [ + 0.9299079723564134, + -0.30318050013321807, + 0.20821322553323884, + -0.31262923183964, + -0.9497826836488156, + 0.013259609353604457, + 0.1937372611227388, + -0.07742375720555862, + -0.977993576396509 + ], + [ + 0.9328886040934192, + -0.29432896007292014, + 0.20757966088956117, + -0.30315753859789357, + -0.9528729688903511, + 0.011340720848104544, + 0.1944591451793886, + -0.07350896829966617, + -0.9781523769002559 + ], + [ + 0.937672315139914, + -0.288322193055169, + 0.19401273775711564, + -0.2961070225840578, + -0.9550824783494276, + 0.011751201058569131, + 0.18191003434818476, + -0.06846731002290427, + -0.9809286247539468 + ], + [ + 0.9439781866978895, + -0.27580721752347925, + 0.18120585476336312, + -0.28374743594117446, + -0.9587120218827357, + 0.018938101655824352, + 0.16850096627430347, + -0.0692938515271985, + -0.983262826768689 + ], + [ + 0.9402593822386339, + -0.28518700719011, + 0.1859587724259634, + -0.2929393732578099, + -0.956012740773366, + 0.015038719171496667, + 0.17349010838530418, + -0.06861494304410516, + -0.9824424521993694 + ], + [ + 0.9408079230406434, + -0.28291090540109926, + 0.18665977485543336, + -0.2893924381353756, + -0.9571782957274398, + 0.007856649309768468, + 0.17644395340734578, + -0.061409525266396106, + -0.9823932010720261 + ], + [ + 0.9418343128043665, + -0.2808718841045838, + 0.18455110930001892, + -0.2854584684876001, + -0.9583894115851281, + -0.0017884435203045015, + 0.17737415255059039, + -0.050997259544535684, + -0.9828212907369818 + ], + [ + 0.9331520482541913, + -0.27580292114134736, + 0.23056453224402731, + -0.2839043954710723, + -0.9588504051245466, + 0.002048127119504292, + 0.22051201570710913, + -0.06736949816046153, + -0.9730548811071219 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005585.json b/json/chunk-0005/episode_0005585.json new file mode 100644 index 0000000000000000000000000000000000000000..693a36549fb50a7b1b9f50a96f1f35546a4a06dd --- /dev/null +++ b/json/chunk-0005/episode_0005585.json @@ -0,0 +1,2182 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 35, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nTake lid off pot." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005585.mp4", + "start": 0, + "end": 35, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2457776516675949, + 0.047459010034799576, + 0.15749631822109222, + -0.03320947289466858, + 0.0002493177598807961, + 0.3150627017021179, + 0.0, + 0.9994885921478271 + ], + [ + 0.24479161202907562, + 0.046222008764743805, + 0.15105661749839783, + -0.03196512535214424, + 0.02639138139784336, + 0.3138679563999176, + 0.0, + 0.9994885921478271 + ], + [ + 0.26026520133018494, + 0.02912924252450466, + 0.14730170369148254, + -0.04170915484428406, + 0.03180345892906189, + 0.3090980052947998, + 0.0, + 0.9994885921478271 + ], + [ + 0.2663341760635376, + 0.0030333728063851595, + 0.13708354532718658, + -0.06900666654109955, + -0.003005201229825616, + 0.30981892347335815, + 0.0, + 0.9994885921478271 + ], + [ + 0.2790622413158417, + -0.013097154907882214, + 0.1274760514497757, + -0.0798451229929924, + 0.012685220688581467, + 0.3020279109477997, + 0.0, + 0.9994885921478271 + ], + [ + 0.2952024042606354, + -0.030562911182641983, + 0.11889148503541946, + -0.10513021051883698, + 0.03277108445763588, + 0.3036596179008484, + 0.0, + 0.9994885921478271 + ], + [ + 0.3077019155025482, + -0.044220998883247375, + 0.11031477898359299, + -0.12176528573036194, + 0.05320160835981369, + 0.3012588918209076, + 0.0, + 0.9994885921478271 + ], + [ + 0.3173089325428009, + -0.056018635630607605, + 0.10075676441192627, + -0.11819638311862946, + 0.08109904825687408, + 0.2922487258911133, + 0.0, + 0.9994885921478271 + ], + [ + 0.32284608483314514, + -0.06325475126504898, + 0.09339739382266998, + -0.11569830030202866, + 0.05498344823718071, + 0.27606260776519775, + 0.0, + 0.9994885921478271 + ], + [ + 0.32452210783958435, + -0.06844087690114975, + 0.08247499912977219, + -0.09840649366378784, + 0.059487152844667435, + 0.2665756046772003, + 0.0, + 0.9994885921478271 + ], + [ + 0.3274352252483368, + -0.07152785360813141, + 0.0823005959391594, + -0.09869130700826645, + 0.03565366938710213, + 0.26216259598731995, + 0.0, + 0.9994885921478271 + ], + [ + 0.3287518322467804, + -0.07287082821130753, + 0.07976262271404266, + -0.09497606009244919, + 0.021747436374425888, + 0.2636165916919708, + 0.0, + 0.9994885921478271 + ], + [ + 0.32568463683128357, + -0.07339410483837128, + 0.07622680813074112, + -0.08888905495405197, + 0.027417266741394997, + 0.258579283952713, + 0.0, + 0.9994885921478271 + ], + [ + 0.32337746024131775, + -0.07265238463878632, + 0.07193411886692047, + -0.07745648175477982, + 0.024296101182699203, + 0.254902184009552, + 0.0, + 0.9994885921478271 + ], + [ + 0.32164663076400757, + -0.07320263236761093, + 0.06462709605693817, + -0.05853252112865448, + 0.024689288809895515, + 0.24664457142353058, + 0.0, + 0.9994885921478271 + ], + [ + 0.32069581747055054, + -0.07281961292028427, + 0.06080186739563942, + -0.046223219484090805, + 0.018125906586647034, + 0.24968594312667847, + 0.0, + 0.9994885921478271 + ], + [ + 0.32169070839881897, + -0.07421381771564484, + 0.055654555559158325, + -0.031741466373205185, + 0.013693914748728275, + 0.2513663172721863, + 0.0, + 0.9406655430793762 + ], + [ + 0.3214128613471985, + -0.0734432265162468, + 0.05445460230112076, + -0.024052372202277184, + 0.005015834234654903, + 0.2517206072807312, + 0.0, + 0.6541022062301636 + ], + [ + 0.3221743106842041, + -0.07397708296775818, + 0.05346446856856346, + -0.024470549076795578, + -0.005028114654123783, + 0.2481549084186554, + 0.0, + 0.4059307873249054 + ], + [ + 0.3216302692890167, + -0.07313825190067291, + 0.05496590584516525, + -0.02269570529460907, + -0.004044528119266033, + 0.25645342469215393, + 0.0, + 0.39099013805389404 + ], + [ + 0.31599071621894836, + -0.06787135452032089, + 0.07176893949508667, + -0.0654231458902359, + 0.05723516643047333, + 0.30055248737335205, + 0.0, + 0.41573449969291687 + ], + [ + 0.3191210925579071, + -0.05393553152680397, + 0.12203917652368546, + -0.16478575766086578, + 0.04929458349943161, + 0.34724441170692444, + 0.0, + 0.4175282120704651 + ], + [ + 0.3131137788295746, + -0.033061783760786057, + 0.14767923951148987, + -0.20946922898292542, + 0.057997927069664, + 0.3647667169570923, + 0.0, + 0.41842639446258545 + ], + [ + 0.30207428336143494, + -0.008227716200053692, + 0.15912674367427826, + -0.1968040019273758, + 0.04622771590948105, + 0.33998480439186096, + 0.0, + 0.41842639446258545 + ], + [ + 0.2835780680179596, + 0.016161667183041573, + 0.1487795114517212, + -0.19250082969665527, + 0.12060824036598206, + 0.30510082840919495, + 0.0, + 0.41842639446258545 + ], + [ + 0.27340278029441833, + 0.03206101432442665, + 0.12931030988693237, + -0.15294580161571503, + 0.12540093064308167, + 0.2919348478317261, + 0.0, + 0.41842639446258545 + ], + [ + 0.26218897104263306, + 0.04707373306155205, + 0.10142477601766586, + -0.07847392559051514, + 0.10073573887348175, + 0.2730025351047516, + 0.0, + 0.41842639446258545 + ], + [ + 0.258388489484787, + 0.058668673038482666, + 0.0818246603012085, + -0.02490810491144657, + 0.09088586270809174, + 0.2600691020488739, + 0.0, + 0.41842639446258545 + ], + [ + 0.2596006989479065, + 0.0653754398226738, + 0.06454437971115112, + 0.01766970567405224, + 0.08121996372938156, + 0.23619763553142548, + 0.0, + 0.41842639446258545 + ], + [ + 0.26417991518974304, + 0.06816272437572479, + 0.04204180836677551, + 0.054685693234205246, + 0.11446346342563629, + 0.24779032170772552, + 0.0, + 0.41842639446258545 + ], + [ + 0.273468017578125, + 0.07259323447942734, + 0.031115734949707985, + 0.08680686354637146, + 0.09536688774824142, + 0.25676167011260986, + 0.0, + 0.41842639446258545 + ], + [ + 0.2772027254104614, + 0.06923243403434753, + 0.029712852090597153, + 0.10059954971075058, + 0.0783269852399826, + 0.2533280551433563, + 0.0, + 0.4956514239311218 + ], + [ + 0.2739045321941376, + 0.06298385560512543, + 0.037552569061517715, + 0.04877166822552681, + 0.09548093378543854, + 0.24589921534061432, + 0.0, + 0.8055269122123718 + ], + [ + 0.2743210792541504, + 0.0662655159831047, + 0.04066328704357147, + 0.06175953149795532, + 0.08267872780561447, + 0.23992367088794708, + 0.0, + 0.9968144297599792 + ], + [ + 0.276062548160553, + 0.06345894932746887, + 0.045721519738435745, + 0.04194381833076477, + 0.06532652676105499, + 0.24588420987129211, + 0.0, + 0.9974852800369263 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9406655430793762 + ], + [ + 0.6541022062301636 + ], + [ + 0.4059307873249054 + ], + [ + 0.39099013805389404 + ], + [ + 0.41573449969291687 + ], + [ + 0.4175282120704651 + ], + [ + 0.41842639446258545 + ], + [ + 0.41842639446258545 + ], + [ + 0.41842639446258545 + ], + [ + 0.41842639446258545 + ], + [ + 0.41842639446258545 + ], + [ + 0.41842639446258545 + ], + [ + 0.41842639446258545 + ], + [ + 0.41842639446258545 + ], + [ + 0.41842639446258545 + ], + [ + 0.4956514239311218 + ], + [ + 0.8055269122123718 + ], + [ + 0.9968144297599792 + ], + [ + 0.9974852800369263 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2457776516675949, + 0.047459010034799576, + 0.15749631822109222 + ], + [ + 0.24479161202907562, + 0.046222008764743805, + 0.15105661749839783 + ], + [ + 0.26026520133018494, + 0.02912924252450466, + 0.14730170369148254 + ], + [ + 0.2663341760635376, + 0.0030333728063851595, + 0.13708354532718658 + ], + [ + 0.2790622413158417, + -0.013097154907882214, + 0.1274760514497757 + ], + [ + 0.2952024042606354, + -0.030562911182641983, + 0.11889148503541946 + ], + [ + 0.3077019155025482, + -0.044220998883247375, + 0.11031477898359299 + ], + [ + 0.3173089325428009, + -0.056018635630607605, + 0.10075676441192627 + ], + [ + 0.32284608483314514, + -0.06325475126504898, + 0.09339739382266998 + ], + [ + 0.32452210783958435, + -0.06844087690114975, + 0.08247499912977219 + ], + [ + 0.3274352252483368, + -0.07152785360813141, + 0.0823005959391594 + ], + [ + 0.3287518322467804, + -0.07287082821130753, + 0.07976262271404266 + ], + [ + 0.32568463683128357, + -0.07339410483837128, + 0.07622680813074112 + ], + [ + 0.32337746024131775, + -0.07265238463878632, + 0.07193411886692047 + ], + [ + 0.32164663076400757, + -0.07320263236761093, + 0.06462709605693817 + ], + [ + 0.32069581747055054, + -0.07281961292028427, + 0.06080186739563942 + ], + [ + 0.32169070839881897, + -0.07421381771564484, + 0.055654555559158325 + ], + [ + 0.3214128613471985, + -0.0734432265162468, + 0.05445460230112076 + ], + [ + 0.3221743106842041, + -0.07397708296775818, + 0.05346446856856346 + ], + [ + 0.3216302692890167, + -0.07313825190067291, + 0.05496590584516525 + ], + [ + 0.31599071621894836, + -0.06787135452032089, + 0.07176893949508667 + ], + [ + 0.3191210925579071, + -0.05393553152680397, + 0.12203917652368546 + ], + [ + 0.3131137788295746, + -0.033061783760786057, + 0.14767923951148987 + ], + [ + 0.30207428336143494, + -0.008227716200053692, + 0.15912674367427826 + ], + [ + 0.2835780680179596, + 0.016161667183041573, + 0.1487795114517212 + ], + [ + 0.27340278029441833, + 0.03206101432442665, + 0.12931030988693237 + ], + [ + 0.26218897104263306, + 0.04707373306155205, + 0.10142477601766586 + ], + [ + 0.258388489484787, + 0.058668673038482666, + 0.0818246603012085 + ], + [ + 0.2596006989479065, + 0.0653754398226738, + 0.06454437971115112 + ], + [ + 0.26417991518974304, + 0.06816272437572479, + 0.04204180836677551 + ], + [ + 0.273468017578125, + 0.07259323447942734, + 0.031115734949707985 + ], + [ + 0.2772027254104614, + 0.06923243403434753, + 0.029712852090597153 + ], + [ + 0.2739045321941376, + 0.06298385560512543, + 0.037552569061517715 + ], + [ + 0.2743210792541504, + 0.0662655159831047, + 0.04066328704357147 + ], + [ + 0.276062548160553, + 0.06345894932746887, + 0.045721519738435745 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9507769214751101, + 0.30971309720644147, + 0.010052015176371925, + 0.3098760775390197, + -0.9502501427402376, + -0.03164621290438763, + -0.0002493177572978917, + 0.033203367915796395, + -0.99944858507064 + ], + [ + 0.9508152754338253, + 0.3093843739815327, + -0.015219104367676943, + 0.3086324167695396, + -0.9504002310152723, + -0.0385413051817191, + -0.026388317882963072, + 0.03194855273987137, + -0.9991411044778087 + ], + [ + 0.9521266217046244, + 0.30519800137944914, + -0.017580562998058654, + 0.3040456827725238, + -0.9513765253029375, + -0.049385523080138945, + -0.0317980978790995, + 0.04167597697113835, + -0.9986250517159942 + ], + [ + 0.9523844926108327, + 0.3039632040414872, + 0.023877789328998724, + 0.30488480943983215, + -0.9501852700022883, + -0.06475496616874847, + 0.003005196706381521, + 0.06895160084807138, + -0.997615479798326 + ], + [ + 0.9546584220046865, + 0.2974752118110042, + 0.011653139213126043, + 0.2974330027125649, + -0.951392566047269, + -0.07991116422240926, + -0.012684880484643097, + 0.07975389412431019, + -0.9967338712911783 + ], + [ + 0.9537362442780706, + 0.3006444672319127, + 0.0002840302809398662, + 0.2988538384740497, + -0.9479520152150821, + -0.10987884272685106, + -0.032765219054474194, + 0.10488031832762942, + -0.9939449477953033 + ], + [ + 0.9536125530284328, + 0.30069380500458653, + -0.014364342604459953, + 0.29630281297349415, + -0.9459763757508042, + -0.1316561413127697, + -0.05317651484056815, + 0.12129275391892592, + -0.9911913670508707 + ], + [ + 0.9544510616187883, + 0.2952439677179581, + -0.04306008013143635, + 0.2871594016012357, + -0.9481649683893436, + -0.13609801905705882, + -0.08101017866162624, + 0.11753379192977932, + -0.9897591417652171 + ], + [ + 0.9606821176906712, + 0.2768510754687809, + -0.021055896113608214, + 0.27215755451541096, + -0.9539744523576866, + -0.12594844091549304, + -0.05495574828495019, + 0.11526589374412406, + -0.9918133087783254 + ], + [ + 0.9629722764854128, + 0.2677897901634915, + -0.031193316667108926, + 0.2629635822331126, + -0.9584728094838435, + -0.11036316368823715, + -0.059452074308895195, + 0.09807396068447916, + -0.9934017058048716 + ], + [ + 0.9652179474020854, + 0.26130097666887414, + -0.00872431113600913, + 0.2590051513333818, + -0.9602217154210588, + -0.10435798396199295, + -0.03564611613734918, + 0.098468557548753, + -0.9945015322153058 + ], + [ + 0.9652256075259776, + 0.2613905147228163, + 0.0038112188402932845, + 0.26051228405475507, + -0.9605654011164844, + -0.09719804542531872, + -0.021745722169706723, + 0.09481091177110816, + -0.9952577628817819 + ], + [ + 0.9663909062100275, + 0.2570504622246944, + -0.0036981434035296377, + 0.2556112247424681, + -0.9623151802714383, + -0.09280299351208966, + -0.02741383191415521, + 0.08873868203450212, + -0.9956776225920527 + ], + [ + 0.9674023653827521, + 0.253213825957103, + -0.003927059462506136, + 0.2520763357826506, + -0.9643125914094974, + -0.08098609132123846, + -0.024293710919670607, + 0.07735621754756053, + -0.9967074953146916 + ], + [ + 0.96944157008825, + 0.24513378755635784, + -0.009616048206156911, + 0.24407704735941066, + -0.967723806973904, + -0.06274574382574771, + -0.024686780615153232, + 0.05848127575736344, + -0.9979832179193449 + ], + [ + 0.968830897086232, + 0.24764724857965476, + -0.006126428161150345, + 0.2470590624553024, + -0.9677481474433969, + -0.04924776927517024, + -0.018124914063079867, + 0.04619917088866538, + -0.99876780289485 + ], + [ + 0.9684826714897673, + 0.24902320220689056, + -0.005362815181391663, + 0.24870424894695303, + -0.967977505551647, + -0.034143012487819216, + -0.013693486764724597, + 0.031733161024982304, + -0.99940256899389 + ], + [ + 0.9684731198017094, + 0.24911549662094012, + 0.0011338275205486962, + 0.24906757685306746, + -0.9681751281862001, + -0.02454105381145128, + -0.005015813202792624, + 0.024049750621110234, + -0.999698180008835 + ], + [ + 0.9693550014346384, + 0.24542301308704126, + 0.010882363756573876, + 0.2456127021750615, + -0.9691072549130306, + -0.022483972184536186, + 0.005028093467404268, + 0.024467797657501508, + -0.9996879738967929 + ], + [ + 0.9672877424446741, + 0.2534974594019328, + 0.00966754327899, + 0.25364949280015325, + -0.9670698216247766, + -0.020925938565516895, + 0.004044517092403209, + 0.02269357132291412, + -0.9997342865492316 + ], + [ + 0.9536089905207755, + 0.29898677637390825, + -0.03516817810871595, + 0.29556319874971637, + -0.9520224833274208, + -0.07934473381344707, + -0.057203922442289154, + 0.06526943229896907, + -0.9962266872878819 + ], + [ + 0.9391718008670198, + 0.3432986228206406, + 0.01011849917970883, + 0.33989460143534445, + -0.9248253583630848, + -0.17079144136548374, + -0.04927462198035197, + 0.1638417288057064, + -0.98525524587827 + ], + [ + 0.9326362224827246, + 0.36019407431006106, + 0.021210972280228276, + 0.3561315584214552, + -0.9094867524838605, + -0.2144858040819191, + -0.05796541735776596, + 0.20759112670892274, + -0.9764967662528435 + ], + [ + 0.9417525727518357, + 0.3355543247941117, + 0.02248081020039016, + 0.3331165138839491, + -0.9215479393475593, + -0.19945621991322215, + -0.04621125288393397, + 0.1953271373778736, + -0.9796488296888136 + ], + [ + 0.946887800460737, + 0.3167959201614423, + -0.055170991541684734, + 0.29820721170891873, + -0.929284179038484, + -0.21795268631875783, + -0.12031605139556273, + 0.18992435219801543, + -0.9743986803248168 + ], + [ + 0.9501686540582354, + 0.3026946579151835, + -0.07453504487669632, + 0.2855457794022542, + -0.9410252100594924, + -0.18148047249786167, + -0.12507252580291298, + 0.1511538888090476, + -0.980565839292386 + ], + [ + 0.9580838749447049, + 0.2763859207856779, + -0.0754063085052713, + 0.2682571122510533, + -0.9578765309866426, + -0.10252157388433697, + -0.1005654528039572, + 0.07799598820739931, + -0.9918685475030885 + ], + [ + 0.9623837244410526, + 0.25925199783843145, + -0.08127710961734685, + 0.2560860123306784, + -0.9654911837165514, + -0.047399667237061106, + -0.09076079120159705, + 0.02480273739719962, + -0.9955638116153408 + ], + [ + 0.9690297832649084, + 0.232577326170097, + -0.0830004005841686, + 0.2332361234709043, + -0.9724184573590917, + -0.001804022069969921, + -0.08113069612562934, + -0.017610540563315607, + -0.996547880940619 + ], + [ + 0.9631128148764575, + 0.23884366406350693, + -0.1239653578926996, + 0.2436574260897752, + -0.9695386174912598, + 0.025018551205901234, + -0.1142136792685193, + -0.05430076730447931, + -0.9919710994470013 + ], + [ + 0.9628224082392297, + 0.24500856920451833, + -0.11377087153030643, + 0.25279577836325856, + -0.9656720108975031, + 0.05976505509817264, + -0.09522239565419999, + -0.08630393030174291, + -0.9917077830592778 + ], + [ + 0.9651155482105146, + 0.24175251375491974, + -0.10053706130326004, + 0.249858756658082, + -0.9651586916292817, + 0.07771294418390529, + -0.07824691893995248, + -0.10012203586439278, + -0.9918936422877072 + ], + [ + 0.9655009950484046, + 0.23863109143194033, + -0.1042258641726781, + 0.24231981011669285, + -0.9698969092197861, + 0.024105914438489893, + -0.09533592284941991, + -0.04853027599248527, + -0.9942614717098026 + ], + [ + 0.9680380219593617, + 0.23222430206565992, + -0.09473257924876324, + 0.2368167598510269, + -0.9707154380497053, + 0.040365338913846305, + -0.08258456450612986, + -0.06150944530790178, + -0.9946840593089079 + ], + [ + 0.9678536121680625, + 0.24054498731345295, + -0.07346764248024355, + 0.2428948281394064, + -0.9697357111115301, + 0.02479421420702064, + -0.06528007258239181, + -0.041842080175179715, + -0.9969893442009559 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0009860396385192871, + -0.0012370012700557709, + -0.006439700722694397, + 0.0012443475425243378, + 0.026142064481973648, + -0.0011947453022003174, + 1.0 + ], + [ + 0.015473589301109314, + -0.017092766240239143, + -0.003754913806915283, + -0.009744029492139816, + 0.005412077531218529, + -0.004769951105117798, + 1.0 + ], + [ + 0.006068974733352661, + -0.02609586901962757, + -0.01021815836429596, + -0.02729751169681549, + -0.03480866178870201, + 0.0007209181785583496, + 1.0 + ], + [ + 0.012728065252304077, + -0.01613052748143673, + -0.009607493877410889, + -0.010838456451892853, + 0.01569042168557644, + -0.007791012525558472, + 1.0 + ], + [ + 0.0161401629447937, + -0.017465755343437195, + -0.008584566414356232, + -0.025285087525844574, + 0.020085863769054413, + 0.001631706953048706, + 1.0 + ], + [ + 0.012499511241912842, + -0.013658087700605392, + -0.008576706051826477, + -0.016635075211524963, + 0.02043052390217781, + -0.002400726079940796, + 1.0 + ], + [ + 0.009607017040252686, + -0.01179763674736023, + -0.009558014571666718, + 0.003568902611732483, + 0.027897439897060394, + -0.009010165929794312, + 1.0 + ], + [ + 0.005537152290344238, + -0.007236115634441376, + -0.007359370589256287, + 0.0024980828166007996, + -0.026115600019693375, + -0.016186118125915527, + 1.0 + ], + [ + 0.001676023006439209, + -0.005186125636100769, + -0.010922394692897797, + 0.017291806638240814, + 0.004503704607486725, + -0.009487003087997437, + 1.0 + ], + [ + 0.0029131174087524414, + -0.003086976706981659, + -0.00017440319061279297, + -0.0002848133444786072, + -0.023833483457565308, + -0.004413008689880371, + 1.0 + ], + [ + 0.0013166069984436035, + -0.001342974603176117, + -0.0025379732251167297, + 0.0037152469158172607, + -0.013906233012676239, + 0.001453995704650879, + 1.0 + ], + [ + -0.003067195415496826, + -0.0005232766270637512, + -0.003535814583301544, + 0.006087005138397217, + 0.005669830366969109, + -0.0050373077392578125, + 1.0 + ], + [ + -0.0023071765899658203, + 0.0007417201995849609, + -0.004292689263820648, + 0.011432573199272156, + -0.003121165558695793, + -0.0036770999431610107, + 1.0 + ], + [ + -0.0017308294773101807, + -0.0005502477288246155, + -0.0073070228099823, + 0.018923960626125336, + 0.00039318762719631195, + -0.008257612586021423, + 1.0 + ], + [ + -0.0009508132934570312, + 0.00038301944732666016, + -0.003825228661298752, + 0.012309301644563675, + -0.006563382223248482, + 0.003041371703147888, + 1.0 + ], + [ + 0.0009948909282684326, + -0.0013942047953605652, + -0.005147311836481094, + 0.01448175311088562, + -0.004431991837918758, + 0.0016803741455078125, + 0.0 + ], + [ + -0.0002778470516204834, + 0.0007705911993980408, + -0.0011999532580375671, + 0.007689094170928001, + -0.008678080514073372, + 0.0003542900085449219, + 0.0 + ], + [ + 0.0007614493370056152, + -0.0005338564515113831, + -0.0009901337325572968, + -0.00041817687451839447, + -0.010043948888778687, + -0.0035656988620758057, + 0.0 + ], + [ + -0.0005440413951873779, + 0.0008388310670852661, + 0.0015014372766017914, + 0.0017748437821865082, + 0.00098358653485775, + 0.008298516273498535, + 0.0 + ], + [ + -0.005639553070068359, + 0.00526689738035202, + 0.016803033649921417, + -0.04272744059562683, + 0.061279695481061935, + 0.04409906268119812, + 0.0 + ], + [ + 0.0031303763389587402, + 0.013935822993516922, + 0.050270237028598785, + -0.09936261177062988, + -0.007940582931041718, + 0.04669192433357239, + 0.0 + ], + [ + -0.0060073137283325195, + 0.020873747766017914, + 0.025640062987804413, + -0.04468347132205963, + 0.008703343570232391, + 0.017522305250167847, + 0.0 + ], + [ + -0.011039495468139648, + 0.02483406662940979, + 0.011447504162788391, + 0.012665227055549622, + -0.011770211160182953, + -0.024781912565231323, + 0.0 + ], + [ + -0.018496215343475342, + 0.02438938245177269, + -0.010347232222557068, + 0.00430317223072052, + 0.07438052445650101, + -0.034883975982666016, + 0.0 + ], + [ + -0.01017528772354126, + 0.01589934714138508, + -0.01946920156478882, + 0.03955502808094025, + 0.004792690277099609, + -0.013165980577468872, + 0.0 + ], + [ + -0.011213809251785278, + 0.015012718737125397, + -0.02788553386926651, + 0.07447187602519989, + -0.024665191769599915, + -0.018932312726974487, + 0.0 + ], + [ + -0.0038004815578460693, + 0.011594939976930618, + -0.019600115716457367, + 0.053565822541713715, + -0.009849876165390015, + -0.012933433055877686, + 0.0 + ], + [ + 0.0012122094631195068, + 0.006706766784191132, + -0.017280280590057373, + 0.04257781058549881, + -0.009665898978710175, + -0.023871466517448425, + 0.0 + ], + [ + 0.004579216241836548, + 0.002787284553050995, + -0.02250257134437561, + 0.03701598942279816, + 0.03324349969625473, + 0.011592686176300049, + 0.0 + ], + [ + 0.009288102388381958, + 0.004430510103702545, + -0.010926073417067528, + 0.032121170312166214, + -0.019096575677394867, + 0.008971348404884338, + 0.0 + ], + [ + 0.0037347078323364258, + -0.0033608004450798035, + -0.0014028828591108322, + 0.01379268616437912, + -0.01703990250825882, + -0.00343361496925354, + 1.0 + ], + [ + -0.0032981932163238525, + -0.006248578429222107, + 0.007839716970920563, + -0.05182788148522377, + 0.017153948545455933, + -0.007428839802742004, + 1.0 + ], + [ + 0.0004165470600128174, + 0.0032816603779792786, + 0.0031107179820537567, + 0.012987863272428513, + -0.012802205979824066, + -0.005975544452667236, + 1.0 + ], + [ + 0.0017414689064025879, + -0.0028065666556358337, + 0.005058232694864273, + -0.019815713167190552, + -0.01735220104455948, + 0.005960538983345032, + 1.0 + ], + [ + -0.004298269748687744, + -0.0024582892656326294, + 0.008494798094034195, + -0.012279100716114044, + 0.01476762443780899, + -0.004568949341773987, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9406655430793762 + ], + [ + 0.6541022062301636 + ], + [ + 0.4059307873249054 + ], + [ + 0.39099013805389404 + ], + [ + 0.41573449969291687 + ], + [ + 0.4175282120704651 + ], + [ + 0.41842639446258545 + ], + [ + 0.41842639446258545 + ], + [ + 0.41842639446258545 + ], + [ + 0.41842639446258545 + ], + [ + 0.41842639446258545 + ], + [ + 0.41842639446258545 + ], + [ + 0.41842639446258545 + ], + [ + 0.41842639446258545 + ], + [ + 0.41842639446258545 + ], + [ + 0.4956514239311218 + ], + [ + 0.8055269122123718 + ], + [ + 0.9968144297599792 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.24479161202907562, + 0.046222008764743805, + 0.15105661749839783 + ], + [ + 0.26026520133018494, + 0.02912924252450466, + 0.14730170369148254 + ], + [ + 0.2663341760635376, + 0.0030333728063851595, + 0.13708354532718658 + ], + [ + 0.2790622413158417, + -0.013097154907882214, + 0.1274760514497757 + ], + [ + 0.2952024042606354, + -0.030562911182641983, + 0.11889148503541946 + ], + [ + 0.3077019155025482, + -0.044220998883247375, + 0.11031477898359299 + ], + [ + 0.3173089325428009, + -0.056018635630607605, + 0.10075676441192627 + ], + [ + 0.32284608483314514, + -0.06325475126504898, + 0.09339739382266998 + ], + [ + 0.32452210783958435, + -0.06844087690114975, + 0.08247499912977219 + ], + [ + 0.3274352252483368, + -0.07152785360813141, + 0.0823005959391594 + ], + [ + 0.3287518322467804, + -0.07287082821130753, + 0.07976262271404266 + ], + [ + 0.32568463683128357, + -0.07339410483837128, + 0.07622680813074112 + ], + [ + 0.32337746024131775, + -0.07265238463878632, + 0.07193411886692047 + ], + [ + 0.32164663076400757, + -0.07320263236761093, + 0.06462709605693817 + ], + [ + 0.32069581747055054, + -0.07281961292028427, + 0.06080186739563942 + ], + [ + 0.32169070839881897, + -0.07421381771564484, + 0.055654555559158325 + ], + [ + 0.3214128613471985, + -0.0734432265162468, + 0.05445460230112076 + ], + [ + 0.3221743106842041, + -0.07397708296775818, + 0.05346446856856346 + ], + [ + 0.3216302692890167, + -0.07313825190067291, + 0.05496590584516525 + ], + [ + 0.31599071621894836, + -0.06787135452032089, + 0.07176893949508667 + ], + [ + 0.3191210925579071, + -0.05393553152680397, + 0.12203917652368546 + ], + [ + 0.3131137788295746, + -0.033061783760786057, + 0.14767923951148987 + ], + [ + 0.30207428336143494, + -0.008227716200053692, + 0.15912674367427826 + ], + [ + 0.2835780680179596, + 0.016161667183041573, + 0.1487795114517212 + ], + [ + 0.27340278029441833, + 0.03206101432442665, + 0.12931030988693237 + ], + [ + 0.26218897104263306, + 0.04707373306155205, + 0.10142477601766586 + ], + [ + 0.258388489484787, + 0.058668673038482666, + 0.0818246603012085 + ], + [ + 0.2596006989479065, + 0.0653754398226738, + 0.06454437971115112 + ], + [ + 0.26417991518974304, + 0.06816272437572479, + 0.04204180836677551 + ], + [ + 0.273468017578125, + 0.07259323447942734, + 0.031115734949707985 + ], + [ + 0.2772027254104614, + 0.06923243403434753, + 0.029712852090597153 + ], + [ + 0.2739045321941376, + 0.06298385560512543, + 0.037552569061517715 + ], + [ + 0.2743210792541504, + 0.0662655159831047, + 0.04066328704357147 + ], + [ + 0.276062548160553, + 0.06345894932746887, + 0.045721519738435745 + ], + [ + 0.27176427841186523, + 0.06100066006183624, + 0.05421631783246994 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9508152754338253, + 0.3093843739815327, + -0.015219104367676943, + 0.3086324167695396, + -0.9504002310152723, + -0.0385413051817191, + -0.026388317882963072, + 0.03194855273987137, + -0.9991411044778087 + ], + [ + 0.9521266217046244, + 0.30519800137944914, + -0.017580562998058654, + 0.3040456827725238, + -0.9513765253029375, + -0.049385523080138945, + -0.0317980978790995, + 0.04167597697113835, + -0.9986250517159942 + ], + [ + 0.9523844926108327, + 0.3039632040414872, + 0.023877789328998724, + 0.30488480943983215, + -0.9501852700022883, + -0.06475496616874847, + 0.003005196706381521, + 0.06895160084807138, + -0.997615479798326 + ], + [ + 0.9546584220046865, + 0.2974752118110042, + 0.011653139213126043, + 0.2974330027125649, + -0.951392566047269, + -0.07991116422240926, + -0.012684880484643097, + 0.07975389412431019, + -0.9967338712911783 + ], + [ + 0.9537362442780706, + 0.3006444672319127, + 0.0002840302809398662, + 0.2988538384740497, + -0.9479520152150821, + -0.10987884272685106, + -0.032765219054474194, + 0.10488031832762942, + -0.9939449477953033 + ], + [ + 0.9536125530284328, + 0.30069380500458653, + -0.014364342604459953, + 0.29630281297349415, + -0.9459763757508042, + -0.1316561413127697, + -0.05317651484056815, + 0.12129275391892592, + -0.9911913670508707 + ], + [ + 0.9544510616187883, + 0.2952439677179581, + -0.04306008013143635, + 0.2871594016012357, + -0.9481649683893436, + -0.13609801905705882, + -0.08101017866162624, + 0.11753379192977932, + -0.9897591417652171 + ], + [ + 0.9606821176906712, + 0.2768510754687809, + -0.021055896113608214, + 0.27215755451541096, + -0.9539744523576866, + -0.12594844091549304, + -0.05495574828495019, + 0.11526589374412406, + -0.9918133087783254 + ], + [ + 0.9629722764854128, + 0.2677897901634915, + -0.031193316667108926, + 0.2629635822331126, + -0.9584728094838435, + -0.11036316368823715, + -0.059452074308895195, + 0.09807396068447916, + -0.9934017058048716 + ], + [ + 0.9652179474020854, + 0.26130097666887414, + -0.00872431113600913, + 0.2590051513333818, + -0.9602217154210588, + -0.10435798396199295, + -0.03564611613734918, + 0.098468557548753, + -0.9945015322153058 + ], + [ + 0.9652256075259776, + 0.2613905147228163, + 0.0038112188402932845, + 0.26051228405475507, + -0.9605654011164844, + -0.09719804542531872, + -0.021745722169706723, + 0.09481091177110816, + -0.9952577628817819 + ], + [ + 0.9663909062100275, + 0.2570504622246944, + -0.0036981434035296377, + 0.2556112247424681, + -0.9623151802714383, + -0.09280299351208966, + -0.02741383191415521, + 0.08873868203450212, + -0.9956776225920527 + ], + [ + 0.9674023653827521, + 0.253213825957103, + -0.003927059462506136, + 0.2520763357826506, + -0.9643125914094974, + -0.08098609132123846, + -0.024293710919670607, + 0.07735621754756053, + -0.9967074953146916 + ], + [ + 0.96944157008825, + 0.24513378755635784, + -0.009616048206156911, + 0.24407704735941066, + -0.967723806973904, + -0.06274574382574771, + -0.024686780615153232, + 0.05848127575736344, + -0.9979832179193449 + ], + [ + 0.968830897086232, + 0.24764724857965476, + -0.006126428161150345, + 0.2470590624553024, + -0.9677481474433969, + -0.04924776927517024, + -0.018124914063079867, + 0.04619917088866538, + -0.99876780289485 + ], + [ + 0.9684826714897673, + 0.24902320220689056, + -0.005362815181391663, + 0.24870424894695303, + -0.967977505551647, + -0.034143012487819216, + -0.013693486764724597, + 0.031733161024982304, + -0.99940256899389 + ], + [ + 0.9684731198017094, + 0.24911549662094012, + 0.0011338275205486962, + 0.24906757685306746, + -0.9681751281862001, + -0.02454105381145128, + -0.005015813202792624, + 0.024049750621110234, + -0.999698180008835 + ], + [ + 0.9693550014346384, + 0.24542301308704126, + 0.010882363756573876, + 0.2456127021750615, + -0.9691072549130306, + -0.022483972184536186, + 0.005028093467404268, + 0.024467797657501508, + -0.9996879738967929 + ], + [ + 0.9672877424446741, + 0.2534974594019328, + 0.00966754327899, + 0.25364949280015325, + -0.9670698216247766, + -0.020925938565516895, + 0.004044517092403209, + 0.02269357132291412, + -0.9997342865492316 + ], + [ + 0.9536089905207755, + 0.29898677637390825, + -0.03516817810871595, + 0.29556319874971637, + -0.9520224833274208, + -0.07934473381344707, + -0.057203922442289154, + 0.06526943229896907, + -0.9962266872878819 + ], + [ + 0.9391718008670198, + 0.3432986228206406, + 0.01011849917970883, + 0.33989460143534445, + -0.9248253583630848, + -0.17079144136548374, + -0.04927462198035197, + 0.1638417288057064, + -0.98525524587827 + ], + [ + 0.9326362224827246, + 0.36019407431006106, + 0.021210972280228276, + 0.3561315584214552, + -0.9094867524838605, + -0.2144858040819191, + -0.05796541735776596, + 0.20759112670892274, + -0.9764967662528435 + ], + [ + 0.9417525727518357, + 0.3355543247941117, + 0.02248081020039016, + 0.3331165138839491, + -0.9215479393475593, + -0.19945621991322215, + -0.04621125288393397, + 0.1953271373778736, + -0.9796488296888136 + ], + [ + 0.946887800460737, + 0.3167959201614423, + -0.055170991541684734, + 0.29820721170891873, + -0.929284179038484, + -0.21795268631875783, + -0.12031605139556273, + 0.18992435219801543, + -0.9743986803248168 + ], + [ + 0.9501686540582354, + 0.3026946579151835, + -0.07453504487669632, + 0.2855457794022542, + -0.9410252100594924, + -0.18148047249786167, + -0.12507252580291298, + 0.1511538888090476, + -0.980565839292386 + ], + [ + 0.9580838749447049, + 0.2763859207856779, + -0.0754063085052713, + 0.2682571122510533, + -0.9578765309866426, + -0.10252157388433697, + -0.1005654528039572, + 0.07799598820739931, + -0.9918685475030885 + ], + [ + 0.9623837244410526, + 0.25925199783843145, + -0.08127710961734685, + 0.2560860123306784, + -0.9654911837165514, + -0.047399667237061106, + -0.09076079120159705, + 0.02480273739719962, + -0.9955638116153408 + ], + [ + 0.9690297832649084, + 0.232577326170097, + -0.0830004005841686, + 0.2332361234709043, + -0.9724184573590917, + -0.001804022069969921, + -0.08113069612562934, + -0.017610540563315607, + -0.996547880940619 + ], + [ + 0.9631128148764575, + 0.23884366406350693, + -0.1239653578926996, + 0.2436574260897752, + -0.9695386174912598, + 0.025018551205901234, + -0.1142136792685193, + -0.05430076730447931, + -0.9919710994470013 + ], + [ + 0.9628224082392297, + 0.24500856920451833, + -0.11377087153030643, + 0.25279577836325856, + -0.9656720108975031, + 0.05976505509817264, + -0.09522239565419999, + -0.08630393030174291, + -0.9917077830592778 + ], + [ + 0.9651155482105146, + 0.24175251375491974, + -0.10053706130326004, + 0.249858756658082, + -0.9651586916292817, + 0.07771294418390529, + -0.07824691893995248, + -0.10012203586439278, + -0.9918936422877072 + ], + [ + 0.9655009950484046, + 0.23863109143194033, + -0.1042258641726781, + 0.24231981011669285, + -0.9698969092197861, + 0.024105914438489893, + -0.09533592284941991, + -0.04853027599248527, + -0.9942614717098026 + ], + [ + 0.9680380219593617, + 0.23222430206565992, + -0.09473257924876324, + 0.2368167598510269, + -0.9707154380497053, + 0.040365338913846305, + -0.08258456450612986, + -0.06150944530790178, + -0.9946840593089079 + ], + [ + 0.9678536121680625, + 0.24054498731345295, + -0.07346764248024355, + 0.2428948281394064, + -0.9697357111115301, + 0.02479421420702064, + -0.06528007258239181, + -0.041842080175179715, + -0.9969893442009559 + ], + [ + 0.9679115620366961, + 0.23657051852030236, + -0.08474430861549426, + 0.2382138556260031, + -0.9711643959279496, + 0.00968891478415241, + -0.08000854369051225, + -0.029565281140826197, + -0.99635562280121 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005586.json b/json/chunk-0005/episode_0005586.json new file mode 100644 index 0000000000000000000000000000000000000000..d30be95b469f00f7d9e9002bc13feeb5a1576e10 --- /dev/null +++ b/json/chunk-0005/episode_0005586.json @@ -0,0 +1,2002 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 32, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the orange cloth to the bottom right side of the table." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005586.mp4", + "start": 0, + "end": 32, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.29551711678504944, + -0.03285728767514229, + 0.045944999903440475, + 0.05357646942138672, + -0.23169660568237305, + 0.19618847966194153, + 0.0, + 1.0008161067962646 + ], + [ + 0.2927395701408386, + -0.03269661217927933, + 0.038273200392723083, + 0.056096792221069336, + -0.203532412648201, + 0.19899781048297882, + 0.0, + 1.0008161067962646 + ], + [ + 0.29310712218284607, + -0.005844735540449619, + 0.035713184624910355, + 0.010917000472545624, + -0.17680907249450684, + 0.30982184410095215, + 0.0, + 1.0008161067962646 + ], + [ + 0.29461047053337097, + 0.015884460881352425, + 0.036285433918237686, + 0.019355416297912598, + -0.1956251859664917, + 0.4086894690990448, + 0.0, + 1.0008161067962646 + ], + [ + 0.2883589267730713, + 0.05301506444811821, + 0.033961351960897446, + 0.02941562980413437, + -0.2036714106798172, + 0.542228639125824, + 0.0, + 1.0008161067962646 + ], + [ + 0.2859298586845398, + 0.09222470223903656, + 0.023621780797839165, + 0.011457186192274094, + -0.1816236972808838, + 0.678464949131012, + 0.0, + 1.0008161067962646 + ], + [ + 0.2910322844982147, + 0.1279345154762268, + 0.011288651265203953, + 0.01762210763990879, + -0.16646085679531097, + 0.7881988883018494, + 0.0, + 1.0008161067962646 + ], + [ + 0.29475241899490356, + 0.15826761722564697, + 0.00018924572214018553, + 0.02361152693629265, + -0.15094944834709167, + 0.88848876953125, + 0.0, + 1.0008161067962646 + ], + [ + 0.30092889070510864, + 0.17413684725761414, + -0.010827712714672089, + 0.030277879908680916, + -0.14860571920871735, + 0.925483763217926, + 0.0, + 1.0008161067962646 + ], + [ + 0.30341199040412903, + 0.18113435804843903, + -0.016467120498418808, + 0.033653028309345245, + -0.14988724887371063, + 0.94526606798172, + 0.0, + 1.0008161067962646 + ], + [ + 0.3009156286716461, + 0.18311834335327148, + -0.024028370156884193, + 0.03330107778310776, + -0.1475486010313034, + 0.9493008852005005, + 0.0, + 1.0008161067962646 + ], + [ + 0.2966376841068268, + 0.1754087209701538, + -0.031726595014333725, + 0.006663372740149498, + -0.1365465372800827, + 0.9424839615821838, + 0.0, + 1.0008161067962646 + ], + [ + 0.2864624261856079, + 0.16815239191055298, + -0.03460193797945976, + -0.02081708237528801, + -0.17266815900802612, + 0.9651064872741699, + 0.0, + 0.9994885921478271 + ], + [ + 0.28020942211151123, + 0.1594546139240265, + -0.035037338733673096, + -0.037767428904771805, + -0.1855592429637909, + 0.9516501426696777, + 0.0, + 0.9994885921478271 + ], + [ + 0.27233320474624634, + 0.14079782366752625, + -0.035823579877614975, + -0.030714092776179314, + -0.1734512895345688, + 0.9039636254310608, + 0.0, + 0.9988223910331726 + ], + [ + 0.2638038992881775, + 0.12348353117704391, + -0.034958742558956146, + -0.04507438465952873, + -0.1647004932165146, + 0.8636208176612854, + 0.0, + 0.9988223910331726 + ], + [ + 0.2552421987056732, + 0.103400319814682, + -0.03233567997813225, + -0.04898850619792938, + -0.1365026831626892, + 0.8139525055885315, + 0.0, + 0.9988223910331726 + ], + [ + 0.24499432742595673, + 0.08364509046077728, + -0.03678874298930168, + -0.038552314043045044, + -0.08360835164785385, + 0.7483108639717102, + 0.0, + 0.9988223910331726 + ], + [ + 0.23763921856880188, + 0.06199776008725166, + -0.03456968814134598, + -0.07090212404727936, + -0.0453866571187973, + 0.6666851043701172, + 0.0, + 0.9994885921478271 + ], + [ + 0.229326993227005, + 0.04354129731655121, + -0.039350926876068115, + -0.06559152156114578, + -0.02313513681292534, + 0.5782662630081177, + 0.0, + 0.9988223910331726 + ], + [ + 0.2206834852695465, + 0.029081011191010475, + -0.041797421872615814, + -0.04759461432695389, + -0.020490340888500214, + 0.5026467442512512, + 0.0, + 0.9988223910331726 + ], + [ + 0.21290434896945953, + 0.011750196106731892, + -0.042752981185913086, + -0.04550311341881752, + -0.02928050421178341, + 0.42002278566360474, + 0.0, + 0.9988223910331726 + ], + [ + 0.20814600586891174, + -0.006054595112800598, + -0.04403776675462723, + -0.0583820603787899, + -0.026218386366963387, + 0.3471905291080475, + 0.0, + 0.9988223910331726 + ], + [ + 0.20556767284870148, + -0.03267800435423851, + -0.0435497872531414, + -0.08861836791038513, + -0.01864422857761383, + 0.26604804396629333, + 0.0, + 1.0008161067962646 + ], + [ + 0.2085919827222824, + -0.05258806049823761, + -0.04152922332286835, + -0.11946617066860199, + -0.010434730909764767, + 0.22640112042427063, + 0.0, + 1.0014774799346924 + ], + [ + 0.21325747668743134, + -0.06863423436880112, + -0.0403776653110981, + -0.14371345937252045, + -0.009760305285453796, + 0.18686053156852722, + 0.0, + 1.0014774799346924 + ], + [ + 0.21473170816898346, + -0.07618740946054459, + -0.04010462760925293, + -0.14812147617340088, + -0.007068275474011898, + 0.16037435829639435, + 0.0, + 1.0014774799346924 + ], + [ + 0.2141280174255371, + -0.07726473361253738, + -0.03854810446500778, + -0.15007326006889343, + 0.005624469835311174, + 0.1461285948753357, + 0.0, + 1.0001531839370728 + ], + [ + 0.21353787183761597, + -0.07816075533628464, + -0.025371208786964417, + -0.1707514226436615, + 0.0037522786296904087, + 0.13223128020763397, + 0.0, + 1.0008161067962646 + ], + [ + 0.21902978420257568, + -0.07395165413618088, + -0.0018513256218284369, + -0.19475755095481873, + -0.04873377084732056, + 0.15366648137569427, + 0.0, + 1.0008161067962646 + ], + [ + 0.22152574360370636, + -0.06837394088506699, + 0.02151668258011341, + -0.22220467031002045, + -0.09291447699069977, + 0.16511496901512146, + 0.0, + 1.0008161067962646 + ], + [ + 0.22198770940303802, + -0.06504146754741669, + 0.04501115530729294, + -0.22982347011566162, + -0.14879105985164642, + 0.15887492895126343, + 0.0, + 1.0008161067962646 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.29551711678504944, + -0.03285728767514229, + 0.045944999903440475 + ], + [ + 0.2927395701408386, + -0.03269661217927933, + 0.038273200392723083 + ], + [ + 0.29310712218284607, + -0.005844735540449619, + 0.035713184624910355 + ], + [ + 0.29461047053337097, + 0.015884460881352425, + 0.036285433918237686 + ], + [ + 0.2883589267730713, + 0.05301506444811821, + 0.033961351960897446 + ], + [ + 0.2859298586845398, + 0.09222470223903656, + 0.023621780797839165 + ], + [ + 0.2910322844982147, + 0.1279345154762268, + 0.011288651265203953 + ], + [ + 0.29475241899490356, + 0.15826761722564697, + 0.00018924572214018553 + ], + [ + 0.30092889070510864, + 0.17413684725761414, + -0.010827712714672089 + ], + [ + 0.30341199040412903, + 0.18113435804843903, + -0.016467120498418808 + ], + [ + 0.3009156286716461, + 0.18311834335327148, + -0.024028370156884193 + ], + [ + 0.2966376841068268, + 0.1754087209701538, + -0.031726595014333725 + ], + [ + 0.2864624261856079, + 0.16815239191055298, + -0.03460193797945976 + ], + [ + 0.28020942211151123, + 0.1594546139240265, + -0.035037338733673096 + ], + [ + 0.27233320474624634, + 0.14079782366752625, + -0.035823579877614975 + ], + [ + 0.2638038992881775, + 0.12348353117704391, + -0.034958742558956146 + ], + [ + 0.2552421987056732, + 0.103400319814682, + -0.03233567997813225 + ], + [ + 0.24499432742595673, + 0.08364509046077728, + -0.03678874298930168 + ], + [ + 0.23763921856880188, + 0.06199776008725166, + -0.03456968814134598 + ], + [ + 0.229326993227005, + 0.04354129731655121, + -0.039350926876068115 + ], + [ + 0.2206834852695465, + 0.029081011191010475, + -0.041797421872615814 + ], + [ + 0.21290434896945953, + 0.011750196106731892, + -0.042752981185913086 + ], + [ + 0.20814600586891174, + -0.006054595112800598, + -0.04403776675462723 + ], + [ + 0.20556767284870148, + -0.03267800435423851, + -0.0435497872531414 + ], + [ + 0.2085919827222824, + -0.05258806049823761, + -0.04152922332286835 + ], + [ + 0.21325747668743134, + -0.06863423436880112, + -0.0403776653110981 + ], + [ + 0.21473170816898346, + -0.07618740946054459, + -0.04010462760925293 + ], + [ + 0.2141280174255371, + -0.07726473361253738, + -0.03854810446500778 + ], + [ + 0.21353787183761597, + -0.07816075533628464, + -0.025371208786964417 + ], + [ + 0.21902978420257568, + -0.07395165413618088, + -0.0018513256218284369 + ], + [ + 0.22152574360370636, + -0.06837394088506699, + 0.02151668258011341 + ], + [ + 0.22198770940303802, + -0.06504146754741669, + 0.04501115530729294 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9546075075376149, + 0.2067135881798506, + 0.2144621155697035, + 0.1897234108419434, + -0.9770122885122583, + 0.09722147640587457, + 0.22962912256793752, + -0.05211986720867577, + -0.9718816725871665 + ], + [ + 0.9600312250689788, + 0.20848530519562752, + 0.18674561416547844, + 0.1936064982482285, + -0.9764828527019802, + 0.0948565349096269, + 0.202130083680323, + -0.054910070993294396, + -0.9778181392134719 + ], + [ + 0.937540131035475, + 0.3066995226800652, + 0.16417644619678012, + 0.30013573456160847, + -0.9517457189718892, + 0.06402052216160767, + 0.17588929341249782, + -0.010746590459368193, + -0.9843512926066336 + ], + [ + 0.9001396232230164, + 0.4007848653699931, + 0.17064627272308933, + 0.3898270625869516, + -0.9159754688224148, + 0.0949936934242839, + 0.1943798342903794, + -0.018985052170443877, + -0.9807426001838253 + ], + [ + 0.8388561130807478, + 0.5209186102176612, + 0.15800070593500767, + 0.5053798586941932, + -0.8531202503519514, + 0.12952620146388047, + 0.20226621065639613, + -0.02880347146308765, + -0.9789069108236892 + ], + [ + 0.7657314256810438, + 0.6291686064787092, + 0.13342506640851143, + 0.617275742650345, + -0.7771871626504866, + 0.12227334847280241, + 0.1806268010566024, + -0.011268488493388573, + -0.9834871528937901 + ], + [ + 0.6953769248332796, + 0.7110330783347762, + 0.10432110967193435, + 0.6992829938137561, + -0.7029437955458411, + 0.1298973243237807, + 0.16569317116973203, + -0.017377624042978337, + -0.9860242345958538 + ], + [ + 0.6234150939736038, + 0.7781421054028694, + 0.07647538430810513, + 0.7672942219094789, + -0.627654417494999, + 0.1315656080567441, + 0.15037685204249351, + -0.023340865412473558, + -0.9883531789656907 + ], + [ + 0.5948193027828125, + 0.8012414762436445, + 0.06482355886461645, + 0.790106589026024, + -0.597591597420968, + 0.1364399526147588, + 0.14805936314408052, + -0.02993959650298101, + -0.9885251871078492 + ], + [ + 0.5789622336396557, + 0.8131356439884179, + 0.06010953746721375, + 0.8015636497949661, + -0.5811226804054346, + 0.14068456079391514, + 0.149326646471266, + -0.03326942731615192, + -0.9882280596399302 + ], + [ + 0.5759251276764623, + 0.8154078998396015, + 0.05848251183063898, + 0.8041748478750117, + -0.577949274737473, + 0.13884325650038037, + 0.14701381348720974, + -0.032933155172244696, + -0.9885860336532923 + ], + [ + 0.5823092040231385, + 0.8095357916967628, + 0.07461764450741132, + 0.8014902522902357, + -0.5870334102795017, + 0.11404012758390172, + 0.13612261529104291, + -0.006601301198530744, + -0.9906700037998593 + ], + [ + 0.5608633248913977, + 0.8198952992834568, + 0.11490878558516653, + 0.8098846582490103, + -0.5721461353540082, + 0.129366302151516, + 0.17181144061048667, + 0.020506048189846943, + -0.9849164080585648 + ], + [ + 0.5703774801377398, + 0.809750705376017, + 0.13774369421053526, + 0.8003940782659024, + -0.5855993713476246, + 0.12822907530721636, + 0.18449620491652172, + 0.03711026031045913, + -0.9821323632541039 + ], + [ + 0.6092196830029681, + 0.7821359858354558, + 0.13082307710401128, + 0.7739938822444111, + -0.6223731434071871, + 0.1165553113919792, + 0.17258287310734852, + 0.03024847147635984, + -0.9845304372559318 + ], + [ + 0.640897272426682, + 0.7546280850781685, + 0.14066676724548732, + 0.7499125456848273, + -0.654645482320574, + 0.09523899569905799, + 0.163956884639046, + 0.044449360946135705, + -0.9854655723519412 + ], + [ + 0.6802432470374203, + 0.7215591049548821, + 0.12892471802062322, + 0.7202441145609958, + -0.6906510752334494, + 0.06518824832075057, + 0.13607916923701002, + 0.04851340366940077, + -0.9895094286383407 + ], + [ + 0.7302792932025801, + 0.6775374728749836, + 0.087379212457662, + 0.6780251253762583, + -0.7344847094681073, + 0.028533154681169147, + 0.08351097699134824, + 0.038408129448480884, + -0.9957664044916456 + ], + [ + 0.7850665663082486, + 0.6143046297781826, + 0.07937448140344522, + 0.6177474823056129, + -0.7858889616835707, + -0.02768732578265942, + 0.04537107635986094, + 0.07076977982874226, + -0.9964602870626298 + ], + [ + 0.8371874258769241, + 0.5441278614709917, + 0.055155093369283495, + 0.5464266418133468, + -0.8364395303377652, + -0.042270997207619246, + 0.02313307308071096, + 0.0655269597901766, + -0.9975826173658493 + ], + [ + 0.8761266178967675, + 0.4803468367912663, + 0.040854201710429174, + 0.48164546514931733, + -0.8757878334539784, + -0.03183263537762268, + 0.020488907093097766, + 0.047566660158261234, + -0.9986579081585041 + ], + [ + 0.9126882634746841, + 0.4061432169059029, + 0.045252857113004384, + 0.40760646557165675, + -0.9126775751095588, + -0.02960765300250972, + 0.029276320461203188, + 0.04546791454927255, + -0.9985367122979468 + ], + [ + 0.9400091901977949, + 0.3382392356508992, + 0.04446281378839133, + 0.3401403769821367, + -0.9392507466443377, + -0.04596258124283251, + 0.02621538270053669, + 0.05832884701714532, + -0.9979531548702648 + ], + [ + 0.9646497945542255, + 0.2602969590629723, + 0.0411857617273208, + 0.26287488826874444, + -0.9614653069668974, + -0.08050625203513603, + 0.018643148451520854, + 0.08848704199835727, + -0.9959028448670058 + ], + [ + 0.9744274994643461, + 0.22166012510472932, + 0.03684884294272164, + 0.2244597260764727, + -0.9678140000736967, + -0.11381516872115682, + 0.01043454154893534, + 0.11917571145122777, + -0.9928183470014831 + ], + [ + 0.9825455089916176, + 0.18248633185941698, + 0.036097942391461524, + 0.18576614930107, + -0.9727224337288913, + -0.13893165476015368, + 0.00976015031928842, + 0.14321244919711656, + -0.98964384192532 + ], + [ + 0.9871429125085045, + 0.15690945542268814, + 0.03046790250710784, + 0.15968378314050213, + -0.9765247179101972, + -0.14457027603330866, + 0.007068216618374708, + 0.14757675328236972, + -0.9890253496268285 + ], + [ + 0.9893265536001876, + 0.14480441211543577, + 0.016268145975445306, + 0.14560678560503132, + -0.9780996774214064, + -0.14872688060304218, + -0.005624440180658725, + 0.14950820465795228, + -0.9887444879303299 + ], + [ + 0.9912631972254317, + 0.13056090826131156, + 0.018738277946411364, + 0.13184534234313683, + -0.9767704267412657, + -0.16892702313752941, + -0.003752269824602754, + 0.16992169572384727, + -0.9854504238131394 + ], + [ + 0.9870432557642914, + 0.14085216828605585, + 0.07685231251786966, + 0.15288070647167462, + -0.9709769302803617, + -0.18393284223337403, + 0.04871448284596034, + 0.1932989072717231, + -0.9799298095315849 + ], + [ + 0.9821446845883698, + 0.14015562495126666, + 0.12549190941782606, + 0.16365675480476977, + -0.9655086046563931, + -0.2025082737599548, + 0.09278084469104303, + 0.21943002330808156, + -0.9712065587347687 + ], + [ + 0.9764960718831786, + 0.12070239411429755, + 0.17856750446763617, + 0.1564593742657906, + -0.9667864141492999, + -0.20210020687939925, + 0.14824265850651672, + 0.2252886181577212, + -0.9629481568223208 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0027775466442108154, + 0.00016067549586296082, + -0.007671799510717392, + 0.002520322799682617, + 0.028164193034172058, + 0.0028093308210372925, + 1.0 + ], + [ + 0.0003675520420074463, + 0.026851877570152283, + -0.002560015767812729, + -0.04517979174852371, + 0.026723340153694153, + 0.11082403361797333, + 1.0 + ], + [ + 0.0015033483505249023, + 0.02172919735312462, + 0.0005722492933273315, + 0.008438415825366974, + -0.018816113471984863, + 0.09886762499809265, + 1.0 + ], + [ + -0.006251543760299683, + 0.037130601704120636, + -0.0023240819573402405, + 0.010060213506221771, + -0.0080462247133255, + 0.13353917002677917, + 1.0 + ], + [ + -0.002429068088531494, + 0.03920963779091835, + -0.010339571163058281, + -0.017958443611860275, + 0.02204771339893341, + 0.136236310005188, + 1.0 + ], + [ + 0.005102425813674927, + 0.03570981323719025, + -0.012333129532635212, + 0.006164921447634697, + 0.015162840485572815, + 0.1097339391708374, + 1.0 + ], + [ + 0.0037201344966888428, + 0.030333101749420166, + -0.011099405586719513, + 0.005989419296383858, + 0.0155114084482193, + 0.10028988122940063, + 1.0 + ], + [ + 0.006176471710205078, + 0.015869230031967163, + -0.011016958393156528, + 0.0066663529723882675, + 0.0023437291383743286, + 0.036994993686676025, + 1.0 + ], + [ + 0.0024830996990203857, + 0.00699751079082489, + -0.005639407783746719, + 0.0033751484006643295, + -0.0012815296649932861, + 0.019782304763793945, + 1.0 + ], + [ + -0.00249636173248291, + 0.0019839853048324585, + -0.0075612496584653854, + -0.0003519505262374878, + 0.0023386478424072266, + 0.004034817218780518, + 1.0 + ], + [ + -0.004277944564819336, + -0.007709622383117676, + -0.0076982248574495316, + -0.02663770504295826, + 0.011002063751220703, + -0.00681692361831665, + 1.0 + ], + [ + -0.010175257921218872, + -0.00725632905960083, + -0.0028753429651260376, + -0.027480455115437508, + -0.03612162172794342, + 0.022622525691986084, + 1.0 + ], + [ + -0.00625300407409668, + -0.00869777798652649, + -0.00043540075421333313, + -0.016950346529483795, + -0.01289108395576477, + -0.013456344604492188, + 1.0 + ], + [ + -0.007876217365264893, + -0.018656790256500244, + -0.0007862411439418793, + 0.007053336128592491, + 0.012107953429222107, + -0.04768651723861694, + 1.0 + ], + [ + -0.008529305458068848, + -0.01731429249048233, + 0.0008648373186588287, + -0.014360291883349419, + 0.0087507963180542, + -0.04034280776977539, + 1.0 + ], + [ + -0.008561700582504272, + -0.020083211362361908, + 0.0026230625808238983, + -0.00391412153840065, + 0.02819781005382538, + -0.049668312072753906, + 1.0 + ], + [ + -0.010247871279716492, + -0.019755229353904724, + -0.004453063011169434, + 0.010436192154884338, + 0.05289433151483536, + -0.06564164161682129, + 1.0 + ], + [ + -0.007355108857154846, + -0.02164733037352562, + 0.0022190548479557037, + -0.032349810004234314, + 0.03822169452905655, + -0.08162575960159302, + 1.0 + ], + [ + -0.008312225341796875, + -0.018456462770700455, + -0.0047812387347221375, + 0.0053106024861335754, + 0.022251520305871964, + -0.08841884136199951, + 1.0 + ], + [ + -0.008643507957458496, + -0.014460286125540733, + -0.002446494996547699, + 0.017996907234191895, + 0.002644795924425125, + -0.07561951875686646, + 1.0 + ], + [ + -0.007779136300086975, + -0.01733081415295601, + -0.0009555593132972717, + 0.002091500908136368, + -0.008790163323283195, + -0.08262395858764648, + 1.0 + ], + [ + -0.0047583431005477905, + -0.017804790288209915, + -0.0012847855687141418, + -0.012878946959972382, + 0.0030621178448200226, + -0.07283225655555725, + 1.0 + ], + [ + -0.002578333020210266, + -0.026623409241437912, + 0.0004879795014858246, + -0.03023630753159523, + 0.007574157789349556, + -0.08114248514175415, + 1.0 + ], + [ + 0.0030243098735809326, + -0.0199100561439991, + 0.002020563930273056, + -0.030847802758216858, + 0.008209497667849064, + -0.039646923542022705, + 1.0 + ], + [ + 0.004665493965148926, + -0.016046173870563507, + 0.0011515580117702484, + -0.024247288703918457, + 0.0006744256243109703, + -0.03954058885574341, + 1.0 + ], + [ + 0.001474231481552124, + -0.007553175091743469, + 0.00027303770184516907, + -0.004408016800880432, + 0.0026920298114418983, + -0.026486173272132874, + 1.0 + ], + [ + -0.0006036907434463501, + -0.0010773241519927979, + 0.0015565231442451477, + -0.0019517838954925537, + 0.01269274577498436, + -0.014245763421058655, + 1.0 + ], + [ + -0.0005901455879211426, + -0.0008960217237472534, + 0.013176895678043365, + -0.020678162574768066, + -0.0018721912056207657, + -0.013897314667701721, + 1.0 + ], + [ + 0.005491912364959717, + 0.00420910120010376, + 0.023519882932305336, + -0.024006128311157227, + -0.05248605087399483, + 0.021435201168060303, + 1.0 + ], + [ + 0.0024959594011306763, + 0.005577713251113892, + 0.02336800843477249, + -0.02744711935520172, + -0.04418070614337921, + 0.011448487639427185, + 1.0 + ], + [ + 0.00046196579933166504, + 0.003332473337650299, + 0.023494472727179527, + -0.007618799805641174, + -0.055876582860946655, + -0.006240040063858032, + 1.0 + ], + [ + 0.00015589594841003418, + 0.0002751871943473816, + 0.0010159499943256378, + -0.001068115234375, + -0.003222033381462097, + -0.00010527670383453369, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2927395701408386, + -0.03269661217927933, + 0.038273200392723083 + ], + [ + 0.29310712218284607, + -0.005844735540449619, + 0.035713184624910355 + ], + [ + 0.29461047053337097, + 0.015884460881352425, + 0.036285433918237686 + ], + [ + 0.2883589267730713, + 0.05301506444811821, + 0.033961351960897446 + ], + [ + 0.2859298586845398, + 0.09222470223903656, + 0.023621780797839165 + ], + [ + 0.2910322844982147, + 0.1279345154762268, + 0.011288651265203953 + ], + [ + 0.29475241899490356, + 0.15826761722564697, + 0.00018924572214018553 + ], + [ + 0.30092889070510864, + 0.17413684725761414, + -0.010827712714672089 + ], + [ + 0.30341199040412903, + 0.18113435804843903, + -0.016467120498418808 + ], + [ + 0.3009156286716461, + 0.18311834335327148, + -0.024028370156884193 + ], + [ + 0.2966376841068268, + 0.1754087209701538, + -0.031726595014333725 + ], + [ + 0.2864624261856079, + 0.16815239191055298, + -0.03460193797945976 + ], + [ + 0.28020942211151123, + 0.1594546139240265, + -0.035037338733673096 + ], + [ + 0.27233320474624634, + 0.14079782366752625, + -0.035823579877614975 + ], + [ + 0.2638038992881775, + 0.12348353117704391, + -0.034958742558956146 + ], + [ + 0.2552421987056732, + 0.103400319814682, + -0.03233567997813225 + ], + [ + 0.24499432742595673, + 0.08364509046077728, + -0.03678874298930168 + ], + [ + 0.23763921856880188, + 0.06199776008725166, + -0.03456968814134598 + ], + [ + 0.229326993227005, + 0.04354129731655121, + -0.039350926876068115 + ], + [ + 0.2206834852695465, + 0.029081011191010475, + -0.041797421872615814 + ], + [ + 0.21290434896945953, + 0.011750196106731892, + -0.042752981185913086 + ], + [ + 0.20814600586891174, + -0.006054595112800598, + -0.04403776675462723 + ], + [ + 0.20556767284870148, + -0.03267800435423851, + -0.0435497872531414 + ], + [ + 0.2085919827222824, + -0.05258806049823761, + -0.04152922332286835 + ], + [ + 0.21325747668743134, + -0.06863423436880112, + -0.0403776653110981 + ], + [ + 0.21473170816898346, + -0.07618740946054459, + -0.04010462760925293 + ], + [ + 0.2141280174255371, + -0.07726473361253738, + -0.03854810446500778 + ], + [ + 0.21353787183761597, + -0.07816075533628464, + -0.025371208786964417 + ], + [ + 0.21902978420257568, + -0.07395165413618088, + -0.0018513256218284369 + ], + [ + 0.22152574360370636, + -0.06837394088506699, + 0.02151668258011341 + ], + [ + 0.22198770940303802, + -0.06504146754741669, + 0.04501115530729294 + ], + [ + 0.22214360535144806, + -0.0647662803530693, + 0.046027105301618576 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9600312250689788, + 0.20848530519562752, + 0.18674561416547844, + 0.1936064982482285, + -0.9764828527019802, + 0.0948565349096269, + 0.202130083680323, + -0.054910070993294396, + -0.9778181392134719 + ], + [ + 0.937540131035475, + 0.3066995226800652, + 0.16417644619678012, + 0.30013573456160847, + -0.9517457189718892, + 0.06402052216160767, + 0.17588929341249782, + -0.010746590459368193, + -0.9843512926066336 + ], + [ + 0.9001396232230164, + 0.4007848653699931, + 0.17064627272308933, + 0.3898270625869516, + -0.9159754688224148, + 0.0949936934242839, + 0.1943798342903794, + -0.018985052170443877, + -0.9807426001838253 + ], + [ + 0.8388561130807478, + 0.5209186102176612, + 0.15800070593500767, + 0.5053798586941932, + -0.8531202503519514, + 0.12952620146388047, + 0.20226621065639613, + -0.02880347146308765, + -0.9789069108236892 + ], + [ + 0.7657314256810438, + 0.6291686064787092, + 0.13342506640851143, + 0.617275742650345, + -0.7771871626504866, + 0.12227334847280241, + 0.1806268010566024, + -0.011268488493388573, + -0.9834871528937901 + ], + [ + 0.6953769248332796, + 0.7110330783347762, + 0.10432110967193435, + 0.6992829938137561, + -0.7029437955458411, + 0.1298973243237807, + 0.16569317116973203, + -0.017377624042978337, + -0.9860242345958538 + ], + [ + 0.6234150939736038, + 0.7781421054028694, + 0.07647538430810513, + 0.7672942219094789, + -0.627654417494999, + 0.1315656080567441, + 0.15037685204249351, + -0.023340865412473558, + -0.9883531789656907 + ], + [ + 0.5948193027828125, + 0.8012414762436445, + 0.06482355886461645, + 0.790106589026024, + -0.597591597420968, + 0.1364399526147588, + 0.14805936314408052, + -0.02993959650298101, + -0.9885251871078492 + ], + [ + 0.5789622336396557, + 0.8131356439884179, + 0.06010953746721375, + 0.8015636497949661, + -0.5811226804054346, + 0.14068456079391514, + 0.149326646471266, + -0.03326942731615192, + -0.9882280596399302 + ], + [ + 0.5759251276764623, + 0.8154078998396015, + 0.05848251183063898, + 0.8041748478750117, + -0.577949274737473, + 0.13884325650038037, + 0.14701381348720974, + -0.032933155172244696, + -0.9885860336532923 + ], + [ + 0.5823092040231385, + 0.8095357916967628, + 0.07461764450741132, + 0.8014902522902357, + -0.5870334102795017, + 0.11404012758390172, + 0.13612261529104291, + -0.006601301198530744, + -0.9906700037998593 + ], + [ + 0.5608633248913977, + 0.8198952992834568, + 0.11490878558516653, + 0.8098846582490103, + -0.5721461353540082, + 0.129366302151516, + 0.17181144061048667, + 0.020506048189846943, + -0.9849164080585648 + ], + [ + 0.5703774801377398, + 0.809750705376017, + 0.13774369421053526, + 0.8003940782659024, + -0.5855993713476246, + 0.12822907530721636, + 0.18449620491652172, + 0.03711026031045913, + -0.9821323632541039 + ], + [ + 0.6092196830029681, + 0.7821359858354558, + 0.13082307710401128, + 0.7739938822444111, + -0.6223731434071871, + 0.1165553113919792, + 0.17258287310734852, + 0.03024847147635984, + -0.9845304372559318 + ], + [ + 0.640897272426682, + 0.7546280850781685, + 0.14066676724548732, + 0.7499125456848273, + -0.654645482320574, + 0.09523899569905799, + 0.163956884639046, + 0.044449360946135705, + -0.9854655723519412 + ], + [ + 0.6802432470374203, + 0.7215591049548821, + 0.12892471802062322, + 0.7202441145609958, + -0.6906510752334494, + 0.06518824832075057, + 0.13607916923701002, + 0.04851340366940077, + -0.9895094286383407 + ], + [ + 0.7302792932025801, + 0.6775374728749836, + 0.087379212457662, + 0.6780251253762583, + -0.7344847094681073, + 0.028533154681169147, + 0.08351097699134824, + 0.038408129448480884, + -0.9957664044916456 + ], + [ + 0.7850665663082486, + 0.6143046297781826, + 0.07937448140344522, + 0.6177474823056129, + -0.7858889616835707, + -0.02768732578265942, + 0.04537107635986094, + 0.07076977982874226, + -0.9964602870626298 + ], + [ + 0.8371874258769241, + 0.5441278614709917, + 0.055155093369283495, + 0.5464266418133468, + -0.8364395303377652, + -0.042270997207619246, + 0.02313307308071096, + 0.0655269597901766, + -0.9975826173658493 + ], + [ + 0.8761266178967675, + 0.4803468367912663, + 0.040854201710429174, + 0.48164546514931733, + -0.8757878334539784, + -0.03183263537762268, + 0.020488907093097766, + 0.047566660158261234, + -0.9986579081585041 + ], + [ + 0.9126882634746841, + 0.4061432169059029, + 0.045252857113004384, + 0.40760646557165675, + -0.9126775751095588, + -0.02960765300250972, + 0.029276320461203188, + 0.04546791454927255, + -0.9985367122979468 + ], + [ + 0.9400091901977949, + 0.3382392356508992, + 0.04446281378839133, + 0.3401403769821367, + -0.9392507466443377, + -0.04596258124283251, + 0.02621538270053669, + 0.05832884701714532, + -0.9979531548702648 + ], + [ + 0.9646497945542255, + 0.2602969590629723, + 0.0411857617273208, + 0.26287488826874444, + -0.9614653069668974, + -0.08050625203513603, + 0.018643148451520854, + 0.08848704199835727, + -0.9959028448670058 + ], + [ + 0.9744274994643461, + 0.22166012510472932, + 0.03684884294272164, + 0.2244597260764727, + -0.9678140000736967, + -0.11381516872115682, + 0.01043454154893534, + 0.11917571145122777, + -0.9928183470014831 + ], + [ + 0.9825455089916176, + 0.18248633185941698, + 0.036097942391461524, + 0.18576614930107, + -0.9727224337288913, + -0.13893165476015368, + 0.00976015031928842, + 0.14321244919711656, + -0.98964384192532 + ], + [ + 0.9871429125085045, + 0.15690945542268814, + 0.03046790250710784, + 0.15968378314050213, + -0.9765247179101972, + -0.14457027603330866, + 0.007068216618374708, + 0.14757675328236972, + -0.9890253496268285 + ], + [ + 0.9893265536001876, + 0.14480441211543577, + 0.016268145975445306, + 0.14560678560503132, + -0.9780996774214064, + -0.14872688060304218, + -0.005624440180658725, + 0.14950820465795228, + -0.9887444879303299 + ], + [ + 0.9912631972254317, + 0.13056090826131156, + 0.018738277946411364, + 0.13184534234313683, + -0.9767704267412657, + -0.16892702313752941, + -0.003752269824602754, + 0.16992169572384727, + -0.9854504238131394 + ], + [ + 0.9870432557642914, + 0.14085216828605585, + 0.07685231251786966, + 0.15288070647167462, + -0.9709769302803617, + -0.18393284223337403, + 0.04871448284596034, + 0.1932989072717231, + -0.9799298095315849 + ], + [ + 0.9821446845883698, + 0.14015562495126666, + 0.12549190941782606, + 0.16365675480476977, + -0.9655086046563931, + -0.2025082737599548, + 0.09278084469104303, + 0.21943002330808156, + -0.9712065587347687 + ], + [ + 0.9764960718831786, + 0.12070239411429755, + 0.17856750446763617, + 0.1564593742657906, + -0.9667864141492999, + -0.20210020687939925, + 0.14824265850651672, + 0.2252886181577212, + -0.9629481568223208 + ], + [ + 0.9760358347201274, + 0.1196899822451496, + 0.18173705591414335, + 0.15628024265945772, + -0.9666979392580841, + -0.2026612444165758, + 0.15142831669303364, + 0.22620654805803003, + -0.9622370095351691 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005587.json b/json/chunk-0005/episode_0005587.json new file mode 100644 index 0000000000000000000000000000000000000000..096d1b8a0658b831988a9870f6e86c485f65437b --- /dev/null +++ b/json/chunk-0005/episode_0005587.json @@ -0,0 +1,1342 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 21, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPick up glass cup." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005587.mp4", + "start": 0, + "end": 21, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.27200981974601746, + -0.05779970809817314, + 0.0687471330165863, + 0.053448792546987534, + -0.07562211900949478, + 0.05992361903190613, + 0.0, + 1.0041072368621826 + ], + [ + 0.2707214653491974, + -0.05688341706991196, + 0.057145487517118454, + 0.05782619118690491, + -0.07407437264919281, + 0.05786585435271263, + 0.0, + 1.0041072368621826 + ], + [ + 0.2736941874027252, + -0.0542941614985466, + 0.02854534052312374, + 0.026712998747825623, + -0.13347378373146057, + 0.09526127576828003, + 0.0, + 1.0041072368621826 + ], + [ + 0.28044381737709045, + -0.04759751260280609, + 0.011876031756401062, + -0.04465546831488609, + -0.20144402980804443, + 0.11596935987472534, + 0.0, + 1.0041072368621826 + ], + [ + 0.2871442437171936, + -0.045827414840459824, + -0.008804780431091785, + -0.0583549402654171, + -0.21643826365470886, + 0.1277010440826416, + 0.0, + 1.0041072368621826 + ], + [ + 0.29017066955566406, + -0.050555408000946045, + -0.021220427006483078, + -0.032490093261003494, + -0.24304939806461334, + 0.13186323642730713, + 0.0, + 1.0041072368621826 + ], + [ + 0.2883099317550659, + -0.055090077221393585, + -0.030711356550455093, + -0.005146953742951155, + -0.2660602629184723, + 0.13351228833198547, + 0.0, + 1.0041072368621826 + ], + [ + 0.2858806848526001, + -0.059548914432525635, + -0.036055538803339005, + 0.038679685443639755, + -0.26125434041023254, + 0.11943560093641281, + 0.0, + 1.0041072368621826 + ], + [ + 0.29460081458091736, + -0.059564780443906784, + -0.040873996913433075, + 0.05610483139753342, + -0.2544446289539337, + 0.11503956466913223, + 0.0, + 1.0041072368621826 + ], + [ + 0.3011268377304077, + -0.062971331179142, + -0.04500380903482437, + 0.07503648102283478, + -0.23547621071338654, + 0.13950657844543457, + 0.0, + 1.0041072368621826 + ], + [ + 0.3078097403049469, + -0.0699547827243805, + -0.04804767668247223, + 0.09675196558237076, + -0.23117239773273468, + 0.13731399178504944, + 0.0, + 1.0041072368621826 + ], + [ + 0.3104808032512665, + -0.07008472084999084, + -0.05793483555316925, + 0.1115037202835083, + -0.23344622552394867, + 0.13069653511047363, + 0.0, + 1.0041072368621826 + ], + [ + 0.31140702962875366, + -0.06932946294546127, + -0.06864944100379944, + 0.11520452797412872, + -0.24394410848617554, + 0.12269708514213562, + 0.0, + 1.0027955770492554 + ], + [ + 0.3140921890735626, + -0.0692606270313263, + -0.07507530599832535, + 0.11209605634212494, + -0.2631204128265381, + 0.11078864336013794, + 0.0, + 0.898204505443573 + ], + [ + 0.3129153549671173, + -0.06676287949085236, + -0.08178621530532837, + 0.12009106576442719, + -0.2542000114917755, + 0.09882719814777374, + 0.0, + 0.5998998284339905 + ], + [ + 0.31592339277267456, + -0.06470010429620743, + -0.08077161014080048, + 0.11863445490598679, + -0.2585216760635376, + 0.10408784449100494, + 0.0, + 0.39448216557502747 + ], + [ + 0.315250962972641, + -0.06482771784067154, + -0.0809423178434372, + 0.10721728950738907, + -0.23637470602989197, + 0.10248168557882309, + 0.0, + 0.21856790781021118 + ], + [ + 0.31107625365257263, + -0.06310480087995529, + -0.08094707131385803, + 0.09865830093622208, + -0.18592752516269684, + 0.08855706453323364, + 0.0, + 0.11119577288627625 + ], + [ + 0.30992692708969116, + -0.0599898137152195, + -0.07868868112564087, + 0.07165034115314484, + -0.1467026025056839, + 0.07324924319982529, + 0.0, + 0.08641935139894485 + ], + [ + 0.2970823645591736, + -0.05229722335934639, + -0.06937792152166367, + 0.0713333860039711, + -0.07909736782312393, + 0.08178716152906418, + 0.0, + 0.09437843412160873 + ], + [ + 0.2976265549659729, + -0.05606739968061447, + -0.039494991302490234, + 0.0255267396569252, + -0.06624636799097061, + 0.07140590250492096, + 0.0, + 0.10277050733566284 + ] + ], + "left_gripper_pos": [ + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0027955770492554 + ], + [ + 0.898204505443573 + ], + [ + 0.5998998284339905 + ], + [ + 0.39448216557502747 + ], + [ + 0.21856790781021118 + ], + [ + 0.11119577288627625 + ], + [ + 0.08641935139894485 + ], + [ + 0.09437843412160873 + ], + [ + 0.10277050733566284 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.27200981974601746, + -0.05779970809817314, + 0.0687471330165863 + ], + [ + 0.2707214653491974, + -0.05688341706991196, + 0.057145487517118454 + ], + [ + 0.2736941874027252, + -0.0542941614985466, + 0.02854534052312374 + ], + [ + 0.28044381737709045, + -0.04759751260280609, + 0.011876031756401062 + ], + [ + 0.2871442437171936, + -0.045827414840459824, + -0.008804780431091785 + ], + [ + 0.29017066955566406, + -0.050555408000946045, + -0.021220427006483078 + ], + [ + 0.2883099317550659, + -0.055090077221393585, + -0.030711356550455093 + ], + [ + 0.2858806848526001, + -0.059548914432525635, + -0.036055538803339005 + ], + [ + 0.29460081458091736, + -0.059564780443906784, + -0.040873996913433075 + ], + [ + 0.3011268377304077, + -0.062971331179142, + -0.04500380903482437 + ], + [ + 0.3078097403049469, + -0.0699547827243805, + -0.04804767668247223 + ], + [ + 0.3104808032512665, + -0.07008472084999084, + -0.05793483555316925 + ], + [ + 0.31140702962875366, + -0.06932946294546127, + -0.06864944100379944 + ], + [ + 0.3140921890735626, + -0.0692606270313263, + -0.07507530599832535 + ], + [ + 0.3129153549671173, + -0.06676287949085236, + -0.08178621530532837 + ], + [ + 0.31592339277267456, + -0.06470010429620743, + -0.08077161014080048 + ], + [ + 0.315250962972641, + -0.06482771784067154, + -0.0809423178434372 + ], + [ + 0.31107625365257263, + -0.06310480087995529, + -0.08094707131385803 + ], + [ + 0.30992692708969116, + -0.0599898137152195, + -0.07868868112564087 + ], + [ + 0.2970823645591736, + -0.05229722335934639, + -0.06937792152166367 + ], + [ + 0.2976265549659729, + -0.05606739968061447, + -0.039494991302490234 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9953522568375971, + 0.06383113313956651, + 0.07210735919738888, + 0.059716604150741114, + -0.9965379183805759, + 0.05784552202558621, + 0.07555006285242931, + -0.05327066427057038, + -0.9957180445945361 + ], + [ + 0.9955885763472747, + 0.06200687838702701, + 0.07041685650114925, + 0.05767497198544963, + -0.9964102057115535, + 0.06197015055926116, + 0.07400665006122491, + -0.057635483745313874, + -0.9955908631361375 + ], + [ + 0.9866119924578085, + 0.09862169720093487, + 0.1298866320282437, + 0.09427125119898307, + -0.9947728286502293, + 0.03924220402321904, + 0.13307782510926264, + -0.026472253784459526, + -0.9907519933079922 + ], + [ + 0.9731975833552335, + 0.10672234445528911, + 0.2037076457708455, + 0.11336978973789469, + -0.9933263986111553, + -0.02121218039189072, + 0.2000843685206798, + 0.0437379356641256, + -0.978801940362565 + ], + [ + 0.968715811519114, + 0.11471470247335236, + 0.22006865644456158, + 0.12438288373377851, + -0.9917640701989507, + -0.030543858572220556, + 0.21475235679017252, + 0.05696109285170643, + -0.9750060815985742 + ], + [ + 0.9621824009435378, + 0.12366210540771862, + 0.24271940796042618, + 0.12761700874589466, + -0.9918233547229803, + -0.0005762853491711288, + 0.2406635128000914, + 0.03152961642937813, + -0.9700963647465838 + ], + [ + 0.9562278685566065, + 0.13177297285157047, + 0.2612740840985734, + 0.12843220339306682, + -0.9912674836459254, + 0.029898912988212883, + 0.262932372535774, + 0.004965832471406983, + -0.9648014863071961 + ], + [ + 0.9591845336274584, + 0.12897975394623037, + 0.25165304194832444, + 0.11510863871436323, + -0.9909432954396467, + 0.06914757057583054, + 0.2582925313345345, + -0.03735784114724961, + -0.9653441665859982 + ], + [ + 0.9614062926327741, + 0.12862671077983376, + 0.24321412327425693, + 0.11109025418473646, + -0.9902070193648623, + 0.08455184342003219, + 0.25170795758433046, + -0.05426995554186495, + -0.9662804334220002 + ], + [ + 0.96295618692865, + 0.1559833391981545, + 0.2199649516364566, + 0.13521706511462794, + -0.9850660818014215, + 0.10658874136690939, + 0.23330608084150242, + -0.07289727276784037, + -0.9696670873373964 + ], + [ + 0.9642360773739476, + 0.158167509547297, + 0.21267775157291038, + 0.13324158861940014, + -0.9829247907939079, + 0.12690758332318497, + 0.22911889086821588, + -0.09403134884897855, + -0.9688460348687817 + ], + [ + 0.9645776510071785, + 0.1550368245119616, + 0.21343274871190843, + 0.12678970327846256, + -0.9819595410343854, + 0.14028482068313075, + 0.23133163709279547, + -0.108254527927408, + -0.9668333004521416 + ], + [ + 0.9630976302574208, + 0.14913349923379432, + 0.22405837185613942, + 0.11876586079819618, + -0.9825052523596933, + 0.14345068628096028, + 0.24153182999638717, + -0.11154653061345685, + -0.9639604486734387 + ], + [ + 0.9596632928939097, + 0.13878444606634707, + 0.24451020797110917, + 0.10675693472915126, + -0.9844147445115535, + 0.1397518074140307, + 0.26009483108907333, + -0.10801151937784133, + -0.9595228973414008 + ], + [ + 0.9631421469178953, + 0.12793569021423304, + 0.23662135152981345, + 0.09549573882537148, + -0.9849809250018432, + 0.1438511079161718, + 0.2514712084843595, + -0.11595273412870206, + -0.9608939560385915 + ], + [ + 0.9615365744429226, + 0.13326393520454385, + 0.24018355393816818, + 0.10044728971806002, + -0.984453167769075, + 0.14409129903547077, + 0.2556516340586657, + -0.1144232670536569, + -0.9599737277446199 + ], + [ + 0.9670925701824497, + 0.12664349856678792, + 0.22066577661401884, + 0.099457705448261, + -0.986477503102845, + 0.1302701066973685, + 0.23417968640527095, + -0.10403634049091116, + -0.9666107356802884 + ], + [ + 0.9789141343942609, + 0.1061481578672073, + 0.17452703533989497, + 0.0869170925792963, + -0.9896272968254766, + 0.11438195834772967, + 0.18485815237823985, + -0.09680073325806045, + -0.9779862379093097 + ], + [ + 0.9866057358034835, + 0.0834325923844021, + 0.14017176822629082, + 0.07239765185623487, + -0.9939937221324283, + 0.08206741355144635, + 0.14617695470001488, + -0.07082007405629366, + -0.986720231385417 + ], + [ + 0.9935411790357899, + 0.08710104385453385, + 0.07272780568409086, + 0.08144058307382612, + -0.9936625666200041, + 0.07747344788210439, + 0.07901491624223576, + -0.07105006585216153, + -0.9943382378012201 + ], + [ + 0.995263783039299, + 0.07300732160698091, + 0.06418670549325604, + 0.07118874226160503, + -0.9970061749746908, + 0.03018029220446622, + 0.06619792402722231, + -0.025467980958667563, + -0.9974814368199415 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0012883543968200684, + 0.0009162910282611847, + -0.01160164549946785, + 0.004377398639917374, + 0.0015477463603019714, + -0.0020577646791934967, + 1.0 + ], + [ + 0.002972722053527832, + 0.0025892555713653564, + -0.028600146993994713, + -0.031113192439079285, + -0.05939941108226776, + 0.0373954214155674, + 1.0 + ], + [ + 0.006749629974365234, + 0.006696648895740509, + -0.01666930876672268, + -0.07136847078800201, + -0.06797024607658386, + 0.020708084106445312, + 1.0 + ], + [ + 0.006700426340103149, + 0.0017700977623462677, + -0.020680811256170273, + -0.013699471950531006, + -0.014994233846664429, + 0.01173168420791626, + 1.0 + ], + [ + 0.003026425838470459, + -0.004727993160486221, + -0.012415646575391293, + 0.025864847004413605, + -0.02661113440990448, + 0.004162192344665527, + 1.0 + ], + [ + -0.0018607378005981445, + -0.00453466922044754, + -0.009490929543972015, + 0.027343139052391052, + -0.023010864853858948, + 0.0016490519046783447, + 1.0 + ], + [ + -0.0024292469024658203, + -0.0044588372111320496, + -0.005344182252883911, + 0.0438266396522522, + 0.004805922508239746, + -0.014076687395572662, + 1.0 + ], + [ + 0.00872012972831726, + -1.5866011381149292e-05, + -0.0048184581100940704, + 0.01742514595389366, + 0.006809711456298828, + -0.004396036267280579, + 1.0 + ], + [ + 0.0065260231494903564, + -0.0034065507352352142, + -0.004129812121391296, + 0.01893164962530136, + 0.01896841824054718, + 0.024467013776302338, + 1.0 + ], + [ + 0.006682902574539185, + -0.006983451545238495, + -0.0030438676476478577, + 0.02171548455953598, + 0.0043038129806518555, + -0.002192586660385132, + 1.0 + ], + [ + 0.00267106294631958, + -0.00012993812561035156, + -0.009887158870697021, + 0.014751754701137543, + -0.0022738277912139893, + -0.006617456674575806, + 1.0 + ], + [ + 0.0009262263774871826, + 0.0007552579045295715, + -0.010714605450630188, + 0.0037008076906204224, + -0.010497882962226868, + -0.007999449968338013, + 1.0 + ], + [ + 0.00268515944480896, + 6.883591413497925e-05, + -0.006425864994525909, + -0.003108471632003784, + -0.01917630434036255, + -0.01190844178199768, + 0.0 + ], + [ + -0.0011768341064453125, + 0.002497747540473938, + -0.006710909307003021, + 0.007995009422302246, + 0.008920401334762573, + -0.011961445212364197, + 0.0 + ], + [ + 0.003008037805557251, + 0.002062775194644928, + 0.001014605164527893, + -0.0014566108584403992, + -0.004321664571762085, + 0.005260646343231201, + 0.0 + ], + [ + -0.0006724298000335693, + -0.00012761354446411133, + -0.00017070770263671875, + -0.011417165398597717, + 0.02214697003364563, + -0.0016061589121818542, + 0.0 + ], + [ + -0.004174709320068359, + 0.0017229169607162476, + -4.753470420837402e-06, + -0.008558988571166992, + 0.05044718086719513, + -0.013924621045589447, + 0.0 + ], + [ + -0.0011493265628814697, + 0.003114987164735794, + 0.002258390188217163, + -0.02700795978307724, + 0.03922492265701294, + -0.015307821333408356, + 0.0 + ], + [ + -0.012844562530517578, + 0.007692590355873108, + 0.009310759603977203, + -0.00031695514917373657, + 0.06760523468255997, + 0.008537918329238892, + 0.0 + ], + [ + 0.0005441904067993164, + -0.0037701763212680817, + 0.02988293021917343, + -0.0458066463470459, + 0.01285099983215332, + -0.010381259024143219, + 0.0 + ], + [ + -0.008356362581253052, + -0.0018701106309890747, + 0.018335087224841118, + -0.011515398509800434, + 0.049946337938308716, + -0.035999979823827744, + 0.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0027955770492554 + ], + [ + 0.898204505443573 + ], + [ + 0.5998998284339905 + ], + [ + 0.39448216557502747 + ], + [ + 0.21856790781021118 + ], + [ + 0.11119577288627625 + ], + [ + 0.08641935139894485 + ], + [ + 0.09437843412160873 + ], + [ + 0.10277050733566284 + ], + [ + 0.10633110255002975 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2707214653491974, + -0.05688341706991196, + 0.057145487517118454 + ], + [ + 0.2736941874027252, + -0.0542941614985466, + 0.02854534052312374 + ], + [ + 0.28044381737709045, + -0.04759751260280609, + 0.011876031756401062 + ], + [ + 0.2871442437171936, + -0.045827414840459824, + -0.008804780431091785 + ], + [ + 0.29017066955566406, + -0.050555408000946045, + -0.021220427006483078 + ], + [ + 0.2883099317550659, + -0.055090077221393585, + -0.030711356550455093 + ], + [ + 0.2858806848526001, + -0.059548914432525635, + -0.036055538803339005 + ], + [ + 0.29460081458091736, + -0.059564780443906784, + -0.040873996913433075 + ], + [ + 0.3011268377304077, + -0.062971331179142, + -0.04500380903482437 + ], + [ + 0.3078097403049469, + -0.0699547827243805, + -0.04804767668247223 + ], + [ + 0.3104808032512665, + -0.07008472084999084, + -0.05793483555316925 + ], + [ + 0.31140702962875366, + -0.06932946294546127, + -0.06864944100379944 + ], + [ + 0.3140921890735626, + -0.0692606270313263, + -0.07507530599832535 + ], + [ + 0.3129153549671173, + -0.06676287949085236, + -0.08178621530532837 + ], + [ + 0.31592339277267456, + -0.06470010429620743, + -0.08077161014080048 + ], + [ + 0.315250962972641, + -0.06482771784067154, + -0.0809423178434372 + ], + [ + 0.31107625365257263, + -0.06310480087995529, + -0.08094707131385803 + ], + [ + 0.30992692708969116, + -0.0599898137152195, + -0.07868868112564087 + ], + [ + 0.2970823645591736, + -0.05229722335934639, + -0.06937792152166367 + ], + [ + 0.2976265549659729, + -0.05606739968061447, + -0.039494991302490234 + ], + [ + 0.28927019238471985, + -0.057937510311603546, + -0.021159904077649117 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9955885763472747, + 0.06200687838702701, + 0.07041685650114925, + 0.05767497198544963, + -0.9964102057115535, + 0.06197015055926116, + 0.07400665006122491, + -0.057635483745313874, + -0.9955908631361375 + ], + [ + 0.9866119924578085, + 0.09862169720093487, + 0.1298866320282437, + 0.09427125119898307, + -0.9947728286502293, + 0.03924220402321904, + 0.13307782510926264, + -0.026472253784459526, + -0.9907519933079922 + ], + [ + 0.9731975833552335, + 0.10672234445528911, + 0.2037076457708455, + 0.11336978973789469, + -0.9933263986111553, + -0.02121218039189072, + 0.2000843685206798, + 0.0437379356641256, + -0.978801940362565 + ], + [ + 0.968715811519114, + 0.11471470247335236, + 0.22006865644456158, + 0.12438288373377851, + -0.9917640701989507, + -0.030543858572220556, + 0.21475235679017252, + 0.05696109285170643, + -0.9750060815985742 + ], + [ + 0.9621824009435378, + 0.12366210540771862, + 0.24271940796042618, + 0.12761700874589466, + -0.9918233547229803, + -0.0005762853491711288, + 0.2406635128000914, + 0.03152961642937813, + -0.9700963647465838 + ], + [ + 0.9562278685566065, + 0.13177297285157047, + 0.2612740840985734, + 0.12843220339306682, + -0.9912674836459254, + 0.029898912988212883, + 0.262932372535774, + 0.004965832471406983, + -0.9648014863071961 + ], + [ + 0.9591845336274584, + 0.12897975394623037, + 0.25165304194832444, + 0.11510863871436323, + -0.9909432954396467, + 0.06914757057583054, + 0.2582925313345345, + -0.03735784114724961, + -0.9653441665859982 + ], + [ + 0.9614062926327741, + 0.12862671077983376, + 0.24321412327425693, + 0.11109025418473646, + -0.9902070193648623, + 0.08455184342003219, + 0.25170795758433046, + -0.05426995554186495, + -0.9662804334220002 + ], + [ + 0.96295618692865, + 0.1559833391981545, + 0.2199649516364566, + 0.13521706511462794, + -0.9850660818014215, + 0.10658874136690939, + 0.23330608084150242, + -0.07289727276784037, + -0.9696670873373964 + ], + [ + 0.9642360773739476, + 0.158167509547297, + 0.21267775157291038, + 0.13324158861940014, + -0.9829247907939079, + 0.12690758332318497, + 0.22911889086821588, + -0.09403134884897855, + -0.9688460348687817 + ], + [ + 0.9645776510071785, + 0.1550368245119616, + 0.21343274871190843, + 0.12678970327846256, + -0.9819595410343854, + 0.14028482068313075, + 0.23133163709279547, + -0.108254527927408, + -0.9668333004521416 + ], + [ + 0.9630976302574208, + 0.14913349923379432, + 0.22405837185613942, + 0.11876586079819618, + -0.9825052523596933, + 0.14345068628096028, + 0.24153182999638717, + -0.11154653061345685, + -0.9639604486734387 + ], + [ + 0.9596632928939097, + 0.13878444606634707, + 0.24451020797110917, + 0.10675693472915126, + -0.9844147445115535, + 0.1397518074140307, + 0.26009483108907333, + -0.10801151937784133, + -0.9595228973414008 + ], + [ + 0.9631421469178953, + 0.12793569021423304, + 0.23662135152981345, + 0.09549573882537148, + -0.9849809250018432, + 0.1438511079161718, + 0.2514712084843595, + -0.11595273412870206, + -0.9608939560385915 + ], + [ + 0.9615365744429226, + 0.13326393520454385, + 0.24018355393816818, + 0.10044728971806002, + -0.984453167769075, + 0.14409129903547077, + 0.2556516340586657, + -0.1144232670536569, + -0.9599737277446199 + ], + [ + 0.9670925701824497, + 0.12664349856678792, + 0.22066577661401884, + 0.099457705448261, + -0.986477503102845, + 0.1302701066973685, + 0.23417968640527095, + -0.10403634049091116, + -0.9666107356802884 + ], + [ + 0.9789141343942609, + 0.1061481578672073, + 0.17452703533989497, + 0.0869170925792963, + -0.9896272968254766, + 0.11438195834772967, + 0.18485815237823985, + -0.09680073325806045, + -0.9779862379093097 + ], + [ + 0.9866057358034835, + 0.0834325923844021, + 0.14017176822629082, + 0.07239765185623487, + -0.9939937221324283, + 0.08206741355144635, + 0.14617695470001488, + -0.07082007405629366, + -0.986720231385417 + ], + [ + 0.9935411790357899, + 0.08710104385453385, + 0.07272780568409086, + 0.08144058307382612, + -0.9936625666200041, + 0.07747344788210439, + 0.07901491624223576, + -0.07105006585216153, + -0.9943382378012201 + ], + [ + 0.995263783039299, + 0.07300732160698091, + 0.06418670549325604, + 0.07118874226160503, + -0.9970061749746908, + 0.03018029220446622, + 0.06619792402722231, + -0.025467980958667563, + -0.9974814368199415 + ], + [ + 0.9992405165014413, + 0.03562327574044138, + 0.015791529610939575, + 0.035393823358702316, + -0.9992670961975706, + 0.014579016596735902, + 0.016299308267091535, + -0.014009021464592155, + -0.9997690132563715 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005588.json b/json/chunk-0005/episode_0005588.json new file mode 100644 index 0000000000000000000000000000000000000000..ed382bb0bdaf1d063e194d20b5be8e7c69e010cb --- /dev/null +++ b/json/chunk-0005/episode_0005588.json @@ -0,0 +1,1342 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 21, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut the mushroom inside the pot." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005588.mp4", + "start": 0, + "end": 21, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2500413954257965, + 0.18419210612773895, + 0.08861816674470901, + 0.05388396978378296, + -0.14649802446365356, + -0.08741951733827591, + 0.0, + 1.0001531839370728 + ], + [ + 0.24878913164138794, + 0.18290255963802338, + 0.07901538163423538, + 0.02719731256365776, + -0.12071715295314789, + -0.08204066753387451, + 0.0, + 1.0001531839370728 + ], + [ + 0.269705593585968, + 0.17636369168758392, + 0.0724107027053833, + -0.004681209102272987, + -0.09823920577764511, + -0.13289153575897217, + 0.0, + 1.0001531839370728 + ], + [ + 0.3093813955783844, + 0.16671697795391083, + 0.07193140685558319, + -0.009064165875315666, + -0.11029684543609619, + -0.2086951732635498, + 0.0, + 1.0001531839370728 + ], + [ + 0.3505282402038574, + 0.160079687833786, + 0.06807336211204529, + -0.00036906354944221675, + -0.13981305062770844, + -0.25360190868377686, + 0.0, + 1.0001531839370728 + ], + [ + 0.37447798252105713, + 0.1529465913772583, + 0.05606521666049957, + 0.04463350772857666, + -0.10154535621404648, + -0.3097918629646301, + 0.0, + 1.0001531839370728 + ], + [ + 0.38947880268096924, + 0.14363494515419006, + 0.04689577594399452, + 0.0860389918088913, + -0.07160700112581253, + -0.3754800856113434, + 0.0, + 1.0001531839370728 + ], + [ + 0.4043068587779999, + 0.1408882737159729, + 0.042880259454250336, + 0.12093551456928253, + -0.07573382556438446, + -0.41013696789741516, + 0.0, + 1.0001531839370728 + ], + [ + 0.4142877459526062, + 0.14220309257507324, + 0.03831053152680397, + 0.1329539716243744, + -0.06724483519792557, + -0.39807119965553284, + 0.0, + 1.0001531839370728 + ], + [ + 0.41872552037239075, + 0.14571915566921234, + 0.03143426030874252, + 0.1337129771709442, + -0.052824847400188446, + -0.3763445317745209, + 0.0, + 0.9679883122444153 + ], + [ + 0.4209711253643036, + 0.14514723420143127, + 0.03134223446249962, + 0.1262933611869812, + -0.05691932886838913, + -0.37196114659309387, + 0.0, + 0.7001883387565613 + ], + [ + 0.4214532673358917, + 0.14245308935642242, + 0.03008859232068062, + 0.105580173432827, + -0.07050563395023346, + -0.37845462560653687, + 0.0, + 0.4112652540206909 + ], + [ + 0.4167003631591797, + 0.13909617066383362, + 0.027162857353687286, + 0.09403634071350098, + -0.07730329781770706, + -0.393351286649704, + 0.0, + 0.24929283559322357 + ], + [ + 0.39918506145477295, + 0.12472111731767654, + 0.04493992403149605, + 0.055737487971782684, + -0.1043759360909462, + -0.4064849615097046, + 0.0, + 0.19029754400253296 + ], + [ + 0.3770695924758911, + 0.09273815155029297, + 0.07773071527481079, + -0.02556978166103363, + -0.15596553683280945, + -0.4437229633331299, + 0.0, + 0.1649598330259323 + ], + [ + 0.36935704946517944, + 0.06735984236001968, + 0.07949613779783249, + -0.04867368936538696, + -0.1551831066608429, + -0.4931008815765381, + 0.0, + 0.152132049202919 + ], + [ + 0.3698844909667969, + 0.05183790624141693, + 0.07759520411491394, + -0.05576266348361969, + -0.1474488526582718, + -0.5143442153930664, + 0.0, + 0.15163248777389526 + ], + [ + 0.3713139295578003, + 0.03786488249897957, + 0.07212557643651962, + -0.06504681706428528, + -0.13119074702262878, + -0.5219651460647583, + 0.0, + 0.1511339694261551 + ], + [ + 0.37254050374031067, + 0.03188260644674301, + 0.07249025255441666, + -0.07244217395782471, + -0.1376699060201645, + -0.5322571396827698, + 0.0, + 0.17135097086429596 + ], + [ + 0.3737986385822296, + 0.032897740602493286, + 0.0721738412976265, + -0.05381149426102638, + -0.1314656287431717, + -0.5175473690032959, + 0.0, + 0.39798861742019653 + ], + [ + 0.3733940124511719, + 0.03270120173692703, + 0.06894911080598831, + -0.030074821785092354, + -0.11851262301206589, + -0.5093427300453186, + 0.0, + 0.7071652412414551 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9679883122444153 + ], + [ + 0.7001883387565613 + ], + [ + 0.4112652540206909 + ], + [ + 0.24929283559322357 + ], + [ + 0.19029754400253296 + ], + [ + 0.1649598330259323 + ], + [ + 0.152132049202919 + ], + [ + 0.15163248777389526 + ], + [ + 0.1511339694261551 + ], + [ + 0.17135097086429596 + ], + [ + 0.39798861742019653 + ], + [ + 0.7071652412414551 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2500413954257965, + 0.18419210612773895, + 0.08861816674470901 + ], + [ + 0.24878913164138794, + 0.18290255963802338, + 0.07901538163423538 + ], + [ + 0.269705593585968, + 0.17636369168758392, + 0.0724107027053833 + ], + [ + 0.3093813955783844, + 0.16671697795391083, + 0.07193140685558319 + ], + [ + 0.3505282402038574, + 0.160079687833786, + 0.06807336211204529 + ], + [ + 0.37447798252105713, + 0.1529465913772583, + 0.05606521666049957 + ], + [ + 0.38947880268096924, + 0.14363494515419006, + 0.04689577594399452 + ], + [ + 0.4043068587779999, + 0.1408882737159729, + 0.042880259454250336 + ], + [ + 0.4142877459526062, + 0.14220309257507324, + 0.03831053152680397 + ], + [ + 0.41872552037239075, + 0.14571915566921234, + 0.03143426030874252 + ], + [ + 0.4209711253643036, + 0.14514723420143127, + 0.03134223446249962 + ], + [ + 0.4214532673358917, + 0.14245308935642242, + 0.03008859232068062 + ], + [ + 0.4167003631591797, + 0.13909617066383362, + 0.027162857353687286 + ], + [ + 0.39918506145477295, + 0.12472111731767654, + 0.04493992403149605 + ], + [ + 0.3770695924758911, + 0.09273815155029297, + 0.07773071527481079 + ], + [ + 0.36935704946517944, + 0.06735984236001968, + 0.07949613779783249 + ], + [ + 0.3698844909667969, + 0.05183790624141693, + 0.07759520411491394 + ], + [ + 0.3713139295578003, + 0.03786488249897957, + 0.07212557643651962 + ], + [ + 0.37254050374031067, + 0.03188260644674301, + 0.07249025255441666 + ], + [ + 0.3737986385822296, + 0.032897740602493286, + 0.0721738412976265 + ], + [ + 0.3733940124511719, + 0.03270120173692703, + 0.06894911080598831 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9855105934241941, + -0.07934963397906344, + 0.14990832477244684, + -0.08637299835907777, + -0.9954219063209812, + 0.040925952289061256, + 0.14597457108399217, + -0.05328099101642566, + -0.9878524994112998 + ], + [ + 0.9893835575854117, + -0.0786545650163831, + 0.12220325438267812, + -0.08135228796064198, + -0.9965363376901175, + 0.017237543523847043, + 0.12042417208850872, + -0.02699605647592438, + -0.9923553958696176 + ], + [ + 0.9864038285205504, + -0.13295437055318107, + 0.09659514703549324, + -0.1318618689984157, + -0.9911112110147976, + -0.017635614676739048, + 0.09808126520516441, + 0.0046586212111716895, + -0.9951675048272857 + ], + [ + 0.9723574011809816, + -0.20815111211670675, + 0.10580264123898643, + -0.2059246041071401, + -0.9780551891870201, + -0.03167182229774253, + 0.11007334732752112, + 0.009008963809470728, + -0.993882637326558 + ], + [ + 0.9585691857585479, + -0.2509420507143001, + 0.13480802386169985, + -0.24844409068128917, + -0.9680020421572728, + -0.03532110112803926, + 0.13935799194786916, + 0.000365462243538367, + -0.9902419989667206 + ], + [ + 0.9474909594649639, + -0.3002490723157167, + 0.11005169833180271, + -0.3032899862116241, + -0.9528274371426423, + 0.011621501277255909, + 0.10137093269727475, + -0.044388845465228755, + -0.9938579196255111 + ], + [ + 0.9279475245659808, + -0.3596428818462721, + 0.09782836597417223, + -0.3657794239951622, + -0.92914494978264, + 0.053805903720527, + 0.07154582191599661, + -0.08571265852091918, + -0.993747722279473 + ], + [ + 0.9144375061775849, + -0.38745180377424976, + 0.1169835332335265, + -0.39759199228369363, + -0.9140077575814886, + 0.08068721554708726, + 0.07566144967949445, + -0.12029513220799522, + -0.9898507090462976 + ], + [ + 0.9197270233198983, + -0.3760090353393449, + 0.11278035253666573, + -0.38676497562383155, + -0.9171279626768174, + 0.09638025579426174, + 0.06719416794496581, + -0.13226301606815738, + -0.9889344965035541 + ], + [ + 0.9287170316804654, + -0.357696252912359, + 0.09766302124695256, + -0.36701063358205427, + -0.924299778160607, + 0.10475263686395332, + 0.05280028318412777, + -0.13312892527437414, + -0.9896912747675235 + ], + [ + 0.9301076496568005, + -0.35387299400136535, + 0.09835478720637887, + -0.36285458151943645, + -0.9268008724863855, + 0.09683333841621415, + 0.0568885992115916, + -0.12575391395493035, + -0.9904290183575796 + ], + [ + 0.9269280555030726, + -0.36052877628492325, + 0.10403548140797227, + -0.3685669099893751, + -0.926805428791215, + 0.07204255703413047, + 0.07044723402786436, + -0.10512230321690917, + -0.9919609309767171 + ], + [ + 0.9208714087648747, + -0.37489489817117855, + 0.10700310203268344, + -0.38214125998153065, + -0.9223283574903505, + 0.05725782382243165, + 0.0772263293127635, + -0.09361739311887556, + -0.9926086226537137 + ], + [ + 0.9135175094801414, + -0.38943800414904445, + 0.1175746605251653, + -0.39323139320475037, + -0.9193847271952053, + 0.010039661271594238, + 0.10418652154405589, + -0.055405453924737336, + -0.9930132951798496 + ], + [ + 0.8921970975953079, + -0.4327513569469887, + 0.12926949409295554, + -0.42409396481823086, + -0.9011594553731297, + -0.08975491627959642, + 0.15533398870582657, + 0.02525666351963738, + -0.9875390893025926 + ], + [ + 0.8702840747006712, + -0.47942322791320324, + 0.11295573407172393, + -0.4676713847011976, + -0.8762663193920996, + -0.1159345221695757, + 0.15456100819437507, + 0.048069803788950254, + -0.9868131478196015 + ], + [ + 0.8611685686023787, + -0.49832805943139563, + 0.10028879117164358, + -0.48662576553162146, + -0.8652340363780124, + -0.12068730924904805, + 0.1469151482049876, + 0.05512900757633335, + -0.9876116300204018 + ], + [ + 0.8593921493884431, + -0.5049009852263489, + 0.08074731380655777, + -0.4943001464712391, + -0.8607683620740981, + -0.12142978238795607, + 0.13081474981065408, + 0.06444239264441584, + -0.9893102037592857 + ], + [ + 0.853511144494075, + -0.5147073726640898, + 0.08120989317591584, + -0.5026779881760597, + -0.8543630896096024, + -0.1318277334858008, + 0.13723544158737963, + 0.07169401396186365, + -0.987940485016356 + ], + [ + 0.8615361820492833, + -0.5001612775805222, + 0.08714415315421044, + -0.4904809232896658, + -0.8642890282338151, + -0.11150309217041819, + 0.13108726448004637, + 0.05332140361681824, + -0.9899358347930794 + ], + [ + 0.8669411503658868, + -0.49048708376308536, + 0.08851814765265592, + -0.4841832641091247, + -0.8709367595295664, + -0.08387924449333206, + 0.1182353946959491, + 0.02985936304951437, + -0.9925365534222762 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0012522637844085693, + -0.0012895464897155762, + -0.009602785110473633, + -0.0266866572201252, + 0.025780871510505676, + 0.005378849804401398, + 1.0 + ], + [ + 0.020916461944580078, + -0.006538867950439453, + -0.006604678928852081, + -0.0318785235285759, + 0.022477947175502777, + -0.050850868225097656, + 1.0 + ], + [ + 0.03967580199241638, + -0.009646713733673096, + -0.00047929584980010986, + -0.004382956773042679, + -0.01205763965845108, + -0.07580363750457764, + 1.0 + ], + [ + 0.04114684462547302, + -0.006637290120124817, + -0.003858044743537903, + 0.008695102296769619, + -0.029516205191612244, + -0.04490673542022705, + 1.0 + ], + [ + 0.023949742317199707, + -0.00713309645652771, + -0.012008145451545715, + 0.04500257223844528, + 0.03826769441366196, + -0.05618995428085327, + 1.0 + ], + [ + 0.01500082015991211, + -0.009311646223068237, + -0.00916944071650505, + 0.041405484080314636, + 0.029938355088233948, + -0.06568822264671326, + 1.0 + ], + [ + 0.01482805609703064, + -0.002746671438217163, + -0.004015516489744186, + 0.034896522760391235, + -0.00412682443857193, + -0.03465688228607178, + 1.0 + ], + [ + 0.009980887174606323, + 0.0013148188591003418, + -0.004569727927446365, + 0.012018457055091858, + 0.008488990366458893, + 0.012065768241882324, + 1.0 + ], + [ + 0.004437774419784546, + 0.003516063094139099, + -0.006876271218061447, + 0.0007590055465698242, + 0.014419987797737122, + 0.021726667881011963, + 0.0 + ], + [ + 0.002245604991912842, + -0.0005719214677810669, + -9.202584624290466e-05, + -0.007419615983963013, + -0.004094481468200684, + 0.004383385181427002, + 0.0 + ], + [ + 0.00048214197158813477, + -0.00269414484500885, + -0.0012536421418190002, + -0.020713187754154205, + -0.01358630508184433, + -0.006493479013442993, + 0.0 + ], + [ + -0.004752904176712036, + -0.003356918692588806, + -0.002925734966993332, + -0.01154383271932602, + -0.006797663867473602, + -0.014896661043167114, + 0.0 + ], + [ + -0.01751530170440674, + -0.014375053346157074, + 0.01777706667780876, + -0.03829885274171829, + -0.027072638273239136, + -0.01313367486000061, + 0.0 + ], + [ + -0.022115468978881836, + -0.031982965767383575, + 0.03279079124331474, + -0.08130726963281631, + -0.05158960074186325, + -0.03723800182342529, + 0.0 + ], + [ + -0.00771254301071167, + -0.025378309190273285, + 0.001765422523021698, + -0.023103907704353333, + 0.0007824301719665527, + -0.0493779182434082, + 0.0 + ], + [ + 0.0005274415016174316, + -0.015521936118602753, + -0.0019009336829185486, + -0.007088974118232727, + 0.007734254002571106, + -0.02124333381652832, + 0.0 + ], + [ + 0.001429438591003418, + -0.013973023742437363, + -0.005469627678394318, + -0.009284153580665588, + 0.016258105635643005, + -0.0076209306716918945, + 0.0 + ], + [ + 0.001226574182510376, + -0.005982276052236557, + 0.0003646761178970337, + -0.007395356893539429, + -0.006479158997535706, + -0.010291993618011475, + 1.0 + ], + [ + 0.0012581348419189453, + 0.0010151341557502747, + -0.00031641125679016113, + 0.018630679696798325, + 0.006204277276992798, + 0.014709770679473877, + 1.0 + ], + [ + -0.00040462613105773926, + -0.00019653886556625366, + -0.0032247304916381836, + 0.02373667247593403, + 0.012953005731105804, + 0.008204638957977295, + 1.0 + ], + [ + -0.0022268593311309814, + 0.0024506673216819763, + -0.00014337897300720215, + 0.004118673503398895, + 0.019153475761413574, + 0.03790771961212158, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9679883122444153 + ], + [ + 0.7001883387565613 + ], + [ + 0.4112652540206909 + ], + [ + 0.24929283559322357 + ], + [ + 0.19029754400253296 + ], + [ + 0.1649598330259323 + ], + [ + 0.152132049202919 + ], + [ + 0.15163248777389526 + ], + [ + 0.1511339694261551 + ], + [ + 0.17135097086429596 + ], + [ + 0.39798861742019653 + ], + [ + 0.7071652412414551 + ], + [ + 0.9694526195526123 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.24878913164138794, + 0.18290255963802338, + 0.07901538163423538 + ], + [ + 0.269705593585968, + 0.17636369168758392, + 0.0724107027053833 + ], + [ + 0.3093813955783844, + 0.16671697795391083, + 0.07193140685558319 + ], + [ + 0.3505282402038574, + 0.160079687833786, + 0.06807336211204529 + ], + [ + 0.37447798252105713, + 0.1529465913772583, + 0.05606521666049957 + ], + [ + 0.38947880268096924, + 0.14363494515419006, + 0.04689577594399452 + ], + [ + 0.4043068587779999, + 0.1408882737159729, + 0.042880259454250336 + ], + [ + 0.4142877459526062, + 0.14220309257507324, + 0.03831053152680397 + ], + [ + 0.41872552037239075, + 0.14571915566921234, + 0.03143426030874252 + ], + [ + 0.4209711253643036, + 0.14514723420143127, + 0.03134223446249962 + ], + [ + 0.4214532673358917, + 0.14245308935642242, + 0.03008859232068062 + ], + [ + 0.4167003631591797, + 0.13909617066383362, + 0.027162857353687286 + ], + [ + 0.39918506145477295, + 0.12472111731767654, + 0.04493992403149605 + ], + [ + 0.3770695924758911, + 0.09273815155029297, + 0.07773071527481079 + ], + [ + 0.36935704946517944, + 0.06735984236001968, + 0.07949613779783249 + ], + [ + 0.3698844909667969, + 0.05183790624141693, + 0.07759520411491394 + ], + [ + 0.3713139295578003, + 0.03786488249897957, + 0.07212557643651962 + ], + [ + 0.37254050374031067, + 0.03188260644674301, + 0.07249025255441666 + ], + [ + 0.3737986385822296, + 0.032897740602493286, + 0.0721738412976265 + ], + [ + 0.3733940124511719, + 0.03270120173692703, + 0.06894911080598831 + ], + [ + 0.3711671531200409, + 0.03515186905860901, + 0.06880573183298111 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9893835575854117, + -0.0786545650163831, + 0.12220325438267812, + -0.08135228796064198, + -0.9965363376901175, + 0.017237543523847043, + 0.12042417208850872, + -0.02699605647592438, + -0.9923553958696176 + ], + [ + 0.9864038285205504, + -0.13295437055318107, + 0.09659514703549324, + -0.1318618689984157, + -0.9911112110147976, + -0.017635614676739048, + 0.09808126520516441, + 0.0046586212111716895, + -0.9951675048272857 + ], + [ + 0.9723574011809816, + -0.20815111211670675, + 0.10580264123898643, + -0.2059246041071401, + -0.9780551891870201, + -0.03167182229774253, + 0.11007334732752112, + 0.009008963809470728, + -0.993882637326558 + ], + [ + 0.9585691857585479, + -0.2509420507143001, + 0.13480802386169985, + -0.24844409068128917, + -0.9680020421572728, + -0.03532110112803926, + 0.13935799194786916, + 0.000365462243538367, + -0.9902419989667206 + ], + [ + 0.9474909594649639, + -0.3002490723157167, + 0.11005169833180271, + -0.3032899862116241, + -0.9528274371426423, + 0.011621501277255909, + 0.10137093269727475, + -0.044388845465228755, + -0.9938579196255111 + ], + [ + 0.9279475245659808, + -0.3596428818462721, + 0.09782836597417223, + -0.3657794239951622, + -0.92914494978264, + 0.053805903720527, + 0.07154582191599661, + -0.08571265852091918, + -0.993747722279473 + ], + [ + 0.9144375061775849, + -0.38745180377424976, + 0.1169835332335265, + -0.39759199228369363, + -0.9140077575814886, + 0.08068721554708726, + 0.07566144967949445, + -0.12029513220799522, + -0.9898507090462976 + ], + [ + 0.9197270233198983, + -0.3760090353393449, + 0.11278035253666573, + -0.38676497562383155, + -0.9171279626768174, + 0.09638025579426174, + 0.06719416794496581, + -0.13226301606815738, + -0.9889344965035541 + ], + [ + 0.9287170316804654, + -0.357696252912359, + 0.09766302124695256, + -0.36701063358205427, + -0.924299778160607, + 0.10475263686395332, + 0.05280028318412777, + -0.13312892527437414, + -0.9896912747675235 + ], + [ + 0.9301076496568005, + -0.35387299400136535, + 0.09835478720637887, + -0.36285458151943645, + -0.9268008724863855, + 0.09683333841621415, + 0.0568885992115916, + -0.12575391395493035, + -0.9904290183575796 + ], + [ + 0.9269280555030726, + -0.36052877628492325, + 0.10403548140797227, + -0.3685669099893751, + -0.926805428791215, + 0.07204255703413047, + 0.07044723402786436, + -0.10512230321690917, + -0.9919609309767171 + ], + [ + 0.9208714087648747, + -0.37489489817117855, + 0.10700310203268344, + -0.38214125998153065, + -0.9223283574903505, + 0.05725782382243165, + 0.0772263293127635, + -0.09361739311887556, + -0.9926086226537137 + ], + [ + 0.9135175094801414, + -0.38943800414904445, + 0.1175746605251653, + -0.39323139320475037, + -0.9193847271952053, + 0.010039661271594238, + 0.10418652154405589, + -0.055405453924737336, + -0.9930132951798496 + ], + [ + 0.8921970975953079, + -0.4327513569469887, + 0.12926949409295554, + -0.42409396481823086, + -0.9011594553731297, + -0.08975491627959642, + 0.15533398870582657, + 0.02525666351963738, + -0.9875390893025926 + ], + [ + 0.8702840747006712, + -0.47942322791320324, + 0.11295573407172393, + -0.4676713847011976, + -0.8762663193920996, + -0.1159345221695757, + 0.15456100819437507, + 0.048069803788950254, + -0.9868131478196015 + ], + [ + 0.8611685686023787, + -0.49832805943139563, + 0.10028879117164358, + -0.48662576553162146, + -0.8652340363780124, + -0.12068730924904805, + 0.1469151482049876, + 0.05512900757633335, + -0.9876116300204018 + ], + [ + 0.8593921493884431, + -0.5049009852263489, + 0.08074731380655777, + -0.4943001464712391, + -0.8607683620740981, + -0.12142978238795607, + 0.13081474981065408, + 0.06444239264441584, + -0.9893102037592857 + ], + [ + 0.853511144494075, + -0.5147073726640898, + 0.08120989317591584, + -0.5026779881760597, + -0.8543630896096024, + -0.1318277334858008, + 0.13723544158737963, + 0.07169401396186365, + -0.987940485016356 + ], + [ + 0.8615361820492833, + -0.5001612775805222, + 0.08714415315421044, + -0.4904809232896658, + -0.8642890282338151, + -0.11150309217041819, + 0.13108726448004637, + 0.05332140361681824, + -0.9899358347930794 + ], + [ + 0.8669411503658868, + -0.49048708376308536, + 0.08851814765265592, + -0.4841832641091247, + -0.8709367595295664, + -0.08387924449333206, + 0.1182353946959491, + 0.02985936304951437, + -0.9925365534222762 + ], + [ + 0.8865234149849195, + -0.45630586936853346, + 0.07655839773207848, + -0.4519252580354409, + -0.8894481497128363, + -0.06815827258676824, + 0.09919574503513937, + 0.02582523092324531, + -0.9947327588929022 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005589.json b/json/chunk-0005/episode_0005589.json new file mode 100644 index 0000000000000000000000000000000000000000..9fa8a8e6bb8866d633659c00c3423d0e3b0fb8fd --- /dev/null +++ b/json/chunk-0005/episode_0005589.json @@ -0,0 +1,2002 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 32, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nClose the drawer." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005589.mp4", + "start": 0, + "end": 32, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.25910669565200806, + 0.045066412538290024, + 0.14018911123275757, + 0.41840147972106934, + -0.263043075799942, + 0.2985776662826538, + 0.0, + 0.9994885921478271 + ], + [ + 0.25662729144096375, + 0.044511087238788605, + 0.13371635973453522, + 0.42401501536369324, + -0.2362177073955536, + 0.291858971118927, + 0.0, + 0.9994885921478271 + ], + [ + 0.2516746520996094, + 0.058499325066804886, + 0.13752953708171844, + 0.38424405455589294, + -0.242371067404747, + 0.27261054515838623, + 0.0, + 0.9994885921478271 + ], + [ + 0.2461642026901245, + 0.06785829365253448, + 0.1442209631204605, + 0.3648487627506256, + -0.2783689796924591, + 0.18835946917533875, + 0.0, + 0.9994885921478271 + ], + [ + 0.236233189702034, + 0.07561126351356506, + 0.14407961070537567, + 0.34484291076660156, + -0.28784772753715515, + 0.09868161380290985, + 0.0, + 0.9994885921478271 + ], + [ + 0.22377166152000427, + 0.08411774784326553, + 0.14333412051200867, + 0.3790764808654785, + -0.2631569504737854, + -0.06030093505978584, + 0.0, + 0.9994885921478271 + ], + [ + 0.21680328249931335, + 0.08665300160646439, + 0.13478843867778778, + 0.38164088129997253, + -0.18015247583389282, + -0.22212372720241547, + 0.0, + 0.9994885921478271 + ], + [ + 0.21372368931770325, + 0.08946006745100021, + 0.13039304316043854, + 0.39454254508018494, + -0.09769809991121292, + -0.3692708909511566, + 0.0, + 0.9994885921478271 + ], + [ + 0.21230585873126984, + 0.09478530287742615, + 0.11896681040525436, + 0.35699015855789185, + 0.007100425194948912, + -0.5052027702331543, + 0.0, + 0.9994885921478271 + ], + [ + 0.21902944147586823, + 0.10478319227695465, + 0.10824161767959595, + 0.289195716381073, + 0.07588005065917969, + -0.6749289035797119, + 0.0, + 0.9994885921478271 + ], + [ + 0.22005370259284973, + 0.10991308093070984, + 0.08884654194116592, + 0.24199388921260834, + 0.1551581770181656, + -0.7527258396148682, + 0.0, + 0.9994885921478271 + ], + [ + 0.22182594239711761, + 0.10519041866064072, + 0.07537257671356201, + 0.20284178853034973, + 0.2039724737405777, + -0.8014438152313232, + 0.0, + 0.9994885921478271 + ], + [ + 0.2196160852909088, + 0.09450575709342957, + 0.07080279290676117, + 0.17369697988033295, + 0.2070978879928589, + -0.8509357571601868, + 0.0, + 0.9994885921478271 + ], + [ + 0.21555188298225403, + 0.08446742594242096, + 0.06434575468301773, + 0.15295548737049103, + 0.20867621898651123, + -0.8683683276176453, + 0.0, + 0.9994885921478271 + ], + [ + 0.21897219121456146, + 0.08185344934463501, + 0.06338132917881012, + 0.16319480538368225, + 0.19159364700317383, + -0.8637199997901917, + 0.0, + 0.9994885921478271 + ], + [ + 0.22454304993152618, + 0.08201222121715546, + 0.05068715661764145, + 0.1687837392091751, + 0.19069787859916687, + -0.8377805948257446, + 0.0, + 0.9994885921478271 + ], + [ + 0.2346949726343155, + 0.07986127585172653, + 0.04134121909737587, + 0.17678241431713104, + 0.17553187906742096, + -0.805141806602478, + 0.0, + 0.9994885921478271 + ], + [ + 0.24209532141685486, + 0.07613810151815414, + 0.03580527752637863, + 0.1803758144378662, + 0.17428380250930786, + -0.786203145980835, + 0.0, + 1.0001531839370728 + ], + [ + 0.24935145676136017, + 0.06821033358573914, + 0.02943027950823307, + 0.17905555665493011, + 0.173725426197052, + -0.7718047499656677, + 0.0, + 0.9994885921478271 + ], + [ + 0.2580462694168091, + 0.06140487641096115, + 0.027811719104647636, + 0.17692023515701294, + 0.1731610745191574, + -0.7591583728790283, + 0.0, + 0.9994885921478271 + ], + [ + 0.2691865563392639, + 0.0541674979031086, + 0.027906691655516624, + 0.1847873032093048, + 0.16238172352313995, + -0.7367010116577148, + 0.0, + 0.9994885921478271 + ], + [ + 0.2809930145740509, + 0.045496173202991486, + 0.029072294011712074, + 0.17667318880558014, + 0.1553507000207901, + -0.7203034162521362, + 0.0, + 0.9994885921478271 + ], + [ + 0.2937607765197754, + 0.038464874029159546, + 0.028990747407078743, + 0.18044151365756989, + 0.14451076090335846, + -0.7112133502960205, + 0.0, + 0.9994885921478271 + ], + [ + 0.3031265139579773, + 0.0327092669904232, + 0.021278368309140205, + 0.176635280251503, + 0.15568500757217407, + -0.6969905495643616, + 0.0, + 0.9994885921478271 + ], + [ + 0.311832070350647, + 0.026043258607387543, + 0.020590772852301598, + 0.18188902735710144, + 0.15083296597003937, + -0.6933456063270569, + 0.0, + 0.9994885921478271 + ], + [ + 0.31611713767051697, + 0.0203598253428936, + 0.018329143524169922, + 0.1814272105693817, + 0.15462635457515717, + -0.6933205723762512, + 0.0, + 0.9994885921478271 + ], + [ + 0.3176637589931488, + 0.016843650490045547, + 0.01949062943458557, + 0.17988881468772888, + 0.15130732953548431, + -0.691135823726654, + 0.0, + 0.9994885921478271 + ], + [ + 0.31668198108673096, + 0.018893050029873848, + 0.018687142059206963, + 0.1931300014257431, + 0.15531761944293976, + -0.6832754015922546, + 0.0, + 0.9994885921478271 + ], + [ + 0.3006543517112732, + 0.0359610877931118, + 0.03264331445097923, + 0.25873446464538574, + 0.12832094728946686, + -0.605812668800354, + 0.0, + 0.9994885921478271 + ], + [ + 0.2708011567592621, + 0.0690908133983612, + 0.0599559023976326, + 0.3250696063041687, + 0.07401326298713684, + -0.4522264301776886, + 0.0, + 0.9994885921478271 + ], + [ + 0.2420855164527893, + 0.07713793218135834, + 0.08478128165006638, + 0.3253152370452881, + 0.004089783877134323, + -0.35961246490478516, + 0.0, + 0.9994885921478271 + ], + [ + 0.2155430167913437, + 0.08802971988916397, + 0.1103321835398674, + 0.25510868430137634, + -0.0745122954249382, + -0.2857721149921417, + 0.0, + 0.9994885921478271 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.25910669565200806, + 0.045066412538290024, + 0.14018911123275757 + ], + [ + 0.25662729144096375, + 0.044511087238788605, + 0.13371635973453522 + ], + [ + 0.2516746520996094, + 0.058499325066804886, + 0.13752953708171844 + ], + [ + 0.2461642026901245, + 0.06785829365253448, + 0.1442209631204605 + ], + [ + 0.236233189702034, + 0.07561126351356506, + 0.14407961070537567 + ], + [ + 0.22377166152000427, + 0.08411774784326553, + 0.14333412051200867 + ], + [ + 0.21680328249931335, + 0.08665300160646439, + 0.13478843867778778 + ], + [ + 0.21372368931770325, + 0.08946006745100021, + 0.13039304316043854 + ], + [ + 0.21230585873126984, + 0.09478530287742615, + 0.11896681040525436 + ], + [ + 0.21902944147586823, + 0.10478319227695465, + 0.10824161767959595 + ], + [ + 0.22005370259284973, + 0.10991308093070984, + 0.08884654194116592 + ], + [ + 0.22182594239711761, + 0.10519041866064072, + 0.07537257671356201 + ], + [ + 0.2196160852909088, + 0.09450575709342957, + 0.07080279290676117 + ], + [ + 0.21555188298225403, + 0.08446742594242096, + 0.06434575468301773 + ], + [ + 0.21897219121456146, + 0.08185344934463501, + 0.06338132917881012 + ], + [ + 0.22454304993152618, + 0.08201222121715546, + 0.05068715661764145 + ], + [ + 0.2346949726343155, + 0.07986127585172653, + 0.04134121909737587 + ], + [ + 0.24209532141685486, + 0.07613810151815414, + 0.03580527752637863 + ], + [ + 0.24935145676136017, + 0.06821033358573914, + 0.02943027950823307 + ], + [ + 0.2580462694168091, + 0.06140487641096115, + 0.027811719104647636 + ], + [ + 0.2691865563392639, + 0.0541674979031086, + 0.027906691655516624 + ], + [ + 0.2809930145740509, + 0.045496173202991486, + 0.029072294011712074 + ], + [ + 0.2937607765197754, + 0.038464874029159546, + 0.028990747407078743 + ], + [ + 0.3031265139579773, + 0.0327092669904232, + 0.021278368309140205 + ], + [ + 0.311832070350647, + 0.026043258607387543, + 0.020590772852301598 + ], + [ + 0.31611713767051697, + 0.0203598253428936, + 0.018329143524169922 + ], + [ + 0.3176637589931488, + 0.016843650490045547, + 0.01949062943458557 + ], + [ + 0.31668198108673096, + 0.018893050029873848, + 0.018687142059206963 + ], + [ + 0.3006543517112732, + 0.0359610877931118, + 0.03264331445097923 + ], + [ + 0.2708011567592621, + 0.0690908133983612, + 0.0599559023976326 + ], + [ + 0.2420855164527893, + 0.07713793218135834, + 0.08478128165006638 + ], + [ + 0.2155430167913437, + 0.08802971988916397, + 0.1103321835398674 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9228808978251682, + 0.369758690903485, + 0.10756095448977764, + 0.2840428971649097, + -0.8422349309933828, + 0.4582138731910416, + 0.2600201549872153, + -0.39232490555139693, + -0.8823098591110221 + ], + [ + 0.9311151007175383, + 0.3544650762403012, + 0.08590214748029044, + 0.27974275478136146, + -0.8451958835916284, + 0.4553986270369085, + 0.23402705049438877, + -0.39999803510232856, + -0.8861336871777152 + ], + [ + 0.9349223002182689, + 0.3362591162680896, + 0.11335827839723071, + 0.26137685791859255, + -0.8686225865233046, + 0.4209239127516607, + 0.2400050639032113, + -0.36390192210012734, + -0.8999849778705464 + ], + [ + 0.9444985165615873, + 0.2712348793926517, + 0.18534883979624595, + 0.18003951724532669, + -0.8992957203634498, + 0.39856364556498813, + 0.2747877807382098, + -0.3430726563526121, + -0.8982164705794099 + ], + [ + 0.9541921857288869, + 0.1882229350665678, + 0.2325712781253456, + 0.09446806929674205, + -0.9270949479567488, + 0.362726813671694, + 0.283889162486482, + -0.32414053154149125, + -0.9024078120421631 + ], + [ + 0.9638185944673032, + 0.04010344403266606, + 0.26352500969697573, + -0.05818970943856593, + -0.9331195935570004, + 0.35482641084828215, + 0.26013011104931244, + -0.35732273632773137, + -0.8970244073762625 + ], + [ + 0.9596457749112801, + -0.13935722882421647, + 0.24425304393059982, + -0.2167363916574654, + -0.9199557871614426, + 0.32665989377251725, + 0.17917958373160248, + -0.3664163102846344, + -0.9130354671814037 + ], + [ + 0.9281435424193498, + -0.29823917554858564, + 0.22271721719112797, + -0.3592143869722701, + -0.8744750790504456, + 0.32597294414084843, + 0.09754275399739509, + -0.382552911749233, + -0.9187702002431222 + ], + [ + 0.8750542958389858, + -0.45564232765328916, + 0.16330967082334397, + -0.48397268945989136, + -0.8187044101008946, + 0.30902026590226295, + -0.0071003655325482945, + -0.34944693178226427, + -0.9369292538272381 + ], + [ + 0.7785047572470654, + -0.6157732736126633, + 0.12146447401619917, + -0.623043821139682, + -0.73482120227164, + 0.2680563329446356, + -0.07580725482004844, + -0.28436082043137645, + -0.9557155350418046 + ], + [ + 0.7210607620739038, + -0.6907387942409414, + 0.05432582744856489, + -0.675418303903757, + -0.6832456050106879, + 0.2774627145858538, + -0.15453637807705017, + -0.2367601346598477, + -0.9591992214793952 + ], + [ + 0.6812487578456872, + -0.7320214311301233, + 0.006689865463119504, + -0.7034693698380058, + -0.6520937266791227, + 0.2826740478456643, + -0.20256104174650055, + -0.19727745941171287, + -0.9591926961641402 + ], + [ + 0.6451921972391242, + -0.7640119418764801, + -0.0035750932688732306, + -0.7358309373727676, + -0.6226396628201689, + 0.2662192365106264, + -0.20562067071883947, + -0.16913190992038304, + -0.9639058754981309 + ], + [ + 0.632056927277817, + -0.7747569986347503, + -0.015988550484564518, + -0.7467172796037663, + -0.6144382422776277, + 0.2547134679751536, + -0.2071650188165816, + -0.14905448498201077, + -0.9668843857905001 + ], + [ + 0.63772716207648, + -0.7702609469541556, + 0.0014629925382136644, + -0.7463530737572536, + -0.6174611776569385, + 0.24839239799077292, + -0.1904236225970375, + -0.15949848802980685, + -0.9686583898739674 + ], + [ + 0.6569842803614759, + -0.7539042517706271, + -0.0001857958142204158, + -0.7296880590231292, + -0.6359431801631618, + 0.2512600408402079, + -0.18954416867045049, + -0.16493832412794593, + -0.9679196027340766 + ], + [ + 0.6823600911045415, + -0.7309761909670401, + 0.007649464498858491, + -0.7098509819783992, + -0.6600675564951652, + 0.24580969111653136, + -0.1746318683748887, + -0.17316070311077916, + -0.9692879249459763 + ], + [ + 0.6958339966769678, + -0.7181738800754178, + 0.006428611512383234, + -0.6969551679389852, + -0.6730600992476474, + 0.24747443642503442, + -0.17340283432429504, + -0.1766815801892394, + -0.9688730960606424 + ], + [ + 0.7058658389263417, + -0.7083417587900068, + 0.0023173672759632252, + -0.6869317985822464, + -0.6837250604651675, + 0.24626153940163611, + -0.1728528898612115, + -0.1754194813758813, + -0.9692006417767401 + ], + [ + 0.7145670121889118, + -0.6995644342508696, + -0.0018940492791936075, + -0.6780174975513023, + -0.6932197345552988, + 0.2444149599295236, + -0.17229700550410343, + -0.1733666690985946, + -0.9696688815982377 + ], + [ + 0.7309452638208866, + -0.6824119883421033, + 0.005735805505021216, + -0.6630099078943675, + -0.7081220164393297, + 0.2428601899608084, + -0.16166905496017675, + -0.18132040150207787, + -0.9700443436603342 + ], + [ + 0.7425542871649314, + -0.6697843201263579, + 0.0014474549571104472, + -0.6516692522794708, + -0.7219684729245698, + 0.23256979540877606, + -0.15472658545478113, + -0.17363896053546604, + -0.9725786318533155 + ], + [ + 0.7496738639597411, + -0.6617345808422324, + 0.009820499642402572, + -0.6459494601574078, + -0.7284009663490951, + 0.22843232508569705, + -0.14400830746184334, + -0.1775932902427882, + -0.9735102622174641 + ], + [ + 0.7575037084134161, + -0.6528170364792176, + -0.004248367029083239, + -0.634149432234784, + -0.737357030120033, + 0.2327210942928587, + -0.1550568583978893, + -0.17359299241345066, + -0.9725342377771182 + ], + [ + 0.7603797995282846, + -0.6494757675490249, + 0.0019462363500142021, + -0.6318575662498748, + -0.7390531950381038, + 0.23357309536150597, + -0.15026169319593843, + -0.17883400758964987, + -0.9723372981056081 + ], + [ + 0.7599517434882979, + -0.6499783977263971, + -0.0011958503760346462, + -0.6314697010221599, + -0.7387449038848342, + 0.23558858986625658, + -0.15401092253499513, + -0.1782808163353894, + -0.9718521421835252 + ], + [ + 0.7617192022002315, + -0.6479072526589172, + -0.0002212496706629763, + -0.6301302460073138, + -0.7408988282860024, + 0.2323893270165194, + -0.15073065403628064, + -0.17687599666546797, + -0.9726228209009864 + ], + [ + 0.7661737709135169, + -0.6426242584935274, + 0.0034373186941882433, + -0.6237367626538829, + -0.7423461747172571, + 0.24469288464667122, + -0.15469390317079462, + -0.18962125217996895, + -0.9695945426019503 + ], + [ + 0.8152809314633748, + -0.5773916449446771, + 0.0439987629404785, + -0.5647485443843158, + -0.7760334621161471, + 0.2807688502876051, + -0.1279690759832589, + -0.25375372711372524, + -0.9587663748629718 + ], + [ + 0.8970139260479961, + -0.4353268900796911, + 0.07652787237016447, + -0.4357729325785747, + -0.8420498817543471, + 0.31788983605859233, + -0.07394570783912109, + -0.31850038526041724, + -0.9450341458810558 + ], + [ + 0.9360254438341461, + -0.334677272239781, + 0.10884618478031105, + -0.35190857087627886, + -0.8864783556390023, + 0.3005270083160345, + -0.004089772475963267, + -0.3196048316745389, + -0.9475420968650337 + ], + [ + 0.9567820560799865, + -0.254750990143714, + 0.14024988479193445, + -0.28111613720283596, + -0.9336883990887628, + 0.22181003316175602, + 0.07444336483199732, + -0.2516503654435263, + -0.9649509205159761 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0024794042110443115, + -0.0005553252995014191, + -0.006472751498222351, + 0.005613535642623901, + 0.026825368404388428, + -0.006718695163726807, + 1.0 + ], + [ + -0.00495263934135437, + 0.013988237828016281, + 0.0038131773471832275, + -0.03977096080780029, + -0.00615336000919342, + -0.01924842596054077, + 1.0 + ], + [ + -0.005510449409484863, + 0.009358968585729599, + 0.006691426038742065, + -0.019395291805267334, + -0.0359979122877121, + -0.08425107598304749, + 1.0 + ], + [ + -0.009931012988090515, + 0.007752969861030579, + -0.00014135241508483887, + -0.020005851984024048, + -0.009478747844696045, + -0.0896778553724289, + 1.0 + ], + [ + -0.012461528182029724, + 0.00850648432970047, + -0.0007454901933670044, + 0.03423357009887695, + 0.02469077706336975, + -0.1589825451374054, + 1.0 + ], + [ + -0.006968379020690918, + 0.0025352537631988525, + -0.008545681834220886, + 0.0025644004344940186, + 0.08300447463989258, + -0.16182279586791992, + 1.0 + ], + [ + -0.0030795931816101074, + 0.0028070658445358276, + -0.004395395517349243, + 0.012901663780212402, + 0.0824543759226799, + -0.14714716374874115, + 1.0 + ], + [ + -0.0014178305864334106, + 0.005325235426425934, + -0.011426232755184174, + -0.03755238652229309, + 0.10479852557182312, + -0.13593187928199768, + 1.0 + ], + [ + 0.006723582744598389, + 0.009997889399528503, + -0.010725192725658417, + -0.06779444217681885, + 0.06877962499856949, + -0.16972613334655762, + 1.0 + ], + [ + 0.0010242611169815063, + 0.005129888653755188, + -0.019395075738430023, + -0.04720182716846466, + 0.0792781263589859, + -0.07779693603515625, + 1.0 + ], + [ + 0.0017722398042678833, + -0.004722662270069122, + -0.013473965227603912, + -0.039152100682258606, + 0.04881429672241211, + -0.04871797561645508, + 1.0 + ], + [ + -0.0022098571062088013, + -0.010684661567211151, + -0.004569783806800842, + -0.029144808650016785, + 0.003125414252281189, + -0.049491941928863525, + 1.0 + ], + [ + -0.004064202308654785, + -0.010038331151008606, + -0.006457038223743439, + -0.02074149250984192, + 0.0015783309936523438, + -0.017432570457458496, + 1.0 + ], + [ + 0.003420308232307434, + -0.0026139765977859497, + -0.0009644255042076111, + 0.010239318013191223, + -0.017082571983337402, + 0.004648327827453613, + 1.0 + ], + [ + 0.005570858716964722, + 0.00015877187252044678, + -0.01269417256116867, + 0.005588933825492859, + -0.000895768404006958, + 0.02593940496444702, + 1.0 + ], + [ + 0.010151922702789307, + -0.0021509453654289246, + -0.00934593752026558, + 0.007998675107955933, + -0.01516599953174591, + 0.0326387882232666, + 1.0 + ], + [ + 0.007400348782539368, + -0.0037231743335723877, + -0.005535941570997238, + 0.0035934001207351685, + -0.0012480765581130981, + 0.018938660621643066, + 1.0 + ], + [ + 0.00725613534450531, + -0.007927767932415009, + -0.006374998018145561, + -0.0013202577829360962, + -0.0005583763122558594, + 0.014398396015167236, + 1.0 + ], + [ + 0.008694812655448914, + -0.006805457174777985, + -0.001618560403585434, + -0.0021353214979171753, + -0.0005643516778945923, + 0.012646377086639404, + 1.0 + ], + [ + 0.011140286922454834, + -0.007237378507852554, + 9.497255086898804e-05, + 0.00786706805229187, + -0.010779350996017456, + 0.022457361221313477, + 1.0 + ], + [ + 0.011806458234786987, + -0.008671324700117111, + 0.0011656023561954498, + -0.00811411440372467, + -0.0070310235023498535, + 0.016397595405578613, + 1.0 + ], + [ + 0.012767761945724487, + -0.00703129917383194, + -8.15466046333313e-05, + 0.003768324851989746, + -0.01083993911743164, + 0.009090065956115723, + 1.0 + ], + [ + 0.009365737438201904, + -0.005755607038736343, + -0.007712379097938538, + -0.0038062334060668945, + 0.011174246668815613, + 0.014222800731658936, + 1.0 + ], + [ + 0.008705556392669678, + -0.00666600838303566, + -0.0006875954568386078, + 0.00525374710559845, + -0.004852041602134705, + 0.0036449432373046875, + 1.0 + ], + [ + 0.004285067319869995, + -0.005683433264493942, + -0.0022616293281316757, + -0.00046181678771972656, + 0.003793388605117798, + 2.5033950805664062e-05, + 1.0 + ], + [ + 0.001546621322631836, + -0.003516174852848053, + 0.0011614859104156494, + -0.001538395881652832, + -0.0033190250396728516, + 0.002184748649597168, + 1.0 + ], + [ + -0.0009817779064178467, + 0.0020493995398283005, + -0.0008034873753786087, + 0.013241186738014221, + 0.004010289907455444, + 0.007860422134399414, + 1.0 + ], + [ + -0.016027629375457764, + 0.017068037763237953, + 0.01395617239177227, + 0.06560446321964264, + -0.0269966721534729, + 0.07746273279190063, + 1.0 + ], + [ + -0.02985319495201111, + 0.033129725605249405, + 0.027312587946653366, + 0.06633514165878296, + -0.05430768430233002, + 0.1535862386226654, + 1.0 + ], + [ + -0.02871564030647278, + 0.008047118782997131, + 0.024825379252433777, + 0.00024563074111938477, + -0.06992347538471222, + 0.09261396527290344, + 1.0 + ], + [ + -0.026542499661445618, + 0.010891787707805634, + 0.025550901889801025, + -0.07020655274391174, + -0.07860207557678223, + 0.07384034991264343, + 1.0 + ], + [ + -0.019092723727226257, + -0.009967967867851257, + 0.025329552590847015, + -0.09993819892406464, + -0.04347366839647293, + -0.00832521915435791, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.25662729144096375, + 0.044511087238788605, + 0.13371635973453522 + ], + [ + 0.2516746520996094, + 0.058499325066804886, + 0.13752953708171844 + ], + [ + 0.2461642026901245, + 0.06785829365253448, + 0.1442209631204605 + ], + [ + 0.236233189702034, + 0.07561126351356506, + 0.14407961070537567 + ], + [ + 0.22377166152000427, + 0.08411774784326553, + 0.14333412051200867 + ], + [ + 0.21680328249931335, + 0.08665300160646439, + 0.13478843867778778 + ], + [ + 0.21372368931770325, + 0.08946006745100021, + 0.13039304316043854 + ], + [ + 0.21230585873126984, + 0.09478530287742615, + 0.11896681040525436 + ], + [ + 0.21902944147586823, + 0.10478319227695465, + 0.10824161767959595 + ], + [ + 0.22005370259284973, + 0.10991308093070984, + 0.08884654194116592 + ], + [ + 0.22182594239711761, + 0.10519041866064072, + 0.07537257671356201 + ], + [ + 0.2196160852909088, + 0.09450575709342957, + 0.07080279290676117 + ], + [ + 0.21555188298225403, + 0.08446742594242096, + 0.06434575468301773 + ], + [ + 0.21897219121456146, + 0.08185344934463501, + 0.06338132917881012 + ], + [ + 0.22454304993152618, + 0.08201222121715546, + 0.05068715661764145 + ], + [ + 0.2346949726343155, + 0.07986127585172653, + 0.04134121909737587 + ], + [ + 0.24209532141685486, + 0.07613810151815414, + 0.03580527752637863 + ], + [ + 0.24935145676136017, + 0.06821033358573914, + 0.02943027950823307 + ], + [ + 0.2580462694168091, + 0.06140487641096115, + 0.027811719104647636 + ], + [ + 0.2691865563392639, + 0.0541674979031086, + 0.027906691655516624 + ], + [ + 0.2809930145740509, + 0.045496173202991486, + 0.029072294011712074 + ], + [ + 0.2937607765197754, + 0.038464874029159546, + 0.028990747407078743 + ], + [ + 0.3031265139579773, + 0.0327092669904232, + 0.021278368309140205 + ], + [ + 0.311832070350647, + 0.026043258607387543, + 0.020590772852301598 + ], + [ + 0.31611713767051697, + 0.0203598253428936, + 0.018329143524169922 + ], + [ + 0.3176637589931488, + 0.016843650490045547, + 0.01949062943458557 + ], + [ + 0.31668198108673096, + 0.018893050029873848, + 0.018687142059206963 + ], + [ + 0.3006543517112732, + 0.0359610877931118, + 0.03264331445097923 + ], + [ + 0.2708011567592621, + 0.0690908133983612, + 0.0599559023976326 + ], + [ + 0.2420855164527893, + 0.07713793218135834, + 0.08478128165006638 + ], + [ + 0.2155430167913437, + 0.08802971988916397, + 0.1103321835398674 + ], + [ + 0.19645029306411743, + 0.07806175202131271, + 0.13566173613071442 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9311151007175383, + 0.3544650762403012, + 0.08590214748029044, + 0.27974275478136146, + -0.8451958835916284, + 0.4553986270369085, + 0.23402705049438877, + -0.39999803510232856, + -0.8861336871777152 + ], + [ + 0.9349223002182689, + 0.3362591162680896, + 0.11335827839723071, + 0.26137685791859255, + -0.8686225865233046, + 0.4209239127516607, + 0.2400050639032113, + -0.36390192210012734, + -0.8999849778705464 + ], + [ + 0.9444985165615873, + 0.2712348793926517, + 0.18534883979624595, + 0.18003951724532669, + -0.8992957203634498, + 0.39856364556498813, + 0.2747877807382098, + -0.3430726563526121, + -0.8982164705794099 + ], + [ + 0.9541921857288869, + 0.1882229350665678, + 0.2325712781253456, + 0.09446806929674205, + -0.9270949479567488, + 0.362726813671694, + 0.283889162486482, + -0.32414053154149125, + -0.9024078120421631 + ], + [ + 0.9638185944673032, + 0.04010344403266606, + 0.26352500969697573, + -0.05818970943856593, + -0.9331195935570004, + 0.35482641084828215, + 0.26013011104931244, + -0.35732273632773137, + -0.8970244073762625 + ], + [ + 0.9596457749112801, + -0.13935722882421647, + 0.24425304393059982, + -0.2167363916574654, + -0.9199557871614426, + 0.32665989377251725, + 0.17917958373160248, + -0.3664163102846344, + -0.9130354671814037 + ], + [ + 0.9281435424193498, + -0.29823917554858564, + 0.22271721719112797, + -0.3592143869722701, + -0.8744750790504456, + 0.32597294414084843, + 0.09754275399739509, + -0.382552911749233, + -0.9187702002431222 + ], + [ + 0.8750542958389858, + -0.45564232765328916, + 0.16330967082334397, + -0.48397268945989136, + -0.8187044101008946, + 0.30902026590226295, + -0.0071003655325482945, + -0.34944693178226427, + -0.9369292538272381 + ], + [ + 0.7785047572470654, + -0.6157732736126633, + 0.12146447401619917, + -0.623043821139682, + -0.73482120227164, + 0.2680563329446356, + -0.07580725482004844, + -0.28436082043137645, + -0.9557155350418046 + ], + [ + 0.7210607620739038, + -0.6907387942409414, + 0.05432582744856489, + -0.675418303903757, + -0.6832456050106879, + 0.2774627145858538, + -0.15453637807705017, + -0.2367601346598477, + -0.9591992214793952 + ], + [ + 0.6812487578456872, + -0.7320214311301233, + 0.006689865463119504, + -0.7034693698380058, + -0.6520937266791227, + 0.2826740478456643, + -0.20256104174650055, + -0.19727745941171287, + -0.9591926961641402 + ], + [ + 0.6451921972391242, + -0.7640119418764801, + -0.0035750932688732306, + -0.7358309373727676, + -0.6226396628201689, + 0.2662192365106264, + -0.20562067071883947, + -0.16913190992038304, + -0.9639058754981309 + ], + [ + 0.632056927277817, + -0.7747569986347503, + -0.015988550484564518, + -0.7467172796037663, + -0.6144382422776277, + 0.2547134679751536, + -0.2071650188165816, + -0.14905448498201077, + -0.9668843857905001 + ], + [ + 0.63772716207648, + -0.7702609469541556, + 0.0014629925382136644, + -0.7463530737572536, + -0.6174611776569385, + 0.24839239799077292, + -0.1904236225970375, + -0.15949848802980685, + -0.9686583898739674 + ], + [ + 0.6569842803614759, + -0.7539042517706271, + -0.0001857958142204158, + -0.7296880590231292, + -0.6359431801631618, + 0.2512600408402079, + -0.18954416867045049, + -0.16493832412794593, + -0.9679196027340766 + ], + [ + 0.6823600911045415, + -0.7309761909670401, + 0.007649464498858491, + -0.7098509819783992, + -0.6600675564951652, + 0.24580969111653136, + -0.1746318683748887, + -0.17316070311077916, + -0.9692879249459763 + ], + [ + 0.6958339966769678, + -0.7181738800754178, + 0.006428611512383234, + -0.6969551679389852, + -0.6730600992476474, + 0.24747443642503442, + -0.17340283432429504, + -0.1766815801892394, + -0.9688730960606424 + ], + [ + 0.7058658389263417, + -0.7083417587900068, + 0.0023173672759632252, + -0.6869317985822464, + -0.6837250604651675, + 0.24626153940163611, + -0.1728528898612115, + -0.1754194813758813, + -0.9692006417767401 + ], + [ + 0.7145670121889118, + -0.6995644342508696, + -0.0018940492791936075, + -0.6780174975513023, + -0.6932197345552988, + 0.2444149599295236, + -0.17229700550410343, + -0.1733666690985946, + -0.9696688815982377 + ], + [ + 0.7309452638208866, + -0.6824119883421033, + 0.005735805505021216, + -0.6630099078943675, + -0.7081220164393297, + 0.2428601899608084, + -0.16166905496017675, + -0.18132040150207787, + -0.9700443436603342 + ], + [ + 0.7425542871649314, + -0.6697843201263579, + 0.0014474549571104472, + -0.6516692522794708, + -0.7219684729245698, + 0.23256979540877606, + -0.15472658545478113, + -0.17363896053546604, + -0.9725786318533155 + ], + [ + 0.7496738639597411, + -0.6617345808422324, + 0.009820499642402572, + -0.6459494601574078, + -0.7284009663490951, + 0.22843232508569705, + -0.14400830746184334, + -0.1775932902427882, + -0.9735102622174641 + ], + [ + 0.7575037084134161, + -0.6528170364792176, + -0.004248367029083239, + -0.634149432234784, + -0.737357030120033, + 0.2327210942928587, + -0.1550568583978893, + -0.17359299241345066, + -0.9725342377771182 + ], + [ + 0.7603797995282846, + -0.6494757675490249, + 0.0019462363500142021, + -0.6318575662498748, + -0.7390531950381038, + 0.23357309536150597, + -0.15026169319593843, + -0.17883400758964987, + -0.9723372981056081 + ], + [ + 0.7599517434882979, + -0.6499783977263971, + -0.0011958503760346462, + -0.6314697010221599, + -0.7387449038848342, + 0.23558858986625658, + -0.15401092253499513, + -0.1782808163353894, + -0.9718521421835252 + ], + [ + 0.7617192022002315, + -0.6479072526589172, + -0.0002212496706629763, + -0.6301302460073138, + -0.7408988282860024, + 0.2323893270165194, + -0.15073065403628064, + -0.17687599666546797, + -0.9726228209009864 + ], + [ + 0.7661737709135169, + -0.6426242584935274, + 0.0034373186941882433, + -0.6237367626538829, + -0.7423461747172571, + 0.24469288464667122, + -0.15469390317079462, + -0.18962125217996895, + -0.9695945426019503 + ], + [ + 0.8152809314633748, + -0.5773916449446771, + 0.0439987629404785, + -0.5647485443843158, + -0.7760334621161471, + 0.2807688502876051, + -0.1279690759832589, + -0.25375372711372524, + -0.9587663748629718 + ], + [ + 0.8970139260479961, + -0.4353268900796911, + 0.07652787237016447, + -0.4357729325785747, + -0.8420498817543471, + 0.31788983605859233, + -0.07394570783912109, + -0.31850038526041724, + -0.9450341458810558 + ], + [ + 0.9360254438341461, + -0.334677272239781, + 0.10884618478031105, + -0.35190857087627886, + -0.8864783556390023, + 0.3005270083160345, + -0.004089772475963267, + -0.3196048316745389, + -0.9475420968650337 + ], + [ + 0.9567820560799865, + -0.254750990143714, + 0.14024988479193445, + -0.28111613720283596, + -0.9336883990887628, + 0.22181003316175602, + 0.07444336483199732, + -0.2516503654435263, + -0.9649509205159761 + ], + [ + 0.9504104216954277, + -0.26898207421232634, + 0.15610468950404327, + -0.28786076161930385, + -0.95083876240094, + 0.1142008311519795, + 0.11771241333297644, + -0.15347407490610004, + -0.9811164538825364 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005590.json b/json/chunk-0005/episode_0005590.json new file mode 100644 index 0000000000000000000000000000000000000000..1e4097a170c9e7cb97e5c13483d5640c7b84dbc3 --- /dev/null +++ b/json/chunk-0005/episode_0005590.json @@ -0,0 +1,2002 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 32, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove towel up to just left of bowl." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005590.mp4", + "start": 0, + "end": 32, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.24704591929912567, + 0.020993966609239578, + 0.11553465574979782, + -0.04111582785844803, + -0.0001771161041688174, + -0.11185652017593384, + 0.0, + 1.0001531839370728 + ], + [ + 0.2455376833677292, + 0.020826706662774086, + 0.1088290810585022, + -0.04740864038467407, + 0.026392227038741112, + -0.11960147321224213, + 0.0, + 1.0001531839370728 + ], + [ + 0.24419142305850983, + 0.059357184916734695, + 0.10059936344623566, + -0.044556472450494766, + 0.02455122396349907, + -0.037265073508024216, + 0.0, + 1.0001531839370728 + ], + [ + 0.2418871521949768, + 0.08963090926408768, + 0.08648239821195602, + -0.006578519474714994, + 0.04475969076156616, + 0.01874217949807644, + 0.0, + 1.0001531839370728 + ], + [ + 0.24187473952770233, + 0.12256810069084167, + 0.0775422677397728, + 0.017488477751612663, + 0.025062141939997673, + 0.07043547183275223, + 0.0, + 1.0001531839370728 + ], + [ + 0.24411186575889587, + 0.12656109035015106, + 0.06271135807037354, + 0.0525800846517086, + 0.024622268974781036, + 0.04140437766909599, + 0.0, + 1.0001531839370728 + ], + [ + 0.24688483774662018, + 0.12736159563064575, + 0.052843913435935974, + 0.06260233372449875, + -0.005291891749948263, + 0.026492251083254814, + 0.0, + 1.0001531839370728 + ], + [ + 0.24632105231285095, + 0.13139627873897552, + 0.037081945687532425, + 0.0584859661757946, + 0.024610089138150215, + 0.006609754171222448, + 0.0, + 1.0001531839370728 + ], + [ + 0.24910873174667358, + 0.139092817902565, + 0.02795802429318428, + 0.055181097239255905, + 0.03133445605635643, + -0.020271264016628265, + 0.0, + 1.0001531839370728 + ], + [ + 0.2518225908279419, + 0.14281731843948364, + 0.020856080576777458, + 0.051511142402887344, + 0.035733964294195175, + -0.0535866804420948, + 0.0, + 1.0001531839370728 + ], + [ + 0.253400057554245, + 0.14496839046478271, + 0.014557558111846447, + 0.08109113574028015, + 0.03388068825006485, + -0.06810930371284485, + 0.0, + 1.0008161067962646 + ], + [ + 0.25287339091300964, + 0.14404979348182678, + 0.01105105597525835, + 0.08716930449008942, + 0.03863975778222084, + -0.07605583965778351, + 0.0, + 1.0008161067962646 + ], + [ + 0.25424501299858093, + 0.13982924818992615, + 0.009894943796098232, + 0.09230206906795502, + 0.0364983007311821, + -0.09818152338266373, + 0.0, + 1.0008161067962646 + ], + [ + 0.25806933641433716, + 0.1401757448911667, + 0.009007365442812443, + 0.0809558853507042, + 0.03848167508840561, + -0.08772604912519455, + 0.0, + 1.0008161067962646 + ], + [ + 0.2704770565032959, + 0.14149710536003113, + 0.010056431405246258, + 0.06045492738485336, + 0.026336761191487312, + -0.06219407916069031, + 0.0, + 1.0008161067962646 + ], + [ + 0.29138606786727905, + 0.13965505361557007, + 0.011548698879778385, + 0.037992097437381744, + 0.01084311492741108, + -0.06150585785508156, + 0.0, + 1.0001531839370728 + ], + [ + 0.31561610102653503, + 0.130794957280159, + 0.010480468161404133, + 0.018568597733974457, + 0.001002472941763699, + -0.10062754899263382, + 0.0, + 1.0001531839370728 + ], + [ + 0.33522456884384155, + 0.11573666334152222, + 0.01090539712458849, + 0.008813000284135342, + -0.01090995967388153, + -0.17214186489582062, + 0.0, + 1.0008161067962646 + ], + [ + 0.353871613740921, + 0.09775379300117493, + 0.010266739875078201, + 0.013480927795171738, + -0.018814876675605774, + -0.24580222368240356, + 0.0, + 1.0008161067962646 + ], + [ + 0.3644566833972931, + 0.08900939673185349, + 0.010407501831650734, + 0.016568521037697792, + -0.006946817506104708, + -0.24853646755218506, + 0.0, + 1.0008161067962646 + ], + [ + 0.3764525353908539, + 0.092409148812294, + 0.01091194897890091, + 0.01635516807436943, + 0.008666547015309334, + -0.1765976846218109, + 0.0, + 1.0001531839370728 + ], + [ + 0.3871540129184723, + 0.09689174592494965, + 0.011572875082492828, + 0.029520349577069283, + 0.029185853898525238, + -0.14091673493385315, + 0.0, + 1.0001531839370728 + ], + [ + 0.3949098587036133, + 0.09628842025995255, + 0.013165440410375595, + 0.03818569704890251, + 0.03089398890733719, + -0.15310992300510406, + 0.0, + 1.0001531839370728 + ], + [ + 0.3925454616546631, + 0.09295044839382172, + 0.0152759850025177, + 0.03320629894733429, + 0.02867947518825531, + -0.14907251298427582, + 0.0, + 1.0001531839370728 + ], + [ + 0.3949427306652069, + 0.08827435225248337, + 0.020072177052497864, + 0.011800974607467651, + 0.029950741678476334, + -0.12157902121543884, + 0.0, + 1.0001531839370728 + ], + [ + 0.40096020698547363, + 0.07895050197839737, + 0.03809553012251854, + -0.01834031380712986, + 0.015038269571959972, + -0.11010900139808655, + 0.0, + 0.9994885921478271 + ], + [ + 0.4012179374694824, + 0.07055509090423584, + 0.06661263853311539, + -0.05688909813761711, + -0.023175906389951706, + -0.10361183434724808, + 0.0, + 0.9994885921478271 + ], + [ + 0.39229875802993774, + 0.0659685730934143, + 0.11305967718362808, + -0.0663091316819191, + -0.07347411662340164, + -0.12357892096042633, + 0.0, + 0.9994885921478271 + ], + [ + 0.3578583896160126, + 0.062256548553705215, + 0.1392861306667328, + -0.057035159319639206, + -0.06793681532144547, + -0.13305878639221191, + 0.0, + 0.9994885921478271 + ], + [ + 0.31253427267074585, + 0.05852198228240013, + 0.14248962700366974, + -0.027311477810144424, + -0.06629184633493423, + -0.11868137121200562, + 0.0, + 0.9994885921478271 + ], + [ + 0.2789924442768097, + 0.05816943198442459, + 0.13227973878383636, + 0.012756947427988052, + -0.03940492868423462, + -0.10763005912303925, + 0.0, + 0.9994885921478271 + ], + [ + 0.26490283012390137, + 0.05782090872526169, + 0.11820979416370392, + 0.031813252717256546, + -0.03220231831073761, + -0.08872680366039276, + 0.0, + 0.9994885921478271 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.24704591929912567, + 0.020993966609239578, + 0.11553465574979782 + ], + [ + 0.2455376833677292, + 0.020826706662774086, + 0.1088290810585022 + ], + [ + 0.24419142305850983, + 0.059357184916734695, + 0.10059936344623566 + ], + [ + 0.2418871521949768, + 0.08963090926408768, + 0.08648239821195602 + ], + [ + 0.24187473952770233, + 0.12256810069084167, + 0.0775422677397728 + ], + [ + 0.24411186575889587, + 0.12656109035015106, + 0.06271135807037354 + ], + [ + 0.24688483774662018, + 0.12736159563064575, + 0.052843913435935974 + ], + [ + 0.24632105231285095, + 0.13139627873897552, + 0.037081945687532425 + ], + [ + 0.24910873174667358, + 0.139092817902565, + 0.02795802429318428 + ], + [ + 0.2518225908279419, + 0.14281731843948364, + 0.020856080576777458 + ], + [ + 0.253400057554245, + 0.14496839046478271, + 0.014557558111846447 + ], + [ + 0.25287339091300964, + 0.14404979348182678, + 0.01105105597525835 + ], + [ + 0.25424501299858093, + 0.13982924818992615, + 0.009894943796098232 + ], + [ + 0.25806933641433716, + 0.1401757448911667, + 0.009007365442812443 + ], + [ + 0.2704770565032959, + 0.14149710536003113, + 0.010056431405246258 + ], + [ + 0.29138606786727905, + 0.13965505361557007, + 0.011548698879778385 + ], + [ + 0.31561610102653503, + 0.130794957280159, + 0.010480468161404133 + ], + [ + 0.33522456884384155, + 0.11573666334152222, + 0.01090539712458849 + ], + [ + 0.353871613740921, + 0.09775379300117493, + 0.010266739875078201 + ], + [ + 0.3644566833972931, + 0.08900939673185349, + 0.010407501831650734 + ], + [ + 0.3764525353908539, + 0.092409148812294, + 0.01091194897890091 + ], + [ + 0.3871540129184723, + 0.09689174592494965, + 0.011572875082492828 + ], + [ + 0.3949098587036133, + 0.09628842025995255, + 0.013165440410375595 + ], + [ + 0.3925454616546631, + 0.09295044839382172, + 0.0152759850025177 + ], + [ + 0.3949427306652069, + 0.08827435225248337, + 0.020072177052497864 + ], + [ + 0.40096020698547363, + 0.07895050197839737, + 0.03809553012251854 + ], + [ + 0.4012179374694824, + 0.07055509090423584, + 0.06661263853311539 + ], + [ + 0.39229875802993774, + 0.0659685730934143, + 0.11305967718362808 + ], + [ + 0.3578583896160126, + 0.062256548553705215, + 0.1392861306667328 + ], + [ + 0.31253427267074585, + 0.05852198228240013, + 0.14248962700366974 + ], + [ + 0.2789924442768097, + 0.05816943198442459, + 0.13227973878383636 + ], + [ + 0.26490283012390137, + 0.05782090872526169, + 0.11820979416370392 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9937505639389227, + -0.11153630784165469, + -0.0044123354501362285, + -0.11162340839160423, + -0.9929099119156579, + -0.040867120264111725, + 0.00017711610324279209, + 0.04110424373093212, + -0.9991548477474319 + ], + [ + 0.9925104987631508, + -0.11794080362759847, + -0.03182572363038713, + -0.11927498442244748, + -0.991889930908413, + -0.04390720958485364, + -0.02638916322937191, + 0.047374379174608836, + -0.998528557559509 + ], + [ + 0.999004580562817, + -0.03612678806237287, + -0.026166833946940554, + -0.0372452213613358, + -0.9983546889744976, + -0.04359711559701553, + -0.024548757611241007, + 0.04452830770342426, + -0.9987064575303466 + ], + [ + 0.998822998665464, + 0.01903497709999956, + -0.04461263255775305, + 0.01872231217024909, + -0.9997972194378993, + -0.0074158634861157344, + -0.04474474677468114, + 0.006571883371412969, + -0.9989768355597752 + ], + [ + 0.9972071871637764, + 0.06992934012403001, + -0.026224287573296638, + 0.07035514485144437, + -0.9973987486262486, + 0.015680874711760398, + -0.025059518388059948, + -0.017482094514427393, + -0.9995330894520438 + ], + [ + 0.9988401082309353, + 0.040042538673014993, + -0.026740106316791988, + 0.04138000199784843, + -0.9978156898244928, + 0.05149315075550708, + -0.024619781149947298, + -0.0525399299265941, + -0.9983152919491102 + ], + [ + 0.9996351037267239, + 0.02676821378483629, + 0.0036224477955438482, + 0.02648878140606335, + -0.997682132309937, + 0.0626794011547602, + 0.005291867050855752, + -0.06256057544705662, + -0.9980271391815202 + ], + [ + 0.999675349309334, + 0.005160056872995054, + -0.024951348587380618, + 0.006607704537917151, + -0.9982778836159951, + 0.0582889811534715, + -0.024607605003354415, + -0.058434928734769784, + -0.9979878881428179 + ], + [ + 0.9993037619160864, + -0.0219665776484839, + -0.030157269219383637, + -0.02025992556416638, + -0.9982377427102742, + 0.05577584104995955, + -0.031329328695196994, + -0.05512602375565503, + -0.9979877728050573 + ], + [ + 0.9979271035702899, + -0.055326845912294025, + -0.03286998754500827, + -0.053526845303119956, + -0.9971415506686775, + 0.05332546072900952, + -0.035726359900045655, + -0.05145549583341457, + -0.9980360510306377 + ], + [ + 0.997108892851949, + -0.07057054408937033, + -0.02817186721697173, + -0.06801760005792068, + -0.9942162520785142, + 0.08311227457670203, + -0.0338742066758942, + -0.08095580528833374, + -0.9961419054091621 + ], + [ + 0.9963648837710196, + -0.07904742103029434, + -0.03175726084569748, + -0.07592582173188124, + -0.9930677490522211, + 0.08973135119172776, + -0.03863014344137074, + -0.0869939711750991, + -0.9954595727586756 + ], + [ + 0.9945212830625467, + -0.10095373420104277, + -0.027124916340716454, + -0.09795857795089942, + -0.9906180652114991, + 0.09528885497508874, + -0.03649019788194113, + -0.09210967607961251, + -0.995080033480245 + ], + [ + 0.9954170558919115, + -0.09042580912992383, + -0.031113628568164645, + -0.08754870838141889, + -0.9926194145199553, + 0.08391615803173184, + -0.03847217826201685, + -0.08080761697550486, + -0.9959869580162763 + ], + [ + 0.9977204496536833, + -0.06362840304630013, + -0.022479561130707572, + -0.06213243685740019, + -0.9961443719739616, + 0.06193505045418611, + -0.026333716657790864, + -0.06039715647593838, + -0.9978269984604585 + ], + [ + 0.9980504360987646, + -0.06183379736324549, + -0.008479888366387677, + -0.06146347264415301, + -0.9973635475524352, + 0.03857713758358031, + -0.010842902452146185, + -0.03798072560210143, + -0.999219643496439 + ], + [ + 0.9949408190628598, + -0.10045901202544755, + 0.0008680238458062498, + -0.10045776033171144, + -0.9947679297469671, + 0.018574292343712513, + -0.0010024727738575097, + -0.01856752136943055, + -0.9998271061531258 + ], + [ + 0.9851615073002921, + -0.17119157147068076, + 0.012257666630125959, + -0.1712827546373215, + -0.9851983496425016, + 0.0068139434648517485, + 0.010909743244807712, + -0.00881236172032627, + -0.9999016550557572 + ], + [ + 0.9697707538495474, + -0.24306640671223892, + 0.02152688797946876, + -0.24329144490444418, + -0.9699160076241352, + 0.008497705029350534, + 0.018813766618833574, + -0.013478133493125426, + -0.9997321551811531 + ], + [ + 0.969250079995733, + -0.24584034140512945, + 0.010807819672561204, + -0.24597972463413337, + -0.9691687412486067, + 0.014350123884731779, + 0.0069467616326697075, + -0.016567363230176928, + -0.999838619467371 + ], + [ + 0.9844101421190169, + -0.17579723142183398, + -0.005657341923086784, + -0.17567459957684547, + -0.984290549502602, + 0.017622406855487837, + -0.008666438526383108, + -0.01635382476008235, + -0.9998287079590106 + ], + [ + 0.9896660007277666, + -0.14124241930659673, + -0.02473430799371402, + -0.14039100672997704, + -0.9895353065707778, + 0.033320298306290574, + -0.029181710588173825, + -0.029503491967835933, + -0.9991386148722567 + ], + [ + 0.9878299570521691, + -0.15356666651955805, + -0.02468308903642883, + -0.15243963071342545, + -0.9874012510939322, + 0.042437345888870576, + -0.030889074739524076, + -0.038158200589231264, + -0.9987941813955105 + ], + [ + 0.9885025874213067, + -0.14938059449634197, + -0.023410951482178304, + -0.14845992000672867, + -0.9882226931677998, + 0.0370885542961187, + -0.028675543813103013, + -0.033186543901103364, + -0.9990377202543068 + ], + [ + 0.9921731907798027, + -0.12162205683298966, + -0.028291956269204985, + -0.12122533056138815, + -0.9925063947587116, + 0.015345214020898819, + -0.029946264009183904, + -0.011795408207351433, + -0.9994819106002443 + ], + [ + 0.9938317381724937, + -0.10959405154780928, + -0.01695936515250116, + -0.10987421761578108, + -0.9938072703106913, + -0.01657606047686023, + -0.015037702762048815, + 0.018337211973161786, + -0.9997187675304948 + ], + [ + 0.9943699851250745, + -0.1045697908294523, + 0.017131594445457393, + -0.1033987727460313, + -0.9928917440271052, + -0.05894640309151967, + 0.02317383172834405, + 0.05684314812444804, + -0.9981141367771165 + ], + [ + 0.9896964045935946, + -0.12782068693042986, + 0.06452052950142839, + -0.12293204764012143, + -0.9895933864776809, + -0.07478396287067131, + 0.07340802679216063, + 0.06608177836792882, + -0.9951102753816852 + ], + [ + 0.9888743051630544, + -0.13628628620417227, + 0.05961255556475238, + -0.13236046999219592, + -0.9890356612699491, + -0.06549173016312412, + 0.06788456799399441, + 0.0568727432869991, + -0.9960708692152782 + ], + [ + 0.9907845797560487, + -0.12015505346626991, + 0.0625194341316977, + -0.11814288546232034, + -0.9923811284742069, + -0.03495646525174644, + 0.0662433025464984, + 0.027248100388418274, + -0.9974313840525351 + ], + [ + 0.9934416926401343, + -0.10691400182525368, + 0.04053393070027296, + -0.10733898839282738, + -0.9941865609045751, + 0.008451253607472658, + 0.03939473181923374, + -0.012746698805690945, + -0.9991424206660667 + ], + [ + 0.995549948334907, + -0.08754551435292221, + 0.03487238573779886, + -0.08856449325299273, + -0.9956530972493349, + 0.028831241260939958, + 0.032196753022690795, + -0.03179139591915107, + -0.9989758136413048 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0015082359313964844, + -0.00016725994646549225, + -0.006705574691295624, + -0.006292812526226044, + 0.026569342240691185, + -0.007744953036308289, + 1.0 + ], + [ + -0.0013462603092193604, + 0.03853047639131546, + -0.00822971761226654, + 0.002852167934179306, + -0.0018410030752420425, + 0.08233639597892761, + 1.0 + ], + [ + -0.00230427086353302, + 0.03027372434735298, + -0.014116965234279633, + 0.037977952510118484, + 0.020208466798067093, + 0.056007251143455505, + 1.0 + ], + [ + -1.2412667274475098e-05, + 0.032937191426754, + -0.008940130472183228, + 0.024066997691988945, + -0.01969754882156849, + 0.05169329047203064, + 1.0 + ], + [ + 0.0022371262311935425, + 0.003992989659309387, + -0.014830909669399261, + 0.03509160876274109, + -0.00043987296521663666, + -0.029031094163656235, + 1.0 + ], + [ + 0.002772971987724304, + 0.0008005052804946899, + -0.009867444634437561, + 0.010022249072790146, + -0.029914161190390587, + -0.014912126585841179, + 1.0 + ], + [ + -0.0005637854337692261, + 0.004034683108329773, + -0.01576196774840355, + -0.004116367548704147, + 0.029901981353759766, + -0.01988249644637108, + 1.0 + ], + [ + 0.002787679433822632, + 0.0076965391635894775, + -0.009123921394348145, + -0.0033048689365386963, + 0.006724366918206215, + -0.026881018653512, + 1.0 + ], + [ + 0.0027138590812683105, + 0.00372450053691864, + -0.007101943716406822, + -0.003669954836368561, + 0.004399508237838745, + -0.03331541642546654, + 1.0 + ], + [ + 0.0015774667263031006, + 0.0021510720252990723, + -0.006298522464931011, + 0.029579993337392807, + -0.0018532760441303253, + -0.014522623270750046, + 1.0 + ], + [ + -0.0005266666412353516, + -0.0009185969829559326, + -0.0035065021365880966, + 0.006078168749809265, + 0.004759069532155991, + -0.00794653594493866, + 1.0 + ], + [ + 0.001371622085571289, + -0.004220545291900635, + -0.001156112179160118, + 0.005132764577865601, + -0.002141457051038742, + -0.02212568372488022, + 1.0 + ], + [ + 0.0038243234157562256, + 0.00034649670124053955, + -0.0008875783532857895, + -0.011346183717250824, + 0.0019833743572235107, + 0.010455474257469177, + 1.0 + ], + [ + 0.01240772008895874, + 0.001321360468864441, + 0.001049065962433815, + -0.02050095796585083, + -0.012144913896918297, + 0.025531969964504242, + 1.0 + ], + [ + 0.020909011363983154, + -0.0018420517444610596, + 0.0014922674745321274, + -0.02246282994747162, + -0.015493646264076233, + 0.0006882213056087494, + 1.0 + ], + [ + 0.02423003315925598, + -0.008860096335411072, + -0.0010682307183742523, + -0.019423499703407288, + -0.009840642102062702, + -0.03912169113755226, + 1.0 + ], + [ + 0.01960846781730652, + -0.01505829393863678, + 0.0004249289631843567, + -0.009755597449839115, + -0.011912432499229908, + -0.0715143159031868, + 1.0 + ], + [ + 0.018647044897079468, + -0.01798287034034729, + -0.0006386572495102882, + 0.004667927511036396, + -0.007904917001724243, + -0.07366035878658295, + 1.0 + ], + [ + 0.01058506965637207, + -0.008744396269321442, + 0.00014076195657253265, + 0.0030875932425260544, + 0.011868059635162354, + -0.002734243869781494, + 1.0 + ], + [ + 0.011995851993560791, + 0.0033997520804405212, + 0.0005044471472501755, + -0.0002133529633283615, + 0.015613364055752754, + 0.07193878293037415, + 1.0 + ], + [ + 0.010701477527618408, + 0.00448259711265564, + 0.0006609261035919189, + 0.013165181502699852, + 0.020519306883215904, + 0.035680949687957764, + 1.0 + ], + [ + 0.007755845785140991, + -0.0006033256649971008, + 0.0015925653278827667, + 0.008665347471833229, + 0.0017081350088119507, + -0.012193188071250916, + 1.0 + ], + [ + -0.0023643970489501953, + -0.003337971866130829, + 0.002110544592142105, + -0.004979398101568222, + -0.0022145137190818787, + 0.004037410020828247, + 1.0 + ], + [ + 0.0023972690105438232, + -0.004676096141338348, + 0.004796192049980164, + -0.021405324339866638, + 0.0012712664902210236, + 0.027493491768836975, + 1.0 + ], + [ + 0.006017476320266724, + -0.009323850274085999, + 0.018023353070020676, + -0.03014128841459751, + -0.014912472106516361, + 0.011470019817352295, + 1.0 + ], + [ + 0.00025773048400878906, + -0.00839541107416153, + 0.028517108410596848, + -0.0385487824678421, + -0.03821417689323425, + 0.0064971670508384705, + 1.0 + ], + [ + -0.008919179439544678, + -0.004586517810821533, + 0.046447038650512695, + -0.009420033544301987, + -0.050298210233449936, + -0.019967086613178253, + 1.0 + ], + [ + -0.03444036841392517, + -0.003712024539709091, + 0.026226453483104706, + 0.009273972362279892, + 0.005537301301956177, + -0.009479865431785583, + 1.0 + ], + [ + -0.045324116945266724, + -0.0037345662713050842, + 0.0032034963369369507, + 0.02972368150949478, + 0.0016449689865112305, + 0.014377415180206299, + 1.0 + ], + [ + -0.03354182839393616, + -0.00035255029797554016, + -0.010209888219833374, + 0.04006842523813248, + 0.026886917650699615, + 0.01105131208896637, + 1.0 + ], + [ + -0.014089614152908325, + -0.00034852325916290283, + -0.014069944620132446, + 0.019056305289268494, + 0.007202610373497009, + 0.018903255462646484, + 1.0 + ], + [ + 0.00274774432182312, + -0.0038150660693645477, + -0.006299331784248352, + -0.002096366137266159, + -0.013377312570810318, + -0.013755515217781067, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2455376833677292, + 0.020826706662774086, + 0.1088290810585022 + ], + [ + 0.24419142305850983, + 0.059357184916734695, + 0.10059936344623566 + ], + [ + 0.2418871521949768, + 0.08963090926408768, + 0.08648239821195602 + ], + [ + 0.24187473952770233, + 0.12256810069084167, + 0.0775422677397728 + ], + [ + 0.24411186575889587, + 0.12656109035015106, + 0.06271135807037354 + ], + [ + 0.24688483774662018, + 0.12736159563064575, + 0.052843913435935974 + ], + [ + 0.24632105231285095, + 0.13139627873897552, + 0.037081945687532425 + ], + [ + 0.24910873174667358, + 0.139092817902565, + 0.02795802429318428 + ], + [ + 0.2518225908279419, + 0.14281731843948364, + 0.020856080576777458 + ], + [ + 0.253400057554245, + 0.14496839046478271, + 0.014557558111846447 + ], + [ + 0.25287339091300964, + 0.14404979348182678, + 0.01105105597525835 + ], + [ + 0.25424501299858093, + 0.13982924818992615, + 0.009894943796098232 + ], + [ + 0.25806933641433716, + 0.1401757448911667, + 0.009007365442812443 + ], + [ + 0.2704770565032959, + 0.14149710536003113, + 0.010056431405246258 + ], + [ + 0.29138606786727905, + 0.13965505361557007, + 0.011548698879778385 + ], + [ + 0.31561610102653503, + 0.130794957280159, + 0.010480468161404133 + ], + [ + 0.33522456884384155, + 0.11573666334152222, + 0.01090539712458849 + ], + [ + 0.353871613740921, + 0.09775379300117493, + 0.010266739875078201 + ], + [ + 0.3644566833972931, + 0.08900939673185349, + 0.010407501831650734 + ], + [ + 0.3764525353908539, + 0.092409148812294, + 0.01091194897890091 + ], + [ + 0.3871540129184723, + 0.09689174592494965, + 0.011572875082492828 + ], + [ + 0.3949098587036133, + 0.09628842025995255, + 0.013165440410375595 + ], + [ + 0.3925454616546631, + 0.09295044839382172, + 0.0152759850025177 + ], + [ + 0.3949427306652069, + 0.08827435225248337, + 0.020072177052497864 + ], + [ + 0.40096020698547363, + 0.07895050197839737, + 0.03809553012251854 + ], + [ + 0.4012179374694824, + 0.07055509090423584, + 0.06661263853311539 + ], + [ + 0.39229875802993774, + 0.0659685730934143, + 0.11305967718362808 + ], + [ + 0.3578583896160126, + 0.062256548553705215, + 0.1392861306667328 + ], + [ + 0.31253427267074585, + 0.05852198228240013, + 0.14248962700366974 + ], + [ + 0.2789924442768097, + 0.05816943198442459, + 0.13227973878383636 + ], + [ + 0.26490283012390137, + 0.05782090872526169, + 0.11820979416370392 + ], + [ + 0.2676505744457245, + 0.05400584265589714, + 0.11191046237945557 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9925104987631508, + -0.11794080362759847, + -0.03182572363038713, + -0.11927498442244748, + -0.991889930908413, + -0.04390720958485364, + -0.02638916322937191, + 0.047374379174608836, + -0.998528557559509 + ], + [ + 0.999004580562817, + -0.03612678806237287, + -0.026166833946940554, + -0.0372452213613358, + -0.9983546889744976, + -0.04359711559701553, + -0.024548757611241007, + 0.04452830770342426, + -0.9987064575303466 + ], + [ + 0.998822998665464, + 0.01903497709999956, + -0.04461263255775305, + 0.01872231217024909, + -0.9997972194378993, + -0.0074158634861157344, + -0.04474474677468114, + 0.006571883371412969, + -0.9989768355597752 + ], + [ + 0.9972071871637764, + 0.06992934012403001, + -0.026224287573296638, + 0.07035514485144437, + -0.9973987486262486, + 0.015680874711760398, + -0.025059518388059948, + -0.017482094514427393, + -0.9995330894520438 + ], + [ + 0.9988401082309353, + 0.040042538673014993, + -0.026740106316791988, + 0.04138000199784843, + -0.9978156898244928, + 0.05149315075550708, + -0.024619781149947298, + -0.0525399299265941, + -0.9983152919491102 + ], + [ + 0.9996351037267239, + 0.02676821378483629, + 0.0036224477955438482, + 0.02648878140606335, + -0.997682132309937, + 0.0626794011547602, + 0.005291867050855752, + -0.06256057544705662, + -0.9980271391815202 + ], + [ + 0.999675349309334, + 0.005160056872995054, + -0.024951348587380618, + 0.006607704537917151, + -0.9982778836159951, + 0.0582889811534715, + -0.024607605003354415, + -0.058434928734769784, + -0.9979878881428179 + ], + [ + 0.9993037619160864, + -0.0219665776484839, + -0.030157269219383637, + -0.02025992556416638, + -0.9982377427102742, + 0.05577584104995955, + -0.031329328695196994, + -0.05512602375565503, + -0.9979877728050573 + ], + [ + 0.9979271035702899, + -0.055326845912294025, + -0.03286998754500827, + -0.053526845303119956, + -0.9971415506686775, + 0.05332546072900952, + -0.035726359900045655, + -0.05145549583341457, + -0.9980360510306377 + ], + [ + 0.997108892851949, + -0.07057054408937033, + -0.02817186721697173, + -0.06801760005792068, + -0.9942162520785142, + 0.08311227457670203, + -0.0338742066758942, + -0.08095580528833374, + -0.9961419054091621 + ], + [ + 0.9963648837710196, + -0.07904742103029434, + -0.03175726084569748, + -0.07592582173188124, + -0.9930677490522211, + 0.08973135119172776, + -0.03863014344137074, + -0.0869939711750991, + -0.9954595727586756 + ], + [ + 0.9945212830625467, + -0.10095373420104277, + -0.027124916340716454, + -0.09795857795089942, + -0.9906180652114991, + 0.09528885497508874, + -0.03649019788194113, + -0.09210967607961251, + -0.995080033480245 + ], + [ + 0.9954170558919115, + -0.09042580912992383, + -0.031113628568164645, + -0.08754870838141889, + -0.9926194145199553, + 0.08391615803173184, + -0.03847217826201685, + -0.08080761697550486, + -0.9959869580162763 + ], + [ + 0.9977204496536833, + -0.06362840304630013, + -0.022479561130707572, + -0.06213243685740019, + -0.9961443719739616, + 0.06193505045418611, + -0.026333716657790864, + -0.06039715647593838, + -0.9978269984604585 + ], + [ + 0.9980504360987646, + -0.06183379736324549, + -0.008479888366387677, + -0.06146347264415301, + -0.9973635475524352, + 0.03857713758358031, + -0.010842902452146185, + -0.03798072560210143, + -0.999219643496439 + ], + [ + 0.9949408190628598, + -0.10045901202544755, + 0.0008680238458062498, + -0.10045776033171144, + -0.9947679297469671, + 0.018574292343712513, + -0.0010024727738575097, + -0.01856752136943055, + -0.9998271061531258 + ], + [ + 0.9851615073002921, + -0.17119157147068076, + 0.012257666630125959, + -0.1712827546373215, + -0.9851983496425016, + 0.0068139434648517485, + 0.010909743244807712, + -0.00881236172032627, + -0.9999016550557572 + ], + [ + 0.9697707538495474, + -0.24306640671223892, + 0.02152688797946876, + -0.24329144490444418, + -0.9699160076241352, + 0.008497705029350534, + 0.018813766618833574, + -0.013478133493125426, + -0.9997321551811531 + ], + [ + 0.969250079995733, + -0.24584034140512945, + 0.010807819672561204, + -0.24597972463413337, + -0.9691687412486067, + 0.014350123884731779, + 0.0069467616326697075, + -0.016567363230176928, + -0.999838619467371 + ], + [ + 0.9844101421190169, + -0.17579723142183398, + -0.005657341923086784, + -0.17567459957684547, + -0.984290549502602, + 0.017622406855487837, + -0.008666438526383108, + -0.01635382476008235, + -0.9998287079590106 + ], + [ + 0.9896660007277666, + -0.14124241930659673, + -0.02473430799371402, + -0.14039100672997704, + -0.9895353065707778, + 0.033320298306290574, + -0.029181710588173825, + -0.029503491967835933, + -0.9991386148722567 + ], + [ + 0.9878299570521691, + -0.15356666651955805, + -0.02468308903642883, + -0.15243963071342545, + -0.9874012510939322, + 0.042437345888870576, + -0.030889074739524076, + -0.038158200589231264, + -0.9987941813955105 + ], + [ + 0.9885025874213067, + -0.14938059449634197, + -0.023410951482178304, + -0.14845992000672867, + -0.9882226931677998, + 0.0370885542961187, + -0.028675543813103013, + -0.033186543901103364, + -0.9990377202543068 + ], + [ + 0.9921731907798027, + -0.12162205683298966, + -0.028291956269204985, + -0.12122533056138815, + -0.9925063947587116, + 0.015345214020898819, + -0.029946264009183904, + -0.011795408207351433, + -0.9994819106002443 + ], + [ + 0.9938317381724937, + -0.10959405154780928, + -0.01695936515250116, + -0.10987421761578108, + -0.9938072703106913, + -0.01657606047686023, + -0.015037702762048815, + 0.018337211973161786, + -0.9997187675304948 + ], + [ + 0.9943699851250745, + -0.1045697908294523, + 0.017131594445457393, + -0.1033987727460313, + -0.9928917440271052, + -0.05894640309151967, + 0.02317383172834405, + 0.05684314812444804, + -0.9981141367771165 + ], + [ + 0.9896964045935946, + -0.12782068693042986, + 0.06452052950142839, + -0.12293204764012143, + -0.9895933864776809, + -0.07478396287067131, + 0.07340802679216063, + 0.06608177836792882, + -0.9951102753816852 + ], + [ + 0.9888743051630544, + -0.13628628620417227, + 0.05961255556475238, + -0.13236046999219592, + -0.9890356612699491, + -0.06549173016312412, + 0.06788456799399441, + 0.0568727432869991, + -0.9960708692152782 + ], + [ + 0.9907845797560487, + -0.12015505346626991, + 0.0625194341316977, + -0.11814288546232034, + -0.9923811284742069, + -0.03495646525174644, + 0.0662433025464984, + 0.027248100388418274, + -0.9974313840525351 + ], + [ + 0.9934416926401343, + -0.10691400182525368, + 0.04053393070027296, + -0.10733898839282738, + -0.9941865609045751, + 0.008451253607472658, + 0.03939473181923374, + -0.012746698805690945, + -0.9991424206660667 + ], + [ + 0.995549948334907, + -0.08754551435292221, + 0.03487238573779886, + -0.08856449325299273, + -0.9956530972493349, + 0.028831241260939958, + 0.032196753022690795, + -0.03179139591915107, + -0.9989758136413048 + ], + [ + 0.9937201591361712, + -0.10091114250888888, + 0.04834445825462976, + -0.10219677514086056, + -0.9944525834394224, + 0.02489735812223986, + 0.04556385055272769, + -0.029681654404857552, + -0.9985203728089875 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005592.json b/json/chunk-0005/episode_0005592.json new file mode 100644 index 0000000000000000000000000000000000000000..2cd0f4d381abd1d4fcc102507d0db6046c8d36cd --- /dev/null +++ b/json/chunk-0005/episode_0005592.json @@ -0,0 +1,1282 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 20, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nTurn lever vertical to front." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005592.mp4", + "start": 0, + "end": 20, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3882651925086975, + -0.09197985380887985, + 0.06534228473901749, + 0.10037939250469208, + -0.10714773088693619, + 0.03790243715047836, + 0.0, + 0.9994885921478271 + ], + [ + 0.3879459798336029, + -0.09063027799129486, + 0.05386209487915039, + 0.1198708564043045, + -0.09738986194133759, + 0.03562529385089874, + 0.0, + 0.9994885921478271 + ], + [ + 0.39402103424072266, + -0.0979795753955841, + 0.05658801272511482, + 0.16669894754886627, + -0.17875801026821136, + 0.02388462796807289, + 0.0, + 0.9994885921478271 + ], + [ + 0.39830392599105835, + -0.11045771837234497, + 0.06617534160614014, + 0.1757688969373703, + -0.2728799283504486, + 0.015557925216853619, + 0.0, + 0.9994885921478271 + ], + [ + 0.4065230190753937, + -0.11028309911489487, + 0.08021989464759827, + 0.18145762383937836, + -0.34022802114486694, + 0.0402347669005394, + 0.0, + 0.9994885921478271 + ], + [ + 0.41782984137535095, + -0.11230144649744034, + 0.09476292133331299, + 0.190812349319458, + -0.3955092430114746, + 0.02897847257554531, + 0.0, + 0.9994885921478271 + ], + [ + 0.42600303888320923, + -0.11285965889692307, + 0.09953552484512329, + 0.1915661245584488, + -0.4362885653972626, + -0.005147985648363829, + 0.0, + 0.9994885921478271 + ], + [ + 0.43422019481658936, + -0.10749457776546478, + 0.10172931104898453, + 0.18089225888252258, + -0.47759732604026794, + -5.283976861392148e-05, + 0.0, + 0.9994885921478271 + ], + [ + 0.44000816345214844, + -0.10348234325647354, + 0.10101436078548431, + 0.18494683504104614, + -0.5090771317481995, + -0.017084911465644836, + 0.0, + 0.9994885921478271 + ], + [ + 0.4430527985095978, + -0.09665299952030182, + 0.09448692947626114, + 0.1860806792974472, + -0.5204891562461853, + -0.02180032804608345, + 0.0, + 0.9994885921478271 + ], + [ + 0.44350379705429077, + -0.0956861823797226, + 0.08940522372722626, + 0.17860475182533264, + -0.5311645865440369, + -0.03144020587205887, + 0.0, + 0.9994885921478271 + ], + [ + 0.44453075528144836, + -0.09489216655492783, + 0.0883893147110939, + 0.17274615168571472, + -0.5380546450614929, + -0.03283042833209038, + 0.0, + 0.8408563733100891 + ], + [ + 0.44652169942855835, + -0.09114564210176468, + 0.08803358674049377, + 0.16093243658542633, + -0.5457623600959778, + -0.01971207559108734, + 0.0, + 0.5236935019493103 + ], + [ + 0.44533905386924744, + -0.09276226162910461, + 0.08612734824419022, + 0.14588528871536255, + -0.5436024069786072, + -0.005928522441536188, + 0.0, + 0.4015096127986908 + ], + [ + 0.43904995918273926, + -0.093113973736763, + 0.08331184089183807, + 0.12367701530456543, + -0.505585789680481, + 0.041744399815797806, + 0.0, + 0.4015096127986908 + ], + [ + 0.42569074034690857, + -0.1007007360458374, + 0.07923553138971329, + 0.0697498694062233, + -0.41759437322616577, + 0.13199543952941895, + 0.0, + 0.400628000497818 + ], + [ + 0.4111786484718323, + -0.10565400123596191, + 0.07305420190095901, + 0.025601128116250038, + -0.31133267283439636, + 0.19671553373336792, + 0.0, + 0.3962334990501404 + ], + [ + 0.4070546627044678, + -0.10646151751279831, + 0.0688343346118927, + -0.01813916489481926, + -0.253554105758667, + 0.21460893750190735, + 0.0, + 0.3936077654361725 + ], + [ + 0.4080241620540619, + -0.106464684009552, + 0.06621608883142471, + -0.06348904222249985, + -0.22651228308677673, + 0.2239600569009781, + 0.0, + 0.3936077654361725 + ], + [ + 0.40729784965515137, + -0.10704135149717331, + 0.0631001740694046, + -0.08105006814002991, + -0.2092648297548294, + 0.22453857958316803, + 0.0, + 0.3936077654361725 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.8408563733100891 + ], + [ + 0.5236935019493103 + ], + [ + 0.4015096127986908 + ], + [ + 0.4015096127986908 + ], + [ + 0.400628000497818 + ], + [ + 0.3962334990501404 + ], + [ + 0.3936077654361725 + ], + [ + 0.3936077654361725 + ], + [ + 0.3936077654361725 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3882651925086975, + -0.09197985380887985, + 0.06534228473901749 + ], + [ + 0.3879459798336029, + -0.09063027799129486, + 0.05386209487915039 + ], + [ + 0.39402103424072266, + -0.0979795753955841, + 0.05658801272511482 + ], + [ + 0.39830392599105835, + -0.11045771837234497, + 0.06617534160614014 + ], + [ + 0.4065230190753937, + -0.11028309911489487, + 0.08021989464759827 + ], + [ + 0.41782984137535095, + -0.11230144649744034, + 0.09476292133331299 + ], + [ + 0.42600303888320923, + -0.11285965889692307, + 0.09953552484512329 + ], + [ + 0.43422019481658936, + -0.10749457776546478, + 0.10172931104898453 + ], + [ + 0.44000816345214844, + -0.10348234325647354, + 0.10101436078548431 + ], + [ + 0.4430527985095978, + -0.09665299952030182, + 0.09448692947626114 + ], + [ + 0.44350379705429077, + -0.0956861823797226, + 0.08940522372722626 + ], + [ + 0.44453075528144836, + -0.09489216655492783, + 0.0883893147110939 + ], + [ + 0.44652169942855835, + -0.09114564210176468, + 0.08803358674049377 + ], + [ + 0.44533905386924744, + -0.09276226162910461, + 0.08612734824419022 + ], + [ + 0.43904995918273926, + -0.093113973736763, + 0.08331184089183807 + ], + [ + 0.42569074034690857, + -0.1007007360458374, + 0.07923553138971329 + ], + [ + 0.4111786484718323, + -0.10565400123596191, + 0.07305420190095901 + ], + [ + 0.4070546627044678, + -0.10646151751279831, + 0.0688343346118927 + ], + [ + 0.4080241620540619, + -0.106464684009552, + 0.06621608883142471 + ], + [ + 0.40729784965515137, + -0.10704135149717331, + 0.0631001740694046 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9935510790927528, + 0.04841175656335368, + 0.10253075177758457, + 0.037676050798075206, + -0.9938455245362677, + 0.10417095831128387, + 0.10694282785622856, + -0.09963621422796515, + -0.9892602571540169 + ], + [ + 0.9946298476588288, + 0.04698265741619316, + 0.09221765583817498, + 0.03544897869182241, + -0.9917799686345766, + 0.12294658891122281, + 0.09723598128204486, + -0.11901732528212489, + -0.9881194463357186 + ], + [ + 0.9837846076130913, + 0.05304612068339987, + 0.17132995915483687, + 0.023501798589930997, + -0.9851519985365487, + 0.17006823701821075, + 0.17780751189585384, + -0.16328395162993262, + -0.9704240515638097 + ], + [ + 0.9628821891450264, + 0.062439109988083386, + 0.26260092797089946, + 0.014981657876151893, + -0.9837400470664753, + 0.17897225965196592, + 0.26950591784701766, + -0.16839500390909704, + -0.9481612114529321 + ], + [ + 0.9419156805936187, + 0.09973579184351523, + 0.3206986474514772, + 0.037918221190285276, + -0.9803633431251578, + 0.19351982833350312, + 0.3337020514675097, + -0.17011903856362143, + -0.9272014093844791 + ], + [ + 0.922413049207343, + 0.10148840036930132, + 0.37263154890923134, + 0.026737605987045686, + -0.9793210890778354, + 0.20053753991082157, + 0.3852781684420933, + -0.17501516813660256, + -0.9060521087906718 + ], + [ + 0.9063142651121211, + 0.07540267395402905, + 0.41582314704073164, + -0.004665734046492877, + -0.9821084383206784, + 0.1882584561317903, + 0.4225786125445571, + -0.17256144453469377, + -0.8897470787139549 + ], + [ + 0.8881018650325869, + 0.0826418371735295, + 0.45215639337979585, + -4.692709709758214e-05, + -0.983687928599291, + 0.17988345373014125, + 0.459646685100076, + -0.1597760491332169, + -0.8736112058575551 + ], + [ + 0.8730672220839064, + 0.07281904022178258, + 0.4821317383287156, + -0.014917727687167735, + -0.9843337322415874, + 0.17568313798426488, + 0.4873716109123942, + -0.16057549922863434, + -0.858303222599177 + ], + [ + 0.8673698723866076, + 0.0705615040584011, + 0.4926363553586522, + -0.01891194384447536, + -0.9845089683795216, + 0.174311300724633, + 0.4973045775539005, + -0.16050908175335835, + -0.8525989630644821 + ], + [ + 0.8617916380055115, + 0.059010384992955744, + 0.5038183671986964, + -0.02710383769924929, + -0.9864350174836374, + 0.16189916078852531, + 0.506537811664391, + -0.15317875422211516, + -0.8485020416057999 + ], + [ + 0.8582445031043255, + 0.05570352392636341, + 0.5102092612971609, + -0.028186662254384556, + -0.987477014677743, + 0.15522453914922688, + 0.5124664720371146, + -0.14760170359896826, + -0.8459266233737508 + ], + [ + 0.8545657666037033, + 0.06370279908660884, + 0.5154214818355517, + -0.016847447160001004, + -0.9885259807142837, + 0.15010845738017123, + 0.5190698547143878, + -0.13696108513513924, + -0.8436872329752236 + ], + [ + 0.8558359524893386, + 0.0693209530597782, + 0.5125811427408845, + -0.005073902095531359, + -0.9898059635257538, + 0.1423320416715066, + 0.5172224646553859, + -0.1244136649879689, + -0.8467598018446967 + ], + [ + 0.8741287353390098, + 0.1011081342043167, + 0.47505378564152634, + 0.03651118995401355, + -0.989003860393229, + 0.14331188762776265, + 0.48432002546122876, + -0.10792826008517144, + -0.8682082720247615 + ], + [ + 0.9061159679188021, + 0.15931160960056578, + 0.3918847582249779, + 0.12030265787520311, + -0.9851708289973408, + 0.12233441135205717, + 0.4055627241139579, + -0.06370438555679997, + -0.9118446293476188 + ], + [ + 0.9335671546763912, + 0.20307546359108564, + 0.29531800452511014, + 0.18605327656939413, + -0.9788598317472422, + 0.08495650692885916, + 0.306327514251038, + -0.02436772207298826, + -0.9516142433432541 + ], + [ + 0.9458202243828968, + 0.20848480619713705, + 0.2489140187559316, + 0.2061562128342097, + -0.9778679838525511, + 0.03569064395611546, + 0.2508460066617408, + 0.017558238553123103, + -0.9678677539833471 + ], + [ + 0.9501191466853124, + 0.20775209603378997, + 0.23262130963336336, + 0.2164192896661079, + -0.9762257165780823, + -0.01208475701151105, + 0.2245802710889616, + 0.06182569761172845, + -0.972492305857703 + ], + [ + 0.9536285036197079, + 0.20552884883036607, + 0.21988762898922182, + 0.21779905184023232, + -0.9754414532151469, + -0.032825970922708045, + 0.2077408243497963, + 0.0791950986361354, + -0.9749727617992618 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0003192126750946045, + 0.0013495758175849915, + -0.011480189859867096, + 0.019491463899612427, + 0.009757868945598602, + -0.0022771432995796204, + 1.0 + ], + [ + 0.006075054407119751, + -0.007349297404289246, + 0.0027259178459644318, + 0.04682809114456177, + -0.08136814832687378, + -0.011740665882825851, + 1.0 + ], + [ + 0.004282891750335693, + -0.012478142976760864, + 0.009587328881025314, + 0.009069949388504028, + -0.09412191808223724, + -0.008326702751219273, + 1.0 + ], + [ + 0.008219093084335327, + 0.00017461925745010376, + 0.01404455304145813, + 0.005688726902008057, + -0.06734809279441833, + 0.024676840752363205, + 1.0 + ], + [ + 0.011306822299957275, + -0.002018347382545471, + 0.014543026685714722, + 0.009354725480079651, + -0.055281221866607666, + -0.011256294324994087, + 1.0 + ], + [ + 0.008173197507858276, + -0.000558212399482727, + 0.004772603511810303, + 0.0007537752389907837, + -0.040779322385787964, + -0.03412645682692528, + 1.0 + ], + [ + 0.008217155933380127, + 0.0053650811314582825, + 0.0021937862038612366, + -0.010673865675926208, + -0.04130876064300537, + 0.0050951456651091576, + 1.0 + ], + [ + 0.005787968635559082, + 0.0040122345089912415, + -0.0007149502635002136, + 0.00405457615852356, + -0.03147980570793152, + -0.017032071948051453, + 1.0 + ], + [ + 0.003044635057449341, + 0.006829343736171722, + -0.006527431309223175, + 0.001133844256401062, + -0.01141202449798584, + -0.004715416580438614, + 1.0 + ], + [ + 0.00045099854469299316, + 0.0009668171405792236, + -0.005081705749034882, + -0.007475927472114563, + -0.010675430297851562, + -0.009639877825975418, + 1.0 + ], + [ + 0.0010269582271575928, + 0.0007940158247947693, + -0.0010159090161323547, + -0.00585860013961792, + -0.006890058517456055, + -0.0013902224600315094, + 0.0 + ], + [ + 0.0019909441471099854, + 0.003746524453163147, + -0.0003557279706001282, + -0.011813715100288391, + -0.007707715034484863, + 0.013118352741003036, + 0.0 + ], + [ + -0.001182645559310913, + -0.0016166195273399353, + -0.0019062384963035583, + -0.015047147870063782, + 0.0021599531173706055, + 0.01378355361521244, + 0.0 + ], + [ + -0.006289094686508179, + -0.00035171210765838623, + -0.0028155073523521423, + -0.02220827341079712, + 0.03801661729812622, + 0.047672923654317856, + 0.0 + ], + [ + -0.013359218835830688, + -0.007586762309074402, + -0.004076309502124786, + -0.05392714589834213, + 0.08799141645431519, + 0.09025104343891144, + 0.0 + ], + [ + -0.014512091875076294, + -0.004953265190124512, + -0.0061813294887542725, + -0.04414874315261841, + 0.10626170039176941, + 0.06472009420394897, + 0.0 + ], + [ + -0.004123985767364502, + -0.0008075162768363953, + -0.004219867289066315, + -0.04374029487371445, + 0.05777856707572937, + 0.01789340376853943, + 0.0 + ], + [ + 0.0009694993495941162, + -3.166496753692627e-06, + -0.002618245780467987, + -0.04534987732768059, + 0.02704182267189026, + 0.00935111939907074, + 0.0 + ], + [ + -0.0007263123989105225, + -0.0005766674876213074, + -0.003115914762020111, + -0.01756102591753006, + 0.017247453331947327, + 0.0005785226821899414, + 0.0 + ], + [ + -0.003122955560684204, + -0.0004545077681541443, + -0.007945947349071503, + -0.009509630501270294, + 0.024362310767173767, + 0.0024695098400115967, + 0.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.8408563733100891 + ], + [ + 0.5236935019493103 + ], + [ + 0.4015096127986908 + ], + [ + 0.4015096127986908 + ], + [ + 0.400628000497818 + ], + [ + 0.3962334990501404 + ], + [ + 0.3936077654361725 + ], + [ + 0.3936077654361725 + ], + [ + 0.3936077654361725 + ], + [ + 0.3936077654361725 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3879459798336029, + -0.09063027799129486, + 0.05386209487915039 + ], + [ + 0.39402103424072266, + -0.0979795753955841, + 0.05658801272511482 + ], + [ + 0.39830392599105835, + -0.11045771837234497, + 0.06617534160614014 + ], + [ + 0.4065230190753937, + -0.11028309911489487, + 0.08021989464759827 + ], + [ + 0.41782984137535095, + -0.11230144649744034, + 0.09476292133331299 + ], + [ + 0.42600303888320923, + -0.11285965889692307, + 0.09953552484512329 + ], + [ + 0.43422019481658936, + -0.10749457776546478, + 0.10172931104898453 + ], + [ + 0.44000816345214844, + -0.10348234325647354, + 0.10101436078548431 + ], + [ + 0.4430527985095978, + -0.09665299952030182, + 0.09448692947626114 + ], + [ + 0.44350379705429077, + -0.0956861823797226, + 0.08940522372722626 + ], + [ + 0.44453075528144836, + -0.09489216655492783, + 0.0883893147110939 + ], + [ + 0.44652169942855835, + -0.09114564210176468, + 0.08803358674049377 + ], + [ + 0.44533905386924744, + -0.09276226162910461, + 0.08612734824419022 + ], + [ + 0.43904995918273926, + -0.093113973736763, + 0.08331184089183807 + ], + [ + 0.42569074034690857, + -0.1007007360458374, + 0.07923553138971329 + ], + [ + 0.4111786484718323, + -0.10565400123596191, + 0.07305420190095901 + ], + [ + 0.4070546627044678, + -0.10646151751279831, + 0.0688343346118927 + ], + [ + 0.4080241620540619, + -0.106464684009552, + 0.06621608883142471 + ], + [ + 0.40729784965515137, + -0.10704135149717331, + 0.0631001740694046 + ], + [ + 0.40417489409446716, + -0.10749585926532745, + 0.0551542267203331 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9946298476588288, + 0.04698265741619316, + 0.09221765583817498, + 0.03544897869182241, + -0.9917799686345766, + 0.12294658891122281, + 0.09723598128204486, + -0.11901732528212489, + -0.9881194463357186 + ], + [ + 0.9837846076130913, + 0.05304612068339987, + 0.17132995915483687, + 0.023501798589930997, + -0.9851519985365487, + 0.17006823701821075, + 0.17780751189585384, + -0.16328395162993262, + -0.9704240515638097 + ], + [ + 0.9628821891450264, + 0.062439109988083386, + 0.26260092797089946, + 0.014981657876151893, + -0.9837400470664753, + 0.17897225965196592, + 0.26950591784701766, + -0.16839500390909704, + -0.9481612114529321 + ], + [ + 0.9419156805936187, + 0.09973579184351523, + 0.3206986474514772, + 0.037918221190285276, + -0.9803633431251578, + 0.19351982833350312, + 0.3337020514675097, + -0.17011903856362143, + -0.9272014093844791 + ], + [ + 0.922413049207343, + 0.10148840036930132, + 0.37263154890923134, + 0.026737605987045686, + -0.9793210890778354, + 0.20053753991082157, + 0.3852781684420933, + -0.17501516813660256, + -0.9060521087906718 + ], + [ + 0.9063142651121211, + 0.07540267395402905, + 0.41582314704073164, + -0.004665734046492877, + -0.9821084383206784, + 0.1882584561317903, + 0.4225786125445571, + -0.17256144453469377, + -0.8897470787139549 + ], + [ + 0.8881018650325869, + 0.0826418371735295, + 0.45215639337979585, + -4.692709709758214e-05, + -0.983687928599291, + 0.17988345373014125, + 0.459646685100076, + -0.1597760491332169, + -0.8736112058575551 + ], + [ + 0.8730672220839064, + 0.07281904022178258, + 0.4821317383287156, + -0.014917727687167735, + -0.9843337322415874, + 0.17568313798426488, + 0.4873716109123942, + -0.16057549922863434, + -0.858303222599177 + ], + [ + 0.8673698723866076, + 0.0705615040584011, + 0.4926363553586522, + -0.01891194384447536, + -0.9845089683795216, + 0.174311300724633, + 0.4973045775539005, + -0.16050908175335835, + -0.8525989630644821 + ], + [ + 0.8617916380055115, + 0.059010384992955744, + 0.5038183671986964, + -0.02710383769924929, + -0.9864350174836374, + 0.16189916078852531, + 0.506537811664391, + -0.15317875422211516, + -0.8485020416057999 + ], + [ + 0.8582445031043255, + 0.05570352392636341, + 0.5102092612971609, + -0.028186662254384556, + -0.987477014677743, + 0.15522453914922688, + 0.5124664720371146, + -0.14760170359896826, + -0.8459266233737508 + ], + [ + 0.8545657666037033, + 0.06370279908660884, + 0.5154214818355517, + -0.016847447160001004, + -0.9885259807142837, + 0.15010845738017123, + 0.5190698547143878, + -0.13696108513513924, + -0.8436872329752236 + ], + [ + 0.8558359524893386, + 0.0693209530597782, + 0.5125811427408845, + -0.005073902095531359, + -0.9898059635257538, + 0.1423320416715066, + 0.5172224646553859, + -0.1244136649879689, + -0.8467598018446967 + ], + [ + 0.8741287353390098, + 0.1011081342043167, + 0.47505378564152634, + 0.03651118995401355, + -0.989003860393229, + 0.14331188762776265, + 0.48432002546122876, + -0.10792826008517144, + -0.8682082720247615 + ], + [ + 0.9061159679188021, + 0.15931160960056578, + 0.3918847582249779, + 0.12030265787520311, + -0.9851708289973408, + 0.12233441135205717, + 0.4055627241139579, + -0.06370438555679997, + -0.9118446293476188 + ], + [ + 0.9335671546763912, + 0.20307546359108564, + 0.29531800452511014, + 0.18605327656939413, + -0.9788598317472422, + 0.08495650692885916, + 0.306327514251038, + -0.02436772207298826, + -0.9516142433432541 + ], + [ + 0.9458202243828968, + 0.20848480619713705, + 0.2489140187559316, + 0.2061562128342097, + -0.9778679838525511, + 0.03569064395611546, + 0.2508460066617408, + 0.017558238553123103, + -0.9678677539833471 + ], + [ + 0.9501191466853124, + 0.20775209603378997, + 0.23262130963336336, + 0.2164192896661079, + -0.9762257165780823, + -0.01208475701151105, + 0.2245802710889616, + 0.06182569761172845, + -0.972492305857703 + ], + [ + 0.9536285036197079, + 0.20552884883036607, + 0.21988762898922182, + 0.21779905184023232, + -0.9754414532151469, + -0.032825970922708045, + 0.2077408243497963, + 0.0791950986361354, + -0.9749727617992618 + ], + [ + 0.9577356272147697, + 0.20794099173941083, + 0.19875364730731918, + 0.22122699416036012, + -0.9740935926762295, + -0.04690724636863825, + 0.18385071503343123, + 0.08889441299399206, + -0.978926298512891 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005594.json b/json/chunk-0005/episode_0005594.json new file mode 100644 index 0000000000000000000000000000000000000000..bae79bb15926783d80b19dacf6c0a4df7a8ae913 --- /dev/null +++ b/json/chunk-0005/episode_0005594.json @@ -0,0 +1,2782 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 45, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut the brown arch on top of the blue arch." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005594.mp4", + "start": 0, + "end": 45, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2984239459037781, + 0.08527510613203049, + 0.1347353756427765, + -0.5235758423805237, + -0.02887887693941593, + 1.8413455486297607, + 0.0, + 0.9988223910331726 + ], + [ + 0.29502758383750916, + 0.08421126008033752, + 0.12563258409500122, + -0.4928770363330841, + -0.027694080024957657, + 1.841135859489441, + 0.0, + 0.9988223910331726 + ], + [ + 0.30430716276168823, + 0.08414921909570694, + 0.12297064065933228, + -0.4531003534793854, + 0.037936024367809296, + 1.9501746892929077, + 0.0, + 0.9988223910331726 + ], + [ + 0.3298461437225342, + 0.08892260491847992, + 0.11734212934970856, + -0.3943482041358948, + 0.028725000098347664, + 2.0567431449890137, + 0.0, + 0.9988223910331726 + ], + [ + 0.35813793540000916, + 0.09283483773469925, + 0.11022098362445831, + -0.32845813035964966, + 0.0075509692542254925, + 2.19498610496521, + 0.0, + 0.9988223910331726 + ], + [ + 0.37284985184669495, + 0.09646019339561462, + 0.09482699632644653, + -0.28168630599975586, + -0.026844877749681473, + 2.2332918643951416, + 0.0, + 0.9988223910331726 + ], + [ + 0.3706458806991577, + 0.09836901724338531, + 0.07342533767223358, + -0.23295028507709503, + -0.06912533193826675, + 2.227172613143921, + 0.0, + 0.9988223910331726 + ], + [ + 0.36316370964050293, + 0.10344363003969193, + 0.06666179746389389, + -0.2205207496881485, + -0.0900847539305687, + 2.228666067123413, + 0.0, + 0.9988223910331726 + ], + [ + 0.35798004269599915, + 0.10462291538715363, + 0.061691951006650925, + -0.21164502203464508, + -0.09491424262523651, + 2.2276711463928223, + 0.0, + 0.9988223910331726 + ], + [ + 0.3586064875125885, + 0.10546959191560745, + 0.06511005759239197, + -0.22137528657913208, + -0.08690603822469711, + 2.232450485229492, + 0.0, + 0.9988223910331726 + ], + [ + 0.35979336500167847, + 0.10924249142408371, + 0.06830508261919022, + -0.22575557231903076, + -0.08367899805307388, + 2.2474310398101807, + 0.0, + 0.9988223910331726 + ], + [ + 0.35917162895202637, + 0.11135412752628326, + 0.07006611675024033, + -0.2243242859840393, + -0.09030260890722275, + 2.2592601776123047, + 0.0, + 0.9988223910331726 + ], + [ + 0.3560044467449188, + 0.1132383644580841, + 0.06944522261619568, + -0.2114148736000061, + -0.10382707417011261, + 2.2798728942871094, + 0.0, + 0.9988223910331726 + ], + [ + 0.3518970012664795, + 0.1135021299123764, + 0.06593459099531174, + -0.20223915576934814, + -0.1169801652431488, + 2.2807555198669434, + 0.0, + 0.9988223910331726 + ], + [ + 0.3417486250400543, + 0.11158648133277893, + 0.05649028718471527, + -0.17394785583019257, + -0.13466329872608185, + 2.277944803237915, + 0.0, + 0.9988223910331726 + ], + [ + 0.3373364806175232, + 0.1118859201669693, + 0.051843103021383286, + -0.16672687232494354, + -0.14424945414066315, + 2.27392578125, + 0.0, + 0.9988223910331726 + ], + [ + 0.33845415711402893, + 0.1118609756231308, + 0.04919490963220596, + -0.18314507603645325, + -0.13835471868515015, + 2.2702226638793945, + 0.0, + 0.9679883122444153 + ], + [ + 0.33981454372406006, + 0.11681924760341644, + 0.04788538068532944, + -0.21525727212429047, + -0.13756975531578064, + 2.2908430099487305, + 0.0, + 0.6921995282173157 + ], + [ + 0.3393250107765198, + 0.12019515037536621, + 0.04811175912618637, + -0.22201186418533325, + -0.13739295303821564, + 2.308831214904785, + 0.0, + 0.5188266634941101 + ], + [ + 0.3447556495666504, + 0.1216844990849495, + 0.049458157271146774, + -0.21592219173908234, + -0.12884461879730225, + 2.3422088623046875, + 0.0, + 0.5178548097610474 + ], + [ + 0.35535091161727905, + 0.11795653402805328, + 0.06308043748140335, + -0.20470085740089417, + -0.07807306945323944, + 2.3836913108825684, + 0.0, + 0.5178548097610474 + ], + [ + 0.361173152923584, + 0.11175582557916641, + 0.0808902457356453, + -0.193008691072464, + -0.020749889314174652, + 2.404397487640381, + 0.0, + 0.5178548097610474 + ], + [ + 0.3626156747341156, + 0.11166542768478394, + 0.10643443465232849, + -0.23273879289627075, + 0.03590068221092224, + 2.397199869155884, + 0.0, + 0.5178548097610474 + ], + [ + 0.3471461832523346, + 0.10973699390888214, + 0.10911250114440918, + -0.23680470883846283, + 0.03459380567073822, + 2.355635643005371, + 0.0, + 0.5178548097610474 + ], + [ + 0.33326536417007446, + 0.10818429291248322, + 0.11165940016508102, + -0.2567918598651886, + 0.025711452588438988, + 2.3154428005218506, + 0.0, + 0.5178548097610474 + ], + [ + 0.32072973251342773, + 0.10793757438659668, + 0.11319542676210403, + -0.26962170004844666, + 0.007996078580617905, + 2.2984161376953125, + 0.0, + 0.5178548097610474 + ], + [ + 0.3108566701412201, + 0.10733229666948318, + 0.11036665737628937, + -0.275016725063324, + -0.0071799857541918755, + 2.288893699645996, + 0.0, + 0.5178548097610474 + ], + [ + 0.3043082058429718, + 0.10280352830886841, + 0.09955482929944992, + -0.2751826047897339, + -0.02456284500658512, + 2.283048152923584, + 0.0, + 0.5178548097610474 + ], + [ + 0.3024738132953644, + 0.09807349741458893, + 0.09367945045232773, + -0.28146058320999146, + -0.035460442304611206, + 2.2831616401672363, + 0.0, + 0.5178548097610474 + ], + [ + 0.3003118932247162, + 0.09290340542793274, + 0.09002040326595306, + -0.27491995692253113, + -0.04100194573402405, + 2.291712999343872, + 0.0, + 0.5178548097610474 + ], + [ + 0.29646238684654236, + 0.08559785038232803, + 0.09141358733177185, + -0.2827543616294861, + -0.037415217608213425, + 2.287816047668457, + 0.0, + 0.5178548097610474 + ], + [ + 0.29520323872566223, + 0.0814618319272995, + 0.09081478416919708, + -0.28923705220222473, + -0.03870287165045738, + 2.278308868408203, + 0.0, + 0.5178548097610474 + ], + [ + 0.2919384241104126, + 0.07666511088609695, + 0.08504823595285416, + -0.28678086400032043, + -0.04615199193358421, + 2.277068614959717, + 0.0, + 0.5178548097610474 + ], + [ + 0.2906091511249542, + 0.0756264179944992, + 0.08301697671413422, + -0.29200440645217896, + -0.05368489772081375, + 2.2839865684509277, + 0.0, + 0.5178548097610474 + ], + [ + 0.28926610946655273, + 0.07597263157367706, + 0.0817820280790329, + -0.2930513024330139, + -0.05827592685818672, + 2.292149066925049, + 0.0, + 0.5178548097610474 + ], + [ + 0.28919103741645813, + 0.0754554271697998, + 0.08161622285842896, + -0.2958848476409912, + -0.06197216361761093, + 2.2925913333892822, + 0.0, + 0.5178548097610474 + ], + [ + 0.28941699862480164, + 0.07518932223320007, + 0.08111105859279633, + -0.29956167936325073, + -0.06008974090218544, + 2.2940731048583984, + 0.0, + 0.5178548097610474 + ], + [ + 0.2888881266117096, + 0.07330794632434845, + 0.07976017892360687, + -0.29908061027526855, + -0.058405354619026184, + 2.2962350845336914, + 0.0, + 0.5178548097610474 + ], + [ + 0.2884795069694519, + 0.07202410697937012, + 0.07867918908596039, + -0.30298393964767456, + -0.06321299076080322, + 2.2922909259796143, + 0.0, + 0.5178548097610474 + ], + [ + 0.28869307041168213, + 0.07096657902002335, + 0.07863442599773407, + -0.3025229275226593, + -0.060759544372558594, + 2.2943832874298096, + 0.0, + 0.5178548097610474 + ], + [ + 0.2890467345714569, + 0.07067607343196869, + 0.07872085273265839, + -0.30503010749816895, + -0.05713715776801109, + 2.3034961223602295, + 0.0, + 0.5178548097610474 + ], + [ + 0.28997811675071716, + 0.06972711533308029, + 0.0788479819893837, + -0.3083132803440094, + -0.05357423797249794, + 2.3009097576141357, + 0.0, + 0.5600578188896179 + ], + [ + 0.29156437516212463, + 0.07011861354112625, + 0.08208636194467545, + -0.31308066844940186, + -0.060191404074430466, + 2.3063480854034424, + 0.0, + 0.8913851380348206 + ], + [ + 0.2967381477355957, + 0.0691480040550232, + 0.08596202731132507, + -0.32131046056747437, + -0.036852143704891205, + 2.311265468597412, + 0.0, + 1.0073583126068115 + ], + [ + 0.2969128489494324, + 0.06889508664608002, + 0.08604390919208527, + -0.31684181094169617, + -0.03126965090632439, + 2.3107898235321045, + 0.0, + 1.0001531839370728 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9679883122444153 + ], + [ + 0.6921995282173157 + ], + [ + 0.5188266634941101 + ], + [ + 0.5178548097610474 + ], + [ + 0.5178548097610474 + ], + [ + 0.5178548097610474 + ], + [ + 0.5178548097610474 + ], + [ + 0.5178548097610474 + ], + [ + 0.5178548097610474 + ], + [ + 0.5178548097610474 + ], + [ + 0.5178548097610474 + ], + [ + 0.5178548097610474 + ], + [ + 0.5178548097610474 + ], + [ + 0.5178548097610474 + ], + [ + 0.5178548097610474 + ], + [ + 0.5178548097610474 + ], + [ + 0.5178548097610474 + ], + [ + 0.5178548097610474 + ], + [ + 0.5178548097610474 + ], + [ + 0.5178548097610474 + ], + [ + 0.5178548097610474 + ], + [ + 0.5178548097610474 + ], + [ + 0.5178548097610474 + ], + [ + 0.5178548097610474 + ], + [ + 0.5178548097610474 + ], + [ + 0.5600578188896179 + ], + [ + 0.8913851380348206 + ], + [ + 1.0073583126068115 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2984239459037781, + 0.08527510613203049, + 0.1347353756427765 + ], + [ + 0.29502758383750916, + 0.08421126008033752, + 0.12563258409500122 + ], + [ + 0.30430716276168823, + 0.08414921909570694, + 0.12297064065933228 + ], + [ + 0.3298461437225342, + 0.08892260491847992, + 0.11734212934970856 + ], + [ + 0.35813793540000916, + 0.09283483773469925, + 0.11022098362445831 + ], + [ + 0.37284985184669495, + 0.09646019339561462, + 0.09482699632644653 + ], + [ + 0.3706458806991577, + 0.09836901724338531, + 0.07342533767223358 + ], + [ + 0.36316370964050293, + 0.10344363003969193, + 0.06666179746389389 + ], + [ + 0.35798004269599915, + 0.10462291538715363, + 0.061691951006650925 + ], + [ + 0.3586064875125885, + 0.10546959191560745, + 0.06511005759239197 + ], + [ + 0.35979336500167847, + 0.10924249142408371, + 0.06830508261919022 + ], + [ + 0.35917162895202637, + 0.11135412752628326, + 0.07006611675024033 + ], + [ + 0.3560044467449188, + 0.1132383644580841, + 0.06944522261619568 + ], + [ + 0.3518970012664795, + 0.1135021299123764, + 0.06593459099531174 + ], + [ + 0.3417486250400543, + 0.11158648133277893, + 0.05649028718471527 + ], + [ + 0.3373364806175232, + 0.1118859201669693, + 0.051843103021383286 + ], + [ + 0.33845415711402893, + 0.1118609756231308, + 0.04919490963220596 + ], + [ + 0.33981454372406006, + 0.11681924760341644, + 0.04788538068532944 + ], + [ + 0.3393250107765198, + 0.12019515037536621, + 0.04811175912618637 + ], + [ + 0.3447556495666504, + 0.1216844990849495, + 0.049458157271146774 + ], + [ + 0.35535091161727905, + 0.11795653402805328, + 0.06308043748140335 + ], + [ + 0.361173152923584, + 0.11175582557916641, + 0.0808902457356453 + ], + [ + 0.3626156747341156, + 0.11166542768478394, + 0.10643443465232849 + ], + [ + 0.3471461832523346, + 0.10973699390888214, + 0.10911250114440918 + ], + [ + 0.33326536417007446, + 0.10818429291248322, + 0.11165940016508102 + ], + [ + 0.32072973251342773, + 0.10793757438659668, + 0.11319542676210403 + ], + [ + 0.3108566701412201, + 0.10733229666948318, + 0.11036665737628937 + ], + [ + 0.3043082058429718, + 0.10280352830886841, + 0.09955482929944992 + ], + [ + 0.3024738132953644, + 0.09807349741458893, + 0.09367945045232773 + ], + [ + 0.3003118932247162, + 0.09290340542793274, + 0.09002040326595306 + ], + [ + 0.29646238684654236, + 0.08559785038232803, + 0.09141358733177185 + ], + [ + 0.29520323872566223, + 0.0814618319272995, + 0.09081478416919708 + ], + [ + 0.2919384241104126, + 0.07666511088609695, + 0.08504823595285416 + ], + [ + 0.2906091511249542, + 0.0756264179944992, + 0.08301697671413422 + ], + [ + 0.28926610946655273, + 0.07597263157367706, + 0.0817820280790329 + ], + [ + 0.28919103741645813, + 0.0754554271697998, + 0.08161622285842896 + ], + [ + 0.28941699862480164, + 0.07518932223320007, + 0.08111105859279633 + ], + [ + 0.2888881266117096, + 0.07330794632434845, + 0.07976017892360687 + ], + [ + 0.2884795069694519, + 0.07202410697937012, + 0.07867918908596039 + ], + [ + 0.28869307041168213, + 0.07096657902002335, + 0.07863442599773407 + ], + [ + 0.2890467345714569, + 0.07067607343196869, + 0.07872085273265839 + ], + [ + 0.28997811675071716, + 0.06972711533308029, + 0.0788479819893837 + ], + [ + 0.29156437516212463, + 0.07011861354112625, + 0.08208636194467545 + ], + [ + 0.2967381477355957, + 0.0691480040550232, + 0.08596202731132507 + ], + [ + 0.2969128489494324, + 0.06889508664608002, + 0.08604390919208527 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + -0.2671492818767088, + 0.838392540004151, + 0.47510968213471183, + 0.9632224579399495, + 0.21754593129034921, + 0.1577221110026639, + 0.028874862993282374, + 0.4997716645073055, + -0.8656757624207325 + ], + [ + -0.26695624765405906, + 0.852477461009416, + 0.449462501560925, + 0.9633107472809198, + 0.22264579250396382, + 0.14987079519825713, + 0.02769054010922617, + 0.4729810033724629, + -0.8806373853279441 + ], + [ + -0.3700766488277155, + 0.8290154674982909, + 0.41925723445283386, + 0.9282267084563264, + 0.3483955207754753, + 0.1304443897295694, + -0.037926925801892386, + 0.4374401853421517, + -0.8984473454504955 + ], + [ + -0.4668531042198452, + 0.811211991982269, + 0.35211260009328477, + 0.8838683614480044, + 0.4409560467746277, + 0.15599514237344725, + -0.028721049972348422, + 0.38404800334990863, + -0.922866313401586 + ], + [ + -0.5844233594744501, + 0.7666346068736952, + 0.2659336692564751, + 0.811413779059465, + 0.5551728515267389, + 0.18273145345043118, + -0.0075508974986557564, + 0.3225747734576965, + -0.9465138664994193 + ], + [ + -0.6148647791739298, + 0.7619743476829661, + 0.2033135430917315, + 0.7881756333231118, + 0.5849616828580145, + 0.19130865276728068, + 0.026841653583691033, + 0.2778757331273072, + -0.96024195001669 + ], + [ + -0.6087927249593293, + 0.7805412178073843, + 0.14186904292466412, + 0.7903168430619751, + 0.5811353783697552, + 0.19411584061996376, + 0.0690702946942309, + 0.230297805701243, + -0.9706658617052754 + ], + [ + -0.6089532828094554, + 0.7841661943414472, + 0.1194122230244425, + 0.7880879171910394, + 0.5810545530031962, + 0.20320689262853547, + 0.08996295978388431, + 0.21785083448613995, + -0.971826980372852 + ], + [ + -0.6078964950893488, + 0.7863915140459811, + 0.10977357557515721, + 0.7883401281412067, + 0.5812537856214501, + 0.20165286772827923, + 0.09477179760029295, + 0.2091229861521749, + -0.9732861259888617 + ], + [ + -0.6121039818165748, + 0.7814327996294249, + 0.12120847787020932, + 0.7859993963411943, + 0.5843922676154094, + 0.20171917732976583, + 0.08679668424295954, + 0.218742902089733, + -0.971914542740147 + ], + [ + -0.6239817065839062, + 0.7716152115633587, + 0.12351839997615575, + 0.7769562300194411, + 0.5956965542257997, + 0.20367776490693895, + 0.08358137641013964, + 0.22305958972333478, + -0.9712149983138874 + ], + [ + -0.6327629355268275, + 0.7656199505479252, + 0.11591875925174674, + 0.7690764902040529, + 0.6039416856610799, + 0.20922665350348807, + 0.09017992924640761, + 0.22154126397546348, + -0.9709722183035243 + ], + [ + -0.6476267209946555, + 0.7562261958911624, + 0.09328221106777276, + 0.7548763142808553, + 0.620129537446286, + 0.2135441568491328, + 0.10364063098738063, + 0.20871343376658136, + -0.972469702445223 + ], + [ + -0.6473481555378771, + 0.7582124866396167, + 0.07780867962815992, + 0.753205359276095, + 0.6207393455917378, + 0.21763352589182958, + 0.11671354796885032, + 0.19949057606340745, + -0.9729241788456141 + ], + [ + -0.6437869217194221, + 0.7638409473819864, + 0.045666251495167946, + 0.7533349501736816, + 0.6222001414528227, + 0.2129634635868413, + 0.13425666564400834, + 0.17150507595600997, + -0.9759923957959283 + ], + [ + -0.6398924448900781, + 0.7676700407893097, + 0.03493375798762723, + 0.7548997795137472, + 0.6194437752501311, + 0.21544310662901503, + 0.1437497195221413, + 0.16423190243800065, + -0.9758913363479055 + ], + [ + -0.6376270260554467, + 0.7685840052645276, + 0.052061526055455554, + 0.757899449291342, + 0.6137920950585526, + 0.22101513253058713, + 0.1379137426349056, + 0.18038262359542534, + -0.9738798225126465 + ], + [ + -0.6531896989576291, + 0.7537408988676312, + 0.07223485688957373, + 0.7446723235521199, + 0.6221802406027022, + 0.24156754487937815, + 0.13713623777517256, + 0.21158073063910832, + -0.9676917105726868 + ], + [ + -0.6664949228536836, + 0.7419262859272353, + 0.0730061919324691, + 0.7328206969445266, + 0.6340111352060789, + 0.24698928431095435, + 0.1369611037484747, + 0.21811755244573394, + -0.9662641405822127 + ], + [ + -0.6913699592979209, + 0.7194704547646723, + 0.06610479635478092, + 0.7109840393297236, + 0.6612244295180251, + 0.2393406560259926, + 0.12848842437660066, + 0.21247239474641913, + -0.9686827170296478 + ], + [ + -0.7240678618345244, + 0.6845616632857185, + 0.08426779110591645, + 0.6853048240559316, + 0.7002187179140908, + 0.20012757233428732, + 0.07799377913685548, + 0.20265506715164364, + -0.976139280110023 + ], + [ + -0.7401975396017191, + 0.6626784998050523, + 0.11386311195328828, + 0.6720692719138663, + 0.7239343738925159, + 0.15569815684849028, + 0.02074840034141208, + 0.1917712913680685, + -0.9812202992653057 + ], + [ + -0.7350255152492492, + 0.653169321841657, + 0.1819541946136048, + 0.677088758268352, + 0.7212780475003732, + 0.14597531168204558, + -0.03589297088841756, + 0.23049471837540908, + -0.9724113735666834 + ], + [ + -0.706288676401746, + 0.6820229955467219, + 0.1897391344244679, + 0.7070785327729809, + 0.6927296621816601, + 0.14200550561612638, + -0.034586906168064924, + 0.23445734938184273, + -0.9715109352151226 + ], + [ + -0.677487897067091, + 0.7067908822478961, + 0.20360942536840337, + 0.7350844959564995, + 0.6602908380126804, + 0.15384015418898764, + -0.025708619799396384, + 0.2538949743648995, + -0.9668900707217224 + ], + [ + -0.665072829643375, + 0.7183638738634102, + 0.20403792784212632, + 0.746735693107095, + 0.6426558928381254, + 0.17140364068565866, + -0.007995993372980889, + 0.26635830778931296, + -0.963840918389333 + ], + [ + -0.6579361139710451, + 0.7260423482670454, + 0.1999564413955051, + 0.7530395199610175, + 0.6317593126063374, + 0.18387945048875984, + 0.007179924063679427, + 0.27155603373529036, + -0.9623958485116181 + ], + [ + -0.6533426747600805, + 0.7327759928707656, + 0.1902174902831174, + 0.7566638205371075, + 0.6238995662504144, + 0.19547172154235826, + 0.024560375150480027, + 0.2716407103230456, + -0.9620852937591653 + ], + [ + -0.6532148039606172, + 0.7334742733927907, + 0.18795188255936757, + 0.7563421870318813, + 0.6204533576135713, + 0.20732613714116344, + 0.03545301119119769, + 0.2775844399402885, + -0.960046854429779 + ], + [ + -0.6595187877585824, + 0.7303361551870962, + 0.1778877989632227, + 0.7505696176421428, + 0.6269266453526876, + 0.2088258375281975, + 0.04099045823088246, + 0.27124174047029587, + -0.9616380299055706 + ], + [ + -0.6566812442145615, + 0.7306941252725677, + 0.1866971847376714, + 0.7532400003351122, + 0.6231798068026013, + 0.21041965280988473, + 0.037406488634664475, + 0.27880642690875934, + -0.959618534065696 + ], + [ + -0.6494586429568349, + 0.7355855431829086, + 0.19265871314054875, + 0.7594118161966164, + 0.6145605390179253, + 0.21356272451660213, + 0.038693210123011135, + 0.2850074605028838, + -0.9577440070019096 + ], + [ + -0.6483112273168936, + 0.7381851036639143, + 0.18648138047418936, + 0.7599763536157059, + 0.6125682562973958, + 0.2172465726352062, + 0.046135609672344396, + 0.2825648316855167, + -0.9581381014314674 + ], + [ + -0.6533072376174269, + 0.7343705068301897, + 0.18409131422926306, + 0.7551889516816918, + 0.6148724032992203, + 0.22720381801138054, + 0.05365911418011281, + 0.2874576253276497, + -0.9562890844856455 + ], + [ + -0.6592799948282599, + 0.730010499856796, + 0.18009597029939242, + 0.7496383444628909, + 0.619612063098314, + 0.2326440280213238, + 0.05824294747164585, + 0.28838439861039855, + -0.9557417003081602 + ], + [ + -0.6594647222681673, + 0.7299342801714475, + 0.17972820233441295, + 0.7491799817861209, + 0.6184654046824856, + 0.2371284422035385, + 0.06193250337840819, + 0.2910266136309874, + -0.9547082670553153 + ], + [ + -0.6606501009184247, + 0.727985616880744, + 0.18324406067111024, + 0.7482880534970918, + 0.6190849300644048, + 0.23832506867865177, + 0.06005358565488219, + 0.29456882214842994, + -0.9537414617536966 + ], + [ + -0.6623325113642957, + 0.7264045954058582, + 0.18344483683962384, + 0.7469326180497804, + 0.6211428185697931, + 0.23721986222168132, + 0.05837215503273405, + 0.2941393593391135, + -0.9539783691491176 + ], + [ + -0.6591883674334196, + 0.7290692965214195, + 0.18419733198454602, + 0.7493197805762674, + 0.6162700933774257, + 0.24234487501433372, + 0.06317090056028277, + 0.2977736269019487, + -0.9525441220458302 + ], + [ + -0.6608553953432461, + 0.7273798292508187, + 0.18490194819085112, + 0.748052782172129, + 0.6184528063277668, + 0.2406930855464019, + 0.06072216671249128, + 0.29737974097836617, + -0.9528263787938392 + ], + [ + -0.6677874881890904, + 0.7205271179119109, + 0.18681687014737253, + 0.7421581818798574, + 0.6252531986587075, + 0.24137040132509835, + 0.05710607399296132, + 0.2998318027171396, + -0.9522813588391301 + ], + [ + -0.6659972397996842, + 0.7208025593975955, + 0.19207120280010131, + 0.7440297188743561, + 0.6233976809886063, + 0.24040613297038532, + 0.053548613529656966, + 0.30301650401241126, + -0.9514796604684451 + ], + [ + -0.6697812203503519, + 0.7178493904223261, + 0.18996149487800995, + 0.7401178858919651, + 0.6246415367108469, + 0.2490952942115119, + 0.060155065030313995, + 0.3074332501305065, + -0.949666343967918 + ], + [ + -0.6741762318943009, + 0.708225076368926, + 0.20953197739493243, + 0.7376509625399075, + 0.6315192244610134, + 0.2388608938275746, + 0.03684380290835362, + 0.315595802155841, + -0.9481781603943751 + ], + [ + -0.6739534820183182, + 0.7082830173206518, + 0.21005206842718244, + 0.7381119370785343, + 0.633526618947279, + 0.23202325622101552, + 0.031264555291228194, + 0.3114148205535223, + -0.9497596207051862 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.003396362066268921, + -0.0010638460516929626, + -0.009102791547775269, + 0.030698806047439575, + 0.0011847969144582748, + -0.00020968914031982422, + 1.0 + ], + [ + 0.009279578924179077, + -6.204098463058472e-05, + -0.0026619434356689453, + 0.03977668285369873, + 0.06563010811805725, + 0.1090388298034668, + 1.0 + ], + [ + 0.025538980960845947, + 0.00477338582277298, + -0.005628511309623718, + 0.0587521493434906, + -0.009211024269461632, + 0.10656845569610596, + 1.0 + ], + [ + 0.028291791677474976, + 0.00391223281621933, + -0.007121145725250244, + 0.06589007377624512, + -0.021174030378460884, + 0.1382429599761963, + 1.0 + ], + [ + 0.014711916446685791, + 0.0036253556609153748, + -0.01539398729801178, + 0.0467718243598938, + -0.03439584746956825, + 0.03830575942993164, + 1.0 + ], + [ + -0.0022039711475372314, + 0.001908823847770691, + -0.02140165865421295, + 0.04873602092266083, + -0.04228045418858528, + -0.006119251251220703, + 1.0 + ], + [ + -0.007482171058654785, + 0.00507461279630661, + -0.006763540208339691, + 0.012429535388946533, + -0.02095942199230194, + 0.0014934539794921875, + 1.0 + ], + [ + -0.005183666944503784, + 0.0011792853474617004, + -0.004969846457242966, + 0.008875727653503418, + -0.004829488694667816, + -0.0009949207305908203, + 1.0 + ], + [ + 0.0006264448165893555, + 0.0008466765284538269, + 0.003418106585741043, + -0.009730264544487, + 0.008008204400539398, + 0.004779338836669922, + 1.0 + ], + [ + 0.0011868774890899658, + 0.0037728995084762573, + 0.0031950250267982483, + -0.004380285739898682, + 0.00322704017162323, + 0.014980554580688477, + 1.0 + ], + [ + -0.0006217360496520996, + 0.0021116361021995544, + 0.0017610341310501099, + 0.001431286334991455, + -0.006623610854148865, + 0.011829137802124023, + 1.0 + ], + [ + -0.003167182207107544, + 0.0018842369318008423, + -0.0006208941340446472, + 0.012909412384033203, + -0.013524465262889862, + 0.020612716674804688, + 1.0 + ], + [ + -0.004107445478439331, + 0.00026376545429229736, + -0.0035106316208839417, + 0.009175717830657959, + -0.013153091073036194, + 0.0008826255798339844, + 1.0 + ], + [ + -0.010148376226425171, + -0.0019156485795974731, + -0.009444303810596466, + 0.02829129993915558, + -0.017683133482933044, + -0.0028107166290283203, + 1.0 + ], + [ + -0.004412144422531128, + 0.00029943883419036865, + -0.0046471841633319855, + 0.0072209835052490234, + -0.009586155414581299, + -0.004019021987915039, + 1.0 + ], + [ + 0.0011176764965057373, + -2.4944543838500977e-05, + -0.0026481933891773224, + -0.016418203711509705, + 0.0058947354555130005, + -0.0037031173706054688, + 0.0 + ], + [ + 0.001360386610031128, + 0.0049582719802856445, + -0.0013095289468765259, + -0.03211219608783722, + 0.0007849633693695068, + 0.020620346069335938, + 0.0 + ], + [ + -0.0004895329475402832, + 0.003375902771949768, + 0.0002263784408569336, + -0.006754592061042786, + 0.00017680227756500244, + 0.017988204956054688, + 0.0 + ], + [ + 0.005430638790130615, + 0.0014893487095832825, + 0.0013463981449604034, + 0.0060896724462509155, + 0.008548334240913391, + 0.033377647399902344, + 0.0 + ], + [ + 0.010595262050628662, + -0.0037279650568962097, + 0.013622280210256577, + 0.011221334338188171, + 0.050771549344062805, + 0.04148244857788086, + 0.0 + ], + [ + 0.005822241306304932, + -0.006200708448886871, + 0.017809808254241943, + 0.011692166328430176, + 0.05732318013906479, + 0.0207061767578125, + 0.0 + ], + [ + 0.0014425218105316162, + -9.03978943824768e-05, + 0.025544188916683197, + -0.03973010182380676, + 0.05665057152509689, + -0.00719761848449707, + 0.0 + ], + [ + -0.015469491481781006, + -0.0019284337759017944, + 0.0026780664920806885, + -0.004065915942192078, + -0.001306876540184021, + -0.041564226150512695, + 0.0 + ], + [ + -0.013880819082260132, + -0.0015527009963989258, + 0.0025468990206718445, + -0.01998715102672577, + -0.008882353082299232, + -0.04019284248352051, + 0.0 + ], + [ + -0.012535631656646729, + -0.00024671852588653564, + 0.0015360265970230103, + -0.012829840183258057, + -0.017715374007821083, + -0.017026662826538086, + 0.0 + ], + [ + -0.009873062372207642, + -0.0006052777171134949, + -0.0028287693858146667, + -0.005395025014877319, + -0.01517606433480978, + -0.009522438049316406, + 0.0 + ], + [ + -0.006548464298248291, + -0.004528768360614777, + -0.010811828076839447, + -0.0001658797264099121, + -0.01738286018371582, + -0.005845546722412109, + 0.0 + ], + [ + -0.0018343925476074219, + -0.00473003089427948, + -0.005875378847122192, + -0.006277978420257568, + -0.010897597298026085, + 0.00011348724365234375, + 0.0 + ], + [ + -0.0021619200706481934, + -0.005170091986656189, + -0.0036590471863746643, + 0.006540626287460327, + -0.005541503429412842, + 0.008551359176635742, + 0.0 + ], + [ + -0.003849506378173828, + -0.007305555045604706, + 0.0013931840658187866, + -0.007834404706954956, + 0.003586728125810623, + -0.003896951675415039, + 0.0 + ], + [ + -0.001259148120880127, + -0.004136018455028534, + -0.0005988031625747681, + -0.0064826905727386475, + -0.0012876540422439575, + -0.009507179260253906, + 0.0 + ], + [ + -0.003264814615249634, + -0.004796721041202545, + -0.005766548216342926, + 0.002456188201904297, + -0.007449120283126831, + -0.0012402534484863281, + 0.0 + ], + [ + -0.001329272985458374, + -0.0010386928915977478, + -0.00203125923871994, + -0.0052235424518585205, + -0.007532905787229538, + 0.0069179534912109375, + 0.0 + ], + [ + -0.0013430416584014893, + 0.00034621357917785645, + -0.0012349486351013184, + -0.001046895980834961, + -0.004591029137372971, + 0.008162498474121094, + 0.0 + ], + [ + -7.507205009460449e-05, + -0.0005172044038772583, + -0.00016580522060394287, + -0.002833545207977295, + -0.0036962367594242096, + 0.00044226646423339844, + 0.0 + ], + [ + 0.00022596120834350586, + -0.00026610493659973145, + -0.0005051642656326294, + -0.0036768317222595215, + 0.0018824227154254913, + 0.001481771469116211, + 0.0 + ], + [ + -0.000528872013092041, + -0.0018813759088516235, + -0.0013508796691894531, + 0.00048106908798217773, + 0.001684386283159256, + 0.0021619796752929688, + 0.0 + ], + [ + -0.00040861964225769043, + -0.0012838393449783325, + -0.0010809898376464844, + -0.003903329372406006, + -0.004807636141777039, + -0.0039441585540771484, + 0.0 + ], + [ + 0.0002135634422302246, + -0.0010575279593467712, + -4.476308822631836e-05, + 0.0004610121250152588, + 0.002453446388244629, + 0.0020923614501953125, + 0.0 + ], + [ + 0.0003536641597747803, + -0.000290505588054657, + 8.64267349243164e-05, + -0.0025071799755096436, + 0.0036223866045475006, + 0.009112834930419922, + 0.0 + ], + [ + 0.0009313821792602539, + -0.0009489580988883972, + 0.00012712925672531128, + -0.003283172845840454, + 0.003562919795513153, + -0.00258636474609375, + 1.0 + ], + [ + 0.0015862584114074707, + 0.00039149820804595947, + 0.003238379955291748, + -0.004767388105392456, + -0.006617166101932526, + 0.005438327789306641, + 1.0 + ], + [ + 0.005173772573471069, + -0.0009706094861030579, + 0.0038756653666496277, + -0.00822979211807251, + 0.02333926036953926, + 0.0049173831939697266, + 1.0 + ], + [ + 0.00017470121383666992, + -0.00025291740894317627, + 8.188188076019287e-05, + 0.004468649625778198, + 0.005582492798566818, + -0.0004756450653076172, + 1.0 + ], + [ + 0.00701594352722168, + -0.0006005764007568359, + 0.022464029490947723, + -0.01694527268409729, + 0.05826352909207344, + -0.01485753059387207, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9679883122444153 + ], + [ + 0.6921995282173157 + ], + [ + 0.5188266634941101 + ], + [ + 0.5178548097610474 + ], + [ + 0.5178548097610474 + ], + [ + 0.5178548097610474 + ], + [ + 0.5178548097610474 + ], + [ + 0.5178548097610474 + ], + [ + 0.5178548097610474 + ], + [ + 0.5178548097610474 + ], + [ + 0.5178548097610474 + ], + [ + 0.5178548097610474 + ], + [ + 0.5178548097610474 + ], + [ + 0.5178548097610474 + ], + [ + 0.5178548097610474 + ], + [ + 0.5178548097610474 + ], + [ + 0.5178548097610474 + ], + [ + 0.5178548097610474 + ], + [ + 0.5178548097610474 + ], + [ + 0.5178548097610474 + ], + [ + 0.5178548097610474 + ], + [ + 0.5178548097610474 + ], + [ + 0.5178548097610474 + ], + [ + 0.5178548097610474 + ], + [ + 0.5178548097610474 + ], + [ + 0.5600578188896179 + ], + [ + 0.8913851380348206 + ], + [ + 1.0073583126068115 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.29502758383750916, + 0.08421126008033752, + 0.12563258409500122 + ], + [ + 0.30430716276168823, + 0.08414921909570694, + 0.12297064065933228 + ], + [ + 0.3298461437225342, + 0.08892260491847992, + 0.11734212934970856 + ], + [ + 0.35813793540000916, + 0.09283483773469925, + 0.11022098362445831 + ], + [ + 0.37284985184669495, + 0.09646019339561462, + 0.09482699632644653 + ], + [ + 0.3706458806991577, + 0.09836901724338531, + 0.07342533767223358 + ], + [ + 0.36316370964050293, + 0.10344363003969193, + 0.06666179746389389 + ], + [ + 0.35798004269599915, + 0.10462291538715363, + 0.061691951006650925 + ], + [ + 0.3586064875125885, + 0.10546959191560745, + 0.06511005759239197 + ], + [ + 0.35979336500167847, + 0.10924249142408371, + 0.06830508261919022 + ], + [ + 0.35917162895202637, + 0.11135412752628326, + 0.07006611675024033 + ], + [ + 0.3560044467449188, + 0.1132383644580841, + 0.06944522261619568 + ], + [ + 0.3518970012664795, + 0.1135021299123764, + 0.06593459099531174 + ], + [ + 0.3417486250400543, + 0.11158648133277893, + 0.05649028718471527 + ], + [ + 0.3373364806175232, + 0.1118859201669693, + 0.051843103021383286 + ], + [ + 0.33845415711402893, + 0.1118609756231308, + 0.04919490963220596 + ], + [ + 0.33981454372406006, + 0.11681924760341644, + 0.04788538068532944 + ], + [ + 0.3393250107765198, + 0.12019515037536621, + 0.04811175912618637 + ], + [ + 0.3447556495666504, + 0.1216844990849495, + 0.049458157271146774 + ], + [ + 0.35535091161727905, + 0.11795653402805328, + 0.06308043748140335 + ], + [ + 0.361173152923584, + 0.11175582557916641, + 0.0808902457356453 + ], + [ + 0.3626156747341156, + 0.11166542768478394, + 0.10643443465232849 + ], + [ + 0.3471461832523346, + 0.10973699390888214, + 0.10911250114440918 + ], + [ + 0.33326536417007446, + 0.10818429291248322, + 0.11165940016508102 + ], + [ + 0.32072973251342773, + 0.10793757438659668, + 0.11319542676210403 + ], + [ + 0.3108566701412201, + 0.10733229666948318, + 0.11036665737628937 + ], + [ + 0.3043082058429718, + 0.10280352830886841, + 0.09955482929944992 + ], + [ + 0.3024738132953644, + 0.09807349741458893, + 0.09367945045232773 + ], + [ + 0.3003118932247162, + 0.09290340542793274, + 0.09002040326595306 + ], + [ + 0.29646238684654236, + 0.08559785038232803, + 0.09141358733177185 + ], + [ + 0.29520323872566223, + 0.0814618319272995, + 0.09081478416919708 + ], + [ + 0.2919384241104126, + 0.07666511088609695, + 0.08504823595285416 + ], + [ + 0.2906091511249542, + 0.0756264179944992, + 0.08301697671413422 + ], + [ + 0.28926610946655273, + 0.07597263157367706, + 0.0817820280790329 + ], + [ + 0.28919103741645813, + 0.0754554271697998, + 0.08161622285842896 + ], + [ + 0.28941699862480164, + 0.07518932223320007, + 0.08111105859279633 + ], + [ + 0.2888881266117096, + 0.07330794632434845, + 0.07976017892360687 + ], + [ + 0.2884795069694519, + 0.07202410697937012, + 0.07867918908596039 + ], + [ + 0.28869307041168213, + 0.07096657902002335, + 0.07863442599773407 + ], + [ + 0.2890467345714569, + 0.07067607343196869, + 0.07872085273265839 + ], + [ + 0.28997811675071716, + 0.06972711533308029, + 0.0788479819893837 + ], + [ + 0.29156437516212463, + 0.07011861354112625, + 0.08208636194467545 + ], + [ + 0.2967381477355957, + 0.0691480040550232, + 0.08596202731132507 + ], + [ + 0.2969128489494324, + 0.06889508664608002, + 0.08604390919208527 + ], + [ + 0.30392879247665405, + 0.06829451024532318, + 0.10850793868303299 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + -0.26695624765405906, + 0.852477461009416, + 0.449462501560925, + 0.9633107472809198, + 0.22264579250396382, + 0.14987079519825713, + 0.02769054010922617, + 0.4729810033724629, + -0.8806373853279441 + ], + [ + -0.3700766488277155, + 0.8290154674982909, + 0.41925723445283386, + 0.9282267084563264, + 0.3483955207754753, + 0.1304443897295694, + -0.037926925801892386, + 0.4374401853421517, + -0.8984473454504955 + ], + [ + -0.4668531042198452, + 0.811211991982269, + 0.35211260009328477, + 0.8838683614480044, + 0.4409560467746277, + 0.15599514237344725, + -0.028721049972348422, + 0.38404800334990863, + -0.922866313401586 + ], + [ + -0.5844233594744501, + 0.7666346068736952, + 0.2659336692564751, + 0.811413779059465, + 0.5551728515267389, + 0.18273145345043118, + -0.0075508974986557564, + 0.3225747734576965, + -0.9465138664994193 + ], + [ + -0.6148647791739298, + 0.7619743476829661, + 0.2033135430917315, + 0.7881756333231118, + 0.5849616828580145, + 0.19130865276728068, + 0.026841653583691033, + 0.2778757331273072, + -0.96024195001669 + ], + [ + -0.6087927249593293, + 0.7805412178073843, + 0.14186904292466412, + 0.7903168430619751, + 0.5811353783697552, + 0.19411584061996376, + 0.0690702946942309, + 0.230297805701243, + -0.9706658617052754 + ], + [ + -0.6089532828094554, + 0.7841661943414472, + 0.1194122230244425, + 0.7880879171910394, + 0.5810545530031962, + 0.20320689262853547, + 0.08996295978388431, + 0.21785083448613995, + -0.971826980372852 + ], + [ + -0.6078964950893488, + 0.7863915140459811, + 0.10977357557515721, + 0.7883401281412067, + 0.5812537856214501, + 0.20165286772827923, + 0.09477179760029295, + 0.2091229861521749, + -0.9732861259888617 + ], + [ + -0.6121039818165748, + 0.7814327996294249, + 0.12120847787020932, + 0.7859993963411943, + 0.5843922676154094, + 0.20171917732976583, + 0.08679668424295954, + 0.218742902089733, + -0.971914542740147 + ], + [ + -0.6239817065839062, + 0.7716152115633587, + 0.12351839997615575, + 0.7769562300194411, + 0.5956965542257997, + 0.20367776490693895, + 0.08358137641013964, + 0.22305958972333478, + -0.9712149983138874 + ], + [ + -0.6327629355268275, + 0.7656199505479252, + 0.11591875925174674, + 0.7690764902040529, + 0.6039416856610799, + 0.20922665350348807, + 0.09017992924640761, + 0.22154126397546348, + -0.9709722183035243 + ], + [ + -0.6476267209946555, + 0.7562261958911624, + 0.09328221106777276, + 0.7548763142808553, + 0.620129537446286, + 0.2135441568491328, + 0.10364063098738063, + 0.20871343376658136, + -0.972469702445223 + ], + [ + -0.6473481555378771, + 0.7582124866396167, + 0.07780867962815992, + 0.753205359276095, + 0.6207393455917378, + 0.21763352589182958, + 0.11671354796885032, + 0.19949057606340745, + -0.9729241788456141 + ], + [ + -0.6437869217194221, + 0.7638409473819864, + 0.045666251495167946, + 0.7533349501736816, + 0.6222001414528227, + 0.2129634635868413, + 0.13425666564400834, + 0.17150507595600997, + -0.9759923957959283 + ], + [ + -0.6398924448900781, + 0.7676700407893097, + 0.03493375798762723, + 0.7548997795137472, + 0.6194437752501311, + 0.21544310662901503, + 0.1437497195221413, + 0.16423190243800065, + -0.9758913363479055 + ], + [ + -0.6376270260554467, + 0.7685840052645276, + 0.052061526055455554, + 0.757899449291342, + 0.6137920950585526, + 0.22101513253058713, + 0.1379137426349056, + 0.18038262359542534, + -0.9738798225126465 + ], + [ + -0.6531896989576291, + 0.7537408988676312, + 0.07223485688957373, + 0.7446723235521199, + 0.6221802406027022, + 0.24156754487937815, + 0.13713623777517256, + 0.21158073063910832, + -0.9676917105726868 + ], + [ + -0.6664949228536836, + 0.7419262859272353, + 0.0730061919324691, + 0.7328206969445266, + 0.6340111352060789, + 0.24698928431095435, + 0.1369611037484747, + 0.21811755244573394, + -0.9662641405822127 + ], + [ + -0.6913699592979209, + 0.7194704547646723, + 0.06610479635478092, + 0.7109840393297236, + 0.6612244295180251, + 0.2393406560259926, + 0.12848842437660066, + 0.21247239474641913, + -0.9686827170296478 + ], + [ + -0.7240678618345244, + 0.6845616632857185, + 0.08426779110591645, + 0.6853048240559316, + 0.7002187179140908, + 0.20012757233428732, + 0.07799377913685548, + 0.20265506715164364, + -0.976139280110023 + ], + [ + -0.7401975396017191, + 0.6626784998050523, + 0.11386311195328828, + 0.6720692719138663, + 0.7239343738925159, + 0.15569815684849028, + 0.02074840034141208, + 0.1917712913680685, + -0.9812202992653057 + ], + [ + -0.7350255152492492, + 0.653169321841657, + 0.1819541946136048, + 0.677088758268352, + 0.7212780475003732, + 0.14597531168204558, + -0.03589297088841756, + 0.23049471837540908, + -0.9724113735666834 + ], + [ + -0.706288676401746, + 0.6820229955467219, + 0.1897391344244679, + 0.7070785327729809, + 0.6927296621816601, + 0.14200550561612638, + -0.034586906168064924, + 0.23445734938184273, + -0.9715109352151226 + ], + [ + -0.677487897067091, + 0.7067908822478961, + 0.20360942536840337, + 0.7350844959564995, + 0.6602908380126804, + 0.15384015418898764, + -0.025708619799396384, + 0.2538949743648995, + -0.9668900707217224 + ], + [ + -0.665072829643375, + 0.7183638738634102, + 0.20403792784212632, + 0.746735693107095, + 0.6426558928381254, + 0.17140364068565866, + -0.007995993372980889, + 0.26635830778931296, + -0.963840918389333 + ], + [ + -0.6579361139710451, + 0.7260423482670454, + 0.1999564413955051, + 0.7530395199610175, + 0.6317593126063374, + 0.18387945048875984, + 0.007179924063679427, + 0.27155603373529036, + -0.9623958485116181 + ], + [ + -0.6533426747600805, + 0.7327759928707656, + 0.1902174902831174, + 0.7566638205371075, + 0.6238995662504144, + 0.19547172154235826, + 0.024560375150480027, + 0.2716407103230456, + -0.9620852937591653 + ], + [ + -0.6532148039606172, + 0.7334742733927907, + 0.18795188255936757, + 0.7563421870318813, + 0.6204533576135713, + 0.20732613714116344, + 0.03545301119119769, + 0.2775844399402885, + -0.960046854429779 + ], + [ + -0.6595187877585824, + 0.7303361551870962, + 0.1778877989632227, + 0.7505696176421428, + 0.6269266453526876, + 0.2088258375281975, + 0.04099045823088246, + 0.27124174047029587, + -0.9616380299055706 + ], + [ + -0.6566812442145615, + 0.7306941252725677, + 0.1866971847376714, + 0.7532400003351122, + 0.6231798068026013, + 0.21041965280988473, + 0.037406488634664475, + 0.27880642690875934, + -0.959618534065696 + ], + [ + -0.6494586429568349, + 0.7355855431829086, + 0.19265871314054875, + 0.7594118161966164, + 0.6145605390179253, + 0.21356272451660213, + 0.038693210123011135, + 0.2850074605028838, + -0.9577440070019096 + ], + [ + -0.6483112273168936, + 0.7381851036639143, + 0.18648138047418936, + 0.7599763536157059, + 0.6125682562973958, + 0.2172465726352062, + 0.046135609672344396, + 0.2825648316855167, + -0.9581381014314674 + ], + [ + -0.6533072376174269, + 0.7343705068301897, + 0.18409131422926306, + 0.7551889516816918, + 0.6148724032992203, + 0.22720381801138054, + 0.05365911418011281, + 0.2874576253276497, + -0.9562890844856455 + ], + [ + -0.6592799948282599, + 0.730010499856796, + 0.18009597029939242, + 0.7496383444628909, + 0.619612063098314, + 0.2326440280213238, + 0.05824294747164585, + 0.28838439861039855, + -0.9557417003081602 + ], + [ + -0.6594647222681673, + 0.7299342801714475, + 0.17972820233441295, + 0.7491799817861209, + 0.6184654046824856, + 0.2371284422035385, + 0.06193250337840819, + 0.2910266136309874, + -0.9547082670553153 + ], + [ + -0.6606501009184247, + 0.727985616880744, + 0.18324406067111024, + 0.7482880534970918, + 0.6190849300644048, + 0.23832506867865177, + 0.06005358565488219, + 0.29456882214842994, + -0.9537414617536966 + ], + [ + -0.6623325113642957, + 0.7264045954058582, + 0.18344483683962384, + 0.7469326180497804, + 0.6211428185697931, + 0.23721986222168132, + 0.05837215503273405, + 0.2941393593391135, + -0.9539783691491176 + ], + [ + -0.6591883674334196, + 0.7290692965214195, + 0.18419733198454602, + 0.7493197805762674, + 0.6162700933774257, + 0.24234487501433372, + 0.06317090056028277, + 0.2977736269019487, + -0.9525441220458302 + ], + [ + -0.6608553953432461, + 0.7273798292508187, + 0.18490194819085112, + 0.748052782172129, + 0.6184528063277668, + 0.2406930855464019, + 0.06072216671249128, + 0.29737974097836617, + -0.9528263787938392 + ], + [ + -0.6677874881890904, + 0.7205271179119109, + 0.18681687014737253, + 0.7421581818798574, + 0.6252531986587075, + 0.24137040132509835, + 0.05710607399296132, + 0.2998318027171396, + -0.9522813588391301 + ], + [ + -0.6659972397996842, + 0.7208025593975955, + 0.19207120280010131, + 0.7440297188743561, + 0.6233976809886063, + 0.24040613297038532, + 0.053548613529656966, + 0.30301650401241126, + -0.9514796604684451 + ], + [ + -0.6697812203503519, + 0.7178493904223261, + 0.18996149487800995, + 0.7401178858919651, + 0.6246415367108469, + 0.2490952942115119, + 0.060155065030313995, + 0.3074332501305065, + -0.949666343967918 + ], + [ + -0.6741762318943009, + 0.708225076368926, + 0.20953197739493243, + 0.7376509625399075, + 0.6315192244610134, + 0.2388608938275746, + 0.03684380290835362, + 0.315595802155841, + -0.9481781603943751 + ], + [ + -0.6739534820183182, + 0.7082830173206518, + 0.21005206842718244, + 0.7381119370785343, + 0.633526618947279, + 0.23202325622101552, + 0.031264555291228194, + 0.3114148205535223, + -0.9497596207051862 + ], + [ + -0.6629955814371291, + 0.7012384924330133, + 0.26210958724380484, + 0.7481365961537607, + 0.6332500723695527, + 0.19820691042297434, + -0.026990600036081155, + 0.3275040802405842, + -0.944464178746585 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005595.json b/json/chunk-0005/episode_0005595.json new file mode 100644 index 0000000000000000000000000000000000000000..400f7bcbfd49513147b8ac9be34d2960f66b7654 --- /dev/null +++ b/json/chunk-0005/episode_0005595.json @@ -0,0 +1,1822 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 29, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the pot in front of the microwave." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005595.mp4", + "start": 0, + "end": 29, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.24867480993270874, + 0.0046416837722063065, + 0.09284000098705292, + -0.2357836216688156, + 0.01998615637421608, + 0.8847278356552124, + 0.0, + 0.9994885921478271 + ], + [ + 0.2475000023841858, + 0.004480291623622179, + 0.08794485777616501, + -0.2222091406583786, + 0.0345994271337986, + 0.8850982785224915, + 0.0, + 0.9994885921478271 + ], + [ + 0.24589309096336365, + -0.001244965591467917, + 0.07986132800579071, + -0.22155267000198364, + 0.02505589835345745, + 0.8507260680198669, + 0.0, + 0.9988223910331726 + ], + [ + 0.24814775586128235, + -0.006366025190800428, + 0.06707093864679337, + -0.1981334239244461, + 0.020240891724824905, + 0.8252278566360474, + 0.0, + 0.9988223910331726 + ], + [ + 0.2508528232574463, + -0.010833501815795898, + 0.05006878450512886, + -0.16596758365631104, + 0.008533732034265995, + 0.7879347205162048, + 0.0, + 0.9994885921478271 + ], + [ + 0.25248342752456665, + -0.0146508002653718, + 0.038113486021757126, + -0.1585841029882431, + 0.001241100369952619, + 0.7614085674285889, + 0.0, + 0.9994885921478271 + ], + [ + 0.25284960865974426, + -0.017072129994630814, + 0.023224208503961563, + -0.14111685752868652, + 0.015214663930237293, + 0.7328634262084961, + 0.0, + 0.9730880856513977 + ], + [ + 0.2525121569633484, + -0.02110445313155651, + 0.011094370856881142, + -0.134405717253685, + 0.06290925294160843, + 0.7000923752784729, + 0.0, + 0.6941980719566345 + ], + [ + 0.25373947620391846, + -0.023620620369911194, + 0.008916881866753101, + -0.15227000415325165, + 0.06942439824342728, + 0.6836932897567749, + 0.0, + 0.38577979803085327 + ], + [ + 0.2549772262573242, + -0.02319180965423584, + 0.008727636188268661, + -0.15831387042999268, + 0.06132348254323006, + 0.6813610196113586, + 0.0, + 0.16390947997570038 + ], + [ + 0.25330740213394165, + -0.02251908741891384, + 0.00891784206032753, + -0.1600438505411148, + 0.07508362829685211, + 0.6761131286621094, + 0.0, + 0.07921512424945831 + ], + [ + 0.2498703896999359, + -0.017006775364279747, + 0.018872788175940514, + -0.1762545108795166, + 0.07390571385622025, + 0.680751383304596, + 0.0, + 0.07301933318376541 + ], + [ + 0.24991615116596222, + -0.012625711970031261, + 0.0387914776802063, + -0.21325449645519257, + 0.055246151983737946, + 0.6824323534965515, + 0.0, + 0.07270156592130661 + ], + [ + 0.25044843554496765, + -0.002614386845380068, + 0.06718132644891739, + -0.24268962442874908, + 0.0670386254787445, + 0.726891815662384, + 0.0, + 0.07270156592130661 + ], + [ + 0.26776567101478577, + 0.011188460513949394, + 0.0903315395116806, + -0.27397650480270386, + 0.052813299000263214, + 0.808134913444519, + 0.0, + 0.07270156592130661 + ], + [ + 0.2968660593032837, + 0.029041772708296776, + 0.10309920459985733, + -0.2977122962474823, + 0.041960105299949646, + 0.9061446785926819, + 0.0, + 0.07270156592130661 + ], + [ + 0.3218196928501129, + 0.05297086760401726, + 0.0973295122385025, + -0.27684611082077026, + 0.03810838609933853, + 1.0004881620407104, + 0.0, + 0.07270156592130661 + ], + [ + 0.3384767770767212, + 0.0734018087387085, + 0.08933576941490173, + -0.26970863342285156, + 0.02556791715323925, + 1.0703420639038086, + 0.0, + 0.07270156592130661 + ], + [ + 0.3529321849346161, + 0.08895377069711685, + 0.07432889938354492, + -0.23563449084758759, + 0.013750825077295303, + 1.1203711032867432, + 0.0, + 0.07270156592130661 + ], + [ + 0.36506468057632446, + 0.10473302006721497, + 0.05684053525328636, + -0.20866084098815918, + 0.008301990106701851, + 1.166527271270752, + 0.0, + 0.07270156592130661 + ], + [ + 0.37366583943367004, + 0.11545286327600479, + 0.03227979317307472, + -0.16118304431438446, + 0.002999702235683799, + 1.191930890083313, + 0.0, + 0.07270156592130661 + ], + [ + 0.3782987594604492, + 0.11206552386283875, + 0.021171266213059425, + -0.13444353640079498, + 0.0035626401659101248, + 1.1976356506347656, + 0.0, + 0.07238461822271347 + ], + [ + 0.3823084533214569, + 0.10501078516244888, + 0.020011283457279205, + -0.12651129066944122, + -0.012231326662003994, + 1.1861194372177124, + 0.0, + 0.100052610039711 + ], + [ + 0.37963759899139404, + 0.10444850474596024, + 0.0196895282715559, + -0.1099061593413353, + -0.0026343849021941423, + 1.2113174200057983, + 0.0, + 0.25753310322761536 + ], + [ + 0.38006845116615295, + 0.1033610925078392, + 0.0198216512799263, + -0.1171475201845169, + 0.005730932112783194, + 1.210756778717041, + 0.0, + 0.5354229807853699 + ], + [ + 0.3790099620819092, + 0.10242205858230591, + 0.01881958171725273, + -0.11600477248430252, + 0.010601063258945942, + 1.2039878368377686, + 0.0, + 0.8435940742492676 + ], + [ + 0.37819868326187134, + 0.09804733842611313, + 0.028557736426591873, + -0.14603939652442932, + 0.023766955360770226, + 1.2043812274932861, + 0.0, + 1.0162451267242432 + ], + [ + 0.3718762993812561, + 0.09613301604986191, + 0.05402586981654167, + -0.19260981678962708, + 0.020231833681464195, + 1.2120906114578247, + 0.0, + 1.0105689764022827 + ], + [ + 0.3616543710231781, + 0.09428834915161133, + 0.0805891826748848, + -0.23383451998233795, + -0.037042055279016495, + 1.2091047763824463, + 0.0, + 1.0041072368621826 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9730880856513977 + ], + [ + 0.6941980719566345 + ], + [ + 0.38577979803085327 + ], + [ + 0.16390947997570038 + ], + [ + 0.07921512424945831 + ], + [ + 0.07301933318376541 + ], + [ + 0.07270156592130661 + ], + [ + 0.07270156592130661 + ], + [ + 0.07270156592130661 + ], + [ + 0.07270156592130661 + ], + [ + 0.07270156592130661 + ], + [ + 0.07270156592130661 + ], + [ + 0.07270156592130661 + ], + [ + 0.07270156592130661 + ], + [ + 0.07270156592130661 + ], + [ + 0.07238461822271347 + ], + [ + 0.100052610039711 + ], + [ + 0.25753310322761536 + ], + [ + 0.5354229807853699 + ], + [ + 0.8435940742492676 + ], + [ + 1.0162451267242432 + ], + [ + 1.0105689764022827 + ], + [ + 1.0041072368621826 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.24867480993270874, + 0.0046416837722063065, + 0.09284000098705292 + ], + [ + 0.2475000023841858, + 0.004480291623622179, + 0.08794485777616501 + ], + [ + 0.24589309096336365, + -0.001244965591467917, + 0.07986132800579071 + ], + [ + 0.24814775586128235, + -0.006366025190800428, + 0.06707093864679337 + ], + [ + 0.2508528232574463, + -0.010833501815795898, + 0.05006878450512886 + ], + [ + 0.25248342752456665, + -0.0146508002653718, + 0.038113486021757126 + ], + [ + 0.25284960865974426, + -0.017072129994630814, + 0.023224208503961563 + ], + [ + 0.2525121569633484, + -0.02110445313155651, + 0.011094370856881142 + ], + [ + 0.25373947620391846, + -0.023620620369911194, + 0.008916881866753101 + ], + [ + 0.2549772262573242, + -0.02319180965423584, + 0.008727636188268661 + ], + [ + 0.25330740213394165, + -0.02251908741891384, + 0.00891784206032753 + ], + [ + 0.2498703896999359, + -0.017006775364279747, + 0.018872788175940514 + ], + [ + 0.24991615116596222, + -0.012625711970031261, + 0.0387914776802063 + ], + [ + 0.25044843554496765, + -0.002614386845380068, + 0.06718132644891739 + ], + [ + 0.26776567101478577, + 0.011188460513949394, + 0.0903315395116806 + ], + [ + 0.2968660593032837, + 0.029041772708296776, + 0.10309920459985733 + ], + [ + 0.3218196928501129, + 0.05297086760401726, + 0.0973295122385025 + ], + [ + 0.3384767770767212, + 0.0734018087387085, + 0.08933576941490173 + ], + [ + 0.3529321849346161, + 0.08895377069711685, + 0.07432889938354492 + ], + [ + 0.36506468057632446, + 0.10473302006721497, + 0.05684053525328636 + ], + [ + 0.37366583943367004, + 0.11545286327600479, + 0.03227979317307472 + ], + [ + 0.3782987594604492, + 0.11206552386283875, + 0.021171266213059425 + ], + [ + 0.3823084533214569, + 0.10501078516244888, + 0.020011283457279205 + ], + [ + 0.37963759899139404, + 0.10444850474596024, + 0.0196895282715559 + ], + [ + 0.38006845116615295, + 0.1033610925078392, + 0.0198216512799263 + ], + [ + 0.3790099620819092, + 0.10242205858230591, + 0.01881958171725273 + ], + [ + 0.37819868326187134, + 0.09804733842611313, + 0.028557736426591873 + ], + [ + 0.3718762993812561, + 0.09613301604986191, + 0.05402586981654167 + ], + [ + 0.3616543710231781, + 0.09428834915161133, + 0.0805891826748848 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.6333735896238886, + 0.7552918961597113, + 0.16844004144626018, + 0.7735880704246441, + -0.6123599041905642, + -0.16302406275270814, + -0.019984825834266154, + 0.23355834246541235, + -0.9721373912164798 + ], + [ + 0.6328344606683617, + 0.7597748319025125, + 0.14920707154184323, + 0.7735139964185557, + -0.6117440512358349, + -0.16566627032127879, + -0.03459252426722357, + 0.22025308303194596, + -0.974829183334057 + ], + [ + 0.659230505339656, + 0.7370148874016091, + 0.14907782054355223, + 0.7515234355315348, + -0.6391804693567444, + -0.16328151591582998, + -0.02505327676176123, + 0.2196756321062616, + -0.9752512240352295 + ], + [ + 0.6782506152010592, + 0.7230311019913125, + 0.13115688518950483, + 0.7345518805558626, + -0.6621903521748551, + -0.14811303878587795, + -0.02023950965884011, + 0.19679929633962023, + -0.9802348694108979 + ], + [ + 0.7052852097362384, + 0.7001514839909302, + 0.11117856084969094, + 0.7088723087500788, + -0.6946197769691821, + -0.1224884293744386, + -0.008533628457064471, + 0.1652006807146449, + -0.9862230540180932 + ], + [ + 0.7238643421982207, + 0.6814261381413477, + 0.10806864647855247, + 0.6899412103683907, + -0.7146465251988605, + -0.1151584571648754, + -0.0012411000513352644, + 0.1579201135985007, + -0.987451111393217 + ], + [ + 0.7431757923527486, + 0.6639409328501142, + 0.08289860883624328, + 0.6689232194532684, + -0.734441888342539, + -0.11461605090090952, + -0.015214076940086037, + 0.14063267875556343, + -0.9899449386349201 + ], + [ + 0.7632698312101474, + 0.6449204030847693, + 0.038688996490111364, + 0.6430138479863778, + -0.7524574840781882, + -0.14262161811055984, + -0.06286776648000522, + 0.13373633889000308, + -0.9890208468976343 + ], + [ + 0.7733776135907091, + 0.6325089026511331, + 0.04265624061961455, + 0.6301389196609649, + -0.7596286542805738, + -0.16090136582514125, + -0.06936864367458251, + 0.15131687170617558, + -0.9860482724551598 + ], + [ + 0.7752562091902554, + 0.6294786154707206, + 0.0522922821936412, + 0.6286668053895896, + -0.7609174937446953, + -0.16056965938351847, + -0.06128505456636658, + 0.1573570474378444, + -0.9856383219561023 + ], + [ + 0.777813233585927, + 0.6270932591109096, + 0.041959719210955496, + 0.6240028913835417, + -0.7625620371982182, + -0.1706444577742966, + -0.07501310021312618, + 0.15891250360422055, + -0.9844388508153539 + ], + [ + 0.774978719154287, + 0.6296875560263836, + 0.053866192027104846, + 0.6276590378204491, + -0.7569120940856472, + -0.18201157674496524, + -0.0738384527213902, + 0.17486470087584952, + -0.9818198507299141 + ], + [ + 0.7748569825399872, + 0.6254649973448612, + 0.09159800055360762, + 0.6297202737861871, + -0.7510911153492148, + -0.1982788774078625, + -0.05521805313188364, + 0.21131889063655748, + -0.9758561846237688 + ], + [ + 0.7455650595233726, + 0.6571050523566242, + 0.11111117038942772, + 0.6630575338702112, + -0.7146475655195839, + -0.22278591489339328, + -0.0669884228495054, + 0.23977449252230848, + -0.9685147102340809 + ], + [ + 0.6898848430022033, + 0.7059010567599482, + 0.1605073252565552, + 0.7219918636489868, + -0.6547549363608209, + -0.22365983576806975, + -0.05278875088963549, + 0.2701845135760478, + -0.9613603259981068 + ], + [ + 0.61624207971297, + 0.7600951686758588, + 0.20615778846953997, + 0.7864388608203214, + -0.5799672047996166, + -0.21248990458032269, + -0.04194779353754781, + 0.2930757170298104, + -0.9551685750195061 + ], + [ + 0.5394994863086398, + 0.8153053783675489, + 0.2102794433073804, + 0.8411235093936246, + -0.5105683086270303, + -0.1784131277991809, + -0.038099162957566296, + 0.2731247741064173, + -0.9612238613097634 + ], + [ + 0.47966731592767603, + 0.8489151876031161, + 0.2219510538103041, + 0.8770779270281582, + -0.45650134215799937, + -0.14946850680974008, + -0.025565131541362, + 0.2663635276548024, + -0.9635335464759707 + ], + [ + 0.4353072277336364, + 0.8767821303120901, + 0.20435438201381761, + 0.900176951610063, + -0.42042815578716697, + -0.11367331090197064, + -0.013750391735162834, + 0.2334379184853972, + -0.9722744802473912 + ], + [ + 0.39333328710035065, + 0.9001243013815079, + 0.18725695533486958, + 0.9193584740472829, + -0.38323372459018623, + -0.08894890968519359, + -0.008301894740631505, + 0.2071428357418753, + -0.9782754847917482 + ], + [ + 0.36986493803750536, + 0.9172202338775981, + 0.1480100340383597, + 0.9290806904806486, + -0.36462516230328185, + -0.06210927137961403, + -0.0029996977370256306, + 0.16048530643279907, + -0.9870336712760396 + ], + [ + 0.364558092056864, + 0.9229509317587936, + 0.1235272240497372, + 0.931173831872764, + -0.3608259714267014, + -0.052152786880194375, + -0.0035626326295029667, + 0.13403803903949113, + -0.9909697834642563 + ], + [ + 0.37523158883830443, + 0.9189327799819952, + 0.12150638095360915, + 0.9268503961516158, + -0.3736910844451814, + -0.03610147586701951, + 0.01223102168563038, + 0.12616465147079123, + -0.9919339105140924 + ], + [ + 0.35178527529270703, + 0.9303306764867851, + 0.1035951373128821, + 0.9360770161260641, + -0.349934437807959, + -0.03613459722415391, + 0.0026343818550970954, + 0.10968464625310265, + -0.9939629461949642 + ], + [ + 0.35230546035407306, + 0.9297044054806939, + 0.10738054309089111, + 0.935867522345652, + -0.34926965138986743, + -0.046504744237676685, + -0.005730900742110745, + 0.11687783813790585, + -0.9931297637916678 + ], + [ + 0.3586179111314684, + 0.9276428341459917, + 0.10426872049322711, + 0.9334242419625518, + -0.355082281880787, + -0.051339630023687584, + -0.010600864697655137, + 0.11573826226415296, + -0.9932231754825984 + ], + [ + 0.35816963139517305, + 0.9249185151790988, + 0.12743726074087477, + 0.9333540342923459, + -0.3512283941266345, + -0.07408685328334963, + -0.023764717891212823, + 0.1454797423633866, + -0.9890757719939531 + ], + [ + 0.35099077437766807, + 0.9203964684535604, + 0.1722667035732056, + 0.9361603522122472, + -0.34094471670918586, + -0.0857933277937969, + -0.02023045347009747, + 0.19138192445031688, + -0.9813071322201257 + ], + [ + 0.3536141070061979, + 0.9068090121011756, + 0.22946563772883077, + 0.9346579999751756, + -0.3522524834711712, + -0.04829711141255438, + 0.03703358487391785, + 0.23155043394578645, + -0.9721177449933234 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0011748075485229492, + -0.00016139214858412743, + -0.004895143210887909, + 0.013574481010437012, + 0.01461327075958252, + 0.00037044286727905273, + 1.0 + ], + [ + -0.0016069114208221436, + -0.005725257098674774, + -0.008083529770374298, + 0.0006564706563949585, + -0.009543528780341148, + -0.03437221050262451, + 1.0 + ], + [ + 0.002254664897918701, + -0.005121059715747833, + -0.012790389358997345, + 0.023419246077537537, + -0.0048150066286325455, + -0.02549821138381958, + 1.0 + ], + [ + 0.0027050673961639404, + -0.00446747662499547, + -0.017002154141664505, + 0.03216584026813507, + -0.01170715969055891, + -0.03729313611984253, + 1.0 + ], + [ + 0.0016306042671203613, + -0.003817298449575901, + -0.011955298483371735, + 0.007383480668067932, + -0.007292631547898054, + -0.026526153087615967, + 1.0 + ], + [ + 0.0003661811351776123, + -0.002421329729259014, + -0.014889277517795563, + 0.01746724545955658, + 0.01397356390953064, + -0.028545141220092773, + 0.0 + ], + [ + -0.000337451696395874, + -0.004032323136925697, + -0.012129837647080421, + 0.006711140275001526, + 0.04769458994269371, + -0.03277105093002319, + 0.0 + ], + [ + 0.0012273192405700684, + -0.002516167238354683, + -0.0021774889901280403, + -0.01786428689956665, + 0.006515145301818848, + -0.016399085521697998, + 0.0 + ], + [ + 0.0012377500534057617, + 0.000428810715675354, + -0.00018924567848443985, + -0.006043866276741028, + -0.00810091570019722, + -0.0023322701454162598, + 0.0 + ], + [ + -0.0016698241233825684, + 0.0006727222353219986, + 0.0001902058720588684, + -0.0017299801111221313, + 0.013760145753622055, + -0.005247890949249268, + 0.0 + ], + [ + -0.0034370124340057373, + 0.005512312054634094, + 0.009954946115612984, + -0.016210660338401794, + -0.0011779144406318665, + 0.004638254642486572, + 0.0 + ], + [ + 4.576146602630615e-05, + 0.0043810633942484856, + 0.019918689504265785, + -0.036999985575675964, + -0.0186595618724823, + 0.0016809701919555664, + 0.0 + ], + [ + 0.0005322843790054321, + 0.010011324658989906, + 0.02838984876871109, + -0.02943512797355652, + 0.011792473495006561, + 0.04445946216583252, + 0.0 + ], + [ + 0.017317235469818115, + 0.013802846893668175, + 0.023150213062763214, + -0.03128688037395477, + -0.014225326478481293, + 0.08124309778213501, + 0.0 + ], + [ + 0.029100388288497925, + 0.01785331219434738, + 0.012767665088176727, + -0.023735791444778442, + -0.010853193700313568, + 0.09800976514816284, + 0.0 + ], + [ + 0.024953633546829224, + 0.023929094895720482, + -0.005769692361354828, + 0.020866185426712036, + -0.0038517192006111145, + 0.09434348344802856, + 0.0 + ], + [ + 0.016657084226608276, + 0.02043094113469124, + -0.007993742823600769, + 0.007137477397918701, + -0.012540468946099281, + 0.06985390186309814, + 0.0 + ], + [ + 0.014455407857894897, + 0.015551961958408356, + -0.015006870031356812, + 0.03407414257526398, + -0.011817092075943947, + 0.05002903938293457, + 0.0 + ], + [ + 0.012132495641708374, + 0.015779249370098114, + -0.01748836413025856, + 0.026973649859428406, + -0.0054488349705934525, + 0.04615616798400879, + 0.0 + ], + [ + 0.008601158857345581, + 0.010719843208789825, + -0.02456074208021164, + 0.04747779667377472, + -0.0053022876381874084, + 0.025403618812561035, + 0.0 + ], + [ + 0.004632920026779175, + -0.003387339413166046, + -0.011108526960015297, + 0.026739507913589478, + 0.000562937930226326, + 0.005704760551452637, + 0.0 + ], + [ + 0.00400969386100769, + -0.007054738700389862, + -0.00115998275578022, + 0.00793224573135376, + -0.015793966129422188, + -0.011516213417053223, + 1.0 + ], + [ + -0.002670854330062866, + -0.0005622804164886475, + -0.00032175518572330475, + 0.016605131328105927, + 0.009596941992640495, + 0.025197982788085938, + 1.0 + ], + [ + 0.00043085217475891113, + -0.0010874122381210327, + 0.00013212300837039948, + -0.00724136084318161, + 0.00836531724780798, + -0.0005606412887573242, + 1.0 + ], + [ + -0.0010584890842437744, + -0.0009390339255332947, + -0.0010020695626735687, + 0.001142747700214386, + 0.004870131146162748, + -0.006768941879272461, + 1.0 + ], + [ + -0.0008112788200378418, + -0.0043747201561927795, + 0.009738154709339142, + -0.0300346240401268, + 0.013165892101824284, + 0.0003933906555175781, + 1.0 + ], + [ + -0.006322383880615234, + -0.0019143223762512207, + 0.0254681333899498, + -0.046570420265197754, + -0.0035351216793060303, + 0.007709383964538574, + 1.0 + ], + [ + -0.010221928358078003, + -0.0018446668982505798, + 0.026563312858343124, + -0.041224703192710876, + -0.05727388709783554, + -0.002985835075378418, + 1.0 + ], + [ + 0.0003724992275238037, + -0.000622086226940155, + 0.0028084293007850647, + -0.008922383189201355, + -0.00681508332490921, + -0.004408121109008789, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9730880856513977 + ], + [ + 0.6941980719566345 + ], + [ + 0.38577979803085327 + ], + [ + 0.16390947997570038 + ], + [ + 0.07921512424945831 + ], + [ + 0.07301933318376541 + ], + [ + 0.07270156592130661 + ], + [ + 0.07270156592130661 + ], + [ + 0.07270156592130661 + ], + [ + 0.07270156592130661 + ], + [ + 0.07270156592130661 + ], + [ + 0.07270156592130661 + ], + [ + 0.07270156592130661 + ], + [ + 0.07270156592130661 + ], + [ + 0.07270156592130661 + ], + [ + 0.07238461822271347 + ], + [ + 0.100052610039711 + ], + [ + 0.25753310322761536 + ], + [ + 0.5354229807853699 + ], + [ + 0.8435940742492676 + ], + [ + 1.0162451267242432 + ], + [ + 1.0105689764022827 + ], + [ + 1.0041072368621826 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2475000023841858, + 0.004480291623622179, + 0.08794485777616501 + ], + [ + 0.24589309096336365, + -0.001244965591467917, + 0.07986132800579071 + ], + [ + 0.24814775586128235, + -0.006366025190800428, + 0.06707093864679337 + ], + [ + 0.2508528232574463, + -0.010833501815795898, + 0.05006878450512886 + ], + [ + 0.25248342752456665, + -0.0146508002653718, + 0.038113486021757126 + ], + [ + 0.25284960865974426, + -0.017072129994630814, + 0.023224208503961563 + ], + [ + 0.2525121569633484, + -0.02110445313155651, + 0.011094370856881142 + ], + [ + 0.25373947620391846, + -0.023620620369911194, + 0.008916881866753101 + ], + [ + 0.2549772262573242, + -0.02319180965423584, + 0.008727636188268661 + ], + [ + 0.25330740213394165, + -0.02251908741891384, + 0.00891784206032753 + ], + [ + 0.2498703896999359, + -0.017006775364279747, + 0.018872788175940514 + ], + [ + 0.24991615116596222, + -0.012625711970031261, + 0.0387914776802063 + ], + [ + 0.25044843554496765, + -0.002614386845380068, + 0.06718132644891739 + ], + [ + 0.26776567101478577, + 0.011188460513949394, + 0.0903315395116806 + ], + [ + 0.2968660593032837, + 0.029041772708296776, + 0.10309920459985733 + ], + [ + 0.3218196928501129, + 0.05297086760401726, + 0.0973295122385025 + ], + [ + 0.3384767770767212, + 0.0734018087387085, + 0.08933576941490173 + ], + [ + 0.3529321849346161, + 0.08895377069711685, + 0.07432889938354492 + ], + [ + 0.36506468057632446, + 0.10473302006721497, + 0.05684053525328636 + ], + [ + 0.37366583943367004, + 0.11545286327600479, + 0.03227979317307472 + ], + [ + 0.3782987594604492, + 0.11206552386283875, + 0.021171266213059425 + ], + [ + 0.3823084533214569, + 0.10501078516244888, + 0.020011283457279205 + ], + [ + 0.37963759899139404, + 0.10444850474596024, + 0.0196895282715559 + ], + [ + 0.38006845116615295, + 0.1033610925078392, + 0.0198216512799263 + ], + [ + 0.3790099620819092, + 0.10242205858230591, + 0.01881958171725273 + ], + [ + 0.37819868326187134, + 0.09804733842611313, + 0.028557736426591873 + ], + [ + 0.3718762993812561, + 0.09613301604986191, + 0.05402586981654167 + ], + [ + 0.3616543710231781, + 0.09428834915161133, + 0.0805891826748848 + ], + [ + 0.3620268702507019, + 0.09366626292467117, + 0.08339761197566986 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.6328344606683617, + 0.7597748319025125, + 0.14920707154184323, + 0.7735139964185557, + -0.6117440512358349, + -0.16566627032127879, + -0.03459252426722357, + 0.22025308303194596, + -0.974829183334057 + ], + [ + 0.659230505339656, + 0.7370148874016091, + 0.14907782054355223, + 0.7515234355315348, + -0.6391804693567444, + -0.16328151591582998, + -0.02505327676176123, + 0.2196756321062616, + -0.9752512240352295 + ], + [ + 0.6782506152010592, + 0.7230311019913125, + 0.13115688518950483, + 0.7345518805558626, + -0.6621903521748551, + -0.14811303878587795, + -0.02023950965884011, + 0.19679929633962023, + -0.9802348694108979 + ], + [ + 0.7052852097362384, + 0.7001514839909302, + 0.11117856084969094, + 0.7088723087500788, + -0.6946197769691821, + -0.1224884293744386, + -0.008533628457064471, + 0.1652006807146449, + -0.9862230540180932 + ], + [ + 0.7238643421982207, + 0.6814261381413477, + 0.10806864647855247, + 0.6899412103683907, + -0.7146465251988605, + -0.1151584571648754, + -0.0012411000513352644, + 0.1579201135985007, + -0.987451111393217 + ], + [ + 0.7431757923527486, + 0.6639409328501142, + 0.08289860883624328, + 0.6689232194532684, + -0.734441888342539, + -0.11461605090090952, + -0.015214076940086037, + 0.14063267875556343, + -0.9899449386349201 + ], + [ + 0.7632698312101474, + 0.6449204030847693, + 0.038688996490111364, + 0.6430138479863778, + -0.7524574840781882, + -0.14262161811055984, + -0.06286776648000522, + 0.13373633889000308, + -0.9890208468976343 + ], + [ + 0.7733776135907091, + 0.6325089026511331, + 0.04265624061961455, + 0.6301389196609649, + -0.7596286542805738, + -0.16090136582514125, + -0.06936864367458251, + 0.15131687170617558, + -0.9860482724551598 + ], + [ + 0.7752562091902554, + 0.6294786154707206, + 0.0522922821936412, + 0.6286668053895896, + -0.7609174937446953, + -0.16056965938351847, + -0.06128505456636658, + 0.1573570474378444, + -0.9856383219561023 + ], + [ + 0.777813233585927, + 0.6270932591109096, + 0.041959719210955496, + 0.6240028913835417, + -0.7625620371982182, + -0.1706444577742966, + -0.07501310021312618, + 0.15891250360422055, + -0.9844388508153539 + ], + [ + 0.774978719154287, + 0.6296875560263836, + 0.053866192027104846, + 0.6276590378204491, + -0.7569120940856472, + -0.18201157674496524, + -0.0738384527213902, + 0.17486470087584952, + -0.9818198507299141 + ], + [ + 0.7748569825399872, + 0.6254649973448612, + 0.09159800055360762, + 0.6297202737861871, + -0.7510911153492148, + -0.1982788774078625, + -0.05521805313188364, + 0.21131889063655748, + -0.9758561846237688 + ], + [ + 0.7455650595233726, + 0.6571050523566242, + 0.11111117038942772, + 0.6630575338702112, + -0.7146475655195839, + -0.22278591489339328, + -0.0669884228495054, + 0.23977449252230848, + -0.9685147102340809 + ], + [ + 0.6898848430022033, + 0.7059010567599482, + 0.1605073252565552, + 0.7219918636489868, + -0.6547549363608209, + -0.22365983576806975, + -0.05278875088963549, + 0.2701845135760478, + -0.9613603259981068 + ], + [ + 0.61624207971297, + 0.7600951686758588, + 0.20615778846953997, + 0.7864388608203214, + -0.5799672047996166, + -0.21248990458032269, + -0.04194779353754781, + 0.2930757170298104, + -0.9551685750195061 + ], + [ + 0.5394994863086398, + 0.8153053783675489, + 0.2102794433073804, + 0.8411235093936246, + -0.5105683086270303, + -0.1784131277991809, + -0.038099162957566296, + 0.2731247741064173, + -0.9612238613097634 + ], + [ + 0.47966731592767603, + 0.8489151876031161, + 0.2219510538103041, + 0.8770779270281582, + -0.45650134215799937, + -0.14946850680974008, + -0.025565131541362, + 0.2663635276548024, + -0.9635335464759707 + ], + [ + 0.4353072277336364, + 0.8767821303120901, + 0.20435438201381761, + 0.900176951610063, + -0.42042815578716697, + -0.11367331090197064, + -0.013750391735162834, + 0.2334379184853972, + -0.9722744802473912 + ], + [ + 0.39333328710035065, + 0.9001243013815079, + 0.18725695533486958, + 0.9193584740472829, + -0.38323372459018623, + -0.08894890968519359, + -0.008301894740631505, + 0.2071428357418753, + -0.9782754847917482 + ], + [ + 0.36986493803750536, + 0.9172202338775981, + 0.1480100340383597, + 0.9290806904806486, + -0.36462516230328185, + -0.06210927137961403, + -0.0029996977370256306, + 0.16048530643279907, + -0.9870336712760396 + ], + [ + 0.364558092056864, + 0.9229509317587936, + 0.1235272240497372, + 0.931173831872764, + -0.3608259714267014, + -0.052152786880194375, + -0.0035626326295029667, + 0.13403803903949113, + -0.9909697834642563 + ], + [ + 0.37523158883830443, + 0.9189327799819952, + 0.12150638095360915, + 0.9268503961516158, + -0.3736910844451814, + -0.03610147586701951, + 0.01223102168563038, + 0.12616465147079123, + -0.9919339105140924 + ], + [ + 0.35178527529270703, + 0.9303306764867851, + 0.1035951373128821, + 0.9360770161260641, + -0.349934437807959, + -0.03613459722415391, + 0.0026343818550970954, + 0.10968464625310265, + -0.9939629461949642 + ], + [ + 0.35230546035407306, + 0.9297044054806939, + 0.10738054309089111, + 0.935867522345652, + -0.34926965138986743, + -0.046504744237676685, + -0.005730900742110745, + 0.11687783813790585, + -0.9931297637916678 + ], + [ + 0.3586179111314684, + 0.9276428341459917, + 0.10426872049322711, + 0.9334242419625518, + -0.355082281880787, + -0.051339630023687584, + -0.010600864697655137, + 0.11573826226415296, + -0.9932231754825984 + ], + [ + 0.35816963139517305, + 0.9249185151790988, + 0.12743726074087477, + 0.9333540342923459, + -0.3512283941266345, + -0.07408685328334963, + -0.023764717891212823, + 0.1454797423633866, + -0.9890757719939531 + ], + [ + 0.35099077437766807, + 0.9203964684535604, + 0.1722667035732056, + 0.9361603522122472, + -0.34094471670918586, + -0.0857933277937969, + -0.02023045347009747, + 0.19138192445031688, + -0.9813071322201257 + ], + [ + 0.3536141070061979, + 0.9068090121011756, + 0.22946563772883077, + 0.9346579999751756, + -0.3522524834711712, + -0.04829711141255438, + 0.03703358487391785, + 0.23155043394578645, + -0.9721177449933234 + ], + [ + 0.3576320884063786, + 0.9025800103129739, + 0.23968440567864238, + 0.9328328219126519, + -0.35732064157799404, + -0.04631290818734286, + 0.043843080463976974, + 0.24014846259287714, + -0.9697455853004471 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005598.json b/json/chunk-0005/episode_0005598.json new file mode 100644 index 0000000000000000000000000000000000000000..bc1fa165b7e064068025eeaa56ee10a35f25a631 --- /dev/null +++ b/json/chunk-0005/episode_0005598.json @@ -0,0 +1,2182 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 35, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut broccoli in pot." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005598.mp4", + "start": 0, + "end": 35, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.351482093334198, + 0.04568488895893097, + 0.10029967129230499, + 0.1635292023420334, + -0.11284881085157394, + 0.04866848513484001, + 0.0, + 1.0054124593734741 + ], + [ + 0.3471393883228302, + 0.045398008078336716, + 0.08985576033592224, + 0.16280674934387207, + -0.08108474314212799, + 0.05123447999358177, + 0.0, + 1.0054124593734741 + ], + [ + 0.3368198573589325, + 0.056121788918972015, + 0.08030056953430176, + 0.16151206195354462, + -0.06625145673751831, + 0.08563967049121857, + 0.0, + 1.0054124593734741 + ], + [ + 0.3325408399105072, + 0.0727538987994194, + 0.09008944779634476, + 0.18256165087223053, + -0.08809798210859299, + 0.10292679816484451, + 0.0, + 1.0054124593734741 + ], + [ + 0.3272717297077179, + 0.08853776007890701, + 0.09494546800851822, + 0.19742624461650848, + -0.08384473621845245, + 0.11355490237474442, + 0.0, + 1.0054124593734741 + ], + [ + 0.3254806101322174, + 0.10430460423231125, + 0.09815419465303421, + 0.20281019806861877, + -0.08895418792963028, + 0.12406712770462036, + 0.0, + 1.0054124593734741 + ], + [ + 0.3135429620742798, + 0.11535093188285828, + 0.0846930742263794, + 0.20148399472236633, + -0.09439504146575928, + 0.16148537397384644, + 0.0, + 1.0060625076293945 + ], + [ + 0.29984357953071594, + 0.12357501685619354, + 0.0845380574464798, + 0.20047932863235474, + -0.12560327351093292, + 0.21034587919712067, + 0.0, + 1.0054124593734741 + ], + [ + 0.2909982204437256, + 0.128762885928154, + 0.07829046249389648, + 0.21007554233074188, + -0.12295149266719818, + 0.23875977098941803, + 0.0, + 1.0054124593734741 + ], + [ + 0.2877213656902313, + 0.13537736237049103, + 0.07826435565948486, + 0.21318335831165314, + -0.11597596108913422, + 0.23641467094421387, + 0.0, + 1.0054124593734741 + ], + [ + 0.2868351638317108, + 0.1393575370311737, + 0.07944586127996445, + 0.22034254670143127, + -0.11213520169258118, + 0.22245043516159058, + 0.0, + 1.0060625076293945 + ], + [ + 0.28853151202201843, + 0.14294753968715668, + 0.07842656224966049, + 0.21784503757953644, + -0.12875142693519592, + 0.2170553356409073, + 0.0, + 1.0054124593734741 + ], + [ + 0.2871188521385193, + 0.14287762343883514, + 0.07151489704847336, + 0.2122943103313446, + -0.12784434854984283, + 0.2135843187570572, + 0.0, + 1.0054124593734741 + ], + [ + 0.28678247332572937, + 0.1422894150018692, + 0.060241714119911194, + 0.20292147994041443, + -0.09911976754665375, + 0.20739556849002838, + 0.0, + 1.0060625076293945 + ], + [ + 0.28896698355674744, + 0.14260895550251007, + 0.05911027640104294, + 0.19892342388629913, + -0.11324124038219452, + 0.20821619033813477, + 0.0, + 1.0060625076293945 + ], + [ + 0.28983262181282043, + 0.14135906100273132, + 0.04882141575217247, + 0.18534404039382935, + -0.10189586877822876, + 0.2017541378736496, + 0.0, + 1.0054124593734741 + ], + [ + 0.2878679633140564, + 0.13725802302360535, + 0.04254202917218208, + 0.16594308614730835, + -0.11209451407194138, + 0.20916719734668732, + 0.0, + 1.0060625076293945 + ], + [ + 0.28663477301597595, + 0.13529331982135773, + 0.039002180099487305, + 0.16305223107337952, + -0.11485128849744797, + 0.21098962426185608, + 0.0, + 0.9650423526763916 + ], + [ + 0.288118839263916, + 0.13371549546718597, + 0.037950292229652405, + 0.1612604856491089, + -0.1258825808763504, + 0.20636922121047974, + 0.0, + 0.6631406545639038 + ], + [ + 0.28882846236228943, + 0.13401858508586884, + 0.03853782266378403, + 0.17235559225082397, + -0.12561969459056854, + 0.1919068843126297, + 0.0, + 0.31967243552207947 + ], + [ + 0.29090267419815063, + 0.13371367752552032, + 0.04008207470178604, + 0.17425690591335297, + -0.13211803138256073, + 0.18234169483184814, + 0.0, + 0.2062399983406067 + ], + [ + 0.2927432060241699, + 0.13150526583194733, + 0.040498554706573486, + 0.17142795026302338, + -0.13358911871910095, + 0.1834152638912201, + 0.0, + 0.2020297795534134 + ], + [ + 0.2991601526737213, + 0.1294403076171875, + 0.0480818934738636, + 0.19046856462955475, + -0.1302926242351532, + 0.1732397973537445, + 0.0, + 0.228750541806221 + ], + [ + 0.3053865134716034, + 0.1272115707397461, + 0.07062540203332901, + 0.21286240220069885, + -0.14051154255867004, + 0.17823049426078796, + 0.0, + 0.2306915670633316 + ], + [ + 0.3093529939651489, + 0.1214587613940239, + 0.0933247059583664, + 0.23537106812000275, + -0.14938268065452576, + 0.18959510326385498, + 0.0, + 0.2306915670633316 + ], + [ + 0.3065062463283539, + 0.10579831898212433, + 0.10930109769105911, + 0.23493017256259918, + -0.2015724927186966, + 0.20821750164031982, + 0.0, + 0.2306915670633316 + ], + [ + 0.2957901358604431, + 0.08638668060302734, + 0.10958360135555267, + 0.22847504913806915, + -0.19294463098049164, + 0.22857144474983215, + 0.0, + 0.2306915670633316 + ], + [ + 0.28640419244766235, + 0.07023890316486359, + 0.11453454941511154, + 0.20227979123592377, + -0.18672215938568115, + 0.24197499454021454, + 0.0, + 0.2306915670633316 + ], + [ + 0.27920806407928467, + 0.05211552232503891, + 0.11319057643413544, + 0.11257458478212357, + -0.11959683150053024, + 0.22202438116073608, + 0.0, + 0.2306915670633316 + ], + [ + 0.2757498025894165, + 0.0390373133122921, + 0.12497656792402267, + 0.07606185227632523, + -0.1313873678445816, + 0.20575982332229614, + 0.0, + 0.2306915670633316 + ], + [ + 0.2726474404335022, + 0.0244180578738451, + 0.12637092173099518, + 0.03183598816394806, + -0.12702324986457825, + 0.19371657073497772, + 0.0, + 0.2306915670633316 + ], + [ + 0.26522159576416016, + 0.0050003407523036, + 0.1217968612909317, + -0.009595785290002823, + -0.132317453622818, + 0.18613184988498688, + 0.0, + 0.2306915670633316 + ], + [ + 0.2666341960430145, + -0.006186566315591335, + 0.11576826870441437, + -0.043050896376371384, + -0.14632676541805267, + 0.18480931222438812, + 0.0, + 0.2306915670633316 + ], + [ + 0.2690034508705139, + -0.011806845664978027, + 0.1007491871714592, + -0.06482075154781342, + -0.1472720503807068, + 0.1705026626586914, + 0.0, + 0.2861579358577728 + ], + [ + 0.27509209513664246, + -0.012972675263881683, + 0.08941511064767838, + -0.10564659535884857, + -0.14105701446533203, + 0.14440901577472687, + 0.0, + 0.5472165942192078 + ] + ], + "left_gripper_pos": [ + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 1.0060625076293945 + ], + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 1.0060625076293945 + ], + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0054124593734741 + ], + [ + 1.0060625076293945 + ], + [ + 0.9650423526763916 + ], + [ + 0.6631406545639038 + ], + [ + 0.31967243552207947 + ], + [ + 0.2062399983406067 + ], + [ + 0.2020297795534134 + ], + [ + 0.228750541806221 + ], + [ + 0.2306915670633316 + ], + [ + 0.2306915670633316 + ], + [ + 0.2306915670633316 + ], + [ + 0.2306915670633316 + ], + [ + 0.2306915670633316 + ], + [ + 0.2306915670633316 + ], + [ + 0.2306915670633316 + ], + [ + 0.2306915670633316 + ], + [ + 0.2306915670633316 + ], + [ + 0.2306915670633316 + ], + [ + 0.2861579358577728 + ], + [ + 0.5472165942192078 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.351482093334198, + 0.04568488895893097, + 0.10029967129230499 + ], + [ + 0.3471393883228302, + 0.045398008078336716, + 0.08985576033592224 + ], + [ + 0.3368198573589325, + 0.056121788918972015, + 0.08030056953430176 + ], + [ + 0.3325408399105072, + 0.0727538987994194, + 0.09008944779634476 + ], + [ + 0.3272717297077179, + 0.08853776007890701, + 0.09494546800851822 + ], + [ + 0.3254806101322174, + 0.10430460423231125, + 0.09815419465303421 + ], + [ + 0.3135429620742798, + 0.11535093188285828, + 0.0846930742263794 + ], + [ + 0.29984357953071594, + 0.12357501685619354, + 0.0845380574464798 + ], + [ + 0.2909982204437256, + 0.128762885928154, + 0.07829046249389648 + ], + [ + 0.2877213656902313, + 0.13537736237049103, + 0.07826435565948486 + ], + [ + 0.2868351638317108, + 0.1393575370311737, + 0.07944586127996445 + ], + [ + 0.28853151202201843, + 0.14294753968715668, + 0.07842656224966049 + ], + [ + 0.2871188521385193, + 0.14287762343883514, + 0.07151489704847336 + ], + [ + 0.28678247332572937, + 0.1422894150018692, + 0.060241714119911194 + ], + [ + 0.28896698355674744, + 0.14260895550251007, + 0.05911027640104294 + ], + [ + 0.28983262181282043, + 0.14135906100273132, + 0.04882141575217247 + ], + [ + 0.2878679633140564, + 0.13725802302360535, + 0.04254202917218208 + ], + [ + 0.28663477301597595, + 0.13529331982135773, + 0.039002180099487305 + ], + [ + 0.288118839263916, + 0.13371549546718597, + 0.037950292229652405 + ], + [ + 0.28882846236228943, + 0.13401858508586884, + 0.03853782266378403 + ], + [ + 0.29090267419815063, + 0.13371367752552032, + 0.04008207470178604 + ], + [ + 0.2927432060241699, + 0.13150526583194733, + 0.040498554706573486 + ], + [ + 0.2991601526737213, + 0.1294403076171875, + 0.0480818934738636 + ], + [ + 0.3053865134716034, + 0.1272115707397461, + 0.07062540203332901 + ], + [ + 0.3093529939651489, + 0.1214587613940239, + 0.0933247059583664 + ], + [ + 0.3065062463283539, + 0.10579831898212433, + 0.10930109769105911 + ], + [ + 0.2957901358604431, + 0.08638668060302734, + 0.10958360135555267 + ], + [ + 0.28640419244766235, + 0.07023890316486359, + 0.11453454941511154 + ], + [ + 0.27920806407928467, + 0.05211552232503891, + 0.11319057643413544 + ], + [ + 0.2757498025894165, + 0.0390373133122921, + 0.12497656792402267 + ], + [ + 0.2726474404335022, + 0.0244180578738451, + 0.12637092173099518 + ], + [ + 0.26522159576416016, + 0.0050003407523036, + 0.1217968612909317 + ], + [ + 0.2666341960430145, + -0.006186566315591335, + 0.11576826870441437 + ], + [ + 0.2690034508705139, + -0.011806845664978027, + 0.1007491871714592 + ], + [ + 0.27509209513664246, + -0.012972675263881683, + 0.08941511064767838 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9924627819815693, + 0.06631149817209217, + 0.10305538118689637, + 0.04833983243446158, + -0.9845987046473283, + 0.16801384290293211, + 0.11260944446009878, + -0.16176580608081423, + -0.9803830562598541 + ], + [ + 0.9954065453767125, + 0.06364612946450184, + 0.07151908574210586, + 0.051043807406508476, + -0.9848090445044209, + 0.16596889945931734, + 0.08099592055558161, + -0.16155592241226438, + -0.9835341096204424 + ], + [ + 0.9941493789766025, + 0.0950289494140121, + 0.05134696732724047, + 0.08534737757046232, + -0.9824574976967563, + 0.16581040486432963, + 0.06620300161080703, + -0.16045798201615613, + -0.9848199828318992 + ], + [ + 0.9908501178825442, + 0.11692663240953968, + 0.06741073004731887, + 0.10234670340150986, + -0.9765363199885297, + 0.18947814661882018, + 0.08798406784748863, + -0.1808451779191918, + -0.9795681831441772 + ], + [ + 0.9900692806262212, + 0.1274306834406748, + 0.05936531376249004, + 0.11291296509592771, + -0.9723980213033819, + 0.2041880272653441, + 0.0837465335015257, + -0.19545717966631368, + -0.9771299857456877 + ], + [ + 0.9883901163462306, + 0.13896900966791295, + 0.061421431609852896, + 0.12325980449236576, + -0.969761149878814, + 0.21064266610120533, + 0.08883692084706726, + -0.20062633560337892, + -0.9756316287189402 + ], + [ + 0.9825955638072671, + 0.17614908708413793, + 0.05896996782858802, + 0.16006863505551458, + -0.9639905977262586, + 0.21236798150106354, + 0.09425492060229221, + -0.19923259425805898, + -0.9754088288135699 + ], + [ + 0.9702546629014233, + 0.22901314572219295, + 0.07847845694501734, + 0.20715331310301494, + -0.9531626032510779, + 0.22038275030971088, + 0.12527327723217585, + -0.19757031874766445, + -0.9722512921881136 + ], + [ + 0.9642971660465844, + 0.2561478769712035, + 0.06722529789946069, + 0.2347124366016045, + -0.9442224351176801, + 0.23098498896027048, + 0.1226419490185304, + -0.20695955678243927, + -0.970632110635823 + ], + [ + 0.9656531541107642, + 0.25271771036776486, + 0.060396563001605605, + 0.23264513532576814, + -0.9444418041915803, + 0.23217648353054057, + 0.11571614824728414, + -0.2101509870588926, + -0.9707967530193874 + ], + [ + 0.9692339505785036, + 0.23914106166763754, + 0.05828466067896172, + 0.21923471822013746, + -0.9463823419572863, + 0.2372690480412028, + 0.1119003457229845, + -0.2171911956224673, + -0.9696939193225661 + ], + [ + 0.9684530222896539, + 0.23736377726887994, + 0.07587608884678158, + 0.21357249276577758, + -0.9474798126447475, + 0.23805208456236238, + 0.12839600442321797, + -0.21433721532044736, + -0.9682840617178562 + ], + [ + 0.9693019207118285, + 0.233459034006974, + 0.0771405596615067, + 0.21023429613952532, + -0.9496434524384961, + 0.23233349729948963, + 0.12749638124699175, + -0.20898371391384582, + -0.969572318131916 + ], + [ + 0.9737673562992268, + 0.22120279089439798, + 0.05335223619065574, + 0.20490129444290506, + -0.9543856747847524, + 0.21717146060492012, + 0.09895754312651561, + -0.2005425368000058, + -0.9746743536136476 + ], + [ + 0.9721346098787668, + 0.22448646896507343, + 0.06752870150869818, + 0.20539095120676612, + -0.9544910338951449, + 0.21624389789345988, + 0.11299936919398064, + -0.19634839308069324, + -0.9740012582622222 + ], + [ + 0.9746348909070252, + 0.21532128003480006, + 0.06102110938704969, + 0.19934880386203419, + -0.9591805291262799, + 0.2005810732442264, + 0.10171963343144375, + -0.18332882727275793, + -0.9777748499861141 + ], + [ + 0.9720649580612476, + 0.22286747590513176, + 0.0736193282573242, + 0.206342135904761, + -0.9609298772463397, + 0.18449036279869696, + 0.1118599135510362, + -0.16414584734012977, + -0.9800732118272312 + ], + [ + 0.9713820745222626, + 0.22484031146653113, + 0.07657479765862193, + 0.20804793713552164, + -0.9609587115729438, + 0.18241274765136897, + 0.11459895789438773, + -0.1612612445434465, + -0.9802356297634865 + ], + [ + 0.9710364817157217, + 0.22197992246407197, + 0.0883915448445014, + 0.20328613678636756, + -0.9619516521109244, + 0.18254798161452623, + 0.12555037940057034, + -0.15929197413525814, + -0.9792155887282764 + ], + [ + 0.9739071889113531, + 0.2089982916029589, + 0.08845621229642861, + 0.18922819901664012, + -0.9629994683351311, + 0.19189766200549188, + 0.12528956893415005, + -0.17015210281774276, + -0.9774204754469774 + ], + [ + 0.9748513413786012, + 0.20104769327719763, + 0.09614929661864191, + 0.17975264381174738, + -0.9643869107006537, + 0.19402802249143333, + 0.13173400948513178, + -0.17186538772297041, + -0.9762727279033272 + ], + [ + 0.974466206534142, + 0.20205526067660598, + 0.09792488935846393, + 0.18076356914483402, + -0.9646704784528484, + 0.19166481177193967, + 0.13319213337498353, + -0.16906962954493354, + -0.9765630117778162 + ], + [ + 0.976682270451259, + 0.1934862213179684, + 0.09303131056944092, + 0.17091348954048213, + -0.9629778891878159, + 0.20847581161485865, + 0.129924292106092, + -0.18771432309622163, + -0.973592836469773 + ], + [ + 0.9744595523681657, + 0.2024050157808826, + 0.09726659439486085, + 0.1755411086269908, + -0.9567013130209058, + 0.2321807848338911, + 0.1400496339889567, + -0.20917649784527725, + -0.9677971340982281 + ], + [ + 0.9711433291310075, + 0.2173502547593814, + 0.09818096068167072, + 0.18636240253531394, + -0.9484616100899138, + 0.2562998812073744, + 0.14882771652353394, + -0.23060668017574998, + -0.9615980812442952 + ], + [ + 0.9585912174046352, + 0.24663521039704078, + 0.142386624747926, + 0.20253083933425614, + -0.9418910579185209, + 0.2679971905294736, + 0.200210232089324, + -0.22806207051050084, + -0.9528397320437484 + ], + [ + 0.9559175638280786, + 0.2629983379731582, + 0.13058899413177094, + 0.222381786734884, + -0.938839278268357, + 0.2629204261923199, + 0.19174971210823705, + -0.22228963944346808, + -0.9559389960151752 + ], + [ + 0.9539910234832494, + 0.27094387618032, + 0.12841550947516225, + 0.2354554663054962, + -0.9421349628948631, + 0.2386261408101722, + 0.18563903280356583, + -0.19741106263702202, + -0.9625835142200796 + ], + [ + 0.9684858282481341, + 0.23188504564025736, + 0.0909094389540563, + 0.21863180057669085, + -0.9663277795446424, + 0.1356862493287913, + 0.11931192840248457, + -0.11153451523513519, + -0.9865722049866111 + ], + [ + 0.9704689231668072, + 0.2134655260344254, + 0.11235007059322837, + 0.20255007604317846, + -0.9740417438997494, + 0.1010749614674046, + 0.13100967850643694, + -0.07533359367228382, + -0.9885147008527788 + ], + [ + 0.9733896301116441, + 0.19636666308694478, + 0.1181218083980034, + 0.19095631413772268, + -0.9800220435324543, + 0.055610073560529646, + 0.12668194063106106, + -0.03157416378260025, + -0.9914407486579204 + ], + [ + 0.9741372143235272, + 0.18380632957433213, + 0.1314226802283778, + 0.18344131633223187, + -0.9829164560714788, + 0.014984119800063827, + 0.13193169115984413, + 0.009511760735879426, + -0.9912131734775355 + ], + [ + 0.9724666166110746, + 0.17742058828119311, + 0.15109802920939855, + 0.18179532296842726, + -0.9832136475965549, + -0.015536528784847568, + 0.14580514436676825, + 0.04257767060129675, + -0.9883966824318832 + ], + [ + 0.9748316247860007, + 0.15995407318627802, + 0.15529970311692531, + 0.16784099260020957, + -0.9850427372199745, + -0.038989832689526084, + 0.14674026209620428, + 0.06407417827252762, + -0.9870976624218285 + ], + [ + 0.9797624513124147, + 0.12843438116141653, + 0.15352572661926359, + 0.14247832356512968, + -0.986207207381561, + -0.08423343411457028, + 0.1405897091268031, + 0.10440284404338519, + -0.9845479063221323 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.004342705011367798, + -0.00028688088059425354, + -0.010443910956382751, + -0.0007224529981613159, + 0.03176406770944595, + 0.0025659948587417603, + 1.0 + ], + [ + -0.010319530963897705, + 0.0107237808406353, + -0.009555190801620483, + -0.0012946873903274536, + 0.01483328640460968, + 0.034405190497636795, + 1.0 + ], + [ + -0.004279017448425293, + 0.016632109880447388, + 0.009788878262043, + 0.021049588918685913, + -0.021846525371074677, + 0.017287127673625946, + 1.0 + ], + [ + -0.005269110202789307, + 0.01578386127948761, + 0.004856020212173462, + 0.014864593744277954, + 0.0042532458901405334, + 0.010628104209899902, + 1.0 + ], + [ + -0.0017911195755004883, + 0.015766844153404236, + 0.003208726644515991, + 0.0053839534521102905, + -0.005109451711177826, + 0.010512225329875946, + 1.0 + ], + [ + -0.011937648057937622, + 0.011046327650547028, + -0.013461120426654816, + -0.0013262033462524414, + -0.005440853536128998, + 0.037418246269226074, + 1.0 + ], + [ + -0.013699382543563843, + 0.008224084973335266, + -0.00015501677989959717, + -0.0010046660900115967, + -0.031208232045173645, + 0.04886050522327423, + 1.0 + ], + [ + -0.008845359086990356, + 0.005187869071960449, + -0.006247594952583313, + 0.009596213698387146, + 0.002651780843734741, + 0.028413891792297363, + 1.0 + ], + [ + -0.0032768547534942627, + 0.006614476442337036, + -2.6106834411621094e-05, + 0.003107815980911255, + 0.006975531578063965, + -0.0023451000452041626, + 1.0 + ], + [ + -0.0008862018585205078, + 0.003980174660682678, + 0.0011815056204795837, + 0.007159188389778137, + 0.0038407593965530396, + -0.013964235782623291, + 1.0 + ], + [ + 0.0016963481903076172, + 0.003590002655982971, + -0.001019299030303955, + -0.0024975091218948364, + -0.016616225242614746, + -0.005395099520683289, + 1.0 + ], + [ + -0.0014126598834991455, + -6.99162483215332e-05, + -0.006911665201187134, + -0.0055507272481918335, + 0.0009070783853530884, + -0.0034710168838500977, + 1.0 + ], + [ + -0.000336378812789917, + -0.0005882084369659424, + -0.011273182928562164, + -0.009372830390930176, + 0.028724581003189087, + -0.006188750267028809, + 1.0 + ], + [ + 0.0021845102310180664, + 0.00031954050064086914, + -0.0011314377188682556, + -0.003998056054115295, + -0.014121472835540771, + 0.0008206218481063843, + 1.0 + ], + [ + 0.000865638256072998, + -0.0012498944997787476, + -0.010288860648870468, + -0.013579383492469788, + 0.01134537160396576, + -0.0064620524644851685, + 1.0 + ], + [ + -0.001964658498764038, + -0.0041010379791259766, + -0.006279386579990387, + -0.019400954246520996, + -0.010198645293712616, + 0.00741305947303772, + 1.0 + ], + [ + -0.0012331902980804443, + -0.0019647032022476196, + -0.0035398490726947784, + -0.002890855073928833, + -0.002756774425506592, + 0.0018224269151687622, + 0.0 + ], + [ + 0.0014840662479400635, + -0.001577824354171753, + -0.0010518878698349, + -0.0017917454242706299, + -0.011031292378902435, + -0.004620403051376343, + 0.0 + ], + [ + 0.0007096230983734131, + 0.00030308961868286133, + 0.0005875304341316223, + 0.011095106601715088, + 0.00026288628578186035, + -0.014462336897850037, + 0.0 + ], + [ + 0.002074211835861206, + -0.00030490756034851074, + 0.0015442520380020142, + 0.0019013136625289917, + -0.0064983367919921875, + -0.009565189480781555, + 0.0 + ], + [ + 0.0018405318260192871, + -0.002208411693572998, + 0.00041648000478744507, + -0.00282895565032959, + -0.0014710873365402222, + 0.0010735690593719482, + 0.0 + ], + [ + 0.006416946649551392, + -0.0020649582147598267, + 0.007583338767290115, + 0.019040614366531372, + 0.003296494483947754, + -0.010175466537475586, + 0.0 + ], + [ + 0.00622636079788208, + -0.0022287368774414062, + 0.02254350855946541, + 0.022393837571144104, + -0.010218918323516846, + 0.004990696907043457, + 0.0 + ], + [ + 0.003966480493545532, + -0.0057528093457221985, + 0.022699303925037384, + 0.022508665919303894, + -0.008871138095855713, + 0.011364609003067017, + 0.0 + ], + [ + -0.002846747636795044, + -0.015660442411899567, + 0.01597639173269272, + -0.00044089555740356445, + -0.05218981206417084, + 0.018622398376464844, + 0.0 + ], + [ + -0.010716110467910767, + -0.019411638379096985, + 0.0002825036644935608, + -0.006455123424530029, + 0.008627861738204956, + 0.02035394310951233, + 0.0 + ], + [ + -0.009385943412780762, + -0.016147777438163757, + 0.004950948059558868, + -0.026195257902145386, + 0.006222471594810486, + 0.013403549790382385, + 0.0 + ], + [ + -0.0071961283683776855, + -0.018123380839824677, + -0.0013439729809761047, + -0.0897052064538002, + 0.06712532788515091, + -0.019950613379478455, + 0.0 + ], + [ + -0.003458261489868164, + -0.013078209012746811, + 0.011785991489887238, + -0.03651273250579834, + -0.011790536344051361, + -0.01626455783843994, + 0.0 + ], + [ + -0.0031023621559143066, + -0.014619255438446999, + 0.0013943538069725037, + -0.04422586411237717, + 0.004364117980003357, + -0.01204325258731842, + 0.0 + ], + [ + -0.007425844669342041, + -0.019417718052864075, + -0.0045740604400634766, + -0.04143177345395088, + -0.005294203758239746, + -0.007584720849990845, + 0.0 + ], + [ + 0.0014126002788543701, + -0.011186907067894936, + -0.006028592586517334, + -0.03345511108636856, + -0.01400931179523468, + -0.0013225376605987549, + 0.0 + ], + [ + 0.0023692548274993896, + -0.005620279349386692, + -0.01501908153295517, + -0.021769855171442032, + -0.0009452849626541138, + -0.014306649565696716, + 1.0 + ], + [ + 0.00608864426612854, + -0.001165829598903656, + -0.011334076523780823, + -0.040825843811035156, + 0.006215035915374756, + -0.02609364688396454, + 1.0 + ], + [ + 0.001165151596069336, + 0.0025627901777625084, + -0.005059108138084412, + -0.011877603828907013, + 0.0030343830585479736, + 0.009627178311347961, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 1.0060625076293945 + ], + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 1.0060625076293945 + ], + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0054124593734741 + ], + [ + 1.0060625076293945 + ], + [ + 0.9650423526763916 + ], + [ + 0.6631406545639038 + ], + [ + 0.31967243552207947 + ], + [ + 0.2062399983406067 + ], + [ + 0.2020297795534134 + ], + [ + 0.228750541806221 + ], + [ + 0.2306915670633316 + ], + [ + 0.2306915670633316 + ], + [ + 0.2306915670633316 + ], + [ + 0.2306915670633316 + ], + [ + 0.2306915670633316 + ], + [ + 0.2306915670633316 + ], + [ + 0.2306915670633316 + ], + [ + 0.2306915670633316 + ], + [ + 0.2306915670633316 + ], + [ + 0.2306915670633316 + ], + [ + 0.2861579358577728 + ], + [ + 0.5472165942192078 + ], + [ + 0.8731510639190674 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3471393883228302, + 0.045398008078336716, + 0.08985576033592224 + ], + [ + 0.3368198573589325, + 0.056121788918972015, + 0.08030056953430176 + ], + [ + 0.3325408399105072, + 0.0727538987994194, + 0.09008944779634476 + ], + [ + 0.3272717297077179, + 0.08853776007890701, + 0.09494546800851822 + ], + [ + 0.3254806101322174, + 0.10430460423231125, + 0.09815419465303421 + ], + [ + 0.3135429620742798, + 0.11535093188285828, + 0.0846930742263794 + ], + [ + 0.29984357953071594, + 0.12357501685619354, + 0.0845380574464798 + ], + [ + 0.2909982204437256, + 0.128762885928154, + 0.07829046249389648 + ], + [ + 0.2877213656902313, + 0.13537736237049103, + 0.07826435565948486 + ], + [ + 0.2868351638317108, + 0.1393575370311737, + 0.07944586127996445 + ], + [ + 0.28853151202201843, + 0.14294753968715668, + 0.07842656224966049 + ], + [ + 0.2871188521385193, + 0.14287762343883514, + 0.07151489704847336 + ], + [ + 0.28678247332572937, + 0.1422894150018692, + 0.060241714119911194 + ], + [ + 0.28896698355674744, + 0.14260895550251007, + 0.05911027640104294 + ], + [ + 0.28983262181282043, + 0.14135906100273132, + 0.04882141575217247 + ], + [ + 0.2878679633140564, + 0.13725802302360535, + 0.04254202917218208 + ], + [ + 0.28663477301597595, + 0.13529331982135773, + 0.039002180099487305 + ], + [ + 0.288118839263916, + 0.13371549546718597, + 0.037950292229652405 + ], + [ + 0.28882846236228943, + 0.13401858508586884, + 0.03853782266378403 + ], + [ + 0.29090267419815063, + 0.13371367752552032, + 0.04008207470178604 + ], + [ + 0.2927432060241699, + 0.13150526583194733, + 0.040498554706573486 + ], + [ + 0.2991601526737213, + 0.1294403076171875, + 0.0480818934738636 + ], + [ + 0.3053865134716034, + 0.1272115707397461, + 0.07062540203332901 + ], + [ + 0.3093529939651489, + 0.1214587613940239, + 0.0933247059583664 + ], + [ + 0.3065062463283539, + 0.10579831898212433, + 0.10930109769105911 + ], + [ + 0.2957901358604431, + 0.08638668060302734, + 0.10958360135555267 + ], + [ + 0.28640419244766235, + 0.07023890316486359, + 0.11453454941511154 + ], + [ + 0.27920806407928467, + 0.05211552232503891, + 0.11319057643413544 + ], + [ + 0.2757498025894165, + 0.0390373133122921, + 0.12497656792402267 + ], + [ + 0.2726474404335022, + 0.0244180578738451, + 0.12637092173099518 + ], + [ + 0.26522159576416016, + 0.0050003407523036, + 0.1217968612909317 + ], + [ + 0.2666341960430145, + -0.006186566315591335, + 0.11576826870441437 + ], + [ + 0.2690034508705139, + -0.011806845664978027, + 0.1007491871714592 + ], + [ + 0.27509209513664246, + -0.012972675263881683, + 0.08941511064767838 + ], + [ + 0.2762572467327118, + -0.010409885086119175, + 0.08435600250959396 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9954065453767125, + 0.06364612946450184, + 0.07151908574210586, + 0.051043807406508476, + -0.9848090445044209, + 0.16596889945931734, + 0.08099592055558161, + -0.16155592241226438, + -0.9835341096204424 + ], + [ + 0.9941493789766025, + 0.0950289494140121, + 0.05134696732724047, + 0.08534737757046232, + -0.9824574976967563, + 0.16581040486432963, + 0.06620300161080703, + -0.16045798201615613, + -0.9848199828318992 + ], + [ + 0.9908501178825442, + 0.11692663240953968, + 0.06741073004731887, + 0.10234670340150986, + -0.9765363199885297, + 0.18947814661882018, + 0.08798406784748863, + -0.1808451779191918, + -0.9795681831441772 + ], + [ + 0.9900692806262212, + 0.1274306834406748, + 0.05936531376249004, + 0.11291296509592771, + -0.9723980213033819, + 0.2041880272653441, + 0.0837465335015257, + -0.19545717966631368, + -0.9771299857456877 + ], + [ + 0.9883901163462306, + 0.13896900966791295, + 0.061421431609852896, + 0.12325980449236576, + -0.969761149878814, + 0.21064266610120533, + 0.08883692084706726, + -0.20062633560337892, + -0.9756316287189402 + ], + [ + 0.9825955638072671, + 0.17614908708413793, + 0.05896996782858802, + 0.16006863505551458, + -0.9639905977262586, + 0.21236798150106354, + 0.09425492060229221, + -0.19923259425805898, + -0.9754088288135699 + ], + [ + 0.9702546629014233, + 0.22901314572219295, + 0.07847845694501734, + 0.20715331310301494, + -0.9531626032510779, + 0.22038275030971088, + 0.12527327723217585, + -0.19757031874766445, + -0.9722512921881136 + ], + [ + 0.9642971660465844, + 0.2561478769712035, + 0.06722529789946069, + 0.2347124366016045, + -0.9442224351176801, + 0.23098498896027048, + 0.1226419490185304, + -0.20695955678243927, + -0.970632110635823 + ], + [ + 0.9656531541107642, + 0.25271771036776486, + 0.060396563001605605, + 0.23264513532576814, + -0.9444418041915803, + 0.23217648353054057, + 0.11571614824728414, + -0.2101509870588926, + -0.9707967530193874 + ], + [ + 0.9692339505785036, + 0.23914106166763754, + 0.05828466067896172, + 0.21923471822013746, + -0.9463823419572863, + 0.2372690480412028, + 0.1119003457229845, + -0.2171911956224673, + -0.9696939193225661 + ], + [ + 0.9684530222896539, + 0.23736377726887994, + 0.07587608884678158, + 0.21357249276577758, + -0.9474798126447475, + 0.23805208456236238, + 0.12839600442321797, + -0.21433721532044736, + -0.9682840617178562 + ], + [ + 0.9693019207118285, + 0.233459034006974, + 0.0771405596615067, + 0.21023429613952532, + -0.9496434524384961, + 0.23233349729948963, + 0.12749638124699175, + -0.20898371391384582, + -0.969572318131916 + ], + [ + 0.9737673562992268, + 0.22120279089439798, + 0.05335223619065574, + 0.20490129444290506, + -0.9543856747847524, + 0.21717146060492012, + 0.09895754312651561, + -0.2005425368000058, + -0.9746743536136476 + ], + [ + 0.9721346098787668, + 0.22448646896507343, + 0.06752870150869818, + 0.20539095120676612, + -0.9544910338951449, + 0.21624389789345988, + 0.11299936919398064, + -0.19634839308069324, + -0.9740012582622222 + ], + [ + 0.9746348909070252, + 0.21532128003480006, + 0.06102110938704969, + 0.19934880386203419, + -0.9591805291262799, + 0.2005810732442264, + 0.10171963343144375, + -0.18332882727275793, + -0.9777748499861141 + ], + [ + 0.9720649580612476, + 0.22286747590513176, + 0.0736193282573242, + 0.206342135904761, + -0.9609298772463397, + 0.18449036279869696, + 0.1118599135510362, + -0.16414584734012977, + -0.9800732118272312 + ], + [ + 0.9713820745222626, + 0.22484031146653113, + 0.07657479765862193, + 0.20804793713552164, + -0.9609587115729438, + 0.18241274765136897, + 0.11459895789438773, + -0.1612612445434465, + -0.9802356297634865 + ], + [ + 0.9710364817157217, + 0.22197992246407197, + 0.0883915448445014, + 0.20328613678636756, + -0.9619516521109244, + 0.18254798161452623, + 0.12555037940057034, + -0.15929197413525814, + -0.9792155887282764 + ], + [ + 0.9739071889113531, + 0.2089982916029589, + 0.08845621229642861, + 0.18922819901664012, + -0.9629994683351311, + 0.19189766200549188, + 0.12528956893415005, + -0.17015210281774276, + -0.9774204754469774 + ], + [ + 0.9748513413786012, + 0.20104769327719763, + 0.09614929661864191, + 0.17975264381174738, + -0.9643869107006537, + 0.19402802249143333, + 0.13173400948513178, + -0.17186538772297041, + -0.9762727279033272 + ], + [ + 0.974466206534142, + 0.20205526067660598, + 0.09792488935846393, + 0.18076356914483402, + -0.9646704784528484, + 0.19166481177193967, + 0.13319213337498353, + -0.16906962954493354, + -0.9765630117778162 + ], + [ + 0.976682270451259, + 0.1934862213179684, + 0.09303131056944092, + 0.17091348954048213, + -0.9629778891878159, + 0.20847581161485865, + 0.129924292106092, + -0.18771432309622163, + -0.973592836469773 + ], + [ + 0.9744595523681657, + 0.2024050157808826, + 0.09726659439486085, + 0.1755411086269908, + -0.9567013130209058, + 0.2321807848338911, + 0.1400496339889567, + -0.20917649784527725, + -0.9677971340982281 + ], + [ + 0.9711433291310075, + 0.2173502547593814, + 0.09818096068167072, + 0.18636240253531394, + -0.9484616100899138, + 0.2562998812073744, + 0.14882771652353394, + -0.23060668017574998, + -0.9615980812442952 + ], + [ + 0.9585912174046352, + 0.24663521039704078, + 0.142386624747926, + 0.20253083933425614, + -0.9418910579185209, + 0.2679971905294736, + 0.200210232089324, + -0.22806207051050084, + -0.9528397320437484 + ], + [ + 0.9559175638280786, + 0.2629983379731582, + 0.13058899413177094, + 0.222381786734884, + -0.938839278268357, + 0.2629204261923199, + 0.19174971210823705, + -0.22228963944346808, + -0.9559389960151752 + ], + [ + 0.9539910234832494, + 0.27094387618032, + 0.12841550947516225, + 0.2354554663054962, + -0.9421349628948631, + 0.2386261408101722, + 0.18563903280356583, + -0.19741106263702202, + -0.9625835142200796 + ], + [ + 0.9684858282481341, + 0.23188504564025736, + 0.0909094389540563, + 0.21863180057669085, + -0.9663277795446424, + 0.1356862493287913, + 0.11931192840248457, + -0.11153451523513519, + -0.9865722049866111 + ], + [ + 0.9704689231668072, + 0.2134655260344254, + 0.11235007059322837, + 0.20255007604317846, + -0.9740417438997494, + 0.1010749614674046, + 0.13100967850643694, + -0.07533359367228382, + -0.9885147008527788 + ], + [ + 0.9733896301116441, + 0.19636666308694478, + 0.1181218083980034, + 0.19095631413772268, + -0.9800220435324543, + 0.055610073560529646, + 0.12668194063106106, + -0.03157416378260025, + -0.9914407486579204 + ], + [ + 0.9741372143235272, + 0.18380632957433213, + 0.1314226802283778, + 0.18344131633223187, + -0.9829164560714788, + 0.014984119800063827, + 0.13193169115984413, + 0.009511760735879426, + -0.9912131734775355 + ], + [ + 0.9724666166110746, + 0.17742058828119311, + 0.15109802920939855, + 0.18179532296842726, + -0.9832136475965549, + -0.015536528784847568, + 0.14580514436676825, + 0.04257767060129675, + -0.9883966824318832 + ], + [ + 0.9748316247860007, + 0.15995407318627802, + 0.15529970311692531, + 0.16784099260020957, + -0.9850427372199745, + -0.038989832689526084, + 0.14674026209620428, + 0.06407417827252762, + -0.9870976624218285 + ], + [ + 0.9797624513124147, + 0.12843438116141653, + 0.15352572661926359, + 0.14247832356512968, + -0.986207207381561, + -0.08423343411457028, + 0.1405897091268031, + 0.10440284404338519, + -0.9845479063221323 + ], + [ + 0.9787624524797766, + 0.13642808766831657, + 0.1530079687824776, + 0.1519686764363595, + -0.9838186647350106, + -0.09490182454095557, + 0.13758482110303658, + 0.11613876103260003, + -0.9836575650031155 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005599.json b/json/chunk-0005/episode_0005599.json new file mode 100644 index 0000000000000000000000000000000000000000..9a58aa259d4df55710fb57fee59f0041a3498291 --- /dev/null +++ b/json/chunk-0005/episode_0005599.json @@ -0,0 +1,1282 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 20, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nOpen drawer of box." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005599.mp4", + "start": 0, + "end": 20, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.26722946763038635, + -0.15604235231876373, + 0.08816421777009964, + -0.10374672710895538, + 0.025980869308114052, + 0.1880279779434204, + 0.0, + 0.9974852800369263 + ], + [ + 0.2662855088710785, + -0.15131840109825134, + 0.08124645054340363, + -0.08963609486818314, + 0.04783613607287407, + 0.17120712995529175, + 0.0, + 0.9974852800369263 + ], + [ + 0.27847936749458313, + -0.12793925404548645, + 0.08630642294883728, + -0.09864542633295059, + 0.046764273196458817, + 0.09334670007228851, + 0.0, + 0.9974852800369263 + ], + [ + 0.28895121812820435, + -0.09954775869846344, + 0.08643557876348495, + -0.10965856909751892, + 0.03904106467962265, + 0.04434388130903244, + 0.0, + 0.9974852800369263 + ], + [ + 0.30177292227745056, + -0.07393345236778259, + 0.08826296776533127, + -0.10922855883836746, + 0.004317530896514654, + 0.04873384162783623, + 0.0, + 0.9974852800369263 + ], + [ + 0.309628963470459, + -0.056721217930316925, + 0.08609633892774582, + -0.09656128287315369, + -0.03870069608092308, + 0.03139375150203705, + 0.0, + 0.9974852800369263 + ], + [ + 0.3121159076690674, + -0.04376288130879402, + 0.08041684329509735, + -0.0700085386633873, + -0.05339721217751503, + 0.0065740253776311874, + 0.0, + 0.9974852800369263 + ], + [ + 0.3129223883152008, + -0.036116499453783035, + 0.0739058181643486, + -0.054491497576236725, + -0.038312628865242004, + -0.01567433401942253, + 0.0, + 0.9974852800369263 + ], + [ + 0.31406688690185547, + -0.025371108204126358, + 0.0732179805636406, + -0.048730745911598206, + -0.043721754103899, + -0.026889333501458168, + 0.0, + 0.9974852800369263 + ], + [ + 0.3147728145122528, + -0.010557164438068867, + 0.06751977652311325, + -0.038920946419239044, + -0.03907744958996773, + -0.020331747829914093, + 0.0, + 0.9974852800369263 + ], + [ + 0.3134213387966156, + -0.0022014703135937452, + 0.05715585872530937, + -0.03010750003159046, + -0.030062120407819748, + -0.058744050562381744, + 0.0, + 0.9974852800369263 + ], + [ + 0.3139737546443939, + 0.0035587172023952007, + 0.04556902498006821, + -0.0004559774533845484, + -0.04781126603484154, + -0.07924008369445801, + 0.0, + 0.9974852800369263 + ], + [ + 0.31708207726478577, + -0.0022204879205673933, + 0.041700176894664764, + 0.015586691908538342, + -0.08208394795656204, + -0.0735517144203186, + 0.0, + 0.9974852800369263 + ], + [ + 0.29595255851745605, + -0.004217514302581549, + 0.027893144637346268, + 0.03342811018228531, + -0.08899330347776413, + -0.09171292185783386, + 0.0, + 0.9981546401977539 + ], + [ + 0.2760857343673706, + -0.002191822975873947, + 0.02162519097328186, + 0.044317860156297684, + -0.09431401640176773, + -0.10629452019929886, + 0.0, + 0.9981546401977539 + ], + [ + 0.25707173347473145, + -0.0018570557003840804, + 0.02335207536816597, + 0.0426563024520874, + -0.08816308528184891, + -0.10849280655384064, + 0.0, + 0.9981546401977539 + ], + [ + 0.2392771989107132, + -0.0017428662395104766, + 0.031248481944203377, + 0.04293375834822655, + -0.08789509534835815, + -0.11589665710926056, + 0.0, + 0.9981546401977539 + ], + [ + 0.22837688028812408, + -0.002673451090231538, + 0.030295487493276596, + 0.08063502609729767, + -0.08252458274364471, + -0.09527763724327087, + 0.0, + 0.9981546401977539 + ], + [ + 0.21942371129989624, + -0.0030369770247489214, + 0.02826053649187088, + 0.1153598427772522, + 0.0135289765894413, + -0.05547775328159332, + 0.0, + 0.9981546401977539 + ], + [ + 0.21153341233730316, + -0.003362308954820037, + 0.02951342612504959, + 0.14677982032299042, + 0.1362280249595642, + -0.014771167188882828, + 0.0, + 0.9988223910331726 + ] + ], + "left_gripper_pos": [ + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9988223910331726 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.26722946763038635, + -0.15604235231876373, + 0.08816421777009964 + ], + [ + 0.2662855088710785, + -0.15131840109825134, + 0.08124645054340363 + ], + [ + 0.27847936749458313, + -0.12793925404548645, + 0.08630642294883728 + ], + [ + 0.28895121812820435, + -0.09954775869846344, + 0.08643557876348495 + ], + [ + 0.30177292227745056, + -0.07393345236778259, + 0.08826296776533127 + ], + [ + 0.309628963470459, + -0.056721217930316925, + 0.08609633892774582 + ], + [ + 0.3121159076690674, + -0.04376288130879402, + 0.08041684329509735 + ], + [ + 0.3129223883152008, + -0.036116499453783035, + 0.0739058181643486 + ], + [ + 0.31406688690185547, + -0.025371108204126358, + 0.0732179805636406 + ], + [ + 0.3147728145122528, + -0.010557164438068867, + 0.06751977652311325 + ], + [ + 0.3134213387966156, + -0.0022014703135937452, + 0.05715585872530937 + ], + [ + 0.3139737546443939, + 0.0035587172023952007, + 0.04556902498006821 + ], + [ + 0.31708207726478577, + -0.0022204879205673933, + 0.041700176894664764 + ], + [ + 0.29595255851745605, + -0.004217514302581549, + 0.027893144637346268 + ], + [ + 0.2760857343673706, + -0.002191822975873947, + 0.02162519097328186 + ], + [ + 0.25707173347473145, + -0.0018570557003840804, + 0.02335207536816597 + ], + [ + 0.2392771989107132, + -0.0017428662395104766, + 0.031248481944203377 + ], + [ + 0.22837688028812408, + -0.002673451090231538, + 0.030295487493276596 + ], + [ + 0.21942371129989624, + -0.0030369770247489214, + 0.02826053649187088 + ], + [ + 0.21153341233730316, + -0.003362308954820037, + 0.02951342612504959 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9820432237715467, + 0.18855981807460695, + -0.006025085232496855, + 0.18685891185121598, + -0.9765897863166085, + -0.10656517406667286, + -0.025977946534844115, + 0.10352576621185626, + -0.9942874644810126 + ], + [ + 0.9842526184595058, + 0.1739058654654743, + -0.03167858917803722, + 0.17017706085574338, + -0.9806946202962807, + -0.09632149126978054, + -0.047817894287673385, + 0.089413710797831, + -0.994846036986254 + ], + [ + 0.9945578697444794, + 0.09734192841923045, + -0.03713748377245519, + 0.0931092916424294, + -0.9903768715196806, + -0.10239293026735703, + -0.04674723028339738, + 0.09837784979616208, + -0.9940505495850377 + ], + [ + 0.9982557146979141, + 0.04833041453324528, + -0.0339072131559169, + 0.04429557070742553, + -0.992827043449506, + -0.1110511783414091, + -0.03903114767284684, + 0.10935553404540924, + -0.9932360931243805 + ], + [ + 0.9988034318888513, + 0.04889433887633204, + 0.0010237543157275851, + 0.04871409949737126, + -0.9928373785675016, + -0.10909113726316882, + -0.004317517482625689, + 0.10901047355670801, + -0.9940312247096312 + ], + [ + 0.9987588471352001, + 0.02751395888345543, + 0.04151803627010151, + 0.03136509187430516, + -0.9949682200941317, + -0.09515498943529933, + 0.03869103618258805, + 0.09633910456961418, + -0.9945962902855825 + ], + [ + 0.9985531295428859, + 0.002824521976338732, + 0.05369980964318027, + 0.006564608184129458, + -0.9975533906117303, + -0.06959984768970062, + 0.053371840885409576, + 0.06985166393612857, + -0.9961286019615423 + ], + [ + 0.9991434112917863, + -0.01773634060633532, + 0.0373880448018951, + -0.015662190236650116, + -0.9983603501802572, + -0.055057306372046436, + 0.03830325663965711, + 0.054424566234839794, + -0.9977829559182428 + ], + [ + 0.9986832054726118, + -0.02898247901821404, + 0.04233049748004325, + -0.02686039976728906, + -0.998394582505455, + -0.049867590157334635, + 0.04370782574425984, + 0.048664910702859235, + -0.997858382955714 + ], + [ + 0.9990300485454586, + -0.02183479660426494, + 0.03823877299952571, + -0.020314826346113604, + -0.9990052438469511, + -0.03969673282300847, + 0.03906750483184362, + 0.03888141488609243, + -0.9984798273589055 + ], + [ + 0.997824012258415, + -0.05958692431471544, + 0.028224794263756046, + -0.058683742958272465, + -0.9977695272224094, + -0.03181491566509929, + 0.030057592600312964, + 0.03008935022698808, + -0.999095176712405 + ], + [ + 0.9957229918449709, + -0.07917890104065253, + 0.04760698626561897, + -0.07906672894715774, + -0.9968603182941362, + -0.004237709771837218, + 0.0477930526844328, + 0.00045545637352966827, + -0.9988571552902823 + ], + [ + 0.9939383991325001, + -0.07220201467291965, + 0.08290553544302397, + -0.07323798990168284, + -0.9972690594263058, + 0.0095194509364979, + 0.0819918018163036, + -0.0155335825920129, + -0.9965119428520529 + ], + [ + 0.9918566570350903, + -0.08857532466597794, + 0.09151384461102993, + -0.09122197954592366, + -0.9955130399668449, + 0.02514632584879855, + 0.08887588167156607, + -0.03328962475438062, + -0.9954862523113085 + ], + [ + 0.9899368667223137, + -0.10184161222498861, + 0.0982511370082983, + -0.1056229587790456, + -0.9938223716353629, + 0.03407175099437884, + 0.09417425594486206, + -0.04410645821734012, + -0.9945782170652814 + ], + [ + 0.9902594133007396, + -0.104448970117194, + 0.0920690339404747, + -0.10785954916247922, + -0.9936226917822838, + 0.03286737029022977, + 0.08804891835645397, + -0.042477747312985696, + -0.9952100426339519 + ], + [ + 0.9894571056092871, + -0.11178843871027756, + 0.09207595304969711, + -0.11519098309984378, + -0.9928118476741926, + 0.03249111463533929, + 0.0877819660965908, + -0.04275488379675204, + -0.9952217573685488 + ], + [ + 0.992076732447036, + -0.08821493141894772, + 0.0894532437196248, + -0.09480978979693076, + -0.9928616634897951, + 0.07236588236827238, + 0.08243094501383598, + -0.08027355135427347, + -0.9933585939916656 + ], + [ + 0.998370129690145, + -0.056635549971725714, + -0.00703552570055113, + -0.05544422514297114, + -0.991738813750642, + 0.11567222310807806, + -0.013528563884554893, + -0.11509361311501878, + -0.9932625222867074 + ], + [ + 0.9906272228179158, + -0.03447187373600757, + -0.132171840167232, + -0.014633784647961464, + -0.9888458717764793, + 0.14822177376314188, + -0.13580706078455806, + -0.14489834985859457, + -0.9800820937295589 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0009439587593078613, + 0.00472395122051239, + -0.006917767226696014, + 0.014110632240772247, + 0.021855266764760017, + -0.016820847988128662, + 1.0 + ], + [ + 0.012193858623504639, + 0.023379147052764893, + 0.005059972405433655, + -0.009009331464767456, + -0.0010718628764152527, + -0.07786042988300323, + 1.0 + ], + [ + 0.010471850633621216, + 0.02839149534702301, + 0.00012915581464767456, + -0.011013142764568329, + -0.007723208516836166, + -0.04900281876325607, + 1.0 + ], + [ + 0.012821704149246216, + 0.025614306330680847, + 0.0018273890018463135, + 0.00043001025915145874, + -0.03472353518009186, + 0.004389960318803787, + 1.0 + ], + [ + 0.007856041193008423, + 0.017212234437465668, + -0.0021666288375854492, + 0.012667275965213776, + -0.04301822558045387, + -0.01734009012579918, + 1.0 + ], + [ + 0.0024869441986083984, + 0.012958336621522903, + -0.005679495632648468, + 0.026552744209766388, + -0.01469651609659195, + -0.02481972612440586, + 1.0 + ], + [ + 0.0008064806461334229, + 0.007646381855010986, + -0.006511025130748749, + 0.015517041087150574, + 0.015084583312273026, + -0.02224835939705372, + 1.0 + ], + [ + 0.001144498586654663, + 0.010745391249656677, + -0.0006878376007080078, + 0.005760751664638519, + -0.005409125238656998, + -0.011214999482035637, + 1.0 + ], + [ + 0.0007059276103973389, + 0.014813943766057491, + -0.005698204040527344, + 0.009809799492359161, + 0.004644304513931274, + 0.006557585671544075, + 1.0 + ], + [ + -0.001351475715637207, + 0.008355693891644478, + -0.010363917797803879, + 0.008813446387648582, + 0.00901532918214798, + -0.03841230273246765, + 1.0 + ], + [ + 0.0005524158477783203, + 0.005760187283158302, + -0.011586833745241165, + 0.029651522636413574, + -0.01774914562702179, + -0.020496033132076263, + 1.0 + ], + [ + 0.0031083226203918457, + -0.00577920489013195, + -0.0038688480854034424, + 0.016042670235037804, + -0.034272681921720505, + 0.005688369274139404, + 1.0 + ], + [ + -0.021129518747329712, + -0.0019970263820141554, + -0.013807032257318497, + 0.017841417342424393, + -0.006909355521202087, + -0.01816120743751526, + 1.0 + ], + [ + -0.01986682415008545, + 0.0020256913267076015, + -0.006267953664064407, + 0.010889749974012375, + -0.005320712924003601, + -0.014581598341464996, + 1.0 + ], + [ + -0.01901400089263916, + 0.00033476727548986673, + 0.0017268843948841095, + -0.0016615577042102814, + 0.006150931119918823, + -0.0021982863545417786, + 1.0 + ], + [ + -0.01779453456401825, + 0.00011418946087360382, + 0.007896406576037407, + 0.0002774558961391449, + 0.0002679899334907532, + -0.007403850555419922, + 1.0 + ], + [ + -0.010900318622589111, + -0.0009305848507210612, + -0.0009529944509267807, + 0.03770126774907112, + 0.00537051260471344, + 0.020619019865989685, + 1.0 + ], + [ + -0.008953168988227844, + -0.0003635259345173836, + -0.002034951001405716, + 0.03472481667995453, + 0.09605355560779572, + 0.03979988396167755, + 1.0 + ], + [ + -0.007890298962593079, + -0.0003253319300711155, + 0.001252889633178711, + 0.03141997754573822, + 0.12269905209541321, + 0.040706586092710495, + 1.0 + ], + [ + -0.004221230745315552, + -0.0016570042353123426, + 0.0005078166723251343, + -0.005418553948402405, + 0.020189791917800903, + 0.00949903391301632, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2662855088710785, + -0.15131840109825134, + 0.08124645054340363 + ], + [ + 0.27847936749458313, + -0.12793925404548645, + 0.08630642294883728 + ], + [ + 0.28895121812820435, + -0.09954775869846344, + 0.08643557876348495 + ], + [ + 0.30177292227745056, + -0.07393345236778259, + 0.08826296776533127 + ], + [ + 0.309628963470459, + -0.056721217930316925, + 0.08609633892774582 + ], + [ + 0.3121159076690674, + -0.04376288130879402, + 0.08041684329509735 + ], + [ + 0.3129223883152008, + -0.036116499453783035, + 0.0739058181643486 + ], + [ + 0.31406688690185547, + -0.025371108204126358, + 0.0732179805636406 + ], + [ + 0.3147728145122528, + -0.010557164438068867, + 0.06751977652311325 + ], + [ + 0.3134213387966156, + -0.0022014703135937452, + 0.05715585872530937 + ], + [ + 0.3139737546443939, + 0.0035587172023952007, + 0.04556902498006821 + ], + [ + 0.31708207726478577, + -0.0022204879205673933, + 0.041700176894664764 + ], + [ + 0.29595255851745605, + -0.004217514302581549, + 0.027893144637346268 + ], + [ + 0.2760857343673706, + -0.002191822975873947, + 0.02162519097328186 + ], + [ + 0.25707173347473145, + -0.0018570557003840804, + 0.02335207536816597 + ], + [ + 0.2392771989107132, + -0.0017428662395104766, + 0.031248481944203377 + ], + [ + 0.22837688028812408, + -0.002673451090231538, + 0.030295487493276596 + ], + [ + 0.21942371129989624, + -0.0030369770247489214, + 0.02826053649187088 + ], + [ + 0.21153341233730316, + -0.003362308954820037, + 0.02951342612504959 + ], + [ + 0.2073121815919876, + -0.0050193131901323795, + 0.030021242797374725 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9842526184595058, + 0.1739058654654743, + -0.03167858917803722, + 0.17017706085574338, + -0.9806946202962807, + -0.09632149126978054, + -0.047817894287673385, + 0.089413710797831, + -0.994846036986254 + ], + [ + 0.9945578697444794, + 0.09734192841923045, + -0.03713748377245519, + 0.0931092916424294, + -0.9903768715196806, + -0.10239293026735703, + -0.04674723028339738, + 0.09837784979616208, + -0.9940505495850377 + ], + [ + 0.9982557146979141, + 0.04833041453324528, + -0.0339072131559169, + 0.04429557070742553, + -0.992827043449506, + -0.1110511783414091, + -0.03903114767284684, + 0.10935553404540924, + -0.9932360931243805 + ], + [ + 0.9988034318888513, + 0.04889433887633204, + 0.0010237543157275851, + 0.04871409949737126, + -0.9928373785675016, + -0.10909113726316882, + -0.004317517482625689, + 0.10901047355670801, + -0.9940312247096312 + ], + [ + 0.9987588471352001, + 0.02751395888345543, + 0.04151803627010151, + 0.03136509187430516, + -0.9949682200941317, + -0.09515498943529933, + 0.03869103618258805, + 0.09633910456961418, + -0.9945962902855825 + ], + [ + 0.9985531295428859, + 0.002824521976338732, + 0.05369980964318027, + 0.006564608184129458, + -0.9975533906117303, + -0.06959984768970062, + 0.053371840885409576, + 0.06985166393612857, + -0.9961286019615423 + ], + [ + 0.9991434112917863, + -0.01773634060633532, + 0.0373880448018951, + -0.015662190236650116, + -0.9983603501802572, + -0.055057306372046436, + 0.03830325663965711, + 0.054424566234839794, + -0.9977829559182428 + ], + [ + 0.9986832054726118, + -0.02898247901821404, + 0.04233049748004325, + -0.02686039976728906, + -0.998394582505455, + -0.049867590157334635, + 0.04370782574425984, + 0.048664910702859235, + -0.997858382955714 + ], + [ + 0.9990300485454586, + -0.02183479660426494, + 0.03823877299952571, + -0.020314826346113604, + -0.9990052438469511, + -0.03969673282300847, + 0.03906750483184362, + 0.03888141488609243, + -0.9984798273589055 + ], + [ + 0.997824012258415, + -0.05958692431471544, + 0.028224794263756046, + -0.058683742958272465, + -0.9977695272224094, + -0.03181491566509929, + 0.030057592600312964, + 0.03008935022698808, + -0.999095176712405 + ], + [ + 0.9957229918449709, + -0.07917890104065253, + 0.04760698626561897, + -0.07906672894715774, + -0.9968603182941362, + -0.004237709771837218, + 0.0477930526844328, + 0.00045545637352966827, + -0.9988571552902823 + ], + [ + 0.9939383991325001, + -0.07220201467291965, + 0.08290553544302397, + -0.07323798990168284, + -0.9972690594263058, + 0.0095194509364979, + 0.0819918018163036, + -0.0155335825920129, + -0.9965119428520529 + ], + [ + 0.9918566570350903, + -0.08857532466597794, + 0.09151384461102993, + -0.09122197954592366, + -0.9955130399668449, + 0.02514632584879855, + 0.08887588167156607, + -0.03328962475438062, + -0.9954862523113085 + ], + [ + 0.9899368667223137, + -0.10184161222498861, + 0.0982511370082983, + -0.1056229587790456, + -0.9938223716353629, + 0.03407175099437884, + 0.09417425594486206, + -0.04410645821734012, + -0.9945782170652814 + ], + [ + 0.9902594133007396, + -0.104448970117194, + 0.0920690339404747, + -0.10785954916247922, + -0.9936226917822838, + 0.03286737029022977, + 0.08804891835645397, + -0.042477747312985696, + -0.9952100426339519 + ], + [ + 0.9894571056092871, + -0.11178843871027756, + 0.09207595304969711, + -0.11519098309984378, + -0.9928118476741926, + 0.03249111463533929, + 0.0877819660965908, + -0.04275488379675204, + -0.9952217573685488 + ], + [ + 0.992076732447036, + -0.08821493141894772, + 0.0894532437196248, + -0.09480978979693076, + -0.9928616634897951, + 0.07236588236827238, + 0.08243094501383598, + -0.08027355135427347, + -0.9933585939916656 + ], + [ + 0.998370129690145, + -0.056635549971725714, + -0.00703552570055113, + -0.05544422514297114, + -0.991738813750642, + 0.11567222310807806, + -0.013528563884554893, + -0.11509361311501878, + -0.9932625222867074 + ], + [ + 0.9906272228179158, + -0.03447187373600757, + -0.132171840167232, + -0.014633784647961464, + -0.9888458717764793, + 0.14822177376314188, + -0.13580706078455806, + -0.14489834985859457, + -0.9800820937295589 + ], + [ + 0.987777927092158, + -0.02716731173246482, + -0.15348193353860906, + -0.005207744669130068, + -0.9898956516848739, + 0.14170207539355026, + -0.1557807630774098, + -0.1391708875757043, + -0.9779385552816752 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005600.json b/json/chunk-0005/episode_0005600.json new file mode 100644 index 0000000000000000000000000000000000000000..facbbdcdf7ca60c37a248872ec2e40b46a622586 --- /dev/null +++ b/json/chunk-0005/episode_0005600.json @@ -0,0 +1,1222 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 19, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nZip zipper bag." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005600.mp4", + "start": 0, + "end": 19, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.22105248272418976, + -0.165705144405365, + 0.11732344329357147, + -0.1283610612154007, + 0.009560254402458668, + -0.01128384005278349, + 0.0, + 0.9988223910331726 + ], + [ + 0.21667584776878357, + -0.16057635843753815, + 0.1112399771809578, + -0.11724746972322464, + 0.05786775052547455, + -0.007604704238474369, + 0.0, + 0.9988223910331726 + ], + [ + 0.21965259313583374, + -0.1297815442085266, + 0.12621940672397614, + -0.12331519275903702, + 0.08998891711235046, + 0.030294492840766907, + 0.0, + 0.9988223910331726 + ], + [ + 0.21416671574115753, + -0.11012280732393265, + 0.13789071142673492, + -0.10411712527275085, + 0.11138200014829636, + 0.01486221794039011, + 0.0, + 0.9988223910331726 + ], + [ + 0.21544554829597473, + -0.0761924609541893, + 0.14405959844589233, + -0.11818046867847443, + 0.10204377770423889, + -0.009698048233985901, + 0.0, + 0.9988223910331726 + ], + [ + 0.2161981463432312, + -0.05006519332528114, + 0.14115551114082336, + -0.1340615302324295, + 0.1094643697142601, + -0.06597665697336197, + 0.0, + 0.9988223910331726 + ], + [ + 0.21690399944782257, + -0.036238621920347214, + 0.1347690373659134, + -0.1143273338675499, + 0.14021846652030945, + -0.11262628436088562, + 0.0, + 0.9988223910331726 + ], + [ + 0.2190687209367752, + -0.030018400400877, + 0.127967968583107, + -0.0804976299405098, + 0.11798062175512314, + -0.11440494656562805, + 0.0, + 0.9988223910331726 + ], + [ + 0.2137136459350586, + -0.026484647765755653, + 0.11496812105178833, + -0.01614432968199253, + 0.054045867174863815, + -0.08615191280841827, + 0.0, + 0.9988223910331726 + ], + [ + 0.2096627801656723, + -0.02218344807624817, + 0.10387392342090607, + 0.013706800527870655, + 0.04264103248715401, + -0.09409984201192856, + 0.0, + 0.9988223910331726 + ], + [ + 0.21218277513980865, + -0.021601660177111626, + 0.09999233484268188, + 0.02290765754878521, + 0.020825887098908424, + -0.09438633918762207, + 0.0, + 0.9988223910331726 + ], + [ + 0.21668635308742523, + -0.02074534073472023, + 0.09564541280269623, + 0.02941867522895336, + 0.01104374136775732, + -0.08150774985551834, + 0.0, + 0.9190354347229004 + ], + [ + 0.21605870127677917, + -0.01932760328054428, + 0.09589491039514542, + 0.020746489986777306, + 0.0021574138663709164, + -0.06538879126310349, + 0.0, + 0.6500836610794067 + ], + [ + 0.21280710399150848, + -0.01777092181146145, + 0.09681592136621475, + 0.026328470557928085, + 0.001502852886915207, + -0.04958024621009827, + 0.0, + 0.4094836115837097 + ], + [ + 0.2018204927444458, + -0.01462438516318798, + 0.09618593752384186, + 0.04284319281578064, + 0.0002964393643196672, + -0.05153415724635124, + 0.0, + 0.21919596195220947 + ], + [ + 0.1882563680410385, + -0.010623018257319927, + 0.09190940856933594, + 0.07218795269727707, + 0.010764757171273232, + -0.07055441290140152, + 0.0, + 0.1729726642370224 + ], + [ + 0.17665773630142212, + -0.0071289632469415665, + 0.07658600807189941, + 0.10452809929847717, + 0.016053223982453346, + -0.0965198501944542, + 0.0, + 0.18011163175106049 + ], + [ + 0.1644691824913025, + -0.007050839718431234, + 0.05044298991560936, + 0.12583254277706146, + 0.05389951169490814, + -0.10727041959762573, + 0.0, + 0.19029754400253296 + ], + [ + 0.16248242557048798, + -0.005875710863620043, + 0.031428270041942596, + 0.14590542018413544, + 0.020093610510230064, + -0.09659095108509064, + 0.0, + 0.1920294612646103 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9190354347229004 + ], + [ + 0.6500836610794067 + ], + [ + 0.4094836115837097 + ], + [ + 0.21919596195220947 + ], + [ + 0.1729726642370224 + ], + [ + 0.18011163175106049 + ], + [ + 0.19029754400253296 + ], + [ + 0.1920294612646103 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.22105248272418976, + -0.165705144405365, + 0.11732344329357147 + ], + [ + 0.21667584776878357, + -0.16057635843753815, + 0.1112399771809578 + ], + [ + 0.21965259313583374, + -0.1297815442085266, + 0.12621940672397614 + ], + [ + 0.21416671574115753, + -0.11012280732393265, + 0.13789071142673492 + ], + [ + 0.21544554829597473, + -0.0761924609541893, + 0.14405959844589233 + ], + [ + 0.2161981463432312, + -0.05006519332528114, + 0.14115551114082336 + ], + [ + 0.21690399944782257, + -0.036238621920347214, + 0.1347690373659134 + ], + [ + 0.2190687209367752, + -0.030018400400877, + 0.127967968583107 + ], + [ + 0.2137136459350586, + -0.026484647765755653, + 0.11496812105178833 + ], + [ + 0.2096627801656723, + -0.02218344807624817, + 0.10387392342090607 + ], + [ + 0.21218277513980865, + -0.021601660177111626, + 0.09999233484268188 + ], + [ + 0.21668635308742523, + -0.02074534073472023, + 0.09564541280269623 + ], + [ + 0.21605870127677917, + -0.01932760328054428, + 0.09589491039514542 + ], + [ + 0.21280710399150848, + -0.01777092181146145, + 0.09681592136621475 + ], + [ + 0.2018204927444458, + -0.01462438516318798, + 0.09618593752384186 + ], + [ + 0.1882563680410385, + -0.010623018257319927, + 0.09190940856933594 + ], + [ + 0.17665773630142212, + -0.0071289632469415665, + 0.07658600807189941 + ], + [ + 0.1644691824913025, + -0.007050839718431234, + 0.05044298991560936 + ], + [ + 0.16248242557048798, + -0.005875710863620043, + 0.031428270041942596 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9998906421775394, + -0.009967069976754988, + -0.01092525523118366, + -0.01128308495377606, + -0.9917236948428516, + -0.12789372573026672, + -0.009560108771029172, + 0.12800301013382961, + -0.9917277013963889 + ], + [ + 0.9982972616842898, + -0.0007870806880439303, + -0.058326304680130704, + -0.007591901768175025, + -0.9931571182457389, + -0.11653884118765727, + -0.05783545920273573, + 0.11678321361313075, + -0.9914720070062487 + ], + [ + 0.9954967426135516, + 0.041108739521778265, + -0.08541842295862766, + 0.030167298249450216, + -0.9916161300507611, + -0.12564786006725626, + -0.08986751116024712, + 0.12250519237192632, + -0.988390766994401 + ], + [ + 0.9936936788115927, + 0.026331827458455956, + -0.10899315369591284, + 0.014769579498592832, + -0.9943031833658148, + -0.10556059430507683, + -0.11115184304057904, + 0.10328511224423575, + -0.9884216981518453 + ], + [ + 0.994751268954075, + 0.0023798430399466644, + -0.10229491317442602, + -0.009647448243414576, + -0.9930945928423451, + -0.1169190164587775, + -0.10186677405635647, + 0.11729222486764612, + -0.9878591470087976 + ], + [ + 0.991852107619901, + -0.050767164293840865, + -0.11684216550339512, + -0.06553420224214726, + -0.9898337372499586, + -0.12623169545825363, + -0.10924589212618453, + 0.13286033129321229, + -0.9850956640967475 + ], + [ + 0.9839120297047799, + -0.09581210465201011, + -0.15078845580604985, + -0.11128529387897175, + -0.9889693355633469, + -0.09775089095074041, + -0.13975944035553264, + 0.11295881513872616, + -0.9837213044932818 + ], + [ + 0.9865566881540739, + -0.1043828479249463, + -0.12573830807491385, + -0.11336197638323282, + -0.9913263445342337, + -0.06649166070177692, + -0.11770710840451301, + 0.0798517356822655, + -0.9898326812848609 + ], + [ + 0.9948365115994523, + -0.0851653297073074, + -0.05520128444591498, + -0.0859197434629461, + -0.9962364229376126, + -0.011436227338248879, + -0.05401956008609032, + 0.016120056709459932, + -0.99840975100396 + ], + [ + 0.9946709062742259, + -0.09453389666880346, + -0.041147668126184055, + -0.09387562150634754, + -0.9954274554907281, + 0.017650737719772738, + -0.04262811159795347, + -0.013693912365252556, + -0.9989971575864096 + ], + [ + 0.9953330297110093, + -0.0946964027084223, + -0.01856747910696399, + -0.09422581967202667, + -0.9952427592551699, + 0.02476580419228691, + -0.020824381706018295, + -0.022900686981841632, + -0.9995208370325863 + ], + [ + 0.9966193029223994, + -0.08170606132691002, + -0.008607240261168617, + -0.08141256523053211, + -0.9962223728939312, + 0.030215525283684205, + -0.011043516878903082, + -0.029412638236442242, + -0.9995063468767555 + ], + [ + 0.9978605923687272, + -0.06537280233148389, + -0.0007968141951971491, + -0.06534205208105552, + -0.9976452493852499, + 0.020841607636631426, + -0.002157412192781018, + -0.020744953467564123, + -0.9997824725800404 + ], + [ + 0.9987700234580755, + -0.04958227409464591, + -0.00019579877065108717, + -0.04955987970582504, + -0.998423042329335, + 0.02636753438186968, + -0.0015028523211996648, + -0.026325399169591576, + -0.9996522969480249 + ], + [ + 0.9986723652922445, + -0.05147676115109601, + 0.0019104614590581344, + -0.05151134753915286, + -0.9977553441827, + 0.04278848244051651, + -0.00029643935997800163, + -0.042830085410314, + -0.9990823268917586 + ], + [ + 0.9974542744382028, + -0.07108675529751642, + -0.005625266769635597, + -0.07049180721183708, + -0.9948593976369999, + 0.07270271005509293, + -0.01076454926913978, + -0.07212109368705344, + -0.9973377924877888 + ], + [ + 0.995217323851234, + -0.0975111505281184, + -0.00583556587405103, + -0.09635763821751311, + -0.9897514802675034, + 0.10539076271395122, + -0.016052534489313843, + -0.1043244114815327, + -0.9944137636343842 + ], + [ + 0.9928081637837912, + -0.11294059786167866, + -0.03970354239741965, + -0.10690932974666902, + -0.9856671342520484, + 0.13050170753086945, + -0.05387341772502566, + -0.12531848151809524, + -0.9906527812773878 + ], + [ + 0.9951377910199758, + -0.09832367265654934, + -0.005764744505212918, + -0.09642135674474989, + -0.9844812004856175, + 0.14662771857291715, + -0.02009225839432503, + -0.14535893947647202, + -0.9891749490696227 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.004376634955406189, + 0.005128785967826843, + -0.006083466112613678, + 0.011113591492176056, + 0.048307497054338455, + 0.00367913581430912, + 1.0 + ], + [ + 0.002976745367050171, + 0.030794814229011536, + 0.014979429543018341, + -0.006067723035812378, + 0.032121166586875916, + 0.0378991961479187, + 1.0 + ], + [ + -0.0054858773946762085, + 0.019658736884593964, + 0.011671304702758789, + 0.019198067486286163, + 0.021393083035945892, + -0.015432274900376797, + 1.0 + ], + [ + 0.0012788325548171997, + 0.03393034636974335, + 0.00616888701915741, + -0.014063343405723572, + -0.009338222444057465, + -0.024560265243053436, + 1.0 + ], + [ + 0.0007525980472564697, + 0.026127267628908157, + -0.0029040873050689697, + -0.015881061553955078, + 0.00742059201002121, + -0.05627860873937607, + 1.0 + ], + [ + 0.0007058531045913696, + 0.01382657140493393, + -0.006386473774909973, + 0.019734196364879608, + 0.030754096806049347, + -0.04664962738752365, + 1.0 + ], + [ + 0.0021647214889526367, + 0.006220221519470215, + -0.0068010687828063965, + 0.0338297039270401, + -0.02223784476518631, + -0.0017786622047424316, + 1.0 + ], + [ + -0.005355075001716614, + 0.0035337526351213455, + -0.012999847531318665, + 0.06435330212116241, + -0.06393475830554962, + 0.028253033757209778, + 1.0 + ], + [ + -0.0040508657693862915, + 0.0043011996895074844, + -0.011094197630882263, + 0.02985113114118576, + -0.011404834687709808, + -0.007947929203510284, + 1.0 + ], + [ + 0.0025199949741363525, + 0.0005817878991365433, + -0.003881588578224182, + 0.009200857020914555, + -0.021815145388245583, + -0.00028649717569351196, + 1.0 + ], + [ + 0.004503577947616577, + 0.0008563194423913956, + -0.004346922039985657, + 0.006511017680168152, + -0.009782145731151104, + 0.01287858933210373, + 0.0 + ], + [ + -0.0006276518106460571, + 0.001417737454175949, + 0.00024949759244918823, + -0.008672185242176056, + -0.008886327967047691, + 0.016118958592414856, + 0.0 + ], + [ + -0.003251597285270691, + 0.0015566814690828323, + 0.0009210109710693359, + 0.00558198057115078, + -0.0006545609794557095, + 0.01580854505300522, + 0.0 + ], + [ + -0.010986611247062683, + 0.003146536648273468, + -0.0006299838423728943, + 0.016514722257852554, + -0.0012064134934917092, + -0.0019539110362529755, + 0.0 + ], + [ + -0.013564124703407288, + 0.0040013669058680534, + -0.00427652895450592, + 0.02934475988149643, + 0.0104683181270957, + -0.019020255655050278, + 0.0 + ], + [ + -0.011598631739616394, + 0.0034940550103783607, + -0.015323400497436523, + 0.032340146601200104, + 0.005288466811180115, + -0.025965437293052673, + 0.0 + ], + [ + -0.012188553810119629, + 7.812352851033211e-05, + -0.026143018156290054, + 0.02130444347858429, + 0.037846289575099945, + -0.01075056940317154, + 0.0 + ], + [ + -0.001986756920814514, + 0.0011751288548111916, + -0.019014719873666763, + 0.020072877407073975, + -0.03380589932203293, + 0.010679468512535095, + 0.0 + ], + [ + 0.0056915730237960815, + 0.0037968559190630913, + -0.02074243873357773, + -0.006967470049858093, + -0.0967031717300415, + -0.014510512351989746, + 0.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9190354347229004 + ], + [ + 0.6500836610794067 + ], + [ + 0.4094836115837097 + ], + [ + 0.21919596195220947 + ], + [ + 0.1729726642370224 + ], + [ + 0.18011163175106049 + ], + [ + 0.19029754400253296 + ], + [ + 0.1920294612646103 + ], + [ + 0.19260896742343903 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.21667584776878357, + -0.16057635843753815, + 0.1112399771809578 + ], + [ + 0.21965259313583374, + -0.1297815442085266, + 0.12621940672397614 + ], + [ + 0.21416671574115753, + -0.11012280732393265, + 0.13789071142673492 + ], + [ + 0.21544554829597473, + -0.0761924609541893, + 0.14405959844589233 + ], + [ + 0.2161981463432312, + -0.05006519332528114, + 0.14115551114082336 + ], + [ + 0.21690399944782257, + -0.036238621920347214, + 0.1347690373659134 + ], + [ + 0.2190687209367752, + -0.030018400400877, + 0.127967968583107 + ], + [ + 0.2137136459350586, + -0.026484647765755653, + 0.11496812105178833 + ], + [ + 0.2096627801656723, + -0.02218344807624817, + 0.10387392342090607 + ], + [ + 0.21218277513980865, + -0.021601660177111626, + 0.09999233484268188 + ], + [ + 0.21668635308742523, + -0.02074534073472023, + 0.09564541280269623 + ], + [ + 0.21605870127677917, + -0.01932760328054428, + 0.09589491039514542 + ], + [ + 0.21280710399150848, + -0.01777092181146145, + 0.09681592136621475 + ], + [ + 0.2018204927444458, + -0.01462438516318798, + 0.09618593752384186 + ], + [ + 0.1882563680410385, + -0.010623018257319927, + 0.09190940856933594 + ], + [ + 0.17665773630142212, + -0.0071289632469415665, + 0.07658600807189941 + ], + [ + 0.1644691824913025, + -0.007050839718431234, + 0.05044298991560936 + ], + [ + 0.16248242557048798, + -0.005875710863620043, + 0.031428270041942596 + ], + [ + 0.16817399859428406, + -0.0020788549445569515, + 0.010685830377042294 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9982972616842898, + -0.0007870806880439303, + -0.058326304680130704, + -0.007591901768175025, + -0.9931571182457389, + -0.11653884118765727, + -0.05783545920273573, + 0.11678321361313075, + -0.9914720070062487 + ], + [ + 0.9954967426135516, + 0.041108739521778265, + -0.08541842295862766, + 0.030167298249450216, + -0.9916161300507611, + -0.12564786006725626, + -0.08986751116024712, + 0.12250519237192632, + -0.988390766994401 + ], + [ + 0.9936936788115927, + 0.026331827458455956, + -0.10899315369591284, + 0.014769579498592832, + -0.9943031833658148, + -0.10556059430507683, + -0.11115184304057904, + 0.10328511224423575, + -0.9884216981518453 + ], + [ + 0.994751268954075, + 0.0023798430399466644, + -0.10229491317442602, + -0.009647448243414576, + -0.9930945928423451, + -0.1169190164587775, + -0.10186677405635647, + 0.11729222486764612, + -0.9878591470087976 + ], + [ + 0.991852107619901, + -0.050767164293840865, + -0.11684216550339512, + -0.06553420224214726, + -0.9898337372499586, + -0.12623169545825363, + -0.10924589212618453, + 0.13286033129321229, + -0.9850956640967475 + ], + [ + 0.9839120297047799, + -0.09581210465201011, + -0.15078845580604985, + -0.11128529387897175, + -0.9889693355633469, + -0.09775089095074041, + -0.13975944035553264, + 0.11295881513872616, + -0.9837213044932818 + ], + [ + 0.9865566881540739, + -0.1043828479249463, + -0.12573830807491385, + -0.11336197638323282, + -0.9913263445342337, + -0.06649166070177692, + -0.11770710840451301, + 0.0798517356822655, + -0.9898326812848609 + ], + [ + 0.9948365115994523, + -0.0851653297073074, + -0.05520128444591498, + -0.0859197434629461, + -0.9962364229376126, + -0.011436227338248879, + -0.05401956008609032, + 0.016120056709459932, + -0.99840975100396 + ], + [ + 0.9946709062742259, + -0.09453389666880346, + -0.041147668126184055, + -0.09387562150634754, + -0.9954274554907281, + 0.017650737719772738, + -0.04262811159795347, + -0.013693912365252556, + -0.9989971575864096 + ], + [ + 0.9953330297110093, + -0.0946964027084223, + -0.01856747910696399, + -0.09422581967202667, + -0.9952427592551699, + 0.02476580419228691, + -0.020824381706018295, + -0.022900686981841632, + -0.9995208370325863 + ], + [ + 0.9966193029223994, + -0.08170606132691002, + -0.008607240261168617, + -0.08141256523053211, + -0.9962223728939312, + 0.030215525283684205, + -0.011043516878903082, + -0.029412638236442242, + -0.9995063468767555 + ], + [ + 0.9978605923687272, + -0.06537280233148389, + -0.0007968141951971491, + -0.06534205208105552, + -0.9976452493852499, + 0.020841607636631426, + -0.002157412192781018, + -0.020744953467564123, + -0.9997824725800404 + ], + [ + 0.9987700234580755, + -0.04958227409464591, + -0.00019579877065108717, + -0.04955987970582504, + -0.998423042329335, + 0.02636753438186968, + -0.0015028523211996648, + -0.026325399169591576, + -0.9996522969480249 + ], + [ + 0.9986723652922445, + -0.05147676115109601, + 0.0019104614590581344, + -0.05151134753915286, + -0.9977553441827, + 0.04278848244051651, + -0.00029643935997800163, + -0.042830085410314, + -0.9990823268917586 + ], + [ + 0.9974542744382028, + -0.07108675529751642, + -0.005625266769635597, + -0.07049180721183708, + -0.9948593976369999, + 0.07270271005509293, + -0.01076454926913978, + -0.07212109368705344, + -0.9973377924877888 + ], + [ + 0.995217323851234, + -0.0975111505281184, + -0.00583556587405103, + -0.09635763821751311, + -0.9897514802675034, + 0.10539076271395122, + -0.016052534489313843, + -0.1043244114815327, + -0.9944137636343842 + ], + [ + 0.9928081637837912, + -0.11294059786167866, + -0.03970354239741965, + -0.10690932974666902, + -0.9856671342520484, + 0.13050170753086945, + -0.05387341772502566, + -0.12531848151809524, + -0.9906527812773878 + ], + [ + 0.9951377910199758, + -0.09832367265654934, + -0.005764744505212918, + -0.09642135674474989, + -0.9844812004856175, + 0.14662771857291715, + -0.02009225839432503, + -0.14535893947647202, + -0.9891749490696227 + ], + [ + 0.99091958456482, + -0.09927058915257699, + 0.09068476749258936, + -0.11054784112019304, + -0.9854328163570325, + 0.1292336615217246, + 0.07653464411329866, + -0.13808517145569033, + -0.9874588263185982 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005601.json b/json/chunk-0005/episode_0005601.json new file mode 100644 index 0000000000000000000000000000000000000000..2b2c57267e90059c869eaa2c62b9510806dfb897 --- /dev/null +++ b/json/chunk-0005/episode_0005601.json @@ -0,0 +1,2122 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 34, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut the brown object in the drawer." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005601.mp4", + "start": 0, + "end": 34, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3567362427711487, + 0.19039303064346313, + 0.11097309738397598, + 0.32290366291999817, + -0.0561627633869648, + 0.13002899289131165, + 0.0, + 0.9994885921478271 + ], + [ + 0.35572829842567444, + 0.18907208740711212, + 0.09352150559425354, + 0.30634206533432007, + -0.016719430685043335, + 0.13960066437721252, + 0.0, + 0.9994885921478271 + ], + [ + 0.34969407320022583, + 0.19798924028873444, + 0.08661070466041565, + 0.27094611525535583, + -0.027694813907146454, + 0.2443472146987915, + 0.0, + 0.9994885921478271 + ], + [ + 0.3380146026611328, + 0.21134358644485474, + 0.07984012365341187, + 0.23831525444984436, + -0.04329517111182213, + 0.38847580552101135, + 0.0, + 0.9994885921478271 + ], + [ + 0.3258281350135803, + 0.21176238358020782, + 0.06743118911981583, + 0.21769358217716217, + -0.033512379974126816, + 0.5090273022651672, + 0.0, + 0.9994885921478271 + ], + [ + 0.3121565878391266, + 0.21961382031440735, + 0.06009269878268242, + 0.1497064232826233, + -0.017267858609557152, + 0.6422656178474426, + 0.0, + 0.9994885921478271 + ], + [ + 0.30624252557754517, + 0.2241380214691162, + 0.053496792912483215, + 0.12954194843769073, + -0.026207229122519493, + 0.7329506278038025, + 0.0, + 0.9994885921478271 + ], + [ + 0.30301809310913086, + 0.23173080384731293, + 0.04447294771671295, + 0.11257164180278778, + -0.03176908567547798, + 0.8363494873046875, + 0.0, + 0.9994885921478271 + ], + [ + 0.2994800806045532, + 0.23809446394443512, + 0.04097624868154526, + 0.0995638519525528, + -0.05391380190849304, + 0.9145044088363647, + 0.0, + 0.9994885921478271 + ], + [ + 0.2973744869232178, + 0.23376144468784332, + 0.03373381495475769, + 0.09127862751483917, + -0.05313662812113762, + 0.958878755569458, + 0.0, + 0.9994885921478271 + ], + [ + 0.29996874928474426, + 0.2310376912355423, + 0.03176475688815117, + 0.07459758222103119, + -0.05009463429450989, + 0.9787585139274597, + 0.0, + 0.9994885921478271 + ], + [ + 0.3014390170574188, + 0.22395052015781403, + 0.030231898650527, + 0.04316239431500435, + -0.014833134599030018, + 1.005082130432129, + 0.0, + 0.9994885921478271 + ], + [ + 0.30542364716529846, + 0.22203685343265533, + 0.03161846473813057, + 0.016135023906826973, + -0.006737311836332083, + 1.0119878053665161, + 0.0, + 0.9994885921478271 + ], + [ + 0.303298681974411, + 0.22561627626419067, + 0.011734401807188988, + 0.048893142491579056, + 0.004322492051869631, + 1.0078785419464111, + 0.0, + 0.9994885921478271 + ], + [ + 0.3086968958377838, + 0.23836936056613922, + 0.005137828644365072, + 0.07292730361223221, + -0.03792403265833855, + 1.0027656555175781, + 0.0, + 0.9492040276527405 + ], + [ + 0.3098065257072449, + 0.24500051140785217, + 0.0018993993289768696, + 0.09661436825990677, + -0.07192093133926392, + 0.9784809947013855, + 0.0, + 0.6821943521499634 + ], + [ + 0.30827292799949646, + 0.24497370421886444, + 0.0025316558312624693, + 0.09398187696933746, + -0.09666679799556732, + 0.9682362675666809, + 0.0, + 0.58391273021698 + ], + [ + 0.29177385568618774, + 0.22590258717536926, + 0.005993373226374388, + 0.09573064744472504, + -0.03834597021341324, + 0.8392917513847351, + 0.0, + 0.58391273021698 + ], + [ + 0.2858838140964508, + 0.1928921639919281, + 0.027891824021935463, + 0.09602132439613342, + -0.011290306225419044, + 0.6491007208824158, + 0.0, + 0.5829154849052429 + ], + [ + 0.29145732522010803, + 0.15074624121189117, + 0.07809890806674957, + 0.06873346120119095, + -0.08117136359214783, + 0.5033113360404968, + 0.0, + 0.5829154849052429 + ], + [ + 0.2990249693393707, + 0.10903025418519974, + 0.10722748190164566, + 0.05225078761577606, + -0.11430367827415466, + 0.3743703067302704, + 0.0, + 0.5829154849052429 + ], + [ + 0.3046334385871887, + 0.06913255155086517, + 0.1281367689371109, + 0.02587875910103321, + -0.12754376232624054, + 0.2980253994464874, + 0.0, + 0.5829154849052429 + ], + [ + 0.31245511770248413, + 0.0301054697483778, + 0.13967926800251007, + 0.0003620381758082658, + -0.130030557513237, + 0.21659046411514282, + 0.0, + 0.5819184184074402 + ], + [ + 0.3242436349391937, + -0.0019271007040515542, + 0.14625822007656097, + -0.00894188042730093, + -0.13381288945674896, + 0.15158575773239136, + 0.0, + 0.5819184184074402 + ], + [ + 0.33165231347084045, + -0.019181611016392708, + 0.13226152956485748, + -0.01526615023612976, + -0.10173466056585312, + 0.13128437101840973, + 0.0, + 0.5819184184074402 + ], + [ + 0.33137276768684387, + -0.020693952217698097, + 0.13142602145671844, + -0.01480916514992714, + -0.0940522849559784, + 0.13735036551952362, + 0.0, + 0.5819184184074402 + ], + [ + 0.3320958912372589, + -0.02096664533019066, + 0.13130834698677063, + -0.01498588640242815, + -0.08308206498622894, + 0.14850740134716034, + 0.0, + 0.5819184184074402 + ], + [ + 0.3311132490634918, + -0.02113225683569908, + 0.13122881948947906, + -0.016664693132042885, + -0.07645504921674728, + 0.1689240038394928, + 0.0, + 0.5819184184074402 + ], + [ + 0.3325795531272888, + -0.020998355001211166, + 0.1313500851392746, + -0.017751703038811684, + -0.08567043393850327, + 0.17318451404571533, + 0.0, + 0.5819184184074402 + ], + [ + 0.33581140637397766, + -0.019183574244379997, + 0.128085196018219, + -0.01130583230406046, + -0.11407238245010376, + 0.17155516147613525, + 0.0, + 0.648074209690094 + ], + [ + 0.3308539092540741, + -0.011498892679810524, + 0.09113620221614838, + -0.033531416207551956, + -0.1702829897403717, + 0.20071396231651306, + 0.0, + 0.931966245174408 + ], + [ + 0.31389427185058594, + 0.017774853855371475, + 0.10076136142015457, + -0.04702587053179741, + -0.19644701480865479, + 0.20954644680023193, + 0.0, + 1.0060625076293945 + ], + [ + 0.2863472104072571, + 0.06965473294258118, + 0.12615199387073517, + 0.0024285181425511837, + -0.2500309944152832, + 0.22435852885246277, + 0.0, + 1.0014774799346924 + ], + [ + 0.2653547525405884, + 0.10733409970998764, + 0.13749749958515167, + 0.08043572306632996, + -0.25750353932380676, + 0.1896526962518692, + 0.0, + 1.0001531839370728 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9492040276527405 + ], + [ + 0.6821943521499634 + ], + [ + 0.58391273021698 + ], + [ + 0.58391273021698 + ], + [ + 0.5829154849052429 + ], + [ + 0.5829154849052429 + ], + [ + 0.5829154849052429 + ], + [ + 0.5829154849052429 + ], + [ + 0.5819184184074402 + ], + [ + 0.5819184184074402 + ], + [ + 0.5819184184074402 + ], + [ + 0.5819184184074402 + ], + [ + 0.5819184184074402 + ], + [ + 0.5819184184074402 + ], + [ + 0.5819184184074402 + ], + [ + 0.648074209690094 + ], + [ + 0.931966245174408 + ], + [ + 1.0060625076293945 + ], + [ + 1.0014774799346924 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3567362427711487, + 0.19039303064346313, + 0.11097309738397598 + ], + [ + 0.35572829842567444, + 0.18907208740711212, + 0.09352150559425354 + ], + [ + 0.34969407320022583, + 0.19798924028873444, + 0.08661070466041565 + ], + [ + 0.3380146026611328, + 0.21134358644485474, + 0.07984012365341187 + ], + [ + 0.3258281350135803, + 0.21176238358020782, + 0.06743118911981583 + ], + [ + 0.3121565878391266, + 0.21961382031440735, + 0.06009269878268242 + ], + [ + 0.30624252557754517, + 0.2241380214691162, + 0.053496792912483215 + ], + [ + 0.30301809310913086, + 0.23173080384731293, + 0.04447294771671295 + ], + [ + 0.2994800806045532, + 0.23809446394443512, + 0.04097624868154526 + ], + [ + 0.2973744869232178, + 0.23376144468784332, + 0.03373381495475769 + ], + [ + 0.29996874928474426, + 0.2310376912355423, + 0.03176475688815117 + ], + [ + 0.3014390170574188, + 0.22395052015781403, + 0.030231898650527 + ], + [ + 0.30542364716529846, + 0.22203685343265533, + 0.03161846473813057 + ], + [ + 0.303298681974411, + 0.22561627626419067, + 0.011734401807188988 + ], + [ + 0.3086968958377838, + 0.23836936056613922, + 0.005137828644365072 + ], + [ + 0.3098065257072449, + 0.24500051140785217, + 0.0018993993289768696 + ], + [ + 0.30827292799949646, + 0.24497370421886444, + 0.0025316558312624693 + ], + [ + 0.29177385568618774, + 0.22590258717536926, + 0.005993373226374388 + ], + [ + 0.2858838140964508, + 0.1928921639919281, + 0.027891824021935463 + ], + [ + 0.29145732522010803, + 0.15074624121189117, + 0.07809890806674957 + ], + [ + 0.2990249693393707, + 0.10903025418519974, + 0.10722748190164566 + ], + [ + 0.3046334385871887, + 0.06913255155086517, + 0.1281367689371109 + ], + [ + 0.31245511770248413, + 0.0301054697483778, + 0.13967926800251007 + ], + [ + 0.3242436349391937, + -0.0019271007040515542, + 0.14625822007656097 + ], + [ + 0.33165231347084045, + -0.019181611016392708, + 0.13226152956485748 + ], + [ + 0.33137276768684387, + -0.020693952217698097, + 0.13142602145671844 + ], + [ + 0.3320958912372589, + -0.02096664533019066, + 0.13130834698677063 + ], + [ + 0.3311132490634918, + -0.02113225683569908, + 0.13122881948947906 + ], + [ + 0.3325795531272888, + -0.020998355001211166, + 0.1313500851392746 + ], + [ + 0.33581140637397766, + -0.019183574244379997, + 0.128085196018219 + ], + [ + 0.3308539092540741, + -0.011498892679810524, + 0.09113620221614838 + ], + [ + 0.31389427185058594, + 0.017774853855371475, + 0.10076136142015457 + ], + [ + 0.2863472104072571, + 0.06965473294258118, + 0.12615199387073517 + ], + [ + 0.2653547525405884, + 0.10733409970998764, + 0.13749749958515167 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9899947317483143, + 0.14062357155020916, + 0.01163796524512671, + 0.12945844958313368, + -0.9380028573341014, + 0.32154494159385105, + 0.056133242754314555, + -0.31682116526129545, + -0.9468227966733588 + ], + [ + 0.9901332350659335, + 0.13766223301590017, + -0.026177975837422457, + 0.13912822683368123, + -0.9434660769141966, + 0.30085727215783026, + 0.016718651739431725, + -0.3015308795351, + -0.9533098212914857 + ], + [ + 0.9699233696212765, + 0.24028840149260758, + -0.03886053487326289, + 0.24183020990526963, + -0.933104256748901, + 0.2661476951135482, + 0.02769127370999567, + -0.26754052056690103, + -0.9631486194846097 + ], + [ + 0.9246202017434173, + 0.3775288476995172, + -0.05049209524902633, + 0.37842328365016464, + -0.8954603762608434, + 0.23440676811520514, + 0.04328164644960987, + -0.23584461770721685, + -0.9708264599706518 + ], + [ + 0.8727286422973938, + 0.4821453972321853, + -0.07668463236898332, + 0.48705447095289345, + -0.8490827955965659, + 0.20453935696270695, + 0.033506107481248826, + -0.2158569483471375, + -0.9758499467703611 + ], + [ + 0.8006213047657058, + 0.594373330326368, + -0.07566948230298312, + 0.5989218455274569, + -0.7902416697593317, + 0.12965618506638532, + 0.017267000470385742, + -0.14912561004980307, + -0.988667488654315 + ], + [ + 0.7429482688209635, + 0.6659752636052712, + -0.0671179418771429, + 0.6688357109360288, + -0.7347114735340008, + 0.11339242670564419, + 0.02620422928900769, + -0.12913558349032822, + -0.9912806562442255 + ], + [ + 0.669838533799443, + 0.7398951086470055, + -0.06222191605574556, + 0.7418270710430278, + -0.6632865328640672, + 0.09870953342452234, + 0.03176374198885765, + -0.11227735088342804, + -0.9931690999892538 + ], + [ + 0.6092966930501384, + 0.7916050923580386, + -0.04603170202139427, + 0.7911091309095758, + -0.6029177560440885, + 0.10313351753070579, + 0.05388768718047458, + -0.09925501095452133, + -0.9936018115778358 + ], + [ + 0.5736273667453646, + 0.8179213657417311, + -0.04422989468629082, + 0.8173926836343176, + -0.568083975284265, + 0.09565457525029951, + 0.053111626428377676, + -0.09102327443246612, + -0.9944314549780314 + ], + [ + 0.5573531050641742, + 0.8295800212568446, + -0.03397800180730559, + 0.8287642260248277, + -0.5534044008703339, + 0.08302666293917592, + 0.050073685073023344, + -0.0744349207619681, + -0.9959679054238483 + ], + [ + 0.5359599146544891, + 0.8437627986505983, + -0.028483495165841373, + 0.8441131228322357, + -0.5349793580792871, + 0.035638775112013354, + 0.014832590669315387, + -0.04314424692104046, + -0.9989587419967116 + ], + [ + 0.5301643021389373, + 0.8478346705381162, + -0.010108618652322057, + 0.8478681631324189, + -0.5300151571835819, + 0.014265731741528375, + 0.00673726086714449, + -0.016133957641799083, + -0.9998471406804248 + ], + [ + 0.5336510560317321, + 0.8445782417726982, + -0.04363649757204184, + 0.8456937191294739, + -0.5331969645975626, + 0.022430567734769064, + -0.0043224785916869506, + -0.048873208080535135, + -0.9987956376109886 + ], + [ + 0.5375862049061039, + 0.8422076427662704, + -0.041077472667322965, + 0.8423559398575982, + -0.5342143282168783, + 0.07107406077052118, + 0.03791494271754618, + -0.07281028769254792, + -0.9966248637902094 + ], + [ + 0.556840161713796, + 0.8296511012654956, + -0.0401009285616162, + 0.8275054842453998, + -0.5499288782830619, + 0.11319409160428615, + 0.07185894409424459, + -0.09621475458204734, + -0.9927633218216598 + ], + [ + 0.5641075845875722, + 0.8253848746841322, + -0.022856982596879113, + 0.8200409948947284, + -0.5567901102874017, + 0.13235384308061082, + 0.09651631832409975, + -0.09340546948012218, + -0.9909389580435107 + ], + [ + 0.667499000254324, + 0.7432106570785374, + -0.045639937164363584, + 0.7436231517319826, + -0.6622046141494807, + 0.09224780326560894, + 0.038336573499350934, + -0.09551423037446521, + -0.9946895691261182 + ], + [ + 0.7965769351432117, + 0.6025480508412563, + -0.0490003349503859, + 0.6044317337792399, + -0.7923037455603498, + 0.08316882812485896, + 0.011290066362482757, + -0.09586772761697793, + -0.9953300523962326 + ], + [ + 0.8731059406869563, + 0.4860681002422868, + 0.037733516454206396, + 0.48074076598742527, + -0.8712358798578553, + 0.09917841280305344, + 0.08108225610433684, + -0.06845322180265494, + -0.9943539732760502 + ], + [ + 0.9246644934058343, + 0.37073162023687206, + 0.0869116815570566, + 0.3633002142758707, + -0.9272895380992673, + 0.09026110368676951, + 0.11405493826063799, + -0.05188620518202333, + -0.9921185880579856 + ], + [ + 0.9481535381372486, + 0.2966811805435813, + 0.11395238141032417, + 0.2912481334928033, + -0.9546316302713463, + 0.06207233862542742, + 0.12719824234153276, + -0.025665689095335478, + -0.9915451979352662 + ], + [ + 0.968391011059884, + 0.21494683630114605, + 0.12655713042947744, + 0.21308679480655682, + -0.9766256850483624, + 0.02821859640175238, + 0.12966444222485893, + -0.0003589818170510843, + -0.9915578669722565 + ], + [ + 0.979695780256074, + 0.14982058281891367, + 0.1332290175308788, + 0.14965596399410983, + -0.9886734855409127, + 0.011306256205131142, + 0.133413907031598, + 0.00886182555591079, + -0.9910207855834208 + ], + [ + 0.9862685632589551, + 0.12935529743907814, + 0.10267194432543085, + 0.13023070997878256, + -0.9914820086102846, + -0.0018408640737382336, + 0.10155926006789816, + 0.01518662656956373, + -0.9947135683541759 + ], + [ + 0.9862042245304916, + 0.13552626889970992, + 0.09504660938894798, + 0.13631378281467338, + -0.9906640546796862, + -0.0018120100324877401, + 0.09391368448189961, + 0.01474317481844719, + -0.9954711742000905 + ], + [ + 0.9855816643154481, + 0.1467156221394964, + 0.08428113184700178, + 0.14745175797876758, + -0.9890659799685635, + -0.0025428994860082505, + 0.08298651718298664, + 0.014933636162887618, + -0.9964387710626239 + ], + [ + 0.9828865526049438, + 0.16684373835362526, + 0.07808451626639193, + 0.16763063786926946, + -0.9858433449094096, + -0.003587275479944382, + 0.07638058625011479, + 0.016615242099175406, + -0.9969402889712478 + ], + [ + 0.9814284006998888, + 0.1707968080007764, + 0.08733123539950875, + 0.17168811606398554, + -0.9851475358752766, + -0.0027428746362145153, + 0.08556567712615805, + 0.0176856703468224, + -0.9961755527829046 + ], + [ + 0.9789166724939341, + 0.16943600677635012, + 0.1140771139233847, + 0.16960537677769533, + -0.9854771835105685, + 0.008290774883811075, + 0.11382514872162598, + 0.011232114127031107, + -0.9934373030698704 + ], + [ + 0.9657516913876364, + 0.1936897825432928, + 0.1726497573709613, + 0.19648550691261493, + -0.9805063027605558, + 0.000914231982764635, + 0.1694612526662441, + 0.03304025401169769, + -0.9849828554140576 + ], + [ + 0.9593123524124054, + 0.1988116281998319, + 0.20048378239026818, + 0.20401535804347898, + -0.9789526657190384, + -0.005423279817539716, + 0.19518592211368033, + 0.04610438996581624, + -0.9796820101617217 + ], + [ + 0.9446211153648637, + 0.22306619498156965, + 0.2406915475526395, + 0.21556291191840538, + -0.9748004596045727, + 0.057416852578061485, + 0.24743399000965483, + -0.0023530004584340763, + -0.9689018959506396 + ], + [ + 0.9496897068774941, + 0.208003678026757, + 0.23414510581748257, + 0.1823021627648801, + -0.9750370298668682, + 0.12676242282175954, + 0.2546671987166508, + -0.07769980898133902, + -0.9639021514562964 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0010079443454742432, + -0.0013209432363510132, + -0.017451591789722443, + -0.0165615975856781, + 0.03944333270192146, + 0.009571671485900879, + 1.0 + ], + [ + -0.006034225225448608, + 0.008917152881622314, + -0.006910800933837891, + -0.03539595007896423, + -0.010975383222103119, + 0.10474655032157898, + 1.0 + ], + [ + -0.011679470539093018, + 0.0133543461561203, + -0.006770581007003784, + -0.032630860805511475, + -0.015600357204675674, + 0.14412859082221985, + 1.0 + ], + [ + -0.01218646764755249, + 0.0004187971353530884, + -0.012408934533596039, + -0.02062167227268219, + 0.009782791137695312, + 0.12055149674415588, + 1.0 + ], + [ + -0.013671547174453735, + 0.007851436734199524, + -0.007338490337133408, + -0.06798715889453888, + 0.016244521364569664, + 0.1332383155822754, + 1.0 + ], + [ + -0.005914062261581421, + 0.004524201154708862, + -0.0065959058701992035, + -0.020164474844932556, + -0.008939370512962341, + 0.09068500995635986, + 1.0 + ], + [ + -0.0032244324684143066, + 0.007592782378196716, + -0.009023845195770264, + -0.016970306634902954, + -0.0055618565529584885, + 0.10339885950088501, + 1.0 + ], + [ + -0.0035380125045776367, + 0.006363660097122192, + -0.003496699035167694, + -0.013007789850234985, + -0.02214471623301506, + 0.07815492153167725, + 1.0 + ], + [ + -0.0021055936813354492, + -0.004333019256591797, + -0.007242433726787567, + -0.008285224437713623, + 0.000777173787355423, + 0.04437434673309326, + 1.0 + ], + [ + 0.0025942623615264893, + -0.0027237534523010254, + -0.0019690580666065216, + -0.016681045293807983, + 0.0030419938266277313, + 0.01987975835800171, + 1.0 + ], + [ + 0.0014702677726745605, + -0.0070871710777282715, + -0.0015328582376241684, + -0.03143518790602684, + 0.035261500626802444, + 0.02632361650466919, + 1.0 + ], + [ + 0.003984630107879639, + -0.0019136667251586914, + 0.001386566087603569, + -0.027027370408177376, + 0.008095823228359222, + 0.006905674934387207, + 1.0 + ], + [ + -0.002124965190887451, + 0.0035794228315353394, + -0.01988406293094158, + 0.032758116722106934, + 0.011059803888201714, + -0.0041092634201049805, + 1.0 + ], + [ + 0.005398213863372803, + 0.012753084301948547, + -0.0065965731628239155, + 0.024034161120653152, + -0.04224652424454689, + -0.005112886428833008, + 0.0 + ], + [ + 0.0011096298694610596, + 0.006631150841712952, + -0.0032384293153882027, + 0.02368706464767456, + -0.03399689868092537, + -0.024284660816192627, + 0.0 + ], + [ + -0.001533597707748413, + -2.6807188987731934e-05, + 0.0006322565022855997, + -0.0026324912905693054, + -0.024745866656303406, + -0.01024472713470459, + 0.0 + ], + [ + -0.016499072313308716, + -0.019071117043495178, + 0.0034617173951119184, + 0.0017487704753875732, + 0.05832082778215408, + -0.1289445161819458, + 0.0 + ], + [ + -0.0058900415897369385, + -0.03301042318344116, + 0.021898450329899788, + 0.00029067695140838623, + 0.027055663987994194, + -0.19019103050231934, + 0.0 + ], + [ + 0.0055735111236572266, + -0.042145922780036926, + 0.05020708590745926, + -0.027287863194942474, + -0.06988105922937393, + -0.14578938484191895, + 0.0 + ], + [ + 0.007567644119262695, + -0.04171598702669144, + 0.029128573834896088, + -0.016482673585414886, + -0.033132314682006836, + -0.12894102931022644, + 0.0 + ], + [ + 0.005608469247817993, + -0.039897702634334564, + 0.02090928703546524, + -0.02637202851474285, + -0.013240084052085876, + -0.07634490728378296, + 0.0 + ], + [ + 0.00782167911529541, + -0.039027079939842224, + 0.01154249906539917, + -0.025516720488667488, + -0.00248679518699646, + -0.0814349353313446, + 0.0 + ], + [ + 0.011788517236709595, + -0.032032571732997894, + 0.006578952074050903, + -0.009303919039666653, + -0.003782331943511963, + -0.06500470638275146, + 0.0 + ], + [ + 0.0074086785316467285, + -0.017254510894417763, + -0.013996690511703491, + -0.006324269808828831, + 0.032078228890895844, + -0.02030138671398163, + 0.0 + ], + [ + -0.00027954578399658203, + -0.0015123412013053894, + -0.0008355081081390381, + 0.00045698508620262146, + 0.007682375609874725, + 0.006065994501113892, + 0.0 + ], + [ + 0.0007231235504150391, + -0.00027269311249256134, + -0.00011767446994781494, + -0.0001767212525010109, + 0.01097021996974945, + 0.011157035827636719, + 0.0 + ], + [ + -0.0009826421737670898, + -0.00016561150550842285, + -7.952749729156494e-05, + -0.0016788067296147346, + 0.006627015769481659, + 0.02041660249233246, + 0.0 + ], + [ + 0.001466304063796997, + 0.00013390183448791504, + 0.00012126564979553223, + -0.0010870099067687988, + -0.009215384721755981, + 0.004260510206222534, + 0.0 + ], + [ + 0.0032318532466888428, + 0.0018147807568311691, + -0.003264889121055603, + 0.0064458707347512245, + -0.028401948511600494, + -0.0016293525695800781, + 1.0 + ], + [ + -0.0049574971199035645, + 0.007684681564569473, + -0.03694899380207062, + -0.02222558483481407, + -0.056210607290267944, + 0.029158800840377808, + 1.0 + ], + [ + -0.01695963740348816, + 0.029273746535182, + 0.009625159204006195, + -0.013494454324245453, + -0.02616402506828308, + 0.008832484483718872, + 1.0 + ], + [ + -0.027547061443328857, + 0.0518798790872097, + 0.025390632450580597, + 0.04945438727736473, + -0.05358397960662842, + 0.014812082052230835, + 1.0 + ], + [ + -0.0209924578666687, + 0.037679366767406464, + 0.011345505714416504, + 0.07800720632076263, + -0.00747254490852356, + -0.03470583260059357, + 1.0 + ], + [ + -0.0191841721534729, + 0.04685000330209732, + 0.008956000208854675, + 0.07495580613613129, + 0.021814510226249695, + -0.005789771676063538, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9492040276527405 + ], + [ + 0.6821943521499634 + ], + [ + 0.58391273021698 + ], + [ + 0.58391273021698 + ], + [ + 0.5829154849052429 + ], + [ + 0.5829154849052429 + ], + [ + 0.5829154849052429 + ], + [ + 0.5829154849052429 + ], + [ + 0.5819184184074402 + ], + [ + 0.5819184184074402 + ], + [ + 0.5819184184074402 + ], + [ + 0.5819184184074402 + ], + [ + 0.5819184184074402 + ], + [ + 0.5819184184074402 + ], + [ + 0.5819184184074402 + ], + [ + 0.648074209690094 + ], + [ + 0.931966245174408 + ], + [ + 1.0060625076293945 + ], + [ + 1.0014774799346924 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.35572829842567444, + 0.18907208740711212, + 0.09352150559425354 + ], + [ + 0.34969407320022583, + 0.19798924028873444, + 0.08661070466041565 + ], + [ + 0.3380146026611328, + 0.21134358644485474, + 0.07984012365341187 + ], + [ + 0.3258281350135803, + 0.21176238358020782, + 0.06743118911981583 + ], + [ + 0.3121565878391266, + 0.21961382031440735, + 0.06009269878268242 + ], + [ + 0.30624252557754517, + 0.2241380214691162, + 0.053496792912483215 + ], + [ + 0.30301809310913086, + 0.23173080384731293, + 0.04447294771671295 + ], + [ + 0.2994800806045532, + 0.23809446394443512, + 0.04097624868154526 + ], + [ + 0.2973744869232178, + 0.23376144468784332, + 0.03373381495475769 + ], + [ + 0.29996874928474426, + 0.2310376912355423, + 0.03176475688815117 + ], + [ + 0.3014390170574188, + 0.22395052015781403, + 0.030231898650527 + ], + [ + 0.30542364716529846, + 0.22203685343265533, + 0.03161846473813057 + ], + [ + 0.303298681974411, + 0.22561627626419067, + 0.011734401807188988 + ], + [ + 0.3086968958377838, + 0.23836936056613922, + 0.005137828644365072 + ], + [ + 0.3098065257072449, + 0.24500051140785217, + 0.0018993993289768696 + ], + [ + 0.30827292799949646, + 0.24497370421886444, + 0.0025316558312624693 + ], + [ + 0.29177385568618774, + 0.22590258717536926, + 0.005993373226374388 + ], + [ + 0.2858838140964508, + 0.1928921639919281, + 0.027891824021935463 + ], + [ + 0.29145732522010803, + 0.15074624121189117, + 0.07809890806674957 + ], + [ + 0.2990249693393707, + 0.10903025418519974, + 0.10722748190164566 + ], + [ + 0.3046334385871887, + 0.06913255155086517, + 0.1281367689371109 + ], + [ + 0.31245511770248413, + 0.0301054697483778, + 0.13967926800251007 + ], + [ + 0.3242436349391937, + -0.0019271007040515542, + 0.14625822007656097 + ], + [ + 0.33165231347084045, + -0.019181611016392708, + 0.13226152956485748 + ], + [ + 0.33137276768684387, + -0.020693952217698097, + 0.13142602145671844 + ], + [ + 0.3320958912372589, + -0.02096664533019066, + 0.13130834698677063 + ], + [ + 0.3311132490634918, + -0.02113225683569908, + 0.13122881948947906 + ], + [ + 0.3325795531272888, + -0.020998355001211166, + 0.1313500851392746 + ], + [ + 0.33581140637397766, + -0.019183574244379997, + 0.128085196018219 + ], + [ + 0.3308539092540741, + -0.011498892679810524, + 0.09113620221614838 + ], + [ + 0.31389427185058594, + 0.017774853855371475, + 0.10076136142015457 + ], + [ + 0.2863472104072571, + 0.06965473294258118, + 0.12615199387073517 + ], + [ + 0.2653547525405884, + 0.10733409970998764, + 0.13749749958515167 + ], + [ + 0.24617058038711548, + 0.15418410301208496, + 0.14645349979400635 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9901332350659335, + 0.13766223301590017, + -0.026177975837422457, + 0.13912822683368123, + -0.9434660769141966, + 0.30085727215783026, + 0.016718651739431725, + -0.3015308795351, + -0.9533098212914857 + ], + [ + 0.9699233696212765, + 0.24028840149260758, + -0.03886053487326289, + 0.24183020990526963, + -0.933104256748901, + 0.2661476951135482, + 0.02769127370999567, + -0.26754052056690103, + -0.9631486194846097 + ], + [ + 0.9246202017434173, + 0.3775288476995172, + -0.05049209524902633, + 0.37842328365016464, + -0.8954603762608434, + 0.23440676811520514, + 0.04328164644960987, + -0.23584461770721685, + -0.9708264599706518 + ], + [ + 0.8727286422973938, + 0.4821453972321853, + -0.07668463236898332, + 0.48705447095289345, + -0.8490827955965659, + 0.20453935696270695, + 0.033506107481248826, + -0.2158569483471375, + -0.9758499467703611 + ], + [ + 0.8006213047657058, + 0.594373330326368, + -0.07566948230298312, + 0.5989218455274569, + -0.7902416697593317, + 0.12965618506638532, + 0.017267000470385742, + -0.14912561004980307, + -0.988667488654315 + ], + [ + 0.7429482688209635, + 0.6659752636052712, + -0.0671179418771429, + 0.6688357109360288, + -0.7347114735340008, + 0.11339242670564419, + 0.02620422928900769, + -0.12913558349032822, + -0.9912806562442255 + ], + [ + 0.669838533799443, + 0.7398951086470055, + -0.06222191605574556, + 0.7418270710430278, + -0.6632865328640672, + 0.09870953342452234, + 0.03176374198885765, + -0.11227735088342804, + -0.9931690999892538 + ], + [ + 0.6092966930501384, + 0.7916050923580386, + -0.04603170202139427, + 0.7911091309095758, + -0.6029177560440885, + 0.10313351753070579, + 0.05388768718047458, + -0.09925501095452133, + -0.9936018115778358 + ], + [ + 0.5736273667453646, + 0.8179213657417311, + -0.04422989468629082, + 0.8173926836343176, + -0.568083975284265, + 0.09565457525029951, + 0.053111626428377676, + -0.09102327443246612, + -0.9944314549780314 + ], + [ + 0.5573531050641742, + 0.8295800212568446, + -0.03397800180730559, + 0.8287642260248277, + -0.5534044008703339, + 0.08302666293917592, + 0.050073685073023344, + -0.0744349207619681, + -0.9959679054238483 + ], + [ + 0.5359599146544891, + 0.8437627986505983, + -0.028483495165841373, + 0.8441131228322357, + -0.5349793580792871, + 0.035638775112013354, + 0.014832590669315387, + -0.04314424692104046, + -0.9989587419967116 + ], + [ + 0.5301643021389373, + 0.8478346705381162, + -0.010108618652322057, + 0.8478681631324189, + -0.5300151571835819, + 0.014265731741528375, + 0.00673726086714449, + -0.016133957641799083, + -0.9998471406804248 + ], + [ + 0.5336510560317321, + 0.8445782417726982, + -0.04363649757204184, + 0.8456937191294739, + -0.5331969645975626, + 0.022430567734769064, + -0.0043224785916869506, + -0.048873208080535135, + -0.9987956376109886 + ], + [ + 0.5375862049061039, + 0.8422076427662704, + -0.041077472667322965, + 0.8423559398575982, + -0.5342143282168783, + 0.07107406077052118, + 0.03791494271754618, + -0.07281028769254792, + -0.9966248637902094 + ], + [ + 0.556840161713796, + 0.8296511012654956, + -0.0401009285616162, + 0.8275054842453998, + -0.5499288782830619, + 0.11319409160428615, + 0.07185894409424459, + -0.09621475458204734, + -0.9927633218216598 + ], + [ + 0.5641075845875722, + 0.8253848746841322, + -0.022856982596879113, + 0.8200409948947284, + -0.5567901102874017, + 0.13235384308061082, + 0.09651631832409975, + -0.09340546948012218, + -0.9909389580435107 + ], + [ + 0.667499000254324, + 0.7432106570785374, + -0.045639937164363584, + 0.7436231517319826, + -0.6622046141494807, + 0.09224780326560894, + 0.038336573499350934, + -0.09551423037446521, + -0.9946895691261182 + ], + [ + 0.7965769351432117, + 0.6025480508412563, + -0.0490003349503859, + 0.6044317337792399, + -0.7923037455603498, + 0.08316882812485896, + 0.011290066362482757, + -0.09586772761697793, + -0.9953300523962326 + ], + [ + 0.8731059406869563, + 0.4860681002422868, + 0.037733516454206396, + 0.48074076598742527, + -0.8712358798578553, + 0.09917841280305344, + 0.08108225610433684, + -0.06845322180265494, + -0.9943539732760502 + ], + [ + 0.9246644934058343, + 0.37073162023687206, + 0.0869116815570566, + 0.3633002142758707, + -0.9272895380992673, + 0.09026110368676951, + 0.11405493826063799, + -0.05188620518202333, + -0.9921185880579856 + ], + [ + 0.9481535381372486, + 0.2966811805435813, + 0.11395238141032417, + 0.2912481334928033, + -0.9546316302713463, + 0.06207233862542742, + 0.12719824234153276, + -0.025665689095335478, + -0.9915451979352662 + ], + [ + 0.968391011059884, + 0.21494683630114605, + 0.12655713042947744, + 0.21308679480655682, + -0.9766256850483624, + 0.02821859640175238, + 0.12966444222485893, + -0.0003589818170510843, + -0.9915578669722565 + ], + [ + 0.979695780256074, + 0.14982058281891367, + 0.1332290175308788, + 0.14965596399410983, + -0.9886734855409127, + 0.011306256205131142, + 0.133413907031598, + 0.00886182555591079, + -0.9910207855834208 + ], + [ + 0.9862685632589551, + 0.12935529743907814, + 0.10267194432543085, + 0.13023070997878256, + -0.9914820086102846, + -0.0018408640737382336, + 0.10155926006789816, + 0.01518662656956373, + -0.9947135683541759 + ], + [ + 0.9862042245304916, + 0.13552626889970992, + 0.09504660938894798, + 0.13631378281467338, + -0.9906640546796862, + -0.0018120100324877401, + 0.09391368448189961, + 0.01474317481844719, + -0.9954711742000905 + ], + [ + 0.9855816643154481, + 0.1467156221394964, + 0.08428113184700178, + 0.14745175797876758, + -0.9890659799685635, + -0.0025428994860082505, + 0.08298651718298664, + 0.014933636162887618, + -0.9964387710626239 + ], + [ + 0.9828865526049438, + 0.16684373835362526, + 0.07808451626639193, + 0.16763063786926946, + -0.9858433449094096, + -0.003587275479944382, + 0.07638058625011479, + 0.016615242099175406, + -0.9969402889712478 + ], + [ + 0.9814284006998888, + 0.1707968080007764, + 0.08733123539950875, + 0.17168811606398554, + -0.9851475358752766, + -0.0027428746362145153, + 0.08556567712615805, + 0.0176856703468224, + -0.9961755527829046 + ], + [ + 0.9789166724939341, + 0.16943600677635012, + 0.1140771139233847, + 0.16960537677769533, + -0.9854771835105685, + 0.008290774883811075, + 0.11382514872162598, + 0.011232114127031107, + -0.9934373030698704 + ], + [ + 0.9657516913876364, + 0.1936897825432928, + 0.1726497573709613, + 0.19648550691261493, + -0.9805063027605558, + 0.000914231982764635, + 0.1694612526662441, + 0.03304025401169769, + -0.9849828554140576 + ], + [ + 0.9593123524124054, + 0.1988116281998319, + 0.20048378239026818, + 0.20401535804347898, + -0.9789526657190384, + -0.005423279817539716, + 0.19518592211368033, + 0.04610438996581624, + -0.9796820101617217 + ], + [ + 0.9446211153648637, + 0.22306619498156965, + 0.2406915475526395, + 0.21556291191840538, + -0.9748004596045727, + 0.057416852578061485, + 0.24743399000965483, + -0.0023530004584340763, + -0.9689018959506396 + ], + [ + 0.9496897068774941, + 0.208003678026757, + 0.23414510581748257, + 0.1823021627648801, + -0.9750370298668682, + 0.12676242282175954, + 0.2546671987166508, + -0.07769980898133902, + -0.9639021514562964 + ], + [ + 0.9559644361220526, + 0.2161567829901447, + 0.19851509271891074, + 0.17777419935382885, + -0.9646914278649442, + 0.19433677739429703, + 0.2335130208659709, + -0.15048818615176054, + -0.9606377959016613 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005604.json b/json/chunk-0005/episode_0005604.json new file mode 100644 index 0000000000000000000000000000000000000000..4493097902a9b00f4dd8e8958b24a2b0afe09c81 --- /dev/null +++ b/json/chunk-0005/episode_0005604.json @@ -0,0 +1,2542 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 41, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the cupcake to the silver pot." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005604.mp4", + "start": 0, + "end": 41, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.32316306233406067, + 0.06349638849496841, + 0.13025839626789093, + 0.02977379970252514, + -0.03338874876499176, + 0.732143759727478, + 0.0, + 0.9988223910331726 + ], + [ + 0.32083314657211304, + 0.06285025179386139, + 0.11874928325414658, + 0.04885561764240265, + -8.87534988578409e-05, + 0.7322346568107605, + 0.0, + 0.9988223910331726 + ], + [ + 0.3267640471458435, + 0.0663519874215126, + 0.11683058738708496, + 0.032303355634212494, + -0.031673580408096313, + 0.7083284854888916, + 0.0, + 0.9988223910331726 + ], + [ + 0.33276763558387756, + 0.0732872262597084, + 0.11807196587324142, + -0.0023827042896300554, + -0.061721641570329666, + 0.7026941180229187, + 0.0, + 0.9988223910331726 + ], + [ + 0.3453802466392517, + 0.08002132922410965, + 0.12330549210309982, + -0.038952093571424484, + -0.08172748237848282, + 0.6883535981178284, + 0.0, + 0.9988223910331726 + ], + [ + 0.36554771661758423, + 0.08526378124952316, + 0.12284586578607559, + -0.06873054057359695, + -0.15926362574100494, + 0.6461732387542725, + 0.0, + 0.9988223910331726 + ], + [ + 0.3777025043964386, + 0.08642369508743286, + 0.11663355678319931, + -0.05370650067925453, + -0.17962703108787537, + 0.6410010457038879, + 0.0, + 0.9988223910331726 + ], + [ + 0.38458412885665894, + 0.0818108469247818, + 0.10512424260377884, + -0.05677894875407219, + -0.18257060647010803, + 0.5989099740982056, + 0.0, + 0.9988223910331726 + ], + [ + 0.3850233256816864, + 0.07237502187490463, + 0.09950993955135345, + -0.06305529177188873, + -0.17652153968811035, + 0.571007251739502, + 0.0, + 0.9988223910331726 + ], + [ + 0.3881065845489502, + 0.06731738895177841, + 0.09789146482944489, + -0.08283349871635437, + -0.18838687241077423, + 0.5711870193481445, + 0.0, + 0.9988223910331726 + ], + [ + 0.386355996131897, + 0.06482544541358948, + 0.08715266734361649, + -0.07470695674419403, + -0.2055617719888687, + 0.5874642729759216, + 0.0, + 0.9988223910331726 + ], + [ + 0.3886455297470093, + 0.06810427457094193, + 0.08497823774814606, + -0.07165317237377167, + -0.2363140732049942, + 0.5994967222213745, + 0.0, + 0.9988223910331726 + ], + [ + 0.38625556230545044, + 0.0710798054933548, + 0.08106590062379837, + -0.06389513611793518, + -0.2379876971244812, + 0.5972211956977844, + 0.0, + 0.9988223910331726 + ], + [ + 0.38805875182151794, + 0.0734531506896019, + 0.08171919733285904, + -0.05912431329488754, + -0.2560345232486725, + 0.6020428538322449, + 0.0, + 0.9988223910331726 + ], + [ + 0.3949616551399231, + 0.07531967014074326, + 0.0732274129986763, + -0.04584148898720741, + -0.2369852066040039, + 0.6026215553283691, + 0.0, + 0.9988223910331726 + ], + [ + 0.3966016173362732, + 0.07675222307443619, + 0.06927605718374252, + -0.03680143132805824, + -0.23619569838047028, + 0.5995826125144958, + 0.0, + 0.9988223910331726 + ], + [ + 0.39947232604026794, + 0.07716885209083557, + 0.06617673486471176, + -0.02752828039228916, + -0.24726265668869019, + 0.5883691906929016, + 0.0, + 0.9988223910331726 + ], + [ + 0.40222403407096863, + 0.07528757303953171, + 0.06567366421222687, + -0.025473730638623238, + -0.256832480430603, + 0.5938273668289185, + 0.0, + 0.9643021821975708 + ], + [ + 0.3984505236148834, + 0.07453665882349014, + 0.06244201958179474, + -0.02567502297461033, + -0.25647297501564026, + 0.5759884715080261, + 0.0, + 0.8580558896064758 + ], + [ + 0.3927188515663147, + 0.07193146646022797, + 0.06370945274829865, + -0.029891330748796463, + -0.25806787610054016, + 0.5596727132797241, + 0.0, + 0.8580558896064758 + ], + [ + 0.3876655101776123, + 0.06838534772396088, + 0.06776782125234604, + -0.03650810942053795, + -0.25503063201904297, + 0.5747457146644592, + 0.0, + 0.8580558896064758 + ], + [ + 0.3870491087436676, + 0.06736034154891968, + 0.0724455714225769, + -0.042377423495054245, + -0.23110076785087585, + 0.6156328916549683, + 0.0, + 0.8580558896064758 + ], + [ + 0.38924187421798706, + 0.0665336474776268, + 0.0934206172823906, + -0.08584504574537277, + -0.2704310119152069, + 0.6687890887260437, + 0.0, + 0.8580558896064758 + ], + [ + 0.39008578658103943, + 0.06671001017093658, + 0.12082772701978683, + -0.14855681359767914, + -0.3221743702888489, + 0.7295236587524414, + 0.0, + 0.8571589589118958 + ], + [ + 0.38713642954826355, + 0.06737244129180908, + 0.1419295221567154, + -0.1953023374080658, + -0.29202988743782043, + 0.767874538898468, + 0.0, + 0.8580558896064758 + ], + [ + 0.376711905002594, + 0.06936273723840714, + 0.16433529555797577, + -0.21231785416603088, + -0.2878093421459198, + 0.7559719085693359, + 0.0, + 0.8580558896064758 + ], + [ + 0.35637935996055603, + 0.06524048745632172, + 0.16151197254657745, + -0.17559240758419037, + -0.27406394481658936, + 0.66676265001297, + 0.0, + 0.8580558896064758 + ], + [ + 0.33062294125556946, + 0.05488579347729683, + 0.14612099528312683, + -0.13254380226135254, + -0.2365027219057083, + 0.5460063219070435, + 0.0, + 0.8580558896064758 + ], + [ + 0.31855082511901855, + 0.04710850119590759, + 0.13531044125556946, + -0.11444368213415146, + -0.20024023950099945, + 0.4716445505619049, + 0.0, + 0.8580558896064758 + ], + [ + 0.313883900642395, + 0.03664117306470871, + 0.12637770175933838, + -0.08259887993335724, + -0.18697252869606018, + 0.4232633411884308, + 0.0, + 0.8571589589118958 + ], + [ + 0.31453776359558105, + 0.030035849660634995, + 0.12405972182750702, + -0.0745595246553421, + -0.18317116796970367, + 0.38681086897850037, + 0.0, + 0.8580558896064758 + ], + [ + 0.3094148337841034, + 0.023889759555459023, + 0.11311887949705124, + -0.06425060331821442, + -0.1716408133506775, + 0.36597517132759094, + 0.0, + 0.904950737953186 + ], + [ + 0.3087014853954315, + 0.020748769864439964, + 0.10695626586675644, + -0.040060579776763916, + -0.1482149362564087, + 0.3637359142303467, + 0.0, + 1.0027955770492554 + ], + [ + 0.3081778287887573, + 0.020867206156253815, + 0.10451829433441162, + -0.0340561717748642, + -0.13889072835445404, + 0.3686859607696533, + 0.0, + 0.9994885921478271 + ], + [ + 0.30595922470092773, + 0.021980106830596924, + 0.09765789657831192, + -0.03205832839012146, + -0.14607085287570953, + 0.37609121203422546, + 0.0, + 0.9994885921478271 + ], + [ + 0.30329281091690063, + 0.021851351484656334, + 0.0992419421672821, + -0.04556872323155403, + -0.1176656112074852, + 0.37433406710624695, + 0.0, + 0.9994885921478271 + ], + [ + 0.30543994903564453, + 0.024152396246790886, + 0.10288941860198975, + -0.015050659887492657, + -0.1320878565311432, + 0.36964407563209534, + 0.0, + 0.9994885921478271 + ], + [ + 0.3092764914035797, + 0.02193482033908367, + 0.11308445036411285, + -0.030340982601046562, + -0.12405609339475632, + 0.3809216022491455, + 0.0, + 0.9994885921478271 + ], + [ + 0.3134843707084656, + 0.02486419677734375, + 0.12136650085449219, + -0.03689730539917946, + -0.1351308971643448, + 0.4195556938648224, + 0.0, + 0.9994885921478271 + ], + [ + 0.32063475251197815, + 0.024099182337522507, + 0.13582530617713928, + -0.019380666315555573, + -0.16155290603637695, + 0.4438818395137787, + 0.0, + 0.9994885921478271 + ], + [ + 0.332065224647522, + 0.023516736924648285, + 0.15583646297454834, + -0.06629176437854767, + -0.18198174238204956, + 0.46931272745132446, + 0.0, + 0.9994885921478271 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9643021821975708 + ], + [ + 0.8580558896064758 + ], + [ + 0.8580558896064758 + ], + [ + 0.8580558896064758 + ], + [ + 0.8580558896064758 + ], + [ + 0.8580558896064758 + ], + [ + 0.8571589589118958 + ], + [ + 0.8580558896064758 + ], + [ + 0.8580558896064758 + ], + [ + 0.8580558896064758 + ], + [ + 0.8580558896064758 + ], + [ + 0.8580558896064758 + ], + [ + 0.8571589589118958 + ], + [ + 0.8580558896064758 + ], + [ + 0.904950737953186 + ], + [ + 1.0027955770492554 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.32316306233406067, + 0.06349638849496841, + 0.13025839626789093 + ], + [ + 0.32083314657211304, + 0.06285025179386139, + 0.11874928325414658 + ], + [ + 0.3267640471458435, + 0.0663519874215126, + 0.11683058738708496 + ], + [ + 0.33276763558387756, + 0.0732872262597084, + 0.11807196587324142 + ], + [ + 0.3453802466392517, + 0.08002132922410965, + 0.12330549210309982 + ], + [ + 0.36554771661758423, + 0.08526378124952316, + 0.12284586578607559 + ], + [ + 0.3777025043964386, + 0.08642369508743286, + 0.11663355678319931 + ], + [ + 0.38458412885665894, + 0.0818108469247818, + 0.10512424260377884 + ], + [ + 0.3850233256816864, + 0.07237502187490463, + 0.09950993955135345 + ], + [ + 0.3881065845489502, + 0.06731738895177841, + 0.09789146482944489 + ], + [ + 0.386355996131897, + 0.06482544541358948, + 0.08715266734361649 + ], + [ + 0.3886455297470093, + 0.06810427457094193, + 0.08497823774814606 + ], + [ + 0.38625556230545044, + 0.0710798054933548, + 0.08106590062379837 + ], + [ + 0.38805875182151794, + 0.0734531506896019, + 0.08171919733285904 + ], + [ + 0.3949616551399231, + 0.07531967014074326, + 0.0732274129986763 + ], + [ + 0.3966016173362732, + 0.07675222307443619, + 0.06927605718374252 + ], + [ + 0.39947232604026794, + 0.07716885209083557, + 0.06617673486471176 + ], + [ + 0.40222403407096863, + 0.07528757303953171, + 0.06567366421222687 + ], + [ + 0.3984505236148834, + 0.07453665882349014, + 0.06244201958179474 + ], + [ + 0.3927188515663147, + 0.07193146646022797, + 0.06370945274829865 + ], + [ + 0.3876655101776123, + 0.06838534772396088, + 0.06776782125234604 + ], + [ + 0.3870491087436676, + 0.06736034154891968, + 0.0724455714225769 + ], + [ + 0.38924187421798706, + 0.0665336474776268, + 0.0934206172823906 + ], + [ + 0.39008578658103943, + 0.06671001017093658, + 0.12082772701978683 + ], + [ + 0.38713642954826355, + 0.06737244129180908, + 0.1419295221567154 + ], + [ + 0.376711905002594, + 0.06936273723840714, + 0.16433529555797577 + ], + [ + 0.35637935996055603, + 0.06524048745632172, + 0.16151197254657745 + ], + [ + 0.33062294125556946, + 0.05488579347729683, + 0.14612099528312683 + ], + [ + 0.31855082511901855, + 0.04710850119590759, + 0.13531044125556946 + ], + [ + 0.313883900642395, + 0.03664117306470871, + 0.12637770175933838 + ], + [ + 0.31453776359558105, + 0.030035849660634995, + 0.12405972182750702 + ], + [ + 0.3094148337841034, + 0.023889759555459023, + 0.11311887949705124 + ], + [ + 0.3087014853954315, + 0.020748769864439964, + 0.10695626586675644 + ], + [ + 0.3081778287887573, + 0.020867206156253815, + 0.10451829433441162 + ], + [ + 0.30595922470092773, + 0.021980106830596924, + 0.09765789657831192 + ], + [ + 0.30329281091690063, + 0.021851351484656334, + 0.0992419421672821 + ], + [ + 0.30543994903564453, + 0.024152396246790886, + 0.10288941860198975 + ], + [ + 0.3092764914035797, + 0.02193482033908367, + 0.11308445036411285 + ], + [ + 0.3134843707084656, + 0.02486419677734375, + 0.12136650085449219 + ], + [ + 0.32063475251197815, + 0.024099182337522507, + 0.13582530617713928 + ], + [ + 0.332065224647522, + 0.023516736924648285, + 0.15583646297454834 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.7433285558126946, + 0.6689084235710115, + 0.004917213556205493, + 0.6680930053321762, + -0.7427491442202752, + 0.04444597829128013, + 0.033382545433711566, + -0.029752808872314202, + -0.9989996876999376 + ], + [ + 0.7436823152997435, + 0.6677387083370967, + -0.03258268403183434, + 0.668533174968325, + -0.7427920600539941, + 0.03637787084910624, + 8.875349874131952e-05, + -0.048836184423530334, + -0.9988067977410682 + ], + [ + 0.7590694512568288, + 0.6510026194575579, + 0.0030261573084295456, + 0.6502389467791784, + -0.7583887471085438, + 0.045120065942310515, + 0.031668284768235126, + -0.03228153835448023, + -0.9989769877336048 + ], + [ + 0.7616507312952516, + 0.6461619332979521, + 0.04860987013006365, + 0.6450452988804988, + -0.763196632780909, + 0.03804552672852163, + 0.0616824603074223, + 0.002378164951297595, + -0.9980929908690312 + ], + [ + 0.7697151809425339, + 0.632329462009413, + 0.08773819978485958, + 0.6331461260967334, + -0.7737267345967451, + 0.021746796981552297, + 0.08163653125470915, + 0.038812261530909026, + -0.9959061628083012 + ], + [ + 0.7882896613194929, + 0.5920182190026089, + 0.16767181702891695, + 0.5945151325342777, + -0.8030669954358916, + 0.04043708730015258, + 0.15859119472577823, + 0.0678072946706257, + -0.9850131997820646 + ], + [ + 0.788601758861586, + 0.5894489065143237, + 0.17509212583517647, + 0.5883765247663023, + -0.8060771381806574, + 0.0636609174172868, + 0.17866261787050491, + 0.05281698506683067, + -0.9824917480895747 + ], + [ + 0.8122234888232626, + 0.5543241521647, + 0.1817078383852895, + 0.5543732291512957, + -0.830427903467664, + 0.055315639223147604, + 0.18155805408775674, + 0.055805299651440855, + -0.9817955192027923 + ], + [ + 0.8282827245241201, + 0.5300955796638452, + 0.1815114450268968, + 0.5320809883247802, + -0.8456656668039672, + 0.04170613686648718, + 0.17560623598900255, + 0.06203431638902046, + -0.982504042471033 + ], + [ + 0.8263759322029647, + 0.5257421275952877, + 0.20173753727866492, + 0.5310659666345966, + -0.8467523819738457, + 0.03129445165008317, + 0.18727455181668964, + 0.08127495858625909, + -0.9789395401906388 + ], + [ + 0.8148249071212946, + 0.5400255816915001, + 0.21079075371925113, + 0.542583233433491, + -0.83847105843129, + 0.05069239558325701, + 0.20411713679069396, + 0.07306610220799065, + -0.9762159285611457 + ], + [ + 0.8026736713279581, + 0.5489408984181845, + 0.23319276875738174, + 0.548545765509368, + -0.8329582398979717, + 0.07265062785561308, + 0.2341207391467888, + 0.06960215966412081, + -0.9697128538239821 + ], + [ + 0.8035946919597237, + 0.5487520830276484, + 0.2304489583985444, + 0.5464967316815301, + -0.8336790178151329, + 0.07950231138904966, + 0.2357475202744726, + 0.06205196715344803, + -0.969831253392478 + ], + [ + 0.7973136335439512, + 0.553004493396404, + 0.241820181226317, + 0.5478660960421529, + -0.8312149826208882, + 0.09446900800837954, + 0.25324634365074783, + 0.0571636506002145, + -0.9657114509404889 + ], + [ + 0.8008260120341448, + 0.5573452592638757, + 0.2191893255283454, + 0.5509621206202686, + -0.8290850611181417, + 0.09517721929297968, + 0.234773167314973, + 0.0445446226475274, + -0.971029009094005 + ], + [ + 0.8026494278691064, + 0.5568078530293245, + 0.21381980905956838, + 0.5486303404729408, + -0.8298707184894425, + 0.10158415283085005, + 0.2340056526110878, + 0.0357715724939605, + -0.9715769393863608 + ], + [ + 0.8065471180436106, + 0.5491909805152615, + 0.21879445444579193, + 0.5381252617228087, + -0.8352706360606881, + 0.11289006701447207, + 0.24475078972559938, + 0.02668766485586844, + -0.9692186644267826 + ], + [ + 0.8016199228377529, + 0.5539932742709168, + 0.22471526733220423, + 0.5411841176755503, + -0.8321565619190956, + 0.12097606056871966, + 0.2540182081767593, + 0.024635513341092, + -0.9668856402890104 + ], + [ + 0.8112225270610114, + 0.5390229776383543, + 0.22665445322479003, + 0.5268484601955205, + -0.8419249238500949, + 0.11658954751443493, + 0.25367047833430534, + 0.02483248231437849, + -0.9669718901000952 + ], + [ + 0.8193662102330361, + 0.5242079321093599, + 0.23204537798021602, + 0.5133277659675713, + -0.8510998750738882, + 0.11010725378445593, + 0.2552128880270251, + 0.02889717222914818, + -0.96645296586128 + ], + [ + 0.8121828945072623, + 0.5355305494743241, + 0.23144324671403532, + 0.5260382543304749, + -0.8437769661263596, + 0.10641516064707651, + 0.2522750499965306, + 0.03531942828423065, + -0.9670107740531764 + ], + [ + 0.7947038024329898, + 0.5690347800963544, + 0.21129431000204585, + 0.5621230701680657, + -0.8212787637585172, + 0.09756457443206053, + 0.22904916586483115, + 0.04123846796347812, + -0.9725409340365319 + ], + [ + 0.7560584034087546, + 0.5997824537133225, + 0.26198606614213443, + 0.5975016931091492, + -0.7958858985327852, + 0.09776176782546889, + 0.2671468086403143, + 0.08262351199438955, + -0.9601072533311099 + ], + [ + 0.7071358097014809, + 0.6242361679749903, + 0.33209660225562554, + 0.6322218862369745, + -0.7685169165236521, + 0.0983729412996309, + 0.31662980466278523, + 0.14039571079231106, + -0.938101599609727 + ], + [ + 0.6889307833460436, + 0.6412102663335059, + 0.33797007279746105, + 0.6651990907049768, + -0.7445202267016042, + 0.05656679023476491, + 0.28789676184958857, + 0.185846782002558, + -0.9394553891142543 + ], + [ + 0.6976773053147267, + 0.6270703780212623, + 0.3464521881256519, + 0.6577797637083438, + -0.7522998283664721, + 0.03702365048953714, + 0.28385235617231785, + 0.20205867773507552, + -0.9373367221267798 + ], + [ + 0.7564999884300999, + 0.5717819598566967, + 0.317447882159723, + 0.5953642123591092, + -0.8029842068054971, + 0.027528499104818485, + 0.2706459350281765, + 0.16817179907279767, + -0.9478760593291415 + ], + [ + 0.8308158134673636, + 0.4882611279651799, + 0.2671070104110582, + 0.5048233886805479, + -0.8631886587830275, + 0.007660652024903174, + 0.23430414066689345, + 0.12847727529228045, + -0.9636364249029923 + ], + [ + 0.873022609190268, + 0.4311458395679261, + 0.22791399444940846, + 0.44527341490411493, + -0.8953149741833183, + -0.011944998231570456, + 0.19890477576530124, + 0.11191229613582437, + -0.9736079951147499 + ], + [ + 0.8958629237231339, + 0.3953545935074197, + 0.2027914379129973, + 0.4035794496449326, + -0.9149441942889689, + 0.000865540988380438, + 0.18588504437563397, + 0.08106705082517926, + -0.9792215702015433 + ], + [ + 0.9106238296338155, + 0.3636229012444982, + 0.1963227612722931, + 0.3709260409201816, + -0.9286622940021084, + -0.00046461384118756666, + 0.18214860161506502, + 0.07324431301661273, + -0.9805392177472562 + ], + [ + 0.9200541911134055, + 0.3468815009416284, + 0.1821359649249431, + 0.3526016037137695, + -0.9357729552469762, + 0.0010417710009707482, + 0.1707992812430278, + 0.06326294755086626, + -0.9832728029362153 + ], + [ + 0.9243277994969421, + 0.3499554253639764, + 0.15214900372811882, + 0.35186764670051873, + -0.9359285160902908, + 0.01506558908457272, + 0.14767287592032488, + 0.03961076908297336, + -0.9882427377370783 + ], + [ + 0.9238190030760296, + 0.3557838207472083, + 0.14133761866583713, + 0.356919513871276, + -0.9339596993514396, + 0.018103607520623607, + 0.13844461048918902, + 0.03372169749415215, + -0.9897959067123939 + ], + [ + 0.9202023092284447, + 0.3627596909928068, + 0.14708200665425306, + 0.3633763014780682, + -0.9313430021888748, + 0.023619394529377672, + 0.14555196190625028, + 0.03171149420348404, + -0.9888422561362477 + ], + [ + 0.9243155417187812, + 0.36029587915010297, + 0.12580802360966728, + 0.36312444412754286, + -0.9317405246402779, + 0.0004825143756684788, + 0.11739428186321191, + 0.04523797310351211, + -0.9920544886120453 + ], + [ + 0.9243334402843579, + 0.35939437661330775, + 0.12823171694559357, + 0.3581364570412534, + -0.9330665066074185, + 0.03354358933337888, + 0.13170409754453885, + 0.014918991459203956, + -0.9911768027873828 + ], + [ + 0.9211881556734354, + 0.36812036026714534, + 0.12609433850796625, + 0.3689190365557843, + -0.9292906963389173, + 0.01781982504633261, + 0.1237381360524166, + 0.030103190108643423, + -0.9918581912912532 + ], + [ + 0.9049443819348041, + 0.4025388069186832, + 0.13797889160707968, + 0.40364115608540146, + -0.9146728448889068, + 0.02115192513399741, + 0.1347200160283383, + 0.03655264350654741, + -0.9902092816844362 + ], + [ + 0.8913319858766753, + 0.4265525757126412, + 0.15355842896452881, + 0.42385636644177077, + -0.9042605011416777, + 0.05156284225856495, + 0.16085108510644902, + 0.019127107149639493, + -0.9867933330703874 + ], + [ + 0.8771517042583505, + 0.4405876022259309, + 0.19101689056592935, + 0.4448050236449605, + -0.8953424639062229, + 0.022591221005963218, + 0.18097894534137793, + 0.06514934451810736, + -0.9813267469359956 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.002329915761947632, + -0.0006461367011070251, + -0.011509113013744354, + 0.01908181793987751, + 0.033299993723630905, + 9.08970832824707e-05, + 1.0 + ], + [ + 0.005930900573730469, + 0.0035017356276512146, + -0.001918695867061615, + -0.016552262008190155, + -0.03158482536673546, + -0.023906171321868896, + 1.0 + ], + [ + 0.006003588438034058, + 0.006935238838195801, + 0.0012413784861564636, + -0.03468605875968933, + -0.030048061162233353, + -0.0056343674659729, + 1.0 + ], + [ + 0.012612611055374146, + 0.006734102964401245, + 0.0052335262298583984, + -0.03656939044594765, + -0.020005840808153152, + -0.014340519905090332, + 1.0 + ], + [ + 0.02016746997833252, + 0.005242452025413513, + -0.00045962631702423096, + -0.02977844700217247, + -0.07753614336252213, + -0.04218035936355591, + 1.0 + ], + [ + 0.01215478777885437, + 0.0011599138379096985, + -0.006212309002876282, + 0.015024039894342422, + -0.020363405346870422, + -0.0051721930503845215, + 1.0 + ], + [ + 0.006881624460220337, + -0.004612848162651062, + -0.011509314179420471, + -0.0030724480748176575, + -0.002943575382232666, + -0.04209107160568237, + 1.0 + ], + [ + 0.0004391968250274658, + -0.009435825049877167, + -0.0056143030524253845, + -0.006276343017816544, + 0.006049066781997681, + -0.027902722358703613, + 1.0 + ], + [ + 0.003083258867263794, + -0.005057632923126221, + -0.0016184747219085693, + -0.019778206944465637, + -0.01186533272266388, + 0.00017976760864257812, + 1.0 + ], + [ + -0.0017505884170532227, + -0.0024919435381889343, + -0.0107387974858284, + 0.00812654197216034, + -0.017174899578094482, + 0.0162772536277771, + 1.0 + ], + [ + 0.0022895336151123047, + 0.0032788291573524475, + -0.0021744295954704285, + 0.0030537843704223633, + -0.03075230121612549, + 0.01203244924545288, + 1.0 + ], + [ + -0.002389967441558838, + 0.0029755309224128723, + -0.003912337124347687, + 0.007758036255836487, + -0.0016736239194869995, + -0.002275526523590088, + 1.0 + ], + [ + 0.0018031895160675049, + 0.002373345196247101, + 0.0006532967090606689, + 0.004770822823047638, + -0.018046826124191284, + 0.004821658134460449, + 1.0 + ], + [ + 0.006902903318405151, + 0.0018665194511413574, + -0.00849178433418274, + 0.01328282430768013, + 0.01904931664466858, + 0.0005787014961242676, + 1.0 + ], + [ + 0.0016399621963500977, + 0.0014325529336929321, + -0.003951355814933777, + 0.00904005765914917, + 0.0007895082235336304, + -0.003038942813873291, + 1.0 + ], + [ + 0.002870708703994751, + 0.00041662901639938354, + -0.0030993223190307617, + 0.009273150935769081, + -0.01106695830821991, + -0.011213421821594238, + 1.0 + ], + [ + 0.0027517080307006836, + -0.0018812790513038635, + -0.0005030706524848938, + 0.002054549753665924, + -0.009569823741912842, + 0.005458176136016846, + 0.0 + ], + [ + -0.003773510456085205, + -0.0007509142160415649, + -0.003231644630432129, + -0.00020129233598709106, + 0.00035950541496276855, + -0.017838895320892334, + 0.0 + ], + [ + -0.005731672048568726, + -0.0026051923632621765, + 0.0012674331665039062, + -0.004216307774186134, + -0.0015949010848999023, + -0.016315758228302002, + 0.0 + ], + [ + -0.005053341388702393, + -0.00354611873626709, + 0.004058368504047394, + -0.006616778671741486, + 0.0030372440814971924, + 0.015073001384735107, + 0.0 + ], + [ + -0.0006164014339447021, + -0.0010250061750411987, + 0.0046777501702308655, + -0.005869314074516296, + 0.023929864168167114, + 0.04088717699050903, + 0.0 + ], + [ + 0.002192765474319458, + -0.0008266940712928772, + 0.02097504585981369, + -0.04346762225031853, + -0.039330244064331055, + 0.05315619707107544, + 0.0 + ], + [ + 0.0008439123630523682, + 0.00017636269330978394, + 0.02740710973739624, + -0.06271176785230637, + -0.05174335837364197, + 0.060734570026397705, + 0.0 + ], + [ + -0.002949357032775879, + 0.0006624311208724976, + 0.02110179513692856, + -0.04674552381038666, + 0.030144482851028442, + 0.03835088014602661, + 0.0 + ], + [ + -0.010424524545669556, + 0.001990295946598053, + 0.022405773401260376, + -0.017015516757965088, + 0.004220545291900635, + -0.01190263032913208, + 0.0 + ], + [ + -0.020332545042037964, + -0.004122249782085419, + -0.0028233230113983154, + 0.036725446581840515, + 0.013745397329330444, + -0.08920925855636597, + 0.0 + ], + [ + -0.025756418704986572, + -0.010354693979024887, + -0.015390977263450623, + 0.04304860532283783, + 0.03756122291088104, + -0.12075632810592651, + 0.0 + ], + [ + -0.012072116136550903, + -0.0077772922813892365, + -0.010810554027557373, + 0.01810012012720108, + 0.03626248240470886, + -0.07436177134513855, + 0.0 + ], + [ + -0.004666924476623535, + -0.010467328131198883, + -0.008932739496231079, + 0.03184480220079422, + 0.01326771080493927, + -0.04838120937347412, + 0.0 + ], + [ + 0.0006538629531860352, + -0.006605323404073715, + -0.00231797993183136, + 0.008039355278015137, + 0.0038013607263565063, + -0.03645247220993042, + 0.0 + ], + [ + -0.005122929811477661, + -0.006146090105175972, + -0.01094084233045578, + 0.010308921337127686, + 0.011530354619026184, + -0.020835697650909424, + 1.0 + ], + [ + -0.000713348388671875, + -0.0031409896910190582, + -0.0061626136302948, + 0.0241900235414505, + 0.0234258770942688, + -0.0022392570972442627, + 1.0 + ], + [ + -0.0005236566066741943, + 0.0001184362918138504, + -0.002437971532344818, + 0.006004408001899719, + 0.009324207901954651, + 0.004950046539306641, + 1.0 + ], + [ + -0.00221860408782959, + 0.0011129006743431091, + -0.006860397756099701, + 0.001997843384742737, + -0.007180124521255493, + 0.0074052512645721436, + 1.0 + ], + [ + -0.0026664137840270996, + -0.0001287553459405899, + 0.0015840455889701843, + -0.013510394841432571, + 0.028405241668224335, + -0.0017571449279785156, + 1.0 + ], + [ + 0.0021471381187438965, + 0.002301044762134552, + 0.0036474764347076416, + 0.0305180624127388, + -0.01442224532365799, + -0.004689991474151611, + 1.0 + ], + [ + 0.0038365423679351807, + -0.0022175759077072144, + 0.010195031762123108, + -0.015290322713553905, + 0.008031763136386871, + 0.011277526617050171, + 1.0 + ], + [ + 0.004207879304885864, + 0.0029293764382600784, + 0.008282050490379333, + -0.006556322798132896, + -0.01107480376958847, + 0.03863409161567688, + 1.0 + ], + [ + 0.007150381803512573, + -0.0007650144398212433, + 0.014458805322647095, + 0.017516639083623886, + -0.026422008872032166, + 0.0243261456489563, + 1.0 + ], + [ + 0.011430472135543823, + -0.0005824454128742218, + 0.020011156797409058, + -0.046911098062992096, + -0.020428836345672607, + 0.025430887937545776, + 1.0 + ], + [ + 0.011332541704177856, + 0.006091374903917313, + 0.013079434633255005, + -0.02117694914340973, + 0.03499503433704376, + 0.01222732663154602, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9643021821975708 + ], + [ + 0.8580558896064758 + ], + [ + 0.8580558896064758 + ], + [ + 0.8580558896064758 + ], + [ + 0.8580558896064758 + ], + [ + 0.8580558896064758 + ], + [ + 0.8571589589118958 + ], + [ + 0.8580558896064758 + ], + [ + 0.8580558896064758 + ], + [ + 0.8580558896064758 + ], + [ + 0.8580558896064758 + ], + [ + 0.8580558896064758 + ], + [ + 0.8571589589118958 + ], + [ + 0.8580558896064758 + ], + [ + 0.904950737953186 + ], + [ + 1.0027955770492554 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.32083314657211304, + 0.06285025179386139, + 0.11874928325414658 + ], + [ + 0.3267640471458435, + 0.0663519874215126, + 0.11683058738708496 + ], + [ + 0.33276763558387756, + 0.0732872262597084, + 0.11807196587324142 + ], + [ + 0.3453802466392517, + 0.08002132922410965, + 0.12330549210309982 + ], + [ + 0.36554771661758423, + 0.08526378124952316, + 0.12284586578607559 + ], + [ + 0.3777025043964386, + 0.08642369508743286, + 0.11663355678319931 + ], + [ + 0.38458412885665894, + 0.0818108469247818, + 0.10512424260377884 + ], + [ + 0.3850233256816864, + 0.07237502187490463, + 0.09950993955135345 + ], + [ + 0.3881065845489502, + 0.06731738895177841, + 0.09789146482944489 + ], + [ + 0.386355996131897, + 0.06482544541358948, + 0.08715266734361649 + ], + [ + 0.3886455297470093, + 0.06810427457094193, + 0.08497823774814606 + ], + [ + 0.38625556230545044, + 0.0710798054933548, + 0.08106590062379837 + ], + [ + 0.38805875182151794, + 0.0734531506896019, + 0.08171919733285904 + ], + [ + 0.3949616551399231, + 0.07531967014074326, + 0.0732274129986763 + ], + [ + 0.3966016173362732, + 0.07675222307443619, + 0.06927605718374252 + ], + [ + 0.39947232604026794, + 0.07716885209083557, + 0.06617673486471176 + ], + [ + 0.40222403407096863, + 0.07528757303953171, + 0.06567366421222687 + ], + [ + 0.3984505236148834, + 0.07453665882349014, + 0.06244201958179474 + ], + [ + 0.3927188515663147, + 0.07193146646022797, + 0.06370945274829865 + ], + [ + 0.3876655101776123, + 0.06838534772396088, + 0.06776782125234604 + ], + [ + 0.3870491087436676, + 0.06736034154891968, + 0.0724455714225769 + ], + [ + 0.38924187421798706, + 0.0665336474776268, + 0.0934206172823906 + ], + [ + 0.39008578658103943, + 0.06671001017093658, + 0.12082772701978683 + ], + [ + 0.38713642954826355, + 0.06737244129180908, + 0.1419295221567154 + ], + [ + 0.376711905002594, + 0.06936273723840714, + 0.16433529555797577 + ], + [ + 0.35637935996055603, + 0.06524048745632172, + 0.16151197254657745 + ], + [ + 0.33062294125556946, + 0.05488579347729683, + 0.14612099528312683 + ], + [ + 0.31855082511901855, + 0.04710850119590759, + 0.13531044125556946 + ], + [ + 0.313883900642395, + 0.03664117306470871, + 0.12637770175933838 + ], + [ + 0.31453776359558105, + 0.030035849660634995, + 0.12405972182750702 + ], + [ + 0.3094148337841034, + 0.023889759555459023, + 0.11311887949705124 + ], + [ + 0.3087014853954315, + 0.020748769864439964, + 0.10695626586675644 + ], + [ + 0.3081778287887573, + 0.020867206156253815, + 0.10451829433441162 + ], + [ + 0.30595922470092773, + 0.021980106830596924, + 0.09765789657831192 + ], + [ + 0.30329281091690063, + 0.021851351484656334, + 0.0992419421672821 + ], + [ + 0.30543994903564453, + 0.024152396246790886, + 0.10288941860198975 + ], + [ + 0.3092764914035797, + 0.02193482033908367, + 0.11308445036411285 + ], + [ + 0.3134843707084656, + 0.02486419677734375, + 0.12136650085449219 + ], + [ + 0.32063475251197815, + 0.024099182337522507, + 0.13582530617713928 + ], + [ + 0.332065224647522, + 0.023516736924648285, + 0.15583646297454834 + ], + [ + 0.34339776635169983, + 0.029608111828565598, + 0.16891589760780334 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.7436823152997435, + 0.6677387083370967, + -0.03258268403183434, + 0.668533174968325, + -0.7427920600539941, + 0.03637787084910624, + 8.875349874131952e-05, + -0.048836184423530334, + -0.9988067977410682 + ], + [ + 0.7590694512568288, + 0.6510026194575579, + 0.0030261573084295456, + 0.6502389467791784, + -0.7583887471085438, + 0.045120065942310515, + 0.031668284768235126, + -0.03228153835448023, + -0.9989769877336048 + ], + [ + 0.7616507312952516, + 0.6461619332979521, + 0.04860987013006365, + 0.6450452988804988, + -0.763196632780909, + 0.03804552672852163, + 0.0616824603074223, + 0.002378164951297595, + -0.9980929908690312 + ], + [ + 0.7697151809425339, + 0.632329462009413, + 0.08773819978485958, + 0.6331461260967334, + -0.7737267345967451, + 0.021746796981552297, + 0.08163653125470915, + 0.038812261530909026, + -0.9959061628083012 + ], + [ + 0.7882896613194929, + 0.5920182190026089, + 0.16767181702891695, + 0.5945151325342777, + -0.8030669954358916, + 0.04043708730015258, + 0.15859119472577823, + 0.0678072946706257, + -0.9850131997820646 + ], + [ + 0.788601758861586, + 0.5894489065143237, + 0.17509212583517647, + 0.5883765247663023, + -0.8060771381806574, + 0.0636609174172868, + 0.17866261787050491, + 0.05281698506683067, + -0.9824917480895747 + ], + [ + 0.8122234888232626, + 0.5543241521647, + 0.1817078383852895, + 0.5543732291512957, + -0.830427903467664, + 0.055315639223147604, + 0.18155805408775674, + 0.055805299651440855, + -0.9817955192027923 + ], + [ + 0.8282827245241201, + 0.5300955796638452, + 0.1815114450268968, + 0.5320809883247802, + -0.8456656668039672, + 0.04170613686648718, + 0.17560623598900255, + 0.06203431638902046, + -0.982504042471033 + ], + [ + 0.8263759322029647, + 0.5257421275952877, + 0.20173753727866492, + 0.5310659666345966, + -0.8467523819738457, + 0.03129445165008317, + 0.18727455181668964, + 0.08127495858625909, + -0.9789395401906388 + ], + [ + 0.8148249071212946, + 0.5400255816915001, + 0.21079075371925113, + 0.542583233433491, + -0.83847105843129, + 0.05069239558325701, + 0.20411713679069396, + 0.07306610220799065, + -0.9762159285611457 + ], + [ + 0.8026736713279581, + 0.5489408984181845, + 0.23319276875738174, + 0.548545765509368, + -0.8329582398979717, + 0.07265062785561308, + 0.2341207391467888, + 0.06960215966412081, + -0.9697128538239821 + ], + [ + 0.8035946919597237, + 0.5487520830276484, + 0.2304489583985444, + 0.5464967316815301, + -0.8336790178151329, + 0.07950231138904966, + 0.2357475202744726, + 0.06205196715344803, + -0.969831253392478 + ], + [ + 0.7973136335439512, + 0.553004493396404, + 0.241820181226317, + 0.5478660960421529, + -0.8312149826208882, + 0.09446900800837954, + 0.25324634365074783, + 0.0571636506002145, + -0.9657114509404889 + ], + [ + 0.8008260120341448, + 0.5573452592638757, + 0.2191893255283454, + 0.5509621206202686, + -0.8290850611181417, + 0.09517721929297968, + 0.234773167314973, + 0.0445446226475274, + -0.971029009094005 + ], + [ + 0.8026494278691064, + 0.5568078530293245, + 0.21381980905956838, + 0.5486303404729408, + -0.8298707184894425, + 0.10158415283085005, + 0.2340056526110878, + 0.0357715724939605, + -0.9715769393863608 + ], + [ + 0.8065471180436106, + 0.5491909805152615, + 0.21879445444579193, + 0.5381252617228087, + -0.8352706360606881, + 0.11289006701447207, + 0.24475078972559938, + 0.02668766485586844, + -0.9692186644267826 + ], + [ + 0.8016199228377529, + 0.5539932742709168, + 0.22471526733220423, + 0.5411841176755503, + -0.8321565619190956, + 0.12097606056871966, + 0.2540182081767593, + 0.024635513341092, + -0.9668856402890104 + ], + [ + 0.8112225270610114, + 0.5390229776383543, + 0.22665445322479003, + 0.5268484601955205, + -0.8419249238500949, + 0.11658954751443493, + 0.25367047833430534, + 0.02483248231437849, + -0.9669718901000952 + ], + [ + 0.8193662102330361, + 0.5242079321093599, + 0.23204537798021602, + 0.5133277659675713, + -0.8510998750738882, + 0.11010725378445593, + 0.2552128880270251, + 0.02889717222914818, + -0.96645296586128 + ], + [ + 0.8121828945072623, + 0.5355305494743241, + 0.23144324671403532, + 0.5260382543304749, + -0.8437769661263596, + 0.10641516064707651, + 0.2522750499965306, + 0.03531942828423065, + -0.9670107740531764 + ], + [ + 0.7947038024329898, + 0.5690347800963544, + 0.21129431000204585, + 0.5621230701680657, + -0.8212787637585172, + 0.09756457443206053, + 0.22904916586483115, + 0.04123846796347812, + -0.9725409340365319 + ], + [ + 0.7560584034087546, + 0.5997824537133225, + 0.26198606614213443, + 0.5975016931091492, + -0.7958858985327852, + 0.09776176782546889, + 0.2671468086403143, + 0.08262351199438955, + -0.9601072533311099 + ], + [ + 0.7071358097014809, + 0.6242361679749903, + 0.33209660225562554, + 0.6322218862369745, + -0.7685169165236521, + 0.0983729412996309, + 0.31662980466278523, + 0.14039571079231106, + -0.938101599609727 + ], + [ + 0.6889307833460436, + 0.6412102663335059, + 0.33797007279746105, + 0.6651990907049768, + -0.7445202267016042, + 0.05656679023476491, + 0.28789676184958857, + 0.185846782002558, + -0.9394553891142543 + ], + [ + 0.6976773053147267, + 0.6270703780212623, + 0.3464521881256519, + 0.6577797637083438, + -0.7522998283664721, + 0.03702365048953714, + 0.28385235617231785, + 0.20205867773507552, + -0.9373367221267798 + ], + [ + 0.7564999884300999, + 0.5717819598566967, + 0.317447882159723, + 0.5953642123591092, + -0.8029842068054971, + 0.027528499104818485, + 0.2706459350281765, + 0.16817179907279767, + -0.9478760593291415 + ], + [ + 0.8308158134673636, + 0.4882611279651799, + 0.2671070104110582, + 0.5048233886805479, + -0.8631886587830275, + 0.007660652024903174, + 0.23430414066689345, + 0.12847727529228045, + -0.9636364249029923 + ], + [ + 0.873022609190268, + 0.4311458395679261, + 0.22791399444940846, + 0.44527341490411493, + -0.8953149741833183, + -0.011944998231570456, + 0.19890477576530124, + 0.11191229613582437, + -0.9736079951147499 + ], + [ + 0.8958629237231339, + 0.3953545935074197, + 0.2027914379129973, + 0.4035794496449326, + -0.9149441942889689, + 0.000865540988380438, + 0.18588504437563397, + 0.08106705082517926, + -0.9792215702015433 + ], + [ + 0.9106238296338155, + 0.3636229012444982, + 0.1963227612722931, + 0.3709260409201816, + -0.9286622940021084, + -0.00046461384118756666, + 0.18214860161506502, + 0.07324431301661273, + -0.9805392177472562 + ], + [ + 0.9200541911134055, + 0.3468815009416284, + 0.1821359649249431, + 0.3526016037137695, + -0.9357729552469762, + 0.0010417710009707482, + 0.1707992812430278, + 0.06326294755086626, + -0.9832728029362153 + ], + [ + 0.9243277994969421, + 0.3499554253639764, + 0.15214900372811882, + 0.35186764670051873, + -0.9359285160902908, + 0.01506558908457272, + 0.14767287592032488, + 0.03961076908297336, + -0.9882427377370783 + ], + [ + 0.9238190030760296, + 0.3557838207472083, + 0.14133761866583713, + 0.356919513871276, + -0.9339596993514396, + 0.018103607520623607, + 0.13844461048918902, + 0.03372169749415215, + -0.9897959067123939 + ], + [ + 0.9202023092284447, + 0.3627596909928068, + 0.14708200665425306, + 0.3633763014780682, + -0.9313430021888748, + 0.023619394529377672, + 0.14555196190625028, + 0.03171149420348404, + -0.9888422561362477 + ], + [ + 0.9243155417187812, + 0.36029587915010297, + 0.12580802360966728, + 0.36312444412754286, + -0.9317405246402779, + 0.0004825143756684788, + 0.11739428186321191, + 0.04523797310351211, + -0.9920544886120453 + ], + [ + 0.9243334402843579, + 0.35939437661330775, + 0.12823171694559357, + 0.3581364570412534, + -0.9330665066074185, + 0.03354358933337888, + 0.13170409754453885, + 0.014918991459203956, + -0.9911768027873828 + ], + [ + 0.9211881556734354, + 0.36812036026714534, + 0.12609433850796625, + 0.3689190365557843, + -0.9292906963389173, + 0.01781982504633261, + 0.1237381360524166, + 0.030103190108643423, + -0.9918581912912532 + ], + [ + 0.9049443819348041, + 0.4025388069186832, + 0.13797889160707968, + 0.40364115608540146, + -0.9146728448889068, + 0.02115192513399741, + 0.1347200160283383, + 0.03655264350654741, + -0.9902092816844362 + ], + [ + 0.8913319858766753, + 0.4265525757126412, + 0.15355842896452881, + 0.42385636644177077, + -0.9042605011416777, + 0.05156284225856495, + 0.16085108510644902, + 0.019127107149639493, + -0.9867933330703874 + ], + [ + 0.8771517042583505, + 0.4405876022259309, + 0.19101689056592935, + 0.4448050236449605, + -0.8953424639062229, + 0.022591221005963218, + 0.18097894534137793, + 0.06514934451810736, + -0.9813267469359956 + ], + [ + 0.8767258214798492, + 0.45003482233951203, + 0.16976599374529425, + 0.4581505073919641, + -0.8888200408635019, + -0.009851270775316744, + 0.14645800260473732, + 0.08641523963541758, + -0.9854351626727068 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005605.json b/json/chunk-0005/episode_0005605.json new file mode 100644 index 0000000000000000000000000000000000000000..f494989da568fe274a39b27fdf7db09cb7b5f809 --- /dev/null +++ b/json/chunk-0005/episode_0005605.json @@ -0,0 +1,1822 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 29, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nClose the drawer." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005605.mp4", + "start": 0, + "end": 29, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3522946834564209, + -0.022644635289907455, + 0.15541382133960724, + -0.055563896894454956, + -0.20490048825740814, + 0.26370543241500854, + 0.0, + 0.9994885921478271 + ], + [ + 0.3503875732421875, + -0.022960957139730453, + 0.14296230673789978, + -0.045936185866594315, + -0.16760998964309692, + 0.26402896642684937, + 0.0, + 0.9994885921478271 + ], + [ + 0.34800705313682556, + -0.0456106960773468, + 0.1294115036725998, + -0.0278481338173151, + -0.14824092388153076, + 0.20515534281730652, + 0.0, + 0.9994885921478271 + ], + [ + 0.34532758593559265, + -0.08466929942369461, + 0.11479499936103821, + -0.02841101586818695, + -0.13017645478248596, + 0.10354321449995041, + 0.0, + 0.9994885921478271 + ], + [ + 0.3478910028934479, + -0.10806284099817276, + 0.09966399520635605, + -0.04938498139381409, + -0.11270665377378464, + 0.04935809597373009, + 0.0, + 0.9994885921478271 + ], + [ + 0.35198134183883667, + -0.11933537572622299, + 0.07552886009216309, + -0.04958822578191757, + -0.09304314106702805, + 0.029755176976323128, + 0.0, + 0.9994885921478271 + ], + [ + 0.35537484288215637, + -0.11844177544116974, + 0.05144096910953522, + -0.02889670990407467, + -0.07110743224620819, + 0.03167862072587013, + 0.0, + 0.9994885921478271 + ], + [ + 0.35613951086997986, + -0.11500152200460434, + 0.030094191431999207, + 0.0075148530304431915, + -0.03699879348278046, + 0.021701661869883537, + 0.0, + 0.9994885921478271 + ], + [ + 0.3544417917728424, + -0.1109432727098465, + 0.013645556755363941, + 0.04330681264400482, + -0.009609888307750225, + 0.020769130438566208, + 0.0, + 0.9650423526763916 + ], + [ + 0.3555695116519928, + -0.11184971779584885, + 0.013410832732915878, + 0.05077024921774864, + -0.02224855311214924, + 0.01109386794269085, + 0.0, + 0.6911999583244324 + ], + [ + 0.35215359926223755, + -0.10989796370267868, + 0.010425461456179619, + 0.057066529989242554, + -0.018609169870615005, + 0.01769309863448143, + 0.0, + 0.3962334990501404 + ], + [ + 0.34829288721084595, + -0.1080542728304863, + 0.016961336135864258, + 0.052048083394765854, + -0.03145085647702217, + 0.01880112662911415, + 0.0, + 0.17900145053863525 + ], + [ + 0.3435656726360321, + -0.09846808016300201, + 0.01707516796886921, + 0.038452450186014175, + -0.026903895661234856, + 0.030779939144849777, + 0.0, + 0.12483644485473633 + ], + [ + 0.3408776819705963, + -0.08193689584732056, + 0.018246067687869072, + 0.03929408639669418, + -0.023791421204805374, + 0.0702979788184166, + 0.0, + 0.12090048938989639 + ], + [ + 0.34431853890419006, + -0.04789471626281738, + 0.019076896831393242, + 0.04944993555545807, + -0.0318184420466423, + 0.1495688259601593, + 0.0, + 0.12090048938989639 + ], + [ + 0.34642571210861206, + -0.03293904289603233, + 0.01820185035467148, + 0.05206673592329025, + -0.03877973183989525, + 0.18208353221416473, + 0.0, + 0.12090048938989639 + ], + [ + 0.34661972522735596, + -0.018810031935572624, + 0.01731359399855137, + 0.05737444758415222, + -0.03839447349309921, + 0.21030983328819275, + 0.0, + 0.12090048938989639 + ], + [ + 0.3460383117198944, + 0.0009815568337216973, + 0.016318922862410545, + 0.07853001356124878, + -0.04085366055369377, + 0.23526470363140106, + 0.0, + 0.12090048938989639 + ], + [ + 0.34274551272392273, + 0.006902788300067186, + 0.013889085501432419, + 0.08435562252998352, + -0.032896995544433594, + 0.2473641335964203, + 0.0, + 0.12090048938989639 + ], + [ + 0.3403175175189972, + 0.01656150259077549, + 0.012582402676343918, + 0.1006280705332756, + -0.028835507109761238, + 0.2525997757911682, + 0.0, + 0.12090048938989639 + ], + [ + 0.3397720754146576, + 0.01951655000448227, + 0.01322904322296381, + 0.11232956498861313, + -0.032162729650735855, + 0.24901552498340607, + 0.0, + 0.12090048938989639 + ], + [ + 0.3385116457939148, + 0.019703706726431847, + 0.012858997099101543, + 0.11416421085596085, + -0.029831599444150925, + 0.25106918811798096, + 0.0, + 0.15769577026367188 + ], + [ + 0.33402252197265625, + 0.022405097261071205, + 0.01238255575299263, + 0.112594373524189, + -0.028006188571453094, + 0.32941603660583496, + 0.0, + 0.37205085158348083 + ], + [ + 0.3342587947845459, + 0.02591574750840664, + 0.017528250813484192, + 0.10607694089412689, + -0.04591595381498337, + 0.3457859754562378, + 0.0, + 0.6561112403869629 + ], + [ + 0.3361814022064209, + 0.025429854169487953, + 0.022750185802578926, + 0.09446374326944351, + -0.06887926161289215, + 0.356212317943573, + 0.0, + 0.9015869498252869 + ], + [ + 0.33911600708961487, + 0.01623937115073204, + 0.031357619911432266, + 0.06951223313808441, + -0.08485100418329239, + 0.32529592514038086, + 0.0, + 0.9886419177055359 + ], + [ + 0.3424871563911438, + -0.006235645152628422, + 0.05040433257818222, + 0.0583137571811676, + -0.1069222092628479, + 0.23472364246845245, + 0.0, + 0.9900195002555847 + ], + [ + 0.3521512448787689, + -0.03229927271604538, + 0.08349102735519409, + 0.019526876509189606, + -0.18311908841133118, + 0.12387152016162872, + 0.0, + 0.9900195002555847 + ], + [ + 0.35107454657554626, + -0.056268107146024704, + 0.1087862104177475, + -0.01965118944644928, + -0.2136039286851883, + 0.027292100712656975, + 0.0, + 0.9900195002555847 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9650423526763916 + ], + [ + 0.6911999583244324 + ], + [ + 0.3962334990501404 + ], + [ + 0.17900145053863525 + ], + [ + 0.12483644485473633 + ], + [ + 0.12090048938989639 + ], + [ + 0.12090048938989639 + ], + [ + 0.12090048938989639 + ], + [ + 0.12090048938989639 + ], + [ + 0.12090048938989639 + ], + [ + 0.12090048938989639 + ], + [ + 0.12090048938989639 + ], + [ + 0.12090048938989639 + ], + [ + 0.15769577026367188 + ], + [ + 0.37205085158348083 + ], + [ + 0.6561112403869629 + ], + [ + 0.9015869498252869 + ], + [ + 0.9886419177055359 + ], + [ + 0.9900195002555847 + ], + [ + 0.9900195002555847 + ], + [ + 0.9900195002555847 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3522946834564209, + -0.022644635289907455, + 0.15541382133960724 + ], + [ + 0.3503875732421875, + -0.022960957139730453, + 0.14296230673789978 + ], + [ + 0.34800705313682556, + -0.0456106960773468, + 0.1294115036725998 + ], + [ + 0.34532758593559265, + -0.08466929942369461, + 0.11479499936103821 + ], + [ + 0.3478910028934479, + -0.10806284099817276, + 0.09966399520635605 + ], + [ + 0.35198134183883667, + -0.11933537572622299, + 0.07552886009216309 + ], + [ + 0.35537484288215637, + -0.11844177544116974, + 0.05144096910953522 + ], + [ + 0.35613951086997986, + -0.11500152200460434, + 0.030094191431999207 + ], + [ + 0.3544417917728424, + -0.1109432727098465, + 0.013645556755363941 + ], + [ + 0.3555695116519928, + -0.11184971779584885, + 0.013410832732915878 + ], + [ + 0.35215359926223755, + -0.10989796370267868, + 0.010425461456179619 + ], + [ + 0.34829288721084595, + -0.1080542728304863, + 0.016961336135864258 + ], + [ + 0.3435656726360321, + -0.09846808016300201, + 0.01707516796886921 + ], + [ + 0.3408776819705963, + -0.08193689584732056, + 0.018246067687869072 + ], + [ + 0.34431853890419006, + -0.04789471626281738, + 0.019076896831393242 + ], + [ + 0.34642571210861206, + -0.03293904289603233, + 0.01820185035467148 + ], + [ + 0.34661972522735596, + -0.018810031935572624, + 0.01731359399855137 + ], + [ + 0.3460383117198944, + 0.0009815568337216973, + 0.016318922862410545 + ], + [ + 0.34274551272392273, + 0.006902788300067186, + 0.013889085501432419 + ], + [ + 0.3403175175189972, + 0.01656150259077549, + 0.012582402676343918 + ], + [ + 0.3397720754146576, + 0.01951655000448227, + 0.01322904322296381 + ], + [ + 0.3385116457939148, + 0.019703706726431847, + 0.012858997099101543 + ], + [ + 0.33402252197265625, + 0.022405097261071205, + 0.01238255575299263 + ], + [ + 0.3342587947845459, + 0.02591574750840664, + 0.017528250813484192 + ], + [ + 0.3361814022064209, + 0.025429854169487953, + 0.022750185802578926 + ], + [ + 0.33911600708961487, + 0.01623937115073204, + 0.031357619911432266 + ], + [ + 0.3424871563911438, + -0.006235645152628422, + 0.05040433257818222 + ], + [ + 0.3521512448787689, + -0.03229927271604538, + 0.08349102735519409 + ], + [ + 0.35107454657554626, + -0.056268107146024704, + 0.1087862104177475 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9452351342484996, + 0.2493482710496233, + 0.2106085959945224, + 0.2552069936683427, + -0.9668862153691923, + -0.0006609930452873211, + 0.2034697308323448, + 0.054373580474372116, + -0.9775702442184958 + ], + [ + 0.9518182933500317, + 0.25330151362573233, + 0.1728591323568, + 0.2573148239646858, + -0.9663272632417186, + -0.0008376656808240235, + 0.1668263103118195, + 0.04527652273179814, + -0.9849462009049333 + ], + [ + 0.9682917683194467, + 0.1996139043062385, + 0.15021764414481736, + 0.20148494060852906, + -0.9794875622333388, + 0.002816760225697962, + 0.14769857857398838, + 0.027539147368998713, + -0.9886489393356027 + ], + [ + 0.9862285082012919, + 0.09964882108251287, + 0.1319978866039877, + 0.10248378162708498, + -0.9946239196509874, + -0.014843616861051335, + 0.1298091064389006, + 0.028166840699146007, + -0.9911388525179319 + ], + [ + 0.992445189028324, + 0.04373268419204562, + 0.11462983515600483, + 0.049025023297130585, + -0.9978383549015035, + -0.043762593366672625, + 0.1124681904595688, + 0.049051705585226466, + -0.9924438706112958 + ], + [ + 0.9952338707481705, + 0.025110951816157634, + 0.09422835355931966, + 0.029622102652164785, + -0.9984656587273022, + -0.04678524742607268, + 0.09290895301357213, + 0.04935350485163985, + -0.9944506815366867 + ], + [ + 0.9969724739528756, + 0.029608375478915556, + 0.07189735935194162, + 0.03159328190510092, + -0.9991460205849159, + -0.026628820623366876, + 0.07104752436747884, + 0.028819674717563665, + -0.9970565057359718 + ], + [ + 0.9990803120460554, + 0.02197725473107556, + 0.03681752784262393, + 0.021685107507897396, + -0.9997302664175319, + 0.008315679232740365, + 0.036990352719701164, + -0.007509639353278839, + -0.9992874056658856 + ], + [ + 0.9997381647003827, + 0.02116411314550827, + 0.00869956069435232, + 0.020766678382112873, + -0.9988382980053595, + 0.043483324467323975, + 0.009609740396310486, + -0.043291278019028434, + -0.9990162752112675 + ], + [ + 0.9996909900590555, + 0.012208262633670038, + 0.021653699873528706, + 0.011090894830862015, + -0.9986374861139303, + 0.05099179718249372, + 0.022246717658932956, + -0.05073588130226134, + -0.9984642977602588 + ], + [ + 0.9996703627092479, + 0.018724532344178653, + 0.01756581365186562, + 0.01768911220164124, + -0.9981971063068621, + 0.05735531597092238, + 0.018608095826225964, + -0.057025685871354544, + -0.9981992836706621 + ], + [ + 0.9993288140074876, + 0.020410219049206858, + 0.03041947489275983, + 0.018790721691353474, + -0.9984385517639038, + 0.0526057708803506, + 0.03144567176426591, + -0.051998858737103436, + -0.9981519365393889 + ], + [ + 0.9991646185129435, + 0.031785981311269744, + 0.02568494703058165, + 0.030763942067819912, + -0.9987556550600751, + 0.039252023565263805, + 0.026900650184186903, + -0.03842906292898404, + -0.9988991751633737 + ], + [ + 0.9972478109513646, + 0.07111809927999843, + 0.02095279235595474, + 0.07022021517348859, + -0.9966944660172994, + 0.040856612579599244, + 0.023789176818470033, + -0.03927285787017276, + -0.998945302657262 + ], + [ + 0.9883349070521998, + 0.15038459124529874, + 0.024053819199952354, + 0.14893636178558395, + -0.9873923454715592, + 0.05361265002074473, + 0.03181307341633673, + -0.049404765156385734, + -0.998272055874374 + ], + [ + 0.9827291331217263, + 0.1828180214291511, + 0.02865348067077851, + 0.18094291097936577, + -0.9817704141421049, + 0.05819378731061339, + 0.038770012640358203, + -0.05200408595456757, + -0.9978940129913078 + ], + [ + 0.977245541058624, + 0.21057201864434838, + 0.02550641968371148, + 0.20860906284831054, + -0.975897562801377, + 0.06407968333163268, + 0.038385041078355595, + -0.0573007145014519, + -0.9976187732490985 + ], + [ + 0.9716412634942868, + 0.23549780148823946, + 0.021308227740282834, + 0.23290590768017244, + -0.9687088082232731, + 0.08577926928064178, + 0.04084229722849829, + -0.07838386546255302, + -0.9960862795924093 + ], + [ + 0.9690365906287851, + 0.2466654407952024, + 0.011146584223376334, + 0.24471670160587952, + -0.9654350478735835, + 0.08971568587750128, + 0.03289106227654003, + -0.0842100270433401, + -0.9959050403365176 + ], + [ + 0.9678634311261863, + 0.25146223830816117, + 0.0026685939547625576, + 0.24981817918118798, + -0.9626438882730575, + 0.10443956013467731, + 0.028831511220220367, + -0.10041656773450575, + -0.9945276551635854 + ], + [ + 0.9686542911803998, + 0.24839018788136383, + 0.0033434625852105833, + 0.24632251143477726, + -0.9621592166256119, + 0.11651121071748194, + 0.03215718486220376, + -0.11203551413123536, + -0.9931837488778642 + ], + [ + 0.9682163671197824, + 0.25011378285178254, + 0.00040257787130345765, + 0.24832922919601677, + -0.9614976334361166, + 0.11770681723528102, + 0.029827174996691547, + -0.1138656951163038, + -0.9930483085466679 + ], + [ + 0.9458603490378847, + 0.32441925900920787, + -0.01001721028268018, + 0.3233636630246437, + -0.9392220360032909, + 0.11531655787924719, + 0.02800252762190582, + -0.11231256149580776, + -0.9932782827471035 + ], + [ + 0.9398177795679836, + 0.34160324606042924, + 0.00705432412655305, + 0.3385790123210647, + -0.9338740086494975, + 0.1150807906846761, + 0.04589982160746313, + -0.10576652707683921, + -0.9933310868620326 + ], + [ + 0.9350020271346856, + 0.3532563362687785, + 0.03132363548485767, + 0.3478999206522745, + -0.9307820454575833, + 0.11229616673750932, + 0.06882480994648396, + -0.09409965323930312, + -0.9931809506812307 + ], + [ + 0.9441471826766843, + 0.3243950581116945, + 0.05791324301392227, + 0.3184394235653301, + -0.9433866241239983, + 0.09283324266288347, + 0.08474922396729999, + -0.06920638479675013, + -0.9939959986540712 + ], + [ + 0.9670245124707806, + 0.23822797853079222, + 0.09006121543584432, + 0.23124604508761373, + -0.9694789696258277, + 0.08146038352831911, + 0.10671859684228653, + -0.057947887781833046, + -0.9925992058175533 + ], + [ + 0.9757463365800401, + 0.12705974785260493, + 0.1782551741921215, + 0.12148920156042467, + -0.9917092376745473, + 0.04187077519199701, + 0.18209739304790068, + -0.019199176716742254, + -0.9830930429306057 + ], + [ + 0.9769093475692342, + 0.023119539367041024, + 0.21239965520524873, + 0.02666853005924283, + -0.9995482571544676, + -0.01385897268722461, + 0.2119832921159872, + 0.019203346555270423, + -0.977084599891302 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0019071102142333984, + -0.00031632184982299805, + -0.012451514601707458, + 0.009627711027860641, + 0.03729049861431122, + 0.0003235340118408203, + 1.0 + ], + [ + -0.0023805201053619385, + -0.02264973893761635, + -0.013550803065299988, + 0.018088052049279213, + 0.019369065761566162, + -0.05887362360954285, + 1.0 + ], + [ + -0.00267946720123291, + -0.03905860334634781, + -0.014616504311561584, + -0.0005628820508718491, + 0.0180644690990448, + -0.10161212831735611, + 1.0 + ], + [ + 0.0025634169578552246, + -0.02339354157447815, + -0.01513100415468216, + -0.020973965525627136, + 0.017469801008701324, + -0.05418511852622032, + 1.0 + ], + [ + 0.004090338945388794, + -0.011272534728050232, + -0.024135135114192963, + -0.0002032443881034851, + 0.019663512706756592, + -0.01960291899740696, + 1.0 + ], + [ + 0.003393501043319702, + 0.0008936002850532532, + -0.02408789098262787, + 0.020691515877842903, + 0.021935708820819855, + 0.0019234437495470047, + 1.0 + ], + [ + 0.0007646679878234863, + 0.003440253436565399, + -0.02134677767753601, + 0.03641156107187271, + 0.034108638763427734, + -0.009976958855986595, + 1.0 + ], + [ + -0.0016977190971374512, + 0.004058249294757843, + -0.01644863560795784, + 0.03579195961356163, + 0.027388904243707657, + -0.0009325314313173294, + 0.0 + ], + [ + 0.0011277198791503906, + -0.0009064450860023499, + -0.0002347240224480629, + 0.00746343657374382, + -0.012638664804399014, + -0.009675262495875359, + 0.0 + ], + [ + -0.003415912389755249, + 0.001951754093170166, + -0.0029853712767362595, + 0.006296280771493912, + 0.003639383241534233, + 0.006599230691790581, + 0.0 + ], + [ + -0.0038607120513916016, + 0.0018436908721923828, + 0.006535874679684639, + -0.0050184465944767, + -0.012841686606407166, + 0.001108027994632721, + 0.0 + ], + [ + -0.004727214574813843, + 0.009586192667484283, + 0.00011383183300495148, + -0.013595633208751678, + 0.004546960815787315, + 0.011978812515735626, + 0.0 + ], + [ + -0.002687990665435791, + 0.016531184315681458, + 0.0011708997189998627, + 0.0008416362106800079, + 0.0031124744564294815, + 0.03951803967356682, + 0.0 + ], + [ + 0.00344085693359375, + 0.034042179584503174, + 0.0008308291435241699, + 0.010155849158763885, + -0.00802702084183693, + 0.0792708471417427, + 0.0 + ], + [ + 0.002107173204421997, + 0.01495567336678505, + -0.0008750464767217636, + 0.002616800367832184, + -0.006961289793252945, + 0.03251470625400543, + 0.0 + ], + [ + 0.00019401311874389648, + 0.01412901096045971, + -0.0008882563561201096, + 0.005307711660861969, + 0.00038525834679603577, + 0.028226301074028015, + 0.0 + ], + [ + -0.0005814135074615479, + 0.019791588187217712, + -0.0009946711361408234, + 0.021155565977096558, + -0.0024591870605945587, + 0.024954870343208313, + 0.0 + ], + [ + -0.0032927989959716797, + 0.005921231582760811, + -0.0024298373609781265, + 0.005825608968734741, + 0.007956665009260178, + 0.012099429965019226, + 0.0 + ], + [ + -0.002427995204925537, + 0.00965871475636959, + -0.001306682825088501, + 0.016272448003292084, + 0.004061488434672356, + 0.005235642194747925, + 0.0 + ], + [ + -0.0005454421043395996, + 0.0029550474137067795, + 0.0006466405466198921, + 0.011701494455337524, + -0.003327222540974617, + -0.003584250807762146, + 0.0 + ], + [ + -0.0012604296207427979, + 0.00018715672194957733, + -0.00037004612386226654, + 0.0018346458673477173, + 0.0023311302065849304, + 0.00205366313457489, + 1.0 + ], + [ + -0.004489123821258545, + 0.0027013905346393585, + -0.0004764413461089134, + -0.0015698373317718506, + 0.0018254108726978302, + 0.078346848487854, + 1.0 + ], + [ + 0.00023627281188964844, + 0.003510650247335434, + 0.005145695060491562, + -0.006517432630062103, + -0.017909765243530273, + 0.016369938850402832, + 1.0 + ], + [ + 0.001922607421875, + -0.0004858933389186859, + 0.005221934989094734, + -0.01161319762468338, + -0.022963307797908783, + 0.010426342487335205, + 1.0 + ], + [ + 0.0029346048831939697, + -0.009190483018755913, + 0.00860743410885334, + -0.0249515101313591, + -0.015971742570400238, + -0.03091639280319214, + 1.0 + ], + [ + 0.0033711493015289307, + -0.022475015372037888, + 0.019046712666749954, + -0.011198475956916809, + -0.02207120507955551, + -0.0905722826719284, + 1.0 + ], + [ + 0.009664088487625122, + -0.026063628494739532, + 0.03308669477701187, + -0.038786880671978, + -0.07619687914848328, + -0.11085212230682373, + 1.0 + ], + [ + -0.0010766983032226562, + -0.023968834429979324, + 0.025295183062553406, + -0.039178065955638885, + -0.030484840273857117, + -0.0965794175863266, + 1.0 + ], + [ + -0.005677312612533569, + -0.011539306491613388, + 0.02439206838607788, + -0.015969879925251007, + -0.04687412083148956, + -0.030059095472097397, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9650423526763916 + ], + [ + 0.6911999583244324 + ], + [ + 0.3962334990501404 + ], + [ + 0.17900145053863525 + ], + [ + 0.12483644485473633 + ], + [ + 0.12090048938989639 + ], + [ + 0.12090048938989639 + ], + [ + 0.12090048938989639 + ], + [ + 0.12090048938989639 + ], + [ + 0.12090048938989639 + ], + [ + 0.12090048938989639 + ], + [ + 0.12090048938989639 + ], + [ + 0.12090048938989639 + ], + [ + 0.15769577026367188 + ], + [ + 0.37205085158348083 + ], + [ + 0.6561112403869629 + ], + [ + 0.9015869498252869 + ], + [ + 0.9886419177055359 + ], + [ + 0.9900195002555847 + ], + [ + 0.9900195002555847 + ], + [ + 0.9900195002555847 + ], + [ + 0.9900195002555847 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3503875732421875, + -0.022960957139730453, + 0.14296230673789978 + ], + [ + 0.34800705313682556, + -0.0456106960773468, + 0.1294115036725998 + ], + [ + 0.34532758593559265, + -0.08466929942369461, + 0.11479499936103821 + ], + [ + 0.3478910028934479, + -0.10806284099817276, + 0.09966399520635605 + ], + [ + 0.35198134183883667, + -0.11933537572622299, + 0.07552886009216309 + ], + [ + 0.35537484288215637, + -0.11844177544116974, + 0.05144096910953522 + ], + [ + 0.35613951086997986, + -0.11500152200460434, + 0.030094191431999207 + ], + [ + 0.3544417917728424, + -0.1109432727098465, + 0.013645556755363941 + ], + [ + 0.3555695116519928, + -0.11184971779584885, + 0.013410832732915878 + ], + [ + 0.35215359926223755, + -0.10989796370267868, + 0.010425461456179619 + ], + [ + 0.34829288721084595, + -0.1080542728304863, + 0.016961336135864258 + ], + [ + 0.3435656726360321, + -0.09846808016300201, + 0.01707516796886921 + ], + [ + 0.3408776819705963, + -0.08193689584732056, + 0.018246067687869072 + ], + [ + 0.34431853890419006, + -0.04789471626281738, + 0.019076896831393242 + ], + [ + 0.34642571210861206, + -0.03293904289603233, + 0.01820185035467148 + ], + [ + 0.34661972522735596, + -0.018810031935572624, + 0.01731359399855137 + ], + [ + 0.3460383117198944, + 0.0009815568337216973, + 0.016318922862410545 + ], + [ + 0.34274551272392273, + 0.006902788300067186, + 0.013889085501432419 + ], + [ + 0.3403175175189972, + 0.01656150259077549, + 0.012582402676343918 + ], + [ + 0.3397720754146576, + 0.01951655000448227, + 0.01322904322296381 + ], + [ + 0.3385116457939148, + 0.019703706726431847, + 0.012858997099101543 + ], + [ + 0.33402252197265625, + 0.022405097261071205, + 0.01238255575299263 + ], + [ + 0.3342587947845459, + 0.02591574750840664, + 0.017528250813484192 + ], + [ + 0.3361814022064209, + 0.025429854169487953, + 0.022750185802578926 + ], + [ + 0.33911600708961487, + 0.01623937115073204, + 0.031357619911432266 + ], + [ + 0.3424871563911438, + -0.006235645152628422, + 0.05040433257818222 + ], + [ + 0.3521512448787689, + -0.03229927271604538, + 0.08349102735519409 + ], + [ + 0.35107454657554626, + -0.056268107146024704, + 0.1087862104177475 + ], + [ + 0.3453972339630127, + -0.06780741363763809, + 0.13317827880382538 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9518182933500317, + 0.25330151362573233, + 0.1728591323568, + 0.2573148239646858, + -0.9663272632417186, + -0.0008376656808240235, + 0.1668263103118195, + 0.04527652273179814, + -0.9849462009049333 + ], + [ + 0.9682917683194467, + 0.1996139043062385, + 0.15021764414481736, + 0.20148494060852906, + -0.9794875622333388, + 0.002816760225697962, + 0.14769857857398838, + 0.027539147368998713, + -0.9886489393356027 + ], + [ + 0.9862285082012919, + 0.09964882108251287, + 0.1319978866039877, + 0.10248378162708498, + -0.9946239196509874, + -0.014843616861051335, + 0.1298091064389006, + 0.028166840699146007, + -0.9911388525179319 + ], + [ + 0.992445189028324, + 0.04373268419204562, + 0.11462983515600483, + 0.049025023297130585, + -0.9978383549015035, + -0.043762593366672625, + 0.1124681904595688, + 0.049051705585226466, + -0.9924438706112958 + ], + [ + 0.9952338707481705, + 0.025110951816157634, + 0.09422835355931966, + 0.029622102652164785, + -0.9984656587273022, + -0.04678524742607268, + 0.09290895301357213, + 0.04935350485163985, + -0.9944506815366867 + ], + [ + 0.9969724739528756, + 0.029608375478915556, + 0.07189735935194162, + 0.03159328190510092, + -0.9991460205849159, + -0.026628820623366876, + 0.07104752436747884, + 0.028819674717563665, + -0.9970565057359718 + ], + [ + 0.9990803120460554, + 0.02197725473107556, + 0.03681752784262393, + 0.021685107507897396, + -0.9997302664175319, + 0.008315679232740365, + 0.036990352719701164, + -0.007509639353278839, + -0.9992874056658856 + ], + [ + 0.9997381647003827, + 0.02116411314550827, + 0.00869956069435232, + 0.020766678382112873, + -0.9988382980053595, + 0.043483324467323975, + 0.009609740396310486, + -0.043291278019028434, + -0.9990162752112675 + ], + [ + 0.9996909900590555, + 0.012208262633670038, + 0.021653699873528706, + 0.011090894830862015, + -0.9986374861139303, + 0.05099179718249372, + 0.022246717658932956, + -0.05073588130226134, + -0.9984642977602588 + ], + [ + 0.9996703627092479, + 0.018724532344178653, + 0.01756581365186562, + 0.01768911220164124, + -0.9981971063068621, + 0.05735531597092238, + 0.018608095826225964, + -0.057025685871354544, + -0.9981992836706621 + ], + [ + 0.9993288140074876, + 0.020410219049206858, + 0.03041947489275983, + 0.018790721691353474, + -0.9984385517639038, + 0.0526057708803506, + 0.03144567176426591, + -0.051998858737103436, + -0.9981519365393889 + ], + [ + 0.9991646185129435, + 0.031785981311269744, + 0.02568494703058165, + 0.030763942067819912, + -0.9987556550600751, + 0.039252023565263805, + 0.026900650184186903, + -0.03842906292898404, + -0.9988991751633737 + ], + [ + 0.9972478109513646, + 0.07111809927999843, + 0.02095279235595474, + 0.07022021517348859, + -0.9966944660172994, + 0.040856612579599244, + 0.023789176818470033, + -0.03927285787017276, + -0.998945302657262 + ], + [ + 0.9883349070521998, + 0.15038459124529874, + 0.024053819199952354, + 0.14893636178558395, + -0.9873923454715592, + 0.05361265002074473, + 0.03181307341633673, + -0.049404765156385734, + -0.998272055874374 + ], + [ + 0.9827291331217263, + 0.1828180214291511, + 0.02865348067077851, + 0.18094291097936577, + -0.9817704141421049, + 0.05819378731061339, + 0.038770012640358203, + -0.05200408595456757, + -0.9978940129913078 + ], + [ + 0.977245541058624, + 0.21057201864434838, + 0.02550641968371148, + 0.20860906284831054, + -0.975897562801377, + 0.06407968333163268, + 0.038385041078355595, + -0.0573007145014519, + -0.9976187732490985 + ], + [ + 0.9716412634942868, + 0.23549780148823946, + 0.021308227740282834, + 0.23290590768017244, + -0.9687088082232731, + 0.08577926928064178, + 0.04084229722849829, + -0.07838386546255302, + -0.9960862795924093 + ], + [ + 0.9690365906287851, + 0.2466654407952024, + 0.011146584223376334, + 0.24471670160587952, + -0.9654350478735835, + 0.08971568587750128, + 0.03289106227654003, + -0.0842100270433401, + -0.9959050403365176 + ], + [ + 0.9678634311261863, + 0.25146223830816117, + 0.0026685939547625576, + 0.24981817918118798, + -0.9626438882730575, + 0.10443956013467731, + 0.028831511220220367, + -0.10041656773450575, + -0.9945276551635854 + ], + [ + 0.9686542911803998, + 0.24839018788136383, + 0.0033434625852105833, + 0.24632251143477726, + -0.9621592166256119, + 0.11651121071748194, + 0.03215718486220376, + -0.11203551413123536, + -0.9931837488778642 + ], + [ + 0.9682163671197824, + 0.25011378285178254, + 0.00040257787130345765, + 0.24832922919601677, + -0.9614976334361166, + 0.11770681723528102, + 0.029827174996691547, + -0.1138656951163038, + -0.9930483085466679 + ], + [ + 0.9458603490378847, + 0.32441925900920787, + -0.01001721028268018, + 0.3233636630246437, + -0.9392220360032909, + 0.11531655787924719, + 0.02800252762190582, + -0.11231256149580776, + -0.9932782827471035 + ], + [ + 0.9398177795679836, + 0.34160324606042924, + 0.00705432412655305, + 0.3385790123210647, + -0.9338740086494975, + 0.1150807906846761, + 0.04589982160746313, + -0.10576652707683921, + -0.9933310868620326 + ], + [ + 0.9350020271346856, + 0.3532563362687785, + 0.03132363548485767, + 0.3478999206522745, + -0.9307820454575833, + 0.11229616673750932, + 0.06882480994648396, + -0.09409965323930312, + -0.9931809506812307 + ], + [ + 0.9441471826766843, + 0.3243950581116945, + 0.05791324301392227, + 0.3184394235653301, + -0.9433866241239983, + 0.09283324266288347, + 0.08474922396729999, + -0.06920638479675013, + -0.9939959986540712 + ], + [ + 0.9670245124707806, + 0.23822797853079222, + 0.09006121543584432, + 0.23124604508761373, + -0.9694789696258277, + 0.08146038352831911, + 0.10671859684228653, + -0.057947887781833046, + -0.9925992058175533 + ], + [ + 0.9757463365800401, + 0.12705974785260493, + 0.1782551741921215, + 0.12148920156042467, + -0.9917092376745473, + 0.04187077519199701, + 0.18209739304790068, + -0.019199176716742254, + -0.9830930429306057 + ], + [ + 0.9769093475692342, + 0.023119539367041024, + 0.21239965520524873, + 0.02666853005924283, + -0.9995482571544676, + -0.01385897268722461, + 0.2119832921159872, + 0.019203346555270423, + -0.977084599891302 + ], + [ + 0.9662632714847114, + -0.011937201246630214, + 0.2572796016128377, + -0.002673653131743335, + -0.9993364322368524, + -0.03632556652070294, + 0.25754250476104745, + 0.03441218433224409, + -0.9656540062625378 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005607.json b/json/chunk-0005/episode_0005607.json new file mode 100644 index 0000000000000000000000000000000000000000..c5f935de5eaa150b0eeb75dbf721550ea46191e5 --- /dev/null +++ b/json/chunk-0005/episode_0005607.json @@ -0,0 +1,2182 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 35, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut lid on pot." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005607.mp4", + "start": 0, + "end": 35, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3515677750110626, + -0.0950276106595993, + 0.13950122892856598, + -0.09471859037876129, + -0.03470360487699509, + 0.159018412232399, + 0.0, + 0.9994885921478271 + ], + [ + 0.34948480129241943, + -0.09436216950416565, + 0.1255132257938385, + -0.08398320525884628, + 0.006267177406698465, + 0.15093418955802917, + 0.0, + 0.9994885921478271 + ], + [ + 0.3477475643157959, + -0.07608240097761154, + 0.12470696866512299, + -0.14619037508964539, + 0.03708846494555473, + -0.007391646970063448, + 0.0, + 0.9994885921478271 + ], + [ + 0.3380086123943329, + -0.038673363626003265, + 0.11315803974866867, + -0.19697774946689606, + 0.03782523050904274, + -0.046669814735651016, + 0.0, + 0.9994885921478271 + ], + [ + 0.33219581842422485, + -0.017184225842356682, + 0.1160803884267807, + -0.23394545912742615, + 0.01846453547477722, + -0.08353988081216812, + 0.0, + 0.9994885921478271 + ], + [ + 0.32087939977645874, + -0.0024763448163866997, + 0.09399787336587906, + -0.21269474923610687, + -0.03522074967622757, + -0.05921221897006035, + 0.0, + 0.9994885921478271 + ], + [ + 0.3107975721359253, + 0.004958457313477993, + 0.07219821214675903, + -0.15633739531040192, + -0.043600790202617645, + -0.08868300169706345, + 0.0, + 0.9994885921478271 + ], + [ + 0.3090765178203583, + 0.00974858645349741, + 0.05822247639298439, + -0.14239829778671265, + -0.05689282715320587, + -0.10977840423583984, + 0.0, + 0.9994885921478271 + ], + [ + 0.3065449595451355, + 0.018130358308553696, + 0.044231969863176346, + -0.13031938672065735, + -0.01159963570535183, + -0.10746245831251144, + 0.0, + 0.9994885921478271 + ], + [ + 0.31221804022789, + 0.02771223522722721, + 0.042100828140974045, + -0.12427530437707901, + -0.0070771281607449055, + -0.08913462609052658, + 0.0, + 0.9994885921478271 + ], + [ + 0.31324878334999084, + 0.032177288085222244, + 0.03467162698507309, + -0.11274246871471405, + 0.0072850193828344345, + -0.08858153969049454, + 0.0, + 0.9994885921478271 + ], + [ + 0.3169255256652832, + 0.034830912947654724, + 0.03361731022596359, + -0.09889708459377289, + 0.004800886381417513, + -0.09403536468744278, + 0.0, + 0.9994885921478271 + ], + [ + 0.31662729382514954, + 0.037184517830610275, + 0.0323193222284317, + -0.0867949053645134, + 0.0048196082934737206, + -0.09978846460580826, + 0.0, + 0.9994885921478271 + ], + [ + 0.30714380741119385, + 0.03808591887354851, + 0.023957500234246254, + -0.07747992873191833, + 0.026040926575660706, + -0.1141834408044815, + 0.0, + 0.9858682155609131 + ], + [ + 0.3014112710952759, + 0.03801843523979187, + 0.020304342731833458, + -0.07691921293735504, + 0.03955727443099022, + -0.13289205729961395, + 0.0, + 0.8965065479278564 + ], + [ + 0.30295759439468384, + 0.03806640952825546, + 0.019726963713765144, + -0.07260475307703018, + 0.031370095908641815, + -0.13308122754096985, + 0.0, + 0.6009007096290588 + ], + [ + 0.3045427203178406, + 0.039856985211372375, + 0.020149772986769676, + -0.05767907202243805, + 0.027433035895228386, + -0.12058067321777344, + 0.0, + 0.3883807957172394 + ], + [ + 0.308540403842926, + 0.041182875633239746, + 0.022240832448005676, + -0.0468924380838871, + 0.018908528611063957, + -0.10004878044128418, + 0.0, + 0.3936077654361725 + ], + [ + 0.3110978603363037, + 0.041102685034275055, + 0.02800939418375492, + -0.010338217951357365, + -0.014869310893118382, + -0.07546484470367432, + 0.0, + 0.41037410497665405 + ], + [ + 0.3153572976589203, + 0.038926150649785995, + 0.0601666159927845, + -0.0466446727514267, + -0.033257000148296356, + -0.0410187691450119, + 0.0, + 0.4112652540206909 + ], + [ + 0.31947973370552063, + 0.03272799402475357, + 0.09451855719089508, + -0.12036728113889694, + -0.005280965007841587, + 0.0014949329197406769, + 0.0, + 0.4112652540206909 + ], + [ + 0.3246081471443176, + 0.01133198756724596, + 0.1145489513874054, + -0.12781421840190887, + 0.024810004979372025, + 0.05699564516544342, + 0.0, + 0.4112652540206909 + ], + [ + 0.32381826639175415, + -0.021603303030133247, + 0.10895015299320221, + -0.09645327180624008, + 0.05224711075425148, + 0.028250133618712425, + 0.0, + 0.4112652540206909 + ], + [ + 0.3127948045730591, + -0.042787350714206696, + 0.0991368293762207, + -0.1039624959230423, + 0.09169697016477585, + -0.024945762008428574, + 0.0, + 0.4112652540206909 + ], + [ + 0.2923421859741211, + -0.06045247241854668, + 0.07788170129060745, + -0.09907457232475281, + 0.12851938605308533, + -0.08554142713546753, + 0.0, + 0.4112652540206909 + ], + [ + 0.2832885682582855, + -0.06640699505805969, + 0.0740140825510025, + -0.0990714356303215, + 0.1029830276966095, + -0.11836680769920349, + 0.0, + 0.4112652540206909 + ], + [ + 0.2801673412322998, + -0.06893028318881989, + 0.06420386582612991, + -0.09395677596330643, + 0.07853644341230392, + -0.12654441595077515, + 0.0, + 0.4112652540206909 + ], + [ + 0.28646716475486755, + -0.06877299398183823, + 0.06367005407810211, + -0.08194568008184433, + 0.03899192065000534, + -0.12183070182800293, + 0.0, + 0.4112652540206909 + ], + [ + 0.292116641998291, + -0.06973817944526672, + 0.05728985741734505, + -0.0829337015748024, + 0.04518185928463936, + -0.10103435814380646, + 0.0, + 0.4112652540206909 + ], + [ + 0.297804057598114, + -0.07145800441503525, + 0.05618051439523697, + -0.08229999244213104, + 0.058285560458898544, + -0.09353605657815933, + 0.0, + 0.4112652540206909 + ], + [ + 0.29900237917900085, + -0.07206088304519653, + 0.055712539702653885, + -0.07297537475824356, + 0.05340218544006348, + -0.09676610678434372, + 0.0, + 0.4918208718299866 + ], + [ + 0.3020785450935364, + -0.07379292696714401, + 0.057796552777290344, + -0.09020089358091354, + 0.07015151530504227, + -0.0870366096496582, + 0.0, + 0.8055269122123718 + ], + [ + 0.30336490273475647, + -0.06841854006052017, + 0.06207059696316719, + -0.09217564016580582, + 0.10038899630308151, + -0.10988098382949829, + 0.0, + 0.9974852800369263 + ], + [ + 0.3083522915840149, + -0.0674751028418541, + 0.0699017196893692, + -0.11714189499616623, + 0.10024202615022659, + -0.08498044312000275, + 0.0, + 0.9974852800369263 + ], + [ + 0.3078179657459259, + -0.06680215150117874, + 0.08136889338493347, + -0.12921127676963806, + 0.0946023091673851, + -0.07771890610456467, + 0.0, + 0.9974852800369263 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9858682155609131 + ], + [ + 0.8965065479278564 + ], + [ + 0.6009007096290588 + ], + [ + 0.3883807957172394 + ], + [ + 0.3936077654361725 + ], + [ + 0.41037410497665405 + ], + [ + 0.4112652540206909 + ], + [ + 0.4112652540206909 + ], + [ + 0.4112652540206909 + ], + [ + 0.4112652540206909 + ], + [ + 0.4112652540206909 + ], + [ + 0.4112652540206909 + ], + [ + 0.4112652540206909 + ], + [ + 0.4112652540206909 + ], + [ + 0.4112652540206909 + ], + [ + 0.4112652540206909 + ], + [ + 0.4112652540206909 + ], + [ + 0.4918208718299866 + ], + [ + 0.8055269122123718 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3515677750110626, + -0.0950276106595993, + 0.13950122892856598 + ], + [ + 0.34948480129241943, + -0.09436216950416565, + 0.1255132257938385 + ], + [ + 0.3477475643157959, + -0.07608240097761154, + 0.12470696866512299 + ], + [ + 0.3380086123943329, + -0.038673363626003265, + 0.11315803974866867 + ], + [ + 0.33219581842422485, + -0.017184225842356682, + 0.1160803884267807 + ], + [ + 0.32087939977645874, + -0.0024763448163866997, + 0.09399787336587906 + ], + [ + 0.3107975721359253, + 0.004958457313477993, + 0.07219821214675903 + ], + [ + 0.3090765178203583, + 0.00974858645349741, + 0.05822247639298439 + ], + [ + 0.3065449595451355, + 0.018130358308553696, + 0.044231969863176346 + ], + [ + 0.31221804022789, + 0.02771223522722721, + 0.042100828140974045 + ], + [ + 0.31324878334999084, + 0.032177288085222244, + 0.03467162698507309 + ], + [ + 0.3169255256652832, + 0.034830912947654724, + 0.03361731022596359 + ], + [ + 0.31662729382514954, + 0.037184517830610275, + 0.0323193222284317 + ], + [ + 0.30714380741119385, + 0.03808591887354851, + 0.023957500234246254 + ], + [ + 0.3014112710952759, + 0.03801843523979187, + 0.020304342731833458 + ], + [ + 0.30295759439468384, + 0.03806640952825546, + 0.019726963713765144 + ], + [ + 0.3045427203178406, + 0.039856985211372375, + 0.020149772986769676 + ], + [ + 0.308540403842926, + 0.041182875633239746, + 0.022240832448005676 + ], + [ + 0.3110978603363037, + 0.041102685034275055, + 0.02800939418375492 + ], + [ + 0.3153572976589203, + 0.038926150649785995, + 0.0601666159927845 + ], + [ + 0.31947973370552063, + 0.03272799402475357, + 0.09451855719089508 + ], + [ + 0.3246081471443176, + 0.01133198756724596, + 0.1145489513874054 + ], + [ + 0.32381826639175415, + -0.021603303030133247, + 0.10895015299320221 + ], + [ + 0.3127948045730591, + -0.042787350714206696, + 0.0991368293762207 + ], + [ + 0.2923421859741211, + -0.06045247241854668, + 0.07788170129060745 + ], + [ + 0.2832885682582855, + -0.06640699505805969, + 0.0740140825510025 + ], + [ + 0.2801673412322998, + -0.06893028318881989, + 0.06420386582612991 + ], + [ + 0.28646716475486755, + -0.06877299398183823, + 0.06367005407810211 + ], + [ + 0.292116641998291, + -0.06973817944526672, + 0.05728985741734505 + ], + [ + 0.297804057598114, + -0.07145800441503525, + 0.05618051439523697 + ], + [ + 0.29900237917900085, + -0.07206088304519653, + 0.055712539702653885 + ], + [ + 0.3020785450935364, + -0.07379292696714401, + 0.057796552777290344 + ], + [ + 0.30336490273475647, + -0.06841854006052017, + 0.06207059696316719 + ], + [ + 0.3083522915840149, + -0.0674751028418541, + 0.0699017196893692 + ], + [ + 0.3078179657459259, + -0.06680215150117874, + 0.08136889338493347 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9867886795877325, + 0.15439918469904917, + 0.04908149958761122, + 0.15825373628083406, + -0.9834769171355328, + -0.08791421053928135, + 0.0346966394720872, + 0.09452007842706102, + -0.994918136322525 + ], + [ + 0.9886116275375855, + 0.15035155299314068, + 0.006438975853110022, + 0.1503588138390211, + -0.9850675484355836, + -0.08386985227142965, + -0.006267136380255728, + 0.08388286792700667, + -0.9964559134602651 + ], + [ + 0.9992850024084614, + -0.0019114367940409587, + -0.03776016910587119, + -0.0073864964847418155, + -0.9893461031792848, + -0.14539507486034395, + -0.037079962664524076, + 0.145570033088361, + -0.9886528419194733 + ], + [ + 0.998196651939824, + -0.038357909239595506, + -0.04617482923512711, + -0.04661950460463704, + -0.9799400187965672, + -0.19376320948880354, + -0.03781621142505448, + 0.19556643464498374, + -0.9799610725910011 + ], + [ + 0.9963427028598503, + -0.07690448112761565, + -0.03724136464229967, + -0.08342852109651182, + -0.9697240637842263, + -0.2295101783918418, + -0.018463486279069928, + 0.23177778344849698, + -0.9725935218651852 + ], + [ + 0.9976283691041881, + -0.0652644421189912, + 0.021867550238076412, + -0.05914092334143215, + -0.9753126885483769, + -0.2127616289250943, + 0.0352134682307891, + 0.21096376976019723, + -0.9768594062114188 + ], + [ + 0.995123609962082, + -0.09424653925639903, + 0.02909623230292826, + -0.08848263288018882, + -0.9833212827813848, + -0.15890273285177248, + 0.043586977121884245, + 0.15555334990723946, + -0.9868654066072091 + ], + [ + 0.9923721790304302, + -0.11647030680678248, + 0.04039957819990134, + -0.1093807811093123, + -0.9830357058610342, + -0.14722990771652109, + 0.05686214039510554, + 0.14168792691910123, + -0.9882768986245984 + ], + [ + 0.9941645776324289, + -0.10784491678123662, + -0.0025032989000071722, + -0.10724852943996899, + -0.9856391471542014, + -0.13043475200307258, + 0.011599375582277477, + 0.12994208525949968, + -0.9914537351609073 + ], + [ + 0.9960051952825836, + -0.08920388646486649, + -0.004039506116613655, + -0.08901441491852677, + -0.988270423870096, + -0.12408869102514314, + 0.007077069083689142, + 0.123952555210388, + -0.9922629082808653 + ], + [ + 0.9960527885849504, + -0.08708772557527131, + -0.017163053524090324, + -0.08846339233598985, + -0.9898279141791015, + -0.11142229816449814, + -0.007284954945178735, + 0.11250079273487734, + -0.9936249297725331 + ], + [ + 0.9955704588348255, + -0.09296610382749786, + -0.0140272960527093, + -0.09389575689266037, + -0.9907616970122562, + -0.0978511449649364, + -0.004800867939225767, + 0.09873481287028131, + -0.9951021999747066 + ], + [ + 0.9950137048056621, + -0.09883221142580569, + -0.013413472093228612, + -0.09962177876681498, + -0.9913212955920988, + -0.08577639594281602, + -0.004819589634683833, + 0.08668496346130519, + -0.9962241156815397 + ], + [ + 0.9931513126319326, + -0.1115913911035915, + -0.03460970454994229, + -0.11389685523925545, + -0.9907372441143074, + -0.07394064843774967, + -0.02603798348715015, + 0.07737618856180553, + -0.9966619029839409 + ], + [ + 0.9904074487496085, + -0.12909733983296018, + -0.04926420921261671, + -0.1323975963048627, + -0.9886547455800416, + -0.07094131754314631, + -0.039546958846236026, + 0.0767832722024537, + -0.9962632017473584 + ], + [ + 0.990670104419109, + -0.13008404671381318, + -0.040631084169516905, + -0.13262346721812762, + -0.9888483825030604, + -0.06774874437303932, + -0.03136495103254786, + 0.07250529092169528, + -0.9968747276539246 + ], + [ + 0.9923654247318935, + -0.11851889213659267, + -0.03411943732542033, + -0.1202434243825854, + -0.9912782580570203, + -0.05393453435590988, + -0.027429595138062916, + 0.057625405075834954, + -0.9979613870287807 + ], + [ + 0.9948214272058118, + -0.09889030093354317, + -0.023474163530688433, + -0.09986409828233678, + -0.9939940665766318, + -0.04475441301935286, + -0.01890740189576597, + 0.04686687520759528, + -0.9987221866774705 + ], + [ + 0.9970436481605846, + -0.07554248445592449, + 0.014046234543773737, + -0.0753849026679484, + -0.9970890039145832, + -0.011429554775585724, + 0.014868762973974789, + 0.010336890966367666, + -0.9998360208418043 + ], + [ + 0.9986063503033809, + -0.04251177476527703, + 0.03127468848873501, + -0.040984591992490736, + -0.9980085193834727, + -0.04795058349193881, + 0.03325086995809468, + 0.04660197682839951, + -0.9983599728568423 + ], + [ + 0.9999849383402728, + 0.0008499980011089954, + 0.005422231643844639, + 0.0014949115171914856, + -0.9927644394937332, + -0.12006886738972013, + 0.005280940461429922, + 0.12007516470982889, + -0.9927507574853575 + ], + [ + 0.9980689352125266, + 0.05965710823541583, + -0.01730404579053462, + 0.05694726070049374, + -0.990052180745896, + -0.12866113981698302, + -0.02480745981439937, + 0.12742726881355942, + -0.9915376347372163 + ], + [ + 0.9982369661513624, + 0.033142385701798, + -0.04923963524354209, + 0.02820783201815397, + -0.9948127747639526, + -0.09773362460934744, + -0.05222334364783075, + 0.09617237356142612, + -0.9939937610175438 + ], + [ + 0.9954889555802033, + -0.015308904500223597, + -0.09363427129443067, + -0.02483838301609923, + -0.9945283396611475, + -0.10147135723930568, + -0.09156852104834698, + 0.10333933933330654, + -0.9904222265777228 + ], + [ + 0.9881264630298692, + -0.0723873067610757, + -0.13552184650438556, + -0.08473252082894837, + -0.9925407262215188, + -0.08765447339201604, + -0.12816588069393567, + 0.098096812443309, + -0.9868893161922516 + ], + [ + 0.9877418291354589, + -0.10741468423095994, + -0.11326148766328833, + -0.11746494900392689, + -0.9893343190527447, + -0.08613704719774785, + -0.10280109304692683, + 0.09838541942790786, + -0.9898243503331043 + ], + [ + 0.9889461798041596, + -0.11834853911213972, + -0.08932567794750439, + -0.12581792948221274, + -0.9885574705835107, + -0.08321043188411166, + -0.07845573319756739, + 0.09352941058059643, + -0.9925205021987599 + ], + [ + 0.991833360224495, + -0.11795454448740707, + -0.04851093671075609, + -0.12143716902917158, + -0.9896447997966944, + -0.07652570949387315, + -0.03898204104414089, + 0.0817917824119793, + -0.9958867931677294 + ], + [ + 0.99388504724366, + -0.09679343505899875, + -0.053137028473066644, + -0.10075962080228094, + -0.9918582487599917, + -0.0778762684169148, + -0.04516648847595589, + 0.0827541255542115, + -0.995545952240533 + ], + [ + 0.9939379920596979, + -0.08831574982371737, + -0.0654797394115983, + -0.09324112099466281, + -0.992706024270577, + -0.07642540632907147, + -0.05825256471602693, + 0.08206751921423963, + -0.9949228919841104 + ], + [ + 0.993902923572946, + -0.0924844897981665, + -0.060029973012845766, + -0.09647743249766945, + -0.9930487430334103, + -0.06742624843798595, + -0.0533768070589445, + 0.07280668311725377, + -0.9959167150729299 + ], + [ + 0.9937644065163329, + -0.08028330477313178, + -0.07737503031305025, + -0.0867129563446207, + -0.9927136032084408, + -0.0836693803424552, + -0.07009399077821803, + 0.08985706972530853, + -0.9934850474351209 + ], + [ + 0.988964775237043, + -0.10002530211226392, + -0.10928683487820312, + -0.10910789307707734, + -0.9907611835402996, + -0.08054653846135075, + -0.10022046202560811, + 0.09158174560017478, + -0.9907414611613863 + ], + [ + 0.9913894240787839, + -0.07264261789271036, + -0.10894980445338479, + -0.0844521057458733, + -0.9905555395000024, + -0.10801650337308194, + -0.10007423074810487, + 0.11628745947673319, + -0.9881611078708887 + ], + [ + 0.9925234410808957, + -0.06485867872191194, + -0.1033952160372303, + -0.07729352233549443, + -0.9896154056247666, + -0.1211901825854762, + -0.09446126354178279, + 0.12827587748511582, + -0.9872296434698026 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0020829737186431885, + 0.0006654411554336548, + -0.013988003134727478, + 0.010735385119915009, + 0.040970783680677414, + -0.008084222674369812, + 1.0 + ], + [ + -0.0017372369766235352, + 0.018279768526554108, + -0.0008062571287155151, + -0.0622071698307991, + 0.030821288004517555, + -0.15832583606243134, + 1.0 + ], + [ + -0.009738951921463013, + 0.037409037351608276, + -0.011548928916454315, + -0.05078737437725067, + 0.0007367655634880066, + -0.039278168231248856, + 1.0 + ], + [ + -0.005812793970108032, + 0.021489137783646584, + 0.00292234867811203, + -0.03696770966053009, + -0.019360695034265518, + -0.036870066076517105, + 1.0 + ], + [ + -0.011316418647766113, + 0.014707881025969982, + -0.022082515060901642, + 0.021250709891319275, + -0.05368528515100479, + 0.024327661842107773, + 1.0 + ], + [ + -0.010081827640533447, + 0.007434802129864693, + -0.021799661219120026, + 0.056357353925704956, + -0.008380040526390076, + -0.029470782727003098, + 1.0 + ], + [ + -0.0017210543155670166, + 0.004790129140019417, + -0.013975735753774643, + 0.01393909752368927, + -0.013292036950588226, + -0.021095402538776398, + 1.0 + ], + [ + -0.0025315582752227783, + 0.008381771855056286, + -0.013990506529808044, + 0.012078911066055298, + 0.04529318958520889, + 0.0023159459233283997, + 1.0 + ], + [ + 0.005673080682754517, + 0.009581876918673515, + -0.002131141722202301, + 0.006044082343578339, + 0.004522507544606924, + 0.018327832221984863, + 1.0 + ], + [ + 0.00103074312210083, + 0.004465052857995033, + -0.007429201155900955, + 0.01153283566236496, + 0.014362147077918053, + 0.0005530864000320435, + 1.0 + ], + [ + 0.0036767423152923584, + 0.00265362486243248, + -0.001054316759109497, + 0.013845384120941162, + -0.0024841330014169216, + -0.005453824996948242, + 1.0 + ], + [ + -0.000298231840133667, + 0.002353604882955551, + -0.0012979879975318909, + 0.012102179229259491, + 1.8721912056207657e-05, + -0.0057530999183654785, + 1.0 + ], + [ + -0.009483486413955688, + 0.0009014010429382324, + -0.008361821994185448, + 0.009314976632595062, + 0.02122131735086441, + -0.014394976198673248, + 1.0 + ], + [ + -0.005732536315917969, + -6.748363375663757e-05, + -0.003653157502412796, + 0.0005607157945632935, + 0.013516347855329514, + -0.018708616495132446, + 0.0 + ], + [ + 0.001546323299407959, + 4.797428846359253e-05, + -0.0005773790180683136, + 0.00431445986032486, + -0.008187178522348404, + -0.000189170241355896, + 0.0 + ], + [ + 0.0015851259231567383, + 0.0017905756831169128, + 0.00042280927300453186, + 0.014925681054592133, + -0.003937060013413429, + 0.012500554323196411, + 0.0 + ], + [ + 0.003997683525085449, + 0.0013258904218673706, + 0.002091059461236, + 0.010786633938550949, + -0.008524507284164429, + 0.020531892776489258, + 0.0 + ], + [ + 0.0025574564933776855, + -8.019059896469116e-05, + 0.005768561735749245, + 0.03655422106385231, + -0.03377784043550491, + 0.024583935737609863, + 0.0 + ], + [ + 0.004259437322616577, + -0.0021765343844890594, + 0.03215721994638443, + -0.03630645573139191, + -0.01838769018650055, + 0.034446075558662415, + 0.0 + ], + [ + 0.004122436046600342, + -0.006198156625032425, + 0.03435194119811058, + -0.07372260838747025, + 0.027976036071777344, + 0.04251370206475258, + 0.0 + ], + [ + 0.005128413438796997, + -0.021396007388830185, + 0.020030394196510315, + -0.007446937263011932, + 0.030090969055891037, + 0.055500712245702744, + 0.0 + ], + [ + -0.0007898807525634766, + -0.03293529152870178, + -0.005598798394203186, + 0.03136094659566879, + 0.027437105774879456, + -0.028745511546730995, + 0.0 + ], + [ + -0.011023461818695068, + -0.021184047684073448, + -0.009813323616981506, + -0.007509224116802216, + 0.03944985941052437, + -0.05319589376449585, + 0.0 + ], + [ + -0.02045261859893799, + -0.01766512170433998, + -0.02125512808561325, + 0.00488792359828949, + 0.03682241588830948, + -0.060595665127038956, + 0.0 + ], + [ + -0.009053617715835571, + -0.005954522639513016, + -0.00386761873960495, + 3.1366944313049316e-06, + -0.02553635835647583, + -0.03282538056373596, + 0.0 + ], + [ + -0.0031212270259857178, + -0.002523288130760193, + -0.009810216724872589, + 0.005114659667015076, + -0.024446584284305573, + -0.008177608251571655, + 0.0 + ], + [ + 0.006299823522567749, + 0.00015728920698165894, + -0.0005338117480278015, + 0.012011095881462097, + -0.039544522762298584, + 0.004713714122772217, + 0.0 + ], + [ + 0.005649477243423462, + -0.0009651854634284973, + -0.006380196660757065, + -0.0009880214929580688, + 0.006189938634634018, + 0.020796343684196472, + 0.0 + ], + [ + 0.005687415599822998, + -0.0017198249697685242, + -0.001109343022108078, + 0.0006337091326713562, + 0.013103701174259186, + 0.007498301565647125, + 0.0 + ], + [ + 0.0011983215808868408, + -0.0006028786301612854, + -0.0004679746925830841, + 0.009324617683887482, + -0.004883375018835068, + -0.003230050206184387, + 1.0 + ], + [ + 0.0030761659145355225, + -0.0017320439219474792, + 0.0020840130746364594, + -0.017225518822669983, + 0.01674932986497879, + 0.009729497134685516, + 1.0 + ], + [ + 0.0012863576412200928, + 0.00537438690662384, + 0.004274044185876846, + -0.001974746584892273, + 0.030237480998039246, + -0.022844374179840088, + 1.0 + ], + [ + 0.004987388849258423, + 0.0009434372186660767, + 0.007831122726202011, + -0.024966254830360413, + -0.00014697015285491943, + 0.024900540709495544, + 1.0 + ], + [ + -0.0005343258380889893, + 0.000672951340675354, + 0.01146717369556427, + -0.012069381773471832, + -0.005639716982841492, + 0.00726153701543808, + 1.0 + ], + [ + 0.003050476312637329, + 0.0028334110975265503, + 0.027732908725738525, + -0.007250398397445679, + -0.04163390025496483, + 0.004741773009300232, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9858682155609131 + ], + [ + 0.8965065479278564 + ], + [ + 0.6009007096290588 + ], + [ + 0.3883807957172394 + ], + [ + 0.3936077654361725 + ], + [ + 0.41037410497665405 + ], + [ + 0.4112652540206909 + ], + [ + 0.4112652540206909 + ], + [ + 0.4112652540206909 + ], + [ + 0.4112652540206909 + ], + [ + 0.4112652540206909 + ], + [ + 0.4112652540206909 + ], + [ + 0.4112652540206909 + ], + [ + 0.4112652540206909 + ], + [ + 0.4112652540206909 + ], + [ + 0.4112652540206909 + ], + [ + 0.4112652540206909 + ], + [ + 0.4918208718299866 + ], + [ + 0.8055269122123718 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.34948480129241943, + -0.09436216950416565, + 0.1255132257938385 + ], + [ + 0.3477475643157959, + -0.07608240097761154, + 0.12470696866512299 + ], + [ + 0.3380086123943329, + -0.038673363626003265, + 0.11315803974866867 + ], + [ + 0.33219581842422485, + -0.017184225842356682, + 0.1160803884267807 + ], + [ + 0.32087939977645874, + -0.0024763448163866997, + 0.09399787336587906 + ], + [ + 0.3107975721359253, + 0.004958457313477993, + 0.07219821214675903 + ], + [ + 0.3090765178203583, + 0.00974858645349741, + 0.05822247639298439 + ], + [ + 0.3065449595451355, + 0.018130358308553696, + 0.044231969863176346 + ], + [ + 0.31221804022789, + 0.02771223522722721, + 0.042100828140974045 + ], + [ + 0.31324878334999084, + 0.032177288085222244, + 0.03467162698507309 + ], + [ + 0.3169255256652832, + 0.034830912947654724, + 0.03361731022596359 + ], + [ + 0.31662729382514954, + 0.037184517830610275, + 0.0323193222284317 + ], + [ + 0.30714380741119385, + 0.03808591887354851, + 0.023957500234246254 + ], + [ + 0.3014112710952759, + 0.03801843523979187, + 0.020304342731833458 + ], + [ + 0.30295759439468384, + 0.03806640952825546, + 0.019726963713765144 + ], + [ + 0.3045427203178406, + 0.039856985211372375, + 0.020149772986769676 + ], + [ + 0.308540403842926, + 0.041182875633239746, + 0.022240832448005676 + ], + [ + 0.3110978603363037, + 0.041102685034275055, + 0.02800939418375492 + ], + [ + 0.3153572976589203, + 0.038926150649785995, + 0.0601666159927845 + ], + [ + 0.31947973370552063, + 0.03272799402475357, + 0.09451855719089508 + ], + [ + 0.3246081471443176, + 0.01133198756724596, + 0.1145489513874054 + ], + [ + 0.32381826639175415, + -0.021603303030133247, + 0.10895015299320221 + ], + [ + 0.3127948045730591, + -0.042787350714206696, + 0.0991368293762207 + ], + [ + 0.2923421859741211, + -0.06045247241854668, + 0.07788170129060745 + ], + [ + 0.2832885682582855, + -0.06640699505805969, + 0.0740140825510025 + ], + [ + 0.2801673412322998, + -0.06893028318881989, + 0.06420386582612991 + ], + [ + 0.28646716475486755, + -0.06877299398183823, + 0.06367005407810211 + ], + [ + 0.292116641998291, + -0.06973817944526672, + 0.05728985741734505 + ], + [ + 0.297804057598114, + -0.07145800441503525, + 0.05618051439523697 + ], + [ + 0.29900237917900085, + -0.07206088304519653, + 0.055712539702653885 + ], + [ + 0.3020785450935364, + -0.07379292696714401, + 0.057796552777290344 + ], + [ + 0.30336490273475647, + -0.06841854006052017, + 0.06207059696316719 + ], + [ + 0.3083522915840149, + -0.0674751028418541, + 0.0699017196893692 + ], + [ + 0.3078179657459259, + -0.06680215150117874, + 0.08136889338493347 + ], + [ + 0.31086844205856323, + -0.06396874040365219, + 0.109101802110672 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9886116275375855, + 0.15035155299314068, + 0.006438975853110022, + 0.1503588138390211, + -0.9850675484355836, + -0.08386985227142965, + -0.006267136380255728, + 0.08388286792700667, + -0.9964559134602651 + ], + [ + 0.9992850024084614, + -0.0019114367940409587, + -0.03776016910587119, + -0.0073864964847418155, + -0.9893461031792848, + -0.14539507486034395, + -0.037079962664524076, + 0.145570033088361, + -0.9886528419194733 + ], + [ + 0.998196651939824, + -0.038357909239595506, + -0.04617482923512711, + -0.04661950460463704, + -0.9799400187965672, + -0.19376320948880354, + -0.03781621142505448, + 0.19556643464498374, + -0.9799610725910011 + ], + [ + 0.9963427028598503, + -0.07690448112761565, + -0.03724136464229967, + -0.08342852109651182, + -0.9697240637842263, + -0.2295101783918418, + -0.018463486279069928, + 0.23177778344849698, + -0.9725935218651852 + ], + [ + 0.9976283691041881, + -0.0652644421189912, + 0.021867550238076412, + -0.05914092334143215, + -0.9753126885483769, + -0.2127616289250943, + 0.0352134682307891, + 0.21096376976019723, + -0.9768594062114188 + ], + [ + 0.995123609962082, + -0.09424653925639903, + 0.02909623230292826, + -0.08848263288018882, + -0.9833212827813848, + -0.15890273285177248, + 0.043586977121884245, + 0.15555334990723946, + -0.9868654066072091 + ], + [ + 0.9923721790304302, + -0.11647030680678248, + 0.04039957819990134, + -0.1093807811093123, + -0.9830357058610342, + -0.14722990771652109, + 0.05686214039510554, + 0.14168792691910123, + -0.9882768986245984 + ], + [ + 0.9941645776324289, + -0.10784491678123662, + -0.0025032989000071722, + -0.10724852943996899, + -0.9856391471542014, + -0.13043475200307258, + 0.011599375582277477, + 0.12994208525949968, + -0.9914537351609073 + ], + [ + 0.9960051952825836, + -0.08920388646486649, + -0.004039506116613655, + -0.08901441491852677, + -0.988270423870096, + -0.12408869102514314, + 0.007077069083689142, + 0.123952555210388, + -0.9922629082808653 + ], + [ + 0.9960527885849504, + -0.08708772557527131, + -0.017163053524090324, + -0.08846339233598985, + -0.9898279141791015, + -0.11142229816449814, + -0.007284954945178735, + 0.11250079273487734, + -0.9936249297725331 + ], + [ + 0.9955704588348255, + -0.09296610382749786, + -0.0140272960527093, + -0.09389575689266037, + -0.9907616970122562, + -0.0978511449649364, + -0.004800867939225767, + 0.09873481287028131, + -0.9951021999747066 + ], + [ + 0.9950137048056621, + -0.09883221142580569, + -0.013413472093228612, + -0.09962177876681498, + -0.9913212955920988, + -0.08577639594281602, + -0.004819589634683833, + 0.08668496346130519, + -0.9962241156815397 + ], + [ + 0.9931513126319326, + -0.1115913911035915, + -0.03460970454994229, + -0.11389685523925545, + -0.9907372441143074, + -0.07394064843774967, + -0.02603798348715015, + 0.07737618856180553, + -0.9966619029839409 + ], + [ + 0.9904074487496085, + -0.12909733983296018, + -0.04926420921261671, + -0.1323975963048627, + -0.9886547455800416, + -0.07094131754314631, + -0.039546958846236026, + 0.0767832722024537, + -0.9962632017473584 + ], + [ + 0.990670104419109, + -0.13008404671381318, + -0.040631084169516905, + -0.13262346721812762, + -0.9888483825030604, + -0.06774874437303932, + -0.03136495103254786, + 0.07250529092169528, + -0.9968747276539246 + ], + [ + 0.9923654247318935, + -0.11851889213659267, + -0.03411943732542033, + -0.1202434243825854, + -0.9912782580570203, + -0.05393453435590988, + -0.027429595138062916, + 0.057625405075834954, + -0.9979613870287807 + ], + [ + 0.9948214272058118, + -0.09889030093354317, + -0.023474163530688433, + -0.09986409828233678, + -0.9939940665766318, + -0.04475441301935286, + -0.01890740189576597, + 0.04686687520759528, + -0.9987221866774705 + ], + [ + 0.9970436481605846, + -0.07554248445592449, + 0.014046234543773737, + -0.0753849026679484, + -0.9970890039145832, + -0.011429554775585724, + 0.014868762973974789, + 0.010336890966367666, + -0.9998360208418043 + ], + [ + 0.9986063503033809, + -0.04251177476527703, + 0.03127468848873501, + -0.040984591992490736, + -0.9980085193834727, + -0.04795058349193881, + 0.03325086995809468, + 0.04660197682839951, + -0.9983599728568423 + ], + [ + 0.9999849383402728, + 0.0008499980011089954, + 0.005422231643844639, + 0.0014949115171914856, + -0.9927644394937332, + -0.12006886738972013, + 0.005280940461429922, + 0.12007516470982889, + -0.9927507574853575 + ], + [ + 0.9980689352125266, + 0.05965710823541583, + -0.01730404579053462, + 0.05694726070049374, + -0.990052180745896, + -0.12866113981698302, + -0.02480745981439937, + 0.12742726881355942, + -0.9915376347372163 + ], + [ + 0.9982369661513624, + 0.033142385701798, + -0.04923963524354209, + 0.02820783201815397, + -0.9948127747639526, + -0.09773362460934744, + -0.05222334364783075, + 0.09617237356142612, + -0.9939937610175438 + ], + [ + 0.9954889555802033, + -0.015308904500223597, + -0.09363427129443067, + -0.02483838301609923, + -0.9945283396611475, + -0.10147135723930568, + -0.09156852104834698, + 0.10333933933330654, + -0.9904222265777228 + ], + [ + 0.9881264630298692, + -0.0723873067610757, + -0.13552184650438556, + -0.08473252082894837, + -0.9925407262215188, + -0.08765447339201604, + -0.12816588069393567, + 0.098096812443309, + -0.9868893161922516 + ], + [ + 0.9877418291354589, + -0.10741468423095994, + -0.11326148766328833, + -0.11746494900392689, + -0.9893343190527447, + -0.08613704719774785, + -0.10280109304692683, + 0.09838541942790786, + -0.9898243503331043 + ], + [ + 0.9889461798041596, + -0.11834853911213972, + -0.08932567794750439, + -0.12581792948221274, + -0.9885574705835107, + -0.08321043188411166, + -0.07845573319756739, + 0.09352941058059643, + -0.9925205021987599 + ], + [ + 0.991833360224495, + -0.11795454448740707, + -0.04851093671075609, + -0.12143716902917158, + -0.9896447997966944, + -0.07652570949387315, + -0.03898204104414089, + 0.0817917824119793, + -0.9958867931677294 + ], + [ + 0.99388504724366, + -0.09679343505899875, + -0.053137028473066644, + -0.10075962080228094, + -0.9918582487599917, + -0.0778762684169148, + -0.04516648847595589, + 0.0827541255542115, + -0.995545952240533 + ], + [ + 0.9939379920596979, + -0.08831574982371737, + -0.0654797394115983, + -0.09324112099466281, + -0.992706024270577, + -0.07642540632907147, + -0.05825256471602693, + 0.08206751921423963, + -0.9949228919841104 + ], + [ + 0.993902923572946, + -0.0924844897981665, + -0.060029973012845766, + -0.09647743249766945, + -0.9930487430334103, + -0.06742624843798595, + -0.0533768070589445, + 0.07280668311725377, + -0.9959167150729299 + ], + [ + 0.9937644065163329, + -0.08028330477313178, + -0.07737503031305025, + -0.0867129563446207, + -0.9927136032084408, + -0.0836693803424552, + -0.07009399077821803, + 0.08985706972530853, + -0.9934850474351209 + ], + [ + 0.988964775237043, + -0.10002530211226392, + -0.10928683487820312, + -0.10910789307707734, + -0.9907611835402996, + -0.08054653846135075, + -0.10022046202560811, + 0.09158174560017478, + -0.9907414611613863 + ], + [ + 0.9913894240787839, + -0.07264261789271036, + -0.10894980445338479, + -0.0844521057458733, + -0.9905555395000024, + -0.10801650337308194, + -0.10007423074810487, + 0.11628745947673319, + -0.9881611078708887 + ], + [ + 0.9925234410808957, + -0.06485867872191194, + -0.1033952160372303, + -0.07729352233549443, + -0.9896154056247666, + -0.1211901825854762, + -0.09446126354178279, + 0.12827587748511582, + -0.9872296434698026 + ], + [ + 0.9959395853343567, + -0.06505134254773019, + -0.06223074157334357, + -0.07281011560883204, + -0.9885917822774102, + -0.13185209546534699, + -0.05294364389668432, + 0.1358477487716021, + -0.9893140854777261 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005610.json b/json/chunk-0005/episode_0005610.json new file mode 100644 index 0000000000000000000000000000000000000000..568a32e8269e5ae2c184197275745a6353159bbe --- /dev/null +++ b/json/chunk-0005/episode_0005610.json @@ -0,0 +1,1582 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 25, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut potato on plate." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005610.mp4", + "start": 0, + "end": 25, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2955394983291626, + 0.07874761521816254, + 0.13171620666980743, + 0.164021298289299, + -0.13460221886634827, + -0.016933811828494072, + 0.0, + 0.9886419177055359 + ], + [ + 0.3044305145740509, + 0.06798557937145233, + 0.11513352394104004, + 0.15204110741615295, + -0.09412265568971634, + 0.004744103644043207, + 0.0, + 0.9886419177055359 + ], + [ + 0.33020976185798645, + 0.04060395061969757, + 0.11545361578464508, + 0.16950836777687073, + -0.08284585922956467, + 0.015625586733222008, + 0.0, + 0.9893313646316528 + ], + [ + 0.3536309003829956, + 0.0032157311215996742, + 0.1272590011358261, + 0.18495573103427887, + -0.06924544274806976, + -0.014534306712448597, + 0.0, + 0.9886419177055359 + ], + [ + 0.36961790919303894, + -0.031289856880903244, + 0.12741270661354065, + 0.2101975381374359, + -0.0854419469833374, + -0.03582419455051422, + 0.0, + 0.9886419177055359 + ], + [ + 0.37768465280532837, + -0.060776401311159134, + 0.11075308918952942, + 0.21586346626281738, + -0.12772515416145325, + -0.03455911576747894, + 0.0, + 0.9886419177055359 + ], + [ + 0.379729688167572, + -0.07253314554691315, + 0.0991014838218689, + 0.20213648676872253, + -0.15794894099235535, + -0.046387381851673126, + 0.0, + 0.9886419177055359 + ], + [ + 0.38467562198638916, + -0.07696793973445892, + 0.08642701059579849, + 0.18366639316082, + -0.17446766793727875, + -0.05288935825228691, + 0.0, + 0.9886419177055359 + ], + [ + 0.38663992285728455, + -0.07985725998878479, + 0.07610327750444412, + 0.16681118309497833, + -0.18161088228225708, + -0.049632132053375244, + 0.0, + 0.9886419177055359 + ], + [ + 0.3880402743816376, + -0.08059518039226532, + 0.07104494422674179, + 0.15416553616523743, + -0.18983414769172668, + -0.04267368093132973, + 0.0, + 0.9893313646316528 + ], + [ + 0.38539838790893555, + -0.07955878227949142, + 0.06062496453523636, + 0.14500994980335236, + -0.18073904514312744, + -0.030214587226510048, + 0.0, + 0.9893313646316528 + ], + [ + 0.3827516734600067, + -0.07778409123420715, + 0.05248871073126793, + 0.12790295481681824, + -0.17752744257450104, + -0.016124766319990158, + 0.0, + 0.9886419177055359 + ], + [ + 0.38246095180511475, + -0.07616863399744034, + 0.04838976636528969, + 0.11713220924139023, + -0.18427938222885132, + -0.014119993895292282, + 0.0, + 0.9893313646316528 + ], + [ + 0.38031601905822754, + -0.07507853209972382, + 0.0403260812163353, + 0.09642499685287476, + -0.19534330070018768, + 0.0037693316116929054, + 0.0, + 0.7941413521766663 + ], + [ + 0.3784170150756836, + -0.07445397228002548, + 0.03680292144417763, + 0.09606565535068512, + -0.1886015087366104, + 0.02206011489033699, + 0.0, + 0.6551066637039185 + ], + [ + 0.3770638406276703, + -0.07175111770629883, + 0.04163960739970207, + 0.1231212243437767, + -0.14929191768169403, + 0.013674790039658546, + 0.0, + 0.6551066637039185 + ], + [ + 0.3775452971458435, + -0.06097888574004173, + 0.05648234114050865, + 0.18437059223651886, + -0.10064497590065002, + 0.0008345039677806199, + 0.0, + 0.6551066637039185 + ], + [ + 0.37362343072891235, + -0.023816514760255814, + 0.07966994494199753, + 0.33842164278030396, + -0.02531515620648861, + -0.008040042594075203, + 0.0, + 0.6551066637039185 + ], + [ + 0.35998544096946716, + 0.021329157054424286, + 0.09316616505384445, + 0.3985828161239624, + -0.04949904978275299, + 0.007551784627139568, + 0.0, + 0.6551066637039185 + ], + [ + 0.33589592576026917, + 0.05183089151978493, + 0.0738375335931778, + 0.3896771967411041, + -0.04890673980116844, + 0.03652474656701088, + 0.0, + 0.6551066637039185 + ], + [ + 0.31529366970062256, + 0.06729747354984283, + 0.05471411719918251, + 0.34423261880874634, + -0.08135128766298294, + 0.05850951001048088, + 0.0, + 0.6551066637039185 + ], + [ + 0.3055567443370819, + 0.0765153169631958, + 0.033524129539728165, + 0.27413782477378845, + -0.1073976382613182, + 0.029889708384871483, + 0.0, + 0.6551066637039185 + ], + [ + 0.30469027161598206, + 0.09214936941862106, + 0.01736190915107727, + 0.21246327459812164, + -0.16705696284770966, + 0.031127749010920525, + 0.0, + 0.6551066637039185 + ], + [ + 0.307113379240036, + 0.09178220480680466, + 0.008121486753225327, + 0.19192971289157867, + -0.18516378104686737, + 0.022774813696742058, + 0.0, + 0.6551066637039185 + ], + [ + 0.3048647940158844, + 0.08722658455371857, + 0.004373608622699976, + 0.17865218222141266, + -0.18790356814861298, + 0.006727082189172506, + 0.0, + 0.6551066637039185 + ] + ], + "left_gripper_pos": [ + [ + 0.9886419177055359 + ], + [ + 0.9886419177055359 + ], + [ + 0.9893313646316528 + ], + [ + 0.9886419177055359 + ], + [ + 0.9886419177055359 + ], + [ + 0.9886419177055359 + ], + [ + 0.9886419177055359 + ], + [ + 0.9886419177055359 + ], + [ + 0.9886419177055359 + ], + [ + 0.9893313646316528 + ], + [ + 0.9893313646316528 + ], + [ + 0.9886419177055359 + ], + [ + 0.9893313646316528 + ], + [ + 0.7941413521766663 + ], + [ + 0.6551066637039185 + ], + [ + 0.6551066637039185 + ], + [ + 0.6551066637039185 + ], + [ + 0.6551066637039185 + ], + [ + 0.6551066637039185 + ], + [ + 0.6551066637039185 + ], + [ + 0.6551066637039185 + ], + [ + 0.6551066637039185 + ], + [ + 0.6551066637039185 + ], + [ + 0.6551066637039185 + ], + [ + 0.6551066637039185 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2955394983291626, + 0.07874761521816254, + 0.13171620666980743 + ], + [ + 0.3044305145740509, + 0.06798557937145233, + 0.11513352394104004 + ], + [ + 0.33020976185798645, + 0.04060395061969757, + 0.11545361578464508 + ], + [ + 0.3536309003829956, + 0.0032157311215996742, + 0.1272590011358261 + ], + [ + 0.36961790919303894, + -0.031289856880903244, + 0.12741270661354065 + ], + [ + 0.37768465280532837, + -0.060776401311159134, + 0.11075308918952942 + ], + [ + 0.379729688167572, + -0.07253314554691315, + 0.0991014838218689 + ], + [ + 0.38467562198638916, + -0.07696793973445892, + 0.08642701059579849 + ], + [ + 0.38663992285728455, + -0.07985725998878479, + 0.07610327750444412 + ], + [ + 0.3880402743816376, + -0.08059518039226532, + 0.07104494422674179 + ], + [ + 0.38539838790893555, + -0.07955878227949142, + 0.06062496453523636 + ], + [ + 0.3827516734600067, + -0.07778409123420715, + 0.05248871073126793 + ], + [ + 0.38246095180511475, + -0.07616863399744034, + 0.04838976636528969 + ], + [ + 0.38031601905822754, + -0.07507853209972382, + 0.0403260812163353 + ], + [ + 0.3784170150756836, + -0.07445397228002548, + 0.03680292144417763 + ], + [ + 0.3770638406276703, + -0.07175111770629883, + 0.04163960739970207 + ], + [ + 0.3775452971458435, + -0.06097888574004173, + 0.05648234114050865 + ], + [ + 0.37362343072891235, + -0.023816514760255814, + 0.07966994494199753 + ], + [ + 0.35998544096946716, + 0.021329157054424286, + 0.09316616505384445 + ], + [ + 0.33589592576026917, + 0.05183089151978493, + 0.0738375335931778 + ], + [ + 0.31529366970062256, + 0.06729747354984283, + 0.05471411719918251 + ], + [ + 0.3055567443370819, + 0.0765153169631958, + 0.033524129539728165 + ], + [ + 0.30469027161598206, + 0.09214936941862106, + 0.01736190915107727 + ], + [ + 0.307113379240036, + 0.09178220480680466, + 0.008121486753225327 + ], + [ + 0.3048647940158844, + 0.08722658455371857, + 0.004373608622699976 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9908127135731246, + 0.005203583593651218, + 0.1351409979970732, + -0.01677983997490516, + -0.9868082314428447, + 0.16102158652510332, + 0.13419613851477857, + -0.16180987940922717, + -0.9776548262721836 + ], + [ + 0.9955625285819323, + 0.018923600543420856, + 0.09217998169896749, + 0.004723087253189853, + -0.988385346549453, + 0.15189502682153913, + 0.09398374396855924, + -0.1507856228849103, + -0.9840887926406141 + ], + [ + 0.9964485858346899, + 0.029359238313619543, + 0.07891926832967443, + 0.015571361119567799, + -0.9853293726852392, + 0.16995164028804566, + 0.08275112386506343, + -0.16811919119885554, + -0.9822872232955654 + ], + [ + 0.9974981240953491, + -0.0015629845847755222, + 0.0706756641670107, + -0.014498964644846863, + -0.9830255050026415, + 0.18289515176332527, + 0.06919011815633651, + -0.18346229474605963, + -0.9805887588362528 + ], + [ + 0.9957127796744383, + -0.017233581907042654, + 0.09087939286580299, + -0.03568587573724832, + -0.9779999719404233, + 0.20552998116429894, + 0.08533802590797016, + -0.20789193957242463, + -0.9744220660447638 + ], + [ + 0.9912619826112153, + -0.006483386303630673, + 0.13174842515840862, + -0.03427078226890544, + -0.9771512598897624, + 0.20976398351129683, + 0.12737815869433888, + -0.21244618376870933, + -0.9688350859097495 + ], + [ + 0.9864896663070337, + -0.01388202164580107, + 0.16323427257920894, + -0.04579352355959106, + -0.9800504091295152, + 0.19340152213741152, + 0.15729301150857009, + -0.19826367554369612, + -0.9674453077515388 + ], + [ + 0.9834419943357943, + -0.020317298372776738, + 0.18008067959575005, + -0.05206216924207836, + -0.9834818393651042, + 0.17335801733072675, + 0.17358391143952487, + -0.1798629451161715, + -0.9682551041246786 + ], + [ + 0.9823428513183492, + -0.018971101649117562, + 0.18612527976057996, + -0.048795843756504996, + -0.9863927220064471, + 0.1569979732506201, + 0.180614196828007, + -0.1633079767645491, + -0.9699015499674403 + ], + [ + 0.9811415154806788, + -0.013205824620228724, + 0.1928391370971581, + -0.04189435354167499, + -0.9884765338387254, + 0.14546135291376983, + 0.18869602471064917, + -0.15079704322790588, + -0.9703886139130647 + ], + [ + 0.9832621219362307, + -0.003929534132247175, + 0.18215421578147623, + -0.029717903068921137, + -0.9898375444721762, + 0.13906286992033176, + 0.17975662937051112, + -0.1421484938885967, + -0.9733865418643082 + ], + [ + 0.9841553878124932, + 0.006530381986082797, + 0.1771878290141769, + -0.01587065117410605, + -0.9920658280210556, + 0.12471373342261617, + 0.17659641862436282, + -0.12554977890865984, + -0.9762432882970492 + ], + [ + 0.9829705529070292, + 0.007389135461032967, + 0.18361452228728353, + -0.013880460687270096, + -0.9933512161588198, + 0.11428339409950258, + 0.1832381644984417, + -0.11488586524430053, + -0.9763324295742254 + ], + [ + 0.9809741227397438, + 0.022439102122206615, + 0.19283738540785855, + 0.0036976342829366134, + -0.9952772010594138, + 0.09700319866916066, + 0.19410331788946694, + -0.09444458559011301, + -0.9764241507854116 + ], + [ + 0.9820283923880653, + 0.03993546119896821, + 0.18445973946240535, + 0.02166717404282552, + -0.9947503702214767, + 0.10001117194210592, + 0.1874853863977421, + -0.09421708912432643, + -0.9777383954843077 + ], + [ + 0.9887841860837835, + 0.03183571156116294, + 0.14591888438452416, + 0.013522259036689492, + -0.9920875773989901, + 0.12481741577659507, + 0.14873796375227932, + -0.12144433391474947, + -0.9813909984806405 + ], + [ + 0.9949392217404613, + 0.019240245223772417, + 0.09861925778576214, + 0.0008302809209779979, + -0.9830361195342358, + 0.18341019144165488, + 0.10047514954493855, + -0.18240011144404855, + -0.9780771665206797 + ], + [ + 0.9996472779328262, + 0.0008195005210790947, + 0.026545209367919924, + -0.008037379879244307, + -0.9433169304337214, + 0.3317959753851421, + 0.025312452393386767, + -0.3318922975544884, + -0.9429776150990198 + ], + [ + 0.9987466924863286, + 0.026162563919750293, + 0.04266807350659151, + 0.00754246330011708, + -0.9214406486121595, + 0.3884459323156433, + 0.04947883886051999, + -0.38763726773150686, + -0.9204831303020533 + ], + [ + 0.9981381468288006, + 0.05233841911184344, + 0.03131979773306839, + 0.03647296329980242, + -0.9237366054427028, + 0.38128782659996296, + 0.04888724571192941, + -0.3794355988175927, + -0.9239256807539424 + ], + [ + 0.9949872746420315, + 0.08242239174865335, + 0.05662925603302481, + 0.05828274074434541, + -0.9381202635088196, + 0.34137002405816214, + 0.08126158644617872, + -0.3363583216341976, + -0.9382215271649206 + ], + [ + 0.9937943242230874, + 0.05777486283787817, + 0.09505212446884821, + 0.029713071572524515, + -0.9613617500097439, + 0.27367995724190125, + 0.10719129871264312, + -0.26915729758315526, + -0.9571125193194527 + ], + [ + 0.985600722591771, + 0.0654693393436142, + 0.1559005491731509, + 0.030689444601811288, + -0.9759496485499782, + 0.21582502515975044, + 0.16628100798531295, + -0.20793279948359578, + -0.9639058964869462 + ], + [ + 0.9826512086731278, + 0.057464740010243764, + 0.17633605912800768, + 0.022383568400563627, + -0.9805836274161648, + 0.19481972566712377, + 0.18410751738834139, + -0.18749280865918874, + -0.9648579526242143 + ], + [ + 0.9823757782070909, + 0.039814163237426, + 0.1826271140814434, + 0.006608622289011976, + -0.9838385282480949, + 0.178935956269454, + 0.18679977650804114, + -0.17457543567273828, + -0.9667622565844303 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + 0.008891016244888306, + -0.010762035846710205, + -0.016582682728767395, + -0.011980190873146057, + 0.04047956317663193, + 0.021677915006875992, + 1.0 + ], + [ + 0.025779247283935547, + -0.02738162875175476, + 0.0003200918436050415, + 0.017467260360717773, + 0.011276796460151672, + 0.010881483554840088, + 1.0 + ], + [ + 0.023421138525009155, + -0.03738822042942047, + 0.01180538535118103, + 0.015447363257408142, + 0.013600416481494904, + -0.03015989437699318, + 1.0 + ], + [ + 0.015987008810043335, + -0.034505587071180344, + 0.00015370547771453857, + 0.025241807103157043, + -0.01619650423526764, + -0.0212898887693882, + 1.0 + ], + [ + 0.008066743612289429, + -0.02948654443025589, + -0.01665961742401123, + 0.00566592812538147, + -0.042283207178115845, + 0.0012650787830352783, + 1.0 + ], + [ + 0.0020450353622436523, + -0.011756744235754013, + -0.011651605367660522, + -0.013726979494094849, + -0.0302237868309021, + -0.011828266084194183, + 1.0 + ], + [ + 0.004945933818817139, + -0.004434794187545776, + -0.012674473226070404, + -0.018470093607902527, + -0.0165187269449234, + -0.006501976400613785, + 1.0 + ], + [ + 0.0019643008708953857, + -0.0028893202543258667, + -0.01032373309135437, + -0.016855210065841675, + -0.0071432143449783325, + 0.003257226198911667, + 1.0 + ], + [ + 0.0014003515243530273, + -0.0007379204034805298, + -0.0050583332777023315, + -0.012645646929740906, + -0.008223265409469604, + 0.006958451122045517, + 1.0 + ], + [ + -0.0026418864727020264, + 0.0010363981127738953, + -0.010419979691505432, + -0.00915558636188507, + 0.009095102548599243, + 0.01245909370481968, + 1.0 + ], + [ + -0.002646714448928833, + 0.0017746910452842712, + -0.00813625380396843, + -0.01710699498653412, + 0.003211602568626404, + 0.01408982090651989, + 1.0 + ], + [ + -0.0002907216548919678, + 0.0016154572367668152, + -0.004098944365978241, + -0.010770745575428009, + -0.006751939654350281, + 0.002004772424697876, + 1.0 + ], + [ + -0.002144932746887207, + 0.0010901018977165222, + -0.008063685148954391, + -0.020707212388515472, + -0.011063918471336365, + 0.017889324575662613, + 0.0 + ], + [ + -0.0018990039825439453, + 0.0006245598196983337, + -0.003523159772157669, + -0.00035934150218963623, + 0.0067417919635772705, + 0.01829078420996666, + 0.0 + ], + [ + -0.0013531744480133057, + 0.002702854573726654, + 0.004836685955524445, + 0.027055568993091583, + 0.03930959105491638, + -0.008385324850678444, + 0.0 + ], + [ + 0.0004814565181732178, + 0.010772231966257095, + 0.01484273374080658, + 0.06124936789274216, + 0.048646941781044006, + -0.012840285897254944, + 0.0 + ], + [ + -0.003921866416931152, + 0.03716237097978592, + 0.023187603801488876, + 0.1540510505437851, + 0.07532981783151627, + -0.008874546736478806, + 0.0 + ], + [ + -0.01363798975944519, + 0.0451456718146801, + 0.013496220111846924, + 0.06016117334365845, + -0.02418389357626438, + 0.015591827221214771, + 0.0 + ], + [ + -0.024089515209197998, + 0.03050173446536064, + -0.019328631460666656, + -0.008905619382858276, + 0.000592309981584549, + 0.028972961008548737, + 0.0 + ], + [ + -0.020602256059646606, + 0.015466582030057907, + -0.019123416393995285, + -0.04544457793235779, + -0.0324445478618145, + 0.02198476344347, + 0.0 + ], + [ + -0.00973692536354065, + 0.009217843413352966, + -0.021189987659454346, + -0.07009479403495789, + -0.026046350598335266, + -0.028619801625609398, + 0.0 + ], + [ + -0.0008664727210998535, + 0.015634052455425262, + -0.016162220388650894, + -0.06167455017566681, + -0.05965932458639145, + 0.0012380406260490417, + 0.0 + ], + [ + 0.002423107624053955, + -0.00036716461181640625, + -0.009240422397851944, + -0.02053356170654297, + -0.018106818199157715, + -0.008352935314178467, + 0.0 + ], + [ + -0.0022485852241516113, + -0.00455562025308609, + -0.0037478781305253506, + -0.013277530670166016, + -0.0027397871017456055, + -0.016047731041908264, + 0.0 + ], + [ + 0.0004151463508605957, + -0.001193806529045105, + -0.001247504260390997, + -0.022028103470802307, + -0.012277469038963318, + -0.0018032076768577099, + 0.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9886419177055359 + ], + [ + 0.9893313646316528 + ], + [ + 0.9886419177055359 + ], + [ + 0.9886419177055359 + ], + [ + 0.9886419177055359 + ], + [ + 0.9886419177055359 + ], + [ + 0.9886419177055359 + ], + [ + 0.9886419177055359 + ], + [ + 0.9893313646316528 + ], + [ + 0.9893313646316528 + ], + [ + 0.9886419177055359 + ], + [ + 0.9893313646316528 + ], + [ + 0.7941413521766663 + ], + [ + 0.6551066637039185 + ], + [ + 0.6551066637039185 + ], + [ + 0.6551066637039185 + ], + [ + 0.6551066637039185 + ], + [ + 0.6551066637039185 + ], + [ + 0.6551066637039185 + ], + [ + 0.6551066637039185 + ], + [ + 0.6551066637039185 + ], + [ + 0.6551066637039185 + ], + [ + 0.6551066637039185 + ], + [ + 0.6551066637039185 + ], + [ + 0.6551066637039185 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3044305145740509, + 0.06798557937145233, + 0.11513352394104004 + ], + [ + 0.33020976185798645, + 0.04060395061969757, + 0.11545361578464508 + ], + [ + 0.3536309003829956, + 0.0032157311215996742, + 0.1272590011358261 + ], + [ + 0.36961790919303894, + -0.031289856880903244, + 0.12741270661354065 + ], + [ + 0.37768465280532837, + -0.060776401311159134, + 0.11075308918952942 + ], + [ + 0.379729688167572, + -0.07253314554691315, + 0.0991014838218689 + ], + [ + 0.38467562198638916, + -0.07696793973445892, + 0.08642701059579849 + ], + [ + 0.38663992285728455, + -0.07985725998878479, + 0.07610327750444412 + ], + [ + 0.3880402743816376, + -0.08059518039226532, + 0.07104494422674179 + ], + [ + 0.38539838790893555, + -0.07955878227949142, + 0.06062496453523636 + ], + [ + 0.3827516734600067, + -0.07778409123420715, + 0.05248871073126793 + ], + [ + 0.38246095180511475, + -0.07616863399744034, + 0.04838976636528969 + ], + [ + 0.38031601905822754, + -0.07507853209972382, + 0.0403260812163353 + ], + [ + 0.3784170150756836, + -0.07445397228002548, + 0.03680292144417763 + ], + [ + 0.3770638406276703, + -0.07175111770629883, + 0.04163960739970207 + ], + [ + 0.3775452971458435, + -0.06097888574004173, + 0.05648234114050865 + ], + [ + 0.37362343072891235, + -0.023816514760255814, + 0.07966994494199753 + ], + [ + 0.35998544096946716, + 0.021329157054424286, + 0.09316616505384445 + ], + [ + 0.33589592576026917, + 0.05183089151978493, + 0.0738375335931778 + ], + [ + 0.31529366970062256, + 0.06729747354984283, + 0.05471411719918251 + ], + [ + 0.3055567443370819, + 0.0765153169631958, + 0.033524129539728165 + ], + [ + 0.30469027161598206, + 0.09214936941862106, + 0.01736190915107727 + ], + [ + 0.307113379240036, + 0.09178220480680466, + 0.008121486753225327 + ], + [ + 0.3048647940158844, + 0.08722658455371857, + 0.004373608622699976 + ], + [ + 0.305279940366745, + 0.08603277802467346, + 0.003126104362308979 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9955625285819323, + 0.018923600543420856, + 0.09217998169896749, + 0.004723087253189853, + -0.988385346549453, + 0.15189502682153913, + 0.09398374396855924, + -0.1507856228849103, + -0.9840887926406141 + ], + [ + 0.9964485858346899, + 0.029359238313619543, + 0.07891926832967443, + 0.015571361119567799, + -0.9853293726852392, + 0.16995164028804566, + 0.08275112386506343, + -0.16811919119885554, + -0.9822872232955654 + ], + [ + 0.9974981240953491, + -0.0015629845847755222, + 0.0706756641670107, + -0.014498964644846863, + -0.9830255050026415, + 0.18289515176332527, + 0.06919011815633651, + -0.18346229474605963, + -0.9805887588362528 + ], + [ + 0.9957127796744383, + -0.017233581907042654, + 0.09087939286580299, + -0.03568587573724832, + -0.9779999719404233, + 0.20552998116429894, + 0.08533802590797016, + -0.20789193957242463, + -0.9744220660447638 + ], + [ + 0.9912619826112153, + -0.006483386303630673, + 0.13174842515840862, + -0.03427078226890544, + -0.9771512598897624, + 0.20976398351129683, + 0.12737815869433888, + -0.21244618376870933, + -0.9688350859097495 + ], + [ + 0.9864896663070337, + -0.01388202164580107, + 0.16323427257920894, + -0.04579352355959106, + -0.9800504091295152, + 0.19340152213741152, + 0.15729301150857009, + -0.19826367554369612, + -0.9674453077515388 + ], + [ + 0.9834419943357943, + -0.020317298372776738, + 0.18008067959575005, + -0.05206216924207836, + -0.9834818393651042, + 0.17335801733072675, + 0.17358391143952487, + -0.1798629451161715, + -0.9682551041246786 + ], + [ + 0.9823428513183492, + -0.018971101649117562, + 0.18612527976057996, + -0.048795843756504996, + -0.9863927220064471, + 0.1569979732506201, + 0.180614196828007, + -0.1633079767645491, + -0.9699015499674403 + ], + [ + 0.9811415154806788, + -0.013205824620228724, + 0.1928391370971581, + -0.04189435354167499, + -0.9884765338387254, + 0.14546135291376983, + 0.18869602471064917, + -0.15079704322790588, + -0.9703886139130647 + ], + [ + 0.9832621219362307, + -0.003929534132247175, + 0.18215421578147623, + -0.029717903068921137, + -0.9898375444721762, + 0.13906286992033176, + 0.17975662937051112, + -0.1421484938885967, + -0.9733865418643082 + ], + [ + 0.9841553878124932, + 0.006530381986082797, + 0.1771878290141769, + -0.01587065117410605, + -0.9920658280210556, + 0.12471373342261617, + 0.17659641862436282, + -0.12554977890865984, + -0.9762432882970492 + ], + [ + 0.9829705529070292, + 0.007389135461032967, + 0.18361452228728353, + -0.013880460687270096, + -0.9933512161588198, + 0.11428339409950258, + 0.1832381644984417, + -0.11488586524430053, + -0.9763324295742254 + ], + [ + 0.9809741227397438, + 0.022439102122206615, + 0.19283738540785855, + 0.0036976342829366134, + -0.9952772010594138, + 0.09700319866916066, + 0.19410331788946694, + -0.09444458559011301, + -0.9764241507854116 + ], + [ + 0.9820283923880653, + 0.03993546119896821, + 0.18445973946240535, + 0.02166717404282552, + -0.9947503702214767, + 0.10001117194210592, + 0.1874853863977421, + -0.09421708912432643, + -0.9777383954843077 + ], + [ + 0.9887841860837835, + 0.03183571156116294, + 0.14591888438452416, + 0.013522259036689492, + -0.9920875773989901, + 0.12481741577659507, + 0.14873796375227932, + -0.12144433391474947, + -0.9813909984806405 + ], + [ + 0.9949392217404613, + 0.019240245223772417, + 0.09861925778576214, + 0.0008302809209779979, + -0.9830361195342358, + 0.18341019144165488, + 0.10047514954493855, + -0.18240011144404855, + -0.9780771665206797 + ], + [ + 0.9996472779328262, + 0.0008195005210790947, + 0.026545209367919924, + -0.008037379879244307, + -0.9433169304337214, + 0.3317959753851421, + 0.025312452393386767, + -0.3318922975544884, + -0.9429776150990198 + ], + [ + 0.9987466924863286, + 0.026162563919750293, + 0.04266807350659151, + 0.00754246330011708, + -0.9214406486121595, + 0.3884459323156433, + 0.04947883886051999, + -0.38763726773150686, + -0.9204831303020533 + ], + [ + 0.9981381468288006, + 0.05233841911184344, + 0.03131979773306839, + 0.03647296329980242, + -0.9237366054427028, + 0.38128782659996296, + 0.04888724571192941, + -0.3794355988175927, + -0.9239256807539424 + ], + [ + 0.9949872746420315, + 0.08242239174865335, + 0.05662925603302481, + 0.05828274074434541, + -0.9381202635088196, + 0.34137002405816214, + 0.08126158644617872, + -0.3363583216341976, + -0.9382215271649206 + ], + [ + 0.9937943242230874, + 0.05777486283787817, + 0.09505212446884821, + 0.029713071572524515, + -0.9613617500097439, + 0.27367995724190125, + 0.10719129871264312, + -0.26915729758315526, + -0.9571125193194527 + ], + [ + 0.985600722591771, + 0.0654693393436142, + 0.1559005491731509, + 0.030689444601811288, + -0.9759496485499782, + 0.21582502515975044, + 0.16628100798531295, + -0.20793279948359578, + -0.9639058964869462 + ], + [ + 0.9826512086731278, + 0.057464740010243764, + 0.17633605912800768, + 0.022383568400563627, + -0.9805836274161648, + 0.19481972566712377, + 0.18410751738834139, + -0.18749280865918874, + -0.9648579526242143 + ], + [ + 0.9823757782070909, + 0.039814163237426, + 0.1826271140814434, + 0.006608622289011976, + -0.9838385282480949, + 0.178935956269454, + 0.18679977650804114, + -0.17457543567273828, + -0.9667622565844303 + ], + [ + 0.9800187150723695, + 0.03588022070651115, + 0.19564234682183132, + 0.0048255281703699655, + -0.9875948053171036, + 0.15694972057493067, + 0.19884675603534155, + -0.15286958583290494, + -0.9680345331347933 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005611.json b/json/chunk-0005/episode_0005611.json new file mode 100644 index 0000000000000000000000000000000000000000..568bbea2df4689cbee346b5738598b8f1c985220 --- /dev/null +++ b/json/chunk-0005/episode_0005611.json @@ -0,0 +1,1342 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 21, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut banana in pot or pan." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005611.mp4", + "start": 0, + "end": 21, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.23259024322032928, + -0.12822572886943817, + 0.05953260883688927, + 0.016334056854248047, + -0.14348118007183075, + 0.036862876266241074, + 0.0, + 0.9961419701576233 + ], + [ + 0.2247529774904251, + -0.12110915780067444, + 0.05675153061747551, + 0.051473140716552734, + -0.09157239645719528, + 0.032424308359622955, + 0.0, + 0.9968144297599792 + ], + [ + 0.21695981919765472, + -0.08824862539768219, + 0.10405971854925156, + 0.08226722478866577, + -0.06408533453941345, + 0.018364502117037773, + 0.0, + 0.9961419701576233 + ], + [ + 0.20900572836399078, + -0.048289451748132706, + 0.137308731675148, + 0.10421140491962433, + -0.0643891915678978, + -0.020975111052393913, + 0.0, + 0.9968144297599792 + ], + [ + 0.19752727448940277, + -0.00983387790620327, + 0.16193369030952454, + 0.1804296374320984, + -0.01870383322238922, + -0.12528769671916962, + 0.0, + 0.9961419701576233 + ], + [ + 0.18885524570941925, + 0.035470765084028244, + 0.16336031258106232, + 0.2180245816707611, + -0.02333623729646206, + -0.25983425974845886, + 0.0, + 0.9968144297599792 + ], + [ + 0.19117267429828644, + 0.08274555951356888, + 0.15820856392383575, + 0.16963599622249603, + -0.03561198711395264, + -0.31283342838287354, + 0.0, + 0.9968144297599792 + ], + [ + 0.20868487656116486, + 0.11661988496780396, + 0.14827190339565277, + 0.17222145199775696, + -0.04050024598836899, + -0.35164874792099, + 0.0, + 0.9961419701576233 + ], + [ + 0.2234434187412262, + 0.13817723095417023, + 0.1254795789718628, + 0.16270293295383453, + -0.09014386683702469, + -0.35492032766342163, + 0.0, + 0.9961419701576233 + ], + [ + 0.23649713397026062, + 0.15590375661849976, + 0.11425628513097763, + 0.1995350420475006, + -0.10111016780138016, + -0.33986011147499084, + 0.0, + 0.9961419701576233 + ], + [ + 0.24739374220371246, + 0.1760633885860443, + 0.09823095053434372, + 0.20147395133972168, + -0.13485945761203766, + -0.2926466464996338, + 0.0, + 0.9961419701576233 + ], + [ + 0.2506059408187866, + 0.19591079652309418, + 0.08870812505483627, + 0.12268727272748947, + -0.16156961023807526, + -0.30660510063171387, + 0.0, + 0.9961419701576233 + ], + [ + 0.2506120800971985, + 0.2025979459285736, + 0.07407360523939133, + 0.09694261848926544, + -0.1818867027759552, + -0.3193453848361969, + 0.0, + 0.9961419701576233 + ], + [ + 0.2491811215877533, + 0.20662958920001984, + 0.050116728991270065, + 0.08378835767507553, + -0.18928290903568268, + -0.3161576986312866, + 0.0, + 0.9961419701576233 + ], + [ + 0.24948032200336456, + 0.20740096271038055, + 0.036463383585214615, + 0.07566753774881363, + -0.17501886188983917, + -0.29831433296203613, + 0.0, + 0.9968144297599792 + ], + [ + 0.2503957152366638, + 0.19852106273174286, + 0.01880747079849243, + 0.06416060030460358, + -0.180457204580307, + -0.2611982822418213, + 0.0, + 0.8827611207962036 + ], + [ + 0.2441817969083786, + 0.19574496150016785, + 0.021236425265669823, + 0.046962179243564606, + -0.14500792324543, + -0.24530814588069916, + 0.0, + 0.6019018292427063 + ], + [ + 0.23609448969364166, + 0.1919681429862976, + 0.05123304948210716, + 0.06127360835671425, + -0.07674842327833176, + -0.22144655883312225, + 0.0, + 0.5799254179000854 + ], + [ + 0.2322935163974762, + 0.1873069852590561, + 0.10109862685203552, + 0.10202798992395401, + 0.014024321921169758, + -0.19395364820957184, + 0.0, + 0.5799254179000854 + ], + [ + 0.23145946860313416, + 0.17311038076877594, + 0.12555278837680817, + 0.13207721710205078, + 0.03035617247223854, + -0.13941851258277893, + 0.0, + 0.5799254179000854 + ], + [ + 0.23961322009563446, + 0.13256202638149261, + 0.11660395562648773, + 0.196170836687088, + -0.046174466609954834, + -0.08184733986854553, + 0.0, + 0.5799254179000854 + ] + ], + "left_gripper_pos": [ + [ + 0.9961419701576233 + ], + [ + 0.9968144297599792 + ], + [ + 0.9961419701576233 + ], + [ + 0.9968144297599792 + ], + [ + 0.9961419701576233 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9968144297599792 + ], + [ + 0.8827611207962036 + ], + [ + 0.6019018292427063 + ], + [ + 0.5799254179000854 + ], + [ + 0.5799254179000854 + ], + [ + 0.5799254179000854 + ], + [ + 0.5799254179000854 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.23259024322032928, + -0.12822572886943817, + 0.05953260883688927 + ], + [ + 0.2247529774904251, + -0.12110915780067444, + 0.05675153061747551 + ], + [ + 0.21695981919765472, + -0.08824862539768219, + 0.10405971854925156 + ], + [ + 0.20900572836399078, + -0.048289451748132706, + 0.137308731675148 + ], + [ + 0.19752727448940277, + -0.00983387790620327, + 0.16193369030952454 + ], + [ + 0.18885524570941925, + 0.035470765084028244, + 0.16336031258106232 + ], + [ + 0.19117267429828644, + 0.08274555951356888, + 0.15820856392383575 + ], + [ + 0.20868487656116486, + 0.11661988496780396, + 0.14827190339565277 + ], + [ + 0.2234434187412262, + 0.13817723095417023, + 0.1254795789718628 + ], + [ + 0.23649713397026062, + 0.15590375661849976, + 0.11425628513097763 + ], + [ + 0.24739374220371246, + 0.1760633885860443, + 0.09823095053434372 + ], + [ + 0.2506059408187866, + 0.19591079652309418, + 0.08870812505483627 + ], + [ + 0.2506120800971985, + 0.2025979459285736, + 0.07407360523939133 + ], + [ + 0.2491811215877533, + 0.20662958920001984, + 0.050116728991270065 + ], + [ + 0.24948032200336456, + 0.20740096271038055, + 0.036463383585214615 + ], + [ + 0.2503957152366638, + 0.19852106273174286, + 0.01880747079849243 + ], + [ + 0.2441817969083786, + 0.19574496150016785, + 0.021236425265669823 + ], + [ + 0.23609448969364166, + 0.1919681429862976, + 0.05123304948210716 + ], + [ + 0.2322935163974762, + 0.1873069852590561, + 0.10109862685203552 + ], + [ + 0.23145946860313416, + 0.17311038076877594, + 0.12555278837680817 + ], + [ + 0.23961322009563446, + 0.13256202638149261, + 0.11660395562648773 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.98905184451977, + 0.03918351807729343, + 0.1422712225403539, + 0.03647581924789511, + -0.9991012605093739, + 0.021591337586517365, + 0.14298938234091146, + -0.016165492868035036, + -0.9895921954917076 + ], + [ + 0.9952867575750419, + 0.037078073227300674, + 0.08960740305081066, + 0.03228279888065173, + -0.9979980997150721, + 0.05438394856514283, + 0.09144446999239972, + -0.05123484606062204, + -0.9944912767123466 + ], + [ + 0.9977789610512762, + 0.023563050374991592, + 0.0623051164870213, + 0.018325774041479264, + -0.9963532683919235, + 0.08333265008693683, + 0.06404147788126324, + -0.08200577553902419, + -0.994572140113037 + ], + [ + 0.9977082183750533, + -0.01416793960440811, + 0.06616328645285569, + -0.020930110205858495, + -0.9944965105892333, + 0.10265778544567102, + 0.06434470820236432, + -0.10380732109636896, + -0.9925138782975016 + ], + [ + 0.9919882170663309, + -0.11960171994537558, + 0.04067930416894412, + -0.1249383232515617, + -0.9764750800202585, + 0.1757465034716696, + 0.018702742703940553, + -0.17942086468841145, + -0.9835946119869774 + ], + [ + 0.9661694354868459, + -0.2459604290598458, + 0.07758923422567432, + -0.2568504249723507, + -0.9448505961524953, + 0.20318762300346283, + 0.023334119279562058, + -0.2162424987993134, + -0.9760608078344691 + ], + [ + 0.9508621195043061, + -0.2976192012887171, + 0.085346591707257, + -0.3075606478352868, + -0.9396582038238301, + 0.14982959617416217, + 0.03560446032336173, + -0.16871654041865577, + -0.9850213456541146 + ], + [ + 0.938036241820462, + -0.33283648772281843, + 0.09647736248302817, + -0.34416367579770096, + -0.9273078642388723, + 0.14714445005556806, + 0.04048917500713543, + -0.17123083063828995, + -0.9843986130354727 + ], + [ + 0.9338670271286225, + -0.32925261129100164, + 0.13958901675993365, + -0.3461046738410695, + -0.9303579347421278, + 0.12101928775087581, + 0.09002183283690315, + -0.16132833359462614, + -0.9827864663253486 + ], + [ + 0.9379861573419357, + -0.3078781645713899, + 0.15935182589183405, + -0.33165267002984294, + -0.9307645717957708, + 0.15389547865974296, + 0.10093797648548998, + -0.1972012871915076, + -0.9751528994127162 + ], + [ + 0.9487899807532055, + -0.25689045633741686, + 0.18386099604071982, + -0.2858679566535585, + -0.9458782755598931, + 0.15360273168977867, + 0.13445104603925934, + -0.19829670009003347, + -0.9708765807003238 + ], + [ + 0.9409471140481787, + -0.2807863015286444, + 0.1891496271163896, + -0.2978928547575425, + -0.9521396075674275, + 0.06848368262401697, + 0.16086757177506522, + -0.12078584592248612, + -0.9795572488507162 + ], + [ + 0.9337793116845029, + -0.2958481856690683, + 0.2013207592533287, + -0.30876632305629464, + -0.9504798340805444, + 0.035375736777020064, + 0.18088547430988516, + -0.09519420172752975, + -0.9788863617096453 + ], + [ + 0.933461702491117, + -0.2948599669303535, + 0.2042225498915743, + -0.30536383849306264, + -0.9519986786963357, + 0.021247162192023886, + 0.18815466011547116, + -0.08219559393460361, + -0.9786938787049655 + ], + [ + 0.9412312587280589, + -0.2804866134049522, + 0.18817804679030473, + -0.2894194291715959, + -0.9569670169577196, + 0.02122551467057278, + 0.17412671136612204, + -0.07444050077520999, + -0.9819055454742858 + ], + [ + 0.9503937480834219, + -0.2465897461706934, + 0.18959224848979983, + -0.25404503229986364, + -0.9670651400395703, + 0.015688737489273977, + 0.17947937254098661, + -0.06307544691652296, + -0.9817375631137756 + ], + [ + 0.959881498012745, + -0.23600703310924587, + 0.15142057355518035, + -0.24030643312100475, + -0.9706404439831151, + 0.010485547430678439, + 0.1445002698041375, + -0.04645222090742544, + -0.9884138117202222 + ], + [ + 0.9727089148629048, + -0.2146484525304983, + 0.08811020810605483, + -0.21899452660513236, + -0.9747811687686657, + 0.0429309949918199, + 0.07667309999748179, + -0.061055014865743114, + -0.9951851691502037 + ], + [ + 0.981153385103099, + -0.19313915838477924, + 0.005941413901490025, + -0.1927209542047626, + -0.9758717464587972, + 0.10263025028646666, + -0.014023862204665775, + -0.10184105243896568, + -0.9947018303627415 + ], + [ + 0.9898407284541817, + -0.14171526826211872, + -0.011494130445195724, + -0.13890326887342663, + -0.9811164906454154, + 0.1345968561293377, + -0.03035151049901793, + -0.131632877827011, + -0.990833775809751 + ], + [ + 0.9955900926916339, + -0.07122113638188776, + 0.061056670943775454, + -0.0816688483685607, + -0.9782722616044502, + 0.19056122738234832, + 0.04615806040570779, + -0.19470729803422, + -0.9797747197962379 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.007837265729904175, + 0.007116571068763733, + -0.0027810782194137573, + 0.03513908386230469, + 0.05190878361463547, + -0.004438567906618118, + 1.0 + ], + [ + -0.007793158292770386, + 0.03286053240299225, + 0.04730818793177605, + 0.030794084072113037, + 0.02748706191778183, + -0.014059806242585182, + 1.0 + ], + [ + -0.00795409083366394, + 0.039959173649549484, + 0.033249013125896454, + 0.021944180130958557, + -0.0003038570284843445, + -0.039339613169431686, + 1.0 + ], + [ + -0.011478453874588013, + 0.038455575704574585, + 0.024624958634376526, + 0.07621823251247406, + 0.045685358345508575, + -0.10431258380413055, + 1.0 + ], + [ + -0.00867202877998352, + 0.045304641127586365, + 0.0014266222715377808, + 0.03759494423866272, + -0.004632404074072838, + -0.13454656302928925, + 1.0 + ], + [ + 0.0023174285888671875, + 0.047274794429540634, + -0.0051517486572265625, + -0.048388585448265076, + -0.012275749817490578, + -0.05299916863441467, + 1.0 + ], + [ + 0.017512202262878418, + 0.03387432545423508, + -0.009936660528182983, + 0.0025854557752609253, + -0.004888258874416351, + -0.038815319538116455, + 1.0 + ], + [ + 0.01475854218006134, + 0.021557345986366272, + -0.022792324423789978, + -0.009518519043922424, + -0.0496436208486557, + -0.0032715797424316406, + 1.0 + ], + [ + 0.013053715229034424, + 0.01772652566432953, + -0.011223293840885162, + 0.03683210909366608, + -0.010966300964355469, + 0.015060216188430786, + 1.0 + ], + [ + 0.010896608233451843, + 0.020159631967544556, + -0.01602533459663391, + 0.0019389092922210693, + -0.0337492898106575, + 0.047213464975357056, + 1.0 + ], + [ + 0.0032121986150741577, + 0.019847407937049866, + -0.009522825479507446, + -0.07878667861223221, + -0.026710152626037598, + -0.013958454132080078, + 1.0 + ], + [ + 6.139278411865234e-06, + 0.006687149405479431, + -0.014634519815444946, + -0.02574465423822403, + -0.020317092537879944, + -0.012740284204483032, + 1.0 + ], + [ + -0.0014309585094451904, + 0.004031643271446228, + -0.02395687624812126, + -0.013154260814189911, + -0.007396206259727478, + 0.0031876862049102783, + 1.0 + ], + [ + 0.0002992004156112671, + 0.0007713735103607178, + -0.01365334540605545, + -0.008120819926261902, + 0.014264047145843506, + 0.01784336566925049, + 1.0 + ], + [ + 0.0009153932332992554, + -0.008879899978637695, + -0.017655912786722183, + -0.011506937444210052, + -0.0054383426904678345, + 0.037116050720214844, + 0.0 + ], + [ + -0.006213918328285217, + -0.002776101231575012, + 0.002428954467177391, + -0.01719842106103897, + 0.035449281334877014, + 0.01589013636112213, + 0.0 + ], + [ + -0.008087307214736938, + -0.0037768185138702393, + 0.02999662421643734, + 0.014311429113149643, + 0.06825949996709824, + 0.023861587047576904, + 0.0 + ], + [ + -0.0038009732961654663, + -0.004661157727241516, + 0.04986557736992836, + 0.04075438156723976, + 0.09077274799346924, + 0.027492910623550415, + 0.0 + ], + [ + -0.000834047794342041, + -0.014196604490280151, + 0.024454161524772644, + 0.03004922717809677, + 0.016331851482391357, + 0.05453513562679291, + 0.0 + ], + [ + 0.008153751492500305, + -0.040548354387283325, + -0.008948832750320435, + 0.06409361958503723, + -0.07653063535690308, + 0.0575711727142334, + 0.0 + ], + [ + 0.015706345438957214, + -0.024052396416664124, + -0.01026957482099533, + 0.025401532649993896, + -0.08339184522628784, + 0.02892228588461876, + 0.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9968144297599792 + ], + [ + 0.9961419701576233 + ], + [ + 0.9968144297599792 + ], + [ + 0.9961419701576233 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9968144297599792 + ], + [ + 0.8827611207962036 + ], + [ + 0.6019018292427063 + ], + [ + 0.5799254179000854 + ], + [ + 0.5799254179000854 + ], + [ + 0.5799254179000854 + ], + [ + 0.5799254179000854 + ], + [ + 0.5799254179000854 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2247529774904251, + -0.12110915780067444, + 0.05675153061747551 + ], + [ + 0.21695981919765472, + -0.08824862539768219, + 0.10405971854925156 + ], + [ + 0.20900572836399078, + -0.048289451748132706, + 0.137308731675148 + ], + [ + 0.19752727448940277, + -0.00983387790620327, + 0.16193369030952454 + ], + [ + 0.18885524570941925, + 0.035470765084028244, + 0.16336031258106232 + ], + [ + 0.19117267429828644, + 0.08274555951356888, + 0.15820856392383575 + ], + [ + 0.20868487656116486, + 0.11661988496780396, + 0.14827190339565277 + ], + [ + 0.2234434187412262, + 0.13817723095417023, + 0.1254795789718628 + ], + [ + 0.23649713397026062, + 0.15590375661849976, + 0.11425628513097763 + ], + [ + 0.24739374220371246, + 0.1760633885860443, + 0.09823095053434372 + ], + [ + 0.2506059408187866, + 0.19591079652309418, + 0.08870812505483627 + ], + [ + 0.2506120800971985, + 0.2025979459285736, + 0.07407360523939133 + ], + [ + 0.2491811215877533, + 0.20662958920001984, + 0.050116728991270065 + ], + [ + 0.24948032200336456, + 0.20740096271038055, + 0.036463383585214615 + ], + [ + 0.2503957152366638, + 0.19852106273174286, + 0.01880747079849243 + ], + [ + 0.2441817969083786, + 0.19574496150016785, + 0.021236425265669823 + ], + [ + 0.23609448969364166, + 0.1919681429862976, + 0.05123304948210716 + ], + [ + 0.2322935163974762, + 0.1873069852590561, + 0.10109862685203552 + ], + [ + 0.23145946860313416, + 0.17311038076877594, + 0.12555278837680817 + ], + [ + 0.23961322009563446, + 0.13256202638149261, + 0.11660395562648773 + ], + [ + 0.2553195655345917, + 0.10850962996482849, + 0.1063343808054924 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9952867575750419, + 0.037078073227300674, + 0.08960740305081066, + 0.03228279888065173, + -0.9979980997150721, + 0.05438394856514283, + 0.09144446999239972, + -0.05123484606062204, + -0.9944912767123466 + ], + [ + 0.9977789610512762, + 0.023563050374991592, + 0.0623051164870213, + 0.018325774041479264, + -0.9963532683919235, + 0.08333265008693683, + 0.06404147788126324, + -0.08200577553902419, + -0.994572140113037 + ], + [ + 0.9977082183750533, + -0.01416793960440811, + 0.06616328645285569, + -0.020930110205858495, + -0.9944965105892333, + 0.10265778544567102, + 0.06434470820236432, + -0.10380732109636896, + -0.9925138782975016 + ], + [ + 0.9919882170663309, + -0.11960171994537558, + 0.04067930416894412, + -0.1249383232515617, + -0.9764750800202585, + 0.1757465034716696, + 0.018702742703940553, + -0.17942086468841145, + -0.9835946119869774 + ], + [ + 0.9661694354868459, + -0.2459604290598458, + 0.07758923422567432, + -0.2568504249723507, + -0.9448505961524953, + 0.20318762300346283, + 0.023334119279562058, + -0.2162424987993134, + -0.9760608078344691 + ], + [ + 0.9508621195043061, + -0.2976192012887171, + 0.085346591707257, + -0.3075606478352868, + -0.9396582038238301, + 0.14982959617416217, + 0.03560446032336173, + -0.16871654041865577, + -0.9850213456541146 + ], + [ + 0.938036241820462, + -0.33283648772281843, + 0.09647736248302817, + -0.34416367579770096, + -0.9273078642388723, + 0.14714445005556806, + 0.04048917500713543, + -0.17123083063828995, + -0.9843986130354727 + ], + [ + 0.9338670271286225, + -0.32925261129100164, + 0.13958901675993365, + -0.3461046738410695, + -0.9303579347421278, + 0.12101928775087581, + 0.09002183283690315, + -0.16132833359462614, + -0.9827864663253486 + ], + [ + 0.9379861573419357, + -0.3078781645713899, + 0.15935182589183405, + -0.33165267002984294, + -0.9307645717957708, + 0.15389547865974296, + 0.10093797648548998, + -0.1972012871915076, + -0.9751528994127162 + ], + [ + 0.9487899807532055, + -0.25689045633741686, + 0.18386099604071982, + -0.2858679566535585, + -0.9458782755598931, + 0.15360273168977867, + 0.13445104603925934, + -0.19829670009003347, + -0.9708765807003238 + ], + [ + 0.9409471140481787, + -0.2807863015286444, + 0.1891496271163896, + -0.2978928547575425, + -0.9521396075674275, + 0.06848368262401697, + 0.16086757177506522, + -0.12078584592248612, + -0.9795572488507162 + ], + [ + 0.9337793116845029, + -0.2958481856690683, + 0.2013207592533287, + -0.30876632305629464, + -0.9504798340805444, + 0.035375736777020064, + 0.18088547430988516, + -0.09519420172752975, + -0.9788863617096453 + ], + [ + 0.933461702491117, + -0.2948599669303535, + 0.2042225498915743, + -0.30536383849306264, + -0.9519986786963357, + 0.021247162192023886, + 0.18815466011547116, + -0.08219559393460361, + -0.9786938787049655 + ], + [ + 0.9412312587280589, + -0.2804866134049522, + 0.18817804679030473, + -0.2894194291715959, + -0.9569670169577196, + 0.02122551467057278, + 0.17412671136612204, + -0.07444050077520999, + -0.9819055454742858 + ], + [ + 0.9503937480834219, + -0.2465897461706934, + 0.18959224848979983, + -0.25404503229986364, + -0.9670651400395703, + 0.015688737489273977, + 0.17947937254098661, + -0.06307544691652296, + -0.9817375631137756 + ], + [ + 0.959881498012745, + -0.23600703310924587, + 0.15142057355518035, + -0.24030643312100475, + -0.9706404439831151, + 0.010485547430678439, + 0.1445002698041375, + -0.04645222090742544, + -0.9884138117202222 + ], + [ + 0.9727089148629048, + -0.2146484525304983, + 0.08811020810605483, + -0.21899452660513236, + -0.9747811687686657, + 0.0429309949918199, + 0.07667309999748179, + -0.061055014865743114, + -0.9951851691502037 + ], + [ + 0.981153385103099, + -0.19313915838477924, + 0.005941413901490025, + -0.1927209542047626, + -0.9758717464587972, + 0.10263025028646666, + -0.014023862204665775, + -0.10184105243896568, + -0.9947018303627415 + ], + [ + 0.9898407284541817, + -0.14171526826211872, + -0.011494130445195724, + -0.13890326887342663, + -0.9811164906454154, + 0.1345968561293377, + -0.03035151049901793, + -0.131632877827011, + -0.990833775809751 + ], + [ + 0.9955900926916339, + -0.07122113638188776, + 0.061056670943775454, + -0.0816688483685607, + -0.9782722616044502, + 0.19056122738234832, + 0.04615806040570779, + -0.19470729803422, + -0.9797747197962379 + ], + [ + 0.9902295539497353, + -0.02325247091274446, + 0.13749455655028725, + -0.0524569401167824, + -0.9756892054026293, + 0.212788260706201, + 0.12920410178509223, + -0.21792176820418335, + -0.9673760401336543 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005614.json b/json/chunk-0005/episode_0005614.json new file mode 100644 index 0000000000000000000000000000000000000000..5f8cc23ecc8e48062099a380b59e32676af376fc --- /dev/null +++ b/json/chunk-0005/episode_0005614.json @@ -0,0 +1,2062 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 33, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the cloth to the left of the table." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005614.mp4", + "start": 0, + "end": 33, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.39654868841171265, + -0.046655260026454926, + 0.05405668914318085, + -0.03239269182085991, + -0.08781321346759796, + 0.22299960255622864, + 0.0, + 0.9988223910331726 + ], + [ + 0.38895323872566223, + -0.04494699835777283, + 0.03597758337855339, + -0.012980559840798378, + -0.036086853593587875, + 0.23033134639263153, + 0.0, + 0.9988223910331726 + ], + [ + 0.3643440008163452, + -0.025847524404525757, + 0.028452157974243164, + 0.05795392394065857, + 0.028056712821125984, + 0.3960334360599518, + 0.0, + 0.9988223910331726 + ], + [ + 0.34434348344802856, + -0.0015764107229188085, + 0.04479677602648735, + 0.06881062686443329, + -0.029025476425886154, + 0.5458824038505554, + 0.0, + 0.9988223910331726 + ], + [ + 0.31522107124328613, + 0.028339829295873642, + 0.06784775108098984, + 0.08356649428606033, + -0.04264112561941147, + 0.7902292609214783, + 0.0, + 0.9988223910331726 + ], + [ + 0.2914910316467285, + 0.048674218356609344, + 0.06044505536556244, + 0.10198241472244263, + 0.016717534512281418, + 1.0291751623153687, + 0.0, + 0.9988223910331726 + ], + [ + 0.26036131381988525, + 0.07208161801099777, + 0.04498627036809921, + 0.10158304125070572, + 0.06380335986614227, + 1.210096836090088, + 0.0, + 0.9988223910331726 + ], + [ + 0.23860757052898407, + 0.08561375737190247, + 0.030187591910362244, + 0.1127130389213562, + 0.08260893821716309, + 1.2551631927490234, + 0.0, + 0.9988223910331726 + ], + [ + 0.2285710722208023, + 0.09602188318967819, + 0.021755745634436607, + 0.09553096443414688, + 0.09854879230260849, + 1.2794345617294312, + 0.0, + 0.9988223910331726 + ], + [ + 0.21610629558563232, + 0.09474807232618332, + 0.010469098575413227, + 0.059712160378694534, + 0.1401071697473526, + 1.2710509300231934, + 0.0, + 0.9988223910331726 + ], + [ + 0.21374638378620148, + 0.09769183397293091, + -0.001727800932712853, + 0.04931553825736046, + 0.18007171154022217, + 1.263537049293518, + 0.0, + 0.9988223910331726 + ], + [ + 0.21446062624454498, + 0.09845895320177078, + -0.015171913430094719, + 0.06071839854121208, + 0.19649948179721832, + 1.2490900754928589, + 0.0, + 0.9437892436981201 + ], + [ + 0.21696341037750244, + 0.10091667622327805, + -0.015244510024785995, + 0.0652640089392662, + 0.17450588941574097, + 1.2587682008743286, + 0.0, + 0.6450598835945129 + ], + [ + 0.21784533560276031, + 0.09795759618282318, + -0.01415715180337429, + 0.07816456258296967, + 0.16398362815380096, + 1.241791009902954, + 0.0, + 0.3437051773071289 + ], + [ + 0.22439074516296387, + 0.09905944764614105, + -0.006090378854423761, + 0.11678512394428253, + 0.11561751365661621, + 1.2253881692886353, + 0.0, + 0.13995102047920227 + ], + [ + 0.24781528115272522, + 0.09233032912015915, + 0.007383863907307386, + 0.08081315457820892, + 0.04532317444682121, + 1.1067651510238647, + 0.0, + 0.05089319497346878 + ], + [ + 0.2878439426422119, + 0.07803432643413544, + 0.032696954905986786, + 0.08965110778808594, + -0.029802534729242325, + 0.9800968766212463, + 0.0, + 0.05012403428554535 + ], + [ + 0.3183310627937317, + 0.05802188068628311, + 0.04385552927851677, + 0.10699702799320221, + -0.06272903829813004, + 0.8744654655456543, + 0.0, + 0.05012403428554535 + ], + [ + 0.3481518030166626, + 0.033159513026475906, + 0.04776158183813095, + 0.12528352439403534, + -0.07891963422298431, + 0.7683330774307251, + 0.0, + 0.05012403428554535 + ], + [ + 0.3816128075122833, + -0.00915629230439663, + 0.048179298639297485, + 0.12634557485580444, + -0.10033466666936874, + 0.6543099284172058, + 0.0, + 0.05012403428554535 + ], + [ + 0.3975273370742798, + -0.05049804225564003, + 0.049169283360242844, + 0.11810286343097687, + -0.11677871644496918, + 0.5778510570526123, + 0.0, + 0.05012403428554535 + ], + [ + 0.39841771125793457, + -0.08091162145137787, + 0.050692614167928696, + 0.10169074684381485, + -0.15196409821510315, + 0.5178055763244629, + 0.0, + 0.05012403428554535 + ], + [ + 0.4083365499973297, + -0.10016342252492905, + 0.03463386744260788, + 0.04515514150261879, + -0.13170449435710907, + 0.4674966037273407, + 0.0, + 0.06803370267152786 + ], + [ + 0.40499064326286316, + -0.09968912601470947, + 0.02727465145289898, + 0.043509386479854584, + -0.12787117063999176, + 0.4785708785057068, + 0.0, + 0.20928038656711578 + ], + [ + 0.40393832325935364, + -0.10141440480947495, + 0.045875150710344315, + -0.02056337706744671, + -0.20839935541152954, + 0.39754167199134827, + 0.0, + 0.4550158977508545 + ], + [ + 0.40950021147727966, + -0.11537045240402222, + 0.0749872624874115, + -0.1266956329345703, + -0.3330402374267578, + 0.3367800712585449, + 0.0, + 0.7681795358657837 + ], + [ + 0.4154979884624481, + -0.13105951249599457, + 0.08964170515537262, + -0.20735742151737213, + -0.35948240756988525, + 0.24968640506267548, + 0.0, + 1.0001531839370728 + ], + [ + 0.41518014669418335, + -0.11777617782354355, + 0.11641371250152588, + -0.13106146454811096, + -0.29335975646972656, + 0.3140743374824524, + 0.0, + 1.003452181816101 + ], + [ + 0.40603259205818176, + -0.08418317139148712, + 0.09567821770906448, + -0.025175362825393677, + -0.17844434082508087, + 0.34026122093200684, + 0.0, + 1.0001531839370728 + ], + [ + 0.3989858627319336, + -0.026976585388183594, + 0.06972358375787735, + 0.0685446634888649, + -0.05323310196399689, + 0.3654896318912506, + 0.0, + 1.0001531839370728 + ], + [ + 0.38799986243247986, + 0.020938538014888763, + 0.06429079174995422, + 0.16516917943954468, + 0.033896852284669876, + 0.38495510816574097, + 0.0, + 1.0001531839370728 + ], + [ + 0.35528090596199036, + 0.05935484915971756, + 0.05127850919961929, + 0.14696072041988373, + 0.0966026782989502, + 0.42060989141464233, + 0.0, + 1.0001531839370728 + ], + [ + 0.30867594480514526, + 0.08765175193548203, + 0.07341061532497406, + 0.13166575133800507, + 0.1308562457561493, + 0.48629364371299744, + 0.0, + 1.0001531839370728 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9437892436981201 + ], + [ + 0.6450598835945129 + ], + [ + 0.3437051773071289 + ], + [ + 0.13995102047920227 + ], + [ + 0.05089319497346878 + ], + [ + 0.05012403428554535 + ], + [ + 0.05012403428554535 + ], + [ + 0.05012403428554535 + ], + [ + 0.05012403428554535 + ], + [ + 0.05012403428554535 + ], + [ + 0.05012403428554535 + ], + [ + 0.06803370267152786 + ], + [ + 0.20928038656711578 + ], + [ + 0.4550158977508545 + ], + [ + 0.7681795358657837 + ], + [ + 1.0001531839370728 + ], + [ + 1.003452181816101 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.39654868841171265, + -0.046655260026454926, + 0.05405668914318085 + ], + [ + 0.38895323872566223, + -0.04494699835777283, + 0.03597758337855339 + ], + [ + 0.3643440008163452, + -0.025847524404525757, + 0.028452157974243164 + ], + [ + 0.34434348344802856, + -0.0015764107229188085, + 0.04479677602648735 + ], + [ + 0.31522107124328613, + 0.028339829295873642, + 0.06784775108098984 + ], + [ + 0.2914910316467285, + 0.048674218356609344, + 0.06044505536556244 + ], + [ + 0.26036131381988525, + 0.07208161801099777, + 0.04498627036809921 + ], + [ + 0.23860757052898407, + 0.08561375737190247, + 0.030187591910362244 + ], + [ + 0.2285710722208023, + 0.09602188318967819, + 0.021755745634436607 + ], + [ + 0.21610629558563232, + 0.09474807232618332, + 0.010469098575413227 + ], + [ + 0.21374638378620148, + 0.09769183397293091, + -0.001727800932712853 + ], + [ + 0.21446062624454498, + 0.09845895320177078, + -0.015171913430094719 + ], + [ + 0.21696341037750244, + 0.10091667622327805, + -0.015244510024785995 + ], + [ + 0.21784533560276031, + 0.09795759618282318, + -0.01415715180337429 + ], + [ + 0.22439074516296387, + 0.09905944764614105, + -0.006090378854423761 + ], + [ + 0.24781528115272522, + 0.09233032912015915, + 0.007383863907307386 + ], + [ + 0.2878439426422119, + 0.07803432643413544, + 0.032696954905986786 + ], + [ + 0.3183310627937317, + 0.05802188068628311, + 0.04385552927851677 + ], + [ + 0.3481518030166626, + 0.033159513026475906, + 0.04776158183813095 + ], + [ + 0.3816128075122833, + -0.00915629230439663, + 0.048179298639297485 + ], + [ + 0.3975273370742798, + -0.05049804225564003, + 0.049169283360242844 + ], + [ + 0.39841771125793457, + -0.08091162145137787, + 0.050692614167928696 + ], + [ + 0.4083365499973297, + -0.10016342252492905, + 0.03463386744260788 + ], + [ + 0.40499064326286316, + -0.09968912601470947, + 0.02727465145289898 + ], + [ + 0.40393832325935364, + -0.10141440480947495, + 0.045875150710344315 + ], + [ + 0.40950021147727966, + -0.11537045240402222, + 0.0749872624874115 + ], + [ + 0.4154979884624481, + -0.13105951249599457, + 0.08964170515537262 + ], + [ + 0.41518014669418335, + -0.11777617782354355, + 0.11641371250152588 + ], + [ + 0.40603259205818176, + -0.08418317139148712, + 0.09567821770906448 + ], + [ + 0.3989858627319336, + -0.026976585388183594, + 0.06972358375787735 + ], + [ + 0.38799986243247986, + 0.020938538014888763, + 0.06429079174995422 + ], + [ + 0.35528090596199036, + 0.05935484915971756, + 0.05127850919961929 + ], + [ + 0.30867594480514526, + 0.08765175193548203, + 0.07341061532497406 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9714807633014781, + 0.21826989990888468, + 0.09264651816955868, + 0.22030380471837469, + -0.9753550117150408, + -0.012199784791553994, + 0.08770040000926527, + 0.03226223668807646, + -0.9956243206762764 + ], + [ + 0.9729569361529877, + 0.22782495344001583, + 0.038086624710593354, + 0.22815149481415395, + -0.9736156964821419, + -0.004401247284702534, + 0.03607902168654294, + 0.012971744433523402, + -0.9992647487230266 + ], + [ + 0.9222352956159242, + 0.3836150959117785, + -0.04818213059637259, + 0.3856100192092185, + -0.9216762987141334, + 0.04263465109604911, + -0.028053032022849596, + -0.05789869236185495, + -0.9979282383103067 + ], + [ + 0.8543095088315203, + 0.5196492376640173, + -0.010951388736227403, + 0.5189537757850954, + -0.8516109542811658, + 0.07379540057967583, + 0.029021401041976688, + -0.06872737695800372, + -0.9972132700370734 + ], + [ + 0.7030427970538745, + 0.7105389761866847, + -0.029414092374959115, + 0.709868763701687, + -0.6986987229033735, + 0.08891812488932413, + 0.04262820464555434, + -0.08339339262059561, + -0.995604529035462 + ], + [ + 0.5154537654161516, + 0.8515446407036813, + -0.09580783165873816, + 0.8567543205568182, + -0.5143055653425891, + 0.03823375033742154, + -0.016716755831661052, + -0.10179150429420922, + -0.9946652903002027 + ], + [ + 0.3522106784285186, + 0.9285448212617635, + -0.11726957367059121, + 0.9337463736282994, + -0.35715914272494864, + -0.023559637178442325, + -0.0637600794927573, + -0.10120208335770234, + -0.9928206235706115 + ], + [ + 0.30935980857315915, + 0.9416871599451603, + -0.13236994233584987, + 0.9473583173490566, + -0.31727102877369107, + -0.04302688520503699, + -0.08251501311362698, + -0.11209097686835288, + -0.9902660680420974 + ], + [ + 0.2858630912997442, + 0.9507902569874557, + -0.11949970815981738, + 0.9532060784468391, + -0.294936480766398, + -0.06641268196007288, + -0.09838935432531205, + -0.09492291362394811, + -0.9906105064174255 + ], + [ + 0.29238355689723444, + 0.9512481442063548, + -0.09817751168209274, + 0.9460496534583346, + -0.3027129234153206, + -0.11556357206626591, + -0.13964923504082088, + -0.05909191265576072, + -0.9884362584462374 + ], + [ + 0.29755709490270643, + 0.9493369878220547, + -0.10108936059749422, + 0.9377541896314706, + -0.31049505726096593, + -0.15559530598682594, + -0.1791001259119776, + -0.04849848419752908, + -0.9826347449224744 + ], + [ + 0.31010106328103443, + 0.9432031302227372, + -0.1191855095638838, + 0.9304405924727127, + -0.32684249450865416, + -0.1656933543096651, + -0.19523737969712596, + -0.059513350782753875, + -0.9789486843791199 + ], + [ + 0.30232704153623646, + 0.9462106731512513, + -0.11525503013145526, + 0.9372587243897262, + -0.31711233019501284, + -0.14486494949998208, + -0.17362155255408224, + -0.06422719091588136, + -0.9827158411442063 + ], + [ + 0.31876737577832054, + 0.9393559746542285, + -0.1264820660046618, + 0.9336685185949559, + -0.33417896649176243, + -0.12879252982684308, + -0.16324967848085872, + -0.07703746644264815, + -0.9835724534776248 + ], + [ + 0.3363203019934483, + 0.9299769000159154, + -0.1484305221436069, + 0.9346553918369435, + -0.3489223026711027, + -0.0683558717947854, + -0.11536010132262131, + -0.11574192038964735, + -0.986557578090276 + ], + [ + 0.4470970306129975, + 0.8897001654882035, + -0.09240054516778323, + 0.8933372606443917, + -0.44936670021718444, + -0.004255288508807992, + -0.04530765897080219, + -0.0806423230455462, + -0.9957128259555579 + ], + [ + 0.5566947711830574, + 0.8287017023206681, + -0.057830963231391364, + 0.8301825122171306, + -0.552489633105516, + 0.07451309763918412, + 0.02979812320092802, + -0.0894913061797594, + -0.9955417509938713 + ], + [ + 0.6401455121357368, + 0.767107331204525, + -0.04195313700721681, + 0.765691811089907, + -0.6326028913797526, + 0.11631694738014361, + 0.0626879073054229, + -0.10658294530668644, + -0.9923257036111776 + ], + [ + 0.7168319420300822, + 0.6965745838985974, + -0.03059110903313364, + 0.6927745506986883, + -0.7065881998282695, + 0.1442100473880934, + 0.07883773709088594, + -0.1245671101452609, + -0.9890741358869147 + ], + [ + 0.7894775125195168, + 0.6137757050330219, + 0.002154329875653657, + 0.6055509461466821, + -0.7794615151921276, + 0.16046120389443286, + 0.10016640577985367, + -0.1253759556119497, + -0.9870397970231677 + ], + [ + 0.831933327826335, + 0.5539197445805786, + 0.03255540839226032, + 0.5425048834119015, + -0.8243044558651252, + 0.16189692867728933, + 0.11651347358155331, + -0.11702598260509006, + -0.9862705155631868 + ], + [ + 0.8588938697175789, + 0.5057703789959351, + 0.08060796667743861, + 0.48927032459289044, + -0.8568121553645413, + 0.16274974621281926, + 0.15137988649199913, + -0.10034567329923891, + -0.9833691452429205 + ], + [ + 0.8849680188365628, + 0.45548542939710057, + 0.09677101447968905, + 0.44675003699090987, + -0.8891178564971512, + 0.099417512071728, + 0.13132406514081835, + -0.044748864397328225, + -0.9903290004084703 + ], + [ + 0.880406807235697, + 0.46499880754072365, + 0.09305892089827315, + 0.4567512914305648, + -0.8842595786194919, + 0.09727926498586237, + 0.12752298439715573, + -0.04314054479701738, + -0.9908969582378679 + ], + [ + 0.9020661839423679, + 0.3831486608574899, + 0.19867990203029093, + 0.3787761990966494, + -0.9234676001542019, + 0.06112431973719072, + 0.2068941535799144, + 0.020117036276527476, + -0.9781564875140887 + ], + [ + 0.8919631229219386, + 0.2888133833600272, + 0.3478341802346001, + 0.31229247809010335, + -0.949909009921784, + -0.012094668154113461, + 0.3269177197333981, + 0.1194139960873505, + -0.9374780541766112 + ], + [ + 0.9070511833117765, + 0.17162810714072954, + 0.3844501836285118, + 0.2313052236045728, + -0.9661287403509324, + -0.1144253057726266, + 0.3517897729979437, + 0.1927149446908848, + -0.9160266948658453 + ], + [ + 0.9104503514116238, + 0.270344669975464, + 0.31303980103224627, + 0.2957377681937985, + -0.9546009171094537, + -0.03572480255426228, + 0.2891700712006725, + 0.1251033511527462, + -0.9490678697817931 + ], + [ + 0.9276989125573817, + 0.3294156369232644, + 0.1756703326981849, + 0.3284339999126454, + -0.9438599669926514, + 0.03548901816070661, + 0.1774988319432874, + 0.024772986478633366, + -0.9838091602540086 + ], + [ + 0.9326258929517832, + 0.35997090149962524, + 0.025097686535542986, + 0.3569003451635661, + -0.9304532301423803, + 0.08293931600717604, + 0.05320796385896235, + -0.06839398066466039, + -0.9962385136054647 + ], + [ + 0.9262828884513233, + 0.36524252010454067, + -0.09272492690726125, + 0.37530181716112637, + -0.916294316519228, + 0.13983301309103185, + -0.03389036142960464, + -0.16432476083124048, + -0.9858239276767052 + ], + [ + 0.9085840450887376, + 0.39102315109719465, + -0.1468874682068114, + 0.4064135193156526, + -0.9087672743090173, + 0.09471057207315739, + -0.09645249777819248, + -0.14574956758419402, + -0.9846085411072606 + ], + [ + 0.8765127635235618, + 0.4481626571621329, + -0.17571456429580656, + 0.46335680841915283, + -0.8844251042271397, + 0.05561207696561533, + -0.13048311565832993, + -0.13016323497128346, + -0.9828691107110373 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.007595449686050415, + 0.0017082616686820984, + -0.018079105764627457, + 0.01941213198006153, + 0.051726359874010086, + 0.007331743836402893, + 1.0 + ], + [ + -0.024609237909317017, + 0.01909947395324707, + -0.0075254254043102264, + 0.0709344819188118, + 0.06414356827735901, + 0.16570208966732025, + 1.0 + ], + [ + -0.02000051736831665, + 0.02427111379802227, + 0.016344618052244186, + 0.01085670292377472, + -0.05708219110965729, + 0.14984896779060364, + 1.0 + ], + [ + -0.02912241220474243, + 0.02991623990237713, + 0.023050975054502487, + 0.014755867421627045, + -0.013615649193525314, + 0.24434685707092285, + 1.0 + ], + [ + -0.023730039596557617, + 0.020334389060735703, + -0.007402695715427399, + 0.018415920436382294, + 0.059358660131692886, + 0.23894590139389038, + 1.0 + ], + [ + -0.03112971782684326, + 0.023407399654388428, + -0.015458784997463226, + -0.00039937347173690796, + 0.047085825353860855, + 0.18092167377471924, + 1.0 + ], + [ + -0.021753743290901184, + 0.013532139360904694, + -0.014798678457736969, + 0.011129997670650482, + 0.018805578351020813, + 0.04506635665893555, + 1.0 + ], + [ + -0.010036498308181763, + 0.010408125817775726, + -0.008431846275925636, + -0.01718207448720932, + 0.015939854085445404, + 0.024271368980407715, + 1.0 + ], + [ + -0.012464776635169983, + -0.001273810863494873, + -0.01128664705902338, + -0.03581880405545235, + 0.04155837744474411, + -0.008383631706237793, + 1.0 + ], + [ + -0.002359911799430847, + 0.002943761646747589, + -0.012196899391710758, + -0.010396622121334076, + 0.03996454179286957, + -0.007513880729675293, + 1.0 + ], + [ + 0.0007142424583435059, + 0.0007671192288398743, + -0.013444112613797188, + 0.011402860283851624, + 0.016427770256996155, + -0.01444697380065918, + 0.0 + ], + [ + 0.0025027841329574585, + 0.002457723021507263, + -7.259659469127655e-05, + 0.004545610398054123, + -0.021993592381477356, + 0.009678125381469727, + 0.0 + ], + [ + 0.0008819252252578735, + -0.0029590800404548645, + 0.001087358221411705, + 0.01290055364370346, + -0.010522261261940002, + -0.01697719097137451, + 0.0 + ], + [ + 0.006545409560203552, + 0.001101851463317871, + 0.008066773414611816, + 0.038620561361312866, + -0.04836611449718475, + -0.016402840614318848, + 0.0 + ], + [ + 0.023424535989761353, + -0.006729118525981903, + 0.013474242761731148, + -0.03597196936607361, + -0.0702943354845047, + -0.11862301826477051, + 0.0 + ], + [ + 0.040028661489486694, + -0.014296002686023712, + 0.025313090533018112, + 0.008837953209877014, + -0.07512570917606354, + -0.1266682744026184, + 0.0 + ], + [ + 0.030487120151519775, + -0.020012445747852325, + 0.011158574372529984, + 0.017345920205116272, + -0.03292650356888771, + -0.10563141107559204, + 0.0 + ], + [ + 0.029820740222930908, + -0.024862367659807205, + 0.0039060525596141815, + 0.01828649640083313, + -0.01619059592485428, + -0.1061323881149292, + 0.0 + ], + [ + 0.03346100449562073, + -0.042315803468227386, + 0.0004177168011665344, + 0.001062050461769104, + -0.02141503244638443, + -0.11402314901351929, + 0.0 + ], + [ + 0.01591452956199646, + -0.04134175181388855, + 0.0009899847209453583, + -0.008242711424827576, + -0.016444049775600433, + -0.0764588713645935, + 0.0 + ], + [ + 0.0008903741836547852, + -0.03041357919573784, + 0.001523330807685852, + -0.016412116587162018, + -0.03518538177013397, + -0.060045480728149414, + 0.0 + ], + [ + 0.009918838739395142, + -0.019251801073551178, + -0.016058746725320816, + -0.05653560534119606, + 0.02025960385799408, + -0.05030897259712219, + 1.0 + ], + [ + -0.0033459067344665527, + 0.000474296510219574, + -0.0073592159897089005, + -0.001645755022764206, + 0.0038333237171173096, + 0.011074274778366089, + 1.0 + ], + [ + -0.0010523200035095215, + -0.0017252787947654724, + 0.018600499257445335, + -0.06407276540994644, + -0.08052818477153778, + -0.08102920651435852, + 1.0 + ], + [ + 0.005561888217926025, + -0.013956047594547272, + 0.029112111777067184, + -0.10613225400447845, + -0.12464088201522827, + -0.060761600732803345, + 1.0 + ], + [ + 0.005997776985168457, + -0.01568906009197235, + 0.01465444266796112, + -0.08066178858280182, + -0.02644217014312744, + -0.08709366619586945, + 1.0 + ], + [ + -0.0003178417682647705, + 0.01328333467245102, + 0.02677200734615326, + 0.07629595696926117, + 0.06612265110015869, + 0.06438793241977692, + 1.0 + ], + [ + -0.009147554636001587, + 0.03359300643205643, + -0.020735494792461395, + 0.10588610172271729, + 0.11491541564464569, + 0.026186883449554443, + 1.0 + ], + [ + -0.007046729326248169, + 0.05720658600330353, + -0.025954633951187134, + 0.09372002631425858, + 0.12521123886108398, + 0.025228410959243774, + 1.0 + ], + [ + -0.010986000299453735, + 0.04791512340307236, + -0.005432792007923126, + 0.09662451595067978, + 0.08712995052337646, + 0.019465476274490356, + 1.0 + ], + [ + -0.0327189564704895, + 0.038416311144828796, + -0.01301228255033493, + -0.01820845901966095, + 0.06270582973957062, + 0.03565478324890137, + 1.0 + ], + [ + -0.04660496115684509, + 0.028296902775764465, + 0.022132106125354767, + -0.015294969081878662, + 0.0342535674571991, + 0.0656837522983551, + 1.0 + ], + [ + -0.051222652196884155, + -0.008357308804988861, + 0.02639038860797882, + -0.03910062462091446, + -0.08772415667772293, + 0.037973493337631226, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9437892436981201 + ], + [ + 0.6450598835945129 + ], + [ + 0.3437051773071289 + ], + [ + 0.13995102047920227 + ], + [ + 0.05089319497346878 + ], + [ + 0.05012403428554535 + ], + [ + 0.05012403428554535 + ], + [ + 0.05012403428554535 + ], + [ + 0.05012403428554535 + ], + [ + 0.05012403428554535 + ], + [ + 0.05012403428554535 + ], + [ + 0.06803370267152786 + ], + [ + 0.20928038656711578 + ], + [ + 0.4550158977508545 + ], + [ + 0.7681795358657837 + ], + [ + 1.0001531839370728 + ], + [ + 1.003452181816101 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.38895323872566223, + -0.04494699835777283, + 0.03597758337855339 + ], + [ + 0.3643440008163452, + -0.025847524404525757, + 0.028452157974243164 + ], + [ + 0.34434348344802856, + -0.0015764107229188085, + 0.04479677602648735 + ], + [ + 0.31522107124328613, + 0.028339829295873642, + 0.06784775108098984 + ], + [ + 0.2914910316467285, + 0.048674218356609344, + 0.06044505536556244 + ], + [ + 0.26036131381988525, + 0.07208161801099777, + 0.04498627036809921 + ], + [ + 0.23860757052898407, + 0.08561375737190247, + 0.030187591910362244 + ], + [ + 0.2285710722208023, + 0.09602188318967819, + 0.021755745634436607 + ], + [ + 0.21610629558563232, + 0.09474807232618332, + 0.010469098575413227 + ], + [ + 0.21374638378620148, + 0.09769183397293091, + -0.001727800932712853 + ], + [ + 0.21446062624454498, + 0.09845895320177078, + -0.015171913430094719 + ], + [ + 0.21696341037750244, + 0.10091667622327805, + -0.015244510024785995 + ], + [ + 0.21784533560276031, + 0.09795759618282318, + -0.01415715180337429 + ], + [ + 0.22439074516296387, + 0.09905944764614105, + -0.006090378854423761 + ], + [ + 0.24781528115272522, + 0.09233032912015915, + 0.007383863907307386 + ], + [ + 0.2878439426422119, + 0.07803432643413544, + 0.032696954905986786 + ], + [ + 0.3183310627937317, + 0.05802188068628311, + 0.04385552927851677 + ], + [ + 0.3481518030166626, + 0.033159513026475906, + 0.04776158183813095 + ], + [ + 0.3816128075122833, + -0.00915629230439663, + 0.048179298639297485 + ], + [ + 0.3975273370742798, + -0.05049804225564003, + 0.049169283360242844 + ], + [ + 0.39841771125793457, + -0.08091162145137787, + 0.050692614167928696 + ], + [ + 0.4083365499973297, + -0.10016342252492905, + 0.03463386744260788 + ], + [ + 0.40499064326286316, + -0.09968912601470947, + 0.02727465145289898 + ], + [ + 0.40393832325935364, + -0.10141440480947495, + 0.045875150710344315 + ], + [ + 0.40950021147727966, + -0.11537045240402222, + 0.0749872624874115 + ], + [ + 0.4154979884624481, + -0.13105951249599457, + 0.08964170515537262 + ], + [ + 0.41518014669418335, + -0.11777617782354355, + 0.11641371250152588 + ], + [ + 0.40603259205818176, + -0.08418317139148712, + 0.09567821770906448 + ], + [ + 0.3989858627319336, + -0.026976585388183594, + 0.06972358375787735 + ], + [ + 0.38799986243247986, + 0.020938538014888763, + 0.06429079174995422 + ], + [ + 0.35528090596199036, + 0.05935484915971756, + 0.05127850919961929 + ], + [ + 0.30867594480514526, + 0.08765175193548203, + 0.07341061532497406 + ], + [ + 0.2574532926082611, + 0.07929444313049316, + 0.09980100393295288 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9729569361529877, + 0.22782495344001583, + 0.038086624710593354, + 0.22815149481415395, + -0.9736156964821419, + -0.004401247284702534, + 0.03607902168654294, + 0.012971744433523402, + -0.9992647487230266 + ], + [ + 0.9222352956159242, + 0.3836150959117785, + -0.04818213059637259, + 0.3856100192092185, + -0.9216762987141334, + 0.04263465109604911, + -0.028053032022849596, + -0.05789869236185495, + -0.9979282383103067 + ], + [ + 0.8543095088315203, + 0.5196492376640173, + -0.010951388736227403, + 0.5189537757850954, + -0.8516109542811658, + 0.07379540057967583, + 0.029021401041976688, + -0.06872737695800372, + -0.9972132700370734 + ], + [ + 0.7030427970538745, + 0.7105389761866847, + -0.029414092374959115, + 0.709868763701687, + -0.6986987229033735, + 0.08891812488932413, + 0.04262820464555434, + -0.08339339262059561, + -0.995604529035462 + ], + [ + 0.5154537654161516, + 0.8515446407036813, + -0.09580783165873816, + 0.8567543205568182, + -0.5143055653425891, + 0.03823375033742154, + -0.016716755831661052, + -0.10179150429420922, + -0.9946652903002027 + ], + [ + 0.3522106784285186, + 0.9285448212617635, + -0.11726957367059121, + 0.9337463736282994, + -0.35715914272494864, + -0.023559637178442325, + -0.0637600794927573, + -0.10120208335770234, + -0.9928206235706115 + ], + [ + 0.30935980857315915, + 0.9416871599451603, + -0.13236994233584987, + 0.9473583173490566, + -0.31727102877369107, + -0.04302688520503699, + -0.08251501311362698, + -0.11209097686835288, + -0.9902660680420974 + ], + [ + 0.2858630912997442, + 0.9507902569874557, + -0.11949970815981738, + 0.9532060784468391, + -0.294936480766398, + -0.06641268196007288, + -0.09838935432531205, + -0.09492291362394811, + -0.9906105064174255 + ], + [ + 0.29238355689723444, + 0.9512481442063548, + -0.09817751168209274, + 0.9460496534583346, + -0.3027129234153206, + -0.11556357206626591, + -0.13964923504082088, + -0.05909191265576072, + -0.9884362584462374 + ], + [ + 0.29755709490270643, + 0.9493369878220547, + -0.10108936059749422, + 0.9377541896314706, + -0.31049505726096593, + -0.15559530598682594, + -0.1791001259119776, + -0.04849848419752908, + -0.9826347449224744 + ], + [ + 0.31010106328103443, + 0.9432031302227372, + -0.1191855095638838, + 0.9304405924727127, + -0.32684249450865416, + -0.1656933543096651, + -0.19523737969712596, + -0.059513350782753875, + -0.9789486843791199 + ], + [ + 0.30232704153623646, + 0.9462106731512513, + -0.11525503013145526, + 0.9372587243897262, + -0.31711233019501284, + -0.14486494949998208, + -0.17362155255408224, + -0.06422719091588136, + -0.9827158411442063 + ], + [ + 0.31876737577832054, + 0.9393559746542285, + -0.1264820660046618, + 0.9336685185949559, + -0.33417896649176243, + -0.12879252982684308, + -0.16324967848085872, + -0.07703746644264815, + -0.9835724534776248 + ], + [ + 0.3363203019934483, + 0.9299769000159154, + -0.1484305221436069, + 0.9346553918369435, + -0.3489223026711027, + -0.0683558717947854, + -0.11536010132262131, + -0.11574192038964735, + -0.986557578090276 + ], + [ + 0.4470970306129975, + 0.8897001654882035, + -0.09240054516778323, + 0.8933372606443917, + -0.44936670021718444, + -0.004255288508807992, + -0.04530765897080219, + -0.0806423230455462, + -0.9957128259555579 + ], + [ + 0.5566947711830574, + 0.8287017023206681, + -0.057830963231391364, + 0.8301825122171306, + -0.552489633105516, + 0.07451309763918412, + 0.02979812320092802, + -0.0894913061797594, + -0.9955417509938713 + ], + [ + 0.6401455121357368, + 0.767107331204525, + -0.04195313700721681, + 0.765691811089907, + -0.6326028913797526, + 0.11631694738014361, + 0.0626879073054229, + -0.10658294530668644, + -0.9923257036111776 + ], + [ + 0.7168319420300822, + 0.6965745838985974, + -0.03059110903313364, + 0.6927745506986883, + -0.7065881998282695, + 0.1442100473880934, + 0.07883773709088594, + -0.1245671101452609, + -0.9890741358869147 + ], + [ + 0.7894775125195168, + 0.6137757050330219, + 0.002154329875653657, + 0.6055509461466821, + -0.7794615151921276, + 0.16046120389443286, + 0.10016640577985367, + -0.1253759556119497, + -0.9870397970231677 + ], + [ + 0.831933327826335, + 0.5539197445805786, + 0.03255540839226032, + 0.5425048834119015, + -0.8243044558651252, + 0.16189692867728933, + 0.11651347358155331, + -0.11702598260509006, + -0.9862705155631868 + ], + [ + 0.8588938697175789, + 0.5057703789959351, + 0.08060796667743861, + 0.48927032459289044, + -0.8568121553645413, + 0.16274974621281926, + 0.15137988649199913, + -0.10034567329923891, + -0.9833691452429205 + ], + [ + 0.8849680188365628, + 0.45548542939710057, + 0.09677101447968905, + 0.44675003699090987, + -0.8891178564971512, + 0.099417512071728, + 0.13132406514081835, + -0.044748864397328225, + -0.9903290004084703 + ], + [ + 0.880406807235697, + 0.46499880754072365, + 0.09305892089827315, + 0.4567512914305648, + -0.8842595786194919, + 0.09727926498586237, + 0.12752298439715573, + -0.04314054479701738, + -0.9908969582378679 + ], + [ + 0.9020661839423679, + 0.3831486608574899, + 0.19867990203029093, + 0.3787761990966494, + -0.9234676001542019, + 0.06112431973719072, + 0.2068941535799144, + 0.020117036276527476, + -0.9781564875140887 + ], + [ + 0.8919631229219386, + 0.2888133833600272, + 0.3478341802346001, + 0.31229247809010335, + -0.949909009921784, + -0.012094668154113461, + 0.3269177197333981, + 0.1194139960873505, + -0.9374780541766112 + ], + [ + 0.9070511833117765, + 0.17162810714072954, + 0.3844501836285118, + 0.2313052236045728, + -0.9661287403509324, + -0.1144253057726266, + 0.3517897729979437, + 0.1927149446908848, + -0.9160266948658453 + ], + [ + 0.9104503514116238, + 0.270344669975464, + 0.31303980103224627, + 0.2957377681937985, + -0.9546009171094537, + -0.03572480255426228, + 0.2891700712006725, + 0.1251033511527462, + -0.9490678697817931 + ], + [ + 0.9276989125573817, + 0.3294156369232644, + 0.1756703326981849, + 0.3284339999126454, + -0.9438599669926514, + 0.03548901816070661, + 0.1774988319432874, + 0.024772986478633366, + -0.9838091602540086 + ], + [ + 0.9326258929517832, + 0.35997090149962524, + 0.025097686535542986, + 0.3569003451635661, + -0.9304532301423803, + 0.08293931600717604, + 0.05320796385896235, + -0.06839398066466039, + -0.9962385136054647 + ], + [ + 0.9262828884513233, + 0.36524252010454067, + -0.09272492690726125, + 0.37530181716112637, + -0.916294316519228, + 0.13983301309103185, + -0.03389036142960464, + -0.16432476083124048, + -0.9858239276767052 + ], + [ + 0.9085840450887376, + 0.39102315109719465, + -0.1468874682068114, + 0.4064135193156526, + -0.9087672743090173, + 0.09471057207315739, + -0.09645249777819248, + -0.14574956758419402, + -0.9846085411072606 + ], + [ + 0.8765127635235618, + 0.4481626571621329, + -0.17571456429580656, + 0.46335680841915283, + -0.8844251042271397, + 0.05561207696561533, + -0.13048311565832993, + -0.13016323497128346, + -0.9828691107110373 + ], + [ + 0.864885898598369, + 0.4949853907969502, + -0.08343767316555802, + 0.5001131458769653, + -0.8639800282151018, + 0.05852650823752682, + -0.0431187166638481, + -0.0923470288803195, + -0.9947928440284642 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005616.json b/json/chunk-0005/episode_0005616.json new file mode 100644 index 0000000000000000000000000000000000000000..8ddaf433529fd6528b8c3b83f9b2f99fd0bfe45c --- /dev/null +++ b/json/chunk-0005/episode_0005616.json @@ -0,0 +1,2242 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 36, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nRemove a block from the rectangular tower and put it on the left." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005616.mp4", + "start": 0, + "end": 36, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3967030346393585, + 0.031098751351237297, + 0.12853141129016876, + 0.05738232657313347, + -0.24665236473083496, + -0.1528429388999939, + 0.0, + 1.0001531839370728 + ], + [ + 0.3936748504638672, + 0.03086136281490326, + 0.1145208552479744, + 0.04740306735038757, + -0.20796546339988708, + -0.14760807156562805, + 0.0, + 1.0001531839370728 + ], + [ + 0.37786322832107544, + 0.03779343515634537, + 0.09228101372718811, + 0.047746993601322174, + -0.15783673524856567, + -0.11219962686300278, + 0.0, + 1.0001531839370728 + ], + [ + 0.3681865632534027, + 0.042868487536907196, + 0.09423325955867767, + 0.05776824429631233, + -0.1718020886182785, + -0.08940522372722626, + 0.0, + 1.0001531839370728 + ], + [ + 0.36126890778541565, + 0.048472799360752106, + 0.09290669113397598, + 0.058779459446668625, + -0.17643776535987854, + -0.06780816614627838, + 0.0, + 1.0001531839370728 + ], + [ + 0.3551885187625885, + 0.05255782604217529, + 0.08608133345842361, + 0.07415901124477386, + -0.16852854192256927, + -0.044823478907346725, + 0.0, + 1.0001531839370728 + ], + [ + 0.3498516380786896, + 0.06384749710559845, + 0.07734456658363342, + 0.07808423042297363, + -0.1704036146402359, + 0.000283183268038556, + 0.0, + 1.0001531839370728 + ], + [ + 0.3471682071685791, + 0.07257948070764542, + 0.07551465183496475, + 0.06217419356107712, + -0.1726372390985489, + 0.03853393718600273, + 0.0, + 1.0001531839370728 + ], + [ + 0.34353721141815186, + 0.07737629115581512, + 0.07190444320440292, + 0.04834464564919472, + -0.16971753537654877, + 0.05764880031347275, + 0.0, + 1.0001531839370728 + ], + [ + 0.3418044149875641, + 0.0828365907073021, + 0.07882706820964813, + 0.047450579702854156, + -0.1883128583431244, + 0.06996143609285355, + 0.0, + 1.0001531839370728 + ], + [ + 0.3375779390335083, + 0.08839918673038483, + 0.07770945131778717, + 0.044881485402584076, + -0.18230143189430237, + 0.07889052480459213, + 0.0, + 1.0001531839370728 + ], + [ + 0.3365711271762848, + 0.09211969375610352, + 0.0776982456445694, + 0.04086315631866455, + -0.18284563720226288, + 0.08182435482740402, + 0.0, + 1.0001531839370728 + ], + [ + 0.3357807993888855, + 0.09494470804929733, + 0.0776936337351799, + 0.03327946737408638, + -0.18420147895812988, + 0.08978709578514099, + 0.0, + 1.0001531839370728 + ], + [ + 0.33503222465515137, + 0.09645295143127441, + 0.06982274353504181, + 0.004836354870349169, + -0.16971975564956665, + 0.09864156693220139, + 0.0, + 1.0001531839370728 + ], + [ + 0.3368188738822937, + 0.09624159336090088, + 0.05972028151154518, + -0.0636957436800003, + -0.17043748497962952, + 0.1172570064663887, + 0.0, + 1.0001531839370728 + ], + [ + 0.3396894037723541, + 0.09635643661022186, + 0.05335145816206932, + -0.15153536200523376, + -0.1945648491382599, + 0.11174336820840836, + 0.0, + 0.9694526195526123 + ], + [ + 0.34380435943603516, + 0.09745151549577713, + 0.05314456671476364, + -0.17968091368675232, + -0.22782771289348602, + 0.11197948455810547, + 0.0, + 0.6961957812309265 + ], + [ + 0.3456514775753021, + 0.09855414927005768, + 0.052061960101127625, + -0.1775437444448471, + -0.23352499306201935, + 0.10261265933513641, + 0.0, + 0.5630297660827637 + ], + [ + 0.3476236164569855, + 0.09733529388904572, + 0.05237618088722229, + -0.1867685765028, + -0.2486707866191864, + 0.08944020420312881, + 0.0, + 0.562038779258728 + ], + [ + 0.34948256611824036, + 0.09768824279308319, + 0.05295595899224281, + -0.19350558519363403, + -0.26655080914497375, + 0.08549188822507858, + 0.0, + 0.562038779258728 + ], + [ + 0.34919074177742004, + 0.09993597865104675, + 0.05243838205933571, + -0.225796639919281, + -0.2910352945327759, + 0.09813593327999115, + 0.0, + 0.562038779258728 + ], + [ + 0.3490666449069977, + 0.10260246694087982, + 0.053957656025886536, + -0.2345951497554779, + -0.3185746669769287, + 0.09799318760633469, + 0.0, + 0.562038779258728 + ], + [ + 0.35029488801956177, + 0.10913892090320587, + 0.06612314283847809, + -0.2160498946905136, + -0.3603602349758148, + 0.105333112180233, + 0.0, + 0.562038779258728 + ], + [ + 0.3489348590373993, + 0.12052732706069946, + 0.07213708758354187, + -0.2032635509967804, + -0.3862456679344177, + 0.12565217912197113, + 0.0, + 0.562038779258728 + ], + [ + 0.34508031606674194, + 0.13057968020439148, + 0.06973806023597717, + -0.13604943454265594, + -0.36786553263664246, + 0.10715531557798386, + 0.0, + 0.562038779258728 + ], + [ + 0.34135961532592773, + 0.14626821875572205, + 0.06639515608549118, + -0.03306359425187111, + -0.33926743268966675, + 0.0887562558054924, + 0.0, + 0.562038779258728 + ], + [ + 0.33455511927604675, + 0.1656760275363922, + 0.05162392929196358, + 0.09096595644950867, + -0.2772875130176544, + 0.058042190968990326, + 0.0, + 0.562038779258728 + ], + [ + 0.3350006639957428, + 0.18018661439418793, + 0.04375752434134483, + 0.16364668309688568, + -0.24733053147792816, + 0.052968159317970276, + 0.0, + 0.562038779258728 + ], + [ + 0.3352419137954712, + 0.19579695165157318, + 0.03822580352425575, + 0.20175480842590332, + -0.22949595749378204, + 0.06019490212202072, + 0.0, + 0.562038779258728 + ], + [ + 0.3361567556858063, + 0.215203195810318, + 0.039486225694417953, + 0.1860807240009308, + -0.24207226932048798, + 0.10110777616500854, + 0.0, + 0.562038779258728 + ], + [ + 0.33463796973228455, + 0.22950904071331024, + 0.039140790700912476, + 0.14929480850696564, + -0.2607707381248474, + 0.1188991591334343, + 0.0, + 0.562038779258728 + ], + [ + 0.33101215958595276, + 0.24018056690692902, + 0.039982959628105164, + 0.1215362697839737, + -0.2668451964855194, + 0.12313960492610931, + 0.0, + 0.6249675154685974 + ], + [ + 0.3294147849082947, + 0.24050791561603546, + 0.031881608068943024, + 0.09048264473676682, + -0.2643371820449829, + 0.09128754585981369, + 0.0, + 0.9222983717918396 + ], + [ + 0.32686847448349, + 0.23978325724601746, + 0.029793664813041687, + 0.09371913969516754, + -0.2518453001976013, + 0.07959354668855667, + 0.0, + 1.002137303352356 + ], + [ + 0.3272285759449005, + 0.23480059206485748, + 0.02871602587401867, + 0.08904927223920822, + -0.24960003793239594, + 0.06978263705968857, + 0.0, + 0.9981546401977539 + ], + [ + 0.3301525115966797, + 0.22955991327762604, + 0.04064164310693741, + 0.08579462021589279, + -0.2815099358558655, + 0.0547630712389946, + 0.0, + 0.9981546401977539 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9694526195526123 + ], + [ + 0.6961957812309265 + ], + [ + 0.5630297660827637 + ], + [ + 0.562038779258728 + ], + [ + 0.562038779258728 + ], + [ + 0.562038779258728 + ], + [ + 0.562038779258728 + ], + [ + 0.562038779258728 + ], + [ + 0.562038779258728 + ], + [ + 0.562038779258728 + ], + [ + 0.562038779258728 + ], + [ + 0.562038779258728 + ], + [ + 0.562038779258728 + ], + [ + 0.562038779258728 + ], + [ + 0.562038779258728 + ], + [ + 0.562038779258728 + ], + [ + 0.6249675154685974 + ], + [ + 0.9222983717918396 + ], + [ + 1.002137303352356 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3967030346393585, + 0.031098751351237297, + 0.12853141129016876 + ], + [ + 0.3936748504638672, + 0.03086136281490326, + 0.1145208552479744 + ], + [ + 0.37786322832107544, + 0.03779343515634537, + 0.09228101372718811 + ], + [ + 0.3681865632534027, + 0.042868487536907196, + 0.09423325955867767 + ], + [ + 0.36126890778541565, + 0.048472799360752106, + 0.09290669113397598 + ], + [ + 0.3551885187625885, + 0.05255782604217529, + 0.08608133345842361 + ], + [ + 0.3498516380786896, + 0.06384749710559845, + 0.07734456658363342 + ], + [ + 0.3471682071685791, + 0.07257948070764542, + 0.07551465183496475 + ], + [ + 0.34353721141815186, + 0.07737629115581512, + 0.07190444320440292 + ], + [ + 0.3418044149875641, + 0.0828365907073021, + 0.07882706820964813 + ], + [ + 0.3375779390335083, + 0.08839918673038483, + 0.07770945131778717 + ], + [ + 0.3365711271762848, + 0.09211969375610352, + 0.0776982456445694 + ], + [ + 0.3357807993888855, + 0.09494470804929733, + 0.0776936337351799 + ], + [ + 0.33503222465515137, + 0.09645295143127441, + 0.06982274353504181 + ], + [ + 0.3368188738822937, + 0.09624159336090088, + 0.05972028151154518 + ], + [ + 0.3396894037723541, + 0.09635643661022186, + 0.05335145816206932 + ], + [ + 0.34380435943603516, + 0.09745151549577713, + 0.05314456671476364 + ], + [ + 0.3456514775753021, + 0.09855414927005768, + 0.052061960101127625 + ], + [ + 0.3476236164569855, + 0.09733529388904572, + 0.05237618088722229 + ], + [ + 0.34948256611824036, + 0.09768824279308319, + 0.05295595899224281 + ], + [ + 0.34919074177742004, + 0.09993597865104675, + 0.05243838205933571 + ], + [ + 0.3490666449069977, + 0.10260246694087982, + 0.053957656025886536 + ], + [ + 0.35029488801956177, + 0.10913892090320587, + 0.06612314283847809 + ], + [ + 0.3489348590373993, + 0.12052732706069946, + 0.07213708758354187 + ], + [ + 0.34508031606674194, + 0.13057968020439148, + 0.06973806023597717 + ], + [ + 0.34135961532592773, + 0.14626821875572205, + 0.06639515608549118 + ], + [ + 0.33455511927604675, + 0.1656760275363922, + 0.05162392929196358 + ], + [ + 0.3350006639957428, + 0.18018661439418793, + 0.04375752434134483 + ], + [ + 0.3352419137954712, + 0.19579695165157318, + 0.03822580352425575 + ], + [ + 0.3361567556858063, + 0.215203195810318, + 0.039486225694417953 + ], + [ + 0.33463796973228455, + 0.22950904071331024, + 0.039140790700912476 + ], + [ + 0.33101215958595276, + 0.24018056690692902, + 0.039982959628105164 + ], + [ + 0.3294147849082947, + 0.24050791561603546, + 0.031881608068943024 + ], + [ + 0.32686847448349, + 0.23978325724601746, + 0.029793664813041687 + ], + [ + 0.3272285759449005, + 0.23480059206485748, + 0.02871602587401867 + ], + [ + 0.3301525115966797, + 0.22955991327762604, + 0.04064164310693741 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9584302681990531, + -0.13815846818941593, + 0.24964706821319865, + -0.14764077032467213, + -0.9888474073414611, + 0.01957058844306637, + 0.24415901363215886, + -0.055615129790594006, + -0.9681391084965769 + ], + [ + 0.9678130124630886, + -0.13723019007805315, + 0.21096409134794286, + -0.14390366486006484, + -0.9894534987070882, + 0.016538111625714065, + 0.206469630083855, + -0.046364305531775625, + -0.9773538985575249 + ], + [ + 0.9813600023549661, + -0.10438180889380858, + 0.16135979595276193, + -0.11057260648520015, + -0.9934196879491423, + 0.029849996484046792, + 0.15718220151445142, + -0.047135565840296836, + -0.9864441159842686 + ], + [ + 0.9813430979244598, + -0.07930618450808043, + 0.17514637665334037, + -0.08797171882890088, + -0.9952258515812011, + 0.04226678401252404, + 0.1709581844847221, + -0.05688614456300281, + -0.9836347216901427 + ], + [ + 0.9822127790370165, + -0.05735164333520011, + 0.17879833808828516, + -0.0667043129709117, + -0.9966775121887094, + 0.04673832825854553, + 0.1755237628569402, + -0.057833603588890184, + -0.9827749910169995 + ], + [ + 0.9848424703654051, + -0.03227036104226728, + 0.1704228047027985, + -0.044173653408191856, + -0.996806691550195, + 0.06652148544137858, + 0.16773191976824034, + -0.073041381962257, + -0.9831230643270986 + ], + [ + 0.9855163626445874, + 0.013510402119044435, + 0.16904132037571004, + 0.00027908175173927807, + -0.9969491891858838, + 0.07805277890622724, + 0.1695801317170074, + -0.07687511441416049, + -0.9825135091746331 + ], + [ + 0.9844038602081088, + 0.049115505920657, + 0.16892811218246714, + 0.03795174277084437, + -0.9969157126043923, + 0.068692992241803, + 0.1717809804024589, + -0.061210530471763204, + -0.983231694836642 + ], + [ + 0.9839951514069483, + 0.06569841750058547, + 0.16564196311785429, + 0.056789064561917936, + -0.9967020410178598, + 0.057965882871009566, + 0.16890394949141996, + -0.047631495554433814, + -0.9844809274320395 + ], + [ + 0.979918412892056, + 0.07868347691965434, + 0.18321794272108893, + 0.06866857111550444, + -0.9958101665738417, + 0.060388239659161465, + 0.18720184672184437, + -0.0465942336347711, + -0.9812157999012854 + ], + [ + 0.9803703590849414, + 0.0868380420802648, + 0.17701161960540832, + 0.07750278395988613, + -0.9952448545802987, + 0.058999982287353196, + 0.18129334655781174, + -0.044122940508390114, + -0.9824387454771737 + ], + [ + 0.9800402843787046, + 0.0890680174514668, + 0.17772993350072738, + 0.08037061052658691, + -0.9952151503024618, + 0.05556410326849669, + 0.18182850700176648, + -0.04017079630420205, + -0.982509389861387 + ], + [ + 0.9791228133731783, + 0.09568670091698848, + 0.17933926396585548, + 0.08814960044567956, + -0.9948739029518333, + 0.04955365946782158, + 0.18316157968705948, + -0.03271043400825748, + -0.9825384792635513 + ], + [ + 0.9808408489101044, + 0.09929344247144549, + 0.16760680592230098, + 0.09706670748035982, + -0.9950467775136065, + 0.021446791338330207, + 0.1689061378642836, + -0.004766848220508241, + -0.9856206134968031 + ], + [ + 0.9787434225564269, + 0.10602903386551452, + 0.17555385720649172, + 0.11529340638074259, + -0.9923823564242824, + -0.0434130061492367, + 0.16961351139474903, + 0.06273039642258205, + -0.9835121525009283 + ], + [ + 0.9750127744445344, + 0.08122933774023453, + 0.20676528809317765, + 0.1094069639323168, + -0.9856296808298125, + -0.12870216979691843, + 0.19333961289162802, + 0.14810782206759035, + -0.9698885849051481 + ], + [ + 0.9680580203653568, + 0.06983434613367784, + 0.24080455416455132, + 0.10885802391214985, + -0.9822490641652597, + -0.15276356429598556, + 0.2258619043492029, + 0.17409750155172696, + -0.9584761134828548 + ], + [ + 0.9677394424961632, + 0.06016787813954047, + 0.24466343796611795, + 0.09965232181906106, + -0.9832894725525153, + -0.15235231512342118, + 0.23140826733996633, + 0.1718186241580969, + -0.9575638747358493 + ], + [ + 0.9653662583310505, + 0.04225039219922479, + 0.2574546399560885, + 0.08657352824239935, + -0.982763756804125, + -0.16334142928205642, + 0.24611584972035014, + 0.1799730609598399, + -0.9523847362516766 + ], + [ + 0.9611619400654535, + 0.03332615255567023, + 0.273965495136614, + 0.08237232968812645, + -0.9820772438066228, + -0.16952606436456344, + 0.2634056268787068, + 0.18550917700486866, + -0.9466804217768593 + ], + [ + 0.9533381849892897, + 0.0315586365422693, + 0.3002504912584154, + 0.0938582317610616, + -0.97622105050824, + -0.19540494588232687, + 0.28694413632624327, + 0.21446797664029282, + -0.9336308422625107 + ], + [ + 0.9451267205741282, + 0.022699646927372412, + 0.32591441834654505, + 0.09291357658557162, + -0.9750655444138348, + -0.20152977790646576, + 0.31321326495356366, + 0.22075305236015408, + -0.9236696057199263 + ], + [ + 0.9305834459229991, + 0.027522754986494355, + 0.36504376194098975, + 0.09838538398797465, + -0.9792857622026354, + -0.176973761232399, + 0.3526113531802618, + 0.200603823256579, + -0.9140149559516124 + ], + [ + 0.919026842116171, + 0.04729543074015766, + 0.3913474232712933, + 0.11608932704809655, + -0.9812216521635274, + -0.15403680557255447, + 0.37671332816280595, + 0.18699521800457844, + -0.9072595311309336 + ], + [ + 0.9277451690843607, + 0.0574659328210773, + 0.3687635662665636, + 0.09979507679981096, + -0.9902935056877249, + -0.09674562129231225, + 0.3596245874341055, + 0.12655607120055165, + -0.9244748330566549 + ], + [ + 0.9392868342607024, + 0.07763318838791676, + 0.3342354425330056, + 0.08358718873981545, + -0.9964945141702113, + -0.0034445764977715666, + 0.33279637146922486, + 0.031173246372502746, + -0.9424833175433489 + ], + [ + 0.960181863145901, + 0.0825952874934531, + 0.26688725741320013, + 0.05579372756255438, + -0.9927458888470414, + 0.10650192553176169, + 0.2737477847405187, + -0.08737058235568354, + -0.9578248961519465 + ], + [ + 0.9682095991959521, + 0.09206496488091982, + 0.23258162925366363, + 0.05133229569112578, + -0.9831443508747109, + 0.1754770092126659, + 0.24481659960854876, + -0.1579595757927268, + -0.9566157039122289 + ], + [ + 0.9720175021783556, + 0.10444156771955825, + 0.2104137219651581, + 0.05858127047300905, + -0.9751996370001029, + 0.21343360266048805, + 0.22748672534615746, + -0.1951348941813018, + -0.9540294350092839 + ], + [ + 0.9658851717936335, + 0.14331600045537413, + 0.21569969615801157, + 0.09799264871972739, + -0.9732415771504341, + 0.20784194307845552, + 0.23971498848857034, + -0.17961446634169262, + -0.9540835224311935 + ], + [ + 0.9593700614882748, + 0.15537811256300182, + 0.2355137517351015, + 0.1146088789227675, + -0.9773456231412202, + 0.1779335207282941, + 0.25782530906032153, + -0.14371212566467373, + -0.9554438418582699 + ], + [ + 0.9573034735816996, + 0.15364954008805617, + 0.24487114631810178, + 0.11848143677178716, + -0.9811805933456289, + 0.15246898826454192, + 0.26368960656215745, + -0.11694640683941016, + -0.9574922084896806 + ], + [ + 0.9612466982249457, + 0.11429770569939196, + 0.2508800901297178, + 0.08799441931936497, + -0.9896103208040828, + 0.11370310077868544, + 0.26126953002653774, + -0.08722068235169515, + -0.9613172136448076 + ], + [ + 0.9653882138667478, + 0.10240662210800264, + 0.23987179966723732, + 0.0770013451684699, + -0.9906054243057136, + 0.1130118851198552, + 0.24919147130152075, + -0.09062989067921211, + -0.96420424887368 + ], + [ + 0.9666528970162128, + 0.09136384864737303, + 0.23923800670149228, + 0.06756529625488021, + -0.992081844793218, + 0.10587041122842454, + 0.24701641126077764, + -0.08617575292404102, + -0.9651718148473987 + ], + [ + 0.9591969511886844, + 0.07830376413940345, + 0.271679460673664, + 0.05258114499463694, + -0.9935253028586112, + 0.10071095159295011, + 0.27780646504605544, + -0.08231642060552226, + -0.9571037430066341 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.003028184175491333, + -0.00023738853633403778, + -0.014010556042194366, + -0.009979259222745895, + 0.038686901330947876, + 0.005234867334365845, + 1.0 + ], + [ + -0.015811622142791748, + 0.006932072341442108, + -0.022239841520786285, + 0.00034392625093460083, + 0.05012872815132141, + 0.035408444702625275, + 1.0 + ], + [ + -0.00967666506767273, + 0.005075052380561829, + 0.001952245831489563, + 0.010021250694990158, + -0.01396535336971283, + 0.02279440313577652, + 1.0 + ], + [ + -0.0069176554679870605, + 0.00560431182384491, + -0.0013265684247016907, + 0.0010112151503562927, + -0.004635676741600037, + 0.021597057580947876, + 1.0 + ], + [ + -0.0060803890228271484, + 0.004085026681423187, + -0.006825357675552368, + 0.01537955179810524, + 0.007909223437309265, + 0.022984687238931656, + 1.0 + ], + [ + -0.005336880683898926, + 0.011289671063423157, + -0.008736766874790192, + 0.003925219178199768, + -0.001875072717666626, + 0.045106660574674606, + 1.0 + ], + [ + -0.0026834309101104736, + 0.008731983602046967, + -0.0018299147486686707, + -0.015910036861896515, + -0.0022336244583129883, + 0.03825075551867485, + 1.0 + ], + [ + -0.003630995750427246, + 0.004796810448169708, + -0.0036102086305618286, + -0.0138295479118824, + 0.002919703722000122, + 0.019114863127470016, + 1.0 + ], + [ + -0.0017327964305877686, + 0.005460299551486969, + 0.006922625005245209, + -0.0008940659463405609, + -0.018595322966575623, + 0.012312635779380798, + 1.0 + ], + [ + -0.004226475954055786, + 0.005562596023082733, + -0.001117616891860962, + -0.0025690943002700806, + 0.0060114264488220215, + 0.008929088711738586, + 1.0 + ], + [ + -0.0010068118572235107, + 0.003720507025718689, + -1.1205673217773438e-05, + -0.004018329083919525, + -0.0005442053079605103, + 0.0029338300228118896, + 1.0 + ], + [ + -0.000790327787399292, + 0.002825014293193817, + -4.61190938949585e-06, + -0.007583688944578171, + -0.0013558417558670044, + 0.007962740957736969, + 1.0 + ], + [ + -0.0007485747337341309, + 0.0015082433819770813, + -0.007870890200138092, + -0.0284431129693985, + 0.014481723308563232, + 0.008854471147060394, + 1.0 + ], + [ + 0.001786649227142334, + -0.00021135807037353516, + -0.010102462023496628, + -0.06853210180997849, + -0.0007177293300628662, + 0.018615439534187317, + 1.0 + ], + [ + 0.002870529890060425, + 0.00011484324932098389, + -0.006368823349475861, + -0.08783961832523346, + -0.02412736415863037, + -0.005513638257980347, + 0.0 + ], + [ + 0.00411495566368103, + 0.0010950788855552673, + -0.00020689144730567932, + -0.028145551681518555, + -0.033262863755226135, + 0.00023611634969711304, + 0.0 + ], + [ + 0.0018471181392669678, + 0.001102633774280548, + -0.0010826066136360168, + 0.0021371692419052124, + -0.005697280168533325, + -0.009366825222969055, + 0.0 + ], + [ + 0.0019721388816833496, + -0.0012188553810119629, + 0.00031422078609466553, + -0.00922483205795288, + -0.015145793557167053, + -0.013172455132007599, + 0.0 + ], + [ + 0.0018589496612548828, + 0.0003529489040374756, + 0.0005797781050205231, + -0.006737008690834045, + -0.017880022525787354, + -0.003948315978050232, + 0.0 + ], + [ + -0.0002918243408203125, + 0.002247735857963562, + -0.0005175769329071045, + -0.03229105472564697, + -0.024484485387802124, + 0.012644045054912567, + 0.0 + ], + [ + -0.00012409687042236328, + 0.002666488289833069, + 0.001519273966550827, + -0.0087985098361969, + -0.027539372444152832, + -0.00014274567365646362, + 0.0 + ], + [ + 0.001228243112564087, + 0.00653645396232605, + 0.012165486812591553, + 0.018545255064964294, + -0.04178556799888611, + 0.007339924573898315, + 0.0 + ], + [ + -0.0013600289821624756, + 0.011388406157493591, + 0.006013944745063782, + 0.012786343693733215, + -0.025885432958602905, + 0.02031906694173813, + 0.0 + ], + [ + -0.0038545429706573486, + 0.010052353143692017, + -0.0023990273475646973, + 0.06721411645412445, + 0.01838013529777527, + -0.018496863543987274, + 0.0 + ], + [ + -0.003720700740814209, + 0.015688538551330566, + -0.0033429041504859924, + 0.10298584401607513, + 0.028598099946975708, + -0.018399059772491455, + 0.0 + ], + [ + -0.0068044960498809814, + 0.019407808780670166, + -0.014771226793527603, + 0.12402954697608948, + 0.06197991967201233, + -0.030714064836502075, + 0.0 + ], + [ + 0.0004455447196960449, + 0.014510586857795715, + -0.007866404950618744, + 0.07268072664737701, + 0.029956981539726257, + -0.00507403165102005, + 0.0 + ], + [ + 0.00024124979972839355, + 0.015610337257385254, + -0.005531720817089081, + 0.03810812532901764, + 0.017834573984146118, + 0.0072267428040504456, + 0.0 + ], + [ + 0.000914841890335083, + 0.019406244158744812, + 0.001260422170162201, + -0.015674084424972534, + -0.012576311826705933, + 0.040912874042987823, + 0.0 + ], + [ + -0.0015187859535217285, + 0.014305844902992249, + -0.0003454349935054779, + -0.03678591549396515, + -0.018698468804359436, + 0.01779138296842575, + 0.0 + ], + [ + -0.003625810146331787, + 0.010671526193618774, + 0.000842168927192688, + -0.027758538722991943, + -0.006074458360671997, + 0.004240445792675018, + 1.0 + ], + [ + -0.001597374677658081, + 0.0003273487091064453, + -0.00810135155916214, + -0.03105362504720688, + 0.002508014440536499, + -0.031852059066295624, + 1.0 + ], + [ + -0.0025463104248046875, + -0.0007246583700180054, + -0.0020879432559013367, + 0.0032364949584007263, + 0.012491881847381592, + -0.011693999171257019, + 1.0 + ], + [ + 0.00036010146141052246, + -0.004982665181159973, + -0.0010776389390230179, + -0.00466986745595932, + 0.0022452622652053833, + -0.009810909628868103, + 1.0 + ], + [ + 0.002923935651779175, + -0.005240678787231445, + 0.01192561723291874, + -0.0032546520233154297, + -0.03190989792346954, + -0.01501956582069397, + 1.0 + ], + [ + -0.001067817211151123, + -0.001452609896659851, + 0.03348000347614288, + 0.06126096099615097, + -0.05585521459579468, + -0.026725567877292633, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9694526195526123 + ], + [ + 0.6961957812309265 + ], + [ + 0.5630297660827637 + ], + [ + 0.562038779258728 + ], + [ + 0.562038779258728 + ], + [ + 0.562038779258728 + ], + [ + 0.562038779258728 + ], + [ + 0.562038779258728 + ], + [ + 0.562038779258728 + ], + [ + 0.562038779258728 + ], + [ + 0.562038779258728 + ], + [ + 0.562038779258728 + ], + [ + 0.562038779258728 + ], + [ + 0.562038779258728 + ], + [ + 0.562038779258728 + ], + [ + 0.562038779258728 + ], + [ + 0.6249675154685974 + ], + [ + 0.9222983717918396 + ], + [ + 1.002137303352356 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3936748504638672, + 0.03086136281490326, + 0.1145208552479744 + ], + [ + 0.37786322832107544, + 0.03779343515634537, + 0.09228101372718811 + ], + [ + 0.3681865632534027, + 0.042868487536907196, + 0.09423325955867767 + ], + [ + 0.36126890778541565, + 0.048472799360752106, + 0.09290669113397598 + ], + [ + 0.3551885187625885, + 0.05255782604217529, + 0.08608133345842361 + ], + [ + 0.3498516380786896, + 0.06384749710559845, + 0.07734456658363342 + ], + [ + 0.3471682071685791, + 0.07257948070764542, + 0.07551465183496475 + ], + [ + 0.34353721141815186, + 0.07737629115581512, + 0.07190444320440292 + ], + [ + 0.3418044149875641, + 0.0828365907073021, + 0.07882706820964813 + ], + [ + 0.3375779390335083, + 0.08839918673038483, + 0.07770945131778717 + ], + [ + 0.3365711271762848, + 0.09211969375610352, + 0.0776982456445694 + ], + [ + 0.3357807993888855, + 0.09494470804929733, + 0.0776936337351799 + ], + [ + 0.33503222465515137, + 0.09645295143127441, + 0.06982274353504181 + ], + [ + 0.3368188738822937, + 0.09624159336090088, + 0.05972028151154518 + ], + [ + 0.3396894037723541, + 0.09635643661022186, + 0.05335145816206932 + ], + [ + 0.34380435943603516, + 0.09745151549577713, + 0.05314456671476364 + ], + [ + 0.3456514775753021, + 0.09855414927005768, + 0.052061960101127625 + ], + [ + 0.3476236164569855, + 0.09733529388904572, + 0.05237618088722229 + ], + [ + 0.34948256611824036, + 0.09768824279308319, + 0.05295595899224281 + ], + [ + 0.34919074177742004, + 0.09993597865104675, + 0.05243838205933571 + ], + [ + 0.3490666449069977, + 0.10260246694087982, + 0.053957656025886536 + ], + [ + 0.35029488801956177, + 0.10913892090320587, + 0.06612314283847809 + ], + [ + 0.3489348590373993, + 0.12052732706069946, + 0.07213708758354187 + ], + [ + 0.34508031606674194, + 0.13057968020439148, + 0.06973806023597717 + ], + [ + 0.34135961532592773, + 0.14626821875572205, + 0.06639515608549118 + ], + [ + 0.33455511927604675, + 0.1656760275363922, + 0.05162392929196358 + ], + [ + 0.3350006639957428, + 0.18018661439418793, + 0.04375752434134483 + ], + [ + 0.3352419137954712, + 0.19579695165157318, + 0.03822580352425575 + ], + [ + 0.3361567556858063, + 0.215203195810318, + 0.039486225694417953 + ], + [ + 0.33463796973228455, + 0.22950904071331024, + 0.039140790700912476 + ], + [ + 0.33101215958595276, + 0.24018056690692902, + 0.039982959628105164 + ], + [ + 0.3294147849082947, + 0.24050791561603546, + 0.031881608068943024 + ], + [ + 0.32686847448349, + 0.23978325724601746, + 0.029793664813041687 + ], + [ + 0.3272285759449005, + 0.23480059206485748, + 0.02871602587401867 + ], + [ + 0.3301525115966797, + 0.22955991327762604, + 0.04064164310693741 + ], + [ + 0.32908469438552856, + 0.2281073033809662, + 0.07412164658308029 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9678130124630886, + -0.13723019007805315, + 0.21096409134794286, + -0.14390366486006484, + -0.9894534987070882, + 0.016538111625714065, + 0.206469630083855, + -0.046364305531775625, + -0.9773538985575249 + ], + [ + 0.9813600023549661, + -0.10438180889380858, + 0.16135979595276193, + -0.11057260648520015, + -0.9934196879491423, + 0.029849996484046792, + 0.15718220151445142, + -0.047135565840296836, + -0.9864441159842686 + ], + [ + 0.9813430979244598, + -0.07930618450808043, + 0.17514637665334037, + -0.08797171882890088, + -0.9952258515812011, + 0.04226678401252404, + 0.1709581844847221, + -0.05688614456300281, + -0.9836347216901427 + ], + [ + 0.9822127790370165, + -0.05735164333520011, + 0.17879833808828516, + -0.0667043129709117, + -0.9966775121887094, + 0.04673832825854553, + 0.1755237628569402, + -0.057833603588890184, + -0.9827749910169995 + ], + [ + 0.9848424703654051, + -0.03227036104226728, + 0.1704228047027985, + -0.044173653408191856, + -0.996806691550195, + 0.06652148544137858, + 0.16773191976824034, + -0.073041381962257, + -0.9831230643270986 + ], + [ + 0.9855163626445874, + 0.013510402119044435, + 0.16904132037571004, + 0.00027908175173927807, + -0.9969491891858838, + 0.07805277890622724, + 0.1695801317170074, + -0.07687511441416049, + -0.9825135091746331 + ], + [ + 0.9844038602081088, + 0.049115505920657, + 0.16892811218246714, + 0.03795174277084437, + -0.9969157126043923, + 0.068692992241803, + 0.1717809804024589, + -0.061210530471763204, + -0.983231694836642 + ], + [ + 0.9839951514069483, + 0.06569841750058547, + 0.16564196311785429, + 0.056789064561917936, + -0.9967020410178598, + 0.057965882871009566, + 0.16890394949141996, + -0.047631495554433814, + -0.9844809274320395 + ], + [ + 0.979918412892056, + 0.07868347691965434, + 0.18321794272108893, + 0.06866857111550444, + -0.9958101665738417, + 0.060388239659161465, + 0.18720184672184437, + -0.0465942336347711, + -0.9812157999012854 + ], + [ + 0.9803703590849414, + 0.0868380420802648, + 0.17701161960540832, + 0.07750278395988613, + -0.9952448545802987, + 0.058999982287353196, + 0.18129334655781174, + -0.044122940508390114, + -0.9824387454771737 + ], + [ + 0.9800402843787046, + 0.0890680174514668, + 0.17772993350072738, + 0.08037061052658691, + -0.9952151503024618, + 0.05556410326849669, + 0.18182850700176648, + -0.04017079630420205, + -0.982509389861387 + ], + [ + 0.9791228133731783, + 0.09568670091698848, + 0.17933926396585548, + 0.08814960044567956, + -0.9948739029518333, + 0.04955365946782158, + 0.18316157968705948, + -0.03271043400825748, + -0.9825384792635513 + ], + [ + 0.9808408489101044, + 0.09929344247144549, + 0.16760680592230098, + 0.09706670748035982, + -0.9950467775136065, + 0.021446791338330207, + 0.1689061378642836, + -0.004766848220508241, + -0.9856206134968031 + ], + [ + 0.9787434225564269, + 0.10602903386551452, + 0.17555385720649172, + 0.11529340638074259, + -0.9923823564242824, + -0.0434130061492367, + 0.16961351139474903, + 0.06273039642258205, + -0.9835121525009283 + ], + [ + 0.9750127744445344, + 0.08122933774023453, + 0.20676528809317765, + 0.1094069639323168, + -0.9856296808298125, + -0.12870216979691843, + 0.19333961289162802, + 0.14810782206759035, + -0.9698885849051481 + ], + [ + 0.9680580203653568, + 0.06983434613367784, + 0.24080455416455132, + 0.10885802391214985, + -0.9822490641652597, + -0.15276356429598556, + 0.2258619043492029, + 0.17409750155172696, + -0.9584761134828548 + ], + [ + 0.9677394424961632, + 0.06016787813954047, + 0.24466343796611795, + 0.09965232181906106, + -0.9832894725525153, + -0.15235231512342118, + 0.23140826733996633, + 0.1718186241580969, + -0.9575638747358493 + ], + [ + 0.9653662583310505, + 0.04225039219922479, + 0.2574546399560885, + 0.08657352824239935, + -0.982763756804125, + -0.16334142928205642, + 0.24611584972035014, + 0.1799730609598399, + -0.9523847362516766 + ], + [ + 0.9611619400654535, + 0.03332615255567023, + 0.273965495136614, + 0.08237232968812645, + -0.9820772438066228, + -0.16952606436456344, + 0.2634056268787068, + 0.18550917700486866, + -0.9466804217768593 + ], + [ + 0.9533381849892897, + 0.0315586365422693, + 0.3002504912584154, + 0.0938582317610616, + -0.97622105050824, + -0.19540494588232687, + 0.28694413632624327, + 0.21446797664029282, + -0.9336308422625107 + ], + [ + 0.9451267205741282, + 0.022699646927372412, + 0.32591441834654505, + 0.09291357658557162, + -0.9750655444138348, + -0.20152977790646576, + 0.31321326495356366, + 0.22075305236015408, + -0.9236696057199263 + ], + [ + 0.9305834459229991, + 0.027522754986494355, + 0.36504376194098975, + 0.09838538398797465, + -0.9792857622026354, + -0.176973761232399, + 0.3526113531802618, + 0.200603823256579, + -0.9140149559516124 + ], + [ + 0.919026842116171, + 0.04729543074015766, + 0.3913474232712933, + 0.11608932704809655, + -0.9812216521635274, + -0.15403680557255447, + 0.37671332816280595, + 0.18699521800457844, + -0.9072595311309336 + ], + [ + 0.9277451690843607, + 0.0574659328210773, + 0.3687635662665636, + 0.09979507679981096, + -0.9902935056877249, + -0.09674562129231225, + 0.3596245874341055, + 0.12655607120055165, + -0.9244748330566549 + ], + [ + 0.9392868342607024, + 0.07763318838791676, + 0.3342354425330056, + 0.08358718873981545, + -0.9964945141702113, + -0.0034445764977715666, + 0.33279637146922486, + 0.031173246372502746, + -0.9424833175433489 + ], + [ + 0.960181863145901, + 0.0825952874934531, + 0.26688725741320013, + 0.05579372756255438, + -0.9927458888470414, + 0.10650192553176169, + 0.2737477847405187, + -0.08737058235568354, + -0.9578248961519465 + ], + [ + 0.9682095991959521, + 0.09206496488091982, + 0.23258162925366363, + 0.05133229569112578, + -0.9831443508747109, + 0.1754770092126659, + 0.24481659960854876, + -0.1579595757927268, + -0.9566157039122289 + ], + [ + 0.9720175021783556, + 0.10444156771955825, + 0.2104137219651581, + 0.05858127047300905, + -0.9751996370001029, + 0.21343360266048805, + 0.22748672534615746, + -0.1951348941813018, + -0.9540294350092839 + ], + [ + 0.9658851717936335, + 0.14331600045537413, + 0.21569969615801157, + 0.09799264871972739, + -0.9732415771504341, + 0.20784194307845552, + 0.23971498848857034, + -0.17961446634169262, + -0.9540835224311935 + ], + [ + 0.9593700614882748, + 0.15537811256300182, + 0.2355137517351015, + 0.1146088789227675, + -0.9773456231412202, + 0.1779335207282941, + 0.25782530906032153, + -0.14371212566467373, + -0.9554438418582699 + ], + [ + 0.9573034735816996, + 0.15364954008805617, + 0.24487114631810178, + 0.11848143677178716, + -0.9811805933456289, + 0.15246898826454192, + 0.26368960656215745, + -0.11694640683941016, + -0.9574922084896806 + ], + [ + 0.9612466982249457, + 0.11429770569939196, + 0.2508800901297178, + 0.08799441931936497, + -0.9896103208040828, + 0.11370310077868544, + 0.26126953002653774, + -0.08722068235169515, + -0.9613172136448076 + ], + [ + 0.9653882138667478, + 0.10240662210800264, + 0.23987179966723732, + 0.0770013451684699, + -0.9906054243057136, + 0.1130118851198552, + 0.24919147130152075, + -0.09062989067921211, + -0.96420424887368 + ], + [ + 0.9666528970162128, + 0.09136384864737303, + 0.23923800670149228, + 0.06756529625488021, + -0.992081844793218, + 0.10587041122842454, + 0.24701641126077764, + -0.08617575292404102, + -0.9651718148473987 + ], + [ + 0.9591969511886844, + 0.07830376413940345, + 0.271679460673664, + 0.05258114499463694, + -0.9935253028586112, + 0.10071095159295011, + 0.27780646504605544, + -0.08231642060552226, + -0.9571037430066341 + ], + [ + 0.9432592100630879, + 0.07621262486431317, + 0.3231929739992051, + 0.02645356536637081, + -0.9874583637167407, + 0.1556476431086061, + 0.3310019207052529, + -0.13826646642316545, + -0.933445291783233 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005617.json b/json/chunk-0005/episode_0005617.json new file mode 100644 index 0000000000000000000000000000000000000000..347a69cbe55f6ea87486dafab78cff305d8606db --- /dev/null +++ b/json/chunk-0005/episode_0005617.json @@ -0,0 +1,1162 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 18, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nOpens the drawer." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005617.mp4", + "start": 0, + "end": 18, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3012852370738983, + 0.021104471758008003, + 0.10867821425199509, + 0.00029863574309274554, + -0.08294074982404709, + 0.018740810453891754, + 0.0, + 1.0001531839370728 + ], + [ + 0.30072182416915894, + 0.020845437422394753, + 0.0995139554142952, + -0.0028270063921809196, + -0.05237482488155365, + 0.021072067320346832, + 0.0, + 1.0001531839370728 + ], + [ + 0.31622275710105896, + 0.04003548622131348, + 0.09280994534492493, + -0.01318806316703558, + -0.046664733439683914, + 0.09182295203208923, + 0.0, + 1.0001531839370728 + ], + [ + 0.3364976942539215, + 0.05292408913373947, + 0.0829540342092514, + -0.04596467316150665, + -0.03002643585205078, + 0.13739119470119476, + 0.0, + 1.0001531839370728 + ], + [ + 0.3569144606590271, + 0.06542706489562988, + 0.07420606911182404, + -0.08250942081212997, + -0.029583772644400597, + 0.176602303981781, + 0.0, + 1.0001531839370728 + ], + [ + 0.3703741729259491, + 0.06481388956308365, + 0.05664375424385071, + -0.1166640967130661, + -0.009024320170283318, + 0.19880087673664093, + 0.0, + 1.0001531839370728 + ], + [ + 0.375380277633667, + 0.05924764648079872, + 0.04532991349697113, + -0.1141616627573967, + 0.010508471168577671, + 0.18840453028678894, + 0.0, + 0.9515043497085571 + ], + [ + 0.373782753944397, + 0.052843671292066574, + 0.03286433592438698, + -0.11138854175806046, + 0.0476861298084259, + 0.1866523027420044, + 0.0, + 0.7171077728271484 + ], + [ + 0.3731728196144104, + 0.05651523917913437, + 0.03206974267959595, + -0.0986301526427269, + 0.048645682632923126, + 0.194744274020195, + 0.0, + 0.4085940718650818 + ], + [ + 0.37277692556381226, + 0.06109584867954254, + 0.03229519724845886, + -0.09147273004055023, + 0.047804370522499084, + 0.20835083723068237, + 0.0, + 0.1920294612646103 + ], + [ + 0.3707956373691559, + 0.07029647380113602, + 0.03219456598162651, + -0.08352412283420563, + 0.04903189092874527, + 0.2227512151002884, + 0.0, + 0.13572125136852264 + ], + [ + 0.367081880569458, + 0.08805561065673828, + 0.032870903611183167, + -0.08266564458608627, + 0.05004123970866203, + 0.26315754652023315, + 0.0, + 0.12975460290908813 + ], + [ + 0.36221596598625183, + 0.10358936339616776, + 0.03330335021018982, + -0.08652155101299286, + 0.05493698641657829, + 0.29449260234832764, + 0.0, + 0.12975460290908813 + ], + [ + 0.35887667536735535, + 0.11451098322868347, + 0.03326711431145668, + -0.08387881517410278, + 0.05486464127898216, + 0.32084423303604126, + 0.0, + 0.12975460290908813 + ], + [ + 0.35684895515441895, + 0.1203705444931984, + 0.033588044345378876, + -0.0813123807311058, + 0.05644720792770386, + 0.3346739113330841, + 0.0, + 0.16973881423473358 + ], + [ + 0.3630235195159912, + 0.12861114740371704, + 0.041799597442150116, + -0.08980143815279007, + 0.022210847586393356, + 0.3713918924331665, + 0.0, + 0.39273425936698914 + ], + [ + 0.36397314071655273, + 0.12977181375026703, + 0.05206463858485222, + -0.08478937298059464, + -0.012757577933371067, + 0.3551395833492279, + 0.0, + 0.6991904973983765 + ], + [ + 0.3623431324958801, + 0.1307387501001358, + 0.09347932040691376, + -0.06458888202905655, + -0.12787386775016785, + 0.3181798458099365, + 0.0, + 0.9665181636810303 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9515043497085571 + ], + [ + 0.7171077728271484 + ], + [ + 0.4085940718650818 + ], + [ + 0.1920294612646103 + ], + [ + 0.13572125136852264 + ], + [ + 0.12975460290908813 + ], + [ + 0.12975460290908813 + ], + [ + 0.12975460290908813 + ], + [ + 0.16973881423473358 + ], + [ + 0.39273425936698914 + ], + [ + 0.6991904973983765 + ], + [ + 0.9665181636810303 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3012852370738983, + 0.021104471758008003, + 0.10867821425199509 + ], + [ + 0.30072182416915894, + 0.020845437422394753, + 0.0995139554142952 + ], + [ + 0.31622275710105896, + 0.04003548622131348, + 0.09280994534492493 + ], + [ + 0.3364976942539215, + 0.05292408913373947, + 0.0829540342092514 + ], + [ + 0.3569144606590271, + 0.06542706489562988, + 0.07420606911182404 + ], + [ + 0.3703741729259491, + 0.06481388956308365, + 0.05664375424385071 + ], + [ + 0.375380277633667, + 0.05924764648079872, + 0.04532991349697113 + ], + [ + 0.373782753944397, + 0.052843671292066574, + 0.03286433592438698 + ], + [ + 0.3731728196144104, + 0.05651523917913437, + 0.03206974267959595 + ], + [ + 0.37277692556381226, + 0.06109584867954254, + 0.03229519724845886 + ], + [ + 0.3707956373691559, + 0.07029647380113602, + 0.03219456598162651 + ], + [ + 0.367081880569458, + 0.08805561065673828, + 0.032870903611183167 + ], + [ + 0.36221596598625183, + 0.10358936339616776, + 0.03330335021018982 + ], + [ + 0.35887667536735535, + 0.11451098322868347, + 0.03326711431145668 + ], + [ + 0.35684895515441895, + 0.1203705444931984, + 0.033588044345378876 + ], + [ + 0.3630235195159912, + 0.12861114740371704, + 0.041799597442150116 + ], + [ + 0.36397314071655273, + 0.12977181375026703, + 0.05206463858485222 + ], + [ + 0.3623431324958801, + 0.1307387501001358, + 0.09347932040691376 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.996387387156367, + 0.018764448958127906, + 0.08282554057176957, + 0.018675293578813958, + -0.9998238879343175, + 0.0018510876938392109, + 0.08284568863527626, + -0.0002976091446599932, + -0.9965623429085326 + ], + [ + 0.998407048992792, + 0.020922460484529844, + 0.05239861800446122, + 0.021041615025297236, + -0.9997771154643733, + -0.0017233197219274111, + 0.052350883074035584, + 0.0028231261059481075, + -0.9986247618602085 + ], + [ + 0.9947032188814422, + 0.09107341439404426, + 0.047656474245462946, + 0.09159415475040045, + -0.9957570470277618, + -0.008855174199951563, + 0.04664779911697313, + 0.013173324757345124, + -0.9988245323140497 + ], + [ + 0.9901301550807985, + 0.13544824398774044, + 0.036000683331172526, + 0.13689762623974264, + -0.9897193604371688, + -0.041408060879075614, + 0.030021924148820874, + 0.04592777783084048, + -0.9984935269163858 + ], + [ + 0.9840155386918344, + 0.17268816812562296, + 0.04349961152050933, + 0.1756088702319232, + -0.981525531878818, + -0.0759549535308331, + 0.02957945754888349, + 0.0823797721496002, + -0.9961619490984855 + ], + [ + 0.9802641852776918, + 0.19512176986606472, + 0.031774549346888246, + 0.1974859258733107, + -0.9738478954929553, + -0.11233692859386672, + 0.009024197683151167, + 0.1163948940816424, + -0.9931620172398353 + ], + [ + 0.9822500673450517, + 0.1872486012360304, + 0.011080006127787704, + 0.18728155621699552, + -0.9756859276406066, + -0.11385336756121779, + -0.010508277764795518, + 0.113907558744973, + -0.9934357775715442 + ], + [ + 0.9815139501528944, + 0.18962702528246278, + -0.025922132199819432, + 0.18535943946444977, + -0.9755580403364216, + -0.11801859233351791, + -0.04766805908242618, + 0.11103198285847343, + -0.9926729848876866 + ], + [ + 0.9799365821168536, + 0.19727291611161324, + -0.028419915516409967, + 0.19328672644966294, + -0.975402440139822, + -0.10597320957513098, + -0.04862649902586708, + 0.09835383235086398, + -0.9939627695514486 + ], + [ + 0.9772556640521056, + 0.21025255485646238, + -0.02766279549156602, + 0.2066103809294721, + -0.9733801761826522, + -0.09921281725063213, + -0.047786165050737926, + 0.09124086689066019, + -0.9946816509008218 + ], + [ + 0.9741212307169469, + 0.2241314902971346, + -0.029204501770893544, + 0.22064819856229115, + -0.9709900736817977, + -0.09215557108842069, + -0.04901224681359138, + 0.08332677762041855, + -0.9953162551639961 + ], + [ + 0.9643647118517855, + 0.26323044353960456, + -0.026654007746782334, + 0.2598050545713183, + -0.9612017143750984, + -0.09269626692357039, + -0.05002035739793134, + 0.08246816280428804, + -0.9953376140634235 + ], + [ + 0.9555058314887187, + 0.2937092388259863, + -0.027266995054687607, + 0.2898164394005063, + -0.9519926889450051, + -0.09857155598077909, + -0.054909356618569924, + 0.08628327313865032, + -0.9947563316371584 + ], + [ + 0.9475416103326989, + 0.318618897487217, + -0.02543412770562097, + 0.31489329447517983, + -0.9441842694230458, + -0.09673819550020939, + -0.05483712048132376, + 0.08365442927962242, + -0.9949848374117151 + ], + [ + 0.9430131148276721, + 0.3317040701643715, + -0.026432462984020487, + 0.32793804397326126, + -0.9398916231982402, + -0.09518600714794728, + -0.05641723653284748, + 0.0810934428802195, + -0.9951085111402824 + ], + [ + 0.9315932780004414, + 0.36330637842252045, + 0.011934813861327115, + 0.36282326792898345, + -0.927345565796499, + -0.09159409286031561, + -0.022209021449069007, + 0.08965866938050909, + -0.9957249029582373 + ], + [ + 0.9375216631419836, + 0.345459100958776, + 0.04136593652080383, + 0.34769294524679034, + -0.9346053449952133, + -0.07498309764200535, + 0.012757231874564677, + 0.08468092271068066, + -0.996326449695965 + ], + [ + 0.9420514937778878, + 0.3043681051659825, + 0.14106395580912567, + 0.31028404606642473, + -0.950400905058269, + -0.021492566646894636, + 0.1275256594866238, + 0.06401699947741878, + -0.9897671594624713 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0005634129047393799, + -0.00025903433561325073, + -0.00916425883769989, + -0.003125642193481326, + 0.03056592494249344, + 0.002331256866455078, + 1.0 + ], + [ + 0.015500932931900024, + 0.019190048798918724, + -0.00670401006937027, + -0.01036105677485466, + 0.005710091441869736, + 0.0707508847117424, + 1.0 + ], + [ + 0.02027493715286255, + 0.012888602912425995, + -0.009855911135673523, + -0.0327766090631485, + 0.016638297587633133, + 0.04556824266910553, + 1.0 + ], + [ + 0.02041676640510559, + 0.012502975761890411, + -0.008747965097427368, + -0.03654474765062332, + 0.00044266320765018463, + 0.03921110928058624, + 1.0 + ], + [ + 0.013459712266921997, + -0.0006131753325462341, + -0.017562314867973328, + -0.03415467590093613, + 0.02055945247411728, + 0.022198572754859924, + 1.0 + ], + [ + 0.0050061047077178955, + -0.005566243082284927, + -0.011313840746879578, + 0.002502433955669403, + 0.019532792270183563, + -0.01039634644985199, + 0.0 + ], + [ + -0.0015975236892700195, + -0.006403975188732147, + -0.012465577572584152, + 0.0027731209993362427, + 0.03717765957117081, + -0.001752227544784546, + 0.0 + ], + [ + -0.0006099343299865723, + 0.003671567887067795, + -0.0007945932447910309, + 0.012758389115333557, + 0.0009595528244972229, + 0.008091971278190613, + 0.0 + ], + [ + -0.00039589405059814453, + 0.004580609500408173, + 0.00022545456886291504, + 0.007157422602176666, + -0.0008413121104240417, + 0.013606563210487366, + 0.0 + ], + [ + -0.001981288194656372, + 0.009200625121593475, + -0.00010063126683235168, + 0.007948607206344604, + 0.0012275204062461853, + 0.014400377869606018, + 0.0 + ], + [ + -0.003713756799697876, + 0.017759136855602264, + 0.0006763376295566559, + 0.0008584782481193542, + 0.0010093487799167633, + 0.04040633141994476, + 0.0 + ], + [ + -0.004865914583206177, + 0.015533752739429474, + 0.00043244659900665283, + -0.0038559064269065857, + 0.00489574670791626, + 0.03133505582809448, + 0.0 + ], + [ + -0.0033392906188964844, + 0.010921619832515717, + -3.623589873313904e-05, + 0.0026427358388900757, + -7.234513759613037e-05, + 0.026351630687713623, + 0.0 + ], + [ + -0.0020277202129364014, + 0.005859561264514923, + 0.00032093003392219543, + 0.0025664344429969788, + 0.001582566648721695, + 0.013829678297042847, + 1.0 + ], + [ + 0.006174564361572266, + 0.008240602910518646, + 0.00821155309677124, + -0.008489057421684265, + -0.0342363603413105, + 0.0367179811000824, + 1.0 + ], + [ + 0.0009496212005615234, + 0.0011606663465499878, + 0.010265041142702103, + 0.005012065172195435, + -0.03496842458844185, + -0.0162523090839386, + 1.0 + ], + [ + -0.0016300082206726074, + 0.0009669363498687744, + 0.04141468182206154, + 0.020200490951538086, + -0.11511629074811935, + -0.03695973753929138, + 1.0 + ], + [ + -0.014980465173721313, + -0.0046707987785339355, + 0.021657191216945648, + 0.014116480946540833, + -0.05407172441482544, + -0.0779748409986496, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9515043497085571 + ], + [ + 0.7171077728271484 + ], + [ + 0.4085940718650818 + ], + [ + 0.1920294612646103 + ], + [ + 0.13572125136852264 + ], + [ + 0.12975460290908813 + ], + [ + 0.12975460290908813 + ], + [ + 0.12975460290908813 + ], + [ + 0.16973881423473358 + ], + [ + 0.39273425936698914 + ], + [ + 0.6991904973983765 + ], + [ + 0.9665181636810303 + ], + [ + 1.0027955770492554 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.30072182416915894, + 0.020845437422394753, + 0.0995139554142952 + ], + [ + 0.31622275710105896, + 0.04003548622131348, + 0.09280994534492493 + ], + [ + 0.3364976942539215, + 0.05292408913373947, + 0.0829540342092514 + ], + [ + 0.3569144606590271, + 0.06542706489562988, + 0.07420606911182404 + ], + [ + 0.3703741729259491, + 0.06481388956308365, + 0.05664375424385071 + ], + [ + 0.375380277633667, + 0.05924764648079872, + 0.04532991349697113 + ], + [ + 0.373782753944397, + 0.052843671292066574, + 0.03286433592438698 + ], + [ + 0.3731728196144104, + 0.05651523917913437, + 0.03206974267959595 + ], + [ + 0.37277692556381226, + 0.06109584867954254, + 0.03229519724845886 + ], + [ + 0.3707956373691559, + 0.07029647380113602, + 0.03219456598162651 + ], + [ + 0.367081880569458, + 0.08805561065673828, + 0.032870903611183167 + ], + [ + 0.36221596598625183, + 0.10358936339616776, + 0.03330335021018982 + ], + [ + 0.35887667536735535, + 0.11451098322868347, + 0.03326711431145668 + ], + [ + 0.35684895515441895, + 0.1203705444931984, + 0.033588044345378876 + ], + [ + 0.3630235195159912, + 0.12861114740371704, + 0.041799597442150116 + ], + [ + 0.36397314071655273, + 0.12977181375026703, + 0.05206463858485222 + ], + [ + 0.3623431324958801, + 0.1307387501001358, + 0.09347932040691376 + ], + [ + 0.3473626673221588, + 0.12606795132160187, + 0.1151365116238594 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.998407048992792, + 0.020922460484529844, + 0.05239861800446122, + 0.021041615025297236, + -0.9997771154643733, + -0.0017233197219274111, + 0.052350883074035584, + 0.0028231261059481075, + -0.9986247618602085 + ], + [ + 0.9947032188814422, + 0.09107341439404426, + 0.047656474245462946, + 0.09159415475040045, + -0.9957570470277618, + -0.008855174199951563, + 0.04664779911697313, + 0.013173324757345124, + -0.9988245323140497 + ], + [ + 0.9901301550807985, + 0.13544824398774044, + 0.036000683331172526, + 0.13689762623974264, + -0.9897193604371688, + -0.041408060879075614, + 0.030021924148820874, + 0.04592777783084048, + -0.9984935269163858 + ], + [ + 0.9840155386918344, + 0.17268816812562296, + 0.04349961152050933, + 0.1756088702319232, + -0.981525531878818, + -0.0759549535308331, + 0.02957945754888349, + 0.0823797721496002, + -0.9961619490984855 + ], + [ + 0.9802641852776918, + 0.19512176986606472, + 0.031774549346888246, + 0.1974859258733107, + -0.9738478954929553, + -0.11233692859386672, + 0.009024197683151167, + 0.1163948940816424, + -0.9931620172398353 + ], + [ + 0.9822500673450517, + 0.1872486012360304, + 0.011080006127787704, + 0.18728155621699552, + -0.9756859276406066, + -0.11385336756121779, + -0.010508277764795518, + 0.113907558744973, + -0.9934357775715442 + ], + [ + 0.9815139501528944, + 0.18962702528246278, + -0.025922132199819432, + 0.18535943946444977, + -0.9755580403364216, + -0.11801859233351791, + -0.04766805908242618, + 0.11103198285847343, + -0.9926729848876866 + ], + [ + 0.9799365821168536, + 0.19727291611161324, + -0.028419915516409967, + 0.19328672644966294, + -0.975402440139822, + -0.10597320957513098, + -0.04862649902586708, + 0.09835383235086398, + -0.9939627695514486 + ], + [ + 0.9772556640521056, + 0.21025255485646238, + -0.02766279549156602, + 0.2066103809294721, + -0.9733801761826522, + -0.09921281725063213, + -0.047786165050737926, + 0.09124086689066019, + -0.9946816509008218 + ], + [ + 0.9741212307169469, + 0.2241314902971346, + -0.029204501770893544, + 0.22064819856229115, + -0.9709900736817977, + -0.09215557108842069, + -0.04901224681359138, + 0.08332677762041855, + -0.9953162551639961 + ], + [ + 0.9643647118517855, + 0.26323044353960456, + -0.026654007746782334, + 0.2598050545713183, + -0.9612017143750984, + -0.09269626692357039, + -0.05002035739793134, + 0.08246816280428804, + -0.9953376140634235 + ], + [ + 0.9555058314887187, + 0.2937092388259863, + -0.027266995054687607, + 0.2898164394005063, + -0.9519926889450051, + -0.09857155598077909, + -0.054909356618569924, + 0.08628327313865032, + -0.9947563316371584 + ], + [ + 0.9475416103326989, + 0.318618897487217, + -0.02543412770562097, + 0.31489329447517983, + -0.9441842694230458, + -0.09673819550020939, + -0.05483712048132376, + 0.08365442927962242, + -0.9949848374117151 + ], + [ + 0.9430131148276721, + 0.3317040701643715, + -0.026432462984020487, + 0.32793804397326126, + -0.9398916231982402, + -0.09518600714794728, + -0.05641723653284748, + 0.0810934428802195, + -0.9951085111402824 + ], + [ + 0.9315932780004414, + 0.36330637842252045, + 0.011934813861327115, + 0.36282326792898345, + -0.927345565796499, + -0.09159409286031561, + -0.022209021449069007, + 0.08965866938050909, + -0.9957249029582373 + ], + [ + 0.9375216631419836, + 0.345459100958776, + 0.04136593652080383, + 0.34769294524679034, + -0.9346053449952133, + -0.07498309764200535, + 0.012757231874564677, + 0.08468092271068066, + -0.996326449695965 + ], + [ + 0.9420514937778878, + 0.3043681051659825, + 0.14106395580912567, + 0.31028404606642473, + -0.950400905058269, + -0.021492566646894636, + 0.1275256594866238, + 0.06401699947741878, + -0.9897671594624713 + ], + [ + 0.955256650710355, + 0.22873211537503205, + 0.1875269331848042, + 0.23397482809313333, + -0.972224075524626, + -0.0060105564696897665, + 0.1809433919556713, + 0.04961820599688835, + -0.9822410714998773 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005619.json b/json/chunk-0005/episode_0005619.json new file mode 100644 index 0000000000000000000000000000000000000000..a972044742fb7106f5a2b2453718d85b7b955574 --- /dev/null +++ b/json/chunk-0005/episode_0005619.json @@ -0,0 +1,2302 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 37, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the green cloth to the upper of the table." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005619.mp4", + "start": 0, + "end": 37, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3048112094402313, + 0.07774768024682999, + 0.1116248369216919, + 0.021232610568404198, + -0.13319675624370575, + -0.03993125259876251, + 0.0, + 1.0001531839370728 + ], + [ + 0.3015633821487427, + 0.07540905475616455, + 0.10062466561794281, + 0.009589819237589836, + -0.09808168560266495, + -0.03554004058241844, + 0.0, + 1.0001531839370728 + ], + [ + 0.3062826991081238, + 0.0666797086596489, + 0.09695713222026825, + 0.0333235077559948, + -0.10866974294185638, + -0.039916157722473145, + 0.0, + 1.0001531839370728 + ], + [ + 0.3098351061344147, + 0.05389762669801712, + 0.09018423408269882, + 0.017496740445494652, + -0.10297933965921402, + -0.04399983584880829, + 0.0, + 1.0001531839370728 + ], + [ + 0.3096381723880768, + 0.037432994693517685, + 0.08710845559835434, + -0.006555965635925531, + -0.08204013109207153, + -0.03332952409982681, + 0.0, + 1.0001531839370728 + ], + [ + 0.31252890825271606, + 0.0285034142434597, + 0.0849536582827568, + 0.0076894741505384445, + -0.09955616295337677, + -0.03571675345301628, + 0.0, + 1.0001531839370728 + ], + [ + 0.31236496567726135, + 0.02442678064107895, + 0.0818498283624649, + 0.005405608098953962, + -0.09825043380260468, + -0.03937084227800369, + 0.0, + 1.0001531839370728 + ], + [ + 0.31059393286705017, + 0.017398422583937645, + 0.0749683752655983, + -0.00733871990814805, + -0.08576267957687378, + -0.04458135366439819, + 0.0, + 0.9499720335006714 + ], + [ + 0.30964070558547974, + 0.011599261313676834, + 0.07022467255592346, + -0.03462107479572296, + -0.09796455502510071, + -0.03519098833203316, + 0.0, + 0.6831957101821899 + ], + [ + 0.30853214859962463, + 0.007482481189072132, + 0.06295855343341827, + -0.03709869086742401, + -0.09493392705917358, + -0.04136228933930397, + 0.0, + 0.39099013805389404 + ], + [ + 0.309457004070282, + 0.005172113422304392, + 0.05475495383143425, + -0.0429408885538578, + -0.10013826936483383, + -0.04158062860369682, + 0.0, + 0.1718904674053192 + ], + [ + 0.3110329806804657, + 0.0016279416158795357, + 0.04819943755865097, + -0.04685603827238083, + -0.09344369173049927, + -0.03410771116614342, + 0.0, + 0.058401256799697876 + ], + [ + 0.3113784193992615, + 0.001181699219159782, + 0.04318944364786148, + -0.04729646071791649, + -0.10830970853567123, + -0.04816281795501709, + 0.0, + 0.052451856434345245 + ], + [ + 0.31186625361442566, + 0.0012711858144029975, + 0.039033032953739166, + -0.04741591215133667, + -0.10359115898609161, + -0.04607106372714043, + 0.0, + 0.052451856434345245 + ], + [ + 0.3170831799507141, + 0.00036677889875136316, + 0.039081230759620667, + -0.05281823128461838, + -0.11100300401449203, + -0.0536964125931263, + 0.0, + 0.052451856434345245 + ], + [ + 0.324614018201828, + 0.0015031717484816909, + 0.0378543995320797, + -0.046440284699201584, + -0.11642684042453766, + -0.05592577904462814, + 0.0, + 0.052451856434345245 + ], + [ + 0.3308945596218109, + 0.0013708482729271054, + 0.037785373628139496, + -0.04105234891176224, + -0.12065504491329193, + -0.06502880901098251, + 0.0, + 0.052451856434345245 + ], + [ + 0.3385292887687683, + -0.00011771739809773862, + 0.0387084037065506, + -0.025979459285736084, + -0.12563571333885193, + -0.09542994946241379, + 0.0, + 0.052451856434345245 + ], + [ + 0.34966036677360535, + -0.002957842545583844, + 0.039056792855262756, + -0.012404750101268291, + -0.13480252027511597, + -0.11840886622667313, + 0.0, + 0.052451856434345245 + ], + [ + 0.36161917448043823, + -0.004437102470546961, + 0.03931005299091339, + -0.012860159389674664, + -0.14210323989391327, + -0.10750970244407654, + 0.0, + 0.052451856434345245 + ], + [ + 0.3755899965763092, + -0.007016257382929325, + 0.041291363537311554, + -0.013629226945340633, + -0.15145885944366455, + -0.11346586793661118, + 0.0, + 0.052451856434345245 + ], + [ + 0.38752663135528564, + -0.007822281681001186, + 0.04172660782933235, + -0.012975373305380344, + -0.1456540822982788, + -0.1299741119146347, + 0.0, + 0.052451856434345245 + ], + [ + 0.39871978759765625, + -0.007563671562820673, + 0.04248015955090523, + -0.0011429371079429984, + -0.16161616146564484, + -0.15528640151023865, + 0.0, + 0.052451856434345245 + ], + [ + 0.40474623441696167, + -0.007090866565704346, + 0.04280270263552666, + 0.007382054813206196, + -0.1649836003780365, + -0.16112597286701202, + 0.0, + 0.052451856434345245 + ], + [ + 0.4129403233528137, + -0.008992690593004227, + 0.04307324066758156, + -0.012778974138200283, + -0.16420793533325195, + -0.13222286105155945, + 0.0, + 0.052451856434345245 + ], + [ + 0.4158947169780731, + -0.011706409975886345, + 0.04625392705202103, + -0.02642669528722763, + -0.17046156525611877, + -0.12542973458766937, + 0.0, + 0.052451856434345245 + ], + [ + 0.41141819953918457, + -0.018445519730448723, + 0.0461270809173584, + -0.05388832092285156, + -0.1443691998720169, + -0.12284611165523529, + 0.0, + 0.052451856434345245 + ], + [ + 0.40926074981689453, + -0.027710001915693283, + 0.04723292589187622, + -0.08645518124103546, + -0.13053098320960999, + -0.10301874577999115, + 0.0, + 0.052451856434345245 + ], + [ + 0.40864917635917664, + -0.0350499302148819, + 0.047598209232091904, + -0.09188789129257202, + -0.12756367027759552, + -0.10006532818078995, + 0.0, + 0.052451856434345245 + ], + [ + 0.4068119525909424, + -0.04837974160909653, + 0.04782366380095482, + -0.11253365874290466, + -0.12216880917549133, + -0.1007600650191307, + 0.0, + 0.052451856434345245 + ], + [ + 0.4048822522163391, + -0.05242261663079262, + 0.04462491348385811, + -0.11236952990293503, + -0.1241849809885025, + -0.10170366615056992, + 0.0, + 0.052451856434345245 + ], + [ + 0.4036919176578522, + -0.045167453587055206, + 0.06013612449169159, + -0.13128912448883057, + -0.14451414346694946, + -0.06827972084283829, + 0.0, + 0.06443082541227341 + ], + [ + 0.3993563652038574, + -0.03200964257121086, + 0.07802685350179672, + -0.16599522531032562, + -0.16390876471996307, + -0.0028062257915735245, + 0.0, + 0.1914510726928711 + ], + [ + 0.3933073580265045, + -0.011001004837453365, + 0.098256915807724, + -0.16521607339382172, + -0.16888563334941864, + 0.059758685529232025, + 0.0, + 0.4148389995098114 + ], + [ + 0.3840445578098297, + 0.011689026840031147, + 0.1058998852968216, + -0.11627926677465439, + -0.18037454783916473, + 0.09866806864738464, + 0.0, + 0.7021830081939697 + ], + [ + 0.3774828016757965, + 0.02757786586880684, + 0.11251042038202286, + -0.11201807856559753, + -0.22043383121490479, + 0.15135346353054047, + 0.0, + 0.959831714630127 + ], + [ + 0.3706185519695282, + 0.04824173077940941, + 0.11221838742494583, + -0.06875712424516678, + -0.22882795333862305, + 0.1928224414587021, + 0.0, + 0.9994885921478271 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9499720335006714 + ], + [ + 0.6831957101821899 + ], + [ + 0.39099013805389404 + ], + [ + 0.1718904674053192 + ], + [ + 0.058401256799697876 + ], + [ + 0.052451856434345245 + ], + [ + 0.052451856434345245 + ], + [ + 0.052451856434345245 + ], + [ + 0.052451856434345245 + ], + [ + 0.052451856434345245 + ], + [ + 0.052451856434345245 + ], + [ + 0.052451856434345245 + ], + [ + 0.052451856434345245 + ], + [ + 0.052451856434345245 + ], + [ + 0.052451856434345245 + ], + [ + 0.052451856434345245 + ], + [ + 0.052451856434345245 + ], + [ + 0.052451856434345245 + ], + [ + 0.052451856434345245 + ], + [ + 0.052451856434345245 + ], + [ + 0.052451856434345245 + ], + [ + 0.052451856434345245 + ], + [ + 0.052451856434345245 + ], + [ + 0.052451856434345245 + ], + [ + 0.06443082541227341 + ], + [ + 0.1914510726928711 + ], + [ + 0.4148389995098114 + ], + [ + 0.7021830081939697 + ], + [ + 0.959831714630127 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3048112094402313, + 0.07774768024682999, + 0.1116248369216919 + ], + [ + 0.3015633821487427, + 0.07540905475616455, + 0.10062466561794281 + ], + [ + 0.3062826991081238, + 0.0666797086596489, + 0.09695713222026825 + ], + [ + 0.3098351061344147, + 0.05389762669801712, + 0.09018423408269882 + ], + [ + 0.3096381723880768, + 0.037432994693517685, + 0.08710845559835434 + ], + [ + 0.31252890825271606, + 0.0285034142434597, + 0.0849536582827568 + ], + [ + 0.31236496567726135, + 0.02442678064107895, + 0.0818498283624649 + ], + [ + 0.31059393286705017, + 0.017398422583937645, + 0.0749683752655983 + ], + [ + 0.30964070558547974, + 0.011599261313676834, + 0.07022467255592346 + ], + [ + 0.30853214859962463, + 0.007482481189072132, + 0.06295855343341827 + ], + [ + 0.309457004070282, + 0.005172113422304392, + 0.05475495383143425 + ], + [ + 0.3110329806804657, + 0.0016279416158795357, + 0.04819943755865097 + ], + [ + 0.3113784193992615, + 0.001181699219159782, + 0.04318944364786148 + ], + [ + 0.31186625361442566, + 0.0012711858144029975, + 0.039033032953739166 + ], + [ + 0.3170831799507141, + 0.00036677889875136316, + 0.039081230759620667 + ], + [ + 0.324614018201828, + 0.0015031717484816909, + 0.0378543995320797 + ], + [ + 0.3308945596218109, + 0.0013708482729271054, + 0.037785373628139496 + ], + [ + 0.3385292887687683, + -0.00011771739809773862, + 0.0387084037065506 + ], + [ + 0.34966036677360535, + -0.002957842545583844, + 0.039056792855262756 + ], + [ + 0.36161917448043823, + -0.004437102470546961, + 0.03931005299091339 + ], + [ + 0.3755899965763092, + -0.007016257382929325, + 0.041291363537311554 + ], + [ + 0.38752663135528564, + -0.007822281681001186, + 0.04172660782933235 + ], + [ + 0.39871978759765625, + -0.007563671562820673, + 0.04248015955090523 + ], + [ + 0.40474623441696167, + -0.007090866565704346, + 0.04280270263552666 + ], + [ + 0.4129403233528137, + -0.008992690593004227, + 0.04307324066758156 + ], + [ + 0.4158947169780731, + -0.011706409975886345, + 0.04625392705202103 + ], + [ + 0.41141819953918457, + -0.018445519730448723, + 0.0461270809173584 + ], + [ + 0.40926074981689453, + -0.027710001915693283, + 0.04723292589187622 + ], + [ + 0.40864917635917664, + -0.0350499302148819, + 0.047598209232091904 + ], + [ + 0.4068119525909424, + -0.04837974160909653, + 0.04782366380095482 + ], + [ + 0.4048822522163391, + -0.05242261663079262, + 0.04462491348385811 + ], + [ + 0.4036919176578522, + -0.045167453587055206, + 0.06013612449169159 + ], + [ + 0.3993563652038574, + -0.03200964257121086, + 0.07802685350179672 + ], + [ + 0.3933073580265045, + -0.011001004837453365, + 0.098256915807724 + ], + [ + 0.3840445578098297, + 0.011689026840031147, + 0.1058998852968216 + ], + [ + 0.3774828016757965, + 0.02757786586880684, + 0.11251042038202286 + ], + [ + 0.3706185519695282, + 0.04824173077940941, + 0.11221838742494583 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9903523334128921, + -0.03709434306232943, + 0.1335150381657957, + -0.03956704137067845, + -0.9990901878985812, + 0.01591369479249426, + 0.1328032565143291, + -0.021042959809681034, + -0.99091901228185 + ], + [ + 0.9945654004925946, + -0.03459245456853353, + 0.09819891155165165, + -0.03536178437416226, + -0.9993559336462849, + 0.006104268329416648, + 0.0979245033118903, + -0.009543582811827466, + -0.9951480853009936 + ], + [ + 0.9933094063876108, + -0.03627281740996866, + 0.10963897983397634, + -0.03967016599134777, + -0.9987929188047834, + 0.02896520801996678, + 0.10845598698140603, + -0.033120810113342745, + -0.993549349969756 + ], + [ + 0.9937396026814034, + -0.042182120022528566, + 0.10345178013456947, + -0.04375261785130678, + -0.9989583568727612, + 0.01295799618885622, + 0.10279742454830189, + -0.01740316018652635, + -0.994550058831509 + ], + [ + 0.9960830863375942, + -0.03385958450897542, + 0.08168239497622846, + -0.033211273802962064, + -0.999405241681141, + -0.009283005582523882, + 0.08194813240433078, + 0.006533868466692286, + -0.9966151775677021 + ], + [ + 0.9944137596310975, + -0.034944328722162465, + 0.09960004290412615, + -0.03553234174413117, + -0.9993599707516879, + 0.004135401959186751, + 0.09939178711807427, + -0.007651323372020239, + -0.9950189595701845 + ], + [ + 0.9944061132682419, + -0.03883026098476489, + 0.09822775945018584, + -0.03917084743419064, + -0.9992313404207821, + 0.0015404649216102895, + 0.09809243908699534, + -0.005379512314550163, + -0.9951627677125093 + ], + [ + 0.9953347028046808, + -0.045193374275249824, + 0.08524311300236993, + -0.044402789103420666, + -0.9989514994387029, + -0.011148725891518756, + 0.08565758409244782, + 0.007311681802722385, + -0.9962978056769275 + ], + [ + 0.9945891390446095, + -0.038546084788231634, + 0.09647094817612657, + -0.035015030251323485, + -0.9986628666490762, + -0.03803191334587635, + 0.09780793501041386, + 0.03444819478213342, + -0.9946089330612564 + ], + [ + 0.9946457118044117, + -0.04483486687615961, + 0.09311145311556626, + -0.04116430156356147, + -0.9983118321472292, + -0.040975432537397743, + 0.09479139341669907, + 0.03692317032758305, + -0.9948121788694995 + ], + [ + 0.994130332159763, + -0.04581814389521383, + 0.09800806278014443, + -0.04136040354478596, + -0.9980362358292273, + -0.04704241692812286, + 0.09997099428600131, + 0.04271264053912334, + -0.9940731515535685 + ], + [ + 0.995058239900508, + -0.03843156163263894, + 0.09155388728273865, + -0.033952326048512345, + -0.9981724468653325, + -0.04999005775923047, + 0.0933077636748371, + 0.04663455145439229, + -0.9945445590061056 + ], + [ + 0.9929874259598076, + -0.053195185462770925, + 0.10557577434855424, + -0.04786208622740938, + -0.9974773703230339, + -0.05242247986699237, + 0.10809806930595693, + 0.04700178653015858, + -0.9930285189637293 + ], + [ + 0.9935838368568322, + -0.05089905678814354, + 0.10099725320489178, + -0.04580787858243197, + -0.9975904590377017, + -0.05210483947508609, + 0.1034059833695945, + 0.04714405641249655, + -0.9935213337157598 + ], + [ + 0.9924130544602826, + -0.05943556594688333, + 0.10762779769829607, + -0.053340296134702994, + -0.9968522674050776, + -0.05865466543777483, + 0.11077518740708071, + 0.05246875708389508, + -0.9924595142296722 + ], + [ + 0.9916771935283301, + -0.061220683673423926, + 0.11326240208618862, + -0.05551821298575453, + -0.9970586540434833, + -0.052837187887563995, + 0.11616398694364488, + 0.04610930803596935, + -0.9921591907802904 + ], + [ + 0.9906317440407638, + -0.06985757228361024, + 0.1173399646045392, + -0.06451056105495794, + -0.9967246220295989, + -0.04876899991108626, + 0.12036251580591396, + 0.040742452486235516, + -0.9918936018315058 + ], + [ + 0.9876040883246346, + -0.09849320866696756, + 0.12221805337572536, + -0.0945341528615537, + -0.9948039517464234, + -0.037794067423965856, + 0.12530546144208907, + 0.025771795362063234, + -0.9917834218702188 + ], + [ + 0.9839892721048852, + -0.11977869200043961, + 0.13197794257057371, + -0.11706065534345408, + -0.9927245207991574, + -0.028192707827449308, + 0.13439462546195396, + 0.012291897605605442, + -0.9908516508035873 + ], + [ + 0.9842049059904285, + -0.10910460415889534, + 0.13941624143442696, + -0.10622113882368187, + -0.9939487551250528, + -0.027981098126378737, + 0.14162546625297226, + 0.012730182115299325, + -0.9898384564018209 + ], + [ + 0.9821952829272743, + -0.11525513684671233, + 0.14835322586939914, + -0.11192638523710514, + -0.993244550731451, + -0.03062265060429794, + 0.15088045096422026, + 0.013472782664445846, + -0.9884602033689115 + ], + [ + 0.9810657476541035, + -0.13146486627807516, + 0.14222161479318982, + -0.12823607270053802, + -0.9912377033117792, + -0.03167530886244595, + 0.14513961705281223, + 0.012837619237102789, + -0.989327896652109 + ], + [ + 0.9750925901192032, + -0.15484466093450766, + 0.15880041459234626, + -0.15264757085425867, + -0.9879381855661664, + -0.02601654497671064, + 0.16091351654512367, + 0.0011280426891226904, + -0.986967865592783 + ], + [ + 0.9736442030073413, + -0.1592286397253897, + 0.1632887204965518, + -0.15825122951535403, + -0.9872148785525815, + -0.019061267567776284, + 0.16423615408026854, + -0.007281748115231091, + -0.9863941716359178 + ], + [ + 0.9779368473418338, + -0.13389786104707666, + 0.16034614251091972, + -0.1300644601194659, + -0.9909149474920809, + -0.034216999438848816, + 0.16347097242307662, + 0.012606730098803394, + -0.9864675927425438 + ], + [ + 0.9777644321841132, + -0.1295046385863398, + 0.1649401823095281, + -0.12328795983320716, + -0.9912368198859296, + -0.04743043181961256, + 0.16963724271469502, + 0.0260406506648918, + -0.9851624690359986 + ], + [ + 0.9821391549338389, + -0.13005015200654094, + 0.13597660941838657, + -0.12126258887602419, + -0.9900736663148344, + -0.07105997332525789, + 0.14386822055245274, + 0.05330190646663239, + -0.9881603320727327 + ], + [ + 0.9862362830879065, + -0.11363199591391959, + 0.12010729963482497, + -0.10196178249847304, + -0.989827354383311, + -0.09922501410566327, + 0.13016062703707576, + 0.08561295473906948, + -0.9877897717379752 + ], + [ + 0.9869130685846551, + -0.11109192965284975, + 0.11688104304302746, + -0.09908672183066039, + -0.9896338729705609, + -0.10395488938063908, + 0.12721798856165384, + 0.091013079473743, + -0.9876903374798363 + ], + [ + 0.9875124694764918, + -0.11356899512184836, + 0.10918427531221958, + -0.09983992751540131, + -0.9872582770487107, + -0.12390755938412558, + 0.12186513653280986, + 0.11145930982122927, + -0.9862685794204411 + ], + [ + 0.9871713826274635, + -0.11470582725529449, + 0.11106410092852083, + -0.10074655037264024, + -0.9871482345114687, + -0.12405037560968342, + 0.12386603210483164, + 0.11126965576728014, + -0.986040703924557 + ], + [ + 0.9872701265825855, + -0.08644848074817878, + 0.13350789240317382, + -0.06751548303206147, + -0.9877975837240028, + -0.14034811413043333, + 0.1440116547663872, + 0.1295476505589873, + -0.9810596564562695 + ], + [ + 0.9865931212630867, + -0.02972972914243327, + 0.16046855231314866, + -0.0027686103301940903, + -0.9861748535757171, + -0.16568492077359454, + 0.16317581889851118, + 0.1630193282406424, + -0.973035636935652 + ], + [ + 0.9840130631607763, + 0.03131520659042279, + 0.17532155989822082, + 0.05887342486041426, + -0.9862731159775826, + -0.15427008959962207, + 0.16808394145233338, + 0.16212556410409001, + -0.9723492634284141 + ], + [ + 0.9789917291982687, + 0.0771307765132282, + 0.1887486092024262, + 0.09690991263297255, + -0.9904665552243255, + -0.0979003157069884, + 0.17939805738873926, + 0.11413521059044318, + -0.9771333024253251 + ], + [ + 0.9646472217930359, + 0.12566880228114397, + 0.2316529508126332, + 0.14712787975659503, + -0.9860573539258755, + -0.07774497904707113, + 0.21865297730720806, + 0.10907908553853647, + -0.9696868714243635 + ], + [ + 0.9558833014657975, + 0.1758815000630911, + 0.23527178308161747, + 0.18663456073533635, + -0.982134650620824, + -0.024063848176037943, + 0.22683618476331072, + 0.06691207652933989, + -0.9716316788251381 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0032478272914886475, + -0.002338625490665436, + -0.011000171303749084, + -0.011642791330814362, + 0.0351150706410408, + 0.0043912120163440704, + 1.0 + ], + [ + 0.0047193169593811035, + -0.008729346096515656, + -0.0036675333976745605, + 0.02373368851840496, + -0.010588057339191437, + -0.004376117140054703, + 1.0 + ], + [ + 0.0035524070262908936, + -0.012782081961631775, + -0.0067728981375694275, + -0.015826767310500145, + 0.0056904032826423645, + -0.004083678126335144, + 1.0 + ], + [ + -0.00019693374633789062, + -0.016464632004499435, + -0.0030757784843444824, + -0.024052705615758896, + 0.020939208567142487, + 0.010670311748981476, + 1.0 + ], + [ + 0.0028907358646392822, + -0.008929580450057983, + -0.002154797315597534, + 0.014245439320802689, + -0.017516031861305237, + -0.0023872293531894684, + 1.0 + ], + [ + -0.00016394257545471191, + -0.0040766336023807526, + -0.0031038299202919006, + -0.002283866051584482, + 0.0013057291507720947, + -0.0036540888249874115, + 1.0 + ], + [ + -0.0017710328102111816, + -0.007028358057141304, + -0.006881453096866608, + -0.012744328007102013, + 0.012487754225730896, + -0.005210511386394501, + 0.0 + ], + [ + -0.0009532272815704346, + -0.005799161270260811, + -0.004743702709674835, + -0.0272823553532362, + -0.012201875448226929, + 0.009390365332365036, + 0.0 + ], + [ + -0.0011085569858551025, + -0.004116780124604702, + -0.007266119122505188, + -0.00247761607170105, + 0.003030627965927124, + -0.006171301007270813, + 0.0 + ], + [ + 0.0009248554706573486, + -0.0023103677667677402, + -0.008203599601984024, + -0.005842197686433792, + -0.005204342305660248, + -0.00021833926439285278, + 0.0 + ], + [ + 0.0015759766101837158, + -0.003544171806424856, + -0.006555516272783279, + -0.0039151497185230255, + 0.006694577634334564, + 0.007472917437553406, + 0.0 + ], + [ + 0.00034543871879577637, + -0.00044624239671975374, + -0.00500999391078949, + -0.0004404224455356598, + -0.014866016805171967, + -0.014055106788873672, + 0.0 + ], + [ + 0.00048783421516418457, + 8.948659524321556e-05, + -0.0041564106941223145, + -0.00011945143342018127, + 0.00471854954957962, + 0.002091754227876663, + 0.0 + ], + [ + 0.005216926336288452, + -0.0009044068865478039, + 4.8197805881500244e-05, + -0.005402319133281708, + -0.007411845028400421, + -0.00762534886598587, + 0.0 + ], + [ + 0.007530838251113892, + 0.0011363928206264973, + -0.0012268312275409698, + 0.006377946585416794, + -0.005423836410045624, + -0.0022293664515018463, + 0.0 + ], + [ + 0.00628054141998291, + -0.00013232347555458546, + -6.90259039402008e-05, + 0.005387935787439346, + -0.0042282044887542725, + -0.00910302996635437, + 0.0 + ], + [ + 0.0076347291469573975, + -0.0014885657001286745, + 0.0009230300784111023, + 0.015072889626026154, + -0.0049806684255599976, + -0.030401140451431274, + 0.0 + ], + [ + 0.011131078004837036, + -0.002840125234797597, + 0.0003483891487121582, + 0.013574709184467793, + -0.009166806936264038, + -0.02297891676425934, + 0.0 + ], + [ + 0.011958807706832886, + -0.0014792599249631166, + 0.00025326013565063477, + -0.00045540928840637207, + -0.007300719618797302, + 0.010899163782596588, + 0.0 + ], + [ + 0.013970822095870972, + -0.0025791549123823643, + 0.001981310546398163, + -0.0007690675556659698, + -0.009355619549751282, + -0.0059561654925346375, + 0.0 + ], + [ + 0.01193663477897644, + -0.0008060242980718613, + 0.00043524429202079773, + 0.000653853639960289, + 0.005804777145385742, + -0.01650824397802353, + 0.0 + ], + [ + 0.011193156242370605, + 0.0002586101181805134, + 0.000753551721572876, + 0.011832436546683311, + -0.015962079167366028, + -0.025312289595603943, + 0.0 + ], + [ + 0.00602644681930542, + 0.0004728049971163273, + 0.00032254308462142944, + 0.008524991571903229, + -0.0033674389123916626, + -0.0058395713567733765, + 0.0 + ], + [ + 0.00819408893585205, + -0.001901824027299881, + 0.0002705380320549011, + -0.02016102895140648, + 0.0007756650447845459, + 0.028903111815452576, + 0.0 + ], + [ + 0.0029543936252593994, + -0.0027137193828821182, + 0.0031806863844394684, + -0.013647721149027348, + -0.006253629922866821, + 0.006793126463890076, + 0.0 + ], + [ + -0.00447651743888855, + -0.006739109754562378, + -0.00012684613466262817, + -0.027461625635623932, + 0.026092365384101868, + 0.002583622932434082, + 0.0 + ], + [ + -0.002157449722290039, + -0.00926448218524456, + 0.0011058449745178223, + -0.0325668603181839, + 0.013838216662406921, + 0.01982736587524414, + 0.0 + ], + [ + -0.0006115734577178955, + -0.007339928299188614, + 0.000365283340215683, + -0.00543271005153656, + 0.0029673129320144653, + 0.0029534175992012024, + 0.0 + ], + [ + -0.001837223768234253, + -0.01332981139421463, + 0.00022545456886291504, + -0.02064576745033264, + 0.005394861102104187, + -0.0006947368383407593, + 0.0 + ], + [ + -0.0019297003746032715, + -0.004042875021696091, + -0.00319875031709671, + 0.000164128839969635, + -0.0020161718130111694, + -0.000943601131439209, + 0.0 + ], + [ + -0.0011903345584869385, + 0.0072551630437374115, + 0.01551121100783348, + -0.01891959458589554, + -0.02032916247844696, + 0.03342394530773163, + 1.0 + ], + [ + -0.004335552453994751, + 0.013157811015844345, + 0.017890729010105133, + -0.034706100821495056, + -0.01939462125301361, + 0.06547349691390991, + 1.0 + ], + [ + -0.006049007177352905, + 0.02100863680243492, + 0.020230062305927277, + 0.0007791519165039062, + -0.004976868629455566, + 0.0625649094581604, + 1.0 + ], + [ + -0.009262800216674805, + 0.022690031677484512, + 0.007642969489097595, + 0.04893680661916733, + -0.011488914489746094, + 0.03890938311815262, + 1.0 + ], + [ + -0.006561756134033203, + 0.015888839960098267, + 0.006610535085201263, + 0.004261188209056854, + -0.04005928337574005, + 0.05268539488315582, + 1.0 + ], + [ + -0.0068642497062683105, + 0.02066386491060257, + -0.00029203295707702637, + 0.043260954320430756, + -0.008394122123718262, + 0.04146897792816162, + 1.0 + ], + [ + -0.011766821146011353, + 0.021569695323705673, + 0.0025898590683937073, + 0.060914523899555206, + 0.006519436836242676, + 0.024097919464111328, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9499720335006714 + ], + [ + 0.6831957101821899 + ], + [ + 0.39099013805389404 + ], + [ + 0.1718904674053192 + ], + [ + 0.058401256799697876 + ], + [ + 0.052451856434345245 + ], + [ + 0.052451856434345245 + ], + [ + 0.052451856434345245 + ], + [ + 0.052451856434345245 + ], + [ + 0.052451856434345245 + ], + [ + 0.052451856434345245 + ], + [ + 0.052451856434345245 + ], + [ + 0.052451856434345245 + ], + [ + 0.052451856434345245 + ], + [ + 0.052451856434345245 + ], + [ + 0.052451856434345245 + ], + [ + 0.052451856434345245 + ], + [ + 0.052451856434345245 + ], + [ + 0.052451856434345245 + ], + [ + 0.052451856434345245 + ], + [ + 0.052451856434345245 + ], + [ + 0.052451856434345245 + ], + [ + 0.052451856434345245 + ], + [ + 0.052451856434345245 + ], + [ + 0.06443082541227341 + ], + [ + 0.1914510726928711 + ], + [ + 0.4148389995098114 + ], + [ + 0.7021830081939697 + ], + [ + 0.959831714630127 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3015633821487427, + 0.07540905475616455, + 0.10062466561794281 + ], + [ + 0.3062826991081238, + 0.0666797086596489, + 0.09695713222026825 + ], + [ + 0.3098351061344147, + 0.05389762669801712, + 0.09018423408269882 + ], + [ + 0.3096381723880768, + 0.037432994693517685, + 0.08710845559835434 + ], + [ + 0.31252890825271606, + 0.0285034142434597, + 0.0849536582827568 + ], + [ + 0.31236496567726135, + 0.02442678064107895, + 0.0818498283624649 + ], + [ + 0.31059393286705017, + 0.017398422583937645, + 0.0749683752655983 + ], + [ + 0.30964070558547974, + 0.011599261313676834, + 0.07022467255592346 + ], + [ + 0.30853214859962463, + 0.007482481189072132, + 0.06295855343341827 + ], + [ + 0.309457004070282, + 0.005172113422304392, + 0.05475495383143425 + ], + [ + 0.3110329806804657, + 0.0016279416158795357, + 0.04819943755865097 + ], + [ + 0.3113784193992615, + 0.001181699219159782, + 0.04318944364786148 + ], + [ + 0.31186625361442566, + 0.0012711858144029975, + 0.039033032953739166 + ], + [ + 0.3170831799507141, + 0.00036677889875136316, + 0.039081230759620667 + ], + [ + 0.324614018201828, + 0.0015031717484816909, + 0.0378543995320797 + ], + [ + 0.3308945596218109, + 0.0013708482729271054, + 0.037785373628139496 + ], + [ + 0.3385292887687683, + -0.00011771739809773862, + 0.0387084037065506 + ], + [ + 0.34966036677360535, + -0.002957842545583844, + 0.039056792855262756 + ], + [ + 0.36161917448043823, + -0.004437102470546961, + 0.03931005299091339 + ], + [ + 0.3755899965763092, + -0.007016257382929325, + 0.041291363537311554 + ], + [ + 0.38752663135528564, + -0.007822281681001186, + 0.04172660782933235 + ], + [ + 0.39871978759765625, + -0.007563671562820673, + 0.04248015955090523 + ], + [ + 0.40474623441696167, + -0.007090866565704346, + 0.04280270263552666 + ], + [ + 0.4129403233528137, + -0.008992690593004227, + 0.04307324066758156 + ], + [ + 0.4158947169780731, + -0.011706409975886345, + 0.04625392705202103 + ], + [ + 0.41141819953918457, + -0.018445519730448723, + 0.0461270809173584 + ], + [ + 0.40926074981689453, + -0.027710001915693283, + 0.04723292589187622 + ], + [ + 0.40864917635917664, + -0.0350499302148819, + 0.047598209232091904 + ], + [ + 0.4068119525909424, + -0.04837974160909653, + 0.04782366380095482 + ], + [ + 0.4048822522163391, + -0.05242261663079262, + 0.04462491348385811 + ], + [ + 0.4036919176578522, + -0.045167453587055206, + 0.06013612449169159 + ], + [ + 0.3993563652038574, + -0.03200964257121086, + 0.07802685350179672 + ], + [ + 0.3933073580265045, + -0.011001004837453365, + 0.098256915807724 + ], + [ + 0.3840445578098297, + 0.011689026840031147, + 0.1058998852968216 + ], + [ + 0.3774828016757965, + 0.02757786586880684, + 0.11251042038202286 + ], + [ + 0.3706185519695282, + 0.04824173077940941, + 0.11221838742494583 + ], + [ + 0.35885173082351685, + 0.06981142610311508, + 0.11480824649333954 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9945654004925946, + -0.03459245456853353, + 0.09819891155165165, + -0.03536178437416226, + -0.9993559336462849, + 0.006104268329416648, + 0.0979245033118903, + -0.009543582811827466, + -0.9951480853009936 + ], + [ + 0.9933094063876108, + -0.03627281740996866, + 0.10963897983397634, + -0.03967016599134777, + -0.9987929188047834, + 0.02896520801996678, + 0.10845598698140603, + -0.033120810113342745, + -0.993549349969756 + ], + [ + 0.9937396026814034, + -0.042182120022528566, + 0.10345178013456947, + -0.04375261785130678, + -0.9989583568727612, + 0.01295799618885622, + 0.10279742454830189, + -0.01740316018652635, + -0.994550058831509 + ], + [ + 0.9960830863375942, + -0.03385958450897542, + 0.08168239497622846, + -0.033211273802962064, + -0.999405241681141, + -0.009283005582523882, + 0.08194813240433078, + 0.006533868466692286, + -0.9966151775677021 + ], + [ + 0.9944137596310975, + -0.034944328722162465, + 0.09960004290412615, + -0.03553234174413117, + -0.9993599707516879, + 0.004135401959186751, + 0.09939178711807427, + -0.007651323372020239, + -0.9950189595701845 + ], + [ + 0.9944061132682419, + -0.03883026098476489, + 0.09822775945018584, + -0.03917084743419064, + -0.9992313404207821, + 0.0015404649216102895, + 0.09809243908699534, + -0.005379512314550163, + -0.9951627677125093 + ], + [ + 0.9953347028046808, + -0.045193374275249824, + 0.08524311300236993, + -0.044402789103420666, + -0.9989514994387029, + -0.011148725891518756, + 0.08565758409244782, + 0.007311681802722385, + -0.9962978056769275 + ], + [ + 0.9945891390446095, + -0.038546084788231634, + 0.09647094817612657, + -0.035015030251323485, + -0.9986628666490762, + -0.03803191334587635, + 0.09780793501041386, + 0.03444819478213342, + -0.9946089330612564 + ], + [ + 0.9946457118044117, + -0.04483486687615961, + 0.09311145311556626, + -0.04116430156356147, + -0.9983118321472292, + -0.040975432537397743, + 0.09479139341669907, + 0.03692317032758305, + -0.9948121788694995 + ], + [ + 0.994130332159763, + -0.04581814389521383, + 0.09800806278014443, + -0.04136040354478596, + -0.9980362358292273, + -0.04704241692812286, + 0.09997099428600131, + 0.04271264053912334, + -0.9940731515535685 + ], + [ + 0.995058239900508, + -0.03843156163263894, + 0.09155388728273865, + -0.033952326048512345, + -0.9981724468653325, + -0.04999005775923047, + 0.0933077636748371, + 0.04663455145439229, + -0.9945445590061056 + ], + [ + 0.9929874259598076, + -0.053195185462770925, + 0.10557577434855424, + -0.04786208622740938, + -0.9974773703230339, + -0.05242247986699237, + 0.10809806930595693, + 0.04700178653015858, + -0.9930285189637293 + ], + [ + 0.9935838368568322, + -0.05089905678814354, + 0.10099725320489178, + -0.04580787858243197, + -0.9975904590377017, + -0.05210483947508609, + 0.1034059833695945, + 0.04714405641249655, + -0.9935213337157598 + ], + [ + 0.9924130544602826, + -0.05943556594688333, + 0.10762779769829607, + -0.053340296134702994, + -0.9968522674050776, + -0.05865466543777483, + 0.11077518740708071, + 0.05246875708389508, + -0.9924595142296722 + ], + [ + 0.9916771935283301, + -0.061220683673423926, + 0.11326240208618862, + -0.05551821298575453, + -0.9970586540434833, + -0.052837187887563995, + 0.11616398694364488, + 0.04610930803596935, + -0.9921591907802904 + ], + [ + 0.9906317440407638, + -0.06985757228361024, + 0.1173399646045392, + -0.06451056105495794, + -0.9967246220295989, + -0.04876899991108626, + 0.12036251580591396, + 0.040742452486235516, + -0.9918936018315058 + ], + [ + 0.9876040883246346, + -0.09849320866696756, + 0.12221805337572536, + -0.0945341528615537, + -0.9948039517464234, + -0.037794067423965856, + 0.12530546144208907, + 0.025771795362063234, + -0.9917834218702188 + ], + [ + 0.9839892721048852, + -0.11977869200043961, + 0.13197794257057371, + -0.11706065534345408, + -0.9927245207991574, + -0.028192707827449308, + 0.13439462546195396, + 0.012291897605605442, + -0.9908516508035873 + ], + [ + 0.9842049059904285, + -0.10910460415889534, + 0.13941624143442696, + -0.10622113882368187, + -0.9939487551250528, + -0.027981098126378737, + 0.14162546625297226, + 0.012730182115299325, + -0.9898384564018209 + ], + [ + 0.9821952829272743, + -0.11525513684671233, + 0.14835322586939914, + -0.11192638523710514, + -0.993244550731451, + -0.03062265060429794, + 0.15088045096422026, + 0.013472782664445846, + -0.9884602033689115 + ], + [ + 0.9810657476541035, + -0.13146486627807516, + 0.14222161479318982, + -0.12823607270053802, + -0.9912377033117792, + -0.03167530886244595, + 0.14513961705281223, + 0.012837619237102789, + -0.989327896652109 + ], + [ + 0.9750925901192032, + -0.15484466093450766, + 0.15880041459234626, + -0.15264757085425867, + -0.9879381855661664, + -0.02601654497671064, + 0.16091351654512367, + 0.0011280426891226904, + -0.986967865592783 + ], + [ + 0.9736442030073413, + -0.1592286397253897, + 0.1632887204965518, + -0.15825122951535403, + -0.9872148785525815, + -0.019061267567776284, + 0.16423615408026854, + -0.007281748115231091, + -0.9863941716359178 + ], + [ + 0.9779368473418338, + -0.13389786104707666, + 0.16034614251091972, + -0.1300644601194659, + -0.9909149474920809, + -0.034216999438848816, + 0.16347097242307662, + 0.012606730098803394, + -0.9864675927425438 + ], + [ + 0.9777644321841132, + -0.1295046385863398, + 0.1649401823095281, + -0.12328795983320716, + -0.9912368198859296, + -0.04743043181961256, + 0.16963724271469502, + 0.0260406506648918, + -0.9851624690359986 + ], + [ + 0.9821391549338389, + -0.13005015200654094, + 0.13597660941838657, + -0.12126258887602419, + -0.9900736663148344, + -0.07105997332525789, + 0.14386822055245274, + 0.05330190646663239, + -0.9881603320727327 + ], + [ + 0.9862362830879065, + -0.11363199591391959, + 0.12010729963482497, + -0.10196178249847304, + -0.989827354383311, + -0.09922501410566327, + 0.13016062703707576, + 0.08561295473906948, + -0.9877897717379752 + ], + [ + 0.9869130685846551, + -0.11109192965284975, + 0.11688104304302746, + -0.09908672183066039, + -0.9896338729705609, + -0.10395488938063908, + 0.12721798856165384, + 0.091013079473743, + -0.9876903374798363 + ], + [ + 0.9875124694764918, + -0.11356899512184836, + 0.10918427531221958, + -0.09983992751540131, + -0.9872582770487107, + -0.12390755938412558, + 0.12186513653280986, + 0.11145930982122927, + -0.9862685794204411 + ], + [ + 0.9871713826274635, + -0.11470582725529449, + 0.11106410092852083, + -0.10074655037264024, + -0.9871482345114687, + -0.12405037560968342, + 0.12386603210483164, + 0.11126965576728014, + -0.986040703924557 + ], + [ + 0.9872701265825855, + -0.08644848074817878, + 0.13350789240317382, + -0.06751548303206147, + -0.9877975837240028, + -0.14034811413043333, + 0.1440116547663872, + 0.1295476505589873, + -0.9810596564562695 + ], + [ + 0.9865931212630867, + -0.02972972914243327, + 0.16046855231314866, + -0.0027686103301940903, + -0.9861748535757171, + -0.16568492077359454, + 0.16317581889851118, + 0.1630193282406424, + -0.973035636935652 + ], + [ + 0.9840130631607763, + 0.03131520659042279, + 0.17532155989822082, + 0.05887342486041426, + -0.9862731159775826, + -0.15427008959962207, + 0.16808394145233338, + 0.16212556410409001, + -0.9723492634284141 + ], + [ + 0.9789917291982687, + 0.0771307765132282, + 0.1887486092024262, + 0.09690991263297255, + -0.9904665552243255, + -0.0979003157069884, + 0.17939805738873926, + 0.11413521059044318, + -0.9771333024253251 + ], + [ + 0.9646472217930359, + 0.12566880228114397, + 0.2316529508126332, + 0.14712787975659503, + -0.9860573539258755, + -0.07774497904707113, + 0.21865297730720806, + 0.10907908553853647, + -0.9696868714243635 + ], + [ + 0.9558833014657975, + 0.1758815000630911, + 0.23527178308161747, + 0.18663456073533635, + -0.982134650620824, + -0.024063848176037943, + 0.22683618476331072, + 0.06691207652933989, + -0.9716316788251381 + ], + [ + 0.9525326648265159, + 0.21352795131282085, + 0.21699616689390253, + 0.20992676727846557, + -0.9769070062296212, + 0.039792631974929576, + 0.2204819149465773, + 0.007649522052314867, + -0.9753610664742887 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005620.json b/json/chunk-0005/episode_0005620.json new file mode 100644 index 0000000000000000000000000000000000000000..ee7491e8c07da73affb051ec4d329d11992446e3 --- /dev/null +++ b/json/chunk-0005/episode_0005620.json @@ -0,0 +1,2122 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 34, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPICK UP THE SPOON AND PUT ON THE YELLOW TOWEL." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005620.mp4", + "start": 0, + "end": 34, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.29914408922195435, + 0.07378081977367401, + 0.1228170320391655, + 0.0061291782185435295, + -0.08904871344566345, + 0.09756384044885635, + 0.0, + 1.0008161067962646 + ], + [ + 0.30071014165878296, + 0.07417386025190353, + 0.11117596924304962, + 0.0011778820771723986, + -0.05414567142724991, + 0.09333836287260056, + 0.0, + 1.0008161067962646 + ], + [ + 0.32220038771629333, + 0.11665847152471542, + 0.08894722908735275, + -0.002797456458210945, + -0.02874576672911644, + 0.1524370014667511, + 0.0, + 1.0008161067962646 + ], + [ + 0.3539493978023529, + 0.15398132801055908, + 0.07403870671987534, + 0.02333063632249832, + -0.05037771537899971, + 0.07530489563941956, + 0.0, + 1.0008161067962646 + ], + [ + 0.3692578971385956, + 0.17563654482364655, + 0.06440760940313339, + 0.026998719200491905, + -0.05540267005562782, + 0.07985992729663849, + 0.0, + 1.0008161067962646 + ], + [ + 0.36549028754234314, + 0.18382515013217926, + 0.04959108307957649, + 0.01526873279362917, + -0.018628524616360664, + 0.07523714751005173, + 0.0, + 1.0001531839370728 + ], + [ + 0.362989604473114, + 0.18195047974586487, + 0.04144515097141266, + 0.023418977856636047, + -0.017086368054151535, + 0.07579626888036728, + 0.0, + 1.0008161067962646 + ], + [ + 0.35655340552330017, + 0.1784306913614273, + 0.03064020350575447, + 0.030261099338531494, + 0.0021245544776320457, + 0.06711382418870926, + 0.0, + 1.0008161067962646 + ], + [ + 0.3511826992034912, + 0.17647291719913483, + 0.022788435220718384, + 0.029669182375073433, + 0.013439763337373734, + 0.06580273807048798, + 0.0, + 1.0008161067962646 + ], + [ + 0.34653881192207336, + 0.17280450463294983, + 0.016177747398614883, + 0.03801911324262619, + 0.03136404603719711, + 0.05717760697007179, + 0.0, + 1.0001531839370728 + ], + [ + 0.3445925712585449, + 0.16874784231185913, + 0.011694325134158134, + 0.050310391932725906, + 0.04247301444411278, + 0.0428888201713562, + 0.0, + 1.0001531839370728 + ], + [ + 0.3437984585762024, + 0.1700645536184311, + 0.009193055331707, + 0.06568299978971481, + 0.050562065094709396, + 0.048252612352371216, + 0.0, + 0.9499720335006714 + ], + [ + 0.3444320857524872, + 0.1690923571586609, + 0.008649270050227642, + 0.07059323042631149, + 0.05017264559864998, + 0.06735968589782715, + 0.0, + 0.6551066637039185 + ], + [ + 0.3444975018501282, + 0.16978412866592407, + 0.008398782461881638, + 0.08801868557929993, + 0.05779153108596802, + 0.07108534127473831, + 0.0, + 0.41037410497665405 + ], + [ + 0.3408532440662384, + 0.17105858027935028, + 0.009825089015066624, + 0.13783937692642212, + 0.03345835208892822, + 0.09169191122055054, + 0.0, + 0.40239205956459045 + ], + [ + 0.32668015360832214, + 0.17580661177635193, + 0.02921701967716217, + 0.15015707910060883, + -0.09528566151857376, + 0.13842399418354034, + 0.0, + 0.40239205956459045 + ], + [ + 0.32870393991470337, + 0.17294059693813324, + 0.05850772187113762, + 0.2269606739282608, + -0.1603247970342636, + 0.15312418341636658, + 0.0, + 0.40239205956459045 + ], + [ + 0.33454975485801697, + 0.1511562317609787, + 0.07470592856407166, + 0.22030150890350342, + -0.17308825254440308, + 0.14136099815368652, + 0.0, + 0.40239205956459045 + ], + [ + 0.35476770997047424, + 0.11186603456735611, + 0.08765392750501633, + 0.12575939297676086, + -0.1800258457660675, + 0.11438559740781784, + 0.0, + 0.40239205956459045 + ], + [ + 0.36780646443367004, + 0.08290984481573105, + 0.0865994319319725, + 0.05724179372191429, + -0.12796519696712494, + 0.11386213451623917, + 0.0, + 0.40239205956459045 + ], + [ + 0.36910855770111084, + 0.07136300951242447, + 0.07918793708086014, + 0.01122545637190342, + -0.09152386337518692, + 0.12579099833965302, + 0.0, + 0.4015096127986908 + ], + [ + 0.3689028322696686, + 0.0609537735581398, + 0.06989839673042297, + 0.004350538831204176, + -0.07662542164325714, + 0.14115527272224426, + 0.0, + 0.4015096127986908 + ], + [ + 0.3602772355079651, + 0.055570680648088455, + 0.051866400986909866, + 0.0029278984293341637, + -0.02144762873649597, + 0.14119912683963776, + 0.0, + 0.4015096127986908 + ], + [ + 0.35476380586624146, + 0.054726533591747284, + 0.03265100717544556, + 0.002440178534016013, + 0.03376520797610283, + 0.14426106214523315, + 0.0, + 0.4015096127986908 + ], + [ + 0.3529738485813141, + 0.05511825159192085, + 0.020998485386371613, + 0.02432253584265709, + 0.05651187151670456, + 0.14764481782913208, + 0.0, + 0.4015096127986908 + ], + [ + 0.3521125018596649, + 0.048782773315906525, + 0.013860044069588184, + 0.009005701169371605, + 0.08439208567142487, + 0.12831832468509674, + 0.0, + 0.4015096127986908 + ], + [ + 0.3528818190097809, + 0.04677489027380943, + 0.013826756738126278, + 0.012736891396343708, + 0.08136799931526184, + 0.11686795204877853, + 0.0, + 0.4784920811653137 + ], + [ + 0.3523518443107605, + 0.04623056575655937, + 0.01208778191357851, + 0.016841791570186615, + 0.07519540935754776, + 0.11593804508447647, + 0.0, + 0.8055269122123718 + ], + [ + 0.3477836847305298, + 0.04899512231349945, + 0.02314840257167816, + 0.03795286640524864, + 0.03967415541410446, + 0.11676929146051407, + 0.0, + 1.0014774799346924 + ], + [ + 0.33981436491012573, + 0.05108678713440895, + 0.03609461709856987, + 0.04408510774374008, + 0.003341703675687313, + 0.10875806212425232, + 0.0, + 1.0047606229782104 + ], + [ + 0.32993221282958984, + 0.06729155778884888, + 0.07126035541296005, + 0.0424407422542572, + -0.10062171518802643, + 0.15457852184772491, + 0.0, + 1.0001531839370728 + ], + [ + 0.32348981499671936, + 0.07649648934602737, + 0.07765740901231766, + -0.00016802117170300335, + -0.0891318991780281, + 0.17786762118339539, + 0.0, + 1.0001531839370728 + ], + [ + 0.3250937759876251, + 0.08796647191047668, + 0.08617589622735977, + -0.03598418086767197, + -0.0965254008769989, + 0.15878485143184662, + 0.0, + 1.0001531839370728 + ], + [ + 0.32847315073013306, + 0.08726437389850616, + 0.08050326257944107, + -0.05317062512040138, + -0.08622408658266068, + 0.10564427822828293, + 0.0, + 1.0001531839370728 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9499720335006714 + ], + [ + 0.6551066637039185 + ], + [ + 0.41037410497665405 + ], + [ + 0.40239205956459045 + ], + [ + 0.40239205956459045 + ], + [ + 0.40239205956459045 + ], + [ + 0.40239205956459045 + ], + [ + 0.40239205956459045 + ], + [ + 0.40239205956459045 + ], + [ + 0.4015096127986908 + ], + [ + 0.4015096127986908 + ], + [ + 0.4015096127986908 + ], + [ + 0.4015096127986908 + ], + [ + 0.4015096127986908 + ], + [ + 0.4015096127986908 + ], + [ + 0.4784920811653137 + ], + [ + 0.8055269122123718 + ], + [ + 1.0014774799346924 + ], + [ + 1.0047606229782104 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.29914408922195435, + 0.07378081977367401, + 0.1228170320391655 + ], + [ + 0.30071014165878296, + 0.07417386025190353, + 0.11117596924304962 + ], + [ + 0.32220038771629333, + 0.11665847152471542, + 0.08894722908735275 + ], + [ + 0.3539493978023529, + 0.15398132801055908, + 0.07403870671987534 + ], + [ + 0.3692578971385956, + 0.17563654482364655, + 0.06440760940313339 + ], + [ + 0.36549028754234314, + 0.18382515013217926, + 0.04959108307957649 + ], + [ + 0.362989604473114, + 0.18195047974586487, + 0.04144515097141266 + ], + [ + 0.35655340552330017, + 0.1784306913614273, + 0.03064020350575447 + ], + [ + 0.3511826992034912, + 0.17647291719913483, + 0.022788435220718384 + ], + [ + 0.34653881192207336, + 0.17280450463294983, + 0.016177747398614883 + ], + [ + 0.3445925712585449, + 0.16874784231185913, + 0.011694325134158134 + ], + [ + 0.3437984585762024, + 0.1700645536184311, + 0.009193055331707 + ], + [ + 0.3444320857524872, + 0.1690923571586609, + 0.008649270050227642 + ], + [ + 0.3444975018501282, + 0.16978412866592407, + 0.008398782461881638 + ], + [ + 0.3408532440662384, + 0.17105858027935028, + 0.009825089015066624 + ], + [ + 0.32668015360832214, + 0.17580661177635193, + 0.02921701967716217 + ], + [ + 0.32870393991470337, + 0.17294059693813324, + 0.05850772187113762 + ], + [ + 0.33454975485801697, + 0.1511562317609787, + 0.07470592856407166 + ], + [ + 0.35476770997047424, + 0.11186603456735611, + 0.08765392750501633 + ], + [ + 0.36780646443367004, + 0.08290984481573105, + 0.0865994319319725 + ], + [ + 0.36910855770111084, + 0.07136300951242447, + 0.07918793708086014 + ], + [ + 0.3689028322696686, + 0.0609537735581398, + 0.06989839673042297 + ], + [ + 0.3602772355079651, + 0.055570680648088455, + 0.051866400986909866 + ], + [ + 0.35476380586624146, + 0.054726533591747284, + 0.03265100717544556 + ], + [ + 0.3529738485813141, + 0.05511825159192085, + 0.020998485386371613 + ], + [ + 0.3521125018596649, + 0.048782773315906525, + 0.013860044069588184 + ], + [ + 0.3528818190097809, + 0.04677489027380943, + 0.013826756738126278 + ], + [ + 0.3523518443107605, + 0.04623056575655937, + 0.01208778191357851 + ], + [ + 0.3477836847305298, + 0.04899512231349945, + 0.02314840257167816 + ], + [ + 0.33981436491012573, + 0.05108678713440895, + 0.03609461709856987 + ], + [ + 0.32993221282958984, + 0.06729155778884888, + 0.07126035541296005 + ], + [ + 0.32348981499671936, + 0.07649648934602737, + 0.07765740901231766 + ], + [ + 0.3250937759876251, + 0.08796647191047668, + 0.08617589622735977 + ], + [ + 0.32847315073013306, + 0.08726437389850616, + 0.08050326257944107 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9913010478029055, + 0.09794978307522828, + 0.08790945694507318, + 0.09702317773064373, + -0.9951726336383413, + 0.01476252825148665, + 0.08893107222961988, + -0.0061048548585325, + -0.9960190736824505 + ], + [ + 0.9941879970155577, + 0.09326629772590021, + 0.053773825405089216, + 0.09306630322599531, + -0.9956405045831128, + 0.006216818907729454, + 0.05411921834284355, + -0.0011761555969122296, + -0.9985337885439688 + ], + [ + 0.9879956207872496, + 0.15176725725554288, + 0.028833191470030894, + 0.1517845900491411, + -0.9884123028107694, + 0.0015993360892486521, + 0.02874180802997214, + 0.0027962970947423573, + -0.999582957634696 + ], + [ + 0.9959008328285651, + 0.07638467885919144, + 0.04844493788775293, + 0.07513829410502611, + -0.9968061702323668, + 0.027049875150690746, + 0.050356409029602624, + -0.023298923199571928, + -0.9984595095683066 + ], + [ + 0.995283445086254, + 0.08123608513368732, + 0.05302416816311266, + 0.07965266676434699, + -0.9963303565181427, + 0.031325283043549486, + 0.055374331730194626, + -0.026954019228732837, + -0.9981017804977864 + ], + [ + 0.9969980055761066, + 0.07544102615774163, + 0.01742493757614158, + 0.07515314422851745, + -0.9970334078529174, + 0.01662493722591555, + 0.018627447217295902, + -0.015265490410233092, + -0.9997099494416877 + ], + [ + 0.9969832884572375, + 0.0761018900382563, + 0.015258599857062162, + 0.07571266058614524, + -0.9968251171284149, + 0.024643029214952348, + 0.017085536689257448, + -0.023413419112273414, + -0.9995798598618887 + ], + [ + 0.9977464607405893, + 0.06696861187423328, + -0.004147903478299885, + 0.06706330110194261, + -0.9972962220481162, + 0.030045950373784824, + -0.0021245528793542466, + -0.030256412744938226, + -0.99953991204097 + ], + [ + 0.997745664118407, + 0.06532850848468721, + -0.015354989810652864, + 0.06574932219796903, + -0.9974228505478236, + 0.028717308988860258, + -0.013439358743138022, + -0.029662150701191024, + -0.9994696295797854 + ], + [ + 0.9978747982647185, + 0.05591515820722171, + -0.03345716770452859, + 0.05711835186233468, + -0.9977124631713894, + 0.03615708385655088, + -0.03135890413707266, + -0.037991261036460625, + -0.9987859045942636 + ], + [ + 0.998179401954773, + 0.04068809513844974, + -0.04452370635084968, + 0.042837005613478606, + -0.9979078302487491, + 0.04842471763784625, + -0.04246024568090759, + -0.050243817950458326, + -0.9978339973635287 + ], + [ + 0.9975595671403278, + 0.04481647500544614, + -0.05353871099389777, + 0.04817224761190206, + -0.9968422302788592, + 0.06312687615182314, + -0.05054052400618225, + -0.06555189929175387, + -0.9965684140752327 + ], + [ + 0.9964766646295843, + 0.06361171352039188, + -0.05466083379988557, + 0.06722405842016796, + -0.9954852744735694, + 0.06700741955786953, + -0.050151598361577336, + -0.0704458530311196, + -0.9962540835411904 + ], + [ + 0.995809251296801, + 0.06568602039920021, + -0.06363396699735623, + 0.07090691457846351, + -0.9939737538213927, + 0.08359656798680135, + -0.05775936717682463, + -0.08775832404008907, + -0.9944658526389972 + ], + [ + 0.9952419136964378, + 0.08611789860312542, + -0.045576756817854, + 0.09151223724845832, + -0.9867751344258547, + 0.13379216910050387, + -0.03345210988314298, + -0.13732640539611365, + -0.9899608147423553 + ], + [ + 0.9859418328329785, + 0.15052613382487814, + 0.07252989249738367, + 0.1373564340640094, + -0.9773260712138495, + 0.1611426714030807, + 0.09514153820054932, + -0.1489148533942692, + -0.9842623909036639 + ], + [ + 0.9756249210858967, + 0.1841161073439641, + 0.1194038205948362, + 0.15057042199841614, + -0.957475262487041, + 0.24610906067146537, + 0.15963884669890602, + -0.22213144924093492, + -0.9618591673851039 + ], + [ + 0.9752317993968334, + 0.17474549011843274, + 0.13559849235328297, + 0.1387854210202247, + -0.9607953770725329, + 0.24002260374449766, + 0.1722252721218741, + -0.21525858189470146, + -0.9612503308520776 + ], + [ + 0.9774097729100261, + 0.13554673008689846, + 0.16216417539863948, + 0.11229177279006415, + -0.9830560743645764, + 0.14488378935744586, + 0.1790550015599559, + -0.1234011289156531, + -0.9760693970198566 + ], + [ + 0.985401272673709, + 0.12068389463834138, + 0.12008217764496379, + 0.11268729504655654, + -0.9910679372925799, + 0.07131561684316792, + 0.1276162424933646, + -0.056742763816657216, + -0.9901991483566941 + ], + [ + 0.9879464232148446, + 0.1264694520618478, + 0.08925997172400975, + 0.12493442449177729, + -0.9919075182061557, + 0.022602320743965613, + 0.09139614014772961, + -0.011178238737864046, + -0.9957518729808224 + ], + [ + 0.9871490177063081, + 0.14101538177207595, + 0.07517631904494047, + 0.1402741741590821, + -0.9899979019912498, + 0.015076807251912488, + 0.07655045986444835, + -0.004337759398524054, + -0.9970562727037738 + ], + [ + 0.9898202517543742, + 0.14079197207121358, + 0.020820418276444003, + 0.1406980418049058, + -0.9900348741223031, + 0.005916844927884359, + 0.02144598445332933, + -0.002927220855055344, + -0.9997657231216188 + ], + [ + 0.9890483369900922, + 0.14367925725039282, + -0.03375882304092639, + 0.14367926443803491, + -0.9896213030056256, + -0.002438361743722712, + -0.03375879244994375, + -0.002438785235204878, + -0.9994270339844217 + ], + [ + 0.9875412864949631, + 0.14570677228696532, + -0.05942847783334092, + 0.14687414365393364, + -0.9890298045607193, + 0.015749019541200487, + -0.05648179701281754, + -0.024281313809180163, + -0.9981083229819813 + ], + [ + 0.9882488544798541, + 0.12720842886303482, + -0.08474796307554772, + 0.12751105516912, + -0.991835415477127, + -0.0018545659796004965, + -0.08429194759236389, + -0.00897352949029921, + -0.9964006941685523 + ], + [ + 0.9898927289771186, + 0.11556450025569869, + -0.08220238073732052, + 0.11621631710983492, + -0.9932188572003448, + 0.0031732221900510407, + -0.08127824281847558, + -0.012694407520312201, + -0.9966106056339402 + ], + [ + 0.990479837516065, + 0.11440540239002102, + -0.07655779110010331, + 0.1153515976370167, + -0.9932921953984054, + 0.008038873254638902, + -0.07512456586721476, + -0.01679340539002487, + -0.9970327382481826 + ], + [ + 0.9924086518847056, + 0.11492547253281245, + -0.043785881600015154, + 0.11641243382516357, + -0.9926503272375781, + 0.0330677045775872, + -0.039663748124486246, + -0.03791389716500324, + -0.9984935270128086 + ], + [ + 0.9940861187102885, + 0.10829192335477095, + -0.008102340627186396, + 0.1085431787153184, + -0.9931418040913531, + 0.04344807614322205, + -0.0033416974562325086, + -0.04407058318535376, + -0.9990228309482292 + ], + [ + 0.9830787260259527, + 0.1580361805206334, + 0.09263252172773502, + 0.15318489750110265, + -0.9865305847770136, + 0.05737414467423249, + 0.10045200651438581, + -0.042213397707041425, + -0.9940459865827439 + ], + [ + 0.9803162237730105, + 0.17691651777849723, + 0.08763930136962168, + 0.17622889099060798, + -0.9842258469120314, + 0.015583974156644507, + 0.08901392805423829, + 0.00016735419094216896, + -0.9960303673106206 + ], + [ + 0.9828237478880731, + 0.1545924713010261, + 0.10079012056884858, + 0.15738242626189586, + -0.9873291685879912, + -0.02029494417989644, + 0.09637558036743808, + 0.035808946820419456, + -0.9947006920860426 + ], + [ + 0.9907305490151609, + 0.10074761883887141, + 0.09112023126844775, + 0.10505613870041604, + -0.9935020945009736, + -0.04378122820955754, + 0.08611728612466181, + 0.05294813991516503, + -0.9948770313511349 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + 0.0015660524368286133, + 0.0003930404782295227, + -0.011641062796115875, + -0.004951296374201775, + 0.034903042018413544, + -0.004225477576255798, + 1.0 + ], + [ + 0.021490246057510376, + 0.04248461127281189, + -0.02222874015569687, + -0.0039753383025527, + 0.02539990469813347, + 0.05909863859415054, + 1.0 + ], + [ + 0.03174901008605957, + 0.03732285648584366, + -0.014908522367477417, + 0.026128092780709267, + -0.02163194864988327, + -0.07713210582733154, + 1.0 + ], + [ + 0.015308499336242676, + 0.021655216813087463, + -0.009631097316741943, + 0.0036680828779935837, + -0.005024954676628113, + 0.004555031657218933, + 1.0 + ], + [ + -0.0037676095962524414, + 0.008188605308532715, + -0.0148165263235569, + -0.011729986406862736, + 0.03677414357662201, + -0.0046227797865867615, + 1.0 + ], + [ + -0.002500683069229126, + -0.001874670386314392, + -0.008145932108163834, + 0.008150245063006878, + 0.0015421565622091293, + 0.0005591213703155518, + 1.0 + ], + [ + -0.006436198949813843, + -0.003519788384437561, + -0.010804947465658188, + 0.006842121481895447, + 0.019210923463106155, + -0.00868244469165802, + 1.0 + ], + [ + -0.00537070631980896, + -0.0019577741622924805, + -0.007851768285036087, + -0.0005919169634580612, + 0.011315208859741688, + -0.001311086118221283, + 1.0 + ], + [ + -0.004643887281417847, + -0.0036684125661849976, + -0.0066106878221035, + 0.008349930867552757, + 0.01792428269982338, + -0.008625131100416183, + 1.0 + ], + [ + -0.0019462406635284424, + -0.004056662321090698, + -0.004483422264456749, + 0.012291278690099716, + 0.011108968406915665, + -0.014288786798715591, + 1.0 + ], + [ + -0.0007941126823425293, + 0.0013167113065719604, + -0.0025012698024511337, + 0.015372607856988907, + 0.008089050650596619, + 0.005363792181015015, + 0.0 + ], + [ + 0.00063362717628479, + -0.0009721964597702026, + -0.0005437852814793587, + 0.00491023063659668, + -0.0003894194960594177, + 0.019107073545455933, + 0.0 + ], + [ + 6.541609764099121e-05, + 0.0006917715072631836, + -0.0002504875883460045, + 0.017425455152988434, + 0.007618885487318039, + 0.0037256553769111633, + 0.0 + ], + [ + -0.0036442577838897705, + 0.0012744516134262085, + 0.0014263065531849861, + 0.04982069134712219, + -0.024333178997039795, + 0.020606569945812225, + 0.0 + ], + [ + -0.01417309045791626, + 0.004748031497001648, + 0.01939193159341812, + 0.012317702174186707, + -0.1287440061569214, + 0.04673208296298981, + 0.0 + ], + [ + 0.0020237863063812256, + -0.002866014838218689, + 0.02929070219397545, + 0.07680359482765198, + -0.06503913551568985, + 0.014700189232826233, + 0.0 + ], + [ + 0.005845814943313599, + -0.02178436517715454, + 0.016198206692934036, + -0.006659165024757385, + -0.012763455510139465, + -0.011763185262680054, + 0.0 + ], + [ + 0.020217955112457275, + -0.03929019719362259, + 0.012947998940944672, + -0.09454211592674255, + -0.006937593221664429, + -0.026975400745868683, + 0.0 + ], + [ + 0.0130387544631958, + -0.02895618975162506, + -0.0010544955730438232, + -0.06851759552955627, + 0.052060648798942566, + -0.0005234628915786743, + 0.0 + ], + [ + 0.001302093267440796, + -0.01154683530330658, + -0.007411494851112366, + -0.04601633548736572, + 0.03644133359193802, + 0.011928863823413849, + 0.0 + ], + [ + -0.00020572543144226074, + -0.010409235954284668, + -0.009289540350437164, + -0.0068749175406992435, + 0.014898441731929779, + 0.015364274382591248, + 0.0 + ], + [ + -0.008625596761703491, + -0.005383092910051346, + -0.018031995743513107, + -0.0014226404018700123, + 0.05517779290676117, + 4.385411739349365e-05, + 0.0 + ], + [ + -0.005513429641723633, + -0.0008441470563411713, + -0.01921539381146431, + -0.0004877198953181505, + 0.0552128367125988, + 0.003061935305595398, + 0.0 + ], + [ + -0.0017899572849273682, + 0.0003917180001735687, + -0.011652521789073944, + 0.021882357075810432, + 0.02274666354060173, + 0.0033837556838989258, + 0.0 + ], + [ + -0.0008613467216491699, + -0.006335478276014328, + -0.007138441316783428, + -0.015316834673285484, + 0.027880214154720306, + -0.01932649314403534, + 0.0 + ], + [ + 0.0007693171501159668, + -0.0020078830420970917, + -3.328733146190643e-05, + 0.003731190226972103, + -0.003024086356163025, + -0.011450372636318207, + 1.0 + ], + [ + -0.0005299746990203857, + -0.000544324517250061, + -0.0017389748245477676, + 0.004104900173842907, + -0.006172589957714081, + -0.000929906964302063, + 1.0 + ], + [ + -0.004568159580230713, + 0.0027645565569400787, + 0.011060620658099651, + 0.021111074835062027, + -0.0355212539434433, + 0.0008312463760375977, + 1.0 + ], + [ + -0.007969319820404053, + 0.0020916648209095, + 0.012946214526891708, + 0.00613224133849144, + -0.036332450807094574, + -0.00801122933626175, + 1.0 + ], + [ + -0.009882152080535889, + 0.016204770654439926, + 0.03516573831439018, + -0.0016443654894828796, + -0.10396341979503632, + 0.045820459723472595, + 1.0 + ], + [ + -0.006442397832870483, + 0.009204931557178497, + 0.006397053599357605, + -0.04260876402258873, + 0.011489816009998322, + 0.02328909933567047, + 1.0 + ], + [ + 0.0016039609909057617, + 0.01146998256444931, + 0.008518487215042114, + -0.03581615909934044, + -0.007393501698970795, + -0.019082769751548767, + 1.0 + ], + [ + 0.0033793747425079346, + -0.00070209801197052, + -0.005672633647918701, + -0.017186444252729416, + 0.010301314294338226, + -0.05314057320356369, + 1.0 + ], + [ + 0.003128349781036377, + -0.004544392228126526, + -0.0006079897284507751, + 0.03097144141793251, + -0.005633696913719177, + -0.02564215660095215, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9499720335006714 + ], + [ + 0.6551066637039185 + ], + [ + 0.41037410497665405 + ], + [ + 0.40239205956459045 + ], + [ + 0.40239205956459045 + ], + [ + 0.40239205956459045 + ], + [ + 0.40239205956459045 + ], + [ + 0.40239205956459045 + ], + [ + 0.40239205956459045 + ], + [ + 0.4015096127986908 + ], + [ + 0.4015096127986908 + ], + [ + 0.4015096127986908 + ], + [ + 0.4015096127986908 + ], + [ + 0.4015096127986908 + ], + [ + 0.4015096127986908 + ], + [ + 0.4784920811653137 + ], + [ + 0.8055269122123718 + ], + [ + 1.0014774799346924 + ], + [ + 1.0047606229782104 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.30071014165878296, + 0.07417386025190353, + 0.11117596924304962 + ], + [ + 0.32220038771629333, + 0.11665847152471542, + 0.08894722908735275 + ], + [ + 0.3539493978023529, + 0.15398132801055908, + 0.07403870671987534 + ], + [ + 0.3692578971385956, + 0.17563654482364655, + 0.06440760940313339 + ], + [ + 0.36549028754234314, + 0.18382515013217926, + 0.04959108307957649 + ], + [ + 0.362989604473114, + 0.18195047974586487, + 0.04144515097141266 + ], + [ + 0.35655340552330017, + 0.1784306913614273, + 0.03064020350575447 + ], + [ + 0.3511826992034912, + 0.17647291719913483, + 0.022788435220718384 + ], + [ + 0.34653881192207336, + 0.17280450463294983, + 0.016177747398614883 + ], + [ + 0.3445925712585449, + 0.16874784231185913, + 0.011694325134158134 + ], + [ + 0.3437984585762024, + 0.1700645536184311, + 0.009193055331707 + ], + [ + 0.3444320857524872, + 0.1690923571586609, + 0.008649270050227642 + ], + [ + 0.3444975018501282, + 0.16978412866592407, + 0.008398782461881638 + ], + [ + 0.3408532440662384, + 0.17105858027935028, + 0.009825089015066624 + ], + [ + 0.32668015360832214, + 0.17580661177635193, + 0.02921701967716217 + ], + [ + 0.32870393991470337, + 0.17294059693813324, + 0.05850772187113762 + ], + [ + 0.33454975485801697, + 0.1511562317609787, + 0.07470592856407166 + ], + [ + 0.35476770997047424, + 0.11186603456735611, + 0.08765392750501633 + ], + [ + 0.36780646443367004, + 0.08290984481573105, + 0.0865994319319725 + ], + [ + 0.36910855770111084, + 0.07136300951242447, + 0.07918793708086014 + ], + [ + 0.3689028322696686, + 0.0609537735581398, + 0.06989839673042297 + ], + [ + 0.3602772355079651, + 0.055570680648088455, + 0.051866400986909866 + ], + [ + 0.35476380586624146, + 0.054726533591747284, + 0.03265100717544556 + ], + [ + 0.3529738485813141, + 0.05511825159192085, + 0.020998485386371613 + ], + [ + 0.3521125018596649, + 0.048782773315906525, + 0.013860044069588184 + ], + [ + 0.3528818190097809, + 0.04677489027380943, + 0.013826756738126278 + ], + [ + 0.3523518443107605, + 0.04623056575655937, + 0.01208778191357851 + ], + [ + 0.3477836847305298, + 0.04899512231349945, + 0.02314840257167816 + ], + [ + 0.33981436491012573, + 0.05108678713440895, + 0.03609461709856987 + ], + [ + 0.32993221282958984, + 0.06729155778884888, + 0.07126035541296005 + ], + [ + 0.32348981499671936, + 0.07649648934602737, + 0.07765740901231766 + ], + [ + 0.3250937759876251, + 0.08796647191047668, + 0.08617589622735977 + ], + [ + 0.32847315073013306, + 0.08726437389850616, + 0.08050326257944107 + ], + [ + 0.33160150051116943, + 0.08271998167037964, + 0.0798952728509903 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9941879970155577, + 0.09326629772590021, + 0.053773825405089216, + 0.09306630322599531, + -0.9956405045831128, + 0.006216818907729454, + 0.05411921834284355, + -0.0011761555969122296, + -0.9985337885439688 + ], + [ + 0.9879956207872496, + 0.15176725725554288, + 0.028833191470030894, + 0.1517845900491411, + -0.9884123028107694, + 0.0015993360892486521, + 0.02874180802997214, + 0.0027962970947423573, + -0.999582957634696 + ], + [ + 0.9959008328285651, + 0.07638467885919144, + 0.04844493788775293, + 0.07513829410502611, + -0.9968061702323668, + 0.027049875150690746, + 0.050356409029602624, + -0.023298923199571928, + -0.9984595095683066 + ], + [ + 0.995283445086254, + 0.08123608513368732, + 0.05302416816311266, + 0.07965266676434699, + -0.9963303565181427, + 0.031325283043549486, + 0.055374331730194626, + -0.026954019228732837, + -0.9981017804977864 + ], + [ + 0.9969980055761066, + 0.07544102615774163, + 0.01742493757614158, + 0.07515314422851745, + -0.9970334078529174, + 0.01662493722591555, + 0.018627447217295902, + -0.015265490410233092, + -0.9997099494416877 + ], + [ + 0.9969832884572375, + 0.0761018900382563, + 0.015258599857062162, + 0.07571266058614524, + -0.9968251171284149, + 0.024643029214952348, + 0.017085536689257448, + -0.023413419112273414, + -0.9995798598618887 + ], + [ + 0.9977464607405893, + 0.06696861187423328, + -0.004147903478299885, + 0.06706330110194261, + -0.9972962220481162, + 0.030045950373784824, + -0.0021245528793542466, + -0.030256412744938226, + -0.99953991204097 + ], + [ + 0.997745664118407, + 0.06532850848468721, + -0.015354989810652864, + 0.06574932219796903, + -0.9974228505478236, + 0.028717308988860258, + -0.013439358743138022, + -0.029662150701191024, + -0.9994696295797854 + ], + [ + 0.9978747982647185, + 0.05591515820722171, + -0.03345716770452859, + 0.05711835186233468, + -0.9977124631713894, + 0.03615708385655088, + -0.03135890413707266, + -0.037991261036460625, + -0.9987859045942636 + ], + [ + 0.998179401954773, + 0.04068809513844974, + -0.04452370635084968, + 0.042837005613478606, + -0.9979078302487491, + 0.04842471763784625, + -0.04246024568090759, + -0.050243817950458326, + -0.9978339973635287 + ], + [ + 0.9975595671403278, + 0.04481647500544614, + -0.05353871099389777, + 0.04817224761190206, + -0.9968422302788592, + 0.06312687615182314, + -0.05054052400618225, + -0.06555189929175387, + -0.9965684140752327 + ], + [ + 0.9964766646295843, + 0.06361171352039188, + -0.05466083379988557, + 0.06722405842016796, + -0.9954852744735694, + 0.06700741955786953, + -0.050151598361577336, + -0.0704458530311196, + -0.9962540835411904 + ], + [ + 0.995809251296801, + 0.06568602039920021, + -0.06363396699735623, + 0.07090691457846351, + -0.9939737538213927, + 0.08359656798680135, + -0.05775936717682463, + -0.08775832404008907, + -0.9944658526389972 + ], + [ + 0.9952419136964378, + 0.08611789860312542, + -0.045576756817854, + 0.09151223724845832, + -0.9867751344258547, + 0.13379216910050387, + -0.03345210988314298, + -0.13732640539611365, + -0.9899608147423553 + ], + [ + 0.9859418328329785, + 0.15052613382487814, + 0.07252989249738367, + 0.1373564340640094, + -0.9773260712138495, + 0.1611426714030807, + 0.09514153820054932, + -0.1489148533942692, + -0.9842623909036639 + ], + [ + 0.9756249210858967, + 0.1841161073439641, + 0.1194038205948362, + 0.15057042199841614, + -0.957475262487041, + 0.24610906067146537, + 0.15963884669890602, + -0.22213144924093492, + -0.9618591673851039 + ], + [ + 0.9752317993968334, + 0.17474549011843274, + 0.13559849235328297, + 0.1387854210202247, + -0.9607953770725329, + 0.24002260374449766, + 0.1722252721218741, + -0.21525858189470146, + -0.9612503308520776 + ], + [ + 0.9774097729100261, + 0.13554673008689846, + 0.16216417539863948, + 0.11229177279006415, + -0.9830560743645764, + 0.14488378935744586, + 0.1790550015599559, + -0.1234011289156531, + -0.9760693970198566 + ], + [ + 0.985401272673709, + 0.12068389463834138, + 0.12008217764496379, + 0.11268729504655654, + -0.9910679372925799, + 0.07131561684316792, + 0.1276162424933646, + -0.056742763816657216, + -0.9901991483566941 + ], + [ + 0.9879464232148446, + 0.1264694520618478, + 0.08925997172400975, + 0.12493442449177729, + -0.9919075182061557, + 0.022602320743965613, + 0.09139614014772961, + -0.011178238737864046, + -0.9957518729808224 + ], + [ + 0.9871490177063081, + 0.14101538177207595, + 0.07517631904494047, + 0.1402741741590821, + -0.9899979019912498, + 0.015076807251912488, + 0.07655045986444835, + -0.004337759398524054, + -0.9970562727037738 + ], + [ + 0.9898202517543742, + 0.14079197207121358, + 0.020820418276444003, + 0.1406980418049058, + -0.9900348741223031, + 0.005916844927884359, + 0.02144598445332933, + -0.002927220855055344, + -0.9997657231216188 + ], + [ + 0.9890483369900922, + 0.14367925725039282, + -0.03375882304092639, + 0.14367926443803491, + -0.9896213030056256, + -0.002438361743722712, + -0.03375879244994375, + -0.002438785235204878, + -0.9994270339844217 + ], + [ + 0.9875412864949631, + 0.14570677228696532, + -0.05942847783334092, + 0.14687414365393364, + -0.9890298045607193, + 0.015749019541200487, + -0.05648179701281754, + -0.024281313809180163, + -0.9981083229819813 + ], + [ + 0.9882488544798541, + 0.12720842886303482, + -0.08474796307554772, + 0.12751105516912, + -0.991835415477127, + -0.0018545659796004965, + -0.08429194759236389, + -0.00897352949029921, + -0.9964006941685523 + ], + [ + 0.9898927289771186, + 0.11556450025569869, + -0.08220238073732052, + 0.11621631710983492, + -0.9932188572003448, + 0.0031732221900510407, + -0.08127824281847558, + -0.012694407520312201, + -0.9966106056339402 + ], + [ + 0.990479837516065, + 0.11440540239002102, + -0.07655779110010331, + 0.1153515976370167, + -0.9932921953984054, + 0.008038873254638902, + -0.07512456586721476, + -0.01679340539002487, + -0.9970327382481826 + ], + [ + 0.9924086518847056, + 0.11492547253281245, + -0.043785881600015154, + 0.11641243382516357, + -0.9926503272375781, + 0.0330677045775872, + -0.039663748124486246, + -0.03791389716500324, + -0.9984935270128086 + ], + [ + 0.9940861187102885, + 0.10829192335477095, + -0.008102340627186396, + 0.1085431787153184, + -0.9931418040913531, + 0.04344807614322205, + -0.0033416974562325086, + -0.04407058318535376, + -0.9990228309482292 + ], + [ + 0.9830787260259527, + 0.1580361805206334, + 0.09263252172773502, + 0.15318489750110265, + -0.9865305847770136, + 0.05737414467423249, + 0.10045200651438581, + -0.042213397707041425, + -0.9940459865827439 + ], + [ + 0.9803162237730105, + 0.17691651777849723, + 0.08763930136962168, + 0.17622889099060798, + -0.9842258469120314, + 0.015583974156644507, + 0.08901392805423829, + 0.00016735419094216896, + -0.9960303673106206 + ], + [ + 0.9828237478880731, + 0.1545924713010261, + 0.10079012056884858, + 0.15738242626189586, + -0.9873291685879912, + -0.02029494417989644, + 0.09637558036743808, + 0.035808946820419456, + -0.9947006920860426 + ], + [ + 0.9907305490151609, + 0.10074761883887141, + 0.09112023126844775, + 0.10505613870041604, + -0.9935020945009736, + -0.04378122820955754, + 0.08611728612466181, + 0.05294813991516503, + -0.9948770313511349 + ], + [ + 0.9925990608734913, + 0.07786749639250143, + 0.09318668015669565, + 0.07957988270371669, + -0.9967186544040438, + -0.014797507623056252, + 0.09172865758270538, + 0.022103777246332574, + -0.9955386865458915 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005622.json b/json/chunk-0005/episode_0005622.json new file mode 100644 index 0000000000000000000000000000000000000000..d336e68366cde9da935cf3736243a16beb2d1ee5 --- /dev/null +++ b/json/chunk-0005/episode_0005622.json @@ -0,0 +1,1462 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 23, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nTake bowl off plate." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005622.mp4", + "start": 0, + "end": 23, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.1934189647436142, + 0.02626989223062992, + 0.04815669357776642, + 0.15462873876094818, + -0.09341814368963242, + 0.14423829317092896, + 0.0, + 0.993436336517334 + ], + [ + 0.19080355763435364, + 0.025263361632823944, + 0.04559217765927315, + 0.15275606513023376, + -0.07394041866064072, + 0.1443585455417633, + 0.0, + 0.993436336517334 + ], + [ + 0.20753489434719086, + 0.023730210959911346, + 0.061659399420022964, + 0.13991674780845642, + -0.050895754247903824, + 0.0999227985739708, + 0.0, + 0.993436336517334 + ], + [ + 0.22867897152900696, + 0.022073976695537567, + 0.06353773921728134, + 0.13191543519496918, + -0.06092238053679466, + 0.06043258681893349, + 0.0, + 0.993436336517334 + ], + [ + 0.2494986355304718, + 0.016595633700489998, + 0.05947592854499817, + 0.12209787964820862, + -0.1130705177783966, + -0.05193975195288658, + 0.0, + 0.993436336517334 + ], + [ + 0.26380935311317444, + 0.006687539629638195, + 0.04168390855193138, + 0.13483063876628876, + -0.08057443052530289, + -0.195408895611763, + 0.0, + 0.993436336517334 + ], + [ + 0.27149710059165955, + -0.0013439591275528073, + 0.031334057450294495, + 0.15707184374332428, + -0.07298533618450165, + -0.3148959279060364, + 0.0, + 0.993436336517334 + ], + [ + 0.28515148162841797, + -0.00858408771455288, + 0.02668365277349949, + 0.13707797229290009, + -0.07324406504631042, + -0.3951387405395508, + 0.0, + 0.993436336517334 + ], + [ + 0.29060640931129456, + -0.012903112918138504, + 0.023311493918299675, + 0.14134985208511353, + -0.07706104218959808, + -0.4231524169445038, + 0.0, + 0.9687211513519287 + ], + [ + 0.2907907962799072, + -0.012352175079286098, + 0.01735277660191059, + 0.12666186690330505, + -0.07106286287307739, + -0.4258947968482971, + 0.0, + 0.8634164333343506 + ], + [ + 0.29396891593933105, + -0.010783555917441845, + 0.019293522462248802, + 0.09263071417808533, + -0.06397146731615067, + -0.4149852693080902, + 0.0, + 0.5729578137397766 + ], + [ + 0.2955014407634735, + -0.010764271020889282, + 0.018131112679839134, + 0.09437878429889679, + -0.08246663212776184, + -0.41530030965805054, + 0.0, + 0.2958413064479828 + ], + [ + 0.28964653611183167, + -0.010018154978752136, + 0.023491255939006805, + 0.08217797428369522, + -0.10605481266975403, + -0.38929483294487, + 0.0, + 0.11409598588943481 + ], + [ + 0.2865056097507477, + -0.010936222039163113, + 0.03541870042681694, + 0.06577081978321075, + -0.12041270732879639, + -0.38650381565093994, + 0.0, + 0.05297749489545822 + ], + [ + 0.2723851799964905, + -0.014058967120945454, + 0.0521647185087204, + 0.030867403373122215, + -0.12961049377918243, + -0.4077528417110443, + 0.0, + 0.054572440683841705 + ], + [ + 0.25374937057495117, + -0.022053267806768417, + 0.05524948611855507, + 0.010752872563898563, + -0.10048661381006241, + -0.4608515501022339, + 0.0, + 0.056468017399311066 + ], + [ + 0.2359353005886078, + -0.033291205763816833, + 0.049284420907497406, + 0.03191477805376053, + -0.089790478348732, + -0.5362998843193054, + 0.0, + 0.056468017399311066 + ], + [ + 0.21910105645656586, + -0.04381254315376282, + 0.0367373526096344, + 0.03915056958794594, + -0.057390764355659485, + -0.5771563649177551, + 0.0, + 0.056468017399311066 + ], + [ + 0.21158452332019806, + -0.05106334760785103, + 0.03085959330201149, + 0.04977855458855629, + -0.0499323345720768, + -0.5913050770759583, + 0.0, + 0.056468017399311066 + ], + [ + 0.20965401828289032, + -0.0536474734544754, + 0.02382257767021656, + 0.061420243233442307, + -0.024782922118902206, + -0.579983115196228, + 0.0, + 0.07921512424945831 + ], + [ + 0.2074844241142273, + -0.05165420100092888, + 0.020435504615306854, + 0.06863994896411896, + 0.006191076710820198, + -0.5330222249031067, + 0.0, + 0.227462038397789 + ], + [ + 0.2129957526922226, + -0.05408233031630516, + 0.023172875866293907, + 0.052933450788259506, + 0.006172841414809227, + -0.5169237852096558, + 0.0, + 0.47659820318222046 + ], + [ + 0.21196089684963226, + -0.051758915185928345, + 0.028461720794439316, + 0.04731694236397743, + 0.03040853515267372, + -0.48183077573776245, + 0.0, + 0.7768828272819519 + ] + ], + "left_gripper_pos": [ + [ + 0.993436336517334 + ], + [ + 0.993436336517334 + ], + [ + 0.993436336517334 + ], + [ + 0.993436336517334 + ], + [ + 0.993436336517334 + ], + [ + 0.993436336517334 + ], + [ + 0.993436336517334 + ], + [ + 0.993436336517334 + ], + [ + 0.9687211513519287 + ], + [ + 0.8634164333343506 + ], + [ + 0.5729578137397766 + ], + [ + 0.2958413064479828 + ], + [ + 0.11409598588943481 + ], + [ + 0.05297749489545822 + ], + [ + 0.054572440683841705 + ], + [ + 0.056468017399311066 + ], + [ + 0.056468017399311066 + ], + [ + 0.056468017399311066 + ], + [ + 0.056468017399311066 + ], + [ + 0.07921512424945831 + ], + [ + 0.227462038397789 + ], + [ + 0.47659820318222046 + ], + [ + 0.7768828272819519 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.1934189647436142, + 0.02626989223062992, + 0.04815669357776642 + ], + [ + 0.19080355763435364, + 0.025263361632823944, + 0.04559217765927315 + ], + [ + 0.20753489434719086, + 0.023730210959911346, + 0.061659399420022964 + ], + [ + 0.22867897152900696, + 0.022073976695537567, + 0.06353773921728134 + ], + [ + 0.2494986355304718, + 0.016595633700489998, + 0.05947592854499817 + ], + [ + 0.26380935311317444, + 0.006687539629638195, + 0.04168390855193138 + ], + [ + 0.27149710059165955, + -0.0013439591275528073, + 0.031334057450294495 + ], + [ + 0.28515148162841797, + -0.00858408771455288, + 0.02668365277349949 + ], + [ + 0.29060640931129456, + -0.012903112918138504, + 0.023311493918299675 + ], + [ + 0.2907907962799072, + -0.012352175079286098, + 0.01735277660191059 + ], + [ + 0.29396891593933105, + -0.010783555917441845, + 0.019293522462248802 + ], + [ + 0.2955014407634735, + -0.010764271020889282, + 0.018131112679839134 + ], + [ + 0.28964653611183167, + -0.010018154978752136, + 0.023491255939006805 + ], + [ + 0.2865056097507477, + -0.010936222039163113, + 0.03541870042681694 + ], + [ + 0.2723851799964905, + -0.014058967120945454, + 0.0521647185087204 + ], + [ + 0.25374937057495117, + -0.022053267806768417, + 0.05524948611855507 + ], + [ + 0.2359353005886078, + -0.033291205763816833, + 0.049284420907497406 + ], + [ + 0.21910105645656586, + -0.04381254315376282, + 0.0367373526096344 + ], + [ + 0.21158452332019806, + -0.05106334760785103, + 0.03085959330201149 + ], + [ + 0.20965401828289032, + -0.0536474734544754, + 0.02382257767021656 + ], + [ + 0.2074844241142273, + -0.05165420100092888, + 0.020435504615306854 + ], + [ + 0.2129957526922226, + -0.05408233031630516, + 0.023172875866293907 + ], + [ + 0.21196089684963226, + -0.051758915185928345, + 0.028461720794439316 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9853006560651372, + 0.15624122483420017, + 0.06907457433758804, + 0.14311193037473452, + -0.9757433024799831, + 0.16566225596035217, + 0.09328232706159945, + -0.15334173380970034, + -0.9837604993748262 + ], + [ + 0.9868944608653416, + 0.15330632234079086, + 0.05036362421081497, + 0.14346460787951779, + -0.9764579071930886, + 0.1610834000326217, + 0.07387306274470323, + -0.1517469176307544, + -0.9856549312970955 + ], + [ + 0.9937234194329932, + 0.10584124227736405, + 0.03621321724983588, + 0.09962742485521223, + -0.9845804632623204, + 0.143790429371616, + 0.05087378388834987, + -0.13928008757657706, + -0.9889453550715239 + ], + [ + 0.9963226992274581, + 0.06786481549516139, + 0.05230148967208923, + 0.06028376328954689, + -0.9890184650334485, + 0.13493829592273407, + 0.06088470159048028, + -0.13128915659980903, + -0.9894726931409219 + ], + [ + 0.9922743825011047, + -0.03780636420546624, + 0.11816187480577187, + -0.051584881136358056, + -0.9919302221933646, + 0.1158163819913654, + 0.11282973841234886, + -0.12101699519069914, + -0.9862171855148413 + ], + [ + 0.9777857392292919, + -0.18179203008653672, + 0.10433937874476025, + -0.193537714337239, + -0.9741659558546502, + 0.11637802018814694, + 0.08048727408071456, + -0.13398637337733713, + -0.9877091932650239 + ], + [ + 0.9482972758584, + -0.29505891626666425, + 0.11692951950247255, + -0.3088929734761299, + -0.9426563606964041, + 0.12642830606982544, + 0.07292055633778716, + -0.15601032520366134, + -0.9850600849152478 + ], + [ + 0.9204686201429291, + -0.3720961184374546, + 0.11950731348311801, + -0.3839041712704223, + -0.9181347951786845, + 0.09821448550680116, + 0.07317859395576502, + -0.13628270809598395, + -0.9879635200050062 + ], + [ + 0.9090929985222639, + -0.396652470141032, + 0.1273449565896382, + -0.4094181986583, + -0.9071589573862091, + 0.09715639269424724, + 0.07698479489608298, + -0.14046153909516887, + -0.9870885965250659 + ], + [ + 0.9083709837991347, + -0.4016581075510611, + 0.1163310811017078, + -0.4120930965082569, + -0.9070797082699784, + 0.0859399945024849, + 0.07100306755365164, + -0.12600463278527038, + -0.9894854202637958 + ], + [ + 0.9132503984886021, + -0.3960366524496471, + 0.09554412371719681, + -0.40235176204881334, + -0.9135830559685896, + 0.05898355214217009, + 0.0639278439854234, + -0.09230909902913402, + -0.9936761348647782 + ], + [ + 0.9118856355821252, + -0.39456628731432586, + 0.11305765137297308, + -0.4020935773481791, + -0.9140551218644914, + 0.05314121986400014, + 0.08237319147834324, + -0.09391847053843522, + -0.9921663057257052 + ], + [ + 0.9199787804216525, + -0.3702161844270405, + 0.12875954474202073, + -0.377403665548792, + -0.9253526077995703, + 0.03590298690735927, + 0.10585611368373779, + -0.08162431026855925, + -0.9910257086316971 + ], + [ + 0.9195258973545609, + -0.3688249858733971, + 0.13579489640549067, + -0.3742229876290872, + -0.9272059594387645, + 0.015692810812608902, + 0.12012193648226624, + -0.06524751778212468, + -0.990612680011225 + ], + [ + 0.9103142274703975, + -0.3926966282757146, + 0.1308333497463808, + -0.3932212916162787, + -0.9191587325120679, + -0.022896293727026378, + 0.12924791326980514, + -0.03060363683770288, + -0.991139946893327 + ], + [ + 0.8911558710749952, + -0.4437191229984547, + 0.09462850170033134, + -0.4424676203651085, + -0.8961020497839678, + -0.03497886935580233, + 0.10031758757568669, + -0.010698423176072754, + -0.9948979472109393 + ], + [ + 0.8561422855357177, + -0.5082390653867884, + 0.09334580511432772, + -0.508900482110619, + -0.86062943954508, + -0.018364833130245894, + 0.08966987356552861, + -0.03178081501607445, + -0.9954643607742353 + ], + [ + 0.8366379354503128, + -0.5433435993766645, + 0.06938802477264226, + -0.5447447840019023, + -0.8386004944195687, + 0.0015267815742902313, + 0.05735926488509826, + -0.03907612795128942, + -0.9975885780000568 + ], + [ + 0.8291791322563388, + -0.5546926484973088, + 0.0691233125194826, + -0.5567502132776777, + -0.8305699097465518, + 0.013521280962445346, + 0.0499115882925543, + -0.04969598300311609, + -0.9975164873963079 + ], + [ + 0.8362150385305736, + -0.5457041449445096, + 0.05432674779234589, + -0.5478415298612397, + -0.835728182446194, + 0.03778972379467095, + 0.024780385279649916, + -0.061362783961965, + -0.9978078679033501 + ], + [ + 0.861258790974893, + -0.50730777618235, + 0.029531596526163908, + -0.5081288872199049, + -0.8590314036845005, + 0.06220997875339579, + -0.006191037160821564, + -0.06858474836839032, + -0.9976260839363202 + ], + [ + 0.8693270185017166, + -0.49379990452506106, + 0.020789160491862996, + -0.4941987772301262, + -0.8679645308079076, + 0.049042245499738665, + -0.006172802213255403, + -0.0529077267556366, + -0.998580326745118 + ], + [ + 0.8857383529840852, + -0.46415798435130845, + -0.004993557446428348, + -0.4631880568604895, + -0.8844898026464144, + 0.055987614668880525, + -0.030403849013640273, + -0.047277421433889466, + -0.9984189758752177 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.002615407109260559, + -0.0010065305978059769, + -0.002564515918493271, + -0.0018726736307144165, + 0.0194777250289917, + 0.00012025237083435059, + 1.0 + ], + [ + 0.01673133671283722, + -0.0015331506729125977, + 0.016067221760749817, + -0.012839317321777344, + 0.023044664412736893, + -0.04443574696779251, + 1.0 + ], + [ + 0.0211440771818161, + -0.0016562342643737793, + 0.001878339797258377, + -0.008001312613487244, + -0.010026626288890839, + -0.03949021175503731, + 1.0 + ], + [ + 0.020819664001464844, + -0.005478342995047569, + -0.004061810672283173, + -0.009817555546760559, + -0.052148137241601944, + -0.11237233877182007, + 1.0 + ], + [ + 0.014310717582702637, + -0.009908094070851803, + -0.017792019993066788, + 0.01273275911808014, + 0.03249608725309372, + -0.14346913993358612, + 1.0 + ], + [ + 0.007687747478485107, + -0.00803149864077568, + -0.010349851101636887, + 0.022241204977035522, + 0.007589094340801239, + -0.11948703229427338, + 1.0 + ], + [ + 0.013654381036758423, + -0.007240128703415394, + -0.004650404676795006, + -0.019993871450424194, + -0.00025872886180877686, + -0.0802428126335144, + 1.0 + ], + [ + 0.005454927682876587, + -0.004319025203585625, + -0.003372158855199814, + 0.00427187979221344, + -0.0038169771432876587, + -0.028013676404953003, + 0.0 + ], + [ + 0.0001843869686126709, + 0.0005509378388524055, + -0.005958717316389084, + -0.014687985181808472, + 0.005998179316520691, + -0.002742379903793335, + 0.0 + ], + [ + 0.003178119659423828, + 0.0015686191618442535, + 0.001940745860338211, + -0.03403115272521973, + 0.007091395556926727, + 0.01090952754020691, + 0.0 + ], + [ + 0.001532524824142456, + 1.9284896552562714e-05, + -0.001162409782409668, + 0.0017480701208114624, + -0.018495164811611176, + -0.00031504034996032715, + 0.0 + ], + [ + -0.005854904651641846, + 0.000746116042137146, + 0.005360143259167671, + -0.012200810015201569, + -0.023588180541992188, + 0.026005476713180542, + 0.0 + ], + [ + -0.0031409263610839844, + -0.0009180670604109764, + 0.011927444487810135, + -0.016407154500484467, + -0.014357894659042358, + 0.0027910172939300537, + 0.0 + ], + [ + -0.014120429754257202, + -0.003122745081782341, + 0.016746018081903458, + -0.03490341454744339, + -0.009197786450386047, + -0.02124902606010437, + 0.0 + ], + [ + -0.018635809421539307, + -0.007994300685822964, + 0.003084767609834671, + -0.020114529877901077, + 0.029123879969120026, + -0.053098708391189575, + 0.0 + ], + [ + -0.017814069986343384, + -0.011237937957048416, + -0.005965065211057663, + 0.02116190642118454, + 0.010696135461330414, + -0.07544833421707153, + 0.0 + ], + [ + -0.01683424413204193, + -0.010521337389945984, + -0.012547068297863007, + 0.0072357915341854095, + 0.03239971399307251, + -0.04085648059844971, + 0.0 + ], + [ + -0.007516533136367798, + -0.007250804454088211, + -0.0058777593076229095, + 0.010627985000610352, + 0.007458429783582687, + -0.014148712158203125, + 0.0 + ], + [ + -0.0019305050373077393, + -0.0025841258466243744, + -0.0070370156317949295, + 0.011641688644886017, + 0.02514941245317459, + 0.011321961879730225, + 1.0 + ], + [ + -0.002169594168663025, + 0.001993272453546524, + -0.003387073054909706, + 0.007219705730676651, + 0.030973998829722404, + 0.04696089029312134, + 1.0 + ], + [ + 0.0055113285779953, + -0.0024281293153762817, + 0.002737371250987053, + -0.01570649817585945, + -1.823529601097107e-05, + 0.016098439693450928, + 1.0 + ], + [ + -0.001034855842590332, + 0.002323415130376816, + 0.005288844928145409, + -0.005616508424282074, + 0.024235693737864494, + 0.03509300947189331, + 1.0 + ], + [ + 0.0030734091997146606, + 0.007897567003965378, + 0.022511929273605347, + 0.001093994826078415, + -0.03490525484085083, + 0.033117592334747314, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.993436336517334 + ], + [ + 0.993436336517334 + ], + [ + 0.993436336517334 + ], + [ + 0.993436336517334 + ], + [ + 0.993436336517334 + ], + [ + 0.993436336517334 + ], + [ + 0.993436336517334 + ], + [ + 0.9687211513519287 + ], + [ + 0.8634164333343506 + ], + [ + 0.5729578137397766 + ], + [ + 0.2958413064479828 + ], + [ + 0.11409598588943481 + ], + [ + 0.05297749489545822 + ], + [ + 0.054572440683841705 + ], + [ + 0.056468017399311066 + ], + [ + 0.056468017399311066 + ], + [ + 0.056468017399311066 + ], + [ + 0.056468017399311066 + ], + [ + 0.07921512424945831 + ], + [ + 0.227462038397789 + ], + [ + 0.47659820318222046 + ], + [ + 0.7768828272819519 + ], + [ + 0.9893313646316528 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.19080355763435364, + 0.025263361632823944, + 0.04559217765927315 + ], + [ + 0.20753489434719086, + 0.023730210959911346, + 0.061659399420022964 + ], + [ + 0.22867897152900696, + 0.022073976695537567, + 0.06353773921728134 + ], + [ + 0.2494986355304718, + 0.016595633700489998, + 0.05947592854499817 + ], + [ + 0.26380935311317444, + 0.006687539629638195, + 0.04168390855193138 + ], + [ + 0.27149710059165955, + -0.0013439591275528073, + 0.031334057450294495 + ], + [ + 0.28515148162841797, + -0.00858408771455288, + 0.02668365277349949 + ], + [ + 0.29060640931129456, + -0.012903112918138504, + 0.023311493918299675 + ], + [ + 0.2907907962799072, + -0.012352175079286098, + 0.01735277660191059 + ], + [ + 0.29396891593933105, + -0.010783555917441845, + 0.019293522462248802 + ], + [ + 0.2955014407634735, + -0.010764271020889282, + 0.018131112679839134 + ], + [ + 0.28964653611183167, + -0.010018154978752136, + 0.023491255939006805 + ], + [ + 0.2865056097507477, + -0.010936222039163113, + 0.03541870042681694 + ], + [ + 0.2723851799964905, + -0.014058967120945454, + 0.0521647185087204 + ], + [ + 0.25374937057495117, + -0.022053267806768417, + 0.05524948611855507 + ], + [ + 0.2359353005886078, + -0.033291205763816833, + 0.049284420907497406 + ], + [ + 0.21910105645656586, + -0.04381254315376282, + 0.0367373526096344 + ], + [ + 0.21158452332019806, + -0.05106334760785103, + 0.03085959330201149 + ], + [ + 0.20965401828289032, + -0.0536474734544754, + 0.02382257767021656 + ], + [ + 0.2074844241142273, + -0.05165420100092888, + 0.020435504615306854 + ], + [ + 0.2129957526922226, + -0.05408233031630516, + 0.023172875866293907 + ], + [ + 0.21196089684963226, + -0.051758915185928345, + 0.028461720794439316 + ], + [ + 0.21503430604934692, + -0.04386134818196297, + 0.05097365006804466 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9868944608653416, + 0.15330632234079086, + 0.05036362421081497, + 0.14346460787951779, + -0.9764579071930886, + 0.1610834000326217, + 0.07387306274470323, + -0.1517469176307544, + -0.9856549312970955 + ], + [ + 0.9937234194329932, + 0.10584124227736405, + 0.03621321724983588, + 0.09962742485521223, + -0.9845804632623204, + 0.143790429371616, + 0.05087378388834987, + -0.13928008757657706, + -0.9889453550715239 + ], + [ + 0.9963226992274581, + 0.06786481549516139, + 0.05230148967208923, + 0.06028376328954689, + -0.9890184650334485, + 0.13493829592273407, + 0.06088470159048028, + -0.13128915659980903, + -0.9894726931409219 + ], + [ + 0.9922743825011047, + -0.03780636420546624, + 0.11816187480577187, + -0.051584881136358056, + -0.9919302221933646, + 0.1158163819913654, + 0.11282973841234886, + -0.12101699519069914, + -0.9862171855148413 + ], + [ + 0.9777857392292919, + -0.18179203008653672, + 0.10433937874476025, + -0.193537714337239, + -0.9741659558546502, + 0.11637802018814694, + 0.08048727408071456, + -0.13398637337733713, + -0.9877091932650239 + ], + [ + 0.9482972758584, + -0.29505891626666425, + 0.11692951950247255, + -0.3088929734761299, + -0.9426563606964041, + 0.12642830606982544, + 0.07292055633778716, + -0.15601032520366134, + -0.9850600849152478 + ], + [ + 0.9204686201429291, + -0.3720961184374546, + 0.11950731348311801, + -0.3839041712704223, + -0.9181347951786845, + 0.09821448550680116, + 0.07317859395576502, + -0.13628270809598395, + -0.9879635200050062 + ], + [ + 0.9090929985222639, + -0.396652470141032, + 0.1273449565896382, + -0.4094181986583, + -0.9071589573862091, + 0.09715639269424724, + 0.07698479489608298, + -0.14046153909516887, + -0.9870885965250659 + ], + [ + 0.9083709837991347, + -0.4016581075510611, + 0.1163310811017078, + -0.4120930965082569, + -0.9070797082699784, + 0.0859399945024849, + 0.07100306755365164, + -0.12600463278527038, + -0.9894854202637958 + ], + [ + 0.9132503984886021, + -0.3960366524496471, + 0.09554412371719681, + -0.40235176204881334, + -0.9135830559685896, + 0.05898355214217009, + 0.0639278439854234, + -0.09230909902913402, + -0.9936761348647782 + ], + [ + 0.9118856355821252, + -0.39456628731432586, + 0.11305765137297308, + -0.4020935773481791, + -0.9140551218644914, + 0.05314121986400014, + 0.08237319147834324, + -0.09391847053843522, + -0.9921663057257052 + ], + [ + 0.9199787804216525, + -0.3702161844270405, + 0.12875954474202073, + -0.377403665548792, + -0.9253526077995703, + 0.03590298690735927, + 0.10585611368373779, + -0.08162431026855925, + -0.9910257086316971 + ], + [ + 0.9195258973545609, + -0.3688249858733971, + 0.13579489640549067, + -0.3742229876290872, + -0.9272059594387645, + 0.015692810812608902, + 0.12012193648226624, + -0.06524751778212468, + -0.990612680011225 + ], + [ + 0.9103142274703975, + -0.3926966282757146, + 0.1308333497463808, + -0.3932212916162787, + -0.9191587325120679, + -0.022896293727026378, + 0.12924791326980514, + -0.03060363683770288, + -0.991139946893327 + ], + [ + 0.8911558710749952, + -0.4437191229984547, + 0.09462850170033134, + -0.4424676203651085, + -0.8961020497839678, + -0.03497886935580233, + 0.10031758757568669, + -0.010698423176072754, + -0.9948979472109393 + ], + [ + 0.8561422855357177, + -0.5082390653867884, + 0.09334580511432772, + -0.508900482110619, + -0.86062943954508, + -0.018364833130245894, + 0.08966987356552861, + -0.03178081501607445, + -0.9954643607742353 + ], + [ + 0.8366379354503128, + -0.5433435993766645, + 0.06938802477264226, + -0.5447447840019023, + -0.8386004944195687, + 0.0015267815742902313, + 0.05735926488509826, + -0.03907612795128942, + -0.9975885780000568 + ], + [ + 0.8291791322563388, + -0.5546926484973088, + 0.0691233125194826, + -0.5567502132776777, + -0.8305699097465518, + 0.013521280962445346, + 0.0499115882925543, + -0.04969598300311609, + -0.9975164873963079 + ], + [ + 0.8362150385305736, + -0.5457041449445096, + 0.05432674779234589, + -0.5478415298612397, + -0.835728182446194, + 0.03778972379467095, + 0.024780385279649916, + -0.061362783961965, + -0.9978078679033501 + ], + [ + 0.861258790974893, + -0.50730777618235, + 0.029531596526163908, + -0.5081288872199049, + -0.8590314036845005, + 0.06220997875339579, + -0.006191037160821564, + -0.06858474836839032, + -0.9976260839363202 + ], + [ + 0.8693270185017166, + -0.49379990452506106, + 0.020789160491862996, + -0.4941987772301262, + -0.8679645308079076, + 0.049042245499738665, + -0.006172802213255403, + -0.0529077267556366, + -0.998580326745118 + ], + [ + 0.8857383529840852, + -0.46415798435130845, + -0.004993557446428348, + -0.4631880568604895, + -0.8844898026464144, + 0.055987614668880525, + -0.030403849013640273, + -0.047277421433889466, + -0.9984189758752177 + ], + [ + 0.9009969681632177, + -0.4331021616344629, + 0.02503958762131022, + -0.4338020781423817, + -0.9000448746465292, + 0.04165309858659663, + 0.004496705465194541, + -0.048391540687079806, + -0.9988183210323537 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005623.json b/json/chunk-0005/episode_0005623.json new file mode 100644 index 0000000000000000000000000000000000000000..dee55b9126a476b48a8407ecc2bc123da869a3c0 --- /dev/null +++ b/json/chunk-0005/episode_0005623.json @@ -0,0 +1,2182 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 35, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nOpen oven." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005623.mp4", + "start": 0, + "end": 35, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.21726123988628387, + -0.04709601029753685, + 0.05651306360960007, + -0.027438640594482422, + 0.03505026549100876, + 0.49620407819747925, + 0.0, + 1.0181074142456055 + ], + [ + 0.21539820730686188, + -0.04773155227303505, + 0.05398256704211235, + -0.026167990639805794, + 0.04607025533914566, + 0.5040861368179321, + 0.0, + 1.0181074142456055 + ], + [ + 0.2342979609966278, + -0.02694796957075596, + 0.06525618582963943, + -0.11360913515090942, + 0.023348815739154816, + 0.7594875693321228, + 0.0, + 1.0181074142456055 + ], + [ + 0.2636179029941559, + -0.0020967102609574795, + 0.08094637095928192, + -0.2220185101032257, + -0.0431448295712471, + 1.016450047492981, + 0.0, + 1.0181074142456055 + ], + [ + 0.29650673270225525, + 0.01748785749077797, + 0.09962326288223267, + -0.3713853359222412, + -0.11299590021371841, + 1.2712832689285278, + 0.0, + 1.0181074142456055 + ], + [ + 0.3228490650653839, + 0.030045736581087112, + 0.10903260111808777, + -0.4629881680011749, + -0.085900217294693, + 1.5337809324264526, + 0.0, + 1.0181074142456055 + ], + [ + 0.3349708914756775, + 0.03225943446159363, + 0.10398100316524506, + -0.5053762197494507, + -0.0651775449514389, + 1.6663706302642822, + 0.0, + 1.0181074142456055 + ], + [ + 0.3420790731906891, + 0.026479996740818024, + 0.08918347209692001, + -0.4906044006347656, + 0.018557099625468254, + 1.6737585067749023, + 0.0, + 1.0181074142456055 + ], + [ + 0.34833449125289917, + 0.02366301231086254, + 0.07615581154823303, + -0.4887438416481018, + 0.05749543011188507, + 1.685616135597229, + 0.0, + 1.0181074142456055 + ], + [ + 0.35800284147262573, + 0.02097593992948532, + 0.07212170958518982, + -0.48835188150405884, + 0.08483815938234329, + 1.6958297491073608, + 0.0, + 1.0181074142456055 + ], + [ + 0.3605298697948456, + 0.01946878433227539, + 0.066656693816185, + -0.48313236236572266, + 0.12204978615045547, + 1.696207880973816, + 0.0, + 1.0181074142456055 + ], + [ + 0.3608283996582031, + 0.019898036494851112, + 0.06082533299922943, + -0.45978403091430664, + 0.13841255009174347, + 1.6883809566497803, + 0.0, + 1.0181074142456055 + ], + [ + 0.3488601744174957, + 0.022242030128836632, + 0.05777839943766594, + -0.41706839203834534, + 0.1387794315814972, + 1.657101035118103, + 0.0, + 1.0181074142456055 + ], + [ + 0.3257201015949249, + 0.028592674061655998, + 0.05762007459998131, + -0.3903858959674835, + 0.07989203184843063, + 1.5724821090698242, + 0.0, + 1.0187249183654785 + ], + [ + 0.3096080720424652, + 0.03784336522221565, + 0.05741678178310394, + -0.37151047587394714, + 0.06410830467939377, + 1.5269191265106201, + 0.0, + 1.0187249183654785 + ], + [ + 0.292052686214447, + 0.041005462408065796, + 0.06064419820904732, + -0.31833046674728394, + 0.0836179107427597, + 1.492077350616455, + 0.0, + 1.0187249183654785 + ], + [ + 0.28871262073516846, + 0.03018106333911419, + 0.07442612946033478, + -0.2874611020088196, + 0.06464576721191406, + 1.3830845355987549, + 0.0, + 1.0181074142456055 + ], + [ + 0.29698681831359863, + 0.01087302528321743, + 0.09342353790998459, + -0.26906195282936096, + 0.07358014583587646, + 1.3051152229309082, + 0.0, + 1.0181074142456055 + ], + [ + 0.3057381510734558, + -0.009112277999520302, + 0.11208570748567581, + -0.2806244194507599, + 0.1108054667711258, + 1.2628185749053955, + 0.0, + 1.0181074142456055 + ], + [ + 0.3204882740974426, + -0.03157484531402588, + 0.1287236511707306, + -0.3162824511528015, + 0.1334821581840515, + 1.2393492460250854, + 0.0, + 1.0181074142456055 + ], + [ + 0.3304958939552307, + -0.04662230610847473, + 0.11461200565099716, + -0.27732381224632263, + 0.15874965488910675, + 1.262168049812317, + 0.0, + 1.0181074142456055 + ], + [ + 0.3268585801124573, + -0.05341842770576477, + 0.08937245607376099, + -0.17329971492290497, + 0.10403112322092056, + 1.2813208103179932, + 0.0, + 1.0181074142456055 + ], + [ + 0.3110414743423462, + -0.0544339157640934, + 0.07339898496866226, + -0.12743815779685974, + 0.07501357793807983, + 1.277545690536499, + 0.0, + 1.0181074142456055 + ], + [ + 0.28770965337753296, + -0.043161556124687195, + 0.0762232095003128, + -0.12061180919408798, + 0.06860192120075226, + 1.2490168809890747, + 0.0, + 1.0181074142456055 + ], + [ + 0.27068644762039185, + -0.026064898818731308, + 0.08554182201623917, + -0.14102959632873535, + 0.04971621558070183, + 1.1868970394134521, + 0.0, + 1.0181074142456055 + ], + [ + 0.25438278913497925, + 0.000989051186479628, + 0.08519298583269119, + -0.09165025502443314, + 0.04989170283079147, + 1.0899182558059692, + 0.0, + 1.0181074142456055 + ], + [ + 0.2388484627008438, + 0.03709949553012848, + 0.06986098736524582, + -0.07941688597202301, + 0.01698516681790352, + 0.9058727025985718, + 0.0, + 1.0181074142456055 + ], + [ + 0.2359241545200348, + 0.06652237474918365, + 0.06920377910137177, + -0.09409263730049133, + -0.024906188249588013, + 0.8515305519104004, + 0.0, + 1.0181074142456055 + ], + [ + 0.23161236941814423, + 0.09069610387086868, + 0.06840518116950989, + -0.0831514298915863, + -0.024236062541604042, + 0.8245705962181091, + 0.0, + 1.0181074142456055 + ], + [ + 0.2285650074481964, + 0.11516763269901276, + 0.07032611966133118, + -0.06848806887865067, + -0.03161155804991722, + 0.7974181175231934, + 0.0, + 1.0181074142456055 + ], + [ + 0.22417789697647095, + 0.1364758014678955, + 0.07107826322317123, + -0.01630357652902603, + -0.03498333692550659, + 0.688884973526001, + 0.0, + 1.0181074142456055 + ], + [ + 0.22641533613204956, + 0.1505136489868164, + 0.07095920294523239, + -0.009106988087296486, + 0.025319432839751244, + 0.4961498975753784, + 0.0, + 1.0181074142456055 + ], + [ + 0.2283623218536377, + 0.15409639477729797, + 0.07038571685552597, + -0.01701352931559086, + 0.06695717573165894, + 0.3859251141548157, + 0.0, + 1.0181074142456055 + ], + [ + 0.2283623218536377, + 0.15409639477729797, + 0.07038571685552597, + -0.01732189580798149, + 0.06687817722558975, + 0.3813135325908661, + 0.0, + 1.0181074142456055 + ], + [ + 0.2285984307527542, + 0.15374591946601868, + 0.07038571685552597, + -0.01732189580798149, + 0.06687817722558975, + 0.37977954745292664, + 0.0, + 1.0181074142456055 + ] + ], + "left_gripper_pos": [ + [ + 1.0181074142456055 + ], + [ + 1.0181074142456055 + ], + [ + 1.0181074142456055 + ], + [ + 1.0181074142456055 + ], + [ + 1.0181074142456055 + ], + [ + 1.0181074142456055 + ], + [ + 1.0181074142456055 + ], + [ + 1.0181074142456055 + ], + [ + 1.0181074142456055 + ], + [ + 1.0181074142456055 + ], + [ + 1.0181074142456055 + ], + [ + 1.0181074142456055 + ], + [ + 1.0181074142456055 + ], + [ + 1.0187249183654785 + ], + [ + 1.0187249183654785 + ], + [ + 1.0187249183654785 + ], + [ + 1.0181074142456055 + ], + [ + 1.0181074142456055 + ], + [ + 1.0181074142456055 + ], + [ + 1.0181074142456055 + ], + [ + 1.0181074142456055 + ], + [ + 1.0181074142456055 + ], + [ + 1.0181074142456055 + ], + [ + 1.0181074142456055 + ], + [ + 1.0181074142456055 + ], + [ + 1.0181074142456055 + ], + [ + 1.0181074142456055 + ], + [ + 1.0181074142456055 + ], + [ + 1.0181074142456055 + ], + [ + 1.0181074142456055 + ], + [ + 1.0181074142456055 + ], + [ + 1.0181074142456055 + ], + [ + 1.0181074142456055 + ], + [ + 1.0181074142456055 + ], + [ + 1.0181074142456055 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.21726123988628387, + -0.04709601029753685, + 0.05651306360960007 + ], + [ + 0.21539820730686188, + -0.04773155227303505, + 0.05398256704211235 + ], + [ + 0.2342979609966278, + -0.02694796957075596, + 0.06525618582963943 + ], + [ + 0.2636179029941559, + -0.0020967102609574795, + 0.08094637095928192 + ], + [ + 0.29650673270225525, + 0.01748785749077797, + 0.09962326288223267 + ], + [ + 0.3228490650653839, + 0.030045736581087112, + 0.10903260111808777 + ], + [ + 0.3349708914756775, + 0.03225943446159363, + 0.10398100316524506 + ], + [ + 0.3420790731906891, + 0.026479996740818024, + 0.08918347209692001 + ], + [ + 0.34833449125289917, + 0.02366301231086254, + 0.07615581154823303 + ], + [ + 0.35800284147262573, + 0.02097593992948532, + 0.07212170958518982 + ], + [ + 0.3605298697948456, + 0.01946878433227539, + 0.066656693816185 + ], + [ + 0.3608283996582031, + 0.019898036494851112, + 0.06082533299922943 + ], + [ + 0.3488601744174957, + 0.022242030128836632, + 0.05777839943766594 + ], + [ + 0.3257201015949249, + 0.028592674061655998, + 0.05762007459998131 + ], + [ + 0.3096080720424652, + 0.03784336522221565, + 0.05741678178310394 + ], + [ + 0.292052686214447, + 0.041005462408065796, + 0.06064419820904732 + ], + [ + 0.28871262073516846, + 0.03018106333911419, + 0.07442612946033478 + ], + [ + 0.29698681831359863, + 0.01087302528321743, + 0.09342353790998459 + ], + [ + 0.3057381510734558, + -0.009112277999520302, + 0.11208570748567581 + ], + [ + 0.3204882740974426, + -0.03157484531402588, + 0.1287236511707306 + ], + [ + 0.3304958939552307, + -0.04662230610847473, + 0.11461200565099716 + ], + [ + 0.3268585801124573, + -0.05341842770576477, + 0.08937245607376099 + ], + [ + 0.3110414743423462, + -0.0544339157640934, + 0.07339898496866226 + ], + [ + 0.28770965337753296, + -0.043161556124687195, + 0.0762232095003128 + ], + [ + 0.27068644762039185, + -0.026064898818731308, + 0.08554182201623917 + ], + [ + 0.25438278913497925, + 0.000989051186479628, + 0.08519298583269119 + ], + [ + 0.2388484627008438, + 0.03709949553012848, + 0.06986098736524582 + ], + [ + 0.2359241545200348, + 0.06652237474918365, + 0.06920377910137177 + ], + [ + 0.23161236941814423, + 0.09069610387086868, + 0.06840518116950989 + ], + [ + 0.2285650074481964, + 0.11516763269901276, + 0.07032611966133118 + ], + [ + 0.22417789697647095, + 0.1364758014678955, + 0.07107826322317123 + ], + [ + 0.22641533613204956, + 0.1505136489868164, + 0.07095920294523239 + ], + [ + 0.2283623218536377, + 0.15409639477729797, + 0.07038571685552597 + ], + [ + 0.2283623218536377, + 0.15409639477729797, + 0.07038571685552597 + ], + [ + 0.2285984307527542, + 0.15374591946601868, + 0.07038571685552597 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8788559737933741, + 0.47675711343355137, + -0.017743509185264225, + 0.4757984439049266, + -0.8786073577162721, + -0.04080382021919943, + -0.03504308926664651, + 0.027418347093472795, + -0.9990096176400463 + ], + [ + 0.8746871731519112, + 0.4838972044997577, + -0.02767389746382562, + 0.48249495530594955, + -0.8747344397354795, + -0.04514729277561005, + -0.04605395995816641, + 0.026137241973410087, + -0.9985969544086318 + ], + [ + 0.7249912744057454, + 0.6860304890812836, + 0.06123577456380051, + 0.68836224758553, + -0.7186915698024613, + -0.09818270516680608, + -0.023346694295580006, + 0.11333399995486482, + -0.9932826064719447 + ], + [ + 0.5258977371167524, + 0.8243760762870178, + 0.2093696609853026, + 0.8494534999171364, + -0.5215425888023373, + -0.08013787833405765, + 0.043131445303945554, + 0.2199941201736481, + -0.9745472105111254 + ], + [ + 0.2931733395911809, + 0.8782673011634448, + 0.37775116235431194, + 0.9493869433979265, + -0.3140377722351429, + -0.00668650245879307, + 0.11275559701627694, + 0.360592325648603, + -0.9258830109818601 + ], + [ + 0.03687049188533387, + 0.8926910020311606, + 0.44915848174195316, + 0.9956303785941977, + -0.07140258109446629, + 0.06018156389977908, + 0.08579461549834325, + 0.44497690536212225, + -0.8914229286067533 + ], + [ + -0.09522624230506282, + 0.8740082605868581, + 0.47648874404585073, + 0.9933226376613781, + 0.0521109365963211, + 0.10293001407022637, + 0.06513140782986537, + 0.48310869451189653, + -0.8731345194190359 + ], + [ + -0.10276265924118777, + 0.8764783975875213, + 0.47034610068341176, + 0.9945328096381015, + 0.09935377584833194, + 0.03214526058414646, + -0.018556034571610674, + 0.47107796147462677, + -0.8818963815516463 + ], + [ + -0.11437837309413362, + 0.8740186237739359, + 0.47223832231687257, + 0.9917739179289949, + 0.12795705203274527, + 0.003389476487698745, + -0.0574637580054638, + 0.468741333926724, + -0.8814643942806113 + ], + [ + -0.12425937060935821, + 0.8712554578214395, + 0.47484053747770916, + 0.9886249779522678, + 0.14957597748953533, + -0.01573785013678597, + -0.08473642537093537, + 0.4674836405420018, + -0.8799311246006429 + ], + [ + -0.12415259373516663, + 0.8715148173426617, + 0.4743923024470552, + 0.9847658612673118, + 0.1668805933987516, + -0.04885760973820316, + -0.12174699976295375, + 0.46109954532515884, + -0.8789566982221887 + ], + [ + -0.1161919015463096, + 0.8827777786697881, + 0.45519538167899654, + 0.983597193635378, + 0.16593312764332563, + -0.07073017618465591, + -0.13797102118800655, + 0.43951062630764504, + -0.887577831333681 + ], + [ + -0.08536886811060451, + 0.906047277551387, + 0.41447615998900783, + 0.986699424539893, + 0.13463697229956229, + -0.0910885904087361, + -0.13833438462709774, + 0.4011872586856745, + -0.905490133296943 + ], + [ + -0.0016804043877321484, + 0.9247097662640588, + 0.38066917975712655, + 0.9968089123361731, + 0.03192911005036064, + -0.07316094735969167, + -0.07980707066588341, + 0.37933149105665065, + -0.9218125901529384 + ], + [ + 0.04377301774113601, + 0.9319033980865732, + 0.36005552287464193, + 0.9969852935030157, + -0.01763629855583798, + -0.07555981413393428, + -0.06406440085210771, + 0.3622775422351584, + -0.9298659768673727 + ], + [ + 0.07836294652543124, + 0.9488737354476616, + 0.30577423499937534, + 0.9934201398411796, + -0.04862747757667735, + -0.10369085872178303, + -0.08352050269115623, + 0.31188780451010034, + -0.9464408713850464 + ], + [ + 0.18622157607579565, + 0.9455392804894138, + 0.26697751526188174, + 0.9803816949021074, + -0.1609603389472956, + -0.11376951079636075, + -0.06460075003216427, + 0.2829262065230673, + -0.9569636904071902 + ], + [ + 0.26185608361889384, + 0.93532800873347, + 0.23789263870590338, + 0.9623030277215904, + -0.23426325770295936, + -0.1381796255902349, + -0.07351376952405277, + 0.26510798209235314, + -0.9614122339149246 + ], + [ + 0.30127315662915466, + 0.9249553003171869, + 0.23171572564210416, + 0.9471044292931787, + -0.2620899704783972, + -0.18520811911974702, + -0.11057886374866746, + 0.2752572247730746, + -0.954989934555479 + ], + [ + 0.3225169809952015, + 0.9121406706065696, + 0.25294701815822707, + 0.9371610748869299, + -0.2701291909988695, + -0.22081517132450507, + -0.13308612507138035, + 0.30826874184012537, + -0.9419439824733693 + ], + [ + 0.29993254741220526, + 0.9294945745587834, + 0.21466323129174048, + 0.9407709648987749, + -0.2509105009975811, + -0.2280217360090273, + -0.15808370759269585, + 0.27034007537716054, + -0.9496977335125203 + ], + [ + 0.2839063596991666, + 0.9491493786197631, + 0.13606114797430213, + 0.9532123006000905, + -0.2640127833998605, + -0.14725338768986312, + -0.10384357903621287, + 0.171501333135273, + -0.9796957710563898 + ], + [ + 0.2882527010003811, + 0.9522995114265079, + 0.10017994261736819, + 0.9546171431993072, + -0.2776033247127971, + -0.10790043567286822, + -0.07494324703386111, + 0.12673608264908467, + -0.9891013472232186 + ], + [ + 0.31551128271219897, + 0.9443906141785541, + 0.09262288233884883, + 0.946442700381037, + -0.30613328363096426, + -0.10260910071126411, + -0.06854812453126358, + 0.12003657986121127, + -0.9904001080969597 + ], + [ + 0.3740759919172819, + 0.920622001734019, + 0.11190300350906414, + 0.9260655948395347, + -0.3643433696281039, + -0.09826710061123062, + -0.0496957374993114, + 0.14038888464293345, + -0.9888484690502952 + ], + [ + 0.4619822660105132, + 0.884979389916318, + 0.058171000637201445, + 0.8854858940364047, + -0.4565698581205426, + -0.08636374307738635, + -0.04987100715185794, + 0.0914081182342653, + -0.9945639439304694 + ], + [ + 0.6169100308235576, + 0.785314869179086, + 0.05198624929260438, + 0.7868503960218053, + -0.6139939563824451, + -0.06227259273677904, + -0.016984350137875876, + 0.07932198794828324, + -0.9967043463727481 + ], + [ + 0.6586281673035222, + 0.7474204195716707, + 0.08701524947795994, + 0.7520563458116465, + -0.6576783891217176, + -0.04324799656280061, + 0.024903613369086464, + 0.09392471926798972, + -0.9952677816304477 + ], + [ + 0.6786729501149141, + 0.7303530221617722, + 0.07737887180286984, + 0.7340407039487076, + -0.678004627114234, + -0.03865191532348636, + 0.024233689954375717, + 0.08303125092911774, + -0.9962522469938729 + ], + [ + 0.698207512831491, + 0.7123663952003629, + 0.07099569011499164, + 0.7151973931996276, + -0.6984665426408546, + -0.025242376508335794, + 0.03160629345748621, + 0.06840034941849177, + -0.9971571763835968 + ], + [ + 0.7714829668816643, + 0.6351521671895237, + 0.037359822348566815, + 0.6352878852331454, + -0.7722151685888226, + 0.00964553146978683, + 0.03497620173007683, + 0.016292879297045405, + -0.9992553264290109 + ], + [ + 0.8791400183823458, + 0.4762262261080071, + -0.017927901316491555, + 0.4758906296403341, + -0.879275667685502, + -0.020060130526518043, + -0.02531672765613562, + 0.009103943274200388, + -0.9996380252459612 + ], + [ + 0.9243746158010653, + 0.3774164455286003, + -0.05557334169536686, + 0.3755728985969212, + -0.9258880548186074, + -0.040942737863049146, + -0.06690715583657428, + 0.016974586556753712, + -0.9976148033730693 + ], + [ + 0.9261016685913815, + 0.3731585492289019, + -0.05557334405665862, + 0.3713080569933389, + -0.9276066078677803, + -0.040942738695175035, + -0.06682833414121572, + 0.0172823082200023, + -0.9976148032073795 + ], + [ + 0.9266701597995037, + 0.371735175995086, + -0.055636084199597965, + 0.36988699449030693, + -0.9281779359317326, + -0.04085744187337706, + -0.06682833414121572, + 0.017282308220002308, + -0.9976148032073797 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.001863032579421997, + -0.0006355419754981995, + -0.0025304965674877167, + 0.0012706499546766281, + 0.011019989848136902, + 0.00788205862045288, + 1.0 + ], + [ + 0.01889975368976593, + 0.02078358270227909, + 0.011273618787527084, + -0.08744114637374878, + -0.022721439599990845, + 0.2554014325141907, + 1.0 + ], + [ + 0.029319941997528076, + 0.024851258844137192, + 0.015690185129642487, + -0.10840937495231628, + -0.06649364531040192, + 0.25696247816085815, + 1.0 + ], + [ + 0.032888829708099365, + 0.019584568217396736, + 0.018676891922950745, + -0.1493668258190155, + -0.06985107064247131, + 0.2548332214355469, + 1.0 + ], + [ + 0.026342332363128662, + 0.012557879090309143, + 0.009409338235855103, + -0.09160283207893372, + 0.02709568291902542, + 0.2624976634979248, + 1.0 + ], + [ + 0.012121826410293579, + 0.0022136978805065155, + -0.005051597952842712, + -0.04238805174827576, + 0.02072267234325409, + 0.1325896978378296, + 1.0 + ], + [ + 0.007108181715011597, + -0.005779437720775604, + -0.014797531068325043, + 0.014771819114685059, + 0.08373464643955231, + 0.007387876510620117, + 1.0 + ], + [ + 0.006255418062210083, + -0.0028169844299554825, + -0.013027660548686981, + 0.0018605589866638184, + 0.03893832862377167, + 0.01185762882232666, + 1.0 + ], + [ + 0.009668350219726562, + -0.00268707238137722, + -0.004034101963043213, + 0.00039196014404296875, + 0.02734272927045822, + 0.010213613510131836, + 1.0 + ], + [ + 0.0025270283222198486, + -0.0015071555972099304, + -0.005465015769004822, + 0.005219519138336182, + 0.03721162676811218, + 0.0003781318664550781, + 1.0 + ], + [ + 0.00029852986335754395, + 0.00042925216257572174, + -0.005831360816955566, + 0.023348331451416016, + 0.016362763941287994, + -0.007826924324035645, + 1.0 + ], + [ + -0.011968225240707397, + 0.0023439936339855194, + -0.003046933561563492, + 0.042715638875961304, + 0.00036688148975372314, + -0.031279921531677246, + 1.0 + ], + [ + -0.0231400728225708, + 0.0063506439328193665, + -0.00015832483768463135, + 0.026682496070861816, + -0.05888739973306656, + -0.08461892604827881, + 1.0 + ], + [ + -0.016112029552459717, + 0.009250691160559654, + -0.0002032928168773651, + 0.018875420093536377, + -0.015783727169036865, + -0.0455629825592041, + 1.0 + ], + [ + -0.01755538582801819, + 0.0031620971858501434, + 0.0032274164259433746, + 0.05318000912666321, + 0.019509606063365936, + -0.03484177589416504, + 1.0 + ], + [ + -0.0033400654792785645, + -0.010824399068951607, + 0.01378193125128746, + 0.030869364738464355, + -0.018972143530845642, + -0.1089928150177002, + 1.0 + ], + [ + 0.008274197578430176, + -0.01930803805589676, + 0.01899740844964981, + 0.018399149179458618, + 0.008934378623962402, + -0.07796931266784668, + 1.0 + ], + [ + 0.008751332759857178, + -0.019985303282737732, + 0.018662169575691223, + -0.011562466621398926, + 0.03722532093524933, + -0.042296648025512695, + 1.0 + ], + [ + 0.014750123023986816, + -0.022462567314505577, + 0.01663794368505478, + -0.035658031702041626, + 0.02267669141292572, + -0.02346932888031006, + 1.0 + ], + [ + 0.010007619857788086, + -0.015047460794448853, + -0.014111645519733429, + 0.03895863890647888, + 0.025267496705055237, + 0.022818803787231445, + 1.0 + ], + [ + -0.0036373138427734375, + -0.006796121597290039, + -0.025239549577236176, + 0.10402409732341766, + -0.05471853166818619, + 0.01915276050567627, + 1.0 + ], + [ + -0.015817105770111084, + -0.0010154880583286285, + -0.015973471105098724, + 0.04586155712604523, + -0.02901754528284073, + -0.0037751197814941406, + 1.0 + ], + [ + -0.023331820964813232, + 0.011272359639406204, + 0.002824224531650543, + 0.006826348602771759, + -0.006411656737327576, + -0.028528809547424316, + 1.0 + ], + [ + -0.017023205757141113, + 0.017096657305955887, + 0.009318612515926361, + -0.02041778713464737, + -0.01888570562005043, + -0.06211984157562256, + 1.0 + ], + [ + -0.016303658485412598, + 0.0270539503544569, + -0.00034883618354797363, + 0.049379341304302216, + 0.00017548725008964539, + -0.09697878360748291, + 1.0 + ], + [ + -0.015534326434135437, + 0.036110445857048035, + -0.015331998467445374, + 0.012233369052410126, + -0.032906536012887955, + -0.18404555320739746, + 1.0 + ], + [ + -0.002924308180809021, + 0.029422879219055176, + -0.000657208263874054, + -0.014675751328468323, + -0.04189135506749153, + -0.05434215068817139, + 1.0 + ], + [ + -0.004311785101890564, + 0.024173729121685028, + -0.0007985979318618774, + 0.01094120740890503, + 0.0006701257079839706, + -0.02695995569229126, + 1.0 + ], + [ + -0.003047361969947815, + 0.024471528828144073, + 0.001920938491821289, + 0.014663361012935638, + -0.007375495508313179, + -0.02715247869491577, + 1.0 + ], + [ + -0.004387110471725464, + 0.02130816876888275, + 0.0007521435618400574, + 0.052184492349624634, + -0.0033717788755893707, + -0.10853314399719238, + 1.0 + ], + [ + 0.0022374391555786133, + 0.014037847518920898, + -0.00011906027793884277, + 0.007196588441729546, + 0.060302771627902985, + -0.19273507595062256, + 1.0 + ], + [ + 0.0019469857215881348, + 0.0035827457904815674, + -0.0005734860897064209, + -0.007906541228294373, + 0.04163774102926254, + -0.11022478342056274, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + -0.00030836649239063263, + -7.899850606918335e-05, + -0.004611581563949585, + 1.0 + ], + [ + 0.0002361088991165161, + -0.0003504753112792969, + 0.0, + 0.0, + 0.0, + -0.0015339851379394531, + 1.0 + ], + [ + -0.00036785006523132324, + -0.0007579326629638672, + 5.2012503147125244e-05, + -0.0007668770849704742, + 0.004551351070404053, + 0.001461029052734375, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0181074142456055 + ], + [ + 1.0181074142456055 + ], + [ + 1.0181074142456055 + ], + [ + 1.0181074142456055 + ], + [ + 1.0181074142456055 + ], + [ + 1.0181074142456055 + ], + [ + 1.0181074142456055 + ], + [ + 1.0181074142456055 + ], + [ + 1.0181074142456055 + ], + [ + 1.0181074142456055 + ], + [ + 1.0181074142456055 + ], + [ + 1.0181074142456055 + ], + [ + 1.0187249183654785 + ], + [ + 1.0187249183654785 + ], + [ + 1.0187249183654785 + ], + [ + 1.0181074142456055 + ], + [ + 1.0181074142456055 + ], + [ + 1.0181074142456055 + ], + [ + 1.0181074142456055 + ], + [ + 1.0181074142456055 + ], + [ + 1.0181074142456055 + ], + [ + 1.0181074142456055 + ], + [ + 1.0181074142456055 + ], + [ + 1.0181074142456055 + ], + [ + 1.0181074142456055 + ], + [ + 1.0181074142456055 + ], + [ + 1.0181074142456055 + ], + [ + 1.0181074142456055 + ], + [ + 1.0181074142456055 + ], + [ + 1.0181074142456055 + ], + [ + 1.0181074142456055 + ], + [ + 1.0181074142456055 + ], + [ + 1.0181074142456055 + ], + [ + 1.0181074142456055 + ], + [ + 1.0181074142456055 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.21539820730686188, + -0.04773155227303505, + 0.05398256704211235 + ], + [ + 0.2342979609966278, + -0.02694796957075596, + 0.06525618582963943 + ], + [ + 0.2636179029941559, + -0.0020967102609574795, + 0.08094637095928192 + ], + [ + 0.29650673270225525, + 0.01748785749077797, + 0.09962326288223267 + ], + [ + 0.3228490650653839, + 0.030045736581087112, + 0.10903260111808777 + ], + [ + 0.3349708914756775, + 0.03225943446159363, + 0.10398100316524506 + ], + [ + 0.3420790731906891, + 0.026479996740818024, + 0.08918347209692001 + ], + [ + 0.34833449125289917, + 0.02366301231086254, + 0.07615581154823303 + ], + [ + 0.35800284147262573, + 0.02097593992948532, + 0.07212170958518982 + ], + [ + 0.3605298697948456, + 0.01946878433227539, + 0.066656693816185 + ], + [ + 0.3608283996582031, + 0.019898036494851112, + 0.06082533299922943 + ], + [ + 0.3488601744174957, + 0.022242030128836632, + 0.05777839943766594 + ], + [ + 0.3257201015949249, + 0.028592674061655998, + 0.05762007459998131 + ], + [ + 0.3096080720424652, + 0.03784336522221565, + 0.05741678178310394 + ], + [ + 0.292052686214447, + 0.041005462408065796, + 0.06064419820904732 + ], + [ + 0.28871262073516846, + 0.03018106333911419, + 0.07442612946033478 + ], + [ + 0.29698681831359863, + 0.01087302528321743, + 0.09342353790998459 + ], + [ + 0.3057381510734558, + -0.009112277999520302, + 0.11208570748567581 + ], + [ + 0.3204882740974426, + -0.03157484531402588, + 0.1287236511707306 + ], + [ + 0.3304958939552307, + -0.04662230610847473, + 0.11461200565099716 + ], + [ + 0.3268585801124573, + -0.05341842770576477, + 0.08937245607376099 + ], + [ + 0.3110414743423462, + -0.0544339157640934, + 0.07339898496866226 + ], + [ + 0.28770965337753296, + -0.043161556124687195, + 0.0762232095003128 + ], + [ + 0.27068644762039185, + -0.026064898818731308, + 0.08554182201623917 + ], + [ + 0.25438278913497925, + 0.000989051186479628, + 0.08519298583269119 + ], + [ + 0.2388484627008438, + 0.03709949553012848, + 0.06986098736524582 + ], + [ + 0.2359241545200348, + 0.06652237474918365, + 0.06920377910137177 + ], + [ + 0.23161236941814423, + 0.09069610387086868, + 0.06840518116950989 + ], + [ + 0.2285650074481964, + 0.11516763269901276, + 0.07032611966133118 + ], + [ + 0.22417789697647095, + 0.1364758014678955, + 0.07107826322317123 + ], + [ + 0.22641533613204956, + 0.1505136489868164, + 0.07095920294523239 + ], + [ + 0.2283623218536377, + 0.15409639477729797, + 0.07038571685552597 + ], + [ + 0.2283623218536377, + 0.15409639477729797, + 0.07038571685552597 + ], + [ + 0.2285984307527542, + 0.15374591946601868, + 0.07038571685552597 + ], + [ + 0.2282305806875229, + 0.1529879868030548, + 0.0704377293586731 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8746871731519112, + 0.4838972044997577, + -0.02767389746382562, + 0.48249495530594955, + -0.8747344397354795, + -0.04514729277561005, + -0.04605395995816641, + 0.026137241973410087, + -0.9985969544086318 + ], + [ + 0.7249912744057454, + 0.6860304890812836, + 0.06123577456380051, + 0.68836224758553, + -0.7186915698024613, + -0.09818270516680608, + -0.023346694295580006, + 0.11333399995486482, + -0.9932826064719447 + ], + [ + 0.5258977371167524, + 0.8243760762870178, + 0.2093696609853026, + 0.8494534999171364, + -0.5215425888023373, + -0.08013787833405765, + 0.043131445303945554, + 0.2199941201736481, + -0.9745472105111254 + ], + [ + 0.2931733395911809, + 0.8782673011634448, + 0.37775116235431194, + 0.9493869433979265, + -0.3140377722351429, + -0.00668650245879307, + 0.11275559701627694, + 0.360592325648603, + -0.9258830109818601 + ], + [ + 0.03687049188533387, + 0.8926910020311606, + 0.44915848174195316, + 0.9956303785941977, + -0.07140258109446629, + 0.06018156389977908, + 0.08579461549834325, + 0.44497690536212225, + -0.8914229286067533 + ], + [ + -0.09522624230506282, + 0.8740082605868581, + 0.47648874404585073, + 0.9933226376613781, + 0.0521109365963211, + 0.10293001407022637, + 0.06513140782986537, + 0.48310869451189653, + -0.8731345194190359 + ], + [ + -0.10276265924118777, + 0.8764783975875213, + 0.47034610068341176, + 0.9945328096381015, + 0.09935377584833194, + 0.03214526058414646, + -0.018556034571610674, + 0.47107796147462677, + -0.8818963815516463 + ], + [ + -0.11437837309413362, + 0.8740186237739359, + 0.47223832231687257, + 0.9917739179289949, + 0.12795705203274527, + 0.003389476487698745, + -0.0574637580054638, + 0.468741333926724, + -0.8814643942806113 + ], + [ + -0.12425937060935821, + 0.8712554578214395, + 0.47484053747770916, + 0.9886249779522678, + 0.14957597748953533, + -0.01573785013678597, + -0.08473642537093537, + 0.4674836405420018, + -0.8799311246006429 + ], + [ + -0.12415259373516663, + 0.8715148173426617, + 0.4743923024470552, + 0.9847658612673118, + 0.1668805933987516, + -0.04885760973820316, + -0.12174699976295375, + 0.46109954532515884, + -0.8789566982221887 + ], + [ + -0.1161919015463096, + 0.8827777786697881, + 0.45519538167899654, + 0.983597193635378, + 0.16593312764332563, + -0.07073017618465591, + -0.13797102118800655, + 0.43951062630764504, + -0.887577831333681 + ], + [ + -0.08536886811060451, + 0.906047277551387, + 0.41447615998900783, + 0.986699424539893, + 0.13463697229956229, + -0.0910885904087361, + -0.13833438462709774, + 0.4011872586856745, + -0.905490133296943 + ], + [ + -0.0016804043877321484, + 0.9247097662640588, + 0.38066917975712655, + 0.9968089123361731, + 0.03192911005036064, + -0.07316094735969167, + -0.07980707066588341, + 0.37933149105665065, + -0.9218125901529384 + ], + [ + 0.04377301774113601, + 0.9319033980865732, + 0.36005552287464193, + 0.9969852935030157, + -0.01763629855583798, + -0.07555981413393428, + -0.06406440085210771, + 0.3622775422351584, + -0.9298659768673727 + ], + [ + 0.07836294652543124, + 0.9488737354476616, + 0.30577423499937534, + 0.9934201398411796, + -0.04862747757667735, + -0.10369085872178303, + -0.08352050269115623, + 0.31188780451010034, + -0.9464408713850464 + ], + [ + 0.18622157607579565, + 0.9455392804894138, + 0.26697751526188174, + 0.9803816949021074, + -0.1609603389472956, + -0.11376951079636075, + -0.06460075003216427, + 0.2829262065230673, + -0.9569636904071902 + ], + [ + 0.26185608361889384, + 0.93532800873347, + 0.23789263870590338, + 0.9623030277215904, + -0.23426325770295936, + -0.1381796255902349, + -0.07351376952405277, + 0.26510798209235314, + -0.9614122339149246 + ], + [ + 0.30127315662915466, + 0.9249553003171869, + 0.23171572564210416, + 0.9471044292931787, + -0.2620899704783972, + -0.18520811911974702, + -0.11057886374866746, + 0.2752572247730746, + -0.954989934555479 + ], + [ + 0.3225169809952015, + 0.9121406706065696, + 0.25294701815822707, + 0.9371610748869299, + -0.2701291909988695, + -0.22081517132450507, + -0.13308612507138035, + 0.30826874184012537, + -0.9419439824733693 + ], + [ + 0.29993254741220526, + 0.9294945745587834, + 0.21466323129174048, + 0.9407709648987749, + -0.2509105009975811, + -0.2280217360090273, + -0.15808370759269585, + 0.27034007537716054, + -0.9496977335125203 + ], + [ + 0.2839063596991666, + 0.9491493786197631, + 0.13606114797430213, + 0.9532123006000905, + -0.2640127833998605, + -0.14725338768986312, + -0.10384357903621287, + 0.171501333135273, + -0.9796957710563898 + ], + [ + 0.2882527010003811, + 0.9522995114265079, + 0.10017994261736819, + 0.9546171431993072, + -0.2776033247127971, + -0.10790043567286822, + -0.07494324703386111, + 0.12673608264908467, + -0.9891013472232186 + ], + [ + 0.31551128271219897, + 0.9443906141785541, + 0.09262288233884883, + 0.946442700381037, + -0.30613328363096426, + -0.10260910071126411, + -0.06854812453126358, + 0.12003657986121127, + -0.9904001080969597 + ], + [ + 0.3740759919172819, + 0.920622001734019, + 0.11190300350906414, + 0.9260655948395347, + -0.3643433696281039, + -0.09826710061123062, + -0.0496957374993114, + 0.14038888464293345, + -0.9888484690502952 + ], + [ + 0.4619822660105132, + 0.884979389916318, + 0.058171000637201445, + 0.8854858940364047, + -0.4565698581205426, + -0.08636374307738635, + -0.04987100715185794, + 0.0914081182342653, + -0.9945639439304694 + ], + [ + 0.6169100308235576, + 0.785314869179086, + 0.05198624929260438, + 0.7868503960218053, + -0.6139939563824451, + -0.06227259273677904, + -0.016984350137875876, + 0.07932198794828324, + -0.9967043463727481 + ], + [ + 0.6586281673035222, + 0.7474204195716707, + 0.08701524947795994, + 0.7520563458116465, + -0.6576783891217176, + -0.04324799656280061, + 0.024903613369086464, + 0.09392471926798972, + -0.9952677816304477 + ], + [ + 0.6786729501149141, + 0.7303530221617722, + 0.07737887180286984, + 0.7340407039487076, + -0.678004627114234, + -0.03865191532348636, + 0.024233689954375717, + 0.08303125092911774, + -0.9962522469938729 + ], + [ + 0.698207512831491, + 0.7123663952003629, + 0.07099569011499164, + 0.7151973931996276, + -0.6984665426408546, + -0.025242376508335794, + 0.03160629345748621, + 0.06840034941849177, + -0.9971571763835968 + ], + [ + 0.7714829668816643, + 0.6351521671895237, + 0.037359822348566815, + 0.6352878852331454, + -0.7722151685888226, + 0.00964553146978683, + 0.03497620173007683, + 0.016292879297045405, + -0.9992553264290109 + ], + [ + 0.8791400183823458, + 0.4762262261080071, + -0.017927901316491555, + 0.4758906296403341, + -0.879275667685502, + -0.020060130526518043, + -0.02531672765613562, + 0.009103943274200388, + -0.9996380252459612 + ], + [ + 0.9243746158010653, + 0.3774164455286003, + -0.05557334169536686, + 0.3755728985969212, + -0.9258880548186074, + -0.040942737863049146, + -0.06690715583657428, + 0.016974586556753712, + -0.9976148033730693 + ], + [ + 0.9261016685913815, + 0.3731585492289019, + -0.05557334405665862, + 0.3713080569933389, + -0.9276066078677803, + -0.040942738695175035, + -0.06682833414121572, + 0.0172823082200023, + -0.9976148032073795 + ], + [ + 0.9266701597995037, + 0.371735175995086, + -0.055636084199597965, + 0.36988699449030693, + -0.9281779359317326, + -0.04085744187337706, + -0.06682833414121572, + 0.017282308220002308, + -0.9976148032073797 + ], + [ + 0.925836842291596, + 0.37320961480785564, + -0.05950399037458515, + 0.3711234773590292, + -0.9275716046906213, + -0.043339159251285085, + -0.07136880276751764, + 0.018041662524228147, + -0.9972868155174285 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005624.json b/json/chunk-0005/episode_0005624.json new file mode 100644 index 0000000000000000000000000000000000000000..d67b3565ba5c1089dbd6c93c770e4c9c86fd3042 --- /dev/null +++ b/json/chunk-0005/episode_0005624.json @@ -0,0 +1,1282 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 20, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nTurn faucet front to left." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005624.mp4", + "start": 0, + "end": 20, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2938268780708313, + 0.028822846710681915, + 0.10595940798521042, + 0.13776317238807678, + -0.07578885555267334, + 0.046926021575927734, + 0.0, + 1.0008161067962646 + ], + [ + 0.2925158739089966, + 0.028792675584554672, + 0.09990326315164566, + 0.13827747106552124, + -0.05431924760341644, + 0.04689258709549904, + 0.0, + 1.0008161067962646 + ], + [ + 0.29247137904167175, + 0.029241355136036873, + 0.09990326315164566, + 0.13819469511508942, + -0.05453062430024147, + 0.04994817450642586, + 0.0, + 1.0014774799346924 + ], + [ + 0.2925158739089966, + 0.028792675584554672, + 0.09990326315164566, + 0.13827747106552124, + -0.05431924760341644, + 0.04689258709549904, + 0.0, + 1.0014774799346924 + ], + [ + 0.29571765661239624, + 0.03121490590274334, + 0.10038434714078903, + 0.14967620372772217, + -0.07606419175863266, + 0.050549980252981186, + 0.0, + 1.0014774799346924 + ], + [ + 0.30246689915657043, + 0.03385384753346443, + 0.1039312481880188, + 0.15743495523929596, + -0.12786667048931122, + 0.05971117690205574, + 0.0, + 1.0014774799346924 + ], + [ + 0.31473660469055176, + 0.0346156544983387, + 0.1132008284330368, + 0.15279723703861237, + -0.23102997243404388, + 0.06564211845397949, + 0.0, + 1.0014774799346924 + ], + [ + 0.3269781470298767, + 0.03487907350063324, + 0.1186218112707138, + 0.1477479487657547, + -0.30451691150665283, + 0.06259313970804214, + 0.0, + 1.0014774799346924 + ], + [ + 0.337064653635025, + 0.03671623393893242, + 0.1235668957233429, + 0.13821211457252502, + -0.345248281955719, + 0.049773793667554855, + 0.0, + 1.0014774799346924 + ], + [ + 0.34773287177085876, + 0.041010141372680664, + 0.11931505799293518, + 0.13762305676937103, + -0.34701862931251526, + 0.038293447345495224, + 0.0, + 0.8045819997787476 + ], + [ + 0.35311269760131836, + 0.0504516065120697, + 0.11996608227491379, + 0.15108919143676758, + -0.3634158670902252, + 0.03299401327967644, + 0.0, + 0.4690495729446411 + ], + [ + 0.35292449593544006, + 0.06518493592739105, + 0.11709170788526535, + 0.1691885143518448, + -0.38661494851112366, + 0.04342987760901451, + 0.0, + 0.3849146366119385 + ], + [ + 0.35631340742111206, + 0.08624312281608582, + 0.11788268387317657, + 0.2185349464416504, + -0.4302126169204712, + 0.0045065199956297874, + 0.0, + 0.3849146366119385 + ], + [ + 0.35959547758102417, + 0.10049101710319519, + 0.1168229877948761, + 0.24886497855186462, + -0.4415801167488098, + -0.03584830090403557, + 0.0, + 0.3849146366119385 + ], + [ + 0.36956924200057983, + 0.11518722772598267, + 0.1149594634771347, + 0.2723346948623657, + -0.4680594503879547, + -0.07683426141738892, + 0.0, + 0.3840504586696625 + ], + [ + 0.3810858130455017, + 0.12262813746929169, + 0.11266633123159409, + 0.27449581027030945, + -0.4858969748020172, + -0.10234936326742172, + 0.0, + 0.36950385570526123 + ], + [ + 0.38791659474372864, + 0.1267017424106598, + 0.11155282706022263, + 0.27405890822410583, + -0.4945017695426941, + -0.11368157714605331, + 0.0, + 0.3299713730812073 + ], + [ + 0.39028164744377136, + 0.1360022872686386, + 0.09524733573198318, + 0.26464390754699707, + -0.4693777561187744, + -0.11834993213415146, + 0.0, + 0.18066829442977905 + ], + [ + 0.4013484716415405, + 0.14706353843212128, + 0.09766166657209396, + 0.26134541630744934, + -0.5091321468353271, + -0.11384119093418121, + 0.0, + 0.05729193985462189 + ], + [ + 0.4070703983306885, + 0.1465224325656891, + 0.09687039256095886, + 0.24221180379390717, + -0.5066322684288025, + -0.1111772432923317, + 0.0, + 0.051409780979156494 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 0.8045819997787476 + ], + [ + 0.4690495729446411 + ], + [ + 0.3849146366119385 + ], + [ + 0.3849146366119385 + ], + [ + 0.3849146366119385 + ], + [ + 0.3840504586696625 + ], + [ + 0.36950385570526123 + ], + [ + 0.3299713730812073 + ], + [ + 0.18066829442977905 + ], + [ + 0.05729193985462189 + ], + [ + 0.051409780979156494 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2938268780708313, + 0.028822846710681915, + 0.10595940798521042 + ], + [ + 0.2925158739089966, + 0.028792675584554672, + 0.09990326315164566 + ], + [ + 0.29247137904167175, + 0.029241355136036873, + 0.09990326315164566 + ], + [ + 0.2925158739089966, + 0.028792675584554672, + 0.09990326315164566 + ], + [ + 0.29571765661239624, + 0.03121490590274334, + 0.10038434714078903 + ], + [ + 0.30246689915657043, + 0.03385384753346443, + 0.1039312481880188 + ], + [ + 0.31473660469055176, + 0.0346156544983387, + 0.1132008284330368 + ], + [ + 0.3269781470298767, + 0.03487907350063324, + 0.1186218112707138 + ], + [ + 0.337064653635025, + 0.03671623393893242, + 0.1235668957233429 + ], + [ + 0.34773287177085876, + 0.041010141372680664, + 0.11931505799293518 + ], + [ + 0.35311269760131836, + 0.0504516065120697, + 0.11996608227491379 + ], + [ + 0.35292449593544006, + 0.06518493592739105, + 0.11709170788526535 + ], + [ + 0.35631340742111206, + 0.08624312281608582, + 0.11788268387317657 + ], + [ + 0.35959547758102417, + 0.10049101710319519, + 0.1168229877948761 + ], + [ + 0.36956924200057983, + 0.11518722772598267, + 0.1149594634771347 + ], + [ + 0.3810858130455017, + 0.12262813746929169, + 0.11266633123159409 + ], + [ + 0.38791659474372864, + 0.1267017424106598, + 0.11155282706022263 + ], + [ + 0.39028164744377136, + 0.1360022872686386, + 0.09524733573198318 + ], + [ + 0.4013484716415405, + 0.14706353843212128, + 0.09766166657209396 + ], + [ + 0.4070703983306885, + 0.1465224325656891, + 0.09687039256095886 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9960317354340421, + 0.05685088240809205, + 0.06847451480420155, + 0.04677414477378469, + -0.9889475027521848, + 0.1406947624501272, + 0.07571632181326929, + -0.13693361154091416, + -0.9876822488236947 + ], + [ + 0.997427437794779, + 0.05390327988967672, + 0.047254023651723806, + 0.046806265690869486, + -0.9890153370666901, + 0.14020640691115918, + 0.054292539323725075, + -0.13763393282180444, + -0.9889940448302937 + ], + [ + 0.9972682769427574, + 0.05695020902541738, + 0.04703889343495355, + 0.04985319507513815, + -0.9888561766981837, + 0.140278725210385, + 0.054503603040751976, + -0.13755048345175583, + -0.9889940453601146 + ], + [ + 0.997427437794779, + 0.05390327988967672, + 0.047254023651723806, + 0.046806265690869486, + -0.9890153370666901, + 0.14020640691115918, + 0.054292539323725075, + -0.13763393282180444, + -0.9889940448302937 + ], + [ + 0.9958348292015609, + 0.061280645166348874, + 0.06751055826383019, + 0.05038235228041445, + -0.9869837488489394, + 0.1527242550703254, + 0.07599086476537943, + -0.1486867917337974, + -0.985960256012442 + ], + [ + 0.990068556194483, + 0.07889508439452149, + 0.11636073089041934, + 0.059188519498950716, + -0.9846794528109112, + 0.16402162775538548, + 0.12751852098614377, + -0.15550543678722373, + -0.9795698473999292 + ], + [ + 0.9713346183858639, + 0.09960726105550066, + 0.21584126730125008, + 0.06385219908615378, + -0.9839345298252009, + 0.16672053769563966, + 0.228980251980494, + -0.14815949028895303, + -0.9620898137077781 + ], + [ + 0.952123696519461, + 0.10592295570476007, + 0.28677655758601395, + 0.059674364672463474, + -0.9844071661442776, + 0.16547356720857287, + 0.29983234769960154, + -0.14043809560998638, + -0.943598274995448 + ], + [ + 0.9398260756116039, + 0.09584743861811675, + 0.327933249474398, + 0.046817377825072906, + -0.9869174368446367, + 0.1542793115929566, + 0.33843031887535696, + -0.12964274512042145, + -0.9320180673697079 + ], + [ + 0.9397014372435719, + 0.0845453008109791, + 0.33138090010310894, + 0.03600200686640792, + -0.9880324758543845, + 0.14998560650491335, + 0.34009566939900415, + -0.1290113125576073, + -0.9314993381040091 + ], + [ + 0.9341793371246803, + 0.08608652813426826, + 0.34626301529773695, + 0.03083351477198075, + -0.9863046993507469, + 0.1620257214316262, + 0.3554690710260163, + -0.1406845752469713, + -0.9240398204793343 + ], + [ + 0.9253173836926312, + 0.10622598096871524, + 0.3640106872104973, + 0.040211705729674446, + -0.9820357901421498, + 0.18436031460754765, + 0.3770553781058353, + -0.15595431333284127, + -0.9129663159144197 + ], + [ + 0.9088678662932483, + 0.09481774436761585, + 0.4061635101441238, + 0.004095858940094288, + -0.9757987319593537, + 0.21863224521113175, + 0.41706405450374306, + -0.1970442337637797, + -0.8872604715535028 + ], + [ + 0.9034966468442317, + 0.07045851321947877, + 0.4227640087047739, + -0.03240270109555131, + -0.9723425955262758, + 0.23130054450203422, + 0.4273685459915621, + -0.22267796217885075, + -0.8762252284983195 + ], + [ + 0.889812475404559, + 0.047064312302665265, + 0.45389283880877473, + -0.06850293988497332, + -0.9696187948272746, + 0.23483343021132938, + 0.45115530124506675, + -0.2400507096952241, + -0.8595548562676454 + ], + [ + 0.8796289913840464, + 0.02757811919966042, + 0.4748602793012848, + -0.0903451546841586, + -0.9704581934677009, + 0.2237155509938942, + 0.46700170293242016, + -0.23968800986452274, + -0.8511516124553861 + ], + [ + 0.8745237317134156, + 0.018411880521542426, + 0.48463310382773317, + -0.09984773554918454, + -0.9710367508064758, + 0.21706694425661058, + 0.4745931651169685, + -0.238219712112291, + -0.847356298368871 + ], + [ + 0.8856112682964574, + 0.003523519709263477, + 0.4644138954372472, + -0.10530414797339394, + -0.9724038817764591, + 0.20818676020744342, + 0.45233142482690447, + -0.2332772503158686, + -0.860800793795597 + ], + [ + 0.8675159054313389, + 0.015386422099738062, + 0.4971714109224432, + -0.09918790016264406, + -0.9740962916060657, + 0.20321952450647035, + 0.48741964905507196, + -0.22560955807385297, + -0.8435178794908565 + ], + [ + 0.8689853125904566, + 0.007955622307042054, + 0.49477392269174186, + -0.09701142058826048, + -0.9777288392312432, + 0.18610508109928947, + 0.48523531484993304, + -0.20972130318409044, + -0.8488602147663965 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0013110041618347168, + -3.0171126127243042e-05, + -0.006056144833564758, + 0.000514298677444458, + 0.021469607949256897, + -3.343448042869568e-05, + 1.0 + ], + [ + -4.44948673248291e-05, + 0.0004486795514822006, + 0.0, + -8.277595043182373e-05, + -0.00021137669682502747, + 0.003055587410926819, + 1.0 + ], + [ + 4.44948673248291e-05, + -0.0004486795514822006, + 0.0, + 8.277595043182373e-05, + 0.00021137669682502747, + -0.003055587410926819, + 1.0 + ], + [ + 0.003201782703399658, + 0.0024222303181886673, + 0.0004810839891433716, + 0.011398732662200928, + -0.021744944155216217, + 0.003657393157482147, + 1.0 + ], + [ + 0.006749242544174194, + 0.0026389416307210922, + 0.003546901047229767, + 0.0077587515115737915, + -0.05180247873067856, + 0.009161196649074554, + 1.0 + ], + [ + 0.012269705533981323, + 0.0007618069648742676, + 0.009269580245018005, + -0.004637718200683594, + -0.10316330194473267, + 0.005930941551923752, + 1.0 + ], + [ + 0.012241542339324951, + 0.0002634190022945404, + 0.005420982837677002, + -0.005049288272857666, + -0.07348693907260895, + -0.0030489787459373474, + 1.0 + ], + [ + 0.010086506605148315, + 0.001837160438299179, + 0.004945084452629089, + -0.009535834193229675, + -0.04073137044906616, + -0.01281934604048729, + 1.0 + ], + [ + 0.01066821813583374, + 0.004293907433748245, + -0.004251837730407715, + -0.0005890578031539917, + -0.0017703473567962646, + -0.011480346322059631, + 0.0 + ], + [ + 0.005379825830459595, + 0.009441465139389038, + 0.0006510242819786072, + 0.013466134667396545, + -0.01639723777770996, + -0.005299434065818787, + 0.0 + ], + [ + -0.0001882016658782959, + 0.01473332941532135, + -0.0028743743896484375, + 0.01809932291507721, + -0.023199081420898438, + 0.010435864329338074, + 0.0 + ], + [ + 0.003388911485671997, + 0.021058186888694763, + 0.0007909759879112244, + 0.0493464320898056, + -0.043597668409347534, + -0.03892335668206215, + 0.0 + ], + [ + 0.0032820701599121094, + 0.014247894287109375, + -0.001059696078300476, + 0.030330032110214233, + -0.011367499828338623, + -0.04035482183098793, + 0.0 + ], + [ + 0.009973764419555664, + 0.014696210622787476, + -0.001863524317741394, + 0.0234697163105011, + -0.026479333639144897, + -0.04098596051335335, + 0.0 + ], + [ + 0.011516571044921875, + 0.007440909743309021, + -0.002293132245540619, + 0.0021611154079437256, + -0.0178375244140625, + -0.025515101850032806, + 0.0 + ], + [ + 0.006830781698226929, + 0.004073604941368103, + -0.00111350417137146, + -0.0004369020462036133, + -0.00860479474067688, + -0.011332213878631592, + 0.0 + ], + [ + 0.0023650527000427246, + 0.00930054485797882, + -0.01630549132823944, + -0.009415000677108765, + 0.025124013423919678, + -0.0046683549880981445, + 0.0 + ], + [ + 0.011066824197769165, + 0.011061251163482666, + 0.002414330840110779, + -0.0032984912395477295, + -0.039754390716552734, + 0.004508741199970245, + 0.0 + ], + [ + 0.005721926689147949, + -0.0005411058664321899, + -0.0007912740111351013, + -0.019133612513542175, + 0.002499878406524658, + 0.002663947641849518, + 0.0 + ], + [ + 0.0001716911792755127, + -0.0035139918327331543, + 0.0002706572413444519, + -0.004992365837097168, + 0.024695545434951782, + 0.0025411024689674377, + 0.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 0.8045819997787476 + ], + [ + 0.4690495729446411 + ], + [ + 0.3849146366119385 + ], + [ + 0.3849146366119385 + ], + [ + 0.3849146366119385 + ], + [ + 0.3840504586696625 + ], + [ + 0.36950385570526123 + ], + [ + 0.3299713730812073 + ], + [ + 0.18066829442977905 + ], + [ + 0.05729193985462189 + ], + [ + 0.051409780979156494 + ], + [ + 0.051409780979156494 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2925158739089966, + 0.028792675584554672, + 0.09990326315164566 + ], + [ + 0.29247137904167175, + 0.029241355136036873, + 0.09990326315164566 + ], + [ + 0.2925158739089966, + 0.028792675584554672, + 0.09990326315164566 + ], + [ + 0.29571765661239624, + 0.03121490590274334, + 0.10038434714078903 + ], + [ + 0.30246689915657043, + 0.03385384753346443, + 0.1039312481880188 + ], + [ + 0.31473660469055176, + 0.0346156544983387, + 0.1132008284330368 + ], + [ + 0.3269781470298767, + 0.03487907350063324, + 0.1186218112707138 + ], + [ + 0.337064653635025, + 0.03671623393893242, + 0.1235668957233429 + ], + [ + 0.34773287177085876, + 0.041010141372680664, + 0.11931505799293518 + ], + [ + 0.35311269760131836, + 0.0504516065120697, + 0.11996608227491379 + ], + [ + 0.35292449593544006, + 0.06518493592739105, + 0.11709170788526535 + ], + [ + 0.35631340742111206, + 0.08624312281608582, + 0.11788268387317657 + ], + [ + 0.35959547758102417, + 0.10049101710319519, + 0.1168229877948761 + ], + [ + 0.36956924200057983, + 0.11518722772598267, + 0.1149594634771347 + ], + [ + 0.3810858130455017, + 0.12262813746929169, + 0.11266633123159409 + ], + [ + 0.38791659474372864, + 0.1267017424106598, + 0.11155282706022263 + ], + [ + 0.39028164744377136, + 0.1360022872686386, + 0.09524733573198318 + ], + [ + 0.4013484716415405, + 0.14706353843212128, + 0.09766166657209396 + ], + [ + 0.4070703983306885, + 0.1465224325656891, + 0.09687039256095886 + ], + [ + 0.407242089509964, + 0.14300844073295593, + 0.09714104980230331 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.997427437794779, + 0.05390327988967672, + 0.047254023651723806, + 0.046806265690869486, + -0.9890153370666901, + 0.14020640691115918, + 0.054292539323725075, + -0.13763393282180444, + -0.9889940448302937 + ], + [ + 0.9972682769427574, + 0.05695020902541738, + 0.04703889343495355, + 0.04985319507513815, + -0.9888561766981837, + 0.140278725210385, + 0.054503603040751976, + -0.13755048345175583, + -0.9889940453601146 + ], + [ + 0.997427437794779, + 0.05390327988967672, + 0.047254023651723806, + 0.046806265690869486, + -0.9890153370666901, + 0.14020640691115918, + 0.054292539323725075, + -0.13763393282180444, + -0.9889940448302937 + ], + [ + 0.9958348292015609, + 0.061280645166348874, + 0.06751055826383019, + 0.05038235228041445, + -0.9869837488489394, + 0.1527242550703254, + 0.07599086476537943, + -0.1486867917337974, + -0.985960256012442 + ], + [ + 0.990068556194483, + 0.07889508439452149, + 0.11636073089041934, + 0.059188519498950716, + -0.9846794528109112, + 0.16402162775538548, + 0.12751852098614377, + -0.15550543678722373, + -0.9795698473999292 + ], + [ + 0.9713346183858639, + 0.09960726105550066, + 0.21584126730125008, + 0.06385219908615378, + -0.9839345298252009, + 0.16672053769563966, + 0.228980251980494, + -0.14815949028895303, + -0.9620898137077781 + ], + [ + 0.952123696519461, + 0.10592295570476007, + 0.28677655758601395, + 0.059674364672463474, + -0.9844071661442776, + 0.16547356720857287, + 0.29983234769960154, + -0.14043809560998638, + -0.943598274995448 + ], + [ + 0.9398260756116039, + 0.09584743861811675, + 0.327933249474398, + 0.046817377825072906, + -0.9869174368446367, + 0.1542793115929566, + 0.33843031887535696, + -0.12964274512042145, + -0.9320180673697079 + ], + [ + 0.9397014372435719, + 0.0845453008109791, + 0.33138090010310894, + 0.03600200686640792, + -0.9880324758543845, + 0.14998560650491335, + 0.34009566939900415, + -0.1290113125576073, + -0.9314993381040091 + ], + [ + 0.9341793371246803, + 0.08608652813426826, + 0.34626301529773695, + 0.03083351477198075, + -0.9863046993507469, + 0.1620257214316262, + 0.3554690710260163, + -0.1406845752469713, + -0.9240398204793343 + ], + [ + 0.9253173836926312, + 0.10622598096871524, + 0.3640106872104973, + 0.040211705729674446, + -0.9820357901421498, + 0.18436031460754765, + 0.3770553781058353, + -0.15595431333284127, + -0.9129663159144197 + ], + [ + 0.9088678662932483, + 0.09481774436761585, + 0.4061635101441238, + 0.004095858940094288, + -0.9757987319593537, + 0.21863224521113175, + 0.41706405450374306, + -0.1970442337637797, + -0.8872604715535028 + ], + [ + 0.9034966468442317, + 0.07045851321947877, + 0.4227640087047739, + -0.03240270109555131, + -0.9723425955262758, + 0.23130054450203422, + 0.4273685459915621, + -0.22267796217885075, + -0.8762252284983195 + ], + [ + 0.889812475404559, + 0.047064312302665265, + 0.45389283880877473, + -0.06850293988497332, + -0.9696187948272746, + 0.23483343021132938, + 0.45115530124506675, + -0.2400507096952241, + -0.8595548562676454 + ], + [ + 0.8796289913840464, + 0.02757811919966042, + 0.4748602793012848, + -0.0903451546841586, + -0.9704581934677009, + 0.2237155509938942, + 0.46700170293242016, + -0.23968800986452274, + -0.8511516124553861 + ], + [ + 0.8745237317134156, + 0.018411880521542426, + 0.48463310382773317, + -0.09984773554918454, + -0.9710367508064758, + 0.21706694425661058, + 0.4745931651169685, + -0.238219712112291, + -0.847356298368871 + ], + [ + 0.8856112682964574, + 0.003523519709263477, + 0.4644138954372472, + -0.10530414797339394, + -0.9724038817764591, + 0.20818676020744342, + 0.45233142482690447, + -0.2332772503158686, + -0.860800793795597 + ], + [ + 0.8675159054313389, + 0.015386422099738062, + 0.4971714109224432, + -0.09918790016264406, + -0.9740962916060657, + 0.20321952450647035, + 0.48741964905507196, + -0.22560955807385297, + -0.8435178794908565 + ], + [ + 0.8689853125904566, + 0.007955622307042054, + 0.49477392269174186, + -0.09701142058826048, + -0.9777288392312432, + 0.18610508109928947, + 0.48523531484993304, + -0.20972130318409044, + -0.8488602147663965 + ], + [ + 0.880875275844399, + 0.0028936591999525266, + 0.47333959811375215, + -0.09607313387098124, + -0.9780747567298147, + 0.18476937840487012, + 0.46349617188738723, + -0.2082339957460071, + -0.861283868223125 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005625.json b/json/chunk-0005/episode_0005625.json new file mode 100644 index 0000000000000000000000000000000000000000..1e288ecf937bb79f49c2cf86c8cd651e1485285a --- /dev/null +++ b/json/chunk-0005/episode_0005625.json @@ -0,0 +1,2002 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 32, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPlace the pot to the front of the oven." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005625.mp4", + "start": 0, + "end": 32, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.24917227029800415, + -0.04628586024045944, + 0.13412536680698395, + 0.031915996223688126, + -0.1412777155637741, + -0.16768121719360352, + 0.0, + 1.0001531839370728 + ], + [ + 0.2489711344242096, + -0.04624360054731369, + 0.1267307996749878, + 0.03272580727934837, + -0.1122555062174797, + -0.16474153101444244, + 0.0, + 1.0001531839370728 + ], + [ + 0.2829636335372925, + -0.03538312017917633, + 0.10611128807067871, + 0.03459760919213295, + -0.06836909055709839, + -0.08979438245296478, + 0.0, + 1.0001531839370728 + ], + [ + 0.3278864622116089, + -0.023559588938951492, + 0.08771094679832458, + 0.0506814606487751, + -0.049858998507261276, + -0.01068042777478695, + 0.0, + 1.0001531839370728 + ], + [ + 0.3674911856651306, + -0.006248103454709053, + 0.06478697061538696, + 0.07690128684043884, + -0.03565733879804611, + 0.10601373016834259, + 0.0, + 1.0001531839370728 + ], + [ + 0.38111361861228943, + 0.00041679051355458796, + 0.05257626622915268, + 0.09843859076499939, + -0.04476016387343407, + 0.18605318665504456, + 0.0, + 1.0001531839370728 + ], + [ + 0.39123818278312683, + 0.0011692470870912075, + 0.04288114607334137, + 0.09767292439937592, + -0.0449083149433136, + 0.22101853787899017, + 0.0, + 1.0001531839370728 + ], + [ + 0.39534252882003784, + 0.006432714872062206, + 0.0320829339325428, + 0.0893041267991066, + -0.043738048523664474, + 0.26703575253486633, + 0.0, + 1.0001531839370728 + ], + [ + 0.39605093002319336, + 0.009905710816383362, + 0.024777842685580254, + 0.08207353204488754, + -0.036812711507081985, + 0.30109602212905884, + 0.0, + 1.0001531839370728 + ], + [ + 0.3956168293952942, + 0.009945184923708439, + 0.01912287250161171, + 0.0701054036617279, + -0.024569449946284294, + 0.31193622946739197, + 0.0, + 0.9437892436981201 + ], + [ + 0.3957020342350006, + 0.009345020167529583, + 0.015731578692793846, + 0.06255185604095459, + -0.035251762717962265, + 0.31622394919395447, + 0.0, + 0.6561112403869629 + ], + [ + 0.3928915560245514, + 0.00865210872143507, + 0.016425319015979767, + 0.05679214745759964, + -0.038250815123319626, + 0.31938111782073975, + 0.0, + 0.36950385570526123 + ], + [ + 0.39088210463523865, + 0.006487597245723009, + 0.025508472695946693, + 0.03523646667599678, + -0.05954396352171898, + 0.3177458941936493, + 0.0, + 0.1897224336862564 + ], + [ + 0.38477811217308044, + -0.00034293465432710946, + 0.04205230623483658, + 0.00780351459980011, + -0.0784953236579895, + 0.29597538709640503, + 0.0, + 0.09179956465959549 + ], + [ + 0.38476037979125977, + -0.006908396724611521, + 0.07044058293104172, + -0.040563832968473434, + -0.13042306900024414, + 0.26637837290763855, + 0.0, + 0.0650232583284378 + ], + [ + 0.381945937871933, + 0.0015154778957366943, + 0.09677904844284058, + -0.05865040794014931, + -0.16777443885803223, + 0.23696376383304596, + 0.0, + 0.06267260015010834 + ], + [ + 0.3716457486152649, + 0.04781770333647728, + 0.10630353540182114, + -0.04225711524486542, + -0.18420210480690002, + 0.3089422285556793, + 0.0, + 0.06238236278295517 + ], + [ + 0.35916465520858765, + 0.08997433632612228, + 0.10380735248327255, + -0.008851125836372375, + -0.1642826497554779, + 0.360869437456131, + 0.0, + 0.06238236278295517 + ], + [ + 0.34745854139328003, + 0.12425272911787033, + 0.10346787422895432, + 0.022135848179459572, + -0.15614436566829681, + 0.4134422242641449, + 0.0, + 0.062092870473861694 + ], + [ + 0.3481791615486145, + 0.1506263017654419, + 0.09668825566768646, + 0.03915322571992874, + -0.14139549434185028, + 0.47916996479034424, + 0.0, + 0.06037256866693497 + ], + [ + 0.3549329340457916, + 0.17033973336219788, + 0.08851144462823868, + 0.053406961262226105, + -0.13631130754947662, + 0.5258867144584656, + 0.0, + 0.05952305346727371 + ], + [ + 0.36238226294517517, + 0.1829170137643814, + 0.07458310574293137, + 0.0790291354060173, + -0.10410308092832565, + 0.5362081527709961, + 0.0, + 0.05952305346727371 + ], + [ + 0.36668336391448975, + 0.1960013508796692, + 0.07002301514148712, + 0.10579710453748703, + -0.10183702409267426, + 0.5628254413604736, + 0.0, + 0.059241458773612976 + ], + [ + 0.36650553345680237, + 0.20597530901432037, + 0.06221668794751167, + 0.12945427000522614, + -0.08176042884588242, + 0.5717836618423462, + 0.0, + 0.059241458773612976 + ], + [ + 0.3634484112262726, + 0.21192501485347748, + 0.06143683195114136, + 0.13530004024505615, + -0.08108337223529816, + 0.5846735239028931, + 0.0, + 0.09216535091400146 + ], + [ + 0.3585236668586731, + 0.21458816528320312, + 0.05747431516647339, + 0.13946744799613953, + -0.055258654057979584, + 0.5852383375167847, + 0.0, + 0.24658186733722687 + ], + [ + 0.3580310642719269, + 0.2118350714445114, + 0.056672509759664536, + 0.13094288110733032, + -0.04665166139602661, + 0.5649157166481018, + 0.0, + 0.5178548097610474 + ], + [ + 0.35656777024269104, + 0.20681078732013702, + 0.07133769243955612, + 0.10941361635923386, + -0.09893792867660522, + 0.492856502532959, + 0.0, + 0.842682421207428 + ], + [ + 0.354685515165329, + 0.19144180417060852, + 0.1083463504910469, + 0.061033204197883606, + -0.20680753886699677, + 0.333900511264801, + 0.0, + 1.0041072368621826 + ], + [ + 0.34589993953704834, + 0.16135536134243011, + 0.12855282425880432, + 0.026182644069194794, + -0.24786311388015747, + 0.10638894140720367, + 0.0, + 1.0014774799346924 + ], + [ + 0.3392025828361511, + 0.12707437574863434, + 0.1332165002822876, + 0.017571652308106422, + -0.24669460952281952, + -0.004434441681951284, + 0.0, + 1.0014774799346924 + ], + [ + 0.32964667677879333, + 0.11823656409978867, + 0.12234953790903091, + -0.00031675706850364804, + -0.1920570284128189, + 0.005222929175943136, + 0.0, + 1.0008161067962646 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9437892436981201 + ], + [ + 0.6561112403869629 + ], + [ + 0.36950385570526123 + ], + [ + 0.1897224336862564 + ], + [ + 0.09179956465959549 + ], + [ + 0.0650232583284378 + ], + [ + 0.06267260015010834 + ], + [ + 0.06238236278295517 + ], + [ + 0.06238236278295517 + ], + [ + 0.062092870473861694 + ], + [ + 0.06037256866693497 + ], + [ + 0.05952305346727371 + ], + [ + 0.05952305346727371 + ], + [ + 0.059241458773612976 + ], + [ + 0.059241458773612976 + ], + [ + 0.09216535091400146 + ], + [ + 0.24658186733722687 + ], + [ + 0.5178548097610474 + ], + [ + 0.842682421207428 + ], + [ + 1.0041072368621826 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.24917227029800415, + -0.04628586024045944, + 0.13412536680698395 + ], + [ + 0.2489711344242096, + -0.04624360054731369, + 0.1267307996749878 + ], + [ + 0.2829636335372925, + -0.03538312017917633, + 0.10611128807067871 + ], + [ + 0.3278864622116089, + -0.023559588938951492, + 0.08771094679832458 + ], + [ + 0.3674911856651306, + -0.006248103454709053, + 0.06478697061538696 + ], + [ + 0.38111361861228943, + 0.00041679051355458796, + 0.05257626622915268 + ], + [ + 0.39123818278312683, + 0.0011692470870912075, + 0.04288114607334137 + ], + [ + 0.39534252882003784, + 0.006432714872062206, + 0.0320829339325428 + ], + [ + 0.39605093002319336, + 0.009905710816383362, + 0.024777842685580254 + ], + [ + 0.3956168293952942, + 0.009945184923708439, + 0.01912287250161171 + ], + [ + 0.3957020342350006, + 0.009345020167529583, + 0.015731578692793846 + ], + [ + 0.3928915560245514, + 0.00865210872143507, + 0.016425319015979767 + ], + [ + 0.39088210463523865, + 0.006487597245723009, + 0.025508472695946693 + ], + [ + 0.38477811217308044, + -0.00034293465432710946, + 0.04205230623483658 + ], + [ + 0.38476037979125977, + -0.006908396724611521, + 0.07044058293104172 + ], + [ + 0.381945937871933, + 0.0015154778957366943, + 0.09677904844284058 + ], + [ + 0.3716457486152649, + 0.04781770333647728, + 0.10630353540182114 + ], + [ + 0.35916465520858765, + 0.08997433632612228, + 0.10380735248327255 + ], + [ + 0.34745854139328003, + 0.12425272911787033, + 0.10346787422895432 + ], + [ + 0.3481791615486145, + 0.1506263017654419, + 0.09668825566768646 + ], + [ + 0.3549329340457916, + 0.17033973336219788, + 0.08851144462823868 + ], + [ + 0.36238226294517517, + 0.1829170137643814, + 0.07458310574293137 + ], + [ + 0.36668336391448975, + 0.1960013508796692, + 0.07002301514148712 + ], + [ + 0.36650553345680237, + 0.20597530901432037, + 0.06221668794751167 + ], + [ + 0.3634484112262726, + 0.21192501485347748, + 0.06143683195114136 + ], + [ + 0.3585236668586731, + 0.21458816528320312, + 0.05747431516647339 + ], + [ + 0.3580310642719269, + 0.2118350714445114, + 0.056672509759664536 + ], + [ + 0.35656777024269104, + 0.20681078732013702, + 0.07133769243955612 + ], + [ + 0.354685515165329, + 0.19144180417060852, + 0.1083463504910469 + ], + [ + 0.34589993953704834, + 0.16135536134243011, + 0.12855282425880432 + ], + [ + 0.3392025828361511, + 0.12707437574863434, + 0.1332165002822876 + ], + [ + 0.32964667677879333, + 0.11823656409978867, + 0.12234953790903091 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9761510440515702, + -0.16238129275006952, + 0.14408835817596927, + -0.16523373095838384, + -0.9862221961918696, + 0.007974577860835103, + 0.14080821478380662, + -0.031592649513808066, + -0.9895326933184652 + ], + [ + 0.980251957133466, + -0.16029389397474403, + 0.11581005176763862, + -0.1629651616641385, + -0.9865336819891881, + 0.013915832157541655, + 0.11201989385725569, + -0.0325140255162165, + -0.9931738928933543 + ], + [ + 0.9936443488679746, + -0.08726652501716475, + 0.07110176913528374, + -0.0894642610751546, + -0.9955870734303643, + 0.028328875880251438, + 0.06831583969340643, + -0.034509894665018505, + -0.997066704497344 + ], + [ + 0.9987003332553932, + -0.008141856140382686, + 0.050312568351818, + -0.010666952379627026, + -0.9986859730838742, + 0.05012527598374521, + 0.049838343496727645, + -0.05059681160019046, + -0.9974748629280829 + ], + [ + 0.9937537187264448, + 0.10822596715939066, + 0.027215557127792507, + 0.1057479998582014, + -0.9911571428034844, + 0.0801553416537076, + 0.03564978321605173, + -0.07677667811286998, + -0.9964107760630657 + ], + [ + 0.9817576916946001, + 0.18840777283556076, + 0.025580186348707297, + 0.18479637479723515, + -0.9771708922662251, + 0.10482054745816621, + 0.04474521941269991, + -0.0981812530108147, + -0.9941621129860744 + ], + [ + 0.974690984124996, + 0.22245002336592162, + 0.022214242502234915, + 0.21900247514388638, + -0.9700646635391954, + 0.10494028984827218, + 0.04489322160748334, + -0.09741938029513876, + -0.9942303872828535 + ], + [ + 0.9636348588331786, + 0.26658323168354087, + 0.01847266701697515, + 0.2636210566697276, + -0.9596846038847412, + 0.09751615018510582, + 0.04372410458656354, + -0.08910017761905645, + -0.9950624910156931 + ], + [ + 0.954364987219497, + 0.2984503474830707, + 0.01071733440567275, + 0.2963661713109447, + -0.9509024874624026, + 0.08917147436431982, + 0.0368043974549296, + -0.08192587762757952, + -0.9959586271040228 + ], + [ + 0.951453873033234, + 0.3077859529706674, + 0.0018261007630623396, + 0.3068093725381084, + -0.9488751484198662, + 0.07418868939366158, + 0.02456697809725338, + -0.07002685102955239, + -0.9972425500960407 + ], + [ + 0.9498259933820434, + 0.31246570084925557, + 0.013991714998448855, + 0.3107867600021181, + -0.947872568204974, + 0.07035043888912546, + 0.03524446202171508, + -0.062472235731485366, + -0.9974242064736094 + ], + [ + 0.948735433349956, + 0.3155337048262662, + 0.018427116564512902, + 0.3137493682664504, + -0.9472176682025042, + 0.06587885060787028, + 0.03824148818593108, + -0.056720103698966656, + -0.9976574654748512 + ], + [ + 0.9482585677406242, + 0.3142236525131248, + 0.045488294184442155, + 0.3118723990442408, + -0.9486974209302712, + 0.052046231704523806, + 0.059508784401037615, + -0.035166741696696265, + -0.9976081419362756 + ], + [ + 0.9535728153585241, + 0.29224938108981685, + 0.07272678366212218, + 0.2907748516299507, + -0.9563105040077228, + 0.03033489054002613, + 0.07841474012453467, + -0.007779407246968276, + -0.9968904700889097 + ], + [ + 0.9565370809563876, + 0.25793472057925443, + 0.13603857054208993, + 0.2610035747877753, + -0.9653253197822106, + -0.004915377439738508, + 0.13005363010479723, + 0.04020829400851077, + -0.9906913476908384 + ], + [ + 0.9584064460467099, + 0.22483388656255426, + 0.17580332087105582, + 0.23145613154888928, + -0.9726816575178905, + -0.017845231762926236, + 0.1669884527281399, + 0.05779374171504868, + -0.984263552141415 + ], + [ + 0.9365393641795533, + 0.2964084171003134, + 0.18717924461393828, + 0.2989073931570041, + -0.9541579112447603, + 0.01539645170550987, + 0.18316219494819905, + 0.04152987696975008, + -0.9822051107893073 + ], + [ + 0.9229933358820055, + 0.3517196728359715, + 0.15612998961623045, + 0.34833380416256576, + -0.9360646487913525, + 0.04946245202936017, + 0.16354468134134578, + 0.008731839627400633, + -0.9864972844269155 + ], + [ + 0.9046025548737497, + 0.40481752912581387, + 0.1334802825452318, + 0.3968761232218167, + -0.9141360403527015, + 0.08273235488431999, + 0.1555106444340884, + -0.02186476253597329, + -0.987592209176915 + ], + [ + 0.8785221452489529, + 0.4655844409669848, + 0.10691103140760469, + 0.45644171112739507, + -0.8841546049501655, + 0.09965740759478131, + 0.14092481914224067, + -0.0387525853960348, + -0.9892615591818221 + ], + [ + 0.8568565408800018, + 0.5075382061709217, + 0.09056399741597335, + 0.4973237303395504, + -0.8600046494766305, + 0.11428521391558855, + 0.13588957131550453, + -0.052886408040069, + -0.9893114030740308 + ], + [ + 0.8549980225329313, + 0.5163378508609208, + 0.048719659616043305, + 0.5081141836203281, + -0.8527777630819887, + 0.12078933395266106, + 0.10391514744552435, + -0.07851949160052893, + -0.9914818866576283 + ], + [ + 0.8413691364935673, + 0.5396740231749295, + 0.029153470912648673, + 0.5308135248515218, + -0.8352938818921286, + 0.14325199024195712, + 0.10166109379094831, + -0.10505274667406103, + -0.9892567626382262 + ], + [ + 0.8381279461124452, + 0.5454708748245969, + -0.001752330854272087, + 0.539325189772837, + -0.8281954335619681, + 0.1523832782939018, + 0.08166936770801675, + -0.12866176022887416, + -0.9883199207913298 + ], + [ + 0.8311526048113266, + 0.5559934594507607, + -0.007524663668406539, + 0.5501138334135247, + -0.8202414056104202, + 0.15677629543180088, + 0.080994554152882, + -0.13444444789658594, + -0.9876054741785094 + ], + [ + 0.8323080993801182, + 0.5534345395275492, + -0.03119997057986738, + 0.5515549071355531, + -0.8212452624800098, + 0.14609381666871038, + 0.05523053612763815, + -0.1388035637585325, + -0.9887786195943884 + ], + [ + 0.8437147698261246, + 0.5359046822315545, + -0.0308473457455634, + 0.5347621789928414, + -0.834143262148411, + 0.13503492189517402, + 0.04663474129957185, + -0.1304269518723185, + -0.9903605460281715 + ], + [ + 0.8766765782244885, + 0.4798173519006261, + 0.03483512606081355, + 0.47083050181923886, + -0.8706135772991332, + 0.14265566087278, + 0.09877659514908221, + -0.10866143675415255, + -0.9891591764793355 + ], + [ + 0.9246394929026633, + 0.33895323541403005, + 0.17364478790642413, + 0.3207471322995142, + -0.9389074182221899, + 0.12479638267586118, + 0.20533651717691093, + -0.0596955962337521, + -0.9768691573102066 + ], + [ + 0.9639577073045914, + 0.1125383808274241, + 0.2410822502151867, + 0.10294312434491884, + -0.9933232052572317, + 0.052074207124127955, + 0.24533294046699639, + -0.025379573247824, + -0.9691066120833023 + ], + [ + 0.9697153594876026, + -0.0001430084371297079, + 0.24423779626097464, + -0.0043001743963782865, + -0.9998548190222852, + 0.016487855472276932, + 0.24419997967647578, + -0.017038791814587954, + -0.9695751902248265 + ], + [ + 0.9816002809854831, + 0.005162443878041771, + 0.19087754593567863, + 0.0051268753654170425, + -0.9999866261574886, + 0.0006801875853077138, + 0.19087850459967598, + 0.0003109330632080016, + -0.9816136204242595 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.00020113587379455566, + 4.225969314575195e-05, + -0.007394567131996155, + 0.0008098110556602478, + 0.029022209346294403, + 0.0029396861791610718, + 1.0 + ], + [ + 0.033992499113082886, + 0.01086048036813736, + -0.020619511604309082, + 0.0018718019127845764, + 0.04388641566038132, + 0.07494714856147766, + 1.0 + ], + [ + 0.044922828674316406, + 0.011823531240224838, + -0.018400341272354126, + 0.01608385145664215, + 0.018510092049837112, + 0.07911395281553268, + 1.0 + ], + [ + 0.03960472345352173, + 0.01731148548424244, + -0.022923976182937622, + 0.026219826191663742, + 0.014201659709215164, + 0.11669415980577469, + 1.0 + ], + [ + 0.013622432947158813, + 0.006664894055575132, + -0.012210704386234283, + 0.021537303924560547, + -0.009102825075387955, + 0.08003945648670197, + 1.0 + ], + [ + 0.010124564170837402, + 0.00075245660264045, + -0.00969512015581131, + -0.0007656663656234741, + -0.00014815106987953186, + 0.03496535122394562, + 1.0 + ], + [ + 0.004104346036911011, + 0.005263467784970999, + -0.010798212140798569, + -0.008368797600269318, + 0.0011702664196491241, + 0.04601721465587616, + 1.0 + ], + [ + 0.0007084012031555176, + 0.0034729959443211555, + -0.007305091246962547, + -0.007230594754219055, + 0.006925337016582489, + 0.034060269594192505, + 1.0 + ], + [ + -0.0004341006278991699, + 3.947410732507706e-05, + -0.005654970183968544, + -0.011968128383159637, + 0.012243261560797691, + 0.01084020733833313, + 0.0 + ], + [ + 8.52048397064209e-05, + -0.0006001647561788559, + -0.0033912938088178635, + -0.007553547620773315, + -0.010682312771677971, + 0.0042877197265625, + 0.0 + ], + [ + -0.0028104782104492188, + -0.0006929114460945129, + 0.0006937403231859207, + -0.00575970858335495, + -0.002999052405357361, + 0.0031571686267852783, + 0.0 + ], + [ + -0.002009451389312744, + -0.002164511475712061, + 0.009083153679966927, + -0.02155568078160286, + -0.021293148398399353, + -0.001635223627090454, + 0.0 + ], + [ + -0.006103992462158203, + -0.006830532103776932, + 0.016543833538889885, + -0.02743295207619667, + -0.018951360136270523, + -0.021770507097244263, + 0.0 + ], + [ + -1.773238182067871e-05, + -0.006565461866557598, + 0.02838827669620514, + -0.048367347568273544, + -0.05192774534225464, + -0.02959701418876648, + 0.0 + ], + [ + -0.0028144419193267822, + 0.008423874154686928, + 0.02633846551179886, + -0.018086574971675873, + -0.037351369857788086, + -0.02941460907459259, + 0.0 + ], + [ + -0.01030018925666809, + 0.046302225440740585, + 0.00952448695898056, + 0.01639329269528389, + -0.016427665948867798, + 0.07197846472263336, + 0.0 + ], + [ + -0.012481093406677246, + 0.042156632989645004, + -0.002496182918548584, + 0.03340598940849304, + 0.01991945505142212, + 0.05192720890045166, + 0.0 + ], + [ + -0.011706113815307617, + 0.03427839279174805, + -0.0003394782543182373, + 0.030986974015831947, + 0.008138284087181091, + 0.052572786808013916, + 0.0 + ], + [ + 0.0007206201553344727, + 0.026373572647571564, + -0.006779618561267853, + 0.01701737754046917, + 0.014748871326446533, + 0.06572774052619934, + 0.0 + ], + [ + 0.006753772497177124, + 0.01971343159675598, + -0.008176811039447784, + 0.014253735542297363, + 0.005084186792373657, + 0.04671674966812134, + 0.0 + ], + [ + 0.007449328899383545, + 0.012577280402183533, + -0.013928338885307312, + 0.0256221741437912, + 0.03220822662115097, + 0.010321438312530518, + 0.0 + ], + [ + 0.004301100969314575, + 0.01308433711528778, + -0.004560090601444244, + 0.026767969131469727, + 0.0022660568356513977, + 0.02661728858947754, + 0.0 + ], + [ + -0.00017783045768737793, + 0.009973958134651184, + -0.007806327193975449, + 0.023657165467739105, + 0.02007659524679184, + 0.008958220481872559, + 0.0 + ], + [ + -0.003057122230529785, + 0.0059497058391571045, + -0.0007798559963703156, + 0.005845770239830017, + 0.000677056610584259, + 0.012889862060546875, + 1.0 + ], + [ + -0.004924744367599487, + 0.002663150429725647, + -0.003962516784667969, + 0.004167407751083374, + 0.025824718177318573, + 0.0005648136138916016, + 1.0 + ], + [ + -0.0004926025867462158, + -0.0027530938386917114, + -0.0008018054068088531, + -0.008524566888809204, + 0.008606992661952972, + -0.02032262086868286, + 1.0 + ], + [ + -0.0014632940292358398, + -0.00502428412437439, + 0.014665182679891586, + -0.021529264748096466, + -0.05228626728057861, + -0.07205921411514282, + 1.0 + ], + [ + -0.0018822550773620605, + -0.015368983149528503, + 0.037008658051490784, + -0.04838041216135025, + -0.10786961019039154, + -0.15895599126815796, + 1.0 + ], + [ + -0.00878557562828064, + -0.030086442828178406, + 0.020206473767757416, + -0.03485056012868881, + -0.041055575013160706, + -0.22751156985759735, + 1.0 + ], + [ + -0.006697356700897217, + -0.034280985593795776, + 0.004663676023483276, + -0.008610991761088371, + 0.0011685043573379517, + -0.1108233854174614, + 1.0 + ], + [ + -0.009555906057357788, + -0.008837811648845673, + -0.010866962373256683, + -0.01788841001689434, + 0.05463758111000061, + 0.00965737085789442, + 1.0 + ], + [ + -0.002420365810394287, + -0.007537961006164551, + -0.005804069340229034, + 0.026730554178357124, + 0.03573732078075409, + 0.008027326315641403, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9437892436981201 + ], + [ + 0.6561112403869629 + ], + [ + 0.36950385570526123 + ], + [ + 0.1897224336862564 + ], + [ + 0.09179956465959549 + ], + [ + 0.0650232583284378 + ], + [ + 0.06267260015010834 + ], + [ + 0.06238236278295517 + ], + [ + 0.06238236278295517 + ], + [ + 0.062092870473861694 + ], + [ + 0.06037256866693497 + ], + [ + 0.05952305346727371 + ], + [ + 0.05952305346727371 + ], + [ + 0.059241458773612976 + ], + [ + 0.059241458773612976 + ], + [ + 0.09216535091400146 + ], + [ + 0.24658186733722687 + ], + [ + 0.5178548097610474 + ], + [ + 0.842682421207428 + ], + [ + 1.0041072368621826 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2489711344242096, + -0.04624360054731369, + 0.1267307996749878 + ], + [ + 0.2829636335372925, + -0.03538312017917633, + 0.10611128807067871 + ], + [ + 0.3278864622116089, + -0.023559588938951492, + 0.08771094679832458 + ], + [ + 0.3674911856651306, + -0.006248103454709053, + 0.06478697061538696 + ], + [ + 0.38111361861228943, + 0.00041679051355458796, + 0.05257626622915268 + ], + [ + 0.39123818278312683, + 0.0011692470870912075, + 0.04288114607334137 + ], + [ + 0.39534252882003784, + 0.006432714872062206, + 0.0320829339325428 + ], + [ + 0.39605093002319336, + 0.009905710816383362, + 0.024777842685580254 + ], + [ + 0.3956168293952942, + 0.009945184923708439, + 0.01912287250161171 + ], + [ + 0.3957020342350006, + 0.009345020167529583, + 0.015731578692793846 + ], + [ + 0.3928915560245514, + 0.00865210872143507, + 0.016425319015979767 + ], + [ + 0.39088210463523865, + 0.006487597245723009, + 0.025508472695946693 + ], + [ + 0.38477811217308044, + -0.00034293465432710946, + 0.04205230623483658 + ], + [ + 0.38476037979125977, + -0.006908396724611521, + 0.07044058293104172 + ], + [ + 0.381945937871933, + 0.0015154778957366943, + 0.09677904844284058 + ], + [ + 0.3716457486152649, + 0.04781770333647728, + 0.10630353540182114 + ], + [ + 0.35916465520858765, + 0.08997433632612228, + 0.10380735248327255 + ], + [ + 0.34745854139328003, + 0.12425272911787033, + 0.10346787422895432 + ], + [ + 0.3481791615486145, + 0.1506263017654419, + 0.09668825566768646 + ], + [ + 0.3549329340457916, + 0.17033973336219788, + 0.08851144462823868 + ], + [ + 0.36238226294517517, + 0.1829170137643814, + 0.07458310574293137 + ], + [ + 0.36668336391448975, + 0.1960013508796692, + 0.07002301514148712 + ], + [ + 0.36650553345680237, + 0.20597530901432037, + 0.06221668794751167 + ], + [ + 0.3634484112262726, + 0.21192501485347748, + 0.06143683195114136 + ], + [ + 0.3585236668586731, + 0.21458816528320312, + 0.05747431516647339 + ], + [ + 0.3580310642719269, + 0.2118350714445114, + 0.056672509759664536 + ], + [ + 0.35656777024269104, + 0.20681078732013702, + 0.07133769243955612 + ], + [ + 0.354685515165329, + 0.19144180417060852, + 0.1083463504910469 + ], + [ + 0.34589993953704834, + 0.16135536134243011, + 0.12855282425880432 + ], + [ + 0.3392025828361511, + 0.12707437574863434, + 0.1332165002822876 + ], + [ + 0.32964667677879333, + 0.11823656409978867, + 0.12234953790903091 + ], + [ + 0.32722631096839905, + 0.11069860309362411, + 0.11654546856880188 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.980251957133466, + -0.16029389397474403, + 0.11581005176763862, + -0.1629651616641385, + -0.9865336819891881, + 0.013915832157541655, + 0.11201989385725569, + -0.0325140255162165, + -0.9931738928933543 + ], + [ + 0.9936443488679746, + -0.08726652501716475, + 0.07110176913528374, + -0.0894642610751546, + -0.9955870734303643, + 0.028328875880251438, + 0.06831583969340643, + -0.034509894665018505, + -0.997066704497344 + ], + [ + 0.9987003332553932, + -0.008141856140382686, + 0.050312568351818, + -0.010666952379627026, + -0.9986859730838742, + 0.05012527598374521, + 0.049838343496727645, + -0.05059681160019046, + -0.9974748629280829 + ], + [ + 0.9937537187264448, + 0.10822596715939066, + 0.027215557127792507, + 0.1057479998582014, + -0.9911571428034844, + 0.0801553416537076, + 0.03564978321605173, + -0.07677667811286998, + -0.9964107760630657 + ], + [ + 0.9817576916946001, + 0.18840777283556076, + 0.025580186348707297, + 0.18479637479723515, + -0.9771708922662251, + 0.10482054745816621, + 0.04474521941269991, + -0.0981812530108147, + -0.9941621129860744 + ], + [ + 0.974690984124996, + 0.22245002336592162, + 0.022214242502234915, + 0.21900247514388638, + -0.9700646635391954, + 0.10494028984827218, + 0.04489322160748334, + -0.09741938029513876, + -0.9942303872828535 + ], + [ + 0.9636348588331786, + 0.26658323168354087, + 0.01847266701697515, + 0.2636210566697276, + -0.9596846038847412, + 0.09751615018510582, + 0.04372410458656354, + -0.08910017761905645, + -0.9950624910156931 + ], + [ + 0.954364987219497, + 0.2984503474830707, + 0.01071733440567275, + 0.2963661713109447, + -0.9509024874624026, + 0.08917147436431982, + 0.0368043974549296, + -0.08192587762757952, + -0.9959586271040228 + ], + [ + 0.951453873033234, + 0.3077859529706674, + 0.0018261007630623396, + 0.3068093725381084, + -0.9488751484198662, + 0.07418868939366158, + 0.02456697809725338, + -0.07002685102955239, + -0.9972425500960407 + ], + [ + 0.9498259933820434, + 0.31246570084925557, + 0.013991714998448855, + 0.3107867600021181, + -0.947872568204974, + 0.07035043888912546, + 0.03524446202171508, + -0.062472235731485366, + -0.9974242064736094 + ], + [ + 0.948735433349956, + 0.3155337048262662, + 0.018427116564512902, + 0.3137493682664504, + -0.9472176682025042, + 0.06587885060787028, + 0.03824148818593108, + -0.056720103698966656, + -0.9976574654748512 + ], + [ + 0.9482585677406242, + 0.3142236525131248, + 0.045488294184442155, + 0.3118723990442408, + -0.9486974209302712, + 0.052046231704523806, + 0.059508784401037615, + -0.035166741696696265, + -0.9976081419362756 + ], + [ + 0.9535728153585241, + 0.29224938108981685, + 0.07272678366212218, + 0.2907748516299507, + -0.9563105040077228, + 0.03033489054002613, + 0.07841474012453467, + -0.007779407246968276, + -0.9968904700889097 + ], + [ + 0.9565370809563876, + 0.25793472057925443, + 0.13603857054208993, + 0.2610035747877753, + -0.9653253197822106, + -0.004915377439738508, + 0.13005363010479723, + 0.04020829400851077, + -0.9906913476908384 + ], + [ + 0.9584064460467099, + 0.22483388656255426, + 0.17580332087105582, + 0.23145613154888928, + -0.9726816575178905, + -0.017845231762926236, + 0.1669884527281399, + 0.05779374171504868, + -0.984263552141415 + ], + [ + 0.9365393641795533, + 0.2964084171003134, + 0.18717924461393828, + 0.2989073931570041, + -0.9541579112447603, + 0.01539645170550987, + 0.18316219494819905, + 0.04152987696975008, + -0.9822051107893073 + ], + [ + 0.9229933358820055, + 0.3517196728359715, + 0.15612998961623045, + 0.34833380416256576, + -0.9360646487913525, + 0.04946245202936017, + 0.16354468134134578, + 0.008731839627400633, + -0.9864972844269155 + ], + [ + 0.9046025548737497, + 0.40481752912581387, + 0.1334802825452318, + 0.3968761232218167, + -0.9141360403527015, + 0.08273235488431999, + 0.1555106444340884, + -0.02186476253597329, + -0.987592209176915 + ], + [ + 0.8785221452489529, + 0.4655844409669848, + 0.10691103140760469, + 0.45644171112739507, + -0.8841546049501655, + 0.09965740759478131, + 0.14092481914224067, + -0.0387525853960348, + -0.9892615591818221 + ], + [ + 0.8568565408800018, + 0.5075382061709217, + 0.09056399741597335, + 0.4973237303395504, + -0.8600046494766305, + 0.11428521391558855, + 0.13588957131550453, + -0.052886408040069, + -0.9893114030740308 + ], + [ + 0.8549980225329313, + 0.5163378508609208, + 0.048719659616043305, + 0.5081141836203281, + -0.8527777630819887, + 0.12078933395266106, + 0.10391514744552435, + -0.07851949160052893, + -0.9914818866576283 + ], + [ + 0.8413691364935673, + 0.5396740231749295, + 0.029153470912648673, + 0.5308135248515218, + -0.8352938818921286, + 0.14325199024195712, + 0.10166109379094831, + -0.10505274667406103, + -0.9892567626382262 + ], + [ + 0.8381279461124452, + 0.5454708748245969, + -0.001752330854272087, + 0.539325189772837, + -0.8281954335619681, + 0.1523832782939018, + 0.08166936770801675, + -0.12866176022887416, + -0.9883199207913298 + ], + [ + 0.8311526048113266, + 0.5559934594507607, + -0.007524663668406539, + 0.5501138334135247, + -0.8202414056104202, + 0.15677629543180088, + 0.080994554152882, + -0.13444444789658594, + -0.9876054741785094 + ], + [ + 0.8323080993801182, + 0.5534345395275492, + -0.03119997057986738, + 0.5515549071355531, + -0.8212452624800098, + 0.14609381666871038, + 0.05523053612763815, + -0.1388035637585325, + -0.9887786195943884 + ], + [ + 0.8437147698261246, + 0.5359046822315545, + -0.0308473457455634, + 0.5347621789928414, + -0.834143262148411, + 0.13503492189517402, + 0.04663474129957185, + -0.1304269518723185, + -0.9903605460281715 + ], + [ + 0.8766765782244885, + 0.4798173519006261, + 0.03483512606081355, + 0.47083050181923886, + -0.8706135772991332, + 0.14265566087278, + 0.09877659514908221, + -0.10866143675415255, + -0.9891591764793355 + ], + [ + 0.9246394929026633, + 0.33895323541403005, + 0.17364478790642413, + 0.3207471322995142, + -0.9389074182221899, + 0.12479638267586118, + 0.20533651717691093, + -0.0596955962337521, + -0.9768691573102066 + ], + [ + 0.9639577073045914, + 0.1125383808274241, + 0.2410822502151867, + 0.10294312434491884, + -0.9933232052572317, + 0.052074207124127955, + 0.24533294046699639, + -0.025379573247824, + -0.9691066120833023 + ], + [ + 0.9697153594876026, + -0.0001430084371297079, + 0.24423779626097464, + -0.0043001743963782865, + -0.9998548190222852, + 0.016487855472276932, + 0.24419997967647578, + -0.017038791814587954, + -0.9695751902248265 + ], + [ + 0.9816002809854831, + 0.005162443878041771, + 0.19087754593567863, + 0.0051268753654170425, + -0.9999866261574886, + 0.0006801875853077138, + 0.19087850459967598, + 0.0003109330632080016, + -0.9816136204242595 + ], + [ + 0.987720220867193, + 0.01735660788682774, + 0.15526594427860213, + 0.013088310798056595, + -0.9995089434464203, + 0.028470477535048742, + 0.155683850834043, + -0.026088697424040727, + -0.9874623630580559 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005627.json b/json/chunk-0005/episode_0005627.json new file mode 100644 index 0000000000000000000000000000000000000000..8f916f3067c874b6066f6bec57dd7a7231ecb201 --- /dev/null +++ b/json/chunk-0005/episode_0005627.json @@ -0,0 +1,2662 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 43, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPlace the silver bowl to the left of the purple eggplant." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005627.mp4", + "start": 0, + "end": 43, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.35523685812950134, + -0.04102680832147598, + 0.16316643357276917, + 0.09786668419837952, + -0.3472698926925659, + -0.6394453048706055, + 0.0, + 1.0001531839370728 + ], + [ + 0.3536436855792999, + -0.0411226861178875, + 0.14981956779956818, + 0.06946967542171478, + -0.31537196040153503, + -0.6168743371963501, + 0.0, + 1.0001531839370728 + ], + [ + 0.3477765917778015, + -0.04433376342058182, + 0.14194858074188232, + -0.0009192239958792925, + -0.30633580684661865, + -0.48143628239631653, + 0.0, + 1.0001531839370728 + ], + [ + 0.34020814299583435, + -0.045477401465177536, + 0.13329412043094635, + -0.06260035932064056, + -0.2856522500514984, + -0.3271881341934204, + 0.0, + 1.0001531839370728 + ], + [ + 0.33331912755966187, + -0.0475810244679451, + 0.12615199387073517, + -0.09029218554496765, + -0.2898987829685211, + -0.19795608520507812, + 0.0, + 1.0001531839370728 + ], + [ + 0.3300030529499054, + -0.04462900385260582, + 0.11390234529972076, + -0.07214219868183136, + -0.2879500687122345, + -0.1723383218050003, + 0.0, + 1.0001531839370728 + ], + [ + 0.32813042402267456, + -0.03985854983329773, + 0.0915241688489914, + -0.06871408969163895, + -0.2745725214481354, + -0.08099590986967087, + 0.0, + 1.0001531839370728 + ], + [ + 0.3289867341518402, + -0.036459390074014664, + 0.07904937863349915, + -0.055586621165275574, + -0.24419169127941132, + -0.044083718210458755, + 0.0, + 1.0001531839370728 + ], + [ + 0.33298107981681824, + -0.03478652983903885, + 0.06307181715965271, + -0.049953643232584, + -0.21184709668159485, + -0.003973100800067186, + 0.0, + 1.0001531839370728 + ], + [ + 0.3412974774837494, + -0.031674012541770935, + 0.05382024869322777, + -0.03148407116532326, + -0.19700707495212555, + 0.04683355614542961, + 0.0, + 1.0001531839370728 + ], + [ + 0.3456835448741913, + -0.029653344303369522, + 0.0442870631814003, + -0.0012133715208619833, + -0.17888648808002472, + 0.18896806240081787, + 0.0, + 1.0001531839370728 + ], + [ + 0.3553644120693207, + -0.028487127274274826, + 0.04730794578790665, + 0.003434176556766033, + -0.1954232007265091, + 0.23209555447101593, + 0.0, + 1.0001531839370728 + ], + [ + 0.3544054925441742, + -0.02785402163863182, + 0.04248954355716705, + 0.01752360351383686, + -0.18504749238491058, + 0.23104053735733032, + 0.0, + 0.9643021821975708 + ], + [ + 0.35457852482795715, + -0.030790792778134346, + 0.04187556356191635, + 0.010478047654032707, + -0.18179082870483398, + 0.18708890676498413, + 0.0, + 0.6541022062301636 + ], + [ + 0.353020578622818, + -0.036794569343328476, + 0.04188358411192894, + 0.028063476085662842, + -0.1802198737859726, + 0.16176369786262512, + 0.0, + 0.34697994589805603 + ], + [ + 0.34921109676361084, + -0.037517230957746506, + 0.04099244624376297, + 0.055355001240968704, + -0.1695583611726761, + 0.14679694175720215, + 0.0, + 0.1546454280614853 + ], + [ + 0.3472556173801422, + -0.03800037130713463, + 0.040633413940668106, + 0.07076229900121689, + -0.16742432117462158, + 0.14732222259044647, + 0.0, + 0.08962377160787582 + ], + [ + 0.3450990915298462, + -0.03814135864377022, + 0.04006459191441536, + 0.07989326119422913, + -0.16406291723251343, + 0.1377856731414795, + 0.0, + 0.08890553563833237 + ], + [ + 0.3426819145679474, + -0.03997950255870819, + 0.04420625790953636, + 0.08075037598609924, + -0.16679954528808594, + 0.11489810049533844, + 0.0, + 0.08890553563833237 + ], + [ + 0.3443354666233063, + -0.046720705926418304, + 0.05436141788959503, + 0.05080007389187813, + -0.16551584005355835, + 0.018201330676674843, + 0.0, + 0.08259850740432739 + ], + [ + 0.34755897521972656, + -0.05185289680957794, + 0.07857979834079742, + 0.030033575370907784, + -0.20859427750110626, + -0.07722695171833038, + 0.0, + 0.06956923007965088 + ], + [ + 0.34847772121429443, + -0.040712010115385056, + 0.10147721320390701, + 0.0014040094101801515, + -0.267168790102005, + -0.08556473255157471, + 0.0, + 0.06742517650127411 + ], + [ + 0.3434199094772339, + -0.023040642961859703, + 0.11957106739282608, + -0.009711877442896366, + -0.3018089830875397, + -0.10855475813150406, + 0.0, + 0.06742517650127411 + ], + [ + 0.3350944519042969, + 0.008410201407968998, + 0.13192863762378693, + 0.011511611752212048, + -0.32406359910964966, + -0.12939774990081787, + 0.0, + 0.06742517650127411 + ], + [ + 0.32022303342819214, + 0.03910370171070099, + 0.12771159410476685, + 0.020637378096580505, + -0.31126880645751953, + -0.12682999670505524, + 0.0, + 0.06742517650127411 + ], + [ + 0.30824241042137146, + 0.07126658409833908, + 0.1203964352607727, + 0.03679487854242325, + -0.2891928255558014, + -0.08399707078933716, + 0.0, + 0.06742517650127411 + ], + [ + 0.3008044958114624, + 0.10467544943094254, + 0.11700636148452759, + 0.05076328292489052, + -0.28102847933769226, + -0.013951682485640049, + 0.0, + 0.06742517650127411 + ], + [ + 0.2992946207523346, + 0.13016794621944427, + 0.10756504535675049, + 0.05475419759750366, + -0.25531330704689026, + 0.03971685469150543, + 0.0, + 0.06742517650127411 + ], + [ + 0.2972763776779175, + 0.14803709089756012, + 0.09535185247659683, + 0.04911539703607559, + -0.23301513493061066, + 0.08428291231393814, + 0.0, + 0.06742517650127411 + ], + [ + 0.29609307646751404, + 0.1576814502477646, + 0.0815049558877945, + 0.03766593337059021, + -0.20031294226646423, + 0.09723145514726639, + 0.0, + 0.06742517650127411 + ], + [ + 0.29081761837005615, + 0.16568991541862488, + 0.06736910343170166, + 0.02233508974313736, + -0.1625385284423828, + 0.11328554898500443, + 0.0, + 0.06742517650127411 + ], + [ + 0.2874671220779419, + 0.1730988621711731, + 0.06040386110544205, + 0.028904493898153305, + -0.14985573291778564, + 0.11674212664365768, + 0.0, + 0.06742517650127411 + ], + [ + 0.2807450294494629, + 0.17821547389030457, + 0.05029473453760147, + 0.02231527678668499, + -0.1295275241136551, + 0.13130918145179749, + 0.0, + 0.06742517650127411 + ], + [ + 0.273997962474823, + 0.17800568044185638, + 0.042237717658281326, + -0.005526652093976736, + -0.14017267525196075, + 0.16733811795711517, + 0.0, + 0.09775853902101517 + ], + [ + 0.2635941207408905, + 0.1766921430826187, + 0.0279033575206995, + -0.10299065709114075, + -0.17008782923221588, + 0.25098639726638794, + 0.0, + 0.27305713295936584 + ], + [ + 0.2635132074356079, + 0.1742604374885559, + 0.02717595174908638, + -0.09257625788450241, + -0.15416109561920166, + 0.23665519058704376, + 0.0, + 0.561048150062561 + ], + [ + 0.2660949230194092, + 0.1694832146167755, + 0.02727617509663105, + -0.09100371599197388, + -0.1468515545129776, + 0.23104670643806458, + 0.0, + 0.8616333603858948 + ], + [ + 0.2637593150138855, + 0.17016693949699402, + 0.027421806007623672, + -0.08497059345245361, + -0.13016065955162048, + 0.23371458053588867, + 0.0, + 1.0060625076293945 + ], + [ + 0.27076637744903564, + 0.17004716396331787, + 0.03216097876429558, + -0.06583544611930847, + -0.1381700485944748, + 0.2021099179983139, + 0.0, + 1.0014774799346924 + ], + [ + 0.27646300196647644, + 0.16776806116104126, + 0.05319390818476677, + -0.07133778184652328, + -0.17820340394973755, + 0.20262616872787476, + 0.0, + 1.0001531839370728 + ], + [ + 0.28378790616989136, + 0.16070722043514252, + 0.08254408836364746, + -0.05121595039963722, + -0.2082805186510086, + 0.1834830492734909, + 0.0, + 1.0001531839370728 + ], + [ + 0.28692305088043213, + 0.14655232429504395, + 0.11610598862171173, + -0.029855793341994286, + -0.22428511083126068, + 0.16386732459068298, + 0.0, + 1.0001531839370728 + ], + [ + 0.2815669775009155, + 0.12881426513195038, + 0.14327111840248108, + -0.026953276246786118, + -0.24442046880722046, + 0.15718702971935272, + 0.0, + 1.0001531839370728 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9643021821975708 + ], + [ + 0.6541022062301636 + ], + [ + 0.34697994589805603 + ], + [ + 0.1546454280614853 + ], + [ + 0.08962377160787582 + ], + [ + 0.08890553563833237 + ], + [ + 0.08890553563833237 + ], + [ + 0.08259850740432739 + ], + [ + 0.06956923007965088 + ], + [ + 0.06742517650127411 + ], + [ + 0.06742517650127411 + ], + [ + 0.06742517650127411 + ], + [ + 0.06742517650127411 + ], + [ + 0.06742517650127411 + ], + [ + 0.06742517650127411 + ], + [ + 0.06742517650127411 + ], + [ + 0.06742517650127411 + ], + [ + 0.06742517650127411 + ], + [ + 0.06742517650127411 + ], + [ + 0.06742517650127411 + ], + [ + 0.06742517650127411 + ], + [ + 0.09775853902101517 + ], + [ + 0.27305713295936584 + ], + [ + 0.561048150062561 + ], + [ + 0.8616333603858948 + ], + [ + 1.0060625076293945 + ], + [ + 1.0014774799346924 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.35523685812950134, + -0.04102680832147598, + 0.16316643357276917 + ], + [ + 0.3536436855792999, + -0.0411226861178875, + 0.14981956779956818 + ], + [ + 0.3477765917778015, + -0.04433376342058182, + 0.14194858074188232 + ], + [ + 0.34020814299583435, + -0.045477401465177536, + 0.13329412043094635 + ], + [ + 0.33331912755966187, + -0.0475810244679451, + 0.12615199387073517 + ], + [ + 0.3300030529499054, + -0.04462900385260582, + 0.11390234529972076 + ], + [ + 0.32813042402267456, + -0.03985854983329773, + 0.0915241688489914 + ], + [ + 0.3289867341518402, + -0.036459390074014664, + 0.07904937863349915 + ], + [ + 0.33298107981681824, + -0.03478652983903885, + 0.06307181715965271 + ], + [ + 0.3412974774837494, + -0.031674012541770935, + 0.05382024869322777 + ], + [ + 0.3456835448741913, + -0.029653344303369522, + 0.0442870631814003 + ], + [ + 0.3553644120693207, + -0.028487127274274826, + 0.04730794578790665 + ], + [ + 0.3544054925441742, + -0.02785402163863182, + 0.04248954355716705 + ], + [ + 0.35457852482795715, + -0.030790792778134346, + 0.04187556356191635 + ], + [ + 0.353020578622818, + -0.036794569343328476, + 0.04188358411192894 + ], + [ + 0.34921109676361084, + -0.037517230957746506, + 0.04099244624376297 + ], + [ + 0.3472556173801422, + -0.03800037130713463, + 0.040633413940668106 + ], + [ + 0.3450990915298462, + -0.03814135864377022, + 0.04006459191441536 + ], + [ + 0.3426819145679474, + -0.03997950255870819, + 0.04420625790953636 + ], + [ + 0.3443354666233063, + -0.046720705926418304, + 0.05436141788959503 + ], + [ + 0.34755897521972656, + -0.05185289680957794, + 0.07857979834079742 + ], + [ + 0.34847772121429443, + -0.040712010115385056, + 0.10147721320390701 + ], + [ + 0.3434199094772339, + -0.023040642961859703, + 0.11957106739282608 + ], + [ + 0.3350944519042969, + 0.008410201407968998, + 0.13192863762378693 + ], + [ + 0.32022303342819214, + 0.03910370171070099, + 0.12771159410476685 + ], + [ + 0.30824241042137146, + 0.07126658409833908, + 0.1203964352607727 + ], + [ + 0.3008044958114624, + 0.10467544943094254, + 0.11700636148452759 + ], + [ + 0.2992946207523346, + 0.13016794621944427, + 0.10756504535675049 + ], + [ + 0.2972763776779175, + 0.14803709089756012, + 0.09535185247659683 + ], + [ + 0.29609307646751404, + 0.1576814502477646, + 0.0815049558877945 + ], + [ + 0.29081761837005615, + 0.16568991541862488, + 0.06736910343170166 + ], + [ + 0.2874671220779419, + 0.1730988621711731, + 0.06040386110544205 + ], + [ + 0.2807450294494629, + 0.17821547389030457, + 0.05029473453760147 + ], + [ + 0.273997962474823, + 0.17800568044185638, + 0.042237717658281326 + ], + [ + 0.2635941207408905, + 0.1766921430826187, + 0.0279033575206995 + ], + [ + 0.2635132074356079, + 0.1742604374885559, + 0.02717595174908638 + ], + [ + 0.2660949230194092, + 0.1694832146167755, + 0.02727617509663105 + ], + [ + 0.2637593150138855, + 0.17016693949699402, + 0.027421806007623672 + ], + [ + 0.27076637744903564, + 0.17004716396331787, + 0.03216097876429558 + ], + [ + 0.27646300196647644, + 0.16776806116104126, + 0.05319390818476677 + ], + [ + 0.28378790616989136, + 0.16070722043514252, + 0.08254408836364746 + ], + [ + 0.28692305088043213, + 0.14655232429504395, + 0.11610598862171173 + ], + [ + 0.2815669775009155, + 0.12881426513195038, + 0.14327111840248108 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.7545263101508832, + -0.5672109902137576, + 0.33009353200391806, + -0.561127627979745, + -0.8184315328023346, + -0.1237158487528816, + 0.34033194444236065, + -0.09187773775811812, + -0.9358058820591653 + ], + [ + 0.775461613496602, + -0.5595311835862521, + 0.29254767233361306, + -0.549957989172391, + -0.8261780208236005, + -0.12237682809036583, + 0.31017010839006925, + -0.06599039704810598, + -0.9483879856676415 + ], + [ + 0.8450676057828619, + -0.46329817601937123, + 0.26686240228542013, + -0.4414952419352551, + -0.8862020266105711, + -0.14045611193482216, + 0.3015670622016805, + 0.0008764293699049103, + -0.95344456517755 + ], + [ + 0.9085775295655211, + -0.33744513423821115, + 0.24620652742681365, + -0.3083586017091287, + -0.9394295326581827, + -0.1496232800122338, + 0.2817833308068553, + 0.06002444959001309, + -0.9575986737307077 + ], + [ + 0.939558314603181, + -0.2211366710812684, + 0.2613976781900041, + -0.18845943649454217, + -0.9714074317295146, + -0.14439751513384147, + 0.2858552330397148, + 0.08640702681936956, + -0.9543692217690422 + ], + [ + 0.9446244161734206, + -0.19120691437853343, + 0.26669201012190963, + -0.16442606423606682, + -0.979113604435783, + -0.11958519560801044, + 0.2839872915622483, + 0.06911197799665027, + -0.9563340173435898 + ], + [ + 0.9593856183889474, + -0.09927158692515695, + 0.26405375827247385, + -0.07787668471467626, + -0.9928632908424218, + -0.09032002920397833, + 0.27113549602792314, + 0.06608810579005575, + -0.9602697043366382 + ], + [ + 0.9693903609714861, + -0.05742069704451459, + 0.2387157129442765, + -0.04276203597785799, + -0.9968934751846417, + -0.06614232694210995, + 0.24177207517536123, + 0.05390976428450283, + -0.9688343516722501 + ], + [ + 0.9776364846421686, + -0.014467239315519628, + 0.20980372466448283, + -0.003884268737741701, + -0.9987029790632173, + -0.05076684022693987, + 0.2102660608678339, + 0.04881658116708012, + -0.9764246642984199 + ], + [ + 0.9795815089478974, + 0.04063846974996449, + 0.19689738978397234, + 0.04591085718996635, + -0.9986969309435413, + -0.022285271280241038, + 0.19573517956525552, + 0.03086996761146085, + -0.9801707935764178 + ], + [ + 0.9665251041482823, + 0.18763323262319287, + 0.17499426581040498, + 0.18484787176892659, + -0.9822384355941395, + 0.032232281087068465, + 0.17793394098274326, + 0.0011940087722036394, + -0.9840417099845927 + ], + [ + 0.954662476830554, + 0.23066500835782006, + 0.18818397713683802, + 0.2256391446890022, + -0.9730273917469369, + 0.04800699213831172, + 0.19418169768484025, + -0.0033688023746147253, + -0.9809597950246449 + ], + [ + 0.9568098013128328, + 0.23209376980023652, + 0.17506423430161924, + 0.2250810983458336, + -0.9725409149891346, + 0.05918334089530572, + 0.18399321530733306, + -0.017223550505386296, + -0.9827766002652168 + ], + [ + 0.9663589153243269, + 0.1878504306708234, + 0.17567772331737536, + 0.18293440264481742, + -0.9821435835046921, + 0.04392021982578645, + 0.1807911809303041, + -0.01030519661858742, + -0.9834675143696807 + ], + [ + 0.9709605026902421, + 0.16595965081904726, + 0.17231684919221318, + 0.15845066406348338, + -0.9857460825381682, + 0.05655128485274079, + 0.1792458905340738, + -0.027605344784562984, + -0.9834169287062187 + ], + [ + 0.9750582903574477, + 0.155282048032634, + 0.15858378215946695, + 0.14417267466166922, + -0.9863638288798768, + 0.07937655169084193, + 0.16874706008138635, + -0.05453331675424808, + -0.9841496568498458 + ], + [ + 0.9753364164549643, + 0.15807712523305503, + 0.15404706168843765, + 0.14473736562721065, + -0.9849626857643313, + 0.0943377053102835, + 0.16664324087127994, + -0.06971463354251949, + -0.9835496429473951 + ], + [ + 0.977221667192799, + 0.14982338128539488, + 0.15030225410530987, + 0.13550575320198457, + -0.9855726758988113, + 0.10141346740359161, + 0.16332790336647565, + -0.07873661754144431, + -0.9834249036098502 + ], + [ + 0.9796191609940795, + 0.12757577367491235, + 0.1551474182334442, + 0.11305431750288283, + -0.9886340627625215, + 0.0991030334532099, + 0.16602716858157002, + -0.0795431450026853, + -0.982907863116309 + ], + [ + 0.9861701202489969, + 0.02654173942476133, + 0.1635971576659779, + 0.017951590890729983, + -0.9983922587497278, + 0.05376465431031976, + 0.16476114321213794, + -0.05008426636104791, + -0.9850610803145685 + ], + [ + 0.9754070745627119, + -0.07091538919761463, + 0.20869127070379212, + -0.07547782471442223, + -0.9970496144309235, + 0.01397012310346829, + 0.20708485427329432, + -0.029378120057245813, + -0.9778817869213593 + ], + [ + 0.9609935694922817, + -0.08509097392595877, + 0.26315562990522273, + -0.08242841771325976, + -0.9963722659250551, + -0.021162789245727967, + 0.26400173360751084, + -0.0013541978077587, + -0.9645212547168288 + ], + [ + 0.9491801093403132, + -0.11120636776021926, + 0.29443210389203484, + -0.10344467211684759, + -0.993754074068324, + -0.0418573778830691, + 0.2972479097375607, + 0.009272758067965181, + -0.9547553069318149 + ], + [ + 0.9400242528811866, + -0.1253935842030525, + 0.31722366405405306, + -0.12232048881684938, + -0.9920470620356477, + -0.029670266632547536, + 0.31842126501032203, + -0.010912183427317678, + -0.9478865028272503 + ], + [ + 0.9442995736034858, + -0.1201939773692994, + 0.3063522859330788, + -0.12041184747921971, + -0.992556049032313, + -0.018261339381479228, + 0.30626671755010476, + -0.019644269737324808, + -0.9517430327496867 + ], + [ + 0.9550951024604025, + -0.07338778527346909, + 0.28706720159016424, + -0.0804144014298255, + -0.9966800070851385, + 0.01274705924716378, + 0.2851786620678968, + -0.03525899104374683, + -0.9578256283122418 + ], + [ + 0.9606771987738207, + 0.00013821457417893118, + 0.2776676082167619, + -0.01340393294913843, + -0.9988109569011195, + 0.046872240780291695, + 0.27734392789022927, + -0.048750930975747765, + -0.9595330595614817 + ], + [ + 0.9668211707612332, + 0.053457194705779684, + 0.24979822277603814, + 0.03841929930967135, + -0.9971651449028994, + 0.0646964545499515, + 0.25254857197860514, + -0.05295282924422844, + -0.9661341608009725 + ], + [ + 0.9695208168150057, + 0.09537818801038424, + 0.22568204849792559, + 0.08190807756162584, + -0.9942942928957981, + 0.06833685641733671, + 0.2309122183699315, + -0.04776882211967136, + -0.9718012590240744 + ], + [ + 0.9753755472842399, + 0.10446692352628358, + 0.19424006705343713, + 0.0951371804742387, + -0.9938434247338521, + 0.05678172245274592, + 0.19897602531808264, + -0.036904051298497775, + -0.9793092628717326 + ], + [ + 0.9804942061728315, + 0.11660608148716561, + 0.15822178554711563, + 0.11155344455479316, + -0.9929336885310323, + 0.040478626312161085, + 0.16182379512750789, + -0.022038873391518533, + -0.9865735387644262 + ], + [ + 0.9820622847255712, + 0.12071382066210211, + 0.14485110431318296, + 0.11517173019601205, + -0.9922759460432673, + 0.046086000776760776, + 0.14929548380057503, + -0.02857657091213784, + -0.9883796022337042 + ], + [ + 0.9830864760033818, + 0.13375688318110485, + 0.12510026738951407, + 0.12983535103924276, + -0.9907671340618701, + 0.039029062035159656, + 0.12916563908318746, + -0.022126505926241803, + -0.9913761422465881 + ], + [ + 0.9763605073916816, + 0.16579433709552413, + 0.13868091935415763, + 0.1649246201311488, + -0.9861451670145176, + 0.017820753309161046, + 0.13971409835966783, + 0.005472418200888462, + -0.9901767636935236 + ], + [ + 0.9546899407896983, + 0.23018648794973243, + 0.1886300551882703, + 0.2447757188359261, + -0.9678571155855024, + -0.05777067836599318, + 0.1692689115677119, + 0.10132514286138003, + -0.9803475154254244 + ], + [ + 0.9605988502780108, + 0.21964915542034408, + 0.1703058935201378, + 0.23167191991955893, + -0.9712928682477829, + -0.05402115892666279, + 0.15355119786360655, + 0.0913477564810643, + -0.9839093540669928 + ], + [ + 0.9629499217250868, + 0.21510463092540072, + 0.16265744988808906, + 0.22653177698377447, + -0.9724443360079481, + -0.05509416831783617, + 0.14632430511101885, + 0.08990000623196717, + -0.9851432315218277 + ], + [ + 0.9645838673969754, + 0.2200412743191021, + 0.14546408612959918, + 0.2296336744366933, + -0.971854172917315, + -0.052610285571398005, + 0.12979344483523245, + 0.08415048531783388, + -0.9879637430081006 + ], + [ + 0.9703089031100535, + 0.19142529002522649, + 0.1478411001180766, + 0.1988236647766646, + -0.9793418264049836, + -0.03686105503817937, + 0.13773083485603982, + 0.0651609192116649, + -0.9883239710425673 + ], + [ + 0.96402919483984, + 0.18835436418184712, + 0.18753758287367953, + 0.19805553671893425, + -0.9795926796119179, + -0.03423720820565744, + 0.17726171575223168, + 0.0701485248910821, + -0.9816605668886678 + ], + [ + 0.9619648461544601, + 0.17180800523485804, + 0.21238089391526002, + 0.17851201746736564, + -0.9838563337398415, + -0.01265599382619717, + 0.2067778865903143, + 0.05008716299828518, + -0.977105000355656 + ], + [ + 0.9618926521021074, + 0.15651194966955762, + 0.2242019969639146, + 0.15904895115399587, + -0.9872471753924531, + 0.006815116758781036, + 0.22240943543111466, + 0.029103681730252587, + -0.9745188652565716 + ], + [ + 0.9583156952819888, + 0.15004234074395068, + 0.24314260046375025, + 0.1518877989352953, + -0.9883337118212934, + 0.011250360533605681, + 0.24199405924689554, + 0.02614899733490756, + -0.9699253090973496 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.001593172550201416, + -9.587779641151428e-05, + -0.013346865773200989, + -0.028397008776664734, + 0.031897932291030884, + 0.02257096767425537, + 1.0 + ], + [ + -0.005867093801498413, + -0.0032110773026943207, + -0.007870987057685852, + -0.07038889825344086, + 0.009036153554916382, + 0.13543805480003357, + 1.0 + ], + [ + -0.007568448781967163, + -0.0011436380445957184, + -0.008654460310935974, + -0.06168113648891449, + 0.02068355679512024, + 0.15424814820289612, + 1.0 + ], + [ + -0.006889015436172485, + -0.002103623002767563, + -0.007142126560211182, + -0.027691826224327087, + -0.004246532917022705, + 0.12923204898834229, + 1.0 + ], + [ + -0.0033160746097564697, + 0.002952020615339279, + -0.012249648571014404, + 0.01814998686313629, + 0.001948714256286621, + 0.02561776340007782, + 1.0 + ], + [ + -0.001872628927230835, + 0.00477045401930809, + -0.02237817645072937, + 0.0034281089901924133, + 0.013377547264099121, + 0.09134241193532944, + 1.0 + ], + [ + 0.0008563101291656494, + 0.003399159759283066, + -0.012474790215492249, + 0.013127468526363373, + 0.03038083016872406, + 0.03691219165921211, + 1.0 + ], + [ + 0.003994345664978027, + 0.0016728602349758148, + -0.015977561473846436, + 0.005632977932691574, + 0.03234459459781647, + 0.040110617876052856, + 1.0 + ], + [ + 0.008316397666931152, + 0.003112517297267914, + -0.009251568466424942, + 0.018469572067260742, + 0.0148400217294693, + 0.05080665647983551, + 1.0 + ], + [ + 0.0043860673904418945, + 0.002020668238401413, + -0.009533185511827469, + 0.03027069941163063, + 0.01812058687210083, + 0.14213450253009796, + 1.0 + ], + [ + 0.009680867195129395, + 0.001166217029094696, + 0.0030208826065063477, + 0.00464754831045866, + -0.016536712646484375, + 0.04312749207019806, + 1.0 + ], + [ + -0.0009589195251464844, + 0.0006331056356430054, + -0.0048184022307395935, + 0.014089426957070827, + 0.01037570834159851, + -0.001055017113685608, + 0.0 + ], + [ + 0.00017303228378295898, + -0.0029367711395025253, + -0.0006139799952507019, + -0.0070455558598041534, + 0.003256663680076599, + -0.04395163059234619, + 0.0 + ], + [ + -0.0015579462051391602, + -0.00600377656519413, + 8.020550012588501e-06, + 0.017585428431630135, + 0.0015709549188613892, + -0.02532520890235901, + 0.0 + ], + [ + -0.0038094818592071533, + -0.0007226616144180298, + -0.0008911378681659698, + 0.027291525155305862, + 0.010661512613296509, + -0.014966756105422974, + 0.0 + ], + [ + -0.001955479383468628, + -0.00048314034938812256, + -0.0003590323030948639, + 0.015407297760248184, + 0.0021340399980545044, + 0.0005252808332443237, + 0.0 + ], + [ + -0.0021565258502960205, + -0.0001409873366355896, + -0.0005688220262527466, + 0.009130962193012238, + 0.0033614039421081543, + -0.00953654944896698, + 0.0 + ], + [ + -0.0024171769618988037, + -0.001838143914937973, + 0.004141665995121002, + 0.0008571147918701172, + -0.0027366280555725098, + -0.022887572646141052, + 0.0 + ], + [ + 0.0016535520553588867, + -0.0067412033677101135, + 0.01015515998005867, + -0.029950302094221115, + 0.0012837052345275879, + -0.09669677168130875, + 0.0 + ], + [ + 0.003223508596420288, + -0.0051321908831596375, + 0.024218380451202393, + -0.020766498520970345, + -0.04307843744754791, + -0.09542828053236008, + 0.0 + ], + [ + 0.0009187459945678711, + 0.011140886694192886, + 0.02289741486310959, + -0.028629565611481667, + -0.05857451260089874, + -0.008337780833244324, + 0.0 + ], + [ + -0.005057811737060547, + 0.017671367153525352, + 0.018093854188919067, + -0.011115887202322483, + -0.03464019298553467, + -0.022990025579929352, + 0.0 + ], + [ + -0.008325457572937012, + 0.031450845301151276, + 0.012357570230960846, + 0.021223489195108414, + -0.022254616022109985, + -0.020842991769313812, + 0.0 + ], + [ + -0.014871418476104736, + 0.030693501234054565, + -0.004217043519020081, + 0.009125766344368458, + 0.012794792652130127, + 0.0025677531957626343, + 0.0 + ], + [ + -0.011980623006820679, + 0.03216288238763809, + -0.007315158843994141, + 0.016157500445842743, + 0.02207598090171814, + 0.04283292591571808, + 0.0 + ], + [ + -0.007437914609909058, + 0.033408865332603455, + -0.003390073776245117, + 0.01396840438246727, + 0.00816434621810913, + 0.07004538923501968, + 0.0 + ], + [ + -0.0015098750591278076, + 0.02549249678850174, + -0.0094413161277771, + 0.003990914672613144, + 0.025715172290802002, + 0.053668536245822906, + 0.0 + ], + [ + -0.0020182430744171143, + 0.017869144678115845, + -0.012213192880153656, + -0.00563880056142807, + 0.022298172116279602, + 0.04456605762243271, + 0.0 + ], + [ + -0.0011833012104034424, + 0.009644359350204468, + -0.013846896588802338, + -0.011449463665485382, + 0.03270219266414642, + 0.012948542833328247, + 0.0 + ], + [ + -0.005275458097457886, + 0.00800846517086029, + -0.014135852456092834, + -0.01533084362745285, + 0.03777441382408142, + 0.016054093837738037, + 0.0 + ], + [ + -0.003350496292114258, + 0.007408946752548218, + -0.006965242326259613, + 0.0065694041550159454, + 0.012682795524597168, + 0.0034565776586532593, + 0.0 + ], + [ + -0.006722092628479004, + 0.00511661171913147, + -0.010109126567840576, + -0.006589217111468315, + 0.020328208804130554, + 0.014567054808139801, + 0.0 + ], + [ + -0.006747066974639893, + -0.00020979344844818115, + -0.008057016879320145, + -0.027841929346323013, + -0.010645151138305664, + 0.03602893650531769, + 1.0 + ], + [ + -0.010403841733932495, + -0.001313537359237671, + -0.014334360137581825, + -0.09746400266885757, + -0.029915153980255127, + 0.08364827930927277, + 1.0 + ], + [ + -8.091330528259277e-05, + -0.002431705594062805, + -0.000727405771613121, + 0.010414399206638336, + 0.01592673361301422, + -0.014331206679344177, + 1.0 + ], + [ + 0.0025817155838012695, + -0.0047772228717803955, + 0.0001002233475446701, + 0.001572541892528534, + 0.00730954110622406, + -0.005608484148979187, + 1.0 + ], + [ + -0.0023356080055236816, + 0.0006837248802185059, + 0.00014563091099262238, + 0.006033122539520264, + 0.016690894961357117, + 0.0026678740978240967, + 1.0 + ], + [ + 0.0070070624351501465, + -0.00011977553367614746, + 0.0047391727566719055, + 0.01913514733314514, + -0.008009389042854309, + -0.03160466253757477, + 1.0 + ], + [ + 0.005696624517440796, + -0.0022791028022766113, + 0.02103292942047119, + -0.005502335727214813, + -0.040033355355262756, + 0.000516250729560852, + 1.0 + ], + [ + 0.007324904203414917, + -0.007060840725898743, + 0.02935018017888069, + 0.020121831446886063, + -0.030077114701271057, + -0.01914311945438385, + 1.0 + ], + [ + 0.0031351447105407715, + -0.014154896140098572, + 0.03356190025806427, + 0.021360157057642937, + -0.016004592180252075, + -0.019615724682807922, + 1.0 + ], + [ + -0.0053560733795166016, + -0.017738059163093567, + 0.027165129780769348, + 0.002902517095208168, + -0.020135357975959778, + -0.006680294871330261, + 1.0 + ], + [ + -0.0006805360317230225, + -0.012549594044685364, + 0.009447857737541199, + -0.00901169702410698, + -0.007610619068145752, + -0.04774022102355957, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9643021821975708 + ], + [ + 0.6541022062301636 + ], + [ + 0.34697994589805603 + ], + [ + 0.1546454280614853 + ], + [ + 0.08962377160787582 + ], + [ + 0.08890553563833237 + ], + [ + 0.08890553563833237 + ], + [ + 0.08259850740432739 + ], + [ + 0.06956923007965088 + ], + [ + 0.06742517650127411 + ], + [ + 0.06742517650127411 + ], + [ + 0.06742517650127411 + ], + [ + 0.06742517650127411 + ], + [ + 0.06742517650127411 + ], + [ + 0.06742517650127411 + ], + [ + 0.06742517650127411 + ], + [ + 0.06742517650127411 + ], + [ + 0.06742517650127411 + ], + [ + 0.06742517650127411 + ], + [ + 0.06742517650127411 + ], + [ + 0.06742517650127411 + ], + [ + 0.09775853902101517 + ], + [ + 0.27305713295936584 + ], + [ + 0.561048150062561 + ], + [ + 0.8616333603858948 + ], + [ + 1.0060625076293945 + ], + [ + 1.0014774799346924 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3536436855792999, + -0.0411226861178875, + 0.14981956779956818 + ], + [ + 0.3477765917778015, + -0.04433376342058182, + 0.14194858074188232 + ], + [ + 0.34020814299583435, + -0.045477401465177536, + 0.13329412043094635 + ], + [ + 0.33331912755966187, + -0.0475810244679451, + 0.12615199387073517 + ], + [ + 0.3300030529499054, + -0.04462900385260582, + 0.11390234529972076 + ], + [ + 0.32813042402267456, + -0.03985854983329773, + 0.0915241688489914 + ], + [ + 0.3289867341518402, + -0.036459390074014664, + 0.07904937863349915 + ], + [ + 0.33298107981681824, + -0.03478652983903885, + 0.06307181715965271 + ], + [ + 0.3412974774837494, + -0.031674012541770935, + 0.05382024869322777 + ], + [ + 0.3456835448741913, + -0.029653344303369522, + 0.0442870631814003 + ], + [ + 0.3553644120693207, + -0.028487127274274826, + 0.04730794578790665 + ], + [ + 0.3544054925441742, + -0.02785402163863182, + 0.04248954355716705 + ], + [ + 0.35457852482795715, + -0.030790792778134346, + 0.04187556356191635 + ], + [ + 0.353020578622818, + -0.036794569343328476, + 0.04188358411192894 + ], + [ + 0.34921109676361084, + -0.037517230957746506, + 0.04099244624376297 + ], + [ + 0.3472556173801422, + -0.03800037130713463, + 0.040633413940668106 + ], + [ + 0.3450990915298462, + -0.03814135864377022, + 0.04006459191441536 + ], + [ + 0.3426819145679474, + -0.03997950255870819, + 0.04420625790953636 + ], + [ + 0.3443354666233063, + -0.046720705926418304, + 0.05436141788959503 + ], + [ + 0.34755897521972656, + -0.05185289680957794, + 0.07857979834079742 + ], + [ + 0.34847772121429443, + -0.040712010115385056, + 0.10147721320390701 + ], + [ + 0.3434199094772339, + -0.023040642961859703, + 0.11957106739282608 + ], + [ + 0.3350944519042969, + 0.008410201407968998, + 0.13192863762378693 + ], + [ + 0.32022303342819214, + 0.03910370171070099, + 0.12771159410476685 + ], + [ + 0.30824241042137146, + 0.07126658409833908, + 0.1203964352607727 + ], + [ + 0.3008044958114624, + 0.10467544943094254, + 0.11700636148452759 + ], + [ + 0.2992946207523346, + 0.13016794621944427, + 0.10756504535675049 + ], + [ + 0.2972763776779175, + 0.14803709089756012, + 0.09535185247659683 + ], + [ + 0.29609307646751404, + 0.1576814502477646, + 0.0815049558877945 + ], + [ + 0.29081761837005615, + 0.16568991541862488, + 0.06736910343170166 + ], + [ + 0.2874671220779419, + 0.1730988621711731, + 0.06040386110544205 + ], + [ + 0.2807450294494629, + 0.17821547389030457, + 0.05029473453760147 + ], + [ + 0.273997962474823, + 0.17800568044185638, + 0.042237717658281326 + ], + [ + 0.2635941207408905, + 0.1766921430826187, + 0.0279033575206995 + ], + [ + 0.2635132074356079, + 0.1742604374885559, + 0.02717595174908638 + ], + [ + 0.2660949230194092, + 0.1694832146167755, + 0.02727617509663105 + ], + [ + 0.2637593150138855, + 0.17016693949699402, + 0.027421806007623672 + ], + [ + 0.27076637744903564, + 0.17004716396331787, + 0.03216097876429558 + ], + [ + 0.27646300196647644, + 0.16776806116104126, + 0.05319390818476677 + ], + [ + 0.28378790616989136, + 0.16070722043514252, + 0.08254408836364746 + ], + [ + 0.28692305088043213, + 0.14655232429504395, + 0.11610598862171173 + ], + [ + 0.2815669775009155, + 0.12881426513195038, + 0.14327111840248108 + ], + [ + 0.2808864414691925, + 0.11626467108726501, + 0.15271897614002228 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.775461613496602, + -0.5595311835862521, + 0.29254767233361306, + -0.549957989172391, + -0.8261780208236005, + -0.12237682809036583, + 0.31017010839006925, + -0.06599039704810598, + -0.9483879856676415 + ], + [ + 0.8450676057828619, + -0.46329817601937123, + 0.26686240228542013, + -0.4414952419352551, + -0.8862020266105711, + -0.14045611193482216, + 0.3015670622016805, + 0.0008764293699049103, + -0.95344456517755 + ], + [ + 0.9085775295655211, + -0.33744513423821115, + 0.24620652742681365, + -0.3083586017091287, + -0.9394295326581827, + -0.1496232800122338, + 0.2817833308068553, + 0.06002444959001309, + -0.9575986737307077 + ], + [ + 0.939558314603181, + -0.2211366710812684, + 0.2613976781900041, + -0.18845943649454217, + -0.9714074317295146, + -0.14439751513384147, + 0.2858552330397148, + 0.08640702681936956, + -0.9543692217690422 + ], + [ + 0.9446244161734206, + -0.19120691437853343, + 0.26669201012190963, + -0.16442606423606682, + -0.979113604435783, + -0.11958519560801044, + 0.2839872915622483, + 0.06911197799665027, + -0.9563340173435898 + ], + [ + 0.9593856183889474, + -0.09927158692515695, + 0.26405375827247385, + -0.07787668471467626, + -0.9928632908424218, + -0.09032002920397833, + 0.27113549602792314, + 0.06608810579005575, + -0.9602697043366382 + ], + [ + 0.9693903609714861, + -0.05742069704451459, + 0.2387157129442765, + -0.04276203597785799, + -0.9968934751846417, + -0.06614232694210995, + 0.24177207517536123, + 0.05390976428450283, + -0.9688343516722501 + ], + [ + 0.9776364846421686, + -0.014467239315519628, + 0.20980372466448283, + -0.003884268737741701, + -0.9987029790632173, + -0.05076684022693987, + 0.2102660608678339, + 0.04881658116708012, + -0.9764246642984199 + ], + [ + 0.9795815089478974, + 0.04063846974996449, + 0.19689738978397234, + 0.04591085718996635, + -0.9986969309435413, + -0.022285271280241038, + 0.19573517956525552, + 0.03086996761146085, + -0.9801707935764178 + ], + [ + 0.9665251041482823, + 0.18763323262319287, + 0.17499426581040498, + 0.18484787176892659, + -0.9822384355941395, + 0.032232281087068465, + 0.17793394098274326, + 0.0011940087722036394, + -0.9840417099845927 + ], + [ + 0.954662476830554, + 0.23066500835782006, + 0.18818397713683802, + 0.2256391446890022, + -0.9730273917469369, + 0.04800699213831172, + 0.19418169768484025, + -0.0033688023746147253, + -0.9809597950246449 + ], + [ + 0.9568098013128328, + 0.23209376980023652, + 0.17506423430161924, + 0.2250810983458336, + -0.9725409149891346, + 0.05918334089530572, + 0.18399321530733306, + -0.017223550505386296, + -0.9827766002652168 + ], + [ + 0.9663589153243269, + 0.1878504306708234, + 0.17567772331737536, + 0.18293440264481742, + -0.9821435835046921, + 0.04392021982578645, + 0.1807911809303041, + -0.01030519661858742, + -0.9834675143696807 + ], + [ + 0.9709605026902421, + 0.16595965081904726, + 0.17231684919221318, + 0.15845066406348338, + -0.9857460825381682, + 0.05655128485274079, + 0.1792458905340738, + -0.027605344784562984, + -0.9834169287062187 + ], + [ + 0.9750582903574477, + 0.155282048032634, + 0.15858378215946695, + 0.14417267466166922, + -0.9863638288798768, + 0.07937655169084193, + 0.16874706008138635, + -0.05453331675424808, + -0.9841496568498458 + ], + [ + 0.9753364164549643, + 0.15807712523305503, + 0.15404706168843765, + 0.14473736562721065, + -0.9849626857643313, + 0.0943377053102835, + 0.16664324087127994, + -0.06971463354251949, + -0.9835496429473951 + ], + [ + 0.977221667192799, + 0.14982338128539488, + 0.15030225410530987, + 0.13550575320198457, + -0.9855726758988113, + 0.10141346740359161, + 0.16332790336647565, + -0.07873661754144431, + -0.9834249036098502 + ], + [ + 0.9796191609940795, + 0.12757577367491235, + 0.1551474182334442, + 0.11305431750288283, + -0.9886340627625215, + 0.0991030334532099, + 0.16602716858157002, + -0.0795431450026853, + -0.982907863116309 + ], + [ + 0.9861701202489969, + 0.02654173942476133, + 0.1635971576659779, + 0.017951590890729983, + -0.9983922587497278, + 0.05376465431031976, + 0.16476114321213794, + -0.05008426636104791, + -0.9850610803145685 + ], + [ + 0.9754070745627119, + -0.07091538919761463, + 0.20869127070379212, + -0.07547782471442223, + -0.9970496144309235, + 0.01397012310346829, + 0.20708485427329432, + -0.029378120057245813, + -0.9778817869213593 + ], + [ + 0.9609935694922817, + -0.08509097392595877, + 0.26315562990522273, + -0.08242841771325976, + -0.9963722659250551, + -0.021162789245727967, + 0.26400173360751084, + -0.0013541978077587, + -0.9645212547168288 + ], + [ + 0.9491801093403132, + -0.11120636776021926, + 0.29443210389203484, + -0.10344467211684759, + -0.993754074068324, + -0.0418573778830691, + 0.2972479097375607, + 0.009272758067965181, + -0.9547553069318149 + ], + [ + 0.9400242528811866, + -0.1253935842030525, + 0.31722366405405306, + -0.12232048881684938, + -0.9920470620356477, + -0.029670266632547536, + 0.31842126501032203, + -0.010912183427317678, + -0.9478865028272503 + ], + [ + 0.9442995736034858, + -0.1201939773692994, + 0.3063522859330788, + -0.12041184747921971, + -0.992556049032313, + -0.018261339381479228, + 0.30626671755010476, + -0.019644269737324808, + -0.9517430327496867 + ], + [ + 0.9550951024604025, + -0.07338778527346909, + 0.28706720159016424, + -0.0804144014298255, + -0.9966800070851385, + 0.01274705924716378, + 0.2851786620678968, + -0.03525899104374683, + -0.9578256283122418 + ], + [ + 0.9606771987738207, + 0.00013821457417893118, + 0.2776676082167619, + -0.01340393294913843, + -0.9988109569011195, + 0.046872240780291695, + 0.27734392789022927, + -0.048750930975747765, + -0.9595330595614817 + ], + [ + 0.9668211707612332, + 0.053457194705779684, + 0.24979822277603814, + 0.03841929930967135, + -0.9971651449028994, + 0.0646964545499515, + 0.25254857197860514, + -0.05295282924422844, + -0.9661341608009725 + ], + [ + 0.9695208168150057, + 0.09537818801038424, + 0.22568204849792559, + 0.08190807756162584, + -0.9942942928957981, + 0.06833685641733671, + 0.2309122183699315, + -0.04776882211967136, + -0.9718012590240744 + ], + [ + 0.9753755472842399, + 0.10446692352628358, + 0.19424006705343713, + 0.0951371804742387, + -0.9938434247338521, + 0.05678172245274592, + 0.19897602531808264, + -0.036904051298497775, + -0.9793092628717326 + ], + [ + 0.9804942061728315, + 0.11660608148716561, + 0.15822178554711563, + 0.11155344455479316, + -0.9929336885310323, + 0.040478626312161085, + 0.16182379512750789, + -0.022038873391518533, + -0.9865735387644262 + ], + [ + 0.9820622847255712, + 0.12071382066210211, + 0.14485110431318296, + 0.11517173019601205, + -0.9922759460432673, + 0.046086000776760776, + 0.14929548380057503, + -0.02857657091213784, + -0.9883796022337042 + ], + [ + 0.9830864760033818, + 0.13375688318110485, + 0.12510026738951407, + 0.12983535103924276, + -0.9907671340618701, + 0.039029062035159656, + 0.12916563908318746, + -0.022126505926241803, + -0.9913761422465881 + ], + [ + 0.9763605073916816, + 0.16579433709552413, + 0.13868091935415763, + 0.1649246201311488, + -0.9861451670145176, + 0.017820753309161046, + 0.13971409835966783, + 0.005472418200888462, + -0.9901767636935236 + ], + [ + 0.9546899407896983, + 0.23018648794973243, + 0.1886300551882703, + 0.2447757188359261, + -0.9678571155855024, + -0.05777067836599318, + 0.1692689115677119, + 0.10132514286138003, + -0.9803475154254244 + ], + [ + 0.9605988502780108, + 0.21964915542034408, + 0.1703058935201378, + 0.23167191991955893, + -0.9712928682477829, + -0.05402115892666279, + 0.15355119786360655, + 0.0913477564810643, + -0.9839093540669928 + ], + [ + 0.9629499217250868, + 0.21510463092540072, + 0.16265744988808906, + 0.22653177698377447, + -0.9724443360079481, + -0.05509416831783617, + 0.14632430511101885, + 0.08990000623196717, + -0.9851432315218277 + ], + [ + 0.9645838673969754, + 0.2200412743191021, + 0.14546408612959918, + 0.2296336744366933, + -0.971854172917315, + -0.052610285571398005, + 0.12979344483523245, + 0.08415048531783388, + -0.9879637430081006 + ], + [ + 0.9703089031100535, + 0.19142529002522649, + 0.1478411001180766, + 0.1988236647766646, + -0.9793418264049836, + -0.03686105503817937, + 0.13773083485603982, + 0.0651609192116649, + -0.9883239710425673 + ], + [ + 0.96402919483984, + 0.18835436418184712, + 0.18753758287367953, + 0.19805553671893425, + -0.9795926796119179, + -0.03423720820565744, + 0.17726171575223168, + 0.0701485248910821, + -0.9816605668886678 + ], + [ + 0.9619648461544601, + 0.17180800523485804, + 0.21238089391526002, + 0.17851201746736564, + -0.9838563337398415, + -0.01265599382619717, + 0.2067778865903143, + 0.05008716299828518, + -0.977105000355656 + ], + [ + 0.9618926521021074, + 0.15651194966955762, + 0.2242019969639146, + 0.15904895115399587, + -0.9872471753924531, + 0.006815116758781036, + 0.22240943543111466, + 0.029103681730252587, + -0.9745188652565716 + ], + [ + 0.9583156952819888, + 0.15004234074395068, + 0.24314260046375025, + 0.1518877989352953, + -0.9883337118212934, + 0.011250360533605681, + 0.24199405924689554, + 0.02614899733490756, + -0.9699253090973496 + ], + [ + 0.9626136242876308, + 0.10024474996875109, + 0.25164657843796445, + 0.10577768317715495, + -0.99435329242147, + -0.008521243586245798, + 0.24937139386366158, + 0.03482125721861987, + -0.9677816840425372 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005629.json b/json/chunk-0005/episode_0005629.json new file mode 100644 index 0000000000000000000000000000000000000000..8f45987a320dcd82bd2403f607a1d8a74e154475 --- /dev/null +++ b/json/chunk-0005/episode_0005629.json @@ -0,0 +1,1402 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 22, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the silver pot between the knife and the red pepper." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005629.mp4", + "start": 0, + "end": 22, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2627966105937958, + -0.020024064928293228, + 0.08378466963768005, + 0.1325567364692688, + -0.17659087479114532, + -0.10850654542446136, + 0.0, + 1.0047606229782104 + ], + [ + 0.26087847352027893, + -0.021052522584795952, + 0.07608464360237122, + 0.12798859179019928, + -0.1467379778623581, + -0.10833903402090073, + 0.0, + 1.0047606229782104 + ], + [ + 0.28358519077301025, + -0.03645268827676773, + 0.07297945022583008, + 0.1046600490808487, + -0.14540842175483704, + -0.1524021029472351, + 0.0, + 1.0047606229782104 + ], + [ + 0.3146640956401825, + -0.059263765811920166, + 0.06964781135320663, + 0.0762304812669754, + -0.1576015204191208, + -0.20461519062519073, + 0.0, + 1.0047606229782104 + ], + [ + 0.35380157828330994, + -0.09055072069168091, + 0.06139775738120079, + 0.03988055884838104, + -0.16664931178092957, + -0.26043835282325745, + 0.0, + 1.0047606229782104 + ], + [ + 0.37566035985946655, + -0.10800966620445251, + 0.0511639267206192, + 0.03046206757426262, + -0.16176319122314453, + -0.28278300166130066, + 0.0, + 1.0047606229782104 + ], + [ + 0.3897880017757416, + -0.11408800631761551, + 0.03708883374929428, + 0.018590111285448074, + -0.1492939442396164, + -0.27586856484413147, + 0.0, + 0.9530308246612549 + ], + [ + 0.3964742124080658, + -0.11650312691926956, + 0.023372113704681396, + 0.01608332432806492, + -0.12933433055877686, + -0.2724405825138092, + 0.0, + 0.6811928749084473 + ], + [ + 0.3966172933578491, + -0.11460311710834503, + 0.021484622731804848, + 0.019873185083270073, + -0.12487258017063141, + -0.2689889967441559, + 0.0, + 0.36950385570526123 + ], + [ + 0.39517712593078613, + -0.11541298031806946, + 0.020992286503314972, + 0.012171204201877117, + -0.12157761305570602, + -0.2666982114315033, + 0.0, + 0.16130207479000092 + ], + [ + 0.3889429271221161, + -0.11520793288946152, + 0.029760362580418587, + 0.0022336889524012804, + -0.13047292828559875, + -0.26877838373184204, + 0.0, + 0.08191495388746262 + ], + [ + 0.37704822421073914, + -0.1122521311044693, + 0.05492107570171356, + -0.011936957016587257, + -0.16844646632671356, + -0.2527235746383667, + 0.0, + 0.07722585648298264 + ], + [ + 0.35108789801597595, + -0.08223073184490204, + 0.10456378012895584, + 0.011306138709187508, + -0.258463591337204, + -0.20136548578739166, + 0.0, + 0.07722585648298264 + ], + [ + 0.3128198981285095, + -0.04516912251710892, + 0.11310886591672897, + 0.056352853775024414, + -0.2613063454627991, + -0.1810150295495987, + 0.0, + 0.07722585648298264 + ], + [ + 0.2779281437397003, + -0.016205035150051117, + 0.08365340530872345, + 0.11028631776571274, + -0.19687573611736298, + -0.16769106686115265, + 0.0, + 0.07722585648298264 + ], + [ + 0.273207426071167, + -0.006142831407487392, + 0.06238624081015587, + 0.13435262441635132, + -0.1665322482585907, + -0.18904463946819305, + 0.0, + 0.07722585648298264 + ], + [ + 0.2761400043964386, + 0.0032868478447198868, + 0.04183633625507355, + 0.1446966826915741, + -0.14011509716510773, + -0.19145213067531586, + 0.0, + 0.07722585648298264 + ], + [ + 0.2771397829055786, + 0.00982200913131237, + 0.023700810968875885, + 0.1412878781557083, + -0.11173222213983536, + -0.1790546327829361, + 0.0, + 0.10955921560525894 + ], + [ + 0.2772519886493683, + 0.009010318666696548, + 0.0215312447398901, + 0.12413855642080307, + -0.11366308480501175, + -0.18178151547908783, + 0.0, + 0.2928420901298523 + ], + [ + 0.2702428996562958, + 0.0070243407972157, + 0.025193266570568085, + 0.10917612910270691, + -0.1043403297662735, + -0.18546746671199799, + 0.0, + 0.5799254179000854 + ], + [ + 0.26992422342300415, + 0.0025240660179406404, + 0.04777060076594353, + 0.08813467621803284, + -0.1579078882932663, + -0.1818847358226776, + 0.0, + 0.8775349855422974 + ], + [ + 0.2694033682346344, + -0.0010403216583654284, + 0.07235093414783478, + 0.060411643236875534, + -0.19406725466251373, + -0.1880377233028412, + 0.0, + 1.0187249183654785 + ] + ], + "left_gripper_pos": [ + [ + 1.0047606229782104 + ], + [ + 1.0047606229782104 + ], + [ + 1.0047606229782104 + ], + [ + 1.0047606229782104 + ], + [ + 1.0047606229782104 + ], + [ + 1.0047606229782104 + ], + [ + 0.9530308246612549 + ], + [ + 0.6811928749084473 + ], + [ + 0.36950385570526123 + ], + [ + 0.16130207479000092 + ], + [ + 0.08191495388746262 + ], + [ + 0.07722585648298264 + ], + [ + 0.07722585648298264 + ], + [ + 0.07722585648298264 + ], + [ + 0.07722585648298264 + ], + [ + 0.07722585648298264 + ], + [ + 0.07722585648298264 + ], + [ + 0.10955921560525894 + ], + [ + 0.2928420901298523 + ], + [ + 0.5799254179000854 + ], + [ + 0.8775349855422974 + ], + [ + 1.0187249183654785 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2627966105937958, + -0.020024064928293228, + 0.08378466963768005 + ], + [ + 0.26087847352027893, + -0.021052522584795952, + 0.07608464360237122 + ], + [ + 0.28358519077301025, + -0.03645268827676773, + 0.07297945022583008 + ], + [ + 0.3146640956401825, + -0.059263765811920166, + 0.06964781135320663 + ], + [ + 0.35380157828330994, + -0.09055072069168091, + 0.06139775738120079 + ], + [ + 0.37566035985946655, + -0.10800966620445251, + 0.0511639267206192 + ], + [ + 0.3897880017757416, + -0.11408800631761551, + 0.03708883374929428 + ], + [ + 0.3964742124080658, + -0.11650312691926956, + 0.023372113704681396 + ], + [ + 0.3966172933578491, + -0.11460311710834503, + 0.021484622731804848 + ], + [ + 0.39517712593078613, + -0.11541298031806946, + 0.020992286503314972 + ], + [ + 0.3889429271221161, + -0.11520793288946152, + 0.029760362580418587 + ], + [ + 0.37704822421073914, + -0.1122521311044693, + 0.05492107570171356 + ], + [ + 0.35108789801597595, + -0.08223073184490204, + 0.10456378012895584 + ], + [ + 0.3128198981285095, + -0.04516912251710892, + 0.11310886591672897 + ], + [ + 0.2779281437397003, + -0.016205035150051117, + 0.08365340530872345 + ], + [ + 0.273207426071167, + -0.006142831407487392, + 0.06238624081015587 + ], + [ + 0.2761400043964386, + 0.0032868478447198868, + 0.04183633625507355 + ], + [ + 0.2771397829055786, + 0.00982200913131237, + 0.023700810968875885 + ], + [ + 0.2772519886493683, + 0.009010318666696548, + 0.0215312447398901 + ], + [ + 0.2702428996562958, + 0.0070243407972157, + 0.025193266570568085 + ], + [ + 0.26992422342300415, + 0.0025240660179406404, + 0.04777060076594353 + ], + [ + 0.2694033682346344, + -0.0010403216583654284, + 0.07235093414783478 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.978658707455604, + -0.08426156249836689, + 0.18742231299037013, + -0.10660959969700945, + -0.9879121846995019, + 0.11253403296203622, + 0.17567449323612647, + -0.13011342900558368, + -0.9758119532054519 + ], + [ + 0.9834533590317935, + -0.08868981509150797, + 0.1579671083109281, + -0.10696521066363418, + -0.9880235696365417, + 0.11121092370064362, + 0.14621194997935952, + -0.12626774149283, + -0.9811618231166219 + ], + [ + 0.9779783886332156, + -0.1360203708500701, + 0.1582931776173199, + -0.15021071926825577, + -0.985298840104171, + 0.08138141990828485, + 0.1448965533865186, + -0.10336660197174288, + -0.9840326897077775 + ], + [ + 0.9670043478374325, + -0.1908968618491928, + 0.16870382153239077, + -0.20067216604066507, + -0.9787243832646942, + 0.04276988870329874, + 0.15694990614858717, + -0.07521282961885559, + -0.9847384207091117 + ], + [ + 0.9528904958645907, + -0.2509088336564056, + 0.17042435296669475, + -0.2539367129626302, + -0.9672119110408736, + -0.004155111357836187, + 0.1658790182653284, + -0.03931763387900442, + -0.9853620019898714 + ], + [ + 0.9477459765728136, + -0.2741891533156541, + 0.16308854065840556, + -0.27538642316010575, + -0.9612058680514816, + -0.01567153988862343, + 0.16105862854602626, + -0.030059730994176574, + -0.9864869643048664 + ], + [ + 0.9514859184581382, + -0.2696753094474699, + 0.14815456270491378, + -0.2693528707185335, + -0.9627758409424301, + -0.022621032984404755, + 0.14873996776777215, + -0.018382262428979303, + -0.9887054740499994 + ], + [ + 0.9550730617425646, + -0.26705026279145927, + 0.12852861112101127, + -0.26683541405724986, + -0.9635506258654007, + -0.01921075738461878, + 0.12897406149524654, + -0.01594830829295685, + -0.9915197138352889 + ], + [ + 0.956533615698802, + -0.26331843977583513, + 0.1253269376957613, + -0.26368762074157204, + -0.9645074563978727, + -0.013935753318545751, + 0.12454830671601373, + -0.019717145506547375, + -0.9920176175185843 + ], + [ + 0.9575258347183847, + -0.26210441786097405, + 0.12018964175260895, + -0.2616024533584749, + -0.9649638967412865, + -0.020219653377312075, + 0.12127832553134783, + -0.01208106467293154, + -0.9925450194488312 + ], + [ + 0.9559016625486442, + -0.26527304177543276, + 0.1260246993408338, + -0.2632967979553976, + -0.9641707879847198, + -0.03239579885353956, + 0.13010306577161265, + -0.002214701816043321, + -0.9914980016987898 + ], + [ + 0.9545310024815369, + -0.2519617569156189, + 0.1593293392743053, + -0.24650295201904343, + -0.9676656414587079, + -0.05347430211049452, + 0.1676510064016595, + 0.011767726726170932, + -0.9857761716841247 + ], + [ + 0.9472493556578363, + -0.197163281461637, + 0.2526762724299483, + -0.19336392957604667, + -0.9803097304901749, + -0.040040267796190784, + 0.25559547911636427, + -0.010930359077373577, + -0.9667220274234555 + ], + [ + 0.9502694223537562, + -0.16542942246409867, + 0.26385816478300067, + -0.17391675433136858, + -0.9847195253313996, + 0.008967663795285241, + 0.2583427713374244, + -0.05441105231749929, + -0.964519802743003 + ], + [ + 0.9669262303247949, + -0.14466522292277995, + 0.21006103490791478, + -0.1636820374578462, + -0.9835759415828551, + 0.07606942719022142, + 0.19560637955733973, + -0.10793674266023848, + -0.9747244758701649 + ], + [ + 0.9685962095068956, + -0.1644188948547908, + 0.18651490541938626, + -0.18532085690016978, + -0.9775055789072786, + 0.10069271673230543, + 0.16576357539176134, + -0.1320956858488374, + -0.9772784489865027 + ], + [ + 0.9721079382617442, + -0.16852661735994118, + 0.1631101946835873, + -0.18841989024785066, + -0.975301430830007, + 0.11526085189659976, + 0.1396570847737045, + -0.14277919408008286, + -0.9798520298546884 + ], + [ + 0.9778766391339802, + -0.16087452272724165, + 0.13370365205675566, + -0.17698885163818764, + -0.9770036486224202, + 0.11890675747943964, + 0.11149988803504411, + -0.13994019621167067, + -0.9838620413718643 + ], + [ + 0.9771768107079271, + -0.16557876595588278, + 0.13307574113718376, + -0.17961548957562656, + -0.9784934888585269, + 0.10143356528277697, + 0.11341850166172947, + -0.12302099221675294, + -0.9859016578517421 + ], + [ + 0.9775049085838519, + -0.17215446873574822, + 0.12184823588705623, + -0.1834031084876335, + -0.9790911482843917, + 0.08799899515463044, + 0.10415110893096022, + -0.1083667949395184, + -0.9886400681051662 + ], + [ + 0.9712681857993412, + -0.16656832966688312, + 0.16997971292492783, + -0.17863306532308265, + -0.9821908918780375, + 0.058234696574329226, + 0.15725246970186388, + -0.08692550525484133, + -0.9837253769771596 + ], + [ + 0.9639318108723406, + -0.17515241763099365, + 0.20039235161649352, + -0.18342248498874092, + -0.9827573810269654, + 0.023326423591609732, + 0.19285138316570485, + -0.05924154484007042, + -0.979437993635144 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0019181370735168457, + -0.0010284576565027237, + -0.007700026035308838, + -0.004568144679069519, + 0.02985289692878723, + 0.00016751140356063843, + 1.0 + ], + [ + 0.022706717252731323, + -0.015400165691971779, + -0.0031051933765411377, + -0.023328542709350586, + 0.0013295561075210571, + -0.04406306892633438, + 1.0 + ], + [ + 0.03107890486717224, + -0.022811077535152435, + -0.0033316388726234436, + -0.02842956781387329, + -0.012193098664283752, + -0.05221308767795563, + 1.0 + ], + [ + 0.03913748264312744, + -0.03128695487976074, + -0.008250053972005844, + -0.03634992241859436, + -0.009047791361808777, + -0.05582316219806671, + 1.0 + ], + [ + 0.021858781576156616, + -0.017458945512771606, + -0.010233830660581589, + -0.009418491274118423, + 0.004886120557785034, + -0.022344648838043213, + 1.0 + ], + [ + 0.014127641916275024, + -0.006078340113162994, + -0.01407509297132492, + -0.011871956288814545, + 0.012469246983528137, + 0.0069144368171691895, + 0.0 + ], + [ + 0.006686210632324219, + -0.0024151206016540527, + -0.013716720044612885, + -0.002506786957383156, + 0.01995961368083954, + 0.0034279823303222656, + 0.0 + ], + [ + 0.0001430809497833252, + 0.00190000981092453, + -0.0018874909728765488, + 0.0037898607552051544, + 0.004461750388145447, + 0.0034515857696533203, + 0.0 + ], + [ + -0.0014401674270629883, + -0.0008098632097244263, + -0.0004923362284898758, + -0.007701980881392956, + 0.0032949671149253845, + 0.002290785312652588, + 0.0 + ], + [ + -0.006234198808670044, + 0.00020504742860794067, + 0.008768076077103615, + -0.00993751548230648, + -0.00889531522989273, + -0.002080172300338745, + 0.0 + ], + [ + -0.011894702911376953, + 0.002955801784992218, + 0.025160713121294975, + -0.014170645736157894, + -0.03797353804111481, + 0.016054809093475342, + 0.0 + ], + [ + -0.025960326194763184, + 0.03002139925956726, + 0.04964270442724228, + 0.023243095725774765, + -0.09001712501049042, + 0.05135808885097504, + 0.0 + ], + [ + -0.03826799988746643, + 0.03706160932779312, + 0.008545085787773132, + 0.045046716928482056, + -0.0028427541255950928, + 0.02035045623779297, + 0.0 + ], + [ + -0.034891754388809204, + 0.0289640873670578, + -0.029455460608005524, + 0.053933463990688324, + 0.0644306093454361, + 0.013323962688446045, + 0.0 + ], + [ + -0.004720717668533325, + 0.010062203742563725, + -0.02126716449856758, + 0.02406630665063858, + 0.030343487858772278, + -0.021353572607040405, + 0.0 + ], + [ + 0.0029325783252716064, + 0.00942967925220728, + -0.02054990455508232, + 0.010344058275222778, + 0.02641715109348297, + -0.0024074912071228027, + 0.0 + ], + [ + 0.0009997785091400146, + 0.0065351612865924835, + -0.018135525286197662, + -0.0034088045358657837, + 0.02838287502527237, + 0.01239749789237976, + 1.0 + ], + [ + 0.00011220574378967285, + -0.0008116904646158218, + -0.0021695662289857864, + -0.017149321734905243, + -0.0019308626651763916, + -0.0027268826961517334, + 1.0 + ], + [ + -0.00700908899307251, + -0.0019859778694808483, + 0.003662021830677986, + -0.014962427318096161, + 0.00932275503873825, + -0.0036859512329101562, + 1.0 + ], + [ + -0.000318676233291626, + -0.004500274546444416, + 0.022577334195375443, + -0.021041452884674072, + -0.0535675585269928, + 0.0035827308893203735, + 1.0 + ], + [ + -0.000520855188369751, + -0.003564387559890747, + 0.02458033338189125, + -0.027723032981157303, + -0.036159366369247437, + -0.006152987480163574, + 1.0 + ], + [ + -0.0022413134574890137, + -0.0031510405242443085, + 0.006150230765342712, + -0.0269174762070179, + 0.016082167625427246, + 0.008046388626098633, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0047606229782104 + ], + [ + 1.0047606229782104 + ], + [ + 1.0047606229782104 + ], + [ + 1.0047606229782104 + ], + [ + 1.0047606229782104 + ], + [ + 0.9530308246612549 + ], + [ + 0.6811928749084473 + ], + [ + 0.36950385570526123 + ], + [ + 0.16130207479000092 + ], + [ + 0.08191495388746262 + ], + [ + 0.07722585648298264 + ], + [ + 0.07722585648298264 + ], + [ + 0.07722585648298264 + ], + [ + 0.07722585648298264 + ], + [ + 0.07722585648298264 + ], + [ + 0.07722585648298264 + ], + [ + 0.10955921560525894 + ], + [ + 0.2928420901298523 + ], + [ + 0.5799254179000854 + ], + [ + 0.8775349855422974 + ], + [ + 1.0187249183654785 + ], + [ + 1.0099300146102905 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.26087847352027893, + -0.021052522584795952, + 0.07608464360237122 + ], + [ + 0.28358519077301025, + -0.03645268827676773, + 0.07297945022583008 + ], + [ + 0.3146640956401825, + -0.059263765811920166, + 0.06964781135320663 + ], + [ + 0.35380157828330994, + -0.09055072069168091, + 0.06139775738120079 + ], + [ + 0.37566035985946655, + -0.10800966620445251, + 0.0511639267206192 + ], + [ + 0.3897880017757416, + -0.11408800631761551, + 0.03708883374929428 + ], + [ + 0.3964742124080658, + -0.11650312691926956, + 0.023372113704681396 + ], + [ + 0.3966172933578491, + -0.11460311710834503, + 0.021484622731804848 + ], + [ + 0.39517712593078613, + -0.11541298031806946, + 0.020992286503314972 + ], + [ + 0.3889429271221161, + -0.11520793288946152, + 0.029760362580418587 + ], + [ + 0.37704822421073914, + -0.1122521311044693, + 0.05492107570171356 + ], + [ + 0.35108789801597595, + -0.08223073184490204, + 0.10456378012895584 + ], + [ + 0.3128198981285095, + -0.04516912251710892, + 0.11310886591672897 + ], + [ + 0.2779281437397003, + -0.016205035150051117, + 0.08365340530872345 + ], + [ + 0.273207426071167, + -0.006142831407487392, + 0.06238624081015587 + ], + [ + 0.2761400043964386, + 0.0032868478447198868, + 0.04183633625507355 + ], + [ + 0.2771397829055786, + 0.00982200913131237, + 0.023700810968875885 + ], + [ + 0.2772519886493683, + 0.009010318666696548, + 0.0215312447398901 + ], + [ + 0.2702428996562958, + 0.0070243407972157, + 0.025193266570568085 + ], + [ + 0.26992422342300415, + 0.0025240660179406404, + 0.04777060076594353 + ], + [ + 0.2694033682346344, + -0.0010403216583654284, + 0.07235093414783478 + ], + [ + 0.2671620547771454, + -0.004191362299025059, + 0.07850116491317749 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9834533590317935, + -0.08868981509150797, + 0.1579671083109281, + -0.10696521066363418, + -0.9880235696365417, + 0.11121092370064362, + 0.14621194997935952, + -0.12626774149283, + -0.9811618231166219 + ], + [ + 0.9779783886332156, + -0.1360203708500701, + 0.1582931776173199, + -0.15021071926825577, + -0.985298840104171, + 0.08138141990828485, + 0.1448965533865186, + -0.10336660197174288, + -0.9840326897077775 + ], + [ + 0.9670043478374325, + -0.1908968618491928, + 0.16870382153239077, + -0.20067216604066507, + -0.9787243832646942, + 0.04276988870329874, + 0.15694990614858717, + -0.07521282961885559, + -0.9847384207091117 + ], + [ + 0.9528904958645907, + -0.2509088336564056, + 0.17042435296669475, + -0.2539367129626302, + -0.9672119110408736, + -0.004155111357836187, + 0.1658790182653284, + -0.03931763387900442, + -0.9853620019898714 + ], + [ + 0.9477459765728136, + -0.2741891533156541, + 0.16308854065840556, + -0.27538642316010575, + -0.9612058680514816, + -0.01567153988862343, + 0.16105862854602626, + -0.030059730994176574, + -0.9864869643048664 + ], + [ + 0.9514859184581382, + -0.2696753094474699, + 0.14815456270491378, + -0.2693528707185335, + -0.9627758409424301, + -0.022621032984404755, + 0.14873996776777215, + -0.018382262428979303, + -0.9887054740499994 + ], + [ + 0.9550730617425646, + -0.26705026279145927, + 0.12852861112101127, + -0.26683541405724986, + -0.9635506258654007, + -0.01921075738461878, + 0.12897406149524654, + -0.01594830829295685, + -0.9915197138352889 + ], + [ + 0.956533615698802, + -0.26331843977583513, + 0.1253269376957613, + -0.26368762074157204, + -0.9645074563978727, + -0.013935753318545751, + 0.12454830671601373, + -0.019717145506547375, + -0.9920176175185843 + ], + [ + 0.9575258347183847, + -0.26210441786097405, + 0.12018964175260895, + -0.2616024533584749, + -0.9649638967412865, + -0.020219653377312075, + 0.12127832553134783, + -0.01208106467293154, + -0.9925450194488312 + ], + [ + 0.9559016625486442, + -0.26527304177543276, + 0.1260246993408338, + -0.2632967979553976, + -0.9641707879847198, + -0.03239579885353956, + 0.13010306577161265, + -0.002214701816043321, + -0.9914980016987898 + ], + [ + 0.9545310024815369, + -0.2519617569156189, + 0.1593293392743053, + -0.24650295201904343, + -0.9676656414587079, + -0.05347430211049452, + 0.1676510064016595, + 0.011767726726170932, + -0.9857761716841247 + ], + [ + 0.9472493556578363, + -0.197163281461637, + 0.2526762724299483, + -0.19336392957604667, + -0.9803097304901749, + -0.040040267796190784, + 0.25559547911636427, + -0.010930359077373577, + -0.9667220274234555 + ], + [ + 0.9502694223537562, + -0.16542942246409867, + 0.26385816478300067, + -0.17391675433136858, + -0.9847195253313996, + 0.008967663795285241, + 0.2583427713374244, + -0.05441105231749929, + -0.964519802743003 + ], + [ + 0.9669262303247949, + -0.14466522292277995, + 0.21006103490791478, + -0.1636820374578462, + -0.9835759415828551, + 0.07606942719022142, + 0.19560637955733973, + -0.10793674266023848, + -0.9747244758701649 + ], + [ + 0.9685962095068956, + -0.1644188948547908, + 0.18651490541938626, + -0.18532085690016978, + -0.9775055789072786, + 0.10069271673230543, + 0.16576357539176134, + -0.1320956858488374, + -0.9772784489865027 + ], + [ + 0.9721079382617442, + -0.16852661735994118, + 0.1631101946835873, + -0.18841989024785066, + -0.975301430830007, + 0.11526085189659976, + 0.1396570847737045, + -0.14277919408008286, + -0.9798520298546884 + ], + [ + 0.9778766391339802, + -0.16087452272724165, + 0.13370365205675566, + -0.17698885163818764, + -0.9770036486224202, + 0.11890675747943964, + 0.11149988803504411, + -0.13994019621167067, + -0.9838620413718643 + ], + [ + 0.9771768107079271, + -0.16557876595588278, + 0.13307574113718376, + -0.17961548957562656, + -0.9784934888585269, + 0.10143356528277697, + 0.11341850166172947, + -0.12302099221675294, + -0.9859016578517421 + ], + [ + 0.9775049085838519, + -0.17215446873574822, + 0.12184823588705623, + -0.1834031084876335, + -0.9790911482843917, + 0.08799899515463044, + 0.10415110893096022, + -0.1083667949395184, + -0.9886400681051662 + ], + [ + 0.9712681857993412, + -0.16656832966688312, + 0.16997971292492783, + -0.17863306532308265, + -0.9821908918780375, + 0.058234696574329226, + 0.15725246970186388, + -0.08692550525484133, + -0.9837253769771596 + ], + [ + 0.9639318108723406, + -0.17515241763099365, + 0.20039235161649352, + -0.18342248498874092, + -0.9827573810269654, + 0.023326423591609732, + 0.19285138316570485, + -0.05924154484007042, + -0.979437993635144 + ], + [ + 0.9683028744898553, + -0.1730874915469785, + 0.1800840457249286, + -0.17619294955635956, + -0.9843548306853109, + 0.001269579900193038, + 0.177046851938445, + -0.03295887705106895, + -0.983650407737535 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005630.json b/json/chunk-0005/episode_0005630.json new file mode 100644 index 0000000000000000000000000000000000000000..994ff0239264d11449470892b832ca474e9972ba --- /dev/null +++ b/json/chunk-0005/episode_0005630.json @@ -0,0 +1,5782 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 95, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nSweep into pile." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005630.mp4", + "start": 0, + "end": 95, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3059243857860565, + 0.15153664350509644, + 0.09719399362802505, + 0.11847131699323654, + -0.11335515230894089, + -0.009146077558398247, + 0.0, + 1.0014774799346924 + ], + [ + 0.3051879405975342, + 0.15096859633922577, + 0.08738493174314499, + 0.1041593998670578, + -0.08823356032371521, + -0.0010240273550152779, + 0.0, + 1.0014774799346924 + ], + [ + 0.3025742769241333, + 0.1486627757549286, + 0.08541057258844376, + 0.08645357191562653, + -0.06426151841878891, + 0.02974734827876091, + 0.0, + 1.0014774799346924 + ], + [ + 0.30422481894493103, + 0.14621765911579132, + 0.084432452917099, + 0.08577097952365875, + -0.06626714766025543, + 0.0487455353140831, + 0.0, + 1.0014774799346924 + ], + [ + 0.3076311945915222, + 0.1423138976097107, + 0.08395082503557205, + 0.09244737029075623, + -0.0769108459353447, + 0.05540076643228531, + 0.0, + 1.0014774799346924 + ], + [ + 0.30793944001197815, + 0.14131130278110504, + 0.07973775267601013, + 0.10097140818834305, + -0.08880452811717987, + 0.07132057845592499, + 0.0, + 1.0014774799346924 + ], + [ + 0.30926549434661865, + 0.14042818546295166, + 0.07061057537794113, + 0.10885585844516754, + -0.07441941648721695, + 0.08535798639059067, + 0.0, + 1.0014774799346924 + ], + [ + 0.30882528424263, + 0.14183180034160614, + 0.0690532699227333, + 0.12416202574968338, + -0.07535533607006073, + 0.0965905711054802, + 0.0, + 1.0014774799346924 + ], + [ + 0.3088950216770172, + 0.1415635496377945, + 0.06615633517503738, + 0.14546233415603638, + -0.07494955509901047, + 0.09333746135234833, + 0.0, + 1.0014774799346924 + ], + [ + 0.30906474590301514, + 0.1424754559993744, + 0.06385690718889236, + 0.14900745451450348, + -0.06733560562133789, + 0.08858033269643784, + 0.0, + 0.9665181636810303 + ], + [ + 0.30900850892066956, + 0.14005449414253235, + 0.061879873275756836, + 0.1316317617893219, + -0.05578723922371864, + 0.08031836897134781, + 0.0, + 0.7359045147895813 + ], + [ + 0.30875062942504883, + 0.1364460289478302, + 0.06275861710309982, + 0.11013128608465195, + -0.05104568973183632, + 0.06209678202867508, + 0.0, + 0.5403295159339905 + ], + [ + 0.3036493957042694, + 0.12706203758716583, + 0.06274385750293732, + 0.07713977992534637, + -0.0281800739467144, + 0.05466300621628761, + 0.0, + 0.49949145317077637 + ], + [ + 0.2963830530643463, + 0.10368534177541733, + 0.06277120113372803, + 0.032780200242996216, + 0.011072292923927307, + 0.027835344895720482, + 0.0, + 0.49949145317077637 + ], + [ + 0.2882072329521179, + 0.07643569260835648, + 0.06374961137771606, + -0.012339885346591473, + 0.04592558369040489, + -0.0033513521775603294, + 0.0, + 0.49949145317077637 + ], + [ + 0.2870890498161316, + 0.05263732373714447, + 0.06291142106056213, + -0.03365084156394005, + 0.0664881020784378, + -0.016820156946778297, + 0.0, + 0.49949145317077637 + ], + [ + 0.2879280149936676, + 0.030005047097802162, + 0.06219734251499176, + -0.03612152859568596, + 0.07719071209430695, + -0.008785175159573555, + 0.0, + 0.49949145317077637 + ], + [ + 0.290617436170578, + 0.006377925630658865, + 0.0612691193819046, + -0.038577884435653687, + 0.08277487009763718, + 0.0069414605386555195, + 0.0, + 0.49949145317077637 + ], + [ + 0.2925981283187866, + -0.0167857576161623, + 0.06120920181274414, + -0.04768542945384979, + 0.08031148463487625, + 0.026336027309298515, + 0.0, + 0.49949145317077637 + ], + [ + 0.2902267873287201, + -0.0511922724545002, + 0.06048225611448288, + -0.05997192859649658, + 0.07746429741382599, + 0.012327928096055984, + 0.0, + 0.49949145317077637 + ], + [ + 0.2863079607486725, + -0.07960193604230881, + 0.06112365797162056, + -0.06487157195806503, + 0.07219278812408447, + 0.007086124271154404, + 0.0, + 0.49949145317077637 + ], + [ + 0.287147581577301, + -0.10977110266685486, + 0.06163383275270462, + -0.0716104581952095, + 0.06733649969100952, + 0.007108029443770647, + 0.0, + 0.49949145317077637 + ], + [ + 0.29012346267700195, + -0.12994614243507385, + 0.06249406188726425, + -0.08656613528728485, + 0.07792951911687851, + 0.0161926057189703, + 0.0, + 0.49949145317077637 + ], + [ + 0.2906346917152405, + -0.13027052581310272, + 0.06601197272539139, + -0.08628136664628983, + 0.07933545112609863, + 0.028448129072785378, + 0.0, + 0.49949145317077637 + ], + [ + 0.29180142283439636, + -0.11507605761289597, + 0.07252778112888336, + -0.06771831959486008, + 0.07861723005771637, + 0.024102361872792244, + 0.0, + 0.49949145317077637 + ], + [ + 0.2979170083999634, + -0.07907140254974365, + 0.10035480558872223, + -0.08064579218626022, + 0.033742379397153854, + 0.07515667378902435, + 0.0, + 0.49949145317077637 + ], + [ + 0.29789549112319946, + -0.04869002848863602, + 0.11899875849485397, + -0.11223235726356506, + 0.015115726739168167, + 0.10425098240375519, + 0.0, + 0.4985305666923523 + ], + [ + 0.30099067091941833, + -0.016598839312791824, + 0.12412199378013611, + -0.10248170793056488, + 0.0028713203500956297, + 0.13280388712882996, + 0.0, + 0.4985305666923523 + ], + [ + 0.3135283589363098, + 0.017174970358610153, + 0.12358947843313217, + -0.06733860075473785, + -0.04472746700048447, + 0.14184287190437317, + 0.0, + 0.4985305666923523 + ], + [ + 0.3217368721961975, + 0.04936961457133293, + 0.10751684010028839, + -0.021215492859482765, + -0.046120647341012955, + 0.1622697412967682, + 0.0, + 0.4985305666923523 + ], + [ + 0.33009421825408936, + 0.06858199089765549, + 0.10020793974399567, + 0.008854554034769535, + -0.07972291111946106, + 0.19386228919029236, + 0.0, + 0.4985305666923523 + ], + [ + 0.3402913510799408, + 0.07919088751077652, + 0.08882585912942886, + 0.040063947439193726, + -0.08818601071834564, + 0.21793146431446075, + 0.0, + 0.4985305666923523 + ], + [ + 0.34782537817955017, + 0.08635812252759933, + 0.07953375577926636, + 0.0683453381061554, + -0.08392521739006042, + 0.25145968794822693, + 0.0, + 0.4985305666923523 + ], + [ + 0.35593926906585693, + 0.08218012750148773, + 0.07433036714792252, + 0.09309789538383484, + -0.08170260488986969, + 0.2569434344768524, + 0.0, + 0.4985305666923523 + ], + [ + 0.36486512422561646, + 0.06496307253837585, + 0.07176852226257324, + 0.08297548443078995, + -0.06465252488851547, + 0.24211809039115906, + 0.0, + 0.4985305666923523 + ], + [ + 0.3657761812210083, + 0.042388513684272766, + 0.07156787812709808, + 0.06644618511199951, + -0.04715496674180031, + 0.21556808054447174, + 0.0, + 0.4985305666923523 + ], + [ + 0.36974453926086426, + 0.01219903863966465, + 0.07105574756860733, + 0.05653246492147446, + -0.04158018156886101, + 0.1733236312866211, + 0.0, + 0.4985305666923523 + ], + [ + 0.37482234835624695, + -0.008886241354048252, + 0.07086349278688431, + 0.05158039554953575, + -0.04626479372382164, + 0.15967334806919098, + 0.0, + 0.4985305666923523 + ], + [ + 0.38091015815734863, + -0.03082876093685627, + 0.07066811621189117, + 0.05068831145763397, + -0.06129041314125061, + 0.14089928567409515, + 0.0, + 0.4985305666923523 + ], + [ + 0.38868334889411926, + -0.053048860281705856, + 0.0693812221288681, + 0.045771755278110504, + -0.07202423363924026, + 0.1021563708782196, + 0.0, + 0.4985305666923523 + ], + [ + 0.39539650082588196, + -0.06674789637327194, + 0.06802963465452194, + 0.044961974024772644, + -0.08121504634618759, + 0.09072059392929077, + 0.0, + 0.4985305666923523 + ], + [ + 0.3958147168159485, + -0.07922174781560898, + 0.06797286123037338, + 0.044129326939582825, + -0.08651496469974518, + 0.07027353346347809, + 0.0, + 0.4985305666923523 + ], + [ + 0.39391061663627625, + -0.09106509387493134, + 0.06704038381576538, + 0.049159977585077286, + -0.09427812695503235, + 0.032665565609931946, + 0.0, + 0.4985305666923523 + ], + [ + 0.39215055108070374, + -0.09513862431049347, + 0.06622378528118134, + 0.056321147829294205, + -0.1066935658454895, + -0.014368974603712559, + 0.0, + 0.4985305666923523 + ], + [ + 0.39045098423957825, + -0.09740292280912399, + 0.06585699319839478, + 0.05284638702869415, + -0.11528505384922028, + -0.05675247311592102, + 0.0, + 0.4985305666923523 + ], + [ + 0.3894485831260681, + -0.09816372394561768, + 0.066108338534832, + 0.05628840997815132, + -0.12887927889823914, + -0.1333002746105194, + 0.0, + 0.4985305666923523 + ], + [ + 0.3915039598941803, + -0.0997965931892395, + 0.0642971470952034, + 0.05793341249227524, + -0.1184435561299324, + -0.1922793686389923, + 0.0, + 0.4985305666923523 + ], + [ + 0.38995206356048584, + -0.10468663275241852, + 0.06377634406089783, + 0.0327843613922596, + -0.053994640707969666, + -0.22983422875404358, + 0.0, + 0.4985305666923523 + ], + [ + 0.38889771699905396, + -0.1097211167216301, + 0.06344398856163025, + 0.0028026283252984285, + -0.015355749055743217, + -0.27103573083877563, + 0.0, + 0.4985305666923523 + ], + [ + 0.38748034834861755, + -0.11497562378644943, + 0.06453634053468704, + -0.0272729080170393, + -0.00730842724442482, + -0.3156222403049469, + 0.0, + 0.4975702464580536 + ], + [ + 0.38599157333374023, + -0.11807171255350113, + 0.06519893556833267, + -0.05652160197496414, + -0.004790975246578455, + -0.3765556812286377, + 0.0, + 0.49661046266555786 + ], + [ + 0.3824029862880707, + -0.11643516272306442, + 0.0631730780005455, + -0.059655703604221344, + -0.010998109355568886, + -0.4427565038204193, + 0.0, + 0.49661046266555786 + ], + [ + 0.3735535442829132, + -0.11345996707677841, + 0.06281689554452896, + -0.058387815952301025, + -0.002104796702042222, + -0.48147886991500854, + 0.0, + 0.49661046266555786 + ], + [ + 0.36371663212776184, + -0.10877113789319992, + 0.06418897211551666, + -0.06483399868011475, + 0.009345993399620056, + -0.5200902223587036, + 0.0, + 0.49661046266555786 + ], + [ + 0.3521086275577545, + -0.10430102050304413, + 0.0640687495470047, + -0.0720580592751503, + 0.020815448835492134, + -0.5521151423454285, + 0.0, + 0.49661046266555786 + ], + [ + 0.34011784195899963, + -0.09974256902933121, + 0.06398476660251617, + -0.0820951834321022, + 0.02993093803524971, + -0.5751555562019348, + 0.0, + 0.49661046266555786 + ], + [ + 0.3266296088695526, + -0.09659634530544281, + 0.06489264965057373, + -0.08599882572889328, + 0.02962801605463028, + -0.6030569076538086, + 0.0, + 0.49661046266555786 + ], + [ + 0.3150169551372528, + -0.09341120719909668, + 0.06384646892547607, + -0.08390965312719345, + 0.024103371426463127, + -0.6206622123718262, + 0.0, + 0.49661046266555786 + ], + [ + 0.3083947002887726, + -0.0915725827217102, + 0.06284482032060623, + -0.081946462392807, + 0.018512966111302376, + -0.6390385627746582, + 0.0, + 0.49661046266555786 + ], + [ + 0.29878827929496765, + -0.09037648886442184, + 0.06359728425741196, + -0.08616841584444046, + 0.013246728107333183, + -0.6610458493232727, + 0.0, + 0.49661046266555786 + ], + [ + 0.28869473934173584, + -0.09001439809799194, + 0.06417955458164215, + -0.0928518995642662, + 0.013840897008776665, + -0.6804507970809937, + 0.0, + 0.49661046266555786 + ], + [ + 0.2920171022415161, + -0.09221700578927994, + 0.06982041150331497, + -0.11212307214736938, + 0.0008634844562038779, + -0.6719042658805847, + 0.0, + 0.49661046266555786 + ], + [ + 0.3149570822715759, + -0.08209192007780075, + 0.08964328467845917, + -0.10763773322105408, + -0.05494166165590286, + -0.6018697023391724, + 0.0, + 0.49661046266555786 + ], + [ + 0.33261021971702576, + -0.07157991081476212, + 0.10871000587940216, + -0.10330809652805328, + -0.09680981934070587, + -0.545190155506134, + 0.0, + 0.49661046266555786 + ], + [ + 0.34367161989212036, + -0.06944551318883896, + 0.11448011547327042, + -0.11064663529396057, + -0.10543762147426605, + -0.5320689678192139, + 0.0, + 0.49661046266555786 + ], + [ + 0.3559875786304474, + -0.06893540173768997, + 0.10936301201581955, + -0.10209544003009796, + -0.10283094644546509, + -0.5068130493164062, + 0.0, + 0.49661046266555786 + ], + [ + 0.36867770552635193, + -0.07029872387647629, + 0.10144534707069397, + -0.08453359454870224, + -0.09543944150209427, + -0.4913260042667389, + 0.0, + 0.49661046266555786 + ], + [ + 0.3841066062450409, + -0.08247281610965729, + 0.09197177737951279, + -0.07917704433202744, + -0.08845384418964386, + -0.4790779650211334, + 0.0, + 0.49661046266555786 + ], + [ + 0.3953995704650879, + -0.08636003732681274, + 0.0889161005616188, + -0.07871943712234497, + -0.08346230536699295, + -0.45673197507858276, + 0.0, + 0.49661046266555786 + ], + [ + 0.4054202139377594, + -0.0918998122215271, + 0.08526227623224258, + -0.07994204014539719, + -0.08013180643320084, + -0.446887731552124, + 0.0, + 0.49661046266555786 + ], + [ + 0.4078449308872223, + -0.0974932312965393, + 0.07896935939788818, + -0.07410379499197006, + -0.06963851302862167, + -0.45446568727493286, + 0.0, + 0.49661046266555786 + ], + [ + 0.41354840993881226, + -0.09809916466474533, + 0.07769420742988586, + -0.061401959508657455, + -0.07460880279541016, + -0.44627508521080017, + 0.0, + 0.49661046266555786 + ], + [ + 0.41474127769470215, + -0.09810855984687805, + 0.07652255147695541, + -0.03861613571643829, + -0.07609067857265472, + -0.4484403729438782, + 0.0, + 0.49661046266555786 + ], + [ + 0.4066394567489624, + -0.09721166640520096, + 0.07024256139993668, + -0.04344185069203377, + -0.0577731616795063, + -0.466720849275589, + 0.0, + 0.49661046266555786 + ], + [ + 0.3873291313648224, + -0.09353438019752502, + 0.07179427146911621, + -0.06672364473342896, + -0.038842588663101196, + -0.500141441822052, + 0.0, + 0.49661046266555786 + ], + [ + 0.3728073835372925, + -0.08453081548213959, + 0.07341000437736511, + -0.08272849768400192, + -0.025335902348160744, + -0.520961582660675, + 0.0, + 0.49661046266555786 + ], + [ + 0.359407514333725, + -0.0811406672000885, + 0.07459498941898346, + -0.10492318123579025, + -0.02309037372469902, + -0.543712317943573, + 0.0, + 0.49661046266555786 + ], + [ + 0.3464193642139435, + -0.08093222975730896, + 0.07753247022628784, + -0.12106240540742874, + -0.028829487040638924, + -0.5684614777565002, + 0.0, + 0.49661046266555786 + ], + [ + 0.3303992748260498, + -0.07857071608304977, + 0.07294569909572601, + -0.12962159514427185, + -0.018448129296302795, + -0.5966786742210388, + 0.0, + 0.49661046266555786 + ], + [ + 0.320388525724411, + -0.07804440706968307, + 0.07282260805368423, + -0.12769535183906555, + -0.027450542896986008, + -0.6195611357688904, + 0.0, + 0.49661046266555786 + ], + [ + 0.32600122690200806, + -0.07027533650398254, + 0.08517099171876907, + -0.10397198051214218, + -0.07799719274044037, + -0.597838282585144, + 0.0, + 0.49661046266555786 + ], + [ + 0.34107354283332825, + -0.030475089326500893, + 0.11359356343746185, + -0.10151974856853485, + -0.1565454751253128, + -0.4700089395046234, + 0.0, + 0.49661046266555786 + ], + [ + 0.34949934482574463, + 0.0074802883900702, + 0.1268487125635147, + -0.09080885350704193, + -0.18224374949932098, + -0.3727967143058777, + 0.0, + 0.49661046266555786 + ], + [ + 0.35502690076828003, + 0.02970379777252674, + 0.12140359729528427, + 0.011717256158590317, + -0.193744957447052, + -0.35797083377838135, + 0.0, + 0.49661046266555786 + ], + [ + 0.34873273968696594, + 0.03883576765656471, + 0.09576576948165894, + 0.06323232501745224, + -0.14520762860774994, + -0.355618953704834, + 0.0, + 0.49661046266555786 + ], + [ + 0.3439682722091675, + 0.034208375960588455, + 0.07928436249494553, + 0.11273926496505737, + -0.11826759576797485, + -0.38248521089553833, + 0.0, + 0.49661046266555786 + ], + [ + 0.34061357378959656, + 0.02336612157523632, + 0.06918726116418839, + 0.12997311353683472, + -0.09840522706508636, + -0.4130536615848541, + 0.0, + 0.49661046266555786 + ], + [ + 0.329756498336792, + 0.0066420044749975204, + 0.06824053078889847, + 0.08120950311422348, + -0.08502795547246933, + -0.4262407720088959, + 0.0, + 0.49661046266555786 + ], + [ + 0.3163810074329376, + -0.022679489105939865, + 0.06879409402608871, + 0.03419191390275955, + -0.05738522484898567, + -0.4598747193813324, + 0.0, + 0.49661046266555786 + ], + [ + 0.3056076765060425, + -0.056231267750263214, + 0.06783805787563324, + 0.001226933323778212, + -0.028705520555377007, + -0.49851614236831665, + 0.0, + 0.49661046266555786 + ], + [ + 0.2962753474712372, + -0.08022269606590271, + 0.06918510049581528, + -0.030106058344244957, + -0.006758460775017738, + -0.5104084014892578, + 0.0, + 0.49661046266555786 + ], + [ + 0.2938699722290039, + -0.09712094068527222, + 0.07293180376291275, + -0.03771922364830971, + -0.010724720545113087, + -0.5263656377792358, + 0.0, + 0.49661046266555786 + ], + [ + 0.2996126413345337, + -0.0870208591222763, + 0.08420494198799133, + -0.04726836085319519, + -0.026355154812335968, + -0.4937020242214203, + 0.0, + 0.49661046266555786 + ], + [ + 0.3135324716567993, + -0.05131968483328819, + 0.11046666651964188, + -0.04472097009420395, + -0.08972754329442978, + -0.39776524901390076, + 0.0, + 0.49661046266555786 + ], + [ + 0.3167227804660797, + -0.013192337937653065, + 0.12955118715763092, + -0.06488516181707382, + -0.11269086599349976, + -0.331845223903656, + 0.0, + 0.49661046266555786 + ] + ], + "left_gripper_pos": [ + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 0.9665181636810303 + ], + [ + 0.7359045147895813 + ], + [ + 0.5403295159339905 + ], + [ + 0.49949145317077637 + ], + [ + 0.49949145317077637 + ], + [ + 0.49949145317077637 + ], + [ + 0.49949145317077637 + ], + [ + 0.49949145317077637 + ], + [ + 0.49949145317077637 + ], + [ + 0.49949145317077637 + ], + [ + 0.49949145317077637 + ], + [ + 0.49949145317077637 + ], + [ + 0.49949145317077637 + ], + [ + 0.49949145317077637 + ], + [ + 0.49949145317077637 + ], + [ + 0.49949145317077637 + ], + [ + 0.49949145317077637 + ], + [ + 0.4985305666923523 + ], + [ + 0.4985305666923523 + ], + [ + 0.4985305666923523 + ], + [ + 0.4985305666923523 + ], + [ + 0.4985305666923523 + ], + [ + 0.4985305666923523 + ], + [ + 0.4985305666923523 + ], + [ + 0.4985305666923523 + ], + [ + 0.4985305666923523 + ], + [ + 0.4985305666923523 + ], + [ + 0.4985305666923523 + ], + [ + 0.4985305666923523 + ], + [ + 0.4985305666923523 + ], + [ + 0.4985305666923523 + ], + [ + 0.4985305666923523 + ], + [ + 0.4985305666923523 + ], + [ + 0.4985305666923523 + ], + [ + 0.4985305666923523 + ], + [ + 0.4985305666923523 + ], + [ + 0.4985305666923523 + ], + [ + 0.4985305666923523 + ], + [ + 0.4985305666923523 + ], + [ + 0.4985305666923523 + ], + [ + 0.4975702464580536 + ], + [ + 0.49661046266555786 + ], + [ + 0.49661046266555786 + ], + [ + 0.49661046266555786 + ], + [ + 0.49661046266555786 + ], + [ + 0.49661046266555786 + ], + [ + 0.49661046266555786 + ], + [ + 0.49661046266555786 + ], + [ + 0.49661046266555786 + ], + [ + 0.49661046266555786 + ], + [ + 0.49661046266555786 + ], + [ + 0.49661046266555786 + ], + [ + 0.49661046266555786 + ], + [ + 0.49661046266555786 + ], + [ + 0.49661046266555786 + ], + [ + 0.49661046266555786 + ], + [ + 0.49661046266555786 + ], + [ + 0.49661046266555786 + ], + [ + 0.49661046266555786 + ], + [ + 0.49661046266555786 + ], + [ + 0.49661046266555786 + ], + [ + 0.49661046266555786 + ], + [ + 0.49661046266555786 + ], + [ + 0.49661046266555786 + ], + [ + 0.49661046266555786 + ], + [ + 0.49661046266555786 + ], + [ + 0.49661046266555786 + ], + [ + 0.49661046266555786 + ], + [ + 0.49661046266555786 + ], + [ + 0.49661046266555786 + ], + [ + 0.49661046266555786 + ], + [ + 0.49661046266555786 + ], + [ + 0.49661046266555786 + ], + [ + 0.49661046266555786 + ], + [ + 0.49661046266555786 + ], + [ + 0.49661046266555786 + ], + [ + 0.49661046266555786 + ], + [ + 0.49661046266555786 + ], + [ + 0.49661046266555786 + ], + [ + 0.49661046266555786 + ], + [ + 0.49661046266555786 + ], + [ + 0.49661046266555786 + ], + [ + 0.49661046266555786 + ], + [ + 0.49661046266555786 + ], + [ + 0.49661046266555786 + ], + [ + 0.49661046266555786 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3059243857860565, + 0.15153664350509644, + 0.09719399362802505 + ], + [ + 0.3051879405975342, + 0.15096859633922577, + 0.08738493174314499 + ], + [ + 0.3025742769241333, + 0.1486627757549286, + 0.08541057258844376 + ], + [ + 0.30422481894493103, + 0.14621765911579132, + 0.084432452917099 + ], + [ + 0.3076311945915222, + 0.1423138976097107, + 0.08395082503557205 + ], + [ + 0.30793944001197815, + 0.14131130278110504, + 0.07973775267601013 + ], + [ + 0.30926549434661865, + 0.14042818546295166, + 0.07061057537794113 + ], + [ + 0.30882528424263, + 0.14183180034160614, + 0.0690532699227333 + ], + [ + 0.3088950216770172, + 0.1415635496377945, + 0.06615633517503738 + ], + [ + 0.30906474590301514, + 0.1424754559993744, + 0.06385690718889236 + ], + [ + 0.30900850892066956, + 0.14005449414253235, + 0.061879873275756836 + ], + [ + 0.30875062942504883, + 0.1364460289478302, + 0.06275861710309982 + ], + [ + 0.3036493957042694, + 0.12706203758716583, + 0.06274385750293732 + ], + [ + 0.2963830530643463, + 0.10368534177541733, + 0.06277120113372803 + ], + [ + 0.2882072329521179, + 0.07643569260835648, + 0.06374961137771606 + ], + [ + 0.2870890498161316, + 0.05263732373714447, + 0.06291142106056213 + ], + [ + 0.2879280149936676, + 0.030005047097802162, + 0.06219734251499176 + ], + [ + 0.290617436170578, + 0.006377925630658865, + 0.0612691193819046 + ], + [ + 0.2925981283187866, + -0.0167857576161623, + 0.06120920181274414 + ], + [ + 0.2902267873287201, + -0.0511922724545002, + 0.06048225611448288 + ], + [ + 0.2863079607486725, + -0.07960193604230881, + 0.06112365797162056 + ], + [ + 0.287147581577301, + -0.10977110266685486, + 0.06163383275270462 + ], + [ + 0.29012346267700195, + -0.12994614243507385, + 0.06249406188726425 + ], + [ + 0.2906346917152405, + -0.13027052581310272, + 0.06601197272539139 + ], + [ + 0.29180142283439636, + -0.11507605761289597, + 0.07252778112888336 + ], + [ + 0.2979170083999634, + -0.07907140254974365, + 0.10035480558872223 + ], + [ + 0.29789549112319946, + -0.04869002848863602, + 0.11899875849485397 + ], + [ + 0.30099067091941833, + -0.016598839312791824, + 0.12412199378013611 + ], + [ + 0.3135283589363098, + 0.017174970358610153, + 0.12358947843313217 + ], + [ + 0.3217368721961975, + 0.04936961457133293, + 0.10751684010028839 + ], + [ + 0.33009421825408936, + 0.06858199089765549, + 0.10020793974399567 + ], + [ + 0.3402913510799408, + 0.07919088751077652, + 0.08882585912942886 + ], + [ + 0.34782537817955017, + 0.08635812252759933, + 0.07953375577926636 + ], + [ + 0.35593926906585693, + 0.08218012750148773, + 0.07433036714792252 + ], + [ + 0.36486512422561646, + 0.06496307253837585, + 0.07176852226257324 + ], + [ + 0.3657761812210083, + 0.042388513684272766, + 0.07156787812709808 + ], + [ + 0.36974453926086426, + 0.01219903863966465, + 0.07105574756860733 + ], + [ + 0.37482234835624695, + -0.008886241354048252, + 0.07086349278688431 + ], + [ + 0.38091015815734863, + -0.03082876093685627, + 0.07066811621189117 + ], + [ + 0.38868334889411926, + -0.053048860281705856, + 0.0693812221288681 + ], + [ + 0.39539650082588196, + -0.06674789637327194, + 0.06802963465452194 + ], + [ + 0.3958147168159485, + -0.07922174781560898, + 0.06797286123037338 + ], + [ + 0.39391061663627625, + -0.09106509387493134, + 0.06704038381576538 + ], + [ + 0.39215055108070374, + -0.09513862431049347, + 0.06622378528118134 + ], + [ + 0.39045098423957825, + -0.09740292280912399, + 0.06585699319839478 + ], + [ + 0.3894485831260681, + -0.09816372394561768, + 0.066108338534832 + ], + [ + 0.3915039598941803, + -0.0997965931892395, + 0.0642971470952034 + ], + [ + 0.38995206356048584, + -0.10468663275241852, + 0.06377634406089783 + ], + [ + 0.38889771699905396, + -0.1097211167216301, + 0.06344398856163025 + ], + [ + 0.38748034834861755, + -0.11497562378644943, + 0.06453634053468704 + ], + [ + 0.38599157333374023, + -0.11807171255350113, + 0.06519893556833267 + ], + [ + 0.3824029862880707, + -0.11643516272306442, + 0.0631730780005455 + ], + [ + 0.3735535442829132, + -0.11345996707677841, + 0.06281689554452896 + ], + [ + 0.36371663212776184, + -0.10877113789319992, + 0.06418897211551666 + ], + [ + 0.3521086275577545, + -0.10430102050304413, + 0.0640687495470047 + ], + [ + 0.34011784195899963, + -0.09974256902933121, + 0.06398476660251617 + ], + [ + 0.3266296088695526, + -0.09659634530544281, + 0.06489264965057373 + ], + [ + 0.3150169551372528, + -0.09341120719909668, + 0.06384646892547607 + ], + [ + 0.3083947002887726, + -0.0915725827217102, + 0.06284482032060623 + ], + [ + 0.29878827929496765, + -0.09037648886442184, + 0.06359728425741196 + ], + [ + 0.28869473934173584, + -0.09001439809799194, + 0.06417955458164215 + ], + [ + 0.2920171022415161, + -0.09221700578927994, + 0.06982041150331497 + ], + [ + 0.3149570822715759, + -0.08209192007780075, + 0.08964328467845917 + ], + [ + 0.33261021971702576, + -0.07157991081476212, + 0.10871000587940216 + ], + [ + 0.34367161989212036, + -0.06944551318883896, + 0.11448011547327042 + ], + [ + 0.3559875786304474, + -0.06893540173768997, + 0.10936301201581955 + ], + [ + 0.36867770552635193, + -0.07029872387647629, + 0.10144534707069397 + ], + [ + 0.3841066062450409, + -0.08247281610965729, + 0.09197177737951279 + ], + [ + 0.3953995704650879, + -0.08636003732681274, + 0.0889161005616188 + ], + [ + 0.4054202139377594, + -0.0918998122215271, + 0.08526227623224258 + ], + [ + 0.4078449308872223, + -0.0974932312965393, + 0.07896935939788818 + ], + [ + 0.41354840993881226, + -0.09809916466474533, + 0.07769420742988586 + ], + [ + 0.41474127769470215, + -0.09810855984687805, + 0.07652255147695541 + ], + [ + 0.4066394567489624, + -0.09721166640520096, + 0.07024256139993668 + ], + [ + 0.3873291313648224, + -0.09353438019752502, + 0.07179427146911621 + ], + [ + 0.3728073835372925, + -0.08453081548213959, + 0.07341000437736511 + ], + [ + 0.359407514333725, + -0.0811406672000885, + 0.07459498941898346 + ], + [ + 0.3464193642139435, + -0.08093222975730896, + 0.07753247022628784 + ], + [ + 0.3303992748260498, + -0.07857071608304977, + 0.07294569909572601 + ], + [ + 0.320388525724411, + -0.07804440706968307, + 0.07282260805368423 + ], + [ + 0.32600122690200806, + -0.07027533650398254, + 0.08517099171876907 + ], + [ + 0.34107354283332825, + -0.030475089326500893, + 0.11359356343746185 + ], + [ + 0.34949934482574463, + 0.0074802883900702, + 0.1268487125635147 + ], + [ + 0.35502690076828003, + 0.02970379777252674, + 0.12140359729528427 + ], + [ + 0.34873273968696594, + 0.03883576765656471, + 0.09576576948165894 + ], + [ + 0.3439682722091675, + 0.034208375960588455, + 0.07928436249494553 + ], + [ + 0.34061357378959656, + 0.02336612157523632, + 0.06918726116418839 + ], + [ + 0.329756498336792, + 0.0066420044749975204, + 0.06824053078889847 + ], + [ + 0.3163810074329376, + -0.022679489105939865, + 0.06879409402608871 + ], + [ + 0.3056076765060425, + -0.056231267750263214, + 0.06783805787563324 + ], + [ + 0.2962753474712372, + -0.08022269606590271, + 0.06918510049581528 + ], + [ + 0.2938699722290039, + -0.09712094068527222, + 0.07293180376291275 + ], + [ + 0.2996126413345337, + -0.0870208591222763, + 0.08420494198799133 + ], + [ + 0.3135324716567993, + -0.05131968483328819, + 0.11046666651964188 + ], + [ + 0.3167227804660797, + -0.013192337937653065, + 0.12955118715763092 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9935406245781575, + 0.004286867143178783, + 0.11339598794904979, + -0.009087252996354196, + -0.9930712205183937, + 0.11716216458860672, + 0.11311255078825055, + -0.11743582821355779, + -0.9866176448381465 + ], + [ + 0.9961094218486319, + 0.008143365112869961, + 0.08774796470017189, + -0.0010200436531116238, + -0.994589172805866, + 0.10388135948421619, + 0.08811911946524355, + -0.10356670769113836, + -0.990711339312662 + ], + [ + 0.997494432517133, + 0.03517432608849055, + 0.0613809732860552, + 0.029681569927289212, + -0.9956595278483117, + 0.08821059466712916, + 0.06421729910214481, + -0.08616769341869171, + -0.994208864930769 + ], + [ + 0.9966199146912934, + 0.05421305170333415, + 0.061722691659797047, + 0.048619285883851726, + -0.9948640539480742, + 0.08877882181098776, + 0.06621865810225286, + -0.08547782862833167, + -0.9941371284345647 + ], + [ + 0.9955141240119709, + 0.062218180498849626, + 0.07127781497836727, + 0.055208740073522014, + -0.9938093446444592, + 0.09641048447572613, + 0.07683504351643247, + -0.09204284063827296, + -0.9927862265236485 + ], + [ + 0.9935272517702944, + 0.07981418418684497, + 0.08082880669881792, + 0.070979327544134, + -0.9917403843530133, + 0.10683138632780415, + 0.08868785176758442, + -0.10040271931539696, + -0.9909862556579304 + ], + [ + 0.9936014485660505, + 0.09279788562543424, + 0.06437945193068177, + 0.08501840024195713, + -0.9897731717846799, + 0.11454667186606864, + 0.07435074328979181, + -0.1083403010829453, + -0.9913295850187829 + ], + [ + 0.992514114427265, + 0.10497799019646445, + 0.06241277302742293, + 0.09616676156827902, + -0.9867772779494045, + 0.1304705242276319, + 0.07528403969057035, + -0.12349180255010582, + -0.9894857695140411 + ], + [ + 0.992852037278551, + 0.10302420744734231, + 0.06025649136547623, + 0.09294034062516585, + -0.9841205943856672, + 0.15122416734926675, + 0.07487940408622976, + -0.14454296380608728, + -0.9866612419963819 + ], + [ + 0.993822026488154, + 0.09743395806764235, + 0.053145117200471645, + 0.08826406052177169, + -0.9841580268142984, + 0.15376096343739482, + 0.06728473294283022, + -0.1481202284371036, + -0.9866778413649272 + ], + [ + 0.9952255241928116, + 0.08683275085368754, + 0.044567133342008326, + 0.08010722330151661, + -0.9875659748127017, + 0.13526373559516555, + 0.05575830673598219, + -0.13104777285943983, + -0.9898067955204776 + ], + [ + 0.9967725764484825, + 0.06727804677989568, + 0.043796064454883404, + 0.061976049993917426, + -0.9916779571399663, + 0.11284413387436107, + 0.05102352464702514, + -0.10976563097885167, + -0.9926470199362959 + ], + [ + 0.9981099108739462, + 0.056641430709723516, + 0.023840179159543104, + 0.054614095546354234, + -0.9954183598520738, + 0.07848305190970382, + 0.028176344384203106, + -0.07703270212424827, + -0.996630350942906 + ], + [ + 0.9995513483363043, + 0.027454059692145774, + -0.01197399872623657, + 0.02783004452565893, + -0.9990857068263576, + 0.032453644432901725, + -0.011072066689451411, + -0.03277232096903527, + -0.999401513065458 + ], + [ + 0.9989399958704676, + -0.0027845910643664747, + -0.0459470423739636, + -0.0033478122641416694, + -0.9999201477800992, + -0.012185656177198925, + -0.04590944133132769, + 0.012326561403290623, + -0.9988695505823654 + ], + [ + 0.9976493373275939, + -0.014574847410278141, + -0.06695799842274347, + -0.01678220112201845, + -0.9993300849375781, + -0.0325229006110035, + -0.06643912593730544, + 0.033570152838797114, + -0.9972255950300648 + ], + [ + 0.9969838014700105, + -0.0059945662953488936, + -0.07737806395443972, + -0.008758902663663968, + -0.9993335895658981, + -0.03543527041615035, + -0.07711407932754663, + 0.036006137536091075, + -0.9963719068847722 + ], + [ + 0.9965521067034498, + 0.010125006288639205, + -0.08234915222739758, + 0.006917638229956818, + -0.9992097567339104, + -0.03914087798043337, + -0.08268037800007644, + 0.038436262765970765, + -0.9958346292424008 + ], + [ + 0.996431110355143, + 0.030125845739156342, + -0.07885097168024083, + 0.026248105657228373, + -0.998416185849792, + -0.04976099659935759, + -0.08022517850291491, + 0.047513716458038285, + -0.9956436950448294 + ], + [ + 0.9969253813056331, + 0.016943358028942236, + -0.07650298508764936, + 0.012290647059390114, + -0.998069192832096, + -0.06088371140419848, + -0.0773868470961282, + 0.059756246018230604, + -0.9952087554670774 + ], + [ + 0.9973701911830467, + 0.011746954025285035, + -0.07151720639552796, + 0.007067607415091455, + -0.9978383899112461, + -0.06533449735597538, + -0.07213009541736966, + 0.06465722458054976, + -0.9952972885749369 + ], + [ + 0.9977085497153637, + 0.011903868077992817, + -0.06660291096977516, + 0.007091861184674178, + -0.9973776500155871, + -0.07202450106958559, + -0.0672856249863473, + 0.07138712190701603, + -0.9951766292955386 + ], + [ + 0.9968343319420797, + 0.02286120243220642, + -0.0761490648986668, + 0.016142756208409388, + -0.9960159001478205, + -0.08770255455072458, + -0.07785066527386614, + 0.08619566158502782, + -0.993231887245036 + ], + [ + 0.9964512453743455, + 0.03516522961235865, + -0.07647432391480095, + 0.028354823204658635, + -0.9956826952885937, + -0.08838537381192657, + -0.07925225292033251, + 0.08590329987347131, + -0.9931463655866137 + ], + [ + 0.9966217061916015, + 0.029357527741052877, + -0.07670273992938584, + 0.02402558953907077, + -0.9972901342200048, + -0.0695353092661946, + -0.0785362705699843, + 0.06745757001536999, + -0.9946263270457807 + ], + [ + 0.996609453149193, + 0.0775519466734324, + -0.027482602875777598, + 0.07504319927884959, + -0.9937320690672553, + -0.08285585766442034, + -0.03373597687427281, + 0.08051254855283686, + -0.9961825201186104 + ], + [ + 0.9944571659995313, + 0.10509120446932006, + -0.0032838598278037675, + 0.10405035895481503, + -0.9881373391315049, + -0.11295185618432135, + -0.015115151125782607, + 0.11198409600160655, + -0.9935950354390606 + ], + [ + 0.991190431028272, + 0.13201028314719537, + 0.010715156619772674, + 0.13241331118921995, + -0.9859551648147589, + -0.10177980150800475, + -0.0028713164046731262, + 0.10230199469462636, + -0.9947492434898382 + ], + [ + 0.9889670923072079, + 0.13806893294647662, + 0.053675507342249566, + 0.14122633513332236, + -0.988138848557549, + -0.060305374853092425, + 0.04471255526400899, + 0.06722042640732667, + -0.996735773249551 + ], + [ + 0.9858137304037005, + 0.16055698418973113, + 0.04891568026143087, + 0.161386748568509, + -0.9867990584721459, + -0.013488349972150846, + 0.04610429843328034, + 0.021191343194445798, + -0.9987118306296318 + ], + [ + 0.9781507943644331, + 0.19333465389161333, + 0.07643778574002734, + 0.1920383677178166, + -0.9810931697696865, + 0.02403034655483083, + 0.07963848823593332, + -0.008826314965981349, + -0.9967847347123732 + ], + [ + 0.9725528232245477, + 0.21948110043635577, + 0.07725964398835979, + 0.21537031377741594, + -0.9748006098447943, + 0.05813259833892364, + 0.08807175473089644, + -0.03989758886779434, + -0.9953147986547559 + ], + [ + 0.9651412948081813, + 0.2537817726388205, + 0.06400853796397216, + 0.24794225156690974, + -0.9648646368228745, + 0.08695327766446595, + 0.0838267316786149, + -0.06805177797060472, + -0.9941539290125654 + ], + [ + 0.963944954804789, + 0.26036287729512825, + 0.05496631907809186, + 0.25327780898949076, + -0.9610549029650842, + 0.11056140809638312, + 0.08161173677771866, + -0.09265336266630556, + -0.992348164107109 + ], + [ + 0.9688040126048847, + 0.24413308789181862, + 0.04263590689875298, + 0.23925855665463805, + -0.9662083436461609, + 0.09589984221092751, + 0.06460749359178797, + -0.08270714639586474, + -0.9944774505773568 + ], + [ + 0.9757691762982146, + 0.2164877322713839, + 0.03174234336493701, + 0.21366462348302306, + -0.9740299049764294, + 0.07492111106668081, + 0.047137493125557005, + -0.06632349498934409, + -0.9966841278731374 + ], + [ + 0.984165643601712, + 0.1744951336242542, + 0.03113573984156932, + 0.17230806888649938, + -0.9830383758190778, + 0.06281306443404144, + 0.041568201195548604, + -0.05645352077987095, + -0.9975395153280512 + ], + [ + 0.9862228591086831, + 0.16113837389117008, + 0.03740182657576836, + 0.15882558907778377, + -0.9855870999022724, + 0.05824517800061135, + 0.04624829105587955, + -0.05150235883857558, + -0.9976014247225558 + ], + [ + 0.9882310447386174, + 0.14332585429577704, + 0.05345186343997865, + 0.14016985737827442, + -0.9883826311507133, + 0.05875530207689258, + 0.0612520472912918, + -0.050571473480395805, + -0.9968403647388316 + ], + [ + 0.9922074666167603, + 0.10514748398882738, + 0.06684571639806323, + 0.10171438823971045, + -0.9934089074595241, + 0.0528481390883033, + 0.07196197895397587, + -0.0456371470503414, + -0.9963627473938061 + ], + [ + 0.9926051336108903, + 0.09413599721466859, + 0.07663852006469228, + 0.09029758647247019, + -0.9945508999847301, + 0.052104253346629756, + 0.08112579495174825, + -0.044798675962163415, + -0.9956965823108381 + ], + [ + 0.9938009765319189, + 0.07394979096248941, + 0.08301233318494904, + 0.0699530955201158, + -0.9962930416813036, + 0.05006734988563165, + 0.08640707998398296, + -0.04395001153607156, + -0.9952900145257267 + ], + [ + 0.9950280051495916, + 0.037243816348985895, + 0.09236973049537156, + 0.03251471823474984, + -0.998107980464563, + 0.05218479118542768, + 0.09413852593991151, + -0.048921952911907304, + -0.9943563649201155 + ], + [ + 0.9942109938823803, + -0.008351776647408648, + 0.10712024771368434, + -0.014286775786660722, + -0.9983974475286653, + 0.054757874373166246, + 0.10649125635952925, + -0.0559712836647291, + -0.992737038557488 + ], + [ + 0.9917627326174951, + -0.05057652566432702, + 0.11768048794428328, + -0.056345494147516925, + -0.9973408605127595, + 0.04622113413732772, + 0.11502985473498202, + -0.052471163541457484, + -0.9919752565040394 + ], + [ + 0.9829087948895945, + -0.12552898445598962, + 0.13465799267081455, + -0.1318036097892857, + -0.9905199211794498, + 0.03870522178169662, + 0.12852279710307793, + -0.05579211241837445, + -0.9901359153251116 + ], + [ + 0.974694080582778, + -0.18406026614547147, + 0.12685924366537876, + -0.18975788210201097, + -0.9812319318069156, + 0.034290555297752864, + 0.11816681199496341, + -0.05749534267162135, + -0.9913278418939016 + ], + [ + 0.9722851396446137, + -0.2259712099832786, + 0.05998849460477457, + -0.22748410521821968, + -0.973583952362646, + 0.019628285075238464, + 0.053968408345253335, + -0.032730718913917656, + -0.9980060675867949 + ], + [ + 0.9633805242470865, + -0.26768698552298437, + 0.015544879640131182, + -0.267697936124824, + -0.9635018551765427, + -0.0014106969448101664, + 0.015355145584405178, + -0.0028022942347269326, + -0.9998781759049967 + ], + [ + 0.9505780273360729, + -0.31048205072075946, + -0.001519909896065567, + -0.3103997451481771, + -0.9501880386468183, + -0.028190236332093003, + 0.007308362183628663, + 0.0272687988870856, + -0.9996014207920318 + ], + [ + 0.929926020258652, + -0.3673841253296669, + -0.016324867584791854, + -0.36771543831842546, + -0.9283521351220193, + -0.05429244548440038, + 0.004790956918369301, + 0.056490863598850256, + -0.9983916210894714 + ], + [ + 0.9035194767594346, + -0.42826214042974986, + -0.015623514037736272, + -0.4284058841611088, + -0.9016858575643578, + -0.05857484685910667, + 0.010997887637940818, + 0.059616720330443955, + -0.9981607551514662 + ], + [ + 0.8863090784912235, + -0.46241013585448476, + -0.025161153452803356, + -0.46308939441691366, + -0.8847438141092085, + -0.05269341680008001, + 0.0021047951479416637, + 0.058354517001922596, + -0.9982937043690389 + ], + [ + 0.8677364477234377, + -0.49538888740302095, + -0.04029029076473125, + -0.49693672861125376, + -0.8662520740786913, + -0.051587129320311884, + -0.009345857341876916, + 0.06478575763207879, + -0.9978554306905298 + ], + [ + 0.8512326123991224, + -0.521852327427929, + -0.05543634138558927, + -0.5243756470817029, + -0.8499935356578396, + -0.050410019713651846, + -0.020813945705015043, + 0.07198012015785367, + -0.9971888697565021 + ], + [ + 0.8387318615011408, + -0.5400740745555009, + -0.06963374538146402, + -0.5437216851860424, + -0.8376165736688613, + -0.05258521250016464, + -0.02992646924182102, + 0.08196627055232154, + -0.9961856940001006 + ], + [ + 0.8232442393898964, + -0.5629711535177973, + -0.0730233018850226, + -0.566913890993642, + -0.82200509196134, + -0.05400249057291172, + -0.029623681570652614, + 0.08585516348169829, + -0.9958671238642889 + ], + [ + 0.8132572123215506, + -0.5778846067161747, + -0.06827948394263726, + -0.5814050624081555, + -0.8118060978480504, + -0.05421266367640393, + -0.02410103759487603, + 0.08378687735686369, + -0.9961921999140712 + ], + [ + 0.8025320075057091, + -0.5932062854551928, + -0.06362923718943056, + -0.5963217974947982, + -0.8008797626667872, + -0.05469844223891219, + -0.01851190863820932, + 0.08184075175145336, + -0.9964734821315254 + ], + [ + 0.7892813167715127, + -0.6107650151921388, + -0.06325424264643177, + -0.6138888640898749, + -0.7871218194212634, + -0.059830627085158655, + -0.013246340697351335, + 0.08605427129612267, + -0.9962023874945408 + ], + [ + 0.7772147300695474, + -0.6254358937081652, + -0.06904495799397224, + -0.6290832259452459, + -0.7747482575199768, + -0.06339899292640808, + -0.01384045509524429, + 0.09270965608408144, + -0.9955969874761214 + ], + [ + 0.7826374312408368, + -0.6184931852391566, + -0.07031949255694933, + -0.6224772330097894, + -0.7777835169132589, + -0.0870338738797652, + -0.0008634843489007671, + 0.1118882506377007, + -0.9937204203215382 + ], + [ + 0.8230346947025042, + -0.567770668932473, + -0.015822730988280465, + -0.5653302938953343, + -0.8161679141746027, + -0.11946377976647604, + 0.05491402480396303, + 0.10726790466794023, + -0.9927124692014194 + ], + [ + 0.8510250987909775, + -0.5243386716361573, + 0.02872696737626948, + -0.5161524799452559, + -0.845300932771388, + -0.13803242554626005, + 0.09665867097249659, + 0.10264156313429625, + -0.9900110155160795 + ], + [ + 0.8569735997396747, + -0.5142295607290688, + 0.03412049562379167, + -0.5045000425065023, + -0.8505940321005218, + -0.14822111747627076, + 0.10524237008050356, + 0.10980779310853112, + -0.9883654648521835 + ], + [ + 0.8696774503290025, + -0.49201261108238664, + 0.039808578537017573, + -0.4828293151764346, + -0.8646650962232658, + -0.13867272182900953, + 0.10264981634421416, + 0.10137979043726048, + -0.9895378483390095 + ], + [ + 0.8776954770678718, + -0.4772049746381044, + 0.04388691963726051, + -0.46964836317584246, + -0.8747635263365221, + -0.11924423657999213, + 0.09529461947483281, + 0.0840487071402012, + -0.9918945258076626 + ], + [ + 0.8839509602360243, + -0.46571748603883784, + 0.0416884048084737, + -0.45915901547634735, + -0.8814193821995655, + -0.11078299142795886, + 0.08833854427486142, + 0.07878512474192528, + -0.9929698916456617 + ], + [ + 0.8943743898326347, + -0.4455354234161263, + 0.039907860039285925, + -0.4394822570119269, + -0.8918280121746258, + -0.10722939183058863, + 0.08336543998087458, + 0.07836442548802575, + -0.9934330476860163 + ], + [ + 0.8989027520794932, + -0.436545315459988, + 0.037443689105808205, + -0.43077426533670227, + -0.8961539603364846, + -0.10649700322947378, + 0.0800460781521321, + 0.07960067162514226, + -0.9936077487868584 + ], + [ + 0.8963179529751312, + -0.4424062243341119, + 0.029847275334718797, + -0.43791830162709955, + -0.893768394768444, + -0.09698256344867337, + 0.0695822410856944, + 0.0738565446218192, + -0.9948384404223723 + ], + [ + 0.8995515762464102, + -0.4349210953694811, + 0.04062760730352237, + -0.43040772425400775, + -0.8983869419269634, + -0.08746481279694529, + 0.07453960407115509, + 0.061192674216194766, + -0.9953387885776309 + ], + [ + 0.8985169882348255, + -0.43588200739333566, + 0.05171167647808669, + -0.4323061366208993, + -0.8991801952982131, + -0.06772282202758145, + 0.07601727496648783, + 0.0384948310065541, + -0.996363147598528 + ], + [ + 0.8915586078083505, + -0.45177515254524, + 0.031975934475176444, + -0.44920955296937465, + -0.8910777137931654, + -0.064740138262132, + 0.0577410284277149, + 0.04335573230693451, + -0.9973897202760007 + ], + [ + 0.8768528517823465, + -0.48075458152883194, + 0.002026983029988348, + -0.4791879466834365, + -0.8743204756986669, + -0.07708837478743996, + 0.038832822128685995, + 0.06662385543553079, + -0.9970222032695296 + ], + [ + 0.8670626255697573, + -0.4978278597878061, + -0.0192308439537043, + -0.49755465300721824, + -0.8633327279699229, + -0.08423756933149312, + 0.025333191882308717, + 0.0826076439266002, + -0.9962601098879502 + ], + [ + 0.8555660095565399, + -0.5165409637905846, + -0.03452877086999419, + -0.517178627440381, + -0.8498368931461184, + -0.10150626762242983, + 0.023088321948164847, + 0.1047028546604475, + -0.9942355061128983 + ], + [ + 0.8423800254798035, + -0.537329670786891, + -0.04089886996846294, + -0.5381124265321281, + -0.8346881442268267, + -0.11717814770204191, + 0.028825493653205234, + 0.12071672120807381, + -0.9922683931963275 + ], + [ + 0.8270656618200506, + -0.5591567552327078, + -0.05749881838604523, + -0.561802541976124, + -0.8189270662819378, + -0.11720223521769604, + 0.01844708289478555, + 0.12923692656701674, + -0.99144214250968 + ], + [ + 0.8138266551880027, + -0.5787957355546597, + -0.05178486081132113, + -0.580459156402468, + -0.8054750451021504, + -0.11948690081437316, + 0.027447095548394328, + 0.12730062144950066, + -0.9914843461822925 + ], + [ + 0.8240413602249055, + -0.566501570467803, + 0.005639795758696012, + -0.5611457931204479, + -0.8175390449711799, + -0.12940366614139717, + 0.07791813333178962, + 0.10346922540119569, + -0.9915759597191561 + ], + [ + 0.8806619783838094, + -0.4646495545213877, + 0.09238653209310396, + -0.4473561560409173, + -0.8798179039606915, + -0.16060176064573267, + 0.15590686155974218, + 0.10010618039507217, + -0.982686014536332 + ], + [ + 0.9158893850547607, + -0.37802714820787453, + 0.1350633538819244, + -0.3581897849173983, + -0.9214890057514417, + -0.15019350938055698, + 0.18123661971257424, + 0.08918232726858581, + -0.9793874617219268 + ], + [ + 0.919085828417494, + -0.34823743959375786, + 0.1844232243165494, + -0.34381894249144274, + -0.937335845406841, + -0.056480507252576306, + 0.19253512611000217, + -0.011497764157703764, + -0.9812227201982122 + ], + [ + 0.9275655323342005, + -0.3389034503456221, + 0.15737418647733759, + -0.3445064699126825, + -0.9387412070466747, + 0.00895758789262754, + 0.14469787632813874, + -0.06252517522074323, + -0.9874984187580972 + ], + [ + 0.9212592589220676, + -0.358542887967236, + 0.1507593291921829, + -0.3706200834926475, + -0.9268046274832498, + 0.060613003452540934, + 0.11799208262534364, + -0.11171472581423093, + -0.9867105393548735 + ], + [ + 0.9114683119141338, + -0.3863597315457919, + 0.141250395455243, + -0.3994660744414414, + -0.913285387870477, + 0.07960311346057226, + 0.098246484653364, + -0.12898045643482423, + -0.9867682960609954 + ], + [ + 0.9072369775576903, + -0.40581547096898474, + 0.11061134695052059, + -0.4119571818332892, + -0.9103739704949548, + 0.038865333926594685, + 0.08492553731335255, + -0.08082720685185477, + -0.9931035272037685 + ], + [ + 0.8946330427540551, + -0.44181947335236527, + 0.06653774702572583, + -0.44310525606426676, + -0.8964545530383419, + 0.005192916814960523, + 0.05735373449777682, + -0.034128980404710484, + -0.9977703953493976 + ], + [ + 0.8779311598271808, + -0.4780915148054971, + 0.025795000978597327, + -0.4779258289718293, + -0.8783091707061069, + -0.012645262161778532, + 0.028701578459912377, + -0.0012264275500162847, + -0.9995872724626768 + ], + [ + 0.8725251350995071, + -0.48848976487421475, + -0.008811256024023901, + -0.4885224790355008, + -0.8720502795461769, + -0.029565138600101168, + 0.0067584093243340145, + 0.030100823187561576, + -0.9995240188944113 + ], + [ + 0.8645889347880219, + -0.5023865912366069, + -0.009679193549874203, + -0.5023653636757949, + -0.8638204739838825, + -0.037989868453929286, + 0.010724514954062571, + 0.037708111487090766, + -0.9992312460622301 + ], + [ + 0.8802787412291376, + -0.47445623322019204, + 0.0007877173040862218, + -0.4737245025965299, + -0.8790109207342416, + -0.0540823156827689, + 0.02635210389541498, + 0.04723435178391974, + -0.9985361699166624 + ], + [ + 0.9182201959011975, + -0.3906649753950579, + 0.06521156982273144, + -0.38580075557891175, + -0.9194554326774523, + -0.07589126639251331, + 0.08960719186486643, + 0.04452622058402679, + -0.9949813902011411 + ], + [ + 0.939445953273893, + -0.3319961613532857, + 0.0849696988578236, + -0.32372169449044785, + -0.9410778574595648, + -0.0978607720976484, + 0.11245250283359307, + 0.06442837143679678, + -0.9915661448236636 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0007364451885223389, + -0.0005680471658706665, + -0.009809061884880066, + -0.014311917126178741, + 0.025121591985225677, + 0.008122050203382969, + 1.0 + ], + [ + -0.002613663673400879, + -0.00230582058429718, + -0.001974359154701233, + -0.017705827951431274, + 0.0239720419049263, + 0.030771374702453613, + 1.0 + ], + [ + 0.0016505420207977295, + -0.002445116639137268, + -0.000978119671344757, + -0.0006825923919677734, + -0.002005629241466522, + 0.01899818703532219, + 1.0 + ], + [ + 0.0034063756465911865, + -0.0039037615060806274, + -0.000481627881526947, + 0.006676390767097473, + -0.010643698275089264, + 0.0066552311182022095, + 1.0 + ], + [ + 0.0003082454204559326, + -0.0010025948286056519, + -0.00421307235956192, + 0.008524037897586823, + -0.011893682181835175, + 0.01591981202363968, + 1.0 + ], + [ + 0.001326054334640503, + -0.0008831173181533813, + -0.009127177298069, + 0.007884450256824493, + 0.014385111629962921, + 0.01403740793466568, + 1.0 + ], + [ + -0.00044021010398864746, + 0.00140361487865448, + -0.0015573054552078247, + 0.015306167304515839, + -0.0009359195828437805, + 0.011232584714889526, + 1.0 + ], + [ + 6.973743438720703e-05, + -0.0002682507038116455, + -0.002896934747695923, + 0.021300308406352997, + 0.00040578097105026245, + -0.0032531097531318665, + 1.0 + ], + [ + 0.0001697242259979248, + 0.000911906361579895, + -0.0022994279861450195, + 0.003545120358467102, + 0.007613949477672577, + -0.004757128655910492, + 0.0 + ], + [ + -5.6236982345581055e-05, + -0.002420961856842041, + -0.0019770339131355286, + -0.01737569272518158, + 0.011548366397619247, + -0.008261963725090027, + 0.0 + ], + [ + -0.00025787949562072754, + -0.0036084651947021484, + 0.0008787438273429871, + -0.021500475704669952, + 0.004741549491882324, + -0.01822158694267273, + 0.0 + ], + [ + -0.005101233720779419, + -0.009383991360664368, + -1.4759600162506104e-05, + -0.03299150615930557, + 0.022865615785121918, + -0.007433775812387466, + 0.0 + ], + [ + -0.007266342639923096, + -0.023376695811748505, + 2.734363079071045e-05, + -0.04435957968235016, + 0.03925236687064171, + -0.02682766132056713, + 0.0 + ], + [ + -0.008175820112228394, + -0.027249649167060852, + 0.0009784102439880371, + -0.04512008652091026, + 0.034853290766477585, + -0.031186696141958237, + 0.0 + ], + [ + -0.0011181831359863281, + -0.023798368871212006, + -0.0008381903171539307, + -0.021310955286026, + 0.020562518388032913, + -0.013468804769217968, + 0.0 + ], + [ + 0.0008389651775360107, + -0.022632276639342308, + -0.0007140785455703735, + -0.0024706870317459106, + 0.01070261001586914, + 0.008034981787204742, + 0.0 + ], + [ + 0.0026894211769104004, + -0.02362712100148201, + -0.0009282231330871582, + -0.0024563558399677277, + 0.005584158003330231, + 0.015726635232567787, + 0.0 + ], + [ + 0.001980692148208618, + -0.023163683712482452, + -5.9917569160461426e-05, + -0.009107545018196106, + -0.0024633854627609253, + 0.019394567236304283, + 0.0 + ], + [ + -0.0023713409900665283, + -0.03440651297569275, + -0.000726945698261261, + -0.01228649914264679, + -0.0028471872210502625, + -0.01400809921324253, + 0.0 + ], + [ + -0.003918826580047607, + -0.02840966358780861, + 0.00064140185713768, + -0.004899643361568451, + -0.005271509289741516, + -0.005241803824901581, + 0.0 + ], + [ + 0.00083962082862854, + -0.03016916662454605, + 0.0005101747810840607, + -0.00673888623714447, + -0.004856288433074951, + 2.1905172616243362e-05, + 0.0 + ], + [ + 0.0029758810997009277, + -0.020175039768218994, + 0.0008602291345596313, + -0.014955677092075348, + 0.010593019425868988, + 0.009084576740860939, + 0.0 + ], + [ + 0.0005112290382385254, + -0.00032438337802886963, + 0.0035179108381271362, + 0.00028476864099502563, + 0.0014059320092201233, + 0.012255523353815079, + 0.0 + ], + [ + 0.0011667311191558838, + 0.015194468200206757, + 0.006515808403491974, + 0.01856304705142975, + -0.0007182210683822632, + -0.0043457671999931335, + 0.0 + ], + [ + 0.006115585565567017, + 0.03600465506315231, + 0.027827024459838867, + -0.012927472591400146, + -0.044874850660562515, + 0.05105431377887726, + 0.0 + ], + [ + -2.1517276763916016e-05, + 0.030381374061107635, + 0.018643952906131744, + -0.03158656507730484, + -0.018626652657985687, + 0.029094308614730835, + 0.0 + ], + [ + 0.003095179796218872, + 0.03209118917584419, + 0.005123235285282135, + 0.009750649333000183, + -0.012244406156241894, + 0.028552904725074768, + 0.0 + ], + [ + 0.01253768801689148, + 0.03377380967140198, + -0.0005325153470039368, + 0.035143107175827026, + -0.047598786652088165, + 0.009038984775543213, + 0.0 + ], + [ + 0.008208513259887695, + 0.03219464421272278, + -0.01607263833284378, + 0.04612310975790024, + -0.0013931803405284882, + 0.02042686939239502, + 0.0 + ], + [ + 0.008357346057891846, + 0.019212376326322556, + -0.007308900356292725, + 0.030070047825574875, + -0.033602263778448105, + 0.03159254789352417, + 0.0 + ], + [ + 0.01019713282585144, + 0.010608896613121033, + -0.011382080614566803, + 0.031209394335746765, + -0.008463099598884583, + 0.024069175124168396, + 0.0 + ], + [ + 0.007534027099609375, + 0.007167235016822815, + -0.009292103350162506, + 0.02828139066696167, + 0.004260793328285217, + 0.033528223633766174, + 0.0 + ], + [ + 0.008113890886306763, + -0.004177995026111603, + -0.0052033886313438416, + 0.024752557277679443, + 0.002222612500190735, + 0.005483746528625488, + 0.0 + ], + [ + 0.008925855159759521, + -0.017217054963111877, + -0.0025618448853492737, + -0.010122410953044891, + 0.017050080001354218, + -0.01482534408569336, + 0.0 + ], + [ + 0.0009110569953918457, + -0.02257455885410309, + -0.0002006441354751587, + -0.016529299318790436, + 0.017497558146715164, + -0.026550009846687317, + 0.0 + ], + [ + 0.003968358039855957, + -0.030189475044608116, + -0.0005121305584907532, + -0.009913720190525055, + 0.0055747851729393005, + -0.04224444925785065, + 0.0 + ], + [ + 0.00507780909538269, + -0.021085280925035477, + -0.00019225478172302246, + -0.0049520693719387054, + -0.004684612154960632, + -0.013650283217430115, + 0.0 + ], + [ + 0.006087809801101685, + -0.021942518651485443, + -0.00019537657499313354, + -0.0008920840919017792, + -0.01502561941742897, + -0.018774062395095825, + 0.0 + ], + [ + 0.00777319073677063, + -0.022220099344849586, + -0.0012868940830230713, + -0.004916556179523468, + -0.010733820497989655, + -0.03874291479587555, + 0.0 + ], + [ + 0.006713151931762695, + -0.013699036091566086, + -0.0013515874743461609, + -0.0008097812533378601, + -0.009190812706947327, + -0.011435776948928833, + 0.0 + ], + [ + 0.0004182159900665283, + -0.012473851442337036, + -5.677342414855957e-05, + -0.0008326470851898193, + -0.005299918353557587, + -0.020447060465812683, + 0.0 + ], + [ + -0.0019041001796722412, + -0.011843346059322357, + -0.0009324774146080017, + 0.005030650645494461, + -0.00776316225528717, + -0.03760796785354614, + 0.0 + ], + [ + -0.0017600655555725098, + -0.004073530435562134, + -0.0008165985345840454, + 0.007161170244216919, + -0.012415438890457153, + -0.04703453928232193, + 0.0 + ], + [ + -0.0016995668411254883, + -0.0022642984986305237, + -0.00036679208278656006, + -0.003474760800600052, + -0.008591488003730774, + -0.042383499443531036, + 0.0 + ], + [ + -0.0010024011135101318, + -0.0007608011364936829, + 0.00025134533643722534, + 0.0034420229494571686, + -0.01359422504901886, + -0.07654780149459839, + 0.0 + ], + [ + 0.0020553767681121826, + -0.0016328692436218262, + -0.001811191439628601, + 0.0016450025141239166, + 0.010435722768306732, + -0.0589790940284729, + 0.0 + ], + [ + -0.001551896333694458, + -0.004890039563179016, + -0.0005208030343055725, + -0.02514905110001564, + 0.06444891542196274, + -0.03755486011505127, + 0.0 + ], + [ + -0.0010543465614318848, + -0.005034483969211578, + -0.0003323554992675781, + -0.02998173236846924, + 0.0386388897895813, + -0.041201502084732056, + 0.0 + ], + [ + -0.0014173686504364014, + -0.005254507064819336, + 0.0010923519730567932, + -0.03007553704082966, + 0.008047321811318398, + -0.044586509466171265, + 0.0 + ], + [ + -0.0014887750148773193, + -0.0030960887670516968, + 0.0006625950336456299, + -0.029248693957924843, + 0.002517451997846365, + -0.060933440923690796, + 0.0 + ], + [ + -0.0035885870456695557, + 0.0016365498304367065, + -0.0020258575677871704, + -0.003134101629257202, + -0.006207134108990431, + -0.06620082259178162, + 0.0 + ], + [ + -0.00884944200515747, + 0.0029751956462860107, + -0.00035618245601654053, + 0.0012678876519203186, + 0.008893312886357307, + -0.03872236609458923, + 0.0 + ], + [ + -0.009836912155151367, + 0.004688829183578491, + 0.0013720765709877014, + -0.006446182727813721, + 0.011450789868831635, + -0.03861135244369507, + 0.0 + ], + [ + -0.011608004570007324, + 0.004470117390155792, + -0.00012022256851196289, + -0.007224060595035553, + 0.011469455435872078, + -0.032024919986724854, + 0.0 + ], + [ + -0.011990785598754883, + 0.004558451473712921, + -8.398294448852539e-05, + -0.010037124156951904, + 0.009115489199757576, + -0.023040413856506348, + 0.0 + ], + [ + -0.013488233089447021, + 0.003146223723888397, + 0.0009078830480575562, + -0.0039036422967910767, + -0.00030292198061943054, + -0.02790135145187378, + 0.0 + ], + [ + -0.011612653732299805, + 0.0031851381063461304, + -0.0010461807250976562, + 0.002089172601699829, + -0.005524644628167152, + -0.017605304718017578, + 0.0 + ], + [ + -0.006622254848480225, + 0.0018386244773864746, + -0.0010016486048698425, + 0.001963190734386444, + -0.005590405315160751, + -0.01837635040283203, + 0.0 + ], + [ + -0.009606420993804932, + 0.0011960938572883606, + 0.0007524639368057251, + -0.004221953451633453, + -0.0052662380039691925, + -0.022007286548614502, + 0.0 + ], + [ + -0.010093539953231812, + 0.0003620907664299011, + 0.0005822703242301941, + -0.006683483719825745, + 0.0005941689014434814, + -0.019404947757720947, + 0.0 + ], + [ + 0.0033223628997802734, + -0.0022026076912879944, + 0.005640856921672821, + -0.01927117258310318, + -0.012977412901818752, + 0.008546531200408936, + 0.0 + ], + [ + 0.022939980030059814, + 0.010125085711479187, + 0.019822873175144196, + 0.004485338926315308, + -0.05580514669418335, + 0.07003456354141235, + 0.0 + ], + [ + 0.01765313744544983, + 0.010512009263038635, + 0.019066721200942993, + 0.0043296366930007935, + -0.04186815768480301, + 0.05667954683303833, + 0.0 + ], + [ + 0.011061400175094604, + 0.0021343976259231567, + 0.005770109593868256, + -0.007338538765907288, + -0.00862780213356018, + 0.013121187686920166, + 0.0 + ], + [ + 0.012315958738327026, + 0.0005101114511489868, + -0.005117103457450867, + 0.00855119526386261, + 0.0026066750288009644, + 0.025255918502807617, + 0.0 + ], + [ + 0.012690126895904541, + -0.001363322138786316, + -0.00791766494512558, + 0.01756184548139572, + 0.007391504943370819, + 0.015487045049667358, + 0.0 + ], + [ + 0.015428900718688965, + -0.012174092233181, + -0.009473569691181183, + 0.005356550216674805, + 0.006985597312450409, + 0.012248039245605469, + 0.0 + ], + [ + 0.011292964220046997, + -0.0038872212171554565, + -0.003055676817893982, + 0.0004576072096824646, + 0.004991538822650909, + 0.02234598994255066, + 0.0 + ], + [ + 0.010020643472671509, + -0.0055397748947143555, + -0.0036538243293762207, + -0.0012226030230522156, + 0.0033304989337921143, + 0.00984424352645874, + 0.0 + ], + [ + 0.0024247169494628906, + -0.005593419075012207, + -0.006292916834354401, + 0.005838245153427124, + 0.010493293404579163, + -0.007577955722808838, + 0.0 + ], + [ + 0.005703479051589966, + -0.0006059333682060242, + -0.0012751519680023193, + 0.012701835483312607, + -0.004970289766788483, + 0.00819060206413269, + 0.0 + ], + [ + 0.0011928677558898926, + -9.395182132720947e-06, + -0.0011716559529304504, + 0.022785823792219162, + -0.0014818757772445679, + -0.002165287733078003, + 0.0 + ], + [ + -0.008101820945739746, + 0.0008968934416770935, + -0.006279990077018738, + -0.004825714975595474, + 0.018317516893148422, + -0.018280476331710815, + 0.0 + ], + [ + -0.019310325384140015, + 0.003677286207675934, + 0.001551710069179535, + -0.023281794041395187, + 0.018930573016405106, + -0.03342059254646301, + 0.0 + ], + [ + -0.014521747827529907, + 0.009003564715385437, + 0.0016157329082489014, + -0.016004852950572968, + 0.013506686314940453, + -0.020820140838623047, + 0.0 + ], + [ + -0.013399869203567505, + 0.0033901482820510864, + 0.0011849850416183472, + -0.02219468355178833, + 0.0022455286234617233, + -0.02275073528289795, + 0.0 + ], + [ + -0.012988150119781494, + 0.00020843744277954102, + 0.0029374808073043823, + -0.01613922417163849, + -0.005739113315939903, + -0.024749159812927246, + 0.0 + ], + [ + -0.016020089387893677, + 0.002361513674259186, + -0.004586771130561829, + -0.008559189736843109, + 0.010381357744336128, + -0.028217196464538574, + 0.0 + ], + [ + -0.010010749101638794, + 0.0005263090133666992, + -0.00012309104204177856, + 0.0019262433052062988, + -0.009002413600683212, + -0.022882461547851562, + 0.0 + ], + [ + 0.005612701177597046, + 0.007769070565700531, + 0.012348383665084839, + 0.02372337132692337, + -0.05054664984345436, + 0.021722853183746338, + 0.0 + ], + [ + 0.01507231593132019, + 0.0398002490401268, + 0.02842257171869278, + 0.0024522319436073303, + -0.07854828238487244, + 0.12782934308052063, + 0.0 + ], + [ + 0.008425801992416382, + 0.037955377250909805, + 0.013255149126052856, + 0.01071089506149292, + -0.02569827437400818, + 0.09721222519874573, + 0.0 + ], + [ + 0.0055275559425354, + 0.02222350984811783, + -0.005445115268230438, + 0.10252611339092255, + -0.011501207947731018, + 0.014825880527496338, + 0.0 + ], + [ + -0.006294161081314087, + 0.009131969884037971, + -0.025637827813625336, + 0.05151506885886192, + 0.04853732883930206, + 0.0023518800735473633, + 0.0 + ], + [ + -0.004764467477798462, + -0.004627391695976257, + -0.01648140698671341, + 0.04950693994760513, + 0.026940032839775085, + -0.026866257190704346, + 0.0 + ], + [ + -0.003354698419570923, + -0.010842254385352135, + -0.010097101330757141, + 0.017233848571777344, + 0.01986236870288849, + -0.030568450689315796, + 0.0 + ], + [ + -0.010857075452804565, + -0.0167241171002388, + -0.000946730375289917, + -0.04876361042261124, + 0.013377271592617035, + -0.013187110424041748, + 0.0 + ], + [ + -0.01337549090385437, + -0.029321493580937386, + 0.0005535632371902466, + -0.04701758921146393, + 0.027642730623483658, + -0.03363394737243652, + 0.0 + ], + [ + -0.010773330926895142, + -0.03355177864432335, + -0.0009560361504554749, + -0.032964982092380524, + 0.028679704293608665, + -0.03864142298698425, + 0.0 + ], + [ + -0.009332329034805298, + -0.023991428315639496, + 0.0013470426201820374, + -0.031332992017269135, + 0.021947059780359268, + -0.011892259120941162, + 0.0 + ], + [ + -0.0024053752422332764, + -0.016898244619369507, + 0.003746703267097473, + -0.007613165304064751, + -0.003966259770095348, + -0.015957236289978027, + 0.0 + ], + [ + 0.005742669105529785, + 0.01010008156299591, + 0.011273138225078583, + -0.009549137204885483, + -0.015630435198545456, + 0.03266361355781555, + 0.0 + ], + [ + 0.013919830322265625, + 0.03570117428898811, + 0.026261724531650543, + 0.0025473907589912415, + -0.06337238848209381, + 0.09593677520751953, + 0.0 + ], + [ + 0.0031903088092803955, + 0.0381273478269577, + 0.019084520637989044, + -0.020164191722869873, + -0.022963322699069977, + 0.06592002511024475, + 0.0 + ], + [ + 0.001142740249633789, + 0.032469432801008224, + 0.002634704113006592, + 0.026600174605846405, + -0.004320107400417328, + 0.05410739779472351, + 0.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 0.9665181636810303 + ], + [ + 0.7359045147895813 + ], + [ + 0.5403295159339905 + ], + [ + 0.49949145317077637 + ], + [ + 0.49949145317077637 + ], + [ + 0.49949145317077637 + ], + [ + 0.49949145317077637 + ], + [ + 0.49949145317077637 + ], + [ + 0.49949145317077637 + ], + [ + 0.49949145317077637 + ], + [ + 0.49949145317077637 + ], + [ + 0.49949145317077637 + ], + [ + 0.49949145317077637 + ], + [ + 0.49949145317077637 + ], + [ + 0.49949145317077637 + ], + [ + 0.49949145317077637 + ], + [ + 0.49949145317077637 + ], + [ + 0.4985305666923523 + ], + [ + 0.4985305666923523 + ], + [ + 0.4985305666923523 + ], + [ + 0.4985305666923523 + ], + [ + 0.4985305666923523 + ], + [ + 0.4985305666923523 + ], + [ + 0.4985305666923523 + ], + [ + 0.4985305666923523 + ], + [ + 0.4985305666923523 + ], + [ + 0.4985305666923523 + ], + [ + 0.4985305666923523 + ], + [ + 0.4985305666923523 + ], + [ + 0.4985305666923523 + ], + [ + 0.4985305666923523 + ], + [ + 0.4985305666923523 + ], + [ + 0.4985305666923523 + ], + [ + 0.4985305666923523 + ], + [ + 0.4985305666923523 + ], + [ + 0.4985305666923523 + ], + [ + 0.4985305666923523 + ], + [ + 0.4985305666923523 + ], + [ + 0.4985305666923523 + ], + [ + 0.4985305666923523 + ], + [ + 0.4975702464580536 + ], + [ + 0.49661046266555786 + ], + [ + 0.49661046266555786 + ], + [ + 0.49661046266555786 + ], + [ + 0.49661046266555786 + ], + [ + 0.49661046266555786 + ], + [ + 0.49661046266555786 + ], + [ + 0.49661046266555786 + ], + [ + 0.49661046266555786 + ], + [ + 0.49661046266555786 + ], + [ + 0.49661046266555786 + ], + [ + 0.49661046266555786 + ], + [ + 0.49661046266555786 + ], + [ + 0.49661046266555786 + ], + [ + 0.49661046266555786 + ], + [ + 0.49661046266555786 + ], + [ + 0.49661046266555786 + ], + [ + 0.49661046266555786 + ], + [ + 0.49661046266555786 + ], + [ + 0.49661046266555786 + ], + [ + 0.49661046266555786 + ], + [ + 0.49661046266555786 + ], + [ + 0.49661046266555786 + ], + [ + 0.49661046266555786 + ], + [ + 0.49661046266555786 + ], + [ + 0.49661046266555786 + ], + [ + 0.49661046266555786 + ], + [ + 0.49661046266555786 + ], + [ + 0.49661046266555786 + ], + [ + 0.49661046266555786 + ], + [ + 0.49661046266555786 + ], + [ + 0.49661046266555786 + ], + [ + 0.49661046266555786 + ], + [ + 0.49661046266555786 + ], + [ + 0.49661046266555786 + ], + [ + 0.49661046266555786 + ], + [ + 0.49661046266555786 + ], + [ + 0.49661046266555786 + ], + [ + 0.49661046266555786 + ], + [ + 0.49661046266555786 + ], + [ + 0.49661046266555786 + ], + [ + 0.49661046266555786 + ], + [ + 0.49661046266555786 + ], + [ + 0.49661046266555786 + ], + [ + 0.49661046266555786 + ], + [ + 0.49661046266555786 + ], + [ + 0.49661046266555786 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3051879405975342, + 0.15096859633922577, + 0.08738493174314499 + ], + [ + 0.3025742769241333, + 0.1486627757549286, + 0.08541057258844376 + ], + [ + 0.30422481894493103, + 0.14621765911579132, + 0.084432452917099 + ], + [ + 0.3076311945915222, + 0.1423138976097107, + 0.08395082503557205 + ], + [ + 0.30793944001197815, + 0.14131130278110504, + 0.07973775267601013 + ], + [ + 0.30926549434661865, + 0.14042818546295166, + 0.07061057537794113 + ], + [ + 0.30882528424263, + 0.14183180034160614, + 0.0690532699227333 + ], + [ + 0.3088950216770172, + 0.1415635496377945, + 0.06615633517503738 + ], + [ + 0.30906474590301514, + 0.1424754559993744, + 0.06385690718889236 + ], + [ + 0.30900850892066956, + 0.14005449414253235, + 0.061879873275756836 + ], + [ + 0.30875062942504883, + 0.1364460289478302, + 0.06275861710309982 + ], + [ + 0.3036493957042694, + 0.12706203758716583, + 0.06274385750293732 + ], + [ + 0.2963830530643463, + 0.10368534177541733, + 0.06277120113372803 + ], + [ + 0.2882072329521179, + 0.07643569260835648, + 0.06374961137771606 + ], + [ + 0.2870890498161316, + 0.05263732373714447, + 0.06291142106056213 + ], + [ + 0.2879280149936676, + 0.030005047097802162, + 0.06219734251499176 + ], + [ + 0.290617436170578, + 0.006377925630658865, + 0.0612691193819046 + ], + [ + 0.2925981283187866, + -0.0167857576161623, + 0.06120920181274414 + ], + [ + 0.2902267873287201, + -0.0511922724545002, + 0.06048225611448288 + ], + [ + 0.2863079607486725, + -0.07960193604230881, + 0.06112365797162056 + ], + [ + 0.287147581577301, + -0.10977110266685486, + 0.06163383275270462 + ], + [ + 0.29012346267700195, + -0.12994614243507385, + 0.06249406188726425 + ], + [ + 0.2906346917152405, + -0.13027052581310272, + 0.06601197272539139 + ], + [ + 0.29180142283439636, + -0.11507605761289597, + 0.07252778112888336 + ], + [ + 0.2979170083999634, + -0.07907140254974365, + 0.10035480558872223 + ], + [ + 0.29789549112319946, + -0.04869002848863602, + 0.11899875849485397 + ], + [ + 0.30099067091941833, + -0.016598839312791824, + 0.12412199378013611 + ], + [ + 0.3135283589363098, + 0.017174970358610153, + 0.12358947843313217 + ], + [ + 0.3217368721961975, + 0.04936961457133293, + 0.10751684010028839 + ], + [ + 0.33009421825408936, + 0.06858199089765549, + 0.10020793974399567 + ], + [ + 0.3402913510799408, + 0.07919088751077652, + 0.08882585912942886 + ], + [ + 0.34782537817955017, + 0.08635812252759933, + 0.07953375577926636 + ], + [ + 0.35593926906585693, + 0.08218012750148773, + 0.07433036714792252 + ], + [ + 0.36486512422561646, + 0.06496307253837585, + 0.07176852226257324 + ], + [ + 0.3657761812210083, + 0.042388513684272766, + 0.07156787812709808 + ], + [ + 0.36974453926086426, + 0.01219903863966465, + 0.07105574756860733 + ], + [ + 0.37482234835624695, + -0.008886241354048252, + 0.07086349278688431 + ], + [ + 0.38091015815734863, + -0.03082876093685627, + 0.07066811621189117 + ], + [ + 0.38868334889411926, + -0.053048860281705856, + 0.0693812221288681 + ], + [ + 0.39539650082588196, + -0.06674789637327194, + 0.06802963465452194 + ], + [ + 0.3958147168159485, + -0.07922174781560898, + 0.06797286123037338 + ], + [ + 0.39391061663627625, + -0.09106509387493134, + 0.06704038381576538 + ], + [ + 0.39215055108070374, + -0.09513862431049347, + 0.06622378528118134 + ], + [ + 0.39045098423957825, + -0.09740292280912399, + 0.06585699319839478 + ], + [ + 0.3894485831260681, + -0.09816372394561768, + 0.066108338534832 + ], + [ + 0.3915039598941803, + -0.0997965931892395, + 0.0642971470952034 + ], + [ + 0.38995206356048584, + -0.10468663275241852, + 0.06377634406089783 + ], + [ + 0.38889771699905396, + -0.1097211167216301, + 0.06344398856163025 + ], + [ + 0.38748034834861755, + -0.11497562378644943, + 0.06453634053468704 + ], + [ + 0.38599157333374023, + -0.11807171255350113, + 0.06519893556833267 + ], + [ + 0.3824029862880707, + -0.11643516272306442, + 0.0631730780005455 + ], + [ + 0.3735535442829132, + -0.11345996707677841, + 0.06281689554452896 + ], + [ + 0.36371663212776184, + -0.10877113789319992, + 0.06418897211551666 + ], + [ + 0.3521086275577545, + -0.10430102050304413, + 0.0640687495470047 + ], + [ + 0.34011784195899963, + -0.09974256902933121, + 0.06398476660251617 + ], + [ + 0.3266296088695526, + -0.09659634530544281, + 0.06489264965057373 + ], + [ + 0.3150169551372528, + -0.09341120719909668, + 0.06384646892547607 + ], + [ + 0.3083947002887726, + -0.0915725827217102, + 0.06284482032060623 + ], + [ + 0.29878827929496765, + -0.09037648886442184, + 0.06359728425741196 + ], + [ + 0.28869473934173584, + -0.09001439809799194, + 0.06417955458164215 + ], + [ + 0.2920171022415161, + -0.09221700578927994, + 0.06982041150331497 + ], + [ + 0.3149570822715759, + -0.08209192007780075, + 0.08964328467845917 + ], + [ + 0.33261021971702576, + -0.07157991081476212, + 0.10871000587940216 + ], + [ + 0.34367161989212036, + -0.06944551318883896, + 0.11448011547327042 + ], + [ + 0.3559875786304474, + -0.06893540173768997, + 0.10936301201581955 + ], + [ + 0.36867770552635193, + -0.07029872387647629, + 0.10144534707069397 + ], + [ + 0.3841066062450409, + -0.08247281610965729, + 0.09197177737951279 + ], + [ + 0.3953995704650879, + -0.08636003732681274, + 0.0889161005616188 + ], + [ + 0.4054202139377594, + -0.0918998122215271, + 0.08526227623224258 + ], + [ + 0.4078449308872223, + -0.0974932312965393, + 0.07896935939788818 + ], + [ + 0.41354840993881226, + -0.09809916466474533, + 0.07769420742988586 + ], + [ + 0.41474127769470215, + -0.09810855984687805, + 0.07652255147695541 + ], + [ + 0.4066394567489624, + -0.09721166640520096, + 0.07024256139993668 + ], + [ + 0.3873291313648224, + -0.09353438019752502, + 0.07179427146911621 + ], + [ + 0.3728073835372925, + -0.08453081548213959, + 0.07341000437736511 + ], + [ + 0.359407514333725, + -0.0811406672000885, + 0.07459498941898346 + ], + [ + 0.3464193642139435, + -0.08093222975730896, + 0.07753247022628784 + ], + [ + 0.3303992748260498, + -0.07857071608304977, + 0.07294569909572601 + ], + [ + 0.320388525724411, + -0.07804440706968307, + 0.07282260805368423 + ], + [ + 0.32600122690200806, + -0.07027533650398254, + 0.08517099171876907 + ], + [ + 0.34107354283332825, + -0.030475089326500893, + 0.11359356343746185 + ], + [ + 0.34949934482574463, + 0.0074802883900702, + 0.1268487125635147 + ], + [ + 0.35502690076828003, + 0.02970379777252674, + 0.12140359729528427 + ], + [ + 0.34873273968696594, + 0.03883576765656471, + 0.09576576948165894 + ], + [ + 0.3439682722091675, + 0.034208375960588455, + 0.07928436249494553 + ], + [ + 0.34061357378959656, + 0.02336612157523632, + 0.06918726116418839 + ], + [ + 0.329756498336792, + 0.0066420044749975204, + 0.06824053078889847 + ], + [ + 0.3163810074329376, + -0.022679489105939865, + 0.06879409402608871 + ], + [ + 0.3056076765060425, + -0.056231267750263214, + 0.06783805787563324 + ], + [ + 0.2962753474712372, + -0.08022269606590271, + 0.06918510049581528 + ], + [ + 0.2938699722290039, + -0.09712094068527222, + 0.07293180376291275 + ], + [ + 0.2996126413345337, + -0.0870208591222763, + 0.08420494198799133 + ], + [ + 0.3135324716567993, + -0.05131968483328819, + 0.11046666651964188 + ], + [ + 0.3167227804660797, + -0.013192337937653065, + 0.12955118715763092 + ], + [ + 0.3178655207157135, + 0.019277095794677734, + 0.1321858912706375 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9961094218486319, + 0.008143365112869961, + 0.08774796470017189, + -0.0010200436531116238, + -0.994589172805866, + 0.10388135948421619, + 0.08811911946524355, + -0.10356670769113836, + -0.990711339312662 + ], + [ + 0.997494432517133, + 0.03517432608849055, + 0.0613809732860552, + 0.029681569927289212, + -0.9956595278483117, + 0.08821059466712916, + 0.06421729910214481, + -0.08616769341869171, + -0.994208864930769 + ], + [ + 0.9966199146912934, + 0.05421305170333415, + 0.061722691659797047, + 0.048619285883851726, + -0.9948640539480742, + 0.08877882181098776, + 0.06621865810225286, + -0.08547782862833167, + -0.9941371284345647 + ], + [ + 0.9955141240119709, + 0.062218180498849626, + 0.07127781497836727, + 0.055208740073522014, + -0.9938093446444592, + 0.09641048447572613, + 0.07683504351643247, + -0.09204284063827296, + -0.9927862265236485 + ], + [ + 0.9935272517702944, + 0.07981418418684497, + 0.08082880669881792, + 0.070979327544134, + -0.9917403843530133, + 0.10683138632780415, + 0.08868785176758442, + -0.10040271931539696, + -0.9909862556579304 + ], + [ + 0.9936014485660505, + 0.09279788562543424, + 0.06437945193068177, + 0.08501840024195713, + -0.9897731717846799, + 0.11454667186606864, + 0.07435074328979181, + -0.1083403010829453, + -0.9913295850187829 + ], + [ + 0.992514114427265, + 0.10497799019646445, + 0.06241277302742293, + 0.09616676156827902, + -0.9867772779494045, + 0.1304705242276319, + 0.07528403969057035, + -0.12349180255010582, + -0.9894857695140411 + ], + [ + 0.992852037278551, + 0.10302420744734231, + 0.06025649136547623, + 0.09294034062516585, + -0.9841205943856672, + 0.15122416734926675, + 0.07487940408622976, + -0.14454296380608728, + -0.9866612419963819 + ], + [ + 0.993822026488154, + 0.09743395806764235, + 0.053145117200471645, + 0.08826406052177169, + -0.9841580268142984, + 0.15376096343739482, + 0.06728473294283022, + -0.1481202284371036, + -0.9866778413649272 + ], + [ + 0.9952255241928116, + 0.08683275085368754, + 0.044567133342008326, + 0.08010722330151661, + -0.9875659748127017, + 0.13526373559516555, + 0.05575830673598219, + -0.13104777285943983, + -0.9898067955204776 + ], + [ + 0.9967725764484825, + 0.06727804677989568, + 0.043796064454883404, + 0.061976049993917426, + -0.9916779571399663, + 0.11284413387436107, + 0.05102352464702514, + -0.10976563097885167, + -0.9926470199362959 + ], + [ + 0.9981099108739462, + 0.056641430709723516, + 0.023840179159543104, + 0.054614095546354234, + -0.9954183598520738, + 0.07848305190970382, + 0.028176344384203106, + -0.07703270212424827, + -0.996630350942906 + ], + [ + 0.9995513483363043, + 0.027454059692145774, + -0.01197399872623657, + 0.02783004452565893, + -0.9990857068263576, + 0.032453644432901725, + -0.011072066689451411, + -0.03277232096903527, + -0.999401513065458 + ], + [ + 0.9989399958704676, + -0.0027845910643664747, + -0.0459470423739636, + -0.0033478122641416694, + -0.9999201477800992, + -0.012185656177198925, + -0.04590944133132769, + 0.012326561403290623, + -0.9988695505823654 + ], + [ + 0.9976493373275939, + -0.014574847410278141, + -0.06695799842274347, + -0.01678220112201845, + -0.9993300849375781, + -0.0325229006110035, + -0.06643912593730544, + 0.033570152838797114, + -0.9972255950300648 + ], + [ + 0.9969838014700105, + -0.0059945662953488936, + -0.07737806395443972, + -0.008758902663663968, + -0.9993335895658981, + -0.03543527041615035, + -0.07711407932754663, + 0.036006137536091075, + -0.9963719068847722 + ], + [ + 0.9965521067034498, + 0.010125006288639205, + -0.08234915222739758, + 0.006917638229956818, + -0.9992097567339104, + -0.03914087798043337, + -0.08268037800007644, + 0.038436262765970765, + -0.9958346292424008 + ], + [ + 0.996431110355143, + 0.030125845739156342, + -0.07885097168024083, + 0.026248105657228373, + -0.998416185849792, + -0.04976099659935759, + -0.08022517850291491, + 0.047513716458038285, + -0.9956436950448294 + ], + [ + 0.9969253813056331, + 0.016943358028942236, + -0.07650298508764936, + 0.012290647059390114, + -0.998069192832096, + -0.06088371140419848, + -0.0773868470961282, + 0.059756246018230604, + -0.9952087554670774 + ], + [ + 0.9973701911830467, + 0.011746954025285035, + -0.07151720639552796, + 0.007067607415091455, + -0.9978383899112461, + -0.06533449735597538, + -0.07213009541736966, + 0.06465722458054976, + -0.9952972885749369 + ], + [ + 0.9977085497153637, + 0.011903868077992817, + -0.06660291096977516, + 0.007091861184674178, + -0.9973776500155871, + -0.07202450106958559, + -0.0672856249863473, + 0.07138712190701603, + -0.9951766292955386 + ], + [ + 0.9968343319420797, + 0.02286120243220642, + -0.0761490648986668, + 0.016142756208409388, + -0.9960159001478205, + -0.08770255455072458, + -0.07785066527386614, + 0.08619566158502782, + -0.993231887245036 + ], + [ + 0.9964512453743455, + 0.03516522961235865, + -0.07647432391480095, + 0.028354823204658635, + -0.9956826952885937, + -0.08838537381192657, + -0.07925225292033251, + 0.08590329987347131, + -0.9931463655866137 + ], + [ + 0.9966217061916015, + 0.029357527741052877, + -0.07670273992938584, + 0.02402558953907077, + -0.9972901342200048, + -0.0695353092661946, + -0.0785362705699843, + 0.06745757001536999, + -0.9946263270457807 + ], + [ + 0.996609453149193, + 0.0775519466734324, + -0.027482602875777598, + 0.07504319927884959, + -0.9937320690672553, + -0.08285585766442034, + -0.03373597687427281, + 0.08051254855283686, + -0.9961825201186104 + ], + [ + 0.9944571659995313, + 0.10509120446932006, + -0.0032838598278037675, + 0.10405035895481503, + -0.9881373391315049, + -0.11295185618432135, + -0.015115151125782607, + 0.11198409600160655, + -0.9935950354390606 + ], + [ + 0.991190431028272, + 0.13201028314719537, + 0.010715156619772674, + 0.13241331118921995, + -0.9859551648147589, + -0.10177980150800475, + -0.0028713164046731262, + 0.10230199469462636, + -0.9947492434898382 + ], + [ + 0.9889670923072079, + 0.13806893294647662, + 0.053675507342249566, + 0.14122633513332236, + -0.988138848557549, + -0.060305374853092425, + 0.04471255526400899, + 0.06722042640732667, + -0.996735773249551 + ], + [ + 0.9858137304037005, + 0.16055698418973113, + 0.04891568026143087, + 0.161386748568509, + -0.9867990584721459, + -0.013488349972150846, + 0.04610429843328034, + 0.021191343194445798, + -0.9987118306296318 + ], + [ + 0.9781507943644331, + 0.19333465389161333, + 0.07643778574002734, + 0.1920383677178166, + -0.9810931697696865, + 0.02403034655483083, + 0.07963848823593332, + -0.008826314965981349, + -0.9967847347123732 + ], + [ + 0.9725528232245477, + 0.21948110043635577, + 0.07725964398835979, + 0.21537031377741594, + -0.9748006098447943, + 0.05813259833892364, + 0.08807175473089644, + -0.03989758886779434, + -0.9953147986547559 + ], + [ + 0.9651412948081813, + 0.2537817726388205, + 0.06400853796397216, + 0.24794225156690974, + -0.9648646368228745, + 0.08695327766446595, + 0.0838267316786149, + -0.06805177797060472, + -0.9941539290125654 + ], + [ + 0.963944954804789, + 0.26036287729512825, + 0.05496631907809186, + 0.25327780898949076, + -0.9610549029650842, + 0.11056140809638312, + 0.08161173677771866, + -0.09265336266630556, + -0.992348164107109 + ], + [ + 0.9688040126048847, + 0.24413308789181862, + 0.04263590689875298, + 0.23925855665463805, + -0.9662083436461609, + 0.09589984221092751, + 0.06460749359178797, + -0.08270714639586474, + -0.9944774505773568 + ], + [ + 0.9757691762982146, + 0.2164877322713839, + 0.03174234336493701, + 0.21366462348302306, + -0.9740299049764294, + 0.07492111106668081, + 0.047137493125557005, + -0.06632349498934409, + -0.9966841278731374 + ], + [ + 0.984165643601712, + 0.1744951336242542, + 0.03113573984156932, + 0.17230806888649938, + -0.9830383758190778, + 0.06281306443404144, + 0.041568201195548604, + -0.05645352077987095, + -0.9975395153280512 + ], + [ + 0.9862228591086831, + 0.16113837389117008, + 0.03740182657576836, + 0.15882558907778377, + -0.9855870999022724, + 0.05824517800061135, + 0.04624829105587955, + -0.05150235883857558, + -0.9976014247225558 + ], + [ + 0.9882310447386174, + 0.14332585429577704, + 0.05345186343997865, + 0.14016985737827442, + -0.9883826311507133, + 0.05875530207689258, + 0.0612520472912918, + -0.050571473480395805, + -0.9968403647388316 + ], + [ + 0.9922074666167603, + 0.10514748398882738, + 0.06684571639806323, + 0.10171438823971045, + -0.9934089074595241, + 0.0528481390883033, + 0.07196197895397587, + -0.0456371470503414, + -0.9963627473938061 + ], + [ + 0.9926051336108903, + 0.09413599721466859, + 0.07663852006469228, + 0.09029758647247019, + -0.9945508999847301, + 0.052104253346629756, + 0.08112579495174825, + -0.044798675962163415, + -0.9956965823108381 + ], + [ + 0.9938009765319189, + 0.07394979096248941, + 0.08301233318494904, + 0.0699530955201158, + -0.9962930416813036, + 0.05006734988563165, + 0.08640707998398296, + -0.04395001153607156, + -0.9952900145257267 + ], + [ + 0.9950280051495916, + 0.037243816348985895, + 0.09236973049537156, + 0.03251471823474984, + -0.998107980464563, + 0.05218479118542768, + 0.09413852593991151, + -0.048921952911907304, + -0.9943563649201155 + ], + [ + 0.9942109938823803, + -0.008351776647408648, + 0.10712024771368434, + -0.014286775786660722, + -0.9983974475286653, + 0.054757874373166246, + 0.10649125635952925, + -0.0559712836647291, + -0.992737038557488 + ], + [ + 0.9917627326174951, + -0.05057652566432702, + 0.11768048794428328, + -0.056345494147516925, + -0.9973408605127595, + 0.04622113413732772, + 0.11502985473498202, + -0.052471163541457484, + -0.9919752565040394 + ], + [ + 0.9829087948895945, + -0.12552898445598962, + 0.13465799267081455, + -0.1318036097892857, + -0.9905199211794498, + 0.03870522178169662, + 0.12852279710307793, + -0.05579211241837445, + -0.9901359153251116 + ], + [ + 0.974694080582778, + -0.18406026614547147, + 0.12685924366537876, + -0.18975788210201097, + -0.9812319318069156, + 0.034290555297752864, + 0.11816681199496341, + -0.05749534267162135, + -0.9913278418939016 + ], + [ + 0.9722851396446137, + -0.2259712099832786, + 0.05998849460477457, + -0.22748410521821968, + -0.973583952362646, + 0.019628285075238464, + 0.053968408345253335, + -0.032730718913917656, + -0.9980060675867949 + ], + [ + 0.9633805242470865, + -0.26768698552298437, + 0.015544879640131182, + -0.267697936124824, + -0.9635018551765427, + -0.0014106969448101664, + 0.015355145584405178, + -0.0028022942347269326, + -0.9998781759049967 + ], + [ + 0.9505780273360729, + -0.31048205072075946, + -0.001519909896065567, + -0.3103997451481771, + -0.9501880386468183, + -0.028190236332093003, + 0.007308362183628663, + 0.0272687988870856, + -0.9996014207920318 + ], + [ + 0.929926020258652, + -0.3673841253296669, + -0.016324867584791854, + -0.36771543831842546, + -0.9283521351220193, + -0.05429244548440038, + 0.004790956918369301, + 0.056490863598850256, + -0.9983916210894714 + ], + [ + 0.9035194767594346, + -0.42826214042974986, + -0.015623514037736272, + -0.4284058841611088, + -0.9016858575643578, + -0.05857484685910667, + 0.010997887637940818, + 0.059616720330443955, + -0.9981607551514662 + ], + [ + 0.8863090784912235, + -0.46241013585448476, + -0.025161153452803356, + -0.46308939441691366, + -0.8847438141092085, + -0.05269341680008001, + 0.0021047951479416637, + 0.058354517001922596, + -0.9982937043690389 + ], + [ + 0.8677364477234377, + -0.49538888740302095, + -0.04029029076473125, + -0.49693672861125376, + -0.8662520740786913, + -0.051587129320311884, + -0.009345857341876916, + 0.06478575763207879, + -0.9978554306905298 + ], + [ + 0.8512326123991224, + -0.521852327427929, + -0.05543634138558927, + -0.5243756470817029, + -0.8499935356578396, + -0.050410019713651846, + -0.020813945705015043, + 0.07198012015785367, + -0.9971888697565021 + ], + [ + 0.8387318615011408, + -0.5400740745555009, + -0.06963374538146402, + -0.5437216851860424, + -0.8376165736688613, + -0.05258521250016464, + -0.02992646924182102, + 0.08196627055232154, + -0.9961856940001006 + ], + [ + 0.8232442393898964, + -0.5629711535177973, + -0.0730233018850226, + -0.566913890993642, + -0.82200509196134, + -0.05400249057291172, + -0.029623681570652614, + 0.08585516348169829, + -0.9958671238642889 + ], + [ + 0.8132572123215506, + -0.5778846067161747, + -0.06827948394263726, + -0.5814050624081555, + -0.8118060978480504, + -0.05421266367640393, + -0.02410103759487603, + 0.08378687735686369, + -0.9961921999140712 + ], + [ + 0.8025320075057091, + -0.5932062854551928, + -0.06362923718943056, + -0.5963217974947982, + -0.8008797626667872, + -0.05469844223891219, + -0.01851190863820932, + 0.08184075175145336, + -0.9964734821315254 + ], + [ + 0.7892813167715127, + -0.6107650151921388, + -0.06325424264643177, + -0.6138888640898749, + -0.7871218194212634, + -0.059830627085158655, + -0.013246340697351335, + 0.08605427129612267, + -0.9962023874945408 + ], + [ + 0.7772147300695474, + -0.6254358937081652, + -0.06904495799397224, + -0.6290832259452459, + -0.7747482575199768, + -0.06339899292640808, + -0.01384045509524429, + 0.09270965608408144, + -0.9955969874761214 + ], + [ + 0.7826374312408368, + -0.6184931852391566, + -0.07031949255694933, + -0.6224772330097894, + -0.7777835169132589, + -0.0870338738797652, + -0.0008634843489007671, + 0.1118882506377007, + -0.9937204203215382 + ], + [ + 0.8230346947025042, + -0.567770668932473, + -0.015822730988280465, + -0.5653302938953343, + -0.8161679141746027, + -0.11946377976647604, + 0.05491402480396303, + 0.10726790466794023, + -0.9927124692014194 + ], + [ + 0.8510250987909775, + -0.5243386716361573, + 0.02872696737626948, + -0.5161524799452559, + -0.845300932771388, + -0.13803242554626005, + 0.09665867097249659, + 0.10264156313429625, + -0.9900110155160795 + ], + [ + 0.8569735997396747, + -0.5142295607290688, + 0.03412049562379167, + -0.5045000425065023, + -0.8505940321005218, + -0.14822111747627076, + 0.10524237008050356, + 0.10980779310853112, + -0.9883654648521835 + ], + [ + 0.8696774503290025, + -0.49201261108238664, + 0.039808578537017573, + -0.4828293151764346, + -0.8646650962232658, + -0.13867272182900953, + 0.10264981634421416, + 0.10137979043726048, + -0.9895378483390095 + ], + [ + 0.8776954770678718, + -0.4772049746381044, + 0.04388691963726051, + -0.46964836317584246, + -0.8747635263365221, + -0.11924423657999213, + 0.09529461947483281, + 0.0840487071402012, + -0.9918945258076626 + ], + [ + 0.8839509602360243, + -0.46571748603883784, + 0.0416884048084737, + -0.45915901547634735, + -0.8814193821995655, + -0.11078299142795886, + 0.08833854427486142, + 0.07878512474192528, + -0.9929698916456617 + ], + [ + 0.8943743898326347, + -0.4455354234161263, + 0.039907860039285925, + -0.4394822570119269, + -0.8918280121746258, + -0.10722939183058863, + 0.08336543998087458, + 0.07836442548802575, + -0.9934330476860163 + ], + [ + 0.8989027520794932, + -0.436545315459988, + 0.037443689105808205, + -0.43077426533670227, + -0.8961539603364846, + -0.10649700322947378, + 0.0800460781521321, + 0.07960067162514226, + -0.9936077487868584 + ], + [ + 0.8963179529751312, + -0.4424062243341119, + 0.029847275334718797, + -0.43791830162709955, + -0.893768394768444, + -0.09698256344867337, + 0.0695822410856944, + 0.0738565446218192, + -0.9948384404223723 + ], + [ + 0.8995515762464102, + -0.4349210953694811, + 0.04062760730352237, + -0.43040772425400775, + -0.8983869419269634, + -0.08746481279694529, + 0.07453960407115509, + 0.061192674216194766, + -0.9953387885776309 + ], + [ + 0.8985169882348255, + -0.43588200739333566, + 0.05171167647808669, + -0.4323061366208993, + -0.8991801952982131, + -0.06772282202758145, + 0.07601727496648783, + 0.0384948310065541, + -0.996363147598528 + ], + [ + 0.8915586078083505, + -0.45177515254524, + 0.031975934475176444, + -0.44920955296937465, + -0.8910777137931654, + -0.064740138262132, + 0.0577410284277149, + 0.04335573230693451, + -0.9973897202760007 + ], + [ + 0.8768528517823465, + -0.48075458152883194, + 0.002026983029988348, + -0.4791879466834365, + -0.8743204756986669, + -0.07708837478743996, + 0.038832822128685995, + 0.06662385543553079, + -0.9970222032695296 + ], + [ + 0.8670626255697573, + -0.4978278597878061, + -0.0192308439537043, + -0.49755465300721824, + -0.8633327279699229, + -0.08423756933149312, + 0.025333191882308717, + 0.0826076439266002, + -0.9962601098879502 + ], + [ + 0.8555660095565399, + -0.5165409637905846, + -0.03452877086999419, + -0.517178627440381, + -0.8498368931461184, + -0.10150626762242983, + 0.023088321948164847, + 0.1047028546604475, + -0.9942355061128983 + ], + [ + 0.8423800254798035, + -0.537329670786891, + -0.04089886996846294, + -0.5381124265321281, + -0.8346881442268267, + -0.11717814770204191, + 0.028825493653205234, + 0.12071672120807381, + -0.9922683931963275 + ], + [ + 0.8270656618200506, + -0.5591567552327078, + -0.05749881838604523, + -0.561802541976124, + -0.8189270662819378, + -0.11720223521769604, + 0.01844708289478555, + 0.12923692656701674, + -0.99144214250968 + ], + [ + 0.8138266551880027, + -0.5787957355546597, + -0.05178486081132113, + -0.580459156402468, + -0.8054750451021504, + -0.11948690081437316, + 0.027447095548394328, + 0.12730062144950066, + -0.9914843461822925 + ], + [ + 0.8240413602249055, + -0.566501570467803, + 0.005639795758696012, + -0.5611457931204479, + -0.8175390449711799, + -0.12940366614139717, + 0.07791813333178962, + 0.10346922540119569, + -0.9915759597191561 + ], + [ + 0.8806619783838094, + -0.4646495545213877, + 0.09238653209310396, + -0.4473561560409173, + -0.8798179039606915, + -0.16060176064573267, + 0.15590686155974218, + 0.10010618039507217, + -0.982686014536332 + ], + [ + 0.9158893850547607, + -0.37802714820787453, + 0.1350633538819244, + -0.3581897849173983, + -0.9214890057514417, + -0.15019350938055698, + 0.18123661971257424, + 0.08918232726858581, + -0.9793874617219268 + ], + [ + 0.919085828417494, + -0.34823743959375786, + 0.1844232243165494, + -0.34381894249144274, + -0.937335845406841, + -0.056480507252576306, + 0.19253512611000217, + -0.011497764157703764, + -0.9812227201982122 + ], + [ + 0.9275655323342005, + -0.3389034503456221, + 0.15737418647733759, + -0.3445064699126825, + -0.9387412070466747, + 0.00895758789262754, + 0.14469787632813874, + -0.06252517522074323, + -0.9874984187580972 + ], + [ + 0.9212592589220676, + -0.358542887967236, + 0.1507593291921829, + -0.3706200834926475, + -0.9268046274832498, + 0.060613003452540934, + 0.11799208262534364, + -0.11171472581423093, + -0.9867105393548735 + ], + [ + 0.9114683119141338, + -0.3863597315457919, + 0.141250395455243, + -0.3994660744414414, + -0.913285387870477, + 0.07960311346057226, + 0.098246484653364, + -0.12898045643482423, + -0.9867682960609954 + ], + [ + 0.9072369775576903, + -0.40581547096898474, + 0.11061134695052059, + -0.4119571818332892, + -0.9103739704949548, + 0.038865333926594685, + 0.08492553731335255, + -0.08082720685185477, + -0.9931035272037685 + ], + [ + 0.8946330427540551, + -0.44181947335236527, + 0.06653774702572583, + -0.44310525606426676, + -0.8964545530383419, + 0.005192916814960523, + 0.05735373449777682, + -0.034128980404710484, + -0.9977703953493976 + ], + [ + 0.8779311598271808, + -0.4780915148054971, + 0.025795000978597327, + -0.4779258289718293, + -0.8783091707061069, + -0.012645262161778532, + 0.028701578459912377, + -0.0012264275500162847, + -0.9995872724626768 + ], + [ + 0.8725251350995071, + -0.48848976487421475, + -0.008811256024023901, + -0.4885224790355008, + -0.8720502795461769, + -0.029565138600101168, + 0.0067584093243340145, + 0.030100823187561576, + -0.9995240188944113 + ], + [ + 0.8645889347880219, + -0.5023865912366069, + -0.009679193549874203, + -0.5023653636757949, + -0.8638204739838825, + -0.037989868453929286, + 0.010724514954062571, + 0.037708111487090766, + -0.9992312460622301 + ], + [ + 0.8802787412291376, + -0.47445623322019204, + 0.0007877173040862218, + -0.4737245025965299, + -0.8790109207342416, + -0.0540823156827689, + 0.02635210389541498, + 0.04723435178391974, + -0.9985361699166624 + ], + [ + 0.9182201959011975, + -0.3906649753950579, + 0.06521156982273144, + -0.38580075557891175, + -0.9194554326774523, + -0.07589126639251331, + 0.08960719186486643, + 0.04452622058402679, + -0.9949813902011411 + ], + [ + 0.939445953273893, + -0.3319961613532857, + 0.0849696988578236, + -0.32372169449044785, + -0.9410778574595648, + -0.0978607720976484, + 0.11245250283359307, + 0.06442837143679678, + -0.9915661448236636 + ], + [ + 0.9551022104902475, + -0.27827717114661527, + 0.10169357666677073, + -0.2723060263855291, + -0.9597482789077619, + -0.06879439750235718, + 0.11674414550959947, + 0.03801390735278561, + -0.9924342534077545 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005631.json b/json/chunk-0005/episode_0005631.json new file mode 100644 index 0000000000000000000000000000000000000000..b257f9ac87fe947f519bfe99dfed04f31a9138db --- /dev/null +++ b/json/chunk-0005/episode_0005631.json @@ -0,0 +1,2002 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 32, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nFold the cloth from top left to bottom right." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005631.mp4", + "start": 0, + "end": 32, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3824145495891571, + 0.2780590355396271, + 0.15303948521614075, + -0.1437922567129135, + -0.35488229990005493, + 0.7368085384368896, + 0.0, + 1.0001531839370728 + ], + [ + 0.3835027515888214, + 0.2785262167453766, + 0.12844209372997284, + -0.12975852191448212, + -0.3058566451072693, + 0.7220675349235535, + 0.0, + 1.0001531839370728 + ], + [ + 0.4075367748737335, + 0.2542242407798767, + 0.10710693150758743, + 0.03140345960855484, + -0.3054622709751129, + 0.4203040599822998, + 0.0, + 1.0001531839370728 + ], + [ + 0.43246105313301086, + 0.21135054528713226, + 0.09481404721736908, + 0.1269468069076538, + -0.3043265640735626, + 0.10784241557121277, + 0.0, + 1.0008161067962646 + ], + [ + 0.4411047697067261, + 0.19391201436519623, + 0.10019506514072418, + 0.15623600780963898, + -0.3178027272224426, + -0.0766356885433197, + 0.0, + 1.0008161067962646 + ], + [ + 0.44502145051956177, + 0.1758044809103012, + 0.09984537214040756, + 0.1347457766532898, + -0.3067137598991394, + -0.15600790083408356, + 0.0, + 1.0001531839370728 + ], + [ + 0.45307499170303345, + 0.16167251765727997, + 0.09356675297021866, + 0.1904137134552002, + -0.3025215268135071, + -0.23812991380691528, + 0.0, + 1.0001531839370728 + ], + [ + 0.4582330584526062, + 0.1541362851858139, + 0.08391120284795761, + 0.212741881608963, + -0.32895299792289734, + -0.25919127464294434, + 0.0, + 1.0001531839370728 + ], + [ + 0.4651719033718109, + 0.14309978485107422, + 0.07153348624706268, + 0.2308206856250763, + -0.36024966835975647, + -0.31375741958618164, + 0.0, + 1.0001531839370728 + ], + [ + 0.4712483286857605, + 0.13057953119277954, + 0.05042104423046112, + 0.2227104753255844, + -0.34726354479789734, + -0.35595735907554626, + 0.0, + 1.0008161067962646 + ], + [ + 0.4762665629386902, + 0.12891538441181183, + 0.026989540085196495, + 0.19398066401481628, + -0.321841835975647, + -0.3569040298461914, + 0.0, + 1.0001531839370728 + ], + [ + 0.4835796356201172, + 0.12406999617815018, + 0.014898639172315598, + 0.17831891775131226, + -0.2990604341030121, + -0.3775290846824646, + 0.0, + 1.0001531839370728 + ], + [ + 0.4893706440925598, + 0.1211060881614685, + 0.0042936475947499275, + 0.17675413191318512, + -0.2829774022102356, + -0.3916213810443878, + 0.0, + 1.0001531839370728 + ], + [ + 0.48674333095550537, + 0.12178974598646164, + -0.010978832840919495, + 0.17181815207004547, + -0.2522854506969452, + -0.40879809856414795, + 0.0, + 0.9406655430793762 + ], + [ + 0.4883353114128113, + 0.1221657544374466, + -0.013622439466416836, + 0.18756936490535736, + -0.2539884150028229, + -0.4187847077846527, + 0.0, + 0.6581199765205383 + ], + [ + 0.4861364960670471, + 0.11988980323076248, + -0.01772671565413475, + 0.1816878616809845, + -0.2527390122413635, + -0.4259057641029358, + 0.0, + 0.35856863856315613 + ], + [ + 0.4797523021697998, + 0.11334855854511261, + -0.017018895596265793, + 0.1559305489063263, + -0.2658766508102417, + -0.43216222524642944, + 0.0, + 0.15616591274738312 + ], + [ + 0.4679282009601593, + 0.10241952538490295, + -0.000755696150008589, + 0.12302011996507645, + -0.2914840281009674, + -0.44254806637763977, + 0.0, + 0.07175325602293015 + ], + [ + 0.4492833614349365, + 0.09037496894598007, + 0.022373894229531288, + 0.10796798020601273, + -0.3316214084625244, + -0.47209230065345764, + 0.0, + 0.06354815512895584 + ], + [ + 0.42398980259895325, + 0.07171715795993805, + 0.034001775085926056, + 0.10757099837064743, + -0.3480176031589508, + -0.5269584059715271, + 0.0, + 0.06325549632310867 + ], + [ + 0.39776352047920227, + 0.04433199018239975, + 0.04173046350479126, + 0.1338358223438263, + -0.3461768329143524, + -0.6132792234420776, + 0.0, + 0.06325549632310867 + ], + [ + 0.3701300024986267, + 0.02601354941725731, + 0.04692484438419342, + 0.14746947586536407, + -0.33745649456977844, + -0.648505687713623, + 0.0, + 0.06325549632310867 + ], + [ + 0.34547632932662964, + 0.005996454041451216, + 0.05402588099241257, + 0.1675603687763214, + -0.3250625431537628, + -0.6980579495429993, + 0.0, + 0.06296365708112717 + ], + [ + 0.3222721219062805, + -0.013113776221871376, + 0.06580108404159546, + 0.17216911911964417, + -0.3204573690891266, + -0.7174102067947388, + 0.0, + 0.06296365708112717 + ], + [ + 0.30258676409721375, + -0.03174230083823204, + 0.06653039157390594, + 0.1976078599691391, + -0.28711768984794617, + -0.7494088411331177, + 0.0, + 0.08962377160787582 + ], + [ + 0.28069010376930237, + -0.05489058420062065, + 0.04932374134659767, + 0.19783008098602295, + -0.2628942131996155, + -0.7999034523963928, + 0.0, + 0.27738428115844727 + ], + [ + 0.2818509042263031, + -0.05471379682421684, + 0.05051890388131142, + 0.2018052488565445, + -0.2715149223804474, + -0.7952480316162109, + 0.0, + 0.5334634184837341 + ], + [ + 0.28212299942970276, + -0.05463520064949989, + 0.050815649330616, + 0.2024298459291458, + -0.2711479067802429, + -0.7949121594429016, + 0.0, + 0.8381108045578003 + ], + [ + 0.28212299942970276, + -0.05463520064949989, + 0.050815649330616, + 0.2024298459291458, + -0.2711479067802429, + -0.7949121594429016, + 0.0, + 1.0041072368621826 + ], + [ + 0.28165555000305176, + -0.05453922972083092, + 0.05044269934296608, + 0.20154114067554474, + -0.2698752284049988, + -0.7946746349334717, + 0.0, + 1.0014774799346924 + ], + [ + 0.2818787693977356, + -0.054593585431575775, + 0.050522588193416595, + 0.20239514112472534, + -0.27116894721984863, + -0.7949495315551758, + 0.0, + 1.0008161067962646 + ], + [ + 0.2818787693977356, + -0.054593585431575775, + 0.050522588193416595, + 0.20239514112472534, + -0.27116894721984863, + -0.7949495315551758, + 0.0, + 1.0008161067962646 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9406655430793762 + ], + [ + 0.6581199765205383 + ], + [ + 0.35856863856315613 + ], + [ + 0.15616591274738312 + ], + [ + 0.07175325602293015 + ], + [ + 0.06354815512895584 + ], + [ + 0.06325549632310867 + ], + [ + 0.06325549632310867 + ], + [ + 0.06325549632310867 + ], + [ + 0.06296365708112717 + ], + [ + 0.06296365708112717 + ], + [ + 0.08962377160787582 + ], + [ + 0.27738428115844727 + ], + [ + 0.5334634184837341 + ], + [ + 0.8381108045578003 + ], + [ + 1.0041072368621826 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3824145495891571, + 0.2780590355396271, + 0.15303948521614075 + ], + [ + 0.3835027515888214, + 0.2785262167453766, + 0.12844209372997284 + ], + [ + 0.4075367748737335, + 0.2542242407798767, + 0.10710693150758743 + ], + [ + 0.43246105313301086, + 0.21135054528713226, + 0.09481404721736908 + ], + [ + 0.4411047697067261, + 0.19391201436519623, + 0.10019506514072418 + ], + [ + 0.44502145051956177, + 0.1758044809103012, + 0.09984537214040756 + ], + [ + 0.45307499170303345, + 0.16167251765727997, + 0.09356675297021866 + ], + [ + 0.4582330584526062, + 0.1541362851858139, + 0.08391120284795761 + ], + [ + 0.4651719033718109, + 0.14309978485107422, + 0.07153348624706268 + ], + [ + 0.4712483286857605, + 0.13057953119277954, + 0.05042104423046112 + ], + [ + 0.4762665629386902, + 0.12891538441181183, + 0.026989540085196495 + ], + [ + 0.4835796356201172, + 0.12406999617815018, + 0.014898639172315598 + ], + [ + 0.4893706440925598, + 0.1211060881614685, + 0.0042936475947499275 + ], + [ + 0.48674333095550537, + 0.12178974598646164, + -0.010978832840919495 + ], + [ + 0.4883353114128113, + 0.1221657544374466, + -0.013622439466416836 + ], + [ + 0.4861364960670471, + 0.11988980323076248, + -0.01772671565413475 + ], + [ + 0.4797523021697998, + 0.11334855854511261, + -0.017018895596265793 + ], + [ + 0.4679282009601593, + 0.10241952538490295, + -0.000755696150008589 + ], + [ + 0.4492833614349365, + 0.09037496894598007, + 0.022373894229531288 + ], + [ + 0.42398980259895325, + 0.07171715795993805, + 0.034001775085926056 + ], + [ + 0.39776352047920227, + 0.04433199018239975, + 0.04173046350479126 + ], + [ + 0.3701300024986267, + 0.02601354941725731, + 0.04692484438419342 + ], + [ + 0.34547632932662964, + 0.005996454041451216, + 0.05402588099241257 + ], + [ + 0.3222721219062805, + -0.013113776221871376, + 0.06580108404159546 + ], + [ + 0.30258676409721375, + -0.03174230083823204, + 0.06653039157390594 + ], + [ + 0.28069010376930237, + -0.05489058420062065, + 0.04932374134659767 + ], + [ + 0.2818509042263031, + -0.05471379682421684, + 0.05051890388131142 + ], + [ + 0.28212299942970276, + -0.05463520064949989, + 0.050815649330616 + ], + [ + 0.28212299942970276, + -0.05463520064949989, + 0.050815649330616 + ], + [ + 0.28165555000305176, + -0.05453922972083092, + 0.05044269934296608 + ], + [ + 0.2818787693977356, + -0.054593585431575775, + 0.050522588193416595 + ], + [ + 0.2818787693977356, + -0.054593585431575775, + 0.050522588193416595 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.6944669977824797, + 0.6281157094205198, + 0.35097898023976654, + 0.6300581222234237, + -0.7664306153077987, + 0.12494348538119987, + 0.34748000174295274, + 0.13436803004459846, + -0.928010172837912 + ], + [ + 0.7156123820029009, + 0.6261425343955026, + 0.30958754068100264, + 0.6302631056067841, + -0.7698834851951828, + 0.10023889930865623, + 0.30111017325063333, + 0.1233894073431589, + -0.9455726929858317 + ], + [ + 0.8707019735415626, + 0.41645759179951775, + 0.2616125904909269, + 0.3891491835757584, + -0.9086618637459604, + 0.1513159948453489, + 0.30073407886893666, + -0.02994480933756684, + -0.9532378098882713 + ], + [ + 0.9485065507796019, + 0.14448460726635465, + 0.2818856530426293, + 0.10268763187262969, + -0.9821070986192828, + 0.15786353949536766, + 0.29965075235776334, + -0.12078843117079333, + -0.9463717987697672 + ], + [ + 0.9471362131513676, + -0.027148629085468168, + 0.31968100612339556, + -0.07272686727646645, + -0.9886431875088615, + 0.13151216889881004, + 0.31248007378621445, + -0.14780933573728547, + -0.9383541995192776 + ], + [ + 0.9417531267629232, + -0.11389958310355783, + 0.31642998151422586, + -0.14812459118891316, + -0.9852031413441598, + 0.08621992676125989, + 0.30192739808996294, + -0.1280689472683968, + -0.9446894680413187 + ], + [ + 0.9276505733147593, + -0.17682612030384073, + 0.3289330281487248, + -0.2251737520864631, + -0.9675178387432909, + 0.11491741854399229, + 0.2979281712092736, + -0.18067029332959716, + -0.9373350787781789 + ], + [ + 0.9147696699216004, + -0.18458968262400188, + 0.3593370285126437, + -0.2425564571164548, + -0.9622882975334642, + 0.12315680062936163, + 0.32305234266700456, + -0.19981962240710283, + -0.9250455677416346 + ], + [ + 0.8901232321663475, + -0.22374101583301984, + 0.3970145959429494, + -0.28882316697635035, + -0.950844341916813, + 0.11169698143877571, + 0.3525078861181494, + -0.21409109107758628, + -0.9109902276894757 + ], + [ + 0.8813627346724446, + -0.2694240011569492, + 0.3880856059315909, + -0.32768576463882304, + -0.940359399517554, + 0.09135775496396113, + 0.3403259754761304, + -0.20768944927358624, + -0.9170841417648954 + ], + [ + 0.8888730410563256, + -0.28569006168048394, + 0.3581702186674389, + -0.331436179784766, + -0.940712613709066, + 0.0721792015634547, + 0.3163143620086827, + -0.18286871538253568, + -0.9308621043534757 + ], + [ + 0.8883177970407337, + -0.31420087646085837, + 0.33491685638666635, + -0.35226281214795485, + -0.9341021127392528, + 0.05800132889580562, + 0.2946224747678172, + -0.16950236637667687, + -0.9404608153210819 + ], + [ + 0.8875308266634874, + -0.3303617127464835, + 0.3211700024492269, + -0.36650720427569283, + -0.9286299226812241, + 0.05761020669186119, + 0.27921586798755194, + -0.16884195406436553, + -0.9452676306801605 + ], + [ + 0.8885521516790333, + -0.35249224801117934, + 0.29363972626091517, + -0.38492346150903917, + -0.9210529443433296, + 0.05912192906513153, + 0.24961771276585956, + -0.165561737151156, + -0.9540861117661404 + ], + [ + 0.8842741890435116, + -0.3567129226600518, + 0.3013553540237238, + -0.39360430863179113, + -0.9166131076275421, + 0.06997184542278306, + 0.2512664060672053, + -0.1804890626401059, + -0.950941055717633 + ], + [ + 0.8817341135128112, + -0.3651991154332381, + 0.2986210962985655, + -0.400020629953781, + -0.914342520150946, + 0.06293847357059795, + 0.25005689088516814, + -0.17494959825846157, + -0.9522941716665316 + ], + [ + 0.8761552440456193, + -0.3766995266989646, + 0.3007481586246819, + -0.4041184040862345, + -0.9141360199685343, + 0.032305610578995045, + 0.2627552165232037, + -0.14984259601616234, + -0.9531562792160481 + ], + [ + 0.8655454905818754, + -0.3931405303732091, + 0.310276533291277, + -0.4101794787523549, + -0.9119354647888193, + -0.01124736728515112, + 0.2873739705398308, + -0.11753395865992304, + -0.9505798070745561 + ], + [ + 0.8420940179633787, + -0.4208566627498399, + 0.3372793120387915, + -0.4299739441972843, + -0.901387080069526, + -0.05122244815668893, + 0.3255765228356056, + -0.10188719891527877, + -0.9400100672202798 + ], + [ + 0.8125240202508776, + -0.46835218029219267, + 0.34706044391561186, + -0.4727577563325274, + -0.8777584636568905, + -0.07771861621343013, + 0.3410349254002979, + -0.1009272742832443, + -0.9346169616281146 + ], + [ + 0.7692526140492942, + -0.533380437673965, + 0.35178931832143046, + -0.5414085868691172, + -0.8365105204682678, + -0.08442091690033285, + 0.339303931369374, + -0.12552074670203645, + -0.9322646535746435 + ], + [ + 0.752037039678952, + -0.5586680756019762, + 0.3497574477464391, + -0.5699306549625616, + -0.8177203762530179, + -0.08069965795818752, + 0.33108811438175173, + -0.13864835939818262, + -0.9333580732769865 + ], + [ + 0.7259721949986547, + -0.5929247568727081, + 0.34843163572826624, + -0.6090717675143338, + -0.7895964305441373, + -0.07462612738795048, + 0.3193680542975464, + -0.15804337872684598, + -0.9343587835166971 + ], + [ + 0.715150726701646, + -0.607051711366778, + 0.34647894283025865, + -0.6239663537048447, + -0.7778496378661686, + -0.07493951104558347, + 0.3150006786379806, + -0.16259815681039075, + -0.9350595766364169 + ], + [ + 0.7021228630451232, + -0.6272471272882908, + 0.3370230355597466, + -0.6533203098662107, + -0.7557174225696568, + -0.045428514624554356, + 0.2831890850750393, + -0.18828759527186523, + -0.9403997679503651 + ], + [ + 0.6728360569171178, + -0.667709362750714, + 0.3185213452929969, + -0.6926441309121658, + -0.7198223378181434, + -0.04582477376870821, + 0.25987640990508487, + -0.18978938029578513, + -0.9468073947228054 + ], + [ + 0.6744597380636431, + -0.6619120110759855, + 0.327072700365632, + -0.6878790293744785, + -0.7242835581871645, + -0.04728391149816029, + 0.26819116815799043, + -0.19309535709872688, + -0.9438154906489763 + ], + [ + 0.6747596294401377, + -0.6615140664296832, + 0.32725919756895083, + -0.6877226717898353, + -0.7244844151433513, + -0.04647428235753091, + 0.26783757985775525, + -0.19370460017785246, + -0.9437910566888625 + ], + [ + 0.6747596294401377, + -0.6615140664296832, + 0.32725919756895083, + -0.6877226717898353, + -0.7244844151433513, + -0.04647428235753091, + 0.26783757985775525, + -0.19370460017785246, + -0.9437910566888625 + ], + [ + 0.6751612007362898, + -0.6618045270725181, + 0.325840637377617, + -0.6878050813395733, + -0.7244248043201691, + -0.04618303767778294, + 0.26661118338095685, + -0.19293385092306903, + -0.9442960373019684 + ], + [ + 0.6747299805685792, + -0.6615496447309815, + 0.32724840851902703, + -0.6877438656275986, + -0.7244609875172368, + -0.046525829999658166, + 0.26785785150622643, + -0.1936707131237489, + -0.943792258002049 + ], + [ + 0.6747299805685792, + -0.6615496447309815, + 0.32724840851902703, + -0.6877438656275986, + -0.7244609875172368, + -0.046525829999658166, + 0.26785785150622643, + -0.1936707131237489, + -0.943792258002049 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + 0.0010882019996643066, + 0.0004671812057495117, + -0.024597391486167908, + 0.014033734798431396, + 0.049025654792785645, + -0.014741003513336182, + 1.0 + ], + [ + 0.02403402328491211, + -0.024301975965499878, + -0.021335162222385406, + 0.16116198897361755, + 0.00039437413215637207, + -0.30176347494125366, + 1.0 + ], + [ + 0.024924278259277344, + -0.042873695492744446, + -0.012292884290218353, + 0.09554334729909897, + 0.001135706901550293, + -0.31246164441108704, + 1.0 + ], + [ + 0.00864371657371521, + -0.017438530921936035, + 0.0053810179233551025, + 0.02928920090198517, + -0.013476163148880005, + -0.18447810411453247, + 1.0 + ], + [ + 0.003916680812835693, + -0.01810753345489502, + -0.0003496930003166199, + -0.021490231156349182, + 0.011088967323303223, + -0.07937221229076385, + 1.0 + ], + [ + 0.00805354118347168, + -0.01413196325302124, + -0.006278619170188904, + 0.0556679368019104, + 0.004192233085632324, + -0.08212201297283173, + 1.0 + ], + [ + 0.005158066749572754, + -0.0075362324714660645, + -0.009655550122261047, + 0.022328168153762817, + -0.02643147110939026, + -0.021061360836029053, + 1.0 + ], + [ + 0.006938844919204712, + -0.011036500334739685, + -0.012377716600894928, + 0.01807880401611328, + -0.03129667043685913, + -0.054566144943237305, + 1.0 + ], + [ + 0.006076425313949585, + -0.012520253658294678, + -0.021112442016601562, + -0.008110210299491882, + 0.01298612356185913, + -0.042199939489364624, + 1.0 + ], + [ + 0.0050182342529296875, + -0.0016641467809677124, + -0.023431504145264626, + -0.028729811310768127, + 0.025421708822250366, + -0.0009466707706451416, + 1.0 + ], + [ + 0.007313072681427002, + -0.004845388233661652, + -0.012090900912880898, + -0.01566174626350403, + 0.022781401872634888, + -0.020625054836273193, + 1.0 + ], + [ + 0.005791008472442627, + -0.002963908016681671, + -0.01060499157756567, + -0.0015647858381271362, + 0.01608303189277649, + -0.014092296361923218, + 1.0 + ], + [ + -0.0026273131370544434, + 0.0006836578249931335, + -0.015272480435669422, + -0.0049359798431396484, + 0.030691951513290405, + -0.017176717519760132, + 0.0 + ], + [ + 0.0015919804573059082, + 0.00037600845098495483, + -0.002643606625497341, + 0.01575121283531189, + -0.0017029643058776855, + -0.00998660922050476, + 0.0 + ], + [ + -0.00219881534576416, + -0.0022759512066841125, + -0.004104276187717915, + -0.005881503224372864, + 0.0012494027614593506, + -0.007121056318283081, + 0.0 + ], + [ + -0.0063841938972473145, + -0.006541244685649872, + 0.0007078200578689575, + -0.025757312774658203, + -0.013137638568878174, + -0.006256461143493652, + 0.0 + ], + [ + -0.011824101209640503, + -0.010929033160209656, + 0.016263199970126152, + -0.03291042894124985, + -0.025607377290725708, + -0.010385841131210327, + 0.0 + ], + [ + -0.01864483952522278, + -0.012044556438922882, + 0.02312958985567093, + -0.01505213975906372, + -0.04013738036155701, + -0.02954423427581787, + 0.0 + ], + [ + -0.025293558835983276, + -0.018657810986042023, + 0.011627880856394768, + -0.0003969818353652954, + -0.01639619469642639, + -0.05486610531806946, + 0.0 + ], + [ + -0.026226282119750977, + -0.0273851677775383, + 0.007728688418865204, + 0.026264823973178864, + 0.0018407702445983887, + -0.08632081747055054, + 0.0 + ], + [ + -0.02763351798057556, + -0.01831844076514244, + 0.005194380879402161, + 0.01363365352153778, + 0.008720338344573975, + -0.03522646427154541, + 0.0 + ], + [ + -0.02465367317199707, + -0.020017094910144806, + 0.007101036608219147, + 0.020090892910957336, + 0.012393951416015625, + -0.04955226182937622, + 0.0 + ], + [ + -0.02320420742034912, + -0.01911023072898388, + 0.011775203049182892, + 0.004608750343322754, + 0.0046051740646362305, + -0.019352257251739502, + 0.0 + ], + [ + -0.019685357809066772, + -0.018628524616360664, + 0.0007293075323104858, + 0.025438740849494934, + 0.03333967924118042, + -0.031998634338378906, + 1.0 + ], + [ + -0.021896660327911377, + -0.02314828336238861, + -0.017206650227308273, + 0.0002222210168838501, + 0.02422347664833069, + -0.050494611263275146, + 1.0 + ], + [ + 0.0011608004570007324, + 0.0001767873764038086, + 0.0011951625347137451, + 0.003975167870521545, + -0.00862070918083191, + 0.004655420780181885, + 1.0 + ], + [ + 0.0002720952033996582, + 7.859617471694946e-05, + 0.0002967454493045807, + 0.0006245970726013184, + 0.0003670156002044678, + 0.00033587217330932617, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + -0.000467449426651001, + 9.597092866897583e-05, + -0.0003729499876499176, + -0.0008887052536010742, + 0.0012726783752441406, + 0.00023752450942993164, + 1.0 + ], + [ + 0.0002232193946838379, + -5.435571074485779e-05, + 7.988885045051575e-05, + 0.000854000449180603, + -0.0012937188148498535, + -0.00027489662170410156, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0004673600196838379, + -9.594857692718506e-05, + 0.000373300164937973, + 0.0008893907070159912, + -0.001272439956665039, + -0.00023877620697021484, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9406655430793762 + ], + [ + 0.6581199765205383 + ], + [ + 0.35856863856315613 + ], + [ + 0.15616591274738312 + ], + [ + 0.07175325602293015 + ], + [ + 0.06354815512895584 + ], + [ + 0.06325549632310867 + ], + [ + 0.06325549632310867 + ], + [ + 0.06325549632310867 + ], + [ + 0.06296365708112717 + ], + [ + 0.06296365708112717 + ], + [ + 0.08962377160787582 + ], + [ + 0.27738428115844727 + ], + [ + 0.5334634184837341 + ], + [ + 0.8381108045578003 + ], + [ + 1.0041072368621826 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3835027515888214, + 0.2785262167453766, + 0.12844209372997284 + ], + [ + 0.4075367748737335, + 0.2542242407798767, + 0.10710693150758743 + ], + [ + 0.43246105313301086, + 0.21135054528713226, + 0.09481404721736908 + ], + [ + 0.4411047697067261, + 0.19391201436519623, + 0.10019506514072418 + ], + [ + 0.44502145051956177, + 0.1758044809103012, + 0.09984537214040756 + ], + [ + 0.45307499170303345, + 0.16167251765727997, + 0.09356675297021866 + ], + [ + 0.4582330584526062, + 0.1541362851858139, + 0.08391120284795761 + ], + [ + 0.4651719033718109, + 0.14309978485107422, + 0.07153348624706268 + ], + [ + 0.4712483286857605, + 0.13057953119277954, + 0.05042104423046112 + ], + [ + 0.4762665629386902, + 0.12891538441181183, + 0.026989540085196495 + ], + [ + 0.4835796356201172, + 0.12406999617815018, + 0.014898639172315598 + ], + [ + 0.4893706440925598, + 0.1211060881614685, + 0.0042936475947499275 + ], + [ + 0.48674333095550537, + 0.12178974598646164, + -0.010978832840919495 + ], + [ + 0.4883353114128113, + 0.1221657544374466, + -0.013622439466416836 + ], + [ + 0.4861364960670471, + 0.11988980323076248, + -0.01772671565413475 + ], + [ + 0.4797523021697998, + 0.11334855854511261, + -0.017018895596265793 + ], + [ + 0.4679282009601593, + 0.10241952538490295, + -0.000755696150008589 + ], + [ + 0.4492833614349365, + 0.09037496894598007, + 0.022373894229531288 + ], + [ + 0.42398980259895325, + 0.07171715795993805, + 0.034001775085926056 + ], + [ + 0.39776352047920227, + 0.04433199018239975, + 0.04173046350479126 + ], + [ + 0.3701300024986267, + 0.02601354941725731, + 0.04692484438419342 + ], + [ + 0.34547632932662964, + 0.005996454041451216, + 0.05402588099241257 + ], + [ + 0.3222721219062805, + -0.013113776221871376, + 0.06580108404159546 + ], + [ + 0.30258676409721375, + -0.03174230083823204, + 0.06653039157390594 + ], + [ + 0.28069010376930237, + -0.05489058420062065, + 0.04932374134659767 + ], + [ + 0.2818509042263031, + -0.05471379682421684, + 0.05051890388131142 + ], + [ + 0.28212299942970276, + -0.05463520064949989, + 0.050815649330616 + ], + [ + 0.28212299942970276, + -0.05463520064949989, + 0.050815649330616 + ], + [ + 0.28165555000305176, + -0.05453922972083092, + 0.05044269934296608 + ], + [ + 0.2818787693977356, + -0.054593585431575775, + 0.050522588193416595 + ], + [ + 0.2818787693977356, + -0.054593585431575775, + 0.050522588193416595 + ], + [ + 0.28234612941741943, + -0.05468953400850296, + 0.05089588835835457 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.7156123820029009, + 0.6261425343955026, + 0.30958754068100264, + 0.6302631056067841, + -0.7698834851951828, + 0.10023889930865623, + 0.30111017325063333, + 0.1233894073431589, + -0.9455726929858317 + ], + [ + 0.8707019735415626, + 0.41645759179951775, + 0.2616125904909269, + 0.3891491835757584, + -0.9086618637459604, + 0.1513159948453489, + 0.30073407886893666, + -0.02994480933756684, + -0.9532378098882713 + ], + [ + 0.9485065507796019, + 0.14448460726635465, + 0.2818856530426293, + 0.10268763187262969, + -0.9821070986192828, + 0.15786353949536766, + 0.29965075235776334, + -0.12078843117079333, + -0.9463717987697672 + ], + [ + 0.9471362131513676, + -0.027148629085468168, + 0.31968100612339556, + -0.07272686727646645, + -0.9886431875088615, + 0.13151216889881004, + 0.31248007378621445, + -0.14780933573728547, + -0.9383541995192776 + ], + [ + 0.9417531267629232, + -0.11389958310355783, + 0.31642998151422586, + -0.14812459118891316, + -0.9852031413441598, + 0.08621992676125989, + 0.30192739808996294, + -0.1280689472683968, + -0.9446894680413187 + ], + [ + 0.9276505733147593, + -0.17682612030384073, + 0.3289330281487248, + -0.2251737520864631, + -0.9675178387432909, + 0.11491741854399229, + 0.2979281712092736, + -0.18067029332959716, + -0.9373350787781789 + ], + [ + 0.9147696699216004, + -0.18458968262400188, + 0.3593370285126437, + -0.2425564571164548, + -0.9622882975334642, + 0.12315680062936163, + 0.32305234266700456, + -0.19981962240710283, + -0.9250455677416346 + ], + [ + 0.8901232321663475, + -0.22374101583301984, + 0.3970145959429494, + -0.28882316697635035, + -0.950844341916813, + 0.11169698143877571, + 0.3525078861181494, + -0.21409109107758628, + -0.9109902276894757 + ], + [ + 0.8813627346724446, + -0.2694240011569492, + 0.3880856059315909, + -0.32768576463882304, + -0.940359399517554, + 0.09135775496396113, + 0.3403259754761304, + -0.20768944927358624, + -0.9170841417648954 + ], + [ + 0.8888730410563256, + -0.28569006168048394, + 0.3581702186674389, + -0.331436179784766, + -0.940712613709066, + 0.0721792015634547, + 0.3163143620086827, + -0.18286871538253568, + -0.9308621043534757 + ], + [ + 0.8883177970407337, + -0.31420087646085837, + 0.33491685638666635, + -0.35226281214795485, + -0.9341021127392528, + 0.05800132889580562, + 0.2946224747678172, + -0.16950236637667687, + -0.9404608153210819 + ], + [ + 0.8875308266634874, + -0.3303617127464835, + 0.3211700024492269, + -0.36650720427569283, + -0.9286299226812241, + 0.05761020669186119, + 0.27921586798755194, + -0.16884195406436553, + -0.9452676306801605 + ], + [ + 0.8885521516790333, + -0.35249224801117934, + 0.29363972626091517, + -0.38492346150903917, + -0.9210529443433296, + 0.05912192906513153, + 0.24961771276585956, + -0.165561737151156, + -0.9540861117661404 + ], + [ + 0.8842741890435116, + -0.3567129226600518, + 0.3013553540237238, + -0.39360430863179113, + -0.9166131076275421, + 0.06997184542278306, + 0.2512664060672053, + -0.1804890626401059, + -0.950941055717633 + ], + [ + 0.8817341135128112, + -0.3651991154332381, + 0.2986210962985655, + -0.400020629953781, + -0.914342520150946, + 0.06293847357059795, + 0.25005689088516814, + -0.17494959825846157, + -0.9522941716665316 + ], + [ + 0.8761552440456193, + -0.3766995266989646, + 0.3007481586246819, + -0.4041184040862345, + -0.9141360199685343, + 0.032305610578995045, + 0.2627552165232037, + -0.14984259601616234, + -0.9531562792160481 + ], + [ + 0.8655454905818754, + -0.3931405303732091, + 0.310276533291277, + -0.4101794787523549, + -0.9119354647888193, + -0.01124736728515112, + 0.2873739705398308, + -0.11753395865992304, + -0.9505798070745561 + ], + [ + 0.8420940179633787, + -0.4208566627498399, + 0.3372793120387915, + -0.4299739441972843, + -0.901387080069526, + -0.05122244815668893, + 0.3255765228356056, + -0.10188719891527877, + -0.9400100672202798 + ], + [ + 0.8125240202508776, + -0.46835218029219267, + 0.34706044391561186, + -0.4727577563325274, + -0.8777584636568905, + -0.07771861621343013, + 0.3410349254002979, + -0.1009272742832443, + -0.9346169616281146 + ], + [ + 0.7692526140492942, + -0.533380437673965, + 0.35178931832143046, + -0.5414085868691172, + -0.8365105204682678, + -0.08442091690033285, + 0.339303931369374, + -0.12552074670203645, + -0.9322646535746435 + ], + [ + 0.752037039678952, + -0.5586680756019762, + 0.3497574477464391, + -0.5699306549625616, + -0.8177203762530179, + -0.08069965795818752, + 0.33108811438175173, + -0.13864835939818262, + -0.9333580732769865 + ], + [ + 0.7259721949986547, + -0.5929247568727081, + 0.34843163572826624, + -0.6090717675143338, + -0.7895964305441373, + -0.07462612738795048, + 0.3193680542975464, + -0.15804337872684598, + -0.9343587835166971 + ], + [ + 0.715150726701646, + -0.607051711366778, + 0.34647894283025865, + -0.6239663537048447, + -0.7778496378661686, + -0.07493951104558347, + 0.3150006786379806, + -0.16259815681039075, + -0.9350595766364169 + ], + [ + 0.7021228630451232, + -0.6272471272882908, + 0.3370230355597466, + -0.6533203098662107, + -0.7557174225696568, + -0.045428514624554356, + 0.2831890850750393, + -0.18828759527186523, + -0.9403997679503651 + ], + [ + 0.6728360569171178, + -0.667709362750714, + 0.3185213452929969, + -0.6926441309121658, + -0.7198223378181434, + -0.04582477376870821, + 0.25987640990508487, + -0.18978938029578513, + -0.9468073947228054 + ], + [ + 0.6744597380636431, + -0.6619120110759855, + 0.327072700365632, + -0.6878790293744785, + -0.7242835581871645, + -0.04728391149816029, + 0.26819116815799043, + -0.19309535709872688, + -0.9438154906489763 + ], + [ + 0.6747596294401377, + -0.6615140664296832, + 0.32725919756895083, + -0.6877226717898353, + -0.7244844151433513, + -0.04647428235753091, + 0.26783757985775525, + -0.19370460017785246, + -0.9437910566888625 + ], + [ + 0.6747596294401377, + -0.6615140664296832, + 0.32725919756895083, + -0.6877226717898353, + -0.7244844151433513, + -0.04647428235753091, + 0.26783757985775525, + -0.19370460017785246, + -0.9437910566888625 + ], + [ + 0.6751612007362898, + -0.6618045270725181, + 0.325840637377617, + -0.6878050813395733, + -0.7244248043201691, + -0.04618303767778294, + 0.26661118338095685, + -0.19293385092306903, + -0.9442960373019684 + ], + [ + 0.6747299805685792, + -0.6615496447309815, + 0.32724840851902703, + -0.6877438656275986, + -0.7244609875172368, + -0.046525829999658166, + 0.26785785150622643, + -0.1936707131237489, + -0.943792258002049 + ], + [ + 0.6747299805685792, + -0.6615496447309815, + 0.32724840851902703, + -0.6877438656275986, + -0.7244609875172368, + -0.046525829999658166, + 0.26785785150622643, + -0.1936707131237489, + -0.943792258002049 + ], + [ + 0.6743265640729195, + -0.6612580482864097, + 0.3286662114700246, + -0.6876610454185108, + -0.7245208514584778, + -0.046816903099234336, + 0.269083577350108, + -0.19444106916577697, + -0.943285057139218 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005635.json b/json/chunk-0005/episode_0005635.json new file mode 100644 index 0000000000000000000000000000000000000000..aed562af310213ff49917e98f0dff50d7a8f0754 --- /dev/null +++ b/json/chunk-0005/episode_0005635.json @@ -0,0 +1,2182 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 35, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut the white object on the left side of the table." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005635.mp4", + "start": 0, + "end": 35, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3060222864151001, + 0.16304488480091095, + -0.00513908825814724, + -0.17441397905349731, + 0.09777722507715225, + 2.8176372051239014, + 0.0, + 1.0001531839370728 + ], + [ + 0.30217090249061584, + 0.16036152839660645, + -0.015357919968664646, + -0.1482771337032318, + 0.07782870531082153, + 2.8194432258605957, + 0.0, + 1.0001531839370728 + ], + [ + 0.29657649993896484, + 0.14146585762500763, + -0.023879274725914, + -0.10437721759080887, + 0.06059460714459419, + 2.7188875675201416, + 0.0, + 1.0001531839370728 + ], + [ + 0.290302038192749, + 0.11354449391365051, + -0.03215648978948593, + -0.06384553015232086, + 0.0623222216963768, + 2.6528470516204834, + 0.0, + 1.0001531839370728 + ], + [ + 0.2868545651435852, + 0.08603473007678986, + -0.031084632501006126, + -0.044784318655729294, + 0.08846975862979889, + 2.591829538345337, + 0.0, + 1.0001531839370728 + ], + [ + 0.28075316548347473, + 0.05582073703408241, + -0.03633293882012367, + -0.008942372165620327, + 0.07866700738668442, + 2.523555040359497, + 0.0, + 1.0001531839370728 + ], + [ + 0.27565914392471313, + 0.02680286020040512, + -0.032013118267059326, + -0.03652922436594963, + 0.07857121527194977, + 2.4464213848114014, + 0.0, + 1.0001531839370728 + ], + [ + 0.26541686058044434, + -0.004723941907286644, + -0.03649020567536354, + -0.004412511829286814, + 0.08356842398643494, + 2.378619909286499, + 0.0, + 1.0001531839370728 + ], + [ + 0.2613680064678192, + -0.02353367954492569, + -0.03849497810006142, + 0.0004569820885080844, + 0.0828034058213234, + 2.328120708465576, + 0.0, + 1.0001531839370728 + ], + [ + 0.2561734616756439, + -0.03238261863589287, + -0.04734596610069275, + 0.010003753937780857, + 0.06893795728683472, + 2.285695791244507, + 0.0, + 1.0001531839370728 + ], + [ + 0.25183984637260437, + -0.03654678165912628, + -0.057319361716508865, + 0.027334704995155334, + 0.05011183023452759, + 2.2873117923736572, + 0.0, + 1.0001531839370728 + ], + [ + 0.25046637654304504, + -0.03763732686638832, + -0.07139841467142105, + 0.03654443845152855, + 0.008413168601691723, + 2.2603414058685303, + 0.0, + 1.0001531839370728 + ], + [ + 0.25204914808273315, + -0.036844562739133835, + -0.08406225591897964, + 0.048662032932043076, + -0.021149415522813797, + 2.2608556747436523, + 0.0, + 0.9620732665061951 + ], + [ + 0.25358518958091736, + -0.03849167376756668, + -0.09105421602725983, + 0.06084271892905235, + -0.028487464413046837, + 2.2598323822021484, + 0.0, + 0.7359045147895813 + ], + [ + 0.25374263525009155, + -0.038409702479839325, + -0.09155891090631485, + 0.05519535392522812, + -0.023238353431224823, + 2.2587156295776367, + 0.0, + 0.5988990664482117 + ], + [ + 0.2508222460746765, + -0.03803534805774689, + -0.09153400361537933, + 0.061342280358076096, + -0.025459004566073418, + 2.2535533905029297, + 0.0, + 0.573952317237854 + ], + [ + 0.24524569511413574, + -0.033134836703538895, + -0.08187556266784668, + 0.0631709173321724, + -0.010973724536597729, + 2.251878023147583, + 0.0, + 0.5729578137397766 + ], + [ + 0.24809899926185608, + -0.027361059561371803, + -0.06273244321346283, + 0.027133993804454803, + 0.039740052074193954, + 2.2695255279541016, + 0.0, + 0.5729578137397766 + ], + [ + 0.2522861063480377, + -0.009927314706146717, + -0.041006989777088165, + -0.01971409097313881, + 0.08379967510700226, + 2.309307098388672, + 0.0, + 0.5719637274742126 + ], + [ + 0.26336798071861267, + 0.02073049172759056, + -0.031770117580890656, + -0.044208869338035583, + 0.09098325669765472, + 2.431567668914795, + 0.0, + 0.5719637274742126 + ], + [ + 0.2808722257614136, + 0.06292061507701874, + -0.019388459622859955, + -0.06135933846235275, + 0.12988722324371338, + 2.582425117492676, + 0.0, + 0.5719637274742126 + ], + [ + 0.2900255024433136, + 0.11463974416255951, + -0.01038636639714241, + -0.07059240341186523, + 0.16230851411819458, + 2.759234666824341, + 0.0, + 0.5719637274742126 + ], + [ + 0.28596144914627075, + 0.15459179878234863, + -0.007415031548589468, + -0.06572508066892624, + 0.1643383651971817, + 2.903703451156616, + 0.0, + 0.5719637274742126 + ], + [ + 0.27631890773773193, + 0.18356908857822418, + -0.011366087943315506, + -0.06788817048072815, + 0.134946808218956, + 3.0044169425964355, + 0.0, + 0.5719637274742126 + ], + [ + 0.25946369767189026, + 0.21059206128120422, + -0.02411348931491375, + -0.06272929161787033, + 0.09840752184391022, + 3.108703136444092, + 0.0, + 0.5719637274742126 + ], + [ + 0.2514100968837738, + 0.2212802767753601, + -0.04161138832569122, + -0.09520182758569717, + 0.06523039191961288, + -3.135449171066284, + 0.0, + 0.5719637274742126 + ], + [ + 0.24711255729198456, + 0.2298654466867447, + -0.06287205964326859, + -0.11081566661596298, + 0.014011145569384098, + -3.11735463142395, + 0.0, + 0.5719637274742126 + ], + [ + 0.24596242606639862, + 0.23684076964855194, + -0.07263004034757614, + -0.10974200069904327, + -0.016000011935830116, + -3.106873035430908, + 0.0, + 0.5719637274742126 + ], + [ + 0.24633096158504486, + 0.23856037855148315, + -0.07412122189998627, + -0.11080337315797806, + -0.02419721707701683, + -3.0948517322540283, + 0.0, + 0.6059080362319946 + ], + [ + 0.2462661862373352, + 0.23558160662651062, + -0.07441864907741547, + -0.0921892523765564, + -0.024601157754659653, + -3.0857386589050293, + 0.0, + 0.9124506115913391 + ], + [ + 0.2498718500137329, + 0.2343587875366211, + -0.0726378932595253, + -0.07236237078905106, + -0.01601744443178177, + -3.0864663124084473, + 0.0, + 1.021787166595459 + ], + [ + 0.24987603724002838, + 0.23278382420539856, + -0.06951303035020828, + -0.06595546752214432, + -0.01248230691999197, + -3.095073699951172, + 0.0, + 1.0099300146102905 + ], + [ + 0.2526411712169647, + 0.2318941205739975, + -0.04054322466254234, + -0.08575555682182312, + 0.028692927211523056, + -3.0826616287231445, + 0.0, + 1.0060625076293945 + ], + [ + 0.2555125057697296, + 0.22493082284927368, + -0.0162049550563097, + -0.0959407389163971, + 0.09283445030450821, + -3.094292402267456, + 0.0, + 1.002137303352356 + ], + [ + 0.26087525486946106, + 0.2157738357782364, + 0.0020598801784217358, + -0.10698338598012924, + 0.1408279538154602, + 3.1367599964141846, + 0.0, + 1.0014774799346924 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9620732665061951 + ], + [ + 0.7359045147895813 + ], + [ + 0.5988990664482117 + ], + [ + 0.573952317237854 + ], + [ + 0.5729578137397766 + ], + [ + 0.5729578137397766 + ], + [ + 0.5719637274742126 + ], + [ + 0.5719637274742126 + ], + [ + 0.5719637274742126 + ], + [ + 0.5719637274742126 + ], + [ + 0.5719637274742126 + ], + [ + 0.5719637274742126 + ], + [ + 0.5719637274742126 + ], + [ + 0.5719637274742126 + ], + [ + 0.5719637274742126 + ], + [ + 0.5719637274742126 + ], + [ + 0.6059080362319946 + ], + [ + 0.9124506115913391 + ], + [ + 1.021787166595459 + ], + [ + 1.0099300146102905 + ], + [ + 1.0060625076293945 + ], + [ + 1.002137303352356 + ], + [ + 1.0014774799346924 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3060222864151001, + 0.16304488480091095, + -0.00513908825814724 + ], + [ + 0.30217090249061584, + 0.16036152839660645, + -0.015357919968664646 + ], + [ + 0.29657649993896484, + 0.14146585762500763, + -0.023879274725914 + ], + [ + 0.290302038192749, + 0.11354449391365051, + -0.03215648978948593 + ], + [ + 0.2868545651435852, + 0.08603473007678986, + -0.031084632501006126 + ], + [ + 0.28075316548347473, + 0.05582073703408241, + -0.03633293882012367 + ], + [ + 0.27565914392471313, + 0.02680286020040512, + -0.032013118267059326 + ], + [ + 0.26541686058044434, + -0.004723941907286644, + -0.03649020567536354 + ], + [ + 0.2613680064678192, + -0.02353367954492569, + -0.03849497810006142 + ], + [ + 0.2561734616756439, + -0.03238261863589287, + -0.04734596610069275 + ], + [ + 0.25183984637260437, + -0.03654678165912628, + -0.057319361716508865 + ], + [ + 0.25046637654304504, + -0.03763732686638832, + -0.07139841467142105 + ], + [ + 0.25204914808273315, + -0.036844562739133835, + -0.08406225591897964 + ], + [ + 0.25358518958091736, + -0.03849167376756668, + -0.09105421602725983 + ], + [ + 0.25374263525009155, + -0.038409702479839325, + -0.09155891090631485 + ], + [ + 0.2508222460746765, + -0.03803534805774689, + -0.09153400361537933 + ], + [ + 0.24524569511413574, + -0.033134836703538895, + -0.08187556266784668 + ], + [ + 0.24809899926185608, + -0.027361059561371803, + -0.06273244321346283 + ], + [ + 0.2522861063480377, + -0.009927314706146717, + -0.041006989777088165 + ], + [ + 0.26336798071861267, + 0.02073049172759056, + -0.031770117580890656 + ], + [ + 0.2808722257614136, + 0.06292061507701874, + -0.019388459622859955 + ], + [ + 0.2900255024433136, + 0.11463974416255951, + -0.01038636639714241 + ], + [ + 0.28596144914627075, + 0.15459179878234863, + -0.007415031548589468 + ], + [ + 0.27631890773773193, + 0.18356908857822418, + -0.011366087943315506 + ], + [ + 0.25946369767189026, + 0.21059206128120422, + -0.02411348931491375 + ], + [ + 0.2514100968837738, + 0.2212802767753601, + -0.04161138832569122 + ], + [ + 0.24711255729198456, + 0.2298654466867447, + -0.06287205964326859 + ], + [ + 0.24596242606639862, + 0.23684076964855194, + -0.07263004034757614 + ], + [ + 0.24633096158504486, + 0.23856037855148315, + -0.07412122189998627 + ], + [ + 0.2462661862373352, + 0.23558160662651062, + -0.07441864907741547 + ], + [ + 0.2498718500137329, + 0.2343587875366211, + -0.0726378932595253 + ], + [ + 0.24987603724002838, + 0.23278382420539856, + -0.06951303035020828 + ], + [ + 0.2526411712169647, + 0.2318941205739975, + -0.04054322466254234 + ], + [ + 0.2555125057697296, + 0.22493082284927368, + -0.0162049550563097 + ], + [ + 0.26087525486946106, + 0.2157738357782364, + 0.0020598801784217358 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + -0.9434558078424788, + 0.29743015115768007, + 0.14637774363138328, + 0.3167983287298843, + 0.9389937486848923, + 0.1339013026249007, + -0.09762150153653425, + 0.1727021861848096, + -0.9801244805251726 + ], + [ + -0.9456856866961186, + 0.30223656928493353, + 0.11971482015591814, + 0.31564773887751213, + 0.9417852953823221, + 0.11578843786469294, + -0.07775015703909646, + 0.14728718066588659, + -0.9860331634848241 + ], + [ + -0.9103088198668834, + 0.40224230690741014, + 0.0976676968417233, + 0.4094760526178187, + 0.909607518469278, + 0.07031020321895985, + -0.06055753301688644, + 0.10399658108787475, + -0.9927323387081444 + ], + [ + -0.8812084096632347, + 0.46505362231236336, + 0.08483435101975018, + 0.468607197402115, + 0.8829893559364312, + 0.02714943546192604, + -0.0622818856629099, + 0.06367829832145086, + -0.9960251206878049 + ], + [ + -0.849313694827684, + 0.5185886851967748, + 0.09865101805874948, + 0.5204418780225702, + 0.8538601334016813, + -0.007945073165345689, + -0.08835439648646431, + 0.04459426166159805, + -0.9950903740105063 + ], + [ + -0.8124965389325928, + 0.5788409899975516, + 0.0692277583142226, + 0.5776449008504844, + 0.8153917084730559, + -0.03824565694069841, + -0.07858589405225434, + 0.008914597693999653, + -0.9968674872840233 + ], + [ + -0.7655748051619465, + 0.6378883190842825, + 0.08362840472636468, + 0.6385408954404587, + 0.7692677808841087, + -0.022194732342073493, + -0.07849039782893949, + 0.03640842854982551, + -0.996249809926801 + ], + [ + -0.7202624426699268, + 0.6908002088000568, + 0.06338047965224065, + 0.6886614366509017, + 0.723032320885102, + -0.0544948495311114, + -0.08347118873638999, + 0.004397098736726883, + -0.9965004898010001 + ], + [ + -0.684625837426671, + 0.7267025943731825, + 0.05648718491051542, + 0.7241869333851879, + 0.6869520594097102, + -0.060416500948953206, + -0.08270881598708983, + -0.0004554163406581338, + -0.9965736522475246 + ], + [ + -0.653984405019667, + 0.7555730852879772, + 0.037599345466103704, + 0.7533654357849473, + 0.654988332618331, + -0.0585730680297268, + -0.06888336632038713, + -0.00997982576329736, + -0.997574801667577 + ], + [ + -0.6559365261501718, + 0.7547162378908784, + 0.01227493078938345, + 0.7531521622243612, + 0.6554832374189542, + -0.05570947854303443, + -0.050090859433780215, + -0.027296991163977005, + -0.9983715641356075 + ], + [ + -0.6361637454696507, + 0.7712159278153085, + -0.02284035100427501, + 0.7715082042428919, + 0.6355243391065906, + -0.029730543033041974, + -0.008413069352725993, + -0.036535011798332157, + -0.9992969594554774 + ], + [ + -0.6364405872068384, + 0.7696404616256965, + -0.05096016860646723, + 0.7710357630270129, + 0.6366227243234972, + -0.014675115273165507, + 0.021147838876984508, + -0.048631951467254186, + -0.998592861083695 + ], + [ + -0.6355354811082139, + 0.7693298721719234, + -0.06500923039448521, + 0.771546068702407, + 0.6359538321317422, + -0.016714881597328677, + 0.028483611470666484, + -0.0607805164578592, + -0.9977446630760318 + ], + [ + -0.6347596456979075, + 0.770578351485702, + -0.05735151624015945, + 0.772360193383799, + 0.634954496691669, + -0.017103181200304286, + 0.02323626195428279, + -0.05515243741311589, + -0.9982075359251625 + ], + [ + -0.6307299864931404, + 0.7733922989368599, + -0.06359273609085786, + 0.7755847234508225, + 0.6309585004790907, + -0.01896595430997604, + 0.025456254399926402, + -0.06128395074026985, + -0.9977956987748495 + ], + [ + -0.6295958428674282, + 0.7749063212697214, + -0.05593985967340197, + 0.7768453236311845, + 0.6289160625510395, + -0.031239869040332283, + 0.01097350429046189, + -0.06312511007138308, + -0.9979452904253133 + ], + [ + -0.6427373441061892, + 0.7660717455377202, + 0.004773591950752377, + 0.7650557273452894, + 0.6421831277668835, + -0.0478598419106521, + -0.03972959284326957, + -0.02710924381706214, + -0.9988426544517284 + ], + [ + -0.670825108076511, + 0.7382174610108632, + 0.0709130075008228, + 0.7368769988328532, + 0.6742767293211428, + -0.04861255894385004, + -0.08370163060075039, + 0.019643639038033955, + -0.9962972269760257 + ], + [ + -0.7552089799453507, + 0.6481707539799749, + 0.09764256395104068, + 0.6491565758094585, + 0.7602221030811831, + -0.025653344229580086, + -0.09085778278849385, + 0.04401167653990552, + -0.9948908661933253 + ], + [ + -0.8405564409974565, + 0.5227496326763241, + 0.1421185808909506, + 0.5260122042161404, + 0.8503150344094902, + -0.016598291263410635, + -0.12952231666151912, + 0.06080430736350715, + -0.9897104655871218 + ], + [ + -0.9155933934686215, + 0.36160499234938476, + 0.175870882594634, + 0.3682053902641778, + 0.92972938509498, + 0.005297270175732116, + -0.16159680818945224, + 0.0696067525381813, + -0.9843989900360879 + ], + [ + -0.9587438050899837, + 0.22470074249362817, + 0.17412608226337437, + 0.2324768201528579, + 0.9722712886412297, + 0.025358812581396793, + -0.16359964637246313, + 0.06479288237711633, + -0.9843967889525392 + ], + [ + -0.9816000496269375, + 0.127390144464857, + 0.1422430794999061, + 0.1355026787507537, + 0.9895722896119485, + 0.04884370669324504, + -0.1345376030103249, + 0.0672193032200466, + -0.9886259144139645 + ], + [ + -0.994623691179092, + 0.026663207622719946, + 0.10006391109958265, + 0.03272449337891365, + 0.9976959464914164, + 0.05942984004428878, + -0.09824876833004517, + 0.06238486766728003, + -0.9932045649350211 + ], + [ + -0.9978544212602168, + -0.012311787468603641, + 0.06430376241531907, + -0.006130378323230113, + 0.9954148755142626, + 0.09545493212264836, + -0.06518414249686758, + 0.09485591965846554, + -0.993354610435113 + ], + [ + -0.9996081478573281, + -0.0256359657683437, + 0.011240462462300515, + -0.024233270165195216, + 0.9935367486086527, + 0.11089399344079758, + -0.014010687147414881, + 0.11057814622822769, + -0.9937686723892971 + ], + [ + -0.9992694142807638, + -0.03275260508131936, + -0.019695292416393277, + -0.0347081999776173, + 0.9934461737437966, + 0.1089038141119261, + 0.015999329276373778, + 0.10950783868837136, + -0.9938571601233794 + ], + [ + -0.9986154233389419, + -0.04376490615614819, + -0.02918679939167116, + -0.04671022605972878, + 0.9929071284688069, + 0.10933247009593075, + 0.024194855879611038, + 0.110544412907085, + -0.993576641092167 + ], + [ + -0.998138449763431, + -0.05332691058996286, + -0.029595197427704518, + -0.055808065967118584, + 0.9943271896179166, + 0.09054777611595782, + 0.024598676323421168, + 0.09203086761226359, + -0.9954522713468837 + ], + [ + -0.9983528463472484, + -0.05379799098992934, + -0.019934150490922998, + -0.05509135689226255, + 0.995931693290371, + 0.07130921886785421, + 0.016016759538578302, + 0.07228996102656068, + -0.9972550450855896 + ], + [ + -0.9988403698799413, + -0.04557930076362048, + -0.015506219397431069, + -0.046498554858529696, + 0.9967845226595617, + 0.06525718184550812, + 0.012481982782000078, + 0.06590252444518978, + -0.9977479929208481 + ], + [ + -0.9978531703667418, + -0.06113344954951934, + 0.02348939622932976, + -0.05887267808158529, + 0.9944509707846044, + 0.08718528821458349, + -0.028688990301927744, + 0.08561523259172013, + -0.9959151438670474 + ], + [ + -0.9945803440059595, + -0.055935421473555264, + 0.08764227257187504, + -0.047079015646428884, + 0.9938680334504242, + 0.1000494796145861, + -0.09270116289858726, + 0.0953811339309924, + -0.9911149951883925 + ], + [ + -0.990088559909951, + -0.010182687828292583, + 0.1400748243048365, + 0.004784795832553184, + 0.9943435541998177, + 0.10610373202727061, + -0.14036291983383667, + 0.1057223206795311, + -0.9844394555511548 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.003851383924484253, + -0.0026833564043045044, + -0.010218831710517406, + 0.026136845350265503, + -0.01994851976633072, + 0.001806020736694336, + 1.0 + ], + [ + -0.005594402551651001, + -0.018895670771598816, + -0.008521354757249355, + 0.04389991611242294, + -0.01723409816622734, + -0.1005556583404541, + 1.0 + ], + [ + -0.00627446174621582, + -0.027921363711357117, + -0.00827721506357193, + 0.04053168743848801, + 0.001727614551782608, + -0.0660405158996582, + 1.0 + ], + [ + -0.0034474730491638184, + -0.027509763836860657, + 0.001071857288479805, + 0.019061211496591568, + 0.02614753693342209, + -0.061017513275146484, + 1.0 + ], + [ + -0.006101399660110474, + -0.030213993042707443, + -0.005248306319117546, + 0.03584194555878639, + -0.009802751243114471, + -0.06827449798583984, + 1.0 + ], + [ + -0.005094021558761597, + -0.029017876833677292, + 0.004319820553064346, + -0.02758685126900673, + -9.579211473464966e-05, + -0.0771336555480957, + 1.0 + ], + [ + -0.010242283344268799, + -0.031526803970336914, + -0.0044770874083042145, + 0.032116711139678955, + 0.0049972087144851685, + -0.06780147552490234, + 1.0 + ], + [ + -0.004048854112625122, + -0.018809737637639046, + -0.002004772424697876, + 0.004869494121521711, + -0.0007650181651115417, + -0.05049920082092285, + 1.0 + ], + [ + -0.005194544792175293, + -0.008848939090967178, + -0.008850988000631332, + 0.00954677164554596, + -0.013865448534488678, + -0.042424917221069336, + 1.0 + ], + [ + -0.004333615303039551, + -0.004164163023233414, + -0.009973395615816116, + 0.017330951988697052, + -0.01882612705230713, + 0.0016160011291503906, + 1.0 + ], + [ + -0.0013734698295593262, + -0.0010905452072620392, + -0.014079052954912186, + 0.009209733456373215, + -0.04169866070151329, + -0.026970386505126953, + 1.0 + ], + [ + 0.0015827715396881104, + 0.0007927641272544861, + -0.012663841247558594, + 0.012117594480514526, + -0.029562585055828094, + 0.0005142688751220703, + 0.0 + ], + [ + 0.001536041498184204, + -0.001647111028432846, + -0.006991960108280182, + 0.012180685997009277, + -0.00733804889023304, + -0.0010232925415039062, + 0.0 + ], + [ + 0.00015744566917419434, + 8.197128772735596e-05, + -0.0005046948790550232, + -0.005647365003824234, + 0.005249110981822014, + -0.0011167526245117188, + 0.0 + ], + [ + -0.002920389175415039, + 0.00037435442209243774, + 2.4907290935516357e-05, + 0.006146926432847977, + -0.0022206511348485947, + -0.005162239074707031, + 0.0 + ], + [ + -0.0055765509605407715, + 0.0049005113542079926, + 0.009658440947532654, + 0.0018286369740962982, + 0.014485280029475689, + -0.0016753673553466797, + 0.0 + ], + [ + 0.002853304147720337, + 0.005773777142167091, + 0.01914311945438385, + -0.03603692352771759, + 0.05071377754211426, + 0.017647504806518555, + 0.0 + ], + [ + 0.004187107086181641, + 0.01743374392390251, + 0.021725453436374664, + -0.04684808477759361, + 0.044059623032808304, + 0.03978157043457031, + 0.0 + ], + [ + 0.011081874370574951, + 0.030657805502414703, + 0.00923687219619751, + -0.024494778364896774, + 0.007183581590652466, + 0.12226057052612305, + 0.0 + ], + [ + 0.017504245042800903, + 0.04219012334942818, + 0.0123816579580307, + -0.01715046912431717, + 0.038903966546058655, + 0.15085744857788086, + 0.0 + ], + [ + 0.009153276681900024, + 0.05171912908554077, + 0.009002093225717545, + -0.009233064949512482, + 0.0324212908744812, + 0.17680954933166504, + 0.0 + ], + [ + -0.004064053297042847, + 0.039952054619789124, + 0.0029713348485529423, + 0.004867322742938995, + 0.0020298510789871216, + 0.1444687843322754, + 0.0 + ], + [ + -0.009642541408538818, + 0.02897728979587555, + -0.003951056394726038, + -0.0021630898118019104, + -0.029391556978225708, + 0.10071349143981934, + 0.0 + ], + [ + -0.016855210065841675, + 0.02702297270298004, + -0.012747401371598244, + 0.005158878862857819, + -0.036539286375045776, + 0.10428619384765625, + 0.0 + ], + [ + -0.008053600788116455, + 0.010688215494155884, + -0.017497899010777473, + -0.03247253596782684, + -0.03317712992429733, + -6.244152069091797, + 0.0 + ], + [ + -0.004297539591789246, + 0.008585169911384583, + -0.021260671317577362, + -0.015613839030265808, + -0.05121924728155136, + 0.018094539642333984, + 0.0 + ], + [ + -0.0011501312255859375, + 0.006975322961807251, + -0.009757980704307556, + 0.0010736659169197083, + -0.03001115843653679, + 0.010481595993041992, + 0.0 + ], + [ + 0.00036853551864624023, + 0.0017196089029312134, + -0.0014911815524101257, + -0.001061372458934784, + -0.008197205141186714, + 0.012021303176879883, + 1.0 + ], + [ + -6.477534770965576e-05, + -0.002978771924972534, + -0.0002974271774291992, + 0.01861412078142166, + -0.00040394067764282227, + 0.009113073348999023, + 1.0 + ], + [ + 0.003605663776397705, + -0.0012228190898895264, + 0.0017807558178901672, + 0.01982688158750534, + 0.008583713322877884, + -0.0007276535034179688, + 1.0 + ], + [ + 4.187226295471191e-06, + -0.0015749633312225342, + 0.0031248629093170166, + 0.006406903266906738, + 0.0035351375117897987, + -0.00860738754272461, + 1.0 + ], + [ + 0.0027651339769363403, + -0.000889703631401062, + 0.02896980568766594, + -0.019800089299678802, + 0.0411752350628376, + 0.012412071228027344, + 1.0 + ], + [ + 0.0028713345527648926, + -0.006963297724723816, + 0.024338269606232643, + -0.010185182094573975, + 0.06414152681827545, + -0.011630773544311523, + 1.0 + ], + [ + 0.005362749099731445, + -0.009156987071037292, + 0.018264835700392723, + -0.011042647063732147, + 0.047993503510951996, + 6.231052398681641, + 1.0 + ], + [ + 0.0016457140445709229, + -0.0004681199789047241, + 0.0016460258048027754, + -0.0065493956208229065, + 0.00460641086101532, + -0.011087894439697266, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9620732665061951 + ], + [ + 0.7359045147895813 + ], + [ + 0.5988990664482117 + ], + [ + 0.573952317237854 + ], + [ + 0.5729578137397766 + ], + [ + 0.5729578137397766 + ], + [ + 0.5719637274742126 + ], + [ + 0.5719637274742126 + ], + [ + 0.5719637274742126 + ], + [ + 0.5719637274742126 + ], + [ + 0.5719637274742126 + ], + [ + 0.5719637274742126 + ], + [ + 0.5719637274742126 + ], + [ + 0.5719637274742126 + ], + [ + 0.5719637274742126 + ], + [ + 0.5719637274742126 + ], + [ + 0.6059080362319946 + ], + [ + 0.9124506115913391 + ], + [ + 1.021787166595459 + ], + [ + 1.0099300146102905 + ], + [ + 1.0060625076293945 + ], + [ + 1.002137303352356 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.30217090249061584, + 0.16036152839660645, + -0.015357919968664646 + ], + [ + 0.29657649993896484, + 0.14146585762500763, + -0.023879274725914 + ], + [ + 0.290302038192749, + 0.11354449391365051, + -0.03215648978948593 + ], + [ + 0.2868545651435852, + 0.08603473007678986, + -0.031084632501006126 + ], + [ + 0.28075316548347473, + 0.05582073703408241, + -0.03633293882012367 + ], + [ + 0.27565914392471313, + 0.02680286020040512, + -0.032013118267059326 + ], + [ + 0.26541686058044434, + -0.004723941907286644, + -0.03649020567536354 + ], + [ + 0.2613680064678192, + -0.02353367954492569, + -0.03849497810006142 + ], + [ + 0.2561734616756439, + -0.03238261863589287, + -0.04734596610069275 + ], + [ + 0.25183984637260437, + -0.03654678165912628, + -0.057319361716508865 + ], + [ + 0.25046637654304504, + -0.03763732686638832, + -0.07139841467142105 + ], + [ + 0.25204914808273315, + -0.036844562739133835, + -0.08406225591897964 + ], + [ + 0.25358518958091736, + -0.03849167376756668, + -0.09105421602725983 + ], + [ + 0.25374263525009155, + -0.038409702479839325, + -0.09155891090631485 + ], + [ + 0.2508222460746765, + -0.03803534805774689, + -0.09153400361537933 + ], + [ + 0.24524569511413574, + -0.033134836703538895, + -0.08187556266784668 + ], + [ + 0.24809899926185608, + -0.027361059561371803, + -0.06273244321346283 + ], + [ + 0.2522861063480377, + -0.009927314706146717, + -0.041006989777088165 + ], + [ + 0.26336798071861267, + 0.02073049172759056, + -0.031770117580890656 + ], + [ + 0.2808722257614136, + 0.06292061507701874, + -0.019388459622859955 + ], + [ + 0.2900255024433136, + 0.11463974416255951, + -0.01038636639714241 + ], + [ + 0.28596144914627075, + 0.15459179878234863, + -0.007415031548589468 + ], + [ + 0.27631890773773193, + 0.18356908857822418, + -0.011366087943315506 + ], + [ + 0.25946369767189026, + 0.21059206128120422, + -0.02411348931491375 + ], + [ + 0.2514100968837738, + 0.2212802767753601, + -0.04161138832569122 + ], + [ + 0.24711255729198456, + 0.2298654466867447, + -0.06287205964326859 + ], + [ + 0.24596242606639862, + 0.23684076964855194, + -0.07263004034757614 + ], + [ + 0.24633096158504486, + 0.23856037855148315, + -0.07412122189998627 + ], + [ + 0.2462661862373352, + 0.23558160662651062, + -0.07441864907741547 + ], + [ + 0.2498718500137329, + 0.2343587875366211, + -0.0726378932595253 + ], + [ + 0.24987603724002838, + 0.23278382420539856, + -0.06951303035020828 + ], + [ + 0.2526411712169647, + 0.2318941205739975, + -0.04054322466254234 + ], + [ + 0.2555125057697296, + 0.22493082284927368, + -0.0162049550563097 + ], + [ + 0.26087525486946106, + 0.2157738357782364, + 0.0020598801784217358 + ], + [ + 0.262520968914032, + 0.21530571579933167, + 0.003705905983224511 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + -0.9456856866961186, + 0.30223656928493353, + 0.11971482015591814, + 0.31564773887751213, + 0.9417852953823221, + 0.11578843786469294, + -0.07775015703909646, + 0.14728718066588659, + -0.9860331634848241 + ], + [ + -0.9103088198668834, + 0.40224230690741014, + 0.0976676968417233, + 0.4094760526178187, + 0.909607518469278, + 0.07031020321895985, + -0.06055753301688644, + 0.10399658108787475, + -0.9927323387081444 + ], + [ + -0.8812084096632347, + 0.46505362231236336, + 0.08483435101975018, + 0.468607197402115, + 0.8829893559364312, + 0.02714943546192604, + -0.0622818856629099, + 0.06367829832145086, + -0.9960251206878049 + ], + [ + -0.849313694827684, + 0.5185886851967748, + 0.09865101805874948, + 0.5204418780225702, + 0.8538601334016813, + -0.007945073165345689, + -0.08835439648646431, + 0.04459426166159805, + -0.9950903740105063 + ], + [ + -0.8124965389325928, + 0.5788409899975516, + 0.0692277583142226, + 0.5776449008504844, + 0.8153917084730559, + -0.03824565694069841, + -0.07858589405225434, + 0.008914597693999653, + -0.9968674872840233 + ], + [ + -0.7655748051619465, + 0.6378883190842825, + 0.08362840472636468, + 0.6385408954404587, + 0.7692677808841087, + -0.022194732342073493, + -0.07849039782893949, + 0.03640842854982551, + -0.996249809926801 + ], + [ + -0.7202624426699268, + 0.6908002088000568, + 0.06338047965224065, + 0.6886614366509017, + 0.723032320885102, + -0.0544948495311114, + -0.08347118873638999, + 0.004397098736726883, + -0.9965004898010001 + ], + [ + -0.684625837426671, + 0.7267025943731825, + 0.05648718491051542, + 0.7241869333851879, + 0.6869520594097102, + -0.060416500948953206, + -0.08270881598708983, + -0.0004554163406581338, + -0.9965736522475246 + ], + [ + -0.653984405019667, + 0.7555730852879772, + 0.037599345466103704, + 0.7533654357849473, + 0.654988332618331, + -0.0585730680297268, + -0.06888336632038713, + -0.00997982576329736, + -0.997574801667577 + ], + [ + -0.6559365261501718, + 0.7547162378908784, + 0.01227493078938345, + 0.7531521622243612, + 0.6554832374189542, + -0.05570947854303443, + -0.050090859433780215, + -0.027296991163977005, + -0.9983715641356075 + ], + [ + -0.6361637454696507, + 0.7712159278153085, + -0.02284035100427501, + 0.7715082042428919, + 0.6355243391065906, + -0.029730543033041974, + -0.008413069352725993, + -0.036535011798332157, + -0.9992969594554774 + ], + [ + -0.6364405872068384, + 0.7696404616256965, + -0.05096016860646723, + 0.7710357630270129, + 0.6366227243234972, + -0.014675115273165507, + 0.021147838876984508, + -0.048631951467254186, + -0.998592861083695 + ], + [ + -0.6355354811082139, + 0.7693298721719234, + -0.06500923039448521, + 0.771546068702407, + 0.6359538321317422, + -0.016714881597328677, + 0.028483611470666484, + -0.0607805164578592, + -0.9977446630760318 + ], + [ + -0.6347596456979075, + 0.770578351485702, + -0.05735151624015945, + 0.772360193383799, + 0.634954496691669, + -0.017103181200304286, + 0.02323626195428279, + -0.05515243741311589, + -0.9982075359251625 + ], + [ + -0.6307299864931404, + 0.7733922989368599, + -0.06359273609085786, + 0.7755847234508225, + 0.6309585004790907, + -0.01896595430997604, + 0.025456254399926402, + -0.06128395074026985, + -0.9977956987748495 + ], + [ + -0.6295958428674282, + 0.7749063212697214, + -0.05593985967340197, + 0.7768453236311845, + 0.6289160625510395, + -0.031239869040332283, + 0.01097350429046189, + -0.06312511007138308, + -0.9979452904253133 + ], + [ + -0.6427373441061892, + 0.7660717455377202, + 0.004773591950752377, + 0.7650557273452894, + 0.6421831277668835, + -0.0478598419106521, + -0.03972959284326957, + -0.02710924381706214, + -0.9988426544517284 + ], + [ + -0.670825108076511, + 0.7382174610108632, + 0.0709130075008228, + 0.7368769988328532, + 0.6742767293211428, + -0.04861255894385004, + -0.08370163060075039, + 0.019643639038033955, + -0.9962972269760257 + ], + [ + -0.7552089799453507, + 0.6481707539799749, + 0.09764256395104068, + 0.6491565758094585, + 0.7602221030811831, + -0.025653344229580086, + -0.09085778278849385, + 0.04401167653990552, + -0.9948908661933253 + ], + [ + -0.8405564409974565, + 0.5227496326763241, + 0.1421185808909506, + 0.5260122042161404, + 0.8503150344094902, + -0.016598291263410635, + -0.12952231666151912, + 0.06080430736350715, + -0.9897104655871218 + ], + [ + -0.9155933934686215, + 0.36160499234938476, + 0.175870882594634, + 0.3682053902641778, + 0.92972938509498, + 0.005297270175732116, + -0.16159680818945224, + 0.0696067525381813, + -0.9843989900360879 + ], + [ + -0.9587438050899837, + 0.22470074249362817, + 0.17412608226337437, + 0.2324768201528579, + 0.9722712886412297, + 0.025358812581396793, + -0.16359964637246313, + 0.06479288237711633, + -0.9843967889525392 + ], + [ + -0.9816000496269375, + 0.127390144464857, + 0.1422430794999061, + 0.1355026787507537, + 0.9895722896119485, + 0.04884370669324504, + -0.1345376030103249, + 0.0672193032200466, + -0.9886259144139645 + ], + [ + -0.994623691179092, + 0.026663207622719946, + 0.10006391109958265, + 0.03272449337891365, + 0.9976959464914164, + 0.05942984004428878, + -0.09824876833004517, + 0.06238486766728003, + -0.9932045649350211 + ], + [ + -0.9978544212602168, + -0.012311787468603641, + 0.06430376241531907, + -0.006130378323230113, + 0.9954148755142626, + 0.09545493212264836, + -0.06518414249686758, + 0.09485591965846554, + -0.993354610435113 + ], + [ + -0.9996081478573281, + -0.0256359657683437, + 0.011240462462300515, + -0.024233270165195216, + 0.9935367486086527, + 0.11089399344079758, + -0.014010687147414881, + 0.11057814622822769, + -0.9937686723892971 + ], + [ + -0.9992694142807638, + -0.03275260508131936, + -0.019695292416393277, + -0.0347081999776173, + 0.9934461737437966, + 0.1089038141119261, + 0.015999329276373778, + 0.10950783868837136, + -0.9938571601233794 + ], + [ + -0.9986154233389419, + -0.04376490615614819, + -0.02918679939167116, + -0.04671022605972878, + 0.9929071284688069, + 0.10933247009593075, + 0.024194855879611038, + 0.110544412907085, + -0.993576641092167 + ], + [ + -0.998138449763431, + -0.05332691058996286, + -0.029595197427704518, + -0.055808065967118584, + 0.9943271896179166, + 0.09054777611595782, + 0.024598676323421168, + 0.09203086761226359, + -0.9954522713468837 + ], + [ + -0.9983528463472484, + -0.05379799098992934, + -0.019934150490922998, + -0.05509135689226255, + 0.995931693290371, + 0.07130921886785421, + 0.016016759538578302, + 0.07228996102656068, + -0.9972550450855896 + ], + [ + -0.9988403698799413, + -0.04557930076362048, + -0.015506219397431069, + -0.046498554858529696, + 0.9967845226595617, + 0.06525718184550812, + 0.012481982782000078, + 0.06590252444518978, + -0.9977479929208481 + ], + [ + -0.9978531703667418, + -0.06113344954951934, + 0.02348939622932976, + -0.05887267808158529, + 0.9944509707846044, + 0.08718528821458349, + -0.028688990301927744, + 0.08561523259172013, + -0.9959151438670474 + ], + [ + -0.9945803440059595, + -0.055935421473555264, + 0.08764227257187504, + -0.047079015646428884, + 0.9938680334504242, + 0.1000494796145861, + -0.09270116289858726, + 0.0953811339309924, + -0.9911149951883925 + ], + [ + -0.990088559909951, + -0.010182687828292583, + 0.1400748243048365, + 0.004784795832553184, + 0.9943435541998177, + 0.10610373202727061, + -0.14036291983383667, + 0.1057223206795311, + -0.9844394555511548 + ], + [ + -0.989317658690388, + -0.0005986304949609127, + 0.14577452399133467, + 0.015751813710648842, + 0.9936975341741858, + 0.11098239022911915, + -0.1449222224787997, + 0.11209305160300512, + -0.9830730884395787 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005637.json b/json/chunk-0005/episode_0005637.json new file mode 100644 index 0000000000000000000000000000000000000000..9871b3e4da6e25d7f3bb7da679ef5dec1a07d7ff --- /dev/null +++ b/json/chunk-0005/episode_0005637.json @@ -0,0 +1,2122 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 34, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the orange cloth to the far edge of the table." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005637.mp4", + "start": 0, + "end": 34, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.25415322184562683, + 0.09749015420675278, + 0.13030819594860077, + 0.05107784643769264, + -0.042841434478759766, + -0.12533028423786163, + 0.0, + 0.9994885921478271 + ], + [ + 0.2523265480995178, + 0.09509535878896713, + 0.12322285026311874, + 0.042120013386011124, + -0.02023126184940338, + -0.1215205118060112, + 0.0, + 0.9994885921478271 + ], + [ + 0.25023800134658813, + 0.06628631800413132, + 0.11131754517555237, + 0.03497760370373726, + -0.0074825831688940525, + -0.14607596397399902, + 0.0, + 0.9994885921478271 + ], + [ + 0.24451735615730286, + 0.04092952981591225, + 0.11142991483211517, + 0.051959648728370667, + -0.06308329105377197, + -0.1483399122953415, + 0.0, + 0.9994885921478271 + ], + [ + 0.24165377020835876, + 0.02467590570449829, + 0.09577516466379166, + 0.05427566170692444, + -0.0905943363904953, + -0.1356336921453476, + 0.0, + 0.9994885921478271 + ], + [ + 0.24766936898231506, + 0.02266274392604828, + 0.08490870147943497, + 0.06166050210595131, + -0.14366240799427032, + -0.11226097494363785, + 0.0, + 0.9994885921478271 + ], + [ + 0.2537967264652252, + 0.02064373344182968, + 0.07276356220245361, + 0.04527801275253296, + -0.1496596783399582, + -0.10051846504211426, + 0.0, + 0.9994885921478271 + ], + [ + 0.2563053369522095, + 0.012849045917391777, + 0.057718925178050995, + 0.01728757470846176, + -0.12310054153203964, + -0.11469291150569916, + 0.0, + 0.9994885921478271 + ], + [ + 0.2587147653102875, + 0.0028272303752601147, + 0.04283403605222702, + 0.006772154476493597, + -0.09846697002649307, + -0.15052233636379242, + 0.0, + 0.9994885921478271 + ], + [ + 0.2607426941394806, + -0.004635470919311047, + 0.03098590113222599, + 0.014670342206954956, + -0.08465088903903961, + -0.17811313271522522, + 0.0, + 0.9994885921478271 + ], + [ + 0.26177796721458435, + -0.0019140982767567039, + 0.015462529845535755, + 0.03161370009183884, + -0.06016526371240616, + -0.19203731417655945, + 0.0, + 0.9994885921478271 + ], + [ + 0.2650059163570404, + 0.0017154840752482414, + 0.006749547552317381, + 0.054968010634183884, + -0.051520854234695435, + -0.21159380674362183, + 0.0, + 1.0001531839370728 + ], + [ + 0.26825496554374695, + 0.00467227166518569, + 0.005176718346774578, + 0.05277620628476143, + -0.057347461581230164, + -0.21341565251350403, + 0.0, + 1.0001531839370728 + ], + [ + 0.2722972631454468, + 0.007845297455787659, + 0.004444580990821123, + 0.0333205983042717, + -0.06993308663368225, + -0.19379839301109314, + 0.0, + 0.9994885921478271 + ], + [ + 0.27510157227516174, + 0.008433308452367783, + 0.004033678211271763, + 0.033581797033548355, + -0.0742708072066307, + -0.20688103139400482, + 0.0, + 0.9994885921478271 + ], + [ + 0.2967635989189148, + 0.01136602833867073, + 0.004327576141804457, + 0.032293953001499176, + -0.10420522838830948, + -0.21422195434570312, + 0.0, + 0.9994885921478271 + ], + [ + 0.31787335872650146, + 0.011835058219730854, + 0.0039019056130200624, + 0.03360532596707344, + -0.11173176020383835, + -0.22423355281352997, + 0.0, + 0.9994885921478271 + ], + [ + 0.34092575311660767, + 0.008207797072827816, + 0.0034940317273139954, + 0.029693325981497765, + -0.11592954397201538, + -0.23533567786216736, + 0.0, + 0.9994885921478271 + ], + [ + 0.3535585105419159, + 4.486333273234777e-05, + 0.0038815129082649946, + 0.02780657447874546, + -0.11958835273981094, + -0.2531315088272095, + 0.0, + 0.9994885921478271 + ], + [ + 0.36210671067237854, + -0.0026325914077460766, + 0.004206691402941942, + 0.020769987255334854, + -0.12293447554111481, + -0.24812446534633636, + 0.0, + 0.9994885921478271 + ], + [ + 0.3708072006702423, + -0.0036386167630553246, + 0.00424582976847887, + 0.013867415487766266, + -0.11185670644044876, + -0.23675751686096191, + 0.0, + 0.9994885921478271 + ], + [ + 0.3800497055053711, + -0.004136823117733002, + 0.0048392643220722675, + 0.01375278178602457, + -0.10869839042425156, + -0.23652130365371704, + 0.0, + 0.9994885921478271 + ], + [ + 0.3885466754436493, + -0.005354221910238266, + 0.005335303023457527, + 0.004946132656186819, + -0.10449318587779999, + -0.23386695981025696, + 0.0, + 0.9994885921478271 + ], + [ + 0.39541277289390564, + -0.006399126723408699, + 0.006190482061356306, + -0.0020016864873468876, + -0.10451390594244003, + -0.2294241487979889, + 0.0, + 0.9994885921478271 + ], + [ + 0.398690402507782, + -0.007892880588769913, + 0.0063154730014503, + -0.004949766211211681, + -0.0988975241780281, + -0.2318725287914276, + 0.0, + 0.9994885921478271 + ], + [ + 0.39935359358787537, + -0.00956928450614214, + 0.006707079242914915, + -0.0044931587763130665, + -0.09565260261297226, + -0.23755227029323578, + 0.0, + 0.9994885921478271 + ], + [ + 0.3940013349056244, + -0.013137922622263432, + 0.008503236807882786, + -0.006620581727474928, + -0.08669794350862503, + -0.24668774008750916, + 0.0, + 0.9988223910331726 + ], + [ + 0.3920435905456543, + -0.0186022836714983, + 0.02342458814382553, + -0.009525532834231853, + -0.09371181577444077, + -0.2587823271751404, + 0.0, + 0.9974852800369263 + ], + [ + 0.3996695280075073, + -0.02127320133149624, + 0.054730743169784546, + -0.007203695829957724, + -0.1458858698606491, + -0.27496856451034546, + 0.0, + 0.9994885921478271 + ], + [ + 0.4017985165119171, + -0.018349627032876015, + 0.0688629150390625, + -0.02750116027891636, + -0.15265117585659027, + -0.2764931917190552, + 0.0, + 0.9994885921478271 + ], + [ + 0.3975267708301544, + -0.010812219232320786, + 0.08887185901403427, + -0.028690330684185028, + -0.16678598523139954, + -0.26924794912338257, + 0.0, + 0.9994885921478271 + ], + [ + 0.39103037118911743, + -0.006412469781935215, + 0.12148269265890121, + -0.04361860081553459, + -0.2123638242483139, + -0.24162013828754425, + 0.0, + 0.9994885921478271 + ], + [ + 0.38270461559295654, + 0.005062735639512539, + 0.1416921466588974, + -0.05516153201460838, + -0.22639909386634827, + -0.22464324533939362, + 0.0, + 0.9994885921478271 + ], + [ + 0.3776409924030304, + 0.015526633709669113, + 0.151482492685318, + -0.055437613278627396, + -0.2229022979736328, + -0.2072615623474121, + 0.0, + 0.9994885921478271 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9974852800369263 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.25415322184562683, + 0.09749015420675278, + 0.13030819594860077 + ], + [ + 0.2523265480995178, + 0.09509535878896713, + 0.12322285026311874 + ], + [ + 0.25023800134658813, + 0.06628631800413132, + 0.11131754517555237 + ], + [ + 0.24451735615730286, + 0.04092952981591225, + 0.11142991483211517 + ], + [ + 0.24165377020835876, + 0.02467590570449829, + 0.09577516466379166 + ], + [ + 0.24766936898231506, + 0.02266274392604828, + 0.08490870147943497 + ], + [ + 0.2537967264652252, + 0.02064373344182968, + 0.07276356220245361 + ], + [ + 0.2563053369522095, + 0.012849045917391777, + 0.057718925178050995 + ], + [ + 0.2587147653102875, + 0.0028272303752601147, + 0.04283403605222702 + ], + [ + 0.2607426941394806, + -0.004635470919311047, + 0.03098590113222599 + ], + [ + 0.26177796721458435, + -0.0019140982767567039, + 0.015462529845535755 + ], + [ + 0.2650059163570404, + 0.0017154840752482414, + 0.006749547552317381 + ], + [ + 0.26825496554374695, + 0.00467227166518569, + 0.005176718346774578 + ], + [ + 0.2722972631454468, + 0.007845297455787659, + 0.004444580990821123 + ], + [ + 0.27510157227516174, + 0.008433308452367783, + 0.004033678211271763 + ], + [ + 0.2967635989189148, + 0.01136602833867073, + 0.004327576141804457 + ], + [ + 0.31787335872650146, + 0.011835058219730854, + 0.0039019056130200624 + ], + [ + 0.34092575311660767, + 0.008207797072827816, + 0.0034940317273139954 + ], + [ + 0.3535585105419159, + 4.486333273234777e-05, + 0.0038815129082649946 + ], + [ + 0.36210671067237854, + -0.0026325914077460766, + 0.004206691402941942 + ], + [ + 0.3708072006702423, + -0.0036386167630553246, + 0.00424582976847887 + ], + [ + 0.3800497055053711, + -0.004136823117733002, + 0.0048392643220722675 + ], + [ + 0.3885466754436493, + -0.005354221910238266, + 0.005335303023457527 + ], + [ + 0.39541277289390564, + -0.006399126723408699, + 0.006190482061356306 + ], + [ + 0.398690402507782, + -0.007892880588769913, + 0.0063154730014503 + ], + [ + 0.39935359358787537, + -0.00956928450614214, + 0.006707079242914915 + ], + [ + 0.3940013349056244, + -0.013137922622263432, + 0.008503236807882786 + ], + [ + 0.3920435905456543, + -0.0186022836714983, + 0.02342458814382553 + ], + [ + 0.3996695280075073, + -0.02127320133149624, + 0.054730743169784546 + ], + [ + 0.4017985165119171, + -0.018349627032876015, + 0.0688629150390625 + ], + [ + 0.3975267708301544, + -0.010812219232320786, + 0.08887185901403427 + ], + [ + 0.39103037118911743, + -0.006412469781935215, + 0.12148269265890121 + ], + [ + 0.38270461559295654, + 0.005062735639512539, + 0.1416921466588974 + ], + [ + 0.3776409924030304, + 0.015526633709669113, + 0.151482492685318 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9912460780039447, + -0.12266993010727181, + 0.04881906481359732, + -0.12488773735841174, + -0.9911358086911778, + 0.04530851782591261, + 0.04282833056860303, + -0.051008793139631525, + -0.9977794531474099 + ], + [ + 0.9924223285988172, + -0.12026858297238041, + 0.02516723362464509, + -0.12119683817112559, + -0.9918483487551661, + 0.039346912064008595, + 0.020229881755062552, + -0.04209894323455731, + -0.9989086198760676 + ], + [ + 0.9893221682280996, + -0.1452091078031796, + 0.012488493242035993, + -0.14555294379190412, + -0.9887828121319868, + 0.03350956558762002, + 0.00748251334530123, + -0.03496949303842959, + -0.9993603687112436 + ], + [ + 0.9870505493188267, + -0.14435883352989484, + 0.06994097705416043, + -0.1475024999452794, + -0.9881669245844463, + 0.042061165785200895, + 0.06304145936838192, + -0.05183296575737687, + -0.9966639945646173 + ], + [ + 0.9867526454002157, + -0.1301562345300035, + 0.0968430245740355, + -0.13466369924969965, + -0.9900204475211699, + 0.04153554615470148, + 0.09047046424144715, + -0.05402654998196363, + -0.9944326156140414 + ], + [ + 0.9834684897975134, + -0.10304570368298707, + 0.14890034428394072, + -0.11087127600315033, + -0.9928052244906517, + 0.04522550587334463, + 0.14316874565641524, + -0.06098663112965573, + -0.9878174634468778 + ], + [ + 0.9838305732489038, + -0.09353177966497235, + 0.15273902361032926, + -0.099227561580066, + -0.9946097996418002, + 0.030087164694807586, + 0.1491016236115753, + -0.04475659336009982, + -0.9878084597669687 + ], + [ + 0.9859123839366497, + -0.11231583469208174, + 0.1239432308670934, + -0.1135756078332258, + -0.9935244478027306, + 0.003122967113641381, + 0.12278987134803075, + -0.017155899734509896, + -0.9922843960269827 + ], + [ + 0.9839037008681571, + -0.14929292088853188, + 0.0982096288075385, + -0.14922820969358622, + -0.9887700468877165, + -0.00804585665482393, + 0.09830792872190416, + -0.0067392989422846656, + -0.9951332237445273 + ], + [ + 0.9806556470878354, + -0.17593310015294372, + 0.0858023665484431, + -0.17653846202918222, + -0.9842935939997309, + -0.0005405880723633747, + 0.08454982707912594, + -0.014617287083014824, + -0.9963120302692439 + ], + [ + 0.9798413100476344, + -0.188898140859688, + 0.06502691368878799, + -0.1905138153834228, + -0.9814896899444079, + 0.019556959908972743, + 0.06012897198677789, + -0.03155124264721644, + -0.9976918491273895 + ], + [ + 0.976400115613095, + -0.2069350033704343, + 0.061811961713030196, + -0.20973975204745016, + -0.976814961564395, + 0.042915816140717974, + 0.05149806444720902, + -0.05486743336468479, + -0.9971647377009293 + ], + [ + 0.9757065644756421, + -0.2085494695530845, + 0.06711049685605472, + -0.21145111104012543, + -0.976592810500918, + 0.03943234862158661, + 0.05731603335050332, + -0.05266499052544171, + -0.9969660330692911 + ], + [ + 0.9788812288129095, + -0.19019635604212537, + 0.07494588731895403, + -0.19211681563562988, + -0.9811834251287913, + 0.019240982369905388, + 0.06987609768550097, + -0.033233001682524695, + -0.9970019551492443 + ], + [ + 0.9759783128914469, + -0.2028543696833293, + 0.07947601818123692, + -0.20484217132427265, + -0.9786362953014915, + 0.0176262975615767, + 0.07420254451649524, + -0.033482924289122196, + -0.9966809299712354 + ], + [ + 0.9718416305897453, + -0.2091946286523177, + 0.10845023003979186, + -0.21143406199284448, + -0.977346586502612, + 0.009449194722215663, + 0.10401674135383625, + -0.03211319346796968, + -0.9940569703610642 + ], + [ + 0.968885424821125, + -0.2185811422789511, + 0.11611768947587973, + -0.22097264741691863, + -0.9752473665163426, + 0.007978922013439489, + 0.11149942897946187, + -0.03338949450002676, + -0.9932034126976641 + ], + [ + 0.9659088365525167, + -0.2297271736340055, + 0.11935470314945501, + -0.23160431918168997, + -0.9728081950665123, + 0.001911791782599575, + 0.1156700428207274, + -0.029489681340523658, + -0.9928498375324866 + ], + [ + 0.9612183555300744, + -0.24712879412921693, + 0.12241990076902852, + -0.24864823636082958, + -0.9685893635808361, + -0.002949459733585817, + 0.11930351020279618, + -0.027604417586867172, + -0.9924740140593009 + ], + [ + 0.9620589279848912, + -0.2430645829403522, + 0.12394445370646522, + -0.2437328735764647, + -0.9697910929950571, + -0.00997608568584675, + 0.12262506033727573, + -0.02061175556533073, + -0.9922390085608377 + ], + [ + 0.9660285096474414, + -0.23302458209464316, + 0.1117517905358117, + -0.23308601745577567, + -0.9723732036570003, + -0.012698869100326662, + 0.11162359524289149, + -0.013780310208347885, + -0.993655008559617 + ], + [ + 0.9664214492512746, + -0.232849666036725, + 0.10867665551373962, + -0.23293926930929162, + -0.9724166451463844, + -0.012048446202910932, + 0.10848446543500923, + -0.013671183885704898, + -0.9940041345439383 + ], + [ + 0.9674715737510791, + -0.23123625268558923, + 0.10260872003653901, + -0.2304769197364584, + -0.9728851923854381, + -0.019359543020001795, + 0.10430313251482248, + -0.0049191341794592785, + -0.9945333874066371 + ], + [ + 0.9684838827951437, + -0.2276196947935806, + 0.10113477793578009, + -0.22617587434187844, + -0.9737480738906739, + -0.025674159380386537, + 0.10432373954057221, + 0.00199076273822134, + -0.994541398953302 + ], + [ + 0.9684821884468466, + -0.23027316688762361, + 0.09495535410260444, + -0.2286774503832818, + -0.9731135635029265, + -0.027506657609335912, + 0.09873638816266297, + 0.004925559681922473, + -0.9951014342841696 + ], + [ + 0.967474047100634, + -0.23573904311147123, + 0.09176639766062446, + -0.23424862378701952, + -0.9718061017311619, + -0.026841812382360362, + 0.09550680834687834, + 0.004472604495184444, + -0.9954187286606687 + ], + [ + 0.9660843626032601, + -0.2447438795244465, + 0.08234948554044157, + -0.24327614930125072, + -0.9695653307587554, + -0.027564190026564683, + 0.08658937298888207, + 0.006595667213271239, + -0.996222253144048 + ], + [ + 0.9624606635090053, + -0.2567536611747317, + 0.08801720667673814, + -0.25478077631853085, + -0.966430348716827, + -0.03315323660818343, + 0.09357471462062435, + 0.00948359385689535, + -0.9955670917779602 + ], + [ + 0.9522102965604113, + -0.2725174834049301, + 0.13794844095885125, + -0.2686325009356739, + -0.9621244334795176, + -0.04640208985340082, + 0.14536894635849565, + 0.0071271130453762835, + -0.9893518452473113 + ], + [ + 0.9508317392024916, + -0.27690295662174697, + 0.1387218668390103, + -0.2698093051256362, + -0.9605134629378441, + -0.06794723234078301, + 0.15205901023216786, + 0.027177934603018088, + -0.9879976808059459 + ], + [ + 0.9505946053613206, + -0.27048784054204444, + 0.15233589326503522, + -0.26231529799233566, + -0.9623076944130521, + -0.07179544353667332, + 0.16601379670722194, + 0.02828832607873859, + -0.9857176015018275 + ], + [ + 0.94913956959709, + -0.24797208757526357, + 0.19402041441203166, + -0.23390078045960205, + -0.9678289804666375, + -0.09272264809256761, + 0.21077120848313163, + 0.04262520794641244, + -0.9766056467797457 + ], + [ + 0.9499958450744991, + -0.23448463678900505, + 0.20621554124535854, + -0.21707401067265575, + -0.9706340229922134, + -0.10367481516954141, + 0.22446997178169628, + 0.05372660904876855, + -0.972998809479459 + ], + [ + 0.9543875575383872, + -0.21745138211120668, + 0.20459542134133493, + -0.20068982116160822, + -0.974574136847933, + -0.09964360224936067, + 0.2210610451844334, + 0.054038395655617466, + -0.973761709093623 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0018266737461090088, + -0.0023947954177856445, + -0.007085345685482025, + -0.008957833051681519, + 0.022610172629356384, + 0.0038097724318504333, + 1.0 + ], + [ + -0.0020885467529296875, + -0.028809040784835815, + -0.011905305087566376, + -0.007142409682273865, + 0.012748679146170616, + -0.024555452167987823, + 1.0 + ], + [ + -0.005720645189285278, + -0.02535678818821907, + 0.00011236965656280518, + 0.016982045024633408, + -0.05560070648789406, + -0.0022639483213424683, + 1.0 + ], + [ + -0.002863585948944092, + -0.016253624111413956, + -0.015654750168323517, + 0.002316012978553772, + -0.027511045336723328, + 0.012706220149993896, + 1.0 + ], + [ + 0.006015598773956299, + -0.002013161778450012, + -0.01086646318435669, + 0.007384840399026871, + -0.053068071603775024, + 0.023372717201709747, + 1.0 + ], + [ + 0.006127357482910156, + -0.0020190104842185974, + -0.012145139276981354, + -0.01638248935341835, + -0.005997270345687866, + 0.01174250990152359, + 1.0 + ], + [ + 0.002508610486984253, + -0.007794687524437904, + -0.015044637024402618, + -0.027990438044071198, + 0.02655913680791855, + -0.0141744464635849, + 1.0 + ], + [ + 0.002409428358078003, + -0.010021815076470375, + -0.014884889125823975, + -0.010515419766306877, + 0.02463357150554657, + -0.03582942485809326, + 1.0 + ], + [ + 0.0020279288291931152, + -0.007462701294571161, + -0.01184813492000103, + 0.007898187264800072, + 0.01381608098745346, + -0.0275907963514328, + 1.0 + ], + [ + 0.0010352730751037598, + 0.002721372526139021, + -0.015523371286690235, + 0.01694335788488388, + 0.024485625326633453, + -0.013924181461334229, + 1.0 + ], + [ + 0.0032279491424560547, + 0.003629582468420267, + -0.008712982758879662, + 0.023354310542345047, + 0.008644409477710724, + -0.019556492567062378, + 1.0 + ], + [ + 0.003249049186706543, + 0.0029567875899374485, + -0.0015728292055428028, + -0.002191804349422455, + -0.005826607346534729, + -0.0018218457698822021, + 1.0 + ], + [ + 0.004042297601699829, + 0.0031730257906019688, + -0.000732137355953455, + -0.01945560798048973, + -0.012585625052452087, + 0.01961725950241089, + 1.0 + ], + [ + 0.002804309129714966, + 0.0005880109965801239, + -0.0004109027795493603, + 0.0002611987292766571, + -0.004337720572948456, + -0.013082638382911682, + 1.0 + ], + [ + 0.021662026643753052, + 0.002932719886302948, + 0.00029389793053269386, + -0.001287844032049179, + -0.029934421181678772, + -0.007340922951698303, + 1.0 + ], + [ + 0.02110975980758667, + 0.00046902988106012344, + -0.00042567052878439426, + 0.0013113729655742645, + -0.00752653181552887, + -0.010011598467826843, + 1.0 + ], + [ + 0.0230523943901062, + -0.003627261146903038, + -0.0004078738857060671, + -0.003911999985575676, + -0.0041977837681770325, + -0.01110212504863739, + 1.0 + ], + [ + 0.012632757425308228, + -0.00816293340176344, + 0.00038748118095099926, + -0.001886751502752304, + -0.0036588087677955627, + -0.017795830965042114, + 1.0 + ], + [ + 0.008548200130462646, + -0.0026774548459798098, + 0.0003251784946769476, + -0.007036587223410606, + -0.0033461228013038635, + 0.005007043480873108, + 1.0 + ], + [ + 0.00870048999786377, + -0.001006025355309248, + 3.913836553692818e-05, + -0.006902571767568588, + 0.011077769100666046, + 0.01136694848537445, + 1.0 + ], + [ + 0.009242504835128784, + -0.0004982063546776772, + 0.0005934345535933971, + -0.0001146337017416954, + 0.0031583160161972046, + 0.00023621320724487305, + 1.0 + ], + [ + 0.008496969938278198, + -0.0012173987925052643, + 0.0004960387013852596, + -0.008806649595499039, + 0.004205204546451569, + 0.002654343843460083, + 1.0 + ], + [ + 0.006866097450256348, + -0.001044904813170433, + 0.0008551790378987789, + -0.006947819143533707, + -2.0720064640045166e-05, + 0.004442811012268066, + 1.0 + ], + [ + 0.0032776296138763428, + -0.0014937538653612137, + 0.00012499094009399414, + -0.0029480797238647938, + 0.005616381764411926, + -0.0024483799934387207, + 1.0 + ], + [ + 0.0006631910800933838, + -0.0016764039173722267, + 0.00039160624146461487, + 0.0004566074348986149, + 0.003244921565055847, + -0.0056797415018081665, + 1.0 + ], + [ + -0.0053522586822509766, + -0.003568638116121292, + 0.0017961575649678707, + -0.0021274229511618614, + 0.008954659104347229, + -0.009135469794273376, + 1.0 + ], + [ + -0.0019577443599700928, + -0.005464361049234867, + 0.014921351335942745, + -0.0029049511067569256, + -0.007013872265815735, + -0.012094587087631226, + 1.0 + ], + [ + 0.007625937461853027, + -0.00267091765999794, + 0.031306155025959015, + 0.00232183700427413, + -0.052174054086208344, + -0.016186237335205078, + 1.0 + ], + [ + 0.00212898850440979, + 0.002923574298620224, + 0.014132171869277954, + -0.020297463983297348, + -0.006765305995941162, + -0.0015246272087097168, + 1.0 + ], + [ + -0.004271745681762695, + 0.007537407800555229, + 0.02000894397497177, + -0.0011891704052686691, + -0.014134809374809265, + 0.007245242595672607, + 1.0 + ], + [ + -0.006496399641036987, + 0.0043997494503855705, + 0.03261083364486694, + -0.014928270131349564, + -0.04557783901691437, + 0.027627810835838318, + 1.0 + ], + [ + -0.008325755596160889, + 0.011475205421447754, + 0.020209453999996185, + -0.011542931199073792, + -0.014035269618034363, + 0.016976892948150635, + 1.0 + ], + [ + -0.0050636231899261475, + 0.010463898070156574, + 0.009790346026420593, + -0.00027608126401901245, + 0.003496795892715454, + 0.017381682991981506, + 1.0 + ], + [ + -0.003004103899002075, + 0.01083633303642273, + -0.0004744231700897217, + -0.0017760060727596283, + 0.014459386467933655, + 0.01991477608680725, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9974852800369263 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2523265480995178, + 0.09509535878896713, + 0.12322285026311874 + ], + [ + 0.25023800134658813, + 0.06628631800413132, + 0.11131754517555237 + ], + [ + 0.24451735615730286, + 0.04092952981591225, + 0.11142991483211517 + ], + [ + 0.24165377020835876, + 0.02467590570449829, + 0.09577516466379166 + ], + [ + 0.24766936898231506, + 0.02266274392604828, + 0.08490870147943497 + ], + [ + 0.2537967264652252, + 0.02064373344182968, + 0.07276356220245361 + ], + [ + 0.2563053369522095, + 0.012849045917391777, + 0.057718925178050995 + ], + [ + 0.2587147653102875, + 0.0028272303752601147, + 0.04283403605222702 + ], + [ + 0.2607426941394806, + -0.004635470919311047, + 0.03098590113222599 + ], + [ + 0.26177796721458435, + -0.0019140982767567039, + 0.015462529845535755 + ], + [ + 0.2650059163570404, + 0.0017154840752482414, + 0.006749547552317381 + ], + [ + 0.26825496554374695, + 0.00467227166518569, + 0.005176718346774578 + ], + [ + 0.2722972631454468, + 0.007845297455787659, + 0.004444580990821123 + ], + [ + 0.27510157227516174, + 0.008433308452367783, + 0.004033678211271763 + ], + [ + 0.2967635989189148, + 0.01136602833867073, + 0.004327576141804457 + ], + [ + 0.31787335872650146, + 0.011835058219730854, + 0.0039019056130200624 + ], + [ + 0.34092575311660767, + 0.008207797072827816, + 0.0034940317273139954 + ], + [ + 0.3535585105419159, + 4.486333273234777e-05, + 0.0038815129082649946 + ], + [ + 0.36210671067237854, + -0.0026325914077460766, + 0.004206691402941942 + ], + [ + 0.3708072006702423, + -0.0036386167630553246, + 0.00424582976847887 + ], + [ + 0.3800497055053711, + -0.004136823117733002, + 0.0048392643220722675 + ], + [ + 0.3885466754436493, + -0.005354221910238266, + 0.005335303023457527 + ], + [ + 0.39541277289390564, + -0.006399126723408699, + 0.006190482061356306 + ], + [ + 0.398690402507782, + -0.007892880588769913, + 0.0063154730014503 + ], + [ + 0.39935359358787537, + -0.00956928450614214, + 0.006707079242914915 + ], + [ + 0.3940013349056244, + -0.013137922622263432, + 0.008503236807882786 + ], + [ + 0.3920435905456543, + -0.0186022836714983, + 0.02342458814382553 + ], + [ + 0.3996695280075073, + -0.02127320133149624, + 0.054730743169784546 + ], + [ + 0.4017985165119171, + -0.018349627032876015, + 0.0688629150390625 + ], + [ + 0.3975267708301544, + -0.010812219232320786, + 0.08887185901403427 + ], + [ + 0.39103037118911743, + -0.006412469781935215, + 0.12148269265890121 + ], + [ + 0.38270461559295654, + 0.005062735639512539, + 0.1416921466588974 + ], + [ + 0.3776409924030304, + 0.015526633709669113, + 0.151482492685318 + ], + [ + 0.3746368885040283, + 0.026362966746091843, + 0.15100806951522827 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9924223285988172, + -0.12026858297238041, + 0.02516723362464509, + -0.12119683817112559, + -0.9918483487551661, + 0.039346912064008595, + 0.020229881755062552, + -0.04209894323455731, + -0.9989086198760676 + ], + [ + 0.9893221682280996, + -0.1452091078031796, + 0.012488493242035993, + -0.14555294379190412, + -0.9887828121319868, + 0.03350956558762002, + 0.00748251334530123, + -0.03496949303842959, + -0.9993603687112436 + ], + [ + 0.9870505493188267, + -0.14435883352989484, + 0.06994097705416043, + -0.1475024999452794, + -0.9881669245844463, + 0.042061165785200895, + 0.06304145936838192, + -0.05183296575737687, + -0.9966639945646173 + ], + [ + 0.9867526454002157, + -0.1301562345300035, + 0.0968430245740355, + -0.13466369924969965, + -0.9900204475211699, + 0.04153554615470148, + 0.09047046424144715, + -0.05402654998196363, + -0.9944326156140414 + ], + [ + 0.9834684897975134, + -0.10304570368298707, + 0.14890034428394072, + -0.11087127600315033, + -0.9928052244906517, + 0.04522550587334463, + 0.14316874565641524, + -0.06098663112965573, + -0.9878174634468778 + ], + [ + 0.9838305732489038, + -0.09353177966497235, + 0.15273902361032926, + -0.099227561580066, + -0.9946097996418002, + 0.030087164694807586, + 0.1491016236115753, + -0.04475659336009982, + -0.9878084597669687 + ], + [ + 0.9859123839366497, + -0.11231583469208174, + 0.1239432308670934, + -0.1135756078332258, + -0.9935244478027306, + 0.003122967113641381, + 0.12278987134803075, + -0.017155899734509896, + -0.9922843960269827 + ], + [ + 0.9839037008681571, + -0.14929292088853188, + 0.0982096288075385, + -0.14922820969358622, + -0.9887700468877165, + -0.00804585665482393, + 0.09830792872190416, + -0.0067392989422846656, + -0.9951332237445273 + ], + [ + 0.9806556470878354, + -0.17593310015294372, + 0.0858023665484431, + -0.17653846202918222, + -0.9842935939997309, + -0.0005405880723633747, + 0.08454982707912594, + -0.014617287083014824, + -0.9963120302692439 + ], + [ + 0.9798413100476344, + -0.188898140859688, + 0.06502691368878799, + -0.1905138153834228, + -0.9814896899444079, + 0.019556959908972743, + 0.06012897198677789, + -0.03155124264721644, + -0.9976918491273895 + ], + [ + 0.976400115613095, + -0.2069350033704343, + 0.061811961713030196, + -0.20973975204745016, + -0.976814961564395, + 0.042915816140717974, + 0.05149806444720902, + -0.05486743336468479, + -0.9971647377009293 + ], + [ + 0.9757065644756421, + -0.2085494695530845, + 0.06711049685605472, + -0.21145111104012543, + -0.976592810500918, + 0.03943234862158661, + 0.05731603335050332, + -0.05266499052544171, + -0.9969660330692911 + ], + [ + 0.9788812288129095, + -0.19019635604212537, + 0.07494588731895403, + -0.19211681563562988, + -0.9811834251287913, + 0.019240982369905388, + 0.06987609768550097, + -0.033233001682524695, + -0.9970019551492443 + ], + [ + 0.9759783128914469, + -0.2028543696833293, + 0.07947601818123692, + -0.20484217132427265, + -0.9786362953014915, + 0.0176262975615767, + 0.07420254451649524, + -0.033482924289122196, + -0.9966809299712354 + ], + [ + 0.9718416305897453, + -0.2091946286523177, + 0.10845023003979186, + -0.21143406199284448, + -0.977346586502612, + 0.009449194722215663, + 0.10401674135383625, + -0.03211319346796968, + -0.9940569703610642 + ], + [ + 0.968885424821125, + -0.2185811422789511, + 0.11611768947587973, + -0.22097264741691863, + -0.9752473665163426, + 0.007978922013439489, + 0.11149942897946187, + -0.03338949450002676, + -0.9932034126976641 + ], + [ + 0.9659088365525167, + -0.2297271736340055, + 0.11935470314945501, + -0.23160431918168997, + -0.9728081950665123, + 0.001911791782599575, + 0.1156700428207274, + -0.029489681340523658, + -0.9928498375324866 + ], + [ + 0.9612183555300744, + -0.24712879412921693, + 0.12241990076902852, + -0.24864823636082958, + -0.9685893635808361, + -0.002949459733585817, + 0.11930351020279618, + -0.027604417586867172, + -0.9924740140593009 + ], + [ + 0.9620589279848912, + -0.2430645829403522, + 0.12394445370646522, + -0.2437328735764647, + -0.9697910929950571, + -0.00997608568584675, + 0.12262506033727573, + -0.02061175556533073, + -0.9922390085608377 + ], + [ + 0.9660285096474414, + -0.23302458209464316, + 0.1117517905358117, + -0.23308601745577567, + -0.9723732036570003, + -0.012698869100326662, + 0.11162359524289149, + -0.013780310208347885, + -0.993655008559617 + ], + [ + 0.9664214492512746, + -0.232849666036725, + 0.10867665551373962, + -0.23293926930929162, + -0.9724166451463844, + -0.012048446202910932, + 0.10848446543500923, + -0.013671183885704898, + -0.9940041345439383 + ], + [ + 0.9674715737510791, + -0.23123625268558923, + 0.10260872003653901, + -0.2304769197364584, + -0.9728851923854381, + -0.019359543020001795, + 0.10430313251482248, + -0.0049191341794592785, + -0.9945333874066371 + ], + [ + 0.9684838827951437, + -0.2276196947935806, + 0.10113477793578009, + -0.22617587434187844, + -0.9737480738906739, + -0.025674159380386537, + 0.10432373954057221, + 0.00199076273822134, + -0.994541398953302 + ], + [ + 0.9684821884468466, + -0.23027316688762361, + 0.09495535410260444, + -0.2286774503832818, + -0.9731135635029265, + -0.027506657609335912, + 0.09873638816266297, + 0.004925559681922473, + -0.9951014342841696 + ], + [ + 0.967474047100634, + -0.23573904311147123, + 0.09176639766062446, + -0.23424862378701952, + -0.9718061017311619, + -0.026841812382360362, + 0.09550680834687834, + 0.004472604495184444, + -0.9954187286606687 + ], + [ + 0.9660843626032601, + -0.2447438795244465, + 0.08234948554044157, + -0.24327614930125072, + -0.9695653307587554, + -0.027564190026564683, + 0.08658937298888207, + 0.006595667213271239, + -0.996222253144048 + ], + [ + 0.9624606635090053, + -0.2567536611747317, + 0.08801720667673814, + -0.25478077631853085, + -0.966430348716827, + -0.03315323660818343, + 0.09357471462062435, + 0.00948359385689535, + -0.9955670917779602 + ], + [ + 0.9522102965604113, + -0.2725174834049301, + 0.13794844095885125, + -0.2686325009356739, + -0.9621244334795176, + -0.04640208985340082, + 0.14536894635849565, + 0.0071271130453762835, + -0.9893518452473113 + ], + [ + 0.9508317392024916, + -0.27690295662174697, + 0.1387218668390103, + -0.2698093051256362, + -0.9605134629378441, + -0.06794723234078301, + 0.15205901023216786, + 0.027177934603018088, + -0.9879976808059459 + ], + [ + 0.9505946053613206, + -0.27048784054204444, + 0.15233589326503522, + -0.26231529799233566, + -0.9623076944130521, + -0.07179544353667332, + 0.16601379670722194, + 0.02828832607873859, + -0.9857176015018275 + ], + [ + 0.94913956959709, + -0.24797208757526357, + 0.19402041441203166, + -0.23390078045960205, + -0.9678289804666375, + -0.09272264809256761, + 0.21077120848313163, + 0.04262520794641244, + -0.9766056467797457 + ], + [ + 0.9499958450744991, + -0.23448463678900505, + 0.20621554124535854, + -0.21707401067265575, + -0.9706340229922134, + -0.10367481516954141, + 0.22446997178169628, + 0.05372660904876855, + -0.972998809479459 + ], + [ + 0.9543875575383872, + -0.21745138211120668, + 0.20459542134133493, + -0.20068982116160822, + -0.974574136847933, + -0.09964360224936067, + 0.2210610451844334, + 0.054038395655617466, + -0.973761709093623 + ], + [ + 0.961234939714642, + -0.19757409477914342, + 0.19233270066213629, + -0.18222119829150665, + -0.9786902841369957, + -0.09466130481381822, + 0.20693676706906453, + 0.055944658440723785, + -0.9767534845737459 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005638.json b/json/chunk-0005/episode_0005638.json new file mode 100644 index 0000000000000000000000000000000000000000..e77850a50050fcb0c9cc04c737aa6c2ccf30ea08 --- /dev/null +++ b/json/chunk-0005/episode_0005638.json @@ -0,0 +1,2662 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 43, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut the cylinderon the surface of the table." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005638.mp4", + "start": 0, + "end": 43, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2945862412452698, + -0.06810595840215683, + 0.10132667422294617, + -0.051230210810899734, + 0.1178380697965622, + 0.23341625928878784, + 0.0, + 1.0001531839370728 + ], + [ + 0.2911714017391205, + -0.067491814494133, + 0.09133465588092804, + -0.03634144365787506, + 0.15156829357147217, + 0.23541608452796936, + 0.0, + 1.0001531839370728 + ], + [ + 0.29117462038993835, + -0.06288348138332367, + 0.091658815741539, + -0.030731763690710068, + 0.15733446180820465, + 0.22695748507976532, + 0.0, + 1.0001531839370728 + ], + [ + 0.2990986108779907, + -0.05881218612194061, + 0.09947510063648224, + -0.02178291603922844, + 0.1293664276599884, + 0.23473507165908813, + 0.0, + 1.0001531839370728 + ], + [ + 0.2995181679725647, + -0.05391344800591469, + 0.11356724053621292, + -0.009640343487262726, + 0.08241905272006989, + 0.2514130771160126, + 0.0, + 1.0001531839370728 + ], + [ + 0.2932814061641693, + -0.041924796998500824, + 0.12804973125457764, + 0.018204083666205406, + 0.05070710927248001, + 0.2884995937347412, + 0.0, + 1.0001531839370728 + ], + [ + 0.289436399936676, + -0.02426834963262081, + 0.13497626781463623, + 0.015909699723124504, + 0.038270432502031326, + 0.3473581075668335, + 0.0, + 1.0001531839370728 + ], + [ + 0.28370028734207153, + -0.010641971603035927, + 0.13556057214736938, + 0.003968946170061827, + 0.04527826979756355, + 0.3934948444366455, + 0.0, + 1.0001531839370728 + ], + [ + 0.27959930896759033, + 0.002499339170753956, + 0.13061286509037018, + 0.00570789584890008, + 0.06112392246723175, + 0.4348626434803009, + 0.0, + 1.0001531839370728 + ], + [ + 0.2762289047241211, + 0.008365948684513569, + 0.12639687955379486, + -0.001711272168904543, + 0.07765863090753555, + 0.463148832321167, + 0.0, + 1.0001531839370728 + ], + [ + 0.27103379368782043, + 0.010529221035540104, + 0.11940960586071014, + -0.008781448937952518, + 0.10226292908191681, + 0.480630487203598, + 0.0, + 1.0001531839370728 + ], + [ + 0.2706820070743561, + 0.009521057829260826, + 0.11554670333862305, + -0.013785287737846375, + 0.11403175443410873, + 0.47745853662490845, + 0.0, + 0.9994885921478271 + ], + [ + 0.27186256647109985, + 0.007282470818608999, + 0.1086067482829094, + -0.02119222842156887, + 0.1336325705051422, + 0.4781847894191742, + 0.0, + 1.0001531839370728 + ], + [ + 0.2723906338214874, + 0.007353449240326881, + 0.10701186209917068, + -0.02174983359873295, + 0.1294889599084854, + 0.48646080493927, + 0.0, + 1.0001531839370728 + ], + [ + 0.2707434296607971, + 0.006751286331564188, + 0.09644544124603271, + -0.005592844914644957, + 0.17273291945457458, + 0.4896796941757202, + 0.0, + 1.0001531839370728 + ], + [ + 0.2706097364425659, + 0.006913341581821442, + 0.09560544043779373, + -0.002494080690667033, + 0.1789727658033371, + 0.5027467012405396, + 0.0, + 1.0001531839370728 + ], + [ + 0.2702098786830902, + 0.007119469344615936, + 0.09569381177425385, + -0.00037820986472070217, + 0.1783929169178009, + 0.5070104598999023, + 0.0, + 0.9723638892173767 + ], + [ + 0.27032285928726196, + 0.0072009810246527195, + 0.09226531535387039, + -0.0021955755073577166, + 0.1712139993906021, + 0.512746274471283, + 0.0, + 0.6961957812309265 + ], + [ + 0.27124324440956116, + 0.007072667125612497, + 0.09182073920965195, + -0.0058472114615142345, + 0.16341274976730347, + 0.5211267471313477, + 0.0, + 0.5178548097610474 + ], + [ + 0.2713431417942047, + 0.007566493470221758, + 0.09102538228034973, + -0.0042330678552389145, + 0.15938034653663635, + 0.522003710269928, + 0.0, + 0.5178548097610474 + ], + [ + 0.2709336578845978, + 0.007109928410500288, + 0.09192632883787155, + -0.003096559550613165, + 0.159445121884346, + 0.5280108451843262, + 0.0, + 0.5178548097610474 + ], + [ + 0.27444931864738464, + 0.006107159424573183, + 0.1186242401599884, + 0.04071738198399544, + 0.09843264520168304, + 0.5346972346305847, + 0.0, + 0.5178548097610474 + ], + [ + 0.2853541672229767, + -0.00954345241189003, + 0.15172764658927917, + 0.04772895574569702, + 0.004031508695334196, + 0.4710357189178467, + 0.0, + 0.5178548097610474 + ], + [ + 0.29373931884765625, + -0.022263314574956894, + 0.1645001769065857, + 0.050019778311252594, + -0.025605175644159317, + 0.41721755266189575, + 0.0, + 0.5178548097610474 + ], + [ + 0.30383673310279846, + -0.03888710215687752, + 0.13959139585494995, + 0.021303653717041016, + 0.03741908445954323, + 0.31882190704345703, + 0.0, + 0.5178548097610474 + ], + [ + 0.3080195188522339, + -0.05176172032952309, + 0.10613219439983368, + -0.03184809535741806, + 0.09866005182266235, + 0.2336420714855194, + 0.0, + 0.5178548097610474 + ], + [ + 0.3067401051521301, + -0.06355151534080505, + 0.07372911274433136, + -0.0801645964384079, + 0.16930128633975983, + 0.17207829654216766, + 0.0, + 0.5178548097610474 + ], + [ + 0.30250996351242065, + -0.07421259582042694, + 0.04194314777851105, + -0.1090197041630745, + 0.25411099195480347, + 0.11423139274120331, + 0.0, + 0.5178548097610474 + ], + [ + 0.29940587282180786, + -0.08156028389930725, + 0.02472379244863987, + -0.13066092133522034, + 0.2735743820667267, + 0.05552924424409866, + 0.0, + 0.5178548097610474 + ], + [ + 0.2954597473144531, + -0.08117806911468506, + 0.010442749597132206, + -0.11273719370365143, + 0.2736276090145111, + 0.037949834018945694, + 0.0, + 0.5178548097610474 + ], + [ + 0.2954760789871216, + -0.07989202439785004, + 0.0049330368638038635, + -0.10529524087905884, + 0.2777235805988312, + 0.044740330427885056, + 0.0, + 0.5178548097610474 + ], + [ + 0.2961215376853943, + -0.07417277991771698, + 0.003182528540492058, + -0.08535914123058319, + 0.2711172103881836, + 0.06268114596605301, + 0.0, + 0.5178548097610474 + ], + [ + 0.297446072101593, + -0.07088630646467209, + 0.0025256832595914602, + -0.07373878359794617, + 0.2601970136165619, + 0.0700935497879982, + 0.0, + 0.573952317237854 + ], + [ + 0.2960014343261719, + -0.07010091096162796, + 0.0018373776692897081, + -0.06281767040491104, + 0.26610586047172546, + 0.06687633693218231, + 0.0, + 0.8766602873802185 + ], + [ + 0.2963283956050873, + -0.07101135700941086, + 0.0018899234710261226, + -0.04201037436723709, + 0.25868895649909973, + 0.08363956958055496, + 0.0, + 1.003452181816101 + ], + [ + 0.29782775044441223, + -0.06969393044710159, + 0.022345345467329025, + -0.043371427804231644, + 0.19717049598693848, + 0.10855333507061005, + 0.0, + 0.9994885921478271 + ], + [ + 0.3012537360191345, + -0.06538702547550201, + 0.05457204580307007, + -0.03474130108952522, + 0.12214156240224838, + 0.12582381069660187, + 0.0, + 0.9994885921478271 + ], + [ + 0.30376118421554565, + -0.06025431677699089, + 0.07367589324712753, + -0.017596721649169922, + 0.07931508123874664, + 0.1347951591014862, + 0.0, + 0.9994885921478271 + ], + [ + 0.3021974265575409, + -0.05410294234752655, + 0.07622198760509491, + -0.007446987088769674, + 0.08762294799089432, + 0.1544823795557022, + 0.0, + 0.9994885921478271 + ], + [ + 0.3028305470943451, + -0.03816089779138565, + 0.08538312464952469, + -0.0035616946406662464, + 0.06238466501235962, + 0.20294874906539917, + 0.0, + 0.9994885921478271 + ], + [ + 0.29870328307151794, + -0.022915946319699287, + 0.09859276562929153, + -0.006696028169244528, + 0.024849018082022667, + 0.25427067279815674, + 0.0, + 0.9994885921478271 + ], + [ + 0.2959311604499817, + -0.016544505953788757, + 0.09909088909626007, + -0.01861480250954628, + 0.020542139187455177, + 0.2752968966960907, + 0.0, + 0.9994885921478271 + ], + [ + 0.2956453859806061, + -0.017410119995474815, + 0.09845584630966187, + -0.03228979557752609, + 0.02453538216650486, + 0.2719530165195465, + 0.0, + 0.9994885921478271 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9723638892173767 + ], + [ + 0.6961957812309265 + ], + [ + 0.5178548097610474 + ], + [ + 0.5178548097610474 + ], + [ + 0.5178548097610474 + ], + [ + 0.5178548097610474 + ], + [ + 0.5178548097610474 + ], + [ + 0.5178548097610474 + ], + [ + 0.5178548097610474 + ], + [ + 0.5178548097610474 + ], + [ + 0.5178548097610474 + ], + [ + 0.5178548097610474 + ], + [ + 0.5178548097610474 + ], + [ + 0.5178548097610474 + ], + [ + 0.5178548097610474 + ], + [ + 0.5178548097610474 + ], + [ + 0.573952317237854 + ], + [ + 0.8766602873802185 + ], + [ + 1.003452181816101 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2945862412452698, + -0.06810595840215683, + 0.10132667422294617 + ], + [ + 0.2911714017391205, + -0.067491814494133, + 0.09133465588092804 + ], + [ + 0.29117462038993835, + -0.06288348138332367, + 0.091658815741539 + ], + [ + 0.2990986108779907, + -0.05881218612194061, + 0.09947510063648224 + ], + [ + 0.2995181679725647, + -0.05391344800591469, + 0.11356724053621292 + ], + [ + 0.2932814061641693, + -0.041924796998500824, + 0.12804973125457764 + ], + [ + 0.289436399936676, + -0.02426834963262081, + 0.13497626781463623 + ], + [ + 0.28370028734207153, + -0.010641971603035927, + 0.13556057214736938 + ], + [ + 0.27959930896759033, + 0.002499339170753956, + 0.13061286509037018 + ], + [ + 0.2762289047241211, + 0.008365948684513569, + 0.12639687955379486 + ], + [ + 0.27103379368782043, + 0.010529221035540104, + 0.11940960586071014 + ], + [ + 0.2706820070743561, + 0.009521057829260826, + 0.11554670333862305 + ], + [ + 0.27186256647109985, + 0.007282470818608999, + 0.1086067482829094 + ], + [ + 0.2723906338214874, + 0.007353449240326881, + 0.10701186209917068 + ], + [ + 0.2707434296607971, + 0.006751286331564188, + 0.09644544124603271 + ], + [ + 0.2706097364425659, + 0.006913341581821442, + 0.09560544043779373 + ], + [ + 0.2702098786830902, + 0.007119469344615936, + 0.09569381177425385 + ], + [ + 0.27032285928726196, + 0.0072009810246527195, + 0.09226531535387039 + ], + [ + 0.27124324440956116, + 0.007072667125612497, + 0.09182073920965195 + ], + [ + 0.2713431417942047, + 0.007566493470221758, + 0.09102538228034973 + ], + [ + 0.2709336578845978, + 0.007109928410500288, + 0.09192632883787155 + ], + [ + 0.27444931864738464, + 0.006107159424573183, + 0.1186242401599884 + ], + [ + 0.2853541672229767, + -0.00954345241189003, + 0.15172764658927917 + ], + [ + 0.29373931884765625, + -0.022263314574956894, + 0.1645001769065857 + ], + [ + 0.30383673310279846, + -0.03888710215687752, + 0.13959139585494995 + ], + [ + 0.3080195188522339, + -0.05176172032952309, + 0.10613219439983368 + ], + [ + 0.3067401051521301, + -0.06355151534080505, + 0.07372911274433136 + ], + [ + 0.30250996351242065, + -0.07421259582042694, + 0.04194314777851105 + ], + [ + 0.29940587282180786, + -0.08156028389930725, + 0.02472379244863987 + ], + [ + 0.2954597473144531, + -0.08117806911468506, + 0.010442749597132206 + ], + [ + 0.2954760789871216, + -0.07989202439785004, + 0.0049330368638038635 + ], + [ + 0.2961215376853943, + -0.07417277991771698, + 0.003182528540492058 + ], + [ + 0.297446072101593, + -0.07088630646467209, + 0.0025256832595914602 + ], + [ + 0.2960014343261719, + -0.07010091096162796, + 0.0018373776692897081 + ], + [ + 0.2963283956050873, + -0.07101135700941086, + 0.0018899234710261226 + ], + [ + 0.29782775044441223, + -0.06969393044710159, + 0.022345345467329025 + ], + [ + 0.3012537360191345, + -0.06538702547550201, + 0.05457204580307007 + ], + [ + 0.30376118421554565, + -0.06025431677699089, + 0.07367589324712753 + ], + [ + 0.3021974265575409, + -0.05410294234752655, + 0.07622198760509491 + ], + [ + 0.3028305470943451, + -0.03816089779138565, + 0.08538312464952469 + ], + [ + 0.29870328307151794, + -0.022915946319699287, + 0.09859276562929153 + ], + [ + 0.2959311604499817, + -0.016544505953788757, + 0.09909088909626007 + ], + [ + 0.2956453859806061, + -0.017410119995474815, + 0.09845584630966187 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9661350701154989, + 0.2368560343302527, + -0.10238283691256855, + 0.22969842976102622, + -0.9702129783979622, + -0.07697667122884644, + -0.1175655462209842, + 0.050852684781643044, + -0.9917622430765652 + ], + [ + 0.9612690950229579, + 0.23842822590435406, + -0.1382523346849739, + 0.23057354606554434, + -0.9704957276491063, + -0.07052575749038138, + -0.15098863138827384, + 0.03591690001843262, + -0.987882791369787 + ], + [ + 0.9623207061715078, + 0.22959884935801614, + -0.14568193727104828, + 0.22223480450533536, + -0.9728121111574268, + -0.06517889268701693, + -0.15668615171752098, + 0.030347401188657107, + -0.9871820931829389 + ], + [ + 0.9644489809427793, + 0.23526299605386636, + -0.1203722802234518, + 0.23064180754279862, + -0.971691719554691, + -0.05118162524030058, + -0.1290058904539843, + 0.021599186017217928, + -0.9914085713728567 + ], + [ + 0.9652740433483016, + 0.24952998583187558, + -0.07733568004980294, + 0.24792839334590994, + -0.9683194114991226, + -0.029816590799570736, + -0.08232577367348133, + 0.009607470256902426, + -0.9965591620693304 + ], + [ + 0.9574396315515488, + 0.2835825081982754, + -0.053761631098850036, + 0.28414845408141537, + -0.9587755004339955, + 0.003032459510455817, + -0.050685382286963045, + -0.018179681282019394, + -0.998549193185247 + ], + [ + 0.9395868408840387, + 0.3397994677053849, + -0.041387077508440666, + 0.3401656322104703, + -0.9403635440983741, + 0.001935870242698901, + -0.03826109120769559, + -0.01589737959170133, + -0.9991413124386931 + ], + [ + 0.9226281562499844, + 0.38324956441139424, + -0.043325012097296, + 0.38302553987387056, + -0.9236363197708654, + -0.013688849639820783, + -0.04526280038932909, + -0.003964868044237663, + -0.9989672460708146 + ], + [ + 0.9052342425580052, + 0.4209627516862596, + -0.05780421951006126, + 0.42049908773297, + -0.9070600330420341, + -0.02055756973779412, + -0.061085868383569136, + -0.005697205500671682, + -0.9981162550190777 + ], + [ + 0.8919537387983192, + 0.44688554134732383, + -0.06864284943392807, + 0.445420900849842, + -0.8945895159852558, + -0.036191421295392635, + -0.07758059634866712, + 0.0017061137050902592, + -0.9969846238765221 + ], + [ + 0.8820711967026937, + 0.4631153737167088, + -0.08645550632961999, + 0.4599229294491857, + -0.8862549533684031, + -0.054982329860138277, + -0.10208478297159232, + 0.008735459759102986, + -0.9947373466541004 + ], + [ + 0.8823973903693088, + 0.46087285308861475, + -0.09471567322989943, + 0.45653901065406793, + -0.8873604968542195, + -0.06452503679686628, + -0.11378478466138511, + 0.013695324333226143, + -0.9934110231273706 + ], + [ + 0.8799161774098995, + 0.4625716539076275, + -0.10851260633452746, + 0.4560656781380656, + -0.8863331162325394, + -0.08011057541911591, + -0.1332351978901087, + 0.02100171589841072, + -0.990861902573969 + ], + [ + 0.8765921878687173, + 0.46987212472732387, + -0.10395346349095744, + 0.4635862932576742, + -0.8824710149104009, + -0.07957799034040026, + -0.12912739783309082, + 0.021566043847617202, + -0.9913934742984833 + ], + [ + 0.8693510771991368, + 0.4711841934652127, + -0.14904415587750197, + 0.4633439405436033, + -0.8820176303644939, + -0.08577466110529713, + -0.17187523769940194, + 0.005509587529004177, + -0.9851033179880342 + ], + [ + 0.8622659440810393, + 0.48222173988092487, + -0.15478900240084206, + 0.47413788483312724, + -0.8760457581030288, + -0.08796076327350735, + -0.17801884126126208, + 0.0024542403923545203, + -0.9840240184365899 + ], + [ + 0.8603265966906483, + 0.4856245997302581, + -0.15494158629468532, + 0.4778600995038395, + -0.8741673807676891, + -0.08649344312685689, + -0.17744822436098764, + 0.00037220771732385943, + -0.9841300671824573 + ], + [ + 0.8586595000456929, + 0.4908969891876539, + -0.14739066791278588, + 0.4833993727660637, + -0.8712149363949006, + -0.08549608769882762, + -0.17037872340951776, + 0.0021634714987261577, + -0.9853762783832465 + ], + [ + 0.8557049951238044, + 0.49867410976149656, + -0.1381777607784575, + 0.4912250870734907, + -0.8667703546213223, + -0.08606431420320751, + -0.16268643197824212, + 0.005769280995571481, + -0.9866609550635835 + ], + [ + 0.8558355749267044, + 0.49919587237905017, + -0.13545829501952492, + 0.4922984211448128, + -0.8664790900974688, + -0.08280248161853143, + -0.15870643726138547, + 0.004179404692273327, + -0.9873169700497486 + ], + [ + 0.8528539660307917, + 0.5042383549408234, + -0.13558685051332106, + 0.49742544714916304, + -0.8635591088438735, + -0.08266553127652565, + -0.1587703913014155, + 0.003057276459091908, + -0.987310800055711 + ], + [ + 0.8562580037134628, + 0.5057162080436902, + -0.10522997671075972, + 0.5071138897580746, + -0.8617482988093993, + -0.015012405321674844, + -0.09827377010714218, + -0.04050909059727028, + -0.9943345914167481 + ], + [ + 0.8910915056551388, + 0.45312125412610804, + -0.02524000016719919, + 0.45380576855627397, + -0.8901712431641773, + 0.0406876181238514, + -0.004031497774616031, + -0.04771044856974039, + -0.9988530723399548 + ], + [ + 0.9139202998929764, + 0.40588172311298315, + 0.0031164541338263, + 0.405085427647834, + -0.9125578190942245, + 0.05607158921739629, + 0.025602377836911876, + -0.049982533477492694, + -0.9984218870779366 + ], + [ + 0.9489406125408473, + 0.3126201726233703, + -0.04219409365700312, + 0.31322863754056773, + -0.9496396609968893, + 0.008504991839666257, + -0.037410352779430625, + -0.021287130634430003, + -0.9990732323379861 + ], + [ + 0.9680988006496037, + 0.2344560489212827, + -0.08840290326126046, + 0.23039628408481017, + -0.9716101278429767, + -0.0537709192116501, + -0.09850007340459255, + 0.03168786198492185, + -0.994632401916464 + ], + [ + 0.971144919776004, + 0.18397391024466414, + -0.1517601566371961, + 0.16878219460268534, + -0.9797566262966041, + -0.1076546516087299, + -0.1684936662855886, + 0.07893385570960045, + -0.9825371905655562 + ], + [ + 0.9615791369347634, + 0.14047984173191033, + -0.2358622001906469, + 0.11032280247233792, + -0.984466984773541, + -0.13657831140244045, + -0.25138504861356586, + 0.1053098758800423, + -0.9621410433900452 + ], + [ + 0.9613273101374414, + 0.09017426995792505, + -0.2602276000378644, + 0.05343671427911312, + -0.9879941101166108, + -0.14495570337844144, + -0.2701746108555796, + 0.12544416850711526, + -0.9546043370091059 + ], + [ + 0.9621037377105945, + 0.06807799892668422, + -0.26404882871439095, + 0.03652921517467385, + -0.9917830539772075, + -0.12260501736212112, + -0.27022585798184773, + 0.10831324898544048, + -0.9566850191009537 + ], + [ + 0.9607197114182461, + 0.0732640458255359, + -0.26767520557891833, + 0.04301161991381844, + -0.9921776658416376, + -0.1171899311264809, + -0.2741671691593135, + 0.10107353261024321, + -0.9563558460954034 + ], + [ + 0.9615802137236641, + 0.08519931705313467, + -0.2609685209921535, + 0.06035200997317321, + -0.9929722441523059, + -0.10180254041688483, + -0.2678080048604795, + 0.08214133379007735, + -0.959964412786139 + ], + [ + 0.9639664191726333, + 0.08875296347913171, + -0.25078208504828037, + 0.06767870205644173, + -0.99350621157599, + -0.09146037856842501, + -0.2572709388863157, + 0.07119212760970231, + -0.963713310570606 + ], + [ + 0.9626455674199601, + 0.083166487533824, + -0.2576758562186021, + 0.06447435731147677, + -0.9946934203827741, + -0.08017516259098192, + -0.2629763654322864, + 0.06056677966100448, + -0.9628993179068724 + ], + [ + 0.9633467580278949, + 0.09417447286157238, + -0.2511855737465627, + 0.08076232245155854, + -0.9947274808798293, + -0.06320352881524753, + -0.25581335201544, + 0.04060058427799171, + -0.96587324297079 + ], + [ + 0.9748527047379062, + 0.11668198953099657, + -0.18986183761956332, + 0.10624114959673614, + -0.9922588135288976, + -0.0643060269849465, + -0.19589543689824163, + 0.04251776444397262, + -0.9797026168736788 + ], + [ + 0.9847035055699029, + 0.1296148570072103, + -0.11644309752554859, + 0.12455715660999862, + -0.9909648963773402, + -0.04974021396294502, + -0.12183809279357695, + 0.034475541922465894, + -0.9919510654027122 + ], + [ + 0.9878136052988458, + 0.13574802950680123, + -0.07613641488483996, + 0.1339648451912724, + -0.9905881099057449, + -0.02808232124027551, + -0.07923194708811765, + 0.017540495956050835, + -0.9967018759700622 + ], + [ + 0.9843005606706263, + 0.15450832262545142, + -0.08532048114585615, + 0.15327835654496816, + -0.9879636361440303, + -0.02082304185128094, + -0.0875108660588192, + 0.007418348639420968, + -0.9961359427433084 + ], + [ + 0.9775711238179687, + 0.201774648139885, + -0.060346410376252, + 0.20116634323930288, + -0.9794255229773244, + -0.016054509905980577, + -0.062344207629902386, + 0.0035547585881272074, + -0.9980483773176426 + ], + [ + 0.9675482130905051, + 0.25169498137456686, + -0.02236273007097025, + 0.25146194289896745, + -0.9677834612696948, + -0.012730411082349078, + -0.024846460891785906, + 0.0066939109424630685, + -0.9996688676444052 + ], + [ + 0.9621414961390748, + 0.27215351245862185, + -0.014703981219282814, + 0.2717753139582165, + -0.962073875016053, + -0.023495483278885454, + -0.020540694491060184, + 0.018609800322151163, + -0.9996158037975361 + ], + [ + 0.9629582118452593, + 0.2692360841707598, + -0.01494701375446946, + 0.2685323407847437, + -0.962533266799366, + -0.03768411146898537, + -0.024532920585348582, + 0.03227446800392214, + -0.9991779093447857 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.003414839506149292, + 0.0006141439080238342, + -0.009992018342018127, + 0.014888767153024673, + 0.03373022377490997, + 0.0019998252391815186, + 1.0 + ], + [ + 3.2186508178710938e-06, + 0.004608333110809326, + 0.0003241598606109619, + 0.005609679967164993, + 0.005766168236732483, + -0.00845859944820404, + 1.0 + ], + [ + 0.007923990488052368, + 0.004071295261383057, + 0.007816284894943237, + 0.008948847651481628, + -0.027968034148216248, + 0.007777586579322815, + 1.0 + ], + [ + 0.0004195570945739746, + 0.004898738116025925, + 0.014092139899730682, + 0.012142572551965714, + -0.04694737493991852, + 0.01667800545692444, + 1.0 + ], + [ + -0.006236761808395386, + 0.011988651007413864, + 0.014482490718364716, + 0.027844427153468132, + -0.031711943447589874, + 0.03708651661872864, + 1.0 + ], + [ + -0.003845006227493286, + 0.017656447365880013, + 0.006926536560058594, + -0.002294383943080902, + -0.012436676770448685, + 0.058858513832092285, + 1.0 + ], + [ + -0.005736112594604492, + 0.013626378029584885, + 0.0005843043327331543, + -0.01194075308740139, + 0.0070078372955322266, + 0.04613673686981201, + 1.0 + ], + [ + -0.004100978374481201, + 0.013141310773789883, + -0.0049477070569992065, + 0.001738949678838253, + 0.015845652669668198, + 0.041367799043655396, + 1.0 + ], + [ + -0.0033704042434692383, + 0.005866609513759613, + -0.004215985536575317, + -0.007419168017804623, + 0.016534708440303802, + 0.02828618884086609, + 1.0 + ], + [ + -0.005195111036300659, + 0.002163272351026535, + -0.006987273693084717, + -0.0070701767690479755, + 0.024604298174381256, + 0.01748165488243103, + 1.0 + ], + [ + -0.00035178661346435547, + -0.0010081632062792778, + -0.003862902522087097, + -0.005003838799893856, + 0.011768825352191925, + -0.003171950578689575, + 1.0 + ], + [ + 0.0011805593967437744, + -0.002238587010651827, + -0.0069399550557136536, + -0.007406940683722496, + 0.019600816071033478, + 0.0007262527942657471, + 1.0 + ], + [ + 0.0005280673503875732, + 7.097842171788216e-05, + -0.0015948861837387085, + -0.0005576051771640778, + -0.004143610596656799, + 0.008276015520095825, + 1.0 + ], + [ + -0.0016472041606903076, + -0.0006021629087626934, + -0.01056642085313797, + 0.016156988218426704, + 0.04324395954608917, + 0.0032188892364501953, + 1.0 + ], + [ + -0.00013369321823120117, + 0.00016205525025725365, + -0.0008400008082389832, + 0.0030987642239779234, + 0.006239846348762512, + 0.013067007064819336, + 1.0 + ], + [ + -0.000399857759475708, + 0.00020612776279449463, + 8.837133646011353e-05, + 0.002115870825946331, + -0.0005798488855361938, + 0.004263758659362793, + 0.0 + ], + [ + 0.00011298060417175293, + 8.151168003678322e-05, + -0.0034284964203834534, + -0.0018173656426370144, + -0.0071789175271987915, + 0.005735814571380615, + 0.0 + ], + [ + 0.0009203851222991943, + -0.00012831389904022217, + -0.0004445761442184448, + -0.003651635954156518, + -0.007801249623298645, + 0.008380472660064697, + 0.0 + ], + [ + 9.989738464355469e-05, + 0.0004938263446092606, + -0.0007953569293022156, + 0.00161414360627532, + -0.004032403230667114, + 0.0008769631385803223, + 0.0 + ], + [ + -0.0004094839096069336, + -0.0004565650597214699, + 0.0009009465575218201, + 0.0011365083046257496, + 6.477534770965576e-05, + 0.006007134914398193, + 0.0 + ], + [ + 0.0035156607627868652, + -0.001002768985927105, + 0.026697911322116852, + 0.04381394013762474, + -0.061012476682662964, + 0.006686389446258545, + 0.0 + ], + [ + 0.010904848575592041, + -0.015650611370801926, + 0.03310340642929077, + 0.007011573761701584, + -0.09440113604068756, + -0.06366151571273804, + 0.0 + ], + [ + 0.008385151624679565, + -0.012719862163066864, + 0.012772530317306519, + 0.0022908225655555725, + -0.0296366848051548, + -0.05381816625595093, + 0.0 + ], + [ + 0.010097414255142212, + -0.016623787581920624, + -0.024908781051635742, + -0.02871612459421158, + 0.06302426010370255, + -0.09839564561843872, + 0.0 + ], + [ + 0.004182785749435425, + -0.012874618172645569, + -0.03345920145511627, + -0.053151749074459076, + 0.061240967363119125, + -0.08517983555793762, + 0.0 + ], + [ + -0.0012794137001037598, + -0.011789795011281967, + -0.03240308165550232, + -0.04831650108098984, + 0.07064123451709747, + -0.061563774943351746, + 0.0 + ], + [ + -0.004230141639709473, + -0.010661080479621887, + -0.03178596496582031, + -0.028855107724666595, + 0.08480970561504364, + -0.057846903800964355, + 0.0 + ], + [ + -0.003104090690612793, + -0.00734768807888031, + -0.017219355329871178, + -0.021641217172145844, + 0.019463390111923218, + -0.058702148497104645, + 0.0 + ], + [ + -0.003946125507354736, + 0.0003822147846221924, + -0.014281042851507664, + 0.01792372763156891, + 5.322694778442383e-05, + -0.01757941022515297, + 0.0 + ], + [ + 1.633167266845703e-05, + 0.001286044716835022, + -0.0055097127333283424, + 0.00744195282459259, + 0.004095971584320068, + 0.006790496408939362, + 0.0 + ], + [ + 0.0006454586982727051, + 0.005719244480133057, + -0.0017505083233118057, + 0.019936099648475647, + -0.006606370210647583, + 0.017940815538167953, + 0.0 + ], + [ + 0.0013245344161987305, + 0.0032864734530448914, + -0.0006568452809005976, + 0.011620357632637024, + -0.010920196771621704, + 0.00741240382194519, + 1.0 + ], + [ + -0.0014446377754211426, + 0.0007853955030441284, + -0.0006883055903017521, + 0.010921113193035126, + 0.005908846855163574, + -0.0032172128558158875, + 1.0 + ], + [ + 0.0003269612789154053, + -0.000910446047782898, + 5.254580173641443e-05, + 0.02080729603767395, + -0.007416903972625732, + 0.01676323264837265, + 1.0 + ], + [ + 0.0014993548393249512, + 0.0013174265623092651, + 0.02045542187988758, + -0.0013610534369945526, + -0.061518460512161255, + 0.024913765490055084, + 1.0 + ], + [ + 0.00342598557472229, + 0.004306904971599579, + 0.03222670033574104, + 0.008630126714706421, + -0.0750289335846901, + 0.01727047562599182, + 1.0 + ], + [ + 0.002507448196411133, + 0.005132708698511124, + 0.019103847444057465, + 0.0171445794403553, + -0.04282648116350174, + 0.008971348404884338, + 1.0 + ], + [ + -0.0015637576580047607, + 0.00615137442946434, + 0.0025460943579673767, + 0.01014973409473896, + 0.008307866752147675, + 0.019687220454216003, + 1.0 + ], + [ + 0.0006331205368041992, + 0.0159420445561409, + 0.009161137044429779, + 0.003885292448103428, + -0.0252382829785347, + 0.04846636950969696, + 1.0 + ], + [ + -0.0041272640228271484, + 0.015244951471686363, + 0.013209640979766846, + -0.0031343335285782814, + -0.0375356450676918, + 0.05132192373275757, + 1.0 + ], + [ + -0.002772122621536255, + 0.00637144036591053, + 0.0004981234669685364, + -0.011918773874640465, + -0.00430687889456749, + 0.02102622389793396, + 1.0 + ], + [ + -0.00028577446937561035, + -0.000865614041686058, + -0.0006350427865982056, + -0.013674993067979813, + 0.003993242979049683, + -0.0033438801765441895, + 1.0 + ], + [ + -0.0025479793548583984, + -0.0019682087004184723, + 0.0004950091242790222, + 0.005028340965509415, + 0.012574536725878716, + -0.016358017921447754, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9723638892173767 + ], + [ + 0.6961957812309265 + ], + [ + 0.5178548097610474 + ], + [ + 0.5178548097610474 + ], + [ + 0.5178548097610474 + ], + [ + 0.5178548097610474 + ], + [ + 0.5178548097610474 + ], + [ + 0.5178548097610474 + ], + [ + 0.5178548097610474 + ], + [ + 0.5178548097610474 + ], + [ + 0.5178548097610474 + ], + [ + 0.5178548097610474 + ], + [ + 0.5178548097610474 + ], + [ + 0.5178548097610474 + ], + [ + 0.5178548097610474 + ], + [ + 0.5178548097610474 + ], + [ + 0.573952317237854 + ], + [ + 0.8766602873802185 + ], + [ + 1.003452181816101 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2911714017391205, + -0.067491814494133, + 0.09133465588092804 + ], + [ + 0.29117462038993835, + -0.06288348138332367, + 0.091658815741539 + ], + [ + 0.2990986108779907, + -0.05881218612194061, + 0.09947510063648224 + ], + [ + 0.2995181679725647, + -0.05391344800591469, + 0.11356724053621292 + ], + [ + 0.2932814061641693, + -0.041924796998500824, + 0.12804973125457764 + ], + [ + 0.289436399936676, + -0.02426834963262081, + 0.13497626781463623 + ], + [ + 0.28370028734207153, + -0.010641971603035927, + 0.13556057214736938 + ], + [ + 0.27959930896759033, + 0.002499339170753956, + 0.13061286509037018 + ], + [ + 0.2762289047241211, + 0.008365948684513569, + 0.12639687955379486 + ], + [ + 0.27103379368782043, + 0.010529221035540104, + 0.11940960586071014 + ], + [ + 0.2706820070743561, + 0.009521057829260826, + 0.11554670333862305 + ], + [ + 0.27186256647109985, + 0.007282470818608999, + 0.1086067482829094 + ], + [ + 0.2723906338214874, + 0.007353449240326881, + 0.10701186209917068 + ], + [ + 0.2707434296607971, + 0.006751286331564188, + 0.09644544124603271 + ], + [ + 0.2706097364425659, + 0.006913341581821442, + 0.09560544043779373 + ], + [ + 0.2702098786830902, + 0.007119469344615936, + 0.09569381177425385 + ], + [ + 0.27032285928726196, + 0.0072009810246527195, + 0.09226531535387039 + ], + [ + 0.27124324440956116, + 0.007072667125612497, + 0.09182073920965195 + ], + [ + 0.2713431417942047, + 0.007566493470221758, + 0.09102538228034973 + ], + [ + 0.2709336578845978, + 0.007109928410500288, + 0.09192632883787155 + ], + [ + 0.27444931864738464, + 0.006107159424573183, + 0.1186242401599884 + ], + [ + 0.2853541672229767, + -0.00954345241189003, + 0.15172764658927917 + ], + [ + 0.29373931884765625, + -0.022263314574956894, + 0.1645001769065857 + ], + [ + 0.30383673310279846, + -0.03888710215687752, + 0.13959139585494995 + ], + [ + 0.3080195188522339, + -0.05176172032952309, + 0.10613219439983368 + ], + [ + 0.3067401051521301, + -0.06355151534080505, + 0.07372911274433136 + ], + [ + 0.30250996351242065, + -0.07421259582042694, + 0.04194314777851105 + ], + [ + 0.29940587282180786, + -0.08156028389930725, + 0.02472379244863987 + ], + [ + 0.2954597473144531, + -0.08117806911468506, + 0.010442749597132206 + ], + [ + 0.2954760789871216, + -0.07989202439785004, + 0.0049330368638038635 + ], + [ + 0.2961215376853943, + -0.07417277991771698, + 0.003182528540492058 + ], + [ + 0.297446072101593, + -0.07088630646467209, + 0.0025256832595914602 + ], + [ + 0.2960014343261719, + -0.07010091096162796, + 0.0018373776692897081 + ], + [ + 0.2963283956050873, + -0.07101135700941086, + 0.0018899234710261226 + ], + [ + 0.29782775044441223, + -0.06969393044710159, + 0.022345345467329025 + ], + [ + 0.3012537360191345, + -0.06538702547550201, + 0.05457204580307007 + ], + [ + 0.30376118421554565, + -0.06025431677699089, + 0.07367589324712753 + ], + [ + 0.3021974265575409, + -0.05410294234752655, + 0.07622198760509491 + ], + [ + 0.3028305470943451, + -0.03816089779138565, + 0.08538312464952469 + ], + [ + 0.29870328307151794, + -0.022915946319699287, + 0.09859276562929153 + ], + [ + 0.2959311604499817, + -0.016544505953788757, + 0.09909088909626007 + ], + [ + 0.2956453859806061, + -0.017410119995474815, + 0.09845584630966187 + ], + [ + 0.2930974066257477, + -0.019378328695893288, + 0.09895085543394089 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9612690950229579, + 0.23842822590435406, + -0.1382523346849739, + 0.23057354606554434, + -0.9704957276491063, + -0.07052575749038138, + -0.15098863138827384, + 0.03591690001843262, + -0.987882791369787 + ], + [ + 0.9623207061715078, + 0.22959884935801614, + -0.14568193727104828, + 0.22223480450533536, + -0.9728121111574268, + -0.06517889268701693, + -0.15668615171752098, + 0.030347401188657107, + -0.9871820931829389 + ], + [ + 0.9644489809427793, + 0.23526299605386636, + -0.1203722802234518, + 0.23064180754279862, + -0.971691719554691, + -0.05118162524030058, + -0.1290058904539843, + 0.021599186017217928, + -0.9914085713728567 + ], + [ + 0.9652740433483016, + 0.24952998583187558, + -0.07733568004980294, + 0.24792839334590994, + -0.9683194114991226, + -0.029816590799570736, + -0.08232577367348133, + 0.009607470256902426, + -0.9965591620693304 + ], + [ + 0.9574396315515488, + 0.2835825081982754, + -0.053761631098850036, + 0.28414845408141537, + -0.9587755004339955, + 0.003032459510455817, + -0.050685382286963045, + -0.018179681282019394, + -0.998549193185247 + ], + [ + 0.9395868408840387, + 0.3397994677053849, + -0.041387077508440666, + 0.3401656322104703, + -0.9403635440983741, + 0.001935870242698901, + -0.03826109120769559, + -0.01589737959170133, + -0.9991413124386931 + ], + [ + 0.9226281562499844, + 0.38324956441139424, + -0.043325012097296, + 0.38302553987387056, + -0.9236363197708654, + -0.013688849639820783, + -0.04526280038932909, + -0.003964868044237663, + -0.9989672460708146 + ], + [ + 0.9052342425580052, + 0.4209627516862596, + -0.05780421951006126, + 0.42049908773297, + -0.9070600330420341, + -0.02055756973779412, + -0.061085868383569136, + -0.005697205500671682, + -0.9981162550190777 + ], + [ + 0.8919537387983192, + 0.44688554134732383, + -0.06864284943392807, + 0.445420900849842, + -0.8945895159852558, + -0.036191421295392635, + -0.07758059634866712, + 0.0017061137050902592, + -0.9969846238765221 + ], + [ + 0.8820711967026937, + 0.4631153737167088, + -0.08645550632961999, + 0.4599229294491857, + -0.8862549533684031, + -0.054982329860138277, + -0.10208478297159232, + 0.008735459759102986, + -0.9947373466541004 + ], + [ + 0.8823973903693088, + 0.46087285308861475, + -0.09471567322989943, + 0.45653901065406793, + -0.8873604968542195, + -0.06452503679686628, + -0.11378478466138511, + 0.013695324333226143, + -0.9934110231273706 + ], + [ + 0.8799161774098995, + 0.4625716539076275, + -0.10851260633452746, + 0.4560656781380656, + -0.8863331162325394, + -0.08011057541911591, + -0.1332351978901087, + 0.02100171589841072, + -0.990861902573969 + ], + [ + 0.8765921878687173, + 0.46987212472732387, + -0.10395346349095744, + 0.4635862932576742, + -0.8824710149104009, + -0.07957799034040026, + -0.12912739783309082, + 0.021566043847617202, + -0.9913934742984833 + ], + [ + 0.8693510771991368, + 0.4711841934652127, + -0.14904415587750197, + 0.4633439405436033, + -0.8820176303644939, + -0.08577466110529713, + -0.17187523769940194, + 0.005509587529004177, + -0.9851033179880342 + ], + [ + 0.8622659440810393, + 0.48222173988092487, + -0.15478900240084206, + 0.47413788483312724, + -0.8760457581030288, + -0.08796076327350735, + -0.17801884126126208, + 0.0024542403923545203, + -0.9840240184365899 + ], + [ + 0.8603265966906483, + 0.4856245997302581, + -0.15494158629468532, + 0.4778600995038395, + -0.8741673807676891, + -0.08649344312685689, + -0.17744822436098764, + 0.00037220771732385943, + -0.9841300671824573 + ], + [ + 0.8586595000456929, + 0.4908969891876539, + -0.14739066791278588, + 0.4833993727660637, + -0.8712149363949006, + -0.08549608769882762, + -0.17037872340951776, + 0.0021634714987261577, + -0.9853762783832465 + ], + [ + 0.8557049951238044, + 0.49867410976149656, + -0.1381777607784575, + 0.4912250870734907, + -0.8667703546213223, + -0.08606431420320751, + -0.16268643197824212, + 0.005769280995571481, + -0.9866609550635835 + ], + [ + 0.8558355749267044, + 0.49919587237905017, + -0.13545829501952492, + 0.4922984211448128, + -0.8664790900974688, + -0.08280248161853143, + -0.15870643726138547, + 0.004179404692273327, + -0.9873169700497486 + ], + [ + 0.8528539660307917, + 0.5042383549408234, + -0.13558685051332106, + 0.49742544714916304, + -0.8635591088438735, + -0.08266553127652565, + -0.1587703913014155, + 0.003057276459091908, + -0.987310800055711 + ], + [ + 0.8562580037134628, + 0.5057162080436902, + -0.10522997671075972, + 0.5071138897580746, + -0.8617482988093993, + -0.015012405321674844, + -0.09827377010714218, + -0.04050909059727028, + -0.9943345914167481 + ], + [ + 0.8910915056551388, + 0.45312125412610804, + -0.02524000016719919, + 0.45380576855627397, + -0.8901712431641773, + 0.0406876181238514, + -0.004031497774616031, + -0.04771044856974039, + -0.9988530723399548 + ], + [ + 0.9139202998929764, + 0.40588172311298315, + 0.0031164541338263, + 0.405085427647834, + -0.9125578190942245, + 0.05607158921739629, + 0.025602377836911876, + -0.049982533477492694, + -0.9984218870779366 + ], + [ + 0.9489406125408473, + 0.3126201726233703, + -0.04219409365700312, + 0.31322863754056773, + -0.9496396609968893, + 0.008504991839666257, + -0.037410352779430625, + -0.021287130634430003, + -0.9990732323379861 + ], + [ + 0.9680988006496037, + 0.2344560489212827, + -0.08840290326126046, + 0.23039628408481017, + -0.9716101278429767, + -0.0537709192116501, + -0.09850007340459255, + 0.03168786198492185, + -0.994632401916464 + ], + [ + 0.971144919776004, + 0.18397391024466414, + -0.1517601566371961, + 0.16878219460268534, + -0.9797566262966041, + -0.1076546516087299, + -0.1684936662855886, + 0.07893385570960045, + -0.9825371905655562 + ], + [ + 0.9615791369347634, + 0.14047984173191033, + -0.2358622001906469, + 0.11032280247233792, + -0.984466984773541, + -0.13657831140244045, + -0.25138504861356586, + 0.1053098758800423, + -0.9621410433900452 + ], + [ + 0.9613273101374414, + 0.09017426995792505, + -0.2602276000378644, + 0.05343671427911312, + -0.9879941101166108, + -0.14495570337844144, + -0.2701746108555796, + 0.12544416850711526, + -0.9546043370091059 + ], + [ + 0.9621037377105945, + 0.06807799892668422, + -0.26404882871439095, + 0.03652921517467385, + -0.9917830539772075, + -0.12260501736212112, + -0.27022585798184773, + 0.10831324898544048, + -0.9566850191009537 + ], + [ + 0.9607197114182461, + 0.0732640458255359, + -0.26767520557891833, + 0.04301161991381844, + -0.9921776658416376, + -0.1171899311264809, + -0.2741671691593135, + 0.10107353261024321, + -0.9563558460954034 + ], + [ + 0.9615802137236641, + 0.08519931705313467, + -0.2609685209921535, + 0.06035200997317321, + -0.9929722441523059, + -0.10180254041688483, + -0.2678080048604795, + 0.08214133379007735, + -0.959964412786139 + ], + [ + 0.9639664191726333, + 0.08875296347913171, + -0.25078208504828037, + 0.06767870205644173, + -0.99350621157599, + -0.09146037856842501, + -0.2572709388863157, + 0.07119212760970231, + -0.963713310570606 + ], + [ + 0.9626455674199601, + 0.083166487533824, + -0.2576758562186021, + 0.06447435731147677, + -0.9946934203827741, + -0.08017516259098192, + -0.2629763654322864, + 0.06056677966100448, + -0.9628993179068724 + ], + [ + 0.9633467580278949, + 0.09417447286157238, + -0.2511855737465627, + 0.08076232245155854, + -0.9947274808798293, + -0.06320352881524753, + -0.25581335201544, + 0.04060058427799171, + -0.96587324297079 + ], + [ + 0.9748527047379062, + 0.11668198953099657, + -0.18986183761956332, + 0.10624114959673614, + -0.9922588135288976, + -0.0643060269849465, + -0.19589543689824163, + 0.04251776444397262, + -0.9797026168736788 + ], + [ + 0.9847035055699029, + 0.1296148570072103, + -0.11644309752554859, + 0.12455715660999862, + -0.9909648963773402, + -0.04974021396294502, + -0.12183809279357695, + 0.034475541922465894, + -0.9919510654027122 + ], + [ + 0.9878136052988458, + 0.13574802950680123, + -0.07613641488483996, + 0.1339648451912724, + -0.9905881099057449, + -0.02808232124027551, + -0.07923194708811765, + 0.017540495956050835, + -0.9967018759700622 + ], + [ + 0.9843005606706263, + 0.15450832262545142, + -0.08532048114585615, + 0.15327835654496816, + -0.9879636361440303, + -0.02082304185128094, + -0.0875108660588192, + 0.007418348639420968, + -0.9961359427433084 + ], + [ + 0.9775711238179687, + 0.201774648139885, + -0.060346410376252, + 0.20116634323930288, + -0.9794255229773244, + -0.016054509905980577, + -0.062344207629902386, + 0.0035547585881272074, + -0.9980483773176426 + ], + [ + 0.9675482130905051, + 0.25169498137456686, + -0.02236273007097025, + 0.25146194289896745, + -0.9677834612696948, + -0.012730411082349078, + -0.024846460891785906, + 0.0066939109424630685, + -0.9996688676444052 + ], + [ + 0.9621414961390748, + 0.27215351245862185, + -0.014703981219282814, + 0.2717753139582165, + -0.962073875016053, + -0.023495483278885454, + -0.020540694491060184, + 0.018609800322151163, + -0.9996158037975361 + ], + [ + 0.9629582118452593, + 0.2692360841707598, + -0.01494701375446946, + 0.2685323407847437, + -0.962533266799366, + -0.03768411146898537, + -0.024532920585348582, + 0.03227446800392214, + -0.9991779093447857 + ], + [ + 0.9668469118022451, + 0.253705639821313, + -0.02899133424525483, + 0.2526470564231903, + -0.9668978582351773, + -0.03574907860245587, + -0.037101401848975514, + 0.027239310987715704, + -0.9989401913617029 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005639.json b/json/chunk-0005/episode_0005639.json new file mode 100644 index 0000000000000000000000000000000000000000..57794d19f90a32d01a9d23ba8e435391226c39eb --- /dev/null +++ b/json/chunk-0005/episode_0005639.json @@ -0,0 +1,2122 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 34, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nTake the silver lid and put it on the lower right of the stove." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005639.mp4", + "start": 0, + "end": 34, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2890640199184418, + 0.09396764636039734, + 0.08842441439628601, + 0.0647408589720726, + -0.017790066078305244, + 0.13600552082061768, + 0.0, + 0.9994885921478271 + ], + [ + 0.2871525287628174, + 0.09315638989210129, + 0.07811283320188522, + 0.06102365627884865, + 0.017033051699399948, + 0.13837988674640656, + 0.0, + 0.9994885921478271 + ], + [ + 0.2958427965641022, + 0.06412016600370407, + 0.0788402408361435, + 0.09345747530460358, + 0.013085028156638145, + 0.08243484050035477, + 0.0, + 0.9994885921478271 + ], + [ + 0.3114124834537506, + 0.027717851102352142, + 0.08222119510173798, + 0.09704509377479553, + -0.04265664890408516, + -0.035795390605926514, + 0.0, + 0.9994885921478271 + ], + [ + 0.33082908391952515, + -0.011692365631461143, + 0.09469252079725266, + 0.09197994321584702, + -0.11524619907140732, + -0.14910416305065155, + 0.0, + 0.9994885921478271 + ], + [ + 0.3543539047241211, + -0.03507312014698982, + 0.08829745650291443, + 0.0720018818974495, + -0.12257347255945206, + -0.21401743590831757, + 0.0, + 0.9994885921478271 + ], + [ + 0.3738177716732025, + -0.06780815124511719, + 0.07982934266328812, + 0.052905622869729996, + -0.1087777316570282, + -0.3077198565006256, + 0.0, + 0.9994885921478271 + ], + [ + 0.380256325006485, + -0.07596416026353836, + 0.07291126996278763, + 0.03291639685630798, + -0.09007751941680908, + -0.3408018946647644, + 0.0, + 0.9994885921478271 + ], + [ + 0.3799777925014496, + -0.07739858329296112, + 0.0697038322687149, + 0.027757534757256508, + -0.0827387273311615, + -0.3579300343990326, + 0.0, + 0.9994885921478271 + ], + [ + 0.37926557660102844, + -0.07796990871429443, + 0.05653167515993118, + 0.014664191752672195, + -0.052111197263002396, + -0.3534368872642517, + 0.0, + 0.9994885921478271 + ], + [ + 0.38080111145973206, + -0.08094515651464462, + 0.04965893551707268, + -0.002539427485316992, + -0.0424530953168869, + -0.3726167380809784, + 0.0, + 0.9994885921478271 + ], + [ + 0.3811754584312439, + -0.08277992159128189, + 0.040630120784044266, + -0.014889792539179325, + -0.031034445390105247, + -0.3928591012954712, + 0.0, + 0.9994885921478271 + ], + [ + 0.3813645839691162, + -0.08391027897596359, + 0.03888019546866417, + -0.021114157512784004, + -0.03262106329202652, + -0.4045102894306183, + 0.0, + 0.9994885921478271 + ], + [ + 0.3815852403640747, + -0.08483520895242691, + 0.030201205983757973, + -0.029908163473010063, + -0.016014397144317627, + -0.4138023257255554, + 0.0, + 0.9560673832893372 + ], + [ + 0.3843945860862732, + -0.08359215408563614, + 0.03088984079658985, + -0.05043049529194832, + -0.029257167130708694, + -0.40896445512771606, + 0.0, + 0.6791892647743225 + ], + [ + 0.3873439431190491, + -0.0815134048461914, + 0.03115314058959484, + -0.05460524186491966, + -0.040160614997148514, + -0.40496712923049927, + 0.0, + 0.39273425936698914 + ], + [ + 0.38643819093704224, + -0.0823388621211052, + 0.030553346499800682, + -0.06154917553067207, + -0.053660452365875244, + -0.4099300503730774, + 0.0, + 0.2752157151699066 + ], + [ + 0.38645797967910767, + -0.08062474429607391, + 0.032764218747615814, + -0.050950463861227036, + -0.05462434142827988, + -0.39623212814331055, + 0.0, + 0.2752157151699066 + ], + [ + 0.3871164619922638, + -0.0768548771739006, + 0.05542948096990585, + -0.03143274784088135, + -0.0844419077038765, + -0.391785204410553, + 0.0, + 0.2752157151699066 + ], + [ + 0.3879549205303192, + -0.07724829018115997, + 0.07436548918485641, + -0.024235248565673828, + -0.12520438432693481, + -0.3907468616962433, + 0.0, + 0.2752157151699066 + ], + [ + 0.3758698105812073, + -0.07509399205446243, + 0.07294005155563354, + -0.030417177826166153, + -0.10235431045293808, + -0.37785619497299194, + 0.0, + 0.2752157151699066 + ], + [ + 0.34076347947120667, + -0.07126790285110474, + 0.08032724261283875, + 0.007191813085228205, + -0.06712552160024643, + -0.33243998885154724, + 0.0, + 0.2752157151699066 + ], + [ + 0.3042844831943512, + -0.06955298036336899, + 0.07882176339626312, + -0.011620540171861649, + -0.0709250196814537, + -0.3287675380706787, + 0.0, + 0.2752157151699066 + ], + [ + 0.27461305260658264, + -0.06972387433052063, + 0.07467182725667953, + -0.015706319361925125, + -0.0912623330950737, + -0.3368450403213501, + 0.0, + 0.2752157151699066 + ], + [ + 0.25786182284355164, + -0.07652587443590164, + 0.057380229234695435, + -0.016263620927929878, + -0.07880298048257828, + -0.36875230073928833, + 0.0, + 0.2752157151699066 + ], + [ + 0.2525210380554199, + -0.08432960510253906, + 0.041714146733284, + -0.02267484739422798, + -0.07564910501241684, + -0.4186657667160034, + 0.0, + 0.2752157151699066 + ], + [ + 0.2578367292881012, + -0.08854471147060394, + 0.013091611675918102, + -0.038174793124198914, + -0.039698000997304916, + -0.4620879590511322, + 0.0, + 0.2752157151699066 + ], + [ + 0.2652813494205475, + -0.08695957064628601, + 0.005392290186136961, + -0.00867028720676899, + -0.06638850271701813, + -0.44222205877304077, + 0.0, + 0.3026532232761383 + ], + [ + 0.2562711536884308, + -0.0851825401186943, + 0.0028380120638757944, + -0.03468068689107895, + -0.038370393216609955, + -0.4379381835460663, + 0.0, + 0.3831871449947357 + ], + [ + 0.2553808093070984, + -0.07520575821399689, + 0.019054779782891273, + -0.039711225777864456, + -0.051919881254434586, + -0.43318063020706177, + 0.0, + 0.6831957101821899 + ], + [ + 0.2578185200691223, + -0.07011682540178299, + 0.023887809365987778, + -0.008719293400645256, + -0.025127651169896126, + -0.44279906153678894, + 0.0, + 0.9545519351959229 + ], + [ + 0.25834062695503235, + -0.0700625330209732, + 0.03936447948217392, + 0.02999165840446949, + -0.029049480333924294, + -0.4615078568458557, + 0.0, + 1.003452181816101 + ], + [ + 0.2697295546531677, + -0.07487272471189499, + 0.06042388826608658, + 0.03614167124032974, + -0.04231112077832222, + -0.4582054615020752, + 0.0, + 1.0008161067962646 + ], + [ + 0.2852739989757538, + -0.089186891913414, + 0.08375269174575806, + 0.030212463811039925, + -0.0831289067864418, + -0.5121034383773804, + 0.0, + 1.0001531839370728 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9560673832893372 + ], + [ + 0.6791892647743225 + ], + [ + 0.39273425936698914 + ], + [ + 0.2752157151699066 + ], + [ + 0.2752157151699066 + ], + [ + 0.2752157151699066 + ], + [ + 0.2752157151699066 + ], + [ + 0.2752157151699066 + ], + [ + 0.2752157151699066 + ], + [ + 0.2752157151699066 + ], + [ + 0.2752157151699066 + ], + [ + 0.2752157151699066 + ], + [ + 0.2752157151699066 + ], + [ + 0.2752157151699066 + ], + [ + 0.3026532232761383 + ], + [ + 0.3831871449947357 + ], + [ + 0.6831957101821899 + ], + [ + 0.9545519351959229 + ], + [ + 1.003452181816101 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2890640199184418, + 0.09396764636039734, + 0.08842441439628601 + ], + [ + 0.2871525287628174, + 0.09315638989210129, + 0.07811283320188522 + ], + [ + 0.2958427965641022, + 0.06412016600370407, + 0.0788402408361435 + ], + [ + 0.3114124834537506, + 0.027717851102352142, + 0.08222119510173798 + ], + [ + 0.33082908391952515, + -0.011692365631461143, + 0.09469252079725266 + ], + [ + 0.3543539047241211, + -0.03507312014698982, + 0.08829745650291443 + ], + [ + 0.3738177716732025, + -0.06780815124511719, + 0.07982934266328812 + ], + [ + 0.380256325006485, + -0.07596416026353836, + 0.07291126996278763 + ], + [ + 0.3799777925014496, + -0.07739858329296112, + 0.0697038322687149 + ], + [ + 0.37926557660102844, + -0.07796990871429443, + 0.05653167515993118 + ], + [ + 0.38080111145973206, + -0.08094515651464462, + 0.04965893551707268 + ], + [ + 0.3811754584312439, + -0.08277992159128189, + 0.040630120784044266 + ], + [ + 0.3813645839691162, + -0.08391027897596359, + 0.03888019546866417 + ], + [ + 0.3815852403640747, + -0.08483520895242691, + 0.030201205983757973 + ], + [ + 0.3843945860862732, + -0.08359215408563614, + 0.03088984079658985 + ], + [ + 0.3873439431190491, + -0.0815134048461914, + 0.03115314058959484 + ], + [ + 0.38643819093704224, + -0.0823388621211052, + 0.030553346499800682 + ], + [ + 0.38645797967910767, + -0.08062474429607391, + 0.032764218747615814 + ], + [ + 0.3871164619922638, + -0.0768548771739006, + 0.05542948096990585 + ], + [ + 0.3879549205303192, + -0.07724829018115997, + 0.07436548918485641 + ], + [ + 0.3758698105812073, + -0.07509399205446243, + 0.07294005155563354 + ], + [ + 0.34076347947120667, + -0.07126790285110474, + 0.08032724261283875 + ], + [ + 0.3042844831943512, + -0.06955298036336899, + 0.07882176339626312 + ], + [ + 0.27461305260658264, + -0.06972387433052063, + 0.07467182725667953 + ], + [ + 0.25786182284355164, + -0.07652587443590164, + 0.057380229234695435 + ], + [ + 0.2525210380554199, + -0.08432960510253906, + 0.041714146733284 + ], + [ + 0.2578367292881012, + -0.08854471147060394, + 0.013091611675918102 + ], + [ + 0.2652813494205475, + -0.08695957064628601, + 0.005392290186136961 + ], + [ + 0.2562711536884308, + -0.0851825401186943, + 0.0028380120638757944 + ], + [ + 0.2553808093070984, + -0.07520575821399689, + 0.019054779782891273 + ], + [ + 0.2578185200691223, + -0.07011682540178299, + 0.023887809365987778 + ], + [ + 0.25834062695503235, + -0.0700625330209732, + 0.03936447948217392 + ], + [ + 0.2697295546531677, + -0.07487272471189499, + 0.06042388826608658 + ], + [ + 0.2852739989757538, + -0.089186891913414, + 0.08375269174575806 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9906087191379884, + 0.13644281777686462, + 0.008816067428479478, + 0.13556515962151217, + -0.9885338415012153, + 0.06650512539379416, + 0.017789127707341548, + -0.0646854054942819, + -0.9977471349252036 + ], + [ + 0.9902970999536843, + 0.1366531213871106, + -0.02525031165119615, + 0.13791866091838112, + -0.9887404800483041, + 0.058057782289115394, + -0.01703222809275204, + -0.060976942601358115, + -0.9979938455106763 + ], + [ + 0.9965188551689704, + 0.08076523894306116, + -0.0206675463273792, + 0.08233445877944741, + -0.9923555649351039, + 0.09193187499352952, + -0.013084654761192778, + -0.09331349806325288, + -0.9955507937262565 + ], + [ + 0.9984503392214605, + -0.03149013534994835, + 0.04588345545174246, + -0.03575519235938919, + -0.9948051171350728, + 0.0953118310663321, + 0.04264371381450235, + -0.09680470183578836, + -0.9943894425096189 + ], + [ + 0.9823446586467003, + -0.1374795468407646, + 0.1268792568892028, + -0.1475668738601615, + -0.9862932889129049, + 0.07382117571879153, + 0.11499125778700522, + -0.09124101295921434, + -0.989167371169682 + ], + [ + 0.9698539932407358, + -0.20324192335542335, + 0.13444683851168276, + -0.21079389889267391, + -0.9765217708654049, + 0.04439778390323479, + 0.1222667738374717, + -0.07139994129326285, + -0.9899256964028637 + ], + [ + 0.9473938394064746, + -0.29699133542472594, + 0.11933591134816537, + -0.30109618842270475, + -0.9534320691865723, + 0.017560602607272144, + 0.10856333806574997, + -0.05256839477527729, + -0.9926986277308801 + ], + [ + 0.938665875201831, + -0.3312716986859047, + 0.09573628560444646, + -0.3328878744343225, + -0.9429659210156052, + 0.0009668804427483135, + 0.08995575460291445, + -0.03277702629810928, + -0.9954062631714116 + ], + [ + 0.9334199200373255, + -0.34805290771995384, + 0.08710009360039923, + -0.3491377418940161, + -0.9370667807862801, + -0.0029471226620502566, + 0.08264435892824375, + -0.027659026998849687, + -0.9961952058521546 + ], + [ + 0.9369150925601646, + -0.3453704954771139, + 0.053938207115838646, + -0.3456544368038737, + -0.9383521626398917, + -0.0042695651810097995, + 0.05208761513810278, + -0.014643760546078449, + -0.9985351474166014 + ], + [ + 0.9305387328526077, + -0.3641530521470532, + 0.038603384217561605, + -0.3637258360620056, + -0.9313356632005146, + -0.017815684995318756, + 0.042440344509182805, + 0.002537136741089704, + -0.999095781241768 + ], + [ + 0.9233734378469987, + -0.38321563795816804, + 0.02296234097233086, + -0.3826469216511098, + -0.9235390076955536, + -0.025632686469463307, + 0.03102946389393047, + 0.014882072739597022, + -0.9994076727149082 + ], + [ + 0.9188061589187558, + -0.39411391451846206, + 0.02166713446436413, + -0.39335923272415435, + -0.9188193267122375, + -0.03224219115903113, + 0.03261527807066887, + 0.0211013564257203, + -0.9992452033376833 + ], + [ + 0.9154811491416247, + -0.40235225965444504, + 0.0026314857576825775, + -0.40204207065150827, + -0.9149965338195023, + -0.033815921169538236, + 0.016013712641935234, + 0.029899870388662795, + -0.9994246138444676 + ], + [ + 0.9171404410265885, + -0.3985068417793639, + 0.006760805321243769, + -0.3974892121959174, + -0.9157802094283196, + -0.05786997673484907, + 0.029252993375442682, + 0.050387548803846736, + -0.9983012357520731 + ], + [ + 0.9183742389045133, + -0.3954153689177808, + 0.015344163065212673, + -0.3936708641175682, + -0.916882063181498, + -0.06595857003428177, + 0.04014982019242033, + 0.054534101621420396, + -0.9977043769067375 + ], + [ + 0.9158285807273807, + -0.400816262684151, + 0.02458321156362431, + -0.3979715181351284, + -0.9140971982597114, + -0.07774948801739964, + 0.05363470402727501, + 0.06142178523664297, + -0.9966697962827262 + ], + [ + 0.9211457542698416, + -0.38800942393895527, + 0.030646146987910888, + -0.3853694944574197, + -0.9202514407251383, + -0.0680267490399187, + 0.054597180625718084, + 0.05085246088310215, + -0.9972127030327358 + ], + [ + 0.9209357525318087, + -0.38410015249219653, + 0.06591215793875083, + -0.3804784297859617, + -0.9227602107383788, + -0.06123526717237471, + 0.08434159220859253, + 0.031315592498537034, + -0.9959446919835385 + ], + [ + 0.9173870429174354, + -0.38356528513827776, + 0.10620115594472497, + -0.37789762949495836, + -0.9232007350946857, + -0.06995558835949978, + 0.12487752043220292, + 0.024043185259534878, + -0.991880804398029 + ], + [ + 0.9245932436617974, + -0.37164630094496, + 0.08370400688667388, + -0.3669979057986682, + -0.9278813305728415, + -0.06594523116772773, + 0.10217568651273155, + 0.03025331995502983, + -0.99430622331219 + ], + [ + 0.9431200982669516, + -0.32588597820856635, + 0.06574807565230746, + -0.32561542968456525, + -0.9453818491070709, + -0.01509143234526467, + 0.06707512352781499, + -0.00717555474800433, + -0.9977221252522103 + ], + [ + 0.9440615246247085, + -0.32363439455042753, + 0.06331363508162366, + -0.32206506871498775, + -0.9461112122281459, + -0.03387721372543211, + 0.07086557159073109, + 0.011591063806509755, + -0.9974185270000514 + ], + [ + 0.9398744614733254, + -0.33182122746031606, + 0.0808125589061239, + -0.329135656849353, + -0.9432126237382127, + -0.04494069215334517, + 0.0911357013500832, + 0.015640314178619663, + -0.9957156544475047 + ], + [ + 0.9298830725713921, + -0.36159839579641195, + 0.06755791221351204, + -0.35933327886523236, + -0.9321929827694933, + -0.04354121697054993, + 0.07872144590356772, + 0.016212434511101805, + -0.9967648122411199 + ], + [ + 0.9110191602816633, + -0.40800286374116235, + 0.0598143191777981, + -0.40537909535153804, + -0.9127006841438481, + -0.05143199602698985, + 0.07557697170211077, + 0.022608059234754188, + -0.9968836426614573 + ], + [ + 0.8944183655110289, + -0.44684909066353445, + 0.018484523519743883, + -0.44546681563568974, + -0.8937961610091724, + -0.05184340587446276, + 0.03968757493193506, + 0.03813545251387854, + -0.9984841429174447 + ], + [ + 0.9018119736287917, + -0.42845258513290835, + 0.05624541325896371, + -0.42700609161794817, + -0.9035228503615509, + -0.036225082411270385, + 0.0663397463132637, + 0.00865107897702696, + -0.9977595887244709 + ], + [ + 0.9049613581352601, + -0.42502272015328346, + 0.020015684736971347, + -0.42376098877509083, + -0.904519313586226, + -0.04765958184731109, + 0.03836097853735582, + 0.03464821356155175, + -0.9986630746265981 + ], + [ + 0.9064121727064298, + -0.4212988716944232, + 0.030401215084512715, + -0.41919413217417884, + -0.9060548289238602, + -0.05780074856341467, + 0.051896557885335315, + 0.03964729111502988, + -0.9978651409819334 + ], + [ + 0.90327065268823, + -0.42865190299020645, + 0.018965074612385772, + -0.42833498808274645, + -0.9034276782917174, + -0.01864317785653355, + 0.025125006991684858, + 0.008716430422569157, + -0.9996463163861287 + ], + [ + 0.8950043014405218, + -0.4443185947593234, + 0.03934827510913068, + -0.44511084624178326, + -0.8953672515043872, + 0.01392190688817694, + 0.0290453948309759, + -0.02997451058115244, + -0.9991285671796865 + ], + [ + 0.8960450737307788, + -0.4406797802621576, + 0.053893943174523146, + -0.44194350652007064, + -0.8969381336134219, + 0.013708446841803614, + 0.042298497462043144, + -0.03610146448784059, + -0.9984525634071384 + ], + [ + 0.8687055022499244, + -0.48760182108583305, + 0.08715052744812193, + -0.48831981170503236, + -0.8725469844931855, + -0.014336015771842837, + 0.08303319731931516, + -0.030103553372119587, + -0.9960919958604746 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0019114911556243896, + -0.000811256468296051, + -0.010311581194400787, + -0.0037172026932239532, + 0.03482311964035034, + 0.0023743659257888794, + 1.0 + ], + [ + 0.00869026780128479, + -0.029036223888397217, + 0.0007274076342582703, + 0.03243381902575493, + -0.003948023542761803, + -0.05594504624605179, + 1.0 + ], + [ + 0.015569686889648438, + -0.03640231490135193, + 0.0033809542655944824, + 0.0035876184701919556, + -0.055741675198078156, + -0.11823023110628128, + 1.0 + ], + [ + 0.019416600465774536, + -0.039410218596458435, + 0.012471325695514679, + -0.005065150558948517, + -0.07258954644203186, + -0.11330877244472504, + 1.0 + ], + [ + 0.023524820804595947, + -0.02338075451552868, + -0.006395064294338226, + -0.019978061318397522, + -0.007327273488044739, + -0.06491327285766602, + 1.0 + ], + [ + 0.01946386694908142, + -0.032735031098127365, + -0.008468113839626312, + -0.019096259027719498, + 0.013795740902423859, + -0.09370242059230804, + 1.0 + ], + [ + 0.006438553333282471, + -0.008156009018421173, + -0.006918072700500488, + -0.019989226013422012, + 0.018700212240219116, + -0.033082038164138794, + 1.0 + ], + [ + -0.0002785325050354004, + -0.00143442302942276, + -0.0032074376940727234, + -0.0051588620990514755, + 0.007338792085647583, + -0.01712813973426819, + 1.0 + ], + [ + -0.0007122159004211426, + -0.000571325421333313, + -0.013172157108783722, + -0.013093343004584312, + 0.030627530068159103, + 0.004493147134780884, + 1.0 + ], + [ + 0.0015355348587036133, + -0.002975247800350189, + -0.006872739642858505, + -0.017203619703650475, + 0.009658101946115494, + -0.019179850816726685, + 1.0 + ], + [ + 0.0003743469715118408, + -0.001834765076637268, + -0.009028814733028412, + -0.01235036551952362, + 0.011418649926781654, + -0.020242363214492798, + 1.0 + ], + [ + 0.00018912553787231445, + -0.0011303573846817017, + -0.0017499253153800964, + -0.006224364973604679, + -0.0015866179019212723, + -0.011651188135147095, + 1.0 + ], + [ + 0.0002206563949584961, + -0.0009249299764633179, + -0.008678989484906197, + -0.008794005960226059, + 0.016606666147708893, + -0.009292036294937134, + 0.0 + ], + [ + 0.0028093457221984863, + 0.0012430548667907715, + 0.0006886348128318787, + -0.020522331818938255, + -0.013242769986391068, + 0.0048378705978393555, + 0.0 + ], + [ + 0.002949357032775879, + 0.0020787492394447327, + 0.0002632997930049896, + -0.004174746572971344, + -0.01090344786643982, + 0.003997325897216797, + 0.0 + ], + [ + -0.0009057521820068359, + -0.0008254572749137878, + -0.0005997940897941589, + -0.006943933665752411, + -0.01349983736872673, + -0.004962921142578125, + 0.0 + ], + [ + 1.9788742065429688e-05, + 0.0017141178250312805, + 0.002210872247815132, + 0.010598711669445038, + -0.0009638890624046326, + 0.013697922229766846, + 0.0 + ], + [ + 0.0006584823131561279, + 0.0037698671221733093, + 0.02266526222229004, + 0.019517716020345688, + -0.02981756627559662, + 0.004446923732757568, + 0.0 + ], + [ + 0.0008384585380554199, + -0.0003934130072593689, + 0.01893600821495056, + 0.0071974992752075195, + -0.04076247662305832, + 0.0010383427143096924, + 0.0 + ], + [ + -0.012085109949111938, + 0.0021542981266975403, + -0.0014254376292228699, + -0.006181929260492325, + 0.022850073873996735, + 0.012890666723251343, + 0.0 + ], + [ + -0.03510633111000061, + 0.0038260892033576965, + 0.0073871910572052, + 0.03760899230837822, + 0.03522878885269165, + 0.0454162061214447, + 0.0 + ], + [ + -0.03647899627685547, + 0.0017149224877357483, + -0.0015054792165756226, + -0.018812352791428566, + -0.0037994980812072754, + 0.0036724507808685303, + 0.0 + ], + [ + -0.029671430587768555, + -0.00017089396715164185, + -0.004149936139583588, + -0.0040857791900634766, + -0.020337313413619995, + -0.008077502250671387, + 0.0 + ], + [ + -0.016751229763031006, + -0.006802000105381012, + -0.0172915980219841, + -0.0005573015660047531, + 0.012459352612495422, + -0.03190726041793823, + 0.0 + ], + [ + -0.005340784788131714, + -0.007803730666637421, + -0.015666082501411438, + -0.006411226466298103, + 0.003153875470161438, + -0.04991346597671509, + 0.0 + ], + [ + 0.005315691232681274, + -0.00421510636806488, + -0.02862253412604332, + -0.015499945729970932, + 0.03595110401511192, + -0.043422192335128784, + 0.0 + ], + [ + 0.007444620132446289, + 0.0015851408243179321, + -0.007699321489781141, + 0.029504505917429924, + -0.02669050171971321, + 0.01986590027809143, + 1.0 + ], + [ + -0.0090101957321167, + 0.0017770305275917053, + -0.0025542781222611666, + -0.02601039968430996, + 0.028018109500408173, + 0.004283875226974487, + 1.0 + ], + [ + -0.0008903443813323975, + 0.009976781904697418, + 0.016216767951846123, + -0.005030538886785507, + -0.01354948803782463, + 0.004757553339004517, + 1.0 + ], + [ + 0.0024377107620239258, + 0.005088932812213898, + 0.004833029583096504, + 0.0309919323772192, + 0.02679223008453846, + -0.009618431329727173, + 1.0 + ], + [ + 0.0005221068859100342, + 5.4292380809783936e-05, + 0.015476670116186142, + 0.038710951805114746, + -0.003921829164028168, + -0.018708795309066772, + 1.0 + ], + [ + 0.011388927698135376, + -0.0048101916909217834, + 0.02105940878391266, + 0.006150012835860252, + -0.013261640444397926, + 0.0033023953437805176, + 1.0 + ], + [ + 0.01554444432258606, + -0.014314167201519012, + 0.02332880347967148, + -0.005929207429289818, + -0.04081778600811958, + -0.053897976875305176, + 1.0 + ], + [ + 0.011690020561218262, + -0.033297426998615265, + 0.02373824268579483, + 0.03017456643283367, + -0.051055170595645905, + -0.12576168775558472, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9560673832893372 + ], + [ + 0.6791892647743225 + ], + [ + 0.39273425936698914 + ], + [ + 0.2752157151699066 + ], + [ + 0.2752157151699066 + ], + [ + 0.2752157151699066 + ], + [ + 0.2752157151699066 + ], + [ + 0.2752157151699066 + ], + [ + 0.2752157151699066 + ], + [ + 0.2752157151699066 + ], + [ + 0.2752157151699066 + ], + [ + 0.2752157151699066 + ], + [ + 0.2752157151699066 + ], + [ + 0.2752157151699066 + ], + [ + 0.3026532232761383 + ], + [ + 0.3831871449947357 + ], + [ + 0.6831957101821899 + ], + [ + 0.9545519351959229 + ], + [ + 1.003452181816101 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2871525287628174, + 0.09315638989210129, + 0.07811283320188522 + ], + [ + 0.2958427965641022, + 0.06412016600370407, + 0.0788402408361435 + ], + [ + 0.3114124834537506, + 0.027717851102352142, + 0.08222119510173798 + ], + [ + 0.33082908391952515, + -0.011692365631461143, + 0.09469252079725266 + ], + [ + 0.3543539047241211, + -0.03507312014698982, + 0.08829745650291443 + ], + [ + 0.3738177716732025, + -0.06780815124511719, + 0.07982934266328812 + ], + [ + 0.380256325006485, + -0.07596416026353836, + 0.07291126996278763 + ], + [ + 0.3799777925014496, + -0.07739858329296112, + 0.0697038322687149 + ], + [ + 0.37926557660102844, + -0.07796990871429443, + 0.05653167515993118 + ], + [ + 0.38080111145973206, + -0.08094515651464462, + 0.04965893551707268 + ], + [ + 0.3811754584312439, + -0.08277992159128189, + 0.040630120784044266 + ], + [ + 0.3813645839691162, + -0.08391027897596359, + 0.03888019546866417 + ], + [ + 0.3815852403640747, + -0.08483520895242691, + 0.030201205983757973 + ], + [ + 0.3843945860862732, + -0.08359215408563614, + 0.03088984079658985 + ], + [ + 0.3873439431190491, + -0.0815134048461914, + 0.03115314058959484 + ], + [ + 0.38643819093704224, + -0.0823388621211052, + 0.030553346499800682 + ], + [ + 0.38645797967910767, + -0.08062474429607391, + 0.032764218747615814 + ], + [ + 0.3871164619922638, + -0.0768548771739006, + 0.05542948096990585 + ], + [ + 0.3879549205303192, + -0.07724829018115997, + 0.07436548918485641 + ], + [ + 0.3758698105812073, + -0.07509399205446243, + 0.07294005155563354 + ], + [ + 0.34076347947120667, + -0.07126790285110474, + 0.08032724261283875 + ], + [ + 0.3042844831943512, + -0.06955298036336899, + 0.07882176339626312 + ], + [ + 0.27461305260658264, + -0.06972387433052063, + 0.07467182725667953 + ], + [ + 0.25786182284355164, + -0.07652587443590164, + 0.057380229234695435 + ], + [ + 0.2525210380554199, + -0.08432960510253906, + 0.041714146733284 + ], + [ + 0.2578367292881012, + -0.08854471147060394, + 0.013091611675918102 + ], + [ + 0.2652813494205475, + -0.08695957064628601, + 0.005392290186136961 + ], + [ + 0.2562711536884308, + -0.0851825401186943, + 0.0028380120638757944 + ], + [ + 0.2553808093070984, + -0.07520575821399689, + 0.019054779782891273 + ], + [ + 0.2578185200691223, + -0.07011682540178299, + 0.023887809365987778 + ], + [ + 0.25834062695503235, + -0.0700625330209732, + 0.03936447948217392 + ], + [ + 0.2697295546531677, + -0.07487272471189499, + 0.06042388826608658 + ], + [ + 0.2852739989757538, + -0.089186891913414, + 0.08375269174575806 + ], + [ + 0.29696401953697205, + -0.12248431891202927, + 0.10749093443155289 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9902970999536843, + 0.1366531213871106, + -0.02525031165119615, + 0.13791866091838112, + -0.9887404800483041, + 0.058057782289115394, + -0.01703222809275204, + -0.060976942601358115, + -0.9979938455106763 + ], + [ + 0.9965188551689704, + 0.08076523894306116, + -0.0206675463273792, + 0.08233445877944741, + -0.9923555649351039, + 0.09193187499352952, + -0.013084654761192778, + -0.09331349806325288, + -0.9955507937262565 + ], + [ + 0.9984503392214605, + -0.03149013534994835, + 0.04588345545174246, + -0.03575519235938919, + -0.9948051171350728, + 0.0953118310663321, + 0.04264371381450235, + -0.09680470183578836, + -0.9943894425096189 + ], + [ + 0.9823446586467003, + -0.1374795468407646, + 0.1268792568892028, + -0.1475668738601615, + -0.9862932889129049, + 0.07382117571879153, + 0.11499125778700522, + -0.09124101295921434, + -0.989167371169682 + ], + [ + 0.9698539932407358, + -0.20324192335542335, + 0.13444683851168276, + -0.21079389889267391, + -0.9765217708654049, + 0.04439778390323479, + 0.1222667738374717, + -0.07139994129326285, + -0.9899256964028637 + ], + [ + 0.9473938394064746, + -0.29699133542472594, + 0.11933591134816537, + -0.30109618842270475, + -0.9534320691865723, + 0.017560602607272144, + 0.10856333806574997, + -0.05256839477527729, + -0.9926986277308801 + ], + [ + 0.938665875201831, + -0.3312716986859047, + 0.09573628560444646, + -0.3328878744343225, + -0.9429659210156052, + 0.0009668804427483135, + 0.08995575460291445, + -0.03277702629810928, + -0.9954062631714116 + ], + [ + 0.9334199200373255, + -0.34805290771995384, + 0.08710009360039923, + -0.3491377418940161, + -0.9370667807862801, + -0.0029471226620502566, + 0.08264435892824375, + -0.027659026998849687, + -0.9961952058521546 + ], + [ + 0.9369150925601646, + -0.3453704954771139, + 0.053938207115838646, + -0.3456544368038737, + -0.9383521626398917, + -0.0042695651810097995, + 0.05208761513810278, + -0.014643760546078449, + -0.9985351474166014 + ], + [ + 0.9305387328526077, + -0.3641530521470532, + 0.038603384217561605, + -0.3637258360620056, + -0.9313356632005146, + -0.017815684995318756, + 0.042440344509182805, + 0.002537136741089704, + -0.999095781241768 + ], + [ + 0.9233734378469987, + -0.38321563795816804, + 0.02296234097233086, + -0.3826469216511098, + -0.9235390076955536, + -0.025632686469463307, + 0.03102946389393047, + 0.014882072739597022, + -0.9994076727149082 + ], + [ + 0.9188061589187558, + -0.39411391451846206, + 0.02166713446436413, + -0.39335923272415435, + -0.9188193267122375, + -0.03224219115903113, + 0.03261527807066887, + 0.0211013564257203, + -0.9992452033376833 + ], + [ + 0.9154811491416247, + -0.40235225965444504, + 0.0026314857576825775, + -0.40204207065150827, + -0.9149965338195023, + -0.033815921169538236, + 0.016013712641935234, + 0.029899870388662795, + -0.9994246138444676 + ], + [ + 0.9171404410265885, + -0.3985068417793639, + 0.006760805321243769, + -0.3974892121959174, + -0.9157802094283196, + -0.05786997673484907, + 0.029252993375442682, + 0.050387548803846736, + -0.9983012357520731 + ], + [ + 0.9183742389045133, + -0.3954153689177808, + 0.015344163065212673, + -0.3936708641175682, + -0.916882063181498, + -0.06595857003428177, + 0.04014982019242033, + 0.054534101621420396, + -0.9977043769067375 + ], + [ + 0.9158285807273807, + -0.400816262684151, + 0.02458321156362431, + -0.3979715181351284, + -0.9140971982597114, + -0.07774948801739964, + 0.05363470402727501, + 0.06142178523664297, + -0.9966697962827262 + ], + [ + 0.9211457542698416, + -0.38800942393895527, + 0.030646146987910888, + -0.3853694944574197, + -0.9202514407251383, + -0.0680267490399187, + 0.054597180625718084, + 0.05085246088310215, + -0.9972127030327358 + ], + [ + 0.9209357525318087, + -0.38410015249219653, + 0.06591215793875083, + -0.3804784297859617, + -0.9227602107383788, + -0.06123526717237471, + 0.08434159220859253, + 0.031315592498537034, + -0.9959446919835385 + ], + [ + 0.9173870429174354, + -0.38356528513827776, + 0.10620115594472497, + -0.37789762949495836, + -0.9232007350946857, + -0.06995558835949978, + 0.12487752043220292, + 0.024043185259534878, + -0.991880804398029 + ], + [ + 0.9245932436617974, + -0.37164630094496, + 0.08370400688667388, + -0.3669979057986682, + -0.9278813305728415, + -0.06594523116772773, + 0.10217568651273155, + 0.03025331995502983, + -0.99430622331219 + ], + [ + 0.9431200982669516, + -0.32588597820856635, + 0.06574807565230746, + -0.32561542968456525, + -0.9453818491070709, + -0.01509143234526467, + 0.06707512352781499, + -0.00717555474800433, + -0.9977221252522103 + ], + [ + 0.9440615246247085, + -0.32363439455042753, + 0.06331363508162366, + -0.32206506871498775, + -0.9461112122281459, + -0.03387721372543211, + 0.07086557159073109, + 0.011591063806509755, + -0.9974185270000514 + ], + [ + 0.9398744614733254, + -0.33182122746031606, + 0.0808125589061239, + -0.329135656849353, + -0.9432126237382127, + -0.04494069215334517, + 0.0911357013500832, + 0.015640314178619663, + -0.9957156544475047 + ], + [ + 0.9298830725713921, + -0.36159839579641195, + 0.06755791221351204, + -0.35933327886523236, + -0.9321929827694933, + -0.04354121697054993, + 0.07872144590356772, + 0.016212434511101805, + -0.9967648122411199 + ], + [ + 0.9110191602816633, + -0.40800286374116235, + 0.0598143191777981, + -0.40537909535153804, + -0.9127006841438481, + -0.05143199602698985, + 0.07557697170211077, + 0.022608059234754188, + -0.9968836426614573 + ], + [ + 0.8944183655110289, + -0.44684909066353445, + 0.018484523519743883, + -0.44546681563568974, + -0.8937961610091724, + -0.05184340587446276, + 0.03968757493193506, + 0.03813545251387854, + -0.9984841429174447 + ], + [ + 0.9018119736287917, + -0.42845258513290835, + 0.05624541325896371, + -0.42700609161794817, + -0.9035228503615509, + -0.036225082411270385, + 0.0663397463132637, + 0.00865107897702696, + -0.9977595887244709 + ], + [ + 0.9049613581352601, + -0.42502272015328346, + 0.020015684736971347, + -0.42376098877509083, + -0.904519313586226, + -0.04765958184731109, + 0.03836097853735582, + 0.03464821356155175, + -0.9986630746265981 + ], + [ + 0.9064121727064298, + -0.4212988716944232, + 0.030401215084512715, + -0.41919413217417884, + -0.9060548289238602, + -0.05780074856341467, + 0.051896557885335315, + 0.03964729111502988, + -0.9978651409819334 + ], + [ + 0.90327065268823, + -0.42865190299020645, + 0.018965074612385772, + -0.42833498808274645, + -0.9034276782917174, + -0.01864317785653355, + 0.025125006991684858, + 0.008716430422569157, + -0.9996463163861287 + ], + [ + 0.8950043014405218, + -0.4443185947593234, + 0.03934827510913068, + -0.44511084624178326, + -0.8953672515043872, + 0.01392190688817694, + 0.0290453948309759, + -0.02997451058115244, + -0.9991285671796865 + ], + [ + 0.8960450737307788, + -0.4406797802621576, + 0.053893943174523146, + -0.44194350652007064, + -0.8969381336134219, + 0.013708446841803614, + 0.042298497462043144, + -0.03610146448784059, + -0.9984525634071384 + ], + [ + 0.8687055022499244, + -0.48760182108583305, + 0.08715052744812193, + -0.48831981170503236, + -0.8725469844931855, + -0.014336015771842837, + 0.08303319731931516, + -0.030103553372119587, + -0.9960919958604746 + ], + [ + 0.7961472359610989, + -0.5879100793978315, + 0.14321772660511786, + -0.5901288142085389, + -0.8067123163495983, + -0.03103580658997094, + 0.13378176748842366, + -0.05980783554269228, + -0.9892044588937983 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005640.json b/json/chunk-0005/episode_0005640.json new file mode 100644 index 0000000000000000000000000000000000000000..680c2166007fe68fbddbed7f8e7db1f36974f399 --- /dev/null +++ b/json/chunk-0005/episode_0005640.json @@ -0,0 +1,862 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 13, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nDoing nothing." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005640.mp4", + "start": 0, + "end": 13, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.12570416927337646, + 0.07182598859071732, + -0.006447462365031242, + 0.11515972763299942, + 0.11863324791193008, + 0.04490262642502785, + 0.0, + 0.9981546401977539 + ], + [ + 0.12654730677604675, + 0.07189281284809113, + -0.0042402916587889194, + 0.11377567797899246, + 0.11864279210567474, + 0.04716738685965538, + 0.0, + 0.9981546401977539 + ], + [ + 0.13810031116008759, + 0.06657106429338455, + 0.012756935320794582, + 0.07952216267585754, + 0.05318540334701538, + 0.05448693037033081, + 0.0, + 0.9981546401977539 + ], + [ + 0.14794516563415527, + 0.06426824629306793, + 0.025759978219866753, + 0.06918295472860336, + 0.014530804008245468, + 0.05313931405544281, + 0.0, + 0.9981546401977539 + ], + [ + 0.15555976331233978, + 0.06130053102970123, + 0.03496584668755531, + 0.07379917055368423, + -0.023942947387695312, + 0.032723937183618546, + 0.0, + 0.9981546401977539 + ], + [ + 0.1607392579317093, + 0.056581761687994, + 0.036384809762239456, + 0.07770396769046783, + -0.04937136173248291, + 0.015574152581393719, + 0.0, + 0.9981546401977539 + ], + [ + 0.16720595955848694, + 0.050496507436037064, + 0.046228982508182526, + 0.0752929151058197, + -0.087480828166008, + 0.008699499070644379, + 0.0, + 0.9981546401977539 + ], + [ + 0.17352084815502167, + 0.046831004321575165, + 0.058743011206388474, + 0.05247325077652931, + -0.11921319365501404, + 0.025080963969230652, + 0.0, + 0.9981546401977539 + ], + [ + 0.17841263115406036, + 0.04506739228963852, + 0.07155538350343704, + 0.008256778120994568, + -0.12773184478282928, + 0.024104369804263115, + 0.0, + 0.9981546401977539 + ], + [ + 0.18077696859836578, + 0.048549532890319824, + 0.07941360026597977, + -0.02040715515613556, + -0.127918541431427, + 0.03367123380303383, + 0.0, + 0.9981546401977539 + ], + [ + 0.18103177845478058, + 0.052473749965429306, + 0.0817016214132309, + -0.03427481651306152, + -0.12086475640535355, + 0.04636142775416374, + 0.0, + 0.9981546401977539 + ], + [ + 0.1798701137304306, + 0.05543345957994461, + 0.08074725419282913, + 0.022160019725561142, + -0.10379762947559357, + 0.02373947761952877, + 0.0, + 0.9981546401977539 + ], + [ + 0.1768956333398819, + 0.054080531001091, + 0.07683610171079636, + 0.04094501957297325, + -0.060773544013500214, + 0.016805540770292282, + 0.0, + 0.9981546401977539 + ] + ], + "left_gripper_pos": [ + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.12570416927337646, + 0.07182598859071732, + -0.006447462365031242 + ], + [ + 0.12654730677604675, + 0.07189281284809113, + -0.0042402916587889194 + ], + [ + 0.13810031116008759, + 0.06657106429338455, + 0.012756935320794582 + ], + [ + 0.14794516563415527, + 0.06426824629306793, + 0.025759978219866753 + ], + [ + 0.15555976331233978, + 0.06130053102970123, + 0.03496584668755531 + ], + [ + 0.1607392579317093, + 0.056581761687994, + 0.036384809762239456 + ], + [ + 0.16720595955848694, + 0.050496507436037064, + 0.046228982508182526 + ], + [ + 0.17352084815502167, + 0.046831004321575165, + 0.058743011206388474 + ], + [ + 0.17841263115406036, + 0.04506739228963852, + 0.07155538350343704 + ], + [ + 0.18077696859836578, + 0.048549532890319824, + 0.07941360026597977 + ], + [ + 0.18103177845478058, + 0.052473749965429306, + 0.0817016214132309 + ], + [ + 0.1798701137304306, + 0.05543345957994461, + 0.08074725419282913 + ], + [ + 0.1768956333398819, + 0.054080531001091, + 0.07683610171079636 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9919704564450139, + 0.03100428781782708, + -0.12261055287853512, + 0.04457203892075395, + -0.9929856206394293, + 0.10951205664114874, + -0.11835517262341141, + -0.11409772714754976, + -0.9863943236723566 + ], + [ + 0.9918658391710135, + 0.03342201620972806, + -0.12282152058193112, + 0.04681844487138916, + -0.9930631419167021, + 0.1078593036615413, + -0.11836464972873341, + -0.11273227132904116, + -0.9865501734304188 + ], + [ + 0.99710404267414, + 0.050071165028098455, + -0.057239903176157084, + 0.054382967047811454, + -0.9955904059210997, + 0.07643452448296334, + -0.05316033274880398, + -0.07932604913008715, + -0.995430237109285 + ], + [ + 0.9984830176039602, + 0.051984220220264235, + -0.01814674639105678, + 0.053108701279351814, + -0.9962529798338234, + 0.06826028142813653, + -0.014530292664321532, + -0.0691204819161361, + -0.9975024960243312 + ], + [ + 0.9991781545243547, + 0.034393293379197505, + 0.021450335471428706, + 0.03270871944102693, + -0.9966864000273734, + 0.0744738858459957, + 0.023940659845387947, + -0.0737110668150086, + -0.9969922384026669 + ], + [ + 0.9986603549775881, + 0.01935700080517426, + 0.04798751833410377, + 0.015554546372745136, + -0.9968019955390097, + 0.07838263695861439, + 0.04935130680311905, + -0.07753120796992849, + -0.9957677240740171 + ], + [ + 0.9961382963114893, + 0.015246568705800876, + 0.08646407788407205, + 0.008666122805198748, + -0.9970719210567923, + 0.07597685539454047, + 0.08736929058409938, + -0.07493414697464029, + -0.9933536533782993 + ], + [ + 0.9925902402081339, + 0.031279688532843124, + 0.11741463336759628, + 0.02490034149590743, + -0.9981530823623358, + 0.05541116461467726, + 0.11893102218069901, + -0.05207691672762504, + -0.9915358827128737 + ], + [ + 0.9915652435701783, + 0.025152684615563987, + 0.12714444620290385, + 0.023905685394322505, + -0.9996500767037211, + 0.011324413983618515, + 0.127384794812571, + -0.008189420179394242, + -0.9918195639569148 + ], + [ + 0.9912673824057951, + 0.03105617811791697, + 0.12815806794373685, + 0.0333898153379818, + -0.9993127118503907, + -0.01610043992919413, + 0.1275699682921444, + 0.020239015166907907, + -0.9916230561332341 + ], + [ + 0.9916380829867989, + 0.042190312036669377, + 0.12195855829139358, + 0.04600672407478063, + -0.9985302928118654, + -0.028646739377413428, + 0.12057070004845198, + 0.03401811145991089, + -0.992121703412705 + ], + [ + 0.9943376092522119, + 0.026026614493702565, + 0.10303074378354975, + 0.02360949073128889, + -0.9994182808658901, + 0.024610806944871125, + 0.10361134481322239, + -0.022038947548935373, + -0.9943736591528008 + ], + [ + 0.9980129074115222, + 0.019276461747879885, + 0.059988787806417886, + 0.016773725747726113, + -0.9989789992755139, + 0.04194759982446109, + 0.06073614051403808, + -0.04085801058514207, + -0.9973172735927538 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + 0.0008431375026702881, + 6.682425737380981e-05, + 0.002207170706242323, + -0.001384049654006958, + 9.544193744659424e-06, + 0.002264760434627533, + 1.0 + ], + [ + 0.011553004384040833, + -0.0053217485547065735, + 0.01699722744524479, + -0.03425351530313492, + -0.06545738875865936, + 0.00731954351067543, + 1.0 + ], + [ + 0.009844854474067688, + -0.00230281800031662, + 0.01300304289907217, + -0.010339207947254181, + -0.03865459933876991, + -0.0013476163148880005, + 1.0 + ], + [ + 0.007614597678184509, + -0.0029677152633666992, + 0.00920586846768856, + 0.004616215825080872, + -0.03847375139594078, + -0.020415376871824265, + 1.0 + ], + [ + 0.005179494619369507, + -0.00471876934170723, + 0.001418963074684143, + 0.0039047971367836, + -0.025428414344787598, + -0.017149783670902252, + 1.0 + ], + [ + 0.006466701626777649, + -0.00608525425195694, + 0.00984417274594307, + -0.0024110525846481323, + -0.038109466433525085, + -0.00687465351074934, + 1.0 + ], + [ + 0.006314888596534729, + -0.003665503114461899, + 0.012514028698205948, + -0.02281966432929039, + -0.03173236548900604, + 0.016381464898586273, + 1.0 + ], + [ + 0.004891782999038696, + -0.0017636120319366455, + 0.012812372297048569, + -0.044216472655534744, + -0.008518651127815247, + -0.000976594164967537, + 1.0 + ], + [ + 0.00236433744430542, + 0.003482140600681305, + 0.007858216762542725, + -0.028663933277130127, + -0.00018669664859771729, + 0.009566863998770714, + 1.0 + ], + [ + 0.0002548098564147949, + 0.003924217075109482, + 0.002288021147251129, + -0.013867661356925964, + 0.007053785026073456, + 0.012690193951129913, + 1.0 + ], + [ + -0.0011616647243499756, + 0.0029597096145153046, + -0.0009543672204017639, + 0.056434836238622665, + 0.01706712692975998, + -0.02262195013463497, + 1.0 + ], + [ + -0.002974480390548706, + -0.0013529285788536072, + -0.003911152482032776, + 0.01878499984741211, + 0.04302408546209335, + -0.006933936849236488, + 1.0 + ], + [ + 0.0002345442771911621, + 6.227567791938782e-05, + 1.691281795501709e-05, + -1.1045485734939575e-05, + -0.0017401650547981262, + 0.006081338971853256, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.12654730677604675, + 0.07189281284809113, + -0.0042402916587889194 + ], + [ + 0.13810031116008759, + 0.06657106429338455, + 0.012756935320794582 + ], + [ + 0.14794516563415527, + 0.06426824629306793, + 0.025759978219866753 + ], + [ + 0.15555976331233978, + 0.06130053102970123, + 0.03496584668755531 + ], + [ + 0.1607392579317093, + 0.056581761687994, + 0.036384809762239456 + ], + [ + 0.16720595955848694, + 0.050496507436037064, + 0.046228982508182526 + ], + [ + 0.17352084815502167, + 0.046831004321575165, + 0.058743011206388474 + ], + [ + 0.17841263115406036, + 0.04506739228963852, + 0.07155538350343704 + ], + [ + 0.18077696859836578, + 0.048549532890319824, + 0.07941360026597977 + ], + [ + 0.18103177845478058, + 0.052473749965429306, + 0.0817016214132309 + ], + [ + 0.1798701137304306, + 0.05543345957994461, + 0.08074725419282913 + ], + [ + 0.1768956333398819, + 0.054080531001091, + 0.07683610171079636 + ], + [ + 0.17713017761707306, + 0.05414280667901039, + 0.07685301452875137 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9918658391710135, + 0.03342201620972806, + -0.12282152058193112, + 0.04681844487138916, + -0.9930631419167021, + 0.1078593036615413, + -0.11836464972873341, + -0.11273227132904116, + -0.9865501734304188 + ], + [ + 0.99710404267414, + 0.050071165028098455, + -0.057239903176157084, + 0.054382967047811454, + -0.9955904059210997, + 0.07643452448296334, + -0.05316033274880398, + -0.07932604913008715, + -0.995430237109285 + ], + [ + 0.9984830176039602, + 0.051984220220264235, + -0.01814674639105678, + 0.053108701279351814, + -0.9962529798338234, + 0.06826028142813653, + -0.014530292664321532, + -0.0691204819161361, + -0.9975024960243312 + ], + [ + 0.9991781545243547, + 0.034393293379197505, + 0.021450335471428706, + 0.03270871944102693, + -0.9966864000273734, + 0.0744738858459957, + 0.023940659845387947, + -0.0737110668150086, + -0.9969922384026669 + ], + [ + 0.9986603549775881, + 0.01935700080517426, + 0.04798751833410377, + 0.015554546372745136, + -0.9968019955390097, + 0.07838263695861439, + 0.04935130680311905, + -0.07753120796992849, + -0.9957677240740171 + ], + [ + 0.9961382963114893, + 0.015246568705800876, + 0.08646407788407205, + 0.008666122805198748, + -0.9970719210567923, + 0.07597685539454047, + 0.08736929058409938, + -0.07493414697464029, + -0.9933536533782993 + ], + [ + 0.9925902402081339, + 0.031279688532843124, + 0.11741463336759628, + 0.02490034149590743, + -0.9981530823623358, + 0.05541116461467726, + 0.11893102218069901, + -0.05207691672762504, + -0.9915358827128737 + ], + [ + 0.9915652435701783, + 0.025152684615563987, + 0.12714444620290385, + 0.023905685394322505, + -0.9996500767037211, + 0.011324413983618515, + 0.127384794812571, + -0.008189420179394242, + -0.9918195639569148 + ], + [ + 0.9912673824057951, + 0.03105617811791697, + 0.12815806794373685, + 0.0333898153379818, + -0.9993127118503907, + -0.01610043992919413, + 0.1275699682921444, + 0.020239015166907907, + -0.9916230561332341 + ], + [ + 0.9916380829867989, + 0.042190312036669377, + 0.12195855829139358, + 0.04600672407478063, + -0.9985302928118654, + -0.028646739377413428, + 0.12057070004845198, + 0.03401811145991089, + -0.992121703412705 + ], + [ + 0.9943376092522119, + 0.026026614493702565, + 0.10303074378354975, + 0.02360949073128889, + -0.9994182808658901, + 0.024610806944871125, + 0.10361134481322239, + -0.022038947548935373, + -0.9943736591528008 + ], + [ + 0.9980129074115222, + 0.019276461747879885, + 0.059988787806417886, + 0.016773725747726113, + -0.9989789992755139, + 0.04194759982446109, + 0.06073614051403808, + -0.04085801058514207, + -0.9973172735927538 + ], + [ + 0.9977852727151771, + 0.025421596098268526, + 0.06146781275201122, + 0.02284017965028527, + -0.9988421416041956, + 0.042340315883172795, + 0.06247300013799969, + -0.04084260774437228, + -0.9972106124818353 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005641.json b/json/chunk-0005/episode_0005641.json new file mode 100644 index 0000000000000000000000000000000000000000..97c41108cd8022dde7a89cd72dfcf4dfada508b4 --- /dev/null +++ b/json/chunk-0005/episode_0005641.json @@ -0,0 +1,2182 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 35, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut lid on pot." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005641.mp4", + "start": 0, + "end": 35, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2668403685092926, + -0.03367865830659866, + 0.14009298384189606, + -0.06055154278874397, + -0.04597333073616028, + 0.1662331223487854, + 0.0, + 0.9981546401977539 + ], + [ + 0.2641995847225189, + -0.033931929618120193, + 0.13098999857902527, + -0.056980427354574203, + -0.010383120737969875, + 0.16940733790397644, + 0.0, + 0.9981546401977539 + ], + [ + 0.269797146320343, + -0.01518264040350914, + 0.12347109615802765, + -0.07669160515069962, + -0.00017356281750835478, + 0.2001173347234726, + 0.0, + 0.9981546401977539 + ], + [ + 0.27684327960014343, + 0.0027002678252756596, + 0.11715780943632126, + -0.09248725324869156, + -0.06387920677661896, + 0.1697963923215866, + 0.0, + 0.9981546401977539 + ], + [ + 0.2825220227241516, + 0.026468509808182716, + 0.10654666274785995, + -0.09357231110334396, + -0.051188550889492035, + 0.1931867152452469, + 0.0, + 0.9988223910331726 + ], + [ + 0.2869759202003479, + 0.04216032847762108, + 0.09430917352437973, + -0.07527711987495422, + -0.054086197167634964, + 0.1820538192987442, + 0.0, + 0.9988223910331726 + ], + [ + 0.29507559537887573, + 0.054790716618299484, + 0.0743793323636055, + -0.04774662107229233, + -0.06266015022993088, + 0.16891586780548096, + 0.0, + 0.9988223910331726 + ], + [ + 0.2994414269924164, + 0.062220945954322815, + 0.05666466802358627, + -0.03600507602095604, + -0.05683373659849167, + 0.1575687825679779, + 0.0, + 0.9981546401977539 + ], + [ + 0.3021702170372009, + 0.0700761154294014, + 0.04568189010024071, + -0.03160644322633743, + -0.06211179494857788, + 0.1520434319972992, + 0.0, + 0.9988223910331726 + ], + [ + 0.3048286736011505, + 0.07536725699901581, + 0.041212938725948334, + -0.027290450409054756, + -0.078007273375988, + 0.14073367416858673, + 0.0, + 0.9988223910331726 + ], + [ + 0.30692291259765625, + 0.0774211585521698, + 0.03613186255097389, + -0.015684541314840317, + -0.09354657679796219, + 0.1346272975206375, + 0.0, + 0.9988223910331726 + ], + [ + 0.2981058359146118, + 0.07259572297334671, + 0.025560444220900536, + -0.00861908309161663, + -0.08012162148952484, + 0.12216797471046448, + 0.0, + 0.9988223910331726 + ], + [ + 0.29573968052864075, + 0.06673548370599747, + 0.018245292827486992, + -0.0013947271509096026, + -0.06367253512144089, + 0.09543337672948837, + 0.0, + 0.9988223910331726 + ], + [ + 0.29462704062461853, + 0.06464184075593948, + 0.01652645878493786, + 0.0009151482954621315, + -0.06323479115962982, + 0.10299718379974365, + 0.0, + 0.9445669651031494 + ], + [ + 0.2985973358154297, + 0.0644163116812706, + 0.01774095557630062, + -0.011887161061167717, + -0.0654945895075798, + 0.154245525598526, + 0.0, + 0.6581199765205383 + ], + [ + 0.3003392517566681, + 0.06552829593420029, + 0.01813684217631817, + -0.008986909873783588, + -0.07562053948640823, + 0.18377995491027832, + 0.0, + 0.40327540040016174 + ], + [ + 0.2988262474536896, + 0.0648200586438179, + 0.02021695487201214, + -0.010202526114881039, + -0.05239525064826012, + 0.2023201584815979, + 0.0, + 0.39273425936698914 + ], + [ + 0.30156591534614563, + 0.05533574894070625, + 0.03396294265985489, + -0.03777984157204628, + -0.010883806273341179, + 0.21157631278038025, + 0.0, + 0.413944274187088 + ], + [ + 0.30999520421028137, + 0.0437309592962265, + 0.0637522041797638, + -0.08096697926521301, + -0.002442208817228675, + 0.23125791549682617, + 0.0, + 0.413944274187088 + ], + [ + 0.32236725091934204, + 0.036294516175985336, + 0.08436135202646255, + -0.10738254338502884, + -0.002761892508715391, + 0.26367589831352234, + 0.0, + 0.4148389995098114 + ], + [ + 0.3433612585067749, + 0.037169940769672394, + 0.10388106852769852, + -0.11472611874341965, + -0.03402162715792656, + 0.2862091064453125, + 0.0, + 0.413944274187088 + ], + [ + 0.3636033535003662, + 0.03605494275689125, + 0.09426352381706238, + -0.08704760670661926, + -0.011102170683443546, + 0.32493704557418823, + 0.0, + 0.4148389995098114 + ], + [ + 0.3815329074859619, + 0.03208112716674805, + 0.08587505668401718, + -0.06609208136796951, + -0.016392964869737625, + 0.34401923418045044, + 0.0, + 0.4148389995098114 + ], + [ + 0.3890340030193329, + 0.03236457705497742, + 0.07463281601667404, + -0.04130660742521286, + -0.009883161634206772, + 0.35893234610557556, + 0.0, + 0.4148389995098114 + ], + [ + 0.39067551493644714, + 0.0316116139292717, + 0.0712088868021965, + -0.04353224113583565, + -0.025086887180805206, + 0.35799074172973633, + 0.0, + 0.4889543354511261 + ], + [ + 0.38584354519844055, + 0.03115067072212696, + 0.06705820560455322, + -0.03870324417948723, + -0.00754887331277132, + 0.3517817556858063, + 0.0, + 0.803636372089386 + ], + [ + 0.3811880052089691, + 0.02815810963511467, + 0.061933986842632294, + -0.06599709391593933, + 0.009794688783586025, + 0.3544235825538635, + 0.0, + 0.9988223910331726 + ], + [ + 0.37952107191085815, + 0.02839554287493229, + 0.0640980526804924, + -0.07997029274702072, + 0.019236380234360695, + 0.3614429831504822, + 0.0, + 0.9994885921478271 + ], + [ + 0.37856990098953247, + 0.0252232626080513, + 0.07151524722576141, + -0.10496388375759125, + 0.01374000683426857, + 0.34810197353363037, + 0.0, + 0.9994885921478271 + ], + [ + 0.37553322315216064, + 0.02329385094344616, + 0.0815536230802536, + -0.12615181505680084, + 0.014778624288737774, + 0.33905643224716187, + 0.0, + 0.9994885921478271 + ], + [ + 0.37010321021080017, + 0.02463066391646862, + 0.08996393531560898, + -0.1348172277212143, + 0.00034122809302061796, + 0.332196444272995, + 0.0, + 0.9994885921478271 + ], + [ + 0.3568044900894165, + 0.02848925068974495, + 0.10618960857391357, + -0.1494726836681366, + -0.013023572973906994, + 0.2881126403808594, + 0.0, + 0.9994885921478271 + ], + [ + 0.34348469972610474, + 0.044021639972925186, + 0.11427879333496094, + -0.1480865776538849, + -0.013429374434053898, + 0.2312697023153305, + 0.0, + 0.9994885921478271 + ], + [ + 0.33135196566581726, + 0.0503527969121933, + 0.11594528704881668, + -0.14871224761009216, + 0.005756814032793045, + 0.19933319091796875, + 0.0, + 0.9994885921478271 + ], + [ + 0.33121317625045776, + 0.05108356475830078, + 0.11591105163097382, + -0.1472553163766861, + 0.0055636754259467125, + 0.19890618324279785, + 0.0, + 0.9994885921478271 + ] + ], + "left_gripper_pos": [ + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9981546401977539 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9445669651031494 + ], + [ + 0.6581199765205383 + ], + [ + 0.40327540040016174 + ], + [ + 0.39273425936698914 + ], + [ + 0.413944274187088 + ], + [ + 0.413944274187088 + ], + [ + 0.4148389995098114 + ], + [ + 0.413944274187088 + ], + [ + 0.4148389995098114 + ], + [ + 0.4148389995098114 + ], + [ + 0.4148389995098114 + ], + [ + 0.4889543354511261 + ], + [ + 0.803636372089386 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2668403685092926, + -0.03367865830659866, + 0.14009298384189606 + ], + [ + 0.2641995847225189, + -0.033931929618120193, + 0.13098999857902527 + ], + [ + 0.269797146320343, + -0.01518264040350914, + 0.12347109615802765 + ], + [ + 0.27684327960014343, + 0.0027002678252756596, + 0.11715780943632126 + ], + [ + 0.2825220227241516, + 0.026468509808182716, + 0.10654666274785995 + ], + [ + 0.2869759202003479, + 0.04216032847762108, + 0.09430917352437973 + ], + [ + 0.29507559537887573, + 0.054790716618299484, + 0.0743793323636055 + ], + [ + 0.2994414269924164, + 0.062220945954322815, + 0.05666466802358627 + ], + [ + 0.3021702170372009, + 0.0700761154294014, + 0.04568189010024071 + ], + [ + 0.3048286736011505, + 0.07536725699901581, + 0.041212938725948334 + ], + [ + 0.30692291259765625, + 0.0774211585521698, + 0.03613186255097389 + ], + [ + 0.2981058359146118, + 0.07259572297334671, + 0.025560444220900536 + ], + [ + 0.29573968052864075, + 0.06673548370599747, + 0.018245292827486992 + ], + [ + 0.29462704062461853, + 0.06464184075593948, + 0.01652645878493786 + ], + [ + 0.2985973358154297, + 0.0644163116812706, + 0.01774095557630062 + ], + [ + 0.3003392517566681, + 0.06552829593420029, + 0.01813684217631817 + ], + [ + 0.2988262474536896, + 0.0648200586438179, + 0.02021695487201214 + ], + [ + 0.30156591534614563, + 0.05533574894070625, + 0.03396294265985489 + ], + [ + 0.30999520421028137, + 0.0437309592962265, + 0.0637522041797638 + ], + [ + 0.32236725091934204, + 0.036294516175985336, + 0.08436135202646255 + ], + [ + 0.3433612585067749, + 0.037169940769672394, + 0.10388106852769852 + ], + [ + 0.3636033535003662, + 0.03605494275689125, + 0.09426352381706238 + ], + [ + 0.3815329074859619, + 0.03208112716674805, + 0.08587505668401718 + ], + [ + 0.3890340030193329, + 0.03236457705497742, + 0.07463281601667404 + ], + [ + 0.39067551493644714, + 0.0316116139292717, + 0.0712088868021965 + ], + [ + 0.38584354519844055, + 0.03115067072212696, + 0.06705820560455322 + ], + [ + 0.3811880052089691, + 0.02815810963511467, + 0.061933986842632294 + ], + [ + 0.37952107191085815, + 0.02839554287493229, + 0.0640980526804924 + ], + [ + 0.37856990098953247, + 0.0252232626080513, + 0.07151524722576141 + ], + [ + 0.37553322315216064, + 0.02329385094344616, + 0.0815536230802536 + ], + [ + 0.37010321021080017, + 0.02463066391646862, + 0.08996393531560898 + ], + [ + 0.3568044900894165, + 0.02848925068974495, + 0.10618960857391357 + ], + [ + 0.34348469972610474, + 0.044021639972925186, + 0.11427879333496094 + ], + [ + 0.33135196566581726, + 0.0503527969121933, + 0.11594528704881668 + ], + [ + 0.33121317625045776, + 0.05108356475830078, + 0.11591105163097382 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9851730397464102, + 0.1624225901373446, + 0.05525381407553801, + 0.16529374829514049, + -0.9848678216478617, + -0.05208983256968934, + 0.04595713798052153, + 0.060450608728710886, + -0.9971126643328564 + ], + [ + 0.985631729307781, + 0.16774173564962877, + 0.019819291183163463, + 0.16858911251831263, + -0.9841848418746445, + -0.0543866542864014, + 0.010382934172991978, + 0.0569465288268818, + -0.9983232380008633 + ], + [ + 0.9800432455223644, + 0.19818699417770214, + 0.015399748205671766, + 0.19878432227401466, + -0.9771652036671629, + -0.07505303431689488, + 0.00017356281663695374, + 0.07661644784848597, + -0.9970606249346271 + ], + [ + 0.9836089413163828, + 0.16244866391789645, + 0.07825523722892401, + 0.16863702081565826, + -0.9824030025157244, + -0.08028633668631845, + 0.06383577189072041, + 0.09216708869970867, + -0.9936952359691256 + ], + [ + 0.9801119291586373, + 0.18645559126749536, + 0.06793319369809445, + 0.19173582445741552, + -0.9780219401616523, + -0.0819173863234932, + 0.051166199199952904, + 0.09331343444288175, + -0.9943211870476786 + ], + [ + 0.9820357879191741, + 0.1765386639696721, + 0.06663190954617944, + 0.1807850820786825, + -0.9814248214712655, + -0.06420337917819145, + 0.05405983114819248, + 0.07509607129469413, + -0.9957098546927872 + ], + [ + 0.983833029880692, + 0.16497597372486936, + 0.06968139930647478, + 0.16778382161455238, + -0.9851466147625059, + -0.036534047495324976, + 0.0626191545790362, + 0.04763481411222065, + -0.9969000782246437 + ], + [ + 0.9860171025769308, + 0.1547964450551851, + 0.0617117008684012, + 0.1566642144985382, + -0.9872924775527656, + -0.026643717144523904, + 0.056803145347330795, + 0.035939175922639593, + -0.9977383315843144 + ], + [ + 0.9865575753930829, + 0.14944374566297505, + 0.06611140080759015, + 0.15116624582984903, + -0.9882670589904706, + -0.021840014561248525, + 0.06207186606049044, + 0.031540244078730816, + -0.9975732035531141 + ], + [ + 0.9871023912903668, + 0.13811193400048624, + 0.08095654881160017, + 0.13984300967132193, + -0.9900429443150834, + -0.016090402667032367, + 0.07792818331583398, + 0.027204082387869994, + -0.9965877463357292 + ], + [ + 0.9866186963905166, + 0.1327527015444169, + 0.0946586930257145, + 0.13363413703852048, + -0.9910261761927366, + -0.003005913966299279, + 0.0934101993930396, + 0.015615323674577818, + -0.9955052467545766 + ], + [ + 0.9893626595638103, + 0.1211750954418985, + 0.080486794603037, + 0.12147336509859694, + -0.9925939680217779, + 0.0011984232997948171, + 0.0800359258861147, + 0.008591326523262253, + -0.9967549546784925 + ], + [ + 0.9934325000767035, + 0.09520014764977179, + 0.06347282630238761, + 0.0950954884593143, + -0.9954571786373906, + 0.004674780633515878, + 0.06362952039765692, + 0.0013919004090549288, + -0.997972618235198 + ], + [ + 0.9927124161397474, + 0.10287265525594326, + 0.06276364905402766, + 0.10260968225451304, + -0.9946941151172086, + 0.007407459673967069, + 0.06319265740268538, + -0.0009133191038340456, + -0.9980009288064824 + ], + [ + 0.9860091755340228, + 0.15285503784402832, + 0.06649242940678893, + 0.15330523275205038, + -0.9881774358385026, + -0.0016914226205121908, + 0.0654477759252047, + 0.011861395589987878, + -0.9977854959464492 + ], + [ + 0.9803501980726159, + 0.1820722857278706, + 0.07591555775209428, + 0.1822249025889216, + -0.9832443141723535, + 0.00497026399664521, + 0.07554848784350977, + 0.00896110582277471, + -0.9971018626835436 + ], + [ + 0.9782586700114441, + 0.2004088339138355, + 0.053350481129393224, + 0.2006669466868056, + -0.9796593779723022, + 0.0005288273037741282, + 0.052371280821035565, + 0.010188348257651558, + -0.9985757089499752 + ], + [ + 0.9776431944542323, + 0.20944955564385462, + 0.018565235735519988, + 0.2099888848859067, + -0.977089768213966, + -0.03464466879551827, + 0.010883591397007047, + 0.03776861782180518, + -0.9992272408947491 + ], + [ + 0.973375945479007, + 0.22825899472074093, + 0.020906938846365034, + 0.2292014493645271, + -0.9702352970388358, + -0.07816753794998166, + 0.0024422063895175716, + 0.08087830184319197, + -0.9967209920127659 + ], + [ + 0.9654347670576932, + 0.2588441528913858, + 0.030584556073266423, + 0.2606301642661952, + -0.9599547045703772, + -0.10275642387595989, + 0.0027618889974076015, + 0.107175882021753, + -0.9942362406802648 + ], + [ + 0.9587658623456614, + 0.2767262090376685, + 0.06473504794329384, + 0.2821542071226049, + -0.9541138981389721, + -0.10027797754776012, + 0.03401506436263325, + 0.11440836774334102, + -0.9928512984262599 + ], + [ + 0.9476124229408441, + 0.31712569841524296, + 0.038235942421067835, + 0.319229451583668, + -0.944390838707166, + -0.07885747274397209, + 0.011101942612598024, + 0.08693235974376914, + -0.9961523536586192 + ], + [ + 0.9412802027370328, + 0.3355180007867291, + 0.0376729489608517, + 0.33722822347641557, + -0.9397164660411451, + -0.05665764504532633, + 0.016392230667947972, + 0.0660351012660533, + -0.9976826450202043 + ], + [ + 0.9362266714433792, + 0.3505930737457704, + 0.02375113301599838, + 0.35125766322513086, + -0.9356171212504265, + -0.03519455140622054, + 0.00988300074225398, + 0.041292845198137605, + -0.9990982070005787 + ], + [ + 0.9363080330503191, + 0.3490386874745008, + 0.038720303350055975, + 0.35028281053155214, + -0.9360979259983166, + -0.03197851759801714, + 0.025084255850220942, + 0.043504799594156325, + -0.9987382602667793 + ], + [ + 0.9387335142326622, + 0.3440387509841104, + 0.02041389423137727, + 0.34456117722480684, + -0.9381578917331048, + -0.03372484734363656, + 0.007548801616936974, + 0.038692479891958044, + -0.9992226516617599 + ], + [ + 0.9378017039522577, + 0.3469000921569877, + 0.013721884918471454, + 0.3470331845857635, + -0.9355808073187755, + -0.06524202459314132, + -0.00979453217391033, + 0.06594603125451953, + -0.9977751190029106 + ], + [ + 0.9352144644298079, + 0.3539315154167707, + 0.0103144518058874, + 0.3535589241375222, + -0.9318547189732169, + -0.0815038029178089, + -0.019235193889991925, + 0.07987030187832914, + -0.9966196577400425 + ], + [ + 0.9399331185969572, + 0.3405900354582157, + 0.022894547629730443, + 0.34108203801544595, + -0.9343572575932523, + -0.10314823569042236, + -0.013739574514100317, + 0.1047613618152628, + -0.9944024744351672 + ], + [ + 0.9429659285724331, + 0.3317078619986476, + 0.02802056101890798, + 0.3325610706559681, + -0.9349563163630443, + -0.1235306471164235, + -0.014778086333634123, + 0.12580373913812082, + -0.9919450727652124 + ], + [ + 0.9453282645843128, + 0.3232042885836629, + 0.04351390604323932, + 0.326120155374372, + -0.9367353719400014, + -0.1271710942589651, + -0.00034122808639870314, + 0.1344091916408826, + -0.9909258563413499 + ], + [ + 0.9587005531806242, + 0.2791154608050691, + 0.054660853183415736, + 0.28411906917261986, + -0.9486422572439325, + -0.1391194533615651, + 0.01302320481483214, + 0.14890408762257182, + -0.9887658817058972 + ], + [ + 0.9732883746995216, + 0.22477627255160465, + 0.046747908750767675, + 0.22919293710458172, + -0.9631769067487506, + -0.14057326875079562, + 0.01342897077733846, + 0.14753261877874635, + -0.9889660202151265 + ], + [ + 0.9801825921651481, + 0.19666627196965733, + 0.023758440310093273, + 0.19801248817867093, + -0.9692111853211349, + -0.14635823438977738, + -0.0057567822351718805, + 0.1481622614499323, + -0.9889463098370606 + ], + [ + 0.9802681273052715, + 0.19625892966045788, + 0.02359726929006309, + 0.19759414066354059, + -0.9695128942200171, + -0.14491826495153434, + -0.005563646722540583, + 0.14672143834374587, + -0.9891622037691742 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0026407837867736816, + -0.00025327131152153015, + -0.009102985262870789, + 0.0035711154341697693, + 0.03559020906686783, + 0.00317421555519104, + 1.0 + ], + [ + 0.005597561597824097, + 0.018749289214611053, + -0.00751890242099762, + -0.019711177796125412, + 0.010209557600319386, + 0.030709996819496155, + 1.0 + ], + [ + 0.007046133279800415, + 0.017882907763123512, + -0.00631328672170639, + -0.015795648097991943, + -0.06370564550161362, + -0.030320942401885986, + 1.0 + ], + [ + 0.005678743124008179, + 0.023768242448568344, + -0.010611146688461304, + -0.0010850578546524048, + 0.012690655887126923, + 0.02339032292366028, + 1.0 + ], + [ + 0.004453897476196289, + 0.015691818669438362, + -0.012237489223480225, + 0.01829519122838974, + -0.002897646278142929, + -0.011132895946502686, + 1.0 + ], + [ + 0.008099675178527832, + 0.012630388140678406, + -0.01992984116077423, + 0.027530498802661896, + -0.008573953062295914, + -0.013137951493263245, + 1.0 + ], + [ + 0.004365831613540649, + 0.007430229336023331, + -0.017714664340019226, + 0.011741545051336288, + 0.005826413631439209, + -0.011347085237503052, + 1.0 + ], + [ + 0.002728790044784546, + 0.007855169475078583, + -0.010982777923345566, + 0.004398632794618607, + -0.005278058350086212, + -0.005525350570678711, + 1.0 + ], + [ + 0.002658456563949585, + 0.00529114156961441, + -0.004468951374292374, + 0.004315992817282677, + -0.015895478427410126, + -0.011309757828712463, + 1.0 + ], + [ + 0.0020942389965057373, + 0.0020539015531539917, + -0.0050810761749744415, + 0.01160590909421444, + -0.015539303421974182, + -0.006106376647949219, + 1.0 + ], + [ + -0.008817076683044434, + -0.00482543557882309, + -0.010571418330073357, + 0.007065458223223686, + 0.013424955308437347, + -0.012459322810173035, + 1.0 + ], + [ + -0.0023661553859710693, + -0.005860239267349243, + -0.007315151393413544, + 0.007224355824291706, + 0.016449086368083954, + -0.026734597980976105, + 1.0 + ], + [ + -0.0011126399040222168, + -0.0020936429500579834, + -0.0017188340425491333, + 0.002309875562787056, + 0.0004377439618110657, + 0.0075638070702552795, + 0.0 + ], + [ + 0.003970295190811157, + -0.00022552907466888428, + 0.0012144967913627625, + -0.012802309356629848, + -0.0022597983479499817, + 0.05124834179878235, + 0.0 + ], + [ + 0.0017419159412384033, + 0.0011119842529296875, + 0.0003958866000175476, + 0.0029002511873841286, + -0.01012594997882843, + 0.02953442931175232, + 0.0 + ], + [ + -0.0015130043029785156, + -0.0007082372903823853, + 0.0020801126956939697, + -0.0012156162410974503, + 0.023225288838148117, + 0.01854020357131958, + 0.0 + ], + [ + 0.0027396678924560547, + -0.009484309703111649, + 0.01374598778784275, + -0.027577314525842667, + 0.04151144623756409, + 0.009256154298782349, + 0.0 + ], + [ + 0.008429288864135742, + -0.011604789644479752, + 0.029789261519908905, + -0.04318713769316673, + 0.00844159722328186, + 0.019681602716445923, + 0.0 + ], + [ + 0.012372046709060669, + -0.007436443120241165, + 0.02060914784669876, + -0.026415564119815826, + -0.00031968369148671627, + 0.03241798281669617, + 0.0 + ], + [ + 0.02099400758743286, + 0.0008754245936870575, + 0.019519716501235962, + -0.007343575358390808, + -0.03125973418354988, + 0.02253320813179016, + 0.0 + ], + [ + 0.02024209499359131, + -0.0011149980127811432, + -0.009617544710636139, + 0.027678512036800385, + 0.022919457405805588, + 0.03872793912887573, + 0.0 + ], + [ + 0.017929553985595703, + -0.003973815590143204, + -0.008388467133045197, + 0.02095552533864975, + -0.005290794186294079, + 0.019082188606262207, + 0.0 + ], + [ + 0.007501095533370972, + 0.0002834498882293701, + -0.01124224066734314, + 0.024785473942756653, + 0.006509803235530853, + 0.014913111925125122, + 0.0 + ], + [ + 0.0016415119171142578, + -0.000752963125705719, + -0.003423929214477539, + -0.0022256337106227875, + -0.015203725546598434, + -0.0009416043758392334, + 1.0 + ], + [ + -0.004831969738006592, + -0.00046094320714473724, + -0.00415068119764328, + 0.004828996956348419, + 0.01753801479935646, + -0.006208986043930054, + 1.0 + ], + [ + -0.0046555399894714355, + -0.002992561087012291, + -0.005124218761920929, + -0.027293849736452103, + 0.017343562096357346, + 0.002641826868057251, + 1.0 + ], + [ + -0.001666933298110962, + 0.00023743323981761932, + 0.0021640658378601074, + -0.01397319883108139, + 0.00944169145077467, + 0.007019400596618652, + 1.0 + ], + [ + -0.0009511709213256836, + -0.003172280266880989, + 0.0074171945452690125, + -0.024993591010570526, + -0.005496373400092125, + -0.013341009616851807, + 1.0 + ], + [ + -0.003036677837371826, + -0.0019294116646051407, + 0.010038375854492188, + -0.021187931299209595, + 0.001038617454469204, + -0.009045541286468506, + 1.0 + ], + [ + -0.005430012941360474, + 0.001336812973022461, + 0.008410312235355377, + -0.008665412664413452, + -0.014437396079301834, + -0.00685998797416687, + 1.0 + ], + [ + -0.013298720121383667, + 0.003858586773276329, + 0.016225673258304596, + -0.014655455946922302, + -0.013364801183342934, + -0.04408380389213562, + 1.0 + ], + [ + -0.013319790363311768, + 0.015532389283180237, + 0.008089184761047363, + 0.001386106014251709, + -0.000405801460146904, + -0.05684293806552887, + 1.0 + ], + [ + -0.012132734060287476, + 0.006331156939268112, + 0.0016664937138557434, + -0.0006256699562072754, + 0.01918618753552437, + -0.031936511397361755, + 1.0 + ], + [ + -0.00013878941535949707, + 0.0007307678461074829, + -3.423541784286499e-05, + 0.001456931233406067, + -0.00019313860684633255, + -0.00042700767517089844, + 1.0 + ], + [ + 0.00013878941535949707, + -0.0007307678461074829, + 3.423541784286499e-05, + -0.0014654844999313354, + -3.415066748857498e-05, + -0.0010900646448135376, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9981546401977539 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9445669651031494 + ], + [ + 0.6581199765205383 + ], + [ + 0.40327540040016174 + ], + [ + 0.39273425936698914 + ], + [ + 0.413944274187088 + ], + [ + 0.413944274187088 + ], + [ + 0.4148389995098114 + ], + [ + 0.413944274187088 + ], + [ + 0.4148389995098114 + ], + [ + 0.4148389995098114 + ], + [ + 0.4148389995098114 + ], + [ + 0.4889543354511261 + ], + [ + 0.803636372089386 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2641995847225189, + -0.033931929618120193, + 0.13098999857902527 + ], + [ + 0.269797146320343, + -0.01518264040350914, + 0.12347109615802765 + ], + [ + 0.27684327960014343, + 0.0027002678252756596, + 0.11715780943632126 + ], + [ + 0.2825220227241516, + 0.026468509808182716, + 0.10654666274785995 + ], + [ + 0.2869759202003479, + 0.04216032847762108, + 0.09430917352437973 + ], + [ + 0.29507559537887573, + 0.054790716618299484, + 0.0743793323636055 + ], + [ + 0.2994414269924164, + 0.062220945954322815, + 0.05666466802358627 + ], + [ + 0.3021702170372009, + 0.0700761154294014, + 0.04568189010024071 + ], + [ + 0.3048286736011505, + 0.07536725699901581, + 0.041212938725948334 + ], + [ + 0.30692291259765625, + 0.0774211585521698, + 0.03613186255097389 + ], + [ + 0.2981058359146118, + 0.07259572297334671, + 0.025560444220900536 + ], + [ + 0.29573968052864075, + 0.06673548370599747, + 0.018245292827486992 + ], + [ + 0.29462704062461853, + 0.06464184075593948, + 0.01652645878493786 + ], + [ + 0.2985973358154297, + 0.0644163116812706, + 0.01774095557630062 + ], + [ + 0.3003392517566681, + 0.06552829593420029, + 0.01813684217631817 + ], + [ + 0.2988262474536896, + 0.0648200586438179, + 0.02021695487201214 + ], + [ + 0.30156591534614563, + 0.05533574894070625, + 0.03396294265985489 + ], + [ + 0.30999520421028137, + 0.0437309592962265, + 0.0637522041797638 + ], + [ + 0.32236725091934204, + 0.036294516175985336, + 0.08436135202646255 + ], + [ + 0.3433612585067749, + 0.037169940769672394, + 0.10388106852769852 + ], + [ + 0.3636033535003662, + 0.03605494275689125, + 0.09426352381706238 + ], + [ + 0.3815329074859619, + 0.03208112716674805, + 0.08587505668401718 + ], + [ + 0.3890340030193329, + 0.03236457705497742, + 0.07463281601667404 + ], + [ + 0.39067551493644714, + 0.0316116139292717, + 0.0712088868021965 + ], + [ + 0.38584354519844055, + 0.03115067072212696, + 0.06705820560455322 + ], + [ + 0.3811880052089691, + 0.02815810963511467, + 0.061933986842632294 + ], + [ + 0.37952107191085815, + 0.02839554287493229, + 0.0640980526804924 + ], + [ + 0.37856990098953247, + 0.0252232626080513, + 0.07151524722576141 + ], + [ + 0.37553322315216064, + 0.02329385094344616, + 0.0815536230802536 + ], + [ + 0.37010321021080017, + 0.02463066391646862, + 0.08996393531560898 + ], + [ + 0.3568044900894165, + 0.02848925068974495, + 0.10618960857391357 + ], + [ + 0.34348469972610474, + 0.044021639972925186, + 0.11427879333496094 + ], + [ + 0.33135196566581726, + 0.0503527969121933, + 0.11594528704881668 + ], + [ + 0.33121317625045776, + 0.05108356475830078, + 0.11591105163097382 + ], + [ + 0.33135196566581726, + 0.0503527969121933, + 0.11594528704881668 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.985631729307781, + 0.16774173564962877, + 0.019819291183163463, + 0.16858911251831263, + -0.9841848418746445, + -0.0543866542864014, + 0.010382934172991978, + 0.0569465288268818, + -0.9983232380008633 + ], + [ + 0.9800432455223644, + 0.19818699417770214, + 0.015399748205671766, + 0.19878432227401466, + -0.9771652036671629, + -0.07505303431689488, + 0.00017356281663695374, + 0.07661644784848597, + -0.9970606249346271 + ], + [ + 0.9836089413163828, + 0.16244866391789645, + 0.07825523722892401, + 0.16863702081565826, + -0.9824030025157244, + -0.08028633668631845, + 0.06383577189072041, + 0.09216708869970867, + -0.9936952359691256 + ], + [ + 0.9801119291586373, + 0.18645559126749536, + 0.06793319369809445, + 0.19173582445741552, + -0.9780219401616523, + -0.0819173863234932, + 0.051166199199952904, + 0.09331343444288175, + -0.9943211870476786 + ], + [ + 0.9820357879191741, + 0.1765386639696721, + 0.06663190954617944, + 0.1807850820786825, + -0.9814248214712655, + -0.06420337917819145, + 0.05405983114819248, + 0.07509607129469413, + -0.9957098546927872 + ], + [ + 0.983833029880692, + 0.16497597372486936, + 0.06968139930647478, + 0.16778382161455238, + -0.9851466147625059, + -0.036534047495324976, + 0.0626191545790362, + 0.04763481411222065, + -0.9969000782246437 + ], + [ + 0.9860171025769308, + 0.1547964450551851, + 0.0617117008684012, + 0.1566642144985382, + -0.9872924775527656, + -0.026643717144523904, + 0.056803145347330795, + 0.035939175922639593, + -0.9977383315843144 + ], + [ + 0.9865575753930829, + 0.14944374566297505, + 0.06611140080759015, + 0.15116624582984903, + -0.9882670589904706, + -0.021840014561248525, + 0.06207186606049044, + 0.031540244078730816, + -0.9975732035531141 + ], + [ + 0.9871023912903668, + 0.13811193400048624, + 0.08095654881160017, + 0.13984300967132193, + -0.9900429443150834, + -0.016090402667032367, + 0.07792818331583398, + 0.027204082387869994, + -0.9965877463357292 + ], + [ + 0.9866186963905166, + 0.1327527015444169, + 0.0946586930257145, + 0.13363413703852048, + -0.9910261761927366, + -0.003005913966299279, + 0.0934101993930396, + 0.015615323674577818, + -0.9955052467545766 + ], + [ + 0.9893626595638103, + 0.1211750954418985, + 0.080486794603037, + 0.12147336509859694, + -0.9925939680217779, + 0.0011984232997948171, + 0.0800359258861147, + 0.008591326523262253, + -0.9967549546784925 + ], + [ + 0.9934325000767035, + 0.09520014764977179, + 0.06347282630238761, + 0.0950954884593143, + -0.9954571786373906, + 0.004674780633515878, + 0.06362952039765692, + 0.0013919004090549288, + -0.997972618235198 + ], + [ + 0.9927124161397474, + 0.10287265525594326, + 0.06276364905402766, + 0.10260968225451304, + -0.9946941151172086, + 0.007407459673967069, + 0.06319265740268538, + -0.0009133191038340456, + -0.9980009288064824 + ], + [ + 0.9860091755340228, + 0.15285503784402832, + 0.06649242940678893, + 0.15330523275205038, + -0.9881774358385026, + -0.0016914226205121908, + 0.0654477759252047, + 0.011861395589987878, + -0.9977854959464492 + ], + [ + 0.9803501980726159, + 0.1820722857278706, + 0.07591555775209428, + 0.1822249025889216, + -0.9832443141723535, + 0.00497026399664521, + 0.07554848784350977, + 0.00896110582277471, + -0.9971018626835436 + ], + [ + 0.9782586700114441, + 0.2004088339138355, + 0.053350481129393224, + 0.2006669466868056, + -0.9796593779723022, + 0.0005288273037741282, + 0.052371280821035565, + 0.010188348257651558, + -0.9985757089499752 + ], + [ + 0.9776431944542323, + 0.20944955564385462, + 0.018565235735519988, + 0.2099888848859067, + -0.977089768213966, + -0.03464466879551827, + 0.010883591397007047, + 0.03776861782180518, + -0.9992272408947491 + ], + [ + 0.973375945479007, + 0.22825899472074093, + 0.020906938846365034, + 0.2292014493645271, + -0.9702352970388358, + -0.07816753794998166, + 0.0024422063895175716, + 0.08087830184319197, + -0.9967209920127659 + ], + [ + 0.9654347670576932, + 0.2588441528913858, + 0.030584556073266423, + 0.2606301642661952, + -0.9599547045703772, + -0.10275642387595989, + 0.0027618889974076015, + 0.107175882021753, + -0.9942362406802648 + ], + [ + 0.9587658623456614, + 0.2767262090376685, + 0.06473504794329384, + 0.2821542071226049, + -0.9541138981389721, + -0.10027797754776012, + 0.03401506436263325, + 0.11440836774334102, + -0.9928512984262599 + ], + [ + 0.9476124229408441, + 0.31712569841524296, + 0.038235942421067835, + 0.319229451583668, + -0.944390838707166, + -0.07885747274397209, + 0.011101942612598024, + 0.08693235974376914, + -0.9961523536586192 + ], + [ + 0.9412802027370328, + 0.3355180007867291, + 0.0376729489608517, + 0.33722822347641557, + -0.9397164660411451, + -0.05665764504532633, + 0.016392230667947972, + 0.0660351012660533, + -0.9976826450202043 + ], + [ + 0.9362266714433792, + 0.3505930737457704, + 0.02375113301599838, + 0.35125766322513086, + -0.9356171212504265, + -0.03519455140622054, + 0.00988300074225398, + 0.041292845198137605, + -0.9990982070005787 + ], + [ + 0.9363080330503191, + 0.3490386874745008, + 0.038720303350055975, + 0.35028281053155214, + -0.9360979259983166, + -0.03197851759801714, + 0.025084255850220942, + 0.043504799594156325, + -0.9987382602667793 + ], + [ + 0.9387335142326622, + 0.3440387509841104, + 0.02041389423137727, + 0.34456117722480684, + -0.9381578917331048, + -0.03372484734363656, + 0.007548801616936974, + 0.038692479891958044, + -0.9992226516617599 + ], + [ + 0.9378017039522577, + 0.3469000921569877, + 0.013721884918471454, + 0.3470331845857635, + -0.9355808073187755, + -0.06524202459314132, + -0.00979453217391033, + 0.06594603125451953, + -0.9977751190029106 + ], + [ + 0.9352144644298079, + 0.3539315154167707, + 0.0103144518058874, + 0.3535589241375222, + -0.9318547189732169, + -0.0815038029178089, + -0.019235193889991925, + 0.07987030187832914, + -0.9966196577400425 + ], + [ + 0.9399331185969572, + 0.3405900354582157, + 0.022894547629730443, + 0.34108203801544595, + -0.9343572575932523, + -0.10314823569042236, + -0.013739574514100317, + 0.1047613618152628, + -0.9944024744351672 + ], + [ + 0.9429659285724331, + 0.3317078619986476, + 0.02802056101890798, + 0.3325610706559681, + -0.9349563163630443, + -0.1235306471164235, + -0.014778086333634123, + 0.12580373913812082, + -0.9919450727652124 + ], + [ + 0.9453282645843128, + 0.3232042885836629, + 0.04351390604323932, + 0.326120155374372, + -0.9367353719400014, + -0.1271710942589651, + -0.00034122808639870314, + 0.1344091916408826, + -0.9909258563413499 + ], + [ + 0.9587005531806242, + 0.2791154608050691, + 0.054660853183415736, + 0.28411906917261986, + -0.9486422572439325, + -0.1391194533615651, + 0.01302320481483214, + 0.14890408762257182, + -0.9887658817058972 + ], + [ + 0.9732883746995216, + 0.22477627255160465, + 0.046747908750767675, + 0.22919293710458172, + -0.9631769067487506, + -0.14057326875079562, + 0.01342897077733846, + 0.14753261877874635, + -0.9889660202151265 + ], + [ + 0.9801825921651481, + 0.19666627196965733, + 0.023758440310093273, + 0.19801248817867093, + -0.9692111853211349, + -0.14635823438977738, + -0.0057567822351718805, + 0.1481622614499323, + -0.9889463098370606 + ], + [ + 0.9802681273052715, + 0.19625892966045788, + 0.02359726929006309, + 0.19759414066354059, + -0.9695128942200171, + -0.14491826495153434, + -0.005563646722540583, + 0.14672143834374587, + -0.9891622037691742 + ], + [ + 0.9804831209771704, + 0.1951624605780009, + 0.02375843976374276, + 0.19652550507869154, + -0.9695137932730773, + -0.14635822664549347, + -0.005529496580371086, + 0.14817091021650874, + -0.988946310996294 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005643.json b/json/chunk-0005/episode_0005643.json new file mode 100644 index 0000000000000000000000000000000000000000..5c558c16dbcade3585931bec200d994be860182b --- /dev/null +++ b/json/chunk-0005/episode_0005643.json @@ -0,0 +1,2182 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 35, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nRemove the object from the strainer and place it on yellow towel." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005643.mp4", + "start": 0, + "end": 35, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.26896992325782776, + 0.21513305604457855, + 0.013434872962534428, + 0.1498713195323944, + -0.1665867567062378, + 0.6049070358276367, + 0.0, + 1.0008161067962646 + ], + [ + 0.26711922883987427, + 0.21209168434143066, + 0.002782980212941766, + 0.1434001326560974, + -0.13545195758342743, + 0.6074540019035339, + 0.0, + 1.0008161067962646 + ], + [ + 0.2686191201210022, + 0.20625370740890503, + -4.815862212126376e-06, + 0.10678679496049881, + -0.1195361316204071, + 0.5874691605567932, + 0.0, + 1.0008161067962646 + ], + [ + 0.2700199782848358, + 0.2013929933309555, + 0.00013504519301932305, + 0.07675202935934067, + -0.10407663881778717, + 0.5817540287971497, + 0.0, + 1.0008161067962646 + ], + [ + 0.2771957814693451, + 0.19797377288341522, + 0.016350656747817993, + 0.03329503908753395, + -0.12785950303077698, + 0.5612029433250427, + 0.0, + 1.0008161067962646 + ], + [ + 0.29167404770851135, + 0.1950836181640625, + 0.03296758607029915, + -0.027946745976805687, + -0.1557651311159134, + 0.5515854954719543, + 0.0, + 1.0008161067962646 + ], + [ + 0.31056153774261475, + 0.18246884644031525, + 0.04474519565701485, + -0.06792352348566055, + -0.168466717004776, + 0.5177702903747559, + 0.0, + 1.0008161067962646 + ], + [ + 0.3375009000301361, + 0.1668846160173416, + 0.056840743869543076, + -0.09667584300041199, + -0.1919093281030655, + 0.4798543453216553, + 0.0, + 1.0008161067962646 + ], + [ + 0.36049336194992065, + 0.15422163903713226, + 0.05681631714105606, + -0.1087026372551918, + -0.21007190644741058, + 0.4504650831222534, + 0.0, + 1.0008161067962646 + ], + [ + 0.3807953894138336, + 0.14043104648590088, + 0.040676049888134, + -0.08854309469461441, + -0.197903111577034, + 0.4035121500492096, + 0.0, + 1.0008161067962646 + ], + [ + 0.3937402069568634, + 0.127610445022583, + 0.02196967415511608, + -0.042488567531108856, + -0.1530083268880844, + 0.3524973690509796, + 0.0, + 1.0008161067962646 + ], + [ + 0.40081605315208435, + 0.11232326924800873, + 0.009990187361836433, + -0.039461053907871246, + -0.13877864181995392, + 0.2859015464782715, + 0.0, + 1.0008161067962646 + ], + [ + 0.40640175342559814, + 0.10974643379449844, + -0.0061079952865839005, + -0.038595233112573624, + -0.09366199374198914, + 0.25360390543937683, + 0.0, + 0.9781157374382019 + ], + [ + 0.4095231890678406, + 0.10982301086187363, + -0.008672100491821766, + -0.04194703325629234, + -0.09617632627487183, + 0.23721180856227875, + 0.0, + 0.8660832643508911 + ], + [ + 0.4089623987674713, + 0.1094927117228508, + -0.011231695301830769, + -0.040398526936769485, + -0.10141857713460922, + 0.253121942281723, + 0.0, + 0.6109193563461304 + ], + [ + 0.4059946835041046, + 0.10385971516370773, + -0.016281932592391968, + -0.029013777151703835, + -0.0962311401963234, + 0.23776377737522125, + 0.0, + 0.3703518807888031 + ], + [ + 0.4038311541080475, + 0.10157375037670135, + -0.01863165944814682, + -0.031572598963975906, + -0.08866813033819199, + 0.23518292605876923, + 0.0, + 0.20684583485126495 + ], + [ + 0.40219125151634216, + 0.10047517716884613, + -0.017724987119436264, + -0.0397503487765789, + -0.09361826628446579, + 0.23923826217651367, + 0.0, + 0.10874665528535843 + ], + [ + 0.4007044732570648, + 0.1001720055937767, + -0.008724089711904526, + -0.05473857372999191, + -0.10843726992607117, + 0.24419862031936646, + 0.0, + 0.07175325602293015 + ], + [ + 0.39899149537086487, + 0.10400457680225372, + 0.005684069823473692, + -0.08279577642679214, + -0.13605386018753052, + 0.2576625347137451, + 0.0, + 0.06681985408067703 + ], + [ + 0.3908989727497101, + 0.11036007851362228, + 0.030706632882356644, + -0.10881000012159348, + -0.18683849275112152, + 0.27805790305137634, + 0.0, + 0.0665184035897255 + ], + [ + 0.37400034070014954, + 0.11852341145277023, + 0.04973848536610603, + -0.12371908128261566, + -0.22290390729904175, + 0.3021196126937866, + 0.0, + 0.0665184035897255 + ], + [ + 0.34917473793029785, + 0.13807077705860138, + 0.06790366023778915, + -0.09523846209049225, + -0.25174885988235474, + 0.3455005884170532, + 0.0, + 0.0665184035897255 + ], + [ + 0.32047444581985474, + 0.15695753693580627, + 0.0696958601474762, + -0.09834449738264084, + -0.26029691100120544, + 0.3928258419036865, + 0.0, + 0.0665184035897255 + ], + [ + 0.29605329036712646, + 0.17305460572242737, + 0.05869031697511673, + -0.05294109135866165, + -0.24970823526382446, + 0.40434393286705017, + 0.0, + 0.0665184035897255 + ], + [ + 0.2762734293937683, + 0.19571250677108765, + 0.04552953317761421, + 0.0013298792764544487, + -0.25264984369277954, + 0.421927809715271, + 0.0, + 0.0665184035897255 + ], + [ + 0.2723744809627533, + 0.19649627804756165, + 0.020421260967850685, + 0.03637173771858215, + -0.1867571920156479, + 0.42218121886253357, + 0.0, + 0.0665184035897255 + ], + [ + 0.28229209780693054, + 0.19922828674316406, + 0.007088399026542902, + 0.05712076276540756, + -0.18321019411087036, + 0.41695693135261536, + 0.0, + 0.0665184035897255 + ], + [ + 0.28404009342193604, + 0.2020658552646637, + -0.013875466771423817, + 0.0895799845457077, + -0.1348886936903, + 0.41130977869033813, + 0.0, + 0.08363015204668045 + ], + [ + 0.28458839654922485, + 0.2000160664319992, + -0.013236284255981445, + 0.08335904031991959, + -0.1326126754283905, + 0.45062875747680664, + 0.0, + 0.24254894256591797 + ], + [ + 0.2842094302177429, + 0.19717663526535034, + -0.013646739535033703, + 0.06445283442735672, + -0.12314698845148087, + 0.4560078978538513, + 0.0, + 0.5159127116203308 + ], + [ + 0.28361883759498596, + 0.1950787901878357, + -0.013148096390068531, + 0.056426599621772766, + -0.11523965001106262, + 0.4392935037612915, + 0.0, + 0.8224069476127625 + ], + [ + 0.2860550582408905, + 0.192837193608284, + 0.0025041347835212946, + 0.029834749177098274, + -0.136724591255188, + 0.43750059604644775, + 0.0, + 1.0047606229782104 + ], + [ + 0.28126469254493713, + 0.19276553392410278, + 0.01838458888232708, + 0.020632673054933548, + -0.12875960767269135, + 0.4338265657424927, + 0.0, + 1.003452181816101 + ], + [ + 0.28405317664146423, + 0.1902477741241455, + 0.04772425815463066, + -0.013632677495479584, + -0.1875769942998886, + 0.4295569658279419, + 0.0, + 0.9994885921478271 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9781157374382019 + ], + [ + 0.8660832643508911 + ], + [ + 0.6109193563461304 + ], + [ + 0.3703518807888031 + ], + [ + 0.20684583485126495 + ], + [ + 0.10874665528535843 + ], + [ + 0.07175325602293015 + ], + [ + 0.06681985408067703 + ], + [ + 0.0665184035897255 + ], + [ + 0.0665184035897255 + ], + [ + 0.0665184035897255 + ], + [ + 0.0665184035897255 + ], + [ + 0.0665184035897255 + ], + [ + 0.0665184035897255 + ], + [ + 0.0665184035897255 + ], + [ + 0.0665184035897255 + ], + [ + 0.08363015204668045 + ], + [ + 0.24254894256591797 + ], + [ + 0.5159127116203308 + ], + [ + 0.8224069476127625 + ], + [ + 1.0047606229782104 + ], + [ + 1.003452181816101 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.26896992325782776, + 0.21513305604457855, + 0.013434872962534428 + ], + [ + 0.26711922883987427, + 0.21209168434143066, + 0.002782980212941766 + ], + [ + 0.2686191201210022, + 0.20625370740890503, + -4.815862212126376e-06 + ], + [ + 0.2700199782848358, + 0.2013929933309555, + 0.00013504519301932305 + ], + [ + 0.2771957814693451, + 0.19797377288341522, + 0.016350656747817993 + ], + [ + 0.29167404770851135, + 0.1950836181640625, + 0.03296758607029915 + ], + [ + 0.31056153774261475, + 0.18246884644031525, + 0.04474519565701485 + ], + [ + 0.3375009000301361, + 0.1668846160173416, + 0.056840743869543076 + ], + [ + 0.36049336194992065, + 0.15422163903713226, + 0.05681631714105606 + ], + [ + 0.3807953894138336, + 0.14043104648590088, + 0.040676049888134 + ], + [ + 0.3937402069568634, + 0.127610445022583, + 0.02196967415511608 + ], + [ + 0.40081605315208435, + 0.11232326924800873, + 0.009990187361836433 + ], + [ + 0.40640175342559814, + 0.10974643379449844, + -0.0061079952865839005 + ], + [ + 0.4095231890678406, + 0.10982301086187363, + -0.008672100491821766 + ], + [ + 0.4089623987674713, + 0.1094927117228508, + -0.011231695301830769 + ], + [ + 0.4059946835041046, + 0.10385971516370773, + -0.016281932592391968 + ], + [ + 0.4038311541080475, + 0.10157375037670135, + -0.01863165944814682 + ], + [ + 0.40219125151634216, + 0.10047517716884613, + -0.017724987119436264 + ], + [ + 0.4007044732570648, + 0.1001720055937767, + -0.008724089711904526 + ], + [ + 0.39899149537086487, + 0.10400457680225372, + 0.005684069823473692 + ], + [ + 0.3908989727497101, + 0.11036007851362228, + 0.030706632882356644 + ], + [ + 0.37400034070014954, + 0.11852341145277023, + 0.04973848536610603 + ], + [ + 0.34917473793029785, + 0.13807077705860138, + 0.06790366023778915 + ], + [ + 0.32047444581985474, + 0.15695753693580627, + 0.0696958601474762 + ], + [ + 0.29605329036712646, + 0.17305460572242737, + 0.05869031697511673 + ], + [ + 0.2762734293937683, + 0.19571250677108765, + 0.04552953317761421 + ], + [ + 0.2723744809627533, + 0.19649627804756165, + 0.020421260967850685 + ], + [ + 0.28229209780693054, + 0.19922828674316406, + 0.007088399026542902 + ], + [ + 0.28404009342193604, + 0.2020658552646637, + -0.013875466771423817 + ], + [ + 0.28458839654922485, + 0.2000160664319992, + -0.013236284255981445 + ], + [ + 0.2842094302177429, + 0.19717663526535034, + -0.013646739535033703 + ], + [ + 0.28361883759498596, + 0.1950787901878357, + -0.013148096390068531 + ], + [ + 0.2860550582408905, + 0.192837193608284, + 0.0025041347835212946 + ], + [ + 0.28126469254493713, + 0.19276553392410278, + 0.01838458888232708 + ], + [ + 0.28405317664146423, + 0.1902477741241455, + 0.04772425815463066 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8111679166660324, + 0.5826759058503497, + 0.049953975949496535, + 0.5608130028896448, + -0.7992546654635133, + 0.21605729685596423, + 0.16581732949721412, + -0.1472439081126328, + -0.9751019663410234 + ], + [ + 0.8135828968512182, + 0.5807660178740415, + 0.028172724999704725, + 0.5655506785335067, + -0.8016609148946257, + 0.1936290462213826, + 0.13503814261707905, + -0.14160017659960994, + -0.9806702249102341 + ], + [ + 0.8264065049957683, + 0.5616784392916363, + 0.03961842166960557, + 0.5503011263267439, + -0.8205600182029816, + 0.1544342154130341, + 0.11925166189280631, + -0.10582337814317729, + -0.9872084145580252 + ], + [ + 0.8309791506473546, + 0.554528049558549, + 0.04441051049236509, + 0.5465169332754012, + -0.8286632497276571, + 0.12098123901683736, + 0.10388884845185091, + -0.07626179124299373, + -0.9916608524912931 + ], + [ + 0.8397046764291163, + 0.5355036899233543, + 0.09017679558259283, + 0.5278606787620392, + -0.8438872351292863, + 0.09600749034699048, + 0.12751141203810734, + -0.033017154091778037, + -0.9912873989594175 + ], + [ + 0.8413833671920231, + 0.5201415344823408, + 0.14672018783715085, + 0.517693777315585, + -0.8536338552786604, + 0.05746646022517961, + 0.15513601239342967, + 0.027604804444998715, + -0.9875073632283552 + ], + [ + 0.85662356089721, + 0.48391421334429424, + 0.17895001827090332, + 0.4879370047376526, + -0.8725537377860576, + 0.023821294742890436, + 0.1676709704255084, + 0.06691045358501597, + -0.9835697417456556 + ], + [ + 0.8707773547996625, + 0.44316295528503086, + 0.21296336171074132, + 0.45317493700236183, + -0.8914193222945161, + 0.002017005922268833, + 0.19073351787509102, + 0.0947532949454679, + -0.9770581038280012 + ], + [ + 0.8804536604530585, + 0.41244810460359693, + 0.23385446928316608, + 0.4258127483111934, + -0.9047809533805443, + -0.007411462437468125, + 0.20853022603564972, + 0.10610366350269963, + -0.9722433632691083 + ], + [ + 0.9017362472533472, + 0.3751229349809519, + 0.21483603990189046, + 0.3849866906348956, + -0.9229115046933486, + -0.004427475426259923, + 0.19661380527175934, + 0.08670143110661724, + -0.9766400941086859 + ], + [ + 0.9275488323134081, + 0.33885534697582037, + 0.15757606893157863, + 0.3412092414025368, + -0.9399014692362276, + 0.012707545360380832, + 0.15241199839756267, + 0.04197954208274689, + -0.9874250861665326 + ], + [ + 0.950183742054389, + 0.2765671195367772, + 0.14374103355217907, + 0.27931106452545323, + -0.9602000024129466, + 0.0011334018862886423, + 0.13833360245861018, + 0.039071521051882774, + -0.9896146879839223 + ], + [ + 0.9637716270210002, + 0.2472140714959172, + 0.1001471607371145, + 0.24979452465398497, + -0.9681990359579946, + -0.013904036208932777, + 0.09352511107816766, + 0.03841652801101579, + -0.9948754816424994 + ], + [ + 0.9675049925414353, + 0.23087257036318534, + 0.10311132654220737, + 0.2339074360707983, + -0.9720882421143556, + -0.01821430464793268, + 0.0960281248290473, + 0.04174093670389211, + -0.9945030384291941 + ], + [ + 0.9631605983875968, + 0.24626457806560012, + 0.1080528542141216, + 0.2491408256304554, + -0.9683694152674891, + -0.013766792606713225, + 0.10124480588070332, + 0.040180009515593335, + -0.9940498257720815 + ], + [ + 0.9673706185046624, + 0.23272186361391461, + 0.10017295368498202, + 0.23444019288788942, + -0.9721145716041062, + -0.005572758172985892, + 0.09608268529030731, + 0.02887548910463507, + -0.9949544329849344 + ], + [ + 0.9686514314083832, + 0.23018634767289417, + 0.09342724321900683, + 0.23210547038688503, + -0.9726384536461913, + -0.010074180126857082, + 0.08855199064376135, + 0.031443343234443505, + -0.9955751408704758 + ], + [ + 0.9672644889523109, + 0.23316632570067453, + 0.10016422999789609, + 0.23592499552065427, + -0.9716316211474011, + -0.016473896777993668, + 0.09348157519213998, + 0.03956586086160259, + -0.9948345278255455 + ], + [ + 0.9646320916030607, + 0.23567122035569785, + 0.11808473121263648, + 0.2403586958957192, + -0.9703096492922108, + -0.02696074549667466, + 0.10822488233679754, + 0.0543898923191009, + -0.9926374536842256 + ], + [ + 0.9580522594719069, + 0.2431011897856797, + 0.1517816841570843, + 0.2524661333444034, + -0.9665340889634972, + -0.04552698524642572, + 0.1356345075373516, + 0.0819369659939229, + -0.9873649851847142 + ], + [ + 0.9448552065164832, + 0.2534681848793993, + 0.20737048481554898, + 0.26971157623420466, + -0.9614404937186166, + -0.05373865167049462, + 0.18575334280694383, + 0.10670546514609551, + -0.976785359914859 + ], + [ + 0.9310881146207718, + 0.2692258371066684, + 0.24615517757331612, + 0.29018312010906994, + -0.955527691498186, + -0.05254129408297001, + 0.22106261469480148, + 0.12035065190667504, + -0.9678052701705734 + ], + [ + 0.9112470469299104, + 0.31484490735829246, + 0.26552119269856145, + 0.32799233212406026, + -0.9446643983537804, + -0.005495866693352683, + 0.24909807211084245, + 0.09209700751620123, + -0.9640893587615326 + ], + [ + 0.8927104799956505, + 0.3576057644912503, + 0.2742008681761665, + 0.3699053704268633, + -0.9290404644928569, + 0.007337047380345199, + 0.2573674723722873, + 0.09487851462541362, + -0.961644451773718 + ], + [ + 0.8908463292893746, + 0.3808422290127342, + 0.24769338746171407, + 0.381213723899088, + -0.9232172315140974, + 0.04843593858319332, + 0.24712125425109963, + 0.05127514052693633, + -0.9676269661710063 + ], + [ + 0.8833387350705562, + 0.40982287064154055, + 0.2275036127692848, + 0.39651910571153437, + -0.9121642158248469, + 0.10358108984929115, + 0.24997055412523014, + -0.0012876598032824718, + -0.9682525827502636 + ], + [ + 0.8963356139827076, + 0.41563908106461844, + 0.15435874253828943, + 0.40262617239958354, + -0.9088274977901806, + 0.10920047875032332, + 0.18567345638271313, + -0.035731408483272414, + -0.981961625544857 + ], + [ + 0.8990233140995588, + 0.413829376855108, + 0.14318633858423432, + 0.3982021935361266, + -0.908622139928202, + 0.12586031898621647, + 0.18218697474974213, + -0.056134246979967335, + -0.9816602531158776 + ], + [ + 0.9082718508600401, + 0.40923436507654953, + 0.08700275498896345, + 0.3961784573517676, + -0.9081127893004295, + 0.1355499606763742, + 0.13448001660339676, + -0.08864759641065474, + -0.9869431233789326 + ], + [ + 0.892269749878378, + 0.44392959993026965, + 0.08234806468720193, + 0.4317075641002001, + -0.8922528039449465, + 0.13233862985180334, + 0.13222432662202682, + -0.08253147374263815, + -0.987777952422112 + ], + [ + 0.8910184545750522, + 0.44655629744810044, + 0.0816920241892019, + 0.4370325375783405, + -0.8924694104946814, + 0.11180747930756738, + 0.12283596665684668, + -0.06392045479124275, + -0.9903663467398105 + ], + [ + 0.8990493820759232, + 0.4304923090332045, + 0.0799160838139652, + 0.4224792484346552, + -0.9008539507315162, + 0.09986713219827746, + 0.11498475216736226, + -0.056022596464990956, + -0.9917862549230713 + ], + [ + 0.8973601484952258, + 0.42717114682008156, + 0.11076811462258757, + 0.4197229369780254, + -0.9036877194131707, + 0.084741736802848, + 0.1362990097805809, + -0.02955193912823601, + -0.9902268744215107 + ], + [ + 0.8998526914778434, + 0.4226602171001193, + 0.10781221879249617, + 0.4168663050228904, + -0.9060572343899558, + 0.07268267844670552, + 0.12840411744427663, + -0.0204604225397393, + -0.9915108439814724 + ], + [ + 0.8932029042070401, + 0.4141181819403192, + 0.17519903910282625, + 0.409162775016581, + -0.910124582362912, + 0.0652615362940946, + 0.18647894105458585, + 0.013393131268652426, + -0.9823676646642949 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0018506944179534912, + -0.003041371703147888, + -0.010651892982423306, + -0.006471186876296997, + 0.031134799122810364, + 0.002546966075897217, + 1.0 + ], + [ + 0.0014998912811279297, + -0.005837976932525635, + -0.0027877960819751024, + -0.0366133376955986, + 0.015915825963020325, + -0.019984841346740723, + 1.0 + ], + [ + 0.0014008581638336182, + -0.004860714077949524, + 0.0001398610620526597, + -0.030034765601158142, + 0.015459492802619934, + -0.005715131759643555, + 1.0 + ], + [ + 0.007175803184509277, + -0.003419220447540283, + 0.01621561124920845, + -0.04345699027180672, + -0.023782864212989807, + -0.020551085472106934, + 1.0 + ], + [ + 0.01447826623916626, + -0.002890154719352722, + 0.016616929322481155, + -0.06124178320169449, + -0.027905628085136414, + -0.009617447853088379, + 1.0 + ], + [ + 0.018887490034103394, + -0.012614771723747253, + 0.011777609586715698, + -0.03997677564620972, + -0.01270158588886261, + -0.033815205097198486, + 1.0 + ], + [ + 0.026939362287521362, + -0.015584230422973633, + 0.012095548212528229, + -0.028752319514751434, + -0.02344261109828949, + -0.037915945053100586, + 1.0 + ], + [ + 0.022992461919784546, + -0.01266297698020935, + -2.442672848701477e-05, + -0.012026794254779816, + -0.018162578344345093, + -0.029389262199401855, + 1.0 + ], + [ + 0.020302027463912964, + -0.013790592551231384, + -0.016140267252922058, + 0.020159542560577393, + 0.012168794870376587, + -0.04695293307304382, + 1.0 + ], + [ + 0.012944817543029785, + -0.012820601463317871, + -0.01870637573301792, + 0.046054527163505554, + 0.044894784688949585, + -0.05101478099822998, + 1.0 + ], + [ + 0.007075846195220947, + -0.01528717577457428, + -0.011979486793279648, + 0.00302751362323761, + 0.014229685068130493, + -0.06659582257270813, + 1.0 + ], + [ + 0.005585700273513794, + -0.0025768354535102844, + -0.016098182648420334, + 0.0008658207952976227, + 0.04511664807796478, + -0.03229764103889465, + 0.0 + ], + [ + 0.0031214356422424316, + 7.65770673751831e-05, + -0.0025641052052378654, + -0.0033518001437187195, + -0.0025143325328826904, + -0.016392096877098083, + 0.0 + ], + [ + -0.0005607903003692627, + -0.00033029913902282715, + -0.0025595948100090027, + 0.0015485063195228577, + -0.005242250859737396, + 0.015910133719444275, + 0.0 + ], + [ + -0.0029677152633666992, + -0.005632996559143066, + -0.005050237290561199, + 0.011384749785065651, + 0.005187436938285828, + -0.01535816490650177, + 0.0 + ], + [ + -0.002163529396057129, + -0.002285964787006378, + -0.0023497268557548523, + -0.002558821812272072, + 0.007563009858131409, + -0.0025808513164520264, + 0.0 + ], + [ + -0.0016399025917053223, + -0.0010985732078552246, + 0.000906672328710556, + -0.008177749812602997, + -0.004950135946273804, + 0.004055336117744446, + 0.0 + ], + [ + -0.0014867782592773438, + -0.0003031715750694275, + 0.009000897407531738, + -0.01498822495341301, + -0.014819003641605377, + 0.004960358142852783, + 0.0 + ], + [ + -0.0017129778861999512, + 0.0038325712084770203, + 0.014408160001039505, + -0.028057202696800232, + -0.02761659026145935, + 0.013463914394378662, + 0.0 + ], + [ + -0.008092522621154785, + 0.006355501711368561, + 0.025022562593221664, + -0.02601422369480133, + -0.050784632563591, + 0.020395368337631226, + 0.0 + ], + [ + -0.016898632049560547, + 0.00816333293914795, + 0.01903185248374939, + -0.014909081161022186, + -0.03606541454792023, + 0.02406170964241028, + 0.0 + ], + [ + -0.024825602769851685, + 0.019547365605831146, + 0.01816517487168312, + 0.028480619192123413, + -0.02884495258331299, + 0.0433809757232666, + 0.0 + ], + [ + -0.028700292110443115, + 0.018886759877204895, + 0.0017921999096870422, + -0.00310603529214859, + -0.008548051118850708, + 0.0473252534866333, + 0.0 + ], + [ + -0.02442115545272827, + 0.016097068786621094, + -0.011005543172359467, + 0.04540340602397919, + 0.010588675737380981, + 0.011518090963363647, + 0.0 + ], + [ + -0.019779860973358154, + 0.02265790104866028, + -0.013160783797502518, + 0.054270971566438675, + -0.002941608428955078, + 0.017583876848220825, + 0.0 + ], + [ + -0.0038989484310150146, + 0.000783771276473999, + -0.025108272209763527, + 0.03504185751080513, + 0.06589265167713165, + 0.00025340914726257324, + 0.0 + ], + [ + 0.009917616844177246, + 0.002732008695602417, + -0.01333286240696907, + 0.02074902504682541, + 0.003546997904777527, + -0.005224287509918213, + 0.0 + ], + [ + 0.0017479956150054932, + 0.002837568521499634, + -0.020963866263628006, + 0.03245922178030014, + 0.048321500420570374, + -0.005647152662277222, + 1.0 + ], + [ + 0.0005483031272888184, + -0.0020497888326644897, + 0.0006391825154423714, + -0.0062209442257881165, + 0.002276018261909485, + 0.039318978786468506, + 1.0 + ], + [ + -0.0003789663314819336, + -0.0028394311666488647, + -0.00041045527905225754, + -0.018906205892562866, + 0.009465686976909637, + 0.005379140377044678, + 1.0 + ], + [ + -0.000590592622756958, + -0.0020978450775146484, + 0.0004986431449651718, + -0.008026234805583954, + 0.007907338440418243, + -0.016714394092559814, + 1.0 + ], + [ + 0.002436220645904541, + -0.0022415965795516968, + 0.015652231872081757, + -0.026591850444674492, + -0.021484941244125366, + -0.00179290771484375, + 1.0 + ], + [ + -0.004790365695953369, + -7.165968418121338e-05, + 0.01588045433163643, + -0.009202076122164726, + 0.007964983582496643, + -0.003674030303955078, + 1.0 + ], + [ + 0.0027884840965270996, + -0.0025177597999572754, + 0.02933966927230358, + -0.03426535055041313, + -0.058817386627197266, + -0.004269599914550781, + 1.0 + ], + [ + -0.0010943412780761719, + -0.0012428313493728638, + 0.022759776562452316, + -0.018298950046300888, + -0.04035988450050354, + -0.004569411277770996, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9781157374382019 + ], + [ + 0.8660832643508911 + ], + [ + 0.6109193563461304 + ], + [ + 0.3703518807888031 + ], + [ + 0.20684583485126495 + ], + [ + 0.10874665528535843 + ], + [ + 0.07175325602293015 + ], + [ + 0.06681985408067703 + ], + [ + 0.0665184035897255 + ], + [ + 0.0665184035897255 + ], + [ + 0.0665184035897255 + ], + [ + 0.0665184035897255 + ], + [ + 0.0665184035897255 + ], + [ + 0.0665184035897255 + ], + [ + 0.0665184035897255 + ], + [ + 0.0665184035897255 + ], + [ + 0.08363015204668045 + ], + [ + 0.24254894256591797 + ], + [ + 0.5159127116203308 + ], + [ + 0.8224069476127625 + ], + [ + 1.0047606229782104 + ], + [ + 1.003452181816101 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.26711922883987427, + 0.21209168434143066, + 0.002782980212941766 + ], + [ + 0.2686191201210022, + 0.20625370740890503, + -4.815862212126376e-06 + ], + [ + 0.2700199782848358, + 0.2013929933309555, + 0.00013504519301932305 + ], + [ + 0.2771957814693451, + 0.19797377288341522, + 0.016350656747817993 + ], + [ + 0.29167404770851135, + 0.1950836181640625, + 0.03296758607029915 + ], + [ + 0.31056153774261475, + 0.18246884644031525, + 0.04474519565701485 + ], + [ + 0.3375009000301361, + 0.1668846160173416, + 0.056840743869543076 + ], + [ + 0.36049336194992065, + 0.15422163903713226, + 0.05681631714105606 + ], + [ + 0.3807953894138336, + 0.14043104648590088, + 0.040676049888134 + ], + [ + 0.3937402069568634, + 0.127610445022583, + 0.02196967415511608 + ], + [ + 0.40081605315208435, + 0.11232326924800873, + 0.009990187361836433 + ], + [ + 0.40640175342559814, + 0.10974643379449844, + -0.0061079952865839005 + ], + [ + 0.4095231890678406, + 0.10982301086187363, + -0.008672100491821766 + ], + [ + 0.4089623987674713, + 0.1094927117228508, + -0.011231695301830769 + ], + [ + 0.4059946835041046, + 0.10385971516370773, + -0.016281932592391968 + ], + [ + 0.4038311541080475, + 0.10157375037670135, + -0.01863165944814682 + ], + [ + 0.40219125151634216, + 0.10047517716884613, + -0.017724987119436264 + ], + [ + 0.4007044732570648, + 0.1001720055937767, + -0.008724089711904526 + ], + [ + 0.39899149537086487, + 0.10400457680225372, + 0.005684069823473692 + ], + [ + 0.3908989727497101, + 0.11036007851362228, + 0.030706632882356644 + ], + [ + 0.37400034070014954, + 0.11852341145277023, + 0.04973848536610603 + ], + [ + 0.34917473793029785, + 0.13807077705860138, + 0.06790366023778915 + ], + [ + 0.32047444581985474, + 0.15695753693580627, + 0.0696958601474762 + ], + [ + 0.29605329036712646, + 0.17305460572242737, + 0.05869031697511673 + ], + [ + 0.2762734293937683, + 0.19571250677108765, + 0.04552953317761421 + ], + [ + 0.2723744809627533, + 0.19649627804756165, + 0.020421260967850685 + ], + [ + 0.28229209780693054, + 0.19922828674316406, + 0.007088399026542902 + ], + [ + 0.28404009342193604, + 0.2020658552646637, + -0.013875466771423817 + ], + [ + 0.28458839654922485, + 0.2000160664319992, + -0.013236284255981445 + ], + [ + 0.2842094302177429, + 0.19717663526535034, + -0.013646739535033703 + ], + [ + 0.28361883759498596, + 0.1950787901878357, + -0.013148096390068531 + ], + [ + 0.2860550582408905, + 0.192837193608284, + 0.0025041347835212946 + ], + [ + 0.28126469254493713, + 0.19276553392410278, + 0.01838458888232708 + ], + [ + 0.28405317664146423, + 0.1902477741241455, + 0.04772425815463066 + ], + [ + 0.28295883536338806, + 0.18900494277477264, + 0.07048403471708298 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8135828968512182, + 0.5807660178740415, + 0.028172724999704725, + 0.5655506785335067, + -0.8016609148946257, + 0.1936290462213826, + 0.13503814261707905, + -0.14160017659960994, + -0.9806702249102341 + ], + [ + 0.8264065049957683, + 0.5616784392916363, + 0.03961842166960557, + 0.5503011263267439, + -0.8205600182029816, + 0.1544342154130341, + 0.11925166189280631, + -0.10582337814317729, + -0.9872084145580252 + ], + [ + 0.8309791506473546, + 0.554528049558549, + 0.04441051049236509, + 0.5465169332754012, + -0.8286632497276571, + 0.12098123901683736, + 0.10388884845185091, + -0.07626179124299373, + -0.9916608524912931 + ], + [ + 0.8397046764291163, + 0.5355036899233543, + 0.09017679558259283, + 0.5278606787620392, + -0.8438872351292863, + 0.09600749034699048, + 0.12751141203810734, + -0.033017154091778037, + -0.9912873989594175 + ], + [ + 0.8413833671920231, + 0.5201415344823408, + 0.14672018783715085, + 0.517693777315585, + -0.8536338552786604, + 0.05746646022517961, + 0.15513601239342967, + 0.027604804444998715, + -0.9875073632283552 + ], + [ + 0.85662356089721, + 0.48391421334429424, + 0.17895001827090332, + 0.4879370047376526, + -0.8725537377860576, + 0.023821294742890436, + 0.1676709704255084, + 0.06691045358501597, + -0.9835697417456556 + ], + [ + 0.8707773547996625, + 0.44316295528503086, + 0.21296336171074132, + 0.45317493700236183, + -0.8914193222945161, + 0.002017005922268833, + 0.19073351787509102, + 0.0947532949454679, + -0.9770581038280012 + ], + [ + 0.8804536604530585, + 0.41244810460359693, + 0.23385446928316608, + 0.4258127483111934, + -0.9047809533805443, + -0.007411462437468125, + 0.20853022603564972, + 0.10610366350269963, + -0.9722433632691083 + ], + [ + 0.9017362472533472, + 0.3751229349809519, + 0.21483603990189046, + 0.3849866906348956, + -0.9229115046933486, + -0.004427475426259923, + 0.19661380527175934, + 0.08670143110661724, + -0.9766400941086859 + ], + [ + 0.9275488323134081, + 0.33885534697582037, + 0.15757606893157863, + 0.3412092414025368, + -0.9399014692362276, + 0.012707545360380832, + 0.15241199839756267, + 0.04197954208274689, + -0.9874250861665326 + ], + [ + 0.950183742054389, + 0.2765671195367772, + 0.14374103355217907, + 0.27931106452545323, + -0.9602000024129466, + 0.0011334018862886423, + 0.13833360245861018, + 0.039071521051882774, + -0.9896146879839223 + ], + [ + 0.9637716270210002, + 0.2472140714959172, + 0.1001471607371145, + 0.24979452465398497, + -0.9681990359579946, + -0.013904036208932777, + 0.09352511107816766, + 0.03841652801101579, + -0.9948754816424994 + ], + [ + 0.9675049925414353, + 0.23087257036318534, + 0.10311132654220737, + 0.2339074360707983, + -0.9720882421143556, + -0.01821430464793268, + 0.0960281248290473, + 0.04174093670389211, + -0.9945030384291941 + ], + [ + 0.9631605983875968, + 0.24626457806560012, + 0.1080528542141216, + 0.2491408256304554, + -0.9683694152674891, + -0.013766792606713225, + 0.10124480588070332, + 0.040180009515593335, + -0.9940498257720815 + ], + [ + 0.9673706185046624, + 0.23272186361391461, + 0.10017295368498202, + 0.23444019288788942, + -0.9721145716041062, + -0.005572758172985892, + 0.09608268529030731, + 0.02887548910463507, + -0.9949544329849344 + ], + [ + 0.9686514314083832, + 0.23018634767289417, + 0.09342724321900683, + 0.23210547038688503, + -0.9726384536461913, + -0.010074180126857082, + 0.08855199064376135, + 0.031443343234443505, + -0.9955751408704758 + ], + [ + 0.9672644889523109, + 0.23316632570067453, + 0.10016422999789609, + 0.23592499552065427, + -0.9716316211474011, + -0.016473896777993668, + 0.09348157519213998, + 0.03956586086160259, + -0.9948345278255455 + ], + [ + 0.9646320916030607, + 0.23567122035569785, + 0.11808473121263648, + 0.2403586958957192, + -0.9703096492922108, + -0.02696074549667466, + 0.10822488233679754, + 0.0543898923191009, + -0.9926374536842256 + ], + [ + 0.9580522594719069, + 0.2431011897856797, + 0.1517816841570843, + 0.2524661333444034, + -0.9665340889634972, + -0.04552698524642572, + 0.1356345075373516, + 0.0819369659939229, + -0.9873649851847142 + ], + [ + 0.9448552065164832, + 0.2534681848793993, + 0.20737048481554898, + 0.26971157623420466, + -0.9614404937186166, + -0.05373865167049462, + 0.18575334280694383, + 0.10670546514609551, + -0.976785359914859 + ], + [ + 0.9310881146207718, + 0.2692258371066684, + 0.24615517757331612, + 0.29018312010906994, + -0.955527691498186, + -0.05254129408297001, + 0.22106261469480148, + 0.12035065190667504, + -0.9678052701705734 + ], + [ + 0.9112470469299104, + 0.31484490735829246, + 0.26552119269856145, + 0.32799233212406026, + -0.9446643983537804, + -0.005495866693352683, + 0.24909807211084245, + 0.09209700751620123, + -0.9640893587615326 + ], + [ + 0.8927104799956505, + 0.3576057644912503, + 0.2742008681761665, + 0.3699053704268633, + -0.9290404644928569, + 0.007337047380345199, + 0.2573674723722873, + 0.09487851462541362, + -0.961644451773718 + ], + [ + 0.8908463292893746, + 0.3808422290127342, + 0.24769338746171407, + 0.381213723899088, + -0.9232172315140974, + 0.04843593858319332, + 0.24712125425109963, + 0.05127514052693633, + -0.9676269661710063 + ], + [ + 0.8833387350705562, + 0.40982287064154055, + 0.2275036127692848, + 0.39651910571153437, + -0.9121642158248469, + 0.10358108984929115, + 0.24997055412523014, + -0.0012876598032824718, + -0.9682525827502636 + ], + [ + 0.8963356139827076, + 0.41563908106461844, + 0.15435874253828943, + 0.40262617239958354, + -0.9088274977901806, + 0.10920047875032332, + 0.18567345638271313, + -0.035731408483272414, + -0.981961625544857 + ], + [ + 0.8990233140995588, + 0.413829376855108, + 0.14318633858423432, + 0.3982021935361266, + -0.908622139928202, + 0.12586031898621647, + 0.18218697474974213, + -0.056134246979967335, + -0.9816602531158776 + ], + [ + 0.9082718508600401, + 0.40923436507654953, + 0.08700275498896345, + 0.3961784573517676, + -0.9081127893004295, + 0.1355499606763742, + 0.13448001660339676, + -0.08864759641065474, + -0.9869431233789326 + ], + [ + 0.892269749878378, + 0.44392959993026965, + 0.08234806468720193, + 0.4317075641002001, + -0.8922528039449465, + 0.13233862985180334, + 0.13222432662202682, + -0.08253147374263815, + -0.987777952422112 + ], + [ + 0.8910184545750522, + 0.44655629744810044, + 0.0816920241892019, + 0.4370325375783405, + -0.8924694104946814, + 0.11180747930756738, + 0.12283596665684668, + -0.06392045479124275, + -0.9903663467398105 + ], + [ + 0.8990493820759232, + 0.4304923090332045, + 0.0799160838139652, + 0.4224792484346552, + -0.9008539507315162, + 0.09986713219827746, + 0.11498475216736226, + -0.056022596464990956, + -0.9917862549230713 + ], + [ + 0.8973601484952258, + 0.42717114682008156, + 0.11076811462258757, + 0.4197229369780254, + -0.9036877194131707, + 0.084741736802848, + 0.1362990097805809, + -0.02955193912823601, + -0.9902268744215107 + ], + [ + 0.8998526914778434, + 0.4226602171001193, + 0.10781221879249617, + 0.4168663050228904, + -0.9060572343899558, + 0.07268267844670552, + 0.12840411744427663, + -0.0204604225397393, + -0.9915108439814724 + ], + [ + 0.8932029042070401, + 0.4141181819403192, + 0.17519903910282625, + 0.409162775016581, + -0.910124582362912, + 0.0652615362940946, + 0.18647894105458585, + 0.013393131268652426, + -0.9823676646642949 + ], + [ + 0.8874794121483991, + 0.4055267091290685, + 0.2189255151773764, + 0.40164492267811325, + -0.9135539677999585, + 0.06403517786220894, + 0.22596824798989845, + 0.031100419609712097, + -0.9736380820409992 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005644.json b/json/chunk-0005/episode_0005644.json new file mode 100644 index 0000000000000000000000000000000000000000..cfacbaadd11d5ba7be42deaa821f9cfaa59f14df --- /dev/null +++ b/json/chunk-0005/episode_0005644.json @@ -0,0 +1,2422 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 39, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut the drumstick between the stove and the sink." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005644.mp4", + "start": 0, + "end": 39, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3232242166996002, + 0.11781559139490128, + 0.06679384410381317, + 0.0860542580485344, + -0.18708102405071259, + -1.0479850769042969, + 0.0, + 1.0008161067962646 + ], + [ + 0.32131853699684143, + 0.11723148077726364, + 0.054057322442531586, + 0.049838125705718994, + -0.17818132042884827, + -1.0489925146102905, + 0.0, + 1.0008161067962646 + ], + [ + 0.325363427400589, + 0.10102248191833496, + 0.05101069435477257, + 0.04984342306852341, + -0.13730579614639282, + -1.1598033905029297, + 0.0, + 1.0008161067962646 + ], + [ + 0.32847264409065247, + 0.0861472561955452, + 0.03920266032218933, + 0.031773753464221954, + -0.09435078501701355, + -1.2828289270401, + 0.0, + 1.0008161067962646 + ], + [ + 0.3358653485774994, + 0.07004916667938232, + 0.02717106230556965, + 0.0359608419239521, + -0.05929771438241005, + -1.4496077299118042, + 0.0, + 1.0008161067962646 + ], + [ + 0.35150742530822754, + 0.05854720622301102, + 0.014316732063889503, + 0.0026539426762610674, + -0.04018876329064369, + -1.6712639331817627, + 0.0, + 1.0008161067962646 + ], + [ + 0.36631566286087036, + 0.049773745238780975, + 0.005768058821558952, + 0.015348612330853939, + -0.0167415551841259, + -1.8167669773101807, + 0.0, + 1.0008161067962646 + ], + [ + 0.37294551730155945, + 0.04413765296339989, + -0.009987571276724339, + -0.009144873358309269, + -0.02582225762307644, + -1.9132684469223022, + 0.0, + 1.0008161067962646 + ], + [ + 0.37767189741134644, + 0.04027930274605751, + -0.018471064046025276, + -0.013195355422794819, + -0.05303439870476723, + -1.968058466911316, + 0.0, + 1.0008161067962646 + ], + [ + 0.3771490156650543, + 0.038380369544029236, + -0.034566402435302734, + -0.05196800082921982, + -0.0753135085105896, + -1.9662824869155884, + 0.0, + 1.0008161067962646 + ], + [ + 0.3791119158267975, + 0.037387773394584656, + -0.039248738437891006, + -0.059682708233594894, + -0.08031101524829865, + -1.929463505744934, + 0.0, + 0.9499720335006714 + ], + [ + 0.38258492946624756, + 0.036887068301439285, + -0.041241757571697235, + -0.06564471870660782, + -0.08743996918201447, + -1.9076576232910156, + 0.0, + 0.657115638256073 + ], + [ + 0.38252586126327515, + 0.035873666405677795, + -0.042438022792339325, + -0.061561767011880875, + -0.09214618057012558, + -1.9045875072479248, + 0.0, + 0.3552374839782715 + ], + [ + 0.38169950246810913, + 0.034920062869787216, + -0.04201193153858185, + -0.062448762357234955, + -0.09937185794115067, + -1.9116848707199097, + 0.0, + 0.29885798692703247 + ], + [ + 0.37612807750701904, + 0.033911287784576416, + -0.04064171388745308, + -0.08365735411643982, + -0.12788687646389008, + -1.927264928817749, + 0.0, + 0.29885798692703247 + ], + [ + 0.36929115653038025, + 0.03525914251804352, + -0.013599957339465618, + -0.04799918830394745, + -0.1487024426460266, + -1.9576187133789062, + 0.0, + 0.29885798692703247 + ], + [ + 0.3633895218372345, + 0.02961309254169464, + 0.022746281698346138, + 0.013114240020513535, + -0.15190623700618744, + -2.057457447052002, + 0.0, + 0.29885798692703247 + ], + [ + 0.34450408816337585, + 0.008195847272872925, + 0.045761942863464355, + 0.03885002061724663, + -0.18266494572162628, + -2.2704999446868896, + 0.0, + 0.29885798692703247 + ], + [ + 0.3233892023563385, + -0.015205315314233303, + 0.04461408779025078, + -0.0017143089789897203, + -0.2329224944114685, + -2.4628851413726807, + 0.0, + 0.29885798692703247 + ], + [ + 0.3045751750469208, + -0.03812805563211441, + 0.0370321050286293, + -0.019939733669161797, + -0.23808525502681732, + -2.575897455215454, + 0.0, + 0.29885798692703247 + ], + [ + 0.29130876064300537, + -0.058558594435453415, + 0.023792484775185585, + -0.010700496844947338, + -0.23259741067886353, + -2.7058682441711426, + 0.0, + 0.29885798692703247 + ], + [ + 0.29065343737602234, + -0.06750085204839706, + 0.006567206233739853, + -0.031009307131171227, + -0.2301609367132187, + -2.7611424922943115, + 0.0, + 0.29885798692703247 + ], + [ + 0.2849830389022827, + -0.07712525129318237, + -0.014310960657894611, + -0.07619833946228027, + -0.2695373594760895, + -2.7864365577697754, + 0.0, + 0.29885798692703247 + ], + [ + 0.2829382121562958, + -0.08510415256023407, + -0.0294181015342474, + -0.1071954146027565, + -0.29158544540405273, + -2.806880474090576, + 0.0, + 0.29885798692703247 + ], + [ + 0.2844007909297943, + -0.09062707424163818, + -0.04035165160894394, + -0.1385151445865631, + -0.30135464668273926, + -2.800490379333496, + 0.0, + 0.29885798692703247 + ], + [ + 0.2883335053920746, + -0.09293942153453827, + -0.041302867233753204, + -0.14255794882774353, + -0.2985415756702423, + -2.7731680870056152, + 0.0, + 0.35940393805503845 + ], + [ + 0.2876394987106323, + -0.09132953733205795, + -0.041451260447502136, + -0.15188924968242645, + -0.30254846811294556, + -2.7516074180603027, + 0.0, + 0.6711689233779907 + ], + [ + 0.2857329249382019, + -0.08572867512702942, + -0.043820496648550034, + -0.15640124678611755, + -0.3055392801761627, + -2.7259538173675537, + 0.0, + 0.9590815901756287 + ], + [ + 0.28286802768707275, + -0.08171749860048294, + -0.042378395795822144, + -0.1613287478685379, + -0.2965012490749359, + -2.717371940612793, + 0.0, + 1.0105689764022827 + ], + [ + 0.283042311668396, + -0.08060737699270248, + -0.027517346665263176, + -0.13950815796852112, + -0.2737238109111786, + -2.7208993434906006, + 0.0, + 1.0054124593734741 + ], + [ + 0.2866807281970978, + -0.07576368004083633, + 0.005271661560982466, + -0.111664779484272, + -0.17803214490413666, + -2.7061963081359863, + 0.0, + 1.0008161067962646 + ], + [ + 0.2842797338962555, + -0.0752989873290062, + 0.04191286116838455, + -0.020104561001062393, + -0.11600833386182785, + -2.698197603225708, + 0.0, + 1.0008161067962646 + ], + [ + 0.2865552604198456, + -0.0736621841788292, + 0.046401239931583405, + -0.003818418364971876, + -0.10270968824625015, + -2.6970577239990234, + 0.0, + 1.0008161067962646 + ], + [ + 0.28607290983200073, + -0.07358482480049133, + 0.0460805743932724, + -0.0069367787800729275, + -0.10234486311674118, + -2.6984686851501465, + 0.0, + 1.0008161067962646 + ], + [ + 0.28618544340133667, + -0.07314591109752655, + 0.0460805743932724, + -0.0069367787800729275, + -0.10234486311674118, + -2.696934700012207, + 0.0, + 1.0008161067962646 + ], + [ + 0.28607290983200073, + -0.07358482480049133, + 0.0460805743932724, + -0.0069367787800729275, + -0.10234486311674118, + -2.6984686851501465, + 0.0, + 1.0008161067962646 + ], + [ + 0.2860884368419647, + -0.07312428206205368, + 0.04562775418162346, + -0.007887233980000019, + -0.10355285555124283, + -2.6968369483947754, + 0.0, + 1.0008161067962646 + ], + [ + 0.28618544340133667, + -0.07314591109752655, + 0.0460805743932724, + -0.0069367787800729275, + -0.10234486311674118, + -2.696934700012207, + 0.0, + 1.0008161067962646 + ], + [ + 0.28618544340133667, + -0.07314591109752655, + 0.0460805743932724, + -0.0069367787800729275, + -0.10234486311674118, + -2.696934700012207, + 0.0, + 1.0008161067962646 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9499720335006714 + ], + [ + 0.657115638256073 + ], + [ + 0.3552374839782715 + ], + [ + 0.29885798692703247 + ], + [ + 0.29885798692703247 + ], + [ + 0.29885798692703247 + ], + [ + 0.29885798692703247 + ], + [ + 0.29885798692703247 + ], + [ + 0.29885798692703247 + ], + [ + 0.29885798692703247 + ], + [ + 0.29885798692703247 + ], + [ + 0.29885798692703247 + ], + [ + 0.29885798692703247 + ], + [ + 0.29885798692703247 + ], + [ + 0.29885798692703247 + ], + [ + 0.35940393805503845 + ], + [ + 0.6711689233779907 + ], + [ + 0.9590815901756287 + ], + [ + 1.0105689764022827 + ], + [ + 1.0054124593734741 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3232242166996002, + 0.11781559139490128, + 0.06679384410381317 + ], + [ + 0.32131853699684143, + 0.11723148077726364, + 0.054057322442531586 + ], + [ + 0.325363427400589, + 0.10102248191833496, + 0.05101069435477257 + ], + [ + 0.32847264409065247, + 0.0861472561955452, + 0.03920266032218933 + ], + [ + 0.3358653485774994, + 0.07004916667938232, + 0.02717106230556965 + ], + [ + 0.35150742530822754, + 0.05854720622301102, + 0.014316732063889503 + ], + [ + 0.36631566286087036, + 0.049773745238780975, + 0.005768058821558952 + ], + [ + 0.37294551730155945, + 0.04413765296339989, + -0.009987571276724339 + ], + [ + 0.37767189741134644, + 0.04027930274605751, + -0.018471064046025276 + ], + [ + 0.3771490156650543, + 0.038380369544029236, + -0.034566402435302734 + ], + [ + 0.3791119158267975, + 0.037387773394584656, + -0.039248738437891006 + ], + [ + 0.38258492946624756, + 0.036887068301439285, + -0.041241757571697235 + ], + [ + 0.38252586126327515, + 0.035873666405677795, + -0.042438022792339325 + ], + [ + 0.38169950246810913, + 0.034920062869787216, + -0.04201193153858185 + ], + [ + 0.37612807750701904, + 0.033911287784576416, + -0.04064171388745308 + ], + [ + 0.36929115653038025, + 0.03525914251804352, + -0.013599957339465618 + ], + [ + 0.3633895218372345, + 0.02961309254169464, + 0.022746281698346138 + ], + [ + 0.34450408816337585, + 0.008195847272872925, + 0.045761942863464355 + ], + [ + 0.3233892023563385, + -0.015205315314233303, + 0.04461408779025078 + ], + [ + 0.3045751750469208, + -0.03812805563211441, + 0.0370321050286293 + ], + [ + 0.29130876064300537, + -0.058558594435453415, + 0.023792484775185585 + ], + [ + 0.29065343737602234, + -0.06750085204839706, + 0.006567206233739853 + ], + [ + 0.2849830389022827, + -0.07712525129318237, + -0.014310960657894611 + ], + [ + 0.2829382121562958, + -0.08510415256023407, + -0.0294181015342474 + ], + [ + 0.2844007909297943, + -0.09062707424163818, + -0.04035165160894394 + ], + [ + 0.2883335053920746, + -0.09293942153453827, + -0.041302867233753204 + ], + [ + 0.2876394987106323, + -0.09132953733205795, + -0.041451260447502136 + ], + [ + 0.2857329249382019, + -0.08572867512702942, + -0.043820496648550034 + ], + [ + 0.28286802768707275, + -0.08171749860048294, + -0.042378395795822144 + ], + [ + 0.283042311668396, + -0.08060737699270248, + -0.027517346665263176 + ], + [ + 0.2866807281970978, + -0.07576368004083633, + 0.005271661560982466 + ], + [ + 0.2842797338962555, + -0.0752989873290062, + 0.04191286116838455 + ], + [ + 0.2865552604198456, + -0.0736621841788292, + 0.046401239931583405 + ], + [ + 0.28607290983200073, + -0.07358482480049133, + 0.0460805743932724 + ], + [ + 0.28618544340133667, + -0.07314591109752655, + 0.0460805743932724 + ], + [ + 0.28607290983200073, + -0.07358482480049133, + 0.0460805743932724 + ], + [ + 0.2860884368419647, + -0.07312428206205368, + 0.04562775418162346 + ], + [ + 0.28618544340133667, + -0.07314591109752655, + 0.0460805743932724 + ], + [ + 0.28618544340133667, + -0.07314591109752655, + 0.0460805743932724 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.4906053934364567, + -0.8552309078156916, + 0.16699234188371448, + -0.851301036595013, + -0.5113204091988102, + -0.11763496176314923, + 0.1859916477246108, + -0.08444840705134259, + -0.9789155088786646 + ], + [ + 0.4905531667782244, + -0.8614439726734529, + 0.13142249620378824, + -0.8531960966723875, + -0.505480426656435, + -0.12863109612465504, + 0.17723998190830823, + -0.04902876922591007, + -0.9829456590276671 + ], + [ + 0.39575963740039655, + -0.9128615546935952, + 0.10029003623042065, + -0.9080966949510907, + -0.4052751869510758, + -0.10541544223061582, + 0.1368747676659667, + -0.0493538732437792, + -0.9893581218003038 + ], + [ + 0.28274073506938063, + -0.9574891591731387, + 0.057203031373715615, + -0.9545585316709078, + -0.28673024950273657, + -0.08126360584160086, + 0.0942108610867501, + -0.031627109985176205, + -0.9950497673821539 + ], + [ + 0.12067969229861725, + -0.9917662820701137, + 0.04284919620639858, + -0.9909209414828405, + -0.12292907210229115, + -0.054443833101927686, + 0.05926296986712621, + -0.03588990082032953, + -0.9975970205557125 + ], + [ + -0.10021768888322208, + -0.99496456464139, + -0.0013892238389195434, + -0.9941539858132391, + 0.1001922306503818, + -0.04024138925224363, + 0.040177945773217344, + -0.0026517966116613584, + -0.9991890214810082 + ], + [ + -0.24346375171639917, + -0.9698497519230838, + 0.010810194027315086, + -0.9697655119227422, + 0.24321998953595309, + -0.019972195055940875, + 0.016740773142158504, + -0.01534585888321447, + -0.9997420923066804 + ], + [ + -0.33570472030940085, + -0.9418086893815394, + -0.01728390486591085, + -0.9416133495031691, + 0.3360250317709533, + -0.021248013101281323, + 0.02581938805257337, + 0.009141697257988312, + -0.9996248239073666 + ], + [ + -0.386351177688614, + -0.9217728182579847, + -0.03267474589576774, + -0.920827212922781, + 0.38750645602994777, + -0.043772028465371045, + 0.05300954102314184, + 0.013176420448744251, + -0.9985070708335888 + ], + [ + -0.38416477132121857, + -0.9200578031505752, + -0.0768834659563023, + -0.9201934688621468, + 0.38834349736046353, + -0.04932857104451063, + 0.07524233076643408, + 0.05179736402155767, + -0.9958190722923785 + ], + [ + -0.34989511022357356, + -0.9330185994907295, + -0.08396252048378744, + -0.9333474206564684, + 0.3548822236761654, + -0.054048123673048246, + 0.0802247106292713, + 0.05945502773540036, + -0.995002058028742 + ], + [ + -0.3292636709097962, + -0.9398705138605303, + -0.09071302108599429, + -0.9401910193023046, + 0.335221106978234, + -0.060561181127689066, + 0.08732858777226866, + 0.06534697094609646, + -0.9940339486888117 + ], + [ + -0.3262373638110896, + -0.9411625440370194, + -0.08821705138665893, + -0.9407987396722485, + 0.3323553032674176, + -0.06661594269491299, + 0.09201583496713898, + 0.06126188122959168, + -0.9938712532433523 + ], + [ + -0.3326753083999931, + -0.9385509085757455, + -0.09192024364965619, + -0.9378085273305128, + 0.33950809222155826, + -0.07245289077913221, + 0.09920839302772937, + 0.062100300544527164, + -0.9931270046802347 + ], + [ + -0.34611721958262937, + -0.9301386479134395, + -0.12265792255760957, + -0.9294819984901501, + 0.3577337387590042, + -0.08994324119277067, + 0.12753856197694216, + 0.08287742642760543, + -0.9883649363456752 + ], + [ + -0.3730842504377831, + -0.9223641415248612, + -0.10026231846702635, + -0.9158920417652082, + 0.3833963604639316, + -0.11894956332063353, + 0.1481550198489268, + 0.047451250901498106, + -0.9878251205964785 + ], + [ + -0.4622916907236034, + -0.884751364461071, + -0.059172762080076845, + -0.8737206851286129, + 0.46588301921791303, + -0.13987557607670092, + 0.1513226918419689, + -0.012962850329878914, + -0.988399416959068 + ], + [ + -0.6332769571872544, + -0.7689994096503868, + -0.08717914574603679, + -0.7523053059797632, + 0.6381074527107992, + -0.16387679942453734, + 0.1816508246343711, + -0.03819406697763045, + -0.9826210821864964 + ], + [ + -0.757365254302346, + -0.627478566374488, + -0.18074435071713907, + -0.6108347065494537, + 0.7786320481889032, + -0.1435726116214241, + 0.23082208050831177, + 0.001668014919263383, + -0.9729945451419775 + ], + [ + -0.8204019639243225, + -0.5319265153072489, + -0.20974937402100094, + -0.5208829179701299, + 0.8465688122374442, + -0.10955469827353703, + 0.23584232732068586, + 0.01937597636172076, + -0.9715981515956031 + ], + [ + -0.8821516181835605, + -0.4198070501979415, + -0.21347262855042817, + -0.4107013704492911, + 0.907553650128023, + -0.08758285477407372, + 0.23050576315398327, + 0.0104121440349884, + -0.9730152518894012 + ], + [ + -0.904012801028796, + -0.3645925567790875, + -0.22323333782694407, + -0.3615461707480418, + 0.9306777251226817, + -0.05588683546147691, + 0.22813421925151542, + 0.030186743808470435, + -0.9731616199299803 + ], + [ + -0.9037396971836295, + -0.3277218750992889, + -0.27541411059683885, + -0.3351814090104231, + 0.9419205502724778, + -0.020954713746081387, + 0.2662855286872141, + 0.07337608299574772, + -0.9610972727336042 + ], + [ + -0.9046366933475354, + -0.29756202276559446, + -0.30510538450981917, + -0.3146312363213834, + 0.9491869679717446, + 0.0071613520709237904, + 0.28747110842676793, + 0.10247410619397351, + -0.9522916671795627 + ], + [ + -0.8999181217565758, + -0.2927012175943231, + -0.32322340780475267, + -0.31945074256517225, + 0.9470699347345953, + 0.031776749304633846, + 0.29681407852168473, + 0.1318504301874294, + -0.9457890181487164 + ], + [ + -0.8916306081256015, + -0.3175087271364771, + -0.32277401823217444, + -0.34421562685713264, + 0.9384822815776125, + 0.027687711935621966, + 0.2941266068905042, + 0.13579107244974856, + -0.9460709929820413 + ], + [ + -0.8829052925914398, + -0.33410063152616315, + -0.3299318298191951, + -0.36290732201695514, + 0.9314052263544215, + 0.027974630402384626, + 0.2979538889501283, + 0.14443362604839272, + -0.9435901693669804 + ], + [ + -0.872486769812829, + -0.3559802908639604, + -0.334731039818517, + -0.3850735917287113, + 0.9226109072900376, + 0.022526488909799552, + 0.30080752227084545, + 0.14855014731013813, + -0.942044419483185 + ], + [ + -0.871592216430763, + -0.3634937216291349, + -0.32893665437818137, + -0.39364989503519016, + 0.9188432929689851, + 0.027690487621122847, + 0.29217592028792166, + 0.15362069294894076, + -0.9439459276366383 + ], + [ + -0.8788231238699846, + -0.3701138133785382, + -0.3011406350823447, + -0.39318931384854217, + 0.9192889317172297, + 0.01760748413336921, + 0.2703184796248934, + 0.13387914388952007, + -0.9534171670390118 + ], + [ + -0.8923716835005302, + -0.4012501295187356, + -0.20656987207147942, + -0.4151033473346334, + 0.9093791732422349, + 0.026809145917989406, + 0.17709316620923626, + 0.10967156803140568, + -0.9780644956481759 + ], + [ + -0.8972289013768908, + -0.4268200830295415, + -0.11315880547563606, + -0.4261251327642142, + 0.9041160834339088, + -0.03148775798322111, + 0.11574830348950418, + 0.019968084504638405, + -0.9930778448039796 + ], + [ + -0.8980529440548279, + -0.4296814722230115, + -0.09420584962050844, + -0.4277717536797125, + 0.9029725385920278, + -0.04064383474098586, + 0.10252919793034489, + 0.0037982860522319285, + -0.9947227435797505 + ], + [ + -0.8986893519535069, + -0.4281132312267597, + -0.09527071918469592, + -0.42652022010198987, + 0.9036987580909825, + -0.037537400935149755, + 0.10216628861584577, + 0.006900425595502668, + -0.9947434008813856 + ], + [ + -0.8980340191740127, + -0.42949898744842463, + -0.09521302530088899, + -0.4278982938463689, + 0.9030409757632151, + -0.03768350058032878, + 0.10216628861584579, + 0.006900425595502663, + -0.9947434008813858 + ], + [ + -0.8986893519535069, + -0.4281132312267597, + -0.09527071918469592, + -0.42652022010198987, + 0.9036987580909825, + -0.037537400935149755, + 0.10216628861584577, + 0.006900425595502668, + -0.9947434008813856 + ], + [ + -0.8978801222983456, + -0.4294880176797054, + -0.09670226807611729, + -0.42793266560509385, + 0.9030384821137304, + -0.03735148631378896, + 0.10336788519471185, + 0.007844902248421421, + -0.9946122550115125 + ], + [ + -0.8980340191740127, + -0.42949898744842463, + -0.09521302530088899, + -0.4278982938463689, + 0.9030409757632151, + -0.03768350058032878, + 0.10216628861584579, + 0.006900425595502663, + -0.9947434008813858 + ], + [ + -0.8980340191740127, + -0.42949898744842463, + -0.09521302530088899, + -0.4278982938463689, + 0.9030409757632151, + -0.03768350058032878, + 0.10216628861584579, + 0.006900425595502663, + -0.9947434008813858 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.001905679702758789, + -0.0005841106176376343, + -0.012736521661281586, + -0.0362161323428154, + 0.008899703621864319, + -0.0010074377059936523, + 1.0 + ], + [ + 0.004044890403747559, + -0.01620899885892868, + -0.003046628087759018, + 5.297362804412842e-06, + 0.040875524282455444, + -0.11081087589263916, + 1.0 + ], + [ + 0.0031092166900634766, + -0.014875225722789764, + -0.011808034032583237, + -0.018069669604301453, + 0.04295501112937927, + -0.12302553653717041, + 1.0 + ], + [ + 0.007392704486846924, + -0.016098089516162872, + -0.012031598016619682, + 0.004187088459730148, + 0.0350530706346035, + -0.1667788028717041, + 1.0 + ], + [ + 0.01564207673072815, + -0.011501960456371307, + -0.012854330241680145, + -0.033306900411844254, + 0.019108951091766357, + -0.2216562032699585, + 1.0 + ], + [ + 0.014808237552642822, + -0.008773460984230042, + -0.008548673242330551, + 0.012694669887423515, + 0.023447208106517792, + -0.14550304412841797, + 1.0 + ], + [ + 0.006629854440689087, + -0.005636092275381088, + -0.015755631029605865, + -0.024493485689163208, + -0.009080702438950539, + -0.09650146961212158, + 1.0 + ], + [ + 0.004726380109786987, + -0.0038583502173423767, + -0.008483492769300938, + -0.00405048206448555, + -0.02721214108169079, + -0.05479001998901367, + 1.0 + ], + [ + -0.0005228817462921143, + -0.0018989332020282745, + -0.016095338389277458, + -0.038772646337747574, + -0.022279109805822372, + 0.001775979995727539, + 1.0 + ], + [ + 0.001962900161743164, + -0.00099259614944458, + -0.004682336002588272, + -0.007714707404375076, + -0.004997506737709045, + 0.0368189811706543, + 0.0 + ], + [ + 0.0034730136394500732, + -0.0005007050931453705, + -0.0019930191338062286, + -0.005962010473012924, + -0.00712895393371582, + 0.021805882453918457, + 0.0 + ], + [ + -5.906820297241211e-05, + -0.0010134018957614899, + -0.0011962652206420898, + 0.004082951694726944, + -0.0047062113881111145, + 0.0030701160430908203, + 0.0 + ], + [ + -0.0008263587951660156, + -0.0009536035358905792, + 0.0004260912537574768, + -0.0008869953453540802, + -0.0072256773710250854, + -0.007097363471984863, + 0.0 + ], + [ + -0.005571424961090088, + -0.0010087750852108002, + 0.001370217651128769, + -0.021208591759204865, + -0.02851501852273941, + -0.015580058097839355, + 0.0 + ], + [ + -0.006836920976638794, + 0.001347854733467102, + 0.027041755616664886, + 0.03565816581249237, + -0.020815566182136536, + -0.030353784561157227, + 0.0 + ], + [ + -0.005901634693145752, + -0.005646049976348877, + 0.03634623810648918, + 0.06111342832446098, + -0.0032037943601608276, + -0.0998387336730957, + 0.0 + ], + [ + -0.018885433673858643, + -0.021417245268821716, + 0.023015661165118217, + 0.025735780596733093, + -0.030758708715438843, + -0.2130424976348877, + 0.0 + ], + [ + -0.021114885807037354, + -0.023401163518428802, + -0.0011478550732135773, + -0.04056432843208313, + -0.050257548689842224, + -0.19238519668579102, + 0.0 + ], + [ + -0.018814027309417725, + -0.022922739386558533, + -0.007581982761621475, + -0.018225423991680145, + -0.005162760615348816, + -0.11301231384277344, + 0.0 + ], + [ + -0.013266414403915405, + -0.020430538803339005, + -0.013239620253443718, + 0.009239236824214458, + 0.005487844347953796, + -0.12997078895568848, + 0.0 + ], + [ + -0.0006553232669830322, + -0.00894225761294365, + -0.017225278541445732, + -0.020308811217546463, + 0.0024364739656448364, + -0.055274248123168945, + 0.0 + ], + [ + -0.005670398473739624, + -0.009624399244785309, + -0.02087816596031189, + -0.0451890304684639, + -0.03937642276287079, + -0.025294065475463867, + 0.0 + ], + [ + -0.0020448267459869385, + -0.007978901267051697, + -0.015107140876352787, + -0.030997075140476227, + -0.022048085927963257, + -0.02044391632080078, + 0.0 + ], + [ + 0.0014625787734985352, + -0.005522921681404114, + -0.01093355007469654, + -0.03131972998380661, + -0.009769201278686523, + 0.006390094757080078, + 0.0 + ], + [ + 0.0039327144622802734, + -0.0023123472929000854, + -0.0009512156248092651, + -0.00404280424118042, + 0.0028130710124969482, + 0.02732229232788086, + 1.0 + ], + [ + -0.0006940066814422607, + 0.0016098842024803162, + -0.00014839321374893188, + -0.009331300854682922, + -0.004006892442703247, + 0.0215606689453125, + 1.0 + ], + [ + -0.00190657377243042, + 0.005600862205028534, + -0.0023692362010478973, + -0.004511997103691101, + -0.002990812063217163, + 0.025653600692749023, + 1.0 + ], + [ + -0.0028648972511291504, + 0.004011176526546478, + 0.00144210085272789, + -0.004927501082420349, + 0.009038031101226807, + 0.008581876754760742, + 1.0 + ], + [ + 0.0001742839813232422, + 0.0011101216077804565, + 0.014861049130558968, + 0.021820589900016785, + 0.022777438163757324, + -0.003527402877807617, + 1.0 + ], + [ + 0.0036384165287017822, + 0.00484369695186615, + 0.03278900682926178, + 0.027843378484249115, + 0.09569166600704193, + 0.014703035354614258, + 1.0 + ], + [ + -0.002400994300842285, + 0.00046469271183013916, + 0.0366411991417408, + 0.09156021475791931, + 0.06202381104230881, + 0.00799870491027832, + 1.0 + ], + [ + 0.002275526523590088, + 0.001636803150177002, + 0.0044883787631988525, + 0.01628614217042923, + 0.013298645615577698, + 0.0011398792266845703, + 1.0 + ], + [ + -0.00048235058784484863, + 7.735937833786011e-05, + -0.00032066553831100464, + -0.0031183604151010513, + 0.00036482512950897217, + -0.0014109611511230469, + 1.0 + ], + [ + 0.0001125335693359375, + 0.0004389137029647827, + 0.0, + 0.0, + 0.0, + 0.0015339851379394531, + 1.0 + ], + [ + -0.0001125335693359375, + -0.0004389137029647827, + 0.0, + 0.0, + 0.0, + -0.0015339851379394531, + 1.0 + ], + [ + 1.5527009963989258e-05, + 0.0004605427384376526, + -0.00045282021164894104, + -0.0009504551999270916, + -0.001207992434501648, + 0.0016317367553710938, + 1.0 + ], + [ + 9.700655937194824e-05, + -2.1629035472869873e-05, + 0.00045282021164894104, + 0.0009504551999270916, + 0.001207992434501648, + -9.775161743164062e-05, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9499720335006714 + ], + [ + 0.657115638256073 + ], + [ + 0.3552374839782715 + ], + [ + 0.29885798692703247 + ], + [ + 0.29885798692703247 + ], + [ + 0.29885798692703247 + ], + [ + 0.29885798692703247 + ], + [ + 0.29885798692703247 + ], + [ + 0.29885798692703247 + ], + [ + 0.29885798692703247 + ], + [ + 0.29885798692703247 + ], + [ + 0.29885798692703247 + ], + [ + 0.29885798692703247 + ], + [ + 0.29885798692703247 + ], + [ + 0.29885798692703247 + ], + [ + 0.35940393805503845 + ], + [ + 0.6711689233779907 + ], + [ + 0.9590815901756287 + ], + [ + 1.0105689764022827 + ], + [ + 1.0054124593734741 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.32131853699684143, + 0.11723148077726364, + 0.054057322442531586 + ], + [ + 0.325363427400589, + 0.10102248191833496, + 0.05101069435477257 + ], + [ + 0.32847264409065247, + 0.0861472561955452, + 0.03920266032218933 + ], + [ + 0.3358653485774994, + 0.07004916667938232, + 0.02717106230556965 + ], + [ + 0.35150742530822754, + 0.05854720622301102, + 0.014316732063889503 + ], + [ + 0.36631566286087036, + 0.049773745238780975, + 0.005768058821558952 + ], + [ + 0.37294551730155945, + 0.04413765296339989, + -0.009987571276724339 + ], + [ + 0.37767189741134644, + 0.04027930274605751, + -0.018471064046025276 + ], + [ + 0.3771490156650543, + 0.038380369544029236, + -0.034566402435302734 + ], + [ + 0.3791119158267975, + 0.037387773394584656, + -0.039248738437891006 + ], + [ + 0.38258492946624756, + 0.036887068301439285, + -0.041241757571697235 + ], + [ + 0.38252586126327515, + 0.035873666405677795, + -0.042438022792339325 + ], + [ + 0.38169950246810913, + 0.034920062869787216, + -0.04201193153858185 + ], + [ + 0.37612807750701904, + 0.033911287784576416, + -0.04064171388745308 + ], + [ + 0.36929115653038025, + 0.03525914251804352, + -0.013599957339465618 + ], + [ + 0.3633895218372345, + 0.02961309254169464, + 0.022746281698346138 + ], + [ + 0.34450408816337585, + 0.008195847272872925, + 0.045761942863464355 + ], + [ + 0.3233892023563385, + -0.015205315314233303, + 0.04461408779025078 + ], + [ + 0.3045751750469208, + -0.03812805563211441, + 0.0370321050286293 + ], + [ + 0.29130876064300537, + -0.058558594435453415, + 0.023792484775185585 + ], + [ + 0.29065343737602234, + -0.06750085204839706, + 0.006567206233739853 + ], + [ + 0.2849830389022827, + -0.07712525129318237, + -0.014310960657894611 + ], + [ + 0.2829382121562958, + -0.08510415256023407, + -0.0294181015342474 + ], + [ + 0.2844007909297943, + -0.09062707424163818, + -0.04035165160894394 + ], + [ + 0.2883335053920746, + -0.09293942153453827, + -0.041302867233753204 + ], + [ + 0.2876394987106323, + -0.09132953733205795, + -0.041451260447502136 + ], + [ + 0.2857329249382019, + -0.08572867512702942, + -0.043820496648550034 + ], + [ + 0.28286802768707275, + -0.08171749860048294, + -0.042378395795822144 + ], + [ + 0.283042311668396, + -0.08060737699270248, + -0.027517346665263176 + ], + [ + 0.2866807281970978, + -0.07576368004083633, + 0.005271661560982466 + ], + [ + 0.2842797338962555, + -0.0752989873290062, + 0.04191286116838455 + ], + [ + 0.2865552604198456, + -0.0736621841788292, + 0.046401239931583405 + ], + [ + 0.28607290983200073, + -0.07358482480049133, + 0.0460805743932724 + ], + [ + 0.28618544340133667, + -0.07314591109752655, + 0.0460805743932724 + ], + [ + 0.28607290983200073, + -0.07358482480049133, + 0.0460805743932724 + ], + [ + 0.2860884368419647, + -0.07312428206205368, + 0.04562775418162346 + ], + [ + 0.28618544340133667, + -0.07314591109752655, + 0.0460805743932724 + ], + [ + 0.28618544340133667, + -0.07314591109752655, + 0.0460805743932724 + ], + [ + 0.28618544340133667, + -0.07314591109752655, + 0.0460805743932724 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.4905531667782244, + -0.8614439726734529, + 0.13142249620378824, + -0.8531960966723875, + -0.505480426656435, + -0.12863109612465504, + 0.17723998190830823, + -0.04902876922591007, + -0.9829456590276671 + ], + [ + 0.39575963740039655, + -0.9128615546935952, + 0.10029003623042065, + -0.9080966949510907, + -0.4052751869510758, + -0.10541544223061582, + 0.1368747676659667, + -0.0493538732437792, + -0.9893581218003038 + ], + [ + 0.28274073506938063, + -0.9574891591731387, + 0.057203031373715615, + -0.9545585316709078, + -0.28673024950273657, + -0.08126360584160086, + 0.0942108610867501, + -0.031627109985176205, + -0.9950497673821539 + ], + [ + 0.12067969229861725, + -0.9917662820701137, + 0.04284919620639858, + -0.9909209414828405, + -0.12292907210229115, + -0.054443833101927686, + 0.05926296986712621, + -0.03588990082032953, + -0.9975970205557125 + ], + [ + -0.10021768888322208, + -0.99496456464139, + -0.0013892238389195434, + -0.9941539858132391, + 0.1001922306503818, + -0.04024138925224363, + 0.040177945773217344, + -0.0026517966116613584, + -0.9991890214810082 + ], + [ + -0.24346375171639917, + -0.9698497519230838, + 0.010810194027315086, + -0.9697655119227422, + 0.24321998953595309, + -0.019972195055940875, + 0.016740773142158504, + -0.01534585888321447, + -0.9997420923066804 + ], + [ + -0.33570472030940085, + -0.9418086893815394, + -0.01728390486591085, + -0.9416133495031691, + 0.3360250317709533, + -0.021248013101281323, + 0.02581938805257337, + 0.009141697257988312, + -0.9996248239073666 + ], + [ + -0.386351177688614, + -0.9217728182579847, + -0.03267474589576774, + -0.920827212922781, + 0.38750645602994777, + -0.043772028465371045, + 0.05300954102314184, + 0.013176420448744251, + -0.9985070708335888 + ], + [ + -0.38416477132121857, + -0.9200578031505752, + -0.0768834659563023, + -0.9201934688621468, + 0.38834349736046353, + -0.04932857104451063, + 0.07524233076643408, + 0.05179736402155767, + -0.9958190722923785 + ], + [ + -0.34989511022357356, + -0.9330185994907295, + -0.08396252048378744, + -0.9333474206564684, + 0.3548822236761654, + -0.054048123673048246, + 0.0802247106292713, + 0.05945502773540036, + -0.995002058028742 + ], + [ + -0.3292636709097962, + -0.9398705138605303, + -0.09071302108599429, + -0.9401910193023046, + 0.335221106978234, + -0.060561181127689066, + 0.08732858777226866, + 0.06534697094609646, + -0.9940339486888117 + ], + [ + -0.3262373638110896, + -0.9411625440370194, + -0.08821705138665893, + -0.9407987396722485, + 0.3323553032674176, + -0.06661594269491299, + 0.09201583496713898, + 0.06126188122959168, + -0.9938712532433523 + ], + [ + -0.3326753083999931, + -0.9385509085757455, + -0.09192024364965619, + -0.9378085273305128, + 0.33950809222155826, + -0.07245289077913221, + 0.09920839302772937, + 0.062100300544527164, + -0.9931270046802347 + ], + [ + -0.34611721958262937, + -0.9301386479134395, + -0.12265792255760957, + -0.9294819984901501, + 0.3577337387590042, + -0.08994324119277067, + 0.12753856197694216, + 0.08287742642760543, + -0.9883649363456752 + ], + [ + -0.3730842504377831, + -0.9223641415248612, + -0.10026231846702635, + -0.9158920417652082, + 0.3833963604639316, + -0.11894956332063353, + 0.1481550198489268, + 0.047451250901498106, + -0.9878251205964785 + ], + [ + -0.4622916907236034, + -0.884751364461071, + -0.059172762080076845, + -0.8737206851286129, + 0.46588301921791303, + -0.13987557607670092, + 0.1513226918419689, + -0.012962850329878914, + -0.988399416959068 + ], + [ + -0.6332769571872544, + -0.7689994096503868, + -0.08717914574603679, + -0.7523053059797632, + 0.6381074527107992, + -0.16387679942453734, + 0.1816508246343711, + -0.03819406697763045, + -0.9826210821864964 + ], + [ + -0.757365254302346, + -0.627478566374488, + -0.18074435071713907, + -0.6108347065494537, + 0.7786320481889032, + -0.1435726116214241, + 0.23082208050831177, + 0.001668014919263383, + -0.9729945451419775 + ], + [ + -0.8204019639243225, + -0.5319265153072489, + -0.20974937402100094, + -0.5208829179701299, + 0.8465688122374442, + -0.10955469827353703, + 0.23584232732068586, + 0.01937597636172076, + -0.9715981515956031 + ], + [ + -0.8821516181835605, + -0.4198070501979415, + -0.21347262855042817, + -0.4107013704492911, + 0.907553650128023, + -0.08758285477407372, + 0.23050576315398327, + 0.0104121440349884, + -0.9730152518894012 + ], + [ + -0.904012801028796, + -0.3645925567790875, + -0.22323333782694407, + -0.3615461707480418, + 0.9306777251226817, + -0.05588683546147691, + 0.22813421925151542, + 0.030186743808470435, + -0.9731616199299803 + ], + [ + -0.9037396971836295, + -0.3277218750992889, + -0.27541411059683885, + -0.3351814090104231, + 0.9419205502724778, + -0.020954713746081387, + 0.2662855286872141, + 0.07337608299574772, + -0.9610972727336042 + ], + [ + -0.9046366933475354, + -0.29756202276559446, + -0.30510538450981917, + -0.3146312363213834, + 0.9491869679717446, + 0.0071613520709237904, + 0.28747110842676793, + 0.10247410619397351, + -0.9522916671795627 + ], + [ + -0.8999181217565758, + -0.2927012175943231, + -0.32322340780475267, + -0.31945074256517225, + 0.9470699347345953, + 0.031776749304633846, + 0.29681407852168473, + 0.1318504301874294, + -0.9457890181487164 + ], + [ + -0.8916306081256015, + -0.3175087271364771, + -0.32277401823217444, + -0.34421562685713264, + 0.9384822815776125, + 0.027687711935621966, + 0.2941266068905042, + 0.13579107244974856, + -0.9460709929820413 + ], + [ + -0.8829052925914398, + -0.33410063152616315, + -0.3299318298191951, + -0.36290732201695514, + 0.9314052263544215, + 0.027974630402384626, + 0.2979538889501283, + 0.14443362604839272, + -0.9435901693669804 + ], + [ + -0.872486769812829, + -0.3559802908639604, + -0.334731039818517, + -0.3850735917287113, + 0.9226109072900376, + 0.022526488909799552, + 0.30080752227084545, + 0.14855014731013813, + -0.942044419483185 + ], + [ + -0.871592216430763, + -0.3634937216291349, + -0.32893665437818137, + -0.39364989503519016, + 0.9188432929689851, + 0.027690487621122847, + 0.29217592028792166, + 0.15362069294894076, + -0.9439459276366383 + ], + [ + -0.8788231238699846, + -0.3701138133785382, + -0.3011406350823447, + -0.39318931384854217, + 0.9192889317172297, + 0.01760748413336921, + 0.2703184796248934, + 0.13387914388952007, + -0.9534171670390118 + ], + [ + -0.8923716835005302, + -0.4012501295187356, + -0.20656987207147942, + -0.4151033473346334, + 0.9093791732422349, + 0.026809145917989406, + 0.17709316620923626, + 0.10967156803140568, + -0.9780644956481759 + ], + [ + -0.8972289013768908, + -0.4268200830295415, + -0.11315880547563606, + -0.4261251327642142, + 0.9041160834339088, + -0.03148775798322111, + 0.11574830348950418, + 0.019968084504638405, + -0.9930778448039796 + ], + [ + -0.8980529440548279, + -0.4296814722230115, + -0.09420584962050844, + -0.4277717536797125, + 0.9029725385920278, + -0.04064383474098586, + 0.10252919793034489, + 0.0037982860522319285, + -0.9947227435797505 + ], + [ + -0.8986893519535069, + -0.4281132312267597, + -0.09527071918469592, + -0.42652022010198987, + 0.9036987580909825, + -0.037537400935149755, + 0.10216628861584577, + 0.006900425595502668, + -0.9947434008813856 + ], + [ + -0.8980340191740127, + -0.42949898744842463, + -0.09521302530088899, + -0.4278982938463689, + 0.9030409757632151, + -0.03768350058032878, + 0.10216628861584579, + 0.006900425595502663, + -0.9947434008813858 + ], + [ + -0.8986893519535069, + -0.4281132312267597, + -0.09527071918469592, + -0.42652022010198987, + 0.9036987580909825, + -0.037537400935149755, + 0.10216628861584577, + 0.006900425595502668, + -0.9947434008813856 + ], + [ + -0.8978801222983456, + -0.4294880176797054, + -0.09670226807611729, + -0.42793266560509385, + 0.9030384821137304, + -0.03735148631378896, + 0.10336788519471185, + 0.007844902248421421, + -0.9946122550115125 + ], + [ + -0.8980340191740127, + -0.42949898744842463, + -0.09521302530088899, + -0.4278982938463689, + 0.9030409757632151, + -0.03768350058032878, + 0.10216628861584579, + 0.006900425595502663, + -0.9947434008813858 + ], + [ + -0.8980340191740127, + -0.42949898744842463, + -0.09521302530088899, + -0.4278982938463689, + 0.9030409757632151, + -0.03768350058032878, + 0.10216628861584579, + 0.006900425595502663, + -0.9947434008813858 + ], + [ + -0.8980340191740127, + -0.42949898744842463, + -0.09521302530088899, + -0.4278982938463689, + 0.9030409757632151, + -0.03768350058032878, + 0.10216628861584579, + 0.006900425595502663, + -0.9947434008813858 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005645.json b/json/chunk-0005/episode_0005645.json new file mode 100644 index 0000000000000000000000000000000000000000..b455ff6b53f26f284e5dab2fb43de96341173c7f --- /dev/null +++ b/json/chunk-0005/episode_0005645.json @@ -0,0 +1,2362 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 38, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nFold the cloth from top left to bottom right." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005645.mp4", + "start": 0, + "end": 38, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.29149702191352844, + -0.007008031010627747, + 0.05051485076546669, + 0.0705837830901146, + -0.10165170580148697, + -0.453715056180954, + 0.0, + 0.9994885921478271 + ], + [ + 0.2867134213447571, + -0.007969108410179615, + 0.0431075356900692, + 0.05359400436282158, + -0.07377629727125168, + -0.4560614228248596, + 0.0, + 1.0001531839370728 + ], + [ + 0.28195178508758545, + -0.013980040326714516, + 0.04050992429256439, + 0.03070673905313015, + -0.03071649558842182, + -0.5419060587882996, + 0.0, + 0.9994885921478271 + ], + [ + 0.29082411527633667, + -0.015367573127150536, + 0.04220188409090042, + 0.015969397500157356, + -0.011730650439858437, + -0.6177141070365906, + 0.0, + 0.9994885921478271 + ], + [ + 0.30037379264831543, + -0.008569043129682541, + 0.03961034491658211, + 0.01345883123576641, + 0.013209682889282703, + -0.657719612121582, + 0.0, + 0.9994885921478271 + ], + [ + 0.3173576593399048, + 0.008316329680383205, + 0.03764793276786804, + 0.01609726995229721, + 0.024461515247821808, + -0.6662791967391968, + 0.0, + 1.0001531839370728 + ], + [ + 0.3329789936542511, + 0.032564643770456314, + 0.03309890627861023, + 0.013448732905089855, + 0.03163912892341614, + -0.6335999965667725, + 0.0, + 0.9994885921478271 + ], + [ + 0.3435434401035309, + 0.04285300523042679, + 0.02735341154038906, + 0.010254209861159325, + 0.033342987298965454, + -0.6156988739967346, + 0.0, + 1.0001531839370728 + ], + [ + 0.3491016924381256, + 0.0583135224878788, + 0.013271210715174675, + -0.005733970087021589, + 0.05656745657324791, + -0.5895436406135559, + 0.0, + 1.0001531839370728 + ], + [ + 0.3532518148422241, + 0.06215018406510353, + -0.00428109522908926, + -0.01918421871960163, + 0.08858978003263474, + -0.6054444909095764, + 0.0, + 1.0001531839370728 + ], + [ + 0.35536888241767883, + 0.07145022600889206, + -0.018405865877866745, + -0.028033260256052017, + 0.1106066182255745, + -0.6029779314994812, + 0.0, + 1.0001531839370728 + ], + [ + 0.36002296209335327, + 0.0791035145521164, + -0.020340777933597565, + -0.026956802234053612, + 0.10216351598501205, + -0.5968279838562012, + 0.0, + 0.9367310404777527 + ], + [ + 0.3597187399864197, + 0.08176655322313309, + -0.024734225124120712, + -0.01988254114985466, + 0.11907617002725601, + -0.5960171818733215, + 0.0, + 0.648074209690094 + ], + [ + 0.35967305302619934, + 0.08244004100561142, + -0.024648338556289673, + -0.013566038571298122, + 0.12440041452646255, + -0.5932562947273254, + 0.0, + 0.39448216557502747 + ], + [ + 0.35946154594421387, + 0.08220108598470688, + -0.02463846281170845, + -0.015460641123354435, + 0.12468212097883224, + -0.5924463272094727, + 0.0, + 0.2148229479789734 + ], + [ + 0.3597187399864197, + 0.08176655322313309, + -0.024734225124120712, + -0.01933184824883938, + 0.11916639655828476, + -0.5913832783699036, + 0.0, + 0.09326785057783127 + ], + [ + 0.35992732644081116, + 0.07987130433320999, + -0.024289080873131752, + -0.031409166753292084, + 0.1084742397069931, + -0.5951651334762573, + 0.0, + 0.05012403428554535 + ], + [ + 0.3602600693702698, + 0.0828397125005722, + -0.019225357100367546, + -0.03617441654205322, + 0.09184624254703522, + -0.5912954807281494, + 0.0, + 0.0498691126704216 + ], + [ + 0.3670954704284668, + 0.08542383462190628, + 0.0036599691957235336, + 0.004396080505102873, + 0.04634620621800423, + -0.5980969667434692, + 0.0, + 0.0498691126704216 + ], + [ + 0.36812081933021545, + 0.08573859184980392, + 0.021071484312415123, + 0.037589170038700104, + 0.02580287680029869, + -0.6078488230705261, + 0.0, + 0.0498691126704216 + ], + [ + 0.36572080850601196, + 0.07655221223831177, + 0.038229331374168396, + 0.06449621915817261, + 0.01131613738834858, + -0.6302090287208557, + 0.0, + 0.0498691126704216 + ], + [ + 0.3600766062736511, + 0.05625678226351738, + 0.050891630351543427, + 0.09251973032951355, + -0.000942726619541645, + -0.6745778918266296, + 0.0, + 0.0498691126704216 + ], + [ + 0.3528884947299957, + 0.03408781439065933, + 0.05958174169063568, + 0.12505339086055756, + 0.000896638201083988, + -0.7337209582328796, + 0.0, + 0.0498691126704216 + ], + [ + 0.34053274989128113, + 0.0062154075130820274, + 0.06390660256147385, + 0.16521188616752625, + 0.006214427296072245, + -0.7873082160949707, + 0.0, + 0.0498691126704216 + ], + [ + 0.3271254599094391, + -0.01511908508837223, + 0.059877969324588776, + 0.1937551498413086, + 0.024337122216820717, + -0.8391736149787903, + 0.0, + 0.0498691126704216 + ], + [ + 0.31087392568588257, + -0.03095473349094391, + 0.04393452778458595, + 0.1844310760498047, + 0.04471356049180031, + -0.8691442608833313, + 0.0, + 0.0498691126704216 + ], + [ + 0.29416558146476746, + -0.03358808159828186, + 0.027266820892691612, + 0.15504388511180878, + 0.05147445946931839, + -0.8873383402824402, + 0.0, + 0.0498691126704216 + ], + [ + 0.2832750082015991, + -0.035284869372844696, + 0.01683410443365574, + 0.14932091534137726, + 0.05912484973669052, + -0.8912550806999207, + 0.0, + 0.0498691126704216 + ], + [ + 0.2791655659675598, + -0.039155084639787674, + 0.009870925918221474, + 0.13083647191524506, + 0.05687300115823746, + -0.90239018201828, + 0.0, + 0.0498691126704216 + ], + [ + 0.2775668203830719, + -0.04201936349272728, + 0.0034853799734264612, + 0.10634800791740417, + 0.05560116097331047, + -0.9141488671302795, + 0.0, + 0.07429859787225723 + ], + [ + 0.2767573297023773, + -0.04428357630968094, + 0.003350593848153949, + 0.09921654313802719, + 0.05339808017015457, + -0.9233288168907166, + 0.0, + 0.2306915670633316 + ], + [ + 0.27581480145454407, + -0.04550749063491821, + 0.0031879267189651728, + 0.08950422704219818, + 0.05124763771891594, + -0.9287014007568359, + 0.0, + 0.48704639077186584 + ], + [ + 0.27442899346351624, + -0.045609403401613235, + 0.003005314851179719, + 0.08241128921508789, + 0.059775374829769135, + -0.9329932928085327, + 0.0, + 0.7864964604377747 + ], + [ + 0.27875208854675293, + -0.04666139930486679, + 0.0068895951844751835, + 0.08613671362400055, + 0.054663266986608505, + -0.9290085434913635, + 0.0, + 1.0105689764022827 + ], + [ + 0.282440185546875, + -0.047507669776678085, + 0.012182733975350857, + 0.09029680490493774, + 0.04569743573665619, + -0.935283362865448, + 0.0, + 1.0099300146102905 + ], + [ + 0.294598788022995, + -0.049931805580854416, + 0.04254329949617386, + 0.1469508856534958, + -0.016243567690253258, + -0.9378514885902405, + 0.0, + 1.0001531839370728 + ], + [ + 0.3013220429420471, + -0.051709096878767014, + 0.06747712939977646, + 0.19231627881526947, + -0.05724181979894638, + -0.9750397801399231, + 0.0, + 1.0001531839370728 + ], + [ + 0.302168607711792, + -0.04882632941007614, + 0.08542638272047043, + 0.2167968451976776, + -0.053479164838790894, + -0.9819855690002441, + 0.0, + 1.0001531839370728 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9367310404777527 + ], + [ + 0.648074209690094 + ], + [ + 0.39448216557502747 + ], + [ + 0.2148229479789734 + ], + [ + 0.09326785057783127 + ], + [ + 0.05012403428554535 + ], + [ + 0.0498691126704216 + ], + [ + 0.0498691126704216 + ], + [ + 0.0498691126704216 + ], + [ + 0.0498691126704216 + ], + [ + 0.0498691126704216 + ], + [ + 0.0498691126704216 + ], + [ + 0.0498691126704216 + ], + [ + 0.0498691126704216 + ], + [ + 0.0498691126704216 + ], + [ + 0.0498691126704216 + ], + [ + 0.0498691126704216 + ], + [ + 0.0498691126704216 + ], + [ + 0.07429859787225723 + ], + [ + 0.2306915670633316 + ], + [ + 0.48704639077186584 + ], + [ + 0.7864964604377747 + ], + [ + 1.0105689764022827 + ], + [ + 1.0099300146102905 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.29149702191352844, + -0.007008031010627747, + 0.05051485076546669 + ], + [ + 0.2867134213447571, + -0.007969108410179615, + 0.0431075356900692 + ], + [ + 0.28195178508758545, + -0.013980040326714516, + 0.04050992429256439 + ], + [ + 0.29082411527633667, + -0.015367573127150536, + 0.04220188409090042 + ], + [ + 0.30037379264831543, + -0.008569043129682541, + 0.03961034491658211 + ], + [ + 0.3173576593399048, + 0.008316329680383205, + 0.03764793276786804 + ], + [ + 0.3329789936542511, + 0.032564643770456314, + 0.03309890627861023 + ], + [ + 0.3435434401035309, + 0.04285300523042679, + 0.02735341154038906 + ], + [ + 0.3491016924381256, + 0.0583135224878788, + 0.013271210715174675 + ], + [ + 0.3532518148422241, + 0.06215018406510353, + -0.00428109522908926 + ], + [ + 0.35536888241767883, + 0.07145022600889206, + -0.018405865877866745 + ], + [ + 0.36002296209335327, + 0.0791035145521164, + -0.020340777933597565 + ], + [ + 0.3597187399864197, + 0.08176655322313309, + -0.024734225124120712 + ], + [ + 0.35967305302619934, + 0.08244004100561142, + -0.024648338556289673 + ], + [ + 0.35946154594421387, + 0.08220108598470688, + -0.02463846281170845 + ], + [ + 0.3597187399864197, + 0.08176655322313309, + -0.024734225124120712 + ], + [ + 0.35992732644081116, + 0.07987130433320999, + -0.024289080873131752 + ], + [ + 0.3602600693702698, + 0.0828397125005722, + -0.019225357100367546 + ], + [ + 0.3670954704284668, + 0.08542383462190628, + 0.0036599691957235336 + ], + [ + 0.36812081933021545, + 0.08573859184980392, + 0.021071484312415123 + ], + [ + 0.36572080850601196, + 0.07655221223831177, + 0.038229331374168396 + ], + [ + 0.3600766062736511, + 0.05625678226351738, + 0.050891630351543427 + ], + [ + 0.3528884947299957, + 0.03408781439065933, + 0.05958174169063568 + ], + [ + 0.34053274989128113, + 0.0062154075130820274, + 0.06390660256147385 + ], + [ + 0.3271254599094391, + -0.01511908508837223, + 0.059877969324588776 + ], + [ + 0.31087392568588257, + -0.03095473349094391, + 0.04393452778458595 + ], + [ + 0.29416558146476746, + -0.03358808159828186, + 0.027266820892691612 + ], + [ + 0.2832750082015991, + -0.035284869372844696, + 0.01683410443365574 + ], + [ + 0.2791655659675598, + -0.039155084639787674, + 0.009870925918221474 + ], + [ + 0.2775668203830719, + -0.04201936349272728, + 0.0034853799734264612 + ], + [ + 0.2767573297023773, + -0.04428357630968094, + 0.003350593848153949 + ], + [ + 0.27581480145454407, + -0.04550749063491821, + 0.0031879267189651728 + ], + [ + 0.27442899346351624, + -0.045609403401613235, + 0.003005314851179719 + ], + [ + 0.27875208854675293, + -0.04666139930486679, + 0.0068895951844751835 + ], + [ + 0.282440185546875, + -0.047507669776678085, + 0.012182733975350857 + ], + [ + 0.294598788022995, + -0.049931805580854416, + 0.04254329949617386 + ], + [ + 0.3013220429420471, + -0.051709096878767014, + 0.06747712939977646 + ], + [ + 0.302168607711792, + -0.04882632941007614, + 0.08542638272047043 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8941851578610975, + -0.4307837596508744, + 0.12189444565681334, + -0.4360451535603736, + -0.8997237176114389, + 0.019022513607881267, + 0.1014767338725206, + -0.07016113160795998, + -0.9923607650920386 + ], + [ + 0.895351854438897, + -0.4362382143810589, + 0.08967316804068813, + -0.4392174663602091, + -0.89824397721484, + 0.015677201325002603, + 0.07370938879781087, + -0.05342263294607733, + -0.9958478539878277 + ], + [ + 0.8563230198934892, + -0.514718944342269, + 0.042134237096160036, + -0.5155266037700049, + -0.8568095995633791, + 0.010470477611198981, + 0.030711665631473643, + -0.03068743116037262, + -0.9990570930446959 + ], + [ + 0.8151484245562276, + -0.5789466523661, + 0.01881009456612009, + -0.5791333560551009, + -0.8152090583549604, + 0.006224715284640857, + 0.011730381402839595, + -0.015967620051377005, + -0.9998036973636569 + ], + [ + 0.7913192745431089, + -0.6113990949074558, + -0.0022254174690781317, + -0.6112604356277952, + -0.7912079683304063, + 0.01872513515542387, + -0.013209298720442238, + -0.013457250715309278, + -0.9998221926075154 + ], + [ + 0.7858916175394122, + -0.618294677419304, + -0.009276710421529569, + -0.6178803436675476, + -0.7857816154385142, + 0.027769295059686786, + -0.024459075832075322, + -0.016091759189027447, + -0.9995713125613614 + ], + [ + 0.8054980239094788, + -0.5923391379929578, + -0.01752937761828912, + -0.5917535238405055, + -0.8055766065827689, + 0.02956514753785773, + -0.03163385054445855, + -0.013441596941983117, + -0.9994091369261041 + ], + [ + 0.8159162665520577, + -0.5777779052651355, + -0.02129173931794624, + -0.5772081973709702, + -0.8161296857149746, + 0.02762305165132684, + -0.0333368094380149, + -0.01024833070352089, + -0.9993916293697305 + ], + [ + 0.829864987586811, + -0.5557031597675808, + -0.05018067956762116, + -0.555092457929095, + -0.8313610679273222, + 0.026667168671942663, + -0.056537293247709876, + 0.005724767162826053, + -0.9983840751500164 + ], + [ + 0.8190247492824047, + -0.567627367843818, + -0.08365184599035182, + -0.566895775793697, + -0.8230638266017632, + 0.034570460322729694, + -0.08847394786126052, + 0.019107815530874345, + -0.9958952012814809 + ], + [ + 0.8186174279234449, + -0.5643266172203848, + -0.1067753520087873, + -0.5636324069948667, + -0.825081440660928, + 0.03948577037440419, + -0.11038123248621637, + 0.027858308876966442, + -0.9934988163764158 + ], + [ + 0.8228097702722205, + -0.5595438087808254, + -0.09947264950539361, + -0.5590911915275548, + -0.8283669411627064, + 0.03500357617502092, + -0.10198588873405387, + 0.02681299766509822, + -0.9944244273223264 + ], + [ + 0.8217176912049409, + -0.559285324854618, + -0.10945300984022978, + -0.5573758077573386, + -0.8287401523406603, + 0.05021920773203208, + -0.11879496995948695, + 0.01974044833946329, + -0.9927225542978669 + ], + [ + 0.8227173271765517, + -0.5576168137469896, + -0.11045220047661261, + -0.5547435460432836, + -0.8299893349571336, + 0.058114559111624636, + -0.1240798037022709, + 0.013460790618320187, + -0.9921809358323388 + ], + [ + 0.8231373517401867, + -0.5567304299371357, + -0.11178608389314072, + -0.5540574497674565, + -0.8305515711785825, + 0.05660768472540109, + -0.12435932826826725, + 0.015340012868314417, + -0.9921186630024985 + ], + [ + 0.8242827837876284, + -0.5554979125350332, + -0.10945301055949984, + -0.553556098724943, + -0.8312963831863386, + 0.05021920813526498, + -0.11888455709527042, + 0.019193552837670182, + -0.992722554198165 + ], + [ + 0.8231889773432944, + -0.5575537113680914, + -0.10720898525855169, + -0.5573502722609892, + -0.8295536188393248, + 0.03466219094606949, + -0.10826163489945387, + 0.031219423605305215, + -0.9936321079749034 + ], + [ + 0.826719934447393, + -0.5543184223014943, + -0.09625609946636991, + -0.555087481015081, + -0.8315251481956933, + 0.021066948959481184, + -0.09171716528343841, + 0.036014089122335516, + -0.9951336327232931 + ], + [ + 0.8255212611927247, + -0.5632336830264782, + -0.035811529193844754, + -0.5624661891827923, + -0.8262859882545475, + 0.029719549801316303, + -0.046329616283326824, + -0.004391345879592452, + -0.9989165544410631 + ], + [ + 0.8206052091354454, + -0.5714954082305275, + 0.00029851498186625816, + -0.5709128217456421, + -0.8197448737778211, + 0.045572929260830154, + -0.025800013686048333, + -0.03756780917762901, + -0.9989609697117264 + ], + [ + 0.8078526149560141, + -0.588677594655322, + 0.028859003093565202, + -0.5892759141601407, + -0.8057947777557366, + 0.058725404488293505, + -0.01131589587529799, + -0.06444738700992851, + -0.9978569460639796 + ], + [ + 0.780970308800813, + -0.6218284860304943, + 0.05843552628826021, + -0.62456744074467, + -0.7776849215161391, + 0.0715658774004038, + 0.0009427264799028619, + -0.09238775247542103, + -0.9957226594083939 + ], + [ + 0.7426875568052271, + -0.6644916386669407, + 0.08286166247672225, + -0.6696375056751481, + -0.7368133234626117, + 0.09322948761602447, + -0.0008966380809404539, + -0.12472765735675671, + -0.9921906104829087 + ], + [ + 0.7057412531564018, + -0.6995307308893481, + 0.112187522187837, + -0.7084424217844076, + -0.6954209301833097, + 0.12041206284764047, + -0.00621438729687776, + -0.16445816004198435, + -0.986364483842626 + ], + [ + 0.6678801197572278, + -0.7332982378874804, + 0.12731786969701853, + -0.7438709343992633, + -0.6520905016031485, + 0.14640358832665518, + -0.02433471982656723, + -0.19248810880173922, + -0.9809975277139551 + ], + [ + 0.6448352294643229, + -0.7561148762199216, + 0.11170416644255848, + -0.7630134706531674, + -0.6282727036613167, + 0.15193371395416988, + -0.04469866265899019, + -0.18320399502475954, + -0.9820582089486681 + ], + [ + 0.6306416914030301, + -0.7711099957588113, + 0.0876380710945403, + -0.7743666937711705, + -0.6177425828543173, + 0.1369318257615212, + -0.05145173118790127, + -0.15421892156711264, + -0.986696125252575 + ], + [ + 0.6273381359663093, + -0.7747297002099334, + 0.07899844792743163, + -0.7765018910636838, + -0.6146052837984208, + 0.13894300378783125, + -0.05909040816274028, + -0.14850668920856452, + -0.9871444103693601 + ], + [ + 0.6187338909301269, + -0.782698614151754, + 0.06746296479839331, + -0.7835415240193926, + -0.6086190488346122, + 0.12508210716573104, + -0.05684234646663782, + -0.13025257310539162, + -0.9898500971599644 + ], + [ + 0.6095215507806765, + -0.7911696091331536, + 0.0503401302939557, + -0.7908193058390448, + -0.6023438564639695, + 0.10856658828739402, + -0.05557251700409755, + -0.10598362215081272, + -0.9928137625907606 + ], + [ + 0.6023086735868748, + -0.7968800811628017, + 0.04697231065197271, + -0.7964770026818725, + -0.5959852534587606, + 0.10210759941648227, + -0.05337270764088566, + -0.09891265796480643, + -0.9936637460295195 + ], + [ + 0.5980882149636163, + -0.800379378927078, + 0.04102848900386335, + -0.7997915135403281, + -0.5928104059086033, + 0.09438939302351841, + -0.05122520854527062, + -0.08926742090360791, + -0.9946895523602888 + ], + [ + 0.5943683737715119, + -0.8036073014001505, + 0.03068454654343631, + -0.8019709436554187, + -0.5894601168838769, + 0.0968471792861499, + -0.059739784002336725, + -0.08217101520374519, + -0.9948261569076982 + ], + [ + 0.5977343096196869, + -0.8008707994329736, + 0.03632709345744471, + -0.7998303553587289, + -0.5926439522803457, + 0.09510283104230056, + -0.054636048083708755, + -0.08590173712516504, + -0.9948043997734798 + ], + [ + 0.5929707326271253, + -0.803933873145824, + 0.04556355842561197, + -0.8039271781784308, + -0.587857056654171, + 0.09013974222261832, + -0.04568153274262512, + -0.09008001193743652, + -0.9948863196444283 + ], + [ + 0.5914436744105426, + -0.7961921682243159, + 0.12756336173846466, + -0.8061827024402429, + -0.5870639826420858, + 0.07365684333827532, + 0.01624285337933594, + -0.146403249768149, + -0.9890916328487579 + ], + [ + 0.5602160630471436, + -0.806328497680363, + 0.18971641081489843, + -0.8263685097860994, + -0.5598411448502502, + 0.060769882068849854, + 0.05721056491470462, + -0.19081993177152534, + -0.9799564811259989 + ], + [ + 0.5545784408145463, + -0.805749476040482, + 0.20787143825979496, + -0.8304128235075818, + -0.5519337603394939, + 0.07605042242928088, + 0.05345367656085717, + -0.21479503266601646, + -0.9751952616805172 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.004783600568771362, + -0.0009610773995518684, + -0.0074073150753974915, + -0.016989778727293015, + 0.02787540853023529, + -0.0023463666439056396, + 1.0 + ], + [ + -0.004761636257171631, + -0.006010931916534901, + -0.0025976113975048065, + -0.02288726530969143, + 0.043059803545475006, + -0.08584463596343994, + 1.0 + ], + [ + 0.00887233018875122, + -0.00138753280043602, + 0.001691959798336029, + -0.014737341552972794, + 0.018985845148563385, + -0.07580804824829102, + 1.0 + ], + [ + 0.00954967737197876, + 0.006798529997467995, + -0.0025915391743183136, + -0.0025105662643909454, + 0.024940334260463715, + -0.040005505084991455, + 1.0 + ], + [ + 0.016983866691589355, + 0.01688537374138832, + -0.0019624121487140656, + 0.0026384387165308, + 0.011251832358539104, + -0.008559584617614746, + 1.0 + ], + [ + 0.015621334314346313, + 0.024248313158750534, + -0.0045490264892578125, + -0.0026485370472073555, + 0.00717761367559433, + 0.032679200172424316, + 1.0 + ], + [ + 0.010564446449279785, + 0.010288361459970474, + -0.0057454947382211685, + -0.0031945230439305305, + 0.0017038583755493164, + 0.017901122570037842, + 1.0 + ], + [ + 0.0055582523345947266, + 0.015460517257452011, + -0.014082200825214386, + -0.0159881804138422, + 0.023224469274282455, + 0.02615523338317871, + 1.0 + ], + [ + 0.004150122404098511, + 0.0038366615772247314, + -0.01755230501294136, + -0.013450248166918755, + 0.032022323459386826, + -0.015900850296020508, + 1.0 + ], + [ + 0.002117067575454712, + 0.009300041943788528, + -0.014124770648777485, + -0.008849041536450386, + 0.02201683819293976, + 0.002466559410095215, + 1.0 + ], + [ + 0.0046540796756744385, + 0.007653288543224335, + -0.0019349120557308197, + 0.0010764580219984055, + -0.008443102240562439, + 0.006149947643280029, + 0.0 + ], + [ + -0.00030422210693359375, + 0.002663038671016693, + -0.004393447190523148, + 0.007074261084198952, + 0.016912654042243958, + 0.0008108019828796387, + 0.0 + ], + [ + -4.5686960220336914e-05, + 0.0006734877824783325, + 8.588656783103943e-05, + 0.006316502578556538, + 0.005324244499206543, + 0.0027608871459960938, + 0.0 + ], + [ + -0.00021150708198547363, + -0.00023895502090454102, + 9.875744581222534e-06, + -0.0018946025520563126, + 0.00028170645236968994, + 0.0008099675178527832, + 0.0 + ], + [ + 0.00025719404220581055, + -0.0004345327615737915, + -9.576231241226196e-05, + -0.0038712071254849434, + -0.005515724420547485, + 0.0010630488395690918, + 0.0 + ], + [ + 0.0002085864543914795, + -0.0018952488899230957, + 0.00044514425098896027, + -0.012077318504452705, + -0.010692156851291656, + -0.0037818551063537598, + 0.0 + ], + [ + 0.00033274292945861816, + 0.002968408167362213, + 0.005063723772764206, + -0.004765249788761139, + -0.016627997159957886, + 0.00386965274810791, + 0.0 + ], + [ + 0.0068354010581970215, + 0.002584122121334076, + 0.02288532629609108, + 0.04057049751281738, + -0.04550003632903099, + -0.006801486015319824, + 0.0 + ], + [ + 0.0010253489017486572, + 0.00031475722789764404, + 0.01741151511669159, + 0.033193089067935944, + -0.020543329417705536, + -0.009751856327056885, + 0.0 + ], + [ + -0.002400010824203491, + -0.009186379611492157, + 0.017157847061753273, + 0.026907049119472504, + -0.014486739411950111, + -0.02236020565032959, + 0.0 + ], + [ + -0.00564420223236084, + -0.020295429974794388, + 0.01266229897737503, + 0.028023511171340942, + -0.012258864007890224, + -0.044368863105773926, + 0.0 + ], + [ + -0.0071881115436553955, + -0.022168967872858047, + 0.008690111339092255, + 0.032533660531044006, + 0.001839364878833294, + -0.05914306640625, + 0.0 + ], + [ + -0.0123557448387146, + -0.02787240594625473, + 0.004324860870838165, + 0.04015849530696869, + 0.005317789036780596, + -0.053587257862091064, + 0.0 + ], + [ + -0.013407289981842041, + -0.021334491670131683, + -0.004028633236885071, + 0.02854326367378235, + 0.01812269538640976, + -0.05186539888381958, + 0.0 + ], + [ + -0.01625153422355652, + -0.015835648402571678, + -0.015943441540002823, + -0.009324073791503906, + 0.02037643827497959, + -0.029970645904541016, + 0.0 + ], + [ + -0.016708344221115112, + -0.0026333481073379517, + -0.01666770689189434, + -0.02938719093799591, + 0.006760898977518082, + -0.018194079399108887, + 0.0 + ], + [ + -0.010890573263168335, + -0.0016967877745628357, + -0.010432716459035873, + -0.0057229697704315186, + 0.007650390267372131, + -0.003916740417480469, + 0.0 + ], + [ + -0.004109442234039307, + -0.003870215266942978, + -0.006963178515434265, + -0.018484443426132202, + -0.002251848578453064, + -0.011135101318359375, + 0.0 + ], + [ + -0.001598745584487915, + -0.0028642788529396057, + -0.006385546177625656, + -0.02448846399784088, + -0.0012718401849269867, + -0.011758685111999512, + 1.0 + ], + [ + -0.0008094906806945801, + -0.002264212816953659, + -0.00013478612527251244, + -0.007131464779376984, + -0.002203080803155899, + -0.009179949760437012, + 1.0 + ], + [ + -0.000942528247833252, + -0.0012239143252372742, + -0.00016266712918877602, + -0.00971231609582901, + -0.002150442451238632, + -0.005372583866119385, + 1.0 + ], + [ + -0.001385807991027832, + -0.00010191276669502258, + -0.0001826118677854538, + -0.0070929378271102905, + 0.008527737110853195, + -0.004291892051696777, + 1.0 + ], + [ + 0.004323095083236694, + -0.0010519959032535553, + 0.0038842803332954645, + 0.0037254244089126587, + -0.005112107843160629, + 0.0039847493171691895, + 1.0 + ], + [ + 0.0036880970001220703, + -0.0008462704718112946, + 0.005293138790875673, + 0.004160091280937195, + -0.008965831249952316, + -0.006274819374084473, + 1.0 + ], + [ + 0.012158602476119995, + -0.0024241358041763306, + 0.030360564589500427, + 0.056654080748558044, + -0.061941005289554596, + -0.0025681257247924805, + 1.0 + ], + [ + 0.006723254919052124, + -0.0017772912979125977, + 0.0249338299036026, + 0.04536539316177368, + -0.040998250246047974, + -0.03718829154968262, + 1.0 + ], + [ + 0.000846564769744873, + 0.002882767468690872, + 0.01794925332069397, + 0.024480566382408142, + 0.003762654960155487, + -0.006945788860321045, + 1.0 + ], + [ + 0.005230069160461426, + -0.003171157091856003, + 0.007656916975975037, + 0.008234351873397827, + 0.05094902589917183, + -0.03347039222717285, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9367310404777527 + ], + [ + 0.648074209690094 + ], + [ + 0.39448216557502747 + ], + [ + 0.2148229479789734 + ], + [ + 0.09326785057783127 + ], + [ + 0.05012403428554535 + ], + [ + 0.0498691126704216 + ], + [ + 0.0498691126704216 + ], + [ + 0.0498691126704216 + ], + [ + 0.0498691126704216 + ], + [ + 0.0498691126704216 + ], + [ + 0.0498691126704216 + ], + [ + 0.0498691126704216 + ], + [ + 0.0498691126704216 + ], + [ + 0.0498691126704216 + ], + [ + 0.0498691126704216 + ], + [ + 0.0498691126704216 + ], + [ + 0.0498691126704216 + ], + [ + 0.07429859787225723 + ], + [ + 0.2306915670633316 + ], + [ + 0.48704639077186584 + ], + [ + 0.7864964604377747 + ], + [ + 1.0105689764022827 + ], + [ + 1.0099300146102905 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2867134213447571, + -0.007969108410179615, + 0.0431075356900692 + ], + [ + 0.28195178508758545, + -0.013980040326714516, + 0.04050992429256439 + ], + [ + 0.29082411527633667, + -0.015367573127150536, + 0.04220188409090042 + ], + [ + 0.30037379264831543, + -0.008569043129682541, + 0.03961034491658211 + ], + [ + 0.3173576593399048, + 0.008316329680383205, + 0.03764793276786804 + ], + [ + 0.3329789936542511, + 0.032564643770456314, + 0.03309890627861023 + ], + [ + 0.3435434401035309, + 0.04285300523042679, + 0.02735341154038906 + ], + [ + 0.3491016924381256, + 0.0583135224878788, + 0.013271210715174675 + ], + [ + 0.3532518148422241, + 0.06215018406510353, + -0.00428109522908926 + ], + [ + 0.35536888241767883, + 0.07145022600889206, + -0.018405865877866745 + ], + [ + 0.36002296209335327, + 0.0791035145521164, + -0.020340777933597565 + ], + [ + 0.3597187399864197, + 0.08176655322313309, + -0.024734225124120712 + ], + [ + 0.35967305302619934, + 0.08244004100561142, + -0.024648338556289673 + ], + [ + 0.35946154594421387, + 0.08220108598470688, + -0.02463846281170845 + ], + [ + 0.3597187399864197, + 0.08176655322313309, + -0.024734225124120712 + ], + [ + 0.35992732644081116, + 0.07987130433320999, + -0.024289080873131752 + ], + [ + 0.3602600693702698, + 0.0828397125005722, + -0.019225357100367546 + ], + [ + 0.3670954704284668, + 0.08542383462190628, + 0.0036599691957235336 + ], + [ + 0.36812081933021545, + 0.08573859184980392, + 0.021071484312415123 + ], + [ + 0.36572080850601196, + 0.07655221223831177, + 0.038229331374168396 + ], + [ + 0.3600766062736511, + 0.05625678226351738, + 0.050891630351543427 + ], + [ + 0.3528884947299957, + 0.03408781439065933, + 0.05958174169063568 + ], + [ + 0.34053274989128113, + 0.0062154075130820274, + 0.06390660256147385 + ], + [ + 0.3271254599094391, + -0.01511908508837223, + 0.059877969324588776 + ], + [ + 0.31087392568588257, + -0.03095473349094391, + 0.04393452778458595 + ], + [ + 0.29416558146476746, + -0.03358808159828186, + 0.027266820892691612 + ], + [ + 0.2832750082015991, + -0.035284869372844696, + 0.01683410443365574 + ], + [ + 0.2791655659675598, + -0.039155084639787674, + 0.009870925918221474 + ], + [ + 0.2775668203830719, + -0.04201936349272728, + 0.0034853799734264612 + ], + [ + 0.2767573297023773, + -0.04428357630968094, + 0.003350593848153949 + ], + [ + 0.27581480145454407, + -0.04550749063491821, + 0.0031879267189651728 + ], + [ + 0.27442899346351624, + -0.045609403401613235, + 0.003005314851179719 + ], + [ + 0.27875208854675293, + -0.04666139930486679, + 0.0068895951844751835 + ], + [ + 0.282440185546875, + -0.047507669776678085, + 0.012182733975350857 + ], + [ + 0.294598788022995, + -0.049931805580854416, + 0.04254329949617386 + ], + [ + 0.3013220429420471, + -0.051709096878767014, + 0.06747712939977646 + ], + [ + 0.302168607711792, + -0.04882632941007614, + 0.08542638272047043 + ], + [ + 0.3073986768722534, + -0.051997486501932144, + 0.09308329969644547 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.895351854438897, + -0.4362382143810589, + 0.08967316804068813, + -0.4392174663602091, + -0.89824397721484, + 0.015677201325002603, + 0.07370938879781087, + -0.05342263294607733, + -0.9958478539878277 + ], + [ + 0.8563230198934892, + -0.514718944342269, + 0.042134237096160036, + -0.5155266037700049, + -0.8568095995633791, + 0.010470477611198981, + 0.030711665631473643, + -0.03068743116037262, + -0.9990570930446959 + ], + [ + 0.8151484245562276, + -0.5789466523661, + 0.01881009456612009, + -0.5791333560551009, + -0.8152090583549604, + 0.006224715284640857, + 0.011730381402839595, + -0.015967620051377005, + -0.9998036973636569 + ], + [ + 0.7913192745431089, + -0.6113990949074558, + -0.0022254174690781317, + -0.6112604356277952, + -0.7912079683304063, + 0.01872513515542387, + -0.013209298720442238, + -0.013457250715309278, + -0.9998221926075154 + ], + [ + 0.7858916175394122, + -0.618294677419304, + -0.009276710421529569, + -0.6178803436675476, + -0.7857816154385142, + 0.027769295059686786, + -0.024459075832075322, + -0.016091759189027447, + -0.9995713125613614 + ], + [ + 0.8054980239094788, + -0.5923391379929578, + -0.01752937761828912, + -0.5917535238405055, + -0.8055766065827689, + 0.02956514753785773, + -0.03163385054445855, + -0.013441596941983117, + -0.9994091369261041 + ], + [ + 0.8159162665520577, + -0.5777779052651355, + -0.02129173931794624, + -0.5772081973709702, + -0.8161296857149746, + 0.02762305165132684, + -0.0333368094380149, + -0.01024833070352089, + -0.9993916293697305 + ], + [ + 0.829864987586811, + -0.5557031597675808, + -0.05018067956762116, + -0.555092457929095, + -0.8313610679273222, + 0.026667168671942663, + -0.056537293247709876, + 0.005724767162826053, + -0.9983840751500164 + ], + [ + 0.8190247492824047, + -0.567627367843818, + -0.08365184599035182, + -0.566895775793697, + -0.8230638266017632, + 0.034570460322729694, + -0.08847394786126052, + 0.019107815530874345, + -0.9958952012814809 + ], + [ + 0.8186174279234449, + -0.5643266172203848, + -0.1067753520087873, + -0.5636324069948667, + -0.825081440660928, + 0.03948577037440419, + -0.11038123248621637, + 0.027858308876966442, + -0.9934988163764158 + ], + [ + 0.8228097702722205, + -0.5595438087808254, + -0.09947264950539361, + -0.5590911915275548, + -0.8283669411627064, + 0.03500357617502092, + -0.10198588873405387, + 0.02681299766509822, + -0.9944244273223264 + ], + [ + 0.8217176912049409, + -0.559285324854618, + -0.10945300984022978, + -0.5573758077573386, + -0.8287401523406603, + 0.05021920773203208, + -0.11879496995948695, + 0.01974044833946329, + -0.9927225542978669 + ], + [ + 0.8227173271765517, + -0.5576168137469896, + -0.11045220047661261, + -0.5547435460432836, + -0.8299893349571336, + 0.058114559111624636, + -0.1240798037022709, + 0.013460790618320187, + -0.9921809358323388 + ], + [ + 0.8231373517401867, + -0.5567304299371357, + -0.11178608389314072, + -0.5540574497674565, + -0.8305515711785825, + 0.05660768472540109, + -0.12435932826826725, + 0.015340012868314417, + -0.9921186630024985 + ], + [ + 0.8242827837876284, + -0.5554979125350332, + -0.10945301055949984, + -0.553556098724943, + -0.8312963831863386, + 0.05021920813526498, + -0.11888455709527042, + 0.019193552837670182, + -0.992722554198165 + ], + [ + 0.8231889773432944, + -0.5575537113680914, + -0.10720898525855169, + -0.5573502722609892, + -0.8295536188393248, + 0.03466219094606949, + -0.10826163489945387, + 0.031219423605305215, + -0.9936321079749034 + ], + [ + 0.826719934447393, + -0.5543184223014943, + -0.09625609946636991, + -0.555087481015081, + -0.8315251481956933, + 0.021066948959481184, + -0.09171716528343841, + 0.036014089122335516, + -0.9951336327232931 + ], + [ + 0.8255212611927247, + -0.5632336830264782, + -0.035811529193844754, + -0.5624661891827923, + -0.8262859882545475, + 0.029719549801316303, + -0.046329616283326824, + -0.004391345879592452, + -0.9989165544410631 + ], + [ + 0.8206052091354454, + -0.5714954082305275, + 0.00029851498186625816, + -0.5709128217456421, + -0.8197448737778211, + 0.045572929260830154, + -0.025800013686048333, + -0.03756780917762901, + -0.9989609697117264 + ], + [ + 0.8078526149560141, + -0.588677594655322, + 0.028859003093565202, + -0.5892759141601407, + -0.8057947777557366, + 0.058725404488293505, + -0.01131589587529799, + -0.06444738700992851, + -0.9978569460639796 + ], + [ + 0.780970308800813, + -0.6218284860304943, + 0.05843552628826021, + -0.62456744074467, + -0.7776849215161391, + 0.0715658774004038, + 0.0009427264799028619, + -0.09238775247542103, + -0.9957226594083939 + ], + [ + 0.7426875568052271, + -0.6644916386669407, + 0.08286166247672225, + -0.6696375056751481, + -0.7368133234626117, + 0.09322948761602447, + -0.0008966380809404539, + -0.12472765735675671, + -0.9921906104829087 + ], + [ + 0.7057412531564018, + -0.6995307308893481, + 0.112187522187837, + -0.7084424217844076, + -0.6954209301833097, + 0.12041206284764047, + -0.00621438729687776, + -0.16445816004198435, + -0.986364483842626 + ], + [ + 0.6678801197572278, + -0.7332982378874804, + 0.12731786969701853, + -0.7438709343992633, + -0.6520905016031485, + 0.14640358832665518, + -0.02433471982656723, + -0.19248810880173922, + -0.9809975277139551 + ], + [ + 0.6448352294643229, + -0.7561148762199216, + 0.11170416644255848, + -0.7630134706531674, + -0.6282727036613167, + 0.15193371395416988, + -0.04469866265899019, + -0.18320399502475954, + -0.9820582089486681 + ], + [ + 0.6306416914030301, + -0.7711099957588113, + 0.0876380710945403, + -0.7743666937711705, + -0.6177425828543173, + 0.1369318257615212, + -0.05145173118790127, + -0.15421892156711264, + -0.986696125252575 + ], + [ + 0.6273381359663093, + -0.7747297002099334, + 0.07899844792743163, + -0.7765018910636838, + -0.6146052837984208, + 0.13894300378783125, + -0.05909040816274028, + -0.14850668920856452, + -0.9871444103693601 + ], + [ + 0.6187338909301269, + -0.782698614151754, + 0.06746296479839331, + -0.7835415240193926, + -0.6086190488346122, + 0.12508210716573104, + -0.05684234646663782, + -0.13025257310539162, + -0.9898500971599644 + ], + [ + 0.6095215507806765, + -0.7911696091331536, + 0.0503401302939557, + -0.7908193058390448, + -0.6023438564639695, + 0.10856658828739402, + -0.05557251700409755, + -0.10598362215081272, + -0.9928137625907606 + ], + [ + 0.6023086735868748, + -0.7968800811628017, + 0.04697231065197271, + -0.7964770026818725, + -0.5959852534587606, + 0.10210759941648227, + -0.05337270764088566, + -0.09891265796480643, + -0.9936637460295195 + ], + [ + 0.5980882149636163, + -0.800379378927078, + 0.04102848900386335, + -0.7997915135403281, + -0.5928104059086033, + 0.09438939302351841, + -0.05122520854527062, + -0.08926742090360791, + -0.9946895523602888 + ], + [ + 0.5943683737715119, + -0.8036073014001505, + 0.03068454654343631, + -0.8019709436554187, + -0.5894601168838769, + 0.0968471792861499, + -0.059739784002336725, + -0.08217101520374519, + -0.9948261569076982 + ], + [ + 0.5977343096196869, + -0.8008707994329736, + 0.03632709345744471, + -0.7998303553587289, + -0.5926439522803457, + 0.09510283104230056, + -0.054636048083708755, + -0.08590173712516504, + -0.9948043997734798 + ], + [ + 0.5929707326271253, + -0.803933873145824, + 0.04556355842561197, + -0.8039271781784308, + -0.587857056654171, + 0.09013974222261832, + -0.04568153274262512, + -0.09008001193743652, + -0.9948863196444283 + ], + [ + 0.5914436744105426, + -0.7961921682243159, + 0.12756336173846466, + -0.8061827024402429, + -0.5870639826420858, + 0.07365684333827532, + 0.01624285337933594, + -0.146403249768149, + -0.9890916328487579 + ], + [ + 0.5602160630471436, + -0.806328497680363, + 0.18971641081489843, + -0.8263685097860994, + -0.5598411448502502, + 0.060769882068849854, + 0.05721056491470462, + -0.19081993177152534, + -0.9799564811259989 + ], + [ + 0.5545784408145463, + -0.805749476040482, + 0.20787143825979496, + -0.8304128235075818, + -0.5519337603394939, + 0.07605042242928088, + 0.05345367656085717, + -0.21479503266601646, + -0.9751952616805172 + ], + [ + 0.5272308589556088, + -0.8279994877868692, + 0.19090434670172823, + -0.8497183179025106, + -0.5144192333195408, + 0.11554926486942291, + 0.002530135541639389, + -0.2231360585284652, + -0.974784026232746 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005646.json b/json/chunk-0005/episode_0005646.json new file mode 100644 index 0000000000000000000000000000000000000000..b966cf3de2364fa5b75295c5bce98672632662c1 --- /dev/null +++ b/json/chunk-0005/episode_0005646.json @@ -0,0 +1,2062 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 33, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nFold the cloth from left to right." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005646.mp4", + "start": 0, + "end": 33, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.332127183675766, + 0.14183367788791656, + 0.12575702369213104, + -0.09710627794265747, + -0.24006880819797516, + -0.3226161599159241, + 0.0, + 0.9994885921478271 + ], + [ + 0.33203941583633423, + 0.1412770003080368, + 0.11078223586082458, + -0.13422942161560059, + -0.2115463763475418, + -0.30156511068344116, + 0.0, + 0.9994885921478271 + ], + [ + 0.3459017872810364, + 0.10673150420188904, + 0.10107708722352982, + -0.19919411838054657, + -0.18241873383522034, + -0.23488782346248627, + 0.0, + 0.9994885921478271 + ], + [ + 0.3583228290081024, + 0.07118961215019226, + 0.09423424303531647, + -0.24565473198890686, + -0.15600687265396118, + -0.21312110126018524, + 0.0, + 0.9994885921478271 + ], + [ + 0.3756549060344696, + 0.04474413022398949, + 0.09508397430181503, + -0.23505407571792603, + -0.18358497321605682, + -0.11901510506868362, + 0.0, + 0.9994885921478271 + ], + [ + 0.4031137228012085, + 0.004984000232070684, + 0.08585740625858307, + -0.1835843175649643, + -0.20745114982128143, + -0.051155101507902145, + 0.0, + 0.9994885921478271 + ], + [ + 0.42367789149284363, + -0.019320202991366386, + 0.074885293841362, + -0.1675729900598526, + -0.23844067752361298, + 0.09418404847383499, + 0.0, + 0.9994885921478271 + ], + [ + 0.4428568184375763, + -0.04074671119451523, + 0.06777936220169067, + -0.18492181599140167, + -0.28286829590797424, + 0.18315070867538452, + 0.0, + 0.9994885921478271 + ], + [ + 0.4613419771194458, + -0.05241098254919052, + 0.05740479752421379, + -0.2206221967935562, + -0.3123158812522888, + 0.2624736726284027, + 0.0, + 0.9994885921478271 + ], + [ + 0.47430744767189026, + -0.061974938958883286, + 0.05154531076550484, + -0.2511708736419678, + -0.32880496978759766, + 0.31034624576568604, + 0.0, + 0.9994885921478271 + ], + [ + 0.48644739389419556, + -0.06596208363771439, + 0.03666448965668678, + -0.2660309076309204, + -0.3306193947792053, + 0.32994386553764343, + 0.0, + 0.9994885921478271 + ], + [ + 0.4969898462295532, + -0.0786064937710762, + 0.031072862446308136, + -0.2708519995212555, + -0.3438444435596466, + 0.3163597583770752, + 0.0, + 0.9994885921478271 + ], + [ + 0.5022544860839844, + -0.09130607545375824, + 0.024335188791155815, + -0.27384108304977417, + -0.34185245633125305, + 0.30914124846458435, + 0.0, + 0.9994885921478271 + ], + [ + 0.5094239711761475, + -0.0958578810095787, + 0.019371511414647102, + -0.2756870687007904, + -0.33679625391960144, + 0.31886500120162964, + 0.0, + 0.9994885921478271 + ], + [ + 0.5154905915260315, + -0.0976007953286171, + 0.01651405170559883, + -0.27381929755210876, + -0.34220996499061584, + 0.3298082947731018, + 0.0, + 0.9507390260696411 + ], + [ + 0.5181460380554199, + -0.09826701134443283, + 0.010569412261247635, + -0.25663068890571594, + -0.3455875813961029, + 0.32892751693725586, + 0.0, + 0.676182746887207 + ], + [ + 0.5184762477874756, + -0.09736744314432144, + 0.008364207111299038, + -0.2518339157104492, + -0.347567081451416, + 0.33089587092399597, + 0.0, + 0.37802740931510925 + ], + [ + 0.5193262696266174, + -0.0966348797082901, + 0.008280593901872635, + -0.24690139293670654, + -0.356288880109787, + 0.3350776433944702, + 0.0, + 0.17135097086429596 + ], + [ + 0.5193057060241699, + -0.09738394618034363, + 0.007834207266569138, + -0.24570441246032715, + -0.36264869570732117, + 0.32536959648132324, + 0.0, + 0.06956923007965088 + ], + [ + 0.5165136456489563, + -0.09851226210594177, + 0.007259721402078867, + -0.25422728061676025, + -0.3628462553024292, + 0.3195323348045349, + 0.0, + 0.050636038184165955 + ], + [ + 0.5056182146072388, + -0.0928507074713707, + 0.01477998960763216, + -0.26732686161994934, + -0.3597089648246765, + 0.3140993118286133, + 0.0, + 0.050636038184165955 + ], + [ + 0.4913133382797241, + -0.06332693248987198, + 0.03789845481514931, + -0.31230297684669495, + -0.3609919846057892, + 0.3509862720966339, + 0.0, + 0.050636038184165955 + ], + [ + 0.4691094160079956, + -0.025629635900259018, + 0.051118187606334686, + -0.32244569063186646, + -0.3420872986316681, + 0.3870966136455536, + 0.0, + 0.050636038184165955 + ], + [ + 0.4418812394142151, + 0.00425722124055028, + 0.04803561419248581, + -0.31180524826049805, + -0.3004470765590668, + 0.38926512002944946, + 0.0, + 0.050636038184165955 + ], + [ + 0.41364729404449463, + 0.04813853278756142, + 0.040747594088315964, + -0.30251598358154297, + -0.2486063838005066, + 0.42785966396331787, + 0.0, + 0.050636038184165955 + ], + [ + 0.39158594608306885, + 0.07660219073295593, + 0.04981235787272453, + -0.31903523206710815, + -0.24219408631324768, + 0.46075618267059326, + 0.0, + 0.050636038184165955 + ], + [ + 0.37026500701904297, + 0.1048639714717865, + 0.06402630358934402, + -0.3490198254585266, + -0.24239547550678253, + 0.5138460397720337, + 0.0, + 0.050636038184165955 + ], + [ + 0.35217535495758057, + 0.11700413376092911, + 0.07245529443025589, + -0.3747502863407135, + -0.22979594767093658, + 0.5281788110733032, + 0.0, + 0.050636038184165955 + ], + [ + 0.33476582169532776, + 0.1405300796031952, + 0.07659129798412323, + -0.3685016930103302, + -0.2288242131471634, + 0.5713178515434265, + 0.0, + 0.07921512424945831 + ], + [ + 0.3240388333797455, + 0.1485450714826584, + 0.07038591057062149, + -0.3053947985172272, + -0.19824795424938202, + 0.5749242305755615, + 0.0, + 0.2129654437303543 + ], + [ + 0.32056981325149536, + 0.15281942486763, + 0.06528423726558685, + -0.22572001814842224, + -0.21322430670261383, + 0.5181586742401123, + 0.0, + 0.4662301242351532 + ], + [ + 0.32402804493904114, + 0.15208223462104797, + 0.07439365983009338, + -0.08051283657550812, + -0.19481389224529266, + 0.3611730635166168, + 0.0, + 0.7662391662597656 + ], + [ + 0.32465988397598267, + 0.15316180884838104, + 0.10216908901929855, + 0.04167850315570831, + -0.14688944816589355, + 0.32078418135643005, + 0.0, + 0.9858682155609131 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9507390260696411 + ], + [ + 0.676182746887207 + ], + [ + 0.37802740931510925 + ], + [ + 0.17135097086429596 + ], + [ + 0.06956923007965088 + ], + [ + 0.050636038184165955 + ], + [ + 0.050636038184165955 + ], + [ + 0.050636038184165955 + ], + [ + 0.050636038184165955 + ], + [ + 0.050636038184165955 + ], + [ + 0.050636038184165955 + ], + [ + 0.050636038184165955 + ], + [ + 0.050636038184165955 + ], + [ + 0.050636038184165955 + ], + [ + 0.07921512424945831 + ], + [ + 0.2129654437303543 + ], + [ + 0.4662301242351532 + ], + [ + 0.7662391662597656 + ], + [ + 0.9858682155609131 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.332127183675766, + 0.14183367788791656, + 0.12575702369213104 + ], + [ + 0.33203941583633423, + 0.1412770003080368, + 0.11078223586082458 + ], + [ + 0.3459017872810364, + 0.10673150420188904, + 0.10107708722352982 + ], + [ + 0.3583228290081024, + 0.07118961215019226, + 0.09423424303531647 + ], + [ + 0.3756549060344696, + 0.04474413022398949, + 0.09508397430181503 + ], + [ + 0.4031137228012085, + 0.004984000232070684, + 0.08585740625858307 + ], + [ + 0.42367789149284363, + -0.019320202991366386, + 0.074885293841362 + ], + [ + 0.4428568184375763, + -0.04074671119451523, + 0.06777936220169067 + ], + [ + 0.4613419771194458, + -0.05241098254919052, + 0.05740479752421379 + ], + [ + 0.47430744767189026, + -0.061974938958883286, + 0.05154531076550484 + ], + [ + 0.48644739389419556, + -0.06596208363771439, + 0.03666448965668678 + ], + [ + 0.4969898462295532, + -0.0786064937710762, + 0.031072862446308136 + ], + [ + 0.5022544860839844, + -0.09130607545375824, + 0.024335188791155815 + ], + [ + 0.5094239711761475, + -0.0958578810095787, + 0.019371511414647102 + ], + [ + 0.5154905915260315, + -0.0976007953286171, + 0.01651405170559883 + ], + [ + 0.5181460380554199, + -0.09826701134443283, + 0.010569412261247635 + ], + [ + 0.5184762477874756, + -0.09736744314432144, + 0.008364207111299038 + ], + [ + 0.5193262696266174, + -0.0966348797082901, + 0.008280593901872635 + ], + [ + 0.5193057060241699, + -0.09738394618034363, + 0.007834207266569138 + ], + [ + 0.5165136456489563, + -0.09851226210594177, + 0.007259721402078867 + ], + [ + 0.5056182146072388, + -0.0928507074713707, + 0.01477998960763216 + ], + [ + 0.4913133382797241, + -0.06332693248987198, + 0.03789845481514931 + ], + [ + 0.4691094160079956, + -0.025629635900259018, + 0.051118187606334686 + ], + [ + 0.4418812394142151, + 0.00425722124055028, + 0.04803561419248581 + ], + [ + 0.41364729404449463, + 0.04813853278756142, + 0.040747594088315964 + ], + [ + 0.39158594608306885, + 0.07660219073295593, + 0.04981235787272453 + ], + [ + 0.37026500701904297, + 0.1048639714717865, + 0.06402630358934402 + ], + [ + 0.35217535495758057, + 0.11700413376092911, + 0.07245529443025589 + ], + [ + 0.33476582169532776, + 0.1405300796031952, + 0.07659129798412323 + ], + [ + 0.3240388333797455, + 0.1485450714826584, + 0.07038591057062149 + ], + [ + 0.32056981325149536, + 0.15281942486763, + 0.06528423726558685 + ], + [ + 0.32402804493904114, + 0.15208223462104797, + 0.07439365983009338 + ], + [ + 0.32465988397598267, + 0.15316180884838104, + 0.10216908901929855 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9212103711695563, + -0.3374185149541896, + 0.1937013108261236, + -0.30795638497508415, + -0.936632341277843, + -0.1669812032100161, + 0.23776946188004663, + 0.09417326074048984, + -0.9667456128469255 + ], + [ + 0.9335861886383402, + -0.3211751260886839, + 0.1589445399051358, + -0.29039381015377574, + -0.937937393571914, + -0.1895913520282433, + 0.20997205387410522, + 0.13084335719264628, + -0.9689126650376944 + ], + [ + 0.9564038597106207, + -0.26304323285454506, + 0.12688543959043078, + -0.2288723212708096, + -0.9449553322371513, + -0.23383088040865393, + 0.18140870344814933, + 0.1945961914478402, + -0.9639622423037413 + ], + [ + 0.9655058774690338, + -0.24209242690675206, + 0.0958627008129318, + -0.2089427315222249, + -0.9400409262534215, + -0.2695663033701368, + 0.15537482266050123, + 0.24023803571251595, + -0.9581984923178545 + ], + [ + 0.9762404876677631, + -0.15768495307720687, + 0.1486269350126266, + -0.11673907264217344, + -0.9605741761293193, + -0.25232764626993415, + 0.18255546871253628, + 0.22898189388359666, + -0.9561593973374041 + ], + [ + 0.9772789810170083, + -0.08782451004202572, + 0.19290580265569096, + -0.05003645896764679, + -0.9799869199488381, + -0.19267067629291407, + 0.20596637112969984, + 0.17864067892019442, + -0.9621150460306683 + ], + [ + 0.9674008027757159, + 0.05350841553455338, + 0.24753289934043554, + 0.09138409568611736, + -0.9853272890617908, + -0.14414950740731985, + 0.23618770891926444, + 0.16207091934435364, + -0.9580962286004184 + ], + [ + 0.9441982382834252, + 0.12856158060068185, + 0.3032517218680398, + 0.17489048297808052, + -0.9758573713215246, + -0.13082702244237632, + 0.27911109936039863, + 0.17656248421139387, + -0.9438870077413564 + ], + [ + 0.9190324330007447, + 0.18824352018024432, + 0.3463289826204013, + 0.24691829970391554, + -0.95978962642009, + -0.13354859148531634, + 0.3072633078713754, + 0.20825045048338914, + -0.9285585654709165 + ], + [ + 0.9012160008438417, + 0.21938385938147403, + 0.37373846746879325, + 0.28902837205164084, + -0.9468582192281395, + -0.14114571488109223, + 0.3229122480987844, + 0.23522379752696349, + -0.916731937430339 + ], + [ + 0.8948232668180609, + 0.2318498685528208, + 0.3814930662713198, + 0.3064430983874748, + -0.9404313284608382, + -0.14724654121597533, + 0.3246289398863544, + 0.24866554828006074, + -0.912568625631431 + ], + [ + 0.8947446675976148, + 0.21404864790736822, + 0.391937694199807, + 0.29289846608892434, + -0.9437869836031744, + -0.15322081498274648, + 0.3371089858908973, + 0.2518914566043265, + -0.9071428915674541 + ], + [ + 0.8974735325563097, + 0.20654456628633125, + 0.3897186170796694, + 0.2866359022724876, + -0.9446824821015054, + -0.15942041129973356, + 0.3352329307948962, + 0.25478294712976884, + -0.9070306124726629 + ], + [ + 0.8962420922369054, + 0.21623034243260167, + 0.38729130007565843, + 0.2958766126435327, + -0.9419337163765261, + -0.15880146108803406, + 0.3304650392906983, + 0.256914991708513, + -0.9081781459834911 + ], + [ + 0.8912449297877568, + 0.22594525864083176, + 0.3932317576510629, + 0.3050826623093514, + -0.9402451695234836, + -0.15120711076531457, + 0.3355697308844391, + 0.2547307623462143, + -0.9069207211375545 + ], + [ + 0.8904355487116409, + 0.2310764037904874, + 0.3920819164433054, + 0.3039296916968118, + -0.9431704753584369, + -0.13437334898416958, + 0.3387495772627332, + 0.23881614271944868, + -0.9100634999168595 + ], + [ + 0.889199661634495, + 0.2343729973110289, + 0.3929290774179787, + 0.3054633385601816, + -0.9434945403090563, + -0.12849202777865393, + 0.34061137759148236, + 0.23428049542897705, + -0.9105473842237897 + ], + [ + 0.8850752511463277, + 0.23836459907448726, + 0.3997800866930764, + 0.3081904335836636, + -0.9437784108818448, + -0.11958665394120307, + 0.34879859010004355, + 0.22905158602681316, + -0.9087766031774933 + ], + [ + 0.8859055726612213, + 0.22829611388576515, + 0.40379722722234185, + 0.29886854195281537, + -0.9466579519033177, + -0.12048367826894359, + 0.354751900571078, + 0.2274194505377098, + -0.90688008168574 + ], + [ + 0.8875684892274911, + 0.21927875748711384, + 0.40514072054699335, + 0.2936701960175307, + -0.9469076771776754, + -0.1308574295674673, + 0.3549366040597314, + 0.2351226858831089, + -0.9048410521642233 + ], + [ + 0.890205580684369, + 0.20955227479858388, + 0.40450200029807476, + 0.28918632251989007, + -0.9460212471594213, + -0.14633889021840663, + 0.35200183946369806, + 0.24724814266172257, + -0.9027530453919836 + ], + [ + 0.8785104208287222, + 0.22528714674811134, + 0.42126611779899514, + 0.3216635917371675, + -0.9309239992172204, + -0.17295387082156294, + 0.3532024550397218, + 0.2874477503678051, + -0.890293107107093 + ], + [ + 0.8723528150169312, + 0.25961045750526435, + 0.41424989618096825, + 0.35562770247127573, + -0.9184143237118838, + -0.17333224522818794, + 0.3354541747646575, + 0.2985256108858171, + -0.8935059911820469 + ], + [ + 0.8837437252337859, + 0.2772114447060677, + 0.3770289684280054, + 0.3625082512416962, + -0.9150323983681604, + -0.17692788846956697, + 0.2959472856635085, + 0.2930350232661398, + -0.9091455764880643 + ], + [ + 0.8818835432902274, + 0.3293856798095234, + 0.33732253113347177, + 0.40216803321623606, + -0.8989553085355022, + -0.17360940733389055, + 0.24605342739506464, + 0.28876361819359864, + -0.9252422837694371 + ], + [ + 0.8695742397410384, + 0.35480982370369823, + 0.3434394132625811, + 0.4316487609752861, + -0.8839637455510865, + -0.17968707159891806, + 0.23983325192161276, + 0.304496445881795, + -0.9218253227797877 + ], + [ + 0.8454015786214141, + 0.3904111087344656, + 0.36452069494220335, + 0.4771607338679862, + -0.8587018114068515, + -0.18694607014098294, + 0.240028758524862, + 0.3319794651229465, + -0.9122367180823716 + ], + [ + 0.841021445859985, + 0.3969715685570426, + 0.3675547596766246, + 0.49071348840212664, + -0.845801258092534, + -0.20933347584488793, + 0.22777883989474518, + 0.3564180208216857, + -0.9061363001942677 + ], + [ + 0.8192624651930365, + 0.43570722995215844, + 0.3727844187908681, + 0.5266460015851775, + -0.8289019917449942, + -0.18858811493709376, + 0.22683254206611025, + 0.35082858755893614, + -0.9085517596764798 + ], + [ + 0.8227955662551192, + 0.4689127084403855, + 0.3211359961356251, + 0.533120439640802, + -0.8326015225159271, + -0.15019088368259434, + 0.19695190526653011, + 0.29478055663028824, + -0.9350477904602639 + ], + [ + 0.8490590407562764, + 0.441573999930939, + 0.2900192198717577, + 0.4840650650856943, + -0.8701524731180418, + -0.09228047621321706, + 0.211612282426173, + 0.21873974515745115, + -0.9525613711540265 + ], + [ + 0.9177870769645811, + 0.33766245828683905, + 0.20892808719867897, + 0.3466873739565637, + -0.9379542317460031, + -0.007051516777737986, + 0.19358395102877698, + 0.07890452086828481, + -0.9779055836279055 + ], + [ + 0.9387689146399322, + 0.32082430021189734, + 0.12563714936001177, + 0.3119152947523053, + -0.9462414419914019, + 0.08565034943077945, + 0.14636179079714098, + -0.041217737099196294, + -0.9883720576498889 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -8.77678394317627e-05, + -0.0005566775798797607, + -0.014974787831306458, + -0.037123143672943115, + 0.02852243185043335, + 0.02105104923248291, + 1.0 + ], + [ + 0.013862371444702148, + -0.034545496106147766, + -0.00970514863729477, + -0.06496469676494598, + 0.029127642512321472, + 0.0666772872209549, + 1.0 + ], + [ + 0.01242104172706604, + -0.03554189205169678, + -0.006842844188213348, + -0.04646061360836029, + 0.026411861181259155, + 0.021766722202301025, + 1.0 + ], + [ + 0.017332077026367188, + -0.026445481926202774, + 0.0008497312664985657, + 0.010600656270980835, + -0.027578100562095642, + 0.09410599619150162, + 1.0 + ], + [ + 0.02745881676673889, + -0.039760131388902664, + -0.009226568043231964, + 0.05146975815296173, + -0.02386617660522461, + 0.06786000728607178, + 1.0 + ], + [ + 0.020564168691635132, + -0.024304203689098358, + -0.01097211241722107, + 0.016011327505111694, + -0.030989527702331543, + 0.14533914625644684, + 1.0 + ], + [ + 0.019178926944732666, + -0.021426508203148842, + -0.007105931639671326, + -0.017348825931549072, + -0.04442761838436127, + 0.08896666020154953, + 1.0 + ], + [ + 0.018485158681869507, + -0.011664271354675293, + -0.010374564677476883, + -0.03570038080215454, + -0.029447585344314575, + 0.07932296395301819, + 1.0 + ], + [ + 0.012965470552444458, + -0.009563956409692764, + -0.005859486758708954, + -0.03054867684841156, + -0.016489088535308838, + 0.047872573137283325, + 1.0 + ], + [ + 0.012139946222305298, + -0.0039871446788311005, + -0.014880821108818054, + -0.014860033988952637, + -0.001814424991607666, + 0.019597619771957397, + 1.0 + ], + [ + 0.010542452335357666, + -0.012644410133361816, + -0.005591627210378647, + -0.004821091890335083, + -0.013225048780441284, + -0.013584107160568237, + 1.0 + ], + [ + 0.005264639854431152, + -0.012699581682682037, + -0.006737673655152321, + -0.0029890835285186768, + 0.0019919872283935547, + -0.007218509912490845, + 1.0 + ], + [ + 0.007169485092163086, + -0.004551805555820465, + -0.004963677376508713, + -0.0018459856510162354, + 0.005056202411651611, + 0.009723752737045288, + 1.0 + ], + [ + 0.006066620349884033, + -0.0017429143190383911, + -0.002857459709048271, + 0.0018677711486816406, + -0.005413711071014404, + 0.010943293571472168, + 0.0 + ], + [ + 0.0026554465293884277, + -0.0006662160158157349, + -0.005944639444351196, + 0.017188608646392822, + -0.0033776164054870605, + -0.0008807778358459473, + 0.0 + ], + [ + 0.00033020973205566406, + 0.0008995682001113892, + -0.002205205149948597, + 0.004796773195266724, + -0.0019795000553131104, + 0.0019683539867401123, + 0.0 + ], + [ + 0.0008500218391418457, + 0.0007325634360313416, + -8.361320942640305e-05, + 0.004932522773742676, + -0.008721798658370972, + 0.004181772470474243, + 0.0 + ], + [ + -2.0563602447509766e-05, + -0.0007490664720535278, + -0.0004463866353034973, + 0.0011969804763793945, + -0.00635981559753418, + -0.009708046913146973, + 0.0 + ], + [ + -0.002792060375213623, + -0.0011283159255981445, + -0.0005744858644902706, + -0.008522868156433105, + -0.00019755959510803223, + -0.00583726167678833, + 0.0 + ], + [ + -0.01089543104171753, + 0.0056615546345710754, + 0.007520268205553293, + -0.013099581003189087, + 0.0031372904777526855, + -0.005433022975921631, + 0.0 + ], + [ + -0.014304876327514648, + 0.029523774981498718, + 0.02311846613883972, + -0.044976115226745605, + -0.001283019781112671, + 0.03688696026802063, + 0.0 + ], + [ + -0.022203922271728516, + 0.03769729658961296, + 0.013219732791185379, + -0.010142713785171509, + 0.018904685974121094, + 0.03611034154891968, + 0.0 + ], + [ + -0.027228176593780518, + 0.02988685667514801, + -0.003082573413848877, + 0.010640442371368408, + 0.04164022207260132, + 0.002168506383895874, + 0.0 + ], + [ + -0.02823394536972046, + 0.043881312012672424, + -0.007288020104169846, + 0.009289264678955078, + 0.05184069275856018, + 0.03859454393386841, + 0.0 + ], + [ + -0.02206134796142578, + 0.028463657945394516, + 0.00906476378440857, + -0.016519248485565186, + 0.006412297487258911, + 0.03289651870727539, + 0.0 + ], + [ + -0.02132093906402588, + 0.028261780738830566, + 0.014213945716619492, + -0.029984593391418457, + -0.00020138919353485107, + 0.05308985710144043, + 0.0 + ], + [ + -0.018089652061462402, + 0.012140162289142609, + 0.008428990840911865, + -0.02573046088218689, + 0.012599527835845947, + 0.014332771301269531, + 0.0 + ], + [ + -0.017409533262252808, + 0.023525945842266083, + 0.00413600355386734, + 0.006248593330383301, + 0.0009717345237731934, + 0.04313904047012329, + 1.0 + ], + [ + -0.010726988315582275, + 0.008014991879463196, + -0.0062053874135017395, + 0.06310689449310303, + 0.030576258897781372, + 0.0036063790321350098, + 1.0 + ], + [ + -0.003469020128250122, + 0.004274353384971619, + -0.0051016733050346375, + 0.07967478036880493, + -0.014976352453231812, + -0.05676555633544922, + 1.0 + ], + [ + 0.0034582316875457764, + -0.0007371902465820312, + 0.00910942256450653, + 0.14520718157291412, + 0.018410414457321167, + -0.15698561072349548, + 1.0 + ], + [ + 0.0006318390369415283, + 0.0010795742273330688, + 0.02777542918920517, + 0.12219133973121643, + 0.04792444407939911, + -0.04038888216018677, + 1.0 + ], + [ + -0.0007276833057403564, + 0.001970931887626648, + 0.05715828388929367, + 0.12109348177909851, + -0.02093277871608734, + -0.04772624373435974, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9507390260696411 + ], + [ + 0.676182746887207 + ], + [ + 0.37802740931510925 + ], + [ + 0.17135097086429596 + ], + [ + 0.06956923007965088 + ], + [ + 0.050636038184165955 + ], + [ + 0.050636038184165955 + ], + [ + 0.050636038184165955 + ], + [ + 0.050636038184165955 + ], + [ + 0.050636038184165955 + ], + [ + 0.050636038184165955 + ], + [ + 0.050636038184165955 + ], + [ + 0.050636038184165955 + ], + [ + 0.050636038184165955 + ], + [ + 0.07921512424945831 + ], + [ + 0.2129654437303543 + ], + [ + 0.4662301242351532 + ], + [ + 0.7662391662597656 + ], + [ + 0.9858682155609131 + ], + [ + 0.9988223910331726 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.33203941583633423, + 0.1412770003080368, + 0.11078223586082458 + ], + [ + 0.3459017872810364, + 0.10673150420188904, + 0.10107708722352982 + ], + [ + 0.3583228290081024, + 0.07118961215019226, + 0.09423424303531647 + ], + [ + 0.3756549060344696, + 0.04474413022398949, + 0.09508397430181503 + ], + [ + 0.4031137228012085, + 0.004984000232070684, + 0.08585740625858307 + ], + [ + 0.42367789149284363, + -0.019320202991366386, + 0.074885293841362 + ], + [ + 0.4428568184375763, + -0.04074671119451523, + 0.06777936220169067 + ], + [ + 0.4613419771194458, + -0.05241098254919052, + 0.05740479752421379 + ], + [ + 0.47430744767189026, + -0.061974938958883286, + 0.05154531076550484 + ], + [ + 0.48644739389419556, + -0.06596208363771439, + 0.03666448965668678 + ], + [ + 0.4969898462295532, + -0.0786064937710762, + 0.031072862446308136 + ], + [ + 0.5022544860839844, + -0.09130607545375824, + 0.024335188791155815 + ], + [ + 0.5094239711761475, + -0.0958578810095787, + 0.019371511414647102 + ], + [ + 0.5154905915260315, + -0.0976007953286171, + 0.01651405170559883 + ], + [ + 0.5181460380554199, + -0.09826701134443283, + 0.010569412261247635 + ], + [ + 0.5184762477874756, + -0.09736744314432144, + 0.008364207111299038 + ], + [ + 0.5193262696266174, + -0.0966348797082901, + 0.008280593901872635 + ], + [ + 0.5193057060241699, + -0.09738394618034363, + 0.007834207266569138 + ], + [ + 0.5165136456489563, + -0.09851226210594177, + 0.007259721402078867 + ], + [ + 0.5056182146072388, + -0.0928507074713707, + 0.01477998960763216 + ], + [ + 0.4913133382797241, + -0.06332693248987198, + 0.03789845481514931 + ], + [ + 0.4691094160079956, + -0.025629635900259018, + 0.051118187606334686 + ], + [ + 0.4418812394142151, + 0.00425722124055028, + 0.04803561419248581 + ], + [ + 0.41364729404449463, + 0.04813853278756142, + 0.040747594088315964 + ], + [ + 0.39158594608306885, + 0.07660219073295593, + 0.04981235787272453 + ], + [ + 0.37026500701904297, + 0.1048639714717865, + 0.06402630358934402 + ], + [ + 0.35217535495758057, + 0.11700413376092911, + 0.07245529443025589 + ], + [ + 0.33476582169532776, + 0.1405300796031952, + 0.07659129798412323 + ], + [ + 0.3240388333797455, + 0.1485450714826584, + 0.07038591057062149 + ], + [ + 0.32056981325149536, + 0.15281942486763, + 0.06528423726558685 + ], + [ + 0.32402804493904114, + 0.15208223462104797, + 0.07439365983009338 + ], + [ + 0.32465988397598267, + 0.15316180884838104, + 0.10216908901929855 + ], + [ + 0.3239322006702423, + 0.1551327407360077, + 0.15932737290859222 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9335861886383402, + -0.3211751260886839, + 0.1589445399051358, + -0.29039381015377574, + -0.937937393571914, + -0.1895913520282433, + 0.20997205387410522, + 0.13084335719264628, + -0.9689126650376944 + ], + [ + 0.9564038597106207, + -0.26304323285454506, + 0.12688543959043078, + -0.2288723212708096, + -0.9449553322371513, + -0.23383088040865393, + 0.18140870344814933, + 0.1945961914478402, + -0.9639622423037413 + ], + [ + 0.9655058774690338, + -0.24209242690675206, + 0.0958627008129318, + -0.2089427315222249, + -0.9400409262534215, + -0.2695663033701368, + 0.15537482266050123, + 0.24023803571251595, + -0.9581984923178545 + ], + [ + 0.9762404876677631, + -0.15768495307720687, + 0.1486269350126266, + -0.11673907264217344, + -0.9605741761293193, + -0.25232764626993415, + 0.18255546871253628, + 0.22898189388359666, + -0.9561593973374041 + ], + [ + 0.9772789810170083, + -0.08782451004202572, + 0.19290580265569096, + -0.05003645896764679, + -0.9799869199488381, + -0.19267067629291407, + 0.20596637112969984, + 0.17864067892019442, + -0.9621150460306683 + ], + [ + 0.9674008027757159, + 0.05350841553455338, + 0.24753289934043554, + 0.09138409568611736, + -0.9853272890617908, + -0.14414950740731985, + 0.23618770891926444, + 0.16207091934435364, + -0.9580962286004184 + ], + [ + 0.9441982382834252, + 0.12856158060068185, + 0.3032517218680398, + 0.17489048297808052, + -0.9758573713215246, + -0.13082702244237632, + 0.27911109936039863, + 0.17656248421139387, + -0.9438870077413564 + ], + [ + 0.9190324330007447, + 0.18824352018024432, + 0.3463289826204013, + 0.24691829970391554, + -0.95978962642009, + -0.13354859148531634, + 0.3072633078713754, + 0.20825045048338914, + -0.9285585654709165 + ], + [ + 0.9012160008438417, + 0.21938385938147403, + 0.37373846746879325, + 0.28902837205164084, + -0.9468582192281395, + -0.14114571488109223, + 0.3229122480987844, + 0.23522379752696349, + -0.916731937430339 + ], + [ + 0.8948232668180609, + 0.2318498685528208, + 0.3814930662713198, + 0.3064430983874748, + -0.9404313284608382, + -0.14724654121597533, + 0.3246289398863544, + 0.24866554828006074, + -0.912568625631431 + ], + [ + 0.8947446675976148, + 0.21404864790736822, + 0.391937694199807, + 0.29289846608892434, + -0.9437869836031744, + -0.15322081498274648, + 0.3371089858908973, + 0.2518914566043265, + -0.9071428915674541 + ], + [ + 0.8974735325563097, + 0.20654456628633125, + 0.3897186170796694, + 0.2866359022724876, + -0.9446824821015054, + -0.15942041129973356, + 0.3352329307948962, + 0.25478294712976884, + -0.9070306124726629 + ], + [ + 0.8962420922369054, + 0.21623034243260167, + 0.38729130007565843, + 0.2958766126435327, + -0.9419337163765261, + -0.15880146108803406, + 0.3304650392906983, + 0.256914991708513, + -0.9081781459834911 + ], + [ + 0.8912449297877568, + 0.22594525864083176, + 0.3932317576510629, + 0.3050826623093514, + -0.9402451695234836, + -0.15120711076531457, + 0.3355697308844391, + 0.2547307623462143, + -0.9069207211375545 + ], + [ + 0.8904355487116409, + 0.2310764037904874, + 0.3920819164433054, + 0.3039296916968118, + -0.9431704753584369, + -0.13437334898416958, + 0.3387495772627332, + 0.23881614271944868, + -0.9100634999168595 + ], + [ + 0.889199661634495, + 0.2343729973110289, + 0.3929290774179787, + 0.3054633385601816, + -0.9434945403090563, + -0.12849202777865393, + 0.34061137759148236, + 0.23428049542897705, + -0.9105473842237897 + ], + [ + 0.8850752511463277, + 0.23836459907448726, + 0.3997800866930764, + 0.3081904335836636, + -0.9437784108818448, + -0.11958665394120307, + 0.34879859010004355, + 0.22905158602681316, + -0.9087766031774933 + ], + [ + 0.8859055726612213, + 0.22829611388576515, + 0.40379722722234185, + 0.29886854195281537, + -0.9466579519033177, + -0.12048367826894359, + 0.354751900571078, + 0.2274194505377098, + -0.90688008168574 + ], + [ + 0.8875684892274911, + 0.21927875748711384, + 0.40514072054699335, + 0.2936701960175307, + -0.9469076771776754, + -0.1308574295674673, + 0.3549366040597314, + 0.2351226858831089, + -0.9048410521642233 + ], + [ + 0.890205580684369, + 0.20955227479858388, + 0.40450200029807476, + 0.28918632251989007, + -0.9460212471594213, + -0.14633889021840663, + 0.35200183946369806, + 0.24724814266172257, + -0.9027530453919836 + ], + [ + 0.8785104208287222, + 0.22528714674811134, + 0.42126611779899514, + 0.3216635917371675, + -0.9309239992172204, + -0.17295387082156294, + 0.3532024550397218, + 0.2874477503678051, + -0.890293107107093 + ], + [ + 0.8723528150169312, + 0.25961045750526435, + 0.41424989618096825, + 0.35562770247127573, + -0.9184143237118838, + -0.17333224522818794, + 0.3354541747646575, + 0.2985256108858171, + -0.8935059911820469 + ], + [ + 0.8837437252337859, + 0.2772114447060677, + 0.3770289684280054, + 0.3625082512416962, + -0.9150323983681604, + -0.17692788846956697, + 0.2959472856635085, + 0.2930350232661398, + -0.9091455764880643 + ], + [ + 0.8818835432902274, + 0.3293856798095234, + 0.33732253113347177, + 0.40216803321623606, + -0.8989553085355022, + -0.17360940733389055, + 0.24605342739506464, + 0.28876361819359864, + -0.9252422837694371 + ], + [ + 0.8695742397410384, + 0.35480982370369823, + 0.3434394132625811, + 0.4316487609752861, + -0.8839637455510865, + -0.17968707159891806, + 0.23983325192161276, + 0.304496445881795, + -0.9218253227797877 + ], + [ + 0.8454015786214141, + 0.3904111087344656, + 0.36452069494220335, + 0.4771607338679862, + -0.8587018114068515, + -0.18694607014098294, + 0.240028758524862, + 0.3319794651229465, + -0.9122367180823716 + ], + [ + 0.841021445859985, + 0.3969715685570426, + 0.3675547596766246, + 0.49071348840212664, + -0.845801258092534, + -0.20933347584488793, + 0.22777883989474518, + 0.3564180208216857, + -0.9061363001942677 + ], + [ + 0.8192624651930365, + 0.43570722995215844, + 0.3727844187908681, + 0.5266460015851775, + -0.8289019917449942, + -0.18858811493709376, + 0.22683254206611025, + 0.35082858755893614, + -0.9085517596764798 + ], + [ + 0.8227955662551192, + 0.4689127084403855, + 0.3211359961356251, + 0.533120439640802, + -0.8326015225159271, + -0.15019088368259434, + 0.19695190526653011, + 0.29478055663028824, + -0.9350477904602639 + ], + [ + 0.8490590407562764, + 0.441573999930939, + 0.2900192198717577, + 0.4840650650856943, + -0.8701524731180418, + -0.09228047621321706, + 0.211612282426173, + 0.21873974515745115, + -0.9525613711540265 + ], + [ + 0.9177870769645811, + 0.33766245828683905, + 0.20892808719867897, + 0.3466873739565637, + -0.9379542317460031, + -0.007051516777737986, + 0.19358395102877698, + 0.07890452086828481, + -0.9779055836279055 + ], + [ + 0.9387689146399322, + 0.32082430021189734, + 0.12563714936001177, + 0.3119152947523053, + -0.9462414419914019, + 0.08565034943077945, + 0.14636179079714098, + -0.041217737099196294, + -0.9883720576498889 + ], + [ + 0.9494221234830735, + 0.29217863571542213, + 0.11501859098582916, + 0.26588860438494166, + -0.9429224842312066, + 0.20050047079614852, + 0.16703556956264967, + -0.15977745010709082, + -0.9729184369401973 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005647.json b/json/chunk-0005/episode_0005647.json new file mode 100644 index 0000000000000000000000000000000000000000..a23a6f0bd70459b8ca63486ae9f7112fe19f0ff9 --- /dev/null +++ b/json/chunk-0005/episode_0005647.json @@ -0,0 +1,1702 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 27, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nFold the cloth from right to left." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005647.mp4", + "start": 0, + "end": 27, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.408191442489624, + 0.03383589908480644, + 0.10354465991258621, + 0.06537868082523346, + -0.28834331035614014, + 0.075139619410038, + 0.0, + 1.0008161067962646 + ], + [ + 0.4056699573993683, + 0.03308316692709923, + 0.08695020526647568, + 0.06557629257440567, + -0.24407535791397095, + 0.07663232833147049, + 0.0, + 1.0008161067962646 + ], + [ + 0.40494972467422485, + 0.03754229471087456, + 0.08404655754566193, + 0.09274042397737503, + -0.24538098275661469, + 0.081790491938591, + 0.0, + 1.0008161067962646 + ], + [ + 0.40400177240371704, + 0.035405684262514114, + 0.07420697808265686, + 0.11552796512842178, + -0.23404960334300995, + 0.06716412305831909, + 0.0, + 1.0008161067962646 + ], + [ + 0.4039224684238434, + 0.036302078515291214, + 0.06719870120286942, + 0.14770105481147766, + -0.23494429886341095, + 0.061785511672496796, + 0.0, + 1.0008161067962646 + ], + [ + 0.40221309661865234, + 0.03815598413348198, + 0.05059324949979782, + 0.15974140167236328, + -0.19663767516613007, + 0.06888552010059357, + 0.0, + 1.0008161067962646 + ], + [ + 0.4054337441921234, + 0.04124864935874939, + 0.044312313199043274, + 0.17720167338848114, + -0.1927533596754074, + 0.0792771726846695, + 0.0, + 1.0008161067962646 + ], + [ + 0.4074775278568268, + 0.04529574140906334, + 0.040109578520059586, + 0.19963595271110535, + -0.19249692559242249, + 0.09739531576633453, + 0.0, + 0.9575772881507874 + ], + [ + 0.41126400232315063, + 0.04903236776590347, + 0.03834490478038788, + 0.21974188089370728, + -0.2165852189064026, + 0.10630899667739868, + 0.0, + 0.6791892647743225 + ], + [ + 0.4112805128097534, + 0.053103651851415634, + 0.03765346109867096, + 0.20704291760921478, + -0.2184617966413498, + 0.11099967360496521, + 0.0, + 0.3788849711418152 + ], + [ + 0.4067774713039398, + 0.06710177659988403, + 0.04039790481328964, + 0.1454697549343109, + -0.205983504652977, + 0.12988558411598206, + 0.0, + 0.16866940259933472 + ], + [ + 0.39883917570114136, + 0.09608075767755508, + 0.05803871527314186, + 0.06420425325632095, + -0.21835097670555115, + 0.17711299657821655, + 0.0, + 0.07755524665117264 + ], + [ + 0.384224534034729, + 0.12907426059246063, + 0.06156684085726738, + -0.012529627420008183, + -0.18566355109214783, + 0.21924613416194916, + 0.0, + 0.06803370267152786 + ], + [ + 0.37716245651245117, + 0.1629178673028946, + 0.07244018465280533, + -0.02822878025472164, + -0.18675751984119415, + 0.2546204924583435, + 0.0, + 0.06772904843091965 + ], + [ + 0.3654343783855438, + 0.19696679711341858, + 0.056515954434871674, + -0.024116797372698784, + -0.1299395114183426, + 0.2994705140590668, + 0.0, + 0.06772904843091965 + ], + [ + 0.3497273027896881, + 0.2313951849937439, + 0.05424775928258896, + -0.035476189106702805, + -0.10514811426401138, + 0.35379549860954285, + 0.0, + 0.06772904843091965 + ], + [ + 0.3305458128452301, + 0.2536519765853882, + 0.05296940356492996, + -0.06287389248609543, + -0.10165796428918839, + 0.3892202079296112, + 0.0, + 0.06772904843091965 + ], + [ + 0.31070584058761597, + 0.2639361321926117, + 0.051824524998664856, + -0.10462642461061478, + -0.11767778545618057, + 0.4133444130420685, + 0.0, + 0.06772904843091965 + ], + [ + 0.2968757450580597, + 0.2785094976425171, + 0.07971304655075073, + -0.14623577892780304, + -0.18498118221759796, + 0.44460055232048035, + 0.0, + 0.06772904843091965 + ], + [ + 0.29081547260284424, + 0.2906094491481781, + 0.08100027590990067, + -0.12161026149988174, + -0.2049984633922577, + 0.476997435092926, + 0.0, + 0.06772904843091965 + ], + [ + 0.28876620531082153, + 0.29784151911735535, + 0.08129941672086716, + -0.09063901752233505, + -0.2184242308139801, + 0.48373571038246155, + 0.0, + 0.06772904843091965 + ], + [ + 0.2848951816558838, + 0.3064071238040924, + 0.08165451139211655, + -0.03991609811782837, + -0.22248917818069458, + 0.48837313055992126, + 0.0, + 0.0853668823838234 + ], + [ + 0.278963565826416, + 0.31580403447151184, + 0.07645676285028458, + 0.04069497808814049, + -0.157875657081604, + 0.5307680368423462, + 0.0, + 0.27019456028938293 + ], + [ + 0.28097549080848694, + 0.3122657239437103, + 0.06886041909456253, + 0.10077762603759766, + -0.15577715635299683, + 0.5388781428337097, + 0.0, + 0.5014150738716125 + ], + [ + 0.27436017990112305, + 0.31371158361434937, + 0.06848414242267609, + 0.13530072569847107, + -0.12618225812911987, + 0.558954656124115, + 0.0, + 0.8205437660217285 + ], + [ + 0.27462852001190186, + 0.3145824372768402, + 0.07237454503774643, + 0.13390740752220154, + -0.14133000373840332, + 0.5819675326347351, + 0.0, + 0.9994885921478271 + ], + [ + 0.2750280201435089, + 0.31330251693725586, + 0.08504902571439743, + 0.12532171607017517, + -0.16427789628505707, + 0.5949983596801758, + 0.0, + 1.0001531839370728 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9575772881507874 + ], + [ + 0.6791892647743225 + ], + [ + 0.3788849711418152 + ], + [ + 0.16866940259933472 + ], + [ + 0.07755524665117264 + ], + [ + 0.06803370267152786 + ], + [ + 0.06772904843091965 + ], + [ + 0.06772904843091965 + ], + [ + 0.06772904843091965 + ], + [ + 0.06772904843091965 + ], + [ + 0.06772904843091965 + ], + [ + 0.06772904843091965 + ], + [ + 0.06772904843091965 + ], + [ + 0.06772904843091965 + ], + [ + 0.0853668823838234 + ], + [ + 0.27019456028938293 + ], + [ + 0.5014150738716125 + ], + [ + 0.8205437660217285 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.408191442489624, + 0.03383589908480644, + 0.10354465991258621 + ], + [ + 0.4056699573993683, + 0.03308316692709923, + 0.08695020526647568 + ], + [ + 0.40494972467422485, + 0.03754229471087456, + 0.08404655754566193 + ], + [ + 0.40400177240371704, + 0.035405684262514114, + 0.07420697808265686 + ], + [ + 0.4039224684238434, + 0.036302078515291214, + 0.06719870120286942 + ], + [ + 0.40221309661865234, + 0.03815598413348198, + 0.05059324949979782 + ], + [ + 0.4054337441921234, + 0.04124864935874939, + 0.044312313199043274 + ], + [ + 0.4074775278568268, + 0.04529574140906334, + 0.040109578520059586 + ], + [ + 0.41126400232315063, + 0.04903236776590347, + 0.03834490478038788 + ], + [ + 0.4112805128097534, + 0.053103651851415634, + 0.03765346109867096 + ], + [ + 0.4067774713039398, + 0.06710177659988403, + 0.04039790481328964 + ], + [ + 0.39883917570114136, + 0.09608075767755508, + 0.05803871527314186 + ], + [ + 0.384224534034729, + 0.12907426059246063, + 0.06156684085726738 + ], + [ + 0.37716245651245117, + 0.1629178673028946, + 0.07244018465280533 + ], + [ + 0.3654343783855438, + 0.19696679711341858, + 0.056515954434871674 + ], + [ + 0.3497273027896881, + 0.2313951849937439, + 0.05424775928258896 + ], + [ + 0.3305458128452301, + 0.2536519765853882, + 0.05296940356492996 + ], + [ + 0.31070584058761597, + 0.2639361321926117, + 0.051824524998664856 + ], + [ + 0.2968757450580597, + 0.2785094976425171, + 0.07971304655075073 + ], + [ + 0.29081547260284424, + 0.2906094491481781, + 0.08100027590990067 + ], + [ + 0.28876620531082153, + 0.29784151911735535, + 0.08129941672086716 + ], + [ + 0.2848951816558838, + 0.3064071238040924, + 0.08165451139211655 + ], + [ + 0.278963565826416, + 0.31580403447151184, + 0.07645676285028458 + ], + [ + 0.28097549080848694, + 0.3122657239437103, + 0.06886041909456253 + ], + [ + 0.27436017990112305, + 0.31371158361434937, + 0.06848414242267609 + ], + [ + 0.27462852001190186, + 0.3145824372768402, + 0.07237454503774643 + ], + [ + 0.2750280201435089, + 0.31330251693725586, + 0.08504902571439743 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9560111294317482, + 0.09343425589661981, + 0.2780517222167099, + 0.07196980970629892, + -0.9936533103517056, + 0.08644909090289131, + 0.2843643207110775, + -0.06263496349597568, + -0.9566680691098587 + ], + [ + 0.9675133523758744, + 0.09218208081317143, + 0.2354153286244365, + 0.07428827749169999, + -0.9937097894226594, + 0.08379800852580316, + 0.2416591914281633, + -0.06358709289257003, + -0.9682755376522524 + ], + [ + 0.9668020061771099, + 0.10376980806713729, + 0.2335074041344837, + 0.07925201421664912, + -0.9905361048447713, + 0.11205955221020865, + 0.24292591276872802, + -0.08983346777597938, + -0.9658762596589806 + ], + [ + 0.9705420062453831, + 0.09333951217588565, + 0.2221169727417387, + 0.0652837977685013, + -0.9893002470097086, + 0.13047239943930922, + 0.23191860611453324, + -0.11212830478205278, + -0.9662510043485568 + ], + [ + 0.9706716129686753, + 0.09526682299412477, + 0.22072800505009885, + 0.060049874180128596, + -0.9851093541728511, + 0.1611011264147436, + 0.23278881499707219, + -0.14312160129678042, + -0.9619384464998291 + ], + [ + 0.9784030624725554, + 0.09895760729653316, + 0.18147958370701067, + 0.06750461224977361, + -0.9827879414813138, + 0.17196217434054886, + 0.19537291181054883, + -0.15599760907484042, + -0.9682428266161338 + ], + [ + 0.9783978932453175, + 0.11161571977689111, + 0.17401003876733984, + 0.07772752279967082, + -0.9785750085818392, + 0.19065514621556945, + 0.19156198655409495, + -0.17301122413803105, + -0.9661113401827498 + ], + [ + 0.9768779664840997, + 0.13306950929686373, + 0.16733781489365027, + 0.09544532229280685, + -0.9718045237268194, + 0.21560648904082585, + 0.19131029520209283, + -0.19464961690067983, + -0.9620352891604893 + ], + [ + 0.9711233785590648, + 0.1501354106062298, + 0.1854150535909259, + 0.10362984091291517, + -0.9654736112486701, + 0.23900117584400224, + 0.2148958810410079, + -0.21288509685872933, + -0.9531525039819485 + ], + [ + 0.9702241068417801, + 0.15268409643273778, + 0.18802326770798594, + 0.10813904887521504, + -0.9676852383308959, + 0.22779645656779035, + 0.21672823676538866, + -0.20068095627885518, + -0.9553826590301763 + ], + [ + 0.9706150868278415, + 0.15755104934643452, + 0.18189013187091665, + 0.12678266301378552, + -0.977263565032846, + 0.16994728835267092, + 0.20452997233001083, + -0.14189288674606043, + -0.9685215016247988 + ], + [ + 0.9609838796457505, + 0.18950641046057878, + 0.20148772532178777, + 0.17200505000923402, + -0.9798795640902046, + 0.10124377832593648, + 0.21662004946985508, + -0.06263673261543187, + -0.974244524693334 + ], + [ + 0.9592870685864716, + 0.21521926732709398, + 0.18289064222633947, + 0.21375601067031644, + -0.9764881121118401, + 0.027916568674642313, + 0.18459872140696323, + 0.012313970742343892, + -0.982736830580533 + ], + [ + 0.9509310233145426, + 0.24670612106322679, + 0.18672514219540318, + 0.2474983573128772, + -0.9686933992913224, + 0.019433509637998746, + 0.18567377850785613, + 0.027734238755720522, + -0.9822199651683203 + ], + [ + 0.9474377696045797, + 0.29194299571458643, + 0.13088529321467957, + 0.2925272785501895, + -0.9561367806350287, + 0.015173925691895535, + 0.12957416420999796, + 0.02391116831265865, + -0.9912813889099323 + ], + [ + 0.9328835781288307, + 0.34275067678544535, + 0.11068063615948931, + 0.3445472241646321, + -0.9387639741964253, + 0.0030677469550453515, + 0.10495446621271903, + 0.03527285520131111, + -0.9938512895337767 + ], + [ + 0.9204286686416675, + 0.3728177668204476, + 0.11754989870494117, + 0.3775079797325332, + -0.925796765772682, + -0.01969958687645771, + 0.10148296005137455, + 0.06250808929935509, + -0.9928715665136931 + ], + [ + 0.909448989473327, + 0.38824904104549146, + 0.1488798766563183, + 0.3988963266035797, + -0.9156998529284747, + -0.04873910102720393, + 0.11740637192296888, + 0.10371336208042843, + -0.9876534221870844 + ], + [ + 0.8873808086000017, + 0.4013111322140948, + 0.22694641589910297, + 0.4227597163895697, + -0.9046738500704486, + -0.05328646354302491, + 0.18392803681499437, + 0.14322918752737804, + -0.9724483930335991 + ], + [ + 0.86977597316741, + 0.4337848765509491, + 0.23520297059425607, + 0.4495005900029513, + -0.8931540825112623, + -0.015000149348045194, + 0.20356565547184866, + 0.11877064354941741, + -0.9718305192486875 + ], + [ + 0.8642299032993503, + 0.4458169440676969, + 0.23313928589007785, + 0.4540390296944312, + -0.8907519274756727, + 0.020237668158984583, + 0.21669156365058342, + 0.08836433715313996, + -0.9722327448518442 + ], + [ + 0.8613300603473832, + 0.46104000686147767, + 0.21343064263395242, + 0.4576248660985675, + -0.886525351893965, + 0.06820764163603461, + 0.22065812713390234, + 0.03892187717017529, + -0.9745743062523803 + ], + [ + 0.8516930813257667, + 0.5112930757912061, + 0.11488379289433524, + 0.4999005558745401, + -0.8584667357419355, + 0.1146049643816146, + 0.15722063941526992, + -0.040177783320553356, + -0.9867458721825493 + ], + [ + 0.8478921752642328, + 0.5239666738957447, + 0.08085656295142399, + 0.5069595553137964, + -0.8459200735948362, + 0.16556339681627746, + 0.15514789203120036, + -0.09938890147263296, + -0.9828789232974415 + ], + [ + 0.8410694720098296, + 0.5398456157881175, + 0.03418851221469742, + 0.5260841232706974, + -0.831059578269193, + 0.18048676574622474, + 0.125847679738674, + -0.13381587529654043, + -0.9829830481870034 + ], + [ + 0.8270536156646856, + 0.5604579988335511, + 0.043233648463456106, + 0.5441881865123167, + -0.8175672563708803, + 0.18826311101919863, + 0.14085998181316967, + -0.13217644591107114, + -0.9811665774321459 + ], + [ + 0.8169997986435658, + 0.5730402421238647, + 0.06431337281620088, + 0.5529611198587889, + -0.8101970456951086, + 0.19446014262936284, + 0.1635399918701454, + -0.1233111027180463, + -0.9787997972034793 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0025214850902557373, + -0.0007527321577072144, + -0.016594454646110535, + 0.0001976117491722107, + 0.04426795244216919, + 0.0014927089214324951, + 1.0 + ], + [ + -0.0007202327251434326, + 0.00445912778377533, + -0.0029036477208137512, + 0.02716413140296936, + -0.0013056248426437378, + 0.005158163607120514, + 1.0 + ], + [ + -0.0009479522705078125, + -0.002136610448360443, + -0.009839579463005066, + 0.022787541151046753, + 0.011331379413604736, + -0.014626368880271912, + 1.0 + ], + [ + -7.930397987365723e-05, + 0.0008963942527770996, + -0.007008276879787445, + 0.03217308968305588, + -0.000894695520401001, + -0.005378611385822296, + 1.0 + ], + [ + -0.00170937180519104, + 0.0018539056181907654, + -0.016605451703071594, + 0.01204034686088562, + 0.038306623697280884, + 0.007100008428096771, + 1.0 + ], + [ + 0.0032206475734710693, + 0.0030926652252674103, + -0.006280936300754547, + 0.01746027171611786, + 0.0038843154907226562, + 0.010391652584075928, + 1.0 + ], + [ + 0.002043783664703369, + 0.00404709205031395, + -0.004202734678983688, + 0.022434279322624207, + 0.0002564340829849243, + 0.01811814308166504, + 0.0 + ], + [ + 0.0037864744663238525, + 0.0037366263568401337, + -0.0017646737396717072, + 0.02010592818260193, + -0.024088293313980103, + 0.008913680911064148, + 0.0 + ], + [ + 1.6510486602783203e-05, + 0.004071284085512161, + -0.0006914436817169189, + -0.012698963284492493, + -0.0018765777349472046, + 0.004690676927566528, + 0.0 + ], + [ + -0.004503041505813599, + 0.013998124748468399, + 0.002744443714618683, + -0.06157316267490387, + 0.012478291988372803, + 0.018885910511016846, + 0.0 + ], + [ + -0.007938295602798462, + 0.02897898107767105, + 0.01764081045985222, + -0.08126550167798996, + -0.012367472052574158, + 0.0472274124622345, + 0.0 + ], + [ + -0.014614641666412354, + 0.03299350291490555, + 0.003528125584125519, + -0.07673387974500656, + 0.03268742561340332, + 0.042133137583732605, + 0.0 + ], + [ + -0.007062077522277832, + 0.03384360671043396, + 0.010873343795537949, + -0.015699151903390884, + -0.0010939687490463257, + 0.03537435829639435, + 0.0 + ], + [ + -0.011728078126907349, + 0.03404892981052399, + -0.015924230217933655, + 0.004111982882022858, + 0.05681800842285156, + 0.04485002160072327, + 0.0 + ], + [ + -0.015707075595855713, + 0.03442838788032532, + -0.002268195152282715, + -0.01135939173400402, + 0.024791397154331207, + 0.054324984550476074, + 0.0 + ], + [ + -0.019181489944458008, + 0.022256791591644287, + -0.0012783557176589966, + -0.027397703379392624, + 0.003490149974822998, + 0.03542470932006836, + 0.0 + ], + [ + -0.019839972257614136, + 0.01028415560722351, + -0.0011448785662651062, + -0.04175253212451935, + -0.016019821166992188, + 0.024124205112457275, + 0.0 + ], + [ + -0.013830095529556274, + 0.014573365449905396, + 0.027888521552085876, + -0.04160935431718826, + -0.06730339676141739, + 0.031256139278411865, + 0.0 + ], + [ + -0.006060272455215454, + 0.01209995150566101, + 0.0012872293591499329, + 0.024625517427921295, + -0.02001728117465973, + 0.03239688277244568, + 0.0 + ], + [ + -0.002049267292022705, + 0.007232069969177246, + 0.0002991408109664917, + 0.030971243977546692, + -0.013425767421722412, + 0.0067382752895355225, + 0.0 + ], + [ + -0.003871023654937744, + 0.00856560468673706, + 0.00035509467124938965, + 0.05072291940450668, + -0.0040649473667144775, + 0.004637420177459717, + 1.0 + ], + [ + -0.0059316158294677734, + 0.009396910667419434, + -0.00519774854183197, + 0.08061107993125916, + 0.06461352109909058, + 0.04239490628242493, + 1.0 + ], + [ + 0.002011924982070923, + -0.0035383105278015137, + -0.007596343755722046, + 0.06008264794945717, + 0.0020985007286071777, + 0.008110105991363525, + 1.0 + ], + [ + -0.006615310907363892, + 0.001445859670639038, + -0.0003762766718864441, + 0.03452309966087341, + 0.029594898223876953, + 0.020076513290405273, + 1.0 + ], + [ + 0.0002683401107788086, + 0.0008708536624908447, + 0.003890402615070343, + -0.0013933181762695312, + -0.015147745609283447, + 0.023012876510620117, + 1.0 + ], + [ + 0.00039950013160705566, + -0.0012799203395843506, + 0.012674480676651001, + -0.008585691452026367, + -0.022947892546653748, + 0.013030827045440674, + 1.0 + ], + [ + -0.00021064281463623047, + -0.001776963472366333, + 0.014088094234466553, + -0.058946266770362854, + -0.01806330680847168, + -0.02574300765991211, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9575772881507874 + ], + [ + 0.6791892647743225 + ], + [ + 0.3788849711418152 + ], + [ + 0.16866940259933472 + ], + [ + 0.07755524665117264 + ], + [ + 0.06803370267152786 + ], + [ + 0.06772904843091965 + ], + [ + 0.06772904843091965 + ], + [ + 0.06772904843091965 + ], + [ + 0.06772904843091965 + ], + [ + 0.06772904843091965 + ], + [ + 0.06772904843091965 + ], + [ + 0.06772904843091965 + ], + [ + 0.06772904843091965 + ], + [ + 0.0853668823838234 + ], + [ + 0.27019456028938293 + ], + [ + 0.5014150738716125 + ], + [ + 0.8205437660217285 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.4056699573993683, + 0.03308316692709923, + 0.08695020526647568 + ], + [ + 0.40494972467422485, + 0.03754229471087456, + 0.08404655754566193 + ], + [ + 0.40400177240371704, + 0.035405684262514114, + 0.07420697808265686 + ], + [ + 0.4039224684238434, + 0.036302078515291214, + 0.06719870120286942 + ], + [ + 0.40221309661865234, + 0.03815598413348198, + 0.05059324949979782 + ], + [ + 0.4054337441921234, + 0.04124864935874939, + 0.044312313199043274 + ], + [ + 0.4074775278568268, + 0.04529574140906334, + 0.040109578520059586 + ], + [ + 0.41126400232315063, + 0.04903236776590347, + 0.03834490478038788 + ], + [ + 0.4112805128097534, + 0.053103651851415634, + 0.03765346109867096 + ], + [ + 0.4067774713039398, + 0.06710177659988403, + 0.04039790481328964 + ], + [ + 0.39883917570114136, + 0.09608075767755508, + 0.05803871527314186 + ], + [ + 0.384224534034729, + 0.12907426059246063, + 0.06156684085726738 + ], + [ + 0.37716245651245117, + 0.1629178673028946, + 0.07244018465280533 + ], + [ + 0.3654343783855438, + 0.19696679711341858, + 0.056515954434871674 + ], + [ + 0.3497273027896881, + 0.2313951849937439, + 0.05424775928258896 + ], + [ + 0.3305458128452301, + 0.2536519765853882, + 0.05296940356492996 + ], + [ + 0.31070584058761597, + 0.2639361321926117, + 0.051824524998664856 + ], + [ + 0.2968757450580597, + 0.2785094976425171, + 0.07971304655075073 + ], + [ + 0.29081547260284424, + 0.2906094491481781, + 0.08100027590990067 + ], + [ + 0.28876620531082153, + 0.29784151911735535, + 0.08129941672086716 + ], + [ + 0.2848951816558838, + 0.3064071238040924, + 0.08165451139211655 + ], + [ + 0.278963565826416, + 0.31580403447151184, + 0.07645676285028458 + ], + [ + 0.28097549080848694, + 0.3122657239437103, + 0.06886041909456253 + ], + [ + 0.27436017990112305, + 0.31371158361434937, + 0.06848414242267609 + ], + [ + 0.27462852001190186, + 0.3145824372768402, + 0.07237454503774643 + ], + [ + 0.2750280201435089, + 0.31330251693725586, + 0.08504902571439743 + ], + [ + 0.2748173773288727, + 0.3115255534648895, + 0.09913711994886398 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9675133523758744, + 0.09218208081317143, + 0.2354153286244365, + 0.07428827749169999, + -0.9937097894226594, + 0.08379800852580316, + 0.2416591914281633, + -0.06358709289257003, + -0.9682755376522524 + ], + [ + 0.9668020061771099, + 0.10376980806713729, + 0.2335074041344837, + 0.07925201421664912, + -0.9905361048447713, + 0.11205955221020865, + 0.24292591276872802, + -0.08983346777597938, + -0.9658762596589806 + ], + [ + 0.9705420062453831, + 0.09333951217588565, + 0.2221169727417387, + 0.0652837977685013, + -0.9893002470097086, + 0.13047239943930922, + 0.23191860611453324, + -0.11212830478205278, + -0.9662510043485568 + ], + [ + 0.9706716129686753, + 0.09526682299412477, + 0.22072800505009885, + 0.060049874180128596, + -0.9851093541728511, + 0.1611011264147436, + 0.23278881499707219, + -0.14312160129678042, + -0.9619384464998291 + ], + [ + 0.9784030624725554, + 0.09895760729653316, + 0.18147958370701067, + 0.06750461224977361, + -0.9827879414813138, + 0.17196217434054886, + 0.19537291181054883, + -0.15599760907484042, + -0.9682428266161338 + ], + [ + 0.9783978932453175, + 0.11161571977689111, + 0.17401003876733984, + 0.07772752279967082, + -0.9785750085818392, + 0.19065514621556945, + 0.19156198655409495, + -0.17301122413803105, + -0.9661113401827498 + ], + [ + 0.9768779664840997, + 0.13306950929686373, + 0.16733781489365027, + 0.09544532229280685, + -0.9718045237268194, + 0.21560648904082585, + 0.19131029520209283, + -0.19464961690067983, + -0.9620352891604893 + ], + [ + 0.9711233785590648, + 0.1501354106062298, + 0.1854150535909259, + 0.10362984091291517, + -0.9654736112486701, + 0.23900117584400224, + 0.2148958810410079, + -0.21288509685872933, + -0.9531525039819485 + ], + [ + 0.9702241068417801, + 0.15268409643273778, + 0.18802326770798594, + 0.10813904887521504, + -0.9676852383308959, + 0.22779645656779035, + 0.21672823676538866, + -0.20068095627885518, + -0.9553826590301763 + ], + [ + 0.9706150868278415, + 0.15755104934643452, + 0.18189013187091665, + 0.12678266301378552, + -0.977263565032846, + 0.16994728835267092, + 0.20452997233001083, + -0.14189288674606043, + -0.9685215016247988 + ], + [ + 0.9609838796457505, + 0.18950641046057878, + 0.20148772532178777, + 0.17200505000923402, + -0.9798795640902046, + 0.10124377832593648, + 0.21662004946985508, + -0.06263673261543187, + -0.974244524693334 + ], + [ + 0.9592870685864716, + 0.21521926732709398, + 0.18289064222633947, + 0.21375601067031644, + -0.9764881121118401, + 0.027916568674642313, + 0.18459872140696323, + 0.012313970742343892, + -0.982736830580533 + ], + [ + 0.9509310233145426, + 0.24670612106322679, + 0.18672514219540318, + 0.2474983573128772, + -0.9686933992913224, + 0.019433509637998746, + 0.18567377850785613, + 0.027734238755720522, + -0.9822199651683203 + ], + [ + 0.9474377696045797, + 0.29194299571458643, + 0.13088529321467957, + 0.2925272785501895, + -0.9561367806350287, + 0.015173925691895535, + 0.12957416420999796, + 0.02391116831265865, + -0.9912813889099323 + ], + [ + 0.9328835781288307, + 0.34275067678544535, + 0.11068063615948931, + 0.3445472241646321, + -0.9387639741964253, + 0.0030677469550453515, + 0.10495446621271903, + 0.03527285520131111, + -0.9938512895337767 + ], + [ + 0.9204286686416675, + 0.3728177668204476, + 0.11754989870494117, + 0.3775079797325332, + -0.925796765772682, + -0.01969958687645771, + 0.10148296005137455, + 0.06250808929935509, + -0.9928715665136931 + ], + [ + 0.909448989473327, + 0.38824904104549146, + 0.1488798766563183, + 0.3988963266035797, + -0.9156998529284747, + -0.04873910102720393, + 0.11740637192296888, + 0.10371336208042843, + -0.9876534221870844 + ], + [ + 0.8873808086000017, + 0.4013111322140948, + 0.22694641589910297, + 0.4227597163895697, + -0.9046738500704486, + -0.05328646354302491, + 0.18392803681499437, + 0.14322918752737804, + -0.9724483930335991 + ], + [ + 0.86977597316741, + 0.4337848765509491, + 0.23520297059425607, + 0.4495005900029513, + -0.8931540825112623, + -0.015000149348045194, + 0.20356565547184866, + 0.11877064354941741, + -0.9718305192486875 + ], + [ + 0.8642299032993503, + 0.4458169440676969, + 0.23313928589007785, + 0.4540390296944312, + -0.8907519274756727, + 0.020237668158984583, + 0.21669156365058342, + 0.08836433715313996, + -0.9722327448518442 + ], + [ + 0.8613300603473832, + 0.46104000686147767, + 0.21343064263395242, + 0.4576248660985675, + -0.886525351893965, + 0.06820764163603461, + 0.22065812713390234, + 0.03892187717017529, + -0.9745743062523803 + ], + [ + 0.8516930813257667, + 0.5112930757912061, + 0.11488379289433524, + 0.4999005558745401, + -0.8584667357419355, + 0.1146049643816146, + 0.15722063941526992, + -0.040177783320553356, + -0.9867458721825493 + ], + [ + 0.8478921752642328, + 0.5239666738957447, + 0.08085656295142399, + 0.5069595553137964, + -0.8459200735948362, + 0.16556339681627746, + 0.15514789203120036, + -0.09938890147263296, + -0.9828789232974415 + ], + [ + 0.8410694720098296, + 0.5398456157881175, + 0.03418851221469742, + 0.5260841232706974, + -0.831059578269193, + 0.18048676574622474, + 0.125847679738674, + -0.13381587529654043, + -0.9829830481870034 + ], + [ + 0.8270536156646856, + 0.5604579988335511, + 0.043233648463456106, + 0.5441881865123167, + -0.8175672563708803, + 0.18826311101919863, + 0.14085998181316967, + -0.13217644591107114, + -0.9811665774321459 + ], + [ + 0.8169997986435658, + 0.5730402421238647, + 0.06431337281620088, + 0.5529611198587889, + -0.8101970456951086, + 0.19446014262936284, + 0.1635399918701454, + -0.1233111027180463, + -0.9787997972034793 + ], + [ + 0.8283387610351278, + 0.5479485990245453, + 0.11665003126372259, + 0.5300692751297807, + -0.8339650784427509, + 0.1533910411378877, + 0.1813324585676217, + -0.06522714745421854, + -0.9812563165171511 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005648.json b/json/chunk-0005/episode_0005648.json new file mode 100644 index 0000000000000000000000000000000000000000..4163fdbbf10f2b25917c5809179f912dae95eec6 --- /dev/null +++ b/json/chunk-0005/episode_0005648.json @@ -0,0 +1,2662 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 43, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPlace the yellow product next to the yellow napkin." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005648.mp4", + "start": 0, + "end": 43, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3251027464866638, + 0.09460218250751495, + 0.15055036544799805, + 0.049115139991045, + -0.14705726504325867, + 0.08986659348011017, + 0.0, + 1.0008161067962646 + ], + [ + 0.3252076506614685, + 0.09392450749874115, + 0.14068110287189484, + 0.03833533823490143, + -0.11473720520734787, + 0.09385023266077042, + 0.0, + 1.0008161067962646 + ], + [ + 0.3317687511444092, + 0.11161912232637405, + 0.1330854743719101, + 0.010727768763899803, + -0.07596094161272049, + 0.1656648963689804, + 0.0, + 1.0001531839370728 + ], + [ + 0.34285369515419006, + 0.14059822261333466, + 0.11316157132387161, + -0.009242934174835682, + -0.021286647766828537, + 0.268595814704895, + 0.0, + 1.0001531839370728 + ], + [ + 0.3510637581348419, + 0.18086940050125122, + 0.0987250804901123, + 0.011333555914461613, + 0.008561424911022186, + 0.3930441737174988, + 0.0, + 1.0001531839370728 + ], + [ + 0.3458183705806732, + 0.20465466380119324, + 0.08789502829313278, + 0.07094188034534454, + 0.009720518253743649, + 0.4469139277935028, + 0.0, + 1.0008161067962646 + ], + [ + 0.3419654667377472, + 0.20432478189468384, + 0.0770016610622406, + 0.08434293419122696, + 0.0148265166208148, + 0.4257732331752777, + 0.0, + 1.0008161067962646 + ], + [ + 0.3368113934993744, + 0.20300333201885223, + 0.06761808693408966, + 0.09550811350345612, + 0.026962311938405037, + 0.41428929567337036, + 0.0, + 1.0001531839370728 + ], + [ + 0.3344954252243042, + 0.20454581081867218, + 0.0662025585770607, + 0.11135596036911011, + 0.026913689449429512, + 0.42177334427833557, + 0.0, + 1.0008161067962646 + ], + [ + 0.33503878116607666, + 0.20688772201538086, + 0.06628944724798203, + 0.14666703343391418, + 0.01917441375553608, + 0.43169090151786804, + 0.0, + 1.0001531839370728 + ], + [ + 0.3360670506954193, + 0.20668454468250275, + 0.05401422828435898, + 0.16875781118869781, + 0.04037626460194588, + 0.44062477350234985, + 0.0, + 1.0001531839370728 + ], + [ + 0.33899444341659546, + 0.21030651032924652, + 0.04933902993798256, + 0.18061111867427826, + 0.0452919565141201, + 0.4463993310928345, + 0.0, + 1.0001531839370728 + ], + [ + 0.3398849368095398, + 0.2118261307477951, + 0.04705922305583954, + 0.18643109500408173, + 0.04976944997906685, + 0.4464370608329773, + 0.0, + 1.0001531839370728 + ], + [ + 0.34023016691207886, + 0.21262335777282715, + 0.048072442412376404, + 0.19001825153827667, + 0.05219963192939758, + 0.4501909017562866, + 0.0, + 1.0001531839370728 + ], + [ + 0.3406379222869873, + 0.21266940236091614, + 0.0479859821498394, + 0.1888432651758194, + 0.057192400097846985, + 0.4491118788719177, + 0.0, + 1.0001531839370728 + ], + [ + 0.3397735059261322, + 0.2130172699689865, + 0.04119504988193512, + 0.1935032308101654, + 0.07362058013677597, + 0.45878899097442627, + 0.0, + 1.0001531839370728 + ], + [ + 0.3395861089229584, + 0.21430447697639465, + 0.0365266390144825, + 0.20491880178451538, + 0.08580905944108963, + 0.4555267095565796, + 0.0, + 0.939095675945282 + ], + [ + 0.3408558964729309, + 0.21357405185699463, + 0.0345994234085083, + 0.21837322413921356, + 0.08722411841154099, + 0.46725860238075256, + 0.0, + 0.8481387495994568 + ], + [ + 0.34114712476730347, + 0.21323497593402863, + 0.03485976904630661, + 0.21567688882350922, + 0.08716784417629242, + 0.4685458242893219, + 0.0, + 0.8481387495994568 + ], + [ + 0.3416594862937927, + 0.21197332441806793, + 0.03457743674516678, + 0.20664580166339874, + 0.08839430660009384, + 0.4653778076171875, + 0.0, + 0.8481387495994568 + ], + [ + 0.3402045667171478, + 0.2115364968776703, + 0.03621803969144821, + 0.15231254696846008, + 0.09749563783407211, + 0.47633400559425354, + 0.0, + 0.8481387495994568 + ], + [ + 0.3414233326911926, + 0.21804438531398773, + 0.06416258215904236, + 0.10672574490308762, + 0.04300100728869438, + 0.4964846074581146, + 0.0, + 0.8481387495994568 + ], + [ + 0.3408554196357727, + 0.22030475735664368, + 0.07763995975255966, + 0.0779111385345459, + 0.023815667256712914, + 0.5031623840332031, + 0.0, + 0.8481387495994568 + ], + [ + 0.3399446904659271, + 0.2150605469942093, + 0.1165013313293457, + 0.044836290180683136, + -0.05933728441596031, + 0.49591708183288574, + 0.0, + 0.8481387495994568 + ], + [ + 0.33965471386909485, + 0.1853189766407013, + 0.1323009878396988, + -0.009360657073557377, + -0.06436288356781006, + 0.39464569091796875, + 0.0, + 0.8481387495994568 + ], + [ + 0.3473726809024811, + 0.12406345456838608, + 0.14441746473312378, + -0.03510667011141777, + -0.08490893989801407, + 0.20884975790977478, + 0.0, + 0.8472316861152649 + ], + [ + 0.3429020941257477, + 0.0945868119597435, + 0.1457827091217041, + -0.03391215205192566, + -0.07853768020868301, + 0.16695287823677063, + 0.0, + 0.8472316861152649 + ], + [ + 0.33894050121307373, + 0.05068594217300415, + 0.1324245184659958, + -0.008002102375030518, + -0.03823509439826012, + 0.1677154302597046, + 0.0, + 0.8472316861152649 + ], + [ + 0.3374238908290863, + 0.02118353731930256, + 0.11797041445970535, + 0.048632483929395676, + -0.04431882128119469, + 0.20054176449775696, + 0.0, + 0.8472316861152649 + ], + [ + 0.33789461851119995, + -0.010185806080698967, + 0.1040782779455185, + 0.06587954610586166, + -0.03896644338965416, + 0.17119957506656647, + 0.0, + 0.8472316861152649 + ], + [ + 0.33515825867652893, + -0.05440199002623558, + 0.0828562080860138, + 0.07798851281404495, + -0.047026414424180984, + 0.13260728120803833, + 0.0, + 0.8472316861152649 + ], + [ + 0.33124083280563354, + -0.0735451728105545, + 0.06367155909538269, + 0.09290582686662674, + -0.03853398561477661, + 0.08509241789579391, + 0.0, + 0.8481387495994568 + ], + [ + 0.32532501220703125, + -0.08332936465740204, + 0.05424593761563301, + 0.07508885860443115, + -0.027170710265636444, + 0.016053128987550735, + 0.0, + 0.8472316861152649 + ], + [ + 0.324520468711853, + -0.08488579094409943, + 0.04894232004880905, + 0.06771872937679291, + -0.025648359209299088, + -0.013748975470662117, + 0.0, + 0.8472316861152649 + ], + [ + 0.3229810297489166, + -0.08735602349042892, + 0.047380231320858, + 0.04927937313914299, + -0.013785344548523426, + -0.0313386470079422, + 0.0, + 0.9149291515350342 + ], + [ + 0.32303282618522644, + -0.08188419789075851, + 0.04690248891711235, + 0.0269730556756258, + -5.124948074808344e-05, + -0.03733052685856819, + 0.0, + 1.0143678188323975 + ], + [ + 0.3231924772262573, + -0.07045073807239532, + 0.05910017713904381, + -0.010599490255117416, + -0.005817499477416277, + -0.022295227274298668, + 0.0, + 1.0092895030975342 + ], + [ + 0.3239004909992218, + -0.04620910808444023, + 0.08788026124238968, + -0.05777018144726753, + -0.04454981908202171, + 0.006645445711910725, + 0.0, + 1.003452181816101 + ], + [ + 0.32226723432540894, + 0.0038461170624941587, + 0.14011871814727783, + -0.124785877764225, + -0.12984038889408112, + 0.11157417297363281, + 0.0, + 1.0014774799346924 + ], + [ + 0.31986549496650696, + 0.04916470870375633, + 0.1670670062303543, + -0.14564302563667297, + -0.15346916019916534, + 0.16064265370368958, + 0.0, + 1.0014774799346924 + ], + [ + 0.3329804539680481, + 0.059514548629522324, + 0.15878936648368835, + -0.07334838807582855, + -0.15063005685806274, + 0.09975002706050873, + 0.0, + 1.0014774799346924 + ], + [ + 0.34016650915145874, + 0.06439483910799026, + 0.14941343665122986, + -0.013317439705133438, + -0.12818476557731628, + 0.04168475791811943, + 0.0, + 1.0014774799346924 + ], + [ + 0.346201628446579, + 0.05749265477061272, + 0.1456211358308792, + 0.02765936590731144, + -0.13691385090351105, + -0.006177864037454128, + 0.0, + 1.0014774799346924 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.939095675945282 + ], + [ + 0.8481387495994568 + ], + [ + 0.8481387495994568 + ], + [ + 0.8481387495994568 + ], + [ + 0.8481387495994568 + ], + [ + 0.8481387495994568 + ], + [ + 0.8481387495994568 + ], + [ + 0.8481387495994568 + ], + [ + 0.8481387495994568 + ], + [ + 0.8472316861152649 + ], + [ + 0.8472316861152649 + ], + [ + 0.8472316861152649 + ], + [ + 0.8472316861152649 + ], + [ + 0.8472316861152649 + ], + [ + 0.8472316861152649 + ], + [ + 0.8481387495994568 + ], + [ + 0.8472316861152649 + ], + [ + 0.8472316861152649 + ], + [ + 0.9149291515350342 + ], + [ + 1.0143678188323975 + ], + [ + 1.0092895030975342 + ], + [ + 1.003452181816101 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3251027464866638, + 0.09460218250751495, + 0.15055036544799805 + ], + [ + 0.3252076506614685, + 0.09392450749874115, + 0.14068110287189484 + ], + [ + 0.3317687511444092, + 0.11161912232637405, + 0.1330854743719101 + ], + [ + 0.34285369515419006, + 0.14059822261333466, + 0.11316157132387161 + ], + [ + 0.3510637581348419, + 0.18086940050125122, + 0.0987250804901123 + ], + [ + 0.3458183705806732, + 0.20465466380119324, + 0.08789502829313278 + ], + [ + 0.3419654667377472, + 0.20432478189468384, + 0.0770016610622406 + ], + [ + 0.3368113934993744, + 0.20300333201885223, + 0.06761808693408966 + ], + [ + 0.3344954252243042, + 0.20454581081867218, + 0.0662025585770607 + ], + [ + 0.33503878116607666, + 0.20688772201538086, + 0.06628944724798203 + ], + [ + 0.3360670506954193, + 0.20668454468250275, + 0.05401422828435898 + ], + [ + 0.33899444341659546, + 0.21030651032924652, + 0.04933902993798256 + ], + [ + 0.3398849368095398, + 0.2118261307477951, + 0.04705922305583954 + ], + [ + 0.34023016691207886, + 0.21262335777282715, + 0.048072442412376404 + ], + [ + 0.3406379222869873, + 0.21266940236091614, + 0.0479859821498394 + ], + [ + 0.3397735059261322, + 0.2130172699689865, + 0.04119504988193512 + ], + [ + 0.3395861089229584, + 0.21430447697639465, + 0.0365266390144825 + ], + [ + 0.3408558964729309, + 0.21357405185699463, + 0.0345994234085083 + ], + [ + 0.34114712476730347, + 0.21323497593402863, + 0.03485976904630661 + ], + [ + 0.3416594862937927, + 0.21197332441806793, + 0.03457743674516678 + ], + [ + 0.3402045667171478, + 0.2115364968776703, + 0.03621803969144821 + ], + [ + 0.3414233326911926, + 0.21804438531398773, + 0.06416258215904236 + ], + [ + 0.3408554196357727, + 0.22030475735664368, + 0.07763995975255966 + ], + [ + 0.3399446904659271, + 0.2150605469942093, + 0.1165013313293457 + ], + [ + 0.33965471386909485, + 0.1853189766407013, + 0.1323009878396988 + ], + [ + 0.3473726809024811, + 0.12406345456838608, + 0.14441746473312378 + ], + [ + 0.3429020941257477, + 0.0945868119597435, + 0.1457827091217041 + ], + [ + 0.33894050121307373, + 0.05068594217300415, + 0.1324245184659958 + ], + [ + 0.3374238908290863, + 0.02118353731930256, + 0.11797041445970535 + ], + [ + 0.33789461851119995, + -0.010185806080698967, + 0.1040782779455185 + ], + [ + 0.33515825867652893, + -0.05440199002623558, + 0.0828562080860138 + ], + [ + 0.33124083280563354, + -0.0735451728105545, + 0.06367155909538269 + ], + [ + 0.32532501220703125, + -0.08332936465740204, + 0.05424593761563301 + ], + [ + 0.324520468711853, + -0.08488579094409943, + 0.04894232004880905 + ], + [ + 0.3229810297489166, + -0.08735602349042892, + 0.047380231320858 + ], + [ + 0.32303282618522644, + -0.08188419789075851, + 0.04690248891711235 + ], + [ + 0.3231924772262573, + -0.07045073807239532, + 0.05910017713904381 + ], + [ + 0.3239004909992218, + -0.04620910808444023, + 0.08788026124238968 + ], + [ + 0.32226723432540894, + 0.0038461170624941587, + 0.14011871814727783 + ], + [ + 0.31986549496650696, + 0.04916470870375633, + 0.1670670062303543 + ], + [ + 0.3329804539680481, + 0.059514548629522324, + 0.15878936648368835 + ], + [ + 0.34016650915145874, + 0.06439483910799026, + 0.14941343665122986 + ], + [ + 0.346201628446579, + 0.05749265477061272, + 0.1456211358308792 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9852148220697284, + 0.09680226798929553, + 0.14135443143474893, + 0.08877701654106149, + -0.9941180585699745, + 0.06203166094126496, + 0.14652779841443267, + -0.048565487099303056, + -0.9880136627368196 + ], + [ + 0.9890531382789836, + 0.09801213284281955, + 0.11030644349309485, + 0.09309635451496463, + -0.9944566335196596, + 0.048878142607606666, + 0.11448562545803667, + -0.038073952570583, + -0.9926950265308753 + ], + [ + 0.9834647613780251, + 0.16570161804581937, + 0.07307555613651905, + 0.16443262396632005, + -0.986117921911731, + 0.023094507140013237, + 0.07588791276095912, + -0.010696628510270268, + -0.9970589786142534 + ], + [ + 0.9639260574643361, + 0.26517684602674585, + 0.022973812756457778, + 0.265317739330858, + -0.9641555111267195, + -0.0032630599652971946, + 0.021285040230738444, + 0.009240708591972444, + -0.9997307419335938 + ], + [ + 0.9237135622933011, + 0.3828880055876464, + -0.012248673909201294, + 0.38298819646271126, + -0.9237252516855692, + 0.007190324656882645, + -0.008561320322189958, + -0.0113328979323993, + -0.9998991295219707 + ], + [ + 0.9017425435969062, + 0.43047620743214554, + -0.03937791134910893, + 0.4321642044041212, + -0.8998146455621059, + 0.05973026087080963, + -0.009720365174975666, + -0.0708790410966343, + -0.9974375549547385 + ], + [ + 0.9106195426184669, + 0.41041942550934113, + -0.048248769579303144, + 0.41297970787136623, + -0.9079981150716616, + 0.07061999655048602, + -0.014825973418812057, + -0.08423371172453477, + -0.9963357226965682 + ], + [ + 0.9150699249237978, + 0.3983515005819505, + -0.062953272226812, + 0.4023931440492002, + -0.9122656377238411, + 0.07649290065432925, + -0.026959045275277104, + -0.09532831799849269, + -0.9950807613784037 + ], + [ + 0.9120339911885104, + 0.404115094253272, + -0.06989270000096987, + 0.40923077488477105, + -0.9079377475222421, + 0.0904390375415811, + -0.02691044042683713, + -0.11108572014848146, + -0.9934464207873152 + ], + [ + 0.908092603708051, + 0.41137006119412667, + -0.07837407635100802, + 0.41833026426874653, + -0.8996805587434359, + 0.12479856656204134, + -0.019173238838909343, + -0.1461149033200927, + -0.98908180750643 + ], + [ + 0.9037482057631552, + 0.4143136773941267, + -0.10762600663424023, + 0.42615704093827245, + -0.8945279605711559, + 0.1349440781032808, + -0.040365294977414076, + -0.16782104897945377, + -0.9849907301496915 + ], + [ + 0.9010824153506167, + 0.4173621172196981, + -0.11772571450532832, + 0.43127777792491123, + -0.8908466706402647, + 0.14279946665624227, + -0.04527647307432506, + -0.1794465728818671, + -0.9827252761921326 + ], + [ + 0.9008742548183343, + 0.4159557392808128, + -0.12412251997467305, + 0.43121992457705344, + -0.8903426923742151, + 0.14607965903435635, + -0.04974890605099794, + -0.18512350767848448, + -0.9814552120456352 + ], + [ + 0.8991376720783256, + 0.4184323635370839, + -0.1283191481983068, + 0.4345447261501655, + -0.8884464093583595, + 0.14776284605175932, + -0.05217592955230497, + -0.18861955053230262, + -0.9806632131024111 + ], + [ + 0.8993601515913642, + 0.416780715454211, + -0.13208010052628733, + 0.4334557785539782, + -0.8894768741339458, + 0.1447307100067881, + -0.05716122608659432, + -0.18741591609674035, + -0.9806160658616075 + ], + [ + 0.8941608098592552, + 0.4219156990811261, + -0.14987858079367453, + 0.4416630404675546, + -0.8861200343981689, + 0.14044587328627223, + -0.0735540943578028, + -0.1917770254933398, + -0.9786783780671415 + ], + [ + 0.8947252799855504, + 0.4150695002246353, + -0.16487566023537314, + 0.43831670416646973, + -0.886912748588, + 0.14582264310018136, + -0.08570379340158835, + -0.20273896116768217, + -0.9754751526416381 + ], + [ + 0.8894123737887925, + 0.42289357653098, + -0.17351268622271196, + 0.44872804356625823, + -0.8801042755550308, + 0.15511159552706766, + -0.0871135596137789, + -0.21581818060253988, + -0.9725398401365498 + ], + [ + 0.8888383970343682, + 0.4245036641841453, + -0.17251939905880093, + 0.44987475567655555, + -0.879968203283118, + 0.15254070084944898, + -0.08705749917344759, + -0.21319615452656754, + -0.9731230094560243 + ], + [ + 0.8901630578066457, + 0.4230262159494367, + -0.16928836680594148, + 0.44700839637149914, + -0.8827676914695091, + 0.14458456512012097, + -0.08827923929046474, + -0.204377159969245, + -0.9749034579860729 + ], + [ + 0.8844615451257472, + 0.4400909837563946, + -0.15507321241950375, + 0.45634685842204853, + -0.8851653992550811, + 0.09071802891332828, + -0.09734125539617036, + -0.1510037813365001, + -0.9837288945740974 + ], + [ + 0.8784497137965087, + 0.46960096055676054, + -0.08832348597626843, + 0.47589720857466394, + -0.876440929885799, + 0.07330172775425568, + -0.04298775641592741, + -0.1064247821942051, + -0.9933910702906692 + ], + [ + 0.8758136152197806, + 0.47911188211485617, + -0.05832937349242241, + 0.48206164814677893, + -0.8742982137038815, + 0.056738002257864295, + -0.02381341600168912, + -0.07781026879893438, + -0.9966837428631855 + ], + [ + 0.8779847720167285, + 0.47769805595483467, + 0.030778359990500718, + 0.4750010074961056, + -0.8773840015518197, + 0.0676118088694655, + 0.05930247030620146, + -0.04474238659133062, + -0.9972368504310769 + ], + [ + 0.9212214312524367, + 0.38390851822192734, + 0.06297082052710372, + 0.3836850413901644, + -0.9233238829166242, + 0.01608714546452197, + 0.06431845469723647, + 0.009341138710721326, + -0.9978857046340264 + ], + [ + 0.974745732493256, + 0.20429504013356345, + 0.09019031856586146, + 0.20658784579551007, + -0.9782844295777083, + -0.01676415268924939, + 0.08480695110518019, + 0.0349730099168433, + -0.9957834451433706 + ], + [ + 0.9830560710658615, + 0.16345967792111069, + 0.08295598130622543, + 0.16566612688819024, + -0.9859707991341331, + -0.020403863768051915, + 0.0784569661815833, + 0.03380113827559568, + -0.99634431172605 + ], + [ + 0.9852480863475016, + 0.16662333644712318, + 0.03902399389882168, + 0.16680826769628837, + -0.9859881972113961, + -0.0015089029076737499, + 0.03822577895543633, + 0.007996168523122711, + -0.9992371345742712 + ], + [ + 0.9789965626208549, + 0.2010753625124807, + 0.03368128511540916, + 0.19900466851854182, + -0.9783711375911118, + 0.05645404357970666, + 0.04430431451197833, + -0.04856558163091026, + -0.9978369165331956 + ], + [ + 0.9846331122513657, + 0.17252203749296896, + 0.027088389347915454, + 0.17023518698714568, + -0.9828066362809862, + 0.07149193516408066, + 0.038956583136116905, + -0.06578192959565858, + -0.9970732783346622 + ], + [ + 0.9901246991314505, + 0.13544739067688102, + 0.03615362400478028, + 0.13207280664703527, + -0.9877234080860278, + 0.08342207659425172, + 0.04700908331620071, + -0.07782334789603135, + -0.9958582592959823 + ], + [ + 0.9956421679462559, + 0.08818430401048076, + 0.030334830368185312, + 0.08492667518984671, + -0.9917810317753624, + 0.0956966292603665, + 0.03852445000876385, + -0.09270336313632245, + -0.9949482163483371 + ], + [ + 0.999502097810135, + 0.01804499377353081, + 0.02588309627637647, + 0.016046514534534755, + -0.9970209547171386, + 0.0754435234212857, + 0.027167367270898815, + -0.07499062644516548, + -0.9968140950553064 + ], + [ + 0.9995766142778151, + -0.011981837332175766, + 0.026514670713495534, + -0.01374402039221338, + -0.9976375225394092, + 0.06730880718663784, + 0.02564554722282684, + -0.06764472777367683, + -0.9973798156730799 + ], + [ + 0.9994140150868128, + -0.030616775952617453, + 0.015304884132944336, + -0.03133054039252991, + -0.9983168748790341, + 0.04880383766130318, + 0.013784907934682672, + -0.04925474963925823, + -0.9986911163874475 + ], + [ + 0.9993032954841503, + -0.03730689994299057, + 0.001057757609671217, + -0.037321856974269825, + -0.9989398509969906, + 0.02694908314029312, + 5.1249480725648914e-05, + -0.026969785070592864, + -0.9996362478755644 + ], + [ + 0.9997345543185963, + -0.022353773637667478, + 0.005579400106962988, + -0.022293003005783008, + -0.9996939369726886, + -0.010726341269523158, + 0.00581746666357496, + 0.01059911242520091, + -0.9999269052772888 + ], + [ + 0.9989857619382967, + 0.004062998442403721, + 0.044843499955044996, + 0.006638803375718504, + -0.9983268108184619, + -0.0574413186719965, + 0.04453508430776397, + 0.0576807666791655, + -0.9973412432166857 + ], + [ + 0.9854169676965587, + 0.09446239770495587, + 0.14152828408325474, + 0.11040560281983544, + -0.9878490195058177, + -0.10938426544701726, + 0.1294758766786634, + 0.12341462669078385, + -0.9838723633058641 + ], + [ + 0.9755227245682921, + 0.13635936308728766, + 0.17251532670834016, + 0.1580726484958583, + -0.9802224161832621, + -0.11906742883489416, + 0.1528674316143269, + 0.1434229371832728, + -0.9777839277884262 + ], + [ + 0.9837621039801954, + 0.08837471985127143, + 0.15621149657969569, + 0.09845706480587377, + -0.993448788421613, + -0.058014749619738966, + 0.15006108476973956, + 0.07245283758996829, + -0.9860183858138196 + ], + [ + 0.9909340196338281, + 0.03996809895709667, + 0.12826659657954564, + 0.04133078654877338, + -0.9991136599098974, + -0.007978763357171325, + 0.12783401274936151, + 0.013207787369795705, + -0.991707628052336 + ], + [ + 0.990623026462948, + -0.0024008850490886296, + 0.13660254460430454, + -0.006120012228861389, + -0.9996217476012559, + 0.026812444366938998, + 0.13648650076732327, + -0.02739703402911845, + -0.9902630143727975 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + 0.0001049041748046875, + -0.0006776750087738037, + -0.00986926257610321, + -0.01077980175614357, + 0.0323200598359108, + 0.003983639180660248, + 1.0 + ], + [ + 0.006561100482940674, + 0.017694614827632904, + -0.007595628499984741, + -0.027607569471001625, + 0.03877626359462738, + 0.07181466370820999, + 1.0 + ], + [ + 0.011084944009780884, + 0.028979100286960602, + -0.019923903048038483, + -0.01997070387005806, + 0.05467429384589195, + 0.10293091833591461, + 1.0 + ], + [ + 0.008210062980651855, + 0.040271177887916565, + -0.014436490833759308, + 0.020576490089297295, + 0.029848072677850723, + 0.12444835901260376, + 1.0 + ], + [ + -0.005245387554168701, + 0.023785263299942017, + -0.010830052196979523, + 0.059608325362205505, + 0.0011590933427214622, + 0.05386975407600403, + 1.0 + ], + [ + -0.0038529038429260254, + -0.0003298819065093994, + -0.010893367230892181, + 0.013401053845882416, + 0.005105998367071152, + -0.021140694618225098, + 1.0 + ], + [ + -0.005154073238372803, + -0.001321449875831604, + -0.00938357412815094, + 0.011165179312229156, + 0.012135795317590237, + -0.011483937501907349, + 1.0 + ], + [ + -0.0023159682750701904, + 0.0015424787998199463, + -0.0014155283570289612, + 0.01584784686565399, + -4.86224889755249e-05, + 0.00748404860496521, + 1.0 + ], + [ + 0.0005433559417724609, + 0.002341911196708679, + 8.688867092132568e-05, + 0.03531107306480408, + -0.007739275693893433, + 0.00991755723953247, + 1.0 + ], + [ + 0.0010282695293426514, + -0.0002031773328781128, + -0.012275218963623047, + 0.02209077775478363, + 0.021201850846409798, + 0.008933871984481812, + 1.0 + ], + [ + 0.0029273927211761475, + 0.0036219656467437744, + -0.004675198346376419, + 0.011853307485580444, + 0.004915691912174225, + 0.005774557590484619, + 1.0 + ], + [ + 0.0008904933929443359, + 0.001519620418548584, + -0.0022798068821430206, + 0.005819976329803467, + 0.004477493464946747, + 3.7729740142822266e-05, + 1.0 + ], + [ + 0.0003452301025390625, + 0.0007972270250320435, + 0.0010132193565368652, + 0.0035871565341949463, + 0.0024301819503307343, + 0.003753840923309326, + 1.0 + ], + [ + 0.00040775537490844727, + 4.604458808898926e-05, + -8.646026253700256e-05, + -0.0011749863624572754, + 0.004992768168449402, + -0.0010790228843688965, + 1.0 + ], + [ + -0.0008644163608551025, + 0.00034786760807037354, + -0.006790932267904282, + 0.004659965634346008, + 0.016428180038928986, + 0.009677112102508545, + 1.0 + ], + [ + -0.00018739700317382812, + 0.001287207007408142, + -0.0046684108674526215, + 0.011415570974349976, + 0.01218847930431366, + -0.0032622814178466797, + 0.0 + ], + [ + 0.0012697875499725342, + -0.0007304251194000244, + -0.0019272156059741974, + 0.013454422354698181, + 0.001415058970451355, + 0.011731892824172974, + 0.0 + ], + [ + 0.0002912282943725586, + -0.0003390759229660034, + 0.0002603456377983093, + -0.0026963353157043457, + -5.6274235248565674e-05, + 0.001287221908569336, + 0.0 + ], + [ + 0.0005123615264892578, + -0.0012616515159606934, + -0.00028233230113983154, + -0.009031087160110474, + 0.0012264624238014221, + -0.0031680166721343994, + 0.0 + ], + [ + -0.0014549195766448975, + -0.00043682754039764404, + 0.001640602946281433, + -0.05433325469493866, + 0.009101331233978271, + 0.01095619797706604, + 0.0 + ], + [ + 0.0012187659740447998, + 0.006507888436317444, + 0.027944542467594147, + -0.04558680206537247, + -0.05449463054537773, + 0.020150601863861084, + 0.0 + ], + [ + -0.0005679130554199219, + 0.002260372042655945, + 0.013477377593517303, + -0.028814606368541718, + -0.019185340031981468, + 0.006677776575088501, + 0.0 + ], + [ + -0.0009107291698455811, + -0.005244210362434387, + 0.03886137157678604, + -0.03307484835386276, + -0.08315294981002808, + -0.007245302200317383, + 0.0 + ], + [ + -0.0002899765968322754, + -0.029741570353507996, + 0.01579965651035309, + -0.05419694632291794, + -0.005025599151849747, + -0.10127139091491699, + 0.0 + ], + [ + 0.0077179670333862305, + -0.061255522072315216, + 0.012116476893424988, + -0.025746013969182968, + -0.02054605633020401, + -0.18579593300819397, + 0.0 + ], + [ + -0.0044705867767333984, + -0.029476642608642578, + 0.0013652443885803223, + 0.0011945180594921112, + 0.006371259689331055, + -0.04189687967300415, + 0.0 + ], + [ + -0.00396159291267395, + -0.04390086978673935, + -0.013358190655708313, + 0.02591004967689514, + 0.0403025858104229, + 0.00076255202293396, + 0.0 + ], + [ + -0.0015166103839874268, + -0.02950240485370159, + -0.014454104006290436, + 0.05663458630442619, + -0.00608372688293457, + 0.03282633423805237, + 0.0 + ], + [ + 0.00047072768211364746, + -0.031369343400001526, + -0.013892136514186859, + 0.017247062176465988, + 0.005352377891540527, + -0.02934218943119049, + 0.0 + ], + [ + -0.0027363598346710205, + -0.04421618580818176, + -0.0212220698595047, + 0.012108966708183289, + -0.008059971034526825, + -0.03859229385852814, + 0.0 + ], + [ + -0.003917425870895386, + -0.019143182784318924, + -0.019184648990631104, + 0.014917314052581787, + 0.008492428809404373, + -0.047514863312244415, + 0.0 + ], + [ + -0.005915820598602295, + -0.009784191846847534, + -0.00942562147974968, + -0.017816968262195587, + 0.011363275349140167, + -0.06903928518295288, + 0.0 + ], + [ + -0.0008045434951782227, + -0.0015564262866973877, + -0.005303617566823959, + -0.007370129227638245, + 0.0015223510563373566, + -0.029802104458212852, + 0.0 + ], + [ + -0.0015394389629364014, + -0.0024702325463294983, + -0.0015620887279510498, + -0.018439356237649918, + 0.011863014660775661, + -0.017589671537280083, + 1.0 + ], + [ + 5.179643630981445e-05, + 0.00547182559967041, + -0.00047774240374565125, + -0.02230631746351719, + 0.013734094798564911, + -0.005991879850625992, + 1.0 + ], + [ + 0.0001596510410308838, + 0.01143345981836319, + 0.012197688221931458, + -0.03757254779338837, + -0.005766250193119049, + 0.015035299584269524, + 1.0 + ], + [ + 0.0007080137729644775, + 0.024241629987955093, + 0.02878008410334587, + -0.047170691192150116, + -0.038732320070266724, + 0.028940673917531967, + 1.0 + ], + [ + -0.0016332566738128662, + 0.05005522444844246, + 0.05223845690488815, + -0.06701569259166718, + -0.0852905660867691, + 0.10492872446775436, + 1.0 + ], + [ + -0.0024017393589019775, + 0.045318592339754105, + 0.026948288083076477, + -0.020857147872447968, + -0.02362877130508423, + 0.04906848073005676, + 1.0 + ], + [ + 0.013114959001541138, + 0.010349839925765991, + -0.008277639746665955, + 0.07229463756084442, + 0.0028391033411026, + -0.06089262664318085, + 1.0 + ], + [ + 0.0071860551834106445, + 0.004880290478467941, + -0.009375929832458496, + 0.060030948370695114, + 0.02244529128074646, + -0.0580652691423893, + 1.0 + ], + [ + 0.006035119295120239, + -0.006902184337377548, + -0.003792300820350647, + 0.04097680747509003, + -0.008729085326194763, + -0.04786262288689613, + 1.0 + ], + [ + 0.00041922926902770996, + 0.001071736216545105, + -0.004989027976989746, + 0.010992860421538353, + 0.017475105822086334, + -0.008763446472585201, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.939095675945282 + ], + [ + 0.8481387495994568 + ], + [ + 0.8481387495994568 + ], + [ + 0.8481387495994568 + ], + [ + 0.8481387495994568 + ], + [ + 0.8481387495994568 + ], + [ + 0.8481387495994568 + ], + [ + 0.8481387495994568 + ], + [ + 0.8481387495994568 + ], + [ + 0.8472316861152649 + ], + [ + 0.8472316861152649 + ], + [ + 0.8472316861152649 + ], + [ + 0.8472316861152649 + ], + [ + 0.8472316861152649 + ], + [ + 0.8472316861152649 + ], + [ + 0.8481387495994568 + ], + [ + 0.8472316861152649 + ], + [ + 0.8472316861152649 + ], + [ + 0.9149291515350342 + ], + [ + 1.0143678188323975 + ], + [ + 1.0092895030975342 + ], + [ + 1.003452181816101 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3252076506614685, + 0.09392450749874115, + 0.14068110287189484 + ], + [ + 0.3317687511444092, + 0.11161912232637405, + 0.1330854743719101 + ], + [ + 0.34285369515419006, + 0.14059822261333466, + 0.11316157132387161 + ], + [ + 0.3510637581348419, + 0.18086940050125122, + 0.0987250804901123 + ], + [ + 0.3458183705806732, + 0.20465466380119324, + 0.08789502829313278 + ], + [ + 0.3419654667377472, + 0.20432478189468384, + 0.0770016610622406 + ], + [ + 0.3368113934993744, + 0.20300333201885223, + 0.06761808693408966 + ], + [ + 0.3344954252243042, + 0.20454581081867218, + 0.0662025585770607 + ], + [ + 0.33503878116607666, + 0.20688772201538086, + 0.06628944724798203 + ], + [ + 0.3360670506954193, + 0.20668454468250275, + 0.05401422828435898 + ], + [ + 0.33899444341659546, + 0.21030651032924652, + 0.04933902993798256 + ], + [ + 0.3398849368095398, + 0.2118261307477951, + 0.04705922305583954 + ], + [ + 0.34023016691207886, + 0.21262335777282715, + 0.048072442412376404 + ], + [ + 0.3406379222869873, + 0.21266940236091614, + 0.0479859821498394 + ], + [ + 0.3397735059261322, + 0.2130172699689865, + 0.04119504988193512 + ], + [ + 0.3395861089229584, + 0.21430447697639465, + 0.0365266390144825 + ], + [ + 0.3408558964729309, + 0.21357405185699463, + 0.0345994234085083 + ], + [ + 0.34114712476730347, + 0.21323497593402863, + 0.03485976904630661 + ], + [ + 0.3416594862937927, + 0.21197332441806793, + 0.03457743674516678 + ], + [ + 0.3402045667171478, + 0.2115364968776703, + 0.03621803969144821 + ], + [ + 0.3414233326911926, + 0.21804438531398773, + 0.06416258215904236 + ], + [ + 0.3408554196357727, + 0.22030475735664368, + 0.07763995975255966 + ], + [ + 0.3399446904659271, + 0.2150605469942093, + 0.1165013313293457 + ], + [ + 0.33965471386909485, + 0.1853189766407013, + 0.1323009878396988 + ], + [ + 0.3473726809024811, + 0.12406345456838608, + 0.14441746473312378 + ], + [ + 0.3429020941257477, + 0.0945868119597435, + 0.1457827091217041 + ], + [ + 0.33894050121307373, + 0.05068594217300415, + 0.1324245184659958 + ], + [ + 0.3374238908290863, + 0.02118353731930256, + 0.11797041445970535 + ], + [ + 0.33789461851119995, + -0.010185806080698967, + 0.1040782779455185 + ], + [ + 0.33515825867652893, + -0.05440199002623558, + 0.0828562080860138 + ], + [ + 0.33124083280563354, + -0.0735451728105545, + 0.06367155909538269 + ], + [ + 0.32532501220703125, + -0.08332936465740204, + 0.05424593761563301 + ], + [ + 0.324520468711853, + -0.08488579094409943, + 0.04894232004880905 + ], + [ + 0.3229810297489166, + -0.08735602349042892, + 0.047380231320858 + ], + [ + 0.32303282618522644, + -0.08188419789075851, + 0.04690248891711235 + ], + [ + 0.3231924772262573, + -0.07045073807239532, + 0.05910017713904381 + ], + [ + 0.3239004909992218, + -0.04620910808444023, + 0.08788026124238968 + ], + [ + 0.32226723432540894, + 0.0038461170624941587, + 0.14011871814727783 + ], + [ + 0.31986549496650696, + 0.04916470870375633, + 0.1670670062303543 + ], + [ + 0.3329804539680481, + 0.059514548629522324, + 0.15878936648368835 + ], + [ + 0.34016650915145874, + 0.06439483910799026, + 0.14941343665122986 + ], + [ + 0.346201628446579, + 0.05749265477061272, + 0.1456211358308792 + ], + [ + 0.3466208577156067, + 0.05856439098715782, + 0.14063210785388947 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9890531382789836, + 0.09801213284281955, + 0.11030644349309485, + 0.09309635451496463, + -0.9944566335196596, + 0.048878142607606666, + 0.11448562545803667, + -0.038073952570583, + -0.9926950265308753 + ], + [ + 0.9834647613780251, + 0.16570161804581937, + 0.07307555613651905, + 0.16443262396632005, + -0.986117921911731, + 0.023094507140013237, + 0.07588791276095912, + -0.010696628510270268, + -0.9970589786142534 + ], + [ + 0.9639260574643361, + 0.26517684602674585, + 0.022973812756457778, + 0.265317739330858, + -0.9641555111267195, + -0.0032630599652971946, + 0.021285040230738444, + 0.009240708591972444, + -0.9997307419335938 + ], + [ + 0.9237135622933011, + 0.3828880055876464, + -0.012248673909201294, + 0.38298819646271126, + -0.9237252516855692, + 0.007190324656882645, + -0.008561320322189958, + -0.0113328979323993, + -0.9998991295219707 + ], + [ + 0.9017425435969062, + 0.43047620743214554, + -0.03937791134910893, + 0.4321642044041212, + -0.8998146455621059, + 0.05973026087080963, + -0.009720365174975666, + -0.0708790410966343, + -0.9974375549547385 + ], + [ + 0.9106195426184669, + 0.41041942550934113, + -0.048248769579303144, + 0.41297970787136623, + -0.9079981150716616, + 0.07061999655048602, + -0.014825973418812057, + -0.08423371172453477, + -0.9963357226965682 + ], + [ + 0.9150699249237978, + 0.3983515005819505, + -0.062953272226812, + 0.4023931440492002, + -0.9122656377238411, + 0.07649290065432925, + -0.026959045275277104, + -0.09532831799849269, + -0.9950807613784037 + ], + [ + 0.9120339911885104, + 0.404115094253272, + -0.06989270000096987, + 0.40923077488477105, + -0.9079377475222421, + 0.0904390375415811, + -0.02691044042683713, + -0.11108572014848146, + -0.9934464207873152 + ], + [ + 0.908092603708051, + 0.41137006119412667, + -0.07837407635100802, + 0.41833026426874653, + -0.8996805587434359, + 0.12479856656204134, + -0.019173238838909343, + -0.1461149033200927, + -0.98908180750643 + ], + [ + 0.9037482057631552, + 0.4143136773941267, + -0.10762600663424023, + 0.42615704093827245, + -0.8945279605711559, + 0.1349440781032808, + -0.040365294977414076, + -0.16782104897945377, + -0.9849907301496915 + ], + [ + 0.9010824153506167, + 0.4173621172196981, + -0.11772571450532832, + 0.43127777792491123, + -0.8908466706402647, + 0.14279946665624227, + -0.04527647307432506, + -0.1794465728818671, + -0.9827252761921326 + ], + [ + 0.9008742548183343, + 0.4159557392808128, + -0.12412251997467305, + 0.43121992457705344, + -0.8903426923742151, + 0.14607965903435635, + -0.04974890605099794, + -0.18512350767848448, + -0.9814552120456352 + ], + [ + 0.8991376720783256, + 0.4184323635370839, + -0.1283191481983068, + 0.4345447261501655, + -0.8884464093583595, + 0.14776284605175932, + -0.05217592955230497, + -0.18861955053230262, + -0.9806632131024111 + ], + [ + 0.8993601515913642, + 0.416780715454211, + -0.13208010052628733, + 0.4334557785539782, + -0.8894768741339458, + 0.1447307100067881, + -0.05716122608659432, + -0.18741591609674035, + -0.9806160658616075 + ], + [ + 0.8941608098592552, + 0.4219156990811261, + -0.14987858079367453, + 0.4416630404675546, + -0.8861200343981689, + 0.14044587328627223, + -0.0735540943578028, + -0.1917770254933398, + -0.9786783780671415 + ], + [ + 0.8947252799855504, + 0.4150695002246353, + -0.16487566023537314, + 0.43831670416646973, + -0.886912748588, + 0.14582264310018136, + -0.08570379340158835, + -0.20273896116768217, + -0.9754751526416381 + ], + [ + 0.8894123737887925, + 0.42289357653098, + -0.17351268622271196, + 0.44872804356625823, + -0.8801042755550308, + 0.15511159552706766, + -0.0871135596137789, + -0.21581818060253988, + -0.9725398401365498 + ], + [ + 0.8888383970343682, + 0.4245036641841453, + -0.17251939905880093, + 0.44987475567655555, + -0.879968203283118, + 0.15254070084944898, + -0.08705749917344759, + -0.21319615452656754, + -0.9731230094560243 + ], + [ + 0.8901630578066457, + 0.4230262159494367, + -0.16928836680594148, + 0.44700839637149914, + -0.8827676914695091, + 0.14458456512012097, + -0.08827923929046474, + -0.204377159969245, + -0.9749034579860729 + ], + [ + 0.8844615451257472, + 0.4400909837563946, + -0.15507321241950375, + 0.45634685842204853, + -0.8851653992550811, + 0.09071802891332828, + -0.09734125539617036, + -0.1510037813365001, + -0.9837288945740974 + ], + [ + 0.8784497137965087, + 0.46960096055676054, + -0.08832348597626843, + 0.47589720857466394, + -0.876440929885799, + 0.07330172775425568, + -0.04298775641592741, + -0.1064247821942051, + -0.9933910702906692 + ], + [ + 0.8758136152197806, + 0.47911188211485617, + -0.05832937349242241, + 0.48206164814677893, + -0.8742982137038815, + 0.056738002257864295, + -0.02381341600168912, + -0.07781026879893438, + -0.9966837428631855 + ], + [ + 0.8779847720167285, + 0.47769805595483467, + 0.030778359990500718, + 0.4750010074961056, + -0.8773840015518197, + 0.0676118088694655, + 0.05930247030620146, + -0.04474238659133062, + -0.9972368504310769 + ], + [ + 0.9212214312524367, + 0.38390851822192734, + 0.06297082052710372, + 0.3836850413901644, + -0.9233238829166242, + 0.01608714546452197, + 0.06431845469723647, + 0.009341138710721326, + -0.9978857046340264 + ], + [ + 0.974745732493256, + 0.20429504013356345, + 0.09019031856586146, + 0.20658784579551007, + -0.9782844295777083, + -0.01676415268924939, + 0.08480695110518019, + 0.0349730099168433, + -0.9957834451433706 + ], + [ + 0.9830560710658615, + 0.16345967792111069, + 0.08295598130622543, + 0.16566612688819024, + -0.9859707991341331, + -0.020403863768051915, + 0.0784569661815833, + 0.03380113827559568, + -0.99634431172605 + ], + [ + 0.9852480863475016, + 0.16662333644712318, + 0.03902399389882168, + 0.16680826769628837, + -0.9859881972113961, + -0.0015089029076737499, + 0.03822577895543633, + 0.007996168523122711, + -0.9992371345742712 + ], + [ + 0.9789965626208549, + 0.2010753625124807, + 0.03368128511540916, + 0.19900466851854182, + -0.9783711375911118, + 0.05645404357970666, + 0.04430431451197833, + -0.04856558163091026, + -0.9978369165331956 + ], + [ + 0.9846331122513657, + 0.17252203749296896, + 0.027088389347915454, + 0.17023518698714568, + -0.9828066362809862, + 0.07149193516408066, + 0.038956583136116905, + -0.06578192959565858, + -0.9970732783346622 + ], + [ + 0.9901246991314505, + 0.13544739067688102, + 0.03615362400478028, + 0.13207280664703527, + -0.9877234080860278, + 0.08342207659425172, + 0.04700908331620071, + -0.07782334789603135, + -0.9958582592959823 + ], + [ + 0.9956421679462559, + 0.08818430401048076, + 0.030334830368185312, + 0.08492667518984671, + -0.9917810317753624, + 0.0956966292603665, + 0.03852445000876385, + -0.09270336313632245, + -0.9949482163483371 + ], + [ + 0.999502097810135, + 0.01804499377353081, + 0.02588309627637647, + 0.016046514534534755, + -0.9970209547171386, + 0.0754435234212857, + 0.027167367270898815, + -0.07499062644516548, + -0.9968140950553064 + ], + [ + 0.9995766142778151, + -0.011981837332175766, + 0.026514670713495534, + -0.01374402039221338, + -0.9976375225394092, + 0.06730880718663784, + 0.02564554722282684, + -0.06764472777367683, + -0.9973798156730799 + ], + [ + 0.9994140150868128, + -0.030616775952617453, + 0.015304884132944336, + -0.03133054039252991, + -0.9983168748790341, + 0.04880383766130318, + 0.013784907934682672, + -0.04925474963925823, + -0.9986911163874475 + ], + [ + 0.9993032954841503, + -0.03730689994299057, + 0.001057757609671217, + -0.037321856974269825, + -0.9989398509969906, + 0.02694908314029312, + 5.1249480725648914e-05, + -0.026969785070592864, + -0.9996362478755644 + ], + [ + 0.9997345543185963, + -0.022353773637667478, + 0.005579400106962988, + -0.022293003005783008, + -0.9996939369726886, + -0.010726341269523158, + 0.00581746666357496, + 0.01059911242520091, + -0.9999269052772888 + ], + [ + 0.9989857619382967, + 0.004062998442403721, + 0.044843499955044996, + 0.006638803375718504, + -0.9983268108184619, + -0.0574413186719965, + 0.04453508430776397, + 0.0576807666791655, + -0.9973412432166857 + ], + [ + 0.9854169676965587, + 0.09446239770495587, + 0.14152828408325474, + 0.11040560281983544, + -0.9878490195058177, + -0.10938426544701726, + 0.1294758766786634, + 0.12341462669078385, + -0.9838723633058641 + ], + [ + 0.9755227245682921, + 0.13635936308728766, + 0.17251532670834016, + 0.1580726484958583, + -0.9802224161832621, + -0.11906742883489416, + 0.1528674316143269, + 0.1434229371832728, + -0.9777839277884262 + ], + [ + 0.9837621039801954, + 0.08837471985127143, + 0.15621149657969569, + 0.09845706480587377, + -0.993448788421613, + -0.058014749619738966, + 0.15006108476973956, + 0.07245283758996829, + -0.9860183858138196 + ], + [ + 0.9909340196338281, + 0.03996809895709667, + 0.12826659657954564, + 0.04133078654877338, + -0.9991136599098974, + -0.007978763357171325, + 0.12783401274936151, + 0.013207787369795705, + -0.991707628052336 + ], + [ + 0.990623026462948, + -0.0024008850490886296, + 0.13660254460430454, + -0.006120012228861389, + -0.9996217476012559, + 0.026812444366938998, + 0.13648650076732327, + -0.02739703402911845, + -0.9902630143727975 + ], + [ + 0.9927648444541958, + -0.010325651072990457, + 0.11963003195583966, + -0.01483431170509838, + -0.9992103538409981, + 0.03685935394419433, + 0.11915496973300085, + -0.03836729996841404, + -0.9921340854345553 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005651.json b/json/chunk-0005/episode_0005651.json new file mode 100644 index 0000000000000000000000000000000000000000..abcf43bb1bb8be6577ead3c7bb6d7bfbba082533 --- /dev/null +++ b/json/chunk-0005/episode_0005651.json @@ -0,0 +1,2482 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 40, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut the green arch on top of the red arch." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005651.mp4", + "start": 0, + "end": 40, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.22840113937854767, + -0.031733088195323944, + 0.10713454335927963, + 0.011908149346709251, + -0.0804305225610733, + 1.7342292070388794, + 0.0, + 1.0008161067962646 + ], + [ + 0.22438232600688934, + -0.030972080305218697, + 0.10096944868564606, + 0.03780682012438774, + -0.08994340151548386, + 1.7335536479949951, + 0.0, + 1.0008161067962646 + ], + [ + 0.22328400611877441, + -0.04311800003051758, + 0.08479037135839462, + 0.020830709487199783, + -0.13828009366989136, + 1.7105882167816162, + 0.0, + 1.0008161067962646 + ], + [ + 0.21885021030902863, + -0.04692118614912033, + 0.07796260714530945, + 0.016737578436732292, + -0.16448499262332916, + 1.697157382965088, + 0.0, + 1.0008161067962646 + ], + [ + 0.20757992565631866, + -0.048682499676942825, + 0.06647954136133194, + 0.03754962235689163, + -0.18043671548366547, + 1.6759874820709229, + 0.0, + 1.0008161067962646 + ], + [ + 0.1981450319290161, + -0.04868893325328827, + 0.05857246369123459, + 0.054191954433918, + -0.19301368296146393, + 1.6587244272232056, + 0.0, + 1.0008161067962646 + ], + [ + 0.19627268612384796, + -0.04659928381443024, + 0.055067941546440125, + 0.058233290910720825, + -0.18781834840774536, + 1.6617196798324585, + 0.0, + 1.0008161067962646 + ], + [ + 0.19382405281066895, + -0.0417633019387722, + 0.04713057354092598, + 0.0625135526061058, + -0.2025594413280487, + 1.65006422996521, + 0.0, + 1.0008161067962646 + ], + [ + 0.19382818043231964, + -0.03271997720003128, + 0.03527598828077316, + 0.09047681093215942, + -0.21066580712795258, + 1.6717902421951294, + 0.0, + 0.9709111452102661 + ], + [ + 0.19246582686901093, + -0.026505587622523308, + 0.029364800080657005, + 0.1125299409031868, + -0.1909676492214203, + 1.6849323511123657, + 0.0, + 0.6931989789009094 + ], + [ + 0.1905830353498459, + -0.027824223041534424, + 0.03714678809046745, + 0.1104530319571495, + -0.17065948247909546, + 1.6818453073501587, + 0.0, + 0.5889025926589966 + ], + [ + 0.1913444697856903, + -0.0380796417593956, + 0.06257196515798569, + 0.11348516494035721, + -0.09893669188022614, + 1.6408792734146118, + 0.0, + 0.5889025926589966 + ], + [ + 0.194843590259552, + -0.054565705358982086, + 0.1111714243888855, + 0.10386922955513, + -0.008623986504971981, + 1.56429922580719, + 0.0, + 0.5889025926589966 + ], + [ + 0.20311339199543, + -0.056017450988292694, + 0.1527194231748581, + 0.09965354204177856, + 0.014829488471150398, + 1.5190212726593018, + 0.0, + 0.5889025926589966 + ], + [ + 0.21895939111709595, + -0.039573680609464645, + 0.1826155036687851, + 0.07999257743358612, + -0.004754665773361921, + 1.5526454448699951, + 0.0, + 0.5889025926589966 + ], + [ + 0.23614796996116638, + -0.01970529556274414, + 0.1985643059015274, + 0.052681513130664825, + -0.051482006907463074, + 1.609092354774475, + 0.0, + 0.5889025926589966 + ], + [ + 0.25704994797706604, + 0.0030354990158230066, + 0.2028912752866745, + 0.06487758457660675, + -0.07880450785160065, + 1.6785814762115479, + 0.0, + 0.5889025926589966 + ], + [ + 0.28091543912887573, + 0.016661332920193672, + 0.19375015795230865, + 0.09568145126104355, + -0.11677106469869614, + 1.7046799659729004, + 0.0, + 0.5889025926589966 + ], + [ + 0.30350151658058167, + 0.03440673276782036, + 0.17544928193092346, + 0.14139153063297272, + -0.16367757320404053, + 1.7080343961715698, + 0.0, + 0.5889025926589966 + ], + [ + 0.3109947741031647, + 0.055357009172439575, + 0.1674242466688156, + 0.18131250143051147, + -0.1757129430770874, + 1.6879483461380005, + 0.0, + 0.5889025926589966 + ], + [ + 0.3089778423309326, + 0.07187618315219879, + 0.16329170763492584, + 0.2019188404083252, + -0.19005240499973297, + 1.679553747177124, + 0.0, + 0.5889025926589966 + ], + [ + 0.3036934435367584, + 0.08108312636613846, + 0.15984658896923065, + 0.22425149381160736, + -0.17669153213500977, + 1.672958493232727, + 0.0, + 0.5889025926589966 + ], + [ + 0.29468151926994324, + 0.08956072479486465, + 0.16549192368984222, + 0.21966515481472015, + -0.16946929693222046, + 1.6705857515335083, + 0.0, + 0.5889025926589966 + ], + [ + 0.2902214825153351, + 0.09233605861663818, + 0.1580650806427002, + 0.23293636739253998, + -0.18025316298007965, + 1.6459810733795166, + 0.0, + 0.5889025926589966 + ], + [ + 0.2876146137714386, + 0.09233713895082474, + 0.15725618600845337, + 0.21591833233833313, + -0.18730011582374573, + 1.639483094215393, + 0.0, + 0.5889025926589966 + ], + [ + 0.28499850630760193, + 0.09094162285327911, + 0.1524146944284439, + 0.21000276505947113, + -0.19598357379436493, + 1.624530553817749, + 0.0, + 0.5889025926589966 + ], + [ + 0.2851293385028839, + 0.08839283138513565, + 0.15695351362228394, + 0.17455017566680908, + -0.1984267234802246, + 1.6195147037506104, + 0.0, + 0.5889025926589966 + ], + [ + 0.28574275970458984, + 0.08560065180063248, + 0.15810750424861908, + 0.16311779618263245, + -0.1813337355852127, + 1.6227926015853882, + 0.0, + 0.5889025926589966 + ], + [ + 0.2885802090167999, + 0.08445742726325989, + 0.16178251802921295, + 0.14967966079711914, + -0.17559726536273956, + 1.62578547000885, + 0.0, + 0.5889025926589966 + ], + [ + 0.2891990840435028, + 0.08432981371879578, + 0.16243430972099304, + 0.14665967226028442, + -0.17426393926143646, + 1.6250537633895874, + 0.0, + 0.5889025926589966 + ], + [ + 0.2901126444339752, + 0.08473696559667587, + 0.162360280752182, + 0.14076927304267883, + -0.17637160420417786, + 1.6246956586837769, + 0.0, + 0.5889025926589966 + ], + [ + 0.29076460003852844, + 0.08603542298078537, + 0.16229240596294403, + 0.13487906754016876, + -0.17847971618175507, + 1.627408742904663, + 0.0, + 0.5889025926589966 + ], + [ + 0.2932773530483246, + 0.0860138013958931, + 0.1620332896709442, + 0.11965051293373108, + -0.1799943447113037, + 1.6256777048110962, + 0.0, + 0.5889025926589966 + ], + [ + 0.29529792070388794, + 0.08684775978326797, + 0.16154411435127258, + 0.10636842250823975, + -0.18431633710861206, + 1.624678373336792, + 0.0, + 0.5889025926589966 + ], + [ + 0.2945103347301483, + 0.08620154857635498, + 0.15854957699775696, + 0.10931769013404846, + -0.18376848101615906, + 1.6223316192626953, + 0.0, + 0.5889025926589966 + ], + [ + 0.29564589262008667, + 0.08518717437982559, + 0.15823744237422943, + 0.10221223533153534, + -0.1768692433834076, + 1.6237248182296753, + 0.0, + 0.6340072751045227 + ], + [ + 0.2929381728172302, + 0.08394096791744232, + 0.15442702174186707, + 0.11511657387018204, + -0.16751618683338165, + 1.6241044998168945, + 0.0, + 0.9295665621757507 + ], + [ + 0.29425501823425293, + 0.08317668735980988, + 0.1526125818490982, + 0.10498800128698349, + -0.1623845100402832, + 1.6257354021072388, + 0.0, + 1.002137303352356 + ], + [ + 0.29219919443130493, + 0.08111577481031418, + 0.15850023925304413, + 0.09274141490459442, + -0.1535651832818985, + 1.6310988664627075, + 0.0, + 0.9988223910331726 + ], + [ + 0.2892802953720093, + 0.0779511034488678, + 0.16983795166015625, + 0.08312609791755676, + -0.1384846270084381, + 1.6371387243270874, + 0.0, + 0.9994885921478271 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9709111452102661 + ], + [ + 0.6931989789009094 + ], + [ + 0.5889025926589966 + ], + [ + 0.5889025926589966 + ], + [ + 0.5889025926589966 + ], + [ + 0.5889025926589966 + ], + [ + 0.5889025926589966 + ], + [ + 0.5889025926589966 + ], + [ + 0.5889025926589966 + ], + [ + 0.5889025926589966 + ], + [ + 0.5889025926589966 + ], + [ + 0.5889025926589966 + ], + [ + 0.5889025926589966 + ], + [ + 0.5889025926589966 + ], + [ + 0.5889025926589966 + ], + [ + 0.5889025926589966 + ], + [ + 0.5889025926589966 + ], + [ + 0.5889025926589966 + ], + [ + 0.5889025926589966 + ], + [ + 0.5889025926589966 + ], + [ + 0.5889025926589966 + ], + [ + 0.5889025926589966 + ], + [ + 0.5889025926589966 + ], + [ + 0.5889025926589966 + ], + [ + 0.5889025926589966 + ], + [ + 0.5889025926589966 + ], + [ + 0.5889025926589966 + ], + [ + 0.6340072751045227 + ], + [ + 0.9295665621757507 + ], + [ + 1.002137303352356 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.22840113937854767, + -0.031733088195323944, + 0.10713454335927963 + ], + [ + 0.22438232600688934, + -0.030972080305218697, + 0.10096944868564606 + ], + [ + 0.22328400611877441, + -0.04311800003051758, + 0.08479037135839462 + ], + [ + 0.21885021030902863, + -0.04692118614912033, + 0.07796260714530945 + ], + [ + 0.20757992565631866, + -0.048682499676942825, + 0.06647954136133194 + ], + [ + 0.1981450319290161, + -0.04868893325328827, + 0.05857246369123459 + ], + [ + 0.19627268612384796, + -0.04659928381443024, + 0.055067941546440125 + ], + [ + 0.19382405281066895, + -0.0417633019387722, + 0.04713057354092598 + ], + [ + 0.19382818043231964, + -0.03271997720003128, + 0.03527598828077316 + ], + [ + 0.19246582686901093, + -0.026505587622523308, + 0.029364800080657005 + ], + [ + 0.1905830353498459, + -0.027824223041534424, + 0.03714678809046745 + ], + [ + 0.1913444697856903, + -0.0380796417593956, + 0.06257196515798569 + ], + [ + 0.194843590259552, + -0.054565705358982086, + 0.1111714243888855 + ], + [ + 0.20311339199543, + -0.056017450988292694, + 0.1527194231748581 + ], + [ + 0.21895939111709595, + -0.039573680609464645, + 0.1826155036687851 + ], + [ + 0.23614796996116638, + -0.01970529556274414, + 0.1985643059015274 + ], + [ + 0.25704994797706604, + 0.0030354990158230066, + 0.2028912752866745 + ], + [ + 0.28091543912887573, + 0.016661332920193672, + 0.19375015795230865 + ], + [ + 0.30350151658058167, + 0.03440673276782036, + 0.17544928193092346 + ], + [ + 0.3109947741031647, + 0.055357009172439575, + 0.1674242466688156 + ], + [ + 0.3089778423309326, + 0.07187618315219879, + 0.16329170763492584 + ], + [ + 0.3036934435367584, + 0.08108312636613846, + 0.15984658896923065 + ], + [ + 0.29468151926994324, + 0.08956072479486465, + 0.16549192368984222 + ], + [ + 0.2902214825153351, + 0.09233605861663818, + 0.1580650806427002 + ], + [ + 0.2876146137714386, + 0.09233713895082474, + 0.15725618600845337 + ], + [ + 0.28499850630760193, + 0.09094162285327911, + 0.1524146944284439 + ], + [ + 0.2851293385028839, + 0.08839283138513565, + 0.15695351362228394 + ], + [ + 0.28574275970458984, + 0.08560065180063248, + 0.15810750424861908 + ], + [ + 0.2885802090167999, + 0.08445742726325989, + 0.16178251802921295 + ], + [ + 0.2891990840435028, + 0.08432981371879578, + 0.16243430972099304 + ], + [ + 0.2901126444339752, + 0.08473696559667587, + 0.162360280752182 + ], + [ + 0.29076460003852844, + 0.08603542298078537, + 0.16229240596294403 + ], + [ + 0.2932773530483246, + 0.0860138013958931, + 0.1620332896709442 + ], + [ + 0.29529792070388794, + 0.08684775978326797, + 0.16154411435127258 + ], + [ + 0.2945103347301483, + 0.08620154857635498, + 0.15854957699775696 + ], + [ + 0.29564589262008667, + 0.08518717437982559, + 0.15823744237422943 + ], + [ + 0.2929381728172302, + 0.08394096791744232, + 0.15442702174186707 + ], + [ + 0.29425501823425293, + 0.08317668735980988, + 0.1526125818490982 + ], + [ + 0.29219919443130493, + 0.08111577481031418, + 0.15850023925304413 + ], + [ + 0.2892802953720093, + 0.0779511034488678, + 0.16983795166015625 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + -0.16218029877153473, + 0.9864489257024175, + -0.0248207105241221, + 0.9834848343121932, + 0.1636387331369512, + 0.07733010859459327, + 0.08034383217331414, + -0.011869372261420777, + -0.9966965368826293 + ], + [ + -0.16138470635551105, + 0.9855289527166313, + -0.05184264568678475, + 0.9827954785200685, + 0.16527412132857144, + 0.08244702674795605, + 0.08982217963874502, + -0.03764502857388613, + -0.9952461142193002 + ], + [ + -0.13800700061006033, + 0.9896301303553634, + -0.03982804132067093, + 0.9807926635920872, + 0.14214989473400108, + 0.13356331259388207, + 0.13783983033417246, + -0.020630378569931003, + -0.9902396521314968 + ], + [ + -0.12432407086208586, + 0.9915427271325862, + -0.03723634883756387, + 0.978637486900895, + 0.12872610667694895, + 0.1603067643366784, + 0.16374429650091527, + -0.016510897318693665, + -0.9863646362441993 + ], + [ + -0.10329268221151794, + 0.993064131196393, + -0.056162737938092046, + 0.9783276606297566, + 0.11162305981674342, + 0.17439977340539983, + 0.179459216114017, + -0.03693133964941098, + -0.9830719535738175 + ], + [ + -0.08618417614172696, + 0.9937620756908493, + -0.07077587654975503, + 0.9776391672131796, + 0.09803566841719363, + 0.18603942175978344, + 0.19181748229369577, + -0.05315961471463511, + -0.9799898514014822 + ], + [ + -0.08920134380659944, + 0.9931945433191384, + -0.07488470727849073, + 0.9783558834328875, + 0.1014662749850283, + 0.18034511469102008, + 0.186716056126278, + -0.05717686736566665, + -0.9807486529294331 + ], + [ + -0.07756597257521153, + 0.9939175377691323, + -0.07817575080168827, + 0.9764790290813079, + 0.09155888355640757, + 0.19520675348545435, + 0.20117710024475527, + -0.06119557955318598, + -0.9776414861186393 + ], + [ + -0.09859332765647416, + 0.9889301281077111, + -0.11088984382029654, + 0.9729090046815237, + 0.11920755236490216, + 0.19808490116305302, + 0.20911103354732508, + -0.08835587801632513, + -0.9738920959062838 + ], + [ + -0.11181800292432575, + 0.984782454678528, + -0.13304229094294956, + 0.9754328586738568, + 0.1343435246435024, + 0.17459254166690114, + 0.18980904204321625, + -0.11025123284432524, + -0.9756111895703856 + ], + [ + -0.10921098369259358, + 0.9857095855347562, + -0.12825589275271398, + 0.9794028563132036, + 0.12875063000752535, + 0.15554202106891868, + 0.16983228811517165, + -0.10862729057453724, + -0.9794677665222071 + ], + [ + -0.06968314838781642, + 0.9903451819320396, + -0.11983605239975594, + 0.9926669563444773, + 0.0807331833963787, + 0.08996925519575152, + 0.09877536440101418, + -0.11268794843585614, + -0.9887086798773259 + ], + [ + 0.00649681367647037, + 0.9945952567538919, + -0.10362464308606029, + 0.9999417083573349, + -0.0055679119709772795, + 0.009250850971575401, + 0.008623879606538903, + -0.10367870369050533, + -0.9945734538492311 + ], + [ + 0.051746235007101404, + 0.9936289629590255, + -0.1001189848708088, + 0.9985501637646873, + -0.052968503475845474, + -0.009586870451067, + -0.014828944942443786, + -0.09947774428735681, + -0.994929284312907 + ], + [ + 0.018149680137536206, + 0.9966449991513718, + -0.07980811222843809, + 0.9998239757250497, + -0.017711978928300953, + 0.006188971465331428, + 0.00475464785871553, + -0.07990639191582403, + -0.9967910321901647 + ], + [ + -0.038235941700712595, + 0.9977767186207341, + -0.05458601048528631, + 0.9979428623095336, + 0.04094126250261648, + 0.04933413210088002, + 0.051459268627866574, + -0.05258738254688033, + -0.9972895822523933 + ], + [ + -0.10724270862225882, + 0.9915561522830679, + -0.07290677826484049, + 0.991111343731261, + 0.11242440390899822, + 0.07112705345310193, + 0.07872296853254004, + -0.06463087710455233, + -0.9947992480647142 + ], + [ + -0.13257499809392526, + 0.9850321816084981, + -0.11016111417373452, + 0.9843019106027515, + 0.14390431389185832, + 0.10218266598149961, + 0.11650587394706295, + -0.0948849284076052, + -0.9886471725023619 + ], + [ + -0.13497920295053595, + 0.9775708349942469, + -0.16166594366003237, + 0.9773579972402053, + 0.15818928944866234, + 0.14052577676121203, + 0.16294772168230118, + -0.13903744557628378, + -0.9767889376555046 + ], + [ + -0.11508446115742516, + 0.9731813632768157, + -0.19918233097035343, + 0.9778532503484468, + 0.1462740697169443, + 0.14968940280267048, + 0.17481014725433625, + -0.1775441654888181, + -0.9684624317534452 + ], + [ + -0.1065887554536884, + 0.9697830792572869, + -0.21945299359336232, + 0.9761924576443145, + 0.14399998467378516, + 0.16221063483108147, + 0.18891035664882597, + -0.19693852746530874, + -0.9620437066737711 + ], + [ + -0.10039671014536217, + 0.9658910022143162, + -0.23869451697391858, + 0.9792977829317545, + 0.1383150753329549, + 0.1477998385675363, + 0.17577358429792256, + -0.21891439371832816, + -0.9597812955491467 + ], + [ + -0.09819672052266132, + 0.9674538654845102, + -0.23321754273140324, + 0.9807708467881702, + 0.13379847769476477, + 0.14207925062083937, + 0.16865927240744902, + -0.21478125040525092, + -0.9619891186002818 + ], + [ + -0.07389696263376949, + 0.96713552058521, + -0.24328609441535626, + 0.9810190660627115, + 0.11435229167671118, + 0.1566050618905056, + 0.17927864048722592, + -0.22709565872261567, + -0.9572286721856971 + ], + [ + -0.06743242168886326, + 0.971738779681122, + -0.22622248466724018, + 0.980193784088094, + 0.10683886390773661, + 0.16675012082144855, + 0.18620691217094734, + -0.21049750882789212, + -0.9596967149245708 + ], + [ + -0.052680212103241086, + 0.9744384627767372, + -0.21839065344942488, + 0.9794409054596979, + 0.09306403579132044, + 0.17898211629802263, + 0.19473137385907952, + -0.20447192350917298, + -0.9593075234414741 + ], + [ + -0.04774352976740548, + 0.9819691099603732, + -0.1829131554836366, + 0.9792147028526296, + 0.08215261617941805, + 0.18544409770093367, + 0.19712716982340375, + -0.17025749539597185, + -0.9654808460963404 + ], + [ + -0.05112070356864462, + 0.9838700921925964, + -0.1714243721166259, + 0.9822746970997861, + 0.08053001412005834, + 0.1692670560485625, + 0.1803416011467425, + -0.15973277220018398, + -0.9705474477742312 + ], + [ + -0.05411625829615452, + 0.9858924791957288, + -0.1583901829449146, + 0.9831340961326266, + 0.08035847495617054, + 0.16428592308594706, + 0.17469624955764532, + -0.14682824989768875, + -0.9736132114050604 + ], + [ + -0.05340946250652012, + 0.9864348959918993, + -0.15522121402764286, + 0.9834051404799345, + 0.07894862662478774, + 0.16334455617405697, + 0.1733832719509135, + -0.14392119483769766, + -0.9742817511808813 + ], + [ + -0.05303749214411152, + 0.9873442691805961, + -0.14946009013545333, + 0.9830571164115202, + 0.0779222843131025, + 0.16591209564132114, + 0.1754586284561981, + -0.138128243757975, + -0.9747486127082241 + ], + [ + -0.055683357678434964, + 0.9879793075814748, + -0.14420905473819917, + 0.9825381256754969, + 0.07990306706731437, + 0.16803074560126696, + 0.17753364546399902, + -0.13233437823961586, + -0.9751766081403908 + ], + [ + -0.05396765220199107, + 0.9901833878977075, + -0.12893545225120448, + 0.9823634238596881, + 0.07579871754491962, + 0.17092880939506908, + 0.17902400950284655, + -0.11743684579365707, + -0.976810622009999 + ], + [ + -0.05294375343476354, + 0.9918572041688546, + -0.11582851769137796, + 0.9816350742434713, + 0.07298123477953211, + 0.17625640523132532, + 0.18327449355339465, + -0.10436965990362199, + -0.9775057207527477 + ], + [ + -0.050645118320131854, + 0.991684066417075, + -0.11831223269313226, + 0.9818567444434498, + 0.0711150268218893, + 0.1757839194893311, + 0.1827358896912413, + -0.10726306621860104, + -0.9772933179164452 + ], + [ + -0.05207844993472338, + 0.9924380281171166, + -0.1111512276108795, + 0.9830208295251854, + 0.07055532427552597, + 0.16938711561388398, + 0.1759485259159975, + -0.10044255354870463, + -0.9792616655749384 + ], + [ + -0.05253707098948707, + 0.990949812921576, + -0.12352459043663916, + 0.9846012842815849, + 0.07205452672429785, + 0.15927478196372308, + 0.1667338212928009, + -0.11325463985740848, + -0.9794759922468081 + ], + [ + -0.054189059343884904, + 0.99206302280663, + -0.1134658742847256, + 0.9853556583151187, + 0.0715259627989448, + 0.15478457052323727, + 0.16167180482014776, + -0.10341661097452486, + -0.981410837570454 + ], + [ + -0.05955678996996039, + 0.9930390554003186, + -0.10161901012171345, + 0.9864357636335637, + 0.07414687933138142, + 0.14644700239364927, + 0.15296232540446678, + -0.0915187124858104, + -0.983985189051033 + ], + [ + -0.06565906748287786, + 0.9935949211027482, + -0.09196749217034525, + 0.9882475298903539, + 0.07750133339903531, + 0.1317587302116464, + 0.13804240842180618, + -0.0822354916091294, + -0.9870063917710523 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.004018813371658325, + 0.0007610078901052475, + -0.0061650946736335754, + 0.02589867077767849, + -0.009512878954410553, + -0.0006755590438842773, + 1.0 + ], + [ + -0.0010983198881149292, + -0.012145919725298882, + -0.016179077327251434, + -0.016976110637187958, + -0.0483366921544075, + -0.022965431213378906, + 1.0 + ], + [ + -0.004433795809745789, + -0.0038031861186027527, + -0.0068277642130851746, + -0.004093131050467491, + -0.026204898953437805, + -0.01343083381652832, + 1.0 + ], + [ + -0.011270284652709961, + -0.0017613135278224945, + -0.011483065783977509, + 0.02081204392015934, + -0.015951722860336304, + -0.02116990089416504, + 1.0 + ], + [ + -0.009434893727302551, + -6.433576345443726e-06, + -0.007907077670097351, + 0.016642332077026367, + -0.012576967477798462, + -0.017263054847717285, + 1.0 + ], + [ + -0.0018723458051681519, + 0.0020896494388580322, + -0.003504522144794464, + 0.004041336476802826, + 0.005195334553718567, + 0.0029952526092529297, + 1.0 + ], + [ + -0.002448633313179016, + 0.004835981875658035, + -0.007937368005514145, + 0.004280261695384979, + -0.014741092920303345, + -0.011655449867248535, + 1.0 + ], + [ + 4.127621650695801e-06, + 0.009043324738740921, + -0.011854585260152817, + 0.02796325832605362, + -0.00810636579990387, + 0.021726012229919434, + 0.0 + ], + [ + -0.0013623535633087158, + 0.006214389577507973, + -0.0059111882001161575, + 0.022053129971027374, + 0.019698157906532288, + 0.013142108917236328, + 0.0 + ], + [ + -0.001882791519165039, + -0.001318635419011116, + 0.007781988009810448, + -0.0020769089460372925, + 0.02030816674232483, + -0.0030870437622070312, + 0.0 + ], + [ + 0.0007614344358444214, + -0.010255418717861176, + 0.025425177067518234, + 0.0030321329832077026, + 0.07172279059886932, + -0.040966033935546875, + 0.0 + ], + [ + 0.0034991204738616943, + -0.016486063599586487, + 0.04859945923089981, + -0.009615935385227203, + 0.09031270444393158, + -0.07658004760742188, + 0.0 + ], + [ + 0.00826980173587799, + -0.001451745629310608, + 0.041547998785972595, + -0.00421568751335144, + 0.023453474044799805, + -0.045277953147888184, + 0.0 + ], + [ + 0.015845999121665955, + 0.01644377037882805, + 0.029896080493927002, + -0.019660964608192444, + -0.019584154710173607, + 0.03362417221069336, + 0.0 + ], + [ + 0.017188578844070435, + 0.019868385046720505, + 0.01594880223274231, + -0.027311064302921295, + -0.046727340668439865, + 0.05644690990447998, + 0.0 + ], + [ + 0.020901978015899658, + 0.022740794345736504, + 0.004326969385147095, + 0.012196071445941925, + -0.027322500944137573, + 0.06948912143707275, + 0.0 + ], + [ + 0.023865491151809692, + 0.01362583413720131, + -0.009141117334365845, + 0.030803866684436798, + -0.03796655684709549, + 0.02609848976135254, + 0.0 + ], + [ + 0.022586077451705933, + 0.017745399847626686, + -0.018300876021385193, + 0.04571007937192917, + -0.04690650850534439, + 0.0033544301986694336, + 0.0 + ], + [ + 0.007493257522583008, + 0.020950276404619217, + -0.008025035262107849, + 0.03992097079753876, + -0.012035369873046875, + -0.020086050033569336, + 0.0 + ], + [ + -0.0020169317722320557, + 0.016519173979759216, + -0.0041325390338897705, + 0.02060633897781372, + -0.014339461922645569, + -0.008394598960876465, + 0.0 + ], + [ + -0.005284398794174194, + 0.009206943213939667, + -0.0034451186656951904, + 0.022332653403282166, + 0.013360872864723206, + -0.006595253944396973, + 0.0 + ], + [ + -0.009011924266815186, + 0.008477598428726196, + 0.005645334720611572, + -0.004586338996887207, + 0.007222235202789307, + -0.00237274169921875, + 0.0 + ], + [ + -0.004460036754608154, + 0.002775333821773529, + -0.007426843047142029, + 0.013271212577819824, + -0.010783866047859192, + -0.0246046781539917, + 0.0 + ], + [ + -0.0026068687438964844, + 1.080334186553955e-06, + -0.0008088946342468262, + -0.017018035054206848, + -0.007046952843666077, + -0.006497979164123535, + 0.0 + ], + [ + -0.00261610746383667, + -0.0013955160975456238, + -0.0048414915800094604, + -0.0059155672788619995, + -0.008683457970619202, + -0.014952540397644043, + 0.0 + ], + [ + 0.00013083219528198242, + -0.002548791468143463, + 0.004538819193840027, + -0.03545258939266205, + -0.00244314968585968, + -0.005015850067138672, + 0.0 + ], + [ + 0.0006134212017059326, + -0.002792179584503174, + 0.001153990626335144, + -0.011432379484176636, + 0.017092987895011902, + 0.003277897834777832, + 0.0 + ], + [ + 0.002837449312210083, + -0.0011432245373725891, + 0.003675013780593872, + -0.013438135385513306, + 0.0057364702224731445, + 0.002992868423461914, + 0.0 + ], + [ + 0.0006188750267028809, + -0.00012761354446411133, + 0.0006517916917800903, + -0.003019988536834717, + 0.0013333261013031006, + -0.0007317066192626953, + 0.0 + ], + [ + 0.0009135603904724121, + 0.00040715187788009644, + -7.402896881103516e-05, + -0.005890399217605591, + -0.002107664942741394, + -0.0003581047058105469, + 0.0 + ], + [ + 0.0006519556045532227, + 0.001298457384109497, + -6.787478923797607e-05, + -0.005890205502510071, + -0.0021081119775772095, + 0.0027130842208862305, + 0.0 + ], + [ + 0.0025127530097961426, + -2.162158489227295e-05, + -0.0002591162919998169, + -0.015228554606437683, + -0.001514628529548645, + -0.0017310380935668945, + 0.0 + ], + [ + 0.0020205676555633545, + 0.0008339583873748779, + -0.0004891753196716309, + -0.013282090425491333, + -0.00432199239730835, + -0.0009993314743041992, + 0.0 + ], + [ + -0.000787585973739624, + -0.0006462112069129944, + -0.002994537353515625, + 0.002949267625808716, + 0.0005478560924530029, + -0.0023467540740966797, + 0.0 + ], + [ + 0.0011355578899383545, + -0.0010143741965293884, + -0.00031213462352752686, + -0.0071054548025131226, + 0.006899237632751465, + 0.0013931989669799805, + 1.0 + ], + [ + -0.0027077198028564453, + -0.0012462064623832703, + -0.0038104206323623657, + 0.012904338538646698, + 0.00935305655002594, + 0.0003796815872192383, + 1.0 + ], + [ + 0.001316845417022705, + -0.0007642805576324463, + -0.0018144398927688599, + -0.010128572583198547, + 0.00513167679309845, + 0.0016309022903442383, + 1.0 + ], + [ + -0.002055823802947998, + -0.002060912549495697, + 0.005887657403945923, + -0.012246586382389069, + 0.008819326758384705, + 0.00536346435546875, + 1.0 + ], + [ + -0.0029188990592956543, + -0.0031646713614463806, + 0.011337712407112122, + -0.009615316987037659, + 0.015080556273460388, + 0.006039857864379883, + 1.0 + ], + [ + 0.0017726123332977295, + -0.00297749787569046, + 0.016611248254776, + -0.024464372545480728, + 0.039117395877838135, + 0.00353848934173584, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9709111452102661 + ], + [ + 0.6931989789009094 + ], + [ + 0.5889025926589966 + ], + [ + 0.5889025926589966 + ], + [ + 0.5889025926589966 + ], + [ + 0.5889025926589966 + ], + [ + 0.5889025926589966 + ], + [ + 0.5889025926589966 + ], + [ + 0.5889025926589966 + ], + [ + 0.5889025926589966 + ], + [ + 0.5889025926589966 + ], + [ + 0.5889025926589966 + ], + [ + 0.5889025926589966 + ], + [ + 0.5889025926589966 + ], + [ + 0.5889025926589966 + ], + [ + 0.5889025926589966 + ], + [ + 0.5889025926589966 + ], + [ + 0.5889025926589966 + ], + [ + 0.5889025926589966 + ], + [ + 0.5889025926589966 + ], + [ + 0.5889025926589966 + ], + [ + 0.5889025926589966 + ], + [ + 0.5889025926589966 + ], + [ + 0.5889025926589966 + ], + [ + 0.5889025926589966 + ], + [ + 0.5889025926589966 + ], + [ + 0.5889025926589966 + ], + [ + 0.6340072751045227 + ], + [ + 0.9295665621757507 + ], + [ + 1.002137303352356 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.22438232600688934, + -0.030972080305218697, + 0.10096944868564606 + ], + [ + 0.22328400611877441, + -0.04311800003051758, + 0.08479037135839462 + ], + [ + 0.21885021030902863, + -0.04692118614912033, + 0.07796260714530945 + ], + [ + 0.20757992565631866, + -0.048682499676942825, + 0.06647954136133194 + ], + [ + 0.1981450319290161, + -0.04868893325328827, + 0.05857246369123459 + ], + [ + 0.19627268612384796, + -0.04659928381443024, + 0.055067941546440125 + ], + [ + 0.19382405281066895, + -0.0417633019387722, + 0.04713057354092598 + ], + [ + 0.19382818043231964, + -0.03271997720003128, + 0.03527598828077316 + ], + [ + 0.19246582686901093, + -0.026505587622523308, + 0.029364800080657005 + ], + [ + 0.1905830353498459, + -0.027824223041534424, + 0.03714678809046745 + ], + [ + 0.1913444697856903, + -0.0380796417593956, + 0.06257196515798569 + ], + [ + 0.194843590259552, + -0.054565705358982086, + 0.1111714243888855 + ], + [ + 0.20311339199543, + -0.056017450988292694, + 0.1527194231748581 + ], + [ + 0.21895939111709595, + -0.039573680609464645, + 0.1826155036687851 + ], + [ + 0.23614796996116638, + -0.01970529556274414, + 0.1985643059015274 + ], + [ + 0.25704994797706604, + 0.0030354990158230066, + 0.2028912752866745 + ], + [ + 0.28091543912887573, + 0.016661332920193672, + 0.19375015795230865 + ], + [ + 0.30350151658058167, + 0.03440673276782036, + 0.17544928193092346 + ], + [ + 0.3109947741031647, + 0.055357009172439575, + 0.1674242466688156 + ], + [ + 0.3089778423309326, + 0.07187618315219879, + 0.16329170763492584 + ], + [ + 0.3036934435367584, + 0.08108312636613846, + 0.15984658896923065 + ], + [ + 0.29468151926994324, + 0.08956072479486465, + 0.16549192368984222 + ], + [ + 0.2902214825153351, + 0.09233605861663818, + 0.1580650806427002 + ], + [ + 0.2876146137714386, + 0.09233713895082474, + 0.15725618600845337 + ], + [ + 0.28499850630760193, + 0.09094162285327911, + 0.1524146944284439 + ], + [ + 0.2851293385028839, + 0.08839283138513565, + 0.15695351362228394 + ], + [ + 0.28574275970458984, + 0.08560065180063248, + 0.15810750424861908 + ], + [ + 0.2885802090167999, + 0.08445742726325989, + 0.16178251802921295 + ], + [ + 0.2891990840435028, + 0.08432981371879578, + 0.16243430972099304 + ], + [ + 0.2901126444339752, + 0.08473696559667587, + 0.162360280752182 + ], + [ + 0.29076460003852844, + 0.08603542298078537, + 0.16229240596294403 + ], + [ + 0.2932773530483246, + 0.0860138013958931, + 0.1620332896709442 + ], + [ + 0.29529792070388794, + 0.08684775978326797, + 0.16154411435127258 + ], + [ + 0.2945103347301483, + 0.08620154857635498, + 0.15854957699775696 + ], + [ + 0.29564589262008667, + 0.08518717437982559, + 0.15823744237422943 + ], + [ + 0.2929381728172302, + 0.08394096791744232, + 0.15442702174186707 + ], + [ + 0.29425501823425293, + 0.08317668735980988, + 0.1526125818490982 + ], + [ + 0.29219919443130493, + 0.08111577481031418, + 0.15850023925304413 + ], + [ + 0.2892802953720093, + 0.0779511034488678, + 0.16983795166015625 + ], + [ + 0.291052907705307, + 0.07497360557317734, + 0.18644919991493225 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + -0.16138470635551105, + 0.9855289527166313, + -0.05184264568678475, + 0.9827954785200685, + 0.16527412132857144, + 0.08244702674795605, + 0.08982217963874502, + -0.03764502857388613, + -0.9952461142193002 + ], + [ + -0.13800700061006033, + 0.9896301303553634, + -0.03982804132067093, + 0.9807926635920872, + 0.14214989473400108, + 0.13356331259388207, + 0.13783983033417246, + -0.020630378569931003, + -0.9902396521314968 + ], + [ + -0.12432407086208586, + 0.9915427271325862, + -0.03723634883756387, + 0.978637486900895, + 0.12872610667694895, + 0.1603067643366784, + 0.16374429650091527, + -0.016510897318693665, + -0.9863646362441993 + ], + [ + -0.10329268221151794, + 0.993064131196393, + -0.056162737938092046, + 0.9783276606297566, + 0.11162305981674342, + 0.17439977340539983, + 0.179459216114017, + -0.03693133964941098, + -0.9830719535738175 + ], + [ + -0.08618417614172696, + 0.9937620756908493, + -0.07077587654975503, + 0.9776391672131796, + 0.09803566841719363, + 0.18603942175978344, + 0.19181748229369577, + -0.05315961471463511, + -0.9799898514014822 + ], + [ + -0.08920134380659944, + 0.9931945433191384, + -0.07488470727849073, + 0.9783558834328875, + 0.1014662749850283, + 0.18034511469102008, + 0.186716056126278, + -0.05717686736566665, + -0.9807486529294331 + ], + [ + -0.07756597257521153, + 0.9939175377691323, + -0.07817575080168827, + 0.9764790290813079, + 0.09155888355640757, + 0.19520675348545435, + 0.20117710024475527, + -0.06119557955318598, + -0.9776414861186393 + ], + [ + -0.09859332765647416, + 0.9889301281077111, + -0.11088984382029654, + 0.9729090046815237, + 0.11920755236490216, + 0.19808490116305302, + 0.20911103354732508, + -0.08835587801632513, + -0.9738920959062838 + ], + [ + -0.11181800292432575, + 0.984782454678528, + -0.13304229094294956, + 0.9754328586738568, + 0.1343435246435024, + 0.17459254166690114, + 0.18980904204321625, + -0.11025123284432524, + -0.9756111895703856 + ], + [ + -0.10921098369259358, + 0.9857095855347562, + -0.12825589275271398, + 0.9794028563132036, + 0.12875063000752535, + 0.15554202106891868, + 0.16983228811517165, + -0.10862729057453724, + -0.9794677665222071 + ], + [ + -0.06968314838781642, + 0.9903451819320396, + -0.11983605239975594, + 0.9926669563444773, + 0.0807331833963787, + 0.08996925519575152, + 0.09877536440101418, + -0.11268794843585614, + -0.9887086798773259 + ], + [ + 0.00649681367647037, + 0.9945952567538919, + -0.10362464308606029, + 0.9999417083573349, + -0.0055679119709772795, + 0.009250850971575401, + 0.008623879606538903, + -0.10367870369050533, + -0.9945734538492311 + ], + [ + 0.051746235007101404, + 0.9936289629590255, + -0.1001189848708088, + 0.9985501637646873, + -0.052968503475845474, + -0.009586870451067, + -0.014828944942443786, + -0.09947774428735681, + -0.994929284312907 + ], + [ + 0.018149680137536206, + 0.9966449991513718, + -0.07980811222843809, + 0.9998239757250497, + -0.017711978928300953, + 0.006188971465331428, + 0.00475464785871553, + -0.07990639191582403, + -0.9967910321901647 + ], + [ + -0.038235941700712595, + 0.9977767186207341, + -0.05458601048528631, + 0.9979428623095336, + 0.04094126250261648, + 0.04933413210088002, + 0.051459268627866574, + -0.05258738254688033, + -0.9972895822523933 + ], + [ + -0.10724270862225882, + 0.9915561522830679, + -0.07290677826484049, + 0.991111343731261, + 0.11242440390899822, + 0.07112705345310193, + 0.07872296853254004, + -0.06463087710455233, + -0.9947992480647142 + ], + [ + -0.13257499809392526, + 0.9850321816084981, + -0.11016111417373452, + 0.9843019106027515, + 0.14390431389185832, + 0.10218266598149961, + 0.11650587394706295, + -0.0948849284076052, + -0.9886471725023619 + ], + [ + -0.13497920295053595, + 0.9775708349942469, + -0.16166594366003237, + 0.9773579972402053, + 0.15818928944866234, + 0.14052577676121203, + 0.16294772168230118, + -0.13903744557628378, + -0.9767889376555046 + ], + [ + -0.11508446115742516, + 0.9731813632768157, + -0.19918233097035343, + 0.9778532503484468, + 0.1462740697169443, + 0.14968940280267048, + 0.17481014725433625, + -0.1775441654888181, + -0.9684624317534452 + ], + [ + -0.1065887554536884, + 0.9697830792572869, + -0.21945299359336232, + 0.9761924576443145, + 0.14399998467378516, + 0.16221063483108147, + 0.18891035664882597, + -0.19693852746530874, + -0.9620437066737711 + ], + [ + -0.10039671014536217, + 0.9658910022143162, + -0.23869451697391858, + 0.9792977829317545, + 0.1383150753329549, + 0.1477998385675363, + 0.17577358429792256, + -0.21891439371832816, + -0.9597812955491467 + ], + [ + -0.09819672052266132, + 0.9674538654845102, + -0.23321754273140324, + 0.9807708467881702, + 0.13379847769476477, + 0.14207925062083937, + 0.16865927240744902, + -0.21478125040525092, + -0.9619891186002818 + ], + [ + -0.07389696263376949, + 0.96713552058521, + -0.24328609441535626, + 0.9810190660627115, + 0.11435229167671118, + 0.1566050618905056, + 0.17927864048722592, + -0.22709565872261567, + -0.9572286721856971 + ], + [ + -0.06743242168886326, + 0.971738779681122, + -0.22622248466724018, + 0.980193784088094, + 0.10683886390773661, + 0.16675012082144855, + 0.18620691217094734, + -0.21049750882789212, + -0.9596967149245708 + ], + [ + -0.052680212103241086, + 0.9744384627767372, + -0.21839065344942488, + 0.9794409054596979, + 0.09306403579132044, + 0.17898211629802263, + 0.19473137385907952, + -0.20447192350917298, + -0.9593075234414741 + ], + [ + -0.04774352976740548, + 0.9819691099603732, + -0.1829131554836366, + 0.9792147028526296, + 0.08215261617941805, + 0.18544409770093367, + 0.19712716982340375, + -0.17025749539597185, + -0.9654808460963404 + ], + [ + -0.05112070356864462, + 0.9838700921925964, + -0.1714243721166259, + 0.9822746970997861, + 0.08053001412005834, + 0.1692670560485625, + 0.1803416011467425, + -0.15973277220018398, + -0.9705474477742312 + ], + [ + -0.05411625829615452, + 0.9858924791957288, + -0.1583901829449146, + 0.9831340961326266, + 0.08035847495617054, + 0.16428592308594706, + 0.17469624955764532, + -0.14682824989768875, + -0.9736132114050604 + ], + [ + -0.05340946250652012, + 0.9864348959918993, + -0.15522121402764286, + 0.9834051404799345, + 0.07894862662478774, + 0.16334455617405697, + 0.1733832719509135, + -0.14392119483769766, + -0.9742817511808813 + ], + [ + -0.05303749214411152, + 0.9873442691805961, + -0.14946009013545333, + 0.9830571164115202, + 0.0779222843131025, + 0.16591209564132114, + 0.1754586284561981, + -0.138128243757975, + -0.9747486127082241 + ], + [ + -0.055683357678434964, + 0.9879793075814748, + -0.14420905473819917, + 0.9825381256754969, + 0.07990306706731437, + 0.16803074560126696, + 0.17753364546399902, + -0.13233437823961586, + -0.9751766081403908 + ], + [ + -0.05396765220199107, + 0.9901833878977075, + -0.12893545225120448, + 0.9823634238596881, + 0.07579871754491962, + 0.17092880939506908, + 0.17902400950284655, + -0.11743684579365707, + -0.976810622009999 + ], + [ + -0.05294375343476354, + 0.9918572041688546, + -0.11582851769137796, + 0.9816350742434713, + 0.07298123477953211, + 0.17625640523132532, + 0.18327449355339465, + -0.10436965990362199, + -0.9775057207527477 + ], + [ + -0.050645118320131854, + 0.991684066417075, + -0.11831223269313226, + 0.9818567444434498, + 0.0711150268218893, + 0.1757839194893311, + 0.1827358896912413, + -0.10726306621860104, + -0.9772933179164452 + ], + [ + -0.05207844993472338, + 0.9924380281171166, + -0.1111512276108795, + 0.9830208295251854, + 0.07055532427552597, + 0.16938711561388398, + 0.1759485259159975, + -0.10044255354870463, + -0.9792616655749384 + ], + [ + -0.05253707098948707, + 0.990949812921576, + -0.12352459043663916, + 0.9846012842815849, + 0.07205452672429785, + 0.15927478196372308, + 0.1667338212928009, + -0.11325463985740848, + -0.9794759922468081 + ], + [ + -0.054189059343884904, + 0.99206302280663, + -0.1134658742847256, + 0.9853556583151187, + 0.0715259627989448, + 0.15478457052323727, + 0.16167180482014776, + -0.10341661097452486, + -0.981410837570454 + ], + [ + -0.05955678996996039, + 0.9930390554003186, + -0.10161901012171345, + 0.9864357636335637, + 0.07414687933138142, + 0.14644700239364927, + 0.15296232540446678, + -0.0915187124858104, + -0.983985189051033 + ], + [ + -0.06565906748287786, + 0.9935949211027482, + -0.09196749217034525, + 0.9882475298903539, + 0.07750133339903531, + 0.1317587302116464, + 0.13804240842180618, + -0.0822354916091294, + -0.9870063917710523 + ], + [ + -0.06947959311073842, + 0.995437311356118, + -0.06539988762429107, + 0.9926385013593543, + 0.075505853786547, + 0.09469779122567037, + 0.09920378904166059, + -0.058338882437601214, + -0.9933555169402897 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005652.json b/json/chunk-0005/episode_0005652.json new file mode 100644 index 0000000000000000000000000000000000000000..d2004c0ed575c5c0e47fc2606dc30863bfe6ca4e --- /dev/null +++ b/json/chunk-0005/episode_0005652.json @@ -0,0 +1,1342 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 21, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPlace the purple cloth on the back center of the brick wall." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005652.mp4", + "start": 0, + "end": 21, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.267602801322937, + 0.07338988780975342, + 0.1080116480588913, + 0.01603851281106472, + -0.09888693690299988, + 0.01770559698343277, + 0.0, + 1.0008161067962646 + ], + [ + 0.26604971289634705, + 0.07295757532119751, + 0.101099394261837, + 0.010105571709573269, + -0.07663369923830032, + 0.01978384144604206, + 0.0, + 1.0008161067962646 + ], + [ + 0.26143795251846313, + 0.07234639674425125, + 0.09067520499229431, + 0.011638406664133072, + -0.06514909118413925, + 0.01639918051660061, + 0.0, + 1.0008161067962646 + ], + [ + 0.25962746143341064, + 0.06934315711259842, + 0.07772064954042435, + -0.003467685543000698, + -0.06324933469295502, + -0.000702485500369221, + 0.0, + 1.0008161067962646 + ], + [ + 0.26071783900260925, + 0.07012305408716202, + 0.05339717119932175, + -0.003702305257320404, + -0.06172121688723564, + 0.002264829585328698, + 0.0, + 1.0008161067962646 + ], + [ + 0.2702564299106598, + 0.06514216959476471, + 0.024265151470899582, + 0.018638890236616135, + -0.056946493685245514, + -0.02828230895102024, + 0.0, + 1.0008161067962646 + ], + [ + 0.28380492329597473, + 0.06303062289953232, + 0.012621304020285606, + 0.06244941055774689, + -0.0764855220913887, + -0.06386162340641022, + 0.0, + 1.0008161067962646 + ], + [ + 0.2940525412559509, + 0.06115531176328659, + 0.01014843862503767, + 0.06992880254983902, + -0.09508823603391647, + -0.08246304094791412, + 0.0, + 1.0008161067962646 + ], + [ + 0.30449602007865906, + 0.059240370988845825, + 0.008589905686676502, + 0.06912465393543243, + -0.10312460362911224, + -0.0928814560174942, + 0.0, + 1.0008161067962646 + ], + [ + 0.3322565257549286, + 0.05183752626180649, + 0.00858322624117136, + 0.035788439214229584, + -0.11438454687595367, + -0.10055775195360184, + 0.0, + 1.0014774799346924 + ], + [ + 0.3602011799812317, + 0.04369032010436058, + 0.007267678156495094, + 0.01721799373626709, + -0.12256088107824326, + -0.13555024564266205, + 0.0, + 1.0014774799346924 + ], + [ + 0.38575005531311035, + 0.03272441029548645, + 0.00667436420917511, + -0.0007999203517101705, + -0.13870809972286224, + -0.19065378606319427, + 0.0, + 1.0014774799346924 + ], + [ + 0.39109209179878235, + 0.0243760384619236, + 0.006206519436091185, + -0.005329078994691372, + -0.14247769117355347, + -0.27296677231788635, + 0.0, + 1.0014774799346924 + ], + [ + 0.3913768529891968, + 0.018709572032094002, + 0.007924877107143402, + 0.0005881374818272889, + -0.14309799671173096, + -0.3123217821121216, + 0.0, + 1.0008161067962646 + ], + [ + 0.3898019790649414, + 0.009980635717511177, + 0.019392386078834534, + 0.018796652555465698, + -0.14374426007270813, + -0.310922771692276, + 0.0, + 0.9974852800369263 + ], + [ + 0.41454482078552246, + -0.0008459054515697062, + 0.048331815749406815, + 0.009638231247663498, + -0.20989260077476501, + -0.30539974570274353, + 0.0, + 1.0001531839370728 + ], + [ + 0.4238031208515167, + 0.001565624843351543, + 0.06938076764345169, + -0.008075826801359653, + -0.22354336082935333, + -0.28207650780677795, + 0.0, + 1.0008161067962646 + ], + [ + 0.41090959310531616, + 0.0023197501432150602, + 0.0924786627292633, + -0.022838139906525612, + -0.23205935955047607, + -0.27230897545814514, + 0.0, + 1.0001531839370728 + ], + [ + 0.3787718117237091, + 0.01143721118569374, + 0.11340808868408203, + -0.028208991512656212, + -0.21417245268821716, + -0.22945310175418854, + 0.0, + 1.0008161067962646 + ], + [ + 0.3316684365272522, + 0.01919085718691349, + 0.1299399435520172, + -0.009654608555138111, + -0.18646951019763947, + -0.18479838967323303, + 0.0, + 1.0008161067962646 + ], + [ + 0.30131012201309204, + 0.025065330788493156, + 0.12680931389331818, + 0.013631780631840229, + -0.16227257251739502, + -0.1319817751646042, + 0.0, + 1.0008161067962646 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 0.9974852800369263 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.267602801322937, + 0.07338988780975342, + 0.1080116480588913 + ], + [ + 0.26604971289634705, + 0.07295757532119751, + 0.101099394261837 + ], + [ + 0.26143795251846313, + 0.07234639674425125, + 0.09067520499229431 + ], + [ + 0.25962746143341064, + 0.06934315711259842, + 0.07772064954042435 + ], + [ + 0.26071783900260925, + 0.07012305408716202, + 0.05339717119932175 + ], + [ + 0.2702564299106598, + 0.06514216959476471, + 0.024265151470899582 + ], + [ + 0.28380492329597473, + 0.06303062289953232, + 0.012621304020285606 + ], + [ + 0.2940525412559509, + 0.06115531176328659, + 0.01014843862503767 + ], + [ + 0.30449602007865906, + 0.059240370988845825, + 0.008589905686676502 + ], + [ + 0.3322565257549286, + 0.05183752626180649, + 0.00858322624117136 + ], + [ + 0.3602011799812317, + 0.04369032010436058, + 0.007267678156495094 + ], + [ + 0.38575005531311035, + 0.03272441029548645, + 0.00667436420917511 + ], + [ + 0.39109209179878235, + 0.0243760384619236, + 0.006206519436091185 + ], + [ + 0.3913768529891968, + 0.018709572032094002, + 0.007924877107143402 + ], + [ + 0.3898019790649414, + 0.009980635717511177, + 0.019392386078834534 + ], + [ + 0.41454482078552246, + -0.0008459054515697062, + 0.048331815749406815 + ], + [ + 0.4238031208515167, + 0.001565624843351543, + 0.06938076764345169 + ], + [ + 0.41090959310531616, + 0.0023197501432150602, + 0.0924786627292633 + ], + [ + 0.3787718117237091, + 0.01143721118569374, + 0.11340808868408203 + ], + [ + 0.3316684365272522, + 0.01919085718691349, + 0.1299399435520172 + ], + [ + 0.30131012201309204, + 0.025065330788493156, + 0.12680931389331818 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9949586955260945, + 0.01928549463757145, + 0.09841373833767435, + 0.017618178746796876, + -0.9996866333255887, + 0.017782995467452482, + 0.09872585261550261, + -0.015959475139669332, + -0.9949866839202461 + ], + [ + 0.9968699553646561, + 0.02055504578816938, + 0.07633991212933466, + 0.01972449059746222, + -0.9997379504318037, + 0.011617871452497857, + 0.0765587131679922, + -0.010075741117277697, + -0.9970141638306842 + ], + [ + 0.9977443701869384, + 0.017154911258564897, + 0.06489900446061973, + 0.016363656972201834, + -0.9997853953234402, + 0.012704094947997355, + 0.06510301445221171, + -0.011613454165853713, + -0.9978109666623092 + ], + [ + 0.9980001813181087, + -0.0009216633216822717, + 0.06320434024450702, + -0.0007010807720663155, + -0.9999935868707923, + -0.003512079588786991, + 0.06320717186184638, + 0.003460744718756485, + -0.9979944271744299 + ], + [ + 0.9980932904558869, + 0.0020364475066846125, + 0.061689840561412884, + 0.0022605150782125387, + -0.9999910989757003, + -0.0035625890798605692, + 0.061682036432994, + 0.003695247072021848, + -0.9980890098235502 + ], + [ + 0.9979797169962638, + -0.027213266486088523, + 0.0574101262079659, + -0.028232698759446534, + -0.9994564499719255, + 0.01702114362416464, + 0.05691572001491142, + -0.018607598895967893, + -0.9982055690480349 + ], + [ + 0.9950439072166638, + -0.058934823369585075, + 0.08008938322518735, + -0.06363164593156193, + -0.9963205134774834, + 0.05741470247248449, + 0.07641097006998046, + -0.06222636915616552, + -0.9951327763844405 + ], + [ + 0.9920997198941836, + -0.07555686179159309, + 0.10014642490917028, + -0.08199750934785267, + -0.9947125708153235, + 0.061832919409634, + 0.09494500643336012, + -0.06955617943918126, + -0.9930495373621565 + ], + [ + 0.9903998859131811, + -0.08544695785673784, + 0.10865948359985317, + -0.09225523035808522, + -0.993971206615219, + 0.05924704964352587, + 0.10294191786990622, + -0.06870267689773563, + -0.9923118984131707 + ], + [ + 0.9884465571853924, + -0.09626086283270599, + 0.11707796494237312, + -0.09973235045300777, + -0.9947211963572828, + 0.024149529822632354, + 0.11413527877682265, + -0.03554698024078463, + -0.9928290640056314 + ], + [ + 0.9833947429290323, + -0.1330299374859968, + 0.12344154613425008, + -0.13412185272911062, + -0.9909646997719477, + 0.0005407646477861728, + 0.12225427681702254, + -0.017087993983066402, + -0.9923516978680398 + ], + [ + 0.9724500267776013, + -0.18960941057888828, + 0.13560684658294017, + -0.18768080378832738, + -0.9818592790109215, + -0.02698651718026692, + 0.13826373823099772, + 0.0007922373886981634, + -0.9903951287492836 + ], + [ + 0.9532177002091361, + -0.27031440769367754, + 0.13530017369250394, + -0.26685785383211236, + -0.9627576511155966, + -0.04341187702113246, + 0.14199613324356555, + 0.005275055601152094, + -0.9898531567521923 + ], + [ + 0.9418961319306971, + -0.3071890533832952, + 0.13589172945939562, + -0.3041283094622889, + -0.9516483313759997, + -0.04325996732413656, + 0.14261012599952647, + -0.0005821260603401379, + -0.989778769772139 + ], + [ + 0.9422327473318131, + -0.30331989004623444, + 0.14210733323049773, + -0.3027820302186213, + -0.9527072063806935, + -0.02592336951447966, + 0.1432497540389977, + -0.01860169918675832, + -0.9895117405847855 + ], + [ + 0.932795676344379, + -0.29874526371203897, + 0.20160231546997787, + -0.2940756347841144, + -0.9542863340820138, + -0.05345197480571734, + 0.20835485888155414, + -0.009426557904939212, + -0.9780078694910957 + ], + [ + 0.936580916822493, + -0.28006114080013933, + 0.21067022489583778, + -0.27142478478152865, + -0.95994986585509, + -0.06946107723823099, + 0.2216862026609667, + 0.007874798951031377, + -0.9750862603335366 + ], + [ + 0.9373349987944548, + -0.2739442973545699, + 0.2153082023098759, + -0.2617466379719598, + -0.9614887490395534, + -0.08383366257495055, + 0.22998216788563258, + 0.022224027926229434, + -0.9729410542460211 + ], + [ + 0.951542353361949, + -0.23319210065536208, + 0.2004709304371657, + -0.22224846964432207, + -0.9720400426979747, + -0.07578768456996185, + 0.2125388611505207, + 0.02756083423372115, + -0.9767638572946794 + ], + [ + 0.9659333539285658, + -0.1854991683650188, + 0.1804516952100995, + -0.18056305948085713, + -0.9825986227955438, + -0.043553737281814636, + 0.1853907692395301, + 0.009487097353104136, + -0.9826190806536317 + ], + [ + 0.9782799680144535, + -0.12940356527364194, + 0.16193523852488295, + -0.12987008109761616, + -0.9915007581887885, + -0.007746518363544233, + 0.16156133886960405, + -0.013452278822876931, + -0.9867709815236426 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0015530884265899658, + -0.0004323124885559082, + -0.006912253797054291, + -0.005932941101491451, + 0.022253237664699554, + 0.002078244462609291, + 1.0 + ], + [ + -0.004611760377883911, + -0.0006111785769462585, + -0.010424189269542694, + 0.001532834954559803, + 0.011484608054161072, + -0.003384660929441452, + 1.0 + ], + [ + -0.0018104910850524902, + -0.003003239631652832, + -0.012954555451869965, + -0.01510609220713377, + 0.0018997564911842346, + -0.01710166595876217, + 1.0 + ], + [ + 0.0010903775691986084, + 0.0007798969745635986, + -0.0243234783411026, + -0.00023461971431970596, + 0.0015281178057193756, + 0.0029673150274902582, + 1.0 + ], + [ + 0.009538590908050537, + -0.004980884492397308, + -0.029132019728422165, + 0.02234119549393654, + 0.0047747232019901276, + -0.030547138303518295, + 1.0 + ], + [ + 0.013548493385314941, + -0.0021115466952323914, + -0.011643847450613976, + 0.04381052032113075, + -0.01953902840614319, + -0.035579316318035126, + 1.0 + ], + [ + 0.010247617959976196, + -0.0018753111362457275, + -0.0024728653952479362, + 0.007479391992092133, + -0.01860271394252777, + -0.018601417541503906, + 1.0 + ], + [ + 0.01044347882270813, + -0.0019149407744407654, + -0.001558532938361168, + -0.0008041486144065857, + -0.00803636759519577, + -0.010418415069580078, + 1.0 + ], + [ + 0.02776050567626953, + -0.007402844727039337, + -6.679445505142212e-06, + -0.03333621472120285, + -0.01125994324684143, + -0.0076762959361076355, + 1.0 + ], + [ + 0.0279446542263031, + -0.008147206157445908, + -0.0013155480846762657, + -0.018570445477962494, + -0.008176334202289581, + -0.03499249368906021, + 1.0 + ], + [ + 0.025548875331878662, + -0.01096590980887413, + -0.0005933139473199844, + -0.01801791414618492, + -0.016147218644618988, + -0.05510354042053223, + 1.0 + ], + [ + 0.005342036485671997, + -0.008348371833562851, + -0.00046784477308392525, + -0.0045291585847735405, + -0.003769591450691223, + -0.08231298625469208, + 1.0 + ], + [ + 0.0002847611904144287, + -0.0056664664298295975, + 0.0017183576710522175, + 0.0059172166511416435, + -0.0006203055381774902, + -0.03935500979423523, + 1.0 + ], + [ + -0.001574873924255371, + -0.008728936314582825, + 0.011467508971691132, + 0.018208514899015427, + -0.0006462633609771729, + 0.001399010419845581, + 1.0 + ], + [ + 0.024742841720581055, + -0.010826541110873222, + 0.02893942967057228, + -0.0091584213078022, + -0.06614834070205688, + 0.005523025989532471, + 1.0 + ], + [ + 0.009258300065994263, + 0.00241153035312891, + 0.021048951894044876, + -0.017714057117700577, + -0.013650760054588318, + 0.023323237895965576, + 1.0 + ], + [ + -0.012893527746200562, + 0.0007541252998635173, + 0.023097895085811615, + -0.014762313105165958, + -0.008515998721122742, + 0.009767532348632812, + 1.0 + ], + [ + -0.032137781381607056, + 0.009117460809648037, + 0.020929425954818726, + -0.0053708516061306, + 0.01788690686225891, + 0.042855873703956604, + 1.0 + ], + [ + -0.04710337519645691, + 0.0077536460012197495, + 0.01653185486793518, + 0.018554382026195526, + 0.027702942490577698, + 0.044654712080955505, + 1.0 + ], + [ + -0.030358314514160156, + 0.005874473601579666, + -0.0031306296586990356, + 0.02328638918697834, + 0.024196937680244446, + 0.052816614508628845, + 1.0 + ], + [ + -0.008050292730331421, + 0.0022700410336256027, + -0.011676378548145294, + 0.011011364869773388, + 0.02479591965675354, + 0.020267270505428314, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 0.9974852800369263 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.26604971289634705, + 0.07295757532119751, + 0.101099394261837 + ], + [ + 0.26143795251846313, + 0.07234639674425125, + 0.09067520499229431 + ], + [ + 0.25962746143341064, + 0.06934315711259842, + 0.07772064954042435 + ], + [ + 0.26071783900260925, + 0.07012305408716202, + 0.05339717119932175 + ], + [ + 0.2702564299106598, + 0.06514216959476471, + 0.024265151470899582 + ], + [ + 0.28380492329597473, + 0.06303062289953232, + 0.012621304020285606 + ], + [ + 0.2940525412559509, + 0.06115531176328659, + 0.01014843862503767 + ], + [ + 0.30449602007865906, + 0.059240370988845825, + 0.008589905686676502 + ], + [ + 0.3322565257549286, + 0.05183752626180649, + 0.00858322624117136 + ], + [ + 0.3602011799812317, + 0.04369032010436058, + 0.007267678156495094 + ], + [ + 0.38575005531311035, + 0.03272441029548645, + 0.00667436420917511 + ], + [ + 0.39109209179878235, + 0.0243760384619236, + 0.006206519436091185 + ], + [ + 0.3913768529891968, + 0.018709572032094002, + 0.007924877107143402 + ], + [ + 0.3898019790649414, + 0.009980635717511177, + 0.019392386078834534 + ], + [ + 0.41454482078552246, + -0.0008459054515697062, + 0.048331815749406815 + ], + [ + 0.4238031208515167, + 0.001565624843351543, + 0.06938076764345169 + ], + [ + 0.41090959310531616, + 0.0023197501432150602, + 0.0924786627292633 + ], + [ + 0.3787718117237091, + 0.01143721118569374, + 0.11340808868408203 + ], + [ + 0.3316684365272522, + 0.01919085718691349, + 0.1299399435520172 + ], + [ + 0.30131012201309204, + 0.025065330788493156, + 0.12680931389331818 + ], + [ + 0.2932598292827606, + 0.02733537182211876, + 0.11513293534517288 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9968699553646561, + 0.02055504578816938, + 0.07633991212933466, + 0.01972449059746222, + -0.9997379504318037, + 0.011617871452497857, + 0.0765587131679922, + -0.010075741117277697, + -0.9970141638306842 + ], + [ + 0.9977443701869384, + 0.017154911258564897, + 0.06489900446061973, + 0.016363656972201834, + -0.9997853953234402, + 0.012704094947997355, + 0.06510301445221171, + -0.011613454165853713, + -0.9978109666623092 + ], + [ + 0.9980001813181087, + -0.0009216633216822717, + 0.06320434024450702, + -0.0007010807720663155, + -0.9999935868707923, + -0.003512079588786991, + 0.06320717186184638, + 0.003460744718756485, + -0.9979944271744299 + ], + [ + 0.9980932904558869, + 0.0020364475066846125, + 0.061689840561412884, + 0.0022605150782125387, + -0.9999910989757003, + -0.0035625890798605692, + 0.061682036432994, + 0.003695247072021848, + -0.9980890098235502 + ], + [ + 0.9979797169962638, + -0.027213266486088523, + 0.0574101262079659, + -0.028232698759446534, + -0.9994564499719255, + 0.01702114362416464, + 0.05691572001491142, + -0.018607598895967893, + -0.9982055690480349 + ], + [ + 0.9950439072166638, + -0.058934823369585075, + 0.08008938322518735, + -0.06363164593156193, + -0.9963205134774834, + 0.05741470247248449, + 0.07641097006998046, + -0.06222636915616552, + -0.9951327763844405 + ], + [ + 0.9920997198941836, + -0.07555686179159309, + 0.10014642490917028, + -0.08199750934785267, + -0.9947125708153235, + 0.061832919409634, + 0.09494500643336012, + -0.06955617943918126, + -0.9930495373621565 + ], + [ + 0.9903998859131811, + -0.08544695785673784, + 0.10865948359985317, + -0.09225523035808522, + -0.993971206615219, + 0.05924704964352587, + 0.10294191786990622, + -0.06870267689773563, + -0.9923118984131707 + ], + [ + 0.9884465571853924, + -0.09626086283270599, + 0.11707796494237312, + -0.09973235045300777, + -0.9947211963572828, + 0.024149529822632354, + 0.11413527877682265, + -0.03554698024078463, + -0.9928290640056314 + ], + [ + 0.9833947429290323, + -0.1330299374859968, + 0.12344154613425008, + -0.13412185272911062, + -0.9909646997719477, + 0.0005407646477861728, + 0.12225427681702254, + -0.017087993983066402, + -0.9923516978680398 + ], + [ + 0.9724500267776013, + -0.18960941057888828, + 0.13560684658294017, + -0.18768080378832738, + -0.9818592790109215, + -0.02698651718026692, + 0.13826373823099772, + 0.0007922373886981634, + -0.9903951287492836 + ], + [ + 0.9532177002091361, + -0.27031440769367754, + 0.13530017369250394, + -0.26685785383211236, + -0.9627576511155966, + -0.04341187702113246, + 0.14199613324356555, + 0.005275055601152094, + -0.9898531567521923 + ], + [ + 0.9418961319306971, + -0.3071890533832952, + 0.13589172945939562, + -0.3041283094622889, + -0.9516483313759997, + -0.04325996732413656, + 0.14261012599952647, + -0.0005821260603401379, + -0.989778769772139 + ], + [ + 0.9422327473318131, + -0.30331989004623444, + 0.14210733323049773, + -0.3027820302186213, + -0.9527072063806935, + -0.02592336951447966, + 0.1432497540389977, + -0.01860169918675832, + -0.9895117405847855 + ], + [ + 0.932795676344379, + -0.29874526371203897, + 0.20160231546997787, + -0.2940756347841144, + -0.9542863340820138, + -0.05345197480571734, + 0.20835485888155414, + -0.009426557904939212, + -0.9780078694910957 + ], + [ + 0.936580916822493, + -0.28006114080013933, + 0.21067022489583778, + -0.27142478478152865, + -0.95994986585509, + -0.06946107723823099, + 0.2216862026609667, + 0.007874798951031377, + -0.9750862603335366 + ], + [ + 0.9373349987944548, + -0.2739442973545699, + 0.2153082023098759, + -0.2617466379719598, + -0.9614887490395534, + -0.08383366257495055, + 0.22998216788563258, + 0.022224027926229434, + -0.9729410542460211 + ], + [ + 0.951542353361949, + -0.23319210065536208, + 0.2004709304371657, + -0.22224846964432207, + -0.9720400426979747, + -0.07578768456996185, + 0.2125388611505207, + 0.02756083423372115, + -0.9767638572946794 + ], + [ + 0.9659333539285658, + -0.1854991683650188, + 0.1804516952100995, + -0.18056305948085713, + -0.9825986227955438, + -0.043553737281814636, + 0.1853907692395301, + 0.009487097353104136, + -0.9826190806536317 + ], + [ + 0.9782799680144535, + -0.12940356527364194, + 0.16193523852488295, + -0.12987008109761616, + -0.9915007581887885, + -0.007746518363544233, + 0.16156133886960405, + -0.013452278822876931, + -0.9867709815236426 + ], + [ + 0.9843901948949831, + -0.10809262809705597, + 0.13889538489700962, + -0.110430441130631, + -0.9938411468609386, + 0.009213711403576966, + 0.1370440143395951, + -0.024408165789458817, + -0.9902641968568201 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005653.json b/json/chunk-0005/episode_0005653.json new file mode 100644 index 0000000000000000000000000000000000000000..9eb9eec01b1fac4a7c775276b59fcc8ce867f7c3 --- /dev/null +++ b/json/chunk-0005/episode_0005653.json @@ -0,0 +1,2482 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 40, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut the scrubber behind the pot." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005653.mp4", + "start": 0, + "end": 40, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.24578824639320374, + -0.0767260268330574, + 0.12134784460067749, + -0.007970900274813175, + -0.2930147349834442, + 0.05207327380776405, + 0.0, + 1.0008161067962646 + ], + [ + 0.24311603605747223, + -0.07572944462299347, + 0.11457984894514084, + -1.511729078629287e-05, + -0.27193281054496765, + 0.05535365641117096, + 0.0, + 1.0008161067962646 + ], + [ + 0.23723894357681274, + -0.05143408849835396, + 0.11597597599029541, + -0.03703058138489723, + -0.29888829588890076, + 0.1984950304031372, + 0.0, + 1.0008161067962646 + ], + [ + 0.2324398010969162, + -0.01504401583224535, + 0.12828189134597778, + -0.10204146057367325, + -0.2743499279022217, + 0.35252222418785095, + 0.0, + 1.0008161067962646 + ], + [ + 0.23494847118854523, + 0.01451077964156866, + 0.14428572356700897, + -0.09941121935844421, + -0.30084559321403503, + 0.42230620980262756, + 0.0, + 1.0008161067962646 + ], + [ + 0.24352982640266418, + 0.05517495051026344, + 0.13699747622013092, + -0.07660023123025894, + -0.25451862812042236, + 0.4898737370967865, + 0.0, + 1.0008161067962646 + ], + [ + 0.2518823742866516, + 0.07741406559944153, + 0.0972214862704277, + -0.01834014616906643, + -0.15914058685302734, + 0.49128130078315735, + 0.0, + 1.0008161067962646 + ], + [ + 0.2596718370914459, + 0.08917523175477982, + 0.0651254802942276, + 0.0031460337340831757, + -0.13060708343982697, + 0.547990083694458, + 0.0, + 1.0008161067962646 + ], + [ + 0.2676122784614563, + 0.08609922230243683, + 0.04479359835386276, + 0.038226865231990814, + -0.13491296768188477, + 0.5656164884567261, + 0.0, + 1.0008161067962646 + ], + [ + 0.270350843667984, + 0.07383430004119873, + 0.03506961464881897, + 0.06939424574375153, + -0.15495774149894714, + 0.5553985238075256, + 0.0, + 1.0008161067962646 + ], + [ + 0.2636934816837311, + 0.06968408077955246, + 0.026423171162605286, + 0.09912354499101639, + -0.18116070330142975, + 0.5905579924583435, + 0.0, + 1.0008161067962646 + ], + [ + 0.25593164563179016, + 0.06832250207662582, + 0.017408238723874092, + 0.12255819141864777, + -0.17014065384864807, + 0.5873584747314453, + 0.0, + 1.0008161067962646 + ], + [ + 0.2504050135612488, + 0.06881295889616013, + 0.013561328873038292, + 0.13154250383377075, + -0.17095856368541718, + 0.5872960090637207, + 0.0, + 1.0008161067962646 + ], + [ + 0.24711492657661438, + 0.06970035284757614, + 0.011490076780319214, + 0.1407480239868164, + -0.171919584274292, + 0.5883064866065979, + 0.0, + 0.9468915462493896 + ], + [ + 0.2454497516155243, + 0.07000087201595306, + 0.010280217975378036, + 0.14363741874694824, + -0.18589913845062256, + 0.5856397151947021, + 0.0, + 0.6671556830406189 + ], + [ + 0.24626047909259796, + 0.06998926401138306, + 0.01844845525920391, + 0.13469146192073822, + -0.20468318462371826, + 0.580685019493103, + 0.0, + 0.3849146366119385 + ], + [ + 0.24687844514846802, + 0.07095828652381897, + 0.0299240592867136, + 0.12373503297567368, + -0.23981744050979614, + 0.5731250047683716, + 0.0, + 0.2666412889957428 + ], + [ + 0.24907982349395752, + 0.06903921067714691, + 0.05031287297606468, + 0.0900595635175705, + -0.2955210506916046, + 0.547873854637146, + 0.0, + 0.265934020280838 + ], + [ + 0.2583737373352051, + 0.06661778688430786, + 0.07639127969741821, + 0.018022218719124794, + -0.28114834427833557, + 0.5190705060958862, + 0.0, + 0.265934020280838 + ], + [ + 0.2876947522163391, + 0.05321963131427765, + 0.09719078987836838, + -0.053651027381420135, + -0.24170175194740295, + 0.5065522193908691, + 0.0, + 0.265934020280838 + ], + [ + 0.31877264380455017, + 0.028574693948030472, + 0.10131774097681046, + -0.05175027251243591, + -0.23002803325653076, + 0.4933391213417053, + 0.0, + 0.265934020280838 + ], + [ + 0.36073440313339233, + -0.007192015182226896, + 0.08934460580348969, + -0.0752951055765152, + -0.2524770200252533, + 0.5019199848175049, + 0.0, + 0.265934020280838 + ], + [ + 0.39063507318496704, + -0.04007909446954727, + 0.07323290407657623, + -0.0915759801864624, + -0.2420606166124344, + 0.45647111535072327, + 0.0, + 0.265934020280838 + ], + [ + 0.40027663111686707, + -0.06369521468877792, + 0.055292289704084396, + -0.078569196164608, + -0.22268536686897278, + 0.41796624660491943, + 0.0, + 0.265934020280838 + ], + [ + 0.39581310749053955, + -0.07350388169288635, + 0.049513403326272964, + -0.05165255069732666, + -0.22109204530715942, + 0.3927913010120392, + 0.0, + 0.265934020280838 + ], + [ + 0.3805241584777832, + -0.06299417465925217, + 0.042108308523893356, + 0.017410611733794212, + -0.2174796760082245, + 0.39095538854599, + 0.0, + 0.265934020280838 + ], + [ + 0.36895620822906494, + -0.05847298353910446, + 0.040824003517627716, + 0.028507236391305923, + -0.22213627398014069, + 0.39203280210494995, + 0.0, + 0.265934020280838 + ], + [ + 0.3609677851200104, + -0.04966823384165764, + 0.02889075130224228, + 0.019804341718554497, + -0.20141227543354034, + 0.410444974899292, + 0.0, + 0.31575894355773926 + ], + [ + 0.36210379004478455, + -0.04974107816815376, + 0.027983006089925766, + -0.029156381264328957, + -0.18050681054592133, + 0.4329654276371002, + 0.0, + 0.6029031276702881 + ], + [ + 0.3606273829936981, + -0.05519047752022743, + 0.026370497420430183, + -0.07272220402956009, + -0.1537323147058487, + 0.4476737678050995, + 0.0, + 0.8990517854690552 + ], + [ + 0.3615850508213043, + -0.05398395657539368, + 0.04890243336558342, + -0.10213267058134079, + -0.17459356784820557, + 0.47166138887405396, + 0.0, + 1.0112061500549316 + ], + [ + 0.36677122116088867, + -0.04867392033338547, + 0.07982389628887177, + -0.0909469872713089, + -0.22376614809036255, + 0.4753264784812927, + 0.0, + 1.0073583126068115 + ], + [ + 0.36410725116729736, + -0.0479445680975914, + 0.10639920085668564, + -0.09544616937637329, + -0.2384432703256607, + 0.4639446437358856, + 0.0, + 1.0014774799346924 + ], + [ + 0.35549429059028625, + -0.04507888853549957, + 0.13280807435512543, + -0.12410933524370193, + -0.2051505595445633, + 0.4334713816642761, + 0.0, + 1.0014774799346924 + ], + [ + 0.3421113193035126, + -0.03499344736337662, + 0.16047652065753937, + -0.20239056646823883, + -0.1950484663248062, + 0.36086300015449524, + 0.0, + 1.0014774799346924 + ], + [ + 0.32232165336608887, + -0.023010043427348137, + 0.17024609446525574, + -0.2600833475589752, + -0.18228302896022797, + 0.2499024122953415, + 0.0, + 1.0014774799346924 + ], + [ + 0.3129344880580902, + -0.013433677144348621, + 0.17144446074962616, + -0.29034358263015747, + -0.19953392446041107, + 0.12830010056495667, + 0.0, + 1.0014774799346924 + ], + [ + 0.3054727017879486, + -0.004097719676792622, + 0.17318198084831238, + -0.17562231421470642, + -0.1655585616827011, + 0.03399987518787384, + 0.0, + 1.0014774799346924 + ], + [ + 0.3045724034309387, + -0.005149431060999632, + 0.1752454936504364, + -0.01575617305934429, + -0.12185702472925186, + 0.06650437414646149, + 0.0, + 1.0014774799346924 + ], + [ + 0.305279940366745, + -0.004364871419966221, + 0.1761191189289093, + 0.024518027901649475, + -0.11077085882425308, + 0.11135617643594742, + 0.0, + 1.0014774799346924 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9468915462493896 + ], + [ + 0.6671556830406189 + ], + [ + 0.3849146366119385 + ], + [ + 0.2666412889957428 + ], + [ + 0.265934020280838 + ], + [ + 0.265934020280838 + ], + [ + 0.265934020280838 + ], + [ + 0.265934020280838 + ], + [ + 0.265934020280838 + ], + [ + 0.265934020280838 + ], + [ + 0.265934020280838 + ], + [ + 0.265934020280838 + ], + [ + 0.265934020280838 + ], + [ + 0.265934020280838 + ], + [ + 0.31575894355773926 + ], + [ + 0.6029031276702881 + ], + [ + 0.8990517854690552 + ], + [ + 1.0112061500549316 + ], + [ + 1.0073583126068115 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.24578824639320374, + -0.0767260268330574, + 0.12134784460067749 + ], + [ + 0.24311603605747223, + -0.07572944462299347, + 0.11457984894514084 + ], + [ + 0.23723894357681274, + -0.05143408849835396, + 0.11597597599029541 + ], + [ + 0.2324398010969162, + -0.01504401583224535, + 0.12828189134597778 + ], + [ + 0.23494847118854523, + 0.01451077964156866, + 0.14428572356700897 + ], + [ + 0.24352982640266418, + 0.05517495051026344, + 0.13699747622013092 + ], + [ + 0.2518823742866516, + 0.07741406559944153, + 0.0972214862704277 + ], + [ + 0.2596718370914459, + 0.08917523175477982, + 0.0651254802942276 + ], + [ + 0.2676122784614563, + 0.08609922230243683, + 0.04479359835386276 + ], + [ + 0.270350843667984, + 0.07383430004119873, + 0.03506961464881897 + ], + [ + 0.2636934816837311, + 0.06968408077955246, + 0.026423171162605286 + ], + [ + 0.25593164563179016, + 0.06832250207662582, + 0.017408238723874092 + ], + [ + 0.2504050135612488, + 0.06881295889616013, + 0.013561328873038292 + ], + [ + 0.24711492657661438, + 0.06970035284757614, + 0.011490076780319214 + ], + [ + 0.2454497516155243, + 0.07000087201595306, + 0.010280217975378036 + ], + [ + 0.24626047909259796, + 0.06998926401138306, + 0.01844845525920391 + ], + [ + 0.24687844514846802, + 0.07095828652381897, + 0.0299240592867136 + ], + [ + 0.24907982349395752, + 0.06903921067714691, + 0.05031287297606468 + ], + [ + 0.2583737373352051, + 0.06661778688430786, + 0.07639127969741821 + ], + [ + 0.2876947522163391, + 0.05321963131427765, + 0.09719078987836838 + ], + [ + 0.31877264380455017, + 0.028574693948030472, + 0.10131774097681046 + ], + [ + 0.36073440313339233, + -0.007192015182226896, + 0.08934460580348969 + ], + [ + 0.39063507318496704, + -0.04007909446954727, + 0.07323290407657623 + ], + [ + 0.40027663111686707, + -0.06369521468877792, + 0.055292289704084396 + ], + [ + 0.39581310749053955, + -0.07350388169288635, + 0.049513403326272964 + ], + [ + 0.3805241584777832, + -0.06299417465925217, + 0.042108308523893356 + ], + [ + 0.36895620822906494, + -0.05847298353910446, + 0.040824003517627716 + ], + [ + 0.3609677851200104, + -0.04966823384165764, + 0.02889075130224228 + ], + [ + 0.36210379004478455, + -0.04974107816815376, + 0.027983006089925766 + ], + [ + 0.3606273829936981, + -0.05519047752022743, + 0.026370497420430183 + ], + [ + 0.3615850508213043, + -0.05398395657539368, + 0.04890243336558342 + ], + [ + 0.36677122116088867, + -0.04867392033338547, + 0.07982389628887177 + ], + [ + 0.36410725116729736, + -0.0479445680975914, + 0.10639920085668564 + ], + [ + 0.35549429059028625, + -0.04507888853549957, + 0.13280807435512543 + ], + [ + 0.3421113193035126, + -0.03499344736337662, + 0.16047652065753937 + ], + [ + 0.32232165336608887, + -0.023010043427348137, + 0.17024609446525574 + ], + [ + 0.3129344880580902, + -0.013433677144348621, + 0.17144446074962616 + ], + [ + 0.3054727017879486, + -0.004097719676792622, + 0.17318198084831238 + ], + [ + 0.3045724034309387, + -0.005149431060999632, + 0.1752454936504364 + ], + [ + 0.305279940366745, + -0.004364871419966221, + 0.1761191189289093 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9560797206499568, + 0.04974892176194126, + 0.2888539640465823, + 0.04983125045543317, + -0.9987326025573082, + 0.007073546999429182, + 0.28883977260749244, + 0.007631079388231342, + -0.9573470386372029 + ], + [ + 0.9617782143276088, + 0.05532133902587904, + 0.26818317600695935, + 0.05329238171159837, + -0.9984686020282951, + 0.014844959251109395, + 0.268593723858733, + 1.4561784093537235e-05, + -0.9632535550371215 + ], + [ + 0.9368994417829963, + 0.1863715467682537, + 0.2957787729738532, + 0.18845142149370156, + -0.9818420703245031, + 0.021730409059575167, + 0.29445797276302915, + 0.03538072209695334, + -0.9550092705205458 + ], + [ + 0.9034062047826874, + 0.3175698967138996, + 0.28810864246194434, + 0.3323535981542715, + -0.94315141877486, + -0.002546970136855939, + 0.2709212338559869, + 0.09805489260660159, + -0.957594341609148 + ], + [ + 0.8711782355351566, + 0.38101548718644135, + 0.30963798289927236, + 0.3914565641684801, + -0.9196967206939645, + 0.03032656119933045, + 0.2963279269648069, + 0.09478998084632612, + -0.9503707798706216 + ], + [ + 0.8539656606435724, + 0.45213324974528757, + 0.25752315413638516, + 0.45535666987065204, + -0.8888704256317901, + 0.05059317781549667, + 0.25177957352791147, + 0.07406004936486264, + -0.9649467111929949 + ], + [ + 0.8705874499940638, + 0.4691142208487584, + 0.14835545055809538, + 0.4657948500812419, + -0.8829518506210218, + 0.05857633585933783, + 0.15846971177681426, + 0.018107381985666374, + -0.987197788270921 + ], + [ + 0.8463034831203521, + 0.5213198247706285, + 0.10952650254381659, + 0.5165355535245679, + -0.8533556765389567, + 0.0705344686221375, + 0.13023607949960653, + -0.003119233857877858, + -0.9914781056466712 + ], + [ + 0.8365866212881539, + 0.5398847007997819, + 0.09299104754760427, + 0.5310663614083889, + -0.8408866464368037, + 0.10429845456534903, + 0.13450407005784343, + -0.0378702744457407, + -0.990189122062689 + ], + [ + 0.8395094289630897, + 0.5351059399188037, + 0.09426320462237874, + 0.5209640997659611, + -0.8420025658305115, + 0.1401002708415534, + 0.15433834726699786, + -0.0685077528346146, + -0.9856400774950472 + ], + [ + 0.8170370337915831, + 0.5689014323080033, + 0.09381708656184977, + 0.5477122884178909, + -0.8166245953919583, + 0.1820316437242637, + 0.18017140319453667, + -0.09734182307118858, + -0.9788068425139298 + ], + [ + 0.8203882568916718, + 0.5672380612894452, + 0.07213937744973573, + 0.5461625360870699, + -0.8146925840109376, + 0.1948909380461828, + 0.1693209736836637, + -0.12048641160800068, + -0.9781684070182614 + ], + [ + 0.8203068129835102, + 0.5679005109419983, + 0.06771810869076184, + 0.5460343676658304, + -0.8128856543215216, + 0.2026410183700444, + 0.17012701696266094, + -0.12925139330037794, + -0.9769088368058186 + ], + [ + 0.8196182513243893, + 0.5694295194363311, + 0.06305509091627477, + 0.5467720054952002, + -0.8103372325425766, + 0.2106987032755427, + 0.171073949222865, + -0.1382157442180429, + -0.9755153058499623 + ], + [ + 0.8190002784674429, + 0.5690889526295418, + 0.07332331051761053, + 0.5432092789795612, + -0.8101527920027157, + 0.2203999383863563, + 0.1848302548306313, + -0.14067770827396742, + -0.9726497618845276 + ], + [ + 0.8186340878496813, + 0.5664484461313035, + 0.0947332469936103, + 0.5371450782808824, + -0.8135408954549662, + 0.222769783186492, + 0.20325696811953392, + -0.13148144088716013, + -0.9702573038184723 + ], + [ + 0.8161648266626174, + 0.5627455387279251, + 0.13111992358370833, + 0.5267415967205221, + -0.8178902500935803, + 0.2315142092532895, + 0.23752529550154228, + -0.11988743655478853, + -0.9639547378135692 + ], + [ + 0.8166293194313579, + 0.5411220925400289, + 0.20075715581313072, + 0.49829386546155297, + -0.8365310228666218, + 0.22785756828577575, + 0.29123835305203355, + -0.086039111727305, + -0.9527735790652023 + ], + [ + 0.8341897421363436, + 0.5003342706499073, + 0.23193337777846113, + 0.4765961899303417, + -0.8656592019878321, + 0.1532651876900678, + 0.27745908862097624, + -0.01731368323076682, + -0.9605814335675046 + ], + [ + 0.8490047839080005, + 0.47324358377052567, + 0.23501358965251098, + 0.4710625621908644, + -0.8793916012582776, + 0.06906861905800926, + 0.23935525773107094, + 0.05206651569321508, + -0.9695350115081254 + ], + [ + 0.8575573436268015, + 0.4625478040935076, + 0.22504428746364133, + 0.46109565725472756, + -0.8851626560154578, + 0.062272524089609274, + 0.22800481848543178, + 0.05036468330024821, + -0.9723565197104871 + ], + [ + 0.8488673603017762, + 0.46327295838163124, + 0.25456309757430706, + 0.4658568012254313, + -0.8832172030485599, + 0.053896317045679445, + 0.24980321328258334, + 0.07283912596545049, + -0.9655531142108578 + ], + [ + 0.8714446198892373, + 0.4192602590212955, + 0.25456847737200183, + 0.4279327311727097, + -0.9035145802461226, + 0.023129653558547306, + 0.23970367551868815, + 0.08878197163878088, + -0.9667781076621266 + ], + [ + 0.8913498263943662, + 0.3888084809918239, + 0.2330739198099255, + 0.39588002733484556, + -0.9181328935435898, + 0.017635014903218723, + 0.2208494757614222, + 0.07655034227294685, + -0.9722991073500991 + ], + [ + 0.901356530227045, + 0.37179825668537714, + 0.22208660865251684, + 0.37345148711714593, + -0.9269458628383883, + 0.03612968498046323, + 0.2192952169725868, + 0.050372846777899515, + -0.9743573185030406 + ], + [ + 0.9027671500382207, + 0.38448717592073983, + 0.1928239724836181, + 0.37209549624857124, + -0.9229737937620781, + 0.09830726168481504, + 0.2157693548291752, + -0.016999634729349324, + -0.976296367879995 + ], + [ + 0.9014274203819178, + 0.38771582677288846, + 0.1926266945504101, + 0.37268000722743994, + -0.9213595550957546, + 0.11048159324841691, + 0.22031390786002758, + -0.027803019684360074, + -0.9750327041181104 + ], + [ + 0.898407373523171, + 0.4025717586817471, + 0.1754997729659021, + 0.3909512577017813, + -0.9151827758525682, + 0.09796734600969736, + 0.20005325616093686, + -0.01940272905221139, + -0.9795928893191975 + ], + [ + 0.89297758542162, + 0.4146353975243098, + 0.17512429601409107, + 0.4127477039500874, + -0.9095356092567938, + 0.04882938027257641, + 0.17952817277102884, + 0.028678608992252164, + -0.9833347205137044 + ], + [ + 0.8908251166822356, + 0.42169602954500907, + 0.16912442211004425, + 0.4277646361492593, + -0.9038899506230914, + 0.0006109195342983639, + 0.15312748789219188, + 0.07180122442243203, + -0.9855945193756236 + ], + [ + 0.8772717795246272, + 0.4362224860489039, + 0.20026024946306273, + 0.44745926158648885, + -0.8942196252303046, + -0.01230735850814299, + 0.17370789869827, + 0.10040520164955424, + -0.9796654334064994 + ], + [ + 0.8669758144186601, + 0.43781798216903484, + 0.2380511535417019, + 0.4462194528123849, + -0.8946915720801805, + 0.02037623077289638, + 0.22190344103892587, + 0.08855735620562087, + -0.9710388547926154 + ], + [ + 0.868991898306857, + 0.4253126519362085, + 0.25290754986760505, + 0.4348186480621862, + -0.9002963251104186, + 0.01998174892366865, + 0.23619022836353368, + 0.09260494098948213, + -0.967284084915035 + ], + [ + 0.8884829016952644, + 0.3939072746983345, + 0.2354467930019303, + 0.4112158916871233, + -0.9111250209166609, + -0.027435135931467354, + 0.20371456457290185, + 0.12119511210995645, + -0.9714999335983137 + ], + [ + 0.9178520175995543, + 0.3094253273387447, + 0.24860338008510308, + 0.34638674225394495, + -0.9302516157558605, + -0.12102956735570847, + 0.19381408250982873, + 0.19720014752763626, + -0.9610141535044902 + ], + [ + 0.9528836067741148, + 0.19382317044280364, + 0.2333354035303139, + 0.24321208071437542, + -0.9478786251034258, + -0.20584944951741702, + 0.18127524854689536, + 0.2529005549055584, + -0.9503581396466925 + ], + [ + 0.972102968369459, + 0.06631501914904575, + 0.22498474864432028, + 0.12540978489617413, + -0.9575307822304905, + -0.25962894086245475, + 0.19821252417438617, + 0.2806013530194151, + -0.9391350679982574 + ], + [ + 0.9857564188259997, + 0.004692501410019775, + 0.1681138399235988, + 0.03352851576138476, + -0.9850277715654866, + -0.16910389668949202, + 0.16480328083560414, + 0.1723318591417408, + -0.9711547811500351 + ], + [ + 0.9903904070876587, + 0.06453617396469055, + 0.12231894292684273, + 0.0659625699869063, + -0.997792821026004, + -0.007643668601567111, + 0.12155567000129405, + 0.015638687891485474, + -0.9924614100969209 + ], + [ + 0.9877154443319122, + 0.11378605566083767, + 0.10710244892327447, + 0.11044510685665938, + -0.9932064562410096, + 0.036644421848314346, + 0.11054446797391065, + -0.024365319992252873, + -0.9935724693156714 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0026722103357315063, + 0.0009965822100639343, + -0.006767995655536652, + 0.007955783046782017, + 0.021081924438476562, + 0.003280382603406906, + 1.0 + ], + [ + -0.005877092480659485, + 0.02429535612463951, + 0.0013961270451545715, + -0.037015464156866074, + -0.026955485343933105, + 0.14314137399196625, + 1.0 + ], + [ + -0.004799142479896545, + 0.03639007359743118, + 0.012305915355682373, + -0.06501087546348572, + 0.024538367986679077, + 0.15402719378471375, + 1.0 + ], + [ + 0.0025086700916290283, + 0.02955479547381401, + 0.01600383222103119, + 0.0026302412152290344, + -0.026495665311813354, + 0.06978398561477661, + 1.0 + ], + [ + 0.008581355214118958, + 0.04066416993737221, + -0.007288247346878052, + 0.022810988128185272, + 0.04632696509361267, + 0.06756752729415894, + 1.0 + ], + [ + 0.008352547883987427, + 0.022239115089178085, + -0.03977598994970322, + 0.05826008319854736, + 0.09537804126739502, + 0.0014075636863708496, + 1.0 + ], + [ + 0.0077894628047943115, + 0.011761166155338287, + -0.032096005976200104, + 0.021486179903149605, + 0.02853350341320038, + 0.05670878291130066, + 1.0 + ], + [ + 0.007940441370010376, + -0.003076009452342987, + -0.020331881940364838, + 0.03508083149790764, + -0.0043058842420578, + 0.017626404762268066, + 1.0 + ], + [ + 0.00273856520652771, + -0.012264922261238098, + -0.009723983705043793, + 0.03116738051176071, + -0.020044773817062378, + -0.01021796464920044, + 1.0 + ], + [ + -0.00665736198425293, + -0.004150219261646271, + -0.008646443486213684, + 0.029729299247264862, + -0.026202961802482605, + 0.03515946865081787, + 1.0 + ], + [ + -0.007761836051940918, + -0.0013615787029266357, + -0.009014932438731194, + 0.023434646427631378, + 0.011020049452781677, + -0.0031995177268981934, + 1.0 + ], + [ + -0.005526632070541382, + 0.0004904568195343018, + -0.0038469098508358, + 0.008984312415122986, + -0.000817909836769104, + -6.246566772460938e-05, + 1.0 + ], + [ + -0.0032900869846343994, + 0.0008873939514160156, + -0.002071252092719078, + 0.009205520153045654, + -0.0009610205888748169, + 0.0010104775428771973, + 0.0 + ], + [ + -0.0016651749610900879, + 0.0003005191683769226, + -0.0012098588049411774, + 0.002889394760131836, + -0.013979554176330566, + -0.002666771411895752, + 0.0 + ], + [ + 0.0008107274770736694, + -1.1608004570007324e-05, + 0.008168237283825874, + -0.008945956826210022, + -0.018784046173095703, + -0.004954695701599121, + 0.0 + ], + [ + 0.0006179660558700562, + 0.0009690225124359131, + 0.01147560402750969, + -0.010956428945064545, + -0.03513425588607788, + -0.007560014724731445, + 0.0 + ], + [ + 0.002201378345489502, + -0.001919075846672058, + 0.020388813689351082, + -0.03367546945810318, + -0.05570361018180847, + -0.025251150131225586, + 0.0 + ], + [ + 0.009293913841247559, + -0.0024214237928390503, + 0.02607840672135353, + -0.07203734666109085, + 0.014372706413269043, + -0.028803348541259766, + 0.0 + ], + [ + 0.029321014881134033, + -0.013398155570030212, + 0.020799510180950165, + -0.07167324423789978, + 0.03944659233093262, + -0.01251828670501709, + 0.0 + ], + [ + 0.03107789158821106, + -0.024644937366247177, + 0.004126951098442078, + 0.0019007548689842224, + 0.011673718690872192, + -0.013213098049163818, + 0.0 + ], + [ + 0.04196175932884216, + -0.035766709595918655, + -0.01197313517332077, + -0.023544833064079285, + -0.022448986768722534, + 0.00858086347579956, + 0.0 + ], + [ + 0.029900670051574707, + -0.03288707882165909, + -0.016111701726913452, + -0.016280874609947205, + 0.010416403412818909, + -0.045448869466781616, + 0.0 + ], + [ + 0.009641557931900024, + -0.023616120219230652, + -0.017940614372491837, + 0.0130067840218544, + 0.01937524974346161, + -0.03850486874580383, + 0.0 + ], + [ + -0.004463523626327515, + -0.009808667004108429, + -0.005778886377811432, + 0.02691664546728134, + 0.0015933215618133545, + -0.02517494559288025, + 0.0 + ], + [ + -0.015288949012756348, + 0.010509707033634186, + -0.007405094802379608, + 0.06906316429376602, + 0.0036123692989349365, + -0.0018359124660491943, + 0.0 + ], + [ + -0.011567950248718262, + 0.004521191120147705, + -0.0012843050062656403, + 0.011096624657511711, + -0.004656597971916199, + 0.001077413558959961, + 0.0 + ], + [ + -0.007988423109054565, + 0.008804749697446823, + -0.011933252215385437, + -0.008702894672751427, + 0.020723998546600342, + 0.01841217279434204, + 1.0 + ], + [ + 0.00113600492477417, + -7.284432649612427e-05, + -0.0009077452123165131, + -0.04896072298288345, + 0.02090546488761902, + 0.022520452737808228, + 1.0 + ], + [ + -0.0014764070510864258, + -0.005449399352073669, + -0.0016125086694955826, + -0.04356582462787628, + 0.026774495840072632, + 0.014708340167999268, + 1.0 + ], + [ + 0.0009576678276062012, + 0.0012065209448337555, + 0.022531935945153236, + -0.0294104665517807, + -0.020861253142356873, + 0.023987621068954468, + 1.0 + ], + [ + 0.005186170339584351, + 0.005310036242008209, + 0.030921462923288345, + 0.011185683310031891, + -0.04917258024215698, + 0.0036650896072387695, + 1.0 + ], + [ + -0.0026639699935913086, + 0.0007293522357940674, + 0.026575304567813873, + -0.004499182105064392, + -0.014677122235298157, + -0.011381834745407104, + 1.0 + ], + [ + -0.008612960577011108, + 0.0028656795620918274, + 0.02640887349843979, + -0.028663165867328644, + 0.03329271078109741, + -0.030473262071609497, + 1.0 + ], + [ + -0.013382971286773682, + 0.010085441172122955, + 0.02766844630241394, + -0.0782812312245369, + 0.01010209321975708, + -0.07260838150978088, + 1.0 + ], + [ + -0.019789665937423706, + 0.01198340393602848, + 0.00976957380771637, + -0.05769278109073639, + 0.012765437364578247, + -0.11096058785915375, + 1.0 + ], + [ + -0.009387165307998657, + 0.009576366282999516, + 0.0011983662843704224, + -0.03026023507118225, + -0.017250895500183105, + -0.12160231173038483, + 1.0 + ], + [ + -0.0074617862701416016, + 0.009335957467556, + 0.0017375200986862183, + 0.11472126841545105, + 0.03397536277770996, + -0.09430022537708282, + 1.0 + ], + [ + -0.0009002983570098877, + -0.0010517113842070103, + 0.0020635128021240234, + 0.15986613929271698, + 0.04370153695344925, + 0.032504498958587646, + 1.0 + ], + [ + 0.0007075369358062744, + 0.000784559641033411, + 0.0008736252784729004, + 0.040274202823638916, + 0.01108616590499878, + 0.04485180228948593, + 1.0 + ], + [ + 0.0031059980392456055, + -0.004397018812596798, + -0.0001745373010635376, + -0.015737183392047882, + -0.01644323021173477, + 0.0010097995400428772, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9468915462493896 + ], + [ + 0.6671556830406189 + ], + [ + 0.3849146366119385 + ], + [ + 0.2666412889957428 + ], + [ + 0.265934020280838 + ], + [ + 0.265934020280838 + ], + [ + 0.265934020280838 + ], + [ + 0.265934020280838 + ], + [ + 0.265934020280838 + ], + [ + 0.265934020280838 + ], + [ + 0.265934020280838 + ], + [ + 0.265934020280838 + ], + [ + 0.265934020280838 + ], + [ + 0.265934020280838 + ], + [ + 0.31575894355773926 + ], + [ + 0.6029031276702881 + ], + [ + 0.8990517854690552 + ], + [ + 1.0112061500549316 + ], + [ + 1.0073583126068115 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.24311603605747223, + -0.07572944462299347, + 0.11457984894514084 + ], + [ + 0.23723894357681274, + -0.05143408849835396, + 0.11597597599029541 + ], + [ + 0.2324398010969162, + -0.01504401583224535, + 0.12828189134597778 + ], + [ + 0.23494847118854523, + 0.01451077964156866, + 0.14428572356700897 + ], + [ + 0.24352982640266418, + 0.05517495051026344, + 0.13699747622013092 + ], + [ + 0.2518823742866516, + 0.07741406559944153, + 0.0972214862704277 + ], + [ + 0.2596718370914459, + 0.08917523175477982, + 0.0651254802942276 + ], + [ + 0.2676122784614563, + 0.08609922230243683, + 0.04479359835386276 + ], + [ + 0.270350843667984, + 0.07383430004119873, + 0.03506961464881897 + ], + [ + 0.2636934816837311, + 0.06968408077955246, + 0.026423171162605286 + ], + [ + 0.25593164563179016, + 0.06832250207662582, + 0.017408238723874092 + ], + [ + 0.2504050135612488, + 0.06881295889616013, + 0.013561328873038292 + ], + [ + 0.24711492657661438, + 0.06970035284757614, + 0.011490076780319214 + ], + [ + 0.2454497516155243, + 0.07000087201595306, + 0.010280217975378036 + ], + [ + 0.24626047909259796, + 0.06998926401138306, + 0.01844845525920391 + ], + [ + 0.24687844514846802, + 0.07095828652381897, + 0.0299240592867136 + ], + [ + 0.24907982349395752, + 0.06903921067714691, + 0.05031287297606468 + ], + [ + 0.2583737373352051, + 0.06661778688430786, + 0.07639127969741821 + ], + [ + 0.2876947522163391, + 0.05321963131427765, + 0.09719078987836838 + ], + [ + 0.31877264380455017, + 0.028574693948030472, + 0.10131774097681046 + ], + [ + 0.36073440313339233, + -0.007192015182226896, + 0.08934460580348969 + ], + [ + 0.39063507318496704, + -0.04007909446954727, + 0.07323290407657623 + ], + [ + 0.40027663111686707, + -0.06369521468877792, + 0.055292289704084396 + ], + [ + 0.39581310749053955, + -0.07350388169288635, + 0.049513403326272964 + ], + [ + 0.3805241584777832, + -0.06299417465925217, + 0.042108308523893356 + ], + [ + 0.36895620822906494, + -0.05847298353910446, + 0.040824003517627716 + ], + [ + 0.3609677851200104, + -0.04966823384165764, + 0.02889075130224228 + ], + [ + 0.36210379004478455, + -0.04974107816815376, + 0.027983006089925766 + ], + [ + 0.3606273829936981, + -0.05519047752022743, + 0.026370497420430183 + ], + [ + 0.3615850508213043, + -0.05398395657539368, + 0.04890243336558342 + ], + [ + 0.36677122116088867, + -0.04867392033338547, + 0.07982389628887177 + ], + [ + 0.36410725116729736, + -0.0479445680975914, + 0.10639920085668564 + ], + [ + 0.35549429059028625, + -0.04507888853549957, + 0.13280807435512543 + ], + [ + 0.3421113193035126, + -0.03499344736337662, + 0.16047652065753937 + ], + [ + 0.32232165336608887, + -0.023010043427348137, + 0.17024609446525574 + ], + [ + 0.3129344880580902, + -0.013433677144348621, + 0.17144446074962616 + ], + [ + 0.3054727017879486, + -0.004097719676792622, + 0.17318198084831238 + ], + [ + 0.3045724034309387, + -0.005149431060999632, + 0.1752454936504364 + ], + [ + 0.305279940366745, + -0.004364871419966221, + 0.1761191189289093 + ], + [ + 0.3083859384059906, + -0.008761890232563019, + 0.17594458162784576 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9617782143276088, + 0.05532133902587904, + 0.26818317600695935, + 0.05329238171159837, + -0.9984686020282951, + 0.014844959251109395, + 0.268593723858733, + 1.4561784093537235e-05, + -0.9632535550371215 + ], + [ + 0.9368994417829963, + 0.1863715467682537, + 0.2957787729738532, + 0.18845142149370156, + -0.9818420703245031, + 0.021730409059575167, + 0.29445797276302915, + 0.03538072209695334, + -0.9550092705205458 + ], + [ + 0.9034062047826874, + 0.3175698967138996, + 0.28810864246194434, + 0.3323535981542715, + -0.94315141877486, + -0.002546970136855939, + 0.2709212338559869, + 0.09805489260660159, + -0.957594341609148 + ], + [ + 0.8711782355351566, + 0.38101548718644135, + 0.30963798289927236, + 0.3914565641684801, + -0.9196967206939645, + 0.03032656119933045, + 0.2963279269648069, + 0.09478998084632612, + -0.9503707798706216 + ], + [ + 0.8539656606435724, + 0.45213324974528757, + 0.25752315413638516, + 0.45535666987065204, + -0.8888704256317901, + 0.05059317781549667, + 0.25177957352791147, + 0.07406004936486264, + -0.9649467111929949 + ], + [ + 0.8705874499940638, + 0.4691142208487584, + 0.14835545055809538, + 0.4657948500812419, + -0.8829518506210218, + 0.05857633585933783, + 0.15846971177681426, + 0.018107381985666374, + -0.987197788270921 + ], + [ + 0.8463034831203521, + 0.5213198247706285, + 0.10952650254381659, + 0.5165355535245679, + -0.8533556765389567, + 0.0705344686221375, + 0.13023607949960653, + -0.003119233857877858, + -0.9914781056466712 + ], + [ + 0.8365866212881539, + 0.5398847007997819, + 0.09299104754760427, + 0.5310663614083889, + -0.8408866464368037, + 0.10429845456534903, + 0.13450407005784343, + -0.0378702744457407, + -0.990189122062689 + ], + [ + 0.8395094289630897, + 0.5351059399188037, + 0.09426320462237874, + 0.5209640997659611, + -0.8420025658305115, + 0.1401002708415534, + 0.15433834726699786, + -0.0685077528346146, + -0.9856400774950472 + ], + [ + 0.8170370337915831, + 0.5689014323080033, + 0.09381708656184977, + 0.5477122884178909, + -0.8166245953919583, + 0.1820316437242637, + 0.18017140319453667, + -0.09734182307118858, + -0.9788068425139298 + ], + [ + 0.8203882568916718, + 0.5672380612894452, + 0.07213937744973573, + 0.5461625360870699, + -0.8146925840109376, + 0.1948909380461828, + 0.1693209736836637, + -0.12048641160800068, + -0.9781684070182614 + ], + [ + 0.8203068129835102, + 0.5679005109419983, + 0.06771810869076184, + 0.5460343676658304, + -0.8128856543215216, + 0.2026410183700444, + 0.17012701696266094, + -0.12925139330037794, + -0.9769088368058186 + ], + [ + 0.8196182513243893, + 0.5694295194363311, + 0.06305509091627477, + 0.5467720054952002, + -0.8103372325425766, + 0.2106987032755427, + 0.171073949222865, + -0.1382157442180429, + -0.9755153058499623 + ], + [ + 0.8190002784674429, + 0.5690889526295418, + 0.07332331051761053, + 0.5432092789795612, + -0.8101527920027157, + 0.2203999383863563, + 0.1848302548306313, + -0.14067770827396742, + -0.9726497618845276 + ], + [ + 0.8186340878496813, + 0.5664484461313035, + 0.0947332469936103, + 0.5371450782808824, + -0.8135408954549662, + 0.222769783186492, + 0.20325696811953392, + -0.13148144088716013, + -0.9702573038184723 + ], + [ + 0.8161648266626174, + 0.5627455387279251, + 0.13111992358370833, + 0.5267415967205221, + -0.8178902500935803, + 0.2315142092532895, + 0.23752529550154228, + -0.11988743655478853, + -0.9639547378135692 + ], + [ + 0.8166293194313579, + 0.5411220925400289, + 0.20075715581313072, + 0.49829386546155297, + -0.8365310228666218, + 0.22785756828577575, + 0.29123835305203355, + -0.086039111727305, + -0.9527735790652023 + ], + [ + 0.8341897421363436, + 0.5003342706499073, + 0.23193337777846113, + 0.4765961899303417, + -0.8656592019878321, + 0.1532651876900678, + 0.27745908862097624, + -0.01731368323076682, + -0.9605814335675046 + ], + [ + 0.8490047839080005, + 0.47324358377052567, + 0.23501358965251098, + 0.4710625621908644, + -0.8793916012582776, + 0.06906861905800926, + 0.23935525773107094, + 0.05206651569321508, + -0.9695350115081254 + ], + [ + 0.8575573436268015, + 0.4625478040935076, + 0.22504428746364133, + 0.46109565725472756, + -0.8851626560154578, + 0.062272524089609274, + 0.22800481848543178, + 0.05036468330024821, + -0.9723565197104871 + ], + [ + 0.8488673603017762, + 0.46327295838163124, + 0.25456309757430706, + 0.4658568012254313, + -0.8832172030485599, + 0.053896317045679445, + 0.24980321328258334, + 0.07283912596545049, + -0.9655531142108578 + ], + [ + 0.8714446198892373, + 0.4192602590212955, + 0.25456847737200183, + 0.4279327311727097, + -0.9035145802461226, + 0.023129653558547306, + 0.23970367551868815, + 0.08878197163878088, + -0.9667781076621266 + ], + [ + 0.8913498263943662, + 0.3888084809918239, + 0.2330739198099255, + 0.39588002733484556, + -0.9181328935435898, + 0.017635014903218723, + 0.2208494757614222, + 0.07655034227294685, + -0.9722991073500991 + ], + [ + 0.901356530227045, + 0.37179825668537714, + 0.22208660865251684, + 0.37345148711714593, + -0.9269458628383883, + 0.03612968498046323, + 0.2192952169725868, + 0.050372846777899515, + -0.9743573185030406 + ], + [ + 0.9027671500382207, + 0.38448717592073983, + 0.1928239724836181, + 0.37209549624857124, + -0.9229737937620781, + 0.09830726168481504, + 0.2157693548291752, + -0.016999634729349324, + -0.976296367879995 + ], + [ + 0.9014274203819178, + 0.38771582677288846, + 0.1926266945504101, + 0.37268000722743994, + -0.9213595550957546, + 0.11048159324841691, + 0.22031390786002758, + -0.027803019684360074, + -0.9750327041181104 + ], + [ + 0.898407373523171, + 0.4025717586817471, + 0.1754997729659021, + 0.3909512577017813, + -0.9151827758525682, + 0.09796734600969736, + 0.20005325616093686, + -0.01940272905221139, + -0.9795928893191975 + ], + [ + 0.89297758542162, + 0.4146353975243098, + 0.17512429601409107, + 0.4127477039500874, + -0.9095356092567938, + 0.04882938027257641, + 0.17952817277102884, + 0.028678608992252164, + -0.9833347205137044 + ], + [ + 0.8908251166822356, + 0.42169602954500907, + 0.16912442211004425, + 0.4277646361492593, + -0.9038899506230914, + 0.0006109195342983639, + 0.15312748789219188, + 0.07180122442243203, + -0.9855945193756236 + ], + [ + 0.8772717795246272, + 0.4362224860489039, + 0.20026024946306273, + 0.44745926158648885, + -0.8942196252303046, + -0.01230735850814299, + 0.17370789869827, + 0.10040520164955424, + -0.9796654334064994 + ], + [ + 0.8669758144186601, + 0.43781798216903484, + 0.2380511535417019, + 0.4462194528123849, + -0.8946915720801805, + 0.02037623077289638, + 0.22190344103892587, + 0.08855735620562087, + -0.9710388547926154 + ], + [ + 0.868991898306857, + 0.4253126519362085, + 0.25290754986760505, + 0.4348186480621862, + -0.9002963251104186, + 0.01998174892366865, + 0.23619022836353368, + 0.09260494098948213, + -0.967284084915035 + ], + [ + 0.8884829016952644, + 0.3939072746983345, + 0.2354467930019303, + 0.4112158916871233, + -0.9111250209166609, + -0.027435135931467354, + 0.20371456457290185, + 0.12119511210995645, + -0.9714999335983137 + ], + [ + 0.9178520175995543, + 0.3094253273387447, + 0.24860338008510308, + 0.34638674225394495, + -0.9302516157558605, + -0.12102956735570847, + 0.19381408250982873, + 0.19720014752763626, + -0.9610141535044902 + ], + [ + 0.9528836067741148, + 0.19382317044280364, + 0.2333354035303139, + 0.24321208071437542, + -0.9478786251034258, + -0.20584944951741702, + 0.18127524854689536, + 0.2529005549055584, + -0.9503581396466925 + ], + [ + 0.972102968369459, + 0.06631501914904575, + 0.22498474864432028, + 0.12540978489617413, + -0.9575307822304905, + -0.25962894086245475, + 0.19821252417438617, + 0.2806013530194151, + -0.9391350679982574 + ], + [ + 0.9857564188259997, + 0.004692501410019775, + 0.1681138399235988, + 0.03352851576138476, + -0.9850277715654866, + -0.16910389668949202, + 0.16480328083560414, + 0.1723318591417408, + -0.9711547811500351 + ], + [ + 0.9903904070876587, + 0.06453617396469055, + 0.12231894292684273, + 0.0659625699869063, + -0.997792821026004, + -0.007643668601567111, + 0.12155567000129405, + 0.015638687891485474, + -0.9924614100969209 + ], + [ + 0.9877154443319122, + 0.11378605566083767, + 0.10710244892327447, + 0.11044510685665938, + -0.9932064562410096, + 0.036644421848314346, + 0.11054446797391065, + -0.024365319992252873, + -0.9935724693156714 + ], + [ + 0.985663738823841, + 0.11323234158911832, + 0.1250816964469753, + 0.11122356959927651, + -0.9935303601960888, + 0.02295083733169295, + 0.12687123997739969, + -0.00870977536312852, + -0.9918809546915002 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005654.json b/json/chunk-0005/episode_0005654.json new file mode 100644 index 0000000000000000000000000000000000000000..e8b37e407a5fbcdfd13f8e236952fd159b47779e --- /dev/null +++ b/json/chunk-0005/episode_0005654.json @@ -0,0 +1,1822 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 29, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut sushi in pot cardboard fence." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005654.mp4", + "start": 0, + "end": 29, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2713222801685333, + 0.08398084342479706, + 0.09035665541887283, + 0.10711667686700821, + -0.2123068869113922, + 0.7483032941818237, + 0.0, + 0.9879508018493652 + ], + [ + 0.26589706540107727, + 0.0812288224697113, + 0.08223556727170944, + 0.11958492547273636, + -0.18586280941963196, + 0.7513599991798401, + 0.0, + 0.9879508018493652 + ], + [ + 0.25663313269615173, + 0.05849805474281311, + 0.0859021544456482, + 0.09498903155326843, + -0.1977889984846115, + 0.7762708067893982, + 0.0, + 0.9879508018493652 + ], + [ + 0.2521618902683258, + 0.037395648658275604, + 0.0871659517288208, + 0.10127673298120499, + -0.2052762657403946, + 0.7850417494773865, + 0.0, + 0.9879508018493652 + ], + [ + 0.25392454862594604, + 0.023186929523944855, + 0.08609525114297867, + 0.061863262206315994, + -0.20820550620555878, + 0.8678717017173767, + 0.0, + 0.9879508018493652 + ], + [ + 0.25445932149887085, + 0.008841600269079208, + 0.07096415758132935, + 0.05203310772776604, + -0.2711680829524994, + 0.9967144131660461, + 0.0, + 0.9879508018493652 + ], + [ + 0.24740834534168243, + -0.006580153945833445, + 0.052288711071014404, + 0.012170677073299885, + -0.2967055141925812, + 1.1725726127624512, + 0.0, + 0.9879508018493652 + ], + [ + 0.24717000126838684, + -0.012556849047541618, + 0.04391727223992348, + -0.03186072036623955, + -0.2671390771865845, + 1.2562578916549683, + 0.0, + 0.9879508018493652 + ], + [ + 0.2473958432674408, + -0.017930328845977783, + 0.03566204011440277, + -0.03442779928445816, + -0.23936115205287933, + 1.2767791748046875, + 0.0, + 0.9879508018493652 + ], + [ + 0.24854649603366852, + -0.021456804126501083, + 0.026238374412059784, + -0.060475435107946396, + -0.23546113073825836, + 1.3011566400527954, + 0.0, + 0.9879508018493652 + ], + [ + 0.2471948117017746, + -0.026596160605549812, + 0.018039189279079437, + -0.04948163405060768, + -0.20031100511550903, + 1.3048723936080933, + 0.0, + 0.9879508018493652 + ], + [ + 0.2423558384180069, + -0.027367431670427322, + 0.008955461904406548, + -0.020537853240966797, + -0.1477583795785904, + 1.2921630144119263, + 0.0, + 0.9343546032905579 + ], + [ + 0.23814748227596283, + -0.026970049366354942, + 0.0031996045727282763, + 0.03565734252333641, + -0.10699357837438583, + 1.2748970985412598, + 0.0, + 0.7545521855354309 + ], + [ + 0.23819656670093536, + -0.026758337393403053, + 0.0026022468227893114, + 0.052692629396915436, + -0.06548641622066498, + 1.2721145153045654, + 0.0, + 0.6179407835006714 + ], + [ + 0.23398692905902863, + -0.023342473432421684, + 0.007322548422962427, + 0.07248348742723465, + -0.032847851514816284, + 1.285703420639038, + 0.0, + 0.648074209690094 + ], + [ + 0.24379554390907288, + -0.01895652897655964, + 0.040144845843315125, + 0.002030550502240658, + -0.019870376214385033, + 1.2931634187698364, + 0.0, + 0.649078905582428 + ], + [ + 0.25756874680519104, + -0.0095117948949337, + 0.07288213074207306, + -0.060425519943237305, + 0.0100389514118433, + 1.3341436386108398, + 0.0, + 0.649078905582428 + ], + [ + 0.2733287513256073, + 0.007698359899222851, + 0.08872091770172119, + -0.07588888704776764, + -0.03536041080951691, + 1.3873097896575928, + 0.0, + 0.649078905582428 + ], + [ + 0.2884126901626587, + 0.02740137279033661, + 0.07831602543592453, + -0.03270875662565231, + -0.05758511647582054, + 1.4350723028182983, + 0.0, + 0.649078905582428 + ], + [ + 0.30143746733665466, + 0.05117921903729439, + 0.06924203783273697, + -0.007811438757926226, + -0.08229921758174896, + 1.4877469539642334, + 0.0, + 0.649078905582428 + ], + [ + 0.30587631464004517, + 0.07218509167432785, + 0.06281784176826477, + 0.008052720688283443, + -0.09543109685182571, + 1.514024019241333, + 0.0, + 0.649078905582428 + ], + [ + 0.3080461025238037, + 0.08905456960201263, + 0.061868324875831604, + -0.013356141746044159, + -0.12134049832820892, + 1.5251555442810059, + 0.0, + 0.649078905582428 + ], + [ + 0.3126296103000641, + 0.10175693035125732, + 0.05716444179415703, + -0.005106919910758734, + -0.13192318379878998, + 1.5308219194412231, + 0.0, + 0.649078905582428 + ], + [ + 0.31830188632011414, + 0.10541123896837234, + 0.04504494369029999, + 0.01380143128335476, + -0.1396305114030838, + 1.5503276586532593, + 0.0, + 0.649078905582428 + ], + [ + 0.3217433989048004, + 0.09868869930505753, + 0.044742271304130554, + 0.002121647819876671, + -0.1412421315908432, + 1.5472177267074585, + 0.0, + 0.649078905582428 + ], + [ + 0.31691762804985046, + 0.08906455338001251, + 0.03829170763492584, + 0.022317547351121902, + -0.13132494688034058, + 1.5322725772857666, + 0.0, + 0.649078905582428 + ], + [ + 0.3149845600128174, + 0.08330003917217255, + 0.03837432712316513, + 0.04005640000104904, + -0.12193525582551956, + 1.5137872695922852, + 0.0, + 0.7200843095779419 + ], + [ + 0.3160935342311859, + 0.07831251621246338, + 0.04878948628902435, + 0.03565901517868042, + -0.10594554990530014, + 1.5098077058792114, + 0.0, + 0.9590815901756287 + ], + [ + 0.3189866840839386, + 0.07315494120121002, + 0.06766211241483688, + 0.0012071466771885753, + -0.09723279625177383, + 1.5213940143585205, + 0.0, + 0.9872581958770752 + ] + ], + "left_gripper_pos": [ + [ + 0.9879508018493652 + ], + [ + 0.9879508018493652 + ], + [ + 0.9879508018493652 + ], + [ + 0.9879508018493652 + ], + [ + 0.9879508018493652 + ], + [ + 0.9879508018493652 + ], + [ + 0.9879508018493652 + ], + [ + 0.9879508018493652 + ], + [ + 0.9879508018493652 + ], + [ + 0.9879508018493652 + ], + [ + 0.9879508018493652 + ], + [ + 0.9343546032905579 + ], + [ + 0.7545521855354309 + ], + [ + 0.6179407835006714 + ], + [ + 0.648074209690094 + ], + [ + 0.649078905582428 + ], + [ + 0.649078905582428 + ], + [ + 0.649078905582428 + ], + [ + 0.649078905582428 + ], + [ + 0.649078905582428 + ], + [ + 0.649078905582428 + ], + [ + 0.649078905582428 + ], + [ + 0.649078905582428 + ], + [ + 0.649078905582428 + ], + [ + 0.649078905582428 + ], + [ + 0.649078905582428 + ], + [ + 0.7200843095779419 + ], + [ + 0.9590815901756287 + ], + [ + 0.9872581958770752 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2713222801685333, + 0.08398084342479706, + 0.09035665541887283 + ], + [ + 0.26589706540107727, + 0.0812288224697113, + 0.08223556727170944 + ], + [ + 0.25663313269615173, + 0.05849805474281311, + 0.0859021544456482 + ], + [ + 0.2521618902683258, + 0.037395648658275604, + 0.0871659517288208 + ], + [ + 0.25392454862594604, + 0.023186929523944855, + 0.08609525114297867 + ], + [ + 0.25445932149887085, + 0.008841600269079208, + 0.07096415758132935 + ], + [ + 0.24740834534168243, + -0.006580153945833445, + 0.052288711071014404 + ], + [ + 0.24717000126838684, + -0.012556849047541618, + 0.04391727223992348 + ], + [ + 0.2473958432674408, + -0.017930328845977783, + 0.03566204011440277 + ], + [ + 0.24854649603366852, + -0.021456804126501083, + 0.026238374412059784 + ], + [ + 0.2471948117017746, + -0.026596160605549812, + 0.018039189279079437 + ], + [ + 0.2423558384180069, + -0.027367431670427322, + 0.008955461904406548 + ], + [ + 0.23814748227596283, + -0.026970049366354942, + 0.0031996045727282763 + ], + [ + 0.23819656670093536, + -0.026758337393403053, + 0.0026022468227893114 + ], + [ + 0.23398692905902863, + -0.023342473432421684, + 0.007322548422962427 + ], + [ + 0.24379554390907288, + -0.01895652897655964, + 0.040144845843315125 + ], + [ + 0.25756874680519104, + -0.0095117948949337, + 0.07288213074207306 + ], + [ + 0.2733287513256073, + 0.007698359899222851, + 0.08872091770172119 + ], + [ + 0.2884126901626587, + 0.02740137279033661, + 0.07831602543592453 + ], + [ + 0.30143746733665466, + 0.05117921903729439, + 0.06924203783273697 + ], + [ + 0.30587631464004517, + 0.07218509167432785, + 0.06281784176826477 + ], + [ + 0.3080461025238037, + 0.08905456960201263, + 0.061868324875831604 + ], + [ + 0.3126296103000641, + 0.10175693035125732, + 0.05716444179415703 + ], + [ + 0.31830188632011414, + 0.10541123896837234, + 0.04504494369029999 + ], + [ + 0.3217433989048004, + 0.09868869930505753, + 0.044742271304130554 + ], + [ + 0.31691762804985046, + 0.08906455338001251, + 0.03829170763492584 + ], + [ + 0.3149845600128174, + 0.08330003917217255, + 0.03837432712316513 + ], + [ + 0.3160935342311859, + 0.07831251621246338, + 0.04878948628902435 + ], + [ + 0.3189866840839386, + 0.07315494120121002, + 0.06766211241483688 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.7163901085606335, + 0.6930061473881319, + 0.08079413369015034, + 0.6651196654708971, + -0.7133160768523664, + 0.2208981781451127, + 0.21071554987794552, + -0.10451150265021975, + -0.9719445986543819 + ], + [ + 0.7181753919441239, + 0.6938683906406098, + 0.05263803639682796, + 0.6708763523191872, + -0.710492904532912, + 0.2124258753242831, + 0.18479455161017458, + -0.11724542241894209, + -0.9757584150890004 + ], + [ + 0.699619848679677, + 0.7107633613845122, + 0.07312668081360746, + 0.6869636551149992, + -0.697256759257615, + 0.20472896282795164, + 0.1965019182717217, + -0.09299707405589505, + -0.9760832650612221 + ], + [ + 0.6925075556473854, + 0.7178104853960353, + 0.07198188957502584, + 0.692014092838343, + -0.6891667947912052, + 0.2148618725375479, + 0.2038376331407134, + -0.09898098813774614, + -0.973988184375389 + ], + [ + 0.6324906572848198, + 0.7697565265405504, + 0.08620010612315865, + 0.7464776087078591, + -0.635465196339632, + 0.19737062582570264, + 0.2067044947387776, + -0.06048862776803572, + -0.9765318109337385 + ], + [ + 0.5232198281494995, + 0.8461202885824123, + 0.10159462919083698, + 0.809007805215641, + -0.5306312582971398, + 0.2528573487525447, + 0.2678570188204519, + -0.05010913057726861, + -0.9621547133914642 + ], + [ + 0.37083749879004174, + 0.9230628236172851, + 0.10214975842766873, + 0.8814752363171272, + -0.38447310291224385, + 0.27419307229887513, + 0.29237126611691994, + -0.011638590667105153, + -0.9562340644196238 + ], + [ + 0.2984039763607088, + 0.9478551265289302, + 0.11191838993187458, + 0.9172095086253379, + -0.31721697223713863, + 0.24103964365217756, + 0.26397307472426773, + 0.030725423309175562, + -0.9640405407362744 + ], + [ + 0.2815370336774972, + 0.9541553476350658, + 0.10160940531014923, + 0.9298005187401798, + -0.2974379983037288, + 0.21679859897048046, + 0.2370820406917571, + 0.03343964330667157, + -0.9709139489352051 + ], + [ + 0.25903378636398583, + 0.9583489491354492, + 0.12028628023559948, + 0.9372708318717843, + -0.2794875207196998, + 0.2083509382852134, + 0.2332914169966618, + 0.058770889502674936, + -0.9706292275131394 + ], + [ + 0.25754606701263105, + 0.9610827913419273, + 0.09994944498462377, + 0.9455576768183831, + -0.2719747961865999, + 0.1787467203869184, + 0.19897412690133143, + 0.04847245017189035, + -0.9788052504958207 + ], + [ + 0.2720449551210983, + 0.9603979109512829, + 0.06022785928099916, + 0.9509560602051707, + -0.2778907149534412, + 0.13586508786927445, + 0.14722130943657574, + 0.020312636044529535, + -0.9888949807055869 + ], + [ + 0.28993264310003714, + 0.9570424126707039, + -0.002980405083897908, + 0.9510704772745832, + -0.28777318582513606, + 0.11247906817158365, + 0.10678955811184228, + -0.03544592881403089, + -0.993649624570345 + ], + [ + 0.29362989808850914, + 0.9554129213115228, + -0.031106795712734437, + 0.9536766428207679, + -0.2905582287707905, + 0.07795368260505964, + 0.06543962015966433, + -0.05255535638317968, + -0.9964715704067005 + ], + [ + 0.28109489227657763, + 0.9577846584421741, + -0.060284405851154486, + 0.9591178593884966, + -0.2782257060693673, + 0.05180143129518342, + 0.03284194479696325, + -0.07238096804415879, + -0.9968361962363441 + ], + [ + 0.27402586387523703, + 0.9617159796484772, + 0.003492909417614397, + 0.9615170544706196, + -0.27404060463154517, + 0.019664713964873785, + 0.019869068663961955, + -0.0020301482573266937, + -0.9998005294099818 + ], + [ + 0.23443811585374819, + 0.9704961285658061, + 0.056356315295864906, + 0.9720792111114313, + -0.23343271019599587, + -0.023899312448891336, + -0.010038782790859815, + 0.06038571229466956, + -0.9981246357999303 + ], + [ + 0.18234462839989135, + 0.9798946064284146, + 0.08097528503319443, + 0.9825989003079882, + -0.18456887230423186, + 0.020826245217886983, + 0.03535304240425347, + 0.07576867208052215, + -0.9964985051287917 + ], + [ + 0.13508343070341772, + 0.9900189892697229, + 0.04018541569713158, + 0.9891613037699467, + -0.13710019014130953, + 0.052568555119536585, + 0.05755329593979763, + 0.032648717410843235, + -0.9978084382174229 + ], + [ + 0.08267316608189629, + 0.9964697102255682, + 0.014603568501127859, + 0.9931803786304116, + -0.08359133697097781, + 0.08127252848876006, + 0.08220634472805052, + 0.007784920447658411, + -0.996584924579976 + ], + [ + 0.056483634877320166, + 0.99840005292797, + -0.002633116874045126, + 0.9938461236955316, + -0.05597390608807268, + 0.09558663218572894, + 0.09528631279681143, + -0.008015993430038455, + -0.9954176321740126 + ], + [ + 0.04528947072937817, + 0.9987957830848663, + 0.01886392146244833, + 0.9916135669929812, + -0.04723580456606702, + 0.12029676854534598, + 0.12104295764937759, + 0.013257543470980612, + -0.9925587337506057 + ], + [ + 0.03961650687457824, + 0.9991612536122678, + 0.010359616933925259, + 0.9905188212228726, + -0.04063446991016145, + 0.13122996859852964, + 0.1315408574789878, + 0.0050625226005778096, + -0.991297822896132 + ], + [ + 0.020268041247106128, + 0.999734618980523, + -0.010949799809764224, + 0.9900600510604902, + -0.018544907966481894, + 0.13941729334129985, + 0.13917723160813672, + -0.013666674810758672, + -0.9901731768743849 + ], + [ + 0.023341639124911495, + 0.9997268291979454, + 0.001197858415984146, + 0.9897667071118966, + -0.023277774875543167, + 0.14078355972810414, + 0.14077298524871712, + -0.0021005186659189407, + -0.9900396731674437 + ], + [ + 0.03818258574767919, + 0.9991217566812917, + -0.017257041221221035, + 0.9906537059209467, + -0.035584607535535606, + 0.13167752523356596, + 0.1309477952877238, + -0.02212354023730599, + -0.991142383251091 + ], + [ + 0.05655512487827069, + 0.9978521110557738, + -0.03305574551480198, + 0.9909625891863604, + -0.0520694999391052, + 0.12362003886569815, + 0.12163332061186363, + -0.03974835389833982, + -0.9917789086683102 + ], + [ + 0.06060906878911326, + 0.9977360248099199, + -0.029143877178834723, + 0.9925442129189694, + -0.057149029634548654, + 0.10765674067559569, + 0.1057474641851024, + -0.03545156143709255, + -0.9937608669142148 + ], + [ + 0.0491489685209997, + 0.9987850132872595, + 0.0035883319369621886, + 0.9940623314286596, + -0.0492651374069073, + 0.09702075793816337, + 0.09707965867234455, + -0.001201444566589778, + -0.9952758895919331 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.005425214767456055, + -0.0027520209550857544, + -0.008121088147163391, + 0.01246824860572815, + 0.026444077491760254, + 0.0030567049980163574, + 1.0 + ], + [ + -0.009263932704925537, + -0.022730767726898193, + 0.0036665871739387512, + -0.024595893919467926, + -0.011926189064979553, + 0.024910807609558105, + 1.0 + ], + [ + -0.004471242427825928, + -0.021102406084537506, + 0.0012637972831726074, + 0.006287701427936554, + -0.007487267255783081, + 0.008770942687988281, + 1.0 + ], + [ + 0.0017626583576202393, + -0.01420871913433075, + -0.0010707005858421326, + -0.03941347077488899, + -0.0029292404651641846, + 0.08282995223999023, + 1.0 + ], + [ + 0.0005347728729248047, + -0.014345329254865646, + -0.015131093561649323, + -0.009830154478549957, + -0.06296257674694061, + 0.12884271144866943, + 1.0 + ], + [ + -0.0070509761571884155, + -0.015421753749251366, + -0.01867544651031494, + -0.03986243158578873, + -0.025537431240081787, + 0.17585819959640503, + 1.0 + ], + [ + -0.00023834407329559326, + -0.005976695101708174, + -0.008371438831090927, + -0.04403139650821686, + 0.029566437005996704, + 0.08368527889251709, + 1.0 + ], + [ + 0.00022584199905395508, + -0.005373479798436165, + -0.008255232125520706, + -0.0025670789182186127, + 0.02777792513370514, + 0.02052128314971924, + 1.0 + ], + [ + 0.0011506527662277222, + -0.0035264752805233, + -0.009423665702342987, + -0.026047635823488235, + 0.0039000213146209717, + 0.02437746524810791, + 1.0 + ], + [ + -0.001351684331893921, + -0.005139356479048729, + -0.008199185132980347, + 0.010993801057338715, + 0.03515012562274933, + 0.0037157535552978516, + 1.0 + ], + [ + -0.0048389732837677, + -0.0007712710648775101, + -0.00908372737467289, + 0.028943780809640884, + 0.05255262553691864, + -0.012709379196166992, + 0.0 + ], + [ + -0.004208356142044067, + 0.00039738230407238007, + -0.005755857564508915, + 0.05619519576430321, + 0.04076480120420456, + -0.017265915870666504, + 0.0 + ], + [ + 4.908442497253418e-05, + 0.00021171197295188904, + -0.0005973577499389648, + 0.017035286873579025, + 0.041507162153720856, + -0.002782583236694336, + 0.0 + ], + [ + -0.004209637641906738, + 0.003415863960981369, + 0.004720301367342472, + 0.019790858030319214, + 0.032638564705848694, + 0.013588905334472656, + 0.0 + ], + [ + 0.00980861485004425, + 0.004385944455862045, + 0.032822296023368835, + -0.07045293599367142, + 0.012977475300431252, + 0.00745999813079834, + 0.0 + ], + [ + 0.013773202896118164, + 0.009444734081625938, + 0.032737284898757935, + -0.06245607137680054, + 0.029909327626228333, + 0.04098021984100342, + 0.0 + ], + [ + 0.01576000452041626, + 0.017210155725479126, + 0.015838786959648132, + -0.015463367104530334, + -0.04539936035871506, + 0.05316615104675293, + 0.0 + ], + [ + 0.015083938837051392, + 0.019703011959791183, + -0.010404892265796661, + 0.043180130422115326, + -0.022224705666303635, + 0.047762513160705566, + 0.0 + ], + [ + 0.013024777173995972, + 0.02377784624695778, + -0.009073987603187561, + 0.024897318333387375, + -0.02471410110592842, + 0.05267465114593506, + 0.0 + ], + [ + 0.004438847303390503, + 0.021005872637033463, + -0.0064241960644721985, + 0.015864159911870956, + -0.013131879270076752, + 0.02627706527709961, + 0.0 + ], + [ + 0.002169787883758545, + 0.016869477927684784, + -0.0009495168924331665, + -0.021408863365650177, + -0.02590940147638321, + 0.011131525039672852, + 0.0 + ], + [ + 0.004583507776260376, + 0.01270236074924469, + -0.004703883081674576, + 0.008249221369624138, + -0.010582685470581055, + 0.005666375160217285, + 0.0 + ], + [ + 0.005672276020050049, + 0.0036543086171150208, + -0.01211949810385704, + 0.01890835165977478, + -0.007707327604293823, + 0.019505739212036133, + 0.0 + ], + [ + 0.0034415125846862793, + -0.006722539663314819, + -0.0003026723861694336, + -0.011679783463478088, + -0.0016116201877593994, + -0.0031099319458007812, + 0.0 + ], + [ + -0.004825770854949951, + -0.009624145925045013, + -0.006450563669204712, + 0.02019589953124523, + 0.009917184710502625, + -0.014945149421691895, + 0.0 + ], + [ + -0.001933068037033081, + -0.005764514207839966, + 8.261948823928833e-05, + 0.01773885264992714, + 0.009389691054821014, + -0.018485307693481445, + 1.0 + ], + [ + 0.0011089742183685303, + -0.0049875229597091675, + 0.010415159165859222, + -0.004397384822368622, + 0.01598970592021942, + -0.0039795637130737305, + 1.0 + ], + [ + 0.0028931498527526855, + -0.005157575011253357, + 0.01887262612581253, + -0.03445186838507652, + 0.008712753653526306, + 0.011586308479309082, + 1.0 + ], + [ + 0.004121124744415283, + -0.006244845688343048, + 0.027238667011260986, + -0.04659278318285942, + 0.026778526604175568, + -0.009369611740112305, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9879508018493652 + ], + [ + 0.9879508018493652 + ], + [ + 0.9879508018493652 + ], + [ + 0.9879508018493652 + ], + [ + 0.9879508018493652 + ], + [ + 0.9879508018493652 + ], + [ + 0.9879508018493652 + ], + [ + 0.9879508018493652 + ], + [ + 0.9879508018493652 + ], + [ + 0.9879508018493652 + ], + [ + 0.9343546032905579 + ], + [ + 0.7545521855354309 + ], + [ + 0.6179407835006714 + ], + [ + 0.648074209690094 + ], + [ + 0.649078905582428 + ], + [ + 0.649078905582428 + ], + [ + 0.649078905582428 + ], + [ + 0.649078905582428 + ], + [ + 0.649078905582428 + ], + [ + 0.649078905582428 + ], + [ + 0.649078905582428 + ], + [ + 0.649078905582428 + ], + [ + 0.649078905582428 + ], + [ + 0.649078905582428 + ], + [ + 0.649078905582428 + ], + [ + 0.7200843095779419 + ], + [ + 0.9590815901756287 + ], + [ + 0.9872581958770752 + ], + [ + 0.9858682155609131 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.26589706540107727, + 0.0812288224697113, + 0.08223556727170944 + ], + [ + 0.25663313269615173, + 0.05849805474281311, + 0.0859021544456482 + ], + [ + 0.2521618902683258, + 0.037395648658275604, + 0.0871659517288208 + ], + [ + 0.25392454862594604, + 0.023186929523944855, + 0.08609525114297867 + ], + [ + 0.25445932149887085, + 0.008841600269079208, + 0.07096415758132935 + ], + [ + 0.24740834534168243, + -0.006580153945833445, + 0.052288711071014404 + ], + [ + 0.24717000126838684, + -0.012556849047541618, + 0.04391727223992348 + ], + [ + 0.2473958432674408, + -0.017930328845977783, + 0.03566204011440277 + ], + [ + 0.24854649603366852, + -0.021456804126501083, + 0.026238374412059784 + ], + [ + 0.2471948117017746, + -0.026596160605549812, + 0.018039189279079437 + ], + [ + 0.2423558384180069, + -0.027367431670427322, + 0.008955461904406548 + ], + [ + 0.23814748227596283, + -0.026970049366354942, + 0.0031996045727282763 + ], + [ + 0.23819656670093536, + -0.026758337393403053, + 0.0026022468227893114 + ], + [ + 0.23398692905902863, + -0.023342473432421684, + 0.007322548422962427 + ], + [ + 0.24379554390907288, + -0.01895652897655964, + 0.040144845843315125 + ], + [ + 0.25756874680519104, + -0.0095117948949337, + 0.07288213074207306 + ], + [ + 0.2733287513256073, + 0.007698359899222851, + 0.08872091770172119 + ], + [ + 0.2884126901626587, + 0.02740137279033661, + 0.07831602543592453 + ], + [ + 0.30143746733665466, + 0.05117921903729439, + 0.06924203783273697 + ], + [ + 0.30587631464004517, + 0.07218509167432785, + 0.06281784176826477 + ], + [ + 0.3080461025238037, + 0.08905456960201263, + 0.061868324875831604 + ], + [ + 0.3126296103000641, + 0.10175693035125732, + 0.05716444179415703 + ], + [ + 0.31830188632011414, + 0.10541123896837234, + 0.04504494369029999 + ], + [ + 0.3217433989048004, + 0.09868869930505753, + 0.044742271304130554 + ], + [ + 0.31691762804985046, + 0.08906455338001251, + 0.03829170763492584 + ], + [ + 0.3149845600128174, + 0.08330003917217255, + 0.03837432712316513 + ], + [ + 0.3160935342311859, + 0.07831251621246338, + 0.04878948628902435 + ], + [ + 0.3189866840839386, + 0.07315494120121002, + 0.06766211241483688 + ], + [ + 0.3231078088283539, + 0.06691009551286697, + 0.09490077942609787 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.7181753919441239, + 0.6938683906406098, + 0.05263803639682796, + 0.6708763523191872, + -0.710492904532912, + 0.2124258753242831, + 0.18479455161017458, + -0.11724542241894209, + -0.9757584150890004 + ], + [ + 0.699619848679677, + 0.7107633613845122, + 0.07312668081360746, + 0.6869636551149992, + -0.697256759257615, + 0.20472896282795164, + 0.1965019182717217, + -0.09299707405589505, + -0.9760832650612221 + ], + [ + 0.6925075556473854, + 0.7178104853960353, + 0.07198188957502584, + 0.692014092838343, + -0.6891667947912052, + 0.2148618725375479, + 0.2038376331407134, + -0.09898098813774614, + -0.973988184375389 + ], + [ + 0.6324906572848198, + 0.7697565265405504, + 0.08620010612315865, + 0.7464776087078591, + -0.635465196339632, + 0.19737062582570264, + 0.2067044947387776, + -0.06048862776803572, + -0.9765318109337385 + ], + [ + 0.5232198281494995, + 0.8461202885824123, + 0.10159462919083698, + 0.809007805215641, + -0.5306312582971398, + 0.2528573487525447, + 0.2678570188204519, + -0.05010913057726861, + -0.9621547133914642 + ], + [ + 0.37083749879004174, + 0.9230628236172851, + 0.10214975842766873, + 0.8814752363171272, + -0.38447310291224385, + 0.27419307229887513, + 0.29237126611691994, + -0.011638590667105153, + -0.9562340644196238 + ], + [ + 0.2984039763607088, + 0.9478551265289302, + 0.11191838993187458, + 0.9172095086253379, + -0.31721697223713863, + 0.24103964365217756, + 0.26397307472426773, + 0.030725423309175562, + -0.9640405407362744 + ], + [ + 0.2815370336774972, + 0.9541553476350658, + 0.10160940531014923, + 0.9298005187401798, + -0.2974379983037288, + 0.21679859897048046, + 0.2370820406917571, + 0.03343964330667157, + -0.9709139489352051 + ], + [ + 0.25903378636398583, + 0.9583489491354492, + 0.12028628023559948, + 0.9372708318717843, + -0.2794875207196998, + 0.2083509382852134, + 0.2332914169966618, + 0.058770889502674936, + -0.9706292275131394 + ], + [ + 0.25754606701263105, + 0.9610827913419273, + 0.09994944498462377, + 0.9455576768183831, + -0.2719747961865999, + 0.1787467203869184, + 0.19897412690133143, + 0.04847245017189035, + -0.9788052504958207 + ], + [ + 0.2720449551210983, + 0.9603979109512829, + 0.06022785928099916, + 0.9509560602051707, + -0.2778907149534412, + 0.13586508786927445, + 0.14722130943657574, + 0.020312636044529535, + -0.9888949807055869 + ], + [ + 0.28993264310003714, + 0.9570424126707039, + -0.002980405083897908, + 0.9510704772745832, + -0.28777318582513606, + 0.11247906817158365, + 0.10678955811184228, + -0.03544592881403089, + -0.993649624570345 + ], + [ + 0.29362989808850914, + 0.9554129213115228, + -0.031106795712734437, + 0.9536766428207679, + -0.2905582287707905, + 0.07795368260505964, + 0.06543962015966433, + -0.05255535638317968, + -0.9964715704067005 + ], + [ + 0.28109489227657763, + 0.9577846584421741, + -0.060284405851154486, + 0.9591178593884966, + -0.2782257060693673, + 0.05180143129518342, + 0.03284194479696325, + -0.07238096804415879, + -0.9968361962363441 + ], + [ + 0.27402586387523703, + 0.9617159796484772, + 0.003492909417614397, + 0.9615170544706196, + -0.27404060463154517, + 0.019664713964873785, + 0.019869068663961955, + -0.0020301482573266937, + -0.9998005294099818 + ], + [ + 0.23443811585374819, + 0.9704961285658061, + 0.056356315295864906, + 0.9720792111114313, + -0.23343271019599587, + -0.023899312448891336, + -0.010038782790859815, + 0.06038571229466956, + -0.9981246357999303 + ], + [ + 0.18234462839989135, + 0.9798946064284146, + 0.08097528503319443, + 0.9825989003079882, + -0.18456887230423186, + 0.020826245217886983, + 0.03535304240425347, + 0.07576867208052215, + -0.9964985051287917 + ], + [ + 0.13508343070341772, + 0.9900189892697229, + 0.04018541569713158, + 0.9891613037699467, + -0.13710019014130953, + 0.052568555119536585, + 0.05755329593979763, + 0.032648717410843235, + -0.9978084382174229 + ], + [ + 0.08267316608189629, + 0.9964697102255682, + 0.014603568501127859, + 0.9931803786304116, + -0.08359133697097781, + 0.08127252848876006, + 0.08220634472805052, + 0.007784920447658411, + -0.996584924579976 + ], + [ + 0.056483634877320166, + 0.99840005292797, + -0.002633116874045126, + 0.9938461236955316, + -0.05597390608807268, + 0.09558663218572894, + 0.09528631279681143, + -0.008015993430038455, + -0.9954176321740126 + ], + [ + 0.04528947072937817, + 0.9987957830848663, + 0.01886392146244833, + 0.9916135669929812, + -0.04723580456606702, + 0.12029676854534598, + 0.12104295764937759, + 0.013257543470980612, + -0.9925587337506057 + ], + [ + 0.03961650687457824, + 0.9991612536122678, + 0.010359616933925259, + 0.9905188212228726, + -0.04063446991016145, + 0.13122996859852964, + 0.1315408574789878, + 0.0050625226005778096, + -0.991297822896132 + ], + [ + 0.020268041247106128, + 0.999734618980523, + -0.010949799809764224, + 0.9900600510604902, + -0.018544907966481894, + 0.13941729334129985, + 0.13917723160813672, + -0.013666674810758672, + -0.9901731768743849 + ], + [ + 0.023341639124911495, + 0.9997268291979454, + 0.001197858415984146, + 0.9897667071118966, + -0.023277774875543167, + 0.14078355972810414, + 0.14077298524871712, + -0.0021005186659189407, + -0.9900396731674437 + ], + [ + 0.03818258574767919, + 0.9991217566812917, + -0.017257041221221035, + 0.9906537059209467, + -0.035584607535535606, + 0.13167752523356596, + 0.1309477952877238, + -0.02212354023730599, + -0.991142383251091 + ], + [ + 0.05655512487827069, + 0.9978521110557738, + -0.03305574551480198, + 0.9909625891863604, + -0.0520694999391052, + 0.12362003886569815, + 0.12163332061186363, + -0.03974835389833982, + -0.9917789086683102 + ], + [ + 0.06060906878911326, + 0.9977360248099199, + -0.029143877178834723, + 0.9925442129189694, + -0.057149029634548654, + 0.10765674067559569, + 0.1057474641851024, + -0.03545156143709255, + -0.9937608669142148 + ], + [ + 0.0491489685209997, + 0.9987850132872595, + 0.0035883319369621886, + 0.9940623314286596, + -0.0492651374069073, + 0.09702075793816337, + 0.09707965867234455, + -0.001201444566589778, + -0.9952758895919331 + ], + [ + 0.05859237371211978, + 0.997057852395848, + 0.049422390862433545, + 0.9957968353607287, + -0.061865965930714806, + 0.06753713752460824, + 0.0703959972465587, + 0.045257499215483624, + -0.9964919278832235 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005655.json b/json/chunk-0005/episode_0005655.json new file mode 100644 index 0000000000000000000000000000000000000000..38610637b68d6244f60413727a22a0bea2a9c8ee --- /dev/null +++ b/json/chunk-0005/episode_0005655.json @@ -0,0 +1,1822 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 29, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nFold the cloth from right to left." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005655.mp4", + "start": 0, + "end": 29, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.35270312428474426, + -0.011553608812391758, + 0.12451475858688354, + -0.008248944766819477, + -0.1629052758216858, + 0.08934042602777481, + 0.0, + 0.9994885921478271 + ], + [ + 0.3516186475753784, + -0.012274547480046749, + 0.11014432460069656, + -0.005548705346882343, + -0.12311895191669464, + 0.09543289244174957, + 0.0, + 0.9994885921478271 + ], + [ + 0.35306093096733093, + -0.03872133046388626, + 0.09750866144895554, + -0.018612997606396675, + -0.12133783847093582, + 0.06428642570972443, + 0.0, + 0.9994885921478271 + ], + [ + 0.35282084345817566, + -0.06484223902225494, + 0.08035121858119965, + -0.030590973794460297, + -0.08769843727350235, + 0.02891811914741993, + 0.0, + 0.9994885921478271 + ], + [ + 0.3506845235824585, + -0.0890875980257988, + 0.07871436327695847, + -0.06522653996944427, + -0.0907643660902977, + 0.0020901148673146963, + 0.0, + 0.9994885921478271 + ], + [ + 0.3444487452507019, + -0.11419514566659927, + 0.06655246764421463, + -0.07277658581733704, + -0.06405968219041824, + -0.009359869174659252, + 0.0, + 0.9994885921478271 + ], + [ + 0.34231966733932495, + -0.13606753945350647, + 0.0572381354868412, + -0.09926672279834747, + -0.05006268247961998, + -0.00849287211894989, + 0.0, + 0.9994885921478271 + ], + [ + 0.3390556573867798, + -0.14886146783828735, + 0.051529575139284134, + -0.10618075728416443, + -0.047960326075553894, + -0.00541318766772747, + 0.0, + 0.9994885921478271 + ], + [ + 0.33725491166114807, + -0.15188035368919373, + 0.040625885128974915, + -0.0808439776301384, + -0.03470797464251518, + 0.012942363508045673, + 0.0, + 0.9994885921478271 + ], + [ + 0.33526647090911865, + -0.15010669827461243, + 0.027552546933293343, + -0.05911899358034134, + -0.005769690964370966, + 0.03312769532203674, + 0.0, + 0.9453431367874146 + ], + [ + 0.3354274332523346, + -0.14853771030902863, + 0.02686740644276142, + -0.042777519673109055, + -0.00841518398374319, + 0.05617046728730202, + 0.0, + 0.6631406545639038 + ], + [ + 0.3354906439781189, + -0.14833787083625793, + 0.025741133838891983, + -0.040911901742219925, + -0.007565715350210667, + 0.05693241208791733, + 0.0, + 0.36359503865242004 + ], + [ + 0.33632129430770874, + -0.15138037502765656, + 0.028144165873527527, + -0.05640643462538719, + -0.004430951084941626, + 0.044898808002471924, + 0.0, + 0.1767941415309906 + ], + [ + 0.33917826414108276, + -0.15301305055618286, + 0.03473058342933655, + -0.08365949243307114, + 0.007671029772609472, + 0.0024017984978854656, + 0.0, + 0.07365728914737701 + ], + [ + 0.35322946310043335, + -0.1328442245721817, + 0.06823106110095978, + -0.1081712394952774, + -0.04263753816485405, + -0.005870047025382519, + 0.0, + 0.05980546772480011 + ], + [ + 0.362303763628006, + -0.09803139418363571, + 0.08829010277986526, + -0.11441372334957123, + -0.054401103407144547, + 0.006047605071216822, + 0.0, + 0.058401256799697876 + ], + [ + 0.36581557989120483, + -0.056023646146059036, + 0.09771690517663956, + -0.11678657680749893, + -0.05148569867014885, + 0.043776530772447586, + 0.0, + 0.058401256799697876 + ], + [ + 0.3584659993648529, + -0.014392543584108353, + 0.10191839933395386, + -0.11552327871322632, + -0.03269082307815552, + 0.1065916046500206, + 0.0, + 0.058401256799697876 + ], + [ + 0.34609273076057434, + 0.02385132946074009, + 0.09800787270069122, + -0.12249166518449783, + -0.01477801613509655, + 0.1773453950881958, + 0.0, + 0.056468017399311066 + ], + [ + 0.3286670744419098, + 0.06559554487466812, + 0.09409633278846741, + -0.12863102555274963, + 0.003409361932426691, + 0.24984240531921387, + 0.0, + 0.05565106123685837 + ], + [ + 0.31417810916900635, + 0.0924132913351059, + 0.09478406608104706, + -0.12901905179023743, + 0.006150553934276104, + 0.3023138642311096, + 0.0, + 0.05538023263216019 + ], + [ + 0.3060688078403473, + 0.11033442616462708, + 0.09167513251304626, + -0.12230664491653442, + 0.011953947134315968, + 0.3385035991668701, + 0.0, + 0.07788556814193726 + ], + [ + 0.3033808171749115, + 0.11317721009254456, + 0.08984478563070297, + -0.11823919415473938, + 0.016865001991391182, + 0.3463232219219208, + 0.0, + 0.23329517245292664 + ], + [ + 0.3081721067428589, + 0.10220516473054886, + 0.08971688896417618, + -0.11163727194070816, + 0.013592083007097244, + 0.3261357545852661, + 0.0, + 0.5071992874145508 + ], + [ + 0.31285133957862854, + 0.08714549988508224, + 0.08999765664339066, + -0.10690712928771973, + 0.017725035548210144, + 0.3101986050605774, + 0.0, + 0.8158720135688782 + ], + [ + 0.3153582215309143, + 0.07476806640625, + 0.09027741849422455, + -0.10095009207725525, + 0.025160135701298714, + 0.29332172870635986, + 0.0, + 1.0001531839370728 + ], + [ + 0.32493969798088074, + 0.05652477592229843, + 0.09590663760900497, + -0.10120119154453278, + 0.0059949131682515144, + 0.2545410990715027, + 0.0, + 1.0008161067962646 + ], + [ + 0.33959582448005676, + 0.030410947278141975, + 0.10738810151815414, + -0.10360319912433624, + -0.03322220966219902, + 0.1907886266708374, + 0.0, + 1.0008161067962646 + ], + [ + 0.34695956110954285, + 0.010579915717244148, + 0.11598370969295502, + -0.08196031302213669, + -0.05510237440466881, + 0.13901710510253906, + 0.0, + 1.0008161067962646 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9453431367874146 + ], + [ + 0.6631406545639038 + ], + [ + 0.36359503865242004 + ], + [ + 0.1767941415309906 + ], + [ + 0.07365728914737701 + ], + [ + 0.05980546772480011 + ], + [ + 0.058401256799697876 + ], + [ + 0.058401256799697876 + ], + [ + 0.058401256799697876 + ], + [ + 0.056468017399311066 + ], + [ + 0.05565106123685837 + ], + [ + 0.05538023263216019 + ], + [ + 0.07788556814193726 + ], + [ + 0.23329517245292664 + ], + [ + 0.5071992874145508 + ], + [ + 0.8158720135688782 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.35270312428474426, + -0.011553608812391758, + 0.12451475858688354 + ], + [ + 0.3516186475753784, + -0.012274547480046749, + 0.11014432460069656 + ], + [ + 0.35306093096733093, + -0.03872133046388626, + 0.09750866144895554 + ], + [ + 0.35282084345817566, + -0.06484223902225494, + 0.08035121858119965 + ], + [ + 0.3506845235824585, + -0.0890875980257988, + 0.07871436327695847 + ], + [ + 0.3444487452507019, + -0.11419514566659927, + 0.06655246764421463 + ], + [ + 0.34231966733932495, + -0.13606753945350647, + 0.0572381354868412 + ], + [ + 0.3390556573867798, + -0.14886146783828735, + 0.051529575139284134 + ], + [ + 0.33725491166114807, + -0.15188035368919373, + 0.040625885128974915 + ], + [ + 0.33526647090911865, + -0.15010669827461243, + 0.027552546933293343 + ], + [ + 0.3354274332523346, + -0.14853771030902863, + 0.02686740644276142 + ], + [ + 0.3354906439781189, + -0.14833787083625793, + 0.025741133838891983 + ], + [ + 0.33632129430770874, + -0.15138037502765656, + 0.028144165873527527 + ], + [ + 0.33917826414108276, + -0.15301305055618286, + 0.03473058342933655 + ], + [ + 0.35322946310043335, + -0.1328442245721817, + 0.06823106110095978 + ], + [ + 0.362303763628006, + -0.09803139418363571, + 0.08829010277986526 + ], + [ + 0.36581557989120483, + -0.056023646146059036, + 0.09771690517663956 + ], + [ + 0.3584659993648529, + -0.014392543584108353, + 0.10191839933395386 + ], + [ + 0.34609273076057434, + 0.02385132946074009, + 0.09800787270069122 + ], + [ + 0.3286670744419098, + 0.06559554487466812, + 0.09409633278846741 + ], + [ + 0.31417810916900635, + 0.0924132913351059, + 0.09478406608104706 + ], + [ + 0.3060688078403473, + 0.11033442616462708, + 0.09167513251304626 + ], + [ + 0.3033808171749115, + 0.11317721009254456, + 0.08984478563070297 + ], + [ + 0.3081721067428589, + 0.10220516473054886, + 0.08971688896417618 + ], + [ + 0.31285133957862854, + 0.08714549988508224, + 0.08999765664339066 + ], + [ + 0.3153582215309143, + 0.07476806640625, + 0.09027741849422455 + ], + [ + 0.32493969798088074, + 0.05652477592229843, + 0.09590663760900497 + ], + [ + 0.33959582448005676, + 0.030410947278141975, + 0.10738810151815414 + ], + [ + 0.34695956110954285, + 0.010579915717244148, + 0.11598370969295502 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.982824854989382, + 0.08788607957412768, + 0.16226934840625568, + 0.08804035356542493, + -0.9960972760236723, + 0.006254026086891547, + 0.1621856977639387, + 0.008139638524568874, + -0.9867266823824692 + ], + [ + 0.9879146109560687, + 0.09460831130209377, + 0.12277617395930711, + 0.09456681035677356, + -0.9954993440250999, + 0.006178545503787549, + 0.12280814239481823, + 0.00550667578149139, + -0.9924151533926576 + ], + [ + 0.9905971187015924, + 0.061982887591904075, + 0.12196503624347887, + 0.0637698204183136, + -0.9979062045344302, + -0.010798933072498665, + 0.12104031734888904, + 0.018475080445228265, + -0.9924756485569926 + ], + [ + 0.9957404631790437, + 0.026222755754118844, + 0.08839285643446064, + 0.028802970702964892, + -0.9991916872745548, + -0.028042128309248657, + 0.08758606548228713, + 0.03046865868541059, + -0.9956908867571523 + ], + [ + 0.9958815666598194, + -0.0038222473083666733, + 0.09058308679161656, + 0.002081509899642173, + -0.9978836719308758, + -0.06499111177915017, + 0.09063979536451716, + 0.06491199980948041, + -0.9937659985011625 + ], + [ + 0.9979051667147668, + -0.01398949855171885, + 0.06316306020329596, + -0.0093405345766341, + -0.9972656984331222, + -0.07330676055126192, + 0.06401587816937634, + 0.07256321836143159, + -0.9953072624487551 + ], + [ + 0.9987111065769162, + -0.013410110832278947, + 0.04895196142523433, + -0.008482129648408217, + -0.994999098215996, + -0.09952310297605506, + 0.05004177331529359, + 0.0989796114198316, + -0.9938303967210099 + ], + [ + 0.9988354895806486, + -0.010463552213286204, + 0.04709754589429908, + -0.005406936766826078, + -0.9943260449334144, + -0.10623785296151628, + 0.04794194185663863, + 0.10585948442228993, + -0.9932247176590308 + ], + [ + 0.9993140379335277, + 0.010097654545139003, + 0.03562991666668644, + 0.012934207726203824, + -0.996686694943483, + -0.08030154664221469, + 0.03470100660619797, + 0.08070730757077331, + -0.9961336108400285 + ], + [ + 0.9994346925938442, + 0.03272306150166009, + 0.007713396515580028, + 0.03312108505793939, + -0.9977165589296233, + -0.058861377508653494, + 0.005769658952896152, + 0.05908357879808946, + -0.9982363656729688 + ], + [ + 0.998387502432631, + 0.05573027662651327, + 0.010794964264217687, + 0.05613894669871042, + -0.9975296815169061, + -0.042225029974405665, + 0.008415084663435008, + 0.04276296013973324, + -0.9990498063611218 + ], + [ + 0.998351214413005, + 0.056545110188506095, + 0.00987437055449325, + 0.05690003271923533, + -0.9975619761218059, + -0.040404084849274026, + 0.0075656431734313105, + 0.04089931918415134, + -0.9991346289332809 + ], + [ + 0.9989824110816435, + 0.04456279114760792, + 0.006949819756013629, + 0.04488328364188723, + -0.9974146114441349, + -0.05612115222683494, + 0.004430936585903549, + 0.05637597469561267, + -0.9983997777834747 + ], + [ + 0.9999676935636299, + 0.0030343940978657166, + -0.00744340523504329, + 0.0024017255225636863, + -0.9964981714381536, + -0.08358005763895253, + -0.007670954539592731, + 0.08355948044881083, + -0.9964732659151354 + ], + [ + 0.9990739448502429, + -0.010437396469495298, + 0.04174102869255247, + -0.005864678398885051, + -0.9941110535516932, + -0.10820729528835202, + 0.04262462045170107, + 0.10786229165598848, + -0.9932516638647363 + ], + [ + 0.998502365221554, + -0.0001994569864030766, + 0.05470819741020009, + 0.006038621585612089, + -0.9934812606207662, + -0.11383549466102162, + 0.0543742742140861, + 0.1139953727669868, + -0.9919921840878625 + ], + [ + 0.9977181343491488, + 0.03747366349773224, + 0.05616270056641215, + 0.043704560427550644, + -0.9924991053510493, + -0.11417283948120474, + 0.05146295549896368, + 0.11636687854121164, + -0.9918721257248266 + ], + [ + 0.9937932266531543, + 0.10193464066518289, + 0.044546062573164014, + 0.1063330305686787, + -0.9880977472439635, + -0.11115812386634161, + 0.032685000663800576, + 0.11520490841914915, + -0.9928038677441495 + ], + [ + 0.9842079982245728, + 0.1733181081382162, + 0.03599235505171658, + 0.17639796588242268, + -0.9772588079137084, + -0.11768168926226841, + 0.01477747824640169, + 0.12217223803494415, + -0.9923988968102545 + ], + [ + 0.9689457678081023, + 0.24563233892167352, + 0.028440343222890796, + 0.24724982374719412, + -0.9608382067626658, + -0.12512979294351326, + -0.003409355327502757, + 0.12827585314849074, + -0.991732666496006 + ], + [ + 0.954632081857947, + 0.2960108213651182, + 0.03248356387944297, + 0.2977243010754747, + -0.9464800375809611, + -0.12464260511503353, + -0.006150515155810419, + 0.12865897596161016, + -0.991669823614608 + ], + [ + 0.9431852470754367, + 0.33097093821946905, + 0.029322819669525477, + 0.332052254402121, + -0.9357221225402189, + -0.11901852685736128, + -0.01195366243944748, + 0.12199322703720761, + -0.9924589475194084 + ], + [ + 0.9404933522958631, + 0.33894286483344555, + 0.024289682290761352, + 0.33939336021876093, + -0.9333842805212694, + -0.11664446800088869, + -0.016864202522141873, + 0.11794710362823098, + -0.9928766687857075 + ], + [ + 0.9471999570383681, + 0.31982486167978924, + 0.022897581488389426, + 0.32035528408726505, + -0.9409054993098378, + -0.10986051759332296, + -0.013591664500033816, + 0.11139523876723267, + -0.9936832329450417 + ], + [ + 0.9521233777547148, + 0.3053060340716815, + 0.015789208098360763, + 0.3051998190509953, + -0.9462590255359755, + -0.10699031284628073, + -0.01772410743004687, + 0.1066868415088127, + -0.9941346859780524 + ], + [ + 0.9569857535520648, + 0.2900887005644872, + 0.005178156350838519, + 0.28904215719387705, + -0.9516819972778676, + -0.10371117308139309, + -0.02515748125501687, + 0.10074682060499913, + -0.9945939770956224 + ], + [ + 0.9677615590026534, + 0.2510991250751122, + 0.019667086801742367, + 0.251796795776662, + -0.9626748315674675, + -0.09927508399973409, + -0.005994877259801405, + 0.10102671950064224, + -0.9948656509265855 + ], + [ + 0.9813131962902023, + 0.18524364442704536, + 0.05205000466948671, + 0.1895286299600696, + -0.9772416887133702, + -0.09527633633856666, + 0.03321609868973498, + 0.10336089221764222, + -0.9940891392364203 + ], + [ + 0.9888495645879504, + 0.13363923666538, + 0.06570458916784552, + 0.13835945463638735, + -0.9876529853815795, + -0.07347272813483179, + 0.05507449434123091, + 0.08174432634958827, + -0.9951304764616093 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0010844767093658447, + -0.0007209386676549911, + -0.014370433986186981, + 0.002700239419937134, + 0.03978632390499115, + 0.006092466413974762, + 1.0 + ], + [ + 0.0014422833919525146, + -0.026446782052516937, + -0.012635663151741028, + -0.013064292259514332, + 0.0017811134457588196, + -0.031146466732025146, + 1.0 + ], + [ + -0.00024008750915527344, + -0.026120908558368683, + -0.01715744286775589, + -0.011977976188063622, + 0.03363940119743347, + -0.035368308424949646, + 1.0 + ], + [ + -0.002136319875717163, + -0.024245359003543854, + -0.0016368553042411804, + -0.03463556617498398, + -0.003065928816795349, + -0.02682800404727459, + 1.0 + ], + [ + -0.006235778331756592, + -0.025107547640800476, + -0.012161895632743835, + -0.007550045847892761, + 0.026704683899879456, + -0.011449984274804592, + 1.0 + ], + [ + -0.002129077911376953, + -0.021872393786907196, + -0.009314332157373428, + -0.026490136981010437, + 0.013996999710798264, + 0.000866997055709362, + 1.0 + ], + [ + -0.003264009952545166, + -0.012793928384780884, + -0.005708560347557068, + -0.006914034485816956, + 0.002102356404066086, + 0.0030796844512224197, + 1.0 + ], + [ + -0.0018007457256317139, + -0.003018885850906372, + -0.01090369001030922, + 0.02533677965402603, + 0.013252351433038712, + 0.01835555210709572, + 1.0 + ], + [ + -0.001988440752029419, + 0.0017736554145812988, + -0.013073338195681572, + 0.021724984049797058, + 0.028938284143805504, + 0.020185332745313644, + 0.0 + ], + [ + 0.00016096234321594238, + 0.0015689879655838013, + -0.0006851404905319214, + 0.016341473907232285, + -0.002645493019372225, + 0.023042771965265274, + 0.0 + ], + [ + 6.321072578430176e-05, + 0.00019983947277069092, + -0.0011262726038694382, + 0.0018656179308891296, + 0.0008494686335325241, + 0.0007619448006153107, + 0.0 + ], + [ + 0.0008306503295898438, + -0.0030425041913986206, + 0.002403032034635544, + -0.015494532883167267, + 0.003134764265269041, + -0.012033604085445404, + 0.0 + ], + [ + 0.0028569698333740234, + -0.0016326755285263062, + 0.006586417555809021, + -0.027253057807683945, + 0.012101980857551098, + -0.04249700903892517, + 0.0 + ], + [ + 0.014051198959350586, + 0.02016882598400116, + 0.03350047767162323, + -0.02451174706220627, + -0.05030856654047966, + -0.008271845057606697, + 0.0 + ], + [ + 0.009074300527572632, + 0.03481283038854599, + 0.020059041678905487, + -0.006242483854293823, + -0.011763565242290497, + 0.011917652562260628, + 0.0 + ], + [ + 0.0035118162631988525, + 0.042007748037576675, + 0.009426802396774292, + -0.002372853457927704, + 0.002915404736995697, + 0.0377289243042469, + 0.0 + ], + [ + -0.007349580526351929, + 0.041631102561950684, + 0.0042014941573143005, + 0.0012632980942726135, + 0.018794875591993332, + 0.06281507015228271, + 0.0 + ], + [ + -0.012373268604278564, + 0.03824387490749359, + -0.003910526633262634, + -0.006968386471271515, + 0.017912806943058968, + 0.0707537904381752, + 0.0 + ], + [ + -0.01742565631866455, + 0.04174421727657318, + -0.003911539912223816, + -0.0061393603682518005, + 0.018187377601861954, + 0.07249701023101807, + 0.0 + ], + [ + -0.014488965272903442, + 0.026817746460437775, + 0.0006877332925796509, + -0.00038802623748779297, + 0.002741192001849413, + 0.05247145891189575, + 0.0 + ], + [ + -0.008109301328659058, + 0.01792113482952118, + -0.0031089335680007935, + 0.006712406873703003, + 0.005803393200039864, + 0.0361897349357605, + 1.0 + ], + [ + -0.002687990665435791, + 0.0028427839279174805, + -0.0018303468823432922, + 0.004067450761795044, + 0.004911054857075214, + 0.00781962275505066, + 1.0 + ], + [ + 0.004791289567947388, + -0.010972045361995697, + -0.00012789666652679443, + 0.0066019222140312195, + -0.0032729189842939377, + -0.020187467336654663, + 1.0 + ], + [ + 0.004679232835769653, + -0.015059664845466614, + 0.00028076767921447754, + 0.004730142652988434, + 0.0041329525411129, + -0.01593714952468872, + 1.0 + ], + [ + 0.0025068819522857666, + -0.012377433478832245, + 0.0002797618508338928, + 0.0059570372104644775, + 0.00743510015308857, + -0.01687687635421753, + 1.0 + ], + [ + 0.00958147644996643, + -0.01824329048395157, + 0.005629219114780426, + -0.00025109946727752686, + -0.019165221601724625, + -0.03878062963485718, + 1.0 + ], + [ + 0.014656126499176025, + -0.026113828644156456, + 0.01148146390914917, + -0.002402007579803467, + -0.03921712189912796, + -0.06375247240066528, + 1.0 + ], + [ + 0.007363736629486084, + -0.019831031560897827, + 0.008595608174800873, + 0.021642886102199554, + -0.021880164742469788, + -0.05177152156829834, + 1.0 + ], + [ + 0.007016897201538086, + -0.017306238412857056, + 0.006624385714530945, + 0.04682119935750961, + -0.03641922399401665, + -0.07581916451454163, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9453431367874146 + ], + [ + 0.6631406545639038 + ], + [ + 0.36359503865242004 + ], + [ + 0.1767941415309906 + ], + [ + 0.07365728914737701 + ], + [ + 0.05980546772480011 + ], + [ + 0.058401256799697876 + ], + [ + 0.058401256799697876 + ], + [ + 0.058401256799697876 + ], + [ + 0.056468017399311066 + ], + [ + 0.05565106123685837 + ], + [ + 0.05538023263216019 + ], + [ + 0.07788556814193726 + ], + [ + 0.23329517245292664 + ], + [ + 0.5071992874145508 + ], + [ + 0.8158720135688782 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3516186475753784, + -0.012274547480046749, + 0.11014432460069656 + ], + [ + 0.35306093096733093, + -0.03872133046388626, + 0.09750866144895554 + ], + [ + 0.35282084345817566, + -0.06484223902225494, + 0.08035121858119965 + ], + [ + 0.3506845235824585, + -0.0890875980257988, + 0.07871436327695847 + ], + [ + 0.3444487452507019, + -0.11419514566659927, + 0.06655246764421463 + ], + [ + 0.34231966733932495, + -0.13606753945350647, + 0.0572381354868412 + ], + [ + 0.3390556573867798, + -0.14886146783828735, + 0.051529575139284134 + ], + [ + 0.33725491166114807, + -0.15188035368919373, + 0.040625885128974915 + ], + [ + 0.33526647090911865, + -0.15010669827461243, + 0.027552546933293343 + ], + [ + 0.3354274332523346, + -0.14853771030902863, + 0.02686740644276142 + ], + [ + 0.3354906439781189, + -0.14833787083625793, + 0.025741133838891983 + ], + [ + 0.33632129430770874, + -0.15138037502765656, + 0.028144165873527527 + ], + [ + 0.33917826414108276, + -0.15301305055618286, + 0.03473058342933655 + ], + [ + 0.35322946310043335, + -0.1328442245721817, + 0.06823106110095978 + ], + [ + 0.362303763628006, + -0.09803139418363571, + 0.08829010277986526 + ], + [ + 0.36581557989120483, + -0.056023646146059036, + 0.09771690517663956 + ], + [ + 0.3584659993648529, + -0.014392543584108353, + 0.10191839933395386 + ], + [ + 0.34609273076057434, + 0.02385132946074009, + 0.09800787270069122 + ], + [ + 0.3286670744419098, + 0.06559554487466812, + 0.09409633278846741 + ], + [ + 0.31417810916900635, + 0.0924132913351059, + 0.09478406608104706 + ], + [ + 0.3060688078403473, + 0.11033442616462708, + 0.09167513251304626 + ], + [ + 0.3033808171749115, + 0.11317721009254456, + 0.08984478563070297 + ], + [ + 0.3081721067428589, + 0.10220516473054886, + 0.08971688896417618 + ], + [ + 0.31285133957862854, + 0.08714549988508224, + 0.08999765664339066 + ], + [ + 0.3153582215309143, + 0.07476806640625, + 0.09027741849422455 + ], + [ + 0.32493969798088074, + 0.05652477592229843, + 0.09590663760900497 + ], + [ + 0.33959582448005676, + 0.030410947278141975, + 0.10738810151815414 + ], + [ + 0.34695956110954285, + 0.010579915717244148, + 0.11598370969295502 + ], + [ + 0.35397645831108093, + -0.00672632222995162, + 0.12260809540748596 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9879146109560687, + 0.09460831130209377, + 0.12277617395930711, + 0.09456681035677356, + -0.9954993440250999, + 0.006178545503787549, + 0.12280814239481823, + 0.00550667578149139, + -0.9924151533926576 + ], + [ + 0.9905971187015924, + 0.061982887591904075, + 0.12196503624347887, + 0.0637698204183136, + -0.9979062045344302, + -0.010798933072498665, + 0.12104031734888904, + 0.018475080445228265, + -0.9924756485569926 + ], + [ + 0.9957404631790437, + 0.026222755754118844, + 0.08839285643446064, + 0.028802970702964892, + -0.9991916872745548, + -0.028042128309248657, + 0.08758606548228713, + 0.03046865868541059, + -0.9956908867571523 + ], + [ + 0.9958815666598194, + -0.0038222473083666733, + 0.09058308679161656, + 0.002081509899642173, + -0.9978836719308758, + -0.06499111177915017, + 0.09063979536451716, + 0.06491199980948041, + -0.9937659985011625 + ], + [ + 0.9979051667147668, + -0.01398949855171885, + 0.06316306020329596, + -0.0093405345766341, + -0.9972656984331222, + -0.07330676055126192, + 0.06401587816937634, + 0.07256321836143159, + -0.9953072624487551 + ], + [ + 0.9987111065769162, + -0.013410110832278947, + 0.04895196142523433, + -0.008482129648408217, + -0.994999098215996, + -0.09952310297605506, + 0.05004177331529359, + 0.0989796114198316, + -0.9938303967210099 + ], + [ + 0.9988354895806486, + -0.010463552213286204, + 0.04709754589429908, + -0.005406936766826078, + -0.9943260449334144, + -0.10623785296151628, + 0.04794194185663863, + 0.10585948442228993, + -0.9932247176590308 + ], + [ + 0.9993140379335277, + 0.010097654545139003, + 0.03562991666668644, + 0.012934207726203824, + -0.996686694943483, + -0.08030154664221469, + 0.03470100660619797, + 0.08070730757077331, + -0.9961336108400285 + ], + [ + 0.9994346925938442, + 0.03272306150166009, + 0.007713396515580028, + 0.03312108505793939, + -0.9977165589296233, + -0.058861377508653494, + 0.005769658952896152, + 0.05908357879808946, + -0.9982363656729688 + ], + [ + 0.998387502432631, + 0.05573027662651327, + 0.010794964264217687, + 0.05613894669871042, + -0.9975296815169061, + -0.042225029974405665, + 0.008415084663435008, + 0.04276296013973324, + -0.9990498063611218 + ], + [ + 0.998351214413005, + 0.056545110188506095, + 0.00987437055449325, + 0.05690003271923533, + -0.9975619761218059, + -0.040404084849274026, + 0.0075656431734313105, + 0.04089931918415134, + -0.9991346289332809 + ], + [ + 0.9989824110816435, + 0.04456279114760792, + 0.006949819756013629, + 0.04488328364188723, + -0.9974146114441349, + -0.05612115222683494, + 0.004430936585903549, + 0.05637597469561267, + -0.9983997777834747 + ], + [ + 0.9999676935636299, + 0.0030343940978657166, + -0.00744340523504329, + 0.0024017255225636863, + -0.9964981714381536, + -0.08358005763895253, + -0.007670954539592731, + 0.08355948044881083, + -0.9964732659151354 + ], + [ + 0.9990739448502429, + -0.010437396469495298, + 0.04174102869255247, + -0.005864678398885051, + -0.9941110535516932, + -0.10820729528835202, + 0.04262462045170107, + 0.10786229165598848, + -0.9932516638647363 + ], + [ + 0.998502365221554, + -0.0001994569864030766, + 0.05470819741020009, + 0.006038621585612089, + -0.9934812606207662, + -0.11383549466102162, + 0.0543742742140861, + 0.1139953727669868, + -0.9919921840878625 + ], + [ + 0.9977181343491488, + 0.03747366349773224, + 0.05616270056641215, + 0.043704560427550644, + -0.9924991053510493, + -0.11417283948120474, + 0.05146295549896368, + 0.11636687854121164, + -0.9918721257248266 + ], + [ + 0.9937932266531543, + 0.10193464066518289, + 0.044546062573164014, + 0.1063330305686787, + -0.9880977472439635, + -0.11115812386634161, + 0.032685000663800576, + 0.11520490841914915, + -0.9928038677441495 + ], + [ + 0.9842079982245728, + 0.1733181081382162, + 0.03599235505171658, + 0.17639796588242268, + -0.9772588079137084, + -0.11768168926226841, + 0.01477747824640169, + 0.12217223803494415, + -0.9923988968102545 + ], + [ + 0.9689457678081023, + 0.24563233892167352, + 0.028440343222890796, + 0.24724982374719412, + -0.9608382067626658, + -0.12512979294351326, + -0.003409355327502757, + 0.12827585314849074, + -0.991732666496006 + ], + [ + 0.954632081857947, + 0.2960108213651182, + 0.03248356387944297, + 0.2977243010754747, + -0.9464800375809611, + -0.12464260511503353, + -0.006150515155810419, + 0.12865897596161016, + -0.991669823614608 + ], + [ + 0.9431852470754367, + 0.33097093821946905, + 0.029322819669525477, + 0.332052254402121, + -0.9357221225402189, + -0.11901852685736128, + -0.01195366243944748, + 0.12199322703720761, + -0.9924589475194084 + ], + [ + 0.9404933522958631, + 0.33894286483344555, + 0.024289682290761352, + 0.33939336021876093, + -0.9333842805212694, + -0.11664446800088869, + -0.016864202522141873, + 0.11794710362823098, + -0.9928766687857075 + ], + [ + 0.9471999570383681, + 0.31982486167978924, + 0.022897581488389426, + 0.32035528408726505, + -0.9409054993098378, + -0.10986051759332296, + -0.013591664500033816, + 0.11139523876723267, + -0.9936832329450417 + ], + [ + 0.9521233777547148, + 0.3053060340716815, + 0.015789208098360763, + 0.3051998190509953, + -0.9462590255359755, + -0.10699031284628073, + -0.01772410743004687, + 0.1066868415088127, + -0.9941346859780524 + ], + [ + 0.9569857535520648, + 0.2900887005644872, + 0.005178156350838519, + 0.28904215719387705, + -0.9516819972778676, + -0.10371117308139309, + -0.02515748125501687, + 0.10074682060499913, + -0.9945939770956224 + ], + [ + 0.9677615590026534, + 0.2510991250751122, + 0.019667086801742367, + 0.251796795776662, + -0.9626748315674675, + -0.09927508399973409, + -0.005994877259801405, + 0.10102671950064224, + -0.9948656509265855 + ], + [ + 0.9813131962902023, + 0.18524364442704536, + 0.05205000466948671, + 0.1895286299600696, + -0.9772416887133702, + -0.09527633633856666, + 0.03321609868973498, + 0.10336089221764222, + -0.9940891392364203 + ], + [ + 0.9888495645879504, + 0.13363923666538, + 0.06570458916784552, + 0.13835945463638735, + -0.9876529853815795, + -0.07347272813483179, + 0.05507449434123091, + 0.08174432634958827, + -0.9951304764616093 + ], + [ + 0.9938268507669852, + 0.059912464000651644, + 0.09337391151680095, + 0.06289156177909734, + -0.9975903753353493, + -0.02929324999488491, + 0.09139388465079452, + 0.03498484951586133, + -0.9952000895060198 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005656.json b/json/chunk-0005/episode_0005656.json new file mode 100644 index 0000000000000000000000000000000000000000..553ae3ceaffa38c30e3f3b3dd5523f081ab9226a --- /dev/null +++ b/json/chunk-0005/episode_0005656.json @@ -0,0 +1,1342 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 21, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPick up spoon and place to the bottom right of the table." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005656.mp4", + "start": 0, + "end": 21, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.43418776988983154, + -0.016889085993170738, + 0.07883812487125397, + -0.031009970232844353, + -0.14277315139770508, + 0.11160378903150558, + 0.0, + 0.9988223910331726 + ], + [ + 0.42854803800582886, + -0.016684792935848236, + 0.057143524289131165, + -0.023182285949587822, + -0.09121478348970413, + 0.10924522578716278, + 0.0, + 0.9988223910331726 + ], + [ + 0.3999073803424835, + -0.014328270219266415, + 0.05158460885286331, + -0.012127086520195007, + -0.0866047814488411, + 0.08864536136388779, + 0.0, + 0.9988223910331726 + ], + [ + 0.37309494614601135, + -0.00359655381180346, + 0.08728867024183273, + -0.008151568472385406, + -0.17777766287326813, + 0.04992515221238136, + 0.0, + 0.9988223910331726 + ], + [ + 0.33758801221847534, + 0.028401540592312813, + 0.0991920754313469, + 0.011238065548241138, + -0.19011804461479187, + 0.0674019381403923, + 0.0, + 0.9988223910331726 + ], + [ + 0.31147679686546326, + 0.05316052585840225, + 0.07504177838563919, + 0.010501714423298836, + -0.1376846879720688, + 0.07612193375825882, + 0.0, + 0.9988223910331726 + ], + [ + 0.2977309226989746, + 0.060559745877981186, + 0.057020943611860275, + 0.012758243829011917, + -0.120569609105587, + 0.06798557937145233, + 0.0, + 0.9988223910331726 + ], + [ + 0.2855164110660553, + 0.06710279732942581, + 0.030385972931981087, + 0.05943506956100464, + -0.0638575628399849, + 0.05924087390303612, + 0.0, + 0.9994885921478271 + ], + [ + 0.27806946635246277, + 0.07002973556518555, + 0.017910849303007126, + 0.08466401696205139, + -0.045033667236566544, + 0.05873647332191467, + 0.0, + 0.9628177285194397 + ], + [ + 0.27777528762817383, + 0.06921641528606415, + 0.010782714001834393, + 0.08263241499662399, + -0.03971449285745621, + 0.04474925994873047, + 0.0, + 0.6791892647743225 + ], + [ + 0.2766832113265991, + 0.0666070431470871, + 0.01017414964735508, + 0.06431831419467926, + -0.038718581199645996, + 0.05471210554242134, + 0.0, + 0.4077054560184479 + ], + [ + 0.27498459815979004, + 0.06333572417497635, + 0.01401242520660162, + 0.0461602583527565, + -0.0406101830303669, + 0.058629997074604034, + 0.0, + 0.40239205956459045 + ], + [ + 0.2759745121002197, + 0.046430882066488266, + 0.05022681504487991, + 0.0024639335460960865, + -0.10165191441774368, + 0.05833488330245018, + 0.0, + 0.40239205956459045 + ], + [ + 0.2702494263648987, + -0.005713283084332943, + 0.06266773492097855, + -0.05052267387509346, + -0.0770329087972641, + -0.006642996799200773, + 0.0, + 0.40239205956459045 + ], + [ + 0.26759621500968933, + -0.038605544716119766, + 0.056091949343681335, + -0.05440361425280571, + -0.07825017720460892, + -0.006972108036279678, + 0.0, + 0.40239205956459045 + ], + [ + 0.25963667035102844, + -0.07344719022512436, + 0.029741020873188972, + -0.026974085718393326, + -0.025121036916971207, + -0.020967600867152214, + 0.0, + 0.40239205956459045 + ], + [ + 0.26163777709007263, + -0.07772352546453476, + 0.009808667004108429, + 0.0007124125841073692, + 0.012678535655140877, + 0.030860289931297302, + 0.0, + 0.40239205956459045 + ], + [ + 0.266328901052475, + -0.07919115573167801, + 0.006161449942737818, + 0.00626329705119133, + 0.02216789685189724, + 0.03489593043923378, + 0.0, + 0.40239205956459045 + ], + [ + 0.2682597041130066, + -0.07785959541797638, + 0.006099519319832325, + 0.013467713259160519, + 0.016570284962654114, + 0.026306813582777977, + 0.0, + 0.45967593789100647 + ], + [ + 0.2659066617488861, + -0.07718073576688766, + 0.013429363258183002, + 0.00452195480465889, + -0.011081342585384846, + 0.015450187027454376, + 0.0, + 0.7855378985404968 + ], + [ + 0.26949262619018555, + -0.08078905940055847, + 0.05290699377655983, + -0.041803739964962006, + -0.11570578068494797, + -0.002961835591122508, + 0.0, + 0.9974852800369263 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9628177285194397 + ], + [ + 0.6791892647743225 + ], + [ + 0.4077054560184479 + ], + [ + 0.40239205956459045 + ], + [ + 0.40239205956459045 + ], + [ + 0.40239205956459045 + ], + [ + 0.40239205956459045 + ], + [ + 0.40239205956459045 + ], + [ + 0.40239205956459045 + ], + [ + 0.40239205956459045 + ], + [ + 0.45967593789100647 + ], + [ + 0.7855378985404968 + ], + [ + 0.9974852800369263 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.43418776988983154, + -0.016889085993170738, + 0.07883812487125397 + ], + [ + 0.42854803800582886, + -0.016684792935848236, + 0.057143524289131165 + ], + [ + 0.3999073803424835, + -0.014328270219266415, + 0.05158460885286331 + ], + [ + 0.37309494614601135, + -0.00359655381180346, + 0.08728867024183273 + ], + [ + 0.33758801221847534, + 0.028401540592312813, + 0.0991920754313469 + ], + [ + 0.31147679686546326, + 0.05316052585840225, + 0.07504177838563919 + ], + [ + 0.2977309226989746, + 0.060559745877981186, + 0.057020943611860275 + ], + [ + 0.2855164110660553, + 0.06710279732942581, + 0.030385972931981087 + ], + [ + 0.27806946635246277, + 0.07002973556518555, + 0.017910849303007126 + ], + [ + 0.27777528762817383, + 0.06921641528606415, + 0.010782714001834393 + ], + [ + 0.2766832113265991, + 0.0666070431470871, + 0.01017414964735508 + ], + [ + 0.27498459815979004, + 0.06333572417497635, + 0.01401242520660162 + ], + [ + 0.2759745121002197, + 0.046430882066488266, + 0.05022681504487991 + ], + [ + 0.2702494263648987, + -0.005713283084332943, + 0.06266773492097855 + ], + [ + 0.26759621500968933, + -0.038605544716119766, + 0.056091949343681335 + ], + [ + 0.25963667035102844, + -0.07344719022512436, + 0.029741020873188972 + ], + [ + 0.26163777709007263, + -0.07772352546453476, + 0.009808667004108429 + ], + [ + 0.266328901052475, + -0.07919115573167801, + 0.006161449942737818 + ], + [ + 0.2682597041130066, + -0.07785959541797638, + 0.006099519319832325 + ], + [ + 0.2659066617488861, + -0.07718073576688766, + 0.013429363258183002 + ], + [ + 0.26949262619018555, + -0.08078905940055847, + 0.05290699377655983 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9836672732604409, + 0.10693449843037207, + 0.1447884959581183, + 0.11023906610689878, + -0.9937923151816859, + -0.014972728198418947, + 0.1422885934298603, + 0.03068953129765393, + -0.9893493361035234 + ], + [ + 0.989906270196471, + 0.10689990167375654, + 0.09304830599131035, + 0.10857480742509676, + -0.994001784261377, + -0.013113507456136124, + 0.09108834952020205, + 0.02308384515933532, + -0.9955752350648068 + ], + [ + 0.9923404371078933, + 0.08747799430586344, + 0.08722417894562651, + 0.08819751645451816, + -0.9960931892844863, + -0.0044222564732879464, + 0.08649656046208049, + 0.012081339879494501, + -0.9961788926969622 + ], + [ + 0.9830127635346361, + 0.04846302359495122, + 0.17702328115825028, + 0.04911787773998427, + -0.9987927546564961, + 0.0006836168579294599, + 0.17684270076629593, + 0.008023003784349697, + -0.9842064268211007 + ], + [ + 0.9797521964321555, + 0.06946550656385736, + 0.18777693411117793, + 0.06613738179420472, + -0.9975233152950475, + 0.023939134741774223, + 0.1889748139720597, + -0.011035345060482416, + -0.98191992588175 + ], + [ + 0.9876679573583953, + 0.07748140694099957, + 0.13604645377935523, + 0.07532874976835267, + -0.9969395302988929, + 0.02090818944241065, + 0.13725008366420735, + -0.010402139485031285, + -0.9904818070153041 + ], + [ + 0.990446927010771, + 0.06945863643953122, + 0.11912339232443876, + 0.06744004370411462, + -0.9975044303316348, + 0.020898611770843276, + 0.120277700676843, + -0.012665279022680304, + -0.9926594911787072 + ], + [ + 0.9962111466123079, + 0.06288560376491105, + 0.06007289076209174, + 0.05908555497461919, + -0.9962587010256565, + 0.06306740698660135, + 0.06381417208373745, + -0.05927901373837932, + -0.996199653669621 + ], + [ + 0.9972634133559743, + 0.06229276706309607, + 0.03981577015724094, + 0.05864319053664613, + -0.9944763537570903, + 0.0870503189062824, + 0.04501844716640062, + -0.08447717437051089, + -0.9954079296575352 + ], + [ + 0.9982111914848932, + 0.04785551651471138, + 0.035836667443004726, + 0.04469905263742229, + -0.9954436196447914, + 0.08422585589825288, + 0.039704053793375806, + -0.08247332688564524, + -0.995802057873344 + ], + [ + 0.997755316901428, + 0.05705599393574201, + 0.0350562569441708, + 0.054643828964286184, + -0.9963029957741727, + 0.06629021471929926, + 0.038708907903129884, + -0.0642258060861328, + -0.9971843692525137 + ], + [ + 0.9974586905050119, + 0.06040417324696288, + 0.03778222585261403, + 0.058548101393796605, + -0.9971086144338327, + 0.0484410037573976, + 0.04059902165334473, + -0.046105822584499995, + -0.9981112025043092 + ], + [ + 0.9931456753746988, + 0.05855123364150192, + 0.10116037032154068, + 0.05800084349578823, + -0.9982813954987434, + 0.008376010676824006, + 0.10147694141187974, + -0.0024512119735844045, + -0.9948348716855225 + ], + [ + 0.9970124332186004, + -0.010520792462246822, + 0.0765213756638748, + -0.006623247829586381, + -0.9986761475019674, + -0.05101063613420415, + 0.07695674496568446, + 0.05035141841690883, + -0.9957622176341557 + ], + [ + 0.9969157860675882, + -0.011212284827753154, + 0.07767367738290927, + -0.006950717189361406, + -0.9984665834971116, + -0.05491966105284575, + 0.07817034616653844, + 0.05421038930451692, + -0.9954650323701263 + ], + [ + 0.999464740609975, + -0.021635752188072576, + 0.024538266130505772, + -0.020959449391372852, + -0.9994022855359961, + -0.0274913285717099, + 0.025118394826216386, + 0.02696230503283326, + -0.9993208195312808 + ], + [ + 0.9994435257541433, + 0.0308463561913823, + -0.01269413793219931, + 0.030852911930603997, + -0.9995238840866633, + 0.00032088270944858797, + -0.012678195988772388, + -0.0007123552661419238, + -0.999919374698003 + ], + [ + 0.9991456506201359, + 0.03474941694433142, + -0.022370669835618362, + 0.03488027647829161, + -0.9993764400461541, + 0.005486109137959071, + -0.022166081287931114, + -0.006261717232890136, + -0.9997346926748277 + ], + [ + 0.9995167592048143, + 0.02607832429987636, + -0.01691653245837364, + 0.026300168334022406, + -0.9995692084401648, + 0.013026844740911663, + -0.016569526677211264, + -0.013465457289383488, + -0.9997720401399913 + ], + [ + 0.9998192581140558, + 0.01549951655034086, + 0.011009817935131158, + 0.015448623789208733, + -0.999869651285431, + 0.004692596442253545, + 0.011081115795736455, + -0.004521661758255073, + -0.9999283791590602 + ], + [ + 0.9933091940030362, + -0.007783965878058286, + 0.11522263225707069, + -0.0029420271267407397, + -0.9991076784270024, + -0.042133020121886654, + 0.11544777860757843, + 0.041512128148470155, + -0.9924457434193372 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0056397318840026855, + 0.00020429305732250214, + -0.021694600582122803, + 0.00782768428325653, + 0.051558367908000946, + -0.002358563244342804, + 1.0 + ], + [ + -0.028640657663345337, + 0.0023565227165818214, + -0.005558915436267853, + 0.011055199429392815, + 0.004610002040863037, + -0.020599864423274994, + 1.0 + ], + [ + -0.026812434196472168, + 0.010731716640293598, + 0.03570406138896942, + 0.003975518047809601, + -0.09117288142442703, + -0.038720209151506424, + 1.0 + ], + [ + -0.03550693392753601, + 0.03199809417128563, + 0.01190340518951416, + 0.01938963308930397, + -0.012340381741523743, + 0.01747678592801094, + 1.0 + ], + [ + -0.026111215353012085, + 0.02475898526608944, + -0.024150297045707703, + -0.0007363511249423027, + 0.052433356642723083, + 0.008719995617866516, + 1.0 + ], + [ + -0.013745874166488647, + 0.007399220019578934, + -0.018020834773778915, + 0.0022565294057130814, + 0.01711507886648178, + -0.008136354386806488, + 1.0 + ], + [ + -0.012214511632919312, + 0.006543051451444626, + -0.02663497067987919, + 0.04667682573199272, + 0.05671204626560211, + -0.008744705468416214, + 1.0 + ], + [ + -0.007446944713592529, + 0.002926938235759735, + -0.012475123628973961, + 0.025228947401046753, + 0.01882389560341835, + -0.0005044005811214447, + 0.0 + ], + [ + -0.00029417872428894043, + -0.0008133202791213989, + -0.007128135301172733, + -0.0020316019654273987, + 0.005319174379110336, + -0.013987213373184204, + 0.0 + ], + [ + -0.001092076301574707, + -0.0026093721389770508, + -0.0006085643544793129, + -0.018314100801944733, + 0.0009959116578102112, + 0.009962845593690872, + 0.0 + ], + [ + -0.001698613166809082, + -0.0032713189721107483, + 0.00383827555924654, + -0.01815805584192276, + -0.0018916018307209015, + 0.0039178915321826935, + 0.0 + ], + [ + 0.0009899139404296875, + -0.016904842108488083, + 0.03621438890695572, + -0.0436963252723217, + -0.061041731387376785, + -0.00029511377215385437, + 0.0 + ], + [ + -0.005725085735321045, + -0.052144166082143784, + 0.012440919876098633, + -0.05298660695552826, + 0.024619005620479584, + -0.06497787684202194, + 0.0 + ], + [ + -0.0026532113552093506, + -0.03289226070046425, + -0.006575785577297211, + -0.0038809403777122498, + -0.0012172684073448181, + -0.0003291112370789051, + 0.0 + ], + [ + -0.007959544658660889, + -0.03484164550900459, + -0.026350928470492363, + 0.027429528534412384, + 0.05312914028763771, + -0.013995492830872536, + 0.0 + ], + [ + 0.0020011067390441895, + -0.0042763352394104, + -0.019932353869080544, + 0.027686499059200287, + 0.03779957443475723, + 0.051827892661094666, + 0.0 + ], + [ + 0.004691123962402344, + -0.0014676302671432495, + -0.003647217061370611, + 0.0055508846417069435, + 0.009489361196756363, + 0.004035640507936478, + 0.0 + ], + [ + 0.0019308030605316162, + 0.0013315603137016296, + -6.193062290549278e-05, + 0.007204416207969189, + -0.005597611889243126, + -0.008589116856455803, + 1.0 + ], + [ + -0.0023530423641204834, + 0.0006788596510887146, + 0.0073298439383506775, + -0.008945758454501629, + -0.027651626616716385, + -0.0108566265553236, + 1.0 + ], + [ + 0.0035859644412994385, + -0.003608323633670807, + 0.0394776314496994, + -0.046325694769620895, + -0.1046244353055954, + -0.018412021920084953, + 1.0 + ], + [ + -0.00015601515769958496, + -0.0013008341193199158, + 0.024875860661268234, + -0.023439332842826843, + -0.039633460342884064, + 0.005519320722669363, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9628177285194397 + ], + [ + 0.6791892647743225 + ], + [ + 0.4077054560184479 + ], + [ + 0.40239205956459045 + ], + [ + 0.40239205956459045 + ], + [ + 0.40239205956459045 + ], + [ + 0.40239205956459045 + ], + [ + 0.40239205956459045 + ], + [ + 0.40239205956459045 + ], + [ + 0.40239205956459045 + ], + [ + 0.45967593789100647 + ], + [ + 0.7855378985404968 + ], + [ + 0.9974852800369263 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.42854803800582886, + -0.016684792935848236, + 0.057143524289131165 + ], + [ + 0.3999073803424835, + -0.014328270219266415, + 0.05158460885286331 + ], + [ + 0.37309494614601135, + -0.00359655381180346, + 0.08728867024183273 + ], + [ + 0.33758801221847534, + 0.028401540592312813, + 0.0991920754313469 + ], + [ + 0.31147679686546326, + 0.05316052585840225, + 0.07504177838563919 + ], + [ + 0.2977309226989746, + 0.060559745877981186, + 0.057020943611860275 + ], + [ + 0.2855164110660553, + 0.06710279732942581, + 0.030385972931981087 + ], + [ + 0.27806946635246277, + 0.07002973556518555, + 0.017910849303007126 + ], + [ + 0.27777528762817383, + 0.06921641528606415, + 0.010782714001834393 + ], + [ + 0.2766832113265991, + 0.0666070431470871, + 0.01017414964735508 + ], + [ + 0.27498459815979004, + 0.06333572417497635, + 0.01401242520660162 + ], + [ + 0.2759745121002197, + 0.046430882066488266, + 0.05022681504487991 + ], + [ + 0.2702494263648987, + -0.005713283084332943, + 0.06266773492097855 + ], + [ + 0.26759621500968933, + -0.038605544716119766, + 0.056091949343681335 + ], + [ + 0.25963667035102844, + -0.07344719022512436, + 0.029741020873188972 + ], + [ + 0.26163777709007263, + -0.07772352546453476, + 0.009808667004108429 + ], + [ + 0.266328901052475, + -0.07919115573167801, + 0.006161449942737818 + ], + [ + 0.2682597041130066, + -0.07785959541797638, + 0.006099519319832325 + ], + [ + 0.2659066617488861, + -0.07718073576688766, + 0.013429363258183002 + ], + [ + 0.26949262619018555, + -0.08078905940055847, + 0.05290699377655983 + ], + [ + 0.26933661103248596, + -0.08208989351987839, + 0.07778285443782806 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.989906270196471, + 0.10689990167375654, + 0.09304830599131035, + 0.10857480742509676, + -0.994001784261377, + -0.013113507456136124, + 0.09108834952020205, + 0.02308384515933532, + -0.9955752350648068 + ], + [ + 0.9923404371078933, + 0.08747799430586344, + 0.08722417894562651, + 0.08819751645451816, + -0.9960931892844863, + -0.0044222564732879464, + 0.08649656046208049, + 0.012081339879494501, + -0.9961788926969622 + ], + [ + 0.9830127635346361, + 0.04846302359495122, + 0.17702328115825028, + 0.04911787773998427, + -0.9987927546564961, + 0.0006836168579294599, + 0.17684270076629593, + 0.008023003784349697, + -0.9842064268211007 + ], + [ + 0.9797521964321555, + 0.06946550656385736, + 0.18777693411117793, + 0.06613738179420472, + -0.9975233152950475, + 0.023939134741774223, + 0.1889748139720597, + -0.011035345060482416, + -0.98191992588175 + ], + [ + 0.9876679573583953, + 0.07748140694099957, + 0.13604645377935523, + 0.07532874976835267, + -0.9969395302988929, + 0.02090818944241065, + 0.13725008366420735, + -0.010402139485031285, + -0.9904818070153041 + ], + [ + 0.990446927010771, + 0.06945863643953122, + 0.11912339232443876, + 0.06744004370411462, + -0.9975044303316348, + 0.020898611770843276, + 0.120277700676843, + -0.012665279022680304, + -0.9926594911787072 + ], + [ + 0.9962111466123079, + 0.06288560376491105, + 0.06007289076209174, + 0.05908555497461919, + -0.9962587010256565, + 0.06306740698660135, + 0.06381417208373745, + -0.05927901373837932, + -0.996199653669621 + ], + [ + 0.9972634133559743, + 0.06229276706309607, + 0.03981577015724094, + 0.05864319053664613, + -0.9944763537570903, + 0.0870503189062824, + 0.04501844716640062, + -0.08447717437051089, + -0.9954079296575352 + ], + [ + 0.9982111914848932, + 0.04785551651471138, + 0.035836667443004726, + 0.04469905263742229, + -0.9954436196447914, + 0.08422585589825288, + 0.039704053793375806, + -0.08247332688564524, + -0.995802057873344 + ], + [ + 0.997755316901428, + 0.05705599393574201, + 0.0350562569441708, + 0.054643828964286184, + -0.9963029957741727, + 0.06629021471929926, + 0.038708907903129884, + -0.0642258060861328, + -0.9971843692525137 + ], + [ + 0.9974586905050119, + 0.06040417324696288, + 0.03778222585261403, + 0.058548101393796605, + -0.9971086144338327, + 0.0484410037573976, + 0.04059902165334473, + -0.046105822584499995, + -0.9981112025043092 + ], + [ + 0.9931456753746988, + 0.05855123364150192, + 0.10116037032154068, + 0.05800084349578823, + -0.9982813954987434, + 0.008376010676824006, + 0.10147694141187974, + -0.0024512119735844045, + -0.9948348716855225 + ], + [ + 0.9970124332186004, + -0.010520792462246822, + 0.0765213756638748, + -0.006623247829586381, + -0.9986761475019674, + -0.05101063613420415, + 0.07695674496568446, + 0.05035141841690883, + -0.9957622176341557 + ], + [ + 0.9969157860675882, + -0.011212284827753154, + 0.07767367738290927, + -0.006950717189361406, + -0.9984665834971116, + -0.05491966105284575, + 0.07817034616653844, + 0.05421038930451692, + -0.9954650323701263 + ], + [ + 0.999464740609975, + -0.021635752188072576, + 0.024538266130505772, + -0.020959449391372852, + -0.9994022855359961, + -0.0274913285717099, + 0.025118394826216386, + 0.02696230503283326, + -0.9993208195312808 + ], + [ + 0.9994435257541433, + 0.0308463561913823, + -0.01269413793219931, + 0.030852911930603997, + -0.9995238840866633, + 0.00032088270944858797, + -0.012678195988772388, + -0.0007123552661419238, + -0.999919374698003 + ], + [ + 0.9991456506201359, + 0.03474941694433142, + -0.022370669835618362, + 0.03488027647829161, + -0.9993764400461541, + 0.005486109137959071, + -0.022166081287931114, + -0.006261717232890136, + -0.9997346926748277 + ], + [ + 0.9995167592048143, + 0.02607832429987636, + -0.01691653245837364, + 0.026300168334022406, + -0.9995692084401648, + 0.013026844740911663, + -0.016569526677211264, + -0.013465457289383488, + -0.9997720401399913 + ], + [ + 0.9998192581140558, + 0.01549951655034086, + 0.011009817935131158, + 0.015448623789208733, + -0.999869651285431, + 0.004692596442253545, + 0.011081115795736455, + -0.004521661758255073, + -0.9999283791590602 + ], + [ + 0.9933091940030362, + -0.007783965878058286, + 0.11522263225707069, + -0.0029420271267407397, + -0.9991076784270024, + -0.042133020121886654, + 0.11544777860757843, + 0.041512128148470155, + -0.9924457434193372 + ], + [ + 0.9879558708740858, + -0.007534865500360232, + 0.15455233096695342, + 0.002526687959182046, + -0.9978949593469837, + -0.06480174347838988, + 0.15471526444854805, + 0.0644117684260695, + -0.9858571453485757 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005657.json b/json/chunk-0005/episode_0005657.json new file mode 100644 index 0000000000000000000000000000000000000000..79bb639b630c2f7d00d0704ed29757391971c754 --- /dev/null +++ b/json/chunk-0005/episode_0005657.json @@ -0,0 +1,2422 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 39, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nFold the cloth from left to the right." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005657.mp4", + "start": 0, + "end": 39, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.4372406303882599, + -0.0577850416302681, + 0.1005086749792099, + 0.007996327243745327, + -0.14713655412197113, + 0.38123491406440735, + 0.0, + 0.9994885921478271 + ], + [ + 0.4355693757534027, + -0.05916208028793335, + 0.08104657381772995, + 0.02314469777047634, + -0.10221169888973236, + 0.3783368170261383, + 0.0, + 0.9994885921478271 + ], + [ + 0.4409152567386627, + -0.07083681225776672, + 0.035602521151304245, + -0.06426318734884262, + 0.04387801140546799, + 0.3382934629917145, + 0.0, + 1.0001531839370728 + ], + [ + 0.44334033131599426, + -0.07369709759950638, + 0.025501202791929245, + -0.010833446867763996, + 0.010068157687783241, + 0.48750099539756775, + 0.0, + 0.9994885921478271 + ], + [ + 0.4443891644477844, + -0.0902697741985321, + 0.011174943298101425, + -0.03574468567967415, + -0.03809548169374466, + 0.500346839427948, + 0.0, + 0.9994885921478271 + ], + [ + 0.4421851933002472, + -0.09250682592391968, + 0.007392381317913532, + -0.06755352020263672, + -0.05285992845892906, + 0.5303613543510437, + 0.0, + 0.9994885921478271 + ], + [ + 0.44589459896087646, + -0.0975741520524025, + 0.022646252065896988, + -0.12581320106983185, + -0.0744749903678894, + 0.5477345585823059, + 0.0, + 0.9994885921478271 + ], + [ + 0.44507652521133423, + -0.10025647282600403, + 0.024794377386569977, + -0.13972970843315125, + -0.06123187392950058, + 0.5584844946861267, + 0.0, + 0.9994885921478271 + ], + [ + 0.4516580402851105, + -0.1019190177321434, + 0.03509819135069847, + -0.15698134899139404, + -0.0733802393078804, + 0.5724917650222778, + 0.0, + 0.9994885921478271 + ], + [ + 0.46384280920028687, + -0.10523448139429092, + 0.04560965672135353, + -0.16952891647815704, + -0.08396372944116592, + 0.6017161011695862, + 0.0, + 0.9994885921478271 + ], + [ + 0.4650117754936218, + -0.11358240991830826, + 0.03205863758921623, + -0.13707658648490906, + -0.0661521703004837, + 0.6143041849136353, + 0.0, + 0.9994885921478271 + ], + [ + 0.46968963742256165, + -0.12142754346132278, + 0.031867172569036484, + -0.13768842816352844, + -0.06829497963190079, + 0.6268758177757263, + 0.0, + 0.9994885921478271 + ], + [ + 0.4730864465236664, + -0.12212692201137543, + 0.02573833242058754, + -0.12943750619888306, + -0.06505926698446274, + 0.6442073583602905, + 0.0, + 0.9994885921478271 + ], + [ + 0.47440066933631897, + -0.1288929581642151, + 0.021285759285092354, + -0.1198473647236824, + -0.07133129239082336, + 0.6417606472969055, + 0.0, + 0.9994885921478271 + ], + [ + 0.4763334393501282, + -0.13427035510540009, + 0.017971457913517952, + -0.11785817891359329, + -0.0784941241145134, + 0.6426042914390564, + 0.0, + 0.9709111452102661 + ], + [ + 0.4746251404285431, + -0.13260610401630402, + 0.00513888243585825, + -0.09453162550926208, + -0.06839486956596375, + 0.6499073505401611, + 0.0, + 0.680191159248352 + ], + [ + 0.4757547974586487, + -0.1324450969696045, + 0.004526624921709299, + -0.09840814024209976, + -0.0734376460313797, + 0.6601617336273193, + 0.0, + 0.39798861742019653 + ], + [ + 0.474864661693573, + -0.13243232667446136, + 9.701672388473526e-05, + -0.10119715332984924, + -0.0748506709933281, + 0.65313720703125, + 0.0, + 0.17734436690807343 + ], + [ + 0.468945175409317, + -0.1332259476184845, + -0.0027130444068461657, + -0.11719536781311035, + -0.0644318088889122, + 0.6423152685165405, + 0.0, + 0.06772904843091965 + ], + [ + 0.46047574281692505, + -0.12850509583950043, + 0.00839052814990282, + -0.1572026014328003, + -0.0614074170589447, + 0.6269961595535278, + 0.0, + 0.052190229296684265 + ], + [ + 0.4517715573310852, + -0.11415111273527145, + 0.029308954253792763, + -0.22020158171653748, + -0.09686680883169174, + 0.6258087158203125, + 0.0, + 0.051409780979156494 + ], + [ + 0.43755272030830383, + -0.10334586352109909, + 0.042179252952337265, + -0.26912856101989746, + -0.11774598807096481, + 0.6152195930480957, + 0.0, + 0.051409780979156494 + ], + [ + 0.4205603003501892, + -0.09073162823915482, + 0.03861398249864578, + -0.264070600271225, + -0.12191364914178848, + 0.5947244167327881, + 0.0, + 0.05115113407373428 + ], + [ + 0.40121251344680786, + -0.0784529522061348, + 0.02980906516313553, + -0.2380284070968628, + -0.12516404688358307, + 0.5750242471694946, + 0.0, + 0.05115113407373428 + ], + [ + 0.38092246651649475, + -0.05578668788075447, + 0.024518288671970367, + -0.22917774319648743, + -0.15109217166900635, + 0.5679618120193481, + 0.0, + 0.05115113407373428 + ], + [ + 0.36746078729629517, + -0.028986725956201553, + 0.025502532720565796, + -0.24244976043701172, + -0.16862019896507263, + 0.583972156047821, + 0.0, + 0.05115113407373428 + ], + [ + 0.3542948365211487, + -0.0008989637717604637, + 0.02902957610785961, + -0.25894349813461304, + -0.16841904819011688, + 0.5777617692947388, + 0.0, + 0.05115113407373428 + ], + [ + 0.3417643904685974, + 0.020676132291555405, + 0.033550992608070374, + -0.2725382149219513, + -0.14860370755195618, + 0.568835437297821, + 0.0, + 0.05115113407373428 + ], + [ + 0.32829567790031433, + 0.031681306660175323, + 0.03692624717950821, + -0.2683658301830292, + -0.1356925070285797, + 0.5428712964057922, + 0.0, + 0.05115113407373428 + ], + [ + 0.315684974193573, + 0.040873512625694275, + 0.03318876028060913, + -0.26563921570777893, + -0.09784357249736786, + 0.531453013420105, + 0.0, + 0.05115113407373428 + ], + [ + 0.304313987493515, + 0.05040676146745682, + 0.03124781884253025, + -0.24965395033359528, + -0.08759811520576477, + 0.5143018960952759, + 0.0, + 0.05115113407373428 + ], + [ + 0.2988678812980652, + 0.05644206702709198, + 0.029181597754359245, + -0.23035608232021332, + -0.10490825027227402, + 0.49263328313827515, + 0.0, + 0.05115113407373428 + ], + [ + 0.29440534114837646, + 0.06578809022903442, + 0.0247590821236372, + -0.20787103474140167, + -0.12366077303886414, + 0.48828282952308655, + 0.0, + 0.05115113407373428 + ], + [ + 0.2927863895893097, + 0.07079839706420898, + 0.025302305817604065, + -0.1976071447134018, + -0.12483347952365875, + 0.4994681179523468, + 0.0, + 0.05115113407373428 + ], + [ + 0.2871737480163574, + 0.0758092999458313, + 0.024764196947216988, + -0.1862000674009323, + -0.09710140526294708, + 0.5217635631561279, + 0.0, + 0.05115113407373428 + ], + [ + 0.28377988934516907, + 0.07979877293109894, + 0.024283209815621376, + -0.16519668698310852, + -0.084044449031353, + 0.5402166843414307, + 0.0, + 0.06926051527261734 + ], + [ + 0.2791672646999359, + 0.09031391888856888, + 0.028261326253414154, + -0.06932873278856277, + -0.058562133461236954, + 0.6108047366142273, + 0.0, + 0.2129654437303543 + ], + [ + 0.27577200531959534, + 0.0893893614411354, + 0.029513197019696236, + 0.04048100486397743, + -0.06273011118173599, + 0.6383920907974243, + 0.0, + 0.5004528760910034 + ], + [ + 0.2712206542491913, + 0.09642106294631958, + 0.034568335860967636, + 0.1261657476425171, + -0.0704149380326271, + 0.7209666967391968, + 0.0, + 0.7710858583450317 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9709111452102661 + ], + [ + 0.680191159248352 + ], + [ + 0.39798861742019653 + ], + [ + 0.17734436690807343 + ], + [ + 0.06772904843091965 + ], + [ + 0.052190229296684265 + ], + [ + 0.051409780979156494 + ], + [ + 0.051409780979156494 + ], + [ + 0.05115113407373428 + ], + [ + 0.05115113407373428 + ], + [ + 0.05115113407373428 + ], + [ + 0.05115113407373428 + ], + [ + 0.05115113407373428 + ], + [ + 0.05115113407373428 + ], + [ + 0.05115113407373428 + ], + [ + 0.05115113407373428 + ], + [ + 0.05115113407373428 + ], + [ + 0.05115113407373428 + ], + [ + 0.05115113407373428 + ], + [ + 0.05115113407373428 + ], + [ + 0.05115113407373428 + ], + [ + 0.06926051527261734 + ], + [ + 0.2129654437303543 + ], + [ + 0.5004528760910034 + ], + [ + 0.7710858583450317 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.4372406303882599, + -0.0577850416302681, + 0.1005086749792099 + ], + [ + 0.4355693757534027, + -0.05916208028793335, + 0.08104657381772995 + ], + [ + 0.4409152567386627, + -0.07083681225776672, + 0.035602521151304245 + ], + [ + 0.44334033131599426, + -0.07369709759950638, + 0.025501202791929245 + ], + [ + 0.4443891644477844, + -0.0902697741985321, + 0.011174943298101425 + ], + [ + 0.4421851933002472, + -0.09250682592391968, + 0.007392381317913532 + ], + [ + 0.44589459896087646, + -0.0975741520524025, + 0.022646252065896988 + ], + [ + 0.44507652521133423, + -0.10025647282600403, + 0.024794377386569977 + ], + [ + 0.4516580402851105, + -0.1019190177321434, + 0.03509819135069847 + ], + [ + 0.46384280920028687, + -0.10523448139429092, + 0.04560965672135353 + ], + [ + 0.4650117754936218, + -0.11358240991830826, + 0.03205863758921623 + ], + [ + 0.46968963742256165, + -0.12142754346132278, + 0.031867172569036484 + ], + [ + 0.4730864465236664, + -0.12212692201137543, + 0.02573833242058754 + ], + [ + 0.47440066933631897, + -0.1288929581642151, + 0.021285759285092354 + ], + [ + 0.4763334393501282, + -0.13427035510540009, + 0.017971457913517952 + ], + [ + 0.4746251404285431, + -0.13260610401630402, + 0.00513888243585825 + ], + [ + 0.4757547974586487, + -0.1324450969696045, + 0.004526624921709299 + ], + [ + 0.474864661693573, + -0.13243232667446136, + 9.701672388473526e-05 + ], + [ + 0.468945175409317, + -0.1332259476184845, + -0.0027130444068461657 + ], + [ + 0.46047574281692505, + -0.12850509583950043, + 0.00839052814990282 + ], + [ + 0.4517715573310852, + -0.11415111273527145, + 0.029308954253792763 + ], + [ + 0.43755272030830383, + -0.10334586352109909, + 0.042179252952337265 + ], + [ + 0.4205603003501892, + -0.09073162823915482, + 0.03861398249864578 + ], + [ + 0.40121251344680786, + -0.0784529522061348, + 0.02980906516313553 + ], + [ + 0.38092246651649475, + -0.05578668788075447, + 0.024518288671970367 + ], + [ + 0.36746078729629517, + -0.028986725956201553, + 0.025502532720565796 + ], + [ + 0.3542948365211487, + -0.0008989637717604637, + 0.02902957610785961 + ], + [ + 0.3417643904685974, + 0.020676132291555405, + 0.033550992608070374 + ], + [ + 0.32829567790031433, + 0.031681306660175323, + 0.03692624717950821 + ], + [ + 0.315684974193573, + 0.040873512625694275, + 0.03318876028060913 + ], + [ + 0.304313987493515, + 0.05040676146745682, + 0.03124781884253025 + ], + [ + 0.2988678812980652, + 0.05644206702709198, + 0.029181597754359245 + ], + [ + 0.29440534114837646, + 0.06578809022903442, + 0.0247590821236372 + ], + [ + 0.2927863895893097, + 0.07079839706420898, + 0.025302305817604065 + ], + [ + 0.2871737480163574, + 0.0758092999458313, + 0.024764196947216988 + ], + [ + 0.28377988934516907, + 0.07979877293109894, + 0.024283209815621376 + ], + [ + 0.2791672646999359, + 0.09031391888856888, + 0.028261326253414154 + ], + [ + 0.27577200531959534, + 0.0893893614411354, + 0.029513197019696236 + ], + [ + 0.2712206542491913, + 0.09642106294631958, + 0.034568335860967636 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9181765448549669, + 0.3731432468913388, + 0.13310127639351954, + 0.36804679789767547, + -0.9277400237661116, + 0.061967756613597366, + 0.14660623122999356, + -0.007909842087158035, + -0.9891633067207324 + ], + [ + 0.9244302811380647, + 0.3714708277293607, + 0.08624430103526921, + 0.36744762188995717, + -0.928159155877308, + 0.059184681536169875, + 0.10203382028726356, + -0.0230218484745771, + -0.9945145016591763 + ], + [ + 0.9424144664011859, + 0.3338499515519714, + -0.019979573732044523, + 0.33155833405794977, + -0.9404403592685964, + -0.07510660274216999, + -0.043863933185303974, + 0.06415715476468331, + -0.9969753331241528 + ], + [ + 0.8834614193918447, + 0.46848834266279415, + -0.0038201093198370127, + 0.4683957259326972, + -0.8834032633545011, + -0.014286994876448572, + -0.010067987590814183, + 0.010832685894383949, + -0.9998906382911008 + ], + [ + 0.8767796203769943, + 0.47822920734672336, + 0.05054030601509093, + 0.4793818243192606, + -0.8775087118211015, + -0.013096838947215117, + 0.03808626791787232, + 0.03571114557944588, + -0.9986361450886365 + ], + [ + 0.8614194577065626, + 0.5016147721286565, + 0.07961870550849141, + 0.5051385427229519, + -0.8624608975193393, + -0.031563474236347394, + 0.05283531527552734, + 0.06740786773405663, + -0.9963255536355995 + ], + [ + 0.8513399930353345, + 0.5086677607037078, + 0.1283640349913956, + 0.519311023502439, + -0.8518207924045382, + -0.06868332036349084, + 0.07440616323562221, + 0.12513371587218247, + -0.9893458829067687 + ], + [ + 0.8464698178510075, + 0.5175091645039708, + 0.125192300568703, + 0.528908487922609, + -0.8443099240171903, + -0.08600327673702865, + 0.0611936178919154, + 0.1390144483875279, + -0.9883978572765169 + ], + [ + 0.8382916941373563, + 0.5254327003089604, + 0.14555931088857035, + 0.5402703341253347, + -0.8364272055544079, + -0.09218186303467539, + 0.07331440243513199, + 0.15591666766089712, + -0.9850456797230781 + ], + [ + 0.8214612731168497, + 0.5462787900090076, + 0.16364858800349927, + 0.5640638442672317, + -0.8205570774378559, + -0.09229334893217822, + 0.08386510811843367, + 0.16812366357220293, + -0.9821919758312752 + ], + [ + 0.8153873344906337, + 0.5636018522660774, + 0.1322741353194415, + 0.5751293461809429, + -0.8147158702450826, + -0.07392080852019, + 0.06610393266470947, + 0.1363488279855902, + -0.9884529666065125 + ], + [ + 0.8079762055867575, + 0.5734801039081227, + 0.13525909073757098, + 0.5852499415248894, + -0.8076940624639484, + -0.07150389783499132, + 0.0682419017227619, + 0.1369338230022526, + -0.9882267811424909 + ], + [ + 0.7978844615113847, + 0.5888311224295041, + 0.12906701878132348, + 0.5992942903352639, + -0.7979270763877203, + -0.06448824961880938, + 0.06501338054770285, + 0.12880329974715687, + -0.9895367453126761 + ], + [ + 0.7990060136976849, + 0.5874870174649626, + 0.1282512938923332, + 0.5970844669862211, + -0.8003979394847471, + -0.05341608140205546, + 0.071270817020117, + 0.11925662572240435, + -0.9903021396839407 + ], + [ + 0.7980728469245019, + 0.5877437440720529, + 0.13280445137865868, + 0.5974370653684916, + -0.8005098073364622, + -0.047465790649957845, + 0.07841354427460812, + 0.11722346037507259, + -0.9900050385790916 + ], + [ + 0.7942784764131096, + 0.5972751911714184, + 0.11128363724292688, + 0.6036978824669313, + -0.7964887431152201, + -0.03397865205802596, + 0.06834155845320435, + 0.09417020814399311, + -0.9932076335219664 + ], + [ + 0.787764035312809, + 0.6045835099415859, + 0.11792626583756483, + 0.6115917142803498, + -0.7904921275660628, + -0.032829427038904374, + 0.07337165454930572, + 0.09798456900345126, + -0.9924795335652548 + ], + [ + 0.7919575784149465, + 0.5985721724565238, + 0.12047633938583444, + 0.6059793943344502, + -0.7947090503139933, + -0.03502140761138906, + 0.07478079722218825, + 0.10074164833725813, + -0.9920982575617728 + ], + [ + 0.7990494575096532, + 0.5889134522565076, + 0.12124731009326128, + 0.5978078689225024, + -0.7997284775567075, + -0.05531829750785289, + 0.06438723715042766, + 0.11668465167344577, + -0.9910797020199644 + ], + [ + 0.8082672233239078, + 0.5716999768608596, + 0.14093697938281752, + 0.5856090524149383, + -0.805445024691107, + -0.09121595216857552, + 0.06136883109476761, + 0.1562608353287364, + -0.9858074953622676 + ], + [ + 0.8066901645774982, + 0.5544872531904063, + 0.20443792315342835, + 0.5830069562553694, + -0.8032932795207958, + -0.12174890568121888, + 0.09671539345822099, + 0.21740237608196217, + -0.9712787136255682 + ], + [ + 0.8109922253514315, + 0.5308543614530753, + 0.2459375069926928, + 0.5731417325970535, + -0.8052769846394044, + -0.15178119898629172, + 0.11747410257235802, + 0.26405042120079303, + -0.9573281622769191 + ], + [ + 0.8221550470101331, + 0.5145665239460834, + 0.24347971395952273, + 0.5561219566771357, + -0.8173747554540155, + -0.15042233360802132, + 0.12161187432714084, + 0.25907489569723574, + -0.95817052263264 + ], + [ + 0.8326143864889198, + 0.5038197055611173, + 0.23004127390533405, + 0.5396006693328488, + -0.8315266557864518, + -0.1318883557109627, + 0.12483749864212043, + 0.23394256774881506, + -0.9642025067006774 + ], + [ + 0.8333950413209782, + 0.4950247207370255, + 0.245770687757582, + 0.5317866598191552, + -0.8393512082599942, + -0.11266098539811309, + 0.1505179508895572, + 0.22458867970518365, + -0.9627586776593038 + ], + [ + 0.8224468604391283, + 0.5016029626382997, + 0.268282741946442, + 0.5435226259371883, + -0.8320929805798494, + -0.1104736473738674, + 0.16782227756815885, + 0.23667644484025585, + -0.9569848189023757 + ], + [ + 0.8258347256565949, + 0.4919873318505333, + 0.2755820589194619, + 0.5384228900038329, + -0.8332012439944738, + -0.12600189889831692, + 0.1676239762671704, + 0.25243643220552486, + -0.9529837618111489 + ], + [ + 0.8332431381689236, + 0.4851922147278493, + 0.2651308874157978, + 0.5327146391828727, + -0.8328989483847998, + -0.14998151546026006, + 0.14805737365854404, + 0.26621017363537963, + -0.9524763291328321 + ], + [ + 0.8483583596490546, + 0.46739287795659223, + 0.2486603934063881, + 0.5118479913697528, + -0.8441106235364368, + -0.15965240043193105, + 0.13527648481652335, + 0.26271877144273925, + -0.9553424097083218 + ], + [ + 0.8579484412388291, + 0.46690260246563514, + 0.21430453095228927, + 0.5043625861408473, + -0.8448311611740318, + -0.17854604675168187, + 0.09768753184096754, + 0.26127048995275837, + -0.9603097818947101 + ], + [ + 0.8672981027196851, + 0.4578575628363918, + 0.19534700707293556, + 0.4900409965871252, + -0.8542779083654453, + -0.17340437405860457, + 0.08748612851607453, + 0.24612132665065592, + -0.9652825855079897 + ], + [ + 0.8762464279098051, + 0.4393886934285791, + 0.1978124709476954, + 0.47034750221857213, + -0.8691244318948935, + -0.15295734385811288, + 0.10471592396601878, + 0.2270689277961756, + -0.9682325533142533 + ], + [ + 0.8763958224267295, + 0.4365303078278949, + 0.20340022807425706, + 0.4655278350145262, + -0.8760694741857273, + -0.12564279217938276, + 0.12334584411184918, + 0.20480128600091055, + -0.9710006364532975 + ], + [ + 0.871006468406924, + 0.4481797657024677, + 0.2012029562610335, + 0.47523164226087006, + -0.8724617216865694, + -0.11386584380640054, + 0.12450951042926242, + 0.19479589781766032, + -0.9729090091093191 + ], + [ + 0.8628577029002957, + 0.4742350443658848, + 0.17486482562514427, + 0.49606198984263417, + -0.8609016275792277, + -0.1130083619242526, + 0.09694888745618063, + 0.18425392893158016, + -0.9780855805573891 + ], + [ + 0.854570232420578, + 0.49548113604861443, + 0.15558972228464665, + 0.5125064523100065, + -0.8530219277371174, + -0.09844149094900367, + 0.08394554306960031, + 0.16386590438412174, + -0.982904426268965 + ], + [ + 0.817782436397323, + 0.5688277396906954, + 0.08756077477062944, + 0.5725436943989305, + -0.8195441805525672, + -0.02326057020894404, + 0.05852866583207304, + 0.0691544552490701, + -0.9958875722666298 + ], + [ + 0.8014754372512782, + 0.5974541475272241, + 0.02618520737726311, + 0.5947328942561569, + -0.8008852360026162, + 0.06982566321008754, + 0.06268897807882272, + -0.040390349782488046, + -0.997215479057501 + ], + [ + 0.7493064779557091, + 0.6615144923416916, + -0.03063296452392977, + 0.6584753055142643, + -0.7393533913596687, + 0.14059457568787234, + 0.0703567631539905, + -0.12551947700205926, + -0.9895932430911312 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0016712546348571777, + -0.0013770386576652527, + -0.01946210116147995, + 0.015148370526731014, + 0.04492485523223877, + -0.002898097038269043, + 1.0 + ], + [ + 0.00534588098526001, + -0.011674731969833374, + -0.045444052666425705, + -0.08740788698196411, + 0.14608970284461975, + -0.04004335403442383, + 1.0 + ], + [ + 0.002425074577331543, + -0.0028602853417396545, + -0.010101318359375, + 0.0534297414124012, + -0.033809855580329895, + 0.14920753240585327, + 1.0 + ], + [ + 0.0010488331317901611, + -0.016572676599025726, + -0.01432625949382782, + -0.024911239743232727, + -0.04816363751888275, + 0.012845844030380249, + 1.0 + ], + [ + -0.0022039711475372314, + -0.0022370517253875732, + -0.003782561980187893, + -0.03180883452296257, + -0.014764446765184402, + 0.030014514923095703, + 1.0 + ], + [ + 0.0037094056606292725, + -0.005067326128482819, + 0.015253870747983456, + -0.05825968086719513, + -0.021615061908960342, + 0.017373204231262207, + 1.0 + ], + [ + -0.0008180737495422363, + -0.002682320773601532, + 0.002148125320672989, + -0.013916507363319397, + 0.013243116438388824, + 0.0107499361038208, + 1.0 + ], + [ + 0.006581515073776245, + -0.0016625449061393738, + 0.010303813964128494, + -0.017251640558242798, + -0.012148365378379822, + 0.014007270336151123, + 1.0 + ], + [ + 0.012184768915176392, + -0.003315463662147522, + 0.01051146537065506, + -0.012547567486763, + -0.010583490133285522, + 0.02922433614730835, + 1.0 + ], + [ + 0.001168966293334961, + -0.008347928524017334, + -0.013551019132137299, + 0.032452329993247986, + 0.01781155914068222, + 0.012588083744049072, + 1.0 + ], + [ + 0.004677861928939819, + -0.007845133543014526, + -0.00019146502017974854, + -0.0006118416786193848, + -0.0021428093314170837, + 0.012571632862091064, + 1.0 + ], + [ + 0.0033968091011047363, + -0.0006993785500526428, + -0.006128840148448944, + 0.008250921964645386, + 0.0032357126474380493, + 0.01733154058456421, + 1.0 + ], + [ + 0.0013142228126525879, + -0.006766036152839661, + -0.004452573135495186, + 0.009590141475200653, + -0.006272025406360626, + -0.0024467110633850098, + 1.0 + ], + [ + 0.001932770013809204, + -0.0053773969411849976, + -0.003314301371574402, + 0.0019891858100891113, + -0.007162831723690033, + 0.0008436441421508789, + 0.0 + ], + [ + -0.001708298921585083, + 0.0016642510890960693, + -0.012832575477659702, + 0.023326553404331207, + 0.010099254548549652, + 0.007303059101104736, + 0.0 + ], + [ + 0.0011296570301055908, + 0.00016100704669952393, + -0.0006122575141489506, + -0.003876514732837677, + -0.005042776465415955, + 0.010254383087158203, + 0.0 + ], + [ + -0.0008901357650756836, + 1.2770295143127441e-05, + -0.00442960811778903, + -0.002789013087749481, + -0.0014130249619483948, + -0.007024526596069336, + 0.0 + ], + [ + -0.0059194862842559814, + -0.0007936209440231323, + -0.0028100612107664347, + -0.01599821448326111, + 0.010418862104415894, + -0.010821938514709473, + 0.0 + ], + [ + -0.008469432592391968, + 0.00472085177898407, + 0.011103572323918343, + -0.04000723361968994, + 0.0030243918299674988, + -0.015319108963012695, + 0.0 + ], + [ + -0.008704185485839844, + 0.014353983104228973, + 0.020918425172567368, + -0.06299898028373718, + -0.03545939177274704, + -0.001187443733215332, + 0.0 + ], + [ + -0.014218837022781372, + 0.010805249214172363, + 0.012870298698544502, + -0.048926979303359985, + -0.02087917923927307, + -0.010589122772216797, + 0.0 + ], + [ + -0.016992419958114624, + 0.012614235281944275, + -0.0035652704536914825, + 0.005057960748672485, + -0.004167661070823669, + -0.020495176315307617, + 0.0 + ], + [ + -0.019347786903381348, + 0.01227867603302002, + -0.008804917335510254, + 0.026042193174362183, + -0.003250397741794586, + -0.019700169563293457, + 0.0 + ], + [ + -0.02029004693031311, + 0.022666264325380325, + -0.005290776491165161, + 0.008850663900375366, + -0.02592812478542328, + -0.007062435150146484, + 0.0 + ], + [ + -0.013461679220199585, + 0.026799961924552917, + 0.0009842440485954285, + -0.013272017240524292, + -0.017528027296066284, + 0.0160103440284729, + 0.0 + ], + [ + -0.013165950775146484, + 0.028087761253118515, + 0.0035270433872938156, + -0.01649373769760132, + 0.0002011507749557495, + -0.006210386753082275, + 0.0 + ], + [ + -0.01253044605255127, + 0.021575096994638443, + 0.004521416500210762, + -0.013594716787338257, + 0.019815340638160706, + -0.008926331996917725, + 0.0 + ], + [ + -0.013468712568283081, + 0.011005174368619919, + 0.0033752545714378357, + 0.004172384738922119, + 0.012911200523376465, + -0.02596414089202881, + 0.0 + ], + [ + -0.012610703706741333, + 0.009192205965518951, + -0.0037374868988990784, + 0.002726614475250244, + 0.03784893453121185, + -0.011418282985687256, + 0.0 + ], + [ + -0.011370986700057983, + 0.009533248841762543, + -0.0019409414380788803, + 0.015985265374183655, + 0.010245457291603088, + -0.0171511173248291, + 0.0 + ], + [ + -0.005446106195449829, + 0.006035305559635162, + -0.0020662210881710052, + 0.019297868013381958, + -0.017310135066509247, + -0.021668612957000732, + 0.0 + ], + [ + -0.004462540149688721, + 0.009346023201942444, + -0.004422515630722046, + 0.022485047578811646, + -0.01875252276659012, + -0.004350453615188599, + 0.0 + ], + [ + -0.0016189515590667725, + 0.0050103068351745605, + 0.0005432236939668655, + 0.010263890027999878, + -0.0011727064847946167, + 0.011185288429260254, + 0.0 + ], + [ + -0.0056126415729522705, + 0.0050109028816223145, + -0.0005381088703870773, + 0.011407077312469482, + 0.02773207426071167, + 0.022295445203781128, + 0.0 + ], + [ + -0.0033938586711883545, + 0.003989472985267639, + -0.00048098713159561157, + 0.02100338041782379, + 0.013056956231594086, + 0.018453121185302734, + 1.0 + ], + [ + -0.004612624645233154, + 0.01051514595746994, + 0.003978116437792778, + 0.09586795419454575, + 0.025482315570116043, + 0.07058805227279663, + 1.0 + ], + [ + -0.003395259380340576, + -0.0009245574474334717, + 0.0012518707662820816, + 0.1098097413778305, + -0.004167977720499039, + 0.02758735418319702, + 1.0 + ], + [ + -0.004551351070404053, + 0.007031701505184174, + 0.0050551388412714005, + 0.08568474650382996, + -0.007684826850891113, + 0.08257460594177246, + 1.0 + ], + [ + 0.005566596984863281, + -0.0042269304394721985, + 0.00479145348072052, + 0.06303656101226807, + -0.037872038781642914, + -0.05334293842315674, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9709111452102661 + ], + [ + 0.680191159248352 + ], + [ + 0.39798861742019653 + ], + [ + 0.17734436690807343 + ], + [ + 0.06772904843091965 + ], + [ + 0.052190229296684265 + ], + [ + 0.051409780979156494 + ], + [ + 0.051409780979156494 + ], + [ + 0.05115113407373428 + ], + [ + 0.05115113407373428 + ], + [ + 0.05115113407373428 + ], + [ + 0.05115113407373428 + ], + [ + 0.05115113407373428 + ], + [ + 0.05115113407373428 + ], + [ + 0.05115113407373428 + ], + [ + 0.05115113407373428 + ], + [ + 0.05115113407373428 + ], + [ + 0.05115113407373428 + ], + [ + 0.05115113407373428 + ], + [ + 0.05115113407373428 + ], + [ + 0.05115113407373428 + ], + [ + 0.06926051527261734 + ], + [ + 0.2129654437303543 + ], + [ + 0.5004528760910034 + ], + [ + 0.7710858583450317 + ], + [ + 0.993436336517334 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.4355693757534027, + -0.05916208028793335, + 0.08104657381772995 + ], + [ + 0.4409152567386627, + -0.07083681225776672, + 0.035602521151304245 + ], + [ + 0.44334033131599426, + -0.07369709759950638, + 0.025501202791929245 + ], + [ + 0.4443891644477844, + -0.0902697741985321, + 0.011174943298101425 + ], + [ + 0.4421851933002472, + -0.09250682592391968, + 0.007392381317913532 + ], + [ + 0.44589459896087646, + -0.0975741520524025, + 0.022646252065896988 + ], + [ + 0.44507652521133423, + -0.10025647282600403, + 0.024794377386569977 + ], + [ + 0.4516580402851105, + -0.1019190177321434, + 0.03509819135069847 + ], + [ + 0.46384280920028687, + -0.10523448139429092, + 0.04560965672135353 + ], + [ + 0.4650117754936218, + -0.11358240991830826, + 0.03205863758921623 + ], + [ + 0.46968963742256165, + -0.12142754346132278, + 0.031867172569036484 + ], + [ + 0.4730864465236664, + -0.12212692201137543, + 0.02573833242058754 + ], + [ + 0.47440066933631897, + -0.1288929581642151, + 0.021285759285092354 + ], + [ + 0.4763334393501282, + -0.13427035510540009, + 0.017971457913517952 + ], + [ + 0.4746251404285431, + -0.13260610401630402, + 0.00513888243585825 + ], + [ + 0.4757547974586487, + -0.1324450969696045, + 0.004526624921709299 + ], + [ + 0.474864661693573, + -0.13243232667446136, + 9.701672388473526e-05 + ], + [ + 0.468945175409317, + -0.1332259476184845, + -0.0027130444068461657 + ], + [ + 0.46047574281692505, + -0.12850509583950043, + 0.00839052814990282 + ], + [ + 0.4517715573310852, + -0.11415111273527145, + 0.029308954253792763 + ], + [ + 0.43755272030830383, + -0.10334586352109909, + 0.042179252952337265 + ], + [ + 0.4205603003501892, + -0.09073162823915482, + 0.03861398249864578 + ], + [ + 0.40121251344680786, + -0.0784529522061348, + 0.02980906516313553 + ], + [ + 0.38092246651649475, + -0.05578668788075447, + 0.024518288671970367 + ], + [ + 0.36746078729629517, + -0.028986725956201553, + 0.025502532720565796 + ], + [ + 0.3542948365211487, + -0.0008989637717604637, + 0.02902957610785961 + ], + [ + 0.3417643904685974, + 0.020676132291555405, + 0.033550992608070374 + ], + [ + 0.32829567790031433, + 0.031681306660175323, + 0.03692624717950821 + ], + [ + 0.315684974193573, + 0.040873512625694275, + 0.03318876028060913 + ], + [ + 0.304313987493515, + 0.05040676146745682, + 0.03124781884253025 + ], + [ + 0.2988678812980652, + 0.05644206702709198, + 0.029181597754359245 + ], + [ + 0.29440534114837646, + 0.06578809022903442, + 0.0247590821236372 + ], + [ + 0.2927863895893097, + 0.07079839706420898, + 0.025302305817604065 + ], + [ + 0.2871737480163574, + 0.0758092999458313, + 0.024764196947216988 + ], + [ + 0.28377988934516907, + 0.07979877293109894, + 0.024283209815621376 + ], + [ + 0.2791672646999359, + 0.09031391888856888, + 0.028261326253414154 + ], + [ + 0.27577200531959534, + 0.0893893614411354, + 0.029513197019696236 + ], + [ + 0.2712206542491913, + 0.09642106294631958, + 0.034568335860967636 + ], + [ + 0.27678725123405457, + 0.09219413250684738, + 0.039359789341688156 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9244302811380647, + 0.3714708277293607, + 0.08624430103526921, + 0.36744762188995717, + -0.928159155877308, + 0.059184681536169875, + 0.10203382028726356, + -0.0230218484745771, + -0.9945145016591763 + ], + [ + 0.9424144664011859, + 0.3338499515519714, + -0.019979573732044523, + 0.33155833405794977, + -0.9404403592685964, + -0.07510660274216999, + -0.043863933185303974, + 0.06415715476468331, + -0.9969753331241528 + ], + [ + 0.8834614193918447, + 0.46848834266279415, + -0.0038201093198370127, + 0.4683957259326972, + -0.8834032633545011, + -0.014286994876448572, + -0.010067987590814183, + 0.010832685894383949, + -0.9998906382911008 + ], + [ + 0.8767796203769943, + 0.47822920734672336, + 0.05054030601509093, + 0.4793818243192606, + -0.8775087118211015, + -0.013096838947215117, + 0.03808626791787232, + 0.03571114557944588, + -0.9986361450886365 + ], + [ + 0.8614194577065626, + 0.5016147721286565, + 0.07961870550849141, + 0.5051385427229519, + -0.8624608975193393, + -0.031563474236347394, + 0.05283531527552734, + 0.06740786773405663, + -0.9963255536355995 + ], + [ + 0.8513399930353345, + 0.5086677607037078, + 0.1283640349913956, + 0.519311023502439, + -0.8518207924045382, + -0.06868332036349084, + 0.07440616323562221, + 0.12513371587218247, + -0.9893458829067687 + ], + [ + 0.8464698178510075, + 0.5175091645039708, + 0.125192300568703, + 0.528908487922609, + -0.8443099240171903, + -0.08600327673702865, + 0.0611936178919154, + 0.1390144483875279, + -0.9883978572765169 + ], + [ + 0.8382916941373563, + 0.5254327003089604, + 0.14555931088857035, + 0.5402703341253347, + -0.8364272055544079, + -0.09218186303467539, + 0.07331440243513199, + 0.15591666766089712, + -0.9850456797230781 + ], + [ + 0.8214612731168497, + 0.5462787900090076, + 0.16364858800349927, + 0.5640638442672317, + -0.8205570774378559, + -0.09229334893217822, + 0.08386510811843367, + 0.16812366357220293, + -0.9821919758312752 + ], + [ + 0.8153873344906337, + 0.5636018522660774, + 0.1322741353194415, + 0.5751293461809429, + -0.8147158702450826, + -0.07392080852019, + 0.06610393266470947, + 0.1363488279855902, + -0.9884529666065125 + ], + [ + 0.8079762055867575, + 0.5734801039081227, + 0.13525909073757098, + 0.5852499415248894, + -0.8076940624639484, + -0.07150389783499132, + 0.0682419017227619, + 0.1369338230022526, + -0.9882267811424909 + ], + [ + 0.7978844615113847, + 0.5888311224295041, + 0.12906701878132348, + 0.5992942903352639, + -0.7979270763877203, + -0.06448824961880938, + 0.06501338054770285, + 0.12880329974715687, + -0.9895367453126761 + ], + [ + 0.7990060136976849, + 0.5874870174649626, + 0.1282512938923332, + 0.5970844669862211, + -0.8003979394847471, + -0.05341608140205546, + 0.071270817020117, + 0.11925662572240435, + -0.9903021396839407 + ], + [ + 0.7980728469245019, + 0.5877437440720529, + 0.13280445137865868, + 0.5974370653684916, + -0.8005098073364622, + -0.047465790649957845, + 0.07841354427460812, + 0.11722346037507259, + -0.9900050385790916 + ], + [ + 0.7942784764131096, + 0.5972751911714184, + 0.11128363724292688, + 0.6036978824669313, + -0.7964887431152201, + -0.03397865205802596, + 0.06834155845320435, + 0.09417020814399311, + -0.9932076335219664 + ], + [ + 0.787764035312809, + 0.6045835099415859, + 0.11792626583756483, + 0.6115917142803498, + -0.7904921275660628, + -0.032829427038904374, + 0.07337165454930572, + 0.09798456900345126, + -0.9924795335652548 + ], + [ + 0.7919575784149465, + 0.5985721724565238, + 0.12047633938583444, + 0.6059793943344502, + -0.7947090503139933, + -0.03502140761138906, + 0.07478079722218825, + 0.10074164833725813, + -0.9920982575617728 + ], + [ + 0.7990494575096532, + 0.5889134522565076, + 0.12124731009326128, + 0.5978078689225024, + -0.7997284775567075, + -0.05531829750785289, + 0.06438723715042766, + 0.11668465167344577, + -0.9910797020199644 + ], + [ + 0.8082672233239078, + 0.5716999768608596, + 0.14093697938281752, + 0.5856090524149383, + -0.805445024691107, + -0.09121595216857552, + 0.06136883109476761, + 0.1562608353287364, + -0.9858074953622676 + ], + [ + 0.8066901645774982, + 0.5544872531904063, + 0.20443792315342835, + 0.5830069562553694, + -0.8032932795207958, + -0.12174890568121888, + 0.09671539345822099, + 0.21740237608196217, + -0.9712787136255682 + ], + [ + 0.8109922253514315, + 0.5308543614530753, + 0.2459375069926928, + 0.5731417325970535, + -0.8052769846394044, + -0.15178119898629172, + 0.11747410257235802, + 0.26405042120079303, + -0.9573281622769191 + ], + [ + 0.8221550470101331, + 0.5145665239460834, + 0.24347971395952273, + 0.5561219566771357, + -0.8173747554540155, + -0.15042233360802132, + 0.12161187432714084, + 0.25907489569723574, + -0.95817052263264 + ], + [ + 0.8326143864889198, + 0.5038197055611173, + 0.23004127390533405, + 0.5396006693328488, + -0.8315266557864518, + -0.1318883557109627, + 0.12483749864212043, + 0.23394256774881506, + -0.9642025067006774 + ], + [ + 0.8333950413209782, + 0.4950247207370255, + 0.245770687757582, + 0.5317866598191552, + -0.8393512082599942, + -0.11266098539811309, + 0.1505179508895572, + 0.22458867970518365, + -0.9627586776593038 + ], + [ + 0.8224468604391283, + 0.5016029626382997, + 0.268282741946442, + 0.5435226259371883, + -0.8320929805798494, + -0.1104736473738674, + 0.16782227756815885, + 0.23667644484025585, + -0.9569848189023757 + ], + [ + 0.8258347256565949, + 0.4919873318505333, + 0.2755820589194619, + 0.5384228900038329, + -0.8332012439944738, + -0.12600189889831692, + 0.1676239762671704, + 0.25243643220552486, + -0.9529837618111489 + ], + [ + 0.8332431381689236, + 0.4851922147278493, + 0.2651308874157978, + 0.5327146391828727, + -0.8328989483847998, + -0.14998151546026006, + 0.14805737365854404, + 0.26621017363537963, + -0.9524763291328321 + ], + [ + 0.8483583596490546, + 0.46739287795659223, + 0.2486603934063881, + 0.5118479913697528, + -0.8441106235364368, + -0.15965240043193105, + 0.13527648481652335, + 0.26271877144273925, + -0.9553424097083218 + ], + [ + 0.8579484412388291, + 0.46690260246563514, + 0.21430453095228927, + 0.5043625861408473, + -0.8448311611740318, + -0.17854604675168187, + 0.09768753184096754, + 0.26127048995275837, + -0.9603097818947101 + ], + [ + 0.8672981027196851, + 0.4578575628363918, + 0.19534700707293556, + 0.4900409965871252, + -0.8542779083654453, + -0.17340437405860457, + 0.08748612851607453, + 0.24612132665065592, + -0.9652825855079897 + ], + [ + 0.8762464279098051, + 0.4393886934285791, + 0.1978124709476954, + 0.47034750221857213, + -0.8691244318948935, + -0.15295734385811288, + 0.10471592396601878, + 0.2270689277961756, + -0.9682325533142533 + ], + [ + 0.8763958224267295, + 0.4365303078278949, + 0.20340022807425706, + 0.4655278350145262, + -0.8760694741857273, + -0.12564279217938276, + 0.12334584411184918, + 0.20480128600091055, + -0.9710006364532975 + ], + [ + 0.871006468406924, + 0.4481797657024677, + 0.2012029562610335, + 0.47523164226087006, + -0.8724617216865694, + -0.11386584380640054, + 0.12450951042926242, + 0.19479589781766032, + -0.9729090091093191 + ], + [ + 0.8628577029002957, + 0.4742350443658848, + 0.17486482562514427, + 0.49606198984263417, + -0.8609016275792277, + -0.1130083619242526, + 0.09694888745618063, + 0.18425392893158016, + -0.9780855805573891 + ], + [ + 0.854570232420578, + 0.49548113604861443, + 0.15558972228464665, + 0.5125064523100065, + -0.8530219277371174, + -0.09844149094900367, + 0.08394554306960031, + 0.16386590438412174, + -0.982904426268965 + ], + [ + 0.817782436397323, + 0.5688277396906954, + 0.08756077477062944, + 0.5725436943989305, + -0.8195441805525672, + -0.02326057020894404, + 0.05852866583207304, + 0.0691544552490701, + -0.9958875722666298 + ], + [ + 0.8014754372512782, + 0.5974541475272241, + 0.02618520737726311, + 0.5947328942561569, + -0.8008852360026162, + 0.06982566321008754, + 0.06268897807882272, + -0.040390349782488046, + -0.997215479057501 + ], + [ + 0.7493064779557091, + 0.6615144923416916, + -0.03063296452392977, + 0.6584753055142643, + -0.7393533913596687, + 0.14059457568787234, + 0.0703567631539905, + -0.12551947700205926, + -0.9895932430911312 + ], + [ + 0.7806953495063007, + 0.6240353763078091, + -0.033085047613776876, + 0.6154952996403945, + -0.7586966563343478, + 0.21341255770844741, + 0.10807547075916782, + -0.18697388262388825, + -0.9764017922129867 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005658.json b/json/chunk-0005/episode_0005658.json new file mode 100644 index 0000000000000000000000000000000000000000..819d2733eabd41aad7b01176016ca07d0e611867 --- /dev/null +++ b/json/chunk-0005/episode_0005658.json @@ -0,0 +1,2002 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 32, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nTaking the item out of the drawer." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005658.mp4", + "start": 0, + "end": 32, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2956114709377289, + -0.03464357554912567, + 0.17050190269947052, + -0.08126261085271835, + -0.2397046983242035, + 0.03223978355526924, + 0.0, + 1.0008161067962646 + ], + [ + 0.2954992949962616, + -0.033948011696338654, + 0.16075700521469116, + -0.0746648982167244, + -0.21074308454990387, + 0.03763135150074959, + 0.0, + 1.0008161067962646 + ], + [ + 0.30128705501556396, + -0.029198961332440376, + 0.15160152316093445, + -0.013071870431303978, + -0.23073945939540863, + 0.03956359252333641, + 0.0, + 1.0008161067962646 + ], + [ + 0.30658629536628723, + -0.024414125829935074, + 0.14142070710659027, + 0.028025908395648003, + -0.23640219867229462, + 0.03960731625556946, + 0.0, + 1.0008161067962646 + ], + [ + 0.31210023164749146, + -0.019760804250836372, + 0.12982642650604248, + 0.06477547436952591, + -0.24332834780216217, + 0.03293364867568016, + 0.0, + 1.0001531839370728 + ], + [ + 0.3175618648529053, + -0.015127671882510185, + 0.11698315292596817, + 0.09845221787691116, + -0.23658017814159393, + 0.011400444433093071, + 0.0, + 1.0008161067962646 + ], + [ + 0.32130196690559387, + -0.0087081678211689, + 0.10806819051504135, + 0.10807576030492783, + -0.2275387942790985, + 0.016581881791353226, + 0.0, + 1.0008161067962646 + ], + [ + 0.3224959373474121, + -0.005515739321708679, + 0.10155756771564484, + 0.10558432340621948, + -0.2218184918165207, + 0.02349657565355301, + 0.0, + 1.0008161067962646 + ], + [ + 0.3251041769981384, + -0.0050775157287716866, + 0.09759112447500229, + 0.10243359208106995, + -0.22438101470470428, + 0.016217762604355812, + 0.0, + 1.0008161067962646 + ], + [ + 0.32708442211151123, + -0.005353959277272224, + 0.09418727457523346, + 0.09735963493585587, + -0.2287168949842453, + 0.020876141265034676, + 0.0, + 1.0008161067962646 + ], + [ + 0.328076034784317, + -0.005608305335044861, + 0.09229046106338501, + 0.09319908171892166, + -0.2342452108860016, + 0.03206876665353775, + 0.0, + 1.0008161067962646 + ], + [ + 0.3295532464981079, + -0.00571487657725811, + 0.08616878092288971, + 0.0935271605849266, + -0.2269662618637085, + 0.03411435708403587, + 0.0, + 1.0008161067962646 + ], + [ + 0.3298911452293396, + -0.004486455116420984, + 0.08240698277950287, + 0.10228009521961212, + -0.21952682733535767, + 0.034205853939056396, + 0.0, + 1.0008161067962646 + ], + [ + 0.3306730389595032, + -0.004065393004566431, + 0.07726746052503586, + 0.10621631145477295, + -0.21703022718429565, + 0.03117678128182888, + 0.0, + 1.0008161067962646 + ], + [ + 0.3301847577095032, + -0.0027911418583244085, + 0.06953397393226624, + 0.11370761692523956, + -0.21200719475746155, + 0.03583015501499176, + 0.0, + 0.9430103898048401 + ], + [ + 0.3291650712490082, + -0.002451969776302576, + 0.06642027199268341, + 0.11065523326396942, + -0.21852654218673706, + 0.04131890833377838, + 0.0, + 0.657115638256073 + ], + [ + 0.32851937413215637, + 0.00354952784255147, + 0.06598401814699173, + 0.09472315013408661, + -0.21310028433799744, + 0.06670740991830826, + 0.0, + 0.4615449905395508 + ], + [ + 0.32657313346862793, + 0.008067789487540722, + 0.08227261155843735, + 0.025427918881177902, + -0.2209359109401703, + 0.10408187657594681, + 0.0, + 0.4015096127986908 + ], + [ + 0.33057862520217896, + 0.01909082569181919, + 0.12166646122932434, + -0.05910671129822731, + -0.2800801694393158, + 0.1662583202123642, + 0.0, + 0.3901194632053375 + ], + [ + 0.3383227586746216, + 0.0432249940931797, + 0.15102297067642212, + -0.18805721402168274, + -0.29388588666915894, + 0.26868587732315063, + 0.0, + 0.3901194632053375 + ], + [ + 0.3524610698223114, + 0.08152054250240326, + 0.1604526937007904, + -0.18055540323257446, + -0.3432351350784302, + 0.37243619561195374, + 0.0, + 0.38924968242645264 + ], + [ + 0.3666198253631592, + 0.1229945495724678, + 0.12865567207336426, + -0.11950728297233582, + -0.32986319065093994, + 0.4508189260959625, + 0.0, + 0.38924968242645264 + ], + [ + 0.37650546431541443, + 0.1524694263935089, + 0.10499823838472366, + -0.06447658687829971, + -0.34118881821632385, + 0.4934234619140625, + 0.0, + 0.3866458535194397 + ], + [ + 0.37784871459007263, + 0.1711641103029251, + 0.08818530291318893, + -0.027804464101791382, + -0.3579218089580536, + 0.5073376297950745, + 0.0, + 0.38577979803085327 + ], + [ + 0.3714616298675537, + 0.1790524423122406, + 0.06035664305090904, + 0.03291783481836319, + -0.34180107712745667, + 0.47349852323532104, + 0.0, + 0.38577979803085327 + ], + [ + 0.3619621694087982, + 0.18183010816574097, + 0.03788779675960541, + 0.09402486681938171, + -0.3409220576286316, + 0.42372825741767883, + 0.0, + 0.45315688848495483 + ], + [ + 0.3563826084136963, + 0.17982393503189087, + 0.029320869594812393, + 0.10133857280015945, + -0.3391011357307434, + 0.4112638533115387, + 0.0, + 0.7672095894813538 + ], + [ + 0.3552853465080261, + 0.17318451404571533, + 0.0342557318508625, + 0.05140810087323189, + -0.32247328758239746, + 0.41435348987579346, + 0.0, + 0.9947922229766846 + ], + [ + 0.35458338260650635, + 0.18019996583461761, + 0.06934155523777008, + 0.008714740164577961, + -0.384998083114624, + 0.4601778984069824, + 0.0, + 1.003452181816101 + ], + [ + 0.35041508078575134, + 0.19028259813785553, + 0.08703494817018509, + -0.026804527267813683, + -0.3401157855987549, + 0.490530401468277, + 0.0, + 0.9994885921478271 + ], + [ + 0.33782798051834106, + 0.20121215283870697, + 0.10601712763309479, + -0.015926402062177658, + -0.366193026304245, + 0.48321622610092163, + 0.0, + 0.9994885921478271 + ], + [ + 0.3098691701889038, + 0.20171712338924408, + 0.10246270149946213, + 0.01643475331366062, + -0.33531653881073, + 0.42605704069137573, + 0.0, + 0.9994885921478271 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9430103898048401 + ], + [ + 0.657115638256073 + ], + [ + 0.4615449905395508 + ], + [ + 0.4015096127986908 + ], + [ + 0.3901194632053375 + ], + [ + 0.3901194632053375 + ], + [ + 0.38924968242645264 + ], + [ + 0.38924968242645264 + ], + [ + 0.3866458535194397 + ], + [ + 0.38577979803085327 + ], + [ + 0.38577979803085327 + ], + [ + 0.45315688848495483 + ], + [ + 0.7672095894813538 + ], + [ + 0.9947922229766846 + ], + [ + 1.003452181816101 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2956114709377289, + -0.03464357554912567, + 0.17050190269947052 + ], + [ + 0.2954992949962616, + -0.033948011696338654, + 0.16075700521469116 + ], + [ + 0.30128705501556396, + -0.029198961332440376, + 0.15160152316093445 + ], + [ + 0.30658629536628723, + -0.024414125829935074, + 0.14142070710659027 + ], + [ + 0.31210023164749146, + -0.019760804250836372, + 0.12982642650604248 + ], + [ + 0.3175618648529053, + -0.015127671882510185, + 0.11698315292596817 + ], + [ + 0.32130196690559387, + -0.0087081678211689, + 0.10806819051504135 + ], + [ + 0.3224959373474121, + -0.005515739321708679, + 0.10155756771564484 + ], + [ + 0.3251041769981384, + -0.0050775157287716866, + 0.09759112447500229 + ], + [ + 0.32708442211151123, + -0.005353959277272224, + 0.09418727457523346 + ], + [ + 0.328076034784317, + -0.005608305335044861, + 0.09229046106338501 + ], + [ + 0.3295532464981079, + -0.00571487657725811, + 0.08616878092288971 + ], + [ + 0.3298911452293396, + -0.004486455116420984, + 0.08240698277950287 + ], + [ + 0.3306730389595032, + -0.004065393004566431, + 0.07726746052503586 + ], + [ + 0.3301847577095032, + -0.0027911418583244085, + 0.06953397393226624 + ], + [ + 0.3291650712490082, + -0.002451969776302576, + 0.06642027199268341 + ], + [ + 0.32851937413215637, + 0.00354952784255147, + 0.06598401814699173 + ], + [ + 0.32657313346862793, + 0.008067789487540722, + 0.08227261155843735 + ], + [ + 0.33057862520217896, + 0.01909082569181919, + 0.12166646122932434 + ], + [ + 0.3383227586746216, + 0.0432249940931797, + 0.15102297067642212 + ], + [ + 0.3524610698223114, + 0.08152054250240326, + 0.1604526937007904 + ], + [ + 0.3666198253631592, + 0.1229945495724678, + 0.12865567207336426 + ], + [ + 0.37650546431541443, + 0.1524694263935089, + 0.10499823838472366 + ], + [ + 0.37784871459007263, + 0.1711641103029251, + 0.08818530291318893 + ], + [ + 0.3714616298675537, + 0.1790524423122406, + 0.06035664305090904 + ], + [ + 0.3619621694087982, + 0.18183010816574097, + 0.03788779675960541 + ], + [ + 0.3563826084136963, + 0.17982393503189087, + 0.029320869594812393 + ], + [ + 0.3552853465080261, + 0.17318451404571533, + 0.0342557318508625 + ], + [ + 0.35458338260650635, + 0.18019996583461761, + 0.06934155523777008 + ], + [ + 0.35041508078575134, + 0.19028259813785553, + 0.08703494817018509 + ], + [ + 0.33782798051834106, + 0.20121215283870697, + 0.10601712763309479 + ], + [ + 0.3098691701889038, + 0.20171712338924408, + 0.10246270149946213 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.970903327636434, + 0.012866041956436605, + 0.23912589435039128, + 0.03131256268516509, + -0.996803279682362, + -0.07350336749139098, + 0.23741577833536442, + 0.07885230864636798, + -0.9682024899877872 + ], + [ + 0.9771834290704653, + 0.02192430864374485, + 0.21126256327277013, + 0.036790101122161877, + -0.9970949435931369, + -0.06669454190877039, + 0.20918660188814311, + 0.07294517222882843, + -0.9751512536212003 + ], + [ + 0.9727357509984392, + 0.036562813794679065, + 0.22901598061471115, + 0.03850501333036462, + -0.999250335604062, + -0.00401630969894061, + 0.22869744790427934, + 0.01272507141767729, + -0.9734143772718196 + ], + [ + 0.9714244389459903, + 0.04613925289589894, + 0.23282123777842118, + 0.03849564695793956, + -0.9985634663050932, + 0.03727048330846497, + 0.2342064144803842, + -0.027242854163342878, + -0.9718051153977721 + ], + [ + 0.970015149824339, + 0.04844590171488616, + 0.23816717598841422, + 0.031957693029834, + -0.9968481449633597, + 0.07261185674061196, + 0.24093425445020386, + -0.06282332759524797, + -0.9685060219443058 + ], + [ + 0.972082019687769, + 0.03438141128449875, + 0.23210873649613997, + 0.011082647191730426, + -0.9948301872909397, + 0.10094589335826264, + 0.23437944007734987, + -0.09555530865818103, + -0.9674375747593579 + ], + [ + 0.9740906122782309, + 0.04081337889765512, + 0.22244493065560692, + 0.01615373595130872, + -0.9936253657110058, + 0.11156921363210072, + 0.22558044216251713, + -0.10508520694477587, + -0.9685404294066081 + ], + [ + 0.9752297183879959, + 0.04654300660380562, + 0.21624232913365624, + 0.022918776748303248, + -0.9936119195626557, + 0.11049924422988724, + 0.22000392279509892, + -0.10280613716745193, + -0.9700665812795921 + ], + [ + 0.9748038114107928, + 0.03888099247443634, + 0.21964926060243012, + 0.015810522962828255, + -0.994258480241545, + 0.10583053354970409, + 0.22250293621126288, + -0.09969123778936637, + -0.9698216848912952 + ], + [ + 0.9737458882979252, + 0.0428102671740304, + 0.22357599613413812, + 0.02033101031422664, + -0.9945873643354749, + 0.10189516536036126, + 0.22672801997654993, + -0.09467447242367232, + -0.9693457325582094 + ], + [ + 0.9721896945858997, + 0.0535140438826182, + 0.22799878255882053, + 0.031187616366843543, + -0.9944555811959767, + 0.10042623966636807, + 0.23210887601797933, + -0.09052261670710487, + -0.9684684432330094 + ], + [ + 0.9737866212978802, + 0.05496150475502182, + 0.22072346766105805, + 0.033232997592625324, + -0.9943334508369851, + 0.10097799967132036, + 0.22502263008921342, + -0.09099572265593768, + -0.9700951470892205 + ], + [ + 0.9754296759535714, + 0.05624195135744123, + 0.21301124424925919, + 0.03337842407441535, + -0.9934316414436011, + 0.1094506947670075, + 0.21776783067160957, + -0.09965147608630476, + -0.9708999717985378 + ], + [ + 0.976066680751161, + 0.05381359098720927, + 0.2107081682148861, + 0.030440480692847327, + -0.9931695233755193, + 0.1126395799585225, + 0.21533047128216617, + -0.10352968300494958, + -0.9710377916818146 + ], + [ + 0.976983064159059, + 0.059450956103267096, + 0.20486501937808677, + 0.035020442333355405, + -0.9920492984414312, + 0.12087910522766436, + 0.21042257712791324, + -0.1109223750208768, + -0.9712973621680313 + ], + [ + 0.9753847354265347, + 0.06497426444161633, + 0.21072010548872408, + 0.04032478327703558, + -0.9920467688919276, + 0.11923556593879904, + 0.21679144298280825, + -0.1078033083507018, + -0.9702473483385947 + ], + [ + 0.9752061257884954, + 0.0863177942343377, + 0.2037700925629459, + 0.06515014020497158, + -0.9919696026033958, + 0.10840556601085286, + 0.21149106708290435, + -0.09244212194329687, + -0.9729984494513622 + ], + [ + 0.970412689659333, + 0.10940206649327418, + 0.21524497577212023, + 0.1013686819853873, + -0.9936879754202803, + 0.04804787006403516, + 0.21914288046999117, + -0.024807163323246048, + -0.9753773641966321 + ], + [ + 0.9477814886795434, + 0.14910008470371108, + 0.28192093653670824, + 0.15904469459303902, + -0.9871911066370338, + -0.012589841085391257, + 0.27643269495158396, + 0.05677044757701531, + -0.9593550340951518 + ], + [ + 0.9227843608455806, + 0.20857270029128053, + 0.3239852652081833, + 0.2540830184111123, + -0.9614986169500948, + -0.10470066550960078, + 0.2896736838822464, + 0.17893529080720383, + -0.9402506679443677 + ], + [ + 0.8771133071619688, + 0.30167986314458195, + 0.3737131340647005, + 0.34266054846560356, + -0.9382931073607089, + -0.04679522630181042, + 0.336535280356527, + 0.16910146318838354, + -0.926363157850582 + ], + [ + 0.8515637116163541, + 0.3978354775119627, + 0.3414178933374866, + 0.4122125982270629, + -0.9104966508269242, + 0.03281192916986294, + 0.32391359792554675, + 0.11279530870467419, + -0.9393387032445456 + ], + [ + 0.8299498580229719, + 0.45367184480884193, + 0.3245998927840097, + 0.44634176783257806, + -0.889097965854195, + 0.10140923726180756, + 0.3346076201399746, + 0.060717907915825126, + -0.9403994237570479 + ], + [ + 0.8186504220553517, + 0.47715148725920153, + 0.3195902762521521, + 0.4550620039724932, + -0.8784352144005708, + 0.14584288341075102, + 0.350328501565507, + 0.02603905350344625, + -0.9362648710079383 + ], + [ + 0.8384953770847652, + 0.46557349037102624, + 0.2831374713301243, + 0.4296240651426185, + -0.8844658431938878, + 0.18205311003565913, + 0.335184524191986, + -0.031008019721754654, + -0.941642096263292 + ], + [ + 0.8590990041556054, + 0.43796101432995543, + 0.2648377823988179, + 0.3874981500262022, + -0.8946289299596241, + 0.22245058194027878, + 0.3343562243851876, + -0.08848292268214458, + -0.9382839056535647 + ], + [ + 0.8644187151323547, + 0.42856272103848775, + 0.26289594722059856, + 0.37700293810111135, + -0.8984609177979253, + 0.22502614037671004, + 0.3326395490498056, + -0.09540426261858824, + -0.9382158371516359 + ], + [ + 0.8681932428140153, + 0.41697301013316157, + 0.2690241661125908, + 0.38184608875449244, + -0.907611280202525, + 0.17445723989571188, + 0.31691332826970336, + -0.048736771226909045, + -0.9472014936091451 + ], + [ + 0.83038748579958, + 0.4470230230693077, + 0.33260643450394917, + 0.4115984604462764, + -0.8944859884739775, + 0.1745895866940137, + 0.3755573601804492, + -0.008076711565279088, + -0.9267639591312256 + ], + [ + 0.8315539055124397, + 0.46303804090607925, + 0.3067798476120425, + 0.44410769640028414, + -0.8859782166011901, + 0.13345768507735808, + 0.3335962473185828, + 0.02526603217828808, + -0.9423774039061655 + ], + [ + 0.82679372181842, + 0.4595211091738688, + 0.324426404266457, + 0.4338233394573736, + -0.8880423632916152, + 0.15224346009433526, + 0.358063474406002, + 0.014869809113112725, + -0.933578832811264 + ], + [ + 0.8598874718014919, + 0.4181521986144758, + 0.292817818161257, + 0.39026622207173217, + -0.9082444095507327, + 0.1509449185289092, + 0.3290680959143509, + -0.015518740726024688, + -0.9441786679106782 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.00011217594146728516, + 0.0006955638527870178, + -0.009744897484779358, + 0.0065977126359939575, + 0.02896161377429962, + 0.005391567945480347, + 1.0 + ], + [ + 0.005787760019302368, + 0.004749050363898277, + -0.009155482053756714, + 0.06159302592277527, + -0.01999637484550476, + 0.0019322410225868225, + 1.0 + ], + [ + 0.005299240350723267, + 0.004784835502505302, + -0.010180816054344177, + 0.04109777882695198, + -0.005662739276885986, + 4.3723732233047485e-05, + 1.0 + ], + [ + 0.005513936281204224, + 0.0046533215790987015, + -0.01159428060054779, + 0.03674956411123276, + -0.006926149129867554, + -0.0066736675798892975, + 1.0 + ], + [ + 0.005461633205413818, + 0.004633132368326187, + -0.01284327358007431, + 0.033676743507385254, + 0.006748169660568237, + -0.02153320424258709, + 1.0 + ], + [ + 0.0037401020526885986, + 0.006419504061341286, + -0.008914962410926819, + 0.009623542428016663, + 0.009041383862495422, + 0.005181437358260155, + 1.0 + ], + [ + 0.0011939704418182373, + 0.0031924284994602203, + -0.006510622799396515, + -0.0024914368987083435, + 0.00572030246257782, + 0.006914693862199783, + 1.0 + ], + [ + 0.0026082396507263184, + 0.00043822359293699265, + -0.003966443240642548, + -0.003150731325149536, + -0.0025625228881835938, + -0.007278813049197197, + 1.0 + ], + [ + 0.0019802451133728027, + -0.00027644354850053787, + -0.0034038498997688293, + -0.005073957145214081, + -0.004335880279541016, + 0.0046583786606788635, + 1.0 + ], + [ + 0.0009916126728057861, + -0.0002543460577726364, + -0.0018968135118484497, + -0.004160553216934204, + -0.005528315901756287, + 0.011192625388503075, + 1.0 + ], + [ + 0.0014772117137908936, + -0.0001065712422132492, + -0.0061216801404953, + 0.00032807886600494385, + 0.007278949022293091, + 0.002045590430498123, + 1.0 + ], + [ + 0.00033789873123168945, + 0.0012284214608371258, + -0.003761798143386841, + 0.008752934634685516, + 0.00743943452835083, + 9.149685502052307e-05, + 1.0 + ], + [ + 0.0007818937301635742, + 0.0004210621118545532, + -0.0051395222544670105, + 0.003936216235160828, + 0.0024966001510620117, + -0.003029072657227516, + 1.0 + ], + [ + -0.00048828125, + 0.0012742511462420225, + -0.007733486592769623, + 0.007491305470466614, + 0.0050230324268341064, + 0.00465337373316288, + 0.0 + ], + [ + -0.0010196864604949951, + 0.00033917208202183247, + -0.0031137019395828247, + -0.0030523836612701416, + -0.006519347429275513, + 0.005488753318786621, + 0.0 + ], + [ + -0.0006456971168518066, + 0.006001497618854046, + -0.0004362538456916809, + -0.015932083129882812, + 0.005426257848739624, + 0.025388501584529877, + 0.0 + ], + [ + -0.0019462406635284424, + 0.004518261644989252, + 0.016288593411445618, + -0.06929522752761841, + -0.007835626602172852, + 0.03737446665763855, + 0.0 + ], + [ + 0.004005491733551025, + 0.011023036204278469, + 0.03939384967088699, + -0.08453463017940521, + -0.05914425849914551, + 0.06217644363641739, + 0.0 + ], + [ + 0.007744133472442627, + 0.024134168401360512, + 0.02935650944709778, + -0.12895050644874573, + -0.01380571722984314, + 0.10242755711078644, + 0.0 + ], + [ + 0.01413831114768982, + 0.038295548409223557, + 0.009429723024368286, + 0.007501810789108276, + -0.04934924840927124, + 0.1037503182888031, + 0.0 + ], + [ + 0.014158755540847778, + 0.041474007070064545, + -0.03179702162742615, + 0.06104812026023865, + 0.013371944427490234, + 0.07838273048400879, + 0.0 + ], + [ + 0.009885638952255249, + 0.029474876821041107, + -0.023657433688640594, + 0.0550306960940361, + -0.011325627565383911, + 0.042604535818099976, + 0.0 + ], + [ + 0.0013432502746582031, + 0.0186946839094162, + -0.01681293547153473, + 0.03667212277650833, + -0.016732990741729736, + 0.013914167881011963, + 0.0 + ], + [ + -0.006387084722518921, + 0.00788833200931549, + -0.027828659862279892, + 0.06072229892015457, + 0.016120731830596924, + -0.03383910655975342, + 0.0 + ], + [ + -0.009499460458755493, + 0.002777665853500366, + -0.022468846291303635, + 0.061107032001018524, + 0.0008790194988250732, + -0.04977026581764221, + 1.0 + ], + [ + -0.005579560995101929, + -0.0020061731338500977, + -0.008566927164793015, + 0.0073137059807777405, + 0.0018209218978881836, + -0.012464404106140137, + 1.0 + ], + [ + -0.001097261905670166, + -0.006639420986175537, + 0.00493486225605011, + -0.049930471926927567, + 0.016627848148345947, + 0.0030896365642547607, + 1.0 + ], + [ + -0.0007019639015197754, + 0.007015451788902283, + 0.03508582338690758, + -0.0426933616399765, + -0.06252479553222656, + 0.045824408531188965, + 1.0 + ], + [ + -0.004168301820755005, + 0.010082632303237915, + 0.01769339293241501, + -0.03551926836371422, + 0.04488229751586914, + 0.030352503061294556, + 1.0 + ], + [ + -0.012587100267410278, + 0.01092955470085144, + 0.0189821794629097, + 0.010878125205636024, + -0.026077240705490112, + -0.007314175367355347, + 1.0 + ], + [ + -0.027958810329437256, + 0.0005049705505371094, + -0.00355442613363266, + 0.03236115723848343, + 0.030876487493515015, + -0.0571591854095459, + 1.0 + ], + [ + -0.03147858381271362, + -0.001149296760559082, + -0.0008191689848899841, + 0.015871429815888405, + 0.016868770122528076, + -0.06807208061218262, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9430103898048401 + ], + [ + 0.657115638256073 + ], + [ + 0.4615449905395508 + ], + [ + 0.4015096127986908 + ], + [ + 0.3901194632053375 + ], + [ + 0.3901194632053375 + ], + [ + 0.38924968242645264 + ], + [ + 0.38924968242645264 + ], + [ + 0.3866458535194397 + ], + [ + 0.38577979803085327 + ], + [ + 0.38577979803085327 + ], + [ + 0.45315688848495483 + ], + [ + 0.7672095894813538 + ], + [ + 0.9947922229766846 + ], + [ + 1.003452181816101 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2954992949962616, + -0.033948011696338654, + 0.16075700521469116 + ], + [ + 0.30128705501556396, + -0.029198961332440376, + 0.15160152316093445 + ], + [ + 0.30658629536628723, + -0.024414125829935074, + 0.14142070710659027 + ], + [ + 0.31210023164749146, + -0.019760804250836372, + 0.12982642650604248 + ], + [ + 0.3175618648529053, + -0.015127671882510185, + 0.11698315292596817 + ], + [ + 0.32130196690559387, + -0.0087081678211689, + 0.10806819051504135 + ], + [ + 0.3224959373474121, + -0.005515739321708679, + 0.10155756771564484 + ], + [ + 0.3251041769981384, + -0.0050775157287716866, + 0.09759112447500229 + ], + [ + 0.32708442211151123, + -0.005353959277272224, + 0.09418727457523346 + ], + [ + 0.328076034784317, + -0.005608305335044861, + 0.09229046106338501 + ], + [ + 0.3295532464981079, + -0.00571487657725811, + 0.08616878092288971 + ], + [ + 0.3298911452293396, + -0.004486455116420984, + 0.08240698277950287 + ], + [ + 0.3306730389595032, + -0.004065393004566431, + 0.07726746052503586 + ], + [ + 0.3301847577095032, + -0.0027911418583244085, + 0.06953397393226624 + ], + [ + 0.3291650712490082, + -0.002451969776302576, + 0.06642027199268341 + ], + [ + 0.32851937413215637, + 0.00354952784255147, + 0.06598401814699173 + ], + [ + 0.32657313346862793, + 0.008067789487540722, + 0.08227261155843735 + ], + [ + 0.33057862520217896, + 0.01909082569181919, + 0.12166646122932434 + ], + [ + 0.3383227586746216, + 0.0432249940931797, + 0.15102297067642212 + ], + [ + 0.3524610698223114, + 0.08152054250240326, + 0.1604526937007904 + ], + [ + 0.3666198253631592, + 0.1229945495724678, + 0.12865567207336426 + ], + [ + 0.37650546431541443, + 0.1524694263935089, + 0.10499823838472366 + ], + [ + 0.37784871459007263, + 0.1711641103029251, + 0.08818530291318893 + ], + [ + 0.3714616298675537, + 0.1790524423122406, + 0.06035664305090904 + ], + [ + 0.3619621694087982, + 0.18183010816574097, + 0.03788779675960541 + ], + [ + 0.3563826084136963, + 0.17982393503189087, + 0.029320869594812393 + ], + [ + 0.3552853465080261, + 0.17318451404571533, + 0.0342557318508625 + ], + [ + 0.35458338260650635, + 0.18019996583461761, + 0.06934155523777008 + ], + [ + 0.35041508078575134, + 0.19028259813785553, + 0.08703494817018509 + ], + [ + 0.33782798051834106, + 0.20121215283870697, + 0.10601712763309479 + ], + [ + 0.3098691701889038, + 0.20171712338924408, + 0.10246270149946213 + ], + [ + 0.2783905863761902, + 0.200567826628685, + 0.10164353251457214 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9771834290704653, + 0.02192430864374485, + 0.21126256327277013, + 0.036790101122161877, + -0.9970949435931369, + -0.06669454190877039, + 0.20918660188814311, + 0.07294517222882843, + -0.9751512536212003 + ], + [ + 0.9727357509984392, + 0.036562813794679065, + 0.22901598061471115, + 0.03850501333036462, + -0.999250335604062, + -0.00401630969894061, + 0.22869744790427934, + 0.01272507141767729, + -0.9734143772718196 + ], + [ + 0.9714244389459903, + 0.04613925289589894, + 0.23282123777842118, + 0.03849564695793956, + -0.9985634663050932, + 0.03727048330846497, + 0.2342064144803842, + -0.027242854163342878, + -0.9718051153977721 + ], + [ + 0.970015149824339, + 0.04844590171488616, + 0.23816717598841422, + 0.031957693029834, + -0.9968481449633597, + 0.07261185674061196, + 0.24093425445020386, + -0.06282332759524797, + -0.9685060219443058 + ], + [ + 0.972082019687769, + 0.03438141128449875, + 0.23210873649613997, + 0.011082647191730426, + -0.9948301872909397, + 0.10094589335826264, + 0.23437944007734987, + -0.09555530865818103, + -0.9674375747593579 + ], + [ + 0.9740906122782309, + 0.04081337889765512, + 0.22244493065560692, + 0.01615373595130872, + -0.9936253657110058, + 0.11156921363210072, + 0.22558044216251713, + -0.10508520694477587, + -0.9685404294066081 + ], + [ + 0.9752297183879959, + 0.04654300660380562, + 0.21624232913365624, + 0.022918776748303248, + -0.9936119195626557, + 0.11049924422988724, + 0.22000392279509892, + -0.10280613716745193, + -0.9700665812795921 + ], + [ + 0.9748038114107928, + 0.03888099247443634, + 0.21964926060243012, + 0.015810522962828255, + -0.994258480241545, + 0.10583053354970409, + 0.22250293621126288, + -0.09969123778936637, + -0.9698216848912952 + ], + [ + 0.9737458882979252, + 0.0428102671740304, + 0.22357599613413812, + 0.02033101031422664, + -0.9945873643354749, + 0.10189516536036126, + 0.22672801997654993, + -0.09467447242367232, + -0.9693457325582094 + ], + [ + 0.9721896945858997, + 0.0535140438826182, + 0.22799878255882053, + 0.031187616366843543, + -0.9944555811959767, + 0.10042623966636807, + 0.23210887601797933, + -0.09052261670710487, + -0.9684684432330094 + ], + [ + 0.9737866212978802, + 0.05496150475502182, + 0.22072346766105805, + 0.033232997592625324, + -0.9943334508369851, + 0.10097799967132036, + 0.22502263008921342, + -0.09099572265593768, + -0.9700951470892205 + ], + [ + 0.9754296759535714, + 0.05624195135744123, + 0.21301124424925919, + 0.03337842407441535, + -0.9934316414436011, + 0.1094506947670075, + 0.21776783067160957, + -0.09965147608630476, + -0.9708999717985378 + ], + [ + 0.976066680751161, + 0.05381359098720927, + 0.2107081682148861, + 0.030440480692847327, + -0.9931695233755193, + 0.1126395799585225, + 0.21533047128216617, + -0.10352968300494958, + -0.9710377916818146 + ], + [ + 0.976983064159059, + 0.059450956103267096, + 0.20486501937808677, + 0.035020442333355405, + -0.9920492984414312, + 0.12087910522766436, + 0.21042257712791324, + -0.1109223750208768, + -0.9712973621680313 + ], + [ + 0.9753847354265347, + 0.06497426444161633, + 0.21072010548872408, + 0.04032478327703558, + -0.9920467688919276, + 0.11923556593879904, + 0.21679144298280825, + -0.1078033083507018, + -0.9702473483385947 + ], + [ + 0.9752061257884954, + 0.0863177942343377, + 0.2037700925629459, + 0.06515014020497158, + -0.9919696026033958, + 0.10840556601085286, + 0.21149106708290435, + -0.09244212194329687, + -0.9729984494513622 + ], + [ + 0.970412689659333, + 0.10940206649327418, + 0.21524497577212023, + 0.1013686819853873, + -0.9936879754202803, + 0.04804787006403516, + 0.21914288046999117, + -0.024807163323246048, + -0.9753773641966321 + ], + [ + 0.9477814886795434, + 0.14910008470371108, + 0.28192093653670824, + 0.15904469459303902, + -0.9871911066370338, + -0.012589841085391257, + 0.27643269495158396, + 0.05677044757701531, + -0.9593550340951518 + ], + [ + 0.9227843608455806, + 0.20857270029128053, + 0.3239852652081833, + 0.2540830184111123, + -0.9614986169500948, + -0.10470066550960078, + 0.2896736838822464, + 0.17893529080720383, + -0.9402506679443677 + ], + [ + 0.8771133071619688, + 0.30167986314458195, + 0.3737131340647005, + 0.34266054846560356, + -0.9382931073607089, + -0.04679522630181042, + 0.336535280356527, + 0.16910146318838354, + -0.926363157850582 + ], + [ + 0.8515637116163541, + 0.3978354775119627, + 0.3414178933374866, + 0.4122125982270629, + -0.9104966508269242, + 0.03281192916986294, + 0.32391359792554675, + 0.11279530870467419, + -0.9393387032445456 + ], + [ + 0.8299498580229719, + 0.45367184480884193, + 0.3245998927840097, + 0.44634176783257806, + -0.889097965854195, + 0.10140923726180756, + 0.3346076201399746, + 0.060717907915825126, + -0.9403994237570479 + ], + [ + 0.8186504220553517, + 0.47715148725920153, + 0.3195902762521521, + 0.4550620039724932, + -0.8784352144005708, + 0.14584288341075102, + 0.350328501565507, + 0.02603905350344625, + -0.9362648710079383 + ], + [ + 0.8384953770847652, + 0.46557349037102624, + 0.2831374713301243, + 0.4296240651426185, + -0.8844658431938878, + 0.18205311003565913, + 0.335184524191986, + -0.031008019721754654, + -0.941642096263292 + ], + [ + 0.8590990041556054, + 0.43796101432995543, + 0.2648377823988179, + 0.3874981500262022, + -0.8946289299596241, + 0.22245058194027878, + 0.3343562243851876, + -0.08848292268214458, + -0.9382839056535647 + ], + [ + 0.8644187151323547, + 0.42856272103848775, + 0.26289594722059856, + 0.37700293810111135, + -0.8984609177979253, + 0.22502614037671004, + 0.3326395490498056, + -0.09540426261858824, + -0.9382158371516359 + ], + [ + 0.8681932428140153, + 0.41697301013316157, + 0.2690241661125908, + 0.38184608875449244, + -0.907611280202525, + 0.17445723989571188, + 0.31691332826970336, + -0.048736771226909045, + -0.9472014936091451 + ], + [ + 0.83038748579958, + 0.4470230230693077, + 0.33260643450394917, + 0.4115984604462764, + -0.8944859884739775, + 0.1745895866940137, + 0.3755573601804492, + -0.008076711565279088, + -0.9267639591312256 + ], + [ + 0.8315539055124397, + 0.46303804090607925, + 0.3067798476120425, + 0.44410769640028414, + -0.8859782166011901, + 0.13345768507735808, + 0.3335962473185828, + 0.02526603217828808, + -0.9423774039061655 + ], + [ + 0.82679372181842, + 0.4595211091738688, + 0.324426404266457, + 0.4338233394573736, + -0.8880423632916152, + 0.15224346009433526, + 0.358063474406002, + 0.014869809113112725, + -0.933578832811264 + ], + [ + 0.8598874718014919, + 0.4181521986144758, + 0.292817818161257, + 0.39026622207173217, + -0.9082444095507327, + 0.1509449185289092, + 0.3290680959143509, + -0.015518740726024688, + -0.9441786679106782 + ], + [ + 0.8895146744257986, + 0.35967676963964645, + 0.28177342912835807, + 0.33277105389743433, + -0.9325725543841206, + 0.13989945138372378, + 0.3130927493078624, + -0.030676573978603162, + -0.9492269897868364 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005659.json b/json/chunk-0005/episode_0005659.json new file mode 100644 index 0000000000000000000000000000000000000000..bd19d0d0ff4bec8148687aa63512ad8dc22caeeb --- /dev/null +++ b/json/chunk-0005/episode_0005659.json @@ -0,0 +1,2782 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 45, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the cloth to the bottom of the table." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005659.mp4", + "start": 0, + "end": 45, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2877233624458313, + 0.09484530985355377, + 0.03573819622397423, + 0.04194814711809158, + -0.013669825159013271, + 0.16669291257858276, + 0.0, + 1.0001531839370728 + ], + [ + 0.28233250975608826, + 0.0931519865989685, + 0.026428477838635445, + 0.038016051054000854, + 0.014913287945091724, + 0.17404980957508087, + 0.0, + 1.0001531839370728 + ], + [ + 0.2597576975822449, + 0.08995946496725082, + 0.02369285561144352, + 0.04283026605844498, + 0.038418687880039215, + 0.21654881536960602, + 0.0, + 1.0001531839370728 + ], + [ + 0.24093502759933472, + 0.09609826654195786, + 0.029822327196598053, + 0.053878702223300934, + 0.02827439270913601, + 0.25322678685188293, + 0.0, + 1.0001531839370728 + ], + [ + 0.21968431770801544, + 0.10015362501144409, + 0.032312095165252686, + 0.055350884795188904, + 0.028977490961551666, + 0.28591954708099365, + 0.0, + 1.0001531839370728 + ], + [ + 0.2082265019416809, + 0.09732677042484283, + 0.022339394316077232, + 0.036859579384326935, + 0.03657412528991699, + 0.31638601422309875, + 0.0, + 1.0001531839370728 + ], + [ + 0.1911478191614151, + 0.08749852329492569, + 0.0021916741970926523, + 0.008486499078571796, + 0.040662750601768494, + 0.3356342017650604, + 0.0, + 0.9988223910331726 + ], + [ + 0.18180063366889954, + 0.07766801118850708, + -0.0011590562062337995, + -0.0028482582420110703, + -0.024628054350614548, + 0.3824329674243927, + 0.0, + 0.9981546401977539 + ], + [ + 0.18432721495628357, + 0.06941459327936172, + -0.004486188292503357, + -0.016474474221467972, + -0.05827094987034798, + 0.3868970274925232, + 0.0, + 0.9988223910331726 + ], + [ + 0.190391406416893, + 0.05153338983654976, + -0.005970381665974855, + -0.0444607175886631, + -0.08852823078632355, + 0.44725510478019714, + 0.0, + 1.0001531839370728 + ], + [ + 0.19712293148040771, + 0.023024631664156914, + -0.006660603452473879, + -0.06946974247694016, + -0.09701388329267502, + 0.42267075181007385, + 0.0, + 1.0027955770492554 + ], + [ + 0.19588159024715424, + -0.001611276064068079, + -0.006662452593445778, + -0.08520407974720001, + -0.06583905965089798, + 0.42593446373939514, + 0.0, + 1.0027955770492554 + ], + [ + 0.18964533507823944, + -0.02854924462735653, + -0.00507705332711339, + -0.0850307047367096, + -0.026617443189024925, + 0.4532468616962433, + 0.0, + 1.002137303352356 + ], + [ + 0.18237625062465668, + -0.044804949313402176, + -0.0021053338423371315, + -0.07896021008491516, + 0.0017630222719162703, + 0.5040684938430786, + 0.0, + 1.002137303352356 + ], + [ + 0.18041743338108063, + -0.04595188796520233, + -0.0014173449017107487, + -0.06687067449092865, + 0.0037132008001208305, + 0.5018898248672485, + 0.0, + 1.002137303352356 + ], + [ + 0.17984828352928162, + -0.04264849051833153, + -0.0013378745643422008, + -0.052291203290224075, + 0.0026184427551925182, + 0.4760705530643463, + 0.0, + 1.002137303352356 + ], + [ + 0.18393442034721375, + -0.025878705084323883, + 0.002039991319179535, + 0.030479438602924347, + 0.029874177649617195, + 0.3966515064239502, + 0.0, + 1.0014774799346924 + ], + [ + 0.2065151482820511, + 0.0021895989775657654, + 0.026532655581831932, + 0.1359548568725586, + 0.02445766143500805, + 0.3198428750038147, + 0.0, + 1.0001531839370728 + ], + [ + 0.21791748702526093, + 0.01687188632786274, + 0.0409124419093132, + 0.17189860343933105, + 0.026841018348932266, + 0.27508002519607544, + 0.0, + 1.0001531839370728 + ], + [ + 0.2225428968667984, + 0.019070584326982498, + 0.048273298889398575, + 0.1706387996673584, + 0.026383664458990097, + 0.24265584349632263, + 0.0, + 1.0001531839370728 + ], + [ + 0.22214721143245697, + 0.019409222528338432, + 0.048183124512434006, + 0.15314634144306183, + 0.03813432529568672, + 0.2227635383605957, + 0.0, + 1.0001531839370728 + ], + [ + 0.22550417482852936, + 0.02128767780959606, + 0.05056306719779968, + 0.14066968858242035, + 0.03395279496908188, + 0.21690692007541656, + 0.0, + 1.0001531839370728 + ], + [ + 0.22980543971061707, + 0.019605841487646103, + 0.04448945075273514, + 0.12730078399181366, + 0.06535929441452026, + 0.22329869866371155, + 0.0, + 1.0001531839370728 + ], + [ + 0.22948811948299408, + 0.02012564428150654, + 0.04449305310845375, + 0.1265919953584671, + 0.06706967949867249, + 0.2274514138698578, + 0.0, + 1.0001531839370728 + ], + [ + 0.22948811948299408, + 0.02012564428150654, + 0.04449305310845375, + 0.1265919953584671, + 0.06706967949867249, + 0.2274514138698578, + 0.0, + 1.0001531839370728 + ], + [ + 0.22948811948299408, + 0.02012564428150654, + 0.04449305310845375, + 0.1265919953584671, + 0.06706967949867249, + 0.2274514138698578, + 0.0, + 1.0001531839370728 + ], + [ + 0.22948811948299408, + 0.02012564428150654, + 0.04449305310845375, + 0.1265919953584671, + 0.06706967949867249, + 0.2274514138698578, + 0.0, + 1.0001531839370728 + ], + [ + 0.22948811948299408, + 0.02012564428150654, + 0.04449305310845375, + 0.1265919953584671, + 0.06706967949867249, + 0.2274514138698578, + 0.0, + 1.0001531839370728 + ], + [ + 0.22948811948299408, + 0.02012564428150654, + 0.04449305310845375, + 0.1265919953584671, + 0.06706967949867249, + 0.2274514138698578, + 0.0, + 1.0001531839370728 + ], + [ + 0.22948811948299408, + 0.02012564428150654, + 0.04449305310845375, + 0.1265919953584671, + 0.06706967949867249, + 0.2274514138698578, + 0.0, + 1.0001531839370728 + ], + [ + 0.22948811948299408, + 0.02012564428150654, + 0.04449305310845375, + 0.1265919953584671, + 0.06706967949867249, + 0.2274514138698578, + 0.0, + 1.0001531839370728 + ], + [ + 0.22951872646808624, + 0.019773591309785843, + 0.04449305310845375, + 0.1265919953584671, + 0.06706967949867249, + 0.22591742873191833, + 0.0, + 1.0001531839370728 + ], + [ + 0.2295026332139969, + 0.020325904712080956, + 0.04451366886496544, + 0.1277516931295395, + 0.06681732088327408, + 0.2265540212392807, + 0.0, + 1.0001531839370728 + ], + [ + 0.22948811948299408, + 0.02012564428150654, + 0.04449305310845375, + 0.1265919953584671, + 0.06706967949867249, + 0.2274514138698578, + 0.0, + 1.0001531839370728 + ], + [ + 0.2295026332139969, + 0.020325904712080956, + 0.04451366886496544, + 0.1277516931295395, + 0.06681732088327408, + 0.2265540212392807, + 0.0, + 1.0001531839370728 + ], + [ + 0.22948811948299408, + 0.02012564428150654, + 0.04449305310845375, + 0.1265919953584671, + 0.06706967949867249, + 0.2274514138698578, + 0.0, + 1.0001531839370728 + ], + [ + 0.22948811948299408, + 0.02012564428150654, + 0.04449305310845375, + 0.1265919953584671, + 0.06706967949867249, + 0.2274514138698578, + 0.0, + 1.0001531839370728 + ], + [ + 0.22972971200942993, + 0.020110730081796646, + 0.04446885362267494, + 0.12614116072654724, + 0.06561143696308136, + 0.22726574540138245, + 0.0, + 1.0001531839370728 + ], + [ + 0.22948811948299408, + 0.02012564428150654, + 0.04449305310845375, + 0.1265919953584671, + 0.06706967949867249, + 0.2274514138698578, + 0.0, + 1.0001531839370728 + ], + [ + 0.22948811948299408, + 0.02012564428150654, + 0.04449305310845375, + 0.1265919953584671, + 0.06706967949867249, + 0.2274514138698578, + 0.0, + 1.0001531839370728 + ], + [ + 0.22948811948299408, + 0.02012564428150654, + 0.04449305310845375, + 0.1265919953584671, + 0.06706967949867249, + 0.2274514138698578, + 0.0, + 1.0001531839370728 + ], + [ + 0.22948811948299408, + 0.02012564428150654, + 0.04449305310845375, + 0.1265919953584671, + 0.06706967949867249, + 0.2274514138698578, + 0.0, + 1.0001531839370728 + ], + [ + 0.22948811948299408, + 0.02012564428150654, + 0.04449305310845375, + 0.1265919953584671, + 0.06706967949867249, + 0.2274514138698578, + 0.0, + 1.0001531839370728 + ], + [ + 0.22942529618740082, + 0.020829610526561737, + 0.04449305310845375, + 0.1265919953584671, + 0.06706967949867249, + 0.2305193692445755, + 0.0, + 1.0001531839370728 + ], + [ + 0.22942529618740082, + 0.020829610526561737, + 0.04449305310845375, + 0.1265919953584671, + 0.06706967949867249, + 0.2305193692445755, + 0.0, + 1.0001531839370728 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9988223910331726 + ], + [ + 0.9981546401977539 + ], + [ + 0.9988223910331726 + ], + [ + 1.0001531839370728 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.0014774799346924 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2877233624458313, + 0.09484530985355377, + 0.03573819622397423 + ], + [ + 0.28233250975608826, + 0.0931519865989685, + 0.026428477838635445 + ], + [ + 0.2597576975822449, + 0.08995946496725082, + 0.02369285561144352 + ], + [ + 0.24093502759933472, + 0.09609826654195786, + 0.029822327196598053 + ], + [ + 0.21968431770801544, + 0.10015362501144409, + 0.032312095165252686 + ], + [ + 0.2082265019416809, + 0.09732677042484283, + 0.022339394316077232 + ], + [ + 0.1911478191614151, + 0.08749852329492569, + 0.0021916741970926523 + ], + [ + 0.18180063366889954, + 0.07766801118850708, + -0.0011590562062337995 + ], + [ + 0.18432721495628357, + 0.06941459327936172, + -0.004486188292503357 + ], + [ + 0.190391406416893, + 0.05153338983654976, + -0.005970381665974855 + ], + [ + 0.19712293148040771, + 0.023024631664156914, + -0.006660603452473879 + ], + [ + 0.19588159024715424, + -0.001611276064068079, + -0.006662452593445778 + ], + [ + 0.18964533507823944, + -0.02854924462735653, + -0.00507705332711339 + ], + [ + 0.18237625062465668, + -0.044804949313402176, + -0.0021053338423371315 + ], + [ + 0.18041743338108063, + -0.04595188796520233, + -0.0014173449017107487 + ], + [ + 0.17984828352928162, + -0.04264849051833153, + -0.0013378745643422008 + ], + [ + 0.18393442034721375, + -0.025878705084323883, + 0.002039991319179535 + ], + [ + 0.2065151482820511, + 0.0021895989775657654, + 0.026532655581831932 + ], + [ + 0.21791748702526093, + 0.01687188632786274, + 0.0409124419093132 + ], + [ + 0.2225428968667984, + 0.019070584326982498, + 0.048273298889398575 + ], + [ + 0.22214721143245697, + 0.019409222528338432, + 0.048183124512434006 + ], + [ + 0.22550417482852936, + 0.02128767780959606, + 0.05056306719779968 + ], + [ + 0.22980543971061707, + 0.019605841487646103, + 0.04448945075273514 + ], + [ + 0.22948811948299408, + 0.02012564428150654, + 0.04449305310845375 + ], + [ + 0.22948811948299408, + 0.02012564428150654, + 0.04449305310845375 + ], + [ + 0.22948811948299408, + 0.02012564428150654, + 0.04449305310845375 + ], + [ + 0.22948811948299408, + 0.02012564428150654, + 0.04449305310845375 + ], + [ + 0.22948811948299408, + 0.02012564428150654, + 0.04449305310845375 + ], + [ + 0.22948811948299408, + 0.02012564428150654, + 0.04449305310845375 + ], + [ + 0.22948811948299408, + 0.02012564428150654, + 0.04449305310845375 + ], + [ + 0.22948811948299408, + 0.02012564428150654, + 0.04449305310845375 + ], + [ + 0.22951872646808624, + 0.019773591309785843, + 0.04449305310845375 + ], + [ + 0.2295026332139969, + 0.020325904712080956, + 0.04451366886496544 + ], + [ + 0.22948811948299408, + 0.02012564428150654, + 0.04449305310845375 + ], + [ + 0.2295026332139969, + 0.020325904712080956, + 0.04451366886496544 + ], + [ + 0.22948811948299408, + 0.02012564428150654, + 0.04449305310845375 + ], + [ + 0.22948811948299408, + 0.02012564428150654, + 0.04449305310845375 + ], + [ + 0.22972971200942993, + 0.020110730081796646, + 0.04446885362267494 + ], + [ + 0.22948811948299408, + 0.02012564428150654, + 0.04449305310845375 + ], + [ + 0.22948811948299408, + 0.02012564428150654, + 0.04449305310845375 + ], + [ + 0.22948811948299408, + 0.02012564428150654, + 0.04449305310845375 + ], + [ + 0.22948811948299408, + 0.02012564428150654, + 0.04449305310845375 + ], + [ + 0.22948811948299408, + 0.02012564428150654, + 0.04449305310845375 + ], + [ + 0.22942529618740082, + 0.020829610526561737, + 0.04449305310845375 + ], + [ + 0.22942529618740082, + 0.020829610526561737, + 0.04449305310845375 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9860467415760615, + 0.16634134628587469, + 0.006509987944272716, + 0.16590651267043025, + -0.9851762633904082, + 0.0436206270662128, + 0.013669399429683099, + -0.04193192778678286, + -0.9990269570693856 + ], + [ + 0.9847820092888581, + 0.17248903689646716, + -0.02125855901816035, + 0.17315312446312814, + -0.9842780752136491, + 0.03485206080521782, + -0.0149127351500615, + -0.038002668383198136, + -0.9991663562821261 + ], + [ + 0.9759241137190954, + 0.21305711913674397, + -0.046677491864387105, + 0.21470178091465775, + -0.9761024835334449, + 0.03357211509446036, + -0.0384092376085875, + -0.04278557730115005, + -0.9983456940565902 + ], + [ + 0.9677221116305464, + 0.2486916998180422, + -0.04082098850993741, + 0.25042900469193585, + -0.9670856475098513, + 0.045062889271077926, + -0.02827062557358844, + -0.05383111388466561, + -0.9981497797964058 + ], + [ + 0.9589999348157375, + 0.28007003744254666, + -0.043357803799797937, + 0.2819213809626604, + -0.9583854915643841, + 0.04491753015249703, + -0.028973435756184898, + -0.05529940041107569, + -0.9980493556606597 + ], + [ + 0.949730490127268, + 0.3096420373168965, + -0.0461931255584737, + 0.31092591694197375, + -0.9501397850171049, + 0.023652972359564598, + -0.036565971837380515, + -0.03682658895270017, + -0.998652458090249 + ], + [ + 0.9434211218205196, + 0.3290304542698795, + -0.041177021090274005, + 0.3290957895882746, + -0.9442812400127865, + -0.0053759683020106076, + -0.04065154582770762, + -0.00847938222224236, + -0.9991374039134691 + ], + [ + 0.9274781026330089, + 0.3731121935411891, + 0.023909415868148317, + 0.3730656117842359, + -0.9277818619683232, + 0.006547206018214142, + 0.024625564771747575, + 0.0028473906429338034, + -0.9996926897433026 + ], + [ + 0.9245125029674149, + 0.3763769375371407, + 0.06014177206475258, + 0.3766762133011074, + -0.9263206451248681, + 0.006715113445557677, + 0.058237978931827854, + 0.01644576862330666, + -0.99816725778014 + ], + [ + 0.8981067716649535, + 0.4285218000571145, + 0.09885996947888245, + 0.43079859773541007, + -0.9024461509460864, + -0.0018742549980882463, + 0.08841263981331823, + 0.044272017329277935, + -0.9950995897913115 + ], + [ + 0.9077083065854709, + 0.4030763550739899, + 0.116597950822491, + 0.4082688161430314, + -0.9125548594928025, + -0.02366859060526308, + 0.09686177739905902, + 0.06908748364456992, + -0.9928971324778599 + ], + [ + 0.9086800082027754, + 0.4065744044993734, + 0.0948572416770838, + 0.4122767526095426, + -0.9096628041621584, + -0.05041291482913099, + 0.06579150363333204, + 0.08491664342058722, + -0.9942135795289897 + ], + [ + 0.8987116282619846, + 0.4342727239878299, + 0.06102958648788892, + 0.43773175375738416, + -0.8967717089719551, + -0.06474112865871193, + 0.026614300275930498, + 0.0848981930768212, + -0.9960341238296575 + ], + [ + 0.8756234034455034, + 0.4816088913854132, + 0.03655859785367868, + 0.48299124950065386, + -0.8728293800949501, + -0.06991656562548451, + -0.0017630213585981477, + 0.0788780640075478, + -0.9968827126468343 + ], + [ + 0.8766689212804514, + 0.4802254523442589, + 0.028898397563219148, + 0.481079842296636, + -0.8745962215402656, + -0.06036252648236844, + -0.0037131922672778046, + 0.06682038751939957, + -0.99775811097427 + ], + [ + 0.8887995601173018, + 0.45778543584378334, + 0.02162953223276608, + 0.4582886488977204, + -0.8875250052079429, + -0.04765374510091639, + -0.0026184397630804775, + 0.05226719678688057, + -0.998629703099827 + ], + [ + 0.921948235738457, + 0.38531296342477733, + -0.03931120496197914, + 0.38615961673345206, + -0.9222830586519014, + 0.01657438167675364, + -0.029869734230822648, + -0.030461121786786866, + -0.9990895450541311 + ], + [ + 0.9490009265140348, + 0.3083696048279815, + -0.0656157625402429, + 0.31432337414692824, + -0.9415673382651242, + 0.1210444710724899, + -0.024455223172017197, + -0.135495883076067, + -0.9904760510628428 + ], + [ + 0.9620568076587452, + 0.2632026021571803, + -0.07191028476618497, + 0.27152611580883135, + -0.9494662926537368, + 0.15743991726413692, + -0.026837795573292127, + -0.17099166451046166, + -0.984906890724554 + ], + [ + 0.970365416377089, + 0.23244327764989592, + -0.06603848404295778, + 0.24019788186285734, + -0.9576816315584541, + 0.15859025860415885, + -0.02638060363061146, + -0.1697528063123274, + -0.9851335181086743 + ], + [ + 0.9745815766903906, + 0.21266778929711783, + -0.07044971093730061, + 0.22076509778134934, + -0.9651607235394156, + 0.14045479464391145, + -0.038125083308286414, + -0.1524374925415292, + -0.9875774850058033 + ], + [ + 0.9760049458183846, + 0.20843632659690825, + -0.06299717051454522, + 0.21508602083920242, + -0.9679458488786442, + 0.12968745998807474, + -0.03394627192505635, + -0.1401254130890871, + -0.9895516758760011 + ], + [ + 0.9730901200128932, + 0.21156965096291225, + -0.09129020278608391, + 0.2209747957757766, + -0.9691175881362105, + 0.109458850701566, + -0.06531277030678337, + -0.12668616008264436, + -0.9897903105599527 + ], + [ + 0.9720538320238321, + 0.21544733701609958, + -0.09324050954630475, + 0.22498832574634642, + -0.9683563039990315, + 0.10801074846139605, + -0.06701940708212253, + -0.1259702880762216, + -0.9897675917084547 + ], + [ + 0.9720538320238321, + 0.21544733701609958, + -0.09324050954630475, + 0.22498832574634642, + -0.9683563039990315, + 0.10801074846139605, + -0.06701940708212253, + -0.1259702880762216, + -0.9897675917084547 + ], + [ + 0.9720538320238321, + 0.21544733701609958, + -0.09324050954630475, + 0.22498832574634642, + -0.9683563039990315, + 0.10801074846139605, + -0.06701940708212253, + -0.1259702880762216, + -0.9897675917084547 + ], + [ + 0.9720538320238321, + 0.21544733701609958, + -0.09324050954630475, + 0.22498832574634642, + -0.9683563039990315, + 0.10801074846139605, + -0.06701940708212253, + -0.1259702880762216, + -0.9897675917084547 + ], + [ + 0.9720538320238321, + 0.21544733701609958, + -0.09324050954630475, + 0.22498832574634642, + -0.9683563039990315, + 0.10801074846139605, + -0.06701940708212253, + -0.1259702880762216, + -0.9897675917084547 + ], + [ + 0.9720538320238321, + 0.21544733701609958, + -0.09324050954630475, + 0.22498832574634642, + -0.9683563039990315, + 0.10801074846139605, + -0.06701940708212253, + -0.1259702880762216, + -0.9897675917084547 + ], + [ + 0.9720538320238321, + 0.21544733701609958, + -0.09324050954630475, + 0.22498832574634642, + -0.9683563039990315, + 0.10801074846139605, + -0.06701940708212253, + -0.1259702880762216, + -0.9897675917084547 + ], + [ + 0.9720538320238321, + 0.21544733701609958, + -0.09324050954630475, + 0.22498832574634642, + -0.9683563039990315, + 0.10801074846139605, + -0.06701940708212253, + -0.1259702880762216, + -0.9897675917084547 + ], + [ + 0.9723978169616146, + 0.2139616399344687, + -0.09307471302582215, + 0.2234969454884051, + -0.9686856575579855, + 0.1081536508806169, + -0.06701940708212253, + -0.1259702880762216, + -0.9897675917084549 + ], + [ + 0.9722717932346296, + 0.21450135178882854, + -0.09314896757926337, + 0.22411971318565213, + -0.9684160410779626, + 0.10927362693928713, + -0.0667676137202645, + -0.12712018511491677, + -0.9896375822968986 + ], + [ + 0.9720538320238321, + 0.21544733701609958, + -0.09324050954630475, + 0.22498832574634642, + -0.9683563039990315, + 0.10801074846139605, + -0.06701940708212253, + -0.1259702880762216, + -0.9897675917084547 + ], + [ + 0.9722717932346296, + 0.21450135178882854, + -0.09314896757926337, + 0.22411971318565213, + -0.9684160410779626, + 0.10927362693928713, + -0.0667676137202645, + -0.12712018511491677, + -0.9896375822968986 + ], + [ + 0.9720538320238321, + 0.21544733701609958, + -0.09324050954630475, + 0.22498832574634642, + -0.9683563039990315, + 0.10801074846139605, + -0.06701940708212253, + -0.1259702880762216, + -0.9897675917084547 + ], + [ + 0.9720538320238321, + 0.21544733701609958, + -0.09324050954630475, + 0.22498832574634642, + -0.9683563039990315, + 0.10801074846139605, + -0.06701940708212253, + -0.1259702880762216, + -0.9897675917084547 + ], + [ + 0.972189772423351, + 0.2154878916001214, + -0.09171703750758292, + 0.22482962319414954, + -0.9684036488846836, + 0.10791669639683828, + -0.06556437241223159, + -0.12553621549403562, + -0.9899201844945001 + ], + [ + 0.9720538320238321, + 0.21544733701609958, + -0.09324050954630475, + 0.22498832574634642, + -0.9683563039990315, + 0.10801074846139605, + -0.06701940708212253, + -0.1259702880762216, + -0.9897675917084547 + ], + [ + 0.9720538320238321, + 0.21544733701609958, + -0.09324050954630475, + 0.22498832574634642, + -0.9683563039990315, + 0.10801074846139605, + -0.06701940708212253, + -0.1259702880762216, + -0.9897675917084547 + ], + [ + 0.9720538320238321, + 0.21544733701609958, + -0.09324050954630475, + 0.22498832574634642, + -0.9683563039990315, + 0.10801074846139605, + -0.06701940708212253, + -0.1259702880762216, + -0.9897675917084547 + ], + [ + 0.9720538320238321, + 0.21544733701609958, + -0.09324050954630475, + 0.22498832574634642, + -0.9683563039990315, + 0.10801074846139605, + -0.06701940708212253, + -0.1259702880762216, + -0.9897675917084547 + ], + [ + 0.9720538320238321, + 0.21544733701609958, + -0.09324050954630475, + 0.22498832574634642, + -0.9683563039990315, + 0.10801074846139605, + -0.06701940708212253, + -0.1259702880762216, + -0.9897675917084547 + ], + [ + 0.9713590043114857, + 0.21841719235101756, + -0.09357144237692333, + 0.22796948001291759, + -0.9676907649696221, + 0.10772418287064252, + -0.06701940708212253, + -0.1259702880762216, + -0.9897675917084549 + ], + [ + 0.9713590043114857, + 0.21841719235101756, + -0.09357144237692333, + 0.22796948001291759, + -0.9676907649696221, + 0.10772418287064252, + -0.06701940708212253, + -0.1259702880762216, + -0.9897675917084549 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.005390852689743042, + -0.0016933232545852661, + -0.009309718385338783, + -0.003932096064090729, + 0.028583113104104996, + 0.007356896996498108, + 1.0 + ], + [ + -0.022574812173843384, + -0.003192521631717682, + -0.002735622227191925, + 0.004814215004444122, + 0.023505400866270065, + 0.042499005794525146, + 1.0 + ], + [ + -0.018822669982910156, + 0.006138801574707031, + 0.006129471585154533, + 0.011048436164855957, + -0.010144295170903206, + 0.036677971482276917, + 1.0 + ], + [ + -0.021250709891319275, + 0.004055358469486237, + 0.0024897679686546326, + 0.00147218257188797, + 0.000703098252415657, + 0.03269276022911072, + 1.0 + ], + [ + -0.011457815766334534, + -0.0028268545866012573, + -0.009972700849175453, + -0.01849130541086197, + 0.007596634328365326, + 0.030466467142105103, + 1.0 + ], + [ + -0.017078682780265808, + -0.009828247129917145, + -0.020147720351815224, + -0.028373081237077713, + 0.0040886253118515015, + 0.01924818754196167, + 1.0 + ], + [ + -0.009347185492515564, + -0.00983051210641861, + -0.0033507305197417736, + -0.011334757320582867, + -0.06529080867767334, + 0.046798765659332275, + 1.0 + ], + [ + 0.002526581287384033, + -0.008253417909145355, + -0.0033271322026848793, + -0.013626215979456902, + -0.03364289551973343, + 0.004464060068130493, + 1.0 + ], + [ + 0.006064191460609436, + -0.017881203442811966, + -0.0014841933734714985, + -0.02798624336719513, + -0.03025728091597557, + 0.06035807728767395, + 1.0 + ], + [ + 0.0067315250635147095, + -0.028508758172392845, + -0.0006902217864990234, + -0.025009024888277054, + -0.008485652506351471, + -0.02458435297012329, + 1.0 + ], + [ + -0.001241341233253479, + -0.024635907262563705, + -1.8491409718990326e-06, + -0.015734337270259857, + 0.03117482364177704, + 0.003263711929321289, + 1.0 + ], + [ + -0.006236255168914795, + -0.026937969028949738, + 0.001585399266332388, + 0.00017337501049041748, + 0.039221614599227905, + 0.027312397956848145, + 1.0 + ], + [ + -0.007269084453582764, + -0.016255704686045647, + 0.0029717194847762585, + 0.006070494651794434, + 0.028380464762449265, + 0.05082163214683533, + 1.0 + ], + [ + -0.00195881724357605, + -0.0011469386518001556, + 0.0006879889406263828, + 0.012089535593986511, + 0.0019501785282045603, + -0.002178668975830078, + 1.0 + ], + [ + -0.0005691498517990112, + 0.003303397446870804, + 7.947033736854792e-05, + 0.014579471200704575, + -0.0010947580449283123, + -0.02581927180290222, + 1.0 + ], + [ + 0.004086136817932129, + 0.016769785434007645, + 0.0033778659999370575, + 0.08277064561843872, + 0.02725573442876339, + -0.07941904664039612, + 1.0 + ], + [ + 0.02258072793483734, + 0.02806830406188965, + 0.024492664262652397, + 0.10547541826963425, + -0.005416516214609146, + -0.0768086314201355, + 1.0 + ], + [ + 0.011402338743209839, + 0.014682287350296974, + 0.01437978632748127, + 0.03594374656677246, + 0.0023833569139242172, + -0.04476284980773926, + 1.0 + ], + [ + 0.004625409841537476, + 0.0021986979991197586, + 0.007360856980085373, + -0.0012598037719726562, + -0.0004573538899421692, + -0.03242418169975281, + 1.0 + ], + [ + -0.00039568543434143066, + 0.00033863820135593414, + -9.017437696456909e-05, + -0.01749245822429657, + 0.011750660836696625, + -0.01989230513572693, + 1.0 + ], + [ + 0.0033569633960723877, + 0.0018784552812576294, + 0.002379942685365677, + -0.01247665286064148, + -0.004181530326604843, + -0.005856618285179138, + 1.0 + ], + [ + 0.0043012648820877075, + -0.0016818363219499588, + -0.006073616445064545, + -0.01336890459060669, + 0.031406499445438385, + 0.006391778588294983, + 1.0 + ], + [ + -0.00031732022762298584, + 0.0005198027938604355, + 3.602355718612671e-06, + -0.0007087886333465576, + 0.0017103850841522217, + 0.00415271520614624, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 3.0606985092163086e-05, + -0.0003520529717206955, + 0.0, + 0.0, + 0.0, + -0.0015339851379394531, + 1.0 + ], + [ + -1.609325408935547e-05, + 0.0005523134022951126, + 2.0615756511688232e-05, + 0.0011596977710723877, + -0.000252358615398407, + 0.0006365925073623657, + 1.0 + ], + [ + -1.4513731002807617e-05, + -0.00020026043057441711, + -2.0615756511688232e-05, + -0.0011596977710723877, + 0.000252358615398407, + 0.0008973926305770874, + 1.0 + ], + [ + 1.4513731002807617e-05, + 0.00020026043057441711, + 2.0615756511688232e-05, + 0.0011596977710723877, + -0.000252358615398407, + -0.0008973926305770874, + 1.0 + ], + [ + -1.4513731002807617e-05, + -0.00020026043057441711, + -2.0615756511688232e-05, + -0.0011596977710723877, + 0.000252358615398407, + 0.0008973926305770874, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.00024159252643585205, + -1.4914199709892273e-05, + -2.4199485778808594e-05, + -0.00045083463191986084, + -0.0014582425355911255, + -0.0001856684684753418, + 1.0 + ], + [ + -0.00024159252643585205, + 1.4914199709892273e-05, + 2.4199485778808594e-05, + 0.00045083463191986084, + 0.0014582425355911255, + 0.0001856684684753418, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + -6.282329559326172e-05, + 0.0007039662450551987, + 0.0, + 0.0, + 0.0, + 0.0030679553747177124, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + -0.00014460086822509766, + 0.001206912100315094, + -2.0381063222885132e-05, + -0.0011594891548156738, + 0.0002533942461013794, + 0.007033050060272217, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9988223910331726 + ], + [ + 0.9981546401977539 + ], + [ + 0.9988223910331726 + ], + [ + 1.0001531839370728 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.0014774799346924 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.28233250975608826, + 0.0931519865989685, + 0.026428477838635445 + ], + [ + 0.2597576975822449, + 0.08995946496725082, + 0.02369285561144352 + ], + [ + 0.24093502759933472, + 0.09609826654195786, + 0.029822327196598053 + ], + [ + 0.21968431770801544, + 0.10015362501144409, + 0.032312095165252686 + ], + [ + 0.2082265019416809, + 0.09732677042484283, + 0.022339394316077232 + ], + [ + 0.1911478191614151, + 0.08749852329492569, + 0.0021916741970926523 + ], + [ + 0.18180063366889954, + 0.07766801118850708, + -0.0011590562062337995 + ], + [ + 0.18432721495628357, + 0.06941459327936172, + -0.004486188292503357 + ], + [ + 0.190391406416893, + 0.05153338983654976, + -0.005970381665974855 + ], + [ + 0.19712293148040771, + 0.023024631664156914, + -0.006660603452473879 + ], + [ + 0.19588159024715424, + -0.001611276064068079, + -0.006662452593445778 + ], + [ + 0.18964533507823944, + -0.02854924462735653, + -0.00507705332711339 + ], + [ + 0.18237625062465668, + -0.044804949313402176, + -0.0021053338423371315 + ], + [ + 0.18041743338108063, + -0.04595188796520233, + -0.0014173449017107487 + ], + [ + 0.17984828352928162, + -0.04264849051833153, + -0.0013378745643422008 + ], + [ + 0.18393442034721375, + -0.025878705084323883, + 0.002039991319179535 + ], + [ + 0.2065151482820511, + 0.0021895989775657654, + 0.026532655581831932 + ], + [ + 0.21791748702526093, + 0.01687188632786274, + 0.0409124419093132 + ], + [ + 0.2225428968667984, + 0.019070584326982498, + 0.048273298889398575 + ], + [ + 0.22214721143245697, + 0.019409222528338432, + 0.048183124512434006 + ], + [ + 0.22550417482852936, + 0.02128767780959606, + 0.05056306719779968 + ], + [ + 0.22980543971061707, + 0.019605841487646103, + 0.04448945075273514 + ], + [ + 0.22948811948299408, + 0.02012564428150654, + 0.04449305310845375 + ], + [ + 0.22948811948299408, + 0.02012564428150654, + 0.04449305310845375 + ], + [ + 0.22948811948299408, + 0.02012564428150654, + 0.04449305310845375 + ], + [ + 0.22948811948299408, + 0.02012564428150654, + 0.04449305310845375 + ], + [ + 0.22948811948299408, + 0.02012564428150654, + 0.04449305310845375 + ], + [ + 0.22948811948299408, + 0.02012564428150654, + 0.04449305310845375 + ], + [ + 0.22948811948299408, + 0.02012564428150654, + 0.04449305310845375 + ], + [ + 0.22948811948299408, + 0.02012564428150654, + 0.04449305310845375 + ], + [ + 0.22951872646808624, + 0.019773591309785843, + 0.04449305310845375 + ], + [ + 0.2295026332139969, + 0.020325904712080956, + 0.04451366886496544 + ], + [ + 0.22948811948299408, + 0.02012564428150654, + 0.04449305310845375 + ], + [ + 0.2295026332139969, + 0.020325904712080956, + 0.04451366886496544 + ], + [ + 0.22948811948299408, + 0.02012564428150654, + 0.04449305310845375 + ], + [ + 0.22948811948299408, + 0.02012564428150654, + 0.04449305310845375 + ], + [ + 0.22972971200942993, + 0.020110730081796646, + 0.04446885362267494 + ], + [ + 0.22948811948299408, + 0.02012564428150654, + 0.04449305310845375 + ], + [ + 0.22948811948299408, + 0.02012564428150654, + 0.04449305310845375 + ], + [ + 0.22948811948299408, + 0.02012564428150654, + 0.04449305310845375 + ], + [ + 0.22948811948299408, + 0.02012564428150654, + 0.04449305310845375 + ], + [ + 0.22948811948299408, + 0.02012564428150654, + 0.04449305310845375 + ], + [ + 0.22942529618740082, + 0.020829610526561737, + 0.04449305310845375 + ], + [ + 0.22942529618740082, + 0.020829610526561737, + 0.04449305310845375 + ], + [ + 0.22928069531917572, + 0.02203652262687683, + 0.044472672045230865 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9847820092888581, + 0.17248903689646716, + -0.02125855901816035, + 0.17315312446312814, + -0.9842780752136491, + 0.03485206080521782, + -0.0149127351500615, + -0.038002668383198136, + -0.9991663562821261 + ], + [ + 0.9759241137190954, + 0.21305711913674397, + -0.046677491864387105, + 0.21470178091465775, + -0.9761024835334449, + 0.03357211509446036, + -0.0384092376085875, + -0.04278557730115005, + -0.9983456940565902 + ], + [ + 0.9677221116305464, + 0.2486916998180422, + -0.04082098850993741, + 0.25042900469193585, + -0.9670856475098513, + 0.045062889271077926, + -0.02827062557358844, + -0.05383111388466561, + -0.9981497797964058 + ], + [ + 0.9589999348157375, + 0.28007003744254666, + -0.043357803799797937, + 0.2819213809626604, + -0.9583854915643841, + 0.04491753015249703, + -0.028973435756184898, + -0.05529940041107569, + -0.9980493556606597 + ], + [ + 0.949730490127268, + 0.3096420373168965, + -0.0461931255584737, + 0.31092591694197375, + -0.9501397850171049, + 0.023652972359564598, + -0.036565971837380515, + -0.03682658895270017, + -0.998652458090249 + ], + [ + 0.9434211218205196, + 0.3290304542698795, + -0.041177021090274005, + 0.3290957895882746, + -0.9442812400127865, + -0.0053759683020106076, + -0.04065154582770762, + -0.00847938222224236, + -0.9991374039134691 + ], + [ + 0.9274781026330089, + 0.3731121935411891, + 0.023909415868148317, + 0.3730656117842359, + -0.9277818619683232, + 0.006547206018214142, + 0.024625564771747575, + 0.0028473906429338034, + -0.9996926897433026 + ], + [ + 0.9245125029674149, + 0.3763769375371407, + 0.06014177206475258, + 0.3766762133011074, + -0.9263206451248681, + 0.006715113445557677, + 0.058237978931827854, + 0.01644576862330666, + -0.99816725778014 + ], + [ + 0.8981067716649535, + 0.4285218000571145, + 0.09885996947888245, + 0.43079859773541007, + -0.9024461509460864, + -0.0018742549980882463, + 0.08841263981331823, + 0.044272017329277935, + -0.9950995897913115 + ], + [ + 0.9077083065854709, + 0.4030763550739899, + 0.116597950822491, + 0.4082688161430314, + -0.9125548594928025, + -0.02366859060526308, + 0.09686177739905902, + 0.06908748364456992, + -0.9928971324778599 + ], + [ + 0.9086800082027754, + 0.4065744044993734, + 0.0948572416770838, + 0.4122767526095426, + -0.9096628041621584, + -0.05041291482913099, + 0.06579150363333204, + 0.08491664342058722, + -0.9942135795289897 + ], + [ + 0.8987116282619846, + 0.4342727239878299, + 0.06102958648788892, + 0.43773175375738416, + -0.8967717089719551, + -0.06474112865871193, + 0.026614300275930498, + 0.0848981930768212, + -0.9960341238296575 + ], + [ + 0.8756234034455034, + 0.4816088913854132, + 0.03655859785367868, + 0.48299124950065386, + -0.8728293800949501, + -0.06991656562548451, + -0.0017630213585981477, + 0.0788780640075478, + -0.9968827126468343 + ], + [ + 0.8766689212804514, + 0.4802254523442589, + 0.028898397563219148, + 0.481079842296636, + -0.8745962215402656, + -0.06036252648236844, + -0.0037131922672778046, + 0.06682038751939957, + -0.99775811097427 + ], + [ + 0.8887995601173018, + 0.45778543584378334, + 0.02162953223276608, + 0.4582886488977204, + -0.8875250052079429, + -0.04765374510091639, + -0.0026184397630804775, + 0.05226719678688057, + -0.998629703099827 + ], + [ + 0.921948235738457, + 0.38531296342477733, + -0.03931120496197914, + 0.38615961673345206, + -0.9222830586519014, + 0.01657438167675364, + -0.029869734230822648, + -0.030461121786786866, + -0.9990895450541311 + ], + [ + 0.9490009265140348, + 0.3083696048279815, + -0.0656157625402429, + 0.31432337414692824, + -0.9415673382651242, + 0.1210444710724899, + -0.024455223172017197, + -0.135495883076067, + -0.9904760510628428 + ], + [ + 0.9620568076587452, + 0.2632026021571803, + -0.07191028476618497, + 0.27152611580883135, + -0.9494662926537368, + 0.15743991726413692, + -0.026837795573292127, + -0.17099166451046166, + -0.984906890724554 + ], + [ + 0.970365416377089, + 0.23244327764989592, + -0.06603848404295778, + 0.24019788186285734, + -0.9576816315584541, + 0.15859025860415885, + -0.02638060363061146, + -0.1697528063123274, + -0.9851335181086743 + ], + [ + 0.9745815766903906, + 0.21266778929711783, + -0.07044971093730061, + 0.22076509778134934, + -0.9651607235394156, + 0.14045479464391145, + -0.038125083308286414, + -0.1524374925415292, + -0.9875774850058033 + ], + [ + 0.9760049458183846, + 0.20843632659690825, + -0.06299717051454522, + 0.21508602083920242, + -0.9679458488786442, + 0.12968745998807474, + -0.03394627192505635, + -0.1401254130890871, + -0.9895516758760011 + ], + [ + 0.9730901200128932, + 0.21156965096291225, + -0.09129020278608391, + 0.2209747957757766, + -0.9691175881362105, + 0.109458850701566, + -0.06531277030678337, + -0.12668616008264436, + -0.9897903105599527 + ], + [ + 0.9720538320238321, + 0.21544733701609958, + -0.09324050954630475, + 0.22498832574634642, + -0.9683563039990315, + 0.10801074846139605, + -0.06701940708212253, + -0.1259702880762216, + -0.9897675917084547 + ], + [ + 0.9720538320238321, + 0.21544733701609958, + -0.09324050954630475, + 0.22498832574634642, + -0.9683563039990315, + 0.10801074846139605, + -0.06701940708212253, + -0.1259702880762216, + -0.9897675917084547 + ], + [ + 0.9720538320238321, + 0.21544733701609958, + -0.09324050954630475, + 0.22498832574634642, + -0.9683563039990315, + 0.10801074846139605, + -0.06701940708212253, + -0.1259702880762216, + -0.9897675917084547 + ], + [ + 0.9720538320238321, + 0.21544733701609958, + -0.09324050954630475, + 0.22498832574634642, + -0.9683563039990315, + 0.10801074846139605, + -0.06701940708212253, + -0.1259702880762216, + -0.9897675917084547 + ], + [ + 0.9720538320238321, + 0.21544733701609958, + -0.09324050954630475, + 0.22498832574634642, + -0.9683563039990315, + 0.10801074846139605, + -0.06701940708212253, + -0.1259702880762216, + -0.9897675917084547 + ], + [ + 0.9720538320238321, + 0.21544733701609958, + -0.09324050954630475, + 0.22498832574634642, + -0.9683563039990315, + 0.10801074846139605, + -0.06701940708212253, + -0.1259702880762216, + -0.9897675917084547 + ], + [ + 0.9720538320238321, + 0.21544733701609958, + -0.09324050954630475, + 0.22498832574634642, + -0.9683563039990315, + 0.10801074846139605, + -0.06701940708212253, + -0.1259702880762216, + -0.9897675917084547 + ], + [ + 0.9720538320238321, + 0.21544733701609958, + -0.09324050954630475, + 0.22498832574634642, + -0.9683563039990315, + 0.10801074846139605, + -0.06701940708212253, + -0.1259702880762216, + -0.9897675917084547 + ], + [ + 0.9723978169616146, + 0.2139616399344687, + -0.09307471302582215, + 0.2234969454884051, + -0.9686856575579855, + 0.1081536508806169, + -0.06701940708212253, + -0.1259702880762216, + -0.9897675917084549 + ], + [ + 0.9722717932346296, + 0.21450135178882854, + -0.09314896757926337, + 0.22411971318565213, + -0.9684160410779626, + 0.10927362693928713, + -0.0667676137202645, + -0.12712018511491677, + -0.9896375822968986 + ], + [ + 0.9720538320238321, + 0.21544733701609958, + -0.09324050954630475, + 0.22498832574634642, + -0.9683563039990315, + 0.10801074846139605, + -0.06701940708212253, + -0.1259702880762216, + -0.9897675917084547 + ], + [ + 0.9722717932346296, + 0.21450135178882854, + -0.09314896757926337, + 0.22411971318565213, + -0.9684160410779626, + 0.10927362693928713, + -0.0667676137202645, + -0.12712018511491677, + -0.9896375822968986 + ], + [ + 0.9720538320238321, + 0.21544733701609958, + -0.09324050954630475, + 0.22498832574634642, + -0.9683563039990315, + 0.10801074846139605, + -0.06701940708212253, + -0.1259702880762216, + -0.9897675917084547 + ], + [ + 0.9720538320238321, + 0.21544733701609958, + -0.09324050954630475, + 0.22498832574634642, + -0.9683563039990315, + 0.10801074846139605, + -0.06701940708212253, + -0.1259702880762216, + -0.9897675917084547 + ], + [ + 0.972189772423351, + 0.2154878916001214, + -0.09171703750758292, + 0.22482962319414954, + -0.9684036488846836, + 0.10791669639683828, + -0.06556437241223159, + -0.12553621549403562, + -0.9899201844945001 + ], + [ + 0.9720538320238321, + 0.21544733701609958, + -0.09324050954630475, + 0.22498832574634642, + -0.9683563039990315, + 0.10801074846139605, + -0.06701940708212253, + -0.1259702880762216, + -0.9897675917084547 + ], + [ + 0.9720538320238321, + 0.21544733701609958, + -0.09324050954630475, + 0.22498832574634642, + -0.9683563039990315, + 0.10801074846139605, + -0.06701940708212253, + -0.1259702880762216, + -0.9897675917084547 + ], + [ + 0.9720538320238321, + 0.21544733701609958, + -0.09324050954630475, + 0.22498832574634642, + -0.9683563039990315, + 0.10801074846139605, + -0.06701940708212253, + -0.1259702880762216, + -0.9897675917084547 + ], + [ + 0.9720538320238321, + 0.21544733701609958, + -0.09324050954630475, + 0.22498832574634642, + -0.9683563039990315, + 0.10801074846139605, + -0.06701940708212253, + -0.1259702880762216, + -0.9897675917084547 + ], + [ + 0.9720538320238321, + 0.21544733701609958, + -0.09324050954630475, + 0.22498832574634642, + -0.9683563039990315, + 0.10801074846139605, + -0.06701940708212253, + -0.1259702880762216, + -0.9897675917084547 + ], + [ + 0.9713590043114857, + 0.21841719235101756, + -0.09357144237692333, + 0.22796948001291759, + -0.9676907649696221, + 0.10772418287064252, + -0.06701940708212253, + -0.1259702880762216, + -0.9897675917084549 + ], + [ + 0.9713590043114857, + 0.21841719235101756, + -0.09357144237692333, + 0.22796948001291759, + -0.9676907649696221, + 0.10772418287064252, + -0.06701940708212253, + -0.1259702880762216, + -0.9897675917084549 + ], + [ + 0.96971513676528, + 0.22529603060529213, + -0.09430934270682849, + 0.23479139820637235, + -0.9662616383668181, + 0.10588411377052527, + -0.0672722294605393, + -0.12482045030431556, + -0.9898961068360845 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005660.json b/json/chunk-0005/episode_0005660.json new file mode 100644 index 0000000000000000000000000000000000000000..968705c27355d21586c4ad62e4c92220dc73f87a --- /dev/null +++ b/json/chunk-0005/episode_0005660.json @@ -0,0 +1,5482 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 90, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nSweep into pile." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005660.mp4", + "start": 0, + "end": 90, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3526662588119507, + -0.12417369335889816, + 0.10381832718849182, + -0.12908828258514404, + -0.21475611627101898, + 0.19944612681865692, + 0.0, + 1.0008161067962646 + ], + [ + 0.3505852520465851, + -0.12323180586099625, + 0.09089000523090363, + -0.10983136296272278, + -0.18313464522361755, + 0.20104962587356567, + 0.0, + 1.0008161067962646 + ], + [ + 0.34982261061668396, + -0.11571123450994492, + 0.08604779094457626, + -0.0632522851228714, + -0.1817299723625183, + 0.22061452269554138, + 0.0, + 1.0008161067962646 + ], + [ + 0.34671512246131897, + -0.10917992144823074, + 0.08237324655056, + -0.01116783544421196, + -0.15916560590267181, + 0.2193295955657959, + 0.0, + 1.0008161067962646 + ], + [ + 0.3482714295387268, + -0.10892912745475769, + 0.08152935653924942, + -0.012466046959161758, + -0.16695815324783325, + 0.23143678903579712, + 0.0, + 1.0008161067962646 + ], + [ + 0.3465939462184906, + -0.11631204187870026, + 0.0753316581249237, + -0.019328253343701363, + -0.17569532990455627, + 0.23045943677425385, + 0.0, + 1.0008161067962646 + ], + [ + 0.34551629424095154, + -0.11911536008119583, + 0.07060981541872025, + -0.014065113849937916, + -0.16928094625473022, + 0.23069676756858826, + 0.0, + 1.0008161067962646 + ], + [ + 0.34593871235847473, + -0.11932317912578583, + 0.06847083568572998, + -0.01438690535724163, + -0.16779302060604095, + 0.23638209700584412, + 0.0, + 1.0008161067962646 + ], + [ + 0.3459628224372864, + -0.11919588595628738, + 0.0675261840224266, + -0.016071639955043793, + -0.17079386115074158, + 0.2398166060447693, + 0.0, + 1.0008161067962646 + ], + [ + 0.3462079167366028, + -0.11668367683887482, + 0.06686073541641235, + -0.013523425906896591, + -0.16572339832782745, + 0.23662088811397552, + 0.0, + 1.0008161067962646 + ], + [ + 0.34844404458999634, + -0.11056876182556152, + 0.0668773353099823, + -0.014569828286767006, + -0.16626916825771332, + 0.24970710277557373, + 0.0, + 1.0008161067962646 + ], + [ + 0.34654945135116577, + -0.10809303820133209, + 0.06493264436721802, + -0.007422903552651405, + -0.15749208629131317, + 0.24736957252025604, + 0.0, + 1.0008161067962646 + ], + [ + 0.3429926335811615, + -0.09914138168096542, + 0.05913130193948746, + 0.007064360193908215, + -0.1413598358631134, + 0.24734735488891602, + 0.0, + 1.0008161067962646 + ], + [ + 0.3416775166988373, + -0.09753508120775223, + 0.05607056990265846, + 0.0048987953923642635, + -0.13949421048164368, + 0.24800239503383636, + 0.0, + 0.9709111452102661 + ], + [ + 0.3423028588294983, + -0.09814955294132233, + 0.055127330124378204, + -0.00832146592438221, + -0.1419132649898529, + 0.25561094284057617, + 0.0, + 0.6741776466369629 + ], + [ + 0.34244346618652344, + -0.09685155004262924, + 0.05405503511428833, + -0.019639819860458374, + -0.13742007315158844, + 0.2598327696323395, + 0.0, + 0.40327540040016174 + ], + [ + 0.3427131772041321, + -0.0939379632472992, + 0.054059021174907684, + -0.03802576661109924, + -0.12478321045637131, + 0.2708800137042999, + 0.0, + 0.3494465947151184 + ], + [ + 0.345462441444397, + -0.08289076387882233, + 0.054324157536029816, + -0.04029504209756851, + -0.12059535831212997, + 0.28070300817489624, + 0.0, + 0.3494465947151184 + ], + [ + 0.3466047942638397, + -0.06565433740615845, + 0.05275318771600723, + -0.04008951783180237, + -0.10715454071760178, + 0.28428149223327637, + 0.0, + 0.3494465947151184 + ], + [ + 0.34272393584251404, + -0.04855262488126755, + 0.050410784780979156, + -0.035023994743824005, + -0.10698837786912918, + 0.2686091661453247, + 0.0, + 0.3494465947151184 + ], + [ + 0.3382084369659424, + -0.023088738322257996, + 0.04901812598109245, + -0.03400574252009392, + -0.12808066606521606, + 0.27527543902397156, + 0.0, + 0.3494465947151184 + ], + [ + 0.3241308629512787, + 0.004926901310682297, + 0.04820355772972107, + -0.02518160082399845, + -0.1503463089466095, + 0.25661003589630127, + 0.0, + 0.3494465947151184 + ], + [ + 0.3126712441444397, + 0.03798454627394676, + 0.048169586807489395, + -0.0237999577075243, + -0.14085286855697632, + 0.24530528485774994, + 0.0, + 0.3494465947151184 + ], + [ + 0.3092615604400635, + 0.06815575808286667, + 0.04786844551563263, + -0.020889995619654655, + -0.13661129772663116, + 0.2320955991744995, + 0.0, + 0.3494465947151184 + ], + [ + 0.3188699781894684, + 0.10215456038713455, + 0.046866919845342636, + -0.010802274569869041, + -0.15589039027690887, + 0.2656460404396057, + 0.0, + 0.3494465947151184 + ], + [ + 0.32639509439468384, + 0.12795892357826233, + 0.04796808212995529, + -0.0022741504944860935, + -0.15767158567905426, + 0.2787812054157257, + 0.0, + 0.3494465947151184 + ], + [ + 0.32456690073013306, + 0.14551801979541779, + 0.05007793754339218, + 0.0022069315891712904, + -0.1332511007785797, + 0.27680182456970215, + 0.0, + 0.3486233055591583 + ], + [ + 0.3144676983356476, + 0.16434043645858765, + 0.05916218087077141, + -0.006445252802222967, + -0.07341773808002472, + 0.2916576564311981, + 0.0, + 0.3486233055591583 + ], + [ + 0.3099317252635956, + 0.15322406589984894, + 0.06621631234884262, + -0.08704361319541931, + -0.03506595641374588, + 0.27424225211143494, + 0.0, + 0.3494465947151184 + ], + [ + 0.3078121542930603, + 0.1331879198551178, + 0.10267526656389236, + -0.1832495778799057, + -0.07176001369953156, + 0.262554794549942, + 0.0, + 0.3494465947151184 + ], + [ + 0.3022807538509369, + 0.10564955323934555, + 0.12822605669498444, + -0.26365095376968384, + -0.09401756525039673, + 0.24813251197338104, + 0.0, + 0.3494465947151184 + ], + [ + 0.29773613810539246, + 0.05596745014190674, + 0.12722420692443848, + -0.3284969925880432, + -0.06968260556459427, + 0.1877235323190689, + 0.0, + 0.3494465947151184 + ], + [ + 0.2970667779445648, + 0.006144138518720865, + 0.12031204253435135, + -0.3387070894241333, + -0.05019688606262207, + 0.17985837161540985, + 0.0, + 0.3494465947151184 + ], + [ + 0.30041366815567017, + -0.028672661632299423, + 0.11704578995704651, + -0.3547881245613098, + -0.047845616936683655, + 0.20097051560878754, + 0.0, + 0.3486233055591583 + ], + [ + 0.3004986345767975, + -0.06918615847826004, + 0.11469990760087967, + -0.3555763363838196, + -0.05916924029588699, + 0.18036073446273804, + 0.0, + 0.3486233055591583 + ], + [ + 0.30333375930786133, + -0.09718673676252365, + 0.10792450606822968, + -0.34906744956970215, + -0.07908733934164047, + 0.20562843978405, + 0.0, + 0.3486233055591583 + ], + [ + 0.3038947284221649, + -0.13346216082572937, + 0.09096650034189224, + -0.3351440727710724, + -0.09142474830150604, + 0.2099449187517166, + 0.0, + 0.3494465947151184 + ], + [ + 0.31458789110183716, + -0.15633860230445862, + 0.0727272778749466, + -0.31213080883026123, + -0.10443472862243652, + 0.23398734629154205, + 0.0, + 0.3486233055591583 + ], + [ + 0.3204941749572754, + -0.16650889813899994, + 0.06924363225698471, + -0.30203187465667725, + -0.10864905267953873, + 0.24189837276935577, + 0.0, + 0.3494465947151184 + ], + [ + 0.3212115168571472, + -0.1701776534318924, + 0.07033618539571762, + -0.3073387145996094, + -0.11890482157468796, + 0.24337869882583618, + 0.0, + 0.3494465947151184 + ], + [ + 0.3234671652317047, + -0.16983741521835327, + 0.070334792137146, + -0.30513086915016174, + -0.14115510880947113, + 0.23021730780601501, + 0.0, + 0.3494465947151184 + ], + [ + 0.3186153471469879, + -0.16109225153923035, + 0.05961326137185097, + -0.2876977026462555, + -0.1376955509185791, + 0.22711805999279022, + 0.0, + 0.3494465947151184 + ], + [ + 0.31553220748901367, + -0.1480669379234314, + 0.05565780773758888, + -0.2850865423679352, + -0.16500423848628998, + 0.22085440158843994, + 0.0, + 0.3494465947151184 + ], + [ + 0.31213995814323425, + -0.13443045318126678, + 0.052755437791347504, + -0.2854195237159729, + -0.20124037563800812, + 0.2215849608182907, + 0.0, + 0.3486233055591583 + ], + [ + 0.3160546123981476, + -0.10490718483924866, + 0.051716506481170654, + -0.25794273614883423, + -0.17236942052841187, + 0.22640664875507355, + 0.0, + 0.3494465947151184 + ], + [ + 0.3264564275741577, + -0.06060686334967613, + 0.05494612827897072, + -0.2398242950439453, + -0.16723544895648956, + 0.27786388993263245, + 0.0, + 0.3486233055591583 + ], + [ + 0.32465875148773193, + -0.02812233194708824, + 0.05425300821661949, + -0.19187156856060028, + -0.1606460064649582, + 0.23467124998569489, + 0.0, + 0.3486233055591583 + ], + [ + 0.3218141496181488, + 0.029806548729538918, + 0.05514964833855629, + -0.14874939620494843, + -0.15897931158542633, + 0.26382943987846375, + 0.0, + 0.3494465947151184 + ], + [ + 0.32197192311286926, + 0.06126456707715988, + 0.052639469504356384, + -0.0996856689453125, + -0.18133024871349335, + 0.23586703836917877, + 0.0, + 0.3486233055591583 + ], + [ + 0.31778186559677124, + 0.11054986715316772, + 0.052105531096458435, + -0.06785902380943298, + -0.17864634096622467, + 0.22877641022205353, + 0.0, + 0.3486233055591583 + ], + [ + 0.3072757124900818, + 0.14829817414283752, + 0.05553577467799187, + -0.06638050824403763, + -0.16674233973026276, + 0.22757187485694885, + 0.0, + 0.3486233055591583 + ], + [ + 0.3060501515865326, + 0.168934628367424, + 0.05950033292174339, + -0.078385129570961, + -0.17495779693126678, + 0.2414964884519577, + 0.0, + 0.3494465947151184 + ], + [ + 0.30586913228034973, + 0.17327746748924255, + 0.06638573855161667, + -0.09875650703907013, + -0.1715664118528366, + 0.24385973811149597, + 0.0, + 0.3494465947151184 + ], + [ + 0.30082792043685913, + 0.1551319658756256, + 0.07249470055103302, + -0.20352129638195038, + -0.1248476654291153, + 0.2535387873649597, + 0.0, + 0.3486233055591583 + ], + [ + 0.3055568039417267, + 0.12677939236164093, + 0.10238717496395111, + -0.2657994031906128, + -0.14135172963142395, + 0.26853689551353455, + 0.0, + 0.3486233055591583 + ], + [ + 0.3100028932094574, + 0.09213230013847351, + 0.1092817559838295, + -0.2921069264411926, + -0.1173553541302681, + 0.2400573194026947, + 0.0, + 0.3494465947151184 + ], + [ + 0.31964924931526184, + 0.06225452944636345, + 0.10582143068313599, + -0.2881253659725189, + -0.11246797442436218, + 0.23090705275535583, + 0.0, + 0.3494465947151184 + ], + [ + 0.3347725570201874, + 0.04022090137004852, + 0.08892888575792313, + -0.25071799755096436, + -0.11625082790851593, + 0.24155519902706146, + 0.0, + 0.3486233055591583 + ], + [ + 0.3440256714820862, + 0.028184965252876282, + 0.0742274671792984, + -0.23116353154182434, + -0.12015780061483383, + 0.23895388841629028, + 0.0, + 0.3486233055591583 + ], + [ + 0.3561128079891205, + 0.024208104237914085, + 0.06272280216217041, + -0.21642854809761047, + -0.13065069913864136, + 0.24696670472621918, + 0.0, + 0.3486233055591583 + ], + [ + 0.36744213104248047, + 0.02824006974697113, + 0.05715198442339897, + -0.20209158957004547, + -0.14040926098823547, + 0.26195788383483887, + 0.0, + 0.3494465947151184 + ], + [ + 0.3738583028316498, + 0.03404677286744118, + 0.05649002268910408, + -0.1983492523431778, + -0.14771093428134918, + 0.2733366787433624, + 0.0, + 0.3494465947151184 + ], + [ + 0.37483614683151245, + 0.052422091364860535, + 0.05573078989982605, + -0.19252966344356537, + -0.153840109705925, + 0.3028859794139862, + 0.0, + 0.3486233055591583 + ], + [ + 0.3750016391277313, + 0.07800056785345078, + 0.055900346487760544, + -0.1655227541923523, + -0.18849264085292816, + 0.3479515612125397, + 0.0, + 0.3494465947151184 + ], + [ + 0.3655272424221039, + 0.0980396494269371, + 0.05523783341050148, + -0.15527302026748657, + -0.19353735446929932, + 0.363434374332428, + 0.0, + 0.3486233055591583 + ], + [ + 0.3522014915943146, + 0.12485840171575546, + 0.06077934801578522, + -0.15116766095161438, + -0.20834393799304962, + 0.40110188722610474, + 0.0, + 0.3486233055591583 + ], + [ + 0.34545838832855225, + 0.13396091759204865, + 0.06927740573883057, + -0.11227241158485413, + -0.28069519996643066, + 0.3997245132923126, + 0.0, + 0.3486233055591583 + ], + [ + 0.3430177867412567, + 0.13835488259792328, + 0.0708586797118187, + -0.11906702816486359, + -0.2837029695510864, + 0.41319501399993896, + 0.0, + 0.3486233055591583 + ], + [ + 0.3353823721408844, + 0.12543870508670807, + 0.08240970224142075, + -0.17499898374080658, + -0.23492716252803802, + 0.40257760882377625, + 0.0, + 0.3486233055591583 + ], + [ + 0.32567963004112244, + 0.09401802718639374, + 0.08987133204936981, + -0.2666877508163452, + -0.11234044283628464, + 0.33476898074150085, + 0.0, + 0.3486233055591583 + ], + [ + 0.30581018328666687, + 0.057859502732753754, + 0.09589745849370956, + -0.3259352743625641, + -0.0529026985168457, + 0.22412464022636414, + 0.0, + 0.3486233055591583 + ], + [ + 0.2834596633911133, + 0.036187343299388885, + 0.08128251135349274, + -0.33836960792541504, + -0.0376831591129303, + 0.14279349148273468, + 0.0, + 0.3486233055591583 + ], + [ + 0.26723408699035645, + 0.02185630425810814, + 0.06484484672546387, + -0.33224067091941833, + -0.05115354433655739, + 0.08375019580125809, + 0.0, + 0.3486233055591583 + ], + [ + 0.25812992453575134, + 0.02092045173048973, + 0.04820002615451813, + -0.30779117345809937, + -0.1207006499171257, + 0.03369717299938202, + 0.0, + 0.3486233055591583 + ], + [ + 0.2552078664302826, + 0.031884610652923584, + 0.04464932903647423, + -0.28441986441612244, + -0.18832987546920776, + 0.0229933001101017, + 0.0, + 0.3486233055591583 + ], + [ + 0.2560375928878784, + 0.03946507349610329, + 0.043602354824543, + -0.26143622398376465, + -0.21763065457344055, + 0.01539354957640171, + 0.0, + 0.3486233055591583 + ], + [ + 0.2636960446834564, + 0.04976152628660202, + 0.0446416474878788, + -0.2659117579460144, + -0.21262361109256744, + 0.03182177618145943, + 0.0, + 0.3486233055591583 + ], + [ + 0.2724767029285431, + 0.08333441615104675, + 0.04800641909241676, + -0.22606073319911957, + -0.21227730810642242, + 0.07739090174436569, + 0.0, + 0.3486233055591583 + ], + [ + 0.28051355481147766, + 0.11447838693857193, + 0.05083349719643593, + -0.18277618288993835, + -0.20866908133029938, + 0.1173475980758667, + 0.0, + 0.3486233055591583 + ], + [ + 0.2798979580402374, + 0.14476452767848969, + 0.05692651867866516, + -0.1304243952035904, + -0.2253468632698059, + 0.14135009050369263, + 0.0, + 0.3486233055591583 + ], + [ + 0.28437885642051697, + 0.16448155045509338, + 0.06124164164066315, + -0.04925398901104927, + -0.2672503590583801, + 0.16351710259914398, + 0.0, + 0.3486233055591583 + ], + [ + 0.28318020701408386, + 0.14998312294483185, + 0.0633273795247078, + -0.09438770264387131, + -0.23801839351654053, + 0.17680098116397858, + 0.0, + 0.3486233055591583 + ], + [ + 0.2842082977294922, + 0.09952061623334885, + 0.08186570554971695, + -0.18442323803901672, + -0.21709604561328888, + 0.15168164670467377, + 0.0, + 0.3486233055591583 + ], + [ + 0.2893616855144501, + 0.05291000381112099, + 0.0978676900267601, + -0.2274608016014099, + -0.1915629655122757, + 0.15357257425785065, + 0.0, + 0.3486233055591583 + ], + [ + 0.2948162853717804, + 0.002709469525143504, + 0.09778672456741333, + -0.21142692863941193, + -0.16075295209884644, + 0.15033727884292603, + 0.0, + 0.3486233055591583 + ], + [ + 0.30952370166778564, + -0.03775837644934654, + 0.08954930305480957, + -0.1518658697605133, + -0.19083485007286072, + 0.21703173220157623, + 0.0, + 0.3486233055591583 + ], + [ + 0.3207826316356659, + -0.07330860197544098, + 0.06989496201276779, + -0.10629656910896301, + -0.2102297693490982, + 0.19381454586982727, + 0.0, + 0.3486233055591583 + ], + [ + 0.32881227135658264, + -0.07253129035234451, + 0.06098007410764694, + -0.09709901362657547, + -0.2427423745393753, + 0.20634926855564117, + 0.0, + 0.3918617069721222 + ], + [ + 0.3297268748283386, + -0.07271693646907806, + 0.061227813363075256, + -0.098767951130867, + -0.24854369461536407, + 0.192953959107399, + 0.0, + 0.6981924772262573 + ], + [ + 0.3230457603931427, + -0.061311542987823486, + 0.05918759107589722, + -0.11346688866615295, + -0.18057973682880402, + 0.21091976761817932, + 0.0, + 0.9679883122444153 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9709111452102661 + ], + [ + 0.6741776466369629 + ], + [ + 0.40327540040016174 + ], + [ + 0.3494465947151184 + ], + [ + 0.3494465947151184 + ], + [ + 0.3494465947151184 + ], + [ + 0.3494465947151184 + ], + [ + 0.3494465947151184 + ], + [ + 0.3494465947151184 + ], + [ + 0.3494465947151184 + ], + [ + 0.3494465947151184 + ], + [ + 0.3494465947151184 + ], + [ + 0.3494465947151184 + ], + [ + 0.3486233055591583 + ], + [ + 0.3486233055591583 + ], + [ + 0.3494465947151184 + ], + [ + 0.3494465947151184 + ], + [ + 0.3494465947151184 + ], + [ + 0.3494465947151184 + ], + [ + 0.3494465947151184 + ], + [ + 0.3486233055591583 + ], + [ + 0.3486233055591583 + ], + [ + 0.3486233055591583 + ], + [ + 0.3494465947151184 + ], + [ + 0.3486233055591583 + ], + [ + 0.3494465947151184 + ], + [ + 0.3494465947151184 + ], + [ + 0.3494465947151184 + ], + [ + 0.3494465947151184 + ], + [ + 0.3494465947151184 + ], + [ + 0.3486233055591583 + ], + [ + 0.3494465947151184 + ], + [ + 0.3486233055591583 + ], + [ + 0.3486233055591583 + ], + [ + 0.3494465947151184 + ], + [ + 0.3486233055591583 + ], + [ + 0.3486233055591583 + ], + [ + 0.3486233055591583 + ], + [ + 0.3494465947151184 + ], + [ + 0.3494465947151184 + ], + [ + 0.3486233055591583 + ], + [ + 0.3486233055591583 + ], + [ + 0.3494465947151184 + ], + [ + 0.3494465947151184 + ], + [ + 0.3486233055591583 + ], + [ + 0.3486233055591583 + ], + [ + 0.3486233055591583 + ], + [ + 0.3494465947151184 + ], + [ + 0.3494465947151184 + ], + [ + 0.3486233055591583 + ], + [ + 0.3494465947151184 + ], + [ + 0.3486233055591583 + ], + [ + 0.3486233055591583 + ], + [ + 0.3486233055591583 + ], + [ + 0.3486233055591583 + ], + [ + 0.3486233055591583 + ], + [ + 0.3486233055591583 + ], + [ + 0.3486233055591583 + ], + [ + 0.3486233055591583 + ], + [ + 0.3486233055591583 + ], + [ + 0.3486233055591583 + ], + [ + 0.3486233055591583 + ], + [ + 0.3486233055591583 + ], + [ + 0.3486233055591583 + ], + [ + 0.3486233055591583 + ], + [ + 0.3486233055591583 + ], + [ + 0.3486233055591583 + ], + [ + 0.3486233055591583 + ], + [ + 0.3486233055591583 + ], + [ + 0.3486233055591583 + ], + [ + 0.3486233055591583 + ], + [ + 0.3486233055591583 + ], + [ + 0.3486233055591583 + ], + [ + 0.3486233055591583 + ], + [ + 0.3918617069721222 + ], + [ + 0.6981924772262573 + ], + [ + 0.9679883122444153 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3526662588119507, + -0.12417369335889816, + 0.10381832718849182 + ], + [ + 0.3505852520465851, + -0.12323180586099625, + 0.09089000523090363 + ], + [ + 0.34982261061668396, + -0.11571123450994492, + 0.08604779094457626 + ], + [ + 0.34671512246131897, + -0.10917992144823074, + 0.08237324655056 + ], + [ + 0.3482714295387268, + -0.10892912745475769, + 0.08152935653924942 + ], + [ + 0.3465939462184906, + -0.11631204187870026, + 0.0753316581249237 + ], + [ + 0.34551629424095154, + -0.11911536008119583, + 0.07060981541872025 + ], + [ + 0.34593871235847473, + -0.11932317912578583, + 0.06847083568572998 + ], + [ + 0.3459628224372864, + -0.11919588595628738, + 0.0675261840224266 + ], + [ + 0.3462079167366028, + -0.11668367683887482, + 0.06686073541641235 + ], + [ + 0.34844404458999634, + -0.11056876182556152, + 0.0668773353099823 + ], + [ + 0.34654945135116577, + -0.10809303820133209, + 0.06493264436721802 + ], + [ + 0.3429926335811615, + -0.09914138168096542, + 0.05913130193948746 + ], + [ + 0.3416775166988373, + -0.09753508120775223, + 0.05607056990265846 + ], + [ + 0.3423028588294983, + -0.09814955294132233, + 0.055127330124378204 + ], + [ + 0.34244346618652344, + -0.09685155004262924, + 0.05405503511428833 + ], + [ + 0.3427131772041321, + -0.0939379632472992, + 0.054059021174907684 + ], + [ + 0.345462441444397, + -0.08289076387882233, + 0.054324157536029816 + ], + [ + 0.3466047942638397, + -0.06565433740615845, + 0.05275318771600723 + ], + [ + 0.34272393584251404, + -0.04855262488126755, + 0.050410784780979156 + ], + [ + 0.3382084369659424, + -0.023088738322257996, + 0.04901812598109245 + ], + [ + 0.3241308629512787, + 0.004926901310682297, + 0.04820355772972107 + ], + [ + 0.3126712441444397, + 0.03798454627394676, + 0.048169586807489395 + ], + [ + 0.3092615604400635, + 0.06815575808286667, + 0.04786844551563263 + ], + [ + 0.3188699781894684, + 0.10215456038713455, + 0.046866919845342636 + ], + [ + 0.32639509439468384, + 0.12795892357826233, + 0.04796808212995529 + ], + [ + 0.32456690073013306, + 0.14551801979541779, + 0.05007793754339218 + ], + [ + 0.3144676983356476, + 0.16434043645858765, + 0.05916218087077141 + ], + [ + 0.3099317252635956, + 0.15322406589984894, + 0.06621631234884262 + ], + [ + 0.3078121542930603, + 0.1331879198551178, + 0.10267526656389236 + ], + [ + 0.3022807538509369, + 0.10564955323934555, + 0.12822605669498444 + ], + [ + 0.29773613810539246, + 0.05596745014190674, + 0.12722420692443848 + ], + [ + 0.2970667779445648, + 0.006144138518720865, + 0.12031204253435135 + ], + [ + 0.30041366815567017, + -0.028672661632299423, + 0.11704578995704651 + ], + [ + 0.3004986345767975, + -0.06918615847826004, + 0.11469990760087967 + ], + [ + 0.30333375930786133, + -0.09718673676252365, + 0.10792450606822968 + ], + [ + 0.3038947284221649, + -0.13346216082572937, + 0.09096650034189224 + ], + [ + 0.31458789110183716, + -0.15633860230445862, + 0.0727272778749466 + ], + [ + 0.3204941749572754, + -0.16650889813899994, + 0.06924363225698471 + ], + [ + 0.3212115168571472, + -0.1701776534318924, + 0.07033618539571762 + ], + [ + 0.3234671652317047, + -0.16983741521835327, + 0.070334792137146 + ], + [ + 0.3186153471469879, + -0.16109225153923035, + 0.05961326137185097 + ], + [ + 0.31553220748901367, + -0.1480669379234314, + 0.05565780773758888 + ], + [ + 0.31213995814323425, + -0.13443045318126678, + 0.052755437791347504 + ], + [ + 0.3160546123981476, + -0.10490718483924866, + 0.051716506481170654 + ], + [ + 0.3264564275741577, + -0.06060686334967613, + 0.05494612827897072 + ], + [ + 0.32465875148773193, + -0.02812233194708824, + 0.05425300821661949 + ], + [ + 0.3218141496181488, + 0.029806548729538918, + 0.05514964833855629 + ], + [ + 0.32197192311286926, + 0.06126456707715988, + 0.052639469504356384 + ], + [ + 0.31778186559677124, + 0.11054986715316772, + 0.052105531096458435 + ], + [ + 0.3072757124900818, + 0.14829817414283752, + 0.05553577467799187 + ], + [ + 0.3060501515865326, + 0.168934628367424, + 0.05950033292174339 + ], + [ + 0.30586913228034973, + 0.17327746748924255, + 0.06638573855161667 + ], + [ + 0.30082792043685913, + 0.1551319658756256, + 0.07249470055103302 + ], + [ + 0.3055568039417267, + 0.12677939236164093, + 0.10238717496395111 + ], + [ + 0.3100028932094574, + 0.09213230013847351, + 0.1092817559838295 + ], + [ + 0.31964924931526184, + 0.06225452944636345, + 0.10582143068313599 + ], + [ + 0.3347725570201874, + 0.04022090137004852, + 0.08892888575792313 + ], + [ + 0.3440256714820862, + 0.028184965252876282, + 0.0742274671792984 + ], + [ + 0.3561128079891205, + 0.024208104237914085, + 0.06272280216217041 + ], + [ + 0.36744213104248047, + 0.02824006974697113, + 0.05715198442339897 + ], + [ + 0.3738583028316498, + 0.03404677286744118, + 0.05649002268910408 + ], + [ + 0.37483614683151245, + 0.052422091364860535, + 0.05573078989982605 + ], + [ + 0.3750016391277313, + 0.07800056785345078, + 0.055900346487760544 + ], + [ + 0.3655272424221039, + 0.0980396494269371, + 0.05523783341050148 + ], + [ + 0.3522014915943146, + 0.12485840171575546, + 0.06077934801578522 + ], + [ + 0.34545838832855225, + 0.13396091759204865, + 0.06927740573883057 + ], + [ + 0.3430177867412567, + 0.13835488259792328, + 0.0708586797118187 + ], + [ + 0.3353823721408844, + 0.12543870508670807, + 0.08240970224142075 + ], + [ + 0.32567963004112244, + 0.09401802718639374, + 0.08987133204936981 + ], + [ + 0.30581018328666687, + 0.057859502732753754, + 0.09589745849370956 + ], + [ + 0.2834596633911133, + 0.036187343299388885, + 0.08128251135349274 + ], + [ + 0.26723408699035645, + 0.02185630425810814, + 0.06484484672546387 + ], + [ + 0.25812992453575134, + 0.02092045173048973, + 0.04820002615451813 + ], + [ + 0.2552078664302826, + 0.031884610652923584, + 0.04464932903647423 + ], + [ + 0.2560375928878784, + 0.03946507349610329, + 0.043602354824543 + ], + [ + 0.2636960446834564, + 0.04976152628660202, + 0.0446416474878788 + ], + [ + 0.2724767029285431, + 0.08333441615104675, + 0.04800641909241676 + ], + [ + 0.28051355481147766, + 0.11447838693857193, + 0.05083349719643593 + ], + [ + 0.2798979580402374, + 0.14476452767848969, + 0.05692651867866516 + ], + [ + 0.28437885642051697, + 0.16448155045509338, + 0.06124164164066315 + ], + [ + 0.28318020701408386, + 0.14998312294483185, + 0.0633273795247078 + ], + [ + 0.2842082977294922, + 0.09952061623334885, + 0.08186570554971695 + ], + [ + 0.2893616855144501, + 0.05291000381112099, + 0.0978676900267601 + ], + [ + 0.2948162853717804, + 0.002709469525143504, + 0.09778672456741333 + ], + [ + 0.30952370166778564, + -0.03775837644934654, + 0.08954930305480957 + ], + [ + 0.3207826316356659, + -0.07330860197544098, + 0.06989496201276779 + ], + [ + 0.32881227135658264, + -0.07253129035234451, + 0.06098007410764694 + ], + [ + 0.3297268748283386, + -0.07271693646907806, + 0.061227813363075256 + ], + [ + 0.3230457603931427, + -0.061311542987823486, + 0.05918759107589722 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9576602406084925, + 0.16958826537821012, + 0.23265142123721136, + 0.19357518521823588, + -0.977456388107891, + -0.08430692151183095, + 0.21310915331212374, + 0.12577292869726028, + -0.9688991997011371 + ], + [ + 0.9634720048778411, + 0.17893524205307804, + 0.19925831216809853, + 0.19635850899257856, + -0.9779397420003226, + -0.07125445222969212, + 0.18211268973601064, + 0.10777773502791946, + -0.9773530212105382 + ], + [ + 0.9596947826040524, + 0.20724452176819322, + 0.18983053610953435, + 0.21522572257178144, + -0.9763117833256597, + -0.02220788335083855, + 0.1807313270742372, + 0.06216920408484235, + -0.9815656765990964 + ], + [ + 0.9637062187684581, + 0.21583416046131318, + 0.15711759635687245, + 0.21482514852182275, + -0.976367775340914, + 0.023582256855763983, + 0.1584944146321181, + 0.011026443388262065, + -0.9872983024783482 + ], + [ + 0.9598034095442982, + 0.22734205310388397, + 0.1645995319484576, + 0.2261867260443092, + -0.973737381501889, + 0.02598224061164701, + 0.16618357316081855, + 0.012292386113188166, + -0.986018213450009 + ], + [ + 0.9585738028826681, + 0.2250932571711848, + 0.1745545473573403, + 0.2249082916581092, + -0.9741513758910709, + 0.02110348769667527, + 0.17479280525951288, + 0.019029514591804318, + -0.9844213289054183 + ], + [ + 0.9595921567969927, + 0.2263265230226908, + 0.16721004033895587, + 0.22538751739535534, + -0.9739528249512377, + 0.024826634324094078, + 0.16847361697326446, + 0.013863612298506791, + -0.985608665058289 + ], + [ + 0.9585378974458407, + 0.2318268213907796, + 0.16571488781625654, + 0.23089789248162507, + -0.9726536530227521, + 0.025120400256359907, + 0.1670067735382335, + 0.014184362704873379, + -0.9858537119912902 + ], + [ + 0.9572480949620756, + 0.2348404866152935, + 0.1688965083646466, + 0.23406853906847952, + -0.9719048983999494, + 0.02475454472478871, + 0.16996471313135747, + 0.01583711818722256, + -0.9853228820938339 + ], + [ + 0.9588166906427033, + 0.23222890575780236, + 0.16352458248076535, + 0.2312073059774008, + -0.9725697096137806, + 0.025521395033168512, + 0.16496586133999802, + 0.013337738650169274, + -0.9862090900615612 + ], + [ + 0.9556216681875201, + 0.24475743286973647, + 0.1639543422588061, + 0.24371214679958844, + -0.9694778741453259, + 0.026777622093745537, + 0.16550412923198357, + 0.014368388833688007, + -0.9861044227714867 + ], + [ + 0.957560317145841, + 0.24371893447129178, + 0.15388086303285248, + 0.2418240687407649, + -0.9698181983662767, + 0.031205478609560314, + 0.15684182734595747, + 0.007330968405886417, + -0.9875965259644313 + ], + [ + 0.9598941883370528, + 0.24579179661711187, + 0.13486860239686166, + 0.24239078232373668, + -0.9692974151183946, + 0.04134283117162335, + 0.14088951643481978, + -0.006993837325156918, + -0.9900006214130532 + ], + [ + 0.9599883415405023, + 0.24612531451965255, + 0.13358410705962648, + 0.243083597077517, + -0.9692258743428535, + 0.038878906056965465, + 0.1390422559446265, + -0.004851191290093131, + -0.9902745664738117 + ], + [ + 0.9577828340322606, + 0.25168908189266476, + 0.13894117060525682, + 0.2502948334921717, + -0.9677730860472955, + 0.027708306509431804, + 0.14143740368183258, + 0.00823771682701204, + -0.9899129258986473 + ], + [ + 0.9573221138982457, + 0.2542694479724566, + 0.1374096724003674, + 0.2544968895645395, + -0.9669377499709677, + 0.016208666911776214, + 0.1369879682430858, + 0.019453418950521696, + -0.990381674430503 + ], + [ + 0.9560439891288375, + 0.262827032837831, + 0.13000708311580964, + 0.2654989468133901, + -0.964105324163759, + -0.003351590678135216, + 0.1244596323777312, + 0.03772101176737974, + -0.9915074004664036 + ], + [ + 0.9538823685752361, + 0.272149700949142, + 0.12666083528301197, + 0.27501918452012414, + -0.9614235358094292, + -0.005406749261939986, + 0.1203032629116251, + 0.03999156242244344, + -0.9919313483643051 + ], + [ + 0.9543580677442552, + 0.2761281372908654, + 0.11381533432595208, + 0.2788592151679329, + -0.9602943905260262, + -0.00849833161109434, + 0.1069495986312045, + 0.039848906139624815, + -0.9934655746587796 + ], + [ + 0.9586281787758981, + 0.26162281059182185, + 0.11218520327939974, + 0.263873282991066, + -0.9645420199604708, + -0.005438957077536005, + 0.106784387343475, + 0.03481661541003394, + -0.9936724298837462 + ], + [ + 0.9544676376169798, + 0.26747563103142763, + 0.13209207223070385, + 0.2695855708308525, + -0.9629744032785786, + 0.001979552997282391, + 0.12773076662130117, + 0.03372069742169075, + -0.9912354744578755 + ], + [ + 0.9563445616447949, + 0.25007476100374143, + 0.151220677558813, + 0.25093996915307765, + -0.9679064302552396, + 0.01364822889649126, + 0.14978054377614372, + 0.024894902680673285, + -0.9884058035678677 + ], + [ + 0.9604563302260477, + 0.23954281714478806, + 0.14192560192950293, + 0.24044742231570024, + -0.9705998502701534, + 0.010998534324675673, + 0.1403875878788734, + 0.02356203322920994, + -0.9898162232251283 + ], + [ + 0.9641195042898635, + 0.227198791986606, + 0.13731092588608657, + 0.22787440488097668, + -0.9736285087192893, + 0.0109901141574144, + 0.13618677266169482, + 0.020693862106412494, + -0.9904670247025451 + ], + [ + 0.9532221298698126, + 0.26089908753618496, + 0.1526408767311155, + 0.2593491468352117, + -0.9653070984286871, + 0.030335223075429206, + 0.15525975383951016, + 0.010671075202357024, + -0.987816044105237 + ], + [ + 0.9494660269340746, + 0.2748401045689203, + 0.15158225693849625, + 0.27177061116589885, + -0.9614873232021921, + 0.041022703811393904, + 0.15701910267396502, + 0.0022459390081839385, + -0.9875930118998587 + ], + [ + 0.9534070005273927, + 0.2735619963221462, + 0.12719640526996928, + 0.27085803873184056, + -0.9618518854787704, + 0.03843010870756357, + 0.13285711949195994, + -0.0021873658076555884, + -0.9911327868813152 + ], + [ + 0.9551884429847287, + 0.2870814962918049, + 0.07210584494524773, + 0.2867656740087172, + -0.9578845949735395, + 0.014918140725444732, + 0.07335180024195585, + 0.0064278456139274, + -0.9972854136113832 + ], + [ + 0.9620389104680895, + 0.2668583978315638, + 0.05716406434240415, + 0.2706510989319137, + -0.9598116531492727, + -0.07422649881146276, + 0.03505877054774088, + 0.08688029687812684, + -0.9956016756826245 + ], + [ + 0.9632445906944527, + 0.24258539347195254, + 0.11537844413899186, + 0.2588806520006389, + -0.9529516375119096, + -0.1576831778697214, + 0.07169844152839443, + 0.18175671497204188, + -0.9807261748546183 + ], + [ + 0.9650916211935522, + 0.21339133062167923, + 0.15186277594430508, + 0.24450945559186552, + -0.9418846297698298, + -0.23036594871968405, + 0.09387911816890152, + 0.2594561315884821, + -0.9611811624001844 + ], + [ + 0.9800474067009143, + 0.1545756355102826, + 0.12495380556591805, + 0.1861700007430119, + -0.9340914313722747, + -0.3046537849104164, + 0.06962622668334072, + 0.32183780191812084, + -0.9442312311157436 + ], + [ + 0.9826297579709092, + 0.15232371231616487, + 0.10600115761751876, + 0.1786649014517651, + -0.9309529890246768, + -0.31844212223770024, + 0.05017580830702052, + 0.3318493918816812, + -0.9419970113373476 + ], + [ + 0.978751954079775, + 0.17090764326765082, + 0.11329249691713494, + 0.19939196475476265, + -0.922163565497526, + -0.33144713433687345, + 0.04782736430389114, + 0.34699414395863704, + -0.9366470024946192 + ], + [ + 0.9820574442764772, + 0.1479105750174276, + 0.11698563133636194, + 0.17907054727651178, + -0.9259326547125099, + -0.33253940824379596, + 0.059134721097201644, + 0.347521482408005, + -0.9358054840754558 + ], + [ + 0.9758729387501397, + 0.16541645434133714, + 0.14251106640645772, + 0.20354417253105608, + -0.9254127435447801, + -0.31965766675237123, + 0.07900491911149045, + 0.3409525637358703, + -0.9367548089218029 + ], + [ + 0.9739577656197513, + 0.16744207034214229, + 0.15287061152660766, + 0.20753565557997014, + -0.9298850443447111, + -0.3037149254926847, + 0.09129743946011804, + 0.3275316128003098, + -0.940418959913322 + ], + [ + 0.9674497499038914, + 0.18951503224552896, + 0.16770519957316293, + 0.2305948018727793, + -0.933170028422884, + -0.27571676663287614, + 0.10424499393329134, + 0.305414064191894, + -0.9464962919280973 + ], + [ + 0.9651601491293789, + 0.19738671141852218, + 0.17176836928822636, + 0.23813367358416418, + -0.9346635809570135, + -0.26400065139677836, + 0.10843541874252256, + 0.2957067408565344, + -0.9491044638890603 + ], + [ + 0.9636765414980326, + 0.19486199755141578, + 0.1826371410109745, + 0.23928157541841003, + -0.9337003900191226, + -0.26636048757918634, + 0.1186248331154751, + 0.30038705629306023, + -0.9464120484122734 + ], + [ + 0.9639333819701758, + 0.17649873639877356, + 0.19919997784431523, + 0.2259195684434851, + -0.9382875562970313, + -0.2618717439748988, + 0.14068682851585249, + 0.2974300888406917, + -0.9443212157599603 + ], + [ + 0.9650973736872568, + 0.17796901854028235, + 0.19213039255091316, + 0.22303927918906613, + -0.9430442765056373, + -0.24682174233397852, + 0.13726084380033934, + 0.2810596395603035, + -0.9498236361395999 + ], + [ + 0.9624582029708937, + 0.16514784452228976, + 0.2154075137586426, + 0.2160879585476781, + -0.9464480977071081, + -0.2398791206364018, + 0.16425651190968094, + 0.2774205972818854, + -0.9466031959057749 + ], + [ + 0.9558631465303968, + 0.15598119983676492, + 0.24898897646781973, + 0.21534089369244222, + -0.9484520057225191, + -0.23252331570118093, + 0.19988482836060764, + 0.27587797689995835, + -0.9401794494950614 + ], + [ + 0.9600386346486542, + 0.17441487546269344, + 0.21887272831323853, + 0.2211508349110037, + -0.9520619052909876, + -0.21135381877756626, + 0.1715171367534847, + 0.2513117182127158, + -0.9525882069860295 + ], + [ + 0.9482274061190709, + 0.22842920938353956, + 0.22064651047571465, + 0.2704752321881671, + -0.9449666599876042, + -0.184068357640928, + 0.1664570066337122, + 0.2342180774668824, + -0.9578277283156202 + ], + [ + 0.960067908806597, + 0.19858927140101232, + 0.19705814310538686, + 0.22952932580972377, + -0.9618355365784133, + -0.1489586827554874, + 0.15995592853364868, + 0.18824107378394156, + -0.9690094937964268 + ], + [ + 0.9532241507709539, + 0.23524962804266408, + 0.18979286312393853, + 0.2574908012561623, + -0.9608560762502416, + -0.10224523461486867, + 0.15831047234928394, + 0.1463325433346192, + -0.9764858325166672 + ], + [ + 0.956370712951441, + 0.2150755226998211, + 0.19773107733523024, + 0.2298547439771318, + -0.9716790970929865, + -0.05483182418783318, + 0.1803381714445371, + 0.09788897694815789, + -0.9787215600527474 + ], + [ + 0.9584444212179463, + 0.21452883797615652, + 0.18804698644965126, + 0.22317671688896762, + -0.9744356192580965, + -0.02583364007937855, + 0.17769762090376154, + 0.06672781727053008, + -0.9818202248515017 + ], + [ + 0.9607053486938675, + 0.21439049941125352, + 0.17630072816975967, + 0.22248357447718534, + -0.9745552889162644, + -0.02725890557580996, + 0.16597075669782585, + 0.06541179257236046, + -0.9839588433027173 + ], + [ + 0.9561580588283933, + 0.22518688836688502, + 0.18722348101976627, + 0.23550497367956305, + -0.9712594887023601, + -0.03453133327600149, + 0.17406657895675154, + 0.0771094735636941, + -0.9817102195541325 + ], + [ + 0.9561661967125564, + 0.2239386236090751, + 0.1886735199234855, + 0.237905120929748, + -0.9697492752146898, + -0.05465799718235132, + 0.17072597253975993, + 0.09714852585941253, + -0.9805176215773465 + ], + [ + 0.9604963218489975, + 0.2212902675340211, + 0.16875257985959552, + 0.24887887065969827, + -0.9543646611983947, + -0.16506786845060778, + 0.12452358593335228, + 0.20054603199862958, + -0.9717382186555721 + ], + [ + 0.9545440379053619, + 0.22032320203427752, + 0.20075698330242495, + 0.2626748659032653, + -0.9401202329502812, + -0.21720005161189704, + 0.14088149105552797, + 0.2600608279669817, + -0.9552595308266227 + ], + [ + 0.9646433462540285, + 0.19493618863343454, + 0.1773784002884809, + 0.23612294387134825, + -0.9381949222848095, + -0.2530538345422345, + 0.11708616444891619, + 0.28598980779054084, + -0.9510523959985437 + ], + [ + 0.9673090289902239, + 0.18838192784858016, + 0.16978071649643303, + 0.22741468747279037, + -0.940630116194823, + -0.2519871910017781, + 0.11223102225161677, + 0.2823601136268468, + -0.9527208215825824 + ], + [ + 0.964413562321129, + 0.20379247110770554, + 0.16844913039515746, + 0.23759838929032961, + -0.9474931866756428, + -0.21401791189028171, + 0.11598916422541694, + 0.24642501886588222, + -0.962196042321542 + ], + [ + 0.9645807113804966, + 0.2037077718210025, + 0.1675923474757071, + 0.23497979668774857, + -0.9522425420764365, + -0.19498368190284812, + 0.11986887161094043, + 0.2274583143337018, + -0.9663819994490748 + ], + [ + 0.961394334686259, + 0.21163293620622026, + 0.17587618811510292, + 0.24238034383062124, + -0.9538761390559821, + -0.17712165385463816, + 0.13027932360015915, + 0.21291268551306738, + -0.9683467799243711 + ], + [ + 0.9563793305514823, + 0.22656980889013117, + 0.1844036273867417, + 0.2564235416347968, + -0.9535025701884675, + -0.15836608203606725, + 0.1399483597237441, + 0.19874347874452683, + -0.9700079825790907 + ], + [ + 0.9523903613172192, + 0.23672871784853816, + 0.19212525553878645, + 0.26700618206285226, + -0.9518252902810361, + -0.15078566086216771, + 0.14717438095767815, + 0.1949054409892368, + -0.9697172632589953 + ], + [ + 0.9432071752986434, + 0.2647794063051086, + 0.20062923630883975, + 0.294753392559084, + -0.9455895586218844, + -0.13777091202492733, + 0.15323401071584794, + 0.18908266081791827, + -0.9699314848678495 + ], + [ + 0.9234223808022932, + 0.3072887612346694, + 0.22992329993344965, + 0.3349334618853521, + -0.9377517461243873, + -0.09187621427854063, + 0.1873784479146898, + 0.16184955934300604, + -0.9688622386064785 + ], + [ + 0.9172309918407753, + 0.32340845061047335, + 0.2325817741795796, + 0.34884945025392305, + -0.9340102288630248, + -0.07699969764080884, + 0.19233140321934855, + 0.1517625331001473, + -0.9695239888123982 + ], + [ + 0.9007224992506573, + 0.3573041382128486, + 0.2470480361379614, + 0.381989817504995, + -0.9222938037862534, + -0.05880407145755067, + 0.20683993489205726, + 0.14733598444866655, + -0.9672173225394549 + ], + [ + 0.8851165543264242, + 0.3581243017946345, + 0.29717952439800377, + 0.3739338855669285, + -0.9274470594732694, + 0.00392442342325814, + 0.2770237074369941, + 0.10765192213096522, + -0.9548135572871654 + ], + [ + 0.8792322461346433, + 0.3682431218956908, + 0.30223775497701405, + 0.38548624752707333, + -0.9227093011986527, + 0.0028104179386985104, + 0.2799125047662682, + 0.11403748795027718, + -0.953228430659443 + ], + [ + 0.8947814738350659, + 0.34851993860393704, + 0.27910565468484416, + 0.38102918594403457, + -0.9218801542101345, + -0.07038281560384771, + 0.23277214940875945, + 0.1693246398756155, + -0.9576775515749649 + ], + [ + 0.9385326165142847, + 0.2890327785898333, + 0.18872355613301417, + 0.32647994528650953, + -0.9208044030386341, + -0.21337782609817302, + 0.11210429547777508, + 0.26187650571463034, + -0.9585683714217399 + ], + [ + 0.9736250013652856, + 0.19404392344978816, + 0.12000546857814673, + 0.22194204453156252, + -0.9274205151017301, + -0.3010530136663506, + 0.052878025545567926, + 0.31974699989312605, + -0.9460263053814877 + ], + [ + 0.9891196197740424, + 0.12186074548288704, + 0.08241563254874217, + 0.14220769783241657, + -0.9354762569224908, + -0.3235137453207985, + 0.03767424126984335, + 0.3317139301335435, + -0.9426274556260817 + ], + [ + 0.9951915292274601, + 0.062459092012972596, + 0.07544986400799214, + 0.08354290278978072, + -0.9433956473147743, + -0.32097544457636534, + 0.051131238468931445, + 0.3257353441867387, + -0.9440773707700976 + ], + [ + 0.9921609500731706, + -0.004349856068736224, + 0.1248908639656412, + 0.033445679319943494, + -0.9536930256169197, + -0.29891637530331533, + 0.12040778913646127, + 0.3007502146995514, + -0.946071494483077 + ], + [ + 0.9820586228893906, + -0.030452177308019135, + 0.1861008492882132, + 0.022584748906326627, + -0.9607787017004729, + -0.27639503518621955, + 0.1872185629830318, + 0.2756391685808719, + -0.9428532539152706 + ], + [ + 0.9762960873116848, + -0.04093113070306396, + 0.21253374423668392, + 0.015029849404595392, + -0.9667643474475824, + -0.25522695808069684, + 0.21591677453771546, + 0.25237143071991985, + -0.9432330610350819 + ], + [ + 0.9769857624754917, + -0.02472886819016458, + 0.21186623845770125, + 0.031099920498259243, + -0.9661292078529149, + -0.25617796290567474, + 0.21102515220983498, + 0.2568712455911186, + -0.9431254149492968 + ], + [ + 0.9746276561564573, + 0.028264568635923165, + 0.22204064045754135, + 0.07557826172027816, + -0.9752908874180558, + -0.20759482477808, + 0.21068663510130653, + 0.21910910314070886, + -0.9526816586407878 + ], + [ + 0.9715793462322325, + 0.07773413678546025, + 0.2235866229298329, + 0.11453873622427817, + -0.9809884734652792, + -0.15666043799379212, + 0.20715803599931415, + 0.17781737515350102, + -0.9620117094996434 + ], + [ + 0.9649955173838438, + 0.1109131123351305, + 0.23765927909766577, + 0.13731795481148557, + -0.9857121688202362, + -0.09754639678684658, + 0.22344446897490722, + 0.12676672178391624, + -0.9664381860898714 + ], + [ + 0.9516350391382165, + 0.14976365114722082, + 0.2682565955935826, + 0.15701047895347273, + -0.987580832193115, + -0.005639980811650208, + 0.2640804077988492, + 0.04748629991700998, + -0.9633309864926932 + ], + [ + 0.9566579655971768, + 0.15322339190866172, + 0.2476451675916097, + 0.1709227236104129, + -0.983937890474723, + -0.05149417677515718, + 0.2357773513573138, + 0.0915905009275383, + -0.96748138004138 + ], + [ + 0.9653149476878179, + 0.10949285996471436, + 0.23701975737733924, + 0.1475539070969698, + -0.9777235872878397, + -0.14927970847177024, + 0.21539474522579263, + 0.17907512523448182, + -0.9599672928029217 + ], + [ + 0.970154028368658, + 0.1066001764876249, + 0.21780166118023928, + 0.15017148688756002, + -0.9693438604464222, + -0.19447623181460008, + 0.1903935024260122, + 0.2213794990229084, + -0.9564211580921459 + ], + [ + 0.975973088489668, + 0.11322569380090367, + 0.1861624903336936, + 0.14784061676747776, + -0.9717350359826638, + -0.18404937347783307, + 0.16006149623738475, + 0.207149612857652, + -0.9651266006670702 + ], + [ + 0.9588130082802991, + 0.18483162851998006, + 0.21567309579809688, + 0.21142285318326967, + -0.9714804148506061, + -0.10736005175827679, + 0.189678655373578, + 0.14853643546398426, + -0.970545689308507 + ], + [ + 0.9596719041810798, + 0.16979016543106415, + 0.22405610022570807, + 0.18836286105665942, + -0.9800025722237202, + -0.06414351884206204, + 0.20868461586808526, + 0.10376058094374865, + -0.9724630959281724 + ], + [ + 0.9500898393830806, + 0.18111464347280917, + 0.254021225531942, + 0.19888117722084628, + -0.978949371344426, + -0.045873801800196956, + 0.24036550178485025, + 0.0941042733571151, + -0.9661101444905994 + ], + [ + 0.9512840137375443, + 0.16701775849843684, + 0.25915978382755556, + 0.18586644119035448, + -0.9813103625146546, + -0.049836116026325705, + 0.24599266502605313, + 0.0955774072023024, + -0.9645478567628799 + ], + [ + 0.9619388512939033, + 0.1881287989934108, + 0.19819485704897277, + 0.2059551343356433, + -0.9758081206131886, + -0.07335526147553541, + 0.17959991373091755, + 0.11138252436829525, + -0.9774138346950043 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0020810067653656006, + 0.0009418874979019165, + -0.012928321957588196, + 0.019256919622421265, + 0.03162147104740143, + 0.0016034990549087524, + 1.0 + ], + [ + -0.000762641429901123, + 0.007520571351051331, + -0.004842214286327362, + 0.04657907783985138, + 0.0014046728610992432, + 0.019564896821975708, + 1.0 + ], + [ + -0.0031074881553649902, + 0.006531313061714172, + -0.003674544394016266, + 0.05208444967865944, + 0.022564366459846497, + -0.0012849271297454834, + 1.0 + ], + [ + 0.001556307077407837, + 0.000250793993473053, + -0.0008438900113105774, + -0.0012982115149497986, + -0.007792547345161438, + 0.01210719347000122, + 1.0 + ], + [ + -0.001677483320236206, + -0.007382914423942566, + -0.006197698414325714, + -0.006862206384539604, + -0.008737176656723022, + -0.000977352261543274, + 1.0 + ], + [ + -0.0010776519775390625, + -0.002803318202495575, + -0.004721842706203461, + 0.005263139493763447, + 0.00641438364982605, + 0.00023733079433441162, + 1.0 + ], + [ + 0.00042241811752319336, + -0.00020781904458999634, + -0.002138979732990265, + -0.00032179150730371475, + 0.00148792564868927, + 0.005685329437255859, + 1.0 + ], + [ + 2.4110078811645508e-05, + 0.0001272931694984436, + -0.0009446516633033752, + -0.0016847345978021622, + -0.0030008405447006226, + 0.003434509038925171, + 1.0 + ], + [ + 0.00024509429931640625, + 0.002512209117412567, + -0.0006654486060142517, + 0.0025482140481472015, + 0.0050704628229141235, + -0.003195717930793762, + 1.0 + ], + [ + 0.0022361278533935547, + 0.0061149150133132935, + 1.659989356994629e-05, + -0.0010464023798704147, + -0.0005457699298858643, + 0.013086214661598206, + 1.0 + ], + [ + -0.0018945932388305664, + 0.002475723624229431, + -0.0019446909427642822, + 0.007146924734115601, + 0.008777081966400146, + -0.002337530255317688, + 1.0 + ], + [ + -0.0035568177700042725, + 0.008951656520366669, + -0.00580134242773056, + 0.01448726374655962, + 0.016132250428199768, + -2.2217631340026855e-05, + 1.0 + ], + [ + -0.0013151168823242188, + 0.0016063004732131958, + -0.0030607320368289948, + -0.002165564801543951, + 0.0018656253814697266, + 0.0006550401449203491, + 0.0 + ], + [ + 0.0006253421306610107, + -0.0006144717335700989, + -0.0009432397782802582, + -0.01322026178240776, + -0.0024190545082092285, + 0.007608547806739807, + 0.0 + ], + [ + 0.00014060735702514648, + 0.0012980028986930847, + -0.0010722950100898743, + -0.011318353936076164, + 0.004493191838264465, + 0.004221826791763306, + 0.0 + ], + [ + 0.0002697110176086426, + 0.0029135867953300476, + 3.986060619354248e-06, + -0.01838594675064087, + 0.012636862695217133, + 0.01104724407196045, + 0.0 + ], + [ + 0.0027492642402648926, + 0.011047199368476868, + 0.00026513636112213135, + -0.002269275486469269, + 0.004187852144241333, + 0.009822994470596313, + 0.0 + ], + [ + 0.001142352819442749, + 0.01723642647266388, + -0.001570969820022583, + 0.0002055242657661438, + 0.013440817594528198, + 0.003578484058380127, + 0.0 + ], + [ + -0.0038808584213256836, + 0.0171017125248909, + -0.002342402935028076, + 0.005065523087978363, + 0.00016616284847259521, + -0.01567232608795166, + 0.0 + ], + [ + -0.004515498876571655, + 0.025463886559009552, + -0.0013926587998867035, + 0.0010182522237300873, + -0.021092288196086884, + 0.006666272878646851, + 0.0 + ], + [ + -0.014077574014663696, + 0.028015639632940292, + -0.0008145682513713837, + 0.008824141696095467, + -0.022265642881393433, + -0.018665403127670288, + 0.0 + ], + [ + -0.01145961880683899, + 0.033057644963264465, + -3.3970922231674194e-05, + 0.0013816431164741516, + 0.009493440389633179, + -0.01130475103855133, + 0.0 + ], + [ + -0.0034096837043762207, + 0.030171211808919907, + -0.00030114129185676575, + 0.002909962087869644, + 0.004241570830345154, + -0.013209685683250427, + 0.0 + ], + [ + 0.009608417749404907, + 0.03399880230426788, + -0.0010015256702899933, + 0.010087721049785614, + -0.01927909255027771, + 0.0335504412651062, + 0.0 + ], + [ + 0.007525116205215454, + 0.025804363191127777, + 0.0011011622846126556, + 0.008528124541044235, + -0.0017811954021453857, + 0.013135164976119995, + 0.0 + ], + [ + -0.0018281936645507812, + 0.017559096217155457, + 0.0021098554134368896, + 0.00448108185082674, + 0.02442048490047455, + -0.0019793808460235596, + 0.0 + ], + [ + -0.010099202394485474, + 0.01882241666316986, + 0.009084243327379227, + -0.008652184158563614, + 0.05983336269855499, + 0.014855831861495972, + 0.0 + ], + [ + -0.004535973072052002, + -0.011116370558738708, + 0.007054131478071213, + -0.0805983617901802, + 0.03835178166627884, + -0.017415404319763184, + 0.0 + ], + [ + -0.0021195709705352783, + -0.02003614604473114, + 0.036458954215049744, + -0.09620596468448639, + -0.036694057285785675, + -0.01168745756149292, + 0.0 + ], + [ + -0.005531400442123413, + -0.027538366615772247, + 0.02555079013109207, + -0.08040137588977814, + -0.022257551550865173, + -0.014422282576560974, + 0.0 + ], + [ + -0.004544615745544434, + -0.04968210309743881, + -0.0010018497705459595, + -0.06484603881835938, + 0.02433495968580246, + -0.060408979654312134, + 0.0 + ], + [ + -0.0006693601608276367, + -0.04982331022620201, + -0.006912164390087128, + -0.010210096836090088, + 0.0194857195019722, + -0.007865160703659058, + 0.0 + ], + [ + 0.0033468902111053467, + -0.03481680154800415, + -0.00326625257730484, + -0.016081035137176514, + 0.0023512691259384155, + 0.021112143993377686, + 0.0 + ], + [ + 8.496642112731934e-05, + -0.04051349684596062, + -0.0023458823561668396, + -0.0007882118225097656, + -0.011323623359203339, + -0.0206097811460495, + 0.0 + ], + [ + 0.0028351247310638428, + -0.02800057828426361, + -0.006775401532649994, + 0.006508886814117432, + -0.01991809904575348, + 0.02526770532131195, + 0.0 + ], + [ + 0.0005609691143035889, + -0.03627542406320572, + -0.016958005726337433, + 0.01392337679862976, + -0.01233740895986557, + 0.004316478967666626, + 0.0 + ], + [ + 0.010693162679672241, + -0.022876441478729248, + -0.018239222466945648, + 0.023013263940811157, + -0.013009980320930481, + 0.02404242753982544, + 0.0 + ], + [ + 0.005906283855438232, + -0.01017029583454132, + -0.0034836456179618835, + 0.010098934173583984, + -0.004214324057102203, + 0.00791102647781372, + 0.0 + ], + [ + 0.0007173418998718262, + -0.003668755292892456, + 0.0010925531387329102, + -0.005306839942932129, + -0.010255768895149231, + 0.0014803260564804077, + 0.0 + ], + [ + 0.002255648374557495, + 0.00034023821353912354, + -1.3932585716247559e-06, + 0.002207845449447632, + -0.022250287234783173, + -0.013161391019821167, + 0.0 + ], + [ + -0.004851818084716797, + 0.008745163679122925, + -0.010721530765295029, + 0.01743316650390625, + 0.003459557890892029, + -0.0030992478132247925, + 0.0 + ], + [ + -0.003083139657974243, + 0.01302531361579895, + -0.003955453634262085, + 0.0026111602783203125, + -0.027308687567710876, + -0.006263658404350281, + 0.0 + ], + [ + -0.003392249345779419, + 0.013636484742164612, + -0.002902369946241379, + -0.0003329813480377197, + -0.03623613715171814, + 0.000730559229850769, + 0.0 + ], + [ + 0.00391465425491333, + 0.029523268342018127, + -0.0010389313101768494, + 0.027476787567138672, + 0.028870955109596252, + 0.004821687936782837, + 0.0 + ], + [ + 0.010401815176010132, + 0.044300321489572525, + 0.003229621797800064, + 0.018118441104888916, + 0.005133971571922302, + 0.0514572411775589, + 0.0 + ], + [ + -0.0017976760864257812, + 0.03248453140258789, + -0.0006931200623512268, + 0.04795272648334503, + 0.006589442491531372, + -0.04319263994693756, + 0.0 + ], + [ + -0.00284460186958313, + 0.05792888253927231, + 0.0008966401219367981, + 0.043122172355651855, + 0.0016666948795318604, + 0.02915818989276886, + 0.0 + ], + [ + 0.00015777349472045898, + 0.03145802021026611, + -0.0025101788341999054, + 0.049063727259635925, + -0.022350937128067017, + -0.027962401509284973, + 0.0 + ], + [ + -0.0041900575160980225, + 0.04928530007600784, + -0.0005339384078979492, + 0.03182664513587952, + 0.0026839077472686768, + -0.007090628147125244, + 0.0 + ], + [ + -0.010506153106689453, + 0.0377483069896698, + 0.003430243581533432, + 0.0014785155653953552, + 0.011904001235961914, + -0.0012045353651046753, + 0.0 + ], + [ + -0.0012255609035491943, + 0.020636454224586487, + 0.003964558243751526, + -0.01200462132692337, + -0.008215457201004028, + 0.01392461359500885, + 0.0 + ], + [ + -0.00018101930618286133, + 0.0043428391218185425, + 0.006885405629873276, + -0.02037137746810913, + 0.0033913850784301758, + 0.002363249659538269, + 0.0 + ], + [ + -0.005041211843490601, + -0.018145501613616943, + 0.006108961999416351, + -0.10476478934288025, + 0.046718746423721313, + 0.009679049253463745, + 0.0 + ], + [ + 0.004728883504867554, + -0.02835257351398468, + 0.02989247441291809, + -0.062278106808662415, + -0.016504064202308655, + 0.014998108148574829, + 0.0 + ], + [ + 0.004446089267730713, + -0.03464709222316742, + 0.0068945810198783875, + -0.026307523250579834, + 0.023996375501155853, + -0.028479576110839844, + 0.0 + ], + [ + 0.009646356105804443, + -0.02987777069211006, + -0.003460325300693512, + 0.003981560468673706, + 0.004887379705905914, + -0.009150266647338867, + 0.0 + ], + [ + 0.015123307704925537, + -0.022033628076314926, + -0.01689254492521286, + 0.037407368421554565, + -0.0037828534841537476, + 0.010648146271705627, + 0.0 + ], + [ + 0.009253114461898804, + -0.012035936117172241, + -0.014701418578624725, + 0.019554466009140015, + -0.003906972706317902, + -0.002601310610771179, + 0.0 + ], + [ + 0.012087136507034302, + -0.003976861014962196, + -0.01150466501712799, + 0.014734983444213867, + -0.010492898523807526, + 0.008012816309928894, + 0.0 + ], + [ + 0.011329323053359985, + 0.004031965509057045, + -0.005570817738771439, + 0.014336958527565002, + -0.009758561849594116, + 0.01499117910861969, + 0.0 + ], + [ + 0.0064161717891693115, + 0.005806703120470047, + -0.0006619617342948914, + 0.0037423372268676758, + -0.0073016732931137085, + 0.01137879490852356, + 0.0 + ], + [ + 0.000977843999862671, + 0.018375318497419357, + -0.0007592327892780304, + 0.005819588899612427, + -0.006129175424575806, + 0.02954930067062378, + 0.0 + ], + [ + 0.00016549229621887207, + 0.02557847648859024, + 0.00016955658793449402, + 0.027006909251213074, + -0.034652531147003174, + 0.04506558179855347, + 0.0 + ], + [ + -0.009474396705627441, + 0.020039081573486328, + -0.0006625130772590637, + 0.010249733924865723, + -0.005044713616371155, + 0.015482813119888306, + 0.0 + ], + [ + -0.013325750827789307, + 0.02681875228881836, + 0.005541514605283737, + 0.004105359315872192, + -0.014806583523750305, + 0.03766751289367676, + 0.0 + ], + [ + -0.006743103265762329, + 0.009102515876293182, + 0.008498057723045349, + 0.038895249366760254, + -0.07235126197338104, + -0.0013773739337921143, + 0.0 + ], + [ + -0.0024406015872955322, + 0.004393965005874634, + 0.0015812739729881287, + -0.0067946165800094604, + -0.0030077695846557617, + 0.013470500707626343, + 0.0 + ], + [ + -0.0076354146003723145, + -0.01291617751121521, + 0.01155102252960205, + -0.05593195557594299, + 0.0487758070230484, + -0.01061740517616272, + 0.0 + ], + [ + -0.009702742099761963, + -0.03142067790031433, + 0.007461629807949066, + -0.09168876707553864, + 0.12258671969175339, + -0.06780862808227539, + 0.0 + ], + [ + -0.019869446754455566, + -0.036158524453639984, + 0.006026126444339752, + -0.05924752354621887, + 0.059437744319438934, + -0.11064434051513672, + 0.0 + ], + [ + -0.02235051989555359, + -0.021672159433364868, + -0.014614947140216827, + -0.012434333562850952, + 0.015219539403915405, + -0.08133114874362946, + 0.0 + ], + [ + -0.016225576400756836, + -0.014331039041280746, + -0.01643766462802887, + 0.006128937005996704, + -0.01347038522362709, + -0.05904329568147659, + 0.0 + ], + [ + -0.009104162454605103, + -0.0009358525276184082, + -0.01664482057094574, + 0.02444949746131897, + -0.06954710185527802, + -0.05005302280187607, + 0.0 + ], + [ + -0.00292205810546875, + 0.010964158922433853, + -0.0035506971180438995, + 0.02337130904197693, + -0.06762922555208206, + -0.01070387288928032, + 0.0 + ], + [ + 0.0008297264575958252, + 0.007580462843179703, + -0.0010469742119312286, + 0.022983640432357788, + -0.029300779104232788, + -0.007599750533699989, + 0.0 + ], + [ + 0.007658451795578003, + 0.010296452790498734, + 0.0010392926633358002, + -0.004475533962249756, + 0.005007043480873108, + 0.016428226605057716, + 0.0 + ], + [ + 0.00878065824508667, + 0.03357288986444473, + 0.003364771604537964, + 0.039851024746894836, + 0.00034630298614501953, + 0.045569125562906265, + 0.0 + ], + [ + 0.00803685188293457, + 0.031143970787525177, + 0.002827078104019165, + 0.04328455030918121, + 0.003608226776123047, + 0.03995669633150101, + 0.0 + ], + [ + -0.0006155967712402344, + 0.030286140739917755, + 0.006093021482229233, + 0.05235178768634796, + -0.01667778193950653, + 0.024002492427825928, + 0.0 + ], + [ + 0.004480898380279541, + 0.0197170227766037, + 0.004315122961997986, + 0.08117040991783142, + -0.04190349578857422, + 0.022167012095451355, + 0.0 + ], + [ + -0.0011986494064331055, + -0.014498427510261536, + 0.002085737884044647, + -0.04513371363282204, + 0.0292319655418396, + 0.013283878564834595, + 0.0 + ], + [ + 0.0010280907154083252, + -0.050462506711483, + 0.018538326025009155, + -0.09003553539514542, + 0.020922347903251648, + -0.02511933445930481, + 0.0 + ], + [ + 0.005153387784957886, + -0.04661061242222786, + 0.016001984477043152, + -0.04303756356239319, + 0.025533080101013184, + 0.0018909275531768799, + 0.0 + ], + [ + 0.005454599857330322, + -0.050200533121824265, + -8.096545934677124e-05, + 0.016033872961997986, + 0.03081001341342926, + -0.0032352954149246216, + 0.0 + ], + [ + 0.014707416296005249, + -0.040467847138643265, + -0.00823742151260376, + 0.05956105887889862, + -0.030081897974014282, + 0.06669445335865021, + 0.0 + ], + [ + 0.011258929967880249, + -0.03555022552609444, + -0.01965434104204178, + 0.04556930065155029, + -0.019394919276237488, + -0.023217186331748962, + 0.0 + ], + [ + 0.008029639720916748, + 0.0007773116230964661, + -0.00891488790512085, + 0.009197555482387543, + -0.0325126051902771, + 0.012534722685813904, + 1.0 + ], + [ + 0.0009146034717559814, + -0.00018564611673355103, + 0.0002477392554283142, + -0.0016689375042915344, + -0.0058013200759887695, + -0.013395309448242188, + 1.0 + ], + [ + -0.006681114435195923, + 0.011405393481254578, + -0.0020402222871780396, + -0.01469893753528595, + 0.06796395778656006, + 0.017965808510780334, + 1.0 + ], + [ + 0.003178894519805908, + 0.006831459701061249, + 0.028885208070278168, + -0.05569641292095184, + 0.05046427249908447, + 0.026271164417266846, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9709111452102661 + ], + [ + 0.6741776466369629 + ], + [ + 0.40327540040016174 + ], + [ + 0.3494465947151184 + ], + [ + 0.3494465947151184 + ], + [ + 0.3494465947151184 + ], + [ + 0.3494465947151184 + ], + [ + 0.3494465947151184 + ], + [ + 0.3494465947151184 + ], + [ + 0.3494465947151184 + ], + [ + 0.3494465947151184 + ], + [ + 0.3494465947151184 + ], + [ + 0.3494465947151184 + ], + [ + 0.3486233055591583 + ], + [ + 0.3486233055591583 + ], + [ + 0.3494465947151184 + ], + [ + 0.3494465947151184 + ], + [ + 0.3494465947151184 + ], + [ + 0.3494465947151184 + ], + [ + 0.3494465947151184 + ], + [ + 0.3486233055591583 + ], + [ + 0.3486233055591583 + ], + [ + 0.3486233055591583 + ], + [ + 0.3494465947151184 + ], + [ + 0.3486233055591583 + ], + [ + 0.3494465947151184 + ], + [ + 0.3494465947151184 + ], + [ + 0.3494465947151184 + ], + [ + 0.3494465947151184 + ], + [ + 0.3494465947151184 + ], + [ + 0.3486233055591583 + ], + [ + 0.3494465947151184 + ], + [ + 0.3486233055591583 + ], + [ + 0.3486233055591583 + ], + [ + 0.3494465947151184 + ], + [ + 0.3486233055591583 + ], + [ + 0.3486233055591583 + ], + [ + 0.3486233055591583 + ], + [ + 0.3494465947151184 + ], + [ + 0.3494465947151184 + ], + [ + 0.3486233055591583 + ], + [ + 0.3486233055591583 + ], + [ + 0.3494465947151184 + ], + [ + 0.3494465947151184 + ], + [ + 0.3486233055591583 + ], + [ + 0.3486233055591583 + ], + [ + 0.3486233055591583 + ], + [ + 0.3494465947151184 + ], + [ + 0.3494465947151184 + ], + [ + 0.3486233055591583 + ], + [ + 0.3494465947151184 + ], + [ + 0.3486233055591583 + ], + [ + 0.3486233055591583 + ], + [ + 0.3486233055591583 + ], + [ + 0.3486233055591583 + ], + [ + 0.3486233055591583 + ], + [ + 0.3486233055591583 + ], + [ + 0.3486233055591583 + ], + [ + 0.3486233055591583 + ], + [ + 0.3486233055591583 + ], + [ + 0.3486233055591583 + ], + [ + 0.3486233055591583 + ], + [ + 0.3486233055591583 + ], + [ + 0.3486233055591583 + ], + [ + 0.3486233055591583 + ], + [ + 0.3486233055591583 + ], + [ + 0.3486233055591583 + ], + [ + 0.3486233055591583 + ], + [ + 0.3486233055591583 + ], + [ + 0.3486233055591583 + ], + [ + 0.3486233055591583 + ], + [ + 0.3486233055591583 + ], + [ + 0.3486233055591583 + ], + [ + 0.3486233055591583 + ], + [ + 0.3918617069721222 + ], + [ + 0.6981924772262573 + ], + [ + 0.9679883122444153 + ], + [ + 1.0047606229782104 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3505852520465851, + -0.12323180586099625, + 0.09089000523090363 + ], + [ + 0.34982261061668396, + -0.11571123450994492, + 0.08604779094457626 + ], + [ + 0.34671512246131897, + -0.10917992144823074, + 0.08237324655056 + ], + [ + 0.3482714295387268, + -0.10892912745475769, + 0.08152935653924942 + ], + [ + 0.3465939462184906, + -0.11631204187870026, + 0.0753316581249237 + ], + [ + 0.34551629424095154, + -0.11911536008119583, + 0.07060981541872025 + ], + [ + 0.34593871235847473, + -0.11932317912578583, + 0.06847083568572998 + ], + [ + 0.3459628224372864, + -0.11919588595628738, + 0.0675261840224266 + ], + [ + 0.3462079167366028, + -0.11668367683887482, + 0.06686073541641235 + ], + [ + 0.34844404458999634, + -0.11056876182556152, + 0.0668773353099823 + ], + [ + 0.34654945135116577, + -0.10809303820133209, + 0.06493264436721802 + ], + [ + 0.3429926335811615, + -0.09914138168096542, + 0.05913130193948746 + ], + [ + 0.3416775166988373, + -0.09753508120775223, + 0.05607056990265846 + ], + [ + 0.3423028588294983, + -0.09814955294132233, + 0.055127330124378204 + ], + [ + 0.34244346618652344, + -0.09685155004262924, + 0.05405503511428833 + ], + [ + 0.3427131772041321, + -0.0939379632472992, + 0.054059021174907684 + ], + [ + 0.345462441444397, + -0.08289076387882233, + 0.054324157536029816 + ], + [ + 0.3466047942638397, + -0.06565433740615845, + 0.05275318771600723 + ], + [ + 0.34272393584251404, + -0.04855262488126755, + 0.050410784780979156 + ], + [ + 0.3382084369659424, + -0.023088738322257996, + 0.04901812598109245 + ], + [ + 0.3241308629512787, + 0.004926901310682297, + 0.04820355772972107 + ], + [ + 0.3126712441444397, + 0.03798454627394676, + 0.048169586807489395 + ], + [ + 0.3092615604400635, + 0.06815575808286667, + 0.04786844551563263 + ], + [ + 0.3188699781894684, + 0.10215456038713455, + 0.046866919845342636 + ], + [ + 0.32639509439468384, + 0.12795892357826233, + 0.04796808212995529 + ], + [ + 0.32456690073013306, + 0.14551801979541779, + 0.05007793754339218 + ], + [ + 0.3144676983356476, + 0.16434043645858765, + 0.05916218087077141 + ], + [ + 0.3099317252635956, + 0.15322406589984894, + 0.06621631234884262 + ], + [ + 0.3078121542930603, + 0.1331879198551178, + 0.10267526656389236 + ], + [ + 0.3022807538509369, + 0.10564955323934555, + 0.12822605669498444 + ], + [ + 0.29773613810539246, + 0.05596745014190674, + 0.12722420692443848 + ], + [ + 0.2970667779445648, + 0.006144138518720865, + 0.12031204253435135 + ], + [ + 0.30041366815567017, + -0.028672661632299423, + 0.11704578995704651 + ], + [ + 0.3004986345767975, + -0.06918615847826004, + 0.11469990760087967 + ], + [ + 0.30333375930786133, + -0.09718673676252365, + 0.10792450606822968 + ], + [ + 0.3038947284221649, + -0.13346216082572937, + 0.09096650034189224 + ], + [ + 0.31458789110183716, + -0.15633860230445862, + 0.0727272778749466 + ], + [ + 0.3204941749572754, + -0.16650889813899994, + 0.06924363225698471 + ], + [ + 0.3212115168571472, + -0.1701776534318924, + 0.07033618539571762 + ], + [ + 0.3234671652317047, + -0.16983741521835327, + 0.070334792137146 + ], + [ + 0.3186153471469879, + -0.16109225153923035, + 0.05961326137185097 + ], + [ + 0.31553220748901367, + -0.1480669379234314, + 0.05565780773758888 + ], + [ + 0.31213995814323425, + -0.13443045318126678, + 0.052755437791347504 + ], + [ + 0.3160546123981476, + -0.10490718483924866, + 0.051716506481170654 + ], + [ + 0.3264564275741577, + -0.06060686334967613, + 0.05494612827897072 + ], + [ + 0.32465875148773193, + -0.02812233194708824, + 0.05425300821661949 + ], + [ + 0.3218141496181488, + 0.029806548729538918, + 0.05514964833855629 + ], + [ + 0.32197192311286926, + 0.06126456707715988, + 0.052639469504356384 + ], + [ + 0.31778186559677124, + 0.11054986715316772, + 0.052105531096458435 + ], + [ + 0.3072757124900818, + 0.14829817414283752, + 0.05553577467799187 + ], + [ + 0.3060501515865326, + 0.168934628367424, + 0.05950033292174339 + ], + [ + 0.30586913228034973, + 0.17327746748924255, + 0.06638573855161667 + ], + [ + 0.30082792043685913, + 0.1551319658756256, + 0.07249470055103302 + ], + [ + 0.3055568039417267, + 0.12677939236164093, + 0.10238717496395111 + ], + [ + 0.3100028932094574, + 0.09213230013847351, + 0.1092817559838295 + ], + [ + 0.31964924931526184, + 0.06225452944636345, + 0.10582143068313599 + ], + [ + 0.3347725570201874, + 0.04022090137004852, + 0.08892888575792313 + ], + [ + 0.3440256714820862, + 0.028184965252876282, + 0.0742274671792984 + ], + [ + 0.3561128079891205, + 0.024208104237914085, + 0.06272280216217041 + ], + [ + 0.36744213104248047, + 0.02824006974697113, + 0.05715198442339897 + ], + [ + 0.3738583028316498, + 0.03404677286744118, + 0.05649002268910408 + ], + [ + 0.37483614683151245, + 0.052422091364860535, + 0.05573078989982605 + ], + [ + 0.3750016391277313, + 0.07800056785345078, + 0.055900346487760544 + ], + [ + 0.3655272424221039, + 0.0980396494269371, + 0.05523783341050148 + ], + [ + 0.3522014915943146, + 0.12485840171575546, + 0.06077934801578522 + ], + [ + 0.34545838832855225, + 0.13396091759204865, + 0.06927740573883057 + ], + [ + 0.3430177867412567, + 0.13835488259792328, + 0.0708586797118187 + ], + [ + 0.3353823721408844, + 0.12543870508670807, + 0.08240970224142075 + ], + [ + 0.32567963004112244, + 0.09401802718639374, + 0.08987133204936981 + ], + [ + 0.30581018328666687, + 0.057859502732753754, + 0.09589745849370956 + ], + [ + 0.2834596633911133, + 0.036187343299388885, + 0.08128251135349274 + ], + [ + 0.26723408699035645, + 0.02185630425810814, + 0.06484484672546387 + ], + [ + 0.25812992453575134, + 0.02092045173048973, + 0.04820002615451813 + ], + [ + 0.2552078664302826, + 0.031884610652923584, + 0.04464932903647423 + ], + [ + 0.2560375928878784, + 0.03946507349610329, + 0.043602354824543 + ], + [ + 0.2636960446834564, + 0.04976152628660202, + 0.0446416474878788 + ], + [ + 0.2724767029285431, + 0.08333441615104675, + 0.04800641909241676 + ], + [ + 0.28051355481147766, + 0.11447838693857193, + 0.05083349719643593 + ], + [ + 0.2798979580402374, + 0.14476452767848969, + 0.05692651867866516 + ], + [ + 0.28437885642051697, + 0.16448155045509338, + 0.06124164164066315 + ], + [ + 0.28318020701408386, + 0.14998312294483185, + 0.0633273795247078 + ], + [ + 0.2842082977294922, + 0.09952061623334885, + 0.08186570554971695 + ], + [ + 0.2893616855144501, + 0.05291000381112099, + 0.0978676900267601 + ], + [ + 0.2948162853717804, + 0.002709469525143504, + 0.09778672456741333 + ], + [ + 0.30952370166778564, + -0.03775837644934654, + 0.08954930305480957 + ], + [ + 0.3207826316356659, + -0.07330860197544098, + 0.06989496201276779 + ], + [ + 0.32881227135658264, + -0.07253129035234451, + 0.06098007410764694 + ], + [ + 0.3297268748283386, + -0.07271693646907806, + 0.061227813363075256 + ], + [ + 0.3230457603931427, + -0.061311542987823486, + 0.05918759107589722 + ], + [ + 0.3262246549129486, + -0.05448008328676224, + 0.08807279914617538 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9634720048778411, + 0.17893524205307804, + 0.19925831216809853, + 0.19635850899257856, + -0.9779397420003226, + -0.07125445222969212, + 0.18211268973601064, + 0.10777773502791946, + -0.9773530212105382 + ], + [ + 0.9596947826040524, + 0.20724452176819322, + 0.18983053610953435, + 0.21522572257178144, + -0.9763117833256597, + -0.02220788335083855, + 0.1807313270742372, + 0.06216920408484235, + -0.9815656765990964 + ], + [ + 0.9637062187684581, + 0.21583416046131318, + 0.15711759635687245, + 0.21482514852182275, + -0.976367775340914, + 0.023582256855763983, + 0.1584944146321181, + 0.011026443388262065, + -0.9872983024783482 + ], + [ + 0.9598034095442982, + 0.22734205310388397, + 0.1645995319484576, + 0.2261867260443092, + -0.973737381501889, + 0.02598224061164701, + 0.16618357316081855, + 0.012292386113188166, + -0.986018213450009 + ], + [ + 0.9585738028826681, + 0.2250932571711848, + 0.1745545473573403, + 0.2249082916581092, + -0.9741513758910709, + 0.02110348769667527, + 0.17479280525951288, + 0.019029514591804318, + -0.9844213289054183 + ], + [ + 0.9595921567969927, + 0.2263265230226908, + 0.16721004033895587, + 0.22538751739535534, + -0.9739528249512377, + 0.024826634324094078, + 0.16847361697326446, + 0.013863612298506791, + -0.985608665058289 + ], + [ + 0.9585378974458407, + 0.2318268213907796, + 0.16571488781625654, + 0.23089789248162507, + -0.9726536530227521, + 0.025120400256359907, + 0.1670067735382335, + 0.014184362704873379, + -0.9858537119912902 + ], + [ + 0.9572480949620756, + 0.2348404866152935, + 0.1688965083646466, + 0.23406853906847952, + -0.9719048983999494, + 0.02475454472478871, + 0.16996471313135747, + 0.01583711818722256, + -0.9853228820938339 + ], + [ + 0.9588166906427033, + 0.23222890575780236, + 0.16352458248076535, + 0.2312073059774008, + -0.9725697096137806, + 0.025521395033168512, + 0.16496586133999802, + 0.013337738650169274, + -0.9862090900615612 + ], + [ + 0.9556216681875201, + 0.24475743286973647, + 0.1639543422588061, + 0.24371214679958844, + -0.9694778741453259, + 0.026777622093745537, + 0.16550412923198357, + 0.014368388833688007, + -0.9861044227714867 + ], + [ + 0.957560317145841, + 0.24371893447129178, + 0.15388086303285248, + 0.2418240687407649, + -0.9698181983662767, + 0.031205478609560314, + 0.15684182734595747, + 0.007330968405886417, + -0.9875965259644313 + ], + [ + 0.9598941883370528, + 0.24579179661711187, + 0.13486860239686166, + 0.24239078232373668, + -0.9692974151183946, + 0.04134283117162335, + 0.14088951643481978, + -0.006993837325156918, + -0.9900006214130532 + ], + [ + 0.9599883415405023, + 0.24612531451965255, + 0.13358410705962648, + 0.243083597077517, + -0.9692258743428535, + 0.038878906056965465, + 0.1390422559446265, + -0.004851191290093131, + -0.9902745664738117 + ], + [ + 0.9577828340322606, + 0.25168908189266476, + 0.13894117060525682, + 0.2502948334921717, + -0.9677730860472955, + 0.027708306509431804, + 0.14143740368183258, + 0.00823771682701204, + -0.9899129258986473 + ], + [ + 0.9573221138982457, + 0.2542694479724566, + 0.1374096724003674, + 0.2544968895645395, + -0.9669377499709677, + 0.016208666911776214, + 0.1369879682430858, + 0.019453418950521696, + -0.990381674430503 + ], + [ + 0.9560439891288375, + 0.262827032837831, + 0.13000708311580964, + 0.2654989468133901, + -0.964105324163759, + -0.003351590678135216, + 0.1244596323777312, + 0.03772101176737974, + -0.9915074004664036 + ], + [ + 0.9538823685752361, + 0.272149700949142, + 0.12666083528301197, + 0.27501918452012414, + -0.9614235358094292, + -0.005406749261939986, + 0.1203032629116251, + 0.03999156242244344, + -0.9919313483643051 + ], + [ + 0.9543580677442552, + 0.2761281372908654, + 0.11381533432595208, + 0.2788592151679329, + -0.9602943905260262, + -0.00849833161109434, + 0.1069495986312045, + 0.039848906139624815, + -0.9934655746587796 + ], + [ + 0.9586281787758981, + 0.26162281059182185, + 0.11218520327939974, + 0.263873282991066, + -0.9645420199604708, + -0.005438957077536005, + 0.106784387343475, + 0.03481661541003394, + -0.9936724298837462 + ], + [ + 0.9544676376169798, + 0.26747563103142763, + 0.13209207223070385, + 0.2695855708308525, + -0.9629744032785786, + 0.001979552997282391, + 0.12773076662130117, + 0.03372069742169075, + -0.9912354744578755 + ], + [ + 0.9563445616447949, + 0.25007476100374143, + 0.151220677558813, + 0.25093996915307765, + -0.9679064302552396, + 0.01364822889649126, + 0.14978054377614372, + 0.024894902680673285, + -0.9884058035678677 + ], + [ + 0.9604563302260477, + 0.23954281714478806, + 0.14192560192950293, + 0.24044742231570024, + -0.9705998502701534, + 0.010998534324675673, + 0.1403875878788734, + 0.02356203322920994, + -0.9898162232251283 + ], + [ + 0.9641195042898635, + 0.227198791986606, + 0.13731092588608657, + 0.22787440488097668, + -0.9736285087192893, + 0.0109901141574144, + 0.13618677266169482, + 0.020693862106412494, + -0.9904670247025451 + ], + [ + 0.9532221298698126, + 0.26089908753618496, + 0.1526408767311155, + 0.2593491468352117, + -0.9653070984286871, + 0.030335223075429206, + 0.15525975383951016, + 0.010671075202357024, + -0.987816044105237 + ], + [ + 0.9494660269340746, + 0.2748401045689203, + 0.15158225693849625, + 0.27177061116589885, + -0.9614873232021921, + 0.041022703811393904, + 0.15701910267396502, + 0.0022459390081839385, + -0.9875930118998587 + ], + [ + 0.9534070005273927, + 0.2735619963221462, + 0.12719640526996928, + 0.27085803873184056, + -0.9618518854787704, + 0.03843010870756357, + 0.13285711949195994, + -0.0021873658076555884, + -0.9911327868813152 + ], + [ + 0.9551884429847287, + 0.2870814962918049, + 0.07210584494524773, + 0.2867656740087172, + -0.9578845949735395, + 0.014918140725444732, + 0.07335180024195585, + 0.0064278456139274, + -0.9972854136113832 + ], + [ + 0.9620389104680895, + 0.2668583978315638, + 0.05716406434240415, + 0.2706510989319137, + -0.9598116531492727, + -0.07422649881146276, + 0.03505877054774088, + 0.08688029687812684, + -0.9956016756826245 + ], + [ + 0.9632445906944527, + 0.24258539347195254, + 0.11537844413899186, + 0.2588806520006389, + -0.9529516375119096, + -0.1576831778697214, + 0.07169844152839443, + 0.18175671497204188, + -0.9807261748546183 + ], + [ + 0.9650916211935522, + 0.21339133062167923, + 0.15186277594430508, + 0.24450945559186552, + -0.9418846297698298, + -0.23036594871968405, + 0.09387911816890152, + 0.2594561315884821, + -0.9611811624001844 + ], + [ + 0.9800474067009143, + 0.1545756355102826, + 0.12495380556591805, + 0.1861700007430119, + -0.9340914313722747, + -0.3046537849104164, + 0.06962622668334072, + 0.32183780191812084, + -0.9442312311157436 + ], + [ + 0.9826297579709092, + 0.15232371231616487, + 0.10600115761751876, + 0.1786649014517651, + -0.9309529890246768, + -0.31844212223770024, + 0.05017580830702052, + 0.3318493918816812, + -0.9419970113373476 + ], + [ + 0.978751954079775, + 0.17090764326765082, + 0.11329249691713494, + 0.19939196475476265, + -0.922163565497526, + -0.33144713433687345, + 0.04782736430389114, + 0.34699414395863704, + -0.9366470024946192 + ], + [ + 0.9820574442764772, + 0.1479105750174276, + 0.11698563133636194, + 0.17907054727651178, + -0.9259326547125099, + -0.33253940824379596, + 0.059134721097201644, + 0.347521482408005, + -0.9358054840754558 + ], + [ + 0.9758729387501397, + 0.16541645434133714, + 0.14251106640645772, + 0.20354417253105608, + -0.9254127435447801, + -0.31965766675237123, + 0.07900491911149045, + 0.3409525637358703, + -0.9367548089218029 + ], + [ + 0.9739577656197513, + 0.16744207034214229, + 0.15287061152660766, + 0.20753565557997014, + -0.9298850443447111, + -0.3037149254926847, + 0.09129743946011804, + 0.3275316128003098, + -0.940418959913322 + ], + [ + 0.9674497499038914, + 0.18951503224552896, + 0.16770519957316293, + 0.2305948018727793, + -0.933170028422884, + -0.27571676663287614, + 0.10424499393329134, + 0.305414064191894, + -0.9464962919280973 + ], + [ + 0.9651601491293789, + 0.19738671141852218, + 0.17176836928822636, + 0.23813367358416418, + -0.9346635809570135, + -0.26400065139677836, + 0.10843541874252256, + 0.2957067408565344, + -0.9491044638890603 + ], + [ + 0.9636765414980326, + 0.19486199755141578, + 0.1826371410109745, + 0.23928157541841003, + -0.9337003900191226, + -0.26636048757918634, + 0.1186248331154751, + 0.30038705629306023, + -0.9464120484122734 + ], + [ + 0.9639333819701758, + 0.17649873639877356, + 0.19919997784431523, + 0.2259195684434851, + -0.9382875562970313, + -0.2618717439748988, + 0.14068682851585249, + 0.2974300888406917, + -0.9443212157599603 + ], + [ + 0.9650973736872568, + 0.17796901854028235, + 0.19213039255091316, + 0.22303927918906613, + -0.9430442765056373, + -0.24682174233397852, + 0.13726084380033934, + 0.2810596395603035, + -0.9498236361395999 + ], + [ + 0.9624582029708937, + 0.16514784452228976, + 0.2154075137586426, + 0.2160879585476781, + -0.9464480977071081, + -0.2398791206364018, + 0.16425651190968094, + 0.2774205972818854, + -0.9466031959057749 + ], + [ + 0.9558631465303968, + 0.15598119983676492, + 0.24898897646781973, + 0.21534089369244222, + -0.9484520057225191, + -0.23252331570118093, + 0.19988482836060764, + 0.27587797689995835, + -0.9401794494950614 + ], + [ + 0.9600386346486542, + 0.17441487546269344, + 0.21887272831323853, + 0.2211508349110037, + -0.9520619052909876, + -0.21135381877756626, + 0.1715171367534847, + 0.2513117182127158, + -0.9525882069860295 + ], + [ + 0.9482274061190709, + 0.22842920938353956, + 0.22064651047571465, + 0.2704752321881671, + -0.9449666599876042, + -0.184068357640928, + 0.1664570066337122, + 0.2342180774668824, + -0.9578277283156202 + ], + [ + 0.960067908806597, + 0.19858927140101232, + 0.19705814310538686, + 0.22952932580972377, + -0.9618355365784133, + -0.1489586827554874, + 0.15995592853364868, + 0.18824107378394156, + -0.9690094937964268 + ], + [ + 0.9532241507709539, + 0.23524962804266408, + 0.18979286312393853, + 0.2574908012561623, + -0.9608560762502416, + -0.10224523461486867, + 0.15831047234928394, + 0.1463325433346192, + -0.9764858325166672 + ], + [ + 0.956370712951441, + 0.2150755226998211, + 0.19773107733523024, + 0.2298547439771318, + -0.9716790970929865, + -0.05483182418783318, + 0.1803381714445371, + 0.09788897694815789, + -0.9787215600527474 + ], + [ + 0.9584444212179463, + 0.21452883797615652, + 0.18804698644965126, + 0.22317671688896762, + -0.9744356192580965, + -0.02583364007937855, + 0.17769762090376154, + 0.06672781727053008, + -0.9818202248515017 + ], + [ + 0.9607053486938675, + 0.21439049941125352, + 0.17630072816975967, + 0.22248357447718534, + -0.9745552889162644, + -0.02725890557580996, + 0.16597075669782585, + 0.06541179257236046, + -0.9839588433027173 + ], + [ + 0.9561580588283933, + 0.22518688836688502, + 0.18722348101976627, + 0.23550497367956305, + -0.9712594887023601, + -0.03453133327600149, + 0.17406657895675154, + 0.0771094735636941, + -0.9817102195541325 + ], + [ + 0.9561661967125564, + 0.2239386236090751, + 0.1886735199234855, + 0.237905120929748, + -0.9697492752146898, + -0.05465799718235132, + 0.17072597253975993, + 0.09714852585941253, + -0.9805176215773465 + ], + [ + 0.9604963218489975, + 0.2212902675340211, + 0.16875257985959552, + 0.24887887065969827, + -0.9543646611983947, + -0.16506786845060778, + 0.12452358593335228, + 0.20054603199862958, + -0.9717382186555721 + ], + [ + 0.9545440379053619, + 0.22032320203427752, + 0.20075698330242495, + 0.2626748659032653, + -0.9401202329502812, + -0.21720005161189704, + 0.14088149105552797, + 0.2600608279669817, + -0.9552595308266227 + ], + [ + 0.9646433462540285, + 0.19493618863343454, + 0.1773784002884809, + 0.23612294387134825, + -0.9381949222848095, + -0.2530538345422345, + 0.11708616444891619, + 0.28598980779054084, + -0.9510523959985437 + ], + [ + 0.9673090289902239, + 0.18838192784858016, + 0.16978071649643303, + 0.22741468747279037, + -0.940630116194823, + -0.2519871910017781, + 0.11223102225161677, + 0.2823601136268468, + -0.9527208215825824 + ], + [ + 0.964413562321129, + 0.20379247110770554, + 0.16844913039515746, + 0.23759838929032961, + -0.9474931866756428, + -0.21401791189028171, + 0.11598916422541694, + 0.24642501886588222, + -0.962196042321542 + ], + [ + 0.9645807113804966, + 0.2037077718210025, + 0.1675923474757071, + 0.23497979668774857, + -0.9522425420764365, + -0.19498368190284812, + 0.11986887161094043, + 0.2274583143337018, + -0.9663819994490748 + ], + [ + 0.961394334686259, + 0.21163293620622026, + 0.17587618811510292, + 0.24238034383062124, + -0.9538761390559821, + -0.17712165385463816, + 0.13027932360015915, + 0.21291268551306738, + -0.9683467799243711 + ], + [ + 0.9563793305514823, + 0.22656980889013117, + 0.1844036273867417, + 0.2564235416347968, + -0.9535025701884675, + -0.15836608203606725, + 0.1399483597237441, + 0.19874347874452683, + -0.9700079825790907 + ], + [ + 0.9523903613172192, + 0.23672871784853816, + 0.19212525553878645, + 0.26700618206285226, + -0.9518252902810361, + -0.15078566086216771, + 0.14717438095767815, + 0.1949054409892368, + -0.9697172632589953 + ], + [ + 0.9432071752986434, + 0.2647794063051086, + 0.20062923630883975, + 0.294753392559084, + -0.9455895586218844, + -0.13777091202492733, + 0.15323401071584794, + 0.18908266081791827, + -0.9699314848678495 + ], + [ + 0.9234223808022932, + 0.3072887612346694, + 0.22992329993344965, + 0.3349334618853521, + -0.9377517461243873, + -0.09187621427854063, + 0.1873784479146898, + 0.16184955934300604, + -0.9688622386064785 + ], + [ + 0.9172309918407753, + 0.32340845061047335, + 0.2325817741795796, + 0.34884945025392305, + -0.9340102288630248, + -0.07699969764080884, + 0.19233140321934855, + 0.1517625331001473, + -0.9695239888123982 + ], + [ + 0.9007224992506573, + 0.3573041382128486, + 0.2470480361379614, + 0.381989817504995, + -0.9222938037862534, + -0.05880407145755067, + 0.20683993489205726, + 0.14733598444866655, + -0.9672173225394549 + ], + [ + 0.8851165543264242, + 0.3581243017946345, + 0.29717952439800377, + 0.3739338855669285, + -0.9274470594732694, + 0.00392442342325814, + 0.2770237074369941, + 0.10765192213096522, + -0.9548135572871654 + ], + [ + 0.8792322461346433, + 0.3682431218956908, + 0.30223775497701405, + 0.38548624752707333, + -0.9227093011986527, + 0.0028104179386985104, + 0.2799125047662682, + 0.11403748795027718, + -0.953228430659443 + ], + [ + 0.8947814738350659, + 0.34851993860393704, + 0.27910565468484416, + 0.38102918594403457, + -0.9218801542101345, + -0.07038281560384771, + 0.23277214940875945, + 0.1693246398756155, + -0.9576775515749649 + ], + [ + 0.9385326165142847, + 0.2890327785898333, + 0.18872355613301417, + 0.32647994528650953, + -0.9208044030386341, + -0.21337782609817302, + 0.11210429547777508, + 0.26187650571463034, + -0.9585683714217399 + ], + [ + 0.9736250013652856, + 0.19404392344978816, + 0.12000546857814673, + 0.22194204453156252, + -0.9274205151017301, + -0.3010530136663506, + 0.052878025545567926, + 0.31974699989312605, + -0.9460263053814877 + ], + [ + 0.9891196197740424, + 0.12186074548288704, + 0.08241563254874217, + 0.14220769783241657, + -0.9354762569224908, + -0.3235137453207985, + 0.03767424126984335, + 0.3317139301335435, + -0.9426274556260817 + ], + [ + 0.9951915292274601, + 0.062459092012972596, + 0.07544986400799214, + 0.08354290278978072, + -0.9433956473147743, + -0.32097544457636534, + 0.051131238468931445, + 0.3257353441867387, + -0.9440773707700976 + ], + [ + 0.9921609500731706, + -0.004349856068736224, + 0.1248908639656412, + 0.033445679319943494, + -0.9536930256169197, + -0.29891637530331533, + 0.12040778913646127, + 0.3007502146995514, + -0.946071494483077 + ], + [ + 0.9820586228893906, + -0.030452177308019135, + 0.1861008492882132, + 0.022584748906326627, + -0.9607787017004729, + -0.27639503518621955, + 0.1872185629830318, + 0.2756391685808719, + -0.9428532539152706 + ], + [ + 0.9762960873116848, + -0.04093113070306396, + 0.21253374423668392, + 0.015029849404595392, + -0.9667643474475824, + -0.25522695808069684, + 0.21591677453771546, + 0.25237143071991985, + -0.9432330610350819 + ], + [ + 0.9769857624754917, + -0.02472886819016458, + 0.21186623845770125, + 0.031099920498259243, + -0.9661292078529149, + -0.25617796290567474, + 0.21102515220983498, + 0.2568712455911186, + -0.9431254149492968 + ], + [ + 0.9746276561564573, + 0.028264568635923165, + 0.22204064045754135, + 0.07557826172027816, + -0.9752908874180558, + -0.20759482477808, + 0.21068663510130653, + 0.21910910314070886, + -0.9526816586407878 + ], + [ + 0.9715793462322325, + 0.07773413678546025, + 0.2235866229298329, + 0.11453873622427817, + -0.9809884734652792, + -0.15666043799379212, + 0.20715803599931415, + 0.17781737515350102, + -0.9620117094996434 + ], + [ + 0.9649955173838438, + 0.1109131123351305, + 0.23765927909766577, + 0.13731795481148557, + -0.9857121688202362, + -0.09754639678684658, + 0.22344446897490722, + 0.12676672178391624, + -0.9664381860898714 + ], + [ + 0.9516350391382165, + 0.14976365114722082, + 0.2682565955935826, + 0.15701047895347273, + -0.987580832193115, + -0.005639980811650208, + 0.2640804077988492, + 0.04748629991700998, + -0.9633309864926932 + ], + [ + 0.9566579655971768, + 0.15322339190866172, + 0.2476451675916097, + 0.1709227236104129, + -0.983937890474723, + -0.05149417677515718, + 0.2357773513573138, + 0.0915905009275383, + -0.96748138004138 + ], + [ + 0.9653149476878179, + 0.10949285996471436, + 0.23701975737733924, + 0.1475539070969698, + -0.9777235872878397, + -0.14927970847177024, + 0.21539474522579263, + 0.17907512523448182, + -0.9599672928029217 + ], + [ + 0.970154028368658, + 0.1066001764876249, + 0.21780166118023928, + 0.15017148688756002, + -0.9693438604464222, + -0.19447623181460008, + 0.1903935024260122, + 0.2213794990229084, + -0.9564211580921459 + ], + [ + 0.975973088489668, + 0.11322569380090367, + 0.1861624903336936, + 0.14784061676747776, + -0.9717350359826638, + -0.18404937347783307, + 0.16006149623738475, + 0.207149612857652, + -0.9651266006670702 + ], + [ + 0.9588130082802991, + 0.18483162851998006, + 0.21567309579809688, + 0.21142285318326967, + -0.9714804148506061, + -0.10736005175827679, + 0.189678655373578, + 0.14853643546398426, + -0.970545689308507 + ], + [ + 0.9596719041810798, + 0.16979016543106415, + 0.22405610022570807, + 0.18836286105665942, + -0.9800025722237202, + -0.06414351884206204, + 0.20868461586808526, + 0.10376058094374865, + -0.9724630959281724 + ], + [ + 0.9500898393830806, + 0.18111464347280917, + 0.254021225531942, + 0.19888117722084628, + -0.978949371344426, + -0.045873801800196956, + 0.24036550178485025, + 0.0941042733571151, + -0.9661101444905994 + ], + [ + 0.9512840137375443, + 0.16701775849843684, + 0.25915978382755556, + 0.18586644119035448, + -0.9813103625146546, + -0.049836116026325705, + 0.24599266502605313, + 0.0955774072023024, + -0.9645478567628799 + ], + [ + 0.9619388512939033, + 0.1881287989934108, + 0.19819485704897277, + 0.2059551343356433, + -0.9758081206131886, + -0.07335526147553541, + 0.17959991373091755, + 0.11138252436829525, + -0.9774138346950043 + ], + [ + 0.963785453955655, + 0.2103865467827535, + 0.1638752564492886, + 0.23298689081895133, + -0.9632602813800134, + -0.13359168769880608, + 0.12974863178473175, + 0.16693451185577396, + -0.9773935549723378 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005661.json b/json/chunk-0005/episode_0005661.json new file mode 100644 index 0000000000000000000000000000000000000000..a6ac6e3b34ac39456acce3c50754d1003b86411f --- /dev/null +++ b/json/chunk-0005/episode_0005661.json @@ -0,0 +1,2302 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 37, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nUnfold the cloth cloth from top left to bottom right." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005661.mp4", + "start": 0, + "end": 37, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.37880492210388184, + 0.06699659675359726, + 0.17598065733909607, + -0.2382129281759262, + -0.2475186437368393, + -0.9247598052024841, + 0.0, + 1.0001531839370728 + ], + [ + 0.3808162212371826, + 0.06718464940786362, + 0.1614675372838974, + -0.2702680230140686, + -0.23485462367534637, + -0.918143093585968, + 0.0, + 1.0001531839370728 + ], + [ + 0.3937643766403198, + 0.07510747760534286, + 0.14148984849452972, + -0.20147357881069183, + -0.22978268563747406, + -0.9818745255470276, + 0.0, + 1.0001531839370728 + ], + [ + 0.4064315855503082, + 0.08106178790330887, + 0.12596222758293152, + -0.1383131444454193, + -0.23327097296714783, + -1.040452241897583, + 0.0, + 1.0001531839370728 + ], + [ + 0.42416277527809143, + 0.08890115469694138, + 0.1127048134803772, + -0.10576987266540527, + -0.2273031771183014, + -1.0865496397018433, + 0.0, + 1.0001531839370728 + ], + [ + 0.43693646788597107, + 0.09042128175497055, + 0.09983881562948227, + -0.13367508351802826, + -0.24539747834205627, + -1.119473934173584, + 0.0, + 1.0001531839370728 + ], + [ + 0.4428745210170746, + 0.09612928330898285, + 0.08641019463539124, + -0.1261254847049713, + -0.22819560766220093, + -1.137769341468811, + 0.0, + 1.0001531839370728 + ], + [ + 0.44963157176971436, + 0.10082416981458664, + 0.07700525969266891, + -0.07296837866306305, + -0.21503818035125732, + -1.1734637022018433, + 0.0, + 1.0001531839370728 + ], + [ + 0.45118531584739685, + 0.1016315147280693, + 0.06157254800200462, + -0.05088032782077789, + -0.2157578319311142, + -1.1978356838226318, + 0.0, + 1.0001531839370728 + ], + [ + 0.4553227424621582, + 0.10167727619409561, + 0.05460433289408684, + -0.04329896718263626, + -0.22445723414421082, + -1.2194052934646606, + 0.0, + 1.0001531839370728 + ], + [ + 0.4610820412635803, + 0.10243763029575348, + 0.044190190732479095, + -0.0429798848927021, + -0.2309480905532837, + -1.228459119796753, + 0.0, + 1.0001531839370728 + ], + [ + 0.4652802348136902, + 0.10369385033845901, + 0.031876031309366226, + -0.05361846461892128, + -0.23044034838676453, + -1.2221741676330566, + 0.0, + 1.0001531839370728 + ], + [ + 0.4676041007041931, + 0.1040625348687172, + 0.026149932295084, + -0.058265991508960724, + -0.21771450340747833, + -1.2186466455459595, + 0.0, + 0.9628177285194397 + ], + [ + 0.46774420142173767, + 0.10509160161018372, + 0.020583035424351692, + -0.06033110246062279, + -0.20646528899669647, + -1.2144571542739868, + 0.0, + 0.6892001032829285 + ], + [ + 0.4694324731826782, + 0.10558860749006271, + 0.020270779728889465, + -0.05685948580503464, + -0.20649658143520355, + -1.20980966091156, + 0.0, + 0.3840504586696625 + ], + [ + 0.47017499804496765, + 0.10552675276994705, + 0.020147422328591347, + -0.06473799049854279, + -0.20744775235652924, + -1.2032028436660767, + 0.0, + 0.16390947997570038 + ], + [ + 0.4740830659866333, + 0.10347852110862732, + 0.022910865023732185, + -0.07442709058523178, + -0.23103837668895721, + -1.190800428390503, + 0.0, + 0.06443082541227341 + ], + [ + 0.47579681873321533, + 0.09769108146429062, + 0.024545390158891678, + -0.08146296441555023, + -0.27948102355003357, + -1.1806235313415527, + 0.0, + 0.05166913568973541 + ], + [ + 0.46978944540023804, + 0.09951911866664886, + 0.0443715900182724, + -0.07965237647294998, + -0.3443531095981598, + -1.1519500017166138, + 0.0, + 0.051409780979156494 + ], + [ + 0.4611303508281708, + 0.10244597494602203, + 0.07995681464672089, + -0.0423094816505909, + -0.3981626033782959, + -1.141397476196289, + 0.0, + 0.05115113407373428 + ], + [ + 0.44834816455841064, + 0.09848062694072723, + 0.08406621962785721, + -0.05420299991965294, + -0.4073425531387329, + -1.139370083808899, + 0.0, + 0.05115113407373428 + ], + [ + 0.42655596137046814, + 0.09064295887947083, + 0.08198269456624985, + -0.07041335850954056, + -0.3733331263065338, + -1.153361439704895, + 0.0, + 0.05115113407373428 + ], + [ + 0.3998350203037262, + 0.07237618416547775, + 0.0684966892004013, + -0.0972805917263031, + -0.31473368406295776, + -1.191277265548706, + 0.0, + 0.05115113407373428 + ], + [ + 0.37591445446014404, + 0.061214834451675415, + 0.06052638590335846, + -0.11390610784292221, + -0.2840826213359833, + -1.2188957929611206, + 0.0, + 0.05115113407373428 + ], + [ + 0.3539535403251648, + 0.05127894505858421, + 0.06136423349380493, + -0.12543655931949615, + -0.2791694402694702, + -1.2438937425613403, + 0.0, + 0.05115113407373428 + ], + [ + 0.3296031951904297, + 0.03763170540332794, + 0.06376353651285172, + -0.15754751861095428, + -0.28033626079559326, + -1.2691256999969482, + 0.0, + 0.05115113407373428 + ], + [ + 0.3111293315887451, + 0.02405138872563839, + 0.07296968251466751, + -0.1815725713968277, + -0.29521092772483826, + -1.280055284500122, + 0.0, + 0.05115113407373428 + ], + [ + 0.29988208413124084, + 0.013606001622974873, + 0.08153090626001358, + -0.2110580950975418, + -0.30998191237449646, + -1.2652231454849243, + 0.0, + 0.05115113407373428 + ], + [ + 0.2892085313796997, + 0.004104380030184984, + 0.08832408487796783, + -0.304703027009964, + -0.3349684774875641, + -1.2221161127090454, + 0.0, + 0.05115113407373428 + ], + [ + 0.2793906629085541, + -0.0036927987821400166, + 0.08819284290075302, + -0.3848775029182434, + -0.33274734020233154, + -1.1695832014083862, + 0.0, + 0.05115113407373428 + ], + [ + 0.26705434918403625, + -0.016552960500121117, + 0.09419003129005432, + -0.4082399606704712, + -0.32177838683128357, + -1.151199221611023, + 0.0, + 0.05115113407373428 + ], + [ + 0.2586747705936432, + -0.02013050951063633, + 0.08907053619623184, + -0.4290829002857208, + -0.3017994463443756, + -1.1192861795425415, + 0.0, + 0.05115113407373428 + ], + [ + 0.2525078356266022, + -0.022614922374486923, + 0.08087047189474106, + -0.4394053816795349, + -0.2835674285888672, + -1.1018378734588623, + 0.0, + 0.0665184035897255 + ], + [ + 0.2492409646511078, + -0.022359654307365417, + 0.07534677535295486, + -0.44782325625419617, + -0.25997892022132874, + -1.0613467693328857, + 0.0, + 0.21856790781021118 + ], + [ + 0.2467670887708664, + -0.01823972351849079, + 0.08126840740442276, + -0.5098453760147095, + -0.29092803597450256, + -0.9943986535072327, + 0.0, + 0.4550158977508545 + ], + [ + 0.2507708966732025, + -0.012047281488776207, + 0.08884149044752121, + -0.6034474968910217, + -0.3443688750267029, + -0.9564450979232788, + 0.0, + 0.7797733545303345 + ], + [ + 0.2663230299949646, + 0.007863897830247879, + 0.10287657380104065, + -0.5335321426391602, + -0.4036225378513336, + -0.9669186472892761, + 0.0, + 0.9941151142120361 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9628177285194397 + ], + [ + 0.6892001032829285 + ], + [ + 0.3840504586696625 + ], + [ + 0.16390947997570038 + ], + [ + 0.06443082541227341 + ], + [ + 0.05166913568973541 + ], + [ + 0.051409780979156494 + ], + [ + 0.05115113407373428 + ], + [ + 0.05115113407373428 + ], + [ + 0.05115113407373428 + ], + [ + 0.05115113407373428 + ], + [ + 0.05115113407373428 + ], + [ + 0.05115113407373428 + ], + [ + 0.05115113407373428 + ], + [ + 0.05115113407373428 + ], + [ + 0.05115113407373428 + ], + [ + 0.05115113407373428 + ], + [ + 0.05115113407373428 + ], + [ + 0.05115113407373428 + ], + [ + 0.05115113407373428 + ], + [ + 0.0665184035897255 + ], + [ + 0.21856790781021118 + ], + [ + 0.4550158977508545 + ], + [ + 0.7797733545303345 + ], + [ + 0.9941151142120361 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.37880492210388184, + 0.06699659675359726, + 0.17598065733909607 + ], + [ + 0.3808162212371826, + 0.06718464940786362, + 0.1614675372838974 + ], + [ + 0.3937643766403198, + 0.07510747760534286, + 0.14148984849452972 + ], + [ + 0.4064315855503082, + 0.08106178790330887, + 0.12596222758293152 + ], + [ + 0.42416277527809143, + 0.08890115469694138, + 0.1127048134803772 + ], + [ + 0.43693646788597107, + 0.09042128175497055, + 0.09983881562948227 + ], + [ + 0.4428745210170746, + 0.09612928330898285, + 0.08641019463539124 + ], + [ + 0.44963157176971436, + 0.10082416981458664, + 0.07700525969266891 + ], + [ + 0.45118531584739685, + 0.1016315147280693, + 0.06157254800200462 + ], + [ + 0.4553227424621582, + 0.10167727619409561, + 0.05460433289408684 + ], + [ + 0.4610820412635803, + 0.10243763029575348, + 0.044190190732479095 + ], + [ + 0.4652802348136902, + 0.10369385033845901, + 0.031876031309366226 + ], + [ + 0.4676041007041931, + 0.1040625348687172, + 0.026149932295084 + ], + [ + 0.46774420142173767, + 0.10509160161018372, + 0.020583035424351692 + ], + [ + 0.4694324731826782, + 0.10558860749006271, + 0.020270779728889465 + ], + [ + 0.47017499804496765, + 0.10552675276994705, + 0.020147422328591347 + ], + [ + 0.4740830659866333, + 0.10347852110862732, + 0.022910865023732185 + ], + [ + 0.47579681873321533, + 0.09769108146429062, + 0.024545390158891678 + ], + [ + 0.46978944540023804, + 0.09951911866664886, + 0.0443715900182724 + ], + [ + 0.4611303508281708, + 0.10244597494602203, + 0.07995681464672089 + ], + [ + 0.44834816455841064, + 0.09848062694072723, + 0.08406621962785721 + ], + [ + 0.42655596137046814, + 0.09064295887947083, + 0.08198269456624985 + ], + [ + 0.3998350203037262, + 0.07237618416547775, + 0.0684966892004013 + ], + [ + 0.37591445446014404, + 0.061214834451675415, + 0.06052638590335846 + ], + [ + 0.3539535403251648, + 0.05127894505858421, + 0.06136423349380493 + ], + [ + 0.3296031951904297, + 0.03763170540332794, + 0.06376353651285172 + ], + [ + 0.3111293315887451, + 0.02405138872563839, + 0.07296968251466751 + ], + [ + 0.29988208413124084, + 0.013606001622974873, + 0.08153090626001358 + ], + [ + 0.2892085313796997, + 0.004104380030184984, + 0.08832408487796783 + ], + [ + 0.2793906629085541, + -0.0036927987821400166, + 0.08819284290075302 + ], + [ + 0.26705434918403625, + -0.016552960500121117, + 0.09419003129005432 + ], + [ + 0.2586747705936432, + -0.02013050951063633, + 0.08907053619623184 + ], + [ + 0.2525078356266022, + -0.022614922374486923, + 0.08087047189474106 + ], + [ + 0.2492409646511078, + -0.022359654307365417, + 0.07534677535295486 + ], + [ + 0.2467670887708664, + -0.01823972351849079, + 0.08126840740442276 + ], + [ + 0.2507708966732025, + -0.012047281488776207, + 0.08884149044752121 + ], + [ + 0.2663230299949646, + 0.007863897830247879, + 0.10287657380104065 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.5836786430240891, + -0.8107322512321752, + -0.04508279593777546, + -0.7741412919646503, + -0.5388647779962281, + -0.33215961691689383, + 0.2449989831669916, + 0.22877492836210206, + -0.9421451748006011 + ], + [ + 0.590625076280114, + -0.8033660312099782, + -0.07592785501406986, + -0.7726655055500087, + -0.5358913172640416, + -0.34030649804868474, + 0.23270160249181499, + 0.259660385848397, + -0.9372440707834874 + ], + [ + 0.5408648968809886, + -0.8400378292939195, + -0.04244536107842303, + -0.8096837938757002, + -0.5063284994913375, + -0.29672142581536554, + 0.2277659264617304, + 0.19485352436640913, + -0.9540203282870964 + ], + [ + 0.49213002188204574, + -0.8705161088627981, + -0.003121822024049578, + -0.8392690697018125, + -0.47350671211092454, + -0.26724300220540104, + 0.23116113471825478, + 0.13413835318906636, + -0.9636241134381673 + ], + [ + 0.4535669699636127, + -0.8911556688102437, + 0.010889339070599302, + -0.8622609693625939, + -0.4418845685114354, + -0.24747534993478143, + 0.22535089188176574, + 0.10285719254787062, + -0.9688329956547017 + ], + [ + 0.4230890326061224, + -0.905965313090413, + -0.014917170154064283, + -0.8729117348372127, + -0.40312824423388505, + -0.2747957821444727, + 0.24294191419329608, + 0.12928445450979392, + -0.9613868920212101 + ], + [ + 0.4087421489669063, + -0.9124305607360034, + -0.020008185647318405, + -0.884168672738162, + -0.3904571446173284, + -0.256493618567245, + 0.22622027717769264, + 0.12253036379716196, + -0.9663388102220581 + ], + [ + 0.3780477742921528, + -0.925662487061011, + 0.015127471724431601, + -0.9008589443367409, + -0.3715858234597212, + -0.22444852018281194, + 0.21338472944717174, + 0.07122454529012404, + -0.9743685244233686 + ], + [ + 0.3559259103486673, + -0.9340148521133391, + 0.030545087561996045, + -0.9096610254750483, + -0.35376296217943126, + -0.21764325241485905, + 0.21408775087369253, + 0.049679197072133016, + -0.9755503125437007 + ], + [ + 0.33556983229407633, + -0.9413310238846788, + 0.035899737134805376, + -0.9153426997346261, + -0.33483592253176786, + -0.2236797868043205, + 0.22257724433699816, + 0.042199626236764376, + -0.9740013151165792 + ], + [ + 0.3267769710190929, + -0.9444042952101135, + 0.036295156705480267, + -0.9169631136423324, + -0.32611519878086054, + -0.22984239239852666, + 0.2289005448463271, + 0.041825880896978765, + -0.9725508399339574 + ], + [ + 0.3325732075530101, + -0.9426751444081287, + 0.027543306501145892, + -0.915000352362038, + -0.32960768598057844, + -0.2326652714091092, + 0.22840625384443503, + 0.052176100444955006, + -0.9721667746570593 + ], + [ + 0.3367741536133406, + -0.9413790233786758, + 0.019715572541216767, + -0.9164757252195916, + -0.33252467755826964, + -0.22248501949118288, + 0.21599864476714026, + 0.056858360487959614, + -0.9747367399977184 + ], + [ + 0.3414368156164571, + -0.9397869845197835, + 0.014876984536724286, + -0.9172760032841103, + -0.33662705918561486, + -0.21280732323671037, + 0.20500154814250224, + 0.0590139538690385, + -0.9769809202374019 + ], + [ + 0.3456938811029351, + -0.9381522498534852, + 0.019133652626558542, + -0.9156732754763347, + -0.34172591457152, + -0.21157942217687103, + 0.20503217588083644, + 0.05562153724145173, + -0.9771735012005123 + ], + [ + 0.351665734519789, + -0.9360284195564579, + 0.01349106916805183, + -0.9131869658714853, + -0.34618373662887847, + -0.21504972879801107, + 0.205963046508562, + 0.06330575231609839, + -0.9765099104446431 + ], + [ + 0.36106108707780743, + -0.9324108980317437, + 0.015646361552420093, + -0.9039907018216798, + -0.3540772120931, + -0.2396458614212323, + 0.22898843293524357, + 0.07238262987771972, + -0.9707342852057128 + ], + [ + 0.3655902355417721, + -0.9303140977444975, + 0.029316534828537216, + -0.8889582555239788, + -0.35832668290699826, + -0.2852283440554809, + 0.27585684623056916, + 0.07821552182724847, + -0.9580111338251843 + ], + [ + 0.3828306592044014, + -0.9215869020010004, + 0.0641737363204189, + -0.8599274043832346, + -0.3808779514245718, + -0.33978941318018563, + 0.33758783385044683, + 0.07489705053485524, + -0.9383095897715972 + ], + [ + 0.3837573155008621, + -0.9152300550684038, + 0.12281803246697243, + -0.8380927097087894, + -0.40104098001265875, + -0.36981987816160605, + 0.3877253315590182, + 0.03898818603080684, + -0.9209500467546958 + ], + [ + 0.3839510673501336, + -0.9160113802662594, + 0.1162098494250636, + -0.8340445645864422, + -0.3980561869774616, + -0.38199598989096306, + 0.39617072350756277, + 0.049743574777722954, + -0.9168284106657187 + ], + [ + 0.37749054580244096, + -0.9222696751764362, + 0.0831837368704113, + -0.8511636111274082, + -0.3809556799790344, + -0.3611000927502812, + 0.36472098228964744, + 0.06550890123992428, + -0.9288095547183032 + ], + [ + 0.3522756984077807, + -0.9355903675222631, + 0.02392689931577857, + -0.8832170898423258, + -0.3407946470140393, + -0.3221592475423134, + 0.3095632480152699, + 0.09235622754386127, + -0.946383073978029 + ], + [ + 0.33086733846286104, + -0.9436164521324553, + -0.010714271018634175, + -0.9010946842812639, + -0.3125447615912393, + -0.30057302267822544, + 0.28027695998521207, + 0.10910436868812164, + -0.9536986224351038 + ], + [ + 0.3086792557063072, + -0.9506708452484041, + -0.030693013721116394, + -0.9103764440078699, + -0.28593958711226214, + -0.29908741651506227, + 0.2755573393908888, + 0.12026427780830647, + -0.9537319624459802 + ], + [ + 0.2855171331006577, + -0.9559135618654199, + -0.06862382201354868, + -0.9175667873960892, + -0.25198641179292675, + -0.3075289237443289, + 0.27667879820037, + 0.15077171655682448, + -0.9490609738646445 + ], + [ + 0.2742614651805881, + -0.9573430092889107, + -0.09096708900832977, + -0.9165880205069438, + -0.2316174543254888, + -0.3259137240358899, + 0.290941659753565, + 0.17276491952196898, + -0.9410128762149901 + ], + [ + 0.286501551186393, + -0.9517374706680741, + -0.11005747632090886, + -0.9082216683052509, + -0.23322001592032315, + -0.34747924455275164, + 0.3050414109405761, + 0.19950992732308087, + -0.9312064897276658 + ], + [ + 0.32266863107534094, + -0.9302284763974003, + -0.17481400464304025, + -0.8875896358791133, + -0.23322939238337637, + -0.3972262438566516, + 0.32873939952483416, + 0.2833355470601111, + -0.9009169634168285 + ], + [ + 0.3691139714750349, + -0.9011354297547681, + -0.22739791842190876, + -0.8700922922082931, + -0.24906845951742673, + -0.4253284677908765, + 0.32664090237085425, + 0.35485185601079483, + -0.8760056399270776 + ], + [ + 0.3864829137924582, + -0.8893515068557506, + -0.24430483949340173, + -0.8663799727983094, + -0.2592534069581483, + -0.4268177757715735, + 0.31625417006024087, + 0.3766185978334025, + -0.870713346449628 + ], + [ + 0.4166043454579239, + -0.8721781870700595, + -0.2564098854271402, + -0.8591215936753963, + -0.28550094160683936, + -0.42473438714360695, + 0.2972388040384735, + 0.39723346075172533, + -0.8682480469502856 + ], + [ + 0.4339078075737217, + -0.8610919038682355, + -0.265037257039729, + -0.8564145227028429, + -0.302853252194514, + -0.41813164546452075, + 0.279782379413407, + 0.40841234154685313, + -0.8688620025308903 + ], + [ + 0.471307920724812, + -0.8412114724791021, + -0.26501340047551386, + -0.8436758307777855, + -0.3424323444534435, + -0.41346243122384385, + 0.25706018054818963, + 0.41845351957136057, + -0.8711008641568858 + ], + [ + 0.5221049327185296, + -0.8080956124041411, + -0.2727414901406743, + -0.803198890778903, + -0.3583205334187866, + -0.4758969816903818, + 0.2868413866277303, + 0.46753382395678295, + -0.8361424175185879 + ], + [ + 0.5425856406654493, + -0.783260974283814, + -0.3034848739354806, + -0.7691717995649457, + -0.31806944598553166, + -0.5542621855083388, + 0.33760267371229025, + 0.5341667096463684, + -0.775042167245038 + ], + [ + 0.522209522024409, + -0.8221596808492522, + -0.2266068716806564, + -0.7569959050308761, + -0.3245000001356165, + -0.5671480844351579, + 0.39275235820236964, + 0.4677106040040572, + -0.7918285016521172 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + 0.0020112991333007812, + 0.00018805265426635742, + -0.01451312005519867, + -0.032055094838142395, + 0.01266402006149292, + 0.006616711616516113, + 1.0 + ], + [ + 0.012948155403137207, + 0.007922828197479248, + -0.019977688789367676, + 0.06879444420337677, + 0.0050719380378723145, + -0.06373143196105957, + 1.0 + ], + [ + 0.012667208909988403, + 0.005954310297966003, + -0.015527620911598206, + 0.06316043436527252, + -0.003488287329673767, + -0.05857771635055542, + 1.0 + ], + [ + 0.017731189727783203, + 0.007839366793632507, + -0.013257414102554321, + 0.03254327178001404, + 0.0059677958488464355, + -0.046097397804260254, + 1.0 + ], + [ + 0.012773692607879639, + 0.0015201270580291748, + -0.012865997850894928, + -0.027905210852622986, + -0.018094301223754883, + -0.03292429447174072, + 1.0 + ], + [ + 0.005938053131103516, + 0.005708001554012299, + -0.013428620994091034, + 0.007549598813056946, + 0.017201870679855347, + -0.01829540729522705, + 1.0 + ], + [ + 0.0067570507526397705, + 0.00469488650560379, + -0.00940493494272232, + 0.053157106041908264, + 0.013157427310943604, + -0.03569436073303223, + 1.0 + ], + [ + 0.0015537440776824951, + 0.000807344913482666, + -0.015432711690664291, + 0.022088050842285156, + -0.0007196515798568726, + -0.024371981620788574, + 1.0 + ], + [ + 0.0041374266147613525, + 4.576146602630615e-05, + -0.006968215107917786, + 0.007581360638141632, + -0.008699402213096619, + -0.02156960964202881, + 1.0 + ], + [ + 0.005759298801422119, + 0.0007603541016578674, + -0.010414142161607742, + 0.0003190822899341583, + -0.006490856409072876, + -0.009053826332092285, + 1.0 + ], + [ + 0.004198193550109863, + 0.0012562200427055359, + -0.01231415942311287, + -0.010638579726219177, + 0.000507742166519165, + 0.006284952163696289, + 1.0 + ], + [ + 0.0023238658905029297, + 0.0003686845302581787, + -0.0057260990142822266, + -0.004647526890039444, + 0.012725844979286194, + 0.003527522087097168, + 0.0 + ], + [ + 0.00014010071754455566, + 0.0010290667414665222, + -0.0055668968707323074, + -0.0020651109516620636, + 0.01124921441078186, + 0.004189491271972656, + 0.0 + ], + [ + 0.0016882717609405518, + 0.0004970058798789978, + -0.00031225569546222687, + 0.00347161665558815, + -3.129243850708008e-05, + 0.004647493362426758, + 0.0 + ], + [ + 0.0007425248622894287, + -6.185472011566162e-05, + -0.0001233574002981186, + -0.007878504693508148, + -0.0009511709213256836, + 0.0066068172454833984, + 0.0 + ], + [ + 0.003908067941665649, + -0.0020482316613197327, + 0.0027634426951408386, + -0.009689100086688995, + -0.02359062433242798, + 0.01240241527557373, + 0.0 + ], + [ + 0.0017137527465820312, + -0.0057874396443367004, + 0.0016345251351594925, + -0.007035873830318451, + -0.048442646861076355, + 0.010176897048950195, + 0.0 + ], + [ + -0.006007373332977295, + 0.0018280372023582458, + 0.019826199859380722, + 0.0018105879426002502, + -0.06487208604812622, + 0.028673529624938965, + 0.0 + ], + [ + -0.00865909457206726, + 0.002926856279373169, + 0.035585224628448486, + 0.037342894822359085, + -0.05380949378013611, + 0.010552525520324707, + 0.0 + ], + [ + -0.012782186269760132, + -0.0039653480052948, + 0.004109404981136322, + -0.011893518269062042, + -0.009179949760437012, + 0.0020273923873901367, + 0.0 + ], + [ + -0.021792203187942505, + -0.007837668061256409, + -0.002083525061607361, + -0.01621035858988762, + 0.0340094268321991, + -0.013991355895996094, + 0.0 + ], + [ + -0.026720941066741943, + -0.018266774713993073, + -0.013486005365848541, + -0.026867233216762543, + 0.05859944224357605, + -0.037915825843811035, + 0.0 + ], + [ + -0.023920565843582153, + -0.011161349713802338, + -0.007970303297042847, + -0.01662551611661911, + 0.030651062726974487, + -0.02761852741241455, + 0.0 + ], + [ + -0.021960914134979248, + -0.009935889393091202, + 0.0008378475904464722, + -0.011530451476573944, + 0.0049131810665130615, + -0.024997949600219727, + 0.0 + ], + [ + -0.024350345134735107, + -0.013647239655256271, + 0.0023993030190467834, + -0.03211095929145813, + -0.0011668205261230469, + -0.02523195743560791, + 0.0 + ], + [ + -0.01847386360168457, + -0.013580316677689552, + 0.009206146001815796, + -0.024025052785873413, + -0.014874666929244995, + -0.010929584503173828, + 0.0 + ], + [ + -0.011247247457504272, + -0.010445387102663517, + 0.00856122374534607, + -0.02948552370071411, + -0.014770984649658203, + 0.014832139015197754, + 0.0 + ], + [ + -0.010673552751541138, + -0.009501621127128601, + 0.006793178617954254, + -0.09364493191242218, + -0.024986565113067627, + 0.043107032775878906, + 0.0 + ], + [ + -0.00981786847114563, + -0.007797178812325001, + -0.00013124197721481323, + -0.08017447590827942, + 0.002221137285232544, + 0.05253291130065918, + 0.0 + ], + [ + -0.012336313724517822, + -0.012860162183642387, + 0.0059971883893013, + -0.023362457752227783, + 0.010968953371047974, + 0.01838397979736328, + 0.0 + ], + [ + -0.008379578590393066, + -0.003577549010515213, + -0.005119495093822479, + -0.020842939615249634, + 0.01997894048690796, + 0.031913042068481445, + 0.0 + ], + [ + -0.006166934967041016, + -0.0024844128638505936, + -0.008200064301490784, + -0.010322481393814087, + 0.018232017755508423, + 0.0174483060836792, + 1.0 + ], + [ + -0.0032668709754943848, + 0.00025526806712150574, + -0.005523696541786194, + -0.008417874574661255, + 0.023588508367538452, + 0.04049110412597656, + 1.0 + ], + [ + -0.002473875880241394, + 0.004119930788874626, + 0.0059216320514678955, + -0.062022119760513306, + -0.030949115753173828, + 0.06694811582565308, + 1.0 + ], + [ + 0.004003807902336121, + 0.006192442029714584, + 0.00757308304309845, + -0.09360212087631226, + -0.05344083905220032, + 0.03795355558395386, + 1.0 + ], + [ + 0.015552133321762085, + 0.019911179319024086, + 0.01403508335351944, + 0.06991535425186157, + -0.05925366282463074, + -0.010473549365997314, + 1.0 + ], + [ + 0.03029400110244751, + 0.0277155302464962, + 0.01828450709581375, + 0.22111409902572632, + -0.01567000150680542, + -0.030730068683624268, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9628177285194397 + ], + [ + 0.6892001032829285 + ], + [ + 0.3840504586696625 + ], + [ + 0.16390947997570038 + ], + [ + 0.06443082541227341 + ], + [ + 0.05166913568973541 + ], + [ + 0.051409780979156494 + ], + [ + 0.05115113407373428 + ], + [ + 0.05115113407373428 + ], + [ + 0.05115113407373428 + ], + [ + 0.05115113407373428 + ], + [ + 0.05115113407373428 + ], + [ + 0.05115113407373428 + ], + [ + 0.05115113407373428 + ], + [ + 0.05115113407373428 + ], + [ + 0.05115113407373428 + ], + [ + 0.05115113407373428 + ], + [ + 0.05115113407373428 + ], + [ + 0.05115113407373428 + ], + [ + 0.05115113407373428 + ], + [ + 0.0665184035897255 + ], + [ + 0.21856790781021118 + ], + [ + 0.4550158977508545 + ], + [ + 0.7797733545303345 + ], + [ + 0.9941151142120361 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3808162212371826, + 0.06718464940786362, + 0.1614675372838974 + ], + [ + 0.3937643766403198, + 0.07510747760534286, + 0.14148984849452972 + ], + [ + 0.4064315855503082, + 0.08106178790330887, + 0.12596222758293152 + ], + [ + 0.42416277527809143, + 0.08890115469694138, + 0.1127048134803772 + ], + [ + 0.43693646788597107, + 0.09042128175497055, + 0.09983881562948227 + ], + [ + 0.4428745210170746, + 0.09612928330898285, + 0.08641019463539124 + ], + [ + 0.44963157176971436, + 0.10082416981458664, + 0.07700525969266891 + ], + [ + 0.45118531584739685, + 0.1016315147280693, + 0.06157254800200462 + ], + [ + 0.4553227424621582, + 0.10167727619409561, + 0.05460433289408684 + ], + [ + 0.4610820412635803, + 0.10243763029575348, + 0.044190190732479095 + ], + [ + 0.4652802348136902, + 0.10369385033845901, + 0.031876031309366226 + ], + [ + 0.4676041007041931, + 0.1040625348687172, + 0.026149932295084 + ], + [ + 0.46774420142173767, + 0.10509160161018372, + 0.020583035424351692 + ], + [ + 0.4694324731826782, + 0.10558860749006271, + 0.020270779728889465 + ], + [ + 0.47017499804496765, + 0.10552675276994705, + 0.020147422328591347 + ], + [ + 0.4740830659866333, + 0.10347852110862732, + 0.022910865023732185 + ], + [ + 0.47579681873321533, + 0.09769108146429062, + 0.024545390158891678 + ], + [ + 0.46978944540023804, + 0.09951911866664886, + 0.0443715900182724 + ], + [ + 0.4611303508281708, + 0.10244597494602203, + 0.07995681464672089 + ], + [ + 0.44834816455841064, + 0.09848062694072723, + 0.08406621962785721 + ], + [ + 0.42655596137046814, + 0.09064295887947083, + 0.08198269456624985 + ], + [ + 0.3998350203037262, + 0.07237618416547775, + 0.0684966892004013 + ], + [ + 0.37591445446014404, + 0.061214834451675415, + 0.06052638590335846 + ], + [ + 0.3539535403251648, + 0.05127894505858421, + 0.06136423349380493 + ], + [ + 0.3296031951904297, + 0.03763170540332794, + 0.06376353651285172 + ], + [ + 0.3111293315887451, + 0.02405138872563839, + 0.07296968251466751 + ], + [ + 0.29988208413124084, + 0.013606001622974873, + 0.08153090626001358 + ], + [ + 0.2892085313796997, + 0.004104380030184984, + 0.08832408487796783 + ], + [ + 0.2793906629085541, + -0.0036927987821400166, + 0.08819284290075302 + ], + [ + 0.26705434918403625, + -0.016552960500121117, + 0.09419003129005432 + ], + [ + 0.2586747705936432, + -0.02013050951063633, + 0.08907053619623184 + ], + [ + 0.2525078356266022, + -0.022614922374486923, + 0.08087047189474106 + ], + [ + 0.2492409646511078, + -0.022359654307365417, + 0.07534677535295486 + ], + [ + 0.2467670887708664, + -0.01823972351849079, + 0.08126840740442276 + ], + [ + 0.2507708966732025, + -0.012047281488776207, + 0.08884149044752121 + ], + [ + 0.2663230299949646, + 0.007863897830247879, + 0.10287657380104065 + ], + [ + 0.2966170310974121, + 0.03557942807674408, + 0.1211610808968544 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.590625076280114, + -0.8033660312099782, + -0.07592785501406986, + -0.7726655055500087, + -0.5358913172640416, + -0.34030649804868474, + 0.23270160249181499, + 0.259660385848397, + -0.9372440707834874 + ], + [ + 0.5408648968809886, + -0.8400378292939195, + -0.04244536107842303, + -0.8096837938757002, + -0.5063284994913375, + -0.29672142581536554, + 0.2277659264617304, + 0.19485352436640913, + -0.9540203282870964 + ], + [ + 0.49213002188204574, + -0.8705161088627981, + -0.003121822024049578, + -0.8392690697018125, + -0.47350671211092454, + -0.26724300220540104, + 0.23116113471825478, + 0.13413835318906636, + -0.9636241134381673 + ], + [ + 0.4535669699636127, + -0.8911556688102437, + 0.010889339070599302, + -0.8622609693625939, + -0.4418845685114354, + -0.24747534993478143, + 0.22535089188176574, + 0.10285719254787062, + -0.9688329956547017 + ], + [ + 0.4230890326061224, + -0.905965313090413, + -0.014917170154064283, + -0.8729117348372127, + -0.40312824423388505, + -0.2747957821444727, + 0.24294191419329608, + 0.12928445450979392, + -0.9613868920212101 + ], + [ + 0.4087421489669063, + -0.9124305607360034, + -0.020008185647318405, + -0.884168672738162, + -0.3904571446173284, + -0.256493618567245, + 0.22622027717769264, + 0.12253036379716196, + -0.9663388102220581 + ], + [ + 0.3780477742921528, + -0.925662487061011, + 0.015127471724431601, + -0.9008589443367409, + -0.3715858234597212, + -0.22444852018281194, + 0.21338472944717174, + 0.07122454529012404, + -0.9743685244233686 + ], + [ + 0.3559259103486673, + -0.9340148521133391, + 0.030545087561996045, + -0.9096610254750483, + -0.35376296217943126, + -0.21764325241485905, + 0.21408775087369253, + 0.049679197072133016, + -0.9755503125437007 + ], + [ + 0.33556983229407633, + -0.9413310238846788, + 0.035899737134805376, + -0.9153426997346261, + -0.33483592253176786, + -0.2236797868043205, + 0.22257724433699816, + 0.042199626236764376, + -0.9740013151165792 + ], + [ + 0.3267769710190929, + -0.9444042952101135, + 0.036295156705480267, + -0.9169631136423324, + -0.32611519878086054, + -0.22984239239852666, + 0.2289005448463271, + 0.041825880896978765, + -0.9725508399339574 + ], + [ + 0.3325732075530101, + -0.9426751444081287, + 0.027543306501145892, + -0.915000352362038, + -0.32960768598057844, + -0.2326652714091092, + 0.22840625384443503, + 0.052176100444955006, + -0.9721667746570593 + ], + [ + 0.3367741536133406, + -0.9413790233786758, + 0.019715572541216767, + -0.9164757252195916, + -0.33252467755826964, + -0.22248501949118288, + 0.21599864476714026, + 0.056858360487959614, + -0.9747367399977184 + ], + [ + 0.3414368156164571, + -0.9397869845197835, + 0.014876984536724286, + -0.9172760032841103, + -0.33662705918561486, + -0.21280732323671037, + 0.20500154814250224, + 0.0590139538690385, + -0.9769809202374019 + ], + [ + 0.3456938811029351, + -0.9381522498534852, + 0.019133652626558542, + -0.9156732754763347, + -0.34172591457152, + -0.21157942217687103, + 0.20503217588083644, + 0.05562153724145173, + -0.9771735012005123 + ], + [ + 0.351665734519789, + -0.9360284195564579, + 0.01349106916805183, + -0.9131869658714853, + -0.34618373662887847, + -0.21504972879801107, + 0.205963046508562, + 0.06330575231609839, + -0.9765099104446431 + ], + [ + 0.36106108707780743, + -0.9324108980317437, + 0.015646361552420093, + -0.9039907018216798, + -0.3540772120931, + -0.2396458614212323, + 0.22898843293524357, + 0.07238262987771972, + -0.9707342852057128 + ], + [ + 0.3655902355417721, + -0.9303140977444975, + 0.029316534828537216, + -0.8889582555239788, + -0.35832668290699826, + -0.2852283440554809, + 0.27585684623056916, + 0.07821552182724847, + -0.9580111338251843 + ], + [ + 0.3828306592044014, + -0.9215869020010004, + 0.0641737363204189, + -0.8599274043832346, + -0.3808779514245718, + -0.33978941318018563, + 0.33758783385044683, + 0.07489705053485524, + -0.9383095897715972 + ], + [ + 0.3837573155008621, + -0.9152300550684038, + 0.12281803246697243, + -0.8380927097087894, + -0.40104098001265875, + -0.36981987816160605, + 0.3877253315590182, + 0.03898818603080684, + -0.9209500467546958 + ], + [ + 0.3839510673501336, + -0.9160113802662594, + 0.1162098494250636, + -0.8340445645864422, + -0.3980561869774616, + -0.38199598989096306, + 0.39617072350756277, + 0.049743574777722954, + -0.9168284106657187 + ], + [ + 0.37749054580244096, + -0.9222696751764362, + 0.0831837368704113, + -0.8511636111274082, + -0.3809556799790344, + -0.3611000927502812, + 0.36472098228964744, + 0.06550890123992428, + -0.9288095547183032 + ], + [ + 0.3522756984077807, + -0.9355903675222631, + 0.02392689931577857, + -0.8832170898423258, + -0.3407946470140393, + -0.3221592475423134, + 0.3095632480152699, + 0.09235622754386127, + -0.946383073978029 + ], + [ + 0.33086733846286104, + -0.9436164521324553, + -0.010714271018634175, + -0.9010946842812639, + -0.3125447615912393, + -0.30057302267822544, + 0.28027695998521207, + 0.10910436868812164, + -0.9536986224351038 + ], + [ + 0.3086792557063072, + -0.9506708452484041, + -0.030693013721116394, + -0.9103764440078699, + -0.28593958711226214, + -0.29908741651506227, + 0.2755573393908888, + 0.12026427780830647, + -0.9537319624459802 + ], + [ + 0.2855171331006577, + -0.9559135618654199, + -0.06862382201354868, + -0.9175667873960892, + -0.25198641179292675, + -0.3075289237443289, + 0.27667879820037, + 0.15077171655682448, + -0.9490609738646445 + ], + [ + 0.2742614651805881, + -0.9573430092889107, + -0.09096708900832977, + -0.9165880205069438, + -0.2316174543254888, + -0.3259137240358899, + 0.290941659753565, + 0.17276491952196898, + -0.9410128762149901 + ], + [ + 0.286501551186393, + -0.9517374706680741, + -0.11005747632090886, + -0.9082216683052509, + -0.23322001592032315, + -0.34747924455275164, + 0.3050414109405761, + 0.19950992732308087, + -0.9312064897276658 + ], + [ + 0.32266863107534094, + -0.9302284763974003, + -0.17481400464304025, + -0.8875896358791133, + -0.23322939238337637, + -0.3972262438566516, + 0.32873939952483416, + 0.2833355470601111, + -0.9009169634168285 + ], + [ + 0.3691139714750349, + -0.9011354297547681, + -0.22739791842190876, + -0.8700922922082931, + -0.24906845951742673, + -0.4253284677908765, + 0.32664090237085425, + 0.35485185601079483, + -0.8760056399270776 + ], + [ + 0.3864829137924582, + -0.8893515068557506, + -0.24430483949340173, + -0.8663799727983094, + -0.2592534069581483, + -0.4268177757715735, + 0.31625417006024087, + 0.3766185978334025, + -0.870713346449628 + ], + [ + 0.4166043454579239, + -0.8721781870700595, + -0.2564098854271402, + -0.8591215936753963, + -0.28550094160683936, + -0.42473438714360695, + 0.2972388040384735, + 0.39723346075172533, + -0.8682480469502856 + ], + [ + 0.4339078075737217, + -0.8610919038682355, + -0.265037257039729, + -0.8564145227028429, + -0.302853252194514, + -0.41813164546452075, + 0.279782379413407, + 0.40841234154685313, + -0.8688620025308903 + ], + [ + 0.471307920724812, + -0.8412114724791021, + -0.26501340047551386, + -0.8436758307777855, + -0.3424323444534435, + -0.41346243122384385, + 0.25706018054818963, + 0.41845351957136057, + -0.8711008641568858 + ], + [ + 0.5221049327185296, + -0.8080956124041411, + -0.2727414901406743, + -0.803198890778903, + -0.3583205334187866, + -0.4758969816903818, + 0.2868413866277303, + 0.46753382395678295, + -0.8361424175185879 + ], + [ + 0.5425856406654493, + -0.783260974283814, + -0.3034848739354806, + -0.7691717995649457, + -0.31806944598553166, + -0.5542621855083388, + 0.33760267371229025, + 0.5341667096463684, + -0.775042167245038 + ], + [ + 0.522209522024409, + -0.8221596808492522, + -0.2266068716806564, + -0.7569959050308761, + -0.3245000001356165, + -0.5671480844351579, + 0.39275235820236964, + 0.4677106040040572, + -0.7918285016521172 + ], + [ + 0.49530558485196174, + -0.8673827945285468, + -0.04816082817295503, + -0.767417918733647, + -0.4108945533006866, + -0.4921741603074536, + 0.4071143765835026, + 0.2807360928410844, + -0.869163465957554 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005662.json b/json/chunk-0005/episode_0005662.json new file mode 100644 index 0000000000000000000000000000000000000000..1358c87cbcbb34b40966ca860a1774149c3a6ee4 --- /dev/null +++ b/json/chunk-0005/episode_0005662.json @@ -0,0 +1,1882 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 30, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nFold the cloth from top left to bottom right." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005662.mp4", + "start": 0, + "end": 30, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2790662348270416, + -0.10748590528964996, + 0.12350717931985855, + 0.12247176468372345, + -0.20087385177612305, + -0.16641752421855927, + 0.0, + 1.0008161067962646 + ], + [ + 0.27760255336761475, + -0.10660392045974731, + 0.11496628075838089, + 0.13150039315223694, + -0.175932839512825, + -0.17100264132022858, + 0.0, + 1.0008161067962646 + ], + [ + 0.28093743324279785, + -0.08937783539295197, + 0.10875938087701797, + 0.14559297263622284, + -0.19805553555488586, + -0.17801189422607422, + 0.0, + 1.0008161067962646 + ], + [ + 0.28727805614471436, + -0.0684158205986023, + 0.10493942350149155, + 0.17183974385261536, + -0.21863718330860138, + -0.23102009296417236, + 0.0, + 1.0008161067962646 + ], + [ + 0.3001527488231659, + -0.02183517999947071, + 0.09778136014938354, + 0.17214302718639374, + -0.2491481900215149, + -0.2555641829967499, + 0.0, + 1.0008161067962646 + ], + [ + 0.3123275935649872, + 0.008752435445785522, + 0.08824685961008072, + 0.17278659343719482, + -0.2552836537361145, + -0.29801785945892334, + 0.0, + 1.0008161067962646 + ], + [ + 0.33031824231147766, + 0.04985446110367775, + 0.07577501982450485, + 0.16718372702598572, + -0.25323423743247986, + -0.305823415517807, + 0.0, + 1.0008161067962646 + ], + [ + 0.3407265543937683, + 0.06895482540130615, + 0.06160713732242584, + 0.15657977759838104, + -0.23420217633247375, + -0.31096169352531433, + 0.0, + 1.0001531839370728 + ], + [ + 0.34917891025543213, + 0.08687394857406616, + 0.0466768704354763, + 0.14963127672672272, + -0.20157910883426666, + -0.30171695351600647, + 0.0, + 1.0008161067962646 + ], + [ + 0.3533228635787964, + 0.09819599241018295, + 0.031085729598999023, + 0.14544722437858582, + -0.19258688390254974, + -0.29237744212150574, + 0.0, + 1.0008161067962646 + ], + [ + 0.3556278347969055, + 0.10887520760297775, + 0.01663866825401783, + 0.14242173731327057, + -0.18529528379440308, + -0.2704649269580841, + 0.0, + 1.0008161067962646 + ], + [ + 0.36409804224967957, + 0.11573775112628937, + 0.010365782305598259, + 0.13524678349494934, + -0.191122367978096, + -0.2613205313682556, + 0.0, + 1.0001531839370728 + ], + [ + 0.37604162096977234, + 0.12262073904275894, + 0.00861713383346796, + 0.12899693846702576, + -0.2003028243780136, + -0.27010470628738403, + 0.0, + 0.9701826572418213 + ], + [ + 0.3761688470840454, + 0.12265993654727936, + 0.008272364735603333, + 0.12487363815307617, + -0.19743555784225464, + -0.26184695959091187, + 0.0, + 0.7270174622535706 + ], + [ + 0.3752489387989044, + 0.12318871170282364, + 0.008105873130261898, + 0.1260971575975418, + -0.19117043912410736, + -0.2591640055179596, + 0.0, + 0.4448287785053253 + ], + [ + 0.3730674684047699, + 0.12267058342695236, + 0.007198462262749672, + 0.12765075266361237, + -0.1847398281097412, + -0.25958818197250366, + 0.0, + 0.22045548260211945 + ], + [ + 0.37227603793144226, + 0.12248513847589493, + 0.009727456606924534, + 0.15223754942417145, + -0.1715259701013565, + -0.2738843560218811, + 0.0, + 0.0936371386051178 + ], + [ + 0.3684033751487732, + 0.12279758602380753, + 0.026965651661157608, + 0.1918402910232544, + -0.11946525424718857, + -0.2912600636482239, + 0.0, + 0.05980546772480011 + ], + [ + 0.3813643455505371, + 0.11254263669252396, + 0.07153544574975967, + 0.2910008728504181, + -0.1095745861530304, + -0.3721293807029724, + 0.0, + 0.05868057906627655 + ], + [ + 0.38024744391441345, + 0.08406656980514526, + 0.09790238738059998, + 0.3393728733062744, + -0.08223564177751541, + -0.40081650018692017, + 0.0, + 0.05868057906627655 + ], + [ + 0.3699703812599182, + 0.04661663621664047, + 0.1214069128036499, + 0.3671863079071045, + -0.12170375883579254, + -0.39576005935668945, + 0.0, + 0.05868057906627655 + ], + [ + 0.33661243319511414, + 0.003793554613366723, + 0.1253264993429184, + 0.36550456285476685, + -0.164509117603302, + -0.35630303621292114, + 0.0, + 0.058401256799697876 + ], + [ + 0.31587833166122437, + -0.03518667817115784, + 0.1238870695233345, + 0.36607375741004944, + -0.2147282510995865, + -0.3467566668987274, + 0.0, + 0.058401256799697876 + ], + [ + 0.30537939071655273, + -0.06721057742834091, + 0.1190321296453476, + 0.3509633541107178, + -0.23220594227313995, + -0.34659332036972046, + 0.0, + 0.05784503370523453 + ], + [ + 0.29794520139694214, + -0.0791473537683487, + 0.11868245899677277, + 0.3538930118083954, + -0.19892555475234985, + -0.3443602919578552, + 0.0, + 0.06833917647600174 + ], + [ + 0.2938602566719055, + -0.08548671007156372, + 0.11806325614452362, + 0.3625076115131378, + -0.19087551534175873, + -0.34632572531700134, + 0.0, + 0.22553777694702148 + ], + [ + 0.29092153906822205, + -0.08971341699361801, + 0.12186376005411148, + 0.3750561773777008, + -0.18474335968494415, + -0.3422197997570038, + 0.0, + 0.48514097929000854 + ], + [ + 0.2899779975414276, + -0.09304796904325485, + 0.12902168929576874, + 0.3795750141143799, + -0.17514505982398987, + -0.3352154493331909, + 0.0, + 0.7950940132141113 + ], + [ + 0.2896323502063751, + -0.09613907337188721, + 0.1359904259443283, + 0.3626236021518707, + -0.15908557176589966, + -0.3352597653865814, + 0.0, + 0.9994885921478271 + ], + [ + 0.28945863246917725, + -0.09909840673208237, + 0.13524122536182404, + 0.34508997201919556, + -0.1520731896162033, + -0.3632732331752777, + 0.0, + 1.0027955770492554 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 0.9701826572418213 + ], + [ + 0.7270174622535706 + ], + [ + 0.4448287785053253 + ], + [ + 0.22045548260211945 + ], + [ + 0.0936371386051178 + ], + [ + 0.05980546772480011 + ], + [ + 0.05868057906627655 + ], + [ + 0.05868057906627655 + ], + [ + 0.05868057906627655 + ], + [ + 0.058401256799697876 + ], + [ + 0.058401256799697876 + ], + [ + 0.05784503370523453 + ], + [ + 0.06833917647600174 + ], + [ + 0.22553777694702148 + ], + [ + 0.48514097929000854 + ], + [ + 0.7950940132141113 + ], + [ + 0.9994885921478271 + ], + [ + 1.0027955770492554 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2790662348270416, + -0.10748590528964996, + 0.12350717931985855 + ], + [ + 0.27760255336761475, + -0.10660392045974731, + 0.11496628075838089 + ], + [ + 0.28093743324279785, + -0.08937783539295197, + 0.10875938087701797 + ], + [ + 0.28727805614471436, + -0.0684158205986023, + 0.10493942350149155 + ], + [ + 0.3001527488231659, + -0.02183517999947071, + 0.09778136014938354 + ], + [ + 0.3123275935649872, + 0.008752435445785522, + 0.08824685961008072 + ], + [ + 0.33031824231147766, + 0.04985446110367775, + 0.07577501982450485 + ], + [ + 0.3407265543937683, + 0.06895482540130615, + 0.06160713732242584 + ], + [ + 0.34917891025543213, + 0.08687394857406616, + 0.0466768704354763 + ], + [ + 0.3533228635787964, + 0.09819599241018295, + 0.031085729598999023 + ], + [ + 0.3556278347969055, + 0.10887520760297775, + 0.01663866825401783 + ], + [ + 0.36409804224967957, + 0.11573775112628937, + 0.010365782305598259 + ], + [ + 0.37604162096977234, + 0.12262073904275894, + 0.00861713383346796 + ], + [ + 0.3761688470840454, + 0.12265993654727936, + 0.008272364735603333 + ], + [ + 0.3752489387989044, + 0.12318871170282364, + 0.008105873130261898 + ], + [ + 0.3730674684047699, + 0.12267058342695236, + 0.007198462262749672 + ], + [ + 0.37227603793144226, + 0.12248513847589493, + 0.009727456606924534 + ], + [ + 0.3684033751487732, + 0.12279758602380753, + 0.026965651661157608 + ], + [ + 0.3813643455505371, + 0.11254263669252396, + 0.07153544574975967 + ], + [ + 0.38024744391441345, + 0.08406656980514526, + 0.09790238738059998 + ], + [ + 0.3699703812599182, + 0.04661663621664047, + 0.1214069128036499 + ], + [ + 0.33661243319511414, + 0.003793554613366723, + 0.1253264993429184 + ], + [ + 0.31587833166122437, + -0.03518667817115784, + 0.1238870695233345 + ], + [ + 0.30537939071655273, + -0.06721057742834091, + 0.1190321296453476 + ], + [ + 0.29794520139694214, + -0.0791473537683487, + 0.11868245899677277 + ], + [ + 0.2938602566719055, + -0.08548671007156372, + 0.11806325614452362 + ], + [ + 0.29092153906822205, + -0.08971341699361801, + 0.12186376005411148 + ], + [ + 0.2899779975414276, + -0.09304796904325485, + 0.12902168929576874 + ], + [ + 0.2896323502063751, + -0.09613907337188721, + 0.1359904259443283 + ], + [ + 0.28945863246917725, + -0.09909840673208237, + 0.13524122536182404 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9663549220235887, + -0.14037120055139726, + 0.21553211068549144, + -0.16231963716012435, + -0.9828354835977381, + 0.08767409864609846, + 0.19952568775220175, + -0.11970939076346365, + -0.9725529094553422 + ], + [ + 0.9702034818759112, + -0.1460861806805727, + 0.19329777952687777, + -0.1675436489675722, + -0.9808122211950856, + 0.09968205678552902, + 0.17502665353165303, + -0.12909769389313494, + -0.9760632438448776 + ], + [ + 0.9649576273070363, + -0.1471046607519046, + 0.21729472217944484, + -0.1736116362513777, + -0.9788396937043589, + 0.10831368236227765, + 0.19676325180300913, + -0.14224300620355337, + -0.9700779092042461 + ], + [ + 0.9502597276148316, + -0.18949486232106516, + 0.24718039409974824, + -0.2235197485920905, + -0.9675886974558201, + 0.11752035800268086, + 0.21689945150395135, + -0.16692456293089458, + -0.9618164160730545 + ], + [ + 0.9376465059422423, + -0.20818942699285628, + 0.2783454551141282, + -0.24498582273932154, + -0.9638980744162683, + 0.10431897619008793, + 0.2465785403295322, + -0.16600501385499347, + -0.9547991196183421 + ], + [ + 0.9249406264719998, + -0.24775223987934564, + 0.2882770631464661, + -0.28411009804543924, + -0.9544340925655952, + 0.09130725676034641, + 0.25251987979205787, + -0.16635621594414834, + -0.9531837806669544 + ], + [ + 0.9231864021680065, + -0.2571243688573695, + 0.28568151111297146, + -0.29147624748778084, + -0.9528558227970761, + 0.08430526740452579, + 0.25053635265672203, + -0.16109885133484356, + -0.9546091850050785 + ], + [ + 0.926048880337132, + -0.26777809976688705, + 0.26594804099970276, + -0.2976211871903729, + -0.9514657091793189, + 0.07832389923445413, + 0.2320670165312975, + -0.15168353088299008, + -0.9608001906208864 + ], + [ + 0.9354939877837326, + -0.26534085006818553, + 0.2333350211725234, + -0.2911430338474942, + -0.9530278890938005, + 0.08350794244556208, + 0.20021671424375667, + -0.14605504405705105, + -0.968804000529997 + ], + [ + 0.9398583163972493, + -0.25862314040435536, + 0.22311525350436545, + -0.28290090914668037, + -0.9554462095129223, + 0.08419985944982913, + 0.19139859117274055, + -0.14225544620427846, + -0.9711487874277103 + ], + [ + 0.9471509712631063, + -0.2392742978559121, + 0.21366527097522206, + -0.2626058833608758, + -0.9608769402631873, + 0.08805484481111604, + 0.18423677065018504, + -0.1395109890152597, + -0.9729303655886045 + ], + [ + 0.9484594800612061, + -0.2312534142203593, + 0.2166713481138053, + -0.2536522298642137, + -0.9638451467554452, + 0.0816276874650173, + 0.18996094589925314, + -0.13237972460842093, + -0.9728260109318931 + ], + [ + 0.9444742433670273, + -0.23994845000445172, + 0.22448417529247525, + -0.2614974011227414, + -0.9625651792362084, + 0.07132590642970123, + 0.19896610973312448, + -0.12606750993982363, + -0.9718639154301589 + ], + [ + 0.9471485473261889, + -0.23325106531760842, + 0.2202352601789516, + -0.25383598152423575, + -0.9647166802938416, + 0.06992153635652817, + 0.19615535623968464, + -0.1221297150206706, + -0.9729375154281243 + ], + [ + 0.948995453992462, + -0.23113981009514378, + 0.21443417752499747, + -0.251603923765487, + -0.9650538910545747, + 0.07325607760613609, + 0.1900081415293888, + -0.12347216508025649, + -0.9739874386268756 + ], + [ + 0.9500499471903413, + -0.231992951811419, + 0.20876869533877596, + -0.2523148622340624, + -0.9646344959963206, + 0.07627253391445049, + 0.18369079492297957, + -0.1251381614206854, + -0.9749862216548574 + ], + [ + 0.9485999569886677, + -0.24242501490641089, + 0.20344098345398395, + -0.26650397471902665, + -0.958593942401196, + 0.10036575636487206, + 0.17068612439228367, + -0.1494247828820872, + -0.9739294025752497 + ], + [ + 0.9510554963355403, + -0.26012478362282476, + 0.1668188833290108, + -0.28511271982262665, + -0.946835804249059, + 0.14903924579580566, + 0.11918128999681088, + -0.1893067794275122, + -0.9746582803103249 + ], + [ + 0.9259684080551743, + -0.31908530759316767, + 0.20190857773244786, + -0.361419276224195, + -0.9037980753293536, + 0.22918365082294856, + 0.10935544822890791, + -0.28519047233231654, + -0.9522120459401493 + ], + [ + 0.9176311272491859, + -0.3427385993562861, + 0.20120478824987986, + -0.38885169987115514, + -0.8788961206315461, + 0.276289639049551, + 0.08214298394081415, + -0.33177079686149186, + -0.9397769248812131 + ], + [ + 0.9158787967167358, + -0.31959800953291584, + 0.2429467884687978, + -0.3826580854926509, + -0.8779989917252924, + 0.2875596636116919, + 0.12140353920625074, + -0.3563353516450038, + -0.9264374225149954 + ], + [ + 0.9245396040577002, + -0.2709128574301454, + 0.2680163133241415, + -0.34410250118577873, + -0.8957025158249872, + 0.28162114945877126, + 0.1637680958139338, + -0.35259498978831527, + -0.921334241179419 + ], + [ + 0.9188811556717261, + -0.24559753489661906, + 0.30877058247847405, + -0.33204444527896804, + -0.9040850219728437, + 0.2690292909772919, + 0.21308192816561092, + -0.34973150258028796, + -0.9122959870525347 + ], + [ + 0.9152924869041786, + -0.24457567450294368, + 0.32003500255158707, + -0.33057863075747573, + -0.9100780704645347, + 0.2499513443573812, + 0.23012481896413675, + -0.33457532051987904, + -0.9138391119862094 + ], + [ + 0.9227288391171226, + -0.25221037322210926, + 0.29148141810539463, + -0.33093705069969903, + -0.9060803554153436, + 0.2636267399270974, + 0.1976161884455632, + -0.33971799653472734, + -0.9195322315692249 + ], + [ + 0.9235430951719957, + -0.254100241751783, + 0.28723025345846764, + -0.33327917862709694, + -0.9023325662457303, + 0.2733512922706649, + 0.18971858225745242, + -0.3481795614824056, + -0.9180293309650526 + ], + [ + 0.9259822511108459, + -0.24886225201491927, + 0.2839444490560676, + -0.3298685906811687, + -0.8991117287144066, + 0.2877234995098794, + 0.1836942664040185, + -0.3600912090155143, + -0.9146533429010333 + ], + [ + 0.9298922625836874, + -0.24458629845970462, + 0.2747324563876132, + -0.32393977210149894, + -0.8983633845661636, + 0.29665847926809225, + 0.1742509800196843, + -0.36485719381233045, + -0.9146123900787546 + ], + [ + 0.9324004651343261, + -0.254552654936102, + 0.2565780943149164, + -0.32485987180967213, + -0.9014036254907998, + 0.2862473888786504, + 0.1584153916293987, + -0.3502491253622537, + -0.9231631025327434 + ], + [ + 0.9239510471867807, + -0.2864858117172735, + 0.2534567854430943, + -0.35123486893613853, + -0.8978405808271704, + 0.2655491635523321, + 0.1514877197856824, + -0.3343772885598311, + -0.9301845513926311 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0014636814594268799, + 0.0008819848299026489, + -0.008540898561477661, + 0.009028628468513489, + 0.024941012263298035, + -0.0045851171016693115, + 1.0 + ], + [ + 0.0033348798751831055, + 0.01722608506679535, + -0.006206899881362915, + 0.014092579483985901, + -0.022122696042060852, + -0.007009252905845642, + 1.0 + ], + [ + 0.006340622901916504, + 0.02096201479434967, + -0.0038199573755264282, + 0.026246771216392517, + -0.020581647753715515, + -0.053008198738098145, + 1.0 + ], + [ + 0.012874692678451538, + 0.04658064246177673, + -0.007158063352108002, + 0.00030328333377838135, + -0.030511006712913513, + -0.024544090032577515, + 1.0 + ], + [ + 0.012174844741821289, + 0.030587615445256233, + -0.009534500539302826, + 0.0006435662508010864, + -0.006135463714599609, + -0.04245367646217346, + 1.0 + ], + [ + 0.01799064874649048, + 0.04110202565789223, + -0.012471839785575867, + -0.0056028664112091064, + 0.0020494163036346436, + -0.007805556058883667, + 1.0 + ], + [ + 0.01040831208229065, + 0.019100364297628403, + -0.01416788250207901, + -0.010603949427604675, + 0.019032061100006104, + -0.005138278007507324, + 1.0 + ], + [ + 0.008452355861663818, + 0.01791912317276001, + -0.01493026688694954, + -0.006948500871658325, + 0.03262306749820709, + 0.009244740009307861, + 1.0 + ], + [ + 0.004143953323364258, + 0.01132204383611679, + -0.01559114083647728, + -0.004184052348136902, + 0.008992224931716919, + 0.009339511394500732, + 1.0 + ], + [ + 0.002304971218109131, + 0.0106792151927948, + -0.014447061344981194, + -0.0030254870653152466, + 0.0072916001081466675, + 0.02191251516342163, + 1.0 + ], + [ + 0.008470207452774048, + 0.006862543523311615, + -0.006272885948419571, + -0.007174953818321228, + -0.005827084183692932, + 0.009144395589828491, + 1.0 + ], + [ + 0.011943578720092773, + 0.006882987916469574, + -0.0017486484721302986, + -0.006249845027923584, + -0.009180456399917603, + -0.008784174919128418, + 0.0 + ], + [ + 0.0001272261142730713, + 3.919750452041626e-05, + -0.00034476909786462784, + -0.004123300313949585, + 0.002867266535758972, + 0.008257746696472168, + 0.0 + ], + [ + -0.0009199082851409912, + 0.000528775155544281, + -0.00016649160534143448, + 0.0012235194444656372, + 0.006265118718147278, + 0.0026829540729522705, + 0.0 + ], + [ + -0.0021814703941345215, + -0.0005181282758712769, + -0.0009074108675122261, + 0.0015535950660705566, + 0.00643061101436615, + -0.0004241764545440674, + 0.0 + ], + [ + -0.0007914304733276367, + -0.00018544495105743408, + 0.002528994344174862, + 0.024586796760559082, + 0.013213858008384705, + -0.014296174049377441, + 0.0 + ], + [ + -0.0038726627826690674, + 0.00031244754791259766, + 0.01723819598555565, + 0.03960274159908295, + 0.05206071585416794, + -0.017375707626342773, + 0.0 + ], + [ + 0.012960970401763916, + -0.01025494933128357, + 0.044569794088602066, + 0.0991605818271637, + 0.009890668094158173, + -0.08086931705474854, + 0.0 + ], + [ + -0.0011169016361236572, + -0.028476066887378693, + 0.0263669416308403, + 0.04837200045585632, + 0.027338944375514984, + -0.028687119483947754, + 0.0 + ], + [ + -0.01027706265449524, + -0.03744993358850479, + 0.023504525423049927, + 0.027813434600830078, + -0.03946811705827713, + 0.005056440830230713, + 0.0 + ], + [ + -0.03335794806480408, + -0.042823079973459244, + 0.003919586539268494, + -0.0016817450523376465, + -0.04280535876750946, + 0.03945702314376831, + 0.0 + ], + [ + -0.02073410153388977, + -0.038980234414339066, + -0.0014394298195838928, + 0.0005691945552825928, + -0.050219133496284485, + 0.009546369314193726, + 0.0 + ], + [ + -0.01049894094467163, + -0.032023899257183075, + -0.004854939877986908, + -0.015110403299331665, + -0.017477691173553467, + 0.000163346529006958, + 0.0 + ], + [ + -0.007434189319610596, + -0.011936776340007782, + -0.0003496706485748291, + 0.0029296576976776123, + 0.0332803875207901, + 0.0022330284118652344, + 1.0 + ], + [ + -0.004084944725036621, + -0.006339356303215027, + -0.0006192028522491455, + 0.008614599704742432, + 0.008050039410591125, + -0.001965433359146118, + 1.0 + ], + [ + -0.0029387176036834717, + -0.004226706922054291, + 0.00380050390958786, + 0.012548565864562988, + 0.006132155656814575, + 0.004105925559997559, + 1.0 + ], + [ + -0.0009435415267944336, + -0.003334552049636841, + 0.007157929241657257, + 0.004518836736679077, + 0.009598299860954285, + 0.007004350423812866, + 1.0 + ], + [ + -0.00034564733505249023, + -0.0030911043286323547, + 0.00696873664855957, + -0.016951411962509155, + 0.01605948805809021, + -4.431605339050293e-05, + 1.0 + ], + [ + -0.00017371773719787598, + -0.00295933336019516, + -0.0007492005825042725, + -0.01753363013267517, + 0.00701238214969635, + -0.02801346778869629, + 1.0 + ], + [ + 0.003267645835876465, + 0.0005230605602264404, + -0.0007549971342086792, + -0.019481390714645386, + -0.010613575577735901, + -0.008837521076202393, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 0.9701826572418213 + ], + [ + 0.7270174622535706 + ], + [ + 0.4448287785053253 + ], + [ + 0.22045548260211945 + ], + [ + 0.0936371386051178 + ], + [ + 0.05980546772480011 + ], + [ + 0.05868057906627655 + ], + [ + 0.05868057906627655 + ], + [ + 0.05868057906627655 + ], + [ + 0.058401256799697876 + ], + [ + 0.058401256799697876 + ], + [ + 0.05784503370523453 + ], + [ + 0.06833917647600174 + ], + [ + 0.22553777694702148 + ], + [ + 0.48514097929000854 + ], + [ + 0.7950940132141113 + ], + [ + 0.9994885921478271 + ], + [ + 1.0027955770492554 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.27760255336761475, + -0.10660392045974731, + 0.11496628075838089 + ], + [ + 0.28093743324279785, + -0.08937783539295197, + 0.10875938087701797 + ], + [ + 0.28727805614471436, + -0.0684158205986023, + 0.10493942350149155 + ], + [ + 0.3001527488231659, + -0.02183517999947071, + 0.09778136014938354 + ], + [ + 0.3123275935649872, + 0.008752435445785522, + 0.08824685961008072 + ], + [ + 0.33031824231147766, + 0.04985446110367775, + 0.07577501982450485 + ], + [ + 0.3407265543937683, + 0.06895482540130615, + 0.06160713732242584 + ], + [ + 0.34917891025543213, + 0.08687394857406616, + 0.0466768704354763 + ], + [ + 0.3533228635787964, + 0.09819599241018295, + 0.031085729598999023 + ], + [ + 0.3556278347969055, + 0.10887520760297775, + 0.01663866825401783 + ], + [ + 0.36409804224967957, + 0.11573775112628937, + 0.010365782305598259 + ], + [ + 0.37604162096977234, + 0.12262073904275894, + 0.00861713383346796 + ], + [ + 0.3761688470840454, + 0.12265993654727936, + 0.008272364735603333 + ], + [ + 0.3752489387989044, + 0.12318871170282364, + 0.008105873130261898 + ], + [ + 0.3730674684047699, + 0.12267058342695236, + 0.007198462262749672 + ], + [ + 0.37227603793144226, + 0.12248513847589493, + 0.009727456606924534 + ], + [ + 0.3684033751487732, + 0.12279758602380753, + 0.026965651661157608 + ], + [ + 0.3813643455505371, + 0.11254263669252396, + 0.07153544574975967 + ], + [ + 0.38024744391441345, + 0.08406656980514526, + 0.09790238738059998 + ], + [ + 0.3699703812599182, + 0.04661663621664047, + 0.1214069128036499 + ], + [ + 0.33661243319511414, + 0.003793554613366723, + 0.1253264993429184 + ], + [ + 0.31587833166122437, + -0.03518667817115784, + 0.1238870695233345 + ], + [ + 0.30537939071655273, + -0.06721057742834091, + 0.1190321296453476 + ], + [ + 0.29794520139694214, + -0.0791473537683487, + 0.11868245899677277 + ], + [ + 0.2938602566719055, + -0.08548671007156372, + 0.11806325614452362 + ], + [ + 0.29092153906822205, + -0.08971341699361801, + 0.12186376005411148 + ], + [ + 0.2899779975414276, + -0.09304796904325485, + 0.12902168929576874 + ], + [ + 0.2896323502063751, + -0.09613907337188721, + 0.1359904259443283 + ], + [ + 0.28945863246917725, + -0.09909840673208237, + 0.13524122536182404 + ], + [ + 0.2927262783050537, + -0.09857534617185593, + 0.13448622822761536 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9702034818759112, + -0.1460861806805727, + 0.19329777952687777, + -0.1675436489675722, + -0.9808122211950856, + 0.09968205678552902, + 0.17502665353165303, + -0.12909769389313494, + -0.9760632438448776 + ], + [ + 0.9649576273070363, + -0.1471046607519046, + 0.21729472217944484, + -0.1736116362513777, + -0.9788396937043589, + 0.10831368236227765, + 0.19676325180300913, + -0.14224300620355337, + -0.9700779092042461 + ], + [ + 0.9502597276148316, + -0.18949486232106516, + 0.24718039409974824, + -0.2235197485920905, + -0.9675886974558201, + 0.11752035800268086, + 0.21689945150395135, + -0.16692456293089458, + -0.9618164160730545 + ], + [ + 0.9376465059422423, + -0.20818942699285628, + 0.2783454551141282, + -0.24498582273932154, + -0.9638980744162683, + 0.10431897619008793, + 0.2465785403295322, + -0.16600501385499347, + -0.9547991196183421 + ], + [ + 0.9249406264719998, + -0.24775223987934564, + 0.2882770631464661, + -0.28411009804543924, + -0.9544340925655952, + 0.09130725676034641, + 0.25251987979205787, + -0.16635621594414834, + -0.9531837806669544 + ], + [ + 0.9231864021680065, + -0.2571243688573695, + 0.28568151111297146, + -0.29147624748778084, + -0.9528558227970761, + 0.08430526740452579, + 0.25053635265672203, + -0.16109885133484356, + -0.9546091850050785 + ], + [ + 0.926048880337132, + -0.26777809976688705, + 0.26594804099970276, + -0.2976211871903729, + -0.9514657091793189, + 0.07832389923445413, + 0.2320670165312975, + -0.15168353088299008, + -0.9608001906208864 + ], + [ + 0.9354939877837326, + -0.26534085006818553, + 0.2333350211725234, + -0.2911430338474942, + -0.9530278890938005, + 0.08350794244556208, + 0.20021671424375667, + -0.14605504405705105, + -0.968804000529997 + ], + [ + 0.9398583163972493, + -0.25862314040435536, + 0.22311525350436545, + -0.28290090914668037, + -0.9554462095129223, + 0.08419985944982913, + 0.19139859117274055, + -0.14225544620427846, + -0.9711487874277103 + ], + [ + 0.9471509712631063, + -0.2392742978559121, + 0.21366527097522206, + -0.2626058833608758, + -0.9608769402631873, + 0.08805484481111604, + 0.18423677065018504, + -0.1395109890152597, + -0.9729303655886045 + ], + [ + 0.9484594800612061, + -0.2312534142203593, + 0.2166713481138053, + -0.2536522298642137, + -0.9638451467554452, + 0.0816276874650173, + 0.18996094589925314, + -0.13237972460842093, + -0.9728260109318931 + ], + [ + 0.9444742433670273, + -0.23994845000445172, + 0.22448417529247525, + -0.2614974011227414, + -0.9625651792362084, + 0.07132590642970123, + 0.19896610973312448, + -0.12606750993982363, + -0.9718639154301589 + ], + [ + 0.9471485473261889, + -0.23325106531760842, + 0.2202352601789516, + -0.25383598152423575, + -0.9647166802938416, + 0.06992153635652817, + 0.19615535623968464, + -0.1221297150206706, + -0.9729375154281243 + ], + [ + 0.948995453992462, + -0.23113981009514378, + 0.21443417752499747, + -0.251603923765487, + -0.9650538910545747, + 0.07325607760613609, + 0.1900081415293888, + -0.12347216508025649, + -0.9739874386268756 + ], + [ + 0.9500499471903413, + -0.231992951811419, + 0.20876869533877596, + -0.2523148622340624, + -0.9646344959963206, + 0.07627253391445049, + 0.18369079492297957, + -0.1251381614206854, + -0.9749862216548574 + ], + [ + 0.9485999569886677, + -0.24242501490641089, + 0.20344098345398395, + -0.26650397471902665, + -0.958593942401196, + 0.10036575636487206, + 0.17068612439228367, + -0.1494247828820872, + -0.9739294025752497 + ], + [ + 0.9510554963355403, + -0.26012478362282476, + 0.1668188833290108, + -0.28511271982262665, + -0.946835804249059, + 0.14903924579580566, + 0.11918128999681088, + -0.1893067794275122, + -0.9746582803103249 + ], + [ + 0.9259684080551743, + -0.31908530759316767, + 0.20190857773244786, + -0.361419276224195, + -0.9037980753293536, + 0.22918365082294856, + 0.10935544822890791, + -0.28519047233231654, + -0.9522120459401493 + ], + [ + 0.9176311272491859, + -0.3427385993562861, + 0.20120478824987986, + -0.38885169987115514, + -0.8788961206315461, + 0.276289639049551, + 0.08214298394081415, + -0.33177079686149186, + -0.9397769248812131 + ], + [ + 0.9158787967167358, + -0.31959800953291584, + 0.2429467884687978, + -0.3826580854926509, + -0.8779989917252924, + 0.2875596636116919, + 0.12140353920625074, + -0.3563353516450038, + -0.9264374225149954 + ], + [ + 0.9245396040577002, + -0.2709128574301454, + 0.2680163133241415, + -0.34410250118577873, + -0.8957025158249872, + 0.28162114945877126, + 0.1637680958139338, + -0.35259498978831527, + -0.921334241179419 + ], + [ + 0.9188811556717261, + -0.24559753489661906, + 0.30877058247847405, + -0.33204444527896804, + -0.9040850219728437, + 0.2690292909772919, + 0.21308192816561092, + -0.34973150258028796, + -0.9122959870525347 + ], + [ + 0.9152924869041786, + -0.24457567450294368, + 0.32003500255158707, + -0.33057863075747573, + -0.9100780704645347, + 0.2499513443573812, + 0.23012481896413675, + -0.33457532051987904, + -0.9138391119862094 + ], + [ + 0.9227288391171226, + -0.25221037322210926, + 0.29148141810539463, + -0.33093705069969903, + -0.9060803554153436, + 0.2636267399270974, + 0.1976161884455632, + -0.33971799653472734, + -0.9195322315692249 + ], + [ + 0.9235430951719957, + -0.254100241751783, + 0.28723025345846764, + -0.33327917862709694, + -0.9023325662457303, + 0.2733512922706649, + 0.18971858225745242, + -0.3481795614824056, + -0.9180293309650526 + ], + [ + 0.9259822511108459, + -0.24886225201491927, + 0.2839444490560676, + -0.3298685906811687, + -0.8991117287144066, + 0.2877234995098794, + 0.1836942664040185, + -0.3600912090155143, + -0.9146533429010333 + ], + [ + 0.9298922625836874, + -0.24458629845970462, + 0.2747324563876132, + -0.32393977210149894, + -0.8983633845661636, + 0.29665847926809225, + 0.1742509800196843, + -0.36485719381233045, + -0.9146123900787546 + ], + [ + 0.9324004651343261, + -0.254552654936102, + 0.2565780943149164, + -0.32485987180967213, + -0.9014036254907998, + 0.2862473888786504, + 0.1584153916293987, + -0.3502491253622537, + -0.9231631025327434 + ], + [ + 0.9239510471867807, + -0.2864858117172735, + 0.2534567854430943, + -0.35123486893613853, + -0.8978405808271704, + 0.2655491635523321, + 0.1514877197856824, + -0.3343772885598311, + -0.9301845513926311 + ], + [ + 0.9192613360933922, + -0.29621257076906116, + 0.2592618538894115, + -0.35878167504770686, + -0.9014520964762409, + 0.24219790958749224, + 0.16197007629112317, + -0.31566157618084173, + -0.9349457009416502 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005663.json b/json/chunk-0005/episode_0005663.json new file mode 100644 index 0000000000000000000000000000000000000000..2fd4bcb81ab49d7d6c26229bc87ee6a44f6bd977 --- /dev/null +++ b/json/chunk-0005/episode_0005663.json @@ -0,0 +1,2962 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 48, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nSweep into pile." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005663.mp4", + "start": 0, + "end": 48, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3780311942100525, + 0.14925611019134521, + 0.13613176345825195, + -0.09482908993959427, + -0.10069818049669266, + -0.27756115794181824, + 0.0, + 1.0001531839370728 + ], + [ + 0.37715187668800354, + 0.147907093167305, + 0.11735086143016815, + -0.1290261298418045, + -0.06295228749513626, + -0.2746162712574005, + 0.0, + 1.0008161067962646 + ], + [ + 0.38335558772087097, + 0.12737950682640076, + 0.10122492909431458, + -0.1594209372997284, + -0.046616166830062866, + -0.30811914801597595, + 0.0, + 1.0001531839370728 + ], + [ + 0.3819156289100647, + 0.0955730453133583, + 0.08388032019138336, + -0.20534825325012207, + -0.030572302639484406, + -0.3427966833114624, + 0.0, + 1.0008161067962646 + ], + [ + 0.3734920918941498, + 0.07055366039276123, + 0.08720296621322632, + -0.20016124844551086, + -0.03785291314125061, + -0.3840622901916504, + 0.0, + 1.0008161067962646 + ], + [ + 0.3635256290435791, + 0.04229522868990898, + 0.08758101612329483, + -0.2125990092754364, + -0.04722817614674568, + -0.40305766463279724, + 0.0, + 1.0008161067962646 + ], + [ + 0.35642972588539124, + 0.02027835324406624, + 0.08165749162435532, + -0.2428659349679947, + -0.0527510792016983, + -0.4019657075405121, + 0.0, + 1.0008161067962646 + ], + [ + 0.35229358077049255, + -0.007571192923933268, + 0.07266926020383835, + -0.27996766567230225, + -0.05783906579017639, + -0.4059300124645233, + 0.0, + 1.0001531839370728 + ], + [ + 0.3481692969799042, + -0.02892824448645115, + 0.06534752994775772, + -0.2885172367095947, + -0.050777945667505264, + -0.41732272505760193, + 0.0, + 1.0008161067962646 + ], + [ + 0.34795892238616943, + -0.048102449625730515, + 0.06479630619287491, + -0.29061782360076904, + -0.056024763733148575, + -0.4347715675830841, + 0.0, + 1.0008161067962646 + ], + [ + 0.34826385974884033, + -0.05810123682022095, + 0.07781703770160675, + -0.26772311329841614, + -0.0825374647974968, + -0.4218272268772125, + 0.0, + 1.0008161067962646 + ], + [ + 0.3537611663341522, + -0.07035722583532333, + 0.08117776364088058, + -0.25233030319213867, + -0.10230356454849243, + -0.3909875452518463, + 0.0, + 1.0008161067962646 + ], + [ + 0.3662959039211273, + -0.07821455597877502, + 0.06614788621664047, + -0.2121533751487732, + -0.0793026015162468, + -0.3010715842247009, + 0.0, + 1.0001531839370728 + ], + [ + 0.37414637207984924, + -0.07301834225654602, + 0.056033529341220856, + -0.14830783009529114, + -0.03554989770054817, + -0.1973605751991272, + 0.0, + 1.0008161067962646 + ], + [ + 0.37908077239990234, + -0.06546550989151001, + 0.04795798286795616, + -0.09501248598098755, + 0.001637452864088118, + -0.15755848586559296, + 0.0, + 1.0001531839370728 + ], + [ + 0.38147976994514465, + -0.062285613268613815, + 0.045005571097135544, + -0.07269343733787537, + -0.015103078447282314, + -0.15279066562652588, + 0.0, + 0.9709111452102661 + ], + [ + 0.37326541543006897, + -0.06587094813585281, + 0.029435787349939346, + -0.07495322823524475, + -0.04316384717822075, + -0.1817391812801361, + 0.0, + 0.7001883387565613 + ], + [ + 0.3695083260536194, + -0.07263895869255066, + 0.029465913772583008, + -0.13772058486938477, + -0.08271725475788116, + -0.22142551839351654, + 0.0, + 0.4148389995098114 + ], + [ + 0.36922407150268555, + -0.06984592974185944, + 0.028490405529737473, + -0.1364770382642746, + -0.085231252014637, + -0.24136920273303986, + 0.0, + 0.4050447642803192 + ], + [ + 0.3674568235874176, + -0.0571274571120739, + 0.027182260528206825, + -0.09888190776109695, + -0.06971049308776855, + -0.29336631298065186, + 0.0, + 0.4050447642803192 + ], + [ + 0.36452725529670715, + -0.03347745165228844, + 0.026941215619444847, + -0.0265059694647789, + -0.04990431293845177, + -0.32224124670028687, + 0.0, + 0.40415963530540466 + ], + [ + 0.36582863330841064, + -0.005348535254597664, + 0.026291806250810623, + 0.02330891601741314, + -0.04750218614935875, + -0.3087567090988159, + 0.0, + 0.4050447642803192 + ], + [ + 0.3676121234893799, + 0.019427357241511345, + 0.025807635858654976, + 0.030559521168470383, + -0.06253206729888916, + -0.2816507816314697, + 0.0, + 0.40415963530540466 + ], + [ + 0.3735610544681549, + 0.04005268216133118, + 0.02500082738697529, + 0.0217882189899683, + -0.07724927365779877, + -0.2724265158176422, + 0.0, + 0.40415963530540466 + ], + [ + 0.385101854801178, + 0.06589294970035553, + 0.024154601618647575, + 0.019047245383262634, + -0.10266757011413574, + -0.24323239922523499, + 0.0, + 0.40415963530540466 + ], + [ + 0.39493489265441895, + 0.08202105760574341, + 0.023914599791169167, + 0.017293596640229225, + -0.09711918979883194, + -0.22261463105678558, + 0.0, + 0.40415963530540466 + ], + [ + 0.4070867896080017, + 0.09599623829126358, + 0.02371407113969326, + 0.018529551103711128, + -0.10676764696836472, + -0.19602152705192566, + 0.0, + 0.40415963530540466 + ], + [ + 0.4145200550556183, + 0.10574504733085632, + 0.023519963026046753, + 0.016181515529751778, + -0.12063673138618469, + -0.1536247283220291, + 0.0, + 0.40415963530540466 + ], + [ + 0.414825975894928, + 0.11046510189771652, + 0.02272351086139679, + 0.014584175311028957, + -0.13597528636455536, + -0.09103384613990784, + 0.0, + 0.40415963530540466 + ], + [ + 0.4088412821292877, + 0.1187092661857605, + 0.022344034165143967, + -0.004182993900030851, + -0.1703294962644577, + -0.012933648191392422, + 0.0, + 0.40415963530540466 + ], + [ + 0.3946022391319275, + 0.12971535325050354, + 0.022122662514448166, + -0.011416899971663952, + -0.18451303243637085, + 0.04789978265762329, + 0.0, + 0.40327540040016174 + ], + [ + 0.38323941826820374, + 0.13196903467178345, + 0.02185381017625332, + -0.025963466614484787, + -0.18009065091609955, + 0.08471032232046127, + 0.0, + 0.40327540040016174 + ], + [ + 0.37432387471199036, + 0.1365119367837906, + 0.022321583703160286, + -0.03711967170238495, + -0.178976371884346, + 0.12536989152431488, + 0.0, + 0.40327540040016174 + ], + [ + 0.3632499575614929, + 0.14396323263645172, + 0.022473709657788277, + -0.06055605784058571, + -0.1701161116361618, + 0.1814548820257187, + 0.0, + 0.40327540040016174 + ], + [ + 0.35601603984832764, + 0.1528819054365158, + 0.023400504142045975, + -0.061738863587379456, + -0.16645851731300354, + 0.20390668511390686, + 0.0, + 0.40327540040016174 + ], + [ + 0.3531234562397003, + 0.15802687406539917, + 0.02271931990981102, + -0.05594222992658615, + -0.1460917443037033, + 0.19080625474452972, + 0.0, + 0.40327540040016174 + ], + [ + 0.3570829927921295, + 0.16598919034004211, + 0.02325599268078804, + -0.046089787036180496, + -0.09487797319889069, + 0.14283685386180878, + 0.0, + 0.40327540040016174 + ], + [ + 0.36140334606170654, + 0.1792975813150406, + 0.023556016385555267, + 0.0008869473240338266, + -0.03828301280736923, + 0.04781072959303856, + 0.0, + 0.40327540040016174 + ], + [ + 0.3637683391571045, + 0.18097759783267975, + 0.023309223353862762, + 0.009719218127429485, + -0.03798043355345726, + 0.007179228588938713, + 0.0, + 0.475652277469635 + ], + [ + 0.3629942536354065, + 0.17499396204948425, + 0.02318861149251461, + -0.031235914677381516, + -0.026184845715761185, + 0.005134126171469688, + 0.0, + 0.7280064821243286 + ], + [ + 0.3646650016307831, + 0.1663355976343155, + 0.024849209934473038, + -0.08029375225305557, + -0.039308980107307434, + -0.00319583504460752, + 0.0, + 0.9590815901756287 + ], + [ + 0.3667876720428467, + 0.16005060076713562, + 0.028572242707014084, + -0.1169106736779213, + -0.059390295296907425, + -0.007778565865010023, + 0.0, + 0.9920742511749268 + ], + [ + 0.3670031428337097, + 0.15574298799037933, + 0.03166239708662033, + -0.12832096219062805, + -0.04953334480524063, + -0.013043515384197235, + 0.0, + 0.993436336517334 + ], + [ + 0.3672608435153961, + 0.14936551451683044, + 0.04402235522866249, + -0.09624581038951874, + -0.032808076590299606, + -0.04636102169752121, + 0.0, + 0.9974852800369263 + ], + [ + 0.37588661909103394, + 0.1460363268852234, + 0.08339178562164307, + -0.047601088881492615, + -0.09768650680780411, + -0.07951807975769043, + 0.0, + 0.9988223910331726 + ], + [ + 0.37457168102264404, + 0.14518442749977112, + 0.09826196730136871, + -0.03831351548433304, + -0.10149359703063965, + -0.08723443001508713, + 0.0, + 0.9988223910331726 + ], + [ + 0.3761918246746063, + 0.14317017793655396, + 0.1068527027964592, + -0.053216446191072464, + -0.10462900251150131, + -0.10405039042234421, + 0.0, + 0.9981546401977539 + ], + [ + 0.37885165214538574, + 0.12928111851215363, + 0.1177496686577797, + -0.09064279496669769, + -0.10105626285076141, + -0.18152786791324615, + 0.0, + 0.9981546401977539 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 0.9709111452102661 + ], + [ + 0.7001883387565613 + ], + [ + 0.4148389995098114 + ], + [ + 0.4050447642803192 + ], + [ + 0.4050447642803192 + ], + [ + 0.40415963530540466 + ], + [ + 0.4050447642803192 + ], + [ + 0.40415963530540466 + ], + [ + 0.40415963530540466 + ], + [ + 0.40415963530540466 + ], + [ + 0.40415963530540466 + ], + [ + 0.40415963530540466 + ], + [ + 0.40415963530540466 + ], + [ + 0.40415963530540466 + ], + [ + 0.40415963530540466 + ], + [ + 0.40327540040016174 + ], + [ + 0.40327540040016174 + ], + [ + 0.40327540040016174 + ], + [ + 0.40327540040016174 + ], + [ + 0.40327540040016174 + ], + [ + 0.40327540040016174 + ], + [ + 0.40327540040016174 + ], + [ + 0.40327540040016174 + ], + [ + 0.475652277469635 + ], + [ + 0.7280064821243286 + ], + [ + 0.9590815901756287 + ], + [ + 0.9920742511749268 + ], + [ + 0.993436336517334 + ], + [ + 0.9974852800369263 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3780311942100525, + 0.14925611019134521, + 0.13613176345825195 + ], + [ + 0.37715187668800354, + 0.147907093167305, + 0.11735086143016815 + ], + [ + 0.38335558772087097, + 0.12737950682640076, + 0.10122492909431458 + ], + [ + 0.3819156289100647, + 0.0955730453133583, + 0.08388032019138336 + ], + [ + 0.3734920918941498, + 0.07055366039276123, + 0.08720296621322632 + ], + [ + 0.3635256290435791, + 0.04229522868990898, + 0.08758101612329483 + ], + [ + 0.35642972588539124, + 0.02027835324406624, + 0.08165749162435532 + ], + [ + 0.35229358077049255, + -0.007571192923933268, + 0.07266926020383835 + ], + [ + 0.3481692969799042, + -0.02892824448645115, + 0.06534752994775772 + ], + [ + 0.34795892238616943, + -0.048102449625730515, + 0.06479630619287491 + ], + [ + 0.34826385974884033, + -0.05810123682022095, + 0.07781703770160675 + ], + [ + 0.3537611663341522, + -0.07035722583532333, + 0.08117776364088058 + ], + [ + 0.3662959039211273, + -0.07821455597877502, + 0.06614788621664047 + ], + [ + 0.37414637207984924, + -0.07301834225654602, + 0.056033529341220856 + ], + [ + 0.37908077239990234, + -0.06546550989151001, + 0.04795798286795616 + ], + [ + 0.38147976994514465, + -0.062285613268613815, + 0.045005571097135544 + ], + [ + 0.37326541543006897, + -0.06587094813585281, + 0.029435787349939346 + ], + [ + 0.3695083260536194, + -0.07263895869255066, + 0.029465913772583008 + ], + [ + 0.36922407150268555, + -0.06984592974185944, + 0.028490405529737473 + ], + [ + 0.3674568235874176, + -0.0571274571120739, + 0.027182260528206825 + ], + [ + 0.36452725529670715, + -0.03347745165228844, + 0.026941215619444847 + ], + [ + 0.36582863330841064, + -0.005348535254597664, + 0.026291806250810623 + ], + [ + 0.3676121234893799, + 0.019427357241511345, + 0.025807635858654976 + ], + [ + 0.3735610544681549, + 0.04005268216133118, + 0.02500082738697529 + ], + [ + 0.385101854801178, + 0.06589294970035553, + 0.024154601618647575 + ], + [ + 0.39493489265441895, + 0.08202105760574341, + 0.023914599791169167 + ], + [ + 0.4070867896080017, + 0.09599623829126358, + 0.02371407113969326 + ], + [ + 0.4145200550556183, + 0.10574504733085632, + 0.023519963026046753 + ], + [ + 0.414825975894928, + 0.11046510189771652, + 0.02272351086139679 + ], + [ + 0.4088412821292877, + 0.1187092661857605, + 0.022344034165143967 + ], + [ + 0.3946022391319275, + 0.12971535325050354, + 0.022122662514448166 + ], + [ + 0.38323941826820374, + 0.13196903467178345, + 0.02185381017625332 + ], + [ + 0.37432387471199036, + 0.1365119367837906, + 0.022321583703160286 + ], + [ + 0.3632499575614929, + 0.14396323263645172, + 0.022473709657788277 + ], + [ + 0.35601603984832764, + 0.1528819054365158, + 0.023400504142045975 + ], + [ + 0.3531234562397003, + 0.15802687406539917, + 0.02271931990981102 + ], + [ + 0.3570829927921295, + 0.16598919034004211, + 0.02325599268078804 + ], + [ + 0.36140334606170654, + 0.1792975813150406, + 0.023556016385555267 + ], + [ + 0.3637683391571045, + 0.18097759783267975, + 0.023309223353862762 + ], + [ + 0.3629942536354065, + 0.17499396204948425, + 0.02318861149251461 + ], + [ + 0.3646650016307831, + 0.1663355976343155, + 0.024849209934473038 + ], + [ + 0.3667876720428467, + 0.16005060076713562, + 0.028572242707014084 + ], + [ + 0.3670031428337097, + 0.15574298799037933, + 0.03166239708662033 + ], + [ + 0.3672608435153961, + 0.14936551451683044, + 0.04402235522866249 + ], + [ + 0.37588661909103394, + 0.1460363268852234, + 0.08339178562164307 + ], + [ + 0.37457168102264404, + 0.14518442749977112, + 0.09826196730136871 + ], + [ + 0.3761918246746063, + 0.14317017793655396, + 0.1068527027964592 + ], + [ + 0.37885165214538574, + 0.12928111851215363, + 0.1177496686577797 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9568546730472395, + -0.2819342520729988, + 0.07030086895408269, + -0.27262288759758013, + -0.9547973868953322, + -0.1184850671426671, + 0.10052808476051625, + 0.09420736428689586, + -0.9904640713768968 + ], + [ + 0.9606227096264751, + -0.2767148010806474, + 0.025158072517314098, + -0.27064044705380885, + -0.9523333855453078, + -0.1407653053643774, + 0.06291071584716838, + 0.12841355706742838, + -0.9897232947611605 + ], + [ + 0.9518704787578081, + -0.30647037989892056, + -0.004300920133222769, + -0.30293744944601664, + -0.9385788050762002, + -0.1652232682913461, + 0.04659928532202172, + 0.1585740612658429, + -0.9862468117571449 + ], + [ + 0.941378213758782, + -0.33493077532484755, + -0.04035386475446508, + -0.33596530198123226, + -0.9199357090818917, + -0.20210296143465237, + 0.030567540381662293, + 0.20381282318905672, + -0.9785325536632503 + ], + [ + 0.9264860396029293, + -0.37418529050011323, + -0.040112177630061405, + -0.37442149992122326, + -0.9058198854549959, + -0.1982394398474733, + 0.03784387424169383, + 0.19868493523074274, + -0.979332495986289 + ], + [ + 0.9188402893768829, + -0.39256525280512927, + -0.04031184575097787, + -0.391795456686534, + -0.895248729460677, + -0.21219338471977248, + 0.04721062102531582, + 0.21076582903565752, + -0.9763958841439857 + ], + [ + 0.9190135895197911, + -0.3914159639092512, + -0.04698473661669933, + -0.3906839209123541, + -0.8883248726384085, + -0.2413399979127054, + 0.05272661774187967, + 0.24015091890090065, + -0.9693025533508898 + ], + [ + 0.9171992362925013, + -0.394174097055857, + -0.0580718705971429, + -0.3942130543522601, + -0.876656524724747, + -0.2758068263038287, + 0.05780682245819678, + 0.2758624999301793, + -0.9594572697153102 + ], + [ + 0.9129990493073272, + -0.4017637422191529, + -0.07084229952492502, + -0.4047919854498715, + -0.8705380706763864, + -0.27983372923682054, + 0.0507561275066193, + 0.28416432383587004, + -0.9574311738080367 + ], + [ + 0.9055432735394586, + -0.41809335902244793, + -0.0720369550214852, + -0.42054237383379967, + -0.8621762084358803, + -0.2824823842602616, + 0.05599546015235252, + 0.28609461502876266, + -0.956563839842313 + ], + [ + 0.9092364737946587, + -0.41474022405941635, + -0.0357712352121157, + -0.4080343825338354, + -0.8709114277556446, + -0.2739000322651621, + 0.08244378322036801, + 0.26363579338126736, + -0.9610927067960422 + ], + [ + 0.9196992828708913, + -0.39260591596659455, + -0.0037180417963356624, + -0.3791090494482362, + -0.8855393773497982, + -0.2685076158871223, + 0.10212520606208259, + 0.24835580506797678, + -0.9632703859123949 + ], + [ + 0.9520178277901901, + -0.3058257513613467, + 0.011518045577094821, + -0.2956117814715665, + -0.9286608851734803, + -0.2240594452461555, + 0.0792195065931054, + 0.20990371638700428, + -0.9745074138363798 + ], + [ + 0.9799679704761203, + -0.19907931145652352, + 0.005495870350587663, + -0.19595793915399995, + -0.9687933674567435, + -0.15178898923947148, + 0.035542410208527137, + 0.1476713882978678, + -0.9883976417185287 + ], + [ + 0.9876119941976106, + -0.15604628640497337, + -0.016495618091958313, + -0.1569071944415965, + -0.9831832687490552, + -0.09343870923974752, + -0.0016374521323509533, + 0.09486947112290699, + -0.9954883737138139 + ], + [ + 0.9882374757681498, + -0.1528790315911332, + 0.003833169335314312, + -0.15217951850344363, + -0.9855730163412174, + -0.0740757963719249, + 0.015102504277634241, + 0.07262114815831622, + -0.9972452472710573 + ], + [ + 0.9826147655042866, + -0.18341094537181898, + 0.028786242039757486, + -0.1805720401710276, + -0.980185386702376, + -0.08142693659709077, + 0.043150445205451464, + 0.07481331975610675, + -0.9962635225007699 + ], + [ + 0.9722497221982656, + -0.228607095521031, + 0.049691785667587224, + -0.2188696511641363, + -0.9638568934971227, + -0.1519077504848434, + 0.082622959791359, + 0.13681624441386459, + -0.9871447521917953 + ], + [ + 0.9674868439259712, + -0.24805596315179668, + 0.04937049700983416, + -0.23816467794505797, + -0.9592141342989168, + -0.15226894214023623, + 0.08512809764989683, + 0.13555988973886884, + -0.9871052240184405 + ], + [ + 0.9549508187113424, + -0.2943462913641564, + 0.037804690220977294, + -0.28847399821930403, + -0.950611244680912, + -0.11454699401370759, + 0.06965404650058658, + 0.09848107557482576, + -0.9926982379150875 + ], + [ + 0.9473471321548947, + -0.3178360064455379, + 0.0389060946979758, + -0.3162989685295573, + -0.9477761438998551, + -0.040930960915406926, + 0.04988360156438145, + 0.026469870817071816, + -0.9984042128486302 + ], + [ + 0.9516374351890192, + -0.30273745471556524, + 0.052308942440140074, + -0.30353159793964013, + -0.952789615358666, + 0.007779326249319153, + 0.047484323719238816, + -0.02328051496478907, + -0.9986006492206483 + ], + [ + 0.958720444564882, + -0.27597781828841567, + 0.06849345214019419, + -0.27739852880964294, + -0.9606801215771433, + 0.011990005036309846, + 0.0624913224980921, + -0.030495045815529708, + -0.9975795140203852 + ], + [ + 0.9602485725472308, + -0.26738607787104635, + 0.08017084433722917, + -0.2682668249225933, + -0.9633446220432854, + 0.0002232178983069058, + 0.07717246637860022, + -0.021721522529928136, + -0.9967811123270873 + ], + [ + 0.9654538625730027, + -0.2389029190425534, + 0.10403958148616747, + -0.23957293720130524, + -0.9708586157751352, + -0.006193216928872928, + 0.10248730167005642, + -0.0189458029161028, + -0.9945538746333731 + ], + [ + 0.9707274459818964, + -0.21911203305767138, + 0.0983775512340012, + -0.21974008826400956, + -0.9755478922196692, + -0.004539118360012405, + 0.0969665882002141, + -0.01721124501873217, + -0.995138811331221 + ], + [ + 0.9752640164290869, + -0.19279849094256649, + 0.10811493952675909, + -0.19365953875218975, + -0.9810654083793914, + -0.002578280758002153, + 0.10656491593810218, + -0.018422984873442044, + -0.9941350573837833 + ], + [ + 0.9810407144297182, + -0.1510768006508986, + 0.12138746614175992, + -0.15190904373629818, + -0.9883915082439167, + -0.0024225735157081436, + 0.12034433539785626, + -0.016063210650558192, + -0.9926022437014961 + ], + [ + 0.9866670965645662, + -0.08892976887788738, + 0.13630677446178, + -0.0900690437879562, + -0.9959330907739895, + 0.002201375136514125, + 0.1355566594010499, + -0.01444904525198695, + -0.990664230293662 + ], + [ + 0.9854465403301359, + -0.013642160193505514, + 0.16943732651520624, + -0.01274612959300394, + -0.9998984432802213, + -0.006374896562967966, + 0.1695070863762463, + 0.004122449641284315, + -0.9855203463537375 + ], + [ + 0.9818982039036173, + 0.04578616124486998, + 0.18379212336035924, + 0.047068714049045196, + -0.998888219371041, + -0.00261941969157713, + 0.18346785366548538, + 0.011222862389344938, + -0.9829616442319457 + ], + [ + 0.980299676292035, + 0.07994718393041997, + 0.18061282469228845, + 0.08324070415424423, + -0.9964718361999966, + -0.010717501206573337, + 0.17911875902215635, + 0.025540701670136494, + -0.9834958783465032 + ], + [ + 0.9763032890222805, + 0.118400831508002, + 0.18114395088572868, + 0.12304436840024426, + -0.9922941364139831, + -0.014574986909514608, + 0.1780223897414663, + 0.03651835068347514, + -0.983348584589461 + ], + [ + 0.9693842902114715, + 0.17005251329916693, + 0.17713339778776369, + 0.17785582985575665, + -0.9836282635021601, + -0.029030036618044132, + 0.16929678578615012, + 0.05964546890050831, + -0.9837586169188643 + ], + [ + 0.965747059952622, + 0.19209953563622534, + 0.17444306979990112, + 0.1996976558990599, + -0.9794873316084725, + -0.02693350045825148, + 0.1656908640248075, + 0.060846821008665314, + -0.9842988377275734 + ], + [ + 0.9713925390978859, + 0.18136220386871807, + 0.1533110758974836, + 0.18763033907306922, + -0.9818593235392455, + -0.02733358078226454, + 0.14557263082148203, + 0.055317445593023026, + -0.987799873136647 + ], + [ + 0.9853644115559577, + 0.13788012602558583, + 0.10022997199515638, + 0.1417114152834175, + -0.989386354070992, + -0.032132804989299976, + 0.09473569135944515, + 0.04586625366517483, + -0.9944452903791992 + ], + [ + 0.9981254169992569, + 0.04782640598350981, + 0.038187521924837715, + 0.04775749903760491, + -0.9988552694798836, + 0.0027151276106912744, + 0.038273662298408694, + -0.0008862973370534713, + -0.9992669019092435 + ], + [ + 0.9992530780653089, + 0.007547863892714622, + 0.03789875628121205, + 0.007173989518358951, + -0.999924349997875, + 0.00999140409138894, + 0.03797130299839776, + -0.009712056012194464, + -0.9992316328642823 + ], + [ + 0.9996440214361064, + 0.004313928806739015, + 0.02632907946168965, + 0.005132343627599795, + -0.9995032233726999, + -0.031096069148226196, + 0.02618185356191987, + 0.031220129497383838, + -0.9991695622156577 + ], + [ + 0.9992223987893685, + -0.0063375803910878745, + 0.03891571446609327, + -0.0031933608310649197, + -0.9967630244935973, + -0.08033228148744818, + 0.03929885754347858, + 0.08014554308982184, + -0.9960081785400231 + ], + [ + 0.9982067151817735, + -0.014648661271202245, + 0.058041110335480844, + -0.007764773286917562, + -0.9930898271015569, + -0.11709954570024064, + 0.05935538780781954, + 0.11643887679963918, + -0.9914226777252082 + ], + [ + 0.9986885135798088, + -0.01927151318830462, + 0.04743270626039746, + -0.013027147783131647, + -0.9916111472380859, + -0.12859870175784666, + 0.04951309184840505, + 0.12781213343262893, + -0.9905617155346815 + ], + [ + 0.9983879618507584, + -0.049278746034801375, + 0.028161726167370307, + -0.0463194762192558, + -0.9941563523310984, + -0.0975071958498366, + 0.03280219130274985, + 0.0960455741247984, + -0.9948363000699036 + ], + [ + 0.9920876342200335, + -0.08397050359433501, + 0.09333316963336824, + -0.07905560005396679, + -0.9953423225769359, + -0.05517130583245845, + 0.09753121617105248, + 0.04735626054984904, + -0.9941051485929094 + ], + [ + 0.9910710019299608, + -0.09092609109707186, + 0.09752289521620583, + -0.0866754879453803, + -0.9951282834001761, + -0.04697935042600679, + 0.10131944000523449, + 0.03810702736801043, + -0.994123848191059 + ], + [ + 0.9891525940102972, + -0.10924087039515883, + 0.09820172095237888, + -0.10329475592521441, + -0.992606656636298, + -0.06373553639580877, + 0.10443820738145192, + 0.05290044835933994, + -0.9931234582882081 + ], + [ + 0.9785509992093212, + -0.18877329235109264, + 0.08247779120083125, + -0.1796114989029905, + -0.9778826088584156, + -0.10716955143173758, + 0.10088434669590739, + 0.09005691193455236, + -0.9908138579998527 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0008793175220489502, + -0.0013490170240402222, + -0.0187809020280838, + -0.034197039902210236, + 0.037745893001556396, + 0.0029448866844177246, + 1.0 + ], + [ + 0.006203711032867432, + -0.020527586340904236, + -0.016125932335853577, + -0.03039480745792389, + 0.016336120665073395, + -0.03350287675857544, + 1.0 + ], + [ + -0.0014399588108062744, + -0.03180646151304245, + -0.017344608902931213, + -0.04592731595039368, + 0.01604386419057846, + -0.03467753529548645, + 1.0 + ], + [ + -0.008423537015914917, + -0.025019384920597076, + 0.0033226460218429565, + 0.005187004804611206, + -0.007280610501766205, + -0.04126560688018799, + 1.0 + ], + [ + -0.009966462850570679, + -0.02825843170285225, + 0.00037804991006851196, + -0.012437760829925537, + -0.009375263005495071, + -0.01899537444114685, + 1.0 + ], + [ + -0.007095903158187866, + -0.022016875445842743, + -0.005923524498939514, + -0.03026692569255829, + -0.0055229030549526215, + 0.0010919570922851562, + 1.0 + ], + [ + -0.004136145114898682, + -0.02784954570233822, + -0.008988231420516968, + -0.037101730704307556, + -0.005087986588478088, + -0.0039643049240112305, + 1.0 + ], + [ + -0.004124283790588379, + -0.02135705202817917, + -0.0073217302560806274, + -0.00854957103729248, + 0.007061120122671127, + -0.011392712593078613, + 1.0 + ], + [ + -0.0002103745937347412, + -0.019174205139279366, + -0.0005512237548828125, + -0.0021005868911743164, + -0.0052468180656433105, + -0.017448842525482178, + 1.0 + ], + [ + 0.00030493736267089844, + -0.009998787194490433, + 0.013020731508731842, + 0.022894710302352905, + -0.02651270106434822, + 0.012944340705871582, + 1.0 + ], + [ + 0.00549730658531189, + -0.012255989015102386, + 0.0033607259392738342, + 0.015392810106277466, + -0.019766099750995636, + 0.03083968162536621, + 1.0 + ], + [ + 0.012534737586975098, + -0.00785733014345169, + -0.015029877424240112, + 0.04017692804336548, + 0.023000963032245636, + 0.08991596102714539, + 1.0 + ], + [ + 0.007850468158721924, + 0.005196213722229004, + -0.010114356875419617, + 0.06384554505348206, + 0.043752703815698624, + 0.10371100902557373, + 1.0 + ], + [ + 0.004934400320053101, + 0.007552832365036011, + -0.008075546473264694, + 0.05329534411430359, + 0.037187349051237106, + 0.03980208933353424, + 1.0 + ], + [ + 0.0023989975452423096, + 0.0031798966228961945, + -0.0029524117708206177, + 0.022319048643112183, + -0.016740530729293823, + 0.004767820239067078, + 0.0 + ], + [ + -0.008214354515075684, + -0.0035853348672389984, + -0.015569783747196198, + -0.0022597908973693848, + -0.02806076779961586, + -0.02894851565361023, + 0.0 + ], + [ + -0.003757089376449585, + -0.0067680105566978455, + 3.01264226436615e-05, + -0.06276735663414001, + -0.039553407579660416, + -0.03968633711338043, + 0.0 + ], + [ + -0.0002842545509338379, + 0.002793028950691223, + -0.0009755082428455353, + 0.0012435466051101685, + -0.002513997256755829, + -0.019943684339523315, + 0.0 + ], + [ + -0.0017672479152679443, + 0.012718472629785538, + -0.0013081450015306473, + 0.03759513050317764, + 0.015520758926868439, + -0.051997110247612, + 0.0 + ], + [ + -0.0029295682907104492, + 0.02365000545978546, + -0.00024104490876197815, + 0.07237593829631805, + 0.019806180149316788, + -0.02887493371963501, + 0.0 + ], + [ + 0.0013013780117034912, + 0.028128916397690773, + -0.0006494093686342239, + 0.04981488734483719, + 0.0024021267890930176, + 0.013484537601470947, + 0.0 + ], + [ + 0.0017834901809692383, + 0.02477589249610901, + -0.0004841703921556473, + 0.007250605151057243, + -0.01502988114953041, + 0.02710592746734619, + 0.0 + ], + [ + 0.005948930978775024, + 0.020625324919819832, + -0.0008068084716796875, + -0.008771302178502083, + -0.014717206358909607, + 0.009224265813827515, + 0.0 + ], + [ + 0.011540800333023071, + 0.025840267539024353, + -0.000846225768327713, + -0.0027409736067056656, + -0.025418296456336975, + 0.029194116592407227, + 0.0 + ], + [ + 0.009833037853240967, + 0.01612810790538788, + -0.0002400018274784088, + -0.0017536487430334091, + 0.0055483803153038025, + 0.020617768168449402, + 0.0 + ], + [ + 0.012151896953582764, + 0.013975180685520172, + -0.00020052865147590637, + 0.001235954463481903, + -0.009648457169532776, + 0.026593104004859924, + 0.0 + ], + [ + 0.007433265447616577, + 0.009748809039592743, + -0.00019410811364650726, + -0.0023480355739593506, + -0.013869084417819977, + 0.042396798729896545, + 0.0 + ], + [ + 0.0003059208393096924, + 0.004720054566860199, + -0.0007964521646499634, + -0.0015973402187228203, + -0.015338554978370667, + 0.06259088218212128, + 0.0 + ], + [ + -0.005984693765640259, + 0.008244164288043976, + -0.0003794766962528229, + -0.01876716874539852, + -0.034354209899902344, + 0.07810019701719284, + 0.0 + ], + [ + -0.01423904299736023, + 0.011006087064743042, + -0.00022137165069580078, + -0.0072339060716331005, + -0.014183536171913147, + 0.06083343178033829, + 0.0 + ], + [ + -0.011362820863723755, + 0.0022536814212799072, + -0.0002688523381948471, + -0.014546566642820835, + 0.004422381520271301, + 0.03681053966283798, + 0.0 + ], + [ + -0.008915543556213379, + 0.004542902112007141, + 0.00046777352690696716, + -0.011156205087900162, + 0.00111427903175354, + 0.04065956920385361, + 0.0 + ], + [ + -0.011073917150497437, + 0.007451295852661133, + 0.00015212595462799072, + -0.02343638613820076, + 0.008860260248184204, + 0.05608499050140381, + 0.0 + ], + [ + -0.007233917713165283, + 0.008918672800064087, + 0.0009267944842576981, + -0.001182805746793747, + 0.003657594323158264, + 0.02245180308818817, + 0.0 + ], + [ + -0.0028925836086273193, + 0.005144968628883362, + -0.0006811842322349548, + 0.0057966336607933044, + 0.020366773009300232, + -0.013100430369377136, + 0.0 + ], + [ + 0.003959536552429199, + 0.007962316274642944, + 0.0005366727709770203, + 0.009852442890405655, + 0.05121377110481262, + -0.04796940088272095, + 0.0 + ], + [ + 0.004320353269577026, + 0.013308390974998474, + 0.00030002370476722717, + 0.046976733952760696, + 0.056594960391521454, + -0.09502612054347992, + 0.0 + ], + [ + 0.0023649930953979492, + 0.0016800165176391602, + -0.0002467930316925049, + 0.008832271210849285, + 0.00030257925391197205, + -0.040631502866744995, + 1.0 + ], + [ + -0.000774085521697998, + -0.005983635783195496, + -0.00012061186134815216, + -0.040955133736133575, + 0.011795587837696075, + -0.0020451024174690247, + 1.0 + ], + [ + 0.001670747995376587, + -0.008658364415168762, + 0.0016605984419584274, + -0.04905783757567406, + -0.01312413439154625, + -0.008329961448907852, + 1.0 + ], + [ + 0.0021226704120635986, + -0.006284996867179871, + 0.003723032772541046, + -0.03661692142486572, + -0.02008131518959999, + -0.004582731053233147, + 1.0 + ], + [ + 0.0002154707908630371, + -0.004307612776756287, + 0.003090154379606247, + -0.011410288512706757, + 0.009856950491666794, + -0.005264949519187212, + 1.0 + ], + [ + 0.00025770068168640137, + -0.006377473473548889, + 0.01235995814204216, + 0.032075151801109314, + 0.016725268214941025, + -0.033317506313323975, + 1.0 + ], + [ + 0.008625775575637817, + -0.0033291876316070557, + 0.039369430392980576, + 0.04864472150802612, + -0.0648784339427948, + -0.03315705806016922, + 1.0 + ], + [ + -0.0013149380683898926, + -0.0008518993854522705, + 0.014870181679725647, + 0.009287573397159576, + -0.0038070902228355408, + -0.007716350257396698, + 1.0 + ], + [ + 0.0016201436519622803, + -0.002014249563217163, + 0.008590735495090485, + -0.014902930706739426, + -0.003135405480861664, + -0.01681596040725708, + 1.0 + ], + [ + 0.002659827470779419, + -0.01388905942440033, + 0.010896965861320496, + -0.03742634877562523, + 0.0035727396607398987, + -0.07747747749090195, + 1.0 + ], + [ + 0.0017195940017700195, + -0.01318705826997757, + 0.00036969035863876343, + -0.020923174917697906, + -0.0022715404629707336, + -0.07141904532909393, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 0.9709111452102661 + ], + [ + 0.7001883387565613 + ], + [ + 0.4148389995098114 + ], + [ + 0.4050447642803192 + ], + [ + 0.4050447642803192 + ], + [ + 0.40415963530540466 + ], + [ + 0.4050447642803192 + ], + [ + 0.40415963530540466 + ], + [ + 0.40415963530540466 + ], + [ + 0.40415963530540466 + ], + [ + 0.40415963530540466 + ], + [ + 0.40415963530540466 + ], + [ + 0.40415963530540466 + ], + [ + 0.40415963530540466 + ], + [ + 0.40415963530540466 + ], + [ + 0.40327540040016174 + ], + [ + 0.40327540040016174 + ], + [ + 0.40327540040016174 + ], + [ + 0.40327540040016174 + ], + [ + 0.40327540040016174 + ], + [ + 0.40327540040016174 + ], + [ + 0.40327540040016174 + ], + [ + 0.40327540040016174 + ], + [ + 0.475652277469635 + ], + [ + 0.7280064821243286 + ], + [ + 0.9590815901756287 + ], + [ + 0.9920742511749268 + ], + [ + 0.993436336517334 + ], + [ + 0.9974852800369263 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9988223910331726 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.37715187668800354, + 0.147907093167305, + 0.11735086143016815 + ], + [ + 0.38335558772087097, + 0.12737950682640076, + 0.10122492909431458 + ], + [ + 0.3819156289100647, + 0.0955730453133583, + 0.08388032019138336 + ], + [ + 0.3734920918941498, + 0.07055366039276123, + 0.08720296621322632 + ], + [ + 0.3635256290435791, + 0.04229522868990898, + 0.08758101612329483 + ], + [ + 0.35642972588539124, + 0.02027835324406624, + 0.08165749162435532 + ], + [ + 0.35229358077049255, + -0.007571192923933268, + 0.07266926020383835 + ], + [ + 0.3481692969799042, + -0.02892824448645115, + 0.06534752994775772 + ], + [ + 0.34795892238616943, + -0.048102449625730515, + 0.06479630619287491 + ], + [ + 0.34826385974884033, + -0.05810123682022095, + 0.07781703770160675 + ], + [ + 0.3537611663341522, + -0.07035722583532333, + 0.08117776364088058 + ], + [ + 0.3662959039211273, + -0.07821455597877502, + 0.06614788621664047 + ], + [ + 0.37414637207984924, + -0.07301834225654602, + 0.056033529341220856 + ], + [ + 0.37908077239990234, + -0.06546550989151001, + 0.04795798286795616 + ], + [ + 0.38147976994514465, + -0.062285613268613815, + 0.045005571097135544 + ], + [ + 0.37326541543006897, + -0.06587094813585281, + 0.029435787349939346 + ], + [ + 0.3695083260536194, + -0.07263895869255066, + 0.029465913772583008 + ], + [ + 0.36922407150268555, + -0.06984592974185944, + 0.028490405529737473 + ], + [ + 0.3674568235874176, + -0.0571274571120739, + 0.027182260528206825 + ], + [ + 0.36452725529670715, + -0.03347745165228844, + 0.026941215619444847 + ], + [ + 0.36582863330841064, + -0.005348535254597664, + 0.026291806250810623 + ], + [ + 0.3676121234893799, + 0.019427357241511345, + 0.025807635858654976 + ], + [ + 0.3735610544681549, + 0.04005268216133118, + 0.02500082738697529 + ], + [ + 0.385101854801178, + 0.06589294970035553, + 0.024154601618647575 + ], + [ + 0.39493489265441895, + 0.08202105760574341, + 0.023914599791169167 + ], + [ + 0.4070867896080017, + 0.09599623829126358, + 0.02371407113969326 + ], + [ + 0.4145200550556183, + 0.10574504733085632, + 0.023519963026046753 + ], + [ + 0.414825975894928, + 0.11046510189771652, + 0.02272351086139679 + ], + [ + 0.4088412821292877, + 0.1187092661857605, + 0.022344034165143967 + ], + [ + 0.3946022391319275, + 0.12971535325050354, + 0.022122662514448166 + ], + [ + 0.38323941826820374, + 0.13196903467178345, + 0.02185381017625332 + ], + [ + 0.37432387471199036, + 0.1365119367837906, + 0.022321583703160286 + ], + [ + 0.3632499575614929, + 0.14396323263645172, + 0.022473709657788277 + ], + [ + 0.35601603984832764, + 0.1528819054365158, + 0.023400504142045975 + ], + [ + 0.3531234562397003, + 0.15802687406539917, + 0.02271931990981102 + ], + [ + 0.3570829927921295, + 0.16598919034004211, + 0.02325599268078804 + ], + [ + 0.36140334606170654, + 0.1792975813150406, + 0.023556016385555267 + ], + [ + 0.3637683391571045, + 0.18097759783267975, + 0.023309223353862762 + ], + [ + 0.3629942536354065, + 0.17499396204948425, + 0.02318861149251461 + ], + [ + 0.3646650016307831, + 0.1663355976343155, + 0.024849209934473038 + ], + [ + 0.3667876720428467, + 0.16005060076713562, + 0.028572242707014084 + ], + [ + 0.3670031428337097, + 0.15574298799037933, + 0.03166239708662033 + ], + [ + 0.3672608435153961, + 0.14936551451683044, + 0.04402235522866249 + ], + [ + 0.37588661909103394, + 0.1460363268852234, + 0.08339178562164307 + ], + [ + 0.37457168102264404, + 0.14518442749977112, + 0.09826196730136871 + ], + [ + 0.3761918246746063, + 0.14317017793655396, + 0.1068527027964592 + ], + [ + 0.37885165214538574, + 0.12928111851215363, + 0.1177496686577797 + ], + [ + 0.38057124614715576, + 0.11609406024217606, + 0.11811935901641846 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9606227096264751, + -0.2767148010806474, + 0.025158072517314098, + -0.27064044705380885, + -0.9523333855453078, + -0.1407653053643774, + 0.06291071584716838, + 0.12841355706742838, + -0.9897232947611605 + ], + [ + 0.9518704787578081, + -0.30647037989892056, + -0.004300920133222769, + -0.30293744944601664, + -0.9385788050762002, + -0.1652232682913461, + 0.04659928532202172, + 0.1585740612658429, + -0.9862468117571449 + ], + [ + 0.941378213758782, + -0.33493077532484755, + -0.04035386475446508, + -0.33596530198123226, + -0.9199357090818917, + -0.20210296143465237, + 0.030567540381662293, + 0.20381282318905672, + -0.9785325536632503 + ], + [ + 0.9264860396029293, + -0.37418529050011323, + -0.040112177630061405, + -0.37442149992122326, + -0.9058198854549959, + -0.1982394398474733, + 0.03784387424169383, + 0.19868493523074274, + -0.979332495986289 + ], + [ + 0.9188402893768829, + -0.39256525280512927, + -0.04031184575097787, + -0.391795456686534, + -0.895248729460677, + -0.21219338471977248, + 0.04721062102531582, + 0.21076582903565752, + -0.9763958841439857 + ], + [ + 0.9190135895197911, + -0.3914159639092512, + -0.04698473661669933, + -0.3906839209123541, + -0.8883248726384085, + -0.2413399979127054, + 0.05272661774187967, + 0.24015091890090065, + -0.9693025533508898 + ], + [ + 0.9171992362925013, + -0.394174097055857, + -0.0580718705971429, + -0.3942130543522601, + -0.876656524724747, + -0.2758068263038287, + 0.05780682245819678, + 0.2758624999301793, + -0.9594572697153102 + ], + [ + 0.9129990493073272, + -0.4017637422191529, + -0.07084229952492502, + -0.4047919854498715, + -0.8705380706763864, + -0.27983372923682054, + 0.0507561275066193, + 0.28416432383587004, + -0.9574311738080367 + ], + [ + 0.9055432735394586, + -0.41809335902244793, + -0.0720369550214852, + -0.42054237383379967, + -0.8621762084358803, + -0.2824823842602616, + 0.05599546015235252, + 0.28609461502876266, + -0.956563839842313 + ], + [ + 0.9092364737946587, + -0.41474022405941635, + -0.0357712352121157, + -0.4080343825338354, + -0.8709114277556446, + -0.2739000322651621, + 0.08244378322036801, + 0.26363579338126736, + -0.9610927067960422 + ], + [ + 0.9196992828708913, + -0.39260591596659455, + -0.0037180417963356624, + -0.3791090494482362, + -0.8855393773497982, + -0.2685076158871223, + 0.10212520606208259, + 0.24835580506797678, + -0.9632703859123949 + ], + [ + 0.9520178277901901, + -0.3058257513613467, + 0.011518045577094821, + -0.2956117814715665, + -0.9286608851734803, + -0.2240594452461555, + 0.0792195065931054, + 0.20990371638700428, + -0.9745074138363798 + ], + [ + 0.9799679704761203, + -0.19907931145652352, + 0.005495870350587663, + -0.19595793915399995, + -0.9687933674567435, + -0.15178898923947148, + 0.035542410208527137, + 0.1476713882978678, + -0.9883976417185287 + ], + [ + 0.9876119941976106, + -0.15604628640497337, + -0.016495618091958313, + -0.1569071944415965, + -0.9831832687490552, + -0.09343870923974752, + -0.0016374521323509533, + 0.09486947112290699, + -0.9954883737138139 + ], + [ + 0.9882374757681498, + -0.1528790315911332, + 0.003833169335314312, + -0.15217951850344363, + -0.9855730163412174, + -0.0740757963719249, + 0.015102504277634241, + 0.07262114815831622, + -0.9972452472710573 + ], + [ + 0.9826147655042866, + -0.18341094537181898, + 0.028786242039757486, + -0.1805720401710276, + -0.980185386702376, + -0.08142693659709077, + 0.043150445205451464, + 0.07481331975610675, + -0.9962635225007699 + ], + [ + 0.9722497221982656, + -0.228607095521031, + 0.049691785667587224, + -0.2188696511641363, + -0.9638568934971227, + -0.1519077504848434, + 0.082622959791359, + 0.13681624441386459, + -0.9871447521917953 + ], + [ + 0.9674868439259712, + -0.24805596315179668, + 0.04937049700983416, + -0.23816467794505797, + -0.9592141342989168, + -0.15226894214023623, + 0.08512809764989683, + 0.13555988973886884, + -0.9871052240184405 + ], + [ + 0.9549508187113424, + -0.2943462913641564, + 0.037804690220977294, + -0.28847399821930403, + -0.950611244680912, + -0.11454699401370759, + 0.06965404650058658, + 0.09848107557482576, + -0.9926982379150875 + ], + [ + 0.9473471321548947, + -0.3178360064455379, + 0.0389060946979758, + -0.3162989685295573, + -0.9477761438998551, + -0.040930960915406926, + 0.04988360156438145, + 0.026469870817071816, + -0.9984042128486302 + ], + [ + 0.9516374351890192, + -0.30273745471556524, + 0.052308942440140074, + -0.30353159793964013, + -0.952789615358666, + 0.007779326249319153, + 0.047484323719238816, + -0.02328051496478907, + -0.9986006492206483 + ], + [ + 0.958720444564882, + -0.27597781828841567, + 0.06849345214019419, + -0.27739852880964294, + -0.9606801215771433, + 0.011990005036309846, + 0.0624913224980921, + -0.030495045815529708, + -0.9975795140203852 + ], + [ + 0.9602485725472308, + -0.26738607787104635, + 0.08017084433722917, + -0.2682668249225933, + -0.9633446220432854, + 0.0002232178983069058, + 0.07717246637860022, + -0.021721522529928136, + -0.9967811123270873 + ], + [ + 0.9654538625730027, + -0.2389029190425534, + 0.10403958148616747, + -0.23957293720130524, + -0.9708586157751352, + -0.006193216928872928, + 0.10248730167005642, + -0.0189458029161028, + -0.9945538746333731 + ], + [ + 0.9707274459818964, + -0.21911203305767138, + 0.0983775512340012, + -0.21974008826400956, + -0.9755478922196692, + -0.004539118360012405, + 0.0969665882002141, + -0.01721124501873217, + -0.995138811331221 + ], + [ + 0.9752640164290869, + -0.19279849094256649, + 0.10811493952675909, + -0.19365953875218975, + -0.9810654083793914, + -0.002578280758002153, + 0.10656491593810218, + -0.018422984873442044, + -0.9941350573837833 + ], + [ + 0.9810407144297182, + -0.1510768006508986, + 0.12138746614175992, + -0.15190904373629818, + -0.9883915082439167, + -0.0024225735157081436, + 0.12034433539785626, + -0.016063210650558192, + -0.9926022437014961 + ], + [ + 0.9866670965645662, + -0.08892976887788738, + 0.13630677446178, + -0.0900690437879562, + -0.9959330907739895, + 0.002201375136514125, + 0.1355566594010499, + -0.01444904525198695, + -0.990664230293662 + ], + [ + 0.9854465403301359, + -0.013642160193505514, + 0.16943732651520624, + -0.01274612959300394, + -0.9998984432802213, + -0.006374896562967966, + 0.1695070863762463, + 0.004122449641284315, + -0.9855203463537375 + ], + [ + 0.9818982039036173, + 0.04578616124486998, + 0.18379212336035924, + 0.047068714049045196, + -0.998888219371041, + -0.00261941969157713, + 0.18346785366548538, + 0.011222862389344938, + -0.9829616442319457 + ], + [ + 0.980299676292035, + 0.07994718393041997, + 0.18061282469228845, + 0.08324070415424423, + -0.9964718361999966, + -0.010717501206573337, + 0.17911875902215635, + 0.025540701670136494, + -0.9834958783465032 + ], + [ + 0.9763032890222805, + 0.118400831508002, + 0.18114395088572868, + 0.12304436840024426, + -0.9922941364139831, + -0.014574986909514608, + 0.1780223897414663, + 0.03651835068347514, + -0.983348584589461 + ], + [ + 0.9693842902114715, + 0.17005251329916693, + 0.17713339778776369, + 0.17785582985575665, + -0.9836282635021601, + -0.029030036618044132, + 0.16929678578615012, + 0.05964546890050831, + -0.9837586169188643 + ], + [ + 0.965747059952622, + 0.19209953563622534, + 0.17444306979990112, + 0.1996976558990599, + -0.9794873316084725, + -0.02693350045825148, + 0.1656908640248075, + 0.060846821008665314, + -0.9842988377275734 + ], + [ + 0.9713925390978859, + 0.18136220386871807, + 0.1533110758974836, + 0.18763033907306922, + -0.9818593235392455, + -0.02733358078226454, + 0.14557263082148203, + 0.055317445593023026, + -0.987799873136647 + ], + [ + 0.9853644115559577, + 0.13788012602558583, + 0.10022997199515638, + 0.1417114152834175, + -0.989386354070992, + -0.032132804989299976, + 0.09473569135944515, + 0.04586625366517483, + -0.9944452903791992 + ], + [ + 0.9981254169992569, + 0.04782640598350981, + 0.038187521924837715, + 0.04775749903760491, + -0.9988552694798836, + 0.0027151276106912744, + 0.038273662298408694, + -0.0008862973370534713, + -0.9992669019092435 + ], + [ + 0.9992530780653089, + 0.007547863892714622, + 0.03789875628121205, + 0.007173989518358951, + -0.999924349997875, + 0.00999140409138894, + 0.03797130299839776, + -0.009712056012194464, + -0.9992316328642823 + ], + [ + 0.9996440214361064, + 0.004313928806739015, + 0.02632907946168965, + 0.005132343627599795, + -0.9995032233726999, + -0.031096069148226196, + 0.02618185356191987, + 0.031220129497383838, + -0.9991695622156577 + ], + [ + 0.9992223987893685, + -0.0063375803910878745, + 0.03891571446609327, + -0.0031933608310649197, + -0.9967630244935973, + -0.08033228148744818, + 0.03929885754347858, + 0.08014554308982184, + -0.9960081785400231 + ], + [ + 0.9982067151817735, + -0.014648661271202245, + 0.058041110335480844, + -0.007764773286917562, + -0.9930898271015569, + -0.11709954570024064, + 0.05935538780781954, + 0.11643887679963918, + -0.9914226777252082 + ], + [ + 0.9986885135798088, + -0.01927151318830462, + 0.04743270626039746, + -0.013027147783131647, + -0.9916111472380859, + -0.12859870175784666, + 0.04951309184840505, + 0.12781213343262893, + -0.9905617155346815 + ], + [ + 0.9983879618507584, + -0.049278746034801375, + 0.028161726167370307, + -0.0463194762192558, + -0.9941563523310984, + -0.0975071958498366, + 0.03280219130274985, + 0.0960455741247984, + -0.9948363000699036 + ], + [ + 0.9920876342200335, + -0.08397050359433501, + 0.09333316963336824, + -0.07905560005396679, + -0.9953423225769359, + -0.05517130583245845, + 0.09753121617105248, + 0.04735626054984904, + -0.9941051485929094 + ], + [ + 0.9910710019299608, + -0.09092609109707186, + 0.09752289521620583, + -0.0866754879453803, + -0.9951282834001761, + -0.04697935042600679, + 0.10131944000523449, + 0.03810702736801043, + -0.994123848191059 + ], + [ + 0.9891525940102972, + -0.10924087039515883, + 0.09820172095237888, + -0.10329475592521441, + -0.992606656636298, + -0.06373553639580877, + 0.10443820738145192, + 0.05290044835933994, + -0.9931234582882081 + ], + [ + 0.9785509992093212, + -0.18877329235109264, + 0.08247779120083125, + -0.1796114989029905, + -0.9778826088584156, + -0.10716955143173758, + 0.10088434669590739, + 0.09005691193455236, + -0.9908138579998527 + ], + [ + 0.9630152868328511, + -0.25982041121759536, + 0.0713786469538435, + -0.24892341228559312, + -0.9592860970049016, + -0.13344406659420757, + 0.1031440359028985, + 0.11074085970328348, + -0.9884825592036712 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005664.json b/json/chunk-0005/episode_0005664.json new file mode 100644 index 0000000000000000000000000000000000000000..08ef846cb5e3d1a703e915d48195383961b316a7 --- /dev/null +++ b/json/chunk-0005/episode_0005664.json @@ -0,0 +1,2062 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 33, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the orange from the bowl to left front counter." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005664.mp4", + "start": 0, + "end": 33, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2842709422111511, + 0.10305666923522949, + 0.08007324486970901, + -0.009011275134980679, + -0.09573428332805634, + -0.05195894092321396, + 0.0, + 1.0001531839370728 + ], + [ + 0.2820934057235718, + 0.10220517218112946, + 0.07311826199293137, + -0.019376592710614204, + -0.07330755144357681, + -0.0480269230902195, + 0.0, + 1.0001531839370728 + ], + [ + 0.28060653805732727, + 0.08932551741600037, + 0.06802411377429962, + -0.027325280010700226, + -0.05835846811532974, + -0.0847754180431366, + 0.0, + 1.0008161067962646 + ], + [ + 0.2768130600452423, + 0.06963860988616943, + 0.05959693714976311, + -0.0381452739238739, + -0.03928239643573761, + -0.13538488745689392, + 0.0, + 1.0008161067962646 + ], + [ + 0.2754284143447876, + 0.04664810374379158, + 0.05906767398118973, + -0.030231088399887085, + -0.04470215365290642, + -0.19646255671977997, + 0.0, + 1.0001531839370728 + ], + [ + 0.2745489478111267, + 0.026176800951361656, + 0.055277708917856216, + -0.019953293725848198, + -0.03650350496172905, + -0.26784858107566833, + 0.0, + 1.0008161067962646 + ], + [ + 0.2722228467464447, + 0.008800117298960686, + 0.05781029164791107, + -0.00011482782429084182, + -0.05105846747756004, + -0.3208501935005188, + 0.0, + 1.0001531839370728 + ], + [ + 0.26891207695007324, + -0.005201923195272684, + 0.05521949753165245, + 0.01878281682729721, + -0.04217541217803955, + -0.3621067404747009, + 0.0, + 1.0008161067962646 + ], + [ + 0.26652151346206665, + -0.018335947766900063, + 0.05207099765539169, + 0.037284333258867264, + -0.03629230707883835, + -0.40600934624671936, + 0.0, + 1.0001531839370728 + ], + [ + 0.26738178730010986, + -0.022481786087155342, + 0.05175785720348358, + 0.0463678278028965, + -0.040456678718328476, + -0.4099257290363312, + 0.0, + 1.0008161067962646 + ], + [ + 0.26660263538360596, + -0.024987170472741127, + 0.04576563462615013, + 0.045782700181007385, + -0.025116225704550743, + -0.4108387529850006, + 0.0, + 1.0001531839370728 + ], + [ + 0.2655225694179535, + -0.02568381279706955, + 0.036324482411146164, + 0.04732205346226692, + 0.005128714721649885, + -0.4136464595794678, + 0.0, + 1.0008161067962646 + ], + [ + 0.26876553893089294, + -0.02608884871006012, + 0.03351423144340515, + 0.04558777064085007, + 0.010939543135464191, + -0.41212812066078186, + 0.0, + 1.0008161067962646 + ], + [ + 0.2686576247215271, + -0.02608509361743927, + 0.03090713545680046, + 0.043378185480833054, + 0.018212709575891495, + -0.41069963574409485, + 0.0, + 1.0008161067962646 + ], + [ + 0.26804211735725403, + -0.025788098573684692, + 0.028001943603157997, + 0.0395285002887249, + 0.026822922751307487, + -0.4113805890083313, + 0.0, + 1.0008161067962646 + ], + [ + 0.2680210769176483, + -0.02746955119073391, + 0.027932055294513702, + 0.02977665327489376, + 0.0226582158356905, + -0.4102323651313782, + 0.0, + 1.0008161067962646 + ], + [ + 0.26672059297561646, + -0.024766825139522552, + 0.022505203261971474, + 0.009300448931753635, + 0.036500219255685806, + -0.4082874059677124, + 0.0, + 1.0001531839370728 + ], + [ + 0.26893359422683716, + -0.02264912612736225, + 0.015684353187680244, + -0.009849383495748043, + 0.049979113042354584, + -0.39655938744544983, + 0.0, + 1.0001531839370728 + ], + [ + 0.2824423313140869, + -0.024137118831276894, + 0.011558554135262966, + -0.012637346051633358, + 0.04426616430282593, + -0.3894021213054657, + 0.0, + 0.9476637244224548 + ], + [ + 0.28062012791633606, + -0.026380563154816628, + 0.01131422445178032, + -0.014791966415941715, + 0.009767552837729454, + -0.39140594005584717, + 0.0, + 0.7594308853149414 + ], + [ + 0.2728385627269745, + -0.02967344969511032, + 0.015516867861151695, + -0.031720321625471115, + -0.018656622618436813, + -0.4338010251522064, + 0.0, + 0.7309711575508118 + ], + [ + 0.264514684677124, + -0.03990080952644348, + 0.0491686686873436, + -0.08979692310094833, + -0.10304469615221024, + -0.48646533489227295, + 0.0, + 0.6931989789009094 + ], + [ + 0.2644767463207245, + -0.018734004348516464, + 0.09240631759166718, + -0.09322690963745117, + -0.18117102980613708, + -0.3838158845901489, + 0.0, + 0.6871993541717529 + ], + [ + 0.2670077979564667, + 0.03157612681388855, + 0.10364823043346405, + -0.03778329864144325, + -0.16466845571994781, + -0.230070561170578, + 0.0, + 0.6871993541717529 + ], + [ + 0.2603764533996582, + 0.0777413472533226, + 0.091764435172081, + 0.011631065048277378, + -0.13055352866649628, + -0.11890055239200592, + 0.0, + 0.6871993541717529 + ], + [ + 0.24675075709819794, + 0.12151997536420822, + 0.06557799130678177, + 0.033979352563619614, + -0.05330858379602432, + -0.016009368002414703, + 0.0, + 0.6871993541717529 + ], + [ + 0.2488546073436737, + 0.14185281097888947, + 0.0463203564286232, + 0.020522817969322205, + -0.027233341708779335, + 0.011344466358423233, + 0.0, + 0.6871993541717529 + ], + [ + 0.2460734248161316, + 0.15454259514808655, + 0.030769063159823418, + -0.01374366506934166, + 0.00430666608735919, + 0.03216039016842842, + 0.0, + 0.6861988306045532 + ], + [ + 0.24623416364192963, + 0.1571449488401413, + 0.022357938811182976, + -0.030523065477609634, + 0.024398213252425194, + 0.025613825768232346, + 0.0, + 0.7525970935821533 + ], + [ + 0.24819140136241913, + 0.1579187661409378, + 0.020758524537086487, + -0.04086780175566673, + 0.035966068506240845, + 0.022444164380431175, + 0.0, + 0.993436336517334 + ], + [ + 0.2469717264175415, + 0.15704941749572754, + 0.022802608087658882, + -0.03814433142542839, + 0.03582029417157173, + 0.017462974414229393, + 0.0, + 1.0041072368621826 + ], + [ + 0.24387095868587494, + 0.15355759859085083, + 0.0479385182261467, + -0.009914948605000973, + -0.019108643755316734, + 0.00895809568464756, + 0.0, + 0.9994885921478271 + ], + [ + 0.24085253477096558, + 0.14389802515506744, + 0.08164449781179428, + -0.008775141090154648, + -0.10597985237836838, + -6.612896686419845e-05, + 0.0, + 0.9994885921478271 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9476637244224548 + ], + [ + 0.7594308853149414 + ], + [ + 0.7309711575508118 + ], + [ + 0.6931989789009094 + ], + [ + 0.6871993541717529 + ], + [ + 0.6871993541717529 + ], + [ + 0.6871993541717529 + ], + [ + 0.6871993541717529 + ], + [ + 0.6871993541717529 + ], + [ + 0.6861988306045532 + ], + [ + 0.7525970935821533 + ], + [ + 0.993436336517334 + ], + [ + 1.0041072368621826 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2842709422111511, + 0.10305666923522949, + 0.08007324486970901 + ], + [ + 0.2820934057235718, + 0.10220517218112946, + 0.07311826199293137 + ], + [ + 0.28060653805732727, + 0.08932551741600037, + 0.06802411377429962 + ], + [ + 0.2768130600452423, + 0.06963860988616943, + 0.05959693714976311 + ], + [ + 0.2754284143447876, + 0.04664810374379158, + 0.05906767398118973 + ], + [ + 0.2745489478111267, + 0.026176800951361656, + 0.055277708917856216 + ], + [ + 0.2722228467464447, + 0.008800117298960686, + 0.05781029164791107 + ], + [ + 0.26891207695007324, + -0.005201923195272684, + 0.05521949753165245 + ], + [ + 0.26652151346206665, + -0.018335947766900063, + 0.05207099765539169 + ], + [ + 0.26738178730010986, + -0.022481786087155342, + 0.05175785720348358 + ], + [ + 0.26660263538360596, + -0.024987170472741127, + 0.04576563462615013 + ], + [ + 0.2655225694179535, + -0.02568381279706955, + 0.036324482411146164 + ], + [ + 0.26876553893089294, + -0.02608884871006012, + 0.03351423144340515 + ], + [ + 0.2686576247215271, + -0.02608509361743927, + 0.03090713545680046 + ], + [ + 0.26804211735725403, + -0.025788098573684692, + 0.028001943603157997 + ], + [ + 0.2680210769176483, + -0.02746955119073391, + 0.027932055294513702 + ], + [ + 0.26672059297561646, + -0.024766825139522552, + 0.022505203261971474 + ], + [ + 0.26893359422683716, + -0.02264912612736225, + 0.015684353187680244 + ], + [ + 0.2824423313140869, + -0.024137118831276894, + 0.011558554135262966 + ], + [ + 0.28062012791633606, + -0.026380563154816628, + 0.01131422445178032 + ], + [ + 0.2728385627269745, + -0.02967344969511032, + 0.015516867861151695 + ], + [ + 0.264514684677124, + -0.03990080952644348, + 0.0491686686873436 + ], + [ + 0.2644767463207245, + -0.018734004348516464, + 0.09240631759166718 + ], + [ + 0.2670077979564667, + 0.03157612681388855, + 0.10364823043346405 + ], + [ + 0.2603764533996582, + 0.0777413472533226, + 0.091764435172081 + ], + [ + 0.24675075709819794, + 0.12151997536420822, + 0.06557799130678177 + ], + [ + 0.2488546073436737, + 0.14185281097888947, + 0.0463203564286232 + ], + [ + 0.2460734248161316, + 0.15454259514808655, + 0.030769063159823418 + ], + [ + 0.24623416364192963, + 0.1571449488401413, + 0.022357938811182976 + ], + [ + 0.24819140136241913, + 0.1579187661409378, + 0.020758524537086487 + ], + [ + 0.2469717264175415, + 0.15704941749572754, + 0.022802608087658882 + ], + [ + 0.24387095868587494, + 0.15355759859085083, + 0.0479385182261467 + ], + [ + 0.24085253477096558, + 0.14389802515506744, + 0.08164449781179428 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9940775899271778, + -0.05279365292252189, + 0.0949872381726646, + -0.05169775049285717, + -0.9985651562462408, + -0.013963213272722989, + 0.09558811536248898, + 0.008969890858731632, + -0.9953805570029135 + ], + [ + 0.9961642304677203, + -0.04941690356759618, + 0.07221354151712668, + -0.04787952127790499, + -0.9985912968269539, + -0.022868610444478344, + 0.0732419099891143, + 0.019323341927667697, + -0.9971269884412381 + ], + [ + 0.9947124573953949, + -0.08623013494313013, + 0.055780739777314715, + -0.08452976301338287, + -0.9959018114996373, + -0.03216055062716475, + 0.058325348411443385, + 0.02727536763144846, + -0.9979249511126843 + ], + [ + 0.9900850607889913, + -0.1363574868371901, + 0.03373734112085681, + -0.1348675620581191, + -0.9899265238045205, + -0.0430838504871321, + 0.039272294393871664, + 0.03810660378128291, + -0.9985016643157374 + ], + [ + 0.9797834679905699, + -0.19643672796634412, + 0.03790735757407074, + -0.1950061640075658, + -0.9800514252209662, + -0.03836404464348395, + 0.04468726721814956, + 0.030196288318755066, + -0.9985445570030134 + ], + [ + 0.9637000918348797, + -0.26530685417097505, + 0.029906623469476014, + -0.26448103689132635, + -0.9639578425653768, + -0.02889738537641206, + 0.036495398646033385, + 0.019938678155910723, + -0.9991348932907216 + ], + [ + 0.947730937606419, + -0.3153790398500202, + 0.048395569290346954, + -0.3149624857677769, + -0.9489657781354361, + -0.016204458855161655, + 0.05103628574495157, + 0.0001146781803726283, + -0.9986967930189193 + ], + [ + 0.9343210116601008, + -0.353442116263583, + 0.04607513018500706, + -0.35393012897566234, + -0.9352681673303668, + 0.0026303957435713076, + 0.04216290992942105, + -0.01876501078114995, + -0.9989345140681979 + ], + [ + 0.9180992669372411, + -0.39342920266873255, + 0.048033306535635444, + -0.39468618252120174, + -0.9185999207101582, + 0.019924934080998838, + 0.03628434064636701, + -0.03725114976395852, + -0.998646983906286 + ], + [ + 0.9163999580526416, + -0.39639347506723266, + 0.05552773906111658, + -0.39821510118159376, + -0.9169118236467477, + 0.026409105394314826, + 0.0404456434248399, + -0.04631328730416558, + -0.9981078245094726 + ], + [ + 0.9164970149707928, + -0.3979062159594167, + 0.041277897844783036, + -0.3992524632252982, + -0.9162845479332931, + 0.03193897035304667, + 0.025113585131522877, + -0.04575227338109979, + -0.99863708989918 + ], + [ + 0.9156491732974144, + -0.40172308698513226, + 0.014323156876091214, + -0.4019456281086944, + -0.914538634833108, + 0.04537397317738301, + -0.005128692237637989, + -0.047303771316149656, + -0.9988673834574842 + ], + [ + 0.916215631790902, + -0.4006007939882539, + 0.008241354135005102, + -0.40053619965220744, + -0.915118815703465, + 0.04613356601927137, + -0.01093932494101092, + -0.04556925500233696, + -0.9989012834952044 + ], + [ + 0.9166896617701189, + -0.39959938041116055, + 0.0006318059841206539, + -0.3991846663984571, + -0.9156639513602757, + 0.04702265721584938, + -0.018211702724826813, + -0.04335739099972897, + -0.998893623230001 + ], + [ + 0.9162399312714075, + -0.4005341940539898, + -0.00876057859319391, + -0.39973127434264577, + -0.9154298411188576, + 0.046937344423259524, + -0.02681970648928155, + -0.039503991983393376, + -0.9988594185175433 + ], + [ + 0.9167927864971295, + -0.3992641909832299, + -0.008893392228810481, + -0.39872005183337916, + -0.9163526470331871, + 0.036333820900897436, + -0.022656277117301244, + -0.029764611097375524, + -0.9993001356116219 + ], + [ + 0.9171908230741247, + -0.3973324082796482, + -0.029798513374081292, + -0.39677363773573326, + -0.917627689566224, + 0.02302398182998541, + -0.03649211512866139, + -0.009294120294536874, + -0.9992907208922676 + ], + [ + 0.9212435859924493, + -0.3857744296006614, + -0.04988331117776071, + -0.3857647245265498, + -0.9225406898136127, + 0.010210433349223037, + -0.04995830840539055, + 0.009836925561785899, + -0.9987028598721264 + ], + [ + 0.9242299499910553, + -0.37908770507961825, + -0.04573304491284403, + -0.37926347803926613, + -0.9252746244000783, + 0.005107217133955051, + -0.044251709177057987, + 0.012624630638662452, + -0.9989406413476963 + ], + [ + 0.9243295291700653, + -0.381313123411856, + -0.014670494815805214, + -0.38147020781420543, + -0.9243276131728336, + -0.009947063707440999, + -0.009767397526096618, + 0.014790721419446018, + -0.9998429039131398 + ], + [ + 0.9072167406481477, + -0.42064819989802815, + 0.0035885108749887764, + -0.4202496356958465, + -0.906669510130717, + -0.03661479341514734, + 0.018655540336844727, + 0.03170948315369061, + -0.9993230105891018 + ], + [ + 0.8793017995301644, + -0.4737748286224113, + 0.04863904919731797, + -0.46502437021578885, + -0.876116808687857, + -0.12716789154504984, + 0.10286243458339529, + 0.08920061265714156, + -0.9906879277820877 + ], + [ + 0.9120666528036918, + -0.38838839940941006, + 0.13148715544746742, + -0.36833276534626713, + -0.9169349449373402, + -0.1534968427203915, + 0.18018156069876184, + 0.09156832398244204, + -0.9793619592506159 + ], + [ + 0.9604795029554221, + -0.23391247117810862, + 0.15087769957769104, + -0.22496138953359926, + -0.9715433084872643, + -0.0741348295521925, + 0.1639252806055787, + 0.03726332729334446, + -0.9857687085809792 + ], + [ + 0.9844897223352542, + -0.11710912829454449, + 0.13063475298076663, + -0.11761113111207046, + -0.9930520978748605, + -0.0038926526788093272, + 0.1301829806648833, + -0.011531824505705304, + -0.9914229211435331 + ], + [ + 0.9984514687556539, + -0.014189490256636994, + 0.053789617082982195, + -0.015985942750847203, + -0.9993236627995423, + 0.03311595692823497, + 0.05328333861577821, + -0.03392455357352373, + -0.9980030112633894 + ], + [ + 0.9995648715600359, + 0.011900594742500797, + 0.02698969040103131, + 0.011340016537703924, + -0.9997187410318269, + 0.020828894705760985, + 0.027229975543385285, + -0.020513767925806288, + -0.9994186879168273 + ], + [ + 0.9994736303471518, + 0.032210966524052406, + -0.003862107749897831, + 0.03215454839623001, + -0.9993866022224946, + -0.013874592448507557, + -0.004306652774481304, + 0.01374310495354148, + -0.9998962845256083 + ], + [ + 0.9993744598827666, + 0.026343370244580347, + -0.02359482524168119, + 0.025603402729245994, + -0.9991872761994293, + -0.03113282592135961, + -0.024395792725643413, + 0.03050924327679401, + -0.999236724391155 + ], + [ + 0.9991015938711829, + 0.02389229964775871, + -0.0350023305167482, + 0.022427766456944744, + -0.9988804076357928, + -0.04165244930499632, + -0.03595831497463024, + 0.04083000439498204, + -0.9985188582722367 + ], + [ + 0.9992061458026582, + 0.018814894339358318, + -0.03511520954224116, + 0.01745088530909978, + -0.9990963819594894, + -0.03875417599932395, + -0.03581263453203866, + 0.03811061933971572, + -0.9986315816663409 + ], + [ + 0.9997773192764526, + 0.008768096579944207, + 0.019194591497468685, + 0.00895634046527962, + -0.9999124228590531, + -0.009743232400384801, + 0.01910748088733628, + 0.009912976066887484, + -0.9997682916954495 + ], + [ + 0.994389387625602, + -0.000994362744674925, + 0.10577692101924487, + -6.575794296025805e-05, + -0.9999614351267394, + -0.008782023409444131, + 0.10578157426259312, + 0.008725795207491959, + -0.9943511045121456 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0021775364875793457, + -0.0008514970541000366, + -0.006954982876777649, + -0.010365317575633526, + 0.022426731884479523, + 0.003932017832994461, + 1.0 + ], + [ + -0.0014868676662445068, + -0.01287965476512909, + -0.005094148218631744, + -0.007948687300086021, + 0.01494908332824707, + -0.0367484949529171, + 1.0 + ], + [ + -0.003793478012084961, + -0.019686907529830933, + -0.008427176624536514, + -0.010819993913173676, + 0.019076071679592133, + -0.050609469413757324, + 1.0 + ], + [ + -0.001384645700454712, + -0.022990506142377853, + -0.0005292631685733795, + 0.007914185523986816, + -0.005419757217168808, + -0.06107766926288605, + 1.0 + ], + [ + -0.0008794665336608887, + -0.020471302792429924, + -0.0037899650633335114, + 0.010277794674038887, + 0.008198648691177368, + -0.07138602435588837, + 1.0 + ], + [ + -0.002326101064682007, + -0.01737668365240097, + 0.0025325827300548553, + 0.019838465377688408, + -0.014554962515830994, + -0.053001612424850464, + 1.0 + ], + [ + -0.00331076979637146, + -0.014002040028572083, + -0.002590794116258621, + 0.018897645175457, + 0.008883055299520493, + -0.04125654697418213, + 1.0 + ], + [ + -0.002390563488006592, + -0.013134025037288666, + -0.0031484998762607574, + 0.018501516431570053, + 0.005883105099201202, + -0.04390260577201843, + 1.0 + ], + [ + 0.0008602738380432129, + -0.0041458383202552795, + -0.00031314045190811157, + 0.009083494544029236, + -0.0041643716394901276, + -0.003916382789611816, + 1.0 + ], + [ + -0.0007791519165039062, + -0.002505384385585785, + -0.00599222257733345, + -0.0005851276218891144, + 0.015340453013777733, + -0.0009130239486694336, + 1.0 + ], + [ + -0.0010800659656524658, + -0.0006966423243284225, + -0.009441152215003967, + 0.0015393532812595367, + 0.030244940891861916, + -0.002807706594467163, + 1.0 + ], + [ + 0.003242969512939453, + -0.00040503591299057007, + -0.0028102509677410126, + -0.0017342828214168549, + 0.005810828413814306, + 0.001518338918685913, + 1.0 + ], + [ + -0.00010791420936584473, + 3.7550926208496094e-06, + -0.0026070959866046906, + -0.0022095851600170135, + 0.007273166440427303, + 0.0014284849166870117, + 1.0 + ], + [ + -0.0006155073642730713, + 0.00029699504375457764, + -0.0029051918536424637, + -0.0038496851921081543, + 0.008610213175415993, + -0.0006809532642364502, + 1.0 + ], + [ + -2.104043960571289e-05, + -0.0016814526170492172, + -6.988830864429474e-05, + -0.009751847013831139, + -0.004164706915616989, + 0.001148223876953125, + 1.0 + ], + [ + -0.0013004839420318604, + 0.002702726051211357, + -0.005426852032542229, + -0.02047620341181755, + 0.013842003419995308, + 0.0019449591636657715, + 1.0 + ], + [ + 0.002213001251220703, + 0.002117699012160301, + -0.006820850074291229, + -0.01914983242750168, + 0.013478893786668777, + 0.011728018522262573, + 1.0 + ], + [ + 0.013508737087249756, + -0.0014879927039146423, + -0.004125799052417278, + -0.002787962555885315, + -0.005712948739528656, + 0.007157266139984131, + 0.0 + ], + [ + -0.0018222033977508545, + -0.002243444323539734, + -0.00024432968348264694, + -0.0021546203643083572, + -0.034498609602451324, + -0.0020038187503814697, + 0.0 + ], + [ + -0.007781565189361572, + -0.0032928865402936935, + 0.004202643409371376, + -0.016928356140851974, + -0.028424175456166267, + -0.04239508509635925, + 0.0 + ], + [ + -0.008323878049850464, + -0.01022735983133316, + 0.03365179896354675, + -0.05807660147547722, + -0.08438807725906372, + -0.05266430974006653, + 0.0 + ], + [ + -3.793835639953613e-05, + 0.021166805177927017, + 0.04323764890432358, + -0.003429986536502838, + -0.07812633365392685, + 0.10264945030212402, + 0.0 + ], + [ + 0.0025310516357421875, + 0.050310131162405014, + 0.011241912841796875, + 0.05544361099600792, + 0.01650257408618927, + 0.15374532341957092, + 0.0 + ], + [ + -0.006631344556808472, + 0.04616522043943405, + -0.011883795261383057, + 0.049414362758398056, + 0.03411492705345154, + 0.11117000877857208, + 0.0 + ], + [ + -0.013625696301460266, + 0.04377862811088562, + -0.026186443865299225, + 0.02234828844666481, + 0.07724494487047195, + 0.10289118438959122, + 0.0 + ], + [ + 0.002103850245475769, + 0.020332835614681244, + -0.01925763487815857, + -0.013456534594297409, + 0.026075242087244987, + 0.027353834360837936, + 0.0 + ], + [ + -0.0027811825275421143, + 0.012689784169197083, + -0.015551293268799782, + -0.034266483038663864, + 0.03154000639915466, + 0.020815923810005188, + 0.0 + ], + [ + 0.00016073882579803467, + 0.0026023536920547485, + -0.008411124348640442, + -0.016779400408267975, + 0.020091546699404716, + -0.0065465644001960754, + 1.0 + ], + [ + 0.001957237720489502, + 0.0007738173007965088, + -0.001599414274096489, + -0.010344736278057098, + 0.011567855253815651, + -0.0031696613878011703, + 1.0 + ], + [ + -0.0012196749448776245, + -0.0008693486452102661, + 0.0020440835505723953, + 0.0027234703302383423, + -0.00014577433466911316, + -0.004981189966201782, + 1.0 + ], + [ + -0.003100767731666565, + -0.003491818904876709, + 0.025135910138487816, + 0.028229381889104843, + -0.05492893606424332, + -0.008504878729581833, + 1.0 + ], + [ + -0.003018423914909363, + -0.009659573435783386, + 0.03370597958564758, + 0.001139807514846325, + -0.0868712067604065, + -0.009024224244058132, + 1.0 + ], + [ + -0.0018257200717926025, + -0.004458412528038025, + 0.013654902577400208, + 0.004743664525449276, + -0.03712979704141617, + -0.010773559100925922, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9476637244224548 + ], + [ + 0.7594308853149414 + ], + [ + 0.7309711575508118 + ], + [ + 0.6931989789009094 + ], + [ + 0.6871993541717529 + ], + [ + 0.6871993541717529 + ], + [ + 0.6871993541717529 + ], + [ + 0.6871993541717529 + ], + [ + 0.6871993541717529 + ], + [ + 0.6861988306045532 + ], + [ + 0.7525970935821533 + ], + [ + 0.993436336517334 + ], + [ + 1.0041072368621826 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2820934057235718, + 0.10220517218112946, + 0.07311826199293137 + ], + [ + 0.28060653805732727, + 0.08932551741600037, + 0.06802411377429962 + ], + [ + 0.2768130600452423, + 0.06963860988616943, + 0.05959693714976311 + ], + [ + 0.2754284143447876, + 0.04664810374379158, + 0.05906767398118973 + ], + [ + 0.2745489478111267, + 0.026176800951361656, + 0.055277708917856216 + ], + [ + 0.2722228467464447, + 0.008800117298960686, + 0.05781029164791107 + ], + [ + 0.26891207695007324, + -0.005201923195272684, + 0.05521949753165245 + ], + [ + 0.26652151346206665, + -0.018335947766900063, + 0.05207099765539169 + ], + [ + 0.26738178730010986, + -0.022481786087155342, + 0.05175785720348358 + ], + [ + 0.26660263538360596, + -0.024987170472741127, + 0.04576563462615013 + ], + [ + 0.2655225694179535, + -0.02568381279706955, + 0.036324482411146164 + ], + [ + 0.26876553893089294, + -0.02608884871006012, + 0.03351423144340515 + ], + [ + 0.2686576247215271, + -0.02608509361743927, + 0.03090713545680046 + ], + [ + 0.26804211735725403, + -0.025788098573684692, + 0.028001943603157997 + ], + [ + 0.2680210769176483, + -0.02746955119073391, + 0.027932055294513702 + ], + [ + 0.26672059297561646, + -0.024766825139522552, + 0.022505203261971474 + ], + [ + 0.26893359422683716, + -0.02264912612736225, + 0.015684353187680244 + ], + [ + 0.2824423313140869, + -0.024137118831276894, + 0.011558554135262966 + ], + [ + 0.28062012791633606, + -0.026380563154816628, + 0.01131422445178032 + ], + [ + 0.2728385627269745, + -0.02967344969511032, + 0.015516867861151695 + ], + [ + 0.264514684677124, + -0.03990080952644348, + 0.0491686686873436 + ], + [ + 0.2644767463207245, + -0.018734004348516464, + 0.09240631759166718 + ], + [ + 0.2670077979564667, + 0.03157612681388855, + 0.10364823043346405 + ], + [ + 0.2603764533996582, + 0.0777413472533226, + 0.091764435172081 + ], + [ + 0.24675075709819794, + 0.12151997536420822, + 0.06557799130678177 + ], + [ + 0.2488546073436737, + 0.14185281097888947, + 0.0463203564286232 + ], + [ + 0.2460734248161316, + 0.15454259514808655, + 0.030769063159823418 + ], + [ + 0.24623416364192963, + 0.1571449488401413, + 0.022357938811182976 + ], + [ + 0.24819140136241913, + 0.1579187661409378, + 0.020758524537086487 + ], + [ + 0.2469717264175415, + 0.15704941749572754, + 0.022802608087658882 + ], + [ + 0.24387095868587494, + 0.15355759859085083, + 0.0479385182261467 + ], + [ + 0.24085253477096558, + 0.14389802515506744, + 0.08164449781179428 + ], + [ + 0.23902681469917297, + 0.13943961262702942, + 0.09529940038919449 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9961642304677203, + -0.04941690356759618, + 0.07221354151712668, + -0.04787952127790499, + -0.9985912968269539, + -0.022868610444478344, + 0.0732419099891143, + 0.019323341927667697, + -0.9971269884412381 + ], + [ + 0.9947124573953949, + -0.08623013494313013, + 0.055780739777314715, + -0.08452976301338287, + -0.9959018114996373, + -0.03216055062716475, + 0.058325348411443385, + 0.02727536763144846, + -0.9979249511126843 + ], + [ + 0.9900850607889913, + -0.1363574868371901, + 0.03373734112085681, + -0.1348675620581191, + -0.9899265238045205, + -0.0430838504871321, + 0.039272294393871664, + 0.03810660378128291, + -0.9985016643157374 + ], + [ + 0.9797834679905699, + -0.19643672796634412, + 0.03790735757407074, + -0.1950061640075658, + -0.9800514252209662, + -0.03836404464348395, + 0.04468726721814956, + 0.030196288318755066, + -0.9985445570030134 + ], + [ + 0.9637000918348797, + -0.26530685417097505, + 0.029906623469476014, + -0.26448103689132635, + -0.9639578425653768, + -0.02889738537641206, + 0.036495398646033385, + 0.019938678155910723, + -0.9991348932907216 + ], + [ + 0.947730937606419, + -0.3153790398500202, + 0.048395569290346954, + -0.3149624857677769, + -0.9489657781354361, + -0.016204458855161655, + 0.05103628574495157, + 0.0001146781803726283, + -0.9986967930189193 + ], + [ + 0.9343210116601008, + -0.353442116263583, + 0.04607513018500706, + -0.35393012897566234, + -0.9352681673303668, + 0.0026303957435713076, + 0.04216290992942105, + -0.01876501078114995, + -0.9989345140681979 + ], + [ + 0.9180992669372411, + -0.39342920266873255, + 0.048033306535635444, + -0.39468618252120174, + -0.9185999207101582, + 0.019924934080998838, + 0.03628434064636701, + -0.03725114976395852, + -0.998646983906286 + ], + [ + 0.9163999580526416, + -0.39639347506723266, + 0.05552773906111658, + -0.39821510118159376, + -0.9169118236467477, + 0.026409105394314826, + 0.0404456434248399, + -0.04631328730416558, + -0.9981078245094726 + ], + [ + 0.9164970149707928, + -0.3979062159594167, + 0.041277897844783036, + -0.3992524632252982, + -0.9162845479332931, + 0.03193897035304667, + 0.025113585131522877, + -0.04575227338109979, + -0.99863708989918 + ], + [ + 0.9156491732974144, + -0.40172308698513226, + 0.014323156876091214, + -0.4019456281086944, + -0.914538634833108, + 0.04537397317738301, + -0.005128692237637989, + -0.047303771316149656, + -0.9988673834574842 + ], + [ + 0.916215631790902, + -0.4006007939882539, + 0.008241354135005102, + -0.40053619965220744, + -0.915118815703465, + 0.04613356601927137, + -0.01093932494101092, + -0.04556925500233696, + -0.9989012834952044 + ], + [ + 0.9166896617701189, + -0.39959938041116055, + 0.0006318059841206539, + -0.3991846663984571, + -0.9156639513602757, + 0.04702265721584938, + -0.018211702724826813, + -0.04335739099972897, + -0.998893623230001 + ], + [ + 0.9162399312714075, + -0.4005341940539898, + -0.00876057859319391, + -0.39973127434264577, + -0.9154298411188576, + 0.046937344423259524, + -0.02681970648928155, + -0.039503991983393376, + -0.9988594185175433 + ], + [ + 0.9167927864971295, + -0.3992641909832299, + -0.008893392228810481, + -0.39872005183337916, + -0.9163526470331871, + 0.036333820900897436, + -0.022656277117301244, + -0.029764611097375524, + -0.9993001356116219 + ], + [ + 0.9171908230741247, + -0.3973324082796482, + -0.029798513374081292, + -0.39677363773573326, + -0.917627689566224, + 0.02302398182998541, + -0.03649211512866139, + -0.009294120294536874, + -0.9992907208922676 + ], + [ + 0.9212435859924493, + -0.3857744296006614, + -0.04988331117776071, + -0.3857647245265498, + -0.9225406898136127, + 0.010210433349223037, + -0.04995830840539055, + 0.009836925561785899, + -0.9987028598721264 + ], + [ + 0.9242299499910553, + -0.37908770507961825, + -0.04573304491284403, + -0.37926347803926613, + -0.9252746244000783, + 0.005107217133955051, + -0.044251709177057987, + 0.012624630638662452, + -0.9989406413476963 + ], + [ + 0.9243295291700653, + -0.381313123411856, + -0.014670494815805214, + -0.38147020781420543, + -0.9243276131728336, + -0.009947063707440999, + -0.009767397526096618, + 0.014790721419446018, + -0.9998429039131398 + ], + [ + 0.9072167406481477, + -0.42064819989802815, + 0.0035885108749887764, + -0.4202496356958465, + -0.906669510130717, + -0.03661479341514734, + 0.018655540336844727, + 0.03170948315369061, + -0.9993230105891018 + ], + [ + 0.8793017995301644, + -0.4737748286224113, + 0.04863904919731797, + -0.46502437021578885, + -0.876116808687857, + -0.12716789154504984, + 0.10286243458339529, + 0.08920061265714156, + -0.9906879277820877 + ], + [ + 0.9120666528036918, + -0.38838839940941006, + 0.13148715544746742, + -0.36833276534626713, + -0.9169349449373402, + -0.1534968427203915, + 0.18018156069876184, + 0.09156832398244204, + -0.9793619592506159 + ], + [ + 0.9604795029554221, + -0.23391247117810862, + 0.15087769957769104, + -0.22496138953359926, + -0.9715433084872643, + -0.0741348295521925, + 0.1639252806055787, + 0.03726332729334446, + -0.9857687085809792 + ], + [ + 0.9844897223352542, + -0.11710912829454449, + 0.13063475298076663, + -0.11761113111207046, + -0.9930520978748605, + -0.0038926526788093272, + 0.1301829806648833, + -0.011531824505705304, + -0.9914229211435331 + ], + [ + 0.9984514687556539, + -0.014189490256636994, + 0.053789617082982195, + -0.015985942750847203, + -0.9993236627995423, + 0.03311595692823497, + 0.05328333861577821, + -0.03392455357352373, + -0.9980030112633894 + ], + [ + 0.9995648715600359, + 0.011900594742500797, + 0.02698969040103131, + 0.011340016537703924, + -0.9997187410318269, + 0.020828894705760985, + 0.027229975543385285, + -0.020513767925806288, + -0.9994186879168273 + ], + [ + 0.9994736303471518, + 0.032210966524052406, + -0.003862107749897831, + 0.03215454839623001, + -0.9993866022224946, + -0.013874592448507557, + -0.004306652774481304, + 0.01374310495354148, + -0.9998962845256083 + ], + [ + 0.9993744598827666, + 0.026343370244580347, + -0.02359482524168119, + 0.025603402729245994, + -0.9991872761994293, + -0.03113282592135961, + -0.024395792725643413, + 0.03050924327679401, + -0.999236724391155 + ], + [ + 0.9991015938711829, + 0.02389229964775871, + -0.0350023305167482, + 0.022427766456944744, + -0.9988804076357928, + -0.04165244930499632, + -0.03595831497463024, + 0.04083000439498204, + -0.9985188582722367 + ], + [ + 0.9992061458026582, + 0.018814894339358318, + -0.03511520954224116, + 0.01745088530909978, + -0.9990963819594894, + -0.03875417599932395, + -0.03581263453203866, + 0.03811061933971572, + -0.9986315816663409 + ], + [ + 0.9997773192764526, + 0.008768096579944207, + 0.019194591497468685, + 0.00895634046527962, + -0.9999124228590531, + -0.009743232400384801, + 0.01910748088733628, + 0.009912976066887484, + -0.9997682916954495 + ], + [ + 0.994389387625602, + -0.000994362744674925, + 0.10577692101924487, + -6.575794296025805e-05, + -0.9999614351267394, + -0.008782023409444131, + 0.10578157426259312, + 0.008725795207491959, + -0.9943511045121456 + ], + [ + 0.9897191308298039, + -0.011414327842380528, + 0.14256842283410545, + -0.010728666454859908, + -0.9999268928277385, + -0.005577160206135586, + 0.14262165959488057, + 0.0039902530961325325, + -0.9897692357790431 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005666.json b/json/chunk-0005/episode_0005666.json new file mode 100644 index 0000000000000000000000000000000000000000..18a25f240785cccba30890a8389b11f544c7dcd9 --- /dev/null +++ b/json/chunk-0005/episode_0005666.json @@ -0,0 +1,2902 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 47, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nTake the orange pot and put yit on the upper left stove." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005666.mp4", + "start": 0, + "end": 47, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.32147887349128723, + 0.08467535674571991, + 0.02192399464547634, + 0.12145067006349564, + -0.28624528646469116, + 0.1721392720937729, + 0.0, + 0.9994885921478271 + ], + [ + 0.3179508447647095, + 0.08385269343852997, + 0.011901140213012695, + 0.12160100042819977, + -0.25631630420684814, + 0.16574935615062714, + 0.0, + 0.9994885921478271 + ], + [ + 0.3153935372829437, + 0.08924493938684464, + 0.007597754709422588, + 0.15965813398361206, + -0.27082735300064087, + 0.027237584814429283, + 0.0, + 0.9994885921478271 + ], + [ + 0.31467440724372864, + 0.09906069189310074, + 0.007666577119380236, + 0.22449460625648499, + -0.28143608570098877, + -0.05698779225349426, + 0.0, + 0.9994885921478271 + ], + [ + 0.3198331892490387, + 0.10578211396932602, + 0.013401350006461143, + 0.3035687804222107, + -0.31016597151756287, + -0.15345053374767303, + 0.0, + 0.9994885921478271 + ], + [ + 0.3245941698551178, + 0.1193920224905014, + 0.020456012338399887, + 0.3785403370857239, + -0.30364713072776794, + -0.21879054605960846, + 0.0, + 0.9994885921478271 + ], + [ + 0.32680532336235046, + 0.12444773316383362, + 0.02533283270895481, + 0.3926411271095276, + -0.2794695496559143, + -0.23351994156837463, + 0.0, + 0.9994885921478271 + ], + [ + 0.33106738328933716, + 0.13665632903575897, + 0.028769899159669876, + 0.3903000056743622, + -0.2991526126861572, + -0.23499426245689392, + 0.0, + 0.9994885921478271 + ], + [ + 0.33102577924728394, + 0.13642781972885132, + 0.018333548679947853, + 0.3484309911727905, + -0.2846064269542694, + -0.22274984419345856, + 0.0, + 0.9994885921478271 + ], + [ + 0.3324972689151764, + 0.13665135204792023, + 0.014114484190940857, + 0.3027564585208893, + -0.2671559154987335, + -0.19866269826889038, + 0.0, + 0.9994885921478271 + ], + [ + 0.3275749087333679, + 0.1333109587430954, + 0.00984926987439394, + 0.2694562077522278, + -0.2415943145751953, + -0.1689867526292801, + 0.0, + 0.9994885921478271 + ], + [ + 0.33105745911598206, + 0.1301862746477127, + 0.0005786349065601826, + 0.24361371994018555, + -0.2605125904083252, + -0.16147710382938385, + 0.0, + 0.9994885921478271 + ], + [ + 0.33254528045654297, + 0.1268136203289032, + -0.011220661923289299, + 0.21494612097740173, + -0.2692664861679077, + -0.14289651811122894, + 0.0, + 0.9461179971694946 + ], + [ + 0.3357933759689331, + 0.12842951714992523, + -0.017162855714559555, + 0.19335468113422394, + -0.26472383737564087, + -0.13547077775001526, + 0.0, + 0.6641445755958557 + ], + [ + 0.3355310559272766, + 0.13183341920375824, + -0.01710163615643978, + 0.21939249336719513, + -0.2716454863548279, + -0.14291752874851227, + 0.0, + 0.36359503865242004 + ], + [ + 0.32891610264778137, + 0.13454368710517883, + -0.02205568365752697, + 0.24343228340148926, + -0.2796792685985565, + -0.10762371122837067, + 0.0, + 0.1546454280614853 + ], + [ + 0.3259917199611664, + 0.13241341710090637, + -0.022017834708094597, + 0.2658175230026245, + -0.29665157198905945, + -0.099647656083107, + 0.0, + 0.07656946033239365 + ], + [ + 0.3273945748806, + 0.12330928444862366, + -0.0180781539529562, + 0.2770334780216217, + -0.295708566904068, + -0.10759134590625763, + 0.0, + 0.07365728914737701 + ], + [ + 0.3237449824810028, + 0.11327792704105377, + -0.012334203347563744, + 0.2705802321434021, + -0.24169541895389557, + -0.08818558603525162, + 0.0, + 0.07365728914737701 + ], + [ + 0.3242947459220886, + 0.10514362156391144, + -0.00044385166256688535, + 0.2753952145576477, + -0.2422982156276703, + -0.07354121655225754, + 0.0, + 0.07365728914737701 + ], + [ + 0.32597509026527405, + 0.09729468822479248, + 0.00036840137909166515, + 0.28322118520736694, + -0.2286863625049591, + -0.11022605001926422, + 0.0, + 0.07365728914737701 + ], + [ + 0.3411972224712372, + 0.09627020359039307, + 0.009663944132626057, + 0.3042270243167877, + -0.2477911114692688, + -0.21357807517051697, + 0.0, + 0.07365728914737701 + ], + [ + 0.3569902777671814, + 0.09349015355110168, + 0.015127191320061684, + 0.29855066537857056, + -0.2505566477775574, + -0.37029924988746643, + 0.0, + 0.07365728914737701 + ], + [ + 0.3624167740345001, + 0.09511284530162811, + 0.01493164710700512, + 0.32071495056152344, + -0.21240629255771637, + -0.5137455463409424, + 0.0, + 0.07365728914737701 + ], + [ + 0.3662840723991394, + 0.09471553564071655, + 0.013348906300961971, + 0.31282901763916016, + -0.16411088407039642, + -0.5917086005210876, + 0.0, + 0.07365728914737701 + ], + [ + 0.3733762800693512, + 0.09443090111017227, + 0.009799902327358723, + 0.2963290810585022, + -0.1417800635099411, + -0.6292470693588257, + 0.0, + 0.07365728914737701 + ], + [ + 0.38164636492729187, + 0.09575015306472778, + 0.005560487508773804, + 0.28018760681152344, + -0.1198408231139183, + -0.6433554887771606, + 0.0, + 0.07365728914737701 + ], + [ + 0.39130720496177673, + 0.09815726429224014, + 0.003816349199041724, + 0.2858627438545227, + -0.12320730835199356, + -0.6518093347549438, + 0.0, + 0.07365728914737701 + ], + [ + 0.3963328003883362, + 0.1082516685128212, + -0.0053748213686048985, + 0.2784899175167084, + -0.11406412720680237, + -0.636310338973999, + 0.0, + 0.07365728914737701 + ], + [ + 0.4013952314853668, + 0.12329661846160889, + -0.010748357512056828, + 0.27953657507896423, + -0.1329447329044342, + -0.5844615697860718, + 0.0, + 0.07365728914737701 + ], + [ + 0.4004981517791748, + 0.1291600614786148, + -0.017336077988147736, + 0.25104567408561707, + -0.12334884703159332, + -0.5510089993476868, + 0.0, + 0.07365728914737701 + ], + [ + 0.40476635098457336, + 0.1344825178384781, + -0.01532874908298254, + 0.2454959601163864, + -0.1136305183172226, + -0.5543410181999207, + 0.0, + 0.09289941936731339 + ], + [ + 0.40562474727630615, + 0.13632811605930328, + -0.01490824855864048, + 0.2515639364719391, + -0.10161542147397995, + -0.5666192770004272, + 0.0, + 0.25684019923210144 + ], + [ + 0.4009556472301483, + 0.13574226200580597, + -0.02075069211423397, + 0.2815912067890167, + -0.0747358426451683, + -0.5552305579185486, + 0.0, + 0.529549777507782 + ], + [ + 0.39837759733200073, + 0.13038912415504456, + -0.016374047845602036, + 0.29871422052383423, + -0.08066418766975403, + -0.5643779039382935, + 0.0, + 0.8298270106315613 + ], + [ + 0.39507055282592773, + 0.12826700508594513, + -0.0010646440787240863, + 0.35035407543182373, + -0.09676576405763626, + -0.5490396618843079, + 0.0, + 1.0027955770492554 + ], + [ + 0.38843369483947754, + 0.12343892455101013, + 0.010639493353664875, + 0.3922830820083618, + -0.10688100010156631, + -0.5290071368217468, + 0.0, + 1.0001531839370728 + ], + [ + 0.3832192122936249, + 0.12468082457780838, + 0.010297948494553566, + 0.4014812111854553, + -0.12103183567523956, + -0.4782816767692566, + 0.0, + 1.0001531839370728 + ], + [ + 0.37305718660354614, + 0.12484455108642578, + 0.02517404407262802, + 0.45844343304634094, + -0.18328222632408142, + -0.4066646695137024, + 0.0, + 1.0001531839370728 + ], + [ + 0.3595014810562134, + 0.12399675697088242, + 0.03946791589260101, + 0.5054391026496887, + -0.23912441730499268, + -0.3202868402004242, + 0.0, + 1.0001531839370728 + ], + [ + 0.3434256911277771, + 0.12122491747140884, + 0.060499340295791626, + 0.5761797428131104, + -0.29602301120758057, + -0.26252225041389465, + 0.0, + 1.0001531839370728 + ], + [ + 0.3303331136703491, + 0.11132931709289551, + 0.06247195973992348, + 0.4805895984172821, + -0.29702016711235046, + -0.16154660284519196, + 0.0, + 1.0001531839370728 + ], + [ + 0.3166315257549286, + 0.08979237079620361, + 0.05606839805841446, + 0.31307074427604675, + -0.22395992279052734, + -0.003837504656985402, + 0.0, + 1.0001531839370728 + ], + [ + 0.32141613960266113, + 0.06475295126438141, + 0.06872647255659103, + 0.26101458072662354, + -0.22339749336242676, + 0.010989508591592312, + 0.0, + 1.0001531839370728 + ], + [ + 0.3264312744140625, + 0.03894602879881859, + 0.07036769390106201, + 0.21111860871315002, + -0.2515389323234558, + 0.022136060521006584, + 0.0, + 1.0001531839370728 + ], + [ + 0.32848232984542847, + 0.020654363557696342, + 0.07729626446962357, + 0.16810019314289093, + -0.2205895185470581, + 0.026955626904964447, + 0.0, + 1.0001531839370728 + ], + [ + 0.33939310908317566, + 0.006220467854291201, + 0.07206770032644272, + 0.13721121847629547, + -0.18807382881641388, + -0.04134716838598251, + 0.0, + 1.0001531839370728 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9461179971694946 + ], + [ + 0.6641445755958557 + ], + [ + 0.36359503865242004 + ], + [ + 0.1546454280614853 + ], + [ + 0.07656946033239365 + ], + [ + 0.07365728914737701 + ], + [ + 0.07365728914737701 + ], + [ + 0.07365728914737701 + ], + [ + 0.07365728914737701 + ], + [ + 0.07365728914737701 + ], + [ + 0.07365728914737701 + ], + [ + 0.07365728914737701 + ], + [ + 0.07365728914737701 + ], + [ + 0.07365728914737701 + ], + [ + 0.07365728914737701 + ], + [ + 0.07365728914737701 + ], + [ + 0.07365728914737701 + ], + [ + 0.07365728914737701 + ], + [ + 0.07365728914737701 + ], + [ + 0.09289941936731339 + ], + [ + 0.25684019923210144 + ], + [ + 0.529549777507782 + ], + [ + 0.8298270106315613 + ], + [ + 1.0027955770492554 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.32147887349128723, + 0.08467535674571991, + 0.02192399464547634 + ], + [ + 0.3179508447647095, + 0.08385269343852997, + 0.011901140213012695 + ], + [ + 0.3153935372829437, + 0.08924493938684464, + 0.007597754709422588 + ], + [ + 0.31467440724372864, + 0.09906069189310074, + 0.007666577119380236 + ], + [ + 0.3198331892490387, + 0.10578211396932602, + 0.013401350006461143 + ], + [ + 0.3245941698551178, + 0.1193920224905014, + 0.020456012338399887 + ], + [ + 0.32680532336235046, + 0.12444773316383362, + 0.02533283270895481 + ], + [ + 0.33106738328933716, + 0.13665632903575897, + 0.028769899159669876 + ], + [ + 0.33102577924728394, + 0.13642781972885132, + 0.018333548679947853 + ], + [ + 0.3324972689151764, + 0.13665135204792023, + 0.014114484190940857 + ], + [ + 0.3275749087333679, + 0.1333109587430954, + 0.00984926987439394 + ], + [ + 0.33105745911598206, + 0.1301862746477127, + 0.0005786349065601826 + ], + [ + 0.33254528045654297, + 0.1268136203289032, + -0.011220661923289299 + ], + [ + 0.3357933759689331, + 0.12842951714992523, + -0.017162855714559555 + ], + [ + 0.3355310559272766, + 0.13183341920375824, + -0.01710163615643978 + ], + [ + 0.32891610264778137, + 0.13454368710517883, + -0.02205568365752697 + ], + [ + 0.3259917199611664, + 0.13241341710090637, + -0.022017834708094597 + ], + [ + 0.3273945748806, + 0.12330928444862366, + -0.0180781539529562 + ], + [ + 0.3237449824810028, + 0.11327792704105377, + -0.012334203347563744 + ], + [ + 0.3242947459220886, + 0.10514362156391144, + -0.00044385166256688535 + ], + [ + 0.32597509026527405, + 0.09729468822479248, + 0.00036840137909166515 + ], + [ + 0.3411972224712372, + 0.09627020359039307, + 0.009663944132626057 + ], + [ + 0.3569902777671814, + 0.09349015355110168, + 0.015127191320061684 + ], + [ + 0.3624167740345001, + 0.09511284530162811, + 0.01493164710700512 + ], + [ + 0.3662840723991394, + 0.09471553564071655, + 0.013348906300961971 + ], + [ + 0.3733762800693512, + 0.09443090111017227, + 0.009799902327358723 + ], + [ + 0.38164636492729187, + 0.09575015306472778, + 0.005560487508773804 + ], + [ + 0.39130720496177673, + 0.09815726429224014, + 0.003816349199041724 + ], + [ + 0.3963328003883362, + 0.1082516685128212, + -0.0053748213686048985 + ], + [ + 0.4013952314853668, + 0.12329661846160889, + -0.010748357512056828 + ], + [ + 0.4004981517791748, + 0.1291600614786148, + -0.017336077988147736 + ], + [ + 0.40476635098457336, + 0.1344825178384781, + -0.01532874908298254 + ], + [ + 0.40562474727630615, + 0.13632811605930328, + -0.01490824855864048 + ], + [ + 0.4009556472301483, + 0.13574226200580597, + -0.02075069211423397 + ], + [ + 0.39837759733200073, + 0.13038912415504456, + -0.016374047845602036 + ], + [ + 0.39507055282592773, + 0.12826700508594513, + -0.0010646440787240863 + ], + [ + 0.38843369483947754, + 0.12343892455101013, + 0.010639493353664875 + ], + [ + 0.3832192122936249, + 0.12468082457780838, + 0.010297948494553566 + ], + [ + 0.37305718660354614, + 0.12484455108642578, + 0.02517404407262802 + ], + [ + 0.3595014810562134, + 0.12399675697088242, + 0.03946791589260101 + ], + [ + 0.3434256911277771, + 0.12122491747140884, + 0.060499340295791626 + ], + [ + 0.3303331136703491, + 0.11132931709289551, + 0.06247195973992348 + ], + [ + 0.3166315257549286, + 0.08979237079620361, + 0.05606839805841446 + ], + [ + 0.32141613960266113, + 0.06475295126438141, + 0.06872647255659103 + ], + [ + 0.3264312744140625, + 0.03894602879881859, + 0.07036769390106201 + ], + [ + 0.32848232984542847, + 0.020654363557696342, + 0.07729626446962357 + ], + [ + 0.33939310908317566, + 0.006220467854291201, + 0.07206770032644272 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.945132734708438, + 0.20373072235752007, + 0.2553779680204068, + 0.16432072299235254, + -0.972103940278683, + 0.167369738274064, + 0.2823522866523651, + -0.11622272610097054, + -0.9522444350899819 + ], + [ + 0.9540731573682404, + 0.1941038947140006, + 0.22818432997524657, + 0.1596012626045558, + -0.9739380444600846, + 0.16115868741180842, + 0.25351892900615464, + -0.11733867056568145, + -0.9601873718318993 + ], + [ + 0.9631924854784393, + 0.06940397119985002, + 0.2596985265640862, + 0.026241526744158028, + -0.9857571654752263, + 0.16611499928779233, + 0.26752872405033934, + -0.15318583320900792, + -0.9512951604586558 + ], + [ + 0.9590980793211821, + 0.006199641188225535, + 0.28300607536156586, + -0.054716127109119314, + -0.9768456286262248, + 0.20683027647811603, + 0.27773552109263544, + -0.21385551730776664, + -0.9365515458534193 + ], + [ + 0.9410931741539706, + -0.05569447793290813, + 0.33352925312269877, + -0.14555551582455253, + -0.9570081899144488, + 0.25089622605714695, + 0.30521669248888217, + -0.28466374824422475, + -0.9087405136020381 + ], + [ + 0.9315036045890013, + -0.09381673219951334, + 0.35142489296733426, + -0.20711966887389552, + -0.931037528936846, + 0.30045059906204125, + 0.29900247056381557, + -0.3526578234926547, + -0.8866961047203027 + ], + [ + 0.9351128554163471, + -0.11111186243921316, + 0.3364789765503567, + -0.22242534161340421, + -0.9232489701104217, + 0.31327034107653157, + 0.2758458175199446, + -0.36778457446627005, + -0.8880560746605016 + ], + [ + 0.9293229165852478, + -0.10628129076370185, + 0.35364276317081633, + -0.22249629695660084, + -0.9254850287609107, + 0.30654992966891453, + 0.2947105606354966, + -0.3635680799699251, + -0.8837216398147628 + ], + [ + 0.9360597779948074, + -0.11414130942645018, + 0.3328120392995536, + -0.2120255498714036, + -0.9378655626580952, + 0.2746877364968155, + 0.2807797325699296, + -0.3276887972794162, + -0.9020991042648967 + ], + [ + 0.9455547187774609, + -0.11122134609199075, + 0.3058693936489273, + -0.19035733495250784, + -0.9512781182954989, + 0.24255726474783976, + 0.2639893157448907, + -0.28757564887462306, + -0.9206573126559545 + ], + [ + 0.9571271389923964, + -0.09933172652196187, + 0.27210447976907004, + -0.16329919343036803, + -0.9608971530764179, + 0.2236292347494547, + 0.23925094196099064, + -0.2584760517258836, + -0.9359215338130528 + ], + [ + 0.9536879039661287, + -0.0947070407752188, + 0.28549948906485517, + -0.1553513685193898, + -0.9678367057634267, + 0.19788396417130683, + 0.25757588033013695, + -0.23307227935685387, + -0.9377270276938571 + ], + [ + 0.9541412100944047, + -0.08297023913086601, + 0.28762908513944097, + -0.13727911758166836, + -0.9751107035041774, + 0.1741078969707766, + 0.26602442571234575, + -0.20560898650145376, + -0.9417833878309074 + ], + [ + 0.9563218179679388, + -0.08272544496035687, + 0.2803659773128821, + -0.13035205921013052, + -0.9791637522690977, + 0.15571347694396853, + 0.26164273568776025, + -0.1854584778283596, + -0.9471790917579488 + ], + [ + 0.9535092063010508, + -0.08121713844257125, + 0.29021366253562253, + -0.13720863528838206, + -0.9743962661699405, + 0.17811711561884863, + 0.2683169467280062, + -0.20965613012091672, + -0.9402395031061402 + ], + [ + 0.9555829957561274, + -0.038096908009093204, + 0.2922494890019343, + -0.10324231038912715, + -0.9720482916623436, + 0.21086285595579501, + 0.2760473936976406, + -0.23166947204253285, + -0.932806031367869 + ], + [ + 0.9515766200394298, + -0.019577896057775927, + 0.30678761738421834, + -0.09513748255838952, + -0.9677310405954992, + 0.23333557911386843, + 0.29231968049857127, + -0.25122368330613887, + -0.9227328244618319 + ], + [ + 0.9510645043942855, + -0.02404657246071798, + 0.3080553048303896, + -0.10272298656027656, + -0.9648680306577632, + 0.24182156944066774, + 0.2914177354132553, + -0.2616322720298509, + -0.9201218711231185 + ], + [ + 0.9671606910885931, + -0.021139772944478046, + 0.253285032350692, + -0.08551141280657762, + -0.9655059516063298, + 0.2459391300557495, + 0.23934910881985388, + -0.25952141994951344, + -0.9356070952566202 + ], + [ + 0.9681651366617445, + -0.005637907712398825, + 0.2502488404556002, + -0.07132867757355846, + -0.9645105692603965, + 0.254227420906152, + 0.23993434082755496, + -0.2639840445587819, + -0.9342076516010956 + ], + [ + 0.9680542913259957, + -0.04265412856852068, + 0.24708604647244609, + -0.10713905800446241, + -0.961302074895348, + 0.25381005309446397, + 0.22669828251497653, + -0.2721744773448795, + -0.9351625220178582 + ], + [ + 0.9474293005786113, + -0.13042399314126207, + 0.29217683415735046, + -0.20548409572363724, + -0.9479734982273709, + 0.24315125552462263, + 0.24526313789430923, + -0.29040631651472265, + -0.9249379246839153 + ], + [ + 0.9031101343064138, + -0.27789989834296114, + 0.32735872038792935, + -0.35059410038953276, + -0.9173738029620496, + 0.18843853748901873, + 0.2479432638429705, + -0.28495078897928666, + -0.9259196432601355 + ], + [ + 0.8513374781754763, + -0.40850553501070463, + 0.3291621577876751, + -0.48039826629220916, + -0.8591625897968552, + 0.17623038908485783, + 0.21081272256972558, + -0.3081604649515876, + -0.9276826633302798 + ], + [ + 0.8188371414910697, + -0.4889780813212156, + 0.30067619078030844, + -0.550285626991622, + -0.8177514150851423, + 0.16872567040223851, + 0.16337522591008502, + -0.30361663181332793, + -0.9386828412436006 + ], + [ + 0.8003586935312038, + -0.5295250029012406, + 0.28112138479928095, + -0.5826308488705936, + -0.7975182219870107, + 0.15654385820915645, + 0.14130553999527384, + -0.28908122889789634, + -0.9468182441554059 + ], + [ + 0.794348879882107, + -0.5500384765669591, + 0.25781297741956277, + -0.595580940433995, + -0.7887195808996575, + 0.15233110679446252, + 0.11955417358586554, + -0.27455253960101456, + -0.9541109487773597 + ], + [ + 0.7889611689753541, + -0.5544580044919676, + 0.2647953834639652, + -0.6020273157698548, + -0.7837484127282828, + 0.15264840848446773, + 0.12289582953048696, + -0.2798477207351934, + -0.9521459280400935 + ], + [ + 0.7990672301220394, + -0.5461718148669544, + 0.2513720557063358, + -0.5903704466619203, + -0.7918984096342315, + 0.15607576534164366, + 0.11381694712694035, + -0.2731176623063991, + -0.9552237670216289 + ], + [ + 0.8266498688228575, + -0.49983123175553756, + 0.25849319940163645, + -0.5468816821567275, + -0.8218149743746807, + 0.1598141846488313, + 0.13255346127725282, + -0.2734755704908297, + -0.9527017855804274 + ], + [ + 0.8455233724688955, + -0.4810949374301744, + 0.23159854876030922, + -0.5195693379655207, + -0.8412911724507144, + 0.14925436744890364, + 0.12303629405543398, + -0.24652956077427807, + -0.9612935274979988 + ], + [ + 0.8447642523878933, + -0.4871701856210691, + 0.22144653560048444, + -0.5229884701899532, + -0.8392600332931373, + 0.14874695480975242, + 0.11338614525547662, + -0.24147009495739863, + -0.963761264684034 + ], + [ + 0.8393682541042979, + -0.49858276691991854, + 0.2165090264455062, + -0.5340137930909181, + -0.8307178563428366, + 0.1572803609539748, + 0.10144063678108914, + -0.24763494842941824, + -0.9635282712644225 + ], + [ + 0.8474068339111751, + -0.4887458567295116, + 0.20743467735740984, + -0.5256677686457908, + -0.827247349278427, + 0.19833108712143582, + 0.07466628990108148, + -0.2771088425899667, + -0.9579330010553221 + ], + [ + 0.8421741770693786, + -0.49116736707717595, + 0.22247982604269956, + -0.5331510522333004, + -0.8201886213260229, + 0.20746223981689454, + 0.08057673969601738, + -0.2933346944461101, + -0.9526080757867674 + ], + [ + 0.8490354975383203, + -0.46187810637766824, + 0.2565294111185625, + -0.5194268958311972, + -0.8185115591131232, + 0.24542723460400837, + 0.09661482188061882, + -0.34162470994818817, + -0.9348572798806204 + ], + [ + 0.8583822394396021, + -0.4311324358489646, + 0.27803732442532275, + -0.5017965880530861, + -0.8183125810492126, + 0.2802939598258539, + 0.10667762292503086, + -0.3801175376847463, + -0.9187657711906504 + ], + [ + 0.8812925668723144, + -0.3817690821361265, + 0.27852428888796604, + -0.45688739855373284, + -0.8389086674715328, + 0.29578058199269935, + 0.12073655874841767, + -0.38792346611938416, + -0.9137494557128409 + ], + [ + 0.903061970936165, + -0.28062427682429064, + 0.32516010195860934, + -0.3889230909073644, + -0.8555132126111163, + 0.3418127739082745, + 0.18225780095225372, + -0.43514038919026016, + -0.881722709068672 + ], + [ + 0.9221379171233834, + -0.1666223262073464, + 0.34913988917423944, + -0.3058803178226096, + -0.8665721701264756, + 0.3943220829867756, + 0.23685204869725507, + -0.47041436454634633, + -0.8500655460941644 + ], + [ + 0.9237329265872222, + -0.06412817878981553, + 0.3776308475531456, + -0.24822930347085115, + -0.8510665999084247, + 0.4626746755752788, + 0.2917185171307809, + -0.5211268743841704, + -0.8020767342078958 + ], + [ + 0.9437626698466423, + -0.009083503117717218, + 0.3304988849830632, + -0.1538019253589176, + -0.8969398953595648, + 0.41454045866267747, + 0.2926721557644792, + -0.4420591748663107, + -0.8478954506050194 + ], + [ + 0.9750184483024035, + 0.06474889208138611, + 0.21247730806890175, + -0.0037416562031195276, + -0.9516478050486433, + 0.3071684475250636, + 0.22209238050602192, + -0.30028992011110384, + -0.9276318981152146 + ], + [ + 0.9750915011717225, + 0.06778544746089174, + 0.21119113962286262, + 0.010716207829491432, + -0.9654420353467661, + 0.26039746403382846, + 0.22154396230191403, + -0.2516481859621097, + -0.9421207264833672 + ], + [ + 0.9682932537691801, + 0.07378687328550479, + 0.23867063505141062, + 0.021437699709842172, + -0.9764031120312824, + 0.2148892455354111, + 0.24889475634541885, + -0.20295925735569798, + -0.9470263671711462 + ], + [ + 0.9754141512310598, + 0.06316731866487325, + 0.21113295202521445, + 0.026299269981206925, + -0.9845595651011534, + 0.17306302657206463, + 0.2188048947730529, + -0.16325548266602846, + -0.9620145868971194 + ], + [ + 0.9815265865074724, + -0.015395193169618999, + 0.19070539584988036, + -0.04060648781135462, + -0.9908117535328019, + 0.1290084578966841, + 0.18696703754035296, + -0.13436910764206303, + -0.9731332230403297 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.003528028726577759, + -0.0008226633071899414, + -0.010022854432463646, + 0.00015033036470413208, + 0.029928982257843018, + -0.006389915943145752, + 1.0 + ], + [ + -0.002557307481765747, + 0.005392245948314667, + -0.004303385503590107, + 0.03805713355541229, + -0.014511048793792725, + -0.1385117769241333, + 1.0 + ], + [ + -0.0007191300392150879, + 0.009815752506256104, + 6.882240995764732e-05, + 0.06483647227287292, + -0.0106087327003479, + -0.0842253789305687, + 1.0 + ], + [ + 0.005158782005310059, + 0.006721422076225281, + 0.005734772887080908, + 0.07907417416572571, + -0.028729885816574097, + -0.09646274149417877, + 1.0 + ], + [ + 0.0047609806060791016, + 0.013609908521175385, + 0.007054662331938744, + 0.07497155666351318, + 0.006518840789794922, + -0.06534001231193542, + 1.0 + ], + [ + 0.002211153507232666, + 0.005055710673332214, + 0.004876820370554924, + 0.014100790023803711, + 0.024177581071853638, + -0.014729395508766174, + 1.0 + ], + [ + 0.004262059926986694, + 0.012208595871925354, + 0.003437066450715065, + -0.0023411214351654053, + -0.01968306303024292, + -0.0014743208885192871, + 1.0 + ], + [ + -4.1604042053222656e-05, + -0.0002285093069076538, + -0.010436350479722023, + -0.041869014501571655, + 0.014546185731887817, + 0.012244418263435364, + 1.0 + ], + [ + 0.001471489667892456, + 0.0002235323190689087, + -0.004219064489006996, + -0.045674532651901245, + 0.01745051145553589, + 0.024087145924568176, + 1.0 + ], + [ + -0.004922360181808472, + -0.003340393304824829, + -0.004265214316546917, + -0.0333002507686615, + 0.025561600923538208, + 0.02967594563961029, + 1.0 + ], + [ + 0.0034825503826141357, + -0.0031246840953826904, + -0.00927063450217247, + -0.025842487812042236, + -0.018918275833129883, + 0.00750964879989624, + 1.0 + ], + [ + 0.001487821340560913, + -0.0033726543188095093, + -0.011799296364188194, + -0.028667598962783813, + -0.00875389575958252, + 0.018580585718154907, + 0.0 + ], + [ + 0.0032480955123901367, + 0.0016158968210220337, + -0.005942193791270256, + -0.021591439843177795, + 0.004542648792266846, + 0.007425740361213684, + 0.0 + ], + [ + -0.00026232004165649414, + 0.003403902053833008, + 6.121955811977386e-05, + 0.02603781223297119, + -0.006921648979187012, + -0.007446750998497009, + 0.0 + ], + [ + -0.006614953279495239, + 0.0027102679014205933, + -0.004954047501087189, + 0.02403979003429413, + -0.008033782243728638, + 0.0352938175201416, + 0.0 + ], + [ + -0.0029243826866149902, + -0.002130270004272461, + 3.784894943237305e-05, + 0.022385239601135254, + -0.01697230339050293, + 0.007976055145263672, + 0.0 + ], + [ + 0.0014028549194335938, + -0.009104132652282715, + 0.003939680755138397, + 0.011215955018997192, + 0.0009430050849914551, + -0.007943689823150635, + 0.0 + ], + [ + -0.003649592399597168, + -0.010031357407569885, + 0.005743950605392456, + -0.0064532458782196045, + 0.054013147950172424, + 0.019405759871006012, + 0.0 + ], + [ + 0.0005497634410858154, + -0.008134305477142334, + 0.01189035177230835, + 0.0048149824142456055, + -0.0006027966737747192, + 0.01464436948299408, + 0.0 + ], + [ + 0.0016803443431854248, + -0.007848933339118958, + 0.0008122530416585505, + 0.007825970649719238, + 0.013611853122711182, + -0.03668483346700668, + 0.0 + ], + [ + 0.015222132205963135, + -0.001024484634399414, + 0.009295542724430561, + 0.021005839109420776, + -0.019104748964309692, + -0.10335202515125275, + 0.0 + ], + [ + 0.015793055295944214, + -0.002780050039291382, + 0.005463247187435627, + -0.005676358938217163, + -0.0027655363082885742, + -0.15672117471694946, + 0.0 + ], + [ + 0.005426496267318726, + 0.0016226917505264282, + -0.00019554421305656433, + 0.02216428518295288, + 0.038150355219841, + -0.14344629645347595, + 0.0 + ], + [ + 0.0038672983646392822, + -0.00039730966091156006, + -0.001582740806043148, + -0.007885932922363281, + 0.048295408487319946, + -0.07796305418014526, + 0.0 + ], + [ + 0.007092207670211792, + -0.000284634530544281, + -0.0035490039736032486, + -0.01649993658065796, + 0.022330820560455322, + -0.03753846883773804, + 0.0 + ], + [ + 0.008270084857940674, + 0.0013192519545555115, + -0.004239414818584919, + -0.01614147424697876, + 0.021939240396022797, + -0.014108419418334961, + 0.0 + ], + [ + 0.009660840034484863, + 0.0024071112275123596, + -0.0017441383097320795, + 0.005675137042999268, + -0.0033664852380752563, + -0.008453845977783203, + 0.0 + ], + [ + 0.005025595426559448, + 0.010094404220581055, + -0.009191170334815979, + -0.007372826337814331, + 0.009143181145191193, + 0.015498995780944824, + 0.0 + ], + [ + 0.00506243109703064, + 0.01504494994878769, + -0.005373536143451929, + 0.0010466575622558594, + -0.018880605697631836, + 0.051848769187927246, + 0.0 + ], + [ + -0.0008970797061920166, + 0.00586344301700592, + -0.006587720476090908, + -0.028490900993347168, + 0.009595885872840881, + 0.03345257043838501, + 0.0 + ], + [ + 0.00426819920539856, + 0.005322456359863281, + 0.0020073289051651955, + -0.005549713969230652, + 0.009718328714370728, + -0.0033320188522338867, + 1.0 + ], + [ + 0.0008583962917327881, + 0.0018455982208251953, + 0.0004205005243420601, + 0.006067976355552673, + 0.012015096843242645, + -0.012278258800506592, + 1.0 + ], + [ + -0.004669100046157837, + -0.0005858540534973145, + -0.005842443555593491, + 0.030027270317077637, + 0.026879578828811646, + 0.011388719081878662, + 1.0 + ], + [ + -0.002578049898147583, + -0.005353137850761414, + 0.004376644268631935, + 0.017123013734817505, + -0.005928345024585724, + -0.009147346019744873, + 1.0 + ], + [ + -0.003307044506072998, + -0.0021221190690994263, + 0.015309403650462627, + 0.0516398549079895, + -0.016101576387882233, + 0.015338242053985596, + 1.0 + ], + [ + -0.006636857986450195, + -0.0048280805349349976, + 0.011704137548804283, + 0.041929006576538086, + -0.010115236043930054, + 0.020032525062561035, + 1.0 + ], + [ + -0.005214482545852661, + 0.0012419000267982483, + -0.00034154485911130905, + 0.009198129177093506, + -0.014150835573673248, + 0.050725460052490234, + 1.0 + ], + [ + -0.010162025690078735, + 0.00016372650861740112, + 0.014876095578074455, + 0.05696222186088562, + -0.06225039064884186, + 0.0716170072555542, + 1.0 + ], + [ + -0.013555705547332764, + -0.0008477941155433655, + 0.014293871819972992, + 0.04699566960334778, + -0.055842190980911255, + 0.0863778293132782, + 1.0 + ], + [ + -0.01607578992843628, + -0.0027718394994735718, + 0.021031424403190613, + 0.07074064016342163, + -0.05689859390258789, + 0.05776458978652954, + 1.0 + ], + [ + -0.013092577457427979, + -0.009895600378513336, + 0.001972619444131851, + -0.09559014439582825, + -0.0009971559047698975, + 0.1009756475687027, + 1.0 + ], + [ + -0.013701587915420532, + -0.021536946296691895, + -0.006403561681509018, + -0.16751885414123535, + 0.07306024432182312, + 0.15770909190177917, + 1.0 + ], + [ + 0.004784613847732544, + -0.025039419531822205, + 0.012658074498176575, + -0.05205616354942322, + 0.0005624294281005859, + 0.01482701301574707, + 1.0 + ], + [ + 0.005015134811401367, + -0.02580692246556282, + 0.0016412213444709778, + -0.04989597201347351, + -0.028141438961029053, + 0.011146551929414272, + 1.0 + ], + [ + 0.002051055431365967, + -0.018291665241122246, + 0.006928570568561554, + -0.043018415570259094, + 0.030949413776397705, + 0.004819566383957863, + 1.0 + ], + [ + 0.010910779237747192, + -0.01443389616906643, + -0.005228564143180847, + -0.03088897466659546, + 0.032515689730644226, + -0.06830279529094696, + 1.0 + ], + [ + 0.01014488935470581, + -0.015900282189249992, + -0.0027485936880111694, + -0.010015353560447693, + -0.05208401381969452, + -0.07641225308179855, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9461179971694946 + ], + [ + 0.6641445755958557 + ], + [ + 0.36359503865242004 + ], + [ + 0.1546454280614853 + ], + [ + 0.07656946033239365 + ], + [ + 0.07365728914737701 + ], + [ + 0.07365728914737701 + ], + [ + 0.07365728914737701 + ], + [ + 0.07365728914737701 + ], + [ + 0.07365728914737701 + ], + [ + 0.07365728914737701 + ], + [ + 0.07365728914737701 + ], + [ + 0.07365728914737701 + ], + [ + 0.07365728914737701 + ], + [ + 0.07365728914737701 + ], + [ + 0.07365728914737701 + ], + [ + 0.07365728914737701 + ], + [ + 0.07365728914737701 + ], + [ + 0.07365728914737701 + ], + [ + 0.09289941936731339 + ], + [ + 0.25684019923210144 + ], + [ + 0.529549777507782 + ], + [ + 0.8298270106315613 + ], + [ + 1.0027955770492554 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3179508447647095, + 0.08385269343852997, + 0.011901140213012695 + ], + [ + 0.3153935372829437, + 0.08924493938684464, + 0.007597754709422588 + ], + [ + 0.31467440724372864, + 0.09906069189310074, + 0.007666577119380236 + ], + [ + 0.3198331892490387, + 0.10578211396932602, + 0.013401350006461143 + ], + [ + 0.3245941698551178, + 0.1193920224905014, + 0.020456012338399887 + ], + [ + 0.32680532336235046, + 0.12444773316383362, + 0.02533283270895481 + ], + [ + 0.33106738328933716, + 0.13665632903575897, + 0.028769899159669876 + ], + [ + 0.33102577924728394, + 0.13642781972885132, + 0.018333548679947853 + ], + [ + 0.3324972689151764, + 0.13665135204792023, + 0.014114484190940857 + ], + [ + 0.3275749087333679, + 0.1333109587430954, + 0.00984926987439394 + ], + [ + 0.33105745911598206, + 0.1301862746477127, + 0.0005786349065601826 + ], + [ + 0.33254528045654297, + 0.1268136203289032, + -0.011220661923289299 + ], + [ + 0.3357933759689331, + 0.12842951714992523, + -0.017162855714559555 + ], + [ + 0.3355310559272766, + 0.13183341920375824, + -0.01710163615643978 + ], + [ + 0.32891610264778137, + 0.13454368710517883, + -0.02205568365752697 + ], + [ + 0.3259917199611664, + 0.13241341710090637, + -0.022017834708094597 + ], + [ + 0.3273945748806, + 0.12330928444862366, + -0.0180781539529562 + ], + [ + 0.3237449824810028, + 0.11327792704105377, + -0.012334203347563744 + ], + [ + 0.3242947459220886, + 0.10514362156391144, + -0.00044385166256688535 + ], + [ + 0.32597509026527405, + 0.09729468822479248, + 0.00036840137909166515 + ], + [ + 0.3411972224712372, + 0.09627020359039307, + 0.009663944132626057 + ], + [ + 0.3569902777671814, + 0.09349015355110168, + 0.015127191320061684 + ], + [ + 0.3624167740345001, + 0.09511284530162811, + 0.01493164710700512 + ], + [ + 0.3662840723991394, + 0.09471553564071655, + 0.013348906300961971 + ], + [ + 0.3733762800693512, + 0.09443090111017227, + 0.009799902327358723 + ], + [ + 0.38164636492729187, + 0.09575015306472778, + 0.005560487508773804 + ], + [ + 0.39130720496177673, + 0.09815726429224014, + 0.003816349199041724 + ], + [ + 0.3963328003883362, + 0.1082516685128212, + -0.0053748213686048985 + ], + [ + 0.4013952314853668, + 0.12329661846160889, + -0.010748357512056828 + ], + [ + 0.4004981517791748, + 0.1291600614786148, + -0.017336077988147736 + ], + [ + 0.40476635098457336, + 0.1344825178384781, + -0.01532874908298254 + ], + [ + 0.40562474727630615, + 0.13632811605930328, + -0.01490824855864048 + ], + [ + 0.4009556472301483, + 0.13574226200580597, + -0.02075069211423397 + ], + [ + 0.39837759733200073, + 0.13038912415504456, + -0.016374047845602036 + ], + [ + 0.39507055282592773, + 0.12826700508594513, + -0.0010646440787240863 + ], + [ + 0.38843369483947754, + 0.12343892455101013, + 0.010639493353664875 + ], + [ + 0.3832192122936249, + 0.12468082457780838, + 0.010297948494553566 + ], + [ + 0.37305718660354614, + 0.12484455108642578, + 0.02517404407262802 + ], + [ + 0.3595014810562134, + 0.12399675697088242, + 0.03946791589260101 + ], + [ + 0.3434256911277771, + 0.12122491747140884, + 0.060499340295791626 + ], + [ + 0.3303331136703491, + 0.11132931709289551, + 0.06247195973992348 + ], + [ + 0.3166315257549286, + 0.08979237079620361, + 0.05606839805841446 + ], + [ + 0.32141613960266113, + 0.06475295126438141, + 0.06872647255659103 + ], + [ + 0.3264312744140625, + 0.03894602879881859, + 0.07036769390106201 + ], + [ + 0.32848232984542847, + 0.020654363557696342, + 0.07729626446962357 + ], + [ + 0.33939310908317566, + 0.006220467854291201, + 0.07206770032644272 + ], + [ + 0.34953799843788147, + -0.009679814800620079, + 0.06931910663843155 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9540731573682404, + 0.1941038947140006, + 0.22818432997524657, + 0.1596012626045558, + -0.9739380444600846, + 0.16115868741180842, + 0.25351892900615464, + -0.11733867056568145, + -0.9601873718318993 + ], + [ + 0.9631924854784393, + 0.06940397119985002, + 0.2596985265640862, + 0.026241526744158028, + -0.9857571654752263, + 0.16611499928779233, + 0.26752872405033934, + -0.15318583320900792, + -0.9512951604586558 + ], + [ + 0.9590980793211821, + 0.006199641188225535, + 0.28300607536156586, + -0.054716127109119314, + -0.9768456286262248, + 0.20683027647811603, + 0.27773552109263544, + -0.21385551730776664, + -0.9365515458534193 + ], + [ + 0.9410931741539706, + -0.05569447793290813, + 0.33352925312269877, + -0.14555551582455253, + -0.9570081899144488, + 0.25089622605714695, + 0.30521669248888217, + -0.28466374824422475, + -0.9087405136020381 + ], + [ + 0.9315036045890013, + -0.09381673219951334, + 0.35142489296733426, + -0.20711966887389552, + -0.931037528936846, + 0.30045059906204125, + 0.29900247056381557, + -0.3526578234926547, + -0.8866961047203027 + ], + [ + 0.9351128554163471, + -0.11111186243921316, + 0.3364789765503567, + -0.22242534161340421, + -0.9232489701104217, + 0.31327034107653157, + 0.2758458175199446, + -0.36778457446627005, + -0.8880560746605016 + ], + [ + 0.9293229165852478, + -0.10628129076370185, + 0.35364276317081633, + -0.22249629695660084, + -0.9254850287609107, + 0.30654992966891453, + 0.2947105606354966, + -0.3635680799699251, + -0.8837216398147628 + ], + [ + 0.9360597779948074, + -0.11414130942645018, + 0.3328120392995536, + -0.2120255498714036, + -0.9378655626580952, + 0.2746877364968155, + 0.2807797325699296, + -0.3276887972794162, + -0.9020991042648967 + ], + [ + 0.9455547187774609, + -0.11122134609199075, + 0.3058693936489273, + -0.19035733495250784, + -0.9512781182954989, + 0.24255726474783976, + 0.2639893157448907, + -0.28757564887462306, + -0.9206573126559545 + ], + [ + 0.9571271389923964, + -0.09933172652196187, + 0.27210447976907004, + -0.16329919343036803, + -0.9608971530764179, + 0.2236292347494547, + 0.23925094196099064, + -0.2584760517258836, + -0.9359215338130528 + ], + [ + 0.9536879039661287, + -0.0947070407752188, + 0.28549948906485517, + -0.1553513685193898, + -0.9678367057634267, + 0.19788396417130683, + 0.25757588033013695, + -0.23307227935685387, + -0.9377270276938571 + ], + [ + 0.9541412100944047, + -0.08297023913086601, + 0.28762908513944097, + -0.13727911758166836, + -0.9751107035041774, + 0.1741078969707766, + 0.26602442571234575, + -0.20560898650145376, + -0.9417833878309074 + ], + [ + 0.9563218179679388, + -0.08272544496035687, + 0.2803659773128821, + -0.13035205921013052, + -0.9791637522690977, + 0.15571347694396853, + 0.26164273568776025, + -0.1854584778283596, + -0.9471790917579488 + ], + [ + 0.9535092063010508, + -0.08121713844257125, + 0.29021366253562253, + -0.13720863528838206, + -0.9743962661699405, + 0.17811711561884863, + 0.2683169467280062, + -0.20965613012091672, + -0.9402395031061402 + ], + [ + 0.9555829957561274, + -0.038096908009093204, + 0.2922494890019343, + -0.10324231038912715, + -0.9720482916623436, + 0.21086285595579501, + 0.2760473936976406, + -0.23166947204253285, + -0.932806031367869 + ], + [ + 0.9515766200394298, + -0.019577896057775927, + 0.30678761738421834, + -0.09513748255838952, + -0.9677310405954992, + 0.23333557911386843, + 0.29231968049857127, + -0.25122368330613887, + -0.9227328244618319 + ], + [ + 0.9510645043942855, + -0.02404657246071798, + 0.3080553048303896, + -0.10272298656027656, + -0.9648680306577632, + 0.24182156944066774, + 0.2914177354132553, + -0.2616322720298509, + -0.9201218711231185 + ], + [ + 0.9671606910885931, + -0.021139772944478046, + 0.253285032350692, + -0.08551141280657762, + -0.9655059516063298, + 0.2459391300557495, + 0.23934910881985388, + -0.25952141994951344, + -0.9356070952566202 + ], + [ + 0.9681651366617445, + -0.005637907712398825, + 0.2502488404556002, + -0.07132867757355846, + -0.9645105692603965, + 0.254227420906152, + 0.23993434082755496, + -0.2639840445587819, + -0.9342076516010956 + ], + [ + 0.9680542913259957, + -0.04265412856852068, + 0.24708604647244609, + -0.10713905800446241, + -0.961302074895348, + 0.25381005309446397, + 0.22669828251497653, + -0.2721744773448795, + -0.9351625220178582 + ], + [ + 0.9474293005786113, + -0.13042399314126207, + 0.29217683415735046, + -0.20548409572363724, + -0.9479734982273709, + 0.24315125552462263, + 0.24526313789430923, + -0.29040631651472265, + -0.9249379246839153 + ], + [ + 0.9031101343064138, + -0.27789989834296114, + 0.32735872038792935, + -0.35059410038953276, + -0.9173738029620496, + 0.18843853748901873, + 0.2479432638429705, + -0.28495078897928666, + -0.9259196432601355 + ], + [ + 0.8513374781754763, + -0.40850553501070463, + 0.3291621577876751, + -0.48039826629220916, + -0.8591625897968552, + 0.17623038908485783, + 0.21081272256972558, + -0.3081604649515876, + -0.9276826633302798 + ], + [ + 0.8188371414910697, + -0.4889780813212156, + 0.30067619078030844, + -0.550285626991622, + -0.8177514150851423, + 0.16872567040223851, + 0.16337522591008502, + -0.30361663181332793, + -0.9386828412436006 + ], + [ + 0.8003586935312038, + -0.5295250029012406, + 0.28112138479928095, + -0.5826308488705936, + -0.7975182219870107, + 0.15654385820915645, + 0.14130553999527384, + -0.28908122889789634, + -0.9468182441554059 + ], + [ + 0.794348879882107, + -0.5500384765669591, + 0.25781297741956277, + -0.595580940433995, + -0.7887195808996575, + 0.15233110679446252, + 0.11955417358586554, + -0.27455253960101456, + -0.9541109487773597 + ], + [ + 0.7889611689753541, + -0.5544580044919676, + 0.2647953834639652, + -0.6020273157698548, + -0.7837484127282828, + 0.15264840848446773, + 0.12289582953048696, + -0.2798477207351934, + -0.9521459280400935 + ], + [ + 0.7990672301220394, + -0.5461718148669544, + 0.2513720557063358, + -0.5903704466619203, + -0.7918984096342315, + 0.15607576534164366, + 0.11381694712694035, + -0.2731176623063991, + -0.9552237670216289 + ], + [ + 0.8266498688228575, + -0.49983123175553756, + 0.25849319940163645, + -0.5468816821567275, + -0.8218149743746807, + 0.1598141846488313, + 0.13255346127725282, + -0.2734755704908297, + -0.9527017855804274 + ], + [ + 0.8455233724688955, + -0.4810949374301744, + 0.23159854876030922, + -0.5195693379655207, + -0.8412911724507144, + 0.14925436744890364, + 0.12303629405543398, + -0.24652956077427807, + -0.9612935274979988 + ], + [ + 0.8447642523878933, + -0.4871701856210691, + 0.22144653560048444, + -0.5229884701899532, + -0.8392600332931373, + 0.14874695480975242, + 0.11338614525547662, + -0.24147009495739863, + -0.963761264684034 + ], + [ + 0.8393682541042979, + -0.49858276691991854, + 0.2165090264455062, + -0.5340137930909181, + -0.8307178563428366, + 0.1572803609539748, + 0.10144063678108914, + -0.24763494842941824, + -0.9635282712644225 + ], + [ + 0.8474068339111751, + -0.4887458567295116, + 0.20743467735740984, + -0.5256677686457908, + -0.827247349278427, + 0.19833108712143582, + 0.07466628990108148, + -0.2771088425899667, + -0.9579330010553221 + ], + [ + 0.8421741770693786, + -0.49116736707717595, + 0.22247982604269956, + -0.5331510522333004, + -0.8201886213260229, + 0.20746223981689454, + 0.08057673969601738, + -0.2933346944461101, + -0.9526080757867674 + ], + [ + 0.8490354975383203, + -0.46187810637766824, + 0.2565294111185625, + -0.5194268958311972, + -0.8185115591131232, + 0.24542723460400837, + 0.09661482188061882, + -0.34162470994818817, + -0.9348572798806204 + ], + [ + 0.8583822394396021, + -0.4311324358489646, + 0.27803732442532275, + -0.5017965880530861, + -0.8183125810492126, + 0.2802939598258539, + 0.10667762292503086, + -0.3801175376847463, + -0.9187657711906504 + ], + [ + 0.8812925668723144, + -0.3817690821361265, + 0.27852428888796604, + -0.45688739855373284, + -0.8389086674715328, + 0.29578058199269935, + 0.12073655874841767, + -0.38792346611938416, + -0.9137494557128409 + ], + [ + 0.903061970936165, + -0.28062427682429064, + 0.32516010195860934, + -0.3889230909073644, + -0.8555132126111163, + 0.3418127739082745, + 0.18225780095225372, + -0.43514038919026016, + -0.881722709068672 + ], + [ + 0.9221379171233834, + -0.1666223262073464, + 0.34913988917423944, + -0.3058803178226096, + -0.8665721701264756, + 0.3943220829867756, + 0.23685204869725507, + -0.47041436454634633, + -0.8500655460941644 + ], + [ + 0.9237329265872222, + -0.06412817878981553, + 0.3776308475531456, + -0.24822930347085115, + -0.8510665999084247, + 0.4626746755752788, + 0.2917185171307809, + -0.5211268743841704, + -0.8020767342078958 + ], + [ + 0.9437626698466423, + -0.009083503117717218, + 0.3304988849830632, + -0.1538019253589176, + -0.8969398953595648, + 0.41454045866267747, + 0.2926721557644792, + -0.4420591748663107, + -0.8478954506050194 + ], + [ + 0.9750184483024035, + 0.06474889208138611, + 0.21247730806890175, + -0.0037416562031195276, + -0.9516478050486433, + 0.3071684475250636, + 0.22209238050602192, + -0.30028992011110384, + -0.9276318981152146 + ], + [ + 0.9750915011717225, + 0.06778544746089174, + 0.21119113962286262, + 0.010716207829491432, + -0.9654420353467661, + 0.26039746403382846, + 0.22154396230191403, + -0.2516481859621097, + -0.9421207264833672 + ], + [ + 0.9682932537691801, + 0.07378687328550479, + 0.23867063505141062, + 0.021437699709842172, + -0.9764031120312824, + 0.2148892455354111, + 0.24889475634541885, + -0.20295925735569798, + -0.9470263671711462 + ], + [ + 0.9754141512310598, + 0.06316731866487325, + 0.21113295202521445, + 0.026299269981206925, + -0.9845595651011534, + 0.17306302657206463, + 0.2188048947730529, + -0.16325548266602846, + -0.9620145868971194 + ], + [ + 0.9815265865074724, + -0.015395193169618999, + 0.19070539584988036, + -0.04060648781135462, + -0.9908117535328019, + 0.1290084578966841, + 0.18696703754035296, + -0.13436910764206303, + -0.9731332230403297 + ], + [ + 0.964573573894021, + -0.08657450834676084, + 0.24920408313234504, + -0.1141156053962207, + -0.9885967459406526, + 0.09825529258318452, + 0.2378559420119038, + -0.12321253353482262, + -0.9634537988038453 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005667.json b/json/chunk-0005/episode_0005667.json new file mode 100644 index 0000000000000000000000000000000000000000..73d2678b1f362358ae63989c653e7a5e21ddf7c9 --- /dev/null +++ b/json/chunk-0005/episode_0005667.json @@ -0,0 +1,1462 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 23, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut the half of bell pepper inside the pan." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005667.mp4", + "start": 0, + "end": 23, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3352792263031006, + 0.11553998291492462, + 0.06271301209926605, + 0.021474307402968407, + -0.024771083146333694, + 0.0825243592262268, + 0.0, + 1.0008161067962646 + ], + [ + 0.3275458514690399, + 0.11156876385211945, + 0.0461101159453392, + 0.00892303790897131, + 0.019596442580223083, + 0.07541230320930481, + 0.0, + 1.0008161067962646 + ], + [ + 0.30121752619743347, + 0.07966695725917816, + 0.04288683086633682, + 0.010049554519355297, + 0.025235408917069435, + -0.03542040288448334, + 0.0, + 1.0008161067962646 + ], + [ + 0.27444228529930115, + 0.05040883272886276, + 0.04868544265627861, + 0.01792393997311592, + 0.0010783373145386577, + -0.1537640243768692, + 0.0, + 1.0008161067962646 + ], + [ + 0.26080119609832764, + 0.033820971846580505, + 0.049700524657964706, + 0.026105182245373726, + -0.02028719149529934, + -0.21685262024402618, + 0.0, + 1.0008161067962646 + ], + [ + 0.26178115606307983, + 0.03518916666507721, + 0.031107362359762192, + 0.03192881494760513, + 0.0018177732126787305, + -0.1976570338010788, + 0.0, + 1.0008161067962646 + ], + [ + 0.26825466752052307, + 0.03692493215203285, + 0.013126666657626629, + 0.017719121649861336, + -0.0028905095532536507, + -0.16052798926830292, + 0.0, + 1.0008161067962646 + ], + [ + 0.28063273429870605, + 0.03922797366976738, + 0.009889742359519005, + -0.0009242528467439115, + -0.03214520961046219, + -0.12662695348262787, + 0.0, + 1.0008161067962646 + ], + [ + 0.2893029749393463, + 0.03861255571246147, + 0.008900726214051247, + -0.018806442618370056, + -0.042466092854738235, + -0.127059668302536, + 0.0, + 0.9499720335006714 + ], + [ + 0.2911902666091919, + 0.04182416945695877, + 0.010476709343492985, + -0.030033662915229797, + -0.04844534024596214, + -0.12627579271793365, + 0.0, + 0.7171077728271484 + ], + [ + 0.28961870074272156, + 0.04679679125547409, + 0.013995205983519554, + -0.07232129573822021, + -0.03991156816482544, + -0.1121346652507782, + 0.0, + 0.5899012684822083 + ], + [ + 0.28995057940483093, + 0.05757397785782814, + 0.03767157718539238, + -0.08137772977352142, + -0.09401773661375046, + -0.10853944718837738, + 0.0, + 0.45967593789100647 + ], + [ + 0.2907765507698059, + 0.07147738337516785, + 0.08124355226755142, + -0.08858239650726318, + -0.1249910444021225, + -0.09042252600193024, + 0.0, + 0.4587424397468567 + ], + [ + 0.30659711360931396, + 0.07738763093948364, + 0.11508988589048386, + -0.10791157186031342, + -0.14171868562698364, + -0.05795763060450554, + 0.0, + 0.4587424397468567 + ], + [ + 0.3455699384212494, + 0.0543353371322155, + 0.10968302190303802, + -0.0845797136425972, + -0.12074431777000427, + -0.12789715826511383, + 0.0, + 0.4587424397468567 + ], + [ + 0.35841843485832214, + 0.028946461156010628, + 0.095662422478199, + -0.07032424211502075, + -0.09066149592399597, + -0.20361343026161194, + 0.0, + 0.4587424397468567 + ], + [ + 0.3598313629627228, + 0.030475810170173645, + 0.09523440152406693, + -0.03368668630719185, + -0.0800672322511673, + -0.24031710624694824, + 0.0, + 0.4587424397468567 + ], + [ + 0.35774627327919006, + 0.02801612950861454, + 0.09499367326498032, + -0.024961357936263084, + -0.06230272725224495, + -0.2621956169605255, + 0.0, + 0.5403295159339905 + ], + [ + 0.35993096232414246, + 0.027366558089852333, + 0.09605886042118073, + -0.024278691038489342, + -0.07752072066068649, + -0.2734174132347107, + 0.0, + 0.842682421207428 + ], + [ + 0.3612925410270691, + 0.025188235566020012, + 0.09540007263422012, + -0.03766603767871857, + -0.09066861122846603, + -0.2833386957645416, + 0.0, + 1.0086473226547241 + ], + [ + 0.363632470369339, + 0.024890156462788582, + 0.09442745894193649, + -0.034813493490219116, + -0.11009082198143005, + -0.2694799602031708, + 0.0, + 1.0060625076293945 + ], + [ + 0.36099132895469666, + 0.02852088399231434, + 0.08626172691583633, + -0.0008570214849896729, + -0.09800207614898682, + -0.14087699353694916, + 0.0, + 1.0008161067962646 + ], + [ + 0.35725098848342896, + 0.02018059231340885, + 0.08553072810173035, + 0.014188247732818127, + -0.06826416403055191, + -0.0140800466760993, + 0.0, + 1.0014774799346924 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9499720335006714 + ], + [ + 0.7171077728271484 + ], + [ + 0.5899012684822083 + ], + [ + 0.45967593789100647 + ], + [ + 0.4587424397468567 + ], + [ + 0.4587424397468567 + ], + [ + 0.4587424397468567 + ], + [ + 0.4587424397468567 + ], + [ + 0.4587424397468567 + ], + [ + 0.5403295159339905 + ], + [ + 0.842682421207428 + ], + [ + 1.0086473226547241 + ], + [ + 1.0060625076293945 + ], + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3352792263031006, + 0.11553998291492462, + 0.06271301209926605 + ], + [ + 0.3275458514690399, + 0.11156876385211945, + 0.0461101159453392 + ], + [ + 0.30121752619743347, + 0.07966695725917816, + 0.04288683086633682 + ], + [ + 0.27444228529930115, + 0.05040883272886276, + 0.04868544265627861 + ], + [ + 0.26080119609832764, + 0.033820971846580505, + 0.049700524657964706 + ], + [ + 0.26178115606307983, + 0.03518916666507721, + 0.031107362359762192 + ], + [ + 0.26825466752052307, + 0.03692493215203285, + 0.013126666657626629 + ], + [ + 0.28063273429870605, + 0.03922797366976738, + 0.009889742359519005 + ], + [ + 0.2893029749393463, + 0.03861255571246147, + 0.008900726214051247 + ], + [ + 0.2911902666091919, + 0.04182416945695877, + 0.010476709343492985 + ], + [ + 0.28961870074272156, + 0.04679679125547409, + 0.013995205983519554 + ], + [ + 0.28995057940483093, + 0.05757397785782814, + 0.03767157718539238 + ], + [ + 0.2907765507698059, + 0.07147738337516785, + 0.08124355226755142 + ], + [ + 0.30659711360931396, + 0.07738763093948364, + 0.11508988589048386 + ], + [ + 0.3455699384212494, + 0.0543353371322155, + 0.10968302190303802 + ], + [ + 0.35841843485832214, + 0.028946461156010628, + 0.095662422478199 + ], + [ + 0.3598313629627228, + 0.030475810170173645, + 0.09523440152406693 + ], + [ + 0.35774627327919006, + 0.02801612950861454, + 0.09499367326498032 + ], + [ + 0.35993096232414246, + 0.027366558089852333, + 0.09605886042118073 + ], + [ + 0.3612925410270691, + 0.025188235566020012, + 0.09540007263422012 + ], + [ + 0.363632470369339, + 0.024890156462788582, + 0.09442745894193649 + ], + [ + 0.36099132895469666, + 0.02852088399231434, + 0.08626172691583633 + ], + [ + 0.35725098848342896, + 0.02018059231340885, + 0.08553072810173035 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9962910535871812, + 0.08294175328843946, + 0.022908559613920958, + 0.08240543353427422, + -0.996323177199346, + 0.02344079988885415, + 0.024768549940867364, + -0.021466069431561853, + -0.9994627190630907 + ], + [ + 0.9969663811665102, + 0.07516349637316978, + -0.020210978123633205, + 0.07532637928840434, + -0.9971313157712905, + 0.007421299853451078, + -0.019595188364824066, + -0.008921206262377109, + -0.9997681934687519 + ], + [ + 0.9990545667873117, + -0.03566462306936691, + -0.02485975146169282, + -0.03540172155589287, + -0.999313318641667, + 0.010936603506457327, + -0.025232730575508195, + -0.01004618567907277, + -0.9996311236956389 + ], + [ + 0.9882010115583497, + -0.15315332067590406, + 0.0016796193013253703, + -0.15315873446898312, + -0.9880398916633572, + 0.017876647832310515, + -0.0010783371055548556, + -0.01792296983774231, + -0.999838789176176 + ], + [ + 0.9763785074980398, + -0.214566615802099, + 0.025420021226086616, + -0.21511275280038902, + -0.9763606516084167, + 0.021127744163223487, + 0.0202857999235663, + -0.02609684605507638, + -0.9994535711814925 + ], + [ + 0.9805277429294066, + -0.19632933691051724, + 0.004487406159491861, + -0.1963722002981847, + -0.9800182100299075, + 0.03165860009264103, + -0.0018177722116010573, + -0.03192333751431305, + -0.9994886673825442 + ], + [ + 0.9871389036606372, + -0.15976378220076454, + 0.005684960561212666, + -0.1598387620618582, + -0.9869962523256615, + 0.017028447892642587, + 0.0028905055281988716, + -0.017718120442260205, + -0.9998388436072013 + ], + [ + 0.9914810376548149, + -0.12631824052369758, + 0.031765611625294246, + -0.12622358469775527, + -0.9919893390305734, + -0.004975732683235202, + 0.03213967387794006, + 0.0009237752344056866, + -0.9994829603361611 + ], + [ + 0.9910444928147675, + -0.12748757065544064, + 0.03972068214285993, + -0.12660382302751583, + -0.9916621985841355, + -0.024032392600315942, + 0.04245333033270216, + 0.018788380123158636, + -0.9989217744728612 + ], + [ + 0.9908738962940965, + -0.12732629859160363, + 0.0442372617814157, + -0.1257927109836057, + -0.9914072718451346, + -0.0358861421161725, + 0.048426392662996885, + 0.029993916375639793, + -0.9983763065468351 + ], + [ + 0.9929281342180473, + -0.11447236886092574, + 0.031461040123232586, + -0.11181070001304552, + -0.9907992391070242, + -0.07625768910434326, + 0.039900972931248585, + 0.07220072404283832, + -0.9965916755656901 + ], + [ + 0.9897249508978052, + -0.11555431677043725, + 0.08421235922389964, + -0.10784804453189782, + -0.9899988416911814, + -0.09094554821851235, + 0.09387928877544532, + 0.08092893997722579, + -0.9922888620825993 + ], + [ + 0.9881453223703652, + -0.10092901303213923, + 0.11568126990107286, + -0.08959491227492682, + -0.9910139402703589, + -0.09931828574973132, + 0.12466584765690547, + 0.08777644626080157, + -0.9883085155505893 + ], + [ + 0.9883124629240954, + -0.07277508768582848, + 0.1339487298977819, + -0.057344471386421306, + -0.9916327077012363, + -0.1156554565013101, + 0.14124477770990634, + 0.10662250995654951, + -0.9842162125977426 + ], + [ + 0.9846110251271426, + -0.13718527657973104, + 0.10826508711408199, + -0.12662011005676058, + -0.9869888837842384, + -0.09909738147679018, + 0.12045113916975171, + 0.08386383711758807, + -0.9891705514705861 + ], + [ + 0.9753202040567406, + -0.20793992624506305, + 0.07423938733526106, + -0.2013789664961582, + -0.9756352324779827, + -0.08707700615300862, + 0.09053734815895798, + 0.06997771231491959, + -0.9934314814658901 + ], + [ + 0.968150945508339, + -0.2404919942453864, + 0.06962289433215435, + -0.23724812457642688, + -0.9700703550075499, + -0.05173812637209114, + 0.07998171101119012, + 0.033572414858083606, + -0.9962308060205323 + ], + [ + 0.9639493210077296, + -0.26062188947768883, + 0.05364640951467606, + -0.2586988528329749, + -0.9651195291905158, + -0.04023925841736774, + 0.062262429053481144, + 0.02491034122922151, + -0.997748898685538 + ], + [ + 0.959962070810271, + -0.271754092978747, + 0.06798923116902555, + -0.2692125344610179, + -0.9620623204566959, + -0.04427982437356004, + 0.07744310101443444, + 0.0242033986616884, + -0.9967029455151077 + ], + [ + 0.9561836127641913, + -0.2826381778214565, + 0.0763450006155363, + -0.2784144466610101, + -0.9584932062976034, + -0.061450544113000834, + 0.09054443423901347, + 0.037502452174585414, + -0.9951860486910125 + ], + [ + 0.9580740881409086, + -0.2697550061818706, + 0.09657265799793334, + -0.2646184766825333, + -0.9623073162360396, + -0.06278288713341146, + 0.10986857344656122, + 0.03459574769260036, + -0.9933438633275024 + ], + [ + 0.9853424120804671, + -0.1404944470912427, + 0.09675557499169003, + -0.13973772893525027, + -0.9900810991442184, + -0.01458712546715828, + 0.09784527616326232, + 0.0008529090819670892, + -0.9952012733505883 + ], + [ + 0.9975720152745005, + -0.013110495917328975, + 0.06839728969757128, + -0.014046788798028472, + -0.9998138619756218, + 0.013226077493189905, + 0.0682111579262174, + -0.01415472706179752, + -0.9975704895575904 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.007733374834060669, + -0.003971219062805176, + -0.01660289615392685, + -0.012551269493997097, + 0.04436752572655678, + -0.007112056016921997, + 1.0 + ], + [ + -0.026328325271606445, + -0.031901806592941284, + -0.0032232850790023804, + 0.0011265166103839874, + 0.005638966336846352, + -0.11083270609378815, + 1.0 + ], + [ + -0.026775240898132324, + -0.0292581245303154, + 0.005798611789941788, + 0.007874385453760624, + -0.024157071486115456, + -0.11834362149238586, + 1.0 + ], + [ + -0.01364108920097351, + -0.016587860882282257, + 0.0010150820016860962, + 0.008181242272257805, + -0.02136552892625332, + -0.06308859586715698, + 1.0 + ], + [ + 0.0009799599647521973, + 0.001368194818496704, + -0.018593162298202515, + 0.005823632702231407, + 0.022104965522885323, + 0.019195586442947388, + 1.0 + ], + [ + 0.006473511457443237, + 0.0017357654869556427, + -0.01798069477081299, + -0.014209693297743797, + -0.004708282649517059, + 0.03712904453277588, + 1.0 + ], + [ + 0.012378066778182983, + 0.0023030415177345276, + -0.003236924298107624, + -0.018643373623490334, + -0.029254700988531113, + 0.03390103578567505, + 1.0 + ], + [ + 0.008670240640640259, + -0.0006154179573059082, + -0.0009890161454677582, + -0.01788219064474106, + -0.010320883244276047, + -0.0004327148199081421, + 0.0 + ], + [ + 0.001887291669845581, + 0.003211613744497299, + 0.0015759831294417381, + -0.011227220296859741, + -0.0059792473912239075, + 0.000783875584602356, + 0.0 + ], + [ + -0.001571565866470337, + 0.00497262179851532, + 0.0035184966400265694, + -0.04228763282299042, + 0.008533772081136703, + 0.014141127467155457, + 0.0 + ], + [ + 0.000331878662109375, + 0.01077718660235405, + 0.023676371201872826, + -0.009056434035301208, + -0.05410616844892502, + 0.003595218062400818, + 0.0 + ], + [ + 0.0008259713649749756, + 0.013903405517339706, + 0.04357197508215904, + -0.00720466673374176, + -0.03097330778837204, + 0.018116921186447144, + 0.0 + ], + [ + 0.015820562839508057, + 0.005910247564315796, + 0.033846333622932434, + -0.019329175353050232, + -0.016727641224861145, + 0.0324648953974247, + 0.0 + ], + [ + 0.038972824811935425, + -0.023052293807268143, + -0.005406863987445831, + 0.023331858217716217, + 0.02097436785697937, + -0.069939523935318, + 0.0 + ], + [ + 0.012848496437072754, + -0.025388875976204872, + -0.01402059942483902, + 0.014255471527576447, + 0.0300828218460083, + -0.07571627199649811, + 0.0 + ], + [ + 0.0014129281044006348, + 0.0015293490141630173, + -0.0004280209541320801, + 0.0366375558078289, + 0.010594263672828674, + -0.036703675985336304, + 0.0 + ], + [ + -0.002085089683532715, + -0.002459680661559105, + -0.0002407282590866089, + 0.008725328370928764, + 0.017764504998922348, + -0.02187851071357727, + 1.0 + ], + [ + 0.0021846890449523926, + -0.000649571418762207, + 0.001065187156200409, + 0.0006826668977737427, + -0.015217993408441544, + -0.01122179627418518, + 1.0 + ], + [ + 0.0013615787029266357, + -0.002178322523832321, + -0.0006587877869606018, + -0.013387346640229225, + -0.013147890567779541, + -0.009921282529830933, + 1.0 + ], + [ + 0.0023399293422698975, + -0.00029807910323143005, + -0.0009726136922836304, + 0.0028525441884994507, + -0.01942221075296402, + 0.01385873556137085, + 1.0 + ], + [ + -0.002641141414642334, + 0.003630727529525757, + -0.008165732026100159, + 0.03395647183060646, + 0.012088745832443237, + 0.12860296666622162, + 1.0 + ], + [ + -0.0037403404712677, + -0.008340291678905487, + -0.0007309988141059875, + 0.015045269392430782, + 0.029737912118434906, + 0.12679694592952728, + 1.0 + ], + [ + -0.0018434524536132812, + -0.00037888437509536743, + 0.0030381903052330017, + 0.006198654882609844, + 0.019970323890447617, + 0.016606895253062248, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9499720335006714 + ], + [ + 0.7171077728271484 + ], + [ + 0.5899012684822083 + ], + [ + 0.45967593789100647 + ], + [ + 0.4587424397468567 + ], + [ + 0.4587424397468567 + ], + [ + 0.4587424397468567 + ], + [ + 0.4587424397468567 + ], + [ + 0.4587424397468567 + ], + [ + 0.5403295159339905 + ], + [ + 0.842682421207428 + ], + [ + 1.0086473226547241 + ], + [ + 1.0060625076293945 + ], + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3275458514690399, + 0.11156876385211945, + 0.0461101159453392 + ], + [ + 0.30121752619743347, + 0.07966695725917816, + 0.04288683086633682 + ], + [ + 0.27444228529930115, + 0.05040883272886276, + 0.04868544265627861 + ], + [ + 0.26080119609832764, + 0.033820971846580505, + 0.049700524657964706 + ], + [ + 0.26178115606307983, + 0.03518916666507721, + 0.031107362359762192 + ], + [ + 0.26825466752052307, + 0.03692493215203285, + 0.013126666657626629 + ], + [ + 0.28063273429870605, + 0.03922797366976738, + 0.009889742359519005 + ], + [ + 0.2893029749393463, + 0.03861255571246147, + 0.008900726214051247 + ], + [ + 0.2911902666091919, + 0.04182416945695877, + 0.010476709343492985 + ], + [ + 0.28961870074272156, + 0.04679679125547409, + 0.013995205983519554 + ], + [ + 0.28995057940483093, + 0.05757397785782814, + 0.03767157718539238 + ], + [ + 0.2907765507698059, + 0.07147738337516785, + 0.08124355226755142 + ], + [ + 0.30659711360931396, + 0.07738763093948364, + 0.11508988589048386 + ], + [ + 0.3455699384212494, + 0.0543353371322155, + 0.10968302190303802 + ], + [ + 0.35841843485832214, + 0.028946461156010628, + 0.095662422478199 + ], + [ + 0.3598313629627228, + 0.030475810170173645, + 0.09523440152406693 + ], + [ + 0.35774627327919006, + 0.02801612950861454, + 0.09499367326498032 + ], + [ + 0.35993096232414246, + 0.027366558089852333, + 0.09605886042118073 + ], + [ + 0.3612925410270691, + 0.025188235566020012, + 0.09540007263422012 + ], + [ + 0.363632470369339, + 0.024890156462788582, + 0.09442745894193649 + ], + [ + 0.36099132895469666, + 0.02852088399231434, + 0.08626172691583633 + ], + [ + 0.35725098848342896, + 0.02018059231340885, + 0.08553072810173035 + ], + [ + 0.3554075360298157, + 0.019801707938313484, + 0.08856891840696335 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9969663811665102, + 0.07516349637316978, + -0.020210978123633205, + 0.07532637928840434, + -0.9971313157712905, + 0.007421299853451078, + -0.019595188364824066, + -0.008921206262377109, + -0.9997681934687519 + ], + [ + 0.9990545667873117, + -0.03566462306936691, + -0.02485975146169282, + -0.03540172155589287, + -0.999313318641667, + 0.010936603506457327, + -0.025232730575508195, + -0.01004618567907277, + -0.9996311236956389 + ], + [ + 0.9882010115583497, + -0.15315332067590406, + 0.0016796193013253703, + -0.15315873446898312, + -0.9880398916633572, + 0.017876647832310515, + -0.0010783371055548556, + -0.01792296983774231, + -0.999838789176176 + ], + [ + 0.9763785074980398, + -0.214566615802099, + 0.025420021226086616, + -0.21511275280038902, + -0.9763606516084167, + 0.021127744163223487, + 0.0202857999235663, + -0.02609684605507638, + -0.9994535711814925 + ], + [ + 0.9805277429294066, + -0.19632933691051724, + 0.004487406159491861, + -0.1963722002981847, + -0.9800182100299075, + 0.03165860009264103, + -0.0018177722116010573, + -0.03192333751431305, + -0.9994886673825442 + ], + [ + 0.9871389036606372, + -0.15976378220076454, + 0.005684960561212666, + -0.1598387620618582, + -0.9869962523256615, + 0.017028447892642587, + 0.0028905055281988716, + -0.017718120442260205, + -0.9998388436072013 + ], + [ + 0.9914810376548149, + -0.12631824052369758, + 0.031765611625294246, + -0.12622358469775527, + -0.9919893390305734, + -0.004975732683235202, + 0.03213967387794006, + 0.0009237752344056866, + -0.9994829603361611 + ], + [ + 0.9910444928147675, + -0.12748757065544064, + 0.03972068214285993, + -0.12660382302751583, + -0.9916621985841355, + -0.024032392600315942, + 0.04245333033270216, + 0.018788380123158636, + -0.9989217744728612 + ], + [ + 0.9908738962940965, + -0.12732629859160363, + 0.0442372617814157, + -0.1257927109836057, + -0.9914072718451346, + -0.0358861421161725, + 0.048426392662996885, + 0.029993916375639793, + -0.9983763065468351 + ], + [ + 0.9929281342180473, + -0.11447236886092574, + 0.031461040123232586, + -0.11181070001304552, + -0.9907992391070242, + -0.07625768910434326, + 0.039900972931248585, + 0.07220072404283832, + -0.9965916755656901 + ], + [ + 0.9897249508978052, + -0.11555431677043725, + 0.08421235922389964, + -0.10784804453189782, + -0.9899988416911814, + -0.09094554821851235, + 0.09387928877544532, + 0.08092893997722579, + -0.9922888620825993 + ], + [ + 0.9881453223703652, + -0.10092901303213923, + 0.11568126990107286, + -0.08959491227492682, + -0.9910139402703589, + -0.09931828574973132, + 0.12466584765690547, + 0.08777644626080157, + -0.9883085155505893 + ], + [ + 0.9883124629240954, + -0.07277508768582848, + 0.1339487298977819, + -0.057344471386421306, + -0.9916327077012363, + -0.1156554565013101, + 0.14124477770990634, + 0.10662250995654951, + -0.9842162125977426 + ], + [ + 0.9846110251271426, + -0.13718527657973104, + 0.10826508711408199, + -0.12662011005676058, + -0.9869888837842384, + -0.09909738147679018, + 0.12045113916975171, + 0.08386383711758807, + -0.9891705514705861 + ], + [ + 0.9753202040567406, + -0.20793992624506305, + 0.07423938733526106, + -0.2013789664961582, + -0.9756352324779827, + -0.08707700615300862, + 0.09053734815895798, + 0.06997771231491959, + -0.9934314814658901 + ], + [ + 0.968150945508339, + -0.2404919942453864, + 0.06962289433215435, + -0.23724812457642688, + -0.9700703550075499, + -0.05173812637209114, + 0.07998171101119012, + 0.033572414858083606, + -0.9962308060205323 + ], + [ + 0.9639493210077296, + -0.26062188947768883, + 0.05364640951467606, + -0.2586988528329749, + -0.9651195291905158, + -0.04023925841736774, + 0.062262429053481144, + 0.02491034122922151, + -0.997748898685538 + ], + [ + 0.959962070810271, + -0.271754092978747, + 0.06798923116902555, + -0.2692125344610179, + -0.9620623204566959, + -0.04427982437356004, + 0.07744310101443444, + 0.0242033986616884, + -0.9967029455151077 + ], + [ + 0.9561836127641913, + -0.2826381778214565, + 0.0763450006155363, + -0.2784144466610101, + -0.9584932062976034, + -0.061450544113000834, + 0.09054443423901347, + 0.037502452174585414, + -0.9951860486910125 + ], + [ + 0.9580740881409086, + -0.2697550061818706, + 0.09657265799793334, + -0.2646184766825333, + -0.9623073162360396, + -0.06278288713341146, + 0.10986857344656122, + 0.03459574769260036, + -0.9933438633275024 + ], + [ + 0.9853424120804671, + -0.1404944470912427, + 0.09675557499169003, + -0.13973772893525027, + -0.9900810991442184, + -0.01458712546715828, + 0.09784527616326232, + 0.0008529090819670892, + -0.9952012733505883 + ], + [ + 0.9975720152745005, + -0.013110495917328975, + 0.06839728969757128, + -0.014046788798028472, + -0.9998138619756218, + 0.013226077493189905, + 0.0682111579262174, + -0.01415472706179752, + -0.9975704895575904 + ], + [ + 0.9988308903754765, + 0.003510429090915093, + 0.04821337282674945, + 0.002523900250763572, + -0.9997865157833262, + 0.02050738367909416, + 0.04827506974886396, + -0.02036172255569354, + -0.9986265157181177 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005668.json b/json/chunk-0005/episode_0005668.json new file mode 100644 index 0000000000000000000000000000000000000000..91aa267b89d1298f5316369d990fc69ac1d13f49 --- /dev/null +++ b/json/chunk-0005/episode_0005668.json @@ -0,0 +1,1282 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 20, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut pot on stove which is near stove." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005668.mp4", + "start": 0, + "end": 20, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3306352496147156, + 0.24055129289627075, + 0.08149068057537079, + 0.13676045835018158, + -0.11651437729597092, + 0.4698827266693115, + 0.0, + 0.9994885921478271 + ], + [ + 0.32764649391174316, + 0.2371843159198761, + 0.06450439989566803, + 0.12206654250621796, + -0.062210485339164734, + 0.4852728545665741, + 0.0, + 0.9994885921478271 + ], + [ + 0.32972443103790283, + 0.23674200475215912, + 0.06469322741031647, + 0.11151856929063797, + -0.06605933606624603, + 0.5022414326667786, + 0.0, + 0.9994885921478271 + ], + [ + 0.33295994997024536, + 0.23533673584461212, + 0.06035107001662254, + 0.09500045329332352, + -0.09282705187797546, + 0.5009965300559998, + 0.0, + 0.9994885921478271 + ], + [ + 0.3332570195198059, + 0.2328486144542694, + 0.05260815471410751, + 0.08181045204401016, + -0.1074063703417778, + 0.5020944476127625, + 0.0, + 0.9994885921478271 + ], + [ + 0.33415287733078003, + 0.2323707491159439, + 0.0476100891828537, + 0.07346932590007782, + -0.12639015913009644, + 0.5053657293319702, + 0.0, + 0.9701826572418213 + ], + [ + 0.3351554870605469, + 0.23321755230426788, + 0.044610992074012756, + 0.07900790870189667, + -0.14514438807964325, + 0.5095196962356567, + 0.0, + 0.7701175808906555 + ], + [ + 0.33664512634277344, + 0.23542113602161407, + 0.04376806318759918, + 0.08445722609758377, + -0.16431567072868347, + 0.5016754269599915, + 0.0, + 0.4652916491031647 + ], + [ + 0.33685195446014404, + 0.23554261028766632, + 0.04380860924720764, + 0.08503475040197372, + -0.1655837446451187, + 0.4984448254108429, + 0.0, + 0.24254894256591797 + ], + [ + 0.33439597487449646, + 0.23988260328769684, + 0.046029940247535706, + 0.10538183897733688, + -0.159625843167305, + 0.49547189474105835, + 0.0, + 0.12307736277580261 + ], + [ + 0.33575090765953064, + 0.24593816697597504, + 0.05605228617787361, + 0.1394442468881607, + -0.1528131663799286, + 0.4740354120731354, + 0.0, + 0.0853668823838234 + ], + [ + 0.3445044755935669, + 0.25118395686149597, + 0.0682293102145195, + 0.18053103983402252, + -0.1844763457775116, + 0.4458598494529724, + 0.0, + 0.0853668823838234 + ], + [ + 0.3547799587249756, + 0.24910353124141693, + 0.0691276416182518, + 0.19514238834381104, + -0.23258589208126068, + 0.42528966069221497, + 0.0, + 0.0853668823838234 + ], + [ + 0.36100539565086365, + 0.2501707077026367, + 0.0663389265537262, + 0.19248917698860168, + -0.28397336602211, + 0.4048766791820526, + 0.0, + 0.0853668823838234 + ], + [ + 0.3703387975692749, + 0.2516486346721649, + 0.06788410991430283, + 0.18127183616161346, + -0.34469151496887207, + 0.38414061069488525, + 0.0, + 0.0853668823838234 + ], + [ + 0.3788069188594818, + 0.25341126322746277, + 0.07267198711633682, + 0.1806458979845047, + -0.3922540247440338, + 0.35768142342567444, + 0.0, + 0.0853668823838234 + ], + [ + 0.3921351134777069, + 0.25835031270980835, + 0.08730498701334, + 0.19028829038143158, + -0.4365518093109131, + 0.32285407185554504, + 0.0, + 0.0853668823838234 + ], + [ + 0.4047051668167114, + 0.262191504240036, + 0.08474354445934296, + 0.17316755652427673, + -0.43014681339263916, + 0.3011351525783539, + 0.0, + 0.0853668823838234 + ], + [ + 0.41525954008102417, + 0.2647750973701477, + 0.07987717539072037, + 0.15787173807621002, + -0.41963356733322144, + 0.2905706763267517, + 0.0, + 0.0853668823838234 + ], + [ + 0.4206361472606659, + 0.26580414175987244, + 0.07327418774366379, + 0.13828925788402557, + -0.41270461678504944, + 0.2928544878959656, + 0.0, + 0.0853668823838234 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9701826572418213 + ], + [ + 0.7701175808906555 + ], + [ + 0.4652916491031647 + ], + [ + 0.24254894256591797 + ], + [ + 0.12307736277580261 + ], + [ + 0.0853668823838234 + ], + [ + 0.0853668823838234 + ], + [ + 0.0853668823838234 + ], + [ + 0.0853668823838234 + ], + [ + 0.0853668823838234 + ], + [ + 0.0853668823838234 + ], + [ + 0.0853668823838234 + ], + [ + 0.0853668823838234 + ], + [ + 0.0853668823838234 + ], + [ + 0.0853668823838234 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3306352496147156, + 0.24055129289627075, + 0.08149068057537079 + ], + [ + 0.32764649391174316, + 0.2371843159198761, + 0.06450439989566803 + ], + [ + 0.32972443103790283, + 0.23674200475215912, + 0.06469322741031647 + ], + [ + 0.33295994997024536, + 0.23533673584461212, + 0.06035107001662254 + ], + [ + 0.3332570195198059, + 0.2328486144542694, + 0.05260815471410751 + ], + [ + 0.33415287733078003, + 0.2323707491159439, + 0.0476100891828537 + ], + [ + 0.3351554870605469, + 0.23321755230426788, + 0.044610992074012756 + ], + [ + 0.33664512634277344, + 0.23542113602161407, + 0.04376806318759918 + ], + [ + 0.33685195446014404, + 0.23554261028766632, + 0.04380860924720764 + ], + [ + 0.33439597487449646, + 0.23988260328769684, + 0.046029940247535706 + ], + [ + 0.33575090765953064, + 0.24593816697597504, + 0.05605228617787361 + ], + [ + 0.3445044755935669, + 0.25118395686149597, + 0.0682293102145195 + ], + [ + 0.3547799587249756, + 0.24910353124141693, + 0.0691276416182518 + ], + [ + 0.36100539565086365, + 0.2501707077026367, + 0.0663389265537262 + ], + [ + 0.3703387975692749, + 0.2516486346721649, + 0.06788410991430283 + ], + [ + 0.3788069188594818, + 0.25341126322746277, + 0.07267198711633682 + ], + [ + 0.3921351134777069, + 0.25835031270980835, + 0.08730498701334 + ], + [ + 0.4047051668167114, + 0.262191504240036, + 0.08474354445934296 + ], + [ + 0.41525954008102417, + 0.2647750973701477, + 0.07987717539072037 + ], + [ + 0.4206361472606659, + 0.26580414175987244, + 0.07327418774366379 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8855760894975437, + 0.4626853595329679, + 0.040954215705915814, + 0.449711808617606, + -0.8761200500308433, + 0.17370361862619427, + 0.11625093074947915, + -0.13541017689893486, + -0.9839460376931648 + ], + [ + 0.882836597339806, + 0.46967504123266185, + -0.0022131517279483544, + 0.46554740683255563, + -0.8744348345951856, + 0.1364893110758999, + 0.062170365842228334, + -0.12152808601137509, + -0.9906390714692489 + ], + [ + 0.8745939899641386, + 0.4848401090642641, + 0.003927004094804943, + 0.48034140029019334, + -0.867524704974883, + 0.12912406989209455, + 0.06601130119808558, + -0.11104483284149134, + -0.9916206700212238 + ], + [ + 0.8733281335922616, + 0.4858462205327721, + 0.03537543031932991, + 0.47823198470897627, + -0.8689262303234251, + 0.12752009667983868, + 0.09269379632731767, + -0.09444922577736105, + -0.9912049252664591 + ], + [ + 0.8715252153713946, + 0.4873319738701091, + 0.05432629396257204, + 0.4784892508273067, + -0.8694286966528632, + 0.12305193326082586, + 0.1071999804783905, + -0.08124831493863258, + -0.9909121431817585 + ], + [ + 0.8680179604617748, + 0.4909176232775936, + 0.07446279252928413, + 0.4802657892024925, + -0.8681575109978095, + 0.1250891994530103, + 0.1260539251173383, + -0.07281773996470005, + -0.989347251832715 + ], + [ + 0.8637995358477959, + 0.496201890954875, + 0.08737302376556974, + 0.48262924855007816, + -0.8646876453236028, + 0.1392274558724331, + 0.1446353010613914, + -0.07809583495635215, + -0.9863983324445308 + ], + [ + 0.8649683493351116, + 0.49127963239873296, + 0.1023429403459667, + 0.4744177857492192, + -0.867017100326617, + 0.15234537179065422, + 0.1635772576286209, + -0.08322061362060809, + -0.9830141455011261 + ], + [ + 0.8663136014635003, + 0.4886287070159216, + 0.10364714467503841, + 0.4715214045752429, + -0.868460976844676, + 0.15311138666141494, + 0.16482811940542733, + -0.08377062956633341, + -0.9827584508287529 + ], + [ + 0.8685601011749298, + 0.4875180359879462, + 0.08904782554027779, + 0.4694024116028781, + -0.8669148847132644, + 0.1676900672192312, + 0.15894881763762303, + -0.10384963769336746, + -0.9818098217692459 + ], + [ + 0.8793651839057235, + 0.4708739669636088, + 0.07067234657493415, + 0.4511609627960576, + -0.8714392398890919, + 0.19247710728929876, + 0.15221911503943134, + -0.13737306292529192, + -0.9787532797386358 + ], + [ + 0.8869313882391504, + 0.4539414000101007, + 0.08538101611625042, + 0.4239168445762564, + -0.8733745083636704, + 0.23981550622307013, + 0.18343178961315226, + -0.17650544891698683, + -0.9670566710704855 + ], + [ + 0.8863914988861936, + 0.4454667531385455, + 0.12597413445024724, + 0.40147524325170053, + -0.8751898831821163, + 0.2699264667120684, + 0.23049455472586494, + -0.1886850291461291, + -0.9546047454406716 + ], + [ + 0.8823387935389626, + 0.43589476294886037, + 0.1774091571761841, + 0.37812941945930706, + -0.8810628508116878, + 0.28415910166480374, + 0.2801720820416884, + -0.183640977326243, + -0.9422205664763889 + ], + [ + 0.8725873496228991, + 0.4251004558468545, + 0.2405845375681503, + 0.35271888744800506, + -0.8891003702803287, + 0.2917017620872789, + 0.3379063534701971, + -0.16967655703183743, + -0.9257586954915927 + ], + [ + 0.8655676477614881, + 0.4087406016925582, + 0.28935059646845424, + 0.3235129061264499, + -0.8974233559985444, + 0.2999511954934151, + 0.38227221546728135, + -0.16601939837355023, + -0.9090134832033138 + ], + [ + 0.8593942781202056, + 0.38738818333594693, + 0.33372424267039, + 0.2875188770914846, + -0.9058428678750249, + 0.3110974028114056, + 0.42281718277560854, + -0.17140330840338214, + -0.8898575929990554 + ], + [ + 0.8680042089937202, + 0.36078640029904796, + 0.3411771776195493, + 0.26958514749948026, + -0.9194059584537748, + 0.2863852855985788, + 0.41700424628158145, + -0.15660733354141243, + -0.8953108966522072 + ], + [ + 0.874955833447509, + 0.3443052150013169, + 0.34045000872238457, + 0.2616418818814908, + -0.9278144985177956, + 0.2659018277215924, + 0.40742584007606436, + -0.14357637432066717, + -0.9018813722298764 + ], + [ + 0.8770378400498181, + 0.3388659040315435, + 0.34055032844740407, + 0.2644480680991156, + -0.9323221097880415, + 0.24666313644122217, + 0.40108832742850486, + -0.12627502795588774, + -0.9072942030649951 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.002988755702972412, + -0.0033669769763946533, + -0.01698628067970276, + -0.014693915843963623, + 0.05430389195680618, + 0.015390127897262573, + 1.0 + ], + [ + 0.002077937126159668, + -0.00044231116771698, + 0.0001888275146484375, + -0.010547973215579987, + -0.003848850727081299, + 0.016968578100204468, + 1.0 + ], + [ + 0.0032355189323425293, + -0.001405268907546997, + -0.004342157393693924, + -0.016518115997314453, + -0.02676771581172943, + -0.0012449026107788086, + 1.0 + ], + [ + 0.0002970695495605469, + -0.0024881213903427124, + -0.00774291530251503, + -0.013190001249313354, + -0.014579318463802338, + 0.0010979175567626953, + 1.0 + ], + [ + 0.0008958578109741211, + -0.0004778653383255005, + -0.004998065531253815, + -0.008341126143932343, + -0.018983788788318634, + 0.0032712817192077637, + 1.0 + ], + [ + 0.0010026097297668457, + 0.0008468031883239746, + -0.0029990971088409424, + 0.005538582801818848, + -0.018754228949546814, + 0.0041539669036865234, + 0.0 + ], + [ + 0.0014896392822265625, + 0.0022035837173461914, + -0.0008429288864135742, + 0.005449317395687103, + -0.019171282649040222, + -0.007844269275665283, + 0.0 + ], + [ + 0.00020682811737060547, + 0.0001214742660522461, + 4.054605960845947e-05, + 0.0005775243043899536, + -0.0012680739164352417, + -0.0032306015491485596, + 0.0 + ], + [ + -0.002455979585647583, + 0.004339993000030518, + 0.002221331000328064, + 0.02034708857536316, + 0.005957901477813721, + -0.002972930669784546, + 0.0 + ], + [ + 0.0013549327850341797, + 0.006055563688278198, + 0.010022345930337906, + 0.03406240791082382, + 0.006812676787376404, + -0.021436482667922974, + 0.0 + ], + [ + 0.008753567934036255, + 0.005245789885520935, + 0.01217702403664589, + 0.041086792945861816, + -0.03166317939758301, + -0.028175562620162964, + 0.0 + ], + [ + 0.010275483131408691, + -0.0020804256200790405, + 0.0008983314037322998, + 0.014611348509788513, + -0.048109546303749084, + -0.020570188760757446, + 0.0 + ], + [ + 0.0062254369258880615, + 0.0010671764612197876, + -0.0027887150645256042, + -0.0026532113552093506, + -0.051387473940849304, + -0.020412981510162354, + 0.0 + ], + [ + 0.009333401918411255, + 0.0014779269695281982, + 0.0015451833605766296, + -0.01121734082698822, + -0.060718148946762085, + -0.02073606848716736, + 0.0 + ], + [ + 0.00846812129020691, + 0.0017626285552978516, + 0.004787877202033997, + -0.0006259381771087646, + -0.04756250977516174, + -0.026459187269210815, + 0.0 + ], + [ + 0.013328194618225098, + 0.004939049482345581, + 0.014632999897003174, + 0.00964239239692688, + -0.04429778456687927, + -0.034827351570129395, + 0.0 + ], + [ + 0.012570053339004517, + 0.003841191530227661, + -0.00256144255399704, + -0.017120733857154846, + 0.006404995918273926, + -0.021718919277191162, + 0.0 + ], + [ + 0.010554373264312744, + 0.0025835931301116943, + -0.004866369068622589, + -0.015295818448066711, + 0.010513246059417725, + -0.010564476251602173, + 0.0 + ], + [ + 0.005376607179641724, + 0.0010290443897247314, + -0.00660298764705658, + -0.019582480192184448, + 0.006928950548171997, + 0.002283811569213867, + 0.0 + ], + [ + 0.0015215277671813965, + -0.0029901862144470215, + -0.002655409276485443, + -0.03575260937213898, + 0.015469849109649658, + 0.004024535417556763, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9701826572418213 + ], + [ + 0.7701175808906555 + ], + [ + 0.4652916491031647 + ], + [ + 0.24254894256591797 + ], + [ + 0.12307736277580261 + ], + [ + 0.0853668823838234 + ], + [ + 0.0853668823838234 + ], + [ + 0.0853668823838234 + ], + [ + 0.0853668823838234 + ], + [ + 0.0853668823838234 + ], + [ + 0.0853668823838234 + ], + [ + 0.0853668823838234 + ], + [ + 0.0853668823838234 + ], + [ + 0.0853668823838234 + ], + [ + 0.0853668823838234 + ], + [ + 0.19669602811336517 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.32764649391174316, + 0.2371843159198761, + 0.06450439989566803 + ], + [ + 0.32972443103790283, + 0.23674200475215912, + 0.06469322741031647 + ], + [ + 0.33295994997024536, + 0.23533673584461212, + 0.06035107001662254 + ], + [ + 0.3332570195198059, + 0.2328486144542694, + 0.05260815471410751 + ], + [ + 0.33415287733078003, + 0.2323707491159439, + 0.0476100891828537 + ], + [ + 0.3351554870605469, + 0.23321755230426788, + 0.044610992074012756 + ], + [ + 0.33664512634277344, + 0.23542113602161407, + 0.04376806318759918 + ], + [ + 0.33685195446014404, + 0.23554261028766632, + 0.04380860924720764 + ], + [ + 0.33439597487449646, + 0.23988260328769684, + 0.046029940247535706 + ], + [ + 0.33575090765953064, + 0.24593816697597504, + 0.05605228617787361 + ], + [ + 0.3445044755935669, + 0.25118395686149597, + 0.0682293102145195 + ], + [ + 0.3547799587249756, + 0.24910353124141693, + 0.0691276416182518 + ], + [ + 0.36100539565086365, + 0.2501707077026367, + 0.0663389265537262 + ], + [ + 0.3703387975692749, + 0.2516486346721649, + 0.06788410991430283 + ], + [ + 0.3788069188594818, + 0.25341126322746277, + 0.07267198711633682 + ], + [ + 0.3921351134777069, + 0.25835031270980835, + 0.08730498701334 + ], + [ + 0.4047051668167114, + 0.262191504240036, + 0.08474354445934296 + ], + [ + 0.41525954008102417, + 0.2647750973701477, + 0.07987717539072037 + ], + [ + 0.4206361472606659, + 0.26580414175987244, + 0.07327418774366379 + ], + [ + 0.4221576750278473, + 0.2628139555454254, + 0.07061877846717834 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.882836597339806, + 0.46967504123266185, + -0.0022131517279483544, + 0.46554740683255563, + -0.8744348345951856, + 0.1364893110758999, + 0.062170365842228334, + -0.12152808601137509, + -0.9906390714692489 + ], + [ + 0.8745939899641386, + 0.4848401090642641, + 0.003927004094804943, + 0.48034140029019334, + -0.867524704974883, + 0.12912406989209455, + 0.06601130119808558, + -0.11104483284149134, + -0.9916206700212238 + ], + [ + 0.8733281335922616, + 0.4858462205327721, + 0.03537543031932991, + 0.47823198470897627, + -0.8689262303234251, + 0.12752009667983868, + 0.09269379632731767, + -0.09444922577736105, + -0.9912049252664591 + ], + [ + 0.8715252153713946, + 0.4873319738701091, + 0.05432629396257204, + 0.4784892508273067, + -0.8694286966528632, + 0.12305193326082586, + 0.1071999804783905, + -0.08124831493863258, + -0.9909121431817585 + ], + [ + 0.8680179604617748, + 0.4909176232775936, + 0.07446279252928413, + 0.4802657892024925, + -0.8681575109978095, + 0.1250891994530103, + 0.1260539251173383, + -0.07281773996470005, + -0.989347251832715 + ], + [ + 0.8637995358477959, + 0.496201890954875, + 0.08737302376556974, + 0.48262924855007816, + -0.8646876453236028, + 0.1392274558724331, + 0.1446353010613914, + -0.07809583495635215, + -0.9863983324445308 + ], + [ + 0.8649683493351116, + 0.49127963239873296, + 0.1023429403459667, + 0.4744177857492192, + -0.867017100326617, + 0.15234537179065422, + 0.1635772576286209, + -0.08322061362060809, + -0.9830141455011261 + ], + [ + 0.8663136014635003, + 0.4886287070159216, + 0.10364714467503841, + 0.4715214045752429, + -0.868460976844676, + 0.15311138666141494, + 0.16482811940542733, + -0.08377062956633341, + -0.9827584508287529 + ], + [ + 0.8685601011749298, + 0.4875180359879462, + 0.08904782554027779, + 0.4694024116028781, + -0.8669148847132644, + 0.1676900672192312, + 0.15894881763762303, + -0.10384963769336746, + -0.9818098217692459 + ], + [ + 0.8793651839057235, + 0.4708739669636088, + 0.07067234657493415, + 0.4511609627960576, + -0.8714392398890919, + 0.19247710728929876, + 0.15221911503943134, + -0.13737306292529192, + -0.9787532797386358 + ], + [ + 0.8869313882391504, + 0.4539414000101007, + 0.08538101611625042, + 0.4239168445762564, + -0.8733745083636704, + 0.23981550622307013, + 0.18343178961315226, + -0.17650544891698683, + -0.9670566710704855 + ], + [ + 0.8863914988861936, + 0.4454667531385455, + 0.12597413445024724, + 0.40147524325170053, + -0.8751898831821163, + 0.2699264667120684, + 0.23049455472586494, + -0.1886850291461291, + -0.9546047454406716 + ], + [ + 0.8823387935389626, + 0.43589476294886037, + 0.1774091571761841, + 0.37812941945930706, + -0.8810628508116878, + 0.28415910166480374, + 0.2801720820416884, + -0.183640977326243, + -0.9422205664763889 + ], + [ + 0.8725873496228991, + 0.4251004558468545, + 0.2405845375681503, + 0.35271888744800506, + -0.8891003702803287, + 0.2917017620872789, + 0.3379063534701971, + -0.16967655703183743, + -0.9257586954915927 + ], + [ + 0.8655676477614881, + 0.4087406016925582, + 0.28935059646845424, + 0.3235129061264499, + -0.8974233559985444, + 0.2999511954934151, + 0.38227221546728135, + -0.16601939837355023, + -0.9090134832033138 + ], + [ + 0.8593942781202056, + 0.38738818333594693, + 0.33372424267039, + 0.2875188770914846, + -0.9058428678750249, + 0.3110974028114056, + 0.42281718277560854, + -0.17140330840338214, + -0.8898575929990554 + ], + [ + 0.8680042089937202, + 0.36078640029904796, + 0.3411771776195493, + 0.26958514749948026, + -0.9194059584537748, + 0.2863852855985788, + 0.41700424628158145, + -0.15660733354141243, + -0.8953108966522072 + ], + [ + 0.874955833447509, + 0.3443052150013169, + 0.34045000872238457, + 0.2616418818814908, + -0.9278144985177956, + 0.2659018277215924, + 0.40742584007606436, + -0.14357637432066717, + -0.9018813722298764 + ], + [ + 0.8770378400498181, + 0.3388659040315435, + 0.34055032844740407, + 0.2644480680991156, + -0.9323221097880415, + 0.24666313644122217, + 0.40108832742850486, + -0.12627502795588774, + -0.9072942030649951 + ], + [ + 0.881794751302931, + 0.32886728616619754, + 0.33805964660734406, + 0.26975857729804376, + -0.9396474919306961, + 0.21045878666021, + 0.3868699090763423, + -0.09438696413187991, + -0.917290997695513 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005671.json b/json/chunk-0005/episode_0005671.json new file mode 100644 index 0000000000000000000000000000000000000000..9fcf44f5fc5157f419c52a370f37521c30f1f657 --- /dev/null +++ b/json/chunk-0005/episode_0005671.json @@ -0,0 +1,2182 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 35, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut the orange figure on the bottom edge of the cloth." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005671.mp4", + "start": 0, + "end": 35, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.24271689355373383, + -0.07435029000043869, + 0.1483142226934433, + -0.06934254616498947, + -0.08736933767795563, + -0.24207915365695953, + 0.0, + 1.0008161067962646 + ], + [ + 0.24374082684516907, + -0.07575046271085739, + 0.14152775704860687, + -0.07677187770605087, + -0.07142415642738342, + -0.23255638778209686, + 0.0, + 1.0008161067962646 + ], + [ + 0.2738416790962219, + -0.10439170897006989, + 0.12280148267745972, + -0.132699117064476, + -0.1564815193414688, + -0.1618315428495407, + 0.0, + 1.0008161067962646 + ], + [ + 0.3018971383571625, + -0.12157604098320007, + 0.11765571683645248, + -0.1632463037967682, + -0.2536439001560211, + -0.1152212992310524, + 0.0, + 1.0008161067962646 + ], + [ + 0.3319588303565979, + -0.14105716347694397, + 0.11299393326044083, + -0.1825800985097885, + -0.35337990522384644, + -0.1086721271276474, + 0.0, + 1.0008161067962646 + ], + [ + 0.3671897053718567, + -0.1574157029390335, + 0.11169727146625519, + -0.19785313308238983, + -0.37938636541366577, + -0.12301265448331833, + 0.0, + 1.0008161067962646 + ], + [ + 0.39505940675735474, + -0.1718381941318512, + 0.10536057502031326, + -0.18023617565631866, + -0.4145742654800415, + -0.12677378952503204, + 0.0, + 1.0008161067962646 + ], + [ + 0.41320639848709106, + -0.18571338057518005, + 0.09419134259223938, + -0.17094388604164124, + -0.41097888350486755, + -0.12216087430715561, + 0.0, + 1.0008161067962646 + ], + [ + 0.4236496388912201, + -0.20052748918533325, + 0.0842411071062088, + -0.16190730035305023, + -0.4047071635723114, + -0.11546110361814499, + 0.0, + 1.0008161067962646 + ], + [ + 0.4216269850730896, + -0.21303068101406097, + 0.06869710981845856, + -0.1271534115076065, + -0.3871977627277374, + -0.15128949284553528, + 0.0, + 1.0008161067962646 + ], + [ + 0.42312875390052795, + -0.2146371752023697, + 0.05966584384441376, + -0.12248820066452026, + -0.3821735978126526, + -0.14064930379390717, + 0.0, + 1.0008161067962646 + ], + [ + 0.42767518758773804, + -0.21400070190429688, + 0.0446508564054966, + -0.08716119825839996, + -0.3650690019130707, + -0.13996239006519318, + 0.0, + 1.0008161067962646 + ], + [ + 0.4319142699241638, + -0.2121218591928482, + 0.028738154098391533, + -0.05589781329035759, + -0.3479815125465393, + -0.1327056735754013, + 0.0, + 0.9553104043006897 + ], + [ + 0.43322423100471497, + -0.21710263192653656, + 0.02307678572833538, + -0.09517783671617508, + -0.37471804022789, + -0.12018456310033798, + 0.0, + 0.6400356888771057 + ], + [ + 0.4342755675315857, + -0.2171444296836853, + 0.020238708704710007, + -0.10689499974250793, + -0.40232735872268677, + -0.10771990567445755, + 0.0, + 0.543278694152832 + ], + [ + 0.4287400543689728, + -0.21784479916095734, + 0.02141183242201805, + -0.1256871074438095, + -0.4058637320995331, + -0.1257951557636261, + 0.0, + 0.543278694152832 + ], + [ + 0.42459556460380554, + -0.20939882099628448, + 0.05783911421895027, + -0.26581892371177673, + -0.44400718808174133, + -0.04776355251669884, + 0.0, + 0.543278694152832 + ], + [ + 0.42152538895606995, + -0.17490702867507935, + 0.10123863071203232, + -0.4326118230819702, + -0.4706946313381195, + 0.11651375144720078, + 0.0, + 0.543278694152832 + ], + [ + 0.40565428137779236, + -0.13013917207717896, + 0.11728633940219879, + -0.45587313175201416, + -0.4582609534263611, + 0.22857381403446198, + 0.0, + 0.543278694152832 + ], + [ + 0.38300710916519165, + -0.08122316002845764, + 0.11796188354492188, + -0.4157850444316864, + -0.42928043007850647, + 0.35621604323387146, + 0.0, + 0.543278694152832 + ], + [ + 0.36782106757164, + -0.03243321552872658, + 0.12294375896453857, + -0.40639784932136536, + -0.4185633659362793, + 0.47735095024108887, + 0.0, + 0.543278694152832 + ], + [ + 0.36067524552345276, + 0.01580033451318741, + 0.1192592978477478, + -0.37046948075294495, + -0.40876585245132446, + 0.537030816078186, + 0.0, + 0.543278694152832 + ], + [ + 0.35205960273742676, + 0.06334500014781952, + 0.11420758068561554, + -0.3209629952907562, + -0.4029231369495392, + 0.5900670886039734, + 0.0, + 0.543278694152832 + ], + [ + 0.348464697599411, + 0.08398567885160446, + 0.10248418897390366, + -0.26071634888648987, + -0.3788785934448242, + 0.5699690580368042, + 0.0, + 0.543278694152832 + ], + [ + 0.33867645263671875, + 0.10473895817995071, + 0.09883537143468857, + -0.14937222003936768, + -0.3753232955932617, + 0.6137539744377136, + 0.0, + 0.543278694152832 + ], + [ + 0.33251073956489563, + 0.11038858443498611, + 0.09817274659872055, + -0.014147235080599785, + -0.39159858226776123, + 0.6348831057548523, + 0.0, + 0.543278694152832 + ], + [ + 0.3263368010520935, + 0.10839790105819702, + 0.08309467136859894, + 0.17409345507621765, + -0.3779665529727936, + 0.6175251603126526, + 0.0, + 0.543278694152832 + ], + [ + 0.3307027518749237, + 0.1191759705543518, + 0.08253426849842072, + 0.3102286159992218, + -0.3614690601825714, + 0.6596962213516235, + 0.0, + 0.543278694152832 + ], + [ + 0.33760908246040344, + 0.11769019067287445, + 0.07362422347068787, + 0.394523948431015, + -0.18533116579055786, + 0.727169930934906, + 0.0, + 0.543278694152832 + ], + [ + 0.339380145072937, + 0.12494740635156631, + 0.07145918160676956, + 0.46223631501197815, + -0.1066516563296318, + 0.8517053723335266, + 0.0, + 0.543278694152832 + ], + [ + 0.3394423723220825, + 0.1255425065755844, + 0.07186196744441986, + 0.4899848997592926, + -0.08007428050041199, + 0.9129199385643005, + 0.0, + 0.5928986668586731 + ], + [ + 0.3406289219856262, + 0.12262321263551712, + 0.06692438572645187, + 0.4628419876098633, + -0.07751139998435974, + 0.9156134128570557, + 0.0, + 0.9107924103736877 + ], + [ + 0.3358818590641022, + 0.11922178417444229, + 0.06316305696964264, + 0.4447145164012909, + -0.06317164748907089, + 0.8312801122665405, + 0.0, + 1.0060625076293945 + ], + [ + 0.3370857834815979, + 0.11126377433538437, + 0.07095439732074738, + 0.40417060256004333, + -0.06648249924182892, + 0.6940547227859497, + 0.0, + 1.0008161067962646 + ], + [ + 0.3405423164367676, + 0.09270484745502472, + 0.09061194211244583, + 0.24807576835155487, + -0.08118560910224915, + 0.5651924014091492, + 0.0, + 1.0008161067962646 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9553104043006897 + ], + [ + 0.6400356888771057 + ], + [ + 0.543278694152832 + ], + [ + 0.543278694152832 + ], + [ + 0.543278694152832 + ], + [ + 0.543278694152832 + ], + [ + 0.543278694152832 + ], + [ + 0.543278694152832 + ], + [ + 0.543278694152832 + ], + [ + 0.543278694152832 + ], + [ + 0.543278694152832 + ], + [ + 0.543278694152832 + ], + [ + 0.543278694152832 + ], + [ + 0.543278694152832 + ], + [ + 0.543278694152832 + ], + [ + 0.543278694152832 + ], + [ + 0.543278694152832 + ], + [ + 0.543278694152832 + ], + [ + 0.5928986668586731 + ], + [ + 0.9107924103736877 + ], + [ + 1.0060625076293945 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.24271689355373383, + -0.07435029000043869, + 0.1483142226934433 + ], + [ + 0.24374082684516907, + -0.07575046271085739, + 0.14152775704860687 + ], + [ + 0.2738416790962219, + -0.10439170897006989, + 0.12280148267745972 + ], + [ + 0.3018971383571625, + -0.12157604098320007, + 0.11765571683645248 + ], + [ + 0.3319588303565979, + -0.14105716347694397, + 0.11299393326044083 + ], + [ + 0.3671897053718567, + -0.1574157029390335, + 0.11169727146625519 + ], + [ + 0.39505940675735474, + -0.1718381941318512, + 0.10536057502031326 + ], + [ + 0.41320639848709106, + -0.18571338057518005, + 0.09419134259223938 + ], + [ + 0.4236496388912201, + -0.20052748918533325, + 0.0842411071062088 + ], + [ + 0.4216269850730896, + -0.21303068101406097, + 0.06869710981845856 + ], + [ + 0.42312875390052795, + -0.2146371752023697, + 0.05966584384441376 + ], + [ + 0.42767518758773804, + -0.21400070190429688, + 0.0446508564054966 + ], + [ + 0.4319142699241638, + -0.2121218591928482, + 0.028738154098391533 + ], + [ + 0.43322423100471497, + -0.21710263192653656, + 0.02307678572833538 + ], + [ + 0.4342755675315857, + -0.2171444296836853, + 0.020238708704710007 + ], + [ + 0.4287400543689728, + -0.21784479916095734, + 0.02141183242201805 + ], + [ + 0.42459556460380554, + -0.20939882099628448, + 0.05783911421895027 + ], + [ + 0.42152538895606995, + -0.17490702867507935, + 0.10123863071203232 + ], + [ + 0.40565428137779236, + -0.13013917207717896, + 0.11728633940219879 + ], + [ + 0.38300710916519165, + -0.08122316002845764, + 0.11796188354492188 + ], + [ + 0.36782106757164, + -0.03243321552872658, + 0.12294375896453857 + ], + [ + 0.36067524552345276, + 0.01580033451318741, + 0.1192592978477478 + ], + [ + 0.35205960273742676, + 0.06334500014781952, + 0.11420758068561554 + ], + [ + 0.348464697599411, + 0.08398567885160446, + 0.10248418897390366 + ], + [ + 0.33867645263671875, + 0.10473895817995071, + 0.09883537143468857 + ], + [ + 0.33251073956489563, + 0.11038858443498611, + 0.09817274659872055 + ], + [ + 0.3263368010520935, + 0.10839790105819702, + 0.08309467136859894 + ], + [ + 0.3307027518749237, + 0.1191759705543518, + 0.08253426849842072 + ], + [ + 0.33760908246040344, + 0.11769019067287445, + 0.07362422347068787 + ], + [ + 0.339380145072937, + 0.12494740635156631, + 0.07145918160676956 + ], + [ + 0.3394423723220825, + 0.1255425065755844, + 0.07186196744441986 + ], + [ + 0.3406289219856262, + 0.12262321263551712, + 0.06692438572645187 + ], + [ + 0.3358818590641022, + 0.11922178417444229, + 0.06316305696964264 + ], + [ + 0.3370857834815979, + 0.11126377433538437, + 0.07095439732074738 + ], + [ + 0.3405423164367676, + 0.09270484745502472, + 0.09061194211244583 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9671385999976669, + -0.24501513794217364, + 0.06790074059780386, + -0.23880730811351078, + -0.967059174930893, + -0.08813411242849743, + 0.08725822589378814, + 0.06902270902505868, + -0.9937916620965939 + ], + [ + 0.9705994290137997, + -0.23511299025991558, + 0.051561906569934125, + -0.22987824423693473, + -0.9689527791564835, + -0.09103023998359505, + 0.07136344459616539, + 0.0765009383992612, + -0.9945123755888623 + ], + [ + 0.9748752050331462, + -0.1800597882700057, + 0.1311365977130043, + -0.15915740532750963, + -0.9749347185383768, + -0.15547094557476396, + 0.15584368752373773, + 0.13069340930841591, + -0.9790975323339074 + ], + [ + 0.9615859929995055, + -0.15394979052118574, + 0.22727041176897048, + -0.11128810890943136, + -0.9754738241870105, + -0.18990991322553835, + 0.2509329290518024, + 0.15732221815259279, + -0.9551347469299977 + ], + [ + 0.9326738897715529, + -0.16912012933146334, + 0.31861857634687724, + -0.10175654031614914, + -0.9707625481349221, + -0.21740671940278475, + 0.34607083356054386, + 0.1703480466383527, + -0.9226139610721313 + ], + [ + 0.9218728783537788, + -0.19255660442754752, + 0.33626232356160857, + -0.11397751756794448, + -0.9641492436692005, + -0.23963589343242725, + 0.3703505388746827, + 0.18258748594425, + -0.9107701621879092 + ], + [ + 0.9079426672474534, + -0.19601371821840716, + 0.37043047291195547, + -0.11572395398598342, + -0.9667769128479377, + -0.22792623205340218, + 0.40280029725092076, + 0.16407627206395875, + -0.9004614913921438 + ], + [ + 0.9098983835051808, + -0.18753581337625955, + 0.37002060806928494, + -0.11171023001645305, + -0.9697993370324892, + -0.21681805829085157, + 0.39950689131018724, + 0.15594731351533028, + -0.9033685179388427 + ], + [ + 0.9130973763742108, + -0.17674819796228353, + 0.367441499800469, + -0.10589823541668197, + -0.9730381039333759, + -0.20489610057142058, + 0.3937495968177817, + 0.1481786854133418, + -0.9071958620909865 + ], + [ + 0.9153939559928698, + -0.1968325884027231, + 0.3511564287812602, + -0.13955585750624128, + -0.973380035312562, + -0.1818116318902981, + 0.37759511115402666, + 0.11742333242418124, + -0.9184953418689604 + ], + [ + 0.9186937989693279, + -0.18425213980050661, + 0.34936063417940927, + -0.13007248430698912, + -0.9763190914402821, + -0.17286463060854998, + 0.372938135032491, + 0.11336745859441735, + -0.9209044286842858 + ], + [ + 0.9249648010349908, + -0.16975074258648695, + 0.34003647192269854, + -0.13031231403948404, + -0.9821266183346843, + -0.1358160755144703, + 0.3570137499536605, + 0.08131414975152643, + -0.9305531641954754 + ], + [ + 0.9317974463188858, + -0.15099362291916746, + 0.3300824819213331, + -0.12438584435931362, + -0.9871385742276437, + -0.10042707301736448, + 0.34100099817540647, + 0.052520101956857614, + -0.938594671907857 + ], + [ + 0.9238979203991301, + -0.15388536787781323, + 0.35033116652001245, + -0.11157599942684723, + -0.9841227995825023, + -0.13803300943541869, + 0.36601014881292954, + 0.08843986032897318, + -0.9263989216697788 + ], + [ + 0.9148188154546821, + -0.14843214150141665, + 0.37559876764893174, + -0.09892712905613124, + -0.9840376355857249, + -0.14793023655618315, + 0.39156092505101214, + 0.09817245601572863, + -0.9149001097677474 + ], + [ + 0.9115018725927455, + -0.1735751719169726, + 0.37287530885526815, + -0.11527119578019404, + -0.9780628337829099, + -0.1735097824214758, + 0.3948124715397456, + 0.11517270886167909, + -0.9115143221311118 + ], + [ + 0.9020077044811936, + -0.15878537993166428, + 0.4014589694807237, + -0.04311588492577837, + -0.9583894294877973, + -0.28218915980795833, + 0.4295615456760936, + 0.23722753753730075, + -0.8713208214603584 + ], + [ + 0.8852107393829673, + -0.0832994961325281, + 0.4576714332631293, + 0.10360849305436631, + -0.9238210042040377, + -0.3685376946235577, + 0.45350548734063123, + 0.3736521726626386, + -0.8091457389224924 + ], + [ + 0.8734973044681644, + 0.013754096774246188, + 0.4866346513646302, + 0.2032099670797906, + -0.9186541505423307, + -0.3387923567183576, + 0.44238915941315843, + 0.39482322185159413, + -0.8052368937899241 + ], + [ + 0.8521846235392553, + 0.16145864985022929, + 0.4977072149284148, + 0.31708844852966594, + -0.9159974599388561, + -0.2457713758650782, + 0.41621663014866145, + 0.3672597960219784, + -0.8317956233436118 + ], + [ + 0.8115388524069208, + 0.279298035324306, + 0.5132224649194933, + 0.41976720282438157, + -0.8896870069792022, + -0.1795898801307667, + 0.40644825804406187, + 0.3611781237511089, + -0.8392557276876793 + ], + [ + 0.7884411584432217, + 0.35322953279730107, + 0.5035766444470106, + 0.46943843593105405, + -0.8745604123684673, + -0.12153863578509551, + 0.397477162291516, + 0.3322242951346227, + -0.855358944057398 + ], + [ + 0.764363562217048, + 0.4252166574920818, + 0.4847052082927585, + 0.5118582109576555, + -0.8573011192949549, + -0.055099571058635624, + 0.39210906216267566, + 0.29021644516959927, + -0.8729403750102454 + ], + [ + 0.7822088742804819, + 0.4410979463542927, + 0.4399794071532065, + 0.5013371432729665, + -0.864914108919742, + -0.024179598145337905, + 0.36987882579537135, + 0.2394915153269411, + -0.8976822758162507 + ], + [ + 0.760585431740437, + 0.5249308824433034, + 0.3820436750968506, + 0.5358486616508615, + -0.8398076753181141, + 0.08711647538649511, + 0.36657333895305816, + 0.13845806994928142, + -0.9200289941272103 + ], + [ + 0.744191947331496, + 0.588676817578972, + 0.31565479557904624, + 0.5481870572407678, + -0.8082627211899315, + 0.21494725820152713, + 0.3816664719367721, + 0.013075854837853146, + -0.9242076207322661 + ], + [ + 0.7577665975912723, + 0.6223831052340542, + 0.19603329792196808, + 0.5381502329489666, + -0.7659776207177813, + 0.3516711693279675, + 0.3690313135113603, + -0.16098930051013682, + -0.9153678685475786 + ], + [ + 0.7391157738285973, + 0.6689285677718895, + 0.07900913932200049, + 0.5732716987398649, + -0.6862917844199258, + 0.44761942100586327, + 0.35364874141111263, + -0.2855488712223593, + -0.890726899695958 + ], + [ + 0.7342655316333994, + 0.6666041058486741, + -0.12842544576839446, + 0.6533742763205675, + -0.6425856310604289, + 0.4002321348882981, + 0.1842720382958193, + -0.37778654399059763, + -0.9073704552617659 + ], + [ + 0.6549583015253415, + 0.7047149280208374, + -0.2727755368203423, + 0.748129740822403, + -0.5538575914251799, + 0.3654362588984604, + 0.10644958506280734, + -0.4434170031080051, + -0.8899718238206598 + ], + [ + 0.6094786449292565, + 0.7212057566900368, + -0.3292385729108126, + 0.7887569862637186, + -0.5097088570673971, + 0.3435975809682362, + 0.07998873667819192, + -0.46910461258039127, + -0.8795127426367555 + ], + [ + 0.607474853561473, + 0.7305752809990199, + -0.3118237660661383, + 0.7905556954563465, + -0.5177829690917161, + 0.32699004464983195, + 0.07743380832684728, + -0.44515228373194926, + -0.892100582679011 + ], + [ + 0.6725863066115466, + 0.6852375870207764, + -0.27942281491063375, + 0.7373210350561606, + -0.5883152473740011, + 0.33202840386174726, + 0.06312963980849429, + -0.4293420769517141, + -0.9009328662760827 + ], + [ + 0.7669606198851264, + 0.6082025989253215, + -0.20459962415876398, + 0.6382460285102858, + -0.6900156515782914, + 0.3413508571365154, + 0.0664335354792317, + -0.39238756254176926, + -0.9173977251586463 + ], + [ + 0.8417040525699154, + 0.5359981735185101, + -0.06511717033319517, + 0.5338142494559387, + -0.8079684490909609, + 0.24945807734234685, + 0.08109645470163349, + -0.2447303480534618, + -0.9661937806550286 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + 0.0010239332914352417, + -0.0014001727104187012, + -0.006786465644836426, + -0.007429331541061401, + 0.015945181250572205, + 0.009522765874862671, + 1.0 + ], + [ + 0.030100852251052856, + -0.028641246259212494, + -0.018726274371147156, + -0.05592723935842514, + -0.08505736291408539, + 0.07072484493255615, + 1.0 + ], + [ + 0.028055459260940552, + -0.017184332013130188, + -0.005145765841007233, + -0.030547186732292175, + -0.09716238081455231, + 0.04661024361848831, + 1.0 + ], + [ + 0.030061691999435425, + -0.019481122493743896, + -0.004661783576011658, + -0.019333794713020325, + -0.09973600506782532, + 0.006549172103404999, + 1.0 + ], + [ + 0.03523087501525879, + -0.01635853946208954, + -0.0012966617941856384, + -0.015273034572601318, + -0.026006460189819336, + -0.014340527355670929, + 1.0 + ], + [ + 0.027869701385498047, + -0.014422491192817688, + -0.006336696445941925, + 0.017616957426071167, + -0.03518790006637573, + -0.0037611350417137146, + 1.0 + ], + [ + 0.018146991729736328, + -0.013875186443328857, + -0.011169232428073883, + 0.00929228961467743, + 0.00359538197517395, + 0.004612915217876434, + 1.0 + ], + [ + 0.010443240404129028, + -0.014814108610153198, + -0.009950235486030579, + 0.009036585688591003, + 0.006271719932556152, + 0.00669977068901062, + 1.0 + ], + [ + -0.002022653818130493, + -0.012503191828727722, + -0.015543997287750244, + 0.034753888845443726, + 0.017509400844573975, + -0.03582838922739029, + 1.0 + ], + [ + 0.0015017688274383545, + -0.0016064941883087158, + -0.0090312659740448, + 0.004665210843086243, + 0.005024164915084839, + 0.010640189051628113, + 1.0 + ], + [ + 0.004546433687210083, + 0.0006364732980728149, + -0.01501498743891716, + 0.0353270024061203, + 0.01710459589958191, + 0.0006869137287139893, + 1.0 + ], + [ + 0.004239082336425781, + 0.0018788427114486694, + -0.015912702307105064, + 0.031263384968042374, + 0.017087489366531372, + 0.00725671648979187, + 0.0 + ], + [ + 0.0013099610805511475, + -0.0049807727336883545, + -0.005661368370056152, + -0.03928002342581749, + -0.026736527681350708, + 0.012521110475063324, + 0.0 + ], + [ + 0.0010513365268707275, + -4.1797757148742676e-05, + -0.002838077023625374, + -0.011717163026332855, + -0.027609318494796753, + 0.012464657425880432, + 0.0 + ], + [ + -0.005535513162612915, + -0.0007003694772720337, + 0.0011731237173080444, + -0.018792107701301575, + -0.0035363733768463135, + -0.01807525008916855, + 0.0 + ], + [ + -0.004144489765167236, + 0.008445978164672852, + 0.03642728179693222, + -0.14013181626796722, + -0.03814345598220825, + 0.07803159952163696, + 0.0 + ], + [ + -0.0030701756477355957, + 0.03449179232120514, + 0.043399516493082047, + -0.16679289937019348, + -0.026687443256378174, + 0.16427730023860931, + 0.0 + ], + [ + -0.015871107578277588, + 0.04476785659790039, + 0.016047708690166473, + -0.023261308670043945, + 0.012433677911758423, + 0.1120600625872612, + 0.0 + ], + [ + -0.022647172212600708, + 0.048916012048721313, + 0.0006755441427230835, + 0.04008808732032776, + 0.028980523347854614, + 0.12764222919940948, + 0.0 + ], + [ + -0.015186041593551636, + 0.048789944499731064, + 0.004981875419616699, + 0.009387195110321045, + 0.010717064142227173, + 0.12113490700721741, + 0.0 + ], + [ + -0.007145822048187256, + 0.048233550041913986, + -0.0036844611167907715, + 0.03592836856842041, + 0.009797513484954834, + 0.05967986583709717, + 0.0 + ], + [ + -0.008615642786026001, + 0.04754466563463211, + -0.005051717162132263, + 0.04950648546218872, + 0.005842715501785278, + 0.053036272525787354, + 0.0 + ], + [ + -0.003594905138015747, + 0.020640678703784943, + -0.011723391711711884, + 0.06024664640426636, + 0.024044543504714966, + -0.02009803056716919, + 0.0 + ], + [ + -0.00978824496269226, + 0.020753279328346252, + -0.003648817539215088, + 0.11134412884712219, + 0.0035552978515625, + 0.043784916400909424, + 0.0 + ], + [ + -0.00616571307182312, + 0.0056496262550354, + -0.0006626248359680176, + 0.13522498309612274, + -0.01627528667449951, + 0.021129131317138672, + 0.0 + ], + [ + -0.006173938512802124, + -0.001990683376789093, + -0.015078075230121613, + 0.18824069201946259, + 0.013632029294967651, + -0.017357945442199707, + 0.0 + ], + [ + 0.0043659508228302, + 0.010778069496154785, + -0.0005604028701782227, + 0.13613516092300415, + 0.016497492790222168, + 0.04217106103897095, + 0.0 + ], + [ + 0.006906330585479736, + -0.001485779881477356, + -0.008910045027732849, + 0.08429533243179321, + 0.17613789439201355, + 0.06747370958328247, + 0.0 + ], + [ + 0.0017710626125335693, + 0.007257215678691864, + -0.0021650418639183044, + 0.06771236658096313, + 0.07867950946092606, + 0.1245354413986206, + 0.0 + ], + [ + 6.222724914550781e-05, + 0.0005951002240180969, + 0.00040278583765029907, + 0.027748584747314453, + 0.026577375829219818, + 0.061214566230773926, + 1.0 + ], + [ + 0.0011865496635437012, + -0.0029192939400672913, + -0.004937581717967987, + -0.02714291214942932, + 0.002562880516052246, + 0.002693474292755127, + 1.0 + ], + [ + -0.004747062921524048, + -0.003401428461074829, + -0.0037613287568092346, + -0.018127471208572388, + 0.014339752495288849, + -0.08433330059051514, + 1.0 + ], + [ + 0.0012039244174957275, + -0.007958009839057922, + 0.007791340351104736, + -0.04054391384124756, + -0.003310851752758026, + -0.13722538948059082, + 1.0 + ], + [ + 0.0034565329551696777, + -0.01855892688035965, + 0.019657544791698456, + -0.15609483420848846, + -0.014703109860420227, + -0.12886232137680054, + 1.0 + ], + [ + 0.016408830881118774, + -0.036698631942272186, + 0.03609774261713028, + -0.2852832078933716, + -0.03450481593608856, + -0.030469655990600586, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9553104043006897 + ], + [ + 0.6400356888771057 + ], + [ + 0.543278694152832 + ], + [ + 0.543278694152832 + ], + [ + 0.543278694152832 + ], + [ + 0.543278694152832 + ], + [ + 0.543278694152832 + ], + [ + 0.543278694152832 + ], + [ + 0.543278694152832 + ], + [ + 0.543278694152832 + ], + [ + 0.543278694152832 + ], + [ + 0.543278694152832 + ], + [ + 0.543278694152832 + ], + [ + 0.543278694152832 + ], + [ + 0.543278694152832 + ], + [ + 0.543278694152832 + ], + [ + 0.543278694152832 + ], + [ + 0.543278694152832 + ], + [ + 0.5928986668586731 + ], + [ + 0.9107924103736877 + ], + [ + 1.0060625076293945 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.24374082684516907, + -0.07575046271085739, + 0.14152775704860687 + ], + [ + 0.2738416790962219, + -0.10439170897006989, + 0.12280148267745972 + ], + [ + 0.3018971383571625, + -0.12157604098320007, + 0.11765571683645248 + ], + [ + 0.3319588303565979, + -0.14105716347694397, + 0.11299393326044083 + ], + [ + 0.3671897053718567, + -0.1574157029390335, + 0.11169727146625519 + ], + [ + 0.39505940675735474, + -0.1718381941318512, + 0.10536057502031326 + ], + [ + 0.41320639848709106, + -0.18571338057518005, + 0.09419134259223938 + ], + [ + 0.4236496388912201, + -0.20052748918533325, + 0.0842411071062088 + ], + [ + 0.4216269850730896, + -0.21303068101406097, + 0.06869710981845856 + ], + [ + 0.42312875390052795, + -0.2146371752023697, + 0.05966584384441376 + ], + [ + 0.42767518758773804, + -0.21400070190429688, + 0.0446508564054966 + ], + [ + 0.4319142699241638, + -0.2121218591928482, + 0.028738154098391533 + ], + [ + 0.43322423100471497, + -0.21710263192653656, + 0.02307678572833538 + ], + [ + 0.4342755675315857, + -0.2171444296836853, + 0.020238708704710007 + ], + [ + 0.4287400543689728, + -0.21784479916095734, + 0.02141183242201805 + ], + [ + 0.42459556460380554, + -0.20939882099628448, + 0.05783911421895027 + ], + [ + 0.42152538895606995, + -0.17490702867507935, + 0.10123863071203232 + ], + [ + 0.40565428137779236, + -0.13013917207717896, + 0.11728633940219879 + ], + [ + 0.38300710916519165, + -0.08122316002845764, + 0.11796188354492188 + ], + [ + 0.36782106757164, + -0.03243321552872658, + 0.12294375896453857 + ], + [ + 0.36067524552345276, + 0.01580033451318741, + 0.1192592978477478 + ], + [ + 0.35205960273742676, + 0.06334500014781952, + 0.11420758068561554 + ], + [ + 0.348464697599411, + 0.08398567885160446, + 0.10248418897390366 + ], + [ + 0.33867645263671875, + 0.10473895817995071, + 0.09883537143468857 + ], + [ + 0.33251073956489563, + 0.11038858443498611, + 0.09817274659872055 + ], + [ + 0.3263368010520935, + 0.10839790105819702, + 0.08309467136859894 + ], + [ + 0.3307027518749237, + 0.1191759705543518, + 0.08253426849842072 + ], + [ + 0.33760908246040344, + 0.11769019067287445, + 0.07362422347068787 + ], + [ + 0.339380145072937, + 0.12494740635156631, + 0.07145918160676956 + ], + [ + 0.3394423723220825, + 0.1255425065755844, + 0.07186196744441986 + ], + [ + 0.3406289219856262, + 0.12262321263551712, + 0.06692438572645187 + ], + [ + 0.3358818590641022, + 0.11922178417444229, + 0.06316305696964264 + ], + [ + 0.3370857834815979, + 0.11126377433538437, + 0.07095439732074738 + ], + [ + 0.3405423164367676, + 0.09270484745502472, + 0.09061194211244583 + ], + [ + 0.35695114731788635, + 0.05600621551275253, + 0.1267096847295761 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9705994290137997, + -0.23511299025991558, + 0.051561906569934125, + -0.22987824423693473, + -0.9689527791564835, + -0.09103023998359505, + 0.07136344459616539, + 0.0765009383992612, + -0.9945123755888623 + ], + [ + 0.9748752050331462, + -0.1800597882700057, + 0.1311365977130043, + -0.15915740532750963, + -0.9749347185383768, + -0.15547094557476396, + 0.15584368752373773, + 0.13069340930841591, + -0.9790975323339074 + ], + [ + 0.9615859929995055, + -0.15394979052118574, + 0.22727041176897048, + -0.11128810890943136, + -0.9754738241870105, + -0.18990991322553835, + 0.2509329290518024, + 0.15732221815259279, + -0.9551347469299977 + ], + [ + 0.9326738897715529, + -0.16912012933146334, + 0.31861857634687724, + -0.10175654031614914, + -0.9707625481349221, + -0.21740671940278475, + 0.34607083356054386, + 0.1703480466383527, + -0.9226139610721313 + ], + [ + 0.9218728783537788, + -0.19255660442754752, + 0.33626232356160857, + -0.11397751756794448, + -0.9641492436692005, + -0.23963589343242725, + 0.3703505388746827, + 0.18258748594425, + -0.9107701621879092 + ], + [ + 0.9079426672474534, + -0.19601371821840716, + 0.37043047291195547, + -0.11572395398598342, + -0.9667769128479377, + -0.22792623205340218, + 0.40280029725092076, + 0.16407627206395875, + -0.9004614913921438 + ], + [ + 0.9098983835051808, + -0.18753581337625955, + 0.37002060806928494, + -0.11171023001645305, + -0.9697993370324892, + -0.21681805829085157, + 0.39950689131018724, + 0.15594731351533028, + -0.9033685179388427 + ], + [ + 0.9130973763742108, + -0.17674819796228353, + 0.367441499800469, + -0.10589823541668197, + -0.9730381039333759, + -0.20489610057142058, + 0.3937495968177817, + 0.1481786854133418, + -0.9071958620909865 + ], + [ + 0.9153939559928698, + -0.1968325884027231, + 0.3511564287812602, + -0.13955585750624128, + -0.973380035312562, + -0.1818116318902981, + 0.37759511115402666, + 0.11742333242418124, + -0.9184953418689604 + ], + [ + 0.9186937989693279, + -0.18425213980050661, + 0.34936063417940927, + -0.13007248430698912, + -0.9763190914402821, + -0.17286463060854998, + 0.372938135032491, + 0.11336745859441735, + -0.9209044286842858 + ], + [ + 0.9249648010349908, + -0.16975074258648695, + 0.34003647192269854, + -0.13031231403948404, + -0.9821266183346843, + -0.1358160755144703, + 0.3570137499536605, + 0.08131414975152643, + -0.9305531641954754 + ], + [ + 0.9317974463188858, + -0.15099362291916746, + 0.3300824819213331, + -0.12438584435931362, + -0.9871385742276437, + -0.10042707301736448, + 0.34100099817540647, + 0.052520101956857614, + -0.938594671907857 + ], + [ + 0.9238979203991301, + -0.15388536787781323, + 0.35033116652001245, + -0.11157599942684723, + -0.9841227995825023, + -0.13803300943541869, + 0.36601014881292954, + 0.08843986032897318, + -0.9263989216697788 + ], + [ + 0.9148188154546821, + -0.14843214150141665, + 0.37559876764893174, + -0.09892712905613124, + -0.9840376355857249, + -0.14793023655618315, + 0.39156092505101214, + 0.09817245601572863, + -0.9149001097677474 + ], + [ + 0.9115018725927455, + -0.1735751719169726, + 0.37287530885526815, + -0.11527119578019404, + -0.9780628337829099, + -0.1735097824214758, + 0.3948124715397456, + 0.11517270886167909, + -0.9115143221311118 + ], + [ + 0.9020077044811936, + -0.15878537993166428, + 0.4014589694807237, + -0.04311588492577837, + -0.9583894294877973, + -0.28218915980795833, + 0.4295615456760936, + 0.23722753753730075, + -0.8713208214603584 + ], + [ + 0.8852107393829673, + -0.0832994961325281, + 0.4576714332631293, + 0.10360849305436631, + -0.9238210042040377, + -0.3685376946235577, + 0.45350548734063123, + 0.3736521726626386, + -0.8091457389224924 + ], + [ + 0.8734973044681644, + 0.013754096774246188, + 0.4866346513646302, + 0.2032099670797906, + -0.9186541505423307, + -0.3387923567183576, + 0.44238915941315843, + 0.39482322185159413, + -0.8052368937899241 + ], + [ + 0.8521846235392553, + 0.16145864985022929, + 0.4977072149284148, + 0.31708844852966594, + -0.9159974599388561, + -0.2457713758650782, + 0.41621663014866145, + 0.3672597960219784, + -0.8317956233436118 + ], + [ + 0.8115388524069208, + 0.279298035324306, + 0.5132224649194933, + 0.41976720282438157, + -0.8896870069792022, + -0.1795898801307667, + 0.40644825804406187, + 0.3611781237511089, + -0.8392557276876793 + ], + [ + 0.7884411584432217, + 0.35322953279730107, + 0.5035766444470106, + 0.46943843593105405, + -0.8745604123684673, + -0.12153863578509551, + 0.397477162291516, + 0.3322242951346227, + -0.855358944057398 + ], + [ + 0.764363562217048, + 0.4252166574920818, + 0.4847052082927585, + 0.5118582109576555, + -0.8573011192949549, + -0.055099571058635624, + 0.39210906216267566, + 0.29021644516959927, + -0.8729403750102454 + ], + [ + 0.7822088742804819, + 0.4410979463542927, + 0.4399794071532065, + 0.5013371432729665, + -0.864914108919742, + -0.024179598145337905, + 0.36987882579537135, + 0.2394915153269411, + -0.8976822758162507 + ], + [ + 0.760585431740437, + 0.5249308824433034, + 0.3820436750968506, + 0.5358486616508615, + -0.8398076753181141, + 0.08711647538649511, + 0.36657333895305816, + 0.13845806994928142, + -0.9200289941272103 + ], + [ + 0.744191947331496, + 0.588676817578972, + 0.31565479557904624, + 0.5481870572407678, + -0.8082627211899315, + 0.21494725820152713, + 0.3816664719367721, + 0.013075854837853146, + -0.9242076207322661 + ], + [ + 0.7577665975912723, + 0.6223831052340542, + 0.19603329792196808, + 0.5381502329489666, + -0.7659776207177813, + 0.3516711693279675, + 0.3690313135113603, + -0.16098930051013682, + -0.9153678685475786 + ], + [ + 0.7391157738285973, + 0.6689285677718895, + 0.07900913932200049, + 0.5732716987398649, + -0.6862917844199258, + 0.44761942100586327, + 0.35364874141111263, + -0.2855488712223593, + -0.890726899695958 + ], + [ + 0.7342655316333994, + 0.6666041058486741, + -0.12842544576839446, + 0.6533742763205675, + -0.6425856310604289, + 0.4002321348882981, + 0.1842720382958193, + -0.37778654399059763, + -0.9073704552617659 + ], + [ + 0.6549583015253415, + 0.7047149280208374, + -0.2727755368203423, + 0.748129740822403, + -0.5538575914251799, + 0.3654362588984604, + 0.10644958506280734, + -0.4434170031080051, + -0.8899718238206598 + ], + [ + 0.6094786449292565, + 0.7212057566900368, + -0.3292385729108126, + 0.7887569862637186, + -0.5097088570673971, + 0.3435975809682362, + 0.07998873667819192, + -0.46910461258039127, + -0.8795127426367555 + ], + [ + 0.607474853561473, + 0.7305752809990199, + -0.3118237660661383, + 0.7905556954563465, + -0.5177829690917161, + 0.32699004464983195, + 0.07743380832684728, + -0.44515228373194926, + -0.892100582679011 + ], + [ + 0.6725863066115466, + 0.6852375870207764, + -0.27942281491063375, + 0.7373210350561606, + -0.5883152473740011, + 0.33202840386174726, + 0.06312963980849429, + -0.4293420769517141, + -0.9009328662760827 + ], + [ + 0.7669606198851264, + 0.6082025989253215, + -0.20459962415876398, + 0.6382460285102858, + -0.6900156515782914, + 0.3413508571365154, + 0.0664335354792317, + -0.39238756254176926, + -0.9173977251586463 + ], + [ + 0.8417040525699154, + 0.5359981735185101, + -0.06511717033319517, + 0.5338142494559387, + -0.8079684490909609, + 0.24945807734234685, + 0.08109645470163349, + -0.2447303480534618, + -0.9661937806550286 + ], + [ + 0.854658389841846, + 0.5055552387500207, + 0.11820717933083578, + 0.506195978551237, + -0.8620026591408569, + 0.026777732029556325, + 0.11543252562210703, + 0.036950185473156955, + -0.9926278334914856 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005672.json b/json/chunk-0005/episode_0005672.json new file mode 100644 index 0000000000000000000000000000000000000000..9f39f0d07abb4a5e0317a34aa54b1dc588afd2ce --- /dev/null +++ b/json/chunk-0005/episode_0005672.json @@ -0,0 +1,2182 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 35, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nTopple metal pot cardboard fence." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005672.mp4", + "start": 0, + "end": 35, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.1905464380979538, + -0.058294497430324554, + 0.10703379660844803, + -0.031346097588539124, + -0.02766765095293522, + 0.007331022992730141, + 0.0, + 0.9893313646316528 + ], + [ + 0.18838325142860413, + -0.05767698585987091, + 0.10401717573404312, + -0.026782507076859474, + -0.013444273732602596, + -0.011193990707397461, + 0.0, + 0.9893313646316528 + ], + [ + 0.19650258123874664, + -0.043608035892248154, + 0.11411851644515991, + -0.03578553348779678, + 0.0024381366092711687, + -0.20088793337345123, + 0.0, + 0.9893313646316528 + ], + [ + 0.2108137458562851, + -0.031661104410886765, + 0.12310594320297241, + -0.059266719967126846, + 0.01180005818605423, + -0.37789416313171387, + 0.0, + 0.9893313646316528 + ], + [ + 0.2342836707830429, + -0.02244824916124344, + 0.12595349550247192, + -0.06180601567029953, + -0.008820111863315105, + -0.4860227108001709, + 0.0, + 0.9893313646316528 + ], + [ + 0.2700446844100952, + -0.014527160674333572, + 0.12071003019809723, + -0.07233385741710663, + -0.05941929668188095, + -0.48831018805503845, + 0.0, + 0.9893313646316528 + ], + [ + 0.29493248462677, + -0.010374119505286217, + 0.10697182267904282, + -0.08291994780302048, + -0.0938877984881401, + -0.4554443359375, + 0.0, + 0.9893313646316528 + ], + [ + 0.31177887320518494, + -0.009384565986692905, + 0.09449157863855362, + -0.020015276968479156, + -0.12025553733110428, + -0.4839080572128296, + 0.0, + 0.9893313646316528 + ], + [ + 0.3235100507736206, + -0.010676419362425804, + 0.08746835589408875, + 0.03416997566819191, + -0.15245775878429413, + -0.5283775925636292, + 0.0, + 0.9893313646316528 + ], + [ + 0.32328763604164124, + -0.014980764128267765, + 0.06724788248538971, + 0.02930453233420849, + -0.0981140211224556, + -0.5479951500892639, + 0.0, + 0.9893313646316528 + ], + [ + 0.32116878032684326, + -0.01983766444027424, + 0.053879983723163605, + 0.014933709986507893, + -0.06025580316781998, + -0.5615279674530029, + 0.0, + 0.9893313646316528 + ], + [ + 0.323646605014801, + -0.018216367810964584, + 0.04616851359605789, + 0.035519059747457504, + -0.04873371496796608, + -0.5676105618476868, + 0.0, + 0.9383087754249573 + ], + [ + 0.3255529999732971, + -0.01880541257560253, + 0.04629242420196533, + 0.03660217672586441, + -0.06214134022593498, + -0.5742051005363464, + 0.0, + 0.6701657772064209 + ], + [ + 0.3278813660144806, + -0.01573912613093853, + 0.051053211092948914, + 0.08052384853363037, + -0.08017537742853165, + -0.5759209990501404, + 0.0, + 0.38577979803085327 + ], + [ + 0.31997475028038025, + -0.01671353355050087, + 0.05574990063905716, + 0.14428068697452545, + -0.08626876026391983, + -0.6053608059883118, + 0.0, + 0.17734436690807343 + ], + [ + 0.31070905923843384, + -0.02072235941886902, + 0.06515436619520187, + 0.24374108016490936, + -0.12490794062614441, + -0.627245306968689, + 0.0, + 0.07270156592130661 + ], + [ + 0.29884764552116394, + -0.02298450656235218, + 0.07442646473646164, + 0.3434476852416992, + -0.1636897772550583, + -0.659115195274353, + 0.0, + 0.05729193985462189 + ], + [ + 0.29089879989624023, + -0.02515450492501259, + 0.07864323258399963, + 0.4343053996562958, + -0.1746499240398407, + -0.7099940776824951, + 0.0, + 0.05784503370523453 + ], + [ + 0.2818358242511749, + -0.02270003780722618, + 0.08326467871665955, + 0.6073225736618042, + -0.18491439521312714, + -0.784611165523529, + 0.0, + 0.06065736711025238 + ], + [ + 0.27548274397850037, + -0.015400229021906853, + 0.0873822495341301, + 0.7050636410713196, + -0.1729469746351242, + -0.8629172444343567, + 0.0, + 0.06065736711025238 + ], + [ + 0.27402013540267944, + -0.0013098511844873428, + 0.0883200392127037, + 0.7662992477416992, + -0.1443578451871872, + -0.8988355398178101, + 0.0, + 0.06065736711025238 + ], + [ + 0.27703264355659485, + 0.013450225815176964, + 0.08913048356771469, + 0.9089970588684082, + -0.1468418389558792, + -0.9173724055290222, + 0.0, + 0.0609428733587265 + ], + [ + 0.2805284559726715, + 0.016479304060339928, + 0.08621130883693695, + 0.9435688853263855, + -0.1260536164045334, + -0.939418613910675, + 0.0, + 0.061804234981536865 + ], + [ + 0.2785753607749939, + 0.017756924033164978, + 0.0850534439086914, + 0.8923518657684326, + -0.11306985467672348, + -0.8758769631385803, + 0.0, + 0.08606764674186707 + ], + [ + 0.26133018732070923, + 0.013799312524497509, + 0.0841602310538292, + 0.7140304446220398, + -0.016251571476459503, + -0.8775978088378906, + 0.0, + 0.24793511629104614 + ], + [ + 0.2360256314277649, + 0.004939689766615629, + 0.07361076027154922, + 0.6761451959609985, + 0.013798530213534832, + -0.9290407299995422, + 0.0, + 0.5168834924697876 + ], + [ + 0.22714994847774506, + 0.0019591522868722677, + 0.06852065771818161, + 0.6623483896255493, + 0.013031410053372383, + -0.9408369064331055, + 0.0, + 0.8168079853057861 + ], + [ + 0.2158670276403427, + -0.0010840295581147075, + 0.0756964236497879, + 0.5695656538009644, + 0.030716445297002792, + -0.9374772906303406, + 0.0, + 0.9941151142120361 + ], + [ + 0.21167095005512238, + 0.0016649604076519608, + 0.09094113856554031, + 0.49266111850738525, + 0.0316554456949234, + -0.9037925601005554, + 0.0, + 0.993436336517334 + ], + [ + 0.2128293812274933, + 0.006623442284762859, + 0.10498528927564621, + 0.41242751479148865, + 0.04974144324660301, + -0.8713836073875427, + 0.0, + 0.993436336517334 + ], + [ + 0.2193947434425354, + 0.00952586717903614, + 0.12628711760044098, + 0.19462288916110992, + 0.06989932060241699, + -0.8569332957267761, + 0.0, + 0.993436336517334 + ], + [ + 0.22877871990203857, + 0.009873108938336372, + 0.14251403510570526, + 0.06500785797834396, + 0.06706137210130692, + -0.8174275159835815, + 0.0, + 0.993436336517334 + ], + [ + 0.2283170223236084, + 0.008633682504296303, + 0.1517222374677658, + -0.027771493420004845, + 0.05884929746389389, + -0.8280622959136963, + 0.0, + 0.993436336517334 + ], + [ + 0.22862185537815094, + 0.013188271783292294, + 0.16735169291496277, + -0.12009988725185394, + 0.03241009637713432, + -0.8252289295196533, + 0.0, + 0.993436336517334 + ], + [ + 0.23334743082523346, + 0.01954629458487034, + 0.17657476663589478, + -0.18515537679195404, + 0.03211766481399536, + -0.8028342127799988, + 0.0, + 0.993436336517334 + ] + ], + "left_gripper_pos": [ + [ + 0.9893313646316528 + ], + [ + 0.9893313646316528 + ], + [ + 0.9893313646316528 + ], + [ + 0.9893313646316528 + ], + [ + 0.9893313646316528 + ], + [ + 0.9893313646316528 + ], + [ + 0.9893313646316528 + ], + [ + 0.9893313646316528 + ], + [ + 0.9893313646316528 + ], + [ + 0.9893313646316528 + ], + [ + 0.9893313646316528 + ], + [ + 0.9383087754249573 + ], + [ + 0.6701657772064209 + ], + [ + 0.38577979803085327 + ], + [ + 0.17734436690807343 + ], + [ + 0.07270156592130661 + ], + [ + 0.05729193985462189 + ], + [ + 0.05784503370523453 + ], + [ + 0.06065736711025238 + ], + [ + 0.06065736711025238 + ], + [ + 0.06065736711025238 + ], + [ + 0.0609428733587265 + ], + [ + 0.061804234981536865 + ], + [ + 0.08606764674186707 + ], + [ + 0.24793511629104614 + ], + [ + 0.5168834924697876 + ], + [ + 0.8168079853057861 + ], + [ + 0.9941151142120361 + ], + [ + 0.993436336517334 + ], + [ + 0.993436336517334 + ], + [ + 0.993436336517334 + ], + [ + 0.993436336517334 + ], + [ + 0.993436336517334 + ], + [ + 0.993436336517334 + ], + [ + 0.993436336517334 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.1905464380979538, + -0.058294497430324554, + 0.10703379660844803 + ], + [ + 0.18838325142860413, + -0.05767698585987091, + 0.10401717573404312 + ], + [ + 0.19650258123874664, + -0.043608035892248154, + 0.11411851644515991 + ], + [ + 0.2108137458562851, + -0.031661104410886765, + 0.12310594320297241 + ], + [ + 0.2342836707830429, + -0.02244824916124344, + 0.12595349550247192 + ], + [ + 0.2700446844100952, + -0.014527160674333572, + 0.12071003019809723 + ], + [ + 0.29493248462677, + -0.010374119505286217, + 0.10697182267904282 + ], + [ + 0.31177887320518494, + -0.009384565986692905, + 0.09449157863855362 + ], + [ + 0.3235100507736206, + -0.010676419362425804, + 0.08746835589408875 + ], + [ + 0.32328763604164124, + -0.014980764128267765, + 0.06724788248538971 + ], + [ + 0.32116878032684326, + -0.01983766444027424, + 0.053879983723163605 + ], + [ + 0.323646605014801, + -0.018216367810964584, + 0.04616851359605789 + ], + [ + 0.3255529999732971, + -0.01880541257560253, + 0.04629242420196533 + ], + [ + 0.3278813660144806, + -0.01573912613093853, + 0.051053211092948914 + ], + [ + 0.31997475028038025, + -0.01671353355050087, + 0.05574990063905716 + ], + [ + 0.31070905923843384, + -0.02072235941886902, + 0.06515436619520187 + ], + [ + 0.29884764552116394, + -0.02298450656235218, + 0.07442646473646164 + ], + [ + 0.29089879989624023, + -0.02515450492501259, + 0.07864323258399963 + ], + [ + 0.2818358242511749, + -0.02270003780722618, + 0.08326467871665955 + ], + [ + 0.27548274397850037, + -0.015400229021906853, + 0.0873822495341301 + ], + [ + 0.27402013540267944, + -0.0013098511844873428, + 0.0883200392127037 + ], + [ + 0.27703264355659485, + 0.013450225815176964, + 0.08913048356771469 + ], + [ + 0.2805284559726715, + 0.016479304060339928, + 0.08621130883693695 + ], + [ + 0.2785753607749939, + 0.017756924033164978, + 0.0850534439086914 + ], + [ + 0.26133018732070923, + 0.013799312524497509, + 0.0841602310538292 + ], + [ + 0.2360256314277649, + 0.004939689766615629, + 0.07361076027154922 + ], + [ + 0.22714994847774506, + 0.0019591522868722677, + 0.06852065771818161 + ], + [ + 0.2158670276403427, + -0.0010840295581147075, + 0.0756964236497879 + ], + [ + 0.21167095005512238, + 0.0016649604076519608, + 0.09094113856554031 + ], + [ + 0.2128293812274933, + 0.006623442284762859, + 0.10498528927564621 + ], + [ + 0.2193947434425354, + 0.00952586717903614, + 0.12628711760044098 + ], + [ + 0.22877871990203857, + 0.009873108938336372, + 0.14251403510570526 + ], + [ + 0.2283170223236084, + 0.008633682504296303, + 0.1517222374677658 + ], + [ + 0.22862185537815094, + 0.013188271783292294, + 0.16735169291496277 + ], + [ + 0.23334743082523346, + 0.01954629458487034, + 0.17657476663589478 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9995904134167529, + 0.006460359062290716, + 0.02787954745169554, + 0.007328151585685291, + -0.9994882487695523, + -0.031137417457310416, + 0.027664121161936145, + 0.031328969538749266, + -0.9991262142832497 + ], + [ + 0.9998469807154371, + -0.011549737424652965, + 0.013138444338872913, + -0.011192745318767504, + -0.9995747105564379, + -0.026928060981850188, + 0.013443868730886177, + 0.026776885207854276, + -0.9995510296188543 + ], + [ + 0.9798868738995907, + -0.19932625717527014, + -0.009526676219222863, + -0.19953889310342843, + -0.9792798338364164, + -0.034572202423038045, + -0.002438134193683927, + 0.03577778978387308, + -0.9993567957740793 + ], + [ + 0.9293789661393923, + -0.3676666090511607, + -0.032802467689115294, + -0.3689383449671236, + -0.928069673957334, + -0.050706783507217766, + -0.011799784345243132, + 0.05922790617225177, + -0.9981747443307994 + ], + [ + 0.8841632976304277, + -0.4667026792125755, + -0.02106827802864126, + -0.46709471284452314, + -0.882254942771552, + -0.058726017980606324, + 0.008819997504580816, + 0.06176427099035342, + -0.998051793482207 + ], + [ + 0.881568319200924, + -0.4716976391050151, + 0.01840206086318951, + -0.46830630892322395, + -0.8788041240103813, + -0.09161065792282176, + 0.05938433803591315, + 0.072143252526492, + -0.9956248548077409 + ], + [ + 0.8941103894107572, + -0.44532341530381325, + 0.04747280621463146, + -0.4379241525088563, + -0.8915645656576425, + -0.11547753856529588, + 0.0937499237180727, + 0.08246017854605278, + -0.9921750202242591 + ], + [ + 0.8787907103157124, + -0.46727419688916877, + 0.09685924005683923, + -0.4618820948781152, + -0.883889151340967, + -0.07351801529386802, + 0.1199659030466984, + 0.01986940017534454, + -0.9925791600889385 + ], + [ + 0.8536087514393648, + -0.49935781043347444, + 0.14830332641318267, + -0.4982853186647162, + -0.8657375831267442, + -0.04701253412725132, + 0.1518678394833186, + -0.03376705970246662, + -0.9878238431065122 + ], + [ + 0.8494656221609221, + -0.5183034280511446, + 0.09884185974165677, + -0.5184714504673432, + -0.8546995287751801, + -0.02600135692179074, + 0.097956683371002, + -0.029159423552549312, + -0.9947633970955285 + ], + [ + 0.8449063364078078, + -0.53165960499238, + 0.05891813911931579, + -0.5315137937059243, + -0.8468269445292927, + -0.019421975170373793, + 0.06021934737501472, + -0.014906053754397032, + -0.9980738648833556 + ], + [ + 0.8421869109271387, + -0.5358210910313416, + 0.06014121273291915, + -0.5369805505433646, + -0.8435862006375947, + 0.003769672661193598, + 0.048714427032948836, + -0.03546943049740567, + -0.9981827608704935 + ], + [ + 0.8380037287755071, + -0.5408956624534201, + 0.07198355991072955, + -0.5421191495858845, + -0.8402963320158481, + -0.0029836308398688005, + 0.0621013543380764, + -0.036523372513869626, + -0.9974013560496042 + ], + [ + 0.8359969275600164, + -0.53743979484165, + 0.1107592164597489, + -0.5428579994960154, + -0.8394819118823467, + 0.023985662499578755, + 0.08008950925930602, + -0.08017846682822478, + -0.9935577909531375 + ], + [ + 0.819238839141956, + -0.5529591064423787, + 0.15193403517246107, + -0.5669425629971951, + -0.820802552394568, + 0.06970868127237834, + 0.08616179375751122, + -0.1432459304308809, + -0.9859293832275613 + ], + [ + 0.8033395046566618, + -0.5452254178621053, + 0.23953054914787342, + -0.5823440724823238, + -0.8033621457366009, + 0.12443730968719306, + 0.12458339176106588, + -0.23945460219961728, + -0.9628813384746492 + ], + [ + 0.7799671126933159, + -0.5332719670129887, + 0.32752452170020785, + -0.604231262751939, + -0.7779726564940135, + 0.17222986634392073, + 0.1629597626104351, + -0.332234186900965, + -0.9290126806584532 + ], + [ + 0.7468290442183231, + -0.5358662585000113, + 0.39381941510436674, + -0.641913280967066, + -0.7356202835400565, + 0.2163565070954508, + 0.17376339784328304, + -0.4143792362626852, + -0.8933622614171203 + ], + [ + 0.6955988095091967, + -0.5059525210389463, + 0.5100532743387918, + -0.6945048006975728, + -0.6552526610378936, + 0.29716499122673234, + 0.18386238880590253, + -0.560942061764933, + -0.80717942573228 + ], + [ + 0.6405237858471031, + -0.5060806071862503, + 0.5775912904416849, + -0.7484087471008598, + -0.5799222303302851, + 0.32183000797263966, + 0.17208610352674003, + -0.6384141491216686, + -0.7502091356243539 + ], + [ + 0.6160465329126886, + -0.5017476139159667, + 0.6072363635487334, + -0.7744622892340418, + -0.52658889719561, + 0.35058849939020886, + 0.1438569839827834, + -0.6862604937485075, + -0.7129878700787495 + ], + [ + 0.6013663274067051, + -0.41777852659097403, + 0.6810430551593973, + -0.7854619981554273, + -0.46523143425165114, + 0.40817785588862465, + 0.14631469411872028, + -0.7803978570598629, + -0.6079236752926462 + ], + [ + 0.5855741826141866, + -0.4136738538344537, + 0.6971203764842036, + -0.8008104290263522, + -0.42858998813419313, + 0.41834588420798546, + 0.12572005972936962, + -0.8032338169704278, + -0.5822455683444576 + ], + [ + 0.6362346620230483, + -0.42580165556711747, + 0.6433493646198143, + -0.7632005330510757, + -0.46932869496202534, + 0.4441345769423897, + 0.11282907954499488, + -0.7735783904696043, + -0.6235752341197373 + ], + [ + 0.6389163836632311, + -0.5745104754003519, + 0.511589257453634, + -0.7691045210908719, + -0.4910973496490524, + 0.40902521781090384, + 0.016250856109131573, + -0.65479852383992, + -0.7556287467088466 + ], + [ + 0.5985456911654622, + -0.6299773540097552, + 0.4948450151533573, + -0.8009698297906608, + -0.4599877766911936, + 0.3832213160300615, + -0.013798092345641444, + -0.6257313950326928, + -0.7799165557404593 + ], + [ + 0.5890619478967175, + -0.6419100878152251, + 0.49087418011255674, + -0.8079828052035549, + -0.4580688852639052, + 0.37058964212249274, + -0.013031041229269846, + -0.6149181535083617, + -0.7884832632658398 + ], + [ + 0.5915442098013479, + -0.6886196489109887, + 0.4193786200847692, + -0.8056874360024774, + -0.4850454669545632, + 0.3399980153685951, + -0.030711615363777672, + -0.539011942465597, + -0.8417380367793836 + ], + [ + 0.6183247596505463, + -0.7015045010256226, + 0.3543528279044578, + -0.7852851450455124, + -0.5333036777054707, + 0.3145066427226423, + -0.03165015914560981, + -0.47273525612821776, + -0.8806359321759735 + ], + [ + 0.642972153905087, + -0.7138872551305543, + 0.27740186781061227, + -0.76427392865843, + -0.5745379966172102, + 0.2929017794689746, + -0.049720933978179824, + -0.40033870335660243, + -0.9150173502830927 + ], + [ + 0.6531595795979865, + -0.7504124600190722, + 0.10130993745682357, + -0.7539924407878085, + -0.6321877554027602, + 0.17842096612691738, + -0.06984241414945633, + -0.19292429024605462, + -0.9787248108732258 + ], + [ + 0.6825621089477416, + -0.7308257571038839, + 0.0016371262462136701, + -0.7277489109884856, + -0.6794796472874391, + 0.09321443813707421, + -0.06701111836019813, + -0.06481606032205285, + -0.9956447098942691 + ], + [ + 0.6751336206426912, + -0.7352337065739879, + -0.06021620210014758, + -0.7353470953435594, + -0.6772466363186322, + 0.024528411381269245, + -0.05881533514043008, + 0.027719854122514556, + -0.9978839441737428 + ], + [ + 0.6780325247021671, + -0.7267770089846911, + -0.10985023740197927, + -0.7343172671518919, + -0.6763545569129455, + -0.05764255811178019, + -0.03240442267009171, + 0.11974845533182969, + -0.9922752948839645 + ], + [ + 0.6943125129581723, + -0.7029260550441291, + -0.15435379972584337, + -0.7189568447427387, + -0.6870497612444642, + -0.10518403382400895, + -0.03211214329927769, + 0.18400431167237, + -0.9824007448789439 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0021631866693496704, + 0.0006175115704536438, + -0.0030166208744049072, + 0.004563590511679649, + 0.014223377220332623, + -0.0185250137001276, + 1.0 + ], + [ + 0.008119329810142517, + 0.014068949967622757, + 0.01010134071111679, + -0.00900302641093731, + 0.01588241010904312, + -0.18969394266605377, + 1.0 + ], + [ + 0.014311164617538452, + 0.01194693148136139, + 0.0089874267578125, + -0.023481186479330063, + 0.009361921809613705, + -0.17700622975826263, + 1.0 + ], + [ + 0.023469924926757812, + 0.009212855249643326, + 0.0028475522994995117, + -0.0025392957031726837, + -0.02062017098069191, + -0.10812854766845703, + 1.0 + ], + [ + 0.03576101362705231, + 0.007921088486909866, + -0.005243465304374695, + -0.010527841746807098, + -0.05059918388724327, + -0.0022874772548675537, + 1.0 + ], + [ + 0.024887800216674805, + 0.004153041169047356, + -0.013738207519054413, + -0.010586090385913849, + -0.034468501806259155, + 0.03286585211753845, + 1.0 + ], + [ + 0.016846388578414917, + 0.0009895535185933113, + -0.012480244040489197, + 0.06290467083454132, + -0.026367738842964172, + -0.02846372127532959, + 1.0 + ], + [ + 0.011731177568435669, + -0.0012918533757328987, + -0.007023222744464874, + 0.054185252636671066, + -0.03220222145318985, + -0.04446953535079956, + 1.0 + ], + [ + -0.00022241473197937012, + -0.004304344765841961, + -0.020220473408699036, + -0.004865443333983421, + 0.05434373766183853, + -0.019617557525634766, + 1.0 + ], + [ + -0.0021188557147979736, + -0.0048569003120064735, + -0.013367898762226105, + -0.014370822347700596, + 0.03785821795463562, + -0.013532817363739014, + 1.0 + ], + [ + 0.0024778246879577637, + 0.0016212966293096542, + -0.007711470127105713, + 0.020585350692272186, + 0.011522088199853897, + -0.006082594394683838, + 0.0 + ], + [ + 0.0019063949584960938, + -0.0005890447646379471, + 0.00012391060590744019, + 0.0010831169784069061, + -0.013407625257968903, + -0.006594538688659668, + 0.0 + ], + [ + 0.0023283660411834717, + 0.0030662864446640015, + 0.0047607868909835815, + 0.04392167180776596, + -0.018034037202596664, + -0.0017158985137939453, + 0.0 + ], + [ + -0.007906615734100342, + -0.0009744074195623398, + 0.004696689546108246, + 0.06375683844089508, + -0.006093382835388184, + -0.029439806938171387, + 0.0 + ], + [ + -0.009265691041946411, + -0.004008825868368149, + 0.009404465556144714, + 0.09946039319038391, + -0.03863918036222458, + -0.021884500980377197, + 0.0 + ], + [ + -0.011861413717269897, + -0.002262147143483162, + 0.009272098541259766, + 0.09970660507678986, + -0.03878183662891388, + -0.03186988830566406, + 0.0 + ], + [ + -0.007948845624923706, + -0.002169998362660408, + 0.004216767847537994, + 0.09085771441459656, + -0.01096014678478241, + -0.05087888240814209, + 0.0 + ], + [ + -0.009062975645065308, + 0.0024544671177864075, + 0.004621446132659912, + 0.17301717400550842, + -0.010264471173286438, + -0.07461708784103394, + 0.0 + ], + [ + -0.0063530802726745605, + 0.007299808785319328, + 0.0041175708174705505, + 0.09774106740951538, + 0.01196742057800293, + -0.07830607891082764, + 0.0 + ], + [ + -0.0014626085758209229, + 0.01409037783741951, + 0.0009377896785736084, + 0.06123560667037964, + 0.02858912944793701, + -0.03591829538345337, + 0.0 + ], + [ + 0.0030125081539154053, + 0.014760076999664307, + 0.0008104443550109863, + 0.14269781112670898, + -0.0024839937686920166, + -0.018536865711212158, + 0.0 + ], + [ + 0.00349581241607666, + 0.003029078245162964, + -0.0029191747307777405, + 0.034571826457977295, + 0.020788222551345825, + -0.022046208381652832, + 0.0 + ], + [ + -0.0019530951976776123, + 0.0012776199728250504, + -0.0011578649282455444, + -0.05121701955795288, + 0.012983761727809906, + 0.06354165077209473, + 1.0 + ], + [ + -0.017245173454284668, + -0.003957611508667469, + -0.0008932128548622131, + -0.17832142114639282, + 0.09681828320026398, + -0.0017208456993103027, + 1.0 + ], + [ + -0.025304555892944336, + -0.008859623223543167, + -0.010549470782279968, + -0.03788524866104126, + 0.03005010262131691, + -0.05144292116165161, + 1.0 + ], + [ + -0.008875682950019836, + -0.0029805374797433615, + -0.005090102553367615, + -0.013796806335449219, + -0.0007671201601624489, + -0.011796176433563232, + 1.0 + ], + [ + -0.011282920837402344, + -0.0030431817285716534, + 0.007175765931606293, + -0.09278273582458496, + 0.01768503524363041, + 0.0033596158027648926, + 1.0 + ], + [ + -0.004196077585220337, + 0.0027489899657666683, + 0.015244714915752411, + -0.0769045352935791, + 0.0009390003979206085, + 0.033684730529785156, + 1.0 + ], + [ + 0.0011584311723709106, + 0.00495848199352622, + 0.014044150710105896, + -0.0802336037158966, + 0.01808599755167961, + 0.032408952713012695, + 1.0 + ], + [ + 0.006565362215042114, + 0.002902424894273281, + 0.02130182832479477, + -0.21780462563037872, + 0.02015787735581398, + 0.014450311660766602, + 1.0 + ], + [ + 0.009383976459503174, + 0.00034724175930023193, + 0.016226917505264282, + -0.12961503863334656, + -0.002837948501110077, + 0.03950577974319458, + 1.0 + ], + [ + -0.0004616975784301758, + -0.0012394264340400696, + 0.009208202362060547, + -0.09277935326099396, + -0.008212074637413025, + -0.010634779930114746, + 1.0 + ], + [ + 0.0003048330545425415, + 0.004554589278995991, + 0.01562945544719696, + -0.09232839196920395, + -0.026439201086759567, + 0.0028333663940429688, + 1.0 + ], + [ + 0.0047255754470825195, + 0.006358022801578045, + 0.009223073720932007, + -0.0650554895401001, + -0.0002924315631389618, + 0.02239471673965454, + 1.0 + ], + [ + -0.0007188171148300171, + -0.000215042382478714, + 0.00010435283184051514, + -0.002902701497077942, + 0.0035984069108963013, + -0.003714621067047119, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9893313646316528 + ], + [ + 0.9893313646316528 + ], + [ + 0.9893313646316528 + ], + [ + 0.9893313646316528 + ], + [ + 0.9893313646316528 + ], + [ + 0.9893313646316528 + ], + [ + 0.9893313646316528 + ], + [ + 0.9893313646316528 + ], + [ + 0.9893313646316528 + ], + [ + 0.9893313646316528 + ], + [ + 0.9383087754249573 + ], + [ + 0.6701657772064209 + ], + [ + 0.38577979803085327 + ], + [ + 0.17734436690807343 + ], + [ + 0.07270156592130661 + ], + [ + 0.05729193985462189 + ], + [ + 0.05784503370523453 + ], + [ + 0.06065736711025238 + ], + [ + 0.06065736711025238 + ], + [ + 0.06065736711025238 + ], + [ + 0.0609428733587265 + ], + [ + 0.061804234981536865 + ], + [ + 0.08606764674186707 + ], + [ + 0.24793511629104614 + ], + [ + 0.5168834924697876 + ], + [ + 0.8168079853057861 + ], + [ + 0.9941151142120361 + ], + [ + 0.993436336517334 + ], + [ + 0.993436336517334 + ], + [ + 0.993436336517334 + ], + [ + 0.993436336517334 + ], + [ + 0.993436336517334 + ], + [ + 0.993436336517334 + ], + [ + 0.993436336517334 + ], + [ + 0.993436336517334 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.18838325142860413, + -0.05767698585987091, + 0.10401717573404312 + ], + [ + 0.19650258123874664, + -0.043608035892248154, + 0.11411851644515991 + ], + [ + 0.2108137458562851, + -0.031661104410886765, + 0.12310594320297241 + ], + [ + 0.2342836707830429, + -0.02244824916124344, + 0.12595349550247192 + ], + [ + 0.2700446844100952, + -0.014527160674333572, + 0.12071003019809723 + ], + [ + 0.29493248462677, + -0.010374119505286217, + 0.10697182267904282 + ], + [ + 0.31177887320518494, + -0.009384565986692905, + 0.09449157863855362 + ], + [ + 0.3235100507736206, + -0.010676419362425804, + 0.08746835589408875 + ], + [ + 0.32328763604164124, + -0.014980764128267765, + 0.06724788248538971 + ], + [ + 0.32116878032684326, + -0.01983766444027424, + 0.053879983723163605 + ], + [ + 0.323646605014801, + -0.018216367810964584, + 0.04616851359605789 + ], + [ + 0.3255529999732971, + -0.01880541257560253, + 0.04629242420196533 + ], + [ + 0.3278813660144806, + -0.01573912613093853, + 0.051053211092948914 + ], + [ + 0.31997475028038025, + -0.01671353355050087, + 0.05574990063905716 + ], + [ + 0.31070905923843384, + -0.02072235941886902, + 0.06515436619520187 + ], + [ + 0.29884764552116394, + -0.02298450656235218, + 0.07442646473646164 + ], + [ + 0.29089879989624023, + -0.02515450492501259, + 0.07864323258399963 + ], + [ + 0.2818358242511749, + -0.02270003780722618, + 0.08326467871665955 + ], + [ + 0.27548274397850037, + -0.015400229021906853, + 0.0873822495341301 + ], + [ + 0.27402013540267944, + -0.0013098511844873428, + 0.0883200392127037 + ], + [ + 0.27703264355659485, + 0.013450225815176964, + 0.08913048356771469 + ], + [ + 0.2805284559726715, + 0.016479304060339928, + 0.08621130883693695 + ], + [ + 0.2785753607749939, + 0.017756924033164978, + 0.0850534439086914 + ], + [ + 0.26133018732070923, + 0.013799312524497509, + 0.0841602310538292 + ], + [ + 0.2360256314277649, + 0.004939689766615629, + 0.07361076027154922 + ], + [ + 0.22714994847774506, + 0.0019591522868722677, + 0.06852065771818161 + ], + [ + 0.2158670276403427, + -0.0010840295581147075, + 0.0756964236497879 + ], + [ + 0.21167095005512238, + 0.0016649604076519608, + 0.09094113856554031 + ], + [ + 0.2128293812274933, + 0.006623442284762859, + 0.10498528927564621 + ], + [ + 0.2193947434425354, + 0.00952586717903614, + 0.12628711760044098 + ], + [ + 0.22877871990203857, + 0.009873108938336372, + 0.14251403510570526 + ], + [ + 0.2283170223236084, + 0.008633682504296303, + 0.1517222374677658 + ], + [ + 0.22862185537815094, + 0.013188271783292294, + 0.16735169291496277 + ], + [ + 0.23334743082523346, + 0.01954629458487034, + 0.17657476663589478 + ], + [ + 0.23262861371040344, + 0.019331252202391624, + 0.1766791194677353 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9998469807154371, + -0.011549737424652965, + 0.013138444338872913, + -0.011192745318767504, + -0.9995747105564379, + -0.026928060981850188, + 0.013443868730886177, + 0.026776885207854276, + -0.9995510296188543 + ], + [ + 0.9798868738995907, + -0.19932625717527014, + -0.009526676219222863, + -0.19953889310342843, + -0.9792798338364164, + -0.034572202423038045, + -0.002438134193683927, + 0.03577778978387308, + -0.9993567957740793 + ], + [ + 0.9293789661393923, + -0.3676666090511607, + -0.032802467689115294, + -0.3689383449671236, + -0.928069673957334, + -0.050706783507217766, + -0.011799784345243132, + 0.05922790617225177, + -0.9981747443307994 + ], + [ + 0.8841632976304277, + -0.4667026792125755, + -0.02106827802864126, + -0.46709471284452314, + -0.882254942771552, + -0.058726017980606324, + 0.008819997504580816, + 0.06176427099035342, + -0.998051793482207 + ], + [ + 0.881568319200924, + -0.4716976391050151, + 0.01840206086318951, + -0.46830630892322395, + -0.8788041240103813, + -0.09161065792282176, + 0.05938433803591315, + 0.072143252526492, + -0.9956248548077409 + ], + [ + 0.8941103894107572, + -0.44532341530381325, + 0.04747280621463146, + -0.4379241525088563, + -0.8915645656576425, + -0.11547753856529588, + 0.0937499237180727, + 0.08246017854605278, + -0.9921750202242591 + ], + [ + 0.8787907103157124, + -0.46727419688916877, + 0.09685924005683923, + -0.4618820948781152, + -0.883889151340967, + -0.07351801529386802, + 0.1199659030466984, + 0.01986940017534454, + -0.9925791600889385 + ], + [ + 0.8536087514393648, + -0.49935781043347444, + 0.14830332641318267, + -0.4982853186647162, + -0.8657375831267442, + -0.04701253412725132, + 0.1518678394833186, + -0.03376705970246662, + -0.9878238431065122 + ], + [ + 0.8494656221609221, + -0.5183034280511446, + 0.09884185974165677, + -0.5184714504673432, + -0.8546995287751801, + -0.02600135692179074, + 0.097956683371002, + -0.029159423552549312, + -0.9947633970955285 + ], + [ + 0.8449063364078078, + -0.53165960499238, + 0.05891813911931579, + -0.5315137937059243, + -0.8468269445292927, + -0.019421975170373793, + 0.06021934737501472, + -0.014906053754397032, + -0.9980738648833556 + ], + [ + 0.8421869109271387, + -0.5358210910313416, + 0.06014121273291915, + -0.5369805505433646, + -0.8435862006375947, + 0.003769672661193598, + 0.048714427032948836, + -0.03546943049740567, + -0.9981827608704935 + ], + [ + 0.8380037287755071, + -0.5408956624534201, + 0.07198355991072955, + -0.5421191495858845, + -0.8402963320158481, + -0.0029836308398688005, + 0.0621013543380764, + -0.036523372513869626, + -0.9974013560496042 + ], + [ + 0.8359969275600164, + -0.53743979484165, + 0.1107592164597489, + -0.5428579994960154, + -0.8394819118823467, + 0.023985662499578755, + 0.08008950925930602, + -0.08017846682822478, + -0.9935577909531375 + ], + [ + 0.819238839141956, + -0.5529591064423787, + 0.15193403517246107, + -0.5669425629971951, + -0.820802552394568, + 0.06970868127237834, + 0.08616179375751122, + -0.1432459304308809, + -0.9859293832275613 + ], + [ + 0.8033395046566618, + -0.5452254178621053, + 0.23953054914787342, + -0.5823440724823238, + -0.8033621457366009, + 0.12443730968719306, + 0.12458339176106588, + -0.23945460219961728, + -0.9628813384746492 + ], + [ + 0.7799671126933159, + -0.5332719670129887, + 0.32752452170020785, + -0.604231262751939, + -0.7779726564940135, + 0.17222986634392073, + 0.1629597626104351, + -0.332234186900965, + -0.9290126806584532 + ], + [ + 0.7468290442183231, + -0.5358662585000113, + 0.39381941510436674, + -0.641913280967066, + -0.7356202835400565, + 0.2163565070954508, + 0.17376339784328304, + -0.4143792362626852, + -0.8933622614171203 + ], + [ + 0.6955988095091967, + -0.5059525210389463, + 0.5100532743387918, + -0.6945048006975728, + -0.6552526610378936, + 0.29716499122673234, + 0.18386238880590253, + -0.560942061764933, + -0.80717942573228 + ], + [ + 0.6405237858471031, + -0.5060806071862503, + 0.5775912904416849, + -0.7484087471008598, + -0.5799222303302851, + 0.32183000797263966, + 0.17208610352674003, + -0.6384141491216686, + -0.7502091356243539 + ], + [ + 0.6160465329126886, + -0.5017476139159667, + 0.6072363635487334, + -0.7744622892340418, + -0.52658889719561, + 0.35058849939020886, + 0.1438569839827834, + -0.6862604937485075, + -0.7129878700787495 + ], + [ + 0.6013663274067051, + -0.41777852659097403, + 0.6810430551593973, + -0.7854619981554273, + -0.46523143425165114, + 0.40817785588862465, + 0.14631469411872028, + -0.7803978570598629, + -0.6079236752926462 + ], + [ + 0.5855741826141866, + -0.4136738538344537, + 0.6971203764842036, + -0.8008104290263522, + -0.42858998813419313, + 0.41834588420798546, + 0.12572005972936962, + -0.8032338169704278, + -0.5822455683444576 + ], + [ + 0.6362346620230483, + -0.42580165556711747, + 0.6433493646198143, + -0.7632005330510757, + -0.46932869496202534, + 0.4441345769423897, + 0.11282907954499488, + -0.7735783904696043, + -0.6235752341197373 + ], + [ + 0.6389163836632311, + -0.5745104754003519, + 0.511589257453634, + -0.7691045210908719, + -0.4910973496490524, + 0.40902521781090384, + 0.016250856109131573, + -0.65479852383992, + -0.7556287467088466 + ], + [ + 0.5985456911654622, + -0.6299773540097552, + 0.4948450151533573, + -0.8009698297906608, + -0.4599877766911936, + 0.3832213160300615, + -0.013798092345641444, + -0.6257313950326928, + -0.7799165557404593 + ], + [ + 0.5890619478967175, + -0.6419100878152251, + 0.49087418011255674, + -0.8079828052035549, + -0.4580688852639052, + 0.37058964212249274, + -0.013031041229269846, + -0.6149181535083617, + -0.7884832632658398 + ], + [ + 0.5915442098013479, + -0.6886196489109887, + 0.4193786200847692, + -0.8056874360024774, + -0.4850454669545632, + 0.3399980153685951, + -0.030711615363777672, + -0.539011942465597, + -0.8417380367793836 + ], + [ + 0.6183247596505463, + -0.7015045010256226, + 0.3543528279044578, + -0.7852851450455124, + -0.5333036777054707, + 0.3145066427226423, + -0.03165015914560981, + -0.47273525612821776, + -0.8806359321759735 + ], + [ + 0.642972153905087, + -0.7138872551305543, + 0.27740186781061227, + -0.76427392865843, + -0.5745379966172102, + 0.2929017794689746, + -0.049720933978179824, + -0.40033870335660243, + -0.9150173502830927 + ], + [ + 0.6531595795979865, + -0.7504124600190722, + 0.10130993745682357, + -0.7539924407878085, + -0.6321877554027602, + 0.17842096612691738, + -0.06984241414945633, + -0.19292429024605462, + -0.9787248108732258 + ], + [ + 0.6825621089477416, + -0.7308257571038839, + 0.0016371262462136701, + -0.7277489109884856, + -0.6794796472874391, + 0.09321443813707421, + -0.06701111836019813, + -0.06481606032205285, + -0.9956447098942691 + ], + [ + 0.6751336206426912, + -0.7352337065739879, + -0.06021620210014758, + -0.7353470953435594, + -0.6772466363186322, + 0.024528411381269245, + -0.05881533514043008, + 0.027719854122514556, + -0.9978839441737428 + ], + [ + 0.6780325247021671, + -0.7267770089846911, + -0.10985023740197927, + -0.7343172671518919, + -0.6763545569129455, + -0.05764255811178019, + -0.03240442267009171, + 0.11974845533182969, + -0.9922752948839645 + ], + [ + 0.6943125129581723, + -0.7029260550441291, + -0.15435379972584337, + -0.7189568447427387, + -0.6870497612444642, + -0.10518403382400895, + -0.03211214329927769, + 0.18400431167237, + -0.9824007448789439 + ], + [ + 0.6915526373221912, + -0.704555928012545, + -0.15923534191599417, + -0.7214428975035126, + -0.6846127536532101, + -0.10404577443176287, + -0.0357084787474646, + 0.18683233616735279, + -0.9817426254919317 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005674.json b/json/chunk-0005/episode_0005674.json new file mode 100644 index 0000000000000000000000000000000000000000..eff6d598e7e36a07ca533f0bb25875c443bb1f6e --- /dev/null +++ b/json/chunk-0005/episode_0005674.json @@ -0,0 +1,2122 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 34, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the orange carrot to the front middle edge of counter." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005674.mp4", + "start": 0, + "end": 34, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.33763882517814636, + -0.06615625321865082, + 0.08939162641763687, + -0.07054264843463898, + -0.20444203913211823, + 0.2800460755825043, + 0.0, + 1.0001531839370728 + ], + [ + 0.33667030930519104, + -0.06595749408006668, + 0.07850734889507294, + -0.05593779683113098, + -0.1773180365562439, + 0.27721792459487915, + 0.0, + 1.0001531839370728 + ], + [ + 0.3418417274951935, + -0.07003278285264969, + 0.06947647035121918, + -0.031142190098762512, + -0.18621675670146942, + 0.23662960529327393, + 0.0, + 1.0001531839370728 + ], + [ + 0.3525994122028351, + -0.0750342383980751, + 0.061674732714891434, + -0.02909456379711628, + -0.22060509026050568, + 0.20305056869983673, + 0.0, + 1.0001531839370728 + ], + [ + 0.36548468470573425, + -0.08211211115121841, + 0.053641680628061295, + -0.06697279214859009, + -0.27875179052352905, + 0.15341155230998993, + 0.0, + 1.0001531839370728 + ], + [ + 0.3770028054714203, + -0.08644593507051468, + 0.05358104780316353, + -0.15033333003520966, + -0.3501799702644348, + 0.13953769207000732, + 0.0, + 1.0001531839370728 + ], + [ + 0.38571158051490784, + -0.0880010649561882, + 0.03775390610098839, + -0.17424215376377106, + -0.3723258376121521, + 0.11094217747449875, + 0.0, + 1.0001531839370728 + ], + [ + 0.39640167355537415, + -0.09281780570745468, + 0.03341677039861679, + -0.1565154641866684, + -0.39566919207572937, + 0.0704573318362236, + 0.0, + 1.0001531839370728 + ], + [ + 0.4010639786720276, + -0.09728947281837463, + 0.020475976169109344, + -0.11235928535461426, + -0.39239615201950073, + 0.00501286331564188, + 0.0, + 0.9788280129432678 + ], + [ + 0.40665844082832336, + -0.09916950017213821, + 0.02152801677584648, + -0.09903007745742798, + -0.40809687972068787, + -0.02696705423295498, + 0.0, + 0.8740299344062805 + ], + [ + 0.40770813822746277, + -0.10461479425430298, + 0.02317042089998722, + -0.08272620290517807, + -0.4285757541656494, + -0.027802322059869766, + 0.0, + 0.6019018292427063 + ], + [ + 0.4084615707397461, + -0.10680384933948517, + 0.023240739479660988, + -0.07649639993906021, + -0.4388822317123413, + -0.01938612014055252, + 0.0, + 0.5650128126144409 + ], + [ + 0.4076985716819763, + -0.10736522078514099, + 0.0229960884898901, + -0.06827337294816971, + -0.43650683760643005, + -0.02384055405855179, + 0.0, + 0.5650128126144409 + ], + [ + 0.3993137776851654, + -0.10281023383140564, + 0.03375009074807167, + -0.049400802701711655, + -0.45158660411834717, + -0.01983116939663887, + 0.0, + 0.5650128126144409 + ], + [ + 0.3848114311695099, + -0.09430839866399765, + 0.05695353075861931, + -0.023772800341248512, + -0.475874125957489, + -0.02114517241716385, + 0.0, + 0.5650128126144409 + ], + [ + 0.3665023148059845, + -0.08521859347820282, + 0.07461981475353241, + 0.012834097258746624, + -0.43264904618263245, + -0.041292205452919006, + 0.0, + 0.5650128126144409 + ], + [ + 0.3503541648387909, + -0.06469278782606125, + 0.08359574526548386, + -0.005540927872061729, + -0.35518693923950195, + 0.010436923243105412, + 0.0, + 0.5650128126144409 + ], + [ + 0.32636910676956177, + -0.050874847918748856, + 0.08234720677137375, + -0.00405200244858861, + -0.292304664850235, + 0.06406236439943314, + 0.0, + 0.5650128126144409 + ], + [ + 0.2970951795578003, + -0.016830235719680786, + 0.08015686273574829, + -0.024035269394516945, + -0.2972288727760315, + 0.2182387411594391, + 0.0, + 0.5650128126144409 + ], + [ + 0.27689725160598755, + -0.00800205860286951, + 0.07863476872444153, + -0.046617306768894196, + -0.3323526382446289, + 0.2875511944293976, + 0.0, + 0.5650128126144409 + ], + [ + 0.254317045211792, + 0.004045038018375635, + 0.0695483461022377, + -0.05200810357928276, + -0.3582041561603546, + 0.3970400094985962, + 0.0, + 0.5650128126144409 + ], + [ + 0.24188801646232605, + 0.009716479107737541, + 0.05718643590807915, + -0.02958674170076847, + -0.3557682931423187, + 0.4644570052623749, + 0.0, + 0.5650128126144409 + ], + [ + 0.2401275634765625, + 0.008251187391579151, + 0.039766959846019745, + 0.0018105882918462157, + -0.3479754328727722, + 0.4774482846260071, + 0.0, + 0.5650128126144409 + ], + [ + 0.25021594762802124, + 0.008535567671060562, + 0.030595509335398674, + 0.01190250739455223, + -0.36039263010025024, + 0.4522618055343628, + 0.0, + 0.5650128126144409 + ], + [ + 0.25217002630233765, + 0.008997487835586071, + 0.028864474967122078, + 0.020664243027567863, + -0.3616260886192322, + 0.45172151923179626, + 0.0, + 0.5650128126144409 + ], + [ + 0.24818271398544312, + 0.008213557302951813, + 0.026455987244844437, + 0.01865915209054947, + -0.35611602663993835, + 0.49676743149757385, + 0.0, + 0.6520930528640747 + ], + [ + 0.24393075704574585, + 0.007465353701263666, + 0.02627735771238804, + 0.03660477325320244, + -0.3372892737388611, + 0.5267038941383362, + 0.0, + 0.9430103898048401 + ], + [ + 0.24529772996902466, + 0.0037966195959597826, + 0.025946885347366333, + 0.010549819096922874, + -0.33271318674087524, + 0.5319514274597168, + 0.0, + 1.0131081342697144 + ], + [ + 0.24393737316131592, + 0.0037194800097495317, + 0.025722762569785118, + 0.013897349126636982, + -0.32321828603744507, + 0.5372387170791626, + 0.0, + 1.00800359249115 + ], + [ + 0.24807101488113403, + 0.002566092647612095, + 0.029107436537742615, + -0.016031796112656593, + -0.2967703342437744, + 0.5568574070930481, + 0.0, + 1.0027955770492554 + ], + [ + 0.25295308232307434, + 0.004781713709235191, + 0.045149318873882294, + -0.001176307094283402, + -0.3053005039691925, + 0.565756618976593, + 0.0, + 1.0014774799346924 + ], + [ + 0.25404101610183716, + 0.005762663669884205, + 0.06256405264139175, + -0.003784741507843137, + -0.3294743299484253, + 0.5612652897834778, + 0.0, + 1.0014774799346924 + ], + [ + 0.25616201758384705, + 0.0008689393871463835, + 0.08190169185400009, + 0.007890446111559868, + -0.36784088611602783, + 0.5403355360031128, + 0.0, + 1.0014774799346924 + ], + [ + 0.25863656401634216, + -0.0023901178501546383, + 0.09945406019687653, + 0.009189639240503311, + -0.406382292509079, + 0.5292217135429382, + 0.0, + 1.0014774799346924 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9788280129432678 + ], + [ + 0.8740299344062805 + ], + [ + 0.6019018292427063 + ], + [ + 0.5650128126144409 + ], + [ + 0.5650128126144409 + ], + [ + 0.5650128126144409 + ], + [ + 0.5650128126144409 + ], + [ + 0.5650128126144409 + ], + [ + 0.5650128126144409 + ], + [ + 0.5650128126144409 + ], + [ + 0.5650128126144409 + ], + [ + 0.5650128126144409 + ], + [ + 0.5650128126144409 + ], + [ + 0.5650128126144409 + ], + [ + 0.5650128126144409 + ], + [ + 0.5650128126144409 + ], + [ + 0.5650128126144409 + ], + [ + 0.6520930528640747 + ], + [ + 0.9430103898048401 + ], + [ + 1.0131081342697144 + ], + [ + 1.00800359249115 + ], + [ + 1.0027955770492554 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.33763882517814636, + -0.06615625321865082, + 0.08939162641763687 + ], + [ + 0.33667030930519104, + -0.06595749408006668, + 0.07850734889507294 + ], + [ + 0.3418417274951935, + -0.07003278285264969, + 0.06947647035121918 + ], + [ + 0.3525994122028351, + -0.0750342383980751, + 0.061674732714891434 + ], + [ + 0.36548468470573425, + -0.08211211115121841, + 0.053641680628061295 + ], + [ + 0.3770028054714203, + -0.08644593507051468, + 0.05358104780316353 + ], + [ + 0.38571158051490784, + -0.0880010649561882, + 0.03775390610098839 + ], + [ + 0.39640167355537415, + -0.09281780570745468, + 0.03341677039861679 + ], + [ + 0.4010639786720276, + -0.09728947281837463, + 0.020475976169109344 + ], + [ + 0.40665844082832336, + -0.09916950017213821, + 0.02152801677584648 + ], + [ + 0.40770813822746277, + -0.10461479425430298, + 0.02317042089998722 + ], + [ + 0.4084615707397461, + -0.10680384933948517, + 0.023240739479660988 + ], + [ + 0.4076985716819763, + -0.10736522078514099, + 0.0229960884898901 + ], + [ + 0.3993137776851654, + -0.10281023383140564, + 0.03375009074807167 + ], + [ + 0.3848114311695099, + -0.09430839866399765, + 0.05695353075861931 + ], + [ + 0.3665023148059845, + -0.08521859347820282, + 0.07461981475353241 + ], + [ + 0.3503541648387909, + -0.06469278782606125, + 0.08359574526548386 + ], + [ + 0.32636910676956177, + -0.050874847918748856, + 0.08234720677137375 + ], + [ + 0.2970951795578003, + -0.016830235719680786, + 0.08015686273574829 + ], + [ + 0.27689725160598755, + -0.00800205860286951, + 0.07863476872444153 + ], + [ + 0.254317045211792, + 0.004045038018375635, + 0.0695483461022377 + ], + [ + 0.24188801646232605, + 0.009716479107737541, + 0.05718643590807915 + ], + [ + 0.2401275634765625, + 0.008251187391579151, + 0.039766959846019745 + ], + [ + 0.25021594762802124, + 0.008535567671060562, + 0.030595509335398674 + ], + [ + 0.25217002630233765, + 0.008997487835586071, + 0.028864474967122078 + ], + [ + 0.24818271398544312, + 0.008213557302951813, + 0.026455987244844437 + ], + [ + 0.24393075704574585, + 0.007465353701263666, + 0.02627735771238804 + ], + [ + 0.24529772996902466, + 0.0037966195959597826, + 0.025946885347366333 + ], + [ + 0.24393737316131592, + 0.0037194800097495317, + 0.025722762569785118 + ], + [ + 0.24807101488113403, + 0.002566092647612095, + 0.029107436537742615 + ], + [ + 0.25295308232307434, + 0.004781713709235191, + 0.045149318873882294 + ], + [ + 0.25404101610183716, + 0.005762663669884205, + 0.06256405264139175 + ], + [ + 0.25616201758384705, + 0.0008689393871463835, + 0.08190169185400009 + ], + [ + 0.25863656401634216, + -0.0023901178501546383, + 0.09945406019687653 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9410284271582268, + 0.2619602108169538, + 0.21410826053389712, + 0.2706437391304604, + -0.9626077086089588, + -0.011762899136402945, + 0.20302085052919397, + 0.06901628268276283, + -0.9767391089615772 + ], + [ + 0.946739506928132, + 0.2637675624725119, + 0.1846915780667525, + 0.2693896214101512, + -0.963015135940452, + -0.005574928348291451, + 0.17639029989762248, + 0.05503199920866694, + -0.9827807187593397 + ], + [ + 0.9553270753272874, + 0.22870965800352863, + 0.18719527633602412, + 0.23037463852748888, + -0.9730136704206286, + 0.013111944855954264, + 0.18514239133688504, + 0.030598848188873477, + -0.9822352088067167 + ], + [ + 0.9557190663200439, + 0.19533801477920792, + 0.2201002640944837, + 0.1967710214001323, + -0.9803251122623492, + 0.01561535798376074, + 0.21882008913601192, + 0.02838545842381737, + -0.9753522616678435 + ], + [ + 0.9501084898024015, + 0.13427000750540868, + 0.2815411562985017, + 0.14691196011175078, + -0.9888538792001532, + -0.02418432481860686, + 0.2751558350853625, + 0.06433949545423899, + -0.9592443357889431 + ], + [ + 0.9301812613057913, + 0.08663565872100282, + 0.3567311084746405, + 0.13064436444060623, + -0.9862574889421688, + -0.10113464067963204, + 0.3430668610569635, + 0.14067845657195044, + -0.9287166956080075 + ], + [ + 0.9257572143454262, + 0.04635996764976644, + 0.3752656838653238, + 0.10312897831357082, + -0.9857858602964109, + -0.13262975334239321, + 0.3637828939345493, + 0.1614837175667492, + -0.9173794280674855 + ], + [ + 0.9204494479311012, + 0.00960849068386066, + 0.3907435101317856, + 0.06495993993160076, + -0.9895551867921832, + -0.12868853288762605, + 0.38542576458692207, + 0.1438339639983024, + -0.9114596923578799 + ], + [ + 0.923983806865319, + -0.03789446821535482, + 0.3805495157392114, + 0.004631843327300024, + -0.9938967802518858, + -0.1102167692881897, + 0.382403544280207, + 0.10360115580248201, + -0.9181690094085759 + ], + [ + 0.9175440327777497, + -0.06605459998407506, + 0.39210934410555426, + -0.024749459434502595, + -0.9936807371888998, + -0.10948085128196942, + 0.39686321594680957, + 0.09074900749136945, + -0.9133806465366384 + ], + [ + 0.9092070463794772, + -0.06203020934194936, + 0.41169746166681787, + -0.025284582191963154, + -0.9952403972738735, + -0.09411291907873365, + 0.41557578937816486, + 0.07515853087398891, + -0.9064479899694073 + ], + [ + 0.9050571028818721, + -0.05179587579361844, + 0.422124185251028, + -0.017547744059673718, + -0.9962587206460298, + -0.08462055433020964, + 0.4249278964736116, + 0.06917910658217426, + -0.9025799322004693 + ], + [ + 0.9059764891178871, + -0.052616517019005216, + 0.42004535862501335, + -0.021603074480696084, + -0.9966992249017478, + -0.07825574901077223, + 0.4227764283147877, + 0.06182359757442313, + -0.904122743019081 + ], + [ + 0.8995789311125794, + -0.04135086896297337, + 0.43479633431568426, + -0.017842041174443865, + -0.9981563148133424, + -0.05801407385261889, + 0.4363936391207813, + 0.04443058444646744, + -0.8986581746696943 + ], + [ + 0.8886938978338418, + -0.032024853536582146, + 0.4573812028372545, + -0.018794386884151304, + -0.9992637059309062, + -0.033448722410285715, + 0.4581156262064656, + 0.02112947621669714, + -0.8886414452749016 + ], + [ + 0.9070843914713949, + -0.035900762247152114, + 0.4194151189681208, + -0.037476817379396864, + -0.9992874382847531, + -0.004483731192567604, + 0.41927722917907284, + -0.011651221239394776, + -0.9077834841720519 + ], + [ + 0.9375304295418704, + 0.008509744019507345, + 0.34779919197686227, + 0.009785288435542052, + -0.9999502966476513, + -0.0019111160370582705, + 0.3477656420828099, + 0.005195044850269658, + -0.9375671014363368 + ], + [ + 0.9556180266819133, + 0.06285280305400394, + 0.2878258366248946, + 0.06130303548291944, + -0.9980152653411729, + 0.014403749045581199, + 0.28815989471324044, + 0.0038801152357570883, + -0.9575744460795783 + ], + [ + 0.9334721061612858, + 0.20957632208189683, + 0.2910456875499768, + 0.20701687065697646, + -0.9775222369801638, + 0.039928579647789106, + 0.2928717164258207, + 0.022979152114953966, + -0.9558755757345576 + ], + [ + 0.9064654563326021, + 0.26871675907220643, + 0.32574787776662073, + 0.2680852156820868, + -0.9622114487729303, + 0.04774353341540324, + 0.32626782496657025, + 0.04405032626472224, + -0.9442504303136722 + ], + [ + 0.8636750902700487, + 0.3693597677685356, + 0.34298498567866875, + 0.36214627950639927, + -0.9280103039196896, + 0.08744682989427535, + 0.350592941581396, + 0.04868508778731767, + -0.9352616487060961 + ], + [ + 0.8380778291572832, + 0.4385290204514718, + 0.32452711827656044, + 0.41988717938234066, + -0.8982891228050541, + 0.12950447266588544, + 0.34831064994535854, + 0.027729949008240204, + -0.936968911470729 + ], + [ + 0.8349378781618271, + 0.46006192075870994, + 0.30202941690907026, + 0.43197332863875865, + -0.8878852020539154, + 0.15830006733551744, + 0.3409952828931473, + -0.0017020697649568345, + -0.9400634659442618 + ], + [ + 0.8416782134543401, + 0.4407453380095493, + 0.31196367099256683, + 0.4089274256226235, + -0.8975630900912966, + 0.1647994535167422, + 0.3526416673763384, + -0.011137608747449679, + -0.9356921545580175 + ], + [ + 0.8415070479699661, + 0.44299897399308397, + 0.3092212755583745, + 0.40828243762201, + -0.8963137847880123, + 0.1729943650192641, + 0.3537956180428225, + -0.019326361273239334, + -0.9351230680576934 + ], + [ + 0.8239695033499508, + 0.4822218557236468, + 0.29755056614242475, + 0.44668421479185166, + -0.8758745754084137, + 0.18252928644170363, + 0.3486365870143609, + -0.017487424497991524, + -0.9370948298755066 + ], + [ + 0.8157603514772054, + 0.512819471723145, + 0.26749063232079806, + 0.47436291183811397, + -0.8578015812704533, + 0.19787944572990715, + 0.3309303202038938, + -0.03453457096163157, + -0.9430230572887621 + ], + [ + 0.8145564857113017, + 0.5101573385176594, + 0.2761108863160457, + 0.47940018728006933, + -0.8600232947705495, + 0.17474379212962937, + 0.3266086220868771, + -0.009971078606998848, + -0.9451070762458214 + ], + [ + 0.8146379887958458, + 0.5155083582306202, + 0.2657368619612826, + 0.4852654800243009, + -0.856783223171474, + 0.1744704054809434, + 0.3176198373959725, + -0.013177294345598264, + -0.9481265726717533 + ], + [ + 0.8118104738825065, + 0.5244733200177569, + 0.25669337950989657, + 0.5054172008324371, + -0.8512888568177038, + 0.140928121255876, + 0.29243325323458713, + 0.015330324444006324, + -0.956163047578747 + ], + [ + 0.8051454083748938, + 0.5357558422836985, + 0.2543748195708643, + 0.511265740436393, + -0.8443722039336456, + 0.16013408094551373, + 0.30057979644156385, + 0.0011219104786578116, + -0.953756010354863 + ], + [ + 0.8010468259865736, + 0.5312173148674182, + 0.27592054465350313, + 0.5036290074405934, + -0.8472280328626225, + 0.16900438809727186, + 0.32354567751901475, + 0.003581161373188993, + -0.9462057756333875 + ], + [ + 0.8001720497991941, + 0.5168409034343827, + 0.3043027624871111, + 0.4800118617126815, + -0.8560498078133674, + 0.19174811383119866, + 0.35960158972852374, + -0.007362545743689317, + -0.9330768937150306 + ], + [ + 0.7928985280795557, + 0.507975943883623, + 0.3365596003753523, + 0.46374416194560697, + -0.8613298952655818, + 0.20749015346071029, + 0.3952888518926903, + -0.00844108744918215, + -0.9185180845318368 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0009685158729553223, + 0.00019875913858413696, + -0.010884277522563934, + 0.014604851603507996, + 0.02712400257587433, + -0.002828150987625122, + 1.0 + ], + [ + 0.005171418190002441, + -0.004075288772583008, + -0.00903087854385376, + 0.02479560673236847, + -0.008898720145225525, + -0.040588319301605225, + 1.0 + ], + [ + 0.010757684707641602, + -0.005001455545425415, + -0.0078017376363277435, + 0.0020476263016462326, + -0.034388333559036255, + -0.033579036593437195, + 1.0 + ], + [ + 0.01288527250289917, + -0.0070778727531433105, + -0.00803305208683014, + -0.03787823021411896, + -0.058146700263023376, + -0.0496390163898468, + 1.0 + ], + [ + 0.011518120765686035, + -0.004333823919296265, + -6.063282489776611e-05, + -0.08336053788661957, + -0.07142817974090576, + -0.013873860239982605, + 1.0 + ], + [ + 0.008708775043487549, + -0.001555129885673523, + -0.01582714170217514, + -0.0239088237285614, + -0.022145867347717285, + -0.028595514595508575, + 1.0 + ], + [ + 0.010690093040466309, + -0.0048167407512664795, + -0.004337135702371597, + 0.01772668957710266, + -0.02334335446357727, + -0.040484845638275146, + 1.0 + ], + [ + 0.004662305116653442, + -0.004471667110919952, + -0.012940794229507446, + 0.04415617883205414, + 0.0032730400562286377, + -0.0654444694519043, + 0.0 + ], + [ + 0.005594462156295776, + -0.0018800273537635803, + 0.0010520406067371368, + 0.01332920789718628, + -0.015700727701187134, + -0.031979918479919434, + 0.0 + ], + [ + 0.0010496973991394043, + -0.005445294082164764, + 0.0016424041241407394, + 0.01630387455224991, + -0.020478874444961548, + -0.0008352678269147873, + 0.0 + ], + [ + 0.0007534325122833252, + -0.00218905508518219, + 7.031857967376709e-05, + 0.006229802966117859, + -0.010306477546691895, + 0.008416201919317245, + 0.0 + ], + [ + -0.0007629990577697754, + -0.0005613714456558228, + -0.0002446509897708893, + 0.008223026990890503, + 0.002375394105911255, + -0.004454433917999268, + 0.0 + ], + [ + -0.008384793996810913, + 0.0045549869537353516, + 0.010754002258181572, + 0.018872570246458054, + -0.015079766511917114, + 0.004009384661912918, + 0.0 + ], + [ + -0.014502346515655518, + 0.00850183516740799, + 0.023203440010547638, + 0.025628002360463142, + -0.024287521839141846, + -0.0013140030205249786, + 0.0 + ], + [ + -0.01830911636352539, + 0.00908980518579483, + 0.0176662839949131, + 0.03660689666867256, + 0.04322507977485657, + -0.020147033035755157, + 0.0 + ], + [ + -0.016148149967193604, + 0.02052580565214157, + 0.008975930511951447, + -0.01837502419948578, + 0.0774621069431305, + 0.05172912776470184, + 0.0 + ], + [ + -0.023985058069229126, + 0.013817939907312393, + -0.0012485384941101074, + 0.0014889254234731197, + 0.06288227438926697, + 0.0536254420876503, + 0.0 + ], + [ + -0.029273927211761475, + 0.03404461219906807, + -0.0021903440356254578, + -0.019983267411589622, + -0.004924207925796509, + 0.15417638421058655, + 0.0 + ], + [ + -0.020197927951812744, + 0.008828177116811275, + -0.0015220940113067627, + -0.02258203737437725, + -0.03512376546859741, + 0.0693124532699585, + 0.0 + ], + [ + -0.022580206394195557, + 0.012047097086906433, + -0.009086422622203827, + -0.005390796810388565, + -0.025851517915725708, + 0.10948881506919861, + 0.0 + ], + [ + -0.012429028749465942, + 0.005671441089361906, + -0.012361910194158554, + 0.02242136187851429, + 0.0024358630180358887, + 0.06741699576377869, + 0.0 + ], + [ + -0.0017604529857635498, + -0.00146529171615839, + -0.017419476062059402, + 0.03139733150601387, + 0.007792860269546509, + 0.012991279363632202, + 0.0 + ], + [ + 0.01008838415145874, + 0.000284380279481411, + -0.00917145051062107, + 0.01009191945195198, + -0.012417197227478027, + -0.025186479091644287, + 0.0 + ], + [ + 0.0019540786743164062, + 0.0004619201645255089, + -0.001731034368276596, + 0.008761735633015633, + -0.0012334585189819336, + -0.0005402863025665283, + 0.0 + ], + [ + -0.003987312316894531, + -0.0007839305326342583, + -0.0024084877222776413, + -0.0020050909370183945, + 0.005510061979293823, + 0.04504591226577759, + 1.0 + ], + [ + -0.004251956939697266, + -0.0007482036016881466, + -0.000178629532456398, + 0.01794562116265297, + 0.01882675290107727, + 0.02993646264076233, + 1.0 + ], + [ + 0.0013669729232788086, + -0.0036687341053038836, + -0.00033047236502170563, + -0.026054954156279564, + 0.00457608699798584, + 0.005247533321380615, + 1.0 + ], + [ + -0.0013603568077087402, + -7.713958621025085e-05, + -0.0002241227775812149, + 0.0033475300297141075, + 0.009494900703430176, + 0.005287289619445801, + 1.0 + ], + [ + 0.004133641719818115, + -0.0011533873621374369, + 0.0033846739679574966, + -0.02992914617061615, + 0.026447951793670654, + 0.019618690013885498, + 1.0 + ], + [ + 0.004882067441940308, + 0.0022156210616230965, + 0.01604188233613968, + 0.014855489134788513, + -0.00853016972541809, + 0.008899211883544922, + 1.0 + ], + [ + 0.0010879337787628174, + 0.0009809499606490135, + 0.01741473376750946, + -0.002608434297144413, + -0.024173825979232788, + -0.004491329193115234, + 1.0 + ], + [ + 0.0021210014820098877, + -0.004893724340945482, + 0.019337639212608337, + 0.011675187386572361, + -0.03836655616760254, + -0.02092975378036499, + 1.0 + ], + [ + 0.002474546432495117, + -0.003259057179093361, + 0.017552368342876434, + 0.0012991931289434433, + -0.03854140639305115, + -0.01111382246017456, + 1.0 + ], + [ + -0.00015684962272644043, + 0.0002542673610150814, + 2.682209014892578e-07, + 0.00036600232124328613, + 3.6656856536865234e-06, + 0.0038393735885620117, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9788280129432678 + ], + [ + 0.8740299344062805 + ], + [ + 0.6019018292427063 + ], + [ + 0.5650128126144409 + ], + [ + 0.5650128126144409 + ], + [ + 0.5650128126144409 + ], + [ + 0.5650128126144409 + ], + [ + 0.5650128126144409 + ], + [ + 0.5650128126144409 + ], + [ + 0.5650128126144409 + ], + [ + 0.5650128126144409 + ], + [ + 0.5650128126144409 + ], + [ + 0.5650128126144409 + ], + [ + 0.5650128126144409 + ], + [ + 0.5650128126144409 + ], + [ + 0.5650128126144409 + ], + [ + 0.5650128126144409 + ], + [ + 0.6520930528640747 + ], + [ + 0.9430103898048401 + ], + [ + 1.0131081342697144 + ], + [ + 1.00800359249115 + ], + [ + 1.0027955770492554 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.33667030930519104, + -0.06595749408006668, + 0.07850734889507294 + ], + [ + 0.3418417274951935, + -0.07003278285264969, + 0.06947647035121918 + ], + [ + 0.3525994122028351, + -0.0750342383980751, + 0.061674732714891434 + ], + [ + 0.36548468470573425, + -0.08211211115121841, + 0.053641680628061295 + ], + [ + 0.3770028054714203, + -0.08644593507051468, + 0.05358104780316353 + ], + [ + 0.38571158051490784, + -0.0880010649561882, + 0.03775390610098839 + ], + [ + 0.39640167355537415, + -0.09281780570745468, + 0.03341677039861679 + ], + [ + 0.4010639786720276, + -0.09728947281837463, + 0.020475976169109344 + ], + [ + 0.40665844082832336, + -0.09916950017213821, + 0.02152801677584648 + ], + [ + 0.40770813822746277, + -0.10461479425430298, + 0.02317042089998722 + ], + [ + 0.4084615707397461, + -0.10680384933948517, + 0.023240739479660988 + ], + [ + 0.4076985716819763, + -0.10736522078514099, + 0.0229960884898901 + ], + [ + 0.3993137776851654, + -0.10281023383140564, + 0.03375009074807167 + ], + [ + 0.3848114311695099, + -0.09430839866399765, + 0.05695353075861931 + ], + [ + 0.3665023148059845, + -0.08521859347820282, + 0.07461981475353241 + ], + [ + 0.3503541648387909, + -0.06469278782606125, + 0.08359574526548386 + ], + [ + 0.32636910676956177, + -0.050874847918748856, + 0.08234720677137375 + ], + [ + 0.2970951795578003, + -0.016830235719680786, + 0.08015686273574829 + ], + [ + 0.27689725160598755, + -0.00800205860286951, + 0.07863476872444153 + ], + [ + 0.254317045211792, + 0.004045038018375635, + 0.0695483461022377 + ], + [ + 0.24188801646232605, + 0.009716479107737541, + 0.05718643590807915 + ], + [ + 0.2401275634765625, + 0.008251187391579151, + 0.039766959846019745 + ], + [ + 0.25021594762802124, + 0.008535567671060562, + 0.030595509335398674 + ], + [ + 0.25217002630233765, + 0.008997487835586071, + 0.028864474967122078 + ], + [ + 0.24818271398544312, + 0.008213557302951813, + 0.026455987244844437 + ], + [ + 0.24393075704574585, + 0.007465353701263666, + 0.02627735771238804 + ], + [ + 0.24529772996902466, + 0.0037966195959597826, + 0.025946885347366333 + ], + [ + 0.24393737316131592, + 0.0037194800097495317, + 0.025722762569785118 + ], + [ + 0.24807101488113403, + 0.002566092647612095, + 0.029107436537742615 + ], + [ + 0.25295308232307434, + 0.004781713709235191, + 0.045149318873882294 + ], + [ + 0.25404101610183716, + 0.005762663669884205, + 0.06256405264139175 + ], + [ + 0.25616201758384705, + 0.0008689393871463835, + 0.08190169185400009 + ], + [ + 0.25863656401634216, + -0.0023901178501546383, + 0.09945406019687653 + ], + [ + 0.2584797143936157, + -0.002135850489139557, + 0.09945432841777802 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.946739506928132, + 0.2637675624725119, + 0.1846915780667525, + 0.2693896214101512, + -0.963015135940452, + -0.005574928348291451, + 0.17639029989762248, + 0.05503199920866694, + -0.9827807187593397 + ], + [ + 0.9553270753272874, + 0.22870965800352863, + 0.18719527633602412, + 0.23037463852748888, + -0.9730136704206286, + 0.013111944855954264, + 0.18514239133688504, + 0.030598848188873477, + -0.9822352088067167 + ], + [ + 0.9557190663200439, + 0.19533801477920792, + 0.2201002640944837, + 0.1967710214001323, + -0.9803251122623492, + 0.01561535798376074, + 0.21882008913601192, + 0.02838545842381737, + -0.9753522616678435 + ], + [ + 0.9501084898024015, + 0.13427000750540868, + 0.2815411562985017, + 0.14691196011175078, + -0.9888538792001532, + -0.02418432481860686, + 0.2751558350853625, + 0.06433949545423899, + -0.9592443357889431 + ], + [ + 0.9301812613057913, + 0.08663565872100282, + 0.3567311084746405, + 0.13064436444060623, + -0.9862574889421688, + -0.10113464067963204, + 0.3430668610569635, + 0.14067845657195044, + -0.9287166956080075 + ], + [ + 0.9257572143454262, + 0.04635996764976644, + 0.3752656838653238, + 0.10312897831357082, + -0.9857858602964109, + -0.13262975334239321, + 0.3637828939345493, + 0.1614837175667492, + -0.9173794280674855 + ], + [ + 0.9204494479311012, + 0.00960849068386066, + 0.3907435101317856, + 0.06495993993160076, + -0.9895551867921832, + -0.12868853288762605, + 0.38542576458692207, + 0.1438339639983024, + -0.9114596923578799 + ], + [ + 0.923983806865319, + -0.03789446821535482, + 0.3805495157392114, + 0.004631843327300024, + -0.9938967802518858, + -0.1102167692881897, + 0.382403544280207, + 0.10360115580248201, + -0.9181690094085759 + ], + [ + 0.9175440327777497, + -0.06605459998407506, + 0.39210934410555426, + -0.024749459434502595, + -0.9936807371888998, + -0.10948085128196942, + 0.39686321594680957, + 0.09074900749136945, + -0.9133806465366384 + ], + [ + 0.9092070463794772, + -0.06203020934194936, + 0.41169746166681787, + -0.025284582191963154, + -0.9952403972738735, + -0.09411291907873365, + 0.41557578937816486, + 0.07515853087398891, + -0.9064479899694073 + ], + [ + 0.9050571028818721, + -0.05179587579361844, + 0.422124185251028, + -0.017547744059673718, + -0.9962587206460298, + -0.08462055433020964, + 0.4249278964736116, + 0.06917910658217426, + -0.9025799322004693 + ], + [ + 0.9059764891178871, + -0.052616517019005216, + 0.42004535862501335, + -0.021603074480696084, + -0.9966992249017478, + -0.07825574901077223, + 0.4227764283147877, + 0.06182359757442313, + -0.904122743019081 + ], + [ + 0.8995789311125794, + -0.04135086896297337, + 0.43479633431568426, + -0.017842041174443865, + -0.9981563148133424, + -0.05801407385261889, + 0.4363936391207813, + 0.04443058444646744, + -0.8986581746696943 + ], + [ + 0.8886938978338418, + -0.032024853536582146, + 0.4573812028372545, + -0.018794386884151304, + -0.9992637059309062, + -0.033448722410285715, + 0.4581156262064656, + 0.02112947621669714, + -0.8886414452749016 + ], + [ + 0.9070843914713949, + -0.035900762247152114, + 0.4194151189681208, + -0.037476817379396864, + -0.9992874382847531, + -0.004483731192567604, + 0.41927722917907284, + -0.011651221239394776, + -0.9077834841720519 + ], + [ + 0.9375304295418704, + 0.008509744019507345, + 0.34779919197686227, + 0.009785288435542052, + -0.9999502966476513, + -0.0019111160370582705, + 0.3477656420828099, + 0.005195044850269658, + -0.9375671014363368 + ], + [ + 0.9556180266819133, + 0.06285280305400394, + 0.2878258366248946, + 0.06130303548291944, + -0.9980152653411729, + 0.014403749045581199, + 0.28815989471324044, + 0.0038801152357570883, + -0.9575744460795783 + ], + [ + 0.9334721061612858, + 0.20957632208189683, + 0.2910456875499768, + 0.20701687065697646, + -0.9775222369801638, + 0.039928579647789106, + 0.2928717164258207, + 0.022979152114953966, + -0.9558755757345576 + ], + [ + 0.9064654563326021, + 0.26871675907220643, + 0.32574787776662073, + 0.2680852156820868, + -0.9622114487729303, + 0.04774353341540324, + 0.32626782496657025, + 0.04405032626472224, + -0.9442504303136722 + ], + [ + 0.8636750902700487, + 0.3693597677685356, + 0.34298498567866875, + 0.36214627950639927, + -0.9280103039196896, + 0.08744682989427535, + 0.350592941581396, + 0.04868508778731767, + -0.9352616487060961 + ], + [ + 0.8380778291572832, + 0.4385290204514718, + 0.32452711827656044, + 0.41988717938234066, + -0.8982891228050541, + 0.12950447266588544, + 0.34831064994535854, + 0.027729949008240204, + -0.936968911470729 + ], + [ + 0.8349378781618271, + 0.46006192075870994, + 0.30202941690907026, + 0.43197332863875865, + -0.8878852020539154, + 0.15830006733551744, + 0.3409952828931473, + -0.0017020697649568345, + -0.9400634659442618 + ], + [ + 0.8416782134543401, + 0.4407453380095493, + 0.31196367099256683, + 0.4089274256226235, + -0.8975630900912966, + 0.1647994535167422, + 0.3526416673763384, + -0.011137608747449679, + -0.9356921545580175 + ], + [ + 0.8415070479699661, + 0.44299897399308397, + 0.3092212755583745, + 0.40828243762201, + -0.8963137847880123, + 0.1729943650192641, + 0.3537956180428225, + -0.019326361273239334, + -0.9351230680576934 + ], + [ + 0.8239695033499508, + 0.4822218557236468, + 0.29755056614242475, + 0.44668421479185166, + -0.8758745754084137, + 0.18252928644170363, + 0.3486365870143609, + -0.017487424497991524, + -0.9370948298755066 + ], + [ + 0.8157603514772054, + 0.512819471723145, + 0.26749063232079806, + 0.47436291183811397, + -0.8578015812704533, + 0.19787944572990715, + 0.3309303202038938, + -0.03453457096163157, + -0.9430230572887621 + ], + [ + 0.8145564857113017, + 0.5101573385176594, + 0.2761108863160457, + 0.47940018728006933, + -0.8600232947705495, + 0.17474379212962937, + 0.3266086220868771, + -0.009971078606998848, + -0.9451070762458214 + ], + [ + 0.8146379887958458, + 0.5155083582306202, + 0.2657368619612826, + 0.4852654800243009, + -0.856783223171474, + 0.1744704054809434, + 0.3176198373959725, + -0.013177294345598264, + -0.9481265726717533 + ], + [ + 0.8118104738825065, + 0.5244733200177569, + 0.25669337950989657, + 0.5054172008324371, + -0.8512888568177038, + 0.140928121255876, + 0.29243325323458713, + 0.015330324444006324, + -0.956163047578747 + ], + [ + 0.8051454083748938, + 0.5357558422836985, + 0.2543748195708643, + 0.511265740436393, + -0.8443722039336456, + 0.16013408094551373, + 0.30057979644156385, + 0.0011219104786578116, + -0.953756010354863 + ], + [ + 0.8010468259865736, + 0.5312173148674182, + 0.27592054465350313, + 0.5036290074405934, + -0.8472280328626225, + 0.16900438809727186, + 0.32354567751901475, + 0.003581161373188993, + -0.9462057756333875 + ], + [ + 0.8001720497991941, + 0.5168409034343827, + 0.3043027624871111, + 0.4800118617126815, + -0.8560498078133674, + 0.19174811383119866, + 0.35960158972852374, + -0.007362545743689317, + -0.9330768937150306 + ], + [ + 0.7928985280795557, + 0.507975943883623, + 0.3365596003753523, + 0.46374416194560697, + -0.8613298952655818, + 0.20749015346071029, + 0.3952888518926903, + -0.00844108744918215, + -0.9185180845318368 + ], + [ + 0.7911134493566355, + 0.5114019861916153, + 0.3355704378611396, + 0.4667857065009188, + -0.8592967868360528, + 0.20909360664466325, + 0.3952854847492937, + -0.008777280473244373, + -0.9185163824853696 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005676.json b/json/chunk-0005/episode_0005676.json new file mode 100644 index 0000000000000000000000000000000000000000..d86dd5a5e6d22144c44f868c110e801f1c9e6549 --- /dev/null +++ b/json/chunk-0005/episode_0005676.json @@ -0,0 +1,2122 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 34, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nTook the blue cloth from the box and put it inside the washing machine." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005676.mp4", + "start": 0, + "end": 34, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.19389840960502625, + 0.05820796638727188, + 0.04308943822979927, + -0.18532422184944153, + -0.2221272885799408, + -0.04148562625050545, + 0.0, + 1.0008161067962646 + ], + [ + 0.19313953816890717, + 0.05624569207429886, + 0.040624696761369705, + -0.19280123710632324, + -0.20930592715740204, + -0.03977712616324425, + 0.0, + 1.0008161067962646 + ], + [ + 0.2060050666332245, + 0.030924037098884583, + 0.0387611985206604, + -0.18103083968162537, + -0.20824626088142395, + -0.1048019528388977, + 0.0, + 1.0008161067962646 + ], + [ + 0.22076456248760223, + 0.01139879785478115, + 0.03577041253447533, + -0.1779177188873291, + -0.20810513198375702, + -0.1505962759256363, + 0.0, + 0.9994885921478271 + ], + [ + 0.2326115220785141, + -0.002408552449196577, + 0.03246118128299713, + -0.170060396194458, + -0.20865851640701294, + -0.18255329132080078, + 0.0, + 0.9994885921478271 + ], + [ + 0.23554837703704834, + -0.003831132547929883, + 0.023290852084755898, + -0.17827652394771576, + -0.20629101991653442, + -0.17205898463726044, + 0.0, + 0.9994885921478271 + ], + [ + 0.23405589163303375, + -0.0016438905149698257, + 0.017045194283127785, + -0.15881747007369995, + -0.17990219593048096, + -0.1773996502161026, + 0.0, + 0.9927561283111572 + ], + [ + 0.23532074689865112, + -0.0006527131190523505, + 0.012050125747919083, + -0.1662754863500595, + -0.1818941980600357, + -0.17531806230545044, + 0.0, + 0.9091293215751648 + ], + [ + 0.23536638915538788, + 0.00347666977904737, + 0.011068939231336117, + -0.14996331930160522, + -0.1815464049577713, + -0.174318328499794, + 0.0, + 0.6169373393058777 + ], + [ + 0.23390592634677887, + 0.003477131947875023, + 0.010029584169387817, + -0.15042079985141754, + -0.1784825176000595, + -0.16723507642745972, + 0.0, + 0.3236125409603119 + ], + [ + 0.2327418178319931, + 0.0034508758690208197, + 0.010197526775300503, + -0.15239334106445312, + -0.17096592485904694, + -0.162922665476799, + 0.0, + 0.13712207973003387 + ], + [ + 0.22875261306762695, + 0.004662018269300461, + 0.016893789172172546, + -0.155576691031456, + -0.17782719433307648, + -0.16124725341796875, + 0.0, + 0.07301933318376541 + ], + [ + 0.2221837341785431, + 0.011463443748652935, + 0.02738313563168049, + -0.15247686207294464, + -0.20376206934452057, + -0.13140664994716644, + 0.0, + 0.07018911838531494 + ], + [ + 0.21371270716190338, + 0.022405404597520828, + 0.03881126642227173, + -0.14951112866401672, + -0.23216965794563293, + -0.09071402996778488, + 0.0, + 0.07018911838531494 + ], + [ + 0.20772069692611694, + 0.03144250810146332, + 0.048658911138772964, + -0.15865375101566315, + -0.2640191316604614, + -0.07685039937496185, + 0.0, + 0.07018911838531494 + ], + [ + 0.2109876573085785, + 0.03549481928348541, + 0.06663558632135391, + -0.1588544398546219, + -0.35100072622299194, + -0.09585452079772949, + 0.0, + 0.07018911838531494 + ], + [ + 0.23592007160186768, + 0.03802821412682533, + 0.08930739760398865, + -0.1343184858560562, + -0.466717004776001, + -0.1533583700656891, + 0.0, + 0.07018911838531494 + ], + [ + 0.2636508643627167, + 0.038398634642362595, + 0.10066638886928558, + -0.10521256923675537, + -0.5385400056838989, + -0.20981036126613617, + 0.0, + 0.07018911838531494 + ], + [ + 0.29593876004219055, + 0.027543015778064728, + 0.10281918942928314, + -0.09279567748308182, + -0.6001707911491394, + -0.28716400265693665, + 0.0, + 0.07018911838531494 + ], + [ + 0.3221482038497925, + 0.01919163018465042, + 0.10106844455003738, + -0.0712360218167305, + -0.6275535225868225, + -0.3356136381626129, + 0.0, + 0.07018911838531494 + ], + [ + 0.3446725010871887, + 0.014250745065510273, + 0.09137456864118576, + -0.07487592846155167, + -0.635653018951416, + -0.35111573338508606, + 0.0, + 0.07018911838531494 + ], + [ + 0.36524343490600586, + 0.008545979857444763, + 0.07840575277805328, + -0.09966637939214706, + -0.6583479642868042, + -0.36947840452194214, + 0.0, + 0.07018911838531494 + ], + [ + 0.3842727541923523, + 0.0015209385892376304, + 0.07446746528148651, + -0.09642103314399719, + -0.662206768989563, + -0.4033978283405304, + 0.0, + 0.07018911838531494 + ], + [ + 0.39681681990623474, + -0.0037261387333273888, + 0.0639292299747467, + -0.1261073499917984, + -0.6779731512069702, + -0.41879355907440186, + 0.0, + 0.07018911838531494 + ], + [ + 0.40166035294532776, + -0.00737005565315485, + 0.06006767600774765, + -0.14049990475177765, + -0.673743486404419, + -0.41790589690208435, + 0.0, + 0.08998419344425201 + ], + [ + 0.4005396068096161, + -0.009360512718558311, + 0.05946682393550873, + -0.15534095466136932, + -0.6699222922325134, + -0.413683146238327, + 0.0, + 0.254768431186676 + ], + [ + 0.39746779203414917, + -0.009681597352027893, + 0.05642422288656235, + -0.16366414725780487, + -0.658837616443634, + -0.40682992339134216, + 0.0, + 0.5305274724960327 + ], + [ + 0.3922606110572815, + -0.009743260219693184, + 0.05531575530767441, + -0.17104731500148773, + -0.6454257369041443, + -0.39474809169769287, + 0.0, + 0.8362758755683899 + ], + [ + 0.3891076147556305, + -0.00952836498618126, + 0.06039809435606003, + -0.15355443954467773, + -0.6492955088615417, + -0.41279610991477966, + 0.0, + 1.0092895030975342 + ], + [ + 0.3838367164134979, + -0.011861367151141167, + 0.07366089522838593, + -0.14714907109737396, + -0.6735561490058899, + -0.42176297307014465, + 0.0, + 1.0067112445831299 + ], + [ + 0.3747110664844513, + -0.01677398756146431, + 0.08721145242452621, + -0.15419985353946686, + -0.6971195936203003, + -0.4418755769729614, + 0.0, + 1.0001531839370728 + ], + [ + 0.34857192635536194, + -0.017441628500819206, + 0.10435088723897934, + -0.13312295079231262, + -0.7120600938796997, + -0.46548357605934143, + 0.0, + 1.0001531839370728 + ], + [ + 0.3120843470096588, + -0.006916240323334932, + 0.10107369720935822, + -0.12985436618328094, + -0.6488327383995056, + -0.46789467334747314, + 0.0, + 1.0001531839370728 + ], + [ + 0.2770962417125702, + 0.007035293150693178, + 0.08980734646320343, + -0.055870622396469116, + -0.418418824672699, + -0.5201306939125061, + 0.0, + 1.0001531839370728 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9927561283111572 + ], + [ + 0.9091293215751648 + ], + [ + 0.6169373393058777 + ], + [ + 0.3236125409603119 + ], + [ + 0.13712207973003387 + ], + [ + 0.07301933318376541 + ], + [ + 0.07018911838531494 + ], + [ + 0.07018911838531494 + ], + [ + 0.07018911838531494 + ], + [ + 0.07018911838531494 + ], + [ + 0.07018911838531494 + ], + [ + 0.07018911838531494 + ], + [ + 0.07018911838531494 + ], + [ + 0.07018911838531494 + ], + [ + 0.07018911838531494 + ], + [ + 0.07018911838531494 + ], + [ + 0.07018911838531494 + ], + [ + 0.07018911838531494 + ], + [ + 0.08998419344425201 + ], + [ + 0.254768431186676 + ], + [ + 0.5305274724960327 + ], + [ + 0.8362758755683899 + ], + [ + 1.0092895030975342 + ], + [ + 1.0067112445831299 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.19389840960502625, + 0.05820796638727188, + 0.04308943822979927 + ], + [ + 0.19313953816890717, + 0.05624569207429886, + 0.040624696761369705 + ], + [ + 0.2060050666332245, + 0.030924037098884583, + 0.0387611985206604 + ], + [ + 0.22076456248760223, + 0.01139879785478115, + 0.03577041253447533 + ], + [ + 0.2326115220785141, + -0.002408552449196577, + 0.03246118128299713 + ], + [ + 0.23554837703704834, + -0.003831132547929883, + 0.023290852084755898 + ], + [ + 0.23405589163303375, + -0.0016438905149698257, + 0.017045194283127785 + ], + [ + 0.23532074689865112, + -0.0006527131190523505, + 0.012050125747919083 + ], + [ + 0.23536638915538788, + 0.00347666977904737, + 0.011068939231336117 + ], + [ + 0.23390592634677887, + 0.003477131947875023, + 0.010029584169387817 + ], + [ + 0.2327418178319931, + 0.0034508758690208197, + 0.010197526775300503 + ], + [ + 0.22875261306762695, + 0.004662018269300461, + 0.016893789172172546 + ], + [ + 0.2221837341785431, + 0.011463443748652935, + 0.02738313563168049 + ], + [ + 0.21371270716190338, + 0.022405404597520828, + 0.03881126642227173 + ], + [ + 0.20772069692611694, + 0.03144250810146332, + 0.048658911138772964 + ], + [ + 0.2109876573085785, + 0.03549481928348541, + 0.06663558632135391 + ], + [ + 0.23592007160186768, + 0.03802821412682533, + 0.08930739760398865 + ], + [ + 0.2636508643627167, + 0.038398634642362595, + 0.10066638886928558 + ], + [ + 0.29593876004219055, + 0.027543015778064728, + 0.10281918942928314 + ], + [ + 0.3221482038497925, + 0.01919163018465042, + 0.10106844455003738 + ], + [ + 0.3446725010871887, + 0.014250745065510273, + 0.09137456864118576 + ], + [ + 0.36524343490600586, + 0.008545979857444763, + 0.07840575277805328 + ], + [ + 0.3842727541923523, + 0.0015209385892376304, + 0.07446746528148651 + ], + [ + 0.39681681990623474, + -0.0037261387333273888, + 0.0639292299747467 + ], + [ + 0.40166035294532776, + -0.00737005565315485, + 0.06006767600774765 + ], + [ + 0.4005396068096161, + -0.009360512718558311, + 0.05946682393550873 + ], + [ + 0.39746779203414917, + -0.009681597352027893, + 0.05642422288656235 + ], + [ + 0.3922606110572815, + -0.009743260219693184, + 0.05531575530767441 + ], + [ + 0.3891076147556305, + -0.00952836498618126, + 0.06039809435606003 + ], + [ + 0.3838367164134979, + -0.011861367151141167, + 0.07366089522838593 + ], + [ + 0.3747110664844513, + -0.01677398756146431, + 0.08721145242452621 + ], + [ + 0.34857192635536194, + -0.017441628500819206, + 0.10435088723897934 + ], + [ + 0.3120843470096588, + -0.006916240323334932, + 0.10107369720935822 + ], + [ + 0.2770962417125702, + 0.007035293150693178, + 0.08980734646320343 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9745917382643571, + -0.08132320093262467, + 0.2087042900779256, + -0.04045475958197897, + -0.9803472790932896, + -0.19308709123488313, + 0.2203051432309814, + 0.1797380020041832, + -0.9587282693764282 + ], + [ + 0.9774016233193, + -0.07881103288515556, + 0.19615016652649647, + -0.038898745301815384, + -0.9791117775007286, + -0.19956706835875593, + 0.20778102499203788, + 0.18742718120629887, + -0.96005109103543 + ], + [ + 0.9730268349909155, + -0.1399195171299775, + 0.1834156675796145, + -0.10235010620765886, + -0.9743676722831965, + -0.20032996522913446, + 0.20674436908134322, + 0.17615381896382268, + -0.9624066697179618 + ], + [ + 0.9673501581999947, + -0.1838108420364343, + 0.17449139170830802, + -0.1467907133075769, + -0.9675890040826395, + -0.20548480640918096, + 0.20660628721580077, + 0.17316204413272215, + -0.9629791007881112 + ], + [ + 0.9620534717841677, + -0.21339773337702428, + 0.17004271468539195, + -0.177603343751145, + -0.9628331440539457, + -0.2034929703935885, + 0.20714770024415374, + 0.16557096394217713, + -0.9641971199826391 + ], + [ + 0.9643447646705708, + -0.20428481902524273, + 0.16824650833905916, + -0.16758116140267673, + -0.9634001615098001, + -0.20922878182941518, + 0.2048309771382036, + 0.17357373510619295, + -0.963284189263944 + ], + [ + 0.9684203872801819, + -0.20210405959471844, + 0.14599966642234793, + -0.17362260866604545, + -0.9669245657508109, + -0.18684772920108728, + 0.1789333486527864, + 0.15559830732671903, + -0.971479296483955 + ], + [ + 0.9684268059451694, + -0.20149642180962704, + 0.14679480074155746, + -0.17154387139066482, + -0.9658684665712537, + -0.1940896840937136, + 0.18089284594792507, + 0.16277990441455406, + -0.9699383903133478 + ], + [ + 0.9686597214192257, + -0.19805610139975235, + 0.14990705386458295, + -0.1705865179738312, + -0.9691132514548525, + -0.17810038107810922, + 0.1805507795208642, + 0.14694654318130446, + -0.9725266728791933 + ], + [ + 0.9703846353063601, + -0.19081043679612877, + 0.1481385728668035, + -0.1638123481035361, + -0.9704859098139075, + -0.1769819580112003, + 0.17753640238032486, + 0.14747364531448626, + -0.9730017213589648 + ], + [ + 0.9723713883355701, + -0.18580809631142722, + 0.14131254187608078, + -0.15983808381727824, + -0.9711322692535094, + -0.1770703322867781, + 0.17013427082153798, + 0.14959099892591354, + -0.9740004429836625 + ], + [ + 0.9714627386683465, + -0.185664088547283, + 0.1476109535329363, + -0.15801759971043794, + -0.9707062685762765, + -0.1809966251853158, + 0.17689145135010859, + 0.15250634862401155, + -0.9723431637383089 + ], + [ + 0.9708691574751878, + -0.15997864268710613, + 0.17838136939548987, + -0.12831810165644883, + -0.975849322537208, + -0.1767839486236163, + 0.2023549946275215, + 0.14874452456364023, + -0.9679501653296168 + ], + [ + 0.9691680925788815, + -0.1237110508056936, + 0.21309336975974502, + -0.08815909760198017, + -0.981673416475897, + -0.16895347553259807, + 0.2300895083158223, + 0.14495819843351662, + -0.9623128071837619 + ], + [ + 0.9624996701870809, + -0.11691807045152214, + 0.24479491353304975, + -0.0741144477771905, + -0.9813610372996362, + -0.1773064102080466, + 0.26096251363067935, + 0.15251452151213307, + -0.9532249929620407 + ], + [ + 0.9347184562436203, + -0.1486437889499637, + 0.3228102098201696, + -0.08987241036069561, + -0.9776707991838474, + -0.18995462163152524, + 0.34383769050745727, + 0.14854235904217974, + -0.9272059157256721 + ], + [ + 0.8825691394223282, + -0.21093079402712703, + 0.42021412907042677, + -0.1364205272135999, + -0.9701575964410177, + -0.20045866861413442, + 0.44995683558992083, + 0.1195928016181309, + -0.885006445121747 + ], + [ + 0.8396327782734306, + -0.2598038013504262, + 0.47698928966247056, + -0.17879492894366997, + -0.9614438249578446, + -0.20894531541639602, + 0.5128831943365545, + 0.09015406953819385, + -0.8537113521049339 + ], + [ + 0.7914464323273902, + -0.3322061483717642, + 0.5130805197434837, + -0.2337353790107658, + -0.9401019104318056, + -0.2481454625842739, + 0.564783425177244, + 0.07646877131526962, + -0.8216886330347972 + ], + [ + 0.7643049805766423, + -0.36797370749123537, + 0.5295594841572502, + -0.26659665918612396, + -0.9280495300894838, + -0.26009669550281844, + 0.5871661757769566, + 0.05761441048768043, + -0.8074134391547003 + ], + [ + 0.7555900219889659, + -0.38468490042445375, + 0.5301898207775606, + -0.27676764624378974, + -0.921083094169798, + -0.2738715093383449, + 0.5937031149180423, + 0.06019519100408918, + -0.8024295298134252 + ], + [ + 0.7376237971139384, + -0.41610485865881097, + 0.5317592317315669, + -0.2856545666738317, + -0.9059040255473447, + -0.31263295577322164, + 0.6118109205216926, + 0.07870605502530735, + -0.7870786202360933 + ], + [ + 0.7253353594751768, + -0.4451645336437525, + 0.5250877586468343, + -0.3095761781026537, + -0.8922242808885765, + -0.32878324553452576, + 0.6148586880303228, + 0.0759234520988249, + -0.7849741544630799 + ], + [ + 0.7115379204061393, + -0.4754989245219031, + 0.5173147596991804, + -0.31672423250412585, + -0.8742453870360658, + -0.3679412504610384, + 0.6272157111941471, + 0.09795803195590252, + -0.7726607765420395 + ], + [ + 0.7142370144954784, + -0.48170111956493655, + 0.5077691587074503, + -0.3171663495264643, + -0.8694752583522095, + -0.3787060625886711, + 0.6239158547854365, + 0.10943859704530434, + -0.7737907983583889 + ], + [ + 0.7177477234914222, + -0.48510813976031536, + 0.49950805615241817, + -0.3151035627470767, + -0.8660033181224007, + -0.38826279469592645, + 0.6209250761299467, + 0.12127796889492487, + -0.7744312132744531 + ], + [ + 0.7261669527224806, + -0.4820189281289216, + 0.49024413275345985, + -0.31288171050786134, + -0.8666370696249792, + -0.3886453714911623, + 0.6121981639987344, + 0.12883300228308822, + -0.7801381066960544 + ], + [ + 0.7374074431085504, + -0.473479639452032, + 0.4817128749291255, + -0.30721586425753444, + -0.8702458811751816, + -0.3850850802694481, + 0.6015385902804622, + 0.1359747672254118, + -0.7871862467557401 + ], + [ + 0.7296052512217865, + -0.4811623568963876, + 0.48596189531228384, + -0.31953759859925307, + -0.8681248945827216, + -0.3798090184384266, + 0.6046254216215329, + 0.12182755727523956, + -0.787137945862942 + ], + [ + 0.7131149975679769, + -0.48838733155829095, + 0.5029361933853997, + -0.3199666926544008, + -0.8650693816733039, + -0.38636288704166655, + 0.62376944124847, + 0.11459833883935408, + -0.7731616292211041 + ], + [ + 0.6930545147218273, + -0.5116969151068076, + 0.5077811602392008, + -0.32786594957901194, + -0.8510580091394865, + -0.41012703420548435, + 0.6420119615165634, + 0.1177562403854262, + -0.7575975904924358 + ], + [ + 0.6764742678148102, + -0.5223815981116332, + 0.5191339238951278, + -0.3397910427056158, + -0.84677118280558, + -0.40929281848948834, + 0.6533946833893329, + 0.1004790024053534, + -0.7503195038076633 + ], + [ + 0.7111505423316634, + -0.5170463484048364, + 0.47636958314170885, + -0.35935870580081514, + -0.8497162875461721, + -0.3858024769800138, + 0.6042567556151476, + 0.1031760838565576, + -0.7900813053183073 + ], + [ + 0.7928952789444141, + -0.515906826859987, + 0.3242795439538535, + -0.4541191805926114, + -0.8551237757591018, + -0.2500781836734115, + 0.4063161902331176, + 0.05102425041837237, + -0.9123067901883052 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0007588714361190796, + -0.0019622743129730225, + -0.0024647414684295654, + -0.007477015256881714, + 0.012821361422538757, + 0.0017085000872612, + 1.0 + ], + [ + 0.012865528464317322, + -0.025321654975414276, + -0.0018634982407093048, + 0.011770397424697876, + 0.0010596662759780884, + -0.06502482295036316, + 1.0 + ], + [ + 0.014759495854377747, + -0.01952523924410343, + -0.002990785986185074, + 0.0031131207942962646, + 0.00014112889766693115, + -0.045794323086738586, + 1.0 + ], + [ + 0.011846959590911865, + -0.013807350769639015, + -0.003309231251478195, + 0.007857322692871094, + -0.0005533844232559204, + -0.03195701539516449, + 1.0 + ], + [ + 0.0029368549585342407, + -0.001422580098733306, + -0.009170329198241234, + -0.008216127753257751, + 0.0023674964904785156, + 0.010494306683540344, + 1.0 + ], + [ + -0.0014924854040145874, + 0.0021872420329600573, + -0.006245657801628113, + 0.019459053874015808, + 0.026388823986053467, + -0.005340665578842163, + 0.0 + ], + [ + 0.0012648552656173706, + 0.0009911773959174752, + -0.004995068535208702, + -0.007458016276359558, + -0.0019920021295547485, + 0.0020815879106521606, + 0.0 + ], + [ + 4.564225673675537e-05, + 0.004129382781684399, + -0.0009811865165829659, + 0.016312167048454285, + 0.0003477931022644043, + 0.000999733805656433, + 0.0 + ], + [ + -0.0014604628086090088, + 4.621688276529312e-07, + -0.0010393550619482994, + -0.0004574805498123169, + 0.003063887357711792, + 0.0070832520723342896, + 0.0 + ], + [ + -0.0011641085147857666, + -2.6256078854203224e-05, + 0.0001679426059126854, + -0.0019725412130355835, + 0.007516592741012573, + 0.004312410950660706, + 0.0 + ], + [ + -0.00398920476436615, + 0.0012111424002796412, + 0.006696262396872044, + -0.0031833499670028687, + -0.006861269474029541, + 0.0016754120588302612, + 0.0 + ], + [ + -0.006568878889083862, + 0.006801425479352474, + 0.010489346459507942, + 0.0030998289585113525, + -0.025934875011444092, + 0.029840603470802307, + 0.0 + ], + [ + -0.00847102701663971, + 0.010941960848867893, + 0.01142813079059124, + 0.0029657334089279175, + -0.028407588601112366, + 0.04069261997938156, + 0.0 + ], + [ + -0.005992010235786438, + 0.00903710350394249, + 0.009847644716501236, + -0.009142622351646423, + -0.03184947371482849, + 0.013863630592823029, + 0.0 + ], + [ + 0.003266960382461548, + 0.004052311182022095, + 0.017976675182580948, + -0.00020068883895874023, + -0.08698159456253052, + -0.01900412142276764, + 0.0 + ], + [ + 0.024932414293289185, + 0.00253339484333992, + 0.022671811282634735, + 0.024535953998565674, + -0.11571627855300903, + -0.057503849267959595, + 0.0 + ], + [ + 0.027730792760849, + 0.00037042051553726196, + 0.011358991265296936, + 0.029105916619300842, + -0.07182300090789795, + -0.05645199120044708, + 0.0 + ], + [ + 0.03228789567947388, + -0.010855618864297867, + 0.0021528005599975586, + 0.012416891753673553, + -0.06163078546524048, + -0.07735364139080048, + 0.0 + ], + [ + 0.02620944380760193, + -0.008351385593414307, + -0.001750744879245758, + 0.02155965566635132, + -0.027382731437683105, + -0.04844963550567627, + 0.0 + ], + [ + 0.02252429723739624, + -0.004940885119140148, + -0.009693875908851624, + -0.003639906644821167, + -0.008099496364593506, + -0.015502095222473145, + 0.0 + ], + [ + 0.02057093381881714, + -0.00570476520806551, + -0.012968815863132477, + -0.024790450930595398, + -0.022694945335388184, + -0.01836267113685608, + 0.0 + ], + [ + 0.019029319286346436, + -0.007025041151791811, + -0.0039382874965667725, + 0.003245346248149872, + -0.003858804702758789, + -0.03391942381858826, + 0.0 + ], + [ + 0.012544065713882446, + -0.005247077438980341, + -0.010538235306739807, + -0.02968631684780121, + -0.015766382217407227, + -0.01539573073387146, + 0.0 + ], + [ + 0.004843533039093018, + -0.0036439169198274612, + -0.003861553966999054, + -0.014392554759979248, + 0.0042296648025512695, + 0.0008876621723175049, + 1.0 + ], + [ + -0.00112074613571167, + -0.0019904570654034615, + -0.0006008520722389221, + -0.014841049909591675, + 0.0038211941719055176, + 0.004222750663757324, + 1.0 + ], + [ + -0.003071814775466919, + -0.0003210846334695816, + -0.0030426010489463806, + -0.008323192596435547, + 0.011084675788879395, + 0.006853222846984863, + 1.0 + ], + [ + -0.005207180976867676, + -6.166286766529083e-05, + -0.0011084675788879395, + -0.007383167743682861, + 0.013411879539489746, + 0.012081831693649292, + 1.0 + ], + [ + -0.003152996301651001, + 0.00021489523351192474, + 0.00508233904838562, + 0.017492875456809998, + -0.003869771957397461, + -0.018048018217086792, + 1.0 + ], + [ + -0.005270898342132568, + -0.0023330021649599075, + 0.013262800872325897, + 0.006405368447303772, + -0.024260640144348145, + -0.00896686315536499, + 1.0 + ], + [ + -0.00912564992904663, + -0.004912620410323143, + 0.01355055719614029, + -0.0070507824420928955, + -0.0235634446144104, + -0.020112603902816772, + 1.0 + ], + [ + -0.026139140129089355, + -0.0006676409393548965, + 0.017139434814453125, + 0.021076902747154236, + -0.014940500259399414, + -0.023607999086380005, + 1.0 + ], + [ + -0.036487579345703125, + 0.010525388643145561, + -0.0032771900296211243, + 0.0032685846090316772, + 0.06322735548019409, + -0.002411097288131714, + 1.0 + ], + [ + -0.03498810529708862, + 0.01395153347402811, + -0.011266350746154785, + 0.07398374378681183, + 0.23041391372680664, + -0.05223602056503296, + 1.0 + ], + [ + -0.018292993307113647, + 0.006905124057084322, + -0.013273455202579498, + 0.008639931678771973, + 0.09544399380683899, + -0.03917849063873291, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9927561283111572 + ], + [ + 0.9091293215751648 + ], + [ + 0.6169373393058777 + ], + [ + 0.3236125409603119 + ], + [ + 0.13712207973003387 + ], + [ + 0.07301933318376541 + ], + [ + 0.07018911838531494 + ], + [ + 0.07018911838531494 + ], + [ + 0.07018911838531494 + ], + [ + 0.07018911838531494 + ], + [ + 0.07018911838531494 + ], + [ + 0.07018911838531494 + ], + [ + 0.07018911838531494 + ], + [ + 0.07018911838531494 + ], + [ + 0.07018911838531494 + ], + [ + 0.07018911838531494 + ], + [ + 0.07018911838531494 + ], + [ + 0.07018911838531494 + ], + [ + 0.08998419344425201 + ], + [ + 0.254768431186676 + ], + [ + 0.5305274724960327 + ], + [ + 0.8362758755683899 + ], + [ + 1.0092895030975342 + ], + [ + 1.0067112445831299 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.19313953816890717, + 0.05624569207429886, + 0.040624696761369705 + ], + [ + 0.2060050666332245, + 0.030924037098884583, + 0.0387611985206604 + ], + [ + 0.22076456248760223, + 0.01139879785478115, + 0.03577041253447533 + ], + [ + 0.2326115220785141, + -0.002408552449196577, + 0.03246118128299713 + ], + [ + 0.23554837703704834, + -0.003831132547929883, + 0.023290852084755898 + ], + [ + 0.23405589163303375, + -0.0016438905149698257, + 0.017045194283127785 + ], + [ + 0.23532074689865112, + -0.0006527131190523505, + 0.012050125747919083 + ], + [ + 0.23536638915538788, + 0.00347666977904737, + 0.011068939231336117 + ], + [ + 0.23390592634677887, + 0.003477131947875023, + 0.010029584169387817 + ], + [ + 0.2327418178319931, + 0.0034508758690208197, + 0.010197526775300503 + ], + [ + 0.22875261306762695, + 0.004662018269300461, + 0.016893789172172546 + ], + [ + 0.2221837341785431, + 0.011463443748652935, + 0.02738313563168049 + ], + [ + 0.21371270716190338, + 0.022405404597520828, + 0.03881126642227173 + ], + [ + 0.20772069692611694, + 0.03144250810146332, + 0.048658911138772964 + ], + [ + 0.2109876573085785, + 0.03549481928348541, + 0.06663558632135391 + ], + [ + 0.23592007160186768, + 0.03802821412682533, + 0.08930739760398865 + ], + [ + 0.2636508643627167, + 0.038398634642362595, + 0.10066638886928558 + ], + [ + 0.29593876004219055, + 0.027543015778064728, + 0.10281918942928314 + ], + [ + 0.3221482038497925, + 0.01919163018465042, + 0.10106844455003738 + ], + [ + 0.3446725010871887, + 0.014250745065510273, + 0.09137456864118576 + ], + [ + 0.36524343490600586, + 0.008545979857444763, + 0.07840575277805328 + ], + [ + 0.3842727541923523, + 0.0015209385892376304, + 0.07446746528148651 + ], + [ + 0.39681681990623474, + -0.0037261387333273888, + 0.0639292299747467 + ], + [ + 0.40166035294532776, + -0.00737005565315485, + 0.06006767600774765 + ], + [ + 0.4005396068096161, + -0.009360512718558311, + 0.05946682393550873 + ], + [ + 0.39746779203414917, + -0.009681597352027893, + 0.05642422288656235 + ], + [ + 0.3922606110572815, + -0.009743260219693184, + 0.05531575530767441 + ], + [ + 0.3891076147556305, + -0.00952836498618126, + 0.06039809435606003 + ], + [ + 0.3838367164134979, + -0.011861367151141167, + 0.07366089522838593 + ], + [ + 0.3747110664844513, + -0.01677398756146431, + 0.08721145242452621 + ], + [ + 0.34857192635536194, + -0.017441628500819206, + 0.10435088723897934 + ], + [ + 0.3120843470096588, + -0.006916240323334932, + 0.10107369720935822 + ], + [ + 0.2770962417125702, + 0.007035293150693178, + 0.08980734646320343 + ], + [ + 0.25880324840545654, + 0.0139404172077775, + 0.07653389126062393 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9774016233193, + -0.07881103288515556, + 0.19615016652649647, + -0.038898745301815384, + -0.9791117775007286, + -0.19956706835875593, + 0.20778102499203788, + 0.18742718120629887, + -0.96005109103543 + ], + [ + 0.9730268349909155, + -0.1399195171299775, + 0.1834156675796145, + -0.10235010620765886, + -0.9743676722831965, + -0.20032996522913446, + 0.20674436908134322, + 0.17615381896382268, + -0.9624066697179618 + ], + [ + 0.9673501581999947, + -0.1838108420364343, + 0.17449139170830802, + -0.1467907133075769, + -0.9675890040826395, + -0.20548480640918096, + 0.20660628721580077, + 0.17316204413272215, + -0.9629791007881112 + ], + [ + 0.9620534717841677, + -0.21339773337702428, + 0.17004271468539195, + -0.177603343751145, + -0.9628331440539457, + -0.2034929703935885, + 0.20714770024415374, + 0.16557096394217713, + -0.9641971199826391 + ], + [ + 0.9643447646705708, + -0.20428481902524273, + 0.16824650833905916, + -0.16758116140267673, + -0.9634001615098001, + -0.20922878182941518, + 0.2048309771382036, + 0.17357373510619295, + -0.963284189263944 + ], + [ + 0.9684203872801819, + -0.20210405959471844, + 0.14599966642234793, + -0.17362260866604545, + -0.9669245657508109, + -0.18684772920108728, + 0.1789333486527864, + 0.15559830732671903, + -0.971479296483955 + ], + [ + 0.9684268059451694, + -0.20149642180962704, + 0.14679480074155746, + -0.17154387139066482, + -0.9658684665712537, + -0.1940896840937136, + 0.18089284594792507, + 0.16277990441455406, + -0.9699383903133478 + ], + [ + 0.9686597214192257, + -0.19805610139975235, + 0.14990705386458295, + -0.1705865179738312, + -0.9691132514548525, + -0.17810038107810922, + 0.1805507795208642, + 0.14694654318130446, + -0.9725266728791933 + ], + [ + 0.9703846353063601, + -0.19081043679612877, + 0.1481385728668035, + -0.1638123481035361, + -0.9704859098139075, + -0.1769819580112003, + 0.17753640238032486, + 0.14747364531448626, + -0.9730017213589648 + ], + [ + 0.9723713883355701, + -0.18580809631142722, + 0.14131254187608078, + -0.15983808381727824, + -0.9711322692535094, + -0.1770703322867781, + 0.17013427082153798, + 0.14959099892591354, + -0.9740004429836625 + ], + [ + 0.9714627386683465, + -0.185664088547283, + 0.1476109535329363, + -0.15801759971043794, + -0.9707062685762765, + -0.1809966251853158, + 0.17689145135010859, + 0.15250634862401155, + -0.9723431637383089 + ], + [ + 0.9708691574751878, + -0.15997864268710613, + 0.17838136939548987, + -0.12831810165644883, + -0.975849322537208, + -0.1767839486236163, + 0.2023549946275215, + 0.14874452456364023, + -0.9679501653296168 + ], + [ + 0.9691680925788815, + -0.1237110508056936, + 0.21309336975974502, + -0.08815909760198017, + -0.981673416475897, + -0.16895347553259807, + 0.2300895083158223, + 0.14495819843351662, + -0.9623128071837619 + ], + [ + 0.9624996701870809, + -0.11691807045152214, + 0.24479491353304975, + -0.0741144477771905, + -0.9813610372996362, + -0.1773064102080466, + 0.26096251363067935, + 0.15251452151213307, + -0.9532249929620407 + ], + [ + 0.9347184562436203, + -0.1486437889499637, + 0.3228102098201696, + -0.08987241036069561, + -0.9776707991838474, + -0.18995462163152524, + 0.34383769050745727, + 0.14854235904217974, + -0.9272059157256721 + ], + [ + 0.8825691394223282, + -0.21093079402712703, + 0.42021412907042677, + -0.1364205272135999, + -0.9701575964410177, + -0.20045866861413442, + 0.44995683558992083, + 0.1195928016181309, + -0.885006445121747 + ], + [ + 0.8396327782734306, + -0.2598038013504262, + 0.47698928966247056, + -0.17879492894366997, + -0.9614438249578446, + -0.20894531541639602, + 0.5128831943365545, + 0.09015406953819385, + -0.8537113521049339 + ], + [ + 0.7914464323273902, + -0.3322061483717642, + 0.5130805197434837, + -0.2337353790107658, + -0.9401019104318056, + -0.2481454625842739, + 0.564783425177244, + 0.07646877131526962, + -0.8216886330347972 + ], + [ + 0.7643049805766423, + -0.36797370749123537, + 0.5295594841572502, + -0.26659665918612396, + -0.9280495300894838, + -0.26009669550281844, + 0.5871661757769566, + 0.05761441048768043, + -0.8074134391547003 + ], + [ + 0.7555900219889659, + -0.38468490042445375, + 0.5301898207775606, + -0.27676764624378974, + -0.921083094169798, + -0.2738715093383449, + 0.5937031149180423, + 0.06019519100408918, + -0.8024295298134252 + ], + [ + 0.7376237971139384, + -0.41610485865881097, + 0.5317592317315669, + -0.2856545666738317, + -0.9059040255473447, + -0.31263295577322164, + 0.6118109205216926, + 0.07870605502530735, + -0.7870786202360933 + ], + [ + 0.7253353594751768, + -0.4451645336437525, + 0.5250877586468343, + -0.3095761781026537, + -0.8922242808885765, + -0.32878324553452576, + 0.6148586880303228, + 0.0759234520988249, + -0.7849741544630799 + ], + [ + 0.7115379204061393, + -0.4754989245219031, + 0.5173147596991804, + -0.31672423250412585, + -0.8742453870360658, + -0.3679412504610384, + 0.6272157111941471, + 0.09795803195590252, + -0.7726607765420395 + ], + [ + 0.7142370144954784, + -0.48170111956493655, + 0.5077691587074503, + -0.3171663495264643, + -0.8694752583522095, + -0.3787060625886711, + 0.6239158547854365, + 0.10943859704530434, + -0.7737907983583889 + ], + [ + 0.7177477234914222, + -0.48510813976031536, + 0.49950805615241817, + -0.3151035627470767, + -0.8660033181224007, + -0.38826279469592645, + 0.6209250761299467, + 0.12127796889492487, + -0.7744312132744531 + ], + [ + 0.7261669527224806, + -0.4820189281289216, + 0.49024413275345985, + -0.31288171050786134, + -0.8666370696249792, + -0.3886453714911623, + 0.6121981639987344, + 0.12883300228308822, + -0.7801381066960544 + ], + [ + 0.7374074431085504, + -0.473479639452032, + 0.4817128749291255, + -0.30721586425753444, + -0.8702458811751816, + -0.3850850802694481, + 0.6015385902804622, + 0.1359747672254118, + -0.7871862467557401 + ], + [ + 0.7296052512217865, + -0.4811623568963876, + 0.48596189531228384, + -0.31953759859925307, + -0.8681248945827216, + -0.3798090184384266, + 0.6046254216215329, + 0.12182755727523956, + -0.787137945862942 + ], + [ + 0.7131149975679769, + -0.48838733155829095, + 0.5029361933853997, + -0.3199666926544008, + -0.8650693816733039, + -0.38636288704166655, + 0.62376944124847, + 0.11459833883935408, + -0.7731616292211041 + ], + [ + 0.6930545147218273, + -0.5116969151068076, + 0.5077811602392008, + -0.32786594957901194, + -0.8510580091394865, + -0.41012703420548435, + 0.6420119615165634, + 0.1177562403854262, + -0.7575975904924358 + ], + [ + 0.6764742678148102, + -0.5223815981116332, + 0.5191339238951278, + -0.3397910427056158, + -0.84677118280558, + -0.40929281848948834, + 0.6533946833893329, + 0.1004790024053534, + -0.7503195038076633 + ], + [ + 0.7111505423316634, + -0.5170463484048364, + 0.47636958314170885, + -0.35935870580081514, + -0.8497162875461721, + -0.3858024769800138, + 0.6042567556151476, + 0.1031760838565576, + -0.7900813053183073 + ], + [ + 0.7928952789444141, + -0.515906826859987, + 0.3242795439538535, + -0.4541191805926114, + -0.8551237757591018, + -0.2500781836734115, + 0.4063161902331176, + 0.05102425041837237, + -0.9123067901883052 + ], + [ + 0.8037959425373332, + -0.5427106211889704, + 0.24367450504556734, + -0.5031662931191777, + -0.8387256105596684, + -0.20823792080218576, + 0.3173889793758223, + 0.04477199839177895, + -0.9472379341700693 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005677.json b/json/chunk-0005/episode_0005677.json new file mode 100644 index 0000000000000000000000000000000000000000..6a43399f264391237a5c21fbfe86774b033c8b1c --- /dev/null +++ b/json/chunk-0005/episode_0005677.json @@ -0,0 +1,1942 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 31, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove chicken to right side of table, near edge." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005677.mp4", + "start": 0, + "end": 31, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.30393579602241516, + 0.04863109812140465, + 0.12900373339653015, + -0.050135813653469086, + -0.12090326845645905, + -0.0045159789733588696, + 0.0, + 0.9988223910331726 + ], + [ + 0.3029946982860565, + 0.04728400707244873, + 0.12232165038585663, + -0.059198398143053055, + -0.09912862628698349, + -0.0021189143881201744, + 0.0, + 0.9988223910331726 + ], + [ + 0.2871456444263458, + 0.05771912634372711, + 0.11312002688646317, + -0.09891502559185028, + -0.03682766109704971, + 0.06533227860927582, + 0.0, + 0.9988223910331726 + ], + [ + 0.2649949789047241, + 0.07958158105611801, + 0.10779155045747757, + -0.10433658212423325, + -0.008180567063391209, + 0.1622544676065445, + 0.0, + 0.9988223910331726 + ], + [ + 0.25245344638824463, + 0.10003853589296341, + 0.10013290494680405, + -0.08143872022628784, + 0.00349116581492126, + 0.2169916033744812, + 0.0, + 0.9988223910331726 + ], + [ + 0.25060105323791504, + 0.10958924889564514, + 0.09527368098497391, + -0.046235207468271255, + -0.01555227767676115, + 0.2537139058113098, + 0.0, + 0.9988223910331726 + ], + [ + 0.2560957372188568, + 0.11292742937803268, + 0.08320993930101395, + -0.015552174299955368, + -0.04888611286878586, + 0.28478723764419556, + 0.0, + 0.9988223910331726 + ], + [ + 0.2672044634819031, + 0.1063821017742157, + 0.06622128188610077, + 0.005607959348708391, + -0.04722181707620621, + 0.2606443166732788, + 0.0, + 0.9981546401977539 + ], + [ + 0.2701670825481415, + 0.10478754341602325, + 0.05622406303882599, + 0.021094679832458496, + -0.034939542412757874, + 0.2573246955871582, + 0.0, + 0.9988223910331726 + ], + [ + 0.2685854136943817, + 0.10517633706331253, + 0.04606934264302254, + 0.026492642238736153, + -0.00378876319155097, + 0.2601824998855591, + 0.0, + 0.9988223910331726 + ], + [ + 0.2666153311729431, + 0.10611974447965622, + 0.03892406076192856, + 0.03412342816591263, + 0.02248608134686947, + 0.2729237377643585, + 0.0, + 0.9988223910331726 + ], + [ + 0.2654399573802948, + 0.10527206212282181, + 0.03541203960776329, + 0.030419381335377693, + 0.037614576518535614, + 0.27325692772865295, + 0.0, + 0.9981546401977539 + ], + [ + 0.26617196202278137, + 0.10429048538208008, + 0.03465868532657623, + 0.02290615253150463, + 0.040107883512973785, + 0.2771453261375427, + 0.0, + 0.9590815901756287 + ], + [ + 0.2672156095504761, + 0.10481052100658417, + 0.04028237983584404, + 0.006181814707815647, + 0.014386662282049656, + 0.2814103066921234, + 0.0, + 0.684196949005127 + ], + [ + 0.2677265405654907, + 0.10506445169448853, + 0.06096324697136879, + 0.008972276002168655, + -0.048525456339120865, + 0.28930026292800903, + 0.0, + 0.4587424397468567 + ], + [ + 0.26586899161338806, + 0.10217171907424927, + 0.07868707180023193, + 0.0016731807263568044, + -0.09523305296897888, + 0.2992649972438812, + 0.0, + 0.44759801030158997 + ], + [ + 0.27018409967422485, + 0.08301758021116257, + 0.09569751471281052, + -0.0035750989336520433, + -0.13406749069690704, + 0.23647324740886688, + 0.0, + 0.44759801030158997 + ], + [ + 0.28085723519325256, + 0.0418505035340786, + 0.09842457622289658, + -0.020299101248383522, + -0.14960184693336487, + 0.08812573552131653, + 0.0, + 0.44759801030158997 + ], + [ + 0.297667920589447, + 0.003400990040972829, + 0.09759308397769928, + -0.047773368656635284, + -0.1611679345369339, + -0.046052973717451096, + 0.0, + 0.44759801030158997 + ], + [ + 0.31223300099372864, + -0.02137688733637333, + 0.07857567816972733, + -0.0670047253370285, + -0.11176331341266632, + -0.12568876147270203, + 0.0, + 0.44759801030158997 + ], + [ + 0.325156569480896, + -0.03078225813806057, + 0.05568918213248253, + -0.0701727569103241, + -0.04717063531279564, + -0.15502172708511353, + 0.0, + 0.44759801030158997 + ], + [ + 0.3316195011138916, + -0.03480667248368263, + 0.04011014848947525, + -0.0873836800456047, + -0.007893417030572891, + -0.1594296544790268, + 0.0, + 0.44759801030158997 + ], + [ + 0.33766403794288635, + -0.040649931877851486, + 0.029633022844791412, + -0.10703804343938828, + 0.007014196366071701, + -0.17206412553787231, + 0.0, + 0.44759801030158997 + ], + [ + 0.33774229884147644, + -0.04468749463558197, + 0.026328040286898613, + -0.1208978146314621, + 0.01916387677192688, + -0.18688887357711792, + 0.0, + 0.4457511007785797 + ], + [ + 0.3354729115962982, + -0.04916693642735481, + 0.022279346361756325, + -0.15487900376319885, + 0.04556051641702652, + -0.20799025893211365, + 0.0, + 0.4889543354511261 + ], + [ + 0.33483245968818665, + -0.05278028920292854, + 0.022431600838899612, + -0.17821663618087769, + 0.037708524614572525, + -0.22142082452774048, + 0.0, + 0.7969971895217896 + ], + [ + 0.3310909569263458, + -0.048350363969802856, + 0.037252217531204224, + -0.1693331003189087, + -0.04396689310669899, + -0.21101270616054535, + 0.0, + 1.0008161067962646 + ], + [ + 0.3175763785839081, + -0.02375323325395584, + 0.08196736872196198, + -0.12914875149726868, + -0.13877923786640167, + -0.14193078875541687, + 0.0, + 1.0041072368621826 + ], + [ + 0.30095207691192627, + 0.010284168645739555, + 0.11975269764661789, + -0.07126239687204361, + -0.1665198653936386, + -0.049518290907144547, + 0.0, + 0.9988223910331726 + ], + [ + 0.28807082772254944, + 0.02595093473792076, + 0.12333231419324875, + -0.07225546985864639, + -0.10505806654691696, + -0.02168223448097706, + 0.0, + 0.9988223910331726 + ], + [ + 0.2864311635494232, + 0.0375276543200016, + 0.11868404597043991, + -0.08027669787406921, + -0.054479651153087616, + -0.026380132883787155, + 0.0, + 0.9988223910331726 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9981546401977539 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9981546401977539 + ], + [ + 0.9590815901756287 + ], + [ + 0.684196949005127 + ], + [ + 0.4587424397468567 + ], + [ + 0.44759801030158997 + ], + [ + 0.44759801030158997 + ], + [ + 0.44759801030158997 + ], + [ + 0.44759801030158997 + ], + [ + 0.44759801030158997 + ], + [ + 0.44759801030158997 + ], + [ + 0.44759801030158997 + ], + [ + 0.44759801030158997 + ], + [ + 0.4457511007785797 + ], + [ + 0.4889543354511261 + ], + [ + 0.7969971895217896 + ], + [ + 1.0008161067962646 + ], + [ + 1.0041072368621826 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.30393579602241516, + 0.04863109812140465, + 0.12900373339653015 + ], + [ + 0.3029946982860565, + 0.04728400707244873, + 0.12232165038585663 + ], + [ + 0.2871456444263458, + 0.05771912634372711, + 0.11312002688646317 + ], + [ + 0.2649949789047241, + 0.07958158105611801, + 0.10779155045747757 + ], + [ + 0.25245344638824463, + 0.10003853589296341, + 0.10013290494680405 + ], + [ + 0.25060105323791504, + 0.10958924889564514, + 0.09527368098497391 + ], + [ + 0.2560957372188568, + 0.11292742937803268, + 0.08320993930101395 + ], + [ + 0.2672044634819031, + 0.1063821017742157, + 0.06622128188610077 + ], + [ + 0.2701670825481415, + 0.10478754341602325, + 0.05622406303882599 + ], + [ + 0.2685854136943817, + 0.10517633706331253, + 0.04606934264302254 + ], + [ + 0.2666153311729431, + 0.10611974447965622, + 0.03892406076192856 + ], + [ + 0.2654399573802948, + 0.10527206212282181, + 0.03541203960776329 + ], + [ + 0.26617196202278137, + 0.10429048538208008, + 0.03465868532657623 + ], + [ + 0.2672156095504761, + 0.10481052100658417, + 0.04028237983584404 + ], + [ + 0.2677265405654907, + 0.10506445169448853, + 0.06096324697136879 + ], + [ + 0.26586899161338806, + 0.10217171907424927, + 0.07868707180023193 + ], + [ + 0.27018409967422485, + 0.08301758021116257, + 0.09569751471281052 + ], + [ + 0.28085723519325256, + 0.0418505035340786, + 0.09842457622289658 + ], + [ + 0.297667920589447, + 0.003400990040972829, + 0.09759308397769928 + ], + [ + 0.31223300099372864, + -0.02137688733637333, + 0.07857567816972733 + ], + [ + 0.325156569480896, + -0.03078225813806057, + 0.05568918213248253 + ], + [ + 0.3316195011138916, + -0.03480667248368263, + 0.04011014848947525 + ], + [ + 0.33766403794288635, + -0.040649931877851486, + 0.029633022844791412 + ], + [ + 0.33774229884147644, + -0.04468749463558197, + 0.026328040286898613 + ], + [ + 0.3354729115962982, + -0.04916693642735481, + 0.022279346361756325 + ], + [ + 0.33483245968818665, + -0.05278028920292854, + 0.022431600838899612 + ], + [ + 0.3310909569263458, + -0.048350363969802856, + 0.037252217531204224 + ], + [ + 0.3175763785839081, + -0.02375323325395584, + 0.08196736872196198 + ], + [ + 0.30095207691192627, + 0.010284168645739555, + 0.11975269764661789 + ], + [ + 0.28807082772254944, + 0.02595093473792076, + 0.12333231419324875 + ], + [ + 0.2864311635494232, + 0.0375276543200016, + 0.11868404597043991 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.992689976016139, + -0.010554521509367898, + 0.12022983653314125, + -0.004482997534310433, + -0.9987059833156686, + -0.05065828286263806, + 0.12060893105481428, + 0.049748979539202334, + -0.9914527345187077 + ], + [ + 0.9950885458550106, + -0.00797041652444553, + 0.09866741290105527, + -0.002108510592862386, + -0.9982336387997204, + -0.05937302882411654, + 0.09896635838122098, + 0.05887337963032555, + -0.9933476657644409 + ], + [ + 0.9971899905833642, + 0.06133839588681716, + 0.04300841627381547, + 0.06524154435396713, + -0.9932263126969892, + -0.0961510928520916, + 0.03681933691226722, + 0.09868684287367942, + -0.9944371490813114 + ], + [ + 0.9868325759259221, + 0.15982419321175595, + 0.02485345761901873, + 0.16153806643251017, + -0.9816365294838878, + -0.10146515202804439, + 0.008180475820818076, + 0.10414389683048898, + -0.9945285961541305 + ], + [ + 0.9765436022461303, + 0.21485654993350167, + 0.014115801883847038, + 0.21529144136012857, + -0.9732518316495685, + -0.0801901955842363, + -0.0034911587230651723, + 0.08134823379417931, + -0.9966796258925622 + ], + [ + 0.9678698439233737, + 0.25003669327191314, + 0.026638641883391944, + 0.2509703396481041, + -0.9671328745632715, + -0.04083982805912332, + 0.015551650737449723, + 0.046213147010680196, + -0.9988105381916581 + ], + [ + 0.9585748828997469, + 0.2801899464838554, + 0.05126195239269812, + 0.280617613547972, + -0.9598188999965549, + -0.001197570893432513, + 0.04886664343269378, + 0.015532968125184909, + -0.9986845237915948 + ], + [ + 0.9651470448327838, + 0.2579548845399728, + 0.044164005621255664, + 0.2574158869116732, + -0.9661407240869933, + 0.017583015274340766, + 0.047204269044459124, + -0.005601678554712039, + -0.9988695501322226 + ], + [ + 0.9664840593257625, + 0.25515019966210634, + 0.0284066661469249, + 0.25433892373258854, + -0.966671608675569, + 0.029286735139574915, + 0.034932433979671496, + -0.02108024176745498, + -0.9991673275599444 + ], + [ + 0.9663361090833104, + 0.25726362424484084, + -0.003154666723793861, + 0.2572550672462899, + -0.9659781269818635, + 0.02657232712274413, + 0.0037887541271142315, + -0.026489353201250693, + -0.9996419156423685 + ], + [ + 0.9627434811092291, + 0.26865249286728404, + -0.03083549347549431, + 0.26947996389359713, + -0.9626330921125383, + 0.02679699665557455, + -0.02248418647825471, + -0.034108181511877673, + -0.9991651982091669 + ], + [ + 0.962215961048221, + 0.26864276928009695, + -0.044401653320224534, + 0.26967805821823826, + -0.9627602595325961, + 0.019142298199774158, + -0.03760570727548298, + -0.030393176508044864, + -0.9988303487590182 + ], + [ + 0.9610669016844858, + 0.27265590353268265, + -0.04482375213388294, + 0.27339098477895796, + -0.961839384537347, + 0.011061997758528504, + -0.040097131171380446, + -0.022885729649599885, + -0.9989336631880172 + ], + [ + 0.9605653208844501, + 0.2776200160012578, + -0.015536763807635887, + 0.2776820169579521, + -0.9606710780897261, + 0.0019434968707186342, + -0.014386166004759709, + -0.006181135606363417, + -0.9998774083807969 + ], + [ + 0.9573155204160946, + 0.28568727515134135, + 0.04392920653806441, + 0.28494582311845246, + -0.9582809977482161, + 0.022436738667445798, + 0.04850641460476915, + -0.00896159423793652, + -0.9987826678366545 + ], + [ + 0.951223596278019, + 0.29496956905553323, + 0.09036937100094049, + 0.2934820607493413, + -0.9555051957542058, + 0.02963276742117179, + 0.09508916816458395, + -0.0016655983640593754, + -0.995467365552411 + ], + [ + 0.9634463906450137, + 0.23380941936757302, + 0.13078305612002705, + 0.23217319369062175, + -0.9722759909078392, + 0.027838923033706678, + 0.13366622791338434, + 0.0035430099037374665, + -0.9910200737604811 + ], + [ + 0.9849932824956146, + 0.08498006078112516, + 0.15022191154472428, + 0.08702866665577932, + -0.9961804779011675, + -0.007103986818617108, + 0.1490444384022159, + 0.020070991959495018, + -0.9886267802680292 + ], + [ + 0.9859940263531928, + -0.05363937689047345, + 0.15791959106653494, + -0.04544008579257722, + -0.9974472341338566, + -0.05508369742385875, + 0.16047111453150406, + 0.04713631684297941, + -0.9859143923462602 + ], + [ + 0.9859217561398709, + -0.13248538270717533, + 0.10200938260280643, + -0.12457597955462703, + -0.9889491739251898, + -0.08037634422321835, + 0.11153078538268082, + 0.06653686768715086, + -0.9915310026168139 + ], + [ + 0.98690918701007, + -0.15728807294181923, + 0.03564714161572194, + -0.1542298206580736, + -0.985066116696002, + -0.0765369724854386, + 0.04715314427374734, + 0.07003718903345056, + -0.996429311661089 + ], + [ + 0.987287231453072, + -0.15882952087452007, + -0.0060914619343828275, + -0.15875017439773803, + -0.9834414910006187, + -0.08741404868307624, + 0.00789333506291201, + 0.08726979475883888, + -0.9961534410844216 + ], + [ + 0.9852092178260933, + -0.1694981872468975, + -0.02516270316387246, + -0.17121214608396204, + -0.9797231608387416, + -0.10406214080764034, + -0.0070141388510296925, + 0.10683114076036443, + -0.9942524373719269 + ], + [ + 0.9824066215347851, + -0.1821757797657837, + -0.041100063641538016, + -0.1857687291984883, + -0.9758443103685988, + -0.11496895743292143, + -0.019162703791180527, + 0.12058137164571836, + -0.9925184751909905 + ], + [ + 0.9774325535365009, + -0.1971478620381024, + -0.0758836199777057, + -0.20627961240569656, + -0.9681868434003753, + -0.141643770679028, + -0.04554475593162291, + 0.15410047618428319, + -0.9870049232131045 + ], + [ + 0.9748928714125926, + -0.20961754821960396, + -0.07512904063883735, + -0.2194598602862506, + -0.9616022127444915, + -0.16479852598866565, + -0.03769958875172805, + 0.17714871696769233, + -0.9834617801850009 + ], + [ + 0.9768743516217164, + -0.21369740179739255, + 0.007065522535199563, + -0.20924784047279638, + -0.9622824959176965, + -0.17386126454124276, + 0.04395272916580727, + 0.16836216473855584, + -0.9847448091172784 + ], + [ + 0.980427005037558, + -0.15791361925508707, + 0.11758476366793243, + -0.14009474973218394, + -0.9791801821667571, + -0.14690007470846697, + 0.13833419277445785, + 0.12755179224783883, + -0.9821375623627289 + ], + [ + 0.9849587501489605, + -0.061159804017253024, + 0.16160364747606787, + -0.048813378240933396, + -0.9956550724814086, + -0.07929836534726953, + 0.16575136382457184, + 0.07021719885193844, + -0.9836645924173962 + ], + [ + 0.9942527208005852, + -0.02919265771238956, + 0.10300153356295574, + -0.021560999478917313, + -0.9969921400435299, + -0.0744432400751913, + 0.10486491540121301, + 0.07179457797849155, + -0.9918915707328028 + ], + [ + 0.9981689315066551, + -0.03065719799867698, + 0.05214326788504949, + -0.0263379389611708, + -0.99631756303669, + -0.0815942801666186, + 0.05445270559062936, + 0.08007152924417596, + -0.9953006847472572 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0009410977363586426, + -0.0013470910489559174, + -0.006682083010673523, + -0.009062584489583969, + 0.021774642169475555, + 0.002397064585238695, + 1.0 + ], + [ + -0.015849053859710693, + 0.010435119271278381, + -0.009201623499393463, + -0.039716627448797226, + 0.06230096518993378, + 0.06745119392871857, + 1.0 + ], + [ + -0.022150665521621704, + 0.0218624547123909, + -0.005328476428985596, + -0.005421556532382965, + 0.02864709496498108, + 0.09692218899726868, + 1.0 + ], + [ + -0.012541532516479492, + 0.020456954836845398, + -0.007658645510673523, + 0.022897861897945404, + 0.011671733111143112, + 0.05473713576793671, + 1.0 + ], + [ + -0.0018523931503295898, + 0.009550713002681732, + -0.004859223961830139, + 0.035203512758016586, + -0.019043443724513054, + 0.03672230243682861, + 1.0 + ], + [ + 0.0054946839809417725, + 0.0033381804823875427, + -0.012063741683959961, + 0.030683033168315887, + -0.03333383426070213, + 0.031073331832885742, + 1.0 + ], + [ + 0.011108726263046265, + -0.006545327603816986, + -0.016988657414913177, + 0.021160133183002472, + 0.0016642957925796509, + -0.024142920970916748, + 1.0 + ], + [ + 0.0029626190662384033, + -0.0015945583581924438, + -0.00999721884727478, + 0.015486720949411392, + 0.012282274663448334, + -0.0033196210861206055, + 1.0 + ], + [ + -0.0015816688537597656, + 0.0003887936472892761, + -0.010154720395803452, + 0.0053979624062776566, + 0.031150778755545616, + 0.002857804298400879, + 1.0 + ], + [ + -0.0019700825214385986, + 0.000943407416343689, + -0.007145281881093979, + 0.0076307859271764755, + 0.026274845004081726, + 0.012741237878799438, + 1.0 + ], + [ + -0.0011753737926483154, + -0.0008476823568344116, + -0.003512021154165268, + -0.003704046830534935, + 0.015128495171666145, + 0.0003331899642944336, + 1.0 + ], + [ + 0.0007320046424865723, + -0.0009815767407417297, + -0.0007533542811870575, + -0.007513228803873062, + 0.0024933069944381714, + 0.0038883984088897705, + 0.0 + ], + [ + 0.0010436475276947021, + 0.0005200356245040894, + 0.005623694509267807, + -0.01672433689236641, + -0.025721222162246704, + 0.0042649805545806885, + 0.0 + ], + [ + 0.0005109310150146484, + 0.0002539306879043579, + 0.02068086713552475, + 0.0027904612943530083, + -0.06291212141513824, + 0.00788995623588562, + 0.0 + ], + [ + -0.0018575489521026611, + -0.002892732620239258, + 0.017723824828863144, + -0.007299095392227173, + -0.04670759662985802, + 0.009964734315872192, + 0.0 + ], + [ + 0.004315108060836792, + -0.0191541388630867, + 0.017010442912578583, + -0.0052482797764241695, + -0.03883443772792816, + -0.06279174983501434, + 0.0 + ], + [ + 0.01067313551902771, + -0.04116707667708397, + 0.0027270615100860596, + -0.016724001616239548, + -0.015534356236457825, + -0.14834751188755035, + 0.0 + ], + [ + 0.016810685396194458, + -0.03844951465725899, + -0.0008314922451972961, + -0.027474267408251762, + -0.01156608760356903, + -0.13417871296405792, + 0.0 + ], + [ + 0.014565080404281616, + -0.02477787807583809, + -0.019017405807971954, + -0.01923135668039322, + 0.04940462112426758, + -0.07963578402996063, + 0.0 + ], + [ + 0.012923568487167358, + -0.00940537080168724, + -0.022886496037244797, + -0.0031680315732955933, + 0.06459267437458038, + -0.0293329656124115, + 0.0 + ], + [ + 0.0064629316329956055, + -0.004024414345622063, + -0.015579033643007278, + -0.01721092313528061, + 0.03927721828222275, + -0.004407927393913269, + 0.0 + ], + [ + 0.006044536828994751, + -0.005843259394168854, + -0.010477125644683838, + -0.01965436339378357, + 0.014907613396644592, + -0.01263447105884552, + 0.0 + ], + [ + 7.826089859008789e-05, + -0.004037562757730484, + -0.0033049825578927994, + -0.013859771192073822, + 0.012149680405855179, + -0.014824748039245605, + 0.0 + ], + [ + -0.0022693872451782227, + -0.004479441791772842, + -0.004048693925142288, + -0.033981189131736755, + 0.02639663964509964, + -0.021101385354995728, + 1.0 + ], + [ + -0.0006404519081115723, + -0.0036133527755737305, + 0.00015225447714328766, + -0.023337632417678833, + -0.007851991802453995, + -0.013430565595626831, + 1.0 + ], + [ + -0.0037415027618408203, + 0.004429925233125687, + 0.014820616692304611, + 0.008883535861968994, + -0.08167541772127151, + 0.01040811836719513, + 1.0 + ], + [ + -0.013514578342437744, + 0.024597130715847015, + 0.04471515119075775, + 0.040184348821640015, + -0.09481234848499298, + 0.06908191740512848, + 1.0 + ], + [ + -0.01662430167198181, + 0.034037403762340546, + 0.037785328924655914, + 0.05788635462522507, + -0.02774062752723694, + 0.09241250157356262, + 1.0 + ], + [ + -0.012881249189376831, + 0.015666766092181206, + 0.0035796165466308594, + -0.0009930729866027832, + 0.06146179884672165, + 0.027836056426167488, + 1.0 + ], + [ + -0.0016396641731262207, + 0.011576719582080841, + -0.004648268222808838, + -0.008021228015422821, + 0.050578415393829346, + -0.004697898402810097, + 1.0 + ], + [ + 2.631545066833496e-05, + 0.0015064477920532227, + 0.0014155134558677673, + -0.00457783043384552, + 0.0019279755651950836, + -0.009859658777713776, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9981546401977539 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9981546401977539 + ], + [ + 0.9590815901756287 + ], + [ + 0.684196949005127 + ], + [ + 0.4587424397468567 + ], + [ + 0.44759801030158997 + ], + [ + 0.44759801030158997 + ], + [ + 0.44759801030158997 + ], + [ + 0.44759801030158997 + ], + [ + 0.44759801030158997 + ], + [ + 0.44759801030158997 + ], + [ + 0.44759801030158997 + ], + [ + 0.44759801030158997 + ], + [ + 0.4457511007785797 + ], + [ + 0.4889543354511261 + ], + [ + 0.7969971895217896 + ], + [ + 1.0008161067962646 + ], + [ + 1.0041072368621826 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3029946982860565, + 0.04728400707244873, + 0.12232165038585663 + ], + [ + 0.2871456444263458, + 0.05771912634372711, + 0.11312002688646317 + ], + [ + 0.2649949789047241, + 0.07958158105611801, + 0.10779155045747757 + ], + [ + 0.25245344638824463, + 0.10003853589296341, + 0.10013290494680405 + ], + [ + 0.25060105323791504, + 0.10958924889564514, + 0.09527368098497391 + ], + [ + 0.2560957372188568, + 0.11292742937803268, + 0.08320993930101395 + ], + [ + 0.2672044634819031, + 0.1063821017742157, + 0.06622128188610077 + ], + [ + 0.2701670825481415, + 0.10478754341602325, + 0.05622406303882599 + ], + [ + 0.2685854136943817, + 0.10517633706331253, + 0.04606934264302254 + ], + [ + 0.2666153311729431, + 0.10611974447965622, + 0.03892406076192856 + ], + [ + 0.2654399573802948, + 0.10527206212282181, + 0.03541203960776329 + ], + [ + 0.26617196202278137, + 0.10429048538208008, + 0.03465868532657623 + ], + [ + 0.2672156095504761, + 0.10481052100658417, + 0.04028237983584404 + ], + [ + 0.2677265405654907, + 0.10506445169448853, + 0.06096324697136879 + ], + [ + 0.26586899161338806, + 0.10217171907424927, + 0.07868707180023193 + ], + [ + 0.27018409967422485, + 0.08301758021116257, + 0.09569751471281052 + ], + [ + 0.28085723519325256, + 0.0418505035340786, + 0.09842457622289658 + ], + [ + 0.297667920589447, + 0.003400990040972829, + 0.09759308397769928 + ], + [ + 0.31223300099372864, + -0.02137688733637333, + 0.07857567816972733 + ], + [ + 0.325156569480896, + -0.03078225813806057, + 0.05568918213248253 + ], + [ + 0.3316195011138916, + -0.03480667248368263, + 0.04011014848947525 + ], + [ + 0.33766403794288635, + -0.040649931877851486, + 0.029633022844791412 + ], + [ + 0.33774229884147644, + -0.04468749463558197, + 0.026328040286898613 + ], + [ + 0.3354729115962982, + -0.04916693642735481, + 0.022279346361756325 + ], + [ + 0.33483245968818665, + -0.05278028920292854, + 0.022431600838899612 + ], + [ + 0.3310909569263458, + -0.048350363969802856, + 0.037252217531204224 + ], + [ + 0.3175763785839081, + -0.02375323325395584, + 0.08196736872196198 + ], + [ + 0.30095207691192627, + 0.010284168645739555, + 0.11975269764661789 + ], + [ + 0.28807082772254944, + 0.02595093473792076, + 0.12333231419324875 + ], + [ + 0.2864311635494232, + 0.0375276543200016, + 0.11868404597043991 + ], + [ + 0.28645747900009155, + 0.039034102112054825, + 0.12009955942630768 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9950885458550106, + -0.00797041652444553, + 0.09866741290105527, + -0.002108510592862386, + -0.9982336387997204, + -0.05937302882411654, + 0.09896635838122098, + 0.05887337963032555, + -0.9933476657644409 + ], + [ + 0.9971899905833642, + 0.06133839588681716, + 0.04300841627381547, + 0.06524154435396713, + -0.9932263126969892, + -0.0961510928520916, + 0.03681933691226722, + 0.09868684287367942, + -0.9944371490813114 + ], + [ + 0.9868325759259221, + 0.15982419321175595, + 0.02485345761901873, + 0.16153806643251017, + -0.9816365294838878, + -0.10146515202804439, + 0.008180475820818076, + 0.10414389683048898, + -0.9945285961541305 + ], + [ + 0.9765436022461303, + 0.21485654993350167, + 0.014115801883847038, + 0.21529144136012857, + -0.9732518316495685, + -0.0801901955842363, + -0.0034911587230651723, + 0.08134823379417931, + -0.9966796258925622 + ], + [ + 0.9678698439233737, + 0.25003669327191314, + 0.026638641883391944, + 0.2509703396481041, + -0.9671328745632715, + -0.04083982805912332, + 0.015551650737449723, + 0.046213147010680196, + -0.9988105381916581 + ], + [ + 0.9585748828997469, + 0.2801899464838554, + 0.05126195239269812, + 0.280617613547972, + -0.9598188999965549, + -0.001197570893432513, + 0.04886664343269378, + 0.015532968125184909, + -0.9986845237915948 + ], + [ + 0.9651470448327838, + 0.2579548845399728, + 0.044164005621255664, + 0.2574158869116732, + -0.9661407240869933, + 0.017583015274340766, + 0.047204269044459124, + -0.005601678554712039, + -0.9988695501322226 + ], + [ + 0.9664840593257625, + 0.25515019966210634, + 0.0284066661469249, + 0.25433892373258854, + -0.966671608675569, + 0.029286735139574915, + 0.034932433979671496, + -0.02108024176745498, + -0.9991673275599444 + ], + [ + 0.9663361090833104, + 0.25726362424484084, + -0.003154666723793861, + 0.2572550672462899, + -0.9659781269818635, + 0.02657232712274413, + 0.0037887541271142315, + -0.026489353201250693, + -0.9996419156423685 + ], + [ + 0.9627434811092291, + 0.26865249286728404, + -0.03083549347549431, + 0.26947996389359713, + -0.9626330921125383, + 0.02679699665557455, + -0.02248418647825471, + -0.034108181511877673, + -0.9991651982091669 + ], + [ + 0.962215961048221, + 0.26864276928009695, + -0.044401653320224534, + 0.26967805821823826, + -0.9627602595325961, + 0.019142298199774158, + -0.03760570727548298, + -0.030393176508044864, + -0.9988303487590182 + ], + [ + 0.9610669016844858, + 0.27265590353268265, + -0.04482375213388294, + 0.27339098477895796, + -0.961839384537347, + 0.011061997758528504, + -0.040097131171380446, + -0.022885729649599885, + -0.9989336631880172 + ], + [ + 0.9605653208844501, + 0.2776200160012578, + -0.015536763807635887, + 0.2776820169579521, + -0.9606710780897261, + 0.0019434968707186342, + -0.014386166004759709, + -0.006181135606363417, + -0.9998774083807969 + ], + [ + 0.9573155204160946, + 0.28568727515134135, + 0.04392920653806441, + 0.28494582311845246, + -0.9582809977482161, + 0.022436738667445798, + 0.04850641460476915, + -0.00896159423793652, + -0.9987826678366545 + ], + [ + 0.951223596278019, + 0.29496956905553323, + 0.09036937100094049, + 0.2934820607493413, + -0.9555051957542058, + 0.02963276742117179, + 0.09508916816458395, + -0.0016655983640593754, + -0.995467365552411 + ], + [ + 0.9634463906450137, + 0.23380941936757302, + 0.13078305612002705, + 0.23217319369062175, + -0.9722759909078392, + 0.027838923033706678, + 0.13366622791338434, + 0.0035430099037374665, + -0.9910200737604811 + ], + [ + 0.9849932824956146, + 0.08498006078112516, + 0.15022191154472428, + 0.08702866665577932, + -0.9961804779011675, + -0.007103986818617108, + 0.1490444384022159, + 0.020070991959495018, + -0.9886267802680292 + ], + [ + 0.9859940263531928, + -0.05363937689047345, + 0.15791959106653494, + -0.04544008579257722, + -0.9974472341338566, + -0.05508369742385875, + 0.16047111453150406, + 0.04713631684297941, + -0.9859143923462602 + ], + [ + 0.9859217561398709, + -0.13248538270717533, + 0.10200938260280643, + -0.12457597955462703, + -0.9889491739251898, + -0.08037634422321835, + 0.11153078538268082, + 0.06653686768715086, + -0.9915310026168139 + ], + [ + 0.98690918701007, + -0.15728807294181923, + 0.03564714161572194, + -0.1542298206580736, + -0.985066116696002, + -0.0765369724854386, + 0.04715314427374734, + 0.07003718903345056, + -0.996429311661089 + ], + [ + 0.987287231453072, + -0.15882952087452007, + -0.0060914619343828275, + -0.15875017439773803, + -0.9834414910006187, + -0.08741404868307624, + 0.00789333506291201, + 0.08726979475883888, + -0.9961534410844216 + ], + [ + 0.9852092178260933, + -0.1694981872468975, + -0.02516270316387246, + -0.17121214608396204, + -0.9797231608387416, + -0.10406214080764034, + -0.0070141388510296925, + 0.10683114076036443, + -0.9942524373719269 + ], + [ + 0.9824066215347851, + -0.1821757797657837, + -0.041100063641538016, + -0.1857687291984883, + -0.9758443103685988, + -0.11496895743292143, + -0.019162703791180527, + 0.12058137164571836, + -0.9925184751909905 + ], + [ + 0.9774325535365009, + -0.1971478620381024, + -0.0758836199777057, + -0.20627961240569656, + -0.9681868434003753, + -0.141643770679028, + -0.04554475593162291, + 0.15410047618428319, + -0.9870049232131045 + ], + [ + 0.9748928714125926, + -0.20961754821960396, + -0.07512904063883735, + -0.2194598602862506, + -0.9616022127444915, + -0.16479852598866565, + -0.03769958875172805, + 0.17714871696769233, + -0.9834617801850009 + ], + [ + 0.9768743516217164, + -0.21369740179739255, + 0.007065522535199563, + -0.20924784047279638, + -0.9622824959176965, + -0.17386126454124276, + 0.04395272916580727, + 0.16836216473855584, + -0.9847448091172784 + ], + [ + 0.980427005037558, + -0.15791361925508707, + 0.11758476366793243, + -0.14009474973218394, + -0.9791801821667571, + -0.14690007470846697, + 0.13833419277445785, + 0.12755179224783883, + -0.9821375623627289 + ], + [ + 0.9849587501489605, + -0.061159804017253024, + 0.16160364747606787, + -0.048813378240933396, + -0.9956550724814086, + -0.07929836534726953, + 0.16575136382457184, + 0.07021719885193844, + -0.9836645924173962 + ], + [ + 0.9942527208005852, + -0.02919265771238956, + 0.10300153356295574, + -0.021560999478917313, + -0.9969921400435299, + -0.0744432400751913, + 0.10486491540121301, + 0.07179457797849155, + -0.9918915707328028 + ], + [ + 0.9981689315066551, + -0.03065719799867698, + 0.05214326788504949, + -0.0263379389611708, + -0.99631756303669, + -0.0815942801666186, + 0.05445270559062936, + 0.08007152924417596, + -0.9953006847472572 + ], + [ + 0.9979637955035433, + -0.040550423505959624, + 0.04923338316274309, + -0.03618184089700839, + -0.9955864884321317, + -0.08659340876002389, + 0.05252749045467267, + 0.08463573243532738, + -0.9950264597193735 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005678.json b/json/chunk-0005/episode_0005678.json new file mode 100644 index 0000000000000000000000000000000000000000..2726df8594417ccc8a59fef43cb31469ca7a6975 --- /dev/null +++ b/json/chunk-0005/episode_0005678.json @@ -0,0 +1,2422 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 39, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nFold the cloth from the top left to the bottom right." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005678.mp4", + "start": 0, + "end": 39, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2596748471260071, + 0.032246820628643036, + 0.11735957115888596, + -0.00030227479874156415, + -0.10133974254131317, + -0.4646083414554596, + 0.0, + 1.0001531839370728 + ], + [ + 0.26024165749549866, + 0.031017929315567017, + 0.11063766479492188, + -0.02053651213645935, + -0.08658914268016815, + -0.471403032541275, + 0.0, + 1.0001531839370728 + ], + [ + 0.2714347839355469, + 0.04445943236351013, + 0.10292530804872513, + -0.04803585633635521, + -0.10259672999382019, + -0.5106827616691589, + 0.0, + 0.9994885921478271 + ], + [ + 0.28189781308174133, + 0.058222733438014984, + 0.09580113738775253, + -0.05364655703306198, + -0.077169269323349, + -0.5384711027145386, + 0.0, + 1.0001531839370728 + ], + [ + 0.2933591902256012, + 0.06941253691911697, + 0.09579050540924072, + -0.022586511448025703, + -0.10980887711048126, + -0.5761228203773499, + 0.0, + 0.9994885921478271 + ], + [ + 0.2996547222137451, + 0.07029470801353455, + 0.09331521391868591, + -0.00045163300819694996, + -0.13416452705860138, + -0.6323623061180115, + 0.0, + 0.9994885921478271 + ], + [ + 0.31635162234306335, + 0.08864811062812805, + 0.09400331228971481, + 0.020199794322252274, + -0.17687620222568512, + -0.6017691493034363, + 0.0, + 1.0001531839370728 + ], + [ + 0.3342396914958954, + 0.11212678253650665, + 0.09110458195209503, + 0.0355965793132782, + -0.18975405395030975, + -0.5458567142486572, + 0.0, + 1.0001531839370728 + ], + [ + 0.3498215973377228, + 0.13437987864017487, + 0.08788565546274185, + 0.04203637316823006, + -0.19944433867931366, + -0.485730916261673, + 0.0, + 0.9994885921478271 + ], + [ + 0.36254197359085083, + 0.14991575479507446, + 0.08435535430908203, + 0.06190197914838791, + -0.21484524011611938, + -0.4675058126449585, + 0.0, + 1.0001531839370728 + ], + [ + 0.3706630766391754, + 0.16022604703903198, + 0.07057610154151917, + 0.10060935467481613, + -0.2104126513004303, + -0.47553882002830505, + 0.0, + 1.0001531839370728 + ], + [ + 0.3827139437198639, + 0.16753967106342316, + 0.06036047264933586, + 0.12361617386341095, + -0.2160564810037613, + -0.4812605082988739, + 0.0, + 0.9994885921478271 + ], + [ + 0.39053648710250854, + 0.1686951220035553, + 0.05527626350522041, + 0.1241825595498085, + -0.23118257522583008, + -0.5122578740119934, + 0.0, + 1.0001531839370728 + ], + [ + 0.3985145092010498, + 0.17182235419750214, + 0.04475893825292587, + 0.10936913639307022, + -0.22119860351085663, + -0.5281911492347717, + 0.0, + 0.9994885921478271 + ], + [ + 0.4033375382423401, + 0.17505797743797302, + 0.034010354429483414, + 0.10162894427776337, + -0.2056397646665573, + -0.523445188999176, + 0.0, + 0.9994885921478271 + ], + [ + 0.410754919052124, + 0.17617766559123993, + 0.02470003068447113, + 0.11732681840658188, + -0.18698859214782715, + -0.513236939907074, + 0.0, + 1.0001531839370728 + ], + [ + 0.41796180605888367, + 0.1711254119873047, + 0.012256275862455368, + 0.11559471487998962, + -0.16962967813014984, + -0.5116510987281799, + 0.0, + 0.9994885921478271 + ], + [ + 0.42391303181648254, + 0.17227314412593842, + 0.014082212932407856, + 0.13672798871994019, + -0.17279067635536194, + -0.5041641592979431, + 0.0, + 1.0001531839370728 + ], + [ + 0.4273431897163391, + 0.1695786416530609, + -0.0010769935324788094, + 0.1264278143644333, + -0.14913639426231384, + -0.49635496735572815, + 0.0, + 0.9499720335006714 + ], + [ + 0.4324197471141815, + 0.16823185980319977, + -0.003797238226979971, + 0.13626998662948608, + -0.1389089673757553, + -0.49925145506858826, + 0.0, + 0.6691625118255615 + ], + [ + 0.432971715927124, + 0.16688236594200134, + -0.004857000429183245, + 0.14828534424304962, + -0.1220802292227745, + -0.5007928609848022, + 0.0, + 0.37205085158348083 + ], + [ + 0.43318772315979004, + 0.1645246148109436, + -0.005293101537972689, + 0.1390732377767563, + -0.12809263169765472, + -0.49891984462738037, + 0.0, + 0.17351533472537994 + ], + [ + 0.4265415072441101, + 0.1562878042459488, + -0.005027861334383488, + 0.10757835954427719, + -0.14586128294467926, + -0.5200595855712891, + 0.0, + 0.08055824041366577 + ], + [ + 0.41624826192855835, + 0.14296124875545502, + 0.009498920291662216, + 0.07095728814601898, + -0.18306800723075867, + -0.5401855111122131, + 0.0, + 0.07175325602293015 + ], + [ + 0.4017850160598755, + 0.12523253262043, + 0.04885420948266983, + 0.0698663666844368, + -0.2671341300010681, + -0.5710937976837158, + 0.0, + 0.07050029188394547 + ], + [ + 0.38271185755729675, + 0.10585574060678482, + 0.059351298958063126, + 0.08290047198534012, + -0.2900695204734802, + -0.6100666522979736, + 0.0, + 0.07050029188394547 + ], + [ + 0.3616825044155121, + 0.07963041961193085, + 0.05550635606050491, + 0.09949767589569092, + -0.27867159247398376, + -0.6716210246086121, + 0.0, + 0.07050029188394547 + ], + [ + 0.33739277720451355, + 0.05923189967870712, + 0.05833624303340912, + 0.13190987706184387, + -0.2795664370059967, + -0.7262959480285645, + 0.0, + 0.07050029188394547 + ], + [ + 0.31430548429489136, + 0.0396113246679306, + 0.062250666320323944, + 0.14341679215431213, + -0.274942010641098, + -0.7669523358345032, + 0.0, + 0.07050029188394547 + ], + [ + 0.2945968508720398, + 0.022372959181666374, + 0.06695682555437088, + 0.14787402749061584, + -0.2714182436466217, + -0.7785648703575134, + 0.0, + 0.07050029188394547 + ], + [ + 0.2797093391418457, + 0.0066121164709329605, + 0.06929180026054382, + 0.15597431361675262, + -0.2633703351020813, + -0.7834213376045227, + 0.0, + 0.07018911838531494 + ], + [ + 0.26655295491218567, + -0.009233895689249039, + 0.06292686611413956, + 0.1560291200876236, + -0.2413235306739807, + -0.7818658947944641, + 0.0, + 0.07018911838531494 + ], + [ + 0.25114601850509644, + -0.02862253598868847, + 0.05968009680509567, + 0.1919020116329193, + -0.2293361872434616, + -0.7865254282951355, + 0.0, + 0.07018911838531494 + ], + [ + 0.23657093942165375, + -0.04264720156788826, + 0.05656397342681885, + 0.2154618203639984, + -0.21684804558753967, + -0.8109044432640076, + 0.0, + 0.06956923007965088 + ], + [ + 0.22358442842960358, + -0.05824955925345421, + 0.051471006125211716, + 0.26298391819000244, + -0.19687420129776, + -0.8420157432556152, + 0.0, + 0.0951233059167862 + ], + [ + 0.22213180363178253, + -0.06084717437624931, + 0.04515793174505234, + 0.29307931661605835, + -0.1789884865283966, + -0.8134225606918335, + 0.0, + 0.29134905338287354 + ], + [ + 0.2209978848695755, + -0.059026990085840225, + 0.03620520979166031, + 0.25124913454055786, + -0.1379985809326172, + -0.8040609359741211, + 0.0, + 0.5779332518577576 + ], + [ + 0.22651544213294983, + -0.05358392372727394, + 0.04157824441790581, + 0.13160303235054016, + -0.10636463761329651, + -0.7915041446685791, + 0.0, + 0.84995037317276 + ], + [ + 0.22825384140014648, + -0.0494348481297493, + 0.060957785695791245, + -0.01986801065504551, + -0.0884878858923912, + -0.7927832007408142, + 0.0, + 1.0060625076293945 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9499720335006714 + ], + [ + 0.6691625118255615 + ], + [ + 0.37205085158348083 + ], + [ + 0.17351533472537994 + ], + [ + 0.08055824041366577 + ], + [ + 0.07175325602293015 + ], + [ + 0.07050029188394547 + ], + [ + 0.07050029188394547 + ], + [ + 0.07050029188394547 + ], + [ + 0.07050029188394547 + ], + [ + 0.07050029188394547 + ], + [ + 0.07050029188394547 + ], + [ + 0.07018911838531494 + ], + [ + 0.07018911838531494 + ], + [ + 0.07018911838531494 + ], + [ + 0.06956923007965088 + ], + [ + 0.0951233059167862 + ], + [ + 0.29134905338287354 + ], + [ + 0.5779332518577576 + ], + [ + 0.84995037317276 + ], + [ + 1.0060625076293945 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2596748471260071, + 0.032246820628643036, + 0.11735957115888596 + ], + [ + 0.26024165749549866, + 0.031017929315567017, + 0.11063766479492188 + ], + [ + 0.2714347839355469, + 0.04445943236351013, + 0.10292530804872513 + ], + [ + 0.28189781308174133, + 0.058222733438014984, + 0.09580113738775253 + ], + [ + 0.2933591902256012, + 0.06941253691911697, + 0.09579050540924072 + ], + [ + 0.2996547222137451, + 0.07029470801353455, + 0.09331521391868591 + ], + [ + 0.31635162234306335, + 0.08864811062812805, + 0.09400331228971481 + ], + [ + 0.3342396914958954, + 0.11212678253650665, + 0.09110458195209503 + ], + [ + 0.3498215973377228, + 0.13437987864017487, + 0.08788565546274185 + ], + [ + 0.36254197359085083, + 0.14991575479507446, + 0.08435535430908203 + ], + [ + 0.3706630766391754, + 0.16022604703903198, + 0.07057610154151917 + ], + [ + 0.3827139437198639, + 0.16753967106342316, + 0.06036047264933586 + ], + [ + 0.39053648710250854, + 0.1686951220035553, + 0.05527626350522041 + ], + [ + 0.3985145092010498, + 0.17182235419750214, + 0.04475893825292587 + ], + [ + 0.4033375382423401, + 0.17505797743797302, + 0.034010354429483414 + ], + [ + 0.410754919052124, + 0.17617766559123993, + 0.02470003068447113 + ], + [ + 0.41796180605888367, + 0.1711254119873047, + 0.012256275862455368 + ], + [ + 0.42391303181648254, + 0.17227314412593842, + 0.014082212932407856 + ], + [ + 0.4273431897163391, + 0.1695786416530609, + -0.0010769935324788094 + ], + [ + 0.4324197471141815, + 0.16823185980319977, + -0.003797238226979971 + ], + [ + 0.432971715927124, + 0.16688236594200134, + -0.004857000429183245 + ], + [ + 0.43318772315979004, + 0.1645246148109436, + -0.005293101537972689 + ], + [ + 0.4265415072441101, + 0.1562878042459488, + -0.005027861334383488 + ], + [ + 0.41624826192855835, + 0.14296124875545502, + 0.009498920291662216 + ], + [ + 0.4017850160598755, + 0.12523253262043, + 0.04885420948266983 + ], + [ + 0.38271185755729675, + 0.10585574060678482, + 0.059351298958063126 + ], + [ + 0.3616825044155121, + 0.07963041961193085, + 0.05550635606050491 + ], + [ + 0.33739277720451355, + 0.05923189967870712, + 0.05833624303340912 + ], + [ + 0.31430548429489136, + 0.0396113246679306, + 0.062250666320323944 + ], + [ + 0.2945968508720398, + 0.022372959181666374, + 0.06695682555437088 + ], + [ + 0.2797093391418457, + 0.0066121164709329605, + 0.06929180026054382 + ], + [ + 0.26655295491218567, + -0.009233895689249039, + 0.06292686611413956 + ], + [ + 0.25114601850509644, + -0.02862253598868847, + 0.05968009680509567 + ], + [ + 0.23657093942165375, + -0.04264720156788826, + 0.05656397342681885 + ], + [ + 0.22358442842960358, + -0.05824955925345421, + 0.051471006125211716 + ], + [ + 0.22213180363178253, + -0.06084717437624931, + 0.04515793174505234 + ], + [ + 0.2209978848695755, + -0.059026990085840225, + 0.03620520979166031 + ], + [ + 0.22651544213294983, + -0.05358392372727394, + 0.04157824441790581 + ], + [ + 0.22825384140014648, + -0.0494348481297493, + 0.060957785695791245 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8894104924327447, + -0.44810001221046003, + 0.09030700419971953, + -0.4457738667813699, + -0.8939833827438146, + -0.04560012141115382, + 0.10116637606106162, + 0.00030072397973688464, + -0.9948694758207028 + ], + [ + 0.8875941216487078, + -0.45562317597280916, + 0.06770669635353563, + -0.45243531610821913, + -0.8899376305496955, + -0.057561258409191754, + 0.08648098029460072, + 0.020458134031345738, + -0.9960434251573778 + ], + [ + 0.8678234838098914, + -0.4924995427499633, + 0.06577690581913952, + -0.4862028311281691, + -0.8690009872035965, + -0.09189173652797844, + 0.10241683431455974, + 0.04776488909493434, + -0.993594136163621 + ], + [ + 0.8559388016347018, + -0.5156350974953834, + 0.03859033670593033, + -0.5112978421652128, + -0.8551387846735716, + -0.0855112597510067, + 0.07709270038951657, + 0.0534612493113792, + -0.9955895792788908 + ], + [ + 0.833530421644288, + -0.5467132514857131, + 0.07957170881296258, + -0.5414955529700893, + -0.8370189260456675, + -0.07862495503957116, + 0.10958833107184646, + 0.02244856546144684, + -0.9937235327804261 + ], + [ + 0.7993846477528868, + -0.5911005903051936, + 0.10763027955851848, + -0.5857403923136868, + -0.8065977261423701, + -0.07942481346636093, + 0.13376239288081446, + 0.0004475743622072703, + -0.991013330852814 + ], + [ + 0.8114742248500113, + -0.5630565360980067, + 0.15645101329613567, + -0.5572694931479008, + -0.8261791524986742, + -0.08293804906829196, + 0.17595537619167914, + -0.01988328780374858, + -0.9841973178460497 + ], + [ + 0.8393418432654901, + -0.5130843799748563, + 0.1795819845349376, + -0.5098320882192944, + -0.857626316187895, + -0.06744140867400554, + 0.1886173692045431, + -0.034950261913151245, + -0.9814285339374228 + ], + [ + 0.8668036418782139, + -0.45907948209974636, + 0.19467273959569797, + -0.45760030999514056, + -0.8874397642493984, + -0.05525053050717454, + 0.1981247150635606, + -0.04119094492727241, + -0.9793109329201742 + ], + [ + 0.8721715012796765, + -0.43802436782825854, + 0.21783371076169547, + -0.440300170677517, + -0.8969290025332203, + -0.040670924701956046, + 0.2131962289931625, + -0.06044019857195369, + -0.975138118596375 + ], + [ + 0.8694380874263918, + -0.43685185751100486, + 0.23073332382107714, + -0.44772029655198486, + -0.894154574904894, + -0.005842279696349872, + 0.2088634678150778, + -0.09822449168019334, + -0.9729994866629823 + ], + [ + 0.8658034597189334, + -0.4359337974479966, + 0.24565441860730716, + -0.45213472956236106, + -0.8918840530670967, + 0.010817680351089272, + 0.21437946604629746, + -0.1204348791969205, + -0.9692971084298803 + ], + [ + 0.8484510286614183, + -0.4616342760741784, + 0.2588911877929614, + -0.47710674494091887, + -0.8788384732174794, + -0.0034773444825932018, + 0.2291287976123084, + -0.12056837539852164, + -0.9659002334395095 + ], + [ + 0.8426757061854309, + -0.48027657136144003, + 0.24337639410218992, + -0.4916926417533643, + -0.8706284604912629, + -0.01563425176370515, + 0.2193991801499784, + -0.10649177801085263, + -0.9698059089145643 + ], + [ + 0.8478538893583737, + -0.47934537976672, + 0.22665345617523072, + -0.48933506132049664, + -0.8719886685983618, + -0.013673317027034192, + 0.20419348682645108, + -0.09931650785420804, + -0.9738794849493959 + ], + [ + 0.855974127905023, + -0.4686666976951253, + 0.21831128882579814, + -0.48244085084605864, + -0.8758553188675485, + 0.01132633419758889, + 0.18590082784152961, + -0.11501733296755973, + -0.9758134531378747 + ], + [ + 0.8594226799264251, + -0.4693725807401259, + 0.20268704368418694, + -0.4825902591813701, + -0.8756516261745484, + 0.018462700808030877, + 0.16881735388087177, + -0.11368205675137515, + -0.9790695026408684 + ], + [ + 0.8625401362147935, + -0.4580483828868251, + 0.21497951612497937, + -0.47588218545746924, + -0.878727790193818, + 0.037062330003829275, + 0.1719321348171675, + -0.13427266913208494, + -0.975915053342942 + ], + [ + 0.8695635439040239, + -0.4559483463345333, + 0.18965850518202232, + -0.47093735038864326, + -0.8812281776740798, + 0.0406805958922008, + 0.14858416847699119, + -0.12469163704124198, + -0.9810070033032263 + ], + [ + 0.8694845533162989, + -0.45781607791254436, + 0.18547520143979201, + -0.4741568300625431, + -0.8788079439479995, + 0.053590093850734294, + 0.1384626738489363, + -0.13454009238388764, + -0.9811865528491197 + ], + [ + 0.8706735552608594, + -0.4590699378020907, + 0.17658525526158625, + -0.4765478672235157, + -0.8762138110785146, + 0.07177386376658006, + 0.12177721631788718, + -0.14664293191848587, + -0.9816649938264157 + ], + [ + 0.8709059386790644, + -0.45830786750306735, + 0.1774168666117417, + -0.4745573362332968, + -0.8780948094885225, + 0.06119509928477299, + 0.12774263423264512, + -0.13748965100729005, + -0.9822313450838343 + ], + [ + 0.8585745919033813, + -0.4805165515793462, + 0.17875545808795865, + -0.491654971914775, + -0.8705279190005033, + 0.021366582135078728, + 0.14534462057270744, + -0.10623081426284334, + -0.9836615044676847 + ], + [ + 0.843282398515482, + -0.5019319304440589, + 0.19219556070491303, + -0.5057011230175973, + -0.8620930511380875, + -0.03258750309801896, + 0.18204716568163445, + -0.06971304311334321, + -0.9808154368112079 + ], + [ + 0.8114700898239372, + -0.5237305803023888, + 0.2592731620844195, + -0.5213799270456461, + -0.8492187470051087, + -0.08360915864275505, + 0.2639683030119478, + -0.06733349085852834, + -0.9621782246620407 + ], + [ + 0.7853698075110662, + -0.5515429212301727, + 0.28105990729899266, + -0.5489876933788939, + -0.8303641227940736, + -0.09543550751659718, + 0.2860188419816998, + -0.07934626404132886, + -0.9549331874084863 + ], + [ + 0.7526143719440217, + -0.5977881585762324, + 0.27608137316621506, + -0.5982501971926402, + -0.7959452160319956, + -0.09256303060480901, + 0.27507873182467724, + -0.09550146879402945, + -0.9566666926134254 + ], + [ + 0.7186124284887199, + -0.6312009611000354, + 0.29185874036584236, + -0.6383211390149802, + -0.7652470486610891, + -0.08332513427598703, + 0.2759389445296965, + -0.12642112648558615, + -0.9528249564688955 + ], + [ + 0.6929853113694019, + -0.6588803151234727, + 0.292656946900372, + -0.6678801738982901, + -0.7395638334462812, + -0.08355482973372448, + 0.27149112607936826, + -0.13755750288892063, + -0.9525599728411444 + ], + [ + 0.6858597999856646, + -0.6664731611341347, + 0.29224965398011604, + -0.6765499102894507, + -0.7318920688806319, + -0.08132784515136407, + 0.26809802992741294, + -0.14194197757359087, + -0.95287770534919 + ], + [ + 0.6840726481538526, + -0.6684879426258341, + 0.291836396996083, + -0.681373395679471, + -0.7284421928538607, + -0.07143015701009217, + 0.2603361436835133, + -0.14998614014014397, + -0.9537972793302876 + ], + [ + 0.6890376325963823, + -0.6696921319534958, + 0.27701911353831604, + -0.6841870141183358, + -0.7271475173511852, + -0.056076891157087784, + 0.23898801346052687, + -0.15089379181924392, + -0.9592266640438023 + ], + [ + 0.6878163043721488, + -0.6642844392525625, + 0.29263443954317464, + -0.6893687574074933, + -0.7240369934456997, + -0.023262597287498382, + 0.22733114118019165, + -0.1857326462661318, + -0.9559413875132154 + ], + [ + 0.6727106797844332, + -0.6764626279644208, + 0.2997643312194355, + -0.7079334130314028, + -0.7062608664569368, + -0.005086376431835113, + 0.21515255986781817, + -0.20879152635815157, + -0.9539997245824331 + ], + [ + 0.6530959628961297, + -0.6864748249405138, + 0.3197154640796532, + -0.7315766510524085, + -0.6809972562514973, + 0.0322232930172406, + 0.1956048743864009, + -0.25494127108183817, + -0.9469655122629635 + ], + [ + 0.6760399158156368, + -0.660321627821697, + 0.32702504499639107, + -0.7150341365145818, + -0.6950947489431343, + 0.07462890599846735, + 0.17803431085842322, + -0.28428618999625366, + -0.9420643005307976 + ], + [ + 0.687192200567876, + -0.6738404390353562, + 0.2714883831756314, + -0.7133329173308122, + -0.6966345674593526, + 0.07652730540815587, + 0.13756099930937046, + -0.24625056779905913, + -0.9593944075966089 + ], + [ + 0.6988043863499388, + -0.6954689094713383, + 0.16731833604489682, + -0.7073906938814417, + -0.7066098451447039, + 0.01734741924639354, + 0.10616419277712263, + -0.13048188649511894, + -0.9857502936690696 + ], + [ + 0.6991194881531428, + -0.7134011220876957, + 0.04786209657446868, + -0.7095225513423864, + -0.700476434627171, + -0.07687986517025766, + 0.08837245284067774, + 0.01978897511300047, + -0.9958909107140697 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + 0.0005668103694915771, + -0.0012288913130760193, + -0.006721906363964081, + -0.020234236493706703, + 0.01475059986114502, + -0.00679469108581543, + 1.0 + ], + [ + 0.011193126440048218, + 0.013441503047943115, + -0.007712356746196747, + -0.02749934419989586, + -0.01600758731365204, + -0.03927972912788391, + 1.0 + ], + [ + 0.010463029146194458, + 0.013763301074504852, + -0.007124170660972595, + -0.005610700696706772, + 0.02542746067047119, + -0.02778834104537964, + 1.0 + ], + [ + 0.011461377143859863, + 0.01118980348110199, + -1.0631978511810303e-05, + 0.031060045585036278, + -0.03263960778713226, + -0.03765171766281128, + 1.0 + ], + [ + 0.006295531988143921, + 0.000882171094417572, + -0.0024752914905548096, + 0.022134877741336823, + -0.024355649948120117, + -0.05623948574066162, + 1.0 + ], + [ + 0.016696900129318237, + 0.018353402614593506, + 0.0006880983710289001, + 0.020651428028941154, + -0.04271167516708374, + 0.030593156814575195, + 1.0 + ], + [ + 0.01788806915283203, + 0.0234786719083786, + -0.0028987303376197815, + 0.015396784991025925, + -0.012877851724624634, + 0.05591243505477905, + 1.0 + ], + [ + 0.015581905841827393, + 0.022253096103668213, + -0.00321892648935318, + 0.0064397938549518585, + -0.009690284729003906, + 0.06012579798698425, + 1.0 + ], + [ + 0.012720376253128052, + 0.015535876154899597, + -0.0035303011536598206, + 0.019865605980157852, + -0.015400901436805725, + 0.018225103616714478, + 1.0 + ], + [ + 0.008121103048324585, + 0.01031029224395752, + -0.013779252767562866, + 0.03870737552642822, + 0.004432588815689087, + -0.008033007383346558, + 1.0 + ], + [ + 0.012050867080688477, + 0.007313624024391174, + -0.010215628892183304, + 0.023006819188594818, + -0.005643829703330994, + -0.005721688270568848, + 1.0 + ], + [ + 0.007822543382644653, + 0.0011554509401321411, + -0.005084209144115448, + 0.0005663856863975525, + -0.015126094222068787, + -0.030997365713119507, + 1.0 + ], + [ + 0.00797802209854126, + 0.0031272321939468384, + -0.01051732525229454, + -0.014813423156738281, + 0.00998397171497345, + -0.01593327522277832, + 1.0 + ], + [ + 0.004823029041290283, + 0.0032356232404708862, + -0.010748583823442459, + -0.007740192115306854, + 0.015558838844299316, + 0.004745960235595703, + 1.0 + ], + [ + 0.0074173808097839355, + 0.0011196881532669067, + -0.009310323745012283, + 0.015697874128818512, + 0.018651172518730164, + 0.01020824909210205, + 1.0 + ], + [ + 0.0072068870067596436, + -0.005052253603935242, + -0.012443754822015762, + -0.0017321035265922546, + 0.017358914017677307, + 0.001585841178894043, + 1.0 + ], + [ + 0.005951225757598877, + 0.001147732138633728, + 0.001825937069952488, + 0.02113327383995056, + -0.003160998225212097, + 0.007486939430236816, + 1.0 + ], + [ + 0.0034301578998565674, + -0.0026945024728775024, + -0.015159206464886665, + -0.010300174355506897, + 0.023654282093048096, + 0.007809191942214966, + 0.0 + ], + [ + 0.005076557397842407, + -0.001346781849861145, + -0.0027202446945011616, + 0.009842172265052795, + 0.010227426886558533, + -0.0028964877128601074, + 0.0 + ], + [ + 0.0005519688129425049, + -0.0013494938611984253, + -0.0010597622022032738, + 0.012015357613563538, + 0.016828738152980804, + -0.0015414059162139893, + 0.0 + ], + [ + 0.00021600723266601562, + -0.0023577511310577393, + -0.00043610110878944397, + -0.009212106466293335, + -0.0060124024748802185, + 0.001873016357421875, + 0.0 + ], + [ + -0.006646215915679932, + -0.008236810564994812, + 0.000265240203589201, + -0.031494878232479095, + -0.017768651247024536, + -0.02113974094390869, + 0.0 + ], + [ + -0.010293245315551758, + -0.013326555490493774, + 0.014526781626045704, + -0.03662107139825821, + -0.03720672428607941, + -0.020125925540924072, + 0.0 + ], + [ + -0.014463245868682861, + -0.017728716135025024, + 0.039355289191007614, + -0.0010909214615821838, + -0.08406612277030945, + -0.030908286571502686, + 0.0 + ], + [ + -0.019073158502578735, + -0.019376792013645172, + 0.010497089475393295, + 0.01303410530090332, + -0.02293539047241211, + -0.03897285461425781, + 0.0 + ], + [ + -0.021029353141784668, + -0.026225320994853973, + -0.0038449428975582123, + 0.0165972039103508, + 0.01139792799949646, + -0.06155437231063843, + 0.0 + ], + [ + -0.024289727210998535, + -0.020398519933223724, + 0.0028298869729042053, + 0.032412201166152954, + -0.0008948445320129395, + -0.05467492341995239, + 0.0 + ], + [ + -0.023087292909622192, + -0.01962057501077652, + 0.0039144232869148254, + 0.011506915092468262, + 0.004624426364898682, + -0.04065638780593872, + 0.0 + ], + [ + -0.019708633422851562, + -0.01723836548626423, + 0.004706159234046936, + 0.004457235336303711, + 0.0035237669944763184, + -0.011612534523010254, + 0.0 + ], + [ + -0.014887511730194092, + -0.015760842710733414, + 0.002334974706172943, + 0.00810028612613678, + 0.008047908544540405, + -0.004856467247009277, + 0.0 + ], + [ + -0.013156384229660034, + -0.015846012160182, + -0.006364934146404266, + 5.480647087097168e-05, + 0.022046804428100586, + 0.0015554428100585938, + 0.0 + ], + [ + -0.015406936407089233, + -0.01938864029943943, + -0.0032467693090438843, + 0.035872891545295715, + 0.011987343430519104, + -0.004659533500671387, + 0.0 + ], + [ + -0.014575079083442688, + -0.014024665579199791, + -0.003116123378276825, + 0.0235598087310791, + 0.012488141655921936, + -0.02437901496887207, + 0.0 + ], + [ + -0.012986510992050171, + -0.015602357685565948, + -0.005092967301607132, + 0.04752209782600403, + 0.019973844289779663, + -0.031111299991607666, + 1.0 + ], + [ + -0.001452624797821045, + -0.002597615122795105, + -0.006313074380159378, + 0.030095398426055908, + 0.017885714769363403, + 0.02859318256378174, + 1.0 + ], + [ + -0.0011339187622070312, + 0.0018201842904090881, + -0.008952721953392029, + -0.04183018207550049, + 0.04098990559577942, + 0.009361624717712402, + 1.0 + ], + [ + 0.005517557263374329, + 0.005443066358566284, + 0.005373034626245499, + -0.1196461021900177, + 0.03163394331932068, + 0.012556791305541992, + 1.0 + ], + [ + 0.0017383992671966553, + 0.004149075597524643, + 0.019379541277885437, + -0.15147104859352112, + 0.017876751720905304, + -0.0012790560722351074, + 1.0 + ], + [ + 7.358193397521973e-05, + 0.005768861621618271, + 0.0287550650537014, + -0.08320145308971405, + -0.020175859332084656, + -0.02201974391937256, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9499720335006714 + ], + [ + 0.6691625118255615 + ], + [ + 0.37205085158348083 + ], + [ + 0.17351533472537994 + ], + [ + 0.08055824041366577 + ], + [ + 0.07175325602293015 + ], + [ + 0.07050029188394547 + ], + [ + 0.07050029188394547 + ], + [ + 0.07050029188394547 + ], + [ + 0.07050029188394547 + ], + [ + 0.07050029188394547 + ], + [ + 0.07050029188394547 + ], + [ + 0.07018911838531494 + ], + [ + 0.07018911838531494 + ], + [ + 0.07018911838531494 + ], + [ + 0.06956923007965088 + ], + [ + 0.0951233059167862 + ], + [ + 0.29134905338287354 + ], + [ + 0.5779332518577576 + ], + [ + 0.84995037317276 + ], + [ + 1.0060625076293945 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.26024165749549866, + 0.031017929315567017, + 0.11063766479492188 + ], + [ + 0.2714347839355469, + 0.04445943236351013, + 0.10292530804872513 + ], + [ + 0.28189781308174133, + 0.058222733438014984, + 0.09580113738775253 + ], + [ + 0.2933591902256012, + 0.06941253691911697, + 0.09579050540924072 + ], + [ + 0.2996547222137451, + 0.07029470801353455, + 0.09331521391868591 + ], + [ + 0.31635162234306335, + 0.08864811062812805, + 0.09400331228971481 + ], + [ + 0.3342396914958954, + 0.11212678253650665, + 0.09110458195209503 + ], + [ + 0.3498215973377228, + 0.13437987864017487, + 0.08788565546274185 + ], + [ + 0.36254197359085083, + 0.14991575479507446, + 0.08435535430908203 + ], + [ + 0.3706630766391754, + 0.16022604703903198, + 0.07057610154151917 + ], + [ + 0.3827139437198639, + 0.16753967106342316, + 0.06036047264933586 + ], + [ + 0.39053648710250854, + 0.1686951220035553, + 0.05527626350522041 + ], + [ + 0.3985145092010498, + 0.17182235419750214, + 0.04475893825292587 + ], + [ + 0.4033375382423401, + 0.17505797743797302, + 0.034010354429483414 + ], + [ + 0.410754919052124, + 0.17617766559123993, + 0.02470003068447113 + ], + [ + 0.41796180605888367, + 0.1711254119873047, + 0.012256275862455368 + ], + [ + 0.42391303181648254, + 0.17227314412593842, + 0.014082212932407856 + ], + [ + 0.4273431897163391, + 0.1695786416530609, + -0.0010769935324788094 + ], + [ + 0.4324197471141815, + 0.16823185980319977, + -0.003797238226979971 + ], + [ + 0.432971715927124, + 0.16688236594200134, + -0.004857000429183245 + ], + [ + 0.43318772315979004, + 0.1645246148109436, + -0.005293101537972689 + ], + [ + 0.4265415072441101, + 0.1562878042459488, + -0.005027861334383488 + ], + [ + 0.41624826192855835, + 0.14296124875545502, + 0.009498920291662216 + ], + [ + 0.4017850160598755, + 0.12523253262043, + 0.04885420948266983 + ], + [ + 0.38271185755729675, + 0.10585574060678482, + 0.059351298958063126 + ], + [ + 0.3616825044155121, + 0.07963041961193085, + 0.05550635606050491 + ], + [ + 0.33739277720451355, + 0.05923189967870712, + 0.05833624303340912 + ], + [ + 0.31430548429489136, + 0.0396113246679306, + 0.062250666320323944 + ], + [ + 0.2945968508720398, + 0.022372959181666374, + 0.06695682555437088 + ], + [ + 0.2797093391418457, + 0.0066121164709329605, + 0.06929180026054382 + ], + [ + 0.26655295491218567, + -0.009233895689249039, + 0.06292686611413956 + ], + [ + 0.25114601850509644, + -0.02862253598868847, + 0.05968009680509567 + ], + [ + 0.23657093942165375, + -0.04264720156788826, + 0.05656397342681885 + ], + [ + 0.22358442842960358, + -0.05824955925345421, + 0.051471006125211716 + ], + [ + 0.22213180363178253, + -0.06084717437624931, + 0.04515793174505234 + ], + [ + 0.2209978848695755, + -0.059026990085840225, + 0.03620520979166031 + ], + [ + 0.22651544213294983, + -0.05358392372727394, + 0.04157824441790581 + ], + [ + 0.22825384140014648, + -0.0494348481297493, + 0.060957785695791245 + ], + [ + 0.2283274233341217, + -0.04366598650813103, + 0.08971285074949265 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8875941216487078, + -0.45562317597280916, + 0.06770669635353563, + -0.45243531610821913, + -0.8899376305496955, + -0.057561258409191754, + 0.08648098029460072, + 0.020458134031345738, + -0.9960434251573778 + ], + [ + 0.8678234838098914, + -0.4924995427499633, + 0.06577690581913952, + -0.4862028311281691, + -0.8690009872035965, + -0.09189173652797844, + 0.10241683431455974, + 0.04776488909493434, + -0.993594136163621 + ], + [ + 0.8559388016347018, + -0.5156350974953834, + 0.03859033670593033, + -0.5112978421652128, + -0.8551387846735716, + -0.0855112597510067, + 0.07709270038951657, + 0.0534612493113792, + -0.9955895792788908 + ], + [ + 0.833530421644288, + -0.5467132514857131, + 0.07957170881296258, + -0.5414955529700893, + -0.8370189260456675, + -0.07862495503957116, + 0.10958833107184646, + 0.02244856546144684, + -0.9937235327804261 + ], + [ + 0.7993846477528868, + -0.5911005903051936, + 0.10763027955851848, + -0.5857403923136868, + -0.8065977261423701, + -0.07942481346636093, + 0.13376239288081446, + 0.0004475743622072703, + -0.991013330852814 + ], + [ + 0.8114742248500113, + -0.5630565360980067, + 0.15645101329613567, + -0.5572694931479008, + -0.8261791524986742, + -0.08293804906829196, + 0.17595537619167914, + -0.01988328780374858, + -0.9841973178460497 + ], + [ + 0.8393418432654901, + -0.5130843799748563, + 0.1795819845349376, + -0.5098320882192944, + -0.857626316187895, + -0.06744140867400554, + 0.1886173692045431, + -0.034950261913151245, + -0.9814285339374228 + ], + [ + 0.8668036418782139, + -0.45907948209974636, + 0.19467273959569797, + -0.45760030999514056, + -0.8874397642493984, + -0.05525053050717454, + 0.1981247150635606, + -0.04119094492727241, + -0.9793109329201742 + ], + [ + 0.8721715012796765, + -0.43802436782825854, + 0.21783371076169547, + -0.440300170677517, + -0.8969290025332203, + -0.040670924701956046, + 0.2131962289931625, + -0.06044019857195369, + -0.975138118596375 + ], + [ + 0.8694380874263918, + -0.43685185751100486, + 0.23073332382107714, + -0.44772029655198486, + -0.894154574904894, + -0.005842279696349872, + 0.2088634678150778, + -0.09822449168019334, + -0.9729994866629823 + ], + [ + 0.8658034597189334, + -0.4359337974479966, + 0.24565441860730716, + -0.45213472956236106, + -0.8918840530670967, + 0.010817680351089272, + 0.21437946604629746, + -0.1204348791969205, + -0.9692971084298803 + ], + [ + 0.8484510286614183, + -0.4616342760741784, + 0.2588911877929614, + -0.47710674494091887, + -0.8788384732174794, + -0.0034773444825932018, + 0.2291287976123084, + -0.12056837539852164, + -0.9659002334395095 + ], + [ + 0.8426757061854309, + -0.48027657136144003, + 0.24337639410218992, + -0.4916926417533643, + -0.8706284604912629, + -0.01563425176370515, + 0.2193991801499784, + -0.10649177801085263, + -0.9698059089145643 + ], + [ + 0.8478538893583737, + -0.47934537976672, + 0.22665345617523072, + -0.48933506132049664, + -0.8719886685983618, + -0.013673317027034192, + 0.20419348682645108, + -0.09931650785420804, + -0.9738794849493959 + ], + [ + 0.855974127905023, + -0.4686666976951253, + 0.21831128882579814, + -0.48244085084605864, + -0.8758553188675485, + 0.01132633419758889, + 0.18590082784152961, + -0.11501733296755973, + -0.9758134531378747 + ], + [ + 0.8594226799264251, + -0.4693725807401259, + 0.20268704368418694, + -0.4825902591813701, + -0.8756516261745484, + 0.018462700808030877, + 0.16881735388087177, + -0.11368205675137515, + -0.9790695026408684 + ], + [ + 0.8625401362147935, + -0.4580483828868251, + 0.21497951612497937, + -0.47588218545746924, + -0.878727790193818, + 0.037062330003829275, + 0.1719321348171675, + -0.13427266913208494, + -0.975915053342942 + ], + [ + 0.8695635439040239, + -0.4559483463345333, + 0.18965850518202232, + -0.47093735038864326, + -0.8812281776740798, + 0.0406805958922008, + 0.14858416847699119, + -0.12469163704124198, + -0.9810070033032263 + ], + [ + 0.8694845533162989, + -0.45781607791254436, + 0.18547520143979201, + -0.4741568300625431, + -0.8788079439479995, + 0.053590093850734294, + 0.1384626738489363, + -0.13454009238388764, + -0.9811865528491197 + ], + [ + 0.8706735552608594, + -0.4590699378020907, + 0.17658525526158625, + -0.4765478672235157, + -0.8762138110785146, + 0.07177386376658006, + 0.12177721631788718, + -0.14664293191848587, + -0.9816649938264157 + ], + [ + 0.8709059386790644, + -0.45830786750306735, + 0.1774168666117417, + -0.4745573362332968, + -0.8780948094885225, + 0.06119509928477299, + 0.12774263423264512, + -0.13748965100729005, + -0.9822313450838343 + ], + [ + 0.8585745919033813, + -0.4805165515793462, + 0.17875545808795865, + -0.491654971914775, + -0.8705279190005033, + 0.021366582135078728, + 0.14534462057270744, + -0.10623081426284334, + -0.9836615044676847 + ], + [ + 0.843282398515482, + -0.5019319304440589, + 0.19219556070491303, + -0.5057011230175973, + -0.8620930511380875, + -0.03258750309801896, + 0.18204716568163445, + -0.06971304311334321, + -0.9808154368112079 + ], + [ + 0.8114700898239372, + -0.5237305803023888, + 0.2592731620844195, + -0.5213799270456461, + -0.8492187470051087, + -0.08360915864275505, + 0.2639683030119478, + -0.06733349085852834, + -0.9621782246620407 + ], + [ + 0.7853698075110662, + -0.5515429212301727, + 0.28105990729899266, + -0.5489876933788939, + -0.8303641227940736, + -0.09543550751659718, + 0.2860188419816998, + -0.07934626404132886, + -0.9549331874084863 + ], + [ + 0.7526143719440217, + -0.5977881585762324, + 0.27608137316621506, + -0.5982501971926402, + -0.7959452160319956, + -0.09256303060480901, + 0.27507873182467724, + -0.09550146879402945, + -0.9566666926134254 + ], + [ + 0.7186124284887199, + -0.6312009611000354, + 0.29185874036584236, + -0.6383211390149802, + -0.7652470486610891, + -0.08332513427598703, + 0.2759389445296965, + -0.12642112648558615, + -0.9528249564688955 + ], + [ + 0.6929853113694019, + -0.6588803151234727, + 0.292656946900372, + -0.6678801738982901, + -0.7395638334462812, + -0.08355482973372448, + 0.27149112607936826, + -0.13755750288892063, + -0.9525599728411444 + ], + [ + 0.6858597999856646, + -0.6664731611341347, + 0.29224965398011604, + -0.6765499102894507, + -0.7318920688806319, + -0.08132784515136407, + 0.26809802992741294, + -0.14194197757359087, + -0.95287770534919 + ], + [ + 0.6840726481538526, + -0.6684879426258341, + 0.291836396996083, + -0.681373395679471, + -0.7284421928538607, + -0.07143015701009217, + 0.2603361436835133, + -0.14998614014014397, + -0.9537972793302876 + ], + [ + 0.6890376325963823, + -0.6696921319534958, + 0.27701911353831604, + -0.6841870141183358, + -0.7271475173511852, + -0.056076891157087784, + 0.23898801346052687, + -0.15089379181924392, + -0.9592266640438023 + ], + [ + 0.6878163043721488, + -0.6642844392525625, + 0.29263443954317464, + -0.6893687574074933, + -0.7240369934456997, + -0.023262597287498382, + 0.22733114118019165, + -0.1857326462661318, + -0.9559413875132154 + ], + [ + 0.6727106797844332, + -0.6764626279644208, + 0.2997643312194355, + -0.7079334130314028, + -0.7062608664569368, + -0.005086376431835113, + 0.21515255986781817, + -0.20879152635815157, + -0.9539997245824331 + ], + [ + 0.6530959628961297, + -0.6864748249405138, + 0.3197154640796532, + -0.7315766510524085, + -0.6809972562514973, + 0.0322232930172406, + 0.1956048743864009, + -0.25494127108183817, + -0.9469655122629635 + ], + [ + 0.6760399158156368, + -0.660321627821697, + 0.32702504499639107, + -0.7150341365145818, + -0.6950947489431343, + 0.07462890599846735, + 0.17803431085842322, + -0.28428618999625366, + -0.9420643005307976 + ], + [ + 0.687192200567876, + -0.6738404390353562, + 0.2714883831756314, + -0.7133329173308122, + -0.6966345674593526, + 0.07652730540815587, + 0.13756099930937046, + -0.24625056779905913, + -0.9593944075966089 + ], + [ + 0.6988043863499388, + -0.6954689094713383, + 0.16731833604489682, + -0.7073906938814417, + -0.7066098451447039, + 0.01734741924639354, + 0.10616419277712263, + -0.13048188649511894, + -0.9857502936690696 + ], + [ + 0.6991194881531428, + -0.7134011220876957, + 0.04786209657446868, + -0.7095225513423864, + -0.700476434627171, + -0.07687986517025766, + 0.08837245284067774, + 0.01978897511300047, + -0.9958909107140697 + ], + [ + 0.6819656178384512, + -0.73138373138182, + -0.0008564789694959982, + -0.7232990309972526, + -0.6742526172222021, + -0.14907018456903537, + 0.10845002464109926, + 0.10228023092962013, + -0.988826246878757 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005680.json b/json/chunk-0005/episode_0005680.json new file mode 100644 index 0000000000000000000000000000000000000000..f58f8dae4b5c2a603272c7254c1b6d2487c7fecf --- /dev/null +++ b/json/chunk-0005/episode_0005680.json @@ -0,0 +1,2782 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 45, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPlaced the blue object on the silver pot." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005680.mp4", + "start": 0, + "end": 45, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.36398404836654663, + 0.012522788718342781, + 0.0930151641368866, + -0.009626133367419243, + -0.09469940513372421, + 0.5553998947143555, + 0.0, + 0.9974852800369263 + ], + [ + 0.36076271533966064, + 0.012582396157085896, + 0.08203554153442383, + 0.005470350384712219, + -0.06424437463283539, + 0.5537896156311035, + 0.0, + 0.9974852800369263 + ], + [ + 0.3491852581501007, + 0.022472981363534927, + 0.06921689957380295, + 0.014962790533900261, + -0.034975532442331314, + 0.5601069927215576, + 0.0, + 0.9974852800369263 + ], + [ + 0.33885249495506287, + 0.04016389325261116, + 0.08195751905441284, + -0.011334000155329704, + -0.04255162924528122, + 0.5939015746116638, + 0.0, + 0.9974852800369263 + ], + [ + 0.3223746716976166, + 0.06008101627230644, + 0.08583188056945801, + -0.025028401985764503, + -0.06633549183607101, + 0.6370288729667664, + 0.0, + 0.9974852800369263 + ], + [ + 0.2974284589290619, + 0.07192482799291611, + 0.0894467756152153, + -0.033713553100824356, + -0.07777819037437439, + 0.7363293766975403, + 0.0, + 0.9974852800369263 + ], + [ + 0.278573215007782, + 0.07898064702749252, + 0.08319249004125595, + -0.02584952861070633, + -0.026763470843434334, + 0.9037436246871948, + 0.0, + 0.9974852800369263 + ], + [ + 0.2653188109397888, + 0.07842709124088287, + 0.07965591549873352, + -0.04122735187411308, + -0.0483880452811718, + 1.1305711269378662, + 0.0, + 0.9974852800369263 + ], + [ + 0.25599220395088196, + 0.07368253171443939, + 0.07003933191299438, + -0.06305579841136932, + -0.07514772564172745, + 1.3007864952087402, + 0.0, + 0.9974852800369263 + ], + [ + 0.2515978217124939, + 0.06557753682136536, + 0.05797165632247925, + -0.08486238867044449, + -0.07330601662397385, + 1.3744523525238037, + 0.0, + 0.9974852800369263 + ], + [ + 0.25097036361694336, + 0.05758277326822281, + 0.04634701833128929, + -0.1378827542066574, + -0.08212604373693466, + 1.4470816850662231, + 0.0, + 0.9974852800369263 + ], + [ + 0.2503253221511841, + 0.05219826474785805, + 0.04065250977873802, + -0.16200070083141327, + -0.07529478520154953, + 1.4696149826049805, + 0.0, + 0.9974852800369263 + ], + [ + 0.24658121168613434, + 0.04815756902098656, + 0.034223902970552444, + -0.1735759973526001, + -0.09505774825811386, + 1.4839197397232056, + 0.0, + 0.9974852800369263 + ], + [ + 0.24929189682006836, + 0.04293534904718399, + 0.027082426473498344, + -0.1847294270992279, + -0.10858635604381561, + 1.5139291286468506, + 0.0, + 0.9974852800369263 + ], + [ + 0.25160861015319824, + 0.038706932216882706, + 0.0180441215634346, + -0.1887541115283966, + -0.12544862926006317, + 1.5313105583190918, + 0.0, + 0.9974852800369263 + ], + [ + 0.25229302048683167, + 0.03540334105491638, + 0.006923938635736704, + -0.17207691073417664, + -0.14090313017368317, + 1.534059762954712, + 0.0, + 0.9974852800369263 + ], + [ + 0.2541387975215912, + 0.036029137670993805, + 0.0024037675466388464, + -0.17200057208538055, + -0.15947310626506805, + 1.5250238180160522, + 0.0, + 0.9974852800369263 + ], + [ + 0.2559010684490204, + 0.036502640694379807, + 0.0016439646715298295, + -0.1716695874929428, + -0.16167069971561432, + 1.5142899751663208, + 0.0, + 0.9650423526763916 + ], + [ + 0.2573850750923157, + 0.03727510944008827, + 0.002464916557073593, + -0.17517560720443726, + -0.16259634494781494, + 1.5116825103759766, + 0.0, + 0.7623518109321594 + ], + [ + 0.25842976570129395, + 0.03979748114943504, + 0.003513186937198043, + -0.15680046379566193, + -0.1568729430437088, + 1.513777256011963, + 0.0, + 0.7565051317214966 + ], + [ + 0.26033079624176025, + 0.03997829556465149, + 0.007178599946200848, + -0.1333194375038147, + -0.1492786407470703, + 1.4954779148101807, + 0.0, + 0.7565051317214966 + ], + [ + 0.2611357271671295, + 0.045109428465366364, + 0.018588468432426453, + -0.12289424240589142, + -0.12035148590803146, + 1.4936529397964478, + 0.0, + 0.7565051317214966 + ], + [ + 0.267522394657135, + 0.052352141588926315, + 0.03824978694319725, + -0.1459946483373642, + -0.08458726853132248, + 1.5162816047668457, + 0.0, + 0.7565051317214966 + ], + [ + 0.2741706371307373, + 0.05219775438308716, + 0.05492869392037392, + -0.15620993077754974, + -0.06354829668998718, + 1.531461238861084, + 0.0, + 0.7565051317214966 + ], + [ + 0.29026833176612854, + 0.036845333874225616, + 0.07554900646209717, + -0.16072644293308258, + -0.03488881513476372, + 1.5373014211654663, + 0.0, + 0.7565051317214966 + ], + [ + 0.3113982081413269, + 0.007364298216998577, + 0.08643529564142227, + -0.1477532982826233, + -0.017698638141155243, + 1.4838695526123047, + 0.0, + 0.7565051317214966 + ], + [ + 0.32902655005455017, + -0.014715036377310753, + 0.08762219548225403, + -0.16737410426139832, + -0.007370427250862122, + 1.4273751974105835, + 0.0, + 0.7565051317214966 + ], + [ + 0.34323012828826904, + -0.02622266858816147, + 0.0852959156036377, + -0.20014707744121552, + -0.021584264934062958, + 1.4383550882339478, + 0.0, + 0.7565051317214966 + ], + [ + 0.35075536370277405, + -0.03245456889271736, + 0.07688779383897781, + -0.1885613352060318, + -0.012391004711389542, + 1.4610865116119385, + 0.0, + 0.7565051317214966 + ], + [ + 0.3558182120323181, + -0.03551765903830528, + 0.07360786944627762, + -0.19196003675460815, + -0.007321058306843042, + 1.4858030080795288, + 0.0, + 0.7565051317214966 + ], + [ + 0.36288535594940186, + -0.03696359321475029, + 0.06656350195407867, + -0.18193112313747406, + -0.012037022970616817, + 1.5086283683776855, + 0.0, + 0.7565051317214966 + ], + [ + 0.3651653826236725, + -0.03871547803282738, + 0.06618387252092361, + -0.18219687044620514, + -0.01037814375013113, + 1.51998770236969, + 0.0, + 0.7565051317214966 + ], + [ + 0.3668445646762848, + -0.04041267931461334, + 0.06592483818531036, + -0.18079374730587006, + -0.011344191618263721, + 1.5177994966506958, + 0.0, + 0.7988975048065186 + ], + [ + 0.36665114760398865, + -0.0403720960021019, + 0.06595559418201447, + -0.17613562941551208, + -0.012807737104594707, + 1.5118643045425415, + 0.0, + 1.0001531839370728 + ], + [ + 0.36660003662109375, + -0.0407562218606472, + 0.0659460723400116, + -0.17593680322170258, + -0.010620202869176865, + 1.510241985321045, + 0.0, + 0.9994885921478271 + ], + [ + 0.36527538299560547, + -0.04005482792854309, + 0.06537581980228424, + -0.16777554154396057, + -0.003491304349154234, + 1.5160881280899048, + 0.0, + 0.9994885921478271 + ], + [ + 0.360622376203537, + -0.03621790558099747, + 0.06549019366502762, + -0.13577035069465637, + -0.015230915509164333, + 1.4993594884872437, + 0.0, + 0.9988223910331726 + ], + [ + 0.35810768604278564, + -0.02673475816845894, + 0.06841868162155151, + -0.09892265498638153, + -0.08326331526041031, + 1.4133825302124023, + 0.0, + 0.9994885921478271 + ], + [ + 0.35526275634765625, + -0.018347343429923058, + 0.07453493773937225, + -0.03846731409430504, + -0.09677699953317642, + 1.228247046470642, + 0.0, + 0.9994885921478271 + ], + [ + 0.35495543479919434, + -0.014310291968286037, + 0.09346059709787369, + -0.07174133509397507, + -0.10483937710523605, + 1.0362884998321533, + 0.0, + 0.9994885921478271 + ], + [ + 0.351608544588089, + -0.007245117798447609, + 0.1003553569316864, + -0.09972268342971802, + -0.12453593313694, + 0.829067587852478, + 0.0, + 0.9994885921478271 + ], + [ + 0.34924545884132385, + -0.00035452813608571887, + 0.11051562428474426, + -0.09607738256454468, + -0.07812942564487457, + 0.609319806098938, + 0.0, + 0.9994885921478271 + ], + [ + 0.34863075613975525, + 0.01131370197981596, + 0.11337263882160187, + -0.059434402734041214, + -0.06126988306641579, + 0.45907220244407654, + 0.0, + 0.9988223910331726 + ], + [ + 0.3488766551017761, + 0.018812479451298714, + 0.11580284684896469, + -0.06011253595352173, + -0.05498276650905609, + 0.38667285442352295, + 0.0, + 0.9988223910331726 + ], + [ + 0.35085245966911316, + 0.023277005180716515, + 0.11682139337062836, + -0.04963887110352516, + -0.07646702975034714, + 0.32071924209594727, + 0.0, + 0.9994885921478271 + ] + ], + "left_gripper_pos": [ + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9650423526763916 + ], + [ + 0.7623518109321594 + ], + [ + 0.7565051317214966 + ], + [ + 0.7565051317214966 + ], + [ + 0.7565051317214966 + ], + [ + 0.7565051317214966 + ], + [ + 0.7565051317214966 + ], + [ + 0.7565051317214966 + ], + [ + 0.7565051317214966 + ], + [ + 0.7565051317214966 + ], + [ + 0.7565051317214966 + ], + [ + 0.7565051317214966 + ], + [ + 0.7565051317214966 + ], + [ + 0.7565051317214966 + ], + [ + 0.7565051317214966 + ], + [ + 0.7988975048065186 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.36398404836654663, + 0.012522788718342781, + 0.0930151641368866 + ], + [ + 0.36076271533966064, + 0.012582396157085896, + 0.08203554153442383 + ], + [ + 0.3491852581501007, + 0.022472981363534927, + 0.06921689957380295 + ], + [ + 0.33885249495506287, + 0.04016389325261116, + 0.08195751905441284 + ], + [ + 0.3223746716976166, + 0.06008101627230644, + 0.08583188056945801 + ], + [ + 0.2974284589290619, + 0.07192482799291611, + 0.0894467756152153 + ], + [ + 0.278573215007782, + 0.07898064702749252, + 0.08319249004125595 + ], + [ + 0.2653188109397888, + 0.07842709124088287, + 0.07965591549873352 + ], + [ + 0.25599220395088196, + 0.07368253171443939, + 0.07003933191299438 + ], + [ + 0.2515978217124939, + 0.06557753682136536, + 0.05797165632247925 + ], + [ + 0.25097036361694336, + 0.05758277326822281, + 0.04634701833128929 + ], + [ + 0.2503253221511841, + 0.05219826474785805, + 0.04065250977873802 + ], + [ + 0.24658121168613434, + 0.04815756902098656, + 0.034223902970552444 + ], + [ + 0.24929189682006836, + 0.04293534904718399, + 0.027082426473498344 + ], + [ + 0.25160861015319824, + 0.038706932216882706, + 0.0180441215634346 + ], + [ + 0.25229302048683167, + 0.03540334105491638, + 0.006923938635736704 + ], + [ + 0.2541387975215912, + 0.036029137670993805, + 0.0024037675466388464 + ], + [ + 0.2559010684490204, + 0.036502640694379807, + 0.0016439646715298295 + ], + [ + 0.2573850750923157, + 0.03727510944008827, + 0.002464916557073593 + ], + [ + 0.25842976570129395, + 0.03979748114943504, + 0.003513186937198043 + ], + [ + 0.26033079624176025, + 0.03997829556465149, + 0.007178599946200848 + ], + [ + 0.2611357271671295, + 0.045109428465366364, + 0.018588468432426453 + ], + [ + 0.267522394657135, + 0.052352141588926315, + 0.03824978694319725 + ], + [ + 0.2741706371307373, + 0.05219775438308716, + 0.05492869392037392 + ], + [ + 0.29026833176612854, + 0.036845333874225616, + 0.07554900646209717 + ], + [ + 0.3113982081413269, + 0.007364298216998577, + 0.08643529564142227 + ], + [ + 0.32902655005455017, + -0.014715036377310753, + 0.08762219548225403 + ], + [ + 0.34323012828826904, + -0.02622266858816147, + 0.0852959156036377 + ], + [ + 0.35075536370277405, + -0.03245456889271736, + 0.07688779383897781 + ], + [ + 0.3558182120323181, + -0.03551765903830528, + 0.07360786944627762 + ], + [ + 0.36288535594940186, + -0.03696359321475029, + 0.06656350195407867 + ], + [ + 0.3651653826236725, + -0.03871547803282738, + 0.06618387252092361 + ], + [ + 0.3668445646762848, + -0.04041267931461334, + 0.06592483818531036 + ], + [ + 0.36665114760398865, + -0.0403720960021019, + 0.06595559418201447 + ], + [ + 0.36660003662109375, + -0.0407562218606472, + 0.0659460723400116 + ], + [ + 0.36527538299560547, + -0.04005482792854309, + 0.06537581980228424 + ], + [ + 0.360622376203537, + -0.03621790558099747, + 0.06549019366502762 + ], + [ + 0.35810768604278564, + -0.02673475816845894, + 0.06841868162155151 + ], + [ + 0.35526275634765625, + -0.018347343429923058, + 0.07453493773937225 + ], + [ + 0.35495543479919434, + -0.014310291968286037, + 0.09346059709787369 + ], + [ + 0.351608544588089, + -0.007245117798447609, + 0.1003553569316864 + ], + [ + 0.34924545884132385, + -0.00035452813608571887, + 0.11051562428474426 + ], + [ + 0.34863075613975525, + 0.01131370197981596, + 0.11337263882160187 + ], + [ + 0.3488766551017761, + 0.018812479451298714, + 0.11580284684896469 + ], + [ + 0.35085245966911316, + 0.023277005180716515, + 0.11682139337062836 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8458824981968867, + 0.5264853005880404, + 0.0854167870439712, + 0.5249205635926902, + -0.8501302236546739, + 0.04167738891037755, + 0.09455792490175967, + 0.00958285414556478, + -0.9954732380856345 + ], + [ + 0.8487829962683382, + 0.5262050445796895, + 0.05172693983437684, + 0.5248292682013642, + -0.8503401966051771, + 0.038416002872363755, + 0.06420019069257382, + -0.00545903804308601, + -0.9979221083925747 + ], + [ + 0.8466801422436045, + 0.5316606323052337, + 0.021672766024409703, + 0.5309519258750686, + -0.8468254704528898, + 0.03125179997692502, + 0.034968402021044794, + -0.014953081590131465, + -0.9992765464129806 + ], + [ + 0.8280134925602919, + 0.5591632475604376, + 0.04159469576487415, + 0.5590922173756456, + -0.828980241599601, + 0.01441011823168698, + 0.04253878945258724, + 0.011323498361022989, + -0.9990306450638922 + ], + [ + 0.8020985407941216, + 0.5932898709165443, + 0.06815467646296086, + 0.5935014609016008, + -0.8046015105860929, + 0.019298317808623275, + 0.0662868521171893, + 0.024970747493965287, + -0.9974881026889424 + ], + [ + 0.7386986303392209, + 0.6692505675578129, + 0.08017487984714938, + 0.6695424373440277, + -0.7422764741580832, + 0.027176469727755684, + 0.0776997949185082, + 0.033605263501276544, + -0.9964102709901338 + ], + [ + 0.6184515779068085, + 0.7849581061379437, + 0.036856714353167876, + 0.7853671328858124, + -0.6190098550860338, + 0.005026518585026663, + 0.0267602759196715, + 0.02583739372885119, + -0.9993079188708568 + ], + [ + 0.42564441506967526, + 0.9030374631304644, + 0.0578806712373775, + 0.9035968436270073, + -0.42758459130513765, + 0.026156480377301852, + 0.04836916483984152, + 0.04116743204662873, + -0.997980794620509 + ], + [ + 0.2659880993838752, + 0.9605909952574295, + 0.08071722750748793, + 0.9610482675353308, + -0.2707702982208405, + 0.05540463039076322, + 0.07507701681269517, + 0.06283617932162121, + -0.9951959887955578 + ], + [ + 0.1945609262915034, + 0.9760457909478278, + 0.09736868045537397, + 0.9781522850772312, + -0.2004714397258291, + 0.05503915926359956, + 0.07324037929163654, + 0.0845329274737473, + -0.9937253297636801 + ], + [ + 0.1229833902770412, + 0.9815475039547896, + 0.14642261845796656, + 0.9890124107549565, + -0.13341720457701467, + 0.06367339236701672, + 0.0820337557876879, + 0.13698301720643072, + -0.9871707632970035 + ], + [ + 0.10072259954656759, + 0.9806335140972654, + 0.16796686866709765, + 0.9920667108811868, + -0.11175723480741062, + 0.05756701859211477, + 0.07522366051958246, + 0.16083603917483646, + -0.9841103441182726 + ], + [ + 0.08637562549793049, + 0.9798364275590098, + 0.18016610821194756, + 0.9917310418311202, + -0.10179401323528642, + 0.07815062084216479, + 0.09491465634138246, + 0.17192601344139946, + -0.9805267226923219 + ], + [ + 0.05650180214833933, + 0.9802655951964486, + 0.18943840483952099, + 0.9925033095029773, + -0.07574338807270631, + 0.095917254907053, + 0.10837309158470607, + 0.18259874599081927, + -0.9771964853513101 + ], + [ + 0.03916529575817729, + 0.980546390049328, + 0.1923404704408444, + 0.9913682982685869, + -0.06223297395453642, + 0.11539477518856678, + 0.12511984972905127, + 0.1861607743699108, + -0.9745199789074488 + ], + [ + 0.03636430789601969, + 0.9836833145122155, + 0.17619527196126883, + 0.9894215418103969, + -0.06021658681650993, + 0.13198096557347516, + 0.14043735155855297, + 0.16953200117509298, + -0.9754671962012806 + ], + [ + 0.0451759268318121, + 0.9829687987643968, + 0.17813331044632152, + 0.9862770017959291, + -0.07223176820009741, + 0.14845958167501372, + 0.15879802065302778, + 0.16898198814774962, + -0.9727426567794354 + ], + [ + 0.05573982007792899, + 0.9821753637974379, + 0.17951219236322263, + 0.9853844867230347, + -0.08309991932907879, + 0.14870042613618137, + 0.16096734384110784, + 0.16859999453401872, + -0.9724523412794415 + ], + [ + 0.05830015530760624, + 0.9813091748314212, + 0.18339409827686412, + 0.9850866370598944, + -0.08633872647271512, + 0.14882856512476839, + 0.1618808493217673, + 0.17198234706720567, + -0.9717081161131249 + ], + [ + 0.05628840167866073, + 0.9847364391682492, + 0.1646990018509486, + 0.9861154617804788, + -0.08064612596806014, + 0.14516369519895994, + 0.15623031675681426, + 0.15424119988051438, + -0.9756032699747805 + ], + [ + 0.07441036735176204, + 0.9868286072054298, + 0.1436398177093217, + 0.9860750584194446, + -0.09429266425627253, + 0.1369849357796044, + 0.14872483448860954, + 0.1314465422460599, + -0.9801034282859591 + ], + [ + 0.07650943147857836, + 0.9883721083208165, + 0.13140350980201745, + 0.9898139346376492, + -0.09115959787161854, + 0.10935402376236597, + 0.12006115813184551, + 0.12169841087437824, + -0.9852790544301097 + ], + [ + 0.05429291060117908, + 0.98722224406853, + 0.1498149547767113, + 0.9949443815073521, + -0.0661806053140937, + 0.07553678036038297, + 0.08448643420931529, + 0.1449564358576598, + -0.985824362722914 + ], + [ + 0.03924556725266504, + 0.9866713854868616, + 0.15792201402101544, + 0.9972095229688362, + -0.04871838250061278, + 0.056565771512376184, + 0.06350553323359243, + 0.15526138047808682, + -0.9858300822052226 + ], + [ + 0.03346826332966896, + 0.9863706707079768, + 0.16109865088445702, + 0.9988308864520198, + -0.03863619666580814, + 0.02905347787569311, + 0.034881737616815026, + 0.15993793882096025, + -0.9865105777975898 + ], + [ + 0.08680374487070336, + 0.9851435176831909, + 0.14818015873662177, + 0.9960682209516631, + -0.08846696277829341, + 0.00465786506599139, + 0.017697714163438724, + 0.1471932269622914, + -0.9889494147072522 + ], + [ + 0.1429260662747585, + 0.9757264111840825, + 0.16592200003933782, + 0.9897059246892613, + -0.14214784075900117, + -0.016618483761394465, + 0.007370360520180405, + 0.16658920098669158, + -0.9859988417338117 + ], + [ + 0.13202363347061674, + 0.9708880089961959, + 0.19986554028300896, + 0.9910115801826888, + -0.13367156884152598, + -0.005287686380215914, + 0.02158258902510489, + 0.19876716446850073, + -0.9798090661859205 + ], + [ + 0.10948145998567294, + 0.9761151008349294, + 0.1876515916303968, + 0.9939116061196573, + -0.10985776933116298, + -0.008425540826803857, + 0.012390687634213263, + 0.18743153533916512, + -0.982199516605641 + ], + [ + 0.08488875065753443, + 0.9779701545149018, + 0.19070468502347296, + 0.9963635396152561, + -0.08472344376584984, + -0.009035209007702688, + 0.007320992908132873, + 0.19077818259579363, + -0.9816058720832334 + ], + [ + 0.062123420329718904, + 0.9814609054620737, + 0.18131511711962642, + 0.9979958906338761, + -0.06327615882627163, + 0.0005744580830808615, + 0.012036732298836061, + 0.18091605449423004, + -0.983424881880567 + ], + [ + 0.0507840317060379, + 0.9820833949030876, + 0.1814750329365065, + 0.9986557365392628, + -0.051824105727265535, + 0.0009909302657950952, + 0.010377957453304776, + 0.18118075924665727, + -0.9833950531083131 + ], + [ + 0.05296861677983766, + 0.9822121085146833, + 0.18014910358802805, + 0.9985317423463784, + -0.05414554547486505, + 0.001618465920111778, + 0.01134394830453389, + 0.17979887038679826, + -0.9836379827174706 + ], + [ + 0.058893085834994974, + 0.9826868732575372, + 0.17566477611677445, + 0.998182135324209, + -0.0602269539131034, + 0.0022668793419428346, + 0.012807386947926533, + 0.17521193780582847, + -0.9844474326696637 + ], + [ + 0.0605139283919936, + 0.9826459504093472, + 0.17534252369199815, + 0.9981108555676332, + -0.061438553222979586, + -0.00015548605636087065, + 0.010620003230474254, + 0.1750206854116889, + -0.984507478493387 + ], + [ + 0.05468057937590065, + 0.9844516749703556, + 0.16692793021893368, + 0.998497794230204, + -0.05449525761477625, + -0.00569401571092569, + 0.0034912972564538625, + 0.1669885221970676, + -0.9859526582437448 + ], + [ + 0.0713678153554998, + 0.9881231606692491, + 0.1360854668228646, + 0.9973337816809091, + -0.07277546718582745, + 0.0053906673002077216, + 0.01523032663603302, + 0.13533791310973525, + -0.990682434701283 + ], + [ + 0.15622141307132154, + 0.9815199822449151, + 0.11051422782583531, + 0.9842144566974939, + -0.16411025562802029, + 0.06625501660525374, + 0.08316714090105631, + 0.09841924837981098, + -0.9916636920966182 + ], + [ + 0.33431764491416066, + 0.9399564813234154, + 0.0686551201087947, + 0.9374940679799577, + -0.33914099950142257, + 0.07802727061461522, + 0.0966260047887705, + 0.0382778744874885, + -0.994584445647166 + ], + [ + 0.5066205605525502, + 0.8544847394689135, + 0.11485398399778178, + 0.8557946734974198, + -0.514562048088148, + 0.05330455403410636, + 0.10464742920332197, + 0.07128624469049687, + -0.9919512018638125 + ], + [ + 0.6703315655471658, + 0.7252844050415306, + 0.15690163808781105, + 0.7315916937651259, + -0.6813250098063285, + 0.023870999691680828, + 0.12421427391793416, + 0.09878645056868418, + -0.9873257068156794 + ], + [ + 0.8175359226993928, + 0.5635305119020212, + 0.11861019033581732, + 0.5705639475889147, + -0.8205406305961318, + -0.03420314682389476, + 0.07804996353494933, + 0.09563699962017207, + -0.9923516350043692 + ], + [ + 0.8947818697988384, + 0.4390736018610087, + 0.08111582846827622, + 0.44228509138275746, + -0.8964927830113576, + -0.026164631644579602, + 0.06123155575224478, + 0.05928795963221442, + -0.9963611967669197 + ], + [ + 0.9247692803482164, + 0.37337012372357115, + 0.07346107019971816, + 0.37653913298719155, + -0.9257410458841394, + -0.034954217121751056, + 0.054955067587046505, + 0.05998555389413009, + -0.9966853434612744 + ], + [ + 0.946235749099768, + 0.3112636980220638, + 0.08805008472017382, + 0.31432799463912253, + -0.9490349222510185, + -0.02303536702877794, + 0.07639253177993284, + 0.049473494334160886, + -0.9958496645812656 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0032213330268859863, + 5.960743874311447e-05, + -0.010979622602462769, + 0.015096483752131462, + 0.030455030500888824, + -0.0016102790832519531, + 1.0 + ], + [ + -0.011577457189559937, + 0.009890585206449032, + -0.01281864196062088, + 0.009492440149188042, + 0.029268842190504074, + 0.0063173770904541016, + 1.0 + ], + [ + -0.010332763195037842, + 0.017690911889076233, + 0.012740619480609894, + -0.026296790689229965, + -0.007576096802949905, + 0.0337945818901062, + 1.0 + ], + [ + -0.01647782325744629, + 0.019917123019695282, + 0.003874361515045166, + -0.0136944018304348, + -0.023783862590789795, + 0.04312729835510254, + 1.0 + ], + [ + -0.024946212768554688, + 0.011843811720609665, + 0.0036148950457572937, + -0.008685151115059853, + -0.011442698538303375, + 0.09930050373077393, + 1.0 + ], + [ + -0.018855243921279907, + 0.007055819034576416, + -0.006254285573959351, + 0.007864024490118027, + 0.051014721393585205, + 0.16741424798965454, + 1.0 + ], + [ + -0.013254404067993164, + -0.0005535557866096497, + -0.0035365745425224304, + -0.015377823263406754, + -0.021624574437737465, + 0.2268275022506714, + 1.0 + ], + [ + -0.00932660698890686, + -0.0047445595264434814, + -0.009616583585739136, + -0.02182844653725624, + -0.02675968036055565, + 0.17021536827087402, + 1.0 + ], + [ + -0.0043943822383880615, + -0.008104994893074036, + -0.012067675590515137, + -0.021806590259075165, + 0.001841709017753601, + 0.07366585731506348, + 1.0 + ], + [ + -0.0006274580955505371, + -0.007994763553142548, + -0.011624637991189957, + -0.05302036553621292, + -0.008820027112960815, + 0.07262933254241943, + 1.0 + ], + [ + -0.0006450414657592773, + -0.005384508520364761, + -0.0056945085525512695, + -0.02411794662475586, + 0.006831258535385132, + 0.022533297538757324, + 1.0 + ], + [ + -0.0037441104650497437, + -0.0040406957268714905, + -0.006428606808185577, + -0.011575296521186829, + -0.01976296305656433, + 0.014304757118225098, + 1.0 + ], + [ + 0.002710685133934021, + -0.0052222199738025665, + -0.0071414764970541, + -0.011153429746627808, + -0.013528607785701752, + 0.03000938892364502, + 1.0 + ], + [ + 0.002316713333129883, + -0.004228416830301285, + -0.009038304910063744, + -0.004024684429168701, + -0.01686227321624756, + 0.01738142967224121, + 1.0 + ], + [ + 0.0006844103336334229, + -0.003303591161966324, + -0.011120183393359184, + 0.01667720079421997, + -0.015454500913619995, + 0.002749204635620117, + 1.0 + ], + [ + 0.0018457770347595215, + 0.0006257966160774231, + -0.004520171321928501, + 7.633864879608154e-05, + -0.018569976091384888, + -0.009035944938659668, + 1.0 + ], + [ + 0.0017622709274291992, + 0.0004735030233860016, + -0.0007598028751090169, + 0.00033098459243774414, + -0.0021975934505462646, + -0.010733842849731445, + 0.0 + ], + [ + 0.001484006643295288, + 0.0007724687457084656, + 0.0008209518855437636, + -0.003506019711494446, + -0.0009256452322006226, + -0.0026074647903442383, + 0.0 + ], + [ + 0.0010446906089782715, + 0.0025223717093467712, + 0.0010482703801244497, + 0.01837514340877533, + 0.00572340190410614, + 0.002094745635986328, + 0.0 + ], + [ + 0.0019010305404663086, + 0.00018081441521644592, + 0.0036654130090028048, + 0.02348102629184723, + 0.007594302296638489, + -0.018299341201782227, + 0.0 + ], + [ + 0.0008049309253692627, + 0.005131132900714874, + 0.011409868486225605, + 0.010425195097923279, + 0.02892715483903885, + -0.0018249750137329102, + 0.0 + ], + [ + 0.006386667490005493, + 0.007242713123559952, + 0.019661318510770798, + -0.02310040593147278, + 0.035764217376708984, + 0.02262866497039795, + 0.0 + ], + [ + 0.006648242473602295, + -0.0001543872058391571, + 0.016678906977176666, + -0.010215282440185547, + 0.021038971841335297, + 0.015179634094238281, + 0.0 + ], + [ + 0.016097694635391235, + -0.015352420508861542, + 0.02062031254172325, + -0.004516512155532837, + 0.028659481555223465, + 0.005840182304382324, + 0.0 + ], + [ + 0.021129876375198364, + -0.029481034725904465, + 0.010886289179325104, + 0.01297314465045929, + 0.017190176993608475, + -0.05343186855316162, + 0.0 + ], + [ + 0.017628341913223267, + -0.022079333662986755, + 0.0011868998408317566, + -0.019620805978775024, + 0.010328210890293121, + -0.05649435520172119, + 0.0 + ], + [ + 0.014203578233718872, + -0.011507632210850716, + -0.002326279878616333, + -0.0327729731798172, + -0.014213837683200836, + 0.010979890823364258, + 0.0 + ], + [ + 0.007525235414505005, + -0.006231900304555893, + -0.008408121764659882, + 0.011585742235183716, + 0.009193260222673416, + 0.022731423377990723, + 0.0 + ], + [ + 0.005062848329544067, + -0.003063090145587921, + -0.0032799243927001953, + -0.003398701548576355, + 0.005069946404546499, + 0.024716496467590332, + 0.0 + ], + [ + 0.00706714391708374, + -0.0014459341764450073, + -0.007044367492198944, + 0.010028913617134094, + -0.004715964663773775, + 0.02282536029815674, + 0.0 + ], + [ + 0.00228002667427063, + -0.0017518848180770874, + -0.0003796294331550598, + -0.0002657473087310791, + 0.0016588792204856873, + 0.011359333992004395, + 1.0 + ], + [ + 0.0016791820526123047, + -0.001697201281785965, + -0.00025903433561325073, + 0.001403123140335083, + -0.0009660478681325912, + -0.0021882057189941406, + 1.0 + ], + [ + -0.00019341707229614258, + 4.058331251144409e-05, + 3.075599670410156e-05, + 0.004658117890357971, + -0.001463545486330986, + -0.005935192108154297, + 1.0 + ], + [ + -5.111098289489746e-05, + -0.00038412585854530334, + -9.521842002868652e-06, + 0.00019882619380950928, + 0.002187534235417843, + -0.001622319221496582, + 1.0 + ], + [ + -0.0013246536254882812, + 0.0007013939321041107, + -0.000570252537727356, + 0.008161261677742004, + 0.007128898520022631, + 0.005846142768859863, + 1.0 + ], + [ + -0.0046530067920684814, + 0.0038369223475456238, + 0.00011437386274337769, + 0.0320051908493042, + -0.011739611625671387, + -0.016728639602661133, + 1.0 + ], + [ + -0.0025146901607513428, + 0.009483147412538528, + 0.0029284879565238953, + 0.03684769570827484, + -0.0680323988199234, + -0.08597695827484131, + 1.0 + ], + [ + -0.0028449296951293945, + 0.008387414738535881, + 0.00611625611782074, + 0.06045534089207649, + -0.013513684272766113, + -0.18513548374176025, + 1.0 + ], + [ + -0.00030732154846191406, + 0.00403705146163702, + 0.018925659358501434, + -0.03327402099967003, + -0.008062377572059631, + -0.19195854663848877, + 1.0 + ], + [ + -0.0033468902111053467, + 0.0070651741698384285, + 0.006894759833812714, + -0.02798134833574295, + -0.01969655603170395, + -0.2072209119796753, + 1.0 + ], + [ + -0.0023630857467651367, + 0.006890589836984873, + 0.010160267353057861, + 0.00364530086517334, + 0.04640650749206543, + -0.21974778175354004, + 1.0 + ], + [ + -0.0006147027015686035, + 0.011668230406939983, + 0.002857014536857605, + 0.036642979830503464, + 0.016859542578458786, + -0.15024760365486145, + 1.0 + ], + [ + 0.000245898962020874, + 0.007498777471482754, + 0.0024302080273628235, + -0.0006781332194805145, + 0.0062871165573596954, + -0.07239934802055359, + 1.0 + ], + [ + 0.001975804567337036, + 0.004464525729417801, + 0.0010185465216636658, + 0.010473664849996567, + -0.021484263241291046, + -0.06595361232757568, + 1.0 + ], + [ + 0.00040596723556518555, + 0.005493896082043648, + -0.007272347807884216, + -0.0018174871802330017, + 0.018645312637090683, + -0.03639760613441467, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9650423526763916 + ], + [ + 0.7623518109321594 + ], + [ + 0.7565051317214966 + ], + [ + 0.7565051317214966 + ], + [ + 0.7565051317214966 + ], + [ + 0.7565051317214966 + ], + [ + 0.7565051317214966 + ], + [ + 0.7565051317214966 + ], + [ + 0.7565051317214966 + ], + [ + 0.7565051317214966 + ], + [ + 0.7565051317214966 + ], + [ + 0.7565051317214966 + ], + [ + 0.7565051317214966 + ], + [ + 0.7565051317214966 + ], + [ + 0.7565051317214966 + ], + [ + 0.7988975048065186 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.36076271533966064, + 0.012582396157085896, + 0.08203554153442383 + ], + [ + 0.3491852581501007, + 0.022472981363534927, + 0.06921689957380295 + ], + [ + 0.33885249495506287, + 0.04016389325261116, + 0.08195751905441284 + ], + [ + 0.3223746716976166, + 0.06008101627230644, + 0.08583188056945801 + ], + [ + 0.2974284589290619, + 0.07192482799291611, + 0.0894467756152153 + ], + [ + 0.278573215007782, + 0.07898064702749252, + 0.08319249004125595 + ], + [ + 0.2653188109397888, + 0.07842709124088287, + 0.07965591549873352 + ], + [ + 0.25599220395088196, + 0.07368253171443939, + 0.07003933191299438 + ], + [ + 0.2515978217124939, + 0.06557753682136536, + 0.05797165632247925 + ], + [ + 0.25097036361694336, + 0.05758277326822281, + 0.04634701833128929 + ], + [ + 0.2503253221511841, + 0.05219826474785805, + 0.04065250977873802 + ], + [ + 0.24658121168613434, + 0.04815756902098656, + 0.034223902970552444 + ], + [ + 0.24929189682006836, + 0.04293534904718399, + 0.027082426473498344 + ], + [ + 0.25160861015319824, + 0.038706932216882706, + 0.0180441215634346 + ], + [ + 0.25229302048683167, + 0.03540334105491638, + 0.006923938635736704 + ], + [ + 0.2541387975215912, + 0.036029137670993805, + 0.0024037675466388464 + ], + [ + 0.2559010684490204, + 0.036502640694379807, + 0.0016439646715298295 + ], + [ + 0.2573850750923157, + 0.03727510944008827, + 0.002464916557073593 + ], + [ + 0.25842976570129395, + 0.03979748114943504, + 0.003513186937198043 + ], + [ + 0.26033079624176025, + 0.03997829556465149, + 0.007178599946200848 + ], + [ + 0.2611357271671295, + 0.045109428465366364, + 0.018588468432426453 + ], + [ + 0.267522394657135, + 0.052352141588926315, + 0.03824978694319725 + ], + [ + 0.2741706371307373, + 0.05219775438308716, + 0.05492869392037392 + ], + [ + 0.29026833176612854, + 0.036845333874225616, + 0.07554900646209717 + ], + [ + 0.3113982081413269, + 0.007364298216998577, + 0.08643529564142227 + ], + [ + 0.32902655005455017, + -0.014715036377310753, + 0.08762219548225403 + ], + [ + 0.34323012828826904, + -0.02622266858816147, + 0.0852959156036377 + ], + [ + 0.35075536370277405, + -0.03245456889271736, + 0.07688779383897781 + ], + [ + 0.3558182120323181, + -0.03551765903830528, + 0.07360786944627762 + ], + [ + 0.36288535594940186, + -0.03696359321475029, + 0.06656350195407867 + ], + [ + 0.3651653826236725, + -0.03871547803282738, + 0.06618387252092361 + ], + [ + 0.3668445646762848, + -0.04041267931461334, + 0.06592483818531036 + ], + [ + 0.36665114760398865, + -0.0403720960021019, + 0.06595559418201447 + ], + [ + 0.36660003662109375, + -0.0407562218606472, + 0.0659460723400116 + ], + [ + 0.36527538299560547, + -0.04005482792854309, + 0.06537581980228424 + ], + [ + 0.360622376203537, + -0.03621790558099747, + 0.06549019366502762 + ], + [ + 0.35810768604278564, + -0.02673475816845894, + 0.06841868162155151 + ], + [ + 0.35526275634765625, + -0.018347343429923058, + 0.07453493773937225 + ], + [ + 0.35495543479919434, + -0.014310291968286037, + 0.09346059709787369 + ], + [ + 0.351608544588089, + -0.007245117798447609, + 0.1003553569316864 + ], + [ + 0.34924545884132385, + -0.00035452813608571887, + 0.11051562428474426 + ], + [ + 0.34863075613975525, + 0.01131370197981596, + 0.11337263882160187 + ], + [ + 0.3488766551017761, + 0.018812479451298714, + 0.11580284684896469 + ], + [ + 0.35085245966911316, + 0.023277005180716515, + 0.11682139337062836 + ], + [ + 0.35125842690467834, + 0.028770901262760162, + 0.10954904556274414 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8487829962683382, + 0.5262050445796895, + 0.05172693983437684, + 0.5248292682013642, + -0.8503401966051771, + 0.038416002872363755, + 0.06420019069257382, + -0.00545903804308601, + -0.9979221083925747 + ], + [ + 0.8466801422436045, + 0.5316606323052337, + 0.021672766024409703, + 0.5309519258750686, + -0.8468254704528898, + 0.03125179997692502, + 0.034968402021044794, + -0.014953081590131465, + -0.9992765464129806 + ], + [ + 0.8280134925602919, + 0.5591632475604376, + 0.04159469576487415, + 0.5590922173756456, + -0.828980241599601, + 0.01441011823168698, + 0.04253878945258724, + 0.011323498361022989, + -0.9990306450638922 + ], + [ + 0.8020985407941216, + 0.5932898709165443, + 0.06815467646296086, + 0.5935014609016008, + -0.8046015105860929, + 0.019298317808623275, + 0.0662868521171893, + 0.024970747493965287, + -0.9974881026889424 + ], + [ + 0.7386986303392209, + 0.6692505675578129, + 0.08017487984714938, + 0.6695424373440277, + -0.7422764741580832, + 0.027176469727755684, + 0.0776997949185082, + 0.033605263501276544, + -0.9964102709901338 + ], + [ + 0.6184515779068085, + 0.7849581061379437, + 0.036856714353167876, + 0.7853671328858124, + -0.6190098550860338, + 0.005026518585026663, + 0.0267602759196715, + 0.02583739372885119, + -0.9993079188708568 + ], + [ + 0.42564441506967526, + 0.9030374631304644, + 0.0578806712373775, + 0.9035968436270073, + -0.42758459130513765, + 0.026156480377301852, + 0.04836916483984152, + 0.04116743204662873, + -0.997980794620509 + ], + [ + 0.2659880993838752, + 0.9605909952574295, + 0.08071722750748793, + 0.9610482675353308, + -0.2707702982208405, + 0.05540463039076322, + 0.07507701681269517, + 0.06283617932162121, + -0.9951959887955578 + ], + [ + 0.1945609262915034, + 0.9760457909478278, + 0.09736868045537397, + 0.9781522850772312, + -0.2004714397258291, + 0.05503915926359956, + 0.07324037929163654, + 0.0845329274737473, + -0.9937253297636801 + ], + [ + 0.1229833902770412, + 0.9815475039547896, + 0.14642261845796656, + 0.9890124107549565, + -0.13341720457701467, + 0.06367339236701672, + 0.0820337557876879, + 0.13698301720643072, + -0.9871707632970035 + ], + [ + 0.10072259954656759, + 0.9806335140972654, + 0.16796686866709765, + 0.9920667108811868, + -0.11175723480741062, + 0.05756701859211477, + 0.07522366051958246, + 0.16083603917483646, + -0.9841103441182726 + ], + [ + 0.08637562549793049, + 0.9798364275590098, + 0.18016610821194756, + 0.9917310418311202, + -0.10179401323528642, + 0.07815062084216479, + 0.09491465634138246, + 0.17192601344139946, + -0.9805267226923219 + ], + [ + 0.05650180214833933, + 0.9802655951964486, + 0.18943840483952099, + 0.9925033095029773, + -0.07574338807270631, + 0.095917254907053, + 0.10837309158470607, + 0.18259874599081927, + -0.9771964853513101 + ], + [ + 0.03916529575817729, + 0.980546390049328, + 0.1923404704408444, + 0.9913682982685869, + -0.06223297395453642, + 0.11539477518856678, + 0.12511984972905127, + 0.1861607743699108, + -0.9745199789074488 + ], + [ + 0.03636430789601969, + 0.9836833145122155, + 0.17619527196126883, + 0.9894215418103969, + -0.06021658681650993, + 0.13198096557347516, + 0.14043735155855297, + 0.16953200117509298, + -0.9754671962012806 + ], + [ + 0.0451759268318121, + 0.9829687987643968, + 0.17813331044632152, + 0.9862770017959291, + -0.07223176820009741, + 0.14845958167501372, + 0.15879802065302778, + 0.16898198814774962, + -0.9727426567794354 + ], + [ + 0.05573982007792899, + 0.9821753637974379, + 0.17951219236322263, + 0.9853844867230347, + -0.08309991932907879, + 0.14870042613618137, + 0.16096734384110784, + 0.16859999453401872, + -0.9724523412794415 + ], + [ + 0.05830015530760624, + 0.9813091748314212, + 0.18339409827686412, + 0.9850866370598944, + -0.08633872647271512, + 0.14882856512476839, + 0.1618808493217673, + 0.17198234706720567, + -0.9717081161131249 + ], + [ + 0.05628840167866073, + 0.9847364391682492, + 0.1646990018509486, + 0.9861154617804788, + -0.08064612596806014, + 0.14516369519895994, + 0.15623031675681426, + 0.15424119988051438, + -0.9756032699747805 + ], + [ + 0.07441036735176204, + 0.9868286072054298, + 0.1436398177093217, + 0.9860750584194446, + -0.09429266425627253, + 0.1369849357796044, + 0.14872483448860954, + 0.1314465422460599, + -0.9801034282859591 + ], + [ + 0.07650943147857836, + 0.9883721083208165, + 0.13140350980201745, + 0.9898139346376492, + -0.09115959787161854, + 0.10935402376236597, + 0.12006115813184551, + 0.12169841087437824, + -0.9852790544301097 + ], + [ + 0.05429291060117908, + 0.98722224406853, + 0.1498149547767113, + 0.9949443815073521, + -0.0661806053140937, + 0.07553678036038297, + 0.08448643420931529, + 0.1449564358576598, + -0.985824362722914 + ], + [ + 0.03924556725266504, + 0.9866713854868616, + 0.15792201402101544, + 0.9972095229688362, + -0.04871838250061278, + 0.056565771512376184, + 0.06350553323359243, + 0.15526138047808682, + -0.9858300822052226 + ], + [ + 0.03346826332966896, + 0.9863706707079768, + 0.16109865088445702, + 0.9988308864520198, + -0.03863619666580814, + 0.02905347787569311, + 0.034881737616815026, + 0.15993793882096025, + -0.9865105777975898 + ], + [ + 0.08680374487070336, + 0.9851435176831909, + 0.14818015873662177, + 0.9960682209516631, + -0.08846696277829341, + 0.00465786506599139, + 0.017697714163438724, + 0.1471932269622914, + -0.9889494147072522 + ], + [ + 0.1429260662747585, + 0.9757264111840825, + 0.16592200003933782, + 0.9897059246892613, + -0.14214784075900117, + -0.016618483761394465, + 0.007370360520180405, + 0.16658920098669158, + -0.9859988417338117 + ], + [ + 0.13202363347061674, + 0.9708880089961959, + 0.19986554028300896, + 0.9910115801826888, + -0.13367156884152598, + -0.005287686380215914, + 0.02158258902510489, + 0.19876716446850073, + -0.9798090661859205 + ], + [ + 0.10948145998567294, + 0.9761151008349294, + 0.1876515916303968, + 0.9939116061196573, + -0.10985776933116298, + -0.008425540826803857, + 0.012390687634213263, + 0.18743153533916512, + -0.982199516605641 + ], + [ + 0.08488875065753443, + 0.9779701545149018, + 0.19070468502347296, + 0.9963635396152561, + -0.08472344376584984, + -0.009035209007702688, + 0.007320992908132873, + 0.19077818259579363, + -0.9816058720832334 + ], + [ + 0.062123420329718904, + 0.9814609054620737, + 0.18131511711962642, + 0.9979958906338761, + -0.06327615882627163, + 0.0005744580830808615, + 0.012036732298836061, + 0.18091605449423004, + -0.983424881880567 + ], + [ + 0.0507840317060379, + 0.9820833949030876, + 0.1814750329365065, + 0.9986557365392628, + -0.051824105727265535, + 0.0009909302657950952, + 0.010377957453304776, + 0.18118075924665727, + -0.9833950531083131 + ], + [ + 0.05296861677983766, + 0.9822121085146833, + 0.18014910358802805, + 0.9985317423463784, + -0.05414554547486505, + 0.001618465920111778, + 0.01134394830453389, + 0.17979887038679826, + -0.9836379827174706 + ], + [ + 0.058893085834994974, + 0.9826868732575372, + 0.17566477611677445, + 0.998182135324209, + -0.0602269539131034, + 0.0022668793419428346, + 0.012807386947926533, + 0.17521193780582847, + -0.9844474326696637 + ], + [ + 0.0605139283919936, + 0.9826459504093472, + 0.17534252369199815, + 0.9981108555676332, + -0.061438553222979586, + -0.00015548605636087065, + 0.010620003230474254, + 0.1750206854116889, + -0.984507478493387 + ], + [ + 0.05468057937590065, + 0.9844516749703556, + 0.16692793021893368, + 0.998497794230204, + -0.05449525761477625, + -0.00569401571092569, + 0.0034912972564538625, + 0.1669885221970676, + -0.9859526582437448 + ], + [ + 0.0713678153554998, + 0.9881231606692491, + 0.1360854668228646, + 0.9973337816809091, + -0.07277546718582745, + 0.0053906673002077216, + 0.01523032663603302, + 0.13533791310973525, + -0.990682434701283 + ], + [ + 0.15622141307132154, + 0.9815199822449151, + 0.11051422782583531, + 0.9842144566974939, + -0.16411025562802029, + 0.06625501660525374, + 0.08316714090105631, + 0.09841924837981098, + -0.9916636920966182 + ], + [ + 0.33431764491416066, + 0.9399564813234154, + 0.0686551201087947, + 0.9374940679799577, + -0.33914099950142257, + 0.07802727061461522, + 0.0966260047887705, + 0.0382778744874885, + -0.994584445647166 + ], + [ + 0.5066205605525502, + 0.8544847394689135, + 0.11485398399778178, + 0.8557946734974198, + -0.514562048088148, + 0.05330455403410636, + 0.10464742920332197, + 0.07128624469049687, + -0.9919512018638125 + ], + [ + 0.6703315655471658, + 0.7252844050415306, + 0.15690163808781105, + 0.7315916937651259, + -0.6813250098063285, + 0.023870999691680828, + 0.12421427391793416, + 0.09878645056868418, + -0.9873257068156794 + ], + [ + 0.8175359226993928, + 0.5635305119020212, + 0.11861019033581732, + 0.5705639475889147, + -0.8205406305961318, + -0.03420314682389476, + 0.07804996353494933, + 0.09563699962017207, + -0.9923516350043692 + ], + [ + 0.8947818697988384, + 0.4390736018610087, + 0.08111582846827622, + 0.44228509138275746, + -0.8964927830113576, + -0.026164631644579602, + 0.06123155575224478, + 0.05928795963221442, + -0.9963611967669197 + ], + [ + 0.9247692803482164, + 0.37337012372357115, + 0.07346107019971816, + 0.37653913298719155, + -0.9257410458841394, + -0.034954217121751056, + 0.054955067587046505, + 0.05998555389413009, + -0.9966853434612744 + ], + [ + 0.946235749099768, + 0.3112636980220638, + 0.08805008472017382, + 0.31432799463912253, + -0.9490349222510185, + -0.02303536702877794, + 0.07639253177993284, + 0.049473494334160886, + -0.9958496645812656 + ], + [ + 0.958248044617274, + 0.27728211943754366, + 0.06982342892894512, + 0.2800376016809816, + -0.9594154679789256, + -0.03317983495353495, + 0.05778950278325305, + 0.051347697543352985, + -0.9970074158826812 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005681.json b/json/chunk-0005/episode_0005681.json new file mode 100644 index 0000000000000000000000000000000000000000..f6eddfeff3f68a349911bdcbcadaf6cca9457988 --- /dev/null +++ b/json/chunk-0005/episode_0005681.json @@ -0,0 +1,1522 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 24, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the wooden brush to the right side of the burner." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005681.mp4", + "start": 0, + "end": 24, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2496439516544342, + 0.06025822088122368, + 0.09191309660673141, + 0.015149344690144062, + -0.08849505335092545, + -0.2984209954738617, + 0.0, + 1.0008161067962646 + ], + [ + 0.24843871593475342, + 0.06035138666629791, + 0.08493141829967499, + 0.0017856655176728964, + -0.06631316244602203, + -0.3019174635410309, + 0.0, + 1.0008161067962646 + ], + [ + 0.24352572858333588, + 0.1077335923910141, + 0.08618586510419846, + 0.03997277840971947, + -0.07525619864463806, + -0.20149748027324677, + 0.0, + 1.0008161067962646 + ], + [ + 0.24303099513053894, + 0.1505144089460373, + 0.08427980542182922, + 0.0968371331691742, + -0.07791633158922195, + -0.14208222925662994, + 0.0, + 1.0008161067962646 + ], + [ + 0.23977604508399963, + 0.18415282666683197, + 0.07421968877315521, + 0.14002731442451477, + -0.07981055974960327, + -0.0593256950378418, + 0.0, + 1.0008161067962646 + ], + [ + 0.24047806859016418, + 0.18660832941532135, + 0.05315256118774414, + 0.1481950581073761, + -0.11896701902151108, + -0.008309861645102501, + 0.0, + 1.0008161067962646 + ], + [ + 0.23963342607021332, + 0.1814289093017578, + 0.02968079224228859, + 0.11952705681324005, + -0.14095716178417206, + 0.062104757875204086, + 0.0, + 1.0008161067962646 + ], + [ + 0.24550209939479828, + 0.18060070276260376, + 0.030245870351791382, + 0.1082925796508789, + -0.18243572115898132, + 0.12516027688980103, + 0.0, + 1.0008161067962646 + ], + [ + 0.24904218316078186, + 0.17646630108356476, + 0.014402341097593307, + 0.11279424279928207, + -0.14148172736167908, + 0.14829683303833008, + 0.0, + 1.0001531839370728 + ], + [ + 0.2558797299861908, + 0.18238858878612518, + 0.01178014650940895, + 0.1341792196035385, + -0.13645638525485992, + 0.1589583158493042, + 0.0, + 1.0001531839370728 + ], + [ + 0.2638266682624817, + 0.18001317977905273, + 0.010443340055644512, + 0.15397866070270538, + -0.12893342971801758, + 0.14699894189834595, + 0.0, + 0.9468915462493896 + ], + [ + 0.267612099647522, + 0.1729452759027481, + 0.009551971219480038, + 0.18225324153900146, + -0.10107357054948807, + 0.1162586361169815, + 0.0, + 0.6681591272354126 + ], + [ + 0.26557740569114685, + 0.16678518056869507, + 0.00938932690769434, + 0.1815243810415268, + -0.08110293745994568, + 0.1109037771821022, + 0.0, + 0.36950385570526123 + ], + [ + 0.2553448975086212, + 0.16042327880859375, + 0.018813736736774445, + 0.17173388600349426, + -0.05708286166191101, + 0.11741826683282852, + 0.0, + 0.3315716087818146 + ], + [ + 0.2524920105934143, + 0.1454775333404541, + 0.0785689651966095, + 0.20712193846702576, + -0.14163543283939362, + 0.1441562920808792, + 0.0, + 0.33077090978622437 + ], + [ + 0.25727763772010803, + 0.10931563377380371, + 0.11488480120897293, + 0.15849144756793976, + -0.16578041017055511, + 0.09089411050081253, + 0.0, + 0.33077090978622437 + ], + [ + 0.28906533122062683, + 0.059719640761613846, + 0.1078813374042511, + 0.08646082133054733, + -0.15857216715812683, + -0.08312475681304932, + 0.0, + 0.33077090978622437 + ], + [ + 0.3186618387699127, + 0.011426245793700218, + 0.0907585397362709, + 0.09380614012479782, + -0.09555208683013916, + -0.12764179706573486, + 0.0, + 0.33077090978622437 + ], + [ + 0.340076744556427, + -0.0382138155400753, + 0.0871797651052475, + 0.11731888353824615, + -0.10306114703416824, + -0.11261264234781265, + 0.0, + 0.33077090978622437 + ], + [ + 0.35169535875320435, + -0.05110963061451912, + 0.07096144556999207, + 0.1134333536028862, + -0.07737867534160614, + -0.04878716543316841, + 0.0, + 0.33077090978622437 + ], + [ + 0.3560665249824524, + -0.0531851164996624, + 0.05402091145515442, + 0.10794904828071594, + -0.06283155083656311, + -0.044847387820482254, + 0.0, + 0.33077090978622437 + ], + [ + 0.3565059006214142, + -0.05356891080737114, + 0.04697200655937195, + 0.08966611325740814, + -0.08677541464567184, + -0.05883423984050751, + 0.0, + 0.4050447642803192 + ], + [ + 0.3561984896659851, + -0.049196455627679825, + 0.043671101331710815, + 0.0635170266032219, + -0.08646722882986069, + -0.0733288824558258, + 0.0, + 0.7131344676017761 + ], + [ + 0.35079440474510193, + -0.05065459758043289, + 0.03839690610766411, + 0.045514319092035294, + -0.0698217898607254, + -0.10331770032644272, + 0.0, + 0.9745318293571472 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9468915462493896 + ], + [ + 0.6681591272354126 + ], + [ + 0.36950385570526123 + ], + [ + 0.3315716087818146 + ], + [ + 0.33077090978622437 + ], + [ + 0.33077090978622437 + ], + [ + 0.33077090978622437 + ], + [ + 0.33077090978622437 + ], + [ + 0.33077090978622437 + ], + [ + 0.33077090978622437 + ], + [ + 0.33077090978622437 + ], + [ + 0.4050447642803192 + ], + [ + 0.7131344676017761 + ], + [ + 0.9745318293571472 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2496439516544342, + 0.06025822088122368, + 0.09191309660673141 + ], + [ + 0.24843871593475342, + 0.06035138666629791, + 0.08493141829967499 + ], + [ + 0.24352572858333588, + 0.1077335923910141, + 0.08618586510419846 + ], + [ + 0.24303099513053894, + 0.1505144089460373, + 0.08427980542182922 + ], + [ + 0.23977604508399963, + 0.18415282666683197, + 0.07421968877315521 + ], + [ + 0.24047806859016418, + 0.18660832941532135, + 0.05315256118774414 + ], + [ + 0.23963342607021332, + 0.1814289093017578, + 0.02968079224228859 + ], + [ + 0.24550209939479828, + 0.18060070276260376, + 0.030245870351791382 + ], + [ + 0.24904218316078186, + 0.17646630108356476, + 0.014402341097593307 + ], + [ + 0.2558797299861908, + 0.18238858878612518, + 0.01178014650940895 + ], + [ + 0.2638266682624817, + 0.18001317977905273, + 0.010443340055644512 + ], + [ + 0.267612099647522, + 0.1729452759027481, + 0.009551971219480038 + ], + [ + 0.26557740569114685, + 0.16678518056869507, + 0.00938932690769434 + ], + [ + 0.2553448975086212, + 0.16042327880859375, + 0.018813736736774445 + ], + [ + 0.2524920105934143, + 0.1454775333404541, + 0.0785689651966095 + ], + [ + 0.25727763772010803, + 0.10931563377380371, + 0.11488480120897293 + ], + [ + 0.28906533122062683, + 0.059719640761613846, + 0.1078813374042511 + ], + [ + 0.3186618387699127, + 0.011426245793700218, + 0.0907585397362709 + ], + [ + 0.340076744556427, + -0.0382138155400753, + 0.0871797651052475 + ], + [ + 0.35169535875320435, + -0.05110963061451912, + 0.07096144556999207 + ], + [ + 0.3560665249824524, + -0.0531851164996624, + 0.05402091145515442 + ], + [ + 0.3565059006214142, + -0.05356891080737114, + 0.04697200655937195 + ], + [ + 0.3561984896659851, + -0.049196455627679825, + 0.043671101331710815 + ], + [ + 0.35079440474510193, + -0.05065459758043289, + 0.03839690610766411 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9520617461799779, + -0.29269795322805625, + 0.08891760026472909, + -0.292860852852854, + -0.9560858829546982, + -0.011502403272112337, + 0.08837959225426739, + -0.015089486102644156, + -0.9959725674345291 + ], + [ + 0.9526695876540121, + -0.2972380369212716, + 0.06379816742135627, + -0.2966979327201682, + -0.9548017463381337, + -0.017998941891925732, + 0.06626457182169965, + -0.0017817398348621786, + -0.9978004970556228 + ], + [ + 0.9769948291258597, + -0.19703309555152426, + 0.08160308277703952, + -0.19957026853549348, + -0.9795866549000478, + 0.0241183220478897, + 0.07518518323448757, + -0.03984902507111833, + -0.9963730443076418 + ], + [ + 0.9869199192070386, + -0.13349129016992262, + 0.09038334205561398, + -0.1411750470190835, + -0.986351133218552, + 0.08474106500179278, + 0.07783751776317226, + -0.09639251758953095, + -0.9922952198722012 + ], + [ + 0.9950631745062575, + -0.047602797808888604, + 0.08708187172021317, + -0.059102168152690836, + -0.9891299012375383, + 0.13464387174123063, + 0.0797258581714907, + -0.1391258858681014, + -0.9870601680851252 + ], + [ + 0.9928974839180541, + 0.00930516750509954, + 0.11860860123489976, + -0.008251030641678524, + -0.9891506701935936, + 0.14667267008176635, + 0.11868659116575682, + -0.14660956828688446, + -0.9820484344288656 + ], + [ + 0.9881732173608595, + 0.07834222309966461, + 0.1318187716923859, + 0.06144928203789364, + -0.9899112749935444, + 0.12767009586305797, + 0.14049084748735194, + -0.11806000051015325, + -0.9830178828748883 + ], + [ + 0.9757121944762585, + 0.1435577545595751, + 0.1654596163906357, + 0.1227621055536452, + -0.9839177601650805, + 0.12975094092824996, + 0.18142540888849942, + -0.10628740441624931, + -0.9776440091731228 + ], + [ + 0.9791419752108664, + 0.1625121992672928, + 0.12194579726038524, + 0.14627753893829923, + -0.9803943131175983, + 0.13202224209892544, + 0.1410101910583686, + -0.11143058779339109, + -0.9837171087877358 + ], + [ + 0.9782141660777872, + 0.1748356403444686, + 0.11193544635225858, + 0.15681832186658382, + -0.9756369187392835, + 0.15342951710758132, + 0.1360333018480705, + -0.132533398274762, + -0.981799286580539 + ], + [ + 0.9810042098775101, + 0.16424439052757125, + 0.10322073620561227, + 0.1452543431389032, + -0.9746230113138215, + 0.17032663214208277, + 0.12857649863753365, + -0.152097882949781, + -0.979966488202687 + ], + [ + 0.9881804382463599, + 0.1322403042461063, + 0.07753659394201957, + 0.11540491943654875, + -0.9746778220826583, + 0.1915328893690322, + 0.1009015660784117, + -0.1803209501780186, + -0.9784187390324354 + ], + [ + 0.9905896300409279, + 0.12339365929030688, + 0.05921308725547376, + 0.11031277230971095, + -0.975908369050403, + 0.1882390700219473, + 0.08101405508134102, + -0.1799357109201211, + -0.9803366068932381 + ], + [ + 0.9914968227524197, + 0.12510789832403205, + 0.035805924772310205, + 0.11695783433042571, + -0.9773634638709012, + 0.1762995305694547, + 0.05705186640762393, + -0.1706126409947899, + -0.9836851179479079 + ], + [ + 0.9797177875922106, + 0.16931522156299122, + 0.10717001643416513, + 0.14221900385711012, + -0.9643057147405005, + 0.2233567627377862, + 0.14116235906683952, + -0.20358498045260515, + -0.968827303556623 + ], + [ + 0.9822184401304254, + 0.1155690653323206, + 0.1479551520088699, + 0.08952455016376741, + -0.9810261124796595, + 0.17196837369418055, + 0.16502209181115443, + -0.15566488933365819, + -0.9739282065137095 + ], + [ + 0.9840442036165249, + -0.0691301069257945, + 0.16394521537741596, + -0.08198735886993883, + -0.9939567904120797, + 0.07299295705236596, + 0.15790844915409358, + -0.08526973150036828, + -0.9837652131355347 + ], + [ + 0.9873403211786723, + -0.11787189822932279, + 0.10613814480483337, + -0.12671480549334285, + -0.9886416274466958, + 0.08081516286150994, + 0.0954067515618255, + -0.09324134323015867, + -0.991061856631086 + ], + [ + 0.9883934030157596, + -0.0996366315176157, + 0.11467790778850324, + -0.11177850311246998, + -0.9881886767540675, + 0.1048270259855732, + 0.10287879818923394, + -0.11642886581457096, + -0.9878564025648013 + ], + [ + 0.9958214663543941, + -0.039715036431239394, + 0.08223334499489506, + -0.048621889148029014, + -0.9928178290926765, + 0.1093099726986592, + 0.0773014815088358, + -0.11285155788455102, + -0.9906003264887251 + ], + [ + 0.9970232559078622, + -0.03781320811923019, + 0.06719217566515559, + -0.044743890266187754, + -0.9934828247978336, + 0.10483253843899953, + 0.06279021789046996, + -0.10752691813424559, + -0.9922173907031757 + ], + [ + 0.9945136511507496, + -0.050816868167699585, + 0.09143436763291946, + -0.05857906012196155, + -0.9947157311588775, + 0.08431552585548872, + 0.08666655289114045, + -0.08920908078601984, + -0.992235178027508 + ], + [ + 0.9935867196043404, + -0.06764856496241481, + 0.09060409639973091, + -0.07298947520355406, + -0.9957031332898584, + 0.05698953295358973, + 0.08635952255191984, + -0.06323718854664925, + -0.9942550431601139 + ], + [ + 0.9922439143717503, + -0.09986989446189935, + 0.07401363774600019, + -0.10288269557019793, + -0.9939647662864417, + 0.03806828513802094, + 0.06976507252513277, + -0.045387746819034465, + -0.9965303743962121 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0012052357196807861, + 9.316578507423401e-05, + -0.006981678307056427, + -0.013363678939640522, + 0.022181890904903412, + -0.0034964680671691895, + 1.0 + ], + [ + -0.0049129873514175415, + 0.047382205724716187, + 0.001254446804523468, + 0.03818711265921593, + -0.008943036198616028, + 0.10041998326778412, + 1.0 + ], + [ + -0.000494733452796936, + 0.04278081655502319, + -0.0019060596823692322, + 0.05686435475945473, + -0.002660132944583893, + 0.05941525101661682, + 1.0 + ], + [ + -0.0032549500465393066, + 0.03363841772079468, + -0.010060116648674011, + 0.043190181255340576, + -0.0018942281603813171, + 0.08275653421878815, + 1.0 + ], + [ + 0.0007020235061645508, + 0.00245550274848938, + -0.021067127585411072, + 0.008167743682861328, + -0.039156459271907806, + 0.05101583153009415, + 1.0 + ], + [ + -0.0008446425199508667, + -0.005179420113563538, + -0.02347176894545555, + -0.028668001294136047, + -0.02199014276266098, + 0.07041461765766144, + 1.0 + ], + [ + 0.005868673324584961, + -0.0008282065391540527, + 0.0005650781095027924, + -0.011234477162361145, + -0.041478559374809265, + 0.06305551528930664, + 1.0 + ], + [ + 0.0035400837659835815, + -0.0041344016790390015, + -0.015843529254198074, + 0.004501663148403168, + 0.040953993797302246, + 0.023136556148529053, + 1.0 + ], + [ + 0.0068375468254089355, + 0.005922287702560425, + -0.0026221945881843567, + 0.02138497680425644, + 0.005025342106819153, + 0.010661482810974121, + 1.0 + ], + [ + 0.007946938276290894, + -0.0023754090070724487, + -0.0013368064537644386, + 0.01979944109916687, + 0.007522955536842346, + -0.011959373950958252, + 0.0 + ], + [ + 0.003785431385040283, + -0.0070679038763046265, + -0.0008913688361644745, + 0.02827458083629608, + 0.02785985916852951, + -0.03074030578136444, + 0.0 + ], + [ + -0.002034693956375122, + -0.0061600953340530396, + -0.00016264431178569794, + -0.0007288604974746704, + 0.01997063308954239, + -0.005354858934879303, + 0.0 + ], + [ + -0.010232508182525635, + -0.006361901760101318, + 0.009424409829080105, + -0.009790495038032532, + 0.024020075798034668, + 0.006514489650726318, + 0.0 + ], + [ + -0.002852886915206909, + -0.014945745468139648, + 0.05975522845983505, + 0.035388052463531494, + -0.0845525711774826, + 0.02673802524805069, + 0.0 + ], + [ + 0.004785627126693726, + -0.03616189956665039, + 0.036315836012363434, + -0.048630490899086, + -0.0241449773311615, + -0.05326218158006668, + 0.0 + ], + [ + 0.0317876935005188, + -0.049595993012189865, + -0.007003463804721832, + -0.07203062623739243, + 0.007208243012428284, + -0.17401885986328125, + 0.0 + ], + [ + 0.02959650754928589, + -0.04829339683055878, + -0.017122797667980194, + 0.007345318794250488, + 0.06302008032798767, + -0.04451704025268555, + 0.0 + ], + [ + 0.021414905786514282, + -0.04964005947113037, + -0.003578774631023407, + 0.023512743413448334, + -0.007509060204029083, + 0.01502915471792221, + 0.0 + ], + [ + 0.011618614196777344, + -0.012895815074443817, + -0.016218319535255432, + -0.003885529935359955, + 0.025682471692562103, + 0.06382547318935394, + 0.0 + ], + [ + 0.004371166229248047, + -0.00207548588514328, + -0.016940534114837646, + -0.005484305322170258, + 0.01454712450504303, + 0.003939777612686157, + 0.0 + ], + [ + 0.000439375638961792, + -0.00038379430770874023, + -0.007048904895782471, + -0.0182829350233078, + -0.023943863809108734, + -0.013986852020025253, + 1.0 + ], + [ + -0.00030741095542907715, + 0.004372455179691315, + -0.003300905227661133, + -0.02614908665418625, + 0.0003081858158111572, + -0.014494642615318298, + 1.0 + ], + [ + -0.005404084920883179, + -0.001458141952753067, + -0.005274195224046707, + -0.0180027075111866, + 0.016645438969135284, + -0.029988817870616913, + 1.0 + ], + [ + -0.0030798912048339844, + 0.003908421844244003, + 0.0049586668610572815, + -0.0015936866402626038, + -0.00954526662826538, + -0.010682858526706696, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9468915462493896 + ], + [ + 0.6681591272354126 + ], + [ + 0.36950385570526123 + ], + [ + 0.3315716087818146 + ], + [ + 0.33077090978622437 + ], + [ + 0.33077090978622437 + ], + [ + 0.33077090978622437 + ], + [ + 0.33077090978622437 + ], + [ + 0.33077090978622437 + ], + [ + 0.33077090978622437 + ], + [ + 0.33077090978622437 + ], + [ + 0.4050447642803192 + ], + [ + 0.7131344676017761 + ], + [ + 0.9745318293571472 + ], + [ + 1.0041072368621826 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.24843871593475342, + 0.06035138666629791, + 0.08493141829967499 + ], + [ + 0.24352572858333588, + 0.1077335923910141, + 0.08618586510419846 + ], + [ + 0.24303099513053894, + 0.1505144089460373, + 0.08427980542182922 + ], + [ + 0.23977604508399963, + 0.18415282666683197, + 0.07421968877315521 + ], + [ + 0.24047806859016418, + 0.18660832941532135, + 0.05315256118774414 + ], + [ + 0.23963342607021332, + 0.1814289093017578, + 0.02968079224228859 + ], + [ + 0.24550209939479828, + 0.18060070276260376, + 0.030245870351791382 + ], + [ + 0.24904218316078186, + 0.17646630108356476, + 0.014402341097593307 + ], + [ + 0.2558797299861908, + 0.18238858878612518, + 0.01178014650940895 + ], + [ + 0.2638266682624817, + 0.18001317977905273, + 0.010443340055644512 + ], + [ + 0.267612099647522, + 0.1729452759027481, + 0.009551971219480038 + ], + [ + 0.26557740569114685, + 0.16678518056869507, + 0.00938932690769434 + ], + [ + 0.2553448975086212, + 0.16042327880859375, + 0.018813736736774445 + ], + [ + 0.2524920105934143, + 0.1454775333404541, + 0.0785689651966095 + ], + [ + 0.25727763772010803, + 0.10931563377380371, + 0.11488480120897293 + ], + [ + 0.28906533122062683, + 0.059719640761613846, + 0.1078813374042511 + ], + [ + 0.3186618387699127, + 0.011426245793700218, + 0.0907585397362709 + ], + [ + 0.340076744556427, + -0.0382138155400753, + 0.0871797651052475 + ], + [ + 0.35169535875320435, + -0.05110963061451912, + 0.07096144556999207 + ], + [ + 0.3560665249824524, + -0.0531851164996624, + 0.05402091145515442 + ], + [ + 0.3565059006214142, + -0.05356891080737114, + 0.04697200655937195 + ], + [ + 0.3561984896659851, + -0.049196455627679825, + 0.043671101331710815 + ], + [ + 0.35079440474510193, + -0.05065459758043289, + 0.03839690610766411 + ], + [ + 0.34771451354026794, + -0.04674617573618889, + 0.04335557296872139 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9526695876540121, + -0.2972380369212716, + 0.06379816742135627, + -0.2966979327201682, + -0.9548017463381337, + -0.017998941891925732, + 0.06626457182169965, + -0.0017817398348621786, + -0.9978004970556228 + ], + [ + 0.9769948291258597, + -0.19703309555152426, + 0.08160308277703952, + -0.19957026853549348, + -0.9795866549000478, + 0.0241183220478897, + 0.07518518323448757, + -0.03984902507111833, + -0.9963730443076418 + ], + [ + 0.9869199192070386, + -0.13349129016992262, + 0.09038334205561398, + -0.1411750470190835, + -0.986351133218552, + 0.08474106500179278, + 0.07783751776317226, + -0.09639251758953095, + -0.9922952198722012 + ], + [ + 0.9950631745062575, + -0.047602797808888604, + 0.08708187172021317, + -0.059102168152690836, + -0.9891299012375383, + 0.13464387174123063, + 0.0797258581714907, + -0.1391258858681014, + -0.9870601680851252 + ], + [ + 0.9928974839180541, + 0.00930516750509954, + 0.11860860123489976, + -0.008251030641678524, + -0.9891506701935936, + 0.14667267008176635, + 0.11868659116575682, + -0.14660956828688446, + -0.9820484344288656 + ], + [ + 0.9881732173608595, + 0.07834222309966461, + 0.1318187716923859, + 0.06144928203789364, + -0.9899112749935444, + 0.12767009586305797, + 0.14049084748735194, + -0.11806000051015325, + -0.9830178828748883 + ], + [ + 0.9757121944762585, + 0.1435577545595751, + 0.1654596163906357, + 0.1227621055536452, + -0.9839177601650805, + 0.12975094092824996, + 0.18142540888849942, + -0.10628740441624931, + -0.9776440091731228 + ], + [ + 0.9791419752108664, + 0.1625121992672928, + 0.12194579726038524, + 0.14627753893829923, + -0.9803943131175983, + 0.13202224209892544, + 0.1410101910583686, + -0.11143058779339109, + -0.9837171087877358 + ], + [ + 0.9782141660777872, + 0.1748356403444686, + 0.11193544635225858, + 0.15681832186658382, + -0.9756369187392835, + 0.15342951710758132, + 0.1360333018480705, + -0.132533398274762, + -0.981799286580539 + ], + [ + 0.9810042098775101, + 0.16424439052757125, + 0.10322073620561227, + 0.1452543431389032, + -0.9746230113138215, + 0.17032663214208277, + 0.12857649863753365, + -0.152097882949781, + -0.979966488202687 + ], + [ + 0.9881804382463599, + 0.1322403042461063, + 0.07753659394201957, + 0.11540491943654875, + -0.9746778220826583, + 0.1915328893690322, + 0.1009015660784117, + -0.1803209501780186, + -0.9784187390324354 + ], + [ + 0.9905896300409279, + 0.12339365929030688, + 0.05921308725547376, + 0.11031277230971095, + -0.975908369050403, + 0.1882390700219473, + 0.08101405508134102, + -0.1799357109201211, + -0.9803366068932381 + ], + [ + 0.9914968227524197, + 0.12510789832403205, + 0.035805924772310205, + 0.11695783433042571, + -0.9773634638709012, + 0.1762995305694547, + 0.05705186640762393, + -0.1706126409947899, + -0.9836851179479079 + ], + [ + 0.9797177875922106, + 0.16931522156299122, + 0.10717001643416513, + 0.14221900385711012, + -0.9643057147405005, + 0.2233567627377862, + 0.14116235906683952, + -0.20358498045260515, + -0.968827303556623 + ], + [ + 0.9822184401304254, + 0.1155690653323206, + 0.1479551520088699, + 0.08952455016376741, + -0.9810261124796595, + 0.17196837369418055, + 0.16502209181115443, + -0.15566488933365819, + -0.9739282065137095 + ], + [ + 0.9840442036165249, + -0.0691301069257945, + 0.16394521537741596, + -0.08198735886993883, + -0.9939567904120797, + 0.07299295705236596, + 0.15790844915409358, + -0.08526973150036828, + -0.9837652131355347 + ], + [ + 0.9873403211786723, + -0.11787189822932279, + 0.10613814480483337, + -0.12671480549334285, + -0.9886416274466958, + 0.08081516286150994, + 0.0954067515618255, + -0.09324134323015867, + -0.991061856631086 + ], + [ + 0.9883934030157596, + -0.0996366315176157, + 0.11467790778850324, + -0.11177850311246998, + -0.9881886767540675, + 0.1048270259855732, + 0.10287879818923394, + -0.11642886581457096, + -0.9878564025648013 + ], + [ + 0.9958214663543941, + -0.039715036431239394, + 0.08223334499489506, + -0.048621889148029014, + -0.9928178290926765, + 0.1093099726986592, + 0.0773014815088358, + -0.11285155788455102, + -0.9906003264887251 + ], + [ + 0.9970232559078622, + -0.03781320811923019, + 0.06719217566515559, + -0.044743890266187754, + -0.9934828247978336, + 0.10483253843899953, + 0.06279021789046996, + -0.10752691813424559, + -0.9922173907031757 + ], + [ + 0.9945136511507496, + -0.050816868167699585, + 0.09143436763291946, + -0.05857906012196155, + -0.9947157311588775, + 0.08431552585548872, + 0.08666655289114045, + -0.08920908078601984, + -0.992235178027508 + ], + [ + 0.9935867196043404, + -0.06764856496241481, + 0.09060409639973091, + -0.07298947520355406, + -0.9957031332898584, + 0.05698953295358973, + 0.08635952255191984, + -0.06323718854664925, + -0.9942550431601139 + ], + [ + 0.9922439143717503, + -0.09986989446189935, + 0.07401363774600019, + -0.10288269557019793, + -0.9939647662864417, + 0.03806828513802094, + 0.06976507252513277, + -0.045387746819034465, + -0.9965303743962121 + ], + [ + 0.9903814920209707, + -0.11018561483059752, + 0.08368769650742713, + -0.11339570471494026, + -0.9929468597350589, + 0.034611383885758545, + 0.07928375883192029, + -0.043768299335117875, + -0.9958907678851097 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005682.json b/json/chunk-0005/episode_0005682.json new file mode 100644 index 0000000000000000000000000000000000000000..b2d9dbe05165d8e11892ddf5722f5ecf8ee031c9 --- /dev/null +++ b/json/chunk-0005/episode_0005682.json @@ -0,0 +1,1942 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 31, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nTopple basil bottle cardboard fence." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005682.mp4", + "start": 0, + "end": 31, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.30017948150634766, + 0.09775182604789734, + 0.05821945518255234, + -0.10861190408468246, + -0.05729127302765846, + 1.3839797973632812, + 0.0, + 0.993436336517334 + ], + [ + 0.2947707176208496, + 0.09459216147661209, + 0.04956802725791931, + -0.07790780812501907, + -0.030261998996138573, + 1.3885105848312378, + 0.0, + 0.993436336517334 + ], + [ + 0.2837574779987335, + 0.08391818404197693, + 0.05235337093472481, + -0.06643346697092056, + 0.08730652928352356, + 1.4560397863388062, + 0.0, + 0.993436336517334 + ], + [ + 0.27249306440353394, + 0.07968684285879135, + 0.07687469571828842, + -0.11725179105997086, + 0.12220554053783417, + 1.482688069343567, + 0.0, + 0.993436336517334 + ], + [ + 0.26090601086616516, + 0.07596682757139206, + 0.0875886008143425, + -0.10204191505908966, + 0.14539851248264313, + 1.509909987449646, + 0.0, + 0.993436336517334 + ], + [ + 0.24813678860664368, + 0.06799303740262985, + 0.09550139307975769, + -0.08001245558261871, + 0.09930519759654999, + 1.5446799993515015, + 0.0, + 0.993436336517334 + ], + [ + 0.23872897028923035, + 0.060155779123306274, + 0.09638159722089767, + -0.061638448387384415, + 0.09513943642377853, + 1.5585072040557861, + 0.0, + 0.993436336517334 + ], + [ + 0.2315983921289444, + 0.05506523698568344, + 0.09841950982809067, + -0.050996094942092896, + 0.06252484023571014, + 1.597319483757019, + 0.0, + 0.993436336517334 + ], + [ + 0.22369544208049774, + 0.0505986288189888, + 0.09890724718570709, + -0.07252732664346695, + 0.04910125955939293, + 1.6060190200805664, + 0.0, + 0.993436336517334 + ], + [ + 0.21795816719532013, + 0.04911619424819946, + 0.09738248586654663, + -0.09692184627056122, + 0.03809192404150963, + 1.6458549499511719, + 0.0, + 0.993436336517334 + ], + [ + 0.21336838603019714, + 0.04232542961835861, + 0.09319990128278732, + -0.08773303031921387, + 0.023736638948321342, + 1.6430436372756958, + 0.0, + 0.993436336517334 + ], + [ + 0.20843812823295593, + 0.0340515673160553, + 0.09166856110095978, + -0.07642196118831635, + 0.01918818987905979, + 1.6426669359207153, + 0.0, + 0.993436336517334 + ], + [ + 0.20375287532806396, + 0.023170070722699165, + 0.08650987595319748, + -0.0786556601524353, + 0.006690858397632837, + 1.6458518505096436, + 0.0, + 0.993436336517334 + ], + [ + 0.20122845470905304, + 0.01394636556506157, + 0.08337684720754623, + -0.06790344417095184, + 0.013865712098777294, + 1.6289786100387573, + 0.0, + 0.993436336517334 + ], + [ + 0.2010447084903717, + 0.006844037212431431, + 0.08078035712242126, + -0.07350850850343704, + 0.016157347708940506, + 1.6290968656539917, + 0.0, + 0.993436336517334 + ], + [ + 0.20209163427352905, + 0.004129877779632807, + 0.07836899161338806, + -0.07951857894659042, + 0.016671501100063324, + 1.6231310367584229, + 0.0, + 0.9437892436981201 + ], + [ + 0.20267672836780548, + 0.003796098055317998, + 0.07761110365390778, + -0.08544497936964035, + 0.046924371272325516, + 1.6483796834945679, + 0.0, + 0.8669703602790833 + ], + [ + 0.1997152715921402, + 0.010713987052440643, + 0.07794179022312164, + -0.0716158077120781, + 0.09517384320497513, + 1.6730732917785645, + 0.0, + 0.8930966854095459 + ], + [ + 0.19095487892627716, + 0.024029865860939026, + 0.08158000558614731, + -0.023758258670568466, + 0.16885977983474731, + 1.6641753911972046, + 0.0, + 0.8939508199691772 + ], + [ + 0.1887766420841217, + 0.03754996135830879, + 0.08030590415000916, + -0.022323470562696457, + 0.24788810312747955, + 1.6237938404083252, + 0.0, + 0.8939508199691772 + ], + [ + 0.1927938610315323, + 0.05345829576253891, + 0.07690215110778809, + -0.03251777961850166, + 0.30817559361457825, + 1.620940923690796, + 0.0, + 0.8939508199691772 + ], + [ + 0.19909299910068512, + 0.06582546979188919, + 0.07285874336957932, + -0.0808536559343338, + 0.39784911274909973, + 1.5395219326019287, + 0.0, + 0.8939508199691772 + ], + [ + 0.19907160103321075, + 0.08001808077096939, + 0.0633288249373436, + -0.08454034477472305, + 0.39217111468315125, + 1.5427809953689575, + 0.0, + 0.8939508199691772 + ], + [ + 0.2004963606595993, + 0.09738561511039734, + 0.05431589484214783, + -0.019077632576227188, + 0.31254374980926514, + 1.5522867441177368, + 0.0, + 0.8939508199691772 + ], + [ + 0.20508334040641785, + 0.11210615187883377, + 0.04973737522959709, + 0.016582226380705833, + 0.20852313935756683, + 1.5868721008300781, + 0.0, + 0.8939508199691772 + ], + [ + 0.21125616133213043, + 0.12821373343467712, + 0.040584731847047806, + 0.03146064653992653, + 0.09740576148033142, + 1.6285278797149658, + 0.0, + 0.8948037624359131 + ], + [ + 0.21727803349494934, + 0.1428747922182083, + 0.03708310425281525, + 0.002650763373821974, + -0.010676042176783085, + 1.615582823753357, + 0.0, + 0.8939508199691772 + ], + [ + 0.2187211513519287, + 0.15033195912837982, + 0.029760271310806274, + -0.007594372145831585, + -0.10870687663555145, + 1.6126892566680908, + 0.0, + 0.8660832643508911 + ], + [ + 0.21554185450077057, + 0.15294134616851807, + 0.028205672279000282, + 0.03504171594977379, + -0.1339225322008133, + 1.5977131128311157, + 0.0, + 0.9231109023094177 + ], + [ + 0.21627911925315857, + 0.15521448850631714, + 0.03187616541981697, + 0.05819132179021835, + -0.13252517580986023, + 1.5965657234191895, + 0.0, + 1.0008161067962646 + ], + [ + 0.20901738107204437, + 0.14928187429904938, + 0.03580139949917793, + 0.09829413890838623, + -0.10013897716999054, + 1.5965849161148071, + 0.0, + 1.0001531839370728 + ] + ], + "left_gripper_pos": [ + [ + 0.993436336517334 + ], + [ + 0.993436336517334 + ], + [ + 0.993436336517334 + ], + [ + 0.993436336517334 + ], + [ + 0.993436336517334 + ], + [ + 0.993436336517334 + ], + [ + 0.993436336517334 + ], + [ + 0.993436336517334 + ], + [ + 0.993436336517334 + ], + [ + 0.993436336517334 + ], + [ + 0.993436336517334 + ], + [ + 0.993436336517334 + ], + [ + 0.993436336517334 + ], + [ + 0.993436336517334 + ], + [ + 0.993436336517334 + ], + [ + 0.9437892436981201 + ], + [ + 0.8669703602790833 + ], + [ + 0.8930966854095459 + ], + [ + 0.8939508199691772 + ], + [ + 0.8939508199691772 + ], + [ + 0.8939508199691772 + ], + [ + 0.8939508199691772 + ], + [ + 0.8939508199691772 + ], + [ + 0.8939508199691772 + ], + [ + 0.8939508199691772 + ], + [ + 0.8948037624359131 + ], + [ + 0.8939508199691772 + ], + [ + 0.8660832643508911 + ], + [ + 0.9231109023094177 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.30017948150634766, + 0.09775182604789734, + 0.05821945518255234 + ], + [ + 0.2947707176208496, + 0.09459216147661209, + 0.04956802725791931 + ], + [ + 0.2837574779987335, + 0.08391818404197693, + 0.05235337093472481 + ], + [ + 0.27249306440353394, + 0.07968684285879135, + 0.07687469571828842 + ], + [ + 0.26090601086616516, + 0.07596682757139206, + 0.0875886008143425 + ], + [ + 0.24813678860664368, + 0.06799303740262985, + 0.09550139307975769 + ], + [ + 0.23872897028923035, + 0.060155779123306274, + 0.09638159722089767 + ], + [ + 0.2315983921289444, + 0.05506523698568344, + 0.09841950982809067 + ], + [ + 0.22369544208049774, + 0.0505986288189888, + 0.09890724718570709 + ], + [ + 0.21795816719532013, + 0.04911619424819946, + 0.09738248586654663 + ], + [ + 0.21336838603019714, + 0.04232542961835861, + 0.09319990128278732 + ], + [ + 0.20843812823295593, + 0.0340515673160553, + 0.09166856110095978 + ], + [ + 0.20375287532806396, + 0.023170070722699165, + 0.08650987595319748 + ], + [ + 0.20122845470905304, + 0.01394636556506157, + 0.08337684720754623 + ], + [ + 0.2010447084903717, + 0.006844037212431431, + 0.08078035712242126 + ], + [ + 0.20209163427352905, + 0.004129877779632807, + 0.07836899161338806 + ], + [ + 0.20267672836780548, + 0.003796098055317998, + 0.07761110365390778 + ], + [ + 0.1997152715921402, + 0.010713987052440643, + 0.07794179022312164 + ], + [ + 0.19095487892627716, + 0.024029865860939026, + 0.08158000558614731 + ], + [ + 0.1887766420841217, + 0.03754996135830879, + 0.08030590415000916 + ], + [ + 0.1927938610315323, + 0.05345829576253891, + 0.07690215110778809 + ], + [ + 0.19909299910068512, + 0.06582546979188919, + 0.07285874336957932 + ], + [ + 0.19907160103321075, + 0.08001808077096939, + 0.0633288249373436 + ], + [ + 0.2004963606595993, + 0.09738561511039734, + 0.05431589484214783 + ], + [ + 0.20508334040641785, + 0.11210615187883377, + 0.04973737522959709 + ], + [ + 0.21125616133213043, + 0.12821373343467712, + 0.040584731847047806 + ], + [ + 0.21727803349494934, + 0.1428747922182083, + 0.03708310425281525 + ], + [ + 0.2187211513519287, + 0.15033195912837982, + 0.029760271310806274 + ], + [ + 0.21554185450077057, + 0.15294134616851807, + 0.028205672279000282 + ], + [ + 0.21627911925315857, + 0.15521448850631714, + 0.03187616541981697 + ], + [ + 0.20901738107204437, + 0.14928187429904938, + 0.03580139949917793 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.1854270322990898, + 0.9756577174254945, + 0.11708473051950792, + 0.9809883359647246, + -0.19073623535232948, + 0.03579906737305903, + 0.057259937075693226, + 0.10822064013714879, + -0.9924764947616607 + ], + [ + 0.1811949168129714, + 0.980021992919565, + 0.08200789910188552, + 0.9829816341417619, + -0.18304393620166104, + 0.01555713211983805, + 0.030257380275434443, + 0.07779338541140168, + -0.9965102508881187 + ], + [ + 0.11406870814544862, + 0.9918941140628789, + 0.05598567950328965, + 0.9896389479201803, + -0.10850187095822766, + -0.0940324239717496, + -0.08719565689566897, + 0.06613176608847457, + -0.993993715740976 + ], + [ + 0.08733805864938388, + 0.9905363307136881, + 0.10587653681349775, + 0.9886920981182159, + -0.07318498819745084, + -0.13088885598529396, + -0.12190159404190261, + 0.11611087390422198, + -0.9857272778670787 + ], + [ + 0.060206666377175255, + 0.9938529369210355, + 0.09290585071554908, + 0.9876147970642241, + -0.045800677719006366, + -0.1500643546624956, + -0.14488674868164814, + 0.10079006743678706, + -0.9843013727322282 + ], + [ + 0.025984705760509152, + 0.9966677158094709, + 0.07731920414536136, + 0.9947339577715381, + -0.018108378344605325, + -0.10087834202593253, + -0.09914206131966471, + 0.07953333198641267, + -0.9918897624133578 + ], + [ + 0.012233239183952416, + 0.9980974957063741, + 0.060429603041326496, + 0.9954024876985675, + -0.0064142207455841205, + -0.09556539779506862, + -0.09499597540196636, + 0.06132085156690997, + -0.9935871968883947 + ], + [ + -0.026468226066466483, + 0.998264251790131, + 0.05261099321230009, + 0.9976949278519829, + 0.029669515166598326, + -0.06102909804516319, + -0.0624841095585235, + 0.050874389113474965, + -0.9967484801016802 + ], + [ + -0.03517296815300103, + 0.9966271735771696, + 0.07414269484507698, + 0.9981752679424661, + 0.0386772572053255, + -0.04637029483472261, + -0.04908153195748863, + 0.07237642338949425, + -0.9961689899600623 + ], + [ + -0.07493376836335192, + 0.9922280398395278, + 0.09934005896452876, + 0.9964610566103969, + 0.07831112209858054, + -0.030540642012780617, + -0.038082712846633435, + 0.09669997472527969, + -0.9945847484605679 + ], + [ + -0.0721641412251432, + 0.9934051405589235, + 0.08909861633237409, + 0.9971103321607764, + 0.07398104515298914, + -0.01725660616395991, + -0.023734410029832793, + 0.08759584276195641, + -0.9958733082633346 + ], + [ + -0.07179553277698619, + 0.9944020257543706, + 0.07752427135337961, + 0.9972348068671426, + 0.07306026155135675, + -0.013599196840255574, + -0.01918701242823885, + 0.07633354018811822, + -0.996897712504361 + ], + [ + -0.07498339634056583, + 0.9940621769011185, + 0.07885352704757809, + 0.9971623355077036, + 0.07527748615812546, + -0.0007594225011068045, + -0.006690808475481355, + 0.0785728231153924, + -0.9968859235387075 + ], + [ + -0.05814387280854827, + 0.9959525291584036, + 0.06854086166516005, + 0.9982119235931536, + 0.058954638223923106, + -0.009864391939821218, + -0.013865267804100186, + 0.06784475141722901, + -0.9975995409250422 + ], + [ + -0.058259912184258855, + 0.9955359198772158, + 0.07425641296553377, + 0.9981706995619162, + 0.059294729827941595, + -0.011806335193705442, + -0.01615664471222769, + 0.07343273962516218, + -0.9971692913356215 + ], + [ + -0.05230355368215983, + 0.9954059695567348, + 0.08019534926062975, + 0.9984920756182063, + 0.05346794722886722, + -0.012439997860832289, + -0.016670728834213402, + 0.07942376464225318, + -0.9967015362736169 + ], + [ + -0.07742023484441041, + 0.9930444300120272, + 0.08870663593398033, + 0.9958944855049549, + 0.08121385678188031, + -0.03998103559730652, + -0.0469071527323625, + 0.08524710838908049, + -0.9952550675750628 + ], + [ + -0.10163668617024574, + 0.9915300918416373, + 0.08085827723149176, + 0.9902723060201345, + 0.10860135039761326, + -0.08698566905749072, + -0.09503022652764466, + 0.07123077750753967, + -0.9929226719044013 + ], + [ + -0.09191721988469509, + 0.9949900925322189, + 0.03931844924962202, + 0.9814823381772383, + 0.09719211061457717, + -0.1650639678440606, + -0.16805845570755998, + 0.023418142475659348, + -0.9854988310841266 + ], + [ + -0.051353477873671116, + 0.9980570326988215, + 0.03528427115163521, + 0.9680716303213054, + 0.05842858813037416, + -0.24376919135965722, + -0.24535716593840998, + 0.021639306123691665, + -0.9691912100061355 + ], + [ + -0.047762189447857206, + 0.9977207336248636, + 0.04766666502086209, + 0.9516907767428738, + 0.059946268073431896, + -0.3011496478606839, + -0.30332068627393793, + 0.03098035892516915, + -0.9523847849683315 + ], + [ + 0.028827053457140872, + 0.9972241809382114, + 0.06865081165647041, + 0.9214456466844072, + 0.00010908012807142597, + -0.3885072821812737, + -0.387436344701079, + 0.07445751173413392, + -0.9188847358352557 + ], + [ + 0.025885061699542022, + 0.996941596385094, + 0.07373884307439754, + 0.9237188349580472, + 0.0043481838790805916, + -0.38304648182785994, + -0.38219560113187884, + 0.07802914003174344, + -0.9207811769260641 + ], + [ + 0.01761187093794314, + 0.9997553255248975, + 0.01338323902018071, + 0.9513914979168111, + -0.0126405250956092, + -0.30772460872818364, + -0.3074801452023719, + 0.018152305911738276, + -0.9513813399980131 + ], + [ + -0.01572685862034573, + 0.9997885029174337, + -0.013251994266986727, + 0.9782113007987653, + 0.012640698584789223, + -0.20722659995491907, + -0.20701525766842216, + -0.016222273989952823, + -0.9782032104420184 + ], + [ + -0.05742598240869745, + 0.998016484295764, + -0.02579444937033521, + 0.9936017023324324, + 0.05461693320347172, + -0.09885670300763472, + -0.09725180546647016, + -0.03130635209299106, + -0.99476730879746 + ], + [ + -0.044768974650306215, + 0.9989924757319522, + -0.003126074168172447, + 0.9989403212216696, + 0.0447996395273072, + 0.01054641814885882, + 0.010675839372502618, + -0.0026506092069591572, + -0.9999394985320482 + ], + [ + -0.041633464878293724, + 0.9991283143820187, + 0.0030440109023682493, + 0.9932250222954271, + 0.04105626477454055, + 0.10871264052082825, + 0.10849290155800927, + 0.007549471697322702, + -0.9940685568855978 + ], + [ + -0.026672545974665063, + 0.9988981905595968, + -0.03861321260906383, + 0.9906867814345173, + 0.03157322166647791, + 0.13244935924539825, + 0.1335225688119671, + -0.03472083769673236, + -0.9904373715927175 + ], + [ + -0.02554060769724953, + 0.9977778983056654, + -0.06153814273427793, + 0.9909022824726418, + 0.033405302167454964, + 0.13037159344584906, + 0.13213759476002246, + -0.05764851637145748, + -0.9895535885495064 + ], + [ + -0.025656551695332208, + 0.9945891381292274, + -0.10066870253691187, + 0.9946594396300056, + 0.03546881751178832, + 0.09692554946575592, + 0.09997169854527821, + -0.09764429988317784, + -0.9901874823437712 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.005408763885498047, + -0.003159664571285248, + -0.008651427924633026, + 0.03070409595966339, + 0.02702927403151989, + 0.004530787467956543, + 1.0 + ], + [ + -0.011013239622116089, + -0.010673977434635162, + 0.002785343676805496, + 0.01147434115409851, + 0.11756853014230728, + 0.06752920150756836, + 1.0 + ], + [ + -0.011264413595199585, + -0.004231341183185577, + 0.024521324783563614, + -0.05081832408905029, + 0.03489901125431061, + 0.026648283004760742, + 1.0 + ], + [ + -0.011587053537368774, + -0.003720015287399292, + 0.010713905096054077, + 0.015209876000881195, + 0.02319297194480896, + 0.0272219181060791, + 1.0 + ], + [ + -0.012769222259521484, + -0.007973790168762207, + 0.007912792265415192, + 0.022029459476470947, + -0.04609331488609314, + 0.03477001190185547, + 1.0 + ], + [ + -0.00940781831741333, + -0.007837258279323578, + 0.0008802041411399841, + 0.0183740071952343, + -0.004165761172771454, + 0.013827204704284668, + 1.0 + ], + [ + -0.00713057816028595, + -0.005090542137622833, + 0.002037912607192993, + 0.01064235344529152, + -0.03261459618806839, + 0.03881227970123291, + 1.0 + ], + [ + -0.007902950048446655, + -0.004466608166694641, + 0.00048773735761642456, + -0.021531231701374054, + -0.013423580676317215, + 0.008699536323547363, + 1.0 + ], + [ + -0.005737274885177612, + -0.0014824345707893372, + -0.0015247613191604614, + -0.02439451962709427, + -0.0110093355178833, + 0.03983592987060547, + 1.0 + ], + [ + -0.004589781165122986, + -0.006790764629840851, + -0.004182584583759308, + 0.009188815951347351, + -0.014355285093188286, + -0.0028113126754760742, + 1.0 + ], + [ + -0.004930257797241211, + -0.008273862302303314, + -0.0015313401818275452, + 0.011311069130897522, + -0.004548449069261551, + -0.00037670135498046875, + 1.0 + ], + [ + -0.004685252904891968, + -0.010881496593356133, + -0.005158685147762299, + -0.0022336989641189575, + -0.012497331947088242, + 0.0031849145889282227, + 1.0 + ], + [ + -0.0025244206190109253, + -0.009223705157637596, + -0.003133028745651245, + 0.01075221598148346, + 0.007174853701144457, + -0.01687324047088623, + 1.0 + ], + [ + -0.00018374621868133545, + -0.007102328352630138, + -0.0025964900851249695, + -0.005605064332485199, + 0.002291635610163212, + 0.000118255615234375, + 1.0 + ], + [ + 0.0010469257831573486, + -0.002714159432798624, + -0.002411365509033203, + -0.006010070443153381, + 0.000514153391122818, + -0.005965828895568848, + 0.0 + ], + [ + 0.0005850940942764282, + -0.00033377972431480885, + -0.0007578879594802856, + -0.005926400423049927, + 0.030252870172262192, + 0.02524864673614502, + 0.0 + ], + [ + -0.002961456775665283, + 0.006917889229953289, + 0.0003306865692138672, + 0.013829171657562256, + 0.04824947193264961, + 0.024693608283996582, + 0.0 + ], + [ + -0.008760392665863037, + 0.013315878808498383, + 0.0036382153630256653, + 0.04785754904150963, + 0.07368593662977219, + -0.008897900581359863, + 0.0 + ], + [ + -0.0021782368421554565, + 0.013520095497369766, + -0.001274101436138153, + 0.0014347881078720093, + 0.07902832329273224, + -0.040381550788879395, + 0.0 + ], + [ + 0.0040172189474105835, + 0.015908334404230118, + -0.0034037530422210693, + -0.010194309055805206, + 0.060287490487098694, + -0.002852916717529297, + 0.0 + ], + [ + 0.006299138069152832, + 0.01236717402935028, + -0.004043407738208771, + -0.04833587631583214, + 0.08967351913452148, + -0.08141899108886719, + 0.0 + ], + [ + -2.1398067474365234e-05, + 0.0141926109790802, + -0.009529918432235718, + -0.0036866888403892517, + -0.005677998065948486, + 0.0032590627670288086, + 0.0 + ], + [ + 0.0014247596263885498, + 0.017367534339427948, + -0.00901293009519577, + 0.06546270847320557, + -0.07962736487388611, + 0.009505748748779297, + 0.0 + ], + [ + 0.0045869797468185425, + 0.014720536768436432, + -0.0045785196125507355, + 0.03565985709428787, + -0.1040206104516983, + 0.03458535671234131, + 0.0 + ], + [ + 0.0061728209257125854, + 0.016107581555843353, + -0.009152643382549286, + 0.014878420159220695, + -0.11111737787723541, + 0.041655778884887695, + 0.0 + ], + [ + 0.006021872162818909, + 0.014661058783531189, + -0.003501627594232559, + -0.028809882700443268, + -0.10808180272579193, + -0.012945055961608887, + 0.0 + ], + [ + 0.0014431178569793701, + 0.007457166910171509, + -0.007322832942008972, + -0.010245135053992271, + -0.09803083539009094, + -0.0028935670852661133, + 1.0 + ], + [ + -0.003179296851158142, + 0.0026093870401382446, + -0.0015545990318059921, + 0.04263608902692795, + -0.02521565556526184, + -0.014976143836975098, + 1.0 + ], + [ + 0.0007372647523880005, + 0.0022731423377990723, + 0.0036704931408166885, + 0.023149605840444565, + 0.001397356390953064, + -0.0011473894119262695, + 1.0 + ], + [ + -0.007261738181114197, + -0.005932614207267761, + 0.003925234079360962, + 0.04010281711816788, + 0.03238619863986969, + 1.919269561767578e-05, + 1.0 + ], + [ + -0.0018427073955535889, + -0.004994139075279236, + 0.0281829871237278, + -0.0020244792103767395, + 0.07084543257951736, + -0.007714748382568359, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.993436336517334 + ], + [ + 0.993436336517334 + ], + [ + 0.993436336517334 + ], + [ + 0.993436336517334 + ], + [ + 0.993436336517334 + ], + [ + 0.993436336517334 + ], + [ + 0.993436336517334 + ], + [ + 0.993436336517334 + ], + [ + 0.993436336517334 + ], + [ + 0.993436336517334 + ], + [ + 0.993436336517334 + ], + [ + 0.993436336517334 + ], + [ + 0.993436336517334 + ], + [ + 0.993436336517334 + ], + [ + 0.9437892436981201 + ], + [ + 0.8669703602790833 + ], + [ + 0.8930966854095459 + ], + [ + 0.8939508199691772 + ], + [ + 0.8939508199691772 + ], + [ + 0.8939508199691772 + ], + [ + 0.8939508199691772 + ], + [ + 0.8939508199691772 + ], + [ + 0.8939508199691772 + ], + [ + 0.8939508199691772 + ], + [ + 0.8948037624359131 + ], + [ + 0.8939508199691772 + ], + [ + 0.8660832643508911 + ], + [ + 0.9231109023094177 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2947707176208496, + 0.09459216147661209, + 0.04956802725791931 + ], + [ + 0.2837574779987335, + 0.08391818404197693, + 0.05235337093472481 + ], + [ + 0.27249306440353394, + 0.07968684285879135, + 0.07687469571828842 + ], + [ + 0.26090601086616516, + 0.07596682757139206, + 0.0875886008143425 + ], + [ + 0.24813678860664368, + 0.06799303740262985, + 0.09550139307975769 + ], + [ + 0.23872897028923035, + 0.060155779123306274, + 0.09638159722089767 + ], + [ + 0.2315983921289444, + 0.05506523698568344, + 0.09841950982809067 + ], + [ + 0.22369544208049774, + 0.0505986288189888, + 0.09890724718570709 + ], + [ + 0.21795816719532013, + 0.04911619424819946, + 0.09738248586654663 + ], + [ + 0.21336838603019714, + 0.04232542961835861, + 0.09319990128278732 + ], + [ + 0.20843812823295593, + 0.0340515673160553, + 0.09166856110095978 + ], + [ + 0.20375287532806396, + 0.023170070722699165, + 0.08650987595319748 + ], + [ + 0.20122845470905304, + 0.01394636556506157, + 0.08337684720754623 + ], + [ + 0.2010447084903717, + 0.006844037212431431, + 0.08078035712242126 + ], + [ + 0.20209163427352905, + 0.004129877779632807, + 0.07836899161338806 + ], + [ + 0.20267672836780548, + 0.003796098055317998, + 0.07761110365390778 + ], + [ + 0.1997152715921402, + 0.010713987052440643, + 0.07794179022312164 + ], + [ + 0.19095487892627716, + 0.024029865860939026, + 0.08158000558614731 + ], + [ + 0.1887766420841217, + 0.03754996135830879, + 0.08030590415000916 + ], + [ + 0.1927938610315323, + 0.05345829576253891, + 0.07690215110778809 + ], + [ + 0.19909299910068512, + 0.06582546979188919, + 0.07285874336957932 + ], + [ + 0.19907160103321075, + 0.08001808077096939, + 0.0633288249373436 + ], + [ + 0.2004963606595993, + 0.09738561511039734, + 0.05431589484214783 + ], + [ + 0.20508334040641785, + 0.11210615187883377, + 0.04973737522959709 + ], + [ + 0.21125616133213043, + 0.12821373343467712, + 0.040584731847047806 + ], + [ + 0.21727803349494934, + 0.1428747922182083, + 0.03708310425281525 + ], + [ + 0.2187211513519287, + 0.15033195912837982, + 0.029760271310806274 + ], + [ + 0.21554185450077057, + 0.15294134616851807, + 0.028205672279000282 + ], + [ + 0.21627911925315857, + 0.15521448850631714, + 0.03187616541981697 + ], + [ + 0.20901738107204437, + 0.14928187429904938, + 0.03580139949917793 + ], + [ + 0.20717467367649078, + 0.14428773522377014, + 0.06398438662290573 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.1811949168129714, + 0.980021992919565, + 0.08200789910188552, + 0.9829816341417619, + -0.18304393620166104, + 0.01555713211983805, + 0.030257380275434443, + 0.07779338541140168, + -0.9965102508881187 + ], + [ + 0.11406870814544862, + 0.9918941140628789, + 0.05598567950328965, + 0.9896389479201803, + -0.10850187095822766, + -0.0940324239717496, + -0.08719565689566897, + 0.06613176608847457, + -0.993993715740976 + ], + [ + 0.08733805864938388, + 0.9905363307136881, + 0.10587653681349775, + 0.9886920981182159, + -0.07318498819745084, + -0.13088885598529396, + -0.12190159404190261, + 0.11611087390422198, + -0.9857272778670787 + ], + [ + 0.060206666377175255, + 0.9938529369210355, + 0.09290585071554908, + 0.9876147970642241, + -0.045800677719006366, + -0.1500643546624956, + -0.14488674868164814, + 0.10079006743678706, + -0.9843013727322282 + ], + [ + 0.025984705760509152, + 0.9966677158094709, + 0.07731920414536136, + 0.9947339577715381, + -0.018108378344605325, + -0.10087834202593253, + -0.09914206131966471, + 0.07953333198641267, + -0.9918897624133578 + ], + [ + 0.012233239183952416, + 0.9980974957063741, + 0.060429603041326496, + 0.9954024876985675, + -0.0064142207455841205, + -0.09556539779506862, + -0.09499597540196636, + 0.06132085156690997, + -0.9935871968883947 + ], + [ + -0.026468226066466483, + 0.998264251790131, + 0.05261099321230009, + 0.9976949278519829, + 0.029669515166598326, + -0.06102909804516319, + -0.0624841095585235, + 0.050874389113474965, + -0.9967484801016802 + ], + [ + -0.03517296815300103, + 0.9966271735771696, + 0.07414269484507698, + 0.9981752679424661, + 0.0386772572053255, + -0.04637029483472261, + -0.04908153195748863, + 0.07237642338949425, + -0.9961689899600623 + ], + [ + -0.07493376836335192, + 0.9922280398395278, + 0.09934005896452876, + 0.9964610566103969, + 0.07831112209858054, + -0.030540642012780617, + -0.038082712846633435, + 0.09669997472527969, + -0.9945847484605679 + ], + [ + -0.0721641412251432, + 0.9934051405589235, + 0.08909861633237409, + 0.9971103321607764, + 0.07398104515298914, + -0.01725660616395991, + -0.023734410029832793, + 0.08759584276195641, + -0.9958733082633346 + ], + [ + -0.07179553277698619, + 0.9944020257543706, + 0.07752427135337961, + 0.9972348068671426, + 0.07306026155135675, + -0.013599196840255574, + -0.01918701242823885, + 0.07633354018811822, + -0.996897712504361 + ], + [ + -0.07498339634056583, + 0.9940621769011185, + 0.07885352704757809, + 0.9971623355077036, + 0.07527748615812546, + -0.0007594225011068045, + -0.006690808475481355, + 0.0785728231153924, + -0.9968859235387075 + ], + [ + -0.05814387280854827, + 0.9959525291584036, + 0.06854086166516005, + 0.9982119235931536, + 0.058954638223923106, + -0.009864391939821218, + -0.013865267804100186, + 0.06784475141722901, + -0.9975995409250422 + ], + [ + -0.058259912184258855, + 0.9955359198772158, + 0.07425641296553377, + 0.9981706995619162, + 0.059294729827941595, + -0.011806335193705442, + -0.01615664471222769, + 0.07343273962516218, + -0.9971692913356215 + ], + [ + -0.05230355368215983, + 0.9954059695567348, + 0.08019534926062975, + 0.9984920756182063, + 0.05346794722886722, + -0.012439997860832289, + -0.016670728834213402, + 0.07942376464225318, + -0.9967015362736169 + ], + [ + -0.07742023484441041, + 0.9930444300120272, + 0.08870663593398033, + 0.9958944855049549, + 0.08121385678188031, + -0.03998103559730652, + -0.0469071527323625, + 0.08524710838908049, + -0.9952550675750628 + ], + [ + -0.10163668617024574, + 0.9915300918416373, + 0.08085827723149176, + 0.9902723060201345, + 0.10860135039761326, + -0.08698566905749072, + -0.09503022652764466, + 0.07123077750753967, + -0.9929226719044013 + ], + [ + -0.09191721988469509, + 0.9949900925322189, + 0.03931844924962202, + 0.9814823381772383, + 0.09719211061457717, + -0.1650639678440606, + -0.16805845570755998, + 0.023418142475659348, + -0.9854988310841266 + ], + [ + -0.051353477873671116, + 0.9980570326988215, + 0.03528427115163521, + 0.9680716303213054, + 0.05842858813037416, + -0.24376919135965722, + -0.24535716593840998, + 0.021639306123691665, + -0.9691912100061355 + ], + [ + -0.047762189447857206, + 0.9977207336248636, + 0.04766666502086209, + 0.9516907767428738, + 0.059946268073431896, + -0.3011496478606839, + -0.30332068627393793, + 0.03098035892516915, + -0.9523847849683315 + ], + [ + 0.028827053457140872, + 0.9972241809382114, + 0.06865081165647041, + 0.9214456466844072, + 0.00010908012807142597, + -0.3885072821812737, + -0.387436344701079, + 0.07445751173413392, + -0.9188847358352557 + ], + [ + 0.025885061699542022, + 0.996941596385094, + 0.07373884307439754, + 0.9237188349580472, + 0.0043481838790805916, + -0.38304648182785994, + -0.38219560113187884, + 0.07802914003174344, + -0.9207811769260641 + ], + [ + 0.01761187093794314, + 0.9997553255248975, + 0.01338323902018071, + 0.9513914979168111, + -0.0126405250956092, + -0.30772460872818364, + -0.3074801452023719, + 0.018152305911738276, + -0.9513813399980131 + ], + [ + -0.01572685862034573, + 0.9997885029174337, + -0.013251994266986727, + 0.9782113007987653, + 0.012640698584789223, + -0.20722659995491907, + -0.20701525766842216, + -0.016222273989952823, + -0.9782032104420184 + ], + [ + -0.05742598240869745, + 0.998016484295764, + -0.02579444937033521, + 0.9936017023324324, + 0.05461693320347172, + -0.09885670300763472, + -0.09725180546647016, + -0.03130635209299106, + -0.99476730879746 + ], + [ + -0.044768974650306215, + 0.9989924757319522, + -0.003126074168172447, + 0.9989403212216696, + 0.0447996395273072, + 0.01054641814885882, + 0.010675839372502618, + -0.0026506092069591572, + -0.9999394985320482 + ], + [ + -0.041633464878293724, + 0.9991283143820187, + 0.0030440109023682493, + 0.9932250222954271, + 0.04105626477454055, + 0.10871264052082825, + 0.10849290155800927, + 0.007549471697322702, + -0.9940685568855978 + ], + [ + -0.026672545974665063, + 0.9988981905595968, + -0.03861321260906383, + 0.9906867814345173, + 0.03157322166647791, + 0.13244935924539825, + 0.1335225688119671, + -0.03472083769673236, + -0.9904373715927175 + ], + [ + -0.02554060769724953, + 0.9977778983056654, + -0.06153814273427793, + 0.9909022824726418, + 0.033405302167454964, + 0.13037159344584906, + 0.13213759476002246, + -0.05764851637145748, + -0.9895535885495064 + ], + [ + -0.025656551695332208, + 0.9945891381292274, + -0.10066870253691187, + 0.9946594396300056, + 0.03546881751178832, + 0.09692554946575592, + 0.09997169854527821, + -0.09764429988317784, + -0.9901874823437712 + ], + [ + -0.01806510323103777, + 0.9951562019977934, + -0.09663221859493457, + 0.9994077174579074, + 0.020804036435297768, + 0.027411792235727546, + 0.029289355247731914, + -0.0960797881623709, + -0.9949426154185208 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005683.json b/json/chunk-0005/episode_0005683.json new file mode 100644 index 0000000000000000000000000000000000000000..384bebad750477a6aaff8c1eb54d25fed6fb5e25 --- /dev/null +++ b/json/chunk-0005/episode_0005683.json @@ -0,0 +1,2062 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 33, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the blue piece of cloth near the salt can." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005683.mp4", + "start": 0, + "end": 33, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2645423114299774, + 0.018974818289279938, + 0.21209615468978882, + -0.013980228453874588, + -0.1687936931848526, + -0.09983654320240021, + 0.0, + 0.9994885921478271 + ], + [ + 0.2647455334663391, + 0.018282726407051086, + 0.20406818389892578, + -0.021692195907235146, + -0.1488073766231537, + -0.1057167798280716, + 0.0, + 0.9994885921478271 + ], + [ + 0.2653643786907196, + 0.029241561889648438, + 0.18608704209327698, + -0.016053669154644012, + -0.1649792641401291, + -0.1174016073346138, + 0.0, + 0.9994885921478271 + ], + [ + 0.26432740688323975, + 0.03491294011473656, + 0.15998291969299316, + -0.017424428835511208, + -0.16452498733997345, + -0.16389597952365875, + 0.0, + 0.9994885921478271 + ], + [ + 0.2575632631778717, + 0.040457289665937424, + 0.13601212203502655, + -0.01920793578028679, + -0.17132686078548431, + -0.19432073831558228, + 0.0, + 0.9994885921478271 + ], + [ + 0.2563018798828125, + 0.04058845341205597, + 0.10798023641109467, + -0.02461671270430088, + -0.1501346081495285, + -0.23699994385242462, + 0.0, + 0.9994885921478271 + ], + [ + 0.2590027451515198, + 0.04201663285493851, + 0.08656811714172363, + -0.02084357663989067, + -0.13346771895885468, + -0.2634297013282776, + 0.0, + 0.9994885921478271 + ], + [ + 0.26220816373825073, + 0.04626604914665222, + 0.06482428312301636, + 0.023678060621023178, + -0.07739240676164627, + -0.2793915271759033, + 0.0, + 0.9994885921478271 + ], + [ + 0.2692779302597046, + 0.04880509153008461, + 0.04829251021146774, + 0.02912312000989914, + -0.0868523120880127, + -0.2854708433151245, + 0.0, + 0.9994885921478271 + ], + [ + 0.265206515789032, + 0.04764261841773987, + 0.02416733279824257, + 0.004590493626892567, + -0.06415452808141708, + -0.30137214064598083, + 0.0, + 0.9994885921478271 + ], + [ + 0.2667640447616577, + 0.04747724533081055, + 0.015114512294530869, + 0.004104000516235828, + -0.06831162422895432, + -0.309654176235199, + 0.0, + 0.9994885921478271 + ], + [ + 0.2713131606578827, + 0.04600664973258972, + 0.008613275364041328, + -0.005890845321118832, + -0.0938010886311531, + -0.32528555393218994, + 0.0, + 1.0014774799346924 + ], + [ + 0.2705274224281311, + 0.04729904234409332, + 0.008193496614694595, + 0.002025596098974347, + -0.0915735736489296, + -0.31286031007766724, + 0.0, + 1.0008161067962646 + ], + [ + 0.2694869637489319, + 0.05112313851714134, + 0.00855826586484909, + 0.02248000167310238, + -0.08505214750766754, + -0.26719626784324646, + 0.0, + 1.0008161067962646 + ], + [ + 0.26545411348342896, + 0.05885889381170273, + 0.008952349424362183, + 0.06672162562608719, + -0.06743821501731873, + -0.20659767091274261, + 0.0, + 1.0014774799346924 + ], + [ + 0.26460060477256775, + 0.06571220606565475, + 0.009045949205756187, + 0.08071239292621613, + -0.07259801030158997, + -0.15266300737857819, + 0.0, + 1.0014774799346924 + ], + [ + 0.2655918598175049, + 0.08216410130262375, + 0.010334264487028122, + 0.08859303593635559, + -0.08485835045576096, + -0.09366429597139359, + 0.0, + 1.0014774799346924 + ], + [ + 0.27915674448013306, + 0.0951896607875824, + 0.009895025752484798, + 0.08914750814437866, + -0.10386671870946884, + -0.061271678656339645, + 0.0, + 1.0014774799346924 + ], + [ + 0.29311248660087585, + 0.11205290257930756, + 0.008810359053313732, + 0.09331212192773819, + -0.12505830824375153, + -0.0220845565199852, + 0.0, + 1.0014774799346924 + ], + [ + 0.3110686242580414, + 0.12707819044589996, + 0.009574566036462784, + 0.09942280501127243, + -0.15023086965084076, + -0.0017273228149861097, + 0.0, + 1.0014774799346924 + ], + [ + 0.3249775767326355, + 0.13850045204162598, + 0.010052638128399849, + 0.10236749053001404, + -0.16558563709259033, + 0.018423352390527725, + 0.0, + 1.0014774799346924 + ], + [ + 0.34527403116226196, + 0.14631204307079315, + 0.00966330710798502, + 0.0896633192896843, + -0.19449438154697418, + 0.032231710851192474, + 0.0, + 1.0014774799346924 + ], + [ + 0.36786437034606934, + 0.14754462242126465, + 0.0092076500877738, + 0.07358583062887192, + -0.22167770564556122, + 0.022727271541953087, + 0.0, + 1.002137303352356 + ], + [ + 0.38128262758255005, + 0.14212536811828613, + 0.009590724483132362, + 0.06630520522594452, + -0.2345106154680252, + -0.0015439563430845737, + 0.0, + 1.0014774799346924 + ], + [ + 0.3798827826976776, + 0.1347229927778244, + 0.008361919783055782, + 0.052304573357105255, + -0.22674600780010223, + -0.008802173659205437, + 0.0, + 1.002137303352356 + ], + [ + 0.3744414448738098, + 0.12913726270198822, + 0.009819750674068928, + 0.0448472760617733, + -0.21404030919075012, + 0.0025002132169902325, + 0.0, + 1.0008161067962646 + ], + [ + 0.3679758906364441, + 0.11826562136411667, + 0.01239860150963068, + 0.027944521978497505, + -0.18198850750923157, + 0.0004992647445760667, + 0.0, + 0.9988223910331726 + ], + [ + 0.36773449182510376, + 0.10625644773244858, + 0.028227128088474274, + 0.004294081125408411, + -0.18303607404232025, + -0.0022372666280716658, + 0.0, + 0.9981546401977539 + ], + [ + 0.37068048119544983, + 0.10255013406276703, + 0.05248861387372017, + -0.014150802977383137, + -0.2057679295539856, + 0.014918535947799683, + 0.0, + 0.9988223910331726 + ], + [ + 0.3761593997478485, + 0.09782971441745758, + 0.08211401104927063, + -0.019535258412361145, + -0.2388143241405487, + 0.02792687900364399, + 0.0, + 0.9988223910331726 + ], + [ + 0.37197738885879517, + 0.09261693060398102, + 0.10189525038003922, + -0.031083596870303154, + -0.24982710182666779, + 0.027324939146637917, + 0.0, + 0.9988223910331726 + ], + [ + 0.36565735936164856, + 0.08609657734632492, + 0.1344929039478302, + -0.029378708451986313, + -0.29426029324531555, + 0.027370397001504898, + 0.0, + 0.9988223910331726 + ], + [ + 0.3580184578895569, + 0.074987031519413, + 0.1618899703025818, + -0.014836352318525314, + -0.3243408203125, + 0.04613993316888809, + 0.0, + 0.9988223910331726 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.002137303352356 + ], + [ + 1.0014774799346924 + ], + [ + 1.002137303352356 + ], + [ + 1.0008161067962646 + ], + [ + 0.9988223910331726 + ], + [ + 0.9981546401977539 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2645423114299774, + 0.018974818289279938, + 0.21209615468978882 + ], + [ + 0.2647455334663391, + 0.018282726407051086, + 0.20406818389892578 + ], + [ + 0.2653643786907196, + 0.029241561889648438, + 0.18608704209327698 + ], + [ + 0.26432740688323975, + 0.03491294011473656, + 0.15998291969299316 + ], + [ + 0.2575632631778717, + 0.040457289665937424, + 0.13601212203502655 + ], + [ + 0.2563018798828125, + 0.04058845341205597, + 0.10798023641109467 + ], + [ + 0.2590027451515198, + 0.04201663285493851, + 0.08656811714172363 + ], + [ + 0.26220816373825073, + 0.04626604914665222, + 0.06482428312301636 + ], + [ + 0.2692779302597046, + 0.04880509153008461, + 0.04829251021146774 + ], + [ + 0.265206515789032, + 0.04764261841773987, + 0.02416733279824257 + ], + [ + 0.2667640447616577, + 0.04747724533081055, + 0.015114512294530869 + ], + [ + 0.2713131606578827, + 0.04600664973258972, + 0.008613275364041328 + ], + [ + 0.2705274224281311, + 0.04729904234409332, + 0.008193496614694595 + ], + [ + 0.2694869637489319, + 0.05112313851714134, + 0.00855826586484909 + ], + [ + 0.26545411348342896, + 0.05885889381170273, + 0.008952349424362183 + ], + [ + 0.26460060477256775, + 0.06571220606565475, + 0.009045949205756187 + ], + [ + 0.2655918598175049, + 0.08216410130262375, + 0.010334264487028122 + ], + [ + 0.27915674448013306, + 0.0951896607875824, + 0.009895025752484798 + ], + [ + 0.29311248660087585, + 0.11205290257930756, + 0.008810359053313732 + ], + [ + 0.3110686242580414, + 0.12707819044589996, + 0.009574566036462784 + ], + [ + 0.3249775767326355, + 0.13850045204162598, + 0.010052638128399849 + ], + [ + 0.34527403116226196, + 0.14631204307079315, + 0.00966330710798502 + ], + [ + 0.36786437034606934, + 0.14754462242126465, + 0.0092076500877738 + ], + [ + 0.38128262758255005, + 0.14212536811828613, + 0.009590724483132362 + ], + [ + 0.3798827826976776, + 0.1347229927778244, + 0.008361919783055782 + ], + [ + 0.3744414448738098, + 0.12913726270198822, + 0.009819750674068928 + ], + [ + 0.3679758906364441, + 0.11826562136411667, + 0.01239860150963068 + ], + [ + 0.36773449182510376, + 0.10625644773244858, + 0.028227128088474274 + ], + [ + 0.37068048119544983, + 0.10255013406276703, + 0.05248861387372017 + ], + [ + 0.3761593997478485, + 0.09782971441745758, + 0.08211401104927063 + ], + [ + 0.37197738885879517, + 0.09261693060398102, + 0.10189525038003922 + ], + [ + 0.36565735936164856, + 0.08609657734632492, + 0.1344929039478302 + ], + [ + 0.3580184578895569, + 0.074987031519413, + 0.1618899703025818 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9808793744163579, + -0.10199784897533638, + 0.16574707131342892, + -0.09825426757689477, + -0.9946891575969734, + -0.030652547397421622, + 0.16799330863907164, + 0.013781094420534375, + -0.9856918025879438 + ], + [ + 0.9834274796806258, + -0.10869300209561232, + 0.14510762731316346, + -0.10435383041222847, + -0.9938438987818419, + -0.037209984310722574, + 0.1482587949745599, + 0.02145078435749082, + -0.9887159316826751 + ], + [ + 0.9796315722650334, + -0.11973526887131798, + 0.16120002484445214, + -0.11554165175288046, + -0.9926795645609571, + -0.035176822103268876, + 0.16423187672237963, + 0.015835008411179297, + -0.9862946533246864 + ], + [ + 0.9732763203823783, + -0.1659538884483523, + 0.158721489067515, + -0.1609598925282067, + -0.9859837070067703, + -0.04390948091807416, + 0.1637837512705262, + 0.017188264195619328, + -0.9863465143618115 + ], + [ + 0.9668140288527703, + -0.19627740974507357, + 0.16354146886107646, + -0.19027300433120942, + -0.9803657489581499, + -0.051760816188512575, + 0.1704899335334773, + 0.018925556622987595, + -0.9851776519340357 + ], + [ + 0.9611121249211059, + -0.2382950255283485, + 0.13956705964546312, + -0.23214635718587792, + -0.9708878280682465, + -0.05903299208281537, + 0.14957122776444437, + 0.024337339981327092, + -0.9884513856066316 + ], + [ + 0.9569157909154709, + -0.2630147132877474, + 0.12302613417799946, + -0.25807762658104616, + -0.9645706615259837, + -0.0547665735793317, + 0.1330718142767776, + 0.020656706356297093, + -0.9908911104291918 + ], + [ + 0.958346187344624, + -0.2739339977616518, + 0.08082542961433656, + -0.27494535712812435, + -0.9614587717747545, + 0.0014424878053136778, + 0.07731517183393491, + -0.023604979298861323, + -0.9967272290634932 + ], + [ + 0.9559124198164185, + -0.2790662043710279, + 0.09139747927961023, + -0.2805478028881784, + -0.9598335883176576, + 0.003523213286885018, + 0.08674316074097649, + -0.02900924534000808, + -0.9958082585264435 + ], + [ + 0.9529656162487603, + -0.29654662261983017, + 0.06258302373961523, + -0.29622014497534316, + -0.9550073898878119, + -0.014646193036287329, + 0.06411052923200598, + -0.00458103399262031, + -0.9979322893709529 + ], + [ + 0.9502176056646622, + -0.3044599035807966, + 0.06626212339254212, + -0.3040185488380966, + -0.9525163530669296, + -0.016891391371169136, + 0.06825850750854676, + -0.004094417131674475, + -0.9976592664337145 + ], + [ + 0.9433939440231897, + -0.32009665349189137, + 0.08686770863596308, + -0.3181744761564604, + -0.9473667374355085, + -0.035514328423356833, + 0.09366359539827918, + 0.005864914670485888, + -0.9955866279098846 + ], + [ + 0.9474705739079406, + -0.3076044825957995, + 0.0876298685696173, + -0.30649177165415925, + -0.951512172052386, + -0.026217939363066777, + 0.09144564225184587, + -0.002017107612714668, + -0.9958080265744128 + ], + [ + 0.9610284665050943, + -0.2621197775155699, + 0.08784935288352948, + -0.26307383926125305, + -0.9647754158862846, + -0.0007429655383022725, + 0.08494964192514966, + -0.022396855507745967, + -0.9961334946683371 + ], + [ + 0.9765097455278852, + -0.20027738752329166, + 0.07948386588428183, + -0.2046648342258673, + -0.9774783785502694, + 0.051461880047612256, + 0.06738710945250206, + -0.06652057962451799, + -0.9955069010137775 + ], + [ + 0.9857661745668049, + -0.1457955975646553, + 0.08371793601548407, + -0.1516701380113751, + -0.9860413211760605, + 0.06869266459367801, + 0.07253425615209709, + -0.08041241610680652, + -0.9941190195446056 + ], + [ + 0.992034168464381, + -0.08569445723591555, + 0.0923291319044311, + -0.09319086264717673, + -0.9924134632234173, + 0.08019339830670476, + 0.08475654380789152, + -0.08815882265516366, + -0.9924940051555959 + ], + [ + 0.9927442911209801, + -0.05177692974974357, + 0.10852613506613475, + -0.06090334309670403, + -0.9947251408067287, + 0.08253894260698422, + 0.10368006195189099, + -0.08854966850713786, + -0.9906610928874355 + ], + [ + 0.9919484464734695, + -0.010367347071090301, + 0.12621726369074043, + -0.021910303733768483, + -0.9956634387396134, + 0.09041158856862343, + 0.12473258647668763, + -0.09244909340775377, + -0.987873952991433 + ], + [ + 0.9887350758371146, + 0.013136937079729644, + 0.14909852679868457, + -0.0017078663530259363, + -0.9950857990882145, + 0.09900169516472616, + 0.14966640572251022, + -0.09814108893390365, + -0.9838537968931015 + ], + [ + 0.986154610009627, + 0.03516678941559365, + 0.16205672488039444, + 0.018170329728851152, + -0.9942859042684031, + 0.10519210850015669, + 0.1648299859682861, + -0.1007910586082079, + -0.9811586203210628 + ], + [ + 0.9806359124100993, + 0.0493937489792501, + 0.18950848227292383, + 0.03161852325488508, + -0.9949079193608421, + 0.09570005736811525, + 0.1932704744103262, + -0.0878549347211361, + -0.9772041926671992 + ], + [ + 0.9752780171566418, + 0.03882410879562728, + 0.21754419741108877, + 0.02216922547126963, + -0.9966688871922617, + 0.07848346797219832, + 0.21986658384805424, + -0.07172041466112955, + -0.9728899564841968 + ], + [ + 0.9726270153504752, + 0.013855275015206257, + 0.2319584453402787, + -0.00150169484305329, + -0.9978251963413842, + 0.06589857706260402, + 0.23236702417301902, + -0.064443067125414, + -0.9704909361639833 + ], + [ + 0.9743653286834547, + 0.0029626490083205282, + 0.22495205927138537, + -0.008576754335728694, + -0.9986971934512222, + 0.05030263489834912, + 0.22480801930680308, + -0.05094250193606071, + -0.9730705092396165 + ], + [ + 0.9771776376318333, + 0.012020472063335466, + 0.21208340992082347, + 0.002443157535736296, + -0.9989675980480978, + 0.04536263915679657, + 0.21240973493115856, + -0.04380920338683106, + -0.9761981654382916 + ], + [ + 0.9834856236590922, + 0.005555966999275867, + 0.18090096541088335, + 0.0004910197394884493, + -0.9996069279386497, + 0.028031206122296738, + 0.18098559875167441, + -0.02747946229019431, + -0.9831017710271607 + ], + [ + 0.9832931513013318, + -0.0014556580277904135, + 0.1820232393503701, + -0.002199892623438739, + -0.9999900264103782, + 0.0038868434772176743, + 0.1820157660103688, + -0.004222338152869697, + -0.9832865466303204 + ], + [ + 0.9787954388259358, + 0.01202562998680996, + 0.2044868532619256, + 0.014603278337499505, + -0.9998317414895852, + -0.011101034713077055, + 0.2043189496726661, + 0.013851820577951517, + -0.9788063617852792 + ], + [ + 0.9712402668942279, + 0.02329893643839312, + 0.23695886462436436, + 0.027130762973386083, + -0.9995483647382132, + -0.012922393340440066, + 0.2365507676244363, + 0.018979623547447522, + -0.9714337384640737 + ], + [ + 0.9685934691202231, + 0.019627449308922483, + 0.2478738687544072, + 0.026473346724601554, + -0.9993537534543048, + -0.024315373120553554, + 0.24723643236960535, + 0.030113762475293397, + -0.9684871232074959 + ], + [ + 0.9566584959639373, + 0.018838820814732718, + 0.29060216952102785, + 0.02619066330194314, + -0.9994272465663048, + -0.021429605145669366, + 0.2900320176391256, + 0.028111877404496544, + -0.9566039677384642 + ], + [ + 0.9468522338305202, + 0.04139558397513186, + 0.31899412677588923, + 0.04371872736431492, + -0.9990438718092308, + -0.00012279277742537845, + 0.31868404441985954, + 0.014062283874936281, + -0.9477566839671573 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + 0.00020322203636169434, + -0.0006920918822288513, + -0.008027970790863037, + -0.0077119674533605576, + 0.019986316561698914, + -0.005880236625671387, + 1.0 + ], + [ + 0.0006188452243804932, + 0.010958835482597351, + -0.017981141805648804, + 0.005638526752591133, + -0.016171887516975403, + -0.011684827506542206, + 1.0 + ], + [ + -0.0010369718074798584, + 0.0056713782250881195, + -0.026104122400283813, + -0.0013707596808671951, + 0.00045427680015563965, + -0.04649437218904495, + 1.0 + ], + [ + -0.006764143705368042, + 0.005544349551200867, + -0.023970797657966614, + -0.0017835069447755814, + -0.006801873445510864, + -0.030424758791923523, + 1.0 + ], + [ + -0.001261383295059204, + 0.00013116374611854553, + -0.028031885623931885, + -0.0054087769240140915, + 0.02119225263595581, + -0.042679205536842346, + 1.0 + ], + [ + 0.0027008652687072754, + 0.0014281794428825378, + -0.021412119269371033, + 0.0037731360644102097, + 0.016666889190673828, + -0.026429757475852966, + 1.0 + ], + [ + 0.003205418586730957, + 0.004249416291713715, + -0.021743834018707275, + 0.04452163726091385, + 0.056075312197208405, + -0.015961825847625732, + 1.0 + ], + [ + 0.007069766521453857, + 0.0025390423834323883, + -0.016531772911548615, + 0.005445059388875961, + -0.009459905326366425, + -0.006079316139221191, + 1.0 + ], + [ + -0.004071414470672607, + -0.0011624731123447418, + -0.024125177413225174, + -0.024532627314329147, + 0.02269778400659561, + -0.015901297330856323, + 1.0 + ], + [ + 0.0015575289726257324, + -0.0001653730869293213, + -0.0090528205037117, + -0.0004864931106567383, + -0.0041570961475372314, + -0.00828203558921814, + 1.0 + ], + [ + 0.004549115896224976, + -0.0014705955982208252, + -0.00650123693048954, + -0.00999484583735466, + -0.02548946440219879, + -0.015631377696990967, + 1.0 + ], + [ + -0.0007857382297515869, + 0.001292392611503601, + -0.0004197787493467331, + 0.007916441187262535, + 0.0022275149822235107, + 0.012425243854522705, + 1.0 + ], + [ + -0.0010404586791992188, + 0.0038240961730480194, + 0.00036476925015449524, + 0.0204544048756361, + 0.0065214261412620544, + 0.045664042234420776, + 1.0 + ], + [ + -0.00403285026550293, + 0.007735755294561386, + 0.00039408355951309204, + 0.04424162209033966, + 0.017613932490348816, + 0.060598596930503845, + 1.0 + ], + [ + -0.0008535087108612061, + 0.006853312253952026, + 9.359978139400482e-05, + 0.013990767300128937, + -0.00515979528427124, + 0.05393466353416443, + 1.0 + ], + [ + 0.0009912550449371338, + 0.016451895236968994, + 0.0012883152812719345, + 0.007880643010139465, + -0.01226034015417099, + 0.0589987114071846, + 1.0 + ], + [ + 0.013564884662628174, + 0.013025559484958649, + -0.0004392387345433235, + 0.0005544722080230713, + -0.019008368253707886, + 0.03239261731505394, + 1.0 + ], + [ + 0.013955742120742798, + 0.01686324179172516, + -0.0010846666991710663, + 0.004164613783359528, + -0.021191589534282684, + 0.039187122136354446, + 1.0 + ], + [ + 0.017956137657165527, + 0.015025287866592407, + 0.0007642069831490517, + 0.006110683083534241, + -0.025172561407089233, + 0.02035723440349102, + 1.0 + ], + [ + 0.013908952474594116, + 0.011422261595726013, + 0.0004780720919370651, + 0.0029446855187416077, + -0.015354767441749573, + 0.020150674507021904, + 1.0 + ], + [ + 0.020296454429626465, + 0.007811591029167175, + -0.00038933102041482925, + -0.012704171240329742, + -0.02890874445438385, + 0.01380835846066475, + 1.0 + ], + [ + 0.022590339183807373, + 0.0012325793504714966, + -0.0004556570202112198, + -0.016077488660812378, + -0.027183324098587036, + -0.009504439309239388, + 1.0 + ], + [ + 0.013418257236480713, + -0.005419254302978516, + 0.00038307439535856247, + -0.007280625402927399, + -0.01283290982246399, + -0.024271227419376373, + 1.0 + ], + [ + -0.0013998448848724365, + -0.007402375340461731, + -0.00122880470007658, + -0.014000631868839264, + 0.007764607667922974, + -0.007258217316120863, + 1.0 + ], + [ + -0.005441337823867798, + -0.005585730075836182, + 0.0014578308910131454, + -0.007457297295331955, + 0.012705698609352112, + 0.011302387341856956, + 1.0 + ], + [ + -0.006465554237365723, + -0.010871641337871552, + 0.0025788508355617523, + -0.016902754083275795, + 0.032051801681518555, + -0.002000948414206505, + 1.0 + ], + [ + -0.00024139881134033203, + -0.01200917363166809, + 0.015828527510166168, + -0.02365044131875038, + -0.001047566533088684, + -0.0027365314308553934, + 1.0 + ], + [ + 0.0029459893703460693, + -0.003706313669681549, + 0.024261485785245895, + -0.018444884568452835, + -0.022731855511665344, + 0.017155801877379417, + 1.0 + ], + [ + 0.005478918552398682, + -0.004720419645309448, + 0.02962539717555046, + -0.005384455434978008, + -0.03304639458656311, + 0.013008343055844307, + 1.0 + ], + [ + -0.004182010889053345, + -0.0052127838134765625, + 0.019781239330768585, + -0.011548338457942009, + -0.01101277768611908, + -0.000601939857006073, + 1.0 + ], + [ + -0.0063200294971466064, + -0.006520353257656097, + 0.032597653567790985, + 0.0017048884183168411, + -0.044433191418647766, + 4.5457854866981506e-05, + 1.0 + ], + [ + -0.007638901472091675, + -0.011109545826911926, + 0.027397066354751587, + 0.014542356133460999, + -0.030080527067184448, + 0.018769536167383194, + 1.0 + ], + [ + -0.000627368688583374, + 0.00028736889362335205, + 0.0011920630931854248, + 0.0021945666521787643, + -0.00237312912940979, + 0.0031288713216781616, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.002137303352356 + ], + [ + 1.0014774799346924 + ], + [ + 1.002137303352356 + ], + [ + 1.0008161067962646 + ], + [ + 0.9988223910331726 + ], + [ + 0.9981546401977539 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2647455334663391, + 0.018282726407051086, + 0.20406818389892578 + ], + [ + 0.2653643786907196, + 0.029241561889648438, + 0.18608704209327698 + ], + [ + 0.26432740688323975, + 0.03491294011473656, + 0.15998291969299316 + ], + [ + 0.2575632631778717, + 0.040457289665937424, + 0.13601212203502655 + ], + [ + 0.2563018798828125, + 0.04058845341205597, + 0.10798023641109467 + ], + [ + 0.2590027451515198, + 0.04201663285493851, + 0.08656811714172363 + ], + [ + 0.26220816373825073, + 0.04626604914665222, + 0.06482428312301636 + ], + [ + 0.2692779302597046, + 0.04880509153008461, + 0.04829251021146774 + ], + [ + 0.265206515789032, + 0.04764261841773987, + 0.02416733279824257 + ], + [ + 0.2667640447616577, + 0.04747724533081055, + 0.015114512294530869 + ], + [ + 0.2713131606578827, + 0.04600664973258972, + 0.008613275364041328 + ], + [ + 0.2705274224281311, + 0.04729904234409332, + 0.008193496614694595 + ], + [ + 0.2694869637489319, + 0.05112313851714134, + 0.00855826586484909 + ], + [ + 0.26545411348342896, + 0.05885889381170273, + 0.008952349424362183 + ], + [ + 0.26460060477256775, + 0.06571220606565475, + 0.009045949205756187 + ], + [ + 0.2655918598175049, + 0.08216410130262375, + 0.010334264487028122 + ], + [ + 0.27915674448013306, + 0.0951896607875824, + 0.009895025752484798 + ], + [ + 0.29311248660087585, + 0.11205290257930756, + 0.008810359053313732 + ], + [ + 0.3110686242580414, + 0.12707819044589996, + 0.009574566036462784 + ], + [ + 0.3249775767326355, + 0.13850045204162598, + 0.010052638128399849 + ], + [ + 0.34527403116226196, + 0.14631204307079315, + 0.00966330710798502 + ], + [ + 0.36786437034606934, + 0.14754462242126465, + 0.0092076500877738 + ], + [ + 0.38128262758255005, + 0.14212536811828613, + 0.009590724483132362 + ], + [ + 0.3798827826976776, + 0.1347229927778244, + 0.008361919783055782 + ], + [ + 0.3744414448738098, + 0.12913726270198822, + 0.009819750674068928 + ], + [ + 0.3679758906364441, + 0.11826562136411667, + 0.01239860150963068 + ], + [ + 0.36773449182510376, + 0.10625644773244858, + 0.028227128088474274 + ], + [ + 0.37068048119544983, + 0.10255013406276703, + 0.05248861387372017 + ], + [ + 0.3761593997478485, + 0.09782971441745758, + 0.08211401104927063 + ], + [ + 0.37197738885879517, + 0.09261693060398102, + 0.10189525038003922 + ], + [ + 0.36565735936164856, + 0.08609657734632492, + 0.1344929039478302 + ], + [ + 0.3580184578895569, + 0.074987031519413, + 0.1618899703025818 + ], + [ + 0.3573910892009735, + 0.07527440041303635, + 0.1630820333957672 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9834274796806258, + -0.10869300209561232, + 0.14510762731316346, + -0.10435383041222847, + -0.9938438987818419, + -0.037209984310722574, + 0.1482587949745599, + 0.02145078435749082, + -0.9887159316826751 + ], + [ + 0.9796315722650334, + -0.11973526887131798, + 0.16120002484445214, + -0.11554165175288046, + -0.9926795645609571, + -0.035176822103268876, + 0.16423187672237963, + 0.015835008411179297, + -0.9862946533246864 + ], + [ + 0.9732763203823783, + -0.1659538884483523, + 0.158721489067515, + -0.1609598925282067, + -0.9859837070067703, + -0.04390948091807416, + 0.1637837512705262, + 0.017188264195619328, + -0.9863465143618115 + ], + [ + 0.9668140288527703, + -0.19627740974507357, + 0.16354146886107646, + -0.19027300433120942, + -0.9803657489581499, + -0.051760816188512575, + 0.1704899335334773, + 0.018925556622987595, + -0.9851776519340357 + ], + [ + 0.9611121249211059, + -0.2382950255283485, + 0.13956705964546312, + -0.23214635718587792, + -0.9708878280682465, + -0.05903299208281537, + 0.14957122776444437, + 0.024337339981327092, + -0.9884513856066316 + ], + [ + 0.9569157909154709, + -0.2630147132877474, + 0.12302613417799946, + -0.25807762658104616, + -0.9645706615259837, + -0.0547665735793317, + 0.1330718142767776, + 0.020656706356297093, + -0.9908911104291918 + ], + [ + 0.958346187344624, + -0.2739339977616518, + 0.08082542961433656, + -0.27494535712812435, + -0.9614587717747545, + 0.0014424878053136778, + 0.07731517183393491, + -0.023604979298861323, + -0.9967272290634932 + ], + [ + 0.9559124198164185, + -0.2790662043710279, + 0.09139747927961023, + -0.2805478028881784, + -0.9598335883176576, + 0.003523213286885018, + 0.08674316074097649, + -0.02900924534000808, + -0.9958082585264435 + ], + [ + 0.9529656162487603, + -0.29654662261983017, + 0.06258302373961523, + -0.29622014497534316, + -0.9550073898878119, + -0.014646193036287329, + 0.06411052923200598, + -0.00458103399262031, + -0.9979322893709529 + ], + [ + 0.9502176056646622, + -0.3044599035807966, + 0.06626212339254212, + -0.3040185488380966, + -0.9525163530669296, + -0.016891391371169136, + 0.06825850750854676, + -0.004094417131674475, + -0.9976592664337145 + ], + [ + 0.9433939440231897, + -0.32009665349189137, + 0.08686770863596308, + -0.3181744761564604, + -0.9473667374355085, + -0.035514328423356833, + 0.09366359539827918, + 0.005864914670485888, + -0.9955866279098846 + ], + [ + 0.9474705739079406, + -0.3076044825957995, + 0.0876298685696173, + -0.30649177165415925, + -0.951512172052386, + -0.026217939363066777, + 0.09144564225184587, + -0.002017107612714668, + -0.9958080265744128 + ], + [ + 0.9610284665050943, + -0.2621197775155699, + 0.08784935288352948, + -0.26307383926125305, + -0.9647754158862846, + -0.0007429655383022725, + 0.08494964192514966, + -0.022396855507745967, + -0.9961334946683371 + ], + [ + 0.9765097455278852, + -0.20027738752329166, + 0.07948386588428183, + -0.2046648342258673, + -0.9774783785502694, + 0.051461880047612256, + 0.06738710945250206, + -0.06652057962451799, + -0.9955069010137775 + ], + [ + 0.9857661745668049, + -0.1457955975646553, + 0.08371793601548407, + -0.1516701380113751, + -0.9860413211760605, + 0.06869266459367801, + 0.07253425615209709, + -0.08041241610680652, + -0.9941190195446056 + ], + [ + 0.992034168464381, + -0.08569445723591555, + 0.0923291319044311, + -0.09319086264717673, + -0.9924134632234173, + 0.08019339830670476, + 0.08475654380789152, + -0.08815882265516366, + -0.9924940051555959 + ], + [ + 0.9927442911209801, + -0.05177692974974357, + 0.10852613506613475, + -0.06090334309670403, + -0.9947251408067287, + 0.08253894260698422, + 0.10368006195189099, + -0.08854966850713786, + -0.9906610928874355 + ], + [ + 0.9919484464734695, + -0.010367347071090301, + 0.12621726369074043, + -0.021910303733768483, + -0.9956634387396134, + 0.09041158856862343, + 0.12473258647668763, + -0.09244909340775377, + -0.987873952991433 + ], + [ + 0.9887350758371146, + 0.013136937079729644, + 0.14909852679868457, + -0.0017078663530259363, + -0.9950857990882145, + 0.09900169516472616, + 0.14966640572251022, + -0.09814108893390365, + -0.9838537968931015 + ], + [ + 0.986154610009627, + 0.03516678941559365, + 0.16205672488039444, + 0.018170329728851152, + -0.9942859042684031, + 0.10519210850015669, + 0.1648299859682861, + -0.1007910586082079, + -0.9811586203210628 + ], + [ + 0.9806359124100993, + 0.0493937489792501, + 0.18950848227292383, + 0.03161852325488508, + -0.9949079193608421, + 0.09570005736811525, + 0.1932704744103262, + -0.0878549347211361, + -0.9772041926671992 + ], + [ + 0.9752780171566418, + 0.03882410879562728, + 0.21754419741108877, + 0.02216922547126963, + -0.9966688871922617, + 0.07848346797219832, + 0.21986658384805424, + -0.07172041466112955, + -0.9728899564841968 + ], + [ + 0.9726270153504752, + 0.013855275015206257, + 0.2319584453402787, + -0.00150169484305329, + -0.9978251963413842, + 0.06589857706260402, + 0.23236702417301902, + -0.064443067125414, + -0.9704909361639833 + ], + [ + 0.9743653286834547, + 0.0029626490083205282, + 0.22495205927138537, + -0.008576754335728694, + -0.9986971934512222, + 0.05030263489834912, + 0.22480801930680308, + -0.05094250193606071, + -0.9730705092396165 + ], + [ + 0.9771776376318333, + 0.012020472063335466, + 0.21208340992082347, + 0.002443157535736296, + -0.9989675980480978, + 0.04536263915679657, + 0.21240973493115856, + -0.04380920338683106, + -0.9761981654382916 + ], + [ + 0.9834856236590922, + 0.005555966999275867, + 0.18090096541088335, + 0.0004910197394884493, + -0.9996069279386497, + 0.028031206122296738, + 0.18098559875167441, + -0.02747946229019431, + -0.9831017710271607 + ], + [ + 0.9832931513013318, + -0.0014556580277904135, + 0.1820232393503701, + -0.002199892623438739, + -0.9999900264103782, + 0.0038868434772176743, + 0.1820157660103688, + -0.004222338152869697, + -0.9832865466303204 + ], + [ + 0.9787954388259358, + 0.01202562998680996, + 0.2044868532619256, + 0.014603278337499505, + -0.9998317414895852, + -0.011101034713077055, + 0.2043189496726661, + 0.013851820577951517, + -0.9788063617852792 + ], + [ + 0.9712402668942279, + 0.02329893643839312, + 0.23695886462436436, + 0.027130762973386083, + -0.9995483647382132, + -0.012922393340440066, + 0.2365507676244363, + 0.018979623547447522, + -0.9714337384640737 + ], + [ + 0.9685934691202231, + 0.019627449308922483, + 0.2478738687544072, + 0.026473346724601554, + -0.9993537534543048, + -0.024315373120553554, + 0.24723643236960535, + 0.030113762475293397, + -0.9684871232074959 + ], + [ + 0.9566584959639373, + 0.018838820814732718, + 0.29060216952102785, + 0.02619066330194314, + -0.9994272465663048, + -0.021429605145669366, + 0.2900320176391256, + 0.028111877404496544, + -0.9566039677384642 + ], + [ + 0.9468522338305202, + 0.04139558397513186, + 0.31899412677588923, + 0.04371872736431492, + -0.9990438718092308, + -0.00012279277742537845, + 0.31868404441985954, + 0.014062283874936281, + -0.9477566839671573 + ], + [ + 0.9459527832423373, + 0.04519280971496183, + 0.32114006574412796, + 0.046643710059168335, + -0.9989065338620576, + 0.003178194394013634, + 0.32093254149118594, + 0.011972742282248969, + -0.9470263762188734 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005684.json b/json/chunk-0005/episode_0005684.json new file mode 100644 index 0000000000000000000000000000000000000000..fbc3ee52d1cf39a8f6bbd636dcb2d77b6dba74d2 --- /dev/null +++ b/json/chunk-0005/episode_0005684.json @@ -0,0 +1,1042 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 16, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut pan in sink." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005684.mp4", + "start": 0, + "end": 16, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.31509673595428467, + 0.03676057979464531, + 0.06334514915943146, + 0.2825755774974823, + -0.147316575050354, + -1.0138418674468994, + 0.0, + 1.0001531839370728 + ], + [ + 0.305775910615921, + 0.03453558683395386, + 0.058798909187316895, + 0.2171776443719864, + -0.1191854402422905, + -1.0032310485839844, + 0.0, + 1.0001531839370728 + ], + [ + 0.300841748714447, + 0.022419080138206482, + 0.06938190758228302, + 0.1754193753004074, + -0.10482348501682281, + -0.9825510382652283, + 0.0, + 1.0001531839370728 + ], + [ + 0.29791945219039917, + 0.008113346062600613, + 0.06966462731361389, + 0.181603342294693, + -0.12097548693418503, + -0.9533018469810486, + 0.0, + 1.0001531839370728 + ], + [ + 0.2949973940849304, + -0.008110604248940945, + 0.05485393479466438, + 0.16773661971092224, + -0.21950703859329224, + -0.9714099168777466, + 0.0, + 1.0001531839370728 + ], + [ + 0.2993439733982086, + -0.006290446501225233, + 0.03817012533545494, + 0.14901171624660492, + -0.2934204638004303, + -0.9736526608467102, + 0.0, + 1.0001531839370728 + ], + [ + 0.30351656675338745, + -0.0026096063666045666, + 0.025009885430336, + 0.13812729716300964, + -0.328128457069397, + -0.9906489253044128, + 0.0, + 1.0001531839370728 + ], + [ + 0.30405035614967346, + -0.0006042563472874463, + 0.014185598120093346, + 0.11228498816490173, + -0.35173940658569336, + -0.9848005771636963, + 0.0, + 0.8417698740959167 + ], + [ + 0.3051201105117798, + 0.0019304745364934206, + 0.007837990298867226, + 0.08594758808612823, + -0.36960569024086, + -0.9688952565193176, + 0.0, + 0.5383656024932861 + ], + [ + 0.3045225739479065, + 0.001776377554051578, + 0.006911577191203833, + 0.08298377692699432, + -0.36384180188179016, + -0.9745913743972778, + 0.0, + 0.254768431186676 + ], + [ + 0.30422523617744446, + 0.004264086484909058, + 0.012981058098375797, + 0.04240982607007027, + -0.3310770094394684, + -0.941161572933197, + 0.0, + 0.11661893874406815 + ], + [ + 0.3066650629043579, + 0.006400121841579676, + 0.02925920858979225, + 0.023514216765761375, + -0.29982990026474, + -0.9492763876914978, + 0.0, + 0.0853668823838234 + ], + [ + 0.3242567181587219, + 0.00675409147515893, + 0.04462123289704323, + 0.07603403180837631, + -0.2846483886241913, + -0.9994567632675171, + 0.0, + 0.0853668823838234 + ], + [ + 0.35017943382263184, + 0.0018309565493837, + 0.04708181321620941, + 0.16314850747585297, + -0.29946184158325195, + -1.0843652486801147, + 0.0, + 0.0853668823838234 + ], + [ + 0.37223711609840393, + -0.0015460598515346646, + 0.02758699841797352, + 0.21419906616210938, + -0.3477896451950073, + -1.1832499504089355, + 0.0, + 0.0853668823838234 + ], + [ + 0.3758348822593689, + 0.0076905773021280766, + 0.007727951277047396, + 0.2704213261604309, + -0.3983018696308136, + -1.2111393213272095, + 0.0, + 0.0853668823838234 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.8417698740959167 + ], + [ + 0.5383656024932861 + ], + [ + 0.254768431186676 + ], + [ + 0.11661893874406815 + ], + [ + 0.0853668823838234 + ], + [ + 0.0853668823838234 + ], + [ + 0.0853668823838234 + ], + [ + 0.0853668823838234 + ], + [ + 0.0853668823838234 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.31509673595428467, + 0.03676057979464531, + 0.06334514915943146 + ], + [ + 0.305775910615921, + 0.03453558683395386, + 0.058798909187316895 + ], + [ + 0.300841748714447, + 0.022419080138206482, + 0.06938190758228302 + ], + [ + 0.29791945219039917, + 0.008113346062600613, + 0.06966462731361389 + ], + [ + 0.2949973940849304, + -0.008110604248940945, + 0.05485393479466438 + ], + [ + 0.2993439733982086, + -0.006290446501225233, + 0.03817012533545494 + ], + [ + 0.30351656675338745, + -0.0026096063666045666, + 0.025009885430336 + ], + [ + 0.30405035614967346, + -0.0006042563472874463, + 0.014185598120093346 + ], + [ + 0.3051201105117798, + 0.0019304745364934206, + 0.007837990298867226 + ], + [ + 0.3045225739479065, + 0.001776377554051578, + 0.006911577191203833 + ], + [ + 0.30422523617744446, + 0.004264086484909058, + 0.012981058098375797 + ], + [ + 0.3066650629043579, + 0.006400121841579676, + 0.02925920858979225 + ], + [ + 0.3242567181587219, + 0.00675409147515893, + 0.04462123289704323 + ], + [ + 0.35017943382263184, + 0.0018309565493837, + 0.04708181321620941 + ], + [ + 0.37223711609840393, + -0.0015460598515346646, + 0.02758699841797352 + ], + [ + 0.3758348822593689, + 0.0076905773021280766, + 0.007727951277047396 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.5228778333942554, + -0.7935685811384618, + 0.31120359633978745, + -0.8396744245570877, + -0.5423816252466295, + 0.0277314503686351, + 0.14678430464342054, + -0.2758098613623395, + -0.9499385707958352 + ], + [ + 0.5337669623156391, + -0.8096316698217724, + 0.24410937950423725, + -0.8372304317119078, + -0.5465562625817256, + 0.017929195413855986, + 0.11890346570149893, + -0.2139458133600759, + -0.9695819484653517 + ], + [ + 0.5518562745813104, + -0.8090158568510515, + 0.20235611077700622, + -0.8273493067557529, + -0.5615773988106603, + 0.011133272467127114, + 0.10463162435904394, + -0.17356315423675392, + -0.9792487195168429 + ], + [ + 0.5747625051480731, + -0.7893042729121734, + 0.21597876617504894, + -0.8093727510500442, + -0.5872435693147151, + 0.007793597128183852, + 0.12068062203019245, + -0.1792867955570034, + -0.9763669558139024 + ], + [ + 0.5505994562444243, + -0.7935853679051239, + 0.2589642883299418, + -0.8058696062097379, + -0.5862347140190874, + -0.08308452242337577, + 0.21774851680483612, + -0.16294515619019684, + -0.9623068426980274 + ], + [ + 0.5382508774683226, + -0.7936371845800311, + 0.2835948027670148, + -0.7916015729063236, + -0.591559931025191, + -0.15304835111070422, + 0.28922818444407333, + -0.14211568265801108, + -0.9466520955799085 + ], + [ + 0.5189020081487438, + -0.8040928020324094, + 0.2901300943695254, + -0.7917585025985907, + -0.5800393263196479, + -0.191501575673639, + 0.32227190306019327, + -0.13034241689610332, + -0.9376308841199952 + ], + [ + 0.5191699783781104, + -0.8065657290727849, + 0.28269110038372175, + -0.7821513657284135, + -0.5817104150158708, + -0.22327613878612468, + 0.3445312389900949, + -0.10518896209845564, + -0.9328630701301235 + ], + [ + 0.5279742015227689, + -0.8036598913882165, + 0.2745432962216989, + -0.7685982600490533, + -0.5896809244148434, + -0.24805870682325248, + 0.3612477780913859, + -0.0800449021183522, + -0.9290279094133292 + ], + [ + 0.5247480934944071, + -0.8080621029094686, + 0.2677220129453537, + -0.7733033081647278, + -0.5839822043461683, + -0.2469145167633483, + 0.35586715492648757, + -0.07746239635150226, + -0.9313206457477521 + ], + [ + 0.5568708158220204, + -0.7994005599121627, + 0.22550751494759094, + -0.7643492406991419, + -0.5994590596621077, + -0.23752699642707298, + 0.32506173679527806, + -0.040094645542043214, + -0.9448424665892696 + ], + [ + 0.55629450510242, + -0.8087260651260144, + 0.19104600278112832, + -0.7767240518362275, + -0.5877563786879181, + -0.22636737090574197, + 0.2953576999029597, + -0.022463100797927515, + -0.9551226299332328 + ], + [ + 0.5189994322137084, + -0.8272119182429116, + 0.2153137981614997, + -0.8073287518785304, + -0.5571403998870843, + -0.19446043608897462, + 0.2808200059684187, + -0.0729041640137414, + -0.9569875166988098 + ], + [ + 0.44666917487545194, + -0.8498681939985815, + 0.2796617618582715, + -0.8446644799461147, + -0.5036248013415341, + -0.18139453076391227, + 0.2950060415202417, + -0.1551970112575946, + -0.942807150568592 + ], + [ + 0.35529132385171125, + -0.8773020487796466, + 0.3226595580526532, + -0.8704075925112547, + -0.43635511539297656, + -0.22800183369688948, + 0.3408206245145096, + -0.19983825579056963, + -0.9186435508009202 + ], + [ + 0.3244026421039764, + -0.8655352852556242, + 0.3815908748560755, + -0.8627470273707565, + -0.4361436977122616, + -0.2558246307703753, + 0.3878536999422371, + -0.2462262068167015, + -0.8882241623136451 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.009320825338363647, + -0.002224992960691452, + -0.004546239972114563, + -0.06539793312549591, + 0.028131134808063507, + 0.010610818862915039, + 1.0 + ], + [ + -0.004934161901473999, + -0.012116506695747375, + 0.010582998394966125, + -0.04175826907157898, + 0.014361955225467682, + 0.020680010318756104, + 1.0 + ], + [ + -0.0029222965240478516, + -0.01430573407560587, + 0.0002827197313308716, + 0.0061839669942855835, + -0.016152001917362213, + 0.029249191284179688, + 1.0 + ], + [ + -0.00292205810546875, + -0.016223950311541557, + -0.014810692518949509, + -0.013866722583770752, + -0.09853155165910721, + -0.018108069896697998, + 1.0 + ], + [ + 0.004346579313278198, + 0.0018201577477157116, + -0.016683809459209442, + -0.018724903464317322, + -0.07391342520713806, + -0.002242743968963623, + 1.0 + ], + [ + 0.004172593355178833, + 0.0036808401346206665, + -0.013160239905118942, + -0.010884419083595276, + -0.034707993268966675, + -0.016996264457702637, + 1.0 + ], + [ + 0.0005337893962860107, + 0.0020053500775247812, + -0.010824287310242653, + -0.02584230899810791, + -0.023610949516296387, + 0.005848348140716553, + 0.0 + ], + [ + 0.0010697543621063232, + 0.002534730825573206, + -0.00634760782122612, + -0.0263374000787735, + -0.017866283655166626, + 0.015905320644378662, + 0.0 + ], + [ + -0.000597536563873291, + -0.00015409698244184256, + -0.000926413107663393, + -0.002963811159133911, + 0.005763888359069824, + -0.005696117877960205, + 0.0 + ], + [ + -0.00029733777046203613, + 0.0024877088144421577, + 0.006069480907171965, + -0.04057395085692406, + 0.03276479244232178, + 0.03342980146408081, + 0.0 + ], + [ + 0.002439826726913452, + 0.002136035356670618, + 0.01627815142273903, + -0.01889560930430889, + 0.031247109174728394, + -0.008114814758300781, + 0.0 + ], + [ + 0.017591655254364014, + 0.00035396963357925415, + 0.015362024307250977, + 0.05251981317996979, + 0.015181511640548706, + -0.05018037557601929, + 0.0 + ], + [ + 0.025922715663909912, + -0.004923135042190552, + 0.0024605803191661835, + 0.08711447566747665, + -0.014813452959060669, + -0.08490848541259766, + 0.0 + ], + [ + 0.022057682275772095, + -0.0033770164009183645, + -0.019494814798235893, + 0.05105055868625641, + -0.04832780361175537, + -0.0988847017288208, + 0.0 + ], + [ + 0.003597766160964966, + 0.009236637502908707, + -0.01985904760658741, + 0.05622225999832153, + -0.050512224435806274, + -0.027889370918273926, + 0.0 + ], + [ + -0.0013101398944854736, + -0.0018407613970339298, + -0.005991268437355757, + 0.04984766244888306, + -0.0458950400352478, + -0.027598023414611816, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.8417698740959167 + ], + [ + 0.5383656024932861 + ], + [ + 0.254768431186676 + ], + [ + 0.11661893874406815 + ], + [ + 0.0853668823838234 + ], + [ + 0.0853668823838234 + ], + [ + 0.0853668823838234 + ], + [ + 0.0853668823838234 + ], + [ + 0.0853668823838234 + ], + [ + 0.17734436690807343 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.305775910615921, + 0.03453558683395386, + 0.058798909187316895 + ], + [ + 0.300841748714447, + 0.022419080138206482, + 0.06938190758228302 + ], + [ + 0.29791945219039917, + 0.008113346062600613, + 0.06966462731361389 + ], + [ + 0.2949973940849304, + -0.008110604248940945, + 0.05485393479466438 + ], + [ + 0.2993439733982086, + -0.006290446501225233, + 0.03817012533545494 + ], + [ + 0.30351656675338745, + -0.0026096063666045666, + 0.025009885430336 + ], + [ + 0.30405035614967346, + -0.0006042563472874463, + 0.014185598120093346 + ], + [ + 0.3051201105117798, + 0.0019304745364934206, + 0.007837990298867226 + ], + [ + 0.3045225739479065, + 0.001776377554051578, + 0.006911577191203833 + ], + [ + 0.30422523617744446, + 0.004264086484909058, + 0.012981058098375797 + ], + [ + 0.3066650629043579, + 0.006400121841579676, + 0.02925920858979225 + ], + [ + 0.3242567181587219, + 0.00675409147515893, + 0.04462123289704323 + ], + [ + 0.35017943382263184, + 0.0018309565493837, + 0.04708181321620941 + ], + [ + 0.37223711609840393, + -0.0015460598515346646, + 0.02758699841797352 + ], + [ + 0.3758348822593689, + 0.0076905773021280766, + 0.007727951277047396 + ], + [ + 0.3745247423648834, + 0.005849815905094147, + 0.0017366827232763171 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.5337669623156391, + -0.8096316698217724, + 0.24410937950423725, + -0.8372304317119078, + -0.5465562625817256, + 0.017929195413855986, + 0.11890346570149893, + -0.2139458133600759, + -0.9695819484653517 + ], + [ + 0.5518562745813104, + -0.8090158568510515, + 0.20235611077700622, + -0.8273493067557529, + -0.5615773988106603, + 0.011133272467127114, + 0.10463162435904394, + -0.17356315423675392, + -0.9792487195168429 + ], + [ + 0.5747625051480731, + -0.7893042729121734, + 0.21597876617504894, + -0.8093727510500442, + -0.5872435693147151, + 0.007793597128183852, + 0.12068062203019245, + -0.1792867955570034, + -0.9763669558139024 + ], + [ + 0.5505994562444243, + -0.7935853679051239, + 0.2589642883299418, + -0.8058696062097379, + -0.5862347140190874, + -0.08308452242337577, + 0.21774851680483612, + -0.16294515619019684, + -0.9623068426980274 + ], + [ + 0.5382508774683226, + -0.7936371845800311, + 0.2835948027670148, + -0.7916015729063236, + -0.591559931025191, + -0.15304835111070422, + 0.28922818444407333, + -0.14211568265801108, + -0.9466520955799085 + ], + [ + 0.5189020081487438, + -0.8040928020324094, + 0.2901300943695254, + -0.7917585025985907, + -0.5800393263196479, + -0.191501575673639, + 0.32227190306019327, + -0.13034241689610332, + -0.9376308841199952 + ], + [ + 0.5191699783781104, + -0.8065657290727849, + 0.28269110038372175, + -0.7821513657284135, + -0.5817104150158708, + -0.22327613878612468, + 0.3445312389900949, + -0.10518896209845564, + -0.9328630701301235 + ], + [ + 0.5279742015227689, + -0.8036598913882165, + 0.2745432962216989, + -0.7685982600490533, + -0.5896809244148434, + -0.24805870682325248, + 0.3612477780913859, + -0.0800449021183522, + -0.9290279094133292 + ], + [ + 0.5247480934944071, + -0.8080621029094686, + 0.2677220129453537, + -0.7733033081647278, + -0.5839822043461683, + -0.2469145167633483, + 0.35586715492648757, + -0.07746239635150226, + -0.9313206457477521 + ], + [ + 0.5568708158220204, + -0.7994005599121627, + 0.22550751494759094, + -0.7643492406991419, + -0.5994590596621077, + -0.23752699642707298, + 0.32506173679527806, + -0.040094645542043214, + -0.9448424665892696 + ], + [ + 0.55629450510242, + -0.8087260651260144, + 0.19104600278112832, + -0.7767240518362275, + -0.5877563786879181, + -0.22636737090574197, + 0.2953576999029597, + -0.022463100797927515, + -0.9551226299332328 + ], + [ + 0.5189994322137084, + -0.8272119182429116, + 0.2153137981614997, + -0.8073287518785304, + -0.5571403998870843, + -0.19446043608897462, + 0.2808200059684187, + -0.0729041640137414, + -0.9569875166988098 + ], + [ + 0.44666917487545194, + -0.8498681939985815, + 0.2796617618582715, + -0.8446644799461147, + -0.5036248013415341, + -0.18139453076391227, + 0.2950060415202417, + -0.1551970112575946, + -0.942807150568592 + ], + [ + 0.35529132385171125, + -0.8773020487796466, + 0.3226595580526532, + -0.8704075925112547, + -0.43635511539297656, + -0.22800183369688948, + 0.3408206245145096, + -0.19983825579056963, + -0.9186435508009202 + ], + [ + 0.3244026421039764, + -0.8655352852556242, + 0.3815908748560755, + -0.8627470273707565, + -0.4361436977122616, + -0.2558246307703753, + 0.3878536999422371, + -0.2462262068167015, + -0.8882241623136451 + ], + [ + 0.29435485211516, + -0.8531986503808813, + 0.4305894611163914, + -0.853630415883964, + -0.4373127511518031, + -0.2829711482780727, + 0.42973286366536145, + -0.2842703302637881, + -0.8570414489496316 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005685.json b/json/chunk-0005/episode_0005685.json new file mode 100644 index 0000000000000000000000000000000000000000..2d16db0b16a4d76303c1e85297327dc9a594fa87 --- /dev/null +++ b/json/chunk-0005/episode_0005685.json @@ -0,0 +1,1102 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 17, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut strawberry in pot." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005685.mp4", + "start": 0, + "end": 17, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.23123204708099365, + -0.014997996389865875, + 0.09445303678512573, + 0.10823714733123779, + -0.19436919689178467, + 0.029673688113689423, + 0.0, + 1.0086473226547241 + ], + [ + 0.22612769901752472, + -0.017139755189418793, + 0.08137743920087814, + 0.08913229405879974, + -0.1846151053905487, + 0.04127222299575806, + 0.0, + 1.0086473226547241 + ], + [ + 0.22509333491325378, + -0.01835327222943306, + 0.07158902287483215, + 0.06502418965101242, + -0.21055877208709717, + 0.05270176753401756, + 0.0, + 1.0086473226547241 + ], + [ + 0.22503012418746948, + -0.01797962747514248, + 0.06377848237752914, + 0.04909699037671089, + -0.22101598978042603, + 0.056340496987104416, + 0.0, + 1.0086473226547241 + ], + [ + 0.22629134356975555, + -0.0148864621296525, + 0.05595965310931206, + 0.029708996415138245, + -0.22374273836612701, + 0.05511433631181717, + 0.0, + 1.0086473226547241 + ], + [ + 0.22547771036624908, + -0.01197432354092598, + 0.04740893095731735, + 0.016402771696448326, + -0.24076053500175476, + 0.050145380198955536, + 0.0, + 1.0086473226547241 + ], + [ + 0.22036105394363403, + -0.01315049733966589, + 0.03559662401676178, + -0.0036479204427450895, + -0.26207661628723145, + 0.05635764077305794, + 0.0, + 1.0086473226547241 + ], + [ + 0.21968509256839752, + -0.013563654385507107, + 0.028381559997797012, + -0.04578542336821556, + -0.28333693742752075, + 0.08761667460203171, + 0.0, + 0.8149353265762329 + ], + [ + 0.21994268894195557, + -0.012014715932309628, + 0.027300328016281128, + -0.07268965989351273, + -0.27769097685813904, + 0.11137454956769943, + 0.0, + 0.7516188621520996 + ], + [ + 0.21881911158561707, + -0.01127644069492817, + 0.029201358556747437, + -0.06336873769760132, + -0.24448193609714508, + 0.11032192409038544, + 0.0, + 0.7506401538848877 + ], + [ + 0.2165810763835907, + -0.011484459042549133, + 0.04462650045752525, + -0.021396949887275696, + -0.2021307498216629, + 0.11943486332893372, + 0.0, + 0.7506401538848877 + ], + [ + 0.21655774116516113, + -0.008894874714314938, + 0.07474121451377869, + 0.06473800539970398, + -0.18283429741859436, + 0.11730654537677765, + 0.0, + 0.7516188621520996 + ], + [ + 0.2195020169019699, + -0.010902081616222858, + 0.10693538933992386, + 0.15775351226329803, + -0.16650569438934326, + 0.12425524741411209, + 0.0, + 0.7516188621520996 + ], + [ + 0.2322239875793457, + -0.02309744618833065, + 0.13884519040584564, + 0.21048852801322937, + -0.17033949494361877, + 0.09579295665025711, + 0.0, + 0.7506401538848877 + ], + [ + 0.2550152838230133, + -0.0373271182179451, + 0.15457811951637268, + 0.22387118637561798, + -0.18172627687454224, + 0.03510116785764694, + 0.0, + 0.7516188621520996 + ], + [ + 0.2806302011013031, + -0.051992397755384445, + 0.15384788811206818, + 0.2139211893081665, + -0.2144143134355545, + -0.02089283987879753, + 0.0, + 0.7516188621520996 + ], + [ + 0.2976948320865631, + -0.06005486100912094, + 0.14128386974334717, + 0.1526152491569519, + -0.232290580868721, + -0.058445852249860764, + 0.0, + 0.7506401538848877 + ] + ], + "left_gripper_pos": [ + [ + 1.0086473226547241 + ], + [ + 1.0086473226547241 + ], + [ + 1.0086473226547241 + ], + [ + 1.0086473226547241 + ], + [ + 1.0086473226547241 + ], + [ + 1.0086473226547241 + ], + [ + 1.0086473226547241 + ], + [ + 0.8149353265762329 + ], + [ + 0.7516188621520996 + ], + [ + 0.7506401538848877 + ], + [ + 0.7506401538848877 + ], + [ + 0.7516188621520996 + ], + [ + 0.7516188621520996 + ], + [ + 0.7506401538848877 + ], + [ + 0.7516188621520996 + ], + [ + 0.7516188621520996 + ], + [ + 0.7506401538848877 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.23123204708099365, + -0.014997996389865875, + 0.09445303678512573 + ], + [ + 0.22612769901752472, + -0.017139755189418793, + 0.08137743920087814 + ], + [ + 0.22509333491325378, + -0.01835327222943306, + 0.07158902287483215 + ], + [ + 0.22503012418746948, + -0.01797962747514248, + 0.06377848237752914 + ], + [ + 0.22629134356975555, + -0.0148864621296525, + 0.05595965310931206 + ], + [ + 0.22547771036624908, + -0.01197432354092598, + 0.04740893095731735 + ], + [ + 0.22036105394363403, + -0.01315049733966589, + 0.03559662401676178 + ], + [ + 0.21968509256839752, + -0.013563654385507107, + 0.028381559997797012 + ], + [ + 0.21994268894195557, + -0.012014715932309628, + 0.027300328016281128 + ], + [ + 0.21881911158561707, + -0.01127644069492817, + 0.029201358556747437 + ], + [ + 0.2165810763835907, + -0.011484459042549133, + 0.04462650045752525 + ], + [ + 0.21655774116516113, + -0.008894874714314938, + 0.07474121451377869 + ], + [ + 0.2195020169019699, + -0.010902081616222858, + 0.10693538933992386 + ], + [ + 0.2322239875793457, + -0.02309744618833065, + 0.13884519040584564 + ], + [ + 0.2550152838230133, + -0.0373271182179451, + 0.15457811951637268 + ], + [ + 0.2806302011013031, + -0.051992397755384445, + 0.15384788811206818 + ], + [ + 0.2976948320865631, + -0.06005486100912094, + 0.14128386974334717 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9807377610011283, + 0.050351480410107695, + 0.18872777370330152, + 0.02911065118842584, + -0.9930913717089841, + 0.11367540378003727, + 0.19314764853313604, + -0.10599177259428794, + -0.9754279727424476 + ], + [ + 0.9821698714176046, + 0.0574230000944041, + 0.17901101290056023, + 0.04055936612781255, + -0.9945079445266058, + 0.09648256885456492, + 0.1835681930478059, + -0.0875016990327838, + -0.9791047804844688 + ], + [ + 0.9765565279082374, + 0.06612808847279154, + 0.20485219968246005, + 0.05151395688252396, + -0.9957857837303299, + 0.07587479928723415, + 0.20900636364980202, + -0.06354328316594335, + -0.9758476269983851 + ], + [ + 0.9741271168716177, + 0.06698453733407875, + 0.215845852250001, + 0.05494095033179587, + -0.9966043571187029, + 0.06132900903044419, + 0.21922101211341258, + -0.04788347449962854, + -0.974499523200404 + ], + [ + 0.9735932771631235, + 0.06164300264197734, + 0.21980962419341618, + 0.05371334469935674, + -0.9976779115080521, + 0.0418767416370924, + 0.2218806148900299, + -0.028964204014833184, + -0.9746435592675968 + ], + [ + 0.969936152869684, + 0.05402363104057384, + 0.23728739251285272, + 0.048678625757252264, + -0.9984125979849636, + 0.028331529773390502, + 0.23844129413912782, + -0.015928950816267915, + -0.9710262703836342 + ], + [ + 0.9643205781905095, + 0.05538381157022144, + 0.2588792303261804, + 0.054404444438589446, + -0.9984589222469714, + 0.010951575719714685, + 0.25908681730966127, + 0.0035233508724530713, + -0.9658476107000419 + ], + [ + 0.9564449665853937, + 0.07466664499639088, + 0.2822019100191352, + 0.0840156245867582, + -0.9962398167929057, + -0.021156612718824984, + 0.2795610858448687, + 0.04394450547475045, + -0.959121723098699 + ], + [ + 0.9557326032172135, + 0.09106499332749333, + 0.279789846381014, + 0.1068866049204271, + -0.993392701787611, + -0.04178748285904073, + 0.27413581458144487, + 0.06984344654564013, + -0.9591514208603319 + ], + [ + 0.9643643414742397, + 0.0946421042634836, + 0.2470714248826369, + 0.10682426517100477, + -0.9936134089049414, + -0.036345151189354705, + 0.24205369913230296, + 0.0614431912003445, + -0.9683154140007723 + ], + [ + 0.9726622043626294, + 0.11485917710413833, + 0.20183063602781123, + 0.11672532268526657, + -0.9931606411451604, + 0.002672063650865251, + 0.20075715491222476, + 0.020959730797271002, + -0.9794167930132989 + ], + [ + 0.9765743413660464, + 0.12847396036147854, + 0.1726180676942883, + 0.11508694433431656, + -0.989670467789421, + 0.08548310025530548, + 0.18181735623768866, + -0.06361451638192281, + -0.9812724607754115 + ], + [ + 0.9785667938681418, + 0.14823341368399306, + 0.14294714060174674, + 0.12222171609317879, + -0.9767417184322352, + 0.17617453728981988, + 0.16573738882299238, + -0.15492730728194407, + -0.9739243540462996 + ], + [ + 0.9810089879380359, + 0.1287915953830874, + 0.14503134331402126, + 0.09426225393667073, + -0.9700578555784615, + 0.22383561895573145, + 0.1695169403557326, + -0.20591377270400324, + -0.9637756612112774 + ], + [ + 0.9829273329254201, + 0.07431609401214612, + 0.1683180809030861, + 0.03451607412883106, + -0.973036659201284, + 0.22805328429368635, + 0.18072769244045866, + -0.21835012713800225, + -0.9589894280772677 + ], + [ + 0.9768879315251082, + 0.02474577265365214, + 0.21231489814982227, + -0.02041293337432916, + -0.9779363910975613, + 0.2079031676481461, + 0.21277518979347862, + -0.207432065271625, + -0.9548291244539505 + ], + [ + 0.9714800274370489, + -0.02279650100772496, + 0.23602304089371412, + -0.05684371737737705, + -0.9887335120198285, + 0.13847322486190825, + 0.2302071851303341, + -0.14794039931925465, + -0.9618306972454288 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.005104348063468933, + -0.0021417587995529175, + -0.013075597584247589, + -0.01910485327243805, + 0.009754091501235962, + 0.011598534882068634, + 1.0 + ], + [ + -0.001034364104270935, + -0.001213517040014267, + -0.00978841632604599, + -0.024108104407787323, + -0.025943666696548462, + 0.011429544538259506, + 1.0 + ], + [ + -6.321072578430176e-05, + 0.00037364475429058075, + -0.007810540497303009, + -0.01592719927430153, + -0.010457217693328857, + 0.003638729453086853, + 1.0 + ], + [ + 0.0012612193822860718, + 0.003093165345489979, + -0.007818829268217087, + -0.019387993961572647, + -0.0027267485857009888, + -0.0012261606752872467, + 1.0 + ], + [ + -0.0008136332035064697, + 0.0029121385887265205, + -0.008550722151994705, + -0.013306224718689919, + -0.017017796635627747, + -0.004968956112861633, + 1.0 + ], + [ + -0.005116656422615051, + -0.0011761737987399101, + -0.011812306940555573, + -0.020050691440701485, + -0.021316081285476685, + 0.006212260574102402, + 1.0 + ], + [ + -0.0006759613752365112, + -0.00041315704584121704, + -0.0072150640189647675, + -0.0421375036239624, + -0.021260321140289307, + 0.03125903382897377, + 0.0 + ], + [ + 0.00025759637355804443, + 0.0015489384531974792, + -0.0010812319815158844, + -0.026904236525297165, + 0.005645960569381714, + 0.023757874965667725, + 0.0 + ], + [ + -0.001123577356338501, + 0.0007382752373814583, + 0.0019010305404663086, + 0.009320922195911407, + 0.03320904076099396, + -0.0010526254773139954, + 0.0 + ], + [ + -0.002238035202026367, + -0.00020801834762096405, + 0.015425141900777817, + 0.04197178781032562, + 0.04235118627548218, + 0.009112939238548279, + 0.0 + ], + [ + -2.333521842956543e-05, + 0.0025895843282341957, + 0.030114714056253433, + 0.08613495528697968, + 0.019296452403068542, + -0.002128317952156067, + 0.0 + ], + [ + 0.002944275736808777, + -0.002007206901907921, + 0.03219417482614517, + 0.09301550686359406, + 0.0163286030292511, + 0.006948702037334442, + 0.0 + ], + [ + 0.012721970677375793, + -0.012195364572107792, + 0.03190980106592178, + 0.052735015749931335, + -0.0038338005542755127, + -0.02846229076385498, + 0.0 + ], + [ + 0.022791296243667603, + -0.014229672029614449, + 0.01573292911052704, + 0.01338265836238861, + -0.011386781930923462, + -0.06069178879261017, + 0.0 + ], + [ + 0.025614917278289795, + -0.014665279537439346, + -0.0007302314043045044, + -0.009949997067451477, + -0.03268803656101227, + -0.05599400773644447, + 0.0 + ], + [ + 0.01706463098526001, + -0.008062463253736496, + -0.012564018368721008, + -0.0613059401512146, + -0.017876267433166504, + -0.03755301237106323, + 1.0 + ], + [ + 0.0056479573249816895, + 0.000735059380531311, + -0.011332422494888306, + -0.07073024660348892, + -0.029058381915092468, + -0.0003993585705757141, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0086473226547241 + ], + [ + 1.0086473226547241 + ], + [ + 1.0086473226547241 + ], + [ + 1.0086473226547241 + ], + [ + 1.0086473226547241 + ], + [ + 1.0086473226547241 + ], + [ + 0.8149353265762329 + ], + [ + 0.7516188621520996 + ], + [ + 0.7506401538848877 + ], + [ + 0.7506401538848877 + ], + [ + 0.7516188621520996 + ], + [ + 0.7516188621520996 + ], + [ + 0.7506401538848877 + ], + [ + 0.7516188621520996 + ], + [ + 0.7516188621520996 + ], + [ + 0.7506401538848877 + ], + [ + 0.9635607004165649 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.22612769901752472, + -0.017139755189418793, + 0.08137743920087814 + ], + [ + 0.22509333491325378, + -0.01835327222943306, + 0.07158902287483215 + ], + [ + 0.22503012418746948, + -0.01797962747514248, + 0.06377848237752914 + ], + [ + 0.22629134356975555, + -0.0148864621296525, + 0.05595965310931206 + ], + [ + 0.22547771036624908, + -0.01197432354092598, + 0.04740893095731735 + ], + [ + 0.22036105394363403, + -0.01315049733966589, + 0.03559662401676178 + ], + [ + 0.21968509256839752, + -0.013563654385507107, + 0.028381559997797012 + ], + [ + 0.21994268894195557, + -0.012014715932309628, + 0.027300328016281128 + ], + [ + 0.21881911158561707, + -0.01127644069492817, + 0.029201358556747437 + ], + [ + 0.2165810763835907, + -0.011484459042549133, + 0.04462650045752525 + ], + [ + 0.21655774116516113, + -0.008894874714314938, + 0.07474121451377869 + ], + [ + 0.2195020169019699, + -0.010902081616222858, + 0.10693538933992386 + ], + [ + 0.2322239875793457, + -0.02309744618833065, + 0.13884519040584564 + ], + [ + 0.2550152838230133, + -0.0373271182179451, + 0.15457811951637268 + ], + [ + 0.2806302011013031, + -0.051992397755384445, + 0.15384788811206818 + ], + [ + 0.2976948320865631, + -0.06005486100912094, + 0.14128386974334717 + ], + [ + 0.3033427894115448, + -0.05931980162858963, + 0.12995144724845886 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9821698714176046, + 0.0574230000944041, + 0.17901101290056023, + 0.04055936612781255, + -0.9945079445266058, + 0.09648256885456492, + 0.1835681930478059, + -0.0875016990327838, + -0.9791047804844688 + ], + [ + 0.9765565279082374, + 0.06612808847279154, + 0.20485219968246005, + 0.05151395688252396, + -0.9957857837303299, + 0.07587479928723415, + 0.20900636364980202, + -0.06354328316594335, + -0.9758476269983851 + ], + [ + 0.9741271168716177, + 0.06698453733407875, + 0.215845852250001, + 0.05494095033179587, + -0.9966043571187029, + 0.06132900903044419, + 0.21922101211341258, + -0.04788347449962854, + -0.974499523200404 + ], + [ + 0.9735932771631235, + 0.06164300264197734, + 0.21980962419341618, + 0.05371334469935674, + -0.9976779115080521, + 0.0418767416370924, + 0.2218806148900299, + -0.028964204014833184, + -0.9746435592675968 + ], + [ + 0.969936152869684, + 0.05402363104057384, + 0.23728739251285272, + 0.048678625757252264, + -0.9984125979849636, + 0.028331529773390502, + 0.23844129413912782, + -0.015928950816267915, + -0.9710262703836342 + ], + [ + 0.9643205781905095, + 0.05538381157022144, + 0.2588792303261804, + 0.054404444438589446, + -0.9984589222469714, + 0.010951575719714685, + 0.25908681730966127, + 0.0035233508724530713, + -0.9658476107000419 + ], + [ + 0.9564449665853937, + 0.07466664499639088, + 0.2822019100191352, + 0.0840156245867582, + -0.9962398167929057, + -0.021156612718824984, + 0.2795610858448687, + 0.04394450547475045, + -0.959121723098699 + ], + [ + 0.9557326032172135, + 0.09106499332749333, + 0.279789846381014, + 0.1068866049204271, + -0.993392701787611, + -0.04178748285904073, + 0.27413581458144487, + 0.06984344654564013, + -0.9591514208603319 + ], + [ + 0.9643643414742397, + 0.0946421042634836, + 0.2470714248826369, + 0.10682426517100477, + -0.9936134089049414, + -0.036345151189354705, + 0.24205369913230296, + 0.0614431912003445, + -0.9683154140007723 + ], + [ + 0.9726622043626294, + 0.11485917710413833, + 0.20183063602781123, + 0.11672532268526657, + -0.9931606411451604, + 0.002672063650865251, + 0.20075715491222476, + 0.020959730797271002, + -0.9794167930132989 + ], + [ + 0.9765743413660464, + 0.12847396036147854, + 0.1726180676942883, + 0.11508694433431656, + -0.989670467789421, + 0.08548310025530548, + 0.18181735623768866, + -0.06361451638192281, + -0.9812724607754115 + ], + [ + 0.9785667938681418, + 0.14823341368399306, + 0.14294714060174674, + 0.12222171609317879, + -0.9767417184322352, + 0.17617453728981988, + 0.16573738882299238, + -0.15492730728194407, + -0.9739243540462996 + ], + [ + 0.9810089879380359, + 0.1287915953830874, + 0.14503134331402126, + 0.09426225393667073, + -0.9700578555784615, + 0.22383561895573145, + 0.1695169403557326, + -0.20591377270400324, + -0.9637756612112774 + ], + [ + 0.9829273329254201, + 0.07431609401214612, + 0.1683180809030861, + 0.03451607412883106, + -0.973036659201284, + 0.22805328429368635, + 0.18072769244045866, + -0.21835012713800225, + -0.9589894280772677 + ], + [ + 0.9768879315251082, + 0.02474577265365214, + 0.21231489814982227, + -0.02041293337432916, + -0.9779363910975613, + 0.2079031676481461, + 0.21277518979347862, + -0.207432065271625, + -0.9548291244539505 + ], + [ + 0.9714800274370489, + -0.02279650100772496, + 0.23602304089371412, + -0.05684371737737705, + -0.9887335120198285, + 0.13847322486190825, + 0.2302071851303341, + -0.14794039931925465, + -0.9618306972454288 + ], + [ + 0.9643702036964474, + -0.03751664380797709, + 0.26188282047484107, + -0.05681416100184128, + -0.996167140772448, + 0.06650698275296288, + 0.25838394170716056, + -0.07901600523078484, + -0.9628053851039884 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005686.json b/json/chunk-0005/episode_0005686.json new file mode 100644 index 0000000000000000000000000000000000000000..28b513d10e4fe456a60e905c58aae9a7d65bb2bd --- /dev/null +++ b/json/chunk-0005/episode_0005686.json @@ -0,0 +1,2422 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 39, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nFold the cloth from bottom left to upper right." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005686.mp4", + "start": 0, + "end": 39, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.11870058625936508, + -0.018382608890533447, + 0.24485015869140625, + -0.040413934737443924, + -0.12095113843679428, + 0.030870243906974792, + 0.0, + 0.9994885921478271 + ], + [ + 0.11776413768529892, + -0.01808389462530613, + 0.24214455485343933, + -0.03892260044813156, + -0.11985308676958084, + 0.02169886976480484, + 0.0, + 0.9994885921478271 + ], + [ + 0.11975948512554169, + 0.008445505984127522, + 0.22535862028598785, + -0.01537439413368702, + -0.16918383538722992, + 0.06994898617267609, + 0.0, + 0.9994885921478271 + ], + [ + 0.12855808436870575, + 0.05164031684398651, + 0.19988448917865753, + 0.04061630740761757, + -0.1827353835105896, + 0.1619480401277542, + 0.0, + 0.9994885921478271 + ], + [ + 0.13983826339244843, + 0.10252612829208374, + 0.17642205953598022, + 0.08082978427410126, + -0.20758578181266785, + 0.2849734425544739, + 0.0, + 0.9994885921478271 + ], + [ + 0.14619268476963043, + 0.14935684204101562, + 0.150513157248497, + 0.06428341567516327, + -0.22230859100818634, + 0.43158572912216187, + 0.0, + 0.9994885921478271 + ], + [ + 0.15147186815738678, + 0.17886319756507874, + 0.15063700079917908, + 0.020327981561422348, + -0.3302501440048218, + 0.572250247001648, + 0.0, + 0.9994885921478271 + ], + [ + 0.15745504200458527, + 0.19841121137142181, + 0.14838629961013794, + -0.027974991127848625, + -0.3935202360153198, + 0.6925099492073059, + 0.0, + 0.9994885921478271 + ], + [ + 0.16427583992481232, + 0.20996004343032837, + 0.15451639890670776, + -0.026810286566615105, + -0.4401959776878357, + 0.731130838394165, + 0.0, + 0.9994885921478271 + ], + [ + 0.1714533418416977, + 0.22279092669487, + 0.1526295691728592, + -0.043266285210847855, + -0.4429895877838135, + 0.79355788230896, + 0.0, + 0.9994885921478271 + ], + [ + 0.17592710256576538, + 0.23971958458423615, + 0.1361696422100067, + -0.03347691893577576, + -0.4073021411895752, + 0.8800466060638428, + 0.0, + 0.9994885921478271 + ], + [ + 0.1805674433708191, + 0.2544788718223572, + 0.12666232883930206, + -0.04077098146080971, + -0.3655543625354767, + 1.0103368759155273, + 0.0, + 1.0001531839370728 + ], + [ + 0.18852342665195465, + 0.2566148638725281, + 0.11294221132993698, + -0.03484601154923439, + -0.32510101795196533, + 1.0696913003921509, + 0.0, + 0.9994885921478271 + ], + [ + 0.19860902428627014, + 0.25551897287368774, + 0.10905015468597412, + -0.043288685381412506, + -0.3141542673110962, + 1.1112549304962158, + 0.0, + 0.9994885921478271 + ], + [ + 0.2067895382642746, + 0.25065261125564575, + 0.10182398557662964, + -0.0362953245639801, + -0.3000871241092682, + 1.1605730056762695, + 0.0, + 0.9994885921478271 + ], + [ + 0.21260809898376465, + 0.24905119836330414, + 0.093935027718544, + -0.024676820263266563, + -0.2980733811855316, + 1.1851458549499512, + 0.0, + 0.9994885921478271 + ], + [ + 0.2139328122138977, + 0.25251665711402893, + 0.08776123076677322, + -0.003059318056330085, + -0.3086583912372589, + 1.1999415159225464, + 0.0, + 0.9994885921478271 + ], + [ + 0.2135600745677948, + 0.2550640106201172, + 0.0843026414513588, + 0.01586923748254776, + -0.33456113934516907, + 1.1990838050842285, + 0.0, + 0.9545519351959229 + ], + [ + 0.21026988327503204, + 0.2534903287887573, + 0.07901514321565628, + 0.026028776541352272, + -0.33439239859580994, + 1.1858099699020386, + 0.0, + 0.6621366739273071 + ], + [ + 0.20754946768283844, + 0.24890576303005219, + 0.07426868379116058, + 0.03278025984764099, + -0.3157033920288086, + 1.1596202850341797, + 0.0, + 0.36950385570526123 + ], + [ + 0.20552559196949005, + 0.2475435882806778, + 0.07295861095190048, + 0.038313865661621094, + -0.3268436789512634, + 1.1314729452133179, + 0.0, + 0.1602664440870285 + ], + [ + 0.2040276825428009, + 0.24620528519153595, + 0.07151895016431808, + 0.04755370691418648, + -0.3296641409397125, + 1.1113348007202148, + 0.0, + 0.06296365708112717 + ], + [ + 0.2044171690940857, + 0.24074099957942963, + 0.08211934566497803, + 0.031099507585167885, + -0.3378850221633911, + 1.1049916744232178, + 0.0, + 0.051409780979156494 + ], + [ + 0.21133825182914734, + 0.22030015289783478, + 0.10103599727153778, + 0.0028045030776411295, + -0.32568883895874023, + 1.0850807428359985, + 0.0, + 0.051409780979156494 + ], + [ + 0.22671453654766083, + 0.19637201726436615, + 0.12456313520669937, + -0.01345890574157238, + -0.2931394577026367, + 1.0682158470153809, + 0.0, + 0.051409780979156494 + ], + [ + 0.2493562251329422, + 0.17225578427314758, + 0.14233696460723877, + -0.039322853088378906, + -0.2653096616268158, + 1.0568379163742065, + 0.0, + 0.051409780979156494 + ], + [ + 0.2741549015045166, + 0.14915676414966583, + 0.14887656271457672, + -0.039088618010282516, + -0.23244932293891907, + 1.0542240142822266, + 0.0, + 0.05115113407373428 + ], + [ + 0.30210986733436584, + 0.12257304042577744, + 0.16102385520935059, + -0.06577920913696289, + -0.21415486931800842, + 1.069650650024414, + 0.0, + 0.05115113407373428 + ], + [ + 0.3215256631374359, + 0.10239554196596146, + 0.16690075397491455, + -0.0783870592713356, + -0.1987682431936264, + 1.0742279291152954, + 0.0, + 0.051409780979156494 + ], + [ + 0.34028056263923645, + 0.08208728581666946, + 0.1657976508140564, + -0.08795897662639618, + -0.18739226460456848, + 1.0705156326293945, + 0.0, + 0.05115113407373428 + ], + [ + 0.35459181666374207, + 0.06481213122606277, + 0.16175299882888794, + -0.09198637306690216, + -0.18304437398910522, + 1.06971275806427, + 0.0, + 0.051409780979156494 + ], + [ + 0.36762094497680664, + 0.048907261341810226, + 0.1612643003463745, + -0.1074850782752037, + -0.20513255894184113, + 1.0656098127365112, + 0.0, + 0.05115113407373428 + ], + [ + 0.37958768010139465, + 0.03491131588816643, + 0.15399686992168427, + -0.10895700007677078, + -0.21033041179180145, + 1.0659652948379517, + 0.0, + 0.05115113407373428 + ], + [ + 0.3911275863647461, + 0.022936465218663216, + 0.1480117291212082, + -0.10901761054992676, + -0.21141581237316132, + 1.069808006286621, + 0.0, + 0.07175325602293015 + ], + [ + 0.39914074540138245, + 0.01489688828587532, + 0.14581803977489471, + -0.1113312616944313, + -0.23404651880264282, + 1.061452865600586, + 0.0, + 0.2135835438966751 + ], + [ + 0.4057670533657074, + 0.007358385715633631, + 0.14473320543766022, + -0.10689567774534225, + -0.2462606132030487, + 1.0542216300964355, + 0.0, + 0.4662301242351532 + ], + [ + 0.41380542516708374, + 0.0025862485636025667, + 0.1522374153137207, + -0.13328857719898224, + -0.2468913346529007, + 1.065631628036499, + 0.0, + 0.7797733545303345 + ], + [ + 0.4191802740097046, + -0.0007498717750422657, + 0.1640896499156952, + -0.16443362832069397, + -0.24842895567417145, + 1.0562115907669067, + 0.0, + 0.9974852800369263 + ], + [ + 0.40710389614105225, + -0.004836521111428738, + 0.17298069596290588, + -0.1399652510881424, + -0.21348613500595093, + 0.9574723243713379, + 0.0, + 1.0001531839370728 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9545519351959229 + ], + [ + 0.6621366739273071 + ], + [ + 0.36950385570526123 + ], + [ + 0.1602664440870285 + ], + [ + 0.06296365708112717 + ], + [ + 0.051409780979156494 + ], + [ + 0.051409780979156494 + ], + [ + 0.051409780979156494 + ], + [ + 0.051409780979156494 + ], + [ + 0.05115113407373428 + ], + [ + 0.05115113407373428 + ], + [ + 0.051409780979156494 + ], + [ + 0.05115113407373428 + ], + [ + 0.051409780979156494 + ], + [ + 0.05115113407373428 + ], + [ + 0.05115113407373428 + ], + [ + 0.07175325602293015 + ], + [ + 0.2135835438966751 + ], + [ + 0.4662301242351532 + ], + [ + 0.7797733545303345 + ], + [ + 0.9974852800369263 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.11870058625936508, + -0.018382608890533447, + 0.24485015869140625 + ], + [ + 0.11776413768529892, + -0.01808389462530613, + 0.24214455485343933 + ], + [ + 0.11975948512554169, + 0.008445505984127522, + 0.22535862028598785 + ], + [ + 0.12855808436870575, + 0.05164031684398651, + 0.19988448917865753 + ], + [ + 0.13983826339244843, + 0.10252612829208374, + 0.17642205953598022 + ], + [ + 0.14619268476963043, + 0.14935684204101562, + 0.150513157248497 + ], + [ + 0.15147186815738678, + 0.17886319756507874, + 0.15063700079917908 + ], + [ + 0.15745504200458527, + 0.19841121137142181, + 0.14838629961013794 + ], + [ + 0.16427583992481232, + 0.20996004343032837, + 0.15451639890670776 + ], + [ + 0.1714533418416977, + 0.22279092669487, + 0.1526295691728592 + ], + [ + 0.17592710256576538, + 0.23971958458423615, + 0.1361696422100067 + ], + [ + 0.1805674433708191, + 0.2544788718223572, + 0.12666232883930206 + ], + [ + 0.18852342665195465, + 0.2566148638725281, + 0.11294221132993698 + ], + [ + 0.19860902428627014, + 0.25551897287368774, + 0.10905015468597412 + ], + [ + 0.2067895382642746, + 0.25065261125564575, + 0.10182398557662964 + ], + [ + 0.21260809898376465, + 0.24905119836330414, + 0.093935027718544 + ], + [ + 0.2139328122138977, + 0.25251665711402893, + 0.08776123076677322 + ], + [ + 0.2135600745677948, + 0.2550640106201172, + 0.0843026414513588 + ], + [ + 0.21026988327503204, + 0.2534903287887573, + 0.07901514321565628 + ], + [ + 0.20754946768283844, + 0.24890576303005219, + 0.07426868379116058 + ], + [ + 0.20552559196949005, + 0.2475435882806778, + 0.07295861095190048 + ], + [ + 0.2040276825428009, + 0.24620528519153595, + 0.07151895016431808 + ], + [ + 0.2044171690940857, + 0.24074099957942963, + 0.08211934566497803 + ], + [ + 0.21133825182914734, + 0.22030015289783478, + 0.10103599727153778 + ], + [ + 0.22671453654766083, + 0.19637201726436615, + 0.12456313520669937 + ], + [ + 0.2493562251329422, + 0.17225578427314758, + 0.14233696460723877 + ], + [ + 0.2741549015045166, + 0.14915676414966583, + 0.14887656271457672 + ], + [ + 0.30210986733436584, + 0.12257304042577744, + 0.16102385520935059 + ], + [ + 0.3215256631374359, + 0.10239554196596146, + 0.16690075397491455 + ], + [ + 0.34028056263923645, + 0.08208728581666946, + 0.1657976508140564 + ], + [ + 0.35459181666374207, + 0.06481213122606277, + 0.16175299882888794 + ], + [ + 0.36762094497680664, + 0.048907261341810226, + 0.1612643003463745 + ], + [ + 0.37958768010139465, + 0.03491131588816643, + 0.15399686992168427 + ], + [ + 0.3911275863647461, + 0.022936465218663216, + 0.1480117291212082 + ], + [ + 0.39914074540138245, + 0.01489688828587532, + 0.14581803977489471 + ], + [ + 0.4057670533657074, + 0.007358385715633631, + 0.14473320543766022 + ], + [ + 0.41380542516708374, + 0.0025862485636025667, + 0.1522374153137207 + ], + [ + 0.4191802740097046, + -0.0007498717750422657, + 0.1640896499156952 + ], + [ + 0.40710389614105225, + -0.004836521111428738, + 0.17298069596290588 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9922213565450496, + 0.025967586459232403, + 0.12174754235459448, + 0.03063984887692916, + -0.998857873648699, + -0.03666262280304579, + 0.12065645145080486, + 0.040107763631019866, + -0.9918837573122254 + ], + [ + 0.9925924899994144, + 0.017029170855729966, + 0.1202919620620135, + 0.02154151615211888, + -0.999108327776424, + -0.0363113267406438, + 0.11956634927365868, + 0.03863362146840689, + -0.9920742570057977 + ], + [ + 0.9833120009094947, + 0.06730142241206438, + 0.16902078987118227, + 0.06889407726418117, + -0.9976175950990797, + -0.0035693229953790455, + 0.16837789339839868, + 0.015154289493116604, + -0.9856060229750404 + ], + [ + 0.9704832107391421, + 0.1683903003731864, + 0.1726471674070383, + 0.15855644586503712, + -0.9849113541385832, + 0.06935039988024436, + 0.1817200901058917, + -0.03992907748909688, + -0.982539300803167 + ], + [ + 0.9390663011617043, + 0.29618368025435887, + 0.1744411349809996, + 0.27509643613282614, + -0.9518576068792866, + 0.13523700326854288, + 0.20609811461896865, + -0.07900837789134559, + -0.9753364770034417 + ], + [ + 0.8859511626090439, + 0.4303124684081529, + 0.17297894959839982, + 0.40801743909704896, + -0.9005027028665344, + 0.15038833572704985, + 0.2204819876188739, + -0.06265829284738242, + -0.973376407908617 + ], + [ + 0.7952550030859524, + 0.5469546531994478, + 0.26155322098998, + 0.512261826496621, + -0.836941386990964, + 0.19265756111813287, + 0.3242796650749278, + -0.019228158651131325, + -0.9457658149530356 + ], + [ + 0.7108180098522461, + 0.6299663964768747, + 0.3128579488835679, + 0.5896694219139, + -0.7761926160569531, + 0.2231927320465208, + 0.3834419509253245, + 0.025833352252548444, + -0.9232036114433135 + ], + [ + 0.6734529029317942, + 0.658968456020279, + 0.3349951663875007, + 0.6040576856073102, + -0.7517795144589499, + 0.2644652606649989, + 0.4261167680243053, + 0.024251507378212356, + -0.9043430568088667 + ], + [ + 0.6336186919697826, + 0.6991835164636592, + 0.331164254550539, + 0.6440442941838506, + -0.7138734744107883, + 0.2749392835916612, + 0.42864239211226884, + 0.039077779340465385, + -0.9026287314539075 + ], + [ + 0.5849946581426099, + 0.7618892926700853, + 0.27803948579165505, + 0.7077142126169476, + -0.6469777565544585, + 0.28383159757809495, + 0.39613361786723533, + 0.03073252736819365, + -0.9176784123847408 + ], + [ + 0.4964519609450645, + 0.8385618986787793, + 0.22438670316674547, + 0.7910453433115789, + -0.5434748219388897, + 0.280860076806154, + 0.3574670828186377, + 0.038066520759494904, + -0.9331496261041958 + ], + [ + 0.4552311705356136, + 0.8711741227017782, + 0.18390277134280045, + 0.8311109058559611, + -0.489862961423387, + 0.26322792631632574, + 0.3194045139631856, + 0.033014041865493365, + -0.9470432036077576 + ], + [ + 0.4218295601700625, + 0.8894851538038452, + 0.17571563200034923, + 0.8523914928674688, + -0.45510685158816705, + 0.2575004786882435, + 0.30901224094507984, + 0.04115719621228614, + -0.9501671011701278 + ], + [ + 0.38099142154954463, + 0.9121498757253017, + 0.15108984386772684, + 0.8760503090139258, + -0.4083881650936722, + 0.2564273048800164, + 0.2956034383803114, + 0.03466570099883198, + -0.9546815680592129 + ], + [ + 0.35957470432923094, + 0.9235460562855243, + 0.13329933955575837, + 0.8856966885201728, + -0.38276150454767616, + 0.2627451361696338, + 0.29367909008124193, + 0.023586278974321667, + -0.9556130385742962 + ], + [ + 0.3452853780562298, + 0.9316767190564534, + 0.11294467171482228, + 0.8879725739283177, + -0.36327674778476454, + 0.2820189931016052, + 0.30378070322468664, + 0.002914736201974577, + -0.952737523487549 + ], + [ + 0.3430730876825572, + 0.9334819106561189, + 0.1044623328561953, + 0.8800477627761444, + -0.35831112239664176, + 0.31165537826189094, + 0.32835467370004034, + -0.01498873058871067, + -0.9444355701765363 + ], + [ + 0.3547449329996659, + 0.9296973725236474, + 0.0990899996654004, + 0.8754678109133999, + -0.36750293808358525, + 0.3138434363730301, + 0.3281952841915347, + -0.02458426371805783, + -0.944289928682859 + ], + [ + 0.3799343511393062, + 0.9202261659236547, + 0.0939877245910571, + 0.8713488644685669, + -0.39014509242923956, + 0.29755329479392234, + 0.31048517712395407, + -0.031154620890489537, + -0.9500675472741275 + ], + [ + 0.4028105499876551, + 0.9096060744962132, + 0.10178629602373666, + 0.8571272292821756, + -0.4138849991971467, + 0.3066465722336357, + 0.3210554058752217, + -0.03627666852353928, + -0.9463653785294184 + ], + [ + 0.41958542029149787, + 0.9021024816757571, + 0.10079279554237709, + 0.8480271355031043, + -0.42917160739835686, + 0.31090466200028305, + 0.3237252732321137, + -0.04497603759282276, + -0.9450815327331512 + ], + [ + 0.4237464356574264, + 0.8976579886439543, + 0.12103344038453653, + 0.842942298622651, + -0.43971526495556124, + 0.3099980112159145, + 0.33149244253887344, + -0.029336345865685842, + -0.9430016645536002 + ], + [ + 0.44229970855529727, + 0.8847565451809212, + 0.14689051559382416, + 0.8378517849260287, + -0.4660459159213763, + 0.2842632419945866, + 0.3199614887891456, + -0.002657068408199348, + -0.9474268233902328 + ], + [ + 0.4611403753796172, + 0.8743898575028128, + 0.15096996817564828, + 0.8389589669204001, + -0.4850529557435687, + 0.2467214663305209, + 0.2889591770797399, + 0.01288437893878154, + -0.9572547136268179 + ], + [ + 0.4744266915431276, + 0.8650643403154454, + 0.1630429436254314, + 0.8403369696777223, + -0.5002244040305772, + 0.20882845353331808, + 0.2622081077013168, + 0.037937220863650895, + -0.9642653553502987 + ], + [ + 0.48061914272941547, + 0.8644068133404867, + 0.14766888870912048, + 0.8461316356806317, + -0.5013529286728373, + 0.18084937382138638, + 0.2303616607477479, + 0.03802764733340294, + -0.9723617656488894 + ], + [ + 0.46945586092465386, + 0.8684246433006406, + 0.15953003965287313, + 0.8569980924096967, + -0.4916432818589107, + 0.15440580626757838, + 0.21252167948149028, + 0.06423022895144419, + -0.9750430828631174 + ], + [ + 0.46703093105841825, + 0.8691562027555146, + 0.16263334420198597, + 0.8619111770877175, + -0.4885433772584486, + 0.13577367693398548, + 0.1974619767093708, + 0.07676499038314154, + -0.9773003141335338 + ], + [ + 0.4712744238014348, + 0.8662058045144804, + 0.1660961218573367, + 0.86208681589612, + -0.4921772865208458, + 0.12069730937790736, + 0.18629744852980312, + 0.08630772189322851, + -0.9786951710378907 + ], + [ + 0.47235106227941864, + 0.8653225963182348, + 0.16763435884261285, + 0.8624104381626186, + -0.49300985033810557, + 0.11484565127926638, + 0.18202392730535427, + 0.09032215548063424, + -0.979136965964245 + ], + [ + 0.4738237310792117, + 0.8594582975933561, + 0.19189191375382283, + 0.8567371988707154, + -0.5003002457016111, + 0.12530377576939705, + 0.20369694140397557, + 0.10502903812202248, + -0.9733840235045096 + ], + [ + 0.4730006597156939, + 0.8590852778656078, + 0.19555782076687647, + 0.8559672993338346, + -0.5006627663886765, + 0.12906113599058017, + 0.2087830414082039, + 0.10634509723823206, + -0.9721627239890095 + ], + [ + 0.4695988228815463, + 0.8609355455519564, + 0.19561935475157058, + 0.8575793105439834, + -0.49746701456262576, + 0.13070690704417295, + 0.20984439872241498, + 0.1063793016864795, + -0.9719304360382612 + ], + [ + 0.47431006792664143, + 0.85509606364774, + 0.20938166442543346, + 0.8492615093768254, + -0.507080951423426, + 0.1470503226603371, + 0.23191560567245365, + 0.10807233983611655, + -0.9667137741896129 + ], + [ + 0.47900396801145556, + 0.851706804691487, + 0.2124869818871209, + 0.843283433490705, + -0.5137010561561757, + 0.15806415059765178, + 0.24377909965665218, + 0.10347339632121309, + -0.9642950828581183 + ], + [ + 0.4692766304359349, + 0.8516150414922139, + 0.233519303765042, + 0.8485591365799074, + -0.5080804705990083, + 0.14765374063210274, + 0.24439074420578408, + 0.1288644889025105, + -0.9610760155401017 + ], + [ + 0.47706363674456986, + 0.8389456400353402, + 0.2618787879186441, + 0.8437728361020956, + -0.5205714267103103, + 0.13058633446504975, + 0.24588145019962554, + 0.1586682159680542, + -0.956225240039837 + ], + [ + 0.5625219313612233, + 0.7927295409147161, + 0.234838139361524, + 0.7991751707674692, + -0.5941303216835971, + 0.09125901207514708, + 0.21186817402910155, + 0.13634161440033177, + -0.9677411022666577 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0009364485740661621, + 0.0002987142652273178, + -0.002705603837966919, + 0.0014913342893123627, + 0.00109805166721344, + -0.009171374142169952, + 1.0 + ], + [ + 0.0019953474402427673, + 0.026529401540756226, + -0.016785934567451477, + 0.023548206314444542, + -0.04933074861764908, + 0.048250116407871246, + 1.0 + ], + [ + 0.008798599243164062, + 0.043194811791181564, + -0.025474131107330322, + 0.05599070340394974, + -0.01355154812335968, + 0.09199905395507812, + 1.0 + ], + [ + 0.011280179023742676, + 0.05088581144809723, + -0.023462429642677307, + 0.04021347686648369, + -0.024850398302078247, + 0.12302540242671967, + 1.0 + ], + [ + 0.006354421377182007, + 0.046830713748931885, + -0.025908902287483215, + -0.01654636859893799, + -0.014722809195518494, + 0.146612286567688, + 1.0 + ], + [ + 0.005279183387756348, + 0.02950635552406311, + 0.00012384355068206787, + -0.04395543411374092, + -0.10794155299663544, + 0.14066451787948608, + 1.0 + ], + [ + 0.005983173847198486, + 0.01954801380634308, + -0.0022507011890411377, + -0.048302970826625824, + -0.06327009201049805, + 0.12025970220565796, + 1.0 + ], + [ + 0.006820797920227051, + 0.011548832058906555, + 0.006130099296569824, + 0.0011647045612335205, + -0.04667574167251587, + 0.03862088918685913, + 1.0 + ], + [ + 0.007177501916885376, + 0.012830883264541626, + -0.0018868297338485718, + -0.01645599864423275, + -0.002793610095977783, + 0.06242704391479492, + 1.0 + ], + [ + 0.004473760724067688, + 0.01692865788936615, + -0.016459926962852478, + 0.009789366275072098, + 0.03568744659423828, + 0.08648872375488281, + 1.0 + ], + [ + 0.004640340805053711, + 0.014759287238121033, + -0.009507313370704651, + -0.007294062525033951, + 0.04174777865409851, + 0.13029026985168457, + 1.0 + ], + [ + 0.007955983281135559, + 0.0021359920501708984, + -0.013720117509365082, + 0.005924969911575317, + 0.04045334458351135, + 0.059354424476623535, + 1.0 + ], + [ + 0.01008559763431549, + -0.001095890998840332, + -0.00389205664396286, + -0.008442673832178116, + 0.01094675064086914, + 0.04156363010406494, + 1.0 + ], + [ + 0.008180513978004456, + -0.004866361618041992, + -0.007226169109344482, + 0.0069933608174324036, + 0.014067143201828003, + 0.04931807518005371, + 1.0 + ], + [ + 0.005818560719490051, + -0.0016014128923416138, + -0.007888957858085632, + 0.011618504300713539, + 0.0020137429237365723, + 0.02457284927368164, + 1.0 + ], + [ + 0.0013247132301330566, + 0.0034654587507247925, + -0.0061737969517707825, + 0.021617501974105835, + -0.010585010051727295, + 0.014795660972595215, + 1.0 + ], + [ + -0.0003727376461029053, + 0.002547353506088257, + -0.0034585893154144287, + 0.01892855577170849, + -0.025902748107910156, + -0.0008577108383178711, + 0.0 + ], + [ + -0.0032901912927627563, + -0.0015736818313598633, + -0.005287498235702515, + 0.010159539058804512, + 0.00016874074935913086, + -0.013273835182189941, + 0.0 + ], + [ + -0.0027204155921936035, + -0.004584565758705139, + -0.004746459424495697, + 0.006751483306288719, + 0.018689006567001343, + -0.026189684867858887, + 0.0 + ], + [ + -0.0020238757133483887, + -0.0013621747493743896, + -0.0013100728392601013, + 0.0055336058139801025, + -0.011140286922454834, + -0.028147339820861816, + 0.0 + ], + [ + -0.001497909426689148, + -0.0013383030891418457, + -0.0014396607875823975, + 0.009239841252565384, + -0.0028204619884490967, + -0.020138144493103027, + 0.0 + ], + [ + 0.00038948655128479004, + -0.005464285612106323, + 0.010600395500659943, + -0.016454199329018593, + -0.008220881223678589, + -0.00634312629699707, + 0.0 + ], + [ + 0.0069210827350616455, + -0.02044084668159485, + 0.018916651606559753, + -0.0282950047403574, + 0.012196183204650879, + -0.01991093158721924, + 0.0 + ], + [ + 0.015376284718513489, + -0.023928135633468628, + 0.02352713793516159, + -0.016263408586382866, + 0.032549381256103516, + -0.016864895820617676, + 0.0 + ], + [ + 0.022641688585281372, + -0.024116232991218567, + 0.017773829400539398, + -0.025863947346806526, + 0.027829796075820923, + -0.011377930641174316, + 0.0 + ], + [ + 0.024798676371574402, + -0.02309902012348175, + 0.006539598107337952, + 0.00023423507809638977, + 0.03286033868789673, + -0.0026139020919799805, + 0.0 + ], + [ + 0.027954965829849243, + -0.026583723723888397, + 0.012147292494773865, + -0.026690591126680374, + 0.018294453620910645, + 0.0154266357421875, + 0.0 + ], + [ + 0.01941579580307007, + -0.02017749845981598, + 0.005876898765563965, + -0.012607850134372711, + 0.015386626124382019, + 0.004577279090881348, + 0.0 + ], + [ + 0.018754899501800537, + -0.020308256149291992, + -0.0011031031608581543, + -0.009571917355060577, + 0.011375978589057922, + -0.003712296485900879, + 0.0 + ], + [ + 0.014311254024505615, + -0.01727515459060669, + -0.004044651985168457, + -0.0040273964405059814, + 0.004347890615463257, + -0.0008028745651245117, + 0.0 + ], + [ + 0.013029128313064575, + -0.015904869884252548, + -0.0004886984825134277, + -0.015498705208301544, + -0.0220881849527359, + -0.004102945327758789, + 0.0 + ], + [ + 0.011966735124588013, + -0.013995945453643799, + -0.007267430424690247, + -0.0014719218015670776, + -0.005197852849960327, + 0.0003554821014404297, + 0.0 + ], + [ + 0.01153990626335144, + -0.011974850669503212, + -0.005985140800476074, + -6.061047315597534e-05, + -0.0010854005813598633, + 0.0038427114486694336, + 1.0 + ], + [ + 0.008013159036636353, + -0.008039576932787895, + -0.0021936893463134766, + -0.002313651144504547, + -0.022630706429481506, + -0.008355140686035156, + 1.0 + ], + [ + 0.006626307964324951, + -0.00753850257024169, + -0.001084834337234497, + 0.00443558394908905, + -0.012214094400405884, + -0.007231235504150391, + 1.0 + ], + [ + 0.008038371801376343, + -0.00477213691920042, + 0.007504209876060486, + -0.026392899453639984, + -0.0006307214498519897, + 0.011409997940063477, + 1.0 + ], + [ + 0.00537484884262085, + -0.0033361203968524933, + 0.011852234601974487, + -0.03114505112171173, + -0.001537621021270752, + -0.009420037269592285, + 1.0 + ], + [ + -0.012076377868652344, + -0.004086649511009455, + 0.008891046047210693, + 0.024468377232551575, + 0.03494282066822052, + -0.09873926639556885, + 1.0 + ], + [ + -0.03978371620178223, + 0.021842390298843384, + 0.03850236535072327, + 0.04190943390130997, + 0.08803613483905792, + -0.13672250509262085, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9545519351959229 + ], + [ + 0.6621366739273071 + ], + [ + 0.36950385570526123 + ], + [ + 0.1602664440870285 + ], + [ + 0.06296365708112717 + ], + [ + 0.051409780979156494 + ], + [ + 0.051409780979156494 + ], + [ + 0.051409780979156494 + ], + [ + 0.051409780979156494 + ], + [ + 0.05115113407373428 + ], + [ + 0.05115113407373428 + ], + [ + 0.051409780979156494 + ], + [ + 0.05115113407373428 + ], + [ + 0.051409780979156494 + ], + [ + 0.05115113407373428 + ], + [ + 0.05115113407373428 + ], + [ + 0.07175325602293015 + ], + [ + 0.2135835438966751 + ], + [ + 0.4662301242351532 + ], + [ + 0.7797733545303345 + ], + [ + 0.9974852800369263 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.11776413768529892, + -0.01808389462530613, + 0.24214455485343933 + ], + [ + 0.11975948512554169, + 0.008445505984127522, + 0.22535862028598785 + ], + [ + 0.12855808436870575, + 0.05164031684398651, + 0.19988448917865753 + ], + [ + 0.13983826339244843, + 0.10252612829208374, + 0.17642205953598022 + ], + [ + 0.14619268476963043, + 0.14935684204101562, + 0.150513157248497 + ], + [ + 0.15147186815738678, + 0.17886319756507874, + 0.15063700079917908 + ], + [ + 0.15745504200458527, + 0.19841121137142181, + 0.14838629961013794 + ], + [ + 0.16427583992481232, + 0.20996004343032837, + 0.15451639890670776 + ], + [ + 0.1714533418416977, + 0.22279092669487, + 0.1526295691728592 + ], + [ + 0.17592710256576538, + 0.23971958458423615, + 0.1361696422100067 + ], + [ + 0.1805674433708191, + 0.2544788718223572, + 0.12666232883930206 + ], + [ + 0.18852342665195465, + 0.2566148638725281, + 0.11294221132993698 + ], + [ + 0.19860902428627014, + 0.25551897287368774, + 0.10905015468597412 + ], + [ + 0.2067895382642746, + 0.25065261125564575, + 0.10182398557662964 + ], + [ + 0.21260809898376465, + 0.24905119836330414, + 0.093935027718544 + ], + [ + 0.2139328122138977, + 0.25251665711402893, + 0.08776123076677322 + ], + [ + 0.2135600745677948, + 0.2550640106201172, + 0.0843026414513588 + ], + [ + 0.21026988327503204, + 0.2534903287887573, + 0.07901514321565628 + ], + [ + 0.20754946768283844, + 0.24890576303005219, + 0.07426868379116058 + ], + [ + 0.20552559196949005, + 0.2475435882806778, + 0.07295861095190048 + ], + [ + 0.2040276825428009, + 0.24620528519153595, + 0.07151895016431808 + ], + [ + 0.2044171690940857, + 0.24074099957942963, + 0.08211934566497803 + ], + [ + 0.21133825182914734, + 0.22030015289783478, + 0.10103599727153778 + ], + [ + 0.22671453654766083, + 0.19637201726436615, + 0.12456313520669937 + ], + [ + 0.2493562251329422, + 0.17225578427314758, + 0.14233696460723877 + ], + [ + 0.2741549015045166, + 0.14915676414966583, + 0.14887656271457672 + ], + [ + 0.30210986733436584, + 0.12257304042577744, + 0.16102385520935059 + ], + [ + 0.3215256631374359, + 0.10239554196596146, + 0.16690075397491455 + ], + [ + 0.34028056263923645, + 0.08208728581666946, + 0.1657976508140564 + ], + [ + 0.35459181666374207, + 0.06481213122606277, + 0.16175299882888794 + ], + [ + 0.36762094497680664, + 0.048907261341810226, + 0.1612643003463745 + ], + [ + 0.37958768010139465, + 0.03491131588816643, + 0.15399686992168427 + ], + [ + 0.3911275863647461, + 0.022936465218663216, + 0.1480117291212082 + ], + [ + 0.39914074540138245, + 0.01489688828587532, + 0.14581803977489471 + ], + [ + 0.4057670533657074, + 0.007358385715633631, + 0.14473320543766022 + ], + [ + 0.41380542516708374, + 0.0025862485636025667, + 0.1522374153137207 + ], + [ + 0.4191802740097046, + -0.0007498717750422657, + 0.1640896499156952 + ], + [ + 0.40710389614105225, + -0.004836521111428738, + 0.17298069596290588 + ], + [ + 0.36732017993927, + 0.01700587011873722, + 0.21148306131362915 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9925924899994144, + 0.017029170855729966, + 0.1202919620620135, + 0.02154151615211888, + -0.999108327776424, + -0.0363113267406438, + 0.11956634927365868, + 0.03863362146840689, + -0.9920742570057977 + ], + [ + 0.9833120009094947, + 0.06730142241206438, + 0.16902078987118227, + 0.06889407726418117, + -0.9976175950990797, + -0.0035693229953790455, + 0.16837789339839868, + 0.015154289493116604, + -0.9856060229750404 + ], + [ + 0.9704832107391421, + 0.1683903003731864, + 0.1726471674070383, + 0.15855644586503712, + -0.9849113541385832, + 0.06935039988024436, + 0.1817200901058917, + -0.03992907748909688, + -0.982539300803167 + ], + [ + 0.9390663011617043, + 0.29618368025435887, + 0.1744411349809996, + 0.27509643613282614, + -0.9518576068792866, + 0.13523700326854288, + 0.20609811461896865, + -0.07900837789134559, + -0.9753364770034417 + ], + [ + 0.8859511626090439, + 0.4303124684081529, + 0.17297894959839982, + 0.40801743909704896, + -0.9005027028665344, + 0.15038833572704985, + 0.2204819876188739, + -0.06265829284738242, + -0.973376407908617 + ], + [ + 0.7952550030859524, + 0.5469546531994478, + 0.26155322098998, + 0.512261826496621, + -0.836941386990964, + 0.19265756111813287, + 0.3242796650749278, + -0.019228158651131325, + -0.9457658149530356 + ], + [ + 0.7108180098522461, + 0.6299663964768747, + 0.3128579488835679, + 0.5896694219139, + -0.7761926160569531, + 0.2231927320465208, + 0.3834419509253245, + 0.025833352252548444, + -0.9232036114433135 + ], + [ + 0.6734529029317942, + 0.658968456020279, + 0.3349951663875007, + 0.6040576856073102, + -0.7517795144589499, + 0.2644652606649989, + 0.4261167680243053, + 0.024251507378212356, + -0.9043430568088667 + ], + [ + 0.6336186919697826, + 0.6991835164636592, + 0.331164254550539, + 0.6440442941838506, + -0.7138734744107883, + 0.2749392835916612, + 0.42864239211226884, + 0.039077779340465385, + -0.9026287314539075 + ], + [ + 0.5849946581426099, + 0.7618892926700853, + 0.27803948579165505, + 0.7077142126169476, + -0.6469777565544585, + 0.28383159757809495, + 0.39613361786723533, + 0.03073252736819365, + -0.9176784123847408 + ], + [ + 0.4964519609450645, + 0.8385618986787793, + 0.22438670316674547, + 0.7910453433115789, + -0.5434748219388897, + 0.280860076806154, + 0.3574670828186377, + 0.038066520759494904, + -0.9331496261041958 + ], + [ + 0.4552311705356136, + 0.8711741227017782, + 0.18390277134280045, + 0.8311109058559611, + -0.489862961423387, + 0.26322792631632574, + 0.3194045139631856, + 0.033014041865493365, + -0.9470432036077576 + ], + [ + 0.4218295601700625, + 0.8894851538038452, + 0.17571563200034923, + 0.8523914928674688, + -0.45510685158816705, + 0.2575004786882435, + 0.30901224094507984, + 0.04115719621228614, + -0.9501671011701278 + ], + [ + 0.38099142154954463, + 0.9121498757253017, + 0.15108984386772684, + 0.8760503090139258, + -0.4083881650936722, + 0.2564273048800164, + 0.2956034383803114, + 0.03466570099883198, + -0.9546815680592129 + ], + [ + 0.35957470432923094, + 0.9235460562855243, + 0.13329933955575837, + 0.8856966885201728, + -0.38276150454767616, + 0.2627451361696338, + 0.29367909008124193, + 0.023586278974321667, + -0.9556130385742962 + ], + [ + 0.3452853780562298, + 0.9316767190564534, + 0.11294467171482228, + 0.8879725739283177, + -0.36327674778476454, + 0.2820189931016052, + 0.30378070322468664, + 0.002914736201974577, + -0.952737523487549 + ], + [ + 0.3430730876825572, + 0.9334819106561189, + 0.1044623328561953, + 0.8800477627761444, + -0.35831112239664176, + 0.31165537826189094, + 0.32835467370004034, + -0.01498873058871067, + -0.9444355701765363 + ], + [ + 0.3547449329996659, + 0.9296973725236474, + 0.0990899996654004, + 0.8754678109133999, + -0.36750293808358525, + 0.3138434363730301, + 0.3281952841915347, + -0.02458426371805783, + -0.944289928682859 + ], + [ + 0.3799343511393062, + 0.9202261659236547, + 0.0939877245910571, + 0.8713488644685669, + -0.39014509242923956, + 0.29755329479392234, + 0.31048517712395407, + -0.031154620890489537, + -0.9500675472741275 + ], + [ + 0.4028105499876551, + 0.9096060744962132, + 0.10178629602373666, + 0.8571272292821756, + -0.4138849991971467, + 0.3066465722336357, + 0.3210554058752217, + -0.03627666852353928, + -0.9463653785294184 + ], + [ + 0.41958542029149787, + 0.9021024816757571, + 0.10079279554237709, + 0.8480271355031043, + -0.42917160739835686, + 0.31090466200028305, + 0.3237252732321137, + -0.04497603759282276, + -0.9450815327331512 + ], + [ + 0.4237464356574264, + 0.8976579886439543, + 0.12103344038453653, + 0.842942298622651, + -0.43971526495556124, + 0.3099980112159145, + 0.33149244253887344, + -0.029336345865685842, + -0.9430016645536002 + ], + [ + 0.44229970855529727, + 0.8847565451809212, + 0.14689051559382416, + 0.8378517849260287, + -0.4660459159213763, + 0.2842632419945866, + 0.3199614887891456, + -0.002657068408199348, + -0.9474268233902328 + ], + [ + 0.4611403753796172, + 0.8743898575028128, + 0.15096996817564828, + 0.8389589669204001, + -0.4850529557435687, + 0.2467214663305209, + 0.2889591770797399, + 0.01288437893878154, + -0.9572547136268179 + ], + [ + 0.4744266915431276, + 0.8650643403154454, + 0.1630429436254314, + 0.8403369696777223, + -0.5002244040305772, + 0.20882845353331808, + 0.2622081077013168, + 0.037937220863650895, + -0.9642653553502987 + ], + [ + 0.48061914272941547, + 0.8644068133404867, + 0.14766888870912048, + 0.8461316356806317, + -0.5013529286728373, + 0.18084937382138638, + 0.2303616607477479, + 0.03802764733340294, + -0.9723617656488894 + ], + [ + 0.46945586092465386, + 0.8684246433006406, + 0.15953003965287313, + 0.8569980924096967, + -0.4916432818589107, + 0.15440580626757838, + 0.21252167948149028, + 0.06423022895144419, + -0.9750430828631174 + ], + [ + 0.46703093105841825, + 0.8691562027555146, + 0.16263334420198597, + 0.8619111770877175, + -0.4885433772584486, + 0.13577367693398548, + 0.1974619767093708, + 0.07676499038314154, + -0.9773003141335338 + ], + [ + 0.4712744238014348, + 0.8662058045144804, + 0.1660961218573367, + 0.86208681589612, + -0.4921772865208458, + 0.12069730937790736, + 0.18629744852980312, + 0.08630772189322851, + -0.9786951710378907 + ], + [ + 0.47235106227941864, + 0.8653225963182348, + 0.16763435884261285, + 0.8624104381626186, + -0.49300985033810557, + 0.11484565127926638, + 0.18202392730535427, + 0.09032215548063424, + -0.979136965964245 + ], + [ + 0.4738237310792117, + 0.8594582975933561, + 0.19189191375382283, + 0.8567371988707154, + -0.5003002457016111, + 0.12530377576939705, + 0.20369694140397557, + 0.10502903812202248, + -0.9733840235045096 + ], + [ + 0.4730006597156939, + 0.8590852778656078, + 0.19555782076687647, + 0.8559672993338346, + -0.5006627663886765, + 0.12906113599058017, + 0.2087830414082039, + 0.10634509723823206, + -0.9721627239890095 + ], + [ + 0.4695988228815463, + 0.8609355455519564, + 0.19561935475157058, + 0.8575793105439834, + -0.49746701456262576, + 0.13070690704417295, + 0.20984439872241498, + 0.1063793016864795, + -0.9719304360382612 + ], + [ + 0.47431006792664143, + 0.85509606364774, + 0.20938166442543346, + 0.8492615093768254, + -0.507080951423426, + 0.1470503226603371, + 0.23191560567245365, + 0.10807233983611655, + -0.9667137741896129 + ], + [ + 0.47900396801145556, + 0.851706804691487, + 0.2124869818871209, + 0.843283433490705, + -0.5137010561561757, + 0.15806415059765178, + 0.24377909965665218, + 0.10347339632121309, + -0.9642950828581183 + ], + [ + 0.4692766304359349, + 0.8516150414922139, + 0.233519303765042, + 0.8485591365799074, + -0.5080804705990083, + 0.14765374063210274, + 0.24439074420578408, + 0.1288644889025105, + -0.9610760155401017 + ], + [ + 0.47706363674456986, + 0.8389456400353402, + 0.2618787879186441, + 0.8437728361020956, + -0.5205714267103103, + 0.13058633446504975, + 0.24588145019962554, + 0.1586682159680542, + -0.956225240039837 + ], + [ + 0.5625219313612233, + 0.7927295409147161, + 0.234838139361524, + 0.7991751707674692, + -0.5941303216835971, + 0.09125901207514708, + 0.21186817402910155, + 0.13634161440033177, + -0.9677411022666577 + ], + [ + 0.6763158375711729, + 0.7197926091405383, + 0.1565103436743393, + 0.7259074119286174, + -0.6873605138138346, + 0.024371158295789216, + 0.12512120986267683, + 0.09712941818130175, + -0.9873755916399101 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005687.json b/json/chunk-0005/episode_0005687.json new file mode 100644 index 0000000000000000000000000000000000000000..0f021e446801df017c7a791ed3ea927e60eea424 --- /dev/null +++ b/json/chunk-0005/episode_0005687.json @@ -0,0 +1,1582 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 25, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the blue-handled scoop to the upper-mid part of the stove." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005687.mp4", + "start": 0, + "end": 25, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3026205897331238, + 0.008967560715973377, + 0.0878884568810463, + 0.12426719069480896, + -0.05015210062265396, + -0.18154677748680115, + 0.0, + 1.0001531839370728 + ], + [ + 0.2998397946357727, + 0.009271595627069473, + 0.0779227763414383, + 0.11797963827848434, + -0.017967084422707558, + -0.18401743471622467, + 0.0, + 1.0001531839370728 + ], + [ + 0.2926872968673706, + 0.02082131803035736, + 0.0712694451212883, + 0.10850400477647781, + -0.003075292566791177, + -0.1743103712797165, + 0.0, + 1.0001531839370728 + ], + [ + 0.27370426058769226, + 0.06068935617804527, + 0.0710771456360817, + 0.12114008516073227, + -0.009537813253700733, + -0.16392210125923157, + 0.0, + 1.0001531839370728 + ], + [ + 0.2522241771221161, + 0.10879291594028473, + 0.07145330309867859, + 0.18158893287181854, + -0.0028471911791712046, + -0.23081597685813904, + 0.0, + 1.0001531839370728 + ], + [ + 0.2441735565662384, + 0.14797069132328033, + 0.06706511974334717, + 0.19971367716789246, + -0.046634070575237274, + -0.25572171807289124, + 0.0, + 1.0001531839370728 + ], + [ + 0.2488476037979126, + 0.16668199002742767, + 0.04746060073375702, + 0.15949897468090057, + -0.03733642026782036, + -0.2799069881439209, + 0.0, + 1.0001531839370728 + ], + [ + 0.2530299723148346, + 0.17851676046848297, + 0.02781914733350277, + 0.11889898777008057, + -0.007338728755712509, + -0.2961207330226898, + 0.0, + 1.0001531839370728 + ], + [ + 0.24883335828781128, + 0.17871659994125366, + 0.012895549647510052, + 0.07704140990972519, + 0.022432690486311913, + -0.3125244677066803, + 0.0, + 1.0008161067962646 + ], + [ + 0.24403007328510284, + 0.1788061410188675, + 0.009298416785895824, + 0.0579509474337101, + 0.05223020911216736, + -0.3147607147693634, + 0.0, + 0.9665181636810303 + ], + [ + 0.24397455155849457, + 0.1748097836971283, + 0.008490723557770252, + 0.059641893953084946, + 0.06516057252883911, + -0.32963600754737854, + 0.0, + 0.6881998181343079 + ], + [ + 0.24293065071105957, + 0.1657179892063141, + 0.009571480564773083, + 0.06106012687087059, + 0.07246602326631546, + -0.3344419598579407, + 0.0, + 0.400628000497818 + ], + [ + 0.24370278418064117, + 0.15900379419326782, + 0.01400180347263813, + 0.07427830994129181, + 0.06145375221967697, + -0.30460283160209656, + 0.0, + 0.28321579098701477 + ], + [ + 0.25089600682258606, + 0.15155108273029327, + 0.045912738889455795, + 0.10698508471250534, + -0.012039649300277233, + -0.22610026597976685, + 0.0, + 0.2817513048648834 + ], + [ + 0.263253778219223, + 0.14533162117004395, + 0.07063879072666168, + 0.09335556626319885, + -0.08186065405607224, + -0.1076822280883789, + 0.0, + 0.2810206115245819 + ], + [ + 0.3026903569698334, + 0.11615987122058868, + 0.09259383380413055, + 0.07331839948892593, + -0.11092264950275421, + -0.04401783645153046, + 0.0, + 0.2810206115245819 + ], + [ + 0.3441523313522339, + 0.07242418080568314, + 0.07599488645792007, + 0.08008508384227753, + -0.025535091757774353, + 0.030435113236308098, + 0.0, + 0.2810206115245819 + ], + [ + 0.37333282828330994, + 0.031734712421894073, + 0.06202290207147598, + 0.08441245555877686, + 0.0033147509675472975, + 0.027893871068954468, + 0.0, + 0.2810206115245819 + ], + [ + 0.3890867233276367, + 0.014174832962453365, + 0.04898624122142792, + 0.11353003233671188, + 0.01348135806620121, + 0.06563279777765274, + 0.0, + 0.2810206115245819 + ], + [ + 0.39811083674430847, + 0.007649192586541176, + 0.027355166152119637, + 0.11784466356039047, + 0.01870601624250412, + 0.11812113225460052, + 0.0, + 0.2810206115245819 + ], + [ + 0.40266838669776917, + 0.009044012986123562, + 0.020273739472031593, + 0.13497884571552277, + 0.004555595573037863, + 0.17029111087322235, + 0.0, + 0.3445223569869995 + ], + [ + 0.4019927680492401, + 0.008663392625749111, + 0.018147578462958336, + 0.14735139906406403, + 0.00046429559006355703, + 0.15717940032482147, + 0.0, + 0.6350118517875671 + ], + [ + 0.3947797417640686, + 0.006746916566044092, + 0.019089477136731148, + 0.14892946183681488, + 0.00805580522865057, + 0.1062719076871872, + 0.0, + 0.927155077457428 + ], + [ + 0.39049550890922546, + -0.0017109812470152974, + 0.058787692338228226, + 0.15740695595741272, + -0.06007660552859306, + 0.05263650417327881, + 0.0, + 1.00800359249115 + ], + [ + 0.3768736720085144, + -0.006853458005934954, + 0.08567080646753311, + 0.1600034087896347, + -0.07978101819753647, + 0.040107596665620804, + 0.0, + 1.0027955770492554 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 0.9665181636810303 + ], + [ + 0.6881998181343079 + ], + [ + 0.400628000497818 + ], + [ + 0.28321579098701477 + ], + [ + 0.2817513048648834 + ], + [ + 0.2810206115245819 + ], + [ + 0.2810206115245819 + ], + [ + 0.2810206115245819 + ], + [ + 0.2810206115245819 + ], + [ + 0.2810206115245819 + ], + [ + 0.2810206115245819 + ], + [ + 0.3445223569869995 + ], + [ + 0.6350118517875671 + ], + [ + 0.927155077457428 + ], + [ + 1.00800359249115 + ], + [ + 1.0027955770492554 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3026205897331238, + 0.008967560715973377, + 0.0878884568810463 + ], + [ + 0.2998397946357727, + 0.009271595627069473, + 0.0779227763414383 + ], + [ + 0.2926872968673706, + 0.02082131803035736, + 0.0712694451212883 + ], + [ + 0.27370426058769226, + 0.06068935617804527, + 0.0710771456360817 + ], + [ + 0.2522241771221161, + 0.10879291594028473, + 0.07145330309867859 + ], + [ + 0.2441735565662384, + 0.14797069132328033, + 0.06706511974334717 + ], + [ + 0.2488476037979126, + 0.16668199002742767, + 0.04746060073375702 + ], + [ + 0.2530299723148346, + 0.17851676046848297, + 0.02781914733350277 + ], + [ + 0.24883335828781128, + 0.17871659994125366, + 0.012895549647510052 + ], + [ + 0.24403007328510284, + 0.1788061410188675, + 0.009298416785895824 + ], + [ + 0.24397455155849457, + 0.1748097836971283, + 0.008490723557770252 + ], + [ + 0.24293065071105957, + 0.1657179892063141, + 0.009571480564773083 + ], + [ + 0.24370278418064117, + 0.15900379419326782, + 0.01400180347263813 + ], + [ + 0.25089600682258606, + 0.15155108273029327, + 0.045912738889455795 + ], + [ + 0.263253778219223, + 0.14533162117004395, + 0.07063879072666168 + ], + [ + 0.3026903569698334, + 0.11615987122058868, + 0.09259383380413055 + ], + [ + 0.3441523313522339, + 0.07242418080568314, + 0.07599488645792007 + ], + [ + 0.37333282828330994, + 0.031734712421894073, + 0.06202290207147598 + ], + [ + 0.3890867233276367, + 0.014174832962453365, + 0.04898624122142792 + ], + [ + 0.39811083674430847, + 0.007649192586541176, + 0.027355166152119637 + ], + [ + 0.40266838669776917, + 0.009044012986123562, + 0.020273739472031593 + ], + [ + 0.4019927680492401, + 0.008663392625749111, + 0.018147578462958336 + ], + [ + 0.3947797417640686, + 0.006746916566044092, + 0.019089477136731148 + ], + [ + 0.39049550890922546, + -0.0017109812470152974, + 0.058787692338228226 + ], + [ + 0.3768736720085144, + -0.006853458005934954, + 0.08567080646753311 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9823289078775588, + -0.17304736324654607, + 0.0713058680719959, + -0.18032412939890702, + -0.9771029677763585, + 0.11292917567732008, + 0.05013107922845045, + -0.12379176239173076, + -0.9910411063418815 + ], + [ + 0.9829578369366984, + -0.17962963231513407, + 0.039077947733428056, + -0.18295111209645232, + -0.9766693062595094, + 0.11245424310909602, + 0.01796611776088894, + -0.11768713355714835, + -0.9928881896808439 + ], + [ + 0.9848417176542119, + -0.17208112149985036, + 0.021791713820969495, + -0.17342818044753913, + -0.9791124598959805, + 0.10612001273604107, + 0.0030752877194023254, + -0.10829071289725378, + -0.9941145125716891 + ], + [ + 0.9865499547827767, + -0.16085592787392616, + 0.029061266075646852, + -0.1631815540890324, + -0.9795526646233632, + 0.11767904500954016, + 0.009537668645401317, + -0.1208385190950611, + -0.9926263572864279 + ], + [ + 0.9734761007460659, + -0.2245099202440182, + 0.044040628835880405, + -0.22877100952815135, + -0.9575917031293408, + 0.1751626538315708, + 0.002847187332381349, + -0.18059187636732948, + -0.983553998372444 + ], + [ + 0.9664291761234448, + -0.23896849329945263, + 0.09438594570988074, + -0.2526687298319484, + -0.9505900859371322, + 0.18038015823017992, + 0.04661716961023008, + -0.19817302472391227, + -0.9790578592551648 + ], + [ + 0.9604113387880344, + -0.2670618110917141, + 0.0792972217911143, + -0.27607372146150133, + -0.9505199698139988, + 0.1424608272585571, + 0.037327746325929834, + -0.15871287295367267, + -0.9866189048021625 + ], + [ + 0.9564499434346918, + -0.2889191303384679, + 0.041584153571262085, + -0.2918041290504209, + -0.9499768508413363, + 0.11132983937248231, + 0.007338662882311157, + -0.1186158462855651, + -0.9929131004458844 + ], + [ + 0.9513210107039768, + -0.3081925637465377, + 0.0023829067335195044, + -0.3073844390938625, + -0.9482070864840239, + 0.08011321828781369, + -0.022430809082953612, + -0.0769458562420071, + -0.9967829222107835 + ], + [ + 0.9495737961753131, + -0.3119444151778666, + -0.031627321362132914, + -0.3091667683030635, + -0.948338162343584, + 0.07120842098961283, + -0.052206465061759195, + -0.05783953390314343, + -0.9969599156052477 + ], + [ + 0.944152289721153, + -0.32679538496660765, + -0.042204622718737185, + -0.3230117016827396, + -0.9432215544211371, + 0.07743732853989066, + -0.06511447143550417, + -0.05948004404756963, + -0.9961035237211915 + ], + [ + 0.942114530286353, + -0.33180376277746415, + -0.04823354465556315, + -0.327380624041829, + -0.9413830651272199, + 0.08136247103955507, + -0.07240261614960153, + -0.06086203823727976, + -0.9955167871393715 + ], + [ + 0.9521653541953138, + -0.30343515033003887, + -0.0361697085183039, + -0.2993481691264106, + -0.9499688170421626, + 0.08916232549782267, + -0.061415078855100676, + -0.07406994121572198, + -0.9953601518533485 + ], + [ + 0.974477409689189, + -0.22164417367721967, + 0.03560390821793184, + -0.22416251215099536, + -0.9692643121893664, + 0.101379787246912, + 0.012039358438192897, + -0.10677337397973695, + -0.9942104910215843 + ], + [ + 0.9908785524846643, + -0.09942787013544391, + 0.09096039174402214, + -0.1071143441400294, + -0.9906978495361409, + 0.08393025797599711, + 0.08176925770329592, + -0.09290785523730154, + -0.992311402196839 + ], + [ + 0.9928917122741351, + -0.03578452309467581, + 0.11351438501010518, + -0.04373319402796576, + -0.9967041974408442, + 0.06832386511252535, + 0.11069532708045123, + -0.07280254604537449, + -0.9911843087195552 + ], + [ + 0.9992110359259109, + 0.032374509155653014, + 0.02300427874979079, + 0.03042049440074636, + -0.996271118921034, + 0.08073692540742834, + 0.02553231686082751, + -0.07997342534092826, + -0.9964699453746494 + ], + [ + 0.9996054995574898, + 0.027511582628430162, + -0.005653147415413404, + 0.02789010076508655, + -0.9960595545825781, + 0.0841873268614076, + -0.003314744897372055, + -0.0843117817747628, + -0.9964339094592426 + ], + [ + 0.9977562645040936, + 0.0636395530042204, + -0.020795286395260647, + 0.06557972733948454, + -0.9915233493773664, + 0.11216392914644371, + -0.013480949703813687, + -0.11327601216900515, + -0.9934720977773716 + ], + [ + 0.9928580734303962, + 0.1148454449189124, + -0.032301235354995426, + 0.11782602340750277, + -0.9864036510548557, + 0.11456380490200557, + -0.018704925342175372, + -0.11755152473288999, + -0.9928906106922938 + ], + [ + 0.9855252477135157, + 0.1673236201130856, + -0.027254215664106643, + 0.169467497803434, + -0.9766751108922387, + 0.1318578588931149, + -0.004555579815665942, + -0.13456795278180217, + -0.9908938958216758 + ], + [ + 0.9876726221249205, + 0.15476939284326102, + -0.023435582856246716, + 0.15653298672964816, + -0.9769803958785912, + 0.14493698677151595, + -0.00046429557338215945, + -0.14681873554774655, + -0.9891633046781412 + ], + [ + 0.994326188553534, + 0.10370926128711831, + -0.02366051309422003, + 0.10606854464230954, + -0.9834781812473549, + 0.14669741254656557, + -0.008055718097346785, + -0.14837471527748616, + -0.9888984018958978 + ], + [ + 0.9968134610436078, + 0.061360535897937475, + 0.05096870134290387, + 0.05251728635515785, + -0.9857740484497872, + 0.15966045232557527, + 0.060040473983426844, + -0.1564749501908688, + -0.9858553298768593 + ], + [ + 0.9960175384439336, + 0.0522718233192831, + 0.07222686203182532, + 0.03996930380049033, + -0.9859236867583021, + 0.16234820184597326, + 0.07969641062049651, + -0.1588147989823191, + -0.9840865519650261 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0027807950973510742, + 0.00030403491109609604, + -0.009965680539608002, + -0.0062875524163246155, + 0.03218501806259155, + -0.002470657229423523, + 1.0 + ], + [ + -0.0071524977684021, + 0.011549722403287888, + -0.006653331220149994, + -0.00947563350200653, + 0.014891792088747025, + 0.009707063436508179, + 1.0 + ], + [ + -0.018983036279678345, + 0.03986803814768791, + -0.000192299485206604, + 0.012636080384254456, + -0.0064625209197402, + 0.010388270020484924, + 1.0 + ], + [ + -0.021480083465576172, + 0.048103559762239456, + 0.0003761574625968933, + 0.06044884771108627, + 0.006690622307360172, + -0.06689387559890747, + 1.0 + ], + [ + -0.008050620555877686, + 0.039177775382995605, + -0.004388183355331421, + 0.018124744296073914, + -0.04378687962889671, + -0.024905741214752197, + 1.0 + ], + [ + 0.004674047231674194, + 0.01871129870414734, + -0.01960451900959015, + -0.04021470248699188, + 0.009297650307416916, + -0.024185270071029663, + 1.0 + ], + [ + 0.004182368516921997, + 0.011834770441055298, + -0.01964145340025425, + -0.04059998691082001, + 0.02999769151210785, + -0.01621374487876892, + 1.0 + ], + [ + -0.004196614027023315, + 0.00019983947277069092, + -0.014923597685992718, + -0.04185757786035538, + 0.02977141924202442, + -0.01640373468399048, + 1.0 + ], + [ + -0.004803285002708435, + 8.954107761383057e-05, + -0.0035971328616142273, + -0.01909046247601509, + 0.029797518625855446, + -0.0022362470626831055, + 0.0 + ], + [ + -5.552172660827637e-05, + -0.003996357321739197, + -0.0008076932281255722, + 0.0016909465193748474, + 0.012930363416671753, + -0.014875292778015137, + 0.0 + ], + [ + -0.0010439008474349976, + -0.009091794490814209, + 0.0010807570070028305, + 0.0014182329177856445, + 0.007305450737476349, + -0.004805952310562134, + 0.0 + ], + [ + 0.000772133469581604, + -0.006714195013046265, + 0.0044303229078650475, + 0.013218183070421219, + -0.011012271046638489, + 0.029839128255844116, + 0.0 + ], + [ + 0.007193222641944885, + -0.007452711462974548, + 0.031910933554172516, + 0.03270677477121353, + -0.07349339872598648, + 0.07850256562232971, + 0.0 + ], + [ + 0.012357771396636963, + -0.006219461560249329, + 0.024726051837205887, + -0.013629518449306488, + -0.06982100754976273, + 0.11841803789138794, + 0.0 + ], + [ + 0.03943657875061035, + -0.02917174994945526, + 0.021955043077468872, + -0.02003716677427292, + -0.029061995446681976, + 0.06366439163684845, + 0.0 + ], + [ + 0.04146197438240051, + -0.04373569041490555, + -0.01659894734621048, + 0.006766684353351593, + 0.08538755774497986, + 0.0744529515504837, + 0.0 + ], + [ + 0.02918049693107605, + -0.04068946838378906, + -0.013971984386444092, + 0.004327371716499329, + 0.02884984202682972, + -0.00254124216735363, + 0.0 + ], + [ + 0.015753895044326782, + -0.017559878528118134, + -0.013036660850048065, + 0.029117576777935028, + 0.010166606865823269, + 0.03773892670869827, + 0.0 + ], + [ + 0.009024113416671753, + -0.0065256403759121895, + -0.02163107506930828, + 0.004314631223678589, + 0.00522465817630291, + 0.052488334476947784, + 0.0 + ], + [ + 0.004557549953460693, + 0.001394820399582386, + -0.007081426680088043, + 0.017134182155132294, + -0.01415042020380497, + 0.052169978618621826, + 1.0 + ], + [ + -0.0006756186485290527, + -0.0003806203603744507, + -0.0021261610090732574, + 0.01237255334854126, + -0.004091300070285797, + -0.013111710548400879, + 1.0 + ], + [ + -0.007213026285171509, + -0.001916476059705019, + 0.0009418986737728119, + 0.0015780627727508545, + 0.007591509725898504, + -0.05090749263763428, + 1.0 + ], + [ + -0.00428423285484314, + -0.008457898162305355, + 0.03969821333885193, + 0.00847749412059784, + -0.06813240796327591, + -0.053635403513908386, + 1.0 + ], + [ + -0.01362183690071106, + -0.005142476875334978, + 0.026883114129304886, + 0.002596452832221985, + -0.019704412668943405, + -0.012528907507658005, + 1.0 + ], + [ + -0.010043591260910034, + -0.0025603310205042362, + 0.0022514238953590393, + -0.021075621247291565, + 0.0028727054595947266, + -0.012129927054047585, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 0.9665181636810303 + ], + [ + 0.6881998181343079 + ], + [ + 0.400628000497818 + ], + [ + 0.28321579098701477 + ], + [ + 0.2817513048648834 + ], + [ + 0.2810206115245819 + ], + [ + 0.2810206115245819 + ], + [ + 0.2810206115245819 + ], + [ + 0.2810206115245819 + ], + [ + 0.2810206115245819 + ], + [ + 0.2810206115245819 + ], + [ + 0.3445223569869995 + ], + [ + 0.6350118517875671 + ], + [ + 0.927155077457428 + ], + [ + 1.00800359249115 + ], + [ + 1.0027955770492554 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2998397946357727, + 0.009271595627069473, + 0.0779227763414383 + ], + [ + 0.2926872968673706, + 0.02082131803035736, + 0.0712694451212883 + ], + [ + 0.27370426058769226, + 0.06068935617804527, + 0.0710771456360817 + ], + [ + 0.2522241771221161, + 0.10879291594028473, + 0.07145330309867859 + ], + [ + 0.2441735565662384, + 0.14797069132328033, + 0.06706511974334717 + ], + [ + 0.2488476037979126, + 0.16668199002742767, + 0.04746060073375702 + ], + [ + 0.2530299723148346, + 0.17851676046848297, + 0.02781914733350277 + ], + [ + 0.24883335828781128, + 0.17871659994125366, + 0.012895549647510052 + ], + [ + 0.24403007328510284, + 0.1788061410188675, + 0.009298416785895824 + ], + [ + 0.24397455155849457, + 0.1748097836971283, + 0.008490723557770252 + ], + [ + 0.24293065071105957, + 0.1657179892063141, + 0.009571480564773083 + ], + [ + 0.24370278418064117, + 0.15900379419326782, + 0.01400180347263813 + ], + [ + 0.25089600682258606, + 0.15155108273029327, + 0.045912738889455795 + ], + [ + 0.263253778219223, + 0.14533162117004395, + 0.07063879072666168 + ], + [ + 0.3026903569698334, + 0.11615987122058868, + 0.09259383380413055 + ], + [ + 0.3441523313522339, + 0.07242418080568314, + 0.07599488645792007 + ], + [ + 0.37333282828330994, + 0.031734712421894073, + 0.06202290207147598 + ], + [ + 0.3890867233276367, + 0.014174832962453365, + 0.04898624122142792 + ], + [ + 0.39811083674430847, + 0.007649192586541176, + 0.027355166152119637 + ], + [ + 0.40266838669776917, + 0.009044012986123562, + 0.020273739472031593 + ], + [ + 0.4019927680492401, + 0.008663392625749111, + 0.018147578462958336 + ], + [ + 0.3947797417640686, + 0.006746916566044092, + 0.019089477136731148 + ], + [ + 0.39049550890922546, + -0.0017109812470152974, + 0.058787692338228226 + ], + [ + 0.3768736720085144, + -0.006853458005934954, + 0.08567080646753311 + ], + [ + 0.36683008074760437, + -0.00941378902643919, + 0.08792223036289215 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9829578369366984, + -0.17962963231513407, + 0.039077947733428056, + -0.18295111209645232, + -0.9766693062595094, + 0.11245424310909602, + 0.01796611776088894, + -0.11768713355714835, + -0.9928881896808439 + ], + [ + 0.9848417176542119, + -0.17208112149985036, + 0.021791713820969495, + -0.17342818044753913, + -0.9791124598959805, + 0.10612001273604107, + 0.0030752877194023254, + -0.10829071289725378, + -0.9941145125716891 + ], + [ + 0.9865499547827767, + -0.16085592787392616, + 0.029061266075646852, + -0.1631815540890324, + -0.9795526646233632, + 0.11767904500954016, + 0.009537668645401317, + -0.1208385190950611, + -0.9926263572864279 + ], + [ + 0.9734761007460659, + -0.2245099202440182, + 0.044040628835880405, + -0.22877100952815135, + -0.9575917031293408, + 0.1751626538315708, + 0.002847187332381349, + -0.18059187636732948, + -0.983553998372444 + ], + [ + 0.9664291761234448, + -0.23896849329945263, + 0.09438594570988074, + -0.2526687298319484, + -0.9505900859371322, + 0.18038015823017992, + 0.04661716961023008, + -0.19817302472391227, + -0.9790578592551648 + ], + [ + 0.9604113387880344, + -0.2670618110917141, + 0.0792972217911143, + -0.27607372146150133, + -0.9505199698139988, + 0.1424608272585571, + 0.037327746325929834, + -0.15871287295367267, + -0.9866189048021625 + ], + [ + 0.9564499434346918, + -0.2889191303384679, + 0.041584153571262085, + -0.2918041290504209, + -0.9499768508413363, + 0.11132983937248231, + 0.007338662882311157, + -0.1186158462855651, + -0.9929131004458844 + ], + [ + 0.9513210107039768, + -0.3081925637465377, + 0.0023829067335195044, + -0.3073844390938625, + -0.9482070864840239, + 0.08011321828781369, + -0.022430809082953612, + -0.0769458562420071, + -0.9967829222107835 + ], + [ + 0.9495737961753131, + -0.3119444151778666, + -0.031627321362132914, + -0.3091667683030635, + -0.948338162343584, + 0.07120842098961283, + -0.052206465061759195, + -0.05783953390314343, + -0.9969599156052477 + ], + [ + 0.944152289721153, + -0.32679538496660765, + -0.042204622718737185, + -0.3230117016827396, + -0.9432215544211371, + 0.07743732853989066, + -0.06511447143550417, + -0.05948004404756963, + -0.9961035237211915 + ], + [ + 0.942114530286353, + -0.33180376277746415, + -0.04823354465556315, + -0.327380624041829, + -0.9413830651272199, + 0.08136247103955507, + -0.07240261614960153, + -0.06086203823727976, + -0.9955167871393715 + ], + [ + 0.9521653541953138, + -0.30343515033003887, + -0.0361697085183039, + -0.2993481691264106, + -0.9499688170421626, + 0.08916232549782267, + -0.061415078855100676, + -0.07406994121572198, + -0.9953601518533485 + ], + [ + 0.974477409689189, + -0.22164417367721967, + 0.03560390821793184, + -0.22416251215099536, + -0.9692643121893664, + 0.101379787246912, + 0.012039358438192897, + -0.10677337397973695, + -0.9942104910215843 + ], + [ + 0.9908785524846643, + -0.09942787013544391, + 0.09096039174402214, + -0.1071143441400294, + -0.9906978495361409, + 0.08393025797599711, + 0.08176925770329592, + -0.09290785523730154, + -0.992311402196839 + ], + [ + 0.9928917122741351, + -0.03578452309467581, + 0.11351438501010518, + -0.04373319402796576, + -0.9967041974408442, + 0.06832386511252535, + 0.11069532708045123, + -0.07280254604537449, + -0.9911843087195552 + ], + [ + 0.9992110359259109, + 0.032374509155653014, + 0.02300427874979079, + 0.03042049440074636, + -0.996271118921034, + 0.08073692540742834, + 0.02553231686082751, + -0.07997342534092826, + -0.9964699453746494 + ], + [ + 0.9996054995574898, + 0.027511582628430162, + -0.005653147415413404, + 0.02789010076508655, + -0.9960595545825781, + 0.0841873268614076, + -0.003314744897372055, + -0.0843117817747628, + -0.9964339094592426 + ], + [ + 0.9977562645040936, + 0.0636395530042204, + -0.020795286395260647, + 0.06557972733948454, + -0.9915233493773664, + 0.11216392914644371, + -0.013480949703813687, + -0.11327601216900515, + -0.9934720977773716 + ], + [ + 0.9928580734303962, + 0.1148454449189124, + -0.032301235354995426, + 0.11782602340750277, + -0.9864036510548557, + 0.11456380490200557, + -0.018704925342175372, + -0.11755152473288999, + -0.9928906106922938 + ], + [ + 0.9855252477135157, + 0.1673236201130856, + -0.027254215664106643, + 0.169467497803434, + -0.9766751108922387, + 0.1318578588931149, + -0.004555579815665942, + -0.13456795278180217, + -0.9908938958216758 + ], + [ + 0.9876726221249205, + 0.15476939284326102, + -0.023435582856246716, + 0.15653298672964816, + -0.9769803958785912, + 0.14493698677151595, + -0.00046429557338215945, + -0.14681873554774655, + -0.9891633046781412 + ], + [ + 0.994326188553534, + 0.10370926128711831, + -0.02366051309422003, + 0.10606854464230954, + -0.9834781812473549, + 0.14669741254656557, + -0.008055718097346785, + -0.14837471527748616, + -0.9888984018958978 + ], + [ + 0.9968134610436078, + 0.061360535897937475, + 0.05096870134290387, + 0.05251728635515785, + -0.9857740484497872, + 0.15966045232557527, + 0.060040473983426844, + -0.1564749501908688, + -0.9858553298768593 + ], + [ + 0.9960175384439336, + 0.0522718233192831, + 0.07222686203182532, + 0.03996930380049033, + -0.9859236867583021, + 0.16234820184597326, + 0.07969641062049651, + -0.1588147989823191, + -0.9840865519650261 + ], + [ + 0.9966538205284634, + 0.03834019548188259, + 0.0721885824519991, + 0.02789132900020303, + -0.9896798281415875, + 0.14055572395402763, + 0.07683251780737421, + -0.13807196377269867, + -0.9874375408233833 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005688.json b/json/chunk-0005/episode_0005688.json new file mode 100644 index 0000000000000000000000000000000000000000..3ff560d2a754173952c862d719523c48bc60e4b3 --- /dev/null +++ b/json/chunk-0005/episode_0005688.json @@ -0,0 +1,2182 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 35, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut clothes in laundry machine." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005688.mp4", + "start": 0, + "end": 35, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2335246354341507, + 0.07470479607582092, + 0.1091470941901207, + 0.08375544100999832, + -0.12293399125337601, + 0.28341126441955566, + 0.0, + 0.9968144297599792 + ], + [ + 0.22812242805957794, + 0.0695732906460762, + 0.10086272656917572, + 0.07561302185058594, + -0.09226580709218979, + 0.2993922531604767, + 0.0, + 0.9968144297599792 + ], + [ + 0.21200068295001984, + 0.02844851091504097, + 0.08938076347112656, + 0.028119035065174103, + -0.06220538541674614, + 0.36532649397850037, + 0.0, + 0.9968144297599792 + ], + [ + 0.1979655921459198, + -0.009688536636531353, + 0.08306219428777695, + -0.001822084654122591, + -0.025737322866916656, + 0.32674065232276917, + 0.0, + 0.9968144297599792 + ], + [ + 0.1854526847600937, + -0.05141338333487511, + 0.07627416402101517, + -0.04260285943746567, + -0.00954889040440321, + 0.27672481536865234, + 0.0, + 0.9968144297599792 + ], + [ + 0.18176639080047607, + -0.07912874221801758, + 0.061717551201581955, + 0.008209905587136745, + -0.02107146382331848, + 0.2708708345890045, + 0.0, + 0.9968144297599792 + ], + [ + 0.18249423801898956, + -0.09748852998018265, + 0.044066108763217926, + 0.07895278930664062, + -0.09641662985086441, + 0.29246872663497925, + 0.0, + 0.9968144297599792 + ], + [ + 0.1828327178955078, + -0.10285035520792007, + 0.033161502331495285, + 0.15270809829235077, + -0.15881645679473877, + 0.2593899369239807, + 0.0, + 0.9968144297599792 + ], + [ + 0.18609696626663208, + -0.08970561623573303, + 0.029341503977775574, + 0.16285008192062378, + -0.15810149908065796, + 0.2570091485977173, + 0.0, + 0.9968144297599792 + ], + [ + 0.1868681162595749, + -0.07931088656187057, + 0.024779418483376503, + 0.1623590737581253, + -0.1551312804222107, + 0.2637903094291687, + 0.0, + 0.9968144297599792 + ], + [ + 0.19067399203777313, + -0.06843008100986481, + 0.02335798554122448, + 0.14540737867355347, + -0.12277664989233017, + 0.29066401720046997, + 0.0, + 0.9968144297599792 + ], + [ + 0.19257712364196777, + -0.05678507685661316, + 0.010265265591442585, + 0.0988965779542923, + -0.02525104209780693, + 0.3025214970111847, + 0.0, + 0.9968144297599792 + ], + [ + 0.1974307745695114, + -0.05188121646642685, + 0.0057654897682368755, + 0.07557085156440735, + -0.032419122755527496, + 0.3195897340774536, + 0.0, + 0.9968144297599792 + ], + [ + 0.1950625628232956, + -0.04029150679707527, + 0.0061257812194526196, + 0.08547080308198929, + -2.9774802897009067e-05, + 0.3558228611946106, + 0.0, + 0.9968144297599792 + ], + [ + 0.19484548270702362, + -0.029440689831972122, + -0.0025789474602788687, + 0.06611526012420654, + 0.06062744930386543, + 0.34998565912246704, + 0.0, + 0.9968144297599792 + ], + [ + 0.19518278539180756, + -0.02706022560596466, + -0.012058672495186329, + 0.01621951349079609, + 0.10593029111623764, + 0.284250408411026, + 0.0, + 0.9968144297599792 + ], + [ + 0.2004205882549286, + -0.024428388103842735, + -0.021824713796377182, + -0.033945903182029724, + 0.129961758852005, + 0.2502196133136749, + 0.0, + 0.9968144297599792 + ], + [ + 0.20404091477394104, + -0.025467058643698692, + -0.03563115745782852, + -0.07186395674943924, + 0.09057971835136414, + 0.1589033156633377, + 0.0, + 0.9476637244224548 + ], + [ + 0.20521476864814758, + -0.028001805767416954, + -0.03849945217370987, + -0.055062185972929, + 0.06261638551950455, + 0.12667903304100037, + 0.0, + 0.6811928749084473 + ], + [ + 0.2052358090877533, + -0.031070126220583916, + -0.04096459224820137, + -0.021250708028674126, + 0.02644742652773857, + 0.16522181034088135, + 0.0, + 0.3953573703765869 + ], + [ + 0.20848588645458221, + -0.03274039551615715, + -0.041227031499147415, + 0.03886379674077034, + -0.021297598257660866, + 0.16121147572994232, + 0.0, + 0.19260896742343903 + ], + [ + 0.20982199907302856, + -0.03651624917984009, + -0.03294539824128151, + 0.08523059636354446, + -0.10969211906194687, + 0.13519641757011414, + 0.0, + 0.11409598588943481 + ], + [ + 0.21662865579128265, + -0.04557519406080246, + 0.0012266499688848853, + 0.07675535976886749, + -0.20989097654819489, + 0.13092665374279022, + 0.0, + 0.10434377193450928 + ], + [ + 0.21904201805591583, + -0.04539265111088753, + 0.040603723376989365, + 0.08327900618314743, + -0.31391236186027527, + 0.12685833871364594, + 0.0, + 0.11960587650537491 + ], + [ + 0.2185889333486557, + -0.03764750808477402, + 0.072611965239048, + 0.10081564635038376, + -0.4050664007663727, + 0.12611374258995056, + 0.0, + 0.12527866661548615 + ], + [ + 0.22818028926849365, + -0.02844802476465702, + 0.09934661537408829, + 0.07574440538883209, + -0.514859676361084, + 0.1484641283750534, + 0.0, + 0.1261659562587738 + ], + [ + 0.25369447469711304, + -0.015150556340813637, + 0.12219396233558655, + 0.015040003694593906, + -0.6045419573783875, + 0.1997951716184616, + 0.0, + 0.1261659562587738 + ], + [ + 0.28065937757492065, + -0.0002684791979845613, + 0.12450848519802094, + -0.02478726953268051, + -0.6426287889480591, + 0.24646882712841034, + 0.0, + 0.1261659562587738 + ], + [ + 0.3090660274028778, + 0.01326843537390232, + 0.12469300627708435, + -0.03888687118887901, + -0.6660824418067932, + 0.2868010401725769, + 0.0, + 0.1261659562587738 + ], + [ + 0.33648285269737244, + 0.023226730525493622, + 0.12143849581480026, + -0.059917863458395004, + -0.7017046809196472, + 0.31011706590652466, + 0.0, + 0.1261659562587738 + ], + [ + 0.3504320979118347, + 0.02474031038582325, + 0.11147690564393997, + -0.05615399032831192, + -0.7256573438644409, + 0.3028601109981537, + 0.0, + 0.1261659562587738 + ], + [ + 0.36303871870040894, + 0.023462863638997078, + 0.10502250492572784, + -0.07933247834444046, + -0.7459520697593689, + 0.3169003129005432, + 0.0, + 0.1261659562587738 + ], + [ + 0.37510058283805847, + 0.02122187241911888, + 0.09549957513809204, + -0.11347661167383194, + -0.7699862122535706, + 0.3357625901699066, + 0.0, + 0.1261659562587738 + ], + [ + 0.38800495862960815, + 0.020621176809072495, + 0.08997057378292084, + -0.11541183292865753, + -0.7858943939208984, + 0.3269844949245453, + 0.0, + 0.16130207479000092 + ], + [ + 0.38948917388916016, + 0.025091802701354027, + 0.08618156611919403, + -0.08602966368198395, + -0.7608217000961304, + 0.3348236680030823, + 0.0, + 0.3754602372646332 + ] + ], + "left_gripper_pos": [ + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9476637244224548 + ], + [ + 0.6811928749084473 + ], + [ + 0.3953573703765869 + ], + [ + 0.19260896742343903 + ], + [ + 0.11409598588943481 + ], + [ + 0.10434377193450928 + ], + [ + 0.11960587650537491 + ], + [ + 0.12527866661548615 + ], + [ + 0.1261659562587738 + ], + [ + 0.1261659562587738 + ], + [ + 0.1261659562587738 + ], + [ + 0.1261659562587738 + ], + [ + 0.1261659562587738 + ], + [ + 0.1261659562587738 + ], + [ + 0.1261659562587738 + ], + [ + 0.1261659562587738 + ], + [ + 0.16130207479000092 + ], + [ + 0.3754602372646332 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2335246354341507, + 0.07470479607582092, + 0.1091470941901207 + ], + [ + 0.22812242805957794, + 0.0695732906460762, + 0.10086272656917572 + ], + [ + 0.21200068295001984, + 0.02844851091504097, + 0.08938076347112656 + ], + [ + 0.1979655921459198, + -0.009688536636531353, + 0.08306219428777695 + ], + [ + 0.1854526847600937, + -0.05141338333487511, + 0.07627416402101517 + ], + [ + 0.18176639080047607, + -0.07912874221801758, + 0.061717551201581955 + ], + [ + 0.18249423801898956, + -0.09748852998018265, + 0.044066108763217926 + ], + [ + 0.1828327178955078, + -0.10285035520792007, + 0.033161502331495285 + ], + [ + 0.18609696626663208, + -0.08970561623573303, + 0.029341503977775574 + ], + [ + 0.1868681162595749, + -0.07931088656187057, + 0.024779418483376503 + ], + [ + 0.19067399203777313, + -0.06843008100986481, + 0.02335798554122448 + ], + [ + 0.19257712364196777, + -0.05678507685661316, + 0.010265265591442585 + ], + [ + 0.1974307745695114, + -0.05188121646642685, + 0.0057654897682368755 + ], + [ + 0.1950625628232956, + -0.04029150679707527, + 0.0061257812194526196 + ], + [ + 0.19484548270702362, + -0.029440689831972122, + -0.0025789474602788687 + ], + [ + 0.19518278539180756, + -0.02706022560596466, + -0.012058672495186329 + ], + [ + 0.2004205882549286, + -0.024428388103842735, + -0.021824713796377182 + ], + [ + 0.20404091477394104, + -0.025467058643698692, + -0.03563115745782852 + ], + [ + 0.20521476864814758, + -0.028001805767416954, + -0.03849945217370987 + ], + [ + 0.2052358090877533, + -0.031070126220583916, + -0.04096459224820137 + ], + [ + 0.20848588645458221, + -0.03274039551615715, + -0.041227031499147415 + ], + [ + 0.20982199907302856, + -0.03651624917984009, + -0.03294539824128151 + ], + [ + 0.21662865579128265, + -0.04557519406080246, + 0.0012266499688848853 + ], + [ + 0.21904201805591583, + -0.04539265111088753, + 0.040603723376989365 + ], + [ + 0.2185889333486557, + -0.03764750808477402, + 0.072611965239048 + ], + [ + 0.22818028926849365, + -0.02844802476465702, + 0.09934661537408829 + ], + [ + 0.25369447469711304, + -0.015150556340813637, + 0.12219396233558655 + ], + [ + 0.28065937757492065, + -0.0002684791979845613, + 0.12450848519802094 + ], + [ + 0.3090660274028778, + 0.01326843537390232, + 0.12469300627708435 + ], + [ + 0.33648285269737244, + 0.023226730525493622, + 0.12143849581480026 + ], + [ + 0.3504320979118347, + 0.02474031038582325, + 0.11147690564393997 + ], + [ + 0.36303871870040894, + 0.023462863638997078, + 0.10502250492572784 + ], + [ + 0.37510058283805847, + 0.02122187241911888, + 0.09549957513809204 + ], + [ + 0.38800495862960815, + 0.020621176809072495, + 0.08997057378292084 + ], + [ + 0.38948917388916016, + 0.025091802701354027, + 0.08618156611919403 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9528613211654855, + 0.28850144673177586, + 0.09392666213827815, + 0.27752209836170366, + -0.9538729294494032, + 0.11448982218752565, + 0.12262457970440861, + -0.08302619886088144, + -0.9889741466565397 + ], + [ + 0.9514516550987971, + 0.30074717581754906, + 0.06550484140525484, + 0.2936850326224256, + -0.9507329466971296, + 0.09927721630947028, + 0.09213495332024721, + -0.07521968028621773, + -0.9929013798330198 + ], + [ + 0.9322006771865659, + 0.3587454887498919, + 0.04799553890216409, + 0.35656328462075343, + -0.9330135354502969, + 0.04845994972136656, + 0.06216527578453721, + -0.028060950948586065, + -0.9976713193825377 + ], + [ + 0.9467798208040538, + 0.3209128893700181, + 0.024957731355843966, + 0.32085153479329526, + -0.9471069631494013, + 0.006533986126818642, + 0.025734481518592953, + 0.0018214801961957587, + -0.999667153942183 + ], + [ + 0.9619115420864672, + 0.2725674312525982, + 0.02081299164452872, + 0.2731940824106366, + -0.9611936615433355, + -0.038363242103955655, + 0.009548745291678692, + 0.042588031526199735, + -0.9990470864949653 + ], + [ + 0.9633243512439583, + 0.2677282758877796, + 0.01810426995390545, + 0.26751122111569314, + -0.9634594953483184, + 0.013547966650179469, + 0.021069904546477152, + -0.008207990821181519, + -0.9997443113161893 + ], + [ + 0.9530877626137947, + 0.294689098129798, + 0.06915238390162003, + 0.28697790995125766, + -0.9523630520300682, + 0.10319058255471439, + 0.09626731509623905, + -0.0785044748496529, + -0.9922548319220932 + ], + [ + 0.9543827910492092, + 0.27675829119276024, + 0.11206398353255392, + 0.25326304565396257, + -0.9491283006058443, + 0.18711840822094647, + 0.15814966915931272, + -0.1502009229170221, + -0.9759243643334633 + ], + [ + 0.9550921637831116, + 0.2755140594838513, + 0.10904568632835665, + 0.25101882371702067, + -0.9478697536723446, + 0.19629691850065217, + 0.1574436687193766, + -0.1601091287211857, + -0.9744621891486224 + ], + [ + 0.9538152780266894, + 0.2814245668347471, + 0.10505535961931912, + 0.2576104340017215, + -0.9461999562229706, + 0.19581242845410365, + 0.1545098045313442, + -0.15970552910129235, + -0.9749978791146996 + ], + [ + 0.95084195118585, + 0.3005648585484997, + 0.07456775221773528, + 0.2844311321288048, + -0.9428578594953848, + 0.17354534814770198, + 0.12246842426116032, + -0.14380480726839798, + -0.9819988098085898 + ], + [ + 0.9542839858096636, + 0.29885208260361107, + -0.005432048481602517, + 0.2978331660617395, + -0.9491812044629735, + 0.10173714310840236, + 0.02524835877561892, + -0.09870397062785087, + -0.9947964849965214 + ], + [ + 0.9488655470638342, + 0.31560366294014724, + 0.006964304273399719, + 0.3140120096802295, + -0.9458859478895582, + 0.08183050385800732, + 0.03241344430686095, + -0.07545927062882245, + -0.9966219278664964 + ], + [ + 0.9373601523724936, + 0.34709252093275655, + -0.029710716193983133, + 0.3483618002274024, + -0.9339375221897268, + 0.08002974939631408, + 2.9774802892611543e-05, + -0.08536677666784284, + -0.9963495935437539 + ], + [ + 0.9376517296015703, + 0.3383748425730015, + -0.07944620751729045, + 0.34225436113994695, + -0.9386978363741613, + 0.04133187955023697, + -0.06059031486855548, + -0.06594571934678536, + -0.9959819154201368 + ], + [ + 0.9544916990076753, + 0.27875509328079917, + -0.10602449950579487, + 0.2788660595664676, + -0.9602267904692028, + -0.014079477514630694, + -0.1057322909394888, + -0.01612788998060769, + -0.994263835114936 + ], + [ + 0.9606875400877442, + 0.2517355264974966, + -0.11708405108804035, + 0.24552855033499188, + -0.9672107779428771, + -0.06495415307377489, + -0.12959622405979282, + 0.03365316820393292, + -0.9909956018970424 + ], + [ + 0.9833535212589833, + 0.1642401109996123, + -0.07772411573246472, + 0.1575867420568602, + -0.9838250993123493, + -0.08517389676979081, + -0.09045590613919659, + 0.07150776113039345, + -0.9933299397192535 + ], + [ + 0.9900428740598928, + 0.12956522184824198, + -0.05502690987728524, + 0.1260928918080102, + -0.9900484490779566, + -0.062487207601443114, + -0.06257547569711688, + 0.054926512412024266, + -0.996527665484271 + ], + [ + 0.9860369478399218, + 0.16498825562661557, + -0.022583467400246107, + 0.16441360708221003, + -0.9860667658129199, + -0.02530808498217409, + -0.026444343454661238, + 0.02124167753579834, + -0.999424578362328 + ], + [ + 0.9868097041454913, + 0.16120959248120206, + 0.014767365923965114, + 0.16047768906983076, + -0.9861554225985845, + 0.04176594055224528, + 0.02129598823943733, + -0.038845202682592866, + -0.9990182836732537 + ], + [ + 0.984919569049468, + 0.14352973621955767, + 0.09660567956468283, + 0.13397486107311257, + -0.9860219969994166, + 0.09905229948730268, + 0.10947227550320748, + -0.084615815625841, + -0.9903817368278371 + ], + [ + 0.9696828094006537, + 0.14600833579996184, + 0.19595105263759413, + 0.1276877594277592, + -0.9864365111811665, + 0.10314477932036667, + 0.20835327030112652, + -0.07499716851757829, + -0.9751740047136058 + ], + [ + 0.9434897348549697, + 0.15155884011123888, + 0.294715181501454, + 0.12033575662036251, + -0.9852767535793524, + 0.12144556202157847, + 0.3087821657769501, + -0.07911786675756691, + -0.9478364506906389 + ], + [ + 0.9117771089955286, + 0.1644882038687774, + 0.3763059052151309, + 0.11560114067031181, + -0.9820322343991655, + 0.14916121103257587, + 0.3940797886056558, + -0.09250038588571063, + -0.9144095356149321 + ], + [ + 0.860787351298299, + 0.18434716509587146, + 0.4744062168289685, + 0.12874333965259555, + -0.9806519857240752, + 0.14746808261628863, + 0.4924127215456107, + -0.06586201952979903, + -0.8678662950267749 + ], + [ + 0.8063955196514452, + 0.20682428191165433, + 0.5540306690949559, + 0.16329251170042883, + -0.9782998535125897, + 0.1275341218647426, + 0.5683852755909862, + -0.012373884958825354, + -0.822669475222209 + ], + [ + 0.7763312839860159, + 0.2295014152671761, + 0.5870594841197843, + 0.19531244473288584, + -0.973106081084145, + 0.12213764321257006, + 0.5993019159297652, + 0.0198407496688214, + -0.8002771758681437 + ], + [ + 0.7541330720981525, + 0.2596302014114461, + 0.6032209115099169, + 0.22241817840129308, + -0.9652242303729436, + 0.1373766319925249, + 0.6179105626904703, + 0.03056703479258318, + -0.7856539905706174 + ], + [ + 0.7273107140460702, + 0.2678113371340568, + 0.6318988945521776, + 0.2330715097840268, + -0.9623852899937818, + 0.1396145584478164, + 0.6455205624616384, + 0.04573446518822542, + -0.7623723251359255 + ], + [ + 0.7140170159026797, + 0.2622306638088542, + 0.6491646786138321, + 0.22311091414346224, + -0.9640914720621169, + 0.14404566458998028, + 0.6636273208597585, + 0.04198466929092293, + -0.7468842390578548 + ], + [ + 0.6978712203358876, + 0.2595365279033606, + 0.6675451673937629, + 0.22886884366143048, + -0.9639777401136533, + 0.1355211015541613, + 0.6786713580430359, + 0.058204014030320286, + -0.7321321468988912 + ], + [ + 0.6778311109647014, + 0.25294723495309585, + 0.6903351949147182, + 0.2365470265136267, + -0.9640587311192338, + 0.12098044139584894, + 0.6961253401909172, + 0.08129243065843324, + -0.7133029170427692 + ], + [ + 0.6693084869901704, + 0.24190075742547326, + 0.7025027920228581, + 0.22700202378159876, + -0.9668816762451394, + 0.11666149896365856, + 0.7074575820796518, + 0.08138702414004075, + -0.7020540733160381 + ], + [ + 0.6840497291790162, + 0.2714316377918251, + 0.6770530511088194, + 0.23799692506945394, + -0.9604436804321818, + 0.14458699933040098, + 0.689516810286449, + 0.06223184653802348, + -0.7215911346523518 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.005402207374572754, + -0.0051315054297447205, + -0.008284367620944977, + -0.008142419159412384, + 0.030668184161186218, + 0.01598098874092102, + 1.0 + ], + [ + -0.016121745109558105, + -0.04112477973103523, + -0.011481963098049164, + -0.047493986785411835, + 0.03006042167544365, + 0.06593424081802368, + 1.0 + ], + [ + -0.014035090804100037, + -0.0381370484828949, + -0.006318569183349609, + -0.029941119253635406, + 0.03646806254982948, + -0.0385858416557312, + 1.0 + ], + [ + -0.01251290738582611, + -0.04172484576702118, + -0.00678803026676178, + -0.040780775249004364, + 0.016188431531190872, + -0.05001583695411682, + 1.0 + ], + [ + -0.0036862939596176147, + -0.02771535888314247, + -0.014556612819433212, + 0.05081276595592499, + -0.011522573418915272, + -0.005853980779647827, + 1.0 + ], + [ + 0.0007278472185134888, + -0.01835978776216507, + -0.01765144243836403, + 0.0707428827881813, + -0.07534516602754593, + 0.02159789204597473, + 1.0 + ], + [ + 0.0003384798765182495, + -0.005361825227737427, + -0.010904606431722641, + 0.07375530898571014, + -0.06239982694387436, + -0.033078789710998535, + 1.0 + ], + [ + 0.0032642483711242676, + 0.013144738972187042, + -0.0038199983537197113, + 0.01014198362827301, + 0.0007149577140808105, + -0.0023807883262634277, + 1.0 + ], + [ + 0.0007711499929428101, + 0.010394729673862457, + -0.004562085494399071, + -0.0004910081624984741, + 0.0029702186584472656, + 0.006781160831451416, + 1.0 + ], + [ + 0.003805875778198242, + 0.010880805552005768, + -0.0014214329421520233, + -0.01695169508457184, + 0.032354630529880524, + 0.02687370777130127, + 1.0 + ], + [ + 0.0019031316041946411, + 0.011645004153251648, + -0.013092719949781895, + -0.04651080071926117, + 0.09752561151981354, + 0.011857479810714722, + 1.0 + ], + [ + 0.00485365092754364, + 0.00490386039018631, + -0.0044997758232057095, + -0.02332572638988495, + -0.007168080657720566, + 0.01706823706626892, + 1.0 + ], + [ + -0.0023682117462158203, + 0.011589709669351578, + 0.000360291451215744, + 0.00989995151758194, + 0.03238934651017189, + 0.03623312711715698, + 1.0 + ], + [ + -0.00021708011627197266, + 0.01085081696510315, + -0.008704728446900845, + -0.019355542957782745, + 0.06065722554922104, + -0.005837202072143555, + 1.0 + ], + [ + 0.00033730268478393555, + 0.0023804642260074615, + -0.009479724802076817, + -0.0498957484960556, + 0.04530284181237221, + -0.06573525071144104, + 1.0 + ], + [ + 0.005237802863121033, + 0.0026318375021219254, + -0.009766041301190853, + -0.050165414810180664, + 0.024031467735767365, + -0.034030795097351074, + 1.0 + ], + [ + 0.003620326519012451, + -0.001038670539855957, + -0.01380644366145134, + -0.037918053567409515, + -0.03938204050064087, + -0.09131629765033722, + 0.0 + ], + [ + 0.001173853874206543, + -0.0025347471237182617, + -0.0028682947158813477, + 0.01680177077651024, + -0.02796333283185959, + -0.03222428262233734, + 0.0 + ], + [ + 2.104043960571289e-05, + -0.0030683204531669617, + -0.002465140074491501, + 0.033811479806900024, + -0.036168958991765976, + 0.03854277729988098, + 0.0 + ], + [ + 0.0032500773668289185, + -0.0016702692955732346, + -0.0002624392509460449, + 0.060114502906799316, + -0.047745026648044586, + -0.004010334610939026, + 0.0 + ], + [ + 0.00133611261844635, + -0.0037758536636829376, + 0.008281633257865906, + 0.046366799622774124, + -0.08839452266693115, + -0.026015058159828186, + 0.0 + ], + [ + 0.006806656718254089, + -0.009058944880962372, + 0.034172046929597855, + -0.008475236594676971, + -0.10019885748624802, + -0.004269763827323914, + 0.0 + ], + [ + 0.0024133622646331787, + 0.00018254294991493225, + 0.03937707468867302, + 0.006523646414279938, + -0.10402138531208038, + -0.004068315029144287, + 0.0 + ], + [ + -0.00045308470726013184, + 0.00774514302611351, + 0.03200824186205864, + 0.017536640167236328, + -0.09115403890609741, + -0.0007445961236953735, + 0.0 + ], + [ + 0.009591355919837952, + 0.009199483320116997, + 0.026734650135040283, + -0.025071240961551666, + -0.1097932755947113, + 0.022350385785102844, + 0.0 + ], + [ + 0.025514185428619385, + 0.013297468423843384, + 0.02284734696149826, + -0.06070440262556076, + -0.08968228101730347, + 0.0513310432434082, + 0.0 + ], + [ + 0.026964902877807617, + 0.01488207746297121, + 0.002314522862434387, + -0.03982727229595184, + -0.03808683156967163, + 0.04667365550994873, + 0.0 + ], + [ + 0.028406649827957153, + 0.013536914251744747, + 0.00018452107906341553, + -0.014099601656198502, + -0.02345365285873413, + 0.040332213044166565, + 0.0 + ], + [ + 0.02741682529449463, + 0.009958295151591301, + -0.003254510462284088, + -0.02103099226951599, + -0.035622239112854004, + 0.023316025733947754, + 0.0 + ], + [ + 0.01394924521446228, + 0.001513579860329628, + -0.00996159017086029, + 0.003763873130083084, + -0.0239526629447937, + -0.007256954908370972, + 0.0 + ], + [ + 0.012606620788574219, + -0.0012774467468261719, + -0.006454400718212128, + -0.02317848801612854, + -0.02029472589492798, + 0.014040201902389526, + 0.0 + ], + [ + 0.012061864137649536, + -0.0022409912198781967, + -0.009522929787635803, + -0.03414413332939148, + -0.02403414249420166, + 0.018862277269363403, + 0.0 + ], + [ + 0.012904375791549683, + -0.0006006956100463867, + -0.005529001355171204, + -0.001935221254825592, + -0.01590818166732788, + -0.008778095245361328, + 1.0 + ], + [ + 0.001484215259552002, + 0.004470625892281532, + -0.0037890076637268066, + 0.029382169246673584, + 0.025072693824768066, + 0.007839173078536987, + 1.0 + ], + [ + -0.005803048610687256, + -0.0073658134788274765, + -0.004481367766857147, + -0.04640918970108032, + 0.05886030197143555, + 0.011029243469238281, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9476637244224548 + ], + [ + 0.6811928749084473 + ], + [ + 0.3953573703765869 + ], + [ + 0.19260896742343903 + ], + [ + 0.11409598588943481 + ], + [ + 0.10434377193450928 + ], + [ + 0.11960587650537491 + ], + [ + 0.12527866661548615 + ], + [ + 0.1261659562587738 + ], + [ + 0.1261659562587738 + ], + [ + 0.1261659562587738 + ], + [ + 0.1261659562587738 + ], + [ + 0.1261659562587738 + ], + [ + 0.1261659562587738 + ], + [ + 0.1261659562587738 + ], + [ + 0.1261659562587738 + ], + [ + 0.16130207479000092 + ], + [ + 0.3754602372646332 + ], + [ + 0.6681591272354126 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.22812242805957794, + 0.0695732906460762, + 0.10086272656917572 + ], + [ + 0.21200068295001984, + 0.02844851091504097, + 0.08938076347112656 + ], + [ + 0.1979655921459198, + -0.009688536636531353, + 0.08306219428777695 + ], + [ + 0.1854526847600937, + -0.05141338333487511, + 0.07627416402101517 + ], + [ + 0.18176639080047607, + -0.07912874221801758, + 0.061717551201581955 + ], + [ + 0.18249423801898956, + -0.09748852998018265, + 0.044066108763217926 + ], + [ + 0.1828327178955078, + -0.10285035520792007, + 0.033161502331495285 + ], + [ + 0.18609696626663208, + -0.08970561623573303, + 0.029341503977775574 + ], + [ + 0.1868681162595749, + -0.07931088656187057, + 0.024779418483376503 + ], + [ + 0.19067399203777313, + -0.06843008100986481, + 0.02335798554122448 + ], + [ + 0.19257712364196777, + -0.05678507685661316, + 0.010265265591442585 + ], + [ + 0.1974307745695114, + -0.05188121646642685, + 0.0057654897682368755 + ], + [ + 0.1950625628232956, + -0.04029150679707527, + 0.0061257812194526196 + ], + [ + 0.19484548270702362, + -0.029440689831972122, + -0.0025789474602788687 + ], + [ + 0.19518278539180756, + -0.02706022560596466, + -0.012058672495186329 + ], + [ + 0.2004205882549286, + -0.024428388103842735, + -0.021824713796377182 + ], + [ + 0.20404091477394104, + -0.025467058643698692, + -0.03563115745782852 + ], + [ + 0.20521476864814758, + -0.028001805767416954, + -0.03849945217370987 + ], + [ + 0.2052358090877533, + -0.031070126220583916, + -0.04096459224820137 + ], + [ + 0.20848588645458221, + -0.03274039551615715, + -0.041227031499147415 + ], + [ + 0.20982199907302856, + -0.03651624917984009, + -0.03294539824128151 + ], + [ + 0.21662865579128265, + -0.04557519406080246, + 0.0012266499688848853 + ], + [ + 0.21904201805591583, + -0.04539265111088753, + 0.040603723376989365 + ], + [ + 0.2185889333486557, + -0.03764750808477402, + 0.072611965239048 + ], + [ + 0.22818028926849365, + -0.02844802476465702, + 0.09934661537408829 + ], + [ + 0.25369447469711304, + -0.015150556340813637, + 0.12219396233558655 + ], + [ + 0.28065937757492065, + -0.0002684791979845613, + 0.12450848519802094 + ], + [ + 0.3090660274028778, + 0.01326843537390232, + 0.12469300627708435 + ], + [ + 0.33648285269737244, + 0.023226730525493622, + 0.12143849581480026 + ], + [ + 0.3504320979118347, + 0.02474031038582325, + 0.11147690564393997 + ], + [ + 0.36303871870040894, + 0.023462863638997078, + 0.10502250492572784 + ], + [ + 0.37510058283805847, + 0.02122187241911888, + 0.09549957513809204 + ], + [ + 0.38800495862960815, + 0.020621176809072495, + 0.08997057378292084 + ], + [ + 0.38948917388916016, + 0.025091802701354027, + 0.08618156611919403 + ], + [ + 0.3836861252784729, + 0.01772598922252655, + 0.08170019835233688 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9514516550987971, + 0.30074717581754906, + 0.06550484140525484, + 0.2936850326224256, + -0.9507329466971296, + 0.09927721630947028, + 0.09213495332024721, + -0.07521968028621773, + -0.9929013798330198 + ], + [ + 0.9322006771865659, + 0.3587454887498919, + 0.04799553890216409, + 0.35656328462075343, + -0.9330135354502969, + 0.04845994972136656, + 0.06216527578453721, + -0.028060950948586065, + -0.9976713193825377 + ], + [ + 0.9467798208040538, + 0.3209128893700181, + 0.024957731355843966, + 0.32085153479329526, + -0.9471069631494013, + 0.006533986126818642, + 0.025734481518592953, + 0.0018214801961957587, + -0.999667153942183 + ], + [ + 0.9619115420864672, + 0.2725674312525982, + 0.02081299164452872, + 0.2731940824106366, + -0.9611936615433355, + -0.038363242103955655, + 0.009548745291678692, + 0.042588031526199735, + -0.9990470864949653 + ], + [ + 0.9633243512439583, + 0.2677282758877796, + 0.01810426995390545, + 0.26751122111569314, + -0.9634594953483184, + 0.013547966650179469, + 0.021069904546477152, + -0.008207990821181519, + -0.9997443113161893 + ], + [ + 0.9530877626137947, + 0.294689098129798, + 0.06915238390162003, + 0.28697790995125766, + -0.9523630520300682, + 0.10319058255471439, + 0.09626731509623905, + -0.0785044748496529, + -0.9922548319220932 + ], + [ + 0.9543827910492092, + 0.27675829119276024, + 0.11206398353255392, + 0.25326304565396257, + -0.9491283006058443, + 0.18711840822094647, + 0.15814966915931272, + -0.1502009229170221, + -0.9759243643334633 + ], + [ + 0.9550921637831116, + 0.2755140594838513, + 0.10904568632835665, + 0.25101882371702067, + -0.9478697536723446, + 0.19629691850065217, + 0.1574436687193766, + -0.1601091287211857, + -0.9744621891486224 + ], + [ + 0.9538152780266894, + 0.2814245668347471, + 0.10505535961931912, + 0.2576104340017215, + -0.9461999562229706, + 0.19581242845410365, + 0.1545098045313442, + -0.15970552910129235, + -0.9749978791146996 + ], + [ + 0.95084195118585, + 0.3005648585484997, + 0.07456775221773528, + 0.2844311321288048, + -0.9428578594953848, + 0.17354534814770198, + 0.12246842426116032, + -0.14380480726839798, + -0.9819988098085898 + ], + [ + 0.9542839858096636, + 0.29885208260361107, + -0.005432048481602517, + 0.2978331660617395, + -0.9491812044629735, + 0.10173714310840236, + 0.02524835877561892, + -0.09870397062785087, + -0.9947964849965214 + ], + [ + 0.9488655470638342, + 0.31560366294014724, + 0.006964304273399719, + 0.3140120096802295, + -0.9458859478895582, + 0.08183050385800732, + 0.03241344430686095, + -0.07545927062882245, + -0.9966219278664964 + ], + [ + 0.9373601523724936, + 0.34709252093275655, + -0.029710716193983133, + 0.3483618002274024, + -0.9339375221897268, + 0.08002974939631408, + 2.9774802892611543e-05, + -0.08536677666784284, + -0.9963495935437539 + ], + [ + 0.9376517296015703, + 0.3383748425730015, + -0.07944620751729045, + 0.34225436113994695, + -0.9386978363741613, + 0.04133187955023697, + -0.06059031486855548, + -0.06594571934678536, + -0.9959819154201368 + ], + [ + 0.9544916990076753, + 0.27875509328079917, + -0.10602449950579487, + 0.2788660595664676, + -0.9602267904692028, + -0.014079477514630694, + -0.1057322909394888, + -0.01612788998060769, + -0.994263835114936 + ], + [ + 0.9606875400877442, + 0.2517355264974966, + -0.11708405108804035, + 0.24552855033499188, + -0.9672107779428771, + -0.06495415307377489, + -0.12959622405979282, + 0.03365316820393292, + -0.9909956018970424 + ], + [ + 0.9833535212589833, + 0.1642401109996123, + -0.07772411573246472, + 0.1575867420568602, + -0.9838250993123493, + -0.08517389676979081, + -0.09045590613919659, + 0.07150776113039345, + -0.9933299397192535 + ], + [ + 0.9900428740598928, + 0.12956522184824198, + -0.05502690987728524, + 0.1260928918080102, + -0.9900484490779566, + -0.062487207601443114, + -0.06257547569711688, + 0.054926512412024266, + -0.996527665484271 + ], + [ + 0.9860369478399218, + 0.16498825562661557, + -0.022583467400246107, + 0.16441360708221003, + -0.9860667658129199, + -0.02530808498217409, + -0.026444343454661238, + 0.02124167753579834, + -0.999424578362328 + ], + [ + 0.9868097041454913, + 0.16120959248120206, + 0.014767365923965114, + 0.16047768906983076, + -0.9861554225985845, + 0.04176594055224528, + 0.02129598823943733, + -0.038845202682592866, + -0.9990182836732537 + ], + [ + 0.984919569049468, + 0.14352973621955767, + 0.09660567956468283, + 0.13397486107311257, + -0.9860219969994166, + 0.09905229948730268, + 0.10947227550320748, + -0.084615815625841, + -0.9903817368278371 + ], + [ + 0.9696828094006537, + 0.14600833579996184, + 0.19595105263759413, + 0.1276877594277592, + -0.9864365111811665, + 0.10314477932036667, + 0.20835327030112652, + -0.07499716851757829, + -0.9751740047136058 + ], + [ + 0.9434897348549697, + 0.15155884011123888, + 0.294715181501454, + 0.12033575662036251, + -0.9852767535793524, + 0.12144556202157847, + 0.3087821657769501, + -0.07911786675756691, + -0.9478364506906389 + ], + [ + 0.9117771089955286, + 0.1644882038687774, + 0.3763059052151309, + 0.11560114067031181, + -0.9820322343991655, + 0.14916121103257587, + 0.3940797886056558, + -0.09250038588571063, + -0.9144095356149321 + ], + [ + 0.860787351298299, + 0.18434716509587146, + 0.4744062168289685, + 0.12874333965259555, + -0.9806519857240752, + 0.14746808261628863, + 0.4924127215456107, + -0.06586201952979903, + -0.8678662950267749 + ], + [ + 0.8063955196514452, + 0.20682428191165433, + 0.5540306690949559, + 0.16329251170042883, + -0.9782998535125897, + 0.1275341218647426, + 0.5683852755909862, + -0.012373884958825354, + -0.822669475222209 + ], + [ + 0.7763312839860159, + 0.2295014152671761, + 0.5870594841197843, + 0.19531244473288584, + -0.973106081084145, + 0.12213764321257006, + 0.5993019159297652, + 0.0198407496688214, + -0.8002771758681437 + ], + [ + 0.7541330720981525, + 0.2596302014114461, + 0.6032209115099169, + 0.22241817840129308, + -0.9652242303729436, + 0.1373766319925249, + 0.6179105626904703, + 0.03056703479258318, + -0.7856539905706174 + ], + [ + 0.7273107140460702, + 0.2678113371340568, + 0.6318988945521776, + 0.2330715097840268, + -0.9623852899937818, + 0.1396145584478164, + 0.6455205624616384, + 0.04573446518822542, + -0.7623723251359255 + ], + [ + 0.7140170159026797, + 0.2622306638088542, + 0.6491646786138321, + 0.22311091414346224, + -0.9640914720621169, + 0.14404566458998028, + 0.6636273208597585, + 0.04198466929092293, + -0.7468842390578548 + ], + [ + 0.6978712203358876, + 0.2595365279033606, + 0.6675451673937629, + 0.22886884366143048, + -0.9639777401136533, + 0.1355211015541613, + 0.6786713580430359, + 0.058204014030320286, + -0.7321321468988912 + ], + [ + 0.6778311109647014, + 0.25294723495309585, + 0.6903351949147182, + 0.2365470265136267, + -0.9640587311192338, + 0.12098044139584894, + 0.6961253401909172, + 0.08129243065843324, + -0.7133029170427692 + ], + [ + 0.6693084869901704, + 0.24190075742547326, + 0.7025027920228581, + 0.22700202378159876, + -0.9668816762451394, + 0.11666149896365856, + 0.7074575820796518, + 0.08138702414004075, + -0.7020540733160381 + ], + [ + 0.6840497291790162, + 0.2714316377918251, + 0.6770530511088194, + 0.23799692506945394, + -0.9604436804321818, + 0.14458699933040098, + 0.689516810286449, + 0.06223184653802348, + -0.7215911346523518 + ], + [ + 0.718363195024106, + 0.25581134608155154, + 0.646927256537165, + 0.25885204908004966, + -0.9614538370590086, + 0.09274770019557772, + 0.6457166071287138, + 0.100831911716747, + -0.756890341369031 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005690.json b/json/chunk-0005/episode_0005690.json new file mode 100644 index 0000000000000000000000000000000000000000..276bc7034d31503b84124a76a82abd2362500ccd --- /dev/null +++ b/json/chunk-0005/episode_0005690.json @@ -0,0 +1,2062 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 33, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nUnfold the cloth from centre to top left." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005690.mp4", + "start": 0, + "end": 33, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.22906002402305603, + -0.023460352793335915, + 0.04214669018983841, + 0.06500598043203354, + -0.10565917193889618, + -0.10113190859556198, + 0.0, + 1.0008161067962646 + ], + [ + 0.22642168402671814, + -0.02268967404961586, + 0.03804349899291992, + 0.06622755527496338, + -0.08565342426300049, + -0.10112093389034271, + 0.0, + 1.0008161067962646 + ], + [ + 0.2250666469335556, + -0.005569157190620899, + 0.039368633180856705, + 0.09012624621391296, + -0.06553034484386444, + -0.10333804786205292, + 0.0, + 1.0008161067962646 + ], + [ + 0.23066926002502441, + 0.010730430483818054, + 0.04465121403336525, + 0.11373046040534973, + -0.07624877989292145, + -0.12363482266664505, + 0.0, + 1.0008161067962646 + ], + [ + 0.23980988562107086, + 0.04931870475411415, + 0.054338227957487106, + 0.16048872470855713, + -0.10886339843273163, + -0.1305144727230072, + 0.0, + 1.0008161067962646 + ], + [ + 0.2565385699272156, + 0.08709700405597687, + 0.06262257695198059, + 0.1965692937374115, + -0.13051752746105194, + -0.1650976687669754, + 0.0, + 1.0008161067962646 + ], + [ + 0.27188146114349365, + 0.12061140686273575, + 0.06501301378011703, + 0.2255738228559494, + -0.1414988934993744, + -0.1866050511598587, + 0.0, + 1.0008161067962646 + ], + [ + 0.2785605192184448, + 0.14295437932014465, + 0.051981352269649506, + 0.22343206405639648, + -0.1432991772890091, + -0.19344834983348846, + 0.0, + 1.0008161067962646 + ], + [ + 0.2773623764514923, + 0.15820156037807465, + 0.03669467568397522, + 0.20812192559242249, + -0.12880273163318634, + -0.18437759578227997, + 0.0, + 1.0008161067962646 + ], + [ + 0.2732696831226349, + 0.16857127845287323, + 0.026728332042694092, + 0.19427697360515594, + -0.1322217583656311, + -0.15904976427555084, + 0.0, + 1.0008161067962646 + ], + [ + 0.271406888961792, + 0.17039668560028076, + 0.023388821631669998, + 0.19175469875335693, + -0.12254065275192261, + -0.15531392395496368, + 0.0, + 1.0008161067962646 + ], + [ + 0.26674866676330566, + 0.16861912608146667, + 0.019028296694159508, + 0.19197838008403778, + -0.11540534347295761, + -0.13988201320171356, + 0.0, + 0.959831714630127 + ], + [ + 0.2669318914413452, + 0.16721974313259125, + 0.017673823982477188, + 0.20294693112373352, + -0.12078201025724411, + -0.1402173638343811, + 0.0, + 0.6931989789009094 + ], + [ + 0.26586031913757324, + 0.1650695502758026, + 0.01165459118783474, + 0.19794194400310516, + -0.11607563495635986, + -0.14923588931560516, + 0.0, + 0.5043045878410339 + ], + [ + 0.26512235403060913, + 0.16498349606990814, + 0.010929210111498833, + 0.20403550565242767, + -0.1161390021443367, + -0.16298691928386688, + 0.0, + 0.3644362688064575 + ], + [ + 0.2646782100200653, + 0.1626310646533966, + 0.00981597974896431, + 0.2075076699256897, + -0.11954420804977417, + -0.16995325684547424, + 0.0, + 0.16760419309139252 + ], + [ + 0.26505956053733826, + 0.1599826067686081, + 0.014031088910996914, + 0.22384586930274963, + -0.11690587550401688, + -0.18600289523601532, + 0.0, + 0.07270156592130661 + ], + [ + 0.27670910954475403, + 0.16299444437026978, + 0.03112332709133625, + 0.2581014931201935, + -0.12262500077486038, + -0.2404109388589859, + 0.0, + 0.06065736711025238 + ], + [ + 0.3080725073814392, + 0.17697320878505707, + 0.052647706121206284, + 0.30710935592651367, + -0.15197306871414185, + -0.34726566076278687, + 0.0, + 0.05896064639091492 + ], + [ + 0.33894941210746765, + 0.19933417439460754, + 0.05326753854751587, + 0.3077262341976166, + -0.14549395442008972, + -0.44625207781791687, + 0.0, + 0.05868057906627655 + ], + [ + 0.35698050260543823, + 0.21996553242206573, + 0.04584474861621857, + 0.2972166836261749, + -0.16290734708309174, + -0.49943941831588745, + 0.0, + 0.05812275409698486 + ], + [ + 0.37776345014572144, + 0.23116599023342133, + 0.027347195893526077, + 0.25924593210220337, + -0.16769053041934967, + -0.5612136125564575, + 0.0, + 0.05812275409698486 + ], + [ + 0.38240814208984375, + 0.2404102236032486, + 0.016754107549786568, + 0.23827555775642395, + -0.16229550540447235, + -0.5778615474700928, + 0.0, + 0.05812275409698486 + ], + [ + 0.3884419798851013, + 0.2411179393529892, + 0.014964555390179157, + 0.24246233701705933, + -0.16211728751659393, + -0.6169617176055908, + 0.0, + 0.05812275409698486 + ], + [ + 0.3982142508029938, + 0.23746709525585175, + 0.014687948860228062, + 0.24840803444385529, + -0.1289718598127365, + -0.6889508366584778, + 0.0, + 0.05812275409698486 + ], + [ + 0.40468963980674744, + 0.23449741303920746, + 0.015218175016343594, + 0.2524123787879944, + -0.09854353964328766, + -0.7372849583625793, + 0.0, + 0.08157449960708618 + ], + [ + 0.4034480154514313, + 0.23205037415027618, + 0.015564009547233582, + 0.24418623745441437, + -0.07295867055654526, + -0.7598820924758911, + 0.0, + 0.23988260328769684 + ], + [ + 0.40164223313331604, + 0.2319701462984085, + 0.016421303153038025, + 0.21562491357326508, + -0.0528731495141983, + -0.7265951633453369, + 0.0, + 0.5043045878410339 + ], + [ + 0.4039944112300873, + 0.22896037995815277, + 0.025765489786863327, + 0.20023389160633087, + -0.03717176988720894, + -0.66280597448349, + 0.0, + 0.8111810088157654 + ], + [ + 0.4078322947025299, + 0.2229442447423935, + 0.0310023482888937, + 0.23306196928024292, + -0.04531534016132355, + -0.6665409207344055, + 0.0, + 1.0073583126068115 + ], + [ + 0.40498465299606323, + 0.21051347255706787, + 0.0657593309879303, + 0.278067022562027, + -0.06510531902313232, + -0.6014259457588196, + 0.0, + 1.0060625076293945 + ], + [ + 0.38552042841911316, + 0.17399615049362183, + 0.06946247816085815, + 0.11726697534322739, + -0.08206363022327423, + -0.3368591070175171, + 0.0, + 1.0001531839370728 + ], + [ + 0.3643850088119507, + 0.154384046792984, + 0.06762094795703888, + 0.024397671222686768, + -0.08383072167634964, + -0.12914340198040009, + 0.0, + 0.9994885921478271 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.959831714630127 + ], + [ + 0.6931989789009094 + ], + [ + 0.5043045878410339 + ], + [ + 0.3644362688064575 + ], + [ + 0.16760419309139252 + ], + [ + 0.07270156592130661 + ], + [ + 0.06065736711025238 + ], + [ + 0.05896064639091492 + ], + [ + 0.05868057906627655 + ], + [ + 0.05812275409698486 + ], + [ + 0.05812275409698486 + ], + [ + 0.05812275409698486 + ], + [ + 0.05812275409698486 + ], + [ + 0.05812275409698486 + ], + [ + 0.08157449960708618 + ], + [ + 0.23988260328769684 + ], + [ + 0.5043045878410339 + ], + [ + 0.8111810088157654 + ], + [ + 1.0073583126068115 + ], + [ + 1.0060625076293945 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.22906002402305603, + -0.023460352793335915, + 0.04214669018983841 + ], + [ + 0.22642168402671814, + -0.02268967404961586, + 0.03804349899291992 + ], + [ + 0.2250666469335556, + -0.005569157190620899, + 0.039368633180856705 + ], + [ + 0.23066926002502441, + 0.010730430483818054, + 0.04465121403336525 + ], + [ + 0.23980988562107086, + 0.04931870475411415, + 0.054338227957487106 + ], + [ + 0.2565385699272156, + 0.08709700405597687, + 0.06262257695198059 + ], + [ + 0.27188146114349365, + 0.12061140686273575, + 0.06501301378011703 + ], + [ + 0.2785605192184448, + 0.14295437932014465, + 0.051981352269649506 + ], + [ + 0.2773623764514923, + 0.15820156037807465, + 0.03669467568397522 + ], + [ + 0.2732696831226349, + 0.16857127845287323, + 0.026728332042694092 + ], + [ + 0.271406888961792, + 0.17039668560028076, + 0.023388821631669998 + ], + [ + 0.26674866676330566, + 0.16861912608146667, + 0.019028296694159508 + ], + [ + 0.2669318914413452, + 0.16721974313259125, + 0.017673823982477188 + ], + [ + 0.26586031913757324, + 0.1650695502758026, + 0.01165459118783474 + ], + [ + 0.26512235403060913, + 0.16498349606990814, + 0.010929210111498833 + ], + [ + 0.2646782100200653, + 0.1626310646533966, + 0.00981597974896431 + ], + [ + 0.26505956053733826, + 0.1599826067686081, + 0.014031088910996914 + ], + [ + 0.27670910954475403, + 0.16299444437026978, + 0.03112332709133625 + ], + [ + 0.3080725073814392, + 0.17697320878505707, + 0.052647706121206284 + ], + [ + 0.33894941210746765, + 0.19933417439460754, + 0.05326753854751587 + ], + [ + 0.35698050260543823, + 0.21996553242206573, + 0.04584474861621857 + ], + [ + 0.37776345014572144, + 0.23116599023342133, + 0.027347195893526077 + ], + [ + 0.38240814208984375, + 0.2404102236032486, + 0.016754107549786568 + ], + [ + 0.3884419798851013, + 0.2411179393529892, + 0.014964555390179157 + ], + [ + 0.3982142508029938, + 0.23746709525585175, + 0.014687948860228062 + ], + [ + 0.40468963980674744, + 0.23449741303920746, + 0.015218175016343594 + ], + [ + 0.4034480154514313, + 0.23205037415027618, + 0.015564009547233582 + ], + [ + 0.40164223313331604, + 0.2319701462984085, + 0.016421303153038025 + ], + [ + 0.4039944112300873, + 0.22896037995815277, + 0.025765489786863327 + ], + [ + 0.4078322947025299, + 0.2229442447423935, + 0.0310023482888937 + ], + [ + 0.40498465299606323, + 0.21051347255706787, + 0.0657593309879303 + ], + [ + 0.38552042841911316, + 0.17399615049362183, + 0.06946247816085815 + ], + [ + 0.3643850088119507, + 0.154384046792984, + 0.06762094795703888 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9893422805496197, + -0.09393049131873471, + 0.1112605712617842, + -0.10039658082098218, + -0.9934808346835163, + 0.05400331171325891, + 0.10546268760245704, + -0.06459794050249992, + -0.9923228948313658 + ], + [ + 0.9912443484580372, + -0.095094762312203, + 0.0916058285852313, + -0.10057860844167481, + -0.993282114511983, + 0.05722398548283731, + 0.08554872982071345, + -0.06593653897035641, + -0.9941497812979054 + ], + [ + 0.9925304788693068, + -0.09687321157105128, + 0.07415409223620158, + -0.10293282126875436, + -0.991236372700851, + 0.0827966650325631, + 0.06548345456005984, + -0.08981110351604708, + -0.9938037446418234 + ], + [ + 0.9894835936729255, + -0.11394464359972287, + 0.08910014616735877, + -0.12296178162182483, + -0.9870219876959273, + 0.10328599162116327, + 0.07617491786998672, + -0.11315570688088376, + -0.9906528998028462 + ], + [ + 0.9856256465871261, + -0.11125737323718138, + 0.1271372553190925, + -0.12937383293241508, + -0.981013244254092, + 0.14448330682275007, + 0.10864849811242283, + -0.15885468673735725, + -0.9813056059961601 + ], + [ + 0.9780126328525259, + -0.1361108163315077, + 0.15800359381495518, + -0.16295083305665067, + -0.9715840534886823, + 0.1716725167656292, + 0.13014728574585918, + -0.19364470734846398, + -0.9724008490992353 + ], + [ + 0.9728189679441316, + -0.1498285322588078, + 0.17656349149607947, + -0.18366978116910368, + -0.9635974417180411, + 0.19428170732145636, + 0.1410271856537182, + -0.22143030785242082, + -0.9649248424986134 + ], + [ + 0.9712885643013283, + -0.1564122938847148, + 0.17925880502554548, + -0.1902736022452646, + -0.9630367749035714, + 0.1906728257301996, + 0.14280924741092843, + -0.21930655372115498, + -0.9651477370583608 + ], + [ + 0.9749073418322759, + -0.15328827292283817, + 0.16142608285484655, + -0.1818160409716507, + -0.9667027110535463, + 0.18007997025521458, + 0.12844688430211665, + -0.2049111364129764, + -0.9703158372854798 + ], + [ + 0.9787598284429073, + -0.13026971902570642, + 0.15830034280245373, + -0.15699760510981972, + -0.9728342815979982, + 0.17013292608277805, + 0.13183683178911712, + -0.19137204825331836, + -0.9726231484656007 + ], + [ + 0.9805545651622878, + -0.12883979009315744, + 0.14803058207055655, + -0.1535302740189456, + -0.973458576315199, + 0.16972582348615411, + 0.12223420020216982, + -0.18915260687375363, + -0.9743100592797957 + ], + [ + 0.9836456163052489, + -0.11510879064217151, + 0.1385325515550882, + -0.13849884424971437, + -0.9751038605255375, + 0.17317774490299198, + 0.1151493450478977, + -0.18953212789680046, + -0.9750990723151933 + ], + [ + 0.9829718577023369, + -0.11284314218482519, + 0.14502672935384073, + -0.1387401692482423, + -0.9732579901465782, + 0.18308481655454698, + 0.12048855714210341, + -0.2000882552217855, + -0.9723410912432507 + ], + [ + 0.9822305560512626, + -0.1232571700652558, + 0.14153022570013854, + -0.14768204134250337, + -0.9729616750348337, + 0.1775826387300349, + 0.11581515196268004, + -0.19532856662791434, + -0.9738755575713696 + ], + [ + 0.9800997323586903, + -0.13573198380372872, + 0.14484938109335543, + -0.16117314387780166, + -0.9700887236843742, + 0.18152433961584188, + 0.11587809250660469, + -0.2012577868136445, + -0.9726600490016564 + ], + [ + 0.9785585942302463, + -0.14129178072196713, + 0.14986564102068073, + -0.1679291702502826, + -0.9686048674622426, + 0.18331504168371668, + 0.11925968068536653, + -0.20455132223690645, + -0.9715636289682511 + ], + [ + 0.976043299426049, + -0.15487310890042247, + 0.15281949412633744, + -0.18366992872762053, + -0.9630208022178246, + 0.1971199933465099, + 0.11663976563206306, + -0.2204659942831438, + -0.9683955340861718 + ], + [ + 0.9639471407191953, + -0.1998917842449511, + 0.17563935917287485, + -0.23631385380208317, + -0.946502942795461, + 0.21974517464722687, + 0.1223179152883824, + -0.25332874663350485, + -0.9596160032682874 + ], + [ + 0.9294691065504503, + -0.28137088471203503, + 0.2385741084121954, + -0.33640544771149333, + -0.9118864461596848, + 0.23514779195282623, + 0.151388753605864, + -0.2988202378464796, + -0.9422249788320389 + ], + [ + 0.8925400812604408, + -0.3717004554371086, + 0.2553643960528783, + -0.42702770396611434, + -0.8786485867991031, + 0.21359775504758313, + 0.14498118287913742, + -0.29969222936837175, + -0.9429554731095107 + ], + [ + 0.8662283598513636, + -0.41623836800933794, + 0.276394735091209, + -0.4725923878600376, + -0.8621106047871941, + 0.18281613728061927, + 0.16218774160202243, + -0.28898257059964955, + -0.9434957394517763 + ], + [ + 0.8347343180580251, + -0.47820581205002133, + 0.27301615259501355, + -0.5247486048217794, + -0.8410907619876367, + 0.131168715159724, + 0.1669057218725591, + -0.2527558731674429, + -0.9530251563235693 + ], + [ + 0.8266253011051649, + -0.49885507312952204, + 0.26045004815844214, + -0.5390558710101396, + -0.8347989420326747, + 0.11193522372616638, + 0.16158397043734052, + -0.23292561558159808, + -0.9589766827736941 + ], + [ + 0.8049451687876562, + -0.5300281130285435, + 0.2667085949961364, + -0.5709734696971435, + -0.8142033107163462, + 0.1051773061099491, + 0.1614080919514776, + -0.2369454963022982, + -0.9580210121049751 + ], + [ + 0.7655024120432391, + -0.5918051058138145, + 0.25253271845185266, + -0.6304477292687107, + -0.7683221396535037, + 0.11052940956228872, + 0.12861460965189453, + -0.24381920853567224, + -0.961254636260928 + ], + [ + 0.7367050155579877, + -0.6327882850266359, + 0.23842127921969036, + -0.6690188962776223, + -0.7333568836044935, + 0.12083624329387672, + 0.09838412715055533, + -0.24852900756844037, + -0.9636150143713355 + ], + [ + 0.7229887349171457, + -0.6556257732852374, + 0.21781215436021828, + -0.6870034639900403, + -0.7155517102461036, + 0.126538493864758, + 0.0728939616744113, + -0.2411236101422057, + -0.9677530030867375 + ], + [ + 0.7463961428160473, + -0.6404930610085718, + 0.18072475422364462, + -0.6634002051170756, + -0.7376438889283836, + 0.12562508100388486, + 0.052848517859527516, + -0.21365891492395206, + -0.9754777815171245 + ], + [ + 0.7877242048122387, + -0.597210216102553, + 0.15109776615049034, + -0.6149060684050798, + -0.7770675389423325, + 0.13437472590005112, + 0.037163210188754764, + -0.19876115743486844, + -0.9793430951937211 + ], + [ + 0.7851581683971595, + -0.5933322203574062, + 0.1774359796799077, + -0.6176362811185353, + -0.7711840492221996, + 0.15427438695816598, + 0.045299832729092895, + -0.2307206937207904, + -0.9719649616337587 + ], + [ + 0.8227827757972239, + -0.5293594947178533, + 0.20689859642702801, + -0.5646200375200516, + -0.8029623987991819, + 0.19093349456163775, + 0.06505933508936769, + -0.27391588392556304, + -0.9595506091139783 + ], + [ + 0.9406212705249167, + -0.3192028263832139, + 0.11550403051434677, + -0.329412036848678, + -0.9404854651179053, + 0.08351526735371467, + 0.08197155247582266, + -0.11660465484244203, + -0.9897898863161708 + ], + [ + 0.988190080363252, + -0.12672073102595813, + 0.08615231511640471, + -0.12833246704221765, + -0.9916405097580523, + 0.01341183468613818, + 0.08373256818304119, + -0.024309581136600297, + -0.9961916990672204 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0026383399963378906, + 0.0007706787437200546, + -0.0041031911969184875, + 0.00122157484292984, + 0.02000574767589569, + 1.0974705219268799e-05, + 1.0 + ], + [ + -0.0013550370931625366, + 0.017120517790317535, + 0.0013251341879367828, + 0.023898690938949585, + 0.020123079419136047, + -0.002217113971710205, + 1.0 + ], + [ + 0.005602613091468811, + 0.01629958674311638, + 0.005282580852508545, + 0.023604214191436768, + -0.010718435049057007, + -0.020296774804592133, + 1.0 + ], + [ + 0.009140625596046448, + 0.0385882742702961, + 0.009687013924121857, + 0.0467582643032074, + -0.03261461853981018, + -0.006879650056362152, + 1.0 + ], + [ + 0.016728684306144714, + 0.03777829930186272, + 0.008284348994493484, + 0.03608056902885437, + -0.021654129028320312, + -0.0345831960439682, + 1.0 + ], + [ + 0.015342891216278076, + 0.03351440280675888, + 0.002390436828136444, + 0.029004529118537903, + -0.010981366038322449, + -0.0215073823928833, + 1.0 + ], + [ + 0.006679058074951172, + 0.022342972457408905, + -0.01303166151046753, + -0.0021417587995529175, + -0.0018002837896347046, + -0.006843298673629761, + 1.0 + ], + [ + -0.0011981427669525146, + 0.015247181057929993, + -0.015286676585674286, + -0.015310138463973999, + 0.014496445655822754, + 0.009070754051208496, + 1.0 + ], + [ + -0.004092693328857422, + 0.010369718074798584, + -0.009966343641281128, + -0.01384495198726654, + -0.003419026732444763, + 0.025327831506729126, + 1.0 + ], + [ + -0.0018627941608428955, + 0.0018254071474075317, + -0.0033395104110240936, + -0.0025222748517990112, + 0.009681105613708496, + 0.003735840320587158, + 1.0 + ], + [ + -0.004658222198486328, + -0.001777559518814087, + -0.00436052493751049, + 0.00022368133068084717, + 0.007135309278964996, + 0.015431910753250122, + 0.0 + ], + [ + 0.00018322467803955078, + -0.0013993829488754272, + -0.0013544727116823196, + 0.01096855103969574, + -0.005376666784286499, + -0.0003353506326675415, + 0.0 + ], + [ + -0.0010715723037719727, + -0.0021501928567886353, + -0.006019232794642448, + -0.005004987120628357, + 0.004706375300884247, + -0.00901852548122406, + 0.0 + ], + [ + -0.0007379651069641113, + -8.605420589447021e-05, + -0.000725381076335907, + 0.00609356164932251, + -6.336718797683716e-05, + -0.013751029968261719, + 0.0 + ], + [ + -0.00044414401054382324, + -0.0023524314165115356, + -0.001113230362534523, + 0.003472164273262024, + -0.0034052059054374695, + -0.006966337561607361, + 0.0 + ], + [ + 0.0003813505172729492, + -0.002648457884788513, + 0.004215109162032604, + 0.016338199377059937, + 0.0026383325457572937, + -0.016049638390541077, + 0.0 + ], + [ + 0.011649549007415771, + 0.003011837601661682, + 0.01709223911166191, + 0.03425562381744385, + -0.005719125270843506, + -0.05440804362297058, + 0.0 + ], + [ + 0.03136339783668518, + 0.013978764414787292, + 0.021524379029870033, + 0.04900786280632019, + -0.029348067939281464, + -0.10685472190380096, + 0.0 + ], + [ + 0.030876904726028442, + 0.022360965609550476, + 0.0006198324263095856, + 0.0006168782711029053, + 0.006479114294052124, + -0.09898641705513, + 0.0 + ], + [ + 0.01803109049797058, + 0.02063135802745819, + -0.007422789931297302, + -0.01050955057144165, + -0.017413392663002014, + -0.05318734049797058, + 0.0 + ], + [ + 0.020782947540283203, + 0.01120045781135559, + -0.01849755272269249, + -0.03797075152397156, + -0.004783183336257935, + -0.06177419424057007, + 0.0 + ], + [ + 0.0046446919441223145, + 0.00924423336982727, + -0.01059308834373951, + -0.02097037434577942, + 0.005395025014877319, + -0.016647934913635254, + 0.0 + ], + [ + 0.006033837795257568, + 0.0007077157497406006, + -0.0017895521596074104, + 0.004186779260635376, + 0.00017821788787841797, + -0.03910017013549805, + 0.0 + ], + [ + 0.009772270917892456, + -0.003650844097137451, + -0.0002766065299510956, + 0.0059456974267959595, + 0.03314542770385742, + -0.07198911905288696, + 0.0 + ], + [ + 0.006475389003753662, + -0.002969682216644287, + 0.0005302261561155319, + 0.004004344344139099, + 0.030428320169448853, + -0.04833412170410156, + 1.0 + ], + [ + -0.0012416243553161621, + -0.0024470388889312744, + 0.00034583453088998795, + -0.008226141333580017, + 0.0255848690867424, + -0.022597134113311768, + 1.0 + ], + [ + -0.0018057823181152344, + -8.022785186767578e-05, + 0.0008572936058044434, + -0.028561323881149292, + 0.020085521042346954, + 0.0332869291305542, + 1.0 + ], + [ + 0.0023521780967712402, + -0.0030097663402557373, + 0.009344186633825302, + -0.015391021966934204, + 0.015701379626989365, + 0.06378918886184692, + 1.0 + ], + [ + 0.003837883472442627, + -0.006016135215759277, + 0.005236858502030373, + 0.03282807767391205, + -0.008143570274114609, + -0.0037349462509155273, + 1.0 + ], + [ + -0.002847641706466675, + -0.012430772185325623, + 0.03475698083639145, + 0.04500505328178406, + -0.019789978861808777, + 0.06511497497558594, + 1.0 + ], + [ + -0.019464224576950073, + -0.036517322063446045, + 0.0037031471729278564, + -0.160800039768219, + -0.016958311200141907, + 0.2645668387413025, + 1.0 + ], + [ + -0.021135419607162476, + -0.019612103700637817, + -0.001841530203819275, + -0.09286930412054062, + -0.001767091453075409, + 0.207715705037117, + 1.0 + ], + [ + -0.015062272548675537, + -0.016490578651428223, + -0.01084648072719574, + -0.03486470878124237, + 0.04179759323596954, + 0.03609476983547211, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.959831714630127 + ], + [ + 0.6931989789009094 + ], + [ + 0.5043045878410339 + ], + [ + 0.3644362688064575 + ], + [ + 0.16760419309139252 + ], + [ + 0.07270156592130661 + ], + [ + 0.06065736711025238 + ], + [ + 0.05896064639091492 + ], + [ + 0.05868057906627655 + ], + [ + 0.05812275409698486 + ], + [ + 0.05812275409698486 + ], + [ + 0.05812275409698486 + ], + [ + 0.05812275409698486 + ], + [ + 0.05812275409698486 + ], + [ + 0.08157449960708618 + ], + [ + 0.23988260328769684 + ], + [ + 0.5043045878410339 + ], + [ + 0.8111810088157654 + ], + [ + 1.0073583126068115 + ], + [ + 1.0060625076293945 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.22642168402671814, + -0.02268967404961586, + 0.03804349899291992 + ], + [ + 0.2250666469335556, + -0.005569157190620899, + 0.039368633180856705 + ], + [ + 0.23066926002502441, + 0.010730430483818054, + 0.04465121403336525 + ], + [ + 0.23980988562107086, + 0.04931870475411415, + 0.054338227957487106 + ], + [ + 0.2565385699272156, + 0.08709700405597687, + 0.06262257695198059 + ], + [ + 0.27188146114349365, + 0.12061140686273575, + 0.06501301378011703 + ], + [ + 0.2785605192184448, + 0.14295437932014465, + 0.051981352269649506 + ], + [ + 0.2773623764514923, + 0.15820156037807465, + 0.03669467568397522 + ], + [ + 0.2732696831226349, + 0.16857127845287323, + 0.026728332042694092 + ], + [ + 0.271406888961792, + 0.17039668560028076, + 0.023388821631669998 + ], + [ + 0.26674866676330566, + 0.16861912608146667, + 0.019028296694159508 + ], + [ + 0.2669318914413452, + 0.16721974313259125, + 0.017673823982477188 + ], + [ + 0.26586031913757324, + 0.1650695502758026, + 0.01165459118783474 + ], + [ + 0.26512235403060913, + 0.16498349606990814, + 0.010929210111498833 + ], + [ + 0.2646782100200653, + 0.1626310646533966, + 0.00981597974896431 + ], + [ + 0.26505956053733826, + 0.1599826067686081, + 0.014031088910996914 + ], + [ + 0.27670910954475403, + 0.16299444437026978, + 0.03112332709133625 + ], + [ + 0.3080725073814392, + 0.17697320878505707, + 0.052647706121206284 + ], + [ + 0.33894941210746765, + 0.19933417439460754, + 0.05326753854751587 + ], + [ + 0.35698050260543823, + 0.21996553242206573, + 0.04584474861621857 + ], + [ + 0.37776345014572144, + 0.23116599023342133, + 0.027347195893526077 + ], + [ + 0.38240814208984375, + 0.2404102236032486, + 0.016754107549786568 + ], + [ + 0.3884419798851013, + 0.2411179393529892, + 0.014964555390179157 + ], + [ + 0.3982142508029938, + 0.23746709525585175, + 0.014687948860228062 + ], + [ + 0.40468963980674744, + 0.23449741303920746, + 0.015218175016343594 + ], + [ + 0.4034480154514313, + 0.23205037415027618, + 0.015564009547233582 + ], + [ + 0.40164223313331604, + 0.2319701462984085, + 0.016421303153038025 + ], + [ + 0.4039944112300873, + 0.22896037995815277, + 0.025765489786863327 + ], + [ + 0.4078322947025299, + 0.2229442447423935, + 0.0310023482888937 + ], + [ + 0.40498465299606323, + 0.21051347255706787, + 0.0657593309879303 + ], + [ + 0.38552042841911316, + 0.17399615049362183, + 0.06946247816085815 + ], + [ + 0.3643850088119507, + 0.154384046792984, + 0.06762094795703888 + ], + [ + 0.34932273626327515, + 0.1378934681415558, + 0.05677446722984314 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9912443484580372, + -0.095094762312203, + 0.0916058285852313, + -0.10057860844167481, + -0.993282114511983, + 0.05722398548283731, + 0.08554872982071345, + -0.06593653897035641, + -0.9941497812979054 + ], + [ + 0.9925304788693068, + -0.09687321157105128, + 0.07415409223620158, + -0.10293282126875436, + -0.991236372700851, + 0.0827966650325631, + 0.06548345456005984, + -0.08981110351604708, + -0.9938037446418234 + ], + [ + 0.9894835936729255, + -0.11394464359972287, + 0.08910014616735877, + -0.12296178162182483, + -0.9870219876959273, + 0.10328599162116327, + 0.07617491786998672, + -0.11315570688088376, + -0.9906528998028462 + ], + [ + 0.9856256465871261, + -0.11125737323718138, + 0.1271372553190925, + -0.12937383293241508, + -0.981013244254092, + 0.14448330682275007, + 0.10864849811242283, + -0.15885468673735725, + -0.9813056059961601 + ], + [ + 0.9780126328525259, + -0.1361108163315077, + 0.15800359381495518, + -0.16295083305665067, + -0.9715840534886823, + 0.1716725167656292, + 0.13014728574585918, + -0.19364470734846398, + -0.9724008490992353 + ], + [ + 0.9728189679441316, + -0.1498285322588078, + 0.17656349149607947, + -0.18366978116910368, + -0.9635974417180411, + 0.19428170732145636, + 0.1410271856537182, + -0.22143030785242082, + -0.9649248424986134 + ], + [ + 0.9712885643013283, + -0.1564122938847148, + 0.17925880502554548, + -0.1902736022452646, + -0.9630367749035714, + 0.1906728257301996, + 0.14280924741092843, + -0.21930655372115498, + -0.9651477370583608 + ], + [ + 0.9749073418322759, + -0.15328827292283817, + 0.16142608285484655, + -0.1818160409716507, + -0.9667027110535463, + 0.18007997025521458, + 0.12844688430211665, + -0.2049111364129764, + -0.9703158372854798 + ], + [ + 0.9787598284429073, + -0.13026971902570642, + 0.15830034280245373, + -0.15699760510981972, + -0.9728342815979982, + 0.17013292608277805, + 0.13183683178911712, + -0.19137204825331836, + -0.9726231484656007 + ], + [ + 0.9805545651622878, + -0.12883979009315744, + 0.14803058207055655, + -0.1535302740189456, + -0.973458576315199, + 0.16972582348615411, + 0.12223420020216982, + -0.18915260687375363, + -0.9743100592797957 + ], + [ + 0.9836456163052489, + -0.11510879064217151, + 0.1385325515550882, + -0.13849884424971437, + -0.9751038605255375, + 0.17317774490299198, + 0.1151493450478977, + -0.18953212789680046, + -0.9750990723151933 + ], + [ + 0.9829718577023369, + -0.11284314218482519, + 0.14502672935384073, + -0.1387401692482423, + -0.9732579901465782, + 0.18308481655454698, + 0.12048855714210341, + -0.2000882552217855, + -0.9723410912432507 + ], + [ + 0.9822305560512626, + -0.1232571700652558, + 0.14153022570013854, + -0.14768204134250337, + -0.9729616750348337, + 0.1775826387300349, + 0.11581515196268004, + -0.19532856662791434, + -0.9738755575713696 + ], + [ + 0.9800997323586903, + -0.13573198380372872, + 0.14484938109335543, + -0.16117314387780166, + -0.9700887236843742, + 0.18152433961584188, + 0.11587809250660469, + -0.2012577868136445, + -0.9726600490016564 + ], + [ + 0.9785585942302463, + -0.14129178072196713, + 0.14986564102068073, + -0.1679291702502826, + -0.9686048674622426, + 0.18331504168371668, + 0.11925968068536653, + -0.20455132223690645, + -0.9715636289682511 + ], + [ + 0.976043299426049, + -0.15487310890042247, + 0.15281949412633744, + -0.18366992872762053, + -0.9630208022178246, + 0.1971199933465099, + 0.11663976563206306, + -0.2204659942831438, + -0.9683955340861718 + ], + [ + 0.9639471407191953, + -0.1998917842449511, + 0.17563935917287485, + -0.23631385380208317, + -0.946502942795461, + 0.21974517464722687, + 0.1223179152883824, + -0.25332874663350485, + -0.9596160032682874 + ], + [ + 0.9294691065504503, + -0.28137088471203503, + 0.2385741084121954, + -0.33640544771149333, + -0.9118864461596848, + 0.23514779195282623, + 0.151388753605864, + -0.2988202378464796, + -0.9422249788320389 + ], + [ + 0.8925400812604408, + -0.3717004554371086, + 0.2553643960528783, + -0.42702770396611434, + -0.8786485867991031, + 0.21359775504758313, + 0.14498118287913742, + -0.29969222936837175, + -0.9429554731095107 + ], + [ + 0.8662283598513636, + -0.41623836800933794, + 0.276394735091209, + -0.4725923878600376, + -0.8621106047871941, + 0.18281613728061927, + 0.16218774160202243, + -0.28898257059964955, + -0.9434957394517763 + ], + [ + 0.8347343180580251, + -0.47820581205002133, + 0.27301615259501355, + -0.5247486048217794, + -0.8410907619876367, + 0.131168715159724, + 0.1669057218725591, + -0.2527558731674429, + -0.9530251563235693 + ], + [ + 0.8266253011051649, + -0.49885507312952204, + 0.26045004815844214, + -0.5390558710101396, + -0.8347989420326747, + 0.11193522372616638, + 0.16158397043734052, + -0.23292561558159808, + -0.9589766827736941 + ], + [ + 0.8049451687876562, + -0.5300281130285435, + 0.2667085949961364, + -0.5709734696971435, + -0.8142033107163462, + 0.1051773061099491, + 0.1614080919514776, + -0.2369454963022982, + -0.9580210121049751 + ], + [ + 0.7655024120432391, + -0.5918051058138145, + 0.25253271845185266, + -0.6304477292687107, + -0.7683221396535037, + 0.11052940956228872, + 0.12861460965189453, + -0.24381920853567224, + -0.961254636260928 + ], + [ + 0.7367050155579877, + -0.6327882850266359, + 0.23842127921969036, + -0.6690188962776223, + -0.7333568836044935, + 0.12083624329387672, + 0.09838412715055533, + -0.24852900756844037, + -0.9636150143713355 + ], + [ + 0.7229887349171457, + -0.6556257732852374, + 0.21781215436021828, + -0.6870034639900403, + -0.7155517102461036, + 0.126538493864758, + 0.0728939616744113, + -0.2411236101422057, + -0.9677530030867375 + ], + [ + 0.7463961428160473, + -0.6404930610085718, + 0.18072475422364462, + -0.6634002051170756, + -0.7376438889283836, + 0.12562508100388486, + 0.052848517859527516, + -0.21365891492395206, + -0.9754777815171245 + ], + [ + 0.7877242048122387, + -0.597210216102553, + 0.15109776615049034, + -0.6149060684050798, + -0.7770675389423325, + 0.13437472590005112, + 0.037163210188754764, + -0.19876115743486844, + -0.9793430951937211 + ], + [ + 0.7851581683971595, + -0.5933322203574062, + 0.1774359796799077, + -0.6176362811185353, + -0.7711840492221996, + 0.15427438695816598, + 0.045299832729092895, + -0.2307206937207904, + -0.9719649616337587 + ], + [ + 0.8227827757972239, + -0.5293594947178533, + 0.20689859642702801, + -0.5646200375200516, + -0.8029623987991819, + 0.19093349456163775, + 0.06505933508936769, + -0.27391588392556304, + -0.9595506091139783 + ], + [ + 0.9406212705249167, + -0.3192028263832139, + 0.11550403051434677, + -0.329412036848678, + -0.9404854651179053, + 0.08351526735371467, + 0.08197155247582266, + -0.11660465484244203, + -0.9897898863161708 + ], + [ + 0.988190080363252, + -0.12672073102595813, + 0.08615231511640471, + -0.12833246704221765, + -0.9916405097580523, + 0.01341183468613818, + 0.08373256818304119, + -0.024309581136600297, + -0.9961916990672204 + ], + [ + 0.994794657551334, + -0.09334725267040213, + 0.04086416188070173, + -0.09283235257274038, + -0.995578690516178, + -0.014325686926035724, + 0.04202075229139188, + 0.01045760053647449, + -0.9990620075690423 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005691.json b/json/chunk-0005/episode_0005691.json new file mode 100644 index 0000000000000000000000000000000000000000..d6f188172f7fd7e474c5cf54135ba12f73a5f86c --- /dev/null +++ b/json/chunk-0005/episode_0005691.json @@ -0,0 +1,1282 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 20, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the carrot from left side to right side." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005691.mp4", + "start": 0, + "end": 20, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3586268126964569, + 0.1305704414844513, + 0.06008901074528694, + 0.04145728051662445, + -0.07127825170755386, + -0.02072644792497158, + 0.0, + 1.0008161067962646 + ], + [ + 0.35476386547088623, + 0.12851141393184662, + 0.04847514629364014, + 0.0257574375718832, + -0.04108494147658348, + -0.02245899848639965, + 0.0, + 1.0008161067962646 + ], + [ + 0.33698999881744385, + 0.11925354599952698, + 0.04586915671825409, + 0.006341833155602217, + -0.034083519130945206, + -0.06907959282398224, + 0.0, + 1.0008161067962646 + ], + [ + 0.31459763646125793, + 0.11053171008825302, + 0.07463718950748444, + 0.004864023998379707, + -0.11099924892187119, + -0.12661921977996826, + 0.0, + 1.0008161067962646 + ], + [ + 0.2900093197822571, + 0.10563912987709045, + 0.061878569424152374, + -0.012646134942770004, + -0.06749101728200912, + -0.16903871297836304, + 0.0, + 1.0008161067962646 + ], + [ + 0.265616774559021, + 0.1064060777425766, + 0.04020285978913307, + 0.018623992800712585, + 0.013933850452303886, + -0.21691875159740448, + 0.0, + 1.0008161067962646 + ], + [ + 0.2595413029193878, + 0.10617691278457642, + 0.021326379850506783, + 0.015776917338371277, + 0.05447498336434364, + -0.23740774393081665, + 0.0, + 1.0008161067962646 + ], + [ + 0.26199519634246826, + 0.10379789024591446, + 0.019534846767783165, + 0.01915949583053589, + 0.049052268266677856, + -0.24236319959163666, + 0.0, + 0.9665181636810303 + ], + [ + 0.26399335265159607, + 0.10132627934217453, + 0.01865910179913044, + 0.028023382648825645, + 0.04143189266324043, + -0.24573291838169098, + 0.0, + 0.6921995282173157 + ], + [ + 0.26190024614334106, + 0.09811507910490036, + 0.0179987084120512, + 0.023823000490665436, + 0.045845065265893936, + -0.24948836863040924, + 0.0, + 0.48323801159858704 + ], + [ + 0.263847678899765, + 0.08648921549320221, + 0.036952584981918335, + 0.005567655898630619, + 0.01409082766622305, + -0.23650172352790833, + 0.0, + 0.4690495729446411 + ], + [ + 0.282973051071167, + 0.06086976081132889, + 0.062001075595617294, + -0.05264456570148468, + -0.025471000000834465, + -0.21418523788452148, + 0.0, + 0.4690495729446411 + ], + [ + 0.321938693523407, + 0.028248067945241928, + 0.0719054788351059, + -0.046037234365940094, + -0.05772007256746292, + -0.21531632542610168, + 0.0, + 0.4690495729446411 + ], + [ + 0.35841453075408936, + 0.008500145748257637, + 0.05074873939156532, + 0.01768345944583416, + -0.02265593782067299, + -0.21397316455841064, + 0.0, + 0.4690495729446411 + ], + [ + 0.38316720724105835, + 0.0032900464721024036, + 0.0373569093644619, + 0.051639895886182785, + -0.024346303194761276, + -0.18281050026416779, + 0.0, + 0.4690495729446411 + ], + [ + 0.38814449310302734, + 0.00587765546515584, + 0.031053952872753143, + 0.06416536867618561, + -0.02750995010137558, + -0.15118232369422913, + 0.0, + 0.5393473505973816 + ], + [ + 0.38894984126091003, + 0.0025184431578963995, + 0.02639264427125454, + 0.041859544813632965, + -0.020734500139951706, + -0.1526646763086319, + 0.0, + 0.8463236093521118 + ], + [ + 0.38901033997535706, + 0.005643998272716999, + 0.026951786130666733, + 0.035898126661777496, + -0.02243756875395775, + -0.15958024561405182, + 0.0, + 1.0124757289886475 + ], + [ + 0.38912805914878845, + 0.01076233759522438, + 0.0425521545112133, + 0.03823542967438698, + -0.06014002114534378, + -0.16920585930347443, + 0.0, + 1.0092895030975342 + ], + [ + 0.3884834349155426, + 0.015778157860040665, + 0.06328829377889633, + 0.030567482113838196, + -0.10975436866283417, + -0.15385065972805023, + 0.0, + 1.0027955770492554 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9665181636810303 + ], + [ + 0.6921995282173157 + ], + [ + 0.48323801159858704 + ], + [ + 0.4690495729446411 + ], + [ + 0.4690495729446411 + ], + [ + 0.4690495729446411 + ], + [ + 0.4690495729446411 + ], + [ + 0.4690495729446411 + ], + [ + 0.5393473505973816 + ], + [ + 0.8463236093521118 + ], + [ + 1.0124757289886475 + ], + [ + 1.0092895030975342 + ], + [ + 1.0027955770492554 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3586268126964569, + 0.1305704414844513, + 0.06008901074528694 + ], + [ + 0.35476386547088623, + 0.12851141393184662, + 0.04847514629364014 + ], + [ + 0.33698999881744385, + 0.11925354599952698, + 0.04586915671825409 + ], + [ + 0.31459763646125793, + 0.11053171008825302, + 0.07463718950748444 + ], + [ + 0.2900093197822571, + 0.10563912987709045, + 0.061878569424152374 + ], + [ + 0.265616774559021, + 0.1064060777425766, + 0.04020285978913307 + ], + [ + 0.2595413029193878, + 0.10617691278457642, + 0.021326379850506783 + ], + [ + 0.26199519634246826, + 0.10379789024591446, + 0.019534846767783165 + ], + [ + 0.26399335265159607, + 0.10132627934217453, + 0.01865910179913044 + ], + [ + 0.26190024614334106, + 0.09811507910490036, + 0.0179987084120512 + ], + [ + 0.263847678899765, + 0.08648921549320221, + 0.036952584981918335 + ], + [ + 0.282973051071167, + 0.06086976081132889, + 0.062001075595617294 + ], + [ + 0.321938693523407, + 0.028248067945241928, + 0.0719054788351059 + ], + [ + 0.35841453075408936, + 0.008500145748257637, + 0.05074873939156532 + ], + [ + 0.38316720724105835, + 0.0032900464721024036, + 0.0373569093644619 + ], + [ + 0.38814449310302734, + 0.00587765546515584, + 0.031053952872753143 + ], + [ + 0.38894984126091003, + 0.0025184431578963995, + 0.02639264427125454 + ], + [ + 0.38901033997535706, + 0.005643998272716999, + 0.026951786130666733 + ], + [ + 0.38912805914878845, + 0.01076233759522438, + 0.0425521545112133 + ], + [ + 0.3884834349155426, + 0.015778157860040665, + 0.06328829377889633 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9972465410046926, + -0.017756135209189623, + 0.07200038969761748, + -0.020672338765256287, + -0.9989873423862267, + 0.039961783769976084, + 0.07121791111897545, + -0.04134016708404574, + -0.9966037325443412 + ], + [ + 0.9989041526156673, + -0.021392099960454748, + 0.04162777854339433, + -0.02243815963055689, + -0.9994399422558835, + 0.024826010874690715, + 0.0410733840774, + -0.02573285609563242, + -0.9988247079631102 + ], + [ + 0.9970355518986369, + -0.06880768343438154, + 0.0344327017611811, + -0.068984576120286, + -0.9976098090409752, + 0.003974564470915825, + 0.03407692045483242, + -0.006338107416487576, + -0.999399115412202 + ], + [ + 0.9858896633668136, + -0.12574518192656153, + 0.11049760580540757, + -0.1255040092173309, + -0.9920507955629888, + -0.009163115912044072, + 0.11077145542443423, + -0.0048340712755786455, + -0.9938341493519206 + ], + [ + 0.9835027392629622, + -0.1690620634630589, + 0.064345788983134, + -0.16785182862088904, + -0.985524646983884, + -0.023810372023848354, + 0.06743979159867755, + 0.012617007763452159, + -0.9976435664225092 + ], + [ + 0.9764704357128614, + -0.21543768504098582, + -0.009596459915815177, + -0.21520071690170206, + -0.976340032051842, + 0.021184741159661152, + -0.013933399575421094, + -0.018621108377036642, + -0.9997295207700343 + ], + [ + 0.9705091095279191, + -0.23598949735624003, + -0.04920391712938189, + -0.23483500324434237, + -0.9716279146496878, + 0.02813746123460777, + -0.05444804472665315, + -0.01575286040846278, + -0.9983923366164207 + ], + [ + 0.9696058572286439, + -0.2408653050886819, + -0.042992864901551256, + -0.23970875202906491, + -0.9703699015729118, + 0.030363931267967027, + -0.049032599651406425, + -0.01913527961420375, + -0.9986138619333857 + ], + [ + 0.9691268926225278, + -0.24429749032821307, + -0.033343698282284236, + -0.2430585243966083, + -0.9692961254095401, + 0.037250167572729864, + -0.04142004000416614, + -0.027995669047010414, + -0.9987495295621739 + ], + [ + 0.9680207044437216, + -0.24789602117800213, + -0.03851595062303153, + -0.2466487742226256, + -0.9684943605705311, + 0.034395577005681355, + -0.04582900765624907, + -0.023795718673598046, + -0.9986658429274778 + ], + [ + 0.9720670684455385, + -0.23437580464671348, + -0.012393411148779593, + -0.2342799098512704, + -0.9721301301156604, + 0.00871400948990268, + -0.014090361378535018, + -0.0055670744125704864, + -0.9998852281130607 + ], + [ + 0.9768329407806426, + -0.213566407542127, + 0.013667310466664341, + -0.21248240928203335, + -0.9755112990775702, + -0.05682368447834521, + 0.025468245945579705, + 0.05260318375861091, + -0.9982906758589473 + ], + [ + 0.9752819717806778, + -0.2160236409491332, + 0.04646355637134749, + -0.21330064924224498, + -0.9753065696390026, + -0.05727065786105513, + 0.05768802780846457, + 0.04594433338379435, + -0.9972768971942991 + ], + [ + 0.9769441695985378, + -0.211919477416899, + 0.025888695965065368, + -0.2122896271267307, + -0.9771272298996021, + 0.01246959514673759, + 0.022653999686960403, + -0.017677999889080538, + -0.9995870570481116 + ], + [ + 0.9830452268370367, + -0.18031599723868943, + 0.03328998547215045, + -0.1817400798364556, + -0.9822542495603418, + 0.04633716221013612, + 0.024343898084690216, + -0.0516016507533109, + -0.998370995304639 + ], + [ + 0.9882196436781853, + -0.14855350757446897, + 0.03679390215623826, + -0.15055008930185235, + -0.9868249181098392, + 0.05925581497805626, + 0.027506480323097243, + -0.06409708561886052, + -0.9975645127786993 + ], + [ + 0.988156911755925, + -0.15108161077539872, + 0.026837746449805033, + -0.1520396654155276, + -0.9876355103718981, + 0.03821045397237385, + 0.020733014477579314, + -0.04183832618486798, + -0.9989092534223122 + ], + [ + 0.9870455574635488, + -0.1580064279030178, + 0.027839472566859345, + -0.15886380166565625, + -0.9867859418835635, + 0.03187157701312936, + 0.02243568612294942, + -0.03588138294850471, + -0.9991041819279387 + ], + [ + 0.9839367630985592, + -0.1660117998429591, + 0.06563938250800191, + -0.1680951588981039, + -0.9853852673872064, + 0.027566145382797988, + 0.0601037750740476, + -0.03815700629171054, + -0.9974625702715382 + ], + [ + 0.9822424169182745, + -0.1498647278526324, + 0.11287337042988906, + -0.15232236941200902, + -0.98823969268725, + 0.013424066973949085, + 0.10953415076248131, + -0.03037882721676463, + -0.9935186946774962 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0038629472255706787, + -0.0020590275526046753, + -0.011613864451646805, + -0.01569984294474125, + 0.030193310230970383, + -0.00173255056142807, + 1.0 + ], + [ + -0.017773866653442383, + -0.009257867932319641, + -0.0026059895753860474, + -0.019415603950619698, + 0.007001422345638275, + -0.04662059247493744, + 1.0 + ], + [ + -0.022392362356185913, + -0.008721835911273956, + 0.028768032789230347, + -0.0014778091572225094, + -0.07691572606563568, + -0.05753962695598602, + 1.0 + ], + [ + -0.024588316679000854, + -0.004892580211162567, + -0.012758620083332062, + -0.01751015894114971, + 0.04350823163986206, + -0.042419493198394775, + 1.0 + ], + [ + -0.024392545223236084, + 0.000766947865486145, + -0.021675709635019302, + 0.03127012774348259, + 0.08142486959695816, + -0.04788003861904144, + 1.0 + ], + [ + -0.006075471639633179, + -0.0002291649580001831, + -0.01887647993862629, + -0.0028470754623413086, + 0.040541134774684906, + -0.02048899233341217, + 1.0 + ], + [ + 0.0024538934230804443, + -0.002379022538661957, + -0.0017915330827236176, + 0.003382578492164612, + -0.005422715097665787, + -0.004955455660820007, + 0.0 + ], + [ + 0.0019981563091278076, + -0.002471610903739929, + -0.0008757449686527252, + 0.008863886818289757, + -0.007620375603437424, + -0.0033697187900543213, + 0.0 + ], + [ + -0.002093106508255005, + -0.00321120023727417, + -0.0006603933870792389, + -0.00420038215816021, + 0.004413172602653503, + -0.0037554502487182617, + 0.0 + ], + [ + 0.0019474327564239502, + -0.01162586361169815, + 0.018953876569867134, + -0.01825534552335739, + -0.03175423666834831, + 0.012986645102500916, + 0.0 + ], + [ + 0.019125372171401978, + -0.02561945468187332, + 0.02504849061369896, + -0.058212220668792725, + -0.03956182673573494, + 0.02231648564338684, + 0.0 + ], + [ + 0.03896564245223999, + -0.03262169286608696, + 0.009904403239488602, + 0.006607331335544586, + -0.03224907070398331, + -0.0011310875415802002, + 0.0 + ], + [ + 0.03647583723068237, + -0.01974792219698429, + -0.021156739443540573, + 0.0637206956744194, + 0.03506413474678993, + 0.00134316086769104, + 0.0 + ], + [ + 0.024752676486968994, + -0.005210099276155233, + -0.013391830027103424, + 0.033956438302993774, + -0.0016903653740882874, + 0.03116266429424286, + 0.0 + ], + [ + 0.004977285861968994, + 0.0025876089930534363, + -0.0063029564917087555, + 0.012525472790002823, + -0.0031636469066143036, + 0.03162817656993866, + 1.0 + ], + [ + 0.0008053481578826904, + -0.0033592123072594404, + -0.004661308601498604, + -0.022305823862552643, + 0.006775449961423874, + -0.001482352614402771, + 1.0 + ], + [ + 6.0498714447021484e-05, + 0.0031255551148205996, + 0.0005591418594121933, + -0.005961418151855469, + -0.0017030686140060425, + -0.006915569305419922, + 1.0 + ], + [ + 0.00011771917343139648, + 0.0051183393225073814, + 0.01560036838054657, + 0.002337303012609482, + -0.03770245239138603, + -0.009625613689422607, + 1.0 + ], + [ + -0.0006446242332458496, + 0.005015820264816284, + 0.02073613926768303, + -0.007667947560548782, + -0.04961434751749039, + 0.015355199575424194, + 1.0 + ], + [ + -0.003351539373397827, + 0.002971542999148369, + -0.0011801086366176605, + -0.008146911859512329, + 0.01097945123910904, + 0.004078090190887451, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9665181636810303 + ], + [ + 0.6921995282173157 + ], + [ + 0.48323801159858704 + ], + [ + 0.4690495729446411 + ], + [ + 0.4690495729446411 + ], + [ + 0.4690495729446411 + ], + [ + 0.4690495729446411 + ], + [ + 0.4690495729446411 + ], + [ + 0.5393473505973816 + ], + [ + 0.8463236093521118 + ], + [ + 1.0124757289886475 + ], + [ + 1.0092895030975342 + ], + [ + 1.0027955770492554 + ], + [ + 1.0014774799346924 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.35476386547088623, + 0.12851141393184662, + 0.04847514629364014 + ], + [ + 0.33698999881744385, + 0.11925354599952698, + 0.04586915671825409 + ], + [ + 0.31459763646125793, + 0.11053171008825302, + 0.07463718950748444 + ], + [ + 0.2900093197822571, + 0.10563912987709045, + 0.061878569424152374 + ], + [ + 0.265616774559021, + 0.1064060777425766, + 0.04020285978913307 + ], + [ + 0.2595413029193878, + 0.10617691278457642, + 0.021326379850506783 + ], + [ + 0.26199519634246826, + 0.10379789024591446, + 0.019534846767783165 + ], + [ + 0.26399335265159607, + 0.10132627934217453, + 0.01865910179913044 + ], + [ + 0.26190024614334106, + 0.09811507910490036, + 0.0179987084120512 + ], + [ + 0.263847678899765, + 0.08648921549320221, + 0.036952584981918335 + ], + [ + 0.282973051071167, + 0.06086976081132889, + 0.062001075595617294 + ], + [ + 0.321938693523407, + 0.028248067945241928, + 0.0719054788351059 + ], + [ + 0.35841453075408936, + 0.008500145748257637, + 0.05074873939156532 + ], + [ + 0.38316720724105835, + 0.0032900464721024036, + 0.0373569093644619 + ], + [ + 0.38814449310302734, + 0.00587765546515584, + 0.031053952872753143 + ], + [ + 0.38894984126091003, + 0.0025184431578963995, + 0.02639264427125454 + ], + [ + 0.38901033997535706, + 0.005643998272716999, + 0.026951786130666733 + ], + [ + 0.38912805914878845, + 0.01076233759522438, + 0.0425521545112133 + ], + [ + 0.3884834349155426, + 0.015778157860040665, + 0.06328829377889633 + ], + [ + 0.3851318955421448, + 0.018749700859189034, + 0.06210818514227867 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9989041526156673, + -0.021392099960454748, + 0.04162777854339433, + -0.02243815963055689, + -0.9994399422558835, + 0.024826010874690715, + 0.0410733840774, + -0.02573285609563242, + -0.9988247079631102 + ], + [ + 0.9970355518986369, + -0.06880768343438154, + 0.0344327017611811, + -0.068984576120286, + -0.9976098090409752, + 0.003974564470915825, + 0.03407692045483242, + -0.006338107416487576, + -0.999399115412202 + ], + [ + 0.9858896633668136, + -0.12574518192656153, + 0.11049760580540757, + -0.1255040092173309, + -0.9920507955629888, + -0.009163115912044072, + 0.11077145542443423, + -0.0048340712755786455, + -0.9938341493519206 + ], + [ + 0.9835027392629622, + -0.1690620634630589, + 0.064345788983134, + -0.16785182862088904, + -0.985524646983884, + -0.023810372023848354, + 0.06743979159867755, + 0.012617007763452159, + -0.9976435664225092 + ], + [ + 0.9764704357128614, + -0.21543768504098582, + -0.009596459915815177, + -0.21520071690170206, + -0.976340032051842, + 0.021184741159661152, + -0.013933399575421094, + -0.018621108377036642, + -0.9997295207700343 + ], + [ + 0.9705091095279191, + -0.23598949735624003, + -0.04920391712938189, + -0.23483500324434237, + -0.9716279146496878, + 0.02813746123460777, + -0.05444804472665315, + -0.01575286040846278, + -0.9983923366164207 + ], + [ + 0.9696058572286439, + -0.2408653050886819, + -0.042992864901551256, + -0.23970875202906491, + -0.9703699015729118, + 0.030363931267967027, + -0.049032599651406425, + -0.01913527961420375, + -0.9986138619333857 + ], + [ + 0.9691268926225278, + -0.24429749032821307, + -0.033343698282284236, + -0.2430585243966083, + -0.9692961254095401, + 0.037250167572729864, + -0.04142004000416614, + -0.027995669047010414, + -0.9987495295621739 + ], + [ + 0.9680207044437216, + -0.24789602117800213, + -0.03851595062303153, + -0.2466487742226256, + -0.9684943605705311, + 0.034395577005681355, + -0.04582900765624907, + -0.023795718673598046, + -0.9986658429274778 + ], + [ + 0.9720670684455385, + -0.23437580464671348, + -0.012393411148779593, + -0.2342799098512704, + -0.9721301301156604, + 0.00871400948990268, + -0.014090361378535018, + -0.0055670744125704864, + -0.9998852281130607 + ], + [ + 0.9768329407806426, + -0.213566407542127, + 0.013667310466664341, + -0.21248240928203335, + -0.9755112990775702, + -0.05682368447834521, + 0.025468245945579705, + 0.05260318375861091, + -0.9982906758589473 + ], + [ + 0.9752819717806778, + -0.2160236409491332, + 0.04646355637134749, + -0.21330064924224498, + -0.9753065696390026, + -0.05727065786105513, + 0.05768802780846457, + 0.04594433338379435, + -0.9972768971942991 + ], + [ + 0.9769441695985378, + -0.211919477416899, + 0.025888695965065368, + -0.2122896271267307, + -0.9771272298996021, + 0.01246959514673759, + 0.022653999686960403, + -0.017677999889080538, + -0.9995870570481116 + ], + [ + 0.9830452268370367, + -0.18031599723868943, + 0.03328998547215045, + -0.1817400798364556, + -0.9822542495603418, + 0.04633716221013612, + 0.024343898084690216, + -0.0516016507533109, + -0.998370995304639 + ], + [ + 0.9882196436781853, + -0.14855350757446897, + 0.03679390215623826, + -0.15055008930185235, + -0.9868249181098392, + 0.05925581497805626, + 0.027506480323097243, + -0.06409708561886052, + -0.9975645127786993 + ], + [ + 0.988156911755925, + -0.15108161077539872, + 0.026837746449805033, + -0.1520396654155276, + -0.9876355103718981, + 0.03821045397237385, + 0.020733014477579314, + -0.04183832618486798, + -0.9989092534223122 + ], + [ + 0.9870455574635488, + -0.1580064279030178, + 0.027839472566859345, + -0.15886380166565625, + -0.9867859418835635, + 0.03187157701312936, + 0.02243568612294942, + -0.03588138294850471, + -0.9991041819279387 + ], + [ + 0.9839367630985592, + -0.1660117998429591, + 0.06563938250800191, + -0.1680951588981039, + -0.9853852673872064, + 0.027566145382797988, + 0.0601037750740476, + -0.03815700629171054, + -0.9974625702715382 + ], + [ + 0.9822424169182745, + -0.1498647278526324, + 0.11287337042988906, + -0.15232236941200902, + -0.98823969268725, + 0.013424066973949085, + 0.10953415076248131, + -0.03037882721676463, + -0.9935186946774962 + ], + [ + 0.983985329252418, + -0.14698969459510025, + 0.10083105423851206, + -0.14848594518926644, + -0.9888864037880634, + 0.0074568414467220834, + 0.0986143797691836, + -0.022309416979171562, + -0.9948756173596721 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005693.json b/json/chunk-0005/episode_0005693.json new file mode 100644 index 0000000000000000000000000000000000000000..c32872462fff584e181e15b6c58a2d041bcffaee --- /dev/null +++ b/json/chunk-0005/episode_0005693.json @@ -0,0 +1,1882 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 30, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the blue spoon to the bottom of the right burner." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005693.mp4", + "start": 0, + "end": 30, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.24609023332595825, + 0.05831795930862427, + 0.1010904386639595, + -0.014482156373560429, + -0.05733851343393326, + -0.08293644338846207, + 0.0, + 1.0001531839370728 + ], + [ + 0.2456156462430954, + 0.05735137313604355, + 0.09494024515151978, + -0.025338273495435715, + -0.03495335578918457, + -0.07804429531097412, + 0.0, + 1.0001531839370728 + ], + [ + 0.2736535668373108, + 0.04896717518568039, + 0.08506587892770767, + -0.04291179031133652, + -0.022837381809949875, + -0.049469929188489914, + 0.0, + 1.0001531839370728 + ], + [ + 0.31603172421455383, + 0.044460542500019073, + 0.07095827907323837, + -0.016817815601825714, + -0.03344273194670677, + 0.012216507457196712, + 0.0, + 1.0001531839370728 + ], + [ + 0.3500606417655945, + 0.041572123765945435, + 0.05627903714776039, + 0.020050635561347008, + -0.03545587509870529, + 0.032898180186748505, + 0.0, + 1.0001531839370728 + ], + [ + 0.3662295937538147, + 0.045793451368808746, + 0.03875308111310005, + 0.040765922516584396, + -0.02307988703250885, + 0.0594315268099308, + 0.0, + 1.0001531839370728 + ], + [ + 0.36904025077819824, + 0.04654065892100334, + 0.02086322382092476, + 0.03908538818359375, + -0.011848129332065582, + 0.08571060001850128, + 0.0, + 0.9858682155609131 + ], + [ + 0.36929479241371155, + 0.047087837010622025, + 0.010680211707949638, + 0.038456887006759644, + 0.00025001110043376684, + 0.09131143987178802, + 0.0, + 0.8973560333251953 + ], + [ + 0.36686721444129944, + 0.0439804345369339, + 0.01107182539999485, + 0.02427363581955433, + -0.0010025592055171728, + 0.07891999185085297, + 0.0, + 0.6109193563461304 + ], + [ + 0.36798009276390076, + 0.042069874703884125, + 0.027699686586856842, + 0.013013150542974472, + -0.039457712322473526, + 0.07055285573005676, + 0.0, + 0.43017780780792236 + ], + [ + 0.3640739619731903, + 0.03589000180363655, + 0.05271338298916817, + -0.020960774272680283, + -0.07946589589118958, + 0.06309399008750916, + 0.0, + 0.4292689263820648 + ], + [ + 0.3442270755767822, + 0.02350885607302189, + 0.085919588804245, + -0.05516313016414642, + -0.1317884773015976, + 0.01983645372092724, + 0.0, + 0.43017780780792236 + ], + [ + 0.3070996105670929, + -0.005867058876901865, + 0.07251805067062378, + -0.06928960233926773, + -0.0743582472205162, + -0.06995955109596252, + 0.0, + 0.43017780780792236 + ], + [ + 0.2720702588558197, + -0.016049573197960854, + 0.03990752249956131, + -0.033228080719709396, + 0.006640761159360409, + -0.10496477782726288, + 0.0, + 0.43017780780792236 + ], + [ + 0.2570568025112152, + -0.011419909074902534, + 0.02084660343825817, + 0.02752215601503849, + 0.0006207762053236365, + -0.09725432097911835, + 0.0, + 0.43017780780792236 + ], + [ + 0.24744144082069397, + -0.005199175328016281, + 0.010184286162257195, + 0.06303859502077103, + 0.00034244981361553073, + -0.10136549174785614, + 0.0, + 0.43017780780792236 + ], + [ + 0.24646300077438354, + -0.00673813559114933, + 0.007015038747340441, + 0.06223779544234276, + 0.006676388904452324, + -0.11104539781808853, + 0.0, + 0.5004528760910034 + ], + [ + 0.24499762058258057, + -0.009526016190648079, + 0.006991408299654722, + 0.04364432394504547, + 0.012209235690534115, + -0.12555234134197235, + 0.0, + 0.7826583981513977 + ], + [ + 0.2444743812084198, + -0.016325026750564575, + 0.035921238362789154, + 0.0019124620594084263, + -0.039853550493717194, + -0.14165754616260529, + 0.0, + 1.0067112445831299 + ], + [ + 0.23893187940120697, + -0.015783123672008514, + 0.07430810481309891, + 0.0057960981503129005, + -0.09646729379892349, + -0.1260662078857422, + 0.0, + 1.0047606229782104 + ], + [ + 0.2343001365661621, + -0.010686676949262619, + 0.08065097033977509, + -0.011661233380436897, + -0.08699371665716171, + -0.1013123020529747, + 0.0, + 1.0008161067962646 + ], + [ + 0.23432797193527222, + -0.01016596145927906, + 0.08065477013587952, + -0.012181010097265244, + -0.0871981754899025, + -0.10658895969390869, + 0.0, + 1.0008161067962646 + ], + [ + 0.2343207448720932, + -0.010562269948422909, + 0.08066315203905106, + -0.014827150851488113, + -0.0873962938785553, + -0.1048012375831604, + 0.0, + 1.0008161067962646 + ], + [ + 0.23431414365768433, + -0.010958565399050713, + 0.08067258447408676, + -0.01747368648648262, + -0.08758969604969025, + -0.10301295667886734, + 0.0, + 1.0008161067962646 + ], + [ + 0.23431414365768433, + -0.010958565399050713, + 0.08067258447408676, + -0.01747368648648262, + -0.08758969604969025, + -0.10301295667886734, + 0.0, + 1.0008161067962646 + ], + [ + 0.23431414365768433, + -0.010958565399050713, + 0.08067258447408676, + -0.01747368648648262, + -0.08758969604969025, + -0.10301295667886734, + 0.0, + 1.0008161067962646 + ], + [ + 0.23431414365768433, + -0.010958565399050713, + 0.08067258447408676, + -0.01747368648648262, + -0.08758969604969025, + -0.10301295667886734, + 0.0, + 1.0008161067962646 + ], + [ + 0.23431414365768433, + -0.010958565399050713, + 0.08067258447408676, + -0.01747368648648262, + -0.08758969604969025, + -0.10301295667886734, + 0.0, + 1.0008161067962646 + ], + [ + 0.23431414365768433, + -0.010958565399050713, + 0.08067258447408676, + -0.01747368648648262, + -0.08758969604969025, + -0.10301295667886734, + 0.0, + 1.0008161067962646 + ], + [ + 0.23431414365768433, + -0.010958565399050713, + 0.08067258447408676, + -0.01747368648648262, + -0.08758969604969025, + -0.10301295667886734, + 0.0, + 1.0001531839370728 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9858682155609131 + ], + [ + 0.8973560333251953 + ], + [ + 0.6109193563461304 + ], + [ + 0.43017780780792236 + ], + [ + 0.4292689263820648 + ], + [ + 0.43017780780792236 + ], + [ + 0.43017780780792236 + ], + [ + 0.43017780780792236 + ], + [ + 0.43017780780792236 + ], + [ + 0.43017780780792236 + ], + [ + 0.5004528760910034 + ], + [ + 0.7826583981513977 + ], + [ + 1.0067112445831299 + ], + [ + 1.0047606229782104 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.24609023332595825, + 0.05831795930862427, + 0.1010904386639595 + ], + [ + 0.2456156462430954, + 0.05735137313604355, + 0.09494024515151978 + ], + [ + 0.2736535668373108, + 0.04896717518568039, + 0.08506587892770767 + ], + [ + 0.31603172421455383, + 0.044460542500019073, + 0.07095827907323837 + ], + [ + 0.3500606417655945, + 0.041572123765945435, + 0.05627903714776039 + ], + [ + 0.3662295937538147, + 0.045793451368808746, + 0.03875308111310005 + ], + [ + 0.36904025077819824, + 0.04654065892100334, + 0.02086322382092476 + ], + [ + 0.36929479241371155, + 0.047087837010622025, + 0.010680211707949638 + ], + [ + 0.36686721444129944, + 0.0439804345369339, + 0.01107182539999485 + ], + [ + 0.36798009276390076, + 0.042069874703884125, + 0.027699686586856842 + ], + [ + 0.3640739619731903, + 0.03589000180363655, + 0.05271338298916817 + ], + [ + 0.3442270755767822, + 0.02350885607302189, + 0.085919588804245 + ], + [ + 0.3070996105670929, + -0.005867058876901865, + 0.07251805067062378 + ], + [ + 0.2720702588558197, + -0.016049573197960854, + 0.03990752249956131 + ], + [ + 0.2570568025112152, + -0.011419909074902534, + 0.02084660343825817 + ], + [ + 0.24744144082069397, + -0.005199175328016281, + 0.010184286162257195 + ], + [ + 0.24646300077438354, + -0.00673813559114933, + 0.007015038747340441 + ], + [ + 0.24499762058258057, + -0.009526016190648079, + 0.006991408299654722 + ], + [ + 0.2444743812084198, + -0.016325026750564575, + 0.035921238362789154 + ], + [ + 0.23893187940120697, + -0.015783123672008514, + 0.07430810481309891 + ], + [ + 0.2343001365661621, + -0.010686676949262619, + 0.08065097033977509 + ], + [ + 0.23432797193527222, + -0.01016596145927906, + 0.08065477013587952 + ], + [ + 0.2343207448720932, + -0.010562269948422909, + 0.08066315203905106 + ], + [ + 0.23431414365768433, + -0.010958565399050713, + 0.08067258447408676 + ], + [ + 0.23431414365768433, + -0.010958565399050713, + 0.08067258447408676 + ], + [ + 0.23431414365768433, + -0.010958565399050713, + 0.08067258447408676 + ], + [ + 0.23431414365768433, + -0.010958565399050713, + 0.08067258447408676 + ], + [ + 0.23431414365768433, + -0.010958565399050713, + 0.08067258447408676 + ], + [ + 0.23431414365768433, + -0.010958565399050713, + 0.08067258447408676 + ], + [ + 0.23431414365768433, + -0.010958565399050713, + 0.08067258447408676 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9949249906657428, + -0.08365975866187111, + 0.05590445178524594, + -0.08270525526574979, + -0.9963894897708975, + -0.019178775391500195, + 0.05730709991090608, + 0.014457850971978145, + -0.9982519055053556 + ], + [ + 0.9963471423615653, + -0.07882275364832984, + 0.032853392750785325, + -0.07791747103916934, + -0.9965670407424694, + -0.02798215525397686, + 0.034946238922133756, + 0.025320087146219732, + -0.9990683928401023 + ], + [ + 0.9985161699227264, + -0.05038264058091073, + 0.020665138057705132, + -0.04943685931256521, + -0.9978087278686644, + -0.04397430534332042, + 0.022835396737496808, + 0.042887435423591275, + -0.9988189087810806 + ], + [ + 0.999366265082379, + 0.011652215621031099, + 0.03363471549481738, + 0.012209372823924088, + -0.9997908430258763, + -0.016407358619054773, + 0.03343649847909816, + 0.01680761948429479, + -0.9992995069030749 + ], + [ + 0.9988307500559921, + 0.0335959663972401, + 0.03476267803866075, + 0.03287157370849154, + -0.9992346281257692, + 0.021204188177874162, + 0.03544844685612165, + -0.020036691248582057, + -0.9991706253785174 + ], + [ + 0.997968608015604, + 0.060286067292507045, + 0.02059726937728657, + 0.059380727566510735, + -0.9973492540908695, + 0.04205228362476475, + 0.023077838050151636, + -0.04074377811137718, + -0.998903077348419 + ], + [ + 0.9962591640389533, + 0.08600157615206434, + 0.00845026436072864, + 0.08559968731420677, + -0.9955285296897124, + 0.03994546414236753, + 0.01184785213089494, + -0.0390726947266223, + -0.999166128792747 + ], + [ + 0.9958339751534182, + 0.09110761181243617, + -0.0037545971788835813, + 0.0911846008084271, + -0.9950985880506195, + 0.03826445655005934, + -0.00025001109782925345, + -0.038447407318283784, + -0.9992605938217283 + ], + [ + 0.9968869324649132, + 0.07883912629727617, + -0.0009143551703160902, + 0.07883805398455455, + -0.9965918417659126, + 0.02427472285226544, + 0.0010025590375676344, + -0.024271239982909264, + -0.9997049073526987 + ], + [ + 0.9967357613699709, + 0.07100041404556696, + 0.03842867694290924, + 0.07043946881880513, + -0.9973915340406183, + 0.01576099795782356, + 0.03944747442801639, + -0.013002654708173831, + -0.9991370415172239 + ], + [ + 0.9948607605174483, + 0.061377804720492694, + 0.08052845627687828, + 0.06285316013933255, + -0.9978959081862235, + -0.015913412132259518, + 0.07938228670895951, + 0.020893097254471166, + -0.9966252711244942 + ], + [ + 0.9911334302940528, + 0.012561243657002837, + 0.13227523771036567, + 0.01966315153999659, + -0.9984261724961977, + -0.05252179115479827, + 0.13140732028718746, + 0.05465705107653103, + -0.9898205508790764 + ], + [ + 0.9947972871688828, + -0.07486556913912078, + 0.06909054927344961, + -0.06970933580243509, + -0.9948005983383692, + -0.0742453907499047, + 0.07428974319120228, + 0.06904285700272127, + -0.9948437656001504 + ], + [ + 0.9944743252508208, + -0.10449490285583707, + -0.010081254588291464, + -0.10476983037309323, + -0.99397040443398, + -0.03234374364453848, + -0.006640712350195836, + 0.03322123397015119, + -0.9994259605158266 + ], + [ + 0.995274333137153, + -0.09708131071244573, + 0.0020544850325640886, + -0.09710106299803244, + -0.9948959450938983, + 0.027448897980993436, + -0.0006207761654529302, + -0.027518676313958507, + -0.999621096761608 + ], + [ + 0.9948668576526676, + -0.1010124605919621, + 0.0060347617570395895, + -0.10119198719482024, + -0.992888654324524, + 0.06270806838995488, + -0.00034244980692224244, + -0.06299684848302511, + -0.9980136671455639 + ], + [ + 0.9938186431243845, + -0.11101545644239932, + 0.00027020231975619915, + -0.11081485041223466, + -0.9918705543301242, + 0.06255295661251299, + -0.006676339305481864, + -0.06219623689371096, + -0.9980416096585052 + ], + [ + 0.9920547077463637, + -0.1256319897558431, + -0.006637769826126315, + -0.12521341305474198, + -0.9911171822923258, + 0.04481441906466215, + -0.012208932363621031, + -0.04362721759301542, + -0.9989732768476003 + ], + [ + 0.9891972429473296, + -0.14110855780092071, + 0.03971384469861422, + -0.14107214390218162, + -0.9899922844218723, + -0.0037318896024052767, + 0.039843001396024216, + -0.0019109423085486928, + -0.9992041250611655 + ], + [ + 0.9874517084829052, + -0.12517660564147742, + 0.09628053185493911, + -0.12514797513152665, + -0.9921177020299412, + -0.006360003090253299, + 0.09631774361284993, + -0.005769117688804899, + -0.9953339186154676 + ], + [ + 0.9911101201202105, + -0.10214015659153669, + 0.08525325921487062, + -0.10075661206470088, + -0.9947021849218453, + -0.02038794832616366, + 0.08688403144735476, + 0.011616872348584611, + -0.9961506981156473 + ], + [ + 0.9905469825794015, + -0.10743412172235671, + 0.0852911765224795, + -0.10598304179821162, + -0.9941381519169451, + -0.021375915287065856, + 0.0870877152877571, + 0.012134430061075393, + -0.9961267416614472 + ], + [ + 0.9907176893797383, + -0.10588504146642044, + 0.08524563298918564, + -0.10421024369694876, + -0.9942686782272969, + -0.023875104288076297, + 0.08728507924436493, + 0.014770019966079542, + -0.9960738734910712 + ], + [ + 0.9908856521710372, + -0.10433554330733358, + 0.08520398303097179, + -0.10243665866996807, + -0.9943898289962464, + -0.026374209928423237, + 0.08747774163815081, + 0.017405814878356095, + -0.9960143986541106 + ], + [ + 0.9908856521710372, + -0.10433554330733358, + 0.08520398303097179, + -0.10243665866996807, + -0.9943898289962464, + -0.026374209928423237, + 0.08747774163815081, + 0.017405814878356095, + -0.9960143986541106 + ], + [ + 0.9908856521710372, + -0.10433554330733358, + 0.08520398303097179, + -0.10243665866996807, + -0.9943898289962464, + -0.026374209928423237, + 0.08747774163815081, + 0.017405814878356095, + -0.9960143986541106 + ], + [ + 0.9908856521710372, + -0.10433554330733358, + 0.08520398303097179, + -0.10243665866996807, + -0.9943898289962464, + -0.026374209928423237, + 0.08747774163815081, + 0.017405814878356095, + -0.9960143986541106 + ], + [ + 0.9908856521710372, + -0.10433554330733358, + 0.08520398303097179, + -0.10243665866996807, + -0.9943898289962464, + -0.026374209928423237, + 0.08747774163815081, + 0.017405814878356095, + -0.9960143986541106 + ], + [ + 0.9908856521710372, + -0.10433554330733358, + 0.08520398303097179, + -0.10243665866996807, + -0.9943898289962464, + -0.026374209928423237, + 0.08747774163815081, + 0.017405814878356095, + -0.9960143986541106 + ], + [ + 0.9908856521710372, + -0.10433554330733358, + 0.08520398303097179, + -0.10243665866996807, + -0.9943898289962464, + -0.026374209928423237, + 0.08747774163815081, + 0.017405814878356095, + -0.9960143986541106 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.000474587082862854, + -0.000966586172580719, + -0.006150193512439728, + -0.010856117121875286, + 0.022385157644748688, + 0.0048921480774879456, + 1.0 + ], + [ + 0.028037920594215393, + -0.00838419795036316, + -0.009874366223812103, + -0.017573516815900803, + 0.012115973979234695, + 0.028574366122484207, + 1.0 + ], + [ + 0.04237815737724304, + -0.004506632685661316, + -0.0141075998544693, + 0.026093974709510803, + -0.010605350136756897, + 0.0616864375770092, + 1.0 + ], + [ + 0.03402891755104065, + -0.002888418734073639, + -0.014679241925477982, + 0.03686845302581787, + -0.00201314315199852, + 0.020681671798229218, + 1.0 + ], + [ + 0.016168951988220215, + 0.004221327602863312, + -0.01752595603466034, + 0.02071528695523739, + 0.012375988066196442, + 0.026533346623182297, + 1.0 + ], + [ + 0.002810657024383545, + 0.0007472075521945953, + -0.017889857292175293, + -0.0016805343329906464, + 0.011231757700443268, + 0.02627907320857048, + 0.0 + ], + [ + 0.00025454163551330566, + 0.0005471780896186829, + -0.01018301211297512, + -0.0006285011768341064, + 0.012098140083253384, + 0.005600839853286743, + 0.0 + ], + [ + -0.0024275779724121094, + -0.0031074024736881256, + 0.0003916136920452118, + -0.014183251187205315, + -0.0012525703059509397, + -0.012391448020935059, + 0.0 + ], + [ + 0.0011128783226013184, + -0.0019105598330497742, + 0.016627861186861992, + -0.011260485276579857, + -0.03845515474677086, + -0.008367136120796204, + 0.0 + ], + [ + -0.0039061307907104492, + -0.006179872900247574, + 0.025013696402311325, + -0.033973924815654755, + -0.04000818356871605, + -0.007458865642547607, + 0.0 + ], + [ + -0.01984688639640808, + -0.012381145730614662, + 0.03320620581507683, + -0.03420235589146614, + -0.05232258141040802, + -0.04325753450393677, + 0.0 + ], + [ + -0.03712746500968933, + -0.029375914484262466, + -0.013401538133621216, + -0.014126472175121307, + 0.05743023008108139, + -0.08979600667953491, + 0.0 + ], + [ + -0.03502935171127319, + -0.010182514786720276, + -0.03261052817106247, + 0.036061521619558334, + 0.08099900931119919, + -0.035005226731300354, + 0.0 + ], + [ + -0.015013456344604492, + 0.004629664123058319, + -0.01906091906130314, + 0.060750238597393036, + -0.00601998483762145, + 0.007710456848144531, + 0.0 + ], + [ + -0.00961536169052124, + 0.006220733746886253, + -0.010662317276000977, + 0.035516440868377686, + -0.0002783263917081058, + -0.004111170768737793, + 1.0 + ], + [ + -0.0009784400463104248, + -0.001538960263133049, + -0.0031692474149167538, + -0.0008007995784282684, + 0.006333939265459776, + -0.009679906070232391, + 1.0 + ], + [ + -0.0014653801918029785, + -0.0027878805994987488, + -2.3630447685718536e-05, + -0.018593471497297287, + 0.005532846786081791, + -0.01450694352388382, + 1.0 + ], + [ + -0.0005232393741607666, + -0.006799010559916496, + 0.028929829597473145, + -0.04173186048865318, + -0.05206278711557388, + -0.016105204820632935, + 1.0 + ], + [ + -0.00554250180721283, + 0.0005419030785560608, + 0.03838686645030975, + 0.0038836360909044743, + -0.0566137433052063, + 0.015591338276863098, + 1.0 + ], + [ + -0.004631742835044861, + 0.005096446722745895, + 0.006342865526676178, + -0.017457332462072372, + 0.00947357714176178, + 0.024753905832767487, + 1.0 + ], + [ + 2.7835369110107422e-05, + 0.0005207154899835587, + 3.7997961044311523e-06, + -0.0005197767168283463, + -0.0002044588327407837, + -0.0052766576409339905, + 1.0 + ], + [ + -7.227063179016113e-06, + -0.0003963084891438484, + 8.381903171539307e-06, + -0.00264614075422287, + -0.00019811838865280151, + 0.001787722110748291, + 1.0 + ], + [ + -6.601214408874512e-06, + -0.0003962954506278038, + 9.432435035705566e-06, + -0.002646535634994507, + -0.00019340217113494873, + 0.0017882809042930603, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9858682155609131 + ], + [ + 0.8973560333251953 + ], + [ + 0.6109193563461304 + ], + [ + 0.43017780780792236 + ], + [ + 0.4292689263820648 + ], + [ + 0.43017780780792236 + ], + [ + 0.43017780780792236 + ], + [ + 0.43017780780792236 + ], + [ + 0.43017780780792236 + ], + [ + 0.43017780780792236 + ], + [ + 0.5004528760910034 + ], + [ + 0.7826583981513977 + ], + [ + 1.0067112445831299 + ], + [ + 1.0047606229782104 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2456156462430954, + 0.05735137313604355, + 0.09494024515151978 + ], + [ + 0.2736535668373108, + 0.04896717518568039, + 0.08506587892770767 + ], + [ + 0.31603172421455383, + 0.044460542500019073, + 0.07095827907323837 + ], + [ + 0.3500606417655945, + 0.041572123765945435, + 0.05627903714776039 + ], + [ + 0.3662295937538147, + 0.045793451368808746, + 0.03875308111310005 + ], + [ + 0.36904025077819824, + 0.04654065892100334, + 0.02086322382092476 + ], + [ + 0.36929479241371155, + 0.047087837010622025, + 0.010680211707949638 + ], + [ + 0.36686721444129944, + 0.0439804345369339, + 0.01107182539999485 + ], + [ + 0.36798009276390076, + 0.042069874703884125, + 0.027699686586856842 + ], + [ + 0.3640739619731903, + 0.03589000180363655, + 0.05271338298916817 + ], + [ + 0.3442270755767822, + 0.02350885607302189, + 0.085919588804245 + ], + [ + 0.3070996105670929, + -0.005867058876901865, + 0.07251805067062378 + ], + [ + 0.2720702588558197, + -0.016049573197960854, + 0.03990752249956131 + ], + [ + 0.2570568025112152, + -0.011419909074902534, + 0.02084660343825817 + ], + [ + 0.24744144082069397, + -0.005199175328016281, + 0.010184286162257195 + ], + [ + 0.24646300077438354, + -0.00673813559114933, + 0.007015038747340441 + ], + [ + 0.24499762058258057, + -0.009526016190648079, + 0.006991408299654722 + ], + [ + 0.2444743812084198, + -0.016325026750564575, + 0.035921238362789154 + ], + [ + 0.23893187940120697, + -0.015783123672008514, + 0.07430810481309891 + ], + [ + 0.2343001365661621, + -0.010686676949262619, + 0.08065097033977509 + ], + [ + 0.23432797193527222, + -0.01016596145927906, + 0.08065477013587952 + ], + [ + 0.2343207448720932, + -0.010562269948422909, + 0.08066315203905106 + ], + [ + 0.23431414365768433, + -0.010958565399050713, + 0.08067258447408676 + ], + [ + 0.23431414365768433, + -0.010958565399050713, + 0.08067258447408676 + ], + [ + 0.23431414365768433, + -0.010958565399050713, + 0.08067258447408676 + ], + [ + 0.23431414365768433, + -0.010958565399050713, + 0.08067258447408676 + ], + [ + 0.23431414365768433, + -0.010958565399050713, + 0.08067258447408676 + ], + [ + 0.23431414365768433, + -0.010958565399050713, + 0.08067258447408676 + ], + [ + 0.23431414365768433, + -0.010958565399050713, + 0.08067258447408676 + ], + [ + 0.23431414365768433, + -0.010958565399050713, + 0.08067258447408676 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9963471423615653, + -0.07882275364832984, + 0.032853392750785325, + -0.07791747103916934, + -0.9965670407424694, + -0.02798215525397686, + 0.034946238922133756, + 0.025320087146219732, + -0.9990683928401023 + ], + [ + 0.9985161699227264, + -0.05038264058091073, + 0.020665138057705132, + -0.04943685931256521, + -0.9978087278686644, + -0.04397430534332042, + 0.022835396737496808, + 0.042887435423591275, + -0.9988189087810806 + ], + [ + 0.999366265082379, + 0.011652215621031099, + 0.03363471549481738, + 0.012209372823924088, + -0.9997908430258763, + -0.016407358619054773, + 0.03343649847909816, + 0.01680761948429479, + -0.9992995069030749 + ], + [ + 0.9988307500559921, + 0.0335959663972401, + 0.03476267803866075, + 0.03287157370849154, + -0.9992346281257692, + 0.021204188177874162, + 0.03544844685612165, + -0.020036691248582057, + -0.9991706253785174 + ], + [ + 0.997968608015604, + 0.060286067292507045, + 0.02059726937728657, + 0.059380727566510735, + -0.9973492540908695, + 0.04205228362476475, + 0.023077838050151636, + -0.04074377811137718, + -0.998903077348419 + ], + [ + 0.9962591640389533, + 0.08600157615206434, + 0.00845026436072864, + 0.08559968731420677, + -0.9955285296897124, + 0.03994546414236753, + 0.01184785213089494, + -0.0390726947266223, + -0.999166128792747 + ], + [ + 0.9958339751534182, + 0.09110761181243617, + -0.0037545971788835813, + 0.0911846008084271, + -0.9950985880506195, + 0.03826445655005934, + -0.00025001109782925345, + -0.038447407318283784, + -0.9992605938217283 + ], + [ + 0.9968869324649132, + 0.07883912629727617, + -0.0009143551703160902, + 0.07883805398455455, + -0.9965918417659126, + 0.02427472285226544, + 0.0010025590375676344, + -0.024271239982909264, + -0.9997049073526987 + ], + [ + 0.9967357613699709, + 0.07100041404556696, + 0.03842867694290924, + 0.07043946881880513, + -0.9973915340406183, + 0.01576099795782356, + 0.03944747442801639, + -0.013002654708173831, + -0.9991370415172239 + ], + [ + 0.9948607605174483, + 0.061377804720492694, + 0.08052845627687828, + 0.06285316013933255, + -0.9978959081862235, + -0.015913412132259518, + 0.07938228670895951, + 0.020893097254471166, + -0.9966252711244942 + ], + [ + 0.9911334302940528, + 0.012561243657002837, + 0.13227523771036567, + 0.01966315153999659, + -0.9984261724961977, + -0.05252179115479827, + 0.13140732028718746, + 0.05465705107653103, + -0.9898205508790764 + ], + [ + 0.9947972871688828, + -0.07486556913912078, + 0.06909054927344961, + -0.06970933580243509, + -0.9948005983383692, + -0.0742453907499047, + 0.07428974319120228, + 0.06904285700272127, + -0.9948437656001504 + ], + [ + 0.9944743252508208, + -0.10449490285583707, + -0.010081254588291464, + -0.10476983037309323, + -0.99397040443398, + -0.03234374364453848, + -0.006640712350195836, + 0.03322123397015119, + -0.9994259605158266 + ], + [ + 0.995274333137153, + -0.09708131071244573, + 0.0020544850325640886, + -0.09710106299803244, + -0.9948959450938983, + 0.027448897980993436, + -0.0006207761654529302, + -0.027518676313958507, + -0.999621096761608 + ], + [ + 0.9948668576526676, + -0.1010124605919621, + 0.0060347617570395895, + -0.10119198719482024, + -0.992888654324524, + 0.06270806838995488, + -0.00034244980692224244, + -0.06299684848302511, + -0.9980136671455639 + ], + [ + 0.9938186431243845, + -0.11101545644239932, + 0.00027020231975619915, + -0.11081485041223466, + -0.9918705543301242, + 0.06255295661251299, + -0.006676339305481864, + -0.06219623689371096, + -0.9980416096585052 + ], + [ + 0.9920547077463637, + -0.1256319897558431, + -0.006637769826126315, + -0.12521341305474198, + -0.9911171822923258, + 0.04481441906466215, + -0.012208932363621031, + -0.04362721759301542, + -0.9989732768476003 + ], + [ + 0.9891972429473296, + -0.14110855780092071, + 0.03971384469861422, + -0.14107214390218162, + -0.9899922844218723, + -0.0037318896024052767, + 0.039843001396024216, + -0.0019109423085486928, + -0.9992041250611655 + ], + [ + 0.9874517084829052, + -0.12517660564147742, + 0.09628053185493911, + -0.12514797513152665, + -0.9921177020299412, + -0.006360003090253299, + 0.09631774361284993, + -0.005769117688804899, + -0.9953339186154676 + ], + [ + 0.9911101201202105, + -0.10214015659153669, + 0.08525325921487062, + -0.10075661206470088, + -0.9947021849218453, + -0.02038794832616366, + 0.08688403144735476, + 0.011616872348584611, + -0.9961506981156473 + ], + [ + 0.9905469825794015, + -0.10743412172235671, + 0.0852911765224795, + -0.10598304179821162, + -0.9941381519169451, + -0.021375915287065856, + 0.0870877152877571, + 0.012134430061075393, + -0.9961267416614472 + ], + [ + 0.9907176893797383, + -0.10588504146642044, + 0.08524563298918564, + -0.10421024369694876, + -0.9942686782272969, + -0.023875104288076297, + 0.08728507924436493, + 0.014770019966079542, + -0.9960738734910712 + ], + [ + 0.9908856521710372, + -0.10433554330733358, + 0.08520398303097179, + -0.10243665866996807, + -0.9943898289962464, + -0.026374209928423237, + 0.08747774163815081, + 0.017405814878356095, + -0.9960143986541106 + ], + [ + 0.9908856521710372, + -0.10433554330733358, + 0.08520398303097179, + -0.10243665866996807, + -0.9943898289962464, + -0.026374209928423237, + 0.08747774163815081, + 0.017405814878356095, + -0.9960143986541106 + ], + [ + 0.9908856521710372, + -0.10433554330733358, + 0.08520398303097179, + -0.10243665866996807, + -0.9943898289962464, + -0.026374209928423237, + 0.08747774163815081, + 0.017405814878356095, + -0.9960143986541106 + ], + [ + 0.9908856521710372, + -0.10433554330733358, + 0.08520398303097179, + -0.10243665866996807, + -0.9943898289962464, + -0.026374209928423237, + 0.08747774163815081, + 0.017405814878356095, + -0.9960143986541106 + ], + [ + 0.9908856521710372, + -0.10433554330733358, + 0.08520398303097179, + -0.10243665866996807, + -0.9943898289962464, + -0.026374209928423237, + 0.08747774163815081, + 0.017405814878356095, + -0.9960143986541106 + ], + [ + 0.9908856521710372, + -0.10433554330733358, + 0.08520398303097179, + -0.10243665866996807, + -0.9943898289962464, + -0.026374209928423237, + 0.08747774163815081, + 0.017405814878356095, + -0.9960143986541106 + ], + [ + 0.9908856521710372, + -0.10433554330733358, + 0.08520398303097179, + -0.10243665866996807, + -0.9943898289962464, + -0.026374209928423237, + 0.08747774163815081, + 0.017405814878356095, + -0.9960143986541106 + ], + [ + 0.9908856521710372, + -0.10433554330733358, + 0.08520398303097179, + -0.10243665866996807, + -0.9943898289962464, + -0.026374209928423237, + 0.08747774163815081, + 0.017405814878356095, + -0.9960143986541106 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005694.json b/json/chunk-0005/episode_0005694.json new file mode 100644 index 0000000000000000000000000000000000000000..ae1f4eaa80094dfa2c7c5350eb7c95bbf9c12cf5 --- /dev/null +++ b/json/chunk-0005/episode_0005694.json @@ -0,0 +1,2662 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 43, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove white toy to the right corner of the table." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005694.mp4", + "start": 0, + "end": 43, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.29998746514320374, + -0.009263657033443451, + 0.15864422917366028, + 0.05547868087887764, + -0.08329585939645767, + -0.034066617488861084, + 0.0, + 1.0014774799346924 + ], + [ + 0.2982483506202698, + -0.00915681291371584, + 0.15000173449516296, + 0.056316934525966644, + -0.05262763425707817, + -0.03412355110049248, + 0.0, + 1.0014774799346924 + ], + [ + 0.2961153984069824, + -0.006806688383221626, + 0.14361244440078735, + 0.05673443526029587, + -0.04728884994983673, + -0.039962317794561386, + 0.0, + 1.0008161067962646 + ], + [ + 0.28995734453201294, + 0.011266736313700676, + 0.13278277218341827, + 0.060405999422073364, + -0.025403611361980438, + -0.014660347253084183, + 0.0, + 1.0008161067962646 + ], + [ + 0.2802896201610565, + 0.006425937172025442, + 0.1166718602180481, + 0.022012369707226753, + -0.004275267478078604, + -0.07862753421068192, + 0.0, + 1.0008161067962646 + ], + [ + 0.2616351246833801, + -0.02149602584540844, + 0.1136249229311943, + 0.0022391111124306917, + -0.009040230885148048, + -0.172385573387146, + 0.0, + 1.0008161067962646 + ], + [ + 0.24704769253730774, + -0.04850522428750992, + 0.09862576425075531, + 0.029814396053552628, + 0.016848286613821983, + -0.27011966705322266, + 0.0, + 1.0008161067962646 + ], + [ + 0.24058838188648224, + -0.053032368421554565, + 0.0800945982336998, + 0.03800201788544655, + 0.043875571340322495, + -0.27667900919914246, + 0.0, + 1.0008161067962646 + ], + [ + 0.24097499251365662, + -0.056533247232437134, + 0.0582813136279583, + 0.04372645914554596, + 0.07986810058355331, + -0.2749572992324829, + 0.0, + 1.0008161067962646 + ], + [ + 0.2423424869775772, + -0.061815295368433, + 0.04519670456647873, + 0.04383401945233345, + 0.09457461535930634, + -0.2795681953430176, + 0.0, + 1.0008161067962646 + ], + [ + 0.24215801060199738, + -0.0699504166841507, + 0.042904630303382874, + 0.03509170189499855, + 0.08793692290782928, + -0.28257185220718384, + 0.0, + 1.0008161067962646 + ], + [ + 0.24253784120082855, + -0.07511214911937714, + 0.0426783412694931, + 0.0185907743871212, + 0.07588540762662888, + -0.2663290202617645, + 0.0, + 1.0008161067962646 + ], + [ + 0.2445937991142273, + -0.0766393318772316, + 0.04218531772494316, + 0.013471611775457859, + 0.059114642441272736, + -0.2523749768733978, + 0.0, + 1.0008161067962646 + ], + [ + 0.24744658172130585, + -0.07676517963409424, + 0.03358188644051552, + 0.015925096347928047, + 0.05890315771102905, + -0.24685990810394287, + 0.0, + 1.0008161067962646 + ], + [ + 0.24838697910308838, + -0.0738956406712532, + 0.01650853455066681, + 0.03593635931611061, + 0.09619370847940445, + -0.2607261836528778, + 0.0, + 1.0008161067962646 + ], + [ + 0.24951636791229248, + -0.0736955925822258, + 0.009865774773061275, + 0.03691186010837555, + 0.1054227277636528, + -0.26209476590156555, + 0.0, + 1.0008161067962646 + ], + [ + 0.2508065104484558, + -0.07455197721719742, + 0.010010355152189732, + 0.03668820858001709, + 0.09766163676977158, + -0.26078054308891296, + 0.0, + 0.9492040276527405 + ], + [ + 0.25025665760040283, + -0.07461299747228622, + 0.0102315004914999, + 0.03648610785603523, + 0.08946986496448517, + -0.24318726360797882, + 0.0, + 0.8956556916236877 + ], + [ + 0.250378280878067, + -0.07538661360740662, + 0.02372281812131405, + 0.03174033388495445, + 0.061080049723386765, + -0.26075053215026855, + 0.0, + 0.8948037624359131 + ], + [ + 0.2544569969177246, + -0.07409188896417618, + 0.07956909388303757, + 0.019677037373185158, + -0.09503360092639923, + -0.30492478609085083, + 0.0, + 0.8948037624359131 + ], + [ + 0.26077815890312195, + -0.03420593962073326, + 0.12884852290153503, + 0.03373533487319946, + -0.2589927911758423, + -0.22001345455646515, + 0.0, + 0.8948037624359131 + ], + [ + 0.2784339189529419, + 0.010557040572166443, + 0.17485912144184113, + 0.08470524847507477, + -0.27178582549095154, + -0.09169480949640274, + 0.0, + 0.8948037624359131 + ], + [ + 0.28677088022232056, + 0.06156478449702263, + 0.15171313285827637, + 0.08767074346542358, + -0.1640443652868271, + 0.04128021374344826, + 0.0, + 0.8948037624359131 + ], + [ + 0.2900829613208771, + 0.11316023766994476, + 0.1316896229982376, + 0.0907294824719429, + -0.0991058424115181, + 0.12387903034687042, + 0.0, + 0.8948037624359131 + ], + [ + 0.29435956478118896, + 0.1597142517566681, + 0.10115363448858261, + 0.10378453880548477, + -0.01651245728135109, + 0.1537105292081833, + 0.0, + 0.8948037624359131 + ], + [ + 0.29811930656433105, + 0.1819533109664917, + 0.0782102644443512, + 0.13668720424175262, + 0.031217506155371666, + 0.1755664199590683, + 0.0, + 0.8948037624359131 + ], + [ + 0.30268946290016174, + 0.18992550671100616, + 0.060611993074417114, + 0.14976249635219574, + 0.0477142296731472, + 0.1948038637638092, + 0.0, + 0.8948037624359131 + ], + [ + 0.3052452802658081, + 0.19177405536174774, + 0.046375010162591934, + 0.15148629248142242, + 0.0516485832631588, + 0.20796430110931396, + 0.0, + 0.8948037624359131 + ], + [ + 0.3199375569820404, + 0.18603552877902985, + 0.03467695042490959, + 0.18655313551425934, + 0.01837306097149849, + 0.17999809980392456, + 0.0, + 0.8948037624359131 + ], + [ + 0.336422324180603, + 0.1844930201768875, + 0.031062358990311623, + 0.23487073183059692, + -0.07848063856363297, + 0.12166660279035568, + 0.0, + 0.8948037624359131 + ], + [ + 0.34144800901412964, + 0.19194409251213074, + 0.035022031515836716, + 0.2716372311115265, + -0.10989516228437424, + 0.12790986895561218, + 0.0, + 0.8948037624359131 + ], + [ + 0.3459974527359009, + 0.1947477012872696, + 0.025082599371671677, + 0.2669503092765808, + -0.08234227448701859, + 0.13568544387817383, + 0.0, + 0.8948037624359131 + ], + [ + 0.34775063395500183, + 0.20029914379119873, + 0.01747789792716503, + 0.2309514731168747, + -0.061946216970682144, + 0.1692141741514206, + 0.0, + 0.9422301650047302 + ], + [ + 0.34464168548583984, + 0.20382854342460632, + 0.015233611688017845, + 0.18321198225021362, + -0.02400149032473564, + 0.22035428881645203, + 0.0, + 1.0054124593734741 + ], + [ + 0.339487761259079, + 0.204180046916008, + 0.015932513400912285, + 0.16183073818683624, + 0.002591729396954179, + 0.23450268805027008, + 0.0, + 1.0008161067962646 + ], + [ + 0.3336849808692932, + 0.19991937279701233, + 0.013685598038136959, + 0.14912566542625427, + 0.024454690515995026, + 0.23109935224056244, + 0.0, + 1.0001531839370728 + ], + [ + 0.32733651995658875, + 0.1889244019985199, + 0.04249146953225136, + 0.11437516659498215, + -0.03198687359690666, + 0.2385341227054596, + 0.0, + 1.0001531839370728 + ], + [ + 0.3195350170135498, + 0.17158174514770508, + 0.07973571121692657, + 0.09790407866239548, + -0.07079103589057922, + 0.21674972772598267, + 0.0, + 1.0001531839370728 + ], + [ + 0.3193611800670624, + 0.13200919330120087, + 0.12599405646324158, + 0.04700687155127525, + -0.108378566801548, + 0.13057252764701843, + 0.0, + 1.0001531839370728 + ], + [ + 0.31612923741340637, + 0.10946736484766006, + 0.1352459192276001, + -0.0032091697212308645, + -0.07051034271717072, + 0.030101560056209564, + 0.0, + 1.0001531839370728 + ], + [ + 0.3203248381614685, + 0.08955465257167816, + 0.13457372784614563, + 0.011033361777663231, + -0.05151031166315079, + -0.07497096806764603, + 0.0, + 1.0001531839370728 + ], + [ + 0.3194814622402191, + 0.09163166582584381, + 0.1345575749874115, + 0.014704732224345207, + -0.048530641943216324, + -0.07165134698152542, + 0.0, + 1.0001531839370728 + ], + [ + 0.3192529082298279, + 0.09209644049406052, + 0.1341850757598877, + 0.014631268568336964, + -0.0485527478158474, + -0.06857724487781525, + 0.0, + 1.0001531839370728 + ] + ], + "left_gripper_pos": [ + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9492040276527405 + ], + [ + 0.8956556916236877 + ], + [ + 0.8948037624359131 + ], + [ + 0.8948037624359131 + ], + [ + 0.8948037624359131 + ], + [ + 0.8948037624359131 + ], + [ + 0.8948037624359131 + ], + [ + 0.8948037624359131 + ], + [ + 0.8948037624359131 + ], + [ + 0.8948037624359131 + ], + [ + 0.8948037624359131 + ], + [ + 0.8948037624359131 + ], + [ + 0.8948037624359131 + ], + [ + 0.8948037624359131 + ], + [ + 0.8948037624359131 + ], + [ + 0.8948037624359131 + ], + [ + 0.9422301650047302 + ], + [ + 1.0054124593734741 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.29998746514320374, + -0.009263657033443451, + 0.15864422917366028 + ], + [ + 0.2982483506202698, + -0.00915681291371584, + 0.15000173449516296 + ], + [ + 0.2961153984069824, + -0.006806688383221626, + 0.14361244440078735 + ], + [ + 0.28995734453201294, + 0.011266736313700676, + 0.13278277218341827 + ], + [ + 0.2802896201610565, + 0.006425937172025442, + 0.1166718602180481 + ], + [ + 0.2616351246833801, + -0.02149602584540844, + 0.1136249229311943 + ], + [ + 0.24704769253730774, + -0.04850522428750992, + 0.09862576425075531 + ], + [ + 0.24058838188648224, + -0.053032368421554565, + 0.0800945982336998 + ], + [ + 0.24097499251365662, + -0.056533247232437134, + 0.0582813136279583 + ], + [ + 0.2423424869775772, + -0.061815295368433, + 0.04519670456647873 + ], + [ + 0.24215801060199738, + -0.0699504166841507, + 0.042904630303382874 + ], + [ + 0.24253784120082855, + -0.07511214911937714, + 0.0426783412694931 + ], + [ + 0.2445937991142273, + -0.0766393318772316, + 0.04218531772494316 + ], + [ + 0.24744658172130585, + -0.07676517963409424, + 0.03358188644051552 + ], + [ + 0.24838697910308838, + -0.0738956406712532, + 0.01650853455066681 + ], + [ + 0.24951636791229248, + -0.0736955925822258, + 0.009865774773061275 + ], + [ + 0.2508065104484558, + -0.07455197721719742, + 0.010010355152189732 + ], + [ + 0.25025665760040283, + -0.07461299747228622, + 0.0102315004914999 + ], + [ + 0.250378280878067, + -0.07538661360740662, + 0.02372281812131405 + ], + [ + 0.2544569969177246, + -0.07409188896417618, + 0.07956909388303757 + ], + [ + 0.26077815890312195, + -0.03420593962073326, + 0.12884852290153503 + ], + [ + 0.2784339189529419, + 0.010557040572166443, + 0.17485912144184113 + ], + [ + 0.28677088022232056, + 0.06156478449702263, + 0.15171313285827637 + ], + [ + 0.2900829613208771, + 0.11316023766994476, + 0.1316896229982376 + ], + [ + 0.29435956478118896, + 0.1597142517566681, + 0.10115363448858261 + ], + [ + 0.29811930656433105, + 0.1819533109664917, + 0.0782102644443512 + ], + [ + 0.30268946290016174, + 0.18992550671100616, + 0.060611993074417114 + ], + [ + 0.3052452802658081, + 0.19177405536174774, + 0.046375010162591934 + ], + [ + 0.3199375569820404, + 0.18603552877902985, + 0.03467695042490959 + ], + [ + 0.336422324180603, + 0.1844930201768875, + 0.031062358990311623 + ], + [ + 0.34144800901412964, + 0.19194409251213074, + 0.035022031515836716 + ], + [ + 0.3459974527359009, + 0.1947477012872696, + 0.025082599371671677 + ], + [ + 0.34775063395500183, + 0.20029914379119873, + 0.01747789792716503 + ], + [ + 0.34464168548583984, + 0.20382854342460632, + 0.015233611688017845 + ], + [ + 0.339487761259079, + 0.204180046916008, + 0.015932513400912285 + ], + [ + 0.3336849808692932, + 0.19991937279701233, + 0.013685598038136959 + ], + [ + 0.32733651995658875, + 0.1889244019985199, + 0.04249146953225136 + ], + [ + 0.3195350170135498, + 0.17158174514770508, + 0.07973571121692657 + ], + [ + 0.3193611800670624, + 0.13200919330120087, + 0.12599405646324158 + ], + [ + 0.31612923741340637, + 0.10946736484766006, + 0.1352459192276001 + ], + [ + 0.3203248381614685, + 0.08955465257167816, + 0.13457372784614563 + ], + [ + 0.3194814622402191, + 0.09163166582584381, + 0.1345575749874115 + ], + [ + 0.3192529082298279, + 0.09209644049406052, + 0.1341850757598877 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9959547057652632, + -0.029396867359292072, + 0.08491200300009644, + -0.033941939276541544, + -0.998039267982434, + 0.05258863302306894, + 0.08319957224755284, + -0.05525797457876681, + -0.9949996921724533 + ], + [ + 0.9980341397742631, + -0.031103671177496302, + 0.054409718656951385, + -0.03406969376918307, + -0.9979344081683464, + 0.05446258312057966, + 0.052603344109671456, + -0.05620923974734177, + -0.9970323011595488 + ], + [ + 0.9980845960465219, + -0.03720907337781646, + 0.049422909596817714, + -0.039907019736962736, + -0.9977010201907582, + 0.05477320591341862, + 0.04727122708757001, + -0.056640614127005724, + -0.9972749229379785 + ], + [ + 0.9995699193240125, + -0.0130998164876328, + 0.026236828897137195, + -0.014655092055109347, + -0.998091327193314, + 0.059991089824620175, + 0.025400879107691933, + -0.06034979195887687, + -0.9978540464171486 + ], + [ + 0.9969013369261067, + -0.07843370386347506, + 0.0059898692137282826, + -0.0785458250595929, + -0.9966763249867768, + 0.021606864107509706, + 0.004275254454263375, + -0.022010390934948477, + -0.9997486008443531 + ], + [ + 0.9851381089639621, + -0.17151267844995327, + 0.009290177491959014, + -0.17152604093488405, + -0.9851793684047887, + 0.0006552486143069373, + 0.00904010774900616, + -0.0022390177455776927, + -0.9999566306852622 + ], + [ + 0.9636021879692701, + -0.2672121875588277, + -0.00827466983399156, + -0.2668088931009084, + -0.9631766526370128, + 0.03322273885800746, + -0.0168474895193243, + -0.02980574835472491, + -0.9994137178675863 + ], + [ + 0.9610421342496771, + -0.2745683002662946, + -0.0317846611701834, + -0.2728995885157897, + -0.9608181759074735, + 0.04852058773085513, + -0.04386149546855524, + -0.03795630823345286, + -0.9983163265621517 + ], + [ + 0.959368772901122, + -0.274602844999028, + -0.06484469986541211, + -0.2706403445035568, + -0.9605699638240146, + 0.0637114473711563, + -0.07978321571102334, + -0.043573181173415756, + -0.9958594360517137 + ], + [ + 0.9568793382297003, + -0.2796529984467675, + -0.07858837400546587, + -0.27470749825133145, + -0.9591095522582871, + 0.06815172170534496, + -0.09443369352929853, + -0.0436241587499437, + -0.994574889236489 + ], + [ + 0.9566307933354312, + -0.28161381537072244, + -0.07450626976817855, + -0.2777490501962719, + -0.9588911465486772, + 0.05816557560647487, + -0.08782363211284737, + -0.034948935075455254, + -0.9955227679865485 + ], + [ + 0.9619671149147188, + -0.2645058291327384, + -0.06823442076734346, + -0.2624342204325431, + -0.9642059300269402, + 0.037884092266367325, + -0.07581259637168261, + -0.01853620391789647, + -0.9969497777599925 + ], + [ + 0.9666306830145588, + -0.2504524154118866, + -0.05383967188941261, + -0.24926822985120792, + -0.9680355095226544, + 0.02779571711721945, + -0.0590802187001132, + -0.013447673314253578, + -0.9981626560039101 + ], + [ + 0.9680028011392392, + -0.24523832224696154, + -0.05318592189745192, + -0.24393647904486102, + -0.9693324800453588, + 0.02982511224304423, + -0.05886910206366731, + -0.015896805673139634, + -0.9981391287749458 + ], + [ + 0.961736232363629, + -0.2609499799557972, + -0.08347770552716885, + -0.25659052081298434, + -0.964689664996675, + 0.059457168428410846, + -0.09604542668931787, + -0.03576252521386037, + -0.9947342950770295 + ], + [ + 0.9604871023892277, + -0.26267850120880076, + -0.09200288662125564, + -0.25766584359658773, + -0.9641852612407448, + 0.06288954642685737, + -0.10522755906892617, + -0.03669859682351799, + -0.9937707853441763 + ], + [ + 0.9615850258462055, + -0.2611168848855233, + -0.08468890420847706, + -0.25660617181899026, + -0.9646166820042125, + 0.06056343272624885, + -0.0975064646716058, + -0.036505194518922465, + -0.9945651613244758 + ], + [ + 0.9666933535200354, + -0.2438004887422565, + -0.07787992006431863, + -0.2398341926899121, + -0.9691446225834389, + 0.05690571618371648, + -0.08935054715538068, + -0.03633210985671549, + -0.9953373586459988 + ], + [ + 0.9643949888847374, + -0.2595476219743088, + -0.050767483111617405, + -0.2573250282948508, + -0.9652106889351151, + 0.04639133301010703, + -0.06104207751265759, + -0.03167582505447501, + -0.9976324507954104 + ], + [ + 0.9495653952638611, + -0.2983823948771238, + 0.09640283473414873, + -0.29886674410762526, + -0.9542454068298174, + -0.009714566933414243, + 0.09489061799722165, + -0.01958698474979579, + -0.9952949917710412 + ], + [ + 0.9433468907990605, + -0.20968858660469938, + 0.25715236780451584, + -0.2109640130533987, + -0.9772244748907887, + -0.022945824692691567, + 0.2561070651429806, + -0.03260402309755336, + -0.9660984157225926 + ], + [ + 0.9592462065928027, + -0.06862136421618062, + 0.2741127934088969, + -0.08820524493156545, + -0.9943083593421653, + 0.05975551279048703, + 0.2684521370819775, + -0.08149843504878973, + -0.9598392861207118 + ], + [ + 0.9857344000588436, + 0.05539695277468881, + 0.15893039408467696, + 0.04071445592799433, + -0.9947206421646099, + 0.0941975431214305, + 0.163309600511174, + -0.08638299413024098, + -0.9827858122225696 + ], + [ + 0.9874674377773102, + 0.13195030670054567, + 0.08658623384318219, + 0.12295611519855572, + -0.9871475108236782, + 0.10208616757374978, + 0.0989436863311338, + -0.0901604593835244, + -0.991000120332464 + ], + [ + 0.9880750577541263, + 0.15397254636082133, + 0.0003677109530947423, + 0.15308508673020985, + -0.9826305349473579, + 0.1048913152261608, + 0.01651170690705305, + -0.10358420128684892, + -0.994483623182796 + ], + [ + 0.9841480256108557, + 0.16884905284030793, + -0.054246299792568474, + 0.1745807765072765, + -0.9761868474041402, + 0.1287664219790315, + -0.031212435989052413, + -0.13619558109607127, + -0.9901901572574495 + ], + [ + 0.9799690739738122, + 0.18442553183836663, + -0.07515209418935022, + 0.19335380401096813, + -0.9714814689051675, + 0.13725181983619225, + -0.047696126985296, + -0.14903348207699527, + -0.9876811736034097 + ], + [ + 0.977148490310766, + 0.19648115710097824, + -0.08109243360296521, + 0.20619316883522054, + -0.9688564162038743, + 0.13711900636408933, + -0.05162562357086684, + -0.15070633591473734, + -0.9872296568205765 + ], + [ + 0.9836779798439904, + 0.1725689984047722, + -0.05096638852832155, + 0.1789974876450332, + -0.9673837598861186, + 0.17924441560440021, + -0.018372027291844374, + -0.18544164014096323, + -0.9824835198185349 + ], + [ + 0.9895524730221831, + 0.1361446524765778, + 0.04743982227742014, + 0.12099308830707356, + -0.9631407938058474, + 0.24025087697854203, + 0.07840010023971943, + -0.2320009588537808, + -0.9695509163387593 + ], + [ + 0.9858475619672586, + 0.1520702133233339, + 0.07056369309360369, + 0.1267918656597363, + -0.9517094385847471, + 0.27959429055549256, + 0.10967409614733992, + -0.26669044738891856, + -0.9575216957885408 + ], + [ + 0.9874517758682414, + 0.1519754189646243, + 0.04292391367504786, + 0.13481116515742314, + -0.9527793682638606, + 0.2720981902909619, + 0.0822492558237096, + -0.26289721839769514, + -0.9613116625086789 + ], + [ + 0.9838267517886689, + 0.1779046762486482, + 0.02085302457248034, + 0.16808478376763303, + -0.9571592171105859, + 0.23578324487977986, + 0.06190660651937607, + -0.22846478781009966, + -0.9715819125529979 + ], + [ + 0.9755390141778919, + 0.2191838470964936, + -0.01679502869326958, + 0.2185124044304909, + -0.958532641317782, + 0.1829412600764568, + 0.023999185961870357, + -0.18213625860969343, + -0.9829803774098599 + ], + [ + 0.9726267500603786, + 0.2289171342796939, + -0.03992681680473154, + 0.23235853335042073, + -0.960018624753671, + 0.15612095344735719, + -0.0025917264954876257, + -0.16112475216192904, + -0.9869306445716081 + ], + [ + 0.9731241269265364, + 0.22296929197443857, + -0.05756846732269553, + 0.22897930236109684, + -0.963443714427568, + 0.13908518332387704, + -0.024452253141419987, + -0.1485291350760135, + -0.9886056763694409 + ], + [ + 0.9711883215454671, + 0.23828129785231786, + 0.003907324853792037, + 0.23615764420356447, + -0.9644742662405821, + 0.11840167584925959, + 0.03198141926057568, + -0.11406758020360336, + -0.9929580937625583 + ], + [ + 0.974155564362594, + 0.22077879805087225, + 0.04772482323286413, + 0.21451790448903107, + -0.9704379948410962, + 0.11059912668022034, + 0.07073192401618164, + -0.09750292559715665, + -0.9927185776568123 + ], + [ + 0.9856702461183467, + 0.1350974256451233, + 0.10100916543095671, + 0.12943789646469064, + -0.989730519110169, + 0.06065748511693862, + 0.1081665238222715, + -0.04671386438709585, + -0.993034650955459 + ], + [ + 0.9970632834451492, + 0.029870870031865084, + 0.07051623876184651, + 0.030022228607255574, + -0.9995486398900776, + -0.001087328538126631, + 0.07045193109512332, + 0.003201190003040125, + -0.997510038940728 + ], + [ + 0.9958683560147786, + -0.07432972457020741, + 0.05216617231251779, + -0.07480141134565575, + -0.9971728459075758, + 0.007145925082449621, + 0.05148753586180054, + -0.011018503977540877, + -0.998612851019341 + ], + [ + 0.9962597807615032, + -0.07087082026462087, + 0.04943456353667068, + -0.07150576532365464, + -0.9973773719617582, + 0.011193901202657433, + 0.048511594104087716, + -0.014686889857155891, + -0.9987146341692424 + ], + [ + 0.9964738189495225, + -0.06780775697884167, + 0.04941696309621332, + -0.06844275449051948, + -0.9975913760494116, + 0.011271015464089628, + 0.04853367393784069, + -0.014613504895801708, + -0.9987146379065222 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.00173911452293396, + 0.00010684411972761154, + -0.008642494678497314, + 0.0008382536470890045, + 0.0306682251393795, + -5.693361163139343e-05, + 1.0 + ], + [ + -0.0021329522132873535, + 0.002350124530494213, + -0.00638929009437561, + 0.00041750073432922363, + 0.00533878430724144, + -0.005838766694068909, + 1.0 + ], + [ + -0.006158053874969482, + 0.018073424696922302, + -0.01082967221736908, + 0.0036715641617774963, + 0.021885238587856293, + 0.025301970541477203, + 1.0 + ], + [ + -0.009667724370956421, + -0.004840799141675234, + -0.016110911965370178, + -0.03839363157749176, + 0.021128343418240547, + -0.06396718323230743, + 1.0 + ], + [ + -0.01865449547767639, + -0.02792196348309517, + -0.0030469372868537903, + -0.01977325789630413, + -0.004764963407069445, + -0.09375803917646408, + 1.0 + ], + [ + -0.014587432146072388, + -0.02700919844210148, + -0.014999158680438995, + 0.027575284242630005, + 0.025888517498970032, + -0.09773409366607666, + 1.0 + ], + [ + -0.0064593106508255005, + -0.004527144134044647, + -0.01853116601705551, + 0.008187621831893921, + 0.02702728472650051, + -0.0065593421459198, + 1.0 + ], + [ + 0.00038661062717437744, + -0.0035008788108825684, + -0.0218132846057415, + 0.005724441260099411, + 0.03599252924323082, + 0.001721709966659546, + 1.0 + ], + [ + 0.0013674944639205933, + -0.005282048135995865, + -0.013084609061479568, + 0.00010756030678749084, + 0.014706514775753021, + -0.004610896110534668, + 1.0 + ], + [ + -0.00018447637557983398, + -0.008135121315717697, + -0.0022920742630958557, + -0.0087423175573349, + -0.006637692451477051, + -0.0030036568641662598, + 1.0 + ], + [ + 0.00037983059883117676, + -0.00516173243522644, + -0.0002262890338897705, + -0.01650092750787735, + -0.012051515281200409, + 0.01624283194541931, + 1.0 + ], + [ + 0.0020559579133987427, + -0.0015271827578544617, + -0.000493023544549942, + -0.0051191626116633415, + -0.01677076518535614, + 0.0139540433883667, + 1.0 + ], + [ + 0.0028527826070785522, + -0.00012584775686264038, + -0.008603431284427643, + 0.002453484572470188, + -0.00021148473024368286, + 0.005515068769454956, + 1.0 + ], + [ + 0.0009403973817825317, + 0.002869538962841034, + -0.01707335188984871, + 0.020011262968182564, + 0.0372905507683754, + -0.013866275548934937, + 1.0 + ], + [ + 0.0011293888092041016, + 0.00020004808902740479, + -0.006642759777605534, + 0.0009755007922649384, + 0.009229019284248352, + -0.0013685822486877441, + 1.0 + ], + [ + 0.00129014253616333, + -0.0008563846349716187, + 0.00014458037912845612, + -0.00022365152835845947, + -0.007761090993881226, + 0.0013142228126525879, + 0.0 + ], + [ + -0.0005498528480529785, + -6.102025508880615e-05, + 0.00022114533931016922, + -0.0002021007239818573, + -0.008191771805286407, + 0.017593279480934143, + 0.0 + ], + [ + 0.00012162327766418457, + -0.0007736161351203918, + 0.013491317629814148, + -0.00474577397108078, + -0.028389815241098404, + -0.017563268542289734, + 0.0 + ], + [ + 0.004078716039657593, + 0.0012947246432304382, + 0.05584627389907837, + -0.012063296511769295, + -0.1561136543750763, + -0.044174253940582275, + 0.0 + ], + [ + 0.006321161985397339, + 0.03988594934344292, + 0.04927942901849747, + 0.014058297500014305, + -0.16395919024944305, + 0.08491133153438568, + 0.0 + ], + [ + 0.017655760049819946, + 0.044762980192899704, + 0.04601059854030609, + 0.050969913601875305, + -0.012793034315109253, + 0.1283186376094818, + 0.0 + ], + [ + 0.008336961269378662, + 0.051007743924856186, + -0.02314598858356476, + 0.002965494990348816, + 0.10774146020412445, + 0.1329750269651413, + 0.0 + ], + [ + 0.0033120810985565186, + 0.051595453172922134, + -0.020023509860038757, + 0.0030587390065193176, + 0.06493852287530899, + 0.08259882032871246, + 0.0 + ], + [ + 0.00427660346031189, + 0.04655401408672333, + -0.030535988509655, + 0.01305505633354187, + 0.08259338140487671, + 0.029831498861312866, + 0.0 + ], + [ + 0.00375974178314209, + 0.02223905920982361, + -0.022943370044231415, + 0.03290266543626785, + 0.047729961574077606, + 0.02185589075088501, + 0.0 + ], + [ + 0.0045701563358306885, + 0.007972195744514465, + -0.017598271369934082, + 0.013075292110443115, + 0.016496723517775536, + 0.019237443804740906, + 0.0 + ], + [ + 0.0025558173656463623, + 0.0018485486507415771, + -0.01423698291182518, + 0.0017237961292266846, + 0.003934353590011597, + 0.01316043734550476, + 0.0 + ], + [ + 0.0146922767162323, + -0.0057385265827178955, + -0.011698059737682343, + 0.035066843032836914, + -0.03327552229166031, + -0.027966201305389404, + 0.0 + ], + [ + 0.016484767198562622, + -0.001542508602142334, + -0.003614591434597969, + 0.048317596316337585, + -0.09685370326042175, + -0.05833149701356888, + 0.0 + ], + [ + 0.005025684833526611, + 0.007451072335243225, + 0.003959672525525093, + 0.036766499280929565, + -0.03141452372074127, + 0.0062432661652565, + 0.0 + ], + [ + 0.00454944372177124, + 0.002803608775138855, + -0.009939432144165039, + -0.004686921834945679, + 0.027552887797355652, + 0.0077755749225616455, + 0.0 + ], + [ + 0.0017531812191009521, + 0.005551442503929138, + -0.007604701444506645, + -0.035998836159706116, + 0.02039605751633644, + 0.033528730273246765, + 1.0 + ], + [ + -0.0031089484691619873, + 0.0035293996334075928, + -0.0022442862391471863, + -0.04773949086666107, + 0.0379447266459465, + 0.05114011466503143, + 1.0 + ], + [ + -0.005153924226760864, + 0.00035150349140167236, + 0.0006989017128944397, + -0.02138124406337738, + 0.026593219488859177, + 0.014148399233818054, + 1.0 + ], + [ + -0.005802780389785767, + -0.0042606741189956665, + -0.0022469153627753258, + -0.01270507276058197, + 0.02186296135187149, + -0.0034033358097076416, + 1.0 + ], + [ + -0.006348460912704468, + -0.010994970798492432, + 0.028805870562791824, + -0.034750498831272125, + -0.05644156411290169, + 0.007434770464897156, + 1.0 + ], + [ + -0.00780150294303894, + -0.01734265685081482, + 0.03724424168467522, + -0.01647108793258667, + -0.03880416229367256, + -0.02178439497947693, + 1.0 + ], + [ + -0.00017383694648742676, + -0.03957255184650421, + 0.046258345246315, + -0.050897207111120224, + -0.03758753091096878, + -0.08617720007896423, + 1.0 + ], + [ + -0.003231942653656006, + -0.022541828453540802, + 0.00925186276435852, + -0.05021604150533676, + 0.03786822408437729, + -0.10047096759080887, + 1.0 + ], + [ + 0.004195600748062134, + -0.019912712275981903, + -0.0006721913814544678, + 0.014242531731724739, + 0.019000031054019928, + -0.10507252812385559, + 1.0 + ], + [ + -0.0008433759212493896, + 0.0020770132541656494, + -1.615285873413086e-05, + 0.0036713704466819763, + 0.0029796697199344635, + 0.0033196210861206055, + 1.0 + ], + [ + -0.00022855401039123535, + 0.0004647746682167053, + -0.0003724992275238037, + -7.346365600824356e-05, + -2.2105872631072998e-05, + 0.0030741021037101746, + 1.0 + ], + [ + 0.000385969877243042, + -0.00013065338134765625, + 0.00038586556911468506, + -0.0007959883660078049, + -0.0019312836229801178, + -0.0011278167366981506, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9492040276527405 + ], + [ + 0.8956556916236877 + ], + [ + 0.8948037624359131 + ], + [ + 0.8948037624359131 + ], + [ + 0.8948037624359131 + ], + [ + 0.8948037624359131 + ], + [ + 0.8948037624359131 + ], + [ + 0.8948037624359131 + ], + [ + 0.8948037624359131 + ], + [ + 0.8948037624359131 + ], + [ + 0.8948037624359131 + ], + [ + 0.8948037624359131 + ], + [ + 0.8948037624359131 + ], + [ + 0.8948037624359131 + ], + [ + 0.8948037624359131 + ], + [ + 0.8948037624359131 + ], + [ + 0.9422301650047302 + ], + [ + 1.0054124593734741 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2982483506202698, + -0.00915681291371584, + 0.15000173449516296 + ], + [ + 0.2961153984069824, + -0.006806688383221626, + 0.14361244440078735 + ], + [ + 0.28995734453201294, + 0.011266736313700676, + 0.13278277218341827 + ], + [ + 0.2802896201610565, + 0.006425937172025442, + 0.1166718602180481 + ], + [ + 0.2616351246833801, + -0.02149602584540844, + 0.1136249229311943 + ], + [ + 0.24704769253730774, + -0.04850522428750992, + 0.09862576425075531 + ], + [ + 0.24058838188648224, + -0.053032368421554565, + 0.0800945982336998 + ], + [ + 0.24097499251365662, + -0.056533247232437134, + 0.0582813136279583 + ], + [ + 0.2423424869775772, + -0.061815295368433, + 0.04519670456647873 + ], + [ + 0.24215801060199738, + -0.0699504166841507, + 0.042904630303382874 + ], + [ + 0.24253784120082855, + -0.07511214911937714, + 0.0426783412694931 + ], + [ + 0.2445937991142273, + -0.0766393318772316, + 0.04218531772494316 + ], + [ + 0.24744658172130585, + -0.07676517963409424, + 0.03358188644051552 + ], + [ + 0.24838697910308838, + -0.0738956406712532, + 0.01650853455066681 + ], + [ + 0.24951636791229248, + -0.0736955925822258, + 0.009865774773061275 + ], + [ + 0.2508065104484558, + -0.07455197721719742, + 0.010010355152189732 + ], + [ + 0.25025665760040283, + -0.07461299747228622, + 0.0102315004914999 + ], + [ + 0.250378280878067, + -0.07538661360740662, + 0.02372281812131405 + ], + [ + 0.2544569969177246, + -0.07409188896417618, + 0.07956909388303757 + ], + [ + 0.26077815890312195, + -0.03420593962073326, + 0.12884852290153503 + ], + [ + 0.2784339189529419, + 0.010557040572166443, + 0.17485912144184113 + ], + [ + 0.28677088022232056, + 0.06156478449702263, + 0.15171313285827637 + ], + [ + 0.2900829613208771, + 0.11316023766994476, + 0.1316896229982376 + ], + [ + 0.29435956478118896, + 0.1597142517566681, + 0.10115363448858261 + ], + [ + 0.29811930656433105, + 0.1819533109664917, + 0.0782102644443512 + ], + [ + 0.30268946290016174, + 0.18992550671100616, + 0.060611993074417114 + ], + [ + 0.3052452802658081, + 0.19177405536174774, + 0.046375010162591934 + ], + [ + 0.3199375569820404, + 0.18603552877902985, + 0.03467695042490959 + ], + [ + 0.336422324180603, + 0.1844930201768875, + 0.031062358990311623 + ], + [ + 0.34144800901412964, + 0.19194409251213074, + 0.035022031515836716 + ], + [ + 0.3459974527359009, + 0.1947477012872696, + 0.025082599371671677 + ], + [ + 0.34775063395500183, + 0.20029914379119873, + 0.01747789792716503 + ], + [ + 0.34464168548583984, + 0.20382854342460632, + 0.015233611688017845 + ], + [ + 0.339487761259079, + 0.204180046916008, + 0.015932513400912285 + ], + [ + 0.3336849808692932, + 0.19991937279701233, + 0.013685598038136959 + ], + [ + 0.32733651995658875, + 0.1889244019985199, + 0.04249146953225136 + ], + [ + 0.3195350170135498, + 0.17158174514770508, + 0.07973571121692657 + ], + [ + 0.3193611800670624, + 0.13200919330120087, + 0.12599405646324158 + ], + [ + 0.31612923741340637, + 0.10946736484766006, + 0.1352459192276001 + ], + [ + 0.3203248381614685, + 0.08955465257167816, + 0.13457372784614563 + ], + [ + 0.3194814622402191, + 0.09163166582584381, + 0.1345575749874115 + ], + [ + 0.3192529082298279, + 0.09209644049406052, + 0.1341850757598877 + ], + [ + 0.3196388781070709, + 0.09196578711271286, + 0.13457094132900238 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9980341397742631, + -0.031103671177496302, + 0.054409718656951385, + -0.03406969376918307, + -0.9979344081683464, + 0.05446258312057966, + 0.052603344109671456, + -0.05620923974734177, + -0.9970323011595488 + ], + [ + 0.9980845960465219, + -0.03720907337781646, + 0.049422909596817714, + -0.039907019736962736, + -0.9977010201907582, + 0.05477320591341862, + 0.04727122708757001, + -0.056640614127005724, + -0.9972749229379785 + ], + [ + 0.9995699193240125, + -0.0130998164876328, + 0.026236828897137195, + -0.014655092055109347, + -0.998091327193314, + 0.059991089824620175, + 0.025400879107691933, + -0.06034979195887687, + -0.9978540464171486 + ], + [ + 0.9969013369261067, + -0.07843370386347506, + 0.0059898692137282826, + -0.0785458250595929, + -0.9966763249867768, + 0.021606864107509706, + 0.004275254454263375, + -0.022010390934948477, + -0.9997486008443531 + ], + [ + 0.9851381089639621, + -0.17151267844995327, + 0.009290177491959014, + -0.17152604093488405, + -0.9851793684047887, + 0.0006552486143069373, + 0.00904010774900616, + -0.0022390177455776927, + -0.9999566306852622 + ], + [ + 0.9636021879692701, + -0.2672121875588277, + -0.00827466983399156, + -0.2668088931009084, + -0.9631766526370128, + 0.03322273885800746, + -0.0168474895193243, + -0.02980574835472491, + -0.9994137178675863 + ], + [ + 0.9610421342496771, + -0.2745683002662946, + -0.0317846611701834, + -0.2728995885157897, + -0.9608181759074735, + 0.04852058773085513, + -0.04386149546855524, + -0.03795630823345286, + -0.9983163265621517 + ], + [ + 0.959368772901122, + -0.274602844999028, + -0.06484469986541211, + -0.2706403445035568, + -0.9605699638240146, + 0.0637114473711563, + -0.07978321571102334, + -0.043573181173415756, + -0.9958594360517137 + ], + [ + 0.9568793382297003, + -0.2796529984467675, + -0.07858837400546587, + -0.27470749825133145, + -0.9591095522582871, + 0.06815172170534496, + -0.09443369352929853, + -0.0436241587499437, + -0.994574889236489 + ], + [ + 0.9566307933354312, + -0.28161381537072244, + -0.07450626976817855, + -0.2777490501962719, + -0.9588911465486772, + 0.05816557560647487, + -0.08782363211284737, + -0.034948935075455254, + -0.9955227679865485 + ], + [ + 0.9619671149147188, + -0.2645058291327384, + -0.06823442076734346, + -0.2624342204325431, + -0.9642059300269402, + 0.037884092266367325, + -0.07581259637168261, + -0.01853620391789647, + -0.9969497777599925 + ], + [ + 0.9666306830145588, + -0.2504524154118866, + -0.05383967188941261, + -0.24926822985120792, + -0.9680355095226544, + 0.02779571711721945, + -0.0590802187001132, + -0.013447673314253578, + -0.9981626560039101 + ], + [ + 0.9680028011392392, + -0.24523832224696154, + -0.05318592189745192, + -0.24393647904486102, + -0.9693324800453588, + 0.02982511224304423, + -0.05886910206366731, + -0.015896805673139634, + -0.9981391287749458 + ], + [ + 0.961736232363629, + -0.2609499799557972, + -0.08347770552716885, + -0.25659052081298434, + -0.964689664996675, + 0.059457168428410846, + -0.09604542668931787, + -0.03576252521386037, + -0.9947342950770295 + ], + [ + 0.9604871023892277, + -0.26267850120880076, + -0.09200288662125564, + -0.25766584359658773, + -0.9641852612407448, + 0.06288954642685737, + -0.10522755906892617, + -0.03669859682351799, + -0.9937707853441763 + ], + [ + 0.9615850258462055, + -0.2611168848855233, + -0.08468890420847706, + -0.25660617181899026, + -0.9646166820042125, + 0.06056343272624885, + -0.0975064646716058, + -0.036505194518922465, + -0.9945651613244758 + ], + [ + 0.9666933535200354, + -0.2438004887422565, + -0.07787992006431863, + -0.2398341926899121, + -0.9691446225834389, + 0.05690571618371648, + -0.08935054715538068, + -0.03633210985671549, + -0.9953373586459988 + ], + [ + 0.9643949888847374, + -0.2595476219743088, + -0.050767483111617405, + -0.2573250282948508, + -0.9652106889351151, + 0.04639133301010703, + -0.06104207751265759, + -0.03167582505447501, + -0.9976324507954104 + ], + [ + 0.9495653952638611, + -0.2983823948771238, + 0.09640283473414873, + -0.29886674410762526, + -0.9542454068298174, + -0.009714566933414243, + 0.09489061799722165, + -0.01958698474979579, + -0.9952949917710412 + ], + [ + 0.9433468907990605, + -0.20968858660469938, + 0.25715236780451584, + -0.2109640130533987, + -0.9772244748907887, + -0.022945824692691567, + 0.2561070651429806, + -0.03260402309755336, + -0.9660984157225926 + ], + [ + 0.9592462065928027, + -0.06862136421618062, + 0.2741127934088969, + -0.08820524493156545, + -0.9943083593421653, + 0.05975551279048703, + 0.2684521370819775, + -0.08149843504878973, + -0.9598392861207118 + ], + [ + 0.9857344000588436, + 0.05539695277468881, + 0.15893039408467696, + 0.04071445592799433, + -0.9947206421646099, + 0.0941975431214305, + 0.163309600511174, + -0.08638299413024098, + -0.9827858122225696 + ], + [ + 0.9874674377773102, + 0.13195030670054567, + 0.08658623384318219, + 0.12295611519855572, + -0.9871475108236782, + 0.10208616757374978, + 0.0989436863311338, + -0.0901604593835244, + -0.991000120332464 + ], + [ + 0.9880750577541263, + 0.15397254636082133, + 0.0003677109530947423, + 0.15308508673020985, + -0.9826305349473579, + 0.1048913152261608, + 0.01651170690705305, + -0.10358420128684892, + -0.994483623182796 + ], + [ + 0.9841480256108557, + 0.16884905284030793, + -0.054246299792568474, + 0.1745807765072765, + -0.9761868474041402, + 0.1287664219790315, + -0.031212435989052413, + -0.13619558109607127, + -0.9901901572574495 + ], + [ + 0.9799690739738122, + 0.18442553183836663, + -0.07515209418935022, + 0.19335380401096813, + -0.9714814689051675, + 0.13725181983619225, + -0.047696126985296, + -0.14903348207699527, + -0.9876811736034097 + ], + [ + 0.977148490310766, + 0.19648115710097824, + -0.08109243360296521, + 0.20619316883522054, + -0.9688564162038743, + 0.13711900636408933, + -0.05162562357086684, + -0.15070633591473734, + -0.9872296568205765 + ], + [ + 0.9836779798439904, + 0.1725689984047722, + -0.05096638852832155, + 0.1789974876450332, + -0.9673837598861186, + 0.17924441560440021, + -0.018372027291844374, + -0.18544164014096323, + -0.9824835198185349 + ], + [ + 0.9895524730221831, + 0.1361446524765778, + 0.04743982227742014, + 0.12099308830707356, + -0.9631407938058474, + 0.24025087697854203, + 0.07840010023971943, + -0.2320009588537808, + -0.9695509163387593 + ], + [ + 0.9858475619672586, + 0.1520702133233339, + 0.07056369309360369, + 0.1267918656597363, + -0.9517094385847471, + 0.27959429055549256, + 0.10967409614733992, + -0.26669044738891856, + -0.9575216957885408 + ], + [ + 0.9874517758682414, + 0.1519754189646243, + 0.04292391367504786, + 0.13481116515742314, + -0.9527793682638606, + 0.2720981902909619, + 0.0822492558237096, + -0.26289721839769514, + -0.9613116625086789 + ], + [ + 0.9838267517886689, + 0.1779046762486482, + 0.02085302457248034, + 0.16808478376763303, + -0.9571592171105859, + 0.23578324487977986, + 0.06190660651937607, + -0.22846478781009966, + -0.9715819125529979 + ], + [ + 0.9755390141778919, + 0.2191838470964936, + -0.01679502869326958, + 0.2185124044304909, + -0.958532641317782, + 0.1829412600764568, + 0.023999185961870357, + -0.18213625860969343, + -0.9829803774098599 + ], + [ + 0.9726267500603786, + 0.2289171342796939, + -0.03992681680473154, + 0.23235853335042073, + -0.960018624753671, + 0.15612095344735719, + -0.0025917264954876257, + -0.16112475216192904, + -0.9869306445716081 + ], + [ + 0.9731241269265364, + 0.22296929197443857, + -0.05756846732269553, + 0.22897930236109684, + -0.963443714427568, + 0.13908518332387704, + -0.024452253141419987, + -0.1485291350760135, + -0.9886056763694409 + ], + [ + 0.9711883215454671, + 0.23828129785231786, + 0.003907324853792037, + 0.23615764420356447, + -0.9644742662405821, + 0.11840167584925959, + 0.03198141926057568, + -0.11406758020360336, + -0.9929580937625583 + ], + [ + 0.974155564362594, + 0.22077879805087225, + 0.04772482323286413, + 0.21451790448903107, + -0.9704379948410962, + 0.11059912668022034, + 0.07073192401618164, + -0.09750292559715665, + -0.9927185776568123 + ], + [ + 0.9856702461183467, + 0.1350974256451233, + 0.10100916543095671, + 0.12943789646469064, + -0.989730519110169, + 0.06065748511693862, + 0.1081665238222715, + -0.04671386438709585, + -0.993034650955459 + ], + [ + 0.9970632834451492, + 0.029870870031865084, + 0.07051623876184651, + 0.030022228607255574, + -0.9995486398900776, + -0.001087328538126631, + 0.07045193109512332, + 0.003201190003040125, + -0.997510038940728 + ], + [ + 0.9958683560147786, + -0.07432972457020741, + 0.05216617231251779, + -0.07480141134565575, + -0.9971728459075758, + 0.007145925082449621, + 0.05148753586180054, + -0.011018503977540877, + -0.998612851019341 + ], + [ + 0.9962597807615032, + -0.07087082026462087, + 0.04943456353667068, + -0.07150576532365464, + -0.9973773719617582, + 0.011193901202657433, + 0.048511594104087716, + -0.014686889857155891, + -0.9987146341692424 + ], + [ + 0.9964738189495225, + -0.06780775697884167, + 0.04941696309621332, + -0.06844275449051948, + -0.9975913760494116, + 0.011271015464089628, + 0.04853367393784069, + -0.014613504895801708, + -0.9987146379065222 + ], + [ + 0.9963006315221303, + -0.06894551600840418, + 0.05129880555079781, + -0.0695598925164653, + -0.9975247367654335, + 0.010286928314597382, + 0.05046258992264939, + -0.013817212576592809, + -0.9986303678813854 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005698.json b/json/chunk-0005/episode_0005698.json new file mode 100644 index 0000000000000000000000000000000000000000..c9e4c663723ac70e14bffdc3b7b1c242909c6658 --- /dev/null +++ b/json/chunk-0005/episode_0005698.json @@ -0,0 +1,2182 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 35, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut carrot on plate." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005698.mp4", + "start": 0, + "end": 35, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.24713826179504395, + 0.13878026604652405, + 0.09414460510015488, + -0.07732146233320236, + -0.24783135950565338, + 0.045361023396253586, + 0.0, + 1.0054124593734741 + ], + [ + 0.24546034634113312, + 0.13643595576286316, + 0.08741118013858795, + -0.09557054191827774, + -0.22956441342830658, + 0.05990738049149513, + 0.0, + 1.0054124593734741 + ], + [ + 0.2580368220806122, + 0.12578704953193665, + 0.08645948022603989, + -0.11960902065038681, + -0.26313409209251404, + 0.09762930124998093, + 0.0, + 1.0054124593734741 + ], + [ + 0.27147066593170166, + 0.11561065912246704, + 0.08160551637411118, + -0.11770018935203552, + -0.23887957632541656, + 0.10321271419525146, + 0.0, + 1.0054124593734741 + ], + [ + 0.28776615858078003, + 0.10766151547431946, + 0.08550260215997696, + -0.17596717178821564, + -0.2366762012243271, + 0.22298210859298706, + 0.0, + 1.0054124593734741 + ], + [ + 0.30275866389274597, + 0.09919820725917816, + 0.0792199894785881, + -0.3179495632648468, + -0.28033047914505005, + 0.455096960067749, + 0.0, + 1.0054124593734741 + ], + [ + 0.31027764081954956, + 0.08758534491062164, + 0.06908885389566422, + -0.4693995416164398, + -0.2816297709941864, + 0.658730149269104, + 0.0, + 1.0054124593734741 + ], + [ + 0.3117634057998657, + 0.07759576290845871, + 0.059506483376026154, + -0.5553992986679077, + -0.26315194368362427, + 0.8210834860801697, + 0.0, + 1.0054124593734741 + ], + [ + 0.31816932559013367, + 0.07182025909423828, + 0.0615769661962986, + -0.6087068319320679, + -0.25870564579963684, + 0.884619951248169, + 0.0, + 1.0054124593734741 + ], + [ + 0.32542362809181213, + 0.06427895277738571, + 0.064057856798172, + -0.6669309735298157, + -0.2980821430683136, + 0.9022067189216614, + 0.0, + 1.0054124593734741 + ], + [ + 0.33290788531303406, + 0.061047594994306564, + 0.06268121302127838, + -0.7047751545906067, + -0.31608912348747253, + 0.915779173374176, + 0.0, + 1.0054124593734741 + ], + [ + 0.33748653531074524, + 0.05417511239647865, + 0.04919486492872238, + -0.6997556686401367, + -0.2793848216533661, + 0.9300849437713623, + 0.0, + 1.0054124593734741 + ], + [ + 0.3398840129375458, + 0.05370446294546127, + 0.02891346998512745, + -0.6779977679252625, + -0.24512708187103271, + 0.9293551445007324, + 0.0, + 1.0060625076293945 + ], + [ + 0.34286826848983765, + 0.050415992736816406, + 0.019268961623311043, + -0.6965011954307556, + -0.21062695980072021, + 0.9327240586280823, + 0.0, + 0.9687211513519287 + ], + [ + 0.34479856491088867, + 0.05138224735856056, + 0.02355673909187317, + -0.674884557723999, + -0.2525024712085724, + 0.8687098622322083, + 0.0, + 0.7190925478935242 + ], + [ + 0.3399750888347626, + 0.052832797169685364, + 0.029861554503440857, + -0.6168795228004456, + -0.2576507031917572, + 0.8254749774932861, + 0.0, + 0.443907231092453 + ], + [ + 0.3335161805152893, + 0.05460752919316292, + 0.03928341716527939, + -0.5729057788848877, + -0.2356606423854828, + 0.8070513010025024, + 0.0, + 0.3095528483390808 + ], + [ + 0.32524850964546204, + 0.06558724492788315, + 0.05243956297636032, + -0.5412947535514832, + -0.2656256854534149, + 0.7723424434661865, + 0.0, + 0.3299713730812073 + ], + [ + 0.31154462695121765, + 0.0844542607665062, + 0.06101992726325989, + -0.5169100761413574, + -0.327854722738266, + 0.7633495330810547, + 0.0, + 0.34288913011550903 + ], + [ + 0.29915446043014526, + 0.10413331538438797, + 0.0571671761572361, + -0.4798549711704254, + -0.38786202669143677, + 0.7572503089904785, + 0.0, + 0.34288913011550903 + ], + [ + 0.28851860761642456, + 0.12634479999542236, + 0.058334361761808395, + -0.4594498574733734, + -0.3963826298713684, + 0.7634935975074768, + 0.0, + 0.34288913011550903 + ], + [ + 0.27929267287254333, + 0.15735048055648804, + 0.06612836569547653, + -0.4052713215351105, + -0.429952472448349, + 0.7309586405754089, + 0.0, + 0.3445223569869995 + ], + [ + 0.27149152755737305, + 0.18863296508789062, + 0.06874868273735046, + -0.34995973110198975, + -0.4572300314903259, + 0.7062206268310547, + 0.0, + 0.3445223569869995 + ], + [ + 0.2678378224372864, + 0.20518678426742554, + 0.06772616505622864, + -0.36375680565834045, + -0.5439878702163696, + 0.7391859292984009, + 0.0, + 0.4077054560184479 + ], + [ + 0.26354774832725525, + 0.195301815867424, + 0.05380479246377945, + -0.39243996143341064, + -0.5175016522407532, + 0.7799512147903442, + 0.0, + 0.7081608176231384 + ], + [ + 0.26777780055999756, + 0.18208685517311096, + 0.047519195824861526, + -0.35837864875793457, + -0.5109942555427551, + 0.7315587997436523, + 0.0, + 0.9886419177055359 + ], + [ + 0.2705651521682739, + 0.17200665175914764, + 0.044038448482751846, + -0.34667113423347473, + -0.5184350609779358, + 0.6844937205314636, + 0.0, + 1.0099300146102905 + ], + [ + 0.27055028080940247, + 0.1724928468465805, + 0.04404759034514427, + -0.34191781282424927, + -0.5215352773666382, + 0.680141270160675, + 0.0, + 1.0092895030975342 + ], + [ + 0.27055028080940247, + 0.1724928468465805, + 0.04404759034514427, + -0.3402545154094696, + -0.5225615501403809, + 0.6768057346343994, + 0.0, + 1.0099300146102905 + ], + [ + 0.27055028080940247, + 0.1724928468465805, + 0.04404759034514427, + -0.3402545154094696, + -0.5225615501403809, + 0.6768057346343994, + 0.0, + 1.0092895030975342 + ], + [ + 0.27055782079696655, + 0.17224974930286407, + 0.04404286667704582, + -0.34139755368232727, + -0.5217937231063843, + 0.6764915585517883, + 0.0, + 1.0099300146102905 + ], + [ + 0.2706374228000641, + 0.17249442636966705, + 0.044109124690294266, + -0.34147003293037415, + -0.5226379632949829, + 0.6785250306129456, + 0.0, + 1.0099300146102905 + ], + [ + 0.2706374228000641, + 0.17249442636966705, + 0.044109124690294266, + -0.34147003293037415, + -0.5226379632949829, + 0.6785250306129456, + 0.0, + 1.0099300146102905 + ], + [ + 0.2706374228000641, + 0.17249442636966705, + 0.044109124690294266, + -0.34147003293037415, + -0.5226379632949829, + 0.6785250306129456, + 0.0, + 1.0099300146102905 + ], + [ + 0.27055782079696655, + 0.17224974930286407, + 0.04404286667704582, + -0.34139755368232727, + -0.5217937231063843, + 0.6764915585517883, + 0.0, + 1.0099300146102905 + ] + ], + "left_gripper_pos": [ + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 1.0060625076293945 + ], + [ + 0.9687211513519287 + ], + [ + 0.7190925478935242 + ], + [ + 0.443907231092453 + ], + [ + 0.3095528483390808 + ], + [ + 0.3299713730812073 + ], + [ + 0.34288913011550903 + ], + [ + 0.34288913011550903 + ], + [ + 0.34288913011550903 + ], + [ + 0.3445223569869995 + ], + [ + 0.3445223569869995 + ], + [ + 0.4077054560184479 + ], + [ + 0.7081608176231384 + ], + [ + 0.9886419177055359 + ], + [ + 1.0099300146102905 + ], + [ + 1.0092895030975342 + ], + [ + 1.0099300146102905 + ], + [ + 1.0092895030975342 + ], + [ + 1.0099300146102905 + ], + [ + 1.0099300146102905 + ], + [ + 1.0099300146102905 + ], + [ + 1.0099300146102905 + ], + [ + 1.0099300146102905 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.24713826179504395, + 0.13878026604652405, + 0.09414460510015488 + ], + [ + 0.24546034634113312, + 0.13643595576286316, + 0.08741118013858795 + ], + [ + 0.2580368220806122, + 0.12578704953193665, + 0.08645948022603989 + ], + [ + 0.27147066593170166, + 0.11561065912246704, + 0.08160551637411118 + ], + [ + 0.28776615858078003, + 0.10766151547431946, + 0.08550260215997696 + ], + [ + 0.30275866389274597, + 0.09919820725917816, + 0.0792199894785881 + ], + [ + 0.31027764081954956, + 0.08758534491062164, + 0.06908885389566422 + ], + [ + 0.3117634057998657, + 0.07759576290845871, + 0.059506483376026154 + ], + [ + 0.31816932559013367, + 0.07182025909423828, + 0.0615769661962986 + ], + [ + 0.32542362809181213, + 0.06427895277738571, + 0.064057856798172 + ], + [ + 0.33290788531303406, + 0.061047594994306564, + 0.06268121302127838 + ], + [ + 0.33748653531074524, + 0.05417511239647865, + 0.04919486492872238 + ], + [ + 0.3398840129375458, + 0.05370446294546127, + 0.02891346998512745 + ], + [ + 0.34286826848983765, + 0.050415992736816406, + 0.019268961623311043 + ], + [ + 0.34479856491088867, + 0.05138224735856056, + 0.02355673909187317 + ], + [ + 0.3399750888347626, + 0.052832797169685364, + 0.029861554503440857 + ], + [ + 0.3335161805152893, + 0.05460752919316292, + 0.03928341716527939 + ], + [ + 0.32524850964546204, + 0.06558724492788315, + 0.05243956297636032 + ], + [ + 0.31154462695121765, + 0.0844542607665062, + 0.06101992726325989 + ], + [ + 0.29915446043014526, + 0.10413331538438797, + 0.0571671761572361 + ], + [ + 0.28851860761642456, + 0.12634479999542236, + 0.058334361761808395 + ], + [ + 0.27929267287254333, + 0.15735048055648804, + 0.06612836569547653 + ], + [ + 0.27149152755737305, + 0.18863296508789062, + 0.06874868273735046 + ], + [ + 0.2678378224372864, + 0.20518678426742554, + 0.06772616505622864 + ], + [ + 0.26354774832725525, + 0.195301815867424, + 0.05380479246377945 + ], + [ + 0.26777780055999756, + 0.18208685517311096, + 0.047519195824861526 + ], + [ + 0.2705651521682739, + 0.17200665175914764, + 0.044038448482751846 + ], + [ + 0.27055028080940247, + 0.1724928468465805, + 0.04404759034514427 + ], + [ + 0.27055028080940247, + 0.1724928468465805, + 0.04404759034514427 + ], + [ + 0.27055028080940247, + 0.1724928468465805, + 0.04404759034514427 + ], + [ + 0.27055782079696655, + 0.17224974930286407, + 0.04404286667704582 + ], + [ + 0.2706374228000641, + 0.17249442636966705, + 0.044109124690294266 + ], + [ + 0.2706374228000641, + 0.17249442636966705, + 0.044109124690294266 + ], + [ + 0.2706374228000641, + 0.17249442636966705, + 0.044109124690294266 + ], + [ + 0.27055782079696655, + 0.17224974930286407, + 0.04404286667704582 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9684494665280694, + 0.02628124834572112, + 0.24782035180123574, + 0.04396001408324201, + -0.9968458395710854, + -0.06607487640260029, + 0.24530215641795505, + 0.0748843649583027, + -0.9665501455907463 + ], + [ + 0.9720187582251176, + 0.037922979989444584, + 0.23182187396192885, + 0.05830085949300209, + -0.9949509559977259, + -0.08169213512687996, + 0.22755338591389376, + 0.09292170224404724, + -0.9693219350717237 + ], + [ + 0.9609814718972308, + 0.06588852286426086, + 0.2686509133150267, + 0.0941191714838489, + -0.9911527542931678, + -0.09358311394830546, + 0.26010803953247214, + 0.11521683996635845, + -0.9586808058779215 + ], + [ + 0.9664331041589324, + 0.07467932164639779, + 0.2458252511524481, + 0.10010390089884938, + -0.9906591439297091, + -0.09259411197959284, + 0.23661416739190336, + 0.11409408164707711, + -0.9648814830447036 + ], + [ + 0.9480551876515406, + 0.17769329757782615, + 0.2638493000993561, + 0.21497412204164473, + -0.9692593966013763, + -0.11967601661301942, + 0.23447278737505126, + 0.17018024002760657, + -0.9571108597674148 + ], + [ + 0.8631556100121884, + 0.33982847352192536, + 0.37346887619752855, + 0.42239118116885466, + -0.8912164399821749, + -0.16528444323734226, + 0.2766732422466377, + 0.30041615417493195, + -0.9127990202314401 + ], + [ + 0.7596167947096475, + 0.4464929702210002, + 0.4728914809322218, + 0.5879982312381643, + -0.7821941984521478, + -0.2059862033452531, + 0.27792158112645937, + 0.4345299338952734, + -0.8567049266189251 + ], + [ + 0.6579703556587826, + 0.5284105461743894, + 0.5365233506250576, + 0.7066893599996357, + -0.6793880112070276, + -0.19754006857208745, + 0.26012527662178553, + 0.5091308524533187, + -0.8204392820572383 + ], + [ + 0.6124991372180215, + 0.5420293459850184, + 0.5753685731756928, + 0.747927858164609, + -0.6329614753182935, + -0.1999092037505777, + 0.2558294859637566, + 0.5527783994096935, + -0.7930872053296394 + ], + [ + 0.5925440995760837, + 0.5039422633243619, + 0.6284374951362206, + 0.7500927693380676, + -0.6296090088258294, + -0.20236929952960997, + 0.2936874655893856, + 0.5912991554542217, + -0.751074551103156 + ], + [ + 0.5789934411025981, + 0.48142117239133186, + 0.6580275449656557, + 0.7537491226903804, + -0.6237510571587368, + -0.20687406492076396, + 0.3108518219403812, + 0.6157664114473231, + -0.724018557310261 + ], + [ + 0.5745876733053685, + 0.5071140841670634, + 0.6424050990807312, + 0.7705861500947633, + -0.5996679660319533, + -0.21585948160141447, + 0.275764375813219, + 0.6190586693961253, + -0.7353369111351917 + ], + [ + 0.5804639833155207, + 0.5329461645993916, + 0.615654082835708, + 0.7772825555171408, + -0.5879752010342834, + -0.22386824664841734, + 0.2426796096960381, + 0.6084846330085025, + -0.7555481840559782 + ], + [ + 0.5824842997973819, + 0.5362695549506854, + 0.6108412272616739, + 0.7854937952553428, + -0.5646545039821743, + -0.2533076957930865, + 0.20907304490276096, + 0.6273597497175276, + -0.7501387913776021 + ], + [ + 0.6253335708456393, + 0.495314460777776, + 0.6030103731428361, + 0.7392861197074538, + -0.62341396940675, + -0.2545801562502779, + 0.24982785749659261, + 0.6049947170785384, + -0.7560207893475691 + ], + [ + 0.655821210318303, + 0.4994528053811155, + 0.5660790009297023, + 0.7106128727425224, + -0.6615296764021331, + -0.23959931621753203, + 0.2548095076508254, + 0.5593973386030923, + -0.7887627858707086 + ], + [ + 0.6725146622410659, + 0.5193910570978658, + 0.5272162354077751, + 0.7022881091518766, + -0.6726109995388295, + -0.23320775082157696, + 0.2334854188480879, + 0.5270933248544685, + -0.8171029225741362 + ], + [ + 0.6911570550616746, + 0.5011740268805223, + 0.5206981083303788, + 0.6733415314288558, + -0.7082662070672568, + -0.2120616938053753, + 0.26251306118270873, + 0.4971755974571992, + -0.8269844726484049 + ], + [ + 0.6840393596107323, + 0.4860406737051605, + 0.5439251952314518, + 0.6545211502691534, + -0.7381458199544346, + -0.16353229752602305, + 0.32201276116589495, + 0.4678730725186362, + -0.8230446948120662 + ], + [ + 0.6727461026780204, + 0.4824583745603068, + 0.5609336842695055, + 0.6359007696579229, + -0.7645902032373395, + -0.10503348162345802, + 0.3782101168398274, + 0.42735902696691763, + -0.8211707310845252 + ], + [ + 0.6664105867369101, + 0.49605685247920267, + 0.5566188363623656, + 0.6378370385868681, + -0.7658905680515934, + -0.08108976492962555, + 0.38608398321052056, + 0.40907118803214965, + -0.8268010165875852 + ], + [ + 0.676771357550948, + 0.4911481623622749, + 0.5484104413728889, + 0.6068239288363628, + -0.7939359999278386, + -0.03781993403198053, + 0.4168276010417822, + 0.3583840267460911, + -0.8353536020051684 + ], + [ + 0.6826676213500451, + 0.4944690195465952, + 0.5380198021159638, + 0.5823007203869316, + -0.8129313706382209, + 0.008273914981714897, + 0.44146436979345516, + 0.3076409844947401, + -0.842891591405428 + ], + [ + 0.6323412467546953, + 0.49352333668694687, + 0.5971425824692956, + 0.5764409234359131, + -0.8147127697705613, + 0.06292030325047282, + 0.5175523253170337, + 0.30443031865791925, + -0.7996635365206847 + ], + [ + 0.6178548067865084, + 0.5152724632111078, + 0.5939273746740121, + 0.6111603581392536, + -0.7899538869721155, + 0.04955676640728021, + 0.4947104752983365, + 0.3323659806809416, + -0.8029909093608035 + ], + [ + 0.6490773416258722, + 0.4979428312568698, + 0.5751100254627661, + 0.5826953322947251, + -0.8114476949898806, + 0.044930924957646334, + 0.4890447365117334, + 0.30595028206475366, + -0.8168412762554711 + ], + [ + 0.6729351903702433, + 0.46422857638286896, + 0.5758906653444723, + 0.5491964368535042, + -0.8351017689906446, + 0.03143738500751869, + 0.49552144586160873, + 0.2951217787596008, + -0.8169220479292929 + ], + [ + 0.6741215264691971, + 0.46262089344159696, + 0.5757969056031284, + 0.5452935680510325, + -0.8375347405589737, + 0.03450337663166411, + 0.4982118948730684, + 0.2907188802057944, + -0.8168643954163233 + ], + [ + 0.6755376643290777, + 0.46055053273605456, + 0.5757969007118318, + 0.5427214654925994, + -0.839203746081017, + 0.03450338327111477, + 0.49910146760591667, + 0.2891890028340023, + -0.8168643985836914 + ], + [ + 0.6755376643290777, + 0.46055053273605456, + 0.5757969007118318, + 0.5427214654925994, + -0.839203746081017, + 0.03450338327111477, + 0.49910146760591667, + 0.2891890028340023, + -0.8168643985836914 + ], + [ + 0.676006769679933, + 0.45980212536931014, + 0.5758444693255002, + 0.5427489623749144, + -0.8392475875590482, + 0.032970450668309254, + 0.49843596498231896, + 0.2902507403645732, + -0.8168941770694423 + ], + [ + 0.6745738752059689, + 0.4612752699311473, + 0.57634643422125, + 0.5438581732956151, + -0.838467123718674, + 0.034513327606752464, + 0.49916768147503215, + 0.2901689297510702, + -0.8164763425709038 + ], + [ + 0.6745738752059689, + 0.4612752699311473, + 0.57634643422125, + 0.5438581732956151, + -0.838467123718674, + 0.034513327606752464, + 0.49916768147503215, + 0.2901689297510702, + -0.8164763425709038 + ], + [ + 0.6745738752059689, + 0.4612752699311473, + 0.57634643422125, + 0.5438581732956151, + -0.838467123718674, + 0.034513327606752464, + 0.49916768147503215, + 0.2901689297510702, + -0.8164763425709038 + ], + [ + 0.676006769679933, + 0.45980212536931014, + 0.5758444693255002, + 0.5427489623749144, + -0.8392475875590482, + 0.032970450668309254, + 0.49843596498231896, + 0.2902507403645732, + -0.8168941770694423 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0016779154539108276, + -0.0023443102836608887, + -0.006733424961566925, + -0.01824907958507538, + 0.018266946077346802, + 0.014546357095241547, + 1.0 + ], + [ + 0.012576475739479065, + -0.010648906230926514, + -0.0009516999125480652, + -0.02403847873210907, + -0.03356967866420746, + 0.037721920758485794, + 1.0 + ], + [ + 0.013433843851089478, + -0.010176390409469604, + -0.004853963851928711, + 0.0019088312983512878, + 0.024254515767097473, + 0.005583412945270538, + 1.0 + ], + [ + 0.01629549264907837, + -0.007949143648147583, + 0.0038970857858657837, + -0.058266982436180115, + 0.0022033751010894775, + 0.1197693943977356, + 1.0 + ], + [ + 0.014992505311965942, + -0.008463308215141296, + -0.006282612681388855, + -0.14198239147663116, + -0.04365427792072296, + 0.23211485147476196, + 1.0 + ], + [ + 0.007518976926803589, + -0.011612862348556519, + -0.01013113558292389, + -0.15144997835159302, + -0.0012992918491363525, + 0.20363318920135498, + 1.0 + ], + [ + 0.0014857649803161621, + -0.009989582002162933, + -0.009582370519638062, + -0.0859997570514679, + 0.018477827310562134, + 0.16235333681106567, + 1.0 + ], + [ + 0.006405919790267944, + -0.0057755038142204285, + 0.0020704828202724457, + -0.053307533264160156, + 0.004446297883987427, + 0.06353646516799927, + 1.0 + ], + [ + 0.007254302501678467, + -0.00754130631685257, + 0.002480890601873398, + -0.0582241415977478, + -0.03937649726867676, + 0.01758676767349243, + 1.0 + ], + [ + 0.007484257221221924, + -0.0032313577830791473, + -0.0013766437768936157, + -0.037844181060791016, + -0.018006980419158936, + 0.013572454452514648, + 1.0 + ], + [ + 0.004578649997711182, + -0.006872482597827911, + -0.013486348092556, + 0.005019485950469971, + 0.036704301834106445, + 0.01430577039718628, + 1.0 + ], + [ + 0.002397477626800537, + -0.00047064945101737976, + -0.020281394943594933, + 0.021757900714874268, + 0.034257739782333374, + -0.0007297992706298828, + 1.0 + ], + [ + 0.00298425555229187, + -0.003288470208644867, + -0.009644508361816406, + -0.018503427505493164, + 0.0345001220703125, + 0.0033689141273498535, + 0.0 + ], + [ + 0.0019302964210510254, + 0.0009662546217441559, + 0.004287777468562126, + 0.021616637706756592, + -0.04187551140785217, + -0.06401419639587402, + 0.0 + ], + [ + -0.004823476076126099, + 0.0014505498111248016, + 0.006304815411567688, + 0.05800503492355347, + -0.0051482319831848145, + -0.04323488473892212, + 0.0 + ], + [ + -0.006458908319473267, + 0.0017747320234775543, + 0.009421862661838531, + 0.04397374391555786, + 0.021990060806274414, + -0.01842367649078369, + 0.0 + ], + [ + -0.00826767086982727, + 0.01097971573472023, + 0.013156145811080933, + 0.03161102533340454, + -0.02996504306793213, + -0.03470885753631592, + 0.0 + ], + [ + -0.013703882694244385, + 0.018867015838623047, + 0.008580364286899567, + 0.024384677410125732, + -0.062229037284851074, + -0.008992910385131836, + 0.0 + ], + [ + -0.012390166521072388, + 0.019679054617881775, + -0.0038527511060237885, + 0.03705510497093201, + -0.060007303953170776, + -0.006099224090576172, + 0.0 + ], + [ + -0.010635852813720703, + 0.022211484611034393, + 0.0011671856045722961, + 0.020405113697052002, + -0.00852060317993164, + 0.006243288516998291, + 0.0 + ], + [ + -0.009225934743881226, + 0.031005680561065674, + 0.007794003933668137, + 0.05417853593826294, + -0.03356984257698059, + -0.03253495693206787, + 0.0 + ], + [ + -0.007801145315170288, + 0.03128248453140259, + 0.002620317041873932, + 0.05531159043312073, + -0.02727755904197693, + -0.024738013744354248, + 0.0 + ], + [ + -0.00365370512008667, + 0.016553819179534912, + -0.0010225176811218262, + -0.013797074556350708, + -0.0867578387260437, + 0.03296530246734619, + 1.0 + ], + [ + -0.004290074110031128, + -0.009884968400001526, + -0.013921372592449188, + -0.02868315577507019, + 0.026486217975616455, + 0.04076528549194336, + 1.0 + ], + [ + 0.00423005223274231, + -0.01321496069431305, + -0.006285596638917923, + 0.034061312675476074, + 0.006507396697998047, + -0.048392415046691895, + 1.0 + ], + [ + 0.002787351608276367, + -0.010080203413963318, + -0.00348074734210968, + 0.011707514524459839, + -0.007440805435180664, + -0.04706507921218872, + 1.0 + ], + [ + -1.4871358871459961e-05, + 0.00048619508743286133, + 9.141862392425537e-06, + 0.004753321409225464, + -0.0031002163887023926, + -0.004352450370788574, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.001663297414779663, + -0.0010262727737426758, + -0.0033355355262756348, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 7.539987564086914e-06, + -0.00024309754371643066, + -4.723668098449707e-06, + -0.001143038272857666, + 0.000767827033996582, + -0.000314176082611084, + 1.0 + ], + [ + 7.960200309753418e-05, + 0.0002446770668029785, + 6.62580132484436e-05, + -7.2479248046875e-05, + -0.0008442401885986328, + 0.0020334720611572266, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + -7.960200309753418e-05, + -0.0002446770668029785, + -6.62580132484436e-05, + 7.2479248046875e-05, + 0.0008442401885986328, + -0.0020334720611572266, + 1.0 + ], + [ + 7.960200309753418e-05, + 0.0002446770668029785, + 6.62580132484436e-05, + -7.2479248046875e-05, + -0.0008442401885986328, + 0.0020334720611572266, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 1.0060625076293945 + ], + [ + 0.9687211513519287 + ], + [ + 0.7190925478935242 + ], + [ + 0.443907231092453 + ], + [ + 0.3095528483390808 + ], + [ + 0.3299713730812073 + ], + [ + 0.34288913011550903 + ], + [ + 0.34288913011550903 + ], + [ + 0.34288913011550903 + ], + [ + 0.3445223569869995 + ], + [ + 0.3445223569869995 + ], + [ + 0.4077054560184479 + ], + [ + 0.7081608176231384 + ], + [ + 0.9886419177055359 + ], + [ + 1.0099300146102905 + ], + [ + 1.0092895030975342 + ], + [ + 1.0099300146102905 + ], + [ + 1.0092895030975342 + ], + [ + 1.0099300146102905 + ], + [ + 1.0099300146102905 + ], + [ + 1.0099300146102905 + ], + [ + 1.0099300146102905 + ], + [ + 1.0099300146102905 + ], + [ + 1.0099300146102905 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.24546034634113312, + 0.13643595576286316, + 0.08741118013858795 + ], + [ + 0.2580368220806122, + 0.12578704953193665, + 0.08645948022603989 + ], + [ + 0.27147066593170166, + 0.11561065912246704, + 0.08160551637411118 + ], + [ + 0.28776615858078003, + 0.10766151547431946, + 0.08550260215997696 + ], + [ + 0.30275866389274597, + 0.09919820725917816, + 0.0792199894785881 + ], + [ + 0.31027764081954956, + 0.08758534491062164, + 0.06908885389566422 + ], + [ + 0.3117634057998657, + 0.07759576290845871, + 0.059506483376026154 + ], + [ + 0.31816932559013367, + 0.07182025909423828, + 0.0615769661962986 + ], + [ + 0.32542362809181213, + 0.06427895277738571, + 0.064057856798172 + ], + [ + 0.33290788531303406, + 0.061047594994306564, + 0.06268121302127838 + ], + [ + 0.33748653531074524, + 0.05417511239647865, + 0.04919486492872238 + ], + [ + 0.3398840129375458, + 0.05370446294546127, + 0.02891346998512745 + ], + [ + 0.34286826848983765, + 0.050415992736816406, + 0.019268961623311043 + ], + [ + 0.34479856491088867, + 0.05138224735856056, + 0.02355673909187317 + ], + [ + 0.3399750888347626, + 0.052832797169685364, + 0.029861554503440857 + ], + [ + 0.3335161805152893, + 0.05460752919316292, + 0.03928341716527939 + ], + [ + 0.32524850964546204, + 0.06558724492788315, + 0.05243956297636032 + ], + [ + 0.31154462695121765, + 0.0844542607665062, + 0.06101992726325989 + ], + [ + 0.29915446043014526, + 0.10413331538438797, + 0.0571671761572361 + ], + [ + 0.28851860761642456, + 0.12634479999542236, + 0.058334361761808395 + ], + [ + 0.27929267287254333, + 0.15735048055648804, + 0.06612836569547653 + ], + [ + 0.27149152755737305, + 0.18863296508789062, + 0.06874868273735046 + ], + [ + 0.2678378224372864, + 0.20518678426742554, + 0.06772616505622864 + ], + [ + 0.26354774832725525, + 0.195301815867424, + 0.05380479246377945 + ], + [ + 0.26777780055999756, + 0.18208685517311096, + 0.047519195824861526 + ], + [ + 0.2705651521682739, + 0.17200665175914764, + 0.044038448482751846 + ], + [ + 0.27055028080940247, + 0.1724928468465805, + 0.04404759034514427 + ], + [ + 0.27055028080940247, + 0.1724928468465805, + 0.04404759034514427 + ], + [ + 0.27055028080940247, + 0.1724928468465805, + 0.04404759034514427 + ], + [ + 0.27055782079696655, + 0.17224974930286407, + 0.04404286667704582 + ], + [ + 0.2706374228000641, + 0.17249442636966705, + 0.044109124690294266 + ], + [ + 0.2706374228000641, + 0.17249442636966705, + 0.044109124690294266 + ], + [ + 0.2706374228000641, + 0.17249442636966705, + 0.044109124690294266 + ], + [ + 0.27055782079696655, + 0.17224974930286407, + 0.04404286667704582 + ], + [ + 0.2706374228000641, + 0.17249442636966705, + 0.044109124690294266 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9720187582251176, + 0.037922979989444584, + 0.23182187396192885, + 0.05830085949300209, + -0.9949509559977259, + -0.08169213512687996, + 0.22755338591389376, + 0.09292170224404724, + -0.9693219350717237 + ], + [ + 0.9609814718972308, + 0.06588852286426086, + 0.2686509133150267, + 0.0941191714838489, + -0.9911527542931678, + -0.09358311394830546, + 0.26010803953247214, + 0.11521683996635845, + -0.9586808058779215 + ], + [ + 0.9664331041589324, + 0.07467932164639779, + 0.2458252511524481, + 0.10010390089884938, + -0.9906591439297091, + -0.09259411197959284, + 0.23661416739190336, + 0.11409408164707711, + -0.9648814830447036 + ], + [ + 0.9480551876515406, + 0.17769329757782615, + 0.2638493000993561, + 0.21497412204164473, + -0.9692593966013763, + -0.11967601661301942, + 0.23447278737505126, + 0.17018024002760657, + -0.9571108597674148 + ], + [ + 0.8631556100121884, + 0.33982847352192536, + 0.37346887619752855, + 0.42239118116885466, + -0.8912164399821749, + -0.16528444323734226, + 0.2766732422466377, + 0.30041615417493195, + -0.9127990202314401 + ], + [ + 0.7596167947096475, + 0.4464929702210002, + 0.4728914809322218, + 0.5879982312381643, + -0.7821941984521478, + -0.2059862033452531, + 0.27792158112645937, + 0.4345299338952734, + -0.8567049266189251 + ], + [ + 0.6579703556587826, + 0.5284105461743894, + 0.5365233506250576, + 0.7066893599996357, + -0.6793880112070276, + -0.19754006857208745, + 0.26012527662178553, + 0.5091308524533187, + -0.8204392820572383 + ], + [ + 0.6124991372180215, + 0.5420293459850184, + 0.5753685731756928, + 0.747927858164609, + -0.6329614753182935, + -0.1999092037505777, + 0.2558294859637566, + 0.5527783994096935, + -0.7930872053296394 + ], + [ + 0.5925440995760837, + 0.5039422633243619, + 0.6284374951362206, + 0.7500927693380676, + -0.6296090088258294, + -0.20236929952960997, + 0.2936874655893856, + 0.5912991554542217, + -0.751074551103156 + ], + [ + 0.5789934411025981, + 0.48142117239133186, + 0.6580275449656557, + 0.7537491226903804, + -0.6237510571587368, + -0.20687406492076396, + 0.3108518219403812, + 0.6157664114473231, + -0.724018557310261 + ], + [ + 0.5745876733053685, + 0.5071140841670634, + 0.6424050990807312, + 0.7705861500947633, + -0.5996679660319533, + -0.21585948160141447, + 0.275764375813219, + 0.6190586693961253, + -0.7353369111351917 + ], + [ + 0.5804639833155207, + 0.5329461645993916, + 0.615654082835708, + 0.7772825555171408, + -0.5879752010342834, + -0.22386824664841734, + 0.2426796096960381, + 0.6084846330085025, + -0.7555481840559782 + ], + [ + 0.5824842997973819, + 0.5362695549506854, + 0.6108412272616739, + 0.7854937952553428, + -0.5646545039821743, + -0.2533076957930865, + 0.20907304490276096, + 0.6273597497175276, + -0.7501387913776021 + ], + [ + 0.6253335708456393, + 0.495314460777776, + 0.6030103731428361, + 0.7392861197074538, + -0.62341396940675, + -0.2545801562502779, + 0.24982785749659261, + 0.6049947170785384, + -0.7560207893475691 + ], + [ + 0.655821210318303, + 0.4994528053811155, + 0.5660790009297023, + 0.7106128727425224, + -0.6615296764021331, + -0.23959931621753203, + 0.2548095076508254, + 0.5593973386030923, + -0.7887627858707086 + ], + [ + 0.6725146622410659, + 0.5193910570978658, + 0.5272162354077751, + 0.7022881091518766, + -0.6726109995388295, + -0.23320775082157696, + 0.2334854188480879, + 0.5270933248544685, + -0.8171029225741362 + ], + [ + 0.6911570550616746, + 0.5011740268805223, + 0.5206981083303788, + 0.6733415314288558, + -0.7082662070672568, + -0.2120616938053753, + 0.26251306118270873, + 0.4971755974571992, + -0.8269844726484049 + ], + [ + 0.6840393596107323, + 0.4860406737051605, + 0.5439251952314518, + 0.6545211502691534, + -0.7381458199544346, + -0.16353229752602305, + 0.32201276116589495, + 0.4678730725186362, + -0.8230446948120662 + ], + [ + 0.6727461026780204, + 0.4824583745603068, + 0.5609336842695055, + 0.6359007696579229, + -0.7645902032373395, + -0.10503348162345802, + 0.3782101168398274, + 0.42735902696691763, + -0.8211707310845252 + ], + [ + 0.6664105867369101, + 0.49605685247920267, + 0.5566188363623656, + 0.6378370385868681, + -0.7658905680515934, + -0.08108976492962555, + 0.38608398321052056, + 0.40907118803214965, + -0.8268010165875852 + ], + [ + 0.676771357550948, + 0.4911481623622749, + 0.5484104413728889, + 0.6068239288363628, + -0.7939359999278386, + -0.03781993403198053, + 0.4168276010417822, + 0.3583840267460911, + -0.8353536020051684 + ], + [ + 0.6826676213500451, + 0.4944690195465952, + 0.5380198021159638, + 0.5823007203869316, + -0.8129313706382209, + 0.008273914981714897, + 0.44146436979345516, + 0.3076409844947401, + -0.842891591405428 + ], + [ + 0.6323412467546953, + 0.49352333668694687, + 0.5971425824692956, + 0.5764409234359131, + -0.8147127697705613, + 0.06292030325047282, + 0.5175523253170337, + 0.30443031865791925, + -0.7996635365206847 + ], + [ + 0.6178548067865084, + 0.5152724632111078, + 0.5939273746740121, + 0.6111603581392536, + -0.7899538869721155, + 0.04955676640728021, + 0.4947104752983365, + 0.3323659806809416, + -0.8029909093608035 + ], + [ + 0.6490773416258722, + 0.4979428312568698, + 0.5751100254627661, + 0.5826953322947251, + -0.8114476949898806, + 0.044930924957646334, + 0.4890447365117334, + 0.30595028206475366, + -0.8168412762554711 + ], + [ + 0.6729351903702433, + 0.46422857638286896, + 0.5758906653444723, + 0.5491964368535042, + -0.8351017689906446, + 0.03143738500751869, + 0.49552144586160873, + 0.2951217787596008, + -0.8169220479292929 + ], + [ + 0.6741215264691971, + 0.46262089344159696, + 0.5757969056031284, + 0.5452935680510325, + -0.8375347405589737, + 0.03450337663166411, + 0.4982118948730684, + 0.2907188802057944, + -0.8168643954163233 + ], + [ + 0.6755376643290777, + 0.46055053273605456, + 0.5757969007118318, + 0.5427214654925994, + -0.839203746081017, + 0.03450338327111477, + 0.49910146760591667, + 0.2891890028340023, + -0.8168643985836914 + ], + [ + 0.6755376643290777, + 0.46055053273605456, + 0.5757969007118318, + 0.5427214654925994, + -0.839203746081017, + 0.03450338327111477, + 0.49910146760591667, + 0.2891890028340023, + -0.8168643985836914 + ], + [ + 0.676006769679933, + 0.45980212536931014, + 0.5758444693255002, + 0.5427489623749144, + -0.8392475875590482, + 0.032970450668309254, + 0.49843596498231896, + 0.2902507403645732, + -0.8168941770694423 + ], + [ + 0.6745738752059689, + 0.4612752699311473, + 0.57634643422125, + 0.5438581732956151, + -0.838467123718674, + 0.034513327606752464, + 0.49916768147503215, + 0.2901689297510702, + -0.8164763425709038 + ], + [ + 0.6745738752059689, + 0.4612752699311473, + 0.57634643422125, + 0.5438581732956151, + -0.838467123718674, + 0.034513327606752464, + 0.49916768147503215, + 0.2901689297510702, + -0.8164763425709038 + ], + [ + 0.6745738752059689, + 0.4612752699311473, + 0.57634643422125, + 0.5438581732956151, + -0.838467123718674, + 0.034513327606752464, + 0.49916768147503215, + 0.2901689297510702, + -0.8164763425709038 + ], + [ + 0.676006769679933, + 0.45980212536931014, + 0.5758444693255002, + 0.5427489623749144, + -0.8392475875590482, + 0.032970450668309254, + 0.49843596498231896, + 0.2902507403645732, + -0.8168941770694423 + ], + [ + 0.6745738752059689, + 0.4612752699311473, + 0.57634643422125, + 0.5438581732956151, + -0.838467123718674, + 0.034513327606752464, + 0.49916768147503215, + 0.2901689297510702, + -0.8164763425709038 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005699.json b/json/chunk-0005/episode_0005699.json new file mode 100644 index 0000000000000000000000000000000000000000..ff11a69a7b3e4e2fe3bb4119e78bb360bad5fa2b --- /dev/null +++ b/json/chunk-0005/episode_0005699.json @@ -0,0 +1,1942 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 31, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nOpens the silver pot." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005699.mp4", + "start": 0, + "end": 31, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.4176046550273895, + 0.17924879491329193, + 0.10274846106767654, + 0.06852421909570694, + -0.1699834167957306, + 0.09496860206127167, + 0.0, + 1.0001531839370728 + ], + [ + 0.4144367277622223, + 0.17615140974521637, + 0.08376444876194, + 0.04902312904596329, + -0.1294187754392624, + 0.09876831620931625, + 0.0, + 1.0001531839370728 + ], + [ + 0.38378462195396423, + 0.15709903836250305, + 0.07384353876113892, + 0.0016107698902487755, + -0.10311028361320496, + 0.07933109998703003, + 0.0, + 1.0001531839370728 + ], + [ + 0.35245397686958313, + 0.13591764867305756, + 0.09756851941347122, + -0.024681510403752327, + -0.15798644721508026, + 0.02665788121521473, + 0.0, + 1.0001531839370728 + ], + [ + 0.31681379675865173, + 0.12017031759023666, + 0.10236453264951706, + -0.0467347577214241, + -0.15964330732822418, + -0.028839023783802986, + 0.0, + 1.0001531839370728 + ], + [ + 0.28944864869117737, + 0.10712022334337234, + 0.0980353131890297, + -0.035111334174871445, + -0.14919312298297882, + -0.08679576963186264, + 0.0, + 1.0001531839370728 + ], + [ + 0.2711755633354187, + 0.09061945229768753, + 0.09611373394727707, + -0.003419790882617235, + -0.16411715745925903, + -0.156703919172287, + 0.0, + 1.0001531839370728 + ], + [ + 0.2646453380584717, + 0.08640780299901962, + 0.08684127032756805, + 0.0268943440169096, + -0.1611989587545395, + -0.17753435671329498, + 0.0, + 1.0001531839370728 + ], + [ + 0.26588642597198486, + 0.08458801358938217, + 0.07740069180727005, + 0.06117331609129906, + -0.1558544784784317, + -0.18863306939601898, + 0.0, + 1.0001531839370728 + ], + [ + 0.26697152853012085, + 0.08876572549343109, + 0.06427887082099915, + 0.07076316326856613, + -0.12579378485679626, + -0.17143309116363525, + 0.0, + 0.993436336517334 + ], + [ + 0.26510849595069885, + 0.09281063824892044, + 0.056858789175748825, + 0.0967128649353981, + -0.10410290956497192, + -0.17231592535972595, + 0.0, + 0.9657809734344482 + ], + [ + 0.26079061627388, + 0.09455730020999908, + 0.05137411504983902, + 0.1110696941614151, + -0.09047684818506241, + -0.17288467288017273, + 0.0, + 0.875784695148468 + ], + [ + 0.2607199549674988, + 0.09110614657402039, + 0.050305433571338654, + 0.1170019805431366, + -0.08750105649232864, + -0.1916927993297577, + 0.0, + 0.5938982367515564 + ], + [ + 0.2611871063709259, + 0.09134579449892044, + 0.050679128617048264, + 0.12069674581289291, + -0.08748826384544373, + -0.19330990314483643, + 0.0, + 0.3552374839782715 + ], + [ + 0.2623419165611267, + 0.0897856131196022, + 0.05263714864850044, + 0.10898777842521667, + -0.07948309928178787, + -0.19331702589988708, + 0.0, + 0.2824830114841461 + ], + [ + 0.2595866620540619, + 0.07730473577976227, + 0.06278924643993378, + 0.061307210475206375, + -0.07375283539295197, + -0.20504051446914673, + 0.0, + 0.2824830114841461 + ], + [ + 0.26319950819015503, + 0.03943175822496414, + 0.0999588891863823, + 0.05582483485341072, + -0.17330460250377655, + -0.30563586950302124, + 0.0, + 0.2824830114841461 + ], + [ + 0.2596391439437866, + 0.009962107054889202, + 0.10509882122278214, + 0.047630369663238525, + -0.17555221915245056, + -0.3646910786628723, + 0.0, + 0.2824830114841461 + ], + [ + 0.2768476903438568, + -0.011377288959920406, + 0.10420309007167816, + 0.04363930597901344, + -0.1665651649236679, + -0.3519217371940613, + 0.0, + 0.2824830114841461 + ], + [ + 0.3162047863006592, + -0.01959633268415928, + 0.11061714589595795, + 0.022053342312574387, + -0.1823713481426239, + -0.2799053192138672, + 0.0, + 0.2824830114841461 + ], + [ + 0.3481728136539459, + -0.030767230316996574, + 0.10678399354219437, + 0.012810531072318554, + -0.18006236851215363, + -0.25414326786994934, + 0.0, + 0.2824830114841461 + ], + [ + 0.3751637935638428, + -0.0408102422952652, + 0.09009862691164017, + 0.02170639857649803, + -0.1549714207649231, + -0.24011240899562836, + 0.0, + 0.2824830114841461 + ], + [ + 0.3995116055011749, + -0.0482838973402977, + 0.07526002079248428, + 0.044448886066675186, + -0.140594020485878, + -0.23662792146205902, + 0.0, + 0.2824830114841461 + ], + [ + 0.4217531383037567, + -0.05281951278448105, + 0.06252902001142502, + 0.07683110237121582, + -0.14102435111999512, + -0.23175951838493347, + 0.0, + 0.2824830114841461 + ], + [ + 0.4367004334926605, + -0.05323225259780884, + 0.04524967446923256, + 0.08664897084236145, + -0.12377623468637466, + -0.23000440001487732, + 0.0, + 0.2824830114841461 + ], + [ + 0.4463038444519043, + -0.05121982842683792, + 0.02829360030591488, + 0.09688595682382584, + -0.10265979915857315, + -0.21797142922878265, + 0.0, + 0.2824830114841461 + ], + [ + 0.44954749941825867, + -0.051274314522743225, + 0.026895293965935707, + 0.10881609469652176, + -0.10013218224048615, + -0.22706574201583862, + 0.0, + 0.3404468894004822 + ], + [ + 0.44451847672462463, + -0.052139636129140854, + 0.02816202864050865, + 0.10318747907876968, + -0.09518251568078995, + -0.23415173590183258, + 0.0, + 0.6340072751045227 + ], + [ + 0.44455215334892273, + -0.05778134986758232, + 0.06056071072816849, + 0.07198556512594223, + -0.14922909438610077, + -0.20517708361148834, + 0.0, + 0.9255412817001343 + ], + [ + 0.4411475956439972, + -0.057978227734565735, + 0.10429491102695465, + 0.06084868684411049, + -0.21204352378845215, + -0.15836642682552338, + 0.0, + 1.00800359249115 + ], + [ + 0.4379369914531708, + -0.03264465928077698, + 0.11997040361166, + 0.05029609426856041, + -0.16388607025146484, + -0.07630264014005661, + 0.0, + 1.0041072368621826 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.993436336517334 + ], + [ + 0.9657809734344482 + ], + [ + 0.875784695148468 + ], + [ + 0.5938982367515564 + ], + [ + 0.3552374839782715 + ], + [ + 0.2824830114841461 + ], + [ + 0.2824830114841461 + ], + [ + 0.2824830114841461 + ], + [ + 0.2824830114841461 + ], + [ + 0.2824830114841461 + ], + [ + 0.2824830114841461 + ], + [ + 0.2824830114841461 + ], + [ + 0.2824830114841461 + ], + [ + 0.2824830114841461 + ], + [ + 0.2824830114841461 + ], + [ + 0.2824830114841461 + ], + [ + 0.2824830114841461 + ], + [ + 0.3404468894004822 + ], + [ + 0.6340072751045227 + ], + [ + 0.9255412817001343 + ], + [ + 1.00800359249115 + ], + [ + 1.0041072368621826 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.4176046550273895, + 0.17924879491329193, + 0.10274846106767654 + ], + [ + 0.4144367277622223, + 0.17615140974521637, + 0.08376444876194 + ], + [ + 0.38378462195396423, + 0.15709903836250305, + 0.07384353876113892 + ], + [ + 0.35245397686958313, + 0.13591764867305756, + 0.09756851941347122 + ], + [ + 0.31681379675865173, + 0.12017031759023666, + 0.10236453264951706 + ], + [ + 0.28944864869117737, + 0.10712022334337234, + 0.0980353131890297 + ], + [ + 0.2711755633354187, + 0.09061945229768753, + 0.09611373394727707 + ], + [ + 0.2646453380584717, + 0.08640780299901962, + 0.08684127032756805 + ], + [ + 0.26588642597198486, + 0.08458801358938217, + 0.07740069180727005 + ], + [ + 0.26697152853012085, + 0.08876572549343109, + 0.06427887082099915 + ], + [ + 0.26510849595069885, + 0.09281063824892044, + 0.056858789175748825 + ], + [ + 0.26079061627388, + 0.09455730020999908, + 0.05137411504983902 + ], + [ + 0.2607199549674988, + 0.09110614657402039, + 0.050305433571338654 + ], + [ + 0.2611871063709259, + 0.09134579449892044, + 0.050679128617048264 + ], + [ + 0.2623419165611267, + 0.0897856131196022, + 0.05263714864850044 + ], + [ + 0.2595866620540619, + 0.07730473577976227, + 0.06278924643993378 + ], + [ + 0.26319950819015503, + 0.03943175822496414, + 0.0999588891863823 + ], + [ + 0.2596391439437866, + 0.009962107054889202, + 0.10509882122278214 + ], + [ + 0.2768476903438568, + -0.011377288959920406, + 0.10420309007167816 + ], + [ + 0.3162047863006592, + -0.01959633268415928, + 0.11061714589595795 + ], + [ + 0.3481728136539459, + -0.030767230316996574, + 0.10678399354219437 + ], + [ + 0.3751637935638428, + -0.0408102422952652, + 0.09009862691164017 + ], + [ + 0.3995116055011749, + -0.0482838973402977, + 0.07526002079248428 + ], + [ + 0.4217531383037567, + -0.05281951278448105, + 0.06252902001142502 + ], + [ + 0.4367004334926605, + -0.05323225259780884, + 0.04524967446923256 + ], + [ + 0.4463038444519043, + -0.05121982842683792, + 0.02829360030591488 + ], + [ + 0.44954749941825867, + -0.051274314522743225, + 0.026895293965935707 + ], + [ + 0.44451847672462463, + -0.052139636129140854, + 0.02816202864050865 + ], + [ + 0.44455215334892273, + -0.05778134986758232, + 0.06056071072816849 + ], + [ + 0.4411475956439972, + -0.057978227734565735, + 0.10429491102695465 + ], + [ + 0.4379369914531708, + -0.03264465928077698, + 0.11997040361166 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9811463872077606, + 0.10613407319680555, + 0.16151571247347474, + 0.09345924062735202, + -0.9920592211664074, + 0.08416574148701919, + 0.16916600489021943, + -0.06748377734949454, + -0.9832745306292267 + ], + [ + 0.9868042042694567, + 0.10478280515310388, + 0.12344240025360366, + 0.09778316078358203, + -0.9933072121639335, + 0.06147548885764422, + 0.12905780062939384, + -0.04859368279273405, + -0.9904457269781836 + ], + [ + 0.9915604849329832, + 0.07941308395709046, + 0.10247617682121028, + 0.0788270173278291, + -0.9968405063029178, + 0.009762496245392917, + 0.10292767392040873, + -0.0016022141452630067, + -0.9946875523757033 + ], + [ + 0.9871952020819051, + 0.022765236145735078, + 0.15788406192423426, + 0.02632276808914586, + -0.9994437285292025, + -0.020477924303276135, + 0.15733005074235362, + 0.024371654167794604, + -0.9872452975864376 + ], + [ + 0.9868735198768318, + -0.036226990429381885, + 0.15737935357073363, + -0.028468361626145515, + -0.9982786237889418, + -0.051277106708350666, + 0.15896605974935507, + 0.04612368643642926, + -0.9862060623405631 + ], + [ + 0.9851687629141116, + -0.09183164643112512, + 0.14494639454649366, + -0.08572385623747986, + -0.9951692699128613, + -0.047849186961521455, + 0.1486402672564029, + 0.03471416043708347, + -0.988281841386906 + ], + [ + 0.974474668481432, + -0.15661433668107733, + 0.16084486325011843, + -0.15396633956314498, + -0.9876540724363756, + -0.02887558625151787, + 0.1633814150065101, + 0.0033738325074995235, + -0.9865572109536689 + ], + [ + 0.971521456195185, + -0.1722911297359253, + 0.16267091555255264, + -0.174313661817028, + -0.9846884094451898, + -0.0018664426702078366, + 0.16050173661467326, + -0.026542473860228833, + -0.9866786151655731 + ], + [ + 0.9703557343629962, + -0.17784430726091713, + 0.16364947651531134, + -0.18524354911478777, + -0.9822036179412275, + 0.030998071141944094, + 0.155224277418863, + -0.06039416592725093, + -0.9860314236482243 + ], + [ + 0.9775555182509703, + -0.16142699829200682, + 0.13537552570353675, + -0.1692466355717708, + -0.9843886126935568, + 0.048318066464733536, + 0.1254622855072899, + -0.0701454447679008, + -0.989615496793376 + ], + [ + 0.9798566714794533, + -0.16077752158304257, + 0.11845459852121046, + -0.17053615719324292, + -0.982306989768274, + 0.07739765462954103, + 0.10391497700990177, + -0.09603940027929399, + -0.989938438059168 + ], + [ + 0.9810633672179597, + -0.16109911790969766, + 0.1075255491112525, + -0.17132110865948347, + -0.9807454011360325, + 0.09374185766352482, + 0.09035345721467719, + -0.11038809881160384, + -0.9897730651063987 + ], + [ + 0.9779274287736496, + -0.17920381485218578, + 0.10744271401347984, + -0.18979206927481135, + -0.9769150175916137, + 0.09806130146170204, + 0.08738944153926213, + -0.1162886114217601, + -0.9893634541264678 + ], + [ + 0.9776203338153854, + -0.18038606462277446, + 0.10825594949287172, + -0.19137344535629858, + -0.9762553181227759, + 0.10149757755462922, + 0.08737669782702222, + -0.11994340968517787, + -0.9889281526733574 + ], + [ + 0.9782740747910346, + -0.1824997379516972, + 0.09835486891510183, + -0.19150865303343187, + -0.9772088083967051, + 0.09158264358060485, + 0.07939943579815674, + -0.1084287343809442, + -0.99092832190602 + ], + [ + 0.9763911738429207, + -0.19880422647812654, + 0.08448168544766185, + -0.20305331913833627, + -0.9781326056174805, + 0.04501061446885456, + 0.07368599072109205, + -0.061102253333184656, + -0.9954079010179993 + ], + [ + 0.9393703402494024, + -0.2912554429629917, + 0.18097964196050653, + -0.2963922521743086, + -0.9550652653293034, + 0.001404212415609632, + 0.172438385259091, + -0.0549600391730082, + -0.9834858399506006 + ], + [ + 0.9198750364227393, + -0.34848750746653323, + 0.17996214742558114, + -0.3511789182652103, + -0.9361403041888293, + -0.01773973616834614, + 0.17465189587387936, + -0.0468805718076127, + -0.9835135623135304 + ], + [ + 0.9257203060828898, + -0.3375845927976388, + 0.17052436075661742, + -0.3399317419121802, + -0.9403115321611851, + -0.01614414213376469, + 0.16579603658215575, + -0.04302168279294366, + -0.9852211980379388 + ], + [ + 0.9451433928426496, + -0.2723538065540232, + 0.18035346135136662, + -0.271683187327585, + -0.9619527678218054, + -0.028898411781487318, + 0.18136210378524378, + -0.021685860266582764, + -0.9831772529788761 + ], + [ + 0.9522308870452685, + -0.24917516253823874, + 0.1765448275397027, + -0.2473515213935934, + -0.9683764252292792, + -0.0326239777531338, + 0.1790909339448979, + -0.012603072411303323, + -0.983751797937132 + ], + [ + 0.959670998883483, + -0.2345017415742713, + 0.15505001483589817, + -0.23496186160624796, + -0.971879140133293, + -0.015616035485932957, + 0.15435186261430392, + -0.021444583754533803, + -0.9877831909559356 + ], + [ + 0.96254188855195, + -0.22814119530076124, + 0.1465083881202208, + -0.2321127569564118, + -0.9726335194917624, + 0.010378093233404672, + 0.14013129857722376, + -0.043995815344274006, + -0.9891549865371217 + ], + [ + 0.9636017160542852, + -0.21851264317013094, + 0.1540258341708917, + -0.22741011086141802, + -0.9728706005931098, + 0.042513950411586204, + 0.1405573701206506, + -0.07599354759717615, + -0.987151764638225 + ], + [ + 0.966216361740981, + -0.21672352497043462, + 0.1394878346968342, + -0.22623763214116288, + -0.9724483513681482, + 0.05622043867252018, + 0.12346042324235648, + -0.0858785051439541, + -0.9886265251585445 + ], + [ + 0.971197821601044, + -0.20555659920772892, + 0.12050425652042254, + -0.21511096837620844, + -0.9739030773141403, + 0.07238830901670083, + 0.10247957163082089, + -0.09622515533996619, + -0.9900700262497409 + ], + [ + 0.9694506840274661, + -0.213210388752503, + 0.12127118935132286, + -0.22399192502962964, + -0.9710123119824167, + 0.08344283971727381, + 0.09996493765415268, + -0.10805748519454086, + -0.989105955463434 + ], + [ + 0.9683085866726346, + -0.2212615371983295, + 0.11585254909874589, + -0.2309677382518107, + -0.9698088710843703, + 0.0782601907287654, + 0.09503885975162023, + -0.10253821591334582, + -0.9901785341111068 + ], + [ + 0.9681440248770105, + -0.1927438953895862, + 0.15983409487650377, + -0.20147615740278024, + -0.9786680539837739, + 0.04020196649199373, + 0.1486758389690573, + -0.0711240529051989, + -0.9863249282083393 + ], + [ + 0.9653693766458163, + -0.14477537627027032, + 0.21703008330706142, + -0.15417314253825237, + -0.9876770165368659, + 0.0269212392863991, + 0.21045809263211546, + -0.059449149957232314, + -0.9757936205033393 + ], + [ + 0.9837300615556982, + -0.06795356962646988, + 0.16630537684224986, + -0.07520721202215373, + -0.9964547300446511, + 0.03770737635392041, + 0.16315342856182044, + -0.04960124339834526, + -0.9853530714428514 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0031679272651672363, + -0.0030973851680755615, + -0.018984012305736542, + -0.019501090049743652, + 0.0405646413564682, + 0.003799714148044586, + 1.0 + ], + [ + -0.030652105808258057, + -0.019052371382713318, + -0.009920910000801086, + -0.04741235822439194, + 0.026308491826057434, + -0.019437216222286224, + 1.0 + ], + [ + -0.031330645084381104, + -0.021181389689445496, + 0.023724980652332306, + -0.026292279362678528, + -0.054876163601875305, + -0.05267322063446045, + 1.0 + ], + [ + -0.035640180110931396, + -0.015747331082820892, + 0.004796013236045837, + -0.022053247317671776, + -0.001656860113143921, + -0.055496904999017715, + 1.0 + ], + [ + -0.027365148067474365, + -0.013050094246864319, + -0.004329219460487366, + 0.011623423546552658, + 0.010450184345245361, + -0.0579567477107048, + 1.0 + ], + [ + -0.018273085355758667, + -0.016500771045684814, + -0.0019215792417526245, + 0.0316915437579155, + -0.014924034476280212, + -0.06990814954042435, + 1.0 + ], + [ + -0.0065302252769470215, + -0.004211649298667908, + -0.009272463619709015, + 0.030314134433865547, + 0.0029181987047195435, + -0.020830437541007996, + 1.0 + ], + [ + 0.0012410879135131836, + -0.0018197894096374512, + -0.009440578520298004, + 0.03427897393703461, + 0.005344480276107788, + -0.011098712682723999, + 1.0 + ], + [ + 0.0010851025581359863, + 0.00417771190404892, + -0.013121820986270905, + 0.009589847177267075, + 0.030060693621635437, + 0.017199978232383728, + 1.0 + ], + [ + -0.001863032579421997, + 0.004044912755489349, + -0.0074200816452503204, + 0.02594970166683197, + 0.02169087529182434, + -0.0008828341960906982, + 0.0 + ], + [ + -0.004317879676818848, + 0.0017466619610786438, + -0.005484674125909805, + 0.014356829226016998, + 0.013626061379909515, + -0.0005687475204467773, + 0.0 + ], + [ + -7.066130638122559e-05, + -0.0034511536359786987, + -0.0010686814785003662, + 0.005932286381721497, + 0.0029757916927337646, + -0.01880812644958496, + 0.0 + ], + [ + 0.000467151403427124, + 0.00023964792490005493, + 0.00037369504570961, + 0.003694765269756317, + 1.2792646884918213e-05, + -0.0016171038150787354, + 0.0 + ], + [ + 0.0011548101902008057, + -0.0015601813793182373, + 0.001958020031452179, + -0.011708967387676239, + 0.008005164563655853, + -7.12275505065918e-06, + 0.0 + ], + [ + -0.0027552545070648193, + -0.012480877339839935, + 0.010152097791433334, + -0.0476805679500103, + 0.005730263888835907, + -0.011723488569259644, + 0.0 + ], + [ + 0.0036128461360931396, + -0.037872977554798126, + 0.03716964274644852, + -0.005482375621795654, + -0.09955176711082458, + -0.10059535503387451, + 0.0 + ], + [ + -0.003560364246368408, + -0.029469650238752365, + 0.005139932036399841, + -0.008194465190172195, + -0.0022476166486740112, + -0.059055209159851074, + 0.0 + ], + [ + 0.01720854640007019, + -0.02133939601480961, + -0.0008957311511039734, + -0.003991063684225082, + 0.008987054228782654, + 0.012769341468811035, + 0.0 + ], + [ + 0.03935709595680237, + -0.008219043724238873, + 0.006414055824279785, + -0.021585963666439056, + -0.015806183218955994, + 0.07201641798019409, + 0.0 + ], + [ + 0.03196802735328674, + -0.011170897632837296, + -0.0038331523537635803, + -0.009242811240255833, + 0.002308979630470276, + 0.025762051343917847, + 0.0 + ], + [ + 0.02699097990989685, + -0.010043011978268623, + -0.0166853666305542, + 0.008895867504179478, + 0.02509094774723053, + 0.014030858874320984, + 0.0 + ], + [ + 0.024347811937332153, + -0.007473655045032501, + -0.014838606119155884, + 0.022742487490177155, + 0.014377400279045105, + 0.003484487533569336, + 0.0 + ], + [ + 0.022241532802581787, + -0.00453561544418335, + -0.012731000781059265, + 0.032382216304540634, + -0.00043033063411712646, + 0.004868403077125549, + 0.0 + ], + [ + 0.014947295188903809, + -0.0004127398133277893, + -0.01727934554219246, + 0.00981786847114563, + 0.017248116433620453, + 0.0017551183700561523, + 0.0 + ], + [ + 0.009603410959243774, + 0.0020124241709709167, + -0.01695607416331768, + 0.010236985981464386, + 0.021116435527801514, + 0.012032970786094666, + 0.0 + ], + [ + 0.00324365496635437, + -5.4486095905303955e-05, + -0.0013983063399791718, + 0.011930137872695923, + 0.0025276169180870056, + -0.00909431278705597, + 1.0 + ], + [ + -0.005029022693634033, + -0.0008653216063976288, + 0.0012667346745729446, + -0.005628615617752075, + 0.0049496665596961975, + -0.0070859938859939575, + 1.0 + ], + [ + 3.36766242980957e-05, + -0.005641713738441467, + 0.032398682087659836, + -0.031201913952827454, + -0.05404657870531082, + 0.02897465229034424, + 1.0 + ], + [ + -0.003404557704925537, + -0.0001968778669834137, + 0.04373420029878616, + -0.011136878281831741, + -0.06281442940235138, + 0.046810656785964966, + 1.0 + ], + [ + -0.003210604190826416, + 0.025333568453788757, + 0.015675492584705353, + -0.01055259257555008, + 0.048157453536987305, + 0.08206378668546677, + 1.0 + ], + [ + -0.010325819253921509, + 0.02377520501613617, + -0.0021885111927986145, + -0.026373183354735374, + 0.05116716027259827, + 0.07140371948480606, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.993436336517334 + ], + [ + 0.9657809734344482 + ], + [ + 0.875784695148468 + ], + [ + 0.5938982367515564 + ], + [ + 0.3552374839782715 + ], + [ + 0.2824830114841461 + ], + [ + 0.2824830114841461 + ], + [ + 0.2824830114841461 + ], + [ + 0.2824830114841461 + ], + [ + 0.2824830114841461 + ], + [ + 0.2824830114841461 + ], + [ + 0.2824830114841461 + ], + [ + 0.2824830114841461 + ], + [ + 0.2824830114841461 + ], + [ + 0.2824830114841461 + ], + [ + 0.2824830114841461 + ], + [ + 0.2824830114841461 + ], + [ + 0.3404468894004822 + ], + [ + 0.6340072751045227 + ], + [ + 0.9255412817001343 + ], + [ + 1.00800359249115 + ], + [ + 1.0041072368621826 + ], + [ + 0.9988223910331726 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.4144367277622223, + 0.17615140974521637, + 0.08376444876194 + ], + [ + 0.38378462195396423, + 0.15709903836250305, + 0.07384353876113892 + ], + [ + 0.35245397686958313, + 0.13591764867305756, + 0.09756851941347122 + ], + [ + 0.31681379675865173, + 0.12017031759023666, + 0.10236453264951706 + ], + [ + 0.28944864869117737, + 0.10712022334337234, + 0.0980353131890297 + ], + [ + 0.2711755633354187, + 0.09061945229768753, + 0.09611373394727707 + ], + [ + 0.2646453380584717, + 0.08640780299901962, + 0.08684127032756805 + ], + [ + 0.26588642597198486, + 0.08458801358938217, + 0.07740069180727005 + ], + [ + 0.26697152853012085, + 0.08876572549343109, + 0.06427887082099915 + ], + [ + 0.26510849595069885, + 0.09281063824892044, + 0.056858789175748825 + ], + [ + 0.26079061627388, + 0.09455730020999908, + 0.05137411504983902 + ], + [ + 0.2607199549674988, + 0.09110614657402039, + 0.050305433571338654 + ], + [ + 0.2611871063709259, + 0.09134579449892044, + 0.050679128617048264 + ], + [ + 0.2623419165611267, + 0.0897856131196022, + 0.05263714864850044 + ], + [ + 0.2595866620540619, + 0.07730473577976227, + 0.06278924643993378 + ], + [ + 0.26319950819015503, + 0.03943175822496414, + 0.0999588891863823 + ], + [ + 0.2596391439437866, + 0.009962107054889202, + 0.10509882122278214 + ], + [ + 0.2768476903438568, + -0.011377288959920406, + 0.10420309007167816 + ], + [ + 0.3162047863006592, + -0.01959633268415928, + 0.11061714589595795 + ], + [ + 0.3481728136539459, + -0.030767230316996574, + 0.10678399354219437 + ], + [ + 0.3751637935638428, + -0.0408102422952652, + 0.09009862691164017 + ], + [ + 0.3995116055011749, + -0.0482838973402977, + 0.07526002079248428 + ], + [ + 0.4217531383037567, + -0.05281951278448105, + 0.06252902001142502 + ], + [ + 0.4367004334926605, + -0.05323225259780884, + 0.04524967446923256 + ], + [ + 0.4463038444519043, + -0.05121982842683792, + 0.02829360030591488 + ], + [ + 0.44954749941825867, + -0.051274314522743225, + 0.026895293965935707 + ], + [ + 0.44451847672462463, + -0.052139636129140854, + 0.02816202864050865 + ], + [ + 0.44455215334892273, + -0.05778134986758232, + 0.06056071072816849 + ], + [ + 0.4411475956439972, + -0.057978227734565735, + 0.10429491102695465 + ], + [ + 0.4379369914531708, + -0.03264465928077698, + 0.11997040361166 + ], + [ + 0.42761117219924927, + -0.008869453333318233, + 0.11778189241886139 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9868042042694567, + 0.10478280515310388, + 0.12344240025360366, + 0.09778316078358203, + -0.9933072121639335, + 0.06147548885764422, + 0.12905780062939384, + -0.04859368279273405, + -0.9904457269781836 + ], + [ + 0.9915604849329832, + 0.07941308395709046, + 0.10247617682121028, + 0.0788270173278291, + -0.9968405063029178, + 0.009762496245392917, + 0.10292767392040873, + -0.0016022141452630067, + -0.9946875523757033 + ], + [ + 0.9871952020819051, + 0.022765236145735078, + 0.15788406192423426, + 0.02632276808914586, + -0.9994437285292025, + -0.020477924303276135, + 0.15733005074235362, + 0.024371654167794604, + -0.9872452975864376 + ], + [ + 0.9868735198768318, + -0.036226990429381885, + 0.15737935357073363, + -0.028468361626145515, + -0.9982786237889418, + -0.051277106708350666, + 0.15896605974935507, + 0.04612368643642926, + -0.9862060623405631 + ], + [ + 0.9851687629141116, + -0.09183164643112512, + 0.14494639454649366, + -0.08572385623747986, + -0.9951692699128613, + -0.047849186961521455, + 0.1486402672564029, + 0.03471416043708347, + -0.988281841386906 + ], + [ + 0.974474668481432, + -0.15661433668107733, + 0.16084486325011843, + -0.15396633956314498, + -0.9876540724363756, + -0.02887558625151787, + 0.1633814150065101, + 0.0033738325074995235, + -0.9865572109536689 + ], + [ + 0.971521456195185, + -0.1722911297359253, + 0.16267091555255264, + -0.174313661817028, + -0.9846884094451898, + -0.0018664426702078366, + 0.16050173661467326, + -0.026542473860228833, + -0.9866786151655731 + ], + [ + 0.9703557343629962, + -0.17784430726091713, + 0.16364947651531134, + -0.18524354911478777, + -0.9822036179412275, + 0.030998071141944094, + 0.155224277418863, + -0.06039416592725093, + -0.9860314236482243 + ], + [ + 0.9775555182509703, + -0.16142699829200682, + 0.13537552570353675, + -0.1692466355717708, + -0.9843886126935568, + 0.048318066464733536, + 0.1254622855072899, + -0.0701454447679008, + -0.989615496793376 + ], + [ + 0.9798566714794533, + -0.16077752158304257, + 0.11845459852121046, + -0.17053615719324292, + -0.982306989768274, + 0.07739765462954103, + 0.10391497700990177, + -0.09603940027929399, + -0.989938438059168 + ], + [ + 0.9810633672179597, + -0.16109911790969766, + 0.1075255491112525, + -0.17132110865948347, + -0.9807454011360325, + 0.09374185766352482, + 0.09035345721467719, + -0.11038809881160384, + -0.9897730651063987 + ], + [ + 0.9779274287736496, + -0.17920381485218578, + 0.10744271401347984, + -0.18979206927481135, + -0.9769150175916137, + 0.09806130146170204, + 0.08738944153926213, + -0.1162886114217601, + -0.9893634541264678 + ], + [ + 0.9776203338153854, + -0.18038606462277446, + 0.10825594949287172, + -0.19137344535629858, + -0.9762553181227759, + 0.10149757755462922, + 0.08737669782702222, + -0.11994340968517787, + -0.9889281526733574 + ], + [ + 0.9782740747910346, + -0.1824997379516972, + 0.09835486891510183, + -0.19150865303343187, + -0.9772088083967051, + 0.09158264358060485, + 0.07939943579815674, + -0.1084287343809442, + -0.99092832190602 + ], + [ + 0.9763911738429207, + -0.19880422647812654, + 0.08448168544766185, + -0.20305331913833627, + -0.9781326056174805, + 0.04501061446885456, + 0.07368599072109205, + -0.061102253333184656, + -0.9954079010179993 + ], + [ + 0.9393703402494024, + -0.2912554429629917, + 0.18097964196050653, + -0.2963922521743086, + -0.9550652653293034, + 0.001404212415609632, + 0.172438385259091, + -0.0549600391730082, + -0.9834858399506006 + ], + [ + 0.9198750364227393, + -0.34848750746653323, + 0.17996214742558114, + -0.3511789182652103, + -0.9361403041888293, + -0.01773973616834614, + 0.17465189587387936, + -0.0468805718076127, + -0.9835135623135304 + ], + [ + 0.9257203060828898, + -0.3375845927976388, + 0.17052436075661742, + -0.3399317419121802, + -0.9403115321611851, + -0.01614414213376469, + 0.16579603658215575, + -0.04302168279294366, + -0.9852211980379388 + ], + [ + 0.9451433928426496, + -0.2723538065540232, + 0.18035346135136662, + -0.271683187327585, + -0.9619527678218054, + -0.028898411781487318, + 0.18136210378524378, + -0.021685860266582764, + -0.9831772529788761 + ], + [ + 0.9522308870452685, + -0.24917516253823874, + 0.1765448275397027, + -0.2473515213935934, + -0.9683764252292792, + -0.0326239777531338, + 0.1790909339448979, + -0.012603072411303323, + -0.983751797937132 + ], + [ + 0.959670998883483, + -0.2345017415742713, + 0.15505001483589817, + -0.23496186160624796, + -0.971879140133293, + -0.015616035485932957, + 0.15435186261430392, + -0.021444583754533803, + -0.9877831909559356 + ], + [ + 0.96254188855195, + -0.22814119530076124, + 0.1465083881202208, + -0.2321127569564118, + -0.9726335194917624, + 0.010378093233404672, + 0.14013129857722376, + -0.043995815344274006, + -0.9891549865371217 + ], + [ + 0.9636017160542852, + -0.21851264317013094, + 0.1540258341708917, + -0.22741011086141802, + -0.9728706005931098, + 0.042513950411586204, + 0.1405573701206506, + -0.07599354759717615, + -0.987151764638225 + ], + [ + 0.966216361740981, + -0.21672352497043462, + 0.1394878346968342, + -0.22623763214116288, + -0.9724483513681482, + 0.05622043867252018, + 0.12346042324235648, + -0.0858785051439541, + -0.9886265251585445 + ], + [ + 0.971197821601044, + -0.20555659920772892, + 0.12050425652042254, + -0.21511096837620844, + -0.9739030773141403, + 0.07238830901670083, + 0.10247957163082089, + -0.09622515533996619, + -0.9900700262497409 + ], + [ + 0.9694506840274661, + -0.213210388752503, + 0.12127118935132286, + -0.22399192502962964, + -0.9710123119824167, + 0.08344283971727381, + 0.09996493765415268, + -0.10805748519454086, + -0.989105955463434 + ], + [ + 0.9683085866726346, + -0.2212615371983295, + 0.11585254909874589, + -0.2309677382518107, + -0.9698088710843703, + 0.0782601907287654, + 0.09503885975162023, + -0.10253821591334582, + -0.9901785341111068 + ], + [ + 0.9681440248770105, + -0.1927438953895862, + 0.15983409487650377, + -0.20147615740278024, + -0.9786680539837739, + 0.04020196649199373, + 0.1486758389690573, + -0.0711240529051989, + -0.9863249282083393 + ], + [ + 0.9653693766458163, + -0.14477537627027032, + 0.21703008330706142, + -0.15417314253825237, + -0.9876770165368659, + 0.0269212392863991, + 0.21045809263211546, + -0.059449149957232314, + -0.9757936205033393 + ], + [ + 0.9837300615556982, + -0.06795356962646988, + 0.16630537684224986, + -0.07520721202215373, + -0.9964547300446511, + 0.03770737635392041, + 0.16315342856182044, + -0.04960124339834526, + -0.9853530714428514 + ], + [ + 0.9936420235645734, + -0.0022069327200846802, + 0.11256401935995505, + -0.004867814688350098, + -0.9997150455433372, + 0.02336946928029505, + 0.11248036889457289, + -0.023768827532122627, + -0.9933696237811425 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005700.json b/json/chunk-0005/episode_0005700.json new file mode 100644 index 0000000000000000000000000000000000000000..539d5d77c3146c251805f3fbc54720cde982fa61 --- /dev/null +++ b/json/chunk-0005/episode_0005700.json @@ -0,0 +1,1582 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 25, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nClose microwave." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005700.mp4", + "start": 0, + "end": 25, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.23079447448253632, + 0.027739139273762703, + 0.20577506721019745, + -0.038049254566431046, + -0.15029339492321014, + 0.34222492575645447, + 0.0, + 0.9954678416252136 + ], + [ + 0.2293945550918579, + 0.024458421394228935, + 0.20094752311706543, + -0.041658442467451096, + -0.1304897516965866, + 0.345715194940567, + 0.0, + 0.9947922229766846 + ], + [ + 0.23153311014175415, + -0.011961144395172596, + 0.19874578714370728, + -0.10976424813270569, + -0.11339622735977173, + 0.3289231061935425, + 0.0, + 0.9954678416252136 + ], + [ + 0.23477581143379211, + -0.04462652653455734, + 0.1925632357597351, + -0.1583678126335144, + -0.09442007541656494, + 0.36298868060112, + 0.0, + 0.9947922229766846 + ], + [ + 0.2394767701625824, + -0.07986156642436981, + 0.18124529719352722, + -0.16545839607715607, + -0.1086355596780777, + 0.35063159465789795, + 0.0, + 0.9954678416252136 + ], + [ + 0.23816348612308502, + -0.11137162148952484, + 0.16600099205970764, + -0.17856068909168243, + -0.09621062874794006, + 0.3237578570842743, + 0.0, + 0.9947922229766846 + ], + [ + 0.23744505643844604, + -0.1296330690383911, + 0.14548571407794952, + -0.19779127836227417, + -0.09036320447921753, + 0.33532315492630005, + 0.0, + 0.9947922229766846 + ], + [ + 0.23199865221977234, + -0.14782436192035675, + 0.11828050017356873, + -0.18318374454975128, + -0.09228577464818954, + 0.29798734188079834, + 0.0, + 0.9954678416252136 + ], + [ + 0.23238863050937653, + -0.1542031317949295, + 0.09149038791656494, + -0.14706188440322876, + -0.10945577174425125, + 0.28421300649642944, + 0.0, + 0.9947922229766846 + ], + [ + 0.23430047929286957, + -0.15248800814151764, + 0.07160964608192444, + -0.11492277681827545, + -0.15985895693302155, + 0.28598570823669434, + 0.0, + 0.9947922229766846 + ], + [ + 0.2384660840034485, + -0.14420293271541595, + 0.05437849462032318, + -0.07035493850708008, + -0.1994990110397339, + 0.28182971477508545, + 0.0, + 0.9947922229766846 + ], + [ + 0.2443506121635437, + -0.12398000806570053, + 0.04689512401819229, + -0.05077148973941803, + -0.2262974977493286, + 0.302076518535614, + 0.0, + 0.9947922229766846 + ], + [ + 0.2544245421886444, + -0.1005621924996376, + 0.043447013944387436, + -0.021455317735671997, + -0.26842305064201355, + 0.33684709668159485, + 0.0, + 0.9954678416252136 + ], + [ + 0.2667662799358368, + -0.07936272770166397, + 0.04334685951471329, + -0.021458957344293594, + -0.3107827305793762, + 0.3584063649177551, + 0.0, + 0.9947922229766846 + ], + [ + 0.2812579572200775, + -0.05793805420398712, + 0.04062991216778755, + -0.003425266593694687, + -0.34600985050201416, + 0.3391546308994293, + 0.0, + 0.9954678416252136 + ], + [ + 0.29374516010284424, + -0.04413266107439995, + 0.04110006242990494, + 0.018696250393986702, + -0.35393670201301575, + 0.2709900140762329, + 0.0, + 0.9954678416252136 + ], + [ + 0.3111667335033417, + -0.029523523524403572, + 0.041468821465969086, + 0.051198139786720276, + -0.35207313299179077, + 0.23327653110027313, + 0.0, + 0.9954678416252136 + ], + [ + 0.3293314576148987, + -0.01920185796916485, + 0.04132033511996269, + 0.06933260709047318, + -0.34064778685569763, + 0.23180408775806427, + 0.0, + 0.9954678416252136 + ], + [ + 0.345112144947052, + -0.014269974082708359, + 0.04440376162528992, + 0.06483563035726547, + -0.35479727387428284, + 0.2375127673149109, + 0.0, + 0.9947922229766846 + ], + [ + 0.35483649373054504, + -0.012986778281629086, + 0.046949028968811035, + 0.07482423633337021, + -0.368889719247818, + 0.21507051587104797, + 0.0, + 0.9947922229766846 + ], + [ + 0.3683919608592987, + -0.00997089222073555, + 0.04752374812960625, + 0.07520661503076553, + -0.392810583114624, + 0.21598313748836517, + 0.0, + 0.9947922229766846 + ], + [ + 0.3758372962474823, + -0.008805621415376663, + 0.04750620573759079, + 0.08145242184400558, + -0.396260142326355, + 0.22343948483467102, + 0.0, + 0.9954678416252136 + ], + [ + 0.3766632378101349, + -0.0077715967781841755, + 0.04482486844062805, + 0.08809921890497208, + -0.3922073245048523, + 0.2202831208705902, + 0.0, + 0.9954678416252136 + ], + [ + 0.37956947088241577, + -0.0076990132220089436, + 0.04643942043185234, + 0.08820207417011261, + -0.4082634449005127, + 0.21331387758255005, + 0.0, + 0.9947922229766846 + ], + [ + 0.3861791491508484, + -0.006527588702738285, + 0.04039110615849495, + 0.09623394906520844, + -0.40918755531311035, + 0.206587553024292, + 0.0, + 0.9954678416252136 + ] + ], + "left_gripper_pos": [ + [ + 0.9954678416252136 + ], + [ + 0.9947922229766846 + ], + [ + 0.9954678416252136 + ], + [ + 0.9947922229766846 + ], + [ + 0.9954678416252136 + ], + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9954678416252136 + ], + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9954678416252136 + ], + [ + 0.9947922229766846 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9947922229766846 + ], + [ + 0.9954678416252136 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.23079447448253632, + 0.027739139273762703, + 0.20577506721019745 + ], + [ + 0.2293945550918579, + 0.024458421394228935, + 0.20094752311706543 + ], + [ + 0.23153311014175415, + -0.011961144395172596, + 0.19874578714370728 + ], + [ + 0.23477581143379211, + -0.04462652653455734, + 0.1925632357597351 + ], + [ + 0.2394767701625824, + -0.07986156642436981, + 0.18124529719352722 + ], + [ + 0.23816348612308502, + -0.11137162148952484, + 0.16600099205970764 + ], + [ + 0.23744505643844604, + -0.1296330690383911, + 0.14548571407794952 + ], + [ + 0.23199865221977234, + -0.14782436192035675, + 0.11828050017356873 + ], + [ + 0.23238863050937653, + -0.1542031317949295, + 0.09149038791656494 + ], + [ + 0.23430047929286957, + -0.15248800814151764, + 0.07160964608192444 + ], + [ + 0.2384660840034485, + -0.14420293271541595, + 0.05437849462032318 + ], + [ + 0.2443506121635437, + -0.12398000806570053, + 0.04689512401819229 + ], + [ + 0.2544245421886444, + -0.1005621924996376, + 0.043447013944387436 + ], + [ + 0.2667662799358368, + -0.07936272770166397, + 0.04334685951471329 + ], + [ + 0.2812579572200775, + -0.05793805420398712, + 0.04062991216778755 + ], + [ + 0.29374516010284424, + -0.04413266107439995, + 0.04110006242990494 + ], + [ + 0.3111667335033417, + -0.029523523524403572, + 0.041468821465969086 + ], + [ + 0.3293314576148987, + -0.01920185796916485, + 0.04132033511996269 + ], + [ + 0.345112144947052, + -0.014269974082708359, + 0.04440376162528992 + ], + [ + 0.35483649373054504, + -0.012986778281629086, + 0.046949028968811035 + ], + [ + 0.3683919608592987, + -0.00997089222073555, + 0.04752374812960625 + ], + [ + 0.3758372962474823, + -0.008805621415376663, + 0.04750620573759079 + ], + [ + 0.3766632378101349, + -0.0077715967781841755, + 0.04482486844062805 + ], + [ + 0.37956947088241577, + -0.0076990132220089436, + 0.04643942043185234 + ], + [ + 0.3861791491508484, + -0.006527588702738285, + 0.04039110615849495 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9313912459183834, + 0.3299755506182127, + 0.1537090856807378, + 0.3318008517622004, + -0.9432399108559482, + 0.014375859568759666, + 0.14972822645206005, + 0.03761125579756308, + -0.9880115645278907 + ], + [ + 0.9328346396979353, + 0.3334772510316387, + 0.13642748265655574, + 0.33598867039745295, + -0.9418534209966667, + 0.004873060786369624, + 0.13011974617318905, + 0.04129232860056849, + -0.9906380748056112 + ], + [ + 0.9403125926538245, + 0.3093493112974705, + 0.14182817666607328, + 0.32094944264634323, + -0.9446992985858084, + -0.0673401107549055, + 0.11315336213141815, + 0.10884042838606421, + -0.9875981357754244 + ], + [ + 0.9306757863541745, + 0.3367266909423193, + 0.14303047333024677, + 0.3534881778558238, + -0.9284206054078217, + -0.11437345658124952, + 0.09427984307479582, + 0.15700418803716437, + -0.983087481421965 + ], + [ + 0.9336195898765935, + 0.32202890823160724, + 0.15700905598665515, + 0.34146614790775964, + -0.9324637841452017, + -0.11794982446212798, + 0.1084220052927335, + 0.163733544274745, + -0.980528426537208 + ], + [ + 0.943662216257155, + 0.2968977306369551, + 0.14612788628889664, + 0.3166601682195458, + -0.9384009547058597, + -0.138311192859798, + 0.09606226872088564, + 0.17679192784105643, + -0.9795492099830612 + ], + [ + 0.9404512783031582, + 0.30591342307002034, + 0.14821730912257935, + 0.3277317278027345, + -0.9317282543165485, + -0.15644287999033818, + 0.09024027775550035, + 0.19570242127735604, + -0.9765025625039548 + ], + [ + 0.9518615585797859, + 0.2726373943596492, + 0.1401014792742813, + 0.29234749787440917, + -0.9448640308816567, + -0.14752933143154925, + 0.09215483592646162, + 0.1813858162670078, + -0.9790846091490347 + ], + [ + 0.9541383943467524, + 0.26201076577105153, + 0.14481119795605793, + 0.2787241050874655, + -0.9540098750229296, + -0.11035411909813794, + 0.1092373456130866, + 0.14565547356279365, + -0.9832861665581417 + ], + [ + 0.9471516553410968, + 0.26273072414709286, + 0.18405517752501466, + 0.2785063722331166, + -0.9582048513691455, + -0.06540384880251993, + 0.15917896346618532, + 0.11320790344219964, + -0.9807374919865421 + ], + [ + 0.9414966518210365, + 0.2640439135996947, + 0.20943940961704052, + 0.2725975324392622, + -0.9620463801618568, + -0.012543832169357338, + 0.1981783033477754, + 0.06890264224559609, + -0.977741165121819 + ], + [ + 0.9303790311566991, + 0.28624880929129776, + 0.2290337913130637, + 0.289918139290918, + -0.9568781256531462, + 0.0182133236015063, + 0.22437096713704655, + 0.04945575624571499, + -0.9732480656441863 + ], + [ + 0.9100042031047932, + 0.3250669557157196, + 0.25733990097403125, + 0.3186774594625758, + -0.945464746881211, + 0.06738760446347278, + 0.2652112877727646, + 0.020685422561831576, + -0.9639684051520307 + ], + [ + 0.8915955887447461, + 0.3445567675990541, + 0.2938331840221603, + 0.3339779064902176, + -0.9385431657830186, + 0.08715207363224664, + 0.3058039635245443, + 0.020429387256607527, + -0.951875294368437 + ], + [ + 0.8871457383736596, + 0.3315925525311843, + 0.3209654467248897, + 0.31297260728873383, + -0.9434171909439841, + 0.1095999585686689, + 0.3391468501583734, + 0.0032222565409576465, + -0.9407279261776159 + ], + [ + 0.903783945463074, + 0.2738818196782069, + 0.328881937437972, + 0.25109311724344074, + -0.961603465681497, + 0.11077464178369681, + 0.3465931713063195, + -0.017536351932165538, + -0.9378516140438956 + ], + [ + 0.9132354645075286, + 0.24803331954349409, + 0.32323437125706944, + 0.21698674544266536, + -0.9675597930855198, + 0.12940169669098453, + 0.34484451375644354, + -0.04803664435137587, + -0.9374298598463465 + ], + [ + 0.9173288529730267, + 0.2517080431617563, + 0.30846529223053804, + 0.21653287243649647, + -0.9655979772221609, + 0.14399326907488305, + 0.33409772620835326, + -0.06529630458265714, + -0.940273950479464 + ], + [ + 0.9113916495135129, + 0.2566678417049916, + 0.3216937677847353, + 0.22063162002898784, + -0.964588235113157, + 0.1445379705290936, + 0.34740027265450174, + -0.06075488223827097, + -0.9357467044258246 + ], + [ + 0.9112394630451529, + 0.239153128988659, + 0.3353332996946693, + 0.19905943409286855, + -0.9684751545361553, + 0.14977054698703837, + 0.36058006418520694, + -0.06972557594673257, + -0.9301184663101191 + ], + [ + 0.9023725906028888, + 0.2417947623689209, + 0.3567337951744808, + 0.1979854694772128, + -0.9678414670329448, + 0.15519229545117513, + 0.3827864438620038, + -0.06941316577187838, + -0.9212254614441606 + ], + [ + 0.8995782942499138, + 0.2514731271913796, + 0.3570996482986277, + 0.20441449896287484, + -0.9649495373290294, + 0.16458159988968568, + 0.3859709900085396, + -0.07505768920690242, + -0.9194524121251451 + ], + [ + 0.9017380917864265, + 0.25047637343518253, + 0.3523208767191256, + 0.2019142347851981, + -0.964702641485117, + 0.16905459266978165, + 0.38222906170578164, + -0.08130436558018814, + -0.9204838643480509 + ], + [ + 0.8970092026228431, + 0.24505648863406626, + 0.36786112568233365, + 0.19430056407517798, + -0.9661319389312165, + 0.16981274209280223, + 0.39701609691547723, + -0.08084796815845563, + -0.914243854141033 + ], + [ + 0.8979363606541126, + 0.24158821934248464, + 0.36789322430587795, + 0.18818730252381022, + -0.966366476102695, + 0.17527513524077393, + 0.39786408657236133, + -0.08815308355234773, + -0.9131994319293861 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0013999193906784058, + -0.0032807178795337677, + -0.004827544093132019, + -0.00360918790102005, + 0.019803643226623535, + 0.003490269184112549, + 1.0 + ], + [ + 0.0021385550498962402, + -0.036419566720724106, + -0.0022017359733581543, + -0.0681058019399643, + 0.01709352433681488, + -0.016792088747024536, + 1.0 + ], + [ + 0.003242701292037964, + -0.03266538307070732, + -0.006182551383972168, + -0.048603564500808716, + 0.018976151943206787, + 0.034065574407577515, + 1.0 + ], + [ + 0.004700958728790283, + -0.03523503988981247, + -0.011317938566207886, + -0.007090583443641663, + -0.014215484261512756, + -0.012357085943222046, + 1.0 + ], + [ + -0.0013132840394973755, + -0.03151005506515503, + -0.01524430513381958, + -0.013102293014526367, + 0.012424930930137634, + -0.026873737573623657, + 1.0 + ], + [ + -0.000718429684638977, + -0.018261447548866272, + -0.020515277981758118, + -0.019230589270591736, + 0.005847424268722534, + 0.011565297842025757, + 1.0 + ], + [ + -0.005446404218673706, + -0.018191292881965637, + -0.0272052139043808, + 0.014607533812522888, + -0.0019225701689720154, + -0.03733581304550171, + 1.0 + ], + [ + 0.000389978289604187, + -0.006378769874572754, + -0.026790112257003784, + 0.03612186014652252, + -0.017169997096061707, + -0.013774335384368896, + 1.0 + ], + [ + 0.001911848783493042, + 0.0017151236534118652, + -0.019880741834640503, + 0.03213910758495331, + -0.050403185188770294, + 0.0017727017402648926, + 1.0 + ], + [ + 0.0041656047105789185, + 0.008285075426101685, + -0.017231151461601257, + 0.044567838311195374, + -0.03964005410671234, + -0.004155993461608887, + 1.0 + ], + [ + 0.005884528160095215, + 0.020222924649715424, + -0.00748337060213089, + 0.01958344876766205, + -0.026798486709594727, + 0.020246803760528564, + 1.0 + ], + [ + 0.010073930025100708, + 0.023417815566062927, + -0.0034481100738048553, + 0.029316172003746033, + -0.042125552892684937, + 0.034770578145980835, + 1.0 + ], + [ + 0.012341737747192383, + 0.021199464797973633, + -0.00010015442967414856, + -3.63960862159729e-06, + -0.04235967993736267, + 0.02155926823616028, + 1.0 + ], + [ + 0.014491677284240723, + 0.02142467349767685, + -0.0027169473469257355, + 0.018033690750598907, + -0.03522711992263794, + -0.019251734018325806, + 1.0 + ], + [ + 0.012487202882766724, + 0.013805393129587173, + 0.00047015026211738586, + 0.02212151698768139, + -0.007926851511001587, + -0.06816461682319641, + 1.0 + ], + [ + 0.017421573400497437, + 0.014609137549996376, + 0.00036875903606414795, + 0.03250189125537872, + 0.0018635690212249756, + -0.03771348297595978, + 1.0 + ], + [ + 0.018164724111557007, + 0.010321665555238724, + -0.00014848634600639343, + 0.0181344673037529, + 0.01142534613609314, + -0.0014724433422088623, + 1.0 + ], + [ + 0.01578068733215332, + 0.0049318838864564896, + 0.0030834265053272247, + -0.004496976733207703, + -0.014149487018585205, + 0.005708679556846619, + 1.0 + ], + [ + 0.009724348783493042, + 0.0012831958010792732, + 0.002545267343521118, + 0.009988605976104736, + -0.014092445373535156, + -0.022442251443862915, + 1.0 + ], + [ + 0.013555467128753662, + 0.0030158860608935356, + 0.0005747191607952118, + 0.0003823786973953247, + -0.02392086386680603, + 0.0009126216173171997, + 1.0 + ], + [ + 0.007445335388183594, + 0.0011652708053588867, + -1.7542392015457153e-05, + 0.006245806813240051, + -0.003449559211730957, + 0.007456347346305847, + 1.0 + ], + [ + 0.0008259415626525879, + 0.0010340246371924877, + -0.002681337296962738, + 0.006646797060966492, + 0.0040528178215026855, + -0.0031563639640808105, + 1.0 + ], + [ + 0.002906233072280884, + 7.258355617523193e-05, + 0.001614551991224289, + 0.00010285526514053345, + -0.0160561203956604, + -0.006969243288040161, + 1.0 + ], + [ + 0.006609678268432617, + 0.0011714245192706585, + -0.006048314273357391, + 0.008031874895095825, + -0.0009241104125976562, + -0.006726324558258057, + 1.0 + ], + [ + 0.004642456769943237, + 0.0023440509103238583, + -0.0007126331329345703, + 0.007198125123977661, + -0.0017756819725036621, + 0.002375558018684387, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9947922229766846 + ], + [ + 0.9954678416252136 + ], + [ + 0.9947922229766846 + ], + [ + 0.9954678416252136 + ], + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9954678416252136 + ], + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9954678416252136 + ], + [ + 0.9947922229766846 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9947922229766846 + ], + [ + 0.9954678416252136 + ], + [ + 0.9947922229766846 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2293945550918579, + 0.024458421394228935, + 0.20094752311706543 + ], + [ + 0.23153311014175415, + -0.011961144395172596, + 0.19874578714370728 + ], + [ + 0.23477581143379211, + -0.04462652653455734, + 0.1925632357597351 + ], + [ + 0.2394767701625824, + -0.07986156642436981, + 0.18124529719352722 + ], + [ + 0.23816348612308502, + -0.11137162148952484, + 0.16600099205970764 + ], + [ + 0.23744505643844604, + -0.1296330690383911, + 0.14548571407794952 + ], + [ + 0.23199865221977234, + -0.14782436192035675, + 0.11828050017356873 + ], + [ + 0.23238863050937653, + -0.1542031317949295, + 0.09149038791656494 + ], + [ + 0.23430047929286957, + -0.15248800814151764, + 0.07160964608192444 + ], + [ + 0.2384660840034485, + -0.14420293271541595, + 0.05437849462032318 + ], + [ + 0.2443506121635437, + -0.12398000806570053, + 0.04689512401819229 + ], + [ + 0.2544245421886444, + -0.1005621924996376, + 0.043447013944387436 + ], + [ + 0.2667662799358368, + -0.07936272770166397, + 0.04334685951471329 + ], + [ + 0.2812579572200775, + -0.05793805420398712, + 0.04062991216778755 + ], + [ + 0.29374516010284424, + -0.04413266107439995, + 0.04110006242990494 + ], + [ + 0.3111667335033417, + -0.029523523524403572, + 0.041468821465969086 + ], + [ + 0.3293314576148987, + -0.01920185796916485, + 0.04132033511996269 + ], + [ + 0.345112144947052, + -0.014269974082708359, + 0.04440376162528992 + ], + [ + 0.35483649373054504, + -0.012986778281629086, + 0.046949028968811035 + ], + [ + 0.3683919608592987, + -0.00997089222073555, + 0.04752374812960625 + ], + [ + 0.3758372962474823, + -0.008805621415376663, + 0.04750620573759079 + ], + [ + 0.3766632378101349, + -0.0077715967781841755, + 0.04482486844062805 + ], + [ + 0.37956947088241577, + -0.0076990132220089436, + 0.04643942043185234 + ], + [ + 0.3861791491508484, + -0.006527588702738285, + 0.04039110615849495 + ], + [ + 0.3908216059207916, + -0.004183537792414427, + 0.03967847302556038 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9328346396979353, + 0.3334772510316387, + 0.13642748265655574, + 0.33598867039745295, + -0.9418534209966667, + 0.004873060786369624, + 0.13011974617318905, + 0.04129232860056849, + -0.9906380748056112 + ], + [ + 0.9403125926538245, + 0.3093493112974705, + 0.14182817666607328, + 0.32094944264634323, + -0.9446992985858084, + -0.0673401107549055, + 0.11315336213141815, + 0.10884042838606421, + -0.9875981357754244 + ], + [ + 0.9306757863541745, + 0.3367266909423193, + 0.14303047333024677, + 0.3534881778558238, + -0.9284206054078217, + -0.11437345658124952, + 0.09427984307479582, + 0.15700418803716437, + -0.983087481421965 + ], + [ + 0.9336195898765935, + 0.32202890823160724, + 0.15700905598665515, + 0.34146614790775964, + -0.9324637841452017, + -0.11794982446212798, + 0.1084220052927335, + 0.163733544274745, + -0.980528426537208 + ], + [ + 0.943662216257155, + 0.2968977306369551, + 0.14612788628889664, + 0.3166601682195458, + -0.9384009547058597, + -0.138311192859798, + 0.09606226872088564, + 0.17679192784105643, + -0.9795492099830612 + ], + [ + 0.9404512783031582, + 0.30591342307002034, + 0.14821730912257935, + 0.3277317278027345, + -0.9317282543165485, + -0.15644287999033818, + 0.09024027775550035, + 0.19570242127735604, + -0.9765025625039548 + ], + [ + 0.9518615585797859, + 0.2726373943596492, + 0.1401014792742813, + 0.29234749787440917, + -0.9448640308816567, + -0.14752933143154925, + 0.09215483592646162, + 0.1813858162670078, + -0.9790846091490347 + ], + [ + 0.9541383943467524, + 0.26201076577105153, + 0.14481119795605793, + 0.2787241050874655, + -0.9540098750229296, + -0.11035411909813794, + 0.1092373456130866, + 0.14565547356279365, + -0.9832861665581417 + ], + [ + 0.9471516553410968, + 0.26273072414709286, + 0.18405517752501466, + 0.2785063722331166, + -0.9582048513691455, + -0.06540384880251993, + 0.15917896346618532, + 0.11320790344219964, + -0.9807374919865421 + ], + [ + 0.9414966518210365, + 0.2640439135996947, + 0.20943940961704052, + 0.2725975324392622, + -0.9620463801618568, + -0.012543832169357338, + 0.1981783033477754, + 0.06890264224559609, + -0.977741165121819 + ], + [ + 0.9303790311566991, + 0.28624880929129776, + 0.2290337913130637, + 0.289918139290918, + -0.9568781256531462, + 0.0182133236015063, + 0.22437096713704655, + 0.04945575624571499, + -0.9732480656441863 + ], + [ + 0.9100042031047932, + 0.3250669557157196, + 0.25733990097403125, + 0.3186774594625758, + -0.945464746881211, + 0.06738760446347278, + 0.2652112877727646, + 0.020685422561831576, + -0.9639684051520307 + ], + [ + 0.8915955887447461, + 0.3445567675990541, + 0.2938331840221603, + 0.3339779064902176, + -0.9385431657830186, + 0.08715207363224664, + 0.3058039635245443, + 0.020429387256607527, + -0.951875294368437 + ], + [ + 0.8871457383736596, + 0.3315925525311843, + 0.3209654467248897, + 0.31297260728873383, + -0.9434171909439841, + 0.1095999585686689, + 0.3391468501583734, + 0.0032222565409576465, + -0.9407279261776159 + ], + [ + 0.903783945463074, + 0.2738818196782069, + 0.328881937437972, + 0.25109311724344074, + -0.961603465681497, + 0.11077464178369681, + 0.3465931713063195, + -0.017536351932165538, + -0.9378516140438956 + ], + [ + 0.9132354645075286, + 0.24803331954349409, + 0.32323437125706944, + 0.21698674544266536, + -0.9675597930855198, + 0.12940169669098453, + 0.34484451375644354, + -0.04803664435137587, + -0.9374298598463465 + ], + [ + 0.9173288529730267, + 0.2517080431617563, + 0.30846529223053804, + 0.21653287243649647, + -0.9655979772221609, + 0.14399326907488305, + 0.33409772620835326, + -0.06529630458265714, + -0.940273950479464 + ], + [ + 0.9113916495135129, + 0.2566678417049916, + 0.3216937677847353, + 0.22063162002898784, + -0.964588235113157, + 0.1445379705290936, + 0.34740027265450174, + -0.06075488223827097, + -0.9357467044258246 + ], + [ + 0.9112394630451529, + 0.239153128988659, + 0.3353332996946693, + 0.19905943409286855, + -0.9684751545361553, + 0.14977054698703837, + 0.36058006418520694, + -0.06972557594673257, + -0.9301184663101191 + ], + [ + 0.9023725906028888, + 0.2417947623689209, + 0.3567337951744808, + 0.1979854694772128, + -0.9678414670329448, + 0.15519229545117513, + 0.3827864438620038, + -0.06941316577187838, + -0.9212254614441606 + ], + [ + 0.8995782942499138, + 0.2514731271913796, + 0.3570996482986277, + 0.20441449896287484, + -0.9649495373290294, + 0.16458159988968568, + 0.3859709900085396, + -0.07505768920690242, + -0.9194524121251451 + ], + [ + 0.9017380917864265, + 0.25047637343518253, + 0.3523208767191256, + 0.2019142347851981, + -0.964702641485117, + 0.16905459266978165, + 0.38222906170578164, + -0.08130436558018814, + -0.9204838643480509 + ], + [ + 0.8970092026228431, + 0.24505648863406626, + 0.36786112568233365, + 0.19430056407517798, + -0.9661319389312165, + 0.16981274209280223, + 0.39701609691547723, + -0.08084796815845563, + -0.914243854141033 + ], + [ + 0.8979363606541126, + 0.24158821934248464, + 0.36789322430587795, + 0.18818730252381022, + -0.966366476102695, + 0.17527513524077393, + 0.39786408657236133, + -0.08815308355234773, + -0.9131994319293861 + ], + [ + 0.8967942513249193, + 0.2466864684788503, + 0.36729532676037563, + 0.19017301323576505, + -0.9644620154209547, + 0.18343185614003915, + 0.3994925478997167, + -0.09465097505881111, + -0.9118371000858702 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005702.json b/json/chunk-0005/episode_0005702.json new file mode 100644 index 0000000000000000000000000000000000000000..7c509be05c9eb594bca56cf1c4d9c5fc1f662bf9 --- /dev/null +++ b/json/chunk-0005/episode_0005702.json @@ -0,0 +1,3322 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 54, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut the green spatula to the basket." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005702.mp4", + "start": 0, + "end": 54, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.30437538027763367, + -0.029986385256052017, + 0.19113115966320038, + -0.042810842394828796, + -0.12971362471580505, + 0.20105722546577454, + 0.0, + 0.9961419701576233 + ], + [ + 0.3035287857055664, + -0.02942492440342903, + 0.18010632693767548, + -0.030374174937605858, + -0.09659377485513687, + 0.20855562388896942, + 0.0, + 0.9968144297599792 + ], + [ + 0.3149200975894928, + -0.012815097346901894, + 0.17063488066196442, + 0.00463767908513546, + -0.13529357314109802, + 0.32738685607910156, + 0.0, + 0.9968144297599792 + ], + [ + 0.32221803069114685, + 0.003721530782058835, + 0.16248445212841034, + 0.006294243969023228, + -0.18455491960048676, + 0.38624486327171326, + 0.0, + 0.9961419701576233 + ], + [ + 0.33406907320022583, + 0.016235370188951492, + 0.14915485680103302, + 0.014408889226615429, + -0.22027570009231567, + 0.48264920711517334, + 0.0, + 0.9968144297599792 + ], + [ + 0.341430127620697, + 0.020985743030905724, + 0.13708139955997467, + 0.0034673030022531748, + -0.22391362488269806, + 0.540719747543335, + 0.0, + 0.9961419701576233 + ], + [ + 0.34362998604774475, + 0.016447845846414566, + 0.1336178034543991, + -0.023585500195622444, + -0.19960233569145203, + 0.5775914192199707, + 0.0, + 0.9961419701576233 + ], + [ + 0.34433409571647644, + 0.007991604506969452, + 0.1344171017408371, + -0.06480211019515991, + -0.14833541214466095, + 0.6324447989463806, + 0.0, + 0.9968144297599792 + ], + [ + 0.34840238094329834, + 0.0036920015700161457, + 0.13472215831279755, + -0.08373090624809265, + -0.1712065041065216, + 0.7482052445411682, + 0.0, + 0.9968144297599792 + ], + [ + 0.35496094822883606, + 0.008070438168942928, + 0.13784924149513245, + -0.11920968443155289, + -0.2363515943288803, + 0.9992305040359497, + 0.0, + 0.9968144297599792 + ], + [ + 0.3628043234348297, + 0.012888609431684017, + 0.13649365305900574, + -0.10175176709890366, + -0.2910967171192169, + 1.1472468376159668, + 0.0, + 0.9961419701576233 + ], + [ + 0.36714106798171997, + 0.013990087434649467, + 0.13076134026050568, + -0.05959593504667282, + -0.2704193592071533, + 1.257658839225769, + 0.0, + 0.9961419701576233 + ], + [ + 0.3654381036758423, + 0.01316272933036089, + 0.12722660601139069, + -0.0515342578291893, + -0.2638343274593353, + 1.3028408288955688, + 0.0, + 0.9961419701576233 + ], + [ + 0.36606499552726746, + 0.012253114022314548, + 0.12816713750362396, + -0.06596300005912781, + -0.2563723623752594, + 1.3454532623291016, + 0.0, + 0.9968144297599792 + ], + [ + 0.36823156476020813, + 0.01350551936775446, + 0.12471264600753784, + -0.07245349138975143, + -0.2516267001628876, + 1.3864855766296387, + 0.0, + 0.9968144297599792 + ], + [ + 0.36798298358917236, + 0.014459311030805111, + 0.11737015098333359, + -0.07430758327245712, + -0.22810599207878113, + 1.4778350591659546, + 0.0, + 0.9968144297599792 + ], + [ + 0.3632514774799347, + 0.013346122577786446, + 0.11378565430641174, + -0.0498381108045578, + -0.17361946403980255, + 1.520519495010376, + 0.0, + 0.9968144297599792 + ], + [ + 0.3650308847427368, + 0.011540508829057217, + 0.1138203963637352, + -0.06834513694047928, + -0.14669853448867798, + 1.5541894435882568, + 0.0, + 0.9961419701576233 + ], + [ + 0.3660699725151062, + 0.013146653771400452, + 0.1134956106543541, + -0.07491397112607956, + -0.15283095836639404, + 1.5657572746276855, + 0.0, + 0.9968144297599792 + ], + [ + 0.36968061327934265, + 0.017780495807528496, + 0.1142323911190033, + -0.0818483978509903, + -0.18246497213840485, + 1.574960708618164, + 0.0, + 0.9968144297599792 + ], + [ + 0.3741045296192169, + 0.01947467029094696, + 0.11369732022285461, + -0.08009161800146103, + -0.1826392561197281, + 1.5872764587402344, + 0.0, + 0.9968144297599792 + ], + [ + 0.3758895695209503, + 0.020631788298487663, + 0.11216484755277634, + -0.08289063721895218, + -0.1862672120332718, + 1.593239426612854, + 0.0, + 0.9522681832313538 + ], + [ + 0.3733082115650177, + 0.02088729292154312, + 0.10990949720144272, + -0.07683231681585312, + -0.1872301548719406, + 1.600121021270752, + 0.0, + 0.6921995282173157 + ], + [ + 0.3716573715209961, + 0.02186449058353901, + 0.1090661957859993, + -0.08603431284427643, + -0.18559111654758453, + 1.6028445959091187, + 0.0, + 0.5689827799797058 + ], + [ + 0.3715360164642334, + 0.023351849988102913, + 0.10902249813079834, + -0.08623851090669632, + -0.18399137258529663, + 1.6094249486923218, + 0.0, + 0.5689827799797058 + ], + [ + 0.37129417061805725, + 0.02337302453815937, + 0.10900718718767166, + -0.08386176079511642, + -0.18454959988594055, + 1.604775071144104, + 0.0, + 0.5689827799797058 + ], + [ + 0.37023061513900757, + 0.019664496183395386, + 0.1112731322646141, + -0.06551361829042435, + -0.16067290306091309, + 1.558010220527649, + 0.0, + 0.5689827799797058 + ], + [ + 0.3732791841030121, + 0.018942834809422493, + 0.12226338684558868, + -0.0627480074763298, + -0.1400812566280365, + 1.5346605777740479, + 0.0, + 0.5689827799797058 + ], + [ + 0.37202781438827515, + 0.01677698828279972, + 0.12800613045692444, + -0.04798969626426697, + -0.105084128677845, + 1.5215392112731934, + 0.0, + 0.5689827799797058 + ], + [ + 0.3682768642902374, + 0.017545253038406372, + 0.1427522599697113, + -0.07390943169593811, + -0.07661142200231552, + 1.5235786437988281, + 0.0, + 0.5689827799797058 + ], + [ + 0.3574385643005371, + 0.019610505551099777, + 0.153227299451828, + -0.09737026691436768, + -0.05836325138807297, + 1.49951171875, + 0.0, + 0.5689827799797058 + ], + [ + 0.34011146426200867, + 0.02047973871231079, + 0.15773823857307434, + -0.10619939863681793, + -0.05807872489094734, + 1.426133394241333, + 0.0, + 0.5689827799797058 + ], + [ + 0.3252149522304535, + 0.02850847691297531, + 0.16822871565818787, + -0.1275957226753235, + -0.044185083359479904, + 1.3266487121582031, + 0.0, + 0.5689827799797058 + ], + [ + 0.30781182646751404, + 0.05249151960015297, + 0.17198902368545532, + -0.1202312633395195, + -0.049855008721351624, + 1.2199511528015137, + 0.0, + 0.5689827799797058 + ], + [ + 0.2936510741710663, + 0.07086700201034546, + 0.17307475209236145, + -0.11348215490579605, + -0.06010938435792923, + 1.137483835220337, + 0.0, + 0.5689827799797058 + ], + [ + 0.2828282117843628, + 0.08660507947206497, + 0.16778261959552765, + -0.09978794306516647, + -0.06882349401712418, + 1.058555245399475, + 0.0, + 0.5689827799797058 + ], + [ + 0.26837441325187683, + 0.09817767143249512, + 0.16337019205093384, + -0.12387633323669434, + -0.09529439359903336, + 0.9644105434417725, + 0.0, + 0.5689827799797058 + ], + [ + 0.2591373920440674, + 0.10263504087924957, + 0.14843429625034332, + -0.10346154868602753, + -0.10909231752157211, + 0.9195575714111328, + 0.0, + 0.5689827799797058 + ], + [ + 0.2585045397281647, + 0.10349555313587189, + 0.13954594731330872, + -0.09733209013938904, + -0.13271944224834442, + 0.8855074644088745, + 0.0, + 0.5689827799797058 + ], + [ + 0.2588822841644287, + 0.10957326740026474, + 0.13574224710464478, + -0.10697329789400101, + -0.15365853905677795, + 0.9073675870895386, + 0.0, + 0.5689827799797058 + ], + [ + 0.2556072473526001, + 0.10772128403186798, + 0.12962043285369873, + -0.0793856605887413, + -0.15780210494995117, + 0.8950567841529846, + 0.0, + 0.641040563583374 + ], + [ + 0.25332552194595337, + 0.10513129085302353, + 0.13283023238182068, + -0.0717964917421341, + -0.1269957423210144, + 0.8837141394615173, + 0.0, + 0.9222983717918396 + ], + [ + 0.2557481825351715, + 0.10453608632087708, + 0.14418427646160126, + -0.08831150829792023, + -0.1117078959941864, + 0.8841495513916016, + 0.0, + 1.0067112445831299 + ], + [ + 0.2580961287021637, + 0.10328660160303116, + 0.1535957306623459, + -0.11104914546012878, + -0.09597684442996979, + 0.8798921704292297, + 0.0, + 1.0008161067962646 + ], + [ + 0.2646620273590088, + 0.09693261235952377, + 0.156808003783226, + -0.13664597272872925, + -0.11930733919143677, + 0.8420008420944214, + 0.0, + 1.0008161067962646 + ], + [ + 0.27837035059928894, + 0.08270837366580963, + 0.163982555270195, + -0.15322336554527283, + -0.20385466516017914, + 0.7188929915428162, + 0.0, + 1.0008161067962646 + ], + [ + 0.2907938063144684, + 0.06786473840475082, + 0.17464107275009155, + -0.11428523063659668, + -0.2689603269100189, + 0.5471585988998413, + 0.0, + 1.0008161067962646 + ], + [ + 0.299751341342926, + 0.051402363926172256, + 0.18171477317810059, + -0.07685770094394684, + -0.28173044323921204, + 0.40276411175727844, + 0.0, + 1.0008161067962646 + ], + [ + 0.30231812596321106, + 0.03808673098683357, + 0.18139858543872833, + -0.03276973217725754, + -0.2917380928993225, + 0.2881440222263336, + 0.0, + 1.0008161067962646 + ], + [ + 0.3035072982311249, + 0.02529768832027912, + 0.17602713406085968, + 0.02139294147491455, + -0.27072280645370483, + 0.15745557844638824, + 0.0, + 1.0008161067962646 + ], + [ + 0.29957863688468933, + 0.014297357760369778, + 0.16533848643302917, + 0.03663251921534538, + -0.26407235860824585, + 0.08099889010190964, + 0.0, + 1.0008161067962646 + ], + [ + 0.28164124488830566, + 0.005135815124958754, + 0.158062145113945, + 0.056709419935941696, + -0.26760584115982056, + 0.02237527258694172, + 0.0, + 1.0008161067962646 + ], + [ + 0.26492002606391907, + -0.005131909158080816, + 0.1524936556816101, + 0.07553044706583023, + -0.27342599630355835, + -0.0330469012260437, + 0.0, + 1.0008161067962646 + ], + [ + 0.2515573799610138, + -0.016916722059249878, + 0.14909327030181885, + 0.07862436026334763, + -0.27801835536956787, + -0.10170813649892807, + 0.0, + 1.0008161067962646 + ] + ], + "left_gripper_pos": [ + [ + 0.9961419701576233 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9961419701576233 + ], + [ + 0.9968144297599792 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9961419701576233 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9522681832313538 + ], + [ + 0.6921995282173157 + ], + [ + 0.5689827799797058 + ], + [ + 0.5689827799797058 + ], + [ + 0.5689827799797058 + ], + [ + 0.5689827799797058 + ], + [ + 0.5689827799797058 + ], + [ + 0.5689827799797058 + ], + [ + 0.5689827799797058 + ], + [ + 0.5689827799797058 + ], + [ + 0.5689827799797058 + ], + [ + 0.5689827799797058 + ], + [ + 0.5689827799797058 + ], + [ + 0.5689827799797058 + ], + [ + 0.5689827799797058 + ], + [ + 0.5689827799797058 + ], + [ + 0.5689827799797058 + ], + [ + 0.5689827799797058 + ], + [ + 0.5689827799797058 + ], + [ + 0.641040563583374 + ], + [ + 0.9222983717918396 + ], + [ + 1.0067112445831299 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.30437538027763367, + -0.029986385256052017, + 0.19113115966320038 + ], + [ + 0.3035287857055664, + -0.02942492440342903, + 0.18010632693767548 + ], + [ + 0.3149200975894928, + -0.012815097346901894, + 0.17063488066196442 + ], + [ + 0.32221803069114685, + 0.003721530782058835, + 0.16248445212841034 + ], + [ + 0.33406907320022583, + 0.016235370188951492, + 0.14915485680103302 + ], + [ + 0.341430127620697, + 0.020985743030905724, + 0.13708139955997467 + ], + [ + 0.34362998604774475, + 0.016447845846414566, + 0.1336178034543991 + ], + [ + 0.34433409571647644, + 0.007991604506969452, + 0.1344171017408371 + ], + [ + 0.34840238094329834, + 0.0036920015700161457, + 0.13472215831279755 + ], + [ + 0.35496094822883606, + 0.008070438168942928, + 0.13784924149513245 + ], + [ + 0.3628043234348297, + 0.012888609431684017, + 0.13649365305900574 + ], + [ + 0.36714106798171997, + 0.013990087434649467, + 0.13076134026050568 + ], + [ + 0.3654381036758423, + 0.01316272933036089, + 0.12722660601139069 + ], + [ + 0.36606499552726746, + 0.012253114022314548, + 0.12816713750362396 + ], + [ + 0.36823156476020813, + 0.01350551936775446, + 0.12471264600753784 + ], + [ + 0.36798298358917236, + 0.014459311030805111, + 0.11737015098333359 + ], + [ + 0.3632514774799347, + 0.013346122577786446, + 0.11378565430641174 + ], + [ + 0.3650308847427368, + 0.011540508829057217, + 0.1138203963637352 + ], + [ + 0.3660699725151062, + 0.013146653771400452, + 0.1134956106543541 + ], + [ + 0.36968061327934265, + 0.017780495807528496, + 0.1142323911190033 + ], + [ + 0.3741045296192169, + 0.01947467029094696, + 0.11369732022285461 + ], + [ + 0.3758895695209503, + 0.020631788298487663, + 0.11216484755277634 + ], + [ + 0.3733082115650177, + 0.02088729292154312, + 0.10990949720144272 + ], + [ + 0.3716573715209961, + 0.02186449058353901, + 0.1090661957859993 + ], + [ + 0.3715360164642334, + 0.023351849988102913, + 0.10902249813079834 + ], + [ + 0.37129417061805725, + 0.02337302453815937, + 0.10900718718767166 + ], + [ + 0.37023061513900757, + 0.019664496183395386, + 0.1112731322646141 + ], + [ + 0.3732791841030121, + 0.018942834809422493, + 0.12226338684558868 + ], + [ + 0.37202781438827515, + 0.01677698828279972, + 0.12800613045692444 + ], + [ + 0.3682768642902374, + 0.017545253038406372, + 0.1427522599697113 + ], + [ + 0.3574385643005371, + 0.019610505551099777, + 0.153227299451828 + ], + [ + 0.34011146426200867, + 0.02047973871231079, + 0.15773823857307434 + ], + [ + 0.3252149522304535, + 0.02850847691297531, + 0.16822871565818787 + ], + [ + 0.30781182646751404, + 0.05249151960015297, + 0.17198902368545532 + ], + [ + 0.2936510741710663, + 0.07086700201034546, + 0.17307475209236145 + ], + [ + 0.2828282117843628, + 0.08660507947206497, + 0.16778261959552765 + ], + [ + 0.26837441325187683, + 0.09817767143249512, + 0.16337019205093384 + ], + [ + 0.2591373920440674, + 0.10263504087924957, + 0.14843429625034332 + ], + [ + 0.2585045397281647, + 0.10349555313587189, + 0.13954594731330872 + ], + [ + 0.2588822841644287, + 0.10957326740026474, + 0.13574224710464478 + ], + [ + 0.2556072473526001, + 0.10772128403186798, + 0.12962043285369873 + ], + [ + 0.25332552194595337, + 0.10513129085302353, + 0.13283023238182068 + ], + [ + 0.2557481825351715, + 0.10453608632087708, + 0.14418427646160126 + ], + [ + 0.2580961287021637, + 0.10328660160303116, + 0.1535957306623459 + ], + [ + 0.2646620273590088, + 0.09693261235952377, + 0.156808003783226 + ], + [ + 0.27837035059928894, + 0.08270837366580963, + 0.163982555270195 + ], + [ + 0.2907938063144684, + 0.06786473840475082, + 0.17464107275009155 + ], + [ + 0.299751341342926, + 0.051402363926172256, + 0.18171477317810059 + ], + [ + 0.30231812596321106, + 0.03808673098683357, + 0.18139858543872833 + ], + [ + 0.3035072982311249, + 0.02529768832027912, + 0.17602713406085968 + ], + [ + 0.29957863688468933, + 0.014297357760369778, + 0.16533848643302917 + ], + [ + 0.28164124488830566, + 0.005135815124958754, + 0.158062145113945 + ], + [ + 0.26492002606391907, + -0.005131909158080816, + 0.1524936556816101 + ], + [ + 0.2515573799610138, + -0.016916722059249878, + 0.14909327030181885 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.971624199225279, + 0.1940980084861989, + 0.13517536233177457, + 0.19802764151693397, + -0.9800637532610871, + -0.0161273909554943, + 0.12935017848876662, + 0.04243822151648348, + -0.9906904302956812 + ], + [ + 0.973770447673493, + 0.20408605783124137, + 0.100598192014911, + 0.20608187776543432, + -0.9784861536612144, + -0.009752268964476729, + 0.09644363584207251, + 0.030227935625611387, + -0.9948793379166019 + ], + [ + 0.9382330286771955, + 0.32215863072836043, + 0.12622440551036476, + 0.3186312034911028, + -0.9466745481031503, + 0.047764590812733494, + 0.134881207219644, + -0.004595282464041374, + -0.9908511206624573 + ], + [ + 0.9105992780043465, + 0.37777507178305003, + 0.16761548268962068, + 0.37031525884011895, + -0.9258767262868351, + 0.07495930089420999, + 0.18350902966377108, + -0.006187314416159821, + -0.9829985519685046 + ], + [ + 0.8643658577451093, + 0.46686779512376486, + 0.18683181164040472, + 0.45291278990551, + -0.8842153422147032, + 0.11416318728969799, + 0.21849866980045615, + -0.01406024425141892, + -0.9757359483113357 + ], + [ + 0.8359357369954472, + 0.5154101657740459, + 0.18858368071137233, + 0.5019028466092833, + -0.856936947287407, + 0.1172714839133451, + 0.22204723862137205, + -0.0033807381605578876, + -0.9750300479626836 + ], + [ + 0.8211464790547929, + 0.5419382677974723, + 0.1789451699057334, + 0.5351669543639056, + -0.8401003553324682, + 0.08847442527149967, + 0.19827957759884896, + 0.023115078778494613, + -0.9798729010643605 + ], + [ + 0.797727212400638, + 0.5821583018229101, + 0.15723551193726362, + 0.5846270695942534, + -0.8105491151304134, + 0.03494740990316965, + 0.14779202987016496, + 0.0640456366973567, + -0.9869425881614831 + ], + [ + 0.7221958539071378, + 0.6674980040584877, + 0.18132722679530294, + 0.6703780693650656, + -0.7400371231688587, + 0.05420609233588684, + 0.17037133771179774, + 0.08241038108087165, + -0.9819277653556794 + ], + [ + 0.5259105744743557, + 0.8200217284230896, + 0.22579289751908008, + 0.8176725904919707, + -0.5605319815575247, + 0.13120759280371247, + 0.2341572173011183, + 0.11562120292231652, + -0.9652989873715777 + ], + [ + 0.3937080269910693, + 0.8949389205143315, + 0.2099483699185177, + 0.873283047815489, + -0.4354497305535501, + 0.21854118732845582, + 0.28700297538682407, + 0.09730293268696485, + -0.9529750423854899 + ], + [ + 0.2968503853498554, + 0.944781549651996, + 0.13880804067061564, + 0.916797922622278, + -0.32263524830822643, + 0.23534669240200606, + 0.2671355794219814, + 0.05739616699973975, + -0.9619481598405499 + ], + [ + 0.2555989816988227, + 0.9594773705433833, + 0.11862687709654979, + 0.9309461903016228, + -0.27736294142193035, + 0.2375057672745432, + 0.26078410863666435, + 0.04972900703744104, + -0.9641154881764169 + ], + [ + 0.21613787568297987, + 0.9688630632572596, + 0.12078403599403341, + 0.9428600498303187, + -0.23924657325964033, + 0.23189653644996136, + 0.2535731553796999, + 0.06376081742950598, + -0.9652125222102662 + ], + [ + 0.17749761992048618, + 0.977180451861448, + 0.11667458773194252, + 0.9521048647211872, + -0.2005065791072541, + 0.2308537162554597, + 0.24897976121928567, + 0.07011045738377807, + -0.965967702497669 + ], + [ + 0.09042287236943336, + 0.9913762078792784, + 0.09485208802847828, + 0.9698904978195871, + -0.10928672193497768, + 0.21764382520066955, + 0.22613298386510072, + 0.07231615904905274, + -0.9714083830957285 + ], + [ + 0.04950010781914915, + 0.9970637987368874, + 0.05842534188398231, + 0.9837213465061535, + -0.05878827445156942, + 0.1698124000629142, + 0.17274852171295962, + 0.04906852387605069, + -0.9837429685698457 + ], + [ + 0.016427754436215358, + 0.9973620414262374, + 0.07070422339769407, + 0.9891226432089824, + -0.02654840770512612, + 0.14467749907846073, + 0.14617293037857254, + 0.06755842190585883, + -0.9869495093742793 + ], + [ + 0.004980296216932967, + 0.9971251854790103, + 0.075607943584267, + 0.9883315151930917, + -0.016418744380800487, + 0.15143064719232519, + 0.15223669966772183, + 0.07397154396393274, + -0.985572015612189 + ], + [ + -0.004095238755379149, + 0.9967054264956896, + 0.08100322100745333, + 0.9833908742845963, + -0.010684599333394218, + 0.18118561673284894, + 0.18145417436177774, + 0.08039982668594953, + -0.9801072647805216 + ], + [ + -0.016205296897652932, + 0.9968984857321374, + 0.0770116711767124, + 0.9832342261368713, + 0.0018973944503347662, + 0.1823372053293771, + 0.1816255623679842, + 0.07867533946079283, + -0.9802154589962566 + ], + [ + -0.022053035772207463, + 0.9966596601705061, + 0.07863323344515978, + 0.9824548825900413, + 0.00703491809266249, + 0.18636768390044917, + 0.1851919741463381, + 0.08136357733187981, + -0.9793282907153971 + ], + [ + -0.028808074448660403, + 0.997040092033244, + 0.07128218378319176, + 0.9821011530892468, + 0.014952773938121056, + 0.18775979242725835, + 0.1861381743418908, + 0.07541531296690171, + -0.9796249846868812 + ], + [ + -0.03149252365068106, + 0.9962978025004783, + 0.07999318525242818, + 0.9823226614349212, + 0.016076288268880523, + 0.18650399938582826, + 0.18452753123998725, + 0.08445260024542675, + -0.9791921918225562 + ], + [ + -0.0379671764702883, + 0.9961491103980494, + 0.0790281175534973, + 0.9823878830793936, + 0.02272903466857562, + 0.18546546352845011, + 0.18295502367976169, + 0.08467786509005815, + -0.9794677730656218 + ], + [ + -0.03339532431812825, + 0.9964326535298282, + 0.07750302763887584, + 0.9824515802798235, + 0.018490768730111296, + 0.1855989867360458, + 0.18350380028589164, + 0.08234111033545065, + -0.9795643403214312 + ], + [ + 0.012621075455603814, + 0.9976392724916009, + 0.06750252170676921, + 0.9870391658620364, + -0.023231008285089227, + 0.15878918511168494, + 0.1599824787553899, + 0.06462354243220508, + -0.9850022356597948 + ], + [ + 0.035774000105746495, + 0.9970641368667295, + 0.06770027984165464, + 0.9895582236524918, + -0.044806422580255356, + 0.1369923592660739, + 0.13962357579635157, + 0.062092603986013344, + -0.9882559211115698 + ], + [ + 0.048965594383135136, + 0.9973894762783925, + 0.053071679602410576, + 0.9932775460821416, + -0.05420615789342881, + 0.1022810290106261, + 0.10489083380232114, + 0.04770665630231601, + -0.9933388082264316 + ], + [ + 0.04706169118345388, + 0.9958916788653435, + 0.07736253091595018, + 0.9959555016126319, + -0.05271660201469047, + 0.07275712116044777, + 0.07653650129503285, + 0.07362556511696774, + -0.9943447290204355 + ], + [ + 0.07110298126015191, + 0.9923317298081378, + 0.10110442162392003, + 0.995762001054296, + -0.07654312818292575, + 0.05098222027644953, + 0.05833012354060896, + 0.09705095333875452, + -0.9935686735922062 + ], + [ + 0.14391582567807, + 0.9830925513659832, + 0.11321338511024803, + 0.9878860702613337, + -0.1494353287654508, + 0.04183532837663663, + 0.05804607913562093, + 0.10582116029170906, + -0.992689545996883 + ], + [ + 0.24149337763266931, + 0.9610968215711249, + 0.13406658094188229, + 0.9693966665701217, + -0.24521824024976502, + 0.011752339832753964, + 0.044170707514154625, + 0.1271255844222154, + -0.9909026361772426 + ], + [ + 0.3432645802196262, + 0.9302489394647335, + 0.12963926330931896, + 0.937915755631997, + -0.346823588288421, + 0.005237742262126081, + 0.04983435866853783, + 0.11979277620742798, + -0.9915473904280183 + ], + [ + 0.4191211383805378, + 0.8988858786703506, + 0.12783445736433136, + 0.9059407722184794, + -0.4233526201866203, + 0.006623912235802887, + 0.06007319364563946, + 0.11303422538397019, + -0.9917733991679041 + ], + [ + 0.4889715715494455, + 0.8639542249880792, + 0.12037399778072184, + 0.8695847301198028, + -0.49366527801417537, + 0.010816211243170108, + 0.06876917448199817, + 0.09938657056380706, + -0.9926696883821073 + ], + [ + 0.5673156539513131, + 0.8087162678132443, + 0.1553413884192196, + 0.8179849524202146, + -0.575194928649746, + 0.007170193143338187, + 0.09515023066652607, + 0.12299915540291531, + -0.9878348249450797 + ], + [ + 0.6025686025899288, + 0.7842645231622817, + 0.147784427061375, + 0.7906055166168505, + -0.6118737138259766, + 0.023526058399343595, + 0.1088760592041369, + 0.10266311917064214, + -0.9887397472006126 + ], + [ + 0.6273307992311838, + 0.7624329503288381, + 0.15859402444237253, + 0.7674273896245019, + -0.6398575693988418, + 0.04046594292895468, + 0.1323301552560383, + 0.09632386586858978, + -0.9865142892396657 + ], + [ + 0.6085661443560272, + 0.7733181904961665, + 0.17783763435047772, + 0.7786023008583262, + -0.6251770300736698, + 0.054149221290677924, + 0.1530545819038424, + 0.1055114084637345, + -0.9825688971477977 + ], + [ + 0.61770303063578, + 0.7699925196076566, + 0.15985770451131218, + 0.7705501096877795, + -0.6332282137331103, + 0.0726261508860687, + 0.15714800158934342, + 0.07831697823989216, + -0.9844648071494728 + ], + [ + 0.6291761536680398, + 0.765345498139313, + 0.13558626823310022, + 0.7668741527194441, + -0.639674081450075, + 0.05216419664710253, + 0.12665465465716563, + 0.0711571359660428, + -0.9893913585911212 + ], + [ + 0.6299961533496949, + 0.7641294936332005, + 0.13860362089229986, + 0.7685557963183801, + -0.6390806772424942, + 0.02996457776601615, + 0.11147571354339149, + 0.08764704749815441, + -0.9898945198125142 + ], + [ + 0.6343015421466183, + 0.7591557488216483, + 0.14609621029124847, + 0.7671233593719311, + -0.6414935915750077, + 0.002779113909209714, + 0.09582956295603734, + 0.11031101939171778, + -0.9892664827357769 + ], + [ + 0.6612373970790675, + 0.7282256277194372, + 0.18014588487315272, + 0.7406742018886485, + -0.6718587075038669, + -0.0027575002895137563, + 0.11902449899374913, + 0.13525277181582962, + -0.9836360385607178 + ], + [ + 0.7369528384979643, + 0.6275846169803722, + 0.25107381854624555, + 0.6449157021801531, + -0.7640667517997788, + 0.016903723720392283, + 0.20244567397520133, + 0.14946420080987585, + -0.9678203354781256 + ], + [ + 0.8233027445870477, + 0.4909900111779212, + 0.28478307477611686, + 0.5015581095875318, + -0.8642006271927667, + 0.03995921253741324, + 0.26572928604581025, + 0.1099367312736444, + -0.957758770074412 + ], + [ + 0.883711546155629, + 0.37116698751151955, + 0.2851122069867431, + 0.3765099413310774, + -0.9256323621512167, + 0.03801307955464468, + 0.27801828585561883, + 0.07375498301798067, + -0.9577400666203336 + ], + [ + 0.9182603945854094, + 0.2749857333547638, + 0.2849222599011708, + 0.27216563187723447, + -0.9609360941028482, + 0.0502761561301886, + 0.2876173092161063, + 0.031379443935547174, + -0.9572312228179678 + ], + [ + 0.9516578710156383, + 0.16241975844650366, + 0.2607050413784929, + 0.15109456781555927, + -0.9865064417415287, + 0.06305134399120155, + 0.2674279867751534, + -0.020612192232920653, + -0.9633573632981381 + ], + [ + 0.9621700796234515, + 0.09038418326655293, + 0.25702030521466496, + 0.07810559555299912, + -0.9952792278317997, + 0.05760880653032382, + 0.2610138958383494, + -0.03535474595828866, + -0.9646874043530953 + ], + [ + 0.9641653246141311, + 0.037320940978580595, + 0.26266399482266456, + 0.02157706294980493, + -0.9978072222629456, + 0.0625713796744573, + 0.26442325383027043, + -0.054661637044441304, + -0.962856400648318 + ], + [ + 0.9623257050813997, + -0.012581578771548385, + 0.27160806544578714, + -0.03181346450331021, + -0.9972777378576585, + 0.06652080163233832, + 0.2700317403859855, + -0.07265547088229217, + -0.9601062658554984 + ], + [ + 0.9566318122902736, + -0.0797743258489657, + 0.28016358194735014, + -0.09763413156922852, + -0.9939475176341049, + 0.050357805171821965, + 0.2744506368492321, + -0.0755274064452345, + -0.958630512141517 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0008465945720672607, + 0.0005614608526229858, + -0.011024832725524902, + 0.012436667457222939, + 0.03311984986066818, + 0.007498398423194885, + 1.0 + ], + [ + 0.011391311883926392, + 0.016609827056527138, + -0.00947144627571106, + 0.03501185402274132, + -0.03869979828596115, + 0.11883123219013214, + 1.0 + ], + [ + 0.007297933101654053, + 0.01653662882745266, + -0.008150428533554077, + 0.0016565648838877678, + -0.04926134645938873, + 0.058858007192611694, + 1.0 + ], + [ + 0.01185104250907898, + 0.012513839639723301, + -0.01332959532737732, + 0.008114645257592201, + -0.03572078049182892, + 0.09640434384346008, + 1.0 + ], + [ + 0.007361054420471191, + 0.004750372841954231, + -0.01207345724105835, + -0.010941586457192898, + -0.0036379247903823853, + 0.05807054042816162, + 1.0 + ], + [ + 0.0021998584270477295, + -0.0045378971844911575, + -0.0034635961055755615, + -0.027052802965044975, + 0.024311289191246033, + 0.03687167167663574, + 1.0 + ], + [ + 0.0007041096687316895, + -0.008456241339445114, + 0.0007992982864379883, + -0.04121661186218262, + 0.05126692354679108, + 0.05485337972640991, + 1.0 + ], + [ + 0.004068285226821899, + -0.004299602936953306, + 0.0003050565719604492, + -0.01892879605293274, + -0.022871091961860657, + 0.1157604455947876, + 1.0 + ], + [ + 0.00655856728553772, + 0.004378436598926783, + 0.0031270831823349, + -0.035478778183460236, + -0.0651450902223587, + 0.2510252594947815, + 1.0 + ], + [ + 0.007843375205993652, + 0.004818171262741089, + -0.001355588436126709, + 0.01745791733264923, + -0.05474512279033661, + 0.1480163335800171, + 1.0 + ], + [ + 0.004336744546890259, + 0.0011014780029654503, + -0.005732312798500061, + 0.042155832052230835, + 0.0206773579120636, + 0.11041200160980225, + 1.0 + ], + [ + -0.0017029643058776855, + -0.000827358104288578, + -0.0035347342491149902, + 0.00806167721748352, + 0.006585031747817993, + 0.045181989669799805, + 1.0 + ], + [ + 0.0006268918514251709, + -0.0009096153080463409, + 0.0009405314922332764, + -0.014428742229938507, + 0.007461965084075928, + 0.042612433433532715, + 1.0 + ], + [ + 0.002166569232940674, + 0.0012524053454399109, + -0.0034544914960861206, + -0.006490491330623627, + 0.004745662212371826, + 0.04103231430053711, + 1.0 + ], + [ + -0.0002485811710357666, + 0.0009537916630506516, + -0.007342495024204254, + -0.0018540918827056885, + 0.023520708084106445, + 0.09134948253631592, + 1.0 + ], + [ + -0.004731506109237671, + -0.0011131884530186653, + -0.0035844966769218445, + 0.024469472467899323, + 0.05448652803897858, + 0.04268443584442139, + 1.0 + ], + [ + 0.001779407262802124, + -0.001805613748729229, + 3.474205732345581e-05, + -0.01850702613592148, + 0.026920929551124573, + 0.03366994857788086, + 1.0 + ], + [ + 0.0010390877723693848, + 0.001606144942343235, + -0.0003247857093811035, + -0.006568834185600281, + -0.0061324238777160645, + 0.011567831039428711, + 1.0 + ], + [ + 0.00361064076423645, + 0.004633842036128044, + 0.0007367804646492004, + -0.006934426724910736, + -0.029634013772010803, + 0.009203433990478516, + 1.0 + ], + [ + 0.004423916339874268, + 0.0016941744834184647, + -0.0005350708961486816, + 0.0017567798495292664, + -0.0001742839813232422, + 0.012315750122070312, + 1.0 + ], + [ + 0.0017850399017333984, + 0.0011571180075407028, + -0.0015324726700782776, + -0.00279901921749115, + -0.003627955913543701, + 0.005962967872619629, + 0.0 + ], + [ + -0.002581357955932617, + 0.00025550462305545807, + -0.002255350351333618, + 0.00605832040309906, + -0.0009629428386688232, + 0.006881594657897949, + 0.0 + ], + [ + -0.0016508400440216064, + 0.0009771976619958878, + -0.0008433014154434204, + -0.00920199602842331, + 0.001639038324356079, + 0.0027235746383666992, + 0.0 + ], + [ + -0.00012135505676269531, + 0.0014873594045639038, + -4.369765520095825e-05, + -0.00020419806241989136, + 0.0015997439622879028, + 0.006580352783203125, + 0.0 + ], + [ + -0.00024184584617614746, + 2.117455005645752e-05, + -1.5310943126678467e-05, + 0.002376750111579895, + -0.0005582273006439209, + -0.0046498775482177734, + 0.0 + ], + [ + -0.0010635554790496826, + -0.0037085283547639847, + 0.002265945076942444, + 0.018348142504692078, + 0.023876696825027466, + -0.04676485061645508, + 0.0 + ], + [ + 0.0030485689640045166, + -0.0007216613739728928, + 0.010990254580974579, + 0.0027656108140945435, + 0.020591646432876587, + -0.023349642753601074, + 0.0 + ], + [ + -0.0012513697147369385, + -0.002165846526622772, + 0.005742743611335754, + 0.014758311212062836, + 0.0349971279501915, + -0.013121366500854492, + 0.0 + ], + [ + -0.0037509500980377197, + 0.0007682647556066513, + 0.014746129512786865, + -0.025919735431671143, + 0.02847270667552948, + 0.0020394325256347656, + 0.0 + ], + [ + -0.010838299989700317, + 0.002065252512693405, + 0.0104750394821167, + -0.023460835218429565, + 0.018248170614242554, + -0.024066925048828125, + 0.0 + ], + [ + -0.017327100038528442, + 0.0008692331612110138, + 0.004510939121246338, + -0.008829131722450256, + 0.0002845264971256256, + -0.07337832450866699, + 0.0 + ], + [ + -0.014896512031555176, + 0.00802873820066452, + 0.010490477085113525, + -0.021396324038505554, + 0.013893641531467438, + -0.09948468208312988, + 0.0 + ], + [ + -0.017403125762939453, + 0.023983042687177658, + 0.003760308027267456, + 0.007364459335803986, + -0.005669925361871719, + -0.10669755935668945, + 0.0 + ], + [ + -0.014160752296447754, + 0.01837548241019249, + 0.001085728406906128, + 0.00674910843372345, + -0.010254375636577606, + -0.08246731758117676, + 0.0 + ], + [ + -0.010822862386703491, + 0.015738077461719513, + -0.005292132496833801, + 0.013694211840629578, + -0.008714109659194946, + -0.07892858982086182, + 0.0 + ], + [ + -0.014453798532485962, + 0.011572591960430145, + -0.004412427544593811, + -0.024088390171527863, + -0.02647089958190918, + -0.09414470195770264, + 0.0 + ], + [ + -0.009237021207809448, + 0.004457369446754456, + -0.014935895800590515, + 0.02041478455066681, + -0.013797923922538757, + -0.04485297203063965, + 0.0 + ], + [ + -0.00063285231590271, + 0.0008605122566223145, + -0.008888348937034607, + 0.006129458546638489, + -0.02362712472677231, + -0.0340501070022583, + 0.0 + ], + [ + 0.0003777444362640381, + 0.006077714264392853, + -0.0038037002086639404, + -0.009641207754611969, + -0.020939096808433533, + 0.021860122680664062, + 1.0 + ], + [ + -0.0032750368118286133, + -0.001851983368396759, + -0.006121814250946045, + 0.027587637305259705, + -0.004143565893173218, + -0.012310802936553955, + 1.0 + ], + [ + -0.0022817254066467285, + -0.002589993178844452, + 0.0032097995281219482, + 0.007589168846607208, + 0.030806362628936768, + -0.011342644691467285, + 1.0 + ], + [ + 0.0024226605892181396, + -0.0005952045321464539, + 0.011354044079780579, + -0.016515016555786133, + 0.015287846326828003, + 0.0004354119300842285, + 1.0 + ], + [ + 0.0023479461669921875, + -0.0012494847178459167, + 0.009411454200744629, + -0.022737637162208557, + 0.015731051564216614, + -0.004257380962371826, + 1.0 + ], + [ + 0.006565898656845093, + -0.006353989243507385, + 0.003212273120880127, + -0.025596827268600464, + -0.02333049476146698, + -0.03789132833480835, + 1.0 + ], + [ + 0.013708323240280151, + -0.014224238693714142, + 0.007174551486968994, + -0.01657739281654358, + -0.08454732596874237, + -0.12310785055160522, + 1.0 + ], + [ + 0.012423455715179443, + -0.014843635261058807, + 0.010658517479896545, + 0.03893813490867615, + -0.06510566174983978, + -0.17173439264297485, + 1.0 + ], + [ + 0.008957535028457642, + -0.016462374478578568, + 0.007073700428009033, + 0.03742752969264984, + -0.012770116329193115, + -0.14439448714256287, + 1.0 + ], + [ + 0.002566784620285034, + -0.013315632939338684, + -0.0003161877393722534, + 0.0440879687666893, + -0.010007649660110474, + -0.11462008953094482, + 1.0 + ], + [ + 0.0011891722679138184, + -0.012789042666554451, + -0.005371451377868652, + 0.05416267365217209, + 0.021015286445617676, + -0.13068844377994537, + 1.0 + ], + [ + -0.003928661346435547, + -0.011000330559909344, + -0.010688647627830505, + 0.015239577740430832, + 0.006650447845458984, + -0.07645668834447861, + 1.0 + ], + [ + -0.017937391996383667, + -0.009161543101072311, + -0.0072763413190841675, + 0.020076900720596313, + -0.003533482551574707, + -0.05862361937761307, + 1.0 + ], + [ + -0.016721218824386597, + -0.01026772428303957, + -0.0055684894323349, + 0.018821027129888535, + -0.005820155143737793, + -0.05542217195034027, + 1.0 + ], + [ + -0.013362646102905273, + -0.011784812435507774, + -0.0034003853797912598, + 0.003093913197517395, + -0.0045923590660095215, + -0.06866123527288437, + 1.0 + ], + [ + 0.001588672399520874, + -0.0166911780834198, + -0.005986511707305908, + -0.014809615910053253, + 0.007496237754821777, + -0.014237917959690094, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9961419701576233 + ], + [ + 0.9968144297599792 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9961419701576233 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9522681832313538 + ], + [ + 0.6921995282173157 + ], + [ + 0.5689827799797058 + ], + [ + 0.5689827799797058 + ], + [ + 0.5689827799797058 + ], + [ + 0.5689827799797058 + ], + [ + 0.5689827799797058 + ], + [ + 0.5689827799797058 + ], + [ + 0.5689827799797058 + ], + [ + 0.5689827799797058 + ], + [ + 0.5689827799797058 + ], + [ + 0.5689827799797058 + ], + [ + 0.5689827799797058 + ], + [ + 0.5689827799797058 + ], + [ + 0.5689827799797058 + ], + [ + 0.5689827799797058 + ], + [ + 0.5689827799797058 + ], + [ + 0.5689827799797058 + ], + [ + 0.5689827799797058 + ], + [ + 0.641040563583374 + ], + [ + 0.9222983717918396 + ], + [ + 1.0067112445831299 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3035287857055664, + -0.02942492440342903, + 0.18010632693767548 + ], + [ + 0.3149200975894928, + -0.012815097346901894, + 0.17063488066196442 + ], + [ + 0.32221803069114685, + 0.003721530782058835, + 0.16248445212841034 + ], + [ + 0.33406907320022583, + 0.016235370188951492, + 0.14915485680103302 + ], + [ + 0.341430127620697, + 0.020985743030905724, + 0.13708139955997467 + ], + [ + 0.34362998604774475, + 0.016447845846414566, + 0.1336178034543991 + ], + [ + 0.34433409571647644, + 0.007991604506969452, + 0.1344171017408371 + ], + [ + 0.34840238094329834, + 0.0036920015700161457, + 0.13472215831279755 + ], + [ + 0.35496094822883606, + 0.008070438168942928, + 0.13784924149513245 + ], + [ + 0.3628043234348297, + 0.012888609431684017, + 0.13649365305900574 + ], + [ + 0.36714106798171997, + 0.013990087434649467, + 0.13076134026050568 + ], + [ + 0.3654381036758423, + 0.01316272933036089, + 0.12722660601139069 + ], + [ + 0.36606499552726746, + 0.012253114022314548, + 0.12816713750362396 + ], + [ + 0.36823156476020813, + 0.01350551936775446, + 0.12471264600753784 + ], + [ + 0.36798298358917236, + 0.014459311030805111, + 0.11737015098333359 + ], + [ + 0.3632514774799347, + 0.013346122577786446, + 0.11378565430641174 + ], + [ + 0.3650308847427368, + 0.011540508829057217, + 0.1138203963637352 + ], + [ + 0.3660699725151062, + 0.013146653771400452, + 0.1134956106543541 + ], + [ + 0.36968061327934265, + 0.017780495807528496, + 0.1142323911190033 + ], + [ + 0.3741045296192169, + 0.01947467029094696, + 0.11369732022285461 + ], + [ + 0.3758895695209503, + 0.020631788298487663, + 0.11216484755277634 + ], + [ + 0.3733082115650177, + 0.02088729292154312, + 0.10990949720144272 + ], + [ + 0.3716573715209961, + 0.02186449058353901, + 0.1090661957859993 + ], + [ + 0.3715360164642334, + 0.023351849988102913, + 0.10902249813079834 + ], + [ + 0.37129417061805725, + 0.02337302453815937, + 0.10900718718767166 + ], + [ + 0.37023061513900757, + 0.019664496183395386, + 0.1112731322646141 + ], + [ + 0.3732791841030121, + 0.018942834809422493, + 0.12226338684558868 + ], + [ + 0.37202781438827515, + 0.01677698828279972, + 0.12800613045692444 + ], + [ + 0.3682768642902374, + 0.017545253038406372, + 0.1427522599697113 + ], + [ + 0.3574385643005371, + 0.019610505551099777, + 0.153227299451828 + ], + [ + 0.34011146426200867, + 0.02047973871231079, + 0.15773823857307434 + ], + [ + 0.3252149522304535, + 0.02850847691297531, + 0.16822871565818787 + ], + [ + 0.30781182646751404, + 0.05249151960015297, + 0.17198902368545532 + ], + [ + 0.2936510741710663, + 0.07086700201034546, + 0.17307475209236145 + ], + [ + 0.2828282117843628, + 0.08660507947206497, + 0.16778261959552765 + ], + [ + 0.26837441325187683, + 0.09817767143249512, + 0.16337019205093384 + ], + [ + 0.2591373920440674, + 0.10263504087924957, + 0.14843429625034332 + ], + [ + 0.2585045397281647, + 0.10349555313587189, + 0.13954594731330872 + ], + [ + 0.2588822841644287, + 0.10957326740026474, + 0.13574224710464478 + ], + [ + 0.2556072473526001, + 0.10772128403186798, + 0.12962043285369873 + ], + [ + 0.25332552194595337, + 0.10513129085302353, + 0.13283023238182068 + ], + [ + 0.2557481825351715, + 0.10453608632087708, + 0.14418427646160126 + ], + [ + 0.2580961287021637, + 0.10328660160303116, + 0.1535957306623459 + ], + [ + 0.2646620273590088, + 0.09693261235952377, + 0.156808003783226 + ], + [ + 0.27837035059928894, + 0.08270837366580963, + 0.163982555270195 + ], + [ + 0.2907938063144684, + 0.06786473840475082, + 0.17464107275009155 + ], + [ + 0.299751341342926, + 0.051402363926172256, + 0.18171477317810059 + ], + [ + 0.30231812596321106, + 0.03808673098683357, + 0.18139858543872833 + ], + [ + 0.3035072982311249, + 0.02529768832027912, + 0.17602713406085968 + ], + [ + 0.29957863688468933, + 0.014297357760369778, + 0.16533848643302917 + ], + [ + 0.28164124488830566, + 0.005135815124958754, + 0.158062145113945 + ], + [ + 0.26492002606391907, + -0.005131909158080816, + 0.1524936556816101 + ], + [ + 0.2515573799610138, + -0.016916722059249878, + 0.14909327030181885 + ], + [ + 0.25314605236053467, + -0.03360790014266968, + 0.14310675859451294 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.973770447673493, + 0.20408605783124137, + 0.100598192014911, + 0.20608187776543432, + -0.9784861536612144, + -0.009752268964476729, + 0.09644363584207251, + 0.030227935625611387, + -0.9948793379166019 + ], + [ + 0.9382330286771955, + 0.32215863072836043, + 0.12622440551036476, + 0.3186312034911028, + -0.9466745481031503, + 0.047764590812733494, + 0.134881207219644, + -0.004595282464041374, + -0.9908511206624573 + ], + [ + 0.9105992780043465, + 0.37777507178305003, + 0.16761548268962068, + 0.37031525884011895, + -0.9258767262868351, + 0.07495930089420999, + 0.18350902966377108, + -0.006187314416159821, + -0.9829985519685046 + ], + [ + 0.8643658577451093, + 0.46686779512376486, + 0.18683181164040472, + 0.45291278990551, + -0.8842153422147032, + 0.11416318728969799, + 0.21849866980045615, + -0.01406024425141892, + -0.9757359483113357 + ], + [ + 0.8359357369954472, + 0.5154101657740459, + 0.18858368071137233, + 0.5019028466092833, + -0.856936947287407, + 0.1172714839133451, + 0.22204723862137205, + -0.0033807381605578876, + -0.9750300479626836 + ], + [ + 0.8211464790547929, + 0.5419382677974723, + 0.1789451699057334, + 0.5351669543639056, + -0.8401003553324682, + 0.08847442527149967, + 0.19827957759884896, + 0.023115078778494613, + -0.9798729010643605 + ], + [ + 0.797727212400638, + 0.5821583018229101, + 0.15723551193726362, + 0.5846270695942534, + -0.8105491151304134, + 0.03494740990316965, + 0.14779202987016496, + 0.0640456366973567, + -0.9869425881614831 + ], + [ + 0.7221958539071378, + 0.6674980040584877, + 0.18132722679530294, + 0.6703780693650656, + -0.7400371231688587, + 0.05420609233588684, + 0.17037133771179774, + 0.08241038108087165, + -0.9819277653556794 + ], + [ + 0.5259105744743557, + 0.8200217284230896, + 0.22579289751908008, + 0.8176725904919707, + -0.5605319815575247, + 0.13120759280371247, + 0.2341572173011183, + 0.11562120292231652, + -0.9652989873715777 + ], + [ + 0.3937080269910693, + 0.8949389205143315, + 0.2099483699185177, + 0.873283047815489, + -0.4354497305535501, + 0.21854118732845582, + 0.28700297538682407, + 0.09730293268696485, + -0.9529750423854899 + ], + [ + 0.2968503853498554, + 0.944781549651996, + 0.13880804067061564, + 0.916797922622278, + -0.32263524830822643, + 0.23534669240200606, + 0.2671355794219814, + 0.05739616699973975, + -0.9619481598405499 + ], + [ + 0.2555989816988227, + 0.9594773705433833, + 0.11862687709654979, + 0.9309461903016228, + -0.27736294142193035, + 0.2375057672745432, + 0.26078410863666435, + 0.04972900703744104, + -0.9641154881764169 + ], + [ + 0.21613787568297987, + 0.9688630632572596, + 0.12078403599403341, + 0.9428600498303187, + -0.23924657325964033, + 0.23189653644996136, + 0.2535731553796999, + 0.06376081742950598, + -0.9652125222102662 + ], + [ + 0.17749761992048618, + 0.977180451861448, + 0.11667458773194252, + 0.9521048647211872, + -0.2005065791072541, + 0.2308537162554597, + 0.24897976121928567, + 0.07011045738377807, + -0.965967702497669 + ], + [ + 0.09042287236943336, + 0.9913762078792784, + 0.09485208802847828, + 0.9698904978195871, + -0.10928672193497768, + 0.21764382520066955, + 0.22613298386510072, + 0.07231615904905274, + -0.9714083830957285 + ], + [ + 0.04950010781914915, + 0.9970637987368874, + 0.05842534188398231, + 0.9837213465061535, + -0.05878827445156942, + 0.1698124000629142, + 0.17274852171295962, + 0.04906852387605069, + -0.9837429685698457 + ], + [ + 0.016427754436215358, + 0.9973620414262374, + 0.07070422339769407, + 0.9891226432089824, + -0.02654840770512612, + 0.14467749907846073, + 0.14617293037857254, + 0.06755842190585883, + -0.9869495093742793 + ], + [ + 0.004980296216932967, + 0.9971251854790103, + 0.075607943584267, + 0.9883315151930917, + -0.016418744380800487, + 0.15143064719232519, + 0.15223669966772183, + 0.07397154396393274, + -0.985572015612189 + ], + [ + -0.004095238755379149, + 0.9967054264956896, + 0.08100322100745333, + 0.9833908742845963, + -0.010684599333394218, + 0.18118561673284894, + 0.18145417436177774, + 0.08039982668594953, + -0.9801072647805216 + ], + [ + -0.016205296897652932, + 0.9968984857321374, + 0.0770116711767124, + 0.9832342261368713, + 0.0018973944503347662, + 0.1823372053293771, + 0.1816255623679842, + 0.07867533946079283, + -0.9802154589962566 + ], + [ + -0.022053035772207463, + 0.9966596601705061, + 0.07863323344515978, + 0.9824548825900413, + 0.00703491809266249, + 0.18636768390044917, + 0.1851919741463381, + 0.08136357733187981, + -0.9793282907153971 + ], + [ + -0.028808074448660403, + 0.997040092033244, + 0.07128218378319176, + 0.9821011530892468, + 0.014952773938121056, + 0.18775979242725835, + 0.1861381743418908, + 0.07541531296690171, + -0.9796249846868812 + ], + [ + -0.03149252365068106, + 0.9962978025004783, + 0.07999318525242818, + 0.9823226614349212, + 0.016076288268880523, + 0.18650399938582826, + 0.18452753123998725, + 0.08445260024542675, + -0.9791921918225562 + ], + [ + -0.0379671764702883, + 0.9961491103980494, + 0.0790281175534973, + 0.9823878830793936, + 0.02272903466857562, + 0.18546546352845011, + 0.18295502367976169, + 0.08467786509005815, + -0.9794677730656218 + ], + [ + -0.03339532431812825, + 0.9964326535298282, + 0.07750302763887584, + 0.9824515802798235, + 0.018490768730111296, + 0.1855989867360458, + 0.18350380028589164, + 0.08234111033545065, + -0.9795643403214312 + ], + [ + 0.012621075455603814, + 0.9976392724916009, + 0.06750252170676921, + 0.9870391658620364, + -0.023231008285089227, + 0.15878918511168494, + 0.1599824787553899, + 0.06462354243220508, + -0.9850022356597948 + ], + [ + 0.035774000105746495, + 0.9970641368667295, + 0.06770027984165464, + 0.9895582236524918, + -0.044806422580255356, + 0.1369923592660739, + 0.13962357579635157, + 0.062092603986013344, + -0.9882559211115698 + ], + [ + 0.048965594383135136, + 0.9973894762783925, + 0.053071679602410576, + 0.9932775460821416, + -0.05420615789342881, + 0.1022810290106261, + 0.10489083380232114, + 0.04770665630231601, + -0.9933388082264316 + ], + [ + 0.04706169118345388, + 0.9958916788653435, + 0.07736253091595018, + 0.9959555016126319, + -0.05271660201469047, + 0.07275712116044777, + 0.07653650129503285, + 0.07362556511696774, + -0.9943447290204355 + ], + [ + 0.07110298126015191, + 0.9923317298081378, + 0.10110442162392003, + 0.995762001054296, + -0.07654312818292575, + 0.05098222027644953, + 0.05833012354060896, + 0.09705095333875452, + -0.9935686735922062 + ], + [ + 0.14391582567807, + 0.9830925513659832, + 0.11321338511024803, + 0.9878860702613337, + -0.1494353287654508, + 0.04183532837663663, + 0.05804607913562093, + 0.10582116029170906, + -0.992689545996883 + ], + [ + 0.24149337763266931, + 0.9610968215711249, + 0.13406658094188229, + 0.9693966665701217, + -0.24521824024976502, + 0.011752339832753964, + 0.044170707514154625, + 0.1271255844222154, + -0.9909026361772426 + ], + [ + 0.3432645802196262, + 0.9302489394647335, + 0.12963926330931896, + 0.937915755631997, + -0.346823588288421, + 0.005237742262126081, + 0.04983435866853783, + 0.11979277620742798, + -0.9915473904280183 + ], + [ + 0.4191211383805378, + 0.8988858786703506, + 0.12783445736433136, + 0.9059407722184794, + -0.4233526201866203, + 0.006623912235802887, + 0.06007319364563946, + 0.11303422538397019, + -0.9917733991679041 + ], + [ + 0.4889715715494455, + 0.8639542249880792, + 0.12037399778072184, + 0.8695847301198028, + -0.49366527801417537, + 0.010816211243170108, + 0.06876917448199817, + 0.09938657056380706, + -0.9926696883821073 + ], + [ + 0.5673156539513131, + 0.8087162678132443, + 0.1553413884192196, + 0.8179849524202146, + -0.575194928649746, + 0.007170193143338187, + 0.09515023066652607, + 0.12299915540291531, + -0.9878348249450797 + ], + [ + 0.6025686025899288, + 0.7842645231622817, + 0.147784427061375, + 0.7906055166168505, + -0.6118737138259766, + 0.023526058399343595, + 0.1088760592041369, + 0.10266311917064214, + -0.9887397472006126 + ], + [ + 0.6273307992311838, + 0.7624329503288381, + 0.15859402444237253, + 0.7674273896245019, + -0.6398575693988418, + 0.04046594292895468, + 0.1323301552560383, + 0.09632386586858978, + -0.9865142892396657 + ], + [ + 0.6085661443560272, + 0.7733181904961665, + 0.17783763435047772, + 0.7786023008583262, + -0.6251770300736698, + 0.054149221290677924, + 0.1530545819038424, + 0.1055114084637345, + -0.9825688971477977 + ], + [ + 0.61770303063578, + 0.7699925196076566, + 0.15985770451131218, + 0.7705501096877795, + -0.6332282137331103, + 0.0726261508860687, + 0.15714800158934342, + 0.07831697823989216, + -0.9844648071494728 + ], + [ + 0.6291761536680398, + 0.765345498139313, + 0.13558626823310022, + 0.7668741527194441, + -0.639674081450075, + 0.05216419664710253, + 0.12665465465716563, + 0.0711571359660428, + -0.9893913585911212 + ], + [ + 0.6299961533496949, + 0.7641294936332005, + 0.13860362089229986, + 0.7685557963183801, + -0.6390806772424942, + 0.02996457776601615, + 0.11147571354339149, + 0.08764704749815441, + -0.9898945198125142 + ], + [ + 0.6343015421466183, + 0.7591557488216483, + 0.14609621029124847, + 0.7671233593719311, + -0.6414935915750077, + 0.002779113909209714, + 0.09582956295603734, + 0.11031101939171778, + -0.9892664827357769 + ], + [ + 0.6612373970790675, + 0.7282256277194372, + 0.18014588487315272, + 0.7406742018886485, + -0.6718587075038669, + -0.0027575002895137563, + 0.11902449899374913, + 0.13525277181582962, + -0.9836360385607178 + ], + [ + 0.7369528384979643, + 0.6275846169803722, + 0.25107381854624555, + 0.6449157021801531, + -0.7640667517997788, + 0.016903723720392283, + 0.20244567397520133, + 0.14946420080987585, + -0.9678203354781256 + ], + [ + 0.8233027445870477, + 0.4909900111779212, + 0.28478307477611686, + 0.5015581095875318, + -0.8642006271927667, + 0.03995921253741324, + 0.26572928604581025, + 0.1099367312736444, + -0.957758770074412 + ], + [ + 0.883711546155629, + 0.37116698751151955, + 0.2851122069867431, + 0.3765099413310774, + -0.9256323621512167, + 0.03801307955464468, + 0.27801828585561883, + 0.07375498301798067, + -0.9577400666203336 + ], + [ + 0.9182603945854094, + 0.2749857333547638, + 0.2849222599011708, + 0.27216563187723447, + -0.9609360941028482, + 0.0502761561301886, + 0.2876173092161063, + 0.031379443935547174, + -0.9572312228179678 + ], + [ + 0.9516578710156383, + 0.16241975844650366, + 0.2607050413784929, + 0.15109456781555927, + -0.9865064417415287, + 0.06305134399120155, + 0.2674279867751534, + -0.020612192232920653, + -0.9633573632981381 + ], + [ + 0.9621700796234515, + 0.09038418326655293, + 0.25702030521466496, + 0.07810559555299912, + -0.9952792278317997, + 0.05760880653032382, + 0.2610138958383494, + -0.03535474595828866, + -0.9646874043530953 + ], + [ + 0.9641653246141311, + 0.037320940978580595, + 0.26266399482266456, + 0.02157706294980493, + -0.9978072222629456, + 0.0625713796744573, + 0.26442325383027043, + -0.054661637044441304, + -0.962856400648318 + ], + [ + 0.9623257050813997, + -0.012581578771548385, + 0.27160806544578714, + -0.03181346450331021, + -0.9972777378576585, + 0.06652080163233832, + 0.2700317403859855, + -0.07265547088229217, + -0.9601062658554984 + ], + [ + 0.9566318122902736, + -0.0797743258489657, + 0.28016358194735014, + -0.09763413156922852, + -0.9939475176341049, + 0.050357805171821965, + 0.2744506368492321, + -0.0755274064452345, + -0.958630512141517 + ], + [ + 0.9571614689824145, + -0.09852345383891699, + 0.2722775263202551, + -0.11147910006501761, + -0.9932355007498462, + 0.03249077251922526, + 0.2672346020711393, + -0.06145216915498629, + -0.9616700569124667 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005703.json b/json/chunk-0005/episode_0005703.json new file mode 100644 index 0000000000000000000000000000000000000000..97c1a11588d02519ce3c68fce5f6d59e5720833c --- /dev/null +++ b/json/chunk-0005/episode_0005703.json @@ -0,0 +1,2182 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 35, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nClose fridge." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005703.mp4", + "start": 0, + "end": 35, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2705526649951935, + 0.04726041108369827, + 0.1096615120768547, + -0.025790229439735413, + -0.18453449010849, + 0.3861835300922394, + 0.0, + 1.003452181816101 + ], + [ + 0.2663993239402771, + 0.04557080194354057, + 0.10377614200115204, + -0.02185211516916752, + -0.14439795911312103, + 0.3768235445022583, + 0.0, + 1.003452181816101 + ], + [ + 0.2718908488750458, + 0.04054323583841324, + 0.1266145557165146, + -0.03839610889554024, + -0.09635909646749496, + 0.27085769176483154, + 0.0, + 1.003452181816101 + ], + [ + 0.2763006389141083, + 0.03301922604441643, + 0.14592066407203674, + -0.017386652529239655, + -0.08749128133058548, + 0.1287335604429245, + 0.0, + 1.003452181816101 + ], + [ + 0.2758888602256775, + 0.018708955496549606, + 0.1646401286125183, + -0.06708388030529022, + -0.08917690813541412, + -0.007835552096366882, + 0.0, + 1.003452181816101 + ], + [ + 0.27053916454315186, + 0.0024726134724915028, + 0.18400219082832336, + -0.12644179165363312, + -0.12022799998521805, + -0.15283356606960297, + 0.0, + 1.003452181816101 + ], + [ + 0.2608071267604828, + -0.011706657707691193, + 0.20231890678405762, + -0.16428031027317047, + -0.1468994915485382, + -0.23138901591300964, + 0.0, + 1.003452181816101 + ], + [ + 0.2489037811756134, + -0.020026803016662598, + 0.21599648892879486, + -0.18784482777118683, + -0.17058241367340088, + -0.27460598945617676, + 0.0, + 1.003452181816101 + ], + [ + 0.238417848944664, + -0.026000063866376877, + 0.22864572703838348, + -0.2071094661951065, + -0.20465995371341705, + -0.31484973430633545, + 0.0, + 1.003452181816101 + ], + [ + 0.22897101938724518, + -0.03152472898364067, + 0.2286657840013504, + -0.19343718886375427, + -0.2035176008939743, + -0.3782917857170105, + 0.0, + 1.003452181816101 + ], + [ + 0.21400953829288483, + -0.036600444465875626, + 0.22474795579910278, + -0.17377114295959473, + -0.1822214126586914, + -0.491542786359787, + 0.0, + 1.003452181816101 + ], + [ + 0.20243805646896362, + -0.036057498306035995, + 0.21546582877635956, + -0.13579396903514862, + -0.15164029598236084, + -0.5508642792701721, + 0.0, + 1.003452181816101 + ], + [ + 0.19370870292186737, + -0.03533022850751877, + 0.2099456787109375, + -0.12295909225940704, + -0.1491982340812683, + -0.5802688598632812, + 0.0, + 1.003452181816101 + ], + [ + 0.19920508563518524, + -0.03353951498866081, + 0.20649221539497375, + -0.07185301929712296, + -0.13628552854061127, + -0.5691965222358704, + 0.0, + 1.003452181816101 + ], + [ + 0.20621362328529358, + -0.031140051782131195, + 0.20215784013271332, + -0.053392309695482254, + -0.13322655856609344, + -0.5435659289360046, + 0.0, + 1.003452181816101 + ], + [ + 0.21553155779838562, + -0.027669455856084824, + 0.19853581488132477, + -0.03008977882564068, + -0.13500617444515228, + -0.5238113403320312, + 0.0, + 1.003452181816101 + ], + [ + 0.22735083103179932, + -0.022671647369861603, + 0.19893330335617065, + -0.027622217312455177, + -0.13602937757968903, + -0.4882618188858032, + 0.0, + 1.003452181816101 + ], + [ + 0.2358829230070114, + -0.0172549057751894, + 0.2069995105266571, + -0.030222538858652115, + -0.14340727031230927, + -0.4544983506202698, + 0.0, + 1.003452181816101 + ], + [ + 0.23856215178966522, + -0.01436336524784565, + 0.22003348171710968, + -0.048566512763500214, + -0.16802971065044403, + -0.4298554062843323, + 0.0, + 1.003452181816101 + ], + [ + 0.23485200107097626, + -0.015324210748076439, + 0.22483870387077332, + -0.06890008598566055, + -0.15190526843070984, + -0.4357525408267975, + 0.0, + 1.003452181816101 + ], + [ + 0.22370363771915436, + -0.022636961191892624, + 0.2289872020483017, + -0.06273153424263, + -0.1573740392923355, + -0.4706275761127472, + 0.0, + 1.003452181816101 + ], + [ + 0.20793099701404572, + -0.03109630197286606, + 0.22841699421405792, + -0.06277979165315628, + -0.1562095433473587, + -0.5164024829864502, + 0.0, + 1.003452181816101 + ], + [ + 0.19059309363365173, + -0.03757527843117714, + 0.22582460939884186, + -0.03613835945725441, + -0.17572720348834991, + -0.5567266345024109, + 0.0, + 1.003452181816101 + ], + [ + 0.17989462614059448, + -0.053496334701776505, + 0.19973057508468628, + -0.015012243762612343, + -0.1425546407699585, + -0.5836391448974609, + 0.0, + 1.003452181816101 + ], + [ + 0.1770457923412323, + -0.06948038190603256, + 0.1522403359413147, + 0.018802108243107796, + -0.1321413516998291, + -0.5254931449890137, + 0.0, + 1.003452181816101 + ], + [ + 0.1887039989233017, + -0.081438347697258, + 0.10328073054552078, + 0.039152149111032486, + -0.13513855636119843, + -0.4807835817337036, + 0.0, + 1.003452181816101 + ], + [ + 0.20838551223278046, + -0.0853751078248024, + 0.07816880941390991, + 0.009499779902398586, + -0.19459053874015808, + -0.43290814757347107, + 0.0, + 1.003452181816101 + ], + [ + 0.2285189926624298, + -0.08082389086484909, + 0.07593930512666702, + -0.04879001900553703, + -0.29135632514953613, + -0.2869490087032318, + 0.0, + 1.0027955770492554 + ], + [ + 0.2447262555360794, + -0.06928079575300217, + 0.07076584547758102, + -0.05633926019072533, + -0.3277842104434967, + -0.2100084275007248, + 0.0, + 1.003452181816101 + ], + [ + 0.26329150795936584, + -0.06001666188240051, + 0.06935204565525055, + -0.020107898861169815, + -0.3922724425792694, + -0.18268552422523499, + 0.0, + 1.0027955770492554 + ], + [ + 0.2773151695728302, + -0.05457864701747894, + 0.07267339527606964, + -0.021721379831433296, + -0.4167523682117462, + -0.1494751274585724, + 0.0, + 1.0027955770492554 + ], + [ + 0.2883310914039612, + -0.04884244501590729, + 0.08123479783535004, + -0.03700858727097511, + -0.4421702027320862, + -0.10370182991027832, + 0.0, + 1.003452181816101 + ], + [ + 0.29926028847694397, + -0.04463932663202286, + 0.08704065531492233, + -0.06799126416444778, + -0.4541695713996887, + -0.047562647610902786, + 0.0, + 1.003452181816101 + ], + [ + 0.31022417545318604, + -0.04111238569021225, + 0.09418178349733353, + -0.07695239037275314, + -0.47170111536979675, + -0.01877724379301071, + 0.0, + 1.003452181816101 + ], + [ + 0.3108813166618347, + -0.040614329278469086, + 0.09516272693872452, + -0.0787677988409996, + -0.47134798765182495, + -0.012003415264189243, + 0.0, + 1.003452181816101 + ] + ], + "left_gripper_pos": [ + [ + 1.003452181816101 + ], + [ + 1.003452181816101 + ], + [ + 1.003452181816101 + ], + [ + 1.003452181816101 + ], + [ + 1.003452181816101 + ], + [ + 1.003452181816101 + ], + [ + 1.003452181816101 + ], + [ + 1.003452181816101 + ], + [ + 1.003452181816101 + ], + [ + 1.003452181816101 + ], + [ + 1.003452181816101 + ], + [ + 1.003452181816101 + ], + [ + 1.003452181816101 + ], + [ + 1.003452181816101 + ], + [ + 1.003452181816101 + ], + [ + 1.003452181816101 + ], + [ + 1.003452181816101 + ], + [ + 1.003452181816101 + ], + [ + 1.003452181816101 + ], + [ + 1.003452181816101 + ], + [ + 1.003452181816101 + ], + [ + 1.003452181816101 + ], + [ + 1.003452181816101 + ], + [ + 1.003452181816101 + ], + [ + 1.003452181816101 + ], + [ + 1.003452181816101 + ], + [ + 1.003452181816101 + ], + [ + 1.0027955770492554 + ], + [ + 1.003452181816101 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.003452181816101 + ], + [ + 1.003452181816101 + ], + [ + 1.003452181816101 + ], + [ + 1.003452181816101 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2705526649951935, + 0.04726041108369827, + 0.1096615120768547 + ], + [ + 0.2663993239402771, + 0.04557080194354057, + 0.10377614200115204 + ], + [ + 0.2718908488750458, + 0.04054323583841324, + 0.1266145557165146 + ], + [ + 0.2763006389141083, + 0.03301922604441643, + 0.14592066407203674 + ], + [ + 0.2758888602256775, + 0.018708955496549606, + 0.1646401286125183 + ], + [ + 0.27053916454315186, + 0.0024726134724915028, + 0.18400219082832336 + ], + [ + 0.2608071267604828, + -0.011706657707691193, + 0.20231890678405762 + ], + [ + 0.2489037811756134, + -0.020026803016662598, + 0.21599648892879486 + ], + [ + 0.238417848944664, + -0.026000063866376877, + 0.22864572703838348 + ], + [ + 0.22897101938724518, + -0.03152472898364067, + 0.2286657840013504 + ], + [ + 0.21400953829288483, + -0.036600444465875626, + 0.22474795579910278 + ], + [ + 0.20243805646896362, + -0.036057498306035995, + 0.21546582877635956 + ], + [ + 0.19370870292186737, + -0.03533022850751877, + 0.2099456787109375 + ], + [ + 0.19920508563518524, + -0.03353951498866081, + 0.20649221539497375 + ], + [ + 0.20621362328529358, + -0.031140051782131195, + 0.20215784013271332 + ], + [ + 0.21553155779838562, + -0.027669455856084824, + 0.19853581488132477 + ], + [ + 0.22735083103179932, + -0.022671647369861603, + 0.19893330335617065 + ], + [ + 0.2358829230070114, + -0.0172549057751894, + 0.2069995105266571 + ], + [ + 0.23856215178966522, + -0.01436336524784565, + 0.22003348171710968 + ], + [ + 0.23485200107097626, + -0.015324210748076439, + 0.22483870387077332 + ], + [ + 0.22370363771915436, + -0.022636961191892624, + 0.2289872020483017 + ], + [ + 0.20793099701404572, + -0.03109630197286606, + 0.22841699421405792 + ], + [ + 0.19059309363365173, + -0.03757527843117714, + 0.22582460939884186 + ], + [ + 0.17989462614059448, + -0.053496334701776505, + 0.19973057508468628 + ], + [ + 0.1770457923412323, + -0.06948038190603256, + 0.1522403359413147 + ], + [ + 0.1887039989233017, + -0.081438347697258, + 0.10328073054552078 + ], + [ + 0.20838551223278046, + -0.0853751078248024, + 0.07816880941390991 + ], + [ + 0.2285189926624298, + -0.08082389086484909, + 0.07593930512666702 + ], + [ + 0.2447262555360794, + -0.06928079575300217, + 0.07076584547758102 + ], + [ + 0.26329150795936584, + -0.06001666188240051, + 0.06935204565525055 + ], + [ + 0.2773151695728302, + -0.05457864701747894, + 0.07267339527606964 + ], + [ + 0.2883310914039612, + -0.04884244501590729, + 0.08123479783535004 + ], + [ + 0.29926028847694397, + -0.04463932663202286, + 0.08704065531492233 + ], + [ + 0.31022417545318604, + -0.04111238569021225, + 0.09418178349733353 + ], + [ + 0.3108813166618347, + -0.040614329278469086, + 0.09516272693872452 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9106254616088499, + 0.3721472870408869, + 0.17963202781736054, + 0.37026082019848267, + -0.9278274609160894, + 0.04520097118370226, + 0.18348894706661806, + 0.025349546704245364, + -0.9826948696244798 + ], + [ + 0.92016107192649, + 0.36495729545584865, + 0.1418089355599485, + 0.3641391863539337, + -0.9307731300002013, + 0.03261952530500098, + 0.14389668054749688, + 0.0216229730421341, + -0.9893564536425843 + ], + [ + 0.9590719496814065, + 0.2638022189677427, + 0.10290473556644905, + 0.2663167697511122, + -0.9638197404267616, + -0.01126437361875758, + 0.09621004876642952, + 0.038208601536630735, + -0.9946274324011862 + ], + [ + 0.9879320011646971, + 0.126852288842652, + 0.08887551907076183, + 0.12788724894853085, + -0.9917704066204787, + -0.006025952889547367, + 0.08737970377091847, + 0.017319277329927135, + -0.996024512751406 + ], + [ + 0.9959957981374055, + -0.013787591521813197, + 0.08833047272974798, + -0.007804336682752674, + -0.9976733142886358, + -0.06772776598465122, + 0.08905875825305093, + 0.06676720958941643, + -0.9937860319515807 + ], + [ + 0.9812091252759791, + -0.16597250232579214, + 0.09839604131703221, + -0.15114030969170228, + -0.978151001848232, + -0.14274881565041683, + 0.11993856452969796, + 0.12519483238143372, + -0.9848558243131532 + ], + [ + 0.9628654928170223, + -0.24954212026373837, + 0.10304743061576704, + -0.22685978172690988, + -0.9547542349692585, + -0.1922992205992667, + 0.14637172601650975, + 0.1617809661936304, + -0.9759109779075158 + ], + [ + 0.948561987339367, + -0.29691048664861547, + 0.10988320660079644, + -0.2672319998668064, + -0.9370039986631397, + -0.2249679193495699, + 0.1697563383852814, + 0.18403170761412213, + -0.9681503582453774 + ], + [ + 0.9309989739520637, + -0.34279279538632296, + 0.12543528184460473, + -0.30321075421529115, + -0.9175811165815612, + -0.25711501905009354, + 0.20323422208968445, + 0.20134049250999217, + -0.9582055400838773 + ], + [ + 0.9101177620507119, + -0.39855149415030067, + 0.11332416207661095, + -0.36171114508104807, + -0.8976150168784722, + -0.2518974573083587, + 0.2021155776380439, + 0.18826573768166702, + -0.9610958876674154 + ], + [ + 0.8670094874481538, + -0.4925004926013044, + 0.07574835616937328, + -0.4641721645131483, + -0.8535404185297455, + -0.23667056349965834, + 0.18121465273555712, + 0.1700353455124536, + -0.9686326604602964 + ], + [ + 0.8422946050947949, + -0.536030199371722, + 0.05666942376374905, + -0.5174173679482914, + -0.8335243806469932, + -0.19369144073115033, + 0.15105980793601553, + 0.13382351149390073, + -0.979424423933657 + ], + [ + 0.8270242957846111, + -0.5593566494825536, + 0.05613334892574762, + -0.5421580789361652, + -0.8200058660133991, + -0.18345298348040634, + 0.14864532157526833, + 0.12128692585463219, + -0.9814245004026128 + ], + [ + 0.8345237349765204, + -0.5457807459135495, + 0.07545537191537789, + -0.5339579578355254, + -0.8349039090656915, + -0.1335079094696013, + 0.13586403138783223, + 0.07112552296382361, + -0.9881711010539466 + ], + [ + 0.8482855353513883, + -0.522521390259844, + 0.08592466022352703, + -0.5126081340935746, + -0.8509839117677077, + -0.11427721896176113, + 0.1328327948012562, + 0.05289403211563878, + -0.9897260580543675 + ], + [ + 0.8580396711289354, + -0.5034640833081686, + 0.10144870421850632, + -0.4956326502527098, + -0.8635017038806977, + -0.0933438985612183, + 0.1345964292707036, + 0.02981147788683891, + -0.9904519559341478 + ], + [ + 0.8749912541027951, + -0.4722203099800789, + 0.10676274671408649, + -0.46475817908991335, + -0.8810557382201325, + -0.08798079971451453, + 0.13561025113407177, + 0.027363570521693435, + -0.9903843167153135 + ], + [ + 0.8892582694559501, + -0.44269137674233855, + 0.11508290560366385, + -0.43450509885285177, + -0.896175134540336, + -0.0898634926011907, + 0.1429162316711523, + 0.02990774464220904, + -0.9892828096835273 + ], + [ + 0.8962234690296862, + -0.42362843376712545, + 0.1316147547367193, + -0.4108700900323896, + -0.9045706259196742, + -0.11374423871152517, + 0.16724013476785604, + 0.047863690071917105, + -0.9847536770662643 + ], + [ + 0.8961133076434231, + -0.43053556553096584, + 0.1077964131003192, + -0.4172321566663414, + -0.9000044130449241, + -0.12613240639587694, + 0.1513217344201315, + 0.06805279797769173, + -0.9861392139954126 + ], + [ + 0.8802696217814022, + -0.46131081931636053, + 0.11098522852386783, + -0.4478421508098278, + -0.8850755763541809, + -0.12680154612362562, + 0.15672524023543383, + 0.061915685597291735, + -0.9856995723597342 + ], + [ + 0.8590129003440696, + -0.5012700237196224, + 0.10404422311017039, + -0.48774301372983814, + -0.8630686558536022, + -0.13122213167294486, + 0.1555750288452635, + 0.06197466097677359, + -0.9858780613222964 + ], + [ + 0.8359146164445797, + -0.5334276000492516, + 0.12923524875206244, + -0.5202722914787762, + -0.8450973203630594, + -0.12299293408403714, + 0.17482418806828504, + 0.035574072312186185, + -0.9839568022252769 + ], + [ + 0.8259982226780426, + -0.5527819106235848, + 0.11026828837001992, + -0.5454744695553116, + -0.83319346934003, + -0.09080884159857947, + 0.142072302705581, + 0.014859405656469787, + -0.9897447442989885 + ], + [ + 0.8575349518313078, + -0.4994080685161133, + 0.12339119696591619, + -0.4972663933905169, + -0.8661664042397714, + -0.04981861269377398, + 0.13175712653235902, + -0.018637093854721995, + -0.9911068147987814 + ], + [ + 0.8785490878448577, + -0.4574439681497978, + 0.13746459998972405, + -0.4582575395896481, + -0.888392209786731, + -0.027555562042729343, + 0.1347276053977441, + -0.038785275474273864, + -0.9901233129010619 + ], + [ + 0.8906175618442349, + -0.41782607175671155, + 0.17950412890790585, + -0.41159495357018466, + -0.9084792264230761, + -0.07249199509799076, + 0.19336481771560265, + -0.009320349676109195, + -0.9810826562281728 + ], + [ + 0.9186902268826649, + -0.2961271366258119, + 0.2613751824180622, + -0.2710991617115647, + -0.9540054538992497, + -0.12797983610621344, + 0.28725165195271635, + 0.046715231823079545, + -0.956715305389305 + ], + [ + 0.9259569604693664, + -0.22586768407935703, + 0.3026342621828542, + -0.19736888797598562, + -0.9726981444954937, + -0.12208129158125317, + 0.3219460038848993, + 0.0533114338922888, + -0.9452558709676936 + ], + [ + 0.9086660515148852, + -0.18919294136728065, + 0.3721989222998163, + -0.16787182040851217, + -0.9817641470066343, + -0.08920880878628537, + 0.3822892343986164, + 0.018579305399623776, + -0.923855914455164 + ], + [ + 0.9042121561203179, + -0.15757793679030774, + 0.3969503376508904, + -0.13617290305868868, + -0.9873068157488828, + -0.08174467596345868, + 0.4047929312584585, + 0.01986064985622726, + -0.9141926697313174 + ], + [ + 0.8989696128154426, + -0.11919255571756304, + 0.4214816364872483, + -0.09356041966554304, + -0.9923078102202307, + -0.08106576125552746, + 0.4279019550159367, + 0.03344165721740382, + -0.9032062734813643 + ], + [ + 0.8976094141543192, + -0.07720705046230056, + 0.4339774314183306, + -0.04272490262002581, + -0.9951440949537453, + -0.08867250405170979, + 0.4387162207140846, + 0.0610516309168146, + -0.8965493717831426 + ], + [ + 0.8906395506474415, + -0.05364725830798545, + 0.4515342318125622, + -0.016725721765971015, + -0.9962089561069375, + -0.08536958476960027, + 0.45440228988632053, + 0.06848129268904704, + -0.8881603861340057 + ], + [ + 0.8908928085863597, + -0.04769385038834107, + 0.4517026679622809, + -0.010694269959465229, + -0.9963987258679838, + -0.08411427749611011, + 0.4540876965952085, + 0.07010617464812263, + -0.8881945102718576 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.004153341054916382, + -0.0016896091401576996, + -0.005885370075702667, + 0.003938114270567894, + 0.04013653099536896, + -0.009359985589981079, + 1.0 + ], + [ + 0.005491524934768677, + -0.005027566105127335, + 0.02283841371536255, + -0.01654399372637272, + 0.04803886264562607, + -0.10596585273742676, + 1.0 + ], + [ + 0.0044097900390625, + -0.007524009793996811, + 0.019306108355522156, + 0.021009456366300583, + 0.008867815136909485, + -0.14212413132190704, + 1.0 + ], + [ + -0.00041177868843078613, + -0.014310270547866821, + 0.018719464540481567, + -0.04969722777605057, + -0.0016856268048286438, + -0.13656911253929138, + 1.0 + ], + [ + -0.005349695682525635, + -0.01623634248971939, + 0.019362062215805054, + -0.059357911348342896, + -0.031051091849803925, + -0.14499801397323608, + 1.0 + ], + [ + -0.009732037782669067, + -0.014179270714521408, + 0.018316715955734253, + -0.037838518619537354, + -0.02667149156332016, + -0.07855544984340668, + 1.0 + ], + [ + -0.011903345584869385, + -0.008320145308971405, + 0.013677582144737244, + -0.023564517498016357, + -0.02368292212486267, + -0.043216973543167114, + 1.0 + ], + [ + -0.010485932230949402, + -0.005973260849714279, + 0.012649238109588623, + -0.019264638423919678, + -0.034077540040016174, + -0.04024374485015869, + 1.0 + ], + [ + -0.009446829557418823, + -0.005524665117263794, + 2.0056962966918945e-05, + 0.013672277331352234, + 0.001142352819442749, + -0.06344205141067505, + 1.0 + ], + [ + -0.014961481094360352, + -0.005075715482234955, + -0.00391782820224762, + 0.019666045904159546, + 0.021296188235282898, + -0.11325100064277649, + 1.0 + ], + [ + -0.011571481823921204, + 0.0005429461598396301, + -0.009282127022743225, + 0.037977173924446106, + 0.030581116676330566, + -0.05932149291038513, + 1.0 + ], + [ + -0.008729353547096252, + 0.0007272697985172272, + -0.005520150065422058, + 0.012834876775741577, + 0.0024420619010925293, + -0.02940458059310913, + 1.0 + ], + [ + 0.005496382713317871, + 0.001790713518857956, + -0.003453463315963745, + 0.05110607296228409, + 0.012912705540657043, + 0.011072337627410889, + 1.0 + ], + [ + 0.007008537650108337, + 0.0023994632065296173, + -0.004334375262260437, + 0.0184607096016407, + 0.0030589699745178223, + 0.025630593299865723, + 1.0 + ], + [ + 0.009317934513092041, + 0.0034705959260463715, + -0.00362202525138855, + 0.023302530869841576, + -0.0017796158790588379, + 0.01975458860397339, + 1.0 + ], + [ + 0.011819273233413696, + 0.004997808486223221, + 0.00039748847484588623, + 0.002467561513185501, + -0.0010232031345367432, + 0.03554952144622803, + 1.0 + ], + [ + 0.008532091975212097, + 0.005416741594672203, + 0.00806620717048645, + -0.0026003215461969376, + -0.007377892732620239, + 0.03376346826553345, + 1.0 + ], + [ + 0.0026792287826538086, + 0.00289154052734375, + 0.013033971190452576, + -0.0183439739048481, + -0.024622440338134766, + 0.0246429443359375, + 1.0 + ], + [ + -0.003710150718688965, + -0.0009608455002307892, + 0.004805222153663635, + -0.02033357322216034, + 0.016124442219734192, + -0.00589713454246521, + 1.0 + ], + [ + -0.0111483633518219, + -0.007312750443816185, + 0.004148498177528381, + 0.006168551743030548, + -0.005468770861625671, + -0.03487503528594971, + 1.0 + ], + [ + -0.015772640705108643, + -0.008459340780973434, + -0.0005702078342437744, + -4.8257410526275635e-05, + 0.0011644959449768066, + -0.045774906873703, + 1.0 + ], + [ + -0.017337903380393982, + -0.006478976458311081, + -0.0025923848152160645, + 0.02664143219590187, + -0.01951766014099121, + -0.04032415151596069, + 1.0 + ], + [ + -0.010698467493057251, + -0.015921056270599365, + -0.02609403431415558, + 0.021126115694642067, + 0.03317256271839142, + -0.02691251039505005, + 1.0 + ], + [ + -0.0028488337993621826, + -0.015984047204256058, + -0.04749023914337158, + 0.03381435200572014, + 0.010413289070129395, + 0.058145999908447266, + 1.0 + ], + [ + 0.011658206582069397, + -0.011957965791225433, + -0.048959605395793915, + 0.02035004086792469, + -0.0029972046613693237, + 0.04470956325531006, + 1.0 + ], + [ + 0.01968151330947876, + -0.003936760127544403, + -0.02511192113161087, + -0.029652368277311325, + -0.059451982378959656, + 0.047875434160232544, + 1.0 + ], + [ + 0.020133480429649353, + 0.004551216959953308, + -0.0022295042872428894, + -0.058289799839258194, + -0.09676578640937805, + 0.14595913887023926, + 1.0 + ], + [ + 0.016207262873649597, + 0.011543095111846924, + -0.0051734596490859985, + -0.0075492411851882935, + -0.03642788529396057, + 0.07694058120250702, + 1.0 + ], + [ + 0.018565252423286438, + 0.009264133870601654, + -0.0014137998223304749, + 0.03623136132955551, + -0.0644882321357727, + 0.027322903275489807, + 1.0 + ], + [ + 0.014023661613464355, + 0.00543801486492157, + 0.003321349620819092, + -0.0016134809702634811, + -0.024479925632476807, + 0.0332103967666626, + 1.0 + ], + [ + 0.011015921831130981, + 0.005736202001571655, + 0.008561402559280396, + -0.015287207439541817, + -0.025417834520339966, + 0.04577329754829407, + 1.0 + ], + [ + 0.010929197072982788, + 0.00420311838388443, + 0.005805857479572296, + -0.03098267689347267, + -0.011999368667602539, + 0.056139182299375534, + 1.0 + ], + [ + 0.010963886976242065, + 0.003526940941810608, + 0.007141128182411194, + -0.008961126208305359, + -0.017531543970108032, + 0.028785403817892075, + 1.0 + ], + [ + 0.0006571412086486816, + 0.0004980564117431641, + 0.0009809434413909912, + -0.00181540846824646, + 0.00035312771797180176, + 0.006773828528821468, + 1.0 + ], + [ + 0.00215226411819458, + 0.0011396072804927826, + 0.0028698593378067017, + 0.0009000301361083984, + -0.003281503915786743, + 0.0009828666225075722, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.003452181816101 + ], + [ + 1.003452181816101 + ], + [ + 1.003452181816101 + ], + [ + 1.003452181816101 + ], + [ + 1.003452181816101 + ], + [ + 1.003452181816101 + ], + [ + 1.003452181816101 + ], + [ + 1.003452181816101 + ], + [ + 1.003452181816101 + ], + [ + 1.003452181816101 + ], + [ + 1.003452181816101 + ], + [ + 1.003452181816101 + ], + [ + 1.003452181816101 + ], + [ + 1.003452181816101 + ], + [ + 1.003452181816101 + ], + [ + 1.003452181816101 + ], + [ + 1.003452181816101 + ], + [ + 1.003452181816101 + ], + [ + 1.003452181816101 + ], + [ + 1.003452181816101 + ], + [ + 1.003452181816101 + ], + [ + 1.003452181816101 + ], + [ + 1.003452181816101 + ], + [ + 1.003452181816101 + ], + [ + 1.003452181816101 + ], + [ + 1.003452181816101 + ], + [ + 1.0027955770492554 + ], + [ + 1.003452181816101 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.003452181816101 + ], + [ + 1.003452181816101 + ], + [ + 1.003452181816101 + ], + [ + 1.003452181816101 + ], + [ + 1.003452181816101 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2663993239402771, + 0.04557080194354057, + 0.10377614200115204 + ], + [ + 0.2718908488750458, + 0.04054323583841324, + 0.1266145557165146 + ], + [ + 0.2763006389141083, + 0.03301922604441643, + 0.14592066407203674 + ], + [ + 0.2758888602256775, + 0.018708955496549606, + 0.1646401286125183 + ], + [ + 0.27053916454315186, + 0.0024726134724915028, + 0.18400219082832336 + ], + [ + 0.2608071267604828, + -0.011706657707691193, + 0.20231890678405762 + ], + [ + 0.2489037811756134, + -0.020026803016662598, + 0.21599648892879486 + ], + [ + 0.238417848944664, + -0.026000063866376877, + 0.22864572703838348 + ], + [ + 0.22897101938724518, + -0.03152472898364067, + 0.2286657840013504 + ], + [ + 0.21400953829288483, + -0.036600444465875626, + 0.22474795579910278 + ], + [ + 0.20243805646896362, + -0.036057498306035995, + 0.21546582877635956 + ], + [ + 0.19370870292186737, + -0.03533022850751877, + 0.2099456787109375 + ], + [ + 0.19920508563518524, + -0.03353951498866081, + 0.20649221539497375 + ], + [ + 0.20621362328529358, + -0.031140051782131195, + 0.20215784013271332 + ], + [ + 0.21553155779838562, + -0.027669455856084824, + 0.19853581488132477 + ], + [ + 0.22735083103179932, + -0.022671647369861603, + 0.19893330335617065 + ], + [ + 0.2358829230070114, + -0.0172549057751894, + 0.2069995105266571 + ], + [ + 0.23856215178966522, + -0.01436336524784565, + 0.22003348171710968 + ], + [ + 0.23485200107097626, + -0.015324210748076439, + 0.22483870387077332 + ], + [ + 0.22370363771915436, + -0.022636961191892624, + 0.2289872020483017 + ], + [ + 0.20793099701404572, + -0.03109630197286606, + 0.22841699421405792 + ], + [ + 0.19059309363365173, + -0.03757527843117714, + 0.22582460939884186 + ], + [ + 0.17989462614059448, + -0.053496334701776505, + 0.19973057508468628 + ], + [ + 0.1770457923412323, + -0.06948038190603256, + 0.1522403359413147 + ], + [ + 0.1887039989233017, + -0.081438347697258, + 0.10328073054552078 + ], + [ + 0.20838551223278046, + -0.0853751078248024, + 0.07816880941390991 + ], + [ + 0.2285189926624298, + -0.08082389086484909, + 0.07593930512666702 + ], + [ + 0.2447262555360794, + -0.06928079575300217, + 0.07076584547758102 + ], + [ + 0.26329150795936584, + -0.06001666188240051, + 0.06935204565525055 + ], + [ + 0.2773151695728302, + -0.05457864701747894, + 0.07267339527606964 + ], + [ + 0.2883310914039612, + -0.04884244501590729, + 0.08123479783535004 + ], + [ + 0.29926028847694397, + -0.04463932663202286, + 0.08704065531492233 + ], + [ + 0.31022417545318604, + -0.04111238569021225, + 0.09418178349733353 + ], + [ + 0.3108813166618347, + -0.040614329278469086, + 0.09516272693872452 + ], + [ + 0.3130335807800293, + -0.0394747219979763, + 0.09803258627653122 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.92016107192649, + 0.36495729545584865, + 0.1418089355599485, + 0.3641391863539337, + -0.9307731300002013, + 0.03261952530500098, + 0.14389668054749688, + 0.0216229730421341, + -0.9893564536425843 + ], + [ + 0.9590719496814065, + 0.2638022189677427, + 0.10290473556644905, + 0.2663167697511122, + -0.9638197404267616, + -0.01126437361875758, + 0.09621004876642952, + 0.038208601536630735, + -0.9946274324011862 + ], + [ + 0.9879320011646971, + 0.126852288842652, + 0.08887551907076183, + 0.12788724894853085, + -0.9917704066204787, + -0.006025952889547367, + 0.08737970377091847, + 0.017319277329927135, + -0.996024512751406 + ], + [ + 0.9959957981374055, + -0.013787591521813197, + 0.08833047272974798, + -0.007804336682752674, + -0.9976733142886358, + -0.06772776598465122, + 0.08905875825305093, + 0.06676720958941643, + -0.9937860319515807 + ], + [ + 0.9812091252759791, + -0.16597250232579214, + 0.09839604131703221, + -0.15114030969170228, + -0.978151001848232, + -0.14274881565041683, + 0.11993856452969796, + 0.12519483238143372, + -0.9848558243131532 + ], + [ + 0.9628654928170223, + -0.24954212026373837, + 0.10304743061576704, + -0.22685978172690988, + -0.9547542349692585, + -0.1922992205992667, + 0.14637172601650975, + 0.1617809661936304, + -0.9759109779075158 + ], + [ + 0.948561987339367, + -0.29691048664861547, + 0.10988320660079644, + -0.2672319998668064, + -0.9370039986631397, + -0.2249679193495699, + 0.1697563383852814, + 0.18403170761412213, + -0.9681503582453774 + ], + [ + 0.9309989739520637, + -0.34279279538632296, + 0.12543528184460473, + -0.30321075421529115, + -0.9175811165815612, + -0.25711501905009354, + 0.20323422208968445, + 0.20134049250999217, + -0.9582055400838773 + ], + [ + 0.9101177620507119, + -0.39855149415030067, + 0.11332416207661095, + -0.36171114508104807, + -0.8976150168784722, + -0.2518974573083587, + 0.2021155776380439, + 0.18826573768166702, + -0.9610958876674154 + ], + [ + 0.8670094874481538, + -0.4925004926013044, + 0.07574835616937328, + -0.4641721645131483, + -0.8535404185297455, + -0.23667056349965834, + 0.18121465273555712, + 0.1700353455124536, + -0.9686326604602964 + ], + [ + 0.8422946050947949, + -0.536030199371722, + 0.05666942376374905, + -0.5174173679482914, + -0.8335243806469932, + -0.19369144073115033, + 0.15105980793601553, + 0.13382351149390073, + -0.979424423933657 + ], + [ + 0.8270242957846111, + -0.5593566494825536, + 0.05613334892574762, + -0.5421580789361652, + -0.8200058660133991, + -0.18345298348040634, + 0.14864532157526833, + 0.12128692585463219, + -0.9814245004026128 + ], + [ + 0.8345237349765204, + -0.5457807459135495, + 0.07545537191537789, + -0.5339579578355254, + -0.8349039090656915, + -0.1335079094696013, + 0.13586403138783223, + 0.07112552296382361, + -0.9881711010539466 + ], + [ + 0.8482855353513883, + -0.522521390259844, + 0.08592466022352703, + -0.5126081340935746, + -0.8509839117677077, + -0.11427721896176113, + 0.1328327948012562, + 0.05289403211563878, + -0.9897260580543675 + ], + [ + 0.8580396711289354, + -0.5034640833081686, + 0.10144870421850632, + -0.4956326502527098, + -0.8635017038806977, + -0.0933438985612183, + 0.1345964292707036, + 0.02981147788683891, + -0.9904519559341478 + ], + [ + 0.8749912541027951, + -0.4722203099800789, + 0.10676274671408649, + -0.46475817908991335, + -0.8810557382201325, + -0.08798079971451453, + 0.13561025113407177, + 0.027363570521693435, + -0.9903843167153135 + ], + [ + 0.8892582694559501, + -0.44269137674233855, + 0.11508290560366385, + -0.43450509885285177, + -0.896175134540336, + -0.0898634926011907, + 0.1429162316711523, + 0.02990774464220904, + -0.9892828096835273 + ], + [ + 0.8962234690296862, + -0.42362843376712545, + 0.1316147547367193, + -0.4108700900323896, + -0.9045706259196742, + -0.11374423871152517, + 0.16724013476785604, + 0.047863690071917105, + -0.9847536770662643 + ], + [ + 0.8961133076434231, + -0.43053556553096584, + 0.1077964131003192, + -0.4172321566663414, + -0.9000044130449241, + -0.12613240639587694, + 0.1513217344201315, + 0.06805279797769173, + -0.9861392139954126 + ], + [ + 0.8802696217814022, + -0.46131081931636053, + 0.11098522852386783, + -0.4478421508098278, + -0.8850755763541809, + -0.12680154612362562, + 0.15672524023543383, + 0.061915685597291735, + -0.9856995723597342 + ], + [ + 0.8590129003440696, + -0.5012700237196224, + 0.10404422311017039, + -0.48774301372983814, + -0.8630686558536022, + -0.13122213167294486, + 0.1555750288452635, + 0.06197466097677359, + -0.9858780613222964 + ], + [ + 0.8359146164445797, + -0.5334276000492516, + 0.12923524875206244, + -0.5202722914787762, + -0.8450973203630594, + -0.12299293408403714, + 0.17482418806828504, + 0.035574072312186185, + -0.9839568022252769 + ], + [ + 0.8259982226780426, + -0.5527819106235848, + 0.11026828837001992, + -0.5454744695553116, + -0.83319346934003, + -0.09080884159857947, + 0.142072302705581, + 0.014859405656469787, + -0.9897447442989885 + ], + [ + 0.8575349518313078, + -0.4994080685161133, + 0.12339119696591619, + -0.4972663933905169, + -0.8661664042397714, + -0.04981861269377398, + 0.13175712653235902, + -0.018637093854721995, + -0.9911068147987814 + ], + [ + 0.8785490878448577, + -0.4574439681497978, + 0.13746459998972405, + -0.4582575395896481, + -0.888392209786731, + -0.027555562042729343, + 0.1347276053977441, + -0.038785275474273864, + -0.9901233129010619 + ], + [ + 0.8906175618442349, + -0.41782607175671155, + 0.17950412890790585, + -0.41159495357018466, + -0.9084792264230761, + -0.07249199509799076, + 0.19336481771560265, + -0.009320349676109195, + -0.9810826562281728 + ], + [ + 0.9186902268826649, + -0.2961271366258119, + 0.2613751824180622, + -0.2710991617115647, + -0.9540054538992497, + -0.12797983610621344, + 0.28725165195271635, + 0.046715231823079545, + -0.956715305389305 + ], + [ + 0.9259569604693664, + -0.22586768407935703, + 0.3026342621828542, + -0.19736888797598562, + -0.9726981444954937, + -0.12208129158125317, + 0.3219460038848993, + 0.0533114338922888, + -0.9452558709676936 + ], + [ + 0.9086660515148852, + -0.18919294136728065, + 0.3721989222998163, + -0.16787182040851217, + -0.9817641470066343, + -0.08920880878628537, + 0.3822892343986164, + 0.018579305399623776, + -0.923855914455164 + ], + [ + 0.9042121561203179, + -0.15757793679030774, + 0.3969503376508904, + -0.13617290305868868, + -0.9873068157488828, + -0.08174467596345868, + 0.4047929312584585, + 0.01986064985622726, + -0.9141926697313174 + ], + [ + 0.8989696128154426, + -0.11919255571756304, + 0.4214816364872483, + -0.09356041966554304, + -0.9923078102202307, + -0.08106576125552746, + 0.4279019550159367, + 0.03344165721740382, + -0.9032062734813643 + ], + [ + 0.8976094141543192, + -0.07720705046230056, + 0.4339774314183306, + -0.04272490262002581, + -0.9951440949537453, + -0.08867250405170979, + 0.4387162207140846, + 0.0610516309168146, + -0.8965493717831426 + ], + [ + 0.8906395506474415, + -0.05364725830798545, + 0.4515342318125622, + -0.016725721765971015, + -0.9962089561069375, + -0.08536958476960027, + 0.45440228988632053, + 0.06848129268904704, + -0.8881603861340057 + ], + [ + 0.8908928085863597, + -0.04769385038834107, + 0.4517026679622809, + -0.010694269959465229, + -0.9963987258679838, + -0.08411427749611011, + 0.4540876965952085, + 0.07010617464812263, + -0.8881945102718576 + ], + [ + 0.8894080951826446, + -0.04653508732964097, + 0.4547391844462085, + -0.009802162010814488, + -0.9965175191942071, + -0.08280550439999225, + 0.4570089253433612, + 0.0691904587804278, + -0.8867668930278466 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005704.json b/json/chunk-0005/episode_0005704.json new file mode 100644 index 0000000000000000000000000000000000000000..c3caeaac60f1f6da9acb8464c757feada38b954e --- /dev/null +++ b/json/chunk-0005/episode_0005704.json @@ -0,0 +1,2182 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 35, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the bigger can to the right of the smaller can." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005704.mp4", + "start": 0, + "end": 35, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3180524408817291, + -0.08906754106283188, + 0.09723693132400513, + 0.02458629570901394, + -0.13165754079818726, + 0.010095837526023388, + 0.0, + 0.9994885921478271 + ], + [ + 0.31372198462486267, + -0.08748947083950043, + 0.08859559893608093, + 0.03607049211859703, + -0.10267940908670425, + 0.0020397126208990812, + 0.0, + 0.9994885921478271 + ], + [ + 0.2950887382030487, + -0.061691198498010635, + 0.08105826377868652, + 0.0858491063117981, + -0.06191029027104378, + -0.1394355297088623, + 0.0, + 1.0001531839370728 + ], + [ + 0.2837456166744232, + -0.028585175052285194, + 0.1019480898976326, + 0.07105184346437454, + -0.10122545063495636, + -0.24406853318214417, + 0.0, + 1.0001531839370728 + ], + [ + 0.269260048866272, + 0.004504751414060593, + 0.11848758161067963, + 0.07794077694416046, + -0.11568141728639603, + -0.35355791449546814, + 0.0, + 0.9994885921478271 + ], + [ + 0.25603142380714417, + 0.0487908199429512, + 0.13982786238193512, + 0.08230256289243698, + -0.07798770070075989, + -0.4847579300403595, + 0.0, + 0.9994885921478271 + ], + [ + 0.2466535121202469, + 0.08554629981517792, + 0.1544065624475479, + 0.06127091869711876, + -0.0726209431886673, + -0.5286158323287964, + 0.0, + 0.9994885921478271 + ], + [ + 0.24215103685855865, + 0.10571514070034027, + 0.16432520747184753, + 0.07176748663187027, + -0.0749107226729393, + -0.5559080243110657, + 0.0, + 1.0001531839370728 + ], + [ + 0.2375481128692627, + 0.13817192614078522, + 0.15814000368118286, + 0.1312396079301834, + -0.0499434620141983, + -0.5872628688812256, + 0.0, + 0.9994885921478271 + ], + [ + 0.2329847663640976, + 0.1604318469762802, + 0.1484014391899109, + 0.17029236257076263, + -0.04850073903799057, + -0.621242105960846, + 0.0, + 1.0001531839370728 + ], + [ + 0.22662495076656342, + 0.17698410153388977, + 0.13654986023902893, + 0.22460687160491943, + -0.014900654554367065, + -0.6527802348136902, + 0.0, + 1.0001531839370728 + ], + [ + 0.22476090490818024, + 0.1795584112405777, + 0.11591628938913345, + 0.2195892482995987, + 0.04329812526702881, + -0.6949560046195984, + 0.0, + 1.0001531839370728 + ], + [ + 0.22683459520339966, + 0.17990350723266602, + 0.10754582285881042, + 0.199310764670372, + 0.06778094172477722, + -0.7600647211074829, + 0.0, + 0.9994885921478271 + ], + [ + 0.23087260127067566, + 0.17650140821933746, + 0.10127616673707962, + 0.1977853626012802, + 0.039988137781620026, + -0.7747388482093811, + 0.0, + 0.9994885921478271 + ], + [ + 0.23151814937591553, + 0.16690514981746674, + 0.08901146799325943, + 0.12081259489059448, + 0.023077167570590973, + -0.8083731532096863, + 0.0, + 0.9994885921478271 + ], + [ + 0.2353113889694214, + 0.15856310725212097, + 0.08483435213565826, + 0.07905080914497375, + 0.00911541935056448, + -0.8403574228286743, + 0.0, + 0.9994885921478271 + ], + [ + 0.24293646216392517, + 0.1502232551574707, + 0.0812249481678009, + 0.09763748943805695, + -0.003440186847001314, + -0.8466169834136963, + 0.0, + 0.9994885921478271 + ], + [ + 0.2459191083908081, + 0.14143380522727966, + 0.07624193280935287, + 0.07177434861660004, + -0.03661050647497177, + -0.8677862882614136, + 0.0, + 1.0001531839370728 + ], + [ + 0.24948272109031677, + 0.1322028785943985, + 0.07326145470142365, + 0.09741713106632233, + -0.08003386110067368, + -0.8472785949707031, + 0.0, + 1.0001531839370728 + ], + [ + 0.25680673122406006, + 0.12508636713027954, + 0.07309071719646454, + 0.1205376461148262, + -0.09846338629722595, + -0.8326550126075745, + 0.0, + 1.0001531839370728 + ], + [ + 0.266751766204834, + 0.1027245968580246, + 0.07189428061246872, + 0.07060251384973526, + -0.1466389298439026, + -0.8497862815856934, + 0.0, + 1.0001531839370728 + ], + [ + 0.27389129996299744, + 0.09166886657476425, + 0.071347177028656, + 0.03709664195775986, + -0.14441467821598053, + -0.8505305647850037, + 0.0, + 1.0001531839370728 + ], + [ + 0.2790468633174896, + 0.07146615535020828, + 0.07039804011583328, + -0.004230628255754709, + -0.15936343371868134, + -0.860289990901947, + 0.0, + 1.0001531839370728 + ], + [ + 0.2851729393005371, + 0.05458453670144081, + 0.06898906826972961, + 0.014005721546709538, + -0.1734597086906433, + -0.8349472880363464, + 0.0, + 1.0008161067962646 + ], + [ + 0.29544156789779663, + 0.038417600095272064, + 0.0693235918879509, + 0.010806852951645851, + -0.18562467396259308, + -0.8372709155082703, + 0.0, + 1.0008161067962646 + ], + [ + 0.3056872487068176, + 0.018620433285832405, + 0.06843285262584686, + 0.01779365912079811, + -0.20174986124038696, + -0.8052303194999695, + 0.0, + 1.0008161067962646 + ], + [ + 0.31588441133499146, + -0.002161507960408926, + 0.06794682890176773, + 0.011913306079804897, + -0.21083040535449982, + -0.792243242263794, + 0.0, + 1.0008161067962646 + ], + [ + 0.3278150260448456, + -0.022372661158442497, + 0.0674569308757782, + -0.02406158670783043, + -0.21082639694213867, + -0.7400529384613037, + 0.0, + 1.0008161067962646 + ], + [ + 0.3352299630641937, + -0.04593120887875557, + 0.06826377660036087, + -0.0505337193608284, + -0.20613430440425873, + -0.7008976936340332, + 0.0, + 1.0008161067962646 + ], + [ + 0.33463481068611145, + -0.07394289970397949, + 0.06412491947412491, + -0.06947243958711624, + -0.19543269276618958, + -0.7011879086494446, + 0.0, + 1.0001531839370728 + ], + [ + 0.33408722281455994, + -0.09967099130153656, + 0.06481388211250305, + -0.09733295440673828, + -0.17661958932876587, + -0.707285463809967, + 0.0, + 1.0001531839370728 + ], + [ + 0.33538979291915894, + -0.12402621656656265, + 0.0655229315161705, + -0.11714764684438705, + -0.16549056768417358, + -0.7209134697914124, + 0.0, + 0.9994885921478271 + ], + [ + 0.3398621380329132, + -0.13796710968017578, + 0.0679052546620369, + -0.14576585590839386, + -0.16839556396007538, + -0.7146821022033691, + 0.0, + 1.0001531839370728 + ], + [ + 0.3400828540325165, + -0.13716793060302734, + 0.06908801943063736, + -0.13636860251426697, + -0.17158186435699463, + -0.7004897594451904, + 0.0, + 0.9994885921478271 + ], + [ + 0.3350782096385956, + -0.12835757434368134, + 0.07714448869228363, + -0.12553997337818146, + -0.15959206223487854, + -0.6712697744369507, + 0.0, + 0.9994885921478271 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3180524408817291, + -0.08906754106283188, + 0.09723693132400513 + ], + [ + 0.31372198462486267, + -0.08748947083950043, + 0.08859559893608093 + ], + [ + 0.2950887382030487, + -0.061691198498010635, + 0.08105826377868652 + ], + [ + 0.2837456166744232, + -0.028585175052285194, + 0.1019480898976326 + ], + [ + 0.269260048866272, + 0.004504751414060593, + 0.11848758161067963 + ], + [ + 0.25603142380714417, + 0.0487908199429512, + 0.13982786238193512 + ], + [ + 0.2466535121202469, + 0.08554629981517792, + 0.1544065624475479 + ], + [ + 0.24215103685855865, + 0.10571514070034027, + 0.16432520747184753 + ], + [ + 0.2375481128692627, + 0.13817192614078522, + 0.15814000368118286 + ], + [ + 0.2329847663640976, + 0.1604318469762802, + 0.1484014391899109 + ], + [ + 0.22662495076656342, + 0.17698410153388977, + 0.13654986023902893 + ], + [ + 0.22476090490818024, + 0.1795584112405777, + 0.11591628938913345 + ], + [ + 0.22683459520339966, + 0.17990350723266602, + 0.10754582285881042 + ], + [ + 0.23087260127067566, + 0.17650140821933746, + 0.10127616673707962 + ], + [ + 0.23151814937591553, + 0.16690514981746674, + 0.08901146799325943 + ], + [ + 0.2353113889694214, + 0.15856310725212097, + 0.08483435213565826 + ], + [ + 0.24293646216392517, + 0.1502232551574707, + 0.0812249481678009 + ], + [ + 0.2459191083908081, + 0.14143380522727966, + 0.07624193280935287 + ], + [ + 0.24948272109031677, + 0.1322028785943985, + 0.07326145470142365 + ], + [ + 0.25680673122406006, + 0.12508636713027954, + 0.07309071719646454 + ], + [ + 0.266751766204834, + 0.1027245968580246, + 0.07189428061246872 + ], + [ + 0.27389129996299744, + 0.09166886657476425, + 0.071347177028656 + ], + [ + 0.2790468633174896, + 0.07146615535020828, + 0.07039804011583328 + ], + [ + 0.2851729393005371, + 0.05458453670144081, + 0.06898906826972961 + ], + [ + 0.29544156789779663, + 0.038417600095272064, + 0.0693235918879509 + ], + [ + 0.3056872487068176, + 0.018620433285832405, + 0.06843285262584686 + ], + [ + 0.31588441133499146, + -0.002161507960408926, + 0.06794682890176773 + ], + [ + 0.3278150260448456, + -0.022372661158442497, + 0.0674569308757782 + ], + [ + 0.3352299630641937, + -0.04593120887875557, + 0.06826377660036087 + ], + [ + 0.33463481068611145, + -0.07394289970397949, + 0.06412491947412491 + ], + [ + 0.33408722281455994, + -0.09967099130153656, + 0.06481388211250305 + ], + [ + 0.33538979291915894, + -0.12402621656656265, + 0.0655229315161705 + ], + [ + 0.3398621380329132, + -0.13796710968017578, + 0.0679052546620369 + ], + [ + 0.3400828540325165, + -0.13716793060302734, + 0.06908801943063736 + ], + [ + 0.3350782096385956, + -0.12835757434368134, + 0.07714448869228363 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9912951363165233, + 0.013319753073710465, + 0.1309829641337396, + 0.010008294673831377, + -0.9996142433536216, + 0.025907499344553647, + 0.13127751807878946, + -0.024371061992077194, + -0.9910460456429112 + ], + [ + 0.9947310300963227, + 0.00573476727090768, + 0.1023586352383491, + 0.002028968250280013, + -0.9993399119007345, + 0.03627152836691344, + 0.10249907829511556, + -0.03587273235454719, + -0.9940860556421013 + ], + [ + 0.9883973703064296, + -0.1332187589340025, + 0.07296163813552502, + -0.13871787494040774, + -0.98738489187809, + 0.07634413181712338, + 0.06187074868912261, + -0.08557942252070319, + -0.9944084537541256 + ], + [ + 0.9653956248651708, + -0.23408152679666872, + 0.11496576144107945, + -0.24041556813995996, + -0.9696480956319152, + 0.04453004865639509, + 0.10105266986639683, + -0.0706286730014172, + -0.9923708724377859 + ], + [ + 0.9318765365411684, + -0.3367554966653087, + 0.13491425465731124, + -0.3439237099523492, + -0.9384103737945664, + 0.03320319393303339, + 0.11542357807938954, + -0.07734148835161839, + -0.9903008087459626 + ], + [ + 0.8820984660208318, + -0.45874989793539517, + 0.10700853885536413, + -0.4645778033437162, + -0.8847774420336139, + 0.036556021511953224, + 0.077908670146671, + -0.08195980241996424, + -0.9935858442546661 + ], + [ + 0.8612300076470567, + -0.499555771648885, + 0.0934179048177455, + -0.5030092812420817, + -0.8641263449377578, + 0.01635001433746782, + 0.07255712861307773, + -0.061071196130402274, + -0.9954927282962075 + ], + [ + 0.8470394128316399, + -0.5217979433506658, + 0.10124791071842335, + -0.5262348388636647, + -0.8500670387800747, + 0.02151566744973047, + 0.07484068062199331, + -0.07150479630549275, + -0.9946285420343348 + ], + [ + 0.8314223898569166, + -0.5438811623128005, + 0.113710557671181, + -0.5533936514664161, + -0.8289214602529097, + 0.08151490200479436, + 0.04992270186278645, + -0.1307000153537158, + -0.9901642438632382 + ], + [ + 0.8121999068505397, + -0.5669454266851842, + 0.13749252515219962, + -0.5813611902412942, + -0.8061762477937559, + 0.1099955634305569, + 0.04848172638427458, + -0.16927120444403487, + -0.9843763414227635 + ], + [ + 0.7943099753736851, + -0.5895043118345732, + 0.14682073882903002, + -0.6073299350003983, + -0.7764599723843888, + 0.16810788600552382, + 0.01490010316299302, + -0.22269840056291515, + -0.9747735169322419 + ], + [ + 0.7673620153570978, + -0.6322168470873002, + 0.10703922480140805, + -0.6397514993942892, + -0.7436002902266408, + 0.194362103810425, + -0.043284597836319785, + -0.21762460024971642, + -0.9750722931948683 + ], + [ + 0.7231271201053362, + -0.685048442239605, + 0.08829382737911766, + -0.6873863131661884, + -0.7012039063670827, + 0.18924359478549999, + -0.06772905314529161, + -0.19753914417308335, + -0.9779524844691629 + ], + [ + 0.7140324739556795, + -0.6915051368886374, + 0.10944529132566007, + -0.6989702619663662, + -0.6951767774048999, + 0.1678386756489912, + -0.03997748145395043, + -0.19634126874797597, + -0.9797203208890963 + ], + [ + 0.690491920774301, + -0.7198141455678806, + 0.07133374507060765, + -0.7229719539609638, + -0.683630397162015, + 0.0998049791441866, + -0.023075119312419377, + -0.12048682880915892, + -0.9924467053460504 + ], + [ + 0.6671689119798325, + -0.7430357187645976, + 0.052759487560289434, + -0.7448506926351405, + -0.664576868623037, + 0.05945612981140007, + -0.009115293116401645, + -0.07896522228916013, + -0.9968356961406557 + ], + [ + 0.6625170379981876, + -0.7452536857205982, + 0.07528690644442523, + -0.7490389439296556, + -0.6596167309599543, + 0.06201958331405781, + 0.0034401800613023947, + -0.09748185552997447, + -0.9952313565214769 + ], + [ + 0.6460837454165902, + -0.759238376115311, + 0.07831272018169304, + -0.7623883940909324, + -0.6468548995527288, + 0.018511495889801832, + 0.03660232866799161, + -0.0716646855739605, + -0.9967569625428585 + ], + [ + 0.6599060947397161, + -0.7407800973402779, + 0.12557385679314456, + -0.7470824532750263, + -0.6647143742809701, + 0.004754853607256498, + 0.079948446726281, + -0.09695178187525294, + -0.9920728793073966 + ], + [ + 0.6696548368476487, + -0.7263989363955985, + 0.15461883678870206, + -0.7361376582061443, + -0.676775606098852, + 0.008725087982628478, + 0.098304362351434, + -0.11966354579768168, + -0.9879356700462856 + ], + [ + 0.6530588754055405, + -0.7424636123902532, + 0.1492041873757796, + -0.7430779328482321, + -0.6662413899599153, + -0.06290942710181344, + 0.14611396568449272, + -0.06978677941197747, + -0.9868031791858267 + ], + [ + 0.6527183810447339, + -0.7475928261024826, + 0.12273419004680446, + -0.7438062237808757, + -0.663142462288987, + -0.08363238711249221, + 0.14391322562980727, + -0.03670205810854556, + -0.9889094712962463 + ], + [ + 0.6439530970036826, + -0.7584628180449444, + 0.10029238506829435, + -0.7484263328252718, + -0.6517029279146981, + -0.12305006331215398, + 0.15868973877690096, + 0.004177007389397185, + -0.9873196642507368 + ], + [ + 0.6611441748239835, + -0.7395659748818324, + 0.12621627824254267, + -0.7301374319537177, + -0.6729426901076074, + -0.11852200762207343, + 0.17259116592787765, + -0.013795094338988373, + -0.9848969412155946 + ], + [ + 0.6579914214386915, + -0.7414401218818027, + 0.13158204656026612, + -0.7300580159272261, + -0.6709349745601632, + -0.1298520438512833, + 0.18456051228118303, + -0.010620996933006582, + -0.9827637619136435 + ], + [ + 0.6788904884680713, + -0.7184055154567017, + 0.1516615311441046, + -0.7063667281925443, + -0.6954061017706891, + -0.1321226661956762, + 0.20038400627331424, + -0.01743183815564632, + -0.9795623415834092 + ], + [ + 0.6867004596727555, + -0.7101291058044906, + 0.15543208090526295, + -0.6961664405098001, + -0.7039751048875711, + -0.1406105927960176, + 0.20927198998705132, + -0.011649239796964278, + -0.9777880800147912 + ], + [ + 0.7220827105306346, + -0.6778496976505481, + 0.13826187669705806, + -0.6593962646947156, + -0.7348239848672673, + -0.15884041478933117, + 0.20926807032939473, + 0.023526552209169133, + -0.9775752534110921 + ], + [ + 0.7480836871261296, + -0.6519822704367397, + 0.12365240026756176, + -0.6312510471483006, + -0.7566204625258713, + -0.17043353883936962, + 0.2046775818939372, + 0.04944284299361088, + -0.9775799162967497 + ], + [ + 0.7495312167036026, + -0.653869403018106, + 0.10323642275652065, + -0.6328450104051766, + -0.7535368976370578, + -0.17801499011260416, + 0.19419100904029882, + 0.06809513709703646, + -0.9785974168735818 + ], + [ + 0.7483033874929411, + -0.6596762730853479, + 0.06978004725431468, + -0.6396644276445064, + -0.74543607011841, + -0.1874952942680076, + 0.17570276114169314, + 0.09566754985179811, + -0.979783782082832 + ], + [ + 0.7409398954179265, + -0.6700109863056668, + 0.045753137682353444, + -0.6510530319861759, + -0.7333451445893892, + -0.19579287129202633, + 0.1647362161750727, + 0.11528303056771233, + -0.9795773588356583 + ], + [ + 0.7446178359951435, + -0.6668141388030022, + 0.03005299669450616, + -0.6461069896094618, + -0.7313370733585194, + -0.21838462196133326, + 0.16760082426917905, + 0.143195633396435, + -0.9753999047982758 + ], + [ + 0.7533002069977666, + -0.656353851149211, + 0.04169436675045671, + -0.6351269490334782, + -0.7424668318702734, + -0.21297127079478315, + 0.17074119815834624, + 0.1339500864281871, + -0.9761684371036249 + ], + [ + 0.7730818960191799, + -0.6326665876230474, + 0.04557818505379892, + -0.6140767514641629, + -0.7644941146923743, + -0.19610836777644913, + 0.1589154660774409, + 0.12361932497037464, + -0.9795224025693634 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.004330456256866455, + 0.0015780702233314514, + -0.008641332387924194, + 0.011484196409583092, + 0.028978131711483, + -0.008056124672293663, + 1.0 + ], + [ + -0.018633246421813965, + 0.025798272341489792, + -0.007537335157394409, + 0.049778614193201065, + 0.04076911881566048, + -0.14147524535655975, + 1.0 + ], + [ + -0.011343121528625488, + 0.03310602158308029, + 0.020889826118946075, + -0.014797262847423553, + -0.03931516036391258, + -0.10463300347328186, + 1.0 + ], + [ + -0.014485567808151245, + 0.033089928328990936, + 0.016539491713047028, + 0.006888933479785919, + -0.014455966651439667, + -0.10948938131332397, + 1.0 + ], + [ + -0.013228625059127808, + 0.04428606852889061, + 0.021340280771255493, + 0.00436178594827652, + 0.03769371658563614, + -0.13120001554489136, + 1.0 + ], + [ + -0.009377911686897278, + 0.036755479872226715, + 0.014578700065612793, + -0.021031644195318222, + 0.00536675751209259, + -0.04385790228843689, + 1.0 + ], + [ + -0.004502475261688232, + 0.020168840885162354, + 0.009918645024299622, + 0.01049656793475151, + -0.002289779484272003, + -0.027292191982269287, + 1.0 + ], + [ + -0.0046029239892959595, + 0.032456785440444946, + -0.006185203790664673, + 0.05947212129831314, + 0.024967260658740997, + -0.03135484457015991, + 1.0 + ], + [ + -0.0045633465051651, + 0.022259920835494995, + -0.009738564491271973, + 0.039052754640579224, + 0.0014427229762077332, + -0.03397923707962036, + 1.0 + ], + [ + -0.00635981559753418, + 0.016552254557609558, + -0.011851578950881958, + 0.0543145090341568, + 0.033600084483623505, + -0.03153812885284424, + 1.0 + ], + [ + -0.0018640458583831787, + 0.0025743097066879272, + -0.020633570849895477, + -0.00501762330532074, + 0.058198779821395874, + -0.0421757698059082, + 1.0 + ], + [ + 0.0020736902952194214, + 0.00034509599208831787, + -0.008370466530323029, + -0.020278483629226685, + 0.024482816457748413, + -0.06510871648788452, + 1.0 + ], + [ + 0.004038006067276001, + -0.0034020990133285522, + -0.0062696561217308044, + -0.0015254020690917969, + -0.027792803943157196, + -0.014674127101898193, + 1.0 + ], + [ + 0.0006455481052398682, + -0.009596258401870728, + -0.01226469874382019, + -0.07697276771068573, + -0.016910970211029053, + -0.033634305000305176, + 1.0 + ], + [ + 0.0037932395935058594, + -0.008342042565345764, + -0.004177115857601166, + -0.04176178574562073, + -0.013961748220026493, + -0.03198426961898804, + 1.0 + ], + [ + 0.007625073194503784, + -0.008339852094650269, + -0.003609403967857361, + 0.01858668029308319, + -0.012555606663227081, + -0.006259560585021973, + 1.0 + ], + [ + 0.0029826462268829346, + -0.00878944993019104, + -0.0049830153584480286, + -0.02586314082145691, + -0.033170320093631744, + -0.021169304847717285, + 1.0 + ], + [ + 0.003563612699508667, + -0.009230926632881165, + -0.0029804781079292297, + 0.02564278244972229, + -0.043423354625701904, + 0.02050769329071045, + 1.0 + ], + [ + 0.007324010133743286, + -0.0071165114641189575, + -0.00017073750495910645, + 0.023120515048503876, + -0.018429525196552277, + 0.014623582363128662, + 1.0 + ], + [ + 0.009945034980773926, + -0.022361770272254944, + -0.001196436583995819, + -0.04993513226509094, + -0.048175543546676636, + -0.017131268978118896, + 1.0 + ], + [ + 0.007139533758163452, + -0.011055730283260345, + -0.0005471035838127136, + -0.0335058718919754, + 0.002224251627922058, + -0.0007442831993103027, + 1.0 + ], + [ + 0.0051555633544921875, + -0.02020271122455597, + -0.0009491369128227234, + -0.04132727161049843, + -0.014948755502700806, + -0.00975942611694336, + 1.0 + ], + [ + 0.006126075983047485, + -0.01688161864876747, + -0.0014089718461036682, + 0.018236350268125534, + -0.014096274971961975, + 0.025342702865600586, + 1.0 + ], + [ + 0.010268628597259521, + -0.016166936606168747, + 0.00033452361822128296, + -0.0031988685950636864, + -0.012164965271949768, + -0.002323627471923828, + 1.0 + ], + [ + 0.010245680809020996, + -0.01979716680943966, + -0.0008907392621040344, + 0.00698680616915226, + -0.016125187277793884, + 0.03204059600830078, + 1.0 + ], + [ + 0.010197162628173828, + -0.02078194171190262, + -0.0004860237240791321, + -0.005880353040993214, + -0.009080544114112854, + 0.012987077236175537, + 1.0 + ], + [ + 0.011930614709854126, + -0.020211152732372284, + -0.0004898980259895325, + -0.0359748937189579, + 4.0084123611450195e-06, + 0.052190303802490234, + 1.0 + ], + [ + 0.0074149370193481445, + -0.023558547720313072, + 0.0008068457245826721, + -0.02647213265299797, + 0.004692092537879944, + 0.03915524482727051, + 1.0 + ], + [ + -0.0005951523780822754, + -0.028011690825223923, + -0.004138857126235962, + -0.018938720226287842, + 0.010701611638069153, + -0.00029021501541137695, + 1.0 + ], + [ + -0.0005475878715515137, + -0.025728091597557068, + 0.0006889626383781433, + -0.02786051481962204, + 0.018813103437423706, + -0.006097555160522461, + 1.0 + ], + [ + 0.001302570104598999, + -0.024355225265026093, + 0.00070904940366745, + -0.019814692437648773, + 0.011129021644592285, + -0.013628005981445312, + 1.0 + ], + [ + 0.0044723451137542725, + -0.013940893113613129, + 0.002382323145866394, + -0.028618209064006805, + -0.0029049962759017944, + 0.006231367588043213, + 1.0 + ], + [ + 0.00022071599960327148, + 0.0007991790771484375, + 0.0011827647686004639, + 0.009397253394126892, + -0.0031863003969192505, + 0.014192342758178711, + 1.0 + ], + [ + -0.0050046443939208984, + 0.008810356259346008, + 0.00805646926164627, + 0.01082862913608551, + 0.011989802122116089, + 0.029219985008239746, + 1.0 + ], + [ + 0.0006201565265655518, + 0.012647174298763275, + 0.025751948356628418, + 0.04958104342222214, + -0.04749932885169983, + 0.08746802806854248, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.31372198462486267, + -0.08748947083950043, + 0.08859559893608093 + ], + [ + 0.2950887382030487, + -0.061691198498010635, + 0.08105826377868652 + ], + [ + 0.2837456166744232, + -0.028585175052285194, + 0.1019480898976326 + ], + [ + 0.269260048866272, + 0.004504751414060593, + 0.11848758161067963 + ], + [ + 0.25603142380714417, + 0.0487908199429512, + 0.13982786238193512 + ], + [ + 0.2466535121202469, + 0.08554629981517792, + 0.1544065624475479 + ], + [ + 0.24215103685855865, + 0.10571514070034027, + 0.16432520747184753 + ], + [ + 0.2375481128692627, + 0.13817192614078522, + 0.15814000368118286 + ], + [ + 0.2329847663640976, + 0.1604318469762802, + 0.1484014391899109 + ], + [ + 0.22662495076656342, + 0.17698410153388977, + 0.13654986023902893 + ], + [ + 0.22476090490818024, + 0.1795584112405777, + 0.11591628938913345 + ], + [ + 0.22683459520339966, + 0.17990350723266602, + 0.10754582285881042 + ], + [ + 0.23087260127067566, + 0.17650140821933746, + 0.10127616673707962 + ], + [ + 0.23151814937591553, + 0.16690514981746674, + 0.08901146799325943 + ], + [ + 0.2353113889694214, + 0.15856310725212097, + 0.08483435213565826 + ], + [ + 0.24293646216392517, + 0.1502232551574707, + 0.0812249481678009 + ], + [ + 0.2459191083908081, + 0.14143380522727966, + 0.07624193280935287 + ], + [ + 0.24948272109031677, + 0.1322028785943985, + 0.07326145470142365 + ], + [ + 0.25680673122406006, + 0.12508636713027954, + 0.07309071719646454 + ], + [ + 0.266751766204834, + 0.1027245968580246, + 0.07189428061246872 + ], + [ + 0.27389129996299744, + 0.09166886657476425, + 0.071347177028656 + ], + [ + 0.2790468633174896, + 0.07146615535020828, + 0.07039804011583328 + ], + [ + 0.2851729393005371, + 0.05458453670144081, + 0.06898906826972961 + ], + [ + 0.29544156789779663, + 0.038417600095272064, + 0.0693235918879509 + ], + [ + 0.3056872487068176, + 0.018620433285832405, + 0.06843285262584686 + ], + [ + 0.31588441133499146, + -0.002161507960408926, + 0.06794682890176773 + ], + [ + 0.3278150260448456, + -0.022372661158442497, + 0.0674569308757782 + ], + [ + 0.3352299630641937, + -0.04593120887875557, + 0.06826377660036087 + ], + [ + 0.33463481068611145, + -0.07394289970397949, + 0.06412491947412491 + ], + [ + 0.33408722281455994, + -0.09967099130153656, + 0.06481388211250305 + ], + [ + 0.33538979291915894, + -0.12402621656656265, + 0.0655229315161705 + ], + [ + 0.3398621380329132, + -0.13796710968017578, + 0.0679052546620369 + ], + [ + 0.3400828540325165, + -0.13716793060302734, + 0.06908801943063736 + ], + [ + 0.3350782096385956, + -0.12835757434368134, + 0.07714448869228363 + ], + [ + 0.33569836616516113, + -0.11571040004491806, + 0.10289643704891205 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9947310300963227, + 0.00573476727090768, + 0.1023586352383491, + 0.002028968250280013, + -0.9993399119007345, + 0.03627152836691344, + 0.10249907829511556, + -0.03587273235454719, + -0.9940860556421013 + ], + [ + 0.9883973703064296, + -0.1332187589340025, + 0.07296163813552502, + -0.13871787494040774, + -0.98738489187809, + 0.07634413181712338, + 0.06187074868912261, + -0.08557942252070319, + -0.9944084537541256 + ], + [ + 0.9653956248651708, + -0.23408152679666872, + 0.11496576144107945, + -0.24041556813995996, + -0.9696480956319152, + 0.04453004865639509, + 0.10105266986639683, + -0.0706286730014172, + -0.9923708724377859 + ], + [ + 0.9318765365411684, + -0.3367554966653087, + 0.13491425465731124, + -0.3439237099523492, + -0.9384103737945664, + 0.03320319393303339, + 0.11542357807938954, + -0.07734148835161839, + -0.9903008087459626 + ], + [ + 0.8820984660208318, + -0.45874989793539517, + 0.10700853885536413, + -0.4645778033437162, + -0.8847774420336139, + 0.036556021511953224, + 0.077908670146671, + -0.08195980241996424, + -0.9935858442546661 + ], + [ + 0.8612300076470567, + -0.499555771648885, + 0.0934179048177455, + -0.5030092812420817, + -0.8641263449377578, + 0.01635001433746782, + 0.07255712861307773, + -0.061071196130402274, + -0.9954927282962075 + ], + [ + 0.8470394128316399, + -0.5217979433506658, + 0.10124791071842335, + -0.5262348388636647, + -0.8500670387800747, + 0.02151566744973047, + 0.07484068062199331, + -0.07150479630549275, + -0.9946285420343348 + ], + [ + 0.8314223898569166, + -0.5438811623128005, + 0.113710557671181, + -0.5533936514664161, + -0.8289214602529097, + 0.08151490200479436, + 0.04992270186278645, + -0.1307000153537158, + -0.9901642438632382 + ], + [ + 0.8121999068505397, + -0.5669454266851842, + 0.13749252515219962, + -0.5813611902412942, + -0.8061762477937559, + 0.1099955634305569, + 0.04848172638427458, + -0.16927120444403487, + -0.9843763414227635 + ], + [ + 0.7943099753736851, + -0.5895043118345732, + 0.14682073882903002, + -0.6073299350003983, + -0.7764599723843888, + 0.16810788600552382, + 0.01490010316299302, + -0.22269840056291515, + -0.9747735169322419 + ], + [ + 0.7673620153570978, + -0.6322168470873002, + 0.10703922480140805, + -0.6397514993942892, + -0.7436002902266408, + 0.194362103810425, + -0.043284597836319785, + -0.21762460024971642, + -0.9750722931948683 + ], + [ + 0.7231271201053362, + -0.685048442239605, + 0.08829382737911766, + -0.6873863131661884, + -0.7012039063670827, + 0.18924359478549999, + -0.06772905314529161, + -0.19753914417308335, + -0.9779524844691629 + ], + [ + 0.7140324739556795, + -0.6915051368886374, + 0.10944529132566007, + -0.6989702619663662, + -0.6951767774048999, + 0.1678386756489912, + -0.03997748145395043, + -0.19634126874797597, + -0.9797203208890963 + ], + [ + 0.690491920774301, + -0.7198141455678806, + 0.07133374507060765, + -0.7229719539609638, + -0.683630397162015, + 0.0998049791441866, + -0.023075119312419377, + -0.12048682880915892, + -0.9924467053460504 + ], + [ + 0.6671689119798325, + -0.7430357187645976, + 0.052759487560289434, + -0.7448506926351405, + -0.664576868623037, + 0.05945612981140007, + -0.009115293116401645, + -0.07896522228916013, + -0.9968356961406557 + ], + [ + 0.6625170379981876, + -0.7452536857205982, + 0.07528690644442523, + -0.7490389439296556, + -0.6596167309599543, + 0.06201958331405781, + 0.0034401800613023947, + -0.09748185552997447, + -0.9952313565214769 + ], + [ + 0.6460837454165902, + -0.759238376115311, + 0.07831272018169304, + -0.7623883940909324, + -0.6468548995527288, + 0.018511495889801832, + 0.03660232866799161, + -0.0716646855739605, + -0.9967569625428585 + ], + [ + 0.6599060947397161, + -0.7407800973402779, + 0.12557385679314456, + -0.7470824532750263, + -0.6647143742809701, + 0.004754853607256498, + 0.079948446726281, + -0.09695178187525294, + -0.9920728793073966 + ], + [ + 0.6696548368476487, + -0.7263989363955985, + 0.15461883678870206, + -0.7361376582061443, + -0.676775606098852, + 0.008725087982628478, + 0.098304362351434, + -0.11966354579768168, + -0.9879356700462856 + ], + [ + 0.6530588754055405, + -0.7424636123902532, + 0.1492041873757796, + -0.7430779328482321, + -0.6662413899599153, + -0.06290942710181344, + 0.14611396568449272, + -0.06978677941197747, + -0.9868031791858267 + ], + [ + 0.6527183810447339, + -0.7475928261024826, + 0.12273419004680446, + -0.7438062237808757, + -0.663142462288987, + -0.08363238711249221, + 0.14391322562980727, + -0.03670205810854556, + -0.9889094712962463 + ], + [ + 0.6439530970036826, + -0.7584628180449444, + 0.10029238506829435, + -0.7484263328252718, + -0.6517029279146981, + -0.12305006331215398, + 0.15868973877690096, + 0.004177007389397185, + -0.9873196642507368 + ], + [ + 0.6611441748239835, + -0.7395659748818324, + 0.12621627824254267, + -0.7301374319537177, + -0.6729426901076074, + -0.11852200762207343, + 0.17259116592787765, + -0.013795094338988373, + -0.9848969412155946 + ], + [ + 0.6579914214386915, + -0.7414401218818027, + 0.13158204656026612, + -0.7300580159272261, + -0.6709349745601632, + -0.1298520438512833, + 0.18456051228118303, + -0.010620996933006582, + -0.9827637619136435 + ], + [ + 0.6788904884680713, + -0.7184055154567017, + 0.1516615311441046, + -0.7063667281925443, + -0.6954061017706891, + -0.1321226661956762, + 0.20038400627331424, + -0.01743183815564632, + -0.9795623415834092 + ], + [ + 0.6867004596727555, + -0.7101291058044906, + 0.15543208090526295, + -0.6961664405098001, + -0.7039751048875711, + -0.1406105927960176, + 0.20927198998705132, + -0.011649239796964278, + -0.9777880800147912 + ], + [ + 0.7220827105306346, + -0.6778496976505481, + 0.13826187669705806, + -0.6593962646947156, + -0.7348239848672673, + -0.15884041478933117, + 0.20926807032939473, + 0.023526552209169133, + -0.9775752534110921 + ], + [ + 0.7480836871261296, + -0.6519822704367397, + 0.12365240026756176, + -0.6312510471483006, + -0.7566204625258713, + -0.17043353883936962, + 0.2046775818939372, + 0.04944284299361088, + -0.9775799162967497 + ], + [ + 0.7495312167036026, + -0.653869403018106, + 0.10323642275652065, + -0.6328450104051766, + -0.7535368976370578, + -0.17801499011260416, + 0.19419100904029882, + 0.06809513709703646, + -0.9785974168735818 + ], + [ + 0.7483033874929411, + -0.6596762730853479, + 0.06978004725431468, + -0.6396644276445064, + -0.74543607011841, + -0.1874952942680076, + 0.17570276114169314, + 0.09566754985179811, + -0.979783782082832 + ], + [ + 0.7409398954179265, + -0.6700109863056668, + 0.045753137682353444, + -0.6510530319861759, + -0.7333451445893892, + -0.19579287129202633, + 0.1647362161750727, + 0.11528303056771233, + -0.9795773588356583 + ], + [ + 0.7446178359951435, + -0.6668141388030022, + 0.03005299669450616, + -0.6461069896094618, + -0.7313370733585194, + -0.21838462196133326, + 0.16760082426917905, + 0.143195633396435, + -0.9753999047982758 + ], + [ + 0.7533002069977666, + -0.656353851149211, + 0.04169436675045671, + -0.6351269490334782, + -0.7424668318702734, + -0.21297127079478315, + 0.17074119815834624, + 0.1339500864281871, + -0.9761684371036249 + ], + [ + 0.7730818960191799, + -0.6326665876230474, + 0.04557818505379892, + -0.6140767514641629, + -0.7644941146923743, + -0.19610836777644913, + 0.1589154660774409, + 0.12361932497037464, + -0.9795224025693634 + ], + [ + 0.8165451984726431, + -0.5626295216432416, + 0.12923606395572923, + -0.5394225554151931, + -0.8233667537926515, + -0.1763249711705479, + 0.20561431263561197, + 0.07426446070933729, + -0.9758112237082213 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005705.json b/json/chunk-0005/episode_0005705.json new file mode 100644 index 0000000000000000000000000000000000000000..b0ced1def8876213f437deec657597caf458eeba --- /dev/null +++ b/json/chunk-0005/episode_0005705.json @@ -0,0 +1,802 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 12, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPick up pot from sink." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005705.mp4", + "start": 0, + "end": 12, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3785763680934906, + -0.04258837550878525, + 0.01386036816984415, + 0.0028132207226008177, + -0.10866677761077881, + 0.12399555742740631, + 0.0, + 1.0014774799346924 + ], + [ + 0.37022432684898376, + -0.043080080300569534, + -0.008403792977333069, + 0.006419210694730282, + -0.05411999672651291, + 0.12905152142047882, + 0.0, + 1.0014774799346924 + ], + [ + 0.3716570734977722, + -0.04551786184310913, + -0.01061968319118023, + -0.012975174933671951, + -0.07271400839090347, + 0.12893296778202057, + 0.0, + 1.0014774799346924 + ], + [ + 0.3715295195579529, + -0.04459244757890701, + -0.017490746453404427, + -0.03038426861166954, + -0.1030595526099205, + 0.13974043726921082, + 0.0, + 1.0014774799346924 + ], + [ + 0.3710790276527405, + -0.041225697845220566, + -0.02925385721027851, + -0.02419694885611534, + -0.12990064918994904, + 0.12253272533416748, + 0.0, + 1.0014774799346924 + ], + [ + 0.37306270003318787, + -0.04092215374112129, + -0.033427413552999496, + -0.02848699502646923, + -0.1493549644947052, + 0.1198231652379036, + 0.0, + 1.0014774799346924 + ], + [ + 0.3725554943084717, + -0.03923864662647247, + -0.03427792340517044, + -0.016929542645812035, + -0.14948232471942902, + 0.13532902300357819, + 0.0, + 0.7979477047920227 + ], + [ + 0.3661265969276428, + -0.039531443268060684, + -0.03454932942986488, + 0.006792027503252029, + -0.11057785898447037, + 0.13994163274765015, + 0.0, + 0.4747070372104645 + ], + [ + 0.3656136989593506, + -0.0417841337621212, + -0.030375270172953606, + 0.029367709532380104, + -0.09099783003330231, + 0.13627246022224426, + 0.0, + 0.2142026573419571 + ], + [ + 0.36996912956237793, + -0.042154375463724136, + -0.023954659700393677, + 0.05916665121912956, + -0.08589661866426468, + 0.1159757450222969, + 0.0, + 0.08123486489057541 + ], + [ + 0.370750367641449, + -0.03994886949658394, + -0.014280816540122032, + 0.08938650041818619, + -0.04373861476778984, + 0.1112775206565857, + 0.0, + 0.05350611358880997 + ], + [ + 0.3762444257736206, + -0.03822750225663185, + -0.0023090546019375324, + 0.11390778422355652, + -0.027892928570508957, + 0.08725018799304962, + 0.0, + 0.05350611358880997 + ] + ], + "left_gripper_pos": [ + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 0.7979477047920227 + ], + [ + 0.4747070372104645 + ], + [ + 0.2142026573419571 + ], + [ + 0.08123486489057541 + ], + [ + 0.05350611358880997 + ], + [ + 0.05350611358880997 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3785763680934906, + -0.04258837550878525, + 0.01386036816984415 + ], + [ + 0.37022432684898376, + -0.043080080300569534, + -0.008403792977333069 + ], + [ + 0.3716570734977722, + -0.04551786184310913, + -0.01061968319118023 + ], + [ + 0.3715295195579529, + -0.04459244757890701, + -0.017490746453404427 + ], + [ + 0.3710790276527405, + -0.041225697845220566, + -0.02925385721027851 + ], + [ + 0.37306270003318787, + -0.04092215374112129, + -0.033427413552999496 + ], + [ + 0.3725554943084717, + -0.03923864662647247, + -0.03427792340517044 + ], + [ + 0.3661265969276428, + -0.039531443268060684, + -0.03454932942986488 + ], + [ + 0.3656136989593506, + -0.0417841337621212, + -0.030375270172953606 + ], + [ + 0.36996912956237793, + -0.042154375463724136, + -0.023954659700393677 + ], + [ + 0.370750367641449, + -0.03994886949658394, + -0.014280816540122032 + ], + [ + 0.3762444257736206, + -0.03822750225663185, + -0.0023090546019375324 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9864692545217351, + 0.12398033515878196, + 0.10727202047714436, + 0.1229485590980427, + -0.9922807341630449, + 0.016204827199458104, + 0.10845303914159292, + -0.0027966234579023417, + -0.9940976396703632 + ], + [ + 0.9902324484014061, + 0.12903530598990956, + 0.05281654987830022, + 0.12850518511093248, + -0.9916192841412313, + 0.01332714218566308, + 0.05409358125102778, + -0.0064097681176710514, + -0.9985152974993002 + ], + [ + 0.9890790877904488, + 0.12763042219773657, + 0.07370911358333193, + 0.12823627849173186, + -0.9917373735742194, + -0.0035268590416327305, + 0.07264994820510196, + 0.012940524940514451, + -0.9972735471474511 + ], + [ + 0.9849979674681002, + 0.1361268946115099, + 0.10605881692314921, + 0.13854704359356446, + -0.9902304361994143, + -0.015760708607181224, + 0.10287721222503139, + 0.030218401475663927, + -0.9942349457834708 + ], + [ + 0.984140192085113, + 0.11907998992367054, + 0.13148398504173514, + 0.12119654703006676, + -0.9925947815011499, + -0.00818515269700602, + 0.12953562950271835, + 0.023990742724288732, + -0.9912845025283465 + ], + [ + 0.9817768787931095, + 0.11528023222964766, + 0.151078219225468, + 0.11820587259291306, + -0.9929336039500742, + -0.010499039540129908, + 0.14880030897752888, + 0.028166047003364038, + -0.9884660549783166 + ], + [ + 0.9798072601353183, + 0.13239891722854596, + 0.14982743307829124, + 0.13341178736936388, + -0.9910551451831827, + 0.0033157498175993656, + 0.14892625012748037, + 0.01673994989986237, + -0.9887066026381729 + ], + [ + 0.9841763410175897, + 0.14022428622338348, + 0.1083239554963314, + 0.13863341102925983, + -0.9900967530468133, + 0.022117797190258925, + 0.11035264893794287, + -0.006750493263439998, + -0.9938695707752999 + ], + [ + 0.9866301790709873, + 0.13843609546604702, + 0.08600196055013937, + 0.1352890076672632, + -0.9899395703777525, + 0.04143104397331409, + 0.09087229583739706, + -0.02924199843422135, + -0.9954331375721899 + ], + [ + 0.9896202680357813, + 0.12055237796798796, + 0.0782230736998484, + 0.11528930670699922, + -0.9909572392350049, + 0.06864492528043724, + 0.08579103013606965, + -0.05891412541997645, + -0.9945697687815528 + ], + [ + 0.9928645772963045, + 0.11448372344700498, + 0.03336777211532936, + 0.11094180617934753, + -0.9894139793903703, + 0.09355155278548975, + 0.043724670289150946, + -0.08918214200512269, + -0.9950551234758221 + ], + [ + 0.9958086135178477, + 0.08973271030021286, + 0.017698755488446904, + 0.08710563430597919, + -0.989464059822903, + 0.1156437754093652, + 0.027889311856243007, + -0.11361740632912175, + -0.9931330581866804 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.008352041244506836, + -0.0004917047917842865, + -0.022264160215854645, + 0.003605989972129464, + 0.0545467808842659, + 0.00505596399307251, + 1.0 + ], + [ + 0.0014327466487884521, + -0.0024377815425395966, + -0.0022158902138471603, + -0.019394386559724808, + -0.018594011664390564, + -0.00011855363845825195, + 1.0 + ], + [ + -0.00012755393981933594, + 0.0009254142642021179, + -0.006871063262224197, + -0.01740909367799759, + -0.03034554421901703, + 0.010807469487190247, + 1.0 + ], + [ + -0.00045049190521240234, + 0.003366749733686447, + -0.011763110756874084, + 0.006187319755554199, + -0.026841096580028534, + -0.017207711935043335, + 1.0 + ], + [ + 0.0019836723804473877, + 0.0003035441040992737, + -0.004173556342720985, + -0.0042900461703538895, + -0.019454315304756165, + -0.0027095600962638855, + 1.0 + ], + [ + -0.0005072057247161865, + 0.001683507114648819, + -0.0008505098521709442, + 0.011557452380657196, + -0.00012736022472381592, + 0.015505857765674591, + 0.0 + ], + [ + -0.006428897380828857, + -0.00029279664158821106, + -0.00027140602469444275, + 0.023721570149064064, + 0.03890446573495865, + 0.0046126097440719604, + 0.0 + ], + [ + -0.0005128979682922363, + -0.0022526904940605164, + 0.004174059256911278, + 0.022575682029128075, + 0.01958002895116806, + -0.003669172525405884, + 0.0 + ], + [ + 0.004355430603027344, + -0.0003702417016029358, + 0.006420610472559929, + 0.02979894168674946, + 0.005101211369037628, + -0.020296715199947357, + 0.0 + ], + [ + 0.0007812380790710449, + 0.0022055059671401978, + 0.009673843160271645, + 0.030219849199056625, + 0.04215800389647484, + -0.004698224365711212, + 0.0 + ], + [ + 0.005494058132171631, + 0.0017213672399520874, + 0.011971762403845787, + 0.02452128380537033, + 0.015845686197280884, + -0.024027332663536072, + 0.0 + ], + [ + 0.008450478315353394, + -0.0020914226770401, + 0.03393378481268883, + 0.026237115263938904, + -0.01408841460943222, + -0.011629939079284668, + 0.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 0.7979477047920227 + ], + [ + 0.4747070372104645 + ], + [ + 0.2142026573419571 + ], + [ + 0.08123486489057541 + ], + [ + 0.05350611358880997 + ], + [ + 0.05350611358880997 + ], + [ + 0.05350611358880997 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.37022432684898376, + -0.043080080300569534, + -0.008403792977333069 + ], + [ + 0.3716570734977722, + -0.04551786184310913, + -0.01061968319118023 + ], + [ + 0.3715295195579529, + -0.04459244757890701, + -0.017490746453404427 + ], + [ + 0.3710790276527405, + -0.041225697845220566, + -0.02925385721027851 + ], + [ + 0.37306270003318787, + -0.04092215374112129, + -0.033427413552999496 + ], + [ + 0.3725554943084717, + -0.03923864662647247, + -0.03427792340517044 + ], + [ + 0.3661265969276428, + -0.039531443268060684, + -0.03454932942986488 + ], + [ + 0.3656136989593506, + -0.0417841337621212, + -0.030375270172953606 + ], + [ + 0.36996912956237793, + -0.042154375463724136, + -0.023954659700393677 + ], + [ + 0.370750367641449, + -0.03994886949658394, + -0.014280816540122032 + ], + [ + 0.3762444257736206, + -0.03822750225663185, + -0.0023090546019375324 + ], + [ + 0.384694904088974, + -0.04031892493367195, + 0.03162473067641258 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9902324484014061, + 0.12903530598990956, + 0.05281654987830022, + 0.12850518511093248, + -0.9916192841412313, + 0.01332714218566308, + 0.05409358125102778, + -0.0064097681176710514, + -0.9985152974993002 + ], + [ + 0.9890790877904488, + 0.12763042219773657, + 0.07370911358333193, + 0.12823627849173186, + -0.9917373735742194, + -0.0035268590416327305, + 0.07264994820510196, + 0.012940524940514451, + -0.9972735471474511 + ], + [ + 0.9849979674681002, + 0.1361268946115099, + 0.10605881692314921, + 0.13854704359356446, + -0.9902304361994143, + -0.015760708607181224, + 0.10287721222503139, + 0.030218401475663927, + -0.9942349457834708 + ], + [ + 0.984140192085113, + 0.11907998992367054, + 0.13148398504173514, + 0.12119654703006676, + -0.9925947815011499, + -0.00818515269700602, + 0.12953562950271835, + 0.023990742724288732, + -0.9912845025283465 + ], + [ + 0.9817768787931095, + 0.11528023222964766, + 0.151078219225468, + 0.11820587259291306, + -0.9929336039500742, + -0.010499039540129908, + 0.14880030897752888, + 0.028166047003364038, + -0.9884660549783166 + ], + [ + 0.9798072601353183, + 0.13239891722854596, + 0.14982743307829124, + 0.13341178736936388, + -0.9910551451831827, + 0.0033157498175993656, + 0.14892625012748037, + 0.01673994989986237, + -0.9887066026381729 + ], + [ + 0.9841763410175897, + 0.14022428622338348, + 0.1083239554963314, + 0.13863341102925983, + -0.9900967530468133, + 0.022117797190258925, + 0.11035264893794287, + -0.006750493263439998, + -0.9938695707752999 + ], + [ + 0.9866301790709873, + 0.13843609546604702, + 0.08600196055013937, + 0.1352890076672632, + -0.9899395703777525, + 0.04143104397331409, + 0.09087229583739706, + -0.02924199843422135, + -0.9954331375721899 + ], + [ + 0.9896202680357813, + 0.12055237796798796, + 0.0782230736998484, + 0.11528930670699922, + -0.9909572392350049, + 0.06864492528043724, + 0.08579103013606965, + -0.05891412541997645, + -0.9945697687815528 + ], + [ + 0.9928645772963045, + 0.11448372344700498, + 0.03336777211532936, + 0.11094180617934753, + -0.9894139793903703, + 0.09355155278548975, + 0.043724670289150946, + -0.08918214200512269, + -0.9950551234758221 + ], + [ + 0.9958086135178477, + 0.08973271030021286, + 0.017698755488446904, + 0.08710563430597919, + -0.989464059822903, + 0.1156437754093652, + 0.027889311856243007, + -0.11361740632912175, + -0.9931330581866804 + ], + [ + 0.9962635820745018, + 0.08065326021342648, + 0.030885702987434455, + 0.07548163355311141, + -0.9869230343894823, + 0.14242698897193198, + 0.04196901271457916, + -0.13956351890233473, + -0.9893233173049958 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005706.json b/json/chunk-0005/episode_0005706.json new file mode 100644 index 0000000000000000000000000000000000000000..1987c0fcde1ac2343b2e9ae6a8ec1508b52c75bd --- /dev/null +++ b/json/chunk-0005/episode_0005706.json @@ -0,0 +1,2182 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 35, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove green cloth diagonally and keep it on the center of the table." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005706.mp4", + "start": 0, + "end": 35, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3386842608451843, + -0.05887782573699951, + 0.16334477066993713, + 0.015557756647467613, + -0.17493346333503723, + 0.019782602787017822, + 0.0, + 1.0060625076293945 + ], + [ + 0.3360053598880768, + -0.059232521802186966, + 0.15113256871700287, + 0.015424175187945366, + -0.13692574203014374, + 0.01664045825600624, + 0.0, + 1.0060625076293945 + ], + [ + 0.3183254301548004, + -0.025904618203639984, + 0.14884327352046967, + -0.020447945222258568, + -0.13037031888961792, + 0.054346535354852676, + 0.0, + 1.0060625076293945 + ], + [ + 0.2949981689453125, + -0.0020634576212614775, + 0.15602460503578186, + -0.028360160067677498, + -0.14975538849830627, + 0.03242146968841553, + 0.0, + 1.0060625076293945 + ], + [ + 0.272611141204834, + 0.037138115614652634, + 0.16030406951904297, + -0.010905148461461067, + -0.1769944429397583, + 0.05105406790971756, + 0.0, + 1.0060625076293945 + ], + [ + 0.2512548863887787, + 0.08329696953296661, + 0.1497962325811386, + -0.01016922015696764, + -0.17692486941814423, + 0.04025087133049965, + 0.0, + 1.0041072368621826 + ], + [ + 0.2524226903915405, + 0.10484737157821655, + 0.13407739996910095, + 0.041280053555965424, + -0.14322568476200104, + -0.024607885628938675, + 0.0, + 1.0027955770492554 + ], + [ + 0.2524387240409851, + 0.13256540894508362, + 0.10810601711273193, + 0.07917790114879608, + -0.06762862205505371, + -0.06987866759300232, + 0.0, + 1.0027955770492554 + ], + [ + 0.2546990215778351, + 0.1392538845539093, + 0.08393973857164383, + 0.0768992006778717, + -0.01153924223035574, + -0.08311427384614944, + 0.0, + 1.0027955770492554 + ], + [ + 0.257755845785141, + 0.13685296475887299, + 0.06650816649198532, + 0.07288848608732224, + 0.028038902208209038, + -0.10158495604991913, + 0.0, + 1.0027955770492554 + ], + [ + 0.2539500892162323, + 0.13616745173931122, + 0.05406845360994339, + 0.06557660549879074, + 0.05234086886048317, + -0.10727287828922272, + 0.0, + 1.0027955770492554 + ], + [ + 0.2445952594280243, + 0.13892491161823273, + 0.044578809291124344, + 0.0716453269124031, + 0.0536724328994751, + -0.08825253695249557, + 0.0, + 1.002137303352356 + ], + [ + 0.2416542023420334, + 0.1433354914188385, + 0.03728847578167915, + 0.08583202958106995, + 0.02051747404038906, + -0.044885240495204926, + 0.0, + 1.0014774799346924 + ], + [ + 0.24158014357089996, + 0.14608365297317505, + 0.03336435556411743, + 0.08116499334573746, + -0.016746869310736656, + -0.019839001819491386, + 0.0, + 1.0014774799346924 + ], + [ + 0.24228543043136597, + 0.144856795668602, + 0.02592393569648266, + 0.0844055786728859, + -0.06485966593027115, + -0.024198153987526894, + 0.0, + 1.0014774799346924 + ], + [ + 0.2419571429491043, + 0.15190504491329193, + 0.006496597547084093, + 0.08033310621976852, + -0.11476436257362366, + 0.011314054019749165, + 0.0, + 1.0014774799346924 + ], + [ + 0.2488422840833664, + 0.14873015880584717, + 0.004532411694526672, + 0.12160299718379974, + -0.13479605317115784, + -0.012872003950178623, + 0.0, + 1.0014774799346924 + ], + [ + 0.2586980164051056, + 0.14461542665958405, + 0.0048127188347280025, + 0.15413697063922882, + -0.12425188720226288, + -0.07653878629207611, + 0.0, + 1.0014774799346924 + ], + [ + 0.26675257086753845, + 0.1427464336156845, + 0.004067892208695412, + 0.12192845344543457, + -0.13014249503612518, + -0.04864095523953438, + 0.0, + 1.0014774799346924 + ], + [ + 0.2749091684818268, + 0.13413715362548828, + 0.0021157541777938604, + 0.04143619164824486, + -0.10692322999238968, + -0.040409281849861145, + 0.0, + 1.002137303352356 + ], + [ + 0.29175111651420593, + 0.1166946291923523, + 0.004376400262117386, + -0.055574025958776474, + -0.10392333567142487, + -0.007736113388091326, + 0.0, + 1.0014774799346924 + ], + [ + 0.31681588292121887, + 0.09447622299194336, + 0.007227526977658272, + -0.1318398267030716, + -0.09348441660404205, + -0.02561003342270851, + 0.0, + 1.0014774799346924 + ], + [ + 0.34022361040115356, + 0.08068878948688507, + 0.009066314436495304, + -0.1641227751970291, + -0.08582735061645508, + -0.06456232070922852, + 0.0, + 1.0008161067962646 + ], + [ + 0.3617161810398102, + 0.07949129492044449, + 0.009623885154724121, + -0.1903085559606552, + -0.07760892063379288, + -0.06059984490275383, + 0.0, + 1.0001531839370728 + ], + [ + 0.3807465434074402, + 0.08008511364459991, + 0.01040908508002758, + -0.1414434015750885, + -0.083467997610569, + -0.09267886728048325, + 0.0, + 1.0001531839370728 + ], + [ + 0.38698023557662964, + 0.08423458784818649, + 0.011448129080235958, + -0.11285688728094101, + -0.08427517116069794, + -0.09763889014720917, + 0.0, + 0.9994885921478271 + ], + [ + 0.38404950499534607, + 0.0838480293750763, + 0.011110956780612469, + -0.11330705136060715, + -0.07656627148389816, + -0.0900643989443779, + 0.0, + 0.9994885921478271 + ], + [ + 0.37393492460250854, + 0.07452329248189926, + 0.01570909470319748, + -0.1326596736907959, + -0.06657204031944275, + -0.07541350275278091, + 0.0, + 0.9968144297599792 + ], + [ + 0.37901008129119873, + 0.05280075594782829, + 0.057840440422296524, + -0.14575757086277008, + -0.12072347104549408, + -0.07586165517568588, + 0.0, + 0.9994885921478271 + ], + [ + 0.3917211592197418, + 0.04417535290122032, + 0.1118912324309349, + -0.15712521970272064, + -0.20154041051864624, + -0.037388499826192856, + 0.0, + 1.0001531839370728 + ], + [ + 0.3960022032260895, + 0.04657438397407532, + 0.15426330268383026, + -0.12508195638656616, + -0.2473224401473999, + -0.005780396983027458, + 0.0, + 0.9994885921478271 + ], + [ + 0.3826688230037689, + 0.04609339311718941, + 0.1813373863697052, + -0.06774581968784332, + -0.2635725438594818, + 0.02051287330687046, + 0.0, + 1.0001531839370728 + ], + [ + 0.35590824484825134, + 0.04645129293203354, + 0.18224458396434784, + -0.020672423765063286, + -0.19712796807289124, + 0.03362138569355011, + 0.0, + 1.0001531839370728 + ], + [ + 0.32446861267089844, + 0.041429754346609116, + 0.1912917047739029, + -0.029012586921453476, + -0.16637831926345825, + 0.051445260643959045, + 0.0, + 1.0001531839370728 + ], + [ + 0.3087780177593231, + 0.033572807908058167, + 0.1878635585308075, + -0.0645994246006012, + -0.15201818943023682, + 0.04897800832986832, + 0.0, + 1.0001531839370728 + ] + ], + "left_gripper_pos": [ + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0041072368621826 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.002137303352356 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.002137303352356 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9968144297599792 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3386842608451843, + -0.05887782573699951, + 0.16334477066993713 + ], + [ + 0.3360053598880768, + -0.059232521802186966, + 0.15113256871700287 + ], + [ + 0.3183254301548004, + -0.025904618203639984, + 0.14884327352046967 + ], + [ + 0.2949981689453125, + -0.0020634576212614775, + 0.15602460503578186 + ], + [ + 0.272611141204834, + 0.037138115614652634, + 0.16030406951904297 + ], + [ + 0.2512548863887787, + 0.08329696953296661, + 0.1497962325811386 + ], + [ + 0.2524226903915405, + 0.10484737157821655, + 0.13407739996910095 + ], + [ + 0.2524387240409851, + 0.13256540894508362, + 0.10810601711273193 + ], + [ + 0.2546990215778351, + 0.1392538845539093, + 0.08393973857164383 + ], + [ + 0.257755845785141, + 0.13685296475887299, + 0.06650816649198532 + ], + [ + 0.2539500892162323, + 0.13616745173931122, + 0.05406845360994339 + ], + [ + 0.2445952594280243, + 0.13892491161823273, + 0.044578809291124344 + ], + [ + 0.2416542023420334, + 0.1433354914188385, + 0.03728847578167915 + ], + [ + 0.24158014357089996, + 0.14608365297317505, + 0.03336435556411743 + ], + [ + 0.24228543043136597, + 0.144856795668602, + 0.02592393569648266 + ], + [ + 0.2419571429491043, + 0.15190504491329193, + 0.006496597547084093 + ], + [ + 0.2488422840833664, + 0.14873015880584717, + 0.004532411694526672 + ], + [ + 0.2586980164051056, + 0.14461542665958405, + 0.0048127188347280025 + ], + [ + 0.26675257086753845, + 0.1427464336156845, + 0.004067892208695412 + ], + [ + 0.2749091684818268, + 0.13413715362548828, + 0.0021157541777938604 + ], + [ + 0.29175111651420593, + 0.1166946291923523, + 0.004376400262117386 + ], + [ + 0.31681588292121887, + 0.09447622299194336, + 0.007227526977658272 + ], + [ + 0.34022361040115356, + 0.08068878948688507, + 0.009066314436495304 + ], + [ + 0.3617161810398102, + 0.07949129492044449, + 0.009623885154724121 + ], + [ + 0.3807465434074402, + 0.08008511364459991, + 0.01040908508002758 + ], + [ + 0.38698023557662964, + 0.08423458784818649, + 0.011448129080235958 + ], + [ + 0.38404950499534607, + 0.0838480293750763, + 0.011110956780612469 + ], + [ + 0.37393492460250854, + 0.07452329248189926, + 0.01570909470319748 + ], + [ + 0.37901008129119873, + 0.05280075594782829, + 0.057840440422296524 + ], + [ + 0.3917211592197418, + 0.04417535290122032, + 0.1118912324309349 + ], + [ + 0.3960022032260895, + 0.04657438397407532, + 0.15426330268383026 + ], + [ + 0.3826688230037689, + 0.04609339311718941, + 0.1813373863697052 + ], + [ + 0.35590824484825134, + 0.04645129293203354, + 0.18224458396434784 + ], + [ + 0.32446861267089844, + 0.041429754346609116, + 0.1912917047739029 + ], + [ + 0.3087780177593231, + 0.033572807908058167, + 0.1878635585308075 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9845454382760862, + 0.0224859922176965, + 0.17367976313818342, + 0.01947941249576148, + -0.999629774969858, + 0.018996459736790292, + 0.17404261678844576, + -0.015319698028917394, + -0.9846189488293091 + ], + [ + 0.9905031543880187, + 0.018742709439294642, + 0.13620650494840195, + 0.016483947916171405, + -0.9997075856338998, + 0.01769244717770465, + 0.1364982806063205, + -0.015279203804946654, + -0.9905224708822133 + ], + [ + 0.9900499393199844, + 0.05165428076775896, + 0.13089290634278472, + 0.053858819305750254, + -0.9984592332425198, + -0.013356164709608497, + 0.13000132782201124, + 0.02027300745141614, + -0.991306541859474 + ], + [ + 0.9882879547670331, + 0.02817431549702653, + 0.1499770862787675, + 0.032052979603971604, + -0.9992096994041727, + -0.023507086487487186, + 0.14919626322700658, + 0.028038982914806894, + -0.9884099809675139 + ], + [ + 0.9830947119566728, + 0.049111308561070065, + 0.17638839727784184, + 0.05023463759857696, + -0.9987356248864907, + -0.0019059821432456598, + 0.17607177090086312, + 0.01073456817995486, + -0.9843188002562095 + ], + [ + 0.9835922662261879, + 0.03844958728840013, + 0.17626083812742907, + 0.039611840205562576, + -0.9992103998131986, + -0.0030788018248944444, + 0.1760032838772079, + 0.0100103018186115, + -0.9843386804966772 + ], + [ + 0.9894610645708604, + -0.018695726798694055, + 0.1435871564512951, + -0.024353460639786117, + -0.998990536811222, + 0.037746739150464635, + 0.14273650777977753, + -0.04084577286691273, + -0.988917545696171 + ], + [ + 0.9952791143317732, + -0.06427108647193029, + 0.07272353139581851, + -0.06966220282137116, + -0.9948073916294924, + 0.07419859201763628, + 0.06757708245429873, + -0.07891439034195948, + -0.9945882851330602 + ], + [ + 0.9964816501311172, + -0.0818898666399867, + 0.017842945206754987, + -0.08301308782725829, + -0.9936765045790397, + 0.07560311830186563, + 0.011538986149136711, + -0.07681831805804641, + -0.9969783336709896 + ], + [ + 0.9944536461035774, + -0.1031721759631405, + -0.020431540772337407, + -0.10137046768667056, + -0.9919961394541744, + 0.07528404604562547, + -0.02803522841509571, + -0.07279533923985074, + -0.9969527895305116 + ], + [ + 0.9928901816843885, + -0.11024573351287356, + -0.04488836549653234, + -0.10692063126290541, + -0.9917477002775696, + 0.07074233247846372, + -0.052316973584904766, + -0.06543987497207, + -0.9964840977349092 + ], + [ + 0.9946738566209075, + -0.09173721093135229, + -0.04699152142064752, + -0.08801110180624852, + -0.9932143552548058, + 0.07602164477720028, + -0.053646667312525174, + -0.07148096702141934, + -0.9959982462032462 + ], + [ + 0.9987825627036729, + -0.046461989624657925, + -0.01657335087428089, + -0.04486072631789779, + -0.995236310282274, + 0.08655750649109666, + -0.0205160345416584, + -0.0857086355966757, + -0.996108991080214 + ], + [ + 0.999663015513865, + -0.018414956377568868, + 0.018296032229362394, + -0.019834918700666525, + -0.9965387248239402, + 0.08072884197368707, + 0.016746086523829418, + -0.0810645379181725, + -0.9965681658964675 + ], + [ + 0.9976052036699308, + -0.018647067696305523, + 0.06660438782096491, + -0.024144917211848728, + -0.9962804549854423, + 0.08271806324396809, + 0.06481420047728022, + -0.08412812775956406, + -0.9943447981138944 + ], + [ + 0.9933582131490708, + 0.020465999877359666, + 0.11322810259959623, + 0.011239388065138089, + -0.9966072685116322, + 0.08153299029046142, + 0.11451260421982382, + -0.07971885096263719, + -0.990218040774854 + ], + [ + 0.9908466682542054, + 0.003523816266107621, + 0.13494614751249162, + -0.012754886681523976, + -0.992743061280692, + 0.1195764489553927, + 0.13438821702545917, + -0.12020314886874998, + -0.9836112088252935 + ], + [ + 0.9893855674298269, + -0.05658623785115719, + 0.13384392644947177, + -0.07587459088631832, + -0.9867063266943076, + 0.14371385221773153, + 0.12393242279320275, + -0.15234376438593877, + -0.9805264565698002 + ], + [ + 0.990370675310435, + -0.03249533353629903, + 0.13457332121753587, + -0.048210602858580025, + -0.9921694261438995, + 0.11521964935417074, + 0.12977543395098198, + -0.12059802288450032, + -0.9841821242123758 + ], + [ + 0.9934774734388411, + -0.03594642908108614, + 0.10821443529351917, + -0.04016757696293799, + -0.9985045929070722, + 0.037082930094699734, + 0.10671961174265605, + -0.04118776735634476, + -0.993435701135054 + ], + [ + 0.9945750663227847, + -0.01348600145600272, + 0.10314342060333814, + -0.0076942989813793645, + -0.9983817081777642, + -0.05634503118496544, + 0.10373637362185731, + 0.05524574681166213, + -0.9930693189536207 + ], + [ + 0.9953070262036621, + -0.037652386200364804, + 0.08914158066267981, + -0.02549542037685007, + -0.9906824013929555, + -0.1337847641179462, + 0.09334831080116111, + 0.13088421365353953, + -0.9869931182570951 + ], + [ + 0.994243339442315, + -0.07762717518875902, + 0.07385258050201958, + -0.06427999479561307, + -0.9836030134018158, + -0.16850280204181578, + 0.08572201726318344, + 0.16278554511712984, + -0.9829306191472771 + ], + [ + 0.9951598555549792, + -0.07410835223464218, + 0.06453537030852961, + -0.060380463556594176, + -0.9792552378798782, + -0.19342538278497418, + 0.07753103580169456, + 0.18859250041793596, + -0.9789901977413396 + ], + [ + 0.992241896536721, + -0.10332461378827787, + 0.0691378546291015, + -0.09222405528362151, + -0.9846770956842482, + -0.14800588117327637, + 0.08337111240864593, + 0.14048146290645505, + -0.9865668837921774 + ], + [ + 0.9917049620174029, + -0.1062981506429143, + 0.07226320972637702, + -0.09713785134678675, + -0.9879817164500048, + -0.12023462810784792, + 0.08417544859275543, + 0.11221778437662737, + -0.99011194454153 + ], + [ + 0.9930290521107461, + -0.09797937894071675, + 0.06552360617689305, + -0.08967917635570959, + -0.9887826849744121, + -0.11944223383273594, + 0.07649148313501762, + 0.1127335052111122, + -0.9906766424069064 + ], + [ + 0.9949489450759491, + -0.08345408878327087, + 0.055785408106514715, + -0.07517515101989333, + -0.987733387113309, + -0.13686289727609446, + 0.06652287848096088, + 0.13197791878577453, + -0.9890179652521907 + ], + [ + 0.9898665851290224, + -0.09242651057200214, + 0.10780298599060698, + -0.07523730294945218, + -0.98522487464495, + -0.1538547842146429, + 0.1204304441987149, + 0.14418490394048036, + -0.9821951036254326 + ], + [ + 0.9790746598419905, + -0.06822130098287792, + 0.19172549269070607, + -0.036623199529127154, + -0.9858200689483358, + -0.16376059634401632, + 0.20017879935582625, + 0.15331224918740735, + -0.9676899309890322 + ], + [ + 0.9695551885109039, + -0.03627606833520776, + 0.2421709794705492, + -0.005604476307455019, + -0.9919943298000501, + -0.1261579941575999, + 0.24480875449400294, + 0.12095989629083341, + -0.9619965577965475 + ], + [ + 0.965262265336484, + 0.002831680655619376, + 0.2612675653466088, + 0.019803080201306673, + -0.9978579786014395, + -0.06234815599510709, + 0.2605313745636416, + 0.06535622484594855, + -0.9632507289080376 + ], + [ + 0.9800789192058214, + 0.02956167435954232, + 0.1963960782129046, + 0.032964033109908884, + -0.9993573982272652, + -0.01407704264253928, + 0.1958537327943427, + 0.0202706195635806, + -0.9804235907672921 + ], + [ + 0.9848862801827561, + 0.046603134580997456, + 0.1668147564066183, + 0.05071247808347839, + -0.9985037474475287, + -0.02045753894961605, + 0.16561177396069005, + 0.02860793911605261, + -0.9857760020131987 + ], + [ + 0.987282116718666, + 0.03909232833295372, + 0.15409676139692058, + 0.04839381435114124, + -0.9971961042187742, + -0.057078616516582976, + 0.1514333541200822, + 0.06381002739701971, + -0.9864057074366175 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.002678900957107544, + -0.0003546960651874542, + -0.012212201952934265, + -0.00013358145952224731, + 0.038007721304893494, + -0.0031421445310115814, + 1.0 + ], + [ + -0.017679929733276367, + 0.03332790359854698, + -0.002289295196533203, + -0.035872120410203934, + 0.006555423140525818, + 0.037706077098846436, + 1.0 + ], + [ + -0.023327261209487915, + 0.023841161280870438, + 0.007181331515312195, + -0.00791221484541893, + -0.019385069608688354, + -0.02192506566643715, + 1.0 + ], + [ + -0.022387027740478516, + 0.03920157253742218, + 0.004279464483261108, + 0.01745501160621643, + -0.027239054441452026, + 0.018632598221302032, + 1.0 + ], + [ + -0.021356254816055298, + 0.04615885391831398, + -0.010507836937904358, + 0.0007359283044934273, + 6.957352161407471e-05, + -0.01080319657921791, + 1.0 + ], + [ + 0.0011678040027618408, + 0.02155040204524994, + -0.01571883261203766, + 0.05144927278161049, + 0.03369918465614319, + -0.06485875695943832, + 1.0 + ], + [ + 1.6033649444580078e-05, + 0.027718037366867065, + -0.02597138285636902, + 0.03789784759283066, + 0.07559706270694733, + -0.045270781964063644, + 1.0 + ], + [ + 0.0022602975368499756, + 0.006688475608825684, + -0.024166278541088104, + -0.0022787004709243774, + 0.0560893788933754, + -0.013235606253147125, + 1.0 + ], + [ + 0.003056824207305908, + -0.002400919795036316, + -0.01743157207965851, + -0.004010714590549469, + 0.0395781435072422, + -0.018470682203769684, + 1.0 + ], + [ + -0.0038057565689086914, + -0.0006855130195617676, + -0.012439712882041931, + -0.007311880588531494, + 0.024301966652274132, + -0.005687922239303589, + 1.0 + ], + [ + -0.009354829788208008, + 0.002757459878921509, + -0.009489644318819046, + 0.006068721413612366, + 0.001331564038991928, + 0.019020341336727142, + 1.0 + ], + [ + -0.0029410570859909058, + 0.004410579800605774, + -0.00729033350944519, + 0.01418670266866684, + -0.03315495699644089, + 0.04336729645729065, + 1.0 + ], + [ + -7.405877113342285e-05, + 0.002748161554336548, + -0.003924120217561722, + -0.004667036235332489, + -0.03726434335112572, + 0.02504623867571354, + 1.0 + ], + [ + 0.0007052868604660034, + -0.001226857304573059, + -0.007440419867634773, + 0.0032405853271484375, + -0.04811279475688934, + -0.004359152168035507, + 1.0 + ], + [ + -0.0003282874822616577, + 0.007048249244689941, + -0.019427338615059853, + -0.004072472453117371, + -0.04990469664335251, + 0.03551220893859863, + 1.0 + ], + [ + 0.006885141134262085, + -0.003174886107444763, + -0.0019641858525574207, + 0.04126989096403122, + -0.02003169059753418, + -0.024186057969927788, + 1.0 + ], + [ + 0.009855732321739197, + -0.0041147321462631226, + 0.0002803071402013302, + 0.03253397345542908, + 0.010544165968894958, + -0.06366678327322006, + 1.0 + ], + [ + 0.008054554462432861, + -0.0018689930438995361, + -0.0007448266260325909, + -0.03220851719379425, + -0.005890607833862305, + 0.027897831052541733, + 1.0 + ], + [ + 0.00815659761428833, + -0.008609279990196228, + -0.0019521380309015512, + -0.08049225807189941, + 0.023219265043735504, + 0.008231673389673233, + 1.0 + ], + [ + 0.01684194803237915, + -0.017442524433135986, + 0.0022606460843235254, + -0.09701021760702133, + 0.0029998943209648132, + 0.03267316892743111, + 1.0 + ], + [ + 0.02506476640701294, + -0.022218406200408936, + 0.002851126715540886, + -0.07626579701900482, + 0.010438919067382812, + -0.017873920500278473, + 1.0 + ], + [ + 0.023407727479934692, + -0.013787433505058289, + 0.0018387874588370323, + -0.03228294849395752, + 0.007657065987586975, + -0.038952287286520004, + 1.0 + ], + [ + 0.021492570638656616, + -0.0011974945664405823, + 0.000557570718228817, + -0.0261857807636261, + 0.008218429982662201, + 0.003962475806474686, + 1.0 + ], + [ + 0.019030362367630005, + 0.000593818724155426, + 0.0007851999253034592, + 0.04886515438556671, + -0.005859076976776123, + -0.032079022377729416, + 1.0 + ], + [ + 0.006233692169189453, + 0.004149474203586578, + 0.0010390440002083778, + 0.02858651429414749, + -0.0008071735501289368, + -0.004960022866725922, + 1.0 + ], + [ + -0.0029307305812835693, + -0.000386558473110199, + -0.0003371722996234894, + -0.0004501640796661377, + 0.007708899676799774, + 0.007574491202831268, + 1.0 + ], + [ + -0.010114580392837524, + -0.009324736893177032, + 0.0045981379225850105, + -0.01935262233018875, + 0.009994231164455414, + 0.014650896191596985, + 1.0 + ], + [ + 0.0050751566886901855, + -0.02172253653407097, + 0.042131345719099045, + -0.013097897171974182, + -0.05415143072605133, + -0.00044815242290496826, + 1.0 + ], + [ + 0.01271107792854309, + -0.008625403046607971, + 0.05405079200863838, + -0.011367648839950562, + -0.08081693947315216, + 0.03847315534949303, + 1.0 + ], + [ + 0.004281044006347656, + 0.0023990310728549957, + 0.042372070252895355, + 0.03204326331615448, + -0.04578202962875366, + 0.03160810470581055, + 1.0 + ], + [ + -0.013333380222320557, + -0.00048099085688591003, + 0.02707408368587494, + 0.05733613669872284, + -0.01625010371208191, + 0.02629327028989792, + 1.0 + ], + [ + -0.026760578155517578, + 0.00035789981484413147, + 0.0009071975946426392, + 0.04707339406013489, + 0.06644457578659058, + 0.01310851238667965, + 1.0 + ], + [ + -0.031439632177352905, + -0.005021538585424423, + 0.009047120809555054, + -0.00834016315639019, + 0.030749648809432983, + 0.017823874950408936, + 1.0 + ], + [ + -0.015690594911575317, + -0.007856946438550949, + -0.003428146243095398, + -0.03558683767914772, + 0.014360129833221436, + -0.0024672523140907288, + 1.0 + ], + [ + -0.0017807483673095703, + -0.007369214668869972, + -0.007327839732170105, + -0.040614910423755646, + 0.007271572947502136, + -0.03685980662703514, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0041072368621826 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.002137303352356 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.002137303352356 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9968144297599792 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3360053598880768, + -0.059232521802186966, + 0.15113256871700287 + ], + [ + 0.3183254301548004, + -0.025904618203639984, + 0.14884327352046967 + ], + [ + 0.2949981689453125, + -0.0020634576212614775, + 0.15602460503578186 + ], + [ + 0.272611141204834, + 0.037138115614652634, + 0.16030406951904297 + ], + [ + 0.2512548863887787, + 0.08329696953296661, + 0.1497962325811386 + ], + [ + 0.2524226903915405, + 0.10484737157821655, + 0.13407739996910095 + ], + [ + 0.2524387240409851, + 0.13256540894508362, + 0.10810601711273193 + ], + [ + 0.2546990215778351, + 0.1392538845539093, + 0.08393973857164383 + ], + [ + 0.257755845785141, + 0.13685296475887299, + 0.06650816649198532 + ], + [ + 0.2539500892162323, + 0.13616745173931122, + 0.05406845360994339 + ], + [ + 0.2445952594280243, + 0.13892491161823273, + 0.044578809291124344 + ], + [ + 0.2416542023420334, + 0.1433354914188385, + 0.03728847578167915 + ], + [ + 0.24158014357089996, + 0.14608365297317505, + 0.03336435556411743 + ], + [ + 0.24228543043136597, + 0.144856795668602, + 0.02592393569648266 + ], + [ + 0.2419571429491043, + 0.15190504491329193, + 0.006496597547084093 + ], + [ + 0.2488422840833664, + 0.14873015880584717, + 0.004532411694526672 + ], + [ + 0.2586980164051056, + 0.14461542665958405, + 0.0048127188347280025 + ], + [ + 0.26675257086753845, + 0.1427464336156845, + 0.004067892208695412 + ], + [ + 0.2749091684818268, + 0.13413715362548828, + 0.0021157541777938604 + ], + [ + 0.29175111651420593, + 0.1166946291923523, + 0.004376400262117386 + ], + [ + 0.31681588292121887, + 0.09447622299194336, + 0.007227526977658272 + ], + [ + 0.34022361040115356, + 0.08068878948688507, + 0.009066314436495304 + ], + [ + 0.3617161810398102, + 0.07949129492044449, + 0.009623885154724121 + ], + [ + 0.3807465434074402, + 0.08008511364459991, + 0.01040908508002758 + ], + [ + 0.38698023557662964, + 0.08423458784818649, + 0.011448129080235958 + ], + [ + 0.38404950499534607, + 0.0838480293750763, + 0.011110956780612469 + ], + [ + 0.37393492460250854, + 0.07452329248189926, + 0.01570909470319748 + ], + [ + 0.37901008129119873, + 0.05280075594782829, + 0.057840440422296524 + ], + [ + 0.3917211592197418, + 0.04417535290122032, + 0.1118912324309349 + ], + [ + 0.3960022032260895, + 0.04657438397407532, + 0.15426330268383026 + ], + [ + 0.3826688230037689, + 0.04609339311718941, + 0.1813373863697052 + ], + [ + 0.35590824484825134, + 0.04645129293203354, + 0.18224458396434784 + ], + [ + 0.32446861267089844, + 0.041429754346609116, + 0.1912917047739029 + ], + [ + 0.3087780177593231, + 0.033572807908058167, + 0.1878635585308075 + ], + [ + 0.30699726939201355, + 0.026203593239188194, + 0.1805357187986374 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9905031543880187, + 0.018742709439294642, + 0.13620650494840195, + 0.016483947916171405, + -0.9997075856338998, + 0.01769244717770465, + 0.1364982806063205, + -0.015279203804946654, + -0.9905224708822133 + ], + [ + 0.9900499393199844, + 0.05165428076775896, + 0.13089290634278472, + 0.053858819305750254, + -0.9984592332425198, + -0.013356164709608497, + 0.13000132782201124, + 0.02027300745141614, + -0.991306541859474 + ], + [ + 0.9882879547670331, + 0.02817431549702653, + 0.1499770862787675, + 0.032052979603971604, + -0.9992096994041727, + -0.023507086487487186, + 0.14919626322700658, + 0.028038982914806894, + -0.9884099809675139 + ], + [ + 0.9830947119566728, + 0.049111308561070065, + 0.17638839727784184, + 0.05023463759857696, + -0.9987356248864907, + -0.0019059821432456598, + 0.17607177090086312, + 0.01073456817995486, + -0.9843188002562095 + ], + [ + 0.9835922662261879, + 0.03844958728840013, + 0.17626083812742907, + 0.039611840205562576, + -0.9992103998131986, + -0.0030788018248944444, + 0.1760032838772079, + 0.0100103018186115, + -0.9843386804966772 + ], + [ + 0.9894610645708604, + -0.018695726798694055, + 0.1435871564512951, + -0.024353460639786117, + -0.998990536811222, + 0.037746739150464635, + 0.14273650777977753, + -0.04084577286691273, + -0.988917545696171 + ], + [ + 0.9952791143317732, + -0.06427108647193029, + 0.07272353139581851, + -0.06966220282137116, + -0.9948073916294924, + 0.07419859201763628, + 0.06757708245429873, + -0.07891439034195948, + -0.9945882851330602 + ], + [ + 0.9964816501311172, + -0.0818898666399867, + 0.017842945206754987, + -0.08301308782725829, + -0.9936765045790397, + 0.07560311830186563, + 0.011538986149136711, + -0.07681831805804641, + -0.9969783336709896 + ], + [ + 0.9944536461035774, + -0.1031721759631405, + -0.020431540772337407, + -0.10137046768667056, + -0.9919961394541744, + 0.07528404604562547, + -0.02803522841509571, + -0.07279533923985074, + -0.9969527895305116 + ], + [ + 0.9928901816843885, + -0.11024573351287356, + -0.04488836549653234, + -0.10692063126290541, + -0.9917477002775696, + 0.07074233247846372, + -0.052316973584904766, + -0.06543987497207, + -0.9964840977349092 + ], + [ + 0.9946738566209075, + -0.09173721093135229, + -0.04699152142064752, + -0.08801110180624852, + -0.9932143552548058, + 0.07602164477720028, + -0.053646667312525174, + -0.07148096702141934, + -0.9959982462032462 + ], + [ + 0.9987825627036729, + -0.046461989624657925, + -0.01657335087428089, + -0.04486072631789779, + -0.995236310282274, + 0.08655750649109666, + -0.0205160345416584, + -0.0857086355966757, + -0.996108991080214 + ], + [ + 0.999663015513865, + -0.018414956377568868, + 0.018296032229362394, + -0.019834918700666525, + -0.9965387248239402, + 0.08072884197368707, + 0.016746086523829418, + -0.0810645379181725, + -0.9965681658964675 + ], + [ + 0.9976052036699308, + -0.018647067696305523, + 0.06660438782096491, + -0.024144917211848728, + -0.9962804549854423, + 0.08271806324396809, + 0.06481420047728022, + -0.08412812775956406, + -0.9943447981138944 + ], + [ + 0.9933582131490708, + 0.020465999877359666, + 0.11322810259959623, + 0.011239388065138089, + -0.9966072685116322, + 0.08153299029046142, + 0.11451260421982382, + -0.07971885096263719, + -0.990218040774854 + ], + [ + 0.9908466682542054, + 0.003523816266107621, + 0.13494614751249162, + -0.012754886681523976, + -0.992743061280692, + 0.1195764489553927, + 0.13438821702545917, + -0.12020314886874998, + -0.9836112088252935 + ], + [ + 0.9893855674298269, + -0.05658623785115719, + 0.13384392644947177, + -0.07587459088631832, + -0.9867063266943076, + 0.14371385221773153, + 0.12393242279320275, + -0.15234376438593877, + -0.9805264565698002 + ], + [ + 0.990370675310435, + -0.03249533353629903, + 0.13457332121753587, + -0.048210602858580025, + -0.9921694261438995, + 0.11521964935417074, + 0.12977543395098198, + -0.12059802288450032, + -0.9841821242123758 + ], + [ + 0.9934774734388411, + -0.03594642908108614, + 0.10821443529351917, + -0.04016757696293799, + -0.9985045929070722, + 0.037082930094699734, + 0.10671961174265605, + -0.04118776735634476, + -0.993435701135054 + ], + [ + 0.9945750663227847, + -0.01348600145600272, + 0.10314342060333814, + -0.0076942989813793645, + -0.9983817081777642, + -0.05634503118496544, + 0.10373637362185731, + 0.05524574681166213, + -0.9930693189536207 + ], + [ + 0.9953070262036621, + -0.037652386200364804, + 0.08914158066267981, + -0.02549542037685007, + -0.9906824013929555, + -0.1337847641179462, + 0.09334831080116111, + 0.13088421365353953, + -0.9869931182570951 + ], + [ + 0.994243339442315, + -0.07762717518875902, + 0.07385258050201958, + -0.06427999479561307, + -0.9836030134018158, + -0.16850280204181578, + 0.08572201726318344, + 0.16278554511712984, + -0.9829306191472771 + ], + [ + 0.9951598555549792, + -0.07410835223464218, + 0.06453537030852961, + -0.060380463556594176, + -0.9792552378798782, + -0.19342538278497418, + 0.07753103580169456, + 0.18859250041793596, + -0.9789901977413396 + ], + [ + 0.992241896536721, + -0.10332461378827787, + 0.0691378546291015, + -0.09222405528362151, + -0.9846770956842482, + -0.14800588117327637, + 0.08337111240864593, + 0.14048146290645505, + -0.9865668837921774 + ], + [ + 0.9917049620174029, + -0.1062981506429143, + 0.07226320972637702, + -0.09713785134678675, + -0.9879817164500048, + -0.12023462810784792, + 0.08417544859275543, + 0.11221778437662737, + -0.99011194454153 + ], + [ + 0.9930290521107461, + -0.09797937894071675, + 0.06552360617689305, + -0.08967917635570959, + -0.9887826849744121, + -0.11944223383273594, + 0.07649148313501762, + 0.1127335052111122, + -0.9906766424069064 + ], + [ + 0.9949489450759491, + -0.08345408878327087, + 0.055785408106514715, + -0.07517515101989333, + -0.987733387113309, + -0.13686289727609446, + 0.06652287848096088, + 0.13197791878577453, + -0.9890179652521907 + ], + [ + 0.9898665851290224, + -0.09242651057200214, + 0.10780298599060698, + -0.07523730294945218, + -0.98522487464495, + -0.1538547842146429, + 0.1204304441987149, + 0.14418490394048036, + -0.9821951036254326 + ], + [ + 0.9790746598419905, + -0.06822130098287792, + 0.19172549269070607, + -0.036623199529127154, + -0.9858200689483358, + -0.16376059634401632, + 0.20017879935582625, + 0.15331224918740735, + -0.9676899309890322 + ], + [ + 0.9695551885109039, + -0.03627606833520776, + 0.2421709794705492, + -0.005604476307455019, + -0.9919943298000501, + -0.1261579941575999, + 0.24480875449400294, + 0.12095989629083341, + -0.9619965577965475 + ], + [ + 0.965262265336484, + 0.002831680655619376, + 0.2612675653466088, + 0.019803080201306673, + -0.9978579786014395, + -0.06234815599510709, + 0.2605313745636416, + 0.06535622484594855, + -0.9632507289080376 + ], + [ + 0.9800789192058214, + 0.02956167435954232, + 0.1963960782129046, + 0.032964033109908884, + -0.9993573982272652, + -0.01407704264253928, + 0.1958537327943427, + 0.0202706195635806, + -0.9804235907672921 + ], + [ + 0.9848862801827561, + 0.046603134580997456, + 0.1668147564066183, + 0.05071247808347839, + -0.9985037474475287, + -0.02045753894961605, + 0.16561177396069005, + 0.02860793911605261, + -0.9857760020131987 + ], + [ + 0.987282116718666, + 0.03909232833295372, + 0.15409676139692058, + 0.04839381435114124, + -0.9971961042187742, + -0.057078616516582976, + 0.1514333541200822, + 0.06381002739701971, + -0.9864057074366175 + ], + [ + 0.989469829448601, + -0.0030963043507227653, + 0.1447061488338486, + 0.011991181027825804, + -0.9945806233591951, + -0.10327436863032623, + 0.14424170058798588, + 0.10392206954156703, + -0.9840703914221194 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005707.json b/json/chunk-0005/episode_0005707.json new file mode 100644 index 0000000000000000000000000000000000000000..33676e7205c0bdddf1e5d69908064ac33b159deb --- /dev/null +++ b/json/chunk-0005/episode_0005707.json @@ -0,0 +1,1282 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 20, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nTurn faucet front to left." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005707.mp4", + "start": 0, + "end": 20, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3153339624404907, + -0.056057438254356384, + 0.12086444348096848, + 0.15746700763702393, + -0.13167740404605865, + 0.012028870172798634, + 0.0, + 0.9994885921478271 + ], + [ + 0.31500178575515747, + -0.06239277496933937, + 0.11144696176052094, + 0.16354626417160034, + -0.120967797935009, + 0.011801783926784992, + 0.0, + 0.9994885921478271 + ], + [ + 0.3208562433719635, + -0.07306340336799622, + 0.11267121136188507, + 0.15961775183677673, + -0.1777888536453247, + 0.004222950432449579, + 0.0, + 0.9994885921478271 + ], + [ + 0.32584312558174133, + -0.08074840158224106, + 0.1108718067407608, + 0.15355075895786285, + -0.20603175461292267, + 0.004956868942826986, + 0.0, + 0.9994885921478271 + ], + [ + 0.33540067076683044, + -0.09111759066581726, + 0.10922454297542572, + 0.15191306173801422, + -0.2338840514421463, + 0.009315131232142448, + 0.0, + 0.9994885921478271 + ], + [ + 0.3450270891189575, + -0.09784223884344101, + 0.1088407039642334, + 0.15922653675079346, + -0.25830546021461487, + 0.0029162622522562742, + 0.0, + 0.9994885921478271 + ], + [ + 0.35598117113113403, + -0.10092540085315704, + 0.11100641638040543, + 0.17106559872627258, + -0.27555882930755615, + -0.010273346677422523, + 0.0, + 0.9994885921478271 + ], + [ + 0.36198723316192627, + -0.10021551698446274, + 0.10857909917831421, + 0.19626814126968384, + -0.27574437856674194, + -0.051624588668346405, + 0.0, + 0.9994885921478271 + ], + [ + 0.36820119619369507, + -0.09581583738327026, + 0.11042387038469315, + 0.2042311578989029, + -0.28254222869873047, + -0.09677086770534515, + 0.0, + 0.9994885921478271 + ], + [ + 0.37221547961235046, + -0.0875556617975235, + 0.11324912309646606, + 0.20631684362888336, + -0.2705270051956177, + -0.13697747886180878, + 0.0, + 0.9994885921478271 + ], + [ + 0.3747200667858124, + -0.0745079442858696, + 0.11459999531507492, + 0.21075336635112762, + -0.2458340972661972, + -0.1738263964653015, + 0.0, + 0.9994885921478271 + ], + [ + 0.3748493492603302, + -0.06466538459062576, + 0.1144416406750679, + 0.20412828028202057, + -0.22235456109046936, + -0.19991151988506317, + 0.0, + 0.9994885921478271 + ], + [ + 0.37637418508529663, + -0.056319091469049454, + 0.11281672865152359, + 0.2013152539730072, + -0.21418218314647675, + -0.21911512315273285, + 0.0, + 0.9994885921478271 + ], + [ + 0.37697654962539673, + -0.04964998736977577, + 0.10986165702342987, + 0.20340624451637268, + -0.21095865964889526, + -0.2371222823858261, + 0.0, + 0.9994885921478271 + ], + [ + 0.37902864813804626, + -0.040766313672065735, + 0.10983113944530487, + 0.2076961100101471, + -0.20577819645404816, + -0.2708034813404083, + 0.0, + 0.9994885921478271 + ], + [ + 0.38465118408203125, + -0.028063667938113213, + 0.11515892297029495, + 0.21995310485363007, + -0.2114562690258026, + -0.3011031746864319, + 0.0, + 0.9994885921478271 + ], + [ + 0.3929051160812378, + -0.02163056842982769, + 0.12320366501808167, + 0.22593003511428833, + -0.22310706973075867, + -0.3304392397403717, + 0.0, + 0.9994885921478271 + ], + [ + 0.3998333811759949, + -0.01643328182399273, + 0.12176331132650375, + 0.23138180375099182, + -0.21302801370620728, + -0.3597983419895172, + 0.0, + 0.9994885921478271 + ], + [ + 0.406518816947937, + -0.010997645556926727, + 0.12163808941841125, + 0.22917349636554718, + -0.22177934646606445, + -0.3705413341522217, + 0.0, + 0.9994885921478271 + ], + [ + 0.41279494762420654, + -0.005508881062269211, + 0.11699377745389938, + 0.23852260410785675, + -0.22452743351459503, + -0.39136019349098206, + 0.0, + 0.9994885921478271 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3153339624404907, + -0.056057438254356384, + 0.12086444348096848 + ], + [ + 0.31500178575515747, + -0.06239277496933937, + 0.11144696176052094 + ], + [ + 0.3208562433719635, + -0.07306340336799622, + 0.11267121136188507 + ], + [ + 0.32584312558174133, + -0.08074840158224106, + 0.1108718067407608 + ], + [ + 0.33540067076683044, + -0.09111759066581726, + 0.10922454297542572 + ], + [ + 0.3450270891189575, + -0.09784223884344101, + 0.1088407039642334 + ], + [ + 0.35598117113113403, + -0.10092540085315704, + 0.11100641638040543 + ], + [ + 0.36198723316192627, + -0.10021551698446274, + 0.10857909917831421 + ], + [ + 0.36820119619369507, + -0.09581583738327026, + 0.11042387038469315 + ], + [ + 0.37221547961235046, + -0.0875556617975235, + 0.11324912309646606 + ], + [ + 0.3747200667858124, + -0.0745079442858696, + 0.11459999531507492 + ], + [ + 0.3748493492603302, + -0.06466538459062576, + 0.1144416406750679 + ], + [ + 0.37637418508529663, + -0.056319091469049454, + 0.11281672865152359 + ], + [ + 0.37697654962539673, + -0.04964998736977577, + 0.10986165702342987 + ], + [ + 0.37902864813804626, + -0.040766313672065735, + 0.10983113944530487 + ], + [ + 0.38465118408203125, + -0.028063667938113213, + 0.11515892297029495 + ], + [ + 0.3929051160812378, + -0.02163056842982769, + 0.12320366501808167 + ], + [ + 0.3998333811759949, + -0.01643328182399273, + 0.12176331132650375 + ], + [ + 0.406518816947937, + -0.010997645556926727, + 0.12163808941841125 + ], + [ + 0.41279494762420654, + -0.005508881062269211, + 0.11699377745389938 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9912713303197764, + 0.0324679111587878, + 0.12777708883459973, + 0.01192444927494736, + -0.9873085526378916, + 0.15836549307712247, + 0.13129720939741765, + -0.15545950158499797, + -0.9790778243691326 + ], + [ + 0.9926231823618271, + 0.03129041825208709, + 0.11713294824039759, + 0.01171526823307141, + -0.9863555082933818, + 0.1642119476455075, + 0.12067298922337756, + -0.16162834214615074, + -0.9794459192252428 + ], + [ + 0.9842283718763214, + 0.03227828184780859, + 0.17393281609471864, + 0.004156372335966238, + -0.9871606033207734, + 0.15967676042671844, + 0.1768537151509422, + -0.15643546839614172, + -0.9717256339445766 + ], + [ + 0.9788384066647475, + 0.036187831474061155, + 0.20140956901603116, + 0.004852013436986956, + -0.988066988158276, + 0.1539483188522718, + 0.20457720206226734, + -0.1497132851988707, + -0.9673335002114503 + ], + [ + 0.9727313722279409, + 0.04427793970276023, + 0.22766892967470462, + 0.009061382477871072, + -0.9881138053610841, + 0.15345683107124053, + 0.23175756477650647, + -0.1472092786155691, + -0.9615705171532387 + ], + [ + 0.9668201124553164, + 0.043380788312165394, + 0.251747844791777, + 0.0028195089915985898, + -0.9872279032419943, + 0.15928941405335742, + 0.2554425973108945, + -0.1532944038960025, + -0.9545941049541599 + ], + [ + 0.9622225194612279, + 0.036191998288232836, + 0.26984803557111714, + -0.009885593306311218, + -0.9858277557744907, + 0.1674691344385966, + 0.272084725934163, + -0.16381018040566062, + -0.9482278875401186 + ], + [ + 0.9609408729290491, + 0.0024124889342112404, + 0.2767432359272755, + -0.049652294551484406, + -0.982234230513753, + 0.18097117464620763, + 0.27226327034715864, + -0.18764353520491414, + -0.943749233279515 + ], + [ + 0.9558566360564029, + -0.0383321886655808, + 0.29132238949151157, + -0.09278890073348042, + -0.9800990920723157, + 0.1754878617446094, + 0.27879797561605424, + -0.19477272147590163, + -0.9403910227991659 + ], + [ + 0.954604105230071, + -0.0794207449309037, + 0.2870946665344303, + -0.13158325294607767, + -0.9770994557016787, + 0.16721991870471511, + 0.2672393118948332, + -0.19740567099782955, + -0.9431935916002995 + ], + [ + 0.9553179452291757, + -0.11898151348843194, + 0.2705753554393075, + -0.1677524705886026, + -0.9719424428598146, + 0.16488479729531139, + 0.24336542920991372, + -0.20290709010701916, + -0.9484735002359193 + ], + [ + 0.955955372004208, + -0.1506461780385605, + 0.251902869730915, + -0.1936936903095669, + -0.9686131053423142, + 0.15579283197047422, + 0.22052682619254643, + -0.19772299107967478, + -0.955130115600984 + ], + [ + 0.9537870466407986, + -0.17149155675595082, + 0.2467405836534464, + -0.21239929466756632, + -0.9656157016122765, + 0.14990949411078444, + 0.2125483692831898, + -0.19538925958519696, + -0.9574164339271628 + ], + [ + 0.9504689598922742, + -0.18894760932714308, + 0.2467945647919656, + -0.22969868094930365, + -0.961915498935355, + 0.1481792457738159, + 0.20939740268553575, + -0.1975281596064324, + -0.957671840408314 + ], + [ + 0.9432274242382257, + -0.22115828159370932, + 0.2478125110793223, + -0.2618619596925822, + -0.9541191402843052, + 0.1452066810071023, + 0.20432899997524126, + -0.20185559349608193, + -0.9578642801271284 + ], + [ + 0.9337382973963944, + -0.24569573022899838, + 0.2603198035542482, + -0.28996813212679773, + -0.9455825917142942, + 0.14762128775273256, + 0.20988395442762917, + -0.2133240970779399, + -0.9541706112010069 + ], + [ + 0.9224554923888467, + -0.26932904045175243, + 0.2766545364366698, + -0.3164167295388358, + -0.9379428668782777, + 0.1419282626544294, + 0.22126074624658928, + -0.218460629042159, + -0.9504307632483845 + ], + [ + 0.9148104893961548, + -0.2973235684787181, + 0.2733504419565644, + -0.3441266772395747, + -0.9280950574716315, + 0.142184367315043, + 0.21142043066557603, + -0.2241389299604388, + -0.9513480654173698 + ], + [ + 0.9093013164412718, + -0.3060734580599738, + 0.2819399833109518, + -0.35325088922516795, + -0.925855615932751, + 0.1341834107012286, + 0.21996573637682407, + -0.22160870180792971, + -0.9500024516301028 + ], + [ + 0.9011883324825651, + -0.3220200785222165, + 0.29010801165400263, + -0.37187160363457517, + -0.9182853554963356, + 0.13588052211857923, + 0.22264568221176623, + -0.2303368726659147, + -0.9472981712654909 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.00033217668533325195, + -0.0063353367149829865, + -0.00941748172044754, + 0.006079256534576416, + 0.010709606111049652, + -0.00022708624601364136, + 1.0 + ], + [ + 0.00585445761680603, + -0.010670628398656845, + 0.0012242496013641357, + -0.003928512334823608, + -0.056821055710315704, + -0.007578833494335413, + 1.0 + ], + [ + 0.004986882209777832, + -0.0076849982142448425, + -0.0017994046211242676, + -0.006066992878913879, + -0.02824290096759796, + 0.0007339185103774071, + 1.0 + ], + [ + 0.009557545185089111, + -0.010369189083576202, + -0.001647263765335083, + -0.0016376972198486328, + -0.027852296829223633, + 0.004358262289315462, + 1.0 + ], + [ + 0.009626418352127075, + -0.006724648177623749, + -0.0003838390111923218, + 0.007313475012779236, + -0.024421408772468567, + -0.0063988687470555305, + 1.0 + ], + [ + 0.010954082012176514, + -0.003083162009716034, + 0.0021657124161720276, + 0.011839061975479126, + -0.017253369092941284, + -0.013189609162509441, + 1.0 + ], + [ + 0.006006062030792236, + 0.0007098838686943054, + -0.002427317202091217, + 0.025202542543411255, + -0.00018554925918579102, + -0.04135124385356903, + 1.0 + ], + [ + 0.006213963031768799, + 0.004399679601192474, + 0.0018447712063789368, + 0.007963016629219055, + -0.006797850131988525, + -0.04514627903699875, + 1.0 + ], + [ + 0.0040142834186553955, + 0.008260175585746765, + 0.0028252527117729187, + 0.0020856857299804688, + 0.012015223503112793, + -0.04020661115646362, + 1.0 + ], + [ + 0.002504587173461914, + 0.0130477175116539, + 0.0013508722186088562, + 0.004436522722244263, + 0.02469290792942047, + -0.03684891760349274, + 1.0 + ], + [ + 0.00012928247451782227, + 0.009842559695243835, + -0.00015835464000701904, + -0.006625086069107056, + 0.023479536175727844, + -0.026085123419761658, + 1.0 + ], + [ + 0.0015248358249664307, + 0.00834629312157631, + -0.0016249120235443115, + -0.0028130263090133667, + 0.008172377943992615, + -0.019203603267669678, + 1.0 + ], + [ + 0.0006023645401000977, + 0.006669104099273682, + -0.0029550716280937195, + 0.0020909905433654785, + 0.003223523497581482, + -0.01800715923309326, + 1.0 + ], + [ + 0.002052098512649536, + 0.008883673697710037, + -3.0517578125e-05, + 0.004289865493774414, + 0.005180463194847107, + -0.033681198954582214, + 1.0 + ], + [ + 0.005622535943984985, + 0.012702645733952522, + 0.005327783524990082, + 0.012256994843482971, + -0.005678072571754456, + -0.03029969334602356, + 1.0 + ], + [ + 0.008253931999206543, + 0.0064330995082855225, + 0.008044742047786713, + 0.005976930260658264, + -0.011650800704956055, + -0.02933606505393982, + 1.0 + ], + [ + 0.00692826509475708, + 0.005197286605834961, + -0.0014403536915779114, + 0.005451768636703491, + 0.010079056024551392, + -0.029359102249145508, + 1.0 + ], + [ + 0.006685435771942139, + 0.005435636267066002, + -0.00012522190809249878, + -0.002208307385444641, + -0.008751332759857178, + -0.010742992162704468, + 1.0 + ], + [ + 0.006276130676269531, + 0.0054887644946575165, + -0.004644311964511871, + 0.00934910774230957, + -0.0027480870485305786, + -0.020818859338760376, + 1.0 + ], + [ + 0.007273197174072266, + 0.002735169604420662, + 0.0036464184522628784, + 0.03371860086917877, + -0.03338031470775604, + -0.026199907064437866, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.31500178575515747, + -0.06239277496933937, + 0.11144696176052094 + ], + [ + 0.3208562433719635, + -0.07306340336799622, + 0.11267121136188507 + ], + [ + 0.32584312558174133, + -0.08074840158224106, + 0.1108718067407608 + ], + [ + 0.33540067076683044, + -0.09111759066581726, + 0.10922454297542572 + ], + [ + 0.3450270891189575, + -0.09784223884344101, + 0.1088407039642334 + ], + [ + 0.35598117113113403, + -0.10092540085315704, + 0.11100641638040543 + ], + [ + 0.36198723316192627, + -0.10021551698446274, + 0.10857909917831421 + ], + [ + 0.36820119619369507, + -0.09581583738327026, + 0.11042387038469315 + ], + [ + 0.37221547961235046, + -0.0875556617975235, + 0.11324912309646606 + ], + [ + 0.3747200667858124, + -0.0745079442858696, + 0.11459999531507492 + ], + [ + 0.3748493492603302, + -0.06466538459062576, + 0.1144416406750679 + ], + [ + 0.37637418508529663, + -0.056319091469049454, + 0.11281672865152359 + ], + [ + 0.37697654962539673, + -0.04964998736977577, + 0.10986165702342987 + ], + [ + 0.37902864813804626, + -0.040766313672065735, + 0.10983113944530487 + ], + [ + 0.38465118408203125, + -0.028063667938113213, + 0.11515892297029495 + ], + [ + 0.3929051160812378, + -0.02163056842982769, + 0.12320366501808167 + ], + [ + 0.3998333811759949, + -0.01643328182399273, + 0.12176331132650375 + ], + [ + 0.406518816947937, + -0.010997645556926727, + 0.12163808941841125 + ], + [ + 0.41279494762420654, + -0.005508881062269211, + 0.11699377745389938 + ], + [ + 0.4200681447982788, + -0.002773711457848549, + 0.12064019590616226 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9926231823618271, + 0.03129041825208709, + 0.11713294824039759, + 0.01171526823307141, + -0.9863555082933818, + 0.1642119476455075, + 0.12067298922337756, + -0.16162834214615074, + -0.9794459192252428 + ], + [ + 0.9842283718763214, + 0.03227828184780859, + 0.17393281609471864, + 0.004156372335966238, + -0.9871606033207734, + 0.15967676042671844, + 0.1768537151509422, + -0.15643546839614172, + -0.9717256339445766 + ], + [ + 0.9788384066647475, + 0.036187831474061155, + 0.20140956901603116, + 0.004852013436986956, + -0.988066988158276, + 0.1539483188522718, + 0.20457720206226734, + -0.1497132851988707, + -0.9673335002114503 + ], + [ + 0.9727313722279409, + 0.04427793970276023, + 0.22766892967470462, + 0.009061382477871072, + -0.9881138053610841, + 0.15345683107124053, + 0.23175756477650647, + -0.1472092786155691, + -0.9615705171532387 + ], + [ + 0.9668201124553164, + 0.043380788312165394, + 0.251747844791777, + 0.0028195089915985898, + -0.9872279032419943, + 0.15928941405335742, + 0.2554425973108945, + -0.1532944038960025, + -0.9545941049541599 + ], + [ + 0.9622225194612279, + 0.036191998288232836, + 0.26984803557111714, + -0.009885593306311218, + -0.9858277557744907, + 0.1674691344385966, + 0.272084725934163, + -0.16381018040566062, + -0.9482278875401186 + ], + [ + 0.9609408729290491, + 0.0024124889342112404, + 0.2767432359272755, + -0.049652294551484406, + -0.982234230513753, + 0.18097117464620763, + 0.27226327034715864, + -0.18764353520491414, + -0.943749233279515 + ], + [ + 0.9558566360564029, + -0.0383321886655808, + 0.29132238949151157, + -0.09278890073348042, + -0.9800990920723157, + 0.1754878617446094, + 0.27879797561605424, + -0.19477272147590163, + -0.9403910227991659 + ], + [ + 0.954604105230071, + -0.0794207449309037, + 0.2870946665344303, + -0.13158325294607767, + -0.9770994557016787, + 0.16721991870471511, + 0.2672393118948332, + -0.19740567099782955, + -0.9431935916002995 + ], + [ + 0.9553179452291757, + -0.11898151348843194, + 0.2705753554393075, + -0.1677524705886026, + -0.9719424428598146, + 0.16488479729531139, + 0.24336542920991372, + -0.20290709010701916, + -0.9484735002359193 + ], + [ + 0.955955372004208, + -0.1506461780385605, + 0.251902869730915, + -0.1936936903095669, + -0.9686131053423142, + 0.15579283197047422, + 0.22052682619254643, + -0.19772299107967478, + -0.955130115600984 + ], + [ + 0.9537870466407986, + -0.17149155675595082, + 0.2467405836534464, + -0.21239929466756632, + -0.9656157016122765, + 0.14990949411078444, + 0.2125483692831898, + -0.19538925958519696, + -0.9574164339271628 + ], + [ + 0.9504689598922742, + -0.18894760932714308, + 0.2467945647919656, + -0.22969868094930365, + -0.961915498935355, + 0.1481792457738159, + 0.20939740268553575, + -0.1975281596064324, + -0.957671840408314 + ], + [ + 0.9432274242382257, + -0.22115828159370932, + 0.2478125110793223, + -0.2618619596925822, + -0.9541191402843052, + 0.1452066810071023, + 0.20432899997524126, + -0.20185559349608193, + -0.9578642801271284 + ], + [ + 0.9337382973963944, + -0.24569573022899838, + 0.2603198035542482, + -0.28996813212679773, + -0.9455825917142942, + 0.14762128775273256, + 0.20988395442762917, + -0.2133240970779399, + -0.9541706112010069 + ], + [ + 0.9224554923888467, + -0.26932904045175243, + 0.2766545364366698, + -0.3164167295388358, + -0.9379428668782777, + 0.1419282626544294, + 0.22126074624658928, + -0.218460629042159, + -0.9504307632483845 + ], + [ + 0.9148104893961548, + -0.2973235684787181, + 0.2733504419565644, + -0.3441266772395747, + -0.9280950574716315, + 0.142184367315043, + 0.21142043066557603, + -0.2241389299604388, + -0.9513480654173698 + ], + [ + 0.9093013164412718, + -0.3060734580599738, + 0.2819399833109518, + -0.35325088922516795, + -0.925855615932751, + 0.1341834107012286, + 0.21996573637682407, + -0.22160870180792971, + -0.9500024516301028 + ], + [ + 0.9011883324825651, + -0.3220200785222165, + 0.29010801165400263, + -0.37187160363457517, + -0.9182853554963356, + 0.13588052211857923, + 0.22264568221176623, + -0.2303368726659147, + -0.9472981712654909 + ], + [ + 0.8838485592877264, + -0.32790574466386024, + 0.33360087958734386, + -0.39211874542478786, + -0.9082285888239636, + 0.14616333305354584, + 0.2550580595305716, + -0.2599974097164636, + -0.9313145189511589 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005708.json b/json/chunk-0005/episode_0005708.json new file mode 100644 index 0000000000000000000000000000000000000000..d1959ddfba2a28122bb9cc1c948688f2a89efe55 --- /dev/null +++ b/json/chunk-0005/episode_0005708.json @@ -0,0 +1,5182 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 85, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nSweep into pile." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005708.mp4", + "start": 0, + "end": 85, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3998226523399353, + -0.18300560116767883, + 0.026021594181656837, + -0.18265748023986816, + -0.23733681440353394, + 0.13517577946186066, + 0.0, + 0.9994885921478271 + ], + [ + 0.39580315351486206, + -0.18122388422489166, + 0.010056494735181332, + -0.1621083915233612, + -0.2046450823545456, + 0.1306707262992859, + 0.0, + 0.9994885921478271 + ], + [ + 0.39383646845817566, + -0.18013086915016174, + 0.002744241151958704, + -0.15351001918315887, + -0.19360513985157013, + 0.1284172534942627, + 0.0, + 0.9994885921478271 + ], + [ + 0.39539164304733276, + -0.17896081507205963, + 0.0029687746427953243, + -0.15219077467918396, + -0.20191128551959991, + 0.11943040043115616, + 0.0, + 0.9468915462493896 + ], + [ + 0.3976980447769165, + -0.17374351620674133, + -0.002559577114880085, + -0.1604294627904892, + -0.19297528266906738, + 0.12608729302883148, + 0.0, + 0.6541022062301636 + ], + [ + 0.400421679019928, + -0.17408274114131927, + -0.002022550906985998, + -0.16899210214614868, + -0.20083975791931152, + 0.12863676249980927, + 0.0, + 0.3866458535194397 + ], + [ + 0.39788079261779785, + -0.17110882699489594, + -0.006098037585616112, + -0.1619037240743637, + -0.2007894217967987, + 0.13355962932109833, + 0.0, + 0.33882394433021545 + ], + [ + 0.39816170930862427, + -0.16028565168380737, + -0.007699855137616396, + -0.17155130207538605, + -0.20007705688476562, + 0.15245109796524048, + 0.0, + 0.33882394433021545 + ], + [ + 0.39846768975257874, + -0.14154832065105438, + -0.008746186271309853, + -0.17006815969944, + -0.18370036780834198, + 0.11429175734519958, + 0.0, + 0.33882394433021545 + ], + [ + 0.40380099415779114, + -0.12365980446338654, + -0.006622173357754946, + -0.18119144439697266, + -0.1699482798576355, + 0.10790539532899857, + 0.0, + 0.33882394433021545 + ], + [ + 0.4148782193660736, + -0.08234483748674393, + -0.005756241735070944, + -0.19490589201450348, + -0.1560397893190384, + 0.16575026512145996, + 0.0, + 0.33882394433021545 + ], + [ + 0.4185669720172882, + -0.07021568715572357, + -0.0057884580455720425, + -0.20885959267616272, + -0.15980078279972076, + 0.18548744916915894, + 0.0, + 0.33882394433021545 + ], + [ + 0.4198581576347351, + -0.06191349774599075, + -0.007813166826963425, + -0.20812062919139862, + -0.16564112901687622, + 0.19270528852939606, + 0.0, + 0.33882394433021545 + ], + [ + 0.4189721643924713, + -0.04603547230362892, + -0.011067037470638752, + -0.2033628523349762, + -0.16836993396282196, + 0.21167930960655212, + 0.0, + 0.33882394433021545 + ], + [ + 0.4181370735168457, + -0.015933649614453316, + -0.011955366469919682, + -0.20219343900680542, + -0.16057434678077698, + 0.24644313752651215, + 0.0, + 0.33882394433021545 + ], + [ + 0.409671425819397, + 0.011819961480796337, + -0.012263394892215729, + -0.20120371878147125, + -0.14998029172420502, + 0.25029054284095764, + 0.0, + 0.33882394433021545 + ], + [ + 0.40321940183639526, + 0.03715378791093826, + -0.012255408801138401, + -0.19006596505641937, + -0.14515571296215057, + 0.24389438331127167, + 0.0, + 0.33882394433021545 + ], + [ + 0.3972752094268799, + 0.06169441342353821, + -0.013137794099748135, + -0.18404315412044525, + -0.1437397599220276, + 0.26503634452819824, + 0.0, + 0.33882394433021545 + ], + [ + 0.3898274898529053, + 0.08466041088104248, + -0.012459234334528446, + -0.1640583872795105, + -0.1563546359539032, + 0.2732522487640381, + 0.0, + 0.33882394433021545 + ], + [ + 0.3818340301513672, + 0.11566530913114548, + -0.010410679504275322, + -0.12712712585926056, + -0.17054873704910278, + 0.2922941744327545, + 0.0, + 0.33882394433021545 + ], + [ + 0.3729914724826813, + 0.12861140072345734, + -0.00791406724601984, + -0.09299291670322418, + -0.1841004341840744, + 0.26501700282096863, + 0.0, + 0.33882394433021545 + ], + [ + 0.3585997223854065, + 0.12120334059000015, + -0.0026305068749934435, + -0.14346256852149963, + -0.16619844734668732, + 0.24061748385429382, + 0.0, + 0.33882394433021545 + ], + [ + 0.36051833629608154, + 0.09412449598312378, + 0.0247358251363039, + -0.2733001112937927, + -0.17510953545570374, + 0.2730977237224579, + 0.0, + 0.33882394433021545 + ], + [ + 0.36148256063461304, + 0.05643540248274803, + 0.04695705324411392, + -0.35923898220062256, + -0.19180838763713837, + 0.26375874876976013, + 0.0, + 0.33882394433021545 + ], + [ + 0.35857048630714417, + 0.007701813243329525, + 0.05241014435887337, + -0.41932275891304016, + -0.1811312586069107, + 0.2210744023323059, + 0.0, + 0.33882394433021545 + ], + [ + 0.3588588833808899, + -0.04033779725432396, + 0.04558638110756874, + -0.3995208144187927, + -0.17813147604465485, + 0.19092248380184174, + 0.0, + 0.33882394433021545 + ], + [ + 0.3532332479953766, + -0.08783124387264252, + 0.040179599076509476, + -0.3953636586666107, + -0.19231733679771423, + 0.15082471072673798, + 0.0, + 0.33882394433021545 + ], + [ + 0.3465796411037445, + -0.1064055785536766, + 0.03459598869085312, + -0.4054107666015625, + -0.19661734998226166, + 0.14870089292526245, + 0.0, + 0.33882394433021545 + ], + [ + 0.34238702058792114, + -0.11368007957935333, + 0.029623910784721375, + -0.4011962413787842, + -0.2060936838388443, + 0.1518956869840622, + 0.0, + 0.33882394433021545 + ], + [ + 0.3374541699886322, + -0.11111756414175034, + 0.01400809083133936, + -0.3738928735256195, + -0.2205740064382553, + 0.14804531633853912, + 0.0, + 0.33882394433021545 + ], + [ + 0.33273863792419434, + -0.10444556176662445, + 0.0009513772092759609, + -0.35986822843551636, + -0.2360747754573822, + 0.1597517430782318, + 0.0, + 0.3380139172077179 + ], + [ + 0.32552585005760193, + -0.09142684191465378, + -0.006941474042832851, + -0.3432876765727997, + -0.22863489389419556, + 0.16342025995254517, + 0.0, + 0.33882394433021545 + ], + [ + 0.32444870471954346, + -0.06434459984302521, + -0.008481666445732117, + -0.3241118788719177, + -0.19511879980564117, + 0.1787053644657135, + 0.0, + 0.33882394433021545 + ], + [ + 0.3238750100135803, + -0.01958460919559002, + -0.004163844510912895, + -0.27987998723983765, + -0.1377442479133606, + 0.1719786375761032, + 0.0, + 0.33882394433021545 + ], + [ + 0.321154922246933, + 0.012142578139901161, + 0.0007436227169819176, + -0.2484320104122162, + -0.10066484659910202, + 0.1570291668176651, + 0.0, + 0.33882394433021545 + ], + [ + 0.32050979137420654, + 0.04153883829712868, + 0.0039190673269331455, + -0.202492818236351, + -0.10968590527772903, + 0.11742503941059113, + 0.0, + 0.33882394433021545 + ], + [ + 0.3195604085922241, + 0.07185081392526627, + 0.003951034974306822, + -0.1476132720708847, + -0.14509974420070648, + 0.09673158824443817, + 0.0, + 0.33882394433021545 + ], + [ + 0.31842249631881714, + 0.09477504342794418, + 0.004414076916873455, + -0.1216564029455185, + -0.1842353492975235, + 0.07986316084861755, + 0.0, + 0.33882394433021545 + ], + [ + 0.3138066530227661, + 0.09929908812046051, + 0.005127051845192909, + -0.1637110710144043, + -0.17642317712306976, + 0.10286642611026764, + 0.0, + 0.33882394433021545 + ], + [ + 0.3171032667160034, + 0.08123711496591568, + 0.035215772688388824, + -0.28999900817871094, + -0.2071387618780136, + 0.1547480672597885, + 0.0, + 0.33882394433021545 + ], + [ + 0.32887575030326843, + 0.05316506698727608, + 0.06285232305526733, + -0.40663060545921326, + -0.2539229094982147, + 0.22185862064361572, + 0.0, + 0.33882394433021545 + ], + [ + 0.3453137278556824, + 0.009169649332761765, + 0.06485183537006378, + -0.417580246925354, + -0.2767564654350281, + 0.22962160408496857, + 0.0, + 0.3380139172077179 + ], + [ + 0.34924179315567017, + -0.019924143329262733, + 0.049498993903398514, + -0.38127371668815613, + -0.28686800599098206, + 0.24566787481307983, + 0.0, + 0.33882394433021545 + ], + [ + 0.3365623950958252, + -0.04519421607255936, + 0.030664440244436264, + -0.3798159062862396, + -0.2897754907608032, + 0.22736898064613342, + 0.0, + 0.33882394433021545 + ], + [ + 0.3243514597415924, + -0.04985671117901802, + 0.01951431669294834, + -0.3914984464645386, + -0.29548028111457825, + 0.21018759906291962, + 0.0, + 0.33882394433021545 + ], + [ + 0.318377822637558, + -0.047906503081321716, + 0.012897418811917305, + -0.38018113374710083, + -0.31659331917762756, + 0.20452772080898285, + 0.0, + 0.33882394433021545 + ], + [ + 0.3164845108985901, + -0.039911527186632156, + 0.003254959359765053, + -0.3510570526123047, + -0.3346925973892212, + 0.1907937079668045, + 0.0, + 0.33882394433021545 + ], + [ + 0.3172702491283417, + -0.029995888471603394, + -0.0031020899768918753, + -0.3056071996688843, + -0.31348106265068054, + 0.1747436672449112, + 0.0, + 0.33882394433021545 + ], + [ + 0.32057568430900574, + -0.011237517930567265, + -0.006718949880450964, + -0.2242528796195984, + -0.2706463634967804, + 0.15383508801460266, + 0.0, + 0.33882394433021545 + ], + [ + 0.32100215554237366, + 0.02058488130569458, + -0.0038130818866193295, + -0.11599387228488922, + -0.1934880167245865, + 0.12055987864732742, + 0.0, + 0.33882394433021545 + ], + [ + 0.3215062916278839, + 0.04554246738553047, + 0.0006684710970148444, + -0.05713863670825958, + -0.14542244374752045, + 0.08451550453901291, + 0.0, + 0.33882394433021545 + ], + [ + 0.3210074305534363, + 0.07252989709377289, + 0.001355363056063652, + -0.031443461775779724, + -0.14979997277259827, + 0.09021736681461334, + 0.0, + 0.33882394433021545 + ], + [ + 0.3240147829055786, + 0.09473712742328644, + 0.0010936103062704206, + -0.010083232074975967, + -0.2009352147579193, + 0.08627757430076599, + 0.0, + 0.33882394433021545 + ], + [ + 0.32676008343696594, + 0.10815878212451935, + -0.0008636381826363504, + 0.02559424750506878, + -0.2529561221599579, + 0.08110601454973221, + 0.0, + 0.33882394433021545 + ], + [ + 0.32441258430480957, + 0.1084350124001503, + -0.00047966864076443017, + -0.015287499874830246, + -0.2428264170885086, + 0.10371289402246475, + 0.0, + 0.33882394433021545 + ], + [ + 0.3187682330608368, + 0.08852668851613998, + 0.015406586229801178, + -0.15326929092407227, + -0.2020503431558609, + 0.15691924095153809, + 0.0, + 0.33882394433021545 + ], + [ + 0.327347993850708, + 0.06089460104703903, + 0.04650672525167465, + -0.2532969117164612, + -0.24250052869319916, + 0.2106952667236328, + 0.0, + 0.33882394433021545 + ], + [ + 0.338493287563324, + 0.021100230515003204, + 0.046762626618146896, + -0.2643114924430847, + -0.2697521448135376, + 0.21109633147716522, + 0.0, + 0.33882394433021545 + ], + [ + 0.3405497074127197, + 0.0009076691349036992, + 0.023665137588977814, + -0.22970472276210785, + -0.3023315668106079, + 0.2109733372926712, + 0.0, + 0.3380139172077179 + ], + [ + 0.33509644865989685, + 0.0037554390728473663, + 0.0008875285275280476, + -0.18350474536418915, + -0.32711878418922424, + 0.19549785554409027, + 0.0, + 0.33882394433021545 + ], + [ + 0.3352140188217163, + 0.012403926812112331, + -0.005864783655852079, + -0.15488021075725555, + -0.36385610699653625, + 0.1754068285226822, + 0.0, + 0.33882394433021545 + ], + [ + 0.3361019194126129, + 0.029981646686792374, + -0.008194672875106335, + -0.12380766868591309, + -0.3680339753627777, + 0.15349292755126953, + 0.0, + 0.3380139172077179 + ], + [ + 0.33829545974731445, + 0.06498175859451294, + -0.006830733269453049, + -0.06854020804166794, + -0.34467506408691406, + 0.12176114320755005, + 0.0, + 0.33882394433021545 + ], + [ + 0.3355627954006195, + 0.09307213872671127, + -0.00487682968378067, + -0.005551256239414215, + -0.3170608878135681, + 0.0569622628390789, + 0.0, + 0.33882394433021545 + ], + [ + 0.3351616859436035, + 0.11200575530529022, + -0.0036919820122420788, + 0.057982437312603, + -0.30725979804992676, + 0.0004950235597789288, + 0.0, + 0.33882394433021545 + ], + [ + 0.3335453271865845, + 0.11255219578742981, + -0.004057613201439381, + 0.03160863742232323, + -0.3088640570640564, + 0.009366567246615887, + 0.0, + 0.33882394433021545 + ], + [ + 0.340385764837265, + 0.09088432788848877, + -0.003036953043192625, + -0.11177248507738113, + -0.35598549246788025, + 0.14495763182640076, + 0.0, + 0.33882394433021545 + ], + [ + 0.35875219106674194, + 0.06004803627729416, + 0.005997063126415014, + -0.2144678831100464, + -0.36959537863731384, + 0.23917177319526672, + 0.0, + 0.33882394433021545 + ], + [ + 0.38246360421180725, + 0.04176421836018562, + 0.021078234538435936, + -0.23499754071235657, + -0.4117029309272766, + 0.2940921187400818, + 0.0, + 0.33882394433021545 + ], + [ + 0.4050136208534241, + 0.025341114029288292, + 0.012593680061399937, + -0.20989888906478882, + -0.4135071933269501, + 0.31086403131484985, + 0.0, + 0.33882394433021545 + ], + [ + 0.4220140278339386, + 0.021812019869685173, + 0.0051067848689854145, + -0.1943041980266571, + -0.4069538414478302, + 0.335218220949173, + 0.0, + 0.33882394433021545 + ], + [ + 0.4378223121166229, + 0.028830938041210175, + -0.0015402337303385139, + -0.16882479190826416, + -0.391453355550766, + 0.3614398241043091, + 0.0, + 0.33882394433021545 + ], + [ + 0.4498165547847748, + 0.03448525816202164, + -0.0010360415326431394, + -0.16466505825519562, + -0.38107872009277344, + 0.38328874111175537, + 0.0, + 0.33882394433021545 + ], + [ + 0.44792547821998596, + 0.05998528376221657, + 0.00021910047507844865, + -0.1914435476064682, + -0.3681720793247223, + 0.46488523483276367, + 0.0, + 0.33882394433021545 + ], + [ + 0.4370013177394867, + 0.10094781965017319, + -0.0008105866145342588, + -0.1996021866798401, + -0.3514503240585327, + 0.5158213973045349, + 0.0, + 0.33882394433021545 + ], + [ + 0.42326462268829346, + 0.11691264063119888, + 0.007085418328642845, + -0.20850221812725067, + -0.3440048098564148, + 0.5092228651046753, + 0.0, + 0.33882394433021545 + ], + [ + 0.4127768278121948, + 0.12822483479976654, + 0.026192501187324524, + -0.2301737368106842, + -0.3838069438934326, + 0.48935040831565857, + 0.0, + 0.33882394433021545 + ], + [ + 0.4062647521495819, + 0.09889931976795197, + 0.03400539606809616, + -0.31197258830070496, + -0.4159706234931946, + 0.4629209339618683, + 0.0, + 0.33882394433021545 + ], + [ + 0.40660127997398376, + 0.047565557062625885, + 0.036759063601493835, + -0.34788215160369873, + -0.4192236661911011, + 0.3957712650299072, + 0.0, + 0.33882394433021545 + ], + [ + 0.40405794978141785, + -0.0003941234608646482, + 0.03381120786070824, + -0.33297502994537354, + -0.36426761746406555, + 0.3177410662174225, + 0.0, + 0.33882394433021545 + ], + [ + 0.41206875443458557, + -0.04588403180241585, + 0.044405534863471985, + -0.3078955113887787, + -0.3437276780605316, + 0.26596230268478394, + 0.0, + 0.33882394433021545 + ], + [ + 0.41778436303138733, + -0.09602878242731094, + 0.031772203743457794, + -0.23011143505573273, + -0.2860783636569977, + 0.2603076994419098, + 0.0, + 0.3814634680747986 + ], + [ + 0.41957053542137146, + -0.1425672173500061, + 0.020922185853123665, + -0.08578837662935257, + -0.2449250966310501, + 0.3311627507209778, + 0.0, + 0.6991904973983765 + ], + [ + 0.4122753441333771, + -0.15212415158748627, + 0.02271837741136551, + -0.01153544057160616, + -0.24142491817474365, + 0.30225199460983276, + 0.0, + 0.9553104043006897 + ], + [ + 0.4007740914821625, + -0.13849452137947083, + 0.014688408002257347, + 0.05856058746576309, + -0.22011056542396545, + 0.29551297426223755, + 0.0, + 1.0054124593734741 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9468915462493896 + ], + [ + 0.6541022062301636 + ], + [ + 0.3866458535194397 + ], + [ + 0.33882394433021545 + ], + [ + 0.33882394433021545 + ], + [ + 0.33882394433021545 + ], + [ + 0.33882394433021545 + ], + [ + 0.33882394433021545 + ], + [ + 0.33882394433021545 + ], + [ + 0.33882394433021545 + ], + [ + 0.33882394433021545 + ], + [ + 0.33882394433021545 + ], + [ + 0.33882394433021545 + ], + [ + 0.33882394433021545 + ], + [ + 0.33882394433021545 + ], + [ + 0.33882394433021545 + ], + [ + 0.33882394433021545 + ], + [ + 0.33882394433021545 + ], + [ + 0.33882394433021545 + ], + [ + 0.33882394433021545 + ], + [ + 0.33882394433021545 + ], + [ + 0.33882394433021545 + ], + [ + 0.33882394433021545 + ], + [ + 0.33882394433021545 + ], + [ + 0.33882394433021545 + ], + [ + 0.33882394433021545 + ], + [ + 0.33882394433021545 + ], + [ + 0.3380139172077179 + ], + [ + 0.33882394433021545 + ], + [ + 0.33882394433021545 + ], + [ + 0.33882394433021545 + ], + [ + 0.33882394433021545 + ], + [ + 0.33882394433021545 + ], + [ + 0.33882394433021545 + ], + [ + 0.33882394433021545 + ], + [ + 0.33882394433021545 + ], + [ + 0.33882394433021545 + ], + [ + 0.33882394433021545 + ], + [ + 0.3380139172077179 + ], + [ + 0.33882394433021545 + ], + [ + 0.33882394433021545 + ], + [ + 0.33882394433021545 + ], + [ + 0.33882394433021545 + ], + [ + 0.33882394433021545 + ], + [ + 0.33882394433021545 + ], + [ + 0.33882394433021545 + ], + [ + 0.33882394433021545 + ], + [ + 0.33882394433021545 + ], + [ + 0.33882394433021545 + ], + [ + 0.33882394433021545 + ], + [ + 0.33882394433021545 + ], + [ + 0.33882394433021545 + ], + [ + 0.33882394433021545 + ], + [ + 0.33882394433021545 + ], + [ + 0.33882394433021545 + ], + [ + 0.3380139172077179 + ], + [ + 0.33882394433021545 + ], + [ + 0.33882394433021545 + ], + [ + 0.3380139172077179 + ], + [ + 0.33882394433021545 + ], + [ + 0.33882394433021545 + ], + [ + 0.33882394433021545 + ], + [ + 0.33882394433021545 + ], + [ + 0.33882394433021545 + ], + [ + 0.33882394433021545 + ], + [ + 0.33882394433021545 + ], + [ + 0.33882394433021545 + ], + [ + 0.33882394433021545 + ], + [ + 0.33882394433021545 + ], + [ + 0.33882394433021545 + ], + [ + 0.33882394433021545 + ], + [ + 0.33882394433021545 + ], + [ + 0.33882394433021545 + ], + [ + 0.33882394433021545 + ], + [ + 0.33882394433021545 + ], + [ + 0.33882394433021545 + ], + [ + 0.33882394433021545 + ], + [ + 0.33882394433021545 + ], + [ + 0.3814634680747986 + ], + [ + 0.6991904973983765 + ], + [ + 0.9553104043006897 + ], + [ + 1.0054124593734741 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3998226523399353, + -0.18300560116767883, + 0.026021594181656837 + ], + [ + 0.39580315351486206, + -0.18122388422489166, + 0.010056494735181332 + ], + [ + 0.39383646845817566, + -0.18013086915016174, + 0.002744241151958704 + ], + [ + 0.39539164304733276, + -0.17896081507205963, + 0.0029687746427953243 + ], + [ + 0.3976980447769165, + -0.17374351620674133, + -0.002559577114880085 + ], + [ + 0.400421679019928, + -0.17408274114131927, + -0.002022550906985998 + ], + [ + 0.39788079261779785, + -0.17110882699489594, + -0.006098037585616112 + ], + [ + 0.39816170930862427, + -0.16028565168380737, + -0.007699855137616396 + ], + [ + 0.39846768975257874, + -0.14154832065105438, + -0.008746186271309853 + ], + [ + 0.40380099415779114, + -0.12365980446338654, + -0.006622173357754946 + ], + [ + 0.4148782193660736, + -0.08234483748674393, + -0.005756241735070944 + ], + [ + 0.4185669720172882, + -0.07021568715572357, + -0.0057884580455720425 + ], + [ + 0.4198581576347351, + -0.06191349774599075, + -0.007813166826963425 + ], + [ + 0.4189721643924713, + -0.04603547230362892, + -0.011067037470638752 + ], + [ + 0.4181370735168457, + -0.015933649614453316, + -0.011955366469919682 + ], + [ + 0.409671425819397, + 0.011819961480796337, + -0.012263394892215729 + ], + [ + 0.40321940183639526, + 0.03715378791093826, + -0.012255408801138401 + ], + [ + 0.3972752094268799, + 0.06169441342353821, + -0.013137794099748135 + ], + [ + 0.3898274898529053, + 0.08466041088104248, + -0.012459234334528446 + ], + [ + 0.3818340301513672, + 0.11566530913114548, + -0.010410679504275322 + ], + [ + 0.3729914724826813, + 0.12861140072345734, + -0.00791406724601984 + ], + [ + 0.3585997223854065, + 0.12120334059000015, + -0.0026305068749934435 + ], + [ + 0.36051833629608154, + 0.09412449598312378, + 0.0247358251363039 + ], + [ + 0.36148256063461304, + 0.05643540248274803, + 0.04695705324411392 + ], + [ + 0.35857048630714417, + 0.007701813243329525, + 0.05241014435887337 + ], + [ + 0.3588588833808899, + -0.04033779725432396, + 0.04558638110756874 + ], + [ + 0.3532332479953766, + -0.08783124387264252, + 0.040179599076509476 + ], + [ + 0.3465796411037445, + -0.1064055785536766, + 0.03459598869085312 + ], + [ + 0.34238702058792114, + -0.11368007957935333, + 0.029623910784721375 + ], + [ + 0.3374541699886322, + -0.11111756414175034, + 0.01400809083133936 + ], + [ + 0.33273863792419434, + -0.10444556176662445, + 0.0009513772092759609 + ], + [ + 0.32552585005760193, + -0.09142684191465378, + -0.006941474042832851 + ], + [ + 0.32444870471954346, + -0.06434459984302521, + -0.008481666445732117 + ], + [ + 0.3238750100135803, + -0.01958460919559002, + -0.004163844510912895 + ], + [ + 0.321154922246933, + 0.012142578139901161, + 0.0007436227169819176 + ], + [ + 0.32050979137420654, + 0.04153883829712868, + 0.0039190673269331455 + ], + [ + 0.3195604085922241, + 0.07185081392526627, + 0.003951034974306822 + ], + [ + 0.31842249631881714, + 0.09477504342794418, + 0.004414076916873455 + ], + [ + 0.3138066530227661, + 0.09929908812046051, + 0.005127051845192909 + ], + [ + 0.3171032667160034, + 0.08123711496591568, + 0.035215772688388824 + ], + [ + 0.32887575030326843, + 0.05316506698727608, + 0.06285232305526733 + ], + [ + 0.3453137278556824, + 0.009169649332761765, + 0.06485183537006378 + ], + [ + 0.34924179315567017, + -0.019924143329262733, + 0.049498993903398514 + ], + [ + 0.3365623950958252, + -0.04519421607255936, + 0.030664440244436264 + ], + [ + 0.3243514597415924, + -0.04985671117901802, + 0.01951431669294834 + ], + [ + 0.318377822637558, + -0.047906503081321716, + 0.012897418811917305 + ], + [ + 0.3164845108985901, + -0.039911527186632156, + 0.003254959359765053 + ], + [ + 0.3172702491283417, + -0.029995888471603394, + -0.0031020899768918753 + ], + [ + 0.32057568430900574, + -0.011237517930567265, + -0.006718949880450964 + ], + [ + 0.32100215554237366, + 0.02058488130569458, + -0.0038130818866193295 + ], + [ + 0.3215062916278839, + 0.04554246738553047, + 0.0006684710970148444 + ], + [ + 0.3210074305534363, + 0.07252989709377289, + 0.001355363056063652 + ], + [ + 0.3240147829055786, + 0.09473712742328644, + 0.0010936103062704206 + ], + [ + 0.32676008343696594, + 0.10815878212451935, + -0.0008636381826363504 + ], + [ + 0.32441258430480957, + 0.1084350124001503, + -0.00047966864076443017 + ], + [ + 0.3187682330608368, + 0.08852668851613998, + 0.015406586229801178 + ], + [ + 0.327347993850708, + 0.06089460104703903, + 0.04650672525167465 + ], + [ + 0.338493287563324, + 0.021100230515003204, + 0.046762626618146896 + ], + [ + 0.3405497074127197, + 0.0009076691349036992, + 0.023665137588977814 + ], + [ + 0.33509644865989685, + 0.0037554390728473663, + 0.0008875285275280476 + ], + [ + 0.3352140188217163, + 0.012403926812112331, + -0.005864783655852079 + ], + [ + 0.3361019194126129, + 0.029981646686792374, + -0.008194672875106335 + ], + [ + 0.33829545974731445, + 0.06498175859451294, + -0.006830733269453049 + ], + [ + 0.3355627954006195, + 0.09307213872671127, + -0.00487682968378067 + ], + [ + 0.3351616859436035, + 0.11200575530529022, + -0.0036919820122420788 + ], + [ + 0.3335453271865845, + 0.11255219578742981, + -0.004057613201439381 + ], + [ + 0.340385764837265, + 0.09088432788848877, + -0.003036953043192625 + ], + [ + 0.35875219106674194, + 0.06004803627729416, + 0.005997063126415014 + ], + [ + 0.38246360421180725, + 0.04176421836018562, + 0.021078234538435936 + ], + [ + 0.4050136208534241, + 0.025341114029288292, + 0.012593680061399937 + ], + [ + 0.4220140278339386, + 0.021812019869685173, + 0.0051067848689854145 + ], + [ + 0.4378223121166229, + 0.028830938041210175, + -0.0015402337303385139 + ], + [ + 0.4498165547847748, + 0.03448525816202164, + -0.0010360415326431394 + ], + [ + 0.44792547821998596, + 0.05998528376221657, + 0.00021910047507844865 + ], + [ + 0.4370013177394867, + 0.10094781965017319, + -0.0008105866145342588 + ], + [ + 0.42326462268829346, + 0.11691264063119888, + 0.007085418328642845 + ], + [ + 0.4127768278121948, + 0.12822483479976654, + 0.026192501187324524 + ], + [ + 0.4062647521495819, + 0.09889931976795197, + 0.03400539606809616 + ], + [ + 0.40660127997398376, + 0.047565557062625885, + 0.036759063601493835 + ], + [ + 0.40405794978141785, + -0.0003941234608646482, + 0.03381120786070824 + ], + [ + 0.41206875443458557, + -0.04588403180241585, + 0.044405534863471985 + ], + [ + 0.41778436303138733, + -0.09602878242731094, + 0.031772203743457794 + ], + [ + 0.41957053542137146, + -0.1425672173500061, + 0.020922185853123665 + ], + [ + 0.4122753441333771, + -0.15212415158748627, + 0.02271837741136551 + ], + [ + 0.4007740914821625, + -0.13849452137947083, + 0.014688408002257347 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9631009547356392, + 0.09020510115570368, + 0.2535736396252366, + 0.1309867136903363, + -0.9801492644921017, + -0.14882842521574222, + 0.23511493322183083, + 0.1765515761500904, + -0.9557983621742677 + ], + [ + 0.9707857895975791, + 0.0960709628811119, + 0.2198756939875363, + 0.12758024952728225, + -0.9827494289372504, + -0.13389114927456755, + 0.20321966107136658, + 0.15803142097255266, + -0.9662959377641172 + ], + [ + 0.9732366610092429, + 0.09738170598680934, + 0.20815187966165183, + 0.12567195806308537, + -0.9838706678221292, + -0.12729912786750658, + 0.1923979226087701, + 0.15005103244675227, + -0.9697771532870288 + ], + [ + 0.9727064470433976, + 0.08758309481997402, + 0.21487524143550282, + 0.11672622846837878, + -0.9850227338196191, + -0.12690627031818358, + 0.20054215384242294, + 0.1485241238327279, + -0.96836120800658 + ], + [ + 0.9736468578133197, + 0.09374651732626996, + 0.20790234909554164, + 0.12341923078265907, + -0.9831747315197745, + -0.13466677680124386, + 0.19177979492966887, + 0.15677703208765834, + -0.9688351110826442 + ], + [ + 0.9718031698809149, + 0.0931797135614102, + 0.21660133884632274, + 0.12570373702385537, + -0.9819143543804199, + -0.14157249436214933, + 0.19949227931838212, + 0.16480819652643777, + -0.9659405203479455 + ], + [ + 0.9711825250167158, + 0.09955807726884403, + 0.21654720582978526, + 0.13048758910684136, + -0.9824139722927112, + -0.13355065006633446, + 0.19944295472951817, + 0.1579587803655981, + -0.9670943757018611 + ], + [ + 0.9686844556789096, + 0.11609765736635806, + 0.21948065810020279, + 0.14883181613567878, + -0.9790455379019711, + -0.13899253656220284, + 0.19874485108251205, + 0.16730561457489557, + -0.9656652191623691 + ], + [ + 0.9767600599223528, + 0.08168289953760653, + 0.19816076620666023, + 0.11212426111157535, + -0.9826689879360224, + -0.14761371961635628, + 0.18266892294713033, + 0.16640181511005897, + -0.9689904542963325 + ], + [ + 0.9798611653682133, + 0.07563260939894008, + 0.18480206979023384, + 0.10614459404712194, + -0.9811910977209476, + -0.16123695267442187, + 0.16913137425628277, + 0.17760556902493072, + -0.9694590450831392 + ], + [ + 0.974311830000055, + 0.13218248766448487, + 0.18233005203962507, + 0.16298778099980843, + -0.9725862448947281, + -0.1658643406110262, + 0.1554073394878844, + 0.19132115982399947, + -0.9691464144477331 + ], + [ + 0.9703240250734074, + 0.1479906921802044, + 0.19123295059524925, + 0.18207587649559026, + -0.9675720054363126, + -0.1750793805515498, + 0.15912153079864338, + 0.20470263633860658, + -0.9658038978552117 + ], + [ + 0.9680559231825565, + 0.15394400166830502, + 0.19791153059262812, + 0.18889351274411237, + -0.9668347834014898, + -0.1719003852473397, + 0.1648847186198822, + 0.20379339036225597, + -0.965029162051748 + ], + [ + 0.963854332289136, + 0.172683625411734, + 0.20289206894830325, + 0.20713101869543815, + -0.9646431112555656, + -0.1629736451128583, + 0.1675755567547163, + 0.19910809481746786, + -0.9655435771401021 + ], + [ + 0.957310570354558, + 0.20784853426432542, + 0.20088668122004158, + 0.2408177683408988, + -0.9578631467974712, + -0.15654071182461038, + 0.15988519111769003, + 0.1982351603813462, + -0.9670261355567604 + ], + [ + 0.957964318119155, + 0.21375813773980623, + 0.19134216409488009, + 0.24490494808388674, + -0.9566919879279814, + -0.15735948220058207, + 0.14941864547147632, + 0.19760541182977912, + -0.9688272134911633 + ], + [ + 0.9601995407529327, + 0.21061648638215633, + 0.1834599073418827, + 0.23894398923771973, + -0.9595286940525533, + -0.14903172580684337, + 0.14464650685385286, + 0.18693683680279988, + -0.9716645548239072 + ], + [ + 0.9551302881809417, + 0.23222117874401127, + 0.18384628563594285, + 0.2592429681624598, + -0.9556512784189803, + -0.1397272969554831, + 0.14324530029885307, + 0.18111863018173988, + -0.9729731886045889 + ], + [ + 0.9511524044015168, + 0.24175199058945623, + 0.1920028089566634, + 0.2665725006163972, + -0.9568323994843566, + -0.11580527281661078, + 0.15571835317757007, + 0.1613311325908431, + -0.9745378700392415 + ], + [ + 0.9436924732605287, + 0.2652188919644706, + 0.19774593613160488, + 0.2839693084022212, + -0.9560583390407152, + -0.07289639384957965, + 0.16972315044504235, + 0.12494555492632504, + -0.9775390838770398 + ], + [ + 0.948779338202784, + 0.24438846845376808, + 0.20022997749165344, + 0.2574994804880983, + -0.965370632220345, + -0.04187552978590424, + 0.18306224337051574, + 0.0912897526194056, + -0.9788536132225498 + ], + [ + 0.9578087762145837, + 0.21288334490425834, + 0.19308813963756588, + 0.23501875043806628, + -0.9668502559287808, + -0.09983370950225612, + 0.16543438321235243, + 0.14100093642534978, + -0.9760892381223774 + ], + [ + 0.9482142165105798, + 0.21442519073821437, + 0.2343323221071037, + 0.2655910113181706, + -0.9398836528636112, + -0.214662837460856, + 0.17421599901908663, + 0.2657829126498445, + -0.9481604447714249 + ], + [ + 0.9477121689436647, + 0.17936650854958824, + 0.2639494278206057, + 0.2559299887050446, + -0.9212619290267718, + -0.29287591059577917, + 0.19063442951767762, + 0.3451146385429073, + -0.9189964094303459 + ], + [ + 0.959701104055392, + 0.1287222829674449, + 0.2498086562601682, + 0.2156907324984131, + -0.9072184189422523, + -0.3611540505742921, + 0.1801424402775754, + 0.400481353123425, + -0.8984227217803827 + ], + [ + 0.9662936136183344, + 0.1071494294772578, + 0.23408471125453445, + 0.1867619550703839, + -0.9175872418512692, + -0.3509325087963042, + 0.1771909264570523, + 0.38282196038691196, + -0.9066701286723925 + ], + [ + 0.9704207428971108, + 0.06588407550915681, + 0.23225604480685436, + 0.14748344992316678, + -0.9234406104231487, + -0.3542683601735884, + 0.1911340203987259, + 0.3780432880182193, + -0.9058427339392823 + ], + [ + 0.9699100012309821, + 0.05994800619426546, + 0.23596784964364967, + 0.14529901373452056, + -0.920214097127596, + -0.36344767443941406, + 0.1953529782723861, + 0.38679743018920776, + -0.9012352422531718 + ], + [ + 0.9675674361815534, + 0.06030224242341349, + 0.2453097959718771, + 0.1481101570066265, + -0.9220869243368615, + -0.3575179510996055, + 0.20463782111948062, + 0.38225559973098544, + -0.9011126559103343 + ], + [ + 0.9650983391776109, + 0.05827725448250623, + 0.25532128255709147, + 0.14393136310212012, + -0.93251689756508, + -0.33120386240375216, + 0.21878975851758367, + 0.3563930377624949, + -0.9083584337706334 + ], + [ + 0.9598835044996943, + 0.06756826110471459, + 0.2721363406101262, + 0.15466098832463188, + -0.9371275697350473, + -0.31284484450432015, + 0.23388808537382486, + 0.3423834811052795, + -0.9099834698423906 + ], + [ + 0.9610000203883038, + 0.07793125234982123, + 0.2653406880236584, + 0.15846001164038437, + -0.9415184666913358, + -0.2973775404937727, + 0.22664815358746954, + 0.3278257109904356, + -0.9171482528408406 + ], + [ + 0.9654014787391687, + 0.10773861244248359, + 0.23747079028207868, + 0.1743827268220071, + -0.9438133459288774, + -0.28072590303115735, + 0.19388308186726333, + 0.3124240058566336, + -0.9299465528352404 + ], + [ + 0.9759160650026695, + 0.12710238252011644, + 0.1772930298331417, + 0.1695112111286173, + -0.9534017960044366, + -0.24958157920251978, + 0.13730907971221207, + 0.27362382888415315, + -0.9519854079214454 + ], + [ + 0.9826960923428819, + 0.12717737423281733, + 0.13466367579000565, + 0.1555929343341244, + -0.9612374121742152, + -0.22762573716940385, + 0.10049491966923838, + 0.24463963889742726, + -0.9643921495951786 + ], + [ + 0.9871455116982278, + 0.0928983603655125, + 0.130052425488506, + 0.11645132841685024, + -0.9754017531264174, + -0.18716438792639573, + 0.10946609906265464, + 0.19990326320325746, + -0.9736816001736369 + ], + [ + 0.9848657612563744, + 0.07436375680034575, + 0.15655498707943125, + 0.09556588539760662, + -0.9865548168522369, + -0.1325773543778142, + 0.1445911264672676, + 0.14553221299831887, + -0.9787306989804387 + ], + [ + 0.9799431915733786, + 0.057027614967212835, + 0.1909429035605447, + 0.07842817322413506, + -0.9912187952628672, + -0.10646277078093978, + 0.18319487693083888, + 0.1193027704991849, + -0.9758106814426214 + ], + [ + 0.9792737198457916, + 0.07285868023176871, + 0.1889830530345802, + 0.10109120511487214, + -0.9843511097221342, + -0.14433800967598856, + 0.1755094010809932, + 0.16045094422809666, + -0.971314544639636 + ], + [ + 0.9669291991353384, + 0.08958911742361639, + 0.23879219815301927, + 0.15083637575579595, + -0.9558578078916614, + -0.25215915379260806, + 0.20566067102961055, + 0.2798385983594924, + -0.9377601224512829 + ], + [ + 0.9442105055121279, + 0.10518060395312165, + 0.3120954370582637, + 0.21298726084235456, + -0.9178097968248481, + -0.3350546277418088, + 0.2512030015732354, + 0.38283445169470814, + -0.8890077809536931 + ], + [ + 0.9366981407051514, + 0.10014859819008337, + 0.3355098381271012, + 0.21894781087175186, + -0.9153025358816496, + -0.3380578706717084, + 0.2732369837960814, + 0.39011732349279643, + -0.8792894998786447 + ], + [ + 0.9303368600079558, + 0.12361486209256531, + 0.3452429474737655, + 0.23326560649141, + -0.9259286867546271, + -0.29705761036042494, + 0.2829496134274295, + 0.35689694999353444, + -0.8902606828039642 + ], + [ + 0.9336439203639871, + 0.10613996312224344, + 0.3421159718513204, + 0.21601701135914841, + -0.9287097167326259, + -0.30138830907961084, + 0.2857370832965616, + 0.35529223221851375, + -0.8900122184298143 + ], + [ + 0.9356079688285676, + 0.08418841345561098, + 0.34285571266104004, + 0.1996012697615774, + -0.9271785139485466, + -0.31701630302199174, + 0.29119935057284824, + 0.36503741494810144, + -0.8842797204018418 + ], + [ + 0.9304944158844195, + 0.07547915799348444, + 0.3584453078455725, + 0.19301075307148408, + -0.9327076700054171, + -0.3046362609930804, + 0.3113309994309773, + 0.35264613853218385, + -0.8824475677181326 + ], + [ + 0.9273722524324625, + 0.06716117447387704, + 0.36806260617132813, + 0.17911548507070993, + -0.9433921676132501, + -0.27915741275104516, + 0.32847884014990225, + 0.32480855088692256, + -0.8869053257504501 + ], + [ + 0.9367791752626536, + 0.07443238906022226, + 0.34191314138682954, + 0.165383007878501, + -0.9552716444569727, + -0.24516228503081547, + 0.3083719142517393, + 0.286209546932416, + -0.9071884356325642 + ], + [ + 0.9522188679086716, + 0.09064065624359385, + 0.29165647435717684, + 0.147651248885274, + -0.972556958095791, + -0.17981121200325834, + 0.26735432725382763, + 0.21428307141534186, + -0.9394702917088229 + ], + [ + 0.9742164236763355, + 0.09736773149374828, + 0.20352367111235983, + 0.11802378146001233, + -0.9887468866792117, + -0.09192377870847764, + 0.19228298637469185, + 0.11357428822549255, + -0.974745163724808 + ], + [ + 0.9859131426158174, + 0.07603122233663859, + 0.1489782817977173, + 0.08352390826328421, + -0.9955031212735944, + -0.044691076099801406, + 0.144910427388197, + 0.05650476762653208, + -0.9878300356182951 + ], + [ + 0.9847796673209802, + 0.0853777207452136, + 0.1513923763983224, + 0.08908605534044381, + -0.995863591490179, + -0.01787125871786432, + 0.1492403483480871, + 0.03108620183672785, + -0.9883121806799243 + ], + [ + 0.9762355861463635, + 0.08416124395668295, + 0.19970219166831824, + 0.08443685327082992, + -0.9964031647836714, + 0.007151994043904018, + 0.19958581650805338, + 0.009880193558195003, + -0.97983053821774 + ], + [ + 0.96499415476802, + 0.087374232375283, + 0.24728935436121097, + 0.07843890064754325, + -0.9958673813323781, + 0.045776606071186, + 0.25026709757528925, + -0.024777052185878612, + -0.9678597406423199 + ], + [ + 0.9654465284263831, + 0.09985902705144473, + 0.2407097328023601, + 0.10048981380589478, + -0.9948909467765475, + 0.00968510936031045, + 0.2404470795636773, + 0.01483842102123426, + -0.9705488257634929 + ], + [ + 0.9676205401945941, + 0.12418293925004882, + 0.2197477822248512, + 0.15309695016678815, + -0.9809226045778726, + -0.11980053287774017, + 0.20067838459373227, + 0.14956417160329943, + -0.9681728897926594 + ], + [ + 0.9492733504856607, + 0.14362119980436538, + 0.2797374787626478, + 0.20302052637739887, + -0.9592680739301709, + -0.1964368300694766, + 0.24013073923838274, + 0.24326469802471362, + -0.9397656701368554 + ], + [ + 0.942441517900412, + 0.13418117681803673, + 0.3062668723928443, + 0.20195470926773354, + -0.958432843044386, + -0.20154597683516554, + 0.26649255288310253, + 0.2517973335076895, + -0.9303654239578472 + ], + [ + 0.9334780520314377, + 0.137620455291543, + 0.3311787080428641, + 0.19991385711428322, + -0.9663404640118843, + -0.16192762996779064, + 0.2977468322405499, + 0.21736310151137478, + -0.9295698499801257 + ], + [ + 0.928933258725099, + 0.13347768197752768, + 0.34535012559469874, + 0.18395399084407021, + -0.9758707850122477, + -0.11763137426774886, + 0.3213159350030869, + 0.17280022966849742, + -0.9310725807044297 + ], + [ + 0.9201916607745031, + 0.11836350776576106, + 0.37314526322927655, + 0.16308390602398354, + -0.9824496256120043, + -0.09053382092230818, + 0.35588052354269395, + 0.14416245407253817, + -0.9233451357963396 + ], + [ + 0.9220668440950668, + 0.10781296375041435, + 0.37171104351083745, + 0.14265280667458494, + -0.987471626467897, + -0.06745341851017966, + 0.35978175574704635, + 0.11522218435786485, + -0.9258946681255783 + ], + [ + 0.9342170095641084, + 0.09820566198374928, + 0.34292014667474513, + 0.11431683552685842, + -0.9930764042110728, + -0.027035467710613523, + 0.33789087018772845, + 0.06445853980303938, + -0.9389754291195485 + ], + [ + 0.9486147949234157, + 0.055202657817381706, + 0.31158086819043185, + 0.05409376394191878, + -0.9984612390506579, + 0.012207326325661374, + 0.31177529657591885, + 0.00527453157373085, + -0.9501412230619593 + ], + [ + 0.9531657989297095, + 0.01802103175258512, + 0.3019109175986526, + 0.00047183956538687614, + -0.9983106908609356, + 0.05809941376800267, + 0.3024479081066897, + -0.05523592062538075, + -0.9515641102703242 + ], + [ + 0.9526376943748109, + 0.018968017875308364, + 0.30351546509877564, + 0.00892320597951578, + -0.9993666641822208, + 0.03444774181782013, + 0.3039766432660432, + -0.030107886328702017, + -0.9522036103321213 + ], + [ + 0.9274730720895188, + 0.10508358668660968, + 0.3588190914066699, + 0.13539396283076374, + -0.9889526882563467, + -0.06034115692897214, + 0.34851423984941, + 0.10454673691523263, + -0.9314546711582722 + ], + [ + 0.9059302721959718, + 0.15677771103588217, + 0.39333330807507494, + 0.22090118072720816, + -0.9674895061611515, + -0.12315325339338953, + 0.36123816281264876, + 0.19845605254161566, + -0.9111104131428538 + ], + [ + 0.8770939544862213, + 0.1927284332331331, + 0.4399567547239432, + 0.2656496410447688, + -0.9577696831453404, + -0.11003409589967857, + 0.400170542664634, + 0.21338459426860212, + -0.8912522379844643 + ], + [ + 0.8718265255963952, + 0.21945649093257616, + 0.4379010822709603, + 0.2801008257755899, + -0.9567833095245135, + -0.07816153795283032, + 0.4018233898945541, + 0.19079975682080735, + -0.8956190128234047 + ], + [ + 0.8672151630224573, + 0.25061336194498995, + 0.4302682928575641, + 0.30210810423668366, + -0.9517102400202347, + -0.054573916802301094, + 0.39581378750423807, + 0.17731486642483446, + -0.9010498786228724 + ], + [ + 0.8646316668564638, + 0.28862938044981695, + 0.41122397961472096, + 0.3268718930195598, + -0.9447595877937864, + -0.024167888313313, + 0.3815322348410722, + 0.15531388222844134, + -0.9112138891414613 + ], + [ + 0.8609089137581847, + 0.3123715313137921, + 0.40157174780651445, + 0.3471452884712349, + -0.9376942476792876, + -0.014820477772247834, + 0.37192202261216717, + 0.15216282165447365, + -0.9157076415550015 + ], + [ + 0.8339717241956156, + 0.3789150587686644, + 0.40114154793605183, + 0.418276842818725, + -0.9082445517666681, + -0.011675484904871927, + 0.35991060835128463, + 0.1775252444710439, + -0.9159416693063508 + ], + [ + 0.8167154550084799, + 0.42407809531534946, + 0.3913229288247711, + 0.463099370862855, + -0.8862857413493231, + -0.006046270528869274, + 0.3442598411908065, + 0.18615948472905114, + -0.9202335616508966 + ], + [ + 0.821968669572048, + 0.4159869499796521, + 0.38900175280914046, + 0.45893705996310535, + -0.8882463610273784, + -0.01987906220224911, + 0.33725996091202143, + 0.19486728706544426, + -0.9210225074325683 + ], + [ + 0.8184227692089334, + 0.3822518157694531, + 0.42903114127221204, + 0.43585434653553723, + -0.8995170745196166, + -0.030000354227079543, + 0.3744531471979646, + 0.2115480607063711, + -0.9027913704532807 + ], + [ + 0.8184515544959993, + 0.31403509119281475, + 0.4811642281410811, + 0.4084826117430595, + -0.9069478546429942, + -0.10289579613394646, + 0.4040779737212247, + 0.28076244488533414, + -0.8705707557087812 + ], + [ + 0.8427985435863341, + 0.23438589284417544, + 0.4845140536293997, + 0.35213593535856147, + -0.9209242803044069, + -0.16702919797137616, + 0.4070514684384582, + 0.3113867742558262, + -0.8586893378053824 + ], + [ + 0.8876129699431371, + 0.1846430074594157, + 0.4219599215388424, + 0.29192194258267784, + -0.9341477676903952, + -0.2053035010851189, + 0.3562650628780201, + 0.30540941032553964, + -0.8830630198672837 + ], + [ + 0.908401687553246, + 0.15193950982572094, + 0.3895134906576848, + 0.24746315362573154, + -0.9463102489172599, + -0.20798774096508926, + 0.33699905288890986, + 0.2853266516609921, + -0.8972292573271919 + ], + [ + 0.9270379321065501, + 0.18839795647006585, + 0.3242019161471983, + 0.2469175203562886, + -0.9574057195156271, + -0.14968642683913053, + 0.2821921518694551, + 0.21881612883118956, + -0.9340701746585311 + ], + [ + 0.9174420170907558, + 0.30429922121468717, + 0.2563242658130137, + 0.31543909252908414, + -0.9489425956112452, + -0.0024757098014189446, + 0.2424836575542226, + 0.08312601399518593, + -0.966587679218186 + ], + [ + 0.9269815290822521, + 0.2950181767052484, + 0.23166683006818425, + 0.28903790155390235, + -0.9554259892711439, + 0.06015206139919883, + 0.23908646177825868, + 0.011200644569273627, + -0.9709336791746316 + ], + [ + 0.9335720115524198, + 0.30295615307388213, + 0.19147028114212303, + 0.284204197045833, + -0.9512914587948638, + 0.11946771449004014, + 0.2183375222619843, + -0.05711505702189994, + -0.9742004909842137 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.004019498825073242, + 0.0017817169427871704, + -0.01596510037779808, + 0.020549088716506958, + 0.03269173204898834, + -0.004505053162574768, + 1.0 + ], + [ + -0.0019666850566864014, + 0.0010930150747299194, + -0.007312253583222628, + 0.008598372340202332, + 0.011039942502975464, + -0.0022534728050231934, + 1.0 + ], + [ + 0.0015551745891571045, + 0.0011700540781021118, + 0.00022453349083662033, + 0.0013192445039749146, + -0.008306145668029785, + -0.008986853063106537, + 0.0 + ], + [ + 0.0023064017295837402, + 0.005217298865318298, + -0.005528351757675409, + -0.008238688111305237, + 0.008936002850532532, + 0.0066568925976753235, + 0.0 + ], + [ + 0.0027236342430114746, + -0.0003392249345779419, + 0.0005370262078940868, + -0.008562639355659485, + -0.00786447525024414, + 0.002549469470977783, + 0.0 + ], + [ + -0.002540886402130127, + 0.00297391414642334, + -0.004075486678630114, + 0.007088378071784973, + 5.033612251281738e-05, + 0.0049228668212890625, + 0.0 + ], + [ + 0.000280916690826416, + 0.010823175311088562, + -0.0016018175520002842, + -0.009647578001022339, + 0.0007123649120330811, + 0.01889146864414215, + 0.0 + ], + [ + 0.0003059804439544678, + 0.01873733103275299, + -0.0010463311336934566, + 0.001483142375946045, + 0.016376689076423645, + -0.038159340620040894, + 0.0 + ], + [ + 0.005333304405212402, + 0.017888516187667847, + 0.002124012913554907, + -0.011123284697532654, + 0.013752087950706482, + -0.006386362016201019, + 0.0 + ], + [ + 0.01107722520828247, + 0.04131496697664261, + 0.0008659316226840019, + -0.013714447617530823, + 0.013908490538597107, + 0.057844869792461395, + 0.0 + ], + [ + 0.0036887526512145996, + 0.012129150331020355, + -3.221631050109863e-05, + -0.01395370066165924, + -0.003760993480682373, + 0.019737184047698975, + 0.0 + ], + [ + 0.0012911856174468994, + 0.008302189409732819, + -0.0020247087813913822, + 0.0007389634847640991, + -0.0058403462171554565, + 0.007217839360237122, + 0.0 + ], + [ + -0.0008859932422637939, + 0.01587802544236183, + -0.0032538706436753273, + 0.004757776856422424, + -0.0027288049459457397, + 0.018974021077156067, + 0.0 + ], + [ + -0.0008350908756256104, + 0.030101822689175606, + -0.0008883289992809296, + 0.0011694133281707764, + 0.007795587182044983, + 0.03476382791996002, + 0.0 + ], + [ + -0.00846564769744873, + 0.027753610163927078, + -0.0003080284222960472, + 0.0009897202253341675, + 0.01059405505657196, + 0.0038474053144454956, + 0.0 + ], + [ + -0.006452023983001709, + 0.02533382549881935, + 7.986091077327728e-06, + 0.01113775372505188, + 0.004824578762054443, + -0.006396159529685974, + 0.0 + ], + [ + -0.005944192409515381, + 0.024540625512599945, + -0.0008823852986097336, + 0.006022810935974121, + 0.0014159530401229858, + 0.021141961216926575, + 0.0 + ], + [ + -0.007447719573974609, + 0.022965997457504272, + 0.0006785597652196884, + 0.019984766840934753, + -0.01261487603187561, + 0.008215904235839844, + 0.0 + ], + [ + -0.007993459701538086, + 0.031004898250102997, + 0.0020485548302531242, + 0.03693126142024994, + -0.014194101095199585, + 0.01904192566871643, + 0.0 + ], + [ + -0.008842557668685913, + 0.012946091592311859, + 0.0024966122582554817, + 0.03413420915603638, + -0.013551697134971619, + -0.02727717161178589, + 0.0 + ], + [ + -0.01439175009727478, + -0.007408060133457184, + 0.00528356060385704, + -0.05046965181827545, + 0.017901986837387085, + -0.024399518966674805, + 0.0 + ], + [ + 0.0019186139106750488, + -0.027078844606876373, + 0.027366332709789276, + -0.1298375427722931, + -0.008911088109016418, + 0.03248023986816406, + 0.0 + ], + [ + 0.0009642243385314941, + -0.03768909350037575, + 0.02222122810781002, + -0.08593887090682983, + -0.01669885218143463, + -0.009338974952697754, + 0.0 + ], + [ + -0.002912074327468872, + -0.04873358830809593, + 0.005453091114759445, + -0.0600837767124176, + 0.010677129030227661, + -0.042684346437454224, + 0.0 + ], + [ + 0.00028839707374572754, + -0.04803961142897606, + -0.0068237632513046265, + 0.019801944494247437, + 0.0029997825622558594, + -0.030151918530464172, + 0.0 + ], + [ + -0.005625635385513306, + -0.04749344661831856, + -0.005406782031059265, + 0.004157155752182007, + -0.014185860753059387, + -0.04009777307510376, + 0.0 + ], + [ + -0.00665360689163208, + -0.018574334681034088, + -0.005583610385656357, + -0.010047107934951782, + -0.004300013184547424, + -0.002123817801475525, + 0.0 + ], + [ + -0.004192620515823364, + -0.007274501025676727, + -0.004972077906131744, + 0.00421452522277832, + -0.009476333856582642, + 0.0031947940587997437, + 0.0 + ], + [ + -0.00493285059928894, + 0.002562515437602997, + -0.015615819953382015, + 0.027303367853164673, + -0.01448032259941101, + -0.0038503706455230713, + 0.0 + ], + [ + -0.004715532064437866, + 0.006672002375125885, + -0.013056714087724686, + 0.01402464509010315, + -0.015500769019126892, + 0.011706426739692688, + 0.0 + ], + [ + -0.007212787866592407, + 0.013018719851970673, + -0.007892850786447525, + 0.016580551862716675, + 0.0074398815631866455, + 0.0036685168743133545, + 0.0 + ], + [ + -0.0010771453380584717, + 0.02708224207162857, + -0.0015401924028992653, + 0.019175797700881958, + 0.03351609408855438, + 0.015285104513168335, + 0.0 + ], + [ + -0.0005736947059631348, + 0.04475998878479004, + 0.0043178219348192215, + 0.04423189163208008, + 0.05737455189228058, + -0.0067267268896102905, + 0.0 + ], + [ + -0.002720087766647339, + 0.03172718733549118, + 0.0049074674025177956, + 0.03144797682762146, + 0.037079401314258575, + -0.01494947075843811, + 0.0 + ], + [ + -0.0006451308727264404, + 0.029396260157227516, + 0.003175444668158889, + 0.04593919217586517, + -0.009021058678627014, + -0.039604127407073975, + 0.0 + ], + [ + -0.0009493827819824219, + 0.03031197562813759, + 3.19676473736763e-05, + 0.05487954616546631, + -0.03541383892297745, + -0.020693451166152954, + 0.0 + ], + [ + -0.0011379122734069824, + 0.022924229502677917, + 0.0004630419425666332, + 0.02595686912536621, + -0.03913560509681702, + -0.016868427395820618, + 0.0 + ], + [ + -0.004615843296051025, + 0.004524044692516327, + 0.0007129749283194542, + -0.0420546680688858, + 0.007812172174453735, + 0.023003265261650085, + 0.0 + ], + [ + 0.0032966136932373047, + -0.01806197315454483, + 0.030088720843195915, + -0.12628793716430664, + -0.030715584754943848, + 0.051881641149520874, + 0.0 + ], + [ + 0.011772483587265015, + -0.028072047978639603, + 0.02763655036687851, + -0.11663159728050232, + -0.04678414762020111, + 0.06711055338382721, + 0.0 + ], + [ + 0.01643797755241394, + -0.04399541765451431, + 0.0019995123147964478, + -0.010949641466140747, + -0.022833555936813354, + 0.007762983441352844, + 0.0 + ], + [ + 0.003928065299987793, + -0.029093792662024498, + -0.015352841466665268, + 0.036306530237197876, + -0.01011154055595398, + 0.016046270728111267, + 0.0 + ], + [ + -0.01267939805984497, + -0.025270072743296623, + -0.01883455365896225, + 0.001457810401916504, + -0.002907484769821167, + -0.01829889416694641, + 0.0 + ], + [ + -0.012210935354232788, + -0.004662495106458664, + -0.011150123551487923, + -0.01168254017829895, + -0.005704790353775024, + -0.017181381583213806, + 0.0 + ], + [ + -0.005973637104034424, + 0.0019502080976963043, + -0.006616897881031036, + 0.011317312717437744, + -0.021113038063049316, + -0.005659878253936768, + 0.0 + ], + [ + -0.0018933117389678955, + 0.00799497589468956, + -0.009642459452152252, + 0.029124081134796143, + -0.018099278211593628, + -0.013734012842178345, + 0.0 + ], + [ + 0.0007857382297515869, + 0.009915638715028763, + -0.006357049569487572, + 0.04544985294342041, + 0.02121153473854065, + -0.01605004072189331, + 0.0 + ], + [ + 0.0033054351806640625, + 0.018758371472358704, + -0.0036168599035590887, + 0.08135432004928589, + 0.042834699153900146, + -0.020908579230308533, + 0.0 + ], + [ + 0.0004264712333679199, + 0.03182239830493927, + 0.0029058679938316345, + 0.10825900733470917, + 0.07715834677219391, + -0.03327520936727524, + 0.0 + ], + [ + 0.0005041360855102539, + 0.02495758607983589, + 0.004481553100049496, + 0.05885523557662964, + 0.04806557297706604, + -0.036044374108314514, + 0.0 + ], + [ + -0.0004988610744476318, + 0.026987429708242416, + 0.0006868919590488076, + 0.02569517493247986, + -0.00437752902507782, + 0.005701862275600433, + 0.0 + ], + [ + 0.003007352352142334, + 0.02220723032951355, + -0.0002617527497932315, + 0.021360229700803757, + -0.051135241985321045, + -0.003939792513847351, + 0.0 + ], + [ + 0.002745300531387329, + 0.01342165470123291, + -0.00195724843069911, + 0.0356774777173996, + -0.052020907402038574, + -0.005171559751033783, + 0.0 + ], + [ + -0.002347499132156372, + 0.00027623027563095093, + 0.00038396954187192023, + -0.040881745517253876, + 0.01012970507144928, + 0.022606879472732544, + 0.0 + ], + [ + -0.005644351243972778, + -0.019908323884010315, + 0.015886254608631134, + -0.13798178732395172, + 0.040776073932647705, + 0.053206346929073334, + 0.0 + ], + [ + 0.008579760789871216, + -0.027632087469100952, + 0.031100139021873474, + -0.10002762079238892, + -0.04045018553733826, + 0.05377602577209473, + 0.0 + ], + [ + 0.011145293712615967, + -0.03979437053203583, + 0.00025590136647224426, + -0.011014580726623535, + -0.02725161612033844, + 0.00040106475353240967, + 0.0 + ], + [ + 0.002056419849395752, + -0.02019256167113781, + -0.023097489029169083, + 0.03460676968097687, + -0.03257942199707031, + -0.00012299418449401855, + 0.0 + ], + [ + -0.005453258752822876, + 0.002847769996151328, + -0.022777609527111053, + 0.0461999773979187, + -0.024787217378616333, + -0.015475481748580933, + 0.0 + ], + [ + 0.00011757016181945801, + 0.008648487739264965, + -0.006752312183380127, + 0.028624534606933594, + -0.03673732280731201, + -0.02009102702140808, + 0.0 + ], + [ + 0.0008879005908966064, + 0.017577718943357468, + -0.0023298892192542553, + 0.031072542071342468, + -0.004177868366241455, + -0.02191390097141266, + 0.0 + ], + [ + 0.002193540334701538, + 0.035000111907720566, + 0.001363939605653286, + 0.05526746064424515, + 0.023358911275863647, + -0.03173178434371948, + 0.0 + ], + [ + -0.0027326643466949463, + 0.028090380132198334, + 0.0019539035856723785, + 0.06298895180225372, + 0.027614176273345947, + -0.06479887664318085, + 0.0 + ], + [ + -0.0004011094570159912, + 0.01893361657857895, + 0.0011848476715385914, + 0.06353369355201721, + 0.009801089763641357, + -0.05646723881363869, + 0.0 + ], + [ + -0.001616358757019043, + 0.0005464404821395874, + -0.00036563118919730186, + -0.02637379989027977, + -0.0016042590141296387, + 0.008871544152498245, + 0.0 + ], + [ + 0.006840437650680542, + -0.02166786789894104, + 0.0010206601582467556, + -0.14338111877441406, + -0.04712143540382385, + 0.135591059923172, + 0.0 + ], + [ + 0.01836642622947693, + -0.03083629161119461, + 0.00903401616960764, + -0.10269539803266525, + -0.013609886169433594, + 0.09421414136886597, + 0.0 + ], + [ + 0.023711413145065308, + -0.018283817917108536, + 0.015081170946359634, + -0.02052965760231018, + -0.04210755228996277, + 0.054920345544815063, + 0.0 + ], + [ + 0.02255001664161682, + -0.01642310433089733, + -0.008484554477036, + 0.02509865164756775, + -0.001804262399673462, + 0.016771912574768066, + 0.0 + ], + [ + 0.017000406980514526, + -0.003529094159603119, + -0.007486895192414522, + 0.015594691038131714, + 0.006553351879119873, + 0.02435418963432312, + 0.0 + ], + [ + 0.015808284282684326, + 0.0070189181715250015, + -0.00664701871573925, + 0.025479406118392944, + 0.015500485897064209, + 0.02622160315513611, + 0.0 + ], + [ + 0.011994242668151855, + 0.005654320120811462, + 0.0005041921976953745, + 0.0041597336530685425, + 0.010374635457992554, + 0.02184891700744629, + 0.0 + ], + [ + -0.0018910765647888184, + 0.02550002560019493, + 0.0012551420368254185, + -0.026778489351272583, + 0.012906640768051147, + 0.0815964937210083, + 0.0 + ], + [ + -0.010924160480499268, + 0.04096253588795662, + -0.001029687118716538, + -0.008158639073371887, + 0.016721755266189575, + 0.05093616247177124, + 0.0 + ], + [ + -0.013736695051193237, + 0.015964820981025696, + 0.007896005176007748, + -0.008900031447410583, + 0.00744551420211792, + -0.006598532199859619, + 0.0 + ], + [ + -0.010487794876098633, + 0.011312194168567657, + 0.01910708285868168, + -0.021671518683433533, + -0.03980213403701782, + -0.019872456789016724, + 0.0 + ], + [ + -0.006512075662612915, + -0.029325515031814575, + 0.007812894880771637, + -0.08179885149002075, + -0.03216367959976196, + -0.026429474353790283, + 0.0 + ], + [ + 0.00033652782440185547, + -0.05133376270532608, + 0.0027536675333976746, + -0.035909563302993774, + -0.003253042697906494, + -0.06714966893196106, + 0.0 + ], + [ + -0.002543330192565918, + -0.04795968160033226, + -0.0029478557407855988, + 0.014907121658325195, + 0.05495604872703552, + -0.07803019881248474, + 0.0 + ], + [ + 0.008010804653167725, + -0.04548990726470947, + 0.010594327002763748, + 0.02507951855659485, + 0.020539939403533936, + -0.05177876353263855, + 0.0 + ], + [ + 0.005715608596801758, + -0.050144750624895096, + -0.01263333112001419, + 0.07778407633304596, + 0.057649314403533936, + -0.0056546032428741455, + 1.0 + ], + [ + 0.0017861723899841309, + -0.04653843492269516, + -0.01085001789033413, + 0.14432305097579956, + 0.04115326702594757, + 0.070855051279068, + 1.0 + ], + [ + -0.007295191287994385, + -0.009556934237480164, + 0.0017961915582418442, + 0.07425293326377869, + 0.0035001784563064575, + -0.02891075611114502, + 1.0 + ], + [ + -0.0115012526512146, + 0.013629630208015442, + -0.008029969409108162, + 0.07009603083133698, + 0.021314352750778198, + -0.006739020347595215, + 1.0 + ], + [ + -0.013006895780563354, + 0.0010534822940826416, + 0.05757063627243042, + -0.11311398446559906, + -0.017963051795959473, + -0.007131844758987427, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9468915462493896 + ], + [ + 0.6541022062301636 + ], + [ + 0.3866458535194397 + ], + [ + 0.33882394433021545 + ], + [ + 0.33882394433021545 + ], + [ + 0.33882394433021545 + ], + [ + 0.33882394433021545 + ], + [ + 0.33882394433021545 + ], + [ + 0.33882394433021545 + ], + [ + 0.33882394433021545 + ], + [ + 0.33882394433021545 + ], + [ + 0.33882394433021545 + ], + [ + 0.33882394433021545 + ], + [ + 0.33882394433021545 + ], + [ + 0.33882394433021545 + ], + [ + 0.33882394433021545 + ], + [ + 0.33882394433021545 + ], + [ + 0.33882394433021545 + ], + [ + 0.33882394433021545 + ], + [ + 0.33882394433021545 + ], + [ + 0.33882394433021545 + ], + [ + 0.33882394433021545 + ], + [ + 0.33882394433021545 + ], + [ + 0.33882394433021545 + ], + [ + 0.33882394433021545 + ], + [ + 0.33882394433021545 + ], + [ + 0.33882394433021545 + ], + [ + 0.3380139172077179 + ], + [ + 0.33882394433021545 + ], + [ + 0.33882394433021545 + ], + [ + 0.33882394433021545 + ], + [ + 0.33882394433021545 + ], + [ + 0.33882394433021545 + ], + [ + 0.33882394433021545 + ], + [ + 0.33882394433021545 + ], + [ + 0.33882394433021545 + ], + [ + 0.33882394433021545 + ], + [ + 0.33882394433021545 + ], + [ + 0.3380139172077179 + ], + [ + 0.33882394433021545 + ], + [ + 0.33882394433021545 + ], + [ + 0.33882394433021545 + ], + [ + 0.33882394433021545 + ], + [ + 0.33882394433021545 + ], + [ + 0.33882394433021545 + ], + [ + 0.33882394433021545 + ], + [ + 0.33882394433021545 + ], + [ + 0.33882394433021545 + ], + [ + 0.33882394433021545 + ], + [ + 0.33882394433021545 + ], + [ + 0.33882394433021545 + ], + [ + 0.33882394433021545 + ], + [ + 0.33882394433021545 + ], + [ + 0.33882394433021545 + ], + [ + 0.33882394433021545 + ], + [ + 0.3380139172077179 + ], + [ + 0.33882394433021545 + ], + [ + 0.33882394433021545 + ], + [ + 0.3380139172077179 + ], + [ + 0.33882394433021545 + ], + [ + 0.33882394433021545 + ], + [ + 0.33882394433021545 + ], + [ + 0.33882394433021545 + ], + [ + 0.33882394433021545 + ], + [ + 0.33882394433021545 + ], + [ + 0.33882394433021545 + ], + [ + 0.33882394433021545 + ], + [ + 0.33882394433021545 + ], + [ + 0.33882394433021545 + ], + [ + 0.33882394433021545 + ], + [ + 0.33882394433021545 + ], + [ + 0.33882394433021545 + ], + [ + 0.33882394433021545 + ], + [ + 0.33882394433021545 + ], + [ + 0.33882394433021545 + ], + [ + 0.33882394433021545 + ], + [ + 0.33882394433021545 + ], + [ + 0.33882394433021545 + ], + [ + 0.3814634680747986 + ], + [ + 0.6991904973983765 + ], + [ + 0.9553104043006897 + ], + [ + 1.0054124593734741 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.39580315351486206, + -0.18122388422489166, + 0.010056494735181332 + ], + [ + 0.39383646845817566, + -0.18013086915016174, + 0.002744241151958704 + ], + [ + 0.39539164304733276, + -0.17896081507205963, + 0.0029687746427953243 + ], + [ + 0.3976980447769165, + -0.17374351620674133, + -0.002559577114880085 + ], + [ + 0.400421679019928, + -0.17408274114131927, + -0.002022550906985998 + ], + [ + 0.39788079261779785, + -0.17110882699489594, + -0.006098037585616112 + ], + [ + 0.39816170930862427, + -0.16028565168380737, + -0.007699855137616396 + ], + [ + 0.39846768975257874, + -0.14154832065105438, + -0.008746186271309853 + ], + [ + 0.40380099415779114, + -0.12365980446338654, + -0.006622173357754946 + ], + [ + 0.4148782193660736, + -0.08234483748674393, + -0.005756241735070944 + ], + [ + 0.4185669720172882, + -0.07021568715572357, + -0.0057884580455720425 + ], + [ + 0.4198581576347351, + -0.06191349774599075, + -0.007813166826963425 + ], + [ + 0.4189721643924713, + -0.04603547230362892, + -0.011067037470638752 + ], + [ + 0.4181370735168457, + -0.015933649614453316, + -0.011955366469919682 + ], + [ + 0.409671425819397, + 0.011819961480796337, + -0.012263394892215729 + ], + [ + 0.40321940183639526, + 0.03715378791093826, + -0.012255408801138401 + ], + [ + 0.3972752094268799, + 0.06169441342353821, + -0.013137794099748135 + ], + [ + 0.3898274898529053, + 0.08466041088104248, + -0.012459234334528446 + ], + [ + 0.3818340301513672, + 0.11566530913114548, + -0.010410679504275322 + ], + [ + 0.3729914724826813, + 0.12861140072345734, + -0.00791406724601984 + ], + [ + 0.3585997223854065, + 0.12120334059000015, + -0.0026305068749934435 + ], + [ + 0.36051833629608154, + 0.09412449598312378, + 0.0247358251363039 + ], + [ + 0.36148256063461304, + 0.05643540248274803, + 0.04695705324411392 + ], + [ + 0.35857048630714417, + 0.007701813243329525, + 0.05241014435887337 + ], + [ + 0.3588588833808899, + -0.04033779725432396, + 0.04558638110756874 + ], + [ + 0.3532332479953766, + -0.08783124387264252, + 0.040179599076509476 + ], + [ + 0.3465796411037445, + -0.1064055785536766, + 0.03459598869085312 + ], + [ + 0.34238702058792114, + -0.11368007957935333, + 0.029623910784721375 + ], + [ + 0.3374541699886322, + -0.11111756414175034, + 0.01400809083133936 + ], + [ + 0.33273863792419434, + -0.10444556176662445, + 0.0009513772092759609 + ], + [ + 0.32552585005760193, + -0.09142684191465378, + -0.006941474042832851 + ], + [ + 0.32444870471954346, + -0.06434459984302521, + -0.008481666445732117 + ], + [ + 0.3238750100135803, + -0.01958460919559002, + -0.004163844510912895 + ], + [ + 0.321154922246933, + 0.012142578139901161, + 0.0007436227169819176 + ], + [ + 0.32050979137420654, + 0.04153883829712868, + 0.0039190673269331455 + ], + [ + 0.3195604085922241, + 0.07185081392526627, + 0.003951034974306822 + ], + [ + 0.31842249631881714, + 0.09477504342794418, + 0.004414076916873455 + ], + [ + 0.3138066530227661, + 0.09929908812046051, + 0.005127051845192909 + ], + [ + 0.3171032667160034, + 0.08123711496591568, + 0.035215772688388824 + ], + [ + 0.32887575030326843, + 0.05316506698727608, + 0.06285232305526733 + ], + [ + 0.3453137278556824, + 0.009169649332761765, + 0.06485183537006378 + ], + [ + 0.34924179315567017, + -0.019924143329262733, + 0.049498993903398514 + ], + [ + 0.3365623950958252, + -0.04519421607255936, + 0.030664440244436264 + ], + [ + 0.3243514597415924, + -0.04985671117901802, + 0.01951431669294834 + ], + [ + 0.318377822637558, + -0.047906503081321716, + 0.012897418811917305 + ], + [ + 0.3164845108985901, + -0.039911527186632156, + 0.003254959359765053 + ], + [ + 0.3172702491283417, + -0.029995888471603394, + -0.0031020899768918753 + ], + [ + 0.32057568430900574, + -0.011237517930567265, + -0.006718949880450964 + ], + [ + 0.32100215554237366, + 0.02058488130569458, + -0.0038130818866193295 + ], + [ + 0.3215062916278839, + 0.04554246738553047, + 0.0006684710970148444 + ], + [ + 0.3210074305534363, + 0.07252989709377289, + 0.001355363056063652 + ], + [ + 0.3240147829055786, + 0.09473712742328644, + 0.0010936103062704206 + ], + [ + 0.32676008343696594, + 0.10815878212451935, + -0.0008636381826363504 + ], + [ + 0.32441258430480957, + 0.1084350124001503, + -0.00047966864076443017 + ], + [ + 0.3187682330608368, + 0.08852668851613998, + 0.015406586229801178 + ], + [ + 0.327347993850708, + 0.06089460104703903, + 0.04650672525167465 + ], + [ + 0.338493287563324, + 0.021100230515003204, + 0.046762626618146896 + ], + [ + 0.3405497074127197, + 0.0009076691349036992, + 0.023665137588977814 + ], + [ + 0.33509644865989685, + 0.0037554390728473663, + 0.0008875285275280476 + ], + [ + 0.3352140188217163, + 0.012403926812112331, + -0.005864783655852079 + ], + [ + 0.3361019194126129, + 0.029981646686792374, + -0.008194672875106335 + ], + [ + 0.33829545974731445, + 0.06498175859451294, + -0.006830733269453049 + ], + [ + 0.3355627954006195, + 0.09307213872671127, + -0.00487682968378067 + ], + [ + 0.3351616859436035, + 0.11200575530529022, + -0.0036919820122420788 + ], + [ + 0.3335453271865845, + 0.11255219578742981, + -0.004057613201439381 + ], + [ + 0.340385764837265, + 0.09088432788848877, + -0.003036953043192625 + ], + [ + 0.35875219106674194, + 0.06004803627729416, + 0.005997063126415014 + ], + [ + 0.38246360421180725, + 0.04176421836018562, + 0.021078234538435936 + ], + [ + 0.4050136208534241, + 0.025341114029288292, + 0.012593680061399937 + ], + [ + 0.4220140278339386, + 0.021812019869685173, + 0.0051067848689854145 + ], + [ + 0.4378223121166229, + 0.028830938041210175, + -0.0015402337303385139 + ], + [ + 0.4498165547847748, + 0.03448525816202164, + -0.0010360415326431394 + ], + [ + 0.44792547821998596, + 0.05998528376221657, + 0.00021910047507844865 + ], + [ + 0.4370013177394867, + 0.10094781965017319, + -0.0008105866145342588 + ], + [ + 0.42326462268829346, + 0.11691264063119888, + 0.007085418328642845 + ], + [ + 0.4127768278121948, + 0.12822483479976654, + 0.026192501187324524 + ], + [ + 0.4062647521495819, + 0.09889931976795197, + 0.03400539606809616 + ], + [ + 0.40660127997398376, + 0.047565557062625885, + 0.036759063601493835 + ], + [ + 0.40405794978141785, + -0.0003941234608646482, + 0.03381120786070824 + ], + [ + 0.41206875443458557, + -0.04588403180241585, + 0.044405534863471985 + ], + [ + 0.41778436303138733, + -0.09602878242731094, + 0.031772203743457794 + ], + [ + 0.41957053542137146, + -0.1425672173500061, + 0.020922185853123665 + ], + [ + 0.4122753441333771, + -0.15212415158748627, + 0.02271837741136551 + ], + [ + 0.4007740914821625, + -0.13849452137947083, + 0.014688408002257347 + ], + [ + 0.3877671957015991, + -0.13744103908538818, + 0.07225904613733292 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9707857895975791, + 0.0960709628811119, + 0.2198756939875363, + 0.12758024952728225, + -0.9827494289372504, + -0.13389114927456755, + 0.20321966107136658, + 0.15803142097255266, + -0.9662959377641172 + ], + [ + 0.9732366610092429, + 0.09738170598680934, + 0.20815187966165183, + 0.12567195806308537, + -0.9838706678221292, + -0.12729912786750658, + 0.1923979226087701, + 0.15005103244675227, + -0.9697771532870288 + ], + [ + 0.9727064470433976, + 0.08758309481997402, + 0.21487524143550282, + 0.11672622846837878, + -0.9850227338196191, + -0.12690627031818358, + 0.20054215384242294, + 0.1485241238327279, + -0.96836120800658 + ], + [ + 0.9736468578133197, + 0.09374651732626996, + 0.20790234909554164, + 0.12341923078265907, + -0.9831747315197745, + -0.13466677680124386, + 0.19177979492966887, + 0.15677703208765834, + -0.9688351110826442 + ], + [ + 0.9718031698809149, + 0.0931797135614102, + 0.21660133884632274, + 0.12570373702385537, + -0.9819143543804199, + -0.14157249436214933, + 0.19949227931838212, + 0.16480819652643777, + -0.9659405203479455 + ], + [ + 0.9711825250167158, + 0.09955807726884403, + 0.21654720582978526, + 0.13048758910684136, + -0.9824139722927112, + -0.13355065006633446, + 0.19944295472951817, + 0.1579587803655981, + -0.9670943757018611 + ], + [ + 0.9686844556789096, + 0.11609765736635806, + 0.21948065810020279, + 0.14883181613567878, + -0.9790455379019711, + -0.13899253656220284, + 0.19874485108251205, + 0.16730561457489557, + -0.9656652191623691 + ], + [ + 0.9767600599223528, + 0.08168289953760653, + 0.19816076620666023, + 0.11212426111157535, + -0.9826689879360224, + -0.14761371961635628, + 0.18266892294713033, + 0.16640181511005897, + -0.9689904542963325 + ], + [ + 0.9798611653682133, + 0.07563260939894008, + 0.18480206979023384, + 0.10614459404712194, + -0.9811910977209476, + -0.16123695267442187, + 0.16913137425628277, + 0.17760556902493072, + -0.9694590450831392 + ], + [ + 0.974311830000055, + 0.13218248766448487, + 0.18233005203962507, + 0.16298778099980843, + -0.9725862448947281, + -0.1658643406110262, + 0.1554073394878844, + 0.19132115982399947, + -0.9691464144477331 + ], + [ + 0.9703240250734074, + 0.1479906921802044, + 0.19123295059524925, + 0.18207587649559026, + -0.9675720054363126, + -0.1750793805515498, + 0.15912153079864338, + 0.20470263633860658, + -0.9658038978552117 + ], + [ + 0.9680559231825565, + 0.15394400166830502, + 0.19791153059262812, + 0.18889351274411237, + -0.9668347834014898, + -0.1719003852473397, + 0.1648847186198822, + 0.20379339036225597, + -0.965029162051748 + ], + [ + 0.963854332289136, + 0.172683625411734, + 0.20289206894830325, + 0.20713101869543815, + -0.9646431112555656, + -0.1629736451128583, + 0.1675755567547163, + 0.19910809481746786, + -0.9655435771401021 + ], + [ + 0.957310570354558, + 0.20784853426432542, + 0.20088668122004158, + 0.2408177683408988, + -0.9578631467974712, + -0.15654071182461038, + 0.15988519111769003, + 0.1982351603813462, + -0.9670261355567604 + ], + [ + 0.957964318119155, + 0.21375813773980623, + 0.19134216409488009, + 0.24490494808388674, + -0.9566919879279814, + -0.15735948220058207, + 0.14941864547147632, + 0.19760541182977912, + -0.9688272134911633 + ], + [ + 0.9601995407529327, + 0.21061648638215633, + 0.1834599073418827, + 0.23894398923771973, + -0.9595286940525533, + -0.14903172580684337, + 0.14464650685385286, + 0.18693683680279988, + -0.9716645548239072 + ], + [ + 0.9551302881809417, + 0.23222117874401127, + 0.18384628563594285, + 0.2592429681624598, + -0.9556512784189803, + -0.1397272969554831, + 0.14324530029885307, + 0.18111863018173988, + -0.9729731886045889 + ], + [ + 0.9511524044015168, + 0.24175199058945623, + 0.1920028089566634, + 0.2665725006163972, + -0.9568323994843566, + -0.11580527281661078, + 0.15571835317757007, + 0.1613311325908431, + -0.9745378700392415 + ], + [ + 0.9436924732605287, + 0.2652188919644706, + 0.19774593613160488, + 0.2839693084022212, + -0.9560583390407152, + -0.07289639384957965, + 0.16972315044504235, + 0.12494555492632504, + -0.9775390838770398 + ], + [ + 0.948779338202784, + 0.24438846845376808, + 0.20022997749165344, + 0.2574994804880983, + -0.965370632220345, + -0.04187552978590424, + 0.18306224337051574, + 0.0912897526194056, + -0.9788536132225498 + ], + [ + 0.9578087762145837, + 0.21288334490425834, + 0.19308813963756588, + 0.23501875043806628, + -0.9668502559287808, + -0.09983370950225612, + 0.16543438321235243, + 0.14100093642534978, + -0.9760892381223774 + ], + [ + 0.9482142165105798, + 0.21442519073821437, + 0.2343323221071037, + 0.2655910113181706, + -0.9398836528636112, + -0.214662837460856, + 0.17421599901908663, + 0.2657829126498445, + -0.9481604447714249 + ], + [ + 0.9477121689436647, + 0.17936650854958824, + 0.2639494278206057, + 0.2559299887050446, + -0.9212619290267718, + -0.29287591059577917, + 0.19063442951767762, + 0.3451146385429073, + -0.9189964094303459 + ], + [ + 0.959701104055392, + 0.1287222829674449, + 0.2498086562601682, + 0.2156907324984131, + -0.9072184189422523, + -0.3611540505742921, + 0.1801424402775754, + 0.400481353123425, + -0.8984227217803827 + ], + [ + 0.9662936136183344, + 0.1071494294772578, + 0.23408471125453445, + 0.1867619550703839, + -0.9175872418512692, + -0.3509325087963042, + 0.1771909264570523, + 0.38282196038691196, + -0.9066701286723925 + ], + [ + 0.9704207428971108, + 0.06588407550915681, + 0.23225604480685436, + 0.14748344992316678, + -0.9234406104231487, + -0.3542683601735884, + 0.1911340203987259, + 0.3780432880182193, + -0.9058427339392823 + ], + [ + 0.9699100012309821, + 0.05994800619426546, + 0.23596784964364967, + 0.14529901373452056, + -0.920214097127596, + -0.36344767443941406, + 0.1953529782723861, + 0.38679743018920776, + -0.9012352422531718 + ], + [ + 0.9675674361815534, + 0.06030224242341349, + 0.2453097959718771, + 0.1481101570066265, + -0.9220869243368615, + -0.3575179510996055, + 0.20463782111948062, + 0.38225559973098544, + -0.9011126559103343 + ], + [ + 0.9650983391776109, + 0.05827725448250623, + 0.25532128255709147, + 0.14393136310212012, + -0.93251689756508, + -0.33120386240375216, + 0.21878975851758367, + 0.3563930377624949, + -0.9083584337706334 + ], + [ + 0.9598835044996943, + 0.06756826110471459, + 0.2721363406101262, + 0.15466098832463188, + -0.9371275697350473, + -0.31284484450432015, + 0.23388808537382486, + 0.3423834811052795, + -0.9099834698423906 + ], + [ + 0.9610000203883038, + 0.07793125234982123, + 0.2653406880236584, + 0.15846001164038437, + -0.9415184666913358, + -0.2973775404937727, + 0.22664815358746954, + 0.3278257109904356, + -0.9171482528408406 + ], + [ + 0.9654014787391687, + 0.10773861244248359, + 0.23747079028207868, + 0.1743827268220071, + -0.9438133459288774, + -0.28072590303115735, + 0.19388308186726333, + 0.3124240058566336, + -0.9299465528352404 + ], + [ + 0.9759160650026695, + 0.12710238252011644, + 0.1772930298331417, + 0.1695112111286173, + -0.9534017960044366, + -0.24958157920251978, + 0.13730907971221207, + 0.27362382888415315, + -0.9519854079214454 + ], + [ + 0.9826960923428819, + 0.12717737423281733, + 0.13466367579000565, + 0.1555929343341244, + -0.9612374121742152, + -0.22762573716940385, + 0.10049491966923838, + 0.24463963889742726, + -0.9643921495951786 + ], + [ + 0.9871455116982278, + 0.0928983603655125, + 0.130052425488506, + 0.11645132841685024, + -0.9754017531264174, + -0.18716438792639573, + 0.10946609906265464, + 0.19990326320325746, + -0.9736816001736369 + ], + [ + 0.9848657612563744, + 0.07436375680034575, + 0.15655498707943125, + 0.09556588539760662, + -0.9865548168522369, + -0.1325773543778142, + 0.1445911264672676, + 0.14553221299831887, + -0.9787306989804387 + ], + [ + 0.9799431915733786, + 0.057027614967212835, + 0.1909429035605447, + 0.07842817322413506, + -0.9912187952628672, + -0.10646277078093978, + 0.18319487693083888, + 0.1193027704991849, + -0.9758106814426214 + ], + [ + 0.9792737198457916, + 0.07285868023176871, + 0.1889830530345802, + 0.10109120511487214, + -0.9843511097221342, + -0.14433800967598856, + 0.1755094010809932, + 0.16045094422809666, + -0.971314544639636 + ], + [ + 0.9669291991353384, + 0.08958911742361639, + 0.23879219815301927, + 0.15083637575579595, + -0.9558578078916614, + -0.25215915379260806, + 0.20566067102961055, + 0.2798385983594924, + -0.9377601224512829 + ], + [ + 0.9442105055121279, + 0.10518060395312165, + 0.3120954370582637, + 0.21298726084235456, + -0.9178097968248481, + -0.3350546277418088, + 0.2512030015732354, + 0.38283445169470814, + -0.8890077809536931 + ], + [ + 0.9366981407051514, + 0.10014859819008337, + 0.3355098381271012, + 0.21894781087175186, + -0.9153025358816496, + -0.3380578706717084, + 0.2732369837960814, + 0.39011732349279643, + -0.8792894998786447 + ], + [ + 0.9303368600079558, + 0.12361486209256531, + 0.3452429474737655, + 0.23326560649141, + -0.9259286867546271, + -0.29705761036042494, + 0.2829496134274295, + 0.35689694999353444, + -0.8902606828039642 + ], + [ + 0.9336439203639871, + 0.10613996312224344, + 0.3421159718513204, + 0.21601701135914841, + -0.9287097167326259, + -0.30138830907961084, + 0.2857370832965616, + 0.35529223221851375, + -0.8900122184298143 + ], + [ + 0.9356079688285676, + 0.08418841345561098, + 0.34285571266104004, + 0.1996012697615774, + -0.9271785139485466, + -0.31701630302199174, + 0.29119935057284824, + 0.36503741494810144, + -0.8842797204018418 + ], + [ + 0.9304944158844195, + 0.07547915799348444, + 0.3584453078455725, + 0.19301075307148408, + -0.9327076700054171, + -0.3046362609930804, + 0.3113309994309773, + 0.35264613853218385, + -0.8824475677181326 + ], + [ + 0.9273722524324625, + 0.06716117447387704, + 0.36806260617132813, + 0.17911548507070993, + -0.9433921676132501, + -0.27915741275104516, + 0.32847884014990225, + 0.32480855088692256, + -0.8869053257504501 + ], + [ + 0.9367791752626536, + 0.07443238906022226, + 0.34191314138682954, + 0.165383007878501, + -0.9552716444569727, + -0.24516228503081547, + 0.3083719142517393, + 0.286209546932416, + -0.9071884356325642 + ], + [ + 0.9522188679086716, + 0.09064065624359385, + 0.29165647435717684, + 0.147651248885274, + -0.972556958095791, + -0.17981121200325834, + 0.26735432725382763, + 0.21428307141534186, + -0.9394702917088229 + ], + [ + 0.9742164236763355, + 0.09736773149374828, + 0.20352367111235983, + 0.11802378146001233, + -0.9887468866792117, + -0.09192377870847764, + 0.19228298637469185, + 0.11357428822549255, + -0.974745163724808 + ], + [ + 0.9859131426158174, + 0.07603122233663859, + 0.1489782817977173, + 0.08352390826328421, + -0.9955031212735944, + -0.044691076099801406, + 0.144910427388197, + 0.05650476762653208, + -0.9878300356182951 + ], + [ + 0.9847796673209802, + 0.0853777207452136, + 0.1513923763983224, + 0.08908605534044381, + -0.995863591490179, + -0.01787125871786432, + 0.1492403483480871, + 0.03108620183672785, + -0.9883121806799243 + ], + [ + 0.9762355861463635, + 0.08416124395668295, + 0.19970219166831824, + 0.08443685327082992, + -0.9964031647836714, + 0.007151994043904018, + 0.19958581650805338, + 0.009880193558195003, + -0.97983053821774 + ], + [ + 0.96499415476802, + 0.087374232375283, + 0.24728935436121097, + 0.07843890064754325, + -0.9958673813323781, + 0.045776606071186, + 0.25026709757528925, + -0.024777052185878612, + -0.9678597406423199 + ], + [ + 0.9654465284263831, + 0.09985902705144473, + 0.2407097328023601, + 0.10048981380589478, + -0.9948909467765475, + 0.00968510936031045, + 0.2404470795636773, + 0.01483842102123426, + -0.9705488257634929 + ], + [ + 0.9676205401945941, + 0.12418293925004882, + 0.2197477822248512, + 0.15309695016678815, + -0.9809226045778726, + -0.11980053287774017, + 0.20067838459373227, + 0.14956417160329943, + -0.9681728897926594 + ], + [ + 0.9492733504856607, + 0.14362119980436538, + 0.2797374787626478, + 0.20302052637739887, + -0.9592680739301709, + -0.1964368300694766, + 0.24013073923838274, + 0.24326469802471362, + -0.9397656701368554 + ], + [ + 0.942441517900412, + 0.13418117681803673, + 0.3062668723928443, + 0.20195470926773354, + -0.958432843044386, + -0.20154597683516554, + 0.26649255288310253, + 0.2517973335076895, + -0.9303654239578472 + ], + [ + 0.9334780520314377, + 0.137620455291543, + 0.3311787080428641, + 0.19991385711428322, + -0.9663404640118843, + -0.16192762996779064, + 0.2977468322405499, + 0.21736310151137478, + -0.9295698499801257 + ], + [ + 0.928933258725099, + 0.13347768197752768, + 0.34535012559469874, + 0.18395399084407021, + -0.9758707850122477, + -0.11763137426774886, + 0.3213159350030869, + 0.17280022966849742, + -0.9310725807044297 + ], + [ + 0.9201916607745031, + 0.11836350776576106, + 0.37314526322927655, + 0.16308390602398354, + -0.9824496256120043, + -0.09053382092230818, + 0.35588052354269395, + 0.14416245407253817, + -0.9233451357963396 + ], + [ + 0.9220668440950668, + 0.10781296375041435, + 0.37171104351083745, + 0.14265280667458494, + -0.987471626467897, + -0.06745341851017966, + 0.35978175574704635, + 0.11522218435786485, + -0.9258946681255783 + ], + [ + 0.9342170095641084, + 0.09820566198374928, + 0.34292014667474513, + 0.11431683552685842, + -0.9930764042110728, + -0.027035467710613523, + 0.33789087018772845, + 0.06445853980303938, + -0.9389754291195485 + ], + [ + 0.9486147949234157, + 0.055202657817381706, + 0.31158086819043185, + 0.05409376394191878, + -0.9984612390506579, + 0.012207326325661374, + 0.31177529657591885, + 0.00527453157373085, + -0.9501412230619593 + ], + [ + 0.9531657989297095, + 0.01802103175258512, + 0.3019109175986526, + 0.00047183956538687614, + -0.9983106908609356, + 0.05809941376800267, + 0.3024479081066897, + -0.05523592062538075, + -0.9515641102703242 + ], + [ + 0.9526376943748109, + 0.018968017875308364, + 0.30351546509877564, + 0.00892320597951578, + -0.9993666641822208, + 0.03444774181782013, + 0.3039766432660432, + -0.030107886328702017, + -0.9522036103321213 + ], + [ + 0.9274730720895188, + 0.10508358668660968, + 0.3588190914066699, + 0.13539396283076374, + -0.9889526882563467, + -0.06034115692897214, + 0.34851423984941, + 0.10454673691523263, + -0.9314546711582722 + ], + [ + 0.9059302721959718, + 0.15677771103588217, + 0.39333330807507494, + 0.22090118072720816, + -0.9674895061611515, + -0.12315325339338953, + 0.36123816281264876, + 0.19845605254161566, + -0.9111104131428538 + ], + [ + 0.8770939544862213, + 0.1927284332331331, + 0.4399567547239432, + 0.2656496410447688, + -0.9577696831453404, + -0.11003409589967857, + 0.400170542664634, + 0.21338459426860212, + -0.8912522379844643 + ], + [ + 0.8718265255963952, + 0.21945649093257616, + 0.4379010822709603, + 0.2801008257755899, + -0.9567833095245135, + -0.07816153795283032, + 0.4018233898945541, + 0.19079975682080735, + -0.8956190128234047 + ], + [ + 0.8672151630224573, + 0.25061336194498995, + 0.4302682928575641, + 0.30210810423668366, + -0.9517102400202347, + -0.054573916802301094, + 0.39581378750423807, + 0.17731486642483446, + -0.9010498786228724 + ], + [ + 0.8646316668564638, + 0.28862938044981695, + 0.41122397961472096, + 0.3268718930195598, + -0.9447595877937864, + -0.024167888313313, + 0.3815322348410722, + 0.15531388222844134, + -0.9112138891414613 + ], + [ + 0.8609089137581847, + 0.3123715313137921, + 0.40157174780651445, + 0.3471452884712349, + -0.9376942476792876, + -0.014820477772247834, + 0.37192202261216717, + 0.15216282165447365, + -0.9157076415550015 + ], + [ + 0.8339717241956156, + 0.3789150587686644, + 0.40114154793605183, + 0.418276842818725, + -0.9082445517666681, + -0.011675484904871927, + 0.35991060835128463, + 0.1775252444710439, + -0.9159416693063508 + ], + [ + 0.8167154550084799, + 0.42407809531534946, + 0.3913229288247711, + 0.463099370862855, + -0.8862857413493231, + -0.006046270528869274, + 0.3442598411908065, + 0.18615948472905114, + -0.9202335616508966 + ], + [ + 0.821968669572048, + 0.4159869499796521, + 0.38900175280914046, + 0.45893705996310535, + -0.8882463610273784, + -0.01987906220224911, + 0.33725996091202143, + 0.19486728706544426, + -0.9210225074325683 + ], + [ + 0.8184227692089334, + 0.3822518157694531, + 0.42903114127221204, + 0.43585434653553723, + -0.8995170745196166, + -0.030000354227079543, + 0.3744531471979646, + 0.2115480607063711, + -0.9027913704532807 + ], + [ + 0.8184515544959993, + 0.31403509119281475, + 0.4811642281410811, + 0.4084826117430595, + -0.9069478546429942, + -0.10289579613394646, + 0.4040779737212247, + 0.28076244488533414, + -0.8705707557087812 + ], + [ + 0.8427985435863341, + 0.23438589284417544, + 0.4845140536293997, + 0.35213593535856147, + -0.9209242803044069, + -0.16702919797137616, + 0.4070514684384582, + 0.3113867742558262, + -0.8586893378053824 + ], + [ + 0.8876129699431371, + 0.1846430074594157, + 0.4219599215388424, + 0.29192194258267784, + -0.9341477676903952, + -0.2053035010851189, + 0.3562650628780201, + 0.30540941032553964, + -0.8830630198672837 + ], + [ + 0.908401687553246, + 0.15193950982572094, + 0.3895134906576848, + 0.24746315362573154, + -0.9463102489172599, + -0.20798774096508926, + 0.33699905288890986, + 0.2853266516609921, + -0.8972292573271919 + ], + [ + 0.9270379321065501, + 0.18839795647006585, + 0.3242019161471983, + 0.2469175203562886, + -0.9574057195156271, + -0.14968642683913053, + 0.2821921518694551, + 0.21881612883118956, + -0.9340701746585311 + ], + [ + 0.9174420170907558, + 0.30429922121468717, + 0.2563242658130137, + 0.31543909252908414, + -0.9489425956112452, + -0.0024757098014189446, + 0.2424836575542226, + 0.08312601399518593, + -0.966587679218186 + ], + [ + 0.9269815290822521, + 0.2950181767052484, + 0.23166683006818425, + 0.28903790155390235, + -0.9554259892711439, + 0.06015206139919883, + 0.23908646177825868, + 0.011200644569273627, + -0.9709336791746316 + ], + [ + 0.9335720115524198, + 0.30295615307388213, + 0.19147028114212303, + 0.284204197045833, + -0.9512914587948638, + 0.11946771449004014, + 0.2183375222619843, + -0.05711505702189994, + -0.9742004909842137 + ], + [ + 0.9316643661153524, + 0.27164948860678956, + 0.24126347475436127, + 0.276378797959339, + -0.9609364118997715, + 0.01469599686117206, + 0.2358310177848314, + 0.05298837254400663, + -0.9703483721971755 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005709.json b/json/chunk-0005/episode_0005709.json new file mode 100644 index 0000000000000000000000000000000000000000..077b621cd600f22d35d029eb5e90d7b82575fb87 --- /dev/null +++ b/json/chunk-0005/episode_0005709.json @@ -0,0 +1,2182 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 35, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nTake sushi out of pot cardboard fence." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005709.mp4", + "start": 0, + "end": 35, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3249512016773224, + 0.05052721127867699, + 0.05840989574790001, + -0.02555076964199543, + -0.03339190036058426, + 0.026168519631028175, + 0.0, + 0.9879508018493652 + ], + [ + 0.3201824128627777, + 0.04870246723294258, + 0.04874427989125252, + -0.030591009184718132, + 0.0015269542345777154, + 0.02313445881009102, + 0.0, + 0.9879508018493652 + ], + [ + 0.31639155745506287, + 0.023201292380690575, + 0.06565243750810623, + -0.017736079171299934, + 0.007867291569709778, + -0.08329427987337112, + 0.0, + 0.9879508018493652 + ], + [ + 0.3076139986515045, + -0.009332786314189434, + 0.08760188519954681, + -0.10090096294879913, + -0.024843944236636162, + -0.14853020012378693, + 0.0, + 0.9879508018493652 + ], + [ + 0.2922023832798004, + -0.02974124439060688, + 0.10095712542533875, + -0.15963082015514374, + -0.04957844316959381, + -0.18163779377937317, + 0.0, + 0.9879508018493652 + ], + [ + 0.27051082253456116, + -0.0557989776134491, + 0.10004125535488129, + -0.1749321073293686, + -0.056380800902843475, + -0.2476540207862854, + 0.0, + 0.9879508018493652 + ], + [ + 0.24717257916927338, + -0.0671408548951149, + 0.09939558058977127, + -0.17009395360946655, + -0.09716816246509552, + -0.25270789861679077, + 0.0, + 0.9879508018493652 + ], + [ + 0.23342077434062958, + -0.07247019559144974, + 0.08612065017223358, + -0.15001218020915985, + -0.06932216882705688, + -0.2357948124408722, + 0.0, + 0.9879508018493652 + ], + [ + 0.2299981713294983, + -0.06554786115884781, + 0.0752490758895874, + -0.09363806992769241, + -0.09024778753519058, + -0.1811171919107437, + 0.0, + 0.9879508018493652 + ], + [ + 0.22877807915210724, + -0.05166921764612198, + 0.06686738133430481, + -0.06830548495054245, + -0.11795774102210999, + -0.08461084961891174, + 0.0, + 0.9879508018493652 + ], + [ + 0.22615529596805573, + -0.04051317647099495, + 0.060632430016994476, + -0.027703067287802696, + -0.11898352205753326, + -0.057713381946086884, + 0.0, + 0.9879508018493652 + ], + [ + 0.22541847825050354, + -0.02996703051030636, + 0.05908927321434021, + -0.03698581084609032, + -0.11513705551624298, + -0.008374449796974659, + 0.0, + 0.9879508018493652 + ], + [ + 0.22705276310443878, + -0.024049879983067513, + 0.05121961608529091, + -0.05869007855653763, + -0.09673801809549332, + 0.03389030694961548, + 0.0, + 0.9879508018493652 + ], + [ + 0.22624529898166656, + -0.026110516861081123, + 0.03854747861623764, + -0.054851602762937546, + -0.06022381782531738, + 0.023361142724752426, + 0.0, + 0.9879508018493652 + ], + [ + 0.2292177379131317, + -0.028913194313645363, + 0.03467879444360733, + -0.05920614302158356, + -0.07039957493543625, + 0.021659933030605316, + 0.0, + 0.9879508018493652 + ], + [ + 0.23034167289733887, + -0.03219335898756981, + 0.03133993595838547, + -0.06825586408376694, + -0.07815643399953842, + 0.006840028800070286, + 0.0, + 0.9879508018493652 + ], + [ + 0.2307964265346527, + -0.031123511493206024, + 0.025758706033229828, + -0.060813117772340775, + -0.06887219101190567, + 0.014501834288239479, + 0.0, + 0.973810613155365 + ], + [ + 0.23047074675559998, + -0.029123783111572266, + 0.020768050104379654, + -0.04734880477190018, + -0.05718621239066124, + 0.019225353375077248, + 0.0, + 0.8930966854095459 + ], + [ + 0.22893764078617096, + -0.02901696041226387, + 0.020045746117830276, + -0.02884802222251892, + -0.05980440974235535, + 0.02352323941886425, + 0.0, + 0.6209517121315002 + ], + [ + 0.22615119814872742, + -0.026337137445807457, + 0.032143156975507736, + 0.016487687826156616, + -0.08043939620256424, + 0.05718555301427841, + 0.0, + 0.5640211701393127 + ], + [ + 0.226482093334198, + -0.026352692395448685, + 0.05048118531703949, + -0.012128463014960289, + -0.06640831381082535, + 0.04895343258976936, + 0.0, + 0.5928986668586731 + ], + [ + 0.23072375357151031, + -0.02553442493081093, + 0.08330632001161575, + -0.05419511720538139, + -0.11299160867929459, + 0.0736192911863327, + 0.0, + 0.5928986668586731 + ], + [ + 0.23826919496059418, + -0.01856696419417858, + 0.10486029833555222, + -0.0907217264175415, + -0.1470623016357422, + 0.125428706407547, + 0.0, + 0.5928986668586731 + ], + [ + 0.24817633628845215, + 0.0014888287987560034, + 0.10774489492177963, + -0.12348733842372894, + -0.12682458758354187, + 0.30824941396713257, + 0.0, + 0.5928986668586731 + ], + [ + 0.25302737951278687, + 0.021168652921915054, + 0.10660373419523239, + -0.13253898918628693, + -0.1456545740365982, + 0.5264652967453003, + 0.0, + 0.5928986668586731 + ], + [ + 0.2505080997943878, + 0.04431477561593056, + 0.08563646674156189, + -0.12580621242523193, + -0.05796671658754349, + 0.7612838745117188, + 0.0, + 0.5928986668586731 + ], + [ + 0.25305038690567017, + 0.06273120641708374, + 0.07731165736913681, + -0.13281571865081787, + -0.056119099259376526, + 0.9155809879302979, + 0.0, + 0.5928986668586731 + ], + [ + 0.2532375454902649, + 0.06583941727876663, + 0.05509936064481735, + -0.08959180116653442, + -0.001954459585249424, + 0.9245436787605286, + 0.0, + 0.5928986668586731 + ], + [ + 0.2584567964076996, + 0.07093741744756699, + 0.05053600296378136, + -0.08571992814540863, + 0.0023126997984945774, + 0.9311572909355164, + 0.0, + 0.5928986668586731 + ], + [ + 0.26675689220428467, + 0.07374453544616699, + 0.04237949848175049, + -0.0823359340429306, + -0.0016483284998685122, + 0.9522843956947327, + 0.0, + 0.5928986668586731 + ], + [ + 0.27347302436828613, + 0.07592464238405228, + 0.03525709733366966, + -0.05946711078286171, + -0.006860980298370123, + 0.9619828462600708, + 0.0, + 0.5928986668586731 + ], + [ + 0.27380916476249695, + 0.0757129043340683, + 0.027290914207696915, + -0.041380226612091064, + -0.0031467960216104984, + 0.9525435566902161, + 0.0, + 0.6711689233779907 + ], + [ + 0.27543163299560547, + 0.07546772062778473, + 0.02613026648759842, + -0.02778804674744606, + 0.021254386752843857, + 0.9545961022377014, + 0.0, + 0.9351479411125183 + ], + [ + 0.2753562927246094, + 0.07398783415555954, + 0.027604006230831146, + -0.021947938948869705, + 0.029744267463684082, + 0.9372329711914062, + 0.0, + 0.9968144297599792 + ], + [ + 0.27147918939590454, + 0.07104568928480148, + 0.03131245821714401, + -0.013929440639913082, + 0.059139616787433624, + 0.9237797856330872, + 0.0, + 0.9961419701576233 + ] + ], + "left_gripper_pos": [ + [ + 0.9879508018493652 + ], + [ + 0.9879508018493652 + ], + [ + 0.9879508018493652 + ], + [ + 0.9879508018493652 + ], + [ + 0.9879508018493652 + ], + [ + 0.9879508018493652 + ], + [ + 0.9879508018493652 + ], + [ + 0.9879508018493652 + ], + [ + 0.9879508018493652 + ], + [ + 0.9879508018493652 + ], + [ + 0.9879508018493652 + ], + [ + 0.9879508018493652 + ], + [ + 0.9879508018493652 + ], + [ + 0.9879508018493652 + ], + [ + 0.9879508018493652 + ], + [ + 0.9879508018493652 + ], + [ + 0.973810613155365 + ], + [ + 0.8930966854095459 + ], + [ + 0.6209517121315002 + ], + [ + 0.5640211701393127 + ], + [ + 0.5928986668586731 + ], + [ + 0.5928986668586731 + ], + [ + 0.5928986668586731 + ], + [ + 0.5928986668586731 + ], + [ + 0.5928986668586731 + ], + [ + 0.5928986668586731 + ], + [ + 0.5928986668586731 + ], + [ + 0.5928986668586731 + ], + [ + 0.5928986668586731 + ], + [ + 0.5928986668586731 + ], + [ + 0.5928986668586731 + ], + [ + 0.6711689233779907 + ], + [ + 0.9351479411125183 + ], + [ + 0.9968144297599792 + ], + [ + 0.9961419701576233 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3249512016773224, + 0.05052721127867699, + 0.05840989574790001 + ], + [ + 0.3201824128627777, + 0.04870246723294258, + 0.04874427989125252 + ], + [ + 0.31639155745506287, + 0.023201292380690575, + 0.06565243750810623 + ], + [ + 0.3076139986515045, + -0.009332786314189434, + 0.08760188519954681 + ], + [ + 0.2922023832798004, + -0.02974124439060688, + 0.10095712542533875 + ], + [ + 0.27051082253456116, + -0.0557989776134491, + 0.10004125535488129 + ], + [ + 0.24717257916927338, + -0.0671408548951149, + 0.09939558058977127 + ], + [ + 0.23342077434062958, + -0.07247019559144974, + 0.08612065017223358 + ], + [ + 0.2299981713294983, + -0.06554786115884781, + 0.0752490758895874 + ], + [ + 0.22877807915210724, + -0.05166921764612198, + 0.06686738133430481 + ], + [ + 0.22615529596805573, + -0.04051317647099495, + 0.060632430016994476 + ], + [ + 0.22541847825050354, + -0.02996703051030636, + 0.05908927321434021 + ], + [ + 0.22705276310443878, + -0.024049879983067513, + 0.05121961608529091 + ], + [ + 0.22624529898166656, + -0.026110516861081123, + 0.03854747861623764 + ], + [ + 0.2292177379131317, + -0.028913194313645363, + 0.03467879444360733 + ], + [ + 0.23034167289733887, + -0.03219335898756981, + 0.03133993595838547 + ], + [ + 0.2307964265346527, + -0.031123511493206024, + 0.025758706033229828 + ], + [ + 0.23047074675559998, + -0.029123783111572266, + 0.020768050104379654 + ], + [ + 0.22893764078617096, + -0.02901696041226387, + 0.020045746117830276 + ], + [ + 0.22615119814872742, + -0.026337137445807457, + 0.032143156975507736 + ], + [ + 0.226482093334198, + -0.026352692395448685, + 0.05048118531703949 + ], + [ + 0.23072375357151031, + -0.02553442493081093, + 0.08330632001161575 + ], + [ + 0.23826919496059418, + -0.01856696419417858, + 0.10486029833555222 + ], + [ + 0.24817633628845215, + 0.0014888287987560034, + 0.10774489492177963 + ], + [ + 0.25302737951278687, + 0.021168652921915054, + 0.10660373419523239 + ], + [ + 0.2505080997943878, + 0.04431477561593056, + 0.08563646674156189 + ], + [ + 0.25305038690567017, + 0.06273120641708374, + 0.07731165736913681 + ], + [ + 0.2532375454902649, + 0.06583941727876663, + 0.05509936064481735 + ], + [ + 0.2584567964076996, + 0.07093741744756699, + 0.05053600296378136 + ], + [ + 0.26675689220428467, + 0.07374453544616699, + 0.04237949848175049 + ], + [ + 0.27347302436828613, + 0.07592464238405228, + 0.03525709733366966 + ], + [ + 0.27380916476249695, + 0.0757129043340683, + 0.027290914207696915 + ], + [ + 0.27543163299560547, + 0.07546772062778473, + 0.02613026648759842 + ], + [ + 0.2753562927246094, + 0.07398783415555954, + 0.027604006230831146 + ], + [ + 0.27147918939590454, + 0.07104568928480148, + 0.03131245821714401 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9991003569851226, + 0.025304347186545163, + 0.034031848108255484, + 0.0261509468923487, + -0.9993536499865731, + -0.02466597322522611, + 0.03338569527258862, + 0.02553374770723635, + -0.9991163210953913 + ], + [ + 0.9997312448602352, + 0.023168263612091466, + -0.0008182978708899532, + 0.023132368291691883, + -0.9992635867359706, + -0.030613359188128624, + -0.001526953641206109, + 0.03058620252277961, + -0.9995309663176092 + ], + [ + 0.9965021969435335, + -0.08304587038948158, + -0.009314230937901138, + -0.08319542347404046, + -0.996387910081959, + -0.017019228991960386, + -0.007867210413240792, + 0.017734600467987298, + -0.9998117777594714 + ], + [ + 0.9886844568061368, + -0.14970671676893574, + 0.009536447148686268, + -0.1479390086547753, + -0.9835891724000679, + -0.10327821481605681, + 0.024841388612482036, + 0.10069875317805535, + -0.9946067899025165 + ], + [ + 0.9823406147152803, + -0.18609186601694894, + 0.019409638923352082, + -0.18041870177778663, + -0.9696213605927957, + -0.16517720524029203, + 0.049558134848106034, + 0.15875841547617373, + -0.9860728962839772 + ], + [ + 0.9679496625095979, + -0.25089730920560166, + 0.011135128241040015, + -0.2447407259838652, + -0.9522900595161568, + -0.18233381362656106, + 0.05635093515147986, + 0.17376473399428213, + -0.983173631322286 + ], + [ + 0.9636716331810098, + -0.26231927225540563, + 0.050255176903878325, + -0.24884736115224346, + -0.9501601350898887, + -0.18780497473051633, + 0.09701532997320916, + 0.1684764585613056, + -0.9809198278456963 + ], + [ + 0.9699936090200483, + -0.24105766503121873, + 0.03167965577399308, + -0.23305477521596685, + -0.9589906199685053, + -0.16131479337449853, + 0.0692666601569406, + 0.14909122355832602, + -0.9863944124175604 + ], + [ + 0.9796400657659886, + -0.18762848653670663, + 0.07142053336369522, + -0.1793955580232555, + -0.9778159698852912, + -0.10813492867160121, + 0.09012533110915369, + 0.09312078219834924, + -0.9915674180887718 + ], + [ + 0.9894985445437275, + -0.09231636671873134, + 0.1112219348046851, + -0.08392267555928407, + -0.9934202623201901, + -0.07793052635941738, + 0.1176843866994091, + 0.06777810005848067, + -0.9907353401790241 + ], + [ + 0.9912766242945082, + -0.060941757249132075, + 0.11686212539001795, + -0.057273530106193085, + -0.997762321220202, + -0.034497726047514464, + 0.1187029775383053, + 0.027503682965417962, + -0.9925488151959471 + ], + [ + 0.9933442149847919, + -0.012616541976813646, + 0.11449058225371588, + -0.008318905732609162, + -0.9992454865447467, + -0.03793749368849305, + 0.11488283755052163, + 0.03673255352544643, + -0.9926996792322644 + ], + [ + 0.9947529890885918, + 0.02816327607899778, + 0.09835304052142976, + 0.03372539692890034, + -0.9978969661562564, + -0.05535560078372584, + 0.09658720568118725, + 0.058382144673155514, + -0.9936108075509559 + ], + [ + 0.9979147295024248, + 0.02002506573828995, + 0.06136113903993964, + 0.02331667021380493, + -0.998300657511742, + -0.053405337764715885, + 0.06018742004972718, + 0.05472471063239981, + -0.9966858484567527 + ], + [ + 0.9972889870613619, + 0.017459054227075332, + 0.07148326875303815, + 0.021604591395040333, + -0.998103818257615, + -0.057636877172725, + 0.07034143811990473, + 0.05902498966595828, + -0.9957751416249341 + ], + [ + 0.9969240188044547, + 0.0014991044502649532, + 0.0783597691205291, + 0.006819095346487272, + -0.9976845576470392, + -0.06766848137269939, + 0.0780768894707707, + 0.06799467713342748, + -0.9946259212448116 + ], + [ + 0.9975243475173846, + 0.010292516133328255, + 0.06956464778650641, + 0.014466946948801728, + -0.9981071477471737, + -0.05977314666287412, + 0.06881775610985925, + 0.06063155719298393, + -0.9957850825938082 + ], + [ + 0.9981808147950445, + 0.016497911438765223, + 0.05799034310348608, + 0.01919274359186169, + -0.9987466659081937, + -0.046224841056343245, + 0.05715504849546038, + 0.04725374329538141, + -0.9972464009341202 + ], + [ + 0.9979360851751788, + 0.02178778891177028, + 0.060405812299594595, + 0.023479020264945354, + -0.9993479307916279, + -0.0274308007518835, + 0.059768767032924476, + 0.028792455206657647, + -0.9977969177195007 + ], + [ + 0.9951371333098744, + 0.05846922613834493, + 0.07926812412684539, + 0.05696958123989897, + -0.9981539387249715, + 0.021051874528816374, + 0.08035267712501207, + -0.016433630232226774, + -0.9966310165132503 + ], + [ + 0.9966004387720195, + 0.04812642856412299, + 0.06686861979344834, + 0.04882602148455605, + -0.9987679421192334, + -0.00886664654204955, + 0.06635951375204656, + 0.012101432500920509, + -0.9977223913825017 + ], + [ + 0.9909318331916583, + 0.06735378152136932, + 0.1162650853962245, + 0.07308378006230982, + -0.9962763343291188, + -0.04574086518134678, + 0.11275133284898965, + 0.05382317131594779, + -0.9921644032972916 + ], + [ + 0.9814347398239683, + 0.11141443419294379, + 0.156117504848513, + 0.12374972995416929, + -0.9897248030564374, + -0.07162973231254087, + 0.14653278064286318, + 0.08961940676194126, + -0.9851378107293964 + ], + [ + 0.9452132314713061, + 0.2862354556187756, + 0.15697519230210835, + 0.3009543538388969, + -0.95033689819165, + -0.07928591830133774, + 0.12648487639628694, + 0.12218446661579496, + -0.9844148171176775 + ], + [ + 0.8554335561988652, + 0.48149024782409106, + 0.19078933979459817, + 0.49715971403617826, + -0.8666435647449071, + -0.041966062785372286, + 0.1451401035841876, + 0.1307519519415895, + -0.9807335404660309 + ], + [ + 0.7227349771366083, + 0.6791368612185157, + 0.12816893756916475, + 0.6886928011964487, + -0.7232441407804936, + -0.0511872875514403, + 0.05793425932498454, + 0.12526386773905607, + -0.9904305048995196 + ], + [ + 0.6083707573061401, + 0.7814075538166105, + 0.13887856743606927, + 0.7916684742410556, + -0.6098531546501045, + -0.036608150132932275, + 0.05608964741904827, + 0.13221711160684535, + -0.989632551430454 + ], + [ + 0.6021978071530398, + 0.795038848167328, + 0.07260186612504226, + 0.798344525347712, + -0.5999233472692939, + -0.052325865960751075, + 0.0019544583409389638, + 0.08947182408990319, + -0.9959874360586176 + ], + [ + 0.5969042783581103, + 0.7994836106235683, + 0.0673144770616693, + 0.8023091261521094, + -0.5945553540974283, + -0.052952780919610525, + -0.002312697736885014, + 0.08561476075060934, + -0.9963256315938046 + ], + [ + 0.5798226227713479, + 0.8119034800680768, + 0.06795929057826317, + 0.8147410687685824, + -0.5779695984801285, + -0.046347967534150464, + 0.0016483277534541443, + 0.0822428251342612, + -0.9966109575604475 + ], + [ + 0.5718810683941453, + 0.8186439145953083, + 0.05267052979077157, + 0.8203078515413197, + -0.5712181165667254, + -0.028370618703639328, + 0.006860926470617961, + 0.059430668867451075, + -0.9982088575473232 + ], + [ + 0.5796093718426967, + 0.8141193831899074, + 0.035533167415798976, + 0.8148883811784275, + -0.5792221515388973, + -0.021415540783560744, + 0.003146790828180146, + 0.04136821341483378, + -0.9991390136644391 + ], + [ + 0.5778078814087975, + 0.8161065917497943, + 0.010396301477529412, + 0.815896054192718, + -0.5772334040740638, + -0.033394999233745365, + -0.0212527865144844, + 0.027778195110613, + -0.9993881582957477 + ], + [ + 0.5917584336476187, + 0.8061153447597333, + 8.45565710608856e-05, + 0.8055665680996635, + -0.5913517077421294, + -0.036954865858202304, + -0.029739881759136763, + 0.021936469482667444, + -0.999316932078902 + ], + [ + 0.6017547799635665, + 0.7983046735606704, + -0.024511894300346986, + 0.7964909077352836, + -0.6020932728284325, + -0.05555109998704572, + -0.059105149403615206, + 0.013904639007844076, + -0.9981549190020745 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.004768788814544678, + -0.0018247440457344055, + -0.009665615856647491, + -0.005040239542722702, + 0.034918855875730515, + -0.0030340608209371567, + 1.0 + ], + [ + -0.0037908554077148438, + -0.025501174852252007, + 0.016908157616853714, + 0.012854930013418198, + 0.006340337451547384, + -0.10642874240875244, + 1.0 + ], + [ + -0.00877755880355835, + -0.032534077763557434, + 0.021949447691440582, + -0.08316488564014435, + -0.03271123766899109, + -0.0652359202504158, + 1.0 + ], + [ + -0.015411615371704102, + -0.02040845900774002, + 0.013355240225791931, + -0.058729857206344604, + -0.02473449893295765, + -0.03310759365558624, + 1.0 + ], + [ + -0.021691560745239258, + -0.026057733222842216, + -0.0009158700704574585, + -0.015301287174224854, + -0.006802357733249664, + -0.06601622700691223, + 1.0 + ], + [ + -0.02333824336528778, + -0.011341877281665802, + -0.0006456747651100159, + 0.004838153719902039, + -0.040787361562252045, + -0.005053877830505371, + 1.0 + ], + [ + -0.013751804828643799, + -0.005329340696334839, + -0.01327493041753769, + 0.0200817734003067, + 0.027845993638038635, + 0.01691308617591858, + 1.0 + ], + [ + -0.0034226030111312866, + 0.006922334432601929, + -0.01087157428264618, + 0.05637411028146744, + -0.020925618708133698, + 0.05467762053012848, + 1.0 + ], + [ + -0.0012200921773910522, + 0.01387864351272583, + -0.008381694555282593, + 0.025332584977149963, + -0.027709953486919403, + 0.09650634229183197, + 1.0 + ], + [ + -0.0026227831840515137, + 0.01115604117512703, + -0.006234951317310333, + 0.040602415800094604, + -0.0010257810354232788, + 0.02689746767282486, + 1.0 + ], + [ + -0.0007368177175521851, + 0.010546145960688591, + -0.0015431568026542664, + -0.00928274355828762, + 0.003846466541290283, + 0.0493389330804348, + 1.0 + ], + [ + 0.0016342848539352417, + 0.005917150527238846, + -0.007869657129049301, + -0.02170426771044731, + 0.018399037420749664, + 0.04226475581526756, + 1.0 + ], + [ + -0.0008074641227722168, + -0.002060636878013611, + -0.012672137469053268, + 0.0038384757936000824, + 0.036514200270175934, + -0.010529164224863052, + 1.0 + ], + [ + 0.002972438931465149, + -0.0028026774525642395, + -0.00386868417263031, + -0.004354540258646011, + -0.010175757110118866, + -0.00170120969414711, + 1.0 + ], + [ + 0.0011239349842071533, + -0.003280164673924446, + -0.003338858485221863, + -0.00904972106218338, + -0.007756859064102173, + -0.01481990423053503, + 1.0 + ], + [ + 0.0004547536373138428, + 0.0010698474943637848, + -0.00558122992515564, + 0.007442746311426163, + 0.009284242987632751, + 0.007661805488169193, + 0.0 + ], + [ + -0.0003256797790527344, + 0.0019997283816337585, + -0.004990655928850174, + 0.013464313000440598, + 0.01168597862124443, + 0.0047235190868377686, + 0.0 + ], + [ + -0.0015331059694290161, + 0.00010682269930839539, + -0.0007223039865493774, + 0.018500782549381256, + -0.002618197351694107, + 0.0042978860437870026, + 0.0 + ], + [ + -0.0027864426374435425, + 0.0026798229664564133, + 0.01209741085767746, + 0.04533571004867554, + -0.020634986460208893, + 0.03366231173276901, + 0.0 + ], + [ + 0.00033089518547058105, + -1.5554949641227722e-05, + 0.018338028341531754, + -0.028616150841116905, + 0.014031082391738892, + -0.008232120424509048, + 0.0 + ], + [ + 0.004241660237312317, + 0.0008182674646377563, + 0.03282513469457626, + -0.042066656053066254, + -0.04658329486846924, + 0.02466585859656334, + 0.0 + ], + [ + 0.007545441389083862, + 0.006967460736632347, + 0.021553978323936462, + -0.03652660921216011, + -0.0340706929564476, + 0.051809415221214294, + 0.0 + ], + [ + 0.009907141327857971, + 0.02005579322576523, + 0.002884596586227417, + -0.03276561200618744, + 0.020237714052200317, + 0.18282070755958557, + 0.0 + ], + [ + 0.004851043224334717, + 0.019679823890328407, + -0.0011411607265472412, + -0.009051650762557983, + -0.018829986453056335, + 0.21821588277816772, + 0.0 + ], + [ + -0.002519279718399048, + 0.023146122694015503, + -0.0209672674536705, + 0.006732776761054993, + 0.08768785744905472, + 0.23481857776641846, + 0.0 + ], + [ + 0.0025422871112823486, + 0.018416430801153183, + -0.00832480937242508, + -0.0070095062255859375, + 0.0018476173281669617, + 0.1542971134185791, + 0.0 + ], + [ + 0.00018715858459472656, + 0.003108210861682892, + -0.022212296724319458, + 0.04322391748428345, + 0.054164640605449677, + 0.008962690830230713, + 0.0 + ], + [ + 0.005219250917434692, + 0.005098000168800354, + -0.0045633576810359955, + 0.0038718730211257935, + 0.004267159383744001, + 0.006613612174987793, + 0.0 + ], + [ + 0.008300095796585083, + 0.002807117998600006, + -0.008156504482030869, + 0.0033839941024780273, + -0.003961028531193733, + 0.02112710475921631, + 0.0 + ], + [ + 0.006716132164001465, + 0.0021801069378852844, + -0.007122401148080826, + 0.022868823260068893, + -0.005212651565670967, + 0.009698450565338135, + 0.0 + ], + [ + 0.00033614039421081543, + -0.00021173804998397827, + -0.007966183125972748, + 0.018086884170770645, + 0.0037141842767596245, + -0.009439289569854736, + 1.0 + ], + [ + 0.0016224682331085205, + -0.00024518370628356934, + -0.0011606477200984955, + 0.013592179864645004, + 0.024401182308793068, + 0.0020525455474853516, + 1.0 + ], + [ + -7.534027099609375e-05, + -0.0014798864722251892, + 0.001473739743232727, + 0.005840107798576355, + 0.008489880710840225, + -0.017363131046295166, + 1.0 + ], + [ + -0.003877103328704834, + -0.0029421448707580566, + 0.003708451986312866, + 0.008018498308956623, + 0.029395349323749542, + -0.013453185558319092, + 1.0 + ], + [ + 0.004133284091949463, + -0.000595390796661377, + 0.03787711262702942, + -0.026834413409233093, + -0.07296522706747055, + -0.018249690532684326, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9879508018493652 + ], + [ + 0.9879508018493652 + ], + [ + 0.9879508018493652 + ], + [ + 0.9879508018493652 + ], + [ + 0.9879508018493652 + ], + [ + 0.9879508018493652 + ], + [ + 0.9879508018493652 + ], + [ + 0.9879508018493652 + ], + [ + 0.9879508018493652 + ], + [ + 0.9879508018493652 + ], + [ + 0.9879508018493652 + ], + [ + 0.9879508018493652 + ], + [ + 0.9879508018493652 + ], + [ + 0.9879508018493652 + ], + [ + 0.9879508018493652 + ], + [ + 0.973810613155365 + ], + [ + 0.8930966854095459 + ], + [ + 0.6209517121315002 + ], + [ + 0.5640211701393127 + ], + [ + 0.5928986668586731 + ], + [ + 0.5928986668586731 + ], + [ + 0.5928986668586731 + ], + [ + 0.5928986668586731 + ], + [ + 0.5928986668586731 + ], + [ + 0.5928986668586731 + ], + [ + 0.5928986668586731 + ], + [ + 0.5928986668586731 + ], + [ + 0.5928986668586731 + ], + [ + 0.5928986668586731 + ], + [ + 0.5928986668586731 + ], + [ + 0.6711689233779907 + ], + [ + 0.9351479411125183 + ], + [ + 0.9968144297599792 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3201824128627777, + 0.04870246723294258, + 0.04874427989125252 + ], + [ + 0.31639155745506287, + 0.023201292380690575, + 0.06565243750810623 + ], + [ + 0.3076139986515045, + -0.009332786314189434, + 0.08760188519954681 + ], + [ + 0.2922023832798004, + -0.02974124439060688, + 0.10095712542533875 + ], + [ + 0.27051082253456116, + -0.0557989776134491, + 0.10004125535488129 + ], + [ + 0.24717257916927338, + -0.0671408548951149, + 0.09939558058977127 + ], + [ + 0.23342077434062958, + -0.07247019559144974, + 0.08612065017223358 + ], + [ + 0.2299981713294983, + -0.06554786115884781, + 0.0752490758895874 + ], + [ + 0.22877807915210724, + -0.05166921764612198, + 0.06686738133430481 + ], + [ + 0.22615529596805573, + -0.04051317647099495, + 0.060632430016994476 + ], + [ + 0.22541847825050354, + -0.02996703051030636, + 0.05908927321434021 + ], + [ + 0.22705276310443878, + -0.024049879983067513, + 0.05121961608529091 + ], + [ + 0.22624529898166656, + -0.026110516861081123, + 0.03854747861623764 + ], + [ + 0.2292177379131317, + -0.028913194313645363, + 0.03467879444360733 + ], + [ + 0.23034167289733887, + -0.03219335898756981, + 0.03133993595838547 + ], + [ + 0.2307964265346527, + -0.031123511493206024, + 0.025758706033229828 + ], + [ + 0.23047074675559998, + -0.029123783111572266, + 0.020768050104379654 + ], + [ + 0.22893764078617096, + -0.02901696041226387, + 0.020045746117830276 + ], + [ + 0.22615119814872742, + -0.026337137445807457, + 0.032143156975507736 + ], + [ + 0.226482093334198, + -0.026352692395448685, + 0.05048118531703949 + ], + [ + 0.23072375357151031, + -0.02553442493081093, + 0.08330632001161575 + ], + [ + 0.23826919496059418, + -0.01856696419417858, + 0.10486029833555222 + ], + [ + 0.24817633628845215, + 0.0014888287987560034, + 0.10774489492177963 + ], + [ + 0.25302737951278687, + 0.021168652921915054, + 0.10660373419523239 + ], + [ + 0.2505080997943878, + 0.04431477561593056, + 0.08563646674156189 + ], + [ + 0.25305038690567017, + 0.06273120641708374, + 0.07731165736913681 + ], + [ + 0.2532375454902649, + 0.06583941727876663, + 0.05509936064481735 + ], + [ + 0.2584567964076996, + 0.07093741744756699, + 0.05053600296378136 + ], + [ + 0.26675689220428467, + 0.07374453544616699, + 0.04237949848175049 + ], + [ + 0.27347302436828613, + 0.07592464238405228, + 0.03525709733366966 + ], + [ + 0.27380916476249695, + 0.0757129043340683, + 0.027290914207696915 + ], + [ + 0.27543163299560547, + 0.07546772062778473, + 0.02613026648759842 + ], + [ + 0.2753562927246094, + 0.07398783415555954, + 0.027604006230831146 + ], + [ + 0.27147918939590454, + 0.07104568928480148, + 0.03131245821714401 + ], + [ + 0.275612473487854, + 0.0704502984881401, + 0.06918957084417343 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9997312448602352, + 0.023168263612091466, + -0.0008182978708899532, + 0.023132368291691883, + -0.9992635867359706, + -0.030613359188128624, + -0.001526953641206109, + 0.03058620252277961, + -0.9995309663176092 + ], + [ + 0.9965021969435335, + -0.08304587038948158, + -0.009314230937901138, + -0.08319542347404046, + -0.996387910081959, + -0.017019228991960386, + -0.007867210413240792, + 0.017734600467987298, + -0.9998117777594714 + ], + [ + 0.9886844568061368, + -0.14970671676893574, + 0.009536447148686268, + -0.1479390086547753, + -0.9835891724000679, + -0.10327821481605681, + 0.024841388612482036, + 0.10069875317805535, + -0.9946067899025165 + ], + [ + 0.9823406147152803, + -0.18609186601694894, + 0.019409638923352082, + -0.18041870177778663, + -0.9696213605927957, + -0.16517720524029203, + 0.049558134848106034, + 0.15875841547617373, + -0.9860728962839772 + ], + [ + 0.9679496625095979, + -0.25089730920560166, + 0.011135128241040015, + -0.2447407259838652, + -0.9522900595161568, + -0.18233381362656106, + 0.05635093515147986, + 0.17376473399428213, + -0.983173631322286 + ], + [ + 0.9636716331810098, + -0.26231927225540563, + 0.050255176903878325, + -0.24884736115224346, + -0.9501601350898887, + -0.18780497473051633, + 0.09701532997320916, + 0.1684764585613056, + -0.9809198278456963 + ], + [ + 0.9699936090200483, + -0.24105766503121873, + 0.03167965577399308, + -0.23305477521596685, + -0.9589906199685053, + -0.16131479337449853, + 0.0692666601569406, + 0.14909122355832602, + -0.9863944124175604 + ], + [ + 0.9796400657659886, + -0.18762848653670663, + 0.07142053336369522, + -0.1793955580232555, + -0.9778159698852912, + -0.10813492867160121, + 0.09012533110915369, + 0.09312078219834924, + -0.9915674180887718 + ], + [ + 0.9894985445437275, + -0.09231636671873134, + 0.1112219348046851, + -0.08392267555928407, + -0.9934202623201901, + -0.07793052635941738, + 0.1176843866994091, + 0.06777810005848067, + -0.9907353401790241 + ], + [ + 0.9912766242945082, + -0.060941757249132075, + 0.11686212539001795, + -0.057273530106193085, + -0.997762321220202, + -0.034497726047514464, + 0.1187029775383053, + 0.027503682965417962, + -0.9925488151959471 + ], + [ + 0.9933442149847919, + -0.012616541976813646, + 0.11449058225371588, + -0.008318905732609162, + -0.9992454865447467, + -0.03793749368849305, + 0.11488283755052163, + 0.03673255352544643, + -0.9926996792322644 + ], + [ + 0.9947529890885918, + 0.02816327607899778, + 0.09835304052142976, + 0.03372539692890034, + -0.9978969661562564, + -0.05535560078372584, + 0.09658720568118725, + 0.058382144673155514, + -0.9936108075509559 + ], + [ + 0.9979147295024248, + 0.02002506573828995, + 0.06136113903993964, + 0.02331667021380493, + -0.998300657511742, + -0.053405337764715885, + 0.06018742004972718, + 0.05472471063239981, + -0.9966858484567527 + ], + [ + 0.9972889870613619, + 0.017459054227075332, + 0.07148326875303815, + 0.021604591395040333, + -0.998103818257615, + -0.057636877172725, + 0.07034143811990473, + 0.05902498966595828, + -0.9957751416249341 + ], + [ + 0.9969240188044547, + 0.0014991044502649532, + 0.0783597691205291, + 0.006819095346487272, + -0.9976845576470392, + -0.06766848137269939, + 0.0780768894707707, + 0.06799467713342748, + -0.9946259212448116 + ], + [ + 0.9975243475173846, + 0.010292516133328255, + 0.06956464778650641, + 0.014466946948801728, + -0.9981071477471737, + -0.05977314666287412, + 0.06881775610985925, + 0.06063155719298393, + -0.9957850825938082 + ], + [ + 0.9981808147950445, + 0.016497911438765223, + 0.05799034310348608, + 0.01919274359186169, + -0.9987466659081937, + -0.046224841056343245, + 0.05715504849546038, + 0.04725374329538141, + -0.9972464009341202 + ], + [ + 0.9979360851751788, + 0.02178778891177028, + 0.060405812299594595, + 0.023479020264945354, + -0.9993479307916279, + -0.0274308007518835, + 0.059768767032924476, + 0.028792455206657647, + -0.9977969177195007 + ], + [ + 0.9951371333098744, + 0.05846922613834493, + 0.07926812412684539, + 0.05696958123989897, + -0.9981539387249715, + 0.021051874528816374, + 0.08035267712501207, + -0.016433630232226774, + -0.9966310165132503 + ], + [ + 0.9966004387720195, + 0.04812642856412299, + 0.06686861979344834, + 0.04882602148455605, + -0.9987679421192334, + -0.00886664654204955, + 0.06635951375204656, + 0.012101432500920509, + -0.9977223913825017 + ], + [ + 0.9909318331916583, + 0.06735378152136932, + 0.1162650853962245, + 0.07308378006230982, + -0.9962763343291188, + -0.04574086518134678, + 0.11275133284898965, + 0.05382317131594779, + -0.9921644032972916 + ], + [ + 0.9814347398239683, + 0.11141443419294379, + 0.156117504848513, + 0.12374972995416929, + -0.9897248030564374, + -0.07162973231254087, + 0.14653278064286318, + 0.08961940676194126, + -0.9851378107293964 + ], + [ + 0.9452132314713061, + 0.2862354556187756, + 0.15697519230210835, + 0.3009543538388969, + -0.95033689819165, + -0.07928591830133774, + 0.12648487639628694, + 0.12218446661579496, + -0.9844148171176775 + ], + [ + 0.8554335561988652, + 0.48149024782409106, + 0.19078933979459817, + 0.49715971403617826, + -0.8666435647449071, + -0.041966062785372286, + 0.1451401035841876, + 0.1307519519415895, + -0.9807335404660309 + ], + [ + 0.7227349771366083, + 0.6791368612185157, + 0.12816893756916475, + 0.6886928011964487, + -0.7232441407804936, + -0.0511872875514403, + 0.05793425932498454, + 0.12526386773905607, + -0.9904305048995196 + ], + [ + 0.6083707573061401, + 0.7814075538166105, + 0.13887856743606927, + 0.7916684742410556, + -0.6098531546501045, + -0.036608150132932275, + 0.05608964741904827, + 0.13221711160684535, + -0.989632551430454 + ], + [ + 0.6021978071530398, + 0.795038848167328, + 0.07260186612504226, + 0.798344525347712, + -0.5999233472692939, + -0.052325865960751075, + 0.0019544583409389638, + 0.08947182408990319, + -0.9959874360586176 + ], + [ + 0.5969042783581103, + 0.7994836106235683, + 0.0673144770616693, + 0.8023091261521094, + -0.5945553540974283, + -0.052952780919610525, + -0.002312697736885014, + 0.08561476075060934, + -0.9963256315938046 + ], + [ + 0.5798226227713479, + 0.8119034800680768, + 0.06795929057826317, + 0.8147410687685824, + -0.5779695984801285, + -0.046347967534150464, + 0.0016483277534541443, + 0.0822428251342612, + -0.9966109575604475 + ], + [ + 0.5718810683941453, + 0.8186439145953083, + 0.05267052979077157, + 0.8203078515413197, + -0.5712181165667254, + -0.028370618703639328, + 0.006860926470617961, + 0.059430668867451075, + -0.9982088575473232 + ], + [ + 0.5796093718426967, + 0.8141193831899074, + 0.035533167415798976, + 0.8148883811784275, + -0.5792221515388973, + -0.021415540783560744, + 0.003146790828180146, + 0.04136821341483378, + -0.9991390136644391 + ], + [ + 0.5778078814087975, + 0.8161065917497943, + 0.010396301477529412, + 0.815896054192718, + -0.5772334040740638, + -0.033394999233745365, + -0.0212527865144844, + 0.027778195110613, + -0.9993881582957477 + ], + [ + 0.5917584336476187, + 0.8061153447597333, + 8.45565710608856e-05, + 0.8055665680996635, + -0.5913517077421294, + -0.036954865858202304, + -0.029739881759136763, + 0.021936469482667444, + -0.999316932078902 + ], + [ + 0.6017547799635665, + 0.7983046735606704, + -0.024511894300346986, + 0.7964909077352836, + -0.6020932728284325, + -0.05555109998704572, + -0.059105149403615206, + 0.013904639007844076, + -0.9981549190020745 + ], + [ + 0.617209619310108, + 0.7857511209369572, + 0.04058893663779182, + 0.7866772848571819, + -0.6171990940598496, + -0.014287329401711723, + 0.013825169829107217, + 0.040748671610446874, + -0.9990737762753961 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005710.json b/json/chunk-0005/episode_0005710.json new file mode 100644 index 0000000000000000000000000000000000000000..96b457a4f4664d908c1c2680f451a06f2803bd2d --- /dev/null +++ b/json/chunk-0005/episode_0005710.json @@ -0,0 +1,3382 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 55, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPuts the white spoon in the right sie of the sink fro the sufuria." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005710.mp4", + "start": 0, + "end": 55, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.18824663758277893, + 0.016361037269234657, + 0.16290105879306793, + -0.021293528378009796, + -0.14857134222984314, + -0.07081163674592972, + 0.0, + 0.9988223910331726 + ], + [ + 0.18602882325649261, + 0.01583770290017128, + 0.15932562947273254, + -0.027643626555800438, + -0.13493146002292633, + -0.05452277883887291, + 0.0, + 0.9988223910331726 + ], + [ + 0.18638314306735992, + 0.007334310095757246, + 0.16078919172286987, + -0.05387847125530243, + -0.14194172620773315, + 0.033890873193740845, + 0.0, + 0.9988223910331726 + ], + [ + 0.18562006950378418, + -0.00183498568367213, + 0.1643851101398468, + -0.04534173384308815, + -0.15436342358589172, + 0.11686709523200989, + 0.0, + 0.9988223910331726 + ], + [ + 0.18713125586509705, + -0.012659981846809387, + 0.1725943684577942, + -0.08186028897762299, + -0.21048209071159363, + 0.2800860106945038, + 0.0, + 0.9988223910331726 + ], + [ + 0.1984325498342514, + -0.02320999838411808, + 0.17025424540042877, + -0.13808444142341614, + -0.23202762007713318, + 0.4908015727996826, + 0.0, + 0.9988223910331726 + ], + [ + 0.20681793987751007, + -0.026935307309031487, + 0.1618378460407257, + -0.13680869340896606, + -0.22817496955394745, + 0.6396450400352478, + 0.0, + 0.9988223910331726 + ], + [ + 0.21425879001617432, + -0.03109152801334858, + 0.15447275340557098, + -0.16598425805568695, + -0.2010485827922821, + 0.7345929145812988, + 0.0, + 0.9988223910331726 + ], + [ + 0.2184932976961136, + -0.02867257222533226, + 0.15286785364151, + -0.12201635539531708, + -0.21894454956054688, + 0.8245426416397095, + 0.0, + 0.9988223910331726 + ], + [ + 0.2223331481218338, + -0.025881782174110413, + 0.1527576893568039, + -0.12969909608364105, + -0.23880234360694885, + 0.8845610022544861, + 0.0, + 0.9988223910331726 + ], + [ + 0.2248034030199051, + -0.01938999444246292, + 0.14719738066196442, + -0.0931776911020279, + -0.22743810713291168, + 0.9710692763328552, + 0.0, + 0.9988223910331726 + ], + [ + 0.2237260490655899, + -0.019048312678933144, + 0.14225754141807556, + -0.10668902099132538, + -0.218180850148201, + 1.0206185579299927, + 0.0, + 0.9988223910331726 + ], + [ + 0.2215932458639145, + -0.01437223982065916, + 0.1355336755514145, + -0.14884528517723083, + -0.19943882524967194, + 1.0667414665222168, + 0.0, + 0.9522681832313538 + ], + [ + 0.22255517542362213, + -0.014800560660660267, + 0.13494542241096497, + -0.1615380346775055, + -0.19166110455989838, + 1.0964956283569336, + 0.0, + 0.6871993541717529 + ], + [ + 0.22188492119312286, + -0.013157732784748077, + 0.1318761259317398, + -0.16515986621379852, + -0.19623717665672302, + 1.127215027809143, + 0.0, + 0.39711064100265503 + ], + [ + 0.22233767807483673, + -0.013657897710800171, + 0.13097868859767914, + -0.17506110668182373, + -0.1789046674966812, + 1.1447323560714722, + 0.0, + 0.2432183027267456 + ], + [ + 0.2239263504743576, + -0.015127493068575859, + 0.1300610601902008, + -0.16204869747161865, + -0.16515599191188812, + 1.1417003870010376, + 0.0, + 0.23789463937282562 + ], + [ + 0.22086846828460693, + -0.014445739798247814, + 0.1318477988243103, + -0.1438084840774536, + -0.13520044088363647, + 1.1408898830413818, + 0.0, + 0.23789463937282562 + ], + [ + 0.21915863454341888, + -0.016831571236252785, + 0.1438133865594864, + -0.16815994679927826, + -0.11937258392572403, + 1.1351537704467773, + 0.0, + 0.23789463937282562 + ], + [ + 0.2180611938238144, + -0.018559349700808525, + 0.15182551741600037, + -0.18144576251506805, + -0.13752923905849457, + 1.1309171915054321, + 0.0, + 0.23789463937282562 + ], + [ + 0.22052410244941711, + -0.02087380923330784, + 0.16058658063411713, + -0.19925934076309204, + -0.16730788350105286, + 1.1138230562210083, + 0.0, + 0.23789463937282562 + ], + [ + 0.22231508791446686, + -0.023512806743383408, + 0.17828141152858734, + -0.22732746601104736, + -0.19635438919067383, + 1.1101239919662476, + 0.0, + 0.23789463937282562 + ], + [ + 0.22431348264217377, + -0.02185848169028759, + 0.19481375813484192, + -0.24698330461978912, + -0.215772345662117, + 1.1188348531723022, + 0.0, + 0.23789463937282562 + ], + [ + 0.22519584000110626, + -0.016505204141139984, + 0.20602130889892578, + -0.2740311026573181, + -0.2079792022705078, + 1.1253135204315186, + 0.0, + 0.23789463937282562 + ], + [ + 0.2252267301082611, + 0.0023711828980594873, + 0.21066583693027496, + -0.28387346863746643, + -0.1809169054031372, + 1.166263222694397, + 0.0, + 0.23789463937282562 + ], + [ + 0.21674767136573792, + 0.027880217880010605, + 0.2156233936548233, + -0.29362383484840393, + -0.1591622680425644, + 1.2228127717971802, + 0.0, + 0.23789463937282562 + ], + [ + 0.2027851641178131, + 0.05143510550260544, + 0.22065021097660065, + -0.3324243724346161, + -0.1493138074874878, + 1.2651795148849487, + 0.0, + 0.23789463937282562 + ], + [ + 0.18339359760284424, + 0.073570117354393, + 0.2128898650407791, + -0.35382628440856934, + -0.08444681763648987, + 1.295153260231018, + 0.0, + 0.23789463937282562 + ], + [ + 0.16751578450202942, + 0.09803654253482819, + 0.2098015695810318, + -0.3581054210662842, + -0.05103211849927902, + 1.3575674295425415, + 0.0, + 0.23789463937282562 + ], + [ + 0.15828412771224976, + 0.11773643642663956, + 0.19383414089679718, + -0.3238223195075989, + -0.015515143051743507, + 1.3857760429382324, + 0.0, + 0.23789463937282562 + ], + [ + 0.1528623253107071, + 0.1404224932193756, + 0.1761351376771927, + -0.31603777408599854, + 0.03878903388977051, + 1.4030661582946777, + 0.0, + 0.23789463937282562 + ], + [ + 0.1494995355606079, + 0.15530075132846832, + 0.16082453727722168, + -0.30776089429855347, + 0.07895977050065994, + 1.413528561592102, + 0.0, + 0.23789463937282562 + ], + [ + 0.15464331209659576, + 0.15854617953300476, + 0.15546028316020966, + -0.30798235535621643, + 0.01978560909628868, + 1.335507869720459, + 0.0, + 0.23789463937282562 + ], + [ + 0.16132071614265442, + 0.14941349625587463, + 0.15341754257678986, + -0.2360668182373047, + -0.16187196969985962, + 1.1795032024383545, + 0.0, + 0.23789463937282562 + ], + [ + 0.16062761843204498, + 0.14712107181549072, + 0.15083904564380646, + -0.13589495420455933, + -0.2906326353549957, + 1.0956491231918335, + 0.0, + 0.23789463937282562 + ], + [ + 0.1616157740354538, + 0.15231506526470184, + 0.13589520752429962, + -0.022680558264255524, + -0.3181791305541992, + 1.0424991846084595, + 0.0, + 0.23789463937282562 + ], + [ + 0.16519291698932648, + 0.15391169488430023, + 0.1292017698287964, + -0.025905368849635124, + -0.3270200788974762, + 1.037947177886963, + 0.0, + 0.23789463937282562 + ], + [ + 0.17094743251800537, + 0.1508990079164505, + 0.1257495880126953, + -0.07793036103248596, + -0.3095950782299042, + 1.114967942237854, + 0.0, + 0.23789463937282562 + ], + [ + 0.1769973188638687, + 0.14603756368160248, + 0.12315534800291061, + -0.09381812810897827, + -0.26359817385673523, + 1.1986709833145142, + 0.0, + 0.23789463937282562 + ], + [ + 0.1823488175868988, + 0.1430443376302719, + 0.12097864598035812, + -0.07092630863189697, + -0.2785288691520691, + 1.203485369682312, + 0.0, + 0.23789463937282562 + ], + [ + 0.1829921156167984, + 0.14696772396564484, + 0.12038321793079376, + -0.04060126096010208, + -0.30923810601234436, + 1.197668194770813, + 0.0, + 0.2372342199087143 + ], + [ + 0.18196682631969452, + 0.14920943975448608, + 0.12010104954242706, + -0.03075522370636463, + -0.31654125452041626, + 1.2028868198394775, + 0.0, + 0.23789463937282562 + ], + [ + 0.17851458489894867, + 0.15346604585647583, + 0.12041759490966797, + -0.050235193222761154, + -0.30857986211776733, + 1.234626054763794, + 0.0, + 0.2950899302959442 + ], + [ + 0.1785837709903717, + 0.15393029153347015, + 0.11970170587301254, + -0.03874930739402771, + -0.3061424195766449, + 1.1988203525543213, + 0.0, + 0.562038779258728 + ], + [ + 0.18058647215366364, + 0.1572263240814209, + 0.123282790184021, + -0.028790729120373726, + -0.30577507615089417, + 1.1756197214126587, + 0.0, + 0.8445048928260803 + ], + [ + 0.182156503200531, + 0.15800826251506805, + 0.12821435928344727, + -0.03193255886435509, + -0.3031092882156372, + 1.176629900932312, + 0.0, + 1.0027955770492554 + ], + [ + 0.18348288536071777, + 0.15336647629737854, + 0.13013893365859985, + -0.03964031860232353, + -0.29831045866012573, + 1.1672223806381226, + 0.0, + 0.9981546401977539 + ], + [ + 0.18133027851581573, + 0.15045057237148285, + 0.13272713124752045, + -0.02726522646844387, + -0.29765650629997253, + 1.1648635864257812, + 0.0, + 0.9981546401977539 + ], + [ + 0.17978565394878387, + 0.14852255582809448, + 0.14296042919158936, + -0.015950556844472885, + -0.30502671003341675, + 1.1600662469863892, + 0.0, + 0.9981546401977539 + ], + [ + 0.18126839399337769, + 0.14567279815673828, + 0.15528681874275208, + -0.018583782017230988, + -0.2744888961315155, + 1.1434513330459595, + 0.0, + 0.9981546401977539 + ], + [ + 0.19033482670783997, + 0.13520312309265137, + 0.1593606173992157, + -0.0423860102891922, + -0.26150277256965637, + 1.0990004539489746, + 0.0, + 0.9981546401977539 + ], + [ + 0.20678068697452545, + 0.11695464700460434, + 0.1533406525850296, + -0.09360189735889435, + -0.22428540885448456, + 1.0152287483215332, + 0.0, + 0.9988223910331726 + ], + [ + 0.2224871665239334, + 0.0910569280385971, + 0.15362371504306793, + -0.13144449889659882, + -0.22235266864299774, + 0.9151977896690369, + 0.0, + 0.9981546401977539 + ], + [ + 0.23512695729732513, + 0.060496289283037186, + 0.1550258845090866, + -0.1934342384338379, + -0.20657743513584137, + 0.7839903831481934, + 0.0, + 0.9981546401977539 + ], + [ + 0.24759498238563538, + 0.031039467081427574, + 0.16263160109519958, + -0.22882600128650665, + -0.22360457479953766, + 0.6249778270721436, + 0.0, + 0.9981546401977539 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9522681832313538 + ], + [ + 0.6871993541717529 + ], + [ + 0.39711064100265503 + ], + [ + 0.2432183027267456 + ], + [ + 0.23789463937282562 + ], + [ + 0.23789463937282562 + ], + [ + 0.23789463937282562 + ], + [ + 0.23789463937282562 + ], + [ + 0.23789463937282562 + ], + [ + 0.23789463937282562 + ], + [ + 0.23789463937282562 + ], + [ + 0.23789463937282562 + ], + [ + 0.23789463937282562 + ], + [ + 0.23789463937282562 + ], + [ + 0.23789463937282562 + ], + [ + 0.23789463937282562 + ], + [ + 0.23789463937282562 + ], + [ + 0.23789463937282562 + ], + [ + 0.23789463937282562 + ], + [ + 0.23789463937282562 + ], + [ + 0.23789463937282562 + ], + [ + 0.23789463937282562 + ], + [ + 0.23789463937282562 + ], + [ + 0.23789463937282562 + ], + [ + 0.23789463937282562 + ], + [ + 0.23789463937282562 + ], + [ + 0.23789463937282562 + ], + [ + 0.23789463937282562 + ], + [ + 0.2372342199087143 + ], + [ + 0.23789463937282562 + ], + [ + 0.2950899302959442 + ], + [ + 0.562038779258728 + ], + [ + 0.8445048928260803 + ], + [ + 1.0027955770492554 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9988223910331726 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.18824663758277893, + 0.016361037269234657, + 0.16290105879306793 + ], + [ + 0.18602882325649261, + 0.01583770290017128, + 0.15932562947273254 + ], + [ + 0.18638314306735992, + 0.007334310095757246, + 0.16078919172286987 + ], + [ + 0.18562006950378418, + -0.00183498568367213, + 0.1643851101398468 + ], + [ + 0.18713125586509705, + -0.012659981846809387, + 0.1725943684577942 + ], + [ + 0.1984325498342514, + -0.02320999838411808, + 0.17025424540042877 + ], + [ + 0.20681793987751007, + -0.026935307309031487, + 0.1618378460407257 + ], + [ + 0.21425879001617432, + -0.03109152801334858, + 0.15447275340557098 + ], + [ + 0.2184932976961136, + -0.02867257222533226, + 0.15286785364151 + ], + [ + 0.2223331481218338, + -0.025881782174110413, + 0.1527576893568039 + ], + [ + 0.2248034030199051, + -0.01938999444246292, + 0.14719738066196442 + ], + [ + 0.2237260490655899, + -0.019048312678933144, + 0.14225754141807556 + ], + [ + 0.2215932458639145, + -0.01437223982065916, + 0.1355336755514145 + ], + [ + 0.22255517542362213, + -0.014800560660660267, + 0.13494542241096497 + ], + [ + 0.22188492119312286, + -0.013157732784748077, + 0.1318761259317398 + ], + [ + 0.22233767807483673, + -0.013657897710800171, + 0.13097868859767914 + ], + [ + 0.2239263504743576, + -0.015127493068575859, + 0.1300610601902008 + ], + [ + 0.22086846828460693, + -0.014445739798247814, + 0.1318477988243103 + ], + [ + 0.21915863454341888, + -0.016831571236252785, + 0.1438133865594864 + ], + [ + 0.2180611938238144, + -0.018559349700808525, + 0.15182551741600037 + ], + [ + 0.22052410244941711, + -0.02087380923330784, + 0.16058658063411713 + ], + [ + 0.22231508791446686, + -0.023512806743383408, + 0.17828141152858734 + ], + [ + 0.22431348264217377, + -0.02185848169028759, + 0.19481375813484192 + ], + [ + 0.22519584000110626, + -0.016505204141139984, + 0.20602130889892578 + ], + [ + 0.2252267301082611, + 0.0023711828980594873, + 0.21066583693027496 + ], + [ + 0.21674767136573792, + 0.027880217880010605, + 0.2156233936548233 + ], + [ + 0.2027851641178131, + 0.05143510550260544, + 0.22065021097660065 + ], + [ + 0.18339359760284424, + 0.073570117354393, + 0.2128898650407791 + ], + [ + 0.16751578450202942, + 0.09803654253482819, + 0.2098015695810318 + ], + [ + 0.15828412771224976, + 0.11773643642663956, + 0.19383414089679718 + ], + [ + 0.1528623253107071, + 0.1404224932193756, + 0.1761351376771927 + ], + [ + 0.1494995355606079, + 0.15530075132846832, + 0.16082453727722168 + ], + [ + 0.15464331209659576, + 0.15854617953300476, + 0.15546028316020966 + ], + [ + 0.16132071614265442, + 0.14941349625587463, + 0.15341754257678986 + ], + [ + 0.16062761843204498, + 0.14712107181549072, + 0.15083904564380646 + ], + [ + 0.1616157740354538, + 0.15231506526470184, + 0.13589520752429962 + ], + [ + 0.16519291698932648, + 0.15391169488430023, + 0.1292017698287964 + ], + [ + 0.17094743251800537, + 0.1508990079164505, + 0.1257495880126953 + ], + [ + 0.1769973188638687, + 0.14603756368160248, + 0.12315534800291061 + ], + [ + 0.1823488175868988, + 0.1430443376302719, + 0.12097864598035812 + ], + [ + 0.1829921156167984, + 0.14696772396564484, + 0.12038321793079376 + ], + [ + 0.18196682631969452, + 0.14920943975448608, + 0.12010104954242706 + ], + [ + 0.17851458489894867, + 0.15346604585647583, + 0.12041759490966797 + ], + [ + 0.1785837709903717, + 0.15393029153347015, + 0.11970170587301254 + ], + [ + 0.18058647215366364, + 0.1572263240814209, + 0.123282790184021 + ], + [ + 0.182156503200531, + 0.15800826251506805, + 0.12821435928344727 + ], + [ + 0.18348288536071777, + 0.15336647629737854, + 0.13013893365859985 + ], + [ + 0.18133027851581573, + 0.15045057237148285, + 0.13272713124752045 + ], + [ + 0.17978565394878387, + 0.14852255582809448, + 0.14296042919158936 + ], + [ + 0.18126839399337769, + 0.14567279815673828, + 0.15528681874275208 + ], + [ + 0.19033482670783997, + 0.13520312309265137, + 0.1593606173992157 + ], + [ + 0.20678068697452545, + 0.11695464700460434, + 0.1533406525850296 + ], + [ + 0.2224871665239334, + 0.0910569280385971, + 0.15362371504306793 + ], + [ + 0.23512695729732513, + 0.060496289283037186, + 0.1550258845090866 + ], + [ + 0.24759498238563538, + 0.031039467081427574, + 0.16263160109519958 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9865050764945186, + -0.07388027931920478, + 0.14611447011935683, + -0.0699730332177189, + -0.9970447793313969, + -0.031709346103602945, + 0.14802536496444166, + 0.021057358232274836, + -0.9887593635417171 + ], + [ + 0.989438062069403, + -0.05818763651984917, + 0.1327649060730243, + -0.05400043287099237, + -0.9979298816093555, + -0.03492713330469418, + 0.13452239433674415, + 0.027388872692616344, + -0.9905319657005209 + ], + [ + 0.9893747095167796, + 0.02622132902880915, + 0.14300393726240646, + 0.03354361644001033, + -0.9982336389801153, + -0.04903496512328406, + 0.14146557872752236, + 0.05331082359595607, + -0.9885066747993194 + ], + [ + 0.981369521889157, + 0.10955999434429597, + 0.15783050765401704, + 0.11521481509201814, + -0.9929706489201333, + -0.027107872776020052, + 0.15375112321657677, + 0.04478725290087183, + -0.9870940654705781 + ], + [ + 0.93982198899156, + 0.25909425536444647, + 0.2227213412430209, + 0.27033739929072337, + -0.9625361712059677, + -0.02101926889506983, + 0.208931375223242, + 0.079964279258293, + -0.9746555260655048 + ], + [ + 0.8583208204973521, + 0.43893105188663206, + 0.2657534586613062, + 0.45870227637448535, + -0.888479003839386, + -0.014045689211894287, + 0.22995127907801935, + 0.13395742393113777, + -0.9639387002419376 + ], + [ + 0.7815125458369493, + 0.5665823679570252, + 0.2611944888768915, + 0.5814392676485627, + -0.8132256671276417, + 0.024339111756708907, + 0.22620017404006024, + 0.13284741113402485, + -0.9649792985443957 + ], + [ + 0.7271560164976051, + 0.6365874778012388, + 0.2569056456716987, + 0.6567840397492393, + -0.7540201170554224, + 0.009401500220556303, + 0.19969690233452483, + 0.16189517034916381, + -0.9663907600011555 + ], + [ + 0.662685797701021, + 0.7108311469045699, + 0.2357257179768364, + 0.7167090866775258, + -0.6932558681739424, + 0.07565967430712438, + 0.21719949032911706, + 0.11880817241556628, + -0.9688699600916754 + ], + [ + 0.6156480356376104, + 0.7477544132731535, + 0.24867817283805477, + 0.7516826042753615, + -0.6519750956802705, + 0.09950747229486044, + 0.23653912709182356, + 0.12566547673575268, + -0.9634611716677606 + ], + [ + 0.5498818846911827, + 0.810067599678294, + 0.20352001582134402, + 0.8042310756985644, + -0.5792871825678889, + 0.1328109069063512, + 0.2254823491300438, + 0.09064680945297876, + -0.9700210648057044 + ], + [ + 0.5104437436023895, + 0.8355336100107629, + 0.203299707721286, + 0.8322228476408635, + -0.5395140773427655, + 0.12778768412298708, + 0.21645395926549796, + 0.10396223781434673, + -0.9707417455878381 + ], + [ + 0.47340638876646984, + 0.8517593462573324, + 0.22448253192257914, + 0.8582745072025874, + -0.5033661028427412, + 0.09993716423366623, + 0.19811931092461912, + 0.14535674243801916, + -0.9693400621384436 + ], + [ + 0.4483535925234558, + 0.8640377862873314, + 0.22894925188565093, + 0.8733227781738371, + -0.4780261736947669, + 0.09379926644421055, + 0.1904898453830083, + 0.15789135863127157, + -0.9689086322639144 + ], + [ + 0.42093980423315674, + 0.8771715108963336, + 0.2310407359839279, + 0.8858851142883657, + -0.45229096344013636, + 0.10315255049043978, + 0.19498011563859832, + 0.16125453439279355, + -0.9674604537878136 + ], + [ + 0.40669342959807914, + 0.8838724958201883, + 0.23101918849814837, + 0.8960656228340856, + -0.43519583185198246, + 0.08758417387646449, + 0.17795183027076164, + 0.17138844497588457, + -0.9689990438757067 + ], + [ + 0.41038757946296367, + 0.8863929480070739, + 0.21421852474951433, + 0.8969685809857059, + -0.4347187730269588, + 0.08041736816400172, + 0.16440620227661382, + 0.15914499709781654, + -0.9734698097792848 + ], + [ + 0.41298231348876807, + 0.8915703550311466, + 0.18587068293601267, + 0.9007094727624393, + -0.4300427234587653, + 0.06152805600842855, + 0.1347889254407545, + 0.14200548591446321, + -0.9806459032437365 + ], + [ + 0.4189899370556306, + 0.885399873816746, + 0.20128213058145264, + 0.9001473080077868, + -0.434110715633921, + 0.035814947412213916, + 0.11908927967056235, + 0.16617746543107217, + -0.9788783343452093 + ], + [ + 0.42180931551443446, + 0.8794150237220377, + 0.22069462475831114, + 0.8962597612075389, + -0.4412237497574055, + 0.04516683617677146, + 0.1370961041950105, + 0.17874791943399482, + -0.9742965870373193 + ], + [ + 0.43507286629983993, + 0.8650913291201974, + 0.2496569512164482, + 0.8848615049539019, + -0.46208438924595535, + 0.05914502739798433, + 0.16652843018643249, + 0.1951794289781656, + -0.9665263951095178 + ], + [ + 0.4360081210750987, + 0.8531613873836787, + 0.2863783606247486, + 0.8785413076290687, + -0.4724989635824294, + 0.0700706800519029, + 0.19509507719562824, + 0.22104383386805107, + -0.9555509062121941 + ], + [ + 0.4266036885331527, + 0.8494334134779976, + 0.3105996925256456, + 0.8787318460857728, + -0.47056593327513285, + 0.07998778103931034, + 0.21410192807305178, + 0.23881075877778205, + -0.9471693543856776 + ], + [ + 0.4216079333034434, + 0.8446549819936401, + 0.3298555925991287, + 0.8829561094300523, + -0.4652398543048188, + 0.0627725002415549, + 0.20648307290367468, + 0.2647826266199393, + -0.9419420901756653 + ], + [ + 0.38716586618011284, + 0.862659610722614, + 0.3254550477299611, + 0.9042827075170504, + -0.424164281929186, + 0.04855354591717266, + 0.1799315896407186, + 0.275505096075202, + -0.9443101000656289 + ], + [ + 0.33669277871046244, + 0.8841867065387286, + 0.32380833952266247, + 0.9281802292520396, + -0.3695300012739633, + 0.043920839974843126, + 0.1584911189621005, + 0.28576466915743964, + -0.9451027029225344 + ], + [ + 0.29753367106142803, + 0.8868458969680206, + 0.3535223749859358, + 0.9430505251613717, + -0.33070542982177553, + 0.03591135863839426, + 0.14875961003434585, + 0.3227046230182973, + -0.9347364894477201 + ], + [ + 0.27119591763461365, + 0.8946885423215235, + 0.35494392021403465, + 0.9588213831502964, + -0.28342809207149516, + -0.018167879305635293, + 0.08434648464560865, + 0.34525487522017584, + -0.9347110471502027 + ], + [ + 0.2113412744564342, + 0.9115684621258963, + 0.352672375681111, + 0.9760803494389375, + -0.21566644967331045, + -0.027479700225282122, + 0.05100997108695607, + 0.35004417055957093, + -0.9353432853808115 + ], + [ + 0.18394432949882145, + 0.9309375257571731, + 0.3154676002101358, + 0.9828142160632457, + -0.17925736785196533, + -0.04407961858697648, + 0.015514520592565306, + 0.3181542380794231, + -0.9479120109181469 + ], + [ + 0.16681922788933323, + 0.9391477614596867, + 0.3002879074349581, + 0.9852245990133978, + -0.14679317270051773, + -0.08822841915961958, + -0.038779307694906784, + 0.31056922995328307, + -0.9497594004277758 + ], + [ + 0.15613229623625996, + 0.9449952872002777, + 0.2874136622383447, + 0.9845816405370339, + -0.1256621540477339, + -0.12168819235031143, + -0.07887774837934695, + 0.3019816719758802, + -0.9500449308328824 + ], + [ + 0.23307787548440018, + 0.9280888311773537, + 0.290389093120819, + 0.9722567997770478, + -0.21632226901920693, + -0.0890021978024987, + -0.01978431820841131, + 0.30307721354505546, + -0.9527606117922764 + ], + [ + 0.37639840487331305, + 0.8844025933843167, + 0.27596429773418363, + 0.9123320479857222, + -0.40565113025448724, + 0.055654242798149414, + 0.16116598594928114, + 0.23082290470911376, + -0.9595552676290429 + ], + [ + 0.43828435669862864, + 0.8632672445181301, + 0.25035272559999033, + 0.8519337495546621, + -0.48777329077065124, + 0.19048911564838547, + 0.28655838679578627, + 0.12979553672158586, + -0.94922990345024 + ], + [ + 0.4787627312902311, + 0.859868351544254, + 0.1772361846240358, + 0.8203163287417257, + -0.5100612057258826, + 0.25868646507530324, + 0.31283760631870206, + 0.021540297723712576, + -0.9495623453184939 + ], + [ + 0.48106801784335307, + 0.8568475170107939, + 0.1854343409422981, + 0.8157142219746516, + -0.5149860430594888, + 0.2634381967790907, + 0.3212224622851831, + 0.02452973800038459, + -0.9466860206409918 + ], + [ + 0.4192775492253007, + 0.884730166321752, + 0.20361451204644204, + 0.8552079895335573, + -0.4601676638824598, + 0.23846386677006373, + 0.3046729908501848, + 0.07415021184895301, + -0.9495662771650848 + ], + [ + 0.3510370479715027, + 0.9185849490814537, + 0.18158932312356996, + 0.8993795081160585, + -0.3847355525494224, + 0.20759348493006097, + 0.2605561193531438, + 0.09044471198203911, + -0.9612129122843266 + ], + [ + 0.3452674157035875, + 0.9239529355665045, + 0.16462498143175214, + 0.8973280207282933, + -0.3763887578514418, + 0.23050797421974822, + 0.2749415117242384, + 0.06813571619266456, + -0.9590436326412386 + ], + [ + 0.3472388765844475, + 0.9259211866533708, + 0.14864426896044525, + 0.8870211978874494, + -0.3757326092542502, + 0.2683624430528755, + 0.3043329707519146, + 0.03866474426926006, + -0.9517806892682303 + ], + [ + 0.3417966199364662, + 0.9291972761336659, + 0.140596915420584, + 0.8867236800338428, + -0.3684270077941377, + 0.27925374696697913, + 0.31128152188532815, + 0.029222627425240538, + -0.9498683341280093 + ], + [ + 0.314292830803694, + 0.9378033230093311, + 0.1474616691145752, + 0.8994346848701599, + -0.3438546883412639, + 0.269779912073246, + 0.3037058842991301, + 0.04784224763102357, + -0.9515638996849843 + ], + [ + 0.3465574183584589, + 0.926668136736283, + 0.14554765590151458, + 0.8882941182576025, + -0.374061121967848, + 0.2664804617624025, + 0.3013826724443006, + 0.036938345792148594, + -0.952787512177018 + ], + [ + 0.36711388306006504, + 0.9192100446032042, + 0.1424088858362969, + 0.8801175476386299, + -0.3928095110242304, + 0.26663418833200725, + 0.3010323889602649, + 0.027451447129059392, + -0.9532187151159986 + ], + [ + 0.36653150415819274, + 0.9191864504371012, + 0.1440518163452843, + 0.8812257712934604, + -0.39264200822819767, + 0.26319839167968756, + 0.29848918986753775, + 0.030471670570723974, + -0.9539264546205073 + ], + [ + 0.37536350821393516, + 0.9143668414674955, + 0.15177455625394803, + 0.8790458879843877, + -0.4031109161048193, + 0.25451898973332515, + 0.2939057051488899, + 0.03787965868232067, + -0.9550835397697127 + ], + [ + 0.37751176496171, + 0.9152358322520399, + 0.1408127788143213, + 0.8783344313532294, + -0.4020747305288186, + 0.2585817815886834, + 0.2932805721743162, + 0.026063047252657706, + -0.9556710854436331 + ], + [ + 0.3808476573234564, + 0.914800370231932, + 0.13451893745772345, + 0.87450772949141, + -0.40361965819603096, + 0.2689375440088231, + 0.30031865238611755, + 0.015213616967666516, + -0.9537175959830808 + ], + [ + 0.3989403926736373, + 0.9078246054695723, + 0.12923253768853893, + 0.8759998566431405, + -0.41896842272542606, + 0.2389345348001541, + 0.271055002268177, + 0.01788704735232302, + -0.9623976513283967 + ], + [ + 0.4390353102848582, + 0.8849746443980325, + 0.15513824510949592, + 0.8604701793949153, + -0.4638365983462027, + 0.2108238136613263, + 0.2585325254105573, + 0.04093273515414275, + -0.9651349359015247 + ], + [ + 0.5142153233794432, + 0.8349182207295324, + 0.1961993014656442, + 0.8283215046024678, + -0.5427779751260229, + 0.138836431570386, + 0.22240972598984662, + 0.0911242800351616, + -0.9706854688173687 + ], + [ + 0.5946254275690033, + 0.7682246939568816, + 0.23717381913532448, + 0.7731683736008744, + -0.6272860962236477, + 0.09339603603941314, + 0.22052498033501522, + 0.1278396381383807, + -0.9669673003617492 + ], + [ + 0.6930463384563061, + 0.6650221216473702, + 0.27826668947600836, + 0.6910977664360598, + -0.7227362847777061, + 0.00601164643067971, + 0.2051113111932064, + 0.18814313802354954, + -0.9604850387357707 + ], + [ + 0.7907864260738504, + 0.5290364961483802, + 0.3078590815298311, + 0.5705134417641609, + -0.8192659155314757, + -0.05760010776712324, + 0.22174589309332834, + 0.2211871275445694, + -0.9496867975837214 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.002217814326286316, + -0.0005233343690633774, + -0.003575429320335388, + -0.006350098177790642, + 0.013639882206916809, + 0.01628885790705681, + 1.0 + ], + [ + 0.00035431981086730957, + -0.008503392338752747, + 0.001463562250137329, + -0.02623484469950199, + -0.007010266184806824, + 0.08841365575790405, + 1.0 + ], + [ + -0.0007630735635757446, + -0.00916929543018341, + 0.0035959184169769287, + 0.00853673741221428, + -0.01242169737815857, + 0.08297622203826904, + 1.0 + ], + [ + 0.0015111863613128662, + -0.010824996046721935, + 0.008209258317947388, + -0.036518555134534836, + -0.056118667125701904, + 0.1632189154624939, + 1.0 + ], + [ + 0.011301293969154358, + -0.010550016537308693, + -0.0023401230573654175, + -0.05622415244579315, + -0.02154552936553955, + 0.21071556210517883, + 1.0 + ], + [ + 0.008385390043258667, + -0.0037253089249134064, + -0.008416399359703064, + 0.0012757480144500732, + 0.00385265052318573, + 0.14884346723556519, + 1.0 + ], + [ + 0.007440850138664246, + -0.004156220704317093, + -0.007365092635154724, + -0.029175564646720886, + 0.027126386761665344, + 0.09494787454605103, + 1.0 + ], + [ + 0.00423450767993927, + 0.0024189557880163193, + -0.0016048997640609741, + 0.04396790266036987, + -0.01789596676826477, + 0.08994972705841064, + 1.0 + ], + [ + 0.003839850425720215, + 0.0027907900512218475, + -0.00011016428470611572, + -0.007682740688323975, + -0.019857794046401978, + 0.06001836061477661, + 1.0 + ], + [ + 0.002470254898071289, + 0.0064917877316474915, + -0.0055603086948394775, + 0.03652140498161316, + 0.01136423647403717, + 0.08650827407836914, + 1.0 + ], + [ + -0.0010773539543151855, + 0.0003416817635297775, + -0.004939839243888855, + -0.013511329889297485, + 0.009257256984710693, + 0.04954928159713745, + 1.0 + ], + [ + -0.002132803201675415, + 0.004676072858273983, + -0.006723865866661072, + -0.04215626418590546, + 0.018742024898529053, + 0.04612290859222412, + 0.0 + ], + [ + 0.0009619295597076416, + -0.00042832084000110626, + -0.0005882531404495239, + -0.012692749500274658, + 0.00777772068977356, + 0.029754161834716797, + 0.0 + ], + [ + -0.0006702542304992676, + 0.0016428278759121895, + -0.0030692964792251587, + -0.00362183153629303, + -0.004576072096824646, + 0.030719399452209473, + 0.0 + ], + [ + 0.0004527568817138672, + -0.0005001649260520935, + -0.0008974373340606689, + -0.009901240468025208, + 0.01733250916004181, + 0.0175173282623291, + 0.0 + ], + [ + 0.001588672399520874, + -0.0014695953577756882, + -0.0009176284074783325, + 0.013012409210205078, + 0.01374867558479309, + -0.0030319690704345703, + 0.0 + ], + [ + -0.0030578821897506714, + 0.0006817532703280449, + 0.001786738634109497, + 0.01824021339416504, + 0.029955551028251648, + -0.0008105039596557617, + 0.0 + ], + [ + -0.0017098337411880493, + -0.0023858314380049706, + 0.011965587735176086, + -0.024351462721824646, + 0.015827856957912445, + -0.005736112594604492, + 0.0 + ], + [ + -0.0010974407196044922, + -0.0017277784645557404, + 0.008012130856513977, + -0.013285815715789795, + -0.01815665513277054, + -0.004236578941345215, + 0.0 + ], + [ + 0.002462908625602722, + -0.0023144595324993134, + 0.00876106321811676, + -0.017813578248023987, + -0.02977864444255829, + -0.017094135284423828, + 0.0 + ], + [ + 0.0017909854650497437, + -0.002638997510075569, + 0.017694830894470215, + -0.028068125247955322, + -0.02904650568962097, + -0.003699064254760742, + 0.0 + ], + [ + 0.001998394727706909, + 0.0016543250530958176, + 0.016532346606254578, + -0.01965583860874176, + -0.019417956471443176, + 0.008710861206054688, + 0.0 + ], + [ + 0.0008823573589324951, + 0.005353277549147606, + 0.011207550764083862, + -0.02704779803752899, + 0.007793143391609192, + 0.006478667259216309, + 0.0 + ], + [ + 3.089010715484619e-05, + 0.018876386806368828, + 0.004644528031349182, + -0.009842365980148315, + 0.027062296867370605, + 0.04094970226287842, + 0.0 + ], + [ + -0.008479058742523193, + 0.02550903521478176, + 0.00495755672454834, + -0.0097503662109375, + 0.021754637360572815, + 0.0565495491027832, + 0.0 + ], + [ + -0.013962507247924805, + 0.023554887622594833, + 0.005026817321777344, + -0.03880053758621216, + 0.009848460555076599, + 0.042366743087768555, + 0.0 + ], + [ + -0.019391566514968872, + 0.022135011851787567, + -0.007760345935821533, + -0.021401911973953247, + 0.06486698985099792, + 0.029973745346069336, + 0.0 + ], + [ + -0.01587781310081482, + 0.02446642518043518, + -0.0030882954597473145, + -0.004279136657714844, + 0.033414699137210846, + 0.06241416931152344, + 0.0 + ], + [ + -0.009231656789779663, + 0.01969989389181137, + -0.01596742868423462, + 0.0342831015586853, + 0.035516977310180664, + 0.028208613395690918, + 0.0 + ], + [ + -0.005421802401542664, + 0.022686056792736053, + -0.017699003219604492, + 0.007784545421600342, + 0.054304175078868866, + 0.017290115356445312, + 0.0 + ], + [ + -0.003362789750099182, + 0.014878258109092712, + -0.015310600399971008, + 0.008276879787445068, + 0.040170736610889435, + 0.010462403297424316, + 0.0 + ], + [ + 0.005143776535987854, + 0.003245428204536438, + -0.005364254117012024, + -0.00022146105766296387, + -0.05917416140437126, + -0.07802069187164307, + 0.0 + ], + [ + 0.006677404046058655, + -0.009132683277130127, + -0.0020427405834198, + 0.07191553711891174, + -0.1816575825214386, + -0.1560046672821045, + 0.0 + ], + [ + -0.000693097710609436, + -0.002292424440383911, + -0.0025784969329833984, + 0.10017186403274536, + -0.1287606656551361, + -0.083854079246521, + 0.0 + ], + [ + 0.0009881556034088135, + 0.005193993449211121, + -0.014943838119506836, + 0.1132143959403038, + -0.02754649519920349, + -0.05314993858337402, + 0.0 + ], + [ + 0.0035771429538726807, + 0.0015966296195983887, + -0.006693437695503235, + -0.0032248105853796005, + -0.008840948343276978, + -0.004552006721496582, + 0.0 + ], + [ + 0.005754515528678894, + -0.0030126869678497314, + -0.0034521818161010742, + -0.05202499032020569, + 0.01742500066757202, + 0.07702076435089111, + 0.0 + ], + [ + 0.006049886345863342, + -0.0048614442348480225, + -0.0025942400097846985, + -0.01588776707649231, + 0.045996904373168945, + 0.08370304107666016, + 0.0 + ], + [ + 0.00535149872303009, + -0.0029932260513305664, + -0.0021767020225524902, + 0.0228918194770813, + -0.014930695295333862, + 0.0048143863677978516, + 0.0 + ], + [ + 0.0006432980298995972, + 0.003923386335372925, + -0.0005954280495643616, + 0.03032504767179489, + -0.03070923686027527, + -0.0058171749114990234, + 0.0 + ], + [ + -0.0010252892971038818, + 0.0022417157888412476, + -0.0002821683883666992, + 0.00984603725373745, + -0.007303148508071899, + 0.005218625068664551, + 0.0 + ], + [ + -0.0034522414207458496, + 0.004256606101989746, + 0.00031654536724090576, + -0.019479969516396523, + 0.007961392402648926, + 0.031739234924316406, + 1.0 + ], + [ + 6.918609142303467e-05, + 0.00046424567699432373, + -0.000715889036655426, + 0.011485885828733444, + 0.0024374425411224365, + -0.035805702209472656, + 1.0 + ], + [ + 0.002002701163291931, + 0.0032960325479507446, + 0.0035810843110084534, + 0.009958578273653984, + 0.0003673434257507324, + -0.023200631141662598, + 1.0 + ], + [ + 0.0015700310468673706, + 0.0007819384336471558, + 0.0049315690994262695, + -0.0031418297439813614, + 0.002665787935256958, + 0.0010101795196533203, + 1.0 + ], + [ + 0.0013263821601867676, + -0.004641786217689514, + 0.0019245743751525879, + -0.007707759737968445, + 0.004798829555511475, + -0.009407520294189453, + 1.0 + ], + [ + -0.0021526068449020386, + -0.002915903925895691, + 0.0025881975889205933, + 0.012375092133879662, + 0.0006539523601531982, + -0.0023587942123413086, + 1.0 + ], + [ + -0.0015446245670318604, + -0.0019280165433883667, + 0.010233297944068909, + 0.011314669623970985, + -0.007370203733444214, + -0.00479733943939209, + 1.0 + ], + [ + 0.001482740044593811, + -0.002849757671356201, + 0.01232638955116272, + -0.0026332251727581024, + 0.030537813901901245, + -0.016614913940429688, + 1.0 + ], + [ + 0.00906643271446228, + -0.010469675064086914, + 0.004073798656463623, + -0.023802228271961212, + 0.01298612356185913, + -0.04445087909698486, + 1.0 + ], + [ + 0.016445860266685486, + -0.018248476088047028, + -0.006019964814186096, + -0.05121588706970215, + 0.037217363715171814, + -0.0837717056274414, + 1.0 + ], + [ + 0.01570647954940796, + -0.025897718966007233, + 0.0002830624580383301, + -0.03784260153770447, + 0.0019327402114868164, + -0.10003095865249634, + 1.0 + ], + [ + 0.012639790773391724, + -0.03056063875555992, + 0.0014021694660186768, + -0.061989739537239075, + 0.015775233507156372, + -0.1312074065208435, + 1.0 + ], + [ + 0.012468025088310242, + -0.02945682220160961, + 0.007605716586112976, + -0.03539176285266876, + -0.01702713966369629, + -0.1590125560760498, + 1.0 + ], + [ + 0.010915249586105347, + -0.03621223568916321, + -0.008851885795593262, + -0.023910745978355408, + 0.03173056244850159, + -0.18405815958976746, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9522681832313538 + ], + [ + 0.6871993541717529 + ], + [ + 0.39711064100265503 + ], + [ + 0.2432183027267456 + ], + [ + 0.23789463937282562 + ], + [ + 0.23789463937282562 + ], + [ + 0.23789463937282562 + ], + [ + 0.23789463937282562 + ], + [ + 0.23789463937282562 + ], + [ + 0.23789463937282562 + ], + [ + 0.23789463937282562 + ], + [ + 0.23789463937282562 + ], + [ + 0.23789463937282562 + ], + [ + 0.23789463937282562 + ], + [ + 0.23789463937282562 + ], + [ + 0.23789463937282562 + ], + [ + 0.23789463937282562 + ], + [ + 0.23789463937282562 + ], + [ + 0.23789463937282562 + ], + [ + 0.23789463937282562 + ], + [ + 0.23789463937282562 + ], + [ + 0.23789463937282562 + ], + [ + 0.23789463937282562 + ], + [ + 0.23789463937282562 + ], + [ + 0.23789463937282562 + ], + [ + 0.23789463937282562 + ], + [ + 0.23789463937282562 + ], + [ + 0.23789463937282562 + ], + [ + 0.2372342199087143 + ], + [ + 0.23789463937282562 + ], + [ + 0.2950899302959442 + ], + [ + 0.562038779258728 + ], + [ + 0.8445048928260803 + ], + [ + 1.0027955770492554 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9988223910331726 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.18602882325649261, + 0.01583770290017128, + 0.15932562947273254 + ], + [ + 0.18638314306735992, + 0.007334310095757246, + 0.16078919172286987 + ], + [ + 0.18562006950378418, + -0.00183498568367213, + 0.1643851101398468 + ], + [ + 0.18713125586509705, + -0.012659981846809387, + 0.1725943684577942 + ], + [ + 0.1984325498342514, + -0.02320999838411808, + 0.17025424540042877 + ], + [ + 0.20681793987751007, + -0.026935307309031487, + 0.1618378460407257 + ], + [ + 0.21425879001617432, + -0.03109152801334858, + 0.15447275340557098 + ], + [ + 0.2184932976961136, + -0.02867257222533226, + 0.15286785364151 + ], + [ + 0.2223331481218338, + -0.025881782174110413, + 0.1527576893568039 + ], + [ + 0.2248034030199051, + -0.01938999444246292, + 0.14719738066196442 + ], + [ + 0.2237260490655899, + -0.019048312678933144, + 0.14225754141807556 + ], + [ + 0.2215932458639145, + -0.01437223982065916, + 0.1355336755514145 + ], + [ + 0.22255517542362213, + -0.014800560660660267, + 0.13494542241096497 + ], + [ + 0.22188492119312286, + -0.013157732784748077, + 0.1318761259317398 + ], + [ + 0.22233767807483673, + -0.013657897710800171, + 0.13097868859767914 + ], + [ + 0.2239263504743576, + -0.015127493068575859, + 0.1300610601902008 + ], + [ + 0.22086846828460693, + -0.014445739798247814, + 0.1318477988243103 + ], + [ + 0.21915863454341888, + -0.016831571236252785, + 0.1438133865594864 + ], + [ + 0.2180611938238144, + -0.018559349700808525, + 0.15182551741600037 + ], + [ + 0.22052410244941711, + -0.02087380923330784, + 0.16058658063411713 + ], + [ + 0.22231508791446686, + -0.023512806743383408, + 0.17828141152858734 + ], + [ + 0.22431348264217377, + -0.02185848169028759, + 0.19481375813484192 + ], + [ + 0.22519584000110626, + -0.016505204141139984, + 0.20602130889892578 + ], + [ + 0.2252267301082611, + 0.0023711828980594873, + 0.21066583693027496 + ], + [ + 0.21674767136573792, + 0.027880217880010605, + 0.2156233936548233 + ], + [ + 0.2027851641178131, + 0.05143510550260544, + 0.22065021097660065 + ], + [ + 0.18339359760284424, + 0.073570117354393, + 0.2128898650407791 + ], + [ + 0.16751578450202942, + 0.09803654253482819, + 0.2098015695810318 + ], + [ + 0.15828412771224976, + 0.11773643642663956, + 0.19383414089679718 + ], + [ + 0.1528623253107071, + 0.1404224932193756, + 0.1761351376771927 + ], + [ + 0.1494995355606079, + 0.15530075132846832, + 0.16082453727722168 + ], + [ + 0.15464331209659576, + 0.15854617953300476, + 0.15546028316020966 + ], + [ + 0.16132071614265442, + 0.14941349625587463, + 0.15341754257678986 + ], + [ + 0.16062761843204498, + 0.14712107181549072, + 0.15083904564380646 + ], + [ + 0.1616157740354538, + 0.15231506526470184, + 0.13589520752429962 + ], + [ + 0.16519291698932648, + 0.15391169488430023, + 0.1292017698287964 + ], + [ + 0.17094743251800537, + 0.1508990079164505, + 0.1257495880126953 + ], + [ + 0.1769973188638687, + 0.14603756368160248, + 0.12315534800291061 + ], + [ + 0.1823488175868988, + 0.1430443376302719, + 0.12097864598035812 + ], + [ + 0.1829921156167984, + 0.14696772396564484, + 0.12038321793079376 + ], + [ + 0.18196682631969452, + 0.14920943975448608, + 0.12010104954242706 + ], + [ + 0.17851458489894867, + 0.15346604585647583, + 0.12041759490966797 + ], + [ + 0.1785837709903717, + 0.15393029153347015, + 0.11970170587301254 + ], + [ + 0.18058647215366364, + 0.1572263240814209, + 0.123282790184021 + ], + [ + 0.182156503200531, + 0.15800826251506805, + 0.12821435928344727 + ], + [ + 0.18348288536071777, + 0.15336647629737854, + 0.13013893365859985 + ], + [ + 0.18133027851581573, + 0.15045057237148285, + 0.13272713124752045 + ], + [ + 0.17978565394878387, + 0.14852255582809448, + 0.14296042919158936 + ], + [ + 0.18126839399337769, + 0.14567279815673828, + 0.15528681874275208 + ], + [ + 0.19033482670783997, + 0.13520312309265137, + 0.1593606173992157 + ], + [ + 0.20678068697452545, + 0.11695464700460434, + 0.1533406525850296 + ], + [ + 0.2224871665239334, + 0.0910569280385971, + 0.15362371504306793 + ], + [ + 0.23512695729732513, + 0.060496289283037186, + 0.1550258845090866 + ], + [ + 0.24759498238563538, + 0.031039467081427574, + 0.16263160109519958 + ], + [ + 0.2585102319717407, + -0.005172770470380783, + 0.15377971529960632 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.989438062069403, + -0.05818763651984917, + 0.1327649060730243, + -0.05400043287099237, + -0.9979298816093555, + -0.03492713330469418, + 0.13452239433674415, + 0.027388872692616344, + -0.9905319657005209 + ], + [ + 0.9893747095167796, + 0.02622132902880915, + 0.14300393726240646, + 0.03354361644001033, + -0.9982336389801153, + -0.04903496512328406, + 0.14146557872752236, + 0.05331082359595607, + -0.9885066747993194 + ], + [ + 0.981369521889157, + 0.10955999434429597, + 0.15783050765401704, + 0.11521481509201814, + -0.9929706489201333, + -0.027107872776020052, + 0.15375112321657677, + 0.04478725290087183, + -0.9870940654705781 + ], + [ + 0.93982198899156, + 0.25909425536444647, + 0.2227213412430209, + 0.27033739929072337, + -0.9625361712059677, + -0.02101926889506983, + 0.208931375223242, + 0.079964279258293, + -0.9746555260655048 + ], + [ + 0.8583208204973521, + 0.43893105188663206, + 0.2657534586613062, + 0.45870227637448535, + -0.888479003839386, + -0.014045689211894287, + 0.22995127907801935, + 0.13395742393113777, + -0.9639387002419376 + ], + [ + 0.7815125458369493, + 0.5665823679570252, + 0.2611944888768915, + 0.5814392676485627, + -0.8132256671276417, + 0.024339111756708907, + 0.22620017404006024, + 0.13284741113402485, + -0.9649792985443957 + ], + [ + 0.7271560164976051, + 0.6365874778012388, + 0.2569056456716987, + 0.6567840397492393, + -0.7540201170554224, + 0.009401500220556303, + 0.19969690233452483, + 0.16189517034916381, + -0.9663907600011555 + ], + [ + 0.662685797701021, + 0.7108311469045699, + 0.2357257179768364, + 0.7167090866775258, + -0.6932558681739424, + 0.07565967430712438, + 0.21719949032911706, + 0.11880817241556628, + -0.9688699600916754 + ], + [ + 0.6156480356376104, + 0.7477544132731535, + 0.24867817283805477, + 0.7516826042753615, + -0.6519750956802705, + 0.09950747229486044, + 0.23653912709182356, + 0.12566547673575268, + -0.9634611716677606 + ], + [ + 0.5498818846911827, + 0.810067599678294, + 0.20352001582134402, + 0.8042310756985644, + -0.5792871825678889, + 0.1328109069063512, + 0.2254823491300438, + 0.09064680945297876, + -0.9700210648057044 + ], + [ + 0.5104437436023895, + 0.8355336100107629, + 0.203299707721286, + 0.8322228476408635, + -0.5395140773427655, + 0.12778768412298708, + 0.21645395926549796, + 0.10396223781434673, + -0.9707417455878381 + ], + [ + 0.47340638876646984, + 0.8517593462573324, + 0.22448253192257914, + 0.8582745072025874, + -0.5033661028427412, + 0.09993716423366623, + 0.19811931092461912, + 0.14535674243801916, + -0.9693400621384436 + ], + [ + 0.4483535925234558, + 0.8640377862873314, + 0.22894925188565093, + 0.8733227781738371, + -0.4780261736947669, + 0.09379926644421055, + 0.1904898453830083, + 0.15789135863127157, + -0.9689086322639144 + ], + [ + 0.42093980423315674, + 0.8771715108963336, + 0.2310407359839279, + 0.8858851142883657, + -0.45229096344013636, + 0.10315255049043978, + 0.19498011563859832, + 0.16125453439279355, + -0.9674604537878136 + ], + [ + 0.40669342959807914, + 0.8838724958201883, + 0.23101918849814837, + 0.8960656228340856, + -0.43519583185198246, + 0.08758417387646449, + 0.17795183027076164, + 0.17138844497588457, + -0.9689990438757067 + ], + [ + 0.41038757946296367, + 0.8863929480070739, + 0.21421852474951433, + 0.8969685809857059, + -0.4347187730269588, + 0.08041736816400172, + 0.16440620227661382, + 0.15914499709781654, + -0.9734698097792848 + ], + [ + 0.41298231348876807, + 0.8915703550311466, + 0.18587068293601267, + 0.9007094727624393, + -0.4300427234587653, + 0.06152805600842855, + 0.1347889254407545, + 0.14200548591446321, + -0.9806459032437365 + ], + [ + 0.4189899370556306, + 0.885399873816746, + 0.20128213058145264, + 0.9001473080077868, + -0.434110715633921, + 0.035814947412213916, + 0.11908927967056235, + 0.16617746543107217, + -0.9788783343452093 + ], + [ + 0.42180931551443446, + 0.8794150237220377, + 0.22069462475831114, + 0.8962597612075389, + -0.4412237497574055, + 0.04516683617677146, + 0.1370961041950105, + 0.17874791943399482, + -0.9742965870373193 + ], + [ + 0.43507286629983993, + 0.8650913291201974, + 0.2496569512164482, + 0.8848615049539019, + -0.46208438924595535, + 0.05914502739798433, + 0.16652843018643249, + 0.1951794289781656, + -0.9665263951095178 + ], + [ + 0.4360081210750987, + 0.8531613873836787, + 0.2863783606247486, + 0.8785413076290687, + -0.4724989635824294, + 0.0700706800519029, + 0.19509507719562824, + 0.22104383386805107, + -0.9555509062121941 + ], + [ + 0.4266036885331527, + 0.8494334134779976, + 0.3105996925256456, + 0.8787318460857728, + -0.47056593327513285, + 0.07998778103931034, + 0.21410192807305178, + 0.23881075877778205, + -0.9471693543856776 + ], + [ + 0.4216079333034434, + 0.8446549819936401, + 0.3298555925991287, + 0.8829561094300523, + -0.4652398543048188, + 0.0627725002415549, + 0.20648307290367468, + 0.2647826266199393, + -0.9419420901756653 + ], + [ + 0.38716586618011284, + 0.862659610722614, + 0.3254550477299611, + 0.9042827075170504, + -0.424164281929186, + 0.04855354591717266, + 0.1799315896407186, + 0.275505096075202, + -0.9443101000656289 + ], + [ + 0.33669277871046244, + 0.8841867065387286, + 0.32380833952266247, + 0.9281802292520396, + -0.3695300012739633, + 0.043920839974843126, + 0.1584911189621005, + 0.28576466915743964, + -0.9451027029225344 + ], + [ + 0.29753367106142803, + 0.8868458969680206, + 0.3535223749859358, + 0.9430505251613717, + -0.33070542982177553, + 0.03591135863839426, + 0.14875961003434585, + 0.3227046230182973, + -0.9347364894477201 + ], + [ + 0.27119591763461365, + 0.8946885423215235, + 0.35494392021403465, + 0.9588213831502964, + -0.28342809207149516, + -0.018167879305635293, + 0.08434648464560865, + 0.34525487522017584, + -0.9347110471502027 + ], + [ + 0.2113412744564342, + 0.9115684621258963, + 0.352672375681111, + 0.9760803494389375, + -0.21566644967331045, + -0.027479700225282122, + 0.05100997108695607, + 0.35004417055957093, + -0.9353432853808115 + ], + [ + 0.18394432949882145, + 0.9309375257571731, + 0.3154676002101358, + 0.9828142160632457, + -0.17925736785196533, + -0.04407961858697648, + 0.015514520592565306, + 0.3181542380794231, + -0.9479120109181469 + ], + [ + 0.16681922788933323, + 0.9391477614596867, + 0.3002879074349581, + 0.9852245990133978, + -0.14679317270051773, + -0.08822841915961958, + -0.038779307694906784, + 0.31056922995328307, + -0.9497594004277758 + ], + [ + 0.15613229623625996, + 0.9449952872002777, + 0.2874136622383447, + 0.9845816405370339, + -0.1256621540477339, + -0.12168819235031143, + -0.07887774837934695, + 0.3019816719758802, + -0.9500449308328824 + ], + [ + 0.23307787548440018, + 0.9280888311773537, + 0.290389093120819, + 0.9722567997770478, + -0.21632226901920693, + -0.0890021978024987, + -0.01978431820841131, + 0.30307721354505546, + -0.9527606117922764 + ], + [ + 0.37639840487331305, + 0.8844025933843167, + 0.27596429773418363, + 0.9123320479857222, + -0.40565113025448724, + 0.055654242798149414, + 0.16116598594928114, + 0.23082290470911376, + -0.9595552676290429 + ], + [ + 0.43828435669862864, + 0.8632672445181301, + 0.25035272559999033, + 0.8519337495546621, + -0.48777329077065124, + 0.19048911564838547, + 0.28655838679578627, + 0.12979553672158586, + -0.94922990345024 + ], + [ + 0.4787627312902311, + 0.859868351544254, + 0.1772361846240358, + 0.8203163287417257, + -0.5100612057258826, + 0.25868646507530324, + 0.31283760631870206, + 0.021540297723712576, + -0.9495623453184939 + ], + [ + 0.48106801784335307, + 0.8568475170107939, + 0.1854343409422981, + 0.8157142219746516, + -0.5149860430594888, + 0.2634381967790907, + 0.3212224622851831, + 0.02452973800038459, + -0.9466860206409918 + ], + [ + 0.4192775492253007, + 0.884730166321752, + 0.20361451204644204, + 0.8552079895335573, + -0.4601676638824598, + 0.23846386677006373, + 0.3046729908501848, + 0.07415021184895301, + -0.9495662771650848 + ], + [ + 0.3510370479715027, + 0.9185849490814537, + 0.18158932312356996, + 0.8993795081160585, + -0.3847355525494224, + 0.20759348493006097, + 0.2605561193531438, + 0.09044471198203911, + -0.9612129122843266 + ], + [ + 0.3452674157035875, + 0.9239529355665045, + 0.16462498143175214, + 0.8973280207282933, + -0.3763887578514418, + 0.23050797421974822, + 0.2749415117242384, + 0.06813571619266456, + -0.9590436326412386 + ], + [ + 0.3472388765844475, + 0.9259211866533708, + 0.14864426896044525, + 0.8870211978874494, + -0.3757326092542502, + 0.2683624430528755, + 0.3043329707519146, + 0.03866474426926006, + -0.9517806892682303 + ], + [ + 0.3417966199364662, + 0.9291972761336659, + 0.140596915420584, + 0.8867236800338428, + -0.3684270077941377, + 0.27925374696697913, + 0.31128152188532815, + 0.029222627425240538, + -0.9498683341280093 + ], + [ + 0.314292830803694, + 0.9378033230093311, + 0.1474616691145752, + 0.8994346848701599, + -0.3438546883412639, + 0.269779912073246, + 0.3037058842991301, + 0.04784224763102357, + -0.9515638996849843 + ], + [ + 0.3465574183584589, + 0.926668136736283, + 0.14554765590151458, + 0.8882941182576025, + -0.374061121967848, + 0.2664804617624025, + 0.3013826724443006, + 0.036938345792148594, + -0.952787512177018 + ], + [ + 0.36711388306006504, + 0.9192100446032042, + 0.1424088858362969, + 0.8801175476386299, + -0.3928095110242304, + 0.26663418833200725, + 0.3010323889602649, + 0.027451447129059392, + -0.9532187151159986 + ], + [ + 0.36653150415819274, + 0.9191864504371012, + 0.1440518163452843, + 0.8812257712934604, + -0.39264200822819767, + 0.26319839167968756, + 0.29848918986753775, + 0.030471670570723974, + -0.9539264546205073 + ], + [ + 0.37536350821393516, + 0.9143668414674955, + 0.15177455625394803, + 0.8790458879843877, + -0.4031109161048193, + 0.25451898973332515, + 0.2939057051488899, + 0.03787965868232067, + -0.9550835397697127 + ], + [ + 0.37751176496171, + 0.9152358322520399, + 0.1408127788143213, + 0.8783344313532294, + -0.4020747305288186, + 0.2585817815886834, + 0.2932805721743162, + 0.026063047252657706, + -0.9556710854436331 + ], + [ + 0.3808476573234564, + 0.914800370231932, + 0.13451893745772345, + 0.87450772949141, + -0.40361965819603096, + 0.2689375440088231, + 0.30031865238611755, + 0.015213616967666516, + -0.9537175959830808 + ], + [ + 0.3989403926736373, + 0.9078246054695723, + 0.12923253768853893, + 0.8759998566431405, + -0.41896842272542606, + 0.2389345348001541, + 0.271055002268177, + 0.01788704735232302, + -0.9623976513283967 + ], + [ + 0.4390353102848582, + 0.8849746443980325, + 0.15513824510949592, + 0.8604701793949153, + -0.4638365983462027, + 0.2108238136613263, + 0.2585325254105573, + 0.04093273515414275, + -0.9651349359015247 + ], + [ + 0.5142153233794432, + 0.8349182207295324, + 0.1961993014656442, + 0.8283215046024678, + -0.5427779751260229, + 0.138836431570386, + 0.22240972598984662, + 0.0911242800351616, + -0.9706854688173687 + ], + [ + 0.5946254275690033, + 0.7682246939568816, + 0.23717381913532448, + 0.7731683736008744, + -0.6272860962236477, + 0.09339603603941314, + 0.22052498033501522, + 0.1278396381383807, + -0.9669673003617492 + ], + [ + 0.6930463384563061, + 0.6650221216473702, + 0.27826668947600836, + 0.6910977664360598, + -0.7227362847777061, + 0.00601164643067971, + 0.2051113111932064, + 0.18814313802354954, + -0.9604850387357707 + ], + [ + 0.7907864260738504, + 0.5290364961483802, + 0.3078590815298311, + 0.5705134417641609, + -0.8192659155314757, + -0.05760010776712324, + 0.22174589309332834, + 0.2211871275445694, + -0.9496867975837214 + ], + [ + 0.887763282292408, + 0.37008904495261297, + 0.27369774098350447, + 0.4189394981306518, + -0.8959802563582373, + -0.14734000516582482, + 0.1906988503359376, + 0.24546584084611542, + -0.9504632920098816 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005713.json b/json/chunk-0005/episode_0005713.json new file mode 100644 index 0000000000000000000000000000000000000000..cdbfd0f1c2d2fae787653dff5ce0f8f116a4fadb --- /dev/null +++ b/json/chunk-0005/episode_0005713.json @@ -0,0 +1,2062 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 33, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nTake the toys out of the box onto the table." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005713.mp4", + "start": 0, + "end": 33, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2996677756309509, + 0.011982172727584839, + 0.18228882551193237, + -0.012975535355508327, + -0.2733919322490692, + -0.3568085730075836, + 0.0, + 1.0014774799346924 + ], + [ + 0.301367849111557, + 0.012182907201349735, + 0.1740833818912506, + -0.023508287966251373, + -0.25021159648895264, + -0.3597925007343292, + 0.0, + 1.0014774799346924 + ], + [ + 0.30451419949531555, + 0.026125473901629448, + 0.16921360790729523, + -0.003336371621116996, + -0.25263550877571106, + -0.3829825520515442, + 0.0, + 1.0014774799346924 + ], + [ + 0.3084488809108734, + 0.038886964321136475, + 0.1558312177658081, + -0.008833827450871468, + -0.22332701086997986, + -0.45738673210144043, + 0.0, + 1.0014774799346924 + ], + [ + 0.3147313594818115, + 0.04977402836084366, + 0.15571624040603638, + 0.04262614995241165, + -0.23547039926052094, + -0.5761253237724304, + 0.0, + 1.0014774799346924 + ], + [ + 0.3181245028972626, + 0.06443286687135696, + 0.1489768773317337, + 0.055463988333940506, + -0.2248624861240387, + -0.6181120872497559, + 0.0, + 1.0014774799346924 + ], + [ + 0.3245559334754944, + 0.07014738023281097, + 0.1421162486076355, + 0.07191891968250275, + -0.23474346101284027, + -0.629429817199707, + 0.0, + 1.0014774799346924 + ], + [ + 0.3341123163700104, + 0.07854769378900528, + 0.14093421399593353, + 0.12845401465892792, + -0.2867467701435089, + -0.60696941614151, + 0.0, + 1.0014774799346924 + ], + [ + 0.3437053859233856, + 0.08346908539533615, + 0.12963084876537323, + 0.13706287741661072, + -0.30749619007110596, + -0.5728030204772949, + 0.0, + 1.0014774799346924 + ], + [ + 0.34704795479774475, + 0.08460871875286102, + 0.1197635605931282, + 0.12217395007610321, + -0.3050794303417206, + -0.5527580976486206, + 0.0, + 1.0014774799346924 + ], + [ + 0.35121628642082214, + 0.08706154674291611, + 0.1155303493142128, + 0.1367480456829071, + -0.31074708700180054, + -0.5492891073226929, + 0.0, + 1.0014774799346924 + ], + [ + 0.3538990318775177, + 0.09170661866664886, + 0.10404150187969208, + 0.14709481596946716, + -0.28803637623786926, + -0.5504789352416992, + 0.0, + 1.0014774799346924 + ], + [ + 0.3546771705150604, + 0.09389287233352661, + 0.09777511656284332, + 0.15498504042625427, + -0.2717832922935486, + -0.5581486225128174, + 0.0, + 1.0014774799346924 + ], + [ + 0.3536143898963928, + 0.09559296816587448, + 0.08696994930505753, + 0.15368209779262543, + -0.2537127137184143, + -0.5580124258995056, + 0.0, + 0.9476637244224548 + ], + [ + 0.351456880569458, + 0.09718576073646545, + 0.08216305822134018, + 0.16523924469947815, + -0.2517549991607666, + -0.5425009727478027, + 0.0, + 0.6541022062301636 + ], + [ + 0.3490893542766571, + 0.09835024178028107, + 0.0780421793460846, + 0.17064693570137024, + -0.2472223937511444, + -0.5374779105186462, + 0.0, + 0.3901194632053375 + ], + [ + 0.34615954756736755, + 0.09723416715860367, + 0.07914968580007553, + 0.16849465668201447, + -0.24726387858390808, + -0.5363598465919495, + 0.0, + 0.2906041443347931 + ], + [ + 0.3446413576602936, + 0.09165827929973602, + 0.09161658585071564, + 0.1492680162191391, + -0.27270975708961487, + -0.5341305136680603, + 0.0, + 0.2645227313041687 + ], + [ + 0.346439391374588, + 0.08734136819839478, + 0.12041905522346497, + 0.1766158938407898, + -0.31623733043670654, + -0.5523122549057007, + 0.0, + 0.2589220404624939 + ], + [ + 0.3445572257041931, + 0.074378602206707, + 0.13859277963638306, + 0.1902175098657608, + -0.3431362211704254, + -0.5912912487983704, + 0.0, + 0.25684019923210144 + ], + [ + 0.3449440598487854, + 0.05243125930428505, + 0.1483665555715561, + 0.188627690076828, + -0.3670458495616913, + -0.671586275100708, + 0.0, + 0.25684019923210144 + ], + [ + 0.34750357270240784, + 0.017478493973612785, + 0.14906390011310577, + 0.17706607282161713, + -0.37698832154273987, + -0.7808772921562195, + 0.0, + 0.25684019923210144 + ], + [ + 0.3477734625339508, + -0.018427912145853043, + 0.1366366744041443, + 0.13798460364341736, + -0.35573652386665344, + -0.8653029203414917, + 0.0, + 0.25684019923210144 + ], + [ + 0.34990471601486206, + -0.04823244363069534, + 0.1201706975698471, + 0.11748290061950684, + -0.3392035961151123, + -0.9317739009857178, + 0.0, + 0.25684019923210144 + ], + [ + 0.35688516497612, + -0.07149381935596466, + 0.11047837138175964, + 0.12495056539773941, + -0.33434951305389404, + -0.9841687083244324, + 0.0, + 0.25684019923210144 + ], + [ + 0.36668917536735535, + -0.09037480503320694, + 0.09973259270191193, + 0.136465385556221, + -0.3380718231201172, + -1.040578007698059, + 0.0, + 0.25684019923210144 + ], + [ + 0.3774203956127167, + -0.10229215025901794, + 0.08905065059661865, + 0.14144183695316315, + -0.33770114183425903, + -1.062253475189209, + 0.0, + 0.25684019923210144 + ], + [ + 0.3879367709159851, + -0.10731150209903717, + 0.07939257472753525, + 0.15393340587615967, + -0.3381057679653168, + -1.0693659782409668, + 0.0, + 0.25684019923210144 + ], + [ + 0.39545145630836487, + -0.1087477058172226, + 0.07274644076824188, + 0.15374010801315308, + -0.3377216160297394, + -1.0664477348327637, + 0.0, + 0.31732118129730225 + ], + [ + 0.3960557281970978, + -0.1079748272895813, + 0.07183351367712021, + 0.1559784710407257, + -0.3335767984390259, + -1.0630779266357422, + 0.0, + 0.6129248142242432 + ], + [ + 0.3946629464626312, + -0.1056160181760788, + 0.07105562835931778, + 0.1448596864938736, + -0.32313790917396545, + -1.0438991785049438, + 0.0, + 0.9124506115913391 + ], + [ + 0.39359012246131897, + -0.08925044536590576, + 0.08639150112867355, + 0.147831529378891, + -0.3364243805408478, + -0.9880182147026062, + 0.0, + 1.0099300146102905 + ], + [ + 0.3877464234828949, + -0.06999968737363815, + 0.11041010916233063, + 0.1367512345314026, + -0.3509030342102051, + -0.9208041429519653, + 0.0, + 1.0047606229782104 + ] + ], + "left_gripper_pos": [ + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 0.9476637244224548 + ], + [ + 0.6541022062301636 + ], + [ + 0.3901194632053375 + ], + [ + 0.2906041443347931 + ], + [ + 0.2645227313041687 + ], + [ + 0.2589220404624939 + ], + [ + 0.25684019923210144 + ], + [ + 0.25684019923210144 + ], + [ + 0.25684019923210144 + ], + [ + 0.25684019923210144 + ], + [ + 0.25684019923210144 + ], + [ + 0.25684019923210144 + ], + [ + 0.25684019923210144 + ], + [ + 0.25684019923210144 + ], + [ + 0.25684019923210144 + ], + [ + 0.31732118129730225 + ], + [ + 0.6129248142242432 + ], + [ + 0.9124506115913391 + ], + [ + 1.0099300146102905 + ], + [ + 1.0047606229782104 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2996677756309509, + 0.011982172727584839, + 0.18228882551193237 + ], + [ + 0.301367849111557, + 0.012182907201349735, + 0.1740833818912506 + ], + [ + 0.30451419949531555, + 0.026125473901629448, + 0.16921360790729523 + ], + [ + 0.3084488809108734, + 0.038886964321136475, + 0.1558312177658081 + ], + [ + 0.3147313594818115, + 0.04977402836084366, + 0.15571624040603638 + ], + [ + 0.3181245028972626, + 0.06443286687135696, + 0.1489768773317337 + ], + [ + 0.3245559334754944, + 0.07014738023281097, + 0.1421162486076355 + ], + [ + 0.3341123163700104, + 0.07854769378900528, + 0.14093421399593353 + ], + [ + 0.3437053859233856, + 0.08346908539533615, + 0.12963084876537323 + ], + [ + 0.34704795479774475, + 0.08460871875286102, + 0.1197635605931282 + ], + [ + 0.35121628642082214, + 0.08706154674291611, + 0.1155303493142128 + ], + [ + 0.3538990318775177, + 0.09170661866664886, + 0.10404150187969208 + ], + [ + 0.3546771705150604, + 0.09389287233352661, + 0.09777511656284332 + ], + [ + 0.3536143898963928, + 0.09559296816587448, + 0.08696994930505753 + ], + [ + 0.351456880569458, + 0.09718576073646545, + 0.08216305822134018 + ], + [ + 0.3490893542766571, + 0.09835024178028107, + 0.0780421793460846 + ], + [ + 0.34615954756736755, + 0.09723416715860367, + 0.07914968580007553 + ], + [ + 0.3446413576602936, + 0.09165827929973602, + 0.09161658585071564 + ], + [ + 0.346439391374588, + 0.08734136819839478, + 0.12041905522346497 + ], + [ + 0.3445572257041931, + 0.074378602206707, + 0.13859277963638306 + ], + [ + 0.3449440598487854, + 0.05243125930428505, + 0.1483665555715561 + ], + [ + 0.34750357270240784, + 0.017478493973612785, + 0.14906390011310577 + ], + [ + 0.3477734625339508, + -0.018427912145853043, + 0.1366366744041443 + ], + [ + 0.34990471601486206, + -0.04823244363069534, + 0.1201706975698471 + ], + [ + 0.35688516497612, + -0.07149381935596466, + 0.11047837138175964 + ], + [ + 0.36668917536735535, + -0.09037480503320694, + 0.09973259270191193 + ], + [ + 0.3774203956127167, + -0.10229215025901794, + 0.08905065059661865 + ], + [ + 0.3879367709159851, + -0.10731150209903717, + 0.07939257472753525 + ], + [ + 0.39545145630836487, + -0.1087477058172226, + 0.07274644076824188 + ], + [ + 0.3960557281970978, + -0.1079748272895813, + 0.07183351367712021 + ], + [ + 0.3946629464626312, + -0.1056160181760788, + 0.07105562835931778 + ], + [ + 0.39359012246131897, + -0.08925044536590576, + 0.08639150112867355 + ], + [ + 0.3877464234828949, + -0.06999968737363815, + 0.11041010916233063 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9022161072195589, + -0.3525388275883966, + 0.24844007510098653, + -0.3363133470518197, + -0.9357137879511085, + -0.10645675005836838, + 0.2699989416060502, + 0.012493281425888438, + -0.9627795643088951 + ], + [ + 0.9068238444790203, + -0.3574303963697584, + 0.2234144732000312, + -0.34111627340212447, + -0.9336620642122281, + -0.10915510923089537, + 0.24760897218101177, + 0.02277414327519449, + -0.9685923473234466 + ], + [ + 0.8981108841450046, + -0.37446005718439246, + 0.2306003151640084, + -0.36182661700013174, + -0.9272374181979757, + -0.09650010115949448, + 0.24995667426679855, + 0.0032304592574786267, + -0.9682516331628198 + ], + [ + 0.8749282864164966, + -0.4433430823477614, + 0.19480093676027208, + -0.4306381495001405, + -0.8963106071823935, + -0.1057264377883993, + 0.22147523072205624, + 0.008614336115787054, + -0.9751279482149493 + ], + [ + 0.8154389241783601, + -0.5359470572792034, + 0.2186781029929623, + -0.5297454770057172, + -0.843234072192597, + -0.09124707713387215, + 0.23330042976133508, + -0.04143731756824762, + -0.9715214141674512 + ], + [ + 0.7944567992424706, + -0.568532919885629, + 0.21356196558312923, + -0.5649086139208574, + -0.8208836716872425, + -0.08383469135916917, + 0.22297231230676262, + -0.05403995340109345, + -0.9733257581000223 + ], + [ + 0.7861931598295508, + -0.5736516164909785, + 0.22983502416845542, + -0.5725387182039553, + -0.816112579868082, + -0.07848358515279466, + 0.2325934900090691, + -0.06988619232975526, + -0.9700598891445055 + ], + [ + 0.7878426506608578, + -0.5359218882486677, + 0.30346612248430027, + -0.5470916425393132, + -0.8352787285351572, + -0.05477390181763264, + 0.2828333298310334, + -0.12287056340993094, + -0.9512665936445031 + ], + [ + 0.8009662981022427, + -0.5021522448738346, + 0.32603084558452156, + -0.5165674311393332, + -0.8549178404558271, + -0.04768202131260361, + 0.30267322047135226, + -0.13022522427899252, + -0.9441558730267936 + ], + [ + 0.8117794361434469, + -0.4899683316924815, + 0.3177187136337953, + -0.5007920204517398, + -0.863955253765664, + -0.05280787576272405, + 0.3003689386512716, + -0.11624264892539873, + -0.9467133395407055 + ], + [ + 0.812046773038313, + -0.4816557027053484, + 0.32952666424658283, + -0.49707618009477084, + -0.8666957501781236, + -0.041877772213561884, + 0.30577002727614433, + -0.129793145715007, + -0.9432170639598021 + ], + [ + 0.8171634072199003, + -0.48196240636722054, + 0.31615851206235385, + -0.5015457862178017, + -0.8648493540197536, + -0.022077571849773638, + 0.28407004458043533, + -0.14052698566586042, + -0.9484494588915829 + ], + [ + 0.8171014431270307, + -0.48811825838248385, + 0.306734082673207, + -0.5101764321195889, + -0.8600169368157142, + -0.009532916649255041, + 0.2684496968697294, + -0.14869913995637582, + -0.951747511699812 + ], + [ + 0.8211524606902973, + -0.4906663979994711, + 0.2914706197483618, + -0.5125503556475802, + -0.8586558915987931, + -0.0014807931052507883, + 0.2509995402940182, + -0.14817741291069356, + -0.9565786350715163 + ], + [ + 0.8294230014208921, + -0.4741556997456351, + 0.29535378296660886, + -0.500004672976207, + -0.8659092854497814, + 0.014015576113955888, + 0.24910401786385503, + -0.1593031128715851, + -0.9552851440870982 + ], + [ + 0.8328854242644225, + -0.46883730278682056, + 0.2940976939104616, + -0.4964051056335014, + -0.8678016798619882, + 0.022410165766972523, + 0.2447117511458425, + -0.16465669723485285, + -0.9555126011240483 + ], + [ + 0.8334311892409338, + -0.4684927958652003, + 0.29309887925894723, + -0.4954683882947366, + -0.8683757037886257, + 0.020849778661309146, + 0.24475197445793834, + -0.16259808514252927, + -0.9558547660115129 + ], + [ + 0.8289036462963564, + -0.4689560230647586, + 0.30495736355741687, + -0.4902791154600312, + -0.8715323870657952, + -0.007595211591940612, + 0.26934203923697886, + -0.14321852787500156, + -0.9523357176820489 + ], + [ + 0.8090989766947996, + -0.4699787225032808, + 0.35281559816086944, + -0.4986405488849028, + -0.8667384108769327, + -0.011051249625813789, + 0.31099268306375133, + -0.16698660875864652, + -0.9356276094558644 + ], + [ + 0.7818231060150962, + -0.4945671413218362, + 0.3796787768965423, + -0.5249374449630595, + -0.8507064229217448, + -0.027189352242086184, + 0.3364421343657217, + -0.17805034323032407, + -0.9247187494038397 + ], + [ + 0.7306921518275239, + -0.5585146350070074, + 0.3926198947336368, + -0.5807828771262817, + -0.8108199274383924, + -0.07254167702581937, + 0.3588596228256684, + -0.17502127799724626, + -0.9168354941611006 + ], + [ + 0.6604175132670572, + -0.6468401894292534, + 0.38137445838609024, + -0.6544730219625324, + -0.7448329546665087, + -0.12995742828322235, + 0.36812195220250926, + -0.16377313266188095, + -0.9152401812227909 + ], + [ + 0.6078127602155247, + -0.722993717990334, + 0.32839569465158724, + -0.7136274127106442, + -0.6787162566575364, + -0.17343632484774615, + 0.34828086991262797, + -0.12893535859218194, + -0.9284805377376569 + ], + [ + 0.5624275208232428, + -0.7738855665900685, + 0.2911638948155992, + -0.7569424832898143, + -0.6236051280485129, + -0.19533233542515918, + 0.3327361729834461, + -0.1105340404362676, + -0.9365195486978174 + ], + [ + 0.5229019030491225, + -0.8036809712979672, + 0.28402552026387007, + -0.7866943779075769, + -0.5832991170689696, + -0.20217342999309068, + 0.32815477378245883, + -0.11772440868450547, + -0.9372595201136487 + ], + [ + 0.4770957924952975, + -0.8318575868521166, + 0.2835358178076581, + -0.8138645430396597, + -0.5399457097090956, + -0.21466983055284472, + 0.331668675587747, + -0.1283416758629652, + -0.9346252210755688 + ], + [ + 0.4594040379702856, + -0.841990890278576, + 0.28284142303504156, + -0.8241211566801505, + -0.5228384815826546, + -0.21786289562134026, + 0.3313189535911991, + -0.13300850673635567, + -0.9340966160558541 + ], + [ + 0.45346642582837193, + -0.8420805414850213, + 0.29200781205086745, + -0.8272501719824751, + -0.5195940862652115, + -0.21372678464147918, + 0.3317006988256235, + -0.1446455916041446, + -0.9322297459468238 + ], + [ + 0.45594015099664326, + -0.8406440249489199, + 0.2922947177539102, + -0.8260348229186282, + -0.5219595184902828, + -0.21266107397260753, + 0.3313382713103768, + -0.1444848932417226, + -0.9323835399608785 + ], + [ + 0.4593848890231027, + -0.8385179661208101, + 0.2930070719792474, + -0.8256867178770194, + -0.5247305857086857, + -0.20712135656009795, + 0.3274247511394139, + -0.14678362617962526, + -0.9334064492100176 + ], + [ + 0.4768278824816085, + -0.832268137434267, + 0.2827806886967384, + -0.8196348082458448, + -0.5372084911136676, + -0.19901210562971786, + 0.3175436215701754, + -0.13688237463995453, + -0.9383119225039318 + ], + [ + 0.5194938143408454, + -0.7990702896061699, + 0.30267614562484296, + -0.7881312710323307, + -0.5849406073854081, + -0.19155569804250874, + 0.3301140355734094, + -0.13903653512764821, + -0.9336453102849798 + ], + [ + 0.5683021257692693, + -0.7602968021408673, + 0.31461320140849275, + -0.7475770284645972, + -0.6368360375995574, + -0.18859599074884464, + 0.3437459532244311, + -0.12801809977056494, + -0.930295698029912 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + 0.001700073480606079, + 0.0002007344737648964, + -0.008205443620681763, + -0.010532752610743046, + 0.023180335760116577, + -0.0029839277267456055, + 1.0 + ], + [ + 0.003146350383758545, + 0.013942566700279713, + -0.004869773983955383, + 0.020171916112303734, + -0.002423912286758423, + -0.023190051317214966, + 1.0 + ], + [ + 0.003934681415557861, + 0.012761490419507027, + -0.013382390141487122, + -0.005497455596923828, + 0.0293084979057312, + -0.07440418004989624, + 1.0 + ], + [ + 0.00628247857093811, + 0.010887064039707184, + -0.00011497735977172852, + 0.05145997554063797, + -0.012143388390541077, + -0.11873859167098999, + 1.0 + ], + [ + 0.00339314341545105, + 0.014658838510513306, + -0.006739363074302673, + 0.012837838381528854, + 0.010607913136482239, + -0.04198676347732544, + 1.0 + ], + [ + 0.0064314305782318115, + 0.00571451336145401, + -0.006860628724098206, + 0.01645493134856224, + -0.009880974888801575, + -0.011317729949951172, + 1.0 + ], + [ + 0.009556382894515991, + 0.008400313556194305, + -0.0011820346117019653, + 0.05653509497642517, + -0.05200330913066864, + 0.02246040105819702, + 1.0 + ], + [ + 0.009593069553375244, + 0.004921391606330872, + -0.011303365230560303, + 0.0086088627576828, + -0.020749419927597046, + 0.03416639566421509, + 1.0 + ], + [ + 0.003342568874359131, + 0.0011396333575248718, + -0.009867288172245026, + -0.014888927340507507, + 0.002416759729385376, + 0.020044922828674316, + 1.0 + ], + [ + 0.004168331623077393, + 0.0024528279900550842, + -0.004233211278915405, + 0.014574095606803894, + -0.005667656660079956, + 0.0034689903259277344, + 1.0 + ], + [ + 0.0026827454566955566, + 0.004645071923732758, + -0.011488847434520721, + 0.010346770286560059, + 0.022710710763931274, + -0.0011898279190063477, + 1.0 + ], + [ + 0.0007781386375427246, + 0.0021862536668777466, + -0.006266385316848755, + 0.00789022445678711, + 0.01625308394432068, + -0.007669687271118164, + 1.0 + ], + [ + -0.0010627806186676025, + 0.0017000958323478699, + -0.010805167257785797, + -0.0013029426336288452, + 0.018070578575134277, + 0.00013619661331176758, + 0.0 + ], + [ + -0.0021575093269348145, + 0.001592792570590973, + -0.004806891083717346, + 0.011557146906852722, + 0.001957714557647705, + 0.01551145315170288, + 0.0 + ], + [ + -0.0023675262928009033, + 0.0011644810438156128, + -0.004120878875255585, + 0.00540769100189209, + 0.004532605409622192, + 0.005023062229156494, + 0.0 + ], + [ + -0.0029298067092895508, + -0.0011160746216773987, + 0.0011075064539909363, + -0.002152279019355774, + -4.1484832763671875e-05, + 0.0011180639266967773, + 0.0 + ], + [ + -0.0015181899070739746, + -0.005575887858867645, + 0.012466900050640106, + -0.019226640462875366, + -0.025445878505706787, + 0.00222933292388916, + 0.0 + ], + [ + 0.0017980337142944336, + -0.0043169111013412476, + 0.02880246937274933, + 0.027347877621650696, + -0.043527573347091675, + -0.01818174123764038, + 0.0 + ], + [ + -0.0018821656703948975, + -0.012962765991687775, + 0.01817372441291809, + 0.013601616024971008, + -0.026898890733718872, + -0.03897899389266968, + 0.0 + ], + [ + 0.00038683414459228516, + -0.02194734290242195, + 0.009773775935173035, + -0.0015898197889328003, + -0.02390962839126587, + -0.08029502630233765, + 0.0 + ], + [ + 0.0025595128536224365, + -0.03495276719331741, + 0.0006973445415496826, + -0.011561617255210876, + -0.009942471981048584, + -0.10929101705551147, + 0.0 + ], + [ + 0.00026988983154296875, + -0.03590640425682068, + -0.012427225708961487, + -0.03908146917819977, + 0.021251797676086426, + -0.08442562818527222, + 0.0 + ], + [ + 0.002131253480911255, + -0.0298045314848423, + -0.01646597683429718, + -0.020501703023910522, + 0.016532927751541138, + -0.06647098064422607, + 0.0 + ], + [ + 0.006980448961257935, + -0.023261375725269318, + -0.009692326188087463, + 0.0074676647782325745, + 0.004854083061218262, + -0.0523948073387146, + 0.0 + ], + [ + 0.009804010391235352, + -0.01888098567724228, + -0.010745778679847717, + 0.011514820158481598, + -0.0037223100662231445, + -0.05640929937362671, + 0.0 + ], + [ + 0.010731220245361328, + -0.011917345225811005, + -0.010681942105293274, + 0.004976451396942139, + 0.0003706812858581543, + -0.021675467491149902, + 0.0 + ], + [ + 0.010516375303268433, + -0.005019351840019226, + -0.009658075869083405, + 0.012491568922996521, + -0.00040462613105773926, + -0.0071125030517578125, + 0.0 + ], + [ + 0.007514685392379761, + -0.0014362037181854248, + -0.0066461339592933655, + -0.0001932978630065918, + 0.0003841519355773926, + 0.002918243408203125, + 1.0 + ], + [ + 0.0006042718887329102, + 0.0007728785276412964, + -0.0009129270911216736, + 0.002238363027572632, + 0.004144817590713501, + 0.0033698081970214844, + 1.0 + ], + [ + -0.0013927817344665527, + 0.0023588091135025024, + -0.0007778853178024292, + -0.011118784546852112, + 0.010438889265060425, + 0.01917874813079834, + 1.0 + ], + [ + -0.0010728240013122559, + 0.016365572810173035, + 0.015335872769355774, + 0.002971842885017395, + -0.013286471366882324, + 0.055880963802337646, + 1.0 + ], + [ + -0.005843698978424072, + 0.01925075799226761, + 0.024018608033657074, + -0.011080294847488403, + -0.0144786536693573, + 0.06721407175064087, + 1.0 + ], + [ + -0.012610167264938354, + 0.027908608317375183, + 0.017508432269096375, + -0.012011565268039703, + 0.0550764799118042, + 0.1276293396949768, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 0.9476637244224548 + ], + [ + 0.6541022062301636 + ], + [ + 0.3901194632053375 + ], + [ + 0.2906041443347931 + ], + [ + 0.2645227313041687 + ], + [ + 0.2589220404624939 + ], + [ + 0.25684019923210144 + ], + [ + 0.25684019923210144 + ], + [ + 0.25684019923210144 + ], + [ + 0.25684019923210144 + ], + [ + 0.25684019923210144 + ], + [ + 0.25684019923210144 + ], + [ + 0.25684019923210144 + ], + [ + 0.25684019923210144 + ], + [ + 0.25684019923210144 + ], + [ + 0.31732118129730225 + ], + [ + 0.6129248142242432 + ], + [ + 0.9124506115913391 + ], + [ + 1.0099300146102905 + ], + [ + 1.0047606229782104 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.301367849111557, + 0.012182907201349735, + 0.1740833818912506 + ], + [ + 0.30451419949531555, + 0.026125473901629448, + 0.16921360790729523 + ], + [ + 0.3084488809108734, + 0.038886964321136475, + 0.1558312177658081 + ], + [ + 0.3147313594818115, + 0.04977402836084366, + 0.15571624040603638 + ], + [ + 0.3181245028972626, + 0.06443286687135696, + 0.1489768773317337 + ], + [ + 0.3245559334754944, + 0.07014738023281097, + 0.1421162486076355 + ], + [ + 0.3341123163700104, + 0.07854769378900528, + 0.14093421399593353 + ], + [ + 0.3437053859233856, + 0.08346908539533615, + 0.12963084876537323 + ], + [ + 0.34704795479774475, + 0.08460871875286102, + 0.1197635605931282 + ], + [ + 0.35121628642082214, + 0.08706154674291611, + 0.1155303493142128 + ], + [ + 0.3538990318775177, + 0.09170661866664886, + 0.10404150187969208 + ], + [ + 0.3546771705150604, + 0.09389287233352661, + 0.09777511656284332 + ], + [ + 0.3536143898963928, + 0.09559296816587448, + 0.08696994930505753 + ], + [ + 0.351456880569458, + 0.09718576073646545, + 0.08216305822134018 + ], + [ + 0.3490893542766571, + 0.09835024178028107, + 0.0780421793460846 + ], + [ + 0.34615954756736755, + 0.09723416715860367, + 0.07914968580007553 + ], + [ + 0.3446413576602936, + 0.09165827929973602, + 0.09161658585071564 + ], + [ + 0.346439391374588, + 0.08734136819839478, + 0.12041905522346497 + ], + [ + 0.3445572257041931, + 0.074378602206707, + 0.13859277963638306 + ], + [ + 0.3449440598487854, + 0.05243125930428505, + 0.1483665555715561 + ], + [ + 0.34750357270240784, + 0.017478493973612785, + 0.14906390011310577 + ], + [ + 0.3477734625339508, + -0.018427912145853043, + 0.1366366744041443 + ], + [ + 0.34990471601486206, + -0.04823244363069534, + 0.1201706975698471 + ], + [ + 0.35688516497612, + -0.07149381935596466, + 0.11047837138175964 + ], + [ + 0.36668917536735535, + -0.09037480503320694, + 0.09973259270191193 + ], + [ + 0.3774203956127167, + -0.10229215025901794, + 0.08905065059661865 + ], + [ + 0.3879367709159851, + -0.10731150209903717, + 0.07939257472753525 + ], + [ + 0.39545145630836487, + -0.1087477058172226, + 0.07274644076824188 + ], + [ + 0.3960557281970978, + -0.1079748272895813, + 0.07183351367712021 + ], + [ + 0.3946629464626312, + -0.1056160181760788, + 0.07105562835931778 + ], + [ + 0.39359012246131897, + -0.08925044536590576, + 0.08639150112867355 + ], + [ + 0.3877464234828949, + -0.06999968737363815, + 0.11041010916233063 + ], + [ + 0.37513625621795654, + -0.04209107905626297, + 0.127918541431427 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9068238444790203, + -0.3574303963697584, + 0.2234144732000312, + -0.34111627340212447, + -0.9336620642122281, + -0.10915510923089537, + 0.24760897218101177, + 0.02277414327519449, + -0.9685923473234466 + ], + [ + 0.8981108841450046, + -0.37446005718439246, + 0.2306003151640084, + -0.36182661700013174, + -0.9272374181979757, + -0.09650010115949448, + 0.24995667426679855, + 0.0032304592574786267, + -0.9682516331628198 + ], + [ + 0.8749282864164966, + -0.4433430823477614, + 0.19480093676027208, + -0.4306381495001405, + -0.8963106071823935, + -0.1057264377883993, + 0.22147523072205624, + 0.008614336115787054, + -0.9751279482149493 + ], + [ + 0.8154389241783601, + -0.5359470572792034, + 0.2186781029929623, + -0.5297454770057172, + -0.843234072192597, + -0.09124707713387215, + 0.23330042976133508, + -0.04143731756824762, + -0.9715214141674512 + ], + [ + 0.7944567992424706, + -0.568532919885629, + 0.21356196558312923, + -0.5649086139208574, + -0.8208836716872425, + -0.08383469135916917, + 0.22297231230676262, + -0.05403995340109345, + -0.9733257581000223 + ], + [ + 0.7861931598295508, + -0.5736516164909785, + 0.22983502416845542, + -0.5725387182039553, + -0.816112579868082, + -0.07848358515279466, + 0.2325934900090691, + -0.06988619232975526, + -0.9700598891445055 + ], + [ + 0.7878426506608578, + -0.5359218882486677, + 0.30346612248430027, + -0.5470916425393132, + -0.8352787285351572, + -0.05477390181763264, + 0.2828333298310334, + -0.12287056340993094, + -0.9512665936445031 + ], + [ + 0.8009662981022427, + -0.5021522448738346, + 0.32603084558452156, + -0.5165674311393332, + -0.8549178404558271, + -0.04768202131260361, + 0.30267322047135226, + -0.13022522427899252, + -0.9441558730267936 + ], + [ + 0.8117794361434469, + -0.4899683316924815, + 0.3177187136337953, + -0.5007920204517398, + -0.863955253765664, + -0.05280787576272405, + 0.3003689386512716, + -0.11624264892539873, + -0.9467133395407055 + ], + [ + 0.812046773038313, + -0.4816557027053484, + 0.32952666424658283, + -0.49707618009477084, + -0.8666957501781236, + -0.041877772213561884, + 0.30577002727614433, + -0.129793145715007, + -0.9432170639598021 + ], + [ + 0.8171634072199003, + -0.48196240636722054, + 0.31615851206235385, + -0.5015457862178017, + -0.8648493540197536, + -0.022077571849773638, + 0.28407004458043533, + -0.14052698566586042, + -0.9484494588915829 + ], + [ + 0.8171014431270307, + -0.48811825838248385, + 0.306734082673207, + -0.5101764321195889, + -0.8600169368157142, + -0.009532916649255041, + 0.2684496968697294, + -0.14869913995637582, + -0.951747511699812 + ], + [ + 0.8211524606902973, + -0.4906663979994711, + 0.2914706197483618, + -0.5125503556475802, + -0.8586558915987931, + -0.0014807931052507883, + 0.2509995402940182, + -0.14817741291069356, + -0.9565786350715163 + ], + [ + 0.8294230014208921, + -0.4741556997456351, + 0.29535378296660886, + -0.500004672976207, + -0.8659092854497814, + 0.014015576113955888, + 0.24910401786385503, + -0.1593031128715851, + -0.9552851440870982 + ], + [ + 0.8328854242644225, + -0.46883730278682056, + 0.2940976939104616, + -0.4964051056335014, + -0.8678016798619882, + 0.022410165766972523, + 0.2447117511458425, + -0.16465669723485285, + -0.9555126011240483 + ], + [ + 0.8334311892409338, + -0.4684927958652003, + 0.29309887925894723, + -0.4954683882947366, + -0.8683757037886257, + 0.020849778661309146, + 0.24475197445793834, + -0.16259808514252927, + -0.9558547660115129 + ], + [ + 0.8289036462963564, + -0.4689560230647586, + 0.30495736355741687, + -0.4902791154600312, + -0.8715323870657952, + -0.007595211591940612, + 0.26934203923697886, + -0.14321852787500156, + -0.9523357176820489 + ], + [ + 0.8090989766947996, + -0.4699787225032808, + 0.35281559816086944, + -0.4986405488849028, + -0.8667384108769327, + -0.011051249625813789, + 0.31099268306375133, + -0.16698660875864652, + -0.9356276094558644 + ], + [ + 0.7818231060150962, + -0.4945671413218362, + 0.3796787768965423, + -0.5249374449630595, + -0.8507064229217448, + -0.027189352242086184, + 0.3364421343657217, + -0.17805034323032407, + -0.9247187494038397 + ], + [ + 0.7306921518275239, + -0.5585146350070074, + 0.3926198947336368, + -0.5807828771262817, + -0.8108199274383924, + -0.07254167702581937, + 0.3588596228256684, + -0.17502127799724626, + -0.9168354941611006 + ], + [ + 0.6604175132670572, + -0.6468401894292534, + 0.38137445838609024, + -0.6544730219625324, + -0.7448329546665087, + -0.12995742828322235, + 0.36812195220250926, + -0.16377313266188095, + -0.9152401812227909 + ], + [ + 0.6078127602155247, + -0.722993717990334, + 0.32839569465158724, + -0.7136274127106442, + -0.6787162566575364, + -0.17343632484774615, + 0.34828086991262797, + -0.12893535859218194, + -0.9284805377376569 + ], + [ + 0.5624275208232428, + -0.7738855665900685, + 0.2911638948155992, + -0.7569424832898143, + -0.6236051280485129, + -0.19533233542515918, + 0.3327361729834461, + -0.1105340404362676, + -0.9365195486978174 + ], + [ + 0.5229019030491225, + -0.8036809712979672, + 0.28402552026387007, + -0.7866943779075769, + -0.5832991170689696, + -0.20217342999309068, + 0.32815477378245883, + -0.11772440868450547, + -0.9372595201136487 + ], + [ + 0.4770957924952975, + -0.8318575868521166, + 0.2835358178076581, + -0.8138645430396597, + -0.5399457097090956, + -0.21466983055284472, + 0.331668675587747, + -0.1283416758629652, + -0.9346252210755688 + ], + [ + 0.4594040379702856, + -0.841990890278576, + 0.28284142303504156, + -0.8241211566801505, + -0.5228384815826546, + -0.21786289562134026, + 0.3313189535911991, + -0.13300850673635567, + -0.9340966160558541 + ], + [ + 0.45346642582837193, + -0.8420805414850213, + 0.29200781205086745, + -0.8272501719824751, + -0.5195940862652115, + -0.21372678464147918, + 0.3317006988256235, + -0.1446455916041446, + -0.9322297459468238 + ], + [ + 0.45594015099664326, + -0.8406440249489199, + 0.2922947177539102, + -0.8260348229186282, + -0.5219595184902828, + -0.21266107397260753, + 0.3313382713103768, + -0.1444848932417226, + -0.9323835399608785 + ], + [ + 0.4593848890231027, + -0.8385179661208101, + 0.2930070719792474, + -0.8256867178770194, + -0.5247305857086857, + -0.20712135656009795, + 0.3274247511394139, + -0.14678362617962526, + -0.9334064492100176 + ], + [ + 0.4768278824816085, + -0.832268137434267, + 0.2827806886967384, + -0.8196348082458448, + -0.5372084911136676, + -0.19901210562971786, + 0.3175436215701754, + -0.13688237463995453, + -0.9383119225039318 + ], + [ + 0.5194938143408454, + -0.7990702896061699, + 0.30267614562484296, + -0.7881312710323307, + -0.5849406073854081, + -0.19155569804250874, + 0.3301140355734094, + -0.13903653512764821, + -0.9336453102849798 + ], + [ + 0.5683021257692693, + -0.7602968021408673, + 0.31461320140849275, + -0.7475770284645972, + -0.6368360375995574, + -0.18859599074884464, + 0.3437459532244311, + -0.12801809977056494, + -0.930295698029912 + ], + [ + 0.6711106757351916, + -0.6816001605922989, + 0.29160192385306216, + -0.6816306700750289, + -0.7219815598794435, + -0.11883710198045457, + 0.29153059964148176, + -0.11901196693861558, + -0.9491291067068168 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005715.json b/json/chunk-0005/episode_0005715.json new file mode 100644 index 0000000000000000000000000000000000000000..0d83e097330ba915bb8f0a9901a592e4fdb436b3 --- /dev/null +++ b/json/chunk-0005/episode_0005715.json @@ -0,0 +1,1222 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 19, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nTake lid off pot or pan." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005715.mp4", + "start": 0, + "end": 19, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.16762860119342804, + 0.06196025013923645, + 0.20284317433834076, + -0.003953687380999327, + -0.060300976037979126, + 0.022978296503424644, + 0.0, + 1.0047606229782104 + ], + [ + 0.16596677899360657, + 0.06130770221352577, + 0.19205793738365173, + -0.011998016387224197, + -0.03996117040514946, + 0.03926703706383705, + 0.0, + 1.0047606229782104 + ], + [ + 0.16306674480438232, + 0.06030784174799919, + 0.17789193987846375, + -0.02248775213956833, + -0.03358878940343857, + 0.056585054844617844, + 0.0, + 1.0047606229782104 + ], + [ + 0.16196061670780182, + 0.06362469494342804, + 0.16843034327030182, + -0.023287303745746613, + -0.03070359118282795, + 0.07466822862625122, + 0.0, + 1.0047606229782104 + ], + [ + 0.16310609877109528, + 0.06632144749164581, + 0.16243980824947357, + -0.02787403017282486, + -0.0345357321202755, + 0.07658528536558151, + 0.0, + 1.0047606229782104 + ], + [ + 0.16512298583984375, + 0.06943820416927338, + 0.1571430265903473, + -0.029388977214694023, + -0.037473417818546295, + 0.07359426468610764, + 0.0, + 1.0047606229782104 + ], + [ + 0.17039428651332855, + 0.07165280729532242, + 0.15316225588321686, + -0.03585426136851311, + -0.04766000062227249, + 0.06173292174935341, + 0.0, + 1.0047606229782104 + ], + [ + 0.17322920262813568, + 0.07282627373933792, + 0.15090051293373108, + -0.035633645951747894, + -0.05476808175444603, + 0.05408431589603424, + 0.0, + 0.8417698740959167 + ], + [ + 0.17480334639549255, + 0.07365529984235764, + 0.14952121675014496, + -0.03670364245772362, + -0.05648158863186836, + 0.06260785460472107, + 0.0, + 0.543278694152832 + ], + [ + 0.17298045754432678, + 0.0725250169634819, + 0.1502056121826172, + -0.03590542450547218, + -0.06268065422773361, + 0.06439446657896042, + 0.0, + 0.3142010271549225 + ], + [ + 0.17149905860424042, + 0.06895986944437027, + 0.1534719616174698, + -0.02195247821509838, + -0.05135403573513031, + 0.048350751399993896, + 0.0, + 0.2965938150882721 + ], + [ + 0.1813957542181015, + 0.06386402994394302, + 0.17177605628967285, + 0.03339323773980141, + -0.06649049371480942, + 0.006565477233380079, + 0.0, + 0.2965938150882721 + ], + [ + 0.20228177309036255, + 0.061399172991514206, + 0.19122642278671265, + 0.09486214816570282, + -0.08953188359737396, + -0.05823187902569771, + 0.0, + 0.2958413064479828 + ], + [ + 0.22455772757530212, + 0.06490582972764969, + 0.19456851482391357, + 0.10704485327005386, + -0.09160654991865158, + -0.10157125443220139, + 0.0, + 0.2958413064479828 + ], + [ + 0.25227290391921997, + 0.06964724510908127, + 0.189849853515625, + 0.09819227457046509, + -0.08548897504806519, + -0.16528399288654327, + 0.0, + 0.2965938150882721 + ], + [ + 0.2760642170906067, + 0.07082944363355637, + 0.17696969211101532, + 0.05754357576370239, + -0.062368713319301605, + -0.22043661773204803, + 0.0, + 0.2965938150882721 + ], + [ + 0.28873342275619507, + 0.07608268409967422, + 0.16224536299705505, + 0.01794675923883915, + -0.03914066031575203, + -0.24061991274356842, + 0.0, + 0.2965938150882721 + ], + [ + 0.2928217053413391, + 0.07902988791465759, + 0.15355351567268372, + -0.004688388202339411, + -0.03990054875612259, + -0.24484270811080933, + 0.0, + 0.2958413064479828 + ], + [ + 0.2938084900379181, + 0.08022624999284744, + 0.14649447798728943, + -0.03482144698500633, + -0.029033424332737923, + -0.26406121253967285, + 0.0, + 0.5023775696754456 + ] + ], + "left_gripper_pos": [ + [ + 1.0047606229782104 + ], + [ + 1.0047606229782104 + ], + [ + 1.0047606229782104 + ], + [ + 1.0047606229782104 + ], + [ + 1.0047606229782104 + ], + [ + 1.0047606229782104 + ], + [ + 1.0047606229782104 + ], + [ + 0.8417698740959167 + ], + [ + 0.543278694152832 + ], + [ + 0.3142010271549225 + ], + [ + 0.2965938150882721 + ], + [ + 0.2965938150882721 + ], + [ + 0.2958413064479828 + ], + [ + 0.2958413064479828 + ], + [ + 0.2965938150882721 + ], + [ + 0.2965938150882721 + ], + [ + 0.2965938150882721 + ], + [ + 0.2958413064479828 + ], + [ + 0.5023775696754456 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.16762860119342804, + 0.06196025013923645, + 0.20284317433834076 + ], + [ + 0.16596677899360657, + 0.06130770221352577, + 0.19205793738365173 + ], + [ + 0.16306674480438232, + 0.06030784174799919, + 0.17789193987846375 + ], + [ + 0.16196061670780182, + 0.06362469494342804, + 0.16843034327030182 + ], + [ + 0.16310609877109528, + 0.06632144749164581, + 0.16243980824947357 + ], + [ + 0.16512298583984375, + 0.06943820416927338, + 0.1571430265903473 + ], + [ + 0.17039428651332855, + 0.07165280729532242, + 0.15316225588321686 + ], + [ + 0.17322920262813568, + 0.07282627373933792, + 0.15090051293373108 + ], + [ + 0.17480334639549255, + 0.07365529984235764, + 0.14952121675014496 + ], + [ + 0.17298045754432678, + 0.0725250169634819, + 0.1502056121826172 + ], + [ + 0.17149905860424042, + 0.06895986944437027, + 0.1534719616174698 + ], + [ + 0.1813957542181015, + 0.06386402994394302, + 0.17177605628967285 + ], + [ + 0.20228177309036255, + 0.061399172991514206, + 0.19122642278671265 + ], + [ + 0.22455772757530212, + 0.06490582972764969, + 0.19456851482391357 + ], + [ + 0.25227290391921997, + 0.06964724510908127, + 0.189849853515625 + ], + [ + 0.2760642170906067, + 0.07082944363355637, + 0.17696969211101532 + ], + [ + 0.28873342275619507, + 0.07608268409967422, + 0.16224536299705505 + ], + [ + 0.2928217053413391, + 0.07902988791465759, + 0.15355351567268372 + ], + [ + 0.2938084900379181, + 0.08022624999284744, + 0.14649447798728943 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9979189373701884, + 0.02273789165204415, + 0.06033889890587611, + 0.02293451386193865, + -0.9997336712802616, + -0.0025679919015173117, + 0.060264438202560056, + 0.003946491062908336, + -0.9981746453884811 + ], + [ + 0.9984314230352974, + 0.03877517513437962, + 0.04038786066393245, + 0.039225606423505886, + -0.9991760455729964, + -0.010420256897873043, + 0.039950535621180935, + 0.011988150249627565, + -0.9991297408030516 + ], + [ + 0.9978363453168312, + 0.05578664198655937, + 0.03479193211957525, + 0.05652296357101536, + -0.9981897650447162, + -0.020551096056509788, + 0.033582473909754634, + 0.02247317369304286, + -0.9991832534176416 + ], + [ + 0.9967436178050153, + 0.07386580280904839, + 0.03234197799059597, + 0.07456370464632309, + -0.9969965665233121, + -0.02093084542350081, + 0.03069876731051773, + 0.02327422428570643, + -0.9992576725597423 + ], + [ + 0.9964742289202401, + 0.07552120713622229, + 0.03654666018257509, + 0.0764648181874637, + -0.9967550917871959, + -0.02514793382877601, + 0.03452886730506709, + 0.027853801697186424, + -0.9990154768839383 + ], + [ + 0.9965930181079338, + 0.07239818973667848, + 0.03950770027945122, + 0.07347623020454218, + -0.9969434541314984, + -0.02655170162692972, + 0.037464648049169935, + 0.029364117340868245, + -0.998866431891343 + ], + [ + 0.9969617684124831, + 0.05994952057836234, + 0.04973215565686571, + 0.06162366437467386, + -0.9975590179412184, + -0.03284097613027376, + 0.047641959582827416, + 0.03580587530805761, + -0.9982225117580407 + ], + [ + 0.9970405957407621, + 0.052076289451972804, + 0.05655183924348418, + 0.053976898320283156, + -0.9980093406188009, + -0.03261672094721459, + 0.05474070599314868, + 0.035572687760991574, + -0.9978667441060609 + ], + [ + 0.9964492317572835, + 0.06045736824925971, + 0.05859893475732437, + 0.06246718841007809, + -0.9974981931089356, + -0.0330938833706241, + 0.05645156244480359, + 0.036636885358639175, + -0.9977329100158812 + ], + [ + 0.9959676737210809, + 0.06206453840394033, + 0.0647795181776194, + 0.06422360250548523, + -0.9974288965972157, + -0.031795048578014434, + 0.06263961832447687, + 0.03582721459403007, + -0.9973929460902544 + ], + [ + 0.9975145420869526, + 0.04719482361265552, + 0.05232004347501922, + 0.04826819722514204, + -0.9986451243188167, + -0.01944471164327333, + 0.051331466584273226, + 0.02192177680813286, + -0.9984410429463936 + ], + [ + 0.9977688163388104, + 0.008780006903481278, + 0.06618383957299599, + 0.00655092257503157, + -0.9994063929989254, + 0.03382228623693786, + 0.0664415122891193, + -0.033313257295740924, + -0.9972340509294108 + ], + [ + 0.9943064896703286, + -0.049482535429870085, + 0.09437204716917111, + -0.05796586985969195, + -0.9943094781193103, + 0.0893790783881444, + 0.08941231755679896, + -0.09434055548668588, + -0.9915166650438033 + ], + [ + 0.9906747369502615, + -0.09109308211955015, + 0.10131937602695117, + -0.10097154653604389, + -0.9901427538146791, + 0.09706736762889447, + 0.09147848030356297, + -0.10639256298371759, + -0.9901072215589107 + ], + [ + 0.9827694816986222, + -0.15548331794622575, + 0.09994540350738465, + -0.16393159461365361, + -0.982997574238125, + 0.08271759987684826, + 0.08538488232260905, + -0.09767654212959481, + -0.9915486447917516 + ], + [ + 0.9739048235418055, + -0.2147959097505802, + 0.07329469173429502, + -0.21823056460240473, + -0.9749707465890424, + 0.0425142795884062, + 0.0623282869596171, + -0.057400003920088136, + -0.9964037455743799 + ], + [ + 0.9704466006625521, + -0.23758434921034455, + 0.04227377760260028, + -0.2381222084249922, + -0.971201378988826, + 0.008105264030695582, + 0.039130667222801514, + -0.017932051207259138, + -0.9990731867196709 + ], + [ + 0.9694032818050807, + -0.24258250411520463, + 0.037563358778684997, + -0.24221079276861116, + -0.9701194683390291, + -0.014217911801692762, + 0.039889962295549836, + 0.004684639452139089, + -0.9991930969843933 + ], + [ + 0.9649311204266062, + -0.26182052335490114, + 0.018919470986798314, + -0.26089313890227184, + -0.96448897960112, + -0.04117982882080051, + 0.029029345600177333, + 0.034799738190914614, + -0.9989726098927185 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0016618221998214722, + -0.0006525479257106781, + -0.010785236954689026, + -0.008044328540563583, + 0.020339805632829666, + 0.016288740560412407, + 1.0 + ], + [ + -0.002900034189224243, + -0.0009998604655265808, + -0.014165997505187988, + -0.010489735752344131, + 0.006372381001710892, + 0.017318017780780792, + 1.0 + ], + [ + -0.0011061280965805054, + 0.0033168531954288483, + -0.009461596608161926, + -0.0007995516061782837, + 0.0028851982206106186, + 0.018083173781633377, + 1.0 + ], + [ + 0.001145482063293457, + 0.0026967525482177734, + -0.005990535020828247, + -0.004586726427078247, + -0.003832140937447548, + 0.0019170567393302917, + 1.0 + ], + [ + 0.002016887068748474, + 0.0031167566776275635, + -0.005296781659126282, + -0.0015149470418691635, + -0.0029376856982707977, + -0.002991020679473877, + 1.0 + ], + [ + 0.005271300673484802, + 0.0022146031260490417, + -0.003980770707130432, + -0.006465284153819084, + -0.010186582803726196, + -0.011861342936754227, + 1.0 + ], + [ + 0.002834916114807129, + 0.001173466444015503, + -0.002261742949485779, + 0.000220615416765213, + -0.007108081132173538, + -0.007648605853319168, + 0.0 + ], + [ + 0.0015741437673568726, + 0.0008290261030197144, + -0.0013792961835861206, + -0.0010699965059757233, + -0.0017135068774223328, + 0.008523538708686829, + 0.0 + ], + [ + -0.0018228888511657715, + -0.0011302828788757324, + 0.000684395432472229, + 0.0007982179522514343, + -0.00619906559586525, + 0.0017866119742393494, + 0.0 + ], + [ + -0.0014813989400863647, + -0.0035651475191116333, + 0.0032663494348526, + 0.013952946290373802, + 0.011326618492603302, + -0.016043715178966522, + 0.0 + ], + [ + 0.009896695613861084, + -0.005095839500427246, + 0.018304094672203064, + 0.05534571409225464, + -0.015136457979679108, + -0.04178527370095253, + 0.0 + ], + [ + 0.020886018872261047, + -0.0024648569524288177, + 0.019450366497039795, + 0.06146891042590141, + -0.023041389882564545, + -0.06479735672473907, + 0.0 + ], + [ + 0.022275954484939575, + 0.003506656736135483, + 0.0033420920372009277, + 0.012182705104351044, + -0.0020746663212776184, + -0.04333937540650368, + 0.0 + ], + [ + 0.027715176343917847, + 0.00474141538143158, + -0.004718661308288574, + -0.008852578699588776, + 0.006117574870586395, + -0.06371273845434189, + 0.0 + ], + [ + 0.02379131317138672, + 0.0011821985244750977, + -0.01288016140460968, + -0.040648698806762695, + 0.02312026172876358, + -0.05515262484550476, + 0.0 + ], + [ + 0.012669205665588379, + 0.005253240466117859, + -0.014724329113960266, + -0.03959681838750839, + 0.023228053003549576, + -0.020183295011520386, + 0.0 + ], + [ + 0.004088282585144043, + 0.002947203814983368, + -0.008691847324371338, + -0.022635146975517273, + -0.0007598884403705597, + -0.004222795367240906, + 0.0 + ], + [ + 0.0009867846965789795, + 0.0011963620781898499, + -0.007059037685394287, + -0.03013305924832821, + 0.010867124423384666, + -0.019218504428863525, + 1.0 + ], + [ + 0.0025821030139923096, + 0.0017321333289146423, + -0.0031153112649917603, + -0.01019146665930748, + 0.015415765345096588, + -0.029516875743865967, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0047606229782104 + ], + [ + 1.0047606229782104 + ], + [ + 1.0047606229782104 + ], + [ + 1.0047606229782104 + ], + [ + 1.0047606229782104 + ], + [ + 1.0047606229782104 + ], + [ + 0.8417698740959167 + ], + [ + 0.543278694152832 + ], + [ + 0.3142010271549225 + ], + [ + 0.2965938150882721 + ], + [ + 0.2965938150882721 + ], + [ + 0.2958413064479828 + ], + [ + 0.2958413064479828 + ], + [ + 0.2965938150882721 + ], + [ + 0.2965938150882721 + ], + [ + 0.2965938150882721 + ], + [ + 0.2958413064479828 + ], + [ + 0.5023775696754456 + ], + [ + 0.7969971895217896 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.16596677899360657, + 0.06130770221352577, + 0.19205793738365173 + ], + [ + 0.16306674480438232, + 0.06030784174799919, + 0.17789193987846375 + ], + [ + 0.16196061670780182, + 0.06362469494342804, + 0.16843034327030182 + ], + [ + 0.16310609877109528, + 0.06632144749164581, + 0.16243980824947357 + ], + [ + 0.16512298583984375, + 0.06943820416927338, + 0.1571430265903473 + ], + [ + 0.17039428651332855, + 0.07165280729532242, + 0.15316225588321686 + ], + [ + 0.17322920262813568, + 0.07282627373933792, + 0.15090051293373108 + ], + [ + 0.17480334639549255, + 0.07365529984235764, + 0.14952121675014496 + ], + [ + 0.17298045754432678, + 0.0725250169634819, + 0.1502056121826172 + ], + [ + 0.17149905860424042, + 0.06895986944437027, + 0.1534719616174698 + ], + [ + 0.1813957542181015, + 0.06386402994394302, + 0.17177605628967285 + ], + [ + 0.20228177309036255, + 0.061399172991514206, + 0.19122642278671265 + ], + [ + 0.22455772757530212, + 0.06490582972764969, + 0.19456851482391357 + ], + [ + 0.25227290391921997, + 0.06964724510908127, + 0.189849853515625 + ], + [ + 0.2760642170906067, + 0.07082944363355637, + 0.17696969211101532 + ], + [ + 0.28873342275619507, + 0.07608268409967422, + 0.16224536299705505 + ], + [ + 0.2928217053413391, + 0.07902988791465759, + 0.15355351567268372 + ], + [ + 0.2938084900379181, + 0.08022624999284744, + 0.14649447798728943 + ], + [ + 0.2963905930519104, + 0.08195838332176208, + 0.14337916672229767 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9984314230352974, + 0.03877517513437962, + 0.04038786066393245, + 0.039225606423505886, + -0.9991760455729964, + -0.010420256897873043, + 0.039950535621180935, + 0.011988150249627565, + -0.9991297408030516 + ], + [ + 0.9978363453168312, + 0.05578664198655937, + 0.03479193211957525, + 0.05652296357101536, + -0.9981897650447162, + -0.020551096056509788, + 0.033582473909754634, + 0.02247317369304286, + -0.9991832534176416 + ], + [ + 0.9967436178050153, + 0.07386580280904839, + 0.03234197799059597, + 0.07456370464632309, + -0.9969965665233121, + -0.02093084542350081, + 0.03069876731051773, + 0.02327422428570643, + -0.9992576725597423 + ], + [ + 0.9964742289202401, + 0.07552120713622229, + 0.03654666018257509, + 0.0764648181874637, + -0.9967550917871959, + -0.02514793382877601, + 0.03452886730506709, + 0.027853801697186424, + -0.9990154768839383 + ], + [ + 0.9965930181079338, + 0.07239818973667848, + 0.03950770027945122, + 0.07347623020454218, + -0.9969434541314984, + -0.02655170162692972, + 0.037464648049169935, + 0.029364117340868245, + -0.998866431891343 + ], + [ + 0.9969617684124831, + 0.05994952057836234, + 0.04973215565686571, + 0.06162366437467386, + -0.9975590179412184, + -0.03284097613027376, + 0.047641959582827416, + 0.03580587530805761, + -0.9982225117580407 + ], + [ + 0.9970405957407621, + 0.052076289451972804, + 0.05655183924348418, + 0.053976898320283156, + -0.9980093406188009, + -0.03261672094721459, + 0.05474070599314868, + 0.035572687760991574, + -0.9978667441060609 + ], + [ + 0.9964492317572835, + 0.06045736824925971, + 0.05859893475732437, + 0.06246718841007809, + -0.9974981931089356, + -0.0330938833706241, + 0.05645156244480359, + 0.036636885358639175, + -0.9977329100158812 + ], + [ + 0.9959676737210809, + 0.06206453840394033, + 0.0647795181776194, + 0.06422360250548523, + -0.9974288965972157, + -0.031795048578014434, + 0.06263961832447687, + 0.03582721459403007, + -0.9973929460902544 + ], + [ + 0.9975145420869526, + 0.04719482361265552, + 0.05232004347501922, + 0.04826819722514204, + -0.9986451243188167, + -0.01944471164327333, + 0.051331466584273226, + 0.02192177680813286, + -0.9984410429463936 + ], + [ + 0.9977688163388104, + 0.008780006903481278, + 0.06618383957299599, + 0.00655092257503157, + -0.9994063929989254, + 0.03382228623693786, + 0.0664415122891193, + -0.033313257295740924, + -0.9972340509294108 + ], + [ + 0.9943064896703286, + -0.049482535429870085, + 0.09437204716917111, + -0.05796586985969195, + -0.9943094781193103, + 0.0893790783881444, + 0.08941231755679896, + -0.09434055548668588, + -0.9915166650438033 + ], + [ + 0.9906747369502615, + -0.09109308211955015, + 0.10131937602695117, + -0.10097154653604389, + -0.9901427538146791, + 0.09706736762889447, + 0.09147848030356297, + -0.10639256298371759, + -0.9901072215589107 + ], + [ + 0.9827694816986222, + -0.15548331794622575, + 0.09994540350738465, + -0.16393159461365361, + -0.982997574238125, + 0.08271759987684826, + 0.08538488232260905, + -0.09767654212959481, + -0.9915486447917516 + ], + [ + 0.9739048235418055, + -0.2147959097505802, + 0.07329469173429502, + -0.21823056460240473, + -0.9749707465890424, + 0.0425142795884062, + 0.0623282869596171, + -0.057400003920088136, + -0.9964037455743799 + ], + [ + 0.9704466006625521, + -0.23758434921034455, + 0.04227377760260028, + -0.2381222084249922, + -0.971201378988826, + 0.008105264030695582, + 0.039130667222801514, + -0.017932051207259138, + -0.9990731867196709 + ], + [ + 0.9694032818050807, + -0.24258250411520463, + 0.037563358778684997, + -0.24221079276861116, + -0.9701194683390291, + -0.014217911801692762, + 0.039889962295549836, + 0.004684639452139089, + -0.9991930969843933 + ], + [ + 0.9649311204266062, + -0.26182052335490114, + 0.018919470986798314, + -0.26089313890227184, + -0.96448897960112, + -0.04117982882080051, + 0.029029345600177333, + 0.034799738190914614, + -0.9989726098927185 + ], + [ + 0.957125829465173, + -0.2896724815556426, + 1.9245312778311263e-08, + -0.28935223758727113, + -0.9560676935058666, + -0.047009020811025606, + 0.013617238113652438, + 0.04499354246742415, + -0.9988944648772402 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005716.json b/json/chunk-0005/episode_0005716.json new file mode 100644 index 0000000000000000000000000000000000000000..eb1a4cbfe71beafc7de00555be7cfeb01fdfa432 --- /dev/null +++ b/json/chunk-0005/episode_0005716.json @@ -0,0 +1,1342 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 21, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut banana in pot or pan." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005716.mp4", + "start": 0, + "end": 21, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.25743368268013, + 0.004688161890953779, + 0.17622961103916168, + 0.09689299017190933, + -0.09259185194969177, + 0.011389775201678276, + 0.0, + 0.9968144297599792 + ], + [ + 0.25744369626045227, + 0.007310971152037382, + 0.167959526181221, + 0.08628605306148529, + -0.07863713800907135, + 0.03501046076416969, + 0.0, + 0.9968144297599792 + ], + [ + 0.26404136419296265, + 0.04587012529373169, + 0.16258065402507782, + 0.06940586119890213, + -0.13234244287014008, + 0.3122501075267792, + 0.0, + 0.9968144297599792 + ], + [ + 0.27385827898979187, + 0.05999625101685524, + 0.15037834644317627, + 0.11845526099205017, + -0.125886470079422, + 0.5073646306991577, + 0.0, + 0.9968144297599792 + ], + [ + 0.2754254937171936, + 0.09065037220716476, + 0.13758280873298645, + 0.09693151712417603, + -0.16329464316368103, + 0.6108607649803162, + 0.0, + 0.9968144297599792 + ], + [ + 0.27663660049438477, + 0.12258075177669525, + 0.12000225484371185, + 0.07938113063573837, + -0.1872975081205368, + 0.6018285751342773, + 0.0, + 0.9968144297599792 + ], + [ + 0.27180880308151245, + 0.14547260105609894, + 0.10739000886678696, + 0.10966183245182037, + -0.20798981189727783, + 0.49647748470306396, + 0.0, + 0.9968144297599792 + ], + [ + 0.27013349533081055, + 0.18243902921676636, + 0.07715456932783127, + 0.0925188735127449, + -0.22023150324821472, + 0.509559154510498, + 0.0, + 0.9961419701576233 + ], + [ + 0.28301915526390076, + 0.19359548389911652, + 0.06509514898061752, + 0.08316469192504883, + -0.31754493713378906, + 0.5256646871566772, + 0.0, + 0.9961419701576233 + ], + [ + 0.29018622636795044, + 0.1984211951494217, + 0.050569165498018265, + 0.045711394399404526, + -0.2785687744617462, + 0.5958532094955444, + 0.0, + 0.9961419701576233 + ], + [ + 0.3060690462589264, + 0.20823438465595245, + 0.049195416271686554, + 0.01754010282456875, + -0.21449404954910278, + 0.6290985345840454, + 0.0, + 0.9961419701576233 + ], + [ + 0.305864542722702, + 0.22311648726463318, + 0.04205618426203728, + 0.0046059549786150455, + -0.19949892163276672, + 0.6382326483726501, + 0.0, + 0.9961419701576233 + ], + [ + 0.3021444082260132, + 0.23208913207054138, + 0.03484177216887474, + 0.0035228135529905558, + -0.16256405413150787, + 0.6332470774650574, + 0.0, + 0.9900195002555847 + ], + [ + 0.3018620014190674, + 0.2367670238018036, + 0.03079375810921192, + -0.018878597766160965, + -0.17724916338920593, + 0.6471837759017944, + 0.0, + 0.8625253438949585 + ], + [ + 0.30073103308677673, + 0.23611027002334595, + 0.01820780336856842, + -0.03218788281083107, + -0.14757786691188812, + 0.6458832025527954, + 0.0, + 0.603904664516449 + ], + [ + 0.2958831489086151, + 0.23439815640449524, + 0.019611287862062454, + -0.0017877394566312432, + -0.13506458699703217, + 0.6512518525123596, + 0.0, + 0.5699762105941772 + ], + [ + 0.2868877053260803, + 0.23067082464694977, + 0.022567695006728172, + 0.03278070688247681, + -0.07908911257982254, + 0.631227970123291, + 0.0, + 0.5699762105941772 + ], + [ + 0.27701959013938904, + 0.2196236103773117, + 0.06959453225135803, + 0.14496557414531708, + -0.048957474529743195, + 0.5868950486183167, + 0.0, + 0.5689827799797058 + ], + [ + 0.2808607816696167, + 0.18623243272304535, + 0.11013592779636383, + 0.21538975834846497, + -0.04339418187737465, + 0.4864480793476105, + 0.0, + 0.5689827799797058 + ], + [ + 0.2680397033691406, + 0.15638113021850586, + 0.13080662488937378, + 0.1924966722726822, + -0.035722337663173676, + 0.33014053106307983, + 0.0, + 0.5689827799797058 + ], + [ + 0.269082248210907, + 0.09933973103761673, + 0.14286327362060547, + 0.17717379331588745, + -0.10766489803791046, + 0.1432112753391266, + 0.0, + 0.5689827799797058 + ] + ], + "left_gripper_pos": [ + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9900195002555847 + ], + [ + 0.8625253438949585 + ], + [ + 0.603904664516449 + ], + [ + 0.5699762105941772 + ], + [ + 0.5699762105941772 + ], + [ + 0.5689827799797058 + ], + [ + 0.5689827799797058 + ], + [ + 0.5689827799797058 + ], + [ + 0.5689827799797058 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.25743368268013, + 0.004688161890953779, + 0.17622961103916168 + ], + [ + 0.25744369626045227, + 0.007310971152037382, + 0.167959526181221 + ], + [ + 0.26404136419296265, + 0.04587012529373169, + 0.16258065402507782 + ], + [ + 0.27385827898979187, + 0.05999625101685524, + 0.15037834644317627 + ], + [ + 0.2754254937171936, + 0.09065037220716476, + 0.13758280873298645 + ], + [ + 0.27663660049438477, + 0.12258075177669525, + 0.12000225484371185 + ], + [ + 0.27180880308151245, + 0.14547260105609894, + 0.10739000886678696 + ], + [ + 0.27013349533081055, + 0.18243902921676636, + 0.07715456932783127 + ], + [ + 0.28301915526390076, + 0.19359548389911652, + 0.06509514898061752 + ], + [ + 0.29018622636795044, + 0.1984211951494217, + 0.050569165498018265 + ], + [ + 0.3060690462589264, + 0.20823438465595245, + 0.049195416271686554 + ], + [ + 0.305864542722702, + 0.22311648726463318, + 0.04205618426203728 + ], + [ + 0.3021444082260132, + 0.23208913207054138, + 0.03484177216887474 + ], + [ + 0.3018620014190674, + 0.2367670238018036, + 0.03079375810921192 + ], + [ + 0.30073103308677673, + 0.23611027002334595, + 0.01820780336856842 + ], + [ + 0.2958831489086151, + 0.23439815640449524, + 0.019611287862062454 + ], + [ + 0.2868877053260803, + 0.23067082464694977, + 0.022567695006728172 + ], + [ + 0.27701959013938904, + 0.2196236103773117, + 0.06959453225135803 + ], + [ + 0.2808607816696167, + 0.18623243272304535, + 0.11013592779636383 + ], + [ + 0.2680397033691406, + 0.15638113021850586, + 0.13080662488937378 + ], + [ + 0.269082248210907, + 0.09933973103761673, + 0.14286327362060547 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9956518511831342, + 0.020280203281951202, + 0.09091812025356304, + 0.011340741168383003, + -0.9951431113429289, + 0.09778330908937018, + 0.09245960645249555, + -0.0963270538403324, + -0.9910460735369935 + ], + [ + 0.9962987834096781, + 0.04163882575888055, + 0.07519935083374436, + 0.03489513799778909, + -0.995432175348105, + 0.0888657055666278, + 0.07855611701522829, + -0.0859127026181863, + -0.9932008578370886 + ], + [ + 0.9433230998557065, + 0.3151697846686543, + 0.10396891896396057, + 0.30451440267002083, + -0.9465422905622325, + 0.10643622853015018, + 0.1319564619302175, + -0.06874371977945341, + -0.9888689463957004 + ], + [ + 0.8671116068103573, + 0.4954393723488311, + 0.051548905530153726, + 0.4820306989166711, + -0.8606938167967227, + 0.16386750449614776, + 0.1255542378283824, + -0.11724326016656868, + -0.9851345853784894 + ], + [ + 0.8082574205443456, + 0.5837684711425456, + 0.07703450028977543, + 0.5659425505333232, + -0.8062850520830225, + 0.17208557256003304, + 0.1625698976773913, + -0.09549233941721359, + -0.9820652938994382 + ], + [ + 0.8098855626742681, + 0.57653919661289, + 0.10811073092319387, + 0.5562493284356903, + -0.8133464441577902, + 0.1704530621336024, + 0.18620435007439354, + -0.07791095266290636, + -0.9794170835086198 + ], + [ + 0.8603159431829689, + 0.49334063985179516, + 0.12834130658451412, + 0.4660653724624754, + -0.8632196379015844, + 0.19399723021855703, + 0.20649345388319942, + -0.10708347123472911, + -0.9725706060187652 + ], + [ + 0.8518749542634767, + 0.5033247085222843, + 0.14482161471809687, + 0.4760107551866464, + -0.8593813017997847, + 0.18675529192915982, + 0.21845554066042347, + -0.09015550958130444, + -0.9716733817733699 + ], + [ + 0.8217452548425122, + 0.5224890673475729, + 0.2274640864973591, + 0.4767010877452876, + -0.8489861413568391, + 0.22798816795282345, + 0.3122351823326038, + -0.07891581771919114, + -0.9467214398266457 + ], + [ + 0.7957632732566084, + 0.5710288500655355, + 0.20170985431743438, + 0.5395802805280653, + -0.8197535382517236, + 0.1919824403143019, + 0.2749798789024076, + -0.04393391533442394, + -0.960445665970858 + ], + [ + 0.7900295238748511, + 0.5913441669174246, + 0.1617573109903019, + 0.5749320912034928, + -0.8062371796985706, + 0.13940839492682586, + 0.21285309936774474, + -0.01713727879308946, + -0.9769339137142866 + ], + [ + 0.7872202856725894, + 0.5965037171805286, + 0.15642102549011405, + 0.5839602868705543, + -0.8025976164407709, + 0.12176801485469596, + 0.19817821571410654, + -0.00451458452190457, + -0.9801556066987364 + ], + [ + 0.7954821233798128, + 0.5922213173873082, + 0.12838264140912994, + 0.5839632673854588, + -0.8057678487960777, + 0.0986158009197339, + 0.1618489843268822, + -0.00347635996157962, + -0.9868094148283012 + ], + [ + 0.7852856445378436, + 0.6001791704874716, + 0.15202440526360977, + 0.5934954340870521, + -0.7996497253608512, + 0.09123314336433214, + 0.17632250622256174, + 0.01858171260367896, + -0.9841570473029744 + ], + [ + 0.7898881447891658, + 0.5978132254430124, + 0.13673355918336946, + 0.5953613567124594, + -0.8010031454063022, + 0.0627599871152797, + 0.147042761314625, + 0.03183250751405396, + -0.9886177814556736 + ], + [ + 0.7880822516484954, + 0.6059900859955876, + 0.10817754069906421, + 0.600661786213148, + -0.7954702242167471, + 0.08020312317976452, + 0.1346543100679211, + 0.0017714569196949428, + -0.9908910529016364 + ], + [ + 0.8047798860098667, + 0.5919099593769916, + 0.04440647547682855, + 0.5882918310785534, + -0.8053416140056212, + 0.07305892304889236, + 0.07900668680680678, + -0.03267238499328287, + -0.9963385261539685 + ], + [ + 0.8316664651201672, + 0.5538561797519483, + -0.03967647848667073, + 0.5531147899022122, + -0.8200152990257668, + 0.14710179657337313, + 0.04893791971423997, + -0.14428527823121767, + -0.9883252695847571 + ], + [ + 0.8831667363963219, + 0.4648828885254477, + -0.06245330799329874, + 0.4670488650783191, + -0.859238105149932, + 0.2087468234187251, + 0.04338056422090137, + -0.21352699739047162, + -0.9759735385927663 + ], + [ + 0.9453932739047011, + 0.32465193888509014, + -0.02885612991900325, + 0.32396915741050525, + -0.9263089489642639, + 0.19234270486672445, + 0.035714740688936604, + -0.19118799556162586, + -0.9809034650008377 + ], + [ + 0.9840317875595054, + 0.1592332684225303, + 0.07953745847035174, + 0.14189584574212857, + -0.9715657401035417, + 0.18954044850158866, + 0.10745701481788222, + -0.17522779141601866, + -0.9786461112587602 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + 1.0013580322265625e-05, + 0.002622809261083603, + -0.008270084857940674, + -0.010606937110424042, + 0.013954713940620422, + 0.023620685562491417, + 1.0 + ], + [ + 0.006597667932510376, + 0.03855915367603302, + -0.0053788721561431885, + -0.01688019186258316, + -0.053705304861068726, + 0.2772396504878998, + 1.0 + ], + [ + 0.009816914796829224, + 0.01412612572312355, + -0.01220230758190155, + 0.04904939979314804, + 0.006455972790718079, + 0.19511452317237854, + 1.0 + ], + [ + 0.0015672147274017334, + 0.030654121190309525, + -0.01279553771018982, + -0.021523743867874146, + -0.03740817308425903, + 0.10349613428115845, + 1.0 + ], + [ + 0.0012111067771911621, + 0.03193037956953049, + -0.017580553889274597, + -0.017550386488437653, + -0.024002864956855774, + -0.009032189846038818, + 1.0 + ], + [ + -0.0048277974128723145, + 0.022891849279403687, + -0.012612245976924896, + 0.030280701816082, + -0.020692303776741028, + -0.10535109043121338, + 1.0 + ], + [ + -0.0016753077507019043, + 0.03696642816066742, + -0.03023543953895569, + -0.01714295893907547, + -0.01224169135093689, + 0.013081669807434082, + 1.0 + ], + [ + 0.01288565993309021, + 0.011156454682350159, + -0.012059420347213745, + -0.009354181587696075, + -0.09731343388557434, + 0.0161055326461792, + 1.0 + ], + [ + 0.007167071104049683, + 0.004825711250305176, + -0.014525983482599258, + -0.0374532975256443, + 0.03897616267204285, + 0.07018852233886719, + 1.0 + ], + [ + 0.015882819890975952, + 0.009813189506530762, + -0.0013737492263317108, + -0.028171291574835777, + 0.06407472491264343, + 0.03324532508850098, + 1.0 + ], + [ + -0.00020450353622436523, + 0.014882102608680725, + -0.007139232009649277, + -0.01293414831161499, + 0.01499512791633606, + 0.009134113788604736, + 1.0 + ], + [ + -0.0037201344966888428, + 0.008972644805908203, + -0.007214412093162537, + -0.0010831414256244898, + 0.03693486750125885, + -0.0049855709075927734, + 1.0 + ], + [ + -0.0002824068069458008, + 0.004677891731262207, + -0.004048014059662819, + -0.022401411086320877, + -0.014685109257698059, + 0.01393669843673706, + 0.0 + ], + [ + -0.0011309683322906494, + -0.0006567537784576416, + -0.012585954740643501, + -0.013309285044670105, + 0.02967129647731781, + -0.0013005733489990234, + 0.0 + ], + [ + -0.004847884178161621, + -0.001712113618850708, + 0.0014034844934940338, + 0.030400143936276436, + 0.012513279914855957, + 0.005368649959564209, + 0.0 + ], + [ + -0.00899544358253479, + -0.003727331757545471, + 0.002956407144665718, + 0.03456844761967659, + 0.055975474417209625, + -0.020023882389068604, + 0.0 + ], + [ + -0.009868115186691284, + -0.011047214269638062, + 0.04702683538198471, + 0.11218486726284027, + 0.030131638050079346, + -0.044332921504974365, + 0.0 + ], + [ + 0.003841191530227661, + -0.03339117765426636, + 0.0405413955450058, + 0.07042418420314789, + 0.0055632926523685455, + -0.10044696927070618, + 0.0 + ], + [ + -0.012821078300476074, + -0.02985130250453949, + 0.02067069709300995, + -0.022893086075782776, + 0.0076718442142009735, + -0.15630754828453064, + 0.0 + ], + [ + 0.0010425448417663574, + -0.05704139918088913, + 0.01205664873123169, + -0.015322878956794739, + -0.07194256037473679, + -0.18692925572395325, + 0.0 + ], + [ + 0.006268113851547241, + -0.041047561913728714, + 0.002000287175178528, + -0.05908568948507309, + 0.03069297969341278, + -0.18737763166427612, + 0.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9900195002555847 + ], + [ + 0.8625253438949585 + ], + [ + 0.603904664516449 + ], + [ + 0.5699762105941772 + ], + [ + 0.5699762105941772 + ], + [ + 0.5689827799797058 + ], + [ + 0.5689827799797058 + ], + [ + 0.5689827799797058 + ], + [ + 0.5689827799797058 + ], + [ + 0.5689827799797058 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.25744369626045227, + 0.007310971152037382, + 0.167959526181221 + ], + [ + 0.26404136419296265, + 0.04587012529373169, + 0.16258065402507782 + ], + [ + 0.27385827898979187, + 0.05999625101685524, + 0.15037834644317627 + ], + [ + 0.2754254937171936, + 0.09065037220716476, + 0.13758280873298645 + ], + [ + 0.27663660049438477, + 0.12258075177669525, + 0.12000225484371185 + ], + [ + 0.27180880308151245, + 0.14547260105609894, + 0.10739000886678696 + ], + [ + 0.27013349533081055, + 0.18243902921676636, + 0.07715456932783127 + ], + [ + 0.28301915526390076, + 0.19359548389911652, + 0.06509514898061752 + ], + [ + 0.29018622636795044, + 0.1984211951494217, + 0.050569165498018265 + ], + [ + 0.3060690462589264, + 0.20823438465595245, + 0.049195416271686554 + ], + [ + 0.305864542722702, + 0.22311648726463318, + 0.04205618426203728 + ], + [ + 0.3021444082260132, + 0.23208913207054138, + 0.03484177216887474 + ], + [ + 0.3018620014190674, + 0.2367670238018036, + 0.03079375810921192 + ], + [ + 0.30073103308677673, + 0.23611027002334595, + 0.01820780336856842 + ], + [ + 0.2958831489086151, + 0.23439815640449524, + 0.019611287862062454 + ], + [ + 0.2868877053260803, + 0.23067082464694977, + 0.022567695006728172 + ], + [ + 0.27701959013938904, + 0.2196236103773117, + 0.06959453225135803 + ], + [ + 0.2808607816696167, + 0.18623243272304535, + 0.11013592779636383 + ], + [ + 0.2680397033691406, + 0.15638113021850586, + 0.13080662488937378 + ], + [ + 0.269082248210907, + 0.09933973103761673, + 0.14286327362060547 + ], + [ + 0.2753503620624542, + 0.058292169123888016, + 0.144863560795784 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9962987834096781, + 0.04163882575888055, + 0.07519935083374436, + 0.03489513799778909, + -0.995432175348105, + 0.0888657055666278, + 0.07855611701522829, + -0.0859127026181863, + -0.9932008578370886 + ], + [ + 0.9433230998557065, + 0.3151697846686543, + 0.10396891896396057, + 0.30451440267002083, + -0.9465422905622325, + 0.10643622853015018, + 0.1319564619302175, + -0.06874371977945341, + -0.9888689463957004 + ], + [ + 0.8671116068103573, + 0.4954393723488311, + 0.051548905530153726, + 0.4820306989166711, + -0.8606938167967227, + 0.16386750449614776, + 0.1255542378283824, + -0.11724326016656868, + -0.9851345853784894 + ], + [ + 0.8082574205443456, + 0.5837684711425456, + 0.07703450028977543, + 0.5659425505333232, + -0.8062850520830225, + 0.17208557256003304, + 0.1625698976773913, + -0.09549233941721359, + -0.9820652938994382 + ], + [ + 0.8098855626742681, + 0.57653919661289, + 0.10811073092319387, + 0.5562493284356903, + -0.8133464441577902, + 0.1704530621336024, + 0.18620435007439354, + -0.07791095266290636, + -0.9794170835086198 + ], + [ + 0.8603159431829689, + 0.49334063985179516, + 0.12834130658451412, + 0.4660653724624754, + -0.8632196379015844, + 0.19399723021855703, + 0.20649345388319942, + -0.10708347123472911, + -0.9725706060187652 + ], + [ + 0.8518749542634767, + 0.5033247085222843, + 0.14482161471809687, + 0.4760107551866464, + -0.8593813017997847, + 0.18675529192915982, + 0.21845554066042347, + -0.09015550958130444, + -0.9716733817733699 + ], + [ + 0.8217452548425122, + 0.5224890673475729, + 0.2274640864973591, + 0.4767010877452876, + -0.8489861413568391, + 0.22798816795282345, + 0.3122351823326038, + -0.07891581771919114, + -0.9467214398266457 + ], + [ + 0.7957632732566084, + 0.5710288500655355, + 0.20170985431743438, + 0.5395802805280653, + -0.8197535382517236, + 0.1919824403143019, + 0.2749798789024076, + -0.04393391533442394, + -0.960445665970858 + ], + [ + 0.7900295238748511, + 0.5913441669174246, + 0.1617573109903019, + 0.5749320912034928, + -0.8062371796985706, + 0.13940839492682586, + 0.21285309936774474, + -0.01713727879308946, + -0.9769339137142866 + ], + [ + 0.7872202856725894, + 0.5965037171805286, + 0.15642102549011405, + 0.5839602868705543, + -0.8025976164407709, + 0.12176801485469596, + 0.19817821571410654, + -0.00451458452190457, + -0.9801556066987364 + ], + [ + 0.7954821233798128, + 0.5922213173873082, + 0.12838264140912994, + 0.5839632673854588, + -0.8057678487960777, + 0.0986158009197339, + 0.1618489843268822, + -0.00347635996157962, + -0.9868094148283012 + ], + [ + 0.7852856445378436, + 0.6001791704874716, + 0.15202440526360977, + 0.5934954340870521, + -0.7996497253608512, + 0.09123314336433214, + 0.17632250622256174, + 0.01858171260367896, + -0.9841570473029744 + ], + [ + 0.7898881447891658, + 0.5978132254430124, + 0.13673355918336946, + 0.5953613567124594, + -0.8010031454063022, + 0.0627599871152797, + 0.147042761314625, + 0.03183250751405396, + -0.9886177814556736 + ], + [ + 0.7880822516484954, + 0.6059900859955876, + 0.10817754069906421, + 0.600661786213148, + -0.7954702242167471, + 0.08020312317976452, + 0.1346543100679211, + 0.0017714569196949428, + -0.9908910529016364 + ], + [ + 0.8047798860098667, + 0.5919099593769916, + 0.04440647547682855, + 0.5882918310785534, + -0.8053416140056212, + 0.07305892304889236, + 0.07900668680680678, + -0.03267238499328287, + -0.9963385261539685 + ], + [ + 0.8316664651201672, + 0.5538561797519483, + -0.03967647848667073, + 0.5531147899022122, + -0.8200152990257668, + 0.14710179657337313, + 0.04893791971423997, + -0.14428527823121767, + -0.9883252695847571 + ], + [ + 0.8831667363963219, + 0.4648828885254477, + -0.06245330799329874, + 0.4670488650783191, + -0.859238105149932, + 0.2087468234187251, + 0.04338056422090137, + -0.21352699739047162, + -0.9759735385927663 + ], + [ + 0.9453932739047011, + 0.32465193888509014, + -0.02885612991900325, + 0.32396915741050525, + -0.9263089489642639, + 0.19234270486672445, + 0.035714740688936604, + -0.19118799556162586, + -0.9809034650008377 + ], + [ + 0.9840317875595054, + 0.1592332684225303, + 0.07953745847035174, + 0.14189584574212857, + -0.9715657401035417, + 0.18954044850158866, + 0.10745701481788222, + -0.17522779141601866, + -0.9786461112587602 + ], + [ + 0.9960668367349755, + -0.03479393611399857, + 0.08148766020984174, + -0.04402126645351259, + -0.9924673059230574, + 0.11432748914262568, + 0.07689593524113278, + -0.11746501046491815, + -0.9900954431063038 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005717.json b/json/chunk-0005/episode_0005717.json new file mode 100644 index 0000000000000000000000000000000000000000..6952bc9a29c1d6e03fad1b0a388b4d2c2d52f9bf --- /dev/null +++ b/json/chunk-0005/episode_0005717.json @@ -0,0 +1,2542 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 41, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nTake the eggplant and put it between the two right burners." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005717.mp4", + "start": 0, + "end": 41, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.28051862120628357, + 0.15121830999851227, + 0.07878430187702179, + 0.08707315474748611, + -0.359332799911499, + 0.11231689900159836, + 0.0, + 0.9968144297599792 + ], + [ + 0.277348130941391, + 0.14933812618255615, + 0.07084912806749344, + 0.07296998798847198, + -0.33302709460258484, + 0.1211584210395813, + 0.0, + 0.9968144297599792 + ], + [ + 0.28237318992614746, + 0.13857731223106384, + 0.07253514975309372, + 0.0646357387304306, + -0.32222455739974976, + 0.1309746354818344, + 0.0, + 0.9968144297599792 + ], + [ + 0.28926196694374084, + 0.12863335013389587, + 0.07517575472593307, + 0.06719682365655899, + -0.32299157977104187, + 0.11236671358346939, + 0.0, + 0.9968144297599792 + ], + [ + 0.29509395360946655, + 0.11299170553684235, + 0.0741211548447609, + 0.0515788309276104, + -0.3303847014904022, + 0.05419033020734787, + 0.0, + 0.9968144297599792 + ], + [ + 0.3001222312450409, + 0.09029196202754974, + 0.07220182567834854, + 0.03261926397681236, + -0.3266070485115051, + -0.020250482484698296, + 0.0, + 0.9968144297599792 + ], + [ + 0.30501627922058105, + 0.0671229436993599, + 0.07188694179058075, + 0.03619396314024925, + -0.31998559832572937, + -0.12385501712560654, + 0.0, + 0.9968144297599792 + ], + [ + 0.3095344603061676, + 0.053109295666217804, + 0.0660405308008194, + 0.07765024900436401, + -0.30089718103408813, + -0.17299804091453552, + 0.0, + 0.9968144297599792 + ], + [ + 0.31083717942237854, + 0.04665382206439972, + 0.04959099739789963, + 0.10230351239442825, + -0.25589990615844727, + -0.18687675893306732, + 0.0, + 0.9968144297599792 + ], + [ + 0.31706124544143677, + 0.04519297182559967, + 0.042390331625938416, + 0.08188681304454803, + -0.2413884699344635, + -0.1859177052974701, + 0.0, + 0.9968144297599792 + ], + [ + 0.31813350319862366, + 0.03626410290598869, + 0.03495519608259201, + 0.0339270681142807, + -0.24233926832675934, + -0.23172226548194885, + 0.0, + 0.9968144297599792 + ], + [ + 0.3276000916957855, + 0.031752366572618484, + 0.03086177073419094, + 0.015936031937599182, + -0.21725589036941528, + -0.2318716049194336, + 0.0, + 0.9968144297599792 + ], + [ + 0.3344012498855591, + 0.026495778933167458, + 0.02514040656387806, + -0.007102582603693008, + -0.17772702872753143, + -0.21573933959007263, + 0.0, + 0.9968144297599792 + ], + [ + 0.3379780352115631, + 0.022681565955281258, + 0.02077166736125946, + 0.02765255607664585, + -0.178803488612175, + -0.19288352131843567, + 0.0, + 0.9968144297599792 + ], + [ + 0.3383274972438812, + 0.017139771953225136, + 0.019267862662672997, + 0.0512622632086277, + -0.17081303894519806, + -0.19170431792736053, + 0.0, + 0.9968144297599792 + ], + [ + 0.3367837071418762, + 0.015562862157821655, + 0.017314761877059937, + 0.06651867181062698, + -0.16909398138523102, + -0.16277150809764862, + 0.0, + 0.9968144297599792 + ], + [ + 0.3350850045681, + 0.012334240600466728, + 0.01639333739876747, + 0.08150265365839005, + -0.16469207406044006, + -0.14496634900569916, + 0.0, + 0.9665181636810303 + ], + [ + 0.33470967411994934, + 0.011090949177742004, + 0.014630797319114208, + 0.08147469907999039, + -0.1704224944114685, + -0.13392941653728485, + 0.0, + 0.7250383496284485 + ], + [ + 0.3331051766872406, + 0.006750261411070824, + 0.013455991633236408, + 0.05575396493077278, + -0.16895970702171326, + -0.11174770444631577, + 0.0, + 0.505268931388855 + ], + [ + 0.3299967646598816, + 0.005393537227064371, + 0.011915325187146664, + 0.045191746205091476, + -0.16071996092796326, + -0.10525746643543243, + 0.0, + 0.4985305666923523 + ], + [ + 0.32638657093048096, + 0.005659639369696379, + 0.015611854381859303, + 0.040518537163734436, + -0.15540367364883423, + -0.08682677149772644, + 0.0, + 0.4985305666923523 + ], + [ + 0.3166666030883789, + 0.0105937160551548, + 0.021522516384720802, + 0.03077414445579052, + -0.11461175978183746, + -0.06294301152229309, + 0.0, + 0.4985305666923523 + ], + [ + 0.31812742352485657, + 0.016746729612350464, + 0.04241896793246269, + 0.007515674456954002, + -0.13787466287612915, + -0.016943130642175674, + 0.0, + 0.4985305666923523 + ], + [ + 0.3189939260482788, + 0.01678711175918579, + 0.04687878489494324, + 0.0036488347686827183, + -0.1380307674407959, + 0.010891642421483994, + 0.0, + 0.4985305666923523 + ], + [ + 0.32311952114105225, + 0.014524994418025017, + 0.05021021515130997, + 0.00028374529210850596, + -0.15341635048389435, + 0.029516227543354034, + 0.0, + 0.4985305666923523 + ], + [ + 0.3170151710510254, + 0.016999388113617897, + 0.07183749228715897, + -0.020574400201439857, + -0.1649686098098755, + 0.04015382006764412, + 0.0, + 0.4985305666923523 + ], + [ + 0.3032286465167999, + 0.026517469435930252, + 0.08438893407583237, + -0.03702440485358238, + -0.17916622757911682, + 0.037401072680950165, + 0.0, + 0.4985305666923523 + ], + [ + 0.28410109877586365, + 0.04169204458594322, + 0.08434737473726273, + -0.014249750413000584, + -0.18668214976787567, + 0.033196061849594116, + 0.0, + 0.4985305666923523 + ], + [ + 0.265145480632782, + 0.05274767801165581, + 0.0820697620511055, + -0.012376276776194572, + -0.1996368020772934, + -0.001069584395736456, + 0.0, + 0.4985305666923523 + ], + [ + 0.2527969777584076, + 0.061366576701402664, + 0.07630783319473267, + -0.021152419969439507, + -0.1910153478384018, + -0.020760947838425636, + 0.0, + 0.4985305666923523 + ], + [ + 0.24691779911518097, + 0.05978163331747055, + 0.07150661945343018, + -0.023027032613754272, + -0.16955077648162842, + -0.03060867451131344, + 0.0, + 0.4985305666923523 + ], + [ + 0.24618439376354218, + 0.05801565572619438, + 0.06904672831296921, + -0.006151903420686722, + -0.16376589238643646, + -0.03508223965764046, + 0.0, + 0.4985305666923523 + ], + [ + 0.2469417154788971, + 0.05810537934303284, + 0.06257379055023193, + 0.011780350469052792, + -0.14371192455291748, + -0.0286121666431427, + 0.0, + 0.5650128126144409 + ], + [ + 0.24854500591754913, + 0.05810220167040825, + 0.06119269132614136, + 0.01925603672862053, + -0.15416008234024048, + -0.02973439358174801, + 0.0, + 0.8472316861152649 + ], + [ + 0.2467087060213089, + 0.05492547154426575, + 0.06377005577087402, + -0.02049829252064228, + -0.12247873842716217, + -0.034074027091264725, + 0.0, + 0.9994885921478271 + ], + [ + 0.24669712781906128, + 0.05694889277219772, + 0.06785821169614792, + -0.04475059360265732, + -0.11402449756860733, + -0.023540543392300606, + 0.0, + 0.9994885921478271 + ], + [ + 0.2552781105041504, + 0.05943576619029045, + 0.07781805843114853, + -0.06241950765252113, + -0.13537074625492096, + 0.01742170937359333, + 0.0, + 0.9994885921478271 + ], + [ + 0.2663872241973877, + 0.06215653568506241, + 0.089272640645504, + -0.06542583554983139, + -0.1674840897321701, + 0.05561061203479767, + 0.0, + 0.9994885921478271 + ], + [ + 0.27649423480033875, + 0.07208564132452011, + 0.08719678968191147, + -0.03889572620391846, + -0.19537433981895447, + 0.12457085400819778, + 0.0, + 0.9994885921478271 + ], + [ + 0.28351446986198425, + 0.08774791657924652, + 0.08048612624406815, + -0.017434313893318176, + -0.23589272797107697, + 0.1651739925146103, + 0.0, + 0.9994885921478271 + ], + [ + 0.28548142313957214, + 0.1161842942237854, + 0.07670744508504868, + 0.024021292105317116, + -0.249165877699852, + 0.19425036013126373, + 0.0, + 0.9994885921478271 + ] + ], + "left_gripper_pos": [ + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9665181636810303 + ], + [ + 0.7250383496284485 + ], + [ + 0.505268931388855 + ], + [ + 0.4985305666923523 + ], + [ + 0.4985305666923523 + ], + [ + 0.4985305666923523 + ], + [ + 0.4985305666923523 + ], + [ + 0.4985305666923523 + ], + [ + 0.4985305666923523 + ], + [ + 0.4985305666923523 + ], + [ + 0.4985305666923523 + ], + [ + 0.4985305666923523 + ], + [ + 0.4985305666923523 + ], + [ + 0.4985305666923523 + ], + [ + 0.4985305666923523 + ], + [ + 0.4985305666923523 + ], + [ + 0.5650128126144409 + ], + [ + 0.8472316861152649 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.28051862120628357, + 0.15121830999851227, + 0.07878430187702179 + ], + [ + 0.277348130941391, + 0.14933812618255615, + 0.07084912806749344 + ], + [ + 0.28237318992614746, + 0.13857731223106384, + 0.07253514975309372 + ], + [ + 0.28926196694374084, + 0.12863335013389587, + 0.07517575472593307 + ], + [ + 0.29509395360946655, + 0.11299170553684235, + 0.0741211548447609 + ], + [ + 0.3001222312450409, + 0.09029196202754974, + 0.07220182567834854 + ], + [ + 0.30501627922058105, + 0.0671229436993599, + 0.07188694179058075 + ], + [ + 0.3095344603061676, + 0.053109295666217804, + 0.0660405308008194 + ], + [ + 0.31083717942237854, + 0.04665382206439972, + 0.04959099739789963 + ], + [ + 0.31706124544143677, + 0.04519297182559967, + 0.042390331625938416 + ], + [ + 0.31813350319862366, + 0.03626410290598869, + 0.03495519608259201 + ], + [ + 0.3276000916957855, + 0.031752366572618484, + 0.03086177073419094 + ], + [ + 0.3344012498855591, + 0.026495778933167458, + 0.02514040656387806 + ], + [ + 0.3379780352115631, + 0.022681565955281258, + 0.02077166736125946 + ], + [ + 0.3383274972438812, + 0.017139771953225136, + 0.019267862662672997 + ], + [ + 0.3367837071418762, + 0.015562862157821655, + 0.017314761877059937 + ], + [ + 0.3350850045681, + 0.012334240600466728, + 0.01639333739876747 + ], + [ + 0.33470967411994934, + 0.011090949177742004, + 0.014630797319114208 + ], + [ + 0.3331051766872406, + 0.006750261411070824, + 0.013455991633236408 + ], + [ + 0.3299967646598816, + 0.005393537227064371, + 0.011915325187146664 + ], + [ + 0.32638657093048096, + 0.005659639369696379, + 0.015611854381859303 + ], + [ + 0.3166666030883789, + 0.0105937160551548, + 0.021522516384720802 + ], + [ + 0.31812742352485657, + 0.016746729612350464, + 0.04241896793246269 + ], + [ + 0.3189939260482788, + 0.01678711175918579, + 0.04687878489494324 + ], + [ + 0.32311952114105225, + 0.014524994418025017, + 0.05021021515130997 + ], + [ + 0.3170151710510254, + 0.016999388113617897, + 0.07183749228715897 + ], + [ + 0.3032286465167999, + 0.026517469435930252, + 0.08438893407583237 + ], + [ + 0.28410109877586365, + 0.04169204458594322, + 0.08434737473726273 + ], + [ + 0.265145480632782, + 0.05274767801165581, + 0.0820697620511055 + ], + [ + 0.2527969777584076, + 0.061366576701402664, + 0.07630783319473267 + ], + [ + 0.24691779911518097, + 0.05978163331747055, + 0.07150661945343018 + ], + [ + 0.24618439376354218, + 0.05801565572619438, + 0.06904672831296921 + ], + [ + 0.2469417154788971, + 0.05810537934303284, + 0.06257379055023193 + ], + [ + 0.24854500591754913, + 0.05810220167040825, + 0.06119269132614136 + ], + [ + 0.2467087060213089, + 0.05492547154426575, + 0.06377005577087402 + ], + [ + 0.24669712781906128, + 0.05694889277219772, + 0.06785821169614792 + ], + [ + 0.2552781105041504, + 0.05943576619029045, + 0.07781805843114853 + ], + [ + 0.2663872241973877, + 0.06215653568506241, + 0.089272640645504 + ], + [ + 0.27649423480033875, + 0.07208564132452011, + 0.08719678968191147 + ], + [ + 0.28351446986198425, + 0.08774791657924652, + 0.08048612624406815 + ], + [ + 0.28548142313957214, + 0.1161842942237854, + 0.07670744508504868 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9302331669282556, + 0.1420441733743886, + 0.3383632780858685, + 0.10492247817917505, + -0.9865069850743468, + 0.1256791230565488, + 0.3516497244693485, + -0.08140897499606067, + -0.9325851436039082 + ], + [ + 0.9381291646038052, + 0.1441989858858053, + 0.3148338021707195, + 0.11422169661593803, + -0.9871471493029466, + 0.11177615866204516, + 0.3269052990423114, + -0.06889962331226065, + -0.9425421833347755 + ], + [ + 0.9404091836688413, + 0.15060701566398746, + 0.30487389869270753, + 0.12387891575637319, + -0.9866934409846466, + 0.10530939060170928, + 0.3166774092074287, + -0.06126647003594558, + -0.9465526071735293 + ], + [ + 0.9423097298983937, + 0.13305548164375544, + 0.30716219126605554, + 0.10633215113110558, + -0.9890610915159295, + 0.10223321811011392, + 0.3174048622416618, + -0.06367413960052122, + -0.9461499655823516 + ], + [ + 0.944529066544662, + 0.07079234112725034, + 0.320707478693579, + 0.0512345034366195, + -0.9962982266397201, + 0.06902803236477001, + 0.3244069483070183, + -0.04876769455563519, + -0.9446596444528874 + ], + [ + 0.946942163054306, + -0.00977704719620268, + 0.32125527105116153, + -0.019178657366279217, + -0.9994749889564299, + 0.02611370429814568, + 0.3208312935666639, + -0.030889412404047984, + -0.9466325185993103 + ], + [ + 0.941968549333874, + -0.1121624553454053, + 0.3164092850671854, + -0.11726777671570184, + -0.9930960237033434, + -0.0029251066245764186, + 0.314552890004199, + -0.03434925494823439, + -0.9486182625664065 + ], + [ + 0.9408147423962314, + -0.14897025048059948, + 0.3044264853156842, + -0.16440248586340245, + -0.9860623620057626, + 0.02555075101734673, + 0.2963771973884746, + -0.07408699418497237, + -0.9521930865957751 + ], + [ + 0.9505921669472546, + -0.15942008208635242, + 0.2663827501286514, + -0.17974082928551885, + -0.9822544925322234, + 0.05356627845966387, + 0.2531161125378566, + -0.09879954113175289, + -0.9623777243088486 + ], + [ + 0.9542736593812603, + -0.16501280159751758, + 0.2492640333462418, + -0.17948918834354627, + -0.983088312140202, + 0.03634558846824962, + 0.23905107044075963, + -0.0794238367385175, + -0.9677532949460105 + ], + [ + 0.944832583388578, + -0.22159944400798162, + 0.24121582821742654, + -0.22294343568413558, + -0.9745816243872282, + -0.022065400338657153, + 0.23997419413891014, + -0.0329293762787107, + -0.9702206152856553 + ], + [ + 0.9503597306942587, + -0.22642730763317362, + 0.21341756402116577, + -0.2243974592498277, + -0.973903761744104, + -0.03401827660105373, + 0.21555083520357363, + -0.015560758936376816, + -0.9763686292709153 + ], + [ + 0.961431625903265, + -0.21529085451221522, + 0.17116973060796833, + -0.2106976786745736, + -0.976524950450661, + -0.04478291357739393, + 0.17679286443222306, + 0.00699064451494822, + -0.9842232541324734 + ], + [ + 0.9658084241725077, + -0.1867901997782373, + 0.17978739962584517, + -0.18863366480992316, + -0.9820229801478682, + -0.006943123351698582, + 0.17785226537155696, + -0.02720822905493004, + -0.9836809868925491 + ], + [ + 0.9673944221964003, + -0.18173160886980036, + 0.17641330516967016, + -0.18775943012842225, + -0.9820508981583389, + 0.01795633103532845, + 0.16998361186050673, + -0.050494116132417555, + -0.9841523845090571 + ], + [ + 0.9727081060562718, + -0.15065703987699078, + 0.1764692515650349, + -0.1597424322024499, + -0.9864123754039349, + 0.03837943464946146, + 0.16828932160558036, + -0.06552161464333278, + -0.9835576354480017 + ], + [ + 0.9761215847572889, + -0.130772148121319, + 0.1734511373460967, + -0.14250443881008584, + -0.9881542453913292, + 0.05695324604019558, + 0.16394857940934163, + -0.08031084977030414, + -0.9831942995760453 + ], + [ + 0.9766877852420142, + -0.11940732591653772, + 0.1783896316395962, + -0.13159497795936057, + -0.9896004013507566, + 0.058084485211601776, + 0.169598738011002, + -0.08020558686203298, + -0.9822440286920519 + ], + [ + 0.9796117702232838, + -0.10202988182557214, + 0.17306265586389175, + -0.10992732224754283, + -0.9932635227459664, + 0.03665457960143268, + 0.1681569607940418, + -0.054931571950315373, + -0.9842285095137095 + ], + [ + 0.9816491963522421, + -0.09776643314730839, + 0.16372715062154436, + -0.1037091932156541, + -0.9942097799786936, + 0.028130350820342515, + 0.16002893033309673, + -0.04459414697435411, + -0.9861045094269036 + ], + [ + 0.9842274510435653, + -0.08040046050111486, + 0.1575820121825298, + -0.08567269256065659, + -0.995958945681619, + 0.026943798287643372, + 0.1547789209217247, + -0.04001930119288273, + -0.9871382583865038 + ], + [ + 0.9914719932472081, + -0.059359836809149455, + 0.11601593158010177, + -0.062488778052474644, + -0.9977685316422985, + 0.02351828824297335, + 0.11436100394765812, + -0.03056741792108324, + -0.992968878534328 + ], + [ + 0.9903681663811854, + -0.015909058291839164, + 0.13754198225645745, + -0.016781543081626302, + -0.9998457303567865, + 0.005186067788193451, + 0.13743825824918007, + -0.0074442831468907, + -0.9904823611846203 + ], + [ + 0.9904301196986628, + 0.011393377367683196, + 0.13754406183419798, + 0.010787837290002295, + -0.999928561984734, + 0.0051471830884536, + 0.13759287975871626, + -0.0036141222031346905, + -0.9904822752378782 + ], + [ + 0.9878243193755921, + 0.02955528246628518, + 0.15274030027627442, + 0.02916531755847692, + -0.9995631078861863, + 0.004793496075065516, + 0.15281524237412178, + -0.00028041263624650195, + -0.9882547359192831 + ], + [ + 0.9856283978653047, + 0.03675874016672731, + 0.16488012719193054, + 0.03959802931651557, + -0.9991180927127089, + -0.013965417586545039, + 0.16422136704984688, + 0.020293640271603224, + -0.9862147386694268 + ], + [ + 0.9833044767060567, + 0.030774758358148833, + 0.17934664852688348, + 0.03679380001690742, + -0.9988624774465421, + -0.03033096486549525, + 0.17820920955479197, + 0.03642341825465634, + -0.9833182659914859 + ], + [ + 0.9820840681410206, + 0.030543392535337964, + 0.18595156432796048, + 0.03261330406790392, + -0.999435367473267, + -0.008081994886802165, + 0.1855997184840478, + 0.014001693326455768, + -0.9825256724801822 + ], + [ + 0.9801381088417285, + -0.003523819243238295, + 0.19828482113893867, + -0.0010483408266548525, + -0.9999202178024887, + -0.012588050338898147, + 0.19831335955419413, + 0.012130157779866207, + -0.980063605433119 + ], + [ + 0.9816003902865797, + -0.024769558844456002, + 0.18933341687057054, + -0.020381882897433763, + -0.9994774814607531, + -0.025086707684050424, + 0.1898558733323505, + 0.020766150522442257, + -0.9815923361323119 + ], + [ + 0.9851989759161752, + -0.03447919048322475, + 0.1679111767493194, + -0.030165055827136626, + -0.9991477017470454, + -0.028176932064068363, + 0.1687395841545943, + 0.022694834593336363, + -0.9853993592559901 + ], + [ + 0.9860132232958584, + -0.03607673129565571, + 0.16271568131170747, + -0.03460575053563221, + -0.9993305909289185, + -0.011866425895126095, + 0.16303485981708846, + 0.006069554570146341, + -0.9866016394633361 + ], + [ + 0.9892861213847498, + -0.026919852074058722, + 0.14348620700202908, + -0.028313346082158918, + -0.9995696062246205, + 0.007678329609309444, + 0.1432177519344241, + -0.011658639554772164, + -0.9896225298842897 + ], + [ + 0.9877040564714351, + -0.02676922195413559, + 0.15402631458891042, + -0.029377439533726128, + -0.9994605550148934, + 0.01468213253458702, + 0.1535501966013526, + -0.019026500605501227, + -0.9879576556707248 + ], + [ + 0.9919327357736544, + -0.03656298076918758, + 0.12137790630038774, + -0.03381222970053393, + -0.9991242655908037, + -0.024646197076129937, + 0.12217274992105244, + 0.020343312043743615, + -0.9923003420496331 + ], + [ + 0.9932309807106501, + -0.028603308560059305, + 0.11257917079095192, + -0.0233855169103191, + -0.9986022625701045, + -0.04739872138259878, + 0.11377757492316956, + 0.04444515642098794, + -0.9925116077484014 + ], + [ + 0.9907009984538432, + 0.008969656762094418, + 0.1357611023825626, + 0.017261451281834, + -0.9980477339914477, + -0.060023020368701434, + 0.13495767470656603, + 0.06180829986423255, + -0.9889217158631365 + ], + [ + 0.9844830540832983, + 0.04458103411804878, + 0.1697222661284807, + 0.054804211568310744, + -0.996923708491057, + -0.05603229285700905, + 0.16670217340274032, + 0.06446433777991645, + -0.9838977256490633 + ], + [ + 0.9733735685079263, + 0.11666437652950094, + 0.19731527913247898, + 0.1218850967174966, + -0.992438560803251, + -0.0144819276665259, + 0.1941337665845686, + 0.03814611749254202, + -0.9802331122707156 + ], + [ + 0.9590727708598827, + 0.1603800371682494, + 0.23336165896105898, + 0.15987041535566304, + -0.9869097830060671, + 0.021225703779267573, + 0.23371108336823576, + 0.016950630809157846, + -0.9721583233331992 + ], + [ + 0.9508918989364723, + 0.19878694093129132, + 0.2372516567954139, + 0.18706995013359298, + -0.9797662590009578, + 0.07115413888371452, + 0.24659568182351574, + -0.023277238634494383, + -0.9688388616625305 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.003170490264892578, + -0.0018801838159561157, + -0.00793517380952835, + -0.01410316675901413, + 0.026305705308914185, + 0.00884152203798294, + 1.0 + ], + [ + 0.00502505898475647, + -0.01076081395149231, + 0.0016860216856002808, + -0.008334249258041382, + 0.010802537202835083, + 0.009816214442253113, + 1.0 + ], + [ + 0.006888777017593384, + -0.009943962097167969, + 0.0026406049728393555, + 0.0025610849261283875, + -0.0007670223712921143, + -0.01860792189836502, + 1.0 + ], + [ + 0.005831986665725708, + -0.015641644597053528, + -0.0010545998811721802, + -0.015617992728948593, + -0.0073931217193603516, + -0.05817638337612152, + 1.0 + ], + [ + 0.005028277635574341, + -0.022699743509292603, + -0.0019193291664123535, + -0.018959566950798035, + 0.0037776529788970947, + -0.07444081455469131, + 1.0 + ], + [ + 0.004894047975540161, + -0.02316901832818985, + -0.00031488388776779175, + 0.0035746991634368896, + 0.006621450185775757, + -0.10360453277826309, + 1.0 + ], + [ + 0.004518181085586548, + -0.01401364803314209, + -0.0058464109897613525, + 0.04145628586411476, + 0.019088417291641235, + -0.049143023788928986, + 1.0 + ], + [ + 0.0013027191162109375, + -0.006455473601818085, + -0.01644953340291977, + 0.02465326339006424, + 0.04499727487564087, + -0.0138787180185318, + 1.0 + ], + [ + 0.0062240660190582275, + -0.0014608502388000488, + -0.007200665771961212, + -0.02041669934988022, + 0.014511436223983765, + 0.000959053635597229, + 1.0 + ], + [ + 0.0010722577571868896, + -0.008928868919610977, + -0.007435135543346405, + -0.047959744930267334, + -0.0009507983922958374, + -0.04580456018447876, + 1.0 + ], + [ + 0.009466588497161865, + -0.004511736333370209, + -0.00409342534840107, + -0.01799103617668152, + 0.025083377957344055, + -0.0001493394374847412, + 1.0 + ], + [ + 0.00680115818977356, + -0.005256587639451027, + -0.0057213641703128815, + -0.02303861454129219, + 0.03952886164188385, + 0.016132265329360962, + 1.0 + ], + [ + 0.0035767853260040283, + -0.0038142129778862, + -0.004368739202618599, + 0.03475514054298401, + -0.0010764598846435547, + 0.022855818271636963, + 1.0 + ], + [ + 0.00034946203231811523, + -0.005541794002056122, + -0.001503804698586464, + 0.02360970713198185, + 0.007990449666976929, + 0.0011792033910751343, + 1.0 + ], + [ + -0.0015437901020050049, + -0.0015769097954034805, + -0.00195310078561306, + 0.015256408601999283, + 0.001719057559967041, + 0.028932809829711914, + 1.0 + ], + [ + -0.0016987025737762451, + -0.003228621557354927, + -0.0009214244782924652, + 0.014983981847763062, + 0.004401907324790955, + 0.017805159091949463, + 0.0 + ], + [ + -0.00037533044815063477, + -0.0012432914227247238, + -0.001762540079653263, + -2.7954578399658203e-05, + -0.005730420351028442, + 0.011036932468414307, + 0.0 + ], + [ + -0.0016044974327087402, + -0.004340687766671181, + -0.0011748056858778, + -0.025720734149217606, + 0.001462787389755249, + 0.022181712090969086, + 0.0 + ], + [ + -0.003108412027359009, + -0.0013567241840064526, + -0.0015406664460897446, + -0.010562218725681305, + 0.00823974609375, + 0.006490238010883331, + 0.0 + ], + [ + -0.0036101937294006348, + 0.0002661021426320076, + 0.003696529194712639, + -0.00467320904135704, + 0.005316287279129028, + 0.018430694937705994, + 0.0 + ], + [ + -0.00971996784210205, + 0.004934076685458422, + 0.0059106620028615, + -0.009744392707943916, + 0.040791913866996765, + 0.02388375997543335, + 0.0 + ], + [ + 0.0014608204364776611, + 0.0061530135571956635, + 0.02089645154774189, + -0.023258469998836517, + -0.023262903094291687, + 0.045999880880117416, + 0.0 + ], + [ + 0.0008665025234222412, + 4.038214683532715e-05, + 0.004459816962480545, + -0.003866839688271284, + -0.00015610456466674805, + 0.027834773063659668, + 0.0 + ], + [ + 0.0041255950927734375, + -0.0022621173411607742, + 0.0033314302563667297, + -0.0033650894183665514, + -0.01538558304309845, + 0.01862458512187004, + 0.0 + ], + [ + -0.0061043500900268555, + 0.0024743936955928802, + 0.021627277135849, + -0.020858146250247955, + -0.01155225932598114, + 0.010637592524290085, + 0.0 + ], + [ + -0.013786524534225464, + 0.009518081322312355, + 0.012551441788673401, + -0.016450004652142525, + -0.014197617769241333, + -0.0027527473866939545, + 0.0 + ], + [ + -0.01912754774093628, + 0.01517457515001297, + -4.155933856964111e-05, + 0.022774655371904373, + -0.00751592218875885, + -0.004205010831356049, + 0.0 + ], + [ + -0.018955618143081665, + 0.011055633425712585, + -0.0022776126861572266, + 0.0018734736368060112, + -0.012954652309417725, + -0.03426564484834671, + 0.0 + ], + [ + -0.01234850287437439, + 0.008618898689746857, + -0.005761928856372833, + -0.008776143193244934, + 0.008621454238891602, + -0.019691362977027893, + 0.0 + ], + [ + -0.0058791786432266235, + -0.0015849433839321136, + -0.00480121374130249, + -0.001874612644314766, + 0.021464571356773376, + -0.009847726672887802, + 0.0 + ], + [ + -0.0007334053516387939, + -0.0017659775912761688, + -0.002459891140460968, + 0.01687512919306755, + 0.005784884095191956, + -0.004473565146327019, + 0.0 + ], + [ + 0.0007573217153549194, + 8.97236168384552e-05, + -0.006472937762737274, + 0.017932254821062088, + 0.020053967833518982, + 0.006470073014497757, + 1.0 + ], + [ + 0.0016032904386520386, + -3.1776726245880127e-06, + -0.0013810992240905762, + 0.007475686259567738, + -0.010448157787322998, + -0.0011222269386053085, + 1.0 + ], + [ + -0.0018362998962402344, + -0.003176730126142502, + 0.002577364444732666, + -0.03975433111190796, + 0.03168134391307831, + -0.004339633509516716, + 1.0 + ], + [ + -1.1578202247619629e-05, + 0.0020234212279319763, + 0.004088155925273895, + -0.024252301082015038, + 0.00845424085855484, + 0.010533483698964119, + 1.0 + ], + [ + 0.008580982685089111, + 0.0024868734180927277, + 0.00995984673500061, + -0.017668914049863815, + -0.02134624868631363, + 0.040962252765893936, + 1.0 + ], + [ + 0.011109113693237305, + 0.0027207694947719574, + 0.011454582214355469, + -0.003006327897310257, + -0.032113343477249146, + 0.03818890452384949, + 1.0 + ], + [ + 0.01010701060295105, + 0.009929105639457703, + -0.0020758509635925293, + 0.026530109345912933, + -0.027890250086784363, + 0.06896024197340012, + 1.0 + ], + [ + 0.007020235061645508, + 0.01566227525472641, + -0.006710663437843323, + 0.02146141231060028, + -0.0405183881521225, + 0.040603138506412506, + 1.0 + ], + [ + 0.0019669532775878906, + 0.02843637764453888, + -0.00377868115901947, + 0.04145560413599014, + -0.013273149728775024, + 0.029076367616653442, + 1.0 + ], + [ + -0.0009967684745788574, + 0.03351777791976929, + -0.0018866509199142456, + 0.013129418715834618, + -0.01606069505214691, + 0.04459217190742493, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9665181636810303 + ], + [ + 0.7250383496284485 + ], + [ + 0.505268931388855 + ], + [ + 0.4985305666923523 + ], + [ + 0.4985305666923523 + ], + [ + 0.4985305666923523 + ], + [ + 0.4985305666923523 + ], + [ + 0.4985305666923523 + ], + [ + 0.4985305666923523 + ], + [ + 0.4985305666923523 + ], + [ + 0.4985305666923523 + ], + [ + 0.4985305666923523 + ], + [ + 0.4985305666923523 + ], + [ + 0.4985305666923523 + ], + [ + 0.4985305666923523 + ], + [ + 0.4985305666923523 + ], + [ + 0.5650128126144409 + ], + [ + 0.8472316861152649 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.277348130941391, + 0.14933812618255615, + 0.07084912806749344 + ], + [ + 0.28237318992614746, + 0.13857731223106384, + 0.07253514975309372 + ], + [ + 0.28926196694374084, + 0.12863335013389587, + 0.07517575472593307 + ], + [ + 0.29509395360946655, + 0.11299170553684235, + 0.0741211548447609 + ], + [ + 0.3001222312450409, + 0.09029196202754974, + 0.07220182567834854 + ], + [ + 0.30501627922058105, + 0.0671229436993599, + 0.07188694179058075 + ], + [ + 0.3095344603061676, + 0.053109295666217804, + 0.0660405308008194 + ], + [ + 0.31083717942237854, + 0.04665382206439972, + 0.04959099739789963 + ], + [ + 0.31706124544143677, + 0.04519297182559967, + 0.042390331625938416 + ], + [ + 0.31813350319862366, + 0.03626410290598869, + 0.03495519608259201 + ], + [ + 0.3276000916957855, + 0.031752366572618484, + 0.03086177073419094 + ], + [ + 0.3344012498855591, + 0.026495778933167458, + 0.02514040656387806 + ], + [ + 0.3379780352115631, + 0.022681565955281258, + 0.02077166736125946 + ], + [ + 0.3383274972438812, + 0.017139771953225136, + 0.019267862662672997 + ], + [ + 0.3367837071418762, + 0.015562862157821655, + 0.017314761877059937 + ], + [ + 0.3350850045681, + 0.012334240600466728, + 0.01639333739876747 + ], + [ + 0.33470967411994934, + 0.011090949177742004, + 0.014630797319114208 + ], + [ + 0.3331051766872406, + 0.006750261411070824, + 0.013455991633236408 + ], + [ + 0.3299967646598816, + 0.005393537227064371, + 0.011915325187146664 + ], + [ + 0.32638657093048096, + 0.005659639369696379, + 0.015611854381859303 + ], + [ + 0.3166666030883789, + 0.0105937160551548, + 0.021522516384720802 + ], + [ + 0.31812742352485657, + 0.016746729612350464, + 0.04241896793246269 + ], + [ + 0.3189939260482788, + 0.01678711175918579, + 0.04687878489494324 + ], + [ + 0.32311952114105225, + 0.014524994418025017, + 0.05021021515130997 + ], + [ + 0.3170151710510254, + 0.016999388113617897, + 0.07183749228715897 + ], + [ + 0.3032286465167999, + 0.026517469435930252, + 0.08438893407583237 + ], + [ + 0.28410109877586365, + 0.04169204458594322, + 0.08434737473726273 + ], + [ + 0.265145480632782, + 0.05274767801165581, + 0.0820697620511055 + ], + [ + 0.2527969777584076, + 0.061366576701402664, + 0.07630783319473267 + ], + [ + 0.24691779911518097, + 0.05978163331747055, + 0.07150661945343018 + ], + [ + 0.24618439376354218, + 0.05801565572619438, + 0.06904672831296921 + ], + [ + 0.2469417154788971, + 0.05810537934303284, + 0.06257379055023193 + ], + [ + 0.24854500591754913, + 0.05810220167040825, + 0.06119269132614136 + ], + [ + 0.2467087060213089, + 0.05492547154426575, + 0.06377005577087402 + ], + [ + 0.24669712781906128, + 0.05694889277219772, + 0.06785821169614792 + ], + [ + 0.2552781105041504, + 0.05943576619029045, + 0.07781805843114853 + ], + [ + 0.2663872241973877, + 0.06215653568506241, + 0.089272640645504 + ], + [ + 0.27649423480033875, + 0.07208564132452011, + 0.08719678968191147 + ], + [ + 0.28351446986198425, + 0.08774791657924652, + 0.08048612624406815 + ], + [ + 0.28548142313957214, + 0.1161842942237854, + 0.07670744508504868 + ], + [ + 0.2844846546649933, + 0.1497020721435547, + 0.07482079416513443 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9381291646038052, + 0.1441989858858053, + 0.3148338021707195, + 0.11422169661593803, + -0.9871471493029466, + 0.11177615866204516, + 0.3269052990423114, + -0.06889962331226065, + -0.9425421833347755 + ], + [ + 0.9404091836688413, + 0.15060701566398746, + 0.30487389869270753, + 0.12387891575637319, + -0.9866934409846466, + 0.10530939060170928, + 0.3166774092074287, + -0.06126647003594558, + -0.9465526071735293 + ], + [ + 0.9423097298983937, + 0.13305548164375544, + 0.30716219126605554, + 0.10633215113110558, + -0.9890610915159295, + 0.10223321811011392, + 0.3174048622416618, + -0.06367413960052122, + -0.9461499655823516 + ], + [ + 0.944529066544662, + 0.07079234112725034, + 0.320707478693579, + 0.0512345034366195, + -0.9962982266397201, + 0.06902803236477001, + 0.3244069483070183, + -0.04876769455563519, + -0.9446596444528874 + ], + [ + 0.946942163054306, + -0.00977704719620268, + 0.32125527105116153, + -0.019178657366279217, + -0.9994749889564299, + 0.02611370429814568, + 0.3208312935666639, + -0.030889412404047984, + -0.9466325185993103 + ], + [ + 0.941968549333874, + -0.1121624553454053, + 0.3164092850671854, + -0.11726777671570184, + -0.9930960237033434, + -0.0029251066245764186, + 0.314552890004199, + -0.03434925494823439, + -0.9486182625664065 + ], + [ + 0.9408147423962314, + -0.14897025048059948, + 0.3044264853156842, + -0.16440248586340245, + -0.9860623620057626, + 0.02555075101734673, + 0.2963771973884746, + -0.07408699418497237, + -0.9521930865957751 + ], + [ + 0.9505921669472546, + -0.15942008208635242, + 0.2663827501286514, + -0.17974082928551885, + -0.9822544925322234, + 0.05356627845966387, + 0.2531161125378566, + -0.09879954113175289, + -0.9623777243088486 + ], + [ + 0.9542736593812603, + -0.16501280159751758, + 0.2492640333462418, + -0.17948918834354627, + -0.983088312140202, + 0.03634558846824962, + 0.23905107044075963, + -0.0794238367385175, + -0.9677532949460105 + ], + [ + 0.944832583388578, + -0.22159944400798162, + 0.24121582821742654, + -0.22294343568413558, + -0.9745816243872282, + -0.022065400338657153, + 0.23997419413891014, + -0.0329293762787107, + -0.9702206152856553 + ], + [ + 0.9503597306942587, + -0.22642730763317362, + 0.21341756402116577, + -0.2243974592498277, + -0.973903761744104, + -0.03401827660105373, + 0.21555083520357363, + -0.015560758936376816, + -0.9763686292709153 + ], + [ + 0.961431625903265, + -0.21529085451221522, + 0.17116973060796833, + -0.2106976786745736, + -0.976524950450661, + -0.04478291357739393, + 0.17679286443222306, + 0.00699064451494822, + -0.9842232541324734 + ], + [ + 0.9658084241725077, + -0.1867901997782373, + 0.17978739962584517, + -0.18863366480992316, + -0.9820229801478682, + -0.006943123351698582, + 0.17785226537155696, + -0.02720822905493004, + -0.9836809868925491 + ], + [ + 0.9673944221964003, + -0.18173160886980036, + 0.17641330516967016, + -0.18775943012842225, + -0.9820508981583389, + 0.01795633103532845, + 0.16998361186050673, + -0.050494116132417555, + -0.9841523845090571 + ], + [ + 0.9727081060562718, + -0.15065703987699078, + 0.1764692515650349, + -0.1597424322024499, + -0.9864123754039349, + 0.03837943464946146, + 0.16828932160558036, + -0.06552161464333278, + -0.9835576354480017 + ], + [ + 0.9761215847572889, + -0.130772148121319, + 0.1734511373460967, + -0.14250443881008584, + -0.9881542453913292, + 0.05695324604019558, + 0.16394857940934163, + -0.08031084977030414, + -0.9831942995760453 + ], + [ + 0.9766877852420142, + -0.11940732591653772, + 0.1783896316395962, + -0.13159497795936057, + -0.9896004013507566, + 0.058084485211601776, + 0.169598738011002, + -0.08020558686203298, + -0.9822440286920519 + ], + [ + 0.9796117702232838, + -0.10202988182557214, + 0.17306265586389175, + -0.10992732224754283, + -0.9932635227459664, + 0.03665457960143268, + 0.1681569607940418, + -0.054931571950315373, + -0.9842285095137095 + ], + [ + 0.9816491963522421, + -0.09776643314730839, + 0.16372715062154436, + -0.1037091932156541, + -0.9942097799786936, + 0.028130350820342515, + 0.16002893033309673, + -0.04459414697435411, + -0.9861045094269036 + ], + [ + 0.9842274510435653, + -0.08040046050111486, + 0.1575820121825298, + -0.08567269256065659, + -0.995958945681619, + 0.026943798287643372, + 0.1547789209217247, + -0.04001930119288273, + -0.9871382583865038 + ], + [ + 0.9914719932472081, + -0.059359836809149455, + 0.11601593158010177, + -0.062488778052474644, + -0.9977685316422985, + 0.02351828824297335, + 0.11436100394765812, + -0.03056741792108324, + -0.992968878534328 + ], + [ + 0.9903681663811854, + -0.015909058291839164, + 0.13754198225645745, + -0.016781543081626302, + -0.9998457303567865, + 0.005186067788193451, + 0.13743825824918007, + -0.0074442831468907, + -0.9904823611846203 + ], + [ + 0.9904301196986628, + 0.011393377367683196, + 0.13754406183419798, + 0.010787837290002295, + -0.999928561984734, + 0.0051471830884536, + 0.13759287975871626, + -0.0036141222031346905, + -0.9904822752378782 + ], + [ + 0.9878243193755921, + 0.02955528246628518, + 0.15274030027627442, + 0.02916531755847692, + -0.9995631078861863, + 0.004793496075065516, + 0.15281524237412178, + -0.00028041263624650195, + -0.9882547359192831 + ], + [ + 0.9856283978653047, + 0.03675874016672731, + 0.16488012719193054, + 0.03959802931651557, + -0.9991180927127089, + -0.013965417586545039, + 0.16422136704984688, + 0.020293640271603224, + -0.9862147386694268 + ], + [ + 0.9833044767060567, + 0.030774758358148833, + 0.17934664852688348, + 0.03679380001690742, + -0.9988624774465421, + -0.03033096486549525, + 0.17820920955479197, + 0.03642341825465634, + -0.9833182659914859 + ], + [ + 0.9820840681410206, + 0.030543392535337964, + 0.18595156432796048, + 0.03261330406790392, + -0.999435367473267, + -0.008081994886802165, + 0.1855997184840478, + 0.014001693326455768, + -0.9825256724801822 + ], + [ + 0.9801381088417285, + -0.003523819243238295, + 0.19828482113893867, + -0.0010483408266548525, + -0.9999202178024887, + -0.012588050338898147, + 0.19831335955419413, + 0.012130157779866207, + -0.980063605433119 + ], + [ + 0.9816003902865797, + -0.024769558844456002, + 0.18933341687057054, + -0.020381882897433763, + -0.9994774814607531, + -0.025086707684050424, + 0.1898558733323505, + 0.020766150522442257, + -0.9815923361323119 + ], + [ + 0.9851989759161752, + -0.03447919048322475, + 0.1679111767493194, + -0.030165055827136626, + -0.9991477017470454, + -0.028176932064068363, + 0.1687395841545943, + 0.022694834593336363, + -0.9853993592559901 + ], + [ + 0.9860132232958584, + -0.03607673129565571, + 0.16271568131170747, + -0.03460575053563221, + -0.9993305909289185, + -0.011866425895126095, + 0.16303485981708846, + 0.006069554570146341, + -0.9866016394633361 + ], + [ + 0.9892861213847498, + -0.026919852074058722, + 0.14348620700202908, + -0.028313346082158918, + -0.9995696062246205, + 0.007678329609309444, + 0.1432177519344241, + -0.011658639554772164, + -0.9896225298842897 + ], + [ + 0.9877040564714351, + -0.02676922195413559, + 0.15402631458891042, + -0.029377439533726128, + -0.9994605550148934, + 0.01468213253458702, + 0.1535501966013526, + -0.019026500605501227, + -0.9879576556707248 + ], + [ + 0.9919327357736544, + -0.03656298076918758, + 0.12137790630038774, + -0.03381222970053393, + -0.9991242655908037, + -0.024646197076129937, + 0.12217274992105244, + 0.020343312043743615, + -0.9923003420496331 + ], + [ + 0.9932309807106501, + -0.028603308560059305, + 0.11257917079095192, + -0.0233855169103191, + -0.9986022625701045, + -0.04739872138259878, + 0.11377757492316956, + 0.04444515642098794, + -0.9925116077484014 + ], + [ + 0.9907009984538432, + 0.008969656762094418, + 0.1357611023825626, + 0.017261451281834, + -0.9980477339914477, + -0.060023020368701434, + 0.13495767470656603, + 0.06180829986423255, + -0.9889217158631365 + ], + [ + 0.9844830540832983, + 0.04458103411804878, + 0.1697222661284807, + 0.054804211568310744, + -0.996923708491057, + -0.05603229285700905, + 0.16670217340274032, + 0.06446433777991645, + -0.9838977256490633 + ], + [ + 0.9733735685079263, + 0.11666437652950094, + 0.19731527913247898, + 0.1218850967174966, + -0.992438560803251, + -0.0144819276665259, + 0.1941337665845686, + 0.03814611749254202, + -0.9802331122707156 + ], + [ + 0.9590727708598827, + 0.1603800371682494, + 0.23336165896105898, + 0.15987041535566304, + -0.9869097830060671, + 0.021225703779267573, + 0.23371108336823576, + 0.016950630809157846, + -0.9721583233331992 + ], + [ + 0.9508918989364723, + 0.19878694093129132, + 0.2372516567954139, + 0.18706995013359298, + -0.9797662590009578, + 0.07115413888371452, + 0.24659568182351574, + -0.023277238634494383, + -0.9688388616625305 + ], + [ + 0.937638215289804, + 0.24587455169777628, + 0.24572399568533965, + 0.2283057776682944, + -0.9686387118169256, + 0.09805874694754252, + 0.2621279250889279, + -0.03584342055474618, + -0.9643672537428409 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005718.json b/json/chunk-0005/episode_0005718.json new file mode 100644 index 0000000000000000000000000000000000000000..76113a47d2736bbdb8d2a14ca70103dc114aac60 --- /dev/null +++ b/json/chunk-0005/episode_0005718.json @@ -0,0 +1,2302 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 37, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut the cube with a hole on top of the cube." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005718.mp4", + "start": 0, + "end": 37, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3309836983680725, + 0.038156233727931976, + 0.059511952102184296, + 0.07157368957996368, + -0.011712451465427876, + -0.14245207607746124, + 0.0, + 1.0008161067962646 + ], + [ + 0.3276922404766083, + 0.03810182213783264, + 0.04835839569568634, + 0.06483647227287292, + 0.0240780059248209, + -0.13704228401184082, + 0.0, + 1.0008161067962646 + ], + [ + 0.32309696078300476, + 0.04183553531765938, + 0.046828508377075195, + 0.09071499854326248, + 0.05411195382475853, + -0.06516959518194199, + 0.0, + 1.0008161067962646 + ], + [ + 0.3216596245765686, + 0.04595327004790306, + 0.04705972969532013, + 0.1688133329153061, + 0.045596957206726074, + 0.06030797213315964, + 0.0, + 1.0008161067962646 + ], + [ + 0.3204520344734192, + 0.0500088669359684, + 0.04660988971590996, + 0.1635427176952362, + 0.047391075640916824, + 0.07715441286563873, + 0.0, + 1.0008161067962646 + ], + [ + 0.3217918276786804, + 0.06545227020978928, + 0.04509365186095238, + 0.08235861361026764, + 0.026465874165296555, + 0.019249074161052704, + 0.0, + 1.0008161067962646 + ], + [ + 0.32604366540908813, + 0.07457514107227325, + 0.038453977555036545, + -0.031407423317432404, + -0.06192684546113014, + -0.02048618160188198, + 0.0, + 1.0008161067962646 + ], + [ + 0.314493864774704, + 0.08519826829433441, + 0.02794153057038784, + -0.07449893653392792, + -0.06755045056343079, + 0.033243972808122635, + 0.0, + 1.0008161067962646 + ], + [ + 0.3118239641189575, + 0.08765912055969238, + 0.025328930467367172, + -0.08284526318311691, + -0.06990759819746017, + 0.05489300936460495, + 0.0, + 1.0008161067962646 + ], + [ + 0.31238889694213867, + 0.08502580970525742, + 0.025202278047800064, + -0.07638566941022873, + -0.06567003577947617, + 0.06153889000415802, + 0.0, + 1.0008161067962646 + ], + [ + 0.31527236104011536, + 0.07928086817264557, + 0.02498999796807766, + -0.054460883140563965, + -0.06705302745103836, + 0.06740929186344147, + 0.0, + 1.0008161067962646 + ], + [ + 0.31384941935539246, + 0.07392492890357971, + 0.021962683647871017, + -0.04023260250687599, + -0.051933109760284424, + 0.10725772380828857, + 0.0, + 1.0008161067962646 + ], + [ + 0.31727656722068787, + 0.07101019471883774, + 0.013457171618938446, + -0.021881548687815666, + -0.016409358009696007, + 0.1271495670080185, + 0.0, + 1.0008161067962646 + ], + [ + 0.3255375325679779, + 0.0737772136926651, + 0.009869720786809921, + 0.005789065267890692, + 0.02645745873451233, + 0.158622145652771, + 0.0, + 1.0008161067962646 + ], + [ + 0.32420021295547485, + 0.0742252916097641, + 0.00650577200576663, + 0.006192879751324654, + 0.0540182925760746, + 0.173197939991951, + 0.0, + 0.9643021821975708 + ], + [ + 0.32643193006515503, + 0.07241407036781311, + 0.0062111481092870235, + -0.012480318546295166, + 0.04354935139417648, + 0.13660043478012085, + 0.0, + 0.6631406545639038 + ], + [ + 0.32912424206733704, + 0.06586870551109314, + 0.008756984956562519, + -0.044092584401369095, + 0.04184752330183983, + 0.04689885303378105, + 0.0, + 0.5819184184074402 + ], + [ + 0.3489685356616974, + 0.03199339285492897, + 0.05177490785717964, + -0.01524275541305542, + -0.03420211747288704, + -0.2122839391231537, + 0.0, + 0.5819184184074402 + ], + [ + 0.3633263409137726, + -0.01788213662803173, + 0.10232166945934296, + 0.0616336353123188, + -0.12038115411996841, + -0.47614234685897827, + 0.0, + 0.5809218287467957 + ], + [ + 0.35130590200424194, + -0.04832620546221733, + 0.11968878656625748, + 0.08612769097089767, + -0.06752892583608627, + -0.6471617817878723, + 0.0, + 0.5819184184074402 + ], + [ + 0.34780052304267883, + -0.05734260007739067, + 0.12957727909088135, + 0.09051181375980377, + -0.08857682347297668, + -0.6907103061676025, + 0.0, + 0.5809218287467957 + ], + [ + 0.34046000242233276, + -0.06308829039335251, + 0.13624128699302673, + 0.07672138512134552, + -0.11522502452135086, + -0.7143786549568176, + 0.0, + 0.5809218287467957 + ], + [ + 0.3392917811870575, + -0.06386443972587585, + 0.1366366147994995, + 0.0754072442650795, + -0.11037059873342514, + -0.7469150424003601, + 0.0, + 0.5809218287467957 + ], + [ + 0.3283180296421051, + -0.07026727497577667, + 0.12476206570863724, + 0.027069680392742157, + -0.048161715269088745, + -0.7487802505493164, + 0.0, + 0.5809218287467957 + ], + [ + 0.31660568714141846, + -0.07725812494754791, + 0.1032131016254425, + -0.07615641504526138, + 0.045274436473846436, + -0.6866341233253479, + 0.0, + 0.5809218287467957 + ], + [ + 0.30958425998687744, + -0.08160169422626495, + 0.10414950549602509, + -0.1266346573829651, + 0.060549523681402206, + -0.7023672461509705, + 0.0, + 0.5809218287467957 + ], + [ + 0.3055574893951416, + -0.08070241659879684, + 0.09926988184452057, + -0.13453975319862366, + 0.07534084469079971, + -0.7040504813194275, + 0.0, + 0.5809218287467957 + ], + [ + 0.3045257031917572, + -0.07602792233228683, + 0.09571125358343124, + -0.13009876012802124, + 0.08427293598651886, + -0.6791805028915405, + 0.0, + 0.5819184184074402 + ], + [ + 0.3061195909976959, + -0.06936035305261612, + 0.08694823831319809, + -0.1025550439953804, + 0.12578140199184418, + -0.6584691405296326, + 0.0, + 0.5819184184074402 + ], + [ + 0.31100714206695557, + -0.06549344211816788, + 0.0842219740152359, + -0.0012068991782143712, + 0.15021687746047974, + -0.6623574495315552, + 0.0, + 0.5809218287467957 + ], + [ + 0.3107050955295563, + -0.06672889739274979, + 0.08036038279533386, + 0.0017380159115418792, + 0.1628730446100235, + -0.6666982173919678, + 0.0, + 0.5819184184074402 + ], + [ + 0.3101167678833008, + -0.06656266748905182, + 0.08033475279808044, + 0.00014734891010448337, + 0.16853217780590057, + -0.6620270013809204, + 0.0, + 0.649078905582428 + ], + [ + 0.3096041679382324, + -0.06807801127433777, + 0.0793086364865303, + -0.015461171977221966, + 0.1816345453262329, + -0.656234085559845, + 0.0, + 0.9437892436981201 + ], + [ + 0.30960848927497864, + -0.06838594377040863, + 0.07552137225866318, + -0.011427748017013073, + 0.1711316704750061, + -0.6472265720367432, + 0.0, + 1.0092895030975342 + ], + [ + 0.3091091513633728, + -0.06826883554458618, + 0.07646002620458603, + -0.005797143559902906, + 0.16704948246479034, + -0.6237602233886719, + 0.0, + 1.003452181816101 + ], + [ + 0.3155691921710968, + -0.07906768471002579, + 0.1257593333721161, + 0.09250283986330032, + 0.04929991066455841, + -0.6516115665435791, + 0.0, + 1.0008161067962646 + ], + [ + 0.31575915217399597, + -0.08105885237455368, + 0.16014960408210754, + 0.16187644004821777, + -0.03470534458756447, + -0.6385398507118225, + 0.0, + 1.0008161067962646 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9643021821975708 + ], + [ + 0.6631406545639038 + ], + [ + 0.5819184184074402 + ], + [ + 0.5819184184074402 + ], + [ + 0.5809218287467957 + ], + [ + 0.5819184184074402 + ], + [ + 0.5809218287467957 + ], + [ + 0.5809218287467957 + ], + [ + 0.5809218287467957 + ], + [ + 0.5809218287467957 + ], + [ + 0.5809218287467957 + ], + [ + 0.5809218287467957 + ], + [ + 0.5809218287467957 + ], + [ + 0.5819184184074402 + ], + [ + 0.5819184184074402 + ], + [ + 0.5809218287467957 + ], + [ + 0.5819184184074402 + ], + [ + 0.649078905582428 + ], + [ + 0.9437892436981201 + ], + [ + 1.0092895030975342 + ], + [ + 1.003452181816101 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3309836983680725, + 0.038156233727931976, + 0.059511952102184296 + ], + [ + 0.3276922404766083, + 0.03810182213783264, + 0.04835839569568634 + ], + [ + 0.32309696078300476, + 0.04183553531765938, + 0.046828508377075195 + ], + [ + 0.3216596245765686, + 0.04595327004790306, + 0.04705972969532013 + ], + [ + 0.3204520344734192, + 0.0500088669359684, + 0.04660988971590996 + ], + [ + 0.3217918276786804, + 0.06545227020978928, + 0.04509365186095238 + ], + [ + 0.32604366540908813, + 0.07457514107227325, + 0.038453977555036545 + ], + [ + 0.314493864774704, + 0.08519826829433441, + 0.02794153057038784 + ], + [ + 0.3118239641189575, + 0.08765912055969238, + 0.025328930467367172 + ], + [ + 0.31238889694213867, + 0.08502580970525742, + 0.025202278047800064 + ], + [ + 0.31527236104011536, + 0.07928086817264557, + 0.02498999796807766 + ], + [ + 0.31384941935539246, + 0.07392492890357971, + 0.021962683647871017 + ], + [ + 0.31727656722068787, + 0.07101019471883774, + 0.013457171618938446 + ], + [ + 0.3255375325679779, + 0.0737772136926651, + 0.009869720786809921 + ], + [ + 0.32420021295547485, + 0.0742252916097641, + 0.00650577200576663 + ], + [ + 0.32643193006515503, + 0.07241407036781311, + 0.0062111481092870235 + ], + [ + 0.32912424206733704, + 0.06586870551109314, + 0.008756984956562519 + ], + [ + 0.3489685356616974, + 0.03199339285492897, + 0.05177490785717964 + ], + [ + 0.3633263409137726, + -0.01788213662803173, + 0.10232166945934296 + ], + [ + 0.35130590200424194, + -0.04832620546221733, + 0.11968878656625748 + ], + [ + 0.34780052304267883, + -0.05734260007739067, + 0.12957727909088135 + ], + [ + 0.34046000242233276, + -0.06308829039335251, + 0.13624128699302673 + ], + [ + 0.3392917811870575, + -0.06386443972587585, + 0.1366366147994995 + ], + [ + 0.3283180296421051, + -0.07026727497577667, + 0.12476206570863724 + ], + [ + 0.31660568714141846, + -0.07725812494754791, + 0.1032131016254425 + ], + [ + 0.30958425998687744, + -0.08160169422626495, + 0.10414950549602509 + ], + [ + 0.3055574893951416, + -0.08070241659879684, + 0.09926988184452057 + ], + [ + 0.3045257031917572, + -0.07602792233228683, + 0.09571125358343124 + ], + [ + 0.3061195909976959, + -0.06936035305261612, + 0.08694823831319809 + ], + [ + 0.31100714206695557, + -0.06549344211816788, + 0.0842219740152359 + ], + [ + 0.3107050955295563, + -0.06672889739274979, + 0.08036038279533386 + ], + [ + 0.3101167678833008, + -0.06656266748905182, + 0.08033475279808044 + ], + [ + 0.3096041679382324, + -0.06807801127433777, + 0.0793086364865303 + ], + [ + 0.30960848927497864, + -0.06838594377040863, + 0.07552137225866318 + ], + [ + 0.3091091513633728, + -0.06826883554458618, + 0.07646002620458603 + ], + [ + 0.3155691921710968, + -0.07906768471002579, + 0.1257593333721161 + ], + [ + 0.31575915217399597, + -0.08105885237455368, + 0.16014960408210754 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9898029540819571, + -0.14077820461306234, + 0.02171656502658865, + -0.14196103988105202, + -0.9874553900221438, + 0.06912970325487121, + 0.0117121836786168, + -0.07150769065029962, + -0.9973712823875267 + ], + [ + 0.9903372497130695, + -0.13787194899905011, + -0.01494849524055867, + -0.1365741318464376, + -0.9883298427397402, + 0.06746575768812112, + -0.02407567945345601, + -0.06477227515877233, + -0.9976096000087463 + ], + [ + 0.9964166259387623, + -0.0697449444475769, + -0.04784924531084128, + -0.06502815406164167, + -0.9934550753942177, + 0.09390608261877732, + -0.05408555012337443, + -0.09045803390232209, + -0.9944305392386029 + ], + [ + 0.9971445537285925, + 0.051770363707672275, + -0.05497789020125963, + 0.06020877780595956, + -0.9844542755439645, + 0.16499903768907492, + -0.04558115887643733, + -0.16783804337748787, + -0.9847602495789001 + ], + [ + 0.995905667708707, + 0.06835928395512722, + -0.05915157920813882, + 0.07699134917960401, + -0.9843159472431519, + 0.15872759103042233, + -0.04737333825242554, + -0.16263186741828617, + -0.9855489041761765 + ], + [ + 0.9994646063640652, + 0.01700607176332283, + -0.02795163946363824, + 0.019241144841589005, + -0.9964677183646169, + 0.08174267308083269, + -0.026462784636343495, + -0.08223673011736063, + -0.9962614321797744 + ], + [ + 0.9978737133499592, + -0.022417638584961236, + 0.06120050396391772, + -0.02044548239892896, + -0.9992572863622989, + -0.03266279077680805, + 0.06188727215380024, + 0.03134206649422639, + -0.9975909183694651 + ], + [ + 0.9971680659072529, + 0.028124471674396846, + 0.06974856577611278, + 0.033162045442804974, + -0.9968422257143537, + -0.0721516165785838, + 0.06749908945191795, + 0.074260293063586, + -0.9949518992379844 + ], + [ + 0.9960548949416491, + 0.048905799756598214, + 0.0740463977040601, + 0.054731434750007316, + -0.9953863486301878, + -0.07880664318994766, + 0.06985067152852584, + 0.08254840828768022, + -0.9941361294994687 + ], + [ + 0.9959556582045839, + 0.05632243111905325, + 0.07000079030349171, + 0.06136749221093591, + -0.9955046109370801, + -0.07214291720434829, + 0.06562284503139618, + 0.0761469195427644, + -0.9949348163845373 + ], + [ + 0.9954867455572708, + 0.06361944052565606, + 0.07041808153447737, + 0.06720688373788884, + -0.9964952646482331, + -0.04980383832487047, + 0.06700279246446139, + 0.054311640749018564, + -0.9962734923107781 + ], + [ + 0.9929129294851572, + 0.10488965697435, + 0.05587552524143825, + 0.10690785934237852, + -0.993672345421919, + -0.03443805387261467, + 0.05190976856077883, + 0.0401675217496187, + -0.9978436481355486 + ], + [ + 0.9917938347765838, + 0.12642076330621685, + 0.019046781991506206, + 0.12679016695408582, + -0.9917354454378879, + -0.01962294131543884, + 0.016408621603093868, + 0.021876856885476095, + -0.9996260102007645 + ], + [ + 0.987100279001078, + 0.15780393094934914, + -0.02703624554050671, + 0.15790251863112315, + -0.9874535077299067, + 0.0015377522071064937, + -0.02645437215171296, + -0.005787006897844825, + -0.9996332711275784 + ], + [ + 0.9836018829696177, + 0.17200065344245602, + -0.05425044731604569, + 0.17208194843241326, + -0.9850774262692819, + -0.003204259414014853, + -0.05399202572905724, + -0.006183807084326991, + -0.9985222189253563 + ], + [ + 0.9897453681863919, + 0.13670366842111054, + -0.04142720354784534, + 0.1360468992878494, + -0.990533518855755, + -0.018291780049992858, + -0.04353558714138698, + 0.012468161991513727, + -0.998974072530818 + ], + [ + 0.9980259331570082, + 0.04867809902036577, + -0.03968223055533009, + 0.04684061861771496, + -0.9978431473474573, + -0.04598923503636853, + -0.041835310368069235, + 0.04403970898500623, + -0.9981534505470204 + ], + [ + 0.9769805473596959, + -0.21117815400002693, + 0.03021253636969243, + -0.21056989647661573, + -0.9773288777770136, + -0.02210392184547116, + 0.034195449676476176, + 0.015233251007722232, + -0.9992990639869325 + ], + [ + 0.8823376181922686, + -0.4509095565904899, + 0.13476238087152462, + -0.4550368913700432, + -0.8904725650180418, + -0.00019606753051260722, + 0.12009061168585007, + -0.061148857107527016, + -0.9908779250035604 + ], + [ + 0.7959798899110382, + -0.5960588262729504, + 0.10549829609678103, + -0.6015503191696613, + -0.7983407247511075, + 0.028094496093625597, + 0.06747761379961466, + -0.08582518759658428, + -0.9940225393872721 + ], + [ + 0.767771893451631, + -0.6283138561898912, + 0.1254911062405861, + -0.6345872388061949, + -0.7727325478389225, + 0.013544218497070978, + 0.0884610421034399, + -0.0900339248847672, + -0.9920022864892084 + ], + [ + 0.750490689927123, + -0.6465634172273731, + 0.13681912087121811, + -0.6508037891725993, + -0.7590512290210182, + -0.017194758511504864, + 0.1149702236724714, + -0.07613789611582306, + -0.9904468024299731 + ], + [ + 0.7293233631171887, + -0.6713586833077181, + 0.13177613728881377, + -0.6752445090699688, + -0.7373404180493558, + -0.019338068198707207, + 0.11014665216106218, + -0.07487740819585118, + -0.9910908579739708 + ], + [ + 0.7316703586791993, + -0.6795418605319841, + 0.0536781707492071, + -0.6799564164685006, + -0.7331384378932628, + -0.012934550117464881, + 0.04814309850400781, + -0.027034989701415546, + -0.9984745121425371 + ], + [ + 0.7725916516317919, + -0.6294371007758465, + -0.08313288155571248, + -0.633288058764275, + -0.7733254151500291, + -0.030233043340208442, + -0.04525897099399824, + 0.07600485806796475, + -0.9960797594041515 + ], + [ + 0.7619162014090205, + -0.6350197703452339, + -0.1274111192209512, + -0.6448425664246605, + -0.762140079777972, + -0.05762432926189997, + -0.06051253223346658, + 0.12606502316944604, + -0.9901746529658194 + ], + [ + 0.7600642602020334, + -0.6337651263993735, + -0.14368049597464963, + -0.6454740965142343, + -0.7618738115352355, + -0.053958187755937616, + -0.07526958942805645, + 0.13375372838451322, + -0.9881520272966976 + ], + [ + 0.7753264249741438, + -0.6143504136673685, + -0.14643259187607985, + -0.6259263563265169, + -0.7783716369580189, + -0.04851588641985442, + -0.08417322135111314, + 0.12927166745279994, + -0.9880302145184373 + ], + [ + 0.7846815100735255, + -0.5985338055106028, + -0.16134500739015148, + -0.6070726687382487, + -0.7946329405417027, + -0.004611363905355673, + -0.12545000047729202, + 0.10156659621668475, + -0.9868872903798107 + ], + [ + 0.7796645643333129, + -0.6148346420538806, + -0.11874986338275036, + -0.6080520332017403, + -0.7886551457687472, + 0.09108120537029524, + -0.14965257111782326, + 0.0011933075683260227, + -0.988737924818742 + ], + [ + 0.7754671688661078, + -0.6186151419728625, + -0.12635654368760973, + -0.6102104431509796, + -0.7856922838182062, + 0.10164079012884912, + -0.16215389320108492, + -0.001715013243890423, + -0.9867639908556173 + ], + [ + 0.7775728689590045, + -0.6147363943910292, + -0.13221043404353794, + -0.6060076188546594, + -0.7887326190226189, + 0.1032260702527566, + -0.16773550413961147, + -0.00014526127533426997, + -0.9858320240031732 + ], + [ + 0.7792621069464216, + -0.6078518556519915, + -0.15253422651278625, + -0.6001005523003348, + -0.7939048382982897, + 0.09795118608469879, + -0.180637470659486, + 0.015206225928764028, + -0.983432191300827 + ], + [ + 0.7861060497840077, + -0.6013843283205409, + -0.14273811034000353, + -0.5941683319722593, + -0.798880522431878, + 0.09356230095649044, + -0.17029759767620437, + 0.011260574115982983, + -0.9853283349707812 + ], + [ + 0.8003889078618033, + -0.5832992043102693, + -0.1383460676087209, + -0.5759606545250445, + -0.8122372565144862, + 0.09241192330486045, + -0.1662736317365818, + 0.005716413283498971, + -0.9860630821647772 + ], + [ + 0.7941414158500628, + -0.6074950614617323, + 0.01700476201727221, + -0.6057317053628071, + -0.7889474470830558, + 0.10320381223285548, + -0.049279942673701775, + -0.09225874506373484, + -0.9945148622365286 + ], + [ + 0.8024833744266651, + -0.5837410939814227, + 0.1235587672573858, + -0.5956647180449637, + -0.7958025587081308, + 0.10900381291498984, + 0.03469837813510753, + -0.16107334587374794, + -0.9863322968471777 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0032914578914642334, + -5.441159009933472e-05, + -0.011153556406497955, + -0.006737217307090759, + 0.03579045832157135, + 0.005409792065620422, + 1.0 + ], + [ + -0.004595279693603516, + 0.0037337131798267365, + -0.001529887318611145, + 0.025878526270389557, + 0.03003394789993763, + 0.07187268882989883, + 1.0 + ], + [ + -0.0014373362064361572, + 0.004117734730243683, + 0.00023122131824493408, + 0.07809833437204361, + -0.008514996618032455, + 0.12547756731510162, + 1.0 + ], + [ + -0.001207590103149414, + 0.004055596888065338, + -0.0004498399794101715, + -0.005270615220069885, + 0.0017941184341907501, + 0.016846440732479095, + 1.0 + ], + [ + 0.0013397932052612305, + 0.015443403273820877, + -0.0015162378549575806, + -0.08118410408496857, + -0.02092520147562027, + -0.05790533870458603, + 1.0 + ], + [ + 0.004251837730407715, + 0.009122870862483978, + -0.0066396743059158325, + -0.11376603692770004, + -0.0883927196264267, + -0.039735257625579834, + 1.0 + ], + [ + -0.011549800634384155, + 0.010623127222061157, + -0.010512446984648705, + -0.043091513216495514, + -0.005623605102300644, + 0.05373015254735947, + 1.0 + ], + [ + -0.00266990065574646, + 0.002460852265357971, + -0.002612600103020668, + -0.008346326649188995, + -0.0023571476340293884, + 0.021649036556482315, + 1.0 + ], + [ + 0.0005649328231811523, + -0.002633310854434967, + -0.00012665241956710815, + 0.006459593772888184, + 0.004237562417984009, + 0.00664588063955307, + 1.0 + ], + [ + 0.0028834640979766846, + -0.005744941532611847, + -0.00021228007972240448, + 0.021924786269664764, + -0.0013829916715621948, + 0.005870401859283447, + 1.0 + ], + [ + -0.0014229416847229004, + -0.005355939269065857, + -0.003027314320206642, + 0.014228280633687973, + 0.015119917690753937, + 0.03984843194484711, + 1.0 + ], + [ + 0.00342714786529541, + -0.002914734184741974, + -0.008505512028932571, + 0.018351053819060326, + 0.03552374988794327, + 0.01989184319972992, + 1.0 + ], + [ + 0.008260965347290039, + 0.002767018973827362, + -0.0035874508321285248, + 0.027670614421367645, + 0.042866818606853485, + 0.0314725786447525, + 1.0 + ], + [ + -0.0013373196125030518, + 0.000448077917098999, + -0.003363948781043291, + 0.00040381448343396187, + 0.02756083384156227, + 0.014575794339179993, + 0.0 + ], + [ + 0.0022317171096801758, + -0.0018112212419509888, + -0.00029462389647960663, + -0.01867319829761982, + -0.010468941181898117, + -0.03659750521183014, + 0.0 + ], + [ + 0.002692312002182007, + -0.006545364856719971, + 0.0025458368472754955, + -0.03161226585507393, + -0.0017018280923366547, + -0.0897015780210495, + 0.0 + ], + [ + 0.01984429359436035, + -0.03387531265616417, + 0.0430179238319397, + 0.028849828988313675, + -0.07604964077472687, + -0.25918278098106384, + 0.0 + ], + [ + 0.014357805252075195, + -0.04987552762031555, + 0.050546761602163315, + 0.07687638700008392, + -0.08617903292179108, + -0.2638584077358246, + 0.0 + ], + [ + -0.01202043890953064, + -0.0304440688341856, + 0.01736711710691452, + 0.024494055658578873, + 0.05285222828388214, + -0.17101943492889404, + 0.0 + ], + [ + -0.0035053789615631104, + -0.00901639461517334, + 0.00988849252462387, + 0.004384122788906097, + -0.02104789763689041, + -0.043548524379730225, + 0.0 + ], + [ + -0.007340520620346069, + -0.005745690315961838, + 0.006664007902145386, + -0.013790428638458252, + -0.026648201048374176, + -0.023668348789215088, + 0.0 + ], + [ + -0.0011682212352752686, + -0.000776149332523346, + 0.0003953278064727783, + -0.0013141408562660217, + 0.00485442578792572, + -0.03253638744354248, + 0.0 + ], + [ + -0.010973751544952393, + -0.006402835249900818, + -0.011874549090862274, + -0.04833756387233734, + 0.062208883464336395, + -0.0018652081489562988, + 0.0 + ], + [ + -0.011712342500686646, + -0.00699084997177124, + -0.021548964083194733, + -0.10322609543800354, + 0.09343615174293518, + 0.062146127223968506, + 0.0 + ], + [ + -0.007021427154541016, + -0.004343569278717041, + 0.0009364038705825806, + -0.050478242337703705, + 0.015275087207555771, + -0.01573312282562256, + 0.0 + ], + [ + -0.00402677059173584, + 0.0008992776274681091, + -0.004879623651504517, + -0.00790509581565857, + 0.014791321009397507, + -0.0016832351684570312, + 0.0 + ], + [ + -0.0010317862033843994, + 0.00467449426651001, + -0.003558628261089325, + 0.004440993070602417, + 0.008932091295719147, + 0.024869978427886963, + 0.0 + ], + [ + 0.0015938878059387207, + 0.006667569279670715, + -0.008763015270233154, + 0.02754371613264084, + 0.04150846600532532, + 0.02071136236190796, + 0.0 + ], + [ + 0.0048875510692596436, + 0.003866910934448242, + -0.0027262642979621887, + 0.1013481467962265, + 0.02443547546863556, + -0.0038883090019226074, + 0.0 + ], + [ + -0.000302046537399292, + -0.0012354552745819092, + -0.0038615912199020386, + 0.0029449150897562504, + 0.012656167149543762, + -0.004340767860412598, + 0.0 + ], + [ + -0.0005883276462554932, + 0.00016622990369796753, + -2.562999725341797e-05, + -0.0015906670596450567, + 0.005659133195877075, + 0.004671216011047363, + 1.0 + ], + [ + -0.0005125999450683594, + -0.0015153437852859497, + -0.0010261163115501404, + -0.015608521178364754, + 0.013102367520332336, + 0.0057929158210754395, + 1.0 + ], + [ + 4.32133674621582e-06, + -0.0003079324960708618, + -0.0037872642278671265, + 0.004033423960208893, + -0.010502874851226807, + 0.009007513523101807, + 1.0 + ], + [ + -0.000499337911605835, + 0.00011710822582244873, + 0.0009386539459228516, + 0.0056306044571101665, + -0.004082188010215759, + 0.02346634864807129, + 1.0 + ], + [ + 0.006460040807723999, + -0.010798849165439606, + 0.04929930716753006, + 0.09829998016357422, + -0.11774957180023193, + -0.027851343154907227, + 1.0 + ], + [ + 0.00018996000289916992, + -0.001991167664527893, + 0.034390270709991455, + 0.06937360018491745, + -0.08400525152683258, + 0.013071715831756592, + 1.0 + ], + [ + -0.0003129243850708008, + 0.004325591027736664, + 0.002411887049674988, + 0.0007440894842147827, + -0.0009793899953365326, + 0.010108888149261475, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9643021821975708 + ], + [ + 0.6631406545639038 + ], + [ + 0.5819184184074402 + ], + [ + 0.5819184184074402 + ], + [ + 0.5809218287467957 + ], + [ + 0.5819184184074402 + ], + [ + 0.5809218287467957 + ], + [ + 0.5809218287467957 + ], + [ + 0.5809218287467957 + ], + [ + 0.5809218287467957 + ], + [ + 0.5809218287467957 + ], + [ + 0.5809218287467957 + ], + [ + 0.5809218287467957 + ], + [ + 0.5819184184074402 + ], + [ + 0.5819184184074402 + ], + [ + 0.5809218287467957 + ], + [ + 0.5819184184074402 + ], + [ + 0.649078905582428 + ], + [ + 0.9437892436981201 + ], + [ + 1.0092895030975342 + ], + [ + 1.003452181816101 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3276922404766083, + 0.03810182213783264, + 0.04835839569568634 + ], + [ + 0.32309696078300476, + 0.04183553531765938, + 0.046828508377075195 + ], + [ + 0.3216596245765686, + 0.04595327004790306, + 0.04705972969532013 + ], + [ + 0.3204520344734192, + 0.0500088669359684, + 0.04660988971590996 + ], + [ + 0.3217918276786804, + 0.06545227020978928, + 0.04509365186095238 + ], + [ + 0.32604366540908813, + 0.07457514107227325, + 0.038453977555036545 + ], + [ + 0.314493864774704, + 0.08519826829433441, + 0.02794153057038784 + ], + [ + 0.3118239641189575, + 0.08765912055969238, + 0.025328930467367172 + ], + [ + 0.31238889694213867, + 0.08502580970525742, + 0.025202278047800064 + ], + [ + 0.31527236104011536, + 0.07928086817264557, + 0.02498999796807766 + ], + [ + 0.31384941935539246, + 0.07392492890357971, + 0.021962683647871017 + ], + [ + 0.31727656722068787, + 0.07101019471883774, + 0.013457171618938446 + ], + [ + 0.3255375325679779, + 0.0737772136926651, + 0.009869720786809921 + ], + [ + 0.32420021295547485, + 0.0742252916097641, + 0.00650577200576663 + ], + [ + 0.32643193006515503, + 0.07241407036781311, + 0.0062111481092870235 + ], + [ + 0.32912424206733704, + 0.06586870551109314, + 0.008756984956562519 + ], + [ + 0.3489685356616974, + 0.03199339285492897, + 0.05177490785717964 + ], + [ + 0.3633263409137726, + -0.01788213662803173, + 0.10232166945934296 + ], + [ + 0.35130590200424194, + -0.04832620546221733, + 0.11968878656625748 + ], + [ + 0.34780052304267883, + -0.05734260007739067, + 0.12957727909088135 + ], + [ + 0.34046000242233276, + -0.06308829039335251, + 0.13624128699302673 + ], + [ + 0.3392917811870575, + -0.06386443972587585, + 0.1366366147994995 + ], + [ + 0.3283180296421051, + -0.07026727497577667, + 0.12476206570863724 + ], + [ + 0.31660568714141846, + -0.07725812494754791, + 0.1032131016254425 + ], + [ + 0.30958425998687744, + -0.08160169422626495, + 0.10414950549602509 + ], + [ + 0.3055574893951416, + -0.08070241659879684, + 0.09926988184452057 + ], + [ + 0.3045257031917572, + -0.07602792233228683, + 0.09571125358343124 + ], + [ + 0.3061195909976959, + -0.06936035305261612, + 0.08694823831319809 + ], + [ + 0.31100714206695557, + -0.06549344211816788, + 0.0842219740152359 + ], + [ + 0.3107050955295563, + -0.06672889739274979, + 0.08036038279533386 + ], + [ + 0.3101167678833008, + -0.06656266748905182, + 0.08033475279808044 + ], + [ + 0.3096041679382324, + -0.06807801127433777, + 0.0793086364865303 + ], + [ + 0.30960848927497864, + -0.06838594377040863, + 0.07552137225866318 + ], + [ + 0.3091091513633728, + -0.06826883554458618, + 0.07646002620458603 + ], + [ + 0.3155691921710968, + -0.07906768471002579, + 0.1257593333721161 + ], + [ + 0.31575915217399597, + -0.08105885237455368, + 0.16014960408210754 + ], + [ + 0.31544622778892517, + -0.07673326134681702, + 0.16256149113178253 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9903372497130695, + -0.13787194899905011, + -0.01494849524055867, + -0.1365741318464376, + -0.9883298427397402, + 0.06746575768812112, + -0.02407567945345601, + -0.06477227515877233, + -0.9976096000087463 + ], + [ + 0.9964166259387623, + -0.0697449444475769, + -0.04784924531084128, + -0.06502815406164167, + -0.9934550753942177, + 0.09390608261877732, + -0.05408555012337443, + -0.09045803390232209, + -0.9944305392386029 + ], + [ + 0.9971445537285925, + 0.051770363707672275, + -0.05497789020125963, + 0.06020877780595956, + -0.9844542755439645, + 0.16499903768907492, + -0.04558115887643733, + -0.16783804337748787, + -0.9847602495789001 + ], + [ + 0.995905667708707, + 0.06835928395512722, + -0.05915157920813882, + 0.07699134917960401, + -0.9843159472431519, + 0.15872759103042233, + -0.04737333825242554, + -0.16263186741828617, + -0.9855489041761765 + ], + [ + 0.9994646063640652, + 0.01700607176332283, + -0.02795163946363824, + 0.019241144841589005, + -0.9964677183646169, + 0.08174267308083269, + -0.026462784636343495, + -0.08223673011736063, + -0.9962614321797744 + ], + [ + 0.9978737133499592, + -0.022417638584961236, + 0.06120050396391772, + -0.02044548239892896, + -0.9992572863622989, + -0.03266279077680805, + 0.06188727215380024, + 0.03134206649422639, + -0.9975909183694651 + ], + [ + 0.9971680659072529, + 0.028124471674396846, + 0.06974856577611278, + 0.033162045442804974, + -0.9968422257143537, + -0.0721516165785838, + 0.06749908945191795, + 0.074260293063586, + -0.9949518992379844 + ], + [ + 0.9960548949416491, + 0.048905799756598214, + 0.0740463977040601, + 0.054731434750007316, + -0.9953863486301878, + -0.07880664318994766, + 0.06985067152852584, + 0.08254840828768022, + -0.9941361294994687 + ], + [ + 0.9959556582045839, + 0.05632243111905325, + 0.07000079030349171, + 0.06136749221093591, + -0.9955046109370801, + -0.07214291720434829, + 0.06562284503139618, + 0.0761469195427644, + -0.9949348163845373 + ], + [ + 0.9954867455572708, + 0.06361944052565606, + 0.07041808153447737, + 0.06720688373788884, + -0.9964952646482331, + -0.04980383832487047, + 0.06700279246446139, + 0.054311640749018564, + -0.9962734923107781 + ], + [ + 0.9929129294851572, + 0.10488965697435, + 0.05587552524143825, + 0.10690785934237852, + -0.993672345421919, + -0.03443805387261467, + 0.05190976856077883, + 0.0401675217496187, + -0.9978436481355486 + ], + [ + 0.9917938347765838, + 0.12642076330621685, + 0.019046781991506206, + 0.12679016695408582, + -0.9917354454378879, + -0.01962294131543884, + 0.016408621603093868, + 0.021876856885476095, + -0.9996260102007645 + ], + [ + 0.987100279001078, + 0.15780393094934914, + -0.02703624554050671, + 0.15790251863112315, + -0.9874535077299067, + 0.0015377522071064937, + -0.02645437215171296, + -0.005787006897844825, + -0.9996332711275784 + ], + [ + 0.9836018829696177, + 0.17200065344245602, + -0.05425044731604569, + 0.17208194843241326, + -0.9850774262692819, + -0.003204259414014853, + -0.05399202572905724, + -0.006183807084326991, + -0.9985222189253563 + ], + [ + 0.9897453681863919, + 0.13670366842111054, + -0.04142720354784534, + 0.1360468992878494, + -0.990533518855755, + -0.018291780049992858, + -0.04353558714138698, + 0.012468161991513727, + -0.998974072530818 + ], + [ + 0.9980259331570082, + 0.04867809902036577, + -0.03968223055533009, + 0.04684061861771496, + -0.9978431473474573, + -0.04598923503636853, + -0.041835310368069235, + 0.04403970898500623, + -0.9981534505470204 + ], + [ + 0.9769805473596959, + -0.21117815400002693, + 0.03021253636969243, + -0.21056989647661573, + -0.9773288777770136, + -0.02210392184547116, + 0.034195449676476176, + 0.015233251007722232, + -0.9992990639869325 + ], + [ + 0.8823376181922686, + -0.4509095565904899, + 0.13476238087152462, + -0.4550368913700432, + -0.8904725650180418, + -0.00019606753051260722, + 0.12009061168585007, + -0.061148857107527016, + -0.9908779250035604 + ], + [ + 0.7959798899110382, + -0.5960588262729504, + 0.10549829609678103, + -0.6015503191696613, + -0.7983407247511075, + 0.028094496093625597, + 0.06747761379961466, + -0.08582518759658428, + -0.9940225393872721 + ], + [ + 0.767771893451631, + -0.6283138561898912, + 0.1254911062405861, + -0.6345872388061949, + -0.7727325478389225, + 0.013544218497070978, + 0.0884610421034399, + -0.0900339248847672, + -0.9920022864892084 + ], + [ + 0.750490689927123, + -0.6465634172273731, + 0.13681912087121811, + -0.6508037891725993, + -0.7590512290210182, + -0.017194758511504864, + 0.1149702236724714, + -0.07613789611582306, + -0.9904468024299731 + ], + [ + 0.7293233631171887, + -0.6713586833077181, + 0.13177613728881377, + -0.6752445090699688, + -0.7373404180493558, + -0.019338068198707207, + 0.11014665216106218, + -0.07487740819585118, + -0.9910908579739708 + ], + [ + 0.7316703586791993, + -0.6795418605319841, + 0.0536781707492071, + -0.6799564164685006, + -0.7331384378932628, + -0.012934550117464881, + 0.04814309850400781, + -0.027034989701415546, + -0.9984745121425371 + ], + [ + 0.7725916516317919, + -0.6294371007758465, + -0.08313288155571248, + -0.633288058764275, + -0.7733254151500291, + -0.030233043340208442, + -0.04525897099399824, + 0.07600485806796475, + -0.9960797594041515 + ], + [ + 0.7619162014090205, + -0.6350197703452339, + -0.1274111192209512, + -0.6448425664246605, + -0.762140079777972, + -0.05762432926189997, + -0.06051253223346658, + 0.12606502316944604, + -0.9901746529658194 + ], + [ + 0.7600642602020334, + -0.6337651263993735, + -0.14368049597464963, + -0.6454740965142343, + -0.7618738115352355, + -0.053958187755937616, + -0.07526958942805645, + 0.13375372838451322, + -0.9881520272966976 + ], + [ + 0.7753264249741438, + -0.6143504136673685, + -0.14643259187607985, + -0.6259263563265169, + -0.7783716369580189, + -0.04851588641985442, + -0.08417322135111314, + 0.12927166745279994, + -0.9880302145184373 + ], + [ + 0.7846815100735255, + -0.5985338055106028, + -0.16134500739015148, + -0.6070726687382487, + -0.7946329405417027, + -0.004611363905355673, + -0.12545000047729202, + 0.10156659621668475, + -0.9868872903798107 + ], + [ + 0.7796645643333129, + -0.6148346420538806, + -0.11874986338275036, + -0.6080520332017403, + -0.7886551457687472, + 0.09108120537029524, + -0.14965257111782326, + 0.0011933075683260227, + -0.988737924818742 + ], + [ + 0.7754671688661078, + -0.6186151419728625, + -0.12635654368760973, + -0.6102104431509796, + -0.7856922838182062, + 0.10164079012884912, + -0.16215389320108492, + -0.001715013243890423, + -0.9867639908556173 + ], + [ + 0.7775728689590045, + -0.6147363943910292, + -0.13221043404353794, + -0.6060076188546594, + -0.7887326190226189, + 0.1032260702527566, + -0.16773550413961147, + -0.00014526127533426997, + -0.9858320240031732 + ], + [ + 0.7792621069464216, + -0.6078518556519915, + -0.15253422651278625, + -0.6001005523003348, + -0.7939048382982897, + 0.09795118608469879, + -0.180637470659486, + 0.015206225928764028, + -0.983432191300827 + ], + [ + 0.7861060497840077, + -0.6013843283205409, + -0.14273811034000353, + -0.5941683319722593, + -0.798880522431878, + 0.09356230095649044, + -0.17029759767620437, + 0.011260574115982983, + -0.9853283349707812 + ], + [ + 0.8003889078618033, + -0.5832992043102693, + -0.1383460676087209, + -0.5759606545250445, + -0.8122372565144862, + 0.09241192330486045, + -0.1662736317365818, + 0.005716413283498971, + -0.9860630821647772 + ], + [ + 0.7941414158500628, + -0.6074950614617323, + 0.01700476201727221, + -0.6057317053628071, + -0.7889474470830558, + 0.10320381223285548, + -0.049279942673701775, + -0.09225874506373484, + -0.9945148622365286 + ], + [ + 0.8024833744266651, + -0.5837410939814227, + 0.1235587672573858, + -0.5956647180449637, + -0.7958025587081308, + 0.10900381291498984, + 0.03469837813510753, + -0.16107334587374794, + -0.9863322968471777 + ], + [ + 0.8084358989812238, + -0.5754472583499197, + 0.12366022034583707, + -0.5875019467035807, + -0.8016736753874746, + 0.11027593033042493, + 0.03567716157324239, + -0.16180164105564093, + -0.9861781629572711 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005721.json b/json/chunk-0005/episode_0005721.json new file mode 100644 index 0000000000000000000000000000000000000000..07beb0dc1f9bb93a09e12390458769be1cec25d1 --- /dev/null +++ b/json/chunk-0005/episode_0005721.json @@ -0,0 +1,622 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 9, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPick up pan from stove." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005721.mp4", + "start": 0, + "end": 9, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3808135390281677, + 0.17884469032287598, + 0.06345292925834656, + 0.12917818129062653, + -0.1681436151266098, + 0.271525502204895, + 0.0, + 0.9988223910331726 + ], + [ + 0.37830668687820435, + 0.1758977174758911, + 0.04011744633316994, + 0.11295640468597412, + -0.12106029689311981, + 0.2940790355205536, + 0.0, + 0.9988223910331726 + ], + [ + 0.3812762200832367, + 0.17672091722488403, + 0.03814695030450821, + 0.09431099146604538, + -0.13335151970386505, + 0.3073779046535492, + 0.0, + 0.9988223910331726 + ], + [ + 0.3816502094268799, + 0.1804836392402649, + 0.032093703746795654, + 0.0905098021030426, + -0.1386035978794098, + 0.32123687863349915, + 0.0, + 0.8371937274932861 + ], + [ + 0.3848462402820587, + 0.17884358763694763, + 0.026241805404424667, + 0.06788890808820724, + -0.13526757061481476, + 0.32645294070243835, + 0.0, + 0.5236935019493103 + ], + [ + 0.38488441705703735, + 0.1817770153284073, + 0.02229454182088375, + 0.06405051797628403, + -0.1291193813085556, + 0.33068981766700745, + 0.0, + 0.27305713295936584 + ], + [ + 0.3848862051963806, + 0.18393312394618988, + 0.023483406752347946, + 0.07671819627285004, + -0.13639545440673828, + 0.3339362144470215, + 0.0, + 0.13806100189685822 + ], + [ + 0.3819601833820343, + 0.18783597648143768, + 0.03402934968471527, + 0.10390490293502808, + -0.11456414312124252, + 0.343107134103775, + 0.0, + 0.09966801106929779 + ], + [ + 0.3789963722229004, + 0.19586782157421112, + 0.06402736902236938, + 0.1720166653394699, + -0.12337964028120041, + 0.33534249663352966, + 0.0, + 0.09549706429243088 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.8371937274932861 + ], + [ + 0.5236935019493103 + ], + [ + 0.27305713295936584 + ], + [ + 0.13806100189685822 + ], + [ + 0.09966801106929779 + ], + [ + 0.09549706429243088 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3808135390281677, + 0.17884469032287598, + 0.06345292925834656 + ], + [ + 0.37830668687820435, + 0.1758977174758911, + 0.04011744633316994 + ], + [ + 0.3812762200832367, + 0.17672091722488403, + 0.03814695030450821 + ], + [ + 0.3816502094268799, + 0.1804836392402649, + 0.032093703746795654 + ], + [ + 0.3848462402820587, + 0.17884358763694763, + 0.026241805404424667 + ], + [ + 0.38488441705703735, + 0.1817770153284073, + 0.02229454182088375 + ], + [ + 0.3848862051963806, + 0.18393312394618988, + 0.023483406752347946 + ], + [ + 0.3819601833820343, + 0.18783597648143768, + 0.03402934968471527 + ], + [ + 0.3789963722229004, + 0.19586782157421112, + 0.06402736902236938 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9497767001254289, + 0.28673511037815325, + 0.12532835423510136, + 0.26441895308361374, + -0.949554286363405, + 0.1686098291887225, + 0.1673524339500816, + -0.12700249495703933, + -0.9776827343906972 + ], + [ + 0.9500648469361306, + 0.30103912915985187, + 0.08217194978156826, + 0.2877371141657836, + -0.9470246868847827, + 0.1426590185103132, + 0.12076481171174568, + -0.1118913988895352, + -0.9863549944653646 + ], + [ + 0.9446681591965713, + 0.3131497570317868, + 0.09766933331959643, + 0.2998743051204519, + -0.9451062237343414, + 0.12980611305766518, + 0.13295664755358297, + -0.09333517841385479, + -0.9867173224088885 + ], + [ + 0.9397460767051986, + 0.32629699911728816, + 0.10201754596264401, + 0.31271242314058645, + -0.9410188809545385, + 0.12920683457391796, + 0.13816023932640872, + -0.0895194618735024, + -0.9863559267400124 + ], + [ + 0.9385335157540383, + 0.3286116135679353, + 0.10568465941016592, + 0.3177559590282559, + -0.9420702036964949, + 0.10740056708080484, + 0.1348554422646642, + -0.06721710151087332, + -0.988582758779496 + ], + [ + 0.9379452794214896, + 0.3318247741320475, + 0.10075203265026285, + 0.3219926742574858, + -0.9412031559792966, + 0.10226112115131906, + 0.1287609045302829, + -0.06347391942229309, + -0.9896422035350533 + ], + [ + 0.9359851100694032, + 0.3366459359205149, + 0.10296303975974909, + 0.3247202397336348, + -0.9385648486589678, + 0.11684515723426231, + 0.13597293714448416, + -0.07593114440049825, + -0.9877984721968003 + ], + [ + 0.9355407128727132, + 0.3457657011024, + 0.0721779363710331, + 0.3342094442875202, + -0.9326463542559091, + 0.1359221293321576, + 0.1143136995580236, + -0.10303813776620091, + -0.9880867979378284 + ], + [ + 0.9371194623696123, + 0.3441276375736872, + 0.058165989255245916, + 0.3265909718143574, + -0.9234288736503408, + 0.20153771964130263, + 0.12306685328487915, + -0.16986843252004097, + -0.9777521491951536 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.002506852149963379, + -0.0029469728469848633, + -0.02333548292517662, + -0.016221776604652405, + 0.04708331823348999, + 0.02255353331565857, + 1.0 + ], + [ + 0.0029695332050323486, + 0.0008231997489929199, + -0.001970496028661728, + -0.01864541321992874, + -0.01229122281074524, + 0.013298869132995605, + 1.0 + ], + [ + 0.0003739893436431885, + 0.0037627220153808594, + -0.006053246557712555, + -0.003801189363002777, + -0.005252078175544739, + 0.013858973979949951, + 0.0 + ], + [ + 0.003196030855178833, + -0.0016400516033172607, + -0.005851898342370987, + -0.022620894014835358, + 0.0033360272645950317, + 0.005216062068939209, + 0.0 + ], + [ + 3.8176774978637695e-05, + 0.0029334276914596558, + -0.0039472635835409164, + -0.0038383901119232178, + 0.006148189306259155, + 0.004236876964569092, + 0.0 + ], + [ + 1.7881393432617188e-06, + 0.0021561086177825928, + 0.0011888649314641953, + 0.01266767829656601, + -0.007276073098182678, + 0.003246396780014038, + 0.0 + ], + [ + -0.0029260218143463135, + 0.0039028525352478027, + 0.010545942932367325, + 0.02718670666217804, + 0.021831311285495758, + 0.00917091965675354, + 0.0 + ], + [ + -0.002963811159133911, + 0.008031845092773438, + 0.029998019337654114, + 0.06811176240444183, + -0.008815497159957886, + -0.007764637470245361, + 0.0 + ], + [ + 0.0011932849884033203, + 0.008123546838760376, + 0.04553689807653427, + 0.061044350266456604, + -0.0777381882071495, + -0.01009175181388855, + 0.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.8371937274932861 + ], + [ + 0.5236935019493103 + ], + [ + 0.27305713295936584 + ], + [ + 0.13806100189685822 + ], + [ + 0.09966801106929779 + ], + [ + 0.09549706429243088 + ], + [ + 0.09549706429243088 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.37830668687820435, + 0.1758977174758911, + 0.04011744633316994 + ], + [ + 0.3812762200832367, + 0.17672091722488403, + 0.03814695030450821 + ], + [ + 0.3816502094268799, + 0.1804836392402649, + 0.032093703746795654 + ], + [ + 0.3848462402820587, + 0.17884358763694763, + 0.026241805404424667 + ], + [ + 0.38488441705703735, + 0.1817770153284073, + 0.02229454182088375 + ], + [ + 0.3848862051963806, + 0.18393312394618988, + 0.023483406752347946 + ], + [ + 0.3819601833820343, + 0.18783597648143768, + 0.03402934968471527 + ], + [ + 0.3789963722229004, + 0.19586782157421112, + 0.06402736902236938 + ], + [ + 0.3801896572113037, + 0.2039913684129715, + 0.10956426709890366 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9500648469361306, + 0.30103912915985187, + 0.08217194978156826, + 0.2877371141657836, + -0.9470246868847827, + 0.1426590185103132, + 0.12076481171174568, + -0.1118913988895352, + -0.9863549944653646 + ], + [ + 0.9446681591965713, + 0.3131497570317868, + 0.09766933331959643, + 0.2998743051204519, + -0.9451062237343414, + 0.12980611305766518, + 0.13295664755358297, + -0.09333517841385479, + -0.9867173224088885 + ], + [ + 0.9397460767051986, + 0.32629699911728816, + 0.10201754596264401, + 0.31271242314058645, + -0.9410188809545385, + 0.12920683457391796, + 0.13816023932640872, + -0.0895194618735024, + -0.9863559267400124 + ], + [ + 0.9385335157540383, + 0.3286116135679353, + 0.10568465941016592, + 0.3177559590282559, + -0.9420702036964949, + 0.10740056708080484, + 0.1348554422646642, + -0.06721710151087332, + -0.988582758779496 + ], + [ + 0.9379452794214896, + 0.3318247741320475, + 0.10075203265026285, + 0.3219926742574858, + -0.9412031559792966, + 0.10226112115131906, + 0.1287609045302829, + -0.06347391942229309, + -0.9896422035350533 + ], + [ + 0.9359851100694032, + 0.3366459359205149, + 0.10296303975974909, + 0.3247202397336348, + -0.9385648486589678, + 0.11684515723426231, + 0.13597293714448416, + -0.07593114440049825, + -0.9877984721968003 + ], + [ + 0.9355407128727132, + 0.3457657011024, + 0.0721779363710331, + 0.3342094442875202, + -0.9326463542559091, + 0.1359221293321576, + 0.1143136995580236, + -0.10303813776620091, + -0.9880867979378284 + ], + [ + 0.9371194623696123, + 0.3441276375736872, + 0.058165989255245916, + 0.3265909718143574, + -0.9234288736503408, + 0.20153771964130263, + 0.12306685328487915, + -0.16986843252004097, + -0.9777521491951536 + ], + [ + 0.9284712911907971, + 0.3546252393475181, + 0.11037210268999065, + 0.31310558120077414, + -0.9072091795208787, + 0.280956223661231, + 0.19976475278541944, + -0.22630166638973245, + -0.953352819964262 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005722.json b/json/chunk-0005/episode_0005722.json new file mode 100644 index 0000000000000000000000000000000000000000..dd11eead9d5c9f5317bc87187cf1f3a13acfff7e --- /dev/null +++ b/json/chunk-0005/episode_0005722.json @@ -0,0 +1,2662 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 43, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nTake the red rectangle block from the tower and put in the middle of the table." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005722.mp4", + "start": 0, + "end": 43, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.38653382658958435, + 0.09643549472093582, + 0.2215089052915573, + 0.022224897518754005, + -0.3488618731498718, + 0.47139790654182434, + 0.0, + 0.9988223910331726 + ], + [ + 0.3883565068244934, + 0.09632397443056107, + 0.2060229778289795, + 0.031289540231227875, + -0.30808502435684204, + 0.4667837917804718, + 0.0, + 0.9988223910331726 + ], + [ + 0.39991724491119385, + 0.09666278213262558, + 0.20048832893371582, + 0.015490521676838398, + -0.3446424603462219, + 0.4046142101287842, + 0.0, + 0.9988223910331726 + ], + [ + 0.4114333391189575, + 0.0984169989824295, + 0.19327354431152344, + 0.009961224161088467, + -0.34412243962287903, + 0.37661921977996826, + 0.0, + 0.9988223910331726 + ], + [ + 0.4307780861854553, + 0.10212202370166779, + 0.19124428927898407, + 0.008979170583188534, + -0.3533481955528259, + 0.35656771063804626, + 0.0, + 0.9988223910331726 + ], + [ + 0.4467208981513977, + 0.10826192796230316, + 0.18466328084468842, + 0.027594739571213722, + -0.35271838307380676, + 0.351879358291626, + 0.0, + 0.9988223910331726 + ], + [ + 0.4569154679775238, + 0.11641674488782883, + 0.17676398158073425, + 0.06595110893249512, + -0.3342040777206421, + 0.35617250204086304, + 0.0, + 0.9988223910331726 + ], + [ + 0.45943284034729004, + 0.12134669721126556, + 0.174358531832695, + 0.07950710505247116, + -0.33957767486572266, + 0.37129834294319153, + 0.0, + 0.9988223910331726 + ], + [ + 0.4594850540161133, + 0.12320327013731003, + 0.17042423784732819, + 0.08113589137792587, + -0.3441188335418701, + 0.39997583627700806, + 0.0, + 0.9988223910331726 + ], + [ + 0.4560290575027466, + 0.12332963198423386, + 0.15179525315761566, + 0.07396619021892548, + -0.32737791538238525, + 0.45136409997940063, + 0.0, + 0.9988223910331726 + ], + [ + 0.45095208287239075, + 0.12528836727142334, + 0.15725505352020264, + 0.0739445760846138, + -0.3544517457485199, + 0.47947391867637634, + 0.0, + 0.9988223910331726 + ], + [ + 0.44832560420036316, + 0.1238093450665474, + 0.15480050444602966, + 0.07062885165214539, + -0.35483893752098083, + 0.48432087898254395, + 0.0, + 0.9988223910331726 + ], + [ + 0.4485597014427185, + 0.12276066094636917, + 0.15091532468795776, + 0.0662371888756752, + -0.35472699999809265, + 0.48892641067504883, + 0.0, + 0.9988223910331726 + ], + [ + 0.44774821400642395, + 0.11717186868190765, + 0.15041127800941467, + 0.02010234259068966, + -0.3670899271965027, + 0.4998190104961395, + 0.0, + 0.9988223910331726 + ], + [ + 0.44821974635124207, + 0.11508437246084213, + 0.156220480799675, + -0.004107122775167227, + -0.3896294832229614, + 0.49958300590515137, + 0.0, + 0.9988223910331726 + ], + [ + 0.44760429859161377, + 0.11543715000152588, + 0.1548684537410736, + -0.004774866160005331, + -0.3862442076206207, + 0.5012665390968323, + 0.0, + 0.9988223910331726 + ], + [ + 0.44738057255744934, + 0.11539874225854874, + 0.15478098392486572, + -0.004306657239794731, + -0.3847825825214386, + 0.5012593865394592, + 0.0, + 0.9988223910331726 + ], + [ + 0.44576552510261536, + 0.11580845713615417, + 0.1542021483182907, + -0.003191599389538169, + -0.37745532393455505, + 0.5059020519256592, + 0.0, + 0.9988223910331726 + ], + [ + 0.4386315643787384, + 0.11422888189554214, + 0.14044298231601715, + 0.009519214741885662, + -0.333324670791626, + 0.504523754119873, + 0.0, + 0.9988223910331726 + ], + [ + 0.43821844458580017, + 0.11344403773546219, + 0.13907425105571747, + 0.006296754814684391, + -0.3290668725967407, + 0.504389762878418, + 0.0, + 0.9643021821975708 + ], + [ + 0.43883588910102844, + 0.11196063458919525, + 0.13944000005722046, + -0.0013988056452944875, + -0.3288102447986603, + 0.508832573890686, + 0.0, + 0.6902000904083252 + ], + [ + 0.4388382136821747, + 0.11173374205827713, + 0.14011240005493164, + -0.001309729996137321, + -0.3298552930355072, + 0.5031421184539795, + 0.0, + 0.5452468395233154 + ], + [ + 0.4389277994632721, + 0.11152611672878265, + 0.13939645886421204, + -0.001357582164928317, + -0.32795900106430054, + 0.500398576259613, + 0.0, + 0.5452468395233154 + ], + [ + 0.44267046451568604, + 0.11192717403173447, + 0.14694224298000336, + -0.010826426558196545, + -0.34774351119995117, + 0.5042243599891663, + 0.0, + 0.5452468395233154 + ], + [ + 0.4479686915874481, + 0.10782377421855927, + 0.15834318101406097, + -0.013949328102171421, + -0.3734302818775177, + 0.5012462735176086, + 0.0, + 0.5452468395233154 + ], + [ + 0.449485719203949, + 0.09958139806985855, + 0.17851844429969788, + -0.044766079634428024, + -0.41608989238739014, + 0.5006411075592041, + 0.0, + 0.5452468395233154 + ], + [ + 0.4447915554046631, + 0.07467548549175262, + 0.19737493991851807, + -0.08879535645246506, + -0.43396881222724915, + 0.4568197727203369, + 0.0, + 0.5452468395233154 + ], + [ + 0.42987391352653503, + 0.04652773588895798, + 0.17053626477718353, + -0.09186411648988724, + -0.3156924843788147, + 0.37664595246315, + 0.0, + 0.5452468395233154 + ], + [ + 0.4169158935546875, + 0.02719602920114994, + 0.15785083174705505, + -0.09795961529016495, + -0.26816561818122864, + 0.2974741756916046, + 0.0, + 0.5452468395233154 + ], + [ + 0.412325382232666, + 0.02496958151459694, + 0.14322398602962494, + -0.07710550725460052, + -0.2931518852710724, + 0.21979357302188873, + 0.0, + 0.5452468395233154 + ], + [ + 0.40484291315078735, + 0.02414008416235447, + 0.12201832979917526, + -0.056399088352918625, + -0.310428649187088, + 0.14008688926696777, + 0.0, + 0.5452468395233154 + ], + [ + 0.39586180448532104, + 0.02260456420481205, + 0.10776437819004059, + -0.04980219528079033, + -0.34171971678733826, + 0.09838433563709259, + 0.0, + 0.5452468395233154 + ], + [ + 0.38737615942955017, + 0.018569478765130043, + 0.09176888316869736, + -0.049494337290525436, + -0.35405364632606506, + 0.09053309261798859, + 0.0, + 0.5442624688148499 + ], + [ + 0.3797599971294403, + 0.005814272910356522, + 0.0782972052693367, + -0.03892944008111954, + -0.34894701838493347, + 0.06442984938621521, + 0.0, + 0.5442624688148499 + ], + [ + 0.37734490633010864, + -0.009028296917676926, + 0.07361158728599548, + -0.02100537344813347, + -0.3511817753314972, + 0.07701702415943146, + 0.0, + 0.5452468395233154 + ], + [ + 0.37945207953453064, + -0.019721556454896927, + 0.06912710517644882, + 0.0065355608239769936, + -0.35134026408195496, + 0.08691733330488205, + 0.0, + 0.5442624688148499 + ], + [ + 0.3867509365081787, + -0.026695294305682182, + 0.060284025967121124, + 0.019757889211177826, + -0.32311177253723145, + 0.11973349004983902, + 0.0, + 0.5452468395233154 + ], + [ + 0.39381954073905945, + -0.02887096256017685, + 0.05002826452255249, + 0.020253978669643402, + -0.29304593801498413, + 0.14576128125190735, + 0.0, + 0.5452468395233154 + ], + [ + 0.3984942138195038, + -0.03049134463071823, + 0.047519098967313766, + 0.014880290254950523, + -0.28030192852020264, + 0.15100061893463135, + 0.0, + 0.5452468395233154 + ], + [ + 0.4001319110393524, + -0.03109104372560978, + 0.04726516082882881, + 0.013863897882401943, + -0.2763860821723938, + 0.14843778312206268, + 0.0, + 0.5889025926589966 + ], + [ + 0.39925962686538696, + -0.031715985387563705, + 0.046947233378887177, + 0.005472361110150814, + -0.2692345976829529, + 0.1557365208864212, + 0.0, + 0.905788779258728 + ], + [ + 0.40013253688812256, + -0.028467044234275818, + 0.0645226463675499, + 0.010090680792927742, + -0.30602818727493286, + 0.18111376464366913, + 0.0, + 1.0047606229782104 + ], + [ + 0.39990100264549255, + -0.019903190433979034, + 0.1114378422498703, + -0.015640318393707275, + -0.3946346640586853, + 0.22990065813064575, + 0.0, + 1.0001531839370728 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9643021821975708 + ], + [ + 0.6902000904083252 + ], + [ + 0.5452468395233154 + ], + [ + 0.5452468395233154 + ], + [ + 0.5452468395233154 + ], + [ + 0.5452468395233154 + ], + [ + 0.5452468395233154 + ], + [ + 0.5452468395233154 + ], + [ + 0.5452468395233154 + ], + [ + 0.5452468395233154 + ], + [ + 0.5452468395233154 + ], + [ + 0.5452468395233154 + ], + [ + 0.5452468395233154 + ], + [ + 0.5442624688148499 + ], + [ + 0.5442624688148499 + ], + [ + 0.5452468395233154 + ], + [ + 0.5442624688148499 + ], + [ + 0.5452468395233154 + ], + [ + 0.5452468395233154 + ], + [ + 0.5452468395233154 + ], + [ + 0.5889025926589966 + ], + [ + 0.905788779258728 + ], + [ + 1.0047606229782104 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.38653382658958435, + 0.09643549472093582, + 0.2215089052915573 + ], + [ + 0.3883565068244934, + 0.09632397443056107, + 0.2060229778289795 + ], + [ + 0.39991724491119385, + 0.09666278213262558, + 0.20048832893371582 + ], + [ + 0.4114333391189575, + 0.0984169989824295, + 0.19327354431152344 + ], + [ + 0.4307780861854553, + 0.10212202370166779, + 0.19124428927898407 + ], + [ + 0.4467208981513977, + 0.10826192796230316, + 0.18466328084468842 + ], + [ + 0.4569154679775238, + 0.11641674488782883, + 0.17676398158073425 + ], + [ + 0.45943284034729004, + 0.12134669721126556, + 0.174358531832695 + ], + [ + 0.4594850540161133, + 0.12320327013731003, + 0.17042423784732819 + ], + [ + 0.4560290575027466, + 0.12332963198423386, + 0.15179525315761566 + ], + [ + 0.45095208287239075, + 0.12528836727142334, + 0.15725505352020264 + ], + [ + 0.44832560420036316, + 0.1238093450665474, + 0.15480050444602966 + ], + [ + 0.4485597014427185, + 0.12276066094636917, + 0.15091532468795776 + ], + [ + 0.44774821400642395, + 0.11717186868190765, + 0.15041127800941467 + ], + [ + 0.44821974635124207, + 0.11508437246084213, + 0.156220480799675 + ], + [ + 0.44760429859161377, + 0.11543715000152588, + 0.1548684537410736 + ], + [ + 0.44738057255744934, + 0.11539874225854874, + 0.15478098392486572 + ], + [ + 0.44576552510261536, + 0.11580845713615417, + 0.1542021483182907 + ], + [ + 0.4386315643787384, + 0.11422888189554214, + 0.14044298231601715 + ], + [ + 0.43821844458580017, + 0.11344403773546219, + 0.13907425105571747 + ], + [ + 0.43883588910102844, + 0.11196063458919525, + 0.13944000005722046 + ], + [ + 0.4388382136821747, + 0.11173374205827713, + 0.14011240005493164 + ], + [ + 0.4389277994632721, + 0.11152611672878265, + 0.13939645886421204 + ], + [ + 0.44267046451568604, + 0.11192717403173447, + 0.14694224298000336 + ], + [ + 0.4479686915874481, + 0.10782377421855927, + 0.15834318101406097 + ], + [ + 0.449485719203949, + 0.09958139806985855, + 0.17851844429969788 + ], + [ + 0.4447915554046631, + 0.07467548549175262, + 0.19737493991851807 + ], + [ + 0.42987391352653503, + 0.04652773588895798, + 0.17053626477718353 + ], + [ + 0.4169158935546875, + 0.02719602920114994, + 0.15785083174705505 + ], + [ + 0.412325382232666, + 0.02496958151459694, + 0.14322398602962494 + ], + [ + 0.40484291315078735, + 0.02414008416235447, + 0.12201832979917526 + ], + [ + 0.39586180448532104, + 0.02260456420481205, + 0.10776437819004059 + ], + [ + 0.38737615942955017, + 0.018569478765130043, + 0.09176888316869736 + ], + [ + 0.3797599971294403, + 0.005814272910356522, + 0.0782972052693367 + ], + [ + 0.37734490633010864, + -0.009028296917676926, + 0.07361158728599548 + ], + [ + 0.37945207953453064, + -0.019721556454896927, + 0.06912710517644882 + ], + [ + 0.3867509365081787, + -0.026695294305682182, + 0.060284025967121124 + ], + [ + 0.39381954073905945, + -0.02887096256017685, + 0.05002826452255249 + ], + [ + 0.3984942138195038, + -0.03049134463071823, + 0.047519098967313766 + ], + [ + 0.4001319110393524, + -0.03109104372560978, + 0.04726516082882881 + ], + [ + 0.39925962686538696, + -0.031715985387563705, + 0.046947233378887177 + ], + [ + 0.40013253688812256, + -0.028467044234275818, + 0.0645226463675499 + ], + [ + 0.39990100264549255, + -0.019903190433979034, + 0.1114378422498703 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8372665484251096, + 0.46078798001309274, + 0.294379286573898, + 0.4267763238745471, + -0.8872644922412374, + 0.17499625764006183, + 0.3418284602961421, + -0.02088440287278577, + -0.9395302791545443 + ], + [ + 0.850973288466958, + 0.45826785686476235, + 0.25658338543309656, + 0.4288279043056733, + -0.8883140489094309, + 0.16433130863878995, + 0.30323438262264324, + -0.029811438655500067, + -0.952449572061825 + ], + [ + 0.8651987912163717, + 0.3984277656517768, + 0.30444435819285987, + 0.3705152464456907, + -0.9170838386896406, + 0.14722664488998763, + 0.33786018384683714, + -0.014579038788831683, + -0.9410833904596209 + ], + [ + 0.8753942548403525, + 0.3708855365776663, + 0.31004647611285596, + 0.34621656758180175, + -0.9286312451561968, + 0.13333453735445439, + 0.3373706966000143, + -0.00937706122125967, + -0.9413251743146324 + ], + [ + 0.8792057529297358, + 0.3519575079940393, + 0.32112794425568464, + 0.3274947523506579, + -0.9359780678118276, + 0.12919846654670186, + 0.3460410831072484, + -0.00842431848066899, + -0.9381815387546797 + ], + [ + 0.8809359076791179, + 0.35347877735719924, + 0.31465009219707657, + 0.3234441938037097, + -0.9350841272726762, + 0.14491904090686744, + 0.3454501122539078, + -0.02589264144033212, + -0.9380798425843109 + ], + [ + 0.8853824785837242, + 0.3681921569443586, + 0.2837823147794835, + 0.3293971150238164, + -0.9276629790381365, + 0.17589467853257085, + 0.32801738861061575, + -0.06225699066571254, + -0.9426179819430147 + ], + [ + 0.8786437544387287, + 0.3863317504140729, + 0.28059389053900285, + 0.34210660405974974, + -0.9193147322178777, + 0.19448263312151462, + 0.3330889134218086, + -0.07488792792680601, + -0.9399167910013677 + ], + [ + 0.8670708962869357, + 0.41329952113561097, + 0.2781574493721936, + 0.3665669985112674, + -0.9073932565819263, + 0.20558724063542166, + 0.3373673019345685, + -0.0762953716729982, + -0.9382762492180373 + ], + [ + 0.8520606222185202, + 0.4563839566881554, + 0.2563325577101992, + 0.4130266544278504, + -0.8870272465759972, + 0.20637743714840168, + 0.3215613142104095, + -0.06997390877655318, + -0.9442997264077785 + ], + [ + 0.8320842994834389, + 0.4828015566581095, + 0.27301717059859365, + 0.4326358736426758, + -0.8729846946126677, + 0.22521972340242818, + 0.347076244347829, + -0.06928477365578926, + -0.9352741313373703 + ], + [ + 0.8298585728851751, + 0.48614557278361187, + 0.27385622335794146, + 0.43660125205126304, + -0.8713687568614616, + 0.22382099158251578, + 0.34743934106006225, + -0.06617379865630374, + -0.935364598782285 + ], + [ + 0.8278733277647016, + 0.48894451832550756, + 0.2748799941342329, + 0.44043681188451034, + -0.8701039182889977, + 0.22121163196166055, + 0.3473343747929465, + -0.062067941625045905, + -0.9356849911747128 + ], + [ + 0.8191952352772061, + 0.485501598785095, + 0.3052988111281134, + 0.44733590061421136, + -0.8740344348939056, + 0.18961645139956393, + 0.3589007641685864, + -0.01876177488425207, + -0.933187139475463 + ], + [ + 0.8119924914358533, + 0.47768610900166336, + 0.33538660545502724, + 0.4431539710549059, + -0.8785223655195059, + 0.17836202292045983, + 0.3798456947104479, + 0.003799282677297372, + -0.925042060482157 + ], + [ + 0.8123683122701488, + 0.4789537169473764, + 0.3326575750552543, + 0.44513572400663864, + -0.8778290114384691, + 0.17683442507058822, + 0.37671197543008283, + 0.004423087072657497, + -0.9263198820430835 + ], + [ + 0.8128535025571292, + 0.47910825469782914, + 0.33124683192599386, + 0.44539402354963686, + -0.8777467438122609, + 0.1765922351442415, + 0.37535762569431447, + 0.003991742398199827, + -0.9268714683416216 + ], + [ + 0.8131609762764711, + 0.48356529031169343, + 0.32393492659307965, + 0.4504837542023183, + -0.875303265943775, + 0.17580836108657105, + 0.3685561203682305, + 0.002966923310180433, + -0.9296007656543693 + ], + [ + 0.8272223149723376, + 0.4860951444546012, + 0.28180623156606555, + 0.4567846632665301, + -0.8738595985671955, + 0.1664847542463344, + 0.3271865110549169, + -0.00899513922293839, + -0.9449169669627435 + ], + [ + 0.8284956216639611, + 0.485045151845386, + 0.2798681931819569, + 0.4573429222903006, + -0.8744688060042497, + 0.16168413266758708, + 0.3231601094111318, + -0.005958858681688398, + -0.946325544243944 + ], + [ + 0.8265279618620754, + 0.4867630987446717, + 0.28268925335181855, + 0.46105963175802256, + -0.8735330177365322, + 0.15608998330214519, + 0.3229172405172574, + 0.001323867286532332, + -0.9464262798296165 + ], + [ + 0.8288421095190662, + 0.4818085667399166, + 0.2843963123952421, + 0.4561859039595992, + -0.876275624215903, + 0.1550337106360854, + 0.32390612608678493, + 0.0012391210826185745, + -0.9460884134489731 + ], + [ + 0.8306279729392337, + 0.47939116513807406, + 0.283268920565634, + 0.4542040982191275, + -0.8776003982361433, + 0.15334985548317887, + 0.32211148339015927, + 0.0012852250085021583, + -0.9467008716933077 + ], + [ + 0.8231426399202689, + 0.4798699716623082, + 0.30358031003657987, + 0.45421036830598366, + -0.8772805791216465, + 0.1551506584560028, + 0.3407772522754903, + 0.010178201845317508, + -0.9400889684166934 + ], + [ + 0.8165438665772196, + 0.4760094053170677, + 0.32660551128971405, + 0.44740219541050763, + -0.879344284043564, + 0.16304878307356338, + 0.36481144375825425, + 0.012987539012591642, + -0.9309908347204148 + ], + [ + 0.8024227058493149, + 0.46363919723945235, + 0.37570799288891993, + 0.43903372804940277, + -0.8850780760630725, + 0.1545515606764732, + 0.4041870690317882, + 0.04093279926473086, + -0.9137599899163052 + ], + [ + 0.8142689860058497, + 0.40589467079152936, + 0.41498859580962133, + 0.40020841129288637, + -0.9103713174857428, + 0.10515365818504284, + 0.42047502418030636, + 0.08045856400849376, + -0.9037295909276524 + ], + [ + 0.8839491590520058, + 0.339767795375555, + 0.3212346952570456, + 0.3496273408629811, + -0.9364580778173222, + 0.028407587221854536, + 0.31047480853095444, + 0.08720156946019611, + -0.9465734411821124 + ], + [ + 0.9219082033998849, + 0.26692500896130295, + 0.2807780334980015, + 0.2826302153634063, + -0.9590918382494144, + -0.01621749570660571, + 0.2649630651008383, + 0.09430739840737609, + -0.9596357062646228 + ], + [ + 0.9343066518103358, + 0.1956566820305776, + 0.2979757425693327, + 0.2087266118511206, + -0.9778959289010891, + -0.012359358552424496, + 0.28897107448343584, + 0.07374289806795772, + -0.9544934274768094 + ], + [ + 0.9428748154248655, + 0.12235690212627677, + 0.30986427825676605, + 0.1329552594219064, + -0.9910336995683665, + -0.013232736371982808, + 0.30546682541575504, + 0.05367489936550931, + -0.9506887102246051 + ], + [ + 0.9376235414005897, + 0.08150236980200355, + 0.33796369380167784, + 0.09254626188203839, + -0.995568908242509, + -0.016665483865762436, + 0.33510786923478525, + 0.04690322651456167, + -0.9410115851143629 + ], + [ + 0.9341337025251802, + 0.07321617949659422, + 0.34933310302134307, + 0.0848018250984141, + -0.9962358760139179, + -0.01796468209458266, + 0.3467028645202918, + 0.04640549970320253, + -0.936826373097342 + ], + [ + 0.9377834188196009, + 0.05105716646664528, + 0.34344639339992833, + 0.06050499049360253, + -0.9980258035878844, + -0.01684165960132398, + 0.34190847534448476, + 0.03657404988725029, + -0.9390212635305203 + ], + [ + 0.9361834069153585, + 0.06971987397373614, + 0.3445283265414304, + 0.07224495985080132, + -0.9973716388046702, + 0.005520859013097983, + 0.3440076952518769, + 0.019721898518467965, + -0.9387596882729461 + ], + [ + 0.9353679637211659, + 0.08904683179728445, + 0.3422826816988931, + 0.08150503912034096, + -0.9960085380554072, + 0.03638572135772773, + 0.34415650661016317, + -0.006136274732820034, + -0.9388922435989617 + ], + [ + 0.9414629591849923, + 0.12565247745787433, + 0.3128241541047223, + 0.1132664304912352, + -0.9918974156755375, + 0.057534620012333074, + 0.31751883756150734, + -0.01873423830551321, + -0.948066883773872 + ], + [ + 0.9472161399968194, + 0.15100420966353129, + 0.2828061399499994, + 0.13905362998434334, + -0.9883429505040878, + 0.06198629023463231, + 0.2888696455457092, + -0.01938919422686332, + -0.9571720780661802 + ], + [ + 0.9500371052761684, + 0.15448036428734935, + 0.27122926768349725, + 0.14455655161826858, + -0.9878923803991833, + 0.056320938677102486, + 0.2766458060096217, + -0.014299013912956387, + -0.9608655661529367 + ], + [ + 0.9514685599327105, + 0.1516205304623565, + 0.2678036485970421, + 0.14228041354367763, + -0.9883487901547717, + 0.05406434057157652, + 0.27288067608648003, + -0.01333730639645666, + -0.961955431855693 + ], + [ + 0.9523083227574263, + 0.15654341585079984, + 0.2619217771791823, + 0.14951995630644938, + -0.9876569907139319, + 0.046663169202463536, + 0.26599368615261365, + -0.005275191718205129, + -0.9639603369845053 + ], + [ + 0.9379413287444549, + 0.18310634457584743, + 0.2945133789985729, + 0.1717561982346593, + -0.9830460263016149, + 0.06418970743492214, + 0.3012737496050103, + -0.009621681177190457, + -0.9534891457432862 + ], + [ + 0.8988484621288434, + 0.22199812992411827, + 0.3778733550262675, + 0.21036521473524933, + -0.974940196577273, + 0.07237464699230511, + 0.38447095931683284, + 0.01443756932667849, + -0.923024180633385 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + 0.0018226802349090576, + -0.00011152029037475586, + -0.01548592746257782, + 0.00906464271247387, + 0.040776848793029785, + -0.004614114761352539, + 1.0 + ], + [ + 0.01156073808670044, + 0.00033880770206451416, + -0.005534648895263672, + -0.01579901948571205, + -0.03655743598937988, + -0.06216958165168762, + 1.0 + ], + [ + 0.011516094207763672, + 0.0017542168498039246, + -0.007214784622192383, + -0.005529297515749931, + 0.0005200207233428955, + -0.027994990348815918, + 1.0 + ], + [ + 0.019344747066497803, + 0.0037050247192382812, + -0.0020292550325393677, + -0.0009820535778999329, + -0.0092257559299469, + -0.020051509141921997, + 1.0 + ], + [ + 0.015942811965942383, + 0.006139904260635376, + -0.006581008434295654, + 0.018615569919347763, + 0.000629812479019165, + -0.004688352346420288, + 1.0 + ], + [ + 0.010194569826126099, + 0.008154816925525665, + -0.007899299263954163, + 0.038356371223926544, + 0.018514305353164673, + 0.0042931437492370605, + 1.0 + ], + [ + 0.0025173723697662354, + 0.004929952323436737, + -0.0024054497480392456, + 0.013555996119976044, + -0.005373597145080566, + 0.015125840902328491, + 1.0 + ], + [ + 5.221366882324219e-05, + 0.0018565729260444641, + -0.003934293985366821, + 0.001628786325454712, + -0.004541158676147461, + 0.02867749333381653, + 1.0 + ], + [ + -0.0034559965133666992, + 0.00012636184692382812, + -0.018628984689712524, + -0.007169701159000397, + 0.016740918159484863, + 0.05138826370239258, + 1.0 + ], + [ + -0.005076974630355835, + 0.0019587352871894836, + 0.005459800362586975, + -2.1614134311676025e-05, + -0.027073830366134644, + 0.028109818696975708, + 1.0 + ], + [ + -0.002626478672027588, + -0.001479022204875946, + -0.0024545490741729736, + -0.0033157244324684143, + -0.0003871917724609375, + 0.0048469603061676025, + 1.0 + ], + [ + 0.00023409724235534668, + -0.0010486841201782227, + -0.0038851797580718994, + -0.004391662776470184, + 0.0001119375228881836, + 0.004605531692504883, + 1.0 + ], + [ + -0.0008114874362945557, + -0.005588792264461517, + -0.0005040466785430908, + -0.04613484442234039, + -0.012362927198410034, + 0.010892599821090698, + 1.0 + ], + [ + 0.00047153234481811523, + -0.0020874962210655212, + 0.005809202790260315, + -0.024209465831518173, + -0.02253955602645874, + -0.00023600459098815918, + 1.0 + ], + [ + -0.0006154477596282959, + 0.00035277754068374634, + -0.0013520270586013794, + -0.0006677433848381042, + 0.0033852756023406982, + 0.0016835331916809082, + 1.0 + ], + [ + -0.0002237260341644287, + -3.8407742977142334e-05, + -8.746981620788574e-05, + 0.0004682089202105999, + 0.001461625099182129, + -7.152557373046875e-06, + 1.0 + ], + [ + -0.0016150474548339844, + 0.00040971487760543823, + -0.0005788356065750122, + 0.0011150578502565622, + 0.007327258586883545, + 0.004642665386199951, + 1.0 + ], + [ + -0.007133960723876953, + -0.00157957524061203, + -0.01375916600227356, + 0.012710814364254475, + 0.04413065314292908, + -0.0013782978057861328, + 1.0 + ], + [ + -0.0004131197929382324, + -0.0007848441600799561, + -0.0013687312602996826, + -0.003222459927201271, + 0.004257798194885254, + -0.00013399124145507812, + 0.0 + ], + [ + 0.0006174445152282715, + -0.0014834031462669373, + 0.0003657490015029907, + -0.007695560343563557, + 0.00025662779808044434, + 0.004442811012268066, + 0.0 + ], + [ + 2.3245811462402344e-06, + -0.00022689253091812134, + 0.0006723999977111816, + 8.907564915716648e-05, + -0.0010450482368469238, + -0.005690455436706543, + 0.0 + ], + [ + 8.958578109741211e-05, + -0.00020762532949447632, + -0.0007159411907196045, + -4.7852168790996075e-05, + 0.001896291971206665, + -0.002743542194366455, + 0.0 + ], + [ + 0.0037426650524139404, + 0.00040105730295181274, + 0.007545784115791321, + -0.009468844160437584, + -0.019784510135650635, + 0.0038257837295532227, + 0.0 + ], + [ + 0.005298227071762085, + -0.004103399813175201, + 0.011400938034057617, + -0.0031229015439748764, + -0.02568677067756653, + -0.002978086471557617, + 0.0 + ], + [ + 0.0015170276165008545, + -0.008242376148700714, + 0.020175263285636902, + -0.030816752463579178, + -0.042659610509872437, + -0.000605165958404541, + 0.0 + ], + [ + -0.004694163799285889, + -0.024905912578105927, + 0.01885649561882019, + -0.04402927681803703, + -0.01787891983985901, + -0.04382133483886719, + 0.0 + ], + [ + -0.014917641878128052, + -0.028147749602794647, + -0.026838675141334534, + -0.00306876003742218, + 0.11827632784843445, + -0.08017382025718689, + 0.0 + ], + [ + -0.012958019971847534, + -0.019331706687808037, + -0.012685433030128479, + -0.00609549880027771, + 0.04752686619758606, + -0.07917177677154541, + 0.0 + ], + [ + -0.004590511322021484, + -0.0022264476865530014, + -0.014626845717430115, + 0.020854108035564423, + -0.02498626708984375, + -0.07768060266971588, + 0.0 + ], + [ + -0.007482469081878662, + -0.0008294973522424698, + -0.021205656230449677, + 0.0207064189016819, + -0.017276763916015625, + -0.07970668375492096, + 0.0 + ], + [ + -0.008981108665466309, + -0.0015355199575424194, + -0.014253951609134674, + 0.006596893072128296, + -0.031291067600250244, + -0.04170255362987518, + 0.0 + ], + [ + -0.008485645055770874, + -0.004035085439682007, + -0.01599549502134323, + 0.0003078579902648926, + -0.012333929538726807, + -0.007851243019104004, + 0.0 + ], + [ + -0.007616162300109863, + -0.012755205854773521, + -0.013471677899360657, + 0.010564897209405899, + 0.005106627941131592, + -0.026103243231773376, + 0.0 + ], + [ + -0.002415090799331665, + -0.014842569828033447, + -0.004685617983341217, + 0.01792406663298607, + -0.0022347569465637207, + 0.012587174773216248, + 0.0 + ], + [ + 0.002107173204421997, + -0.010693259537220001, + -0.004484482109546661, + 0.027540933340787888, + -0.00015848875045776367, + 0.009900309145450592, + 0.0 + ], + [ + 0.007298856973648071, + -0.006973737850785255, + -0.008843079209327698, + 0.013222328387200832, + 0.02822849154472351, + 0.03281615674495697, + 0.0 + ], + [ + 0.007068604230880737, + -0.002175668254494667, + -0.010255761444568634, + 0.0004960894584655762, + 0.030065834522247314, + 0.02602779120206833, + 0.0 + ], + [ + 0.004674673080444336, + -0.0016203820705413818, + -0.0025091655552387238, + -0.005373688414692879, + 0.012744009494781494, + 0.005239337682723999, + 1.0 + ], + [ + 0.0016376972198486328, + -0.0005996990948915482, + -0.00025393813848495483, + -0.0010163923725485802, + 0.003915846347808838, + -0.0025628358125686646, + 1.0 + ], + [ + -0.0008722841739654541, + -0.0006249416619539261, + -0.00031792744994163513, + -0.00839153677225113, + 0.007151484489440918, + 0.0072987377643585205, + 1.0 + ], + [ + 0.0008729100227355957, + 0.0032489411532878876, + 0.01757541298866272, + 0.004618319682776928, + -0.03679358959197998, + 0.025377243757247925, + 1.0 + ], + [ + -0.00023153424263000488, + 0.008563853800296783, + 0.046915195882320404, + -0.025730999186635017, + -0.08860647678375244, + 0.048786893486976624, + 1.0 + ], + [ + -0.0036854147911071777, + 0.01313459686934948, + 0.042145147919654846, + 0.04322546720504761, + -0.05328017473220825, + 0.0038507282733917236, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9643021821975708 + ], + [ + 0.6902000904083252 + ], + [ + 0.5452468395233154 + ], + [ + 0.5452468395233154 + ], + [ + 0.5452468395233154 + ], + [ + 0.5452468395233154 + ], + [ + 0.5452468395233154 + ], + [ + 0.5452468395233154 + ], + [ + 0.5452468395233154 + ], + [ + 0.5452468395233154 + ], + [ + 0.5452468395233154 + ], + [ + 0.5452468395233154 + ], + [ + 0.5452468395233154 + ], + [ + 0.5442624688148499 + ], + [ + 0.5442624688148499 + ], + [ + 0.5452468395233154 + ], + [ + 0.5442624688148499 + ], + [ + 0.5452468395233154 + ], + [ + 0.5452468395233154 + ], + [ + 0.5452468395233154 + ], + [ + 0.5889025926589966 + ], + [ + 0.905788779258728 + ], + [ + 1.0047606229782104 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3883565068244934, + 0.09632397443056107, + 0.2060229778289795 + ], + [ + 0.39991724491119385, + 0.09666278213262558, + 0.20048832893371582 + ], + [ + 0.4114333391189575, + 0.0984169989824295, + 0.19327354431152344 + ], + [ + 0.4307780861854553, + 0.10212202370166779, + 0.19124428927898407 + ], + [ + 0.4467208981513977, + 0.10826192796230316, + 0.18466328084468842 + ], + [ + 0.4569154679775238, + 0.11641674488782883, + 0.17676398158073425 + ], + [ + 0.45943284034729004, + 0.12134669721126556, + 0.174358531832695 + ], + [ + 0.4594850540161133, + 0.12320327013731003, + 0.17042423784732819 + ], + [ + 0.4560290575027466, + 0.12332963198423386, + 0.15179525315761566 + ], + [ + 0.45095208287239075, + 0.12528836727142334, + 0.15725505352020264 + ], + [ + 0.44832560420036316, + 0.1238093450665474, + 0.15480050444602966 + ], + [ + 0.4485597014427185, + 0.12276066094636917, + 0.15091532468795776 + ], + [ + 0.44774821400642395, + 0.11717186868190765, + 0.15041127800941467 + ], + [ + 0.44821974635124207, + 0.11508437246084213, + 0.156220480799675 + ], + [ + 0.44760429859161377, + 0.11543715000152588, + 0.1548684537410736 + ], + [ + 0.44738057255744934, + 0.11539874225854874, + 0.15478098392486572 + ], + [ + 0.44576552510261536, + 0.11580845713615417, + 0.1542021483182907 + ], + [ + 0.4386315643787384, + 0.11422888189554214, + 0.14044298231601715 + ], + [ + 0.43821844458580017, + 0.11344403773546219, + 0.13907425105571747 + ], + [ + 0.43883588910102844, + 0.11196063458919525, + 0.13944000005722046 + ], + [ + 0.4388382136821747, + 0.11173374205827713, + 0.14011240005493164 + ], + [ + 0.4389277994632721, + 0.11152611672878265, + 0.13939645886421204 + ], + [ + 0.44267046451568604, + 0.11192717403173447, + 0.14694224298000336 + ], + [ + 0.4479686915874481, + 0.10782377421855927, + 0.15834318101406097 + ], + [ + 0.449485719203949, + 0.09958139806985855, + 0.17851844429969788 + ], + [ + 0.4447915554046631, + 0.07467548549175262, + 0.19737493991851807 + ], + [ + 0.42987391352653503, + 0.04652773588895798, + 0.17053626477718353 + ], + [ + 0.4169158935546875, + 0.02719602920114994, + 0.15785083174705505 + ], + [ + 0.412325382232666, + 0.02496958151459694, + 0.14322398602962494 + ], + [ + 0.40484291315078735, + 0.02414008416235447, + 0.12201832979917526 + ], + [ + 0.39586180448532104, + 0.02260456420481205, + 0.10776437819004059 + ], + [ + 0.38737615942955017, + 0.018569478765130043, + 0.09176888316869736 + ], + [ + 0.3797599971294403, + 0.005814272910356522, + 0.0782972052693367 + ], + [ + 0.37734490633010864, + -0.009028296917676926, + 0.07361158728599548 + ], + [ + 0.37945207953453064, + -0.019721556454896927, + 0.06912710517644882 + ], + [ + 0.3867509365081787, + -0.026695294305682182, + 0.060284025967121124 + ], + [ + 0.39381954073905945, + -0.02887096256017685, + 0.05002826452255249 + ], + [ + 0.3984942138195038, + -0.03049134463071823, + 0.047519098967313766 + ], + [ + 0.4001319110393524, + -0.03109104372560978, + 0.04726516082882881 + ], + [ + 0.39925962686538696, + -0.031715985387563705, + 0.046947233378887177 + ], + [ + 0.40013253688812256, + -0.028467044234275818, + 0.0645226463675499 + ], + [ + 0.39990100264549255, + -0.019903190433979034, + 0.1114378422498703 + ], + [ + 0.3962155878543854, + -0.006768593564629555, + 0.15358299016952515 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.850973288466958, + 0.45826785686476235, + 0.25658338543309656, + 0.4288279043056733, + -0.8883140489094309, + 0.16433130863878995, + 0.30323438262264324, + -0.029811438655500067, + -0.952449572061825 + ], + [ + 0.8651987912163717, + 0.3984277656517768, + 0.30444435819285987, + 0.3705152464456907, + -0.9170838386896406, + 0.14722664488998763, + 0.33786018384683714, + -0.014579038788831683, + -0.9410833904596209 + ], + [ + 0.8753942548403525, + 0.3708855365776663, + 0.31004647611285596, + 0.34621656758180175, + -0.9286312451561968, + 0.13333453735445439, + 0.3373706966000143, + -0.00937706122125967, + -0.9413251743146324 + ], + [ + 0.8792057529297358, + 0.3519575079940393, + 0.32112794425568464, + 0.3274947523506579, + -0.9359780678118276, + 0.12919846654670186, + 0.3460410831072484, + -0.00842431848066899, + -0.9381815387546797 + ], + [ + 0.8809359076791179, + 0.35347877735719924, + 0.31465009219707657, + 0.3234441938037097, + -0.9350841272726762, + 0.14491904090686744, + 0.3454501122539078, + -0.02589264144033212, + -0.9380798425843109 + ], + [ + 0.8853824785837242, + 0.3681921569443586, + 0.2837823147794835, + 0.3293971150238164, + -0.9276629790381365, + 0.17589467853257085, + 0.32801738861061575, + -0.06225699066571254, + -0.9426179819430147 + ], + [ + 0.8786437544387287, + 0.3863317504140729, + 0.28059389053900285, + 0.34210660405974974, + -0.9193147322178777, + 0.19448263312151462, + 0.3330889134218086, + -0.07488792792680601, + -0.9399167910013677 + ], + [ + 0.8670708962869357, + 0.41329952113561097, + 0.2781574493721936, + 0.3665669985112674, + -0.9073932565819263, + 0.20558724063542166, + 0.3373673019345685, + -0.0762953716729982, + -0.9382762492180373 + ], + [ + 0.8520606222185202, + 0.4563839566881554, + 0.2563325577101992, + 0.4130266544278504, + -0.8870272465759972, + 0.20637743714840168, + 0.3215613142104095, + -0.06997390877655318, + -0.9442997264077785 + ], + [ + 0.8320842994834389, + 0.4828015566581095, + 0.27301717059859365, + 0.4326358736426758, + -0.8729846946126677, + 0.22521972340242818, + 0.347076244347829, + -0.06928477365578926, + -0.9352741313373703 + ], + [ + 0.8298585728851751, + 0.48614557278361187, + 0.27385622335794146, + 0.43660125205126304, + -0.8713687568614616, + 0.22382099158251578, + 0.34743934106006225, + -0.06617379865630374, + -0.935364598782285 + ], + [ + 0.8278733277647016, + 0.48894451832550756, + 0.2748799941342329, + 0.44043681188451034, + -0.8701039182889977, + 0.22121163196166055, + 0.3473343747929465, + -0.062067941625045905, + -0.9356849911747128 + ], + [ + 0.8191952352772061, + 0.485501598785095, + 0.3052988111281134, + 0.44733590061421136, + -0.8740344348939056, + 0.18961645139956393, + 0.3589007641685864, + -0.01876177488425207, + -0.933187139475463 + ], + [ + 0.8119924914358533, + 0.47768610900166336, + 0.33538660545502724, + 0.4431539710549059, + -0.8785223655195059, + 0.17836202292045983, + 0.3798456947104479, + 0.003799282677297372, + -0.925042060482157 + ], + [ + 0.8123683122701488, + 0.4789537169473764, + 0.3326575750552543, + 0.44513572400663864, + -0.8778290114384691, + 0.17683442507058822, + 0.37671197543008283, + 0.004423087072657497, + -0.9263198820430835 + ], + [ + 0.8128535025571292, + 0.47910825469782914, + 0.33124683192599386, + 0.44539402354963686, + -0.8777467438122609, + 0.1765922351442415, + 0.37535762569431447, + 0.003991742398199827, + -0.9268714683416216 + ], + [ + 0.8131609762764711, + 0.48356529031169343, + 0.32393492659307965, + 0.4504837542023183, + -0.875303265943775, + 0.17580836108657105, + 0.3685561203682305, + 0.002966923310180433, + -0.9296007656543693 + ], + [ + 0.8272223149723376, + 0.4860951444546012, + 0.28180623156606555, + 0.4567846632665301, + -0.8738595985671955, + 0.1664847542463344, + 0.3271865110549169, + -0.00899513922293839, + -0.9449169669627435 + ], + [ + 0.8284956216639611, + 0.485045151845386, + 0.2798681931819569, + 0.4573429222903006, + -0.8744688060042497, + 0.16168413266758708, + 0.3231601094111318, + -0.005958858681688398, + -0.946325544243944 + ], + [ + 0.8265279618620754, + 0.4867630987446717, + 0.28268925335181855, + 0.46105963175802256, + -0.8735330177365322, + 0.15608998330214519, + 0.3229172405172574, + 0.001323867286532332, + -0.9464262798296165 + ], + [ + 0.8288421095190662, + 0.4818085667399166, + 0.2843963123952421, + 0.4561859039595992, + -0.876275624215903, + 0.1550337106360854, + 0.32390612608678493, + 0.0012391210826185745, + -0.9460884134489731 + ], + [ + 0.8306279729392337, + 0.47939116513807406, + 0.283268920565634, + 0.4542040982191275, + -0.8776003982361433, + 0.15334985548317887, + 0.32211148339015927, + 0.0012852250085021583, + -0.9467008716933077 + ], + [ + 0.8231426399202689, + 0.4798699716623082, + 0.30358031003657987, + 0.45421036830598366, + -0.8772805791216465, + 0.1551506584560028, + 0.3407772522754903, + 0.010178201845317508, + -0.9400889684166934 + ], + [ + 0.8165438665772196, + 0.4760094053170677, + 0.32660551128971405, + 0.44740219541050763, + -0.879344284043564, + 0.16304878307356338, + 0.36481144375825425, + 0.012987539012591642, + -0.9309908347204148 + ], + [ + 0.8024227058493149, + 0.46363919723945235, + 0.37570799288891993, + 0.43903372804940277, + -0.8850780760630725, + 0.1545515606764732, + 0.4041870690317882, + 0.04093279926473086, + -0.9137599899163052 + ], + [ + 0.8142689860058497, + 0.40589467079152936, + 0.41498859580962133, + 0.40020841129288637, + -0.9103713174857428, + 0.10515365818504284, + 0.42047502418030636, + 0.08045856400849376, + -0.9037295909276524 + ], + [ + 0.8839491590520058, + 0.339767795375555, + 0.3212346952570456, + 0.3496273408629811, + -0.9364580778173222, + 0.028407587221854536, + 0.31047480853095444, + 0.08720156946019611, + -0.9465734411821124 + ], + [ + 0.9219082033998849, + 0.26692500896130295, + 0.2807780334980015, + 0.2826302153634063, + -0.9590918382494144, + -0.01621749570660571, + 0.2649630651008383, + 0.09430739840737609, + -0.9596357062646228 + ], + [ + 0.9343066518103358, + 0.1956566820305776, + 0.2979757425693327, + 0.2087266118511206, + -0.9778959289010891, + -0.012359358552424496, + 0.28897107448343584, + 0.07374289806795772, + -0.9544934274768094 + ], + [ + 0.9428748154248655, + 0.12235690212627677, + 0.30986427825676605, + 0.1329552594219064, + -0.9910336995683665, + -0.013232736371982808, + 0.30546682541575504, + 0.05367489936550931, + -0.9506887102246051 + ], + [ + 0.9376235414005897, + 0.08150236980200355, + 0.33796369380167784, + 0.09254626188203839, + -0.995568908242509, + -0.016665483865762436, + 0.33510786923478525, + 0.04690322651456167, + -0.9410115851143629 + ], + [ + 0.9341337025251802, + 0.07321617949659422, + 0.34933310302134307, + 0.0848018250984141, + -0.9962358760139179, + -0.01796468209458266, + 0.3467028645202918, + 0.04640549970320253, + -0.936826373097342 + ], + [ + 0.9377834188196009, + 0.05105716646664528, + 0.34344639339992833, + 0.06050499049360253, + -0.9980258035878844, + -0.01684165960132398, + 0.34190847534448476, + 0.03657404988725029, + -0.9390212635305203 + ], + [ + 0.9361834069153585, + 0.06971987397373614, + 0.3445283265414304, + 0.07224495985080132, + -0.9973716388046702, + 0.005520859013097983, + 0.3440076952518769, + 0.019721898518467965, + -0.9387596882729461 + ], + [ + 0.9353679637211659, + 0.08904683179728445, + 0.3422826816988931, + 0.08150503912034096, + -0.9960085380554072, + 0.03638572135772773, + 0.34415650661016317, + -0.006136274732820034, + -0.9388922435989617 + ], + [ + 0.9414629591849923, + 0.12565247745787433, + 0.3128241541047223, + 0.1132664304912352, + -0.9918974156755375, + 0.057534620012333074, + 0.31751883756150734, + -0.01873423830551321, + -0.948066883773872 + ], + [ + 0.9472161399968194, + 0.15100420966353129, + 0.2828061399499994, + 0.13905362998434334, + -0.9883429505040878, + 0.06198629023463231, + 0.2888696455457092, + -0.01938919422686332, + -0.9571720780661802 + ], + [ + 0.9500371052761684, + 0.15448036428734935, + 0.27122926768349725, + 0.14455655161826858, + -0.9878923803991833, + 0.056320938677102486, + 0.2766458060096217, + -0.014299013912956387, + -0.9608655661529367 + ], + [ + 0.9514685599327105, + 0.1516205304623565, + 0.2678036485970421, + 0.14228041354367763, + -0.9883487901547717, + 0.05406434057157652, + 0.27288067608648003, + -0.01333730639645666, + -0.961955431855693 + ], + [ + 0.9523083227574263, + 0.15654341585079984, + 0.2619217771791823, + 0.14951995630644938, + -0.9876569907139319, + 0.046663169202463536, + 0.26599368615261365, + -0.005275191718205129, + -0.9639603369845053 + ], + [ + 0.9379413287444549, + 0.18310634457584743, + 0.2945133789985729, + 0.1717561982346593, + -0.9830460263016149, + 0.06418970743492214, + 0.3012737496050103, + -0.009621681177190457, + -0.9534891457432862 + ], + [ + 0.8988484621288434, + 0.22199812992411827, + 0.3778733550262675, + 0.21036521473524933, + -0.974940196577273, + 0.07237464699230511, + 0.38447095931683284, + 0.01443756932667849, + -0.923024180633385 + ], + [ + 0.8768392283425106, + 0.2431607827557986, + 0.41475993221295854, + 0.2087788476695448, + -0.9696673529582288, + 0.127108683309831, + 0.43308701251075127, + -0.02486077908210478, + -0.9010092015389983 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005723.json b/json/chunk-0005/episode_0005723.json new file mode 100644 index 0000000000000000000000000000000000000000..86645859d9b4f24c074cd8f9e5d87bb69a543ec7 --- /dev/null +++ b/json/chunk-0005/episode_0005723.json @@ -0,0 +1,2722 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 44, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the pot left side of yellow cloth." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005723.mp4", + "start": 0, + "end": 44, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.1795758157968521, + 0.08596449345350266, + 0.11315140128135681, + 0.1208500936627388, + 0.08140310645103455, + -0.14988286793231964, + 0.0, + 1.0001531839370728 + ], + [ + 0.17792069911956787, + 0.08419319987297058, + 0.10938484966754913, + 0.10927622765302658, + 0.08938342332839966, + -0.12689687311649323, + 0.0, + 1.0001531839370728 + ], + [ + 0.18958890438079834, + 0.0817214697599411, + 0.11466256529092789, + 0.12016906589269638, + 0.019457921385765076, + 0.016843272373080254, + 0.0, + 1.0001531839370728 + ], + [ + 0.21096155047416687, + 0.07388588786125183, + 0.12403247505426407, + 0.13282424211502075, + -0.02841196395456791, + 0.052514951676130295, + 0.0, + 1.0001531839370728 + ], + [ + 0.2410813570022583, + 0.06078151613473892, + 0.12311425060033798, + 0.09033261984586716, + -0.074249267578125, + 0.06008516624569893, + 0.0, + 1.0001531839370728 + ], + [ + 0.27210161089897156, + 0.03774679824709892, + 0.11233977973461151, + 0.07363954931497574, + -0.1384049355983734, + 0.08060429990291595, + 0.0, + 1.0001531839370728 + ], + [ + 0.2924971282482147, + 0.012811055406928062, + 0.09957455098628998, + 0.051475390791893005, + -0.15956488251686096, + 0.07140062749385834, + 0.0, + 1.0001531839370728 + ], + [ + 0.311890184879303, + -0.011437331326305866, + 0.08701858669519424, + 0.03221045807003975, + -0.15547692775726318, + 0.04609237611293793, + 0.0, + 1.0001531839370728 + ], + [ + 0.3256819546222687, + -0.030127819627523422, + 0.07147806882858276, + 0.029312513768672943, + -0.1433594971895218, + 0.032498497515916824, + 0.0, + 1.0001531839370728 + ], + [ + 0.337750107049942, + -0.03537184000015259, + 0.05355057865381241, + 0.05524073913693428, + -0.1118088960647583, + 0.021185826510190964, + 0.0, + 1.0001531839370728 + ], + [ + 0.34559366106987, + -0.03705074265599251, + 0.03835170343518257, + 0.061125755310058594, + -0.09164532274007797, + 0.023366380482912064, + 0.0, + 1.0001531839370728 + ], + [ + 0.3517603576183319, + -0.04124957695603371, + 0.027799440547823906, + 0.06500009447336197, + -0.09775076806545258, + 0.03293059766292572, + 0.0, + 1.0001531839370728 + ], + [ + 0.35068392753601074, + -0.04425245523452759, + 0.02055739052593708, + 0.06423462927341461, + -0.0828300341963768, + 0.03737454488873482, + 0.0, + 0.9406655430793762 + ], + [ + 0.350308358669281, + -0.04964834824204445, + 0.02038225345313549, + 0.010444986633956432, + -0.07719988375902176, + 0.036598652601242065, + 0.0, + 0.6601285338401794 + ], + [ + 0.35139983892440796, + -0.043495479971170425, + 0.02012038230895996, + -0.007809529080986977, + -0.07346656918525696, + 0.06001080200076103, + 0.0, + 0.365278422832489 + ], + [ + 0.3500625193119049, + -0.04277043044567108, + 0.020054761320352554, + -0.032124198973178864, + -0.05999292433261871, + 0.060744959861040115, + 0.0, + 0.16443414986133575 + ], + [ + 0.350219190120697, + -0.03925918787717819, + 0.021684331819415092, + -0.04398955777287483, + -0.05818268284201622, + 0.0763912945985794, + 0.0, + 0.0867718756198883 + ], + [ + 0.34698566794395447, + -0.028922976925969124, + 0.04414486885070801, + -0.07928796857595444, + -0.07816307991743088, + 0.11839403212070465, + 0.0, + 0.08432227373123169 + ], + [ + 0.342720091342926, + -0.016306640580296516, + 0.05462561920285225, + -0.11377111077308655, + -0.0796835869550705, + 0.19041496515274048, + 0.0, + 0.08432227373123169 + ], + [ + 0.33887702226638794, + 0.002782891970127821, + 0.07392410933971405, + -0.14883673191070557, + -0.12541620433330536, + 0.34669411182403564, + 0.0, + 0.08432227373123169 + ], + [ + 0.33063989877700806, + 0.023469723761081696, + 0.08093880116939545, + -0.17378678917884827, + -0.08329501748085022, + 0.5913791656494141, + 0.0, + 0.08432227373123169 + ], + [ + 0.3175978660583496, + 0.053302865475416183, + 0.0956023558974266, + -0.18408596515655518, + -0.07266687601804733, + 0.7846046686172485, + 0.0, + 0.08432227373123169 + ], + [ + 0.3063088655471802, + 0.07288748770952225, + 0.10150620341300964, + -0.13329805433750153, + -0.08076850324869156, + 0.8956242799758911, + 0.0, + 0.08432227373123169 + ], + [ + 0.29323434829711914, + 0.09909338504076004, + 0.10056281834840775, + -0.07674164324998856, + -0.08026179671287537, + 0.9995437264442444, + 0.0, + 0.08432227373123169 + ], + [ + 0.27487584948539734, + 0.12989667057991028, + 0.09340688586235046, + -0.08272179216146469, + -0.057931430637836456, + 1.0865108966827393, + 0.0, + 0.08432227373123169 + ], + [ + 0.25875595211982727, + 0.15230923891067505, + 0.0822502002120018, + -0.06802874803543091, + -0.028708839789032936, + 1.2224559783935547, + 0.0, + 0.08432227373123169 + ], + [ + 0.24948130548000336, + 0.16102062165737152, + 0.0783068910241127, + -0.062048401683568954, + -0.011527104303240776, + 1.4339308738708496, + 0.0, + 0.08432227373123169 + ], + [ + 0.24251212179660797, + 0.1635921448469162, + 0.07446830719709396, + -0.01179602462798357, + -0.013189557939767838, + 1.624586582183838, + 0.0, + 0.08432227373123169 + ], + [ + 0.23590150475502014, + 0.16214056313037872, + 0.06818448752164841, + 0.007555317133665085, + -0.022445853799581528, + 1.8280302286148071, + 0.0, + 0.08432227373123169 + ], + [ + 0.2290484756231308, + 0.16135422885417938, + 0.061962977051734924, + 0.012939264066517353, + 0.007080313749611378, + 2.0481131076812744, + 0.0, + 0.08432227373123169 + ], + [ + 0.22466230392456055, + 0.16291099786758423, + 0.05426447093486786, + 0.01533969584852457, + 7.058965275064111e-05, + 2.1935930252075195, + 0.0, + 0.08432227373123169 + ], + [ + 0.22018885612487793, + 0.16079077124595642, + 0.04677845537662506, + 0.012731951661407948, + 0.006597009487450123, + 2.2742486000061035, + 0.0, + 0.08432227373123169 + ], + [ + 0.21774640679359436, + 0.16665183007717133, + 0.03902994468808174, + 0.010211285203695297, + 0.037135131657123566, + 2.2875843048095703, + 0.0, + 0.08432227373123169 + ], + [ + 0.21750955283641815, + 0.1671592891216278, + 0.02589309960603714, + 0.05709870159626007, + 0.06438207626342773, + 2.2458372116088867, + 0.0, + 0.11960587650537491 + ], + [ + 0.21560634672641754, + 0.16484466195106506, + 0.015982547774910927, + 0.09620271623134613, + 0.07620400190353394, + 2.227912425994873, + 0.0, + 0.3034155070781708 + ], + [ + 0.21743763983249664, + 0.16522660851478577, + 0.018806295469403267, + 0.11007055640220642, + 0.0859033465385437, + 2.1978909969329834, + 0.0, + 0.5889025926589966 + ], + [ + 0.21696902811527252, + 0.16405686736106873, + 0.020582223311066628, + 0.12282328307628632, + 0.09371595829725266, + 2.175138235092163, + 0.0, + 0.8844947218894958 + ], + [ + 0.21846607327461243, + 0.1644277572631836, + 0.026831617578864098, + 0.10388784855604172, + 0.09581586718559265, + 2.1526310443878174, + 0.0, + 1.0073583126068115 + ], + [ + 0.22447086870670319, + 0.1609315276145935, + 0.047931842505931854, + 0.0516388900578022, + 0.0488649345934391, + 2.0827369689941406, + 0.0, + 1.003452181816101 + ], + [ + 0.23191618919372559, + 0.15308623015880585, + 0.06482517719268799, + 0.00304631725884974, + 0.03243756294250488, + 1.9891396760940552, + 0.0, + 0.9994885921478271 + ], + [ + 0.24767263233661652, + 0.13530182838439941, + 0.08413120359182358, + -0.013103403151035309, + -0.01516797486692667, + 1.7737237215042114, + 0.0, + 0.9994885921478271 + ], + [ + 0.27105003595352173, + 0.12383317947387695, + 0.09952760487794876, + 0.0067367348819971085, + -0.05865051597356796, + 1.5257841348648071, + 0.0, + 0.9994885921478271 + ], + [ + 0.2958261966705322, + 0.11812201887369156, + 0.09816361963748932, + 0.0952366515994072, + -0.12459737062454224, + 1.2542541027069092, + 0.0, + 0.9994885921478271 + ], + [ + 0.320298433303833, + 0.10477369278669357, + 0.09550703316926956, + 0.08568182587623596, + -0.14295268058776855, + 1.0024569034576416, + 0.0, + 0.9994885921478271 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9406655430793762 + ], + [ + 0.6601285338401794 + ], + [ + 0.365278422832489 + ], + [ + 0.16443414986133575 + ], + [ + 0.0867718756198883 + ], + [ + 0.08432227373123169 + ], + [ + 0.08432227373123169 + ], + [ + 0.08432227373123169 + ], + [ + 0.08432227373123169 + ], + [ + 0.08432227373123169 + ], + [ + 0.08432227373123169 + ], + [ + 0.08432227373123169 + ], + [ + 0.08432227373123169 + ], + [ + 0.08432227373123169 + ], + [ + 0.08432227373123169 + ], + [ + 0.08432227373123169 + ], + [ + 0.08432227373123169 + ], + [ + 0.08432227373123169 + ], + [ + 0.08432227373123169 + ], + [ + 0.08432227373123169 + ], + [ + 0.08432227373123169 + ], + [ + 0.11960587650537491 + ], + [ + 0.3034155070781708 + ], + [ + 0.5889025926589966 + ], + [ + 0.8844947218894958 + ], + [ + 1.0073583126068115 + ], + [ + 1.003452181816101 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.1795758157968521, + 0.08596449345350266, + 0.11315140128135681 + ], + [ + 0.17792069911956787, + 0.08419319987297058, + 0.10938484966754913 + ], + [ + 0.18958890438079834, + 0.0817214697599411, + 0.11466256529092789 + ], + [ + 0.21096155047416687, + 0.07388588786125183, + 0.12403247505426407 + ], + [ + 0.2410813570022583, + 0.06078151613473892, + 0.12311425060033798 + ], + [ + 0.27210161089897156, + 0.03774679824709892, + 0.11233977973461151 + ], + [ + 0.2924971282482147, + 0.012811055406928062, + 0.09957455098628998 + ], + [ + 0.311890184879303, + -0.011437331326305866, + 0.08701858669519424 + ], + [ + 0.3256819546222687, + -0.030127819627523422, + 0.07147806882858276 + ], + [ + 0.337750107049942, + -0.03537184000015259, + 0.05355057865381241 + ], + [ + 0.34559366106987, + -0.03705074265599251, + 0.03835170343518257 + ], + [ + 0.3517603576183319, + -0.04124957695603371, + 0.027799440547823906 + ], + [ + 0.35068392753601074, + -0.04425245523452759, + 0.02055739052593708 + ], + [ + 0.350308358669281, + -0.04964834824204445, + 0.02038225345313549 + ], + [ + 0.35139983892440796, + -0.043495479971170425, + 0.02012038230895996 + ], + [ + 0.3500625193119049, + -0.04277043044567108, + 0.020054761320352554 + ], + [ + 0.350219190120697, + -0.03925918787717819, + 0.021684331819415092 + ], + [ + 0.34698566794395447, + -0.028922976925969124, + 0.04414486885070801 + ], + [ + 0.342720091342926, + -0.016306640580296516, + 0.05462561920285225 + ], + [ + 0.33887702226638794, + 0.002782891970127821, + 0.07392410933971405 + ], + [ + 0.33063989877700806, + 0.023469723761081696, + 0.08093880116939545 + ], + [ + 0.3175978660583496, + 0.053302865475416183, + 0.0956023558974266 + ], + [ + 0.3063088655471802, + 0.07288748770952225, + 0.10150620341300964 + ], + [ + 0.29323434829711914, + 0.09909338504076004, + 0.10056281834840775 + ], + [ + 0.27487584948539734, + 0.12989667057991028, + 0.09340688586235046 + ], + [ + 0.25875595211982727, + 0.15230923891067505, + 0.0822502002120018 + ], + [ + 0.24948130548000336, + 0.16102062165737152, + 0.0783068910241127 + ], + [ + 0.24251212179660797, + 0.1635921448469162, + 0.07446830719709396 + ], + [ + 0.23590150475502014, + 0.16214056313037872, + 0.06818448752164841 + ], + [ + 0.2290484756231308, + 0.16135422885417938, + 0.061962977051734924 + ], + [ + 0.22466230392456055, + 0.16291099786758423, + 0.05426447093486786 + ], + [ + 0.22018885612487793, + 0.16079077124595642, + 0.04677845537662506 + ], + [ + 0.21774640679359436, + 0.16665183007717133, + 0.03902994468808174 + ], + [ + 0.21750955283641815, + 0.1671592891216278, + 0.02589309960603714 + ], + [ + 0.21560634672641754, + 0.16484466195106506, + 0.015982547774910927 + ], + [ + 0.21743763983249664, + 0.16522660851478577, + 0.018806295469403267 + ], + [ + 0.21696902811527252, + 0.16405686736106873, + 0.020582223311066628 + ], + [ + 0.21846607327461243, + 0.1644277572631836, + 0.026831617578864098 + ], + [ + 0.22447086870670319, + 0.1609315276145935, + 0.047931842505931854 + ], + [ + 0.23191618919372559, + 0.15308623015880585, + 0.06482517719268799 + ], + [ + 0.24767263233661652, + 0.13530182838439941, + 0.08413120359182358 + ], + [ + 0.27105003595352173, + 0.12383317947387695, + 0.09952760487794876 + ], + [ + 0.2958261966705322, + 0.11812201887369156, + 0.09816361963748932 + ], + [ + 0.320298433303833, + 0.10477369278669357, + 0.09550703316926956 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9855142970154479, + -0.15792614039224234, + -0.061813465838418735, + -0.148827848184377, + -0.9801130778355797, + 0.13125786170921416, + -0.08131323375045194, + -0.12015693420055672, + -0.9894192585454195 + ], + [ + 0.9879994493360793, + -0.135458512543842, + -0.07421643679815318, + -0.12605136219627466, + -0.9848106036840683, + 0.11941159474642735, + -0.08926445093130883, + -0.10862350689805231, + -0.9900670641674235 + ], + [ + 0.9996688829127602, + 0.014388875832924591, + -0.021332716381628154, + 0.016839287719780403, + -0.992686845345652, + 0.11953771566659765, + -0.019456693579453843, + -0.11985736243536554, + -0.9926004481889945 + ], + [ + 0.9982183704879672, + 0.05578548691757924, + 0.021167528663396138, + 0.05246963229516003, + -0.9896278899679941, + 0.13372949220088357, + 0.02840814156466066, + -0.1323805833453837, + -0.9907917836992685 + ], + [ + 0.9954451906382182, + 0.0664839707047201, + 0.06832828165976286, + 0.05988357155154785, + -0.9937237299140989, + 0.09448336606960141, + 0.07418106425141537, + -0.08996127080552817, + -0.9931788053827882 + ], + [ + 0.9872215963783559, + 0.09041626470265059, + 0.13121897241401712, + 0.07974708749956973, + -0.9932345852585703, + 0.08441244387868253, + 0.13796347951362467, + -0.07286945672540711, + -0.9877530666097867 + ], + [ + 0.9847809377413117, + 0.07939989407042625, + 0.1546032389148029, + 0.07043370911237487, + -0.9955476458042468, + 0.06264165989415672, + 0.15888863169533526, + -0.05079903301468376, + -0.9859887732437713 + ], + [ + 0.9868885355955392, + 0.05103382915760317, + 0.15312271742496064, + 0.04552027818279497, + -0.9981899935834279, + 0.03930192087006783, + 0.1548512918391472, + -0.03181642644026329, + -0.9874253351136573 + ], + [ + 0.9892190015373186, + 0.03666385632498065, + 0.14177985977172974, + 0.03215945382221638, + -0.9989065608377569, + 0.033933055346391044, + 0.14286894878652573, + -0.02900766027561827, + -0.9893164403354303 + ], + [ + 0.9935328843835679, + 0.027310956273433107, + 0.11021124859059665, + 0.02105196506433752, + -0.9981200457725969, + 0.05756030745087071, + 0.1115760835277775, + -0.0548678949326423, + -0.9922400373348491 + ], + [ + 0.995531669910214, + 0.02890966147415724, + 0.089893969092649, + 0.023266206290485317, + -0.9977293115395525, + 0.06320525721535501, + 0.09151709048384944, + -0.06083134363352691, + -0.9939437457829847 + ], + [ + 0.9946866217596976, + 0.039190909505185126, + 0.09519767383942168, + 0.032767470411568564, + -0.9971385024408084, + 0.06812561803704414, + 0.09759517085956404, + -0.06464425389977554, + -0.9931245153869852 + ], + [ + 0.9958756007904461, + 0.04259589550580905, + 0.08010853535251833, + 0.037237737553415216, + -0.9970423153764287, + 0.06723073888269049, + 0.08273535309751481, + -0.06397039186113945, + -0.9945162896166967 + ], + [ + 0.9963539072494016, + 0.03739348374444662, + 0.07668519337071686, + 0.036481500494257135, + -0.9992463572532714, + 0.013259624344403345, + 0.07712322367833147, + -0.01041368760434955, + -0.9969671827497336 + ], + [ + 0.9955072930448831, + 0.059400774497628685, + 0.07373450673552324, + 0.05981300975574034, + -0.9982038314206145, + -0.003393346602518438, + 0.07340049971497993, + 0.007788384061342735, + -0.9972721332290921 + ], + [ + 0.996359874529427, + 0.05875410207888633, + 0.061765329405812974, + 0.06059839394483241, + -0.9977575129903898, + -0.028421469394441075, + 0.0599569435429432, + 0.03206089144325305, + -0.9976859546775491 + ], + [ + 0.9953964037994375, + 0.07369348572550803, + 0.06128025346530182, + 0.07618787903504394, + -0.9963141953734841, + -0.03941359137948093, + 0.058149861489850546, + 0.043900959658207075, + -0.9973421175052218 + ], + [ + 0.9899678042662992, + 0.11160524725410363, + 0.086648804385937, + 0.11775700058133674, + -0.9906104677169478, + -0.06945638965348254, + 0.0780835150992131, + 0.07896309286596954, + -0.9938147687747404 + ], + [ + 0.9788100737039073, + 0.17916953137545932, + 0.09914191163403285, + 0.18866582313875918, + -0.977287994740515, + -0.09650586777723993, + 0.07959928891093515, + 0.11316560591788466, + -0.9903825012802437 + ], + [ + 0.9331141728413477, + 0.31858850089040064, + 0.1667312434518946, + 0.3371216588548471, + -0.9364059763188809, + -0.09743117902006358, + 0.12508767954344607, + 0.14712312739569794, + -0.9811767719487379 + ], + [ + 0.8272943462126231, + 0.5371657986972522, + 0.1644292231769408, + 0.5555736094434938, + -0.8256881053384183, + -0.09786274670466646, + 0.08319873325091713, + 0.1723138340720113, + -0.9815222429333156 + ], + [ + 0.7058000554828134, + 0.68520288338084, + 0.17984240402930696, + 0.7046808460150061, + -0.7051007380797982, + -0.0791066016138918, + 0.07260294029881154, + 0.1825649412288862, + -0.9805094876104262 + ], + [ + 0.6229940208092728, + 0.7669726348472163, + 0.15372516850344833, + 0.7780546717030621, + -0.6278571279095736, + -0.020648360084554243, + 0.08068071564466567, + 0.13247039038464253, + -0.9878978782214307 + ], + [ + 0.5389455869523988, + 0.8354250085270765, + 0.10771587363090267, + 0.83851626063503, + -0.5442656614895436, + 0.025794774160590853, + 0.08017565063771294, + 0.07641953186773574, + -0.99384703058063 + ], + [ + 0.4647950484143634, + 0.8797542402610639, + 0.09999019808045036, + 0.8835232113492197, + -0.4682179654394872, + 0.01259650137415784, + 0.05789903260548947, + 0.0824888694454308, + -0.9949086834684694 + ], + [ + 0.341197649075858, + 0.9371003309679192, + 0.07366908418681575, + 0.9395531880591025, + -0.3423828285818283, + 0.0037155753636936295, + 0.028704896325968357, + 0.06794827733006072, + -0.9972758196882108 + ], + [ + 0.1364294910626076, + 0.9886446252716272, + 0.0629984038680464, + 0.9905827202812767, + -0.1368840749159146, + 0.0029367183317424196, + 0.011526849029270512, + 0.06200447528959406, + -0.9980093069683861 + ], + [ + -0.05375964329063915, + 0.9984925457845472, + 0.011069632602646573, + 0.9984667978467078, + 0.053605228041697484, + 0.013803373657897777, + 0.013189175524087026, + 0.011794725062160028, + -0.9998434528013389 + ], + [ + -0.25434235786942433, + 0.9670266483952322, + -0.013016385324079848, + 0.9668537806955356, + 0.2545631715635907, + 0.019782781357386068, + 0.022443969082360283, + -0.007553342105923629, + -0.9997195683164657 + ], + [ + -0.45938599939603975, + 0.888198513927716, + -0.008240352874609141, + 0.8882085191855587, + 0.45927768619647813, + -0.01223247351134493, + -0.007080254592743736, + -0.012938578693417828, + -0.9998912256722207 + ], + [ + -0.5833090564164802, + 0.8121553654644833, + -0.0124180131166991, + 0.8122502937639455, + 0.5832395515870523, + -0.009004762346543356, + -7.0589652692017e-05, + -0.015339094229620234, + -0.9998823466815059 + ], + [ + -0.6468402115650711, + 0.7626061377325913, + -0.005442370350679062, + 0.762597023859665, + 0.6467378077031476, + -0.013266020040232536, + -0.006596961636658103, + -0.012731330641620422, + -0.9998971913738224 + ], + [ + -0.656513525899183, + 0.7541295583509445, + 0.01669130111262724, + 0.7534000305870533, + 0.6566463935936551, + -0.03469737298231372, + -0.037126597243082676, + -0.01020406790726675, + -0.9992584714553557 + ], + [ + -0.6236345005768663, + 0.7817036234946876, + -0.004410748861370474, + 0.7790639780744996, + 0.6210444472707205, + -0.0858085810449081, + -0.06433760764108246, + -0.05694944713937767, + -0.996301878304734 + ], + [ + -0.6090633266963882, + 0.7925629240012874, + -0.029763661939653047, + 0.7894593378238407, + 0.6022217531170971, + -0.11867145400353374, + -0.07613026990804252, + -0.09577563140538084, + -0.9924873855282136 + ], + [ + -0.5846309274774995, + 0.8103659091477503, + -0.0389072220537366, + 0.8067499164015416, + 0.5756120581126702, + -0.1335115386077236, + -0.08579773320376491, + -0.10944337278444964, + -0.9902832408612495 + ], + [ + -0.5657272466440241, + 0.8231917693382501, + -0.048041578849297134, + 0.8192653314417054, + 0.5545059953789732, + -0.14603909677373197, + -0.09357883896632141, + -0.1219770961391358, + -0.9881116277603356 + ], + [ + -0.5470369589388374, + 0.8364035897920439, + -0.034345313187258364, + 0.8316236803665522, + 0.5383061841624693, + -0.13648628629291687, + -0.0956693253270823, + -0.10322541874666247, + -0.9900464095768627 + ], + [ + -0.48928527638926445, + 0.8718684549581959, + -0.021102501214059453, + 0.8707548658328546, + 0.4870190428794624, + -0.06781161774489386, + -0.04884549044782246, + -0.05155433174409954, + -0.997474946523135 + ], + [ + -0.4060335177618146, + 0.9137991000430357, + 0.010391689684747876, + 0.9132825170509928, + 0.4061550621392942, + -0.030872472327770455, + -0.0324318747988612, + -0.0030447100295495407, + -0.9994693108034217 + ], + [ + -0.2015143339823326, + 0.9794367622201087, + 0.009777628109477243, + 0.979368124548288, + 0.2013255546655685, + 0.01749564681200031, + 0.01516739326403799, + 0.013101520919019713, + -0.999799129991211 + ], + [ + 0.04491962360737989, + 0.9989822221637639, + -0.004092336217787353, + 0.9972694153775505, + -0.04460148902686112, + 0.05885932661104217, + 0.058616896604049805, + -0.006725100544593028, + -0.9982578987692384 + ], + [ + 0.30886931470549567, + 0.9496896338115856, + -0.051858903422398774, + 0.9429503763765775, + -0.2986412993089956, + 0.14716644331608125, + 0.12427523536339782, + -0.09435557099531072, + -0.9877513311038972 + ], + [ + 0.5327430987501869, + 0.8462662208422708, + 0.004274832790894079, + 0.8341991044746156, + -0.5259835519028571, + 0.16568994303036122, + 0.14246629365502014, + -0.08470411199579399, + -0.9861686309060971 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0016551166772842407, + -0.001771293580532074, + -0.0037665516138076782, + -0.01157386600971222, + 0.007980316877365112, + 0.022985994815826416, + 1.0 + ], + [ + 0.011668205261230469, + -0.00247173011302948, + 0.005277715623378754, + 0.0108928382396698, + -0.06992550194263458, + 0.14374014735221863, + 1.0 + ], + [ + 0.02137264609336853, + -0.00783558189868927, + 0.009369909763336182, + 0.012655176222324371, + -0.047869883477687836, + 0.03567168116569519, + 1.0 + ], + [ + 0.03011980652809143, + -0.013104371726512909, + -0.0009182244539260864, + -0.042491622269153595, + -0.04583730548620224, + 0.007570214569568634, + 1.0 + ], + [ + 0.031020253896713257, + -0.02303471788764, + -0.010774470865726471, + -0.01669307053089142, + -0.06415566802024841, + 0.020519133657217026, + 1.0 + ], + [ + 0.020395517349243164, + -0.02493574284017086, + -0.012765228748321533, + -0.022164158523082733, + -0.02115994691848755, + -0.009203672409057617, + 1.0 + ], + [ + 0.019393056631088257, + -0.024248387664556503, + -0.012555964291095734, + -0.019264932721853256, + 0.004087954759597778, + -0.02530825138092041, + 1.0 + ], + [ + 0.013791769742965698, + -0.01869048923254013, + -0.01554051786661148, + -0.002897944301366806, + 0.012117430567741394, + -0.013593878597021103, + 1.0 + ], + [ + 0.01206815242767334, + -0.005244020372629166, + -0.017927490174770355, + 0.025928225368261337, + 0.03155060112476349, + -0.01131267100572586, + 1.0 + ], + [ + 0.007843554019927979, + -0.00167890265583992, + -0.015198875218629837, + 0.005885016173124313, + 0.02016357332468033, + 0.0021805539727211, + 1.0 + ], + [ + 0.006166696548461914, + -0.004198834300041199, + -0.010552262887358665, + 0.0038743391633033752, + -0.006105445325374603, + 0.009564217180013657, + 1.0 + ], + [ + -0.001076430082321167, + -0.0030028782784938812, + -0.0072420500218868256, + -0.0007654651999473572, + 0.014920733869075775, + 0.004443947225809097, + 0.0 + ], + [ + -0.00037556886672973633, + -0.005395893007516861, + -0.00017513707280158997, + -0.053789641708135605, + 0.0056301504373550415, + -0.0007758922874927521, + 0.0 + ], + [ + 0.0010914802551269531, + 0.0061528682708740234, + -0.0002618711441755295, + -0.018254514783620834, + 0.003733314573764801, + 0.023412149399518967, + 0.0 + ], + [ + -0.0013373196125030518, + 0.0007250495254993439, + -6.562098860740662e-05, + -0.024314669892191887, + 0.013473644852638245, + 0.0007341578602790833, + 0.0 + ], + [ + 0.00015667080879211426, + 0.0035112425684928894, + 0.0016295704990625381, + -0.011865358799695969, + 0.0018102414906024933, + 0.01564633473753929, + 0.0 + ], + [ + -0.0032335221767425537, + 0.010336210951209068, + 0.022460537031292915, + -0.035298410803079605, + -0.019980397075414658, + 0.042002737522125244, + 0.0 + ], + [ + -0.004265576601028442, + 0.012616336345672607, + 0.010480750352144241, + -0.03448314219713211, + -0.001520507037639618, + 0.07202093303203583, + 0.0 + ], + [ + -0.003843069076538086, + 0.019089533016085625, + 0.0192984901368618, + -0.03506562113761902, + -0.04573261737823486, + 0.15627914667129517, + 0.0 + ], + [ + -0.008237123489379883, + 0.020686831325292587, + 0.0070146918296813965, + -0.0249500572681427, + 0.04212118685245514, + 0.24468505382537842, + 0.0 + ], + [ + -0.013042032718658447, + 0.029833141714334488, + 0.014663554728031158, + -0.01029917597770691, + 0.010628141462802887, + 0.19322550296783447, + 0.0 + ], + [ + -0.011289000511169434, + 0.019584622234106064, + 0.005903847515583038, + 0.05078791081905365, + -0.008101627230644226, + 0.11101961135864258, + 0.0 + ], + [ + -0.013074517250061035, + 0.026205897331237793, + -0.0009433850646018982, + 0.05655641108751297, + 0.0005067065358161926, + 0.10391944646835327, + 0.0 + ], + [ + -0.018358498811721802, + 0.030803285539150238, + -0.0071559324860572815, + -0.005980148911476135, + 0.02233036607503891, + 0.08696717023849487, + 0.0 + ], + [ + -0.01611989736557007, + 0.02241256833076477, + -0.011156685650348663, + 0.014693044126033783, + 0.02922259084880352, + 0.13594508171081543, + 0.0 + ], + [ + -0.009274646639823914, + 0.008711382746696472, + -0.003943309187889099, + 0.005980346351861954, + 0.01718173548579216, + 0.21147489547729492, + 0.0 + ], + [ + -0.006969183683395386, + 0.0025715231895446777, + -0.003838583827018738, + 0.05025237798690796, + -0.0016624536365270615, + 0.19065570831298828, + 0.0 + ], + [ + -0.00661061704158783, + -0.0014515817165374756, + -0.006283819675445557, + 0.01935134083032608, + -0.00925629585981369, + 0.20344364643096924, + 0.0 + ], + [ + -0.006853029131889343, + -0.0007863342761993408, + -0.006221510469913483, + 0.005383946932852268, + 0.02952616661787033, + 0.22008287906646729, + 0.0 + ], + [ + -0.0043861716985702515, + 0.0015567690134048462, + -0.007698506116867065, + 0.0024004317820072174, + -0.0070097241550683975, + 0.14547991752624512, + 0.0 + ], + [ + -0.004473447799682617, + -0.0021202266216278076, + -0.007486015558242798, + -0.002607744187116623, + 0.006526419892907143, + 0.08065557479858398, + 0.0 + ], + [ + -0.0024424493312835693, + 0.005861058831214905, + -0.00774851068854332, + -0.0025206664577126503, + 0.030538123100996017, + 0.013335704803466797, + 0.0 + ], + [ + -0.0002368539571762085, + 0.0005074590444564819, + -0.013136845082044601, + 0.046887416392564774, + 0.02724694460630417, + -0.041747093200683594, + 1.0 + ], + [ + -0.0019032061100006104, + -0.002314627170562744, + -0.009910551831126213, + 0.03910401463508606, + 0.011821925640106201, + -0.017924785614013672, + 1.0 + ], + [ + 0.0018312931060791016, + 0.0003819465637207031, + 0.00282374769449234, + 0.01386784017086029, + 0.009699344635009766, + -0.03002142906188965, + 1.0 + ], + [ + -0.0004686117172241211, + -0.001169741153717041, + 0.0017759278416633606, + 0.012752726674079895, + 0.007812611758708954, + -0.022752761840820312, + 1.0 + ], + [ + 0.0014970451593399048, + 0.00037088990211486816, + 0.00624939426779747, + -0.0189354345202446, + 0.0020999088883399963, + -0.022507190704345703, + 1.0 + ], + [ + 0.006004795432090759, + -0.003496229648590088, + 0.021100224927067757, + -0.05224895849823952, + -0.04695093259215355, + -0.06989407539367676, + 1.0 + ], + [ + 0.0074453204870224, + -0.007845297455787659, + 0.016893334686756134, + -0.048592571169137955, + -0.01642737165093422, + -0.09359729290008545, + 1.0 + ], + [ + 0.01575644314289093, + -0.017784401774406433, + 0.01930602639913559, + -0.016149720177054405, + -0.04760553687810898, + -0.21541595458984375, + 1.0 + ], + [ + 0.023377403616905212, + -0.011468648910522461, + 0.015396401286125183, + 0.019840138033032417, + -0.04348254203796387, + -0.2479395866394043, + 1.0 + ], + [ + 0.024776160717010498, + -0.005711160600185394, + -0.0013639852404594421, + 0.08849991858005524, + -0.06594685465097427, + -0.27153003215789795, + 1.0 + ], + [ + 0.02447223663330078, + -0.013348326086997986, + -0.002656586468219757, + -0.009554825723171234, + -0.01835530996322632, + -0.2517971992492676, + 1.0 + ], + [ + 0.015282928943634033, + -0.024272389709949493, + 0.001128077507019043, + 0.003270462155342102, + -0.029362216591835022, + -0.25961267948150635, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9406655430793762 + ], + [ + 0.6601285338401794 + ], + [ + 0.365278422832489 + ], + [ + 0.16443414986133575 + ], + [ + 0.0867718756198883 + ], + [ + 0.08432227373123169 + ], + [ + 0.08432227373123169 + ], + [ + 0.08432227373123169 + ], + [ + 0.08432227373123169 + ], + [ + 0.08432227373123169 + ], + [ + 0.08432227373123169 + ], + [ + 0.08432227373123169 + ], + [ + 0.08432227373123169 + ], + [ + 0.08432227373123169 + ], + [ + 0.08432227373123169 + ], + [ + 0.08432227373123169 + ], + [ + 0.08432227373123169 + ], + [ + 0.08432227373123169 + ], + [ + 0.08432227373123169 + ], + [ + 0.08432227373123169 + ], + [ + 0.08432227373123169 + ], + [ + 0.11960587650537491 + ], + [ + 0.3034155070781708 + ], + [ + 0.5889025926589966 + ], + [ + 0.8844947218894958 + ], + [ + 1.0073583126068115 + ], + [ + 1.003452181816101 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.17792069911956787, + 0.08419319987297058, + 0.10938484966754913 + ], + [ + 0.18958890438079834, + 0.0817214697599411, + 0.11466256529092789 + ], + [ + 0.21096155047416687, + 0.07388588786125183, + 0.12403247505426407 + ], + [ + 0.2410813570022583, + 0.06078151613473892, + 0.12311425060033798 + ], + [ + 0.27210161089897156, + 0.03774679824709892, + 0.11233977973461151 + ], + [ + 0.2924971282482147, + 0.012811055406928062, + 0.09957455098628998 + ], + [ + 0.311890184879303, + -0.011437331326305866, + 0.08701858669519424 + ], + [ + 0.3256819546222687, + -0.030127819627523422, + 0.07147806882858276 + ], + [ + 0.337750107049942, + -0.03537184000015259, + 0.05355057865381241 + ], + [ + 0.34559366106987, + -0.03705074265599251, + 0.03835170343518257 + ], + [ + 0.3517603576183319, + -0.04124957695603371, + 0.027799440547823906 + ], + [ + 0.35068392753601074, + -0.04425245523452759, + 0.02055739052593708 + ], + [ + 0.350308358669281, + -0.04964834824204445, + 0.02038225345313549 + ], + [ + 0.35139983892440796, + -0.043495479971170425, + 0.02012038230895996 + ], + [ + 0.3500625193119049, + -0.04277043044567108, + 0.020054761320352554 + ], + [ + 0.350219190120697, + -0.03925918787717819, + 0.021684331819415092 + ], + [ + 0.34698566794395447, + -0.028922976925969124, + 0.04414486885070801 + ], + [ + 0.342720091342926, + -0.016306640580296516, + 0.05462561920285225 + ], + [ + 0.33887702226638794, + 0.002782891970127821, + 0.07392410933971405 + ], + [ + 0.33063989877700806, + 0.023469723761081696, + 0.08093880116939545 + ], + [ + 0.3175978660583496, + 0.053302865475416183, + 0.0956023558974266 + ], + [ + 0.3063088655471802, + 0.07288748770952225, + 0.10150620341300964 + ], + [ + 0.29323434829711914, + 0.09909338504076004, + 0.10056281834840775 + ], + [ + 0.27487584948539734, + 0.12989667057991028, + 0.09340688586235046 + ], + [ + 0.25875595211982727, + 0.15230923891067505, + 0.0822502002120018 + ], + [ + 0.24948130548000336, + 0.16102062165737152, + 0.0783068910241127 + ], + [ + 0.24251212179660797, + 0.1635921448469162, + 0.07446830719709396 + ], + [ + 0.23590150475502014, + 0.16214056313037872, + 0.06818448752164841 + ], + [ + 0.2290484756231308, + 0.16135422885417938, + 0.061962977051734924 + ], + [ + 0.22466230392456055, + 0.16291099786758423, + 0.05426447093486786 + ], + [ + 0.22018885612487793, + 0.16079077124595642, + 0.04677845537662506 + ], + [ + 0.21774640679359436, + 0.16665183007717133, + 0.03902994468808174 + ], + [ + 0.21750955283641815, + 0.1671592891216278, + 0.02589309960603714 + ], + [ + 0.21560634672641754, + 0.16484466195106506, + 0.015982547774910927 + ], + [ + 0.21743763983249664, + 0.16522660851478577, + 0.018806295469403267 + ], + [ + 0.21696902811527252, + 0.16405686736106873, + 0.020582223311066628 + ], + [ + 0.21846607327461243, + 0.1644277572631836, + 0.026831617578864098 + ], + [ + 0.22447086870670319, + 0.1609315276145935, + 0.047931842505931854 + ], + [ + 0.23191618919372559, + 0.15308623015880585, + 0.06482517719268799 + ], + [ + 0.24767263233661652, + 0.13530182838439941, + 0.08413120359182358 + ], + [ + 0.27105003595352173, + 0.12383317947387695, + 0.09952760487794876 + ], + [ + 0.2958261966705322, + 0.11812201887369156, + 0.09816361963748932 + ], + [ + 0.320298433303833, + 0.10477369278669357, + 0.09550703316926956 + ], + [ + 0.33558136224746704, + 0.08050130307674408, + 0.0966351106762886 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9879994493360793, + -0.135458512543842, + -0.07421643679815318, + -0.12605136219627466, + -0.9848106036840683, + 0.11941159474642735, + -0.08926445093130883, + -0.10862350689805231, + -0.9900670641674235 + ], + [ + 0.9996688829127602, + 0.014388875832924591, + -0.021332716381628154, + 0.016839287719780403, + -0.992686845345652, + 0.11953771566659765, + -0.019456693579453843, + -0.11985736243536554, + -0.9926004481889945 + ], + [ + 0.9982183704879672, + 0.05578548691757924, + 0.021167528663396138, + 0.05246963229516003, + -0.9896278899679941, + 0.13372949220088357, + 0.02840814156466066, + -0.1323805833453837, + -0.9907917836992685 + ], + [ + 0.9954451906382182, + 0.0664839707047201, + 0.06832828165976286, + 0.05988357155154785, + -0.9937237299140989, + 0.09448336606960141, + 0.07418106425141537, + -0.08996127080552817, + -0.9931788053827882 + ], + [ + 0.9872215963783559, + 0.09041626470265059, + 0.13121897241401712, + 0.07974708749956973, + -0.9932345852585703, + 0.08441244387868253, + 0.13796347951362467, + -0.07286945672540711, + -0.9877530666097867 + ], + [ + 0.9847809377413117, + 0.07939989407042625, + 0.1546032389148029, + 0.07043370911237487, + -0.9955476458042468, + 0.06264165989415672, + 0.15888863169533526, + -0.05079903301468376, + -0.9859887732437713 + ], + [ + 0.9868885355955392, + 0.05103382915760317, + 0.15312271742496064, + 0.04552027818279497, + -0.9981899935834279, + 0.03930192087006783, + 0.1548512918391472, + -0.03181642644026329, + -0.9874253351136573 + ], + [ + 0.9892190015373186, + 0.03666385632498065, + 0.14177985977172974, + 0.03215945382221638, + -0.9989065608377569, + 0.033933055346391044, + 0.14286894878652573, + -0.02900766027561827, + -0.9893164403354303 + ], + [ + 0.9935328843835679, + 0.027310956273433107, + 0.11021124859059665, + 0.02105196506433752, + -0.9981200457725969, + 0.05756030745087071, + 0.1115760835277775, + -0.0548678949326423, + -0.9922400373348491 + ], + [ + 0.995531669910214, + 0.02890966147415724, + 0.089893969092649, + 0.023266206290485317, + -0.9977293115395525, + 0.06320525721535501, + 0.09151709048384944, + -0.06083134363352691, + -0.9939437457829847 + ], + [ + 0.9946866217596976, + 0.039190909505185126, + 0.09519767383942168, + 0.032767470411568564, + -0.9971385024408084, + 0.06812561803704414, + 0.09759517085956404, + -0.06464425389977554, + -0.9931245153869852 + ], + [ + 0.9958756007904461, + 0.04259589550580905, + 0.08010853535251833, + 0.037237737553415216, + -0.9970423153764287, + 0.06723073888269049, + 0.08273535309751481, + -0.06397039186113945, + -0.9945162896166967 + ], + [ + 0.9963539072494016, + 0.03739348374444662, + 0.07668519337071686, + 0.036481500494257135, + -0.9992463572532714, + 0.013259624344403345, + 0.07712322367833147, + -0.01041368760434955, + -0.9969671827497336 + ], + [ + 0.9955072930448831, + 0.059400774497628685, + 0.07373450673552324, + 0.05981300975574034, + -0.9982038314206145, + -0.003393346602518438, + 0.07340049971497993, + 0.007788384061342735, + -0.9972721332290921 + ], + [ + 0.996359874529427, + 0.05875410207888633, + 0.061765329405812974, + 0.06059839394483241, + -0.9977575129903898, + -0.028421469394441075, + 0.0599569435429432, + 0.03206089144325305, + -0.9976859546775491 + ], + [ + 0.9953964037994375, + 0.07369348572550803, + 0.06128025346530182, + 0.07618787903504394, + -0.9963141953734841, + -0.03941359137948093, + 0.058149861489850546, + 0.043900959658207075, + -0.9973421175052218 + ], + [ + 0.9899678042662992, + 0.11160524725410363, + 0.086648804385937, + 0.11775700058133674, + -0.9906104677169478, + -0.06945638965348254, + 0.0780835150992131, + 0.07896309286596954, + -0.9938147687747404 + ], + [ + 0.9788100737039073, + 0.17916953137545932, + 0.09914191163403285, + 0.18866582313875918, + -0.977287994740515, + -0.09650586777723993, + 0.07959928891093515, + 0.11316560591788466, + -0.9903825012802437 + ], + [ + 0.9331141728413477, + 0.31858850089040064, + 0.1667312434518946, + 0.3371216588548471, + -0.9364059763188809, + -0.09743117902006358, + 0.12508767954344607, + 0.14712312739569794, + -0.9811767719487379 + ], + [ + 0.8272943462126231, + 0.5371657986972522, + 0.1644292231769408, + 0.5555736094434938, + -0.8256881053384183, + -0.09786274670466646, + 0.08319873325091713, + 0.1723138340720113, + -0.9815222429333156 + ], + [ + 0.7058000554828134, + 0.68520288338084, + 0.17984240402930696, + 0.7046808460150061, + -0.7051007380797982, + -0.0791066016138918, + 0.07260294029881154, + 0.1825649412288862, + -0.9805094876104262 + ], + [ + 0.6229940208092728, + 0.7669726348472163, + 0.15372516850344833, + 0.7780546717030621, + -0.6278571279095736, + -0.020648360084554243, + 0.08068071564466567, + 0.13247039038464253, + -0.9878978782214307 + ], + [ + 0.5389455869523988, + 0.8354250085270765, + 0.10771587363090267, + 0.83851626063503, + -0.5442656614895436, + 0.025794774160590853, + 0.08017565063771294, + 0.07641953186773574, + -0.99384703058063 + ], + [ + 0.4647950484143634, + 0.8797542402610639, + 0.09999019808045036, + 0.8835232113492197, + -0.4682179654394872, + 0.01259650137415784, + 0.05789903260548947, + 0.0824888694454308, + -0.9949086834684694 + ], + [ + 0.341197649075858, + 0.9371003309679192, + 0.07366908418681575, + 0.9395531880591025, + -0.3423828285818283, + 0.0037155753636936295, + 0.028704896325968357, + 0.06794827733006072, + -0.9972758196882108 + ], + [ + 0.1364294910626076, + 0.9886446252716272, + 0.0629984038680464, + 0.9905827202812767, + -0.1368840749159146, + 0.0029367183317424196, + 0.011526849029270512, + 0.06200447528959406, + -0.9980093069683861 + ], + [ + -0.05375964329063915, + 0.9984925457845472, + 0.011069632602646573, + 0.9984667978467078, + 0.053605228041697484, + 0.013803373657897777, + 0.013189175524087026, + 0.011794725062160028, + -0.9998434528013389 + ], + [ + -0.25434235786942433, + 0.9670266483952322, + -0.013016385324079848, + 0.9668537806955356, + 0.2545631715635907, + 0.019782781357386068, + 0.022443969082360283, + -0.007553342105923629, + -0.9997195683164657 + ], + [ + -0.45938599939603975, + 0.888198513927716, + -0.008240352874609141, + 0.8882085191855587, + 0.45927768619647813, + -0.01223247351134493, + -0.007080254592743736, + -0.012938578693417828, + -0.9998912256722207 + ], + [ + -0.5833090564164802, + 0.8121553654644833, + -0.0124180131166991, + 0.8122502937639455, + 0.5832395515870523, + -0.009004762346543356, + -7.0589652692017e-05, + -0.015339094229620234, + -0.9998823466815059 + ], + [ + -0.6468402115650711, + 0.7626061377325913, + -0.005442370350679062, + 0.762597023859665, + 0.6467378077031476, + -0.013266020040232536, + -0.006596961636658103, + -0.012731330641620422, + -0.9998971913738224 + ], + [ + -0.656513525899183, + 0.7541295583509445, + 0.01669130111262724, + 0.7534000305870533, + 0.6566463935936551, + -0.03469737298231372, + -0.037126597243082676, + -0.01020406790726675, + -0.9992584714553557 + ], + [ + -0.6236345005768663, + 0.7817036234946876, + -0.004410748861370474, + 0.7790639780744996, + 0.6210444472707205, + -0.0858085810449081, + -0.06433760764108246, + -0.05694944713937767, + -0.996301878304734 + ], + [ + -0.6090633266963882, + 0.7925629240012874, + -0.029763661939653047, + 0.7894593378238407, + 0.6022217531170971, + -0.11867145400353374, + -0.07613026990804252, + -0.09577563140538084, + -0.9924873855282136 + ], + [ + -0.5846309274774995, + 0.8103659091477503, + -0.0389072220537366, + 0.8067499164015416, + 0.5756120581126702, + -0.1335115386077236, + -0.08579773320376491, + -0.10944337278444964, + -0.9902832408612495 + ], + [ + -0.5657272466440241, + 0.8231917693382501, + -0.048041578849297134, + 0.8192653314417054, + 0.5545059953789732, + -0.14603909677373197, + -0.09357883896632141, + -0.1219770961391358, + -0.9881116277603356 + ], + [ + -0.5470369589388374, + 0.8364035897920439, + -0.034345313187258364, + 0.8316236803665522, + 0.5383061841624693, + -0.13648628629291687, + -0.0956693253270823, + -0.10322541874666247, + -0.9900464095768627 + ], + [ + -0.48928527638926445, + 0.8718684549581959, + -0.021102501214059453, + 0.8707548658328546, + 0.4870190428794624, + -0.06781161774489386, + -0.04884549044782246, + -0.05155433174409954, + -0.997474946523135 + ], + [ + -0.4060335177618146, + 0.9137991000430357, + 0.010391689684747876, + 0.9132825170509928, + 0.4061550621392942, + -0.030872472327770455, + -0.0324318747988612, + -0.0030447100295495407, + -0.9994693108034217 + ], + [ + -0.2015143339823326, + 0.9794367622201087, + 0.009777628109477243, + 0.979368124548288, + 0.2013255546655685, + 0.01749564681200031, + 0.01516739326403799, + 0.013101520919019713, + -0.999799129991211 + ], + [ + 0.04491962360737989, + 0.9989822221637639, + -0.004092336217787353, + 0.9972694153775505, + -0.04460148902686112, + 0.05885932661104217, + 0.058616896604049805, + -0.006725100544593028, + -0.9982578987692384 + ], + [ + 0.30886931470549567, + 0.9496896338115856, + -0.051858903422398774, + 0.9429503763765775, + -0.2986412993089956, + 0.14716644331608125, + 0.12427523536339782, + -0.09435557099531072, + -0.9877513311038972 + ], + [ + 0.5327430987501869, + 0.8462662208422708, + 0.004274832790894079, + 0.8341991044746156, + -0.5259835519028571, + 0.16568994303036122, + 0.14246629365502014, + -0.08470411199579399, + -0.9861686309060971 + ], + [ + 0.7256398348827542, + 0.6849304261362122, + 0.06570495707475968, + 0.6663686106411709, + -0.7233330226199987, + 0.18094809515320176, + 0.17146342112382154, + -0.08751942493117282, + -0.9812953915494722 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005725.json b/json/chunk-0005/episode_0005725.json new file mode 100644 index 0000000000000000000000000000000000000000..9061834473ee23b9677b98be1864e1b5503cf056 --- /dev/null +++ b/json/chunk-0005/episode_0005725.json @@ -0,0 +1,1762 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 28, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nOpen cabinet." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005725.mp4", + "start": 0, + "end": 28, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.23316128551959991, + 0.027615416795015335, + 0.007179813459515572, + 0.16142258048057556, + -0.0850573480129242, + 0.19940674304962158, + 0.0, + 0.9994885921478271 + ], + [ + 0.2299148142337799, + 0.024119168519973755, + 0.0013607126893475652, + 0.16145582497119904, + -0.06198294460773468, + 0.19441138207912445, + 0.0, + 0.9994885921478271 + ], + [ + 0.24047575891017914, + -0.004849365912377834, + -0.008502493612468243, + 0.1366591602563858, + -0.06942836195230484, + 0.1125163808465004, + 0.0, + 0.9994885921478271 + ], + [ + 0.25117525458335876, + -0.034937456250190735, + -0.009831517934799194, + 0.1047348752617836, + -0.0994897186756134, + 0.05341958999633789, + 0.0, + 0.9994885921478271 + ], + [ + 0.2641618847846985, + -0.05397558957338333, + -0.008363040164113045, + 0.059234753251075745, + -0.10724306851625443, + 0.04080701619386673, + 0.0, + 0.9994885921478271 + ], + [ + 0.27632007002830505, + -0.06666610389947891, + -0.013968235813081264, + 0.03128393739461899, + -0.14899489283561707, + 0.0192128736525774, + 0.0, + 0.9994885921478271 + ], + [ + 0.2890147566795349, + -0.07388055324554443, + -0.02271164022386074, + 0.01751907356083393, + -0.1960052251815796, + 0.02618040330708027, + 0.0, + 0.9994885921478271 + ], + [ + 0.29674357175827026, + -0.07691317796707153, + -0.03632136434316635, + 0.02372329868376255, + -0.2393597960472107, + 0.03954331576824188, + 0.0, + 0.9994885921478271 + ], + [ + 0.3043820559978485, + -0.07870931178331375, + -0.04276043176651001, + 0.02176441065967083, + -0.2731997072696686, + 0.04955899342894554, + 0.0, + 0.9492040276527405 + ], + [ + 0.3099055290222168, + -0.07933325320482254, + -0.04171536862850189, + 0.005402378737926483, + -0.31053340435028076, + 0.07407621294260025, + 0.0, + 0.6661520600318909 + ], + [ + 0.30279579758644104, + -0.07623101770877838, + -0.04577011242508888, + -0.01650349237024784, + -0.2864804267883301, + 0.07425735890865326, + 0.0, + 0.36950385570526123 + ], + [ + 0.28228265047073364, + -0.06973795592784882, + -0.04678076505661011, + -0.024256853386759758, + -0.26783835887908936, + 0.04219331219792366, + 0.0, + 0.227462038397789 + ], + [ + 0.25515255331993103, + -0.059432633221149445, + -0.0472993440926075, + -0.01676991954445839, + -0.2612888813018799, + -0.01605077087879181, + 0.0, + 0.23460371792316437 + ], + [ + 0.23789271712303162, + -0.04826192557811737, + -0.041936952620744705, + -0.019407587125897408, + -0.27063655853271484, + -0.0442604199051857, + 0.0, + 0.2981022000312805 + ], + [ + 0.22818225622177124, + -0.03452780842781067, + -0.03201602026820183, + 0.011732452549040318, + -0.2902813255786896, + -0.013531403616070747, + 0.0, + 0.5679898858070374 + ], + [ + 0.2300960272550583, + -0.030755694955587387, + 0.0011340376222506166, + 0.07323145121335983, + -0.2466082125902176, + 0.02663194201886654, + 0.0, + 0.8625253438949585 + ], + [ + 0.24858632683753967, + -0.045412201434373856, + 0.03591369092464447, + 0.028764912858605385, + -0.2227213829755783, + 0.04283139109611511, + 0.0, + 1.0054124593734741 + ], + [ + 0.2787294089794159, + -0.06197201833128929, + 0.04453657194972038, + 0.028555305674672127, + -0.24118953943252563, + 0.0043083978816866875, + 0.0, + 1.0014774799346924 + ], + [ + 0.2988208532333374, + -0.07494963705539703, + 0.030564749613404274, + 0.05100813880562782, + -0.25352421402931213, + -0.04848121851682663, + 0.0, + 1.0014774799346924 + ], + [ + 0.3063289523124695, + -0.0778559148311615, + 0.016248291358351707, + 0.08871178328990936, + -0.236873060464859, + -0.08802634477615356, + 0.0, + 1.0014774799346924 + ], + [ + 0.30828532576560974, + -0.08131501078605652, + 0.010663376189768314, + 0.08345995098352432, + -0.23750142753124237, + -0.13125571608543396, + 0.0, + 1.0014774799346924 + ], + [ + 0.29966622591018677, + -0.07012265920639038, + -0.02022363990545273, + 0.09915069490671158, + -0.19051513075828552, + -0.14822742342948914, + 0.0, + 1.0014774799346924 + ], + [ + 0.27916836738586426, + -0.053781408816576004, + -0.02581721730530262, + 0.09654877334833145, + -0.18148741126060486, + -0.18997694551944733, + 0.0, + 1.0014774799346924 + ], + [ + 0.2638428807258606, + -0.03515901789069176, + -0.022364279255270958, + 0.10182888060808182, + -0.19904093444347382, + -0.2030150294303894, + 0.0, + 1.0014774799346924 + ], + [ + 0.24887563288211823, + -0.008927494287490845, + -0.0202602781355381, + 0.09509791433811188, + -0.17510885000228882, + -0.18990226089954376, + 0.0, + 1.0014774799346924 + ], + [ + 0.2343178242444992, + 0.020072124898433685, + -0.021584929898381233, + 0.10402989387512207, + -0.1507674753665924, + -0.17515529692173004, + 0.0, + 1.0014774799346924 + ], + [ + 0.22182179987430573, + 0.045951567590236664, + -0.025240439921617508, + 0.1225300133228302, + -0.13990215957164764, + -0.18828043341636658, + 0.0, + 1.0014774799346924 + ], + [ + 0.21977438032627106, + 0.06518107652664185, + -0.024361366406083107, + 0.1454467475414276, + -0.14409156143665314, + -0.17923295497894287, + 0.0, + 1.0014774799346924 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9492040276527405 + ], + [ + 0.6661520600318909 + ], + [ + 0.36950385570526123 + ], + [ + 0.227462038397789 + ], + [ + 0.23460371792316437 + ], + [ + 0.2981022000312805 + ], + [ + 0.5679898858070374 + ], + [ + 0.8625253438949585 + ], + [ + 1.0054124593734741 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.23316128551959991, + 0.027615416795015335, + 0.007179813459515572 + ], + [ + 0.2299148142337799, + 0.024119168519973755, + 0.0013607126893475652 + ], + [ + 0.24047575891017914, + -0.004849365912377834, + -0.008502493612468243 + ], + [ + 0.25117525458335876, + -0.034937456250190735, + -0.009831517934799194 + ], + [ + 0.2641618847846985, + -0.05397558957338333, + -0.008363040164113045 + ], + [ + 0.27632007002830505, + -0.06666610389947891, + -0.013968235813081264 + ], + [ + 0.2890147566795349, + -0.07388055324554443, + -0.02271164022386074 + ], + [ + 0.29674357175827026, + -0.07691317796707153, + -0.03632136434316635 + ], + [ + 0.3043820559978485, + -0.07870931178331375, + -0.04276043176651001 + ], + [ + 0.3099055290222168, + -0.07933325320482254, + -0.04171536862850189 + ], + [ + 0.30279579758644104, + -0.07623101770877838, + -0.04577011242508888 + ], + [ + 0.28228265047073364, + -0.06973795592784882, + -0.04678076505661011 + ], + [ + 0.25515255331993103, + -0.059432633221149445, + -0.0472993440926075 + ], + [ + 0.23789271712303162, + -0.04826192557811737, + -0.041936952620744705 + ], + [ + 0.22818225622177124, + -0.03452780842781067, + -0.03201602026820183 + ], + [ + 0.2300960272550583, + -0.030755694955587387, + 0.0011340376222506166 + ], + [ + 0.24858632683753967, + -0.045412201434373856, + 0.03591369092464447 + ], + [ + 0.2787294089794159, + -0.06197201833128929, + 0.04453657194972038 + ], + [ + 0.2988208532333374, + -0.07494963705539703, + 0.030564749613404274 + ], + [ + 0.3063289523124695, + -0.0778559148311615, + 0.016248291358351707 + ], + [ + 0.30828532576560974, + -0.08131501078605652, + 0.010663376189768314 + ], + [ + 0.29966622591018677, + -0.07012265920639038, + -0.02022363990545273 + ], + [ + 0.27916836738586426, + -0.053781408816576004, + -0.02581721730530262 + ], + [ + 0.2638428807258606, + -0.03515901789069176, + -0.022364279255270958 + ], + [ + 0.24887563288211823, + -0.008927494287490845, + -0.0202602781355381 + ], + [ + 0.2343178242444992, + 0.020072124898433685, + -0.021584929898381233 + ], + [ + 0.22182179987430573, + 0.045951567590236664, + -0.025240439921617508 + ], + [ + 0.21977438032627106, + 0.06518107652664185, + -0.024361366406083107 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9766407092315108, + 0.20889623220378056, + 0.05035165581026539, + 0.1973717381330118, + -0.9647367995055882, + 0.1741473647979434, + 0.08495482363071007, + -0.16014141204191484, + -0.9834314445303731 + ], + [ + 0.9792774022504551, + 0.20044659829833295, + 0.028929754098980034, + 0.19281805290900922, + -0.9664771394807142, + 0.16953801147104125, + 0.06194326366909665, + -0.16044656459956735, + -0.9850989452812433 + ], + [ + 0.9912827604994777, + 0.12062346502201736, + 0.05299498488175418, + 0.11200862201722796, + -0.9833511810566217, + 0.14308921450741544, + 0.06937259783471394, + -0.13590597632418358, + -0.9882899413982891 + ], + [ + 0.9936355458448682, + 0.06347064443526036, + 0.09305847263169173, + 0.05313015141351472, + -0.9925472070362915, + 0.10966872304916195, + 0.09932567162797121, + -0.10402653074783152, + -0.9896023907894639 + ], + [ + 0.9934272633930276, + 0.04705550617873203, + 0.10434582735166513, + 0.04056131933079981, + -0.9971565966382728, + 0.06350985084946704, + 0.10703761825444867, + -0.058860012903838, + -0.9925111823850524 + ], + [ + 0.9887382630189527, + 0.02384459711638641, + 0.14774329910565004, + 0.018998841089706626, + -0.9992370232545635, + 0.034123531391210646, + 0.14844423626235015, + -0.030932289694041076, + -0.9884368984284083 + ], + [ + 0.9805162693731717, + 0.029583937258174795, + 0.19419741540716498, + 0.025676177915887676, + -0.999414600597085, + 0.022609511295061176, + 0.19475261071972902, + -0.01718274627858405, + -0.9807018781710252 + ], + [ + 0.9707305062096572, + 0.045141300072697434, + 0.23589096494289424, + 0.0384059231322143, + -0.9987147745625102, + 0.03307240751619168, + 0.23708072334609054, + -0.023044784622584163, + -0.9712165919708093 + ], + [ + 0.9617302419862895, + 0.0553916428616283, + 0.26834065579051314, + 0.04770144221167473, + -0.9982447746143889, + 0.03509903653940051, + 0.26981385075625586, + -0.020955568619289214, + -0.962684449902419 + ], + [ + 0.9495594929869116, + 0.0756536565619851, + 0.30432432293071854, + 0.07046871235772824, + -0.9971208873079392, + 0.028001726248058537, + 0.3055665718907793, + -0.005143961802799553, + -0.9521568199618633 + ], + [ + 0.9566008719816754, + 0.06952857172227812, + 0.2829850692848626, + 0.07116550828340175, + -0.997454351656317, + 0.004504086216048227, + 0.2825778514934664, + 0.01583016349051853, + -0.9591137387031843 + ], + [ + 0.9634869490671518, + 0.035755212188700404, + 0.265357238036976, + 0.040676847172089935, + -0.9990868267342599, + -0.01307313084938546, + 0.26464748833383955, + 0.023389686774468024, + -0.9640615278451796 + ], + [ + 0.9659333904818721, + -0.020379168383562976, + 0.25798715985139636, + -0.015505307087522286, + -0.9996610680763935, + -0.020912542276971886, + 0.2583258999874329, + 0.016199952727057338, + -0.9659219900837357 + ], + [ + 0.9626572252581984, + -0.04942075030913239, + 0.266174108615149, + -0.04263545738857064, + -0.9986029739781451, + -0.031214069508346282, + 0.26734487919437344, + 0.018699994676119203, + -0.9634194443583021 + ], + [ + 0.9580756739335327, + -0.010172360288332785, + 0.2863346400681745, + -0.012964899934628326, + -0.9998850709792351, + 0.007858511470662853, + 0.2862217922983709, + -0.011241348629671412, + -0.9580974468677462 + ], + [ + 0.9694021075926096, + 0.04441209824927908, + 0.24142725472510895, + 0.02582316612689264, + -0.9964904994931604, + 0.07962316566838037, + 0.24411619750886904, + -0.07095244850579735, + -0.9671468513958171 + ], + [ + 0.9744054791657729, + 0.04914760708460334, + 0.21935923707375143, + 0.041760682336016174, + -0.998397555783441, + 0.03818855871175816, + 0.2208846024116466, + -0.028050549433273154, + -0.9748964863481356 + ], + [ + 0.9710455185627698, + 0.011126298368215545, + 0.2386352999113557, + 0.004183676341436944, + -0.9995536655790369, + 0.029579832314953234, + 0.2388579028029664, + -0.027724990750802692, + -0.9706586563547642 + ], + [ + 0.9668970768781551, + -0.035626058294813516, + 0.252667423097741, + -0.046913109532068266, + -0.99814565401537, + 0.03878676996426297, + 0.25081707054845864, + -0.04935622899496107, + -0.9667754443410764 + ], + [ + 0.9683128036985902, + -0.06685732234002525, + 0.24062504575147156, + -0.08545787818579181, + -0.9940388183735925, + 0.06770360863657492, + 0.234664154163686, + -0.08612157694767376, + -0.968254000112929 + ], + [ + 0.9635686465631575, + -0.11097906204640087, + 0.24334977120956014, + -0.12720523301065237, + -0.9905144732900698, + 0.051960628341087556, + 0.235274928658261, + -0.08102299667499405, + -0.9685458078762479 + ], + [ + 0.9711396350887358, + -0.128420536757002, + 0.20098749935943777, + -0.1450131304708498, + -0.9869452110674489, + 0.07007383493196619, + 0.18936473048263447, + -0.09719730495271796, + -0.9770842761804976 + ], + [ + 0.9658803881462937, + -0.17087054948750469, + 0.19462356258224073, + -0.18573486795808075, + -0.9807207826824353, + 0.06073965129424134, + 0.1804927550317726, + -0.0948156196656961, + -0.9789955891874339 + ], + [ + 0.9601252605811429, + -0.18089193965018374, + 0.2131609489648301, + -0.19764263529854248, + -0.9784420147401899, + 0.059905029032672974, + 0.19772929147255838, + -0.09964602330626321, + -0.9751788540226904 + ], + [ + 0.9670051872854943, + -0.17166484460497258, + 0.18823429254441598, + -0.18587627236904877, + -0.9807081387218086, + 0.060510809075677685, + 0.1742153240479532, + -0.09350255489320355, + -0.9802582787690753 + ], + [ + 0.9735291527551375, + -0.15796079923950504, + 0.16519495948569604, + -0.1722842598674906, + -0.9820938912614753, + 0.07622153599084926, + 0.15019694583371176, + -0.10266437868369994, + -0.9833111932708357 + ], + [ + 0.9727298492169975, + -0.16902428066938424, + 0.1588314609467351, + -0.1853412775195536, + -0.9781526769488881, + 0.09415918131092459, + 0.13944623081925459, + -0.12102947212113659, + -0.9828054820707818 + ], + [ + 0.9737834987098858, + -0.1559142536436389, + 0.16563949755743862, + -0.17642736318837618, + -0.9773013189808236, + 0.11728391806526128, + 0.14359346488865876, + -0.1434324838699001, + -0.9791874383447635 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0032464712858200073, + -0.00349624827504158, + -0.005819100886583328, + 3.324449062347412e-05, + 0.023074403405189514, + -0.004995360970497131, + 1.0 + ], + [ + 0.010560944676399231, + -0.028968535363674164, + -0.009863206185400486, + -0.024796664714813232, + -0.00744541734457016, + -0.08189500123262405, + 1.0 + ], + [ + 0.010699495673179626, + -0.030088089406490326, + -0.0013290243223309517, + -0.0319242849946022, + -0.030061356723308563, + -0.059096790850162506, + 1.0 + ], + [ + 0.012986630201339722, + -0.019038133323192596, + 0.0014684777706861496, + -0.045500122010707855, + -0.007753349840641022, + -0.012612573802471161, + 1.0 + ], + [ + 0.012158185243606567, + -0.012690514326095581, + -0.00560519564896822, + -0.027950815856456757, + -0.04175182431936264, + -0.02159414254128933, + 1.0 + ], + [ + 0.012694686651229858, + -0.007214449346065521, + -0.008743404410779476, + -0.013764863833785057, + -0.047010332345962524, + 0.006967529654502869, + 1.0 + ], + [ + 0.0077288150787353516, + -0.0030326247215270996, + -0.01360972411930561, + 0.006204225122928619, + -0.043354570865631104, + 0.013362912461161613, + 1.0 + ], + [ + 0.007638484239578247, + -0.001796133816242218, + -0.0064390674233436584, + -0.0019588880240917206, + -0.033839911222457886, + 0.010015677660703659, + 0.0 + ], + [ + 0.005523473024368286, + -0.0006239414215087891, + 0.0010450631380081177, + -0.016362031921744347, + -0.03733369708061218, + 0.02451721951365471, + 0.0 + ], + [ + -0.007109731435775757, + 0.003102235496044159, + -0.00405474379658699, + -0.021905871108174324, + 0.024052977561950684, + 0.00018114596605300903, + 0.0 + ], + [ + -0.020513147115707397, + 0.006493061780929565, + -0.001010652631521225, + -0.007753361016511917, + 0.018642067909240723, + -0.0320640467107296, + 0.0 + ], + [ + -0.027130097150802612, + 0.010305322706699371, + -0.0005185790359973907, + 0.007486933842301369, + 0.006549477577209473, + -0.05824408307671547, + 0.0 + ], + [ + -0.017259836196899414, + 0.011170707643032074, + 0.005362391471862793, + -0.0026376675814390182, + -0.009347677230834961, + -0.02820964902639389, + 1.0 + ], + [ + -0.009710460901260376, + 0.013734117150306702, + 0.009920932352542877, + 0.0311400406062603, + -0.01964476704597473, + 0.030729016289114952, + 1.0 + ], + [ + 0.0019137710332870483, + 0.003772113472223282, + 0.03315005823969841, + 0.06149899959564209, + 0.043673112988471985, + 0.040163345634937286, + 1.0 + ], + [ + 0.018490299582481384, + -0.014656506478786469, + 0.03477965295314789, + -0.0444665402173996, + 0.023886829614639282, + 0.016199449077248573, + 1.0 + ], + [ + 0.03014308214187622, + -0.016559816896915436, + 0.008622881025075912, + -0.00020960718393325806, + -0.018468156456947327, + -0.03852299228310585, + 1.0 + ], + [ + 0.02009144425392151, + -0.012977618724107742, + -0.013971822336316109, + 0.022452833130955696, + -0.012334674596786499, + -0.05278961732983589, + 1.0 + ], + [ + 0.00750809907913208, + -0.0029062777757644653, + -0.014316458255052567, + 0.03770364448428154, + 0.016651153564453125, + -0.039545126259326935, + 1.0 + ], + [ + 0.001956373453140259, + -0.0034590959548950195, + -0.005584915168583393, + -0.00525183230638504, + -0.0006283670663833618, + -0.043229371309280396, + 1.0 + ], + [ + -0.008619099855422974, + 0.011192351579666138, + -0.030887015163898468, + 0.015690743923187256, + 0.04698629677295685, + -0.016971707344055176, + 1.0 + ], + [ + -0.02049785852432251, + 0.016341250389814377, + -0.005593577399849892, + -0.002601921558380127, + 0.009027719497680664, + -0.04174952208995819, + 1.0 + ], + [ + -0.015325486660003662, + 0.018622390925884247, + 0.003452938050031662, + 0.005280107259750366, + -0.017553523182868958, + -0.013038083910942078, + 1.0 + ], + [ + -0.01496724784374237, + 0.026231523603200912, + 0.0021040011197328568, + -0.00673096626996994, + 0.023932084441184998, + 0.013112768530845642, + 1.0 + ], + [ + -0.014557808637619019, + 0.02899961918592453, + -0.001324651762843132, + 0.008931979537010193, + 0.02434137463569641, + 0.01474696397781372, + 1.0 + ], + [ + -0.012496024370193481, + 0.02587944269180298, + -0.0036555100232362747, + 0.01850011944770813, + 0.010865315794944763, + -0.013125136494636536, + 1.0 + ], + [ + -0.002047419548034668, + 0.019229508936405182, + 0.0008790735155344009, + 0.022916734218597412, + -0.004189401865005493, + 0.009047478437423706, + 1.0 + ], + [ + -0.0005422085523605347, + 0.001011587679386139, + -4.015490412712097e-05, + 0.00014360249042510986, + 0.0019402951002120972, + 0.0017565041780471802, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9492040276527405 + ], + [ + 0.6661520600318909 + ], + [ + 0.36950385570526123 + ], + [ + 0.227462038397789 + ], + [ + 0.23460371792316437 + ], + [ + 0.2981022000312805 + ], + [ + 0.5679898858070374 + ], + [ + 0.8625253438949585 + ], + [ + 1.0054124593734741 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2299148142337799, + 0.024119168519973755, + 0.0013607126893475652 + ], + [ + 0.24047575891017914, + -0.004849365912377834, + -0.008502493612468243 + ], + [ + 0.25117525458335876, + -0.034937456250190735, + -0.009831517934799194 + ], + [ + 0.2641618847846985, + -0.05397558957338333, + -0.008363040164113045 + ], + [ + 0.27632007002830505, + -0.06666610389947891, + -0.013968235813081264 + ], + [ + 0.2890147566795349, + -0.07388055324554443, + -0.02271164022386074 + ], + [ + 0.29674357175827026, + -0.07691317796707153, + -0.03632136434316635 + ], + [ + 0.3043820559978485, + -0.07870931178331375, + -0.04276043176651001 + ], + [ + 0.3099055290222168, + -0.07933325320482254, + -0.04171536862850189 + ], + [ + 0.30279579758644104, + -0.07623101770877838, + -0.04577011242508888 + ], + [ + 0.28228265047073364, + -0.06973795592784882, + -0.04678076505661011 + ], + [ + 0.25515255331993103, + -0.059432633221149445, + -0.0472993440926075 + ], + [ + 0.23789271712303162, + -0.04826192557811737, + -0.041936952620744705 + ], + [ + 0.22818225622177124, + -0.03452780842781067, + -0.03201602026820183 + ], + [ + 0.2300960272550583, + -0.030755694955587387, + 0.0011340376222506166 + ], + [ + 0.24858632683753967, + -0.045412201434373856, + 0.03591369092464447 + ], + [ + 0.2787294089794159, + -0.06197201833128929, + 0.04453657194972038 + ], + [ + 0.2988208532333374, + -0.07494963705539703, + 0.030564749613404274 + ], + [ + 0.3063289523124695, + -0.0778559148311615, + 0.016248291358351707 + ], + [ + 0.30828532576560974, + -0.08131501078605652, + 0.010663376189768314 + ], + [ + 0.29966622591018677, + -0.07012265920639038, + -0.02022363990545273 + ], + [ + 0.27916836738586426, + -0.053781408816576004, + -0.02581721730530262 + ], + [ + 0.2638428807258606, + -0.03515901789069176, + -0.022364279255270958 + ], + [ + 0.24887563288211823, + -0.008927494287490845, + -0.0202602781355381 + ], + [ + 0.2343178242444992, + 0.020072124898433685, + -0.021584929898381233 + ], + [ + 0.22182179987430573, + 0.045951567590236664, + -0.025240439921617508 + ], + [ + 0.21977438032627106, + 0.06518107652664185, + -0.024361366406083107 + ], + [ + 0.21923217177391052, + 0.06619266420602798, + -0.024401521310210228 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9792774022504551, + 0.20044659829833295, + 0.028929754098980034, + 0.19281805290900922, + -0.9664771394807142, + 0.16953801147104125, + 0.06194326366909665, + -0.16044656459956735, + -0.9850989452812433 + ], + [ + 0.9912827604994777, + 0.12062346502201736, + 0.05299498488175418, + 0.11200862201722796, + -0.9833511810566217, + 0.14308921450741544, + 0.06937259783471394, + -0.13590597632418358, + -0.9882899413982891 + ], + [ + 0.9936355458448682, + 0.06347064443526036, + 0.09305847263169173, + 0.05313015141351472, + -0.9925472070362915, + 0.10966872304916195, + 0.09932567162797121, + -0.10402653074783152, + -0.9896023907894639 + ], + [ + 0.9934272633930276, + 0.04705550617873203, + 0.10434582735166513, + 0.04056131933079981, + -0.9971565966382728, + 0.06350985084946704, + 0.10703761825444867, + -0.058860012903838, + -0.9925111823850524 + ], + [ + 0.9887382630189527, + 0.02384459711638641, + 0.14774329910565004, + 0.018998841089706626, + -0.9992370232545635, + 0.034123531391210646, + 0.14844423626235015, + -0.030932289694041076, + -0.9884368984284083 + ], + [ + 0.9805162693731717, + 0.029583937258174795, + 0.19419741540716498, + 0.025676177915887676, + -0.999414600597085, + 0.022609511295061176, + 0.19475261071972902, + -0.01718274627858405, + -0.9807018781710252 + ], + [ + 0.9707305062096572, + 0.045141300072697434, + 0.23589096494289424, + 0.0384059231322143, + -0.9987147745625102, + 0.03307240751619168, + 0.23708072334609054, + -0.023044784622584163, + -0.9712165919708093 + ], + [ + 0.9617302419862895, + 0.0553916428616283, + 0.26834065579051314, + 0.04770144221167473, + -0.9982447746143889, + 0.03509903653940051, + 0.26981385075625586, + -0.020955568619289214, + -0.962684449902419 + ], + [ + 0.9495594929869116, + 0.0756536565619851, + 0.30432432293071854, + 0.07046871235772824, + -0.9971208873079392, + 0.028001726248058537, + 0.3055665718907793, + -0.005143961802799553, + -0.9521568199618633 + ], + [ + 0.9566008719816754, + 0.06952857172227812, + 0.2829850692848626, + 0.07116550828340175, + -0.997454351656317, + 0.004504086216048227, + 0.2825778514934664, + 0.01583016349051853, + -0.9591137387031843 + ], + [ + 0.9634869490671518, + 0.035755212188700404, + 0.265357238036976, + 0.040676847172089935, + -0.9990868267342599, + -0.01307313084938546, + 0.26464748833383955, + 0.023389686774468024, + -0.9640615278451796 + ], + [ + 0.9659333904818721, + -0.020379168383562976, + 0.25798715985139636, + -0.015505307087522286, + -0.9996610680763935, + -0.020912542276971886, + 0.2583258999874329, + 0.016199952727057338, + -0.9659219900837357 + ], + [ + 0.9626572252581984, + -0.04942075030913239, + 0.266174108615149, + -0.04263545738857064, + -0.9986029739781451, + -0.031214069508346282, + 0.26734487919437344, + 0.018699994676119203, + -0.9634194443583021 + ], + [ + 0.9580756739335327, + -0.010172360288332785, + 0.2863346400681745, + -0.012964899934628326, + -0.9998850709792351, + 0.007858511470662853, + 0.2862217922983709, + -0.011241348629671412, + -0.9580974468677462 + ], + [ + 0.9694021075926096, + 0.04441209824927908, + 0.24142725472510895, + 0.02582316612689264, + -0.9964904994931604, + 0.07962316566838037, + 0.24411619750886904, + -0.07095244850579735, + -0.9671468513958171 + ], + [ + 0.9744054791657729, + 0.04914760708460334, + 0.21935923707375143, + 0.041760682336016174, + -0.998397555783441, + 0.03818855871175816, + 0.2208846024116466, + -0.028050549433273154, + -0.9748964863481356 + ], + [ + 0.9710455185627698, + 0.011126298368215545, + 0.2386352999113557, + 0.004183676341436944, + -0.9995536655790369, + 0.029579832314953234, + 0.2388579028029664, + -0.027724990750802692, + -0.9706586563547642 + ], + [ + 0.9668970768781551, + -0.035626058294813516, + 0.252667423097741, + -0.046913109532068266, + -0.99814565401537, + 0.03878676996426297, + 0.25081707054845864, + -0.04935622899496107, + -0.9667754443410764 + ], + [ + 0.9683128036985902, + -0.06685732234002525, + 0.24062504575147156, + -0.08545787818579181, + -0.9940388183735925, + 0.06770360863657492, + 0.234664154163686, + -0.08612157694767376, + -0.968254000112929 + ], + [ + 0.9635686465631575, + -0.11097906204640087, + 0.24334977120956014, + -0.12720523301065237, + -0.9905144732900698, + 0.051960628341087556, + 0.235274928658261, + -0.08102299667499405, + -0.9685458078762479 + ], + [ + 0.9711396350887358, + -0.128420536757002, + 0.20098749935943777, + -0.1450131304708498, + -0.9869452110674489, + 0.07007383493196619, + 0.18936473048263447, + -0.09719730495271796, + -0.9770842761804976 + ], + [ + 0.9658803881462937, + -0.17087054948750469, + 0.19462356258224073, + -0.18573486795808075, + -0.9807207826824353, + 0.06073965129424134, + 0.1804927550317726, + -0.0948156196656961, + -0.9789955891874339 + ], + [ + 0.9601252605811429, + -0.18089193965018374, + 0.2131609489648301, + -0.19764263529854248, + -0.9784420147401899, + 0.059905029032672974, + 0.19772929147255838, + -0.09964602330626321, + -0.9751788540226904 + ], + [ + 0.9670051872854943, + -0.17166484460497258, + 0.18823429254441598, + -0.18587627236904877, + -0.9807081387218086, + 0.060510809075677685, + 0.1742153240479532, + -0.09350255489320355, + -0.9802582787690753 + ], + [ + 0.9735291527551375, + -0.15796079923950504, + 0.16519495948569604, + -0.1722842598674906, + -0.9820938912614753, + 0.07622153599084926, + 0.15019694583371176, + -0.10266437868369994, + -0.9833111932708357 + ], + [ + 0.9727298492169975, + -0.16902428066938424, + 0.1588314609467351, + -0.1853412775195536, + -0.9781526769488881, + 0.09415918131092459, + 0.13944623081925459, + -0.12102947212113659, + -0.9828054820707818 + ], + [ + 0.9737834987098858, + -0.1559142536436389, + 0.16563949755743862, + -0.17642736318837618, + -0.9773013189808236, + 0.11728391806526128, + 0.14359346488865876, + -0.1434324838699001, + -0.9791874383447635 + ], + [ + 0.9743642952954605, + -0.15444785879562092, + 0.16358508173677852, + -0.17476549640232267, + -0.9775075930321767, + 0.11805052660488309, + 0.14167300844067057, + -0.14361324617836757, + -0.9794406537414512 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005726.json b/json/chunk-0005/episode_0005726.json new file mode 100644 index 0000000000000000000000000000000000000000..c5c8a9e7323da54b0f7078939bf52edef6a074af --- /dev/null +++ b/json/chunk-0005/episode_0005726.json @@ -0,0 +1,1282 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 20, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nClose small4fbox flaps." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005726.mp4", + "start": 0, + "end": 20, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.24445487558841705, + 0.10143721103668213, + 0.17531147599220276, + 0.23886211216449738, + -0.08834335952997208, + 0.034064676612615585, + 0.0, + 0.9961419701576233 + ], + [ + 0.24582843482494354, + 0.10057173669338226, + 0.16494454443454742, + 0.21828849613666534, + -0.06641927361488342, + 0.03395821526646614, + 0.0, + 0.9961419701576233 + ], + [ + 0.24914872646331787, + 0.11239752918481827, + 0.15113267302513123, + 0.1903999298810959, + -0.06958030164241791, + 0.03921936824917793, + 0.0, + 0.9961419701576233 + ], + [ + 0.2520468235015869, + 0.11921864748001099, + 0.13661159574985504, + 0.17006942629814148, + -0.06521374732255936, + 0.017812198027968407, + 0.0, + 0.9961419701576233 + ], + [ + 0.2553085684776306, + 0.12799718976020813, + 0.12580083310604095, + 0.16805118322372437, + -0.07796382904052734, + -0.004712717141956091, + 0.0, + 0.9961419701576233 + ], + [ + 0.2589978277683258, + 0.13461783528327942, + 0.12333876639604568, + 0.20281389355659485, + -0.11165815591812134, + -0.029583077877759933, + 0.0, + 0.9961419701576233 + ], + [ + 0.2646546959877014, + 0.13861198723316193, + 0.1241963803768158, + 0.23689469695091248, + -0.14792227745056152, + -0.047743745148181915, + 0.0, + 0.9961419701576233 + ], + [ + 0.2663308084011078, + 0.13479259610176086, + 0.1283317506313324, + 0.2678874135017395, + -0.226669579744339, + -0.06978972256183624, + 0.0, + 0.9961419701576233 + ], + [ + 0.26867035031318665, + 0.12976494431495667, + 0.13732698559761047, + 0.3103930950164795, + -0.3212963342666626, + -0.1084146499633789, + 0.0, + 0.9961419701576233 + ], + [ + 0.2729857861995697, + 0.12630495429039001, + 0.14562220871448517, + 0.3437054753303528, + -0.3853612244129181, + -0.14169946312904358, + 0.0, + 0.9961419701576233 + ], + [ + 0.2754647731781006, + 0.12393395602703094, + 0.14348432421684265, + 0.33767640590667725, + -0.38290196657180786, + -0.14155682921409607, + 0.0, + 0.9961419701576233 + ], + [ + 0.27914056181907654, + 0.12119957059621811, + 0.13705748319625854, + 0.32561028003692627, + -0.3789326548576355, + -0.11630718410015106, + 0.0, + 0.9961419701576233 + ], + [ + 0.28155025839805603, + 0.11709703505039215, + 0.13710546493530273, + 0.30250224471092224, + -0.3461390733718872, + -0.08515086024999619, + 0.0, + 0.9961419701576233 + ], + [ + 0.28016385436058044, + 0.10256795585155487, + 0.1488010436296463, + 0.3099561035633087, + -0.35658252239227295, + -0.07517489790916443, + 0.0, + 0.9961419701576233 + ], + [ + 0.2818477749824524, + 0.08326265960931778, + 0.1594063937664032, + 0.31940266489982605, + -0.3672513961791992, + -0.0991990938782692, + 0.0, + 0.9961419701576233 + ], + [ + 0.2821710407733917, + 0.07578547298908234, + 0.16239507496356964, + 0.2785227298736572, + -0.35894709825515747, + -0.07997602224349976, + 0.0, + 0.9961419701576233 + ], + [ + 0.28372904658317566, + 0.06656087934970856, + 0.16406874358654022, + 0.23721998929977417, + -0.3559451401233673, + -0.07412895560264587, + 0.0, + 0.9961419701576233 + ], + [ + 0.28823214769363403, + 0.059395283460617065, + 0.1605881303548813, + 0.17724446952342987, + -0.33287519216537476, + -0.05414737015962601, + 0.0, + 0.9961419701576233 + ], + [ + 0.30088815093040466, + 0.04643261432647705, + 0.16773755848407745, + 0.13449671864509583, + -0.3309629261493683, + -0.06141543388366699, + 0.0, + 0.9961419701576233 + ], + [ + 0.3045748472213745, + 0.038651227951049805, + 0.17183086276054382, + 0.12455472350120544, + -0.32069867849349976, + -0.07315091043710709, + 0.0, + 0.9961419701576233 + ] + ], + "left_gripper_pos": [ + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.24445487558841705, + 0.10143721103668213, + 0.17531147599220276 + ], + [ + 0.24582843482494354, + 0.10057173669338226, + 0.16494454443454742 + ], + [ + 0.24914872646331787, + 0.11239752918481827, + 0.15113267302513123 + ], + [ + 0.2520468235015869, + 0.11921864748001099, + 0.13661159574985504 + ], + [ + 0.2553085684776306, + 0.12799718976020813, + 0.12580083310604095 + ], + [ + 0.2589978277683258, + 0.13461783528327942, + 0.12333876639604568 + ], + [ + 0.2646546959877014, + 0.13861198723316193, + 0.1241963803768158 + ], + [ + 0.2663308084011078, + 0.13479259610176086, + 0.1283317506313324 + ], + [ + 0.26867035031318665, + 0.12976494431495667, + 0.13732698559761047 + ], + [ + 0.2729857861995697, + 0.12630495429039001, + 0.14562220871448517 + ], + [ + 0.2754647731781006, + 0.12393395602703094, + 0.14348432421684265 + ], + [ + 0.27914056181907654, + 0.12119957059621811, + 0.13705748319625854 + ], + [ + 0.28155025839805603, + 0.11709703505039215, + 0.13710546493530273 + ], + [ + 0.28016385436058044, + 0.10256795585155487, + 0.1488010436296463 + ], + [ + 0.2818477749824524, + 0.08326265960931778, + 0.1594063937664032 + ], + [ + 0.2821710407733917, + 0.07578547298908234, + 0.16239507496356964 + ], + [ + 0.28372904658317566, + 0.06656087934970856, + 0.16406874358654022 + ], + [ + 0.28823214769363403, + 0.059395283460617065, + 0.1605881303548813 + ], + [ + 0.30088815093040466, + 0.04643261432647705, + 0.16773755848407745 + ], + [ + 0.3045748472213745, + 0.038651227951049805, + 0.17183086276054382 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9955223801312248, + 0.05395360920383487, + 0.07761571175825718, + 0.03392527127477362, + -0.9703332020134128, + 0.23937951674972194, + 0.08822849101505714, + -0.2356745321927621, + -0.9678188096172385 + ], + [ + 0.9972197972442999, + 0.04751083438358338, + 0.05740554503019162, + 0.03387682734907473, + -0.9752186853368018, + 0.21863411522157544, + 0.06637044939427961, + -0.216081550314079, + -0.9741168959940412 + ], + [ + 0.9968131471735545, + 0.05164819208094566, + 0.06079485074184104, + 0.0391144386913727, + -0.9806576429967443, + 0.19178281444886625, + 0.06952417067331212, + -0.18879367438248335, + -0.9795526214580554 + ], + [ + 0.9977160412763009, + 0.028582199285462045, + 0.06120260504220967, + 0.01777339542376833, + -0.985220222401791, + 0.17036789540777866, + 0.06516753328964467, + -0.1688910040664439, + -0.9834780228100531 + ], + [ + 0.9969512887055546, + 0.00838067048000485, + 0.0775750753182924, + -0.004698384211268472, + -0.985963045067966, + 0.16689757022229754, + 0.07788487102214696, + -0.1667532252240088, + -0.9829177527866987 + ], + [ + 0.9933378794704151, + -0.006538138376708982, + 0.11505263993401676, + -0.02939456731608904, + -0.9797389562745388, + 0.19810991133806946, + 0.11142628335145804, + -0.20017200180006403, + -0.9734040030089439 + ], + [ + 0.9879523625047621, + -0.011843409919049478, + 0.1543044492642669, + -0.047204418208528054, + -0.9726145050555378, + 0.22758024399575172, + 0.1473834194299133, + -0.23212229146952013, + -0.9614558593508522 + ], + [ + 0.9720482095055796, + -0.00790486766150382, + 0.23464822919479061, + -0.06794932881787945, + -0.9661328788965321, + 0.2489380425493432, + 0.22473354691767, + -0.2579239682200028, + -0.9396648655278382 + ], + [ + 0.943256166523912, + -0.007143325431336028, + 0.3319891221356448, + -0.10266533642075508, + -0.9570596608806926, + 0.27110262671642793, + 0.3157968223592936, + -0.289802999323188, + -0.9034857987655683 + ], + [ + 0.9173751580646191, + -0.0075673144307143655, + 0.3979516994789968, + -0.130868634420886, + -0.9499648690683251, + 0.28361972438603866, + 0.3758938944579009, + -0.312265084965173, + -0.872464496023171 + ], + [ + 0.9183062134856934, + -0.010578512766204036, + 0.395729444622489, + -0.13086781017429033, + -0.9515523976830923, + 0.2782474631038786, + 0.3736138575237196, + -0.30730462009415616, + -0.875200866050207 + ], + [ + 0.9227832220813984, + 0.0075884076411380855, + 0.3852447807752163, + -0.10781289840974198, + -0.954786876868331, + 0.2770530611570808, + 0.36992905263247866, + -0.29719427287464745, + -0.8802431824154882 + ], + [ + 0.9372813569313493, + 0.019518865418630824, + 0.34802682632477866, + -0.08000376764902967, + -0.9597313209283121, + 0.26928644375674915, + 0.3392684116019179, + -0.28024062075646017, + -0.89797669199548 + ], + [ + 0.9344486052502311, + 0.034647491220209964, + 0.3544084585588264, + -0.07037970660757883, + -0.9576538328450147, + 0.27918781014772803, + 0.3490737759324367, + -0.28582982312802524, + -0.8924398081477949 + ], + [ + 0.9287293864765692, + 0.018160191345029754, + 0.37031329188292283, + -0.09243250548491433, + -0.9559211682479271, + 0.2786950879102449, + 0.35905147071782917, + -0.2930613033920203, + -0.8861134881207563 + ], + [ + 0.9332745512465739, + 0.019461029135899113, + 0.358636139200274, + -0.07479913015132125, + -0.9661054364637216, + 0.2470736241767788, + 0.35128863079256106, + -0.2574131969814565, + -0.9001859496213401 + ], + [ + 0.9347433997688418, + 0.009680533499782408, + 0.3551915875407897, + -0.06941875296491867, + -0.9753906958975873, + 0.2092702250517632, + 0.34847641717250033, + -0.22027091870598717, + -0.9110680046226174 + ], + [ + 0.9437215899318342, + 0.004256482082124792, + 0.33071353624672883, + -0.05115004160985667, + -0.9860087481547523, + 0.15865188875525318, + 0.3267617387942502, + -0.16663922384175897, + -0.9303000242596875 + ], + [ + 0.9439468577941206, + -0.017331107292805435, + 0.3296421732433698, + -0.058045904447560887, + -0.9917750422731209, + 0.11407426747963019, + 0.3249538469344088, + -0.12681442443253388, + -0.937188934590232 + ], + [ + 0.9464774204222399, + -0.03346232714405962, + 0.3210307855844456, + -0.0693594445854756, + -0.9924616412565866, + 0.10104037846859264, + 0.31522969415595464, + -0.11789895375441646, + -0.9416634625098061 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + 0.0013735592365264893, + -0.0008654743432998657, + -0.010366931557655334, + -0.02057361602783203, + 0.021924085915088654, + -0.00010646134614944458, + 1.0 + ], + [ + 0.0033202916383743286, + 0.011825792491436005, + -0.013811871409416199, + -0.027888566255569458, + -0.003161028027534485, + 0.005261152982711792, + 1.0 + ], + [ + 0.002898097038269043, + 0.0068211182951927185, + -0.014521077275276184, + -0.020330503582954407, + 0.004366554319858551, + -0.021407170221209526, + 1.0 + ], + [ + 0.003261744976043701, + 0.008778542280197144, + -0.010810762643814087, + -0.0020182430744171143, + -0.012750081717967987, + -0.022524915635585785, + 1.0 + ], + [ + 0.0036892592906951904, + 0.006620645523071289, + -0.0024620667099952698, + 0.03476271033287048, + -0.033694326877593994, + -0.024870360270142555, + 1.0 + ], + [ + 0.00565686821937561, + 0.003994151949882507, + 0.0008576139807701111, + 0.03408080339431763, + -0.036264121532440186, + -0.018160667270421982, + 1.0 + ], + [ + 0.001676112413406372, + -0.003819391131401062, + 0.0041353702545166016, + 0.030992716550827026, + -0.07874730229377747, + -0.022045977413654327, + 1.0 + ], + [ + 0.0023395419120788574, + -0.005027651786804199, + 0.008995234966278076, + 0.04250568151473999, + -0.09462675452232361, + -0.038624927401542664, + 1.0 + ], + [ + 0.004315435886383057, + -0.0034599900245666504, + 0.008295223116874695, + 0.03331238031387329, + -0.0640648901462555, + -0.03328481316566467, + 1.0 + ], + [ + 0.002478986978530884, + -0.00237099826335907, + -0.002137884497642517, + -0.006029069423675537, + 0.0024592578411102295, + 0.00014263391494750977, + 1.0 + ], + [ + 0.003675788640975952, + -0.0027343854308128357, + -0.0064268410205841064, + -0.012066125869750977, + 0.003969311714172363, + 0.025249645113945007, + 1.0 + ], + [ + 0.002409696578979492, + -0.004102535545825958, + 4.798173904418945e-05, + -0.02310803532600403, + 0.03279358148574829, + 0.031156323850154877, + 1.0 + ], + [ + -0.001386404037475586, + -0.01452907919883728, + 0.011695578694343567, + 0.007453858852386475, + -0.010443449020385742, + 0.009975962340831757, + 1.0 + ], + [ + 0.0016839206218719482, + -0.01930529624223709, + 0.010605350136756897, + 0.009446561336517334, + -0.01066887378692627, + -0.024024195969104767, + 1.0 + ], + [ + 0.00032326579093933105, + -0.007477186620235443, + 0.002988681197166443, + -0.04087993502616882, + 0.008304297924041748, + 0.01922307163476944, + 1.0 + ], + [ + 0.0015580058097839355, + -0.00922459363937378, + 0.001673668622970581, + -0.04130274057388306, + 0.003001958131790161, + 0.005847066640853882, + 1.0 + ], + [ + 0.004503101110458374, + -0.007165595889091492, + -0.0034806132316589355, + -0.0599755197763443, + 0.023069947957992554, + 0.019981585443019867, + 1.0 + ], + [ + 0.01265600323677063, + -0.012962669134140015, + 0.007149428129196167, + -0.042747750878334045, + 0.0019122660160064697, + -0.007268063724040985, + 1.0 + ], + [ + 0.0036866962909698486, + -0.007781386375427246, + 0.00409330427646637, + -0.00994199514389038, + 0.01026424765586853, + -0.011735476553440094, + 1.0 + ], + [ + 0.005019634962081909, + -0.005028218030929565, + 0.002343595027923584, + -0.022958725690841675, + 0.015115946531295776, + 0.0036692842841148376, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.24582843482494354, + 0.10057173669338226, + 0.16494454443454742 + ], + [ + 0.24914872646331787, + 0.11239752918481827, + 0.15113267302513123 + ], + [ + 0.2520468235015869, + 0.11921864748001099, + 0.13661159574985504 + ], + [ + 0.2553085684776306, + 0.12799718976020813, + 0.12580083310604095 + ], + [ + 0.2589978277683258, + 0.13461783528327942, + 0.12333876639604568 + ], + [ + 0.2646546959877014, + 0.13861198723316193, + 0.1241963803768158 + ], + [ + 0.2663308084011078, + 0.13479259610176086, + 0.1283317506313324 + ], + [ + 0.26867035031318665, + 0.12976494431495667, + 0.13732698559761047 + ], + [ + 0.2729857861995697, + 0.12630495429039001, + 0.14562220871448517 + ], + [ + 0.2754647731781006, + 0.12393395602703094, + 0.14348432421684265 + ], + [ + 0.27914056181907654, + 0.12119957059621811, + 0.13705748319625854 + ], + [ + 0.28155025839805603, + 0.11709703505039215, + 0.13710546493530273 + ], + [ + 0.28016385436058044, + 0.10256795585155487, + 0.1488010436296463 + ], + [ + 0.2818477749824524, + 0.08326265960931778, + 0.1594063937664032 + ], + [ + 0.2821710407733917, + 0.07578547298908234, + 0.16239507496356964 + ], + [ + 0.28372904658317566, + 0.06656087934970856, + 0.16406874358654022 + ], + [ + 0.28823214769363403, + 0.059395283460617065, + 0.1605881303548813 + ], + [ + 0.30088815093040466, + 0.04643261432647705, + 0.16773755848407745 + ], + [ + 0.3045748472213745, + 0.038651227951049805, + 0.17183086276054382 + ], + [ + 0.3095944821834564, + 0.03362300992012024, + 0.1741744577884674 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9972197972442999, + 0.04751083438358338, + 0.05740554503019162, + 0.03387682734907473, + -0.9752186853368018, + 0.21863411522157544, + 0.06637044939427961, + -0.216081550314079, + -0.9741168959940412 + ], + [ + 0.9968131471735545, + 0.05164819208094566, + 0.06079485074184104, + 0.0391144386913727, + -0.9806576429967443, + 0.19178281444886625, + 0.06952417067331212, + -0.18879367438248335, + -0.9795526214580554 + ], + [ + 0.9977160412763009, + 0.028582199285462045, + 0.06120260504220967, + 0.01777339542376833, + -0.985220222401791, + 0.17036789540777866, + 0.06516753328964467, + -0.1688910040664439, + -0.9834780228100531 + ], + [ + 0.9969512887055546, + 0.00838067048000485, + 0.0775750753182924, + -0.004698384211268472, + -0.985963045067966, + 0.16689757022229754, + 0.07788487102214696, + -0.1667532252240088, + -0.9829177527866987 + ], + [ + 0.9933378794704151, + -0.006538138376708982, + 0.11505263993401676, + -0.02939456731608904, + -0.9797389562745388, + 0.19810991133806946, + 0.11142628335145804, + -0.20017200180006403, + -0.9734040030089439 + ], + [ + 0.9879523625047621, + -0.011843409919049478, + 0.1543044492642669, + -0.047204418208528054, + -0.9726145050555378, + 0.22758024399575172, + 0.1473834194299133, + -0.23212229146952013, + -0.9614558593508522 + ], + [ + 0.9720482095055796, + -0.00790486766150382, + 0.23464822919479061, + -0.06794932881787945, + -0.9661328788965321, + 0.2489380425493432, + 0.22473354691767, + -0.2579239682200028, + -0.9396648655278382 + ], + [ + 0.943256166523912, + -0.007143325431336028, + 0.3319891221356448, + -0.10266533642075508, + -0.9570596608806926, + 0.27110262671642793, + 0.3157968223592936, + -0.289802999323188, + -0.9034857987655683 + ], + [ + 0.9173751580646191, + -0.0075673144307143655, + 0.3979516994789968, + -0.130868634420886, + -0.9499648690683251, + 0.28361972438603866, + 0.3758938944579009, + -0.312265084965173, + -0.872464496023171 + ], + [ + 0.9183062134856934, + -0.010578512766204036, + 0.395729444622489, + -0.13086781017429033, + -0.9515523976830923, + 0.2782474631038786, + 0.3736138575237196, + -0.30730462009415616, + -0.875200866050207 + ], + [ + 0.9227832220813984, + 0.0075884076411380855, + 0.3852447807752163, + -0.10781289840974198, + -0.954786876868331, + 0.2770530611570808, + 0.36992905263247866, + -0.29719427287464745, + -0.8802431824154882 + ], + [ + 0.9372813569313493, + 0.019518865418630824, + 0.34802682632477866, + -0.08000376764902967, + -0.9597313209283121, + 0.26928644375674915, + 0.3392684116019179, + -0.28024062075646017, + -0.89797669199548 + ], + [ + 0.9344486052502311, + 0.034647491220209964, + 0.3544084585588264, + -0.07037970660757883, + -0.9576538328450147, + 0.27918781014772803, + 0.3490737759324367, + -0.28582982312802524, + -0.8924398081477949 + ], + [ + 0.9287293864765692, + 0.018160191345029754, + 0.37031329188292283, + -0.09243250548491433, + -0.9559211682479271, + 0.2786950879102449, + 0.35905147071782917, + -0.2930613033920203, + -0.8861134881207563 + ], + [ + 0.9332745512465739, + 0.019461029135899113, + 0.358636139200274, + -0.07479913015132125, + -0.9661054364637216, + 0.2470736241767788, + 0.35128863079256106, + -0.2574131969814565, + -0.9001859496213401 + ], + [ + 0.9347433997688418, + 0.009680533499782408, + 0.3551915875407897, + -0.06941875296491867, + -0.9753906958975873, + 0.2092702250517632, + 0.34847641717250033, + -0.22027091870598717, + -0.9110680046226174 + ], + [ + 0.9437215899318342, + 0.004256482082124792, + 0.33071353624672883, + -0.05115004160985667, + -0.9860087481547523, + 0.15865188875525318, + 0.3267617387942502, + -0.16663922384175897, + -0.9303000242596875 + ], + [ + 0.9439468577941206, + -0.017331107292805435, + 0.3296421732433698, + -0.058045904447560887, + -0.9917750422731209, + 0.11407426747963019, + 0.3249538469344088, + -0.12681442443253388, + -0.937188934590232 + ], + [ + 0.9464774204222399, + -0.03346232714405962, + 0.3210307855844456, + -0.0693594445854756, + -0.9924616412565866, + 0.10104037846859264, + 0.31522969415595464, + -0.11789895375441646, + -0.9416634625098061 + ], + [ + 0.9513707072207229, + -0.03862887042584026, + 0.30561673352741253, + -0.06620936435536678, + -0.9945614812759666, + 0.08039763699147988, + 0.30084896129785815, + -0.09672264642667265, + -0.9487542527726667 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005727.json b/json/chunk-0005/episode_0005727.json new file mode 100644 index 0000000000000000000000000000000000000000..6992dd8be8fe6c87bb9aa0eb323e7b4e578a5b43 --- /dev/null +++ b/json/chunk-0005/episode_0005727.json @@ -0,0 +1,1342 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 21, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut detergent in sink." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005727.mp4", + "start": 0, + "end": 21, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.29826465249061584, + -0.13371650874614716, + 0.08871228247880936, + 0.10092642903327942, + -0.10495186597108841, + 0.04600909724831581, + 0.0, + 0.9974852800369263 + ], + [ + 0.2898676097393036, + -0.12480244040489197, + 0.07415125519037247, + 0.13900870084762573, + -0.05937737226486206, + 0.04433681443333626, + 0.0, + 0.9974852800369263 + ], + [ + 0.2740616202354431, + -0.07140326499938965, + 0.0946815088391304, + 0.20242580771446228, + -0.08017256110906601, + 0.050365857779979706, + 0.0, + 0.9974852800369263 + ], + [ + 0.2625163197517395, + -0.025762777775526047, + 0.1131063848733902, + 0.2674042284488678, + -0.05763765797019005, + -0.020625315606594086, + 0.0, + 0.9974852800369263 + ], + [ + 0.25722938776016235, + 0.020546939224004745, + 0.1327395737171173, + 0.31419941782951355, + -0.03241071105003357, + -0.07261637598276138, + 0.0, + 0.9974852800369263 + ], + [ + 0.2585907578468323, + 0.04928787052631378, + 0.13488386571407318, + 0.320986270904541, + -0.011906765401363373, + -0.1403927206993103, + 0.0, + 0.9974852800369263 + ], + [ + 0.2669585943222046, + 0.07427661120891571, + 0.1355532854795456, + 0.3298340439796448, + -0.05556501820683479, + -0.20187883079051971, + 0.0, + 0.9974852800369263 + ], + [ + 0.27186232805252075, + 0.09097665548324585, + 0.13097459077835083, + 0.3272305428981781, + -0.07426831126213074, + -0.23559823632240295, + 0.0, + 0.9974852800369263 + ], + [ + 0.2729870080947876, + 0.10805898159742355, + 0.12356661260128021, + 0.30031418800354004, + -0.08777891099452972, + -0.25044387578964233, + 0.0, + 0.9974852800369263 + ], + [ + 0.27870792150497437, + 0.11922051757574081, + 0.11575361341238022, + 0.2882331311702728, + -0.12784874439239502, + -0.24366270005702972, + 0.0, + 0.9974852800369263 + ], + [ + 0.2805217206478119, + 0.1314375251531601, + 0.1063983291387558, + 0.2774621844291687, + -0.14338919520378113, + -0.24700453877449036, + 0.0, + 0.9974852800369263 + ], + [ + 0.282107412815094, + 0.1351519376039505, + 0.08948152512311935, + 0.21836969256401062, + -0.16638408601284027, + -0.2249811887741089, + 0.0, + 0.9974852800369263 + ], + [ + 0.2815764248371124, + 0.13199660181999207, + 0.0767567828297615, + 0.14181838929653168, + -0.186374232172966, + -0.1635165959596634, + 0.0, + 0.8948037624359131 + ], + [ + 0.2805054783821106, + 0.12952354550361633, + 0.0716971904039383, + 0.12661947309970856, + -0.19814573228359222, + -0.14145685732364655, + 0.0, + 0.5938982367515564 + ], + [ + 0.2768770456314087, + 0.12688785791397095, + 0.07168462872505188, + 0.10281988233327866, + -0.18897376954555511, + -0.09550207853317261, + 0.0, + 0.5541232228279114 + ], + [ + 0.2737440764904022, + 0.09916797280311584, + 0.07850761711597443, + 0.08974485099315643, + -0.12086591124534607, + 0.016045887023210526, + 0.0, + 0.5541232228279114 + ], + [ + 0.29033249616622925, + 0.04341347888112068, + 0.09207839518785477, + 0.05720392242074013, + -0.11711686104536057, + 0.15499906241893768, + 0.0, + 0.5511609315872192 + ], + [ + 0.30496203899383545, + 0.005340573377907276, + 0.08849619328975677, + -0.06074809655547142, + -0.19538818299770355, + 0.3785254955291748, + 0.0, + 0.549187958240509 + ], + [ + 0.3111688792705536, + -0.047040726989507675, + 0.08287598192691803, + -0.13545279204845428, + -0.22485262155532837, + 0.4722268283367157, + 0.0, + 0.549187958240509 + ], + [ + 0.31659460067749023, + -0.08892714977264404, + 0.08705781400203705, + -0.16544963419437408, + -0.23192483186721802, + 0.5577173233032227, + 0.0, + 0.549187958240509 + ], + [ + 0.3197362720966339, + -0.1430758684873581, + 0.09842123836278915, + -0.19831180572509766, + -0.21748541295528412, + 0.5636373162269592, + 0.0, + 0.549187958240509 + ] + ], + "left_gripper_pos": [ + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.8948037624359131 + ], + [ + 0.5938982367515564 + ], + [ + 0.5541232228279114 + ], + [ + 0.5541232228279114 + ], + [ + 0.5511609315872192 + ], + [ + 0.549187958240509 + ], + [ + 0.549187958240509 + ], + [ + 0.549187958240509 + ], + [ + 0.549187958240509 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.29826465249061584, + -0.13371650874614716, + 0.08871228247880936 + ], + [ + 0.2898676097393036, + -0.12480244040489197, + 0.07415125519037247 + ], + [ + 0.2740616202354431, + -0.07140326499938965, + 0.0946815088391304 + ], + [ + 0.2625163197517395, + -0.025762777775526047, + 0.1131063848733902 + ], + [ + 0.25722938776016235, + 0.020546939224004745, + 0.1327395737171173 + ], + [ + 0.2585907578468323, + 0.04928787052631378, + 0.13488386571407318 + ], + [ + 0.2669585943222046, + 0.07427661120891571, + 0.1355532854795456 + ], + [ + 0.27186232805252075, + 0.09097665548324585, + 0.13097459077835083 + ], + [ + 0.2729870080947876, + 0.10805898159742355, + 0.12356661260128021 + ], + [ + 0.27870792150497437, + 0.11922051757574081, + 0.11575361341238022 + ], + [ + 0.2805217206478119, + 0.1314375251531601, + 0.1063983291387558 + ], + [ + 0.282107412815094, + 0.1351519376039505, + 0.08948152512311935 + ], + [ + 0.2815764248371124, + 0.13199660181999207, + 0.0767567828297615 + ], + [ + 0.2805054783821106, + 0.12952354550361633, + 0.0716971904039383 + ], + [ + 0.2768770456314087, + 0.12688785791397095, + 0.07168462872505188 + ], + [ + 0.2737440764904022, + 0.09916797280311584, + 0.07850761711597443 + ], + [ + 0.29033249616622925, + 0.04341347888112068, + 0.09207839518785477 + ], + [ + 0.30496203899383545, + 0.005340573377907276, + 0.08849619328975677 + ], + [ + 0.3111688792705536, + -0.047040726989507675, + 0.08287598192691803 + ], + [ + 0.31659460067749023, + -0.08892714977264404, + 0.08705781400203705 + ], + [ + 0.3197362720966339, + -0.1430758684873581, + 0.09842123836278915 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9934451973760484, + 0.05630269229986573, + 0.09948189106692194, + 0.04573979581703558, + -0.9933729463645133, + 0.10544221407814576, + 0.10475929977372021, + -0.10020077979173748, + -0.9894368564188659 + ], + [ + 0.997256698000224, + 0.05210925045229994, + 0.052570945502148164, + 0.044244180006507594, + -0.9890161588901737, + 0.14103010313290798, + 0.059342487555225615, + -0.1383172565930455, + -0.9886085199406951 + ], + [ + 0.9955238828143157, + 0.06539732824328416, + 0.0682304052820177, + 0.05018285475380137, + -0.9775289573311303, + 0.2047408573486779, + 0.08008670198645414, + -0.20040041676042727, + -0.976435247790236 + ], + [ + 0.9981270689049817, + -0.004673020504081533, + 0.060996042482424545, + -0.02058960552552688, + -0.9645688050865916, + 0.26302678266314916, + 0.05760575026377575, + -0.26379003607640816, + -0.9628584498270523 + ], + [ + 0.9968407922968203, + -0.05901214637242151, + 0.05316014854726592, + -0.07251447020262979, + -0.9492643259645387, + 0.30600472392157907, + 0.03240503702018248, + -0.30889287144835476, + -0.9505446373233141 + ], + [ + 0.9900909311166013, + -0.12906534864236896, + 0.05533609943323997, + -0.13992206315620836, + -0.9401140089834034, + 0.31081741642846156, + 0.011906484064227691, + -0.3154802464386279, + -0.9488574443741542 + ], + [ + 0.9781795864697221, + -0.17207989319244163, + 0.11641824158095435, + -0.20020090297182344, + -0.930489067094038, + 0.30677303412740436, + 0.055536430054425566, + -0.3233861567497052, + -0.9446359608650653 + ], + [ + 0.9696944006625371, + -0.19784765211097158, + 0.1433494885861094, + -0.23278127307529137, + -0.9263439720545799, + 0.29614139248607335, + 0.07420005545260593, + -0.3205357265459185, + -0.9443257911221691 + ], + [ + 0.9650725274255025, + -0.21161745594944462, + 0.15444438852233333, + -0.24687982701413239, + -0.9318695823466578, + 0.2658372293538612, + 0.08766622965557858, + -0.294681410738021, + -0.9515658139842063 + ], + [ + 0.9625403878881317, + -0.1961336466823482, + 0.18721002730422528, + -0.23928970448819162, + -0.939170996027034, + 0.2463702042608701, + 0.12750074121399804, + -0.28193870408419053, + -0.9509227771639548 + ], + [ + 0.9596980131683351, + -0.19719515477203858, + 0.2002343488395092, + -0.24199129602191566, + -0.9421339190124481, + 0.23199976572376074, + 0.14289834208409874, + -0.2711046838043895, + -0.9518835612872713 + ], + [ + 0.9613364086573888, + -0.18281524100948623, + 0.20593906148265717, + -0.22000719528455112, + -0.9596529240180324, + 0.1751088217271365, + 0.16561746107442765, + -0.21364656111972447, + -0.9627699639628234 + ], + [ + 0.96957445882525, + -0.13531340813442422, + 0.2039991430687168, + -0.15996980324221566, + -0.9810189837470235, + 0.10959660386437392, + 0.18529714202968933, + -0.13889577065916886, + -0.9728170095391142 + ], + [ + 0.9706403691523093, + -0.11524649352748434, + 0.2111291536038753, + -0.13822694415346476, + -0.9855907910563741, + 0.09748899678869505, + 0.1968516844780968, + -0.12381049355563836, + -0.9725843798887814 + ], + [ + 0.9777217956033707, + -0.07566041494051319, + 0.19579477013738167, + -0.09365938171465817, + -0.9920244581958498, + 0.08435279816377511, + 0.18785103305265244, + -0.10081158639888568, + -0.9770102422333101 + ], + [ + 0.9925768101866824, + 0.026785418605469843, + 0.11863312029007943, + 0.01592814239045633, + -0.99567403124816, + 0.09153970601890449, + 0.12057184646350928, + -0.08897058417346634, + -0.9887095958835497 + ], + [ + 0.9812434556156316, + 0.16072715999040768, + 0.10643336343887523, + 0.15332162250141831, + -0.9853642419787619, + 0.07449691740704747, + 0.11684930844907208, + -0.05678107669847208, + -0.9915251627890922 + ], + [ + 0.9115298833439067, + 0.35791662795120394, + 0.2025066892897193, + 0.36251907489810076, + -0.9318523610649343, + 0.015201891748465007, + 0.19414734637915784, + 0.059555559049901174, + -0.979162878830782 + ], + [ + 0.8681395525624391, + 0.42389055858677765, + 0.2581676037338484, + 0.4434200643159087, + -0.8960958665463018, + -0.01976978807948452, + 0.22296269606991026, + 0.13163963042952503, + -0.9658978433880131 + ], + [ + 0.8257484231041596, + 0.48990444953976175, + 0.2795231154343712, + 0.5150805250640962, + -0.8569142035461728, + -0.019750961002526116, + 0.22985124415736527, + 0.16028623796811559, + -0.9599357934139866 + ], + [ + 0.8254043781382239, + 0.4878580193205054, + 0.28408126572325265, + 0.5216788098431087, + -0.8514616875375207, + -0.05351835214611082, + 0.2157749566352166, + 0.19237345877337342, + -0.9573053956019676 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.008397042751312256, + 0.008914068341255188, + -0.01456102728843689, + 0.038082271814346313, + 0.04557449370622635, + -0.0016722828149795532, + 1.0 + ], + [ + -0.015805989503860474, + 0.05339917540550232, + 0.020530253648757935, + 0.06341710686683655, + -0.02079518884420395, + 0.006029043346643448, + 1.0 + ], + [ + -0.011545300483703613, + 0.0456404872238636, + 0.018424876034259796, + 0.06497842073440552, + 0.02253490313887596, + -0.07099117338657379, + 1.0 + ], + [ + -0.0052869319915771484, + 0.04630971699953079, + 0.019633188843727112, + 0.04679518938064575, + 0.02522694692015648, + -0.0519910603761673, + 1.0 + ], + [ + 0.0013613700866699219, + 0.028740931302309036, + 0.0021442919969558716, + 0.006786853075027466, + 0.020503945648670197, + -0.06777634471654892, + 1.0 + ], + [ + 0.008367836475372314, + 0.02498874068260193, + 0.0006694197654724121, + 0.00884777307510376, + -0.04365825280547142, + -0.06148611009120941, + 1.0 + ], + [ + 0.004903733730316162, + 0.01670004427433014, + -0.004578694701194763, + -0.002603501081466675, + -0.018703293055295944, + -0.03371940553188324, + 1.0 + ], + [ + 0.0011246800422668457, + 0.017082326114177704, + -0.007407978177070618, + -0.02691635489463806, + -0.013510599732398987, + -0.01484563946723938, + 1.0 + ], + [ + 0.005720913410186768, + 0.01116153597831726, + -0.007812999188899994, + -0.012081056833267212, + -0.040069833397865295, + 0.00678117573261261, + 1.0 + ], + [ + 0.0018137991428375244, + 0.012217007577419281, + -0.00935528427362442, + -0.010770946741104126, + -0.015540450811386108, + -0.0033418387174606323, + 1.0 + ], + [ + 0.0015856921672821045, + 0.0037144124507904053, + -0.016916804015636444, + -0.05909249186515808, + -0.022994890809059143, + 0.02202335000038147, + 1.0 + ], + [ + -0.0005309879779815674, + -0.003155335783958435, + -0.012724742293357849, + -0.07655130326747894, + -0.019990146160125732, + 0.061464592814445496, + 0.0 + ], + [ + -0.001070946455001831, + -0.0024730563163757324, + -0.005059592425823212, + -0.01519891619682312, + -0.01177150011062622, + 0.022059738636016846, + 0.0 + ], + [ + -0.0036284327507019043, + -0.0026356875896453857, + -1.2561678886413574e-05, + -0.0237995907664299, + 0.00917196273803711, + 0.04595477879047394, + 0.0 + ], + [ + -0.0031329691410064697, + -0.027719885110855103, + 0.006822988390922546, + -0.013075031340122223, + 0.06810785830020905, + 0.11154796183109283, + 0.0 + ], + [ + 0.016588419675827026, + -0.05575449392199516, + 0.01357077807188034, + -0.032540928572416306, + 0.003749050199985504, + 0.13895317912101746, + 0.0 + ], + [ + 0.014629542827606201, + -0.03807290643453598, + -0.003582201898097992, + -0.11795201897621155, + -0.07827132195234299, + 0.22352643311023712, + 0.0 + ], + [ + 0.00620684027671814, + -0.05238129943609238, + -0.005620211362838745, + -0.07470469176769257, + -0.029464438557624817, + 0.0937013328075409, + 0.0 + ], + [ + 0.0054257214069366455, + -0.04188642278313637, + 0.0041818320751190186, + -0.0299968421459198, + -0.0070722103118896484, + 0.08549049496650696, + 0.0 + ], + [ + 0.0031416714191436768, + -0.05414871871471405, + 0.011363424360752106, + -0.03286217153072357, + 0.014439418911933899, + 0.005919992923736572, + 0.0 + ], + [ + 0.0009833574295043945, + -0.03276626765727997, + -0.00648760050535202, + 9.277462959289551e-05, + -0.005291581153869629, + -0.0017376542091369629, + 0.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.8948037624359131 + ], + [ + 0.5938982367515564 + ], + [ + 0.5541232228279114 + ], + [ + 0.5541232228279114 + ], + [ + 0.5511609315872192 + ], + [ + 0.549187958240509 + ], + [ + 0.549187958240509 + ], + [ + 0.549187958240509 + ], + [ + 0.549187958240509 + ], + [ + 0.549187958240509 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2898676097393036, + -0.12480244040489197, + 0.07415125519037247 + ], + [ + 0.2740616202354431, + -0.07140326499938965, + 0.0946815088391304 + ], + [ + 0.2625163197517395, + -0.025762777775526047, + 0.1131063848733902 + ], + [ + 0.25722938776016235, + 0.020546939224004745, + 0.1327395737171173 + ], + [ + 0.2585907578468323, + 0.04928787052631378, + 0.13488386571407318 + ], + [ + 0.2669585943222046, + 0.07427661120891571, + 0.1355532854795456 + ], + [ + 0.27186232805252075, + 0.09097665548324585, + 0.13097459077835083 + ], + [ + 0.2729870080947876, + 0.10805898159742355, + 0.12356661260128021 + ], + [ + 0.27870792150497437, + 0.11922051757574081, + 0.11575361341238022 + ], + [ + 0.2805217206478119, + 0.1314375251531601, + 0.1063983291387558 + ], + [ + 0.282107412815094, + 0.1351519376039505, + 0.08948152512311935 + ], + [ + 0.2815764248371124, + 0.13199660181999207, + 0.0767567828297615 + ], + [ + 0.2805054783821106, + 0.12952354550361633, + 0.0716971904039383 + ], + [ + 0.2768770456314087, + 0.12688785791397095, + 0.07168462872505188 + ], + [ + 0.2737440764904022, + 0.09916797280311584, + 0.07850761711597443 + ], + [ + 0.29033249616622925, + 0.04341347888112068, + 0.09207839518785477 + ], + [ + 0.30496203899383545, + 0.005340573377907276, + 0.08849619328975677 + ], + [ + 0.3111688792705536, + -0.047040726989507675, + 0.08287598192691803 + ], + [ + 0.31659460067749023, + -0.08892714977264404, + 0.08705781400203705 + ], + [ + 0.3197362720966339, + -0.1430758684873581, + 0.09842123836278915 + ], + [ + 0.3207196295261383, + -0.17584213614463806, + 0.09193363785743713 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.997256698000224, + 0.05210925045229994, + 0.052570945502148164, + 0.044244180006507594, + -0.9890161588901737, + 0.14103010313290798, + 0.059342487555225615, + -0.1383172565930455, + -0.9886085199406951 + ], + [ + 0.9955238828143157, + 0.06539732824328416, + 0.0682304052820177, + 0.05018285475380137, + -0.9775289573311303, + 0.2047408573486779, + 0.08008670198645414, + -0.20040041676042727, + -0.976435247790236 + ], + [ + 0.9981270689049817, + -0.004673020504081533, + 0.060996042482424545, + -0.02058960552552688, + -0.9645688050865916, + 0.26302678266314916, + 0.05760575026377575, + -0.26379003607640816, + -0.9628584498270523 + ], + [ + 0.9968407922968203, + -0.05901214637242151, + 0.05316014854726592, + -0.07251447020262979, + -0.9492643259645387, + 0.30600472392157907, + 0.03240503702018248, + -0.30889287144835476, + -0.9505446373233141 + ], + [ + 0.9900909311166013, + -0.12906534864236896, + 0.05533609943323997, + -0.13992206315620836, + -0.9401140089834034, + 0.31081741642846156, + 0.011906484064227691, + -0.3154802464386279, + -0.9488574443741542 + ], + [ + 0.9781795864697221, + -0.17207989319244163, + 0.11641824158095435, + -0.20020090297182344, + -0.930489067094038, + 0.30677303412740436, + 0.055536430054425566, + -0.3233861567497052, + -0.9446359608650653 + ], + [ + 0.9696944006625371, + -0.19784765211097158, + 0.1433494885861094, + -0.23278127307529137, + -0.9263439720545799, + 0.29614139248607335, + 0.07420005545260593, + -0.3205357265459185, + -0.9443257911221691 + ], + [ + 0.9650725274255025, + -0.21161745594944462, + 0.15444438852233333, + -0.24687982701413239, + -0.9318695823466578, + 0.2658372293538612, + 0.08766622965557858, + -0.294681410738021, + -0.9515658139842063 + ], + [ + 0.9625403878881317, + -0.1961336466823482, + 0.18721002730422528, + -0.23928970448819162, + -0.939170996027034, + 0.2463702042608701, + 0.12750074121399804, + -0.28193870408419053, + -0.9509227771639548 + ], + [ + 0.9596980131683351, + -0.19719515477203858, + 0.2002343488395092, + -0.24199129602191566, + -0.9421339190124481, + 0.23199976572376074, + 0.14289834208409874, + -0.2711046838043895, + -0.9518835612872713 + ], + [ + 0.9613364086573888, + -0.18281524100948623, + 0.20593906148265717, + -0.22000719528455112, + -0.9596529240180324, + 0.1751088217271365, + 0.16561746107442765, + -0.21364656111972447, + -0.9627699639628234 + ], + [ + 0.96957445882525, + -0.13531340813442422, + 0.2039991430687168, + -0.15996980324221566, + -0.9810189837470235, + 0.10959660386437392, + 0.18529714202968933, + -0.13889577065916886, + -0.9728170095391142 + ], + [ + 0.9706403691523093, + -0.11524649352748434, + 0.2111291536038753, + -0.13822694415346476, + -0.9855907910563741, + 0.09748899678869505, + 0.1968516844780968, + -0.12381049355563836, + -0.9725843798887814 + ], + [ + 0.9777217956033707, + -0.07566041494051319, + 0.19579477013738167, + -0.09365938171465817, + -0.9920244581958498, + 0.08435279816377511, + 0.18785103305265244, + -0.10081158639888568, + -0.9770102422333101 + ], + [ + 0.9925768101866824, + 0.026785418605469843, + 0.11863312029007943, + 0.01592814239045633, + -0.99567403124816, + 0.09153970601890449, + 0.12057184646350928, + -0.08897058417346634, + -0.9887095958835497 + ], + [ + 0.9812434556156316, + 0.16072715999040768, + 0.10643336343887523, + 0.15332162250141831, + -0.9853642419787619, + 0.07449691740704747, + 0.11684930844907208, + -0.05678107669847208, + -0.9915251627890922 + ], + [ + 0.9115298833439067, + 0.35791662795120394, + 0.2025066892897193, + 0.36251907489810076, + -0.9318523610649343, + 0.015201891748465007, + 0.19414734637915784, + 0.059555559049901174, + -0.979162878830782 + ], + [ + 0.8681395525624391, + 0.42389055858677765, + 0.2581676037338484, + 0.4434200643159087, + -0.8960958665463018, + -0.01976978807948452, + 0.22296269606991026, + 0.13163963042952503, + -0.9658978433880131 + ], + [ + 0.8257484231041596, + 0.48990444953976175, + 0.2795231154343712, + 0.5150805250640962, + -0.8569142035461728, + -0.019750961002526116, + 0.22985124415736527, + 0.16028623796811559, + -0.9599357934139866 + ], + [ + 0.8254043781382239, + 0.4878580193205054, + 0.28408126572325265, + 0.5216788098431087, + -0.8514616875375207, + -0.05351835214611082, + 0.2157749566352166, + 0.19237345877337342, + -0.9573053956019676 + ], + [ + 0.8253318306849378, + 0.4855435446111747, + 0.2882270555389722, + 0.5196281347385514, + -0.8528549311735169, + -0.051235417058418734, + 0.22093883960585903, + 0.19205710780763197, + -0.9561904080747644 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005729.json b/json/chunk-0005/episode_0005729.json new file mode 100644 index 0000000000000000000000000000000000000000..d5aa3ba98e3ea2b71f82fe11edc6a14987c66134 --- /dev/null +++ b/json/chunk-0005/episode_0005729.json @@ -0,0 +1,1582 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 25, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPick up scissors and put into drawer." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005729.mp4", + "start": 0, + "end": 25, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.15807148814201355, + 0.01002687681466341, + 0.16704006493091583, + 0.06841666996479034, + -0.11345615237951279, + 0.026965666562318802, + 0.0, + 0.9907060265541077 + ], + [ + 0.15750813484191895, + 0.0004147845320403576, + 0.16140007972717285, + 0.06276848912239075, + -0.06832720339298248, + 0.11232535541057587, + 0.0, + 0.9900195002555847 + ], + [ + 0.1729220300912857, + -0.03783934563398361, + 0.1559719443321228, + 0.10513843595981598, + -0.00893852673470974, + 0.3681519627571106, + 0.0, + 0.9907060265541077 + ], + [ + 0.18594558537006378, + -0.07805895805358887, + 0.14470218122005463, + 0.21101690828800201, + -0.051809147000312805, + 0.5931992530822754, + 0.0, + 0.9907060265541077 + ], + [ + 0.19650259613990784, + -0.0981764942407608, + 0.12650270760059357, + 0.21524091064929962, + -0.10023577511310577, + 0.7847845554351807, + 0.0, + 0.9907060265541077 + ], + [ + 0.20378002524375916, + -0.11763187497854233, + 0.11542540788650513, + 0.15266606211662292, + -0.1405600905418396, + 0.7999782562255859, + 0.0, + 0.9907060265541077 + ], + [ + 0.2073722779750824, + -0.12823358178138733, + 0.10584264993667603, + 0.08508336544036865, + -0.17835043370723724, + 0.7738723158836365, + 0.0, + 0.9907060265541077 + ], + [ + 0.20603351294994354, + -0.13791881501674652, + 0.10150798410177231, + -0.014300013892352581, + -0.1900220364332199, + 0.7296650409698486, + 0.0, + 0.9907060265541077 + ], + [ + 0.207746222615242, + -0.14899899065494537, + 0.09705616533756256, + -0.07743595540523529, + -0.14915220439434052, + 0.6866596341133118, + 0.0, + 0.9907060265541077 + ], + [ + 0.21017032861709595, + -0.1474105268716812, + 0.08297258615493774, + -0.10397909581661224, + -0.08275075256824493, + 0.6857578754425049, + 0.0, + 0.9907060265541077 + ], + [ + 0.21179161965847015, + -0.1483662873506546, + 0.07330761849880219, + -0.09146382659673691, + -0.07970239967107773, + 0.6755144000053406, + 0.0, + 0.9907060265541077 + ], + [ + 0.21224503219127655, + -0.15062785148620605, + 0.059995267540216446, + -0.07190081477165222, + -0.09280163049697876, + 0.7158674597740173, + 0.0, + 0.9907060265541077 + ], + [ + 0.2128196805715561, + -0.1509491354227066, + 0.05517088621854782, + -0.09571465849876404, + -0.10913977026939392, + 0.747123658657074, + 0.0, + 0.8905277252197266 + ], + [ + 0.2122839391231537, + -0.15420596301555634, + 0.055171262472867966, + -0.10429107397794724, + -0.12222479283809662, + 0.7553783059120178, + 0.0, + 0.5869058966636658 + ], + [ + 0.206181138753891, + -0.1596555858850479, + 0.05858619511127472, + -0.06909650564193726, + -0.09450899064540863, + 0.7604947090148926, + 0.0, + 0.37205085158348083 + ], + [ + 0.19523824751377106, + -0.16960909962654114, + 0.06638316810131073, + -0.02071601338684559, + -0.06872772425413132, + 0.7361122369766235, + 0.0, + 0.3669656813144684 + ], + [ + 0.19583477079868317, + -0.17372126877307892, + 0.07795058935880661, + 0.0026098003145307302, + -0.05304105579853058, + 0.7484518885612488, + 0.0, + 0.3669656813144684 + ], + [ + 0.1941250115633011, + -0.169133260846138, + 0.08704148232936859, + 0.06249093636870384, + -0.059247490018606186, + 0.7294651865959167, + 0.0, + 0.3669656813144684 + ], + [ + 0.1949271857738495, + -0.14653052389621735, + 0.10108131170272827, + 0.11969606578350067, + -0.10893397778272629, + 0.6970652937889099, + 0.0, + 0.3669656813144684 + ], + [ + 0.20221549272537231, + -0.0998702347278595, + 0.12588085234165192, + 0.20133072137832642, + -0.14297989010810852, + 0.6194508075714111, + 0.0, + 0.3669656813144684 + ], + [ + 0.21059295535087585, + -0.06514999270439148, + 0.14171576499938965, + 0.23814238607883453, + -0.16696783900260925, + 0.5261408686637878, + 0.0, + 0.3669656813144684 + ], + [ + 0.22215114533901215, + -0.02076413668692112, + 0.14789794385433197, + 0.24749411642551422, + -0.20362788438796997, + 0.5388040542602539, + 0.0, + 0.3669656813144684 + ], + [ + 0.23729784786701202, + 0.0077504380606114864, + 0.14689689874649048, + 0.2342347800731659, + -0.18534818291664124, + 0.6327892541885376, + 0.0, + 0.3669656813144684 + ], + [ + 0.25332003831863403, + 0.010600291192531586, + 0.14097821712493896, + 0.21742217242717743, + -0.15191346406936646, + 0.7117161750793457, + 0.0, + 0.3669656813144684 + ], + [ + 0.2691211998462677, + 0.010991877876222134, + 0.12354040890932083, + 0.15515640377998352, + -0.1876324713230133, + 0.7845761179924011, + 0.0, + 0.5130034685134888 + ] + ], + "left_gripper_pos": [ + [ + 0.9907060265541077 + ], + [ + 0.9900195002555847 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.8905277252197266 + ], + [ + 0.5869058966636658 + ], + [ + 0.37205085158348083 + ], + [ + 0.3669656813144684 + ], + [ + 0.3669656813144684 + ], + [ + 0.3669656813144684 + ], + [ + 0.3669656813144684 + ], + [ + 0.3669656813144684 + ], + [ + 0.3669656813144684 + ], + [ + 0.3669656813144684 + ], + [ + 0.3669656813144684 + ], + [ + 0.3669656813144684 + ], + [ + 0.5130034685134888 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.15807148814201355, + 0.01002687681466341, + 0.16704006493091583 + ], + [ + 0.15750813484191895, + 0.0004147845320403576, + 0.16140007972717285 + ], + [ + 0.1729220300912857, + -0.03783934563398361, + 0.1559719443321228 + ], + [ + 0.18594558537006378, + -0.07805895805358887, + 0.14470218122005463 + ], + [ + 0.19650259613990784, + -0.0981764942407608, + 0.12650270760059357 + ], + [ + 0.20378002524375916, + -0.11763187497854233, + 0.11542540788650513 + ], + [ + 0.2073722779750824, + -0.12823358178138733, + 0.10584264993667603 + ], + [ + 0.20603351294994354, + -0.13791881501674652, + 0.10150798410177231 + ], + [ + 0.207746222615242, + -0.14899899065494537, + 0.09705616533756256 + ], + [ + 0.21017032861709595, + -0.1474105268716812, + 0.08297258615493774 + ], + [ + 0.21179161965847015, + -0.1483662873506546, + 0.07330761849880219 + ], + [ + 0.21224503219127655, + -0.15062785148620605, + 0.059995267540216446 + ], + [ + 0.2128196805715561, + -0.1509491354227066, + 0.05517088621854782 + ], + [ + 0.2122839391231537, + -0.15420596301555634, + 0.055171262472867966 + ], + [ + 0.206181138753891, + -0.1596555858850479, + 0.05858619511127472 + ], + [ + 0.19523824751377106, + -0.16960909962654114, + 0.06638316810131073 + ], + [ + 0.19583477079868317, + -0.17372126877307892, + 0.07795058935880661 + ], + [ + 0.1941250115633011, + -0.169133260846138, + 0.08704148232936859 + ], + [ + 0.1949271857738495, + -0.14653052389621735, + 0.10108131170272827 + ], + [ + 0.20221549272537231, + -0.0998702347278595, + 0.12588085234165192 + ], + [ + 0.21059295535087585, + -0.06514999270439148, + 0.14171576499938965 + ], + [ + 0.22215114533901215, + -0.02076413668692112, + 0.14789794385433197 + ], + [ + 0.23729784786701202, + 0.0077504380606114864, + 0.14689689874649048 + ], + [ + 0.25332003831863403, + 0.010600291192531586, + 0.14097821712493896 + ], + [ + 0.2691211998462677, + 0.010991877876222134, + 0.12354040890932083 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9932095375918714, + 0.034636114676410805, + 0.11106373844177778, + 0.026789050726175198, + -0.9970891129869713, + 0.07138380435396505, + 0.11321290208157159, + -0.06792378319099479, + -0.991246285480703 + ], + [ + 0.9913794467197536, + 0.11612422310960327, + 0.06067913503689952, + 0.11182775448597346, + -0.991261213879707, + 0.06996970190271475, + 0.06827405032851096, + -0.0625809129441318, + -0.9957019048825904 + ], + [ + 0.9329567603650791, + 0.35877971844763384, + -0.02947536123159437, + 0.35987746269632387, + -0.9275044872246709, + 0.10111200730554282, + 0.008938407707885867, + -0.10494064898187322, + -0.9944383163670388 + ], + [ + 0.8280439330537301, + 0.5556103853272818, + -0.07510222799211155, + 0.5582664757818439, + -0.8047009531296162, + 0.2019775186757354, + 0.051785972531463685, + -0.20917331509720985, + -0.9765063938859867 + ], + [ + 0.7039891050003574, + 0.705488390882948, + -0.08176472570848879, + 0.7031256880511533, + -0.676110435193428, + 0.22020205772232393, + 0.10006801108939874, + -0.21251072855727088, + -0.9720213904048973 + ], + [ + 0.6898510117384822, + 0.7238414527130415, + -0.012614790432926501, + 0.7102662987371602, + -0.6733357592341412, + 0.20528209910948877, + 0.14009770334166072, + -0.1505739242726198, + -0.9786215442383923 + ], + [ + 0.703864750791485, + 0.7071643410834535, + 0.06702989850242719, + 0.6878236521388349, + -0.7020855767143709, + 0.18432163879491753, + 0.17740641519301253, + -0.08363275476542786, + -0.9805776492347305 + ], + [ + 0.7319806298120883, + 0.6645385907758344, + 0.15030907806771454, + 0.6546208835295727, + -0.7471219979250591, + 0.11523983279851463, + 0.18888053480139227, + 0.014042136095906314, + -0.9818996700208245 + ], + [ + 0.7647815920955567, + 0.6231674041664608, + 0.16361999503795435, + 0.6269188264138599, + -0.7783380890006145, + 0.03409698371909123, + 0.1485998030942636, + 0.07649970977269305, + -0.9859340205739123 + ], + [ + 0.7712910019716733, + 0.6231998671672183, + 0.1293526800661421, + 0.6310927976420888, + -0.7751920930769638, + -0.028268349708422062, + 0.08265634302226242, + 0.10343666851613817, + -0.991195633850588 + ], + [ + 0.7779080241415504, + 0.6170101631662714, + 0.11898556435854078, + 0.6233137840423311, + -0.7816706539196221, + -0.02170058579165198, + 0.07961804191902498, + 0.09104640218263255, + -0.9926588135157914 + ], + [ + 0.7512775313775629, + 0.6495535207768387, + 0.1168858181887244, + 0.6534482556812836, + -0.7569436685441344, + 0.006454440179829303, + 0.09266848436400738, + 0.07152975812457532, + -0.9931243858189753 + ], + [ + 0.7292813895581615, + 0.6687840435627349, + 0.14448722407187103, + 0.6754882566465842, + -0.7373621295489039, + 0.003564412948012387, + 0.10892322973854357, + 0.09499996306832698, + -0.9895002461042347 + ], + [ + 0.7225811575389026, + 0.6725991143671118, + 0.15964617791327337, + 0.6804497138019988, + -0.7327579899349355, + 0.0073426952334311665, + 0.1219207027395987, + 0.10332550284944175, + -0.9871469914376443 + ], + [ + 0.7212619372414137, + 0.6829148446878209, + 0.11579521920948219, + 0.6862039275339801, + -0.7272571970476307, + 0.014870749119118839, + 0.09436836187887856, + 0.06873342889331814, + -0.9931617834113755 + ], + [ + 0.7393348755000282, + 0.6702135443346328, + 0.06479002129777905, + 0.6698267494336675, + -0.7418805407834399, + 0.030747177919238405, + 0.06867363112930724, + 0.020665628402732093, + -0.9974251170841026 + ], + [ + 0.7317127531195982, + 0.6806042737262425, + 0.03707114117089445, + 0.679548181258649, + -0.7326465933089864, + 0.037989981058161156, + 0.053016188755895796, + -0.0026061270711645393, + -0.9985902522213446 + ], + [ + 0.7442228236785716, + 0.6679269773947893, + 0.0024375364929245004, + 0.6653016075741853, + -0.7416112125351146, + 0.08594521744344932, + 0.059212833702657355, + -0.062340695460169265, + -0.9962968824674922 + ], + [ + 0.7621847370705305, + 0.6473308080193599, + 0.006103406076080002, + 0.6381650881078708, + -0.7529093602265889, + 0.1608502894105656, + 0.10871865937823372, + -0.11870265486581093, + -0.9869599448968577 + ], + [ + 0.8058891820415361, + 0.5920614253853878, + -0.0024279289624737632, + 0.5746636467824835, + -0.7812079647463439, + 0.24387662635753404, + 0.1424932255760984, + -0.19793277744602644, + -0.9698032255449665 + ], + [ + 0.8527256537250487, + 0.5219289816761687, + 0.02119192217960761, + 0.4952159174938433, + -0.8206578731846864, + 0.2850997198187308, + 0.16619312422576327, + -0.23261726777362285, + -0.9582635609234107 + ], + [ + 0.8405894627490045, + 0.5399961734773943, + 0.04258506481281721, + 0.5025086837615363, + -0.8067499430276899, + 0.3108690273556809, + 0.20222358383627784, + -0.23991386382322888, + -0.9494982675528275 + ], + [ + 0.7925695135287456, + 0.6097380361327076, + 0.0072865298899250225, + 0.5812669074486392, + -0.7590647221525209, + 0.29317150251791474, + 0.1842887639817004, + -0.2281233764359663, + -0.9560321001899212 + ], + [ + 0.748521186594503, + 0.6624766906875875, + -0.028994266929514623, + 0.6456123558707837, + -0.7180933559415392, + 0.259858842642683, + 0.15132983567735123, + -0.21322890622108556, + -0.9652112278592835 + ], + [ + 0.6952669122096318, + 0.7184377653085315, + 0.021239071659747075, + 0.6941247689050897, + -0.678820416485128, + 0.23956971293428042, + 0.1865334446659378, + -0.15182232886318442, + -0.9706468227319445 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0005633533000946045, + -0.00961209274828434, + -0.005639985203742981, + -0.005648180842399597, + 0.045128948986530304, + 0.08535969257354736, + 1.0 + ], + [ + 0.01541389524936676, + -0.03825413063168526, + -0.005428135395050049, + 0.04236994683742523, + 0.059388674795627594, + 0.25582659244537354, + 1.0 + ], + [ + 0.013023555278778076, + -0.040219612419605255, + -0.011269763112068176, + 0.10587847232818604, + -0.042870618402957916, + 0.2250472903251648, + 1.0 + ], + [ + 0.010557010769844055, + -0.020117536187171936, + -0.01819947361946106, + 0.004224002361297607, + -0.04842662811279297, + 0.19158530235290527, + 1.0 + ], + [ + 0.007277429103851318, + -0.019455380737781525, + -0.01107729971408844, + -0.0625748485326767, + -0.040324315428733826, + 0.015193700790405273, + 1.0 + ], + [ + 0.003592252731323242, + -0.010601706802845001, + -0.009582757949829102, + -0.06758269667625427, + -0.037790343165397644, + -0.026105940341949463, + 1.0 + ], + [ + -0.001338765025138855, + -0.009685233235359192, + -0.004334665834903717, + -0.09938337653875351, + -0.011671602725982666, + -0.04420727491378784, + 1.0 + ], + [ + 0.001712709665298462, + -0.011080175638198853, + -0.004451818764209747, + -0.06313594430685043, + 0.040869832038879395, + -0.043005406856536865, + 1.0 + ], + [ + 0.002424106001853943, + 0.0015884637832641602, + -0.014083579182624817, + -0.026543140411376953, + 0.06640145182609558, + -0.0009017586708068848, + 1.0 + ], + [ + 0.0016212910413742065, + -0.0009557604789733887, + -0.009664967656135559, + 0.012515269219875336, + 0.003048352897167206, + -0.010243475437164307, + 1.0 + ], + [ + 0.0004534125328063965, + -0.0022615641355514526, + -0.01331235095858574, + 0.019563011825084686, + -0.013099230825901031, + 0.04035305976867676, + 1.0 + ], + [ + 0.000574648380279541, + -0.0003212839365005493, + -0.004824381321668625, + -0.023813843727111816, + -0.01633813977241516, + 0.03125619888305664, + 0.0 + ], + [ + -0.0005357414484024048, + -0.0032568275928497314, + 3.762543201446533e-07, + -0.008576415479183197, + -0.013085022568702698, + 0.008254647254943848, + 0.0 + ], + [ + -0.006102800369262695, + -0.005449622869491577, + 0.0034149326384067535, + 0.03519456833600998, + 0.02771580219268799, + 0.005116403102874756, + 0.0 + ], + [ + -0.010942891240119934, + -0.009953513741493225, + 0.007796972990036011, + 0.048380494117736816, + 0.025781266391277313, + -0.024382472038269043, + 0.0 + ], + [ + 0.0005965232849121094, + -0.004112169146537781, + 0.01156742125749588, + 0.023325813934206963, + 0.01568666845560074, + 0.012339651584625244, + 0.0 + ], + [ + -0.00170975923538208, + 0.004588007926940918, + 0.009090892970561981, + 0.05988113582134247, + -0.006206434220075607, + -0.01898670196533203, + 0.0 + ], + [ + 0.0008021742105484009, + 0.022602736949920654, + 0.01403982937335968, + 0.05720512941479683, + -0.0496864877641201, + -0.032399892807006836, + 0.0 + ], + [ + 0.007288306951522827, + 0.04666028916835785, + 0.024799540638923645, + 0.08163465559482574, + -0.03404591232538223, + -0.07761448621749878, + 0.0 + ], + [ + 0.00837746262550354, + 0.03472024202346802, + 0.015834912657737732, + 0.03681166470050812, + -0.023987948894500732, + -0.09330993890762329, + 0.0 + ], + [ + 0.011558189988136292, + 0.04438585788011551, + 0.006182178854942322, + 0.009351730346679688, + -0.03666004538536072, + 0.012663185596466064, + 0.0 + ], + [ + 0.015146702527999878, + 0.028514575213193893, + -0.0010010451078414917, + -0.013259336352348328, + 0.018279701471328735, + 0.09398519992828369, + 0.0 + ], + [ + 0.01602219045162201, + 0.0028498531319200993, + -0.005918681621551514, + -0.016812607645988464, + 0.03343471884727478, + 0.0789269208908081, + 0.0 + ], + [ + 0.015801161527633667, + 0.00039158668369054794, + -0.017437808215618134, + -0.06226576864719391, + -0.03571900725364685, + 0.07285994291305542, + 1.0 + ], + [ + -0.006786078214645386, + 0.007056147791445255, + -0.022276081144809723, + -0.13090069591999054, + 0.03345489501953125, + -0.11961281299591064, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9900195002555847 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.8905277252197266 + ], + [ + 0.5869058966636658 + ], + [ + 0.37205085158348083 + ], + [ + 0.3669656813144684 + ], + [ + 0.3669656813144684 + ], + [ + 0.3669656813144684 + ], + [ + 0.3669656813144684 + ], + [ + 0.3669656813144684 + ], + [ + 0.3669656813144684 + ], + [ + 0.3669656813144684 + ], + [ + 0.3669656813144684 + ], + [ + 0.3669656813144684 + ], + [ + 0.5130034685134888 + ], + [ + 0.8562611937522888 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.15750813484191895, + 0.0004147845320403576, + 0.16140007972717285 + ], + [ + 0.1729220300912857, + -0.03783934563398361, + 0.1559719443321228 + ], + [ + 0.18594558537006378, + -0.07805895805358887, + 0.14470218122005463 + ], + [ + 0.19650259613990784, + -0.0981764942407608, + 0.12650270760059357 + ], + [ + 0.20378002524375916, + -0.11763187497854233, + 0.11542540788650513 + ], + [ + 0.2073722779750824, + -0.12823358178138733, + 0.10584264993667603 + ], + [ + 0.20603351294994354, + -0.13791881501674652, + 0.10150798410177231 + ], + [ + 0.207746222615242, + -0.14899899065494537, + 0.09705616533756256 + ], + [ + 0.21017032861709595, + -0.1474105268716812, + 0.08297258615493774 + ], + [ + 0.21179161965847015, + -0.1483662873506546, + 0.07330761849880219 + ], + [ + 0.21224503219127655, + -0.15062785148620605, + 0.059995267540216446 + ], + [ + 0.2128196805715561, + -0.1509491354227066, + 0.05517088621854782 + ], + [ + 0.2122839391231537, + -0.15420596301555634, + 0.055171262472867966 + ], + [ + 0.206181138753891, + -0.1596555858850479, + 0.05858619511127472 + ], + [ + 0.19523824751377106, + -0.16960909962654114, + 0.06638316810131073 + ], + [ + 0.19583477079868317, + -0.17372126877307892, + 0.07795058935880661 + ], + [ + 0.1941250115633011, + -0.169133260846138, + 0.08704148232936859 + ], + [ + 0.1949271857738495, + -0.14653052389621735, + 0.10108131170272827 + ], + [ + 0.20221549272537231, + -0.0998702347278595, + 0.12588085234165192 + ], + [ + 0.21059295535087585, + -0.06514999270439148, + 0.14171576499938965 + ], + [ + 0.22215114533901215, + -0.02076413668692112, + 0.14789794385433197 + ], + [ + 0.23729784786701202, + 0.0077504380606114864, + 0.14689689874649048 + ], + [ + 0.25332003831863403, + 0.010600291192531586, + 0.14097821712493896 + ], + [ + 0.2691211998462677, + 0.010991877876222134, + 0.12354040890932083 + ], + [ + 0.2623351216316223, + 0.01804802566766739, + 0.10126432776451111 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9913794467197536, + 0.11612422310960327, + 0.06067913503689952, + 0.11182775448597346, + -0.991261213879707, + 0.06996970190271475, + 0.06827405032851096, + -0.0625809129441318, + -0.9957019048825904 + ], + [ + 0.9329567603650791, + 0.35877971844763384, + -0.02947536123159437, + 0.35987746269632387, + -0.9275044872246709, + 0.10111200730554282, + 0.008938407707885867, + -0.10494064898187322, + -0.9944383163670388 + ], + [ + 0.8280439330537301, + 0.5556103853272818, + -0.07510222799211155, + 0.5582664757818439, + -0.8047009531296162, + 0.2019775186757354, + 0.051785972531463685, + -0.20917331509720985, + -0.9765063938859867 + ], + [ + 0.7039891050003574, + 0.705488390882948, + -0.08176472570848879, + 0.7031256880511533, + -0.676110435193428, + 0.22020205772232393, + 0.10006801108939874, + -0.21251072855727088, + -0.9720213904048973 + ], + [ + 0.6898510117384822, + 0.7238414527130415, + -0.012614790432926501, + 0.7102662987371602, + -0.6733357592341412, + 0.20528209910948877, + 0.14009770334166072, + -0.1505739242726198, + -0.9786215442383923 + ], + [ + 0.703864750791485, + 0.7071643410834535, + 0.06702989850242719, + 0.6878236521388349, + -0.7020855767143709, + 0.18432163879491753, + 0.17740641519301253, + -0.08363275476542786, + -0.9805776492347305 + ], + [ + 0.7319806298120883, + 0.6645385907758344, + 0.15030907806771454, + 0.6546208835295727, + -0.7471219979250591, + 0.11523983279851463, + 0.18888053480139227, + 0.014042136095906314, + -0.9818996700208245 + ], + [ + 0.7647815920955567, + 0.6231674041664608, + 0.16361999503795435, + 0.6269188264138599, + -0.7783380890006145, + 0.03409698371909123, + 0.1485998030942636, + 0.07649970977269305, + -0.9859340205739123 + ], + [ + 0.7712910019716733, + 0.6231998671672183, + 0.1293526800661421, + 0.6310927976420888, + -0.7751920930769638, + -0.028268349708422062, + 0.08265634302226242, + 0.10343666851613817, + -0.991195633850588 + ], + [ + 0.7779080241415504, + 0.6170101631662714, + 0.11898556435854078, + 0.6233137840423311, + -0.7816706539196221, + -0.02170058579165198, + 0.07961804191902498, + 0.09104640218263255, + -0.9926588135157914 + ], + [ + 0.7512775313775629, + 0.6495535207768387, + 0.1168858181887244, + 0.6534482556812836, + -0.7569436685441344, + 0.006454440179829303, + 0.09266848436400738, + 0.07152975812457532, + -0.9931243858189753 + ], + [ + 0.7292813895581615, + 0.6687840435627349, + 0.14448722407187103, + 0.6754882566465842, + -0.7373621295489039, + 0.003564412948012387, + 0.10892322973854357, + 0.09499996306832698, + -0.9895002461042347 + ], + [ + 0.7225811575389026, + 0.6725991143671118, + 0.15964617791327337, + 0.6804497138019988, + -0.7327579899349355, + 0.0073426952334311665, + 0.1219207027395987, + 0.10332550284944175, + -0.9871469914376443 + ], + [ + 0.7212619372414137, + 0.6829148446878209, + 0.11579521920948219, + 0.6862039275339801, + -0.7272571970476307, + 0.014870749119118839, + 0.09436836187887856, + 0.06873342889331814, + -0.9931617834113755 + ], + [ + 0.7393348755000282, + 0.6702135443346328, + 0.06479002129777905, + 0.6698267494336675, + -0.7418805407834399, + 0.030747177919238405, + 0.06867363112930724, + 0.020665628402732093, + -0.9974251170841026 + ], + [ + 0.7317127531195982, + 0.6806042737262425, + 0.03707114117089445, + 0.679548181258649, + -0.7326465933089864, + 0.037989981058161156, + 0.053016188755895796, + -0.0026061270711645393, + -0.9985902522213446 + ], + [ + 0.7442228236785716, + 0.6679269773947893, + 0.0024375364929245004, + 0.6653016075741853, + -0.7416112125351146, + 0.08594521744344932, + 0.059212833702657355, + -0.062340695460169265, + -0.9962968824674922 + ], + [ + 0.7621847370705305, + 0.6473308080193599, + 0.006103406076080002, + 0.6381650881078708, + -0.7529093602265889, + 0.1608502894105656, + 0.10871865937823372, + -0.11870265486581093, + -0.9869599448968577 + ], + [ + 0.8058891820415361, + 0.5920614253853878, + -0.0024279289624737632, + 0.5746636467824835, + -0.7812079647463439, + 0.24387662635753404, + 0.1424932255760984, + -0.19793277744602644, + -0.9698032255449665 + ], + [ + 0.8527256537250487, + 0.5219289816761687, + 0.02119192217960761, + 0.4952159174938433, + -0.8206578731846864, + 0.2850997198187308, + 0.16619312422576327, + -0.23261726777362285, + -0.9582635609234107 + ], + [ + 0.8405894627490045, + 0.5399961734773943, + 0.04258506481281721, + 0.5025086837615363, + -0.8067499430276899, + 0.3108690273556809, + 0.20222358383627784, + -0.23991386382322888, + -0.9494982675528275 + ], + [ + 0.7925695135287456, + 0.6097380361327076, + 0.0072865298899250225, + 0.5812669074486392, + -0.7590647221525209, + 0.29317150251791474, + 0.1842887639817004, + -0.2281233764359663, + -0.9560321001899212 + ], + [ + 0.748521186594503, + 0.6624766906875875, + -0.028994266929514623, + 0.6456123558707837, + -0.7180933559415392, + 0.259858842642683, + 0.15132983567735123, + -0.21322890622108556, + -0.9652112278592835 + ], + [ + 0.6952669122096318, + 0.7184377653085315, + 0.021239071659747075, + 0.6941247689050897, + -0.678820416485128, + 0.23956971293428042, + 0.1865334446659378, + -0.15182232886318442, + -0.9706468227319445 + ], + [ + 0.7776048799543268, + 0.6197797281092887, + 0.10584771748126443, + 0.6097111437496006, + -0.7844098013400063, + 0.11381381616168675, + 0.15356748307754248, + -0.023965645964765928, + -0.9878474963043236 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005730.json b/json/chunk-0005/episode_0005730.json new file mode 100644 index 0000000000000000000000000000000000000000..390217503cbf2757713d0597384733b7a12e2a77 --- /dev/null +++ b/json/chunk-0005/episode_0005730.json @@ -0,0 +1,1282 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 20, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove blue napkin to space in front of cans." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005730.mp4", + "start": 0, + "end": 20, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2642681300640106, + 0.03490258753299713, + 0.0895865261554718, + 0.038928624242544174, + -0.07284566015005112, + -0.006692424416542053, + 0.0, + 1.0008161067962646 + ], + [ + 0.2634281516075134, + 0.033980462700128555, + 0.0822015032172203, + 0.03033674694597721, + -0.0444011390209198, + -0.0078196469694376, + 0.0, + 1.0008161067962646 + ], + [ + 0.2792414724826813, + 0.05321269482374191, + 0.08325015753507614, + -0.02083588019013405, + -0.028697770088911057, + 0.031110504642128944, + 0.0, + 1.0008161067962646 + ], + [ + 0.3197042644023895, + 0.08126405626535416, + 0.08164036273956299, + -0.10128780454397202, + -0.06643202900886536, + 0.06238003447651863, + 0.0, + 1.0008161067962646 + ], + [ + 0.35859763622283936, + 0.10453523695468903, + 0.0740266889333725, + -0.06356030702590942, + -0.10687275230884552, + 0.040170617401599884, + 0.0, + 1.0008161067962646 + ], + [ + 0.3780342936515808, + 0.1274947077035904, + 0.05840330198407173, + -0.02279059961438179, + -0.11851492524147034, + 0.0034512688871473074, + 0.0, + 1.0008161067962646 + ], + [ + 0.3870478868484497, + 0.14386972784996033, + 0.048460453748703, + 0.04223054274916649, + -0.11362183094024658, + -0.0008681408362463117, + 0.0, + 1.0008161067962646 + ], + [ + 0.38829687237739563, + 0.14570888876914978, + 0.02534225396811962, + 0.07978127151727676, + -0.06660433113574982, + -0.009437374770641327, + 0.0, + 1.0008161067962646 + ], + [ + 0.39094674587249756, + 0.14532937109470367, + 0.014474577270448208, + 0.08767291903495789, + -0.05981360375881195, + 0.01403243001550436, + 0.0, + 1.0008161067962646 + ], + [ + 0.39190158247947693, + 0.1413872092962265, + 0.01254306547343731, + 0.08451645076274872, + -0.056512314826250076, + 0.013358543626964092, + 0.0, + 1.0008161067962646 + ], + [ + 0.38983896374702454, + 0.12335460633039474, + 0.010575272142887115, + 0.05222347378730774, + -0.052785154432058334, + 0.059286244213581085, + 0.0, + 1.0001531839370728 + ], + [ + 0.3937777578830719, + 0.09335055947303772, + 0.0105448542162776, + 0.06489462405443192, + -0.030282434076070786, + 0.11153989285230637, + 0.0, + 1.0008161067962646 + ], + [ + 0.4045422077178955, + 0.030981168150901794, + 0.01273320522159338, + 0.07699625939130783, + -0.037434887140989304, + 0.07038059830665588, + 0.0, + 1.0008161067962646 + ], + [ + 0.4105871319770813, + -0.01222138199955225, + 0.012015631422400475, + 0.07381729036569595, + -0.04996181279420853, + 0.028979947790503502, + 0.0, + 1.0001531839370728 + ], + [ + 0.4154324233531952, + -0.044148389250040054, + 0.009592846967279911, + 0.06872036308050156, + -0.06127677112817764, + 0.00852779671549797, + 0.0, + 1.0001531839370728 + ], + [ + 0.41697070002555847, + -0.049165885895490646, + 0.008210638538002968, + 0.05534295365214348, + -0.04955073073506355, + 0.02910017780959606, + 0.0, + 0.9994885921478271 + ], + [ + 0.41704800724983215, + -0.04907960444688797, + 0.010660771280527115, + 0.06427674740552902, + -0.04511840641498566, + 0.04721089079976082, + 0.0, + 0.9994885921478271 + ], + [ + 0.418724000453949, + -0.0538734495639801, + 0.018822181969881058, + 0.0517226979136467, + -0.027778882533311844, + 0.011985847726464272, + 0.0, + 0.9994885921478271 + ], + [ + 0.42906442284584045, + -0.06143911927938461, + 0.05380333587527275, + 0.032236214727163315, + -0.05678996816277504, + -0.033976081758737564, + 0.0, + 1.0001531839370728 + ], + [ + 0.43013423681259155, + -0.06670989096164703, + 0.09386744350194931, + -0.006282843183726072, + -0.11184448003768921, + -0.07249429076910019, + 0.0, + 1.0001531839370728 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2642681300640106, + 0.03490258753299713, + 0.0895865261554718 + ], + [ + 0.2634281516075134, + 0.033980462700128555, + 0.0822015032172203 + ], + [ + 0.2792414724826813, + 0.05321269482374191, + 0.08325015753507614 + ], + [ + 0.3197042644023895, + 0.08126405626535416, + 0.08164036273956299 + ], + [ + 0.35859763622283936, + 0.10453523695468903, + 0.0740266889333725 + ], + [ + 0.3780342936515808, + 0.1274947077035904, + 0.05840330198407173 + ], + [ + 0.3870478868484497, + 0.14386972784996033, + 0.048460453748703 + ], + [ + 0.38829687237739563, + 0.14570888876914978, + 0.02534225396811962 + ], + [ + 0.39094674587249756, + 0.14532937109470367, + 0.014474577270448208 + ], + [ + 0.39190158247947693, + 0.1413872092962265, + 0.01254306547343731 + ], + [ + 0.38983896374702454, + 0.12335460633039474, + 0.010575272142887115 + ], + [ + 0.3937777578830719, + 0.09335055947303772, + 0.0105448542162776 + ], + [ + 0.4045422077178955, + 0.030981168150901794, + 0.01273320522159338 + ], + [ + 0.4105871319770813, + -0.01222138199955225, + 0.012015631422400475 + ], + [ + 0.4154324233531952, + -0.044148389250040054, + 0.009592846967279911 + ], + [ + 0.41697070002555847, + -0.049165885895490646, + 0.008210638538002968 + ], + [ + 0.41704800724983215, + -0.04907960444688797, + 0.010660771280527115 + ], + [ + 0.418724000453949, + -0.0538734495639801, + 0.018822181969881058 + ], + [ + 0.42906442284584045, + -0.06143911927938461, + 0.05380333587527275 + ], + [ + 0.43013423681259155, + -0.06670989096164703, + 0.09386744350194931 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9973255931783648, + -0.003854809158768852, + 0.07298494117126166, + -0.0066746258002517685, + -0.9992389561114928, + 0.0384312107490874, + 0.07278125144465204, + -0.038815577228267895, + -0.9965923140394907 + ], + [ + 0.9989838882088028, + -0.006469673429485357, + 0.04460195539365849, + -0.007811860558228088, + -0.9995198447393522, + 0.029984242642427134, + 0.044386551272214095, + -0.030302199556087615, + -0.9985547610262655 + ], + [ + 0.9991045537807934, + 0.030501206011168302, + 0.029321784501383154, + 0.031092678661937132, + -0.9993177486342062, + -0.01993194918433104, + 0.028693831185584155, + 0.020825794019088593, + -0.9993712775317126 + ], + [ + 0.9958534909244572, + 0.05532082184518735, + 0.07221794295011161, + 0.06220207770149661, + -0.9933581823300944, + -0.09680094590172271, + 0.0663831766578665, + 0.10089166599984516, + -0.9926802836707228 + ], + [ + 0.9934924130640098, + 0.03330880958504497, + 0.10891899920711019, + 0.039930684356538106, + -0.9974477197717511, + -0.0591911037990784, + 0.10666942219338106, + 0.0631551227230378, + -0.9922867855830635 + ], + [ + 0.9929794087268364, + 0.000755907438280228, + 0.11828492063000824, + 0.003427052545762128, + -0.9997436507867811, + -0.022380527749975242, + 0.11823768077627024, + 0.02262877185053531, + -0.9927274497711773 + ], + [ + 0.9935516067933894, + 0.00391920239129246, + 0.11331303760331493, + -0.0008625429394659746, + -0.9991122020648379, + 0.04211963562079177, + 0.11337751389914913, + -0.04194576900912392, + -0.9926661532480502 + ], + [ + 0.9977383184340881, + -0.0041032333706120545, + 0.06709255848620065, + -0.009416309987296341, + -0.996824829196435, + 0.07906701590246795, + 0.06655509773519307, + -0.07951995581867657, + -0.9946089661731662 + ], + [ + 0.9981134227929125, + 0.019211755465401468, + 0.058313837916522546, + 0.0140068761253665, + -0.9959876699292505, + 0.08838760529684632, + 0.0597779446102447, + -0.08740406055121282, + -0.9943777589715764 + ], + [ + 0.9983145224838572, + 0.018078037837167847, + 0.05514797136600819, + 0.013336821433123267, + -0.9962780130743734, + 0.08516014242965869, + 0.05648223961467105, + -0.08428110827781454, + -0.9948399124460047 + ], + [ + 0.9968527195533697, + 0.06191999335926418, + 0.04950323162622586, + 0.05916899357767927, + -0.9967189607413561, + 0.05522991488021486, + 0.0527606455424461, + -0.05212703445487677, + -0.9972457503348333 + ], + [ + 0.993330243904788, + 0.11302574689675982, + 0.022808048633840762, + 0.11125772336483067, + -0.9914754822943812, + 0.06780919554749662, + 0.03027780599265522, + -0.06481935318678683, + -0.9974375699344382 + ], + [ + 0.9968254387884488, + 0.07298586020416768, + 0.031813657357713236, + 0.07027324028394953, + -0.9943664485691118, + 0.07935387615010343, + 0.0374261443941342, + -0.07686631362508127, + -0.9963387243028747 + ], + [ + 0.9983328028835993, + 0.032578600611676375, + 0.04764713494809383, + 0.028939734515628743, + -0.9967512719381534, + 0.07516244844228384, + 0.04994102975251824, + -0.07365824238915106, + -0.9960323071444017 + ], + [ + 0.9980868728446782, + 0.012712428101976942, + 0.06050610239375114, + 0.008511688289761565, + -0.9975675502504693, + 0.06918478047761174, + 0.061238430887711075, + -0.06853741211214105, + -0.9957672809062273 + ], + [ + 0.9983497530589599, + 0.03179012662706244, + 0.04782424506617639, + 0.029060358761027066, + -0.9979665211590704, + 0.05673022293578248, + 0.04953045644646089, + -0.05524681433981981, + -0.9972434624451079 + ], + [ + 0.9978692441351424, + 0.04998975555295426, + 0.041928462277020094, + 0.047145328030734124, + -0.9966863116417868, + 0.06628509810481985, + 0.045103100270758485, + -0.06416712963540595, + -0.996919399861553 + ], + [ + 0.9995423899526195, + 0.01340540257131627, + 0.02711652392373257, + 0.01198093661691071, + -0.9985737351359768, + 0.05202838316116792, + 0.02777530999983586, + -0.051679693095883224, + -0.9982773870402595 + ], + [ + 0.9978116819575213, + -0.03212355962975546, + 0.057792077881102376, + -0.033914782406267434, + -0.9989657701671666, + 0.030284939634326834, + 0.056759447525829475, + -0.03217867230065331, + -0.9978691788834494 + ], + [ + 0.9911417738785957, + -0.07312877063322291, + 0.11086102551602309, + -0.07197825619056682, + -0.9973029635139732, + -0.014350247454733022, + 0.11161144523997518, + 0.006243546421739615, + -0.9937323097391589 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0008399784564971924, + -0.000922124832868576, + -0.007385022938251495, + -0.008591877296566963, + 0.028444521129131317, + -0.001127222552895546, + 1.0 + ], + [ + 0.015813320875167847, + 0.019232232123613358, + 0.001048654317855835, + -0.05117262899875641, + 0.015703368932008743, + 0.038930151611566544, + 1.0 + ], + [ + 0.04046279191970825, + 0.028051361441612244, + -0.001609794795513153, + -0.08045192062854767, + -0.0377342589199543, + 0.03126952797174454, + 1.0 + ], + [ + 0.03889337182044983, + 0.02327118068933487, + -0.007613673806190491, + 0.03772749751806259, + -0.040440723299980164, + -0.022209417074918747, + 1.0 + ], + [ + 0.019436657428741455, + 0.022959470748901367, + -0.015623386949300766, + 0.040769707411527634, + -0.011642172932624817, + -0.03671934828162193, + 1.0 + ], + [ + 0.009013593196868896, + 0.016375020146369934, + -0.009942848235368729, + 0.06502114236354828, + 0.004893094301223755, + -0.004319409839808941, + 1.0 + ], + [ + 0.0012489855289459229, + 0.0018391609191894531, + -0.02311819978058338, + 0.037550728768110275, + 0.047017499804496765, + -0.008569234050810337, + 1.0 + ], + [ + 0.0026498734951019287, + -0.00037951767444610596, + -0.010867676697671413, + 0.007891647517681122, + 0.006790727376937866, + 0.02346980571746826, + 1.0 + ], + [ + 0.0009548366069793701, + -0.003942161798477173, + -0.0019315117970108986, + -0.0031564682722091675, + 0.0033012889325618744, + -0.0006738863885402679, + 1.0 + ], + [ + -0.0020626187324523926, + -0.018032602965831757, + -0.001967793330550194, + -0.03229297697544098, + 0.003727160394191742, + 0.04592769965529442, + 1.0 + ], + [ + 0.003938794136047363, + -0.030004046857357025, + -3.0417926609516144e-05, + 0.012671150267124176, + 0.02250272035598755, + 0.05225364863872528, + 1.0 + ], + [ + 0.010764449834823608, + -0.062369391322135925, + 0.0021883510053157806, + 0.012101635336875916, + -0.007152453064918518, + -0.04115929454565048, + 1.0 + ], + [ + 0.006044924259185791, + -0.04320254921913147, + -0.0007175737991929054, + -0.0031789690256118774, + -0.012526925653219223, + -0.04140064865350723, + 1.0 + ], + [ + 0.004845291376113892, + -0.03192700818181038, + -0.0024227844551205635, + -0.005096927285194397, + -0.011314958333969116, + -0.02045215107500553, + 1.0 + ], + [ + 0.0015382766723632812, + -0.005017496645450592, + -0.0013822084292769432, + -0.013377409428358078, + 0.01172604039311409, + 0.02057238109409809, + 1.0 + ], + [ + 7.730722427368164e-05, + 8.628144860267639e-05, + 0.002450132742524147, + 0.008933793753385544, + 0.004432324320077896, + 0.018110712990164757, + 1.0 + ], + [ + 0.0016759932041168213, + -0.004793845117092133, + 0.008161410689353943, + -0.012554049491882324, + 0.017339523881673813, + -0.0352250412106514, + 1.0 + ], + [ + 0.01034042239189148, + -0.0075656697154045105, + 0.03498115390539169, + -0.019486483186483383, + -0.029011085629463196, + -0.045961931347846985, + 1.0 + ], + [ + 0.0010698139667510986, + -0.005270771682262421, + 0.04006410762667656, + -0.038519058376550674, + -0.05505451187491417, + -0.038518209010362625, + 1.0 + ], + [ + -0.006320685148239136, + 0.008333481848239899, + 0.004116944968700409, + 0.006396492477506399, + 0.004209369421005249, + 2.444535493850708e-05, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2634281516075134, + 0.033980462700128555, + 0.0822015032172203 + ], + [ + 0.2792414724826813, + 0.05321269482374191, + 0.08325015753507614 + ], + [ + 0.3197042644023895, + 0.08126405626535416, + 0.08164036273956299 + ], + [ + 0.35859763622283936, + 0.10453523695468903, + 0.0740266889333725 + ], + [ + 0.3780342936515808, + 0.1274947077035904, + 0.05840330198407173 + ], + [ + 0.3870478868484497, + 0.14386972784996033, + 0.048460453748703 + ], + [ + 0.38829687237739563, + 0.14570888876914978, + 0.02534225396811962 + ], + [ + 0.39094674587249756, + 0.14532937109470367, + 0.014474577270448208 + ], + [ + 0.39190158247947693, + 0.1413872092962265, + 0.01254306547343731 + ], + [ + 0.38983896374702454, + 0.12335460633039474, + 0.010575272142887115 + ], + [ + 0.3937777578830719, + 0.09335055947303772, + 0.0105448542162776 + ], + [ + 0.4045422077178955, + 0.030981168150901794, + 0.01273320522159338 + ], + [ + 0.4105871319770813, + -0.01222138199955225, + 0.012015631422400475 + ], + [ + 0.4154324233531952, + -0.044148389250040054, + 0.009592846967279911 + ], + [ + 0.41697070002555847, + -0.049165885895490646, + 0.008210638538002968 + ], + [ + 0.41704800724983215, + -0.04907960444688797, + 0.010660771280527115 + ], + [ + 0.418724000453949, + -0.0538734495639801, + 0.018822181969881058 + ], + [ + 0.42906442284584045, + -0.06143911927938461, + 0.05380333587527275 + ], + [ + 0.43013423681259155, + -0.06670989096164703, + 0.09386744350194931 + ], + [ + 0.4238135516643524, + -0.058376409113407135, + 0.09798438847064972 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9989838882088028, + -0.006469673429485357, + 0.04460195539365849, + -0.007811860558228088, + -0.9995198447393522, + 0.029984242642427134, + 0.044386551272214095, + -0.030302199556087615, + -0.9985547610262655 + ], + [ + 0.9991045537807934, + 0.030501206011168302, + 0.029321784501383154, + 0.031092678661937132, + -0.9993177486342062, + -0.01993194918433104, + 0.028693831185584155, + 0.020825794019088593, + -0.9993712775317126 + ], + [ + 0.9958534909244572, + 0.05532082184518735, + 0.07221794295011161, + 0.06220207770149661, + -0.9933581823300944, + -0.09680094590172271, + 0.0663831766578665, + 0.10089166599984516, + -0.9926802836707228 + ], + [ + 0.9934924130640098, + 0.03330880958504497, + 0.10891899920711019, + 0.039930684356538106, + -0.9974477197717511, + -0.0591911037990784, + 0.10666942219338106, + 0.0631551227230378, + -0.9922867855830635 + ], + [ + 0.9929794087268364, + 0.000755907438280228, + 0.11828492063000824, + 0.003427052545762128, + -0.9997436507867811, + -0.022380527749975242, + 0.11823768077627024, + 0.02262877185053531, + -0.9927274497711773 + ], + [ + 0.9935516067933894, + 0.00391920239129246, + 0.11331303760331493, + -0.0008625429394659746, + -0.9991122020648379, + 0.04211963562079177, + 0.11337751389914913, + -0.04194576900912392, + -0.9926661532480502 + ], + [ + 0.9977383184340881, + -0.0041032333706120545, + 0.06709255848620065, + -0.009416309987296341, + -0.996824829196435, + 0.07906701590246795, + 0.06655509773519307, + -0.07951995581867657, + -0.9946089661731662 + ], + [ + 0.9981134227929125, + 0.019211755465401468, + 0.058313837916522546, + 0.0140068761253665, + -0.9959876699292505, + 0.08838760529684632, + 0.0597779446102447, + -0.08740406055121282, + -0.9943777589715764 + ], + [ + 0.9983145224838572, + 0.018078037837167847, + 0.05514797136600819, + 0.013336821433123267, + -0.9962780130743734, + 0.08516014242965869, + 0.05648223961467105, + -0.08428110827781454, + -0.9948399124460047 + ], + [ + 0.9968527195533697, + 0.06191999335926418, + 0.04950323162622586, + 0.05916899357767927, + -0.9967189607413561, + 0.05522991488021486, + 0.0527606455424461, + -0.05212703445487677, + -0.9972457503348333 + ], + [ + 0.993330243904788, + 0.11302574689675982, + 0.022808048633840762, + 0.11125772336483067, + -0.9914754822943812, + 0.06780919554749662, + 0.03027780599265522, + -0.06481935318678683, + -0.9974375699344382 + ], + [ + 0.9968254387884488, + 0.07298586020416768, + 0.031813657357713236, + 0.07027324028394953, + -0.9943664485691118, + 0.07935387615010343, + 0.0374261443941342, + -0.07686631362508127, + -0.9963387243028747 + ], + [ + 0.9983328028835993, + 0.032578600611676375, + 0.04764713494809383, + 0.028939734515628743, + -0.9967512719381534, + 0.07516244844228384, + 0.04994102975251824, + -0.07365824238915106, + -0.9960323071444017 + ], + [ + 0.9980868728446782, + 0.012712428101976942, + 0.06050610239375114, + 0.008511688289761565, + -0.9975675502504693, + 0.06918478047761174, + 0.061238430887711075, + -0.06853741211214105, + -0.9957672809062273 + ], + [ + 0.9983497530589599, + 0.03179012662706244, + 0.04782424506617639, + 0.029060358761027066, + -0.9979665211590704, + 0.05673022293578248, + 0.04953045644646089, + -0.05524681433981981, + -0.9972434624451079 + ], + [ + 0.9978692441351424, + 0.04998975555295426, + 0.041928462277020094, + 0.047145328030734124, + -0.9966863116417868, + 0.06628509810481985, + 0.045103100270758485, + -0.06416712963540595, + -0.996919399861553 + ], + [ + 0.9995423899526195, + 0.01340540257131627, + 0.02711652392373257, + 0.01198093661691071, + -0.9985737351359768, + 0.05202838316116792, + 0.02777530999983586, + -0.051679693095883224, + -0.9982773870402595 + ], + [ + 0.9978116819575213, + -0.03212355962975546, + 0.057792077881102376, + -0.033914782406267434, + -0.9989657701671666, + 0.030284939634326834, + 0.056759447525829475, + -0.03217867230065331, + -0.9978691788834494 + ], + [ + 0.9911417738785957, + -0.07312877063322291, + 0.11086102551602309, + -0.07197825619056682, + -0.9973029635139732, + -0.014350247454733022, + 0.11161144523997518, + 0.006243546421739615, + -0.9937323097391589 + ], + [ + 0.9916033314551052, + -0.07239425078521192, + 0.1071536536959195, + -0.07198740732744885, + -0.9973760873843548, + -0.007665083179462055, + 0.10742739982615779, + -0.00011299169859748867, + -0.9942129253834247 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005732.json b/json/chunk-0005/episode_0005732.json new file mode 100644 index 0000000000000000000000000000000000000000..3b93750e5e133d12e5034a8218e217b36f077867 --- /dev/null +++ b/json/chunk-0005/episode_0005732.json @@ -0,0 +1,1882 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 30, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nUnfold the cloth from left to right." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005732.mp4", + "start": 0, + "end": 30, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3738529086112976, + 0.04285799339413643, + 0.07906121760606766, + 0.117963507771492, + -0.20698915421962738, + -0.05978182330727577, + 0.0, + 1.0001531839370728 + ], + [ + 0.37142351269721985, + 0.042317911982536316, + 0.06664042919874191, + 0.11133703589439392, + -0.17019976675510406, + -0.06288605183362961, + 0.0, + 1.0001531839370728 + ], + [ + 0.37810951471328735, + 0.038891758769750595, + 0.07347540557384491, + 0.10961704701185226, + -0.18252868950366974, + -0.10330803692340851, + 0.0, + 1.0001531839370728 + ], + [ + 0.3782612681388855, + 0.014654899016022682, + 0.07319957762956619, + 0.0763302743434906, + -0.17753097414970398, + -0.1529211401939392, + 0.0, + 1.0001531839370728 + ], + [ + 0.37326580286026, + -0.004184418823570013, + 0.06959569454193115, + 0.02934235706925392, + -0.18807625770568848, + -0.13720792531967163, + 0.0, + 1.0001531839370728 + ], + [ + 0.3669465184211731, + -0.01535626221448183, + 0.05880673974752426, + -0.023464849218726158, + -0.1914532631635666, + -0.12962639331817627, + 0.0, + 1.0001531839370728 + ], + [ + 0.3648867607116699, + -0.019855864346027374, + 0.056061040610075, + -0.05738085135817528, + -0.19295065104961395, + -0.11930017173290253, + 0.0, + 1.0001531839370728 + ], + [ + 0.3562777638435364, + -0.01849142648279667, + 0.041004229336977005, + -0.10529794543981552, + -0.1761428713798523, + -0.08673486113548279, + 0.0, + 1.0001531839370728 + ], + [ + 0.35533976554870605, + -0.008582373149693012, + 0.03326086699962616, + -0.13870124518871307, + -0.1639321893453598, + -0.05563235282897949, + 0.0, + 1.0001531839370728 + ], + [ + 0.35046860575675964, + -0.0072888839058578014, + 0.026295961812138557, + -0.16159789264202118, + -0.15115942060947418, + -0.039549585431814194, + 0.0, + 1.0001531839370728 + ], + [ + 0.3478201925754547, + -0.004576784558594227, + 0.019391708076000214, + -0.17445765435695648, + -0.14761854708194733, + -0.02491878718137741, + 0.0, + 1.0001531839370728 + ], + [ + 0.34842854738235474, + -0.0038834805600345135, + 0.01882188767194748, + -0.1688506156206131, + -0.15524974465370178, + -0.029958974570035934, + 0.0, + 0.9484345316886902 + ], + [ + 0.34948021173477173, + -0.003088486148044467, + 0.018845761194825172, + -0.16196759045124054, + -0.16336335241794586, + -0.03984756022691727, + 0.0, + 0.6651484370231628 + ], + [ + 0.35022664070129395, + -0.0015389493200927973, + 0.015620837919414043, + -0.15079070627689362, + -0.16530154645442963, + -0.049016401171684265, + 0.0, + 0.36781078577041626 + ], + [ + 0.3511360287666321, + 7.151331374188885e-05, + 0.016573825851082802, + -0.13714931905269623, + -0.1642303615808487, + -0.07555010169744492, + 0.0, + 0.17624500393867493 + ], + [ + 0.3567684590816498, + 0.0036651676055043936, + 0.02231467142701149, + -0.10888490080833435, + -0.1729215681552887, + -0.11787770688533783, + 0.0, + 0.07559127360582352 + ], + [ + 0.36041903495788574, + 0.008470592088997364, + 0.030958769842982292, + -0.06143775209784508, + -0.14483416080474854, + -0.14291197061538696, + 0.0, + 0.059241458773612976 + ], + [ + 0.3609926104545593, + -0.007557145785540342, + 0.05190982297062874, + -0.014756999909877777, + -0.14625835418701172, + -0.1372937113046646, + 0.0, + 0.058401256799697876 + ], + [ + 0.35362306237220764, + -0.025709141045808792, + 0.06047603115439415, + 0.0018994819838553667, + -0.17334771156311035, + -0.0709460973739624, + 0.0, + 0.058401256799697876 + ], + [ + 0.34489792585372925, + -0.04181111603975296, + 0.056364383548498154, + 0.0009487683419138193, + -0.19663774967193604, + -0.009909497573971748, + 0.0, + 0.058401256799697876 + ], + [ + 0.33876001834869385, + -0.05330274999141693, + 0.04945259541273117, + -0.011583917774260044, + -0.25237682461738586, + 0.0588035024702549, + 0.0, + 0.058401256799697876 + ], + [ + 0.33927246928215027, + -0.06049744784832001, + 0.04398469254374504, + -0.03554709628224373, + -0.2967049777507782, + 0.09193116426467896, + 0.0, + 0.058401256799697876 + ], + [ + 0.34079331159591675, + -0.07250295579433441, + 0.04154736176133156, + -0.064858578145504, + -0.33821648359298706, + 0.10548306256532669, + 0.0, + 0.07988496869802475 + ], + [ + 0.3411845862865448, + -0.08307037502527237, + 0.0394330732524395, + -0.12317048013210297, + -0.3480217456817627, + 0.08810549974441528, + 0.0, + 0.24054749310016632 + ], + [ + 0.3428020477294922, + -0.0821935161948204, + 0.03821565583348274, + -0.1820637732744217, + -0.3168821632862091, + 0.04945110157132149, + 0.0, + 0.505268931388855 + ], + [ + 0.3458002507686615, + -0.0835631862282753, + 0.041945017874240875, + -0.2055819183588028, + -0.32398301362991333, + 0.0211630892008543, + 0.0, + 0.8139979243278503 + ], + [ + 0.34773874282836914, + -0.08535853773355484, + 0.041302695870399475, + -0.20172855257987976, + -0.30605849623680115, + -0.007994615472853184, + 0.0, + 1.0060625076293945 + ], + [ + 0.3582479953765869, + -0.08069675415754318, + 0.05335484817624092, + -0.15292127430438995, + -0.26514771580696106, + -0.13787229359149933, + 0.0, + 1.0054124593734741 + ], + [ + 0.37725189328193665, + -0.06237261742353439, + 0.07139631360769272, + -0.048159196972846985, + -0.201627716422081, + -0.2971489429473877, + 0.0, + 1.0008161067962646 + ], + [ + 0.38554736971855164, + -0.057715028524398804, + 0.0774352103471756, + -0.020974282175302505, + -0.1993662565946579, + -0.3239419460296631, + 0.0, + 1.0008161067962646 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9484345316886902 + ], + [ + 0.6651484370231628 + ], + [ + 0.36781078577041626 + ], + [ + 0.17624500393867493 + ], + [ + 0.07559127360582352 + ], + [ + 0.059241458773612976 + ], + [ + 0.058401256799697876 + ], + [ + 0.058401256799697876 + ], + [ + 0.058401256799697876 + ], + [ + 0.058401256799697876 + ], + [ + 0.058401256799697876 + ], + [ + 0.07988496869802475 + ], + [ + 0.24054749310016632 + ], + [ + 0.505268931388855 + ], + [ + 0.8139979243278503 + ], + [ + 1.0060625076293945 + ], + [ + 1.0054124593734741 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3738529086112976, + 0.04285799339413643, + 0.07906121760606766 + ], + [ + 0.37142351269721985, + 0.042317911982536316, + 0.06664042919874191 + ], + [ + 0.37810951471328735, + 0.038891758769750595, + 0.07347540557384491 + ], + [ + 0.3782612681388855, + 0.014654899016022682, + 0.07319957762956619 + ], + [ + 0.37326580286026, + -0.004184418823570013, + 0.06959569454193115 + ], + [ + 0.3669465184211731, + -0.01535626221448183, + 0.05880673974752426 + ], + [ + 0.3648867607116699, + -0.019855864346027374, + 0.056061040610075 + ], + [ + 0.3562777638435364, + -0.01849142648279667, + 0.041004229336977005 + ], + [ + 0.35533976554870605, + -0.008582373149693012, + 0.03326086699962616 + ], + [ + 0.35046860575675964, + -0.0072888839058578014, + 0.026295961812138557 + ], + [ + 0.3478201925754547, + -0.004576784558594227, + 0.019391708076000214 + ], + [ + 0.34842854738235474, + -0.0038834805600345135, + 0.01882188767194748 + ], + [ + 0.34948021173477173, + -0.003088486148044467, + 0.018845761194825172 + ], + [ + 0.35022664070129395, + -0.0015389493200927973, + 0.015620837919414043 + ], + [ + 0.3511360287666321, + 7.151331374188885e-05, + 0.016573825851082802 + ], + [ + 0.3567684590816498, + 0.0036651676055043936, + 0.02231467142701149 + ], + [ + 0.36041903495788574, + 0.008470592088997364, + 0.030958769842982292 + ], + [ + 0.3609926104545593, + -0.007557145785540342, + 0.05190982297062874 + ], + [ + 0.35362306237220764, + -0.025709141045808792, + 0.06047603115439415 + ], + [ + 0.34489792585372925, + -0.04181111603975296, + 0.056364383548498154 + ], + [ + 0.33876001834869385, + -0.05330274999141693, + 0.04945259541273117 + ], + [ + 0.33927246928215027, + -0.06049744784832001, + 0.04398469254374504 + ], + [ + 0.34079331159591675, + -0.07250295579433441, + 0.04154736176133156 + ], + [ + 0.3411845862865448, + -0.08307037502527237, + 0.0394330732524395 + ], + [ + 0.3428020477294922, + -0.0821935161948204, + 0.03821565583348274 + ], + [ + 0.3458002507686615, + -0.0835631862282753, + 0.041945017874240875 + ], + [ + 0.34773874282836914, + -0.08535853773355484, + 0.041302695870399475 + ], + [ + 0.3582479953765869, + -0.08069675415754318, + 0.05335484817624092 + ], + [ + 0.37725189328193665, + -0.06237261742353439, + 0.07139631360769272 + ], + [ + 0.38554736971855164, + -0.057715028524398804, + 0.0774352103471756 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9769058525964008, + -0.0351872180413871, + 0.21075297115202743, + -0.05847088538026551, + -0.9927214653156323, + 0.10528650371453985, + 0.205514259178645, + -0.11517791449792725, + -0.9718528372578644 + ], + [ + 0.9836028351220205, + -0.04367345906517278, + 0.17498026092449945, + -0.06193656633461647, + -0.9930266827003776, + 0.10030886897857555, + 0.16937923276069264, + -0.10950176445320897, + -0.9794488445503589 + ], + [ + 0.9781448748836375, + -0.08275378426294634, + 0.19074699192656847, + -0.10141125605304031, + -0.9907463274470575, + 0.09020793643528364, + 0.18151683361225024, + -0.10758032273761413, + -0.9774856077073734 + ], + [ + 0.972796467831408, + -0.13857261728416534, + 0.18564660490769058, + -0.14993168233843326, + -0.9875039144471698, + 0.04854389336140463, + 0.1765998946939184, + -0.07505763579098747, + -0.9814167455793508 + ], + [ + 0.9731332156764212, + -0.1312851566377455, + 0.18914532030655956, + -0.1343658408469711, + -0.9909256126002449, + 0.003500158041600471, + 0.18696942359849866, + -0.028820790055658893, + -0.9819428683481607 + ], + [ + 0.9734922844589138, + -0.13365525583848778, + 0.185604538429731, + -0.1269018686913462, + -0.9907601663861825, + -0.04785612212735306, + 0.19028580562304018, + 0.023034002890774063, + -0.9814584794525024 + ], + [ + 0.9744667772040729, + -0.12974039860906408, + 0.1832537287322386, + -0.11680874173507654, + -0.9899491978606004, + -0.07972642917766924, + 0.1917556204646318, + 0.05628511902727827, + -0.9798274171487085 + ], + [ + 0.980825967131762, + -0.10449476327975807, + 0.16450309008389952, + -0.08528577788119227, + -0.9891275523730466, + -0.1198040952042388, + 0.17523343942080283, + 0.10347719354337796, + -0.979073905343791 + ], + [ + 0.9850668444904491, + -0.07759814373612431, + 0.15369398158137867, + -0.054858192546551665, + -0.9876095637400952, + -0.14703036529786734, + 0.1631989295190224, + 0.1364033639534108, + -0.977118330452376 + ], + [ + 0.9878240856595952, + -0.06323354581013338, + 0.14214462520638205, + -0.039088415498081314, + -0.9852416833232064, + -0.16664609571275457, + 0.1505844333410144, + 0.15906081895530705, + -0.97571716409451 + ], + [ + 0.9888170732296451, + -0.0500598667338361, + 0.14048062297751132, + -0.02464522353758759, + -0.9838789708225357, + -0.17712928535386432, + 0.14708299917509657, + 0.17168628517088638, + -0.9741100609468522 + ], + [ + 0.9875296048230205, + -0.05550178903758721, + 0.147325595236253, + -0.029594228850823204, + -0.984557850490571, + -0.17253991032834076, + 0.15462684507165692, + 0.1660282820817403, + -0.9739225576667645 + ], + [ + 0.985902617191768, + -0.06552181796836605, + 0.15395752915834404, + -0.039306620170406044, + -0.9850836741816004, + -0.1675265485577074, + 0.16263769251068916, + 0.15911331255114633, + -0.9737720137402798 + ], + [ + 0.9851840894590232, + -0.07312975417436593, + 0.15512688010526146, + -0.048328889876962454, + -0.9862540385409159, + -0.1580104106221934, + 0.1645497744758582, + 0.14817223260830803, + -0.9751760667714389 + ], + [ + 0.9837303089358815, + -0.09705846756413436, + 0.15117649670176017, + -0.07446265190687809, + -0.9860968540276962, + -0.14855405732485402, + 0.16349309695491895, + 0.1348801258554528, + -0.9772805937382094 + ], + [ + 0.978250242050761, + -0.13547654043727275, + 0.1570750486830268, + -0.11585098208810075, + -0.9849804949584812, + -0.12803114660334805, + 0.1720610760074741, + 0.10704920150329683, + -0.979252497867969 + ], + [ + 0.9794420461968733, + -0.15092857343368898, + 0.13384260854807767, + -0.14093477792872278, + -0.9866758554075471, + -0.0812904959141426, + 0.14432832886119062, + 0.060756251341382086, + -0.9876629037333938 + ], + [ + 0.9800137809886114, + -0.1389782274357209, + 0.14233074640157892, + -0.1354015535115931, + -0.9901878225921487, + -0.03456147127751022, + 0.1457374638830137, + 0.014598913967963714, + -0.9892155798064963 + ], + [ + 0.9825349544262948, + -0.07055966850526199, + 0.17218128966570725, + -0.06982420974518694, + -0.997505805742748, + -0.010331855737038107, + 0.17248084839766645, + -0.001871013078085345, + -0.9850110944786777 + ], + [ + 0.9806808604283942, + -0.009723976358392117, + 0.19537270605999693, + -0.009718372718053502, + -0.999952288102976, + -0.0009872939461137828, + 0.19537298488055485, + -0.0009304844998551511, + -0.9807285715107203 + ], + [ + 0.966647975539146, + 0.05587816452041982, + 0.24993863670089014, + 0.056907894767263066, + -0.9983745871177374, + 0.0031105161381348315, + 0.24970619315353146, + 0.011216707507837573, + -0.9682566821734074 + ], + [ + 0.9522668630537261, + 0.08139686891443726, + 0.2942148386141356, + 0.08779045650187733, + -0.996102129977705, + -0.008566352845363388, + 0.29237075311495836, + 0.03398670894342669, + -0.955700918874826 + ], + [ + 0.9381046462063038, + 0.08368038869801969, + 0.3360911562559981, + 0.09932280219566297, + -0.9946151676280354, + -0.029591371854919463, + 0.33180514421893254, + 0.06114131885724457, + -0.9413644806334314 + ], + [ + 0.9364029697831658, + 0.045587677285283845, + 0.3479529305250927, + 0.08271639330717229, + -0.9922615344732507, + -0.09260154147228195, + 0.34103881957853466, + 0.11549376989484059, + -0.9329274959266433 + ], + [ + 0.9490499775730636, + -0.007736238722089936, + 0.3150306186373034, + 0.04696985995822055, + -0.9850587225650217, + -0.16568990721849253, + 0.3116054754398139, + 0.17204494676973908, + -0.9345065885091046 + ], + [ + 0.9477626891239228, + -0.04425547213110703, + 0.31589133937327785, + 0.020060581307205828, + -0.980098345123553, + -0.19749634670973046, + 0.3183448730264201, + 0.19351663254750454, + -0.9280128526832302 + ], + [ + 0.953498087388349, + -0.0682004276277634, + 0.29358150319485476, + -0.007623012968899442, + -0.9792077653902882, + -0.20271665415706305, + 0.3013026502041366, + 0.1910519664142417, + -0.9341926241997499 + ], + [ + 0.955896079867046, + -0.17537058455505114, + 0.23560102412263384, + -0.13263304890344593, + -0.9734656387571766, + -0.18647553324138333, + 0.262051824709141, + 0.14700274906239608, + -0.953791923290771 + ], + [ + 0.9368048606327051, + -0.3016741483276312, + 0.17717043016749617, + -0.2868638148535687, + -0.9522437389245566, + -0.10459929926456285, + 0.20026433737087274, + 0.04716534649272169, + -0.9786059601635513 + ], + [ + 0.9292105662129572, + -0.3221735058780111, + 0.1810302619687289, + -0.3120010287700832, + -0.9464574098245578, + -0.0829079576072081, + 0.19804818021028409, + 0.020557322258992594, + -0.9799766909559302 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.002429395914077759, + -0.0005400814116001129, + -0.012420788407325745, + -0.0066264718770980835, + 0.036789387464523315, + -0.003104228526353836, + 1.0 + ], + [ + 0.006686002016067505, + -0.003426153212785721, + 0.006834976375102997, + -0.0017199888825416565, + -0.012328922748565674, + -0.0404219850897789, + 1.0 + ], + [ + 0.00015175342559814453, + -0.024236859753727913, + -0.00027582794427871704, + -0.033286772668361664, + 0.004997715353965759, + -0.0496131032705307, + 1.0 + ], + [ + -0.004995465278625488, + -0.018839318305253983, + -0.0036038830876350403, + -0.04698791727423668, + -0.010545283555984497, + 0.015713214874267578, + 1.0 + ], + [ + -0.006319284439086914, + -0.011171843856573105, + -0.010788954794406891, + -0.05280720442533493, + -0.003377005457878113, + 0.007581532001495361, + 1.0 + ], + [ + -0.002059757709503174, + -0.004499602131545544, + -0.0027456991374492645, + -0.03391600400209427, + -0.0014973878860473633, + 0.010326221585273743, + 1.0 + ], + [ + -0.008608996868133545, + 0.0013644378632307053, + -0.015056811273097992, + -0.047917094081640244, + 0.016807779669761658, + 0.03256531059741974, + 1.0 + ], + [ + -0.0009379982948303223, + 0.009909053333103657, + -0.007743362337350845, + -0.03340329974889755, + 0.012210682034492493, + 0.031102508306503296, + 1.0 + ], + [ + -0.004871159791946411, + 0.0012934892438352108, + -0.006964905187487602, + -0.022896647453308105, + 0.01277276873588562, + 0.0160827673971653, + 1.0 + ], + [ + -0.0026484131813049316, + 0.0027120993472635746, + -0.006904253736138344, + -0.012859761714935303, + 0.0035408735275268555, + 0.014630798250436783, + 1.0 + ], + [ + 0.0006083548069000244, + 0.0006933039985597134, + -0.0005698204040527344, + 0.005607038736343384, + -0.007631197571754456, + -0.0050401873886585236, + 0.0 + ], + [ + 0.0010516643524169922, + 0.0007949944119900465, + 2.3873522877693176e-05, + 0.006883025169372559, + -0.00811360776424408, + -0.009888585656881332, + 0.0 + ], + [ + 0.0007464289665222168, + 0.0015495368279516697, + -0.003224923275411129, + 0.011176884174346924, + -0.0019381940364837646, + -0.009168840944766998, + 0.0 + ], + [ + 0.0009093880653381348, + 0.0016104626702144742, + 0.0009529879316687584, + 0.013641387224197388, + 0.0010711848735809326, + -0.02653370052576065, + 0.0 + ], + [ + 0.0056324303150177, + 0.0035936543717980385, + 0.005740845575928688, + 0.028264418244361877, + -0.008691206574440002, + -0.042327605187892914, + 0.0 + ], + [ + 0.003650575876235962, + 0.004805424250662327, + 0.008644098415970802, + 0.04744714871048927, + 0.02808740735054016, + -0.025034263730049133, + 0.0 + ], + [ + 0.000573575496673584, + -0.01602773740887642, + 0.020951053127646446, + 0.0466807521879673, + -0.0014241933822631836, + 0.005618259310722351, + 0.0 + ], + [ + -0.007369548082351685, + -0.018151994794607162, + 0.008566208183765411, + 0.016656482592225075, + -0.027089357376098633, + 0.06634761393070221, + 0.0 + ], + [ + -0.008725136518478394, + -0.016101974993944168, + -0.004111647605895996, + -0.0009507136419415474, + -0.023290038108825684, + 0.0610366016626358, + 0.0 + ], + [ + -0.0061379075050354, + -0.011491633951663971, + -0.006911788135766983, + -0.01253268588334322, + -0.05573907494544983, + 0.0687130019068718, + 0.0 + ], + [ + 0.0005124509334564209, + -0.007194697856903076, + -0.00546790286898613, + -0.02396317943930626, + -0.044328153133392334, + 0.03312766179442406, + 0.0 + ], + [ + 0.0015208423137664795, + -0.012005507946014404, + -0.0024373307824134827, + -0.02931148186326027, + -0.04151150584220886, + 0.013551898300647736, + 1.0 + ], + [ + 0.00039127469062805176, + -0.010567419230937958, + -0.0021142885088920593, + -0.05831190198659897, + -0.009805262088775635, + -0.017377562820911407, + 1.0 + ], + [ + 0.0016174614429473877, + 0.0008768588304519653, + -0.0012174174189567566, + -0.058893293142318726, + 0.03113958239555359, + -0.038654398173093796, + 1.0 + ], + [ + 0.0029982030391693115, + -0.001369670033454895, + 0.003729362040758133, + -0.023518145084381104, + -0.007100850343704224, + -0.028288012370467186, + 1.0 + ], + [ + 0.0019384920597076416, + -0.001795351505279541, + -0.0006423220038414001, + 0.0038533657789230347, + 0.017924517393112183, + -0.02915770560503006, + 1.0 + ], + [ + 0.010509252548217773, + 0.004661783576011658, + 0.012052152305841446, + 0.04880727827548981, + 0.04091078042984009, + -0.12987767159938812, + 1.0 + ], + [ + 0.01900389790534973, + 0.01832413673400879, + 0.018041465431451797, + 0.10476207733154297, + 0.06351999938488007, + -0.15927664935588837, + 1.0 + ], + [ + 0.00829547643661499, + 0.00465758889913559, + 0.00603889673948288, + 0.02718491479754448, + 0.0022614598274230957, + -0.02679300308227539, + 1.0 + ], + [ + 0.004422515630722046, + 0.002878434956073761, + -0.0015328377485275269, + -3.544054925441742e-05, + 0.0008101463317871094, + 0.01981663703918457, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9484345316886902 + ], + [ + 0.6651484370231628 + ], + [ + 0.36781078577041626 + ], + [ + 0.17624500393867493 + ], + [ + 0.07559127360582352 + ], + [ + 0.059241458773612976 + ], + [ + 0.058401256799697876 + ], + [ + 0.058401256799697876 + ], + [ + 0.058401256799697876 + ], + [ + 0.058401256799697876 + ], + [ + 0.058401256799697876 + ], + [ + 0.07988496869802475 + ], + [ + 0.24054749310016632 + ], + [ + 0.505268931388855 + ], + [ + 0.8139979243278503 + ], + [ + 1.0060625076293945 + ], + [ + 1.0054124593734741 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.37142351269721985, + 0.042317911982536316, + 0.06664042919874191 + ], + [ + 0.37810951471328735, + 0.038891758769750595, + 0.07347540557384491 + ], + [ + 0.3782612681388855, + 0.014654899016022682, + 0.07319957762956619 + ], + [ + 0.37326580286026, + -0.004184418823570013, + 0.06959569454193115 + ], + [ + 0.3669465184211731, + -0.01535626221448183, + 0.05880673974752426 + ], + [ + 0.3648867607116699, + -0.019855864346027374, + 0.056061040610075 + ], + [ + 0.3562777638435364, + -0.01849142648279667, + 0.041004229336977005 + ], + [ + 0.35533976554870605, + -0.008582373149693012, + 0.03326086699962616 + ], + [ + 0.35046860575675964, + -0.0072888839058578014, + 0.026295961812138557 + ], + [ + 0.3478201925754547, + -0.004576784558594227, + 0.019391708076000214 + ], + [ + 0.34842854738235474, + -0.0038834805600345135, + 0.01882188767194748 + ], + [ + 0.34948021173477173, + -0.003088486148044467, + 0.018845761194825172 + ], + [ + 0.35022664070129395, + -0.0015389493200927973, + 0.015620837919414043 + ], + [ + 0.3511360287666321, + 7.151331374188885e-05, + 0.016573825851082802 + ], + [ + 0.3567684590816498, + 0.0036651676055043936, + 0.02231467142701149 + ], + [ + 0.36041903495788574, + 0.008470592088997364, + 0.030958769842982292 + ], + [ + 0.3609926104545593, + -0.007557145785540342, + 0.05190982297062874 + ], + [ + 0.35362306237220764, + -0.025709141045808792, + 0.06047603115439415 + ], + [ + 0.34489792585372925, + -0.04181111603975296, + 0.056364383548498154 + ], + [ + 0.33876001834869385, + -0.05330274999141693, + 0.04945259541273117 + ], + [ + 0.33927246928215027, + -0.06049744784832001, + 0.04398469254374504 + ], + [ + 0.34079331159591675, + -0.07250295579433441, + 0.04154736176133156 + ], + [ + 0.3411845862865448, + -0.08307037502527237, + 0.0394330732524395 + ], + [ + 0.3428020477294922, + -0.0821935161948204, + 0.03821565583348274 + ], + [ + 0.3458002507686615, + -0.0835631862282753, + 0.041945017874240875 + ], + [ + 0.34773874282836914, + -0.08535853773355484, + 0.041302695870399475 + ], + [ + 0.3582479953765869, + -0.08069675415754318, + 0.05335484817624092 + ], + [ + 0.37725189328193665, + -0.06237261742353439, + 0.07139631360769272 + ], + [ + 0.38554736971855164, + -0.057715028524398804, + 0.0774352103471756 + ], + [ + 0.3899698853492737, + -0.05483659356832504, + 0.07590237259864807 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9836028351220205, + -0.04367345906517278, + 0.17498026092449945, + -0.06193656633461647, + -0.9930266827003776, + 0.10030886897857555, + 0.16937923276069264, + -0.10950176445320897, + -0.9794488445503589 + ], + [ + 0.9781448748836375, + -0.08275378426294634, + 0.19074699192656847, + -0.10141125605304031, + -0.9907463274470575, + 0.09020793643528364, + 0.18151683361225024, + -0.10758032273761413, + -0.9774856077073734 + ], + [ + 0.972796467831408, + -0.13857261728416534, + 0.18564660490769058, + -0.14993168233843326, + -0.9875039144471698, + 0.04854389336140463, + 0.1765998946939184, + -0.07505763579098747, + -0.9814167455793508 + ], + [ + 0.9731332156764212, + -0.1312851566377455, + 0.18914532030655956, + -0.1343658408469711, + -0.9909256126002449, + 0.003500158041600471, + 0.18696942359849866, + -0.028820790055658893, + -0.9819428683481607 + ], + [ + 0.9734922844589138, + -0.13365525583848778, + 0.185604538429731, + -0.1269018686913462, + -0.9907601663861825, + -0.04785612212735306, + 0.19028580562304018, + 0.023034002890774063, + -0.9814584794525024 + ], + [ + 0.9744667772040729, + -0.12974039860906408, + 0.1832537287322386, + -0.11680874173507654, + -0.9899491978606004, + -0.07972642917766924, + 0.1917556204646318, + 0.05628511902727827, + -0.9798274171487085 + ], + [ + 0.980825967131762, + -0.10449476327975807, + 0.16450309008389952, + -0.08528577788119227, + -0.9891275523730466, + -0.1198040952042388, + 0.17523343942080283, + 0.10347719354337796, + -0.979073905343791 + ], + [ + 0.9850668444904491, + -0.07759814373612431, + 0.15369398158137867, + -0.054858192546551665, + -0.9876095637400952, + -0.14703036529786734, + 0.1631989295190224, + 0.1364033639534108, + -0.977118330452376 + ], + [ + 0.9878240856595952, + -0.06323354581013338, + 0.14214462520638205, + -0.039088415498081314, + -0.9852416833232064, + -0.16664609571275457, + 0.1505844333410144, + 0.15906081895530705, + -0.97571716409451 + ], + [ + 0.9888170732296451, + -0.0500598667338361, + 0.14048062297751132, + -0.02464522353758759, + -0.9838789708225357, + -0.17712928535386432, + 0.14708299917509657, + 0.17168628517088638, + -0.9741100609468522 + ], + [ + 0.9875296048230205, + -0.05550178903758721, + 0.147325595236253, + -0.029594228850823204, + -0.984557850490571, + -0.17253991032834076, + 0.15462684507165692, + 0.1660282820817403, + -0.9739225576667645 + ], + [ + 0.985902617191768, + -0.06552181796836605, + 0.15395752915834404, + -0.039306620170406044, + -0.9850836741816004, + -0.1675265485577074, + 0.16263769251068916, + 0.15911331255114633, + -0.9737720137402798 + ], + [ + 0.9851840894590232, + -0.07312975417436593, + 0.15512688010526146, + -0.048328889876962454, + -0.9862540385409159, + -0.1580104106221934, + 0.1645497744758582, + 0.14817223260830803, + -0.9751760667714389 + ], + [ + 0.9837303089358815, + -0.09705846756413436, + 0.15117649670176017, + -0.07446265190687809, + -0.9860968540276962, + -0.14855405732485402, + 0.16349309695491895, + 0.1348801258554528, + -0.9772805937382094 + ], + [ + 0.978250242050761, + -0.13547654043727275, + 0.1570750486830268, + -0.11585098208810075, + -0.9849804949584812, + -0.12803114660334805, + 0.1720610760074741, + 0.10704920150329683, + -0.979252497867969 + ], + [ + 0.9794420461968733, + -0.15092857343368898, + 0.13384260854807767, + -0.14093477792872278, + -0.9866758554075471, + -0.0812904959141426, + 0.14432832886119062, + 0.060756251341382086, + -0.9876629037333938 + ], + [ + 0.9800137809886114, + -0.1389782274357209, + 0.14233074640157892, + -0.1354015535115931, + -0.9901878225921487, + -0.03456147127751022, + 0.1457374638830137, + 0.014598913967963714, + -0.9892155798064963 + ], + [ + 0.9825349544262948, + -0.07055966850526199, + 0.17218128966570725, + -0.06982420974518694, + -0.997505805742748, + -0.010331855737038107, + 0.17248084839766645, + -0.001871013078085345, + -0.9850110944786777 + ], + [ + 0.9806808604283942, + -0.009723976358392117, + 0.19537270605999693, + -0.009718372718053502, + -0.999952288102976, + -0.0009872939461137828, + 0.19537298488055485, + -0.0009304844998551511, + -0.9807285715107203 + ], + [ + 0.966647975539146, + 0.05587816452041982, + 0.24993863670089014, + 0.056907894767263066, + -0.9983745871177374, + 0.0031105161381348315, + 0.24970619315353146, + 0.011216707507837573, + -0.9682566821734074 + ], + [ + 0.9522668630537261, + 0.08139686891443726, + 0.2942148386141356, + 0.08779045650187733, + -0.996102129977705, + -0.008566352845363388, + 0.29237075311495836, + 0.03398670894342669, + -0.955700918874826 + ], + [ + 0.9381046462063038, + 0.08368038869801969, + 0.3360911562559981, + 0.09932280219566297, + -0.9946151676280354, + -0.029591371854919463, + 0.33180514421893254, + 0.06114131885724457, + -0.9413644806334314 + ], + [ + 0.9364029697831658, + 0.045587677285283845, + 0.3479529305250927, + 0.08271639330717229, + -0.9922615344732507, + -0.09260154147228195, + 0.34103881957853466, + 0.11549376989484059, + -0.9329274959266433 + ], + [ + 0.9490499775730636, + -0.007736238722089936, + 0.3150306186373034, + 0.04696985995822055, + -0.9850587225650217, + -0.16568990721849253, + 0.3116054754398139, + 0.17204494676973908, + -0.9345065885091046 + ], + [ + 0.9477626891239228, + -0.04425547213110703, + 0.31589133937327785, + 0.020060581307205828, + -0.980098345123553, + -0.19749634670973046, + 0.3183448730264201, + 0.19351663254750454, + -0.9280128526832302 + ], + [ + 0.953498087388349, + -0.0682004276277634, + 0.29358150319485476, + -0.007623012968899442, + -0.9792077653902882, + -0.20271665415706305, + 0.3013026502041366, + 0.1910519664142417, + -0.9341926241997499 + ], + [ + 0.955896079867046, + -0.17537058455505114, + 0.23560102412263384, + -0.13263304890344593, + -0.9734656387571766, + -0.18647553324138333, + 0.262051824709141, + 0.14700274906239608, + -0.953791923290771 + ], + [ + 0.9368048606327051, + -0.3016741483276312, + 0.17717043016749617, + -0.2868638148535687, + -0.9522437389245566, + -0.10459929926456285, + 0.20026433737087274, + 0.04716534649272169, + -0.9786059601635513 + ], + [ + 0.9292105662129572, + -0.3221735058780111, + 0.1810302619687289, + -0.3120010287700832, + -0.9464574098245578, + -0.0829079576072081, + 0.19804818021028409, + 0.020557322258992594, + -0.9799766909559302 + ], + [ + 0.9353633065964068, + -0.30334642817219865, + 0.1818692640008356, + -0.29357509737387505, + -0.9526577419560538, + -0.07910049869066972, + 0.19725401611869983, + 0.02059541712036925, + -0.9801360527593512 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005733.json b/json/chunk-0005/episode_0005733.json new file mode 100644 index 0000000000000000000000000000000000000000..d948a0f2ff35e29a69ab73802aa6e3a887911473 --- /dev/null +++ b/json/chunk-0005/episode_0005733.json @@ -0,0 +1,1462 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 23, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMoved the orange cloth to the left top side of the burner." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005733.mp4", + "start": 0, + "end": 23, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.25866803526878357, + 0.07286011427640915, + 0.05141887813806534, + 0.02647419273853302, + -0.05193154513835907, + 0.019555428996682167, + 0.0, + 1.0008161067962646 + ], + [ + 0.25620970129966736, + 0.07037883251905441, + 0.04500865936279297, + 0.013399590738117695, + -0.025187024846673012, + 0.026282114908099174, + 0.0, + 1.0008161067962646 + ], + [ + 0.26389485597610474, + 0.053961049765348434, + 0.04348602518439293, + -0.01664101332426071, + -0.00332875968888402, + 0.020858455449342728, + 0.0, + 1.0008161067962646 + ], + [ + 0.27544111013412476, + 0.043074093759059906, + 0.0486028827726841, + 0.01242805365473032, + 0.015014723874628544, + 0.05014926567673683, + 0.0, + 1.0008161067962646 + ], + [ + 0.30544763803482056, + 0.02406279928982258, + 0.05905846878886223, + 0.025498194620013237, + -0.020430516451597214, + 0.016358569264411926, + 0.0, + 1.0008161067962646 + ], + [ + 0.3372665345668793, + 0.0048236907459795475, + 0.06019925698637962, + 0.051902733743190765, + -0.05289969965815544, + 0.0156523697078228, + 0.0, + 1.0008161067962646 + ], + [ + 0.3626303970813751, + -0.009992221370339394, + 0.0527501255273819, + 0.0552155077457428, + -0.0709279403090477, + 0.013240770436823368, + 0.0, + 1.0008161067962646 + ], + [ + 0.38426005840301514, + -0.0128807807341218, + 0.046296294778585434, + 0.04774767905473709, + -0.10658802837133408, + 0.026127031072974205, + 0.0, + 1.0008161067962646 + ], + [ + 0.39386481046676636, + -0.01491099689155817, + 0.0400828942656517, + 0.042990412563085556, + -0.11606484651565552, + 0.010507050901651382, + 0.0, + 1.0008161067962646 + ], + [ + 0.4026561975479126, + -0.009216999635100365, + 0.021976804360747337, + 0.028941430151462555, + -0.09929460287094116, + -0.00951030757278204, + 0.0, + 1.0008161067962646 + ], + [ + 0.40475061535835266, + -0.003071441315114498, + 0.011064006946980953, + 0.0284666046500206, + -0.08281704783439636, + -0.02862975001335144, + 0.0, + 1.0014774799346924 + ], + [ + 0.4075271785259247, + -0.001445979462005198, + 0.006815408356487751, + 0.030273355543613434, + -0.0786178708076477, + -0.06313353776931763, + 0.0, + 1.0014774799346924 + ], + [ + 0.4087441861629486, + 0.008972586132586002, + 0.006053350865840912, + 0.03593836724758148, + -0.07716391980648041, + -0.07875333726406097, + 0.0, + 1.0008161067962646 + ], + [ + 0.40876609086990356, + 0.03321129083633423, + 0.007735149469226599, + 0.046147193759679794, + -0.0826219990849495, + -0.061921462416648865, + 0.0, + 1.0008161067962646 + ], + [ + 0.4048556685447693, + 0.0786498561501503, + 0.008596641011536121, + 0.05341784656047821, + -0.08884754031896591, + -0.006465299986302853, + 0.0, + 1.0008161067962646 + ], + [ + 0.3997378945350647, + 0.10475953668355942, + 0.009619670920073986, + 0.058275047689676285, + -0.0875110849738121, + 0.007306557614356279, + 0.0, + 1.0008161067962646 + ], + [ + 0.3982280492782593, + 0.12415166199207306, + 0.01255868375301361, + 0.06554675102233887, + -0.09662153571844101, + 0.008504028432071209, + 0.0, + 1.0001531839370728 + ], + [ + 0.39771753549575806, + 0.13416504859924316, + 0.014090987853705883, + 0.06319613009691238, + -0.10599023103713989, + 0.011759079992771149, + 0.0, + 1.0008161067962646 + ], + [ + 0.40130317211151123, + 0.1313648670911789, + 0.014040710404515266, + 0.04366310313344002, + -0.11484334617853165, + -0.008795221336185932, + 0.0, + 1.0008161067962646 + ], + [ + 0.4040549397468567, + 0.12135022133588791, + 0.017608195543289185, + 0.0024043205194175243, + -0.11358354240655899, + -0.03835759311914444, + 0.0, + 1.0008161067962646 + ], + [ + 0.40717262029647827, + 0.11686572432518005, + 0.025204898789525032, + -0.026864739134907722, + -0.11158052831888199, + -0.060012854635715485, + 0.0, + 1.0008161067962646 + ], + [ + 0.4046297073364258, + 0.11883371323347092, + 0.03061366267502308, + -0.012006288394331932, + -0.10096928477287292, + -0.07102411240339279, + 0.0, + 1.0008161067962646 + ], + [ + 0.4023771286010742, + 0.12120809406042099, + 0.0300227552652359, + 0.006517929024994373, + -0.0851118192076683, + -0.0776466354727745, + 0.0, + 1.0008161067962646 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.25866803526878357, + 0.07286011427640915, + 0.05141887813806534 + ], + [ + 0.25620970129966736, + 0.07037883251905441, + 0.04500865936279297 + ], + [ + 0.26389485597610474, + 0.053961049765348434, + 0.04348602518439293 + ], + [ + 0.27544111013412476, + 0.043074093759059906, + 0.0486028827726841 + ], + [ + 0.30544763803482056, + 0.02406279928982258, + 0.05905846878886223 + ], + [ + 0.3372665345668793, + 0.0048236907459795475, + 0.06019925698637962 + ], + [ + 0.3626303970813751, + -0.009992221370339394, + 0.0527501255273819 + ], + [ + 0.38426005840301514, + -0.0128807807341218, + 0.046296294778585434 + ], + [ + 0.39386481046676636, + -0.01491099689155817, + 0.0400828942656517 + ], + [ + 0.4026561975479126, + -0.009216999635100365, + 0.021976804360747337 + ], + [ + 0.40475061535835266, + -0.003071441315114498, + 0.011064006946980953 + ], + [ + 0.4075271785259247, + -0.001445979462005198, + 0.006815408356487751 + ], + [ + 0.4087441861629486, + 0.008972586132586002, + 0.006053350865840912 + ], + [ + 0.40876609086990356, + 0.03321129083633423, + 0.007735149469226599 + ], + [ + 0.4048556685447693, + 0.0786498561501503, + 0.008596641011536121 + ], + [ + 0.3997378945350647, + 0.10475953668355942, + 0.009619670920073986 + ], + [ + 0.3982280492782593, + 0.12415166199207306, + 0.01255868375301361 + ], + [ + 0.39771753549575806, + 0.13416504859924316, + 0.014090987853705883 + ], + [ + 0.40130317211151123, + 0.1313648670911789, + 0.014040710404515266 + ], + [ + 0.4040549397468567, + 0.12135022133588791, + 0.017608195543289185 + ], + [ + 0.40717262029647827, + 0.11686572432518005, + 0.025204898789525032 + ], + [ + 0.4046297073364258, + 0.11883371323347092, + 0.03061366267502308 + ], + [ + 0.4023771286010742, + 0.12120809406042099, + 0.0300227552652359 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.998460916789891, + 0.020921135048879, + 0.0513624741553242, + 0.01952782087030272, + -0.9994315759562709, + 0.02748070584285848, + 0.05190820604824588, + -0.026435413555133076, + -0.9983019117757019 + ], + [ + 0.999337578294459, + 0.02661406363263556, + 0.024821285734709438, + 0.02627075418061608, + -0.999556035049179, + 0.014056324965872051, + 0.025184361880891633, + -0.013394939855131134, + -0.9995930789590981 + ], + [ + 0.9997769311948855, + 0.020798675936390065, + 0.0036746332920078615, + 0.020856827428882195, + -0.9996451972496345, + -0.01656720752998426, + 0.0033287535414222077, + 0.016640153095232292, + -0.9998560019846999 + ], + [ + 0.998630211956775, + 0.049938019185721244, + -0.015617106229167843, + 0.05012259744846691, + -0.9986750124494137, + 0.011659534046538888, + -0.015014159722925382, + -0.01242633288504689, + -0.9998100625913127 + ], + [ + 0.9996575337708946, + 0.016873301285686305, + 0.020002671791909593, + 0.01635442586289659, + -0.9995326637722608, + 0.025826087721978735, + 0.020429095177893174, + -0.025490110946223412, + -0.9994663107449703 + ], + [ + 0.9984788126630613, + 0.018373443893892116, + 0.05198535584605737, + 0.01562983596137188, + -0.9984880899068185, + 0.05269954973293123, + 0.05287503088210747, + -0.051806861260947704, + -0.9972563763824751 + ], + [ + 0.9973982306734335, + 0.017130913881902243, + 0.07002357630880894, + 0.013207092829169698, + -0.9983367031489886, + 0.0561195139377582, + 0.07086848487519988, + -0.055048696035232214, + -0.9959655109070367 + ], + [ + 0.9939855174998942, + 0.03117032186047114, + 0.10498191289732717, + 0.025975801319809658, + -0.9983867416779171, + 0.05048932350057456, + 0.10638631841670773, + -0.047458667036343646, + -0.9931916361794798 + ], + [ + 0.9932172063443111, + 0.015473822201690524, + 0.11523949777776811, + 0.010436167790712214, + -0.9989686149026064, + 0.04419041571893029, + 0.11580443611298254, + -0.04268802251262349, + -0.9923543043240732 + ], + [ + 0.9950293400451652, + -0.006637703901882132, + 0.09936072330751973, + -0.00946332037582644, + -0.9995633032738019, + 0.027993719221097252, + 0.0991315187856366, + -0.028794854319410965, + -0.9946576287084801 + ], + [ + 0.9961642291469336, + -0.026260698128133322, + 0.08346978077075941, + -0.028527727649007337, + -0.9992526160717539, + 0.026084056987746827, + 0.08272241125160489, + -0.028365207694974078, + -0.9961688700562477 + ], + [ + 0.9949251003652306, + -0.060690220688108705, + 0.08025423213802778, + -0.06289672912348224, + -0.9977004320630332, + 0.025255679100043164, + 0.0785369093407876, + -0.0301752377632011, + -0.9964544188758115 + ], + [ + 0.9939341228979423, + -0.0758599441426496, + 0.07962555000608874, + -0.078437855785077, + -0.9964747514944986, + 0.029758568746103522, + 0.07708736679208546, + -0.03582371433354155, + -0.9963805494751548 + ], + [ + 0.9946787603242917, + -0.058016231371720475, + 0.08513683490213539, + -0.06167080441660379, + -0.9972565159254466, + 0.04094085156477109, + 0.08252802943448648, + -0.04597345257496563, + -0.9955277826439591 + ], + [ + 0.9960348354569525, + -0.0017185831633906336, + 0.08894747342197218, + -0.006439753735745483, + -0.9985833653566327, + 0.05281848165978533, + 0.08873069439638626, + -0.0531818475133446, + -0.99463488525539 + ], + [ + 0.996146757411672, + 0.012384277681732265, + 0.0868231960049441, + 0.007278533199244373, + -0.9982386500074028, + 0.058878014452470026, + 0.08739943164963197, + -0.0580191976650791, + -0.9944823337041344 + ], + [ + 0.9952997793970552, + 0.014804287127510623, + 0.09570361651902139, + 0.00846426166431168, + -0.9977627642982633, + 0.066316079908019, + 0.09647126725948894, + -0.06519431925049082, + -0.993198366556658 + ], + [ + 0.9943195426686698, + 0.018416063112574516, + 0.10483079550686017, + 0.011692821990988969, + -0.997856227068628, + 0.0643912106909776, + 0.10579189468505848, + -0.06279967133509932, + -0.9924032830957126 + ], + [ + 0.9933743247022073, + -0.0037851069794143234, + 0.11486132502974299, + -0.008737172347265567, + -0.9990522687743526, + 0.04264066223914755, + 0.11459106789714481, + -0.04336170224948826, + -0.9924659439679625 + ], + [ + 0.9928254989731647, + -0.03807577330530707, + 0.11334797782002658, + -0.03810108446576858, + -0.9992719995074899, + -0.0019438011306435387, + 0.11333947216754957, + -0.002388825549509122, + -0.9935534497757407 + ], + [ + 0.9919923128757386, + -0.06294081747313611, + 0.1094975099774231, + -0.05960386294513707, + -0.9976601921544167, + -0.03348911035589819, + 0.11134913882675439, + 0.026694465460570194, + -0.9934227573376374 + ], + [ + 0.9923986190848761, + -0.07216642758097783, + 0.09968443995243428, + -0.07060298816278449, + -0.9973210752950229, + -0.019128273180426925, + 0.10079781198476834, + 0.011944852555758431, + -0.9948352233392747 + ], + [ + 0.9933780957930394, + -0.07701457946833495, + 0.0852567495739212, + -0.07728785217623096, + -0.9970088157865346, + -9.565519803562007e-05, + 0.085009097775355, + -0.0064942892796178335, + -0.9963590103482642 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.002458333969116211, + -0.0024812817573547363, + -0.006410218775272369, + -0.013074602000415325, + 0.026744520291686058, + 0.0067266859114170074, + 1.0 + ], + [ + 0.007685154676437378, + -0.01641778275370598, + -0.0015226341784000397, + -0.030040603131055832, + 0.02185826562345028, + -0.005423659458756447, + 1.0 + ], + [ + 0.01154625415802002, + -0.010886956006288528, + 0.005116857588291168, + 0.029069066047668457, + 0.01834348402917385, + 0.029290810227394104, + 1.0 + ], + [ + 0.0300065279006958, + -0.019011294469237328, + 0.010455586016178131, + 0.013070140965282917, + -0.03544523939490318, + -0.033790696412324905, + 1.0 + ], + [ + 0.031818896532058716, + -0.019239109009504318, + 0.001140788197517395, + 0.02640453912317753, + -0.03246918320655823, + -0.0007061995565891266, + 1.0 + ], + [ + 0.02536386251449585, + -0.014815911650657654, + -0.0074491314589977264, + 0.0033127740025520325, + -0.018028240650892258, + -0.0024115992709994316, + 1.0 + ], + [ + 0.021629661321640015, + -0.002888559363782406, + -0.006453830748796463, + -0.007467828691005707, + -0.03566008806228638, + 0.012886260636150837, + 1.0 + ], + [ + 0.00960475206375122, + -0.002030216157436371, + -0.006213400512933731, + -0.004757266491651535, + -0.009476818144321442, + -0.015619980171322823, + 1.0 + ], + [ + 0.00879138708114624, + 0.005693997256457806, + -0.018106089904904366, + -0.014048982411623001, + 0.016770243644714355, + -0.020017359405755997, + 1.0 + ], + [ + 0.0020944178104400635, + 0.0061455583199858665, + -0.010912797413766384, + -0.00047482550144195557, + 0.0164775550365448, + -0.019119441509246826, + 1.0 + ], + [ + 0.0027765631675720215, + 0.0016254618531093001, + -0.004248598590493202, + 0.0018067508935928345, + 0.004199177026748657, + -0.034503787755966187, + 1.0 + ], + [ + 0.0012170076370239258, + 0.010418565943837166, + -0.0007620574906468391, + 0.005665011703968048, + 0.0014539510011672974, + -0.015619799494743347, + 1.0 + ], + [ + 2.1904706954956055e-05, + 0.0242387056350708, + 0.0016817986033856869, + 0.010208826512098312, + -0.005458079278469086, + 0.01683187484741211, + 1.0 + ], + [ + -0.003910422325134277, + 0.04543856531381607, + 0.0008614915423095226, + 0.007270652800798416, + -0.0062255412340164185, + 0.05545616149902344, + 1.0 + ], + [ + -0.00511777400970459, + 0.02610968053340912, + 0.0010230299085378647, + 0.004857201129198074, + 0.0013364553451538086, + 0.01377185806632042, + 1.0 + ], + [ + -0.00150984525680542, + 0.01939212530851364, + 0.002939012832939625, + 0.007271703332662582, + -0.009110450744628906, + 0.0011974708177149296, + 1.0 + ], + [ + -0.0005105137825012207, + 0.010013386607170105, + 0.0015323041006922722, + -0.002350620925426483, + -0.009368695318698883, + 0.0032550515606999397, + 1.0 + ], + [ + 0.003585636615753174, + -0.00280018150806427, + -5.027744919061661e-05, + -0.019533026963472366, + -0.008853115141391754, + -0.020554300397634506, + 1.0 + ], + [ + 0.002751767635345459, + -0.010014645755290985, + 0.003567485138773918, + -0.041258782148361206, + 0.0012598037719726562, + -0.029562372714281082, + 1.0 + ], + [ + 0.003117680549621582, + -0.004484497010707855, + 0.0075967032462358475, + -0.029269060119986534, + 0.002003014087677002, + -0.021655261516571045, + 1.0 + ], + [ + -0.0025429129600524902, + 0.001967988908290863, + 0.005408763885498047, + 0.01485845074057579, + 0.010611243546009064, + -0.011011257767677307, + 1.0 + ], + [ + -0.0022525787353515625, + 0.0023743808269500732, + -0.000590907409787178, + 0.01852421835064888, + 0.01585746556520462, + -0.006622523069381714, + 1.0 + ], + [ + -0.0031374096870422363, + -0.0031958967447280884, + -0.0003146510571241379, + 0.023277461528778076, + 0.03584364801645279, + -0.016777589917182922, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.25620970129966736, + 0.07037883251905441, + 0.04500865936279297 + ], + [ + 0.26389485597610474, + 0.053961049765348434, + 0.04348602518439293 + ], + [ + 0.27544111013412476, + 0.043074093759059906, + 0.0486028827726841 + ], + [ + 0.30544763803482056, + 0.02406279928982258, + 0.05905846878886223 + ], + [ + 0.3372665345668793, + 0.0048236907459795475, + 0.06019925698637962 + ], + [ + 0.3626303970813751, + -0.009992221370339394, + 0.0527501255273819 + ], + [ + 0.38426005840301514, + -0.0128807807341218, + 0.046296294778585434 + ], + [ + 0.39386481046676636, + -0.01491099689155817, + 0.0400828942656517 + ], + [ + 0.4026561975479126, + -0.009216999635100365, + 0.021976804360747337 + ], + [ + 0.40475061535835266, + -0.003071441315114498, + 0.011064006946980953 + ], + [ + 0.4075271785259247, + -0.001445979462005198, + 0.006815408356487751 + ], + [ + 0.4087441861629486, + 0.008972586132586002, + 0.006053350865840912 + ], + [ + 0.40876609086990356, + 0.03321129083633423, + 0.007735149469226599 + ], + [ + 0.4048556685447693, + 0.0786498561501503, + 0.008596641011536121 + ], + [ + 0.3997378945350647, + 0.10475953668355942, + 0.009619670920073986 + ], + [ + 0.3982280492782593, + 0.12415166199207306, + 0.01255868375301361 + ], + [ + 0.39771753549575806, + 0.13416504859924316, + 0.014090987853705883 + ], + [ + 0.40130317211151123, + 0.1313648670911789, + 0.014040710404515266 + ], + [ + 0.4040549397468567, + 0.12135022133588791, + 0.017608195543289185 + ], + [ + 0.40717262029647827, + 0.11686572432518005, + 0.025204898789525032 + ], + [ + 0.4046297073364258, + 0.11883371323347092, + 0.03061366267502308 + ], + [ + 0.4023771286010742, + 0.12120809406042099, + 0.0300227552652359 + ], + [ + 0.399239718914032, + 0.1180121973156929, + 0.029708104208111763 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.999337578294459, + 0.02661406363263556, + 0.024821285734709438, + 0.02627075418061608, + -0.999556035049179, + 0.014056324965872051, + 0.025184361880891633, + -0.013394939855131134, + -0.9995930789590981 + ], + [ + 0.9997769311948855, + 0.020798675936390065, + 0.0036746332920078615, + 0.020856827428882195, + -0.9996451972496345, + -0.01656720752998426, + 0.0033287535414222077, + 0.016640153095232292, + -0.9998560019846999 + ], + [ + 0.998630211956775, + 0.049938019185721244, + -0.015617106229167843, + 0.05012259744846691, + -0.9986750124494137, + 0.011659534046538888, + -0.015014159722925382, + -0.01242633288504689, + -0.9998100625913127 + ], + [ + 0.9996575337708946, + 0.016873301285686305, + 0.020002671791909593, + 0.01635442586289659, + -0.9995326637722608, + 0.025826087721978735, + 0.020429095177893174, + -0.025490110946223412, + -0.9994663107449703 + ], + [ + 0.9984788126630613, + 0.018373443893892116, + 0.05198535584605737, + 0.01562983596137188, + -0.9984880899068185, + 0.05269954973293123, + 0.05287503088210747, + -0.051806861260947704, + -0.9972563763824751 + ], + [ + 0.9973982306734335, + 0.017130913881902243, + 0.07002357630880894, + 0.013207092829169698, + -0.9983367031489886, + 0.0561195139377582, + 0.07086848487519988, + -0.055048696035232214, + -0.9959655109070367 + ], + [ + 0.9939855174998942, + 0.03117032186047114, + 0.10498191289732717, + 0.025975801319809658, + -0.9983867416779171, + 0.05048932350057456, + 0.10638631841670773, + -0.047458667036343646, + -0.9931916361794798 + ], + [ + 0.9932172063443111, + 0.015473822201690524, + 0.11523949777776811, + 0.010436167790712214, + -0.9989686149026064, + 0.04419041571893029, + 0.11580443611298254, + -0.04268802251262349, + -0.9923543043240732 + ], + [ + 0.9950293400451652, + -0.006637703901882132, + 0.09936072330751973, + -0.00946332037582644, + -0.9995633032738019, + 0.027993719221097252, + 0.0991315187856366, + -0.028794854319410965, + -0.9946576287084801 + ], + [ + 0.9961642291469336, + -0.026260698128133322, + 0.08346978077075941, + -0.028527727649007337, + -0.9992526160717539, + 0.026084056987746827, + 0.08272241125160489, + -0.028365207694974078, + -0.9961688700562477 + ], + [ + 0.9949251003652306, + -0.060690220688108705, + 0.08025423213802778, + -0.06289672912348224, + -0.9977004320630332, + 0.025255679100043164, + 0.0785369093407876, + -0.0301752377632011, + -0.9964544188758115 + ], + [ + 0.9939341228979423, + -0.0758599441426496, + 0.07962555000608874, + -0.078437855785077, + -0.9964747514944986, + 0.029758568746103522, + 0.07708736679208546, + -0.03582371433354155, + -0.9963805494751548 + ], + [ + 0.9946787603242917, + -0.058016231371720475, + 0.08513683490213539, + -0.06167080441660379, + -0.9972565159254466, + 0.04094085156477109, + 0.08252802943448648, + -0.04597345257496563, + -0.9955277826439591 + ], + [ + 0.9960348354569525, + -0.0017185831633906336, + 0.08894747342197218, + -0.006439753735745483, + -0.9985833653566327, + 0.05281848165978533, + 0.08873069439638626, + -0.0531818475133446, + -0.99463488525539 + ], + [ + 0.996146757411672, + 0.012384277681732265, + 0.0868231960049441, + 0.007278533199244373, + -0.9982386500074028, + 0.058878014452470026, + 0.08739943164963197, + -0.0580191976650791, + -0.9944823337041344 + ], + [ + 0.9952997793970552, + 0.014804287127510623, + 0.09570361651902139, + 0.00846426166431168, + -0.9977627642982633, + 0.066316079908019, + 0.09647126725948894, + -0.06519431925049082, + -0.993198366556658 + ], + [ + 0.9943195426686698, + 0.018416063112574516, + 0.10483079550686017, + 0.011692821990988969, + -0.997856227068628, + 0.0643912106909776, + 0.10579189468505848, + -0.06279967133509932, + -0.9924032830957126 + ], + [ + 0.9933743247022073, + -0.0037851069794143234, + 0.11486132502974299, + -0.008737172347265567, + -0.9990522687743526, + 0.04264066223914755, + 0.11459106789714481, + -0.04336170224948826, + -0.9924659439679625 + ], + [ + 0.9928254989731647, + -0.03807577330530707, + 0.11334797782002658, + -0.03810108446576858, + -0.9992719995074899, + -0.0019438011306435387, + 0.11333947216754957, + -0.002388825549509122, + -0.9935534497757407 + ], + [ + 0.9919923128757386, + -0.06294081747313611, + 0.1094975099774231, + -0.05960386294513707, + -0.9976601921544167, + -0.03348911035589819, + 0.11134913882675439, + 0.026694465460570194, + -0.9934227573376374 + ], + [ + 0.9923986190848761, + -0.07216642758097783, + 0.09968443995243428, + -0.07060298816278449, + -0.9973210752950229, + -0.019128273180426925, + 0.10079781198476834, + 0.011944852555758431, + -0.9948352233392747 + ], + [ + 0.9933780957930394, + -0.07701457946833495, + 0.0852567495739212, + -0.07728785217623096, + -0.9970088157865346, + -9.565519803562007e-05, + 0.085009097775355, + -0.0064942892796178335, + -0.9963590103482642 + ], + [ + 0.9943373186432897, + -0.09278150876079998, + 0.05181590861253996, + -0.09416956747754317, + -0.9952418005167585, + 0.025017015514515545, + 0.049248241738826984, + -0.029754833829659752, + -0.9983432578774717 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005734.json b/json/chunk-0005/episode_0005734.json new file mode 100644 index 0000000000000000000000000000000000000000..b75dbce094e8a4c8902e4027897fbdbf302d2452 --- /dev/null +++ b/json/chunk-0005/episode_0005734.json @@ -0,0 +1,2302 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 37, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the silver pot on the bottom right corner of the table." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005734.mp4", + "start": 0, + "end": 37, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2567773163318634, + 0.08648954331874847, + 0.03254491463303566, + 0.043710678815841675, + -0.1962781846523285, + 0.324706494808197, + 0.0, + 1.0001531839370728 + ], + [ + 0.25411584973335266, + 0.0843748152256012, + 0.02561703324317932, + 0.037183720618486404, + -0.16864679753780365, + 0.3353501260280609, + 0.0, + 1.0001531839370728 + ], + [ + 0.26295846700668335, + 0.0690496489405632, + 0.02207915112376213, + -0.015181232243776321, + -0.1434543877840042, + 0.3860822021961212, + 0.0, + 1.0001531839370728 + ], + [ + 0.27483972907066345, + 0.05524455010890961, + 0.017647819593548775, + -0.005002228543162346, + -0.12094387412071228, + 0.37236395478248596, + 0.0, + 1.0001531839370728 + ], + [ + 0.28686994314193726, + 0.03741621598601341, + 0.016715779900550842, + 0.019723625853657722, + -0.11908221989870071, + 0.38239312171936035, + 0.0, + 1.0001531839370728 + ], + [ + 0.30603283643722534, + 0.022195519879460335, + 0.01766354776918888, + 0.005363544449210167, + -0.11041796952486038, + 0.3938854932785034, + 0.0, + 1.0001531839370728 + ], + [ + 0.32213294506073, + 0.013572750613093376, + 0.012934675440192223, + -0.020649150013923645, + -0.0762866735458374, + 0.43820181488990784, + 0.0, + 1.0001531839370728 + ], + [ + 0.33121660351753235, + 0.007629550993442535, + 0.006022156681865454, + -0.02670544572174549, + -0.06375008821487427, + 0.465568870306015, + 0.0, + 1.0001531839370728 + ], + [ + 0.3404749631881714, + -0.000510574143845588, + -0.005515530239790678, + -0.009303250350058079, + -0.04008778557181358, + 0.4663534462451935, + 0.0, + 1.0001531839370728 + ], + [ + 0.34599927067756653, + -0.006187097635120153, + -0.017573591321706772, + 0.02091706357896328, + -0.027289915829896927, + 0.4567747414112091, + 0.0, + 1.0001531839370728 + ], + [ + 0.349876344203949, + -0.004132292699068785, + -0.02650325372815132, + 0.04326407238841057, + -0.035911258310079575, + 0.4647220969200134, + 0.0, + 1.0001531839370728 + ], + [ + 0.35213175415992737, + -0.003704954171553254, + -0.03631395474076271, + 0.05349511653184891, + -0.023909933865070343, + 0.4596061706542969, + 0.0, + 0.9437892436981201 + ], + [ + 0.350869745016098, + -0.002673703245818615, + -0.037079762667417526, + 0.05883535370230675, + -0.027089430019259453, + 0.4572301208972931, + 0.0, + 0.6500836610794067 + ], + [ + 0.3453178405761719, + -0.0025309615302830935, + -0.039241284132003784, + 0.06374865770339966, + -0.01683996245265007, + 0.4475470185279846, + 0.0, + 0.35357794165611267 + ], + [ + 0.3435770273208618, + -0.003342340001836419, + -0.039031460881233215, + 0.059717509895563126, + -0.0126570425927639, + 0.4484190046787262, + 0.0, + 0.16390947997570038 + ], + [ + 0.34135520458221436, + -0.004502580501139164, + -0.03727542608976364, + 0.05156785622239113, + -0.011250250972807407, + 0.446793794631958, + 0.0, + 0.09890149533748627 + ], + [ + 0.3359725773334503, + -0.00557903153821826, + -0.029951494187116623, + 0.03835076466202736, + -0.0191009733825922, + 0.43888139724731445, + 0.0, + 0.0951233059167862 + ], + [ + 0.3339707851409912, + -0.0028902185149490833, + -0.016949176788330078, + 0.009878193959593773, + -0.025906961411237717, + 0.45185428857803345, + 0.0, + 0.08501782268285751 + ], + [ + 0.32811805605888367, + -0.00032142421696335077, + -0.0003081921022385359, + -0.010303965769708157, + -0.06397058069705963, + 0.4662046730518341, + 0.0, + 0.0846695825457573 + ], + [ + 0.31621071696281433, + -0.00372449797578156, + 0.014424577355384827, + -0.048746202141046524, + -0.08704250305891037, + 0.479814350605011, + 0.0, + 0.0846695825457573 + ], + [ + 0.29777607321739197, + -0.011946257203817368, + 0.014068471267819405, + -0.053873877972364426, + -0.07899094372987747, + 0.46925127506256104, + 0.0, + 0.0846695825457573 + ], + [ + 0.27991271018981934, + -0.022983720526099205, + 0.012175580486655235, + -0.06695464998483658, + -0.07494872063398361, + 0.45772218704223633, + 0.0, + 0.0846695825457573 + ], + [ + 0.2625480890274048, + -0.03545326367020607, + 0.003140166401863098, + -0.06758599728345871, + -0.049491722136735916, + 0.43161943554878235, + 0.0, + 0.0846695825457573 + ], + [ + 0.25303366780281067, + -0.04625503346323967, + -0.0019885923247784376, + -0.0662749856710434, + -0.04100271686911583, + 0.3987795412540436, + 0.0, + 0.0846695825457573 + ], + [ + 0.2451835423707962, + -0.05707954987883568, + -0.00709214573726058, + -0.06675597280263901, + -0.043297939002513885, + 0.37426602840423584, + 0.0, + 0.0846695825457573 + ], + [ + 0.24390675127506256, + -0.06735484302043915, + -0.007998828776180744, + -0.07212292402982712, + -0.05572552978992462, + 0.34387245774269104, + 0.0, + 0.0846695825457573 + ], + [ + 0.23884019255638123, + -0.07558939605951309, + -0.017477484419941902, + -0.06093873083591461, + -0.03337987884879112, + 0.3196391761302948, + 0.0, + 0.0846695825457573 + ], + [ + 0.23557119071483612, + -0.0774918645620346, + -0.02601701207458973, + -0.036263659596443176, + -0.02170793153345585, + 0.30520662665367126, + 0.0, + 0.0846695825457573 + ], + [ + 0.23872549831867218, + -0.07857466489076614, + -0.03220658376812935, + -0.03201836347579956, + -0.01570233702659607, + 0.28819870948791504, + 0.0, + 0.10394904017448425 + ], + [ + 0.23788291215896606, + -0.07974497228860855, + -0.03231181204319, + -0.03327898681163788, + 0.006128388922661543, + 0.274700403213501, + 0.0, + 0.2802911400794983 + ], + [ + 0.23992690443992615, + -0.07591868937015533, + -0.03287816047668457, + -0.041150547564029694, + -0.0024293886963278055, + 0.27581238746643066, + 0.0, + 0.5699762105941772 + ], + [ + 0.23929934203624725, + -0.07170391082763672, + -0.03274311125278473, + -0.033944081515073776, + 0.003955302760004997, + 0.2856419086456299, + 0.0, + 0.8801529407501221 + ], + [ + 0.2430395931005478, + -0.06561435759067535, + -0.027040114626288414, + -0.03391488641500473, + -0.013825845904648304, + 0.3005930483341217, + 0.0, + 1.0187249183654785 + ], + [ + 0.2426755428314209, + -0.059996433556079865, + -0.009780763648450375, + -0.034207094460725784, + -0.056409094482660294, + 0.30315935611724854, + 0.0, + 1.0092895030975342 + ], + [ + 0.24559202790260315, + -0.055360693484544754, + 0.015037445351481438, + -0.05705080181360245, + -0.10355262458324432, + 0.3111112117767334, + 0.0, + 1.0041072368621826 + ], + [ + 0.24652166664600372, + -0.048597924411296844, + 0.030118165537714958, + -0.04527997598052025, + -0.15197208523750305, + 0.33657124638557434, + 0.0, + 1.0008161067962646 + ], + [ + 0.24605341255664825, + -0.04714765399694443, + 0.029778044670820236, + -0.04356007277965546, + -0.14972642064094543, + 0.3459811806678772, + 0.0, + 1.0008161067962646 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9437892436981201 + ], + [ + 0.6500836610794067 + ], + [ + 0.35357794165611267 + ], + [ + 0.16390947997570038 + ], + [ + 0.09890149533748627 + ], + [ + 0.0951233059167862 + ], + [ + 0.08501782268285751 + ], + [ + 0.0846695825457573 + ], + [ + 0.0846695825457573 + ], + [ + 0.0846695825457573 + ], + [ + 0.0846695825457573 + ], + [ + 0.0846695825457573 + ], + [ + 0.0846695825457573 + ], + [ + 0.0846695825457573 + ], + [ + 0.0846695825457573 + ], + [ + 0.0846695825457573 + ], + [ + 0.0846695825457573 + ], + [ + 0.10394904017448425 + ], + [ + 0.2802911400794983 + ], + [ + 0.5699762105941772 + ], + [ + 0.8801529407501221 + ], + [ + 1.0187249183654785 + ], + [ + 1.0092895030975342 + ], + [ + 1.0041072368621826 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2567773163318634, + 0.08648954331874847, + 0.03254491463303566 + ], + [ + 0.25411584973335266, + 0.0843748152256012, + 0.02561703324317932 + ], + [ + 0.26295846700668335, + 0.0690496489405632, + 0.02207915112376213 + ], + [ + 0.27483972907066345, + 0.05524455010890961, + 0.017647819593548775 + ], + [ + 0.28686994314193726, + 0.03741621598601341, + 0.016715779900550842 + ], + [ + 0.30603283643722534, + 0.022195519879460335, + 0.01766354776918888 + ], + [ + 0.32213294506073, + 0.013572750613093376, + 0.012934675440192223 + ], + [ + 0.33121660351753235, + 0.007629550993442535, + 0.006022156681865454 + ], + [ + 0.3404749631881714, + -0.000510574143845588, + -0.005515530239790678 + ], + [ + 0.34599927067756653, + -0.006187097635120153, + -0.017573591321706772 + ], + [ + 0.349876344203949, + -0.004132292699068785, + -0.02650325372815132 + ], + [ + 0.35213175415992737, + -0.003704954171553254, + -0.03631395474076271 + ], + [ + 0.350869745016098, + -0.002673703245818615, + -0.037079762667417526 + ], + [ + 0.3453178405761719, + -0.0025309615302830935, + -0.039241284132003784 + ], + [ + 0.3435770273208618, + -0.003342340001836419, + -0.039031460881233215 + ], + [ + 0.34135520458221436, + -0.004502580501139164, + -0.03727542608976364 + ], + [ + 0.3359725773334503, + -0.00557903153821826, + -0.029951494187116623 + ], + [ + 0.3339707851409912, + -0.0028902185149490833, + -0.016949176788330078 + ], + [ + 0.32811805605888367, + -0.00032142421696335077, + -0.0003081921022385359 + ], + [ + 0.31621071696281433, + -0.00372449797578156, + 0.014424577355384827 + ], + [ + 0.29777607321739197, + -0.011946257203817368, + 0.014068471267819405 + ], + [ + 0.27991271018981934, + -0.022983720526099205, + 0.012175580486655235 + ], + [ + 0.2625480890274048, + -0.03545326367020607, + 0.003140166401863098 + ], + [ + 0.25303366780281067, + -0.04625503346323967, + -0.0019885923247784376 + ], + [ + 0.2451835423707962, + -0.05707954987883568, + -0.00709214573726058 + ], + [ + 0.24390675127506256, + -0.06735484302043915, + -0.007998828776180744 + ], + [ + 0.23884019255638123, + -0.07558939605951309, + -0.017477484419941902 + ], + [ + 0.23557119071483612, + -0.0774918645620346, + -0.02601701207458973 + ], + [ + 0.23872549831867218, + -0.07857466489076614, + -0.03220658376812935 + ], + [ + 0.23788291215896606, + -0.07974497228860855, + -0.03231181204319 + ], + [ + 0.23992690443992615, + -0.07591868937015533, + -0.03287816047668457 + ], + [ + 0.23929934203624725, + -0.07170391082763672, + -0.03274311125278473 + ], + [ + 0.2430395931005478, + -0.06561435759067535, + -0.027040114626288414 + ], + [ + 0.2426755428314209, + -0.059996433556079865, + -0.009780763648450375 + ], + [ + 0.24559202790260315, + -0.055360693484544754, + 0.015037445351481438 + ], + [ + 0.24652166664600372, + -0.048597924411296844, + 0.030118165537714958 + ], + [ + 0.24605341255664825, + -0.04714765399694443, + 0.029778044670820236 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9295469524943594, + 0.3268023540678875, + 0.17071228568599403, + 0.3129049879664394, + -0.9441204556588758, + 0.10357139427563662, + 0.1950203364118002, + -0.042857748216210426, + -0.9798623790123103 + ], + [ + 0.9308982393742764, + 0.3347645338215555, + 0.14615462642389623, + 0.324430808288418, + -0.9415888964636193, + 0.0903050424381005, + 0.1678484988410555, + -0.03664774142645064, + -0.9851313742263739 + ], + [ + 0.9168756152605994, + 0.37450798893555814, + 0.13814077010043233, + 0.3726938760992615, + -0.9271019491856588, + 0.03976494101918952, + 0.14296286531335659, + 0.015024714293296257, + -0.9896140040954348 + ], + [ + 0.9246656978476615, + 0.3632516936406793, + 0.11419962474139295, + 0.36116077868798196, + -0.9316778140606813, + 0.03923445838291485, + 0.12064924020227966, + 0.0049656675571638186, + -0.9926827806425998 + ], + [ + 0.92120390250958, + 0.3752430418061514, + 0.10283982485976358, + 0.3704992548814522, + -0.9267195791669196, + 0.06261887671442116, + 0.11880097698844362, + -0.019582675117409593, + -0.9927249602492308 + ], + [ + 0.9178013223526854, + 0.38431951221389815, + 0.09969576329681082, + 0.3814420972361139, + -0.9231847564330729, + 0.04724226863438467, + 0.11019373459402021, + -0.005330855586088333, + -0.9938958309777455 + ], + [ + 0.9028824992607611, + 0.4227964745884282, + 0.07775817387412351, + 0.42307779034000137, + -0.9059907783990961, + 0.013634250137859592, + 0.07621270136705324, + 0.020587630543520752, + -0.996879016540593 + ], + [ + 0.8917511817183184, + 0.44725105936996895, + 0.06889353958407596, + 0.4480192615716972, + -0.8940113938840732, + 0.004729573575579977, + 0.0637069161452137, + 0.026648029906471037, + -0.9976128063218564 + ], + [ + 0.8924962161288008, + 0.449279644873131, + 0.039978805615548, + 0.4492708918997004, + -0.8933428187114429, + 0.00970947724345978, + 0.040077049385155876, + 0.009295641955605448, + -0.9991533521703325 + ], + [ + 0.8971455084444419, + 0.44147152210846874, + 0.015258828434579487, + 0.4408915762776392, + -0.8970316388714388, + 0.030803519783288498, + 0.02728652864295565, + -0.02090775049718497, + -0.9994089810101592 + ], + [ + 0.8933697863783681, + 0.4491431750945897, + 0.012681997169997858, + 0.447885432437221, + -0.8924136973443269, + 0.05473967667744972, + 0.03590354017074911, + -0.04322269147310209, + -0.9984201193610976 + ], + [ + 0.8959711002134454, + 0.4441062846892484, + -0.002322817646803683, + 0.44346838847633197, + -0.894378132183756, + 0.05851106812989321, + 0.02390765577201462, + -0.0534543222855567, + -0.9982840574828782 + ], + [ + 0.8969495330438506, + 0.44212968164963323, + -0.001696990516354191, + 0.4413024783997654, + -0.895023058271661, + 0.06469812764112916, + 0.02708611693549444, + -0.05877984149721024, + -0.9979034384663277 + ], + [ + 0.9013835304034955, + 0.43284350373960756, + -0.01241903328567316, + 0.4326940877659433, + -0.8992159155548762, + 0.06470366006033502, + 0.016839166539008847, + -0.06369645581369167, + -0.9978272415538902 + ], + [ + 0.9010614750163939, + 0.433449270913272, + -0.014489575081200244, + 0.43350666208105815, + -0.8991998422778772, + 0.05925890294951657, + 0.012656704650899587, + -0.05967724182796872, + -0.9981374828324935 + ], + [ + 0.9017799892899947, + 0.43202487334404877, + -0.01213918152906337, + 0.4320489417981806, + -0.900387670748949, + 0.05133959733338835, + 0.011250013653739536, + -0.05154174206738344, + -0.9986074734436199 + ], + [ + 0.9050624242921067, + 0.42527760174572055, + 0.000984676547284494, + 0.42484962671435816, + -0.9042507603036318, + 0.04281772029165221, + 0.019099811914388087, + -0.03833437026627589, + -0.9990824156400326 + ], + [ + 0.899337114389586, + 0.43684337190915373, + 0.018990079000722738, + 0.4364879542153403, + -0.8994833841445624, + 0.02019671935618708, + 0.025904063509802313, + -0.009874718572516423, + -0.9996156608551078 + ], + [ + 0.8914535801263602, + 0.4488869820483955, + 0.06173323114318781, + 0.4485798238551424, + -0.8935293745961789, + 0.019529423029128377, + 0.06392695917986584, + 0.010282707875101299, + -0.9979016032699671 + ], + [ + 0.8837223199628582, + 0.45730852768705943, + 0.09951769543230732, + 0.4598669138724104, + -0.8879822876157082, + -0.0031429931973528703, + 0.08693263325661169, + 0.0485424287141418, + -0.9950308286126636 + ], + [ + 0.8891260139361232, + 0.4477727450652238, + 0.09462822052017256, + 0.45080852783301917, + -0.8925346130592218, + -0.012394987868117751, + 0.0789088244436977, + 0.05367991494012343, + -0.9954355148159696 + ], + [ + 0.8945430457269594, + 0.4364217417819824, + 0.09658572690369685, + 0.44066533651081335, + -0.8972652508292182, + -0.027002423080008216, + 0.07487857196385675, + 0.06671681163215759, + -0.9949583240047256 + ], + [ + 0.9071772937189354, + 0.41435253552579193, + 0.07308443106528081, + 0.41783002100261907, + -0.9076134764894356, + -0.040692147199574584, + 0.04947152018827953, + 0.06745186133909337, + -0.9964952659657509 + ], + [ + 0.9207610321546578, + 0.3849397846692948, + 0.06340728541931309, + 0.3879675770392289, + -0.9205665566878369, + -0.045148354058696355, + 0.040991228717852296, + 0.06617081597393491, + -0.9969659684671008 + ], + [ + 0.9299038727378799, + 0.36208769343323216, + 0.06458552261377036, + 0.36524683046792134, + -0.9297586218566559, + -0.046299653522988135, + 0.043284411746374436, + 0.06664388454624261, + -0.9968375255538671 + ], + [ + 0.9399947953194405, + 0.33248033938868704, + 0.07659379016830736, + 0.3366120365334607, + -0.9403617544204533, + -0.04911321292771695, + 0.0556966931977054, + 0.0719485562278399, + -0.9958520390216461 + ], + [ + 0.9488200185252285, + 0.31171123062823686, + 0.050761019946559224, + 0.3140489928312898, + -0.948225345208191, + -0.04734896837798206, + 0.03337368045986773, + 0.06086709624285334, + -0.9975877876395267 + ], + [ + 0.9535601643851136, + 0.2995420957683982, + 0.03158394782972545, + 0.30041946112445683, + -0.9533942917483138, + -0.0280619286475813, + 0.021706226653337032, + 0.03624716988134003, + -0.9991070925581838 + ], + [ + 0.9586392088744281, + 0.28359808264061187, + 0.024145283828927278, + 0.2841906474258948, + -0.9584088662293303, + -0.026232061464182842, + 0.015701691764314636, + 0.03200894649279444, + -0.9993642400147006 + ], + [ + 0.9624884345794458, + 0.2713046533687756, + 0.003130233418823696, + 0.27125349144333216, + -0.96191826287924, + -0.0336867766221012, + -0.006128350561929103, + 0.033272219640922175, + -0.9994275375031229 + ], + [ + 0.9622014393073944, + 0.272002000694203, + 0.013538899997016239, + 0.27232790579915145, + -0.9614169281105156, + -0.03892302744633473, + 0.002429386306648398, + 0.04113881331407607, + -0.9991504872246636 + ], + [ + 0.9594734723064433, + 0.2817398882695715, + 0.005769861182575347, + 0.28177120435182157, + -0.9588904500309683, + -0.03367630082908683, + -0.003955292446943514, + 0.03393729802527738, + -0.9994161372843661 + ], + [ + 0.9550697733887907, + 0.29546867252857534, + 0.023237717471491934, + 0.29605841674194355, + -0.9547505981870178, + -0.02829680437407526, + 0.013825405431199042, + 0.03390514438448151, + -0.9993294248389416 + ], + [ + 0.9528800312261017, + 0.2965220664475074, + 0.06398679707755332, + 0.29806213065420656, + -0.9544153776260611, + -0.015819393818293098, + 0.05637918375090799, + 0.03414602554622702, + -0.9978253537463248 + ], + [ + 0.946894371347052, + 0.3000075925877952, + 0.11570001685801995, + 0.304476891266241, + -0.95224939981152, + -0.02269147953406679, + 0.10336765546396168, + 0.05671441570072627, + -0.993024975947538 + ], + [ + 0.9330136863467888, + 0.3234461507883727, + 0.15769606409089995, + 0.326446321334551, + -0.9451881658183664, + 0.007220144323441494, + 0.15138778146440693, + 0.044742806540241875, + -0.9874613009562387 + ], + [ + 0.9302180616825363, + 0.3326874104360375, + 0.15496272021666582, + 0.3353257804050956, + -0.9420536083072654, + 0.009571837387621629, + 0.14916761952682192, + 0.04305909906889612, + -0.9878739470560383 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.002661466598510742, + -0.002114728093147278, + -0.0069278813898563385, + -0.00652695819735527, + 0.02763138711452484, + 0.010643631219863892, + 1.0 + ], + [ + 0.008842617273330688, + -0.015325166285037994, + -0.0035378821194171906, + -0.052364952862262726, + 0.02519240975379944, + 0.0507320761680603, + 1.0 + ], + [ + 0.011881262063980103, + -0.013805098831653595, + -0.004431331530213356, + 0.010179003700613976, + 0.02251051366329193, + -0.013718247413635254, + 1.0 + ], + [ + 0.012030214071273804, + -0.017828334122896194, + -0.0009320396929979324, + 0.02472585439682007, + 0.0018616542220115662, + 0.01002916693687439, + 1.0 + ], + [ + 0.019162893295288086, + -0.015220696106553078, + 0.0009477678686380386, + -0.014360081404447556, + 0.008664250373840332, + 0.011492371559143066, + 1.0 + ], + [ + 0.01610010862350464, + -0.008622769266366959, + -0.004728872328996658, + -0.026012694463133812, + 0.03413129597902298, + 0.04431632161140442, + 1.0 + ], + [ + 0.009083658456802368, + -0.005943199619650841, + -0.006912518758326769, + -0.006056295707821846, + 0.012536585330963135, + 0.027367055416107178, + 1.0 + ], + [ + 0.009258359670639038, + -0.008140125311911106, + -0.011537686921656132, + 0.017402194440364838, + 0.023662302643060684, + 0.0007845759391784668, + 1.0 + ], + [ + 0.005524307489395142, + -0.005676523316651583, + -0.012058060616254807, + 0.030220314860343933, + 0.012797869741916656, + -0.009578704833984375, + 1.0 + ], + [ + 0.0038770735263824463, + 0.0020548049360513687, + -0.00892966240644455, + 0.02234700880944729, + -0.008621342480182648, + 0.007947355508804321, + 1.0 + ], + [ + 0.0022554099559783936, + 0.0004273385275155306, + -0.00981070101261139, + 0.01023104414343834, + 0.012001324445009232, + -0.005115926265716553, + 0.0 + ], + [ + -0.0012620091438293457, + 0.0010312509257346392, + -0.0007658079266548157, + 0.00534023717045784, + -0.00317949615418911, + -0.002376049757003784, + 0.0 + ], + [ + -0.0055519044399261475, + 0.0001427417155355215, + -0.002161521464586258, + 0.004913304001092911, + 0.010249467566609383, + -0.009683102369308472, + 0.0 + ], + [ + -0.0017408132553100586, + -0.0008113784715533257, + 0.00020982325077056885, + -0.004031147807836533, + 0.004182919859886169, + 0.0008719861507415771, + 0.0 + ], + [ + -0.002221822738647461, + -0.0011602404993027449, + 0.001756034791469574, + -0.008149653673171997, + 0.0014067916199564934, + -0.0016252100467681885, + 0.0 + ], + [ + -0.005382627248764038, + -0.0010764510370790958, + 0.007323931902647018, + -0.01321709156036377, + -0.007850722409784794, + -0.007912397384643555, + 0.0 + ], + [ + -0.0020017921924591064, + 0.0026888130232691765, + 0.013002317398786545, + -0.028472570702433586, + -0.0068059880286455154, + 0.012972891330718994, + 0.0 + ], + [ + -0.005852729082107544, + 0.0025687944144010544, + 0.016640985384583473, + -0.020182158797979355, + -0.038063619285821915, + 0.01435038447380066, + 0.0 + ], + [ + -0.011907339096069336, + -0.0034030736424028873, + 0.014732769690454006, + -0.03844223544001579, + -0.02307192236185074, + 0.01360967755317688, + 0.0 + ], + [ + -0.018434643745422363, + -0.008221759460866451, + -0.00035610608756542206, + -0.005127675831317902, + 0.008051559329032898, + -0.010563075542449951, + 0.0 + ], + [ + -0.017863363027572632, + -0.011037463322281837, + -0.0018928907811641693, + -0.013080772012472153, + 0.00404222309589386, + -0.011529088020324707, + 0.0 + ], + [ + -0.01736462116241455, + -0.012469543144106865, + -0.009035414084792137, + -0.0006313472986221313, + 0.025456998497247696, + -0.02610275149345398, + 0.0 + ], + [ + -0.009514421224594116, + -0.0108017697930336, + -0.005128758959472179, + 0.0013110116124153137, + 0.008489005267620087, + -0.03283989429473877, + 0.0 + ], + [ + -0.007850125432014465, + -0.010824516415596008, + -0.005103553645312786, + -0.00048098713159561157, + -0.002295222133398056, + -0.02451351284980774, + 0.0 + ], + [ + -0.0012767910957336426, + -0.01027529314160347, + -0.0009066830389201641, + -0.00536695122718811, + -0.012427590787410736, + -0.0303935706615448, + 0.0 + ], + [ + -0.0050665587186813354, + -0.008234553039073944, + -0.009478655643761158, + 0.011184193193912506, + 0.0223456509411335, + -0.02423328161239624, + 0.0 + ], + [ + -0.003269001841545105, + -0.001902468502521515, + -0.008539527654647827, + 0.024675071239471436, + 0.011671947315335274, + -0.014432549476623535, + 0.0 + ], + [ + 0.0031543076038360596, + -0.0010828003287315369, + -0.0061895716935396194, + 0.004245296120643616, + 0.006005594506859779, + -0.017007917165756226, + 1.0 + ], + [ + -0.0008425861597061157, + -0.0011703073978424072, + -0.00010522827506065369, + -0.0012606233358383179, + 0.0218307264149189, + -0.013498306274414062, + 1.0 + ], + [ + 0.002043992280960083, + 0.0038262829184532166, + -0.0005663484334945679, + -0.007871560752391815, + -0.008557777851819992, + 0.0011119842529296875, + 1.0 + ], + [ + -0.000627562403678894, + 0.004214778542518616, + 0.0001350492238998413, + 0.007206466048955917, + 0.006384691223502159, + 0.009829521179199219, + 1.0 + ], + [ + 0.003740251064300537, + 0.006089553236961365, + 0.005702996626496315, + 2.919510006904602e-05, + -0.017781149595975876, + 0.014951139688491821, + 1.0 + ], + [ + -0.0003640502691268921, + 0.0056179240345954895, + 0.017259351909160614, + -0.0002922080457210541, + -0.042583249509334564, + 0.002566307783126831, + 1.0 + ], + [ + 0.002916485071182251, + 0.0046357400715351105, + 0.024818208068609238, + -0.022843707352876663, + -0.04714353010058403, + 0.007951855659484863, + 1.0 + ], + [ + 0.0009296387434005737, + 0.0067627690732479095, + 0.01508072018623352, + 0.011770825833082199, + -0.04841946065425873, + 0.025460034608840942, + 1.0 + ], + [ + -0.00046825408935546875, + 0.001450270414352417, + -0.000340120866894722, + 0.0017199032008647919, + 0.002245664596557617, + 0.009409934282302856, + 1.0 + ], + [ + 0.0004960596561431885, + -0.00010899826884269714, + 0.0003111865371465683, + -0.000827200710773468, + -0.00129777193069458, + 0.0001239180564880371, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9437892436981201 + ], + [ + 0.6500836610794067 + ], + [ + 0.35357794165611267 + ], + [ + 0.16390947997570038 + ], + [ + 0.09890149533748627 + ], + [ + 0.0951233059167862 + ], + [ + 0.08501782268285751 + ], + [ + 0.0846695825457573 + ], + [ + 0.0846695825457573 + ], + [ + 0.0846695825457573 + ], + [ + 0.0846695825457573 + ], + [ + 0.0846695825457573 + ], + [ + 0.0846695825457573 + ], + [ + 0.0846695825457573 + ], + [ + 0.0846695825457573 + ], + [ + 0.0846695825457573 + ], + [ + 0.0846695825457573 + ], + [ + 0.10394904017448425 + ], + [ + 0.2802911400794983 + ], + [ + 0.5699762105941772 + ], + [ + 0.8801529407501221 + ], + [ + 1.0187249183654785 + ], + [ + 1.0092895030975342 + ], + [ + 1.0041072368621826 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.25411584973335266, + 0.0843748152256012, + 0.02561703324317932 + ], + [ + 0.26295846700668335, + 0.0690496489405632, + 0.02207915112376213 + ], + [ + 0.27483972907066345, + 0.05524455010890961, + 0.017647819593548775 + ], + [ + 0.28686994314193726, + 0.03741621598601341, + 0.016715779900550842 + ], + [ + 0.30603283643722534, + 0.022195519879460335, + 0.01766354776918888 + ], + [ + 0.32213294506073, + 0.013572750613093376, + 0.012934675440192223 + ], + [ + 0.33121660351753235, + 0.007629550993442535, + 0.006022156681865454 + ], + [ + 0.3404749631881714, + -0.000510574143845588, + -0.005515530239790678 + ], + [ + 0.34599927067756653, + -0.006187097635120153, + -0.017573591321706772 + ], + [ + 0.349876344203949, + -0.004132292699068785, + -0.02650325372815132 + ], + [ + 0.35213175415992737, + -0.003704954171553254, + -0.03631395474076271 + ], + [ + 0.350869745016098, + -0.002673703245818615, + -0.037079762667417526 + ], + [ + 0.3453178405761719, + -0.0025309615302830935, + -0.039241284132003784 + ], + [ + 0.3435770273208618, + -0.003342340001836419, + -0.039031460881233215 + ], + [ + 0.34135520458221436, + -0.004502580501139164, + -0.03727542608976364 + ], + [ + 0.3359725773334503, + -0.00557903153821826, + -0.029951494187116623 + ], + [ + 0.3339707851409912, + -0.0028902185149490833, + -0.016949176788330078 + ], + [ + 0.32811805605888367, + -0.00032142421696335077, + -0.0003081921022385359 + ], + [ + 0.31621071696281433, + -0.00372449797578156, + 0.014424577355384827 + ], + [ + 0.29777607321739197, + -0.011946257203817368, + 0.014068471267819405 + ], + [ + 0.27991271018981934, + -0.022983720526099205, + 0.012175580486655235 + ], + [ + 0.2625480890274048, + -0.03545326367020607, + 0.003140166401863098 + ], + [ + 0.25303366780281067, + -0.04625503346323967, + -0.0019885923247784376 + ], + [ + 0.2451835423707962, + -0.05707954987883568, + -0.00709214573726058 + ], + [ + 0.24390675127506256, + -0.06735484302043915, + -0.007998828776180744 + ], + [ + 0.23884019255638123, + -0.07558939605951309, + -0.017477484419941902 + ], + [ + 0.23557119071483612, + -0.0774918645620346, + -0.02601701207458973 + ], + [ + 0.23872549831867218, + -0.07857466489076614, + -0.03220658376812935 + ], + [ + 0.23788291215896606, + -0.07974497228860855, + -0.03231181204319 + ], + [ + 0.23992690443992615, + -0.07591868937015533, + -0.03287816047668457 + ], + [ + 0.23929934203624725, + -0.07170391082763672, + -0.03274311125278473 + ], + [ + 0.2430395931005478, + -0.06561435759067535, + -0.027040114626288414 + ], + [ + 0.2426755428314209, + -0.059996433556079865, + -0.009780763648450375 + ], + [ + 0.24559202790260315, + -0.055360693484544754, + 0.015037445351481438 + ], + [ + 0.24652166664600372, + -0.048597924411296844, + 0.030118165537714958 + ], + [ + 0.24605341255664825, + -0.04714765399694443, + 0.029778044670820236 + ], + [ + 0.24654947221279144, + -0.047256652265787125, + 0.030089231207966805 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9308982393742764, + 0.3347645338215555, + 0.14615462642389623, + 0.324430808288418, + -0.9415888964636193, + 0.0903050424381005, + 0.1678484988410555, + -0.03664774142645064, + -0.9851313742263739 + ], + [ + 0.9168756152605994, + 0.37450798893555814, + 0.13814077010043233, + 0.3726938760992615, + -0.9271019491856588, + 0.03976494101918952, + 0.14296286531335659, + 0.015024714293296257, + -0.9896140040954348 + ], + [ + 0.9246656978476615, + 0.3632516936406793, + 0.11419962474139295, + 0.36116077868798196, + -0.9316778140606813, + 0.03923445838291485, + 0.12064924020227966, + 0.0049656675571638186, + -0.9926827806425998 + ], + [ + 0.92120390250958, + 0.3752430418061514, + 0.10283982485976358, + 0.3704992548814522, + -0.9267195791669196, + 0.06261887671442116, + 0.11880097698844362, + -0.019582675117409593, + -0.9927249602492308 + ], + [ + 0.9178013223526854, + 0.38431951221389815, + 0.09969576329681082, + 0.3814420972361139, + -0.9231847564330729, + 0.04724226863438467, + 0.11019373459402021, + -0.005330855586088333, + -0.9938958309777455 + ], + [ + 0.9028824992607611, + 0.4227964745884282, + 0.07775817387412351, + 0.42307779034000137, + -0.9059907783990961, + 0.013634250137859592, + 0.07621270136705324, + 0.020587630543520752, + -0.996879016540593 + ], + [ + 0.8917511817183184, + 0.44725105936996895, + 0.06889353958407596, + 0.4480192615716972, + -0.8940113938840732, + 0.004729573575579977, + 0.0637069161452137, + 0.026648029906471037, + -0.9976128063218564 + ], + [ + 0.8924962161288008, + 0.449279644873131, + 0.039978805615548, + 0.4492708918997004, + -0.8933428187114429, + 0.00970947724345978, + 0.040077049385155876, + 0.009295641955605448, + -0.9991533521703325 + ], + [ + 0.8971455084444419, + 0.44147152210846874, + 0.015258828434579487, + 0.4408915762776392, + -0.8970316388714388, + 0.030803519783288498, + 0.02728652864295565, + -0.02090775049718497, + -0.9994089810101592 + ], + [ + 0.8933697863783681, + 0.4491431750945897, + 0.012681997169997858, + 0.447885432437221, + -0.8924136973443269, + 0.05473967667744972, + 0.03590354017074911, + -0.04322269147310209, + -0.9984201193610976 + ], + [ + 0.8959711002134454, + 0.4441062846892484, + -0.002322817646803683, + 0.44346838847633197, + -0.894378132183756, + 0.05851106812989321, + 0.02390765577201462, + -0.0534543222855567, + -0.9982840574828782 + ], + [ + 0.8969495330438506, + 0.44212968164963323, + -0.001696990516354191, + 0.4413024783997654, + -0.895023058271661, + 0.06469812764112916, + 0.02708611693549444, + -0.05877984149721024, + -0.9979034384663277 + ], + [ + 0.9013835304034955, + 0.43284350373960756, + -0.01241903328567316, + 0.4326940877659433, + -0.8992159155548762, + 0.06470366006033502, + 0.016839166539008847, + -0.06369645581369167, + -0.9978272415538902 + ], + [ + 0.9010614750163939, + 0.433449270913272, + -0.014489575081200244, + 0.43350666208105815, + -0.8991998422778772, + 0.05925890294951657, + 0.012656704650899587, + -0.05967724182796872, + -0.9981374828324935 + ], + [ + 0.9017799892899947, + 0.43202487334404877, + -0.01213918152906337, + 0.4320489417981806, + -0.900387670748949, + 0.05133959733338835, + 0.011250013653739536, + -0.05154174206738344, + -0.9986074734436199 + ], + [ + 0.9050624242921067, + 0.42527760174572055, + 0.000984676547284494, + 0.42484962671435816, + -0.9042507603036318, + 0.04281772029165221, + 0.019099811914388087, + -0.03833437026627589, + -0.9990824156400326 + ], + [ + 0.899337114389586, + 0.43684337190915373, + 0.018990079000722738, + 0.4364879542153403, + -0.8994833841445624, + 0.02019671935618708, + 0.025904063509802313, + -0.009874718572516423, + -0.9996156608551078 + ], + [ + 0.8914535801263602, + 0.4488869820483955, + 0.06173323114318781, + 0.4485798238551424, + -0.8935293745961789, + 0.019529423029128377, + 0.06392695917986584, + 0.010282707875101299, + -0.9979016032699671 + ], + [ + 0.8837223199628582, + 0.45730852768705943, + 0.09951769543230732, + 0.4598669138724104, + -0.8879822876157082, + -0.0031429931973528703, + 0.08693263325661169, + 0.0485424287141418, + -0.9950308286126636 + ], + [ + 0.8891260139361232, + 0.4477727450652238, + 0.09462822052017256, + 0.45080852783301917, + -0.8925346130592218, + -0.012394987868117751, + 0.0789088244436977, + 0.05367991494012343, + -0.9954355148159696 + ], + [ + 0.8945430457269594, + 0.4364217417819824, + 0.09658572690369685, + 0.44066533651081335, + -0.8972652508292182, + -0.027002423080008216, + 0.07487857196385675, + 0.06671681163215759, + -0.9949583240047256 + ], + [ + 0.9071772937189354, + 0.41435253552579193, + 0.07308443106528081, + 0.41783002100261907, + -0.9076134764894356, + -0.040692147199574584, + 0.04947152018827953, + 0.06745186133909337, + -0.9964952659657509 + ], + [ + 0.9207610321546578, + 0.3849397846692948, + 0.06340728541931309, + 0.3879675770392289, + -0.9205665566878369, + -0.045148354058696355, + 0.040991228717852296, + 0.06617081597393491, + -0.9969659684671008 + ], + [ + 0.9299038727378799, + 0.36208769343323216, + 0.06458552261377036, + 0.36524683046792134, + -0.9297586218566559, + -0.046299653522988135, + 0.043284411746374436, + 0.06664388454624261, + -0.9968375255538671 + ], + [ + 0.9399947953194405, + 0.33248033938868704, + 0.07659379016830736, + 0.3366120365334607, + -0.9403617544204533, + -0.04911321292771695, + 0.0556966931977054, + 0.0719485562278399, + -0.9958520390216461 + ], + [ + 0.9488200185252285, + 0.31171123062823686, + 0.050761019946559224, + 0.3140489928312898, + -0.948225345208191, + -0.04734896837798206, + 0.03337368045986773, + 0.06086709624285334, + -0.9975877876395267 + ], + [ + 0.9535601643851136, + 0.2995420957683982, + 0.03158394782972545, + 0.30041946112445683, + -0.9533942917483138, + -0.0280619286475813, + 0.021706226653337032, + 0.03624716988134003, + -0.9991070925581838 + ], + [ + 0.9586392088744281, + 0.28359808264061187, + 0.024145283828927278, + 0.2841906474258948, + -0.9584088662293303, + -0.026232061464182842, + 0.015701691764314636, + 0.03200894649279444, + -0.9993642400147006 + ], + [ + 0.9624884345794458, + 0.2713046533687756, + 0.003130233418823696, + 0.27125349144333216, + -0.96191826287924, + -0.0336867766221012, + -0.006128350561929103, + 0.033272219640922175, + -0.9994275375031229 + ], + [ + 0.9622014393073944, + 0.272002000694203, + 0.013538899997016239, + 0.27232790579915145, + -0.9614169281105156, + -0.03892302744633473, + 0.002429386306648398, + 0.04113881331407607, + -0.9991504872246636 + ], + [ + 0.9594734723064433, + 0.2817398882695715, + 0.005769861182575347, + 0.28177120435182157, + -0.9588904500309683, + -0.03367630082908683, + -0.003955292446943514, + 0.03393729802527738, + -0.9994161372843661 + ], + [ + 0.9550697733887907, + 0.29546867252857534, + 0.023237717471491934, + 0.29605841674194355, + -0.9547505981870178, + -0.02829680437407526, + 0.013825405431199042, + 0.03390514438448151, + -0.9993294248389416 + ], + [ + 0.9528800312261017, + 0.2965220664475074, + 0.06398679707755332, + 0.29806213065420656, + -0.9544153776260611, + -0.015819393818293098, + 0.05637918375090799, + 0.03414602554622702, + -0.9978253537463248 + ], + [ + 0.946894371347052, + 0.3000075925877952, + 0.11570001685801995, + 0.304476891266241, + -0.95224939981152, + -0.02269147953406679, + 0.10336765546396168, + 0.05671441570072627, + -0.993024975947538 + ], + [ + 0.9330136863467888, + 0.3234461507883727, + 0.15769606409089995, + 0.326446321334551, + -0.9451881658183664, + 0.007220144323441494, + 0.15138778146440693, + 0.044742806540241875, + -0.9874613009562387 + ], + [ + 0.9302180616825363, + 0.3326874104360375, + 0.15496272021666582, + 0.3353257804050956, + -0.9420536083072654, + 0.009571837387621629, + 0.14916761952682192, + 0.04305909906889612, + -0.9878739470560383 + ], + [ + 0.9299936122189294, + 0.33262228764139506, + 0.1564426252534547, + 0.3353750949111281, + -0.9420393012126045, + 0.009246658002752026, + 0.15045074591154278, + 0.043867627415590985, + -0.9876437638741955 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005735.json b/json/chunk-0005/episode_0005735.json new file mode 100644 index 0000000000000000000000000000000000000000..1abba1448ca8db296464f01155f117a6277a3bc2 --- /dev/null +++ b/json/chunk-0005/episode_0005735.json @@ -0,0 +1,2782 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 45, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut the fork on the left side of the pot." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005735.mp4", + "start": 0, + "end": 45, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.30533045530319214, + 0.1089240163564682, + 0.10366994142532349, + 0.0751655101776123, + -0.23548106849193573, + 0.034792445600032806, + 0.0, + 1.0001531839370728 + ], + [ + 0.3035740554332733, + 0.10768890380859375, + 0.09505744278430939, + 0.0617852658033371, + -0.20902854204177856, + 0.041163407266139984, + 0.0, + 1.0001531839370728 + ], + [ + 0.2976699769496918, + 0.09486177563667297, + 0.0896618440747261, + 0.02220507524907589, + -0.18343424797058105, + 0.054284725338220596, + 0.0, + 1.0008161067962646 + ], + [ + 0.29241910576820374, + 0.07990942895412445, + 0.09566643834114075, + 0.022483734413981438, + -0.19172607362270355, + 0.05141383036971092, + 0.0, + 1.0001531839370728 + ], + [ + 0.28814926743507385, + 0.06134173646569252, + 0.09024538844823837, + -0.001386194140650332, + -0.16307194530963898, + 0.036548715084791183, + 0.0, + 1.0008161067962646 + ], + [ + 0.28487181663513184, + 0.03337278589606285, + 0.09034153819084167, + -0.01592359133064747, + -0.15269559621810913, + 0.003175643738359213, + 0.0, + 1.0008161067962646 + ], + [ + 0.2809581458568573, + 0.01286096591502428, + 0.08998651802539825, + -0.03209010511636734, + -0.13297529518604279, + -0.020608263090252876, + 0.0, + 1.0001531839370728 + ], + [ + 0.276644229888916, + -0.01007771585136652, + 0.09158504754304886, + -0.028831541538238525, + -0.129009410738945, + -0.058127511292696, + 0.0, + 1.0001531839370728 + ], + [ + 0.2741285562515259, + -0.0287318117916584, + 0.08978390693664551, + -0.019761592149734497, + -0.12577486038208008, + -0.08649002760648727, + 0.0, + 1.0008161067962646 + ], + [ + 0.2722480893135071, + -0.040412407368421555, + 0.08666408061981201, + -0.0024491793010383844, + -0.1288573145866394, + -0.11039141565561295, + 0.0, + 1.0001531839370728 + ], + [ + 0.27155402302742004, + -0.05047232657670975, + 0.07677651196718216, + 0.0007100790389813483, + -0.11386053264141083, + -0.11955774575471878, + 0.0, + 1.0001531839370728 + ], + [ + 0.27035465836524963, + -0.05156221613287926, + 0.06257936358451843, + 0.0012675925390794873, + -0.08632770925760269, + -0.11072814464569092, + 0.0, + 1.0008161067962646 + ], + [ + 0.26922306418418884, + -0.0544053316116333, + 0.050204627215862274, + 0.019915837794542313, + -0.07750453799962997, + -0.12725143134593964, + 0.0, + 1.0008161067962646 + ], + [ + 0.2698602080345154, + -0.05423268675804138, + 0.04442248493432999, + 0.026375379413366318, + -0.08156538754701614, + -0.12449241429567337, + 0.0, + 1.0001531839370728 + ], + [ + 0.27016186714172363, + -0.057407036423683167, + 0.032687053084373474, + 0.04271870106458664, + -0.06733275204896927, + -0.13396590948104858, + 0.0, + 1.0001531839370728 + ], + [ + 0.2707659900188446, + -0.056357238441705704, + 0.02549717202782631, + 0.05186121165752411, + -0.07238785177469254, + -0.12941604852676392, + 0.0, + 1.0001531839370728 + ], + [ + 0.2710987627506256, + -0.05788162723183632, + 0.016062961891293526, + 0.06329222023487091, + -0.061769720166921616, + -0.14493171870708466, + 0.0, + 1.0001531839370728 + ], + [ + 0.2717553377151489, + -0.05632063373923302, + 0.010312888771295547, + 0.06990586966276169, + -0.067349873483181, + -0.13088303804397583, + 0.0, + 0.993436336517334 + ], + [ + 0.2733609974384308, + -0.05502566695213318, + 0.007686720695346594, + 0.06673335283994675, + -0.06963498145341873, + -0.12635332345962524, + 0.0, + 0.927960216999054 + ], + [ + 0.27497318387031555, + -0.053905121982097626, + 0.006494741886854172, + 0.0785972997546196, + -0.07485758513212204, + -0.133194237947464, + 0.0, + 0.6601285338401794 + ], + [ + 0.2754587233066559, + -0.05591645464301109, + 0.006061625201255083, + 0.08604516834020615, + -0.07772469520568848, + -0.1476314216852188, + 0.0, + 0.39273425936698914 + ], + [ + 0.2702042758464813, + -0.052662480622529984, + 0.008581825532019138, + 0.09896159917116165, + -0.06768210232257843, + -0.15048648416996002, + 0.0, + 0.36781078577041626 + ], + [ + 0.26703086495399475, + -0.04406718164682388, + 0.035992614924907684, + 0.09530799835920334, + -0.10123618692159653, + -0.11529119312763214, + 0.0, + 0.36781078577041626 + ], + [ + 0.2671012282371521, + -0.030209694057703018, + 0.06613950431346893, + 0.05520890653133392, + -0.15532048046588898, + -0.07752306759357452, + 0.0, + 0.36781078577041626 + ], + [ + 0.26264724135398865, + -0.013678559102118015, + 0.09478585422039032, + 0.05606990307569504, + -0.19269298017024994, + -0.04970812797546387, + 0.0, + 0.36781078577041626 + ], + [ + 0.26595181226730347, + 0.01712868921458721, + 0.10093236714601517, + 0.07058976590633392, + -0.1579504758119583, + 0.0010437937453389168, + 0.0, + 0.36781078577041626 + ], + [ + 0.26900961995124817, + 0.05006180331110954, + 0.09361258149147034, + 0.08311671018600464, + -0.1152031198143959, + 0.023740557953715324, + 0.0, + 0.3669656813144684 + ], + [ + 0.27038273215293884, + 0.0759204551577568, + 0.09581868350505829, + 0.08898131549358368, + -0.08573077619075775, + -0.0002415647468296811, + 0.0, + 0.3669656813144684 + ], + [ + 0.2702076733112335, + 0.10266029089689255, + 0.09319031238555908, + 0.09827796369791031, + -0.06648945808410645, + 0.026778152212500572, + 0.0, + 0.3669656813144684 + ], + [ + 0.26905664801597595, + 0.12029173225164413, + 0.08912462741136551, + 0.11349524557590485, + -0.05559956654906273, + 0.00534921744838357, + 0.0, + 0.36781078577041626 + ], + [ + 0.2681819498538971, + 0.1502319723367691, + 0.07891998440027237, + 0.12998808920383453, + -0.05458458885550499, + 0.026773521676659584, + 0.0, + 0.36781078577041626 + ], + [ + 0.27374106645584106, + 0.16289159655570984, + 0.06851308047771454, + 0.1387128084897995, + -0.04252706095576286, + 0.017547402530908585, + 0.0, + 0.3669656813144684 + ], + [ + 0.27604812383651733, + 0.1751682609319687, + 0.048017118126153946, + 0.12196540087461472, + -0.006801143754273653, + 0.008606525138020515, + 0.0, + 0.3669656813144684 + ], + [ + 0.28299736976623535, + 0.17689171433448792, + 0.037570152431726456, + 0.12170366942882538, + -0.037377506494522095, + 0.005613640416413546, + 0.0, + 0.3669656813144684 + ], + [ + 0.2838461995124817, + 0.17763952910900116, + 0.02513923868536949, + 0.11663156747817993, + -0.028278814628720284, + 0.0234343521296978, + 0.0, + 0.3669656813144684 + ], + [ + 0.28403735160827637, + 0.174916610121727, + 0.015077372081577778, + 0.0892375260591507, + -0.0271591879427433, + 0.0027295819018036127, + 0.0, + 0.3669656813144684 + ], + [ + 0.2816832661628723, + 0.17026293277740479, + 0.010135851800441742, + 0.06701281666755676, + -0.0363987535238266, + -0.003174188546836376, + 0.0, + 0.4356481730937958 + ], + [ + 0.2783955931663513, + 0.16724543273448944, + 0.010015998966991901, + 0.032726746052503586, + -0.02723558619618416, + 0.00777161680161953, + 0.0, + 0.7418107390403748 + ], + [ + 0.2776448428630829, + 0.17062173783779144, + 0.010823290795087814, + 0.019036363810300827, + -0.042289864271879196, + 0.009298994205892086, + 0.0, + 0.9774019718170166 + ], + [ + 0.27796491980552673, + 0.17613312602043152, + 0.0234207846224308, + 0.06589070707559586, + -0.05649513378739357, + 0.03205112740397453, + 0.0, + 1.0008161067962646 + ], + [ + 0.28392475843429565, + 0.1726338267326355, + 0.04500209540128708, + 0.12072909623384476, + -0.09149711579084396, + 0.033678241074085236, + 0.0, + 1.0008161067962646 + ], + [ + 0.2909948229789734, + 0.16465099155902863, + 0.06213361397385597, + 0.1467784345149994, + -0.10287775844335556, + 0.035136137157678604, + 0.0, + 1.0008161067962646 + ], + [ + 0.30801984667778015, + 0.1432264745235443, + 0.08356191217899323, + 0.1403384655714035, + -0.14163540303707123, + 0.0020079766400158405, + 0.0, + 1.0008161067962646 + ], + [ + 0.31649884581565857, + 0.1251545548439026, + 0.09239541739225388, + 0.11178162693977356, + -0.17748837172985077, + 0.004706985782831907, + 0.0, + 1.0008161067962646 + ], + [ + 0.3301341235637665, + 0.10335244238376617, + 0.10180189460515976, + 0.09960898011922836, + -0.1937505155801773, + -0.03812839090824127, + 0.0, + 1.0008161067962646 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.993436336517334 + ], + [ + 0.927960216999054 + ], + [ + 0.6601285338401794 + ], + [ + 0.39273425936698914 + ], + [ + 0.36781078577041626 + ], + [ + 0.36781078577041626 + ], + [ + 0.36781078577041626 + ], + [ + 0.36781078577041626 + ], + [ + 0.36781078577041626 + ], + [ + 0.3669656813144684 + ], + [ + 0.3669656813144684 + ], + [ + 0.3669656813144684 + ], + [ + 0.36781078577041626 + ], + [ + 0.36781078577041626 + ], + [ + 0.3669656813144684 + ], + [ + 0.3669656813144684 + ], + [ + 0.3669656813144684 + ], + [ + 0.3669656813144684 + ], + [ + 0.3669656813144684 + ], + [ + 0.4356481730937958 + ], + [ + 0.7418107390403748 + ], + [ + 0.9774019718170166 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.30533045530319214, + 0.1089240163564682, + 0.10366994142532349 + ], + [ + 0.3035740554332733, + 0.10768890380859375, + 0.09505744278430939 + ], + [ + 0.2976699769496918, + 0.09486177563667297, + 0.0896618440747261 + ], + [ + 0.29241910576820374, + 0.07990942895412445, + 0.09566643834114075 + ], + [ + 0.28814926743507385, + 0.06134173646569252, + 0.09024538844823837 + ], + [ + 0.28487181663513184, + 0.03337278589606285, + 0.09034153819084167 + ], + [ + 0.2809581458568573, + 0.01286096591502428, + 0.08998651802539825 + ], + [ + 0.276644229888916, + -0.01007771585136652, + 0.09158504754304886 + ], + [ + 0.2741285562515259, + -0.0287318117916584, + 0.08978390693664551 + ], + [ + 0.2722480893135071, + -0.040412407368421555, + 0.08666408061981201 + ], + [ + 0.27155402302742004, + -0.05047232657670975, + 0.07677651196718216 + ], + [ + 0.27035465836524963, + -0.05156221613287926, + 0.06257936358451843 + ], + [ + 0.26922306418418884, + -0.0544053316116333, + 0.050204627215862274 + ], + [ + 0.2698602080345154, + -0.05423268675804138, + 0.04442248493432999 + ], + [ + 0.27016186714172363, + -0.057407036423683167, + 0.032687053084373474 + ], + [ + 0.2707659900188446, + -0.056357238441705704, + 0.02549717202782631 + ], + [ + 0.2710987627506256, + -0.05788162723183632, + 0.016062961891293526 + ], + [ + 0.2717553377151489, + -0.05632063373923302, + 0.010312888771295547 + ], + [ + 0.2733609974384308, + -0.05502566695213318, + 0.007686720695346594 + ], + [ + 0.27497318387031555, + -0.053905121982097626, + 0.006494741886854172 + ], + [ + 0.2754587233066559, + -0.05591645464301109, + 0.006061625201255083 + ], + [ + 0.2702042758464813, + -0.052662480622529984, + 0.008581825532019138 + ], + [ + 0.26703086495399475, + -0.04406718164682388, + 0.035992614924907684 + ], + [ + 0.2671012282371521, + -0.030209694057703018, + 0.06613950431346893 + ], + [ + 0.26264724135398865, + -0.013678559102118015, + 0.09478585422039032 + ], + [ + 0.26595181226730347, + 0.01712868921458721, + 0.10093236714601517 + ], + [ + 0.26900961995124817, + 0.05006180331110954, + 0.09361258149147034 + ], + [ + 0.27038273215293884, + 0.0759204551577568, + 0.09581868350505829 + ], + [ + 0.2702076733112335, + 0.10266029089689255, + 0.09319031238555908 + ], + [ + 0.26905664801597595, + 0.12029173225164413, + 0.08912462741136551 + ], + [ + 0.2681819498538971, + 0.1502319723367691, + 0.07891998440027237 + ], + [ + 0.27374106645584106, + 0.16289159655570984, + 0.06851308047771454 + ], + [ + 0.27604812383651733, + 0.1751682609319687, + 0.048017118126153946 + ], + [ + 0.28299736976623535, + 0.17689171433448792, + 0.037570152431726456 + ], + [ + 0.2838461995124817, + 0.17763952910900116, + 0.02513923868536949 + ], + [ + 0.28403735160827637, + 0.174916610121727, + 0.015077372081577778 + ], + [ + 0.2816832661628723, + 0.17026293277740479, + 0.010135851800441742 + ], + [ + 0.2783955931663513, + 0.16724543273448944, + 0.010015998966991901 + ], + [ + 0.2776448428630829, + 0.17062173783779144, + 0.010823290795087814 + ], + [ + 0.27796491980552673, + 0.17613312602043152, + 0.0234207846224308 + ], + [ + 0.28392475843429565, + 0.1726338267326355, + 0.04500209540128708 + ], + [ + 0.2909948229789734, + 0.16465099155902863, + 0.06213361397385597 + ], + [ + 0.30801984667778015, + 0.1432264745235443, + 0.08356191217899323 + ], + [ + 0.31649884581565857, + 0.1251545548439026, + 0.09239541739225388 + ], + [ + 0.3301341235637665, + 0.10335244238376617, + 0.10180189460515976 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9718137213693544, + 0.05219702005400716, + 0.22989902578246885, + 0.03382542585593892, + -0.9959634604006313, + 0.08314220415928575, + 0.23331080455887826, + -0.0730223023759286, + -0.9696565432315749 + ], + [ + 0.9774043085086499, + 0.05387529342810464, + 0.20439733478390446, + 0.040256031140227605, + -0.9967191474090027, + 0.07021675829250412, + 0.2075096857150647, + -0.06040193661056362, + -0.9763663945405581 + ], + [ + 0.9817747197220743, + 0.05828876059707495, + 0.18088897175532515, + 0.053347783609772804, + -0.9980610396325713, + 0.03206517037963849, + 0.18240727424794984, + -0.021830747939712757, + -0.9829806736380046 + ], + [ + 0.9803796004969143, + 0.05565652850323485, + 0.1890983600258865, + 0.050449530773233844, + -0.9982060259894858, + 0.03224243357811342, + 0.1905536244060231, + -0.022069900617065107, + -0.9814286707206397 + ], + [ + 0.9860742391936066, + 0.03631564503492716, + 0.16229223248340385, + 0.036055802400642246, + -0.9993394333456874, + 0.004547095068979228, + 0.16235015833683647, + 0.00136780335489601, + -0.9867322611539497 + ], + [ + 0.9883596775549858, + 0.0007533257254957945, + 0.15213342921184572, + 0.003138688772206629, + -0.9998758717347602, + -0.01543987549963393, + 0.15210291389778038, + 0.01573764985645183, + -0.9882393586377745 + ], + [ + 0.9909613374690552, + -0.02484918825618254, + 0.13182619422766345, + -0.020424883522835433, + -0.9991852641335156, + -0.03480850573516452, + 0.13258375381101356, + 0.03180134873625922, + -0.9906615075008895 + ], + [ + 0.9900149285272394, + -0.061773092505628874, + 0.1267064573551649, + -0.05761200518496756, + -0.9976807165334887, + -0.03624975469974708, + 0.12865184861389467, + 0.028587985230085437, + -0.9912776749976325 + ], + [ + 0.9883923592432922, + -0.088834906217777, + 0.12324327010736726, + -0.08569988244970402, + -0.9958534200402477, + -0.030520418448124913, + 0.1254435105439322, + 0.019604214634116185, + -0.9919070523143757 + ], + [ + 0.9856728948241127, + -0.1104798179943671, + 0.12744863367249368, + -0.10925398653370977, + -0.9938753998356296, + -0.0165908416923203, + 0.12850101492029523, + 0.002428871651443596, + -0.9917064029978606 + ], + [ + 0.9864325941729397, + -0.11919299220414865, + 0.11288829772242182, + -0.11850081511745582, + -0.9928708540922044, + -0.012846163268264599, + 0.11361467321496349, + -0.0007054811394456408, + -0.9935246390133557 + ], + [ + 0.9901747825367466, + -0.11039330356035734, + 0.08583250291898714, + -0.11009051447096357, + -0.9938871785488981, + -0.008267704616751725, + 0.0862205233794466, + -0.0012628717837115822, + -0.9962752764688245 + ], + [ + 0.9889367552289576, + -0.1253536590781127, + 0.07931301477657568, + -0.12652730514462457, + -0.9919134284399291, + 0.009929326935142369, + 0.07742696694343698, + -0.01985473838342309, + -0.9968003080625858 + ], + [ + 0.9889619398746883, + -0.12199584880726189, + 0.08409098853675932, + -0.12375827124048588, + -0.9921825086032802, + 0.01605490334036216, + 0.0814749763968055, + -0.02628464372019802, + -0.9963287337649369 + ], + [ + 0.988794289840235, + -0.13059612937917345, + 0.07232221906526247, + -0.13326289887877416, + -0.9905196259254494, + 0.03334472130538361, + 0.06728188583691182, + -0.04260893858905996, + -0.9968237688731859 + ], + [ + 0.9890404684092879, + -0.12516377291143885, + 0.07831335645539604, + -0.12871711972042513, + -0.9907880254236636, + 0.04208315301822654, + 0.07232464959897071, + -0.051702211051864067, + -0.9960401731018356 + ], + [ + 0.9876286219610311, + -0.14027217113791285, + 0.07009581362400172, + -0.14414942581101342, + -0.9880983776021692, + 0.053689284017539404, + 0.06173044728259983, + -0.06312934487397251, + -0.9960943919599553 + ], + [ + 0.9891992805250152, + -0.12553036269111192, + 0.07567635992455675, + -0.13021379440154304, + -0.9896389997265538, + 0.060489817058572044, + 0.06729896846420343, + -0.06969058948570263, + -0.9952959713476138 + ], + [ + 0.9896238180213487, + -0.12113410068554394, + 0.07727372422727385, + -0.1257119755496993, + -0.9904046262060108, + 0.05740362003500808, + 0.06957871806982416, + -0.06652222215798476, + -0.9953560146756151 + ], + [ + 0.9883670376029098, + -0.12657073074697467, + 0.0843234789262476, + -0.13242884921883336, + -0.9888627335778604, + 0.06791976174499703, + 0.07478769199957962, + -0.07829651498692966, + -0.9941209467998738 + ], + [ + 0.9861360565224133, + -0.13995126205314024, + 0.0891589719330418, + -0.14665164528188956, + -0.9864444506668963, + 0.07362500040475338, + 0.07764646136520646, + -0.08567957748622697, + -0.9932925233984414 + ], + [ + 0.9864345783749487, + -0.14257924569331892, + 0.08135097592383701, + -0.14957588749958695, + -0.984862597950377, + 0.08759404681337923, + 0.06763044037227182, + -0.09857394105927675, + -0.9928289387800369 + ], + [ + 0.9882753110826692, + -0.1049601555071184, + 0.11088406224690167, + -0.11444696829057516, + -0.989959453504549, + 0.08295885646554364, + 0.10106335118899101, + -0.09467653443644898, + -0.9903648584605343 + ], + [ + 0.9849947508592364, + -0.06881678183349411, + 0.15827062683211876, + -0.07651315300884974, + -0.9961386405216109, + 0.04305283122398471, + 0.1546967297533948, + -0.05451659745286604, + -0.9864567209998455 + ], + [ + 0.980279747913765, + -0.03889091753560625, + 0.19375012867960492, + -0.04876804473369141, + -0.9977284849408968, + 0.0464709387724718, + 0.19150272489700368, + -0.055003335087800115, + -0.979949661710356 + ], + [ + 0.9875511982459032, + 0.01213535297365372, + 0.1568290918525185, + 0.0010308001382851525, + -0.9974974534490643, + 0.07069489241597954, + 0.157294527222519, + -0.06965316626569709, + -0.9850923145243838 + ], + [ + 0.9930915305679298, + 0.03319683051210039, + 0.1125485777706573, + 0.023580977391648567, + -0.9960404351423272, + 0.08571691237286967, + 0.11494846418939825, + -0.08247073423605818, + -0.9899421339528206 + ], + [ + 0.9963273381800716, + 0.007368436582943113, + 0.08530850682866563, + -0.00024067756588842066, + -0.9960455831385169, + 0.08884333618545148, + 0.08562579791933399, + -0.08853757650046121, + -0.9923856711370345 + ], + [ + 0.9974326690714512, + 0.03316254406846062, + 0.06346901874070757, + 0.02671578983151737, + -0.9946432739737733, + 0.09985501545947247, + 0.06644047894679173, + -0.09790302962442325, + -0.9929756590912389 + ], + [ + 0.9984404573126199, + 0.011608191103660688, + 0.05460680452715607, + 0.005340926057505302, + -0.9935184450268638, + 0.11354547062851313, + 0.05557092504371689, + -0.11307674071489314, + -0.9920310090914911 + ], + [ + 0.9981527756314824, + 0.033613807920148495, + 0.05060779007499852, + 0.02673045226753033, + -0.9910187557301466, + 0.13102407684332482, + 0.05455748730230378, + -0.12942927685875236, + -0.9900866340230432 + ], + [ + 0.99894204829704, + 0.023255435780159463, + 0.039673276280007705, + 0.017530637557462404, + -0.9901391766254559, + 0.1389859261158976, + 0.042514243389055295, + -0.13814338789149389, + -0.9894993398132801 + ], + [ + 0.9999398372586571, + 0.009369897727103364, + 0.00570323414512224, + 0.00860621984101823, + -0.9925275539134126, + 0.12171683409744925, + 0.006801091322613537, + -0.12166042799218464, + -0.992548480134638 + ], + [ + 0.9992857968936805, + 0.01010871867787282, + 0.03641029982372258, + 0.0056096900630913165, + -0.9925621379468145, + 0.12160975985439916, + 0.03736880388717041, + -0.12131865528903708, + -0.9919099537633957 + ], + [ + 0.9993257188820406, + 0.02656240264551244, + 0.02534849791585771, + 0.023422838643394568, + -0.9928564399365203, + 0.11699341992806307, + 0.028275045725481524, + -0.11632079969754454, + -0.9928091424573735 + ], + [ + 0.9996274879922977, + 0.005138814226181246, + 0.026804436919236604, + 0.002728571876287545, + -0.9960106571981421, + 0.08919263222509376, + 0.02715584919910386, + -0.08908626906585378, + -0.9956536528925115 + ], + [ + 0.9993326041088967, + -0.0007302513472682679, + 0.03652140602306012, + -0.0031720807598543963, + -0.9977581898350847, + 0.06684708311264087, + 0.036390716791296664, + -0.06691831849340782, + -0.9970946065351225 + ], + [ + 0.9995989466859591, + 0.0086584130601515, + 0.026962523390824288, + 0.007768656373416527, + -0.9994274202211861, + 0.032931439205964176, + 0.027232219198455417, + -0.03270876936395097, + -0.9990938607779666 + ], + [ + 0.999062720273369, + 0.010101897266904183, + 0.04209076658348468, + 0.009290546237204605, + -0.9997681030766895, + 0.019427450194316357, + 0.04227725997023506, + -0.019018195026005835, + -0.9989248928459848 + ], + [ + 0.9978918003254929, + 0.03569202426720464, + 0.05420363684159757, + 0.03199451369686652, + -0.9971983733896004, + 0.06761475580400968, + 0.056465085995219544, + -0.06573799139648333, + -0.9962380290626874 + ], + [ + 0.9952523719368042, + 0.044424720679940397, + 0.08659769250202093, + 0.0335310275015064, + -0.9917876280877741, + 0.1234219225531684, + 0.0913695044796595, + -0.11993225156118913, + -0.9885685958428 + ], + [ + 0.9940988019412137, + 0.049761457921488665, + 0.09639174904820334, + 0.034943172713150374, + -0.9881091766080408, + 0.14973052388781352, + 0.10269638094783497, + -0.14547870087579165, + -0.984016971871781 + ], + [ + 0.9899844670962084, + 0.021733735625554557, + 0.139493367741964, + 0.001987868355583752, + -0.9901270642310784, + 0.14015864246112913, + 0.14116232956294386, + -0.1384775845142609, + -0.9802536178456361 + ], + [ + 0.9842793410687284, + 0.02437223509427286, + 0.17492905105161757, + 0.004633023080776103, + -0.9936552247876662, + 0.11237361500506043, + 0.17655796170788482, + -0.10979657739967144, + -0.9781472270312251 + ], + [ + 0.9805758120299125, + -0.018797046041137418, + 0.19523767034567246, + -0.03740590621365907, + -0.9950497998223027, + 0.09206896357584783, + 0.19254058024793902, + -0.09758364070746291, + -0.9764248860122647 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0017563998699188232, + -0.0012351125478744507, + -0.008612498641014099, + -0.013380244374275208, + 0.026452526450157166, + 0.006370961666107178, + 1.0 + ], + [ + -0.005904078483581543, + -0.012827128171920776, + -0.0053955987095832825, + -0.03958018869161606, + 0.02559429407119751, + 0.013121318072080612, + 1.0 + ], + [ + -0.005250871181488037, + -0.014952346682548523, + 0.006004594266414642, + 0.0002786591649055481, + -0.008291825652122498, + -0.002870894968509674, + 1.0 + ], + [ + -0.004269838333129883, + -0.01856769248843193, + -0.005421049892902374, + -0.02386992797255516, + 0.028654128313064575, + -0.014865115284919739, + 1.0 + ], + [ + -0.0032774507999420166, + -0.02796895056962967, + 9.6149742603302e-05, + -0.014537396840751171, + 0.010376349091529846, + -0.03337307274341583, + 1.0 + ], + [ + -0.003913670778274536, + -0.020511820912361145, + -0.0003550201654434204, + -0.01616651378571987, + 0.019720301032066345, + -0.023783907294273376, + 1.0 + ], + [ + -0.004313915967941284, + -0.0229386817663908, + 0.0015985295176506042, + 0.0032585635781288147, + 0.003965884447097778, + -0.037519246339797974, + 1.0 + ], + [ + -0.0025156736373901367, + -0.018654096871614456, + -0.0018011406064033508, + 0.009069949388504028, + 0.003234550356864929, + -0.028362516313791275, + 1.0 + ], + [ + -0.0018804669380187988, + -0.011680595576763153, + -0.003119826316833496, + 0.017312413081526756, + -0.003082454204559326, + -0.02390138804912567, + 1.0 + ], + [ + -0.0006940662860870361, + -0.010059919208288193, + -0.009887568652629852, + 0.003159258281812072, + 0.014996781945228577, + -0.009166330099105835, + 1.0 + ], + [ + -0.0011993646621704102, + -0.0010898895561695099, + -0.014197148382663727, + 0.000557513500098139, + 0.027532823383808136, + 0.008829601109027863, + 1.0 + ], + [ + -0.001131594181060791, + -0.0028431154787540436, + -0.012374736368656158, + 0.018648244440555573, + 0.008823171257972717, + -0.016523286700248718, + 1.0 + ], + [ + 0.0006371438503265381, + 0.00017264485359191895, + -0.005782142281532288, + 0.006459541618824005, + -0.004060849547386169, + 0.002759017050266266, + 1.0 + ], + [ + 0.00030165910720825195, + -0.0031743496656417847, + -0.011735431849956512, + 0.01634332165122032, + 0.014232635498046875, + -0.009473495185375214, + 1.0 + ], + [ + 0.0006041228771209717, + 0.0010497979819774628, + -0.007189881056547165, + 0.00914251059293747, + -0.005055099725723267, + 0.004549860954284668, + 1.0 + ], + [ + 0.00033277273178100586, + -0.0015243887901306152, + -0.009434210136532784, + 0.011431008577346802, + 0.01061813160777092, + -0.01551567018032074, + 1.0 + ], + [ + 0.0006565749645233154, + 0.001560993492603302, + -0.005750073119997978, + 0.006613649427890778, + -0.005580153316259384, + 0.014048680663108826, + 1.0 + ], + [ + 0.0016056597232818604, + 0.0012949667870998383, + -0.0026261680759489536, + -0.0031725168228149414, + -0.002285107970237732, + 0.004529714584350586, + 0.0 + ], + [ + 0.0016121864318847656, + 0.001120544970035553, + -0.001191978808492422, + 0.011863946914672852, + -0.005222603678703308, + -0.006840914487838745, + 0.0 + ], + [ + 0.00048553943634033203, + -0.0020113326609134674, + -0.00043311668559908867, + 0.007447868585586548, + -0.0028671100735664368, + -0.014437183737754822, + 0.0 + ], + [ + -0.0052544474601745605, + 0.0032539740204811096, + 0.0025202003307640553, + 0.012916430830955505, + 0.010042592883110046, + -0.002855062484741211, + 0.0 + ], + [ + -0.0031734108924865723, + 0.0085952989757061, + 0.02741079032421112, + -0.003653600811958313, + -0.0335540845990181, + 0.03519529104232788, + 0.0 + ], + [ + 7.036328315734863e-05, + 0.013857487589120865, + 0.03014688938856125, + -0.040099091827869415, + -0.05408429354429245, + 0.03776812553405762, + 0.0 + ], + [ + -0.004453986883163452, + 0.016531135886907578, + 0.028646349906921387, + 0.0008609965443611145, + -0.03737249970436096, + 0.027814939618110657, + 0.0 + ], + [ + 0.0033045709133148193, + 0.0308072492480278, + 0.006146512925624847, + 0.014519862830638885, + 0.034742504358291626, + 0.05075192078948021, + 0.0 + ], + [ + 0.003057807683944702, + 0.03293311595916748, + -0.00731978565454483, + 0.012526944279670715, + 0.04274735599756241, + 0.022696763277053833, + 0.0 + ], + [ + 0.0013731122016906738, + 0.025858651846647263, + 0.0022061020135879517, + 0.0058646053075790405, + 0.029472343623638153, + -0.023982122540473938, + 0.0 + ], + [ + -0.00017505884170532227, + 0.026739835739135742, + -0.0026283711194992065, + 0.00929664820432663, + 0.019241318106651306, + 0.027019716799259186, + 0.0 + ], + [ + -0.0011510252952575684, + 0.017631441354751587, + -0.004065684974193573, + 0.015217281877994537, + 0.010889891535043716, + -0.02142893522977829, + 0.0 + ], + [ + -0.0008746981620788574, + 0.02994024008512497, + -0.01020464301109314, + 0.016492843627929688, + 0.0010149776935577393, + 0.0214243046939373, + 0.0 + ], + [ + 0.00555911660194397, + 0.012659624218940735, + -0.01040690392255783, + 0.008724719285964966, + 0.012057527899742126, + -0.009226119145751, + 0.0 + ], + [ + 0.0023070573806762695, + 0.01227666437625885, + -0.020495962351560593, + -0.016747407615184784, + 0.0357259176671505, + -0.00894087739288807, + 0.0 + ], + [ + 0.006949245929718018, + 0.001723453402519226, + -0.01044696569442749, + -0.00026173144578933716, + -0.03057636320590973, + -0.00299288472160697, + 0.0 + ], + [ + 0.0008488297462463379, + 0.0007478147745132446, + -0.012430913746356964, + -0.005072101950645447, + 0.009098691865801811, + 0.01782071217894554, + 0.0 + ], + [ + 0.00019115209579467773, + -0.00272291898727417, + -0.010061866603791714, + -0.027394041419029236, + 0.0011196266859769821, + -0.02070477046072483, + 0.0 + ], + [ + -0.0023540854454040527, + -0.004653677344322205, + -0.004941520281136036, + -0.022224709391593933, + -0.009239565581083298, + -0.005903770215809345, + 1.0 + ], + [ + -0.003287672996520996, + -0.0030175000429153442, + -0.00011985283344984055, + -0.03428607061505318, + 0.00916316732764244, + 0.010945805348455906, + 1.0 + ], + [ + -0.0007507503032684326, + 0.003376305103302002, + 0.0008072918280959129, + -0.013690382242202759, + -0.015054278075695038, + 0.0015273774042725563, + 1.0 + ], + [ + 0.00032007694244384766, + 0.005511388182640076, + 0.012597493827342987, + 0.04685434326529503, + -0.014205269515514374, + 0.022752132266759872, + 1.0 + ], + [ + 0.005959838628768921, + -0.0034992992877960205, + 0.021581310778856277, + 0.0548383891582489, + -0.035001982003450394, + 0.0016271136701107025, + 1.0 + ], + [ + 0.007070064544677734, + -0.007982835173606873, + 0.017131518572568893, + 0.026049338281154633, + -0.011380642652511597, + 0.0014578960835933685, + 1.0 + ], + [ + 0.017025023698806763, + -0.021424517035484314, + 0.021428298205137253, + -0.006439968943595886, + -0.03875764459371567, + -0.03312816098332405, + 1.0 + ], + [ + 0.008478999137878418, + -0.018071919679641724, + 0.00883350521326065, + -0.028556838631629944, + -0.03585296869277954, + 0.0026990091428160667, + 1.0 + ], + [ + 0.01363527774810791, + -0.021802112460136414, + 0.009406477212905884, + -0.012172646820545197, + -0.016262143850326538, + -0.04283537715673447, + 1.0 + ], + [ + 0.01304355263710022, + -0.02398095279932022, + 0.008284427225589752, + 0.0004191547632217407, + -0.024456515908241272, + -0.02486259490251541, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.993436336517334 + ], + [ + 0.927960216999054 + ], + [ + 0.6601285338401794 + ], + [ + 0.39273425936698914 + ], + [ + 0.36781078577041626 + ], + [ + 0.36781078577041626 + ], + [ + 0.36781078577041626 + ], + [ + 0.36781078577041626 + ], + [ + 0.36781078577041626 + ], + [ + 0.3669656813144684 + ], + [ + 0.3669656813144684 + ], + [ + 0.3669656813144684 + ], + [ + 0.36781078577041626 + ], + [ + 0.36781078577041626 + ], + [ + 0.3669656813144684 + ], + [ + 0.3669656813144684 + ], + [ + 0.3669656813144684 + ], + [ + 0.3669656813144684 + ], + [ + 0.3669656813144684 + ], + [ + 0.4356481730937958 + ], + [ + 0.7418107390403748 + ], + [ + 0.9774019718170166 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3035740554332733, + 0.10768890380859375, + 0.09505744278430939 + ], + [ + 0.2976699769496918, + 0.09486177563667297, + 0.0896618440747261 + ], + [ + 0.29241910576820374, + 0.07990942895412445, + 0.09566643834114075 + ], + [ + 0.28814926743507385, + 0.06134173646569252, + 0.09024538844823837 + ], + [ + 0.28487181663513184, + 0.03337278589606285, + 0.09034153819084167 + ], + [ + 0.2809581458568573, + 0.01286096591502428, + 0.08998651802539825 + ], + [ + 0.276644229888916, + -0.01007771585136652, + 0.09158504754304886 + ], + [ + 0.2741285562515259, + -0.0287318117916584, + 0.08978390693664551 + ], + [ + 0.2722480893135071, + -0.040412407368421555, + 0.08666408061981201 + ], + [ + 0.27155402302742004, + -0.05047232657670975, + 0.07677651196718216 + ], + [ + 0.27035465836524963, + -0.05156221613287926, + 0.06257936358451843 + ], + [ + 0.26922306418418884, + -0.0544053316116333, + 0.050204627215862274 + ], + [ + 0.2698602080345154, + -0.05423268675804138, + 0.04442248493432999 + ], + [ + 0.27016186714172363, + -0.057407036423683167, + 0.032687053084373474 + ], + [ + 0.2707659900188446, + -0.056357238441705704, + 0.02549717202782631 + ], + [ + 0.2710987627506256, + -0.05788162723183632, + 0.016062961891293526 + ], + [ + 0.2717553377151489, + -0.05632063373923302, + 0.010312888771295547 + ], + [ + 0.2733609974384308, + -0.05502566695213318, + 0.007686720695346594 + ], + [ + 0.27497318387031555, + -0.053905121982097626, + 0.006494741886854172 + ], + [ + 0.2754587233066559, + -0.05591645464301109, + 0.006061625201255083 + ], + [ + 0.2702042758464813, + -0.052662480622529984, + 0.008581825532019138 + ], + [ + 0.26703086495399475, + -0.04406718164682388, + 0.035992614924907684 + ], + [ + 0.2671012282371521, + -0.030209694057703018, + 0.06613950431346893 + ], + [ + 0.26264724135398865, + -0.013678559102118015, + 0.09478585422039032 + ], + [ + 0.26595181226730347, + 0.01712868921458721, + 0.10093236714601517 + ], + [ + 0.26900961995124817, + 0.05006180331110954, + 0.09361258149147034 + ], + [ + 0.27038273215293884, + 0.0759204551577568, + 0.09581868350505829 + ], + [ + 0.2702076733112335, + 0.10266029089689255, + 0.09319031238555908 + ], + [ + 0.26905664801597595, + 0.12029173225164413, + 0.08912462741136551 + ], + [ + 0.2681819498538971, + 0.1502319723367691, + 0.07891998440027237 + ], + [ + 0.27374106645584106, + 0.16289159655570984, + 0.06851308047771454 + ], + [ + 0.27604812383651733, + 0.1751682609319687, + 0.048017118126153946 + ], + [ + 0.28299736976623535, + 0.17689171433448792, + 0.037570152431726456 + ], + [ + 0.2838461995124817, + 0.17763952910900116, + 0.02513923868536949 + ], + [ + 0.28403735160827637, + 0.174916610121727, + 0.015077372081577778 + ], + [ + 0.2816832661628723, + 0.17026293277740479, + 0.010135851800441742 + ], + [ + 0.2783955931663513, + 0.16724543273448944, + 0.010015998966991901 + ], + [ + 0.2776448428630829, + 0.17062173783779144, + 0.010823290795087814 + ], + [ + 0.27796491980552673, + 0.17613312602043152, + 0.0234207846224308 + ], + [ + 0.28392475843429565, + 0.1726338267326355, + 0.04500209540128708 + ], + [ + 0.2909948229789734, + 0.16465099155902863, + 0.06213361397385597 + ], + [ + 0.30801984667778015, + 0.1432264745235443, + 0.08356191217899323 + ], + [ + 0.31649884581565857, + 0.1251545548439026, + 0.09239541739225388 + ], + [ + 0.3301341235637665, + 0.10335244238376617, + 0.10180189460515976 + ], + [ + 0.3431776762008667, + 0.07937148958444595, + 0.11008632183074951 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9774043085086499, + 0.05387529342810464, + 0.20439733478390446, + 0.040256031140227605, + -0.9967191474090027, + 0.07021675829250412, + 0.2075096857150647, + -0.06040193661056362, + -0.9763663945405581 + ], + [ + 0.9817747197220743, + 0.05828876059707495, + 0.18088897175532515, + 0.053347783609772804, + -0.9980610396325713, + 0.03206517037963849, + 0.18240727424794984, + -0.021830747939712757, + -0.9829806736380046 + ], + [ + 0.9803796004969143, + 0.05565652850323485, + 0.1890983600258865, + 0.050449530773233844, + -0.9982060259894858, + 0.03224243357811342, + 0.1905536244060231, + -0.022069900617065107, + -0.9814286707206397 + ], + [ + 0.9860742391936066, + 0.03631564503492716, + 0.16229223248340385, + 0.036055802400642246, + -0.9993394333456874, + 0.004547095068979228, + 0.16235015833683647, + 0.00136780335489601, + -0.9867322611539497 + ], + [ + 0.9883596775549858, + 0.0007533257254957945, + 0.15213342921184572, + 0.003138688772206629, + -0.9998758717347602, + -0.01543987549963393, + 0.15210291389778038, + 0.01573764985645183, + -0.9882393586377745 + ], + [ + 0.9909613374690552, + -0.02484918825618254, + 0.13182619422766345, + -0.020424883522835433, + -0.9991852641335156, + -0.03480850573516452, + 0.13258375381101356, + 0.03180134873625922, + -0.9906615075008895 + ], + [ + 0.9900149285272394, + -0.061773092505628874, + 0.1267064573551649, + -0.05761200518496756, + -0.9976807165334887, + -0.03624975469974708, + 0.12865184861389467, + 0.028587985230085437, + -0.9912776749976325 + ], + [ + 0.9883923592432922, + -0.088834906217777, + 0.12324327010736726, + -0.08569988244970402, + -0.9958534200402477, + -0.030520418448124913, + 0.1254435105439322, + 0.019604214634116185, + -0.9919070523143757 + ], + [ + 0.9856728948241127, + -0.1104798179943671, + 0.12744863367249368, + -0.10925398653370977, + -0.9938753998356296, + -0.0165908416923203, + 0.12850101492029523, + 0.002428871651443596, + -0.9917064029978606 + ], + [ + 0.9864325941729397, + -0.11919299220414865, + 0.11288829772242182, + -0.11850081511745582, + -0.9928708540922044, + -0.012846163268264599, + 0.11361467321496349, + -0.0007054811394456408, + -0.9935246390133557 + ], + [ + 0.9901747825367466, + -0.11039330356035734, + 0.08583250291898714, + -0.11009051447096357, + -0.9938871785488981, + -0.008267704616751725, + 0.0862205233794466, + -0.0012628717837115822, + -0.9962752764688245 + ], + [ + 0.9889367552289576, + -0.1253536590781127, + 0.07931301477657568, + -0.12652730514462457, + -0.9919134284399291, + 0.009929326935142369, + 0.07742696694343698, + -0.01985473838342309, + -0.9968003080625858 + ], + [ + 0.9889619398746883, + -0.12199584880726189, + 0.08409098853675932, + -0.12375827124048588, + -0.9921825086032802, + 0.01605490334036216, + 0.0814749763968055, + -0.02628464372019802, + -0.9963287337649369 + ], + [ + 0.988794289840235, + -0.13059612937917345, + 0.07232221906526247, + -0.13326289887877416, + -0.9905196259254494, + 0.03334472130538361, + 0.06728188583691182, + -0.04260893858905996, + -0.9968237688731859 + ], + [ + 0.9890404684092879, + -0.12516377291143885, + 0.07831335645539604, + -0.12871711972042513, + -0.9907880254236636, + 0.04208315301822654, + 0.07232464959897071, + -0.051702211051864067, + -0.9960401731018356 + ], + [ + 0.9876286219610311, + -0.14027217113791285, + 0.07009581362400172, + -0.14414942581101342, + -0.9880983776021692, + 0.053689284017539404, + 0.06173044728259983, + -0.06312934487397251, + -0.9960943919599553 + ], + [ + 0.9891992805250152, + -0.12553036269111192, + 0.07567635992455675, + -0.13021379440154304, + -0.9896389997265538, + 0.060489817058572044, + 0.06729896846420343, + -0.06969058948570263, + -0.9952959713476138 + ], + [ + 0.9896238180213487, + -0.12113410068554394, + 0.07727372422727385, + -0.1257119755496993, + -0.9904046262060108, + 0.05740362003500808, + 0.06957871806982416, + -0.06652222215798476, + -0.9953560146756151 + ], + [ + 0.9883670376029098, + -0.12657073074697467, + 0.0843234789262476, + -0.13242884921883336, + -0.9888627335778604, + 0.06791976174499703, + 0.07478769199957962, + -0.07829651498692966, + -0.9941209467998738 + ], + [ + 0.9861360565224133, + -0.13995126205314024, + 0.0891589719330418, + -0.14665164528188956, + -0.9864444506668963, + 0.07362500040475338, + 0.07764646136520646, + -0.08567957748622697, + -0.9932925233984414 + ], + [ + 0.9864345783749487, + -0.14257924569331892, + 0.08135097592383701, + -0.14957588749958695, + -0.984862597950377, + 0.08759404681337923, + 0.06763044037227182, + -0.09857394105927675, + -0.9928289387800369 + ], + [ + 0.9882753110826692, + -0.1049601555071184, + 0.11088406224690167, + -0.11444696829057516, + -0.989959453504549, + 0.08295885646554364, + 0.10106335118899101, + -0.09467653443644898, + -0.9903648584605343 + ], + [ + 0.9849947508592364, + -0.06881678183349411, + 0.15827062683211876, + -0.07651315300884974, + -0.9961386405216109, + 0.04305283122398471, + 0.1546967297533948, + -0.05451659745286604, + -0.9864567209998455 + ], + [ + 0.980279747913765, + -0.03889091753560625, + 0.19375012867960492, + -0.04876804473369141, + -0.9977284849408968, + 0.0464709387724718, + 0.19150272489700368, + -0.055003335087800115, + -0.979949661710356 + ], + [ + 0.9875511982459032, + 0.01213535297365372, + 0.1568290918525185, + 0.0010308001382851525, + -0.9974974534490643, + 0.07069489241597954, + 0.157294527222519, + -0.06965316626569709, + -0.9850923145243838 + ], + [ + 0.9930915305679298, + 0.03319683051210039, + 0.1125485777706573, + 0.023580977391648567, + -0.9960404351423272, + 0.08571691237286967, + 0.11494846418939825, + -0.08247073423605818, + -0.9899421339528206 + ], + [ + 0.9963273381800716, + 0.007368436582943113, + 0.08530850682866563, + -0.00024067756588842066, + -0.9960455831385169, + 0.08884333618545148, + 0.08562579791933399, + -0.08853757650046121, + -0.9923856711370345 + ], + [ + 0.9974326690714512, + 0.03316254406846062, + 0.06346901874070757, + 0.02671578983151737, + -0.9946432739737733, + 0.09985501545947247, + 0.06644047894679173, + -0.09790302962442325, + -0.9929756590912389 + ], + [ + 0.9984404573126199, + 0.011608191103660688, + 0.05460680452715607, + 0.005340926057505302, + -0.9935184450268638, + 0.11354547062851313, + 0.05557092504371689, + -0.11307674071489314, + -0.9920310090914911 + ], + [ + 0.9981527756314824, + 0.033613807920148495, + 0.05060779007499852, + 0.02673045226753033, + -0.9910187557301466, + 0.13102407684332482, + 0.05455748730230378, + -0.12942927685875236, + -0.9900866340230432 + ], + [ + 0.99894204829704, + 0.023255435780159463, + 0.039673276280007705, + 0.017530637557462404, + -0.9901391766254559, + 0.1389859261158976, + 0.042514243389055295, + -0.13814338789149389, + -0.9894993398132801 + ], + [ + 0.9999398372586571, + 0.009369897727103364, + 0.00570323414512224, + 0.00860621984101823, + -0.9925275539134126, + 0.12171683409744925, + 0.006801091322613537, + -0.12166042799218464, + -0.992548480134638 + ], + [ + 0.9992857968936805, + 0.01010871867787282, + 0.03641029982372258, + 0.0056096900630913165, + -0.9925621379468145, + 0.12160975985439916, + 0.03736880388717041, + -0.12131865528903708, + -0.9919099537633957 + ], + [ + 0.9993257188820406, + 0.02656240264551244, + 0.02534849791585771, + 0.023422838643394568, + -0.9928564399365203, + 0.11699341992806307, + 0.028275045725481524, + -0.11632079969754454, + -0.9928091424573735 + ], + [ + 0.9996274879922977, + 0.005138814226181246, + 0.026804436919236604, + 0.002728571876287545, + -0.9960106571981421, + 0.08919263222509376, + 0.02715584919910386, + -0.08908626906585378, + -0.9956536528925115 + ], + [ + 0.9993326041088967, + -0.0007302513472682679, + 0.03652140602306012, + -0.0031720807598543963, + -0.9977581898350847, + 0.06684708311264087, + 0.036390716791296664, + -0.06691831849340782, + -0.9970946065351225 + ], + [ + 0.9995989466859591, + 0.0086584130601515, + 0.026962523390824288, + 0.007768656373416527, + -0.9994274202211861, + 0.032931439205964176, + 0.027232219198455417, + -0.03270876936395097, + -0.9990938607779666 + ], + [ + 0.999062720273369, + 0.010101897266904183, + 0.04209076658348468, + 0.009290546237204605, + -0.9997681030766895, + 0.019427450194316357, + 0.04227725997023506, + -0.019018195026005835, + -0.9989248928459848 + ], + [ + 0.9978918003254929, + 0.03569202426720464, + 0.05420363684159757, + 0.03199451369686652, + -0.9971983733896004, + 0.06761475580400968, + 0.056465085995219544, + -0.06573799139648333, + -0.9962380290626874 + ], + [ + 0.9952523719368042, + 0.044424720679940397, + 0.08659769250202093, + 0.0335310275015064, + -0.9917876280877741, + 0.1234219225531684, + 0.0913695044796595, + -0.11993225156118913, + -0.9885685958428 + ], + [ + 0.9940988019412137, + 0.049761457921488665, + 0.09639174904820334, + 0.034943172713150374, + -0.9881091766080408, + 0.14973052388781352, + 0.10269638094783497, + -0.14547870087579165, + -0.984016971871781 + ], + [ + 0.9899844670962084, + 0.021733735625554557, + 0.139493367741964, + 0.001987868355583752, + -0.9901270642310784, + 0.14015864246112913, + 0.14116232956294386, + -0.1384775845142609, + -0.9802536178456361 + ], + [ + 0.9842793410687284, + 0.02437223509427286, + 0.17492905105161757, + 0.004633023080776103, + -0.9936552247876662, + 0.11237361500506043, + 0.17655796170788482, + -0.10979657739967144, + -0.9781472270312251 + ], + [ + 0.9805758120299125, + -0.018797046041137418, + 0.19523767034567246, + -0.03740590621365907, + -0.9950497998223027, + 0.09206896357584783, + 0.19254058024793902, + -0.09758364070746291, + -0.9764248860122647 + ], + [ + 0.974350912215186, + -0.04105960021493226, + 0.22125643289094468, + -0.06145662985145401, + -0.9943888291867953, + 0.08610423355338549, + 0.21647951984595806, + -0.09749341320676243, + -0.9714070474670025 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005736.json b/json/chunk-0005/episode_0005736.json new file mode 100644 index 0000000000000000000000000000000000000000..aeaa2604f51c91e82cebc218998ba04399dc5ef6 --- /dev/null +++ b/json/chunk-0005/episode_0005736.json @@ -0,0 +1,1582 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 25, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPick up box cutter and put into drawer." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005736.mp4", + "start": 0, + "end": 25, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.194729283452034, + -0.03987455368041992, + 0.15651552379131317, + 0.10993688553571701, + -0.1355077475309372, + -0.10285632312297821, + 0.0, + 0.9961419701576233 + ], + [ + 0.1948811262845993, + -0.033980339765548706, + 0.15152500569820404, + 0.11230912059545517, + -0.10659852623939514, + -0.0785180926322937, + 0.0, + 0.9961419701576233 + ], + [ + 0.21211467683315277, + 0.012102441862225533, + 0.15791912376880646, + 0.12197203934192657, + -0.07162659615278244, + 0.05143251642584801, + 0.0, + 0.9961419701576233 + ], + [ + 0.2347128689289093, + 0.060856640338897705, + 0.15957413613796234, + 0.166429802775383, + -0.07233500480651855, + 0.13336822390556335, + 0.0, + 0.9961419701576233 + ], + [ + 0.2556390166282654, + 0.10144244134426117, + 0.14526954293251038, + 0.12902982532978058, + -0.08828690648078918, + 0.2993128001689911, + 0.0, + 0.9961419701576233 + ], + [ + 0.2660006284713745, + 0.14602065086364746, + 0.1242363378405571, + 0.09827987849712372, + -0.1066964641213417, + 0.34724506735801697, + 0.0, + 0.9961419701576233 + ], + [ + 0.27470603585243225, + 0.16704300045967102, + 0.10641823709011078, + 0.11623209714889526, + -0.18588712811470032, + 0.3128499686717987, + 0.0, + 0.9961419701576233 + ], + [ + 0.271714448928833, + 0.18275734782218933, + 0.08631477504968643, + 0.06608615815639496, + -0.1776570975780487, + 0.31019821763038635, + 0.0, + 0.9961419701576233 + ], + [ + 0.268394410610199, + 0.18316659331321716, + 0.06717189401388168, + 0.02343183569610119, + -0.1619366705417633, + 0.3008003830909729, + 0.0, + 0.9961419701576233 + ], + [ + 0.2634180188179016, + 0.192582368850708, + 0.0627867728471756, + 0.02131771296262741, + -0.1749429851770401, + 0.2852114140987396, + 0.0, + 0.9961419701576233 + ], + [ + 0.2594356834888458, + 0.1929573118686676, + 0.05474155768752098, + -0.012802098877727985, + -0.16576921939849854, + 0.28082147240638733, + 0.0, + 0.9961419701576233 + ], + [ + 0.2561565339565277, + 0.1956055909395218, + 0.04608221724629402, + -0.03595825657248497, + -0.16875620186328888, + 0.2952441871166229, + 0.0, + 0.9961419701576233 + ], + [ + 0.256662517786026, + 0.1955740600824356, + 0.0445326529443264, + -0.05247383192181587, + -0.1872304230928421, + 0.3135233223438263, + 0.0, + 0.9157527089118958 + ], + [ + 0.253572016954422, + 0.19369803369045258, + 0.04446374997496605, + -0.060272809118032455, + -0.1594264954328537, + 0.3393591344356537, + 0.0, + 0.657115638256073 + ], + [ + 0.25017571449279785, + 0.1728743314743042, + 0.057670723646879196, + -0.027890730649232864, + -0.08050765097141266, + 0.3843163847923279, + 0.0, + 0.639030933380127 + ], + [ + 0.25393587350845337, + 0.14261923730373383, + 0.09092938899993896, + 0.04259941726922989, + -0.013285370543599129, + 0.3936082124710083, + 0.0, + 0.639030933380127 + ], + [ + 0.2581592798233032, + 0.12381092458963394, + 0.12272480875253677, + 0.10360497236251831, + 0.016765007749199867, + 0.4963301420211792, + 0.0, + 0.639030933380127 + ], + [ + 0.26376327872276306, + 0.07024043798446655, + 0.15066297352313995, + 0.14820903539657593, + 0.018046079203486443, + 0.6304083466529846, + 0.0, + 0.639030933380127 + ], + [ + 0.2675810158252716, + 0.02511388063430786, + 0.15920747816562653, + 0.19195157289505005, + -0.03183506429195404, + 0.7730551958084106, + 0.0, + 0.639030933380127 + ], + [ + 0.26754528284072876, + -0.03020407445728779, + 0.16117487847805023, + 0.2145795077085495, + -0.13072295486927032, + 0.7771507501602173, + 0.0, + 0.639030933380127 + ], + [ + 0.2688642740249634, + -0.071437306702137, + 0.15608368813991547, + 0.16310536861419678, + -0.15684229135513306, + 0.7519319653511047, + 0.0, + 0.6380261182785034 + ], + [ + 0.261096328496933, + -0.10113081336021423, + 0.14667820930480957, + 0.10827872157096863, + -0.13906952738761902, + 0.6663262248039246, + 0.0, + 0.6380261182785034 + ], + [ + 0.2590741515159607, + -0.10887391865253448, + 0.1523759961128235, + 0.1082192212343216, + -0.1591225266456604, + 0.6892005801200867, + 0.0, + 0.639030933380127 + ], + [ + 0.25736162066459656, + -0.12264671176671982, + 0.1640976071357727, + 0.11360041797161102, + -0.15435890853405, + 0.6821605563163757, + 0.0, + 0.6380261182785034 + ], + [ + 0.2631964683532715, + -0.1281420737504959, + 0.17139099538326263, + 0.061071138828992844, + -0.14014412462711334, + 0.7034199833869934, + 0.0, + 0.8186774849891663 + ] + ], + "left_gripper_pos": [ + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9157527089118958 + ], + [ + 0.657115638256073 + ], + [ + 0.639030933380127 + ], + [ + 0.639030933380127 + ], + [ + 0.639030933380127 + ], + [ + 0.639030933380127 + ], + [ + 0.639030933380127 + ], + [ + 0.639030933380127 + ], + [ + 0.6380261182785034 + ], + [ + 0.6380261182785034 + ], + [ + 0.639030933380127 + ], + [ + 0.6380261182785034 + ], + [ + 0.8186774849891663 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.194729283452034, + -0.03987455368041992, + 0.15651552379131317 + ], + [ + 0.1948811262845993, + -0.033980339765548706, + 0.15152500569820404 + ], + [ + 0.21211467683315277, + 0.012102441862225533, + 0.15791912376880646 + ], + [ + 0.2347128689289093, + 0.060856640338897705, + 0.15957413613796234 + ], + [ + 0.2556390166282654, + 0.10144244134426117, + 0.14526954293251038 + ], + [ + 0.2660006284713745, + 0.14602065086364746, + 0.1242363378405571 + ], + [ + 0.27470603585243225, + 0.16704300045967102, + 0.10641823709011078 + ], + [ + 0.271714448928833, + 0.18275734782218933, + 0.08631477504968643 + ], + [ + 0.268394410610199, + 0.18316659331321716, + 0.06717189401388168 + ], + [ + 0.2634180188179016, + 0.192582368850708, + 0.0627867728471756 + ], + [ + 0.2594356834888458, + 0.1929573118686676, + 0.05474155768752098 + ], + [ + 0.2561565339565277, + 0.1956055909395218, + 0.04608221724629402 + ], + [ + 0.256662517786026, + 0.1955740600824356, + 0.0445326529443264 + ], + [ + 0.253572016954422, + 0.19369803369045258, + 0.04446374997496605 + ], + [ + 0.25017571449279785, + 0.1728743314743042, + 0.057670723646879196 + ], + [ + 0.25393587350845337, + 0.14261923730373383, + 0.09092938899993896 + ], + [ + 0.2581592798233032, + 0.12381092458963394, + 0.12272480875253677 + ], + [ + 0.26376327872276306, + 0.07024043798446655, + 0.15066297352313995 + ], + [ + 0.2675810158252716, + 0.02511388063430786, + 0.15920747816562653 + ], + [ + 0.26754528284072876, + -0.03020407445728779, + 0.16117487847805023 + ], + [ + 0.2688642740249634, + -0.071437306702137, + 0.15608368813991547 + ], + [ + 0.261096328496933, + -0.10113081336021423, + 0.14667820930480957 + ], + [ + 0.2590741515159607, + -0.10887391865253448, + 0.1523759961128235 + ], + [ + 0.25736162066459656, + -0.12264671176671982, + 0.1640976071357727 + ], + [ + 0.2631964683532715, + -0.1281420737504959, + 0.17139099538326263 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.985596264600533, + -0.08731169494912686, + 0.14483325284818666, + -0.10173382287075966, + -0.9902317150181151, + 0.09534872760757364, + 0.13509342134085234, + -0.10870979025549167, + -0.984851231919334 + ], + [ + 0.9912602814194482, + -0.06605579593370184, + 0.1141914458433809, + -0.07799220886407507, + -0.9915737104810385, + 0.10343496526498391, + 0.10639675670216242, + -0.11143701587188645, + -0.9880594727327044 + ], + [ + 0.9961169421873917, + 0.059723732637518435, + 0.06468472189847656, + 0.05127802428358417, + -0.990810449014513, + 0.12516077000894352, + 0.07156536671332851, + -0.1213578587628412, + -0.9900255897721459 + ], + [ + 0.9885278196754922, + 0.14300227733912163, + 0.04861171055869391, + 0.1326254737297859, + -0.9758327808880384, + 0.17366884424751394, + 0.07227194092846241, + -0.1652293328078956, + -0.9836035960356643 + ], + [ + 0.9518177503578558, + 0.303253375101589, + 0.045610970097177087, + 0.293715207346984, + -0.9442508135412055, + 0.14873391711337933, + 0.08817225797737534, + -0.12817094684937905, + -0.9878248130650014 + ], + [ + 0.9349665530948836, + 0.3484921201451733, + 0.06626301223604392, + 0.33837337828595027, + -0.9322202292127267, + 0.12833121644371762, + 0.10649413815429085, + -0.09756375578714267, + -0.9895151904319011 + ], + [ + 0.9350691846832468, + 0.3260879965486787, + 0.1389684797451448, + 0.30246943626217826, + -0.9384438409633781, + 0.16683943624078199, + 0.1848184514139427, + -0.11397269789195467, + -0.9761415697285826 + ], + [ + 0.9372847247753004, + 0.31569459218753093, + 0.14776423507208394, + 0.30044294028674556, + -0.946631976718006, + 0.11671306819210861, + 0.17672403440037412, + -0.06499865474384264, + -0.9821119032710817 + ], + [ + 0.9426039754521492, + 0.2998113645469956, + 0.14700643234318758, + 0.2924084197641715, + -0.9537182315774761, + 0.07013451937349628, + 0.16122984064007442, + -0.023123158201243308, + -0.9866459638806496 + ], + [ + 0.9449552680279357, + 0.28485663117231735, + 0.16098522013964622, + 0.27706577748627664, + -0.9583402780531203, + 0.06941517418398521, + 0.174051993301361, + -0.020990739344443107, + -0.9845127182975325 + ], + [ + 0.9476567925114757, + 0.2750926426764467, + 0.1620822061552423, + 0.2733458532962975, + -0.9613348092752065, + 0.0334279667572098, + 0.16501105445569583, + 0.012626259188333442, + -0.9862108950353004 + ], + [ + 0.9431402110318423, + 0.2850085330817055, + 0.1710458371473163, + 0.28684003699348726, + -0.957869592316636, + 0.014444282354494388, + 0.16795635002103, + 0.03543981074689684, + -0.9851571876111128 + ], + [ + 0.9346282969765288, + 0.29870060384303526, + 0.1929971392393138, + 0.30302215832528984, + -0.9529545041995885, + 0.007435354033202866, + 0.18613843787524373, + 0.0515331174054334, + -0.9811711470257579 + ], + [ + 0.9310099324425475, + 0.3232611151393993, + 0.16947789570370206, + 0.32866138781969395, + -0.9444391356341004, + -0.0040510787632018035, + 0.1587520010889805, + 0.05947243497238802, + -0.9855256625926587 + ], + [ + 0.9240522314607656, + 0.3727005514391694, + 0.0849810125223206, + 0.37371109533154184, + -0.9275352486542493, + 0.0042871587326872695, + 0.0804207110045603, + 0.027796788678533718, + -0.9963733475864768 + ], + [ + 0.9234497405453386, + 0.38369776045855464, + -0.004074960838701252, + 0.3834893557847877, + -0.9224764147728535, + 0.04442047036661527, + 0.013284979733360954, + -0.042582775941834544, + -0.9990046128555023 + ], + [ + 0.8792124993920156, + 0.4721236770824224, + -0.06391098849976659, + 0.47613479368728084, + -0.8754465148660382, + 0.08300034848889487, + -0.01676422241606458, + -0.10340518916901612, + -0.9944980280019184 + ], + [ + 0.807655336901295, + 0.5808598477173912, + -0.10146277191455236, + 0.5893786823006004, + -0.8005019569792029, + 0.10876297955680467, + -0.01804509973547839, + -0.147642995709905, + -0.9888760894031877 + ], + [ + 0.7154178120227185, + 0.6898461961410932, + -0.110858377718104, + 0.6979715074776301, + -0.6983938737892106, + 0.15837225704997693, + 0.031829687243671884, + -0.1906783226362237, + -0.9811364065646557 + ], + [ + 0.7068318215280956, + 0.7049565235858438, + -0.058524148255537506, + 0.6952678638291802, + -0.6771002345943684, + 0.24111795834955935, + 0.13035096317896158, + -0.21111980524340435, + -0.968729608421413 + ], + [ + 0.7214056247754355, + 0.6925107865665957, + 0.0016537929976332272, + 0.6746669338392149, + -0.7033518836717932, + 0.22387643046853561, + 0.15620004137757587, + -0.16038995674373024, + -0.9746161341006973 + ], + [ + 0.778508281763007, + 0.6262584654555453, + 0.04153540263048226, + 0.6121346939473337, + -0.7722345597649515, + 0.17013201101096756, + 0.13862168550560494, + -0.1070239185878438, + -0.9845455343241815 + ], + [ + 0.7620048218246468, + 0.6454081799685834, + 0.05288603545009346, + 0.6278866564261434, + -0.7563566758055431, + 0.18352908664946307, + 0.15845187975529323, + -0.10664361300157063, + -0.9815906181336417 + ], + [ + 0.7669834296986036, + 0.6399357231778765, + 0.04710295923373786, + 0.6229754269135196, + -0.7602212661235148, + 0.1842966195986183, + 0.15374666184891633, + -0.11200846724407917, + -0.9817413443651779 + ], + [ + 0.7551575403621938, + 0.652125620118112, + 0.06685256030766146, + 0.6404880629428651, + -0.7556982266625856, + 0.13673050664251934, + 0.13968582770566987, + -0.06043480623441634, + -0.9883498893274539 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + 0.00015184283256530762, + 0.005894213914871216, + -0.004990518093109131, + 0.002372235059738159, + 0.028909221291542053, + 0.02433823049068451, + 1.0 + ], + [ + 0.017233550548553467, + 0.04608277976512909, + 0.006394118070602417, + 0.009662918746471405, + 0.0349719300866127, + 0.129950612783432, + 1.0 + ], + [ + 0.02259819209575653, + 0.04875420033931732, + 0.0016550123691558838, + 0.04445776343345642, + -0.0007084086537361145, + 0.08193570375442505, + 1.0 + ], + [ + 0.02092614769935608, + 0.040585801005363464, + -0.014304593205451965, + -0.03739997744560242, + -0.01595190167427063, + 0.16594457626342773, + 1.0 + ], + [ + 0.01036161184310913, + 0.04457820951938629, + -0.021033205091953278, + -0.03074994683265686, + -0.01840955764055252, + 0.04793226718902588, + 1.0 + ], + [ + 0.00870540738105774, + 0.02102234959602356, + -0.01781810075044632, + 0.017952218651771545, + -0.07919066399335861, + -0.03439509868621826, + 1.0 + ], + [ + -0.002991586923599243, + 0.01571434736251831, + -0.020103462040424347, + -0.050145938992500305, + 0.008230030536651611, + -0.0026517510414123535, + 1.0 + ], + [ + -0.003320038318634033, + 0.00040924549102783203, + -0.01914288103580475, + -0.04265432059764862, + 0.0157204270362854, + -0.009397834539413452, + 1.0 + ], + [ + -0.004976391792297363, + 0.009415775537490845, + -0.004385121166706085, + -0.0021141227334737778, + -0.013006314635276794, + -0.015588968992233276, + 1.0 + ], + [ + -0.003982335329055786, + 0.0003749430179595947, + -0.008045215159654617, + -0.03411981090903282, + 0.009173765778541565, + -0.004389941692352295, + 1.0 + ], + [ + -0.0032791495323181152, + 0.002648279070854187, + -0.00865934044122696, + -0.02315615862607956, + -0.0029869824647903442, + 0.014422714710235596, + 1.0 + ], + [ + 0.000505983829498291, + -3.153085708618164e-05, + -0.0015495643019676208, + -0.016515575349330902, + -0.018474221229553223, + 0.01827913522720337, + 0.0 + ], + [ + -0.003090500831604004, + -0.0018760263919830322, + -6.890296936035156e-05, + -0.007798977196216583, + 0.027803927659988403, + 0.025835812091827393, + 0.0 + ], + [ + -0.0033963024616241455, + -0.020823702216148376, + 0.013206973671913147, + 0.03238207846879959, + 0.07891884446144104, + 0.044957250356674194, + 0.0 + ], + [ + 0.0037601590156555176, + -0.030255094170570374, + 0.03325866535305977, + 0.07049015164375305, + 0.06722228229045868, + 0.00929182767868042, + 0.0 + ], + [ + 0.0042234063148498535, + -0.018808312714099884, + 0.03179541975259781, + 0.06100555509328842, + 0.030050378292798996, + 0.1027219295501709, + 0.0 + ], + [ + 0.005603998899459839, + -0.05357048660516739, + 0.02793816477060318, + 0.04460406303405762, + 0.0012810714542865753, + 0.13407820463180542, + 0.0 + ], + [ + 0.003817737102508545, + -0.04512655735015869, + 0.008544504642486572, + 0.04374253749847412, + -0.04988114535808563, + 0.14264684915542603, + 0.0 + ], + [ + -3.573298454284668e-05, + -0.0553179532289505, + 0.001967400312423706, + 0.02262793481349945, + -0.09888789057731628, + 0.004095554351806641, + 0.0 + ], + [ + 0.0013189911842346191, + -0.041233234107494354, + -0.005091190338134766, + -0.05147413909435272, + -0.026119336485862732, + -0.02521878480911255, + 0.0 + ], + [ + -0.0077679455280303955, + -0.02969350665807724, + -0.009405478835105896, + -0.05482664704322815, + 0.017772763967514038, + -0.08560574054718018, + 0.0 + ], + [ + -0.00202217698097229, + -0.0077431052923202515, + 0.005697786808013916, + -5.950033664703369e-05, + -0.020052999258041382, + 0.02287435531616211, + 0.0 + ], + [ + -0.0017125308513641357, + -0.013772793114185333, + 0.011721611022949219, + 0.005381196737289429, + 0.004763618111610413, + -0.0070400238037109375, + 0.0 + ], + [ + 0.005834847688674927, + -0.0054953619837760925, + 0.007293388247489929, + -0.05252927914261818, + 0.014214783906936646, + 0.021259427070617676, + 1.0 + ], + [ + 0.0005003213882446289, + -0.0002967715263366699, + 0.0007551014423370361, + -0.0029295384883880615, + -0.0009994059801101685, + 0.0004106760025024414, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9157527089118958 + ], + [ + 0.657115638256073 + ], + [ + 0.639030933380127 + ], + [ + 0.639030933380127 + ], + [ + 0.639030933380127 + ], + [ + 0.639030933380127 + ], + [ + 0.639030933380127 + ], + [ + 0.639030933380127 + ], + [ + 0.6380261182785034 + ], + [ + 0.6380261182785034 + ], + [ + 0.639030933380127 + ], + [ + 0.6380261182785034 + ], + [ + 0.8186774849891663 + ], + [ + 0.9954678416252136 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.1948811262845993, + -0.033980339765548706, + 0.15152500569820404 + ], + [ + 0.21211467683315277, + 0.012102441862225533, + 0.15791912376880646 + ], + [ + 0.2347128689289093, + 0.060856640338897705, + 0.15957413613796234 + ], + [ + 0.2556390166282654, + 0.10144244134426117, + 0.14526954293251038 + ], + [ + 0.2660006284713745, + 0.14602065086364746, + 0.1242363378405571 + ], + [ + 0.27470603585243225, + 0.16704300045967102, + 0.10641823709011078 + ], + [ + 0.271714448928833, + 0.18275734782218933, + 0.08631477504968643 + ], + [ + 0.268394410610199, + 0.18316659331321716, + 0.06717189401388168 + ], + [ + 0.2634180188179016, + 0.192582368850708, + 0.0627867728471756 + ], + [ + 0.2594356834888458, + 0.1929573118686676, + 0.05474155768752098 + ], + [ + 0.2561565339565277, + 0.1956055909395218, + 0.04608221724629402 + ], + [ + 0.256662517786026, + 0.1955740600824356, + 0.0445326529443264 + ], + [ + 0.253572016954422, + 0.19369803369045258, + 0.04446374997496605 + ], + [ + 0.25017571449279785, + 0.1728743314743042, + 0.057670723646879196 + ], + [ + 0.25393587350845337, + 0.14261923730373383, + 0.09092938899993896 + ], + [ + 0.2581592798233032, + 0.12381092458963394, + 0.12272480875253677 + ], + [ + 0.26376327872276306, + 0.07024043798446655, + 0.15066297352313995 + ], + [ + 0.2675810158252716, + 0.02511388063430786, + 0.15920747816562653 + ], + [ + 0.26754528284072876, + -0.03020407445728779, + 0.16117487847805023 + ], + [ + 0.2688642740249634, + -0.071437306702137, + 0.15608368813991547 + ], + [ + 0.261096328496933, + -0.10113081336021423, + 0.14667820930480957 + ], + [ + 0.2590741515159607, + -0.10887391865253448, + 0.1523759961128235 + ], + [ + 0.25736162066459656, + -0.12264671176671982, + 0.1640976071357727 + ], + [ + 0.2631964683532715, + -0.1281420737504959, + 0.17139099538326263 + ], + [ + 0.2636967897415161, + -0.12843884527683258, + 0.17214609682559967 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9912602814194482, + -0.06605579593370184, + 0.1141914458433809, + -0.07799220886407507, + -0.9915737104810385, + 0.10343496526498391, + 0.10639675670216242, + -0.11143701587188645, + -0.9880594727327044 + ], + [ + 0.9961169421873917, + 0.059723732637518435, + 0.06468472189847656, + 0.05127802428358417, + -0.990810449014513, + 0.12516077000894352, + 0.07156536671332851, + -0.1213578587628412, + -0.9900255897721459 + ], + [ + 0.9885278196754922, + 0.14300227733912163, + 0.04861171055869391, + 0.1326254737297859, + -0.9758327808880384, + 0.17366884424751394, + 0.07227194092846241, + -0.1652293328078956, + -0.9836035960356643 + ], + [ + 0.9518177503578558, + 0.303253375101589, + 0.045610970097177087, + 0.293715207346984, + -0.9442508135412055, + 0.14873391711337933, + 0.08817225797737534, + -0.12817094684937905, + -0.9878248130650014 + ], + [ + 0.9349665530948836, + 0.3484921201451733, + 0.06626301223604392, + 0.33837337828595027, + -0.9322202292127267, + 0.12833121644371762, + 0.10649413815429085, + -0.09756375578714267, + -0.9895151904319011 + ], + [ + 0.9350691846832468, + 0.3260879965486787, + 0.1389684797451448, + 0.30246943626217826, + -0.9384438409633781, + 0.16683943624078199, + 0.1848184514139427, + -0.11397269789195467, + -0.9761415697285826 + ], + [ + 0.9372847247753004, + 0.31569459218753093, + 0.14776423507208394, + 0.30044294028674556, + -0.946631976718006, + 0.11671306819210861, + 0.17672403440037412, + -0.06499865474384264, + -0.9821119032710817 + ], + [ + 0.9426039754521492, + 0.2998113645469956, + 0.14700643234318758, + 0.2924084197641715, + -0.9537182315774761, + 0.07013451937349628, + 0.16122984064007442, + -0.023123158201243308, + -0.9866459638806496 + ], + [ + 0.9449552680279357, + 0.28485663117231735, + 0.16098522013964622, + 0.27706577748627664, + -0.9583402780531203, + 0.06941517418398521, + 0.174051993301361, + -0.020990739344443107, + -0.9845127182975325 + ], + [ + 0.9476567925114757, + 0.2750926426764467, + 0.1620822061552423, + 0.2733458532962975, + -0.9613348092752065, + 0.0334279667572098, + 0.16501105445569583, + 0.012626259188333442, + -0.9862108950353004 + ], + [ + 0.9431402110318423, + 0.2850085330817055, + 0.1710458371473163, + 0.28684003699348726, + -0.957869592316636, + 0.014444282354494388, + 0.16795635002103, + 0.03543981074689684, + -0.9851571876111128 + ], + [ + 0.9346282969765288, + 0.29870060384303526, + 0.1929971392393138, + 0.30302215832528984, + -0.9529545041995885, + 0.007435354033202866, + 0.18613843787524373, + 0.0515331174054334, + -0.9811711470257579 + ], + [ + 0.9310099324425475, + 0.3232611151393993, + 0.16947789570370206, + 0.32866138781969395, + -0.9444391356341004, + -0.0040510787632018035, + 0.1587520010889805, + 0.05947243497238802, + -0.9855256625926587 + ], + [ + 0.9240522314607656, + 0.3727005514391694, + 0.0849810125223206, + 0.37371109533154184, + -0.9275352486542493, + 0.0042871587326872695, + 0.0804207110045603, + 0.027796788678533718, + -0.9963733475864768 + ], + [ + 0.9234497405453386, + 0.38369776045855464, + -0.004074960838701252, + 0.3834893557847877, + -0.9224764147728535, + 0.04442047036661527, + 0.013284979733360954, + -0.042582775941834544, + -0.9990046128555023 + ], + [ + 0.8792124993920156, + 0.4721236770824224, + -0.06391098849976659, + 0.47613479368728084, + -0.8754465148660382, + 0.08300034848889487, + -0.01676422241606458, + -0.10340518916901612, + -0.9944980280019184 + ], + [ + 0.807655336901295, + 0.5808598477173912, + -0.10146277191455236, + 0.5893786823006004, + -0.8005019569792029, + 0.10876297955680467, + -0.01804509973547839, + -0.147642995709905, + -0.9888760894031877 + ], + [ + 0.7154178120227185, + 0.6898461961410932, + -0.110858377718104, + 0.6979715074776301, + -0.6983938737892106, + 0.15837225704997693, + 0.031829687243671884, + -0.1906783226362237, + -0.9811364065646557 + ], + [ + 0.7068318215280956, + 0.7049565235858438, + -0.058524148255537506, + 0.6952678638291802, + -0.6771002345943684, + 0.24111795834955935, + 0.13035096317896158, + -0.21111980524340435, + -0.968729608421413 + ], + [ + 0.7214056247754355, + 0.6925107865665957, + 0.0016537929976332272, + 0.6746669338392149, + -0.7033518836717932, + 0.22387643046853561, + 0.15620004137757587, + -0.16038995674373024, + -0.9746161341006973 + ], + [ + 0.778508281763007, + 0.6262584654555453, + 0.04153540263048226, + 0.6121346939473337, + -0.7722345597649515, + 0.17013201101096756, + 0.13862168550560494, + -0.1070239185878438, + -0.9845455343241815 + ], + [ + 0.7620048218246468, + 0.6454081799685834, + 0.05288603545009346, + 0.6278866564261434, + -0.7563566758055431, + 0.18352908664946307, + 0.15845187975529323, + -0.10664361300157063, + -0.9815906181336417 + ], + [ + 0.7669834296986036, + 0.6399357231778765, + 0.04710295923373786, + 0.6229754269135196, + -0.7602212661235148, + 0.1842966195986183, + 0.15374666184891633, + -0.11200846724407917, + -0.9817413443651779 + ], + [ + 0.7551575403621938, + 0.652125620118112, + 0.06685256030766146, + 0.6404880629428651, + -0.7556982266625856, + 0.13673050664251934, + 0.13968582770566987, + -0.06043480623441634, + -0.9883498893274539 + ], + [ + 0.7547876377717488, + 0.6522812671188392, + 0.06946056746662141, + 0.640707471019222, + -0.7557905347894203, + 0.13518359405961589, + 0.14067536545925943, + -0.05753100110865344, + -0.9883828334528783 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005737.json b/json/chunk-0005/episode_0005737.json new file mode 100644 index 0000000000000000000000000000000000000000..c4cc101085bba0fd08174863edacbee2a8975630 --- /dev/null +++ b/json/chunk-0005/episode_0005737.json @@ -0,0 +1,2482 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 40, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPick green stuff put the right side on the stove." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005737.mp4", + "start": 0, + "end": 40, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.24233020842075348, + 0.20571668446063995, + 0.05232871323823929, + -0.23623259365558624, + -0.10985488444566727, + 1.9817935228347778, + 0.0, + 1.0008161067962646 + ], + [ + 0.2406046986579895, + 0.20299431681632996, + 0.042775336652994156, + -0.20227041840553284, + -0.09323995560407639, + 1.9792386293411255, + 0.0, + 1.0008161067962646 + ], + [ + 0.2423982322216034, + 0.1970648169517517, + 0.04015302658081055, + -0.17469844222068787, + -0.04774228110909462, + 1.9739108085632324, + 0.0, + 1.0008161067962646 + ], + [ + 0.24854403734207153, + 0.19705912470817566, + 0.04396158829331398, + -0.1938091516494751, + -0.03361134976148605, + 1.958088994026184, + 0.0, + 1.0008161067962646 + ], + [ + 0.2638494670391083, + 0.1887371689081192, + 0.04176627844572067, + -0.21018841862678528, + -0.024785781279206276, + 1.9385671615600586, + 0.0, + 1.0008161067962646 + ], + [ + 0.2871836721897125, + 0.17533542215824127, + 0.04269151762127876, + -0.2545424997806549, + 0.013364758342504501, + 1.9080126285552979, + 0.0, + 1.0008161067962646 + ], + [ + 0.3051223158836365, + 0.16405311226844788, + 0.03477392718195915, + -0.23860904574394226, + -0.00964243896305561, + 1.8281415700912476, + 0.0, + 1.0008161067962646 + ], + [ + 0.32287466526031494, + 0.15606345236301422, + 0.029721632599830627, + -0.2681688368320465, + 0.0444224588572979, + 1.8356425762176514, + 0.0, + 1.0008161067962646 + ], + [ + 0.33311930298805237, + 0.15437883138656616, + 0.02555432915687561, + -0.22069181501865387, + 0.12216551601886749, + 2.032454013824463, + 0.0, + 1.0008161067962646 + ], + [ + 0.34562766551971436, + 0.15804435312747955, + 0.016746886074543, + -0.16047964990139008, + 0.1554224044084549, + 2.1292965412139893, + 0.0, + 1.0008161067962646 + ], + [ + 0.35288873314857483, + 0.1647278368473053, + 0.007223093882203102, + -0.17393001914024353, + 0.13195814192295074, + 2.3200552463531494, + 0.0, + 1.0008161067962646 + ], + [ + 0.36165565252304077, + 0.1645374447107315, + 0.0009939925512298942, + -0.15647225081920624, + 0.14940650761127472, + 2.4761831760406494, + 0.0, + 1.0008161067962646 + ], + [ + 0.3626103103160858, + 0.16537515819072723, + -4.759924195241183e-05, + -0.1391967386007309, + 0.17060069739818573, + 2.7325267791748047, + 0.0, + 1.0008161067962646 + ], + [ + 0.3634427785873413, + 0.15661127865314484, + -0.0010238375980407, + -0.04803423956036568, + 0.20318736135959625, + 2.8385398387908936, + 0.0, + 1.0008161067962646 + ], + [ + 0.3654327392578125, + 0.15925724804401398, + -0.0008996523101814091, + 0.006569009739905596, + 0.24655187129974365, + 2.917685031890869, + 0.0, + 1.0008161067962646 + ], + [ + 0.37502041459083557, + 0.15821725130081177, + -0.006701474543660879, + 0.019999481737613678, + 0.2571021616458893, + 2.9261224269866943, + 0.0, + 1.0008161067962646 + ], + [ + 0.3868701756000519, + 0.14977829158306122, + -0.006387732457369566, + -0.015649570152163506, + 0.28392651677131653, + 2.904585123062134, + 0.0, + 1.0008161067962646 + ], + [ + 0.3920609951019287, + 0.14504650235176086, + -0.018306730315089226, + -0.037398580461740494, + 0.28107497096061707, + 2.900338888168335, + 0.0, + 1.0008161067962646 + ], + [ + 0.4015253782272339, + 0.14175038039684296, + -0.019220978021621704, + -0.056131478399038315, + 0.2856942415237427, + 2.888471841812134, + 0.0, + 1.0008161067962646 + ], + [ + 0.40788164734840393, + 0.14187228679656982, + -0.02327445149421692, + -0.07813379913568497, + 0.25597405433654785, + 2.873506546020508, + 0.0, + 0.9499720335006714 + ], + [ + 0.41343724727630615, + 0.1483098715543747, + -0.022899148985743523, + -0.11126410961151123, + 0.24061067402362823, + 2.862764596939087, + 0.0, + 0.7111459374427795 + ], + [ + 0.41402286291122437, + 0.14933331310749054, + -0.022920571267604828, + -0.11776910722255707, + 0.23622272908687592, + 2.8506717681884766, + 0.0, + 0.6971942782402039 + ], + [ + 0.4128122925758362, + 0.15221180021762848, + -0.023073235526680946, + -0.13766084611415863, + 0.2209598869085312, + 2.8299410343170166, + 0.0, + 0.6911999583244324 + ], + [ + 0.408173143863678, + 0.1552613377571106, + -0.02127961628139019, + -0.15357978641986847, + 0.19028422236442566, + 2.834378719329834, + 0.0, + 0.6902000904083252 + ], + [ + 0.40145978331565857, + 0.15109045803546906, + -0.0037182241212576628, + -0.17540448904037476, + 0.21663598716259003, + 2.7801527976989746, + 0.0, + 0.6902000904083252 + ], + [ + 0.3926488161087036, + 0.14575077593326569, + 0.018034685403108597, + -0.2157050222158432, + 0.24455276131629944, + 2.702310562133789, + 0.0, + 0.6902000904083252 + ], + [ + 0.3754517138004303, + 0.13882285356521606, + 0.03743486478924751, + -0.24060457944869995, + 0.26807498931884766, + 2.6040003299713135, + 0.0, + 0.6902000904083252 + ], + [ + 0.3340435028076172, + 0.13262243568897247, + 0.05842917785048485, + -0.28111597895622253, + 0.3006773293018341, + 2.5674850940704346, + 0.0, + 0.6902000904083252 + ], + [ + 0.29543960094451904, + 0.11592621356248856, + 0.05831821262836456, + -0.27883613109588623, + 0.2762645184993744, + 2.519235372543335, + 0.0, + 0.6902000904083252 + ], + [ + 0.26588135957717896, + 0.1024937555193901, + 0.04102298989892006, + -0.25598663091659546, + 0.23486481606960297, + 2.4571995735168457, + 0.0, + 0.6902000904083252 + ], + [ + 0.2521972358226776, + 0.08439930528402328, + 0.023570241406559944, + -0.2430504411458969, + 0.20021115243434906, + 2.3948092460632324, + 0.0, + 0.6902000904083252 + ], + [ + 0.24116283655166626, + 0.06663478910923004, + 0.0055323150008916855, + -0.22675372660160065, + 0.16190952062606812, + 2.3311798572540283, + 0.0, + 0.6902000904083252 + ], + [ + 0.23709751665592194, + 0.055204253643751144, + -0.006720135919749737, + -0.2206726372241974, + 0.12193600088357925, + 2.281562566757202, + 0.0, + 0.6902000904083252 + ], + [ + 0.23622843623161316, + 0.046669892966747284, + -0.018891634419560432, + -0.20988041162490845, + 0.07741198688745499, + 2.2416656017303467, + 0.0, + 0.6902000904083252 + ], + [ + 0.2324162721633911, + 0.04797559231519699, + -0.02015797421336174, + -0.20362791419029236, + 0.06745478510856628, + 2.283395290374756, + 0.0, + 0.7545521855354309 + ], + [ + 0.2290121465921402, + 0.04724927619099617, + -0.019193409010767937, + -0.17355439066886902, + 0.08194688707590103, + 2.300518274307251, + 0.0, + 0.9961419701576233 + ], + [ + 0.2306809276342392, + 0.054066892713308334, + -0.013156004250049591, + -0.15578705072402954, + 0.09981555491685867, + 2.3016042709350586, + 0.0, + 1.0054124593734741 + ], + [ + 0.2359972447156906, + 0.05831441283226013, + 0.0042432332411408424, + -0.1834094524383545, + 0.1093839630484581, + 2.257828950881958, + 0.0, + 1.0008161067962646 + ], + [ + 0.2438916712999344, + 0.0626264438033104, + 0.02807632088661194, + -0.20048046112060547, + 0.14160826802253723, + 2.2035820484161377, + 0.0, + 1.0001531839370728 + ], + [ + 0.2515169382095337, + 0.06839970499277115, + 0.05213513225317001, + -0.22750486433506012, + 0.1605459302663803, + 2.1428282260894775, + 0.0, + 1.0001531839370728 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9499720335006714 + ], + [ + 0.7111459374427795 + ], + [ + 0.6971942782402039 + ], + [ + 0.6911999583244324 + ], + [ + 0.6902000904083252 + ], + [ + 0.6902000904083252 + ], + [ + 0.6902000904083252 + ], + [ + 0.6902000904083252 + ], + [ + 0.6902000904083252 + ], + [ + 0.6902000904083252 + ], + [ + 0.6902000904083252 + ], + [ + 0.6902000904083252 + ], + [ + 0.6902000904083252 + ], + [ + 0.6902000904083252 + ], + [ + 0.6902000904083252 + ], + [ + 0.7545521855354309 + ], + [ + 0.9961419701576233 + ], + [ + 1.0054124593734741 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.24233020842075348, + 0.20571668446063995, + 0.05232871323823929 + ], + [ + 0.2406046986579895, + 0.20299431681632996, + 0.042775336652994156 + ], + [ + 0.2423982322216034, + 0.1970648169517517, + 0.04015302658081055 + ], + [ + 0.24854403734207153, + 0.19705912470817566, + 0.04396158829331398 + ], + [ + 0.2638494670391083, + 0.1887371689081192, + 0.04176627844572067 + ], + [ + 0.2871836721897125, + 0.17533542215824127, + 0.04269151762127876 + ], + [ + 0.3051223158836365, + 0.16405311226844788, + 0.03477392718195915 + ], + [ + 0.32287466526031494, + 0.15606345236301422, + 0.029721632599830627 + ], + [ + 0.33311930298805237, + 0.15437883138656616, + 0.02555432915687561 + ], + [ + 0.34562766551971436, + 0.15804435312747955, + 0.016746886074543 + ], + [ + 0.35288873314857483, + 0.1647278368473053, + 0.007223093882203102 + ], + [ + 0.36165565252304077, + 0.1645374447107315, + 0.0009939925512298942 + ], + [ + 0.3626103103160858, + 0.16537515819072723, + -4.759924195241183e-05 + ], + [ + 0.3634427785873413, + 0.15661127865314484, + -0.0010238375980407 + ], + [ + 0.3654327392578125, + 0.15925724804401398, + -0.0008996523101814091 + ], + [ + 0.37502041459083557, + 0.15821725130081177, + -0.006701474543660879 + ], + [ + 0.3868701756000519, + 0.14977829158306122, + -0.006387732457369566 + ], + [ + 0.3920609951019287, + 0.14504650235176086, + -0.018306730315089226 + ], + [ + 0.4015253782272339, + 0.14175038039684296, + -0.019220978021621704 + ], + [ + 0.40788164734840393, + 0.14187228679656982, + -0.02327445149421692 + ], + [ + 0.41343724727630615, + 0.1483098715543747, + -0.022899148985743523 + ], + [ + 0.41402286291122437, + 0.14933331310749054, + -0.022920571267604828 + ], + [ + 0.4128122925758362, + 0.15221180021762848, + -0.023073235526680946 + ], + [ + 0.408173143863678, + 0.1552613377571106, + -0.02127961628139019 + ], + [ + 0.40145978331565857, + 0.15109045803546906, + -0.0037182241212576628 + ], + [ + 0.3926488161087036, + 0.14575077593326569, + 0.018034685403108597 + ], + [ + 0.3754517138004303, + 0.13882285356521606, + 0.03743486478924751 + ], + [ + 0.3340435028076172, + 0.13262243568897247, + 0.05842917785048485 + ], + [ + 0.29543960094451904, + 0.11592621356248856, + 0.05831821262836456 + ], + [ + 0.26588135957717896, + 0.1024937555193901, + 0.04102298989892006 + ], + [ + 0.2521972358226776, + 0.08439930528402328, + 0.023570241406559944 + ], + [ + 0.24116283655166626, + 0.06663478910923004, + 0.0055323150008916855 + ], + [ + 0.23709751665592194, + 0.055204253643751144, + -0.006720135919749737 + ], + [ + 0.23622843623161316, + 0.046669892966747284, + -0.018891634419560432 + ], + [ + 0.2324162721633911, + 0.04797559231519699, + -0.02015797421336174 + ], + [ + 0.2290121465921402, + 0.04724927619099617, + -0.019193409010767937 + ], + [ + 0.2306809276342392, + 0.054066892713308334, + -0.013156004250049591 + ], + [ + 0.2359972447156906, + 0.05831441283226013, + 0.0042432332411408424 + ], + [ + 0.2438916712999344, + 0.0626264438033104, + 0.02807632088661194 + ], + [ + 0.2515169382095337, + 0.06839970499277115, + 0.05213513225317001 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + -0.39711535736394693, + 0.901513713033464, + 0.1719663285597563, + 0.911196886283271, + 0.3649054273092675, + 0.1912178431734671, + 0.10963406119165914, + 0.23263072525541043, + -0.9663660374277261 + ], + [ + -0.395455017781785, + 0.9064595805213261, + 0.14814303153476094, + 0.9137542360046619, + 0.3719173109608204, + 0.16349529042516392, + 0.09310491445001416, + 0.20002135558178136, + -0.9753578482877356 + ], + [ + -0.3918380889090982, + 0.9090967504518431, + 0.14144260460683522, + 0.9187955800520137, + 0.37868401032218846, + 0.11141410325084028, + 0.047724146476913, + 0.17361312923913497, + -0.9836568950598812 + ], + [ + -0.37746966978899066, + 0.9110438162224178, + 0.16587891159603116, + 0.9254119898278198, + 0.3646190062787821, + 0.10327453385607174, + 0.033605021534076074, + 0.19248933784281955, + -0.9807234866895599 + ], + [ + -0.3594257913337134, + 0.9144535426783655, + 0.18597800624568545, + 0.9328445161776355, + 0.3467983050047621, + 0.09763218876547106, + 0.024783243561859167, + 0.2085800899626097, + -0.977691227796252 + ], + [ + -0.33083191067445566, + 0.9121592576059784, + 0.24190025970056184, + 0.9435950618503318, + 0.32337629092128956, + 0.07110649563617699, + -0.013364360484406437, + 0.2517801883264443, + -0.9676921672903749 + ], + [ + -0.2545022868751169, + 0.9402497666289567, + 0.22618347050464943, + 0.967024101161752, + 0.24509922113988358, + 0.069215313110088, + 0.009642289543505003, + 0.236340322735699, + -0.9716224977333245 + ], + [ + -0.2615026504419851, + 0.9275566725121939, + 0.26693629032022514, + 0.9641806400579332, + 0.2637612577163529, + 0.028030202734935922, + -0.044407850086340794, + 0.2647047755632569, + -0.9633064541695517 + ], + [ + -0.44211309068475585, + 0.8617181491729892, + 0.2489535025482677, + 0.8886426166868745, + 0.4585130042166274, + -0.008951244167549458, + -0.12186186792051429, + 0.21727322971346597, + -0.9684740723410215 + ], + [ + -0.5235274286139153, + 0.824046380382801, + 0.21648693832863447, + 0.8378286151795288, + 0.5440827227202856, + -0.04491327669669441, + -0.15479742593226425, + 0.1578656194846902, + -0.9752518664988343 + ], + [ + -0.6751749838096295, + 0.7056382990564722, + 0.21497286373483365, + 0.7258282344618476, + 0.6874919824210424, + 0.022981474382261335, + -0.13157551176288063, + 0.17154989073582635, + -0.9763495888731977 + ], + [ + -0.7779002905760442, + 0.5915912732517713, + 0.21187473500645182, + 0.610503427455971, + 0.7913743906923763, + 0.031814129263301835, + -0.14885127808056636, + 0.1540984723111108, + -0.9767788684472878 + ], + [ + -0.904173496062258, + 0.37229302096007755, + 0.20944735749818702, + 0.3919782606488168, + 0.9179879448299182, + 0.06042496442424709, + -0.16977435671290966, + 0.1367334622225393, + -0.975951140227499 + ], + [ + -0.9347956918083247, + 0.28884340169280887, + 0.20670390387005919, + 0.29229598993096373, + 0.9562206104269708, + -0.014324750083324195, + -0.20179214267873255, + 0.04702800754017131, + -0.9782986750782852 + ], + [ + -0.9455518629701234, + 0.22359980472561922, + 0.23650539478074042, + 0.21532679623797243, + 0.9746602210046289, + -0.06059558080502596, + -0.24406156038102275, + -0.006370315366815222, + -0.9697388173248029 + ], + [ + -0.9447669282211221, + 0.21873156890715087, + 0.24407366122349627, + 0.2067791671706364, + 0.9755933749064224, + -0.0738914261800068, + -0.25427903445593725, + -0.019340827337880208, + -0.9669374876557654 + ], + [ + -0.9331270989522263, + 0.23050497252551777, + 0.27593708493425173, + 0.22539436575298222, + 0.9729551815603031, + -0.05055288875790015, + -0.28012710880565095, + 0.015022393816168458, + -0.9598453680651999 + ], + [ + -0.9329334826670256, + 0.2286820514193325, + 0.27810004724454906, + 0.22954451435836054, + 0.9728381602068236, + -0.029920393937697874, + -0.2773885953797651, + 0.0359226029687213, + -0.960086003308658 + ], + [ + -0.9288934177783142, + 0.23472506471424348, + 0.28646319554703054, + 0.240275811021047, + 0.9705702923703009, + -0.016150610093940792, + -0.2818236204548869, + 0.05382798122837795, + -0.9579551113651291 + ], + [ + -0.932860634220119, + 0.24502176999533934, + 0.26407455263767565, + 0.25625563806064156, + 0.966572505027545, + 0.008404789522065394, + -0.25318784545189166, + 0.07551109026578656, + -0.964465650068628 + ], + [ + -0.9336838656326857, + 0.24809007849226666, + 0.25823584571260816, + 0.2673005297212179, + 0.9627163112283893, + 0.041565982552556, + -0.2382957529373138, + 0.10783606562047812, + -0.9651872963749235 + ], + [ + -0.931375987827935, + 0.25850510011582867, + 0.2563471913472896, + 0.27886882894976645, + 0.9592318266576355, + 0.045896393837011315, + -0.2340319327308229, + 0.1142340402032667, + -0.965494504656093 + ], + [ + -0.9286871246259629, + 0.275103656097785, + 0.24871309365530567, + 0.29917615058073266, + 0.9520459051666164, + 0.06404861730882833, + -0.21916627358618837, + 0.13389015220362405, + -0.9664572270231281 + ], + [ + -0.9359753842819866, + 0.27126579602965517, + 0.22442136244703886, + 0.29694595282572567, + 0.9507103343300717, + 0.08929144023043582, + -0.18913799491009092, + 0.15021560538905768, + -0.9703927507864996 + ], + [ + -0.9135249056014498, + 0.3131096341496643, + 0.25968173568529074, + 0.34535589587571003, + 0.9343001733420204, + 0.0883882983033155, + -0.21494546291966138, + 0.17042753033396202, + -0.9616407358647608 + ], + [ + -0.8781278794201878, + 0.3685313097436339, + 0.30508376083240857, + 0.41263562894929373, + 0.906122956463069, + 0.09312907973478737, + -0.24212241760445335, + 0.2076676708331592, + -0.9477609790364371 + ], + [ + -0.828264793666974, + 0.44310466381713753, + 0.3429805948961342, + 0.4937796155230558, + 0.8665217772330593, + 0.07294998886060985, + -0.26487567435630577, + 0.2297787337513232, + -0.9365055315639788 + ], + [ + -0.8020061141778555, + 0.4527754457823122, + 0.3895902828844235, + 0.5187207079513815, + 0.8513396523830653, + 0.07841953470085919, + -0.29616721622042214, + 0.2649814936498587, + -0.9176436062324718 + ], + [ + -0.7816971406058709, + 0.49943775227080967, + 0.37351239869017283, + 0.5608471549723505, + 0.8248895517565774, + 0.07076507727864842, + -0.27276372399574234, + 0.2648002247157547, + -0.9249220463706442 + ], + [ + -0.7535312999284046, + 0.5659485225251464, + 0.3345038861953814, + 0.6148462659722911, + 0.7868061333986288, + 0.05385329763561254, + -0.23271151507422108, + 0.2462486107532449, + -0.9408543842986318 + ], + [ + -0.7192181394694515, + 0.6241912980106576, + 0.3051401175621967, + 0.6657127737734962, + 0.7448198608764582, + 0.04549590837395602, + -0.1988762698083879, + 0.23585715662609003, + -0.9512200749434158 + ], + [ + -0.6801855330713491, + 0.6810464294884166, + 0.2711519896322429, + 0.7150952514193782, + 0.6978159786569842, + 0.041129567569471254, + -0.16120304587042103, + 0.22187523704116827, + -0.961657401151795 + ], + [ + -0.6475704960325115, + 0.7221144836844747, + 0.24331692321191273, + 0.7522350750148351, + 0.6567712151516711, + 0.052857949881007366, + -0.12163406013791028, + 0.2172607728083976, + -0.9685055043793327 + ], + [ + -0.6198053328365205, + 0.7560767183368365, + 0.21021261945090164, + 0.7809357813508556, + 0.6206454845240574, + 0.07027437616817503, + -0.07733469333577399, + 0.20771898933149455, + -0.9751267439044853 + ], + [ + -0.6523156370512746, + 0.7321203216908266, + 0.19617376028845102, + 0.7549444077024287, + 0.6506083602117845, + 0.08226604950623517, + -0.06740364186911042, + 0.20176371375907431, + -0.9771121495882279 + ], + [ + -0.6644252475056379, + 0.7247390565713318, + 0.18246202442472212, + 0.742858544031103, + 0.667183026142299, + 0.05502720406848148, + -0.08185520164938673, + 0.17210493748786065, + -0.981671847643212 + ], + [ + -0.6641491787716853, + 0.725297549587028, + 0.18124384927480686, + 0.7409289895098372, + 0.6709013484351507, + 0.03025910064473409, + -0.09964989132371223, + 0.1543853789416258, + -0.9829725601094992 + ], + [ + -0.6304552595813597, + 0.7475363412931538, + 0.20908272074049017, + 0.7685108700953455, + 0.6390010222847218, + 0.03269152893909166, + -0.10916596636083638, + 0.1812928900015828, + -0.9773513594523613 + ], + [ + -0.58547373401826, + 0.7736105910607071, + 0.2423781346850815, + 0.7983115224968859, + 0.6022123963105669, + 0.0062404149372495415, + -0.14113546621391856, + 0.19714685675553745, + -0.9701617891094205 + ], + [ + -0.5343800251362183, + 0.799618855212802, + 0.27394830739316894, + 0.8299901707216574, + 0.5577078552095498, + -0.008846736290710505, + -0.15985714009967822, + 0.22264688326076204, + -0.9617037278358755 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.001725509762763977, + -0.0027223676443099976, + -0.009553376585245132, + 0.033962175250053406, + 0.01661492884159088, + -0.0025548934936523438, + 1.0 + ], + [ + 0.0017935335636138916, + -0.005929499864578247, + -0.002622310072183609, + 0.02757197618484497, + 0.045497674494981766, + -0.005327820777893066, + 1.0 + ], + [ + 0.00614580512046814, + -5.692243576049805e-06, + 0.0038085617125034332, + -0.01911070942878723, + 0.014130931347608566, + -0.01582181453704834, + 1.0 + ], + [ + 0.015305429697036743, + -0.008321955800056458, + -0.0021953098475933075, + -0.01637926697731018, + 0.008825568482279778, + -0.01952183246612549, + 1.0 + ], + [ + 0.023334205150604248, + -0.01340174674987793, + 0.0009252391755580902, + -0.04435408115386963, + 0.038150541484355927, + -0.030554533004760742, + 1.0 + ], + [ + 0.01793864369392395, + -0.011282309889793396, + -0.00791759043931961, + 0.015933454036712646, + -0.023007197305560112, + -0.07987105846405029, + 1.0 + ], + [ + 0.017752349376678467, + -0.007989659905433655, + -0.005052294582128525, + -0.029559791088104248, + 0.05406489968299866, + 0.007501006126403809, + 1.0 + ], + [ + 0.010244637727737427, + -0.001684620976448059, + -0.004167303442955017, + 0.04747702181339264, + 0.0777430534362793, + 0.19681143760681152, + 1.0 + ], + [ + 0.012508362531661987, + 0.003665521740913391, + -0.008807443082332611, + 0.060212165117263794, + 0.0332568883895874, + 0.09684252738952637, + 1.0 + ], + [ + 0.007261067628860474, + 0.006683483719825745, + -0.009523792192339897, + -0.013450369238853455, + -0.02346426248550415, + 0.19075870513916016, + 1.0 + ], + [ + 0.008766919374465942, + -0.0001903921365737915, + -0.006229101214557886, + 0.017457768321037292, + 0.017448365688323975, + 0.1561279296875, + 1.0 + ], + [ + 0.0009546577930450439, + 0.0008377134799957275, + -0.0010415917495265603, + 0.017275512218475342, + 0.02119418978691101, + 0.2563436031341553, + 1.0 + ], + [ + 0.0008324682712554932, + -0.008763879537582397, + -0.0009762383415363729, + 0.09116250276565552, + 0.03258666396141052, + 0.10601305961608887, + 1.0 + ], + [ + 0.0019899606704711914, + 0.0026459693908691406, + 0.00012418528785929084, + 0.054603248834609985, + 0.0433645099401474, + 0.07914519309997559, + 1.0 + ], + [ + 0.009587675333023071, + -0.0010399967432022095, + -0.005801822058856487, + 0.01343047246336937, + 0.01055029034614563, + 0.008437395095825195, + 1.0 + ], + [ + 0.011849761009216309, + -0.00843895971775055, + 0.00031374208629131317, + -0.03564905375242233, + 0.026824355125427246, + -0.021537303924560547, + 1.0 + ], + [ + 0.005190819501876831, + -0.004731789231300354, + -0.011918997392058372, + -0.021749010309576988, + -0.002851545810699463, + -0.004246234893798828, + 1.0 + ], + [ + 0.009464383125305176, + -0.0032961219549179077, + -0.0009142477065324783, + -0.01873289793729782, + 0.00461927056312561, + -0.011867046356201172, + 1.0 + ], + [ + 0.006356269121170044, + 0.00012190639972686768, + -0.004053473472595215, + -0.022002320736646652, + -0.029720187187194824, + -0.014965295791625977, + 0.0 + ], + [ + 0.005555599927902222, + 0.006437584757804871, + 0.0003753025084733963, + -0.03313031047582626, + -0.015363380312919617, + -0.010741949081420898, + 0.0 + ], + [ + 0.0005856156349182129, + 0.0010234415531158447, + -2.1422281861305237e-05, + -0.006504997611045837, + -0.004387944936752319, + -0.012092828750610352, + 0.0 + ], + [ + -0.0012105703353881836, + 0.0028784871101379395, + -0.00015266425907611847, + -0.019891738891601562, + -0.015262842178344727, + -0.02073073387145996, + 0.0 + ], + [ + -0.004639148712158203, + 0.0030495375394821167, + 0.0017936192452907562, + -0.01591894030570984, + -0.03067566454410553, + 0.004437685012817383, + 0.0 + ], + [ + -0.006713360548019409, + -0.0041708797216415405, + 0.01756139285862446, + -0.021824702620506287, + 0.026351764798164368, + -0.054225921630859375, + 0.0 + ], + [ + -0.008810967206954956, + -0.005339682102203369, + 0.02175290882587433, + -0.040300533175468445, + 0.02791677415370941, + -0.07784223556518555, + 0.0 + ], + [ + -0.017197102308273315, + -0.006927922368049622, + 0.019400179386138916, + -0.02489955723285675, + 0.023522228002548218, + -0.09831023216247559, + 0.0 + ], + [ + -0.04140821099281311, + -0.006200417876243591, + 0.020994313061237335, + -0.04051139950752258, + 0.03260233998298645, + -0.036515235900878906, + 0.0 + ], + [ + -0.038603901863098145, + -0.016696222126483917, + -0.00011096522212028503, + 0.0022798478603363037, + -0.024412810802459717, + -0.04824972152709961, + 0.0 + ], + [ + -0.029558241367340088, + -0.01343245804309845, + -0.017295222729444504, + 0.02284950017929077, + -0.04139970242977142, + -0.06203579902648926, + 0.0 + ], + [ + -0.013684123754501343, + -0.01809445023536682, + -0.017452748492360115, + 0.012936189770698547, + -0.034653663635253906, + -0.06239032745361328, + 0.0 + ], + [ + -0.011034399271011353, + -0.017764516174793243, + -0.01803792640566826, + 0.016296714544296265, + -0.038301631808280945, + -0.0636293888092041, + 0.0 + ], + [ + -0.004065319895744324, + -0.011430535465478897, + -0.012252450920641422, + 0.006081089377403259, + -0.03997351974248886, + -0.04961729049682617, + 0.0 + ], + [ + -0.0008690804243087769, + -0.00853436067700386, + -0.012171498499810696, + 0.01079222559928894, + -0.04452401399612427, + -0.03989696502685547, + 0.0 + ], + [ + -0.003812164068222046, + 0.001305699348449707, + -0.0012663397938013077, + 0.006252497434616089, + -0.009957201778888702, + 0.04172968864440918, + 1.0 + ], + [ + -0.0034041255712509155, + -0.0007263161242008209, + 0.0009645652025938034, + 0.03007352352142334, + 0.014492101967334747, + 0.017122983932495117, + 1.0 + ], + [ + 0.001668781042098999, + 0.006817616522312164, + 0.006037404760718346, + 0.017767339944839478, + 0.01786866784095764, + 0.0010859966278076172, + 1.0 + ], + [ + 0.005316317081451416, + 0.0042475201189517975, + 0.01739923655986786, + -0.02762240171432495, + 0.009568408131599426, + -0.043775320053100586, + 1.0 + ], + [ + 0.007894426584243774, + 0.0043120309710502625, + 0.02383308857679367, + -0.017071008682250977, + 0.03222430497407913, + -0.05424690246582031, + 1.0 + ], + [ + 0.007625266909599304, + 0.005773261189460754, + 0.024058811366558075, + -0.02702440321445465, + 0.01893766224384308, + -0.060753822326660156, + 1.0 + ], + [ + 0.007203042507171631, + 0.010788954794406891, + 0.02025209367275238, + -0.036605313420295715, + -0.036526404321193695, + -0.0958106517791748, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9499720335006714 + ], + [ + 0.7111459374427795 + ], + [ + 0.6971942782402039 + ], + [ + 0.6911999583244324 + ], + [ + 0.6902000904083252 + ], + [ + 0.6902000904083252 + ], + [ + 0.6902000904083252 + ], + [ + 0.6902000904083252 + ], + [ + 0.6902000904083252 + ], + [ + 0.6902000904083252 + ], + [ + 0.6902000904083252 + ], + [ + 0.6902000904083252 + ], + [ + 0.6902000904083252 + ], + [ + 0.6902000904083252 + ], + [ + 0.6902000904083252 + ], + [ + 0.7545521855354309 + ], + [ + 0.9961419701576233 + ], + [ + 1.0054124593734741 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2406046986579895, + 0.20299431681632996, + 0.042775336652994156 + ], + [ + 0.2423982322216034, + 0.1970648169517517, + 0.04015302658081055 + ], + [ + 0.24854403734207153, + 0.19705912470817566, + 0.04396158829331398 + ], + [ + 0.2638494670391083, + 0.1887371689081192, + 0.04176627844572067 + ], + [ + 0.2871836721897125, + 0.17533542215824127, + 0.04269151762127876 + ], + [ + 0.3051223158836365, + 0.16405311226844788, + 0.03477392718195915 + ], + [ + 0.32287466526031494, + 0.15606345236301422, + 0.029721632599830627 + ], + [ + 0.33311930298805237, + 0.15437883138656616, + 0.02555432915687561 + ], + [ + 0.34562766551971436, + 0.15804435312747955, + 0.016746886074543 + ], + [ + 0.35288873314857483, + 0.1647278368473053, + 0.007223093882203102 + ], + [ + 0.36165565252304077, + 0.1645374447107315, + 0.0009939925512298942 + ], + [ + 0.3626103103160858, + 0.16537515819072723, + -4.759924195241183e-05 + ], + [ + 0.3634427785873413, + 0.15661127865314484, + -0.0010238375980407 + ], + [ + 0.3654327392578125, + 0.15925724804401398, + -0.0008996523101814091 + ], + [ + 0.37502041459083557, + 0.15821725130081177, + -0.006701474543660879 + ], + [ + 0.3868701756000519, + 0.14977829158306122, + -0.006387732457369566 + ], + [ + 0.3920609951019287, + 0.14504650235176086, + -0.018306730315089226 + ], + [ + 0.4015253782272339, + 0.14175038039684296, + -0.019220978021621704 + ], + [ + 0.40788164734840393, + 0.14187228679656982, + -0.02327445149421692 + ], + [ + 0.41343724727630615, + 0.1483098715543747, + -0.022899148985743523 + ], + [ + 0.41402286291122437, + 0.14933331310749054, + -0.022920571267604828 + ], + [ + 0.4128122925758362, + 0.15221180021762848, + -0.023073235526680946 + ], + [ + 0.408173143863678, + 0.1552613377571106, + -0.02127961628139019 + ], + [ + 0.40145978331565857, + 0.15109045803546906, + -0.0037182241212576628 + ], + [ + 0.3926488161087036, + 0.14575077593326569, + 0.018034685403108597 + ], + [ + 0.3754517138004303, + 0.13882285356521606, + 0.03743486478924751 + ], + [ + 0.3340435028076172, + 0.13262243568897247, + 0.05842917785048485 + ], + [ + 0.29543960094451904, + 0.11592621356248856, + 0.05831821262836456 + ], + [ + 0.26588135957717896, + 0.1024937555193901, + 0.04102298989892006 + ], + [ + 0.2521972358226776, + 0.08439930528402328, + 0.023570241406559944 + ], + [ + 0.24116283655166626, + 0.06663478910923004, + 0.0055323150008916855 + ], + [ + 0.23709751665592194, + 0.055204253643751144, + -0.006720135919749737 + ], + [ + 0.23622843623161316, + 0.046669892966747284, + -0.018891634419560432 + ], + [ + 0.2324162721633911, + 0.04797559231519699, + -0.02015797421336174 + ], + [ + 0.2290121465921402, + 0.04724927619099617, + -0.019193409010767937 + ], + [ + 0.2306809276342392, + 0.054066892713308334, + -0.013156004250049591 + ], + [ + 0.2359972447156906, + 0.05831441283226013, + 0.0042432332411408424 + ], + [ + 0.2438916712999344, + 0.0626264438033104, + 0.02807632088661194 + ], + [ + 0.2515169382095337, + 0.06839970499277115, + 0.05213513225317001 + ], + [ + 0.2587199807167053, + 0.07918865978717804, + 0.0723872259259224 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + -0.395455017781785, + 0.9064595805213261, + 0.14814303153476094, + 0.9137542360046619, + 0.3719173109608204, + 0.16349529042516392, + 0.09310491445001416, + 0.20002135558178136, + -0.9753578482877356 + ], + [ + -0.3918380889090982, + 0.9090967504518431, + 0.14144260460683522, + 0.9187955800520137, + 0.37868401032218846, + 0.11141410325084028, + 0.047724146476913, + 0.17361312923913497, + -0.9836568950598812 + ], + [ + -0.37746966978899066, + 0.9110438162224178, + 0.16587891159603116, + 0.9254119898278198, + 0.3646190062787821, + 0.10327453385607174, + 0.033605021534076074, + 0.19248933784281955, + -0.9807234866895599 + ], + [ + -0.3594257913337134, + 0.9144535426783655, + 0.18597800624568545, + 0.9328445161776355, + 0.3467983050047621, + 0.09763218876547106, + 0.024783243561859167, + 0.2085800899626097, + -0.977691227796252 + ], + [ + -0.33083191067445566, + 0.9121592576059784, + 0.24190025970056184, + 0.9435950618503318, + 0.32337629092128956, + 0.07110649563617699, + -0.013364360484406437, + 0.2517801883264443, + -0.9676921672903749 + ], + [ + -0.2545022868751169, + 0.9402497666289567, + 0.22618347050464943, + 0.967024101161752, + 0.24509922113988358, + 0.069215313110088, + 0.009642289543505003, + 0.236340322735699, + -0.9716224977333245 + ], + [ + -0.2615026504419851, + 0.9275566725121939, + 0.26693629032022514, + 0.9641806400579332, + 0.2637612577163529, + 0.028030202734935922, + -0.044407850086340794, + 0.2647047755632569, + -0.9633064541695517 + ], + [ + -0.44211309068475585, + 0.8617181491729892, + 0.2489535025482677, + 0.8886426166868745, + 0.4585130042166274, + -0.008951244167549458, + -0.12186186792051429, + 0.21727322971346597, + -0.9684740723410215 + ], + [ + -0.5235274286139153, + 0.824046380382801, + 0.21648693832863447, + 0.8378286151795288, + 0.5440827227202856, + -0.04491327669669441, + -0.15479742593226425, + 0.1578656194846902, + -0.9752518664988343 + ], + [ + -0.6751749838096295, + 0.7056382990564722, + 0.21497286373483365, + 0.7258282344618476, + 0.6874919824210424, + 0.022981474382261335, + -0.13157551176288063, + 0.17154989073582635, + -0.9763495888731977 + ], + [ + -0.7779002905760442, + 0.5915912732517713, + 0.21187473500645182, + 0.610503427455971, + 0.7913743906923763, + 0.031814129263301835, + -0.14885127808056636, + 0.1540984723111108, + -0.9767788684472878 + ], + [ + -0.904173496062258, + 0.37229302096007755, + 0.20944735749818702, + 0.3919782606488168, + 0.9179879448299182, + 0.06042496442424709, + -0.16977435671290966, + 0.1367334622225393, + -0.975951140227499 + ], + [ + -0.9347956918083247, + 0.28884340169280887, + 0.20670390387005919, + 0.29229598993096373, + 0.9562206104269708, + -0.014324750083324195, + -0.20179214267873255, + 0.04702800754017131, + -0.9782986750782852 + ], + [ + -0.9455518629701234, + 0.22359980472561922, + 0.23650539478074042, + 0.21532679623797243, + 0.9746602210046289, + -0.06059558080502596, + -0.24406156038102275, + -0.006370315366815222, + -0.9697388173248029 + ], + [ + -0.9447669282211221, + 0.21873156890715087, + 0.24407366122349627, + 0.2067791671706364, + 0.9755933749064224, + -0.0738914261800068, + -0.25427903445593725, + -0.019340827337880208, + -0.9669374876557654 + ], + [ + -0.9331270989522263, + 0.23050497252551777, + 0.27593708493425173, + 0.22539436575298222, + 0.9729551815603031, + -0.05055288875790015, + -0.28012710880565095, + 0.015022393816168458, + -0.9598453680651999 + ], + [ + -0.9329334826670256, + 0.2286820514193325, + 0.27810004724454906, + 0.22954451435836054, + 0.9728381602068236, + -0.029920393937697874, + -0.2773885953797651, + 0.0359226029687213, + -0.960086003308658 + ], + [ + -0.9288934177783142, + 0.23472506471424348, + 0.28646319554703054, + 0.240275811021047, + 0.9705702923703009, + -0.016150610093940792, + -0.2818236204548869, + 0.05382798122837795, + -0.9579551113651291 + ], + [ + -0.932860634220119, + 0.24502176999533934, + 0.26407455263767565, + 0.25625563806064156, + 0.966572505027545, + 0.008404789522065394, + -0.25318784545189166, + 0.07551109026578656, + -0.964465650068628 + ], + [ + -0.9336838656326857, + 0.24809007849226666, + 0.25823584571260816, + 0.2673005297212179, + 0.9627163112283893, + 0.041565982552556, + -0.2382957529373138, + 0.10783606562047812, + -0.9651872963749235 + ], + [ + -0.931375987827935, + 0.25850510011582867, + 0.2563471913472896, + 0.27886882894976645, + 0.9592318266576355, + 0.045896393837011315, + -0.2340319327308229, + 0.1142340402032667, + -0.965494504656093 + ], + [ + -0.9286871246259629, + 0.275103656097785, + 0.24871309365530567, + 0.29917615058073266, + 0.9520459051666164, + 0.06404861730882833, + -0.21916627358618837, + 0.13389015220362405, + -0.9664572270231281 + ], + [ + -0.9359753842819866, + 0.27126579602965517, + 0.22442136244703886, + 0.29694595282572567, + 0.9507103343300717, + 0.08929144023043582, + -0.18913799491009092, + 0.15021560538905768, + -0.9703927507864996 + ], + [ + -0.9135249056014498, + 0.3131096341496643, + 0.25968173568529074, + 0.34535589587571003, + 0.9343001733420204, + 0.0883882983033155, + -0.21494546291966138, + 0.17042753033396202, + -0.9616407358647608 + ], + [ + -0.8781278794201878, + 0.3685313097436339, + 0.30508376083240857, + 0.41263562894929373, + 0.906122956463069, + 0.09312907973478737, + -0.24212241760445335, + 0.2076676708331592, + -0.9477609790364371 + ], + [ + -0.828264793666974, + 0.44310466381713753, + 0.3429805948961342, + 0.4937796155230558, + 0.8665217772330593, + 0.07294998886060985, + -0.26487567435630577, + 0.2297787337513232, + -0.9365055315639788 + ], + [ + -0.8020061141778555, + 0.4527754457823122, + 0.3895902828844235, + 0.5187207079513815, + 0.8513396523830653, + 0.07841953470085919, + -0.29616721622042214, + 0.2649814936498587, + -0.9176436062324718 + ], + [ + -0.7816971406058709, + 0.49943775227080967, + 0.37351239869017283, + 0.5608471549723505, + 0.8248895517565774, + 0.07076507727864842, + -0.27276372399574234, + 0.2648002247157547, + -0.9249220463706442 + ], + [ + -0.7535312999284046, + 0.5659485225251464, + 0.3345038861953814, + 0.6148462659722911, + 0.7868061333986288, + 0.05385329763561254, + -0.23271151507422108, + 0.2462486107532449, + -0.9408543842986318 + ], + [ + -0.7192181394694515, + 0.6241912980106576, + 0.3051401175621967, + 0.6657127737734962, + 0.7448198608764582, + 0.04549590837395602, + -0.1988762698083879, + 0.23585715662609003, + -0.9512200749434158 + ], + [ + -0.6801855330713491, + 0.6810464294884166, + 0.2711519896322429, + 0.7150952514193782, + 0.6978159786569842, + 0.041129567569471254, + -0.16120304587042103, + 0.22187523704116827, + -0.961657401151795 + ], + [ + -0.6475704960325115, + 0.7221144836844747, + 0.24331692321191273, + 0.7522350750148351, + 0.6567712151516711, + 0.052857949881007366, + -0.12163406013791028, + 0.2172607728083976, + -0.9685055043793327 + ], + [ + -0.6198053328365205, + 0.7560767183368365, + 0.21021261945090164, + 0.7809357813508556, + 0.6206454845240574, + 0.07027437616817503, + -0.07733469333577399, + 0.20771898933149455, + -0.9751267439044853 + ], + [ + -0.6523156370512746, + 0.7321203216908266, + 0.19617376028845102, + 0.7549444077024287, + 0.6506083602117845, + 0.08226604950623517, + -0.06740364186911042, + 0.20176371375907431, + -0.9771121495882279 + ], + [ + -0.6644252475056379, + 0.7247390565713318, + 0.18246202442472212, + 0.742858544031103, + 0.667183026142299, + 0.05502720406848148, + -0.08185520164938673, + 0.17210493748786065, + -0.981671847643212 + ], + [ + -0.6641491787716853, + 0.725297549587028, + 0.18124384927480686, + 0.7409289895098372, + 0.6709013484351507, + 0.03025910064473409, + -0.09964989132371223, + 0.1543853789416258, + -0.9829725601094992 + ], + [ + -0.6304552595813597, + 0.7475363412931538, + 0.20908272074049017, + 0.7685108700953455, + 0.6390010222847218, + 0.03269152893909166, + -0.10916596636083638, + 0.1812928900015828, + -0.9773513594523613 + ], + [ + -0.58547373401826, + 0.7736105910607071, + 0.2423781346850815, + 0.7983115224968859, + 0.6022123963105669, + 0.0062404149372495415, + -0.14113546621391856, + 0.19714685675553745, + -0.9701617891094205 + ], + [ + -0.5343800251362183, + 0.799618855212802, + 0.27394830739316894, + 0.8299901707216574, + 0.5577078552095498, + -0.008846736290710505, + -0.15985714009967822, + 0.22264688326076204, + -0.9617037278358755 + ], + [ + -0.4549031938879088, + 0.8431132279679897, + 0.28674582650140845, + 0.881907555591784, + 0.4712277281178633, + 0.013545908718179622, + -0.12370184954439356, + 0.25904538806601696, + -0.9579109245337077 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005738.json b/json/chunk-0005/episode_0005738.json new file mode 100644 index 0000000000000000000000000000000000000000..74693eca05ebd4340865d2b09cee1a2a97f30537 --- /dev/null +++ b/json/chunk-0005/episode_0005738.json @@ -0,0 +1,3382 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 55, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the silver pot to the left burner." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005738.mp4", + "start": 0, + "end": 55, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3373507261276245, + 0.0031549138948321342, + 0.1535024791955948, + -0.07285549491643906, + -0.05716797336935997, + 0.7150523662567139, + 0.0, + 1.003452181816101 + ], + [ + 0.33600008487701416, + 0.0026614717207849026, + 0.14211101830005646, + -0.05233600363135338, + -0.028494909405708313, + 0.7086622714996338, + 0.0, + 1.003452181816101 + ], + [ + 0.34107446670532227, + -0.005269876681268215, + 0.13943983614444733, + -0.07990380376577377, + -0.05391598492860794, + 0.5904788970947266, + 0.0, + 1.0041072368621826 + ], + [ + 0.3425613045692444, + -0.02248062565922737, + 0.1257699579000473, + -0.125501811504364, + -0.08379845321178436, + 0.4040343165397644, + 0.0, + 1.003452181816101 + ], + [ + 0.34619611501693726, + -0.037544939666986465, + 0.1265517771244049, + -0.10357275605201721, + -0.13154804706573486, + 0.2880638539791107, + 0.0, + 1.003452181816101 + ], + [ + 0.3467709720134735, + -0.05684000626206398, + 0.12080281227827072, + -0.09254952520132065, + -0.17022855579853058, + 0.11168280243873596, + 0.0, + 1.0041072368621826 + ], + [ + 0.34422922134399414, + -0.07399291545152664, + 0.11289390921592712, + -0.09118099510669708, + -0.15280042588710785, + 0.02121945098042488, + 0.0, + 1.003452181816101 + ], + [ + 0.34205421805381775, + -0.08907121419906616, + 0.097821444272995, + -0.08465153723955154, + -0.11978480964899063, + -0.04627084732055664, + 0.0, + 1.003452181816101 + ], + [ + 0.34689006209373474, + -0.09840993583202362, + 0.08365994691848755, + -0.07158065587282181, + -0.11050201952457428, + -0.09264765679836273, + 0.0, + 1.003452181816101 + ], + [ + 0.35277342796325684, + -0.10686691850423813, + 0.07552184164524078, + -0.08806006610393524, + -0.14091506600379944, + -0.14289811253547668, + 0.0, + 1.0041072368621826 + ], + [ + 0.3549199402332306, + -0.11240129172801971, + 0.07132100313901901, + -0.08124083280563354, + -0.16631637513637543, + -0.16175919771194458, + 0.0, + 1.003452181816101 + ], + [ + 0.3572377562522888, + -0.11581262201070786, + 0.06098964437842369, + -0.04659382253885269, + -0.17038962244987488, + -0.1674744188785553, + 0.0, + 0.9816622138023376 + ], + [ + 0.3561882972717285, + -0.11666793376207352, + 0.05129082500934601, + -0.035641156136989594, + -0.14977912604808807, + -0.15608026087284088, + 0.0, + 0.8888095021247864 + ], + [ + 0.3577928841114044, + -0.11877168715000153, + 0.048834171146154404, + -0.041833147406578064, + -0.15790989995002747, + -0.14282427728176117, + 0.0, + 0.5899012684822083 + ], + [ + 0.3562559187412262, + -0.12030033767223358, + 0.049019936472177505, + -0.05368597432971001, + -0.14807873964309692, + -0.13523171842098236, + 0.0, + 0.30878186225891113 + ], + [ + 0.35601112246513367, + -0.12324289977550507, + 0.04913398250937462, + -0.056086163967847824, + -0.15202467143535614, + -0.1318061500787735, + 0.0, + 0.12975460290908813 + ], + [ + 0.35706472396850586, + -0.12955062091350555, + 0.05239003524184227, + -0.06301352381706238, + -0.15892145037651062, + -0.10761386901140213, + 0.0, + 0.07206849008798599 + ], + [ + 0.35641446709632874, + -0.13997510075569153, + 0.05533849075436592, + -0.056301604956388474, + -0.17068055272102356, + -0.09140338748693466, + 0.0, + 0.06926051527261734 + ], + [ + 0.356228768825531, + -0.14885520935058594, + 0.0589633472263813, + -0.05743378400802612, + -0.18308579921722412, + -0.07237360626459122, + 0.0, + 0.06238236278295517 + ], + [ + 0.3588488698005676, + -0.15233969688415527, + 0.06530347466468811, + -0.06111398711800575, + -0.1869383007287979, + -0.04278203845024109, + 0.0, + 0.05538023263216019 + ], + [ + 0.35810714960098267, + -0.15475055575370789, + 0.08403484523296356, + -0.04462776705622673, + -0.21173033118247986, + -0.019257983192801476, + 0.0, + 0.054840996861457825 + ], + [ + 0.3557497560977936, + -0.15188077092170715, + 0.09541705995798111, + -0.03352908045053482, + -0.21277374029159546, + -0.0039935666136443615, + 0.0, + 0.054840996861457825 + ], + [ + 0.353776216506958, + -0.1418594866991043, + 0.1068178117275238, + -0.01075891125947237, + -0.21719220280647278, + 0.026842236518859863, + 0.0, + 0.054840996861457825 + ], + [ + 0.35779309272766113, + -0.12877824902534485, + 0.1270684450864792, + 0.031365036964416504, + -0.27181440591812134, + 0.09374231100082397, + 0.0, + 0.054840996861457825 + ], + [ + 0.3647894859313965, + -0.10387536883354187, + 0.1425742208957672, + 0.05204909294843674, + -0.25102949142456055, + 0.1583196222782135, + 0.0, + 0.054840996861457825 + ], + [ + 0.3695252537727356, + -0.06691744178533554, + 0.15128982067108154, + 0.07819319516420364, + -0.26340994238853455, + 0.22240853309631348, + 0.0, + 0.054840996861457825 + ], + [ + 0.3749234676361084, + -0.032083310186862946, + 0.15314707159996033, + 0.0602487251162529, + -0.2620157301425934, + 0.2867024540901184, + 0.0, + 0.05511022359132767 + ], + [ + 0.37709349393844604, + 0.005092358682304621, + 0.1517593413591385, + 0.029271334409713745, + -0.24183988571166992, + 0.2983235716819763, + 0.0, + 0.054840996861457825 + ], + [ + 0.3732050657272339, + 0.0361594595015049, + 0.1456470638513565, + -0.0013286835746839643, + -0.2518381178379059, + 0.2718762159347534, + 0.0, + 0.054840996861457825 + ], + [ + 0.375495046377182, + 0.0611666664481163, + 0.15041950345039368, + -0.011946224607527256, + -0.26589658856391907, + 0.2725938558578491, + 0.0, + 0.054840996861457825 + ], + [ + 0.37608370184898376, + 0.08543910831212997, + 0.14447198808193207, + -0.02575591951608658, + -0.28304675221443176, + 0.2165762484073639, + 0.0, + 0.054840996861457825 + ], + [ + 0.37029409408569336, + 0.10102137923240662, + 0.13400810956954956, + -0.024481384083628654, + -0.2916293740272522, + 0.16403843462467194, + 0.0, + 0.054840996861457825 + ], + [ + 0.36382538080215454, + 0.10812467336654663, + 0.13305144011974335, + -0.029365327209234238, + -0.2693723142147064, + 0.11722635477781296, + 0.0, + 0.054840996861457825 + ], + [ + 0.3606550097465515, + 0.1043786033987999, + 0.12507127225399017, + -0.049487046897411346, + -0.2524566054344177, + 0.18697181344032288, + 0.0, + 0.054840996861457825 + ], + [ + 0.360483855009079, + 0.10285510122776031, + 0.11473911255598068, + -0.035076893866062164, + -0.27085843682289124, + 0.15669360756874084, + 0.0, + 0.054840996861457825 + ], + [ + 0.3591364622116089, + 0.10142800211906433, + 0.11082292348146439, + -0.037420108914375305, + -0.272289514541626, + 0.11842186003923416, + 0.0, + 0.054840996861457825 + ], + [ + 0.35604625940322876, + 0.09909787029027939, + 0.10710795968770981, + -0.04919318109750748, + -0.2591665983200073, + 0.10965368151664734, + 0.0, + 0.054840996861457825 + ], + [ + 0.3566732406616211, + 0.09675920009613037, + 0.10734657198190689, + -0.0715835690498352, + -0.2599423825740814, + 0.1378534585237503, + 0.0, + 0.054840996861457825 + ], + [ + 0.3532004654407501, + 0.09824474155902863, + 0.09829883277416229, + -0.05416261777281761, + -0.26119521260261536, + 0.1330539584159851, + 0.0, + 0.054840996861457825 + ], + [ + 0.35369446873664856, + 0.09823696315288544, + 0.09294838458299637, + -0.0509733185172081, + -0.27113252878189087, + 0.13600683212280273, + 0.0, + 0.054840996861457825 + ], + [ + 0.3515683114528656, + 0.09608519822359085, + 0.08530243486166, + -0.052022915333509445, + -0.27489203214645386, + 0.13265599310398102, + 0.0, + 0.054840996861457825 + ], + [ + 0.350641667842865, + 0.08977150171995163, + 0.07713530212640762, + -0.06369540095329285, + -0.2763831615447998, + 0.14603495597839355, + 0.0, + 0.054840996861457825 + ], + [ + 0.3510836064815521, + 0.0878453180193901, + 0.07342712581157684, + -0.07530470192432404, + -0.26733681559562683, + 0.1616729199886322, + 0.0, + 0.054840996861457825 + ], + [ + 0.3500381410121918, + 0.0845722109079361, + 0.07373826205730438, + -0.09215205162763596, + -0.2530537545681, + 0.17510110139846802, + 0.0, + 0.054840996861457825 + ], + [ + 0.3509674370288849, + 0.08162287622690201, + 0.07329306751489639, + -0.09717725962400436, + -0.25244492292404175, + 0.17922662198543549, + 0.0, + 0.054840996861457825 + ], + [ + 0.35201582312583923, + 0.0787445604801178, + 0.0706687867641449, + -0.10271063446998596, + -0.24642089009284973, + 0.19794009625911713, + 0.0, + 0.07591649144887924 + ], + [ + 0.35265129804611206, + 0.07642396539449692, + 0.06879978626966476, + -0.10368289798498154, + -0.2402220368385315, + 0.20235510170459747, + 0.0, + 0.22235295176506042 + ], + [ + 0.35353443026542664, + 0.07677138596773148, + 0.06901445239782333, + -0.10548505187034607, + -0.2451222687959671, + 0.21400770545005798, + 0.0, + 0.4681091010570526 + ], + [ + 0.35398969054222107, + 0.07609595358371735, + 0.06982012093067169, + -0.11751120537519455, + -0.24322804808616638, + 0.2303611934185028, + 0.0, + 0.7672095894813538 + ], + [ + 0.356436163187027, + 0.07606205344200134, + 0.0739414393901825, + -0.1253645420074463, + -0.24110083281993866, + 0.258520245552063, + 0.0, + 0.9913908839225769 + ], + [ + 0.35915979743003845, + 0.0784548968076706, + 0.07999112457036972, + -0.12278059124946594, + -0.23957450687885284, + 0.2767355740070343, + 0.0, + 0.9994885921478271 + ], + [ + 0.36536237597465515, + 0.08505313843488693, + 0.08946684002876282, + -0.10793902724981308, + -0.26230159401893616, + 0.30902108550071716, + 0.0, + 0.9994885921478271 + ], + [ + 0.3712955415248871, + 0.09396123886108398, + 0.11221453547477722, + -0.12331917136907578, + -0.25195807218551636, + 0.3619924485683441, + 0.0, + 0.9994885921478271 + ], + [ + 0.37255555391311646, + 0.08855374157428741, + 0.12612563371658325, + -0.13834123313426971, + -0.21616308391094208, + 0.37329384684562683, + 0.0, + 0.9994885921478271 + ], + [ + 0.3747280538082123, + 0.06977251917123795, + 0.12566672265529633, + -0.13261570036411285, + -0.20079094171524048, + 0.38335558772087097, + 0.0, + 0.9994885921478271 + ] + ], + "left_gripper_pos": [ + [ + 1.003452181816101 + ], + [ + 1.003452181816101 + ], + [ + 1.0041072368621826 + ], + [ + 1.003452181816101 + ], + [ + 1.003452181816101 + ], + [ + 1.0041072368621826 + ], + [ + 1.003452181816101 + ], + [ + 1.003452181816101 + ], + [ + 1.003452181816101 + ], + [ + 1.0041072368621826 + ], + [ + 1.003452181816101 + ], + [ + 0.9816622138023376 + ], + [ + 0.8888095021247864 + ], + [ + 0.5899012684822083 + ], + [ + 0.30878186225891113 + ], + [ + 0.12975460290908813 + ], + [ + 0.07206849008798599 + ], + [ + 0.06926051527261734 + ], + [ + 0.06238236278295517 + ], + [ + 0.05538023263216019 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.05511022359132767 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.07591649144887924 + ], + [ + 0.22235295176506042 + ], + [ + 0.4681091010570526 + ], + [ + 0.7672095894813538 + ], + [ + 0.9913908839225769 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3373507261276245, + 0.0031549138948321342, + 0.1535024791955948 + ], + [ + 0.33600008487701416, + 0.0026614717207849026, + 0.14211101830005646 + ], + [ + 0.34107446670532227, + -0.005269876681268215, + 0.13943983614444733 + ], + [ + 0.3425613045692444, + -0.02248062565922737, + 0.1257699579000473 + ], + [ + 0.34619611501693726, + -0.037544939666986465, + 0.1265517771244049 + ], + [ + 0.3467709720134735, + -0.05684000626206398, + 0.12080281227827072 + ], + [ + 0.34422922134399414, + -0.07399291545152664, + 0.11289390921592712 + ], + [ + 0.34205421805381775, + -0.08907121419906616, + 0.097821444272995 + ], + [ + 0.34689006209373474, + -0.09840993583202362, + 0.08365994691848755 + ], + [ + 0.35277342796325684, + -0.10686691850423813, + 0.07552184164524078 + ], + [ + 0.3549199402332306, + -0.11240129172801971, + 0.07132100313901901 + ], + [ + 0.3572377562522888, + -0.11581262201070786, + 0.06098964437842369 + ], + [ + 0.3561882972717285, + -0.11666793376207352, + 0.05129082500934601 + ], + [ + 0.3577928841114044, + -0.11877168715000153, + 0.048834171146154404 + ], + [ + 0.3562559187412262, + -0.12030033767223358, + 0.049019936472177505 + ], + [ + 0.35601112246513367, + -0.12324289977550507, + 0.04913398250937462 + ], + [ + 0.35706472396850586, + -0.12955062091350555, + 0.05239003524184227 + ], + [ + 0.35641446709632874, + -0.13997510075569153, + 0.05533849075436592 + ], + [ + 0.356228768825531, + -0.14885520935058594, + 0.0589633472263813 + ], + [ + 0.3588488698005676, + -0.15233969688415527, + 0.06530347466468811 + ], + [ + 0.35810714960098267, + -0.15475055575370789, + 0.08403484523296356 + ], + [ + 0.3557497560977936, + -0.15188077092170715, + 0.09541705995798111 + ], + [ + 0.353776216506958, + -0.1418594866991043, + 0.1068178117275238 + ], + [ + 0.35779309272766113, + -0.12877824902534485, + 0.1270684450864792 + ], + [ + 0.3647894859313965, + -0.10387536883354187, + 0.1425742208957672 + ], + [ + 0.3695252537727356, + -0.06691744178533554, + 0.15128982067108154 + ], + [ + 0.3749234676361084, + -0.032083310186862946, + 0.15314707159996033 + ], + [ + 0.37709349393844604, + 0.005092358682304621, + 0.1517593413591385 + ], + [ + 0.3732050657272339, + 0.0361594595015049, + 0.1456470638513565 + ], + [ + 0.375495046377182, + 0.0611666664481163, + 0.15041950345039368 + ], + [ + 0.37608370184898376, + 0.08543910831212997, + 0.14447198808193207 + ], + [ + 0.37029409408569336, + 0.10102137923240662, + 0.13400810956954956 + ], + [ + 0.36382538080215454, + 0.10812467336654663, + 0.13305144011974335 + ], + [ + 0.3606550097465515, + 0.1043786033987999, + 0.12507127225399017 + ], + [ + 0.360483855009079, + 0.10285510122776031, + 0.11473911255598068 + ], + [ + 0.3591364622116089, + 0.10142800211906433, + 0.11082292348146439 + ], + [ + 0.35604625940322876, + 0.09909787029027939, + 0.10710795968770981 + ], + [ + 0.3566732406616211, + 0.09675920009613037, + 0.10734657198190689 + ], + [ + 0.3532004654407501, + 0.09824474155902863, + 0.09829883277416229 + ], + [ + 0.35369446873664856, + 0.09823696315288544, + 0.09294838458299637 + ], + [ + 0.3515683114528656, + 0.09608519822359085, + 0.08530243486166 + ], + [ + 0.350641667842865, + 0.08977150171995163, + 0.07713530212640762 + ], + [ + 0.3510836064815521, + 0.0878453180193901, + 0.07342712581157684 + ], + [ + 0.3500381410121918, + 0.0845722109079361, + 0.07373826205730438 + ], + [ + 0.3509674370288849, + 0.08162287622690201, + 0.07329306751489639 + ], + [ + 0.35201582312583923, + 0.0787445604801178, + 0.0706687867641449 + ], + [ + 0.35265129804611206, + 0.07642396539449692, + 0.06879978626966476 + ], + [ + 0.35353443026542664, + 0.07677138596773148, + 0.06901445239782333 + ], + [ + 0.35398969054222107, + 0.07609595358371735, + 0.06982012093067169 + ], + [ + 0.356436163187027, + 0.07606205344200134, + 0.0739414393901825 + ], + [ + 0.35915979743003845, + 0.0784548968076706, + 0.07999112457036972 + ], + [ + 0.36536237597465515, + 0.08505313843488693, + 0.08946684002876282 + ], + [ + 0.3712955415248871, + 0.09396123886108398, + 0.11221453547477722 + ], + [ + 0.37255555391311646, + 0.08855374157428741, + 0.12612563371658325 + ], + [ + 0.3747280538082123, + 0.06977251917123795, + 0.12566672265529633 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.7538254107958724, + 0.6507773098049179, + 0.09075319873981653, + 0.6545858474146518, + -0.7557828076339338, + -0.017598751359428927, + 0.057136839279724114, + 0.07267214547570902, + -0.9957179022539873 + ], + [ + 0.7589249612166061, + 0.6487960125452072, + 0.05564743792675726, + 0.6505545043392977, + -0.7591636174772998, + -0.02119997128844524, + 0.028491053441804384, + 0.052290878786069875, + -0.9982253873096781 + ], + [ + 0.8294670793752598, + 0.5514094108704161, + 0.08906192135933634, + 0.5559498596675084, + -0.8304186427474262, + -0.036395484791381286, + 0.05388986702853936, + 0.07970281915379546, + -0.9953609108512264 + ], + [ + 0.9162559686638866, + 0.38040561383985566, + 0.125564998494508, + 0.3917515038293526, + -0.9163695505711021, + -0.08244759568087584, + 0.0837004129932696, + 0.12473337863314327, + -0.9886535414995069 + ], + [ + 0.9505117541643918, + 0.2695714822961354, + 0.15446236152537288, + 0.28164180478268314, + -0.9575103714317524, + -0.06206272955148337, + 0.13116897115584789, + 0.102494412205212, + -0.9860474615720201 + ], + [ + 0.9794060776630552, + 0.09541512406826845, + 0.17793169795094568, + 0.10983987503392699, + -0.9912618646268453, + -0.0730418892762324, + 0.1694076057596026, + 0.09108166574864027, + -0.98132828007515 + ], + [ + 0.9881262097924238, + 0.007273717847220214, + 0.15347210349095142, + 0.020970643215234036, + -0.9959157642835039, + -0.08781812213172775, + 0.152206523002129, + 0.08999379689891256, + -0.9842430039758063 + ], + [ + 0.9917717385058671, + -0.05618155644669254, + 0.11503239289990004, + -0.04592289687579573, + -0.9948853874599036, + -0.08996751281041597, + 0.11949856167998384, + 0.08394461587251699, + -0.9892792301582151 + ], + [ + 0.9896382942681979, + -0.10013141428528162, + 0.10290649343535625, + -0.09195090929862361, + -0.9924317906712045, + -0.08138901120116289, + 0.11027727235059821, + 0.07108333657318024, + -0.9913556790902729 + ], + [ + 0.9799963470883294, + -0.15408655144144068, + 0.12595433441694182, + -0.14100067586938214, + -0.9842130636766356, + -0.10697408421028079, + 0.14044916908941824, + 0.08707456547772754, + -0.9862515150553417 + ], + [ + 0.9733269023175531, + -0.1737827955692047, + 0.14978077710129864, + -0.1588323391309652, + -0.9815265994260074, + -0.1066668770772093, + 0.16555068490073657, + 0.08003170986159434, + -0.9829485724825725 + ], + [ + 0.9717302899284752, + -0.1742991126267791, + 0.15924843161877236, + -0.16427872424487, + -0.983622276201152, + -0.07416008711795512, + 0.16956634216730457, + 0.045902473771923163, + -0.9844491954923923 + ], + [ + 0.9767843401290358, + -0.16060120051073973, + 0.14177308374015526, + -0.15370694047081984, + -0.9863902742793246, + -0.05838153182521415, + 0.14921973505466277, + 0.03523465909680151, + -0.9881760923380754 + ], + [ + 0.9775027408096048, + -0.1487242370863247, + 0.14956434405566502, + -0.14056823138255892, + -0.9880158705411859, + -0.06375901414483966, + 0.15725445633014676, + 0.04130061575610175, + -0.9866941243883419 + ], + [ + 0.9800263940960631, + -0.14247032182898398, + 0.13874607840589184, + -0.1333444971687461, + -0.9883751662243975, + -0.07303270408323277, + 0.14753817116218573, + 0.053072951574606356, + -0.9876313835947484 + ], + [ + 0.9798926662836285, + -0.13963377379371256, + 0.14252288160042045, + -0.1299090498784961, + -0.9886516653191946, + -0.07544218595222009, + 0.15143976136810158, + 0.05541023260833024, + -0.9869122072398653 + ], + [ + 0.9816866519843654, + -0.1171009666599493, + 0.1502620408587364, + -0.10605280535359209, + -0.9911716417355204, + -0.0795712202743307, + 0.1582533405409195, + 0.0621782938541931, + -0.9854388565410952 + ], + [ + 0.9813556753044941, + -0.10064958869447525, + 0.16373972897038033, + -0.08994987045727477, + -0.9933753026373441, + -0.07151593469210019, + 0.16985305223156907, + 0.05545420097520307, + -0.9839079084151229 + ], + [ + 0.9807124866046746, + -0.08261476697891636, + 0.17713785280028352, + -0.07110188517899559, + -0.9949819132822744, + -0.07039541295522966, + 0.18206466033162091, + 0.05644282521422664, + -0.9816652519775605 + ], + [ + 0.981678790335327, + -0.05402981000159937, + 0.1827225553591018, + -0.04202386168033739, + -0.996734344822228, + -0.06895390417717956, + 0.18585141284165912, + 0.06001187784926299, + -0.9807435071728816 + ], + [ + 0.9774874577445117, + -0.028611378672429837, + 0.20904463390059544, + -0.01882676451682733, + -0.998638559853079, + -0.04864750468827673, + 0.21015190432160988, + 0.04361669158740495, + -0.9766953267651944 + ], + [ + 0.9774411450899056, + -0.011070327990636241, + 0.21091765152189929, + -0.0039034970755931347, + -0.9994017125703176, + -0.03436538406735272, + 0.2111718982154454, + 0.032766823918340945, + -0.9768995673324815 + ], + [ + 0.9761545781439323, + 0.02451991663360489, + 0.21568730434803654, + 0.026208466817446107, + -0.9996441361113539, + -0.004971660212001432, + 0.21548864433125078, + 0.010505942435871145, + -0.9764498294012928 + ], + [ + 0.959055956460366, + 0.10194156456407225, + 0.26423396789989245, + 0.09016839850106897, + -0.9943316158642196, + 0.05634090525188891, + 0.2684796682984481, + -0.03020852705907701, + -0.9628115665088762 + ], + [ + 0.9565427976236066, + 0.17020716144897327, + 0.23676021309731826, + 0.1527175923716517, + -0.9841188289171743, + 0.0904846260471683, + 0.24840131500177376, + -0.05039496762746258, + -0.9673454057074014 + ], + [ + 0.9417263163414775, + 0.23974328235049125, + 0.23595487635928214, + 0.21297118286441252, + -0.9679024222689592, + 0.13344727886028443, + 0.2603743850290278, + -0.07541922522602706, + -0.9625575931273211 + ], + [ + 0.9264445542710494, + 0.29723776240495386, + 0.2309766231938051, + 0.27313911849445655, + -0.9530306656751428, + 0.13087235090295363, + 0.25902800970085854, + -0.05815722554670909, + -0.9641173306746028 + ], + [ + 0.9280149256267843, + 0.30049191313711654, + 0.22021105320376078, + 0.28536492002410063, + -0.9533609874024842, + 0.09833458251601568, + 0.23948937394705555, + -0.028415450694227018, + -0.9704830765800563 + ], + [ + 0.9328834314724596, + 0.26822004540216465, + 0.24038824956438634, + 0.26006841506612893, + -0.9633568141993091, + 0.06563587449520095, + 0.24918451550840923, + 0.0012867712379522611, + -0.9684551726593341 + ], + [ + 0.9292306970286799, + 0.2661880287178967, + 0.25626986765297555, + 0.25976893232646847, + -0.9638522094943024, + 0.059236982121963384, + 0.26277445366237573, + 0.011526127720591368, + -0.9647884404791593 + ], + [ + 0.9377774459970981, + 0.20779149021215979, + 0.27820165056046975, + 0.20633654496124262, + -0.9778605249350384, + 0.034842847002340104, + 0.2792824591567056, + 0.02472833130604013, + -0.9598905237776868 + ], + [ + 0.9449193318926439, + 0.15631127673309603, + 0.2875660636821204, + 0.15640852309133463, + -0.9874295417986338, + 0.022787581875395008, + 0.2875131825150758, + 0.023445356670561954, + -0.9574896788637688 + ], + [ + 0.9573224835750932, + 0.10914748742131569, + 0.26762004489804186, + 0.11274032536900574, + -0.9936225673453708, + 0.0019526130404121864, + 0.2661264388919427, + 0.028302290571764643, + -0.9635225471524189 + ], + [ + 0.9514258057430459, + 0.17351612015727605, + 0.25432477703079104, + 0.17999212856382815, + -0.9836655211383318, + -0.0022307350170962664, + 0.24978344585111756, + 0.04789883682533311, + -0.9671162968379355 + ], + [ + 0.9517368886610943, + 0.14668894177963576, + 0.2695908921333776, + 0.15036372679618915, + -0.9886053382957355, + 0.0070876482090613, + 0.2675586747344605, + 0.03379111499706772, + -0.9629488647491071 + ], + [ + 0.9564120392043965, + 0.10807171172068938, + 0.2712867788718199, + 0.11379252275817867, + -0.9934898711544603, + -0.0053979327360608835, + 0.26893730315673375, + 0.03603305481434871, + -0.9624834263152425 + ], + [ + 0.9607985255942955, + 0.09677546649771913, + 0.2598089727087516, + 0.10577939711312086, + -0.9941706590933854, + -0.020866713785555477, + 0.25627507167536345, + 0.047531144336870876, + -0.9654345539475034 + ], + [ + 0.9572367480138159, + 0.1188566751191782, + 0.26376295993097326, + 0.13280069338776124, + -0.9905026836982829, + -0.035614736026384694, + 0.2570248705624884, + 0.06911963806410851, + -0.9639298167118924 + ], + [ + 0.9575431834572076, + 0.11861087684593435, + 0.26275941792536256, + 0.12816210480642995, + -0.9915624917131999, + -0.01944993365274829, + 0.25823540947403484, + 0.05229995144691091, + -0.9646653245413295 + ], + [ + 0.9545708759991532, + 0.12189191605229438, + 0.2719132278785085, + 0.13063464299558558, + -0.9913286749947324, + -0.014214365360590557, + 0.26782276367707286, + 0.049089906643717214, + -0.9622167886303409 + ], + [ + 0.9539984710216369, + 0.11809744461848845, + 0.27557197038697917, + 0.12730122465219953, + -0.9917400267018406, + -0.015688136902858477, + 0.271443024390809, + 0.05004710792858723, + -0.9611524184527421 + ], + [ + 0.9518084766511807, + 0.12803692649644755, + 0.27868830120459354, + 0.13999390650162058, + -0.9898770722540843, + -0.02334711905349683, + 0.27287786630171107, + 0.061236649802433915, + -0.9600977777307891 + ], + [ + 0.9519004394110518, + 0.14089852725265767, + 0.27209034982350666, + 0.1552515484079599, + -0.9873613792195818, + -0.031850644303308716, + 0.2641637941996916, + 0.07256109042480757, + -0.9617444452609984 + ], + [ + 0.9533483093865044, + 0.1507821202915815, + 0.2615181699046341, + 0.16865959596335672, + -0.9845443331712284, + -0.047184708432908534, + 0.25036162181806393, + 0.08909101088660054, + -0.9640445270317303 + ], + [ + 0.9527941996728889, + 0.1535817623260523, + 0.2619081047820468, + 0.17261834875545023, + -0.9836595942177424, + -0.051153771868051034, + 0.24977213363912593, + 0.09394916170041556, + -0.9637361860349275 + ], + [ + 0.9508552930145715, + 0.1710914242825366, + 0.2580735094564076, + 0.1907096036476611, + -0.9802248860944669, + -0.052811170765677616, + 0.2439345379865784, + 0.09943287795323336, + -0.9646807989999656 + ], + [ + 0.9514670440916295, + 0.17577617816527125, + 0.25261274551603247, + 0.1952059161069301, + -0.9792841233389843, + -0.05382616550573717, + 0.23791829337903195, + 0.1005253249972745, + -0.966069120047733 + ], + [ + 0.9479771928284139, + 0.18622914587444836, + 0.2581820038345698, + 0.20602940356056507, + -0.9771825208150263, + -0.051635316228997086, + 0.24267494049785654, + 0.10214218638968003, + -0.9647154228133278 + ], + [ + 0.9449271268618203, + 0.19926445330489764, + 0.25962743031075486, + 0.2216084577934542, + -0.9733167561230976, + -0.05953304699423335, + 0.2408369082077588, + 0.11379002548163453, + -0.9638720940798197 + ], + [ + 0.9388062247278248, + 0.22478088672539195, + 0.26099123620389186, + 0.24825575049013712, + -0.9668147583345728, + -0.06031836714501494, + 0.23877176290522287, + 0.12141983375630415, + -0.9634548610130751 + ], + [ + 0.9344781610722486, + 0.24320442890548036, + 0.26000417735065, + 0.2654135473599412, + -0.9626508693442104, + -0.0534691745648692, + 0.23728930729563302, + 0.1189744069604693, + -0.9641259643488311 + ], + [ + 0.920047660859704, + 0.2757447981071439, + 0.27834709997310436, + 0.2937238195140859, + -0.9555833287132719, + -0.024224362433703878, + 0.259304106401429, + 0.10404474134771627, + -0.9601750216503463 + ], + [ + 0.9056654132866855, + 0.3227705289327389, + 0.27493516477296404, + 0.34295674365805545, + -0.9389509500457025, + -0.02741870507035552, + 0.24930068422633697, + 0.11912304168695595, + -0.9610717297806276 + ], + [ + 0.9094615199414041, + 0.3336598397670623, + 0.2480944478872703, + 0.35619732407974974, + -0.9330216587442266, + -0.050931823377902675, + 0.21448358926569872, + 0.1346911119591431, + -0.96739603797768 + ], + [ + 0.908782189173359, + 0.346292562703907, + 0.23280118912333286, + 0.36651991262992284, + -0.9291355542680939, + -0.04868547463746707, + 0.19944444411171475, + 0.12957076371960746, + -0.9713049628731888 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0013506412506103516, + -0.0004934421740472317, + -0.01139146089553833, + 0.020519491285085678, + 0.028673063963651657, + -0.006390094757080078, + 1.0 + ], + [ + 0.0050743818283081055, + -0.00793134793639183, + -0.002671182155609131, + -0.027567800134420395, + -0.025421075522899628, + -0.11818337440490723, + 1.0 + ], + [ + 0.0014868378639221191, + -0.01721074804663658, + -0.013669878244400024, + -0.04559800773859024, + -0.029882468283176422, + -0.18644458055496216, + 1.0 + ], + [ + 0.003634810447692871, + -0.015064314007759094, + 0.000781819224357605, + 0.021929055452346802, + -0.0477495938539505, + -0.11597046256065369, + 1.0 + ], + [ + 0.0005748569965362549, + -0.019295066595077515, + -0.005748964846134186, + 0.011023230850696564, + -0.038680508732795715, + -0.17638105154037476, + 1.0 + ], + [ + -0.00254175066947937, + -0.017152909189462662, + -0.007908903062343597, + 0.0013685300946235657, + 0.01742812991142273, + -0.09046335518360138, + 1.0 + ], + [ + -0.0021750032901763916, + -0.01507829874753952, + -0.015072464942932129, + 0.006529457867145538, + 0.03301561623811722, + -0.06749029457569122, + 1.0 + ], + [ + 0.004835844039916992, + -0.009338721632957458, + -0.014161497354507446, + 0.013070881366729736, + 0.009282790124416351, + -0.04637680947780609, + 1.0 + ], + [ + 0.005883365869522095, + -0.008456982672214508, + -0.008138105273246765, + -0.016479410231113434, + -0.03041304647922516, + -0.05025045573711395, + 1.0 + ], + [ + 0.002146512269973755, + -0.005534373223781586, + -0.004200838506221771, + 0.006819233298301697, + -0.02540130913257599, + -0.018861085176467896, + 1.0 + ], + [ + 0.0023178160190582275, + -0.003411330282688141, + -0.010331358760595322, + 0.03464701026678085, + -0.004073247313499451, + -0.005715221166610718, + 0.0 + ], + [ + -0.0010494589805603027, + -0.0008553117513656616, + -0.009698819369077682, + 0.010952666401863098, + 0.020610496401786804, + 0.011394158005714417, + 0.0 + ], + [ + 0.0016045868396759033, + -0.002103753387928009, + -0.0024566538631916046, + -0.0061919912695884705, + -0.008130773901939392, + 0.013255983591079712, + 0.0 + ], + [ + -0.0015369653701782227, + -0.0015286505222320557, + 0.0001857653260231018, + -0.011852826923131943, + 0.009831160306930542, + 0.007592558860778809, + 0.0 + ], + [ + -0.0002447962760925293, + -0.0029425621032714844, + 0.00011404603719711304, + -0.0024001896381378174, + -0.003945931792259216, + 0.0034255683422088623, + 0.0 + ], + [ + 0.0010536015033721924, + -0.006307721138000488, + 0.0032560527324676514, + -0.006927359849214554, + -0.00689677894115448, + 0.02419228106737137, + 0.0 + ], + [ + -0.000650256872177124, + -0.010424479842185974, + 0.002948455512523651, + 0.006711918860673904, + -0.01175910234451294, + 0.016210481524467468, + 0.0 + ], + [ + -0.0001856982707977295, + -0.00888010859489441, + 0.003624856472015381, + -0.0011321790516376495, + -0.012405246496200562, + 0.019029781222343445, + 0.0 + ], + [ + 0.002620100975036621, + -0.003484487533569336, + 0.0063401274383068085, + -0.0036802031099796295, + -0.0038525015115737915, + 0.029591567814350128, + 0.0 + ], + [ + -0.0007417201995849609, + -0.0024108588695526123, + 0.01873137056827545, + 0.016486220061779022, + -0.024792030453681946, + 0.023524055257439613, + 0.0 + ], + [ + -0.002357393503189087, + 0.0028697848320007324, + 0.011382214725017548, + 0.01109868660569191, + -0.0010434091091156006, + 0.015264416113495827, + 0.0 + ], + [ + -0.0019735395908355713, + 0.010021284222602844, + 0.011400751769542694, + 0.022770170122385025, + -0.004418462514877319, + 0.030835803598165512, + 0.0 + ], + [ + 0.004016876220703125, + 0.01308123767375946, + 0.020250633358955383, + 0.0421239472925663, + -0.05462220311164856, + 0.06690007448196411, + 0.0 + ], + [ + 0.0069963932037353516, + 0.02490288019180298, + 0.015505775809288025, + 0.020684055984020233, + 0.02078491449356079, + 0.06457731127738953, + 0.0 + ], + [ + 0.004735767841339111, + 0.03695792704820633, + 0.008715599775314331, + 0.026144102215766907, + -0.012380450963973999, + 0.06408891081809998, + 0.0 + ], + [ + 0.005398213863372803, + 0.034834131598472595, + 0.0018572509288787842, + -0.017944470047950745, + 0.0013942122459411621, + 0.06429392099380493, + 0.0 + ], + [ + 0.0021700263023376465, + 0.03717567026615143, + -0.0013877302408218384, + -0.030977390706539154, + 0.020175844430923462, + 0.01162111759185791, + 0.0 + ], + [ + -0.003888428211212158, + 0.031067101284861565, + -0.006112277507781982, + -0.030600018799304962, + -0.009998232126235962, + -0.0264473557472229, + 0.0 + ], + [ + 0.00228998064994812, + 0.025007206946611404, + 0.00477243959903717, + -0.010617541149258614, + -0.014058470726013184, + 0.0007176399230957031, + 0.0 + ], + [ + 0.0005886554718017578, + 0.024272441864013672, + -0.005947515368461609, + -0.013809694908559322, + -0.017150163650512695, + -0.05601760745048523, + 0.0 + ], + [ + -0.005789607763290405, + 0.015582270920276642, + -0.010463878512382507, + 0.0012745354324579239, + -0.008582621812820435, + -0.052537813782691956, + 0.0 + ], + [ + -0.006468713283538818, + 0.007103294134140015, + -0.0009566694498062134, + -0.004883943125605583, + 0.022257059812545776, + -0.04681207984685898, + 0.0 + ], + [ + -0.0031703710556030273, + -0.0037460699677467346, + -0.007980167865753174, + -0.02012171968817711, + 0.016915708780288696, + 0.06974545866250992, + 0.0 + ], + [ + -0.00017115473747253418, + -0.0015235021710395813, + -0.010332159698009491, + 0.014410153031349182, + -0.01840183138847351, + -0.03027820587158203, + 0.0 + ], + [ + -0.0013473927974700928, + -0.0014270991086959839, + -0.003916189074516296, + -0.002343215048313141, + -0.0014310777187347412, + -0.03827174752950668, + 0.0 + ], + [ + -0.003090202808380127, + -0.0023301318287849426, + -0.0037149637937545776, + -0.011773072183132172, + 0.013122916221618652, + -0.008768178522586823, + 0.0 + ], + [ + 0.000626981258392334, + -0.0023386701941490173, + 0.00023861229419708252, + -0.02239038795232773, + -0.0007757842540740967, + 0.028199777007102966, + 0.0 + ], + [ + -0.0034727752208709717, + 0.0014855414628982544, + -0.009047739207744598, + 0.017420951277017593, + -0.0012528300285339355, + -0.004799500107765198, + 0.0 + ], + [ + 0.0004940032958984375, + -7.778406143188477e-06, + -0.005350448191165924, + 0.0031892992556095123, + -0.009937316179275513, + 0.002952873706817627, + 0.0 + ], + [ + -0.002126157283782959, + -0.002151764929294586, + -0.007645949721336365, + -0.0010495968163013458, + -0.0037595033645629883, + -0.0033508390188217163, + 0.0 + ], + [ + -0.0009266436100006104, + -0.006313696503639221, + -0.00816713273525238, + -0.011672485619783401, + -0.0014911293983459473, + 0.013378962874412537, + 0.0 + ], + [ + 0.0004419386386871338, + -0.0019261837005615234, + -0.00370817631483078, + -0.011609300971031189, + 0.009046345949172974, + 0.015637964010238647, + 0.0 + ], + [ + -0.0010454654693603516, + -0.00327310711145401, + 0.00031113624572753906, + -0.01684734970331192, + 0.014283061027526855, + 0.013428181409835815, + 0.0 + ], + [ + 0.0009292960166931152, + -0.002949334681034088, + -0.0004451945424079895, + -0.005025207996368408, + 0.0006088316440582275, + 0.004125520586967468, + 0.0 + ], + [ + 0.0010483860969543457, + -0.00287831574678421, + -0.0026242807507514954, + -0.005533374845981598, + 0.006024032831192017, + 0.01871347427368164, + 1.0 + ], + [ + 0.0006354749202728271, + -0.00232059508562088, + -0.001869000494480133, + -0.000972263514995575, + 0.006198853254318237, + 0.004415005445480347, + 1.0 + ], + [ + 0.0008831322193145752, + 0.0003474205732345581, + 0.00021466612815856934, + -0.0018021538853645325, + -0.004900231957435608, + 0.01165260374546051, + 1.0 + ], + [ + 0.0004552602767944336, + -0.0006754323840141296, + 0.0008056685328483582, + -0.01202615350484848, + 0.0018942207098007202, + 0.016353487968444824, + 1.0 + ], + [ + 0.002446472644805908, + -3.390014171600342e-05, + 0.004121318459510803, + -0.00785333663225174, + 0.002127215266227722, + 0.02815905213356018, + 1.0 + ], + [ + 0.0027236342430114746, + 0.0023928433656692505, + 0.006049685180187225, + 0.0025839507579803467, + 0.0015263259410858154, + 0.018215328454971313, + 1.0 + ], + [ + 0.006202578544616699, + 0.006598241627216339, + 0.009475715458393097, + 0.014841563999652863, + -0.022727087140083313, + 0.03228551149368286, + 1.0 + ], + [ + 0.005933165550231934, + 0.008908100426197052, + 0.022747695446014404, + -0.015380144119262695, + 0.0103435218334198, + 0.05297136306762695, + 1.0 + ], + [ + 0.0012600123882293701, + -0.00540749728679657, + 0.01391109824180603, + -0.01502206176519394, + 0.03579498827457428, + 0.011301398277282715, + 1.0 + ], + [ + 0.002172499895095825, + -0.01878122240304947, + -0.00045891106128692627, + 0.00572553277015686, + 0.015372142195701599, + 0.01006174087524414, + 1.0 + ], + [ + 0.0011926591396331787, + -0.02152406796813011, + 0.00455319881439209, + -0.009334251284599304, + 0.0013370811939239502, + -0.038106769323349, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.003452181816101 + ], + [ + 1.0041072368621826 + ], + [ + 1.003452181816101 + ], + [ + 1.003452181816101 + ], + [ + 1.0041072368621826 + ], + [ + 1.003452181816101 + ], + [ + 1.003452181816101 + ], + [ + 1.003452181816101 + ], + [ + 1.0041072368621826 + ], + [ + 1.003452181816101 + ], + [ + 0.9816622138023376 + ], + [ + 0.8888095021247864 + ], + [ + 0.5899012684822083 + ], + [ + 0.30878186225891113 + ], + [ + 0.12975460290908813 + ], + [ + 0.07206849008798599 + ], + [ + 0.06926051527261734 + ], + [ + 0.06238236278295517 + ], + [ + 0.05538023263216019 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.05511022359132767 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.07591649144887924 + ], + [ + 0.22235295176506042 + ], + [ + 0.4681091010570526 + ], + [ + 0.7672095894813538 + ], + [ + 0.9913908839225769 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.33600008487701416, + 0.0026614717207849026, + 0.14211101830005646 + ], + [ + 0.34107446670532227, + -0.005269876681268215, + 0.13943983614444733 + ], + [ + 0.3425613045692444, + -0.02248062565922737, + 0.1257699579000473 + ], + [ + 0.34619611501693726, + -0.037544939666986465, + 0.1265517771244049 + ], + [ + 0.3467709720134735, + -0.05684000626206398, + 0.12080281227827072 + ], + [ + 0.34422922134399414, + -0.07399291545152664, + 0.11289390921592712 + ], + [ + 0.34205421805381775, + -0.08907121419906616, + 0.097821444272995 + ], + [ + 0.34689006209373474, + -0.09840993583202362, + 0.08365994691848755 + ], + [ + 0.35277342796325684, + -0.10686691850423813, + 0.07552184164524078 + ], + [ + 0.3549199402332306, + -0.11240129172801971, + 0.07132100313901901 + ], + [ + 0.3572377562522888, + -0.11581262201070786, + 0.06098964437842369 + ], + [ + 0.3561882972717285, + -0.11666793376207352, + 0.05129082500934601 + ], + [ + 0.3577928841114044, + -0.11877168715000153, + 0.048834171146154404 + ], + [ + 0.3562559187412262, + -0.12030033767223358, + 0.049019936472177505 + ], + [ + 0.35601112246513367, + -0.12324289977550507, + 0.04913398250937462 + ], + [ + 0.35706472396850586, + -0.12955062091350555, + 0.05239003524184227 + ], + [ + 0.35641446709632874, + -0.13997510075569153, + 0.05533849075436592 + ], + [ + 0.356228768825531, + -0.14885520935058594, + 0.0589633472263813 + ], + [ + 0.3588488698005676, + -0.15233969688415527, + 0.06530347466468811 + ], + [ + 0.35810714960098267, + -0.15475055575370789, + 0.08403484523296356 + ], + [ + 0.3557497560977936, + -0.15188077092170715, + 0.09541705995798111 + ], + [ + 0.353776216506958, + -0.1418594866991043, + 0.1068178117275238 + ], + [ + 0.35779309272766113, + -0.12877824902534485, + 0.1270684450864792 + ], + [ + 0.3647894859313965, + -0.10387536883354187, + 0.1425742208957672 + ], + [ + 0.3695252537727356, + -0.06691744178533554, + 0.15128982067108154 + ], + [ + 0.3749234676361084, + -0.032083310186862946, + 0.15314707159996033 + ], + [ + 0.37709349393844604, + 0.005092358682304621, + 0.1517593413591385 + ], + [ + 0.3732050657272339, + 0.0361594595015049, + 0.1456470638513565 + ], + [ + 0.375495046377182, + 0.0611666664481163, + 0.15041950345039368 + ], + [ + 0.37608370184898376, + 0.08543910831212997, + 0.14447198808193207 + ], + [ + 0.37029409408569336, + 0.10102137923240662, + 0.13400810956954956 + ], + [ + 0.36382538080215454, + 0.10812467336654663, + 0.13305144011974335 + ], + [ + 0.3606550097465515, + 0.1043786033987999, + 0.12507127225399017 + ], + [ + 0.360483855009079, + 0.10285510122776031, + 0.11473911255598068 + ], + [ + 0.3591364622116089, + 0.10142800211906433, + 0.11082292348146439 + ], + [ + 0.35604625940322876, + 0.09909787029027939, + 0.10710795968770981 + ], + [ + 0.3566732406616211, + 0.09675920009613037, + 0.10734657198190689 + ], + [ + 0.3532004654407501, + 0.09824474155902863, + 0.09829883277416229 + ], + [ + 0.35369446873664856, + 0.09823696315288544, + 0.09294838458299637 + ], + [ + 0.3515683114528656, + 0.09608519822359085, + 0.08530243486166 + ], + [ + 0.350641667842865, + 0.08977150171995163, + 0.07713530212640762 + ], + [ + 0.3510836064815521, + 0.0878453180193901, + 0.07342712581157684 + ], + [ + 0.3500381410121918, + 0.0845722109079361, + 0.07373826205730438 + ], + [ + 0.3509674370288849, + 0.08162287622690201, + 0.07329306751489639 + ], + [ + 0.35201582312583923, + 0.0787445604801178, + 0.0706687867641449 + ], + [ + 0.35265129804611206, + 0.07642396539449692, + 0.06879978626966476 + ], + [ + 0.35353443026542664, + 0.07677138596773148, + 0.06901445239782333 + ], + [ + 0.35398969054222107, + 0.07609595358371735, + 0.06982012093067169 + ], + [ + 0.356436163187027, + 0.07606205344200134, + 0.0739414393901825 + ], + [ + 0.35915979743003845, + 0.0784548968076706, + 0.07999112457036972 + ], + [ + 0.36536237597465515, + 0.08505313843488693, + 0.08946684002876282 + ], + [ + 0.3712955415248871, + 0.09396123886108398, + 0.11221453547477722 + ], + [ + 0.37255555391311646, + 0.08855374157428741, + 0.12612563371658325 + ], + [ + 0.3747280538082123, + 0.06977251917123795, + 0.12566672265529633 + ], + [ + 0.37592071294784546, + 0.048248451203107834, + 0.13021992146968842 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.7589249612166061, + 0.6487960125452072, + 0.05564743792675726, + 0.6505545043392977, + -0.7591636174772998, + -0.02119997128844524, + 0.028491053441804384, + 0.052290878786069875, + -0.9982253873096781 + ], + [ + 0.8294670793752598, + 0.5514094108704161, + 0.08906192135933634, + 0.5559498596675084, + -0.8304186427474262, + -0.036395484791381286, + 0.05388986702853936, + 0.07970281915379546, + -0.9953609108512264 + ], + [ + 0.9162559686638866, + 0.38040561383985566, + 0.125564998494508, + 0.3917515038293526, + -0.9163695505711021, + -0.08244759568087584, + 0.0837004129932696, + 0.12473337863314327, + -0.9886535414995069 + ], + [ + 0.9505117541643918, + 0.2695714822961354, + 0.15446236152537288, + 0.28164180478268314, + -0.9575103714317524, + -0.06206272955148337, + 0.13116897115584789, + 0.102494412205212, + -0.9860474615720201 + ], + [ + 0.9794060776630552, + 0.09541512406826845, + 0.17793169795094568, + 0.10983987503392699, + -0.9912618646268453, + -0.0730418892762324, + 0.1694076057596026, + 0.09108166574864027, + -0.98132828007515 + ], + [ + 0.9881262097924238, + 0.007273717847220214, + 0.15347210349095142, + 0.020970643215234036, + -0.9959157642835039, + -0.08781812213172775, + 0.152206523002129, + 0.08999379689891256, + -0.9842430039758063 + ], + [ + 0.9917717385058671, + -0.05618155644669254, + 0.11503239289990004, + -0.04592289687579573, + -0.9948853874599036, + -0.08996751281041597, + 0.11949856167998384, + 0.08394461587251699, + -0.9892792301582151 + ], + [ + 0.9896382942681979, + -0.10013141428528162, + 0.10290649343535625, + -0.09195090929862361, + -0.9924317906712045, + -0.08138901120116289, + 0.11027727235059821, + 0.07108333657318024, + -0.9913556790902729 + ], + [ + 0.9799963470883294, + -0.15408655144144068, + 0.12595433441694182, + -0.14100067586938214, + -0.9842130636766356, + -0.10697408421028079, + 0.14044916908941824, + 0.08707456547772754, + -0.9862515150553417 + ], + [ + 0.9733269023175531, + -0.1737827955692047, + 0.14978077710129864, + -0.1588323391309652, + -0.9815265994260074, + -0.1066668770772093, + 0.16555068490073657, + 0.08003170986159434, + -0.9829485724825725 + ], + [ + 0.9717302899284752, + -0.1742991126267791, + 0.15924843161877236, + -0.16427872424487, + -0.983622276201152, + -0.07416008711795512, + 0.16956634216730457, + 0.045902473771923163, + -0.9844491954923923 + ], + [ + 0.9767843401290358, + -0.16060120051073973, + 0.14177308374015526, + -0.15370694047081984, + -0.9863902742793246, + -0.05838153182521415, + 0.14921973505466277, + 0.03523465909680151, + -0.9881760923380754 + ], + [ + 0.9775027408096048, + -0.1487242370863247, + 0.14956434405566502, + -0.14056823138255892, + -0.9880158705411859, + -0.06375901414483966, + 0.15725445633014676, + 0.04130061575610175, + -0.9866941243883419 + ], + [ + 0.9800263940960631, + -0.14247032182898398, + 0.13874607840589184, + -0.1333444971687461, + -0.9883751662243975, + -0.07303270408323277, + 0.14753817116218573, + 0.053072951574606356, + -0.9876313835947484 + ], + [ + 0.9798926662836285, + -0.13963377379371256, + 0.14252288160042045, + -0.1299090498784961, + -0.9886516653191946, + -0.07544218595222009, + 0.15143976136810158, + 0.05541023260833024, + -0.9869122072398653 + ], + [ + 0.9816866519843654, + -0.1171009666599493, + 0.1502620408587364, + -0.10605280535359209, + -0.9911716417355204, + -0.0795712202743307, + 0.1582533405409195, + 0.0621782938541931, + -0.9854388565410952 + ], + [ + 0.9813556753044941, + -0.10064958869447525, + 0.16373972897038033, + -0.08994987045727477, + -0.9933753026373441, + -0.07151593469210019, + 0.16985305223156907, + 0.05545420097520307, + -0.9839079084151229 + ], + [ + 0.9807124866046746, + -0.08261476697891636, + 0.17713785280028352, + -0.07110188517899559, + -0.9949819132822744, + -0.07039541295522966, + 0.18206466033162091, + 0.05644282521422664, + -0.9816652519775605 + ], + [ + 0.981678790335327, + -0.05402981000159937, + 0.1827225553591018, + -0.04202386168033739, + -0.996734344822228, + -0.06895390417717956, + 0.18585141284165912, + 0.06001187784926299, + -0.9807435071728816 + ], + [ + 0.9774874577445117, + -0.028611378672429837, + 0.20904463390059544, + -0.01882676451682733, + -0.998638559853079, + -0.04864750468827673, + 0.21015190432160988, + 0.04361669158740495, + -0.9766953267651944 + ], + [ + 0.9774411450899056, + -0.011070327990636241, + 0.21091765152189929, + -0.0039034970755931347, + -0.9994017125703176, + -0.03436538406735272, + 0.2111718982154454, + 0.032766823918340945, + -0.9768995673324815 + ], + [ + 0.9761545781439323, + 0.02451991663360489, + 0.21568730434803654, + 0.026208466817446107, + -0.9996441361113539, + -0.004971660212001432, + 0.21548864433125078, + 0.010505942435871145, + -0.9764498294012928 + ], + [ + 0.959055956460366, + 0.10194156456407225, + 0.26423396789989245, + 0.09016839850106897, + -0.9943316158642196, + 0.05634090525188891, + 0.2684796682984481, + -0.03020852705907701, + -0.9628115665088762 + ], + [ + 0.9565427976236066, + 0.17020716144897327, + 0.23676021309731826, + 0.1527175923716517, + -0.9841188289171743, + 0.0904846260471683, + 0.24840131500177376, + -0.05039496762746258, + -0.9673454057074014 + ], + [ + 0.9417263163414775, + 0.23974328235049125, + 0.23595487635928214, + 0.21297118286441252, + -0.9679024222689592, + 0.13344727886028443, + 0.2603743850290278, + -0.07541922522602706, + -0.9625575931273211 + ], + [ + 0.9264445542710494, + 0.29723776240495386, + 0.2309766231938051, + 0.27313911849445655, + -0.9530306656751428, + 0.13087235090295363, + 0.25902800970085854, + -0.05815722554670909, + -0.9641173306746028 + ], + [ + 0.9280149256267843, + 0.30049191313711654, + 0.22021105320376078, + 0.28536492002410063, + -0.9533609874024842, + 0.09833458251601568, + 0.23948937394705555, + -0.028415450694227018, + -0.9704830765800563 + ], + [ + 0.9328834314724596, + 0.26822004540216465, + 0.24038824956438634, + 0.26006841506612893, + -0.9633568141993091, + 0.06563587449520095, + 0.24918451550840923, + 0.0012867712379522611, + -0.9684551726593341 + ], + [ + 0.9292306970286799, + 0.2661880287178967, + 0.25626986765297555, + 0.25976893232646847, + -0.9638522094943024, + 0.059236982121963384, + 0.26277445366237573, + 0.011526127720591368, + -0.9647884404791593 + ], + [ + 0.9377774459970981, + 0.20779149021215979, + 0.27820165056046975, + 0.20633654496124262, + -0.9778605249350384, + 0.034842847002340104, + 0.2792824591567056, + 0.02472833130604013, + -0.9598905237776868 + ], + [ + 0.9449193318926439, + 0.15631127673309603, + 0.2875660636821204, + 0.15640852309133463, + -0.9874295417986338, + 0.022787581875395008, + 0.2875131825150758, + 0.023445356670561954, + -0.9574896788637688 + ], + [ + 0.9573224835750932, + 0.10914748742131569, + 0.26762004489804186, + 0.11274032536900574, + -0.9936225673453708, + 0.0019526130404121864, + 0.2661264388919427, + 0.028302290571764643, + -0.9635225471524189 + ], + [ + 0.9514258057430459, + 0.17351612015727605, + 0.25432477703079104, + 0.17999212856382815, + -0.9836655211383318, + -0.0022307350170962664, + 0.24978344585111756, + 0.04789883682533311, + -0.9671162968379355 + ], + [ + 0.9517368886610943, + 0.14668894177963576, + 0.2695908921333776, + 0.15036372679618915, + -0.9886053382957355, + 0.0070876482090613, + 0.2675586747344605, + 0.03379111499706772, + -0.9629488647491071 + ], + [ + 0.9564120392043965, + 0.10807171172068938, + 0.2712867788718199, + 0.11379252275817867, + -0.9934898711544603, + -0.0053979327360608835, + 0.26893730315673375, + 0.03603305481434871, + -0.9624834263152425 + ], + [ + 0.9607985255942955, + 0.09677546649771913, + 0.2598089727087516, + 0.10577939711312086, + -0.9941706590933854, + -0.020866713785555477, + 0.25627507167536345, + 0.047531144336870876, + -0.9654345539475034 + ], + [ + 0.9572367480138159, + 0.1188566751191782, + 0.26376295993097326, + 0.13280069338776124, + -0.9905026836982829, + -0.035614736026384694, + 0.2570248705624884, + 0.06911963806410851, + -0.9639298167118924 + ], + [ + 0.9575431834572076, + 0.11861087684593435, + 0.26275941792536256, + 0.12816210480642995, + -0.9915624917131999, + -0.01944993365274829, + 0.25823540947403484, + 0.05229995144691091, + -0.9646653245413295 + ], + [ + 0.9545708759991532, + 0.12189191605229438, + 0.2719132278785085, + 0.13063464299558558, + -0.9913286749947324, + -0.014214365360590557, + 0.26782276367707286, + 0.049089906643717214, + -0.9622167886303409 + ], + [ + 0.9539984710216369, + 0.11809744461848845, + 0.27557197038697917, + 0.12730122465219953, + -0.9917400267018406, + -0.015688136902858477, + 0.271443024390809, + 0.05004710792858723, + -0.9611524184527421 + ], + [ + 0.9518084766511807, + 0.12803692649644755, + 0.27868830120459354, + 0.13999390650162058, + -0.9898770722540843, + -0.02334711905349683, + 0.27287786630171107, + 0.061236649802433915, + -0.9600977777307891 + ], + [ + 0.9519004394110518, + 0.14089852725265767, + 0.27209034982350666, + 0.1552515484079599, + -0.9873613792195818, + -0.031850644303308716, + 0.2641637941996916, + 0.07256109042480757, + -0.9617444452609984 + ], + [ + 0.9533483093865044, + 0.1507821202915815, + 0.2615181699046341, + 0.16865959596335672, + -0.9845443331712284, + -0.047184708432908534, + 0.25036162181806393, + 0.08909101088660054, + -0.9640445270317303 + ], + [ + 0.9527941996728889, + 0.1535817623260523, + 0.2619081047820468, + 0.17261834875545023, + -0.9836595942177424, + -0.051153771868051034, + 0.24977213363912593, + 0.09394916170041556, + -0.9637361860349275 + ], + [ + 0.9508552930145715, + 0.1710914242825366, + 0.2580735094564076, + 0.1907096036476611, + -0.9802248860944669, + -0.052811170765677616, + 0.2439345379865784, + 0.09943287795323336, + -0.9646807989999656 + ], + [ + 0.9514670440916295, + 0.17577617816527125, + 0.25261274551603247, + 0.1952059161069301, + -0.9792841233389843, + -0.05382616550573717, + 0.23791829337903195, + 0.1005253249972745, + -0.966069120047733 + ], + [ + 0.9479771928284139, + 0.18622914587444836, + 0.2581820038345698, + 0.20602940356056507, + -0.9771825208150263, + -0.051635316228997086, + 0.24267494049785654, + 0.10214218638968003, + -0.9647154228133278 + ], + [ + 0.9449271268618203, + 0.19926445330489764, + 0.25962743031075486, + 0.2216084577934542, + -0.9733167561230976, + -0.05953304699423335, + 0.2408369082077588, + 0.11379002548163453, + -0.9638720940798197 + ], + [ + 0.9388062247278248, + 0.22478088672539195, + 0.26099123620389186, + 0.24825575049013712, + -0.9668147583345728, + -0.06031836714501494, + 0.23877176290522287, + 0.12141983375630415, + -0.9634548610130751 + ], + [ + 0.9344781610722486, + 0.24320442890548036, + 0.26000417735065, + 0.2654135473599412, + -0.9626508693442104, + -0.0534691745648692, + 0.23728930729563302, + 0.1189744069604693, + -0.9641259643488311 + ], + [ + 0.920047660859704, + 0.2757447981071439, + 0.27834709997310436, + 0.2937238195140859, + -0.9555833287132719, + -0.024224362433703878, + 0.259304106401429, + 0.10404474134771627, + -0.9601750216503463 + ], + [ + 0.9056654132866855, + 0.3227705289327389, + 0.27493516477296404, + 0.34295674365805545, + -0.9389509500457025, + -0.02741870507035552, + 0.24930068422633697, + 0.11912304168695595, + -0.9610717297806276 + ], + [ + 0.9094615199414041, + 0.3336598397670623, + 0.2480944478872703, + 0.35619732407974974, + -0.9330216587442266, + -0.050931823377902675, + 0.21448358926569872, + 0.1346911119591431, + -0.96739603797768 + ], + [ + 0.908782189173359, + 0.346292562703907, + 0.23280118912333286, + 0.36651991262992284, + -0.9291355542680939, + -0.04868547463746707, + 0.19944444411171475, + 0.12957076371960746, + -0.9713049628731888 + ], + [ + 0.9223360587176156, + 0.30865018870193256, + 0.2324462428251241, + 0.33172140985406523, + -0.9410132680921456, + -0.06674530334765824, + 0.19813404814338803, + 0.13866899541282132, + -0.9703163446410209 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005739.json b/json/chunk-0005/episode_0005739.json new file mode 100644 index 0000000000000000000000000000000000000000..69fb6afeef2ad122db5b8937bd80dec421311671 --- /dev/null +++ b/json/chunk-0005/episode_0005739.json @@ -0,0 +1,1942 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 31, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nClose microwave." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005739.mp4", + "start": 0, + "end": 31, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.21369822323322296, + -0.12003554403781891, + 0.050662796944379807, + 0.13923759758472443, + -0.046060144901275635, + 0.13765044510364532, + 0.0, + 0.9947922229766846 + ], + [ + 0.20827487111091614, + -0.11654753983020782, + 0.046046916395425797, + 0.15566401183605194, + -0.02186611481010914, + 0.13142278790473938, + 0.0, + 0.9947922229766846 + ], + [ + 0.2027462124824524, + -0.10192432999610901, + 0.08997686207294464, + 0.06752167642116547, + -0.10228073596954346, + 0.0891222208738327, + 0.0, + 0.9947922229766846 + ], + [ + 0.19612671434879303, + -0.0744624212384224, + 0.1211705133318901, + 0.0051855165511369705, + -0.10059955716133118, + 0.08585656434297562, + 0.0, + 0.9947922229766846 + ], + [ + 0.19336046278476715, + -0.04421373829245567, + 0.13145408034324646, + 0.004892321769148111, + -0.08154433220624924, + 0.08725790679454803, + 0.0, + 0.9947922229766846 + ], + [ + 0.19734352827072144, + -0.003866840386763215, + 0.12803086638450623, + -0.00010623941489029676, + -0.07888545095920563, + 0.10074898600578308, + 0.0, + 0.9947922229766846 + ], + [ + 0.19910567998886108, + 0.01705898903310299, + 0.11095979064702988, + 0.000861494685523212, + -0.06136930733919144, + 0.09293308109045029, + 0.0, + 0.9947922229766846 + ], + [ + 0.19506317377090454, + 0.039654508233070374, + 0.09373621642589569, + 0.013161520473659039, + -0.0726475715637207, + 0.08863295614719391, + 0.0, + 0.9947922229766846 + ], + [ + 0.19521206617355347, + 0.05573990195989609, + 0.08994030207395554, + 0.005865174345672131, + -0.05517176538705826, + 0.0810638815164566, + 0.0, + 0.9947922229766846 + ], + [ + 0.20680521428585052, + 0.06963718682527542, + 0.09512441605329514, + 0.003335746703669429, + -0.07025256752967834, + 0.09771645814180374, + 0.0, + 0.9947922229766846 + ], + [ + 0.2207142561674118, + 0.08196164667606354, + 0.10257943719625473, + -0.022506117820739746, + -0.0682452991604805, + 0.12340513616800308, + 0.0, + 0.9947922229766846 + ], + [ + 0.23364892601966858, + 0.08376920968294144, + 0.10114527493715286, + -0.04106944054365158, + -0.0383351594209671, + 0.11985623836517334, + 0.0, + 0.9968144297599792 + ], + [ + 0.24252578616142273, + 0.07505383342504501, + 0.0995313823223114, + -0.03775115683674812, + -0.05098525434732437, + 0.12003450095653534, + 0.0, + 0.9968144297599792 + ], + [ + 0.2518746256828308, + 0.06641768664121628, + 0.09827452152967453, + -0.029889686033129692, + -0.08297176659107208, + 0.09309602528810501, + 0.0, + 0.9961419701576233 + ], + [ + 0.2714161276817322, + 0.051802560687065125, + 0.0964561179280281, + -0.01795082539319992, + -0.15887172520160675, + 0.0848960131406784, + 0.0, + 0.9954678416252136 + ], + [ + 0.27174094319343567, + 0.03205337002873421, + 0.08230685442686081, + -0.033508386462926865, + -0.12160017341375351, + 0.10005780309438705, + 0.0, + 0.9968144297599792 + ], + [ + 0.2809620201587677, + 0.02240699902176857, + 0.07866226136684418, + -0.028821587562561035, + -0.15604746341705322, + 0.11895397305488586, + 0.0, + 0.9968144297599792 + ], + [ + 0.2869146466255188, + 0.010662740096449852, + 0.07567988336086273, + -0.025309139862656593, + -0.1785336136817932, + 0.09790556132793427, + 0.0, + 0.9961419701576233 + ], + [ + 0.2967640161514282, + 0.007529514376074076, + 0.07463458180427551, + -0.008218076080083847, + -0.2607783079147339, + 0.08158018440008163, + 0.0, + 0.9961419701576233 + ], + [ + 0.3067983388900757, + 0.007212625350803137, + 0.07897081971168518, + -0.01939966343343258, + -0.3338676393032074, + 0.08506809175014496, + 0.0, + 0.9961419701576233 + ], + [ + 0.3118292987346649, + 0.010055476799607277, + 0.0940871387720108, + -0.034446585923433304, + -0.4452109634876251, + 0.10125051438808441, + 0.0, + 0.9961419701576233 + ], + [ + 0.3130495548248291, + 0.01216457225382328, + 0.09567920118570328, + -0.037206362932920456, + -0.5128783583641052, + 0.09751303493976593, + 0.0, + 0.9961419701576233 + ], + [ + 0.3144115209579468, + 0.011713129468262196, + 0.09744741022586823, + -0.05807594209909439, + -0.6204649209976196, + 0.07889494299888611, + 0.0, + 0.9974852800369263 + ], + [ + 0.3155483603477478, + 0.013705126009881496, + 0.09693584591150284, + -0.02957787923514843, + -0.7142583727836609, + 0.05504513531923294, + 0.0, + 0.9974852800369263 + ], + [ + 0.32345685362815857, + 0.01497313380241394, + 0.10220137983560562, + -0.019543224945664406, + -0.7972655296325684, + 0.04556764289736748, + 0.0, + 0.9974852800369263 + ], + [ + 0.33145785331726074, + 0.018737372010946274, + 0.09710361063480377, + -0.03483344241976738, + -0.7698600888252258, + 0.096686452627182, + 0.0, + 0.9968144297599792 + ], + [ + 0.3276144862174988, + 0.016240419819951057, + 0.09493542462587357, + -0.03519400954246521, + -0.7065561413764954, + 0.07787606120109558, + 0.0, + 0.9961419701576233 + ], + [ + 0.30823975801467896, + 0.011097478680312634, + 0.1010899543762207, + -0.035668693482875824, + -0.6264241337776184, + 0.03084859810769558, + 0.0, + 0.9961419701576233 + ], + [ + 0.28017035126686096, + 0.004271579906344414, + 0.10145494341850281, + -0.08157894015312195, + -0.5058152079582214, + 0.012147807516157627, + 0.0, + 0.9961419701576233 + ], + [ + 0.2527333199977875, + 0.001408010721206665, + 0.10017552971839905, + -0.09064488112926483, + -0.38096559047698975, + -0.032318662852048874, + 0.0, + 0.9961419701576233 + ], + [ + 0.23296856880187988, + 0.013559166342020035, + 0.09493198245763779, + -0.08513588458299637, + -0.2577049732208252, + -0.024617614224553108, + 0.0, + 0.9961419701576233 + ] + ], + "left_gripper_pos": [ + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9961419701576233 + ], + [ + 0.9954678416252136 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9968144297599792 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.21369822323322296, + -0.12003554403781891, + 0.050662796944379807 + ], + [ + 0.20827487111091614, + -0.11654753983020782, + 0.046046916395425797 + ], + [ + 0.2027462124824524, + -0.10192432999610901, + 0.08997686207294464 + ], + [ + 0.19612671434879303, + -0.0744624212384224, + 0.1211705133318901 + ], + [ + 0.19336046278476715, + -0.04421373829245567, + 0.13145408034324646 + ], + [ + 0.19734352827072144, + -0.003866840386763215, + 0.12803086638450623 + ], + [ + 0.19910567998886108, + 0.01705898903310299, + 0.11095979064702988 + ], + [ + 0.19506317377090454, + 0.039654508233070374, + 0.09373621642589569 + ], + [ + 0.19521206617355347, + 0.05573990195989609, + 0.08994030207395554 + ], + [ + 0.20680521428585052, + 0.06963718682527542, + 0.09512441605329514 + ], + [ + 0.2207142561674118, + 0.08196164667606354, + 0.10257943719625473 + ], + [ + 0.23364892601966858, + 0.08376920968294144, + 0.10114527493715286 + ], + [ + 0.24252578616142273, + 0.07505383342504501, + 0.0995313823223114 + ], + [ + 0.2518746256828308, + 0.06641768664121628, + 0.09827452152967453 + ], + [ + 0.2714161276817322, + 0.051802560687065125, + 0.0964561179280281 + ], + [ + 0.27174094319343567, + 0.03205337002873421, + 0.08230685442686081 + ], + [ + 0.2809620201587677, + 0.02240699902176857, + 0.07866226136684418 + ], + [ + 0.2869146466255188, + 0.010662740096449852, + 0.07567988336086273 + ], + [ + 0.2967640161514282, + 0.007529514376074076, + 0.07463458180427551 + ], + [ + 0.3067983388900757, + 0.007212625350803137, + 0.07897081971168518 + ], + [ + 0.3118292987346649, + 0.010055476799607277, + 0.0940871387720108 + ], + [ + 0.3130495548248291, + 0.01216457225382328, + 0.09567920118570328 + ], + [ + 0.3144115209579468, + 0.011713129468262196, + 0.09744741022586823 + ], + [ + 0.3155483603477478, + 0.013705126009881496, + 0.09693584591150284 + ], + [ + 0.32345685362815857, + 0.01497313380241394, + 0.10220137983560562 + ], + [ + 0.33145785331726074, + 0.018737372010946274, + 0.09710361063480377 + ], + [ + 0.3276144862174988, + 0.016240419819951057, + 0.09493542462587357 + ], + [ + 0.30823975801467896, + 0.011097478680312634, + 0.1010899543762207 + ], + [ + 0.28017035126686096, + 0.004271579906344414, + 0.10145494341850281 + ], + [ + 0.2527333199977875, + 0.001408010721206665, + 0.10017552971839905 + ], + [ + 0.23296856880187988, + 0.013559166342020035, + 0.09493198245763779 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9894905778736981, + 0.1422180958480194, + 0.026122969060547858, + 0.13707063592491123, + -0.9800779072821753, + 0.14373216906639927, + 0.04604386024558767, + -0.13864093504717542, + -0.9892717796758024 + ], + [ + 0.9911394557959003, + 0.13282084031132688, + 0.001097061347188238, + 0.13101346642487524, + -0.9789453087195759, + 0.15652972290038802, + 0.02186437238853619, + -0.1549990545613978, + -0.9876726392409219 + ], + [ + 0.9908258679405328, + 0.09566302609920034, + 0.09546038370671658, + 0.08853914142415138, + -0.9931484229476211, + 0.07626945936957591, + 0.102102496814544, + -0.06711777286380252, + -0.9925070703577074 + ], + [ + 0.9912793421084656, + 0.08626883116259323, + 0.0996140285243372, + 0.0853175769396552, + -0.9962585360435334, + 0.013778259162230088, + 0.10042996054043585, + -0.005159276134841234, + -0.9949307538193856 + ], + [ + 0.9928851887411715, + 0.08754315801018568, + 0.08071677312685871, + 0.0868576382493546, + -0.9961487939382159, + 0.011972093099504075, + 0.08145399103882739, + -0.004876045635820059, + -0.9966651752332901 + ], + [ + 0.9918350380402321, + 0.10057030260177381, + 0.07841474064434004, + 0.10026584891336458, + -0.9949299487993444, + 0.007820263666695195, + 0.0788036601777723, + 0.00010590902668479408, + -0.9968901503806046 + ], + [ + 0.9938104465718532, + 0.09285194223915894, + 0.06098617144131333, + 0.09262467325102616, + -0.9956795556006784, + 0.006549233846490395, + 0.061330793161298726, + -0.0008598728111014046, + -0.9981171246046 + ], + [ + 0.9934473495550188, + 0.0894608222802648, + 0.07112752588869369, + 0.08828347566778369, + -0.9959038398488133, + 0.01953380911150371, + 0.07258368677687678, + -0.013126425687432898, + -0.9972759424364693 + ], + [ + 0.995199543283836, + 0.08129609861264492, + 0.05448681857116577, + 0.08085191765812902, + -0.9966727893742818, + 0.010311078114890928, + 0.055143779872685074, + -0.005856216462134099, + -0.9984612502596689 + ], + [ + 0.9927746150221609, + 0.09779351648592097, + 0.06953410602659764, + 0.0973203711945125, + -0.9952011634817852, + 0.010168065453337366, + 0.07019479409587666, + -0.0033275122567700665, + -0.9975277532700624 + ], + [ + 0.9900851401435352, + 0.12153803715380916, + 0.07042670510364138, + 0.12280562057121834, + -0.9923328175295539, + -0.013941262854375839, + 0.06819233698205332, + 0.02245183241199144, + -0.997419530788459 + ], + [ + 0.9920964042499782, + 0.11790636715162531, + 0.042928000877860716, + 0.11948163029606121, + -0.9921768057574063, + -0.03618461190651722, + 0.03832577065185808, + 0.04102773089187423, + -0.9984226863417142 + ], + [ + 0.9915143888349576, + 0.1177515205346399, + 0.055079906908242666, + 0.11959085354624428, + -0.9923274692169464, + -0.031372306028901814, + 0.050963167889380205, + 0.03769314591899425, + -0.9979889690118865 + ], + [ + 0.9922444082165359, + 0.09045402436864466, + 0.08525903962943494, + 0.0926418034393888, + -0.9954552107631499, + -0.022054922806279388, + 0.08287659873881513, + 0.029782425018959238, + -0.9961146904556102 + ], + [ + 0.9838502628902049, + 0.08195089273119532, + 0.15913111383835474, + 0.08372620912030795, + -0.996478759334644, + -0.00447259446314327, + 0.15820424178010448, + 0.017723808153142395, + -0.9872473269183025 + ], + [ + 0.9876511303533269, + 0.09579135156985613, + 0.1239728263621344, + 0.09915331664538027, + -0.9948457869913644, + -0.021224511861373842, + 0.12130071933016993, + 0.03325473003879093, + -0.992058596263361 + ], + [ + 0.9808684614613734, + 0.11417731551304697, + 0.15767245140680664, + 0.11723166741396221, + -0.9930524383510256, + -0.010177958558774463, + 0.15541492034466908, + 0.028467442936029604, + -0.9874390144342807 + ], + [ + 0.9793923582992154, + 0.09324535427550598, + 0.17915332096039094, + 0.09619551586449579, + -0.9953316456921006, + -0.0078318459777032, + 0.17758668652988885, + 0.02490419623056135, + -0.9837899927207254 + ], + [ + 0.9629762267771174, + 0.07937515498249424, + 0.25763612214441367, + 0.07873452368766502, + -0.9968131916779563, + 0.012819347740143436, + 0.2578326229199531, + 0.0079401302452304, + -0.9661569711438749 + ], + [ + 0.9413655550446848, + 0.07861566571427378, + 0.32810130886620037, + 0.08027390106422791, + -0.9967365183785545, + 0.008509626227267215, + 0.3276995462055796, + 0.018327302990314848, + -0.9446042120283807 + ], + [ + 0.8978976189747532, + 0.08626217225131291, + 0.43166966939774026, + 0.0912245435879708, + -0.9957874828024381, + 0.009239682957276868, + 0.43064828861454446, + 0.031082579244158595, + -0.9019844371057048 + ], + [ + 0.8671963516442595, + 0.07912542339508247, + 0.4916397614793117, + 0.08483200202931779, + -0.9963376162355434, + 0.010718484303884954, + 0.4906872926076071, + 0.032411754760021, + -0.8707327138834239 + ], + [ + 0.8110774299663517, + 0.04503806459917439, + 0.5832023451053147, + 0.06412300551410942, + -0.9978684375298679, + -0.012116994080122501, + 0.5814134869118667, + 0.047224507608452884, + -0.8122365438209018 + ], + [ + 0.7544348561555525, + 0.03565024027780315, + 0.6554060635862978, + 0.04156996243370704, + -0.999114484724381, + 0.006494970145834909, + 0.6550572387515549, + 0.02234517357439863, + -0.7552487717150681 + ], + [ + 0.6979404583868648, + 0.03157641244181064, + 0.7154593256950654, + 0.03182553223986519, + -0.9994080834471468, + 0.01306209164529396, + 0.715448287470438, + 0.01365331160581281, + -0.6985322720088258 + ], + [ + 0.7146546066742644, + 0.07235014995389076, + 0.6957256995115983, + 0.06931354073405292, + -0.9970657821967541, + 0.03248782915623278, + 0.6960347880890452, + 0.025005634845476382, + -0.7175724994701326 + ], + [ + 0.7582969583483506, + 0.05497455351711137, + 0.6495871930889908, + 0.05917285021429428, + -0.9981290167726791, + 0.015396092813485297, + 0.6492182196743682, + 0.02676311532686391, + -0.7601311984788183 + ], + [ + 0.8097435972034767, + 0.009927639067519103, + 0.5866998796407906, + 0.024987381600654397, + -0.9995332926363284, + -0.017573493458120367, + 0.5862515991864895, + 0.0288901175858526, + -0.8096137496097497 + ], + [ + 0.8747152354951485, + -0.02737283685327599, + 0.48386360123000666, + 0.010626395027022917, + -0.9970803633567216, + -0.0756163258639148, + 0.4845207286808239, + 0.07128447805120007, + -0.8718705102637497 + ], + [ + 0.9278212816676984, + -0.06581997552567401, + 0.3671721668458932, + -0.029996387618453003, + -0.9942869407899019, + -0.10243874318099112, + 0.37181700608545637, + 0.08403100735119871, + -0.9244949452480472 + ], + [ + 0.9666844469219122, + -0.046191107130054775, + 0.2517688656315072, + -0.023802273258337316, + -0.9955427766434306, + -0.09125804984122542, + 0.2548619859198534, + 0.08222506610023457, + -0.9634751717806744 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.005423352122306824, + 0.003488004207611084, + -0.00461588054895401, + 0.016426414251327515, + 0.024194030091166496, + -0.006227657198905945, + 1.0 + ], + [ + -0.005528658628463745, + 0.014623209834098816, + 0.043929945677518845, + -0.08814233541488647, + -0.08041462302207947, + -0.04230056703090668, + 1.0 + ], + [ + -0.006619498133659363, + 0.027461908757686615, + 0.031193651258945465, + -0.062336161732673645, + 0.0016811788082122803, + -0.003265656530857086, + 1.0 + ], + [ + -0.002766251564025879, + 0.03024868294596672, + 0.010283567011356354, + -0.0002931947819888592, + 0.01905522495508194, + 0.0014013424515724182, + 1.0 + ], + [ + 0.003983065485954285, + 0.0403468981385231, + -0.0034232139587402344, + -0.00499856099486351, + 0.0026588812470436096, + 0.013491079211235046, + 1.0 + ], + [ + 0.0017621517181396484, + 0.02092582918703556, + -0.01707107573747635, + 0.0009677340858615935, + 0.01751614362001419, + -0.007815904915332794, + 1.0 + ], + [ + -0.004042506217956543, + 0.022595519199967384, + -0.017223574221134186, + 0.012300025671720505, + -0.011278264224529266, + -0.004300124943256378, + 1.0 + ], + [ + 0.00014889240264892578, + 0.016085393726825714, + -0.003795914351940155, + -0.007296346127986908, + 0.017475806176662445, + -0.007569074630737305, + 1.0 + ], + [ + 0.011593148112297058, + 0.013897284865379333, + 0.0051841139793396, + -0.0025294276420027018, + -0.015080802142620087, + 0.016652576625347137, + 1.0 + ], + [ + 0.01390904188156128, + 0.012324459850788116, + 0.007455021142959595, + -0.025841863825917244, + 0.0020072683691978455, + 0.02568867802619934, + 1.0 + ], + [ + 0.012934669852256775, + 0.0018075630068778992, + -0.0014341622591018677, + -0.018563322722911835, + 0.029910139739513397, + -0.0035488978028297424, + 1.0 + ], + [ + 0.00887686014175415, + -0.008715376257896423, + -0.0016138926148414612, + 0.0033182837069034576, + -0.01265009492635727, + 0.0001782625913619995, + 1.0 + ], + [ + 0.009348839521408081, + -0.008636146783828735, + -0.0012568607926368713, + 0.007861470803618431, + -0.03198651224374771, + -0.02693847566843033, + 1.0 + ], + [ + 0.019541501998901367, + -0.014615125954151154, + -0.0018184036016464233, + 0.011938860639929771, + -0.07589995861053467, + -0.008200012147426605, + 1.0 + ], + [ + 0.0003248155117034912, + -0.019749190658330917, + -0.014149263501167297, + -0.015557561069726944, + 0.03727155178785324, + 0.015161789953708649, + 1.0 + ], + [ + 0.009221076965332031, + -0.009646371006965637, + -0.003644593060016632, + 0.0046867989003658295, + -0.03444729000329971, + 0.01889616996049881, + 1.0 + ], + [ + 0.005952626466751099, + -0.011744258925318718, + -0.0029823780059814453, + 0.003512447699904442, + -0.02248615026473999, + -0.0210484117269516, + 1.0 + ], + [ + 0.009849369525909424, + -0.0031332257203757763, + -0.0010453015565872192, + 0.017091063782572746, + -0.08224469423294067, + -0.01632537692785263, + 1.0 + ], + [ + 0.010034322738647461, + -0.0003168890252709389, + 0.004336237907409668, + -0.011181587353348732, + -0.07308933138847351, + 0.003487907350063324, + 1.0 + ], + [ + 0.005030959844589233, + 0.00284285144880414, + 0.015116319060325623, + -0.015046922490000725, + -0.11134332418441772, + 0.016182422637939453, + 1.0 + ], + [ + 0.0012202560901641846, + 0.0021090954542160034, + 0.0015920624136924744, + -0.002759777009487152, + -0.0676673948764801, + -0.0037374794483184814, + 1.0 + ], + [ + 0.0013619661331176758, + -0.00045144278556108475, + 0.0017682090401649475, + -0.020869579166173935, + -0.1075865626335144, + -0.018618091940879822, + 1.0 + ], + [ + 0.0011368393898010254, + 0.001991996541619301, + -0.000511564314365387, + 0.02849806286394596, + -0.09379345178604126, + -0.023849807679653168, + 1.0 + ], + [ + 0.007908493280410767, + 0.001268007792532444, + 0.005265533924102783, + 0.010034654289484024, + -0.08300715684890747, + -0.009477492421865463, + 1.0 + ], + [ + 0.008000999689102173, + 0.0037642382085323334, + -0.005097769200801849, + -0.015290217474102974, + 0.02740544080734253, + 0.05111880972981453, + 1.0 + ], + [ + -0.003843367099761963, + -0.0024969521909952164, + -0.0021681860089302063, + -0.0003605671226978302, + 0.06330394744873047, + -0.018810391426086426, + 1.0 + ], + [ + -0.019374728202819824, + -0.005142941139638424, + 0.0061545297503471375, + -0.000474683940410614, + 0.08013200759887695, + -0.04702746123075485, + 1.0 + ], + [ + -0.028069406747817993, + -0.00682589877396822, + 0.0003649890422821045, + -0.045910246670246124, + 0.12060892581939697, + -0.018700789660215378, + 1.0 + ], + [ + -0.027437031269073486, + -0.0028635691851377487, + -0.0012794137001037598, + -0.009065940976142883, + 0.12484961748123169, + -0.044466469436883926, + 1.0 + ], + [ + -0.019764751195907593, + 0.01215115562081337, + -0.005243547260761261, + 0.005508996546268463, + 0.12326061725616455, + 0.007701048627495766, + 1.0 + ], + [ + -0.00715617835521698, + 0.018453896045684814, + -0.007861338555812836, + 0.02238382399082184, + 0.09632459282875061, + 0.05925779044628143, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9961419701576233 + ], + [ + 0.9954678416252136 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9968144297599792 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.20827487111091614, + -0.11654753983020782, + 0.046046916395425797 + ], + [ + 0.2027462124824524, + -0.10192432999610901, + 0.08997686207294464 + ], + [ + 0.19612671434879303, + -0.0744624212384224, + 0.1211705133318901 + ], + [ + 0.19336046278476715, + -0.04421373829245567, + 0.13145408034324646 + ], + [ + 0.19734352827072144, + -0.003866840386763215, + 0.12803086638450623 + ], + [ + 0.19910567998886108, + 0.01705898903310299, + 0.11095979064702988 + ], + [ + 0.19506317377090454, + 0.039654508233070374, + 0.09373621642589569 + ], + [ + 0.19521206617355347, + 0.05573990195989609, + 0.08994030207395554 + ], + [ + 0.20680521428585052, + 0.06963718682527542, + 0.09512441605329514 + ], + [ + 0.2207142561674118, + 0.08196164667606354, + 0.10257943719625473 + ], + [ + 0.23364892601966858, + 0.08376920968294144, + 0.10114527493715286 + ], + [ + 0.24252578616142273, + 0.07505383342504501, + 0.0995313823223114 + ], + [ + 0.2518746256828308, + 0.06641768664121628, + 0.09827452152967453 + ], + [ + 0.2714161276817322, + 0.051802560687065125, + 0.0964561179280281 + ], + [ + 0.27174094319343567, + 0.03205337002873421, + 0.08230685442686081 + ], + [ + 0.2809620201587677, + 0.02240699902176857, + 0.07866226136684418 + ], + [ + 0.2869146466255188, + 0.010662740096449852, + 0.07567988336086273 + ], + [ + 0.2967640161514282, + 0.007529514376074076, + 0.07463458180427551 + ], + [ + 0.3067983388900757, + 0.007212625350803137, + 0.07897081971168518 + ], + [ + 0.3118292987346649, + 0.010055476799607277, + 0.0940871387720108 + ], + [ + 0.3130495548248291, + 0.01216457225382328, + 0.09567920118570328 + ], + [ + 0.3144115209579468, + 0.011713129468262196, + 0.09744741022586823 + ], + [ + 0.3155483603477478, + 0.013705126009881496, + 0.09693584591150284 + ], + [ + 0.32345685362815857, + 0.01497313380241394, + 0.10220137983560562 + ], + [ + 0.33145785331726074, + 0.018737372010946274, + 0.09710361063480377 + ], + [ + 0.3276144862174988, + 0.016240419819951057, + 0.09493542462587357 + ], + [ + 0.30823975801467896, + 0.011097478680312634, + 0.1010899543762207 + ], + [ + 0.28017035126686096, + 0.004271579906344414, + 0.10145494341850281 + ], + [ + 0.2527333199977875, + 0.001408010721206665, + 0.10017552971839905 + ], + [ + 0.23296856880187988, + 0.013559166342020035, + 0.09493198245763779 + ], + [ + 0.2258123904466629, + 0.03201306238770485, + 0.08707064390182495 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9911394557959003, + 0.13282084031132688, + 0.001097061347188238, + 0.13101346642487524, + -0.9789453087195759, + 0.15652972290038802, + 0.02186437238853619, + -0.1549990545613978, + -0.9876726392409219 + ], + [ + 0.9908258679405328, + 0.09566302609920034, + 0.09546038370671658, + 0.08853914142415138, + -0.9931484229476211, + 0.07626945936957591, + 0.102102496814544, + -0.06711777286380252, + -0.9925070703577074 + ], + [ + 0.9912793421084656, + 0.08626883116259323, + 0.0996140285243372, + 0.0853175769396552, + -0.9962585360435334, + 0.013778259162230088, + 0.10042996054043585, + -0.005159276134841234, + -0.9949307538193856 + ], + [ + 0.9928851887411715, + 0.08754315801018568, + 0.08071677312685871, + 0.0868576382493546, + -0.9961487939382159, + 0.011972093099504075, + 0.08145399103882739, + -0.004876045635820059, + -0.9966651752332901 + ], + [ + 0.9918350380402321, + 0.10057030260177381, + 0.07841474064434004, + 0.10026584891336458, + -0.9949299487993444, + 0.007820263666695195, + 0.0788036601777723, + 0.00010590902668479408, + -0.9968901503806046 + ], + [ + 0.9938104465718532, + 0.09285194223915894, + 0.06098617144131333, + 0.09262467325102616, + -0.9956795556006784, + 0.006549233846490395, + 0.061330793161298726, + -0.0008598728111014046, + -0.9981171246046 + ], + [ + 0.9934473495550188, + 0.0894608222802648, + 0.07112752588869369, + 0.08828347566778369, + -0.9959038398488133, + 0.01953380911150371, + 0.07258368677687678, + -0.013126425687432898, + -0.9972759424364693 + ], + [ + 0.995199543283836, + 0.08129609861264492, + 0.05448681857116577, + 0.08085191765812902, + -0.9966727893742818, + 0.010311078114890928, + 0.055143779872685074, + -0.005856216462134099, + -0.9984612502596689 + ], + [ + 0.9927746150221609, + 0.09779351648592097, + 0.06953410602659764, + 0.0973203711945125, + -0.9952011634817852, + 0.010168065453337366, + 0.07019479409587666, + -0.0033275122567700665, + -0.9975277532700624 + ], + [ + 0.9900851401435352, + 0.12153803715380916, + 0.07042670510364138, + 0.12280562057121834, + -0.9923328175295539, + -0.013941262854375839, + 0.06819233698205332, + 0.02245183241199144, + -0.997419530788459 + ], + [ + 0.9920964042499782, + 0.11790636715162531, + 0.042928000877860716, + 0.11948163029606121, + -0.9921768057574063, + -0.03618461190651722, + 0.03832577065185808, + 0.04102773089187423, + -0.9984226863417142 + ], + [ + 0.9915143888349576, + 0.1177515205346399, + 0.055079906908242666, + 0.11959085354624428, + -0.9923274692169464, + -0.031372306028901814, + 0.050963167889380205, + 0.03769314591899425, + -0.9979889690118865 + ], + [ + 0.9922444082165359, + 0.09045402436864466, + 0.08525903962943494, + 0.0926418034393888, + -0.9954552107631499, + -0.022054922806279388, + 0.08287659873881513, + 0.029782425018959238, + -0.9961146904556102 + ], + [ + 0.9838502628902049, + 0.08195089273119532, + 0.15913111383835474, + 0.08372620912030795, + -0.996478759334644, + -0.00447259446314327, + 0.15820424178010448, + 0.017723808153142395, + -0.9872473269183025 + ], + [ + 0.9876511303533269, + 0.09579135156985613, + 0.1239728263621344, + 0.09915331664538027, + -0.9948457869913644, + -0.021224511861373842, + 0.12130071933016993, + 0.03325473003879093, + -0.992058596263361 + ], + [ + 0.9808684614613734, + 0.11417731551304697, + 0.15767245140680664, + 0.11723166741396221, + -0.9930524383510256, + -0.010177958558774463, + 0.15541492034466908, + 0.028467442936029604, + -0.9874390144342807 + ], + [ + 0.9793923582992154, + 0.09324535427550598, + 0.17915332096039094, + 0.09619551586449579, + -0.9953316456921006, + -0.0078318459777032, + 0.17758668652988885, + 0.02490419623056135, + -0.9837899927207254 + ], + [ + 0.9629762267771174, + 0.07937515498249424, + 0.25763612214441367, + 0.07873452368766502, + -0.9968131916779563, + 0.012819347740143436, + 0.2578326229199531, + 0.0079401302452304, + -0.9661569711438749 + ], + [ + 0.9413655550446848, + 0.07861566571427378, + 0.32810130886620037, + 0.08027390106422791, + -0.9967365183785545, + 0.008509626227267215, + 0.3276995462055796, + 0.018327302990314848, + -0.9446042120283807 + ], + [ + 0.8978976189747532, + 0.08626217225131291, + 0.43166966939774026, + 0.0912245435879708, + -0.9957874828024381, + 0.009239682957276868, + 0.43064828861454446, + 0.031082579244158595, + -0.9019844371057048 + ], + [ + 0.8671963516442595, + 0.07912542339508247, + 0.4916397614793117, + 0.08483200202931779, + -0.9963376162355434, + 0.010718484303884954, + 0.4906872926076071, + 0.032411754760021, + -0.8707327138834239 + ], + [ + 0.8110774299663517, + 0.04503806459917439, + 0.5832023451053147, + 0.06412300551410942, + -0.9978684375298679, + -0.012116994080122501, + 0.5814134869118667, + 0.047224507608452884, + -0.8122365438209018 + ], + [ + 0.7544348561555525, + 0.03565024027780315, + 0.6554060635862978, + 0.04156996243370704, + -0.999114484724381, + 0.006494970145834909, + 0.6550572387515549, + 0.02234517357439863, + -0.7552487717150681 + ], + [ + 0.6979404583868648, + 0.03157641244181064, + 0.7154593256950654, + 0.03182553223986519, + -0.9994080834471468, + 0.01306209164529396, + 0.715448287470438, + 0.01365331160581281, + -0.6985322720088258 + ], + [ + 0.7146546066742644, + 0.07235014995389076, + 0.6957256995115983, + 0.06931354073405292, + -0.9970657821967541, + 0.03248782915623278, + 0.6960347880890452, + 0.025005634845476382, + -0.7175724994701326 + ], + [ + 0.7582969583483506, + 0.05497455351711137, + 0.6495871930889908, + 0.05917285021429428, + -0.9981290167726791, + 0.015396092813485297, + 0.6492182196743682, + 0.02676311532686391, + -0.7601311984788183 + ], + [ + 0.8097435972034767, + 0.009927639067519103, + 0.5866998796407906, + 0.024987381600654397, + -0.9995332926363284, + -0.017573493458120367, + 0.5862515991864895, + 0.0288901175858526, + -0.8096137496097497 + ], + [ + 0.8747152354951485, + -0.02737283685327599, + 0.48386360123000666, + 0.010626395027022917, + -0.9970803633567216, + -0.0756163258639148, + 0.4845207286808239, + 0.07128447805120007, + -0.8718705102637497 + ], + [ + 0.9278212816676984, + -0.06581997552567401, + 0.3671721668458932, + -0.029996387618453003, + -0.9942869407899019, + -0.10243874318099112, + 0.37181700608545637, + 0.08403100735119871, + -0.9244949452480472 + ], + [ + 0.9666844469219122, + -0.046191107130054775, + 0.2517688656315072, + -0.023802273258337316, + -0.9955427766434306, + -0.09125804984122542, + 0.2548619859198534, + 0.08222506610023457, + -0.9634751717806744 + ], + [ + 0.9864143071732926, + 0.024494693081517107, + 0.1624402185872562, + 0.03418324099415159, + -0.9977819849791326, + -0.05711931797770237, + 0.16068080357954728, + 0.061896045608297125, + -0.9850637334198669 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005740.json b/json/chunk-0005/episode_0005740.json new file mode 100644 index 0000000000000000000000000000000000000000..9dcacc7d5ee40ffff397d5dcc1b17be2f20238ca --- /dev/null +++ b/json/chunk-0005/episode_0005740.json @@ -0,0 +1,3382 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 55, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut the green cloth on the left burner." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005740.mp4", + "start": 0, + "end": 55, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.21628253161907196, + 0.13219140470027924, + 0.12357652932405472, + 0.014379185624420643, + -0.1039966344833374, + -0.24161231517791748, + 0.0, + 0.9994885921478271 + ], + [ + 0.21441979706287384, + 0.13047951459884644, + 0.11707998067140579, + -0.005372794345021248, + -0.08639765530824661, + -0.23668721318244934, + 0.0, + 0.9994885921478271 + ], + [ + 0.23119434714317322, + 0.11623687297105789, + 0.11130262911319733, + 0.00158720335457474, + -0.10244724899530411, + -0.23946018517017365, + 0.0, + 0.9994885921478271 + ], + [ + 0.2556215822696686, + 0.09916701912879944, + 0.11119057238101959, + -0.002264975802972913, + -0.10704730451107025, + -0.26237034797668457, + 0.0, + 0.9994885921478271 + ], + [ + 0.2789015471935272, + 0.08027348667383194, + 0.115963876247406, + 0.008616872131824493, + -0.1278998851776123, + -0.3129166066646576, + 0.0, + 0.9994885921478271 + ], + [ + 0.291489839553833, + 0.06416462361812592, + 0.12462042272090912, + 0.010356293059885502, + -0.16451145708560944, + -0.3903346061706543, + 0.0, + 0.9994885921478271 + ], + [ + 0.29021626710891724, + 0.06158847734332085, + 0.1359180063009262, + -0.06593823432922363, + -0.18892407417297363, + -0.39852872490882874, + 0.0, + 0.9994885921478271 + ], + [ + 0.288318008184433, + 0.0671156719326973, + 0.13593432307243347, + -0.07050945609807968, + -0.18783646821975708, + -0.38065531849861145, + 0.0, + 0.9994885921478271 + ], + [ + 0.28864020109176636, + 0.06603606045246124, + 0.13552293181419373, + -0.07266054302453995, + -0.18761540949344635, + -0.3828844428062439, + 0.0, + 0.9994885921478271 + ], + [ + 0.2900144159793854, + 0.06345908343791962, + 0.13616319000720978, + -0.07192370295524597, + -0.1949225664138794, + -0.3885382413864136, + 0.0, + 0.9994885921478271 + ], + [ + 0.3152810037136078, + 0.04749976843595505, + 0.12665124237537384, + -0.06960275769233704, + -0.24228748679161072, + -0.43007370829582214, + 0.0, + 0.9994885921478271 + ], + [ + 0.33440399169921875, + 0.03303549811244011, + 0.12359122931957245, + -0.07765839993953705, + -0.27211540937423706, + -0.4977758824825287, + 0.0, + 0.9994885921478271 + ], + [ + 0.34831392765045166, + 0.01994718424975872, + 0.11725758761167526, + -0.05124702304601669, + -0.27416977286338806, + -0.5895187854766846, + 0.0, + 0.9994885921478271 + ], + [ + 0.3559460937976837, + 0.013479845598340034, + 0.11716567724943161, + 0.00046345830196514726, + -0.30901220440864563, + -0.6948995590209961, + 0.0, + 0.9994885921478271 + ], + [ + 0.35641297698020935, + 0.01042334083467722, + 0.11295991390943527, + -0.002147094812244177, + -0.30391639471054077, + -0.7237741351127625, + 0.0, + 0.9994885921478271 + ], + [ + 0.35200053453445435, + 0.008184922859072685, + 0.10387804359197617, + -0.014538833871483803, + -0.2925688922405243, + -0.747660756111145, + 0.0, + 0.9994885921478271 + ], + [ + 0.34672993421554565, + -0.004197501111775637, + 0.09045052528381348, + -0.01994357258081436, + -0.28632980585098267, + -0.8074095845222473, + 0.0, + 0.9994885921478271 + ], + [ + 0.3439766764640808, + -0.013409198261797428, + 0.08460773527622223, + -0.02410321682691574, + -0.32273873686790466, + -0.873155415058136, + 0.0, + 0.9994885921478271 + ], + [ + 0.3415338099002838, + -0.013698550872504711, + 0.07859883457422256, + -0.01833709515631199, + -0.3445398807525635, + -0.9017016887664795, + 0.0, + 0.9994885921478271 + ], + [ + 0.33782780170440674, + -0.011529454961419106, + 0.07451411336660385, + -0.009744640439748764, + -0.32432717084884644, + -0.9316296577453613, + 0.0, + 0.9994885921478271 + ], + [ + 0.3365623652935028, + -0.00046518846647813916, + 0.07364124804735184, + 0.011988320387899876, + -0.3065072000026703, + -0.9723600745201111, + 0.0, + 0.9994885921478271 + ], + [ + 0.33623993396759033, + 0.0061039081774652, + 0.07336629927158356, + 0.023725569248199463, + -0.3000304102897644, + -0.9891194701194763, + 0.0, + 0.9994885921478271 + ], + [ + 0.33733800053596497, + 0.010094919241964817, + 0.07262702286243439, + 0.03989287465810776, + -0.302912175655365, + -1.0182126760482788, + 0.0, + 0.9994885921478271 + ], + [ + 0.3424122929573059, + 0.012442461214959621, + 0.06590293347835541, + 0.06268255412578583, + -0.3087472915649414, + -1.0377141237258911, + 0.0, + 0.9994885921478271 + ], + [ + 0.3458460867404938, + 0.015893295407295227, + 0.06253951787948608, + 0.08254029601812363, + -0.32094520330429077, + -1.0542563199996948, + 0.0, + 0.9994885921478271 + ], + [ + 0.34744131565093994, + 0.01673136092722416, + 0.05506117641925812, + 0.0890064463019371, + -0.32116109132766724, + -1.0632215738296509, + 0.0, + 0.9994885921478271 + ], + [ + 0.34680503606796265, + 0.016430730000138283, + 0.0520530603826046, + 0.09954502433538437, + -0.32485777139663696, + -1.056410551071167, + 0.0, + 0.9994885921478271 + ], + [ + 0.3457660973072052, + 0.014615952968597412, + 0.05116390809416771, + 0.10071873664855957, + -0.3315723240375519, + -1.0354863405227661, + 0.0, + 0.9994885921478271 + ], + [ + 0.34461313486099243, + 0.013426747173070908, + 0.0506473146378994, + 0.10684391856193542, + -0.3317047953605652, + -1.0334901809692383, + 0.0, + 0.9628177285194397 + ], + [ + 0.3359978199005127, + 0.011207565665245056, + 0.043669652193784714, + 0.06659401208162308, + -0.3146631419658661, + -1.0082917213439941, + 0.0, + 0.7506401538848877 + ], + [ + 0.33284375071525574, + 0.007976686581969261, + 0.04262787103652954, + 0.039666950702667236, + -0.30726224184036255, + -0.993877649307251, + 0.0, + 0.5570889115333557 + ], + [ + 0.3326840400695801, + 0.006513920146971941, + 0.04562407732009888, + 0.023141231387853622, + -0.31005924940109253, + -0.9907248020172119, + 0.0, + 0.5570889115333557 + ], + [ + 0.33334875106811523, + 0.006691484246402979, + 0.047648705542087555, + 0.013694179244339466, + -0.3073451817035675, + -0.9754771590232849, + 0.0, + 0.5570889115333557 + ], + [ + 0.3346845209598541, + 0.005186622962355614, + 0.0526498481631279, + -0.0160689540207386, + -0.28555816411972046, + -0.9096660017967224, + 0.0, + 0.5570889115333557 + ], + [ + 0.33443501591682434, + 0.006441815756261349, + 0.06319662183523178, + -0.038586217910051346, + -0.2657618522644043, + -0.8826510906219482, + 0.0, + 0.5570889115333557 + ], + [ + 0.33461737632751465, + 0.004859819542616606, + 0.0730639100074768, + -0.04967544972896576, + -0.26908326148986816, + -0.8679989576339722, + 0.0, + 0.5570889115333557 + ], + [ + 0.3329138457775116, + 0.004985393490642309, + 0.0801130160689354, + -0.07377798855304718, + -0.2557939291000366, + -0.8549094796180725, + 0.0, + 0.5570889115333557 + ], + [ + 0.3288445472717285, + 0.01064959354698658, + 0.10317549109458923, + -0.08348839730024338, + -0.24383026361465454, + -0.8454010486602783, + 0.0, + 0.5570889115333557 + ], + [ + 0.326283723115921, + 0.020995330065488815, + 0.11449164897203445, + -0.09408649802207947, + -0.23076441884040833, + -0.840458333492279, + 0.0, + 0.5570889115333557 + ], + [ + 0.32512474060058594, + 0.030873851850628853, + 0.11818713694810867, + -0.09484844654798508, + -0.22220270335674286, + -0.835389256477356, + 0.0, + 0.5570889115333557 + ], + [ + 0.32172876596450806, + 0.04367871582508087, + 0.1309734731912613, + -0.07281862944364548, + -0.22229185700416565, + -0.8514966368675232, + 0.0, + 0.5570889115333557 + ], + [ + 0.32007479667663574, + 0.05972686782479286, + 0.1374215930700302, + -0.03657961264252663, + -0.1998036652803421, + -0.8987252116203308, + 0.0, + 0.5570889115333557 + ], + [ + 0.3202621638774872, + 0.0740840882062912, + 0.13737046718597412, + -0.0005159361753612757, + -0.17983809113502502, + -0.958508312702179, + 0.0, + 0.5570889115333557 + ], + [ + 0.3254631757736206, + 0.10010293126106262, + 0.1308792680501938, + 0.03994797170162201, + -0.1781683713197708, + -0.9604133367538452, + 0.0, + 0.5570889115333557 + ], + [ + 0.32471099495887756, + 0.11971346288919449, + 0.1258421689271927, + 0.06800929456949234, + -0.18272309005260468, + -0.9629097580909729, + 0.0, + 0.5570889115333557 + ], + [ + 0.32175448536872864, + 0.12704980373382568, + 0.11986922472715378, + 0.08081860095262527, + -0.18392358720302582, + -0.983519434928894, + 0.0, + 0.5570889115333557 + ], + [ + 0.31519174575805664, + 0.13274306058883667, + 0.11815344542264938, + 0.059512700885534286, + -0.17518103122711182, + -0.97707599401474, + 0.0, + 0.5570889115333557 + ], + [ + 0.3048476576805115, + 0.13872849941253662, + 0.1124700978398323, + 0.030478212982416153, + -0.14599232375621796, + -0.9660244584083557, + 0.0, + 0.5570889115333557 + ], + [ + 0.28734859824180603, + 0.1483757197856903, + 0.10265374928712845, + -0.005479068495333195, + -0.10729855298995972, + -0.9555953741073608, + 0.0, + 0.5570889115333557 + ], + [ + 0.2683028280735016, + 0.157026007771492, + 0.10791204869747162, + 0.016651256009936333, + -0.06382905691862106, + -0.9454656839370728, + 0.0, + 0.5570889115333557 + ], + [ + 0.25926631689071655, + 0.14957894384860992, + 0.1001129299402237, + 0.035849910229444504, + -0.011854594573378563, + -0.9459517598152161, + 0.0, + 0.5570889115333557 + ], + [ + 0.2521510720252991, + 0.13487841188907623, + 0.08716131001710892, + 0.07282068580389023, + 0.010547855868935585, + -1.0341377258300781, + 0.0, + 0.5570889115333557 + ], + [ + 0.24438025057315826, + 0.12481566518545151, + 0.07654375582933426, + 0.05529332160949707, + 0.048685863614082336, + -1.0533373355865479, + 0.0, + 0.5570889115333557 + ], + [ + 0.2402852177619934, + 0.11783444136381149, + 0.07153202593326569, + 0.03543458878993988, + 0.085693359375, + -1.070644736289978, + 0.0, + 0.5570889115333557 + ], + [ + 0.23405607044696808, + 0.11519668251276016, + 0.06962881982326508, + 0.018138177692890167, + 0.12816616892814636, + -1.0921107530593872, + 0.0, + 0.5570889115333557 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9628177285194397 + ], + [ + 0.7506401538848877 + ], + [ + 0.5570889115333557 + ], + [ + 0.5570889115333557 + ], + [ + 0.5570889115333557 + ], + [ + 0.5570889115333557 + ], + [ + 0.5570889115333557 + ], + [ + 0.5570889115333557 + ], + [ + 0.5570889115333557 + ], + [ + 0.5570889115333557 + ], + [ + 0.5570889115333557 + ], + [ + 0.5570889115333557 + ], + [ + 0.5570889115333557 + ], + [ + 0.5570889115333557 + ], + [ + 0.5570889115333557 + ], + [ + 0.5570889115333557 + ], + [ + 0.5570889115333557 + ], + [ + 0.5570889115333557 + ], + [ + 0.5570889115333557 + ], + [ + 0.5570889115333557 + ], + [ + 0.5570889115333557 + ], + [ + 0.5570889115333557 + ], + [ + 0.5570889115333557 + ], + [ + 0.5570889115333557 + ], + [ + 0.5570889115333557 + ], + [ + 0.5570889115333557 + ], + [ + 0.5570889115333557 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.21628253161907196, + 0.13219140470027924, + 0.12357652932405472 + ], + [ + 0.21441979706287384, + 0.13047951459884644, + 0.11707998067140579 + ], + [ + 0.23119434714317322, + 0.11623687297105789, + 0.11130262911319733 + ], + [ + 0.2556215822696686, + 0.09916701912879944, + 0.11119057238101959 + ], + [ + 0.2789015471935272, + 0.08027348667383194, + 0.115963876247406 + ], + [ + 0.291489839553833, + 0.06416462361812592, + 0.12462042272090912 + ], + [ + 0.29021626710891724, + 0.06158847734332085, + 0.1359180063009262 + ], + [ + 0.288318008184433, + 0.0671156719326973, + 0.13593432307243347 + ], + [ + 0.28864020109176636, + 0.06603606045246124, + 0.13552293181419373 + ], + [ + 0.2900144159793854, + 0.06345908343791962, + 0.13616319000720978 + ], + [ + 0.3152810037136078, + 0.04749976843595505, + 0.12665124237537384 + ], + [ + 0.33440399169921875, + 0.03303549811244011, + 0.12359122931957245 + ], + [ + 0.34831392765045166, + 0.01994718424975872, + 0.11725758761167526 + ], + [ + 0.3559460937976837, + 0.013479845598340034, + 0.11716567724943161 + ], + [ + 0.35641297698020935, + 0.01042334083467722, + 0.11295991390943527 + ], + [ + 0.35200053453445435, + 0.008184922859072685, + 0.10387804359197617 + ], + [ + 0.34672993421554565, + -0.004197501111775637, + 0.09045052528381348 + ], + [ + 0.3439766764640808, + -0.013409198261797428, + 0.08460773527622223 + ], + [ + 0.3415338099002838, + -0.013698550872504711, + 0.07859883457422256 + ], + [ + 0.33782780170440674, + -0.011529454961419106, + 0.07451411336660385 + ], + [ + 0.3365623652935028, + -0.00046518846647813916, + 0.07364124804735184 + ], + [ + 0.33623993396759033, + 0.0061039081774652, + 0.07336629927158356 + ], + [ + 0.33733800053596497, + 0.010094919241964817, + 0.07262702286243439 + ], + [ + 0.3424122929573059, + 0.012442461214959621, + 0.06590293347835541 + ], + [ + 0.3458460867404938, + 0.015893295407295227, + 0.06253951787948608 + ], + [ + 0.34744131565093994, + 0.01673136092722416, + 0.05506117641925812 + ], + [ + 0.34680503606796265, + 0.016430730000138283, + 0.0520530603826046 + ], + [ + 0.3457660973072052, + 0.014615952968597412, + 0.05116390809416771 + ], + [ + 0.34461313486099243, + 0.013426747173070908, + 0.0506473146378994 + ], + [ + 0.3359978199005127, + 0.011207565665245056, + 0.043669652193784714 + ], + [ + 0.33284375071525574, + 0.007976686581969261, + 0.04262787103652954 + ], + [ + 0.3326840400695801, + 0.006513920146971941, + 0.04562407732009888 + ], + [ + 0.33334875106811523, + 0.006691484246402979, + 0.047648705542087555 + ], + [ + 0.3346845209598541, + 0.005186622962355614, + 0.0526498481631279 + ], + [ + 0.33443501591682434, + 0.006441815756261349, + 0.06319662183523178 + ], + [ + 0.33461737632751465, + 0.004859819542616606, + 0.0730639100074768 + ], + [ + 0.3329138457775116, + 0.004985393490642309, + 0.0801130160689354 + ], + [ + 0.3288445472717285, + 0.01064959354698658, + 0.10317549109458923 + ], + [ + 0.326283723115921, + 0.020995330065488815, + 0.11449164897203445 + ], + [ + 0.32512474060058594, + 0.030873851850628853, + 0.11818713694810867 + ], + [ + 0.32172876596450806, + 0.04367871582508087, + 0.1309734731912613 + ], + [ + 0.32007479667663574, + 0.05972686782479286, + 0.1374215930700302 + ], + [ + 0.3202621638774872, + 0.0740840882062912, + 0.13737046718597412 + ], + [ + 0.3254631757736206, + 0.10010293126106262, + 0.1308792680501938 + ], + [ + 0.32471099495887756, + 0.11971346288919449, + 0.1258421689271927 + ], + [ + 0.32175448536872864, + 0.12704980373382568, + 0.11986922472715378 + ], + [ + 0.31519174575805664, + 0.13274306058883667, + 0.11815344542264938 + ], + [ + 0.3048476576805115, + 0.13872849941253662, + 0.1124700978398323 + ], + [ + 0.28734859824180603, + 0.1483757197856903, + 0.10265374928712845 + ], + [ + 0.2683028280735016, + 0.157026007771492, + 0.10791204869747162 + ], + [ + 0.25926631689071655, + 0.14957894384860992, + 0.1001129299402237 + ], + [ + 0.2521510720252991, + 0.13487841188907623, + 0.08716131001710892 + ], + [ + 0.24438025057315826, + 0.12481566518545151, + 0.07654375582933426 + ], + [ + 0.2402852177619934, + 0.11783444136381149, + 0.07153202593326569 + ], + [ + 0.23405607044696808, + 0.11519668251276016, + 0.06962881982326508 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9657076149725523, + -0.2377943991331914, + 0.10422392299711772, + -0.23797570560040227, + -0.9712102269795745, + -0.010874674904291956, + 0.1038092766953673, + -0.014301005250255428, + -0.994494401854941 + ], + [ + 0.9684941359965913, + -0.2349307996466289, + 0.08262341022743842, + -0.2336088791439461, + -0.971997359912619, + -0.025456313716001884, + 0.0862902087454032, + 0.005352728303755081, + -0.9962556640613798 + ], + [ + 0.9663726241932974, + -0.23702026178273797, + 0.09972635917450694, + -0.23593469248353224, + -0.9715034238951181, + -0.022713833731097477, + 0.1022681382076621, + -0.001578880776128673, + -0.994755615738375 + ], + [ + 0.9602496905458484, + -0.2596035576855532, + 0.10259885303260662, + -0.25788584703374984, + -0.9657126494422237, + -0.029899307800794736, + 0.10684297686927356, + 0.0022520089442432407, + -0.9942733561498203 + ], + [ + 0.9436683801064714, + -0.3067777796179268, + 0.1240055737453882, + -0.30532050750807943, + -0.9517427978525625, + -0.03106500331216501, + 0.12755146444567758, + -0.008546383356179575, + -0.9917951316926757 + ], + [ + 0.9122958365897538, + -0.3789090174649688, + 0.15538424316748986, + -0.3753605751935381, + -0.9253775359330139, + -0.05273380870864631, + 0.16377040371012677, + -0.01021628475894306, + -0.9864455800470427 + ], + [ + 0.9052341989828858, + -0.39862410525263553, + 0.14713894013261353, + -0.3811579336022127, + -0.9148280684086584, + -0.1334474986793463, + 0.18780222214847275, + 0.06471806519990109, + -0.980072393955098 + ], + [ + 0.9120909334759625, + -0.3828197359053689, + 0.14676232102379344, + -0.3649939665625057, + -0.9212267742099235, + -0.1346129074485326, + 0.1867338572512116, + 0.06921185072025125, + -0.9799694823186903 + ], + [ + 0.9113133190356547, + -0.3851718491031911, + 0.14543273774032972, + -0.36704163494615777, + -0.9200846273456568, + -0.13683828681423657, + 0.1865166822680222, + 0.07132268349292842, + -0.9798594807701241 + ], + [ + 0.9079380021321919, + -0.39073804585329713, + 0.1515663676643023, + -0.37166187323884753, + -0.9177981320116317, + -0.139692665722113, + 0.19369056834238116, + 0.07050083970213292, + -0.9785262364068218 + ], + [ + 0.8823865667055416, + -0.43109465725057045, + 0.18855063878868267, + -0.40475975211174803, + -0.8997772444193051, + -0.16300445851460255, + 0.23992392537644802, + 0.06751523468977709, + -0.9684411201083633 + ], + [ + 0.8463164398253128, + -0.49435433109355753, + 0.1983992918597457, + -0.4599036652474282, + -0.8660426412885577, + -0.19610905680748097, + 0.26876960835144437, + 0.07472575726601609, + -0.9603014937131105 + ], + [ + 0.8001629403984709, + -0.5667591930459781, + 0.19627349772892058, + -0.5351961239948801, + -0.8224064723034952, + -0.19290594385393417, + 0.2707478119463381, + 0.04931137202707009, + -0.961386504437772 + ], + [ + 0.7317356793617966, + -0.6401999603801528, + 0.2338950753611131, + -0.609979731911838, + -0.7682081851955342, + -0.19437312276996016, + 0.30411777686562846, + -0.0004415063245202383, + -0.952634338488002 + ], + [ + 0.7149721578184401, + -0.6626973202124334, + 0.22281623667879935, + -0.6318691492393828, + -0.7488845469290076, + -0.19978316648414912, + 0.2992594055062293, + 0.00204869573001884, + -0.9541695924005668 + ], + [ + 0.7021214239279634, + -0.6829281164989142, + 0.20158048952370183, + -0.6510326434176931, + -0.7303529328200746, + -0.20673918526899315, + 0.2884129041252154, + 0.013920532186724316, + -0.957404938110149 + ], + [ + 0.6632244251418113, + -0.7262490338352885, + 0.180819530882657, + -0.6930835127628308, + -0.6871654611095747, + -0.21780466798120052, + 0.2824333660027606, + 0.01913034007475571, + -0.9590961494328789 + ], + [ + 0.6092440779963609, + -0.7710477880159847, + 0.18522138651360096, + -0.7267929300193894, + -0.6363669429937433, + -0.25847466169554867, + 0.3171650836712556, + 0.022856562743651998, + -0.9480948724886927 + ], + [ + 0.583823062285143, + -0.788093220360669, + 0.1950889744848443, + -0.738286095717775, + -0.6153139207582252, + -0.2762651259043478, + 0.33776363453427405, + 0.01725847451806664, + -0.9410727242054712 + ], + [ + 0.5654271070227657, + -0.8044074212572795, + 0.1822659794642961, + -0.7607502300129968, + -0.5940062191736502, + -0.26156394842982034, + 0.3186711065958725, + 0.00923646086111779, + -0.947820348806525 + ], + [ + 0.5370952097087894, + -0.824120464177106, + 0.17987272231325885, + -0.7877102628170429, + -0.5662992419150068, + -0.24252362866160834, + 0.3017304717137078, + -0.01142931017165097, + -0.9533247575241207 + ], + [ + 0.5248815708715825, + -0.8314551101230616, + 0.1821585474514655, + -0.7982167451950268, + -0.5551295009168901, + -0.2338402550931356, + 0.2955492585841455, + -0.022663562429866058, + -0.9550586362566174 + ], + [ + 0.5009909139374477, + -0.8442494747653947, + 0.1903967660189539, + -0.8124189703468717, + -0.534596823705557, + -0.23276952700999898, + 0.29830105727712386, + -0.03806652653296594, + -0.9537124403010926 + ], + [ + 0.48416049062871747, + -0.8498802194198348, + 0.2080678542039898, + -0.8205208329648793, + -0.5235856843695309, + -0.22935473353281846, + 0.3038654010985453, + -0.05967950872940467, + -0.9508439273892624 + ], + [ + 0.4686561347869532, + -0.8537277073050221, + 0.22695909126153932, + -0.825132788647278, + -0.5148087240250723, + -0.23265394638140907, + 0.31546364041790886, + -0.07823668862744376, + -0.9457069906302337 + ], + [ + 0.4612067610926667, + -0.8568279372638365, + 0.23050858866126933, + -0.8292416555555644, + -0.50865702505613, + -0.23157354674598246, + 0.31566849734155933, + -0.08434403823179175, + -0.9451134762560924 + ], + [ + 0.4662666874995702, + -0.8506790733100698, + 0.24277662647070997, + -0.8250595942808296, + -0.5171795932447785, + -0.2276003827244533, + 0.31917399958851655, + -0.09418270841022727, + -0.9430045468730165 + ], + [ + 0.4823229744791669, + -0.8390550079963246, + 0.25169672593392234, + -0.8132617624378002, + -0.5356753134223314, + -0.22728234499505087, + 0.3255301123492744, + -0.0950718262482326, + -0.9407398651102726 + ], + [ + 0.4839233368712648, + -0.8364170330971711, + 0.2573417004224264, + -0.8122602951436405, + -0.5387395844089664, + -0.22359086100290407, + 0.32565536532436573, + -0.10082760998744186, + -0.9400970035585019 + ], + [ + 0.5071215843568189, + -0.8330633631238602, + 0.2209821976997084, + -0.8043878537595532, + -0.5495465324344636, + -0.22574053560084512, + 0.30949617025664344, + -0.06327749765928024, + -0.9487929589148785 + ], + [ + 0.5198981580098356, + -0.8309458758724928, + 0.19807790555353597, + -0.7988928333439529, + -0.5550677154224763, + -0.23166802137399878, + 0.30245023744353505, + -0.03779924160837507, + -0.9524153879501216 + ], + [ + 0.5219486595211082, + -0.8323299705711126, + 0.1865379771339038, + -0.7965390111683649, + -0.5538422557105452, + -0.24245486069860156, + 0.3051150611016137, + -0.022035786315574665, + -0.9520605146787744 + ], + [ + 0.5344952688253795, + -0.8255687781323356, + 0.1809723740695463, + -0.789170979706426, + -0.5641505439310964, + -0.24278247171377043, + 0.3025292917925222, + -0.013052063259519867, + -0.9530507180901677 + ], + [ + 0.5891448337980411, + -0.7919760067744809, + 0.16025719797446086, + -0.7573357161216326, + -0.6103575207926812, + -0.23217732425528792, + 0.2816930561721606, + 0.015417571318420906, + -0.9593806963864913 + ], + [ + 0.6128087560488251, + -0.7782852073954016, + 0.13688522367073963, + -0.7453075347842406, + -0.6268066964879979, + -0.22722245450580142, + 0.2626444499770168, + 0.037222321089632596, + -0.9641744612407916 + ], + [ + 0.6230956448367233, + -0.7706281422208995, + 0.13373138675222593, + -0.7355792039203001, + -0.6354847780372828, + -0.23469625400266436, + 0.2658477988351339, + 0.04786818672219341, + -0.9628258329284917 + ], + [ + 0.6349330271508097, + -0.7646986534940219, + 0.10998190931939143, + -0.7299617639201326, + -0.6404299068559989, + -0.23875794776095965, + 0.25301358510506466, + 0.07131271800209395, + -0.9648308774098371 + ], + [ + 0.6438072172580418, + -0.7589875441719219, + 0.09721200953756239, + -0.7261046734142004, + -0.6460565701889442, + -0.23533574178554956, + 0.24142135417670435, + 0.08092475460310185, + -0.9670402855310185 + ], + [ + 0.6494372985967879, + -0.7559891838586041, + 0.081924044578551, + -0.7252017362040479, + -0.6481634858452643, + -0.23230698961406773, + 0.22872174579156468, + 0.09145736441488919, + -0.9691862119821666 + ], + [ + 0.6543948582068879, + -0.752226899080264, + 0.07695493390600594, + -0.7233260648893299, + -0.6523963662107549, + -0.22622640254117057, + 0.22037870451589536, + 0.09237788509753389, + -0.9710301503768062 + ], + [ + 0.6426466376304856, + -0.7608416972806936, + 0.09013995130498109, + -0.7337575822614967, + -0.6450457352420353, + -0.21334434588201467, + 0.2204656653903142, + 0.0709641538038401, + -0.9728098371515939 + ], + [ + 0.6102216035711505, + -0.7865296248607943, + 0.09487224963808766, + -0.7669657830510848, + -0.6165114475633336, + -0.17798068055887162, + 0.19847690587040556, + 0.03584388706182544, + -0.9794499137763037 + ], + [ + 0.5654722800939452, + -0.8183880761923101, + 0.10238191828445148, + -0.8051375808335777, + -0.5746657281174647, + -0.14667234523480605, + 0.17887027806432437, + 0.0005076154780078029, + -0.9838725354189524 + ], + [ + 0.5641078504841084, + -0.8147178342024566, + 0.13422810307330335, + -0.8064569667405228, + -0.5785239466034499, + -0.12221785467780102, + 0.1772272377990307, + -0.03930513756275699, + -0.9833847732923764 + ], + [ + 0.5616259787269946, + -0.8119067561033422, + 0.1593225640412966, + -0.8071917134587525, + -0.5799497931744457, + -0.10999897781543505, + 0.18170800131658574, + -0.06682556988657337, + -0.9810792758319106 + ], + [ + 0.5447506593732866, + -0.8215544006682013, + 0.16821143199878558, + -0.8184122181633632, + -0.5645785376811441, + -0.10701642841519571, + 0.18288838200742313, + -0.07936902123960984, + -0.9799246900625442 + ], + [ + 0.5508861835483885, + -0.8215983792691598, + 0.1466305423770257, + -0.816179308243152, + -0.5670502426684146, + -0.11092952305595505, + 0.17428640099336726, + -0.05856727304546097, + -0.9829517409093884 + ], + [ + 0.5625259481702706, + -0.8197292256517195, + 0.10774300092150269, + -0.813880700596253, + -0.5719571795163214, + -0.10228973553923787, + 0.1454742686253857, + -0.030149318602039336, + -0.9889025511928576 + ], + [ + 0.5738036290261967, + -0.8169838667756716, + 0.05733024284475448, + -0.8119609171466246, + -0.5766347941558482, + -0.09061888983680555, + 0.10709278380348179, + 0.005447531286218617, + -0.9942341072705696 + ], + [ + 0.5841733521621455, + -0.8100355256832507, + 0.05083248719767391, + -0.809118579694701, + -0.5861453202125896, + -0.04196173954581313, + 0.06378572423725931, + -0.016616579790698464, + -0.9978252706058249 + ], + [ + 0.584930112491901, + -0.810284373518412, + 0.035999965723406434, + -0.8109970645265094, + -0.5849399533242072, + 0.011358359672892159, + 0.0118543169181762, + -0.03583971312592586, + -0.9992872410540699 + ], + [ + 0.5112387390477798, + -0.8575364879734608, + 0.05715000866998117, + -0.859374015524907, + -0.5092526634385264, + 0.04623879563055634, + -0.0105476602824271, + -0.07275229601125857, + -0.9972942646419145 + ], + [ + 0.49408725026324324, + -0.8690812101812935, + 0.023992482929558103, + -0.8680491622107289, + -0.49157994975870295, + 0.06956870690534948, + -0.04866663243495013, + -0.055199665805591776, + -0.9972886020517793 + ], + [ + 0.47779885987933296, + -0.8784131259458403, + -0.009931246853571135, + -0.874289914733958, + -0.4765967787390745, + 0.0920470286865678, + -0.08558851846186905, + -0.03529717639691177, + -0.995705134488071 + ], + [ + 0.4568349191840172, + -0.8885229269682521, + -0.042765229636967786, + -0.8803209852230459, + -0.45847947059489824, + 0.12178480208526694, + -0.1278155686528769, + -0.017988421131159157, + -0.9916348103587075 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0018627345561981201, + -0.0017118901014328003, + -0.006496548652648926, + -0.019751980900764465, + 0.01759897917509079, + 0.00492510199546814, + 1.0 + ], + [ + 0.016774550080299377, + -0.014242641627788544, + -0.005777351558208466, + 0.006959997583180666, + -0.016049593687057495, + -0.002772971987724304, + 1.0 + ], + [ + 0.02442723512649536, + -0.017069853842258453, + -0.00011205673217773438, + -0.0038521792739629745, + -0.004600055515766144, + -0.022910162806510925, + 1.0 + ], + [ + 0.023279964923858643, + -0.0188935324549675, + 0.004773303866386414, + 0.010881847701966763, + -0.020852580666542053, + -0.05054625868797302, + 1.0 + ], + [ + 0.012588292360305786, + -0.016108863055706024, + 0.008656546473503113, + 0.0017394209280610085, + -0.03661157190799713, + -0.0774179995059967, + 1.0 + ], + [ + -0.0012735724449157715, + -0.002576146274805069, + 0.01129758358001709, + -0.07629452645778656, + -0.024412617087364197, + -0.008194118738174438, + 1.0 + ], + [ + -0.001898258924484253, + 0.00552719458937645, + 1.6316771507263184e-05, + -0.004571221768856049, + 0.0010876059532165527, + 0.017873406410217285, + 1.0 + ], + [ + 0.000322192907333374, + -0.0010796114802360535, + -0.0004113912582397461, + -0.002151086926460266, + 0.00022105872631072998, + -0.0022291243076324463, + 1.0 + ], + [ + 0.0013742148876190186, + -0.002576977014541626, + 0.0006402581930160522, + 0.0007368400692939758, + -0.007307156920433044, + -0.005653798580169678, + 1.0 + ], + [ + 0.025266587734222412, + -0.01595931500196457, + -0.009511947631835938, + 0.0023209452629089355, + -0.04736492037773132, + -0.04153546690940857, + 1.0 + ], + [ + 0.019122987985610962, + -0.014464270323514938, + -0.0030600130558013916, + -0.008055642247200012, + -0.029827922582626343, + -0.06770217418670654, + 1.0 + ], + [ + 0.01390993595123291, + -0.013088313862681389, + -0.006333641707897186, + 0.026411376893520355, + -0.002054363489151001, + -0.09174290299415588, + 1.0 + ], + [ + 0.007632166147232056, + -0.006467338651418686, + -9.191036224365234e-05, + 0.05171048268675804, + -0.03484243154525757, + -0.10538077354431152, + 1.0 + ], + [ + 0.00046688318252563477, + -0.003056504763662815, + -0.004205763339996338, + -0.002610553056001663, + 0.005095809698104858, + -0.028874576091766357, + 1.0 + ], + [ + -0.004412442445755005, + -0.002238417975604534, + -0.009081870317459106, + -0.012391738593578339, + 0.01134750247001648, + -0.02388662099838257, + 1.0 + ], + [ + -0.005270600318908691, + -0.012382423505187035, + -0.01342751830816269, + -0.005404738709330559, + 0.006239086389541626, + -0.059748828411102295, + 1.0 + ], + [ + -0.0027532577514648438, + -0.009211696684360504, + -0.0058427900075912476, + -0.004159644246101379, + -0.036408931016922, + -0.06574583053588867, + 1.0 + ], + [ + -0.002442866563796997, + -0.000289352610707283, + -0.006008900701999664, + 0.005766121670603752, + -0.021801143884658813, + -0.028546273708343506, + 1.0 + ], + [ + -0.003706008195877075, + 0.0021690959110856056, + -0.004084721207618713, + 0.008592454716563225, + 0.02021270990371704, + -0.029927968978881836, + 1.0 + ], + [ + -0.0012654364109039307, + 0.011064266785979271, + -0.0008728653192520142, + 0.021732959896326065, + 0.017819970846176147, + -0.040730416774749756, + 1.0 + ], + [ + -0.0003224313259124756, + 0.006569096818566322, + -0.00027494877576828003, + 0.011737248860299587, + 0.006476789712905884, + -0.016759395599365234, + 1.0 + ], + [ + 0.0010980665683746338, + 0.003991011064499617, + -0.0007392764091491699, + 0.016167305409908295, + -0.002881765365600586, + -0.02909320592880249, + 1.0 + ], + [ + 0.005074292421340942, + 0.0023475419729948044, + -0.0067240893840789795, + 0.02278967946767807, + -0.005835115909576416, + -0.019501447677612305, + 1.0 + ], + [ + 0.003433793783187866, + 0.0034508341923356056, + -0.0033634155988693237, + 0.0198577418923378, + -0.012197911739349365, + -0.01654219627380371, + 1.0 + ], + [ + 0.001595228910446167, + 0.0008380655199289322, + -0.007478341460227966, + 0.0064661502838134766, + -0.00021588802337646484, + -0.008965253829956055, + 1.0 + ], + [ + -0.0006362795829772949, + -0.00030063092708587646, + -0.0030081160366535187, + 0.010538578033447266, + -0.0036966800689697266, + 0.006811022758483887, + 1.0 + ], + [ + -0.0010389387607574463, + -0.0018147770315408707, + -0.0008891522884368896, + 0.0011737123131752014, + -0.006714552640914917, + 0.02092421054840088, + 1.0 + ], + [ + -0.0011529624462127686, + -0.0011892057955265045, + -0.0005165934562683105, + 0.0061251819133758545, + -0.00013247132301330566, + 0.001996159553527832, + 0.0 + ], + [ + -0.008615314960479736, + -0.0022191815078258514, + -0.006977662444114685, + -0.04024990648031235, + 0.017041653394699097, + 0.02519845962524414, + 0.0 + ], + [ + -0.003154069185256958, + -0.003230879083275795, + -0.0010417811572551727, + -0.02692706137895584, + 0.00740090012550354, + 0.014414072036743164, + 0.0 + ], + [ + -0.00015971064567565918, + -0.0014627664349973202, + 0.002996206283569336, + -0.016525719314813614, + -0.0027970075607299805, + 0.0031528472900390625, + 0.0 + ], + [ + 0.0006647109985351562, + 0.0001775640994310379, + 0.002024628221988678, + -0.009447052143514156, + 0.0027140676975250244, + 0.015247642993927002, + 0.0 + ], + [ + 0.0013357698917388916, + -0.0015048612840473652, + 0.005001142621040344, + -0.029763132333755493, + 0.021787017583847046, + 0.0658111572265625, + 0.0 + ], + [ + -0.00024950504302978516, + 0.001255192793905735, + 0.010546773672103882, + -0.022517263889312744, + 0.019796311855316162, + 0.02701491117477417, + 0.0 + ], + [ + 0.00018236041069030762, + -0.001581996213644743, + 0.009867288172245026, + -0.011089231818914413, + -0.003321409225463867, + 0.014652132987976074, + 0.0 + ], + [ + -0.0017035305500030518, + 0.00012557394802570343, + 0.007049106061458588, + -0.02410253882408142, + 0.013289332389831543, + 0.013089478015899658, + 0.0 + ], + [ + -0.004069298505783081, + 0.005664200056344271, + 0.02306247502565384, + -0.009710408747196198, + 0.01196366548538208, + 0.00950843095779419, + 0.0 + ], + [ + -0.002560824155807495, + 0.010345736518502235, + 0.011316157877445221, + -0.01059810072183609, + 0.013065844774246216, + 0.004942715167999268, + 0.0 + ], + [ + -0.001158982515335083, + 0.009878521785140038, + 0.0036954879760742188, + -0.0007619485259056091, + 0.008561715483665466, + 0.005069077014923096, + 0.0 + ], + [ + -0.003395974636077881, + 0.012804863974452019, + 0.012786336243152618, + 0.0220298171043396, + -8.915364742279053e-05, + -0.016107380390167236, + 0.0 + ], + [ + -0.0016539692878723145, + 0.01604815199971199, + 0.006448119878768921, + 0.03623901680111885, + 0.022488191723823547, + -0.04722857475280762, + 0.0 + ], + [ + 0.00018736720085144043, + 0.014357220381498337, + -5.112588405609131e-05, + 0.036063674837350845, + 0.019965574145317078, + -0.059783101081848145, + 0.0 + ], + [ + 0.005201011896133423, + 0.026018843054771423, + -0.0064911991357803345, + 0.04046390950679779, + 0.0016697198152542114, + -0.0019050240516662598, + 0.0 + ], + [ + -0.000752180814743042, + 0.019610531628131866, + -0.005037099123001099, + 0.02806132286787033, + -0.004554718732833862, + -0.0024964213371276855, + 0.0 + ], + [ + -0.0029565095901489258, + 0.007336340844631195, + -0.00597294420003891, + 0.012809306383132935, + -0.0012004971504211426, + -0.020609676837921143, + 0.0 + ], + [ + -0.006562739610671997, + 0.005693256855010986, + -0.0017157793045043945, + -0.021305900067090988, + 0.008742555975914001, + 0.006443440914154053, + 0.0 + ], + [ + -0.010344088077545166, + 0.005985438823699951, + -0.005683347582817078, + -0.029034487903118134, + 0.02918870747089386, + 0.011051535606384277, + 0.0 + ], + [ + -0.017499059438705444, + 0.009647220373153687, + -0.009816348552703857, + -0.03595728054642677, + 0.03869377076625824, + 0.010429084300994873, + 0.0 + ], + [ + -0.019045770168304443, + 0.008650287985801697, + 0.00525829941034317, + 0.022130325436592102, + 0.043469496071338654, + 0.010129690170288086, + 0.0 + ], + [ + -0.009036511182785034, + -0.00744706392288208, + -0.007799118757247925, + 0.01919865421950817, + 0.05197446048259735, + -0.00048607587814331055, + 0.0 + ], + [ + -0.0071152448654174805, + -0.014700531959533691, + -0.012951619923114777, + 0.036970775574445724, + 0.022402450442314148, + -0.08818596601486206, + 0.0 + ], + [ + -0.007770821452140808, + -0.010062746703624725, + -0.010617554187774658, + -0.017527364194393158, + 0.0381380096077919, + -0.019199609756469727, + 0.0 + ], + [ + -0.004095032811164856, + -0.006981223821640015, + -0.005011729896068573, + -0.01985873281955719, + 0.037007495760917664, + -0.017307400703430176, + 0.0 + ], + [ + -0.00622914731502533, + -0.0026377588510513306, + -0.0019032061100006104, + -0.017296411097049713, + 0.04247280955314636, + -0.02146601676940918, + 0.0 + ], + [ + -0.006654128432273865, + -0.00033524632453918457, + 0.0011344775557518005, + -0.0014691632241010666, + 0.001502707600593567, + -0.005509853363037109, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9628177285194397 + ], + [ + 0.7506401538848877 + ], + [ + 0.5570889115333557 + ], + [ + 0.5570889115333557 + ], + [ + 0.5570889115333557 + ], + [ + 0.5570889115333557 + ], + [ + 0.5570889115333557 + ], + [ + 0.5570889115333557 + ], + [ + 0.5570889115333557 + ], + [ + 0.5570889115333557 + ], + [ + 0.5570889115333557 + ], + [ + 0.5570889115333557 + ], + [ + 0.5570889115333557 + ], + [ + 0.5570889115333557 + ], + [ + 0.5570889115333557 + ], + [ + 0.5570889115333557 + ], + [ + 0.5570889115333557 + ], + [ + 0.5570889115333557 + ], + [ + 0.5570889115333557 + ], + [ + 0.5570889115333557 + ], + [ + 0.5570889115333557 + ], + [ + 0.5570889115333557 + ], + [ + 0.5570889115333557 + ], + [ + 0.5570889115333557 + ], + [ + 0.5570889115333557 + ], + [ + 0.5570889115333557 + ], + [ + 0.5570889115333557 + ], + [ + 0.5570889115333557 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.21441979706287384, + 0.13047951459884644, + 0.11707998067140579 + ], + [ + 0.23119434714317322, + 0.11623687297105789, + 0.11130262911319733 + ], + [ + 0.2556215822696686, + 0.09916701912879944, + 0.11119057238101959 + ], + [ + 0.2789015471935272, + 0.08027348667383194, + 0.115963876247406 + ], + [ + 0.291489839553833, + 0.06416462361812592, + 0.12462042272090912 + ], + [ + 0.29021626710891724, + 0.06158847734332085, + 0.1359180063009262 + ], + [ + 0.288318008184433, + 0.0671156719326973, + 0.13593432307243347 + ], + [ + 0.28864020109176636, + 0.06603606045246124, + 0.13552293181419373 + ], + [ + 0.2900144159793854, + 0.06345908343791962, + 0.13616319000720978 + ], + [ + 0.3152810037136078, + 0.04749976843595505, + 0.12665124237537384 + ], + [ + 0.33440399169921875, + 0.03303549811244011, + 0.12359122931957245 + ], + [ + 0.34831392765045166, + 0.01994718424975872, + 0.11725758761167526 + ], + [ + 0.3559460937976837, + 0.013479845598340034, + 0.11716567724943161 + ], + [ + 0.35641297698020935, + 0.01042334083467722, + 0.11295991390943527 + ], + [ + 0.35200053453445435, + 0.008184922859072685, + 0.10387804359197617 + ], + [ + 0.34672993421554565, + -0.004197501111775637, + 0.09045052528381348 + ], + [ + 0.3439766764640808, + -0.013409198261797428, + 0.08460773527622223 + ], + [ + 0.3415338099002838, + -0.013698550872504711, + 0.07859883457422256 + ], + [ + 0.33782780170440674, + -0.011529454961419106, + 0.07451411336660385 + ], + [ + 0.3365623652935028, + -0.00046518846647813916, + 0.07364124804735184 + ], + [ + 0.33623993396759033, + 0.0061039081774652, + 0.07336629927158356 + ], + [ + 0.33733800053596497, + 0.010094919241964817, + 0.07262702286243439 + ], + [ + 0.3424122929573059, + 0.012442461214959621, + 0.06590293347835541 + ], + [ + 0.3458460867404938, + 0.015893295407295227, + 0.06253951787948608 + ], + [ + 0.34744131565093994, + 0.01673136092722416, + 0.05506117641925812 + ], + [ + 0.34680503606796265, + 0.016430730000138283, + 0.0520530603826046 + ], + [ + 0.3457660973072052, + 0.014615952968597412, + 0.05116390809416771 + ], + [ + 0.34461313486099243, + 0.013426747173070908, + 0.0506473146378994 + ], + [ + 0.3359978199005127, + 0.011207565665245056, + 0.043669652193784714 + ], + [ + 0.33284375071525574, + 0.007976686581969261, + 0.04262787103652954 + ], + [ + 0.3326840400695801, + 0.006513920146971941, + 0.04562407732009888 + ], + [ + 0.33334875106811523, + 0.006691484246402979, + 0.047648705542087555 + ], + [ + 0.3346845209598541, + 0.005186622962355614, + 0.0526498481631279 + ], + [ + 0.33443501591682434, + 0.006441815756261349, + 0.06319662183523178 + ], + [ + 0.33461737632751465, + 0.004859819542616606, + 0.0730639100074768 + ], + [ + 0.3329138457775116, + 0.004985393490642309, + 0.0801130160689354 + ], + [ + 0.3288445472717285, + 0.01064959354698658, + 0.10317549109458923 + ], + [ + 0.326283723115921, + 0.020995330065488815, + 0.11449164897203445 + ], + [ + 0.32512474060058594, + 0.030873851850628853, + 0.11818713694810867 + ], + [ + 0.32172876596450806, + 0.04367871582508087, + 0.1309734731912613 + ], + [ + 0.32007479667663574, + 0.05972686782479286, + 0.1374215930700302 + ], + [ + 0.3202621638774872, + 0.0740840882062912, + 0.13737046718597412 + ], + [ + 0.3254631757736206, + 0.10010293126106262, + 0.1308792680501938 + ], + [ + 0.32471099495887756, + 0.11971346288919449, + 0.1258421689271927 + ], + [ + 0.32175448536872864, + 0.12704980373382568, + 0.11986922472715378 + ], + [ + 0.31519174575805664, + 0.13274306058883667, + 0.11815344542264938 + ], + [ + 0.3048476576805115, + 0.13872849941253662, + 0.1124700978398323 + ], + [ + 0.28734859824180603, + 0.1483757197856903, + 0.10265374928712845 + ], + [ + 0.2683028280735016, + 0.157026007771492, + 0.10791204869747162 + ], + [ + 0.25926631689071655, + 0.14957894384860992, + 0.1001129299402237 + ], + [ + 0.2521510720252991, + 0.13487841188907623, + 0.08716131001710892 + ], + [ + 0.24438025057315826, + 0.12481566518545151, + 0.07654375582933426 + ], + [ + 0.2402852177619934, + 0.11783444136381149, + 0.07153202593326569 + ], + [ + 0.23405607044696808, + 0.11519668251276016, + 0.06962881982326508 + ], + [ + 0.2274019420146942, + 0.11486143618822098, + 0.07076329737901688 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9684941359965913, + -0.2349307996466289, + 0.08262341022743842, + -0.2336088791439461, + -0.971997359912619, + -0.025456313716001884, + 0.0862902087454032, + 0.005352728303755081, + -0.9962556640613798 + ], + [ + 0.9663726241932974, + -0.23702026178273797, + 0.09972635917450694, + -0.23593469248353224, + -0.9715034238951181, + -0.022713833731097477, + 0.1022681382076621, + -0.001578880776128673, + -0.994755615738375 + ], + [ + 0.9602496905458484, + -0.2596035576855532, + 0.10259885303260662, + -0.25788584703374984, + -0.9657126494422237, + -0.029899307800794736, + 0.10684297686927356, + 0.0022520089442432407, + -0.9942733561498203 + ], + [ + 0.9436683801064714, + -0.3067777796179268, + 0.1240055737453882, + -0.30532050750807943, + -0.9517427978525625, + -0.03106500331216501, + 0.12755146444567758, + -0.008546383356179575, + -0.9917951316926757 + ], + [ + 0.9122958365897538, + -0.3789090174649688, + 0.15538424316748986, + -0.3753605751935381, + -0.9253775359330139, + -0.05273380870864631, + 0.16377040371012677, + -0.01021628475894306, + -0.9864455800470427 + ], + [ + 0.9052341989828858, + -0.39862410525263553, + 0.14713894013261353, + -0.3811579336022127, + -0.9148280684086584, + -0.1334474986793463, + 0.18780222214847275, + 0.06471806519990109, + -0.980072393955098 + ], + [ + 0.9120909334759625, + -0.3828197359053689, + 0.14676232102379344, + -0.3649939665625057, + -0.9212267742099235, + -0.1346129074485326, + 0.1867338572512116, + 0.06921185072025125, + -0.9799694823186903 + ], + [ + 0.9113133190356547, + -0.3851718491031911, + 0.14543273774032972, + -0.36704163494615777, + -0.9200846273456568, + -0.13683828681423657, + 0.1865166822680222, + 0.07132268349292842, + -0.9798594807701241 + ], + [ + 0.9079380021321919, + -0.39073804585329713, + 0.1515663676643023, + -0.37166187323884753, + -0.9177981320116317, + -0.139692665722113, + 0.19369056834238116, + 0.07050083970213292, + -0.9785262364068218 + ], + [ + 0.8823865667055416, + -0.43109465725057045, + 0.18855063878868267, + -0.40475975211174803, + -0.8997772444193051, + -0.16300445851460255, + 0.23992392537644802, + 0.06751523468977709, + -0.9684411201083633 + ], + [ + 0.8463164398253128, + -0.49435433109355753, + 0.1983992918597457, + -0.4599036652474282, + -0.8660426412885577, + -0.19610905680748097, + 0.26876960835144437, + 0.07472575726601609, + -0.9603014937131105 + ], + [ + 0.8001629403984709, + -0.5667591930459781, + 0.19627349772892058, + -0.5351961239948801, + -0.8224064723034952, + -0.19290594385393417, + 0.2707478119463381, + 0.04931137202707009, + -0.961386504437772 + ], + [ + 0.7317356793617966, + -0.6401999603801528, + 0.2338950753611131, + -0.609979731911838, + -0.7682081851955342, + -0.19437312276996016, + 0.30411777686562846, + -0.0004415063245202383, + -0.952634338488002 + ], + [ + 0.7149721578184401, + -0.6626973202124334, + 0.22281623667879935, + -0.6318691492393828, + -0.7488845469290076, + -0.19978316648414912, + 0.2992594055062293, + 0.00204869573001884, + -0.9541695924005668 + ], + [ + 0.7021214239279634, + -0.6829281164989142, + 0.20158048952370183, + -0.6510326434176931, + -0.7303529328200746, + -0.20673918526899315, + 0.2884129041252154, + 0.013920532186724316, + -0.957404938110149 + ], + [ + 0.6632244251418113, + -0.7262490338352885, + 0.180819530882657, + -0.6930835127628308, + -0.6871654611095747, + -0.21780466798120052, + 0.2824333660027606, + 0.01913034007475571, + -0.9590961494328789 + ], + [ + 0.6092440779963609, + -0.7710477880159847, + 0.18522138651360096, + -0.7267929300193894, + -0.6363669429937433, + -0.25847466169554867, + 0.3171650836712556, + 0.022856562743651998, + -0.9480948724886927 + ], + [ + 0.583823062285143, + -0.788093220360669, + 0.1950889744848443, + -0.738286095717775, + -0.6153139207582252, + -0.2762651259043478, + 0.33776363453427405, + 0.01725847451806664, + -0.9410727242054712 + ], + [ + 0.5654271070227657, + -0.8044074212572795, + 0.1822659794642961, + -0.7607502300129968, + -0.5940062191736502, + -0.26156394842982034, + 0.3186711065958725, + 0.00923646086111779, + -0.947820348806525 + ], + [ + 0.5370952097087894, + -0.824120464177106, + 0.17987272231325885, + -0.7877102628170429, + -0.5662992419150068, + -0.24252362866160834, + 0.3017304717137078, + -0.01142931017165097, + -0.9533247575241207 + ], + [ + 0.5248815708715825, + -0.8314551101230616, + 0.1821585474514655, + -0.7982167451950268, + -0.5551295009168901, + -0.2338402550931356, + 0.2955492585841455, + -0.022663562429866058, + -0.9550586362566174 + ], + [ + 0.5009909139374477, + -0.8442494747653947, + 0.1903967660189539, + -0.8124189703468717, + -0.534596823705557, + -0.23276952700999898, + 0.29830105727712386, + -0.03806652653296594, + -0.9537124403010926 + ], + [ + 0.48416049062871747, + -0.8498802194198348, + 0.2080678542039898, + -0.8205208329648793, + -0.5235856843695309, + -0.22935473353281846, + 0.3038654010985453, + -0.05967950872940467, + -0.9508439273892624 + ], + [ + 0.4686561347869532, + -0.8537277073050221, + 0.22695909126153932, + -0.825132788647278, + -0.5148087240250723, + -0.23265394638140907, + 0.31546364041790886, + -0.07823668862744376, + -0.9457069906302337 + ], + [ + 0.4612067610926667, + -0.8568279372638365, + 0.23050858866126933, + -0.8292416555555644, + -0.50865702505613, + -0.23157354674598246, + 0.31566849734155933, + -0.08434403823179175, + -0.9451134762560924 + ], + [ + 0.4662666874995702, + -0.8506790733100698, + 0.24277662647070997, + -0.8250595942808296, + -0.5171795932447785, + -0.2276003827244533, + 0.31917399958851655, + -0.09418270841022727, + -0.9430045468730165 + ], + [ + 0.4823229744791669, + -0.8390550079963246, + 0.25169672593392234, + -0.8132617624378002, + -0.5356753134223314, + -0.22728234499505087, + 0.3255301123492744, + -0.0950718262482326, + -0.9407398651102726 + ], + [ + 0.4839233368712648, + -0.8364170330971711, + 0.2573417004224264, + -0.8122602951436405, + -0.5387395844089664, + -0.22359086100290407, + 0.32565536532436573, + -0.10082760998744186, + -0.9400970035585019 + ], + [ + 0.5071215843568189, + -0.8330633631238602, + 0.2209821976997084, + -0.8043878537595532, + -0.5495465324344636, + -0.22574053560084512, + 0.30949617025664344, + -0.06327749765928024, + -0.9487929589148785 + ], + [ + 0.5198981580098356, + -0.8309458758724928, + 0.19807790555353597, + -0.7988928333439529, + -0.5550677154224763, + -0.23166802137399878, + 0.30245023744353505, + -0.03779924160837507, + -0.9524153879501216 + ], + [ + 0.5219486595211082, + -0.8323299705711126, + 0.1865379771339038, + -0.7965390111683649, + -0.5538422557105452, + -0.24245486069860156, + 0.3051150611016137, + -0.022035786315574665, + -0.9520605146787744 + ], + [ + 0.5344952688253795, + -0.8255687781323356, + 0.1809723740695463, + -0.789170979706426, + -0.5641505439310964, + -0.24278247171377043, + 0.3025292917925222, + -0.013052063259519867, + -0.9530507180901677 + ], + [ + 0.5891448337980411, + -0.7919760067744809, + 0.16025719797446086, + -0.7573357161216326, + -0.6103575207926812, + -0.23217732425528792, + 0.2816930561721606, + 0.015417571318420906, + -0.9593806963864913 + ], + [ + 0.6128087560488251, + -0.7782852073954016, + 0.13688522367073963, + -0.7453075347842406, + -0.6268066964879979, + -0.22722245450580142, + 0.2626444499770168, + 0.037222321089632596, + -0.9641744612407916 + ], + [ + 0.6230956448367233, + -0.7706281422208995, + 0.13373138675222593, + -0.7355792039203001, + -0.6354847780372828, + -0.23469625400266436, + 0.2658477988351339, + 0.04786818672219341, + -0.9628258329284917 + ], + [ + 0.6349330271508097, + -0.7646986534940219, + 0.10998190931939143, + -0.7299617639201326, + -0.6404299068559989, + -0.23875794776095965, + 0.25301358510506466, + 0.07131271800209395, + -0.9648308774098371 + ], + [ + 0.6438072172580418, + -0.7589875441719219, + 0.09721200953756239, + -0.7261046734142004, + -0.6460565701889442, + -0.23533574178554956, + 0.24142135417670435, + 0.08092475460310185, + -0.9670402855310185 + ], + [ + 0.6494372985967879, + -0.7559891838586041, + 0.081924044578551, + -0.7252017362040479, + -0.6481634858452643, + -0.23230698961406773, + 0.22872174579156468, + 0.09145736441488919, + -0.9691862119821666 + ], + [ + 0.6543948582068879, + -0.752226899080264, + 0.07695493390600594, + -0.7233260648893299, + -0.6523963662107549, + -0.22622640254117057, + 0.22037870451589536, + 0.09237788509753389, + -0.9710301503768062 + ], + [ + 0.6426466376304856, + -0.7608416972806936, + 0.09013995130498109, + -0.7337575822614967, + -0.6450457352420353, + -0.21334434588201467, + 0.2204656653903142, + 0.0709641538038401, + -0.9728098371515939 + ], + [ + 0.6102216035711505, + -0.7865296248607943, + 0.09487224963808766, + -0.7669657830510848, + -0.6165114475633336, + -0.17798068055887162, + 0.19847690587040556, + 0.03584388706182544, + -0.9794499137763037 + ], + [ + 0.5654722800939452, + -0.8183880761923101, + 0.10238191828445148, + -0.8051375808335777, + -0.5746657281174647, + -0.14667234523480605, + 0.17887027806432437, + 0.0005076154780078029, + -0.9838725354189524 + ], + [ + 0.5641078504841084, + -0.8147178342024566, + 0.13422810307330335, + -0.8064569667405228, + -0.5785239466034499, + -0.12221785467780102, + 0.1772272377990307, + -0.03930513756275699, + -0.9833847732923764 + ], + [ + 0.5616259787269946, + -0.8119067561033422, + 0.1593225640412966, + -0.8071917134587525, + -0.5799497931744457, + -0.10999897781543505, + 0.18170800131658574, + -0.06682556988657337, + -0.9810792758319106 + ], + [ + 0.5447506593732866, + -0.8215544006682013, + 0.16821143199878558, + -0.8184122181633632, + -0.5645785376811441, + -0.10701642841519571, + 0.18288838200742313, + -0.07936902123960984, + -0.9799246900625442 + ], + [ + 0.5508861835483885, + -0.8215983792691598, + 0.1466305423770257, + -0.816179308243152, + -0.5670502426684146, + -0.11092952305595505, + 0.17428640099336726, + -0.05856727304546097, + -0.9829517409093884 + ], + [ + 0.5625259481702706, + -0.8197292256517195, + 0.10774300092150269, + -0.813880700596253, + -0.5719571795163214, + -0.10228973553923787, + 0.1454742686253857, + -0.030149318602039336, + -0.9889025511928576 + ], + [ + 0.5738036290261967, + -0.8169838667756716, + 0.05733024284475448, + -0.8119609171466246, + -0.5766347941558482, + -0.09061888983680555, + 0.10709278380348179, + 0.005447531286218617, + -0.9942341072705696 + ], + [ + 0.5841733521621455, + -0.8100355256832507, + 0.05083248719767391, + -0.809118579694701, + -0.5861453202125896, + -0.04196173954581313, + 0.06378572423725931, + -0.016616579790698464, + -0.9978252706058249 + ], + [ + 0.584930112491901, + -0.810284373518412, + 0.035999965723406434, + -0.8109970645265094, + -0.5849399533242072, + 0.011358359672892159, + 0.0118543169181762, + -0.03583971312592586, + -0.9992872410540699 + ], + [ + 0.5112387390477798, + -0.8575364879734608, + 0.05715000866998117, + -0.859374015524907, + -0.5092526634385264, + 0.04623879563055634, + -0.0105476602824271, + -0.07275229601125857, + -0.9972942646419145 + ], + [ + 0.49408725026324324, + -0.8690812101812935, + 0.023992482929558103, + -0.8680491622107289, + -0.49157994975870295, + 0.06956870690534948, + -0.04866663243495013, + -0.055199665805591776, + -0.9972886020517793 + ], + [ + 0.47779885987933296, + -0.8784131259458403, + -0.009931246853571135, + -0.874289914733958, + -0.4765967787390745, + 0.0920470286865678, + -0.08558851846186905, + -0.03529717639691177, + -0.995705134488071 + ], + [ + 0.4568349191840172, + -0.8885229269682521, + -0.042765229636967786, + -0.8803209852230459, + -0.45847947059489824, + 0.12178480208526694, + -0.1278155686528769, + -0.017988421131159157, + -0.9916348103587075 + ], + [ + 0.4518895305262156, + -0.8909840976518395, + -0.044081628059020786, + -0.88265274072475, + -0.45373357021747596, + 0.12267838664080169, + -0.12930580610275655, + -0.016528308722921693, + -0.9914670057641233 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005741.json b/json/chunk-0005/episode_0005741.json new file mode 100644 index 0000000000000000000000000000000000000000..e9437167b87fdbb15b0b98aded8f7b2a136850d4 --- /dev/null +++ b/json/chunk-0005/episode_0005741.json @@ -0,0 +1,2182 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 35, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nTake broccoli out of pan." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005741.mp4", + "start": 0, + "end": 35, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.19136644899845123, + -0.07849765568971634, + 0.07647895067930222, + -0.04833811894059181, + -0.13119933009147644, + 0.14901475608348846, + 0.0, + 1.0086473226547241 + ], + [ + 0.1884268820285797, + -0.07685106247663498, + 0.07362768799066544, + -0.0399911068379879, + -0.11512508988380432, + 0.16340363025665283, + 0.0, + 1.0086473226547241 + ], + [ + 0.19374355673789978, + -0.0723516121506691, + 0.08167307078838348, + -0.04394158348441124, + -0.11145631968975067, + 0.26585638523101807, + 0.0, + 1.0086473226547241 + ], + [ + 0.20310001075267792, + -0.06429650634527206, + 0.09564889222383499, + -0.06518622487783432, + -0.0913604199886322, + 0.3673549294471741, + 0.0, + 1.0086473226547241 + ], + [ + 0.2149476855993271, + -0.051247257739305496, + 0.10792742669582367, + -0.10117566585540771, + -0.13390158116817474, + 0.47733619809150696, + 0.0, + 1.0086473226547241 + ], + [ + 0.23467031121253967, + -0.030672963708639145, + 0.11142712831497192, + -0.14770133793354034, + -0.16082677245140076, + 0.5940072536468506, + 0.0, + 1.0086473226547241 + ], + [ + 0.24586419761180878, + -0.016218360513448715, + 0.11185458302497864, + -0.20248617231845856, + -0.19174934923648834, + 0.6132312417030334, + 0.0, + 1.0086473226547241 + ], + [ + 0.25558391213417053, + -0.005219032522290945, + 0.10605555772781372, + -0.22909727692604065, + -0.21071535348892212, + 0.5970643758773804, + 0.0, + 1.0086473226547241 + ], + [ + 0.26097050309181213, + 0.0035299144219607115, + 0.08986220508813858, + -0.23888684809207916, + -0.21759015321731567, + 0.6284162402153015, + 0.0, + 1.0086473226547241 + ], + [ + 0.26067423820495605, + 0.010660535655915737, + 0.07459286600351334, + -0.21110154688358307, + -0.19227436184883118, + 0.6459216475486755, + 0.0, + 1.0086473226547241 + ], + [ + 0.2560502290725708, + 0.01534096896648407, + 0.06373749673366547, + -0.21227605640888214, + -0.16138997673988342, + 0.6730148196220398, + 0.0, + 1.0086473226547241 + ], + [ + 0.2554205656051636, + 0.020776890218257904, + 0.05983015149831772, + -0.2110382318496704, + -0.15247999131679535, + 0.6726296544075012, + 0.0, + 1.0086473226547241 + ], + [ + 0.2548414170742035, + 0.027596762403845787, + 0.05215182527899742, + -0.20901067554950714, + -0.13090716302394867, + 0.6736639142036438, + 0.0, + 1.0086473226547241 + ], + [ + 0.2584582567214966, + 0.030253611505031586, + 0.044625043869018555, + -0.23214799165725708, + -0.12698188424110413, + 0.6607809662818909, + 0.0, + 1.0086473226547241 + ], + [ + 0.26218149065971375, + 0.03204268589615822, + 0.03634464740753174, + -0.24370577931404114, + -0.1272229701280594, + 0.6645035743713379, + 0.0, + 1.0086473226547241 + ], + [ + 0.26411738991737366, + 0.03425701707601547, + 0.029701894149184227, + -0.2580524682998657, + -0.11934458464384079, + 0.6754786372184753, + 0.0, + 1.0086473226547241 + ], + [ + 0.2670208811759949, + 0.03299907222390175, + 0.022873621433973312, + -0.27151694893836975, + -0.10989835113286972, + 0.6932762265205383, + 0.0, + 1.0086473226547241 + ], + [ + 0.2716323435306549, + 0.0313076376914978, + 0.01872296817600727, + -0.29301705956459045, + -0.12077976018190384, + 0.7002006769180298, + 0.0, + 1.0086473226547241 + ], + [ + 0.26834636926651, + 0.026838479563593864, + 0.014524571597576141, + -0.2940215766429901, + -0.1296384036540985, + 0.7046988606452942, + 0.0, + 1.0086473226547241 + ], + [ + 0.2611743211746216, + 0.02136506326496601, + 0.011433219537138939, + -0.2738438844680786, + -0.12508518993854523, + 0.720090925693512, + 0.0, + 0.9453431367874146 + ], + [ + 0.25549277663230896, + 0.018279124051332474, + 0.012169728055596352, + -0.27280354499816895, + -0.12103158980607986, + 0.7336732149124146, + 0.0, + 0.6601285338401794 + ], + [ + 0.2512255311012268, + 0.01708429679274559, + 0.011969133280217648, + -0.2609304189682007, + -0.09489788860082626, + 0.6969698667526245, + 0.0, + 0.506233811378479 + ], + [ + 0.2578893303871155, + 0.020900962874293327, + 0.018433470278978348, + -0.2585265040397644, + -0.11160968244075775, + 0.685577929019928, + 0.0, + 0.5275958180427551 + ], + [ + 0.26629725098609924, + 0.02387119084596634, + 0.037044405937194824, + -0.26697641611099243, + -0.15203049778938293, + 0.6837344765663147, + 0.0, + 0.5403295159339905 + ], + [ + 0.27127256989479065, + 0.02481725811958313, + 0.05814569443464279, + -0.2353285551071167, + -0.16784469783306122, + 0.6965222954750061, + 0.0, + 0.5403295159339905 + ], + [ + 0.26619333028793335, + 0.02796950191259384, + 0.07341348379850388, + -0.204421266913414, + -0.20319758355617523, + 0.6976488828659058, + 0.0, + 0.5403295159339905 + ], + [ + 0.24947525560855865, + 0.04376823827624321, + 0.07821356505155563, + -0.2034408152103424, + -0.25438737869262695, + 0.6877768635749817, + 0.0, + 0.5403295159339905 + ], + [ + 0.2387571781873703, + 0.06371834874153137, + 0.07673380523920059, + -0.20013725757598877, + -0.27211111783981323, + 0.6507845520973206, + 0.0, + 0.5403295159339905 + ], + [ + 0.2316870391368866, + 0.07927536219358444, + 0.06870769709348679, + -0.2177954614162445, + -0.303924560546875, + 0.6457053422927856, + 0.0, + 0.5403295159339905 + ], + [ + 0.2283804565668106, + 0.09047795832157135, + 0.05908137559890747, + -0.22542767226696014, + -0.32070422172546387, + 0.6499526500701904, + 0.0, + 0.5403295159339905 + ], + [ + 0.21909300982952118, + 0.09652338176965714, + 0.04085918888449669, + -0.2615695297718048, + -0.37062177062034607, + 0.6759917736053467, + 0.0, + 0.5403295159339905 + ], + [ + 0.21224376559257507, + 0.10241684317588806, + 0.025803672149777412, + -0.295331209897995, + -0.42753151059150696, + 0.6732848286628723, + 0.0, + 0.6209517121315002 + ], + [ + 0.21405741572380066, + 0.10455889254808426, + 0.025389881804585457, + -0.3028225004673004, + -0.44368797540664673, + 0.6834058165550232, + 0.0, + 0.9141042232513428 + ], + [ + 0.21413765847682953, + 0.1004856526851654, + 0.034881506115198135, + -0.2909074127674103, + -0.42367860674858093, + 0.6452834010124207, + 0.0, + 1.0118417739868164 + ], + [ + 0.21967913210391998, + 0.0952707827091217, + 0.05797859653830528, + -0.21257448196411133, + -0.39473649859428406, + 0.6078506708145142, + 0.0, + 1.0118417739868164 + ] + ], + "left_gripper_pos": [ + [ + 1.0086473226547241 + ], + [ + 1.0086473226547241 + ], + [ + 1.0086473226547241 + ], + [ + 1.0086473226547241 + ], + [ + 1.0086473226547241 + ], + [ + 1.0086473226547241 + ], + [ + 1.0086473226547241 + ], + [ + 1.0086473226547241 + ], + [ + 1.0086473226547241 + ], + [ + 1.0086473226547241 + ], + [ + 1.0086473226547241 + ], + [ + 1.0086473226547241 + ], + [ + 1.0086473226547241 + ], + [ + 1.0086473226547241 + ], + [ + 1.0086473226547241 + ], + [ + 1.0086473226547241 + ], + [ + 1.0086473226547241 + ], + [ + 1.0086473226547241 + ], + [ + 1.0086473226547241 + ], + [ + 0.9453431367874146 + ], + [ + 0.6601285338401794 + ], + [ + 0.506233811378479 + ], + [ + 0.5275958180427551 + ], + [ + 0.5403295159339905 + ], + [ + 0.5403295159339905 + ], + [ + 0.5403295159339905 + ], + [ + 0.5403295159339905 + ], + [ + 0.5403295159339905 + ], + [ + 0.5403295159339905 + ], + [ + 0.5403295159339905 + ], + [ + 0.5403295159339905 + ], + [ + 0.6209517121315002 + ], + [ + 0.9141042232513428 + ], + [ + 1.0118417739868164 + ], + [ + 1.0118417739868164 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.19136644899845123, + -0.07849765568971634, + 0.07647895067930222 + ], + [ + 0.1884268820285797, + -0.07685106247663498, + 0.07362768799066544 + ], + [ + 0.19374355673789978, + -0.0723516121506691, + 0.08167307078838348 + ], + [ + 0.20310001075267792, + -0.06429650634527206, + 0.09564889222383499 + ], + [ + 0.2149476855993271, + -0.051247257739305496, + 0.10792742669582367 + ], + [ + 0.23467031121253967, + -0.030672963708639145, + 0.11142712831497192 + ], + [ + 0.24586419761180878, + -0.016218360513448715, + 0.11185458302497864 + ], + [ + 0.25558391213417053, + -0.005219032522290945, + 0.10605555772781372 + ], + [ + 0.26097050309181213, + 0.0035299144219607115, + 0.08986220508813858 + ], + [ + 0.26067423820495605, + 0.010660535655915737, + 0.07459286600351334 + ], + [ + 0.2560502290725708, + 0.01534096896648407, + 0.06373749673366547 + ], + [ + 0.2554205656051636, + 0.020776890218257904, + 0.05983015149831772 + ], + [ + 0.2548414170742035, + 0.027596762403845787, + 0.05215182527899742 + ], + [ + 0.2584582567214966, + 0.030253611505031586, + 0.044625043869018555 + ], + [ + 0.26218149065971375, + 0.03204268589615822, + 0.03634464740753174 + ], + [ + 0.26411738991737366, + 0.03425701707601547, + 0.029701894149184227 + ], + [ + 0.2670208811759949, + 0.03299907222390175, + 0.022873621433973312 + ], + [ + 0.2716323435306549, + 0.0313076376914978, + 0.01872296817600727 + ], + [ + 0.26834636926651, + 0.026838479563593864, + 0.014524571597576141 + ], + [ + 0.2611743211746216, + 0.02136506326496601, + 0.011433219537138939 + ], + [ + 0.25549277663230896, + 0.018279124051332474, + 0.012169728055596352 + ], + [ + 0.2512255311012268, + 0.01708429679274559, + 0.011969133280217648 + ], + [ + 0.2578893303871155, + 0.020900962874293327, + 0.018433470278978348 + ], + [ + 0.26629725098609924, + 0.02387119084596634, + 0.037044405937194824 + ], + [ + 0.27127256989479065, + 0.02481725811958313, + 0.05814569443464279 + ], + [ + 0.26619333028793335, + 0.02796950191259384, + 0.07341348379850388 + ], + [ + 0.24947525560855865, + 0.04376823827624321, + 0.07821356505155563 + ], + [ + 0.2387571781873703, + 0.06371834874153137, + 0.07673380523920059 + ], + [ + 0.2316870391368866, + 0.07927536219358444, + 0.06870769709348679 + ], + [ + 0.2283804565668106, + 0.09047795832157135, + 0.05908137559890747 + ], + [ + 0.21909300982952118, + 0.09652338176965714, + 0.04085918888449669 + ], + [ + 0.21224376559257507, + 0.10241684317588806, + 0.025803672149777412 + ], + [ + 0.21405741572380066, + 0.10455889254808426, + 0.025389881804585457 + ], + [ + 0.21413765847682953, + 0.1004856526851654, + 0.034881506115198135 + ], + [ + 0.21967913210391998, + 0.0952707827091217, + 0.05797859653830528 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9804187809295849, + 0.14203923046565603, + 0.1363960080400855, + 0.14718793725728335, + -0.9887011991692697, + -0.02838397236460056, + 0.13082325911890758, + 0.04790402665718873, + -0.9902476857350058 + ], + [ + 0.9801479060489386, + 0.15801595161437904, + 0.11975408679157008, + 0.16160057813483264, + -0.9866375295438707, + -0.02077591013782837, + 0.11487095113373323, + 0.039715794477380044, + -0.9925861777471323 + ], + [ + 0.9588810124182673, + 0.2577678405307834, + 0.11875581843352255, + 0.26110543329109415, + -0.9652201778290502, + -0.013189428248675717, + 0.11122570174914216, + 0.04365488174023167, + -0.9928358850135593 + ], + [ + 0.9293883709488396, + 0.35283887586543106, + 0.10836043384501827, + 0.35765028503990604, + -0.9334328136965463, + -0.02809725832572062, + 0.09123337961478599, + 0.06486840519518888, + -0.9937145266380566 + ], + [ + 0.8802710067021461, + 0.4450884894876178, + 0.16437515409946007, + 0.45530234210664033, + -0.8898743862301473, + -0.028694145809323696, + 0.13350180535033357, + 0.10009901726365564, + -0.9859804535136851 + ], + [ + 0.8180102890238453, + 0.534063076859873, + 0.21362536597064039, + 0.5524637113803404, + -0.8328712319789379, + -0.03330703453845428, + 0.16013436439123382, + 0.14526575947845172, + -0.9763477067439468 + ], + [ + 0.8028044531764376, + 0.5324123230968911, + 0.26840664703887834, + 0.5649651473448722, + -0.823141933688984, + -0.057024023782501515, + 0.19057647348418488, + 0.19741954112329427, + -0.9616164165284409 + ], + [ + 0.8086978987597437, + 0.5082456024747227, + 0.29613192348458733, + 0.549781791876574, + -0.8320870863033333, + -0.07328753050971702, + 0.20915948427589617, + 0.22207541145371168, + -0.9523312563205651 + ], + [ + 0.7898847086082299, + 0.5298475382925709, + 0.3087778056664605, + 0.5740027607795917, + -0.8160154783224862, + -0.06811438728734963, + 0.21587722835977544, + 0.23104182587450883, + -0.9486920980867685 + ], + [ + 0.7838298706662856, + 0.5565977182418665, + 0.2753356386289684, + 0.5908423169243774, + -0.8049201474038006, + -0.054853558087674156, + 0.19109183756170167, + 0.20567580400084, + -0.9597819404770547 + ], + [ + 0.7717844653619143, + 0.5828817040939793, + 0.2541606933782704, + 0.6152457837911842, + -0.785497768291163, + -0.0668272514530853, + 0.1606902752290748, + 0.20794752954075044, + -0.9648504860364133 + ], + [ + 0.7731106134315732, + 0.5843351855083527, + 0.2466827322217252, + 0.6158160957400021, + -0.7846558853325653, + -0.07131393861306863, + 0.15188981409889518, + 0.2070447598706303, + -0.9664688053854175 + ], + [ + 0.7748542154689095, + 0.5891087233497745, + 0.22924191772723398, + 0.6185159049766384, + -0.781429124659082, + -0.08250211164249638, + 0.13053359744139012, + 0.20571688119291515, + -0.9698667664845875 + ], + [ + 0.7831565027551477, + 0.5742665694548261, + 0.23850324819362942, + 0.6087922244667912, + -0.7862158346298778, + -0.10600324903521216, + 0.12664090816597431, + 0.22821605680545456, + -0.9653390657147711 + ], + [ + 0.7808607290554895, + 0.5743443295983329, + 0.2457338252605259, + 0.6116845387199544, + -0.7828409728714751, + -0.11402647185894502, + 0.12688004929809021, + 0.23935037549977575, + -0.9626073191277066 + ], + [ + 0.7748566315253174, + 0.5808553562453487, + 0.249407810026726, + 0.6208232958397204, + -0.7735659270360788, + -0.12717779629919163, + 0.11906147959749722, + 0.2533827374741635, + -0.9600112251563278 + ], + [ + 0.7645163123545903, + 0.593024166970606, + 0.25266013839257906, + 0.6352052467662685, + -0.7597762903632959, + -0.13875980355417256, + 0.10967726575887254, + 0.26657517887194115, + -0.9575534300419221 + ], + [ + 0.759141949074736, + 0.5902928234412705, + 0.27433170387096045, + 0.6396769083016596, + -0.7545434565679721, + -0.14655246547256548, + 0.12048632345889577, + 0.2867377804618536, + -0.9504022785721679 + ], + [ + 0.755414120580978, + 0.5914639416810126, + 0.2819927518891713, + 0.6423685301420448, + -0.7533842954849778, + -0.14062281038207522, + 0.1292755889950496, + 0.28737172618015816, + -0.949054957882956 + ], + [ + 0.745872413337052, + 0.6095175474121933, + 0.26863116427433825, + 0.6543007492876564, + -0.7459839796054584, + -0.1240904172513517, + 0.12475925819101889, + 0.26832119105398244, + -0.9552166591548742 + ], + [ + 0.7372865428164921, + 0.6206790876074858, + 0.2667696084422746, + 0.66470391611582, + -0.7370358824891593, + -0.12225715448888692, + 0.12073631467788955, + 0.267461358199957, + -0.9559744579160243 + ], + [ + 0.7633406199341816, + 0.6014249850403317, + 0.23579458290583516, + 0.6390089904875462, + -0.7565263227527963, + -0.13905190778345866, + 0.0947555171722846, + 0.25681882787554566, + -0.9618032447512559 + ], + [ + 0.7692371972436816, + 0.5900396461534582, + 0.2452087892873898, + 0.6291812541968015, + -0.766357533719958, + -0.12971923480349273, + 0.11137811160199065, + 0.25406563419275285, + -0.9607526059179903 + ], + [ + 0.7662774068801909, + 0.578340542969356, + 0.2798948946709826, + 0.62440627000297, + -0.7729938836084009, + -0.11223754222620776, + 0.1514455205212361, + 0.2607732199860869, + -0.9534472098926817 + ], + [ + 0.7562982992408512, + 0.5939923455995789, + 0.2742006125713537, + 0.6325382195240431, + -0.7709251390303808, + -0.07463129941479402, + 0.16705772477424852, + 0.22988589208582955, + -0.9587722321871619 + ], + [ + 0.7505879566404051, + 0.5976472185635991, + 0.2818430795488426, + 0.6292007706243318, + -0.7767153938299408, + -0.028628434000958117, + 0.20180215457751838, + 0.1988240406258604, + -0.9590333108276677 + ], + [ + 0.7477932237407806, + 0.5824441675402615, + 0.3186912082654658, + 0.6143909899350853, + -0.7890016400570395, + 0.00035138851393484716, + 0.25165255018369403, + 0.19553824098020714, + -0.9478585286319946 + ], + [ + 0.7663348444993441, + 0.5512077234486682, + 0.33000144199185355, + 0.5835203729971189, + -0.8120972920306702, + 0.0014009188969515002, + 0.26876547472372536, + 0.19148899155562193, + -0.9439793883923215 + ], + [ + 0.7620716978403733, + 0.5358996838579768, + 0.36339820609300116, + 0.5741827863028008, + -0.8187206593248788, + 0.0032572854016851283, + 0.29926719710693833, + 0.20617470949550598, + -0.9316282165650636 + ], + [ + 0.7555215914758507, + 0.5337416582357875, + 0.3798775685369027, + 0.5742943915005283, + -0.8186098869122053, + 0.007987799485722327, + 0.31523495476364183, + 0.21212660208775785, + -0.9250022853927802 + ], + [ + 0.7271207287425956, + 0.5313243405108039, + 0.4347296757912856, + 0.5831896667479883, + -0.8121543605442184, + 0.017178685845608513, + 0.36219505577962713, + 0.24103887617928188, + -0.9003971355679792 + ], + [ + 0.7114113852352887, + 0.5022163058759967, + 0.49160209831720114, + 0.5674322146296871, + -0.8231818324211372, + 0.019807891665386865, + 0.4146257622942122, + 0.26485930771646715, + -0.8705946383696016 + ], + [ + 0.7003457092487952, + 0.5034393709230013, + 0.5060283463813606, + 0.5702984774857521, + -0.8209777184103799, + 0.027481492883750416, + 0.4292732627525672, + 0.269340649881037, + -0.8620789292213479 + ], + [ + 0.7282902383594541, + 0.48194795987170114, + 0.4871544854415635, + 0.5482485613038257, + -0.8362798369211023, + 0.007716824962343716, + 0.4111165816877428, + 0.26146165748483924, + -0.8732817173894492 + ], + [ + 0.7577502326540759, + 0.49164804798271583, + 0.42906500885935617, + 0.527185330738537, + -0.8487364966351141, + 0.041496823175428285, + 0.38456496455968725, + 0.19475255118826712, + -0.902319916569987 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.002939566969871521, + 0.0016465932130813599, + -0.00285126268863678, + 0.008347012102603912, + 0.01607424020767212, + 0.014388874173164368, + 1.0 + ], + [ + 0.005316674709320068, + 0.004499450325965881, + 0.008045382797718048, + -0.00395047664642334, + 0.00366877019405365, + 0.10245275497436523, + 1.0 + ], + [ + 0.009356454014778137, + 0.008055105805397034, + 0.013975821435451508, + -0.02124464139342308, + 0.02009589970111847, + 0.101498544216156, + 1.0 + ], + [ + 0.01184767484664917, + 0.013049248605966568, + 0.012278534471988678, + -0.035989440977573395, + -0.04254116117954254, + 0.10998126864433289, + 1.0 + ], + [ + 0.019722625613212585, + 0.02057429403066635, + 0.0034997016191482544, + -0.04652567207813263, + -0.026925191283226013, + 0.11667105555534363, + 1.0 + ], + [ + 0.011193886399269104, + 0.01445460319519043, + 0.00042745471000671387, + -0.05478483438491821, + -0.030922576785087585, + 0.01922398805618286, + 1.0 + ], + [ + 0.009719714522361755, + 0.010999327525496483, + -0.005799025297164917, + -0.026611104607582092, + -0.018966004252433777, + -0.016166865825653076, + 1.0 + ], + [ + 0.0053865909576416016, + 0.008748946711421013, + -0.01619335263967514, + -0.009789571166038513, + -0.006874799728393555, + 0.03135186433792114, + 1.0 + ], + [ + -0.0002962648868560791, + 0.007130621001124382, + -0.015269339084625244, + 0.027785301208496094, + 0.025315791368484497, + 0.017505407333374023, + 1.0 + ], + [ + -0.004624009132385254, + 0.004680433310568333, + -0.01085536926984787, + -0.0011745095252990723, + 0.030884385108947754, + 0.027093172073364258, + 1.0 + ], + [ + -0.0006296634674072266, + 0.005435921251773834, + -0.003907345235347748, + 0.001237824559211731, + 0.008909985423088074, + -0.0003851652145385742, + 1.0 + ], + [ + -0.000579148530960083, + 0.006819872185587883, + -0.007678326219320297, + 0.002027556300163269, + 0.02157282829284668, + 0.0010342597961425781, + 1.0 + ], + [ + 0.003616839647293091, + 0.0026568491011857986, + -0.007526781409978867, + -0.02313731610774994, + 0.0039252787828445435, + -0.01288294792175293, + 1.0 + ], + [ + 0.003723233938217163, + 0.0017890743911266327, + -0.008280396461486816, + -0.011557787656784058, + -0.00024108588695526123, + 0.0037226080894470215, + 1.0 + ], + [ + 0.0019358992576599121, + 0.002214331179857254, + -0.006642753258347511, + -0.014346688985824585, + 0.007878385484218597, + 0.010975062847137451, + 1.0 + ], + [ + 0.002903491258621216, + -0.0012579448521137238, + -0.006828272715210915, + -0.013464480638504028, + 0.00944623351097107, + 0.01779758930206299, + 1.0 + ], + [ + 0.004611462354660034, + -0.001691434532403946, + -0.0041506532579660416, + -0.021500110626220703, + -0.010881409049034119, + 0.006924450397491455, + 1.0 + ], + [ + -0.0032859742641448975, + -0.004469158127903938, + -0.0041983965784311295, + -0.0010045170783996582, + -0.008858643472194672, + 0.004498183727264404, + 1.0 + ], + [ + -0.007172048091888428, + -0.005473416298627853, + -0.0030913520604372025, + 0.0201776921749115, + 0.004553213715553284, + 0.015392065048217773, + 0.0 + ], + [ + -0.005681544542312622, + -0.0030859392136335373, + 0.0007365085184574127, + 0.001040339469909668, + 0.0040536001324653625, + 0.013582289218902588, + 0.0 + ], + [ + -0.004267245531082153, + -0.0011948272585868835, + -0.00020059477537870407, + 0.011873126029968262, + 0.0261337012052536, + -0.03670334815979004, + 0.0 + ], + [ + 0.006663799285888672, + 0.003816666081547737, + 0.0064643369987607, + 0.0024039149284362793, + -0.016711793839931488, + -0.011391937732696533, + 0.0 + ], + [ + 0.008407920598983765, + 0.0029702279716730118, + 0.018610935658216476, + -0.008449912071228027, + -0.04042081534862518, + -0.0018434524536132812, + 0.0 + ], + [ + 0.004975318908691406, + 0.0009460672736167908, + 0.021101288497447968, + 0.03164786100387573, + -0.015814200043678284, + 0.012787818908691406, + 0.0 + ], + [ + -0.0050792396068573, + 0.0031522437930107117, + 0.015267789363861084, + 0.030907288193702698, + -0.035352885723114014, + 0.0011265873908996582, + 0.0 + ], + [ + -0.016718074679374695, + 0.01579873636364937, + 0.004800081253051758, + 0.0009804517030715942, + -0.05118979513645172, + -0.009872019290924072, + 0.0 + ], + [ + -0.010718077421188354, + 0.019950110465288162, + -0.0014797598123550415, + 0.0033035576343536377, + -0.01772373914718628, + -0.03699231147766113, + 0.0 + ], + [ + -0.007070139050483704, + 0.01555701345205307, + -0.008026108145713806, + -0.017658203840255737, + -0.03181344270706177, + -0.005079209804534912, + 0.0 + ], + [ + -0.0033065825700759888, + 0.011202596127986908, + -0.009626321494579315, + -0.007632210850715637, + -0.016779661178588867, + 0.004247307777404785, + 0.0 + ], + [ + -0.009287446737289429, + 0.006045423448085785, + -0.018222186714410782, + -0.036141857504844666, + -0.0499175488948822, + 0.02603912353515625, + 0.0 + ], + [ + -0.006849244236946106, + 0.0058934614062309265, + -0.015055516734719276, + -0.033761680126190186, + -0.05690973997116089, + -0.0027069449424743652, + 1.0 + ], + [ + 0.001813650131225586, + 0.0021420493721961975, + -0.00041379034519195557, + -0.00749129056930542, + -0.01615646481513977, + 0.010120987892150879, + 1.0 + ], + [ + 8.024275302886963e-05, + -0.004073239862918854, + 0.009491624310612679, + 0.011915087699890137, + 0.020009368658065796, + -0.03812241554260254, + 1.0 + ], + [ + 0.005541473627090454, + -0.005214869976043701, + 0.023097090423107147, + 0.07833293080329895, + 0.028942108154296875, + -0.037432730197906494, + 1.0 + ], + [ + 0.0020814985036849976, + -0.008797571063041687, + 0.019039336591959, + 0.11829278618097305, + 0.023835211992263794, + -0.06281578540802002, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0086473226547241 + ], + [ + 1.0086473226547241 + ], + [ + 1.0086473226547241 + ], + [ + 1.0086473226547241 + ], + [ + 1.0086473226547241 + ], + [ + 1.0086473226547241 + ], + [ + 1.0086473226547241 + ], + [ + 1.0086473226547241 + ], + [ + 1.0086473226547241 + ], + [ + 1.0086473226547241 + ], + [ + 1.0086473226547241 + ], + [ + 1.0086473226547241 + ], + [ + 1.0086473226547241 + ], + [ + 1.0086473226547241 + ], + [ + 1.0086473226547241 + ], + [ + 1.0086473226547241 + ], + [ + 1.0086473226547241 + ], + [ + 1.0086473226547241 + ], + [ + 0.9453431367874146 + ], + [ + 0.6601285338401794 + ], + [ + 0.506233811378479 + ], + [ + 0.5275958180427551 + ], + [ + 0.5403295159339905 + ], + [ + 0.5403295159339905 + ], + [ + 0.5403295159339905 + ], + [ + 0.5403295159339905 + ], + [ + 0.5403295159339905 + ], + [ + 0.5403295159339905 + ], + [ + 0.5403295159339905 + ], + [ + 0.5403295159339905 + ], + [ + 0.6209517121315002 + ], + [ + 0.9141042232513428 + ], + [ + 1.0118417739868164 + ], + [ + 1.0118417739868164 + ], + [ + 1.0118417739868164 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.1884268820285797, + -0.07685106247663498, + 0.07362768799066544 + ], + [ + 0.19374355673789978, + -0.0723516121506691, + 0.08167307078838348 + ], + [ + 0.20310001075267792, + -0.06429650634527206, + 0.09564889222383499 + ], + [ + 0.2149476855993271, + -0.051247257739305496, + 0.10792742669582367 + ], + [ + 0.23467031121253967, + -0.030672963708639145, + 0.11142712831497192 + ], + [ + 0.24586419761180878, + -0.016218360513448715, + 0.11185458302497864 + ], + [ + 0.25558391213417053, + -0.005219032522290945, + 0.10605555772781372 + ], + [ + 0.26097050309181213, + 0.0035299144219607115, + 0.08986220508813858 + ], + [ + 0.26067423820495605, + 0.010660535655915737, + 0.07459286600351334 + ], + [ + 0.2560502290725708, + 0.01534096896648407, + 0.06373749673366547 + ], + [ + 0.2554205656051636, + 0.020776890218257904, + 0.05983015149831772 + ], + [ + 0.2548414170742035, + 0.027596762403845787, + 0.05215182527899742 + ], + [ + 0.2584582567214966, + 0.030253611505031586, + 0.044625043869018555 + ], + [ + 0.26218149065971375, + 0.03204268589615822, + 0.03634464740753174 + ], + [ + 0.26411738991737366, + 0.03425701707601547, + 0.029701894149184227 + ], + [ + 0.2670208811759949, + 0.03299907222390175, + 0.022873621433973312 + ], + [ + 0.2716323435306549, + 0.0313076376914978, + 0.01872296817600727 + ], + [ + 0.26834636926651, + 0.026838479563593864, + 0.014524571597576141 + ], + [ + 0.2611743211746216, + 0.02136506326496601, + 0.011433219537138939 + ], + [ + 0.25549277663230896, + 0.018279124051332474, + 0.012169728055596352 + ], + [ + 0.2512255311012268, + 0.01708429679274559, + 0.011969133280217648 + ], + [ + 0.2578893303871155, + 0.020900962874293327, + 0.018433470278978348 + ], + [ + 0.26629725098609924, + 0.02387119084596634, + 0.037044405937194824 + ], + [ + 0.27127256989479065, + 0.02481725811958313, + 0.05814569443464279 + ], + [ + 0.26619333028793335, + 0.02796950191259384, + 0.07341348379850388 + ], + [ + 0.24947525560855865, + 0.04376823827624321, + 0.07821356505155563 + ], + [ + 0.2387571781873703, + 0.06371834874153137, + 0.07673380523920059 + ], + [ + 0.2316870391368866, + 0.07927536219358444, + 0.06870769709348679 + ], + [ + 0.2283804565668106, + 0.09047795832157135, + 0.05908137559890747 + ], + [ + 0.21909300982952118, + 0.09652338176965714, + 0.04085918888449669 + ], + [ + 0.21224376559257507, + 0.10241684317588806, + 0.025803672149777412 + ], + [ + 0.21405741572380066, + 0.10455889254808426, + 0.025389881804585457 + ], + [ + 0.21413765847682953, + 0.1004856526851654, + 0.034881506115198135 + ], + [ + 0.21967913210391998, + 0.0952707827091217, + 0.05797859653830528 + ], + [ + 0.22176063060760498, + 0.08647321164608002, + 0.07701793313026428 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9801479060489386, + 0.15801595161437904, + 0.11975408679157008, + 0.16160057813483264, + -0.9866375295438707, + -0.02077591013782837, + 0.11487095113373323, + 0.039715794477380044, + -0.9925861777471323 + ], + [ + 0.9588810124182673, + 0.2577678405307834, + 0.11875581843352255, + 0.26110543329109415, + -0.9652201778290502, + -0.013189428248675717, + 0.11122570174914216, + 0.04365488174023167, + -0.9928358850135593 + ], + [ + 0.9293883709488396, + 0.35283887586543106, + 0.10836043384501827, + 0.35765028503990604, + -0.9334328136965463, + -0.02809725832572062, + 0.09123337961478599, + 0.06486840519518888, + -0.9937145266380566 + ], + [ + 0.8802710067021461, + 0.4450884894876178, + 0.16437515409946007, + 0.45530234210664033, + -0.8898743862301473, + -0.028694145809323696, + 0.13350180535033357, + 0.10009901726365564, + -0.9859804535136851 + ], + [ + 0.8180102890238453, + 0.534063076859873, + 0.21362536597064039, + 0.5524637113803404, + -0.8328712319789379, + -0.03330703453845428, + 0.16013436439123382, + 0.14526575947845172, + -0.9763477067439468 + ], + [ + 0.8028044531764376, + 0.5324123230968911, + 0.26840664703887834, + 0.5649651473448722, + -0.823141933688984, + -0.057024023782501515, + 0.19057647348418488, + 0.19741954112329427, + -0.9616164165284409 + ], + [ + 0.8086978987597437, + 0.5082456024747227, + 0.29613192348458733, + 0.549781791876574, + -0.8320870863033333, + -0.07328753050971702, + 0.20915948427589617, + 0.22207541145371168, + -0.9523312563205651 + ], + [ + 0.7898847086082299, + 0.5298475382925709, + 0.3087778056664605, + 0.5740027607795917, + -0.8160154783224862, + -0.06811438728734963, + 0.21587722835977544, + 0.23104182587450883, + -0.9486920980867685 + ], + [ + 0.7838298706662856, + 0.5565977182418665, + 0.2753356386289684, + 0.5908423169243774, + -0.8049201474038006, + -0.054853558087674156, + 0.19109183756170167, + 0.20567580400084, + -0.9597819404770547 + ], + [ + 0.7717844653619143, + 0.5828817040939793, + 0.2541606933782704, + 0.6152457837911842, + -0.785497768291163, + -0.0668272514530853, + 0.1606902752290748, + 0.20794752954075044, + -0.9648504860364133 + ], + [ + 0.7731106134315732, + 0.5843351855083527, + 0.2466827322217252, + 0.6158160957400021, + -0.7846558853325653, + -0.07131393861306863, + 0.15188981409889518, + 0.2070447598706303, + -0.9664688053854175 + ], + [ + 0.7748542154689095, + 0.5891087233497745, + 0.22924191772723398, + 0.6185159049766384, + -0.781429124659082, + -0.08250211164249638, + 0.13053359744139012, + 0.20571688119291515, + -0.9698667664845875 + ], + [ + 0.7831565027551477, + 0.5742665694548261, + 0.23850324819362942, + 0.6087922244667912, + -0.7862158346298778, + -0.10600324903521216, + 0.12664090816597431, + 0.22821605680545456, + -0.9653390657147711 + ], + [ + 0.7808607290554895, + 0.5743443295983329, + 0.2457338252605259, + 0.6116845387199544, + -0.7828409728714751, + -0.11402647185894502, + 0.12688004929809021, + 0.23935037549977575, + -0.9626073191277066 + ], + [ + 0.7748566315253174, + 0.5808553562453487, + 0.249407810026726, + 0.6208232958397204, + -0.7735659270360788, + -0.12717779629919163, + 0.11906147959749722, + 0.2533827374741635, + -0.9600112251563278 + ], + [ + 0.7645163123545903, + 0.593024166970606, + 0.25266013839257906, + 0.6352052467662685, + -0.7597762903632959, + -0.13875980355417256, + 0.10967726575887254, + 0.26657517887194115, + -0.9575534300419221 + ], + [ + 0.759141949074736, + 0.5902928234412705, + 0.27433170387096045, + 0.6396769083016596, + -0.7545434565679721, + -0.14655246547256548, + 0.12048632345889577, + 0.2867377804618536, + -0.9504022785721679 + ], + [ + 0.755414120580978, + 0.5914639416810126, + 0.2819927518891713, + 0.6423685301420448, + -0.7533842954849778, + -0.14062281038207522, + 0.1292755889950496, + 0.28737172618015816, + -0.949054957882956 + ], + [ + 0.745872413337052, + 0.6095175474121933, + 0.26863116427433825, + 0.6543007492876564, + -0.7459839796054584, + -0.1240904172513517, + 0.12475925819101889, + 0.26832119105398244, + -0.9552166591548742 + ], + [ + 0.7372865428164921, + 0.6206790876074858, + 0.2667696084422746, + 0.66470391611582, + -0.7370358824891593, + -0.12225715448888692, + 0.12073631467788955, + 0.267461358199957, + -0.9559744579160243 + ], + [ + 0.7633406199341816, + 0.6014249850403317, + 0.23579458290583516, + 0.6390089904875462, + -0.7565263227527963, + -0.13905190778345866, + 0.0947555171722846, + 0.25681882787554566, + -0.9618032447512559 + ], + [ + 0.7692371972436816, + 0.5900396461534582, + 0.2452087892873898, + 0.6291812541968015, + -0.766357533719958, + -0.12971923480349273, + 0.11137811160199065, + 0.25406563419275285, + -0.9607526059179903 + ], + [ + 0.7662774068801909, + 0.578340542969356, + 0.2798948946709826, + 0.62440627000297, + -0.7729938836084009, + -0.11223754222620776, + 0.1514455205212361, + 0.2607732199860869, + -0.9534472098926817 + ], + [ + 0.7562982992408512, + 0.5939923455995789, + 0.2742006125713537, + 0.6325382195240431, + -0.7709251390303808, + -0.07463129941479402, + 0.16705772477424852, + 0.22988589208582955, + -0.9587722321871619 + ], + [ + 0.7505879566404051, + 0.5976472185635991, + 0.2818430795488426, + 0.6292007706243318, + -0.7767153938299408, + -0.028628434000958117, + 0.20180215457751838, + 0.1988240406258604, + -0.9590333108276677 + ], + [ + 0.7477932237407806, + 0.5824441675402615, + 0.3186912082654658, + 0.6143909899350853, + -0.7890016400570395, + 0.00035138851393484716, + 0.25165255018369403, + 0.19553824098020714, + -0.9478585286319946 + ], + [ + 0.7663348444993441, + 0.5512077234486682, + 0.33000144199185355, + 0.5835203729971189, + -0.8120972920306702, + 0.0014009188969515002, + 0.26876547472372536, + 0.19148899155562193, + -0.9439793883923215 + ], + [ + 0.7620716978403733, + 0.5358996838579768, + 0.36339820609300116, + 0.5741827863028008, + -0.8187206593248788, + 0.0032572854016851283, + 0.29926719710693833, + 0.20617470949550598, + -0.9316282165650636 + ], + [ + 0.7555215914758507, + 0.5337416582357875, + 0.3798775685369027, + 0.5742943915005283, + -0.8186098869122053, + 0.007987799485722327, + 0.31523495476364183, + 0.21212660208775785, + -0.9250022853927802 + ], + [ + 0.7271207287425956, + 0.5313243405108039, + 0.4347296757912856, + 0.5831896667479883, + -0.8121543605442184, + 0.017178685845608513, + 0.36219505577962713, + 0.24103887617928188, + -0.9003971355679792 + ], + [ + 0.7114113852352887, + 0.5022163058759967, + 0.49160209831720114, + 0.5674322146296871, + -0.8231818324211372, + 0.019807891665386865, + 0.4146257622942122, + 0.26485930771646715, + -0.8705946383696016 + ], + [ + 0.7003457092487952, + 0.5034393709230013, + 0.5060283463813606, + 0.5702984774857521, + -0.8209777184103799, + 0.027481492883750416, + 0.4292732627525672, + 0.269340649881037, + -0.8620789292213479 + ], + [ + 0.7282902383594541, + 0.48194795987170114, + 0.4871544854415635, + 0.5482485613038257, + -0.8362798369211023, + 0.007716824962343716, + 0.4111165816877428, + 0.26146165748483924, + -0.8732817173894492 + ], + [ + 0.7577502326540759, + 0.49164804798271583, + 0.42906500885935617, + 0.527185330738537, + -0.8487364966351141, + 0.041496823175428285, + 0.38456496455968725, + 0.19475255118826712, + -0.902319916569987 + ], + [ + 0.7969626751039722, + 0.48696706493642317, + 0.3573703571343401, + 0.4831940062268686, + -0.869002117077181, + 0.1065780130317986, + 0.36245557912322063, + 0.08774051619738037, + -0.9278618189040154 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005743.json b/json/chunk-0005/episode_0005743.json new file mode 100644 index 0000000000000000000000000000000000000000..d0296f9736cdaf0de85e07277ecf08f4ad9b633c --- /dev/null +++ b/json/chunk-0005/episode_0005743.json @@ -0,0 +1,1882 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 30, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nUnfold the cloth from the right to top left." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005743.mp4", + "start": 0, + "end": 30, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2822057902812958, + -0.11347302794456482, + 0.05828995257616043, + -0.0028970350977033377, + -0.06686977297067642, + -0.17801587283611298, + 0.0, + 1.0008161067962646 + ], + [ + 0.27890127897262573, + -0.11263134330511093, + 0.048607002943754196, + 0.0028064073994755745, + -0.03985103592276573, + -0.17994217574596405, + 0.0, + 1.0008161067962646 + ], + [ + 0.2755691707134247, + -0.09884261339902878, + 0.039468467235565186, + 0.022952159866690636, + -0.03764624893665314, + -0.16838699579238892, + 0.0, + 1.0008161067962646 + ], + [ + 0.28101617097854614, + -0.08574891835451126, + 0.037098970264196396, + 0.03739664703607559, + -0.05476031452417374, + -0.16788439452648163, + 0.0, + 1.0008161067962646 + ], + [ + 0.2846015691757202, + -0.07260209321975708, + 0.028968587517738342, + 0.03836844116449356, + -0.048014089465141296, + -0.16960175335407257, + 0.0, + 1.0008161067962646 + ], + [ + 0.28414952754974365, + -0.06987886875867844, + 0.023791879415512085, + 0.017997369170188904, + -0.05095646530389786, + -0.17153817415237427, + 0.0, + 0.9468915462493896 + ], + [ + 0.2843962013721466, + -0.06949292868375778, + 0.01923188380897045, + -0.0012279375223442912, + -0.047589607536792755, + -0.16928565502166748, + 0.0, + 0.6591242551803589 + ], + [ + 0.28433430194854736, + -0.07025326043367386, + 0.016583548858761787, + -0.008164041675627232, + -0.04407794401049614, + -0.17704397439956665, + 0.0, + 0.35357794165611267 + ], + [ + 0.28499457240104675, + -0.06845631450414658, + 0.013508779928088188, + -0.01853305846452713, + -0.04052112624049187, + -0.16759103536605835, + 0.0, + 0.1437794268131256 + ], + [ + 0.285366415977478, + -0.06921963393688202, + 0.012212484143674374, + -0.022523097693920135, + -0.04202618449926376, + -0.17382271587848663, + 0.0, + 0.0907076820731163 + ], + [ + 0.2866370379924774, + -0.068794384598732, + 0.011364074423909187, + -0.018895158544182777, + -0.04813013970851898, + -0.16425439715385437, + 0.0, + 0.25065502524375916 + ], + [ + 0.28658241033554077, + -0.06787260621786118, + 0.01133598480373621, + -0.010747833177447319, + -0.046940505504608154, + -0.1578168123960495, + 0.0, + 0.520771861076355 + ], + [ + 0.2868562936782837, + -0.06776245683431625, + 0.011346518993377686, + -0.009886118583381176, + -0.04851908981800079, + -0.15584199130535126, + 0.0, + 0.8307508826255798 + ], + [ + 0.2890830934047699, + -0.07091924548149109, + 0.0107773682102561, + -0.027314569801092148, + -0.07072107493877411, + -0.16188207268714905, + 0.0, + 0.9583302736282349 + ], + [ + 0.2883380949497223, + -0.07036033272743225, + 0.007762046065181494, + -0.03449423238635063, + -0.08113310486078262, + -0.15456371009349823, + 0.0, + 0.6781873106956482 + ], + [ + 0.288338303565979, + -0.0676078349351883, + 0.005104003474116325, + -0.042363185435533524, + -0.07348586618900299, + -0.1471136212348938, + 0.0, + 0.3746064603328705 + ], + [ + 0.2896043062210083, + -0.0670350044965744, + 0.006527974735945463, + -0.03637857362627983, + -0.06449912488460541, + -0.1502165049314499, + 0.0, + 0.1897224336862564 + ], + [ + 0.29020893573760986, + -0.06684364378452301, + 0.01093430258333683, + -0.01863313838839531, + -0.04046520218253136, + -0.15529249608516693, + 0.0, + 0.08363015204668045 + ], + [ + 0.2950951159000397, + -0.0644712746143341, + 0.022816667333245277, + 0.0072165890596807, + -0.017307212576270103, + -0.16655413806438446, + 0.0, + 0.06267260015010834 + ], + [ + 0.31289365887641907, + -0.04851065203547478, + 0.046712476760149, + 0.031095247715711594, + -0.03763977065682411, + -0.20263731479644775, + 0.0, + 0.06267260015010834 + ], + [ + 0.33970069885253906, + -0.004647844471037388, + 0.06138461083173752, + 0.06115693971514702, + -0.07836312055587769, + -0.24935346841812134, + 0.0, + 0.06238236278295517 + ], + [ + 0.3554190993309021, + 0.02435469813644886, + 0.06195387244224548, + 0.09454427659511566, + -0.10612211376428604, + -0.27115362882614136, + 0.0, + 0.06238236278295517 + ], + [ + 0.3658545911312103, + 0.0566646046936512, + 0.060146164149045944, + 0.12369658797979355, + -0.1068897694349289, + -0.25534293055534363, + 0.0, + 0.06238236278295517 + ], + [ + 0.3729337155818939, + 0.07273945957422256, + 0.058755986392498016, + 0.15476927161216736, + -0.10588657110929489, + -0.2714591920375824, + 0.0, + 0.061804234981536865 + ], + [ + 0.38445374369621277, + 0.09042137861251831, + 0.05702953785657883, + 0.166547954082489, + -0.09866011887788773, + -0.2937459647655487, + 0.0, + 0.061804234981536865 + ], + [ + 0.392437607049942, + 0.10006927698850632, + 0.04924781993031502, + 0.15756766498088837, + -0.09747079759836197, + -0.3006700575351715, + 0.0, + 0.08641935139894485 + ], + [ + 0.4019909203052521, + 0.10721888393163681, + 0.058519065380096436, + 0.1589219719171524, + -0.10443055629730225, + -0.3255522847175598, + 0.0, + 0.2438887059688568 + ], + [ + 0.40857410430908203, + 0.11763893067836761, + 0.06450749188661575, + 0.15336984395980835, + -0.10865487158298492, + -0.3262246251106262, + 0.0, + 0.508165180683136 + ], + [ + 0.4178280532360077, + 0.12467405945062637, + 0.08170297741889954, + 0.18446174263954163, + -0.10973268002271652, + -0.3520737886428833, + 0.0, + 0.8074146509170532 + ], + [ + 0.42172351479530334, + 0.13655345141887665, + 0.08362529426813126, + 0.18247009813785553, + -0.09464830160140991, + -0.356090784072876, + 0.0, + 1.0073583126068115 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9468915462493896 + ], + [ + 0.6591242551803589 + ], + [ + 0.35357794165611267 + ], + [ + 0.1437794268131256 + ], + [ + 0.0907076820731163 + ], + [ + 0.25065502524375916 + ], + [ + 0.520771861076355 + ], + [ + 0.8307508826255798 + ], + [ + 0.9583302736282349 + ], + [ + 0.6781873106956482 + ], + [ + 0.3746064603328705 + ], + [ + 0.1897224336862564 + ], + [ + 0.08363015204668045 + ], + [ + 0.06267260015010834 + ], + [ + 0.06267260015010834 + ], + [ + 0.06238236278295517 + ], + [ + 0.06238236278295517 + ], + [ + 0.06238236278295517 + ], + [ + 0.061804234981536865 + ], + [ + 0.061804234981536865 + ], + [ + 0.08641935139894485 + ], + [ + 0.2438887059688568 + ], + [ + 0.508165180683136 + ], + [ + 0.8074146509170532 + ], + [ + 1.0073583126068115 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2822057902812958, + -0.11347302794456482, + 0.05828995257616043 + ], + [ + 0.27890127897262573, + -0.11263134330511093, + 0.048607002943754196 + ], + [ + 0.2755691707134247, + -0.09884261339902878, + 0.039468467235565186 + ], + [ + 0.28101617097854614, + -0.08574891835451126, + 0.037098970264196396 + ], + [ + 0.2846015691757202, + -0.07260209321975708, + 0.028968587517738342 + ], + [ + 0.28414952754974365, + -0.06987886875867844, + 0.023791879415512085 + ], + [ + 0.2843962013721466, + -0.06949292868375778, + 0.01923188380897045 + ], + [ + 0.28433430194854736, + -0.07025326043367386, + 0.016583548858761787 + ], + [ + 0.28499457240104675, + -0.06845631450414658, + 0.013508779928088188 + ], + [ + 0.285366415977478, + -0.06921963393688202, + 0.012212484143674374 + ], + [ + 0.2866370379924774, + -0.068794384598732, + 0.011364074423909187 + ], + [ + 0.28658241033554077, + -0.06787260621786118, + 0.01133598480373621 + ], + [ + 0.2868562936782837, + -0.06776245683431625, + 0.011346518993377686 + ], + [ + 0.2890830934047699, + -0.07091924548149109, + 0.0107773682102561 + ], + [ + 0.2883380949497223, + -0.07036033272743225, + 0.007762046065181494 + ], + [ + 0.288338303565979, + -0.0676078349351883, + 0.005104003474116325 + ], + [ + 0.2896043062210083, + -0.0670350044965744, + 0.006527974735945463 + ], + [ + 0.29020893573760986, + -0.06684364378452301, + 0.01093430258333683 + ], + [ + 0.2950951159000397, + -0.0644712746143341, + 0.022816667333245277 + ], + [ + 0.31289365887641907, + -0.04851065203547478, + 0.046712476760149 + ], + [ + 0.33970069885253906, + -0.004647844471037388, + 0.06138461083173752 + ], + [ + 0.3554190993309021, + 0.02435469813644886, + 0.06195387244224548 + ], + [ + 0.3658545911312103, + 0.0566646046936512, + 0.060146164149045944 + ], + [ + 0.3729337155818939, + 0.07273945957422256, + 0.058755986392498016 + ], + [ + 0.38445374369621277, + 0.09042137861251831, + 0.05702953785657883 + ], + [ + 0.392437607049942, + 0.10006927698850632, + 0.04924781993031502 + ], + [ + 0.4019909203052521, + 0.10721888393163681, + 0.058519065380096436 + ], + [ + 0.40857410430908203, + 0.11763893067836761, + 0.06450749188661575 + ], + [ + 0.4178280532360077, + 0.12467405945062637, + 0.08170297741889954 + ], + [ + 0.42172351479530334, + 0.13655345141887665, + 0.08362529426813126 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.981997342123866, + -0.17726692854975393, + 0.06525071726961751, + -0.17668139268515878, + -0.9841585648291991, + -0.014683485695308073, + 0.06681994867175409, + 0.002890556325004774, + -0.9977608627039029 + ], + [ + 0.983072914984878, + -0.17886197507115978, + 0.03969934126378377, + -0.1788305881933727, + -0.9838701796847835, + -0.0043692394582946804, + 0.03984048882163592, + -0.002804175578559183, + -0.9992021177168199 + ], + [ + 0.9851578614219811, + -0.16669666948328893, + 0.04094152490622808, + -0.16747363200245025, + -0.9857414759263764, + 0.016319473716904558, + 0.037637357271413714, + -0.022933883702242717, + -0.9990282610196548 + ], + [ + 0.9844625875378681, + -0.16496245278750027, + 0.060173107852077044, + -0.16684639006567947, + -0.9855930799967595, + 0.027722964930774228, + 0.05473295040738343, + -0.037331887614123406, + -0.9978029035370011 + ], + [ + 0.984516145435886, + -0.16685095344889245, + 0.05374680185146807, + -0.16859530715574428, + -0.9852373997341534, + 0.029713440900445445, + 0.047995643355680545, + -0.03831482086973074, + -0.9981124148714886 + ], + [ + 0.9840444196425284, + -0.16976732219204504, + 0.053250694701028126, + -0.17047658318131365, + -0.9853202658071639, + 0.009039268583502989, + 0.05093441623523717, + -0.017973038291908692, + -0.9985402621513734 + ], + [ + 0.9845893822967478, + -0.16853571138775983, + 0.04668471115398509, + -0.1682875121203122, + -0.9856947851995226, + -0.009225166384589333, + 0.047571646312326285, + 0.001226546978027993, + -0.9988670752655961 + ], + [ + 0.9834125166461694, + -0.1764687695332902, + 0.04193561115632174, + -0.17594946681140014, + -0.9842724484064515, + -0.01579659573304694, + 0.044063672480079315, + 0.008156021540912816, + -0.9989954314611216 + ], + [ + 0.9851800933866848, + -0.16751918915070765, + 0.03684433281921519, + -0.16667069450104235, + -0.985694907124776, + -0.025028576923588532, + 0.04051003812814631, + 0.018516785211510626, + -0.9990075402499661 + ], + [ + 0.9840611666930337, + -0.17383679134759492, + 0.037475194205207715, + -0.17279600573904638, + -0.9845173747152758, + -0.029446210017127394, + 0.042013814482581055, + 0.02250130791118753, + -0.9988636195872334 + ], + [ + 0.9853981030254675, + -0.1643844065003354, + 0.04436603941465802, + -0.16332745143765756, + -0.9862158022920394, + -0.026505375235017295, + 0.048111559532924196, + 0.018872154328585487, + -0.9986636669221066 + ], + [ + 0.9864849373226163, + -0.15765149550776444, + 0.044648341511851035, + -0.15698941124574775, + -0.987436453057325, + -0.01798821642861323, + 0.04692326919884252, + 0.010735787709081608, + -0.9988408029660975 + ], + [ + 0.9867186353701507, + -0.15567801569595305, + 0.046375532797346096, + -0.15502928504739502, + -0.9877584994133647, + -0.017293571474719625, + 0.048500055576882355, + 0.00987432355294693, + -0.9987743700873639 + ], + [ + 0.9844586752874227, + -0.1630204692902815, + 0.06531036092160074, + -0.16077306642559133, + -0.9862464959536718, + -0.03833888797574689, + 0.07066213811827211, + 0.02724290387386881, + -0.9971282196513515 + ], + [ + 0.9848285205427406, + -0.15661912663956717, + 0.07472104319571594, + -0.15344261209570276, + -0.9870607281071897, + -0.04654550270168286, + 0.08104412328382933, + 0.03437394651714997, + -0.9961176044433668 + ], + [ + 0.9865285745869272, + -0.1495278110501001, + 0.06635363777556563, + -0.14618793595465363, + -0.987855017554244, + -0.05264552853018121, + 0.07341974465226295, + 0.0422362168697624, + -0.996406364431564 + ], + [ + 0.9866827692834922, + -0.15187103205774466, + 0.05824347534938468, + -0.149341023844066, + -0.9877337030641546, + -0.04560033364327848, + 0.06445441331875573, + 0.036294923238487486, + -0.9972604008737372 + ], + [ + 0.987157579167211, + -0.15538690692194684, + 0.03707860636487371, + -0.1545424693682972, + -0.987678249037049, + -0.02466376979817179, + 0.040454159913165304, + 0.018616807898737996, + -0.9990079456187428 + ], + [ + 0.9860141997928693, + -0.16565768191009075, + 0.018262810052199804, + -0.1657603333323898, + -0.986156919444636, + 0.004247602264895463, + 0.017306348556601257, + -0.007215445630098037, + -0.9998241983688916 + ], + [ + 0.9788454161745791, + -0.20001007648370003, + 0.043100122262001585, + -0.20111083470299754, + -0.9793011463618843, + 0.02288442482045098, + 0.03763088358089164, + -0.031068215901202595, + -0.9988086316014884 + ], + [ + 0.9660982671140529, + -0.24167953856822008, + 0.09080274729696332, + -0.24602015984392242, + -0.9684412124780243, + 0.03994620037581808, + 0.07828294341422544, + -0.06093126136513479, + -0.9950674158864105 + ], + [ + 0.9580424247606567, + -0.2570127625004119, + 0.126882434838825, + -0.26633629628270233, + -0.961838037830669, + 0.06271017672165707, + 0.10592303640443101, + -0.09387240752188958, + -0.9899334732520717 + ], + [ + 0.9620545102960478, + -0.23791105725794684, + 0.13360182653480848, + -0.25113570754501263, + -0.9635085002126645, + 0.09264030663705189, + 0.10668634221350454, + -0.12267721407150986, + -0.9866956600354313 + ], + [ + 0.9579850066508697, + -0.2492369167489555, + 0.1419355007093287, + -0.266635708835398, + -0.9562340265955163, + 0.12050678468356418, + 0.1056888158982703, + -0.1532887657670981, + -0.9825133222932001 + ], + [ + 0.9525113251145486, + -0.26990355975646957, + 0.14097604037322228, + -0.28813173709635304, + -0.9486495744817894, + 0.13055300422953828, + 0.09850014013373107, + -0.16497288645806493, + -0.9813672447801228 + ], + [ + 0.950604677695283, + -0.2779058984402724, + 0.1382716831312624, + -0.2947545404742606, + -0.9478284249814044, + 0.12141267506762979, + 0.09731653309512572, + -0.15617166327274415, + -0.9829241598297246 + ], + [ + 0.942312471829559, + -0.30017170937900095, + 0.1481355808810112, + -0.3180896914485676, + -0.9408107126989751, + 0.11702201102784525, + 0.10424084433954423, + -0.15739170168511, + -0.982019194625056 + ], + [ + 0.9416728678851284, + -0.30101460768534194, + 0.1504739706694724, + -0.31857921355402463, + -0.9414489900577829, + 0.11036794738727193, + 0.10844120333294313, + -0.15186838077499923, + -0.9824339674199397 + ], + [ + 0.933013941702473, + -0.3201404689726009, + 0.16430174897065772, + -0.3427710265638287, + -0.9296620854805673, + 0.1350423273211068, + 0.10951259259643573, + -0.18231425327144626, + -0.9771225640199297 + ], + [ + 0.9330717591580243, + -0.3267520682682252, + 0.15036681197719975, + -0.3470526036784618, + -0.927685147712932, + 0.13767627607120841, + 0.09450705022245673, + -0.1806470387116052, + -0.9789969687710873 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.003304511308670044, + 0.0008416846394538879, + -0.009682949632406235, + 0.005703442730009556, + 0.02701873704791069, + -0.0019263029098510742, + 1.0 + ], + [ + -0.00333210825920105, + 0.013788729906082153, + -0.00913853570818901, + 0.020145751535892487, + 0.0022047869861125946, + 0.011555179953575134, + 1.0 + ], + [ + 0.00544700026512146, + 0.013093695044517517, + -0.0023694969713687897, + 0.014444487169384956, + -0.0171140655875206, + 0.0005026012659072876, + 1.0 + ], + [ + 0.0035853981971740723, + 0.013146825134754181, + -0.008130382746458054, + 0.0009717941284179688, + 0.00674622505903244, + -0.0017173588275909424, + 1.0 + ], + [ + -0.0004520416259765625, + 0.002723224461078644, + -0.005176708102226257, + -0.020371071994304657, + -0.0029423758387565613, + -0.0019364207983016968, + 0.0 + ], + [ + 0.0002466738224029541, + 0.0003859400749206543, + -0.004559995606541634, + -0.019225306808948517, + 0.0033668577671051025, + 0.002252519130706787, + 0.0 + ], + [ + -6.189942359924316e-05, + -0.0007603317499160767, + -0.002648334950208664, + -0.0069361040368676186, + 0.0035116635262966156, + -0.00775831937789917, + 0.0 + ], + [ + 0.0006602704524993896, + 0.0017969459295272827, + -0.0030747689306735992, + -0.010369016788899899, + 0.0035568177700042725, + 0.0094529390335083, + 0.0 + ], + [ + 0.0003718435764312744, + -0.0007633194327354431, + -0.0012962957844138145, + -0.003990039229393005, + -0.0015050582587718964, + -0.006231680512428284, + 1.0 + ], + [ + 0.0012706220149993896, + 0.0004252493381500244, + -0.0008484097197651863, + 0.003627939149737358, + -0.0061039552092552185, + 0.009568318724632263, + 1.0 + ], + [ + -5.462765693664551e-05, + 0.0009217783808708191, + -2.8089620172977448e-05, + 0.008147325366735458, + 0.0011896342039108276, + 0.006437584757804871, + 1.0 + ], + [ + 0.0002738833427429199, + 0.00011014938354492188, + 1.0534189641475677e-05, + 0.000861714594066143, + -0.0015785843133926392, + 0.001974821090698242, + 1.0 + ], + [ + 0.002226799726486206, + -0.003156788647174835, + -0.0005691507831215858, + -0.017428450286388397, + -0.022201985120773315, + -0.0060400813817977905, + 0.0 + ], + [ + -0.0007449984550476074, + 0.0005589127540588379, + -0.003015322145074606, + -0.007179662585258484, + -0.010412029922008514, + 0.007318362593650818, + 0.0 + ], + [ + 2.086162567138672e-07, + 0.0027524977922439575, + -0.0026580425910651684, + -0.007868953049182892, + 0.007647238671779633, + 0.007450088858604431, + 0.0 + ], + [ + 0.0012660026550292969, + 0.0005728304386138916, + 0.0014239712618291378, + 0.005984611809253693, + 0.008986741304397583, + -0.0031028836965560913, + 0.0 + ], + [ + 0.0006046295166015625, + 0.0001913607120513916, + 0.004406327847391367, + 0.01774543523788452, + 0.02403392270207405, + -0.005075991153717041, + 0.0 + ], + [ + 0.00488618016242981, + 0.002372369170188904, + 0.011882364749908447, + 0.025849727913737297, + 0.023157989606261253, + -0.01126164197921753, + 0.0 + ], + [ + 0.017798542976379395, + 0.01596062257885933, + 0.023895809426903725, + 0.023878658190369606, + -0.02033255808055401, + -0.03608317673206329, + 0.0 + ], + [ + 0.026807039976119995, + 0.043862808495759964, + 0.014672134071588516, + 0.030061691999435425, + -0.040723349899053574, + -0.046716153621673584, + 0.0 + ], + [ + 0.015718400478363037, + 0.029002543538808823, + 0.0005692616105079651, + 0.03338733687996864, + -0.027758993208408356, + -0.02180016040802002, + 0.0 + ], + [ + 0.010435491800308228, + 0.03230990469455719, + -0.0018077082931995392, + 0.029152311384677887, + -0.0007676556706428528, + 0.01581069827079773, + 0.0 + ], + [ + 0.007079124450683594, + 0.016074854880571365, + -0.0013901777565479279, + 0.03107268363237381, + 0.0010031983256340027, + -0.01611626148223877, + 0.0 + ], + [ + 0.011520028114318848, + 0.017681919038295746, + -0.0017264485359191895, + 0.011778682470321655, + 0.0072264522314071655, + -0.02228677272796631, + 0.0 + ], + [ + 0.007983863353729248, + 0.009647898375988007, + -0.007781717926263809, + -0.008980289101600647, + 0.0011893212795257568, + -0.006924092769622803, + 1.0 + ], + [ + 0.009553313255310059, + 0.007149606943130493, + 0.009271245449781418, + 0.001354306936264038, + -0.006959758698940277, + -0.024882227182388306, + 1.0 + ], + [ + 0.006583184003829956, + 0.010420046746730804, + 0.005988426506519318, + -0.005552127957344055, + -0.004224315285682678, + -0.0006723403930664062, + 1.0 + ], + [ + 0.00925394892692566, + 0.0070351287722587585, + 0.017195485532283783, + 0.031091898679733276, + -0.001077808439731598, + -0.02584916353225708, + 1.0 + ], + [ + 0.0038954615592956543, + 0.011879391968250275, + 0.00192231684923172, + -0.001991644501686096, + 0.01508437842130661, + -0.004016995429992676, + 1.0 + ], + [ + -0.002202272415161133, + -0.0005331039428710938, + 2.0682811737060547e-05, + -0.007134661078453064, + 0.010861746966838837, + 0.023718267679214478, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9468915462493896 + ], + [ + 0.6591242551803589 + ], + [ + 0.35357794165611267 + ], + [ + 0.1437794268131256 + ], + [ + 0.0907076820731163 + ], + [ + 0.25065502524375916 + ], + [ + 0.520771861076355 + ], + [ + 0.8307508826255798 + ], + [ + 0.9583302736282349 + ], + [ + 0.6781873106956482 + ], + [ + 0.3746064603328705 + ], + [ + 0.1897224336862564 + ], + [ + 0.08363015204668045 + ], + [ + 0.06267260015010834 + ], + [ + 0.06267260015010834 + ], + [ + 0.06238236278295517 + ], + [ + 0.06238236278295517 + ], + [ + 0.06238236278295517 + ], + [ + 0.061804234981536865 + ], + [ + 0.061804234981536865 + ], + [ + 0.08641935139894485 + ], + [ + 0.2438887059688568 + ], + [ + 0.508165180683136 + ], + [ + 0.8074146509170532 + ], + [ + 1.0073583126068115 + ], + [ + 1.00800359249115 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.27890127897262573, + -0.11263134330511093, + 0.048607002943754196 + ], + [ + 0.2755691707134247, + -0.09884261339902878, + 0.039468467235565186 + ], + [ + 0.28101617097854614, + -0.08574891835451126, + 0.037098970264196396 + ], + [ + 0.2846015691757202, + -0.07260209321975708, + 0.028968587517738342 + ], + [ + 0.28414952754974365, + -0.06987886875867844, + 0.023791879415512085 + ], + [ + 0.2843962013721466, + -0.06949292868375778, + 0.01923188380897045 + ], + [ + 0.28433430194854736, + -0.07025326043367386, + 0.016583548858761787 + ], + [ + 0.28499457240104675, + -0.06845631450414658, + 0.013508779928088188 + ], + [ + 0.285366415977478, + -0.06921963393688202, + 0.012212484143674374 + ], + [ + 0.2866370379924774, + -0.068794384598732, + 0.011364074423909187 + ], + [ + 0.28658241033554077, + -0.06787260621786118, + 0.01133598480373621 + ], + [ + 0.2868562936782837, + -0.06776245683431625, + 0.011346518993377686 + ], + [ + 0.2890830934047699, + -0.07091924548149109, + 0.0107773682102561 + ], + [ + 0.2883380949497223, + -0.07036033272743225, + 0.007762046065181494 + ], + [ + 0.288338303565979, + -0.0676078349351883, + 0.005104003474116325 + ], + [ + 0.2896043062210083, + -0.0670350044965744, + 0.006527974735945463 + ], + [ + 0.29020893573760986, + -0.06684364378452301, + 0.01093430258333683 + ], + [ + 0.2950951159000397, + -0.0644712746143341, + 0.022816667333245277 + ], + [ + 0.31289365887641907, + -0.04851065203547478, + 0.046712476760149 + ], + [ + 0.33970069885253906, + -0.004647844471037388, + 0.06138461083173752 + ], + [ + 0.3554190993309021, + 0.02435469813644886, + 0.06195387244224548 + ], + [ + 0.3658545911312103, + 0.0566646046936512, + 0.060146164149045944 + ], + [ + 0.3729337155818939, + 0.07273945957422256, + 0.058755986392498016 + ], + [ + 0.38445374369621277, + 0.09042137861251831, + 0.05702953785657883 + ], + [ + 0.392437607049942, + 0.10006927698850632, + 0.04924781993031502 + ], + [ + 0.4019909203052521, + 0.10721888393163681, + 0.058519065380096436 + ], + [ + 0.40857410430908203, + 0.11763893067836761, + 0.06450749188661575 + ], + [ + 0.4178280532360077, + 0.12467405945062637, + 0.08170297741889954 + ], + [ + 0.42172351479530334, + 0.13655345141887665, + 0.08362529426813126 + ], + [ + 0.4195212423801422, + 0.13602034747600555, + 0.08364597707986832 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.983072914984878, + -0.17886197507115978, + 0.03969934126378377, + -0.1788305881933727, + -0.9838701796847835, + -0.0043692394582946804, + 0.03984048882163592, + -0.002804175578559183, + -0.9992021177168199 + ], + [ + 0.9851578614219811, + -0.16669666948328893, + 0.04094152490622808, + -0.16747363200245025, + -0.9857414759263764, + 0.016319473716904558, + 0.037637357271413714, + -0.022933883702242717, + -0.9990282610196548 + ], + [ + 0.9844625875378681, + -0.16496245278750027, + 0.060173107852077044, + -0.16684639006567947, + -0.9855930799967595, + 0.027722964930774228, + 0.05473295040738343, + -0.037331887614123406, + -0.9978029035370011 + ], + [ + 0.984516145435886, + -0.16685095344889245, + 0.05374680185146807, + -0.16859530715574428, + -0.9852373997341534, + 0.029713440900445445, + 0.047995643355680545, + -0.03831482086973074, + -0.9981124148714886 + ], + [ + 0.9840444196425284, + -0.16976732219204504, + 0.053250694701028126, + -0.17047658318131365, + -0.9853202658071639, + 0.009039268583502989, + 0.05093441623523717, + -0.017973038291908692, + -0.9985402621513734 + ], + [ + 0.9845893822967478, + -0.16853571138775983, + 0.04668471115398509, + -0.1682875121203122, + -0.9856947851995226, + -0.009225166384589333, + 0.047571646312326285, + 0.001226546978027993, + -0.9988670752655961 + ], + [ + 0.9834125166461694, + -0.1764687695332902, + 0.04193561115632174, + -0.17594946681140014, + -0.9842724484064515, + -0.01579659573304694, + 0.044063672480079315, + 0.008156021540912816, + -0.9989954314611216 + ], + [ + 0.9851800933866848, + -0.16751918915070765, + 0.03684433281921519, + -0.16667069450104235, + -0.985694907124776, + -0.025028576923588532, + 0.04051003812814631, + 0.018516785211510626, + -0.9990075402499661 + ], + [ + 0.9840611666930337, + -0.17383679134759492, + 0.037475194205207715, + -0.17279600573904638, + -0.9845173747152758, + -0.029446210017127394, + 0.042013814482581055, + 0.02250130791118753, + -0.9988636195872334 + ], + [ + 0.9853981030254675, + -0.1643844065003354, + 0.04436603941465802, + -0.16332745143765756, + -0.9862158022920394, + -0.026505375235017295, + 0.048111559532924196, + 0.018872154328585487, + -0.9986636669221066 + ], + [ + 0.9864849373226163, + -0.15765149550776444, + 0.044648341511851035, + -0.15698941124574775, + -0.987436453057325, + -0.01798821642861323, + 0.04692326919884252, + 0.010735787709081608, + -0.9988408029660975 + ], + [ + 0.9867186353701507, + -0.15567801569595305, + 0.046375532797346096, + -0.15502928504739502, + -0.9877584994133647, + -0.017293571474719625, + 0.048500055576882355, + 0.00987432355294693, + -0.9987743700873639 + ], + [ + 0.9844586752874227, + -0.1630204692902815, + 0.06531036092160074, + -0.16077306642559133, + -0.9862464959536718, + -0.03833888797574689, + 0.07066213811827211, + 0.02724290387386881, + -0.9971282196513515 + ], + [ + 0.9848285205427406, + -0.15661912663956717, + 0.07472104319571594, + -0.15344261209570276, + -0.9870607281071897, + -0.04654550270168286, + 0.08104412328382933, + 0.03437394651714997, + -0.9961176044433668 + ], + [ + 0.9865285745869272, + -0.1495278110501001, + 0.06635363777556563, + -0.14618793595465363, + -0.987855017554244, + -0.05264552853018121, + 0.07341974465226295, + 0.0422362168697624, + -0.996406364431564 + ], + [ + 0.9866827692834922, + -0.15187103205774466, + 0.05824347534938468, + -0.149341023844066, + -0.9877337030641546, + -0.04560033364327848, + 0.06445441331875573, + 0.036294923238487486, + -0.9972604008737372 + ], + [ + 0.987157579167211, + -0.15538690692194684, + 0.03707860636487371, + -0.1545424693682972, + -0.987678249037049, + -0.02466376979817179, + 0.040454159913165304, + 0.018616807898737996, + -0.9990079456187428 + ], + [ + 0.9860141997928693, + -0.16565768191009075, + 0.018262810052199804, + -0.1657603333323898, + -0.986156919444636, + 0.004247602264895463, + 0.017306348556601257, + -0.007215445630098037, + -0.9998241983688916 + ], + [ + 0.9788454161745791, + -0.20001007648370003, + 0.043100122262001585, + -0.20111083470299754, + -0.9793011463618843, + 0.02288442482045098, + 0.03763088358089164, + -0.031068215901202595, + -0.9988086316014884 + ], + [ + 0.9660982671140529, + -0.24167953856822008, + 0.09080274729696332, + -0.24602015984392242, + -0.9684412124780243, + 0.03994620037581808, + 0.07828294341422544, + -0.06093126136513479, + -0.9950674158864105 + ], + [ + 0.9580424247606567, + -0.2570127625004119, + 0.126882434838825, + -0.26633629628270233, + -0.961838037830669, + 0.06271017672165707, + 0.10592303640443101, + -0.09387240752188958, + -0.9899334732520717 + ], + [ + 0.9620545102960478, + -0.23791105725794684, + 0.13360182653480848, + -0.25113570754501263, + -0.9635085002126645, + 0.09264030663705189, + 0.10668634221350454, + -0.12267721407150986, + -0.9866956600354313 + ], + [ + 0.9579850066508697, + -0.2492369167489555, + 0.1419355007093287, + -0.266635708835398, + -0.9562340265955163, + 0.12050678468356418, + 0.1056888158982703, + -0.1532887657670981, + -0.9825133222932001 + ], + [ + 0.9525113251145486, + -0.26990355975646957, + 0.14097604037322228, + -0.28813173709635304, + -0.9486495744817894, + 0.13055300422953828, + 0.09850014013373107, + -0.16497288645806493, + -0.9813672447801228 + ], + [ + 0.950604677695283, + -0.2779058984402724, + 0.1382716831312624, + -0.2947545404742606, + -0.9478284249814044, + 0.12141267506762979, + 0.09731653309512572, + -0.15617166327274415, + -0.9829241598297246 + ], + [ + 0.942312471829559, + -0.30017170937900095, + 0.1481355808810112, + -0.3180896914485676, + -0.9408107126989751, + 0.11702201102784525, + 0.10424084433954423, + -0.15739170168511, + -0.982019194625056 + ], + [ + 0.9416728678851284, + -0.30101460768534194, + 0.1504739706694724, + -0.31857921355402463, + -0.9414489900577829, + 0.11036794738727193, + 0.10844120333294313, + -0.15186838077499923, + -0.9824339674199397 + ], + [ + 0.933013941702473, + -0.3201404689726009, + 0.16430174897065772, + -0.3427710265638287, + -0.9296620854805673, + 0.1350423273211068, + 0.10951259259643573, + -0.18231425327144626, + -0.9771225640199297 + ], + [ + 0.9330717591580243, + -0.3267520682682252, + 0.15036681197719975, + -0.3470526036784618, + -0.927685147712932, + 0.13767627607120841, + 0.09450705022245673, + -0.1806470387116052, + -0.9789969687710873 + ], + [ + 0.9419548358544964, + -0.3074844771242556, + 0.13481240127656172, + -0.3251419886414813, + -0.9355413634211973, + 0.1380037845505357, + 0.08368855616267018, + -0.1738265044681937, + -0.9812138257850718 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005744.json b/json/chunk-0005/episode_0005744.json new file mode 100644 index 0000000000000000000000000000000000000000..e3e7ed9cf372dd03ddb7a20bab2ed600ba99774b --- /dev/null +++ b/json/chunk-0005/episode_0005744.json @@ -0,0 +1,1822 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 29, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut the pot over the yellow towel." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005744.mp4", + "start": 0, + "end": 29, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2504630982875824, + -0.041144005954265594, + 0.10329001396894455, + 0.013380068354308605, + -0.1649150252342224, + -0.08461061120033264, + 0.0, + 1.0001531839370728 + ], + [ + 0.24897950887680054, + -0.041484542191028595, + 0.09785403311252594, + 0.0117611950263381, + -0.1431020051240921, + -0.08540066331624985, + 0.0, + 1.0001531839370728 + ], + [ + 0.2624302804470062, + -0.03997206687927246, + 0.08984880894422531, + 0.009052521549165249, + -0.10492334514856339, + -0.1118943840265274, + 0.0, + 1.0001531839370728 + ], + [ + 0.2861906886100769, + -0.04021153226494789, + 0.09147152304649353, + 0.0008148556808009744, + -0.10584155470132828, + -0.14730532467365265, + 0.0, + 1.0001531839370728 + ], + [ + 0.32114657759666443, + -0.04169030487537384, + 0.09185350686311722, + 0.01237528957426548, + -0.10670042783021927, + -0.22143924236297607, + 0.0, + 1.0001531839370728 + ], + [ + 0.35126233100891113, + -0.03937363252043724, + 0.08804214745759964, + 0.055783711373806, + -0.09315360337495804, + -0.2746986746788025, + 0.0, + 1.0001531839370728 + ], + [ + 0.37069305777549744, + -0.03891631215810776, + 0.07579649239778519, + 0.07123525440692902, + -0.05169742554426193, + -0.3133341372013092, + 0.0, + 1.0001531839370728 + ], + [ + 0.3742111921310425, + -0.03591175749897957, + 0.06026654317975044, + 0.07685813307762146, + -0.0026648088824003935, + -0.3106156587600708, + 0.0, + 1.0001531839370728 + ], + [ + 0.37400540709495544, + -0.03449302911758423, + 0.05604816600680351, + 0.08750304579734802, + 0.007492720615118742, + -0.3043254315853119, + 0.0, + 1.0001531839370728 + ], + [ + 0.3714429438114166, + -0.03899989277124405, + 0.03642285242676735, + 0.08290697634220123, + 0.04782641679048538, + -0.31000030040740967, + 0.0, + 0.9499720335006714 + ], + [ + 0.3718218505382538, + -0.03912977874279022, + 0.030053280293941498, + 0.08153507858514786, + 0.05359425023198128, + -0.30795690417289734, + 0.0, + 0.6631406545639038 + ], + [ + 0.3710881471633911, + -0.04102630168199539, + 0.026406429708003998, + 0.07464347779750824, + 0.064612478017807, + -0.305011123418808, + 0.0, + 0.3661215305328369 + ], + [ + 0.37330466508865356, + -0.043414246290922165, + 0.025952858850359917, + 0.07008641958236694, + 0.05780845507979393, + -0.3071354627609253, + 0.0, + 0.17243100702762604 + ], + [ + 0.37283918261528015, + -0.04356401786208153, + 0.025612760335206985, + 0.06806430220603943, + 0.05963587388396263, + -0.3141457140445709, + 0.0, + 0.0885477215051651 + ], + [ + 0.3699500858783722, + -0.04271132871508598, + 0.029186569154262543, + 0.07091561704874039, + 0.05607547610998154, + -0.32334721088409424, + 0.0, + 0.08501782268285751 + ], + [ + 0.3708215355873108, + -0.033801160752773285, + 0.04958917573094368, + 0.07712749391794205, + 0.014054638333618641, + -0.32351043820381165, + 0.0, + 0.08397578448057175 + ], + [ + 0.37166962027549744, + -0.019080089405179024, + 0.08038812130689621, + 0.0898650512099266, + -0.0457703098654747, + -0.30468714237213135, + 0.0, + 0.08397578448057175 + ], + [ + 0.3703567683696747, + 0.004849164746701717, + 0.09928037971258163, + 0.10323918610811234, + -0.08214504271745682, + -0.26124307513237, + 0.0, + 0.08397578448057175 + ], + [ + 0.36374399065971375, + 0.04242454841732979, + 0.10148856043815613, + 0.09877199679613113, + -0.05958055704832077, + -0.17501898109912872, + 0.0, + 0.08397578448057175 + ], + [ + 0.36413127183914185, + 0.07146110385656357, + 0.1070617213845253, + 0.09315207600593567, + -0.07535724341869354, + -0.10869792103767395, + 0.0, + 0.08397578448057175 + ], + [ + 0.36202991008758545, + 0.08779770135879517, + 0.0914151668548584, + 0.07820510864257812, + -0.03590267151594162, + -0.06936570256948471, + 0.0, + 0.08397578448057175 + ], + [ + 0.36289501190185547, + 0.09961212426424026, + 0.08395124226808548, + 0.08393999189138412, + -0.02047366462647915, + -0.03940204530954361, + 0.0, + 0.08397578448057175 + ], + [ + 0.36117732524871826, + 0.10608956962823868, + 0.06507854908704758, + 0.08833529055118561, + 0.025908222422003746, + -0.023515569046139717, + 0.0, + 0.08397578448057175 + ], + [ + 0.36113473773002625, + 0.11003488302230835, + 0.052506450563669205, + 0.09141229838132858, + 0.05131955072283745, + -0.012996289879083633, + 0.0, + 0.08397578448057175 + ], + [ + 0.363941490650177, + 0.11250866949558258, + 0.0439780130982399, + 0.09552283585071564, + 0.07933292537927628, + -0.001580562675371766, + 0.0, + 0.08397578448057175 + ], + [ + 0.3648204505443573, + 0.11278095841407776, + 0.04111216589808464, + 0.09351544827222824, + 0.08827628195285797, + -0.0010770749067887664, + 0.0, + 0.11201969534158707 + ], + [ + 0.35862573981285095, + 0.10955360531806946, + 0.03654449060559273, + 0.07650044560432434, + 0.10944680124521255, + -0.014800714328885078, + 0.0, + 0.2928420901298523 + ], + [ + 0.35426607728004456, + 0.10319937765598297, + 0.060764215886592865, + 0.06773407012224197, + 0.04487597197294235, + -0.044248901307582855, + 0.0, + 0.5799254179000854 + ], + [ + 0.348717600107193, + 0.09487778693437576, + 0.07549071311950684, + 0.07122819125652313, + -0.0013801358873024583, + -0.08793359994888306, + 0.0, + 0.8836284875869751 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9499720335006714 + ], + [ + 0.6631406545639038 + ], + [ + 0.3661215305328369 + ], + [ + 0.17243100702762604 + ], + [ + 0.0885477215051651 + ], + [ + 0.08501782268285751 + ], + [ + 0.08397578448057175 + ], + [ + 0.08397578448057175 + ], + [ + 0.08397578448057175 + ], + [ + 0.08397578448057175 + ], + [ + 0.08397578448057175 + ], + [ + 0.08397578448057175 + ], + [ + 0.08397578448057175 + ], + [ + 0.08397578448057175 + ], + [ + 0.08397578448057175 + ], + [ + 0.08397578448057175 + ], + [ + 0.11201969534158707 + ], + [ + 0.2928420901298523 + ], + [ + 0.5799254179000854 + ], + [ + 0.8836284875869751 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2504630982875824, + -0.041144005954265594, + 0.10329001396894455 + ], + [ + 0.24897950887680054, + -0.041484542191028595, + 0.09785403311252594 + ], + [ + 0.2624302804470062, + -0.03997206687927246, + 0.08984880894422531 + ], + [ + 0.2861906886100769, + -0.04021153226494789, + 0.09147152304649353 + ], + [ + 0.32114657759666443, + -0.04169030487537384, + 0.09185350686311722 + ], + [ + 0.35126233100891113, + -0.03937363252043724, + 0.08804214745759964 + ], + [ + 0.37069305777549744, + -0.03891631215810776, + 0.07579649239778519 + ], + [ + 0.3742111921310425, + -0.03591175749897957, + 0.06026654317975044 + ], + [ + 0.37400540709495544, + -0.03449302911758423, + 0.05604816600680351 + ], + [ + 0.3714429438114166, + -0.03899989277124405, + 0.03642285242676735 + ], + [ + 0.3718218505382538, + -0.03912977874279022, + 0.030053280293941498 + ], + [ + 0.3710881471633911, + -0.04102630168199539, + 0.026406429708003998 + ], + [ + 0.37330466508865356, + -0.043414246290922165, + 0.025952858850359917 + ], + [ + 0.37283918261528015, + -0.04356401786208153, + 0.025612760335206985 + ], + [ + 0.3699500858783722, + -0.04271132871508598, + 0.029186569154262543 + ], + [ + 0.3708215355873108, + -0.033801160752773285, + 0.04958917573094368 + ], + [ + 0.37166962027549744, + -0.019080089405179024, + 0.08038812130689621 + ], + [ + 0.3703567683696747, + 0.004849164746701717, + 0.09928037971258163 + ], + [ + 0.36374399065971375, + 0.04242454841732979, + 0.10148856043815613 + ], + [ + 0.36413127183914185, + 0.07146110385656357, + 0.1070617213845253 + ], + [ + 0.36202991008758545, + 0.08779770135879517, + 0.0914151668548584 + ], + [ + 0.36289501190185547, + 0.09961212426424026, + 0.08395124226808548 + ], + [ + 0.36117732524871826, + 0.10608956962823868, + 0.06507854908704758 + ], + [ + 0.36113473773002625, + 0.11003488302230835, + 0.052506450563669205 + ], + [ + 0.363941490650177, + 0.11250866949558258, + 0.0439780130982399 + ], + [ + 0.3648204505443573, + 0.11278095841407776, + 0.04111216589808464 + ], + [ + 0.35862573981285095, + 0.10955360531806946, + 0.03654449060559273 + ], + [ + 0.35426607728004456, + 0.10319937765598297, + 0.060764215886592865 + ], + [ + 0.348717600107193, + 0.09487778693437576, + 0.07549071311950684 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9829035025403087, + -0.08231346614859644, + 0.16469729197712257, + -0.08336309199757516, + -0.9965190928658901, + -0.0005407830873883478, + 0.16416850972886826, + -0.013198137912131792, + -0.9863440117773591 + ], + [ + 0.9861712003734946, + -0.08361983265310974, + 0.14308769038937877, + -0.08442501943167507, + -0.9964297353566315, + -0.00044563558500251756, + 0.14261409344052248, + -0.011640708061765731, + -0.989709914201105 + ], + [ + 0.9882813374749084, + -0.11071432487625883, + 0.10508252122023165, + -0.11104696788563974, + -0.9938114968084291, + -0.002698098366540156, + 0.10473093584138315, + -0.009002615096961951, + -0.9944598453427892 + ], + [ + 0.9836347880634844, + -0.14668797502335673, + 0.10461950915030724, + -0.1459518348364331, + -0.9891824813473395, + -0.014699676982804166, + 0.10564405150874659, + -0.0008102956665920862, + -0.9944036794993018 + ], + [ + 0.970034126819394, + -0.21833140086445296, + 0.10660765545823037, + -0.21838487105670623, + -0.9757971081693481, + -0.011315996725118453, + 0.1064980793220281, + -0.012304596088562006, + -0.9942367706013573 + ], + [ + 0.9583338746176627, + -0.26584317673746144, + 0.10451598032087034, + -0.2700808436872289, + -0.9624165972169341, + 0.028471587145296205, + 0.09301893696174107, + -0.05551305056932463, + -0.9941155760689977 + ], + [ + 0.9500402057956805, + -0.3039515676269635, + 0.07097219109490632, + -0.3078203432006591, + -0.9500321509255265, + 0.05182227821743762, + 0.05167440065960055, + -0.07107993208303229, + -0.9961312160411108 + ], + [ + 0.9521421967023834, + -0.3045477679379909, + 0.025997967281065966, + -0.3056438058740747, + -0.9493972554703305, + 0.07229602503744485, + 0.0026648057285085427, + -0.07678221375677792, + -0.9970443272297564 + ], + [ + 0.9540225233730755, + -0.2991279326137964, + 0.019065802554986064, + -0.2996412606522078, + -0.950202950863556, + 0.08561230685448241, + -0.007492650507349591, + -0.08738897013002546, + -0.9961460877240789 + ], + [ + 0.9512445181609076, + -0.30778147830540054, + -0.020110402307382223, + -0.3047100983043111, + -0.9478546320596916, + 0.09339888904244846, + -0.047808186121203015, + -0.08271733853992629, + -0.9954256472708907 + ], + [ + 0.9515865665024339, + -0.3062629393582391, + -0.02619195349263362, + -0.30267707521469356, + -0.9484665499919273, + 0.09379654410419068, + -0.05356859706570137, + -0.0813278274765913, + -0.9952467984808342 + ], + [ + 0.9518532648509263, + -0.30406040450283306, + -0.039020925235135354, + -0.29967715331470285, + -0.9497416209765573, + 0.09046798973127153, + -0.06456753033707108, + -0.07441857159603966, + -0.9951346191484731 + ], + [ + 0.9516112407129531, + -0.30544383817442217, + -0.03376548933500105, + -0.3018243694486911, + -0.9496401231145497, + 0.08417652034791856, + -0.05777626290834899, + -0.06991207543951869, + -0.9958786096468208 + ], + [ + 0.9493700109997, + -0.3121437731170144, + -0.03553656031051538, + -0.308454792221253, + -0.9476059816909229, + 0.0830574778049836, + -0.05960053162659489, + -0.06789085629048658, + -0.9959109439412599 + ], + [ + 0.9466868203529328, + -0.32070886532909126, + -0.030494062854608817, + -0.31724265104451077, + -0.9445321562557258, + 0.08494766716726146, + -0.05604609289062702, + -0.07074481958585993, + -0.9959186743773105 + ], + [ + 0.9480316636771849, + -0.3179785022965831, + 0.011208779714624965, + -0.3178654508008818, + -0.9449624228170405, + 0.07750854566369637, + -0.014054175629373986, + -0.07704343931167017, + -0.9969286777931549 + ], + [ + 0.9529418138317474, + -0.29486716329432205, + 0.07039357542999924, + -0.2996805643943016, + -0.9513233966708512, + 0.0719399351608496, + 0.045754330673415486, + -0.08965015871371332, + -0.9949218010814889 + ], + [ + 0.9628120672306252, + -0.2487373471902419, + 0.10546400005618524, + -0.2574107207188039, + -0.9631099208366463, + 0.07847930456531184, + 0.0820526907183179, + -0.10270838572770034, + -0.9913215136609786 + ], + [ + 0.9829759446087223, + -0.16749598831044324, + 0.07552076681614134, + -0.17381785873731628, + -0.9809461503329677, + 0.08678710809161187, + 0.059545313036077775, + -0.09843649753439333, + -0.9933602627690504 + ], + [ + 0.9912769310892795, + -0.10105209046799046, + 0.08460804277530976, + -0.10817611974769273, + -0.9905479675179558, + 0.08433653515754166, + 0.0752859416262586, + -0.09275343151655085, + -0.9928387723771427 + ], + [ + 0.9969522822133935, + -0.06630068099656113, + 0.041114069233025616, + -0.06926542365599787, + -0.9947404200640604, + 0.07545725794468812, + 0.03589495891153678, + -0.0780750689411691, + -0.9963010767506829 + ], + [ + 0.9990144243531004, + -0.03753806651093527, + 0.023686990038076065, + -0.039383595011447954, + -0.9957732925869547, + 0.08297277996131754, + 0.020472234328904267, + -0.08382388283273189, + -0.9962702666889275 + ], + [ + 0.999388015311367, + -0.025706470056142017, + -0.02372282127529436, + -0.023505510745691655, + -0.9957718372903701, + 0.0888028097750565, + -0.025905324097394707, + -0.08819084678476202, + -0.995766683880715 + ], + [ + 0.9985991014438298, + -0.017623919292655856, + -0.049892204444601136, + -0.012978814126180953, + -0.9956798510990671, + 0.09194120131485096, + -0.05129702700404742, + -0.09116485937084452, + -0.9945137422059287 + ], + [ + 0.9968535484198883, + -0.009131999278189928, + -0.07873759960692854, + -0.0015755908234802358, + -0.9954279716535382, + 0.095502202923702, + -0.07924973511775808, + -0.095077651627005, + -0.9923102940335041 + ], + [ + 0.9961056008370904, + -0.009304831046776001, + -0.08767583532633039, + -0.0010728807620529503, + -0.9956211716062983, + 0.09347369456789507, + -0.08816167482443416, + -0.09301560497299725, + -0.991753808323244 + ], + [ + 0.9939078018554949, + -0.02310384858867959, + -0.10776592036061101, + -0.014711619708286317, + -0.9968425094598501, + 0.07802935075564432, + -0.10922842879185322, + -0.07596856925189507, + -0.9911094424075895 + ], + [ + 0.998015405069746, + -0.0471663473075054, + -0.041720341862674544, + -0.04418992971020421, + -0.9965960377585819, + 0.06959588806892476, + -0.04486091122210812, + -0.06761414944789938, + -0.9967024758867408 + ], + [ + 0.9961353828479081, + -0.08749979797468449, + 0.007621311753325824, + -0.08782023835423103, + -0.9936190990278441, + 0.07077211161539436, + 0.0013801354491610961, + -0.07116790991370471, + -0.9974633947291787 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0014835894107818604, + -0.0003405362367630005, + -0.00543598085641861, + -0.0016188733279705048, + 0.02181302011013031, + -0.0007900521159172058, + 1.0 + ], + [ + 0.013450771570205688, + 0.001512475311756134, + -0.008005224168300629, + -0.0027086734771728516, + 0.03817865997552872, + -0.026493720710277557, + 1.0 + ], + [ + 0.02376040816307068, + -0.0002394653856754303, + 0.001622714102268219, + -0.008237665519118309, + -0.0009182095527648926, + -0.035410940647125244, + 1.0 + ], + [ + 0.034955888986587524, + -0.001478772610425949, + 0.00038198381662368774, + 0.01156043354421854, + -0.0008588731288909912, + -0.07413391768932343, + 1.0 + ], + [ + 0.030115753412246704, + 0.0023166723549365997, + -0.003811359405517578, + 0.04340842366218567, + 0.01354682445526123, + -0.053259432315826416, + 1.0 + ], + [ + 0.019430726766586304, + 0.00045732036232948303, + -0.012245655059814453, + 0.015451543033123016, + 0.041456177830696106, + -0.038635462522506714, + 1.0 + ], + [ + 0.003518134355545044, + 0.003004554659128189, + -0.015529949218034744, + 0.005622878670692444, + 0.04903261736035347, + 0.0027184784412384033, + 1.0 + ], + [ + -0.00020578503608703613, + 0.00141872838139534, + -0.00421837717294693, + 0.010644912719726562, + 0.010157529264688492, + 0.006290227174758911, + 1.0 + ], + [ + -0.0025624632835388184, + -0.0045068636536598206, + -0.019625313580036163, + -0.0045960694551467896, + 0.04033369570970535, + -0.005674868822097778, + 0.0 + ], + [ + 0.0003789067268371582, + -0.0001298859715461731, + -0.0063695721328258514, + -0.0013718977570533752, + 0.005767833441495895, + 0.002043396234512329, + 0.0 + ], + [ + -0.0007337033748626709, + -0.0018965229392051697, + -0.0036468505859375, + -0.006891600787639618, + 0.01101822778582573, + 0.0029457807540893555, + 0.0 + ], + [ + 0.002216517925262451, + -0.002387944608926773, + -0.0004535708576440811, + -0.004557058215141296, + -0.006804022938013077, + -0.0021243393421173096, + 0.0 + ], + [ + -0.0004654824733734131, + -0.0001497715711593628, + -0.0003400985151529312, + -0.0020221173763275146, + 0.0018274188041687012, + -0.00701025128364563, + 0.0 + ], + [ + -0.002889096736907959, + 0.0008526891469955444, + 0.0035738088190555573, + 0.0028513148427009583, + -0.0035603977739810944, + -0.009201496839523315, + 0.0 + ], + [ + 0.0008714497089385986, + 0.008910167962312698, + 0.020402606576681137, + 0.00621187686920166, + -0.04202083870768547, + -0.00016322731971740723, + 0.0 + ], + [ + 0.0008480846881866455, + 0.014721071347594261, + 0.03079894557595253, + 0.012737557291984558, + -0.05982494726777077, + 0.018823295831680298, + 0.0 + ], + [ + -0.001312851905822754, + 0.023929253220558167, + 0.018892258405685425, + 0.01337413489818573, + -0.03637473285198212, + 0.04344406723976135, + 0.0 + ], + [ + -0.0066127777099609375, + 0.037575382739305496, + 0.0022081807255744934, + -0.004467189311981201, + 0.022564485669136047, + 0.08622409403324127, + 0.0 + ], + [ + 0.0003872811794281006, + 0.02903655543923378, + 0.005573160946369171, + -0.005619920790195465, + -0.015776686370372772, + 0.06632106006145477, + 0.0 + ], + [ + -0.0021013617515563965, + 0.016336597502231598, + -0.0156465545296669, + -0.014946967363357544, + 0.03945457190275192, + 0.03933221846818924, + 0.0 + ], + [ + 0.0008651018142700195, + 0.011814422905445099, + -0.007463924586772919, + 0.005734883248806, + 0.015429006889462471, + 0.0299636572599411, + 0.0 + ], + [ + -0.001717686653137207, + 0.006477445363998413, + -0.018872693181037903, + 0.004395298659801483, + 0.046381887048482895, + 0.015886476263403893, + 0.0 + ], + [ + -4.25875186920166e-05, + 0.003945313394069672, + -0.012572098523378372, + 0.003077007830142975, + 0.025411328300833702, + 0.010519279167056084, + 0.0 + ], + [ + 0.002806752920150757, + 0.002473786473274231, + -0.008528437465429306, + 0.0041105374693870544, + 0.028013374656438828, + 0.011415727436542511, + 0.0 + ], + [ + 0.0008789598941802979, + 0.0002722889184951782, + -0.002865847200155258, + -0.0020073875784873962, + 0.008943356573581696, + 0.0005034877685829997, + 1.0 + ], + [ + -0.006194710731506348, + -0.0032273530960083008, + -0.004567675292491913, + -0.0170150026679039, + 0.021170519292354584, + -0.013723639771342278, + 1.0 + ], + [ + -0.0043596625328063965, + -0.006354227662086487, + 0.024219725281000137, + -0.008766375482082367, + -0.0645708292722702, + -0.029448186978697777, + 1.0 + ], + [ + -0.0055484771728515625, + -0.008321590721607208, + 0.014726497232913971, + 0.0034941211342811584, + -0.04625610634684563, + -0.0436846986413002, + 1.0 + ], + [ + -0.003119826316833496, + -0.00576406717300415, + 0.008279122412204742, + 0.011450603604316711, + -0.02223142422735691, + -0.015057303011417389, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9499720335006714 + ], + [ + 0.6631406545639038 + ], + [ + 0.3661215305328369 + ], + [ + 0.17243100702762604 + ], + [ + 0.0885477215051651 + ], + [ + 0.08501782268285751 + ], + [ + 0.08397578448057175 + ], + [ + 0.08397578448057175 + ], + [ + 0.08397578448057175 + ], + [ + 0.08397578448057175 + ], + [ + 0.08397578448057175 + ], + [ + 0.08397578448057175 + ], + [ + 0.08397578448057175 + ], + [ + 0.08397578448057175 + ], + [ + 0.08397578448057175 + ], + [ + 0.08397578448057175 + ], + [ + 0.11201969534158707 + ], + [ + 0.2928420901298523 + ], + [ + 0.5799254179000854 + ], + [ + 0.8836284875869751 + ], + [ + 1.0143678188323975 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.24897950887680054, + -0.041484542191028595, + 0.09785403311252594 + ], + [ + 0.2624302804470062, + -0.03997206687927246, + 0.08984880894422531 + ], + [ + 0.2861906886100769, + -0.04021153226494789, + 0.09147152304649353 + ], + [ + 0.32114657759666443, + -0.04169030487537384, + 0.09185350686311722 + ], + [ + 0.35126233100891113, + -0.03937363252043724, + 0.08804214745759964 + ], + [ + 0.37069305777549744, + -0.03891631215810776, + 0.07579649239778519 + ], + [ + 0.3742111921310425, + -0.03591175749897957, + 0.06026654317975044 + ], + [ + 0.37400540709495544, + -0.03449302911758423, + 0.05604816600680351 + ], + [ + 0.3714429438114166, + -0.03899989277124405, + 0.03642285242676735 + ], + [ + 0.3718218505382538, + -0.03912977874279022, + 0.030053280293941498 + ], + [ + 0.3710881471633911, + -0.04102630168199539, + 0.026406429708003998 + ], + [ + 0.37330466508865356, + -0.043414246290922165, + 0.025952858850359917 + ], + [ + 0.37283918261528015, + -0.04356401786208153, + 0.025612760335206985 + ], + [ + 0.3699500858783722, + -0.04271132871508598, + 0.029186569154262543 + ], + [ + 0.3708215355873108, + -0.033801160752773285, + 0.04958917573094368 + ], + [ + 0.37166962027549744, + -0.019080089405179024, + 0.08038812130689621 + ], + [ + 0.3703567683696747, + 0.004849164746701717, + 0.09928037971258163 + ], + [ + 0.36374399065971375, + 0.04242454841732979, + 0.10148856043815613 + ], + [ + 0.36413127183914185, + 0.07146110385656357, + 0.1070617213845253 + ], + [ + 0.36202991008758545, + 0.08779770135879517, + 0.0914151668548584 + ], + [ + 0.36289501190185547, + 0.09961212426424026, + 0.08395124226808548 + ], + [ + 0.36117732524871826, + 0.10608956962823868, + 0.06507854908704758 + ], + [ + 0.36113473773002625, + 0.11003488302230835, + 0.052506450563669205 + ], + [ + 0.363941490650177, + 0.11250866949558258, + 0.0439780130982399 + ], + [ + 0.3648204505443573, + 0.11278095841407776, + 0.04111216589808464 + ], + [ + 0.35862573981285095, + 0.10955360531806946, + 0.03654449060559273 + ], + [ + 0.35426607728004456, + 0.10319937765598297, + 0.060764215886592865 + ], + [ + 0.348717600107193, + 0.09487778693437576, + 0.07549071311950684 + ], + [ + 0.3455977737903595, + 0.08911371976137161, + 0.08376983553171158 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9861712003734946, + -0.08361983265310974, + 0.14308769038937877, + -0.08442501943167507, + -0.9964297353566315, + -0.00044563558500251756, + 0.14261409344052248, + -0.011640708061765731, + -0.989709914201105 + ], + [ + 0.9882813374749084, + -0.11071432487625883, + 0.10508252122023165, + -0.11104696788563974, + -0.9938114968084291, + -0.002698098366540156, + 0.10473093584138315, + -0.009002615096961951, + -0.9944598453427892 + ], + [ + 0.9836347880634844, + -0.14668797502335673, + 0.10461950915030724, + -0.1459518348364331, + -0.9891824813473395, + -0.014699676982804166, + 0.10564405150874659, + -0.0008102956665920862, + -0.9944036794993018 + ], + [ + 0.970034126819394, + -0.21833140086445296, + 0.10660765545823037, + -0.21838487105670623, + -0.9757971081693481, + -0.011315996725118453, + 0.1064980793220281, + -0.012304596088562006, + -0.9942367706013573 + ], + [ + 0.9583338746176627, + -0.26584317673746144, + 0.10451598032087034, + -0.2700808436872289, + -0.9624165972169341, + 0.028471587145296205, + 0.09301893696174107, + -0.05551305056932463, + -0.9941155760689977 + ], + [ + 0.9500402057956805, + -0.3039515676269635, + 0.07097219109490632, + -0.3078203432006591, + -0.9500321509255265, + 0.05182227821743762, + 0.05167440065960055, + -0.07107993208303229, + -0.9961312160411108 + ], + [ + 0.9521421967023834, + -0.3045477679379909, + 0.025997967281065966, + -0.3056438058740747, + -0.9493972554703305, + 0.07229602503744485, + 0.0026648057285085427, + -0.07678221375677792, + -0.9970443272297564 + ], + [ + 0.9540225233730755, + -0.2991279326137964, + 0.019065802554986064, + -0.2996412606522078, + -0.950202950863556, + 0.08561230685448241, + -0.007492650507349591, + -0.08738897013002546, + -0.9961460877240789 + ], + [ + 0.9512445181609076, + -0.30778147830540054, + -0.020110402307382223, + -0.3047100983043111, + -0.9478546320596916, + 0.09339888904244846, + -0.047808186121203015, + -0.08271733853992629, + -0.9954256472708907 + ], + [ + 0.9515865665024339, + -0.3062629393582391, + -0.02619195349263362, + -0.30267707521469356, + -0.9484665499919273, + 0.09379654410419068, + -0.05356859706570137, + -0.0813278274765913, + -0.9952467984808342 + ], + [ + 0.9518532648509263, + -0.30406040450283306, + -0.039020925235135354, + -0.29967715331470285, + -0.9497416209765573, + 0.09046798973127153, + -0.06456753033707108, + -0.07441857159603966, + -0.9951346191484731 + ], + [ + 0.9516112407129531, + -0.30544383817442217, + -0.03376548933500105, + -0.3018243694486911, + -0.9496401231145497, + 0.08417652034791856, + -0.05777626290834899, + -0.06991207543951869, + -0.9958786096468208 + ], + [ + 0.9493700109997, + -0.3121437731170144, + -0.03553656031051538, + -0.308454792221253, + -0.9476059816909229, + 0.0830574778049836, + -0.05960053162659489, + -0.06789085629048658, + -0.9959109439412599 + ], + [ + 0.9466868203529328, + -0.32070886532909126, + -0.030494062854608817, + -0.31724265104451077, + -0.9445321562557258, + 0.08494766716726146, + -0.05604609289062702, + -0.07074481958585993, + -0.9959186743773105 + ], + [ + 0.9480316636771849, + -0.3179785022965831, + 0.011208779714624965, + -0.3178654508008818, + -0.9449624228170405, + 0.07750854566369637, + -0.014054175629373986, + -0.07704343931167017, + -0.9969286777931549 + ], + [ + 0.9529418138317474, + -0.29486716329432205, + 0.07039357542999924, + -0.2996805643943016, + -0.9513233966708512, + 0.0719399351608496, + 0.045754330673415486, + -0.08965015871371332, + -0.9949218010814889 + ], + [ + 0.9628120672306252, + -0.2487373471902419, + 0.10546400005618524, + -0.2574107207188039, + -0.9631099208366463, + 0.07847930456531184, + 0.0820526907183179, + -0.10270838572770034, + -0.9913215136609786 + ], + [ + 0.9829759446087223, + -0.16749598831044324, + 0.07552076681614134, + -0.17381785873731628, + -0.9809461503329677, + 0.08678710809161187, + 0.059545313036077775, + -0.09843649753439333, + -0.9933602627690504 + ], + [ + 0.9912769310892795, + -0.10105209046799046, + 0.08460804277530976, + -0.10817611974769273, + -0.9905479675179558, + 0.08433653515754166, + 0.0752859416262586, + -0.09275343151655085, + -0.9928387723771427 + ], + [ + 0.9969522822133935, + -0.06630068099656113, + 0.041114069233025616, + -0.06926542365599787, + -0.9947404200640604, + 0.07545725794468812, + 0.03589495891153678, + -0.0780750689411691, + -0.9963010767506829 + ], + [ + 0.9990144243531004, + -0.03753806651093527, + 0.023686990038076065, + -0.039383595011447954, + -0.9957732925869547, + 0.08297277996131754, + 0.020472234328904267, + -0.08382388283273189, + -0.9962702666889275 + ], + [ + 0.999388015311367, + -0.025706470056142017, + -0.02372282127529436, + -0.023505510745691655, + -0.9957718372903701, + 0.0888028097750565, + -0.025905324097394707, + -0.08819084678476202, + -0.995766683880715 + ], + [ + 0.9985991014438298, + -0.017623919292655856, + -0.049892204444601136, + -0.012978814126180953, + -0.9956798510990671, + 0.09194120131485096, + -0.05129702700404742, + -0.09116485937084452, + -0.9945137422059287 + ], + [ + 0.9968535484198883, + -0.009131999278189928, + -0.07873759960692854, + -0.0015755908234802358, + -0.9954279716535382, + 0.095502202923702, + -0.07924973511775808, + -0.095077651627005, + -0.9923102940335041 + ], + [ + 0.9961056008370904, + -0.009304831046776001, + -0.08767583532633039, + -0.0010728807620529503, + -0.9956211716062983, + 0.09347369456789507, + -0.08816167482443416, + -0.09301560497299725, + -0.991753808323244 + ], + [ + 0.9939078018554949, + -0.02310384858867959, + -0.10776592036061101, + -0.014711619708286317, + -0.9968425094598501, + 0.07802935075564432, + -0.10922842879185322, + -0.07596856925189507, + -0.9911094424075895 + ], + [ + 0.998015405069746, + -0.0471663473075054, + -0.041720341862674544, + -0.04418992971020421, + -0.9965960377585819, + 0.06959588806892476, + -0.04486091122210812, + -0.06761414944789938, + -0.9967024758867408 + ], + [ + 0.9961353828479081, + -0.08749979797468449, + 0.007621311753325824, + -0.08782023835423103, + -0.9936190990278441, + 0.07077211161539436, + 0.0013801354491610961, + -0.07116790991370471, + -0.9974633947291787 + ], + [ + 0.9944238603251165, + -0.10051829770350088, + 0.03189447981835452, + -0.10278026962936881, + -0.9915037327720014, + 0.079728063278257, + 0.023609366594792375, + -0.08256161169682845, + -0.9963062672105475 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005745.json b/json/chunk-0005/episode_0005745.json new file mode 100644 index 0000000000000000000000000000000000000000..82e0d269a673cdf06bdef49c76e6d7a79dbcff17 --- /dev/null +++ b/json/chunk-0005/episode_0005745.json @@ -0,0 +1,5782 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 95, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nSweep into pile." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005745.mp4", + "start": 0, + "end": 95, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.28269508481025696, + 0.13341659307479858, + 0.03114498034119606, + 0.12122272700071335, + -0.04436391592025757, + -0.15063443779945374, + 0.0, + 1.0001531839370728 + ], + [ + 0.27767395973205566, + 0.13160154223442078, + 0.018234262242913246, + 0.09341585636138916, + -0.007166578434407711, + -0.14570702612400055, + 0.0, + 1.0001531839370728 + ], + [ + 0.2784522771835327, + 0.15747885406017303, + 0.030730081722140312, + 0.08246267586946487, + -0.025809207931160927, + -0.10040033608675003, + 0.0, + 1.0001531839370728 + ], + [ + 0.2863602340221405, + 0.19161640107631683, + 0.05274548381567001, + 0.09457467496395111, + -0.09482953697443008, + -0.04500367119908333, + 0.0, + 1.0001531839370728 + ], + [ + 0.2954694628715515, + 0.2215450555086136, + 0.06127885356545448, + 0.10078445076942444, + -0.11822149157524109, + -0.013216529972851276, + 0.0, + 1.0001531839370728 + ], + [ + 0.30318790674209595, + 0.25771644711494446, + 0.05587881803512573, + 0.1094949021935463, + -0.11961789429187775, + 0.05555254593491554, + 0.0, + 1.0001531839370728 + ], + [ + 0.3062170445919037, + 0.28520411252975464, + 0.05312259495258331, + 0.10544456541538239, + -0.11348365247249603, + 0.11849266290664673, + 0.0, + 1.0001531839370728 + ], + [ + 0.30050504207611084, + 0.3047504723072052, + 0.04055074602365494, + 0.07796822488307953, + -0.07108855992555618, + 0.17187242209911346, + 0.0, + 1.0001531839370728 + ], + [ + 0.2979870140552521, + 0.31066393852233887, + 0.03429505601525307, + 0.06960005313158035, + -0.05803797021508217, + 0.18040822446346283, + 0.0, + 1.0001531839370728 + ], + [ + 0.2957603335380554, + 0.3111780881881714, + 0.029059696942567825, + 0.07137522101402283, + -0.040474362671375275, + 0.1903875768184662, + 0.0, + 1.0001531839370728 + ], + [ + 0.2928968369960785, + 0.31457698345184326, + 0.017704198136925697, + 0.09522648900747299, + -0.014516366645693779, + 0.21655359864234924, + 0.0, + 0.9994885921478271 + ], + [ + 0.2935122549533844, + 0.31836941838264465, + 0.0187651589512825, + 0.11799437552690506, + -0.025193126872181892, + 0.2259545624256134, + 0.0, + 1.0001531839370728 + ], + [ + 0.29473087191581726, + 0.3208857774734497, + 0.018106138333678246, + 0.13162297010421753, + -0.038193490356206894, + 0.23724545538425446, + 0.0, + 0.9994885921478271 + ], + [ + 0.2958485186100006, + 0.3169490098953247, + 0.018222691491246223, + 0.1407698094844818, + -0.04100029543042183, + 0.2327532321214676, + 0.0, + 0.9994885921478271 + ], + [ + 0.2994832396507263, + 0.31473174691200256, + 0.04059585928916931, + 0.12502488493919373, + -0.09270218014717102, + 0.24747246503829956, + 0.0, + 0.9994885921478271 + ], + [ + 0.29762840270996094, + 0.32913100719451904, + 0.07436226308345795, + 0.12226007133722305, + -0.16512222588062286, + 0.28646156191825867, + 0.0, + 0.9994885921478271 + ], + [ + 0.2967892289161682, + 0.3264773488044739, + 0.0771716833114624, + 0.0550854466855526, + -0.18048794567584991, + 0.27734988927841187, + 0.0, + 0.9994885921478271 + ], + [ + 0.29417067766189575, + 0.31577739119529724, + 0.06011604517698288, + 0.03227682039141655, + -0.16076093912124634, + 0.2268972098827362, + 0.0, + 0.9994885921478271 + ], + [ + 0.2970895767211914, + 0.3023846447467804, + 0.0459783673286438, + 0.042579084634780884, + -0.13981211185455322, + 0.16429978609085083, + 0.0, + 0.9994885921478271 + ], + [ + 0.2947957515716553, + 0.29921653866767883, + 0.03540392220020294, + 0.0771426409482956, + -0.1208634227514267, + 0.1378699690103531, + 0.0, + 0.9994885921478271 + ], + [ + 0.29316622018814087, + 0.30117067694664, + 0.03223539888858795, + 0.10343818366527557, + -0.1161603331565857, + 0.13725513219833374, + 0.0, + 0.9994885921478271 + ], + [ + 0.30065688490867615, + 0.2945779860019684, + 0.026755845174193382, + 0.11571446061134338, + -0.10346758365631104, + 0.11439245939254761, + 0.0, + 0.9994885921478271 + ], + [ + 0.30246466398239136, + 0.2892046868801117, + 0.009793468751013279, + 0.11723796278238297, + -0.054710615426301956, + 0.10749021172523499, + 0.0, + 0.9994885921478271 + ], + [ + 0.30536070466041565, + 0.2914033830165863, + 0.0041329944506287575, + 0.12308607250452042, + -0.0336831770837307, + 0.11321594566106796, + 0.0, + 0.9994885921478271 + ], + [ + 0.30792921781539917, + 0.29351356625556946, + 0.00510052964091301, + 0.12502379715442657, + -0.03768789395689964, + 0.11136598885059357, + 0.0, + 0.9537920951843262 + ], + [ + 0.309230238199234, + 0.2945358157157898, + 0.0080860061571002, + 0.12510080635547638, + -0.04362304508686066, + 0.09944417327642441, + 0.0, + 0.6641445755958557 + ], + [ + 0.3082566261291504, + 0.2957164943218231, + 0.009262211620807648, + 0.11392965912818909, + -0.047639090567827225, + 0.11015427857637405, + 0.0, + 0.3814634680747986 + ], + [ + 0.30778640508651733, + 0.29503944516181946, + 0.00789114274084568, + 0.10976051539182663, + -0.04225275665521622, + 0.10059840232133865, + 0.0, + 0.35690104961395264 + ], + [ + 0.3071790337562561, + 0.293943852186203, + 0.007791955955326557, + 0.1069672703742981, + -0.033676229417324066, + 0.08525790274143219, + 0.0, + 0.35690104961395264 + ], + [ + 0.3036903440952301, + 0.283479243516922, + 0.0037902730982750654, + 0.09160833805799484, + -0.0341608002781868, + 0.060837652534246445, + 0.0, + 0.35690104961395264 + ], + [ + 0.30369576811790466, + 0.2591172754764557, + 0.003422122448682785, + 0.08219829946756363, + -0.04802793636918068, + 0.0017098247772082686, + 0.0, + 0.35690104961395264 + ], + [ + 0.3068884015083313, + 0.23084396123886108, + 0.0031207941938191652, + 0.08715381473302841, + -0.0557573102414608, + -0.06332800537347794, + 0.0, + 0.35690104961395264 + ], + [ + 0.3130062520503998, + 0.2011575847864151, + 0.00201448705047369, + 0.08813495934009552, + -0.05581487715244293, + -0.1211002990603447, + 0.0, + 0.35690104961395264 + ], + [ + 0.3172551691532135, + 0.17890749871730804, + 0.0008722318452782929, + 0.09604886919260025, + -0.05693720281124115, + -0.12890109419822693, + 0.0, + 0.35690104961395264 + ], + [ + 0.32057586312294006, + 0.1501268595457077, + 0.0015919007128104568, + 0.10425552725791931, + -0.0568896047770977, + -0.16274847090244293, + 0.0, + 0.35690104961395264 + ], + [ + 0.3172481060028076, + 0.1268237978219986, + 0.0008822134113870561, + 0.094272181391716, + -0.04952714592218399, + -0.1800137311220169, + 0.0, + 0.35690104961395264 + ], + [ + 0.31736260652542114, + 0.11915392428636551, + 0.00031508502434007823, + 0.0865706205368042, + -0.04646296054124832, + -0.17499013245105743, + 0.0, + 0.35690104961395264 + ], + [ + 0.31788450479507446, + 0.11855224519968033, + 0.0016623226692900062, + 0.08100575953722, + -0.04417114704847336, + -0.1459776908159256, + 0.0, + 0.35690104961395264 + ], + [ + 0.3209083080291748, + 0.11635686457157135, + 0.006051870994269848, + 0.05525395646691322, + -0.0445718839764595, + -0.13820526003837585, + 0.0, + 0.35690104961395264 + ], + [ + 0.326508104801178, + 0.12481312453746796, + 0.015727492049336433, + 0.04453674331307411, + -0.06840785592794418, + -0.13164761662483215, + 0.0, + 0.35690104961395264 + ], + [ + 0.3288953900337219, + 0.1475314497947693, + 0.04515523090958595, + 0.054059237241744995, + -0.1251680850982666, + -0.11126424372196198, + 0.0, + 0.35690104961395264 + ], + [ + 0.3299879729747772, + 0.1745457649230957, + 0.060024458914995193, + 0.06488381326198578, + -0.15295235812664032, + -0.09712967276573181, + 0.0, + 0.35690104961395264 + ], + [ + 0.3363378643989563, + 0.21308298408985138, + 0.05883841589093208, + 0.10981357842683792, + -0.16536982357501984, + -0.07706030458211899, + 0.0, + 0.35690104961395264 + ], + [ + 0.3439382016658783, + 0.24716094136238098, + 0.04188200831413269, + 0.12195262312889099, + -0.15239325165748596, + -0.03241286426782608, + 0.0, + 0.35690104961395264 + ], + [ + 0.34547799825668335, + 0.26508572697639465, + 0.026520293205976486, + 0.12353803962469101, + -0.1244807243347168, + -0.0024796430952847004, + 0.0, + 0.35690104961395264 + ], + [ + 0.3531595468521118, + 0.269682377576828, + 0.008471779525279999, + 0.11754152178764343, + -0.08316629379987717, + -0.012085502035915852, + 0.0, + 0.35690104961395264 + ], + [ + 0.3629578649997711, + 0.25492021441459656, + 0.00804782472550869, + 0.11670786142349243, + -0.08178450912237167, + -0.05349080264568329, + 0.0, + 0.35690104961395264 + ], + [ + 0.3654264211654663, + 0.23404286801815033, + 0.0038189163897186518, + 0.11869469285011292, + -0.08152297884225845, + -0.11009667068719864, + 0.0, + 0.35690104961395264 + ], + [ + 0.3729790151119232, + 0.19238068163394928, + 0.005383237265050411, + 0.1072738990187645, + -0.0880172923207283, + -0.20120316743850708, + 0.0, + 0.35690104961395264 + ], + [ + 0.3764755427837372, + 0.1537034958600998, + 0.006376158911734819, + 0.11187989264726639, + -0.0942993313074112, + -0.28837305307388306, + 0.0, + 0.35690104961395264 + ], + [ + 0.37223055958747864, + 0.12979206442832947, + 0.005771256517618895, + 0.10928953438997269, + -0.09244876354932785, + -0.33978912234306335, + 0.0, + 0.35690104961395264 + ], + [ + 0.3689270615577698, + 0.10002832114696503, + 0.006052008830010891, + 0.11724853515625, + -0.10132972151041031, + -0.4248026907444, + 0.0, + 0.35690104961395264 + ], + [ + 0.36217808723449707, + 0.08321280777454376, + 0.0069222841411828995, + 0.1245204508304596, + -0.10854818671941757, + -0.48386630415916443, + 0.0, + 0.35690104961395264 + ], + [ + 0.3568463921546936, + 0.07725763320922852, + 0.0064460537396371365, + 0.14203858375549316, + -0.10243982076644897, + -0.5093696713447571, + 0.0, + 0.35690104961395264 + ], + [ + 0.35919004678726196, + 0.07913335412740707, + 0.009981127455830574, + 0.1364368200302124, + -0.10150513797998428, + -0.4940895140171051, + 0.0, + 0.35690104961395264 + ], + [ + 0.3802158832550049, + 0.10441619902849197, + 0.035513557493686676, + 0.1578359454870224, + -0.1688595563173294, + -0.43379923701286316, + 0.0, + 0.35690104961395264 + ], + [ + 0.3817172944545746, + 0.14204080402851105, + 0.05490781366825104, + 0.15663953125476837, + -0.19188299775123596, + -0.3612518608570099, + 0.0, + 0.35690104961395264 + ], + [ + 0.36712855100631714, + 0.17108431458473206, + 0.054968152195215225, + 0.14598390460014343, + -0.17886944115161896, + -0.2970094680786133, + 0.0, + 0.35690104961395264 + ], + [ + 0.33448269963264465, + 0.2067359834909439, + 0.043708521872758865, + 0.11579713225364685, + -0.14789193868637085, + -0.17325031757354736, + 0.0, + 0.35690104961395264 + ], + [ + 0.3069896399974823, + 0.24079622328281403, + 0.036663610488176346, + 0.10846886038780212, + -0.14200152456760406, + -0.05770757049322128, + 0.0, + 0.35690104961395264 + ], + [ + 0.29011937975883484, + 0.2461680769920349, + 0.0161281730979681, + 0.0918579250574112, + -0.10526513308286667, + -0.0238262340426445, + 0.0, + 0.35690104961395264 + ], + [ + 0.2686205804347992, + 0.24382717907428741, + 0.0037729342002421618, + 0.10094214975833893, + -0.09134141355752945, + 0.008805995807051659, + 0.0, + 0.35690104961395264 + ], + [ + 0.25293275713920593, + 0.23149645328521729, + 0.0005020741955377162, + 0.10636217892169952, + -0.09553215652704239, + 0.034380216151475906, + 0.0, + 0.35690104961395264 + ], + [ + 0.23016366362571716, + 0.21661406755447388, + -0.0003823428996838629, + 0.0883406400680542, + -0.09496443718671799, + 0.09762037545442581, + 0.0, + 0.35690104961395264 + ], + [ + 0.22115497291088104, + 0.19803203642368317, + -0.0007685866439715028, + 0.026083171367645264, + -0.08618335425853729, + 0.16069769859313965, + 0.0, + 0.35690104961395264 + ], + [ + 0.22802706062793732, + 0.16765126585960388, + -0.0002531931677367538, + -0.043765876442193985, + -0.09568177908658981, + 0.2621637284755707, + 0.0, + 0.35690104961395264 + ], + [ + 0.2427579015493393, + 0.14471860229969025, + 0.00048466387670487165, + -0.06132643669843674, + -0.09273600578308105, + 0.35261544585227966, + 0.0, + 0.35690104961395264 + ], + [ + 0.2544889748096466, + 0.12507641315460205, + 0.00046150272828526795, + -0.08197995275259018, + -0.09272414445877075, + 0.40346240997314453, + 0.0, + 0.35690104961395264 + ], + [ + 0.2642129957675934, + 0.10836344957351685, + 0.00046528084203600883, + -0.09652967751026154, + -0.09641548246145248, + 0.4598675072193146, + 0.0, + 0.35690104961395264 + ], + [ + 0.27038896083831787, + 0.0992804616689682, + 0.0002244730421807617, + -0.12634356319904327, + -0.08755965530872345, + 0.5504398345947266, + 0.0, + 0.35690104961395264 + ], + [ + 0.2745327055454254, + 0.09218296408653259, + -0.0011146269971504807, + -0.14523252844810486, + -0.04018205776810646, + 0.6369656920433044, + 0.0, + 0.35690104961395264 + ], + [ + 0.27858826518058777, + 0.08562032133340836, + -0.001982279121875763, + -0.17318323254585266, + -0.006337030325084925, + 0.6958680152893066, + 0.0, + 0.35690104961395264 + ], + [ + 0.28039929270744324, + 0.08107992261648178, + -0.0024952611420303583, + -0.19129206240177155, + 0.009270085953176022, + 0.7284812927246094, + 0.0, + 0.35690104961395264 + ], + [ + 0.2863997519016266, + 0.06783328950405121, + -0.00214262492954731, + -0.19742994010448456, + 0.0093914233148098, + 0.7082148194313049, + 0.0, + 0.35690104961395264 + ], + [ + 0.28959524631500244, + 0.06084433197975159, + -0.0021482654847204685, + -0.19980397820472717, + 0.02179557830095291, + 0.7041891813278198, + 0.0, + 0.35690104961395264 + ], + [ + 0.28809577226638794, + 0.05901526287198067, + -0.0008475062204524875, + -0.1979634016752243, + 0.032565101981163025, + 0.6999935507774353, + 0.0, + 0.35690104961395264 + ], + [ + 0.2813182771205902, + 0.05319342017173767, + 0.0040480829775333405, + -0.18214990198612213, + 0.0544760525226593, + 0.6461392641067505, + 0.0, + 0.35690104961395264 + ], + [ + 0.27931511402130127, + 0.06731133162975311, + 0.02623622491955757, + -0.18793578445911407, + 0.014040935784578323, + 0.6346793174743652, + 0.0, + 0.35690104961395264 + ], + [ + 0.2839581072330475, + 0.0834134891629219, + 0.03717339038848877, + -0.17560046911239624, + -0.0230044387280941, + 0.5534563064575195, + 0.0, + 0.35690104961395264 + ], + [ + 0.29260605573654175, + 0.1042480319738388, + 0.046341948211193085, + -0.15576711297035217, + -0.0755828320980072, + 0.45137912034988403, + 0.0, + 0.35690104961395264 + ], + [ + 0.30477550625801086, + 0.13056984543800354, + 0.03216540068387985, + -0.14519651234149933, + -0.10682214051485062, + 0.22307293117046356, + 0.0, + 0.35690104961395264 + ], + [ + 0.3280754089355469, + 0.15056730806827545, + 0.020751139149069786, + -0.0831546038389206, + -0.14861875772476196, + -0.01981954649090767, + 0.0, + 0.35690104961395264 + ], + [ + 0.3545529246330261, + 0.1572437882423401, + 0.013879377394914627, + -0.013488976284861565, + -0.14807511866092682, + -0.2321709245443344, + 0.0, + 0.35690104961395264 + ], + [ + 0.3772948682308197, + 0.1518927812576294, + 0.006826582830399275, + 0.009618793614208698, + -0.13007868826389313, + -0.36615607142448425, + 0.0, + 0.35690104961395264 + ], + [ + 0.39337408542633057, + 0.14241020381450653, + 0.0071541499346494675, + 0.037403933703899384, + -0.13387912511825562, + -0.5043473243713379, + 0.0, + 0.35690104961395264 + ], + [ + 0.4004836678504944, + 0.1275346279144287, + 0.007051906082779169, + 0.05204010382294655, + -0.13742005825042725, + -0.5825045704841614, + 0.0, + 0.35690104961395264 + ], + [ + 0.4091349244117737, + 0.0996849313378334, + 0.00568157434463501, + 0.05775202065706253, + -0.14817234873771667, + -0.6499343514442444, + 0.0, + 0.35690104961395264 + ], + [ + 0.41060394048690796, + 0.08262231945991516, + 0.005164377391338348, + 0.06569549441337585, + -0.1562596559524536, + -0.6604756712913513, + 0.0, + 0.35690104961395264 + ], + [ + 0.3984289765357971, + 0.05429930239915848, + 0.005015805829316378, + 0.0735211968421936, + -0.15191057324409485, + -0.7130093574523926, + 0.0, + 0.35690104961395264 + ], + [ + 0.37342309951782227, + 0.04430738091468811, + 0.00515472237020731, + 0.07210411131381989, + -0.1348094791173935, + -0.7431539297103882, + 0.0, + 0.35690104961395264 + ], + [ + 0.3636554181575775, + 0.05027969181537628, + 0.008468857035040855, + 0.09515080600976944, + -0.12579382956027985, + -0.7136207818984985, + 0.0, + 0.35690104961395264 + ], + [ + 0.37420031428337097, + 0.07367239147424698, + 0.021925892680883408, + 0.11440178751945496, + -0.14800319075584412, + -0.5644261837005615, + 0.0, + 0.35690104961395264 + ], + [ + 0.37098777294158936, + 0.1157250851392746, + 0.030030839145183563, + 0.11267922818660736, + -0.1666288822889328, + -0.39841368794441223, + 0.0, + 0.35690104961395264 + ], + [ + 0.3558034896850586, + 0.15247057378292084, + 0.028615353628993034, + 0.10310781002044678, + -0.168070986866951, + -0.27412092685699463, + 0.0, + 0.35690104961395264 + ], + [ + 0.33999893069267273, + 0.1825972944498062, + 0.02698058821260929, + 0.09305586665868759, + -0.16556523740291595, + -0.1638474464416504, + 0.0, + 0.35690104961395264 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9537920951843262 + ], + [ + 0.6641445755958557 + ], + [ + 0.3814634680747986 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.28269508481025696, + 0.13341659307479858, + 0.03114498034119606 + ], + [ + 0.27767395973205566, + 0.13160154223442078, + 0.018234262242913246 + ], + [ + 0.2784522771835327, + 0.15747885406017303, + 0.030730081722140312 + ], + [ + 0.2863602340221405, + 0.19161640107631683, + 0.05274548381567001 + ], + [ + 0.2954694628715515, + 0.2215450555086136, + 0.06127885356545448 + ], + [ + 0.30318790674209595, + 0.25771644711494446, + 0.05587881803512573 + ], + [ + 0.3062170445919037, + 0.28520411252975464, + 0.05312259495258331 + ], + [ + 0.30050504207611084, + 0.3047504723072052, + 0.04055074602365494 + ], + [ + 0.2979870140552521, + 0.31066393852233887, + 0.03429505601525307 + ], + [ + 0.2957603335380554, + 0.3111780881881714, + 0.029059696942567825 + ], + [ + 0.2928968369960785, + 0.31457698345184326, + 0.017704198136925697 + ], + [ + 0.2935122549533844, + 0.31836941838264465, + 0.0187651589512825 + ], + [ + 0.29473087191581726, + 0.3208857774734497, + 0.018106138333678246 + ], + [ + 0.2958485186100006, + 0.3169490098953247, + 0.018222691491246223 + ], + [ + 0.2994832396507263, + 0.31473174691200256, + 0.04059585928916931 + ], + [ + 0.29762840270996094, + 0.32913100719451904, + 0.07436226308345795 + ], + [ + 0.2967892289161682, + 0.3264773488044739, + 0.0771716833114624 + ], + [ + 0.29417067766189575, + 0.31577739119529724, + 0.06011604517698288 + ], + [ + 0.2970895767211914, + 0.3023846447467804, + 0.0459783673286438 + ], + [ + 0.2947957515716553, + 0.29921653866767883, + 0.03540392220020294 + ], + [ + 0.29316622018814087, + 0.30117067694664, + 0.03223539888858795 + ], + [ + 0.30065688490867615, + 0.2945779860019684, + 0.026755845174193382 + ], + [ + 0.30246466398239136, + 0.2892046868801117, + 0.009793468751013279 + ], + [ + 0.30536070466041565, + 0.2914033830165863, + 0.0041329944506287575 + ], + [ + 0.30792921781539917, + 0.29351356625556946, + 0.00510052964091301 + ], + [ + 0.309230238199234, + 0.2945358157157898, + 0.0080860061571002 + ], + [ + 0.3082566261291504, + 0.2957164943218231, + 0.009262211620807648 + ], + [ + 0.30778640508651733, + 0.29503944516181946, + 0.00789114274084568 + ], + [ + 0.3071790337562561, + 0.293943852186203, + 0.007791955955326557 + ], + [ + 0.3036903440952301, + 0.283479243516922, + 0.0037902730982750654 + ], + [ + 0.30369576811790466, + 0.2591172754764557, + 0.003422122448682785 + ], + [ + 0.3068884015083313, + 0.23084396123886108, + 0.0031207941938191652 + ], + [ + 0.3130062520503998, + 0.2011575847864151, + 0.00201448705047369 + ], + [ + 0.3172551691532135, + 0.17890749871730804, + 0.0008722318452782929 + ], + [ + 0.32057586312294006, + 0.1501268595457077, + 0.0015919007128104568 + ], + [ + 0.3172481060028076, + 0.1268237978219986, + 0.0008822134113870561 + ], + [ + 0.31736260652542114, + 0.11915392428636551, + 0.00031508502434007823 + ], + [ + 0.31788450479507446, + 0.11855224519968033, + 0.0016623226692900062 + ], + [ + 0.3209083080291748, + 0.11635686457157135, + 0.006051870994269848 + ], + [ + 0.326508104801178, + 0.12481312453746796, + 0.015727492049336433 + ], + [ + 0.3288953900337219, + 0.1475314497947693, + 0.04515523090958595 + ], + [ + 0.3299879729747772, + 0.1745457649230957, + 0.060024458914995193 + ], + [ + 0.3363378643989563, + 0.21308298408985138, + 0.05883841589093208 + ], + [ + 0.3439382016658783, + 0.24716094136238098, + 0.04188200831413269 + ], + [ + 0.34547799825668335, + 0.26508572697639465, + 0.026520293205976486 + ], + [ + 0.3531595468521118, + 0.269682377576828, + 0.008471779525279999 + ], + [ + 0.3629578649997711, + 0.25492021441459656, + 0.00804782472550869 + ], + [ + 0.3654264211654663, + 0.23404286801815033, + 0.0038189163897186518 + ], + [ + 0.3729790151119232, + 0.19238068163394928, + 0.005383237265050411 + ], + [ + 0.3764755427837372, + 0.1537034958600998, + 0.006376158911734819 + ], + [ + 0.37223055958747864, + 0.12979206442832947, + 0.005771256517618895 + ], + [ + 0.3689270615577698, + 0.10002832114696503, + 0.006052008830010891 + ], + [ + 0.36217808723449707, + 0.08321280777454376, + 0.0069222841411828995 + ], + [ + 0.3568463921546936, + 0.07725763320922852, + 0.0064460537396371365 + ], + [ + 0.35919004678726196, + 0.07913335412740707, + 0.009981127455830574 + ], + [ + 0.3802158832550049, + 0.10441619902849197, + 0.035513557493686676 + ], + [ + 0.3817172944545746, + 0.14204080402851105, + 0.05490781366825104 + ], + [ + 0.36712855100631714, + 0.17108431458473206, + 0.054968152195215225 + ], + [ + 0.33448269963264465, + 0.2067359834909439, + 0.043708521872758865 + ], + [ + 0.3069896399974823, + 0.24079622328281403, + 0.036663610488176346 + ], + [ + 0.29011937975883484, + 0.2461680769920349, + 0.0161281730979681 + ], + [ + 0.2686205804347992, + 0.24382717907428741, + 0.0037729342002421618 + ], + [ + 0.25293275713920593, + 0.23149645328521729, + 0.0005020741955377162 + ], + [ + 0.23016366362571716, + 0.21661406755447388, + -0.0003823428996838629 + ], + [ + 0.22115497291088104, + 0.19803203642368317, + -0.0007685866439715028 + ], + [ + 0.22802706062793732, + 0.16765126585960388, + -0.0002531931677367538 + ], + [ + 0.2427579015493393, + 0.14471860229969025, + 0.00048466387670487165 + ], + [ + 0.2544889748096466, + 0.12507641315460205, + 0.00046150272828526795 + ], + [ + 0.2642129957675934, + 0.10836344957351685, + 0.00046528084203600883 + ], + [ + 0.27038896083831787, + 0.0992804616689682, + 0.0002244730421807617 + ], + [ + 0.2745327055454254, + 0.09218296408653259, + -0.0011146269971504807 + ], + [ + 0.27858826518058777, + 0.08562032133340836, + -0.001982279121875763 + ], + [ + 0.28039929270744324, + 0.08107992261648178, + -0.0024952611420303583 + ], + [ + 0.2863997519016266, + 0.06783328950405121, + -0.00214262492954731 + ], + [ + 0.28959524631500244, + 0.06084433197975159, + -0.0021482654847204685 + ], + [ + 0.28809577226638794, + 0.05901526287198067, + -0.0008475062204524875 + ], + [ + 0.2813182771205902, + 0.05319342017173767, + 0.0040480829775333405 + ], + [ + 0.27931511402130127, + 0.06731133162975311, + 0.02623622491955757 + ], + [ + 0.2839581072330475, + 0.0834134891629219, + 0.03717339038848877 + ], + [ + 0.29260605573654175, + 0.1042480319738388, + 0.046341948211193085 + ], + [ + 0.30477550625801086, + 0.13056984543800354, + 0.03216540068387985 + ], + [ + 0.3280754089355469, + 0.15056730806827545, + 0.020751139149069786 + ], + [ + 0.3545529246330261, + 0.1572437882423401, + 0.013879377394914627 + ], + [ + 0.3772948682308197, + 0.1518927812576294, + 0.006826582830399275 + ], + [ + 0.39337408542633057, + 0.14241020381450653, + 0.0071541499346494675 + ], + [ + 0.4004836678504944, + 0.1275346279144287, + 0.007051906082779169 + ], + [ + 0.4091349244117737, + 0.0996849313378334, + 0.00568157434463501 + ], + [ + 0.41060394048690796, + 0.08262231945991516, + 0.005164377391338348 + ], + [ + 0.3984289765357971, + 0.05429930239915848, + 0.005015805829316378 + ], + [ + 0.37342309951782227, + 0.04430738091468811, + 0.00515472237020731 + ], + [ + 0.3636554181575775, + 0.05027969181537628, + 0.008468857035040855 + ], + [ + 0.37420031428337097, + 0.07367239147424698, + 0.021925892680883408 + ], + [ + 0.37098777294158936, + 0.1157250851392746, + 0.030030839145183563 + ], + [ + 0.3558034896850586, + 0.15247057378292084, + 0.028615353628993034 + ], + [ + 0.33999893069267273, + 0.1825972944498062, + 0.02698058821260929 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9877032944289064, + -0.143661900399849, + 0.06167220239126414, + -0.1499177641700632, + -0.982225488449915, + 0.11295022720461974, + 0.04434936482673105, + -0.12080707021043834, + -0.9916848217183903 + ], + [ + 0.989378090941204, + -0.1438975406341788, + 0.0206031785162787, + -0.14518827155922132, + -0.9851866711487537, + 0.09125562334718512, + 0.007166517088837246, + -0.09327765429229215, + -0.9956143431281729 + ], + [ + 0.9946327566515609, + -0.09777620065302384, + 0.03384514709047712, + -0.10019836361790804, + -0.991796168496443, + 0.07937662177283886, + 0.02580634270891348, + -0.08234181648248023, + -0.9962699724142825 + ], + [ + 0.9944991027131134, + -0.03585479464838748, + 0.09841731759977264, + -0.04478635042888908, + -0.9949254514289747, + 0.09009733022743588, + 0.09468747286770991, + -0.09400946654232673, + -0.9910582741102331 + ], + [ + 0.9929332472925668, + -0.0012830775509389842, + 0.11866726647663416, + -0.013123896178918168, + -0.9949954873834824, + 0.09905424491454747, + 0.11794630036640912, + -0.0999116299461902, + -0.9879809393056995 + ], + [ + 0.9913226834778067, + 0.06821159512375578, + 0.11236776901333083, + 0.0551272196827942, + -0.9917539660820194, + 0.11569382183431379, + 0.11933284071204121, + -0.10849538723493182, + -0.9869085185954861 + ], + [ + 0.9866006966314252, + 0.1293938689481267, + 0.09937953554440682, + 0.11745516921071768, + -0.9860638245999398, + 0.11782366927328873, + 0.11324022532681877, + -0.10457227402124646, + -0.9880492350454795 + ], + [ + 0.9827777442900734, + 0.17595876345795203, + 0.05644837367420864, + 0.17059551325686678, + -0.9813268491660769, + 0.08885260807880296, + 0.07102869972582072, + -0.0776925264625089, + -0.9944439627988754 + ], + [ + 0.9821141223274075, + 0.18296521699464413, + 0.044447498187956874, + 0.17912907383546806, + -0.9806649027157239, + 0.07879799165211293, + 0.05800539312782106, + -0.06942678122786491, + -0.995899240092302 + ], + [ + 0.9811267869199504, + 0.19159114041390676, + 0.026135472121877293, + 0.18908450041494831, + -0.9788847658182879, + 0.07766380721871476, + 0.0404633129014936, + -0.07125622894719406, + -0.9966369801212783 + ], + [ + 0.976540859244253, + 0.21523949790004568, + -0.006317338856843673, + 0.21484236110960317, + -0.9719224023729215, + 0.09596667983472039, + 0.01451585682441235, + -0.09507261598054971, + -0.9953644998648827 + ], + [ + 0.9742714303130362, + 0.22536903661248228, + -0.0019943450434541533, + 0.22396566857780423, + -0.9671398101079582, + 0.1203327345440117, + 0.025190461970513486, + -0.11768341021870521, + -0.9927316130682089 + ], + [ + 0.9712801967015224, + 0.23786424860368036, + 0.0059480023250486555, + 0.23485473374409663, + -0.9624037218377992, + 0.13646365901126203, + 0.03818420528754939, + -0.13114753306470947, + -0.9906272210259516 + ], + [ + 0.9722172972574379, + 0.23397166277993695, + 0.007126565051551428, + 0.23046354250606157, + -0.9620835426021432, + 0.14588287298263175, + 0.040988809314241925, + -0.14018743905964393, + -0.9892761997748147 + ], + [ + 0.9653716886915852, + 0.2542339233176811, + 0.058503118782310265, + 0.24390243433054717, + -0.9591394137369708, + 0.14339870133280008, + 0.09256946148914755, + -0.12416399337489081, + -0.9879343083165043 + ], + [ + 0.9462022453848319, + 0.2996799253202933, + 0.1220379170124028, + 0.27871645451193217, + -0.9464251665757286, + 0.16308446295218473, + 0.16437289561542912, + -0.1202969094870183, + -0.9790353439763406 + ], + [ + 0.9461614199561773, + 0.2828981294942893, + 0.15731247793847317, + 0.26936010420131795, + -0.9576194394458295, + 0.1020301105561996, + 0.1795096143697195, + -0.0541632488324649, + -0.9822640382426443 + ], + [ + 0.9618053306660286, + 0.22987141384685766, + 0.14862583556857956, + 0.22205472163346363, + -0.9726995350360955, + 0.06743378337931934, + 0.16006938027835538, + -0.03185510377648569, + -0.9865916307473386 + ], + [ + 0.9769067296221248, + 0.16926536168159081, + 0.13039355411140846, + 0.16196558522206142, + -0.9846687472086896, + 0.06476578938100523, + 0.13935706233513862, + -0.04215086719475437, + -0.9893446889593385 + ], + [ + 0.983285107691006, + 0.14622852640503953, + 0.10847863871978464, + 0.13643101749313702, + -0.9862881750668934, + 0.09285587320683802, + 0.12056937612376634, + -0.07650394622911749, + -0.9897525810789776 + ], + [ + 0.9839196426537763, + 0.1479477559982705, + 0.10006796837720763, + 0.1359025155877763, + -0.9836632141494888, + 0.11805586552989072, + 0.11589927979491435, + -0.10255799639313176, + -0.9879520303733612 + ], + [ + 0.988151270296212, + 0.1252265683307505, + 0.08874330169700798, + 0.11353270244042545, + -0.9854594483975582, + 0.1264120288602073, + 0.10328306970920315, + -0.11483894003378796, + -0.9880003164793824 + ], + [ + 0.9927408706752009, + 0.11290626104600746, + 0.04144562591703064, + 0.10712281539016538, + -0.9867173891757618, + 0.12212082672931959, + 0.05468332573946257, + -0.11679456372100017, + -0.9916495165991323 + ], + [ + 0.9930343244614189, + 0.11622774302474617, + 0.019337584979172456, + 0.11291015468438773, + -0.9856137078457219, + 0.12576532064029197, + 0.03367680820090856, + -0.12270587051148524, + -0.9918715349940322 + ], + [ + 0.9930995090719713, + 0.11493788097110827, + 0.02329481914248524, + 0.11105701280587263, + -0.9855260941591322, + 0.12808066847921157, + 0.03767897275200046, + -0.12460979596049743, + -0.9914901380059397 + ], + [ + 0.9941128675673007, + 0.10391893037252183, + 0.03066696019088108, + 0.09918590255972025, + -0.9867429883632421, + 0.12845400596864132, + 0.043609210845093324, + -0.12465605009869764, + -0.9912411946157498 + ], + [ + 0.9928114990004777, + 0.11459987392705089, + 0.034528196424497164, + 0.10980692525436465, + -0.9869003358050341, + 0.1181954582633933, + 0.0476210732618133, + -0.11355437500957512, + -0.992389861545138 + ], + [ + 0.9940562439934575, + 0.10442807502006358, + 0.03077273022050369, + 0.10033917732569107, + -0.9884923457537268, + 0.11320305596536824, + 0.04224018550176422, + -0.10944249418712433, + -0.9930952155734505 + ], + [ + 0.9958028148484586, + 0.08824959864177064, + 0.02426442415252332, + 0.08510636971549677, + -0.9903668545467528, + 0.10922636700458734, + 0.033669864474576344, + -0.10670286666598054, + -0.9937207044595208 + ], + [ + 0.9975676166972041, + 0.06366383975069143, + 0.028386011083956587, + 0.0607646583376019, + -0.993774642177828, + 0.0933788887353267, + 0.034154156616358296, + -0.09142688922044924, + -0.9952259128023632 + ], + [ + 0.9988454202819306, + 0.005645899916657121, + 0.047706919790995374, + 0.0017078523125018921, + -0.996615424791277, + 0.0821874583411675, + 0.04800947429718489, + -0.08201108999539972, + -0.9954743951983267 + ], + [ + 0.9964445309171888, + -0.05820441011183765, + 0.06091423026482975, + -0.06318733679657154, + -0.9945145559489871, + 0.08335561453282996, + 0.05572842428940842, + -0.08690825420592745, + -0.9946563718576872 + ], + [ + 0.9911304745342598, + -0.11546127002912951, + 0.06579572609792668, + -0.12061639866506105, + -0.9894165590371822, + 0.08066323249221506, + 0.055785901646957445, + -0.08788383142696111, + -0.9945674262467846 + ], + [ + 0.9900967099594474, + -0.12253982766816741, + 0.06850179240380441, + -0.12833612716649517, + -0.987834360073956, + 0.0878243446954389, + 0.056906444199082286, + -0.09574584947836598, + -0.9937778368007022 + ], + [ + 0.9851892743296293, + -0.15531225599285603, + 0.07266496325099149, + -0.16176883690845034, + -0.9823864939285886, + 0.09352871191234473, + 0.0568589232323791, + -0.10389841040701604, + -0.9929613200743268 + ], + [ + 0.9826348301865662, + -0.17366316163391712, + 0.06534444731980403, + -0.17882353676297733, + -0.9803070316095996, + 0.08378703047820686, + 0.04950690056748415, + -0.09401717964333885, + -0.9943388943052132 + ], + [ + 0.9836655291030956, + -0.1694919096367017, + 0.06061863922945983, + -0.1739105321339361, + -0.9817397063531009, + 0.07708615817783605, + 0.04644624492053617, + -0.08636921637615645, + -0.9951799358886565 + ], + [ + 0.9883991515888494, + -0.14144776262389824, + 0.05531408127354399, + -0.14531791181580211, + -0.9866396021065736, + 0.07365459972382427, + 0.044156784800726386, + -0.08083827066232518, + -0.9957486391416195 + ], + [ + 0.9894811528662678, + -0.13511822296684892, + 0.05167314529543204, + -0.13762888697253847, + -0.9892922858577206, + 0.048570182345826225, + 0.04455712729903221, + -0.055170997495853545, + -0.9974822421688372 + ], + [ + 0.9890282941527553, + -0.12812056764023547, + 0.07354014898567285, + -0.13096065714555258, + -0.9907634285280079, + 0.035172929525875876, + 0.06835451444708052, + -0.04441788872707765, + -0.9966718173580174 + ], + [ + 0.9860415896470643, + -0.10416877199767234, + 0.12988783787093922, + -0.11016615655135724, + -0.9931136963878622, + 0.03985729541174487, + 0.12484150526564586, + -0.05361019480783675, + -0.9907272811302178 + ], + [ + 0.9836672210730407, + -0.08694097459857371, + 0.15760731303556935, + -0.09584487073909832, + -0.9941503145320127, + 0.049788682136665194, + 0.15235668327791635, + -0.06408134714369314, + -0.9862459236969258 + ], + [ + 0.9834303536437415, + -0.058533004262570756, + 0.17157688347834987, + -0.07593380779556731, + -0.9924156056781387, + 0.09667120791713978, + 0.1646171205124522, + -0.1080978862813279, + -0.9804162639489911 + ], + [ + 0.9878914399952273, + -0.013709149226214535, + 0.15453983956135622, + -0.03203160934472745, + -0.992650105886308, + 0.1167036558411453, + 0.15180408027106226, + -0.12024070239064265, + -0.9810696686279023 + ], + [ + 0.9922592234847053, + 0.012838645195622337, + 0.12351843019999396, + -0.0024604537750550076, + -0.9924137625747862, + 0.1229181435727727, + 0.12415949249554249, + -0.12227057308157538, + -0.9847001205349538 + ], + [ + 0.9964709002737232, + -0.00226077120317272, + 0.08390848479887304, + -0.012043437451951853, + -0.9931451513871082, + 0.11626548882028173, + 0.08307045516919194, + -0.1168657229038739, + -0.9896674705617733 + ], + [ + 0.9952319995717644, + -0.04360256958084524, + 0.08724725184402682, + -0.05328659054217623, + -0.992285397605311, + 0.11193850529491821, + 0.08169336752012338, + -0.11605389103867879, + -0.9898776126764381 + ], + [ + 0.9906444309219301, + -0.09951674888917944, + 0.09338109109393397, + -0.1095094765378441, + -0.9880116447744602, + 0.10881481672306104, + 0.08143270861130045, + -0.11802290659272036, + -0.9896662606594373 + ], + [ + 0.9760339049849212, + -0.1894777441760148, + 0.1070327089344866, + -0.19907475350126783, + -0.9760753811606433, + 0.08744193965434612, + 0.08790369069780449, + -0.10665380796799313, + -0.9904029010496844 + ], + [ + 0.9544484044890814, + -0.27253628458086343, + 0.12145870390838695, + -0.28312930985124296, + -0.9557036763766354, + 0.08042559830888271, + 0.09415963610489078, + -0.11115060299900095, + -0.989332859244831 + ], + [ + 0.9387987824319217, + -0.3218063126724332, + 0.12287206040639945, + -0.33186502317441324, + -0.9405558798093123, + 0.07225125154332608, + 0.09231713003439776, + -0.10860632615231465, + -0.9897889741868766 + ], + [ + 0.9064465114283742, + -0.398529821842623, + 0.13974513594904886, + -0.4100269544260824, + -0.9097415395131447, + 0.06517843146567275, + 0.10115640643776519, + -0.11638003431147974, + -0.988040013891268 + ], + [ + 0.8799929934242923, + -0.44969268286129394, + 0.1529340462590518, + -0.4624671095887165, + -0.884608479089158, + 0.05993339029477255, + 0.1083351469875414, + -0.12346792986269403, + -0.9864173387682362 + ], + [ + 0.8684751830895859, + -0.47007791115089126, + 0.1574090651948756, + -0.4850707119453651, + -0.8713189254661036, + 0.0742275860944637, + 0.10226074892316442, + -0.1408193437444201, + -0.9847398903553486 + ], + [ + 0.875869233588672, + -0.45768914806982586, + 0.15288469312494685, + -0.4717892855810809, + -0.8787552632582215, + 0.0721391523852809, + 0.10133092155746654, + -0.1353138242571339, + -0.985607535128067 + ], + [ + 0.8944698645623286, + -0.3911275674841833, + 0.21666307332758594, + -0.41434296291168426, + -0.907199543815578, + 0.07286217665135672, + 0.1680582353692191, + -0.154945841037159, + -0.9735236082755627 + ], + [ + 0.9182865664965572, + -0.3212882494868725, + 0.23135177227249673, + -0.3469587382919882, + -0.9345175316370798, + 0.07935122548373688, + 0.19070767083364956, + -0.1531366834060357, + -0.9696286611278586 + ], + [ + 0.940959999554354, + -0.2648012381501211, + 0.21088997964064793, + -0.28799264098460003, + -0.9536193083205081, + 0.08758112546108801, + 0.17791716605596353, + -0.14314509796873393, + -0.9735784318431342 + ], + [ + 0.9742769884098923, + -0.15446032646334706, + 0.1640925269589907, + -0.17050314323245624, + -0.9813677744139102, + 0.08857747732771264, + 0.14735341191436105, + -0.11427728947925385, + -0.9824600109452148 + ], + [ + 0.9882868490352117, + -0.04204114525536547, + 0.1467025771064353, + -0.05709502567726575, + -0.9933518257883596, + 0.09996153383099138, + 0.1415247754527973, + -0.10716665670137018, + -0.9841168861596093 + ], + [ + 0.9941824797402145, + -0.014088252361435006, + 0.10678351053883672, + -0.023692107866128614, + -0.9957310079160352, + 0.08921011097053806, + 0.10507083802110392, + -0.09122105579259927, + -0.9902721029987797 + ], + [ + 0.9957926617915853, + 0.017952455448990802, + 0.08985924585362584, + 0.008769172675742924, + -0.994790148983973, + 0.10156604302141886, + 0.09121445243278817, + -0.10035072908453482, + -0.9907621585625834 + ], + [ + 0.9948520260507967, + 0.04429965218807931, + 0.09114267430046269, + 0.03421671013219332, + -0.9934131914242853, + 0.10935926047640382, + 0.09538691215441708, + -0.10567767938515532, + -0.9898149145519146 + ], + [ + 0.9907546316452791, + 0.10541122836565914, + 0.08540335361020684, + 0.09702624667439819, + -0.990542613744179, + 0.09701153443343227, + 0.09482176611783819, + -0.08782826020873372, + -0.9916123382547238 + ], + [ + 0.98345221908837, + 0.16216850439349714, + 0.08076576597134229, + 0.15941309111233878, + -0.9864209234373424, + 0.039512380174199384, + 0.0860767050494529, + -0.025983417554232273, + -0.9959496286760855 + ], + [ + 0.9614137408718005, + 0.2548857235009088, + 0.10352239766498726, + 0.25798550338866305, + -0.9659899119802414, + -0.017520559172089917, + 0.095535851407666, + 0.043551784209407814, + -0.9944727966053112 + ], + [ + 0.934440144626854, + 0.3393780226700752, + 0.10790817317652301, + 0.34386955990968804, + -0.9386684980658093, + -0.025596415889642045, + 0.09260314183256449, + 0.06102465458671558, + -0.9938312983878654 + ], + [ + 0.9157562678527174, + 0.38431319587067375, + 0.11702061941440409, + 0.3909185378378925, + -0.9195951207359467, + -0.039083381293373395, + 0.09259133146869578, + 0.08153638082664769, + -0.9923601483022912 + ], + [ + 0.8919494342862905, + 0.43344896483203604, + 0.12863981328656585, + 0.44176807332061524, + -0.8960574788277331, + -0.043840210212519604, + 0.09626617303579506, + 0.0959322131659788, + -0.9907218754050601 + ], + [ + 0.849029490085339, + 0.509501440209738, + 0.13984708573878574, + 0.5210583503205943, + -0.8512648015203654, + -0.06201961990913124, + 0.08744781601966607, + 0.12552497805893068, + -0.9882289002840865 + ], + [ + 0.8032552339326096, + 0.5838237912537342, + 0.11802885209127655, + 0.5942788067747776, + -0.798898600326567, + -0.0927023527996903, + 0.04017124566421583, + 0.1446056954700191, + -0.9886735881267472 + ], + [ + 0.7674821376502947, + 0.6306244376041131, + 0.11525618024309874, + 0.6410390089315497, + -0.7567167443766942, + -0.1282527107237625, + 0.006336987911475397, + 0.17231537214199022, + -0.9850214490597536 + ], + [ + 0.746154261017995, + 0.6549088515437737, + 0.11978403455513331, + 0.6657085599064064, + -0.7314020905603631, + -0.14792935878745977, + -0.009269953183722868, + 0.1901193785323999, + -0.9817172148202483 + ], + [ + 0.7594908136223948, + 0.6392417919476971, + 0.1205969960268065, + 0.6504502346715662, + -0.7435714908664852, + -0.15497073977463252, + -0.009391285263324264, + 0.19614119760542228, + -0.9805306901688562 + ], + [ + 0.7619557209731553, + 0.6378327558240168, + 0.11221789017005918, + 0.6472623171955348, + -0.7441739597419992, + -0.16509576124352937, + -0.02179385268707853, + 0.19843007141019187, + -0.9798727135425296 + ], + [ + 0.7644408234428897, + 0.6365284603471748, + 0.1022826799708122, + 0.6438711955124783, + -0.7457830031293667, + -0.17099004600465675, + -0.032559346481284494, + 0.19656864300136453, + -0.979949313763377 + ], + [ + 0.7972299143939592, + 0.6000223454580282, + 0.0663147686902918, + 0.6012152341426955, + -0.7792670915360211, + -0.17687012829682155, + -0.05444911229895355, + 0.18087560642617614, + -0.9819976115906895 + ], + [ + 0.8051825002070541, + 0.5845915456243582, + 0.0996687821980434, + 0.5928608660031727, + -0.7895274690357306, + -0.15862650850347, + -0.014040474432344248, + 0.1868130092433531, + -0.9822951514973274 + ], + [ + 0.8504877757801335, + 0.5141288451678885, + 0.11109488653801862, + 0.5254916102024301, + -0.8397426970179821, + -0.13671419243013258, + 0.023002409774177904, + 0.17465318024960028, + -0.9843612933132234 + ], + [ + 0.897277294585532, + 0.42038436029661586, + 0.13479779760542487, + 0.4349615642673663, + -0.8940617606158624, + -0.10706075758441923, + 0.07551088816424972, + 0.15469504782787663, + -0.9850723567059309 + ], + [ + 0.969663411401799, + 0.20385543289981284, + 0.13489192364947472, + 0.21996644360321344, + -0.9683731942938967, + -0.11776298340985511, + 0.10661909902630076, + 0.1438621529460247, + -0.9838374096732421 + ], + [ + 0.9887823091658527, + -0.03204605932954696, + 0.1458855550151922, + -0.019599783372308496, + -0.9961051867320739, + -0.0859668858178439, + 0.14807225794321535, + 0.08214321059531815, + -0.9855592825298185 + ], + [ + 0.9625196880881681, + -0.23200644454593605, + 0.14045945938885498, + -0.2275728341729315, + -0.9726227575291309, + -0.04706991271427245, + 0.14753458980576498, + 0.013340960444559315, + -0.9889669173360967 + ], + [ + 0.925822202541015, + -0.35684745814149993, + 0.1245517599235533, + -0.35500422975423845, + -0.9341139812274031, + -0.037457535050917784, + 0.12971216650223624, + -0.009537383993597904, + -0.9915058205415916 + ], + [ + 0.8676557937348192, + -0.4785281296294056, + 0.13484899981751475, + -0.4789119264074685, + -0.87728977097653, + -0.03171788903182944, + 0.133479550280516, + -0.03706058409322145, + -0.9903583809730601 + ], + [ + 0.8272148544391722, + -0.5434219163856271, + 0.14285729028282573, + -0.544931082978281, + -0.837876880648107, + -0.031818983005677516, + 0.13698795348240211, + -0.05152624250971886, + -0.9892316952734241 + ], + [ + 0.7874000404634477, + -0.5973413161517147, + 0.1522646652913854, + -0.598503413859351, + -0.7999527323566474, + -0.04323528181746875, + 0.14763075518625127, + -0.057087459334522146, + -0.9873936307825091 + ], + [ + 0.7800790111897035, + -0.6041011919175759, + 0.16290637257350968, + -0.6060179383689731, + -0.7942647126612092, + -0.04342608198107238, + 0.1556245310878547, + -0.06484840896252819, + -0.9856853905677585 + ], + [ + 0.7476859973215161, + -0.6439380383078468, + 0.16220188725650497, + -0.6465800763208613, + -0.7616244008573717, + -0.04315642389678277, + 0.15132697814414675, + -0.0726090547996026, + -0.9858134056944393 + ], + [ + 0.7296574031432463, + -0.6677259355413082, + 0.14745219240058327, + -0.6704746864315995, + -0.7409762659609747, + -0.037654589852757145, + 0.1344015211695999, + -0.07138801221504612, + -0.9883521552661693 + ], + [ + 0.7500231661325092, + -0.6426030758554516, + 0.15660950534906753, + -0.6494031521722726, + -0.7603794997042823, + -0.009927858690673044, + 0.12546232985754385, + -0.09425658242573008, + -0.9876107028865871 + ], + [ + 0.8356588745558515, + -0.5172119890610516, + 0.18484048189603555, + -0.5290829582335212, + -0.8483774788681963, + 0.018079730531998177, + 0.14746344863359848, + -0.11290443623150676, + -0.9826022183957922 + ], + [ + 0.9089118778539893, + -0.36830783327662714, + 0.19552119640338436, + -0.38258336732303383, + -0.9230678050001162, + 0.03969627715587124, + 0.16585887176664124, + -0.11088357551659042, + -0.9798957430956383 + ], + [ + 0.9490989206778696, + -0.25268854678665936, + 0.18804184930740553, + -0.2668864231179348, + -0.9622116909174903, + 0.054039791052693666, + 0.16728082951557072, + -0.10147492391990434, + -0.9806732197281784 + ], + [ + 0.9731155103282516, + -0.14730029705662684, + 0.17705599692079427, + -0.16088477823526787, + -0.984836395153177, + 0.06491042222851694, + 0.1648098652713954, + -0.09165095345235179, + -0.9820579468852638 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.005021125078201294, + -0.0018150508403778076, + -0.012910718098282814, + -0.027806870639324188, + 0.03719733655452728, + 0.004927411675453186, + 1.0 + ], + [ + 0.0007783174514770508, + 0.02587731182575226, + 0.012495819479227066, + -0.010953180491924286, + -0.01864263042807579, + 0.04530669003725052, + 1.0 + ], + [ + 0.007907956838607788, + 0.0341375470161438, + 0.0220154020935297, + 0.012111999094486237, + -0.0690203309059143, + 0.0553966648876667, + 1.0 + ], + [ + 0.00910922884941101, + 0.029928654432296753, + 0.00853336974978447, + 0.006209775805473328, + -0.023391954600811005, + 0.031787142157554626, + 1.0 + ], + [ + 0.007718443870544434, + 0.03617139160633087, + -0.005400035530328751, + 0.008710451424121857, + -0.0013964027166366577, + 0.06876907497644424, + 1.0 + ], + [ + 0.0030291378498077393, + 0.02748766541481018, + -0.0027562230825424194, + -0.00405033677816391, + 0.006134241819381714, + 0.06294012069702148, + 1.0 + ], + [ + -0.005712002515792847, + 0.01954635977745056, + -0.012571848928928375, + -0.027476340532302856, + 0.04239509254693985, + 0.053379759192466736, + 1.0 + ], + [ + -0.0025180280208587646, + 0.005913466215133667, + -0.006255690008401871, + -0.008368171751499176, + 0.013050589710474014, + 0.008535802364349365, + 1.0 + ], + [ + -0.0022266805171966553, + 0.0005141496658325195, + -0.005235359072685242, + 0.0017751678824424744, + 0.017563607543706894, + 0.009979352355003357, + 1.0 + ], + [ + -0.0028634965419769287, + 0.003398895263671875, + -0.011355498805642128, + 0.023851267993450165, + 0.025957996025681496, + 0.026166021823883057, + 1.0 + ], + [ + 0.0006154179573059082, + 0.0037924349308013916, + 0.001060960814356804, + 0.022767886519432068, + -0.010676760226488113, + 0.00940096378326416, + 1.0 + ], + [ + 0.0012186169624328613, + 0.0025163590908050537, + -0.0006590206176042557, + 0.01362859457731247, + -0.013000363484025002, + 0.011290892958641052, + 1.0 + ], + [ + 0.0011176466941833496, + -0.003936767578125, + 0.0001165531575679779, + 0.009146839380264282, + -0.0028068050742149353, + -0.004492223262786865, + 1.0 + ], + [ + 0.003634721040725708, + -0.0022172629833221436, + 0.022373167797923088, + -0.015744924545288086, + -0.05170188471674919, + 0.01471923291683197, + 1.0 + ], + [ + -0.0018548369407653809, + 0.01439926028251648, + 0.033766403794288635, + -0.0027648136019706726, + -0.07242004573345184, + 0.038989096879959106, + 1.0 + ], + [ + -0.0008391737937927246, + -0.002653658390045166, + 0.0028094202280044556, + -0.06717462837696075, + -0.01536571979522705, + -0.009111672639846802, + 1.0 + ], + [ + -0.002618551254272461, + -0.010699957609176636, + -0.017055638134479523, + -0.022808626294136047, + 0.019727006554603577, + -0.05045267939567566, + 1.0 + ], + [ + 0.0029188990592956543, + -0.013392746448516846, + -0.01413767784833908, + 0.010302264243364334, + 0.020948827266693115, + -0.06259742379188538, + 1.0 + ], + [ + -0.002293825149536133, + -0.0031681060791015625, + -0.010574445128440857, + 0.03456355631351471, + 0.018948689103126526, + -0.02642981708049774, + 1.0 + ], + [ + -0.0016295313835144043, + 0.0019541382789611816, + -0.0031685233116149902, + 0.02629554271697998, + 0.004703089594841003, + -0.0006148368120193481, + 1.0 + ], + [ + 0.007490664720535278, + -0.006592690944671631, + -0.005479553714394569, + 0.01227627694606781, + 0.012692749500274658, + -0.022862672805786133, + 1.0 + ], + [ + 0.00180777907371521, + -0.0053732991218566895, + -0.01696237549185753, + 0.0015235021710395813, + 0.04875696823000908, + -0.006902247667312622, + 1.0 + ], + [ + 0.002896040678024292, + 0.0021986961364746094, + -0.0056604743003845215, + 0.005848109722137451, + 0.02102743834257126, + 0.005725733935832977, + 1.0 + ], + [ + 0.0025685131549835205, + 0.0021101832389831543, + 0.0009675351902842522, + 0.0019377246499061584, + -0.004004716873168945, + -0.0018499568104743958, + 0.0 + ], + [ + 0.0013010203838348389, + 0.001022249460220337, + 0.002985476516187191, + 7.700920104980469e-05, + -0.005935151129961014, + -0.011921815574169159, + 0.0 + ], + [ + -0.0009736120700836182, + 0.0011806786060333252, + 0.001176205463707447, + -0.011171147227287292, + -0.004016045480966568, + 0.010710105299949646, + 0.0 + ], + [ + -0.00047022104263305664, + -0.0006770491600036621, + -0.0013710688799619675, + -0.004169143736362457, + 0.005386333912611008, + -0.0095558762550354, + 0.0 + ], + [ + -0.0006073713302612305, + -0.001095592975616455, + -9.918678551912308e-05, + -0.002793245017528534, + 0.008576527237892151, + -0.015340499579906464, + 0.0 + ], + [ + -0.003488689661026001, + -0.010464608669281006, + -0.004001682624220848, + -0.015358932316303253, + -0.00048457086086273193, + -0.024420250207185745, + 0.0 + ], + [ + 5.424022674560547e-06, + -0.02436196804046631, + -0.0003681506495922804, + -0.009410038590431213, + -0.013867136090993881, + -0.05912782624363899, + 0.0 + ], + [ + 0.0031926333904266357, + -0.028273314237594604, + -0.0003013282548636198, + 0.004955515265464783, + -0.007729373872280121, + -0.06503783166408539, + 0.0 + ], + [ + 0.0061178505420684814, + -0.029686376452445984, + -0.0011063071433454752, + 0.0009811446070671082, + -5.756691098213196e-05, + -0.05777229368686676, + 0.0 + ], + [ + 0.004248917102813721, + -0.022250086069107056, + -0.001142255263403058, + 0.00791390985250473, + -0.0011223256587982178, + -0.007800795137882233, + 0.0 + ], + [ + 0.0033206939697265625, + -0.028780639171600342, + 0.0007196688675321639, + 0.008206658065319061, + 4.7598034143447876e-05, + -0.033847376704216, + 0.0 + ], + [ + -0.0033277571201324463, + -0.023303061723709106, + -0.0007096873014234006, + -0.009983345866203308, + 0.0073624588549137115, + -0.017265260219573975, + 0.0 + ], + [ + 0.00011450052261352539, + -0.007669873535633087, + -0.0005671284161508083, + -0.007701560854911804, + 0.003064185380935669, + 0.005023598670959473, + 0.0 + ], + [ + 0.0005218982696533203, + -0.0006016790866851807, + 0.0013472376158460975, + -0.005564860999584198, + 0.0022918134927749634, + 0.029012441635131836, + 0.0 + ], + [ + 0.003023803234100342, + -0.0021953806281089783, + 0.00438954820856452, + -0.025751803070306778, + -0.000400736927986145, + 0.007772430777549744, + 0.0 + ], + [ + 0.005599796772003174, + 0.008456259965896606, + 0.009675621055066586, + -0.010717213153839111, + -0.02383597195148468, + 0.006557643413543701, + 0.0 + ], + [ + 0.0023872852325439453, + 0.02271832525730133, + 0.02942773886024952, + 0.009522493928670883, + -0.05676022917032242, + 0.020383372902870178, + 0.0 + ], + [ + 0.0010925829410552979, + 0.027014315128326416, + 0.01486922800540924, + 0.010824576020240784, + -0.027784273028373718, + 0.014134570956230164, + 0.0 + ], + [ + 0.006349891424179077, + 0.038537219166755676, + -0.0011860430240631104, + 0.04492976516485214, + -0.012417465448379517, + 0.020069368183612823, + 0.0 + ], + [ + 0.007600337266921997, + 0.0340779572725296, + -0.016956407576799393, + 0.01213904470205307, + 0.012976571917533875, + 0.04464744031429291, + 0.0 + ], + [ + 0.0015397965908050537, + 0.017924785614013672, + -0.015361715108156204, + 0.0015854164958000183, + 0.027912527322769165, + 0.029933221638202667, + 0.0 + ], + [ + 0.007681548595428467, + 0.00459665060043335, + -0.018048513680696487, + -0.005996517837047577, + 0.04131443053483963, + -0.009605858474969864, + 0.0 + ], + [ + 0.009798318147659302, + -0.014762163162231445, + -0.0004239547997713089, + -0.000833660364151001, + 0.0013817846775054932, + -0.04140530154109001, + 0.0 + ], + [ + 0.0024685561656951904, + -0.020877346396446228, + -0.004228908568620682, + 0.0019868314266204834, + 0.0002615302801132202, + -0.05660586804151535, + 0.0 + ], + [ + 0.007552593946456909, + -0.04166218638420105, + 0.0015643208753317595, + -0.01142079383134842, + -0.006494313478469849, + -0.09110649675130844, + 0.0 + ], + [ + 0.003496527671813965, + -0.03867718577384949, + 0.0009929216466844082, + 0.004605993628501892, + -0.006282038986682892, + -0.08716988563537598, + 0.0 + ], + [ + -0.004244983196258545, + -0.023911431431770325, + -0.0006049023941159248, + -0.002590358257293701, + 0.0018505677580833435, + -0.0514160692691803, + 0.0 + ], + [ + -0.0033034980297088623, + -0.02976374328136444, + 0.0002807523123919964, + 0.007959000766277313, + -0.008880957961082458, + -0.08501356840133667, + 0.0 + ], + [ + -0.006748974323272705, + -0.016815513372421265, + 0.0008702753111720085, + 0.007271915674209595, + -0.007218465209007263, + -0.059063613414764404, + 0.0 + ], + [ + -0.005331695079803467, + -0.005955174565315247, + -0.000476230401545763, + 0.01751813292503357, + 0.006108365952968597, + -0.02550336718559265, + 0.0 + ], + [ + 0.0023436546325683594, + 0.0018757209181785583, + 0.0035350737161934376, + -0.005601763725280762, + 0.0009346827864646912, + 0.015280157327651978, + 0.0 + ], + [ + 0.02102583646774292, + 0.0252828449010849, + 0.025532430037856102, + 0.021399125456809998, + -0.06735441833734512, + 0.06029027700424194, + 0.0 + ], + [ + 0.0015014111995697021, + 0.037624605000019073, + 0.01939425617456436, + -0.0011964142322540283, + -0.023023441433906555, + 0.07254737615585327, + 0.0 + ], + [ + -0.014588743448257446, + 0.02904351055622101, + 6.033852696418762e-05, + -0.010655626654624939, + 0.013013556599617004, + 0.0642423927783966, + 0.0 + ], + [ + -0.032645851373672485, + 0.03565166890621185, + -0.01125963032245636, + -0.030186772346496582, + 0.030977502465248108, + 0.12375915050506592, + 0.0 + ], + [ + -0.027493059635162354, + 0.03406023979187012, + -0.0070449113845825195, + -0.0073282718658447266, + 0.005890414118766785, + 0.11554274708032608, + 0.0 + ], + [ + -0.01687026023864746, + 0.005371853709220886, + -0.020535437390208244, + -0.01661093533039093, + 0.036736391484737396, + 0.03388133645057678, + 0.0 + ], + [ + -0.021498799324035645, + -0.0023408979177474976, + -0.012355239130556583, + 0.009084224700927734, + 0.01392371952533722, + 0.03263223171234131, + 0.0 + ], + [ + -0.01568782329559326, + -0.01233072578907013, + -0.0032708600629121065, + 0.005420029163360596, + -0.0041907429695129395, + 0.025574220344424248, + 0.0 + ], + [ + -0.02276909351348877, + -0.014882385730743408, + -0.0008844170952215791, + -0.018021538853645325, + 0.0005677193403244019, + 0.0632401555776596, + 0.0 + ], + [ + -0.00900869071483612, + -0.01858203113079071, + -0.00038624374428763986, + -0.062257468700408936, + 0.008781082928180695, + 0.06307732313871384, + 0.0 + ], + [ + 0.006872087717056274, + -0.030380770564079285, + 0.0005153934471309185, + -0.06984904408454895, + -0.00949842482805252, + 0.10146602988243103, + 0.0 + ], + [ + 0.014730840921401978, + -0.022932663559913635, + 0.0007378570735454559, + -0.017560560256242752, + 0.0029457733035087585, + 0.09045171737670898, + 0.0 + ], + [ + 0.011731073260307312, + -0.019642189145088196, + -2.3161148419603705e-05, + -0.020653516054153442, + 1.1861324310302734e-05, + 0.05084696412086487, + 0.0 + ], + [ + 0.009724020957946777, + -0.016712963581085205, + 3.7781137507408857e-06, + -0.014549724757671356, + -0.003691338002681732, + 0.056405097246170044, + 0.0 + ], + [ + 0.006175965070724487, + -0.009082987904548645, + -0.00024080779985524714, + -0.02981388568878174, + 0.008855827152729034, + 0.09057232737541199, + 0.0 + ], + [ + 0.004143744707107544, + -0.007097497582435608, + -0.001339100068435073, + -0.018888965249061584, + 0.04737759754061699, + 0.08652585744857788, + 0.0 + ], + [ + 0.0040555596351623535, + -0.006562642753124237, + -0.0008676521247252822, + -0.027950704097747803, + 0.033845026046037674, + 0.0589023232460022, + 0.0 + ], + [ + 0.0018110275268554688, + -0.004540398716926575, + -0.0005129820201545954, + -0.018108829855918884, + 0.015607116743922234, + 0.032613277435302734, + 0.0 + ], + [ + 0.00600045919418335, + -0.013246633112430573, + 0.00035263621248304844, + -0.006137877702713013, + 0.00012133736163377762, + -0.020266473293304443, + 0.0 + ], + [ + 0.0031954944133758545, + -0.006988957524299622, + -5.640555173158646e-06, + -0.0023740381002426147, + 0.012404154986143112, + -0.004025638103485107, + 0.0 + ], + [ + -0.001499474048614502, + -0.0018290691077709198, + 0.001300759264267981, + 0.0018405765295028687, + 0.010769523680210114, + -0.0041956305503845215, + 0.0 + ], + [ + -0.0067774951457977295, + -0.005821842700242996, + 0.00489558931440115, + 0.015813499689102173, + 0.021910950541496277, + -0.053854286670684814, + 0.0 + ], + [ + -0.0020031630992889404, + 0.014117911458015442, + 0.02218814194202423, + -0.005785882472991943, + -0.04043511673808098, + -0.011459946632385254, + 0.0 + ], + [ + 0.004642993211746216, + 0.016102157533168793, + 0.010937165468931198, + 0.012335315346717834, + -0.037045374512672424, + -0.0812230110168457, + 0.0 + ], + [ + 0.008647948503494263, + 0.0208345428109169, + 0.009168557822704315, + 0.019833356142044067, + -0.0525783933699131, + -0.1020771861076355, + 0.0 + ], + [ + 0.012169450521469116, + 0.026321813464164734, + -0.014176547527313232, + 0.010570600628852844, + -0.031239308416843414, + -0.22830618917942047, + 0.0 + ], + [ + 0.02329990267753601, + 0.01999746263027191, + -0.011414261534810066, + 0.062041908502578735, + -0.041796617209911346, + -0.24289247393608093, + 0.0 + ], + [ + 0.026477515697479248, + 0.006676480174064636, + -0.006871761754155159, + 0.06966562569141388, + 0.000543639063835144, + -0.21235138177871704, + 0.0 + ], + [ + 0.02274194359779358, + -0.005351006984710693, + -0.007052794564515352, + 0.023107770830392838, + 0.01799643039703369, + -0.13398514688014984, + 0.0 + ], + [ + 0.016079217195510864, + -0.009482577443122864, + 0.00032756710425019264, + 0.02778514102101326, + -0.003800436854362488, + -0.13819125294685364, + 0.0 + ], + [ + 0.007109582424163818, + -0.01487557590007782, + -0.00010224385187029839, + 0.014636170119047165, + -0.003540933132171631, + -0.07815724611282349, + 0.0 + ], + [ + 0.008651256561279297, + -0.027849696576595306, + -0.0013703317381441593, + 0.005711916834115982, + -0.010752290487289429, + -0.06742978096008301, + 0.0 + ], + [ + 0.0014690160751342773, + -0.017062611877918243, + -0.0005171969532966614, + 0.007943473756313324, + -0.008087307214736938, + -0.010541319847106934, + 0.0 + ], + [ + -0.01217496395111084, + -0.028323017060756683, + -0.00014857156202197075, + 0.007825702428817749, + 0.004349082708358765, + -0.05253368616104126, + 0.0 + ], + [ + -0.025005877017974854, + -0.009991921484470367, + 0.00013891654089093208, + -0.0014170855283737183, + 0.017101094126701355, + -0.030144572257995605, + 0.0 + ], + [ + -0.009767681360244751, + 0.005972310900688171, + 0.0033141346648335457, + 0.023046694695949554, + 0.009015649557113647, + 0.02953314781188965, + 0.0 + ], + [ + 0.010544896125793457, + 0.023392699658870697, + 0.013457035645842552, + 0.019250981509685516, + -0.02220936119556427, + 0.149194598197937, + 0.0 + ], + [ + -0.003212541341781616, + 0.04205269366502762, + 0.008104946464300156, + -0.0017225593328475952, + -0.018625691533088684, + 0.1660124957561493, + 0.0 + ], + [ + -0.015184283256530762, + 0.03674548864364624, + -0.0014154855161905289, + -0.009571418166160583, + -0.0014421045780181885, + 0.1242927610874176, + 0.0 + ], + [ + -0.015804558992385864, + 0.030126720666885376, + -0.0016347654163837433, + -0.010051943361759186, + 0.002505749464035034, + 0.11027348041534424, + 0.0 + ], + [ + -0.010683596134185791, + 0.012114852666854858, + -0.017261788249015808, + -0.03496720269322395, + 0.04308267682790756, + 0.04739517718553543, + 0.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9537920951843262 + ], + [ + 0.6641445755958557 + ], + [ + 0.3814634680747986 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.27767395973205566, + 0.13160154223442078, + 0.018234262242913246 + ], + [ + 0.2784522771835327, + 0.15747885406017303, + 0.030730081722140312 + ], + [ + 0.2863602340221405, + 0.19161640107631683, + 0.05274548381567001 + ], + [ + 0.2954694628715515, + 0.2215450555086136, + 0.06127885356545448 + ], + [ + 0.30318790674209595, + 0.25771644711494446, + 0.05587881803512573 + ], + [ + 0.3062170445919037, + 0.28520411252975464, + 0.05312259495258331 + ], + [ + 0.30050504207611084, + 0.3047504723072052, + 0.04055074602365494 + ], + [ + 0.2979870140552521, + 0.31066393852233887, + 0.03429505601525307 + ], + [ + 0.2957603335380554, + 0.3111780881881714, + 0.029059696942567825 + ], + [ + 0.2928968369960785, + 0.31457698345184326, + 0.017704198136925697 + ], + [ + 0.2935122549533844, + 0.31836941838264465, + 0.0187651589512825 + ], + [ + 0.29473087191581726, + 0.3208857774734497, + 0.018106138333678246 + ], + [ + 0.2958485186100006, + 0.3169490098953247, + 0.018222691491246223 + ], + [ + 0.2994832396507263, + 0.31473174691200256, + 0.04059585928916931 + ], + [ + 0.29762840270996094, + 0.32913100719451904, + 0.07436226308345795 + ], + [ + 0.2967892289161682, + 0.3264773488044739, + 0.0771716833114624 + ], + [ + 0.29417067766189575, + 0.31577739119529724, + 0.06011604517698288 + ], + [ + 0.2970895767211914, + 0.3023846447467804, + 0.0459783673286438 + ], + [ + 0.2947957515716553, + 0.29921653866767883, + 0.03540392220020294 + ], + [ + 0.29316622018814087, + 0.30117067694664, + 0.03223539888858795 + ], + [ + 0.30065688490867615, + 0.2945779860019684, + 0.026755845174193382 + ], + [ + 0.30246466398239136, + 0.2892046868801117, + 0.009793468751013279 + ], + [ + 0.30536070466041565, + 0.2914033830165863, + 0.0041329944506287575 + ], + [ + 0.30792921781539917, + 0.29351356625556946, + 0.00510052964091301 + ], + [ + 0.309230238199234, + 0.2945358157157898, + 0.0080860061571002 + ], + [ + 0.3082566261291504, + 0.2957164943218231, + 0.009262211620807648 + ], + [ + 0.30778640508651733, + 0.29503944516181946, + 0.00789114274084568 + ], + [ + 0.3071790337562561, + 0.293943852186203, + 0.007791955955326557 + ], + [ + 0.3036903440952301, + 0.283479243516922, + 0.0037902730982750654 + ], + [ + 0.30369576811790466, + 0.2591172754764557, + 0.003422122448682785 + ], + [ + 0.3068884015083313, + 0.23084396123886108, + 0.0031207941938191652 + ], + [ + 0.3130062520503998, + 0.2011575847864151, + 0.00201448705047369 + ], + [ + 0.3172551691532135, + 0.17890749871730804, + 0.0008722318452782929 + ], + [ + 0.32057586312294006, + 0.1501268595457077, + 0.0015919007128104568 + ], + [ + 0.3172481060028076, + 0.1268237978219986, + 0.0008822134113870561 + ], + [ + 0.31736260652542114, + 0.11915392428636551, + 0.00031508502434007823 + ], + [ + 0.31788450479507446, + 0.11855224519968033, + 0.0016623226692900062 + ], + [ + 0.3209083080291748, + 0.11635686457157135, + 0.006051870994269848 + ], + [ + 0.326508104801178, + 0.12481312453746796, + 0.015727492049336433 + ], + [ + 0.3288953900337219, + 0.1475314497947693, + 0.04515523090958595 + ], + [ + 0.3299879729747772, + 0.1745457649230957, + 0.060024458914995193 + ], + [ + 0.3363378643989563, + 0.21308298408985138, + 0.05883841589093208 + ], + [ + 0.3439382016658783, + 0.24716094136238098, + 0.04188200831413269 + ], + [ + 0.34547799825668335, + 0.26508572697639465, + 0.026520293205976486 + ], + [ + 0.3531595468521118, + 0.269682377576828, + 0.008471779525279999 + ], + [ + 0.3629578649997711, + 0.25492021441459656, + 0.00804782472550869 + ], + [ + 0.3654264211654663, + 0.23404286801815033, + 0.0038189163897186518 + ], + [ + 0.3729790151119232, + 0.19238068163394928, + 0.005383237265050411 + ], + [ + 0.3764755427837372, + 0.1537034958600998, + 0.006376158911734819 + ], + [ + 0.37223055958747864, + 0.12979206442832947, + 0.005771256517618895 + ], + [ + 0.3689270615577698, + 0.10002832114696503, + 0.006052008830010891 + ], + [ + 0.36217808723449707, + 0.08321280777454376, + 0.0069222841411828995 + ], + [ + 0.3568463921546936, + 0.07725763320922852, + 0.0064460537396371365 + ], + [ + 0.35919004678726196, + 0.07913335412740707, + 0.009981127455830574 + ], + [ + 0.3802158832550049, + 0.10441619902849197, + 0.035513557493686676 + ], + [ + 0.3817172944545746, + 0.14204080402851105, + 0.05490781366825104 + ], + [ + 0.36712855100631714, + 0.17108431458473206, + 0.054968152195215225 + ], + [ + 0.33448269963264465, + 0.2067359834909439, + 0.043708521872758865 + ], + [ + 0.3069896399974823, + 0.24079622328281403, + 0.036663610488176346 + ], + [ + 0.29011937975883484, + 0.2461680769920349, + 0.0161281730979681 + ], + [ + 0.2686205804347992, + 0.24382717907428741, + 0.0037729342002421618 + ], + [ + 0.25293275713920593, + 0.23149645328521729, + 0.0005020741955377162 + ], + [ + 0.23016366362571716, + 0.21661406755447388, + -0.0003823428996838629 + ], + [ + 0.22115497291088104, + 0.19803203642368317, + -0.0007685866439715028 + ], + [ + 0.22802706062793732, + 0.16765126585960388, + -0.0002531931677367538 + ], + [ + 0.2427579015493393, + 0.14471860229969025, + 0.00048466387670487165 + ], + [ + 0.2544889748096466, + 0.12507641315460205, + 0.00046150272828526795 + ], + [ + 0.2642129957675934, + 0.10836344957351685, + 0.00046528084203600883 + ], + [ + 0.27038896083831787, + 0.0992804616689682, + 0.0002244730421807617 + ], + [ + 0.2745327055454254, + 0.09218296408653259, + -0.0011146269971504807 + ], + [ + 0.27858826518058777, + 0.08562032133340836, + -0.001982279121875763 + ], + [ + 0.28039929270744324, + 0.08107992261648178, + -0.0024952611420303583 + ], + [ + 0.2863997519016266, + 0.06783328950405121, + -0.00214262492954731 + ], + [ + 0.28959524631500244, + 0.06084433197975159, + -0.0021482654847204685 + ], + [ + 0.28809577226638794, + 0.05901526287198067, + -0.0008475062204524875 + ], + [ + 0.2813182771205902, + 0.05319342017173767, + 0.0040480829775333405 + ], + [ + 0.27931511402130127, + 0.06731133162975311, + 0.02623622491955757 + ], + [ + 0.2839581072330475, + 0.0834134891629219, + 0.03717339038848877 + ], + [ + 0.29260605573654175, + 0.1042480319738388, + 0.046341948211193085 + ], + [ + 0.30477550625801086, + 0.13056984543800354, + 0.03216540068387985 + ], + [ + 0.3280754089355469, + 0.15056730806827545, + 0.020751139149069786 + ], + [ + 0.3545529246330261, + 0.1572437882423401, + 0.013879377394914627 + ], + [ + 0.3772948682308197, + 0.1518927812576294, + 0.006826582830399275 + ], + [ + 0.39337408542633057, + 0.14241020381450653, + 0.0071541499346494675 + ], + [ + 0.4004836678504944, + 0.1275346279144287, + 0.007051906082779169 + ], + [ + 0.4091349244117737, + 0.0996849313378334, + 0.00568157434463501 + ], + [ + 0.41060394048690796, + 0.08262231945991516, + 0.005164377391338348 + ], + [ + 0.3984289765357971, + 0.05429930239915848, + 0.005015805829316378 + ], + [ + 0.37342309951782227, + 0.04430738091468811, + 0.00515472237020731 + ], + [ + 0.3636554181575775, + 0.05027969181537628, + 0.008468857035040855 + ], + [ + 0.37420031428337097, + 0.07367239147424698, + 0.021925892680883408 + ], + [ + 0.37098777294158936, + 0.1157250851392746, + 0.030030839145183563 + ], + [ + 0.3558034896850586, + 0.15247057378292084, + 0.028615353628993034 + ], + [ + 0.33999893069267273, + 0.1825972944498062, + 0.02698058821260929 + ], + [ + 0.32931533455848694, + 0.19471214711666107, + 0.009718800894916058 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.989378090941204, + -0.1438975406341788, + 0.0206031785162787, + -0.14518827155922132, + -0.9851866711487537, + 0.09125562334718512, + 0.007166517088837246, + -0.09327765429229215, + -0.9956143431281729 + ], + [ + 0.9946327566515609, + -0.09777620065302384, + 0.03384514709047712, + -0.10019836361790804, + -0.991796168496443, + 0.07937662177283886, + 0.02580634270891348, + -0.08234181648248023, + -0.9962699724142825 + ], + [ + 0.9944991027131134, + -0.03585479464838748, + 0.09841731759977264, + -0.04478635042888908, + -0.9949254514289747, + 0.09009733022743588, + 0.09468747286770991, + -0.09400946654232673, + -0.9910582741102331 + ], + [ + 0.9929332472925668, + -0.0012830775509389842, + 0.11866726647663416, + -0.013123896178918168, + -0.9949954873834824, + 0.09905424491454747, + 0.11794630036640912, + -0.0999116299461902, + -0.9879809393056995 + ], + [ + 0.9913226834778067, + 0.06821159512375578, + 0.11236776901333083, + 0.0551272196827942, + -0.9917539660820194, + 0.11569382183431379, + 0.11933284071204121, + -0.10849538723493182, + -0.9869085185954861 + ], + [ + 0.9866006966314252, + 0.1293938689481267, + 0.09937953554440682, + 0.11745516921071768, + -0.9860638245999398, + 0.11782366927328873, + 0.11324022532681877, + -0.10457227402124646, + -0.9880492350454795 + ], + [ + 0.9827777442900734, + 0.17595876345795203, + 0.05644837367420864, + 0.17059551325686678, + -0.9813268491660769, + 0.08885260807880296, + 0.07102869972582072, + -0.0776925264625089, + -0.9944439627988754 + ], + [ + 0.9821141223274075, + 0.18296521699464413, + 0.044447498187956874, + 0.17912907383546806, + -0.9806649027157239, + 0.07879799165211293, + 0.05800539312782106, + -0.06942678122786491, + -0.995899240092302 + ], + [ + 0.9811267869199504, + 0.19159114041390676, + 0.026135472121877293, + 0.18908450041494831, + -0.9788847658182879, + 0.07766380721871476, + 0.0404633129014936, + -0.07125622894719406, + -0.9966369801212783 + ], + [ + 0.976540859244253, + 0.21523949790004568, + -0.006317338856843673, + 0.21484236110960317, + -0.9719224023729215, + 0.09596667983472039, + 0.01451585682441235, + -0.09507261598054971, + -0.9953644998648827 + ], + [ + 0.9742714303130362, + 0.22536903661248228, + -0.0019943450434541533, + 0.22396566857780423, + -0.9671398101079582, + 0.1203327345440117, + 0.025190461970513486, + -0.11768341021870521, + -0.9927316130682089 + ], + [ + 0.9712801967015224, + 0.23786424860368036, + 0.0059480023250486555, + 0.23485473374409663, + -0.9624037218377992, + 0.13646365901126203, + 0.03818420528754939, + -0.13114753306470947, + -0.9906272210259516 + ], + [ + 0.9722172972574379, + 0.23397166277993695, + 0.007126565051551428, + 0.23046354250606157, + -0.9620835426021432, + 0.14588287298263175, + 0.040988809314241925, + -0.14018743905964393, + -0.9892761997748147 + ], + [ + 0.9653716886915852, + 0.2542339233176811, + 0.058503118782310265, + 0.24390243433054717, + -0.9591394137369708, + 0.14339870133280008, + 0.09256946148914755, + -0.12416399337489081, + -0.9879343083165043 + ], + [ + 0.9462022453848319, + 0.2996799253202933, + 0.1220379170124028, + 0.27871645451193217, + -0.9464251665757286, + 0.16308446295218473, + 0.16437289561542912, + -0.1202969094870183, + -0.9790353439763406 + ], + [ + 0.9461614199561773, + 0.2828981294942893, + 0.15731247793847317, + 0.26936010420131795, + -0.9576194394458295, + 0.1020301105561996, + 0.1795096143697195, + -0.0541632488324649, + -0.9822640382426443 + ], + [ + 0.9618053306660286, + 0.22987141384685766, + 0.14862583556857956, + 0.22205472163346363, + -0.9726995350360955, + 0.06743378337931934, + 0.16006938027835538, + -0.03185510377648569, + -0.9865916307473386 + ], + [ + 0.9769067296221248, + 0.16926536168159081, + 0.13039355411140846, + 0.16196558522206142, + -0.9846687472086896, + 0.06476578938100523, + 0.13935706233513862, + -0.04215086719475437, + -0.9893446889593385 + ], + [ + 0.983285107691006, + 0.14622852640503953, + 0.10847863871978464, + 0.13643101749313702, + -0.9862881750668934, + 0.09285587320683802, + 0.12056937612376634, + -0.07650394622911749, + -0.9897525810789776 + ], + [ + 0.9839196426537763, + 0.1479477559982705, + 0.10006796837720763, + 0.1359025155877763, + -0.9836632141494888, + 0.11805586552989072, + 0.11589927979491435, + -0.10255799639313176, + -0.9879520303733612 + ], + [ + 0.988151270296212, + 0.1252265683307505, + 0.08874330169700798, + 0.11353270244042545, + -0.9854594483975582, + 0.1264120288602073, + 0.10328306970920315, + -0.11483894003378796, + -0.9880003164793824 + ], + [ + 0.9927408706752009, + 0.11290626104600746, + 0.04144562591703064, + 0.10712281539016538, + -0.9867173891757618, + 0.12212082672931959, + 0.05468332573946257, + -0.11679456372100017, + -0.9916495165991323 + ], + [ + 0.9930343244614189, + 0.11622774302474617, + 0.019337584979172456, + 0.11291015468438773, + -0.9856137078457219, + 0.12576532064029197, + 0.03367680820090856, + -0.12270587051148524, + -0.9918715349940322 + ], + [ + 0.9930995090719713, + 0.11493788097110827, + 0.02329481914248524, + 0.11105701280587263, + -0.9855260941591322, + 0.12808066847921157, + 0.03767897275200046, + -0.12460979596049743, + -0.9914901380059397 + ], + [ + 0.9941128675673007, + 0.10391893037252183, + 0.03066696019088108, + 0.09918590255972025, + -0.9867429883632421, + 0.12845400596864132, + 0.043609210845093324, + -0.12465605009869764, + -0.9912411946157498 + ], + [ + 0.9928114990004777, + 0.11459987392705089, + 0.034528196424497164, + 0.10980692525436465, + -0.9869003358050341, + 0.1181954582633933, + 0.0476210732618133, + -0.11355437500957512, + -0.992389861545138 + ], + [ + 0.9940562439934575, + 0.10442807502006358, + 0.03077273022050369, + 0.10033917732569107, + -0.9884923457537268, + 0.11320305596536824, + 0.04224018550176422, + -0.10944249418712433, + -0.9930952155734505 + ], + [ + 0.9958028148484586, + 0.08824959864177064, + 0.02426442415252332, + 0.08510636971549677, + -0.9903668545467528, + 0.10922636700458734, + 0.033669864474576344, + -0.10670286666598054, + -0.9937207044595208 + ], + [ + 0.9975676166972041, + 0.06366383975069143, + 0.028386011083956587, + 0.0607646583376019, + -0.993774642177828, + 0.0933788887353267, + 0.034154156616358296, + -0.09142688922044924, + -0.9952259128023632 + ], + [ + 0.9988454202819306, + 0.005645899916657121, + 0.047706919790995374, + 0.0017078523125018921, + -0.996615424791277, + 0.0821874583411675, + 0.04800947429718489, + -0.08201108999539972, + -0.9954743951983267 + ], + [ + 0.9964445309171888, + -0.05820441011183765, + 0.06091423026482975, + -0.06318733679657154, + -0.9945145559489871, + 0.08335561453282996, + 0.05572842428940842, + -0.08690825420592745, + -0.9946563718576872 + ], + [ + 0.9911304745342598, + -0.11546127002912951, + 0.06579572609792668, + -0.12061639866506105, + -0.9894165590371822, + 0.08066323249221506, + 0.055785901646957445, + -0.08788383142696111, + -0.9945674262467846 + ], + [ + 0.9900967099594474, + -0.12253982766816741, + 0.06850179240380441, + -0.12833612716649517, + -0.987834360073956, + 0.0878243446954389, + 0.056906444199082286, + -0.09574584947836598, + -0.9937778368007022 + ], + [ + 0.9851892743296293, + -0.15531225599285603, + 0.07266496325099149, + -0.16176883690845034, + -0.9823864939285886, + 0.09352871191234473, + 0.0568589232323791, + -0.10389841040701604, + -0.9929613200743268 + ], + [ + 0.9826348301865662, + -0.17366316163391712, + 0.06534444731980403, + -0.17882353676297733, + -0.9803070316095996, + 0.08378703047820686, + 0.04950690056748415, + -0.09401717964333885, + -0.9943388943052132 + ], + [ + 0.9836655291030956, + -0.1694919096367017, + 0.06061863922945983, + -0.1739105321339361, + -0.9817397063531009, + 0.07708615817783605, + 0.04644624492053617, + -0.08636921637615645, + -0.9951799358886565 + ], + [ + 0.9883991515888494, + -0.14144776262389824, + 0.05531408127354399, + -0.14531791181580211, + -0.9866396021065736, + 0.07365459972382427, + 0.044156784800726386, + -0.08083827066232518, + -0.9957486391416195 + ], + [ + 0.9894811528662678, + -0.13511822296684892, + 0.05167314529543204, + -0.13762888697253847, + -0.9892922858577206, + 0.048570182345826225, + 0.04455712729903221, + -0.055170997495853545, + -0.9974822421688372 + ], + [ + 0.9890282941527553, + -0.12812056764023547, + 0.07354014898567285, + -0.13096065714555258, + -0.9907634285280079, + 0.035172929525875876, + 0.06835451444708052, + -0.04441788872707765, + -0.9966718173580174 + ], + [ + 0.9860415896470643, + -0.10416877199767234, + 0.12988783787093922, + -0.11016615655135724, + -0.9931136963878622, + 0.03985729541174487, + 0.12484150526564586, + -0.05361019480783675, + -0.9907272811302178 + ], + [ + 0.9836672210730407, + -0.08694097459857371, + 0.15760731303556935, + -0.09584487073909832, + -0.9941503145320127, + 0.049788682136665194, + 0.15235668327791635, + -0.06408134714369314, + -0.9862459236969258 + ], + [ + 0.9834303536437415, + -0.058533004262570756, + 0.17157688347834987, + -0.07593380779556731, + -0.9924156056781387, + 0.09667120791713978, + 0.1646171205124522, + -0.1080978862813279, + -0.9804162639489911 + ], + [ + 0.9878914399952273, + -0.013709149226214535, + 0.15453983956135622, + -0.03203160934472745, + -0.992650105886308, + 0.1167036558411453, + 0.15180408027106226, + -0.12024070239064265, + -0.9810696686279023 + ], + [ + 0.9922592234847053, + 0.012838645195622337, + 0.12351843019999396, + -0.0024604537750550076, + -0.9924137625747862, + 0.1229181435727727, + 0.12415949249554249, + -0.12227057308157538, + -0.9847001205349538 + ], + [ + 0.9964709002737232, + -0.00226077120317272, + 0.08390848479887304, + -0.012043437451951853, + -0.9931451513871082, + 0.11626548882028173, + 0.08307045516919194, + -0.1168657229038739, + -0.9896674705617733 + ], + [ + 0.9952319995717644, + -0.04360256958084524, + 0.08724725184402682, + -0.05328659054217623, + -0.992285397605311, + 0.11193850529491821, + 0.08169336752012338, + -0.11605389103867879, + -0.9898776126764381 + ], + [ + 0.9906444309219301, + -0.09951674888917944, + 0.09338109109393397, + -0.1095094765378441, + -0.9880116447744602, + 0.10881481672306104, + 0.08143270861130045, + -0.11802290659272036, + -0.9896662606594373 + ], + [ + 0.9760339049849212, + -0.1894777441760148, + 0.1070327089344866, + -0.19907475350126783, + -0.9760753811606433, + 0.08744193965434612, + 0.08790369069780449, + -0.10665380796799313, + -0.9904029010496844 + ], + [ + 0.9544484044890814, + -0.27253628458086343, + 0.12145870390838695, + -0.28312930985124296, + -0.9557036763766354, + 0.08042559830888271, + 0.09415963610489078, + -0.11115060299900095, + -0.989332859244831 + ], + [ + 0.9387987824319217, + -0.3218063126724332, + 0.12287206040639945, + -0.33186502317441324, + -0.9405558798093123, + 0.07225125154332608, + 0.09231713003439776, + -0.10860632615231465, + -0.9897889741868766 + ], + [ + 0.9064465114283742, + -0.398529821842623, + 0.13974513594904886, + -0.4100269544260824, + -0.9097415395131447, + 0.06517843146567275, + 0.10115640643776519, + -0.11638003431147974, + -0.988040013891268 + ], + [ + 0.8799929934242923, + -0.44969268286129394, + 0.1529340462590518, + -0.4624671095887165, + -0.884608479089158, + 0.05993339029477255, + 0.1083351469875414, + -0.12346792986269403, + -0.9864173387682362 + ], + [ + 0.8684751830895859, + -0.47007791115089126, + 0.1574090651948756, + -0.4850707119453651, + -0.8713189254661036, + 0.0742275860944637, + 0.10226074892316442, + -0.1408193437444201, + -0.9847398903553486 + ], + [ + 0.875869233588672, + -0.45768914806982586, + 0.15288469312494685, + -0.4717892855810809, + -0.8787552632582215, + 0.0721391523852809, + 0.10133092155746654, + -0.1353138242571339, + -0.985607535128067 + ], + [ + 0.8944698645623286, + -0.3911275674841833, + 0.21666307332758594, + -0.41434296291168426, + -0.907199543815578, + 0.07286217665135672, + 0.1680582353692191, + -0.154945841037159, + -0.9735236082755627 + ], + [ + 0.9182865664965572, + -0.3212882494868725, + 0.23135177227249673, + -0.3469587382919882, + -0.9345175316370798, + 0.07935122548373688, + 0.19070767083364956, + -0.1531366834060357, + -0.9696286611278586 + ], + [ + 0.940959999554354, + -0.2648012381501211, + 0.21088997964064793, + -0.28799264098460003, + -0.9536193083205081, + 0.08758112546108801, + 0.17791716605596353, + -0.14314509796873393, + -0.9735784318431342 + ], + [ + 0.9742769884098923, + -0.15446032646334706, + 0.1640925269589907, + -0.17050314323245624, + -0.9813677744139102, + 0.08857747732771264, + 0.14735341191436105, + -0.11427728947925385, + -0.9824600109452148 + ], + [ + 0.9882868490352117, + -0.04204114525536547, + 0.1467025771064353, + -0.05709502567726575, + -0.9933518257883596, + 0.09996153383099138, + 0.1415247754527973, + -0.10716665670137018, + -0.9841168861596093 + ], + [ + 0.9941824797402145, + -0.014088252361435006, + 0.10678351053883672, + -0.023692107866128614, + -0.9957310079160352, + 0.08921011097053806, + 0.10507083802110392, + -0.09122105579259927, + -0.9902721029987797 + ], + [ + 0.9957926617915853, + 0.017952455448990802, + 0.08985924585362584, + 0.008769172675742924, + -0.994790148983973, + 0.10156604302141886, + 0.09121445243278817, + -0.10035072908453482, + -0.9907621585625834 + ], + [ + 0.9948520260507967, + 0.04429965218807931, + 0.09114267430046269, + 0.03421671013219332, + -0.9934131914242853, + 0.10935926047640382, + 0.09538691215441708, + -0.10567767938515532, + -0.9898149145519146 + ], + [ + 0.9907546316452791, + 0.10541122836565914, + 0.08540335361020684, + 0.09702624667439819, + -0.990542613744179, + 0.09701153443343227, + 0.09482176611783819, + -0.08782826020873372, + -0.9916123382547238 + ], + [ + 0.98345221908837, + 0.16216850439349714, + 0.08076576597134229, + 0.15941309111233878, + -0.9864209234373424, + 0.039512380174199384, + 0.0860767050494529, + -0.025983417554232273, + -0.9959496286760855 + ], + [ + 0.9614137408718005, + 0.2548857235009088, + 0.10352239766498726, + 0.25798550338866305, + -0.9659899119802414, + -0.017520559172089917, + 0.095535851407666, + 0.043551784209407814, + -0.9944727966053112 + ], + [ + 0.934440144626854, + 0.3393780226700752, + 0.10790817317652301, + 0.34386955990968804, + -0.9386684980658093, + -0.025596415889642045, + 0.09260314183256449, + 0.06102465458671558, + -0.9938312983878654 + ], + [ + 0.9157562678527174, + 0.38431319587067375, + 0.11702061941440409, + 0.3909185378378925, + -0.9195951207359467, + -0.039083381293373395, + 0.09259133146869578, + 0.08153638082664769, + -0.9923601483022912 + ], + [ + 0.8919494342862905, + 0.43344896483203604, + 0.12863981328656585, + 0.44176807332061524, + -0.8960574788277331, + -0.043840210212519604, + 0.09626617303579506, + 0.0959322131659788, + -0.9907218754050601 + ], + [ + 0.849029490085339, + 0.509501440209738, + 0.13984708573878574, + 0.5210583503205943, + -0.8512648015203654, + -0.06201961990913124, + 0.08744781601966607, + 0.12552497805893068, + -0.9882289002840865 + ], + [ + 0.8032552339326096, + 0.5838237912537342, + 0.11802885209127655, + 0.5942788067747776, + -0.798898600326567, + -0.0927023527996903, + 0.04017124566421583, + 0.1446056954700191, + -0.9886735881267472 + ], + [ + 0.7674821376502947, + 0.6306244376041131, + 0.11525618024309874, + 0.6410390089315497, + -0.7567167443766942, + -0.1282527107237625, + 0.006336987911475397, + 0.17231537214199022, + -0.9850214490597536 + ], + [ + 0.746154261017995, + 0.6549088515437737, + 0.11978403455513331, + 0.6657085599064064, + -0.7314020905603631, + -0.14792935878745977, + -0.009269953183722868, + 0.1901193785323999, + -0.9817172148202483 + ], + [ + 0.7594908136223948, + 0.6392417919476971, + 0.1205969960268065, + 0.6504502346715662, + -0.7435714908664852, + -0.15497073977463252, + -0.009391285263324264, + 0.19614119760542228, + -0.9805306901688562 + ], + [ + 0.7619557209731553, + 0.6378327558240168, + 0.11221789017005918, + 0.6472623171955348, + -0.7441739597419992, + -0.16509576124352937, + -0.02179385268707853, + 0.19843007141019187, + -0.9798727135425296 + ], + [ + 0.7644408234428897, + 0.6365284603471748, + 0.1022826799708122, + 0.6438711955124783, + -0.7457830031293667, + -0.17099004600465675, + -0.032559346481284494, + 0.19656864300136453, + -0.979949313763377 + ], + [ + 0.7972299143939592, + 0.6000223454580282, + 0.0663147686902918, + 0.6012152341426955, + -0.7792670915360211, + -0.17687012829682155, + -0.05444911229895355, + 0.18087560642617614, + -0.9819976115906895 + ], + [ + 0.8051825002070541, + 0.5845915456243582, + 0.0996687821980434, + 0.5928608660031727, + -0.7895274690357306, + -0.15862650850347, + -0.014040474432344248, + 0.1868130092433531, + -0.9822951514973274 + ], + [ + 0.8504877757801335, + 0.5141288451678885, + 0.11109488653801862, + 0.5254916102024301, + -0.8397426970179821, + -0.13671419243013258, + 0.023002409774177904, + 0.17465318024960028, + -0.9843612933132234 + ], + [ + 0.897277294585532, + 0.42038436029661586, + 0.13479779760542487, + 0.4349615642673663, + -0.8940617606158624, + -0.10706075758441923, + 0.07551088816424972, + 0.15469504782787663, + -0.9850723567059309 + ], + [ + 0.969663411401799, + 0.20385543289981284, + 0.13489192364947472, + 0.21996644360321344, + -0.9683731942938967, + -0.11776298340985511, + 0.10661909902630076, + 0.1438621529460247, + -0.9838374096732421 + ], + [ + 0.9887823091658527, + -0.03204605932954696, + 0.1458855550151922, + -0.019599783372308496, + -0.9961051867320739, + -0.0859668858178439, + 0.14807225794321535, + 0.08214321059531815, + -0.9855592825298185 + ], + [ + 0.9625196880881681, + -0.23200644454593605, + 0.14045945938885498, + -0.2275728341729315, + -0.9726227575291309, + -0.04706991271427245, + 0.14753458980576498, + 0.013340960444559315, + -0.9889669173360967 + ], + [ + 0.925822202541015, + -0.35684745814149993, + 0.1245517599235533, + -0.35500422975423845, + -0.9341139812274031, + -0.037457535050917784, + 0.12971216650223624, + -0.009537383993597904, + -0.9915058205415916 + ], + [ + 0.8676557937348192, + -0.4785281296294056, + 0.13484899981751475, + -0.4789119264074685, + -0.87728977097653, + -0.03171788903182944, + 0.133479550280516, + -0.03706058409322145, + -0.9903583809730601 + ], + [ + 0.8272148544391722, + -0.5434219163856271, + 0.14285729028282573, + -0.544931082978281, + -0.837876880648107, + -0.031818983005677516, + 0.13698795348240211, + -0.05152624250971886, + -0.9892316952734241 + ], + [ + 0.7874000404634477, + -0.5973413161517147, + 0.1522646652913854, + -0.598503413859351, + -0.7999527323566474, + -0.04323528181746875, + 0.14763075518625127, + -0.057087459334522146, + -0.9873936307825091 + ], + [ + 0.7800790111897035, + -0.6041011919175759, + 0.16290637257350968, + -0.6060179383689731, + -0.7942647126612092, + -0.04342608198107238, + 0.1556245310878547, + -0.06484840896252819, + -0.9856853905677585 + ], + [ + 0.7476859973215161, + -0.6439380383078468, + 0.16220188725650497, + -0.6465800763208613, + -0.7616244008573717, + -0.04315642389678277, + 0.15132697814414675, + -0.0726090547996026, + -0.9858134056944393 + ], + [ + 0.7296574031432463, + -0.6677259355413082, + 0.14745219240058327, + -0.6704746864315995, + -0.7409762659609747, + -0.037654589852757145, + 0.1344015211695999, + -0.07138801221504612, + -0.9883521552661693 + ], + [ + 0.7500231661325092, + -0.6426030758554516, + 0.15660950534906753, + -0.6494031521722726, + -0.7603794997042823, + -0.009927858690673044, + 0.12546232985754385, + -0.09425658242573008, + -0.9876107028865871 + ], + [ + 0.8356588745558515, + -0.5172119890610516, + 0.18484048189603555, + -0.5290829582335212, + -0.8483774788681963, + 0.018079730531998177, + 0.14746344863359848, + -0.11290443623150676, + -0.9826022183957922 + ], + [ + 0.9089118778539893, + -0.36830783327662714, + 0.19552119640338436, + -0.38258336732303383, + -0.9230678050001162, + 0.03969627715587124, + 0.16585887176664124, + -0.11088357551659042, + -0.9798957430956383 + ], + [ + 0.9490989206778696, + -0.25268854678665936, + 0.18804184930740553, + -0.2668864231179348, + -0.9622116909174903, + 0.054039791052693666, + 0.16728082951557072, + -0.10147492391990434, + -0.9806732197281784 + ], + [ + 0.9731155103282516, + -0.14730029705662684, + 0.17705599692079427, + -0.16088477823526787, + -0.984836395153177, + 0.06491042222851694, + 0.1648098652713954, + -0.09165095345235179, + -0.9820579468852638 + ], + [ + 0.9857862176826919, + -0.10894822962627426, + 0.12788985998957503, + -0.1153187983849572, + -0.9923759850799437, + 0.04349113674831965, + 0.12217654343572698, + -0.057621068177464964, + -0.9908343477777635 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005746.json b/json/chunk-0005/episode_0005746.json new file mode 100644 index 0000000000000000000000000000000000000000..227cec3d84cf0deff58a5886f1041d67024059eb --- /dev/null +++ b/json/chunk-0005/episode_0005746.json @@ -0,0 +1,1282 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 20, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut cup from anywhere into sink." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005746.mp4", + "start": 0, + "end": 20, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.15568777918815613, + 0.010949884541332722, + 0.09143083542585373, + 0.144457146525383, + -0.25050002336502075, + 0.46670854091644287, + 0.0, + 0.9988223910331726 + ], + [ + 0.15495005249977112, + 0.007115657906979322, + 0.0834280401468277, + 0.1401796042919159, + -0.20380091667175293, + 0.4463862478733063, + 0.0, + 0.9988223910331726 + ], + [ + 0.15859746932983398, + 0.00646472442895174, + 0.07282508909702301, + 0.1257464736700058, + -0.15560030937194824, + 0.421695351600647, + 0.0, + 0.9988223910331726 + ], + [ + 0.16405951976776123, + 0.0068122330121695995, + 0.0635940358042717, + 0.10264064371585846, + -0.12998849153518677, + 0.39862656593322754, + 0.0, + 0.9988223910331726 + ], + [ + 0.16745825111865997, + 0.008500222116708755, + 0.05545990914106369, + 0.08223649859428406, + -0.10042428225278854, + 0.3760165572166443, + 0.0, + 0.9988223910331726 + ], + [ + 0.1702977865934372, + 0.011172095313668251, + 0.05155368894338608, + 0.0790565237402916, + -0.08815229684114456, + 0.36092764139175415, + 0.0, + 0.8261235952377319 + ], + [ + 0.17258058488368988, + 0.011550460010766983, + 0.05208097770810127, + 0.07914192974567413, + -0.09623979777097702, + 0.3558720052242279, + 0.0, + 0.5393473505973816 + ], + [ + 0.17592918872833252, + 0.010930311866104603, + 0.05226081982254982, + 0.0690077543258667, + -0.11418991535902023, + 0.34782737493515015, + 0.0, + 0.27305713295936584 + ], + [ + 0.180471271276474, + 0.00960560142993927, + 0.052043069154024124, + 0.05466070771217346, + -0.13558004796504974, + 0.32872897386550903, + 0.0, + 0.18800361454486847 + ], + [ + 0.18771517276763916, + 0.006784939672797918, + 0.04857802763581276, + 0.03781706094741821, + -0.14086148142814636, + 0.3085407018661499, + 0.0, + 0.18403103947639465 + ], + [ + 0.18702009320259094, + 0.009664291515946388, + 0.05703766271471977, + 0.06389227509498596, + -0.1266251653432846, + 0.2907971143722534, + 0.0, + 0.17844799160957336 + ], + [ + 0.1972554475069046, + 0.0247057918459177, + 0.10872851312160492, + 0.10680995881557465, + -0.20014646649360657, + 0.28234565258026123, + 0.0, + 0.147182896733284 + ], + [ + 0.21400775015354156, + 0.037715934216976166, + 0.14405356347560883, + 0.11776591092348099, + -0.23339195549488068, + 0.2573601305484772, + 0.0, + 0.1437794268131256 + ], + [ + 0.2467891424894333, + 0.04827957600355148, + 0.15463383495807648, + 0.12558746337890625, + -0.2929689288139343, + 0.21007230877876282, + 0.0, + 0.1437794268131256 + ], + [ + 0.2959177494049072, + 0.05842887982726097, + 0.1605578362941742, + 0.11785802245140076, + -0.38856545090675354, + 0.15027357637882233, + 0.0, + 0.11832001805305481 + ], + [ + 0.33205506205558777, + 0.06628317385911942, + 0.15733949840068817, + 0.09412901848554611, + -0.42567741870880127, + 0.10665347427129745, + 0.0, + 0.11201969534158707 + ], + [ + 0.3503696620464325, + 0.07150574028491974, + 0.1605011373758316, + 0.08097977191209793, + -0.44720956683158875, + 0.07459040731191635, + 0.0, + 0.11201969534158707 + ], + [ + 0.3638152778148651, + 0.07649757713079453, + 0.1647845357656479, + 0.08482713252305984, + -0.4361504316329956, + 0.04354845732450485, + 0.0, + 0.11201969534158707 + ], + [ + 0.36737412214279175, + 0.07103504240512848, + 0.15929879248142242, + 0.08022759109735489, + -0.3962235450744629, + 0.020280448719859123, + 0.0, + 0.11201969534158707 + ], + [ + 0.37176597118377686, + 0.0372006855905056, + 0.14208100736141205, + 0.05994830280542374, + -0.3774780035018921, + -0.05340323969721794, + 0.0, + 0.11201969534158707 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.8261235952377319 + ], + [ + 0.5393473505973816 + ], + [ + 0.27305713295936584 + ], + [ + 0.18800361454486847 + ], + [ + 0.18403103947639465 + ], + [ + 0.17844799160957336 + ], + [ + 0.147182896733284 + ], + [ + 0.1437794268131256 + ], + [ + 0.1437794268131256 + ], + [ + 0.11832001805305481 + ], + [ + 0.11201969534158707 + ], + [ + 0.11201969534158707 + ], + [ + 0.11201969534158707 + ], + [ + 0.11201969534158707 + ], + [ + 0.11201969534158707 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.15568777918815613, + 0.010949884541332722, + 0.09143083542585373 + ], + [ + 0.15495005249977112, + 0.007115657906979322, + 0.0834280401468277 + ], + [ + 0.15859746932983398, + 0.00646472442895174, + 0.07282508909702301 + ], + [ + 0.16405951976776123, + 0.0068122330121695995, + 0.0635940358042717 + ], + [ + 0.16745825111865997, + 0.008500222116708755, + 0.05545990914106369 + ], + [ + 0.1702977865934372, + 0.011172095313668251, + 0.05155368894338608 + ], + [ + 0.17258058488368988, + 0.011550460010766983, + 0.05208097770810127 + ], + [ + 0.17592918872833252, + 0.010930311866104603, + 0.05226081982254982 + ], + [ + 0.180471271276474, + 0.00960560142993927, + 0.052043069154024124 + ], + [ + 0.18771517276763916, + 0.006784939672797918, + 0.04857802763581276 + ], + [ + 0.18702009320259094, + 0.009664291515946388, + 0.05703766271471977 + ], + [ + 0.1972554475069046, + 0.0247057918459177, + 0.10872851312160492 + ], + [ + 0.21400775015354156, + 0.037715934216976166, + 0.14405356347560883 + ], + [ + 0.2467891424894333, + 0.04827957600355148, + 0.15463383495807648 + ], + [ + 0.2959177494049072, + 0.05842887982726097, + 0.1605578362941742 + ], + [ + 0.33205506205558777, + 0.06628317385911942, + 0.15733949840068817 + ], + [ + 0.3503696620464325, + 0.07150574028491974, + 0.1605011373758316 + ], + [ + 0.3638152778148651, + 0.07649757713079453, + 0.1647845357656479 + ], + [ + 0.36737412214279175, + 0.07103504240512848, + 0.15929879248142242 + ], + [ + 0.37176597118377686, + 0.0372006855905056, + 0.14208100736141205 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8651806371570689, + 0.4771311858557754, + 0.15429937320789783, + 0.4359057268336991, + -0.8676958710577996, + 0.2389352896975068, + 0.24788840715546395, + -0.13946220575162485, + -0.9586978829458312 + ], + [ + 0.8833453522541471, + 0.4529816635850612, + 0.12045165464495491, + 0.4227742267030675, + -0.8809570604237009, + 0.21254790266021323, + 0.20239303813772933, + -0.13682934679864045, + -0.9696982973935953 + ], + [ + 0.9013733762587202, + 0.4238094604430365, + 0.08894705060280586, + 0.40436289246996043, + -0.8972370313533575, + 0.1773594112573151, + 0.15497318401995572, + -0.12390016467784246, + -0.9801183915362065 + ], + [ + 0.91381982413061, + 0.39835003598080915, + 0.07906059612720462, + 0.384878262009755, + -0.9115895358547035, + 0.1444757472815301, + 0.12962273125594645, + -0.10159609714105261, + -0.9863448588538668 + ], + [ + 0.9254485229263552, + 0.3736372451481393, + 0.06277133463243066, + 0.3653681048556899, + -0.923967218238189, + 0.11309609885112845, + 0.10025557025716274, + -0.08172997405659635, + -0.9915992295141818 + ], + [ + 0.9319369151362181, + 0.3585440513023588, + 0.054219456674529196, + 0.35177104274018234, + -0.9301922272809479, + 0.10487875759940347, + 0.08803817181129132, + -0.07866755100930199, + -0.9930058895708145 + ], + [ + 0.9330054993659722, + 0.35443823345755304, + 0.06224368896797039, + 0.346795616578307, + -0.9317622404528075, + 0.10747989387990625, + 0.09609130280584305, + -0.07869349356746799, + -0.992256920154867 + ], + [ + 0.9339928995858412, + 0.34743097258610656, + 0.08336055908584585, + 0.3386362400563939, + -0.9351999412837808, + 0.10356913991764771, + 0.11394191697396107, + -0.06850393500146576, + -0.991122823087842 + ], + [ + 0.9377679336811318, + 0.32934727508522116, + 0.11009847843344676, + 0.3198776476778022, + -0.9426558679054113, + 0.09527961597115964, + 0.1351650586340137, + -0.05413212629700995, + -0.989343277041406 + ], + [ + 0.9433408592022774, + 0.3085088989514855, + 0.12218953567000561, + 0.3006608623125514, + -0.9504846062689308, + 0.07862607149838413, + 0.140396115448336, + -0.03743357468287123, + -0.9893875167261207 + ], + [ + 0.9503455122107809, + 0.29385569086082886, + 0.10243163754198935, + 0.28442044158418045, + -0.9537490122760193, + 0.09730279539446672, + 0.12628705329481846, + -0.06333762334681196, + -0.9899696589486412 + ], + [ + 0.9412324547781991, + 0.2973770832609115, + 0.16015098008891143, + 0.2730474438194219, + -0.9490263653009413, + 0.1574612694835286, + 0.19881287557873512, + -0.1044788414700207, + -0.9744524678963039 + ], + [ + 0.9408457174928737, + 0.2790444372617391, + 0.19220701836457152, + 0.2476276127546232, + -0.953450474099259, + 0.17208358097547918, + 0.23127883880019326, + -0.1143083350993149, + -0.9661489032494197 + ], + [ + 0.9363432505367965, + 0.24226691415341317, + 0.2541024586279485, + 0.19964527198455528, + -0.9627698726736221, + 0.18225240093406148, + 0.2887959185106301, + -0.11992045104401367, + -0.9498505160671343 + ], + [ + 0.9150237922930481, + 0.1927165449483367, + 0.35438932382455374, + 0.13854837784209287, + -0.975201819043217, + 0.17258551252096804, + 0.3788611969243794, + -0.10881978422132743, + -0.919033431397928 + ], + [ + 0.9055841919692439, + 0.14457167310812993, + 0.39876848244329394, + 0.0969515863096247, + -0.9857845974029992, + 0.13721923128721478, + 0.4129378417721716, + -0.08560232974471413, + -0.9067274011381912 + ], + [ + 0.8991502116211014, + 0.10916131714309057, + 0.42380738995599676, + 0.06719264064314923, + -0.9913445987161276, + 0.11278756864016888, + 0.4324512064789845, + -0.07293622855581304, + -0.8987025428799704 + ], + [ + 0.90552530945989, + 0.07913677404782414, + 0.41684683628507263, + 0.03945917780737429, + -0.9939014427000985, + 0.10297036217003853, + 0.4224534142533784, + -0.07679383563780696, + -0.9031255835118929 + ], + [ + 0.9223353342202031, + 0.051137080040577015, + 0.3829915538152639, + 0.018707939355782053, + -0.9959512894441911, + 0.08792634451354017, + 0.38593722838561056, + -0.0739325915911041, + -0.9195577348087809 + ], + [ + 0.9282718945056008, + -0.031231109130050595, + 0.3705885962809554, + -0.049619905893233264, + -0.9979592936944501, + 0.04018846934159441, + 0.36857720332398314, + -0.05569439784556854, + -0.9279272488931932 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0007377266883850098, + -0.0038342266343533993, + -0.008002795279026031, + -0.004277542233467102, + 0.04669910669326782, + -0.020322293043136597, + 1.0 + ], + [ + 0.003647416830062866, + -0.0006509334780275822, + -0.010602951049804688, + -0.014433130621910095, + 0.04820060729980469, + -0.024690896272659302, + 1.0 + ], + [ + 0.005462050437927246, + 0.00034750858321785927, + -0.009231053292751312, + -0.02310582995414734, + 0.025611817836761475, + -0.023068785667419434, + 1.0 + ], + [ + 0.0033987313508987427, + 0.001687989104539156, + -0.008134126663208008, + -0.020404145121574402, + 0.029564209282398224, + -0.022610008716583252, + 1.0 + ], + [ + 0.0028395354747772217, + 0.0026718731969594955, + -0.0039062201976776123, + -0.003179974853992462, + 0.012271985411643982, + -0.015088915824890137, + 0.0 + ], + [ + 0.0022827982902526855, + 0.000378364697098732, + 0.0005272887647151947, + 8.540600538253784e-05, + -0.008087500929832458, + -0.005055636167526245, + 0.0 + ], + [ + 0.003348603844642639, + -0.0006201481446623802, + 0.00017984211444854736, + -0.010134175419807434, + -0.017950117588043213, + -0.008044630289077759, + 0.0 + ], + [ + 0.0045420825481414795, + -0.0013247104361653328, + -0.0002177506685256958, + -0.014347046613693237, + -0.02139013260602951, + -0.019098401069641113, + 0.0 + ], + [ + 0.007243901491165161, + -0.0028206617571413517, + -0.0034650415182113647, + -0.01684364676475525, + -0.005281433463096619, + -0.02018827199935913, + 0.0 + ], + [ + -0.0006950795650482178, + 0.00287935184314847, + 0.008459635078907013, + 0.02607521414756775, + 0.014236316084861755, + -0.017743587493896484, + 0.0 + ], + [ + 0.01023535430431366, + 0.015041500329971313, + 0.05169085040688515, + 0.042917683720588684, + -0.07352130115032196, + -0.008451461791992188, + 0.0 + ], + [ + 0.016752302646636963, + 0.013010142371058464, + 0.035325050354003906, + 0.010955952107906342, + -0.03324548900127411, + -0.024985522031784058, + 0.0 + ], + [ + 0.032781392335891724, + 0.010563641786575317, + 0.010580271482467651, + 0.007821552455425262, + -0.05957697331905365, + -0.047287821769714355, + 0.0 + ], + [ + 0.04912860691547394, + 0.010149303823709488, + 0.005924001336097717, + -0.007729440927505493, + -0.09559652209281921, + -0.05979873239994049, + 0.0 + ], + [ + 0.03613731265068054, + 0.007854294031858444, + -0.003218337893486023, + -0.023729003965854645, + -0.03711196780204773, + -0.04362010210752487, + 0.0 + ], + [ + 0.018314599990844727, + 0.0052225664258003235, + 0.0031616389751434326, + -0.013149246573448181, + -0.021532148122787476, + -0.032063066959381104, + 0.0 + ], + [ + 0.013445615768432617, + 0.004991836845874786, + 0.004283398389816284, + 0.003847360610961914, + 0.01105913519859314, + -0.0310419499874115, + 0.0 + ], + [ + 0.0035588443279266357, + -0.005462534725666046, + -0.005485743284225464, + -0.004599541425704956, + 0.039926886558532715, + -0.02326800860464573, + 0.0 + ], + [ + 0.004391849040985107, + -0.03383435681462288, + -0.017217785120010376, + -0.020279288291931152, + 0.0187455415725708, + -0.07368368655443192, + 0.0 + ], + [ + 0.013958841562271118, + -0.04606150835752487, + -0.009639352560043335, + -0.001083139330148697, + 0.05899342894554138, + -0.14511790871620178, + 0.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.8261235952377319 + ], + [ + 0.5393473505973816 + ], + [ + 0.27305713295936584 + ], + [ + 0.18800361454486847 + ], + [ + 0.18403103947639465 + ], + [ + 0.17844799160957336 + ], + [ + 0.147182896733284 + ], + [ + 0.1437794268131256 + ], + [ + 0.1437794268131256 + ], + [ + 0.11832001805305481 + ], + [ + 0.11201969534158707 + ], + [ + 0.11201969534158707 + ], + [ + 0.11201969534158707 + ], + [ + 0.11201969534158707 + ], + [ + 0.11201969534158707 + ], + [ + 0.11201969534158707 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.15495005249977112, + 0.007115657906979322, + 0.0834280401468277 + ], + [ + 0.15859746932983398, + 0.00646472442895174, + 0.07282508909702301 + ], + [ + 0.16405951976776123, + 0.0068122330121695995, + 0.0635940358042717 + ], + [ + 0.16745825111865997, + 0.008500222116708755, + 0.05545990914106369 + ], + [ + 0.1702977865934372, + 0.011172095313668251, + 0.05155368894338608 + ], + [ + 0.17258058488368988, + 0.011550460010766983, + 0.05208097770810127 + ], + [ + 0.17592918872833252, + 0.010930311866104603, + 0.05226081982254982 + ], + [ + 0.180471271276474, + 0.00960560142993927, + 0.052043069154024124 + ], + [ + 0.18771517276763916, + 0.006784939672797918, + 0.04857802763581276 + ], + [ + 0.18702009320259094, + 0.009664291515946388, + 0.05703766271471977 + ], + [ + 0.1972554475069046, + 0.0247057918459177, + 0.10872851312160492 + ], + [ + 0.21400775015354156, + 0.037715934216976166, + 0.14405356347560883 + ], + [ + 0.2467891424894333, + 0.04827957600355148, + 0.15463383495807648 + ], + [ + 0.2959177494049072, + 0.05842887982726097, + 0.1605578362941742 + ], + [ + 0.33205506205558777, + 0.06628317385911942, + 0.15733949840068817 + ], + [ + 0.3503696620464325, + 0.07150574028491974, + 0.1605011373758316 + ], + [ + 0.3638152778148651, + 0.07649757713079453, + 0.1647845357656479 + ], + [ + 0.36737412214279175, + 0.07103504240512848, + 0.15929879248142242 + ], + [ + 0.37176597118377686, + 0.0372006855905056, + 0.14208100736141205 + ], + [ + 0.385724812746048, + -0.008860823698341846, + 0.1324416548013687 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8833453522541471, + 0.4529816635850612, + 0.12045165464495491, + 0.4227742267030675, + -0.8809570604237009, + 0.21254790266021323, + 0.20239303813772933, + -0.13682934679864045, + -0.9696982973935953 + ], + [ + 0.9013733762587202, + 0.4238094604430365, + 0.08894705060280586, + 0.40436289246996043, + -0.8972370313533575, + 0.1773594112573151, + 0.15497318401995572, + -0.12390016467784246, + -0.9801183915362065 + ], + [ + 0.91381982413061, + 0.39835003598080915, + 0.07906059612720462, + 0.384878262009755, + -0.9115895358547035, + 0.1444757472815301, + 0.12962273125594645, + -0.10159609714105261, + -0.9863448588538668 + ], + [ + 0.9254485229263552, + 0.3736372451481393, + 0.06277133463243066, + 0.3653681048556899, + -0.923967218238189, + 0.11309609885112845, + 0.10025557025716274, + -0.08172997405659635, + -0.9915992295141818 + ], + [ + 0.9319369151362181, + 0.3585440513023588, + 0.054219456674529196, + 0.35177104274018234, + -0.9301922272809479, + 0.10487875759940347, + 0.08803817181129132, + -0.07866755100930199, + -0.9930058895708145 + ], + [ + 0.9330054993659722, + 0.35443823345755304, + 0.06224368896797039, + 0.346795616578307, + -0.9317622404528075, + 0.10747989387990625, + 0.09609130280584305, + -0.07869349356746799, + -0.992256920154867 + ], + [ + 0.9339928995858412, + 0.34743097258610656, + 0.08336055908584585, + 0.3386362400563939, + -0.9351999412837808, + 0.10356913991764771, + 0.11394191697396107, + -0.06850393500146576, + -0.991122823087842 + ], + [ + 0.9377679336811318, + 0.32934727508522116, + 0.11009847843344676, + 0.3198776476778022, + -0.9426558679054113, + 0.09527961597115964, + 0.1351650586340137, + -0.05413212629700995, + -0.989343277041406 + ], + [ + 0.9433408592022774, + 0.3085088989514855, + 0.12218953567000561, + 0.3006608623125514, + -0.9504846062689308, + 0.07862607149838413, + 0.140396115448336, + -0.03743357468287123, + -0.9893875167261207 + ], + [ + 0.9503455122107809, + 0.29385569086082886, + 0.10243163754198935, + 0.28442044158418045, + -0.9537490122760193, + 0.09730279539446672, + 0.12628705329481846, + -0.06333762334681196, + -0.9899696589486412 + ], + [ + 0.9412324547781991, + 0.2973770832609115, + 0.16015098008891143, + 0.2730474438194219, + -0.9490263653009413, + 0.1574612694835286, + 0.19881287557873512, + -0.1044788414700207, + -0.9744524678963039 + ], + [ + 0.9408457174928737, + 0.2790444372617391, + 0.19220701836457152, + 0.2476276127546232, + -0.953450474099259, + 0.17208358097547918, + 0.23127883880019326, + -0.1143083350993149, + -0.9661489032494197 + ], + [ + 0.9363432505367965, + 0.24226691415341317, + 0.2541024586279485, + 0.19964527198455528, + -0.9627698726736221, + 0.18225240093406148, + 0.2887959185106301, + -0.11992045104401367, + -0.9498505160671343 + ], + [ + 0.9150237922930481, + 0.1927165449483367, + 0.35438932382455374, + 0.13854837784209287, + -0.975201819043217, + 0.17258551252096804, + 0.3788611969243794, + -0.10881978422132743, + -0.919033431397928 + ], + [ + 0.9055841919692439, + 0.14457167310812993, + 0.39876848244329394, + 0.0969515863096247, + -0.9857845974029992, + 0.13721923128721478, + 0.4129378417721716, + -0.08560232974471413, + -0.9067274011381912 + ], + [ + 0.8991502116211014, + 0.10916131714309057, + 0.42380738995599676, + 0.06719264064314923, + -0.9913445987161276, + 0.11278756864016888, + 0.4324512064789845, + -0.07293622855581304, + -0.8987025428799704 + ], + [ + 0.90552530945989, + 0.07913677404782414, + 0.41684683628507263, + 0.03945917780737429, + -0.9939014427000985, + 0.10297036217003853, + 0.4224534142533784, + -0.07679383563780696, + -0.9031255835118929 + ], + [ + 0.9223353342202031, + 0.051137080040577015, + 0.3829915538152639, + 0.018707939355782053, + -0.9959512894441911, + 0.08792634451354017, + 0.38593722838561056, + -0.0739325915911041, + -0.9195577348087809 + ], + [ + 0.9282718945056008, + -0.031231109130050595, + 0.3705885962809554, + -0.049619905893233264, + -0.9979592936944501, + 0.04018846934159441, + 0.36857720332398314, + -0.05569439784556854, + -0.9279272488931932 + ], + [ + 0.9310580480356919, + -0.17881829356093593, + 0.3180486269046327, + -0.18730176691175832, + -0.9822943901044091, + -0.003972314330511879, + 0.31312770445890076, + -0.05587261455634571, + -0.9480660797871303 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005748.json b/json/chunk-0005/episode_0005748.json new file mode 100644 index 0000000000000000000000000000000000000000..8d63228cc18d728edfba1dec394c4e717ffe6d8e --- /dev/null +++ b/json/chunk-0005/episode_0005748.json @@ -0,0 +1,1942 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 31, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nFolded the cloth from top right to the bottom left." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005748.mp4", + "start": 0, + "end": 31, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.35469725728034973, + 0.029405876994132996, + 0.08183145523071289, + 0.19869443774223328, + -0.11320887506008148, + -0.6850568652153015, + 0.0, + 1.0008161067962646 + ], + [ + 0.35335594415664673, + 0.028767652809619904, + 0.07159112393856049, + 0.17500363290309906, + -0.09617841988801956, + -0.6700015664100647, + 0.0, + 1.0008161067962646 + ], + [ + 0.3515445590019226, + -0.0016366303898394108, + 0.06535395234823227, + 0.1429915428161621, + -0.12171436846256256, + -0.6213209629058838, + 0.0, + 1.0001531839370728 + ], + [ + 0.35144808888435364, + -0.02243175357580185, + 0.05361950397491455, + 0.13738615810871124, + -0.1284632831811905, + -0.6076777577400208, + 0.0, + 1.0008161067962646 + ], + [ + 0.3474105894565582, + -0.03369816020131111, + 0.04081876948475838, + 0.11568771302700043, + -0.11827055364847183, + -0.5651451349258423, + 0.0, + 1.0001531839370728 + ], + [ + 0.3374703526496887, + -0.03681061789393425, + 0.0291159488260746, + 0.08261284232139587, + -0.12309985607862473, + -0.4029100239276886, + 0.0, + 1.0008161067962646 + ], + [ + 0.3347833454608917, + -0.03762836754322052, + 0.022421661764383316, + 0.048930466175079346, + -0.10611454397439957, + -0.3307129442691803, + 0.0, + 1.0001531839370728 + ], + [ + 0.337745726108551, + -0.029526088386774063, + 0.00613326346501708, + 0.006090065464377403, + -0.09787631779909134, + -0.3050280511379242, + 0.0, + 1.0001531839370728 + ], + [ + 0.3452659845352173, + -0.024806728586554527, + -0.00489204004406929, + -0.007882952690124512, + -0.09064770489931107, + -0.33770135045051575, + 0.0, + 1.0008161067962646 + ], + [ + 0.3468179702758789, + -0.020424557849764824, + -0.01732139103114605, + -0.03805799037218094, + -0.11990387737751007, + -0.2958727180957794, + 0.0, + 0.9650423526763916 + ], + [ + 0.3466092646121979, + -0.0177464559674263, + -0.017806757241487503, + -0.01451866514980793, + -0.11370684951543808, + -0.30597925186157227, + 0.0, + 0.6871993541717529 + ], + [ + 0.3444365859031677, + -0.01722140982747078, + -0.019647210836410522, + -0.0030958002898842096, + -0.09531404823064804, + -0.3091394901275635, + 0.0, + 0.3962334990501404 + ], + [ + 0.3434954583644867, + -0.017078323289752007, + -0.019484302029013634, + -0.002771256724372506, + -0.08778528869152069, + -0.32886597514152527, + 0.0, + 0.1972842812538147 + ], + [ + 0.3426983654499054, + -0.014405123889446259, + -0.018339859321713448, + 0.009850336238741875, + -0.06931044906377792, + -0.33942171931266785, + 0.0, + 0.08191495388746262 + ], + [ + 0.3428094685077667, + -0.012500228360295296, + -0.01783221773803234, + 0.023487547412514687, + -0.061790306121110916, + -0.33955076336860657, + 0.0, + 0.056741900742053986 + ], + [ + 0.3506879210472107, + -0.008946905843913555, + -0.012174931354820728, + 0.04436605051159859, + -0.03797603398561478, + -0.39319735765457153, + 0.0, + 0.05538023263216019 + ], + [ + 0.35837632417678833, + -0.005456315353512764, + -2.140418473572936e-05, + 0.08185227960348129, + -0.013342132791876793, + -0.45802631974220276, + 0.0, + 0.05538023263216019 + ], + [ + 0.3606330454349518, + -0.003641887567937374, + 0.029362034052610397, + 0.11900032311677933, + -0.04044242948293686, + -0.5080150961875916, + 0.0, + 0.05511022359132767 + ], + [ + 0.36061620712280273, + 0.007594109512865543, + 0.05884629115462303, + 0.14314833283424377, + -0.09160719811916351, + -0.508699357509613, + 0.0, + 0.05511022359132767 + ], + [ + 0.3472846746444702, + 0.04553191736340523, + 0.08184167742729187, + 0.1451965570449829, + -0.11723881214857101, + -0.4582483172416687, + 0.0, + 0.05511022359132767 + ], + [ + 0.3284308910369873, + 0.07955226302146912, + 0.0865270122885704, + 0.1278993934392929, + -0.12223649024963379, + -0.404061496257782, + 0.0, + 0.05511022359132767 + ], + [ + 0.30313771963119507, + 0.11949580162763596, + 0.07702925056219101, + 0.09545296430587769, + -0.10827301442623138, + -0.33355602622032166, + 0.0, + 0.05511022359132767 + ], + [ + 0.28228768706321716, + 0.1497776210308075, + 0.06276416033506393, + 0.10606864839792252, + -0.11773799359798431, + -0.3026597201824188, + 0.0, + 0.05511022359132767 + ], + [ + 0.267177551984787, + 0.16184967756271362, + 0.03640087693929672, + 0.10574634373188019, + -0.08658060431480408, + -0.32060161232948303, + 0.0, + 0.05511022359132767 + ], + [ + 0.25715428590774536, + 0.16759851574897766, + 0.011735256761312485, + 0.1093774065375328, + -0.06688856333494186, + -0.34780222177505493, + 0.0, + 0.06987876445055008 + ], + [ + 0.25571176409721375, + 0.17040060460567474, + 0.0017976831877604127, + 0.10642066597938538, + -0.031182298436760902, + -0.357143759727478, + 0.0, + 0.21050429344177246 + ], + [ + 0.2568379342556, + 0.16905798017978668, + 0.0036586769856512547, + 0.10866124927997589, + -0.010447164997458458, + -0.3619140088558197, + 0.0, + 0.45967593789100647 + ], + [ + 0.25838467478752136, + 0.16923287510871887, + 0.006384207401424646, + 0.1085016131401062, + 0.002067824359983206, + -0.35772672295570374, + 0.0, + 0.7681795358657837 + ], + [ + 0.26266175508499146, + 0.16642998158931732, + 0.021729053929448128, + 0.14017675817012787, + -0.006181193515658379, + -0.3797728419303894, + 0.0, + 0.9961419701576233 + ], + [ + 0.26631125807762146, + 0.16187651455402374, + 0.035710904747247696, + 0.1509474366903305, + 0.008546015247702599, + -0.40901413559913635, + 0.0, + 1.003452181816101 + ], + [ + 0.2728712558746338, + 0.15516123175621033, + 0.0526023805141449, + 0.14460405707359314, + 0.019351592287421227, + -0.4186629354953766, + 0.0, + 1.0001531839370728 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 0.9650423526763916 + ], + [ + 0.6871993541717529 + ], + [ + 0.3962334990501404 + ], + [ + 0.1972842812538147 + ], + [ + 0.08191495388746262 + ], + [ + 0.056741900742053986 + ], + [ + 0.05538023263216019 + ], + [ + 0.05538023263216019 + ], + [ + 0.05511022359132767 + ], + [ + 0.05511022359132767 + ], + [ + 0.05511022359132767 + ], + [ + 0.05511022359132767 + ], + [ + 0.05511022359132767 + ], + [ + 0.05511022359132767 + ], + [ + 0.05511022359132767 + ], + [ + 0.06987876445055008 + ], + [ + 0.21050429344177246 + ], + [ + 0.45967593789100647 + ], + [ + 0.7681795358657837 + ], + [ + 0.9961419701576233 + ], + [ + 1.003452181816101 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.35469725728034973, + 0.029405876994132996, + 0.08183145523071289 + ], + [ + 0.35335594415664673, + 0.028767652809619904, + 0.07159112393856049 + ], + [ + 0.3515445590019226, + -0.0016366303898394108, + 0.06535395234823227 + ], + [ + 0.35144808888435364, + -0.02243175357580185, + 0.05361950397491455 + ], + [ + 0.3474105894565582, + -0.03369816020131111, + 0.04081876948475838 + ], + [ + 0.3374703526496887, + -0.03681061789393425, + 0.0291159488260746 + ], + [ + 0.3347833454608917, + -0.03762836754322052, + 0.022421661764383316 + ], + [ + 0.337745726108551, + -0.029526088386774063, + 0.00613326346501708 + ], + [ + 0.3452659845352173, + -0.024806728586554527, + -0.00489204004406929 + ], + [ + 0.3468179702758789, + -0.020424557849764824, + -0.01732139103114605 + ], + [ + 0.3466092646121979, + -0.0177464559674263, + -0.017806757241487503 + ], + [ + 0.3444365859031677, + -0.01722140982747078, + -0.019647210836410522 + ], + [ + 0.3434954583644867, + -0.017078323289752007, + -0.019484302029013634 + ], + [ + 0.3426983654499054, + -0.014405123889446259, + -0.018339859321713448 + ], + [ + 0.3428094685077667, + -0.012500228360295296, + -0.01783221773803234 + ], + [ + 0.3506879210472107, + -0.008946905843913555, + -0.012174931354820728 + ], + [ + 0.35837632417678833, + -0.005456315353512764, + -2.140418473572936e-05 + ], + [ + 0.3606330454349518, + -0.003641887567937374, + 0.029362034052610397 + ], + [ + 0.36061620712280273, + 0.007594109512865543, + 0.05884629115462303 + ], + [ + 0.3472846746444702, + 0.04553191736340523, + 0.08184167742729187 + ], + [ + 0.3284308910369873, + 0.07955226302146912, + 0.0865270122885704 + ], + [ + 0.30313771963119507, + 0.11949580162763596, + 0.07702925056219101 + ], + [ + 0.28228768706321716, + 0.1497776210308075, + 0.06276416033506393 + ], + [ + 0.267177551984787, + 0.16184967756271362, + 0.03640087693929672 + ], + [ + 0.25715428590774536, + 0.16759851574897766, + 0.011735256761312485 + ], + [ + 0.25571176409721375, + 0.17040060460567474, + 0.0017976831877604127 + ], + [ + 0.2568379342556, + 0.16905798017978668, + 0.0036586769856512547 + ], + [ + 0.25838467478752136, + 0.16923287510871887, + 0.006384207401424646 + ], + [ + 0.26266175508499146, + 0.16642998158931732, + 0.021729053929448128 + ], + [ + 0.26631125807762146, + 0.16187651455402374, + 0.035710904747247696 + ], + [ + 0.2728712558746338, + 0.15516123175621033, + 0.0526023805141449 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.7694260231077626, + -0.6030007908503237, + 0.21065051910322227, + -0.6286668467308065, + -0.7732558491055874, + 0.08278518977173172, + 0.11296721111064653, + -0.19612607694511525, + -0.9740497785821839 + ], + [ + 0.7801982031230899, + -0.5983967282504129, + 0.1822419256447397, + -0.6181172727304615, + -0.7822314390206699, + 0.07774968141354599, + 0.09603020876660481, + -0.17330704378891537, + -0.980174916827292 + ], + [ + 0.807094787714141, + -0.5621003118948359, + 0.1806688767120487, + -0.5778032772197551, + -0.8148834241762726, + 0.0459170756567024, + 0.12141407034926391, + -0.14145050148543403, + -0.982471566586404 + ], + [ + 0.814211245816328, + -0.5511782820344342, + 0.1823802308359996, + -0.5662577271107561, + -0.8232580623572205, + 0.03997936031497703, + 0.128110240315063, + -0.1358258597521255, + -0.982414933797839 + ], + [ + 0.8386112887577962, + -0.5204562955365261, + 0.16079910075738885, + -0.5317972185525247, + -0.846159977036653, + 0.03471327701513473, + 0.11799501984315632, + -0.11462346050319504, + -0.98637651918245 + ], + [ + 0.9129626088221552, + -0.38143868838747574, + 0.14492688464838405, + -0.389129913327367, + -0.920759373357962, + 0.027930036292284247, + 0.12278919108162428, + -0.08189446485993233, + -0.9890480833502611 + ], + [ + 0.9404910168692564, + -0.31942907558621847, + 0.11593840113770085, + -0.32289092910741346, + -0.9463612534785129, + 0.011909064393548194, + 0.10591550919664133, + -0.04863582614402981, + -0.9931850086096267 + ], + [ + 0.9492733962138332, + -0.2997467156152078, + 0.095036444159861, + -0.29888258111708244, + -0.9539995661449725, + -0.023537852493266058, + 0.09772012047396005, + -0.00606088055482582, + -0.9951954801854029 + ], + [ + 0.9396449480426313, + -0.33198213797775566, + 0.08279632649869875, + -0.3299588564790539, + -0.9432530040305735, + -0.037428911530180575, + 0.09052361376456339, + 0.007850506417891744, + -0.9958633665819759 + ], + [ + 0.9496801614090398, + -0.29571713674227706, + 0.10324226878100752, + -0.28948129141114687, + -0.9545283535205233, + -0.07124748590886402, + 0.11961677536631342, + 0.037775618622975474, + -0.9921012194774365 + ], + [ + 0.9473947137096908, + -0.3027660874850702, + 0.10380728637198734, + -0.29928186489124237, + -0.9529557350176476, + -0.04801804290259043, + 0.1134619838631122, + 0.014424401753891685, + -0.9934376250434092 + ], + [ + 0.9482719426252936, + -0.3045182329214833, + 0.08971604454070126, + -0.30285810660925816, + -0.9525015216125192, + -0.03190326921948048, + 0.09516979610520904, + 0.0030817436967858405, + -0.9954562837036492 + ], + [ + 0.9427649129631824, + -0.3231986868945972, + 0.08207878943509711, + -0.32172633885243795, + -0.9463271041116903, + -0.030938243521379957, + 0.08767258279604392, + 0.002760582038273564, + -0.9961455201990724 + ], + [ + 0.9406833331152423, + -0.3322824533147196, + 0.06858015761391448, + -0.3321424636086837, + -0.9431287349000987, + -0.013768561061112601, + 0.06925496853766056, + -0.009826526593389248, + -0.997550594560475 + ], + [ + 0.9411049334127494, + -0.3316042297097956, + 0.06603134971176695, + -0.3324279155707626, + -0.94312733742903, + 0.0015831434888727656, + 0.06175099396335619, + -0.0234405680946852, + -0.9978162929677666 + ], + [ + 0.9230227535994602, + -0.38121132439892963, + 0.05202809325436332, + -0.38286748404724574, + -0.9234249868388783, + 0.026434510416308774, + 0.037966906603024, + -0.044319519758588485, + -0.9982956947575031 + ], + [ + 0.8968471323992024, + -0.43971989844059933, + 0.04807943450911655, + -0.44213936622117045, + -0.8944063697312734, + 0.06745388514879094, + 0.013341736950981238, + -0.08175363416701137, + -0.9965632651044374 + ], + [ + 0.8729973528691833, + -0.47880993093702845, + 0.09282603039813908, + -0.48604621519440067, + -0.8698676522556902, + 0.08419824377249041, + 0.04043140584491936, + -0.11862258467615425, + -0.992115912495184 + ], + [ + 0.8697166312613455, + -0.47066217893780393, + 0.14856007076242417, + -0.48499953696144193, + -0.8708016799710353, + 0.08049772237032847, + 0.09147912578618558, + -0.1420617734548678, + -0.9856216424512267 + ], + [ + 0.8906724066198743, + -0.42254488862289413, + 0.16780489022858489, + -0.43934107953226714, + -0.8948787273968095, + 0.07855876200710549, + 0.11697042327607252, + -0.14369370324176664, + -0.9826851172818706 + ], + [ + 0.9126110662784219, + -0.37564455046910655, + 0.16134501358587042, + -0.3902224401316699, + -0.9180761422445026, + 0.06973266278536266, + 0.12193231287828141, + -0.12659924464353925, + -0.9844313802047546 + ], + [ + 0.939351007993157, + -0.3161832222207041, + 0.13284522486101133, + -0.32548790533304445, + -0.9439547722615684, + 0.05483622348883508, + 0.10806159014259825, + -0.09474997578228314, + -0.9896186815259248 + ], + [ + 0.9479386709466963, + -0.2845141166282765, + 0.14305241543938527, + -0.2959965820211439, + -0.9528892616583258, + 0.06624257277650794, + 0.11746616344978343, + -0.1051369224177795, + -0.987495786314507 + ], + [ + 0.9454911009045192, + -0.3047151845868735, + 0.1148705114141484, + -0.31395714574663003, + -0.9466209856148126, + 0.07307270508384103, + 0.08647247391505396, + -0.10515401026983384, + -0.9906892274468224 + ], + [ + 0.9380217458089527, + -0.3319365035098669, + 0.09966625320121522, + -0.34007027651506283, + -0.936992852181914, + 0.07997875962385659, + 0.06683869702869241, + -0.10891534601536204, + -0.9918014095482325 + ], + [ + 0.9364437312178328, + -0.34451917420457706, + 0.06617912713401175, + -0.3494297034193922, + -0.932756579989574, + 0.0886794500117643, + 0.031177245405246908, + -0.10616826781835384, + -0.9938592849480208 + ], + [ + 0.9351698177312021, + -0.350917130864179, + 0.04811007452334812, + -0.35404558000178127, + -0.9301062203671466, + 0.09774531249907799, + 0.010446974958894056, + -0.10844162531238989, + -0.9940479237007714 + ], + [ + 0.9366932190529013, + -0.34829647706278993, + 0.035991352377528305, + -0.3501450235100088, + -0.9311085542163879, + 0.10215342762846277, + -0.0020678228863493207, + -0.10828861588697902, + -0.9941173470862449 + ], + [ + 0.9287311268249725, + -0.3662712480266475, + 0.05747927396391796, + -0.3707024243240555, + -0.9199592163342826, + 0.12749412881337205, + 0.006181154154765566, + -0.13971547212322213, + -0.9901723992228324 + ], + [ + 0.9174798470073849, + -0.39436178208196143, + 0.052053003452683294, + -0.39769045467131964, + -0.9065692675076923, + 0.14133104922091702, + -0.008545911222599775, + -0.15036937202670556, + -0.9885929492757216 + ], + [ + 0.9134622607453042, + -0.404843773611006, + 0.04108791990936542, + -0.40646311125833423, + -0.9029641756117379, + 0.1394397244260391, + -0.019350384499355177, + -0.14407364967340583, + -0.9893777570218122 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.001341313123703003, + -0.000638224184513092, + -0.010240331292152405, + -0.023690804839134216, + 0.01703045517206192, + 0.015055298805236816, + 1.0 + ], + [ + -0.001811385154724121, + -0.030404282733798027, + -0.0062371715903282166, + -0.03201209008693695, + -0.025535948574543, + 0.04868060350418091, + 1.0 + ], + [ + -9.647011756896973e-05, + -0.020795123651623726, + -0.011734448373317719, + -0.005605384707450867, + -0.00674891471862793, + 0.013643205165863037, + 1.0 + ], + [ + -0.00403749942779541, + -0.011266406625509262, + -0.012800734490156174, + -0.021698445081710815, + 0.010192729532718658, + 0.04253262281417847, + 1.0 + ], + [ + -0.009940236806869507, + -0.0031124576926231384, + -0.011702820658683777, + -0.03307487070560455, + -0.004829302430152893, + 0.1622351109981537, + 1.0 + ], + [ + -0.002687007188796997, + -0.0008177496492862701, + -0.006694287061691284, + -0.03368237614631653, + 0.01698531210422516, + 0.0721970796585083, + 1.0 + ], + [ + 0.0029623806476593018, + 0.008102279156446457, + -0.01628839783370495, + -0.04284039884805679, + 0.008238226175308228, + 0.025684893131256104, + 1.0 + ], + [ + 0.00752025842666626, + 0.004719359800219536, + -0.011025303974747658, + -0.013973018154501915, + 0.0072286128997802734, + -0.03267329931259155, + 1.0 + ], + [ + 0.001551985740661621, + 0.004382170736789703, + -0.01242935098707676, + -0.030175037682056427, + -0.029256172478199005, + 0.04182863235473633, + 0.0 + ], + [ + -0.00020870566368103027, + 0.002678101882338524, + -0.00048536621034145355, + 0.02353932522237301, + 0.006197027862071991, + -0.010106533765792847, + 0.0 + ], + [ + -0.0021726787090301514, + 0.0005250461399555206, + -0.0018404535949230194, + 0.011422865092754364, + 0.01839280128479004, + -0.003160238265991211, + 0.0 + ], + [ + -0.0009411275386810303, + 0.0001430865377187729, + 0.00016290880739688873, + 0.0003245435655117035, + 0.00752875953912735, + -0.019726485013961792, + 0.0 + ], + [ + -0.0007970929145812988, + 0.002673199400305748, + 0.0011444427073001862, + 0.012621592730283737, + 0.018474839627742767, + -0.010555744171142578, + 0.0 + ], + [ + 0.00011110305786132812, + 0.0019048955291509628, + 0.0005076415836811066, + 0.013637211173772812, + 0.0075201429426670074, + -0.0001290440559387207, + 0.0 + ], + [ + 0.00787845253944397, + 0.0035533225163817406, + 0.005657286383211613, + 0.0208785030990839, + 0.02381427213549614, + -0.053646594285964966, + 0.0 + ], + [ + 0.007688403129577637, + 0.003490590490400791, + 0.01215352676808834, + 0.037486229091882706, + 0.024633901193737984, + -0.06482896208763123, + 0.0 + ], + [ + 0.002256721258163452, + 0.0018144277855753899, + 0.02938343770802021, + 0.037148043513298035, + -0.027100296691060066, + -0.049988776445388794, + 0.0 + ], + [ + -1.683831214904785e-05, + 0.011235997080802917, + 0.029484257102012634, + 0.024148009717464447, + -0.051164768636226654, + -0.0006842613220214844, + 0.0 + ], + [ + -0.01333153247833252, + 0.03793780878186226, + 0.02299538627266884, + 0.0020482242107391357, + -0.0256316140294075, + 0.050451040267944336, + 0.0 + ], + [ + -0.01885378360748291, + 0.03402034565806389, + 0.004685334861278534, + -0.017297163605690002, + -0.004997678101062775, + 0.05418682098388672, + 0.0 + ], + [ + -0.025293171405792236, + 0.03994353860616684, + -0.009497761726379395, + -0.03244642913341522, + 0.013963475823402405, + 0.07050547003746033, + 0.0 + ], + [ + -0.020850032567977905, + 0.03028181940317154, + -0.014265090227127075, + 0.01061568409204483, + -0.00946497917175293, + 0.030896306037902832, + 0.0 + ], + [ + -0.015110135078430176, + 0.012072056531906128, + -0.026363283395767212, + -0.0003223046660423279, + 0.031157389283180237, + -0.01794189214706421, + 0.0 + ], + [ + -0.010023266077041626, + 0.005748838186264038, + -0.024665620177984238, + 0.0036310628056526184, + 0.019692040979862213, + -0.0272006094455719, + 1.0 + ], + [ + -0.0014425218105316162, + 0.0028020888566970825, + -0.009937573224306107, + -0.0029567405581474304, + 0.03570626676082611, + -0.009341537952423096, + 1.0 + ], + [ + 0.0011261701583862305, + -0.0013426244258880615, + 0.001860993797890842, + 0.002240583300590515, + 0.020735133439302444, + -0.004770249128341675, + 1.0 + ], + [ + 0.0015467405319213867, + 0.00017489492893218994, + 0.0027255304157733917, + -0.00015963613986968994, + 0.012514989823102951, + 0.004187285900115967, + 1.0 + ], + [ + 0.004277080297470093, + -0.0028028935194015503, + 0.015344846993684769, + 0.03167514503002167, + -0.008249018341302872, + -0.02204611897468567, + 1.0 + ], + [ + 0.003649502992630005, + -0.004553467035293579, + 0.013981850817799568, + 0.010770678520202637, + 0.014727208763360977, + -0.029241293668746948, + 1.0 + ], + [ + 0.006559997797012329, + -0.0067152827978134155, + 0.0168914757668972, + -0.006343379616737366, + 0.010805577039718628, + -0.009648799896240234, + 1.0 + ], + [ + 0.00983661413192749, + -0.014499068260192871, + 0.027280859649181366, + 0.02202463150024414, + -0.019567502662539482, + 0.0026704370975494385, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 0.9650423526763916 + ], + [ + 0.6871993541717529 + ], + [ + 0.3962334990501404 + ], + [ + 0.1972842812538147 + ], + [ + 0.08191495388746262 + ], + [ + 0.056741900742053986 + ], + [ + 0.05538023263216019 + ], + [ + 0.05538023263216019 + ], + [ + 0.05511022359132767 + ], + [ + 0.05511022359132767 + ], + [ + 0.05511022359132767 + ], + [ + 0.05511022359132767 + ], + [ + 0.05511022359132767 + ], + [ + 0.05511022359132767 + ], + [ + 0.05511022359132767 + ], + [ + 0.06987876445055008 + ], + [ + 0.21050429344177246 + ], + [ + 0.45967593789100647 + ], + [ + 0.7681795358657837 + ], + [ + 0.9961419701576233 + ], + [ + 1.003452181816101 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.35335594415664673, + 0.028767652809619904, + 0.07159112393856049 + ], + [ + 0.3515445590019226, + -0.0016366303898394108, + 0.06535395234823227 + ], + [ + 0.35144808888435364, + -0.02243175357580185, + 0.05361950397491455 + ], + [ + 0.3474105894565582, + -0.03369816020131111, + 0.04081876948475838 + ], + [ + 0.3374703526496887, + -0.03681061789393425, + 0.0291159488260746 + ], + [ + 0.3347833454608917, + -0.03762836754322052, + 0.022421661764383316 + ], + [ + 0.337745726108551, + -0.029526088386774063, + 0.00613326346501708 + ], + [ + 0.3452659845352173, + -0.024806728586554527, + -0.00489204004406929 + ], + [ + 0.3468179702758789, + -0.020424557849764824, + -0.01732139103114605 + ], + [ + 0.3466092646121979, + -0.0177464559674263, + -0.017806757241487503 + ], + [ + 0.3444365859031677, + -0.01722140982747078, + -0.019647210836410522 + ], + [ + 0.3434954583644867, + -0.017078323289752007, + -0.019484302029013634 + ], + [ + 0.3426983654499054, + -0.014405123889446259, + -0.018339859321713448 + ], + [ + 0.3428094685077667, + -0.012500228360295296, + -0.01783221773803234 + ], + [ + 0.3506879210472107, + -0.008946905843913555, + -0.012174931354820728 + ], + [ + 0.35837632417678833, + -0.005456315353512764, + -2.140418473572936e-05 + ], + [ + 0.3606330454349518, + -0.003641887567937374, + 0.029362034052610397 + ], + [ + 0.36061620712280273, + 0.007594109512865543, + 0.05884629115462303 + ], + [ + 0.3472846746444702, + 0.04553191736340523, + 0.08184167742729187 + ], + [ + 0.3284308910369873, + 0.07955226302146912, + 0.0865270122885704 + ], + [ + 0.30313771963119507, + 0.11949580162763596, + 0.07702925056219101 + ], + [ + 0.28228768706321716, + 0.1497776210308075, + 0.06276416033506393 + ], + [ + 0.267177551984787, + 0.16184967756271362, + 0.03640087693929672 + ], + [ + 0.25715428590774536, + 0.16759851574897766, + 0.011735256761312485 + ], + [ + 0.25571176409721375, + 0.17040060460567474, + 0.0017976831877604127 + ], + [ + 0.2568379342556, + 0.16905798017978668, + 0.0036586769856512547 + ], + [ + 0.25838467478752136, + 0.16923287510871887, + 0.006384207401424646 + ], + [ + 0.26266175508499146, + 0.16642998158931732, + 0.021729053929448128 + ], + [ + 0.26631125807762146, + 0.16187651455402374, + 0.035710904747247696 + ], + [ + 0.2728712558746338, + 0.15516123175621033, + 0.0526023805141449 + ], + [ + 0.2827078700065613, + 0.14066216349601746, + 0.07988324016332626 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.7801982031230899, + -0.5983967282504129, + 0.1822419256447397, + -0.6181172727304615, + -0.7822314390206699, + 0.07774968141354599, + 0.09603020876660481, + -0.17330704378891537, + -0.980174916827292 + ], + [ + 0.807094787714141, + -0.5621003118948359, + 0.1806688767120487, + -0.5778032772197551, + -0.8148834241762726, + 0.0459170756567024, + 0.12141407034926391, + -0.14145050148543403, + -0.982471566586404 + ], + [ + 0.814211245816328, + -0.5511782820344342, + 0.1823802308359996, + -0.5662577271107561, + -0.8232580623572205, + 0.03997936031497703, + 0.128110240315063, + -0.1358258597521255, + -0.982414933797839 + ], + [ + 0.8386112887577962, + -0.5204562955365261, + 0.16079910075738885, + -0.5317972185525247, + -0.846159977036653, + 0.03471327701513473, + 0.11799501984315632, + -0.11462346050319504, + -0.98637651918245 + ], + [ + 0.9129626088221552, + -0.38143868838747574, + 0.14492688464838405, + -0.389129913327367, + -0.920759373357962, + 0.027930036292284247, + 0.12278919108162428, + -0.08189446485993233, + -0.9890480833502611 + ], + [ + 0.9404910168692564, + -0.31942907558621847, + 0.11593840113770085, + -0.32289092910741346, + -0.9463612534785129, + 0.011909064393548194, + 0.10591550919664133, + -0.04863582614402981, + -0.9931850086096267 + ], + [ + 0.9492733962138332, + -0.2997467156152078, + 0.095036444159861, + -0.29888258111708244, + -0.9539995661449725, + -0.023537852493266058, + 0.09772012047396005, + -0.00606088055482582, + -0.9951954801854029 + ], + [ + 0.9396449480426313, + -0.33198213797775566, + 0.08279632649869875, + -0.3299588564790539, + -0.9432530040305735, + -0.037428911530180575, + 0.09052361376456339, + 0.007850506417891744, + -0.9958633665819759 + ], + [ + 0.9496801614090398, + -0.29571713674227706, + 0.10324226878100752, + -0.28948129141114687, + -0.9545283535205233, + -0.07124748590886402, + 0.11961677536631342, + 0.037775618622975474, + -0.9921012194774365 + ], + [ + 0.9473947137096908, + -0.3027660874850702, + 0.10380728637198734, + -0.29928186489124237, + -0.9529557350176476, + -0.04801804290259043, + 0.1134619838631122, + 0.014424401753891685, + -0.9934376250434092 + ], + [ + 0.9482719426252936, + -0.3045182329214833, + 0.08971604454070126, + -0.30285810660925816, + -0.9525015216125192, + -0.03190326921948048, + 0.09516979610520904, + 0.0030817436967858405, + -0.9954562837036492 + ], + [ + 0.9427649129631824, + -0.3231986868945972, + 0.08207878943509711, + -0.32172633885243795, + -0.9463271041116903, + -0.030938243521379957, + 0.08767258279604392, + 0.002760582038273564, + -0.9961455201990724 + ], + [ + 0.9406833331152423, + -0.3322824533147196, + 0.06858015761391448, + -0.3321424636086837, + -0.9431287349000987, + -0.013768561061112601, + 0.06925496853766056, + -0.009826526593389248, + -0.997550594560475 + ], + [ + 0.9411049334127494, + -0.3316042297097956, + 0.06603134971176695, + -0.3324279155707626, + -0.94312733742903, + 0.0015831434888727656, + 0.06175099396335619, + -0.0234405680946852, + -0.9978162929677666 + ], + [ + 0.9230227535994602, + -0.38121132439892963, + 0.05202809325436332, + -0.38286748404724574, + -0.9234249868388783, + 0.026434510416308774, + 0.037966906603024, + -0.044319519758588485, + -0.9982956947575031 + ], + [ + 0.8968471323992024, + -0.43971989844059933, + 0.04807943450911655, + -0.44213936622117045, + -0.8944063697312734, + 0.06745388514879094, + 0.013341736950981238, + -0.08175363416701137, + -0.9965632651044374 + ], + [ + 0.8729973528691833, + -0.47880993093702845, + 0.09282603039813908, + -0.48604621519440067, + -0.8698676522556902, + 0.08419824377249041, + 0.04043140584491936, + -0.11862258467615425, + -0.992115912495184 + ], + [ + 0.8697166312613455, + -0.47066217893780393, + 0.14856007076242417, + -0.48499953696144193, + -0.8708016799710353, + 0.08049772237032847, + 0.09147912578618558, + -0.1420617734548678, + -0.9856216424512267 + ], + [ + 0.8906724066198743, + -0.42254488862289413, + 0.16780489022858489, + -0.43934107953226714, + -0.8948787273968095, + 0.07855876200710549, + 0.11697042327607252, + -0.14369370324176664, + -0.9826851172818706 + ], + [ + 0.9126110662784219, + -0.37564455046910655, + 0.16134501358587042, + -0.3902224401316699, + -0.9180761422445026, + 0.06973266278536266, + 0.12193231287828141, + -0.12659924464353925, + -0.9844313802047546 + ], + [ + 0.939351007993157, + -0.3161832222207041, + 0.13284522486101133, + -0.32548790533304445, + -0.9439547722615684, + 0.05483622348883508, + 0.10806159014259825, + -0.09474997578228314, + -0.9896186815259248 + ], + [ + 0.9479386709466963, + -0.2845141166282765, + 0.14305241543938527, + -0.2959965820211439, + -0.9528892616583258, + 0.06624257277650794, + 0.11746616344978343, + -0.1051369224177795, + -0.987495786314507 + ], + [ + 0.9454911009045192, + -0.3047151845868735, + 0.1148705114141484, + -0.31395714574663003, + -0.9466209856148126, + 0.07307270508384103, + 0.08647247391505396, + -0.10515401026983384, + -0.9906892274468224 + ], + [ + 0.9380217458089527, + -0.3319365035098669, + 0.09966625320121522, + -0.34007027651506283, + -0.936992852181914, + 0.07997875962385659, + 0.06683869702869241, + -0.10891534601536204, + -0.9918014095482325 + ], + [ + 0.9364437312178328, + -0.34451917420457706, + 0.06617912713401175, + -0.3494297034193922, + -0.932756579989574, + 0.0886794500117643, + 0.031177245405246908, + -0.10616826781835384, + -0.9938592849480208 + ], + [ + 0.9351698177312021, + -0.350917130864179, + 0.04811007452334812, + -0.35404558000178127, + -0.9301062203671466, + 0.09774531249907799, + 0.010446974958894056, + -0.10844162531238989, + -0.9940479237007714 + ], + [ + 0.9366932190529013, + -0.34829647706278993, + 0.035991352377528305, + -0.3501450235100088, + -0.9311085542163879, + 0.10215342762846277, + -0.0020678228863493207, + -0.10828861588697902, + -0.9941173470862449 + ], + [ + 0.9287311268249725, + -0.3662712480266475, + 0.05747927396391796, + -0.3707024243240555, + -0.9199592163342826, + 0.12749412881337205, + 0.006181154154765566, + -0.13971547212322213, + -0.9901723992228324 + ], + [ + 0.9174798470073849, + -0.39436178208196143, + 0.052053003452683294, + -0.39769045467131964, + -0.9065692675076923, + 0.14133104922091702, + -0.008545911222599775, + -0.15036937202670556, + -0.9885929492757216 + ], + [ + 0.9134622607453042, + -0.404843773611006, + 0.04108791990936542, + -0.40646311125833423, + -0.9029641756117379, + 0.1394397244260391, + -0.019350384499355177, + -0.14407364967340583, + -0.9893777570218122 + ], + [ + 0.9147156831606102, + -0.3984682801504025, + 0.0672179194411606, + -0.40409797371774236, + -0.9020609342064196, + 0.15162749953704352, + 0.00021591024247350626, + -0.1658586768686573, + -0.9861495082846948 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005749.json b/json/chunk-0005/episode_0005749.json new file mode 100644 index 0000000000000000000000000000000000000000..5363b784e99805c06395e0f75ad9a591bb7dd666 --- /dev/null +++ b/json/chunk-0005/episode_0005749.json @@ -0,0 +1,5782 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 95, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nSweep into pile." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005749.mp4", + "start": 0, + "end": 95, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.35805556178092957, + -0.20403681695461273, + 0.04053604602813721, + -0.3286118507385254, + -0.10199245810508728, + 0.025065191090106964, + 0.0, + 0.9994885921478271 + ], + [ + 0.35544353723526, + -0.2020639330148697, + 0.02480452135205269, + -0.3124106526374817, + -0.06743999570608139, + 0.03045698255300522, + 0.0, + 1.0001531839370728 + ], + [ + 0.3601236939430237, + -0.2036629468202591, + 0.025294192135334015, + -0.32317525148391724, + -0.08558785915374756, + 0.06891719251871109, + 0.0, + 0.9994885921478271 + ], + [ + 0.3623966574668884, + -0.20522403717041016, + 0.025511395186185837, + -0.32895323634147644, + -0.10334965586662292, + 0.07389779388904572, + 0.0, + 1.0001531839370728 + ], + [ + 0.35914790630340576, + -0.21222305297851562, + 0.02284504845738411, + -0.3281717896461487, + -0.1211470365524292, + 0.062280211597681046, + 0.0, + 1.0001531839370728 + ], + [ + 0.35376501083374023, + -0.21586869657039642, + 0.01048737671226263, + -0.30020672082901, + -0.09919453412294388, + 0.05522190406918526, + 0.0, + 1.0001531839370728 + ], + [ + 0.3557250499725342, + -0.22228960692882538, + 0.008169352076947689, + -0.2792122960090637, + -0.11084499955177307, + 0.06154479831457138, + 0.0, + 0.931966245174408 + ], + [ + 0.35699617862701416, + -0.227399080991745, + 0.0027365677524358034, + -0.25730904936790466, + -0.11403597891330719, + 0.06263755261898041, + 0.0, + 0.6671556830406189 + ], + [ + 0.3575437366962433, + -0.2292765974998474, + 0.003744787070900202, + -0.25708112120628357, + -0.11458353698253632, + 0.07175317406654358, + 0.0, + 0.3814634680747986 + ], + [ + 0.3549972474575043, + -0.23047848045825958, + 0.003737503197044134, + -0.2636755406856537, + -0.09763987362384796, + 0.07136709988117218, + 0.0, + 0.3661215305328369 + ], + [ + 0.35334107279777527, + -0.22355109453201294, + 0.0014152307994663715, + -0.2788829803466797, + -0.07311142235994339, + 0.06573330610990524, + 0.0, + 0.3661215305328369 + ], + [ + 0.3509642779827118, + -0.2081862986087799, + 0.0034707870800048113, + -0.2854408919811249, + -0.05594446137547493, + 0.0731048583984375, + 0.0, + 0.3661215305328369 + ], + [ + 0.3514059782028198, + -0.1787005364894867, + 0.005933103151619434, + -0.28523799777030945, + -0.04721532389521599, + 0.10915211588144302, + 0.0, + 0.365278422832489 + ], + [ + 0.34625881910324097, + -0.14878886938095093, + 0.004405967891216278, + -0.27465152740478516, + -0.04690716043114662, + 0.11974186450242996, + 0.0, + 0.365278422832489 + ], + [ + 0.33879247307777405, + -0.130208358168602, + 0.0010236208327114582, + -0.25099486112594604, + -0.07471054047346115, + 0.10088241100311279, + 0.0, + 0.365278422832489 + ], + [ + 0.33638525009155273, + -0.10965553671121597, + -0.001021732809022069, + -0.2305944710969925, + -0.07898024469614029, + 0.11249720305204391, + 0.0, + 0.365278422832489 + ], + [ + 0.3358364999294281, + -0.08394600450992584, + -0.0006508897058665752, + -0.2129039615392685, + -0.06740609556436539, + 0.1351264864206314, + 0.0, + 0.365278422832489 + ], + [ + 0.33196941018104553, + -0.049295663833618164, + 0.004124429542571306, + -0.1883254200220108, + -0.06131700053811073, + 0.1882867068052292, + 0.0, + 0.365278422832489 + ], + [ + 0.3276958465576172, + -0.02977483719587326, + 0.004354300443083048, + -0.1319165825843811, + -0.069939523935318, + 0.20035746693611145, + 0.0, + 0.365278422832489 + ], + [ + 0.31578174233436584, + -0.005250278394669294, + 0.005202590487897396, + -0.05252369865775108, + -0.0866473838686943, + 0.21232488751411438, + 0.0, + 0.365278422832489 + ], + [ + 0.30629071593284607, + 0.017155475914478302, + 0.006662505213171244, + 0.017993222922086716, + -0.0927223265171051, + 0.2157997488975525, + 0.0, + 0.365278422832489 + ], + [ + 0.30089521408081055, + 0.01828615367412567, + 0.021620918065309525, + -0.0029356556478887796, + -0.10978029668331146, + 0.20234131813049316, + 0.0, + 0.365278422832489 + ], + [ + 0.29742732644081116, + -0.020874446257948875, + 0.041864633560180664, + -0.1440809965133667, + -0.04526754841208458, + 0.11977850645780563, + 0.0, + 0.365278422832489 + ], + [ + 0.3258523941040039, + -0.06993133574724197, + 0.07276857644319534, + -0.26470527052879333, + -0.0230392012745142, + 0.03858302906155586, + 0.0, + 0.365278422832489 + ], + [ + 0.34573763608932495, + -0.11396580934524536, + 0.07279369235038757, + -0.34221041202545166, + -0.005610346794128418, + 0.13079437613487244, + 0.0, + 0.365278422832489 + ], + [ + 0.357057124376297, + -0.16151843965053558, + 0.06805536895990372, + -0.3744327127933502, + -0.012670138850808144, + 0.13198833167552948, + 0.0, + 0.365278422832489 + ], + [ + 0.3639865517616272, + -0.198825404047966, + 0.05708082765340805, + -0.37528127431869507, + -0.047050684690475464, + 0.15158803761005402, + 0.0, + 0.365278422832489 + ], + [ + 0.37320810556411743, + -0.19699937105178833, + 0.034550830721855164, + -0.3327532410621643, + -0.06383632123470306, + 0.173285573720932, + 0.0, + 0.365278422832489 + ], + [ + 0.39216768741607666, + -0.17675568163394928, + 0.01613948680460453, + -0.3002909719944, + -0.06976759433746338, + 0.2290511429309845, + 0.0, + 0.365278422832489 + ], + [ + 0.40458202362060547, + -0.16008789837360382, + 0.01095609087496996, + -0.2945215404033661, + -0.08088173717260361, + 0.25964999198913574, + 0.0, + 0.365278422832489 + ], + [ + 0.41339927911758423, + -0.14280809462070465, + 0.011712015606462955, + -0.29911088943481445, + -0.09668223559856415, + 0.2942422330379486, + 0.0, + 0.365278422832489 + ], + [ + 0.41767385601997375, + -0.12873795628547668, + 0.008744492195546627, + -0.3096957504749298, + -0.10420968383550644, + 0.31616508960723877, + 0.0, + 0.365278422832489 + ], + [ + 0.4153834581375122, + -0.11476795375347137, + 0.001775210490450263, + -0.3077355623245239, + -0.1117318794131279, + 0.3232531249523163, + 0.0, + 0.365278422832489 + ], + [ + 0.4149622917175293, + -0.10681860148906708, + 0.0003808563051279634, + -0.3106612265110016, + -0.134722501039505, + 0.3352484703063965, + 0.0, + 0.365278422832489 + ], + [ + 0.4138167202472687, + -0.0959988459944725, + -0.0015808226307854056, + -0.31157955527305603, + -0.1404418796300888, + 0.35388413071632385, + 0.0, + 0.365278422832489 + ], + [ + 0.4126729965209961, + -0.06656923145055771, + -0.000675709277857095, + -0.31758013367652893, + -0.13539595901966095, + 0.39789140224456787, + 0.0, + 0.365278422832489 + ], + [ + 0.40785229206085205, + -0.04362474009394646, + -0.00043467117939144373, + -0.31141141057014465, + -0.13104327023029327, + 0.43659302592277527, + 0.0, + 0.365278422832489 + ], + [ + 0.3930436670780182, + -0.0208877045661211, + -0.0014916189247742295, + -0.2884657680988312, + -0.106657974421978, + 0.4673478305339813, + 0.0, + 0.365278422832489 + ], + [ + 0.3763110935688019, + 0.0016220930265262723, + -0.0003985843504779041, + -0.26661157608032227, + -0.09789104759693146, + 0.5164557099342346, + 0.0, + 0.365278422832489 + ], + [ + 0.35960060358047485, + 0.02289867214858532, + -0.0006211646250449121, + -0.24083320796489716, + -0.1429261416196823, + 0.56572425365448, + 0.0, + 0.365278422832489 + ], + [ + 0.35024207830429077, + 0.03708153963088989, + -0.002467628801241517, + -0.21317549049854279, + -0.20556731522083282, + 0.5935949683189392, + 0.0, + 0.365278422832489 + ], + [ + 0.3331572711467743, + 0.0563090518116951, + -0.0018163424683734775, + -0.17594754695892334, + -0.21774885058403015, + 0.616563618183136, + 0.0, + 0.365278422832489 + ], + [ + 0.321001261472702, + 0.06392761319875717, + -0.0015016963006928563, + -0.16334673762321472, + -0.20171813666820526, + 0.6335335969924927, + 0.0, + 0.365278422832489 + ], + [ + 0.3129882216453552, + 0.06320416182279587, + 0.0025696626398712397, + -0.15371207892894745, + -0.17402809858322144, + 0.6486580967903137, + 0.0, + 0.365278422832489 + ], + [ + 0.31576448678970337, + 0.041699621826410294, + 0.018166689202189445, + -0.2572634220123291, + -0.1343298703432083, + 0.688022255897522, + 0.0, + 0.365278422832489 + ], + [ + 0.33220213651657104, + 0.0006116536096669734, + 0.038192540407180786, + -0.399408221244812, + -0.0780695453286171, + 0.6262536644935608, + 0.0, + 0.365278422832489 + ], + [ + 0.3621397316455841, + -0.030748551711440086, + 0.05983782559633255, + -0.5043859481811523, + -0.1196904331445694, + 0.5570855140686035, + 0.0, + 0.365278422832489 + ], + [ + 0.38415971398353577, + -0.04554831609129906, + 0.03896063193678856, + -0.4839380979537964, + -0.12622201442718506, + 0.5303505659103394, + 0.0, + 0.365278422832489 + ], + [ + 0.40013155341148376, + -0.04134652018547058, + 0.025532502681016922, + -0.4539661109447479, + -0.1499985307455063, + 0.5679982900619507, + 0.0, + 0.365278422832489 + ], + [ + 0.4089292287826538, + -0.03752630949020386, + 0.026106838136911392, + -0.45316821336746216, + -0.160638689994812, + 0.5887502431869507, + 0.0, + 0.365278422832489 + ], + [ + 0.4166114926338196, + -0.022811144590377808, + 0.018629468977451324, + -0.4340601861476898, + -0.16824749112129211, + 0.6370570659637451, + 0.0, + 0.365278422832489 + ], + [ + 0.4227503538131714, + -0.011738927103579044, + 0.020699994638562202, + -0.42955252528190613, + -0.19262944161891937, + 0.6734371185302734, + 0.0, + 0.365278422832489 + ], + [ + 0.42193490266799927, + -0.006119605619460344, + 0.009373868815600872, + -0.3983285129070282, + -0.183390274643898, + 0.7164425253868103, + 0.0, + 0.365278422832489 + ], + [ + 0.4210333228111267, + 0.0012698358623310924, + 0.005171539727598429, + -0.37840041518211365, + -0.18366777896881104, + 0.7349029183387756, + 0.0, + 0.365278422832489 + ], + [ + 0.42200228571891785, + 0.005635792389512062, + 0.004629015922546387, + -0.38050007820129395, + -0.19404670596122742, + 0.7773191928863525, + 0.0, + 0.365278422832489 + ], + [ + 0.41727393865585327, + 0.017598330974578857, + 0.002369380323216319, + -0.39404359459877014, + -0.1918436735868454, + 0.8296430110931396, + 0.0, + 0.365278422832489 + ], + [ + 0.40843498706817627, + 0.03632113337516785, + 0.005507319699972868, + -0.40933549404144287, + -0.18176239728927612, + 0.9227461218833923, + 0.0, + 0.365278422832489 + ], + [ + 0.389865517616272, + 0.04512324929237366, + 0.00634922506287694, + -0.4214251935482025, + -0.17298048734664917, + 0.997018039226532, + 0.0, + 0.365278422832489 + ], + [ + 0.3716152310371399, + 0.05553196370601654, + 0.00716804713010788, + -0.4381096065044403, + -0.163842111825943, + 1.0425198078155518, + 0.0, + 0.365278422832489 + ], + [ + 0.3527580797672272, + 0.06344880163669586, + 0.0037083846982568502, + -0.43323782086372375, + -0.12338890880346298, + 1.0897331237792969, + 0.0, + 0.365278422832489 + ], + [ + 0.33300045132637024, + 0.06906089186668396, + 0.00468099070712924, + -0.41191554069519043, + -0.0750165656208992, + 1.1220545768737793, + 0.0, + 0.3644362688064575 + ], + [ + 0.3128167390823364, + 0.07289811223745346, + 0.003107204334810376, + -0.3717575669288635, + -0.035991013050079346, + 1.1340395212173462, + 0.0, + 0.365278422832489 + ], + [ + 0.3037186861038208, + 0.06743001192808151, + 0.003566155908629298, + -0.35429516434669495, + 0.020591139793395996, + 1.1879408359527588, + 0.0, + 0.3644362688064575 + ], + [ + 0.31020042300224304, + 0.04224797338247299, + 0.013004003092646599, + -0.40601789951324463, + 0.07324802875518799, + 1.1479970216751099, + 0.0, + 0.3644362688064575 + ], + [ + 0.33590230345726013, + -0.010882535018026829, + 0.03407895937561989, + -0.48994484543800354, + 0.09903307259082794, + 0.9884883761405945, + 0.0, + 0.3644362688064575 + ], + [ + 0.35600870847702026, + -0.062233734875917435, + 0.049791909754276276, + -0.4927842319011688, + 0.05303170531988144, + 0.8381936550140381, + 0.0, + 0.3644362688064575 + ], + [ + 0.35465914011001587, + -0.11402778327465057, + 0.03715606778860092, + -0.4424307644367218, + 0.028317846357822418, + 0.7189174890518188, + 0.0, + 0.3644362688064575 + ], + [ + 0.3423682153224945, + -0.16232819855213165, + 0.03456484526395798, + -0.43888169527053833, + 0.013807804323732853, + 0.6578828692436218, + 0.0, + 0.3644362688064575 + ], + [ + 0.3302241563796997, + -0.19429317116737366, + 0.02686234377324581, + -0.43183866143226624, + -0.00469457870349288, + 0.5991839170455933, + 0.0, + 0.3644362688064575 + ], + [ + 0.3277896046638489, + -0.1990610510110855, + 0.020929645746946335, + -0.43291521072387695, + -0.03884337097406387, + 0.5639529824256897, + 0.0, + 0.3644362688064575 + ], + [ + 0.32334357500076294, + -0.19296874105930328, + 0.007619206327944994, + -0.41253602504730225, + -0.07332123070955276, + 0.5314250588417053, + 0.0, + 0.3644362688064575 + ], + [ + 0.3182632625102997, + -0.18911729753017426, + 0.0022750124335289, + -0.39340466260910034, + -0.0906219556927681, + 0.48689380288124084, + 0.0, + 0.365278422832489 + ], + [ + 0.31299012899398804, + -0.17520037293434143, + -0.003166642040014267, + -0.3644161522388458, + -0.09021952748298645, + 0.4514974057674408, + 0.0, + 0.3644362688064575 + ], + [ + 0.30793318152427673, + -0.16058197617530823, + -0.002502418588846922, + -0.33051764965057373, + -0.08777022361755371, + 0.40827861428260803, + 0.0, + 0.3644362688064575 + ], + [ + 0.30674585700035095, + -0.14766621589660645, + -0.0035485748667269945, + -0.31222352385520935, + -0.09556949883699417, + 0.3980887830257416, + 0.0, + 0.3644362688064575 + ], + [ + 0.3054947257041931, + -0.13010643422603607, + -0.0031890692189335823, + -0.2852783203125, + -0.09657730907201767, + 0.38322412967681885, + 0.0, + 0.3644362688064575 + ], + [ + 0.30414023995399475, + -0.10816533863544464, + -0.0030594428535550833, + -0.2505306601524353, + -0.10880434513092041, + 0.36334583163261414, + 0.0, + 0.3644362688064575 + ], + [ + 0.30250605940818787, + -0.08570380508899689, + -0.0030758779030293226, + -0.23038138449192047, + -0.11550083011388779, + 0.3524135947227478, + 0.0, + 0.3644362688064575 + ], + [ + 0.2975327670574188, + -0.061997219920158386, + -0.00186837965156883, + -0.21071664988994598, + -0.09916418045759201, + 0.3483986258506775, + 0.0, + 0.3644362688064575 + ], + [ + 0.29412782192230225, + -0.04233550652861595, + 0.004334277473390102, + -0.19458453357219696, + -0.09812798351049423, + 0.32879558205604553, + 0.0, + 0.3644362688064575 + ], + [ + 0.2921415865421295, + -0.020959723740816116, + 0.003626300487667322, + -0.17463216185569763, + -0.11177695542573929, + 0.3248801827430725, + 0.0, + 0.3644362688064575 + ], + [ + 0.2890878915786743, + 0.0028498696628957987, + 0.0026284425985068083, + -0.13585683703422546, + -0.10870422422885895, + 0.3146834671497345, + 0.0, + 0.3644362688064575 + ], + [ + 0.28713902831077576, + 0.022268764674663544, + 0.0017338412581011653, + -0.08697690069675446, + -0.12073855847120285, + 0.30085447430610657, + 0.0, + 0.3644362688064575 + ], + [ + 0.2883704900741577, + 0.03140012174844742, + 0.001744787092320621, + -0.040351614356040955, + -0.1436227262020111, + 0.32619398832321167, + 0.0, + 0.3644362688064575 + ], + [ + 0.28861960768699646, + 0.02072436548769474, + 0.0168024729937315, + -0.09859588742256165, + -0.09670743346214294, + 0.34561967849731445, + 0.0, + 0.3644362688064575 + ], + [ + 0.30311933159828186, + -0.0009189379052259028, + 0.045788008719682693, + -0.2486613243818283, + -0.054077960550785065, + 0.414157897233963, + 0.0, + 0.3644362688064575 + ], + [ + 0.3226469159126282, + -0.03904421254992485, + 0.06949834525585175, + -0.40439483523368835, + -0.028997860848903656, + 0.4363534152507782, + 0.0, + 0.3644362688064575 + ], + [ + 0.3280300199985504, + -0.09259239584207535, + 0.054259929805994034, + -0.4089130759239197, + -0.05795645713806152, + 0.389583557844162, + 0.0, + 0.3644362688064575 + ], + [ + 0.33519914746284485, + -0.08266063779592514, + 0.03166747838258743, + -0.39018169045448303, + -0.08992470055818558, + 0.4452352225780487, + 0.0, + 0.3644362688064575 + ], + [ + 0.3233138620853424, + -0.07184233516454697, + 0.015768395736813545, + -0.3612188398838043, + -0.11209326237440109, + 0.4042063057422638, + 0.0, + 0.3644362688064575 + ], + [ + 0.31651222705841064, + -0.046962227672338486, + 0.006088194902986288, + -0.33726778626441956, + -0.12958760559558868, + 0.40618738532066345, + 0.0, + 0.3644362688064575 + ], + [ + 0.30702143907546997, + -0.033975064754486084, + 6.779459363315254e-05, + -0.31339457631111145, + -0.11479608714580536, + 0.37977397441864014, + 0.0, + 0.3644362688064575 + ], + [ + 0.2948583662509918, + -0.01383025199174881, + 0.0024529616348445415, + -0.2969186007976532, + -0.07498903572559357, + 0.36147335171699524, + 0.0, + 0.3644362688064575 + ], + [ + 0.28571999073028564, + -0.0035421333741396666, + 0.0018896968103945255, + -0.2733158767223358, + -0.06530268490314484, + 0.3369344174861908, + 0.0, + 0.3644362688064575 + ], + [ + 0.2821841537952423, + 0.015699446201324463, + -2.786233017104678e-05, + -0.2230289727449417, + -0.0688525065779686, + 0.341459184885025, + 0.0, + 0.3644362688064575 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.931966245174408 + ], + [ + 0.6671556830406189 + ], + [ + 0.3814634680747986 + ], + [ + 0.3661215305328369 + ], + [ + 0.3661215305328369 + ], + [ + 0.3661215305328369 + ], + [ + 0.365278422832489 + ], + [ + 0.365278422832489 + ], + [ + 0.365278422832489 + ], + [ + 0.365278422832489 + ], + [ + 0.365278422832489 + ], + [ + 0.365278422832489 + ], + [ + 0.365278422832489 + ], + [ + 0.365278422832489 + ], + [ + 0.365278422832489 + ], + [ + 0.365278422832489 + ], + [ + 0.365278422832489 + ], + [ + 0.365278422832489 + ], + [ + 0.365278422832489 + ], + [ + 0.365278422832489 + ], + [ + 0.365278422832489 + ], + [ + 0.365278422832489 + ], + [ + 0.365278422832489 + ], + [ + 0.365278422832489 + ], + [ + 0.365278422832489 + ], + [ + 0.365278422832489 + ], + [ + 0.365278422832489 + ], + [ + 0.365278422832489 + ], + [ + 0.365278422832489 + ], + [ + 0.365278422832489 + ], + [ + 0.365278422832489 + ], + [ + 0.365278422832489 + ], + [ + 0.365278422832489 + ], + [ + 0.365278422832489 + ], + [ + 0.365278422832489 + ], + [ + 0.365278422832489 + ], + [ + 0.365278422832489 + ], + [ + 0.365278422832489 + ], + [ + 0.365278422832489 + ], + [ + 0.365278422832489 + ], + [ + 0.365278422832489 + ], + [ + 0.365278422832489 + ], + [ + 0.365278422832489 + ], + [ + 0.365278422832489 + ], + [ + 0.365278422832489 + ], + [ + 0.365278422832489 + ], + [ + 0.365278422832489 + ], + [ + 0.365278422832489 + ], + [ + 0.365278422832489 + ], + [ + 0.365278422832489 + ], + [ + 0.365278422832489 + ], + [ + 0.365278422832489 + ], + [ + 0.365278422832489 + ], + [ + 0.365278422832489 + ], + [ + 0.3644362688064575 + ], + [ + 0.365278422832489 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.365278422832489 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.35805556178092957, + -0.20403681695461273, + 0.04053604602813721 + ], + [ + 0.35544353723526, + -0.2020639330148697, + 0.02480452135205269 + ], + [ + 0.3601236939430237, + -0.2036629468202591, + 0.025294192135334015 + ], + [ + 0.3623966574668884, + -0.20522403717041016, + 0.025511395186185837 + ], + [ + 0.35914790630340576, + -0.21222305297851562, + 0.02284504845738411 + ], + [ + 0.35376501083374023, + -0.21586869657039642, + 0.01048737671226263 + ], + [ + 0.3557250499725342, + -0.22228960692882538, + 0.008169352076947689 + ], + [ + 0.35699617862701416, + -0.227399080991745, + 0.0027365677524358034 + ], + [ + 0.3575437366962433, + -0.2292765974998474, + 0.003744787070900202 + ], + [ + 0.3549972474575043, + -0.23047848045825958, + 0.003737503197044134 + ], + [ + 0.35334107279777527, + -0.22355109453201294, + 0.0014152307994663715 + ], + [ + 0.3509642779827118, + -0.2081862986087799, + 0.0034707870800048113 + ], + [ + 0.3514059782028198, + -0.1787005364894867, + 0.005933103151619434 + ], + [ + 0.34625881910324097, + -0.14878886938095093, + 0.004405967891216278 + ], + [ + 0.33879247307777405, + -0.130208358168602, + 0.0010236208327114582 + ], + [ + 0.33638525009155273, + -0.10965553671121597, + -0.001021732809022069 + ], + [ + 0.3358364999294281, + -0.08394600450992584, + -0.0006508897058665752 + ], + [ + 0.33196941018104553, + -0.049295663833618164, + 0.004124429542571306 + ], + [ + 0.3276958465576172, + -0.02977483719587326, + 0.004354300443083048 + ], + [ + 0.31578174233436584, + -0.005250278394669294, + 0.005202590487897396 + ], + [ + 0.30629071593284607, + 0.017155475914478302, + 0.006662505213171244 + ], + [ + 0.30089521408081055, + 0.01828615367412567, + 0.021620918065309525 + ], + [ + 0.29742732644081116, + -0.020874446257948875, + 0.041864633560180664 + ], + [ + 0.3258523941040039, + -0.06993133574724197, + 0.07276857644319534 + ], + [ + 0.34573763608932495, + -0.11396580934524536, + 0.07279369235038757 + ], + [ + 0.357057124376297, + -0.16151843965053558, + 0.06805536895990372 + ], + [ + 0.3639865517616272, + -0.198825404047966, + 0.05708082765340805 + ], + [ + 0.37320810556411743, + -0.19699937105178833, + 0.034550830721855164 + ], + [ + 0.39216768741607666, + -0.17675568163394928, + 0.01613948680460453 + ], + [ + 0.40458202362060547, + -0.16008789837360382, + 0.01095609087496996 + ], + [ + 0.41339927911758423, + -0.14280809462070465, + 0.011712015606462955 + ], + [ + 0.41767385601997375, + -0.12873795628547668, + 0.008744492195546627 + ], + [ + 0.4153834581375122, + -0.11476795375347137, + 0.001775210490450263 + ], + [ + 0.4149622917175293, + -0.10681860148906708, + 0.0003808563051279634 + ], + [ + 0.4138167202472687, + -0.0959988459944725, + -0.0015808226307854056 + ], + [ + 0.4126729965209961, + -0.06656923145055771, + -0.000675709277857095 + ], + [ + 0.40785229206085205, + -0.04362474009394646, + -0.00043467117939144373 + ], + [ + 0.3930436670780182, + -0.0208877045661211, + -0.0014916189247742295 + ], + [ + 0.3763110935688019, + 0.0016220930265262723, + -0.0003985843504779041 + ], + [ + 0.35960060358047485, + 0.02289867214858532, + -0.0006211646250449121 + ], + [ + 0.35024207830429077, + 0.03708153963088989, + -0.002467628801241517 + ], + [ + 0.3331572711467743, + 0.0563090518116951, + -0.0018163424683734775 + ], + [ + 0.321001261472702, + 0.06392761319875717, + -0.0015016963006928563 + ], + [ + 0.3129882216453552, + 0.06320416182279587, + 0.0025696626398712397 + ], + [ + 0.31576448678970337, + 0.041699621826410294, + 0.018166689202189445 + ], + [ + 0.33220213651657104, + 0.0006116536096669734, + 0.038192540407180786 + ], + [ + 0.3621397316455841, + -0.030748551711440086, + 0.05983782559633255 + ], + [ + 0.38415971398353577, + -0.04554831609129906, + 0.03896063193678856 + ], + [ + 0.40013155341148376, + -0.04134652018547058, + 0.025532502681016922 + ], + [ + 0.4089292287826538, + -0.03752630949020386, + 0.026106838136911392 + ], + [ + 0.4166114926338196, + -0.022811144590377808, + 0.018629468977451324 + ], + [ + 0.4227503538131714, + -0.011738927103579044, + 0.020699994638562202 + ], + [ + 0.42193490266799927, + -0.006119605619460344, + 0.009373868815600872 + ], + [ + 0.4210333228111267, + 0.0012698358623310924, + 0.005171539727598429 + ], + [ + 0.42200228571891785, + 0.005635792389512062, + 0.004629015922546387 + ], + [ + 0.41727393865585327, + 0.017598330974578857, + 0.002369380323216319 + ], + [ + 0.40843498706817627, + 0.03632113337516785, + 0.005507319699972868 + ], + [ + 0.389865517616272, + 0.04512324929237366, + 0.00634922506287694 + ], + [ + 0.3716152310371399, + 0.05553196370601654, + 0.00716804713010788 + ], + [ + 0.3527580797672272, + 0.06344880163669586, + 0.0037083846982568502 + ], + [ + 0.33300045132637024, + 0.06906089186668396, + 0.00468099070712924 + ], + [ + 0.3128167390823364, + 0.07289811223745346, + 0.003107204334810376 + ], + [ + 0.3037186861038208, + 0.06743001192808151, + 0.003566155908629298 + ], + [ + 0.31020042300224304, + 0.04224797338247299, + 0.013004003092646599 + ], + [ + 0.33590230345726013, + -0.010882535018026829, + 0.03407895937561989 + ], + [ + 0.35600870847702026, + -0.062233734875917435, + 0.049791909754276276 + ], + [ + 0.35465914011001587, + -0.11402778327465057, + 0.03715606778860092 + ], + [ + 0.3423682153224945, + -0.16232819855213165, + 0.03456484526395798 + ], + [ + 0.3302241563796997, + -0.19429317116737366, + 0.02686234377324581 + ], + [ + 0.3277896046638489, + -0.1990610510110855, + 0.020929645746946335 + ], + [ + 0.32334357500076294, + -0.19296874105930328, + 0.007619206327944994 + ], + [ + 0.3182632625102997, + -0.18911729753017426, + 0.0022750124335289 + ], + [ + 0.31299012899398804, + -0.17520037293434143, + -0.003166642040014267 + ], + [ + 0.30793318152427673, + -0.16058197617530823, + -0.002502418588846922 + ], + [ + 0.30674585700035095, + -0.14766621589660645, + -0.0035485748667269945 + ], + [ + 0.3054947257041931, + -0.13010643422603607, + -0.0031890692189335823 + ], + [ + 0.30414023995399475, + -0.10816533863544464, + -0.0030594428535550833 + ], + [ + 0.30250605940818787, + -0.08570380508899689, + -0.0030758779030293226 + ], + [ + 0.2975327670574188, + -0.061997219920158386, + -0.00186837965156883 + ], + [ + 0.29412782192230225, + -0.04233550652861595, + 0.004334277473390102 + ], + [ + 0.2921415865421295, + -0.020959723740816116, + 0.003626300487667322 + ], + [ + 0.2890878915786743, + 0.0028498696628957987, + 0.0026284425985068083 + ], + [ + 0.28713902831077576, + 0.022268764674663544, + 0.0017338412581011653 + ], + [ + 0.2883704900741577, + 0.03140012174844742, + 0.001744787092320621 + ], + [ + 0.28861960768699646, + 0.02072436548769474, + 0.0168024729937315 + ], + [ + 0.30311933159828186, + -0.0009189379052259028, + 0.045788008719682693 + ], + [ + 0.3226469159126282, + -0.03904421254992485, + 0.06949834525585175 + ], + [ + 0.3280300199985504, + -0.09259239584207535, + 0.054259929805994034 + ], + [ + 0.33519914746284485, + -0.08266063779592514, + 0.03166747838258743 + ], + [ + 0.3233138620853424, + -0.07184233516454697, + 0.015768395736813545 + ], + [ + 0.31651222705841064, + -0.046962227672338486, + 0.006088194902986288 + ], + [ + 0.30702143907546997, + -0.033975064754486084, + 6.779459363315254e-05 + ], + [ + 0.2948583662509918, + -0.01383025199174881, + 0.0024529616348445415 + ], + [ + 0.28571999073028564, + -0.0035421333741396666, + 0.0018896968103945255 + ], + [ + 0.2821841537952423, + 0.015699446201324463, + -2.786233017104678e-05 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9944907933970558, + -0.009127112108658696, + 0.10442584772483526, + 0.024932323351328698, + -0.9470174736630628, + -0.32021287267868404, + 0.10181572128507119, + 0.32105233280788714, + -0.9415725986336977 + ], + [ + 0.9972640614896576, + 0.008275640557494943, + 0.07345682701094285, + 0.030383049422859586, + -0.9517848178944321, + -0.305258137866021, + 0.0673888860934836, + 0.3066548127765579, + -0.9494322323536598 + ], + [ + 0.993974433789815, + 0.03821446359873365, + 0.10273499765940568, + 0.06861058563083744, + -0.9478503117507631, + -0.3112432714989597, + 0.0854834048901338, + 0.3164165629132626, + -0.9447608936670416 + ], + [ + 0.9919495391322671, + 0.036634826585150375, + 0.12121881576866939, + 0.07343660754611825, + -0.9462587812098604, + -0.3149625115078723, + 0.10316577187904938, + 0.3213288167349843, + -0.9413312993034357 + ], + [ + 0.9907460929204455, + 0.020042115696425365, + 0.13424042968227856, + 0.06178377978926049, + -0.9472222213710314, + -0.3145676841251824, + 0.12085091608185616, + 0.3199505851523629, + -0.9396949926134737 + ], + [ + 0.9935674062717852, + 0.02348446251917013, + 0.11078036475180596, + 0.054922523337054455, + -0.9554355913343132, + -0.29004542272192824, + 0.09903194244610265, + 0.29426401552319814, + -0.9505794882825501 + ], + [ + 0.9919813162377319, + 0.028695518880129157, + 0.12308385528353172, + 0.06112848959675929, + -0.9613279475718716, + -0.2685365617134326, + 0.11061815400229802, + 0.2739071821136741, + -0.9553734764957998 + ], + [ + 0.9915565881373508, + 0.03163568045607018, + 0.12575657534895573, + 0.06219003267670191, + -0.9669943465014272, + -0.24709175152147123, + 0.113788981703357, + 0.25282625962577376, + -0.960797038966375 + ], + [ + 0.9908862046996885, + 0.040340216118467276, + 0.12851924485991664, + 0.07122150069203685, + -0.9667317422094497, + -0.24567709792297882, + 0.11433296626529922, + 0.25259138062926473, + -0.9607942377308373 + ], + [ + 0.9927035870127895, + 0.043499207832630886, + 0.11246069202114319, + 0.07096690134014683, + -0.964792693535859, + -0.2532563077477041, + 0.09748480520634333, + 0.25938943197006986, + -0.9608401715874111 + ], + [ + 0.9951746636955843, + 0.04308320154294616, + 0.088154560195097, + 0.0655105020592623, + -0.9606081542328015, + -0.27007470844452264, + 0.07304630626064872, + 0.274546556646155, + -0.9587952989952628 + ], + [ + 0.9957687251145994, + 0.05438179405813547, + 0.07407608628068965, + 0.07292549035024012, + -0.9581246887328719, + -0.27690964897907494, + 0.0559152836067445, + 0.2811400030510706, + -0.9580364187981694 + ], + [ + 0.9929410158045492, + 0.09133217989644798, + 0.07567411742724835, + 0.10881410020493351, + -0.9553307390196362, + -0.2747774930389795, + 0.04719778310070082, + 0.2810722540550003, + -0.9585253034066553 + ], + [ + 0.9917474417090447, + 0.10235265030379503, + 0.07720716831586202, + 0.11932452990487319, + -0.9571467804036808, + -0.2638781865290288, + 0.04688996082900713, + 0.2709132254775631, + -0.9614610526874176 + ], + [ + 0.9921403321340956, + 0.07911149278134942, + 0.09694809468345995, + 0.10043044241436293, + -0.9656078376124194, + -0.23982333117927207, + 0.07464105833455172, + 0.24767493948999764, + -0.9659636829401632 + ], + [ + 0.9905812468087619, + 0.09136993626188367, + 0.1019819994817616, + 0.11191011578053076, + -0.9694012223143481, + -0.21848889253560702, + 0.07889815876677296, + 0.2278438169513212, + -0.9704958916040118 + ], + [ + 0.9886340697390285, + 0.11757162479454927, + 0.09369946208178341, + 0.13440971558199208, + -0.9704288335263275, + -0.2005041331691182, + 0.06735506297535353, + 0.2108193352230796, + -0.9752017757303794 + ], + [ + 0.9804802800233609, + 0.17259725324049013, + 0.09417329058257416, + 0.18682439759588443, + -0.9671052933663059, + -0.17263833874839674, + 0.06127858474415622, + 0.18686235500150744, + -0.9804730467152292 + ], + [ + 0.9775996322469014, + 0.18828243186689456, + 0.09406744857288037, + 0.19853310185930614, + -0.9733103010451614, + -0.1151158779035276, + 0.06988251925085172, + 0.1312127422534325, + -0.9888880875880186 + ], + [ + 0.9738763355271906, + 0.2060013004540155, + 0.09554238489479726, + 0.20994257318698517, + -0.9771529575451507, + -0.033109115427512645, + 0.08653900313591857, + 0.052302598138327855, + -0.994874584640809 + ], + [ + 0.9726094567549368, + 0.215721288340224, + 0.0865746521084569, + 0.21320887685451315, + -0.9762906226254375, + 0.037397794107038196, + 0.09258952133639876, + -0.017914963870165092, + -0.9955431857072937 + ], + [ + 0.9737017481674743, + 0.20064749776532506, + 0.1079142588174461, + 0.1997536706677199, + -0.9796591586040936, + 0.019141682734074118, + 0.10955992273809331, + 0.0029179793751360865, + -0.9939759095299995 + ], + [ + 0.9918180661584352, + 0.11180327951304964, + 0.061619398989836614, + 0.11936989567444986, + -0.9833240374882076, + -0.13720300763671656, + 0.045252089989444015, + 0.14343592293430835, + -0.9886244910801928 + ], + [ + 0.9989905741205318, + 0.031207322056476697, + 0.03230999641586429, + 0.03856321996703353, + -0.9646838263294721, + -0.26057243385305096, + 0.02303716310885536, + 0.2615553827937628, + -0.964913504334717 + ], + [ + 0.9914429990719423, + 0.12099272216676023, + 0.04900551779044493, + 0.13041972216780207, + -0.934214632009525, + -0.3320146343295441, + 0.005610317362303725, + 0.3355648708103766, + -0.9420003937457295 + ], + [ + 0.9912226111580851, + 0.11789358354956447, + 0.05982339079983061, + 0.13159487566194933, + -0.9232299063192781, + -0.36101153551820564, + 0.012669799858857037, + 0.36571524856852555, + -0.9306405499095759 + ], + [ + 0.9874385294318595, + 0.12345703763637908, + 0.09860786201665946, + 0.1508410314519982, + -0.922338442904032, + -0.3557228977334226, + 0.04703332673694434, + 0.3661286066389997, + -0.929374902596708 + ], + [ + 0.983017245670026, + 0.1424361607300954, + 0.11571099702183077, + 0.17206844921232256, + -0.9345845223140035, + -0.311358666872744, + 0.06379297375873041, + 0.325981150939094, + -0.9432214722595332 + ], + [ + 0.971513041633727, + 0.19681117773671386, + 0.13201428049067965, + 0.22650118138061176, + -0.9349834240225328, + -0.2729527644781933, + 0.06971100894960161, + 0.2950785609307942, + -0.9529265544155228 + ], + [ + 0.9633203363273604, + 0.2230204818714468, + 0.1492507764936896, + 0.2559029641558693, + -0.9308857340565277, + -0.26070178953409506, + 0.08079357990819258, + 0.2893330516824294, + -0.9538127607920495 + ], + [ + 0.9525528029888501, + 0.24991519800229087, + 0.1737398956070842, + 0.28866033938246, + -0.922778792270075, + -0.25525381290822047, + 0.09653168384363642, + 0.29329455218953104, + -0.9511361309877018 + ], + [ + 0.9452787399454997, + 0.2660011515629155, + 0.18892191819439902, + 0.30923728664471895, + -0.9150761515782065, + -0.25885891400805816, + 0.10402117263163424, + 0.3031155294273492, + -0.9472595058717108 + ], + [ + 0.9422945129969947, + 0.2707060053899511, + 0.19697540308772707, + 0.31567214272916627, + -0.9143903254151932, + -0.2534589337385335, + 0.11149954744542087, + 0.301012610089533, + -0.947079331147372 + ], + [ + 0.9357716914090944, + 0.27448211627295205, + 0.2213389016953056, + 0.3260225961756267, + -0.9126335820422932, + -0.24659523862304647, + 0.13431533173940632, + 0.3029183269050828, + -0.9435040428555453 + ], + [ + 0.9287981134013664, + 0.2896042762852296, + 0.23122159868699804, + 0.3431318698812608, + -0.9077391120855254, + -0.24139226222472812, + 0.13998065728468445, + 0.3035441772584195, + -0.9424788316130274 + ], + [ + 0.9134429903158522, + 0.32924115361616996, + 0.23921155115990372, + 0.3839291416592701, + -0.8921128103046589, + -0.23818721182107896, + 0.13498265676600735, + 0.3094107245326461, + -0.9412994666505303 + ], + [ + 0.8984279364933743, + 0.36623452135122275, + 0.24227983469306386, + 0.4192290255608913, + -0.8795412319480572, + -0.22506498046244217, + 0.13066853888952423, + 0.3037754049852205, + -0.9437405555927658 + ], + [ + 0.8876930739567199, + 0.4048680720787854, + 0.2192780213803402, + 0.4479599923837079, + -0.869522375051449, + -0.20799683773672067, + 0.10645586725426576, + 0.28286513305123834, + -0.9532336884683879 + ], + [ + 0.865411719945643, + 0.45396358796376934, + 0.21208398285534236, + 0.49143714532513294, + -0.8515671988219118, + -0.18254544115174973, + 0.09773477976344082, + 0.26220291129898576, + -0.9600508039322336 + ], + [ + 0.8355926554488996, + 0.49187683320145054, + 0.2446264399437828, + 0.5305617337690518, + -0.8380474190990177, + -0.12720365561356112, + 0.1424400253434217, + 0.23607986847926704, + -0.9612372937412372 + ], + [ + 0.8114822648072056, + 0.5108856619720903, + 0.28371178032416583, + 0.547567815936173, + -0.8343268098155164, + -0.06378292384292998, + 0.20412256331493112, + 0.20711015140355304, + -0.9567859553376292 + ], + [ + 0.7966045433406552, + 0.5384558968482218, + 0.2747479730196438, + 0.5645806393236823, + -0.8251398586591097, + -0.019822092545599787, + 0.21603218100525642, + 0.1709077552406601, + -0.9613119347894887 + ], + [ + 0.789599245935765, + 0.5578571145001681, + 0.2555943477841747, + 0.5799928760244919, + -0.8145006550337429, + -0.01403377035732703, + 0.20035292505603614, + 0.15932395535872884, + -0.9666822552785068 + ], + [ + 0.7848583122823272, + 0.5758685088630278, + 0.22885124020028705, + 0.5949925725553431, + -0.8035150121709416, + -0.018640381431341516, + 0.17315099839536405, + 0.1507948464497511, + -0.9732829218880212 + ], + [ + 0.7655441632650708, + 0.5877888769594001, + 0.26162257206439565, + 0.6292899920244929, + -0.7687185523880211, + -0.11430613785916742, + 0.13392624846756654, + 0.25214286295128896, + -0.9583776586680907 + ], + [ + 0.8077611069630491, + 0.5154083599814842, + 0.2861402043387587, + 0.5843282575116292, + -0.7642327240035574, + -0.2729630580051553, + 0.07799026574677626, + 0.3876887488995516, + -0.918485140013407 + ], + [ + 0.842727033029637, + 0.4138947378148639, + 0.3442416212636556, + 0.5249320213056764, + -0.7736091690123051, + -0.35492988973602607, + 0.11940486091027418, + 0.47981246297825136, + -0.8692079610552024 + ], + [ + 0.8557672056170306, + 0.3972250386844419, + 0.33147361649543433, + 0.5018116408019181, + -0.7932010746338217, + -0.3449885974281423, + 0.12588711985785261, + 0.4615672473669397, + -0.8781276155616566 + ], + [ + 0.8335139088581128, + 0.4282168920735542, + 0.34912011841619245, + 0.5319052946673896, + -0.792851399142825, + -0.2974280020140386, + 0.14943667971708846, + 0.43360921602305863, + -0.8886235010030972 + ], + [ + 0.8209283129107062, + 0.4410325456569993, + 0.36272165462360917, + 0.54817252432583, + -0.7865820026165128, + -0.2842457330093872, + 0.15994870626494376, + 0.4321794150941289, + -0.8874893602365426 + ], + [ + 0.7924992261853182, + 0.4830602873479974, + 0.37228716776561355, + 0.5864331604586924, + -0.7711960802615203, + -0.24769488106074433, + 0.16745484409267306, + 0.41461954196170847, + -0.8944548678459756 + ], + [ + 0.7672248290808661, + 0.504694759924247, + 0.39578941489994723, + 0.6121410372354398, + -0.7603929745478686, + -0.2169927989371177, + 0.1914403619254723, + 0.4087612060399704, + -0.8923367437590997 + ], + [ + 0.7415004855787025, + 0.551948266366703, + 0.3814841296061198, + 0.645693725658536, + -0.7415571557839857, + -0.18213346027230742, + 0.18236403848277477, + 0.38137395815702474, + -0.9062545235792737 + ], + [ + 0.729417486666811, + 0.5730232549559715, + 0.37362344603134373, + 0.659237361923416, + -0.7346529840369351, + -0.16028441499372914, + 0.18263688233466907, + 0.3632207900510248, + -0.9136270721064377 + ], + [ + 0.699418533386669, + 0.6001617158779382, + 0.3880974490378545, + 0.6882076980717053, + -0.7120448537784672, + -0.13914844779028618, + 0.19283122016438534, + 0.36441465530635625, + -0.9110532802903814 + ], + [ + 0.6627532987945696, + 0.6317348995731458, + 0.40208093911328835, + 0.7241570073901067, + -0.6774002117860146, + -0.12932742060393898, + 0.19066906824317773, + 0.37688190422673584, + -0.9064244793040999 + ], + [ + 0.5936891937153859, + 0.6879692375919112, + 0.41741043277903234, + 0.7841286886107567, + -0.6111222306964693, + -0.10803619229751601, + 0.18076321794864572, + 0.39144341516466374, + -0.9022730804812226 + ], + [ + 0.534708328168743, + 0.7281567375713772, + 0.42880621417651643, + 0.8273221945692518, + -0.5544490497728307, + -0.09013455263727913, + 0.1721191161960377, + 0.40295659410836526, + -0.898888754576717 + ], + [ + 0.4972953208407003, + 0.7472293987117195, + 0.44084644670323353, + 0.8521105987640846, + -0.5162040214103433, + -0.08626085875820536, + 0.16311005899041936, + 0.4185470510954675, + -0.8934279347968865 + ], + [ + 0.45920400680306317, + 0.7806922243243678, + 0.42385295919160837, + 0.8797635851301563, + -0.4657761962810623, + -0.09522903578677855, + 0.1230760513460947, + 0.4166199537437162, + -0.9007108857605959 + ], + [ + 0.4326120826688611, + 0.8126130836239926, + 0.3905211418758482, + 0.8984597092191409, + -0.42457966628292276, + -0.11181349600535109, + 0.07494622631438627, + 0.3992393809510628, + -0.9137784085099872 + ], + [ + 0.4227290050840434, + 0.8387019048320026, + 0.34333555465728427, + 0.9055414923993492, + -0.4059517969023037, + -0.12327913097905072, + 0.03598324337540987, + 0.3630182549445151, + -0.9310869737963392 + ], + [ + 0.37349155368842507, + 0.8726579875441065, + 0.31459830911636666, + 0.9274050486200509, + -0.3437427212079895, + -0.14751548193517894, + -0.020589684734060115, + 0.3468558467029165, + -0.9376924263800768 + ], + [ + 0.4092146329086525, + 0.8496632899526543, + 0.3325893532876064, + 0.9094985975924571, + -0.3505980196180361, + -0.22336814817082767, + -0.07318254703677926, + 0.39389506514647105, + -0.9162374105342276 + ], + [ + 0.5472583478597564, + 0.7625296350583612, + 0.3450461655424861, + 0.8311033461660471, + -0.44639708187653127, + -0.33165776529989116, + -0.09887127332754528, + 0.46827150345700114, + -0.8780354607649454 + ], + [ + 0.6678665755758235, + 0.671752877318717, + 0.3204720097647331, + 0.7423910768123739, + -0.5705887955411701, + -0.3511180933421696, + -0.05300685142494713, + 0.47241559904061303, + -0.879780526884468 + ], + [ + 0.7522173771119666, + 0.6042813614816995, + 0.2627033569192021, + 0.658306411539207, + -0.672078356082472, + -0.3390329656712673, + -0.028314061827407394, + 0.4279657923845154, + -0.9033513128631231 + ], + [ + 0.7912130780655187, + 0.5581375308730422, + 0.24992871329447552, + 0.611384675759901, + -0.7127086468627162, + -0.34388248419057005, + -0.013807365572367336, + 0.42488690414987, + -0.9051411355904067 + ], + [ + 0.8257870352508396, + 0.5105725513623722, + 0.23956511057945515, + 0.5639625284576377, + -0.7510942991100882, + -0.343225320074137, + 0.004694561459487739, + 0.4185367649796651, + -0.9081877214833175 + ], + [ + 0.844511223957577, + 0.47145023250778983, + 0.2540383256086097, + 0.5341280219401814, + -0.7758891802734624, + -0.3357130264271013, + 0.03883360384955645, + 0.4192024072007762, + -0.9070619014208073 + ], + [ + 0.8597695300547283, + 0.4389285524993205, + 0.26103272015270934, + 0.5054008104624901, + -0.8046467421870277, + -0.3116306163900795, + 0.07325555250852707, + 0.39985665692677164, + -0.9136455975584933 + ], + [ + 0.8801639459755467, + 0.4014813867496505, + 0.2532274161664414, + 0.4659630302782143, + -0.832508428368389, + -0.2996801146381565, + 0.09049797024629079, + 0.38176224641676165, + -0.919819386940789 + ], + [ + 0.8961352882383289, + 0.37876826083118564, + 0.23124910758946915, + 0.43453888461677503, + -0.8547175072961193, + -0.2839611601566612, + 0.09009718602717882, + 0.35495434538603243, + -0.9305320573529731 + ], + [ + 0.91427268371727, + 0.3494310566982195, + 0.20494730157576216, + 0.3955017183614634, + -0.8794235245263393, + -0.2649389652029326, + 0.08765757572252578, + 0.3232834686841206, + -0.9422334892658045 + ], + [ + 0.9175971175167361, + 0.34189533908448455, + 0.20278833062403423, + 0.385888292247224, + -0.8886000392258502, + -0.24795200381190455, + 0.09542408412711299, + 0.3057736865724764, + -0.9473102431454961 + ], + [ + 0.9231419662085302, + 0.3336317973595672, + 0.19104641848324241, + 0.37217025176501844, + -0.9001258089795326, + -0.22641296718630194, + 0.09642724680199224, + 0.2801131053691835, + -0.955111739156535 + ], + [ + 0.9291856471470856, + 0.31914450615994017, + 0.18644253088761636, + 0.35330198093241305, + -0.9151000854596164, + -0.19434388043114623, + 0.10858979420316028, + 0.24645205980013787, + -0.9630522513421506 + ], + [ + 0.932289032817752, + 0.3113460541330653, + 0.18412168221996858, + 0.34286430927546513, + -0.9228287834733386, + -0.1755878749178777, + 0.1152441960048268, + 0.22682740347869879, + -0.9670926037967165 + ], + [ + 0.9353030306387138, + 0.3143787026972657, + 0.16240157686556417, + 0.33971590595923823, + -0.9262000877092587, + -0.16354357451656715, + 0.09900173794601545, + 0.20813319970092753, + -0.9730771948134036 + ], + [ + 0.9418789512471055, + 0.29888083945753435, + 0.15340888175986575, + 0.32134997576856233, + -0.9346878758407206, + -0.1519630475803455, + 0.09797057859989025, + 0.1924287363195049, + -0.9764081867576088 + ], + [ + 0.9417748851296279, + 0.2959738780588624, + 0.1595604250617095, + 0.3172032872560669, + -0.9394612405842103, + -0.12959418194472058, + 0.11154434227257279, + 0.1726616371600069, + -0.97864488899713 + ], + [ + 0.9452817551546177, + 0.2926912162599031, + 0.14413276968165248, + 0.30768858577107555, + -0.9466804932915859, + -0.09551846841001689, + 0.10849026480749832, + 0.13463987353491746, + -0.984937544667935 + ], + [ + 0.9481305700194905, + 0.285223409365837, + 0.14034254146282252, + 0.2941790654715467, + -0.9545738064975897, + -0.04740807301493666, + 0.12044542180092753, + 0.08623488098461243, + -0.988967363298085 + ], + [ + 0.937515694873508, + 0.3147097271938425, + 0.14839848205227982, + 0.3171407825489956, + -0.9483479091204955, + 0.0076136266650913, + 0.14312947254166156, + 0.03992531623371255, + -0.9888983381589758 + ], + [ + 0.9364694844012982, + 0.32819181551774546, + 0.1237539373609293, + 0.3371968210273507, + -0.9395162487438136, + -0.06006265258379345, + 0.09655676400033039, + 0.09797627556464261, + -0.9904935339275394 + ], + [ + 0.91411725864083, + 0.37786404575428956, + 0.14699796046603358, + 0.40183088642083076, + -0.8926517916798222, + -0.20421732915953078, + 0.05405160657392884, + 0.2457469058543829, + -0.9678258531831921 + ], + [ + 0.905917852884015, + 0.37820870901201364, + 0.19044951103503008, + 0.42245970642957065, + -0.8380188489366227, + -0.345329126009346, + 0.028993797085876793, + 0.3932970648942143, + -0.9189541764833212 + ], + [ + 0.9235141131251439, + 0.3271842788229856, + 0.20018024515361654, + 0.3791655193990996, + -0.8575461418864525, + -0.34763216685811976, + 0.05792401710422236, + 0.39694465889685854, + -0.916012961707293 + ], + [ + 0.8988627960246219, + 0.3674736585614849, + 0.23876512347123754, + 0.42893005906016374, + -0.8493873097713286, + -0.30750642665490546, + 0.08980355425840661, + 0.37881962497059396, + -0.9211031502387207 + ], + [ + 0.9136447061185727, + 0.33156216466857047, + 0.2352017898354502, + 0.39082091677956865, + -0.8756297238924637, + -0.283780897249244, + 0.11185866970907998, + 0.3511966936010364, + -0.9295958909196057 + ], + [ + 0.9109313998806186, + 0.3335676832434507, + 0.2427685840613107, + 0.3917969218801349, + -0.8837758346359179, + -0.2558035303095684, + 0.1292252170313063, + 0.3281354519237197, + -0.9357499497590306 + ], + [ + 0.9226355775193261, + 0.3198575119448376, + 0.21548726910896013, + 0.36827060113319665, + -0.8966022866132042, + -0.2459290629042602, + 0.11454412004364642, + 0.30626052911276647, + -0.945031286715416 + ], + [ + 0.9327480383418528, + 0.3176749560203145, + 0.17048084727298954, + 0.3526588639170607, + -0.9021989412215092, + -0.24833202805823432, + 0.07491877381640191, + 0.2917527939476825, + -0.9535551817034857 + ], + [ + 0.9417609501907565, + 0.3017001767977385, + 0.14853725464009526, + 0.32989078558308743, + -0.9145640380455794, + -0.2339758318740146, + 0.06525628156106186, + 0.26935037336892087, + -0.9608288058144625 + ], + [ + 0.9400344374738991, + 0.3122299495899658, + 0.13728698023548058, + 0.3340689678456376, + -0.9240245656327242, + -0.18594764540000425, + 0.06879811832950217, + 0.22066051002910053, + -0.9729212497566373 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0026120245456695557, + 0.001972883939743042, + -0.01573152467608452, + 0.0162011981010437, + 0.03455246239900589, + 0.005391791462898254, + 1.0 + ], + [ + 0.004680156707763672, + -0.0015990138053894043, + 0.0004896707832813263, + -0.010764598846435547, + -0.018147863447666168, + 0.03846020996570587, + 1.0 + ], + [ + 0.002272963523864746, + -0.001561090350151062, + 0.0002172030508518219, + -0.005777984857559204, + -0.017761796712875366, + 0.004980601370334625, + 1.0 + ], + [ + -0.003248751163482666, + -0.006999015808105469, + -0.0026663467288017273, + 0.0007814466953277588, + -0.017797380685806274, + -0.01161758229136467, + 1.0 + ], + [ + -0.005382895469665527, + -0.0036456435918807983, + -0.012357671745121479, + 0.027965068817138672, + 0.02195250242948532, + -0.007058307528495789, + 1.0 + ], + [ + 0.0019600391387939453, + -0.006420910358428955, + -0.0023180246353149414, + 0.02099442481994629, + -0.011650465428829193, + 0.006322894245386124, + 0.0 + ], + [ + 0.0012711286544799805, + -0.005109474062919617, + -0.005432784557342529, + 0.021903246641159058, + -0.0031909793615341187, + 0.001092754304409027, + 0.0 + ], + [ + 0.000547558069229126, + -0.001877516508102417, + 0.0010082193184643984, + 0.00022792816162109375, + -0.000547558069229126, + 0.009115621447563171, + 0.0 + ], + [ + -0.0025464892387390137, + -0.0012018829584121704, + -7.2838738560676575e-06, + -0.006594419479370117, + 0.016943663358688354, + -0.0003860741853713989, + 0.0 + ], + [ + -0.001656174659729004, + 0.006927385926246643, + -0.0023222723975777626, + -0.015207439661026001, + 0.02452845126390457, + -0.005633793771266937, + 0.0 + ], + [ + -0.0023767948150634766, + 0.015364795923233032, + 0.0020555562805384398, + -0.00655791163444519, + 0.01716696098446846, + 0.007371552288532257, + 0.0 + ], + [ + 0.0004417002201080322, + 0.029485762119293213, + 0.002462316071614623, + 0.0002028942108154297, + 0.008729137480258942, + 0.036047257483005524, + 0.0 + ], + [ + -0.005147159099578857, + 0.029911667108535767, + -0.0015271352604031563, + 0.010586470365524292, + 0.00030816346406936646, + 0.010589748620986938, + 0.0 + ], + [ + -0.007466346025466919, + 0.018580511212348938, + -0.00338234705850482, + 0.02365666627883911, + -0.02780338004231453, + -0.01885945349931717, + 0.0 + ], + [ + -0.0024072229862213135, + 0.020552821457386017, + -0.002045353641733527, + 0.020400390028953552, + -0.004269704222679138, + 0.011614792048931122, + 0.0 + ], + [ + -0.0005487501621246338, + 0.02570953220129013, + 0.00037084310315549374, + 0.017690509557724, + 0.011574149131774902, + 0.022629283368587494, + 0.0 + ], + [ + -0.0038670897483825684, + 0.03465034067630768, + 0.0047753192484378815, + 0.02457854151725769, + 0.006089095026254654, + 0.05316022038459778, + 0.0 + ], + [ + -0.004273563623428345, + 0.019520826637744904, + 0.00022987090051174164, + 0.0564088374376297, + -0.00862252339720726, + 0.012070760130882263, + 0.0 + ], + [ + -0.011914104223251343, + 0.02452455833554268, + 0.0008482900448143482, + 0.07939288020133972, + -0.016707859933376312, + 0.01196742057800293, + 0.0 + ], + [ + -0.009491026401519775, + 0.022405754774808884, + 0.0014599147252738476, + 0.0705169215798378, + -0.006074942648410797, + 0.0034748613834381104, + 0.0 + ], + [ + -0.0053955018520355225, + 0.0011306777596473694, + 0.014958413317799568, + -0.02092887833714485, + -0.01705797016620636, + -0.013458430767059326, + 0.0 + ], + [ + -0.0034678876399993896, + -0.039160601794719696, + 0.02024371549487114, + -0.14114533364772797, + 0.06451274454593658, + -0.08256281167268753, + 0.0 + ], + [ + 0.02842506766319275, + -0.04905688762664795, + 0.03090394288301468, + -0.12062427401542664, + 0.02222834713757038, + -0.08119547367095947, + 0.0 + ], + [ + 0.019885241985321045, + -0.04403447359800339, + 2.5115907192230225e-05, + -0.07750514149665833, + 0.01742885448038578, + 0.09221135079860687, + 0.0 + ], + [ + 0.011319488286972046, + -0.04755263030529022, + -0.004738323390483856, + -0.03222230076789856, + -0.007059792056679726, + 0.0011939555406570435, + 0.0 + ], + [ + 0.0069294273853302, + -0.03730696439743042, + -0.010974541306495667, + -0.0008485615253448486, + -0.03438054770231247, + 0.019599705934524536, + 0.0 + ], + [ + 0.009221553802490234, + 0.0018260329961776733, + -0.022529996931552887, + 0.04252803325653076, + -0.0167856365442276, + 0.02169753611087799, + 0.0 + ], + [ + 0.01895958185195923, + 0.02024368941783905, + -0.018411343917250633, + 0.03246226906776428, + -0.005931273102760315, + 0.05576556921005249, + 0.0 + ], + [ + 0.012414336204528809, + 0.01666778326034546, + -0.005183395929634571, + 0.0057694315910339355, + -0.011114142835140228, + 0.030598849058151245, + 0.0 + ], + [ + 0.00881725549697876, + 0.01727980375289917, + 0.0007559247314929962, + -0.004589349031448364, + -0.01580049842596054, + 0.034592241048812866, + 0.0 + ], + [ + 0.004274576902389526, + 0.014070138335227966, + -0.0029675234109163284, + -0.010584861040115356, + -0.007527448236942291, + 0.02192285656929016, + 0.0 + ], + [ + -0.002290397882461548, + 0.01397000253200531, + -0.00696928147226572, + 0.001960188150405884, + -0.00752219557762146, + 0.007088035345077515, + 0.0 + ], + [ + -0.00042116641998291016, + 0.007949352264404297, + -0.0013943541562184691, + -0.002925664186477661, + -0.022990621626377106, + 0.0119953453540802, + 0.0 + ], + [ + -0.0011455714702606201, + 0.010819755494594574, + -0.0019616789650171995, + -0.0009183287620544434, + -0.005719378590583801, + 0.018635660409927368, + 0.0 + ], + [ + -0.001143723726272583, + 0.029429614543914795, + 0.0009051133529283106, + -0.0060005784034729, + 0.0050459206104278564, + 0.04400727152824402, + 0.0 + ], + [ + -0.004820704460144043, + 0.022944491356611252, + 0.00024103809846565127, + 0.006168723106384277, + 0.004352688789367676, + 0.0387016236782074, + 0.0 + ], + [ + -0.014808624982833862, + 0.022737035527825356, + -0.0010569477453827858, + 0.022945642471313477, + 0.024385295808315277, + 0.030754804611206055, + 0.0 + ], + [ + -0.01673257350921631, + 0.022509798407554626, + 0.0010930346325039864, + 0.02185419201850891, + 0.00876692682504654, + 0.049107879400253296, + 0.0 + ], + [ + -0.016710489988327026, + 0.021276578307151794, + -0.00022258027456700802, + 0.02577836811542511, + -0.045035094022750854, + 0.04926854372024536, + 0.0 + ], + [ + -0.009358525276184082, + 0.014182867482304573, + -0.001846464117988944, + 0.02765771746635437, + -0.06264117360115051, + 0.02787071466445923, + 0.0 + ], + [ + -0.01708480715751648, + 0.019227512180805206, + 0.0006512863328680396, + 0.037227943539619446, + -0.012181535363197327, + 0.022968649864196777, + 0.0 + ], + [ + -0.012156009674072266, + 0.007618561387062073, + 0.00031464616768062115, + 0.012600809335708618, + 0.01603071391582489, + 0.01696997880935669, + 0.0 + ], + [ + -0.008013039827346802, + -0.0007234513759613037, + 0.004071359056979418, + 0.009634658694267273, + 0.027690038084983826, + 0.015124499797821045, + 0.0 + ], + [ + 0.0027762651443481445, + -0.021504539996385574, + 0.01559702679514885, + -0.10355134308338165, + 0.03969822824001312, + 0.03936415910720825, + 0.0 + ], + [ + 0.016437649726867676, + -0.04108796641230583, + 0.02002585120499134, + -0.1421447992324829, + 0.05626032501459122, + -0.06176859140396118, + 0.0 + ], + [ + 0.02993759512901306, + -0.0313602052628994, + 0.021645285189151764, + -0.10497772693634033, + -0.0416208878159523, + -0.06916815042495728, + 0.0 + ], + [ + 0.02201998233795166, + -0.01479976437985897, + -0.02087719365954399, + 0.020447850227355957, + -0.006531581282615662, + -0.02673494815826416, + 0.0 + ], + [ + 0.015971839427947998, + 0.004201795905828476, + -0.013428129255771637, + 0.029971987009048462, + -0.023776516318321228, + 0.03764772415161133, + 0.0 + ], + [ + 0.008797675371170044, + 0.0038202106952667236, + 0.0005743354558944702, + 0.0007978975772857666, + -0.010640159249305725, + 0.020751953125, + 0.0 + ], + [ + 0.0076822638511657715, + 0.01471516489982605, + -0.007477369159460068, + 0.01910802721977234, + -0.0076088011264801025, + 0.048306822776794434, + 0.0 + ], + [ + 0.006138861179351807, + 0.011072217486798763, + 0.002070525661110878, + 0.004507660865783691, + -0.02438195049762726, + 0.03638005256652832, + 0.0 + ], + [ + -0.0008154511451721191, + 0.0056193214841187, + -0.01132612582296133, + 0.03122401237487793, + 0.009239166975021362, + 0.043005406856536865, + 0.0 + ], + [ + -0.0009015798568725586, + 0.0073894415982067585, + -0.004202329088002443, + 0.01992809772491455, + -0.0002775043249130249, + 0.018460392951965332, + 0.0 + ], + [ + 0.0009689629077911377, + 0.004365956410765648, + -0.000542523805052042, + -0.002099663019180298, + -0.010378926992416382, + 0.042416274547576904, + 0.0 + ], + [ + -0.004728347063064575, + 0.011962538585066795, + -0.0022596355993300676, + -0.013543516397476196, + 0.002203032374382019, + 0.05232381820678711, + 0.0 + ], + [ + -0.008838951587677002, + 0.01872280240058899, + 0.003137939376756549, + -0.01529189944267273, + 0.010081276297569275, + 0.09310311079025269, + 0.0 + ], + [ + -0.018569469451904297, + 0.00880211591720581, + 0.0008419053629040718, + -0.012089699506759644, + 0.008781909942626953, + 0.07427191734313965, + 0.0 + ], + [ + -0.01825028657913208, + 0.010408714413642883, + 0.0008188220672309399, + -0.016684412956237793, + 0.009138375520706177, + 0.045501768589019775, + 0.0 + ], + [ + -0.01885715126991272, + 0.007916837930679321, + -0.0034596624318510294, + 0.004871785640716553, + 0.04045320302248001, + 0.04721331596374512, + 0.0 + ], + [ + -0.019757628440856934, + 0.005612090229988098, + 0.0009726060088723898, + 0.021322280168533325, + 0.04837234318256378, + 0.03232145309448242, + 0.0 + ], + [ + -0.020183712244033813, + 0.0038372203707695007, + -0.0015737863723188639, + 0.040157973766326904, + 0.039025552570819855, + 0.011984944343566895, + 0.0 + ], + [ + -0.009098052978515625, + -0.005468100309371948, + 0.00045895157381892204, + 0.01746240258216858, + 0.05658215284347534, + 0.0539013147354126, + 0.0 + ], + [ + 0.006481736898422241, + -0.02518203854560852, + 0.009437846951186657, + -0.05172273516654968, + 0.05265688896179199, + -0.039943814277648926, + 0.0 + ], + [ + 0.02570188045501709, + -0.053130507469177246, + 0.02107495628297329, + -0.08392694592475891, + 0.025785043835639954, + -0.15950864553451538, + 0.0 + ], + [ + 0.020106405019760132, + -0.05135120078921318, + 0.015712950378656387, + -0.002839386463165283, + -0.0460013672709465, + -0.1502947211265564, + 0.0 + ], + [ + -0.0013495683670043945, + -0.05179404839873314, + -0.012635841965675354, + 0.05035346746444702, + -0.02471385896205902, + -0.11927616596221924, + 0.0 + ], + [ + -0.012290924787521362, + -0.04830041527748108, + -0.0025912225246429443, + 0.0035490691661834717, + -0.014510042034089565, + -0.06103461980819702, + 0.0 + ], + [ + -0.0121440589427948, + -0.031964972615242004, + -0.007702501490712166, + 0.007043033838272095, + -0.018502382561564445, + -0.058698952198028564, + 0.0 + ], + [ + -0.00243455171585083, + -0.004767879843711853, + -0.005932698026299477, + -0.0010765492916107178, + -0.034148793667554855, + -0.035230934619903564, + 0.0 + ], + [ + -0.0044460296630859375, + 0.0060923099517822266, + -0.013310439884662628, + 0.020379185676574707, + -0.03447785973548889, + -0.032527923583984375, + 0.0 + ], + [ + -0.005080312490463257, + 0.0038514435291290283, + -0.005344193894416094, + 0.019131362438201904, + -0.017300724983215332, + -0.04453125596046448, + 0.0 + ], + [ + -0.0052731335163116455, + 0.013916924595832825, + -0.005441654473543167, + 0.028988510370254517, + 0.00040242820978164673, + -0.03539639711380005, + 0.0 + ], + [ + -0.005056947469711304, + 0.014618396759033203, + 0.000664223451167345, + 0.033898502588272095, + 0.0024493038654327393, + -0.043218791484832764, + 0.0 + ], + [ + -0.0011873245239257812, + 0.012915760278701782, + -0.0010461562778800726, + 0.01829412579536438, + -0.00779927521944046, + -0.010189831256866455, + 0.0 + ], + [ + -0.001251131296157837, + 0.017559781670570374, + 0.0003595056477934122, + 0.02694520354270935, + -0.0010078102350234985, + -0.01486465334892273, + 0.0 + ], + [ + -0.0013544857501983643, + 0.02194109559059143, + 0.00012962636537849903, + 0.0347476601600647, + -0.01222703605890274, + -0.019878298044204712, + 0.0 + ], + [ + -0.0016341805458068848, + 0.022461533546447754, + -1.643504947423935e-05, + 0.02014927566051483, + -0.006696484982967377, + -0.010932236909866333, + 0.0 + ], + [ + -0.004973292350769043, + 0.0237065851688385, + 0.0012074982514604926, + 0.019664734601974487, + 0.016336649656295776, + -0.0040149688720703125, + 0.0 + ], + [ + -0.003404945135116577, + 0.019661713391542435, + 0.006202657241374254, + 0.016132116317749023, + 0.0010361969470977783, + -0.019603043794631958, + 0.0 + ], + [ + -0.0019862353801727295, + 0.021375782787799835, + -0.0007079769857227802, + 0.01995237171649933, + -0.013648971915245056, + -0.0039153993129730225, + 0.0 + ], + [ + -0.0030536949634552, + 0.02380959317088127, + -0.0009978578891605139, + 0.03877532482147217, + 0.0030727311968803406, + -0.010196715593338013, + 0.0 + ], + [ + -0.0019488632678985596, + 0.01941889524459839, + -0.000894601340405643, + 0.04887993633747101, + -0.012034334242343903, + -0.01382899284362793, + 0.0 + ], + [ + 0.001231461763381958, + 0.009131357073783875, + 1.0945834219455719e-05, + 0.0466252863407135, + -0.022884167730808258, + 0.025339514017105103, + 0.0 + ], + [ + 0.0002491176128387451, + -0.010675756260752678, + 0.015057685784995556, + -0.05824427306652069, + 0.046915292739868164, + 0.019425690174102783, + 0.0 + ], + [ + 0.0144997239112854, + -0.021643303334712982, + 0.028985535725951195, + -0.15006543695926666, + 0.04262947291135788, + 0.06853821873664856, + 0.0 + ], + [ + 0.019527584314346313, + -0.03812527284026146, + 0.023710336536169052, + -0.15573351085186005, + 0.02508009970188141, + 0.022195518016815186, + 0.0 + ], + [ + 0.005383104085922241, + -0.0535481832921505, + -0.015238415449857712, + -0.004518240690231323, + -0.028958596289157867, + -0.04676985740661621, + 0.0 + ], + [ + 0.007169127464294434, + 0.009931758046150208, + -0.0225924514234066, + 0.018731385469436646, + -0.031968243420124054, + 0.05565166473388672, + 0.0 + ], + [ + -0.011885285377502441, + 0.010818302631378174, + -0.015899082645773888, + 0.02896285057067871, + -0.022168561816215515, + -0.04102891683578491, + 0.0 + ], + [ + -0.006801635026931763, + 0.02488010749220848, + -0.00968020036816597, + 0.023951053619384766, + -0.01749434322118759, + 0.001981079578399658, + 0.0 + ], + [ + -0.009490787982940674, + 0.012987162917852402, + -0.006020400207489729, + 0.023873209953308105, + 0.014791518449783325, + -0.026413410902023315, + 0.0 + ], + [ + -0.01216307282447815, + 0.020144812762737274, + 0.0023851669393479824, + 0.016475975513458252, + 0.03980705142021179, + -0.018300622701644897, + 0.0 + ], + [ + -0.009138375520706177, + 0.0102881183847785, + -0.000563264824450016, + 0.023602724075317383, + 0.00968635082244873, + -0.024538934230804443, + 0.0 + ], + [ + -0.003535836935043335, + 0.0192415788769722, + -0.0019175591878592968, + 0.050286903977394104, + -0.003549821674823761, + 0.0045247673988342285, + 0.0 + ], + [ + 0.0014709234237670898, + 0.016964085400104523, + 0.00045386640704236925, + 0.07993468642234802, + -0.019586272537708282, + 0.020247668027877808, + 0.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.931966245174408 + ], + [ + 0.6671556830406189 + ], + [ + 0.3814634680747986 + ], + [ + 0.3661215305328369 + ], + [ + 0.3661215305328369 + ], + [ + 0.3661215305328369 + ], + [ + 0.365278422832489 + ], + [ + 0.365278422832489 + ], + [ + 0.365278422832489 + ], + [ + 0.365278422832489 + ], + [ + 0.365278422832489 + ], + [ + 0.365278422832489 + ], + [ + 0.365278422832489 + ], + [ + 0.365278422832489 + ], + [ + 0.365278422832489 + ], + [ + 0.365278422832489 + ], + [ + 0.365278422832489 + ], + [ + 0.365278422832489 + ], + [ + 0.365278422832489 + ], + [ + 0.365278422832489 + ], + [ + 0.365278422832489 + ], + [ + 0.365278422832489 + ], + [ + 0.365278422832489 + ], + [ + 0.365278422832489 + ], + [ + 0.365278422832489 + ], + [ + 0.365278422832489 + ], + [ + 0.365278422832489 + ], + [ + 0.365278422832489 + ], + [ + 0.365278422832489 + ], + [ + 0.365278422832489 + ], + [ + 0.365278422832489 + ], + [ + 0.365278422832489 + ], + [ + 0.365278422832489 + ], + [ + 0.365278422832489 + ], + [ + 0.365278422832489 + ], + [ + 0.365278422832489 + ], + [ + 0.365278422832489 + ], + [ + 0.365278422832489 + ], + [ + 0.365278422832489 + ], + [ + 0.365278422832489 + ], + [ + 0.365278422832489 + ], + [ + 0.365278422832489 + ], + [ + 0.365278422832489 + ], + [ + 0.365278422832489 + ], + [ + 0.365278422832489 + ], + [ + 0.365278422832489 + ], + [ + 0.365278422832489 + ], + [ + 0.365278422832489 + ], + [ + 0.365278422832489 + ], + [ + 0.365278422832489 + ], + [ + 0.365278422832489 + ], + [ + 0.365278422832489 + ], + [ + 0.365278422832489 + ], + [ + 0.365278422832489 + ], + [ + 0.3644362688064575 + ], + [ + 0.365278422832489 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.365278422832489 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.35544353723526, + -0.2020639330148697, + 0.02480452135205269 + ], + [ + 0.3601236939430237, + -0.2036629468202591, + 0.025294192135334015 + ], + [ + 0.3623966574668884, + -0.20522403717041016, + 0.025511395186185837 + ], + [ + 0.35914790630340576, + -0.21222305297851562, + 0.02284504845738411 + ], + [ + 0.35376501083374023, + -0.21586869657039642, + 0.01048737671226263 + ], + [ + 0.3557250499725342, + -0.22228960692882538, + 0.008169352076947689 + ], + [ + 0.35699617862701416, + -0.227399080991745, + 0.0027365677524358034 + ], + [ + 0.3575437366962433, + -0.2292765974998474, + 0.003744787070900202 + ], + [ + 0.3549972474575043, + -0.23047848045825958, + 0.003737503197044134 + ], + [ + 0.35334107279777527, + -0.22355109453201294, + 0.0014152307994663715 + ], + [ + 0.3509642779827118, + -0.2081862986087799, + 0.0034707870800048113 + ], + [ + 0.3514059782028198, + -0.1787005364894867, + 0.005933103151619434 + ], + [ + 0.34625881910324097, + -0.14878886938095093, + 0.004405967891216278 + ], + [ + 0.33879247307777405, + -0.130208358168602, + 0.0010236208327114582 + ], + [ + 0.33638525009155273, + -0.10965553671121597, + -0.001021732809022069 + ], + [ + 0.3358364999294281, + -0.08394600450992584, + -0.0006508897058665752 + ], + [ + 0.33196941018104553, + -0.049295663833618164, + 0.004124429542571306 + ], + [ + 0.3276958465576172, + -0.02977483719587326, + 0.004354300443083048 + ], + [ + 0.31578174233436584, + -0.005250278394669294, + 0.005202590487897396 + ], + [ + 0.30629071593284607, + 0.017155475914478302, + 0.006662505213171244 + ], + [ + 0.30089521408081055, + 0.01828615367412567, + 0.021620918065309525 + ], + [ + 0.29742732644081116, + -0.020874446257948875, + 0.041864633560180664 + ], + [ + 0.3258523941040039, + -0.06993133574724197, + 0.07276857644319534 + ], + [ + 0.34573763608932495, + -0.11396580934524536, + 0.07279369235038757 + ], + [ + 0.357057124376297, + -0.16151843965053558, + 0.06805536895990372 + ], + [ + 0.3639865517616272, + -0.198825404047966, + 0.05708082765340805 + ], + [ + 0.37320810556411743, + -0.19699937105178833, + 0.034550830721855164 + ], + [ + 0.39216768741607666, + -0.17675568163394928, + 0.01613948680460453 + ], + [ + 0.40458202362060547, + -0.16008789837360382, + 0.01095609087496996 + ], + [ + 0.41339927911758423, + -0.14280809462070465, + 0.011712015606462955 + ], + [ + 0.41767385601997375, + -0.12873795628547668, + 0.008744492195546627 + ], + [ + 0.4153834581375122, + -0.11476795375347137, + 0.001775210490450263 + ], + [ + 0.4149622917175293, + -0.10681860148906708, + 0.0003808563051279634 + ], + [ + 0.4138167202472687, + -0.0959988459944725, + -0.0015808226307854056 + ], + [ + 0.4126729965209961, + -0.06656923145055771, + -0.000675709277857095 + ], + [ + 0.40785229206085205, + -0.04362474009394646, + -0.00043467117939144373 + ], + [ + 0.3930436670780182, + -0.0208877045661211, + -0.0014916189247742295 + ], + [ + 0.3763110935688019, + 0.0016220930265262723, + -0.0003985843504779041 + ], + [ + 0.35960060358047485, + 0.02289867214858532, + -0.0006211646250449121 + ], + [ + 0.35024207830429077, + 0.03708153963088989, + -0.002467628801241517 + ], + [ + 0.3331572711467743, + 0.0563090518116951, + -0.0018163424683734775 + ], + [ + 0.321001261472702, + 0.06392761319875717, + -0.0015016963006928563 + ], + [ + 0.3129882216453552, + 0.06320416182279587, + 0.0025696626398712397 + ], + [ + 0.31576448678970337, + 0.041699621826410294, + 0.018166689202189445 + ], + [ + 0.33220213651657104, + 0.0006116536096669734, + 0.038192540407180786 + ], + [ + 0.3621397316455841, + -0.030748551711440086, + 0.05983782559633255 + ], + [ + 0.38415971398353577, + -0.04554831609129906, + 0.03896063193678856 + ], + [ + 0.40013155341148376, + -0.04134652018547058, + 0.025532502681016922 + ], + [ + 0.4089292287826538, + -0.03752630949020386, + 0.026106838136911392 + ], + [ + 0.4166114926338196, + -0.022811144590377808, + 0.018629468977451324 + ], + [ + 0.4227503538131714, + -0.011738927103579044, + 0.020699994638562202 + ], + [ + 0.42193490266799927, + -0.006119605619460344, + 0.009373868815600872 + ], + [ + 0.4210333228111267, + 0.0012698358623310924, + 0.005171539727598429 + ], + [ + 0.42200228571891785, + 0.005635792389512062, + 0.004629015922546387 + ], + [ + 0.41727393865585327, + 0.017598330974578857, + 0.002369380323216319 + ], + [ + 0.40843498706817627, + 0.03632113337516785, + 0.005507319699972868 + ], + [ + 0.389865517616272, + 0.04512324929237366, + 0.00634922506287694 + ], + [ + 0.3716152310371399, + 0.05553196370601654, + 0.00716804713010788 + ], + [ + 0.3527580797672272, + 0.06344880163669586, + 0.0037083846982568502 + ], + [ + 0.33300045132637024, + 0.06906089186668396, + 0.00468099070712924 + ], + [ + 0.3128167390823364, + 0.07289811223745346, + 0.003107204334810376 + ], + [ + 0.3037186861038208, + 0.06743001192808151, + 0.003566155908629298 + ], + [ + 0.31020042300224304, + 0.04224797338247299, + 0.013004003092646599 + ], + [ + 0.33590230345726013, + -0.010882535018026829, + 0.03407895937561989 + ], + [ + 0.35600870847702026, + -0.062233734875917435, + 0.049791909754276276 + ], + [ + 0.35465914011001587, + -0.11402778327465057, + 0.03715606778860092 + ], + [ + 0.3423682153224945, + -0.16232819855213165, + 0.03456484526395798 + ], + [ + 0.3302241563796997, + -0.19429317116737366, + 0.02686234377324581 + ], + [ + 0.3277896046638489, + -0.1990610510110855, + 0.020929645746946335 + ], + [ + 0.32334357500076294, + -0.19296874105930328, + 0.007619206327944994 + ], + [ + 0.3182632625102997, + -0.18911729753017426, + 0.0022750124335289 + ], + [ + 0.31299012899398804, + -0.17520037293434143, + -0.003166642040014267 + ], + [ + 0.30793318152427673, + -0.16058197617530823, + -0.002502418588846922 + ], + [ + 0.30674585700035095, + -0.14766621589660645, + -0.0035485748667269945 + ], + [ + 0.3054947257041931, + -0.13010643422603607, + -0.0031890692189335823 + ], + [ + 0.30414023995399475, + -0.10816533863544464, + -0.0030594428535550833 + ], + [ + 0.30250605940818787, + -0.08570380508899689, + -0.0030758779030293226 + ], + [ + 0.2975327670574188, + -0.061997219920158386, + -0.00186837965156883 + ], + [ + 0.29412782192230225, + -0.04233550652861595, + 0.004334277473390102 + ], + [ + 0.2921415865421295, + -0.020959723740816116, + 0.003626300487667322 + ], + [ + 0.2890878915786743, + 0.0028498696628957987, + 0.0026284425985068083 + ], + [ + 0.28713902831077576, + 0.022268764674663544, + 0.0017338412581011653 + ], + [ + 0.2883704900741577, + 0.03140012174844742, + 0.001744787092320621 + ], + [ + 0.28861960768699646, + 0.02072436548769474, + 0.0168024729937315 + ], + [ + 0.30311933159828186, + -0.0009189379052259028, + 0.045788008719682693 + ], + [ + 0.3226469159126282, + -0.03904421254992485, + 0.06949834525585175 + ], + [ + 0.3280300199985504, + -0.09259239584207535, + 0.054259929805994034 + ], + [ + 0.33519914746284485, + -0.08266063779592514, + 0.03166747838258743 + ], + [ + 0.3233138620853424, + -0.07184233516454697, + 0.015768395736813545 + ], + [ + 0.31651222705841064, + -0.046962227672338486, + 0.006088194902986288 + ], + [ + 0.30702143907546997, + -0.033975064754486084, + 6.779459363315254e-05 + ], + [ + 0.2948583662509918, + -0.01383025199174881, + 0.0024529616348445415 + ], + [ + 0.28571999073028564, + -0.0035421333741396666, + 0.0018896968103945255 + ], + [ + 0.2821841537952423, + 0.015699446201324463, + -2.786233017104678e-05 + ], + [ + 0.2836550772190094, + 0.032663531601428986, + 0.0004260040877852589 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9972640614896576, + 0.008275640557494943, + 0.07345682701094285, + 0.030383049422859586, + -0.9517848178944321, + -0.305258137866021, + 0.0673888860934836, + 0.3066548127765579, + -0.9494322323536598 + ], + [ + 0.993974433789815, + 0.03821446359873365, + 0.10273499765940568, + 0.06861058563083744, + -0.9478503117507631, + -0.3112432714989597, + 0.0854834048901338, + 0.3164165629132626, + -0.9447608936670416 + ], + [ + 0.9919495391322671, + 0.036634826585150375, + 0.12121881576866939, + 0.07343660754611825, + -0.9462587812098604, + -0.3149625115078723, + 0.10316577187904938, + 0.3213288167349843, + -0.9413312993034357 + ], + [ + 0.9907460929204455, + 0.020042115696425365, + 0.13424042968227856, + 0.06178377978926049, + -0.9472222213710314, + -0.3145676841251824, + 0.12085091608185616, + 0.3199505851523629, + -0.9396949926134737 + ], + [ + 0.9935674062717852, + 0.02348446251917013, + 0.11078036475180596, + 0.054922523337054455, + -0.9554355913343132, + -0.29004542272192824, + 0.09903194244610265, + 0.29426401552319814, + -0.9505794882825501 + ], + [ + 0.9919813162377319, + 0.028695518880129157, + 0.12308385528353172, + 0.06112848959675929, + -0.9613279475718716, + -0.2685365617134326, + 0.11061815400229802, + 0.2739071821136741, + -0.9553734764957998 + ], + [ + 0.9915565881373508, + 0.03163568045607018, + 0.12575657534895573, + 0.06219003267670191, + -0.9669943465014272, + -0.24709175152147123, + 0.113788981703357, + 0.25282625962577376, + -0.960797038966375 + ], + [ + 0.9908862046996885, + 0.040340216118467276, + 0.12851924485991664, + 0.07122150069203685, + -0.9667317422094497, + -0.24567709792297882, + 0.11433296626529922, + 0.25259138062926473, + -0.9607942377308373 + ], + [ + 0.9927035870127895, + 0.043499207832630886, + 0.11246069202114319, + 0.07096690134014683, + -0.964792693535859, + -0.2532563077477041, + 0.09748480520634333, + 0.25938943197006986, + -0.9608401715874111 + ], + [ + 0.9951746636955843, + 0.04308320154294616, + 0.088154560195097, + 0.0655105020592623, + -0.9606081542328015, + -0.27007470844452264, + 0.07304630626064872, + 0.274546556646155, + -0.9587952989952628 + ], + [ + 0.9957687251145994, + 0.05438179405813547, + 0.07407608628068965, + 0.07292549035024012, + -0.9581246887328719, + -0.27690964897907494, + 0.0559152836067445, + 0.2811400030510706, + -0.9580364187981694 + ], + [ + 0.9929410158045492, + 0.09133217989644798, + 0.07567411742724835, + 0.10881410020493351, + -0.9553307390196362, + -0.2747774930389795, + 0.04719778310070082, + 0.2810722540550003, + -0.9585253034066553 + ], + [ + 0.9917474417090447, + 0.10235265030379503, + 0.07720716831586202, + 0.11932452990487319, + -0.9571467804036808, + -0.2638781865290288, + 0.04688996082900713, + 0.2709132254775631, + -0.9614610526874176 + ], + [ + 0.9921403321340956, + 0.07911149278134942, + 0.09694809468345995, + 0.10043044241436293, + -0.9656078376124194, + -0.23982333117927207, + 0.07464105833455172, + 0.24767493948999764, + -0.9659636829401632 + ], + [ + 0.9905812468087619, + 0.09136993626188367, + 0.1019819994817616, + 0.11191011578053076, + -0.9694012223143481, + -0.21848889253560702, + 0.07889815876677296, + 0.2278438169513212, + -0.9704958916040118 + ], + [ + 0.9886340697390285, + 0.11757162479454927, + 0.09369946208178341, + 0.13440971558199208, + -0.9704288335263275, + -0.2005041331691182, + 0.06735506297535353, + 0.2108193352230796, + -0.9752017757303794 + ], + [ + 0.9804802800233609, + 0.17259725324049013, + 0.09417329058257416, + 0.18682439759588443, + -0.9671052933663059, + -0.17263833874839674, + 0.06127858474415622, + 0.18686235500150744, + -0.9804730467152292 + ], + [ + 0.9775996322469014, + 0.18828243186689456, + 0.09406744857288037, + 0.19853310185930614, + -0.9733103010451614, + -0.1151158779035276, + 0.06988251925085172, + 0.1312127422534325, + -0.9888880875880186 + ], + [ + 0.9738763355271906, + 0.2060013004540155, + 0.09554238489479726, + 0.20994257318698517, + -0.9771529575451507, + -0.033109115427512645, + 0.08653900313591857, + 0.052302598138327855, + -0.994874584640809 + ], + [ + 0.9726094567549368, + 0.215721288340224, + 0.0865746521084569, + 0.21320887685451315, + -0.9762906226254375, + 0.037397794107038196, + 0.09258952133639876, + -0.017914963870165092, + -0.9955431857072937 + ], + [ + 0.9737017481674743, + 0.20064749776532506, + 0.1079142588174461, + 0.1997536706677199, + -0.9796591586040936, + 0.019141682734074118, + 0.10955992273809331, + 0.0029179793751360865, + -0.9939759095299995 + ], + [ + 0.9918180661584352, + 0.11180327951304964, + 0.061619398989836614, + 0.11936989567444986, + -0.9833240374882076, + -0.13720300763671656, + 0.045252089989444015, + 0.14343592293430835, + -0.9886244910801928 + ], + [ + 0.9989905741205318, + 0.031207322056476697, + 0.03230999641586429, + 0.03856321996703353, + -0.9646838263294721, + -0.26057243385305096, + 0.02303716310885536, + 0.2615553827937628, + -0.964913504334717 + ], + [ + 0.9914429990719423, + 0.12099272216676023, + 0.04900551779044493, + 0.13041972216780207, + -0.934214632009525, + -0.3320146343295441, + 0.005610317362303725, + 0.3355648708103766, + -0.9420003937457295 + ], + [ + 0.9912226111580851, + 0.11789358354956447, + 0.05982339079983061, + 0.13159487566194933, + -0.9232299063192781, + -0.36101153551820564, + 0.012669799858857037, + 0.36571524856852555, + -0.9306405499095759 + ], + [ + 0.9874385294318595, + 0.12345703763637908, + 0.09860786201665946, + 0.1508410314519982, + -0.922338442904032, + -0.3557228977334226, + 0.04703332673694434, + 0.3661286066389997, + -0.929374902596708 + ], + [ + 0.983017245670026, + 0.1424361607300954, + 0.11571099702183077, + 0.17206844921232256, + -0.9345845223140035, + -0.311358666872744, + 0.06379297375873041, + 0.325981150939094, + -0.9432214722595332 + ], + [ + 0.971513041633727, + 0.19681117773671386, + 0.13201428049067965, + 0.22650118138061176, + -0.9349834240225328, + -0.2729527644781933, + 0.06971100894960161, + 0.2950785609307942, + -0.9529265544155228 + ], + [ + 0.9633203363273604, + 0.2230204818714468, + 0.1492507764936896, + 0.2559029641558693, + -0.9308857340565277, + -0.26070178953409506, + 0.08079357990819258, + 0.2893330516824294, + -0.9538127607920495 + ], + [ + 0.9525528029888501, + 0.24991519800229087, + 0.1737398956070842, + 0.28866033938246, + -0.922778792270075, + -0.25525381290822047, + 0.09653168384363642, + 0.29329455218953104, + -0.9511361309877018 + ], + [ + 0.9452787399454997, + 0.2660011515629155, + 0.18892191819439902, + 0.30923728664471895, + -0.9150761515782065, + -0.25885891400805816, + 0.10402117263163424, + 0.3031155294273492, + -0.9472595058717108 + ], + [ + 0.9422945129969947, + 0.2707060053899511, + 0.19697540308772707, + 0.31567214272916627, + -0.9143903254151932, + -0.2534589337385335, + 0.11149954744542087, + 0.301012610089533, + -0.947079331147372 + ], + [ + 0.9357716914090944, + 0.27448211627295205, + 0.2213389016953056, + 0.3260225961756267, + -0.9126335820422932, + -0.24659523862304647, + 0.13431533173940632, + 0.3029183269050828, + -0.9435040428555453 + ], + [ + 0.9287981134013664, + 0.2896042762852296, + 0.23122159868699804, + 0.3431318698812608, + -0.9077391120855254, + -0.24139226222472812, + 0.13998065728468445, + 0.3035441772584195, + -0.9424788316130274 + ], + [ + 0.9134429903158522, + 0.32924115361616996, + 0.23921155115990372, + 0.3839291416592701, + -0.8921128103046589, + -0.23818721182107896, + 0.13498265676600735, + 0.3094107245326461, + -0.9412994666505303 + ], + [ + 0.8984279364933743, + 0.36623452135122275, + 0.24227983469306386, + 0.4192290255608913, + -0.8795412319480572, + -0.22506498046244217, + 0.13066853888952423, + 0.3037754049852205, + -0.9437405555927658 + ], + [ + 0.8876930739567199, + 0.4048680720787854, + 0.2192780213803402, + 0.4479599923837079, + -0.869522375051449, + -0.20799683773672067, + 0.10645586725426576, + 0.28286513305123834, + -0.9532336884683879 + ], + [ + 0.865411719945643, + 0.45396358796376934, + 0.21208398285534236, + 0.49143714532513294, + -0.8515671988219118, + -0.18254544115174973, + 0.09773477976344082, + 0.26220291129898576, + -0.9600508039322336 + ], + [ + 0.8355926554488996, + 0.49187683320145054, + 0.2446264399437828, + 0.5305617337690518, + -0.8380474190990177, + -0.12720365561356112, + 0.1424400253434217, + 0.23607986847926704, + -0.9612372937412372 + ], + [ + 0.8114822648072056, + 0.5108856619720903, + 0.28371178032416583, + 0.547567815936173, + -0.8343268098155164, + -0.06378292384292998, + 0.20412256331493112, + 0.20711015140355304, + -0.9567859553376292 + ], + [ + 0.7966045433406552, + 0.5384558968482218, + 0.2747479730196438, + 0.5645806393236823, + -0.8251398586591097, + -0.019822092545599787, + 0.21603218100525642, + 0.1709077552406601, + -0.9613119347894887 + ], + [ + 0.789599245935765, + 0.5578571145001681, + 0.2555943477841747, + 0.5799928760244919, + -0.8145006550337429, + -0.01403377035732703, + 0.20035292505603614, + 0.15932395535872884, + -0.9666822552785068 + ], + [ + 0.7848583122823272, + 0.5758685088630278, + 0.22885124020028705, + 0.5949925725553431, + -0.8035150121709416, + -0.018640381431341516, + 0.17315099839536405, + 0.1507948464497511, + -0.9732829218880212 + ], + [ + 0.7655441632650708, + 0.5877888769594001, + 0.26162257206439565, + 0.6292899920244929, + -0.7687185523880211, + -0.11430613785916742, + 0.13392624846756654, + 0.25214286295128896, + -0.9583776586680907 + ], + [ + 0.8077611069630491, + 0.5154083599814842, + 0.2861402043387587, + 0.5843282575116292, + -0.7642327240035574, + -0.2729630580051553, + 0.07799026574677626, + 0.3876887488995516, + -0.918485140013407 + ], + [ + 0.842727033029637, + 0.4138947378148639, + 0.3442416212636556, + 0.5249320213056764, + -0.7736091690123051, + -0.35492988973602607, + 0.11940486091027418, + 0.47981246297825136, + -0.8692079610552024 + ], + [ + 0.8557672056170306, + 0.3972250386844419, + 0.33147361649543433, + 0.5018116408019181, + -0.7932010746338217, + -0.3449885974281423, + 0.12588711985785261, + 0.4615672473669397, + -0.8781276155616566 + ], + [ + 0.8335139088581128, + 0.4282168920735542, + 0.34912011841619245, + 0.5319052946673896, + -0.792851399142825, + -0.2974280020140386, + 0.14943667971708846, + 0.43360921602305863, + -0.8886235010030972 + ], + [ + 0.8209283129107062, + 0.4410325456569993, + 0.36272165462360917, + 0.54817252432583, + -0.7865820026165128, + -0.2842457330093872, + 0.15994870626494376, + 0.4321794150941289, + -0.8874893602365426 + ], + [ + 0.7924992261853182, + 0.4830602873479974, + 0.37228716776561355, + 0.5864331604586924, + -0.7711960802615203, + -0.24769488106074433, + 0.16745484409267306, + 0.41461954196170847, + -0.8944548678459756 + ], + [ + 0.7672248290808661, + 0.504694759924247, + 0.39578941489994723, + 0.6121410372354398, + -0.7603929745478686, + -0.2169927989371177, + 0.1914403619254723, + 0.4087612060399704, + -0.8923367437590997 + ], + [ + 0.7415004855787025, + 0.551948266366703, + 0.3814841296061198, + 0.645693725658536, + -0.7415571557839857, + -0.18213346027230742, + 0.18236403848277477, + 0.38137395815702474, + -0.9062545235792737 + ], + [ + 0.729417486666811, + 0.5730232549559715, + 0.37362344603134373, + 0.659237361923416, + -0.7346529840369351, + -0.16028441499372914, + 0.18263688233466907, + 0.3632207900510248, + -0.9136270721064377 + ], + [ + 0.699418533386669, + 0.6001617158779382, + 0.3880974490378545, + 0.6882076980717053, + -0.7120448537784672, + -0.13914844779028618, + 0.19283122016438534, + 0.36441465530635625, + -0.9110532802903814 + ], + [ + 0.6627532987945696, + 0.6317348995731458, + 0.40208093911328835, + 0.7241570073901067, + -0.6774002117860146, + -0.12932742060393898, + 0.19066906824317773, + 0.37688190422673584, + -0.9064244793040999 + ], + [ + 0.5936891937153859, + 0.6879692375919112, + 0.41741043277903234, + 0.7841286886107567, + -0.6111222306964693, + -0.10803619229751601, + 0.18076321794864572, + 0.39144341516466374, + -0.9022730804812226 + ], + [ + 0.534708328168743, + 0.7281567375713772, + 0.42880621417651643, + 0.8273221945692518, + -0.5544490497728307, + -0.09013455263727913, + 0.1721191161960377, + 0.40295659410836526, + -0.898888754576717 + ], + [ + 0.4972953208407003, + 0.7472293987117195, + 0.44084644670323353, + 0.8521105987640846, + -0.5162040214103433, + -0.08626085875820536, + 0.16311005899041936, + 0.4185470510954675, + -0.8934279347968865 + ], + [ + 0.45920400680306317, + 0.7806922243243678, + 0.42385295919160837, + 0.8797635851301563, + -0.4657761962810623, + -0.09522903578677855, + 0.1230760513460947, + 0.4166199537437162, + -0.9007108857605959 + ], + [ + 0.4326120826688611, + 0.8126130836239926, + 0.3905211418758482, + 0.8984597092191409, + -0.42457966628292276, + -0.11181349600535109, + 0.07494622631438627, + 0.3992393809510628, + -0.9137784085099872 + ], + [ + 0.4227290050840434, + 0.8387019048320026, + 0.34333555465728427, + 0.9055414923993492, + -0.4059517969023037, + -0.12327913097905072, + 0.03598324337540987, + 0.3630182549445151, + -0.9310869737963392 + ], + [ + 0.37349155368842507, + 0.8726579875441065, + 0.31459830911636666, + 0.9274050486200509, + -0.3437427212079895, + -0.14751548193517894, + -0.020589684734060115, + 0.3468558467029165, + -0.9376924263800768 + ], + [ + 0.4092146329086525, + 0.8496632899526543, + 0.3325893532876064, + 0.9094985975924571, + -0.3505980196180361, + -0.22336814817082767, + -0.07318254703677926, + 0.39389506514647105, + -0.9162374105342276 + ], + [ + 0.5472583478597564, + 0.7625296350583612, + 0.3450461655424861, + 0.8311033461660471, + -0.44639708187653127, + -0.33165776529989116, + -0.09887127332754528, + 0.46827150345700114, + -0.8780354607649454 + ], + [ + 0.6678665755758235, + 0.671752877318717, + 0.3204720097647331, + 0.7423910768123739, + -0.5705887955411701, + -0.3511180933421696, + -0.05300685142494713, + 0.47241559904061303, + -0.879780526884468 + ], + [ + 0.7522173771119666, + 0.6042813614816995, + 0.2627033569192021, + 0.658306411539207, + -0.672078356082472, + -0.3390329656712673, + -0.028314061827407394, + 0.4279657923845154, + -0.9033513128631231 + ], + [ + 0.7912130780655187, + 0.5581375308730422, + 0.24992871329447552, + 0.611384675759901, + -0.7127086468627162, + -0.34388248419057005, + -0.013807365572367336, + 0.42488690414987, + -0.9051411355904067 + ], + [ + 0.8257870352508396, + 0.5105725513623722, + 0.23956511057945515, + 0.5639625284576377, + -0.7510942991100882, + -0.343225320074137, + 0.004694561459487739, + 0.4185367649796651, + -0.9081877214833175 + ], + [ + 0.844511223957577, + 0.47145023250778983, + 0.2540383256086097, + 0.5341280219401814, + -0.7758891802734624, + -0.3357130264271013, + 0.03883360384955645, + 0.4192024072007762, + -0.9070619014208073 + ], + [ + 0.8597695300547283, + 0.4389285524993205, + 0.26103272015270934, + 0.5054008104624901, + -0.8046467421870277, + -0.3116306163900795, + 0.07325555250852707, + 0.39985665692677164, + -0.9136455975584933 + ], + [ + 0.8801639459755467, + 0.4014813867496505, + 0.2532274161664414, + 0.4659630302782143, + -0.832508428368389, + -0.2996801146381565, + 0.09049797024629079, + 0.38176224641676165, + -0.919819386940789 + ], + [ + 0.8961352882383289, + 0.37876826083118564, + 0.23124910758946915, + 0.43453888461677503, + -0.8547175072961193, + -0.2839611601566612, + 0.09009718602717882, + 0.35495434538603243, + -0.9305320573529731 + ], + [ + 0.91427268371727, + 0.3494310566982195, + 0.20494730157576216, + 0.3955017183614634, + -0.8794235245263393, + -0.2649389652029326, + 0.08765757572252578, + 0.3232834686841206, + -0.9422334892658045 + ], + [ + 0.9175971175167361, + 0.34189533908448455, + 0.20278833062403423, + 0.385888292247224, + -0.8886000392258502, + -0.24795200381190455, + 0.09542408412711299, + 0.3057736865724764, + -0.9473102431454961 + ], + [ + 0.9231419662085302, + 0.3336317973595672, + 0.19104641848324241, + 0.37217025176501844, + -0.9001258089795326, + -0.22641296718630194, + 0.09642724680199224, + 0.2801131053691835, + -0.955111739156535 + ], + [ + 0.9291856471470856, + 0.31914450615994017, + 0.18644253088761636, + 0.35330198093241305, + -0.9151000854596164, + -0.19434388043114623, + 0.10858979420316028, + 0.24645205980013787, + -0.9630522513421506 + ], + [ + 0.932289032817752, + 0.3113460541330653, + 0.18412168221996858, + 0.34286430927546513, + -0.9228287834733386, + -0.1755878749178777, + 0.1152441960048268, + 0.22682740347869879, + -0.9670926037967165 + ], + [ + 0.9353030306387138, + 0.3143787026972657, + 0.16240157686556417, + 0.33971590595923823, + -0.9262000877092587, + -0.16354357451656715, + 0.09900173794601545, + 0.20813319970092753, + -0.9730771948134036 + ], + [ + 0.9418789512471055, + 0.29888083945753435, + 0.15340888175986575, + 0.32134997576856233, + -0.9346878758407206, + -0.1519630475803455, + 0.09797057859989025, + 0.1924287363195049, + -0.9764081867576088 + ], + [ + 0.9417748851296279, + 0.2959738780588624, + 0.1595604250617095, + 0.3172032872560669, + -0.9394612405842103, + -0.12959418194472058, + 0.11154434227257279, + 0.1726616371600069, + -0.97864488899713 + ], + [ + 0.9452817551546177, + 0.2926912162599031, + 0.14413276968165248, + 0.30768858577107555, + -0.9466804932915859, + -0.09551846841001689, + 0.10849026480749832, + 0.13463987353491746, + -0.984937544667935 + ], + [ + 0.9481305700194905, + 0.285223409365837, + 0.14034254146282252, + 0.2941790654715467, + -0.9545738064975897, + -0.04740807301493666, + 0.12044542180092753, + 0.08623488098461243, + -0.988967363298085 + ], + [ + 0.937515694873508, + 0.3147097271938425, + 0.14839848205227982, + 0.3171407825489956, + -0.9483479091204955, + 0.0076136266650913, + 0.14312947254166156, + 0.03992531623371255, + -0.9888983381589758 + ], + [ + 0.9364694844012982, + 0.32819181551774546, + 0.1237539373609293, + 0.3371968210273507, + -0.9395162487438136, + -0.06006265258379345, + 0.09655676400033039, + 0.09797627556464261, + -0.9904935339275394 + ], + [ + 0.91411725864083, + 0.37786404575428956, + 0.14699796046603358, + 0.40183088642083076, + -0.8926517916798222, + -0.20421732915953078, + 0.05405160657392884, + 0.2457469058543829, + -0.9678258531831921 + ], + [ + 0.905917852884015, + 0.37820870901201364, + 0.19044951103503008, + 0.42245970642957065, + -0.8380188489366227, + -0.345329126009346, + 0.028993797085876793, + 0.3932970648942143, + -0.9189541764833212 + ], + [ + 0.9235141131251439, + 0.3271842788229856, + 0.20018024515361654, + 0.3791655193990996, + -0.8575461418864525, + -0.34763216685811976, + 0.05792401710422236, + 0.39694465889685854, + -0.916012961707293 + ], + [ + 0.8988627960246219, + 0.3674736585614849, + 0.23876512347123754, + 0.42893005906016374, + -0.8493873097713286, + -0.30750642665490546, + 0.08980355425840661, + 0.37881962497059396, + -0.9211031502387207 + ], + [ + 0.9136447061185727, + 0.33156216466857047, + 0.2352017898354502, + 0.39082091677956865, + -0.8756297238924637, + -0.283780897249244, + 0.11185866970907998, + 0.3511966936010364, + -0.9295958909196057 + ], + [ + 0.9109313998806186, + 0.3335676832434507, + 0.2427685840613107, + 0.3917969218801349, + -0.8837758346359179, + -0.2558035303095684, + 0.1292252170313063, + 0.3281354519237197, + -0.9357499497590306 + ], + [ + 0.9226355775193261, + 0.3198575119448376, + 0.21548726910896013, + 0.36827060113319665, + -0.8966022866132042, + -0.2459290629042602, + 0.11454412004364642, + 0.30626052911276647, + -0.945031286715416 + ], + [ + 0.9327480383418528, + 0.3176749560203145, + 0.17048084727298954, + 0.3526588639170607, + -0.9021989412215092, + -0.24833202805823432, + 0.07491877381640191, + 0.2917527939476825, + -0.9535551817034857 + ], + [ + 0.9417609501907565, + 0.3017001767977385, + 0.14853725464009526, + 0.32989078558308743, + -0.9145640380455794, + -0.2339758318740146, + 0.06525628156106186, + 0.26935037336892087, + -0.9608288058144625 + ], + [ + 0.9400344374738991, + 0.3122299495899658, + 0.13728698023548058, + 0.3340689678456376, + -0.9240245656327242, + -0.18594764540000425, + 0.06879811832950217, + 0.22066051002910053, + -0.9729212497566373 + ], + [ + 0.9316389005549717, + 0.3384739028637387, + 0.13222849939748713, + 0.35248817227306095, + -0.930192164703366, + -0.10244327763236685, + 0.08832353808764556, + 0.1420491246176958, + -0.9859112530116622 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005750.json b/json/chunk-0005/episode_0005750.json new file mode 100644 index 0000000000000000000000000000000000000000..a87c9f410ad84199f2a619d559985b2833c0a576 --- /dev/null +++ b/json/chunk-0005/episode_0005750.json @@ -0,0 +1,2122 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 34, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPlace the blue fork on top of the yellow towel." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005750.mp4", + "start": 0, + "end": 34, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.26767098903656006, + 0.02612609975039959, + 0.11791449040174484, + -0.09483418613672256, + -0.1896670162677765, + 0.04914797097444534, + 0.0, + 0.9994885921478271 + ], + [ + 0.26549699902534485, + 0.02149968594312668, + 0.11029726266860962, + -0.09545405954122543, + -0.1629079133272171, + 0.05869714170694351, + 0.0, + 0.9994885921478271 + ], + [ + 0.2558082640171051, + -0.029985295608639717, + 0.09928686171770096, + -0.07167591899633408, + -0.15915392339229584, + -0.0071057225577533245, + 0.0, + 0.9994885921478271 + ], + [ + 0.24823305010795593, + -0.06807078421115875, + 0.092563197016716, + -0.0745437890291214, + -0.18559959530830383, + 0.0012179702753201127, + 0.0, + 0.9994885921478271 + ], + [ + 0.23952217400074005, + -0.10662885755300522, + 0.08064423501491547, + -0.06324522197246552, + -0.1783980280160904, + -0.016658032312989235, + 0.0, + 0.9994885921478271 + ], + [ + 0.23763787746429443, + -0.11039228737354279, + 0.06363281607627869, + -0.0657811313867569, + -0.1694321632385254, + 0.006408019457012415, + 0.0, + 0.9994885921478271 + ], + [ + 0.23581303656101227, + -0.11280375719070435, + 0.044643234461545944, + -0.08619927614927292, + -0.14791563153266907, + 0.005834183190017939, + 0.0, + 0.9994885921478271 + ], + [ + 0.23827290534973145, + -0.10669701546430588, + 0.029842307791113853, + -0.0789848193526268, + -0.1430848091840744, + 0.009152387268841267, + 0.0, + 0.9988223910331726 + ], + [ + 0.24091461300849915, + -0.09820244461297989, + 0.021888531744480133, + -0.08498600125312805, + -0.17722070217132568, + 0.05939434841275215, + 0.0, + 0.9994885921478271 + ], + [ + 0.2470463067293167, + -0.09655836224555969, + 0.011821625754237175, + -0.0864596739411354, + -0.21343111991882324, + 0.13390310108661652, + 0.0, + 0.9994885921478271 + ], + [ + 0.25939446687698364, + -0.10419710725545883, + 0.008541200309991837, + -0.11759516596794128, + -0.28546974062919617, + 0.21687565743923187, + 0.0, + 0.9468915462493896 + ], + [ + 0.2672922611236572, + -0.1092318519949913, + 0.006028708536177874, + -0.13494449853897095, + -0.3150008022785187, + 0.25359997153282166, + 0.0, + 0.672171950340271 + ], + [ + 0.2667689621448517, + -0.11134413629770279, + 0.005745562259107828, + -0.1331954300403595, + -0.3052220642566681, + 0.22521072626113892, + 0.0, + 0.4077054560184479 + ], + [ + 0.26267459988594055, + -0.1128094345331192, + 0.0075110020115971565, + -0.13482442498207092, + -0.2788643538951874, + 0.17031489312648773, + 0.0, + 0.38924968242645264 + ], + [ + 0.25882360339164734, + -0.10326849669218063, + 0.021844256669282913, + -0.14183034002780914, + -0.21728847920894623, + 0.10174977034330368, + 0.0, + 0.38924968242645264 + ], + [ + 0.2715233564376831, + -0.09724821895360947, + 0.07539442181587219, + -0.2124430537223816, + -0.3025365471839905, + 0.06016263738274574, + 0.0, + 0.38924968242645264 + ], + [ + 0.27291449904441833, + -0.07285478711128235, + 0.11406894773244858, + -0.2109934389591217, + -0.33739104866981506, + 0.045850735157728195, + 0.0, + 0.3883807957172394 + ], + [ + 0.2695072591304779, + -0.022953873500227928, + 0.11673297733068466, + -0.17777562141418457, + -0.29111146926879883, + 0.10286283493041992, + 0.0, + 0.38924968242645264 + ], + [ + 0.26779863238334656, + 0.025947842746973038, + 0.10812603682279587, + -0.14107784628868103, + -0.27194562554359436, + 0.1297677606344223, + 0.0, + 0.38924968242645264 + ], + [ + 0.26526331901550293, + 0.07388856261968613, + 0.08869873732328415, + -0.045151278376579285, + -0.2145872712135315, + 0.11655794829130173, + 0.0, + 0.38924968242645264 + ], + [ + 0.2727132737636566, + 0.12187469005584717, + 0.06604105234146118, + -0.005235819611698389, + -0.16314513981342316, + 0.04804030805826187, + 0.0, + 0.3883807957172394 + ], + [ + 0.2882889211177826, + 0.16326212882995605, + 0.06009141728281975, + 0.03201397880911827, + -0.17225827276706696, + 0.00125823391135782, + 0.0, + 0.38924968242645264 + ], + [ + 0.29447489976882935, + 0.18227830529212952, + 0.06006088852882385, + 0.04416850954294205, + -0.17797160148620605, + 0.023797007277607918, + 0.0, + 0.3883807957172394 + ], + [ + 0.2920071482658386, + 0.1878763735294342, + 0.06004200875759125, + 0.037192460149526596, + -0.19021260738372803, + 0.046695735305547714, + 0.0, + 0.3883807957172394 + ], + [ + 0.28050822019577026, + 0.18210767209529877, + 0.046938810497522354, + 0.018584012985229492, + -0.15808232128620148, + 0.07628771662712097, + 0.0, + 0.38924968242645264 + ], + [ + 0.27522945404052734, + 0.17563587427139282, + 0.03850135952234268, + -0.003439004300162196, + -0.1477815955877304, + 0.0705852136015892, + 0.0, + 0.4166308641433716 + ], + [ + 0.27106767892837524, + 0.17608226835727692, + 0.02289806306362152, + -0.03276869282126427, + -0.08152065426111221, + 0.06595360487699509, + 0.0, + 0.5043045878410339 + ], + [ + 0.2703329622745514, + 0.18262621760368347, + 0.020971905440092087, + -0.07339657843112946, + -0.059799373149871826, + 0.09134871512651443, + 0.0, + 0.8307508826255798 + ], + [ + 0.26833462715148926, + 0.1833122819662094, + 0.020845260471105576, + -0.1099877655506134, + -0.027108903974294662, + 0.10534727573394775, + 0.0, + 1.0112061500549316 + ], + [ + 0.2668991684913635, + 0.17175708711147308, + 0.0377468541264534, + -0.11499099433422089, + -0.054893989115953445, + 0.10262421518564224, + 0.0, + 1.00800359249115 + ], + [ + 0.26358258724212646, + 0.12257620692253113, + 0.09736987948417664, + -0.062226176261901855, + -0.198433518409729, + 0.06537055224180222, + 0.0, + 1.0014774799346924 + ], + [ + 0.25812670588493347, + 0.08254976570606232, + 0.13745662569999695, + -0.07511035352945328, + -0.2567344903945923, + 0.07167437672615051, + 0.0, + 1.0008161067962646 + ], + [ + 0.26580846309661865, + 0.05311238765716553, + 0.13432762026786804, + -0.12081862986087799, + -0.23322080075740814, + 0.02283436618745327, + 0.0, + 1.0008161067962646 + ], + [ + 0.27087172865867615, + 0.04351117089390755, + 0.128340482711792, + -0.12953980267047882, + -0.20861034095287323, + 0.0004080406215507537, + 0.0, + 1.0008161067962646 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9468915462493896 + ], + [ + 0.672171950340271 + ], + [ + 0.4077054560184479 + ], + [ + 0.38924968242645264 + ], + [ + 0.38924968242645264 + ], + [ + 0.38924968242645264 + ], + [ + 0.3883807957172394 + ], + [ + 0.38924968242645264 + ], + [ + 0.38924968242645264 + ], + [ + 0.38924968242645264 + ], + [ + 0.3883807957172394 + ], + [ + 0.38924968242645264 + ], + [ + 0.3883807957172394 + ], + [ + 0.3883807957172394 + ], + [ + 0.38924968242645264 + ], + [ + 0.4166308641433716 + ], + [ + 0.5043045878410339 + ], + [ + 0.8307508826255798 + ], + [ + 1.0112061500549316 + ], + [ + 1.00800359249115 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.26767098903656006, + 0.02612609975039959, + 0.11791449040174484 + ], + [ + 0.26549699902534485, + 0.02149968594312668, + 0.11029726266860962 + ], + [ + 0.2558082640171051, + -0.029985295608639717, + 0.09928686171770096 + ], + [ + 0.24823305010795593, + -0.06807078421115875, + 0.092563197016716 + ], + [ + 0.23952217400074005, + -0.10662885755300522, + 0.08064423501491547 + ], + [ + 0.23763787746429443, + -0.11039228737354279, + 0.06363281607627869 + ], + [ + 0.23581303656101227, + -0.11280375719070435, + 0.044643234461545944 + ], + [ + 0.23827290534973145, + -0.10669701546430588, + 0.029842307791113853 + ], + [ + 0.24091461300849915, + -0.09820244461297989, + 0.021888531744480133 + ], + [ + 0.2470463067293167, + -0.09655836224555969, + 0.011821625754237175 + ], + [ + 0.25939446687698364, + -0.10419710725545883, + 0.008541200309991837 + ], + [ + 0.2672922611236572, + -0.1092318519949913, + 0.006028708536177874 + ], + [ + 0.2667689621448517, + -0.11134413629770279, + 0.005745562259107828 + ], + [ + 0.26267459988594055, + -0.1128094345331192, + 0.0075110020115971565 + ], + [ + 0.25882360339164734, + -0.10326849669218063, + 0.021844256669282913 + ], + [ + 0.2715233564376831, + -0.09724821895360947, + 0.07539442181587219 + ], + [ + 0.27291449904441833, + -0.07285478711128235, + 0.11406894773244858 + ], + [ + 0.2695072591304779, + -0.022953873500227928, + 0.11673297733068466 + ], + [ + 0.26779863238334656, + 0.025947842746973038, + 0.10812603682279587 + ], + [ + 0.26526331901550293, + 0.07388856261968613, + 0.08869873732328415 + ], + [ + 0.2727132737636566, + 0.12187469005584717, + 0.06604105234146118 + ], + [ + 0.2882889211177826, + 0.16326212882995605, + 0.06009141728281975 + ], + [ + 0.29447489976882935, + 0.18227830529212952, + 0.06006088852882385 + ], + [ + 0.2920071482658386, + 0.1878763735294342, + 0.06004200875759125 + ], + [ + 0.28050822019577026, + 0.18210767209529877, + 0.046938810497522354 + ], + [ + 0.27522945404052734, + 0.17563587427139282, + 0.03850135952234268 + ], + [ + 0.27106767892837524, + 0.17608226835727692, + 0.02289806306362152 + ], + [ + 0.2703329622745514, + 0.18262621760368347, + 0.020971905440092087 + ], + [ + 0.26833462715148926, + 0.1833122819662094, + 0.020845260471105576 + ], + [ + 0.2668991684913635, + 0.17175708711147308, + 0.0377468541264534 + ], + [ + 0.26358258724212646, + 0.12257620692253113, + 0.09736987948417664 + ], + [ + 0.25812670588493347, + 0.08254976570606232, + 0.13745662569999695 + ], + [ + 0.26580846309661865, + 0.05311238765716553, + 0.13432762026786804 + ], + [ + 0.27087172865867615, + 0.04351117089390755, + 0.128340482711792 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9808812035303974, + 0.03107651091660199, + 0.19211016378632703, + 0.04824717456514885, + -0.9951815751569274, + -0.08535714741400918, + 0.1885318930771108, + 0.09299399409331313, + -0.9776542550182726 + ], + [ + 0.9850604458391563, + 0.04296497875683933, + 0.16676309137092324, + 0.05788672795264929, + -0.9946401979082471, + -0.08567381999175071, + 0.16218830034900336, + 0.09404726102054901, + -0.9822678188378331 + ], + [ + 0.9873367989359572, + -0.018436813775717577, + 0.15756309645566233, + -0.007015859444635104, + -0.9973265531155941, + -0.07273598948815296, + 0.15848287977933126, + 0.07070947849027798, + -0.9848265565410401 + ], + [ + 0.9828250514812853, + -0.012528668502885204, + 0.1841139610305357, + 0.0011970522904672636, + -0.9972388973136208, + -0.07425058080936144, + 0.18453586439124156, + 0.07319572494523459, + -0.9800963731200717 + ], + [ + 0.9839926907279695, + -0.02783799276268928, + 0.17602110882753438, + -0.01639289835461915, + -0.9976754020689542, + -0.06614427405365614, + 0.17745325434453255, + 0.0621999860570282, + -0.9821616487406947 + ], + [ + 0.9856604386740332, + -0.004689848154700825, + 0.1686757390889329, + 0.006316217722946563, + -0.9978877417945577, + -0.06465415817899045, + 0.16862267055941277, + 0.06479243860546871, + -0.9835488472226318 + ], + [ + 0.9890635809787685, + -0.006875346460115008, + 0.1473294349154594, + 0.0057704435890172465, + -0.9963442106098485, + -0.08523447638734004, + 0.14737684608594792, + 0.08515247263169427, + -0.9854080990343379 + ], + [ + 0.989739366749989, + -0.0021270999073444707, + 0.14286868569184288, + 0.009058730919592807, + -0.9969435430530068, + -0.07759839791544347, + 0.14259707324996831, + 0.07809639819416299, + -0.9866950021610738 + ], + [ + 0.982601761104034, + 0.04420705002087143, + 0.1803871275997924, + 0.05842971479400218, + -0.9955221874131547, + -0.07430708443493012, + 0.17629449085080104, + 0.08355424044643361, + -0.9807848598949094 + ], + [ + 0.9685613886377054, + 0.11487776928576092, + 0.22066249016116665, + 0.1304741092716834, + -0.9897883495291552, + -0.057406706455877234, + 0.21181440755992095, + 0.08439266117547141, + -0.9736593529000589 + ], + [ + 0.9370520268059351, + 0.18142789381352392, + 0.2983578696888655, + 0.20647109678717823, + -0.9769393689343311, + -0.054398121453695866, + 0.28160821232767524, + 0.11257614655236718, + -0.952902631949892 + ], + [ + 0.9203853896004014, + 0.20826130930383432, + 0.33093498101163227, + 0.23854562688820966, + -0.9696725281922455, + -0.05320875831824384, + 0.3098172340310135, + 0.12791565625954807, + -0.9421522522294689 + ], + [ + 0.9296944999230077, + 0.18243394872898638, + 0.31997811044516417, + 0.21299035643477698, + -0.9750251887488289, + -0.06293639146866006, + 0.300504983117909, + 0.12666386878845654, + -0.9453322270317697 + ], + [ + 0.9474590441215774, + 0.13148989164210162, + 0.2916020715087176, + 0.1629449647554021, + -0.9828589202226339, + -0.08623967416252898, + 0.27526405172686036, + 0.12922364851197624, + -0.9526441888198163 + ], + [ + 0.9714351693378924, + 0.07023823450640325, + 0.2266722351477643, + 0.09918583269606603, + -0.9879341657694518, + -0.11894643625516867, + 0.21558265785041208, + 0.13803142583788813, + -0.9666806313955563 + ], + [ + 0.9528567581018189, + -0.003932488189084489, + 0.30339501326873225, + 0.05739564099336227, + -0.9795273499782099, + -0.1929557230030414, + 0.2979425094454509, + 0.20127271593861915, + -0.9331235474919916 + ], + [ + 0.9426297984133933, + -0.024436245420165793, + 0.332944339271432, + 0.04325058190820571, + -0.9799732807583909, + -0.1943752972068142, + 0.3310263589319234, + 0.19762398363913522, + -0.92269513425772 + ], + [ + 0.9528621324037527, + 0.05057520262612973, + 0.2991586627699408, + 0.09836125756892554, + -0.9842488105532236, + -0.14689908758744577, + 0.2870171068776785, + 0.16940020012942872, + -0.9428280609717111 + ], + [ + 0.955151080202636, + 0.09066700608290738, + 0.28189698117521544, + 0.12464828221480763, + -0.9866279488200822, + -0.10501474347907079, + 0.26860606792966424, + 0.13544292013626774, + -0.9536802376354064 + ], + [ + 0.9704347976632623, + 0.1066294652461855, + 0.2165328165095909, + 0.11362692482312234, + -0.9933203329586392, + -0.02009074628228533, + 0.2129441838593018, + 0.044100717366627726, + -0.9760685945609792 + ], + [ + 0.9855829294947733, + 0.04717174421342988, + 0.16248420119003293, + 0.04738416534307318, + -0.9988734335185897, + 0.002569958272744386, + 0.1624223813494946, + 0.00516627125169495, + -0.9867077985290849 + ], + [ + 0.9851994143422184, + 0.00674408761450537, + 0.17127939532237224, + 0.0012396119667402719, + -0.9994799018729563, + 0.03222404559016681, + 0.17140763501641781, + -0.031534790855071645, + -0.9846953740237663 + ], + [ + 0.9839261486583696, + 0.031586108985212864, + 0.17576021081428472, + 0.023418918579269723, + -0.9985558725569897, + 0.04835001173242757, + 0.17703357941047537, + -0.04345672676493944, + -0.9832449464197575 + ], + [ + 0.98089367240732, + 0.053669093513428294, + 0.1869952722202589, + 0.045836871773009484, + -0.9978909818810932, + 0.045962696466297706, + 0.18906767205777547, + -0.03651323981565069, + -0.9812849732370402 + ], + [ + 0.9846587582744558, + 0.07911748726522524, + 0.15552348042094383, + 0.07526343143928765, + -0.9966963707566245, + 0.0305247507533951, + 0.1574247300819996, + -0.018351232367614177, + -0.9873604643843095 + ], + [ + 0.986637198497945, + 0.07002108692279199, + 0.1471192914823812, + 0.06975788683251044, + -0.9975397120393241, + 0.006954144747224683, + 0.14724427243458302, + 0.0034015129947561054, + -0.9890943099343749 + ], + [ + 0.9945121008003932, + 0.06320832943464692, + 0.08336898974840962, + 0.0656869291487465, + -0.9974660003140161, + -0.02732774334934245, + 0.08143039175023561, + 0.032654024371294874, + -0.9961439685064417 + ], + [ + 0.9940506094715047, + 0.08661188123241154, + 0.06604368129285963, + 0.09105866931279624, + -0.9935492928258557, + -0.06758787959556735, + 0.05976373944385507, + 0.0731996226399066, + -0.9955250427252257 + ], + [ + 0.9940907189184107, + 0.10155835459538669, + 0.03833462106445241, + 0.10511389009244056, + -0.9887599037752013, + -0.1063246104911236, + 0.027105583740472863, + 0.10972580962714526, + -0.993592237304497 + ], + [ + 0.9932403834441494, + 0.09550548614748529, + 0.06597153031005971, + 0.10228986361471247, + -0.9888142306807269, + -0.10855045372989162, + 0.054866424135368554, + 0.11456491312358387, + -0.99189946878884 + ], + [ + 0.9782826068371727, + 0.05296478866699654, + 0.20039429213759116, + 0.06404212418731361, + -0.996733621193903, + -0.04920055600565861, + 0.19713383141775168, + 0.060965724330558434, + -0.978479142837193 + ], + [ + 0.9647409662158274, + 0.052405686263364705, + 0.25793121593211016, + 0.0692658593310726, + -0.9959848132546658, + -0.05671412960802297, + 0.25392343104975384, + 0.07258027151597982, + -0.9644972759684637 + ], + [ + 0.9726734408112861, + -0.005181589369691313, + 0.2321196430118256, + 0.022214242559170667, + -0.9930875020102904, + -0.11525511172387898, + 0.23111232110784527, + 0.11726194814416738, + -0.9658347325239338 + ], + [ + 0.9783195770098211, + -0.02634817495801419, + 0.20541805888408904, + 0.00039919415043325295, + -0.9916322796790201, + -0.12909400660999015, + 0.20710056949065941, + 0.1263771956286885, + -0.9701227543675456 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.00217399001121521, + -0.004626413807272911, + -0.007617227733135223, + -0.0006198734045028687, + 0.026759102940559387, + 0.009549170732498169, + 1.0 + ], + [ + -0.009688735008239746, + -0.051484979689121246, + -0.011010400950908661, + 0.023778140544891357, + 0.0037539899349212646, + -0.06580286473035812, + 1.0 + ], + [ + -0.00757521390914917, + -0.038085490465164185, + -0.006723664700984955, + -0.002867870032787323, + -0.026445671916007996, + 0.008323692716658115, + 1.0 + ], + [ + -0.008710876107215881, + -0.038558073341846466, + -0.011918962001800537, + 0.011298567056655884, + 0.00720156729221344, + -0.017876002937555313, + 1.0 + ], + [ + -0.0018842965364456177, + -0.003763429820537567, + -0.01701141893863678, + -0.002535909414291382, + 0.008965864777565002, + 0.023066051304340363, + 1.0 + ], + [ + -0.0018248409032821655, + -0.00241146981716156, + -0.018989581614732742, + -0.02041814476251602, + 0.021516531705856323, + -0.0005738362669944763, + 1.0 + ], + [ + 0.0024598687887191772, + 0.006106741726398468, + -0.01480092667043209, + 0.007214456796646118, + 0.0048308223485946655, + 0.003318204078823328, + 1.0 + ], + [ + 0.0026417076587677, + 0.008494570851325989, + -0.00795377604663372, + -0.006001181900501251, + -0.03413589298725128, + 0.05024196207523346, + 1.0 + ], + [ + 0.006131693720817566, + 0.0016440823674201965, + -0.010066905990242958, + -0.0014736726880073547, + -0.03621041774749756, + 0.07450875639915466, + 1.0 + ], + [ + 0.012348160147666931, + -0.007638745009899139, + -0.0032804254442453384, + -0.031135492026805878, + -0.07203862071037292, + 0.08297255635261536, + 0.0 + ], + [ + 0.007897794246673584, + -0.005034744739532471, + -0.002512491773813963, + -0.017349332571029663, + -0.02953106164932251, + 0.03672431409358978, + 0.0 + ], + [ + -0.000523298978805542, + -0.002112284302711487, + -0.00028314627707004547, + 0.0017490684986114502, + 0.009778738021850586, + -0.02838924527168274, + 0.0 + ], + [ + -0.004094362258911133, + -0.0014652982354164124, + 0.0017654397524893284, + -0.0016289949417114258, + 0.026357710361480713, + -0.054895833134651184, + 0.0 + ], + [ + -0.003850996494293213, + 0.009540937840938568, + 0.014333254657685757, + -0.00700591504573822, + 0.06157587468624115, + -0.06856512278318405, + 0.0 + ], + [ + 0.012699753046035767, + 0.006020277738571167, + 0.05355016514658928, + -0.07061271369457245, + -0.08524806797504425, + -0.04158713296055794, + 0.0 + ], + [ + 0.0013911426067352295, + 0.024393431842327118, + 0.038674525916576385, + 0.0014496147632598877, + -0.034854501485824585, + -0.014311902225017548, + 0.0 + ], + [ + -0.0034072399139404297, + 0.04990091174840927, + 0.002664029598236084, + 0.033217817544937134, + 0.046279579401016235, + 0.05701209977269173, + 0.0 + ], + [ + -0.0017086267471313477, + 0.04890171438455582, + -0.008606940507888794, + 0.03669777512550354, + 0.019165843725204468, + 0.02690492570400238, + 0.0 + ], + [ + -0.002535313367843628, + 0.04794071987271309, + -0.01942729949951172, + 0.09592656791210175, + 0.057358354330062866, + -0.013209812343120575, + 0.0 + ], + [ + 0.0074499547481536865, + 0.04798612743616104, + -0.022657684981822968, + 0.039915457367897034, + 0.05144213140010834, + -0.06851764023303986, + 0.0 + ], + [ + 0.015575647354125977, + 0.04138743877410889, + -0.005949635058641434, + 0.03724979981780052, + -0.009113132953643799, + -0.04678207263350487, + 0.0 + ], + [ + 0.006185978651046753, + 0.019016176462173462, + -3.0528753995895386e-05, + 0.012154530733823776, + -0.005713328719139099, + 0.022538773715496063, + 0.0 + ], + [ + -0.0024677515029907227, + 0.0055980682373046875, + -1.887977123260498e-05, + -0.006976049393415451, + -0.012241005897521973, + 0.022898728027939796, + 0.0 + ], + [ + -0.01149892807006836, + -0.005768701434135437, + -0.013103198260068893, + -0.018608447164297104, + 0.03213028609752655, + 0.029591981321573257, + 0.0 + ], + [ + -0.00527876615524292, + -0.006471797823905945, + -0.008437450975179672, + -0.022023016586899757, + 0.01030072569847107, + -0.005702503025531769, + 1.0 + ], + [ + -0.0041617751121521, + 0.00044639408588409424, + -0.015603296458721161, + -0.029329689219594002, + 0.0662609413266182, + -0.004631608724594116, + 1.0 + ], + [ + -0.0007347166538238525, + 0.006543949246406555, + -0.0019261576235294342, + -0.04062788560986519, + 0.021721281111240387, + 0.025395110249519348, + 1.0 + ], + [ + -0.001998335123062134, + 0.0006860643625259399, + -0.00012664496898651123, + -0.03659118711948395, + 0.032690469175577164, + 0.013998560607433319, + 1.0 + ], + [ + -0.0014354586601257324, + -0.011555194854736328, + 0.016901593655347824, + -0.005003228783607483, + -0.027785085141658783, + -0.0027230605483055115, + 1.0 + ], + [ + -0.0033165812492370605, + -0.049180880188941956, + 0.059623025357723236, + 0.05276481807231903, + -0.14353953301906586, + -0.03725366294384003, + 1.0 + ], + [ + -0.005455881357192993, + -0.04002644121646881, + 0.04008674621582031, + -0.012884177267551422, + -0.05830097198486328, + 0.006303824484348297, + 1.0 + ], + [ + 0.007681757211685181, + -0.02943737804889679, + -0.0031290054321289062, + -0.04570827633142471, + 0.023513689637184143, + -0.048840008676052094, + 1.0 + ], + [ + 0.005063265562057495, + -0.00960121676325798, + -0.00598713755607605, + -0.00872117280960083, + 0.024610459804534912, + -0.02242632582783699, + 1.0 + ], + [ + 0.001147925853729248, + -0.00612398236989975, + -0.00042970478534698486, + 0.020511619746685028, + 0.0015692263841629028, + -0.03981718793511391, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9468915462493896 + ], + [ + 0.672171950340271 + ], + [ + 0.4077054560184479 + ], + [ + 0.38924968242645264 + ], + [ + 0.38924968242645264 + ], + [ + 0.38924968242645264 + ], + [ + 0.3883807957172394 + ], + [ + 0.38924968242645264 + ], + [ + 0.38924968242645264 + ], + [ + 0.38924968242645264 + ], + [ + 0.3883807957172394 + ], + [ + 0.38924968242645264 + ], + [ + 0.3883807957172394 + ], + [ + 0.3883807957172394 + ], + [ + 0.38924968242645264 + ], + [ + 0.4166308641433716 + ], + [ + 0.5043045878410339 + ], + [ + 0.8307508826255798 + ], + [ + 1.0112061500549316 + ], + [ + 1.00800359249115 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.26549699902534485, + 0.02149968594312668, + 0.11029726266860962 + ], + [ + 0.2558082640171051, + -0.029985295608639717, + 0.09928686171770096 + ], + [ + 0.24823305010795593, + -0.06807078421115875, + 0.092563197016716 + ], + [ + 0.23952217400074005, + -0.10662885755300522, + 0.08064423501491547 + ], + [ + 0.23763787746429443, + -0.11039228737354279, + 0.06363281607627869 + ], + [ + 0.23581303656101227, + -0.11280375719070435, + 0.044643234461545944 + ], + [ + 0.23827290534973145, + -0.10669701546430588, + 0.029842307791113853 + ], + [ + 0.24091461300849915, + -0.09820244461297989, + 0.021888531744480133 + ], + [ + 0.2470463067293167, + -0.09655836224555969, + 0.011821625754237175 + ], + [ + 0.25939446687698364, + -0.10419710725545883, + 0.008541200309991837 + ], + [ + 0.2672922611236572, + -0.1092318519949913, + 0.006028708536177874 + ], + [ + 0.2667689621448517, + -0.11134413629770279, + 0.005745562259107828 + ], + [ + 0.26267459988594055, + -0.1128094345331192, + 0.0075110020115971565 + ], + [ + 0.25882360339164734, + -0.10326849669218063, + 0.021844256669282913 + ], + [ + 0.2715233564376831, + -0.09724821895360947, + 0.07539442181587219 + ], + [ + 0.27291449904441833, + -0.07285478711128235, + 0.11406894773244858 + ], + [ + 0.2695072591304779, + -0.022953873500227928, + 0.11673297733068466 + ], + [ + 0.26779863238334656, + 0.025947842746973038, + 0.10812603682279587 + ], + [ + 0.26526331901550293, + 0.07388856261968613, + 0.08869873732328415 + ], + [ + 0.2727132737636566, + 0.12187469005584717, + 0.06604105234146118 + ], + [ + 0.2882889211177826, + 0.16326212882995605, + 0.06009141728281975 + ], + [ + 0.29447489976882935, + 0.18227830529212952, + 0.06006088852882385 + ], + [ + 0.2920071482658386, + 0.1878763735294342, + 0.06004200875759125 + ], + [ + 0.28050822019577026, + 0.18210767209529877, + 0.046938810497522354 + ], + [ + 0.27522945404052734, + 0.17563587427139282, + 0.03850135952234268 + ], + [ + 0.27106767892837524, + 0.17608226835727692, + 0.02289806306362152 + ], + [ + 0.2703329622745514, + 0.18262621760368347, + 0.020971905440092087 + ], + [ + 0.26833462715148926, + 0.1833122819662094, + 0.020845260471105576 + ], + [ + 0.2668991684913635, + 0.17175708711147308, + 0.0377468541264534 + ], + [ + 0.26358258724212646, + 0.12257620692253113, + 0.09736987948417664 + ], + [ + 0.25812670588493347, + 0.08254976570606232, + 0.13745662569999695 + ], + [ + 0.26580846309661865, + 0.05311238765716553, + 0.13432762026786804 + ], + [ + 0.27087172865867615, + 0.04351117089390755, + 0.128340482711792 + ], + [ + 0.2720196545124054, + 0.0373871885240078, + 0.127910777926445 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9850604458391563, + 0.04296497875683933, + 0.16676309137092324, + 0.05788672795264929, + -0.9946401979082471, + -0.08567381999175071, + 0.16218830034900336, + 0.09404726102054901, + -0.9822678188378331 + ], + [ + 0.9873367989359572, + -0.018436813775717577, + 0.15756309645566233, + -0.007015859444635104, + -0.9973265531155941, + -0.07273598948815296, + 0.15848287977933126, + 0.07070947849027798, + -0.9848265565410401 + ], + [ + 0.9828250514812853, + -0.012528668502885204, + 0.1841139610305357, + 0.0011970522904672636, + -0.9972388973136208, + -0.07425058080936144, + 0.18453586439124156, + 0.07319572494523459, + -0.9800963731200717 + ], + [ + 0.9839926907279695, + -0.02783799276268928, + 0.17602110882753438, + -0.01639289835461915, + -0.9976754020689542, + -0.06614427405365614, + 0.17745325434453255, + 0.0621999860570282, + -0.9821616487406947 + ], + [ + 0.9856604386740332, + -0.004689848154700825, + 0.1686757390889329, + 0.006316217722946563, + -0.9978877417945577, + -0.06465415817899045, + 0.16862267055941277, + 0.06479243860546871, + -0.9835488472226318 + ], + [ + 0.9890635809787685, + -0.006875346460115008, + 0.1473294349154594, + 0.0057704435890172465, + -0.9963442106098485, + -0.08523447638734004, + 0.14737684608594792, + 0.08515247263169427, + -0.9854080990343379 + ], + [ + 0.989739366749989, + -0.0021270999073444707, + 0.14286868569184288, + 0.009058730919592807, + -0.9969435430530068, + -0.07759839791544347, + 0.14259707324996831, + 0.07809639819416299, + -0.9866950021610738 + ], + [ + 0.982601761104034, + 0.04420705002087143, + 0.1803871275997924, + 0.05842971479400218, + -0.9955221874131547, + -0.07430708443493012, + 0.17629449085080104, + 0.08355424044643361, + -0.9807848598949094 + ], + [ + 0.9685613886377054, + 0.11487776928576092, + 0.22066249016116665, + 0.1304741092716834, + -0.9897883495291552, + -0.057406706455877234, + 0.21181440755992095, + 0.08439266117547141, + -0.9736593529000589 + ], + [ + 0.9370520268059351, + 0.18142789381352392, + 0.2983578696888655, + 0.20647109678717823, + -0.9769393689343311, + -0.054398121453695866, + 0.28160821232767524, + 0.11257614655236718, + -0.952902631949892 + ], + [ + 0.9203853896004014, + 0.20826130930383432, + 0.33093498101163227, + 0.23854562688820966, + -0.9696725281922455, + -0.05320875831824384, + 0.3098172340310135, + 0.12791565625954807, + -0.9421522522294689 + ], + [ + 0.9296944999230077, + 0.18243394872898638, + 0.31997811044516417, + 0.21299035643477698, + -0.9750251887488289, + -0.06293639146866006, + 0.300504983117909, + 0.12666386878845654, + -0.9453322270317697 + ], + [ + 0.9474590441215774, + 0.13148989164210162, + 0.2916020715087176, + 0.1629449647554021, + -0.9828589202226339, + -0.08623967416252898, + 0.27526405172686036, + 0.12922364851197624, + -0.9526441888198163 + ], + [ + 0.9714351693378924, + 0.07023823450640325, + 0.2266722351477643, + 0.09918583269606603, + -0.9879341657694518, + -0.11894643625516867, + 0.21558265785041208, + 0.13803142583788813, + -0.9666806313955563 + ], + [ + 0.9528567581018189, + -0.003932488189084489, + 0.30339501326873225, + 0.05739564099336227, + -0.9795273499782099, + -0.1929557230030414, + 0.2979425094454509, + 0.20127271593861915, + -0.9331235474919916 + ], + [ + 0.9426297984133933, + -0.024436245420165793, + 0.332944339271432, + 0.04325058190820571, + -0.9799732807583909, + -0.1943752972068142, + 0.3310263589319234, + 0.19762398363913522, + -0.92269513425772 + ], + [ + 0.9528621324037527, + 0.05057520262612973, + 0.2991586627699408, + 0.09836125756892554, + -0.9842488105532236, + -0.14689908758744577, + 0.2870171068776785, + 0.16940020012942872, + -0.9428280609717111 + ], + [ + 0.955151080202636, + 0.09066700608290738, + 0.28189698117521544, + 0.12464828221480763, + -0.9866279488200822, + -0.10501474347907079, + 0.26860606792966424, + 0.13544292013626774, + -0.9536802376354064 + ], + [ + 0.9704347976632623, + 0.1066294652461855, + 0.2165328165095909, + 0.11362692482312234, + -0.9933203329586392, + -0.02009074628228533, + 0.2129441838593018, + 0.044100717366627726, + -0.9760685945609792 + ], + [ + 0.9855829294947733, + 0.04717174421342988, + 0.16248420119003293, + 0.04738416534307318, + -0.9988734335185897, + 0.002569958272744386, + 0.1624223813494946, + 0.00516627125169495, + -0.9867077985290849 + ], + [ + 0.9851994143422184, + 0.00674408761450537, + 0.17127939532237224, + 0.0012396119667402719, + -0.9994799018729563, + 0.03222404559016681, + 0.17140763501641781, + -0.031534790855071645, + -0.9846953740237663 + ], + [ + 0.9839261486583696, + 0.031586108985212864, + 0.17576021081428472, + 0.023418918579269723, + -0.9985558725569897, + 0.04835001173242757, + 0.17703357941047537, + -0.04345672676493944, + -0.9832449464197575 + ], + [ + 0.98089367240732, + 0.053669093513428294, + 0.1869952722202589, + 0.045836871773009484, + -0.9978909818810932, + 0.045962696466297706, + 0.18906767205777547, + -0.03651323981565069, + -0.9812849732370402 + ], + [ + 0.9846587582744558, + 0.07911748726522524, + 0.15552348042094383, + 0.07526343143928765, + -0.9966963707566245, + 0.0305247507533951, + 0.1574247300819996, + -0.018351232367614177, + -0.9873604643843095 + ], + [ + 0.986637198497945, + 0.07002108692279199, + 0.1471192914823812, + 0.06975788683251044, + -0.9975397120393241, + 0.006954144747224683, + 0.14724427243458302, + 0.0034015129947561054, + -0.9890943099343749 + ], + [ + 0.9945121008003932, + 0.06320832943464692, + 0.08336898974840962, + 0.0656869291487465, + -0.9974660003140161, + -0.02732774334934245, + 0.08143039175023561, + 0.032654024371294874, + -0.9961439685064417 + ], + [ + 0.9940506094715047, + 0.08661188123241154, + 0.06604368129285963, + 0.09105866931279624, + -0.9935492928258557, + -0.06758787959556735, + 0.05976373944385507, + 0.0731996226399066, + -0.9955250427252257 + ], + [ + 0.9940907189184107, + 0.10155835459538669, + 0.03833462106445241, + 0.10511389009244056, + -0.9887599037752013, + -0.1063246104911236, + 0.027105583740472863, + 0.10972580962714526, + -0.993592237304497 + ], + [ + 0.9932403834441494, + 0.09550548614748529, + 0.06597153031005971, + 0.10228986361471247, + -0.9888142306807269, + -0.10855045372989162, + 0.054866424135368554, + 0.11456491312358387, + -0.99189946878884 + ], + [ + 0.9782826068371727, + 0.05296478866699654, + 0.20039429213759116, + 0.06404212418731361, + -0.996733621193903, + -0.04920055600565861, + 0.19713383141775168, + 0.060965724330558434, + -0.978479142837193 + ], + [ + 0.9647409662158274, + 0.052405686263364705, + 0.25793121593211016, + 0.0692658593310726, + -0.9959848132546658, + -0.05671412960802297, + 0.25392343104975384, + 0.07258027151597982, + -0.9644972759684637 + ], + [ + 0.9726734408112861, + -0.005181589369691313, + 0.2321196430118256, + 0.022214242559170667, + -0.9930875020102904, + -0.11525511172387898, + 0.23111232110784527, + 0.11726194814416738, + -0.9658347325239338 + ], + [ + 0.9783195770098211, + -0.02634817495801419, + 0.20541805888408904, + 0.00039919415043325295, + -0.9916322796790201, + -0.12909400660999015, + 0.20710056949065941, + 0.1263771956286885, + -0.9701227543675456 + ], + [ + 0.9778835836543696, + -0.061515653139943866, + 0.19989877748013746, + -0.0385575196862156, + -0.9924092072284332, + -0.11677877839693182, + 0.20556511011096823, + 0.10648844926563034, + -0.9728325630230861 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005751.json b/json/chunk-0005/episode_0005751.json new file mode 100644 index 0000000000000000000000000000000000000000..34d016089181a6ebfd2e095a46ff310d15c52915 --- /dev/null +++ b/json/chunk-0005/episode_0005751.json @@ -0,0 +1,1462 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 23, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the red pepper in the lower left burner." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005751.mp4", + "start": 0, + "end": 23, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3214767873287201, + 0.05970905348658562, + 0.01824883371591568, + 0.1295655071735382, + 0.04038181155920029, + -0.12141352146863937, + 0.0, + 0.9968144297599792 + ], + [ + 0.3147302567958832, + 0.058222707360982895, + 0.0036175360437482595, + 0.11688162386417389, + 0.08760956674814224, + -0.12126393616199493, + 0.0, + 0.9968144297599792 + ], + [ + 0.34089404344558716, + 0.050138141959905624, + 0.0042817299254238605, + 0.1136619970202446, + 0.07636281847953796, + -0.1329706609249115, + 0.0, + 0.9968144297599792 + ], + [ + 0.3701537847518921, + 0.040888283401727676, + -0.0034927146043628454, + 0.10344122350215912, + 0.0807325541973114, + -0.15217001736164093, + 0.0, + 0.9968144297599792 + ], + [ + 0.39901962876319885, + 0.044743310660123825, + -0.01134566031396389, + 0.12287015467882156, + 0.07724077999591827, + -0.13685758411884308, + 0.0, + 0.9968144297599792 + ], + [ + 0.42188242077827454, + 0.04435678943991661, + -0.015030658803880215, + 0.12199529260396957, + 0.02612445130944252, + -0.09905174374580383, + 0.0, + 0.9968144297599792 + ], + [ + 0.4361126720905304, + 0.0457303449511528, + -0.01753276214003563, + 0.12651614844799042, + -0.014892748557031155, + -0.06248140707612038, + 0.0, + 0.9968144297599792 + ], + [ + 0.44397157430648804, + 0.0502498634159565, + -0.016840938478708267, + 0.12832845747470856, + -0.04179873317480087, + -0.03432685136795044, + 0.0, + 0.9968144297599792 + ], + [ + 0.4510352909564972, + 0.051621343940496445, + -0.0309604499489069, + 0.1058683916926384, + -0.03713688999414444, + -0.004779682494699955, + 0.0, + 0.9968144297599792 + ], + [ + 0.45456811785697937, + 0.059696733951568604, + -0.046555593609809875, + 0.15080411732196808, + 0.023288367316126823, + 0.02311331406235695, + 0.0, + 0.9968144297599792 + ], + [ + 0.4528181850910187, + 0.05760609358549118, + -0.057180099189281464, + 0.13222827017307281, + 0.0542355477809906, + 0.02511952631175518, + 0.0, + 0.9672539830207825 + ], + [ + 0.45183953642845154, + 0.05679458752274513, + -0.06093553826212883, + 0.07428229600191116, + 0.04263075813651085, + 0.02442413941025734, + 0.0, + 0.8270506262779236 + ], + [ + 0.44417163729667664, + 0.06402647495269775, + -0.04955847188830376, + 0.10929525643587112, + 0.013980578631162643, + 0.004335432313382626, + 0.0, + 0.8270506262779236 + ], + [ + 0.4484069347381592, + 0.0811818540096283, + -0.006863765884190798, + 0.11043079942464828, + -0.06286659091711044, + 0.0027431247290223837, + 0.0, + 0.8270506262779236 + ], + [ + 0.42849409580230713, + 0.13284660875797272, + 0.002919986378401518, + 0.13529059290885925, + -0.04304143786430359, + 0.08641154319047928, + 0.0, + 0.8270506262779236 + ], + [ + 0.40759992599487305, + 0.17605705559253693, + 0.007809808943420649, + 0.1387561410665512, + 0.0012643748195841908, + 0.18870189785957336, + 0.0, + 0.8270506262779236 + ], + [ + 0.39963018894195557, + 0.20449575781822205, + -0.0043189190328121185, + 0.1067289188504219, + 0.049619484692811966, + 0.22842645645141602, + 0.0, + 0.8270506262779236 + ], + [ + 0.38563087582588196, + 0.21821896731853485, + -0.01330867875367403, + 0.09221834689378738, + 0.08372025936841965, + 0.22064422070980072, + 0.0, + 0.8270506262779236 + ], + [ + 0.3682052791118622, + 0.21228638291358948, + -0.027482636272907257, + 0.07878901809453964, + 0.15733499825000763, + 0.1975773572921753, + 0.0, + 0.8270506262779236 + ], + [ + 0.3532208502292633, + 0.20359133183956146, + -0.03771854192018509, + 0.06587101519107819, + 0.19663316011428833, + 0.1935560256242752, + 0.0, + 0.8896691203117371 + ], + [ + 0.3546310067176819, + 0.20075999200344086, + -0.032640520483255386, + 0.07931041717529297, + 0.1946391612291336, + 0.18562795221805573, + 0.0, + 1.0047606229782104 + ], + [ + 0.3534846901893616, + 0.19462035596370697, + -0.01855657249689102, + 0.07362184673547745, + 0.15559931099414825, + 0.17774827778339386, + 0.0, + 1.0008161067962646 + ], + [ + 0.3599832057952881, + 0.17759867012500763, + 0.02904690057039261, + 0.06709693372249603, + 0.016616761684417725, + 0.14981725811958313, + 0.0, + 1.0008161067962646 + ] + ], + "left_gripper_pos": [ + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9672539830207825 + ], + [ + 0.8270506262779236 + ], + [ + 0.8270506262779236 + ], + [ + 0.8270506262779236 + ], + [ + 0.8270506262779236 + ], + [ + 0.8270506262779236 + ], + [ + 0.8270506262779236 + ], + [ + 0.8270506262779236 + ], + [ + 0.8270506262779236 + ], + [ + 0.8896691203117371 + ], + [ + 1.0047606229782104 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3214767873287201, + 0.05970905348658562, + 0.01824883371591568 + ], + [ + 0.3147302567958832, + 0.058222707360982895, + 0.0036175360437482595 + ], + [ + 0.34089404344558716, + 0.050138141959905624, + 0.0042817299254238605 + ], + [ + 0.3701537847518921, + 0.040888283401727676, + -0.0034927146043628454 + ], + [ + 0.39901962876319885, + 0.044743310660123825, + -0.01134566031396389 + ], + [ + 0.42188242077827454, + 0.04435678943991661, + -0.015030658803880215 + ], + [ + 0.4361126720905304, + 0.0457303449511528, + -0.01753276214003563 + ], + [ + 0.44397157430648804, + 0.0502498634159565, + -0.016840938478708267 + ], + [ + 0.4510352909564972, + 0.051621343940496445, + -0.0309604499489069 + ], + [ + 0.45456811785697937, + 0.059696733951568604, + -0.046555593609809875 + ], + [ + 0.4528181850910187, + 0.05760609358549118, + -0.057180099189281464 + ], + [ + 0.45183953642845154, + 0.05679458752274513, + -0.06093553826212883 + ], + [ + 0.44417163729667664, + 0.06402647495269775, + -0.04955847188830376 + ], + [ + 0.4484069347381592, + 0.0811818540096283, + -0.006863765884190798 + ], + [ + 0.42849409580230713, + 0.13284660875797272, + 0.002919986378401518 + ], + [ + 0.40759992599487305, + 0.17605705559253693, + 0.007809808943420649 + ], + [ + 0.39963018894195557, + 0.20449575781822205, + -0.0043189190328121185 + ], + [ + 0.38563087582588196, + 0.21821896731853485, + -0.01330867875367403 + ], + [ + 0.3682052791118622, + 0.21228638291358948, + -0.027482636272907257 + ], + [ + 0.3532208502292633, + 0.20359133183956146, + -0.03771854192018509 + ], + [ + 0.3546310067176819, + 0.20075999200344086, + -0.032640520483255386 + ], + [ + 0.3534846901893616, + 0.19462035596370697, + -0.01855657249689102 + ], + [ + 0.3599832057952881, + 0.17759867012500763, + 0.02904690057039261 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9918291951454304, + -0.12527791634631813, + -0.024089236872367775, + -0.12101670605219604, + -0.9836865136196595, + 0.13310071291723513, + -0.040370837413218286, + -0.1290979728683792, + -0.9908097238561152 + ], + [ + 0.9888494343725375, + -0.13027026947679488, + -0.07215575535989038, + -0.12050301784501076, + -0.9846494570791388, + 0.1262714115071296, + -0.08749753614450023, + -0.11616842757049388, + -0.9893680192953688 + ], + [ + 0.988283922090105, + -0.14029976245235412, + -0.060090481725583636, + -0.13219279515926277, + -0.9836296713401238, + 0.1224652381996688, + -0.07628862461849002, + -0.11308689718589611, + -0.9906520072349755 + ], + [ + 0.9852250013657031, + -0.1590040864939344, + -0.0636348737892983, + -0.15108970650342798, + -0.9818987037928735, + 0.11422274764066531, + -0.08064488373516629, + -0.10292053229606107, + -0.99141503254653 + ], + [ + 0.9876959016851665, + -0.14477108711934294, + -0.059145060052461375, + -0.13602398023943263, + -0.9818907878870278, + 0.13186340456098555, + -0.07716399804408848, + -0.12219579778730248, + -0.9895018465919992 + ], + [ + 0.9947588340548525, + -0.1013181013836549, + -0.013766059779101666, + -0.09885610938276966, + -0.9873882632524114, + 0.12366037048743092, + -0.02612147981130192, + -0.12165138685357527, + -0.9922291108252517 + ], + [ + 0.9979379932912151, + -0.06006628893123549, + 0.022623051958840592, + -0.062433836846339755, + -0.9901891005957589, + 0.12501024389227894, + 0.01489219804285764, + -0.12616491586567075, + -0.9918974929104625 + ], + [ + 0.9985379661706526, + -0.02869335414926058, + 0.04581071428653236, + -0.03429013380373101, + -0.9913764665914057, + 0.12647880538834297, + 0.04178656290602773, + -0.12786474461869943, + -0.9909109396126858 + ], + [ + 0.9992990901644963, + -0.0008295679857703775, + 0.03742512810087377, + -0.00477636874091292, + -0.994408567844859, + 0.10549306374538182, + 0.03712835436779627, + -0.10559787883141093, + -0.9937155394217431 + ], + [ + 0.9994618099049009, + 0.019351522466244456, + -0.02648790516175257, + 0.023104989275381557, + -0.988467374872548, + 0.14966097782374016, + -0.02328626230643436, + -0.15019243453254222, + -0.988382508241108 + ], + [ + 0.9982145983232635, + 0.017752795603371105, + -0.05703028969408128, + 0.02507995316085615, + -0.9911373602333035, + 0.13045201837920448, + -0.05420896276239907, + -0.1316494261211342, + -0.9898130212106735 + ], + [ + 0.9987934633560405, + 0.021192466745063823, + -0.044300077996606686, + 0.02439952273628665, + -0.9970221486393599, + 0.07315393641353672, + -0.04261784658435363, + -0.07414657426890138, + -0.9963362909563713 + ], + [ + 0.9998928762488426, + 0.0027846436233944253, + -0.01436947412771258, + 0.004334995045794802, + -0.9940304859449453, + 0.1090165163175224, + -0.013980123202935194, + -0.1090671296585107, + -0.993936073086838 + ], + [ + 0.9980207916868437, + 0.00965012941184486, + 0.0621399578620696, + 0.0027377023805848595, + -0.9938859811817722, + 0.11037735907341041, + 0.06282518878953312, + -0.10998877857617968, + -0.9919452929677518 + ], + [ + 0.9953461610408124, + 0.09129732156197509, + 0.030835349469827873, + 0.08622411521632181, + -0.9866642473214137, + 0.138054572589359, + 0.04302814958233221, + -0.13475333811552664, + -0.9899445015808932 + ], + [ + 0.9822477806791852, + 0.18560931454230617, + -0.027174983090169746, + 0.1875838444748994, + -0.9728407846356312, + 0.1356211968740379, + -0.0012643744827034176, + -0.13831120744417297, + -0.9903880104547423 + ], + [ + 0.9728250991316345, + 0.22001026486906952, + -0.07215822788682898, + 0.22616642812216622, + -0.9696780518809206, + 0.0925916977427447, + -0.04959912589942175, + -0.10639529619614135, + -0.9930860827024759 + ], + [ + 0.9723390765317399, + 0.21041440628662533, + -0.10140265221605334, + 0.21809172122569148, + -0.9732959125354756, + 0.07163147195577238, + -0.08362249327913023, + -0.0917651582507342, + -0.9922632888245938 + ], + [ + 0.9684336675630029, + 0.18359295076785903, + -0.16861156531751129, + 0.1938698412866695, + -0.9799238961571708, + 0.04651496941449749, + -0.15668668153341067, + -0.07773535983386555, + -0.9845844289148323 + ], + [ + 0.9624161913526061, + 0.17931289744193998, + -0.20396558394327333, + 0.18864312914404682, + -0.9816718092198327, + 0.0270966568012225, + -0.1953684837661557, + -0.06455496722977307, + -0.9786029898569065 + ], + [ + 0.9642624619666833, + 0.16892327109689856, + -0.20411475430226617, + 0.18107871396628492, + -0.9825592984717116, + 0.04228148927242688, + -0.19341252232021366, + -0.07773129015204683, + -0.9780334568617943 + ], + [ + 0.9723535017878134, + 0.16511537831445205, + -0.16512292210668966, + 0.17467766170815846, + -0.9835936453798465, + 0.04506944939262962, + -0.15497219770380327, + -0.072666722868587, + -0.985242693617361 + ], + [ + 0.988661861266991, + 0.14782002076307793, + -0.026400104880318145, + 0.14923683432640306, + -0.9867397002189314, + 0.06382108814558657, + -0.01661599700055065, + -0.06703734387232402, + -0.9976121005532266 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.006746530532836914, + -0.0014863461256027222, + -0.014631297439336777, + -0.012683883309364319, + 0.047227755188941956, + 0.0001495853066444397, + 1.0 + ], + [ + 0.02616378664970398, + -0.00808456540107727, + 0.000664193881675601, + -0.0032196268439292908, + -0.011246748268604279, + -0.011706724762916565, + 1.0 + ], + [ + 0.02925974130630493, + -0.009249858558177948, + -0.007774444296956062, + -0.01022077351808548, + 0.0043697357177734375, + -0.01919935643672943, + 1.0 + ], + [ + 0.028865844011306763, + 0.0038550272583961487, + -0.007852945476770401, + 0.019428931176662445, + -0.0034917742013931274, + 0.015312433242797852, + 1.0 + ], + [ + 0.022862792015075684, + -0.00038652122020721436, + -0.0036849984899163246, + -0.0008748620748519897, + -0.051116328686475754, + 0.037805840373039246, + 1.0 + ], + [ + 0.01423025131225586, + 0.0013735555112361908, + -0.0025021033361554146, + 0.0045208558440208435, + -0.04101720079779625, + 0.036570336669683456, + 1.0 + ], + [ + 0.007858902215957642, + 0.004519518464803696, + 0.0006918236613273621, + 0.0018123090267181396, + -0.026905983686447144, + 0.028154555708169937, + 1.0 + ], + [ + 0.007063716650009155, + 0.0013714805245399475, + -0.014119511470198631, + -0.02246006578207016, + 0.004661843180656433, + 0.02954716980457306, + 1.0 + ], + [ + 0.0035328269004821777, + 0.008075390011072159, + -0.015595143660902977, + 0.04493572562932968, + 0.06042525917291641, + 0.02789299562573433, + 1.0 + ], + [ + -0.0017499327659606934, + -0.002090640366077423, + -0.010624505579471588, + -0.018575847148895264, + 0.030947180464863777, + 0.0020062122493982315, + 0.0 + ], + [ + -0.0009786486625671387, + -0.000811506062746048, + -0.0037554390728473663, + -0.05794597417116165, + -0.011604789644479752, + -0.0006953869014978409, + 0.0 + ], + [ + -0.007667899131774902, + 0.0072318874299526215, + 0.011377066373825073, + 0.03501296043395996, + -0.028650179505348206, + -0.02008870616555214, + 0.0 + ], + [ + 0.004235297441482544, + 0.017155379056930542, + 0.042694706469774246, + 0.0011355429887771606, + -0.07684716582298279, + -0.0015923075843602419, + 0.0 + ], + [ + -0.01991283893585205, + 0.05166475474834442, + 0.009783752262592316, + 0.024859793484210968, + 0.019825153052806854, + 0.08366841822862625, + 0.0 + ], + [ + -0.020894169807434082, + 0.04321044683456421, + 0.004889822565019131, + 0.0034655481576919556, + 0.04430581256747246, + 0.10229035466909409, + 0.0 + ], + [ + -0.00796973705291748, + 0.02843870222568512, + -0.01212872751057148, + -0.0320272222161293, + 0.0483551099896431, + 0.03972455859184265, + 0.0 + ], + [ + -0.013999313116073608, + 0.013723209500312805, + -0.008989759720861912, + -0.014510571956634521, + 0.03410077467560768, + -0.007782235741615295, + 0.0 + ], + [ + -0.017425596714019775, + -0.0059325844049453735, + -0.014173957519233227, + -0.013429328799247742, + 0.07361473888158798, + -0.023066863417625427, + 0.0 + ], + [ + -0.014984428882598877, + -0.008695051074028015, + -0.010235905647277832, + -0.012918002903461456, + 0.0392981618642807, + -0.0040213316679000854, + 1.0 + ], + [ + 0.001410156488418579, + -0.0028313398361206055, + 0.005078021436929703, + 0.013439401984214783, + -0.001993998885154724, + -0.007928073406219482, + 1.0 + ], + [ + -0.0011463165283203125, + -0.006139636039733887, + 0.014083947986364365, + -0.005688570439815521, + -0.03903985023498535, + -0.007879674434661865, + 1.0 + ], + [ + 0.006498515605926514, + -0.01702168583869934, + 0.04760347306728363, + -0.006524913012981415, + -0.13898254930973053, + -0.02793101966381073, + 1.0 + ], + [ + -0.012527644634246826, + -0.021488919854164124, + 0.021110277622938156, + 0.025279968976974487, + -0.03555343672633171, + -0.07244613021612167, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9672539830207825 + ], + [ + 0.8270506262779236 + ], + [ + 0.8270506262779236 + ], + [ + 0.8270506262779236 + ], + [ + 0.8270506262779236 + ], + [ + 0.8270506262779236 + ], + [ + 0.8270506262779236 + ], + [ + 0.8270506262779236 + ], + [ + 0.8270506262779236 + ], + [ + 0.8896691203117371 + ], + [ + 1.0047606229782104 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3147302567958832, + 0.058222707360982895, + 0.0036175360437482595 + ], + [ + 0.34089404344558716, + 0.050138141959905624, + 0.0042817299254238605 + ], + [ + 0.3701537847518921, + 0.040888283401727676, + -0.0034927146043628454 + ], + [ + 0.39901962876319885, + 0.044743310660123825, + -0.01134566031396389 + ], + [ + 0.42188242077827454, + 0.04435678943991661, + -0.015030658803880215 + ], + [ + 0.4361126720905304, + 0.0457303449511528, + -0.01753276214003563 + ], + [ + 0.44397157430648804, + 0.0502498634159565, + -0.016840938478708267 + ], + [ + 0.4510352909564972, + 0.051621343940496445, + -0.0309604499489069 + ], + [ + 0.45456811785697937, + 0.059696733951568604, + -0.046555593609809875 + ], + [ + 0.4528181850910187, + 0.05760609358549118, + -0.057180099189281464 + ], + [ + 0.45183953642845154, + 0.05679458752274513, + -0.06093553826212883 + ], + [ + 0.44417163729667664, + 0.06402647495269775, + -0.04955847188830376 + ], + [ + 0.4484069347381592, + 0.0811818540096283, + -0.006863765884190798 + ], + [ + 0.42849409580230713, + 0.13284660875797272, + 0.002919986378401518 + ], + [ + 0.40759992599487305, + 0.17605705559253693, + 0.007809808943420649 + ], + [ + 0.39963018894195557, + 0.20449575781822205, + -0.0043189190328121185 + ], + [ + 0.38563087582588196, + 0.21821896731853485, + -0.01330867875367403 + ], + [ + 0.3682052791118622, + 0.21228638291358948, + -0.027482636272907257 + ], + [ + 0.3532208502292633, + 0.20359133183956146, + -0.03771854192018509 + ], + [ + 0.3546310067176819, + 0.20075999200344086, + -0.032640520483255386 + ], + [ + 0.3534846901893616, + 0.19462035596370697, + -0.01855657249689102 + ], + [ + 0.3599832057952881, + 0.17759867012500763, + 0.02904690057039261 + ], + [ + 0.34745556116104126, + 0.1561097502708435, + 0.050157178193330765 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9888494343725375, + -0.13027026947679488, + -0.07215575535989038, + -0.12050301784501076, + -0.9846494570791388, + 0.1262714115071296, + -0.08749753614450023, + -0.11616842757049388, + -0.9893680192953688 + ], + [ + 0.988283922090105, + -0.14029976245235412, + -0.060090481725583636, + -0.13219279515926277, + -0.9836296713401238, + 0.1224652381996688, + -0.07628862461849002, + -0.11308689718589611, + -0.9906520072349755 + ], + [ + 0.9852250013657031, + -0.1590040864939344, + -0.0636348737892983, + -0.15108970650342798, + -0.9818987037928735, + 0.11422274764066531, + -0.08064488373516629, + -0.10292053229606107, + -0.99141503254653 + ], + [ + 0.9876959016851665, + -0.14477108711934294, + -0.059145060052461375, + -0.13602398023943263, + -0.9818907878870278, + 0.13186340456098555, + -0.07716399804408848, + -0.12219579778730248, + -0.9895018465919992 + ], + [ + 0.9947588340548525, + -0.1013181013836549, + -0.013766059779101666, + -0.09885610938276966, + -0.9873882632524114, + 0.12366037048743092, + -0.02612147981130192, + -0.12165138685357527, + -0.9922291108252517 + ], + [ + 0.9979379932912151, + -0.06006628893123549, + 0.022623051958840592, + -0.062433836846339755, + -0.9901891005957589, + 0.12501024389227894, + 0.01489219804285764, + -0.12616491586567075, + -0.9918974929104625 + ], + [ + 0.9985379661706526, + -0.02869335414926058, + 0.04581071428653236, + -0.03429013380373101, + -0.9913764665914057, + 0.12647880538834297, + 0.04178656290602773, + -0.12786474461869943, + -0.9909109396126858 + ], + [ + 0.9992990901644963, + -0.0008295679857703775, + 0.03742512810087377, + -0.00477636874091292, + -0.994408567844859, + 0.10549306374538182, + 0.03712835436779627, + -0.10559787883141093, + -0.9937155394217431 + ], + [ + 0.9994618099049009, + 0.019351522466244456, + -0.02648790516175257, + 0.023104989275381557, + -0.988467374872548, + 0.14966097782374016, + -0.02328626230643436, + -0.15019243453254222, + -0.988382508241108 + ], + [ + 0.9982145983232635, + 0.017752795603371105, + -0.05703028969408128, + 0.02507995316085615, + -0.9911373602333035, + 0.13045201837920448, + -0.05420896276239907, + -0.1316494261211342, + -0.9898130212106735 + ], + [ + 0.9987934633560405, + 0.021192466745063823, + -0.044300077996606686, + 0.02439952273628665, + -0.9970221486393599, + 0.07315393641353672, + -0.04261784658435363, + -0.07414657426890138, + -0.9963362909563713 + ], + [ + 0.9998928762488426, + 0.0027846436233944253, + -0.01436947412771258, + 0.004334995045794802, + -0.9940304859449453, + 0.1090165163175224, + -0.013980123202935194, + -0.1090671296585107, + -0.993936073086838 + ], + [ + 0.9980207916868437, + 0.00965012941184486, + 0.0621399578620696, + 0.0027377023805848595, + -0.9938859811817722, + 0.11037735907341041, + 0.06282518878953312, + -0.10998877857617968, + -0.9919452929677518 + ], + [ + 0.9953461610408124, + 0.09129732156197509, + 0.030835349469827873, + 0.08622411521632181, + -0.9866642473214137, + 0.138054572589359, + 0.04302814958233221, + -0.13475333811552664, + -0.9899445015808932 + ], + [ + 0.9822477806791852, + 0.18560931454230617, + -0.027174983090169746, + 0.1875838444748994, + -0.9728407846356312, + 0.1356211968740379, + -0.0012643744827034176, + -0.13831120744417297, + -0.9903880104547423 + ], + [ + 0.9728250991316345, + 0.22001026486906952, + -0.07215822788682898, + 0.22616642812216622, + -0.9696780518809206, + 0.0925916977427447, + -0.04959912589942175, + -0.10639529619614135, + -0.9930860827024759 + ], + [ + 0.9723390765317399, + 0.21041440628662533, + -0.10140265221605334, + 0.21809172122569148, + -0.9732959125354756, + 0.07163147195577238, + -0.08362249327913023, + -0.0917651582507342, + -0.9922632888245938 + ], + [ + 0.9684336675630029, + 0.18359295076785903, + -0.16861156531751129, + 0.1938698412866695, + -0.9799238961571708, + 0.04651496941449749, + -0.15668668153341067, + -0.07773535983386555, + -0.9845844289148323 + ], + [ + 0.9624161913526061, + 0.17931289744193998, + -0.20396558394327333, + 0.18864312914404682, + -0.9816718092198327, + 0.0270966568012225, + -0.1953684837661557, + -0.06455496722977307, + -0.9786029898569065 + ], + [ + 0.9642624619666833, + 0.16892327109689856, + -0.20411475430226617, + 0.18107871396628492, + -0.9825592984717116, + 0.04228148927242688, + -0.19341252232021366, + -0.07773129015204683, + -0.9780334568617943 + ], + [ + 0.9723535017878134, + 0.16511537831445205, + -0.16512292210668966, + 0.17467766170815846, + -0.9835936453798465, + 0.04506944939262962, + -0.15497219770380327, + -0.072666722868587, + -0.985242693617361 + ], + [ + 0.988661861266991, + 0.14782002076307793, + -0.026400104880318145, + 0.14923683432640306, + -0.9867397002189314, + 0.06382108814558657, + -0.01661599700055065, + -0.06703734387232402, + -0.9976121005532266 + ], + [ + 0.9968295900500607, + 0.07870589193737526, + 0.011668374992707016, + 0.07728009835028729, + -0.9926223790282264, + 0.09342697175502501, + 0.01893554328764151, + -0.09222903678715574, + -0.9955577582308901 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005752.json b/json/chunk-0005/episode_0005752.json new file mode 100644 index 0000000000000000000000000000000000000000..fd868554bb017e5e2ef35a994e3e71f402b657bc --- /dev/null +++ b/json/chunk-0005/episode_0005752.json @@ -0,0 +1,1822 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 29, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut banana in pot cardboard fence." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005752.mp4", + "start": 0, + "end": 29, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.18585409224033356, + 0.14043398201465607, + 0.047209709882736206, + 0.1495911180973053, + 0.1276613473892212, + -0.034629128873348236, + 0.0, + 0.9858682155609131 + ], + [ + 0.1818552166223526, + 0.13666416704654694, + 0.043005283921957016, + 0.12990693747997284, + 0.14819161593914032, + -0.0330524779856205, + 0.0, + 0.9858682155609131 + ], + [ + 0.1803707778453827, + 0.12057685852050781, + 0.05442671850323677, + 0.08607633411884308, + 0.1798250526189804, + -0.054754335433244705, + 0.0, + 0.9858682155609131 + ], + [ + 0.18791921436786652, + 0.10586947202682495, + 0.06818822771310806, + 0.0754849836230278, + 0.1667466163635254, + -0.06539890170097351, + 0.0, + 0.9858682155609131 + ], + [ + 0.20010000467300415, + 0.09217086434364319, + 0.07436869293451309, + 0.08178281038999557, + 0.15436327457427979, + -0.0653553232550621, + 0.0, + 0.9858682155609131 + ], + [ + 0.21434065699577332, + 0.07324948906898499, + 0.0707312673330307, + 0.10638219118118286, + 0.07852865755558014, + -0.10137633234262466, + 0.0, + 0.9858682155609131 + ], + [ + 0.230300635099411, + 0.055205173790454865, + 0.06609943509101868, + 0.11266901344060898, + 0.01902202144265175, + -0.1400972604751587, + 0.0, + 0.9858682155609131 + ], + [ + 0.23823969066143036, + 0.04248383641242981, + 0.055153410881757736, + 0.09421732276678085, + 0.011070895940065384, + -0.1504586786031723, + 0.0, + 0.9858682155609131 + ], + [ + 0.24719573557376862, + 0.03653758019208908, + 0.04531445726752281, + 0.07461246103048325, + -0.0013697074027732015, + -0.15915025770664215, + 0.0, + 0.9858682155609131 + ], + [ + 0.25439321994781494, + 0.030593842267990112, + 0.03347321227192879, + 0.05388306453824043, + -0.008490964770317078, + -0.1819385290145874, + 0.0, + 0.9858682155609131 + ], + [ + 0.2659291923046112, + 0.023846594616770744, + 0.02768559381365776, + 0.04079696908593178, + -0.040495455265045166, + -0.18442003428936005, + 0.0, + 0.9858682155609131 + ], + [ + 0.274528831243515, + 0.017997119575738907, + 0.018615825101733208, + 0.04864407330751419, + -0.03677039220929146, + -0.18536123633384705, + 0.0, + 0.9858682155609131 + ], + [ + 0.27499258518218994, + 0.014772890135645866, + 0.0023040256928652525, + 0.0720691978931427, + -0.006998871918767691, + -0.18495498597621918, + 0.0, + 0.9858682155609131 + ], + [ + 0.28210246562957764, + 0.017160171642899513, + -0.0002777249610517174, + 0.09105905890464783, + -0.014327465556561947, + -0.18491828441619873, + 0.0, + 0.9343546032905579 + ], + [ + 0.28229475021362305, + 0.01471074391156435, + -0.0014997425023466349, + 0.10072391480207443, + -0.01382569782435894, + -0.2108989953994751, + 0.0, + 0.676182746887207 + ], + [ + 0.2796325981616974, + 0.014415628276765347, + -0.0011602906743064523, + 0.09082704782485962, + -0.026401426643133163, + -0.21512573957443237, + 0.0, + 0.4148389995098114 + ], + [ + 0.27276408672332764, + 0.021928980946540833, + -5.2157356549287215e-05, + 0.08960290253162384, + -0.006075847893953323, + -0.21008358895778656, + 0.0, + 0.38577979803085327 + ], + [ + 0.2644868791103363, + 0.02753281593322754, + 0.0011403983226045966, + 0.08263769000768661, + 0.02599090337753296, + -0.2112417370080948, + 0.0, + 0.4130503535270691 + ], + [ + 0.2572893500328064, + 0.032786011695861816, + 0.018938476219773293, + 0.06783466786146164, + 0.0324939489364624, + -0.21604062616825104, + 0.0, + 0.4130503535270691 + ], + [ + 0.25489747524261475, + 0.039664361625909805, + 0.043883826583623886, + 0.023539677262306213, + 0.012997657060623169, + -0.2048311084508896, + 0.0, + 0.4130503535270691 + ], + [ + 0.2627439796924591, + 0.05752420052886009, + 0.07667762041091919, + -0.007003136444836855, + -0.03709900379180908, + -0.12908942997455597, + 0.0, + 0.4130503535270691 + ], + [ + 0.27669626474380493, + 0.08699877560138702, + 0.09040803462266922, + 0.06125153973698616, + -0.07828395068645477, + -0.04420582205057144, + 0.0, + 0.4130503535270691 + ], + [ + 0.29025062918663025, + 0.117118239402771, + 0.08529014140367508, + 0.09725388139486313, + -0.08869171142578125, + 0.049274127930402756, + 0.0, + 0.4130503535270691 + ], + [ + 0.2991580367088318, + 0.14135445654392242, + 0.07360959053039551, + 0.13230286538600922, + -0.07250896841287613, + 0.11975295096635818, + 0.0, + 0.4130503535270691 + ], + [ + 0.30023130774497986, + 0.15583831071853638, + 0.054016582667827606, + 0.18901972472667694, + -0.04815653711557388, + 0.1487940549850464, + 0.0, + 0.4130503535270691 + ], + [ + 0.3015764653682709, + 0.1604917198419571, + 0.05298732966184616, + 0.21651051938533783, + -0.057330235838890076, + 0.14699320495128632, + 0.0, + 0.4784920811653137 + ], + [ + 0.3014222979545593, + 0.1611599624156952, + 0.052131474018096924, + 0.21957819163799286, + -0.058825623244047165, + 0.13433460891246796, + 0.0, + 0.7672095894813538 + ], + [ + 0.3006536662578583, + 0.15401922166347504, + 0.05999384820461273, + 0.17990602552890778, + -0.06697028875350952, + 0.1357557624578476, + 0.0, + 0.9788280129432678 + ], + [ + 0.2973688244819641, + 0.14352315664291382, + 0.08628592640161514, + 0.13384291529655457, + -0.09875214844942093, + 0.13083802163600922, + 0.0, + 0.9858682155609131 + ] + ], + "left_gripper_pos": [ + [ + 0.9858682155609131 + ], + [ + 0.9858682155609131 + ], + [ + 0.9858682155609131 + ], + [ + 0.9858682155609131 + ], + [ + 0.9858682155609131 + ], + [ + 0.9858682155609131 + ], + [ + 0.9858682155609131 + ], + [ + 0.9858682155609131 + ], + [ + 0.9858682155609131 + ], + [ + 0.9858682155609131 + ], + [ + 0.9858682155609131 + ], + [ + 0.9858682155609131 + ], + [ + 0.9858682155609131 + ], + [ + 0.9343546032905579 + ], + [ + 0.676182746887207 + ], + [ + 0.4148389995098114 + ], + [ + 0.38577979803085327 + ], + [ + 0.4130503535270691 + ], + [ + 0.4130503535270691 + ], + [ + 0.4130503535270691 + ], + [ + 0.4130503535270691 + ], + [ + 0.4130503535270691 + ], + [ + 0.4130503535270691 + ], + [ + 0.4130503535270691 + ], + [ + 0.4130503535270691 + ], + [ + 0.4784920811653137 + ], + [ + 0.7672095894813538 + ], + [ + 0.9788280129432678 + ], + [ + 0.9858682155609131 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.18585409224033356, + 0.14043398201465607, + 0.047209709882736206 + ], + [ + 0.1818552166223526, + 0.13666416704654694, + 0.043005283921957016 + ], + [ + 0.1803707778453827, + 0.12057685852050781, + 0.05442671850323677 + ], + [ + 0.18791921436786652, + 0.10586947202682495, + 0.06818822771310806 + ], + [ + 0.20010000467300415, + 0.09217086434364319, + 0.07436869293451309 + ], + [ + 0.21434065699577332, + 0.07324948906898499, + 0.0707312673330307 + ], + [ + 0.230300635099411, + 0.055205173790454865, + 0.06609943509101868 + ], + [ + 0.23823969066143036, + 0.04248383641242981, + 0.055153410881757736 + ], + [ + 0.24719573557376862, + 0.03653758019208908, + 0.04531445726752281 + ], + [ + 0.25439321994781494, + 0.030593842267990112, + 0.03347321227192879 + ], + [ + 0.2659291923046112, + 0.023846594616770744, + 0.02768559381365776 + ], + [ + 0.274528831243515, + 0.017997119575738907, + 0.018615825101733208 + ], + [ + 0.27499258518218994, + 0.014772890135645866, + 0.0023040256928652525 + ], + [ + 0.28210246562957764, + 0.017160171642899513, + -0.0002777249610517174 + ], + [ + 0.28229475021362305, + 0.01471074391156435, + -0.0014997425023466349 + ], + [ + 0.2796325981616974, + 0.014415628276765347, + -0.0011602906743064523 + ], + [ + 0.27276408672332764, + 0.021928980946540833, + -5.2157356549287215e-05 + ], + [ + 0.2644868791103363, + 0.02753281593322754, + 0.0011403983226045966 + ], + [ + 0.2572893500328064, + 0.032786011695861816, + 0.018938476219773293 + ], + [ + 0.25489747524261475, + 0.039664361625909805, + 0.043883826583623886 + ], + [ + 0.2627439796924591, + 0.05752420052886009, + 0.07667762041091919 + ], + [ + 0.27669626474380493, + 0.08699877560138702, + 0.09040803462266922 + ], + [ + 0.29025062918663025, + 0.117118239402771, + 0.08529014140367508 + ], + [ + 0.2991580367088318, + 0.14135445654392242, + 0.07360959053039551 + ], + [ + 0.30023130774497986, + 0.15583831071853638, + 0.054016582667827606 + ], + [ + 0.3015764653682709, + 0.1604917198419571, + 0.05298732966184616 + ], + [ + 0.3014222979545593, + 0.1611599624156952, + 0.052131474018096924 + ], + [ + 0.3006536662578583, + 0.15401922166347504, + 0.05999384820461273 + ], + [ + 0.2973688244819641, + 0.14352315664291382, + 0.08628592640161514 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9912677014763823, + -0.05319839802206926, + -0.12065767467349618, + -0.03434046484016595, + -0.987582335441509, + 0.15330317413040126, + -0.12731487141842884, + -0.14782104441445507, + -0.9807853293886122 + ], + [ + 0.9884995054692103, + -0.051884394312821686, + -0.14204484261640135, + -0.032684261161551875, + -0.9904002981554492, + 0.1343093015614359, + -0.14764981124082097, + -0.1281220474406684, + -0.9807060080371492 + ], + [ + 0.982400519973813, + -0.06987771144601641, + -0.17322333502807563, + -0.05384450763817328, + -0.9939631199722759, + 0.09559333204874323, + -0.17885744980957424, + -0.08458381392468567, + -0.9802324168632506 + ], + [ + 0.9840218696008693, + -0.07765615927912231, + -0.1602201019635934, + -0.06444585438757891, + -0.9942027060214944, + 0.08606806139208578, + -0.16597497401555347, + -0.07436733332285389, + -0.9833218230747159 + ], + [ + 0.9860001138925037, + -0.07762388267354996, + -0.14757475476060522, + -0.06453226162285415, + -0.9937095959834715, + 0.09152500237752251, + -0.15375097597677007, + -0.08072033008510895, + -0.984807019520648 + ], + [ + 0.9917998505989869, + -0.10891762183768211, + -0.06685811846777098, + -0.10089089227894368, + -0.9883986007419814, + 0.11353076193900714, + -0.07844797133760317, + -0.10585441750119172, + -0.9912823806002493 + ], + [ + 0.9900232788164001, + -0.1408716267025662, + -0.0030153261512469495, + -0.13961416024828055, + -0.9836254753841326, + 0.11396846245127393, + -0.019020874317259774, + -0.11241044864919292, + -0.9934797921320268 + ], + [ + 0.9886418404450037, + -0.15025658989384796, + 0.0032044523693732846, + -0.14988245925354168, + -0.9841612537714799, + 0.09466718007344908, + -0.011070669791209894, + -0.0940722263392358, + -0.9955038204356391 + ], + [ + 0.9873613801637207, + -0.15793752440289102, + 0.013162193839890868, + -0.15847911175923687, + -0.98463142970985, + 0.07338473113352681, + 0.0013697069744889375, + -0.0745431822034914, + -0.997216845971718 + ], + [ + 0.98345933734841, + -0.1802241002435729, + 0.018083292665372747, + -0.18092992298708857, + -0.9821501448133688, + 0.05143399664585032, + 0.00849086274256905, + -0.05385505300780715, + -0.9985126631722873 + ], + [ + 0.9822368411207351, + -0.18160066654092658, + 0.047243897564145085, + -0.18322609600237758, + -0.9825275847649729, + 0.032676335774330684, + 0.04048438821184967, + -0.040752215740993566, + -0.9983487723352557 + ], + [ + 0.9822053629033363, + -0.18232665315770136, + 0.045051266710676316, + -0.18417701427660504, + -0.9820365608327211, + 0.04102463406291665, + 0.036762106795999214, + -0.048592023379895, + -0.9981419552186788 + ], + [ + 0.9829204555265754, + -0.18292953556467648, + 0.020103808731730878, + -0.18389778329035741, + -0.9804856224978697, + 0.06949495935575727, + 0.0069988147798745095, + -0.07200506296822039, + -0.9973797107915422 + ], + [ + 0.9828503920869824, + -0.18182386406446363, + 0.030743929988411245, + -0.18384734034225667, + -0.9791184401944316, + 0.08675964223244316, + 0.014326975380146783, + -0.09092393814552104, + -0.9957547766636955 + ], + [ + 0.9777496592116641, + -0.20691867518466175, + 0.034500228568799605, + -0.20931905352897226, + -0.9731780670345958, + 0.0954462344597388, + 0.013825257365062375, + -0.10054407840660054, + -0.9948365446424641 + ], + [ + 0.9766090958668997, + -0.21025116119278814, + 0.04504578878342551, + -0.21339587737100985, + -0.9734337624127053, + 0.08299945611931299, + 0.026398359628842506, + -0.09067060941743495, + -0.9955309976071952 + ], + [ + 0.9779954342795854, + -0.20717332615572548, + 0.02457932989034063, + -0.20853780246016312, + -0.9742034140557918, + 0.08625365492038646, + 0.006075810511428798, + -0.0894814001433399, + -0.9959699611710267 + ], + [ + 0.9774410715033017, + -0.2110561312814755, + -0.008016307564829276, + -0.20960337969285187, + -0.9739848326100317, + 0.08613924231697562, + -0.02598797721661921, + -0.08251578815054161, + -0.9962508568358089 + ], + [ + 0.9762382396577852, + -0.21602191379337848, + -0.017129862548049733, + -0.21425082093473446, + -0.9740353657573093, + 0.07315525943373664, + -0.03248823107928895, + -0.06774687457788083, + -0.9971734432014663 + ], + [ + 0.9790126487547213, + -0.20364497889414337, + -0.00793449112851983, + -0.20338462086022321, + -0.9787618720075482, + 0.02568840014136781, + -0.012997291094990511, + -0.02353551519477885, + -0.9996385096367129 + ], + [ + 0.9909971597060069, + -0.1289856321794767, + 0.03587946691198195, + -0.1286426239241457, + -0.9916217681363246, + -0.011719397087738871, + 0.03709049426117261, + 0.006998260458859145, + -0.9992874058978288 + ], + [ + 0.9959634497725839, + -0.03932610912934879, + 0.08068620611876808, + -0.04405608423690705, + -0.9973611743434095, + 0.057703980400363994, + 0.0782040162575064, + -0.06102577367868098, + -0.99506783024481 + ], + [ + 0.9948605140530006, + 0.05761174105368108, + 0.08326730973775343, + 0.04906059606001313, + -0.9936429564233205, + 0.10132488867282109, + 0.08857547906974927, + -0.09671898698335794, + -0.9913626087685966 + ], + [ + 0.9902293751999108, + 0.12791123685379907, + 0.05553827488971219, + 0.11915301708322745, + -0.9830197822450059, + 0.13955166152699475, + 0.07244544851926879, + -0.13157060158527858, + -0.9886560745716022 + ], + [ + 0.9878040807317933, + 0.15455019319943833, + 0.018903329644089084, + 0.1480737591065215, + -0.9699954009716872, + 0.19282915743693832, + 0.048137926354181904, + -0.18767834152025106, + -0.9810502434485847 + ], + [ + 0.9875907269827484, + 0.15522128796863263, + 0.023893675712314124, + 0.1462237989528609, + -0.9643178813039194, + 0.22070257002879068, + 0.057298835917317895, + -0.21446998754809204, + -0.9750484438445309 + ], + [ + 0.9892765226441571, + 0.14340570000580263, + 0.027690557071512148, + 0.1336992802310926, + -0.9654812952264523, + 0.22354053554901462, + 0.058791701887023984, + -0.21744119612828258, + -0.9743012172914132 + ], + [ + 0.9885782830309551, + 0.14501919501109542, + 0.04101720855815273, + 0.13503577255293933, + -0.9731877159308187, + 0.18620152977993312, + 0.0669202394690871, + -0.17853599816196833, + -0.981655020315034 + ], + [ + 0.9866225188869654, + 0.14234221149400925, + 0.07946508700136641, + 0.1298294174183672, + -0.9808692956712124, + 0.14505084343866279, + 0.09859172175161242, + -0.13279352256964502, + -0.9862279415863242 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.003998875617980957, + -0.003769814968109131, + -0.00420442596077919, + -0.01968418061733246, + 0.02053026854991913, + 0.0015766508877277374, + 1.0 + ], + [ + -0.0014844387769699097, + -0.016087308526039124, + 0.011421434581279755, + -0.04383060336112976, + 0.03163343667984009, + -0.021701857447624207, + 1.0 + ], + [ + 0.007548436522483826, + -0.014707386493682861, + 0.013761509209871292, + -0.010591350495815277, + -0.013078436255455017, + -0.010644566267728806, + 1.0 + ], + [ + 0.012180790305137634, + -0.013698607683181763, + 0.006180465221405029, + 0.0062978267669677734, + -0.012383341789245605, + 4.357844591140747e-05, + 1.0 + ], + [ + 0.014240652322769165, + -0.018921375274658203, + -0.0036374256014823914, + 0.024599380791187286, + -0.07583461701869965, + -0.03602100908756256, + 1.0 + ], + [ + 0.015959978103637695, + -0.01804431527853012, + -0.004631832242012024, + 0.006286822259426117, + -0.05950663611292839, + -0.03872092813253403, + 1.0 + ], + [ + 0.007939055562019348, + -0.012721337378025055, + -0.01094602420926094, + -0.018451690673828125, + -0.007951125502586365, + -0.01036141812801361, + 1.0 + ], + [ + 0.008956044912338257, + -0.005946256220340729, + -0.009838953614234924, + -0.019604861736297607, + -0.012440603226423264, + -0.008691579103469849, + 1.0 + ], + [ + 0.007197484374046326, + -0.0059437379240989685, + -0.011841244995594025, + -0.020729396492242813, + -0.007121257483959198, + -0.02278827130794525, + 1.0 + ], + [ + 0.011535972356796265, + -0.006747247651219368, + -0.005787618458271027, + -0.013086095452308655, + -0.03200449049472809, + -0.002481505274772644, + 1.0 + ], + [ + 0.008599638938903809, + -0.0058494750410318375, + -0.009069768711924553, + 0.007847104221582413, + 0.003725063055753708, + -0.0009412020444869995, + 1.0 + ], + [ + 0.00046375393867492676, + -0.0032242294400930405, + -0.016311800107359886, + 0.02342512458562851, + 0.02977151982486248, + 0.00040625035762786865, + 1.0 + ], + [ + 0.007109880447387695, + 0.002387281507253647, + -0.0025817507412284613, + 0.018989861011505127, + -0.007328593637794256, + 3.670156002044678e-05, + 0.0 + ], + [ + 0.00019228458404541016, + -0.002449427731335163, + -0.001222017570398748, + 0.009664855897426605, + 0.0005017677322030067, + -0.025980710983276367, + 0.0 + ], + [ + -0.002662152051925659, + -0.0002951156347990036, + 0.0003394518280401826, + -0.009896866977214813, + -0.012575728818774223, + -0.004226744174957275, + 0.0 + ], + [ + -0.006868511438369751, + 0.007513352669775486, + 0.0011081333504989743, + -0.0012241452932357788, + 0.02032557874917984, + 0.005042150616645813, + 0.0 + ], + [ + -0.008277207612991333, + 0.0056038349866867065, + 0.0011925556464120746, + -0.006965212523937225, + 0.03206675127148628, + -0.0011581480503082275, + 0.0 + ], + [ + -0.007197529077529907, + 0.005253195762634277, + 0.017798077315092087, + -0.014803022146224976, + 0.006503045558929443, + -0.00479888916015625, + 0.0 + ], + [ + -0.0023918747901916504, + 0.006878349930047989, + 0.024945350363850594, + -0.044294990599155426, + -0.019496291875839233, + 0.01120951771736145, + 0.0 + ], + [ + 0.00784650444984436, + 0.017859838902950287, + 0.0327937938272953, + -0.03054281324148178, + -0.05009666085243225, + 0.07574167847633362, + 0.0 + ], + [ + 0.013952285051345825, + 0.029474575072526932, + 0.01373041421175003, + 0.06825467944145203, + -0.04118494689464569, + 0.08488360792398453, + 0.0 + ], + [ + 0.013554364442825317, + 0.030119463801383972, + -0.005117893218994141, + 0.03600234165787697, + -0.010407760739326477, + 0.0934799462556839, + 0.0 + ], + [ + 0.008907407522201538, + 0.024236217141151428, + -0.011680550873279572, + 0.03504898399114609, + 0.01618274301290512, + 0.07047882676124573, + 0.0 + ], + [ + 0.0010732710361480713, + 0.014483854174613953, + -0.0195930078625679, + 0.056716859340667725, + 0.024352431297302246, + 0.029041104018688202, + 0.0 + ], + [ + 0.0013451576232910156, + 0.004653409123420715, + -0.0010292530059814453, + 0.02749079465866089, + -0.009173698723316193, + -0.0018008500337600708, + 1.0 + ], + [ + -0.00015416741371154785, + 0.0006682425737380981, + -0.0008558556437492371, + 0.0030676722526550293, + -0.0014953874051570892, + -0.01265859603881836, + 1.0 + ], + [ + -0.0007686316967010498, + -0.007140740752220154, + 0.007862374186515808, + -0.03967216610908508, + -0.008144665509462357, + 0.0014211535453796387, + 1.0 + ], + [ + -0.003284841775894165, + -0.010496065020561218, + 0.02629207819700241, + -0.04606311023235321, + -0.03178185969591141, + -0.004917740821838379, + 1.0 + ], + [ + -0.007235676050186157, + -0.01576399803161621, + 0.019151121377944946, + -0.037178076803684235, + 0.008103497326374054, + -0.02295856922864914, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9858682155609131 + ], + [ + 0.9858682155609131 + ], + [ + 0.9858682155609131 + ], + [ + 0.9858682155609131 + ], + [ + 0.9858682155609131 + ], + [ + 0.9858682155609131 + ], + [ + 0.9858682155609131 + ], + [ + 0.9858682155609131 + ], + [ + 0.9858682155609131 + ], + [ + 0.9858682155609131 + ], + [ + 0.9858682155609131 + ], + [ + 0.9858682155609131 + ], + [ + 0.9343546032905579 + ], + [ + 0.676182746887207 + ], + [ + 0.4148389995098114 + ], + [ + 0.38577979803085327 + ], + [ + 0.4130503535270691 + ], + [ + 0.4130503535270691 + ], + [ + 0.4130503535270691 + ], + [ + 0.4130503535270691 + ], + [ + 0.4130503535270691 + ], + [ + 0.4130503535270691 + ], + [ + 0.4130503535270691 + ], + [ + 0.4130503535270691 + ], + [ + 0.4784920811653137 + ], + [ + 0.7672095894813538 + ], + [ + 0.9788280129432678 + ], + [ + 0.9858682155609131 + ], + [ + 0.9851709604263306 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.1818552166223526, + 0.13666416704654694, + 0.043005283921957016 + ], + [ + 0.1803707778453827, + 0.12057685852050781, + 0.05442671850323677 + ], + [ + 0.18791921436786652, + 0.10586947202682495, + 0.06818822771310806 + ], + [ + 0.20010000467300415, + 0.09217086434364319, + 0.07436869293451309 + ], + [ + 0.21434065699577332, + 0.07324948906898499, + 0.0707312673330307 + ], + [ + 0.230300635099411, + 0.055205173790454865, + 0.06609943509101868 + ], + [ + 0.23823969066143036, + 0.04248383641242981, + 0.055153410881757736 + ], + [ + 0.24719573557376862, + 0.03653758019208908, + 0.04531445726752281 + ], + [ + 0.25439321994781494, + 0.030593842267990112, + 0.03347321227192879 + ], + [ + 0.2659291923046112, + 0.023846594616770744, + 0.02768559381365776 + ], + [ + 0.274528831243515, + 0.017997119575738907, + 0.018615825101733208 + ], + [ + 0.27499258518218994, + 0.014772890135645866, + 0.0023040256928652525 + ], + [ + 0.28210246562957764, + 0.017160171642899513, + -0.0002777249610517174 + ], + [ + 0.28229475021362305, + 0.01471074391156435, + -0.0014997425023466349 + ], + [ + 0.2796325981616974, + 0.014415628276765347, + -0.0011602906743064523 + ], + [ + 0.27276408672332764, + 0.021928980946540833, + -5.2157356549287215e-05 + ], + [ + 0.2644868791103363, + 0.02753281593322754, + 0.0011403983226045966 + ], + [ + 0.2572893500328064, + 0.032786011695861816, + 0.018938476219773293 + ], + [ + 0.25489747524261475, + 0.039664361625909805, + 0.043883826583623886 + ], + [ + 0.2627439796924591, + 0.05752420052886009, + 0.07667762041091919 + ], + [ + 0.27669626474380493, + 0.08699877560138702, + 0.09040803462266922 + ], + [ + 0.29025062918663025, + 0.117118239402771, + 0.08529014140367508 + ], + [ + 0.2991580367088318, + 0.14135445654392242, + 0.07360959053039551 + ], + [ + 0.30023130774497986, + 0.15583831071853638, + 0.054016582667827606 + ], + [ + 0.3015764653682709, + 0.1604917198419571, + 0.05298732966184616 + ], + [ + 0.3014222979545593, + 0.1611599624156952, + 0.052131474018096924 + ], + [ + 0.3006536662578583, + 0.15401922166347504, + 0.05999384820461273 + ], + [ + 0.2973688244819641, + 0.14352315664291382, + 0.08628592640161514 + ], + [ + 0.29013314843177795, + 0.1277591586112976, + 0.10543704777956009 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9884995054692103, + -0.051884394312821686, + -0.14204484261640135, + -0.032684261161551875, + -0.9904002981554492, + 0.1343093015614359, + -0.14764981124082097, + -0.1281220474406684, + -0.9807060080371492 + ], + [ + 0.982400519973813, + -0.06987771144601641, + -0.17322333502807563, + -0.05384450763817328, + -0.9939631199722759, + 0.09559333204874323, + -0.17885744980957424, + -0.08458381392468567, + -0.9802324168632506 + ], + [ + 0.9840218696008693, + -0.07765615927912231, + -0.1602201019635934, + -0.06444585438757891, + -0.9942027060214944, + 0.08606806139208578, + -0.16597497401555347, + -0.07436733332285389, + -0.9833218230747159 + ], + [ + 0.9860001138925037, + -0.07762388267354996, + -0.14757475476060522, + -0.06453226162285415, + -0.9937095959834715, + 0.09152500237752251, + -0.15375097597677007, + -0.08072033008510895, + -0.984807019520648 + ], + [ + 0.9917998505989869, + -0.10891762183768211, + -0.06685811846777098, + -0.10089089227894368, + -0.9883986007419814, + 0.11353076193900714, + -0.07844797133760317, + -0.10585441750119172, + -0.9912823806002493 + ], + [ + 0.9900232788164001, + -0.1408716267025662, + -0.0030153261512469495, + -0.13961416024828055, + -0.9836254753841326, + 0.11396846245127393, + -0.019020874317259774, + -0.11241044864919292, + -0.9934797921320268 + ], + [ + 0.9886418404450037, + -0.15025658989384796, + 0.0032044523693732846, + -0.14988245925354168, + -0.9841612537714799, + 0.09466718007344908, + -0.011070669791209894, + -0.0940722263392358, + -0.9955038204356391 + ], + [ + 0.9873613801637207, + -0.15793752440289102, + 0.013162193839890868, + -0.15847911175923687, + -0.98463142970985, + 0.07338473113352681, + 0.0013697069744889375, + -0.0745431822034914, + -0.997216845971718 + ], + [ + 0.98345933734841, + -0.1802241002435729, + 0.018083292665372747, + -0.18092992298708857, + -0.9821501448133688, + 0.05143399664585032, + 0.00849086274256905, + -0.05385505300780715, + -0.9985126631722873 + ], + [ + 0.9822368411207351, + -0.18160066654092658, + 0.047243897564145085, + -0.18322609600237758, + -0.9825275847649729, + 0.032676335774330684, + 0.04048438821184967, + -0.040752215740993566, + -0.9983487723352557 + ], + [ + 0.9822053629033363, + -0.18232665315770136, + 0.045051266710676316, + -0.18417701427660504, + -0.9820365608327211, + 0.04102463406291665, + 0.036762106795999214, + -0.048592023379895, + -0.9981419552186788 + ], + [ + 0.9829204555265754, + -0.18292953556467648, + 0.020103808731730878, + -0.18389778329035741, + -0.9804856224978697, + 0.06949495935575727, + 0.0069988147798745095, + -0.07200506296822039, + -0.9973797107915422 + ], + [ + 0.9828503920869824, + -0.18182386406446363, + 0.030743929988411245, + -0.18384734034225667, + -0.9791184401944316, + 0.08675964223244316, + 0.014326975380146783, + -0.09092393814552104, + -0.9957547766636955 + ], + [ + 0.9777496592116641, + -0.20691867518466175, + 0.034500228568799605, + -0.20931905352897226, + -0.9731780670345958, + 0.0954462344597388, + 0.013825257365062375, + -0.10054407840660054, + -0.9948365446424641 + ], + [ + 0.9766090958668997, + -0.21025116119278814, + 0.04504578878342551, + -0.21339587737100985, + -0.9734337624127053, + 0.08299945611931299, + 0.026398359628842506, + -0.09067060941743495, + -0.9955309976071952 + ], + [ + 0.9779954342795854, + -0.20717332615572548, + 0.02457932989034063, + -0.20853780246016312, + -0.9742034140557918, + 0.08625365492038646, + 0.006075810511428798, + -0.0894814001433399, + -0.9959699611710267 + ], + [ + 0.9774410715033017, + -0.2110561312814755, + -0.008016307564829276, + -0.20960337969285187, + -0.9739848326100317, + 0.08613924231697562, + -0.02598797721661921, + -0.08251578815054161, + -0.9962508568358089 + ], + [ + 0.9762382396577852, + -0.21602191379337848, + -0.017129862548049733, + -0.21425082093473446, + -0.9740353657573093, + 0.07315525943373664, + -0.03248823107928895, + -0.06774687457788083, + -0.9971734432014663 + ], + [ + 0.9790126487547213, + -0.20364497889414337, + -0.00793449112851983, + -0.20338462086022321, + -0.9787618720075482, + 0.02568840014136781, + -0.012997291094990511, + -0.02353551519477885, + -0.9996385096367129 + ], + [ + 0.9909971597060069, + -0.1289856321794767, + 0.03587946691198195, + -0.1286426239241457, + -0.9916217681363246, + -0.011719397087738871, + 0.03709049426117261, + 0.006998260458859145, + -0.9992874058978288 + ], + [ + 0.9959634497725839, + -0.03932610912934879, + 0.08068620611876808, + -0.04405608423690705, + -0.9973611743434095, + 0.057703980400363994, + 0.0782040162575064, + -0.06102577367868098, + -0.99506783024481 + ], + [ + 0.9948605140530006, + 0.05761174105368108, + 0.08326730973775343, + 0.04906059606001313, + -0.9936429564233205, + 0.10132488867282109, + 0.08857547906974927, + -0.09671898698335794, + -0.9913626087685966 + ], + [ + 0.9902293751999108, + 0.12791123685379907, + 0.05553827488971219, + 0.11915301708322745, + -0.9830197822450059, + 0.13955166152699475, + 0.07244544851926879, + -0.13157060158527858, + -0.9886560745716022 + ], + [ + 0.9878040807317933, + 0.15455019319943833, + 0.018903329644089084, + 0.1480737591065215, + -0.9699954009716872, + 0.19282915743693832, + 0.048137926354181904, + -0.18767834152025106, + -0.9810502434485847 + ], + [ + 0.9875907269827484, + 0.15522128796863263, + 0.023893675712314124, + 0.1462237989528609, + -0.9643178813039194, + 0.22070257002879068, + 0.057298835917317895, + -0.21446998754809204, + -0.9750484438445309 + ], + [ + 0.9892765226441571, + 0.14340570000580263, + 0.027690557071512148, + 0.1336992802310926, + -0.9654812952264523, + 0.22354053554901462, + 0.058791701887023984, + -0.21744119612828258, + -0.9743012172914132 + ], + [ + 0.9885782830309551, + 0.14501919501109542, + 0.04101720855815273, + 0.13503577255293933, + -0.9731877159308187, + 0.18620152977993312, + 0.0669202394690871, + -0.17853599816196833, + -0.981655020315034 + ], + [ + 0.9866225188869654, + 0.14234221149400925, + 0.07946508700136641, + 0.1298294174183672, + -0.9808692956712124, + 0.14505084343866279, + 0.09859172175161242, + -0.13279352256964502, + -0.9862279415863242 + ], + [ + 0.990104745095975, + 0.11585380488276628, + 0.07918642328467494, + 0.10722825411580669, + -0.9886046765245986, + 0.10565460270603069, + 0.0905245561033567, + -0.09611810156198011, + -0.9912449824813292 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005753.json b/json/chunk-0005/episode_0005753.json new file mode 100644 index 0000000000000000000000000000000000000000..1e7d7c3226d89116cd3669a82c11b237b3c8d21e --- /dev/null +++ b/json/chunk-0005/episode_0005753.json @@ -0,0 +1,1702 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 27, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the fish and place it on the towel." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005753.mp4", + "start": 0, + "end": 27, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.37592005729675293, + -0.012782172299921513, + 0.08717744052410126, + 0.0022219016682356596, + -0.16739057004451752, + -0.09114684164524078, + 0.0, + 0.9988223910331726 + ], + [ + 0.3730180859565735, + -0.012119170278310776, + 0.0745309367775917, + 7.727432966930792e-05, + -0.13217271864414215, + -0.08927978575229645, + 0.0, + 0.9988223910331726 + ], + [ + 0.3547651469707489, + 0.00020108152239117771, + 0.06298660486936569, + -0.0020390262361615896, + -0.09248293191194534, + -0.0712062418460846, + 0.0, + 0.9988223910331726 + ], + [ + 0.33841967582702637, + 0.025014914572238922, + 0.08487126976251602, + 0.003483636537566781, + -0.14171357452869415, + -0.03565986454486847, + 0.0, + 0.9988223910331726 + ], + [ + 0.3164865970611572, + 0.04546118900179863, + 0.10303927212953568, + 0.01442287489771843, + -0.1849319189786911, + -0.04246901348233223, + 0.0, + 0.9988223910331726 + ], + [ + 0.2948388457298279, + 0.08128239959478378, + 0.09970900416374207, + 0.03016921505331993, + -0.17855140566825867, + -0.013412874191999435, + 0.0, + 0.9988223910331726 + ], + [ + 0.2875290811061859, + 0.10495277494192123, + 0.09209821373224258, + 0.04997038096189499, + -0.15481999516487122, + 0.02224942296743393, + 0.0, + 0.9988223910331726 + ], + [ + 0.2794874608516693, + 0.12130707502365112, + 0.07862996309995651, + 0.06468623131513596, + -0.11590798944234848, + 0.06481781601905823, + 0.0, + 0.9988223910331726 + ], + [ + 0.2693905830383301, + 0.1200796440243721, + 0.05843135714530945, + 0.07224082946777344, + -0.05920407548546791, + 0.06686489284038544, + 0.0, + 0.9988223910331726 + ], + [ + 0.2624942362308502, + 0.10464172065258026, + 0.04866861552000046, + 0.06339195370674133, + -0.023901885375380516, + 0.03186202794313431, + 0.0, + 0.9988223910331726 + ], + [ + 0.2553732395172119, + 0.10173483937978745, + 0.03501560539007187, + 0.05907880514860153, + 0.017369596287608147, + 0.032634031027555466, + 0.0, + 0.9988223910331726 + ], + [ + 0.253648579120636, + 0.1047118678689003, + 0.02350013516843319, + 0.06338666379451752, + 0.048179030418395996, + 0.04139242693781853, + 0.0, + 0.9988223910331726 + ], + [ + 0.25376656651496887, + 0.11738789826631546, + 0.013842115178704262, + 0.06779861450195312, + 0.0752514973282814, + 0.0670647993683815, + 0.0, + 0.9988223910331726 + ], + [ + 0.2551010251045227, + 0.12002744525671005, + 0.010084105655550957, + 0.06639852374792099, + 0.08535172045230865, + 0.07991862297058105, + 0.0, + 0.9507390260696411 + ], + [ + 0.2569977939128876, + 0.11936884373426437, + 0.009256436489522457, + 0.05814051255583763, + 0.0751466304063797, + 0.08502691984176636, + 0.0, + 0.6731748580932617 + ], + [ + 0.2600681781768799, + 0.11567410081624985, + 0.010499685071408749, + 0.03172246366739273, + 0.06338195502758026, + 0.08993227034807205, + 0.0, + 0.639030933380127 + ], + [ + 0.27299246191978455, + 0.111198291182518, + 0.04155613109469414, + 0.007573179434984922, + -0.03454470634460449, + 0.1045243963599205, + 0.0, + 0.639030933380127 + ], + [ + 0.2829752564430237, + 0.10066211223602295, + 0.07053574919700623, + -0.013099153526127338, + -0.10363435745239258, + 0.11128897964954376, + 0.0, + 0.639030933380127 + ], + [ + 0.29890066385269165, + 0.07071970403194427, + 0.08839860558509827, + -0.013764452189207077, + -0.146622896194458, + 0.06920025497674942, + 0.0, + 0.639030933380127 + ], + [ + 0.3230668008327484, + 0.0301095861941576, + 0.09890372306108475, + -0.027121061459183693, + -0.17863918840885162, + -0.004594070371240377, + 0.0, + 0.639030933380127 + ], + [ + 0.3466416895389557, + -0.006286471150815487, + 0.08957944810390472, + -0.03338693082332611, + -0.14425523579120636, + -0.06597515940666199, + 0.0, + 0.639030933380127 + ], + [ + 0.3699556589126587, + -0.034327421337366104, + 0.07316868752241135, + -0.01098823081701994, + -0.11058402061462402, + -0.095857173204422, + 0.0, + 0.639030933380127 + ], + [ + 0.3723873198032379, + -0.034508246928453445, + 0.05680384114384651, + 0.01662343740463257, + -0.0723251923918724, + -0.09132272750139236, + 0.0, + 0.7200843095779419 + ], + [ + 0.37004128098487854, + -0.03276936337351799, + 0.04909268021583557, + 0.026853779330849648, + -0.04150119796395302, + -0.10413958132266998, + 0.0, + 0.9774019718170166 + ], + [ + 0.3698888123035431, + -0.03339456766843796, + 0.04930540919303894, + 0.023336267098784447, + -0.04273011162877083, + -0.11571262031793594, + 0.0, + 1.0060625076293945 + ], + [ + 0.3640076220035553, + -0.0353594608604908, + 0.06247878447175026, + 0.007815944962203503, + -0.07352738827466965, + -0.11588610708713531, + 0.0, + 1.0008161067962646 + ], + [ + 0.36033114790916443, + -0.03128383308649063, + 0.08770884573459625, + -0.020067930221557617, + -0.13094471395015717, + -0.09604386985301971, + 0.0, + 1.0008161067962646 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9507390260696411 + ], + [ + 0.6731748580932617 + ], + [ + 0.639030933380127 + ], + [ + 0.639030933380127 + ], + [ + 0.639030933380127 + ], + [ + 0.639030933380127 + ], + [ + 0.639030933380127 + ], + [ + 0.639030933380127 + ], + [ + 0.639030933380127 + ], + [ + 0.7200843095779419 + ], + [ + 0.9774019718170166 + ], + [ + 1.0060625076293945 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.37592005729675293, + -0.012782172299921513, + 0.08717744052410126 + ], + [ + 0.3730180859565735, + -0.012119170278310776, + 0.0745309367775917 + ], + [ + 0.3547651469707489, + 0.00020108152239117771, + 0.06298660486936569 + ], + [ + 0.33841967582702637, + 0.025014914572238922, + 0.08487126976251602 + ], + [ + 0.3164865970611572, + 0.04546118900179863, + 0.10303927212953568 + ], + [ + 0.2948388457298279, + 0.08128239959478378, + 0.09970900416374207 + ], + [ + 0.2875290811061859, + 0.10495277494192123, + 0.09209821373224258 + ], + [ + 0.2794874608516693, + 0.12130707502365112, + 0.07862996309995651 + ], + [ + 0.2693905830383301, + 0.1200796440243721, + 0.05843135714530945 + ], + [ + 0.2624942362308502, + 0.10464172065258026, + 0.04866861552000046 + ], + [ + 0.2553732395172119, + 0.10173483937978745, + 0.03501560539007187 + ], + [ + 0.253648579120636, + 0.1047118678689003, + 0.02350013516843319 + ], + [ + 0.25376656651496887, + 0.11738789826631546, + 0.013842115178704262 + ], + [ + 0.2551010251045227, + 0.12002744525671005, + 0.010084105655550957 + ], + [ + 0.2569977939128876, + 0.11936884373426437, + 0.009256436489522457 + ], + [ + 0.2600681781768799, + 0.11567410081624985, + 0.010499685071408749 + ], + [ + 0.27299246191978455, + 0.111198291182518, + 0.04155613109469414 + ], + [ + 0.2829752564430237, + 0.10066211223602295, + 0.07053574919700623 + ], + [ + 0.29890066385269165, + 0.07071970403194427, + 0.08839860558509827 + ], + [ + 0.3230668008327484, + 0.0301095861941576, + 0.09890372306108475 + ], + [ + 0.3466416895389557, + -0.006286471150815487, + 0.08957944810390472 + ], + [ + 0.3699556589126587, + -0.034327421337366104, + 0.07316868752241135 + ], + [ + 0.3723873198032379, + -0.034508246928453445, + 0.05680384114384651 + ], + [ + 0.37004128098487854, + -0.03276936337351799, + 0.04909268021583557 + ], + [ + 0.3698888123035431, + -0.03339456766843796, + 0.04930540919303894 + ], + [ + 0.3640076220035553, + -0.0353594608604908, + 0.06247878447175026 + ], + [ + 0.36033114790916443, + -0.03128383308649063, + 0.08770884573459625 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9819299010262833, + -0.09065181124863615, + 0.16612019319713944, + -0.08974848284476804, + -0.9958802384421318, + -0.012952239478359768, + 0.16660996157965968, + -0.0021908440802684975, + -0.9860204464942094 + ], + [ + 0.9873298398390351, + -0.08915108304888898, + 0.13127022417378312, + -0.08838355301937557, + -0.9960181115439611, + -0.011673432745872798, + 0.13178821995571685, + -7.660033477454101e-05, + -0.9912778920228636 + ], + [ + 0.9932032369275234, + -0.07133376512884779, + 0.09197186585707628, + -0.07084204119791973, + -0.9974504357558686, + -0.008604266926354468, + 0.09235115243245151, + 0.0020303110525471467, + -0.9957244309955581 + ], + [ + 0.989346052482073, + -0.03516037698162941, + 0.14127326827340206, + -0.03529490812818824, + -0.9993757322981647, + -0.0015540764876343914, + 0.14123971785004982, + -0.0034487075863823273, + -0.9899694179708894 + ], + [ + 0.9820624732345603, + -0.039802243043127634, + 0.18430702676011604, + -0.041732317140649254, + -0.9991070060577955, + 0.0066033440240729525, + 0.18387961379797, + -0.01417645565590303, + -0.9828465372246805 + ], + [ + 0.9840134804578378, + -0.008049484102115877, + 0.17791198971104222, + -0.013199240563417883, + -0.999526888959661, + 0.02778089802670678, + 0.1776041956874928, + -0.029685081308816398, + -0.9836541798934662 + ], + [ + 0.9877947561016569, + 0.029920248873953295, + 0.15286038900051485, + 0.021981490668995685, + -0.9983331825924499, + 0.05336356999675725, + 0.15420224993830955, + -0.04935215539518666, + -0.9868059742785369 + ], + [ + 0.9912043369817448, + 0.0720969316553099, + 0.1109774517389435, + 0.06433782749344515, + -0.9953288111380665, + 0.07198056454284851, + 0.11564863294481115, + -0.06420739960762356, + -0.9912127942745814 + ], + [ + 0.9960172415535883, + 0.07090200310050165, + 0.054060711097035134, + 0.06669801612598775, + -0.9948776205125216, + 0.07595982390843312, + 0.05916949528970248, + -0.07205155209764144, + -0.9956442862124416 + ], + [ + 0.9992069570402625, + 0.03330591006167856, + 0.021821396777064624, + 0.03184753780380388, + -0.9974366390133889, + 0.06407718384502833, + 0.023899609582041095, + -0.06333141012671087, + -0.9977063401388147 + ], + [ + 0.999316789938157, + 0.03154633365667205, + -0.019255705142098675, + 0.03262331701136694, + -0.9977573022403916, + 0.05844728405282611, + -0.017368722891260072, + -0.05903553725340191, + -0.9981047704556516 + ], + [ + 0.9979840647220681, + 0.03824943521262646, + -0.05064372879966372, + 0.04133259067812952, + -0.9972631530512117, + 0.06130106454368855, + -0.048160393568294255, + -0.06327072207799085, + -0.9968336833289074 + ], + [ + 0.9949283030271521, + 0.06177879588467247, + -0.0793791673838344, + 0.0668248828909633, + -0.9958010383560417, + 0.0625677795325796, + -0.07518049522395993, + -0.06755495827893333, + -0.9948789980443908 + ], + [ + 0.993179577762611, + 0.074019519699629, + -0.09008572039295558, + 0.07954296297366945, + -0.9950632213633133, + 0.05934730433166461, + -0.08524812817095158, + -0.06610821577914504, + -0.9941642019555155 + ], + [ + 0.993575404565695, + 0.08043427587871088, + -0.07961308124914465, + 0.0846848332188753, + -0.9950742919771772, + 0.05153282903946562, + -0.07507592466834329, + -0.05794377196892644, + -0.9954929054620161 + ], + [ + 0.9939589689520613, + 0.08776507781709487, + -0.06590037295428931, + 0.08963075603859781, + -0.9956381620856251, + 0.025903238614268007, + -0.06333952645626985, + -0.03165345659667557, + -0.9974899313144858 + ], + [ + 0.993948944021, + 0.10459131200373065, + 0.033558220049300744, + 0.10427192600010607, + -0.9944864875482232, + 0.01113514850490097, + 0.034537836176683434, + -0.007568588860287373, + -0.9993747316872168 + ], + [ + 0.9884817253453045, + 0.10970319813801378, + 0.10425491344134022, + 0.11046353863902143, + -0.9938789999204882, + -0.0015297543578035337, + 0.1034489501624597, + 0.013028500886191459, + -0.9945494320922129 + ], + [ + 0.986902405100418, + 0.06713240457133235, + 0.14668634245723527, + 0.0684031197197161, + -0.9976511593655217, + -0.0036300728974132763, + 0.14609810409317614, + 0.013616331117496546, + -0.9891763945360191 + ], + [ + 0.9840760224958481, + -0.009410880314471237, + 0.1774987810675261, + -0.004520946303625487, + -0.9995995609579724, + -0.027933470553232476, + 0.17769058217381867, + 0.026686196138364655, + -0.9837245061206892 + ], + [ + 0.98746026983664, + -0.07067878867639538, + 0.14116204987668451, + -0.06524253705847893, + -0.9969519862794105, + -0.0427802338903265, + 0.143755441122495, + 0.033034011030685935, + -0.9890617408751091 + ], + [ + 0.9893290750284668, + -0.09691172013920599, + 0.10879384083200179, + -0.09512582477887163, + -0.9952330644616679, + -0.021499415396174098, + 0.11035877293381861, + 0.010920892907544246, + -0.9938318144105893 + ], + [ + 0.993229544099606, + -0.08998705939322563, + 0.0734670121173378, + -0.09095742851674005, + -0.9958049300850141, + 0.009964307100960523, + 0.072262154170154, + -0.016579214702156717, + -0.9972478682426695 + ], + [ + 0.9937259863958721, + -0.10280599646713723, + 0.044040788502815044, + -0.10386194265101789, + -0.9943395878515563, + 0.02239376922167092, + 0.0414892857290577, + -0.02682743225871144, + -0.9987787182595034 + ], + [ + 0.992406073001926, + -0.11443303494570774, + 0.04511393113009061, + -0.11534918645778718, + -0.9931573850832375, + 0.018247565266432765, + 0.04271710959817827, + -0.023312849841675476, + -0.9988151778882002 + ], + [ + 0.9906089182164505, + -0.11505305421612431, + 0.07386992531183402, + -0.11531448266860152, + -0.9933287656291879, + -0.000730383780815534, + 0.07346115461185711, + -0.007794747535105854, + -0.9972676173795866 + ], + [ + 0.9868697708138264, + -0.09848500573707414, + 0.1280185888800292, + -0.09507531011871531, + -0.994939646842301, + -0.03249283839782575, + 0.1305708269855697, + 0.019894792944023895, + -0.9912393537153469 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0029019713401794434, + 0.0006630020216107368, + -0.012646503746509552, + -0.002144627273082733, + 0.035217851400375366, + 0.001867055892944336, + 1.0 + ], + [ + -0.018252938985824585, + 0.012320252135396004, + -0.011544331908226013, + -0.002116300631314516, + 0.03968978673219681, + 0.018073543906211853, + 1.0 + ], + [ + -0.016345471143722534, + 0.024813832715153694, + 0.02188466489315033, + 0.005522662773728371, + -0.04923064261674881, + 0.035546377301216125, + 1.0 + ], + [ + -0.02193307876586914, + 0.020446274429559708, + 0.018168002367019653, + 0.010939238592982292, + -0.04321834444999695, + -0.00680914893746376, + 1.0 + ], + [ + -0.021647751331329346, + 0.03582121059298515, + -0.0033302679657936096, + 0.0157463401556015, + 0.006380513310432434, + 0.029056139290332794, + 1.0 + ], + [ + -0.007309764623641968, + 0.02367037534713745, + -0.007610790431499481, + 0.019801165908575058, + 0.02373141050338745, + 0.035662297159433365, + 1.0 + ], + [ + -0.008041620254516602, + 0.01635430008172989, + -0.013468250632286072, + 0.014715850353240967, + 0.038912005722522736, + 0.0425683930516243, + 1.0 + ], + [ + -0.010096877813339233, + -0.0012274309992790222, + -0.020198605954647064, + 0.007554598152637482, + 0.05670391395688057, + 0.0020470768213272095, + 1.0 + ], + [ + -0.006896346807479858, + -0.01543792337179184, + -0.00976274162530899, + -0.008848875761032104, + 0.035302191972732544, + -0.03500286489725113, + 1.0 + ], + [ + -0.007120996713638306, + -0.002906881272792816, + -0.013653010129928589, + -0.004313148558139801, + 0.04127148166298866, + 0.0007720030844211578, + 1.0 + ], + [ + -0.0017246603965759277, + 0.002977028489112854, + -0.01151547022163868, + 0.004307858645915985, + 0.03080943413078785, + 0.008758395910263062, + 1.0 + ], + [ + 0.00011798739433288574, + 0.012676030397415161, + -0.009658019989728928, + 0.004411950707435608, + 0.027072466909885406, + 0.025672372430562973, + 1.0 + ], + [ + 0.001334458589553833, + 0.0026395469903945923, + -0.003758009523153305, + -0.001400090754032135, + 0.010100223124027252, + 0.012853823602199554, + 0.0 + ], + [ + 0.0018967688083648682, + -0.0006586015224456787, + -0.0008276691660284996, + -0.008258011192083359, + -0.010205090045928955, + 0.005108296871185303, + 0.0 + ], + [ + 0.0030703842639923096, + -0.0036947429180145264, + 0.0012432485818862915, + -0.0264180488884449, + -0.011764675378799438, + 0.004905350506305695, + 0.0 + ], + [ + 0.012924283742904663, + -0.004475809633731842, + 0.031056445091962814, + -0.02414928376674652, + -0.09792666137218475, + 0.01459212601184845, + 0.0 + ], + [ + 0.009982794523239136, + -0.010536178946495056, + 0.028979618102312088, + -0.020672332495450974, + -0.06908965110778809, + 0.0067645832896232605, + 0.0 + ], + [ + 0.01592540740966797, + -0.029942408204078674, + 0.01786285638809204, + -0.0006652986630797386, + -0.04298853874206543, + -0.04208872467279434, + 0.0 + ], + [ + 0.024166136980056763, + -0.040610119700431824, + 0.01050511747598648, + -0.013356609269976616, + -0.032016292214393616, + -0.07379432767629623, + 0.0 + ], + [ + 0.023574888706207275, + -0.03639605641365051, + -0.009324274957180023, + -0.006265869364142418, + 0.034383952617645264, + -0.06138109043240547, + 0.0 + ], + [ + 0.023313969373703003, + -0.028040949255228043, + -0.016410760581493378, + 0.022398699074983597, + 0.033671215176582336, + -0.02988201379776001, + 0.0 + ], + [ + 0.0024316608905792236, + -0.0001808255910873413, + -0.016364846378564835, + 0.027611669152975082, + 0.03825882822275162, + 0.004534445703029633, + 1.0 + ], + [ + -0.002346038818359375, + 0.0017388835549354553, + -0.0077111609280109406, + 0.01023034192621708, + 0.030823994427919388, + -0.012816853821277618, + 1.0 + ], + [ + -0.00015246868133544922, + -0.0006252042949199677, + 0.00021272897720336914, + -0.003517512232065201, + -0.00122891366481781, + -0.01157303899526596, + 1.0 + ], + [ + -0.005881190299987793, + -0.001964893192052841, + 0.013173375278711319, + -0.015520322136580944, + -0.03079727664589882, + -0.00017348676919937134, + 1.0 + ], + [ + -0.003676474094390869, + 0.004075627774000168, + 0.025230061262845993, + -0.027883876115083694, + -0.05741732567548752, + 0.0198422372341156, + 1.0 + ], + [ + -0.003934741020202637, + 0.006611824035644531, + 0.0017273202538490295, + -0.011450525373220444, + 0.008543521165847778, + 0.015711545944213867, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9507390260696411 + ], + [ + 0.6731748580932617 + ], + [ + 0.639030933380127 + ], + [ + 0.639030933380127 + ], + [ + 0.639030933380127 + ], + [ + 0.639030933380127 + ], + [ + 0.639030933380127 + ], + [ + 0.639030933380127 + ], + [ + 0.639030933380127 + ], + [ + 0.7200843095779419 + ], + [ + 0.9774019718170166 + ], + [ + 1.0060625076293945 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3730180859565735, + -0.012119170278310776, + 0.0745309367775917 + ], + [ + 0.3547651469707489, + 0.00020108152239117771, + 0.06298660486936569 + ], + [ + 0.33841967582702637, + 0.025014914572238922, + 0.08487126976251602 + ], + [ + 0.3164865970611572, + 0.04546118900179863, + 0.10303927212953568 + ], + [ + 0.2948388457298279, + 0.08128239959478378, + 0.09970900416374207 + ], + [ + 0.2875290811061859, + 0.10495277494192123, + 0.09209821373224258 + ], + [ + 0.2794874608516693, + 0.12130707502365112, + 0.07862996309995651 + ], + [ + 0.2693905830383301, + 0.1200796440243721, + 0.05843135714530945 + ], + [ + 0.2624942362308502, + 0.10464172065258026, + 0.04866861552000046 + ], + [ + 0.2553732395172119, + 0.10173483937978745, + 0.03501560539007187 + ], + [ + 0.253648579120636, + 0.1047118678689003, + 0.02350013516843319 + ], + [ + 0.25376656651496887, + 0.11738789826631546, + 0.013842115178704262 + ], + [ + 0.2551010251045227, + 0.12002744525671005, + 0.010084105655550957 + ], + [ + 0.2569977939128876, + 0.11936884373426437, + 0.009256436489522457 + ], + [ + 0.2600681781768799, + 0.11567410081624985, + 0.010499685071408749 + ], + [ + 0.27299246191978455, + 0.111198291182518, + 0.04155613109469414 + ], + [ + 0.2829752564430237, + 0.10066211223602295, + 0.07053574919700623 + ], + [ + 0.29890066385269165, + 0.07071970403194427, + 0.08839860558509827 + ], + [ + 0.3230668008327484, + 0.0301095861941576, + 0.09890372306108475 + ], + [ + 0.3466416895389557, + -0.006286471150815487, + 0.08957944810390472 + ], + [ + 0.3699556589126587, + -0.034327421337366104, + 0.07316868752241135 + ], + [ + 0.3723873198032379, + -0.034508246928453445, + 0.05680384114384651 + ], + [ + 0.37004128098487854, + -0.03276936337351799, + 0.04909268021583557 + ], + [ + 0.3698888123035431, + -0.03339456766843796, + 0.04930540919303894 + ], + [ + 0.3640076220035553, + -0.0353594608604908, + 0.06247878447175026 + ], + [ + 0.36033114790916443, + -0.03128383308649063, + 0.08770884573459625 + ], + [ + 0.3563964068889618, + -0.0246720090508461, + 0.08943616598844528 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9873298398390351, + -0.08915108304888898, + 0.13127022417378312, + -0.08838355301937557, + -0.9960181115439611, + -0.011673432745872798, + 0.13178821995571685, + -7.660033477454101e-05, + -0.9912778920228636 + ], + [ + 0.9932032369275234, + -0.07133376512884779, + 0.09197186585707628, + -0.07084204119791973, + -0.9974504357558686, + -0.008604266926354468, + 0.09235115243245151, + 0.0020303110525471467, + -0.9957244309955581 + ], + [ + 0.989346052482073, + -0.03516037698162941, + 0.14127326827340206, + -0.03529490812818824, + -0.9993757322981647, + -0.0015540764876343914, + 0.14123971785004982, + -0.0034487075863823273, + -0.9899694179708894 + ], + [ + 0.9820624732345603, + -0.039802243043127634, + 0.18430702676011604, + -0.041732317140649254, + -0.9991070060577955, + 0.0066033440240729525, + 0.18387961379797, + -0.01417645565590303, + -0.9828465372246805 + ], + [ + 0.9840134804578378, + -0.008049484102115877, + 0.17791198971104222, + -0.013199240563417883, + -0.999526888959661, + 0.02778089802670678, + 0.1776041956874928, + -0.029685081308816398, + -0.9836541798934662 + ], + [ + 0.9877947561016569, + 0.029920248873953295, + 0.15286038900051485, + 0.021981490668995685, + -0.9983331825924499, + 0.05336356999675725, + 0.15420224993830955, + -0.04935215539518666, + -0.9868059742785369 + ], + [ + 0.9912043369817448, + 0.0720969316553099, + 0.1109774517389435, + 0.06433782749344515, + -0.9953288111380665, + 0.07198056454284851, + 0.11564863294481115, + -0.06420739960762356, + -0.9912127942745814 + ], + [ + 0.9960172415535883, + 0.07090200310050165, + 0.054060711097035134, + 0.06669801612598775, + -0.9948776205125216, + 0.07595982390843312, + 0.05916949528970248, + -0.07205155209764144, + -0.9956442862124416 + ], + [ + 0.9992069570402625, + 0.03330591006167856, + 0.021821396777064624, + 0.03184753780380388, + -0.9974366390133889, + 0.06407718384502833, + 0.023899609582041095, + -0.06333141012671087, + -0.9977063401388147 + ], + [ + 0.999316789938157, + 0.03154633365667205, + -0.019255705142098675, + 0.03262331701136694, + -0.9977573022403916, + 0.05844728405282611, + -0.017368722891260072, + -0.05903553725340191, + -0.9981047704556516 + ], + [ + 0.9979840647220681, + 0.03824943521262646, + -0.05064372879966372, + 0.04133259067812952, + -0.9972631530512117, + 0.06130106454368855, + -0.048160393568294255, + -0.06327072207799085, + -0.9968336833289074 + ], + [ + 0.9949283030271521, + 0.06177879588467247, + -0.0793791673838344, + 0.0668248828909633, + -0.9958010383560417, + 0.0625677795325796, + -0.07518049522395993, + -0.06755495827893333, + -0.9948789980443908 + ], + [ + 0.993179577762611, + 0.074019519699629, + -0.09008572039295558, + 0.07954296297366945, + -0.9950632213633133, + 0.05934730433166461, + -0.08524812817095158, + -0.06610821577914504, + -0.9941642019555155 + ], + [ + 0.993575404565695, + 0.08043427587871088, + -0.07961308124914465, + 0.0846848332188753, + -0.9950742919771772, + 0.05153282903946562, + -0.07507592466834329, + -0.05794377196892644, + -0.9954929054620161 + ], + [ + 0.9939589689520613, + 0.08776507781709487, + -0.06590037295428931, + 0.08963075603859781, + -0.9956381620856251, + 0.025903238614268007, + -0.06333952645626985, + -0.03165345659667557, + -0.9974899313144858 + ], + [ + 0.993948944021, + 0.10459131200373065, + 0.033558220049300744, + 0.10427192600010607, + -0.9944864875482232, + 0.01113514850490097, + 0.034537836176683434, + -0.007568588860287373, + -0.9993747316872168 + ], + [ + 0.9884817253453045, + 0.10970319813801378, + 0.10425491344134022, + 0.11046353863902143, + -0.9938789999204882, + -0.0015297543578035337, + 0.1034489501624597, + 0.013028500886191459, + -0.9945494320922129 + ], + [ + 0.986902405100418, + 0.06713240457133235, + 0.14668634245723527, + 0.0684031197197161, + -0.9976511593655217, + -0.0036300728974132763, + 0.14609810409317614, + 0.013616331117496546, + -0.9891763945360191 + ], + [ + 0.9840760224958481, + -0.009410880314471237, + 0.1774987810675261, + -0.004520946303625487, + -0.9995995609579724, + -0.027933470553232476, + 0.17769058217381867, + 0.026686196138364655, + -0.9837245061206892 + ], + [ + 0.98746026983664, + -0.07067878867639538, + 0.14116204987668451, + -0.06524253705847893, + -0.9969519862794105, + -0.0427802338903265, + 0.143755441122495, + 0.033034011030685935, + -0.9890617408751091 + ], + [ + 0.9893290750284668, + -0.09691172013920599, + 0.10879384083200179, + -0.09512582477887163, + -0.9952330644616679, + -0.021499415396174098, + 0.11035877293381861, + 0.010920892907544246, + -0.9938318144105893 + ], + [ + 0.993229544099606, + -0.08998705939322563, + 0.0734670121173378, + -0.09095742851674005, + -0.9958049300850141, + 0.009964307100960523, + 0.072262154170154, + -0.016579214702156717, + -0.9972478682426695 + ], + [ + 0.9937259863958721, + -0.10280599646713723, + 0.044040788502815044, + -0.10386194265101789, + -0.9943395878515563, + 0.02239376922167092, + 0.0414892857290577, + -0.02682743225871144, + -0.9987787182595034 + ], + [ + 0.992406073001926, + -0.11443303494570774, + 0.04511393113009061, + -0.11534918645778718, + -0.9931573850832375, + 0.018247565266432765, + 0.04271710959817827, + -0.023312849841675476, + -0.9988151778882002 + ], + [ + 0.9906089182164505, + -0.11505305421612431, + 0.07386992531183402, + -0.11531448266860152, + -0.9933287656291879, + -0.000730383780815534, + 0.07346115461185711, + -0.007794747535105854, + -0.9972676173795866 + ], + [ + 0.9868697708138264, + -0.09848500573707414, + 0.1280185888800292, + -0.09507531011871531, + -0.994939646842301, + -0.03249283839782575, + 0.1305708269855697, + 0.019894792944023895, + -0.9912393537153469 + ], + [ + 0.9893175433189443, + -0.08404132039479167, + 0.11911278246967985, + -0.07964557621934162, + -0.9959712729889897, + -0.0412044362827705, + 0.12209578481691472, + 0.031277465482225736, + -0.9920253723987861 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005754.json b/json/chunk-0005/episode_0005754.json new file mode 100644 index 0000000000000000000000000000000000000000..c1a9bc7ba4b3471b1a5a26ab9c04aaf6a445c1fe --- /dev/null +++ b/json/chunk-0005/episode_0005754.json @@ -0,0 +1,1522 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 24, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the white thing to the upper side of the table." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005754.mp4", + "start": 0, + "end": 24, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.31055212020874023, + -0.05302250012755394, + 0.19501814246177673, + 0.006128711625933647, + -0.1695197969675064, + -0.4954143464565277, + 0.0, + 0.9994885921478271 + ], + [ + 0.30936241149902344, + -0.052363425493240356, + 0.18388216197490692, + -0.0023031316231936216, + -0.1367826759815216, + -0.4971160888671875, + 0.0, + 0.9994885921478271 + ], + [ + 0.2964901030063629, + -0.02215592935681343, + 0.16328676044940948, + 0.019589129835367203, + -0.07490142434835434, + -0.4602850377559662, + 0.0, + 0.9994885921478271 + ], + [ + 0.2712169289588928, + -0.002844098024070263, + 0.16619841754436493, + 0.03333219140768051, + -0.12152984738349915, + -0.4312209486961365, + 0.0, + 0.9994885921478271 + ], + [ + 0.24816738069057465, + 0.019921356812119484, + 0.14962983131408691, + 0.04411587491631508, + -0.11023136973381042, + -0.39157387614250183, + 0.0, + 0.9994885921478271 + ], + [ + 0.22975432872772217, + 0.03623052313923836, + 0.1104881688952446, + 0.03113258071243763, + -0.06541065871715546, + -0.3782230615615845, + 0.0, + 0.9994885921478271 + ], + [ + 0.2223387062549591, + 0.05069848895072937, + 0.08366680890321732, + 0.059622980654239655, + -0.06297221779823303, + -0.4111385941505432, + 0.0, + 0.9994885921478271 + ], + [ + 0.21821749210357666, + 0.07017513364553452, + 0.06587400287389755, + 0.06058818846940994, + -0.055360231548547745, + -0.3965146839618683, + 0.0, + 0.9994885921478271 + ], + [ + 0.22076262533664703, + 0.0802825540304184, + 0.05079803243279457, + 0.07346411794424057, + -0.07018908858299255, + -0.3901297450065613, + 0.0, + 0.9994885921478271 + ], + [ + 0.22102446854114532, + 0.08618788421154022, + 0.0329127311706543, + 0.07695607095956802, + -0.05699576064944267, + -0.3729355037212372, + 0.0, + 0.9994885921478271 + ], + [ + 0.22196783125400543, + 0.08923228830099106, + 0.018776865676045418, + 0.0832270085811615, + -0.033732976764440536, + -0.3439825475215912, + 0.0, + 0.9492040276527405 + ], + [ + 0.2195325344800949, + 0.08657561987638474, + 0.005245505832135677, + 0.038546185940504074, + 0.00252039753831923, + -0.31980636715888977, + 0.0, + 0.6601285338401794 + ], + [ + 0.21987923979759216, + 0.08651123940944672, + 0.006574173923581839, + 0.04041203111410141, + 0.0022345585748553276, + -0.32695403695106506, + 0.0, + 0.5159127116203308 + ], + [ + 0.22210755944252014, + 0.08571293205022812, + 0.02509228326380253, + 0.05823109671473503, + -0.03661981597542763, + -0.31217706203460693, + 0.0, + 0.5159127116203308 + ], + [ + 0.24166645109653473, + 0.08919278532266617, + 0.0430801585316658, + 0.06421902775764465, + -0.07621553540229797, + -0.19443291425704956, + 0.0, + 0.5159127116203308 + ], + [ + 0.27454274892807007, + 0.09334942698478699, + 0.05731382966041565, + 0.03860320895910263, + -0.14748495817184448, + -0.002824310678988695, + 0.0, + 0.5159127116203308 + ], + [ + 0.31202560663223267, + 0.09550613164901733, + 0.05648714303970337, + 0.005343499127775431, + -0.18125805258750916, + 0.06818878650665283, + 0.0, + 0.5159127116203308 + ], + [ + 0.3521036207675934, + 0.08558382838964462, + 0.045520443469285965, + 0.045158978551626205, + -0.1785890907049179, + 0.10303076356649399, + 0.0, + 0.5159127116203308 + ], + [ + 0.38296329975128174, + 0.07551480084657669, + 0.027732670307159424, + 0.018296951428055763, + -0.16470691561698914, + 0.1031232699751854, + 0.0, + 0.5159127116203308 + ], + [ + 0.4038708209991455, + 0.07328377664089203, + 0.01829608716070652, + 0.024756666272878647, + -0.14883001148700714, + 0.08917954564094543, + 0.0, + 0.5159127116203308 + ], + [ + 0.4092913866043091, + 0.06782081723213196, + 0.01339113898575306, + 0.023052481934428215, + -0.12898176908493042, + 0.07596195489168167, + 0.0, + 0.5879040956497192 + ], + [ + 0.4061485826969147, + 0.06815751641988754, + 0.013972854241728783, + 0.024901872500777245, + -0.10602004826068878, + 0.08992114663124084, + 0.0, + 0.8913851380348206 + ], + [ + 0.4078139662742615, + 0.07011601328849792, + 0.026732048019766808, + 0.037806879729032516, + -0.11051035672426224, + 0.10591193288564682, + 0.0, + 1.0118417739868164 + ], + [ + 0.41242116689682007, + 0.06765396893024445, + 0.06723098456859589, + 0.03132753074169159, + -0.14853642880916595, + 0.08019497990608215, + 0.0, + 1.0086473226547241 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9492040276527405 + ], + [ + 0.6601285338401794 + ], + [ + 0.5159127116203308 + ], + [ + 0.5159127116203308 + ], + [ + 0.5159127116203308 + ], + [ + 0.5159127116203308 + ], + [ + 0.5159127116203308 + ], + [ + 0.5159127116203308 + ], + [ + 0.5159127116203308 + ], + [ + 0.5159127116203308 + ], + [ + 0.5879040956497192 + ], + [ + 0.8913851380348206 + ], + [ + 1.0118417739868164 + ], + [ + 1.0086473226547241 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.31055212020874023, + -0.05302250012755394, + 0.19501814246177673 + ], + [ + 0.30936241149902344, + -0.052363425493240356, + 0.18388216197490692 + ], + [ + 0.2964901030063629, + -0.02215592935681343, + 0.16328676044940948 + ], + [ + 0.2712169289588928, + -0.002844098024070263, + 0.16619841754436493 + ], + [ + 0.24816738069057465, + 0.019921356812119484, + 0.14962983131408691 + ], + [ + 0.22975432872772217, + 0.03623052313923836, + 0.1104881688952446 + ], + [ + 0.2223387062549591, + 0.05069848895072937, + 0.08366680890321732 + ], + [ + 0.21821749210357666, + 0.07017513364553452, + 0.06587400287389755 + ], + [ + 0.22076262533664703, + 0.0802825540304184, + 0.05079803243279457 + ], + [ + 0.22102446854114532, + 0.08618788421154022, + 0.0329127311706543 + ], + [ + 0.22196783125400543, + 0.08923228830099106, + 0.018776865676045418 + ], + [ + 0.2195325344800949, + 0.08657561987638474, + 0.005245505832135677 + ], + [ + 0.21987923979759216, + 0.08651123940944672, + 0.006574173923581839 + ], + [ + 0.22210755944252014, + 0.08571293205022812, + 0.02509228326380253 + ], + [ + 0.24166645109653473, + 0.08919278532266617, + 0.0430801585316658 + ], + [ + 0.27454274892807007, + 0.09334942698478699, + 0.05731382966041565 + ], + [ + 0.31202560663223267, + 0.09550613164901733, + 0.05648714303970337 + ], + [ + 0.3521036207675934, + 0.08558382838964462, + 0.045520443469285965 + ], + [ + 0.38296329975128174, + 0.07551480084657669, + 0.027732670307159424 + ], + [ + 0.4038708209991455, + 0.07328377664089203, + 0.01829608716070652 + ], + [ + 0.4092913866043091, + 0.06782081723213196, + 0.01339113898575306 + ], + [ + 0.4061485826969147, + 0.06815751641988754, + 0.013972854241728783 + ], + [ + 0.4078139662742615, + 0.07011601328849792, + 0.026732048019766808 + ], + [ + 0.41242116689682007, + 0.06765396893024445, + 0.06723098456859589 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8671610653006675, + -0.474477643047683, + 0.1513362252553122, + -0.46858184310177725, + -0.8802468260043487, + -0.0748103042675995, + 0.1687090487850384, + -0.006040824214041257, + -0.985647383855333 + ], + [ + 0.8707518775003962, + -0.4771674485630007, + 0.11875350041750837, + -0.4724384176773209, + -0.8788094334105546, + -0.06705163123421545, + 0.1363565522154484, + 0.0022816179557665975, + -0.9906571984735283 + ], + [ + 0.893413921625149, + -0.44280503461006515, + 0.07573153880881571, + -0.4429580397368822, + -0.8964051343747403, + -0.015684709084403538, + 0.07483140837129042, + -0.019532956524364063, + -0.9970048765831522 + ], + [ + 0.9017556245405656, + -0.4140778249015985, + 0.12400140537193535, + -0.4148974084181314, + -0.9096401783714054, + -0.020368759912063616, + 0.12123091230116245, + -0.03308021791340239, + -0.9920729635895885 + ], + [ + 0.9186996072642554, + -0.3767879948027046, + 0.11841384456667528, + -0.3793273155312051, + -0.9252617987439921, + -0.001179608800652942, + 0.11000826925460308, + -0.04383389963932098, + -0.9929636297156192 + ], + [ + 0.927334902787041, + -0.36719994461262917, + 0.07220927052277458, + -0.36848001618548476, + -0.9296232655660388, + 0.004802269284295429, + 0.065364024852315, + -0.031060985090883324, + -0.9973779421364249 + ], + [ + 0.9148494543730498, + -0.395505748541562, + 0.08139827211870908, + -0.3988611469908567, + -0.9165361832178328, + 0.02951627133675576, + 0.06293060665900872, + -0.05946955290790008, + -0.9962445036347569 + ], + [ + 0.9209995194662918, + -0.3824066820750681, + 0.07433044226424097, + -0.38561413295528546, + -0.9220140540648033, + 0.03452281234386322, + 0.055331958288165665, + -0.06045836262523118, + -0.9966359218795362 + ], + [ + 0.9225824951655398, + -0.374521889894171, + 0.09260072140229071, + -0.3793720025339108, + -0.9243227663517378, + 0.04128325686377633, + 0.07013147159112391, + -0.07321733124041449, + -0.9948471234810373 + ], + [ + 0.92974960632345, + -0.35919393419461026, + 0.08090356715984791, + -0.3637590808577125, + -0.9301012537734108, + 0.0509017565775649, + 0.056964907047603965, + -0.07675529536733952, + -0.995421329889073 + ], + [ + 0.9408834884434655, + -0.33343221602613754, + 0.059675945659488853, + -0.3370471465588512, + -0.9391059906509114, + 0.06692652179895936, + 0.03372657959223562, + -0.0830836665023243, + -0.9959716974841901 + ], + [ + 0.9492932955486209, + -0.3142414270393515, + 0.009724431022439181, + -0.3143817530266954, + -0.9485606265522989, + 0.03737447148217155, + -0.0025203948698896152, + -0.0385365188747202, + -0.9992540139137384 + ], + [ + 0.9470226120912585, + -0.3209832028867562, + 0.010860739036076764, + -0.32115911779698336, + -0.9462227793721413, + 0.03897785080175314, + -0.0022345567152367704, + -0.04040093144742927, + -0.9991810504080163 + ], + [ + 0.9510291552580596, + -0.3045828821041678, + 0.0526575139772166, + -0.3069252910020001, + -0.950708566402602, + 0.044159795199337736, + 0.03661163192866049, + -0.058159175525694155, + -0.9976357545265168 + ], + [ + 0.9783090958262974, + -0.18801757731347685, + 0.08695230672445159, + -0.19264927691387118, + -0.9800790019903497, + 0.04828463484549361, + 0.07614176993014368, + -0.06398859647445652, + -0.9950416525920581 + ], + [ + 0.9891398484273017, + 0.002849140593062837, + 0.146949796362892, + -0.0027936456649835877, + -0.99926702094127, + 0.03817874281662453, + 0.1469508618454243, + -0.03817464154436034, + -0.9884068701429825 + ], + [ + 0.9813318028048146, + 0.06909599729437414, + 0.17948157554954983, + 0.06701973112507521, + -0.9975961699519101, + 0.01761355549577528, + 0.18026715852804567, + -0.005255935233236103, + -0.9836036430905738 + ], + [ + 0.978876674578949, + 0.11072056838763587, + 0.1718761522177441, + 0.10121280096367015, + -0.9928581563564879, + 0.06315576202916334, + 0.17764128148137975, + -0.04442563553079086, + -0.9830920292736273 + ], + [ + 0.981225855696032, + 0.1059072835871724, + 0.1611814734911428, + 0.10154743994713404, + -0.994212203388675, + 0.03507437915657574, + 0.1639632201250419, + -0.018048321700985696, + -0.9863013335335226 + ], + [ + 0.9850153111553459, + 0.09269008050548903, + 0.14544203575797007, + 0.08807683322029956, + -0.9953940198520018, + 0.03785784849612699, + 0.14828117965345508, + -0.024480486489408905, + -0.9886421989485484 + ], + [ + 0.988833608900991, + 0.078825059768219, + 0.12647016984403633, + 0.07525854245593637, + -0.9966263479820555, + 0.032742545645680604, + 0.1286244366178166, + -0.022858968928806882, + -0.9914298875080687 + ], + [ + 0.9903676392280404, + 0.0923964103560909, + 0.1031253728390233, + 0.08929579991180987, + -0.9954144216703306, + 0.03429853129263767, + 0.10582154453601934, + -0.024759492806414412, + -0.994076842214917 + ], + [ + 0.9883306957899706, + 0.10978369428192122, + 0.10559344785130892, + 0.10506917389161094, + -0.9932453061042015, + 0.04923647631285511, + 0.11028555869672085, + -0.03756730455842656, + -0.993189706537058 + ], + [ + 0.9858102268570831, + 0.08469027327580077, + 0.14493362010402025, + 0.07922694656372269, + -0.99592567576581, + 0.04307132791780996, + 0.1479908360749925, + -0.030977507370423957, + -0.988503468114776 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0011897087097167969, + 0.0006590746343135834, + -0.011135980486869812, + -0.008431843481957912, + 0.0327371209859848, + -0.00170174241065979, + 1.0 + ], + [ + -0.012872308492660522, + 0.030207496136426926, + -0.020595401525497437, + 0.021892260760068893, + 0.06188125163316727, + 0.036831051111221313, + 1.0 + ], + [ + -0.025273174047470093, + 0.019311830401420593, + 0.0029116570949554443, + 0.013743061572313309, + -0.046628423035144806, + 0.029064089059829712, + 1.0 + ], + [ + -0.023049548268318176, + 0.022765453904867172, + -0.016568586230278015, + 0.010783683508634567, + 0.01129847764968872, + 0.039647072553634644, + 1.0 + ], + [ + -0.018413051962852478, + 0.016309166327118874, + -0.039141662418842316, + -0.012983294203877449, + 0.04482071101665497, + 0.013350814580917358, + 1.0 + ], + [ + -0.0074156224727630615, + 0.014467965811491013, + -0.026821359992027283, + 0.028490399941802025, + 0.0024384409189224243, + -0.03291553258895874, + 1.0 + ], + [ + -0.004121214151382446, + 0.019476644694805145, + -0.017792806029319763, + 0.0009652078151702881, + 0.0076119862496852875, + 0.014623910188674927, + 1.0 + ], + [ + 0.0025451332330703735, + 0.01010742038488388, + -0.015075970441102982, + 0.012875929474830627, + -0.014828857034444809, + 0.006384938955307007, + 1.0 + ], + [ + 0.000261843204498291, + 0.005905330181121826, + -0.017885301262140274, + 0.0034919530153274536, + 0.013193327933549881, + 0.017194241285324097, + 1.0 + ], + [ + 0.0009433627128601074, + 0.003044404089450836, + -0.014135865494608879, + 0.006270937621593475, + 0.023262783885002136, + 0.028952956199645996, + 0.0 + ], + [ + -0.0024352967739105225, + -0.0026566684246063232, + -0.01353135984390974, + -0.044680822640657425, + 0.03625337406992912, + 0.024176180362701416, + 0.0 + ], + [ + 0.0003467053174972534, + -6.43804669380188e-05, + 0.0013286680914461613, + 0.0018658451735973358, + -0.0002858389634639025, + -0.007147669792175293, + 0.0 + ], + [ + 0.0022283196449279785, + -0.0007983073592185974, + 0.018518108874559402, + 0.01781906560063362, + -0.03885437548160553, + 0.01477697491645813, + 0.0 + ], + [ + 0.019558891654014587, + 0.0034798532724380493, + 0.017987875267863274, + 0.005987931042909622, + -0.039595719426870346, + 0.11774414777755737, + 0.0 + ], + [ + 0.03287629783153534, + 0.004156641662120819, + 0.014233671128749847, + -0.025615818798542023, + -0.07126942276954651, + 0.19160860776901245, + 0.0 + ], + [ + 0.0374828577041626, + 0.0021567046642303467, + -0.0008266866207122803, + -0.03325970843434334, + -0.03377309441566467, + 0.07101310044527054, + 0.0 + ], + [ + 0.04007801413536072, + -0.009922303259372711, + -0.010966699570417404, + 0.03981547802686691, + 0.0026689618825912476, + 0.034841977059841156, + 0.0 + ], + [ + 0.030859678983688354, + -0.010069027543067932, + -0.01778777316212654, + -0.026862027123570442, + 0.013882175087928772, + 9.250640869140625e-05, + 0.0 + ], + [ + 0.02090752124786377, + -0.002231024205684662, + -0.009436583146452904, + 0.006459714844822884, + 0.015876904129981995, + -0.01394372433423996, + 0.0 + ], + [ + 0.005420565605163574, + -0.005462959408760071, + -0.004904948174953461, + -0.0017041843384504318, + 0.01984824240207672, + -0.013217590749263763, + 1.0 + ], + [ + -0.003142803907394409, + 0.0003366991877555847, + 0.0005817152559757233, + 0.0018493905663490295, + 0.022961720824241638, + 0.013959191739559174, + 1.0 + ], + [ + 0.0016653835773468018, + 0.001958496868610382, + 0.012759193778038025, + 0.012905007228255272, + -0.004490308463573456, + 0.015990786254405975, + 1.0 + ], + [ + 0.004607200622558594, + -0.002462044358253479, + 0.04049893468618393, + -0.006479348987340927, + -0.03802607208490372, + -0.025716952979564667, + 1.0 + ], + [ + -0.008934706449508667, + -0.0033651888370513916, + 0.028707198798656464, + 0.02808355540037155, + 0.011265650391578674, + -0.05282510817050934, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9492040276527405 + ], + [ + 0.6601285338401794 + ], + [ + 0.5159127116203308 + ], + [ + 0.5159127116203308 + ], + [ + 0.5159127116203308 + ], + [ + 0.5159127116203308 + ], + [ + 0.5159127116203308 + ], + [ + 0.5159127116203308 + ], + [ + 0.5159127116203308 + ], + [ + 0.5159127116203308 + ], + [ + 0.5879040956497192 + ], + [ + 0.8913851380348206 + ], + [ + 1.0118417739868164 + ], + [ + 1.0086473226547241 + ], + [ + 1.0014774799346924 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.30936241149902344, + -0.052363425493240356, + 0.18388216197490692 + ], + [ + 0.2964901030063629, + -0.02215592935681343, + 0.16328676044940948 + ], + [ + 0.2712169289588928, + -0.002844098024070263, + 0.16619841754436493 + ], + [ + 0.24816738069057465, + 0.019921356812119484, + 0.14962983131408691 + ], + [ + 0.22975432872772217, + 0.03623052313923836, + 0.1104881688952446 + ], + [ + 0.2223387062549591, + 0.05069848895072937, + 0.08366680890321732 + ], + [ + 0.21821749210357666, + 0.07017513364553452, + 0.06587400287389755 + ], + [ + 0.22076262533664703, + 0.0802825540304184, + 0.05079803243279457 + ], + [ + 0.22102446854114532, + 0.08618788421154022, + 0.0329127311706543 + ], + [ + 0.22196783125400543, + 0.08923228830099106, + 0.018776865676045418 + ], + [ + 0.2195325344800949, + 0.08657561987638474, + 0.005245505832135677 + ], + [ + 0.21987923979759216, + 0.08651123940944672, + 0.006574173923581839 + ], + [ + 0.22210755944252014, + 0.08571293205022812, + 0.02509228326380253 + ], + [ + 0.24166645109653473, + 0.08919278532266617, + 0.0430801585316658 + ], + [ + 0.27454274892807007, + 0.09334942698478699, + 0.05731382966041565 + ], + [ + 0.31202560663223267, + 0.09550613164901733, + 0.05648714303970337 + ], + [ + 0.3521036207675934, + 0.08558382838964462, + 0.045520443469285965 + ], + [ + 0.38296329975128174, + 0.07551480084657669, + 0.027732670307159424 + ], + [ + 0.4038708209991455, + 0.07328377664089203, + 0.01829608716070652 + ], + [ + 0.4092913866043091, + 0.06782081723213196, + 0.01339113898575306 + ], + [ + 0.4061485826969147, + 0.06815751641988754, + 0.013972854241728783 + ], + [ + 0.4078139662742615, + 0.07011601328849792, + 0.026732048019766808 + ], + [ + 0.41242116689682007, + 0.06765396893024445, + 0.06723098456859589 + ], + [ + 0.4034864604473114, + 0.06428878009319305, + 0.09593818336725235 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8707518775003962, + -0.4771674485630007, + 0.11875350041750837, + -0.4724384176773209, + -0.8788094334105546, + -0.06705163123421545, + 0.1363565522154484, + 0.0022816179557665975, + -0.9906571984735283 + ], + [ + 0.893413921625149, + -0.44280503461006515, + 0.07573153880881571, + -0.4429580397368822, + -0.8964051343747403, + -0.015684709084403538, + 0.07483140837129042, + -0.019532956524364063, + -0.9970048765831522 + ], + [ + 0.9017556245405656, + -0.4140778249015985, + 0.12400140537193535, + -0.4148974084181314, + -0.9096401783714054, + -0.020368759912063616, + 0.12123091230116245, + -0.03308021791340239, + -0.9920729635895885 + ], + [ + 0.9186996072642554, + -0.3767879948027046, + 0.11841384456667528, + -0.3793273155312051, + -0.9252617987439921, + -0.001179608800652942, + 0.11000826925460308, + -0.04383389963932098, + -0.9929636297156192 + ], + [ + 0.927334902787041, + -0.36719994461262917, + 0.07220927052277458, + -0.36848001618548476, + -0.9296232655660388, + 0.004802269284295429, + 0.065364024852315, + -0.031060985090883324, + -0.9973779421364249 + ], + [ + 0.9148494543730498, + -0.395505748541562, + 0.08139827211870908, + -0.3988611469908567, + -0.9165361832178328, + 0.02951627133675576, + 0.06293060665900872, + -0.05946955290790008, + -0.9962445036347569 + ], + [ + 0.9209995194662918, + -0.3824066820750681, + 0.07433044226424097, + -0.38561413295528546, + -0.9220140540648033, + 0.03452281234386322, + 0.055331958288165665, + -0.06045836262523118, + -0.9966359218795362 + ], + [ + 0.9225824951655398, + -0.374521889894171, + 0.09260072140229071, + -0.3793720025339108, + -0.9243227663517378, + 0.04128325686377633, + 0.07013147159112391, + -0.07321733124041449, + -0.9948471234810373 + ], + [ + 0.92974960632345, + -0.35919393419461026, + 0.08090356715984791, + -0.3637590808577125, + -0.9301012537734108, + 0.0509017565775649, + 0.056964907047603965, + -0.07675529536733952, + -0.995421329889073 + ], + [ + 0.9408834884434655, + -0.33343221602613754, + 0.059675945659488853, + -0.3370471465588512, + -0.9391059906509114, + 0.06692652179895936, + 0.03372657959223562, + -0.0830836665023243, + -0.9959716974841901 + ], + [ + 0.9492932955486209, + -0.3142414270393515, + 0.009724431022439181, + -0.3143817530266954, + -0.9485606265522989, + 0.03737447148217155, + -0.0025203948698896152, + -0.0385365188747202, + -0.9992540139137384 + ], + [ + 0.9470226120912585, + -0.3209832028867562, + 0.010860739036076764, + -0.32115911779698336, + -0.9462227793721413, + 0.03897785080175314, + -0.0022345567152367704, + -0.04040093144742927, + -0.9991810504080163 + ], + [ + 0.9510291552580596, + -0.3045828821041678, + 0.0526575139772166, + -0.3069252910020001, + -0.950708566402602, + 0.044159795199337736, + 0.03661163192866049, + -0.058159175525694155, + -0.9976357545265168 + ], + [ + 0.9783090958262974, + -0.18801757731347685, + 0.08695230672445159, + -0.19264927691387118, + -0.9800790019903497, + 0.04828463484549361, + 0.07614176993014368, + -0.06398859647445652, + -0.9950416525920581 + ], + [ + 0.9891398484273017, + 0.002849140593062837, + 0.146949796362892, + -0.0027936456649835877, + -0.99926702094127, + 0.03817874281662453, + 0.1469508618454243, + -0.03817464154436034, + -0.9884068701429825 + ], + [ + 0.9813318028048146, + 0.06909599729437414, + 0.17948157554954983, + 0.06701973112507521, + -0.9975961699519101, + 0.01761355549577528, + 0.18026715852804567, + -0.005255935233236103, + -0.9836036430905738 + ], + [ + 0.978876674578949, + 0.11072056838763587, + 0.1718761522177441, + 0.10121280096367015, + -0.9928581563564879, + 0.06315576202916334, + 0.17764128148137975, + -0.04442563553079086, + -0.9830920292736273 + ], + [ + 0.981225855696032, + 0.1059072835871724, + 0.1611814734911428, + 0.10154743994713404, + -0.994212203388675, + 0.03507437915657574, + 0.1639632201250419, + -0.018048321700985696, + -0.9863013335335226 + ], + [ + 0.9850153111553459, + 0.09269008050548903, + 0.14544203575797007, + 0.08807683322029956, + -0.9953940198520018, + 0.03785784849612699, + 0.14828117965345508, + -0.024480486489408905, + -0.9886421989485484 + ], + [ + 0.988833608900991, + 0.078825059768219, + 0.12647016984403633, + 0.07525854245593637, + -0.9966263479820555, + 0.032742545645680604, + 0.1286244366178166, + -0.022858968928806882, + -0.9914298875080687 + ], + [ + 0.9903676392280404, + 0.0923964103560909, + 0.1031253728390233, + 0.08929579991180987, + -0.9954144216703306, + 0.03429853129263767, + 0.10582154453601934, + -0.024759492806414412, + -0.994076842214917 + ], + [ + 0.9883306957899706, + 0.10978369428192122, + 0.10559344785130892, + 0.10506917389161094, + -0.9932453061042015, + 0.04923647631285511, + 0.11028555869672085, + -0.03756730455842656, + -0.993189706537058 + ], + [ + 0.9858102268570831, + 0.08469027327580077, + 0.14493362010402025, + 0.07922694656372269, + -0.99592567576581, + 0.04307132791780996, + 0.1479908360749925, + -0.030977507370423957, + -0.988503468114776 + ], + [ + 0.9902221434887576, + 0.03544016628059872, + 0.13492257468094093, + 0.027109024453122608, + -0.9976394562099311, + 0.06309212475700189, + 0.13684007942752213, + -0.05881759963783463, + -0.9888454290914799 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005755.json b/json/chunk-0005/episode_0005755.json new file mode 100644 index 0000000000000000000000000000000000000000..1069bfe437ce31900e2bb70562df993d8f6a2386 --- /dev/null +++ b/json/chunk-0005/episode_0005755.json @@ -0,0 +1,1942 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 31, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut pear in bowl." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005755.mp4", + "start": 0, + "end": 31, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.29873785376548767, + 0.0841997042298317, + 0.17490285634994507, + 0.01690635085105896, + -0.04078005999326706, + 0.4522424638271332, + 0.0, + 0.9994885921478271 + ], + [ + 0.2976120412349701, + 0.08241714537143707, + 0.16534075140953064, + 0.020011182874441147, + -0.008539289236068726, + 0.4479003846645355, + 0.0, + 0.9994885921478271 + ], + [ + 0.2995857894420624, + 0.05715543031692505, + 0.15063558518886566, + -0.007180157117545605, + 0.03511858731508255, + 0.33796966075897217, + 0.0, + 0.9994885921478271 + ], + [ + 0.30401042103767395, + 0.03736007213592529, + 0.13281582295894623, + -0.06126667559146881, + 0.058701906353235245, + 0.2423199713230133, + 0.0, + 0.9994885921478271 + ], + [ + 0.31135112047195435, + 0.014144145883619785, + 0.10961498320102692, + -0.08712384849786758, + 0.0780072882771492, + 0.15379631519317627, + 0.0, + 0.9994885921478271 + ], + [ + 0.31703299283981323, + -0.00261074211448431, + 0.08678492158651352, + -0.09152697771787643, + 0.06813032180070877, + 0.11398087441921234, + 0.0, + 0.9994885921478271 + ], + [ + 0.3177416920661926, + -0.017740821465849876, + 0.06619979441165924, + -0.08331634849309921, + 0.03681040555238724, + 0.11801009625196457, + 0.0, + 0.9994885921478271 + ], + [ + 0.3165387809276581, + -0.020572323352098465, + 0.053539298474788666, + -0.08508080244064331, + 0.0024998090229928493, + 0.17752255499362946, + 0.0, + 0.9994885921478271 + ], + [ + 0.3199159801006317, + -0.019738975912332535, + 0.04357939958572388, + -0.08456601947546005, + -0.015535897575318813, + 0.22649134695529938, + 0.0, + 0.9994885921478271 + ], + [ + 0.321889191865921, + -0.017604997381567955, + 0.035013340413570404, + -0.10285841673612595, + -0.05618032068014145, + 0.33933600783348083, + 0.0, + 0.9994885921478271 + ], + [ + 0.3236560523509979, + -0.01563091389834881, + 0.03075755201280117, + -0.11364968121051788, + -0.03677568957209587, + 0.48180636763572693, + 0.0, + 0.9994885921478271 + ], + [ + 0.3271927237510681, + -0.013028477318584919, + 0.018620988354086876, + -0.09101004898548126, + -0.04714903607964516, + 0.5279618501663208, + 0.0, + 0.9994885921478271 + ], + [ + 0.33617183566093445, + -0.016748372465372086, + 0.003607311053201556, + -0.0318966805934906, + -0.08035700768232346, + 0.5308718681335449, + 0.0, + 0.941448450088501 + ], + [ + 0.34067249298095703, + -0.01903146132826805, + -0.0008563071605749428, + -0.0012073601828888059, + -0.07036187499761581, + 0.5204371809959412, + 0.0, + 0.7111459374427795 + ], + [ + 0.339396595954895, + -0.020292382687330246, + 4.315521437092684e-05, + -0.008054313249886036, + -0.058264315128326416, + 0.5337863564491272, + 0.0, + 0.7200843095779419 + ], + [ + 0.33313262462615967, + -0.019914306700229645, + 0.005386072210967541, + -0.0077628809958696365, + -0.017054546624422073, + 0.5523827075958252, + 0.0, + 0.7378748655319214 + ], + [ + 0.3249485194683075, + -0.01576513797044754, + 0.03635430708527565, + -0.006761754862964153, + -0.0009872661903500557, + 0.5495834350585938, + 0.0, + 0.7388594746589661 + ], + [ + 0.3153476119041443, + -0.01892506703734398, + 0.060773830860853195, + -0.0305835772305727, + 0.026726258918642998, + 0.49962127208709717, + 0.0, + 0.7388594746589661 + ], + [ + 0.30676496028900146, + -0.01592051237821579, + 0.07688174396753311, + -0.029451224952936172, + 0.05892224982380867, + 0.4449407756328583, + 0.0, + 0.7388594746589661 + ], + [ + 0.29143622517585754, + -0.007863561622798443, + 0.08815032988786697, + -0.03996192663908005, + 0.07249494642019272, + 0.38266897201538086, + 0.0, + 0.7398436665534973 + ], + [ + 0.26869043707847595, + -0.0003737772349268198, + 0.08142995089292526, + -0.020796185359358788, + 0.09918633103370667, + 0.29706940054893494, + 0.0, + 0.7398436665534973 + ], + [ + 0.2524077296257019, + 0.0074172839522361755, + 0.0802304819226265, + -0.031207866966724396, + 0.09187395870685577, + 0.22557762265205383, + 0.0, + 0.7398436665534973 + ], + [ + 0.24237605929374695, + 0.01809326559305191, + 0.0721881166100502, + -0.02944323420524597, + 0.10392241179943085, + 0.1894799768924713, + 0.0, + 0.7398436665534973 + ], + [ + 0.23513787984848022, + 0.024036839604377747, + 0.06280021369457245, + 0.004024476278573275, + 0.10424161702394485, + 0.15440580248832703, + 0.0, + 0.7398436665534973 + ], + [ + 0.23245735466480255, + 0.028177719563245773, + 0.0522162951529026, + 0.03015509620308876, + 0.10771889984607697, + 0.13789427280426025, + 0.0, + 0.7398436665534973 + ], + [ + 0.22131972014904022, + 0.025042032822966576, + 0.03959663584828377, + 0.044487275183200836, + 0.11502759903669357, + 0.10518646240234375, + 0.0, + 0.7398436665534973 + ], + [ + 0.21735648810863495, + 0.015963150188326836, + 0.036573201417922974, + 0.02118597738444805, + 0.124983049929142, + 0.09943071752786636, + 0.0, + 0.7398436665534973 + ], + [ + 0.20984254777431488, + 0.006940633989870548, + 0.03755102679133415, + 0.03127509728074074, + 0.1138203963637352, + 0.04510573297739029, + 0.0, + 0.8139979243278503 + ], + [ + 0.20903246104717255, + 0.0048012216575443745, + 0.03995091840624809, + 0.04052199050784111, + 0.1250917911529541, + 0.0462079755961895, + 0.0, + 1.00800359249115 + ], + [ + 0.21075202524662018, + 0.00198527448810637, + 0.04734329879283905, + 0.022120583802461624, + 0.09699025750160217, + 0.05363157019019127, + 0.0, + 1.0001531839370728 + ], + [ + 0.21319283545017242, + 0.004196601919829845, + 0.05929215997457504, + 0.013024958781898022, + 0.08989352732896805, + 0.07067342847585678, + 0.0, + 0.9994885921478271 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.941448450088501 + ], + [ + 0.7111459374427795 + ], + [ + 0.7200843095779419 + ], + [ + 0.7378748655319214 + ], + [ + 0.7388594746589661 + ], + [ + 0.7388594746589661 + ], + [ + 0.7388594746589661 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.8139979243278503 + ], + [ + 1.00800359249115 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.29873785376548767, + 0.0841997042298317, + 0.17490285634994507 + ], + [ + 0.2976120412349701, + 0.08241714537143707, + 0.16534075140953064 + ], + [ + 0.2995857894420624, + 0.05715543031692505, + 0.15063558518886566 + ], + [ + 0.30401042103767395, + 0.03736007213592529, + 0.13281582295894623 + ], + [ + 0.31135112047195435, + 0.014144145883619785, + 0.10961498320102692 + ], + [ + 0.31703299283981323, + -0.00261074211448431, + 0.08678492158651352 + ], + [ + 0.3177416920661926, + -0.017740821465849876, + 0.06619979441165924 + ], + [ + 0.3165387809276581, + -0.020572323352098465, + 0.053539298474788666 + ], + [ + 0.3199159801006317, + -0.019738975912332535, + 0.04357939958572388 + ], + [ + 0.321889191865921, + -0.017604997381567955, + 0.035013340413570404 + ], + [ + 0.3236560523509979, + -0.01563091389834881, + 0.03075755201280117 + ], + [ + 0.3271927237510681, + -0.013028477318584919, + 0.018620988354086876 + ], + [ + 0.33617183566093445, + -0.016748372465372086, + 0.003607311053201556 + ], + [ + 0.34067249298095703, + -0.01903146132826805, + -0.0008563071605749428 + ], + [ + 0.339396595954895, + -0.020292382687330246, + 4.315521437092684e-05 + ], + [ + 0.33313262462615967, + -0.019914306700229645, + 0.005386072210967541 + ], + [ + 0.3249485194683075, + -0.01576513797044754, + 0.03635430708527565 + ], + [ + 0.3153476119041443, + -0.01892506703734398, + 0.060773830860853195 + ], + [ + 0.30676496028900146, + -0.01592051237821579, + 0.07688174396753311 + ], + [ + 0.29143622517585754, + -0.007863561622798443, + 0.08815032988786697 + ], + [ + 0.26869043707847595, + -0.0003737772349268198, + 0.08142995089292526 + ], + [ + 0.2524077296257019, + 0.0074172839522361755, + 0.0802304819226265 + ], + [ + 0.24237605929374695, + 0.01809326559305191, + 0.0721881166100502 + ], + [ + 0.23513787984848022, + 0.024036839604377747, + 0.06280021369457245 + ], + [ + 0.23245735466480255, + 0.028177719563245773, + 0.0522162951529026 + ], + [ + 0.22131972014904022, + 0.025042032822966576, + 0.03959663584828377 + ], + [ + 0.21735648810863495, + 0.015963150188326836, + 0.036573201417922974 + ], + [ + 0.20984254777431488, + 0.006940633989870548, + 0.03755102679133415 + ], + [ + 0.20903246104717255, + 0.0048012216575443745, + 0.03995091840624809 + ], + [ + 0.21075202524662018, + 0.00198527448810637, + 0.04734329879283905 + ], + [ + 0.21319283545017242, + 0.004196601919829845, + 0.05929215997457504 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8987216335028615, + 0.4375411405720493, + 0.029277564462532272, + 0.4366203543670143, + -0.8990397254072097, + 0.03301875667179574, + 0.040768757969435375, + -0.016891490361675837, + -0.9990258184486477 + ], + [ + 0.901325514146008, + 0.43314128853803563, + -0.0009704190045633342, + 0.4330581945433843, + -0.9011039115269911, + 0.021733402163048917, + 0.008539185456386189, + -0.020009117780818816, + -0.999763330752521 + ], + [ + 0.9428481004822572, + 0.33180158875743665, + -0.030743537776907325, + 0.33136784874325204, + -0.9433219044863081, + -0.018415573181240916, + -0.03511136904577356, + 0.007175668217334316, + -0.9993576444643659 + ], + [ + 0.9691117595040258, + 0.242992461155298, + -0.04215520623484341, + 0.2395421467523186, + -0.9681005402568653, + -0.07349084217544608, + -0.0586681985431787, + 0.0611228907697981, + -0.9964045537348982 + ], + [ + 0.9851915083353239, + 0.1593104809479162, + -0.06338661186806595, + 0.15272487627654022, + -0.9834097677546657, + -0.0978792156232859, + -0.07792819817168035, + 0.086749059619444, + -0.9931776258982363 + ], + [ + 0.9912062907446227, + 0.11944004951956494, + -0.05695756103495326, + 0.11347037461500803, + -0.9886450169528668, + -0.0985165191173324, + -0.06807762681686465, + 0.09118719770356944, + -0.9935040672800258 + ], + [ + 0.9923721709449872, + 0.12036934265314198, + -0.026621338869101684, + 0.11765662021389195, + -0.9892396244146335, + -0.08695910077639193, + -0.036802093062447465, + 0.08316361486398477, + -0.9958561236990902 + ], + [ + 0.9842811335566709, + 0.17616193323372464, + 0.012554815958511236, + 0.17659105609362202, + -0.9806863540799656, + -0.0840825417615561, + -0.002499806419423754, + 0.0849779277265651, + -0.9963796980906248 + ], + [ + 0.9743426966639891, + 0.2224787101966316, + 0.03405191575797978, + 0.22453276990748597, + -0.9712726522558486, + -0.07883191116268201, + 0.015535272614836806, + 0.0844550678712192, + -0.9963061762408432 + ], + [ + 0.9414881582110748, + 0.32566514431799926, + 0.08684619579840672, + 0.3323358823722488, + -0.9399110906032492, + -0.07823044834889943, + 0.05615077235601765, + 0.1025151478433685, + -0.9931453746690236 + ], + [ + 0.885560157003429, + 0.45669636742427555, + 0.08492135367228731, + 0.4630673456235448, + -0.882374681061913, + -0.08356767101010071, + 0.036767400577510496, + 0.1133285056919, + -0.9928770357161124 + ], + [ + 0.8628756413304772, + 0.49798860243331333, + 0.08633064024454834, + 0.5032139135565796, + -0.8624185263638484, + -0.0548638550183992, + 0.04713156905503437, + 0.09078346342216782, + -0.9947547325685298 + ], + [ + 0.859583226315505, + 0.5038202812019538, + 0.08533347108029843, + 0.5046516769807062, + -0.8632233918547116, + 0.013117190072888663, + 0.08027055473577338, + 0.031788362720209844, + -0.9962660980069431 + ], + [ + 0.8654550972746994, + 0.4971854781643767, + 0.06159606240418824, + 0.4960290776511292, + -0.8676434462321003, + 0.033911713832457946, + 0.0703038315158615, + 0.0012043724276692286, + -0.9975248973139692 + ], + [ + 0.859425934947223, + 0.5083763382888562, + 0.054226939874068326, + 0.5079332353593407, + -0.861097467234601, + 0.02269317826016618, + 0.05823135544948279, + 0.008040559070704651, + -0.9982707341459762 + ], + [ + 0.8511528952612504, + 0.5245885537013901, + 0.018590272022611563, + 0.5246407528262613, + -0.8513205070596703, + 0.002339814855813721, + 0.01705371989580723, + 0.007761674120286782, + -0.9998244481170511 + ], + [ + 0.8527417656788324, + 0.522314418385383, + 0.004373718519376979, + 0.5223317972062715, + -0.8527261739616565, + -0.005250320750327475, + 0.0009872660299695712, + 0.006761700041714993, + -0.9999766520866036 + ], + [ + 0.8774505991128438, + 0.4795863691488391, + -0.008795489932039156, + 0.4789220429840171, + -0.8769620964865715, + -0.03963783634221607, + -0.0267230773027069, + 0.030567889238716808, + -0.9991754006614468 + ], + [ + 0.9010697103575998, + 0.4317830168444482, + -0.04045742751063323, + 0.42965749331728686, + -0.9014983690999039, + -0.051914631333748046, + -0.05888816105446649, + 0.029395864928937407, + -0.9978316830070605 + ], + [ + 0.9252347237953247, + 0.37578404604742016, + -0.052221227672467355, + 0.37241695584162254, + -0.9258502139869708, + -0.06408581950743357, + -0.07243146336398429, + 0.039846354871064735, + -0.9965771174969055 + ], + [ + 0.9514987858166809, + 0.2946249111822689, + -0.088578904374701, + 0.2912805377084075, + -0.9553889170924716, + -0.04886374370814713, + -0.09902377967782919, + 0.020692481912874948, + -0.9948698971476634 + ], + [ + 0.9705544774791778, + 0.22635064514979664, + -0.08239776505094402, + 0.2227260748452487, + -0.9735501865000076, + -0.05092278419164357, + -0.09174476458713278, + 0.031071205417087792, + -0.9952976832911751 + ], + [ + 0.9768037969926998, + 0.19126577943016354, + -0.09628989458721633, + 0.18733205174694495, + -0.9811014596639319, + -0.04844200897550475, + -0.10373545473426694, + 0.02928015478570719, + -0.9941738419244396 + ], + [ + 0.9827394286272635, + 0.1533779771252832, + -0.10343312600088704, + 0.15295817288665145, + -0.9881594887308747, + -0.012025896154264118, + -0.10405293253213245, + -0.004002619653678161, + -0.9945637064901227 + ], + [ + 0.9847665858397364, + 0.13418445483710753, + -0.11058618129593123, + 0.13666096730719776, + -0.9905028950975634, + 0.015092873086513952, + -0.10751070378436442, + -0.0299757716066299, + -0.9937519316652306 + ], + [ + 0.9879011444152784, + 0.09981263158588038, + -0.11869611383227545, + 0.10429877115281894, + -0.994024989688028, + 0.032188293085030094, + -0.11477410508906215, + -0.04417871038879707, + -0.9924087597101245 + ], + [ + 0.9872991443426241, + 0.09661692626538028, + -0.12611728326979163, + 0.09849265795941849, + -0.9950996758655702, + 0.008708123812083966, + -0.124657915546554, + -0.021019149632362802, + -0.9919771163894463 + ], + [ + 0.9925189387825059, + 0.041520517731844064, + -0.11481377428396, + 0.04479867972599798, + -0.9986545182427681, + 0.0261195614073527, + -0.11357479673262, + -0.031067664871770338, + -0.9930435870325932 + ], + [ + 0.9911271608701306, + 0.04110463451621603, + -0.1264015822954888, + 0.0458306031229761, + -0.9983460435021025, + 0.03470926736597808, + -0.12476580782770247, + -0.040194358372624875, + -0.9913717298531941 + ], + [ + 0.9938690606900576, + 0.05145388425499229, + -0.09786106477111532, + 0.053353922868999766, + -0.9984326944258892, + 0.01689714816020342, + -0.09683826267313657, + -0.022014824471998387, + -0.9950566307431532 + ], + [ + 0.9934760489589118, + 0.06944228958255302, + -0.09046053593984058, + 0.07032948984962528, + -0.9975016268686465, + 0.006653363953333088, + -0.08977250694105515, + -0.01297200107681568, + -0.9958778158918803 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0011258125305175781, + -0.0017825588583946228, + -0.009562104940414429, + 0.003104832023382187, + 0.032240770757198334, + -0.004342079162597656, + 1.0 + ], + [ + 0.001973748207092285, + -0.025261715054512024, + -0.014705166220664978, + -0.027191340923309326, + 0.043657876551151276, + -0.10993072390556335, + 1.0 + ], + [ + 0.004424631595611572, + -0.019795358180999756, + -0.017819762229919434, + -0.05408651754260063, + 0.023583319038152695, + -0.09564968943595886, + 1.0 + ], + [ + 0.0073406994342803955, + -0.023215927183628082, + -0.02320083975791931, + -0.025857172906398773, + 0.019305381923913956, + -0.08852365612983704, + 1.0 + ], + [ + 0.005681872367858887, + -0.016754887998104095, + -0.022830061614513397, + -0.00440312922000885, + -0.00987696647644043, + -0.03981544077396393, + 1.0 + ], + [ + 0.0007086992263793945, + -0.015130079351365566, + -0.02058512717485428, + 0.008210629224777222, + -0.03131991624832153, + 0.004029221832752228, + 1.0 + ], + [ + -0.001202911138534546, + -0.0028315018862485886, + -0.012660495936870575, + -0.001764453947544098, + -0.03431059792637825, + 0.059512458741664886, + 1.0 + ], + [ + 0.003377199172973633, + 0.0008333474397659302, + -0.009959898889064789, + 0.0005147829651832581, + -0.018035706132650375, + 0.04896879196166992, + 1.0 + ], + [ + 0.0019732117652893066, + 0.0021339785307645798, + -0.008566059172153473, + -0.018292397260665894, + -0.04064442217350006, + 0.11284466087818146, + 1.0 + ], + [ + 0.0017668604850769043, + 0.0019740834832191467, + -0.004255788400769234, + -0.010791264474391937, + 0.019404631108045578, + 0.1424703598022461, + 1.0 + ], + [ + 0.0035366714000701904, + 0.0026024365797638893, + -0.012136563658714294, + 0.02263963222503662, + -0.010373346507549286, + 0.04615548253059387, + 1.0 + ], + [ + 0.008979111909866333, + -0.0037198951467871666, + -0.015013677068054676, + 0.05911336839199066, + -0.0332079716026783, + 0.002910017967224121, + 0.0 + ], + [ + 0.004500657320022583, + -0.0022830888628959656, + -0.004463618155568838, + 0.030689319595694542, + 0.009995132684707642, + -0.01043468713760376, + 0.0 + ], + [ + -0.0012758970260620117, + -0.0012609213590621948, + 0.0008994623785838485, + -0.006846953183412552, + 0.012097559869289398, + 0.013349175453186035, + 0.0 + ], + [ + -0.0062639713287353516, + 0.0003780759871006012, + 0.005342917051166296, + 0.0002914322540163994, + 0.04120976850390434, + 0.018596351146697998, + 0.0 + ], + [ + -0.008184105157852173, + 0.0041491687297821045, + 0.030968233942985535, + 0.0010011261329054832, + 0.016067281365394592, + -0.0027992725372314453, + 0.0 + ], + [ + -0.009600907564163208, + -0.0031599290668964386, + 0.024419523775577545, + -0.023821823298931122, + 0.027713526040315628, + -0.04996216297149658, + 0.0 + ], + [ + -0.008582651615142822, + 0.003004554659128189, + 0.016107913106679916, + 0.001132352277636528, + 0.03219599276781082, + -0.05468049645423889, + 0.0 + ], + [ + -0.015328735113143921, + 0.008056950755417347, + 0.011268585920333862, + -0.010510701686143875, + 0.013572696596384048, + -0.06227180361747742, + 0.0 + ], + [ + -0.022745788097381592, + 0.007489784620702267, + -0.006720378994941711, + 0.01916574127972126, + 0.026691384613513947, + -0.08559957146644592, + 0.0 + ], + [ + -0.016282707452774048, + 0.007791060954332352, + -0.001199468970298767, + -0.010411681607365608, + -0.007312372326850891, + -0.0714917778968811, + 0.0 + ], + [ + -0.010031670331954956, + 0.010675981640815735, + -0.008042365312576294, + 0.001764632761478424, + 0.012048453092575073, + -0.03609764575958252, + 0.0 + ], + [ + -0.007238179445266724, + 0.005943574011325836, + -0.009387902915477753, + 0.03346771001815796, + 0.00031920522451400757, + -0.03507417440414429, + 0.0 + ], + [ + -0.0026805251836776733, + 0.004140879958868027, + -0.010583918541669846, + 0.026130620390176773, + 0.0034772828221321106, + -0.016511529684066772, + 0.0 + ], + [ + -0.011137634515762329, + -0.0031356867402791977, + -0.012619659304618835, + 0.014332178980112076, + 0.007308699190616608, + -0.032707810401916504, + 0.0 + ], + [ + -0.0039632320404052734, + -0.00907888263463974, + -0.003023434430360794, + -0.023301297798752785, + 0.009955450892448425, + -0.0057557448744773865, + 0.0 + ], + [ + -0.007513940334320068, + -0.009022516198456287, + 0.0009778253734111786, + 0.010089119896292686, + -0.0111626535654068, + -0.054324984550476074, + 1.0 + ], + [ + -0.000810086727142334, + -0.0021394123323261738, + 0.0023998916149139404, + 0.009246893227100372, + 0.011271394789218903, + 0.0011022426187992096, + 1.0 + ], + [ + 0.0017195641994476318, + -0.0028159471694380045, + 0.007392380386590958, + -0.018401406705379486, + -0.02810153365135193, + 0.00742359459400177, + 1.0 + ], + [ + 0.002440810203552246, + 0.0022113274317234755, + 0.011948861181735992, + -0.009095625020563602, + -0.007096730172634125, + 0.017041858285665512, + 1.0 + ], + [ + 0.006556376814842224, + 0.002777562942355871, + 0.02378101646900177, + 0.00593204703181982, + -0.051256559789180756, + 0.015996098518371582, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.941448450088501 + ], + [ + 0.7111459374427795 + ], + [ + 0.7200843095779419 + ], + [ + 0.7378748655319214 + ], + [ + 0.7388594746589661 + ], + [ + 0.7388594746589661 + ], + [ + 0.7388594746589661 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.8139979243278503 + ], + [ + 1.00800359249115 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2976120412349701, + 0.08241714537143707, + 0.16534075140953064 + ], + [ + 0.2995857894420624, + 0.05715543031692505, + 0.15063558518886566 + ], + [ + 0.30401042103767395, + 0.03736007213592529, + 0.13281582295894623 + ], + [ + 0.31135112047195435, + 0.014144145883619785, + 0.10961498320102692 + ], + [ + 0.31703299283981323, + -0.00261074211448431, + 0.08678492158651352 + ], + [ + 0.3177416920661926, + -0.017740821465849876, + 0.06619979441165924 + ], + [ + 0.3165387809276581, + -0.020572323352098465, + 0.053539298474788666 + ], + [ + 0.3199159801006317, + -0.019738975912332535, + 0.04357939958572388 + ], + [ + 0.321889191865921, + -0.017604997381567955, + 0.035013340413570404 + ], + [ + 0.3236560523509979, + -0.01563091389834881, + 0.03075755201280117 + ], + [ + 0.3271927237510681, + -0.013028477318584919, + 0.018620988354086876 + ], + [ + 0.33617183566093445, + -0.016748372465372086, + 0.003607311053201556 + ], + [ + 0.34067249298095703, + -0.01903146132826805, + -0.0008563071605749428 + ], + [ + 0.339396595954895, + -0.020292382687330246, + 4.315521437092684e-05 + ], + [ + 0.33313262462615967, + -0.019914306700229645, + 0.005386072210967541 + ], + [ + 0.3249485194683075, + -0.01576513797044754, + 0.03635430708527565 + ], + [ + 0.3153476119041443, + -0.01892506703734398, + 0.060773830860853195 + ], + [ + 0.30676496028900146, + -0.01592051237821579, + 0.07688174396753311 + ], + [ + 0.29143622517585754, + -0.007863561622798443, + 0.08815032988786697 + ], + [ + 0.26869043707847595, + -0.0003737772349268198, + 0.08142995089292526 + ], + [ + 0.2524077296257019, + 0.0074172839522361755, + 0.0802304819226265 + ], + [ + 0.24237605929374695, + 0.01809326559305191, + 0.0721881166100502 + ], + [ + 0.23513787984848022, + 0.024036839604377747, + 0.06280021369457245 + ], + [ + 0.23245735466480255, + 0.028177719563245773, + 0.0522162951529026 + ], + [ + 0.22131972014904022, + 0.025042032822966576, + 0.03959663584828377 + ], + [ + 0.21735648810863495, + 0.015963150188326836, + 0.036573201417922974 + ], + [ + 0.20984254777431488, + 0.006940633989870548, + 0.03755102679133415 + ], + [ + 0.20903246104717255, + 0.0048012216575443745, + 0.03995091840624809 + ], + [ + 0.21075202524662018, + 0.00198527448810637, + 0.04734329879283905 + ], + [ + 0.21319283545017242, + 0.004196601919829845, + 0.05929215997457504 + ], + [ + 0.21974921226501465, + 0.006974164862185717, + 0.08307317644357681 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.901325514146008, + 0.43314128853803563, + -0.0009704190045633342, + 0.4330581945433843, + -0.9011039115269911, + 0.021733402163048917, + 0.008539185456386189, + -0.020009117780818816, + -0.999763330752521 + ], + [ + 0.9428481004822572, + 0.33180158875743665, + -0.030743537776907325, + 0.33136784874325204, + -0.9433219044863081, + -0.018415573181240916, + -0.03511136904577356, + 0.007175668217334316, + -0.9993576444643659 + ], + [ + 0.9691117595040258, + 0.242992461155298, + -0.04215520623484341, + 0.2395421467523186, + -0.9681005402568653, + -0.07349084217544608, + -0.0586681985431787, + 0.0611228907697981, + -0.9964045537348982 + ], + [ + 0.9851915083353239, + 0.1593104809479162, + -0.06338661186806595, + 0.15272487627654022, + -0.9834097677546657, + -0.0978792156232859, + -0.07792819817168035, + 0.086749059619444, + -0.9931776258982363 + ], + [ + 0.9912062907446227, + 0.11944004951956494, + -0.05695756103495326, + 0.11347037461500803, + -0.9886450169528668, + -0.0985165191173324, + -0.06807762681686465, + 0.09118719770356944, + -0.9935040672800258 + ], + [ + 0.9923721709449872, + 0.12036934265314198, + -0.026621338869101684, + 0.11765662021389195, + -0.9892396244146335, + -0.08695910077639193, + -0.036802093062447465, + 0.08316361486398477, + -0.9958561236990902 + ], + [ + 0.9842811335566709, + 0.17616193323372464, + 0.012554815958511236, + 0.17659105609362202, + -0.9806863540799656, + -0.0840825417615561, + -0.002499806419423754, + 0.0849779277265651, + -0.9963796980906248 + ], + [ + 0.9743426966639891, + 0.2224787101966316, + 0.03405191575797978, + 0.22453276990748597, + -0.9712726522558486, + -0.07883191116268201, + 0.015535272614836806, + 0.0844550678712192, + -0.9963061762408432 + ], + [ + 0.9414881582110748, + 0.32566514431799926, + 0.08684619579840672, + 0.3323358823722488, + -0.9399110906032492, + -0.07823044834889943, + 0.05615077235601765, + 0.1025151478433685, + -0.9931453746690236 + ], + [ + 0.885560157003429, + 0.45669636742427555, + 0.08492135367228731, + 0.4630673456235448, + -0.882374681061913, + -0.08356767101010071, + 0.036767400577510496, + 0.1133285056919, + -0.9928770357161124 + ], + [ + 0.8628756413304772, + 0.49798860243331333, + 0.08633064024454834, + 0.5032139135565796, + -0.8624185263638484, + -0.0548638550183992, + 0.04713156905503437, + 0.09078346342216782, + -0.9947547325685298 + ], + [ + 0.859583226315505, + 0.5038202812019538, + 0.08533347108029843, + 0.5046516769807062, + -0.8632233918547116, + 0.013117190072888663, + 0.08027055473577338, + 0.031788362720209844, + -0.9962660980069431 + ], + [ + 0.8654550972746994, + 0.4971854781643767, + 0.06159606240418824, + 0.4960290776511292, + -0.8676434462321003, + 0.033911713832457946, + 0.0703038315158615, + 0.0012043724276692286, + -0.9975248973139692 + ], + [ + 0.859425934947223, + 0.5083763382888562, + 0.054226939874068326, + 0.5079332353593407, + -0.861097467234601, + 0.02269317826016618, + 0.05823135544948279, + 0.008040559070704651, + -0.9982707341459762 + ], + [ + 0.8511528952612504, + 0.5245885537013901, + 0.018590272022611563, + 0.5246407528262613, + -0.8513205070596703, + 0.002339814855813721, + 0.01705371989580723, + 0.007761674120286782, + -0.9998244481170511 + ], + [ + 0.8527417656788324, + 0.522314418385383, + 0.004373718519376979, + 0.5223317972062715, + -0.8527261739616565, + -0.005250320750327475, + 0.0009872660299695712, + 0.006761700041714993, + -0.9999766520866036 + ], + [ + 0.8774505991128438, + 0.4795863691488391, + -0.008795489932039156, + 0.4789220429840171, + -0.8769620964865715, + -0.03963783634221607, + -0.0267230773027069, + 0.030567889238716808, + -0.9991754006614468 + ], + [ + 0.9010697103575998, + 0.4317830168444482, + -0.04045742751063323, + 0.42965749331728686, + -0.9014983690999039, + -0.051914631333748046, + -0.05888816105446649, + 0.029395864928937407, + -0.9978316830070605 + ], + [ + 0.9252347237953247, + 0.37578404604742016, + -0.052221227672467355, + 0.37241695584162254, + -0.9258502139869708, + -0.06408581950743357, + -0.07243146336398429, + 0.039846354871064735, + -0.9965771174969055 + ], + [ + 0.9514987858166809, + 0.2946249111822689, + -0.088578904374701, + 0.2912805377084075, + -0.9553889170924716, + -0.04886374370814713, + -0.09902377967782919, + 0.020692481912874948, + -0.9948698971476634 + ], + [ + 0.9705544774791778, + 0.22635064514979664, + -0.08239776505094402, + 0.2227260748452487, + -0.9735501865000076, + -0.05092278419164357, + -0.09174476458713278, + 0.031071205417087792, + -0.9952976832911751 + ], + [ + 0.9768037969926998, + 0.19126577943016354, + -0.09628989458721633, + 0.18733205174694495, + -0.9811014596639319, + -0.04844200897550475, + -0.10373545473426694, + 0.02928015478570719, + -0.9941738419244396 + ], + [ + 0.9827394286272635, + 0.1533779771252832, + -0.10343312600088704, + 0.15295817288665145, + -0.9881594887308747, + -0.012025896154264118, + -0.10405293253213245, + -0.004002619653678161, + -0.9945637064901227 + ], + [ + 0.9847665858397364, + 0.13418445483710753, + -0.11058618129593123, + 0.13666096730719776, + -0.9905028950975634, + 0.015092873086513952, + -0.10751070378436442, + -0.0299757716066299, + -0.9937519316652306 + ], + [ + 0.9879011444152784, + 0.09981263158588038, + -0.11869611383227545, + 0.10429877115281894, + -0.994024989688028, + 0.032188293085030094, + -0.11477410508906215, + -0.04417871038879707, + -0.9924087597101245 + ], + [ + 0.9872991443426241, + 0.09661692626538028, + -0.12611728326979163, + 0.09849265795941849, + -0.9950996758655702, + 0.008708123812083966, + -0.124657915546554, + -0.021019149632362802, + -0.9919771163894463 + ], + [ + 0.9925189387825059, + 0.041520517731844064, + -0.11481377428396, + 0.04479867972599798, + -0.9986545182427681, + 0.0261195614073527, + -0.11357479673262, + -0.031067664871770338, + -0.9930435870325932 + ], + [ + 0.9911271608701306, + 0.04110463451621603, + -0.1264015822954888, + 0.0458306031229761, + -0.9983460435021025, + 0.03470926736597808, + -0.12476580782770247, + -0.040194358372624875, + -0.9913717298531941 + ], + [ + 0.9938690606900576, + 0.05145388425499229, + -0.09786106477111532, + 0.053353922868999766, + -0.9984326944258892, + 0.01689714816020342, + -0.09683826267313657, + -0.022014824471998387, + -0.9950566307431532 + ], + [ + 0.9934760489589118, + 0.06944228958255302, + -0.09046053593984058, + 0.07032948984962528, + -0.9975016268686465, + 0.006653363953333088, + -0.08977250694105515, + -0.01297200107681568, + -0.9958778158918803 + ], + [ + 0.9955030334432278, + 0.08581604318832722, + -0.040116295153347706, + 0.08649646136859676, + -0.9961309240493929, + 0.015541696278501011, + -0.038627355281486725, + -0.01894172336408385, + -0.9990741406622213 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005756.json b/json/chunk-0005/episode_0005756.json new file mode 100644 index 0000000000000000000000000000000000000000..eb29956ac3c2f30bf7f33fd5b28bf3e02ca549bb --- /dev/null +++ b/json/chunk-0005/episode_0005756.json @@ -0,0 +1,2002 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 32, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the blue cloth behind the pot with the spatula." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005756.mp4", + "start": 0, + "end": 32, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.24480128288269043, + 0.1420525163412094, + 0.03716197609901428, + 0.1739194095134735, + 0.02645743452012539, + 0.015754902735352516, + 0.0, + 1.0001531839370728 + ], + [ + 0.2440558820962906, + 0.14045296609401703, + 0.032294876873493195, + 0.1627034693956375, + 0.040516044944524765, + 0.01476224884390831, + 0.0, + 1.0001531839370728 + ], + [ + 0.2547512650489807, + 0.11865697056055069, + 0.03258887305855751, + 0.1392958015203476, + 0.03627278283238411, + -0.05441303551197052, + 0.0, + 1.0001531839370728 + ], + [ + 0.28385573625564575, + 0.07914482802152634, + 0.05923507362604141, + 0.15738126635551453, + 0.01654229685664177, + -0.11330737918615341, + 0.0, + 1.0001531839370728 + ], + [ + 0.31096091866493225, + 0.04311337694525719, + 0.09063635021448135, + 0.12422803789377213, + -0.03259449452161789, + -0.12471864372491837, + 0.0, + 1.0001531839370728 + ], + [ + 0.34566423296928406, + -0.004788029473274946, + 0.08657992631196976, + 0.007399750407785177, + -0.07818964123725891, + -0.19179658591747284, + 0.0, + 1.0001531839370728 + ], + [ + 0.3727951943874359, + -0.026771949604153633, + 0.05543031170964241, + -0.03933632746338844, + -0.02964487113058567, + -0.1671684980392456, + 0.0, + 1.0001531839370728 + ], + [ + 0.3813474476337433, + -0.03184571862220764, + 0.04189278930425644, + -0.05991856008768082, + -0.008718982338905334, + -0.1369573473930359, + 0.0, + 1.0001531839370728 + ], + [ + 0.38789308071136475, + -0.029832275584340096, + 0.03717747703194618, + -0.04477518051862717, + -0.008657990023493767, + -0.13688895106315613, + 0.0, + 1.0001531839370728 + ], + [ + 0.3926991820335388, + -0.0277093518525362, + 0.03635481745004654, + -0.026520201936364174, + 0.0005136072868481278, + -0.15014667809009552, + 0.0, + 1.0001531839370728 + ], + [ + 0.396066814661026, + -0.023336784914135933, + 0.03073619306087494, + -0.004416332114487886, + 0.02884315513074398, + -0.16203215718269348, + 0.0, + 1.0001531839370728 + ], + [ + 0.39828363060951233, + -0.02105315588414669, + 0.0352746844291687, + 0.0055135139264166355, + 0.030272265896201134, + -0.205106720328331, + 0.0, + 1.0001531839370728 + ], + [ + 0.402873694896698, + -0.012015869840979576, + 0.03984136879444122, + 0.022381635382771492, + 0.019625617191195488, + -0.22357109189033508, + 0.0, + 1.0001531839370728 + ], + [ + 0.408997118473053, + -0.011627082712948322, + 0.0458642840385437, + 0.026690823957324028, + -0.002215791027992964, + -0.2510588765144348, + 0.0, + 1.0001531839370728 + ], + [ + 0.41377758979797363, + -0.011110121384263039, + 0.0393059216439724, + 0.028191493824124336, + 0.011272178962826729, + -0.2723274230957031, + 0.0, + 1.0001531839370728 + ], + [ + 0.4156443476676941, + -0.01472927164286375, + 0.03133212774991989, + 0.011737391352653503, + 0.018528975546360016, + -0.27611368894577026, + 0.0, + 1.0001531839370728 + ], + [ + 0.41599783301353455, + -0.01701202802360058, + 0.013878063298761845, + -0.011243455111980438, + 0.050949931144714355, + -0.2861919701099396, + 0.0, + 0.9476637244224548 + ], + [ + 0.41616347432136536, + -0.020542185753583908, + 0.012053229846060276, + -0.019750846549868584, + 0.02665545418858528, + -0.2891921401023865, + 0.0, + 0.7768828272819519 + ], + [ + 0.4103417992591858, + -0.02118692174553871, + 0.014474090188741684, + -0.027764445170760155, + 0.018074452877044678, + -0.2951544523239136, + 0.0, + 0.7768828272819519 + ], + [ + 0.40245866775512695, + -0.014735444448888302, + 0.03554747626185417, + -0.027777165174484253, + -0.0287911519408226, + -0.2961597740650177, + 0.0, + 0.775918185710907 + ], + [ + 0.3844875991344452, + 0.016560420393943787, + 0.06385880708694458, + 0.030614400282502174, + -0.051926638931035995, + -0.24254755675792694, + 0.0, + 0.775918185710907 + ], + [ + 0.37013015151023865, + 0.06474310159683228, + 0.06429152190685272, + 0.1056269109249115, + -0.02260378561913967, + -0.16666236519813538, + 0.0, + 0.775918185710907 + ], + [ + 0.3671596646308899, + 0.08568188548088074, + 0.06299439072608948, + 0.15404640138149261, + -0.006935213226824999, + -0.14541031420230865, + 0.0, + 0.775918185710907 + ], + [ + 0.3603222668170929, + 0.10771199315786362, + 0.047195132821798325, + 0.15791194140911102, + 0.03899011388421059, + -0.10637374222278595, + 0.0, + 0.775918185710907 + ], + [ + 0.3642783761024475, + 0.11538240313529968, + 0.04301312938332558, + 0.1549101620912552, + 0.0402584969997406, + -0.10007939487695694, + 0.0, + 0.775918185710907 + ], + [ + 0.3673718273639679, + 0.12354719638824463, + 0.03788314387202263, + 0.14430496096611023, + 0.04892675578594208, + -0.08036960661411285, + 0.0, + 0.775918185710907 + ], + [ + 0.36576172709465027, + 0.1255076825618744, + 0.037121694535017014, + 0.1200806051492691, + 0.04819704219698906, + -0.0751366838812828, + 0.0, + 0.8417698740959167 + ], + [ + 0.3647935092449188, + 0.12232419103384018, + 0.036143332719802856, + 0.09528199583292007, + 0.05284619331359863, + -0.08255676925182343, + 0.0, + 1.0181074142456055 + ], + [ + 0.3647034466266632, + 0.12163137644529343, + 0.036079831421375275, + 0.09072442352771759, + 0.053266674280166626, + -0.08514455705881119, + 0.0, + 1.0105689764022827 + ], + [ + 0.3642347753047943, + 0.12024515122175217, + 0.0367002971470356, + 0.07566598057746887, + 0.05022946372628212, + -0.08567529916763306, + 0.0, + 1.0073583126068115 + ], + [ + 0.36099109053611755, + 0.12140251696109772, + 0.06251122802495956, + 0.05121699720621109, + -0.02482336200773716, + -0.064577616751194, + 0.0, + 1.0067112445831299 + ], + [ + 0.35341277718544006, + 0.11921324580907822, + 0.06339576095342636, + 0.035512808710336685, + -0.028658688068389893, + -0.07393250614404678, + 0.0, + 1.0067112445831299 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9476637244224548 + ], + [ + 0.7768828272819519 + ], + [ + 0.7768828272819519 + ], + [ + 0.775918185710907 + ], + [ + 0.775918185710907 + ], + [ + 0.775918185710907 + ], + [ + 0.775918185710907 + ], + [ + 0.775918185710907 + ], + [ + 0.775918185710907 + ], + [ + 0.775918185710907 + ], + [ + 0.8417698740959167 + ], + [ + 1.0181074142456055 + ], + [ + 1.0105689764022827 + ], + [ + 1.0073583126068115 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.24480128288269043, + 0.1420525163412094, + 0.03716197609901428 + ], + [ + 0.2440558820962906, + 0.14045296609401703, + 0.032294876873493195 + ], + [ + 0.2547512650489807, + 0.11865697056055069, + 0.03258887305855751 + ], + [ + 0.28385573625564575, + 0.07914482802152634, + 0.05923507362604141 + ], + [ + 0.31096091866493225, + 0.04311337694525719, + 0.09063635021448135 + ], + [ + 0.34566423296928406, + -0.004788029473274946, + 0.08657992631196976 + ], + [ + 0.3727951943874359, + -0.026771949604153633, + 0.05543031170964241 + ], + [ + 0.3813474476337433, + -0.03184571862220764, + 0.04189278930425644 + ], + [ + 0.38789308071136475, + -0.029832275584340096, + 0.03717747703194618 + ], + [ + 0.3926991820335388, + -0.0277093518525362, + 0.03635481745004654 + ], + [ + 0.396066814661026, + -0.023336784914135933, + 0.03073619306087494 + ], + [ + 0.39828363060951233, + -0.02105315588414669, + 0.0352746844291687 + ], + [ + 0.402873694896698, + -0.012015869840979576, + 0.03984136879444122 + ], + [ + 0.408997118473053, + -0.011627082712948322, + 0.0458642840385437 + ], + [ + 0.41377758979797363, + -0.011110121384263039, + 0.0393059216439724 + ], + [ + 0.4156443476676941, + -0.01472927164286375, + 0.03133212774991989 + ], + [ + 0.41599783301353455, + -0.01701202802360058, + 0.013878063298761845 + ], + [ + 0.41616347432136536, + -0.020542185753583908, + 0.012053229846060276 + ], + [ + 0.4103417992591858, + -0.02118692174553871, + 0.014474090188741684 + ], + [ + 0.40245866775512695, + -0.014735444448888302, + 0.03554747626185417 + ], + [ + 0.3844875991344452, + 0.016560420393943787, + 0.06385880708694458 + ], + [ + 0.37013015151023865, + 0.06474310159683228, + 0.06429152190685272 + ], + [ + 0.3671596646308899, + 0.08568188548088074, + 0.06299439072608948 + ], + [ + 0.3603222668170929, + 0.10771199315786362, + 0.047195132821798325 + ], + [ + 0.3642783761024475, + 0.11538240313529968, + 0.04301312938332558 + ], + [ + 0.3673718273639679, + 0.12354719638824463, + 0.03788314387202263 + ], + [ + 0.36576172709465027, + 0.1255076825618744, + 0.037121694535017014 + ], + [ + 0.3647935092449188, + 0.12232419103384018, + 0.036143332719802856 + ], + [ + 0.3647034466266632, + 0.12163137644529343, + 0.036079831421375275 + ], + [ + 0.3642347753047943, + 0.12024515122175217, + 0.0367002971470356 + ], + [ + 0.36099109053611755, + 0.12140251696109772, + 0.06251122802495956 + ], + [ + 0.35341277718544006, + 0.11921324580907822, + 0.06339576095342636 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9995259600165631, + 0.010939387236161516, + -0.028778204597667004, + 0.01574873733765331, + -0.984863989137345, + 0.1726119931312579, + -0.02645434794580052, + -0.17298338853015088, + -0.9845694057644638 + ], + [ + 0.9990704667261953, + 0.008006209832010076, + -0.0423568544586164, + 0.014749598288419267, + -0.9867822987562131, + 0.16137888403299327, + -0.04050496100273208, + -0.16185362357862076, + -0.9859831401543525 + ], + [ + 0.997863164282839, + -0.05888717090142837, + -0.028309123452791362, + -0.05435041422967881, + -0.9885744818986206, + 0.1405934785540771, + -0.03626482924958756, + -0.13875444080136456, + -0.9896626027679325 + ], + [ + 0.9934516405126997, + -0.11424369564815252, + 0.0014886125344678045, + -0.11304961449479521, + -0.9810148119403358, + 0.1575745011613419, + -0.01654154240703284, + -0.15671093375485914, + -0.9875059800408686 + ], + [ + 0.9917056780918481, + -0.11943026370375988, + 0.04750010686344081, + -0.12432949427224017, + -0.9850884922914257, + 0.11892366967519465, + 0.032588723423861175, + -0.12384294274061881, + -0.9917665555154332 + ], + [ + 0.9786641193900708, + -0.19005023452896613, + 0.07808616890296347, + -0.19004044320477143, + -0.9817466511887408, + -0.007625144341385256, + 0.07810999529504026, + -0.007377074974397837, + -0.9969174526508355 + ], + [ + 0.9856266034758948, + -0.16741167330850718, + 0.022661203865133654, + -0.16631788101897751, + -0.9851031121909785, + -0.04370607286185838, + 0.029640529245084635, + 0.039308904737915366, + -0.9987873893048395 + ], + [ + 0.9905983390450179, + -0.13680179748714272, + 0.0004459658494445672, + -0.1365244005831423, + -0.9887869343274209, + -0.060510218548561326, + 0.008718871868870048, + 0.05988043676917991, + -0.9981674782147868 + ], + [ + 0.9906081994628668, + -0.13670896976477367, + 0.002460232263775584, + -0.1364567192875161, + -0.9895995808301716, + -0.04552179018928165, + 0.008657881855602057, + 0.04475854339233057, + -0.9989603164666612 + ], + [ + 0.9887490175875486, + -0.14951709636173025, + -0.0044741608391759575, + -0.1495831421893384, + -0.9884035015324961, + -0.02614195346689704, + -0.0005136072642671742, + 0.026517089845198284, + -0.9996482282051622 + ], + [ + 0.9864909986713886, + -0.16119680944161746, + -0.02917358678958054, + -0.1612569769591924, + -0.9869124079595926, + 0.0002939343142596127, + -0.028839156060967153, + 0.004414480857526633, + -0.9995743171152656 + ], + [ + 0.9785906877256547, + -0.20383193106133654, + -0.028509818947806225, + -0.20357832820747493, + -0.9789903846315484, + 0.01156248603123974, + -0.030267642473105944, + -0.005510959878236989, + -0.9995266375341583 + ], + [ + 0.9749241269050413, + -0.22208597167941013, + -0.014169261154172507, + -0.2216705469303985, + -0.9747703114621175, + 0.02617266733874086, + -0.019624357365807043, + -0.022375456984352955, + -0.999557013642904 + ], + [ + 0.9686475304321538, + -0.24828401317435347, + 0.0087755677723656, + -0.24842916911233534, + -0.9683195863817883, + 0.025300722589632202, + 0.0022157892148375056, + -0.02668758946477401, + -0.9996413671145844 + ], + [ + 0.96308630061278, + -0.26917295866735863, + -0.0032704578044567036, + -0.268956726881695, + -0.962679318089223, + 0.030179622071099407, + -0.0112719402533745, + -0.028185968947855557, + -0.9995391410632178 + ], + [ + 0.9619570274390179, + -0.2728090593402808, + -0.014625132565533628, + -0.2725718138661896, + -0.9619966239043033, + 0.01634325189237442, + -0.018527915327516162, + -0.011735107097654622, + -0.9997594728808639 + ], + [ + 0.9580809542455548, + -0.2817339922636808, + -0.05202732661876085, + -0.28193480642767776, + -0.9594268473991915, + 0.0035901830365970082, + -0.050927890556303576, + 0.011228628269590842, + -0.9986392080579795 + ], + [ + 0.9581340878545898, + -0.2846178700659126, + -0.031172708098532818, + -0.28507669970284527, + -0.9584377391821947, + -0.011330286750868248, + -0.026652297791876136, + 0.019742546706703987, + -0.999449792071591 + ], + [ + 0.9566009501954661, + -0.29029547777509934, + -0.025360553394165226, + -0.29084011382772657, + -0.9565344327116625, + -0.02130509858351226, + -0.018073468781795377, + 0.02775634378488906, + -0.9994513170264416 + ], + [ + 0.956067912571718, + -0.2925014601406383, + 0.01941757879740075, + -0.2917283756120614, + -0.9558619997510487, + -0.03496272722021485, + 0.028787174462018717, + 0.02776208291036026, + -0.9991999626395972 + ], + [ + 0.9694208311433222, + -0.23852161137460678, + 0.057712156887877064, + -0.23985266086594678, + -0.9706559721493953, + 0.017253544744113974, + 0.051903306454550796, + -0.030568360079877767, + -0.9981841624375292 + ], + [ + 0.9858920300596921, + -0.16261740942747183, + 0.03965454848913963, + -0.16584951296704803, + -0.9810431406014316, + 0.1002411857844519, + 0.02260186083871181, + -0.10540367370247603, + -0.9941726316171904 + ], + [ + 0.9894227405826118, + -0.14212969625143512, + 0.02901361510511514, + -0.1448949412733222, + -0.9778839931413311, + 0.1508255679630113, + 0.006935157632922651, + -0.1534341728606741, + -0.9881345344573109 + ], + [ + 0.9935919240658085, + -0.11094746284227593, + -0.021581216834694567, + -0.10609255232932814, + -0.9813249400607794, + 0.1604547673176347, + -0.038980235651584635, + -0.15713695460829485, + -0.9868072348361545 + ], + [ + 0.9941900264038925, + -0.1048947898978391, + -0.024151075572635468, + -0.09983145914813377, + -0.9824611078791553, + 0.15749238479754107, + -0.04024762307741236, + -0.15416632108586636, + -0.9872248347157134 + ], + [ + 0.9955792889955957, + -0.08645904402822716, + -0.036697588868339834, + -0.0801870402141828, + -0.9858471082161586, + 0.14722607718582675, + -0.048907237753870875, + -0.14363256221192694, + -0.9884218578965783 + ], + [ + 0.9960205908929962, + -0.08028056725684304, + -0.03870417339365559, + -0.07497883561422536, + -0.9895646318430888, + 0.12304476264834259, + -0.048178384438476426, + -0.11965312334482327, + -0.9916460927905312 + ], + [ + 0.9952028446011925, + -0.08709719803272603, + -0.044557560441994604, + -0.08234790066562472, + -0.9916592732086955, + 0.09914993250207181, + -0.05282159930992528, + -0.09500507330689818, + -0.9940744009842984 + ], + [ + 0.9949641957116508, + -0.08949817671572968, + -0.04512566472006757, + -0.0849210995263352, + -0.9918694375494991, + 0.09478093537457183, + -0.05324148858837627, + -0.09047151606887391, + -0.9944748607547068 + ], + [ + 0.9950755077367525, + -0.08910719946326598, + -0.043412451051021116, + -0.08546260003017264, + -0.9931565284078078, + 0.07960059093394581, + -0.05020834490925099, + -0.07549845749923881, + -0.995881069715008 + ], + [ + 0.9976081485803157, + -0.0631800766093828, + 0.028040324637704676, + -0.0645128602805897, + -0.9966890210415904, + 0.049488242983296994, + 0.0248208127298938, + -0.05117883600463432, + -0.9983810164464461 + ], + [ + 0.9968587265842653, + -0.07280398082937621, + 0.031181077726592246, + -0.07383484043530171, + -0.9967145960482111, + 0.03329309781837737, + 0.028654765235288586, + -0.03549076499381674, + -0.9989591132921624 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0007454007863998413, + -0.0015995502471923828, + -0.004867099225521088, + -0.011215940117835999, + 0.014058610424399376, + -0.0009926538914442062, + 1.0 + ], + [ + 0.010695382952690125, + -0.02179599553346634, + 0.0002939961850643158, + -0.023407667875289917, + -0.0042432621121406555, + -0.06917528808116913, + 1.0 + ], + [ + 0.02910447120666504, + -0.03951214253902435, + 0.026646200567483902, + 0.01808546483516693, + -0.01973048597574234, + -0.05889434367418289, + 1.0 + ], + [ + 0.0271051824092865, + -0.03603145107626915, + 0.03140127658843994, + -0.0331532284617424, + -0.04913679137825966, + -0.011411264538764954, + 1.0 + ], + [ + 0.03470331430435181, + -0.04790140688419342, + -0.004056423902511597, + -0.11682828515768051, + -0.04559514671564102, + -0.06707794219255447, + 1.0 + ], + [ + 0.027130961418151855, + -0.0219839196652174, + -0.031149614602327347, + -0.04673607647418976, + 0.04854477196931839, + 0.024628087878227234, + 1.0 + ], + [ + 0.008552253246307373, + -0.0050737690180540085, + -0.013537522405385971, + -0.020582232624292374, + 0.020925888791680336, + 0.030211150646209717, + 1.0 + ], + [ + 0.00654563307762146, + 0.002013443037867546, + -0.004715312272310257, + 0.01514337956905365, + 6.099231541156769e-05, + 6.839632987976074e-05, + 1.0 + ], + [ + 0.004806101322174072, + 0.002122923731803894, + -0.0008226595818996429, + 0.018254978582262993, + 0.00917159765958786, + -0.013257727026939392, + 1.0 + ], + [ + 0.0033676326274871826, + 0.0043725669384002686, + -0.0056186243891716, + 0.022103870287537575, + 0.028329547494649887, + -0.011885479092597961, + 1.0 + ], + [ + 0.002216815948486328, + 0.0022836290299892426, + 0.004538491368293762, + 0.009929846040904522, + 0.0014291107654571533, + -0.04307456314563751, + 1.0 + ], + [ + 0.004590064287185669, + 0.009037286043167114, + 0.004566684365272522, + 0.016868121922016144, + -0.010646648705005646, + -0.01846437156200409, + 1.0 + ], + [ + 0.0061234235763549805, + 0.0003887871280312538, + 0.006022915244102478, + 0.004309188574552536, + -0.02184140868484974, + -0.02748778462409973, + 1.0 + ], + [ + 0.004780471324920654, + 0.0005169613286852837, + -0.006558362394571304, + 0.0015006698668003082, + 0.01348797045648098, + -0.02126854658126831, + 1.0 + ], + [ + 0.001866757869720459, + -0.003619150258600712, + -0.007973793894052505, + -0.016454102471470833, + 0.007256796583533287, + -0.0037862658500671387, + 1.0 + ], + [ + 0.0003534853458404541, + -0.002282756380736828, + -0.01745406538248062, + -0.02298084646463394, + 0.03242095559835434, + -0.010078281164169312, + 0.0 + ], + [ + 0.00016564130783081055, + -0.0035301577299833298, + -0.0018248334527015686, + -0.008507391437888145, + -0.024294476956129074, + -0.0030001699924468994, + 0.0 + ], + [ + -0.005821675062179565, + -0.0006447359919548035, + 0.002420860342681408, + -0.008013598620891571, + -0.008581001311540604, + -0.0059623122215271, + 0.0 + ], + [ + -0.007883131504058838, + 0.00645147729665041, + 0.021073386073112488, + -1.2720003724098206e-05, + -0.04686560481786728, + -0.001005321741104126, + 0.0 + ], + [ + -0.017971068620681763, + 0.03129586577415466, + 0.02831133082509041, + 0.05839156359434128, + -0.023135486990213394, + 0.05361221730709076, + 0.0 + ], + [ + -0.014357447624206543, + 0.04818268120288849, + 0.0004327148199081421, + 0.07501251250505447, + 0.029322853311896324, + 0.07588519155979156, + 0.0 + ], + [ + -0.002970486879348755, + 0.020938783884048462, + -0.0012971311807632446, + 0.048419490456581116, + 0.01566857285797596, + 0.02125205099582672, + 0.0 + ], + [ + -0.006837397813796997, + 0.02203010767698288, + -0.015799257904291153, + 0.003865540027618408, + 0.0459253266453743, + 0.039036571979522705, + 0.0 + ], + [ + 0.003956109285354614, + 0.007670409977436066, + -0.004182003438472748, + -0.003001779317855835, + 0.001268383115530014, + 0.00629434734582901, + 0.0 + ], + [ + 0.0030934512615203857, + 0.008164793252944946, + -0.005129985511302948, + -0.010605201125144958, + 0.008668258786201477, + 0.019709788262844086, + 0.0 + ], + [ + -0.001610100269317627, + 0.0019604861736297607, + -0.0007614493370056152, + -0.024224355816841125, + -0.0007297135889530182, + 0.005232922732830048, + 1.0 + ], + [ + -0.0009682178497314453, + -0.00318349152803421, + -0.000978361815214157, + -0.02479860931634903, + 0.004649151116609573, + -0.007420085370540619, + 1.0 + ], + [ + -9.006261825561523e-05, + -0.0006928145885467529, + -6.350129842758179e-05, + -0.004557572305202484, + 0.00042048096656799316, + -0.0025877878069877625, + 1.0 + ], + [ + -0.0004686713218688965, + -0.0013862252235412598, + 0.0006204657256603241, + -0.015058442950248718, + -0.0030372105538845062, + -0.0005307421088218689, + 1.0 + ], + [ + -0.003243684768676758, + 0.0011573657393455505, + 0.025810930877923965, + -0.024448983371257782, + -0.07505282759666443, + 0.021097682416439056, + 1.0 + ], + [ + -0.00757831335067749, + -0.0021892711520195007, + 0.0008845329284667969, + -0.015704188495874405, + -0.003835326060652733, + -0.009354889392852783, + 1.0 + ], + [ + -0.005319088697433472, + 0.0007249638438224792, + 0.009110957384109497, + 0.024572327733039856, + -0.01974545046687126, + -0.0067742615938186646, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9476637244224548 + ], + [ + 0.7768828272819519 + ], + [ + 0.7768828272819519 + ], + [ + 0.775918185710907 + ], + [ + 0.775918185710907 + ], + [ + 0.775918185710907 + ], + [ + 0.775918185710907 + ], + [ + 0.775918185710907 + ], + [ + 0.775918185710907 + ], + [ + 0.775918185710907 + ], + [ + 0.8417698740959167 + ], + [ + 1.0181074142456055 + ], + [ + 1.0105689764022827 + ], + [ + 1.0073583126068115 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2440558820962906, + 0.14045296609401703, + 0.032294876873493195 + ], + [ + 0.2547512650489807, + 0.11865697056055069, + 0.03258887305855751 + ], + [ + 0.28385573625564575, + 0.07914482802152634, + 0.05923507362604141 + ], + [ + 0.31096091866493225, + 0.04311337694525719, + 0.09063635021448135 + ], + [ + 0.34566423296928406, + -0.004788029473274946, + 0.08657992631196976 + ], + [ + 0.3727951943874359, + -0.026771949604153633, + 0.05543031170964241 + ], + [ + 0.3813474476337433, + -0.03184571862220764, + 0.04189278930425644 + ], + [ + 0.38789308071136475, + -0.029832275584340096, + 0.03717747703194618 + ], + [ + 0.3926991820335388, + -0.0277093518525362, + 0.03635481745004654 + ], + [ + 0.396066814661026, + -0.023336784914135933, + 0.03073619306087494 + ], + [ + 0.39828363060951233, + -0.02105315588414669, + 0.0352746844291687 + ], + [ + 0.402873694896698, + -0.012015869840979576, + 0.03984136879444122 + ], + [ + 0.408997118473053, + -0.011627082712948322, + 0.0458642840385437 + ], + [ + 0.41377758979797363, + -0.011110121384263039, + 0.0393059216439724 + ], + [ + 0.4156443476676941, + -0.01472927164286375, + 0.03133212774991989 + ], + [ + 0.41599783301353455, + -0.01701202802360058, + 0.013878063298761845 + ], + [ + 0.41616347432136536, + -0.020542185753583908, + 0.012053229846060276 + ], + [ + 0.4103417992591858, + -0.02118692174553871, + 0.014474090188741684 + ], + [ + 0.40245866775512695, + -0.014735444448888302, + 0.03554747626185417 + ], + [ + 0.3844875991344452, + 0.016560420393943787, + 0.06385880708694458 + ], + [ + 0.37013015151023865, + 0.06474310159683228, + 0.06429152190685272 + ], + [ + 0.3671596646308899, + 0.08568188548088074, + 0.06299439072608948 + ], + [ + 0.3603222668170929, + 0.10771199315786362, + 0.047195132821798325 + ], + [ + 0.3642783761024475, + 0.11538240313529968, + 0.04301312938332558 + ], + [ + 0.3673718273639679, + 0.12354719638824463, + 0.03788314387202263 + ], + [ + 0.36576172709465027, + 0.1255076825618744, + 0.037121694535017014 + ], + [ + 0.3647935092449188, + 0.12232419103384018, + 0.036143332719802856 + ], + [ + 0.3647034466266632, + 0.12163137644529343, + 0.036079831421375275 + ], + [ + 0.3642347753047943, + 0.12024515122175217, + 0.0367002971470356 + ], + [ + 0.36099109053611755, + 0.12140251696109772, + 0.06251122802495956 + ], + [ + 0.35341277718544006, + 0.11921324580907822, + 0.06339576095342636 + ], + [ + 0.3480936884880066, + 0.1199382096529007, + 0.07250671833753586 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9990704667261953, + 0.008006209832010076, + -0.0423568544586164, + 0.014749598288419267, + -0.9867822987562131, + 0.16137888403299327, + -0.04050496100273208, + -0.16185362357862076, + -0.9859831401543525 + ], + [ + 0.997863164282839, + -0.05888717090142837, + -0.028309123452791362, + -0.05435041422967881, + -0.9885744818986206, + 0.1405934785540771, + -0.03626482924958756, + -0.13875444080136456, + -0.9896626027679325 + ], + [ + 0.9934516405126997, + -0.11424369564815252, + 0.0014886125344678045, + -0.11304961449479521, + -0.9810148119403358, + 0.1575745011613419, + -0.01654154240703284, + -0.15671093375485914, + -0.9875059800408686 + ], + [ + 0.9917056780918481, + -0.11943026370375988, + 0.04750010686344081, + -0.12432949427224017, + -0.9850884922914257, + 0.11892366967519465, + 0.032588723423861175, + -0.12384294274061881, + -0.9917665555154332 + ], + [ + 0.9786641193900708, + -0.19005023452896613, + 0.07808616890296347, + -0.19004044320477143, + -0.9817466511887408, + -0.007625144341385256, + 0.07810999529504026, + -0.007377074974397837, + -0.9969174526508355 + ], + [ + 0.9856266034758948, + -0.16741167330850718, + 0.022661203865133654, + -0.16631788101897751, + -0.9851031121909785, + -0.04370607286185838, + 0.029640529245084635, + 0.039308904737915366, + -0.9987873893048395 + ], + [ + 0.9905983390450179, + -0.13680179748714272, + 0.0004459658494445672, + -0.1365244005831423, + -0.9887869343274209, + -0.060510218548561326, + 0.008718871868870048, + 0.05988043676917991, + -0.9981674782147868 + ], + [ + 0.9906081994628668, + -0.13670896976477367, + 0.002460232263775584, + -0.1364567192875161, + -0.9895995808301716, + -0.04552179018928165, + 0.008657881855602057, + 0.04475854339233057, + -0.9989603164666612 + ], + [ + 0.9887490175875486, + -0.14951709636173025, + -0.0044741608391759575, + -0.1495831421893384, + -0.9884035015324961, + -0.02614195346689704, + -0.0005136072642671742, + 0.026517089845198284, + -0.9996482282051622 + ], + [ + 0.9864909986713886, + -0.16119680944161746, + -0.02917358678958054, + -0.1612569769591924, + -0.9869124079595926, + 0.0002939343142596127, + -0.028839156060967153, + 0.004414480857526633, + -0.9995743171152656 + ], + [ + 0.9785906877256547, + -0.20383193106133654, + -0.028509818947806225, + -0.20357832820747493, + -0.9789903846315484, + 0.01156248603123974, + -0.030267642473105944, + -0.005510959878236989, + -0.9995266375341583 + ], + [ + 0.9749241269050413, + -0.22208597167941013, + -0.014169261154172507, + -0.2216705469303985, + -0.9747703114621175, + 0.02617266733874086, + -0.019624357365807043, + -0.022375456984352955, + -0.999557013642904 + ], + [ + 0.9686475304321538, + -0.24828401317435347, + 0.0087755677723656, + -0.24842916911233534, + -0.9683195863817883, + 0.025300722589632202, + 0.0022157892148375056, + -0.02668758946477401, + -0.9996413671145844 + ], + [ + 0.96308630061278, + -0.26917295866735863, + -0.0032704578044567036, + -0.268956726881695, + -0.962679318089223, + 0.030179622071099407, + -0.0112719402533745, + -0.028185968947855557, + -0.9995391410632178 + ], + [ + 0.9619570274390179, + -0.2728090593402808, + -0.014625132565533628, + -0.2725718138661896, + -0.9619966239043033, + 0.01634325189237442, + -0.018527915327516162, + -0.011735107097654622, + -0.9997594728808639 + ], + [ + 0.9580809542455548, + -0.2817339922636808, + -0.05202732661876085, + -0.28193480642767776, + -0.9594268473991915, + 0.0035901830365970082, + -0.050927890556303576, + 0.011228628269590842, + -0.9986392080579795 + ], + [ + 0.9581340878545898, + -0.2846178700659126, + -0.031172708098532818, + -0.28507669970284527, + -0.9584377391821947, + -0.011330286750868248, + -0.026652297791876136, + 0.019742546706703987, + -0.999449792071591 + ], + [ + 0.9566009501954661, + -0.29029547777509934, + -0.025360553394165226, + -0.29084011382772657, + -0.9565344327116625, + -0.02130509858351226, + -0.018073468781795377, + 0.02775634378488906, + -0.9994513170264416 + ], + [ + 0.956067912571718, + -0.2925014601406383, + 0.01941757879740075, + -0.2917283756120614, + -0.9558619997510487, + -0.03496272722021485, + 0.028787174462018717, + 0.02776208291036026, + -0.9991999626395972 + ], + [ + 0.9694208311433222, + -0.23852161137460678, + 0.057712156887877064, + -0.23985266086594678, + -0.9706559721493953, + 0.017253544744113974, + 0.051903306454550796, + -0.030568360079877767, + -0.9981841624375292 + ], + [ + 0.9858920300596921, + -0.16261740942747183, + 0.03965454848913963, + -0.16584951296704803, + -0.9810431406014316, + 0.1002411857844519, + 0.02260186083871181, + -0.10540367370247603, + -0.9941726316171904 + ], + [ + 0.9894227405826118, + -0.14212969625143512, + 0.02901361510511514, + -0.1448949412733222, + -0.9778839931413311, + 0.1508255679630113, + 0.006935157632922651, + -0.1534341728606741, + -0.9881345344573109 + ], + [ + 0.9935919240658085, + -0.11094746284227593, + -0.021581216834694567, + -0.10609255232932814, + -0.9813249400607794, + 0.1604547673176347, + -0.038980235651584635, + -0.15713695460829485, + -0.9868072348361545 + ], + [ + 0.9941900264038925, + -0.1048947898978391, + -0.024151075572635468, + -0.09983145914813377, + -0.9824611078791553, + 0.15749238479754107, + -0.04024762307741236, + -0.15416632108586636, + -0.9872248347157134 + ], + [ + 0.9955792889955957, + -0.08645904402822716, + -0.036697588868339834, + -0.0801870402141828, + -0.9858471082161586, + 0.14722607718582675, + -0.048907237753870875, + -0.14363256221192694, + -0.9884218578965783 + ], + [ + 0.9960205908929962, + -0.08028056725684304, + -0.03870417339365559, + -0.07497883561422536, + -0.9895646318430888, + 0.12304476264834259, + -0.048178384438476426, + -0.11965312334482327, + -0.9916460927905312 + ], + [ + 0.9952028446011925, + -0.08709719803272603, + -0.044557560441994604, + -0.08234790066562472, + -0.9916592732086955, + 0.09914993250207181, + -0.05282159930992528, + -0.09500507330689818, + -0.9940744009842984 + ], + [ + 0.9949641957116508, + -0.08949817671572968, + -0.04512566472006757, + -0.0849210995263352, + -0.9918694375494991, + 0.09478093537457183, + -0.05324148858837627, + -0.09047151606887391, + -0.9944748607547068 + ], + [ + 0.9950755077367525, + -0.08910719946326598, + -0.043412451051021116, + -0.08546260003017264, + -0.9931565284078078, + 0.07960059093394581, + -0.05020834490925099, + -0.07549845749923881, + -0.995881069715008 + ], + [ + 0.9976081485803157, + -0.0631800766093828, + 0.028040324637704676, + -0.0645128602805897, + -0.9966890210415904, + 0.049488242983296994, + 0.0248208127298938, + -0.05117883600463432, + -0.9983810164464461 + ], + [ + 0.9968587265842653, + -0.07280398082937621, + 0.031181077726592246, + -0.07383484043530171, + -0.9967145960482111, + 0.03329309781837737, + 0.028654765235288586, + -0.03549076499381674, + -0.9989591132921624 + ], + [ + 0.9955775370663218, + -0.07757767107640896, + 0.05298181423202792, + -0.08052475589273965, + -0.9951805191276494, + 0.0559597894674122, + 0.048385239250946226, + -0.05997865703050466, + -0.9970262931956437 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005757.json b/json/chunk-0005/episode_0005757.json new file mode 100644 index 0000000000000000000000000000000000000000..6e9e9e92e1d8b317e60d35082cecb9062a9f9c9a --- /dev/null +++ b/json/chunk-0005/episode_0005757.json @@ -0,0 +1,2062 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 33, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nUnfold the cloth from left top to bottom right." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005757.mp4", + "start": 0, + "end": 33, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2318304479122162, + 0.08126495033502579, + 0.07141314446926117, + 0.052229661494493484, + -0.07898923009634018, + 0.11026782542467117, + 0.0, + 1.0008161067962646 + ], + [ + 0.22837811708450317, + 0.07975193858146667, + 0.06568082422018051, + 0.046737853437662125, + -0.05538696050643921, + 0.11827518045902252, + 0.0, + 1.0008161067962646 + ], + [ + 0.2128535509109497, + 0.06862042099237442, + 0.061717741191387177, + 0.042737219482660294, + -0.04004110395908356, + 0.16087347269058228, + 0.0, + 1.0008161067962646 + ], + [ + 0.2019098699092865, + 0.056488119065761566, + 0.06815768778324127, + 0.05882769078016281, + -0.050734564661979675, + 0.18470335006713867, + 0.0, + 1.0008161067962646 + ], + [ + 0.18550647795200348, + 0.046979598701000214, + 0.07478316128253937, + 0.07790069282054901, + -0.05580957233905792, + 0.23723135888576508, + 0.0, + 1.0008161067962646 + ], + [ + 0.17121131718158722, + 0.04190858080983162, + 0.061481643468141556, + 0.06311274319887161, + -0.04255230352282524, + 0.28800728917121887, + 0.0, + 1.0008161067962646 + ], + [ + 0.1676303744316101, + 0.049771763384342194, + 0.04024748131632805, + 0.04417085275053978, + -0.02710598334670067, + 0.3159273862838745, + 0.0, + 1.0008161067962646 + ], + [ + 0.16818562150001526, + 0.05540250986814499, + 0.028363997116684914, + 0.017442859709262848, + -0.019001172855496407, + 0.32617494463920593, + 0.0, + 1.0008161067962646 + ], + [ + 0.16700945794582367, + 0.06066197529435158, + 0.015351125039160252, + -0.01712963357567787, + 0.007133358623832464, + 0.341938853263855, + 0.0, + 1.0008161067962646 + ], + [ + 0.16553577780723572, + 0.06814951449632645, + 0.015080325305461884, + -0.01969999261200428, + -0.0014332147547975183, + 0.34715989232063293, + 0.0, + 0.9858682155609131 + ], + [ + 0.15952658653259277, + 0.06954526156187057, + 0.019587062299251556, + 0.0003574711736291647, + -0.006125475279986858, + 0.3528144955635071, + 0.0, + 0.9032710790634155 + ], + [ + 0.15699052810668945, + 0.06881362944841385, + 0.03247002139687538, + 0.02923787385225296, + -0.033710818737745285, + 0.3704935610294342, + 0.0, + 0.6099167466163635 + ], + [ + 0.1555015742778778, + 0.06448289006948471, + 0.04422050341963768, + 0.06116282194852829, + -0.04037788137793541, + 0.3633541464805603, + 0.0, + 0.31575894355773926 + ], + [ + 0.15605606138706207, + 0.06212916225194931, + 0.04866914823651314, + 0.07220286130905151, + -0.05219975486397743, + 0.35878318548202515, + 0.0, + 0.12351571768522263 + ], + [ + 0.15836866199970245, + 0.0621786005795002, + 0.04939407855272293, + 0.0699242651462555, + -0.057433318346738815, + 0.3483615815639496, + 0.0, + 0.05511022359132767 + ], + [ + 0.17325639724731445, + 0.058938853442668915, + 0.05975937098264694, + 0.07625343650579453, + -0.08116442710161209, + 0.31839266419410706, + 0.0, + 0.051409780979156494 + ], + [ + 0.20717565715312958, + 0.05934178829193115, + 0.07920950651168823, + 0.06988761574029922, + -0.09657874703407288, + 0.296883225440979, + 0.0, + 0.051409780979156494 + ], + [ + 0.25434696674346924, + 0.06218688562512398, + 0.0965249091386795, + 0.022506097331643105, + -0.10001613944768906, + 0.2846836745738983, + 0.0, + 0.051409780979156494 + ], + [ + 0.2956617772579193, + 0.08117786794900894, + 0.09741443395614624, + -0.06404134631156921, + -0.11119259148836136, + 0.30772048234939575, + 0.0, + 0.05115113407373428 + ], + [ + 0.33162304759025574, + 0.09879236668348312, + 0.08992180228233337, + -0.15152688324451447, + -0.1619061380624771, + 0.3367156982421875, + 0.0, + 0.05115113407373428 + ], + [ + 0.36444970965385437, + 0.1252976357936859, + 0.0752982422709465, + -0.2293933629989624, + -0.1857413351535797, + 0.3845251202583313, + 0.0, + 0.05115113407373428 + ], + [ + 0.3847436010837555, + 0.14945779740810394, + 0.05546439066529274, + -0.31229209899902344, + -0.19449494779109955, + 0.4398570656776428, + 0.0, + 0.05115113407373428 + ], + [ + 0.3912409842014313, + 0.16727229952812195, + 0.03362705186009407, + -0.3548000752925873, + -0.20290368795394897, + 0.49230897426605225, + 0.0, + 0.05115113407373428 + ], + [ + 0.3911397159099579, + 0.1756889671087265, + 0.01734660193324089, + -0.36104607582092285, + -0.20772336423397064, + 0.5250012278556824, + 0.0, + 0.05115113407373428 + ], + [ + 0.38884103298187256, + 0.1771344095468521, + 0.010616916231811047, + -0.3685290813446045, + -0.21503908932209015, + 0.5435777306556702, + 0.0, + 0.07365728914737701 + ], + [ + 0.38779136538505554, + 0.1770368069410324, + 0.0072304867208004, + -0.3453109562397003, + -0.20471175014972687, + 0.5442553758621216, + 0.0, + 0.21919596195220947 + ], + [ + 0.3922148644924164, + 0.16971178352832794, + 0.01079505868256092, + -0.23685431480407715, + -0.22047045826911926, + 0.4784253239631653, + 0.0, + 0.4448287785053253 + ], + [ + 0.3885527551174164, + 0.16565611958503723, + 0.024056177586317062, + -0.11325816810131073, + -0.2531983256340027, + 0.43630680441856384, + 0.0, + 0.7339323163032532 + ], + [ + 0.385209858417511, + 0.16068509221076965, + 0.062113624066114426, + -0.023730536922812462, + -0.3590872287750244, + 0.40920156240463257, + 0.0, + 0.9809558987617493 + ], + [ + 0.3759368062019348, + 0.14567363262176514, + 0.10644125938415527, + 0.0650966539978981, + -0.46712005138397217, + 0.36781543493270874, + 0.0, + 1.0041072368621826 + ], + [ + 0.3527430295944214, + 0.12736953794956207, + 0.13103580474853516, + 0.11756987869739532, + -0.4026593863964081, + 0.2548350393772125, + 0.0, + 0.9994885921478271 + ], + [ + 0.324866384267807, + 0.10557015985250473, + 0.12437054514884949, + 0.14797860383987427, + -0.20125828683376312, + 0.09168456494808197, + 0.0, + 0.9994885921478271 + ], + [ + 0.3065330684185028, + 0.09105043858289719, + 0.10491758584976196, + 0.1034616082906723, + -0.07593687623739243, + 0.05663010850548744, + 0.0, + 1.0001531839370728 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9858682155609131 + ], + [ + 0.9032710790634155 + ], + [ + 0.6099167466163635 + ], + [ + 0.31575894355773926 + ], + [ + 0.12351571768522263 + ], + [ + 0.05511022359132767 + ], + [ + 0.051409780979156494 + ], + [ + 0.051409780979156494 + ], + [ + 0.051409780979156494 + ], + [ + 0.05115113407373428 + ], + [ + 0.05115113407373428 + ], + [ + 0.05115113407373428 + ], + [ + 0.05115113407373428 + ], + [ + 0.05115113407373428 + ], + [ + 0.05115113407373428 + ], + [ + 0.07365728914737701 + ], + [ + 0.21919596195220947 + ], + [ + 0.4448287785053253 + ], + [ + 0.7339323163032532 + ], + [ + 0.9809558987617493 + ], + [ + 1.0041072368621826 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2318304479122162, + 0.08126495033502579, + 0.07141314446926117 + ], + [ + 0.22837811708450317, + 0.07975193858146667, + 0.06568082422018051 + ], + [ + 0.2128535509109497, + 0.06862042099237442, + 0.061717741191387177 + ], + [ + 0.2019098699092865, + 0.056488119065761566, + 0.06815768778324127 + ], + [ + 0.18550647795200348, + 0.046979598701000214, + 0.07478316128253937 + ], + [ + 0.17121131718158722, + 0.04190858080983162, + 0.061481643468141556 + ], + [ + 0.1676303744316101, + 0.049771763384342194, + 0.04024748131632805 + ], + [ + 0.16818562150001526, + 0.05540250986814499, + 0.028363997116684914 + ], + [ + 0.16700945794582367, + 0.06066197529435158, + 0.015351125039160252 + ], + [ + 0.16553577780723572, + 0.06814951449632645, + 0.015080325305461884 + ], + [ + 0.15952658653259277, + 0.06954526156187057, + 0.019587062299251556 + ], + [ + 0.15699052810668945, + 0.06881362944841385, + 0.03247002139687538 + ], + [ + 0.1555015742778778, + 0.06448289006948471, + 0.04422050341963768 + ], + [ + 0.15605606138706207, + 0.06212916225194931, + 0.04866914823651314 + ], + [ + 0.15836866199970245, + 0.0621786005795002, + 0.04939407855272293 + ], + [ + 0.17325639724731445, + 0.058938853442668915, + 0.05975937098264694 + ], + [ + 0.20717565715312958, + 0.05934178829193115, + 0.07920950651168823 + ], + [ + 0.25434696674346924, + 0.06218688562512398, + 0.0965249091386795 + ], + [ + 0.2956617772579193, + 0.08117786794900894, + 0.09741443395614624 + ], + [ + 0.33162304759025574, + 0.09879236668348312, + 0.08992180228233337 + ], + [ + 0.36444970965385437, + 0.1252976357936859, + 0.0752982422709465 + ], + [ + 0.3847436010837555, + 0.14945779740810394, + 0.05546439066529274 + ], + [ + 0.3912409842014313, + 0.16727229952812195, + 0.03362705186009407 + ], + [ + 0.3911397159099579, + 0.1756889671087265, + 0.01734660193324089 + ], + [ + 0.38884103298187256, + 0.1771344095468521, + 0.010616916231811047 + ], + [ + 0.38779136538505554, + 0.1770368069410324, + 0.0072304867208004 + ], + [ + 0.3922148644924164, + 0.16971178352832794, + 0.01079505868256092 + ], + [ + 0.3885527551174164, + 0.16565611958503723, + 0.024056177586317062 + ], + [ + 0.385209858417511, + 0.16068509221076965, + 0.062113624066114426 + ], + [ + 0.3759368062019348, + 0.14567363262176514, + 0.10644125938415527 + ], + [ + 0.3527430295944214, + 0.12736953794956207, + 0.13103580474853516 + ], + [ + 0.324866384267807, + 0.10557015985250473, + 0.12437054514884949 + ], + [ + 0.3065330684185028, + 0.09105043858289719, + 0.10491758584976196 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9908275701894508, + 0.1139888402882005, + 0.07257596325382275, + 0.1097013818181784, + -0.9921179647622413, + 0.06056030732427427, + 0.07890711615343286, + -0.05204313870030737, + -0.9955225656581419 + ], + [ + 0.9914908886264219, + 0.12043908990672743, + 0.049398819755409086, + 0.1178186659789844, + -0.9916240609557956, + 0.05291959637477313, + 0.05535864627789117, + -0.046649194590856785, + -0.9973761942849366 + ], + [ + 0.9862965584433624, + 0.16172238573627692, + 0.03263385902013867, + 0.16005207108828653, + -0.9859124894047157, + 0.04857877907221383, + 0.040030405233141386, + -0.042689965888528573, + -0.9982860980046288 + ], + [ + 0.9817259392614063, + 0.18626812401841983, + 0.03896621813787032, + 0.18341862461942512, + -0.9807427639247045, + 0.0670912747833107, + 0.050712802368119494, + -0.058718114615422125, + -0.9969856542057073 + ], + [ + 0.9704790209330629, + 0.23851907881613593, + 0.03576477274506763, + 0.23464652996408575, + -0.968024400875307, + 0.08871169757037274, + 0.05578060509368653, + -0.07770076158382107, + -0.9954150469752189 + ], + [ + 0.9579438641088043, + 0.28604913471678955, + 0.022791352396649853, + 0.28378503712101083, + -0.9561407629277355, + 0.07253202171588632, + 0.04253946311977634, + -0.06301376036821854, + -0.9971056413849725 + ], + [ + 0.9501594862549367, + 0.3115325760481682, + 0.012016852356024624, + 0.3105839601038374, + -0.9492097189836, + 0.05038365918919189, + 0.02710266418587146, + -0.04414027013812915, + -0.9986576401080405 + ], + [ + 0.9471039031566465, + 0.3206871838902364, + 0.012406720517329838, + 0.32036416076791396, + -0.947024612887028, + 0.02260944673459872, + 0.019000029497756605, + -0.017438826644134313, + -0.9996673877867378 + ], + [ + 0.9420823420714638, + 0.3353802447293755, + -0.0009758085925950909, + 0.33530579597580906, + -0.9419271260167177, + -0.01852869285500439, + -0.007133298127392315, + 0.0171283600835052, + -0.9998278528520173 + ], + [ + 0.9403418238663035, + 0.34013594277509607, + 0.008049516773714228, + 0.3402281590119589, + -0.940169932364676, + -0.01803602208729875, + 0.0014332142641354144, + 0.019698698177720117, + -0.9998049345682267 + ], + [ + 0.9383863041181456, + 0.3455423389004298, + 0.005624612938480762, + 0.3455338236198671, + -0.9384030926240496, + 0.0024520375718787273, + 0.006125436973942297, + -0.00035746445961907657, + -0.9999811754433372 + ], + [ + 0.9316191470106142, + 0.36283925002187317, + 0.020819307548056186, + 0.3618698330076245, + -0.9313936008835864, + 0.03944850050560633, + 0.03370443416302856, + -0.02921709904613128, + -0.999004690800338 + ], + [ + 0.9339481223763036, + 0.357053127984618, + 0.015936389370775794, + 0.3551216935807447, + -0.9320852555284238, + 0.07145389544913971, + 0.040366910435661214, + -0.06107487390828467, + -0.9973165858036086 + ], + [ + 0.9350494171159646, + 0.3537445943360557, + 0.023395502326604596, + 0.3506568794640342, + -0.9325635256875107, + 0.08581971476196563, + 0.05217605231943629, + -0.07204188042589359, + -0.9960359566948678 + ], + [ + 0.938383462559393, + 0.3442936903858675, + 0.029972186365450754, + 0.34079541727251167, + -0.9362673227318288, + 0.08521727495425306, + 0.057401748763426935, + -0.06975209778246454, + -0.9959114840656504 + ], + [ + 0.9466132392643131, + 0.317996618215741, + 0.05292944410134066, + 0.31200987820260206, + -0.9450465447693284, + 0.09765686931061968, + 0.08107534245084692, + -0.07592877598714665, + -0.9938116571179731 + ], + [ + 0.9517966799600301, + 0.29826617859525634, + 0.07155673779069723, + 0.2911779354004486, + -0.9519486841626545, + 0.09491634557294518, + 0.09642867806309545, + -0.06950531941638166, + -0.9929101271614821 + ], + [ + 0.9549542402837593, + 0.28293933565614465, + 0.08948592795812779, + 0.2794503197638675, + -0.9588763958884864, + 0.04963442547041846, + 0.09984947545150097, + -0.022391733884759103, + -0.9947505679846048 + ], + [ + 0.9471410384036916, + 0.2954982581340535, + 0.12491850467931853, + 0.3010164970550615, + -0.9532237508171651, + -0.027450853880250134, + 0.1109636060709853, + 0.0636023609451329, + -0.9917871837294168 + ], + [ + 0.9315010666560122, + 0.3036370120872255, + 0.2002756293447943, + 0.3260681172790958, + -0.9410693064467187, + -0.08982284429897218, + 0.1611997075455697, + 0.1489735726719126, + -0.9756134116198838 + ], + [ + 0.9110323174658065, + 0.32636630070369077, + 0.252002290263144, + 0.3686667856154111, + -0.918446328772215, + -0.14332181393228524, + 0.18467516811115212, + 0.2234756786091681, + -0.9570547023829356 + ], + [ + 0.8877526629256209, + 0.35148606791392134, + 0.2972419107913277, + 0.4177816635991135, + -0.8863333352649436, + -0.19967899328291588, + 0.19327102997817985, + 0.30144777799899586, + -0.9336892128061897 + ], + [ + 0.86316563219163, + 0.3815296926841599, + 0.33072675277871605, + 0.46296552743766795, + -0.8594458971582845, + -0.21683097163955442, + 0.2015142967821028, + 0.34027612825192693, + -0.9184792565617867 + ], + [ + 0.8467214420864819, + 0.40585886156607004, + 0.3440078254913427, + 0.4904394518131216, + -0.8460486540135626, + -0.20897564247319383, + 0.2062327413778744, + 0.34565916670924984, + -0.9154167339816516 + ], + [ + 0.836151547860983, + 0.4166845927622506, + 0.3566854905434753, + 0.5052891917122295, + -0.838157249834817, + -0.20536615419328003, + 0.21338561748272544, + 0.3519465509191611, + -0.911372702876064 + ], + [ + 0.8376496438398808, + 0.428349037456771, + 0.3389102776322648, + 0.5069697312998648, + -0.8406407585670587, + -0.19053820242025837, + 0.20328493726949845, + 0.3314215097812124, + -0.9213224284329987 + ], + [ + 0.8662333992487382, + 0.40197554364830046, + 0.29674123463824503, + 0.4492381803369806, + -0.8865608374190326, + -0.11043069719232343, + 0.21868871793829509, + 0.22896625049014854, + -0.9485513696068273 + ], + [ + 0.8774216772310048, + 0.394229093596442, + 0.27333975577522285, + 0.40912119930920376, + -0.9124758958954259, + 0.0027538492404022633, + 0.25050158602477834, + 0.10941280168228892, + -0.9619136105841849 + ], + [ + 0.8589226951258764, + 0.3901147588725086, + 0.3317563544343128, + 0.37249954230960175, + -0.9204982207763531, + 0.1180132048827828, + 0.35141982695465285, + 0.022214870186721497, + -0.9359543817760292 + ], + [ + 0.8331494261241131, + 0.3861503677078167, + 0.3959165660441343, + 0.3210558635014618, + -0.920605455966609, + 0.22228073905726292, + 0.4503167399291216, + -0.05808173519816924, + -0.8909777470711477 + ], + [ + 0.8903099114840619, + 0.29482669180851173, + 0.3470237503550593, + 0.23192449378987015, + -0.9494371781909311, + 0.21161302854303288, + 0.3918664194512642, + -0.1079178690768625, + -0.9136708613282767 + ], + [ + 0.9757005080368513, + 0.11990520444444552, + 0.18338827815257377, + 0.0897081816800655, + -0.9822184726396829, + 0.1649221457082842, + 0.19990237806561081, + -0.14446319237959507, + -0.9691075406224066 + ], + [ + 0.995519744230316, + 0.06411963135453987, + 0.06949181047118996, + 0.056436734326928514, + -0.9926146761952408, + 0.10738249214992492, + 0.07586391675966625, + -0.10297950027444737, + -0.991786211165041 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0034523308277130127, + -0.0015130117535591125, + -0.005732320249080658, + -0.00549180805683136, + 0.02360226958990097, + 0.008007355034351349, + 1.0 + ], + [ + -0.015524566173553467, + -0.011131517589092255, + -0.003963083028793335, + -0.004000633955001831, + 0.015345856547355652, + 0.04259829223155975, + 1.0 + ], + [ + -0.010943681001663208, + -0.012132301926612854, + 0.0064399465918540955, + 0.016090471297502518, + -0.010693460702896118, + 0.023829877376556396, + 1.0 + ], + [ + -0.01640339195728302, + -0.009508520364761353, + 0.006625473499298096, + 0.0190730020403862, + -0.005075007677078247, + 0.052528008818626404, + 1.0 + ], + [ + -0.01429516077041626, + -0.005071017891168594, + -0.013301517814397812, + -0.014787949621677399, + 0.013257268816232681, + 0.050775930285453796, + 1.0 + ], + [ + -0.003580942749977112, + 0.007863182574510574, + -0.021234162151813507, + -0.018941890448331833, + 0.015446320176124573, + 0.02792009711265564, + 1.0 + ], + [ + 0.0005552470684051514, + 0.005630746483802795, + -0.011883484199643135, + -0.026727993041276932, + 0.008104810491204262, + 0.010247558355331421, + 1.0 + ], + [ + -0.0011761635541915894, + 0.005259465426206589, + -0.013012872077524662, + -0.03457249328494072, + 0.026134531944990158, + 0.015763908624649048, + 1.0 + ], + [ + -0.0014736801385879517, + 0.007487539201974869, + -0.00027079973369836807, + -0.0025703590363264084, + -0.00856657326221466, + 0.005221039056777954, + 0.0 + ], + [ + -0.006009191274642944, + 0.0013957470655441284, + 0.004506736993789673, + 0.02005746401846409, + -0.004692260641604662, + 0.0056546032428741455, + 0.0 + ], + [ + -0.0025360584259033203, + -0.0007316321134567261, + 0.012882959097623825, + 0.028880402445793152, + -0.027585342526435852, + 0.017679065465927124, + 0.0 + ], + [ + -0.0014889538288116455, + -0.004330739378929138, + 0.011750482022762299, + 0.03192494809627533, + -0.0066670626401901245, + -0.007139414548873901, + 0.0 + ], + [ + 0.0005544871091842651, + -0.0023537278175354004, + 0.004448644816875458, + 0.011040039360523224, + -0.011821873486042023, + -0.004570960998535156, + 0.0 + ], + [ + 0.002312600612640381, + 4.943832755088806e-05, + 0.0007249303162097931, + -0.0022785961627960205, + -0.005233563482761383, + -0.010421603918075562, + 0.0 + ], + [ + 0.014887735247612, + -0.0032397471368312836, + 0.010365292429924011, + 0.006329171359539032, + -0.023731108754873276, + -0.02996891736984253, + 0.0 + ], + [ + 0.033919259905815125, + 0.00040293484926223755, + 0.01945013552904129, + -0.0063658207654953, + -0.015414319932460785, + -0.021509438753128052, + 0.0 + ], + [ + 0.04717130959033966, + 0.0028450973331928253, + 0.017315402626991272, + -0.04738152027130127, + -0.0034373924136161804, + -0.012199550867080688, + 0.0 + ], + [ + 0.04131481051445007, + 0.018990982323884964, + 0.0008895248174667358, + -0.08654744178056717, + -0.011176452040672302, + 0.023036807775497437, + 0.0 + ], + [ + 0.035961270332336426, + 0.017614498734474182, + -0.007492631673812866, + -0.08748553693294525, + -0.05071354657411575, + 0.028995215892791748, + 0.0 + ], + [ + 0.03282666206359863, + 0.02650526911020279, + -0.014623560011386871, + -0.07786647975444794, + -0.0238351970911026, + 0.0478094220161438, + 0.0 + ], + [ + 0.020293891429901123, + 0.02416016161441803, + -0.019833851605653763, + -0.08289873600006104, + -0.008753612637519836, + 0.05533194541931152, + 0.0 + ], + [ + 0.006497383117675781, + 0.017814502120018005, + -0.02183733880519867, + -0.04250797629356384, + -0.008408740162849426, + 0.052451908588409424, + 0.0 + ], + [ + -0.00010126829147338867, + 0.008416667580604553, + -0.01628044992685318, + -0.006246000528335571, + -0.0048196762800216675, + 0.03269225358963013, + 0.0 + ], + [ + -0.002298682928085327, + 0.0014454424381256104, + -0.006729685701429844, + -0.007483005523681641, + -0.007315725088119507, + 0.018576502799987793, + 1.0 + ], + [ + -0.0010496675968170166, + -9.760260581970215e-05, + -0.003386429511010647, + 0.023218125104904175, + 0.010327339172363281, + 0.000677645206451416, + 1.0 + ], + [ + 0.00442349910736084, + -0.007325023412704468, + 0.003564571961760521, + 0.10845664143562317, + -0.015758708119392395, + -0.0658300518989563, + 1.0 + ], + [ + -0.003662109375, + -0.0040556639432907104, + 0.013261118903756142, + 0.12359614670276642, + -0.03272786736488342, + -0.04211851954460144, + 1.0 + ], + [ + -0.0033428966999053955, + -0.004971027374267578, + 0.03805744647979736, + 0.08952762931585312, + -0.10588890314102173, + -0.027105242013931274, + 1.0 + ], + [ + -0.009273052215576172, + -0.015011459589004517, + 0.04432763531804085, + 0.08882719278335571, + -0.10803282260894775, + -0.04138612747192383, + 1.0 + ], + [ + -0.023193776607513428, + -0.018304094672203064, + 0.024594545364379883, + 0.05247322469949722, + 0.06446066498756409, + -0.11298039555549622, + 1.0 + ], + [ + -0.02787664532661438, + -0.021799378097057343, + -0.006665259599685669, + 0.030408725142478943, + 0.20140109956264496, + -0.16315047442913055, + 1.0 + ], + [ + -0.0183333158493042, + -0.014519721269607544, + -0.019452959299087524, + -0.044516995549201965, + 0.1253214180469513, + -0.03505445644259453, + 1.0 + ], + [ + -0.004550278186798096, + -0.008561298251152039, + -0.009233228862285614, + -0.007008671760559082, + 0.03376784175634384, + -0.013452611863613129, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9858682155609131 + ], + [ + 0.9032710790634155 + ], + [ + 0.6099167466163635 + ], + [ + 0.31575894355773926 + ], + [ + 0.12351571768522263 + ], + [ + 0.05511022359132767 + ], + [ + 0.051409780979156494 + ], + [ + 0.051409780979156494 + ], + [ + 0.051409780979156494 + ], + [ + 0.05115113407373428 + ], + [ + 0.05115113407373428 + ], + [ + 0.05115113407373428 + ], + [ + 0.05115113407373428 + ], + [ + 0.05115113407373428 + ], + [ + 0.05115113407373428 + ], + [ + 0.07365728914737701 + ], + [ + 0.21919596195220947 + ], + [ + 0.4448287785053253 + ], + [ + 0.7339323163032532 + ], + [ + 0.9809558987617493 + ], + [ + 1.0041072368621826 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.22837811708450317, + 0.07975193858146667, + 0.06568082422018051 + ], + [ + 0.2128535509109497, + 0.06862042099237442, + 0.061717741191387177 + ], + [ + 0.2019098699092865, + 0.056488119065761566, + 0.06815768778324127 + ], + [ + 0.18550647795200348, + 0.046979598701000214, + 0.07478316128253937 + ], + [ + 0.17121131718158722, + 0.04190858080983162, + 0.061481643468141556 + ], + [ + 0.1676303744316101, + 0.049771763384342194, + 0.04024748131632805 + ], + [ + 0.16818562150001526, + 0.05540250986814499, + 0.028363997116684914 + ], + [ + 0.16700945794582367, + 0.06066197529435158, + 0.015351125039160252 + ], + [ + 0.16553577780723572, + 0.06814951449632645, + 0.015080325305461884 + ], + [ + 0.15952658653259277, + 0.06954526156187057, + 0.019587062299251556 + ], + [ + 0.15699052810668945, + 0.06881362944841385, + 0.03247002139687538 + ], + [ + 0.1555015742778778, + 0.06448289006948471, + 0.04422050341963768 + ], + [ + 0.15605606138706207, + 0.06212916225194931, + 0.04866914823651314 + ], + [ + 0.15836866199970245, + 0.0621786005795002, + 0.04939407855272293 + ], + [ + 0.17325639724731445, + 0.058938853442668915, + 0.05975937098264694 + ], + [ + 0.20717565715312958, + 0.05934178829193115, + 0.07920950651168823 + ], + [ + 0.25434696674346924, + 0.06218688562512398, + 0.0965249091386795 + ], + [ + 0.2956617772579193, + 0.08117786794900894, + 0.09741443395614624 + ], + [ + 0.33162304759025574, + 0.09879236668348312, + 0.08992180228233337 + ], + [ + 0.36444970965385437, + 0.1252976357936859, + 0.0752982422709465 + ], + [ + 0.3847436010837555, + 0.14945779740810394, + 0.05546439066529274 + ], + [ + 0.3912409842014313, + 0.16727229952812195, + 0.03362705186009407 + ], + [ + 0.3911397159099579, + 0.1756889671087265, + 0.01734660193324089 + ], + [ + 0.38884103298187256, + 0.1771344095468521, + 0.010616916231811047 + ], + [ + 0.38779136538505554, + 0.1770368069410324, + 0.0072304867208004 + ], + [ + 0.3922148644924164, + 0.16971178352832794, + 0.01079505868256092 + ], + [ + 0.3885527551174164, + 0.16565611958503723, + 0.024056177586317062 + ], + [ + 0.385209858417511, + 0.16068509221076965, + 0.062113624066114426 + ], + [ + 0.3759368062019348, + 0.14567363262176514, + 0.10644125938415527 + ], + [ + 0.3527430295944214, + 0.12736953794956207, + 0.13103580474853516 + ], + [ + 0.324866384267807, + 0.10557015985250473, + 0.12437054514884949 + ], + [ + 0.3065330684185028, + 0.09105043858289719, + 0.10491758584976196 + ], + [ + 0.3019827902317047, + 0.08248914033174515, + 0.09568435698747635 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9914908886264219, + 0.12043908990672743, + 0.049398819755409086, + 0.1178186659789844, + -0.9916240609557956, + 0.05291959637477313, + 0.05535864627789117, + -0.046649194590856785, + -0.9973761942849366 + ], + [ + 0.9862965584433624, + 0.16172238573627692, + 0.03263385902013867, + 0.16005207108828653, + -0.9859124894047157, + 0.04857877907221383, + 0.040030405233141386, + -0.042689965888528573, + -0.9982860980046288 + ], + [ + 0.9817259392614063, + 0.18626812401841983, + 0.03896621813787032, + 0.18341862461942512, + -0.9807427639247045, + 0.0670912747833107, + 0.050712802368119494, + -0.058718114615422125, + -0.9969856542057073 + ], + [ + 0.9704790209330629, + 0.23851907881613593, + 0.03576477274506763, + 0.23464652996408575, + -0.968024400875307, + 0.08871169757037274, + 0.05578060509368653, + -0.07770076158382107, + -0.9954150469752189 + ], + [ + 0.9579438641088043, + 0.28604913471678955, + 0.022791352396649853, + 0.28378503712101083, + -0.9561407629277355, + 0.07253202171588632, + 0.04253946311977634, + -0.06301376036821854, + -0.9971056413849725 + ], + [ + 0.9501594862549367, + 0.3115325760481682, + 0.012016852356024624, + 0.3105839601038374, + -0.9492097189836, + 0.05038365918919189, + 0.02710266418587146, + -0.04414027013812915, + -0.9986576401080405 + ], + [ + 0.9471039031566465, + 0.3206871838902364, + 0.012406720517329838, + 0.32036416076791396, + -0.947024612887028, + 0.02260944673459872, + 0.019000029497756605, + -0.017438826644134313, + -0.9996673877867378 + ], + [ + 0.9420823420714638, + 0.3353802447293755, + -0.0009758085925950909, + 0.33530579597580906, + -0.9419271260167177, + -0.01852869285500439, + -0.007133298127392315, + 0.0171283600835052, + -0.9998278528520173 + ], + [ + 0.9403418238663035, + 0.34013594277509607, + 0.008049516773714228, + 0.3402281590119589, + -0.940169932364676, + -0.01803602208729875, + 0.0014332142641354144, + 0.019698698177720117, + -0.9998049345682267 + ], + [ + 0.9383863041181456, + 0.3455423389004298, + 0.005624612938480762, + 0.3455338236198671, + -0.9384030926240496, + 0.0024520375718787273, + 0.006125436973942297, + -0.00035746445961907657, + -0.9999811754433372 + ], + [ + 0.9316191470106142, + 0.36283925002187317, + 0.020819307548056186, + 0.3618698330076245, + -0.9313936008835864, + 0.03944850050560633, + 0.03370443416302856, + -0.02921709904613128, + -0.999004690800338 + ], + [ + 0.9339481223763036, + 0.357053127984618, + 0.015936389370775794, + 0.3551216935807447, + -0.9320852555284238, + 0.07145389544913971, + 0.040366910435661214, + -0.06107487390828467, + -0.9973165858036086 + ], + [ + 0.9350494171159646, + 0.3537445943360557, + 0.023395502326604596, + 0.3506568794640342, + -0.9325635256875107, + 0.08581971476196563, + 0.05217605231943629, + -0.07204188042589359, + -0.9960359566948678 + ], + [ + 0.938383462559393, + 0.3442936903858675, + 0.029972186365450754, + 0.34079541727251167, + -0.9362673227318288, + 0.08521727495425306, + 0.057401748763426935, + -0.06975209778246454, + -0.9959114840656504 + ], + [ + 0.9466132392643131, + 0.317996618215741, + 0.05292944410134066, + 0.31200987820260206, + -0.9450465447693284, + 0.09765686931061968, + 0.08107534245084692, + -0.07592877598714665, + -0.9938116571179731 + ], + [ + 0.9517966799600301, + 0.29826617859525634, + 0.07155673779069723, + 0.2911779354004486, + -0.9519486841626545, + 0.09491634557294518, + 0.09642867806309545, + -0.06950531941638166, + -0.9929101271614821 + ], + [ + 0.9549542402837593, + 0.28293933565614465, + 0.08948592795812779, + 0.2794503197638675, + -0.9588763958884864, + 0.04963442547041846, + 0.09984947545150097, + -0.022391733884759103, + -0.9947505679846048 + ], + [ + 0.9471410384036916, + 0.2954982581340535, + 0.12491850467931853, + 0.3010164970550615, + -0.9532237508171651, + -0.027450853880250134, + 0.1109636060709853, + 0.0636023609451329, + -0.9917871837294168 + ], + [ + 0.9315010666560122, + 0.3036370120872255, + 0.2002756293447943, + 0.3260681172790958, + -0.9410693064467187, + -0.08982284429897218, + 0.1611997075455697, + 0.1489735726719126, + -0.9756134116198838 + ], + [ + 0.9110323174658065, + 0.32636630070369077, + 0.252002290263144, + 0.3686667856154111, + -0.918446328772215, + -0.14332181393228524, + 0.18467516811115212, + 0.2234756786091681, + -0.9570547023829356 + ], + [ + 0.8877526629256209, + 0.35148606791392134, + 0.2972419107913277, + 0.4177816635991135, + -0.8863333352649436, + -0.19967899328291588, + 0.19327102997817985, + 0.30144777799899586, + -0.9336892128061897 + ], + [ + 0.86316563219163, + 0.3815296926841599, + 0.33072675277871605, + 0.46296552743766795, + -0.8594458971582845, + -0.21683097163955442, + 0.2015142967821028, + 0.34027612825192693, + -0.9184792565617867 + ], + [ + 0.8467214420864819, + 0.40585886156607004, + 0.3440078254913427, + 0.4904394518131216, + -0.8460486540135626, + -0.20897564247319383, + 0.2062327413778744, + 0.34565916670924984, + -0.9154167339816516 + ], + [ + 0.836151547860983, + 0.4166845927622506, + 0.3566854905434753, + 0.5052891917122295, + -0.838157249834817, + -0.20536615419328003, + 0.21338561748272544, + 0.3519465509191611, + -0.911372702876064 + ], + [ + 0.8376496438398808, + 0.428349037456771, + 0.3389102776322648, + 0.5069697312998648, + -0.8406407585670587, + -0.19053820242025837, + 0.20328493726949845, + 0.3314215097812124, + -0.9213224284329987 + ], + [ + 0.8662333992487382, + 0.40197554364830046, + 0.29674123463824503, + 0.4492381803369806, + -0.8865608374190326, + -0.11043069719232343, + 0.21868871793829509, + 0.22896625049014854, + -0.9485513696068273 + ], + [ + 0.8774216772310048, + 0.394229093596442, + 0.27333975577522285, + 0.40912119930920376, + -0.9124758958954259, + 0.0027538492404022633, + 0.25050158602477834, + 0.10941280168228892, + -0.9619136105841849 + ], + [ + 0.8589226951258764, + 0.3901147588725086, + 0.3317563544343128, + 0.37249954230960175, + -0.9204982207763531, + 0.1180132048827828, + 0.35141982695465285, + 0.022214870186721497, + -0.9359543817760292 + ], + [ + 0.8331494261241131, + 0.3861503677078167, + 0.3959165660441343, + 0.3210558635014618, + -0.920605455966609, + 0.22228073905726292, + 0.4503167399291216, + -0.05808173519816924, + -0.8909777470711477 + ], + [ + 0.8903099114840619, + 0.29482669180851173, + 0.3470237503550593, + 0.23192449378987015, + -0.9494371781909311, + 0.21161302854303288, + 0.3918664194512642, + -0.1079178690768625, + -0.9136708613282767 + ], + [ + 0.9757005080368513, + 0.11990520444444552, + 0.18338827815257377, + 0.0897081816800655, + -0.9822184726396829, + 0.1649221457082842, + 0.19990237806561081, + -0.14446319237959507, + -0.9691075406224066 + ], + [ + 0.995519744230316, + 0.06411963135453987, + 0.06949181047118996, + 0.056436734326928514, + -0.9926146761952408, + 0.10738249214992492, + 0.07586391675966625, + -0.10297950027444737, + -0.991786211165041 + ], + [ + 0.9981798432452322, + 0.04701949259270792, + 0.03776463762897918, + 0.04312570986037641, + -0.9942491108267598, + 0.09802488851937777, + 0.04215653790294524, + -0.09621784105103426, + -0.9944671705871018 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005759.json b/json/chunk-0005/episode_0005759.json new file mode 100644 index 0000000000000000000000000000000000000000..e248afe494e501ca3d04bc5d4e6e939f736f40da --- /dev/null +++ b/json/chunk-0005/episode_0005759.json @@ -0,0 +1,1702 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 27, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut the pot in the lower left stove." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005759.mp4", + "start": 0, + "end": 27, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.402000367641449, + -0.04248102381825447, + 0.023672930896282196, + -0.0234720166772604, + -0.1585293412208557, + -0.04126106947660446, + 0.0, + 0.9974852800369263 + ], + [ + 0.3936108350753784, + -0.04163599759340286, + 0.0032361361663788557, + -0.020358247682452202, + -0.10336972028017044, + -0.04009883478283882, + 0.0, + 0.9974852800369263 + ], + [ + 0.3878365457057953, + -0.03302750363945961, + -0.009357288479804993, + -0.015800124034285545, + -0.10662838816642761, + -0.01733645796775818, + 0.0, + 0.9974852800369263 + ], + [ + 0.38691288232803345, + -0.013436279259622097, + -0.012897520326077938, + 0.008268661797046661, + -0.11604022979736328, + 0.02877729758620262, + 0.0, + 0.9974852800369263 + ], + [ + 0.3894834816455841, + -0.0005916053778491914, + -0.012823515571653843, + 0.03094380348920822, + -0.12983664870262146, + 0.03582335636019707, + 0.0, + 0.9974852800369263 + ], + [ + 0.388967365026474, + 0.010435136035084724, + -0.02389666996896267, + 0.037985190749168396, + -0.10575000196695328, + 0.05946332961320877, + 0.0, + 0.9974852800369263 + ], + [ + 0.39854541420936584, + 0.012766829691827297, + -0.02938995696604252, + 0.04500449821352959, + -0.10006466507911682, + 0.05961369723081589, + 0.0, + 0.9974852800369263 + ], + [ + 0.4067429006099701, + 0.013791128993034363, + -0.03529280051589012, + 0.05164805054664612, + -0.08815548568964005, + 0.05678264796733856, + 0.0, + 0.9545519351959229 + ], + [ + 0.41427186131477356, + 0.013464615680277348, + -0.037233058363199234, + 0.052228331565856934, + -0.09766817092895508, + 0.059123069047927856, + 0.0, + 0.8214757442474365 + ], + [ + 0.4132966697216034, + 0.013710185885429382, + -0.037020642310380936, + 0.054258543998003006, + -0.09011437743902206, + 0.05858723446726799, + 0.0, + 0.5256435871124268 + ], + [ + 0.41230612993240356, + 0.014382555149495602, + -0.03709957003593445, + 0.05484028533101082, + -0.08401799201965332, + 0.06045536324381828, + 0.0, + 0.27449509501457214 + ], + [ + 0.40791743993759155, + 0.01616673916578293, + -0.037768177688121796, + 0.050588347017765045, + -0.08368093520402908, + 0.06726789474487305, + 0.0, + 0.2432183027267456 + ], + [ + 0.4025407135486603, + 0.02614407055079937, + -0.03728128969669342, + 0.05259158834815025, + -0.07430525869131088, + 0.08613192290067673, + 0.0, + 0.2432183027267456 + ], + [ + 0.40043047070503235, + 0.0348062627017498, + -0.03424285724759102, + 0.04088004678487778, + -0.08725837618112564, + 0.11466711759567261, + 0.0, + 0.2432183027267456 + ], + [ + 0.4060707986354828, + 0.0402306392788887, + -0.017534801736474037, + 0.06079381704330444, + -0.13267409801483154, + 0.10319727659225464, + 0.0, + 0.2432183027267456 + ], + [ + 0.40647023916244507, + 0.06340961903333664, + 0.0012442414881661534, + 0.0973595380783081, + -0.17441771924495697, + 0.1270090937614441, + 0.0, + 0.2432183027267456 + ], + [ + 0.3927791714668274, + 0.09575760364532471, + 0.0026621592696756124, + 0.09572459757328033, + -0.18363292515277863, + 0.21051344275474548, + 0.0, + 0.2432183027267456 + ], + [ + 0.3790849447250366, + 0.118650421500206, + -0.004367091692984104, + 0.09389796108007431, + -0.16494570672512054, + 0.2732839584350586, + 0.0, + 0.2432183027267456 + ], + [ + 0.36649006605148315, + 0.13840435445308685, + -0.010414005257189274, + 0.08713386952877045, + -0.15854430198669434, + 0.3354925811290741, + 0.0, + 0.2432183027267456 + ], + [ + 0.36070486903190613, + 0.15568239986896515, + -0.011690178886055946, + 0.06798151880502701, + -0.17730164527893066, + 0.39495182037353516, + 0.0, + 0.2432183027267456 + ], + [ + 0.35676538944244385, + 0.1726112812757492, + -0.011614013463258743, + 0.062094226479530334, + -0.1872025728225708, + 0.4367542862892151, + 0.0, + 0.2432183027267456 + ], + [ + 0.3586781919002533, + 0.1847616583108902, + -0.01637820340692997, + 0.07269886136054993, + -0.17838117480278015, + 0.43637940287590027, + 0.0, + 0.2432183027267456 + ], + [ + 0.36249491572380066, + 0.1883009672164917, + -0.013767242431640625, + 0.0726846382021904, + -0.19286169111728668, + 0.4306986331939697, + 0.0, + 0.2824830114841461 + ], + [ + 0.37411943078041077, + 0.18457457423210144, + -0.006158638745546341, + 0.06682857871055603, + -0.22070486843585968, + 0.4198939800262451, + 0.0, + 0.570969820022583 + ], + [ + 0.38938090205192566, + 0.17145156860351562, + 0.002797442954033613, + 0.07884856313467026, + -0.23670759797096252, + 0.35744112730026245, + 0.0, + 0.8705081939697266 + ], + [ + 0.4133221209049225, + 0.12283702939748764, + 0.012261609546840191, + 0.05744118243455887, + -0.23411540687084198, + 0.21147188544273376, + 0.0, + 0.9994885921478271 + ], + [ + 0.41973796486854553, + 0.0787394791841507, + 0.019679348915815353, + 0.04688554257154465, + -0.21495051681995392, + 0.12435117363929749, + 0.0, + 0.9988223910331726 + ] + ], + "left_gripper_pos": [ + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9545519351959229 + ], + [ + 0.8214757442474365 + ], + [ + 0.5256435871124268 + ], + [ + 0.27449509501457214 + ], + [ + 0.2432183027267456 + ], + [ + 0.2432183027267456 + ], + [ + 0.2432183027267456 + ], + [ + 0.2432183027267456 + ], + [ + 0.2432183027267456 + ], + [ + 0.2432183027267456 + ], + [ + 0.2432183027267456 + ], + [ + 0.2432183027267456 + ], + [ + 0.2432183027267456 + ], + [ + 0.2432183027267456 + ], + [ + 0.2432183027267456 + ], + [ + 0.2824830114841461 + ], + [ + 0.570969820022583 + ], + [ + 0.8705081939697266 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.402000367641449, + -0.04248102381825447, + 0.023672930896282196 + ], + [ + 0.3936108350753784, + -0.04163599759340286, + 0.0032361361663788557 + ], + [ + 0.3878365457057953, + -0.03302750363945961, + -0.009357288479804993 + ], + [ + 0.38691288232803345, + -0.013436279259622097, + -0.012897520326077938 + ], + [ + 0.3894834816455841, + -0.0005916053778491914, + -0.012823515571653843 + ], + [ + 0.388967365026474, + 0.010435136035084724, + -0.02389666996896267 + ], + [ + 0.39854541420936584, + 0.012766829691827297, + -0.02938995696604252 + ], + [ + 0.4067429006099701, + 0.013791128993034363, + -0.03529280051589012 + ], + [ + 0.41427186131477356, + 0.013464615680277348, + -0.037233058363199234 + ], + [ + 0.4132966697216034, + 0.013710185885429382, + -0.037020642310380936 + ], + [ + 0.41230612993240356, + 0.014382555149495602, + -0.03709957003593445 + ], + [ + 0.40791743993759155, + 0.01616673916578293, + -0.037768177688121796 + ], + [ + 0.4025407135486603, + 0.02614407055079937, + -0.03728128969669342 + ], + [ + 0.40043047070503235, + 0.0348062627017498, + -0.03424285724759102 + ], + [ + 0.4060707986354828, + 0.0402306392788887, + -0.017534801736474037 + ], + [ + 0.40647023916244507, + 0.06340961903333664, + 0.0012442414881661534 + ], + [ + 0.3927791714668274, + 0.09575760364532471, + 0.0026621592696756124 + ], + [ + 0.3790849447250366, + 0.118650421500206, + -0.004367091692984104 + ], + [ + 0.36649006605148315, + 0.13840435445308685, + -0.010414005257189274 + ], + [ + 0.36070486903190613, + 0.15568239986896515, + -0.011690178886055946 + ], + [ + 0.35676538944244385, + 0.1726112812757492, + -0.011614013463258743 + ], + [ + 0.3586781919002533, + 0.1847616583108902, + -0.01637820340692997 + ], + [ + 0.36249491572380066, + 0.1883009672164917, + -0.013767242431640625 + ], + [ + 0.37411943078041077, + 0.18457457423210144, + -0.006158638745546341 + ], + [ + 0.38938090205192566, + 0.17145156860351562, + 0.002797442954033613 + ], + [ + 0.4133221209049225, + 0.12283702939748764, + 0.012261609546840191 + ], + [ + 0.41973796486854553, + 0.0787394791841507, + 0.019679348915815353 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.986620073806307, + -0.0449399439059467, + 0.156720232912562, + -0.04073211718496031, + -0.998720829254713, + -0.029959970667695027, + 0.1578661603766557, + 0.02317556157914731, + -0.9871885173326436 + ], + [ + 0.9938625464003858, + -0.04217862959544047, + 0.10226535125833833, + -0.03987410374666381, + -0.9989048875952296, + -0.024476139171895145, + 0.10318572921165495, + 0.020248178777665944, + -0.9944559902495669 + ], + [ + 0.994171158386691, + -0.0190146541948913, + 0.10612328094208942, + -0.01723713342415788, + -0.9996957773035178, + -0.01764182736660878, + 0.10642644907814372, + 0.015709734796111294, + -0.9941964670874933 + ], + [ + 0.9928636305448532, + 0.029729280481654533, + 0.11549017717250555, + 0.028579821890812457, + -0.9995242454097327, + 0.011596405425565118, + 0.11577998498006055, + -0.008212960498368033, + -0.9932409286562196 + ], + [ + 0.990946868786379, + 0.03980170099068391, + 0.12821906192418941, + 0.03551423607308315, + -0.9987365303260568, + 0.03555393126526045, + 0.12947216796908995, + -0.03067845482611106, + -0.9911083644742719 + ], + [ + 0.9926561279568156, + 0.06338682699641228, + 0.10303359545851527, + 0.05909630758684127, + -0.997274283858303, + 0.044177247362303704, + 0.10555301065996898, + -0.037763910261460254, + -0.9936963565508232 + ], + [ + 0.9932302231014561, + 0.06400441677783816, + 0.09693894238519458, + 0.05928036582439897, + -0.9969451318086406, + 0.0508551117467757, + 0.09989775846112224, + -0.044764258018874854, + -0.9939902409271745 + ], + [ + 0.9945113780435895, + 0.061214279442922986, + 0.0848524067668331, + 0.0565317604125692, + -0.9967990370355876, + 0.05653175947713657, + 0.08804134827736478, + -0.05142462209106337, + -0.9947885349340807 + ], + [ + 0.9934953218047552, + 0.0640897878239371, + 0.09412515417649563, + 0.05880702920419321, + -0.996590735622985, + 0.0578674259546346, + 0.09751296769273056, + -0.05195579628030617, + -0.9938771636196478 + ], + [ + 0.9942336669621332, + 0.06333964506712791, + 0.08653036947684901, + 0.05831613891808082, + -0.9965293806963668, + 0.05940051641696934, + 0.0899924631328471, + -0.054011876209643046, + -0.994476783946009 + ], + [ + 0.9946521394651339, + 0.06491915574709183, + 0.08032823086883482, + 0.060205421551002655, + -0.9963946098922112, + 0.059775317595262764, + 0.08391917941268288, + -0.054619452531431495, + -0.9949745156193041 + ], + [ + 0.9942470752861764, + 0.07134816241614053, + 0.07988862875731811, + 0.06698196855978195, + -0.996177848017328, + 0.056063455186262184, + 0.08358330678275983, + -0.050389828729672015, + -0.9952259522278616 + ], + [ + 0.9935438019346857, + 0.08979449447506146, + 0.06933730885416872, + 0.08578808874144997, + -0.9945797362168719, + 0.058749911803055034, + 0.07423690098097668, + -0.05242229553106, + -0.9958618305086279 + ], + [ + 0.9896533143341247, + 0.11785862691689078, + 0.0818270217516648, + 0.11398069161503474, + -0.9921954352017596, + 0.050563032976171735, + 0.08714768709748195, + -0.04071317263560076, + -0.9953631087233962 + ], + [ + 0.9859383343181943, + 0.1108183098916651, + 0.12507958712203676, + 0.10210888417631445, + -0.9920143955892133, + 0.07403522618345688, + 0.1322852096575135, + -0.06022243050992297, + -0.9893805547762423 + ], + [ + 0.9768951431711076, + 0.14280074592959163, + 0.1590088872065144, + 0.12474606176702197, + -0.9851109217971677, + 0.1183000077326857, + 0.1735347207976552, + -0.09573097052619584, + -0.9801639056605753 + ], + [ + 0.961481726647361, + 0.22507297093751907, + 0.15778164366163808, + 0.20544871489532943, + -0.9697997298741003, + 0.13145078730832882, + 0.18260261463370966, + -0.09397149402601065, + -0.9786856714182814 + ], + [ + 0.9498207249672557, + 0.28353000293270436, + 0.13210347406354467, + 0.2662317651133008, + -0.954492957969894, + 0.134401787304107, + 0.1641987748655061, + -0.09248746197654517, + -0.9820818864584582 + ], + [ + 0.9324056358006202, + 0.34095867588330475, + 0.11986205265698154, + 0.3251051232396208, + -0.9361425294901692, + 0.13395455693293468, + 0.15788093352457871, + -0.08593221642464141, + -0.9837119827519417 + ], + [ + 0.9085451761209089, + 0.39493356899514964, + 0.13628330428992488, + 0.37873185323380787, + -0.9162732383675379, + 0.1304052759574958, + 0.17637416560684924, + -0.06686425601334853, + -0.9820495532172852 + ], + [ + 0.8902981246375594, + 0.4326503300081775, + 0.14206667874860657, + 0.4156102949947807, + -0.8994978217052244, + 0.1348026388536506, + 0.18611107425727258, + -0.06097016230396222, + -0.980635155064019 + ], + [ + 0.8919071092276114, + 0.43322483780497634, + 0.12968403301138476, + 0.41595424886958454, + -0.8984467276746481, + 0.14062553245430448, + 0.17743666857948415, + -0.07148228759328341, + -0.9815327356761188 + ], + [ + 0.8918272478748946, + 0.4290512751526263, + 0.14338466876830477, + 0.4097650773899074, + -0.900463760744181, + 0.14579985232533485, + 0.19166831062941594, + -0.07127425114549879, + -0.9788683465227149 + ], + [ + 0.8909826693876259, + 0.420102787951227, + 0.17223103787211874, + 0.3977751044994078, + -0.9051342165584723, + 0.15002338569558454, + 0.21891744812003006, + -0.0651590175699978, + -0.9735653308011368 + ], + [ + 0.9106729510010061, + 0.3660948252318107, + 0.19144021326149996, + 0.3401219994367527, + -0.9274219847631593, + 0.1555811289234893, + 0.2345033087490755, + -0.0765704976897223, + -0.9690950196287687 + ], + [ + 0.9510506757838916, + 0.222574381774804, + 0.21439043045007175, + 0.2041731579310742, + -0.9733150324114891, + 0.1047433494894763, + 0.23198261501986708, + -0.05584346210064128, + -0.9711156337270853 + ], + [ + 0.969442999453697, + 0.1338144289210621, + 0.2056063457745133, + 0.12117661290414156, + -0.9899479756103757, + 0.0729330793947324, + 0.21329908414078702, + -0.045789782675270736, + -0.9759133140331945 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.008389532566070557, + 0.0008450262248516083, + -0.02043679542839527, + 0.003113768994808197, + 0.05515962094068527, + 0.0011622346937656403, + 1.0 + ], + [ + -0.00577428936958313, + 0.008608493953943253, + -0.012593424879014492, + 0.0045581236481666565, + -0.0032586678862571716, + 0.022762376815080643, + 1.0 + ], + [ + -0.0009236633777618408, + 0.01959122344851494, + -0.0035402318462729454, + 0.024068785831332207, + -0.009411841630935669, + 0.0461137555539608, + 1.0 + ], + [ + 0.002570599317550659, + 0.012844674289226532, + 7.400475442409515e-05, + 0.02267514169216156, + -0.013796418905258179, + 0.007046058773994446, + 1.0 + ], + [ + -0.0005161166191101074, + 0.01102674100548029, + -0.011073154397308826, + 0.0070413872599601746, + 0.024086646735668182, + 0.023639973253011703, + 1.0 + ], + [ + 0.009578049182891846, + 0.002331693656742573, + -0.005493286997079849, + 0.007019307464361191, + 0.005685336887836456, + 0.0001503676176071167, + 1.0 + ], + [ + 0.008197486400604248, + 0.0010242993012070656, + -0.005902843549847603, + 0.006643552333116531, + 0.011909179389476776, + -0.0028310492634773254, + 0.0 + ], + [ + 0.007528960704803467, + -0.00032651331275701523, + -0.0019402578473091125, + 0.0005802810192108154, + -0.009512685239315033, + 0.0023404210805892944, + 0.0 + ], + [ + -0.000975191593170166, + 0.00024557020515203476, + 0.00021241605281829834, + 0.0020302124321460724, + 0.007553793489933014, + -0.0005358345806598663, + 0.0 + ], + [ + -0.000990539789199829, + 0.0006723692640662193, + -7.892772555351257e-05, + 0.0005817413330078125, + 0.006096385419368744, + 0.001868128776550293, + 0.0 + ], + [ + -0.004388689994812012, + 0.0017841840162873268, + -0.0006686076521873474, + -0.004251938313245773, + 0.00033705681562423706, + 0.006812531501054764, + 0.0 + ], + [ + -0.005376726388931274, + 0.009977331385016441, + 0.00048688799142837524, + 0.002003241330385208, + 0.0093756765127182, + 0.01886402815580368, + 0.0 + ], + [ + -0.0021102428436279297, + 0.008662192150950432, + 0.0030384324491024017, + -0.011711541563272476, + -0.012953117489814758, + 0.02853519469499588, + 0.0 + ], + [ + 0.0056403279304504395, + 0.005424376577138901, + 0.01670805551111698, + 0.019913770258426666, + -0.0454157218337059, + -0.011469841003417969, + 0.0 + ], + [ + 0.0003994405269622803, + 0.023178979754447937, + 0.01877904310822487, + 0.03656572103500366, + -0.04174362123012543, + 0.023811817169189453, + 0.0 + ], + [ + -0.013691067695617676, + 0.03234798461198807, + 0.001417917781509459, + -0.001634940505027771, + -0.009215205907821655, + 0.08350434899330139, + 0.0 + ], + [ + -0.013694226741790771, + 0.022892817854881287, + -0.00702925119549036, + -0.0018266364932060242, + 0.01868721842765808, + 0.06277051568031311, + 0.0 + ], + [ + -0.012594878673553467, + 0.01975393295288086, + -0.00604691356420517, + -0.0067640915513038635, + 0.0064014047384262085, + 0.0622086226940155, + 0.0 + ], + [ + -0.005785197019577026, + 0.017278045415878296, + -0.0012761736288666725, + -0.01915235072374344, + -0.018757343292236328, + 0.05945923924446106, + 0.0 + ], + [ + -0.00393947958946228, + 0.016928881406784058, + 7.616542279720306e-05, + -0.005887292325496674, + -0.009900927543640137, + 0.04180246591567993, + 0.0 + ], + [ + 0.0019128024578094482, + 0.012150377035140991, + -0.0047641899436712265, + 0.010604634881019592, + 0.00882139801979065, + -0.00037488341331481934, + 0.0 + ], + [ + 0.0038167238235473633, + 0.0035393089056015015, + 0.002610960975289345, + -1.4223158359527588e-05, + -0.01448051631450653, + -0.005680769681930542, + 1.0 + ], + [ + 0.011624515056610107, + -0.003726392984390259, + 0.007608603686094284, + -0.005856059491634369, + -0.027843177318572998, + -0.01080465316772461, + 1.0 + ], + [ + 0.015261471271514893, + -0.013123005628585815, + 0.008956082165241241, + 0.012019984424114227, + -0.016002729535102844, + -0.062452852725982666, + 1.0 + ], + [ + 0.023941218852996826, + -0.048614539206027985, + 0.009464167058467865, + -0.02140738070011139, + 0.0025921911001205444, + -0.1459692418575287, + 1.0 + ], + [ + 0.006415843963623047, + -0.044097550213336945, + 0.0074177393689751625, + -0.010555639863014221, + 0.01916489005088806, + -0.08712071180343628, + 1.0 + ], + [ + -0.005284726619720459, + -0.03698473423719406, + 0.003989284858107567, + -0.012038089334964752, + 0.02745726704597473, + -0.041040487587451935, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9545519351959229 + ], + [ + 0.8214757442474365 + ], + [ + 0.5256435871124268 + ], + [ + 0.27449509501457214 + ], + [ + 0.2432183027267456 + ], + [ + 0.2432183027267456 + ], + [ + 0.2432183027267456 + ], + [ + 0.2432183027267456 + ], + [ + 0.2432183027267456 + ], + [ + 0.2432183027267456 + ], + [ + 0.2432183027267456 + ], + [ + 0.2432183027267456 + ], + [ + 0.2432183027267456 + ], + [ + 0.2432183027267456 + ], + [ + 0.2432183027267456 + ], + [ + 0.2824830114841461 + ], + [ + 0.570969820022583 + ], + [ + 0.8705081939697266 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3936108350753784, + -0.04163599759340286, + 0.0032361361663788557 + ], + [ + 0.3878365457057953, + -0.03302750363945961, + -0.009357288479804993 + ], + [ + 0.38691288232803345, + -0.013436279259622097, + -0.012897520326077938 + ], + [ + 0.3894834816455841, + -0.0005916053778491914, + -0.012823515571653843 + ], + [ + 0.388967365026474, + 0.010435136035084724, + -0.02389666996896267 + ], + [ + 0.39854541420936584, + 0.012766829691827297, + -0.02938995696604252 + ], + [ + 0.4067429006099701, + 0.013791128993034363, + -0.03529280051589012 + ], + [ + 0.41427186131477356, + 0.013464615680277348, + -0.037233058363199234 + ], + [ + 0.4132966697216034, + 0.013710185885429382, + -0.037020642310380936 + ], + [ + 0.41230612993240356, + 0.014382555149495602, + -0.03709957003593445 + ], + [ + 0.40791743993759155, + 0.01616673916578293, + -0.037768177688121796 + ], + [ + 0.4025407135486603, + 0.02614407055079937, + -0.03728128969669342 + ], + [ + 0.40043047070503235, + 0.0348062627017498, + -0.03424285724759102 + ], + [ + 0.4060707986354828, + 0.0402306392788887, + -0.017534801736474037 + ], + [ + 0.40647023916244507, + 0.06340961903333664, + 0.0012442414881661534 + ], + [ + 0.3927791714668274, + 0.09575760364532471, + 0.0026621592696756124 + ], + [ + 0.3790849447250366, + 0.118650421500206, + -0.004367091692984104 + ], + [ + 0.36649006605148315, + 0.13840435445308685, + -0.010414005257189274 + ], + [ + 0.36070486903190613, + 0.15568239986896515, + -0.011690178886055946 + ], + [ + 0.35676538944244385, + 0.1726112812757492, + -0.011614013463258743 + ], + [ + 0.3586781919002533, + 0.1847616583108902, + -0.01637820340692997 + ], + [ + 0.36249491572380066, + 0.1883009672164917, + -0.013767242431640625 + ], + [ + 0.37411943078041077, + 0.18457457423210144, + -0.006158638745546341 + ], + [ + 0.38938090205192566, + 0.17145156860351562, + 0.002797442954033613 + ], + [ + 0.4133221209049225, + 0.12283702939748764, + 0.012261609546840191 + ], + [ + 0.41973796486854553, + 0.0787394791841507, + 0.019679348915815353 + ], + [ + 0.4144532382488251, + 0.041754744946956635, + 0.02366863377392292 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9938625464003858, + -0.04217862959544047, + 0.10226535125833833, + -0.03987410374666381, + -0.9989048875952296, + -0.024476139171895145, + 0.10318572921165495, + 0.020248178777665944, + -0.9944559902495669 + ], + [ + 0.994171158386691, + -0.0190146541948913, + 0.10612328094208942, + -0.01723713342415788, + -0.9996957773035178, + -0.01764182736660878, + 0.10642644907814372, + 0.015709734796111294, + -0.9941964670874933 + ], + [ + 0.9928636305448532, + 0.029729280481654533, + 0.11549017717250555, + 0.028579821890812457, + -0.9995242454097327, + 0.011596405425565118, + 0.11577998498006055, + -0.008212960498368033, + -0.9932409286562196 + ], + [ + 0.990946868786379, + 0.03980170099068391, + 0.12821906192418941, + 0.03551423607308315, + -0.9987365303260568, + 0.03555393126526045, + 0.12947216796908995, + -0.03067845482611106, + -0.9911083644742719 + ], + [ + 0.9926561279568156, + 0.06338682699641228, + 0.10303359545851527, + 0.05909630758684127, + -0.997274283858303, + 0.044177247362303704, + 0.10555301065996898, + -0.037763910261460254, + -0.9936963565508232 + ], + [ + 0.9932302231014561, + 0.06400441677783816, + 0.09693894238519458, + 0.05928036582439897, + -0.9969451318086406, + 0.0508551117467757, + 0.09989775846112224, + -0.044764258018874854, + -0.9939902409271745 + ], + [ + 0.9945113780435895, + 0.061214279442922986, + 0.0848524067668331, + 0.0565317604125692, + -0.9967990370355876, + 0.05653175947713657, + 0.08804134827736478, + -0.05142462209106337, + -0.9947885349340807 + ], + [ + 0.9934953218047552, + 0.0640897878239371, + 0.09412515417649563, + 0.05880702920419321, + -0.996590735622985, + 0.0578674259546346, + 0.09751296769273056, + -0.05195579628030617, + -0.9938771636196478 + ], + [ + 0.9942336669621332, + 0.06333964506712791, + 0.08653036947684901, + 0.05831613891808082, + -0.9965293806963668, + 0.05940051641696934, + 0.0899924631328471, + -0.054011876209643046, + -0.994476783946009 + ], + [ + 0.9946521394651339, + 0.06491915574709183, + 0.08032823086883482, + 0.060205421551002655, + -0.9963946098922112, + 0.059775317595262764, + 0.08391917941268288, + -0.054619452531431495, + -0.9949745156193041 + ], + [ + 0.9942470752861764, + 0.07134816241614053, + 0.07988862875731811, + 0.06698196855978195, + -0.996177848017328, + 0.056063455186262184, + 0.08358330678275983, + -0.050389828729672015, + -0.9952259522278616 + ], + [ + 0.9935438019346857, + 0.08979449447506146, + 0.06933730885416872, + 0.08578808874144997, + -0.9945797362168719, + 0.058749911803055034, + 0.07423690098097668, + -0.05242229553106, + -0.9958618305086279 + ], + [ + 0.9896533143341247, + 0.11785862691689078, + 0.0818270217516648, + 0.11398069161503474, + -0.9921954352017596, + 0.050563032976171735, + 0.08714768709748195, + -0.04071317263560076, + -0.9953631087233962 + ], + [ + 0.9859383343181943, + 0.1108183098916651, + 0.12507958712203676, + 0.10210888417631445, + -0.9920143955892133, + 0.07403522618345688, + 0.1322852096575135, + -0.06022243050992297, + -0.9893805547762423 + ], + [ + 0.9768951431711076, + 0.14280074592959163, + 0.1590088872065144, + 0.12474606176702197, + -0.9851109217971677, + 0.1183000077326857, + 0.1735347207976552, + -0.09573097052619584, + -0.9801639056605753 + ], + [ + 0.961481726647361, + 0.22507297093751907, + 0.15778164366163808, + 0.20544871489532943, + -0.9697997298741003, + 0.13145078730832882, + 0.18260261463370966, + -0.09397149402601065, + -0.9786856714182814 + ], + [ + 0.9498207249672557, + 0.28353000293270436, + 0.13210347406354467, + 0.2662317651133008, + -0.954492957969894, + 0.134401787304107, + 0.1641987748655061, + -0.09248746197654517, + -0.9820818864584582 + ], + [ + 0.9324056358006202, + 0.34095867588330475, + 0.11986205265698154, + 0.3251051232396208, + -0.9361425294901692, + 0.13395455693293468, + 0.15788093352457871, + -0.08593221642464141, + -0.9837119827519417 + ], + [ + 0.9085451761209089, + 0.39493356899514964, + 0.13628330428992488, + 0.37873185323380787, + -0.9162732383675379, + 0.1304052759574958, + 0.17637416560684924, + -0.06686425601334853, + -0.9820495532172852 + ], + [ + 0.8902981246375594, + 0.4326503300081775, + 0.14206667874860657, + 0.4156102949947807, + -0.8994978217052244, + 0.1348026388536506, + 0.18611107425727258, + -0.06097016230396222, + -0.980635155064019 + ], + [ + 0.8919071092276114, + 0.43322483780497634, + 0.12968403301138476, + 0.41595424886958454, + -0.8984467276746481, + 0.14062553245430448, + 0.17743666857948415, + -0.07148228759328341, + -0.9815327356761188 + ], + [ + 0.8918272478748946, + 0.4290512751526263, + 0.14338466876830477, + 0.4097650773899074, + -0.900463760744181, + 0.14579985232533485, + 0.19166831062941594, + -0.07127425114549879, + -0.9788683465227149 + ], + [ + 0.8909826693876259, + 0.420102787951227, + 0.17223103787211874, + 0.3977751044994078, + -0.9051342165584723, + 0.15002338569558454, + 0.21891744812003006, + -0.0651590175699978, + -0.9735653308011368 + ], + [ + 0.9106729510010061, + 0.3660948252318107, + 0.19144021326149996, + 0.3401219994367527, + -0.9274219847631593, + 0.1555811289234893, + 0.2345033087490755, + -0.0765704976897223, + -0.9690950196287687 + ], + [ + 0.9510506757838916, + 0.222574381774804, + 0.21439043045007175, + 0.2041731579310742, + -0.9733150324114891, + 0.1047433494894763, + 0.23198261501986708, + -0.05584346210064128, + -0.9711156337270853 + ], + [ + 0.969442999453697, + 0.1338144289210621, + 0.2056063457745133, + 0.12117661290414156, + -0.9899479756103757, + 0.0729330793947324, + 0.21329908414078702, + -0.045789782675270736, + -0.9759133140331945 + ], + [ + 0.9790670268212007, + 0.08963543786819361, + 0.18273818777056863, + 0.08175598037825071, + -0.9953862609707357, + 0.050221022919587396, + 0.18639666484110032, + -0.0342298079000721, + -0.9818781001668379 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005760.json b/json/chunk-0005/episode_0005760.json new file mode 100644 index 0000000000000000000000000000000000000000..c01c229ed1cb3f6fb3fbd7dd8c5f4defdadff85e --- /dev/null +++ b/json/chunk-0005/episode_0005760.json @@ -0,0 +1,1162 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 18, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nFlip pot upright in sink." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005760.mp4", + "start": 0, + "end": 18, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2736473083496094, + -0.006717505864799023, + 0.03519044071435928, + 0.13610391318798065, + -0.08929352462291718, + 0.3712430000305176, + 0.0, + 1.0041072368621826 + ], + [ + 0.2690415382385254, + -0.008034764789044857, + 0.02809271588921547, + 0.17166467010974884, + -0.060806989669799805, + 0.3810138404369354, + 0.0, + 1.0041072368621826 + ], + [ + 0.2759608328342438, + -0.010642160661518574, + 0.02778184786438942, + 0.20421406626701355, + -0.07878445833921432, + 0.39685285091400146, + 0.0, + 1.0041072368621826 + ], + [ + 0.2811773717403412, + -0.010494343936443329, + 0.022242892533540726, + 0.24108363687992096, + -0.12226308882236481, + 0.3841278553009033, + 0.0, + 1.0041072368621826 + ], + [ + 0.2848012447357178, + -0.007413484156131744, + 0.01025758869946003, + 0.3419936001300812, + -0.19496400654315948, + 0.34881505370140076, + 0.0, + 1.0041072368621826 + ], + [ + 0.28819969296455383, + -0.0041778297163546085, + 0.0020134560763835907, + 0.4490969479084015, + -0.23809465765953064, + 0.27388378977775574, + 0.0, + 1.0041072368621826 + ], + [ + 0.2884010374546051, + 0.0013189581222832203, + -0.0036794482730329037, + 0.536703884601593, + -0.19576917588710785, + 0.24544484913349152, + 0.0, + 1.0041072368621826 + ], + [ + 0.28777015209198, + 0.005646965000778437, + -0.007080944254994392, + 0.6158718466758728, + -0.10901240259408951, + 0.22267822921276093, + 0.0, + 1.0041072368621826 + ], + [ + 0.28101417422294617, + 0.006177373230457306, + -0.007330699823796749, + 0.6499893665313721, + -0.044244762510061264, + 0.22539420425891876, + 0.0, + 1.0041072368621826 + ], + [ + 0.2732824683189392, + 0.008698638528585434, + -0.0063080252148211, + 0.6763673424720764, + 0.00336773251183331, + 0.21938641369342804, + 0.0, + 0.8242669105529785 + ], + [ + 0.2680791914463043, + 0.011405134573578835, + -0.0038888968992978334, + 0.6771993637084961, + 0.018206963315606117, + 0.20907914638519287, + 0.0, + 0.5472165942192078 + ], + [ + 0.2645188570022583, + 0.01791544072329998, + -0.001515081850811839, + 0.6491326093673706, + -0.0035441904328763485, + 0.22317621111869812, + 0.0, + 0.36865687370300293 + ], + [ + 0.2626953721046448, + 0.02276013046503067, + 0.00013499282067641616, + 0.6187583804130554, + -0.07363580912351608, + 0.21035724878311157, + 0.0, + 0.3034155070781708 + ], + [ + 0.2609867751598358, + 0.031058458611369133, + 0.0015497247222810984, + 0.5303722620010376, + -0.1542939394712448, + 0.22615952789783478, + 0.0, + 0.19787359237670898 + ], + [ + 0.26192134618759155, + 0.034720584750175476, + -0.005182548426091671, + 0.4072546064853668, + -0.19313974678516388, + 0.2001934051513672, + 0.0, + 0.07397755235433578 + ], + [ + 0.2621121406555176, + 0.05286933481693268, + -0.007168353069573641, + 0.3035072386264801, + -0.2829451262950897, + 0.1512645184993744, + 0.0, + 0.05619491636753082 + ], + [ + 0.2622021734714508, + 0.06226630136370659, + -0.014179416932165623, + 0.24699245393276215, + -0.3583182394504547, + 0.094160296022892, + 0.0, + 0.14474673569202423 + ], + [ + 0.2663428783416748, + 0.06594429165124893, + -0.01561696920543909, + 0.18544475734233856, + -0.42218801379203796, + 0.055953603237867355, + 0.0, + 0.38577979803085327 + ] + ], + "left_gripper_pos": [ + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 0.8242669105529785 + ], + [ + 0.5472165942192078 + ], + [ + 0.36865687370300293 + ], + [ + 0.3034155070781708 + ], + [ + 0.19787359237670898 + ], + [ + 0.07397755235433578 + ], + [ + 0.05619491636753082 + ], + [ + 0.14474673569202423 + ], + [ + 0.38577979803085327 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2736473083496094, + -0.006717505864799023, + 0.03519044071435928 + ], + [ + 0.2690415382385254, + -0.008034764789044857, + 0.02809271588921547 + ], + [ + 0.2759608328342438, + -0.010642160661518574, + 0.02778184786438942 + ], + [ + 0.2811773717403412, + -0.010494343936443329, + 0.022242892533540726 + ], + [ + 0.2848012447357178, + -0.007413484156131744, + 0.01025758869946003 + ], + [ + 0.28819969296455383, + -0.0041778297163546085, + 0.0020134560763835907 + ], + [ + 0.2884010374546051, + 0.0013189581222832203, + -0.0036794482730329037 + ], + [ + 0.28777015209198, + 0.005646965000778437, + -0.007080944254994392 + ], + [ + 0.28101417422294617, + 0.006177373230457306, + -0.007330699823796749 + ], + [ + 0.2732824683189392, + 0.008698638528585434, + -0.0063080252148211 + ], + [ + 0.2680791914463043, + 0.011405134573578835, + -0.0038888968992978334 + ], + [ + 0.2645188570022583, + 0.01791544072329998, + -0.001515081850811839 + ], + [ + 0.2626953721046448, + 0.02276013046503067, + 0.00013499282067641616 + ], + [ + 0.2609867751598358, + 0.031058458611369133, + 0.0015497247222810984 + ], + [ + 0.26192134618759155, + 0.034720584750175476, + -0.005182548426091671 + ], + [ + 0.2621121406555176, + 0.05286933481693268, + -0.007168353069573641 + ], + [ + 0.2622021734714508, + 0.06226630136370659, + -0.014179416932165623 + ], + [ + 0.2663428783416748, + 0.06594429165124893, + -0.01561696920543909 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9281645216763851, + 0.370694512638434, + 0.033108896100607424, + 0.3613287367411767, + -0.9188698518485857, + 0.1584920798298233, + 0.08917491074440351, + -0.13514352986181608, + -0.9868049764924252 + ], + [ + 0.9265724649356631, + 0.3760324769645364, + -0.007939993133765155, + 0.3711745305491138, + -0.9107836806771076, + 0.18083847733241126, + 0.060769524390880195, + -0.17050707692109285, + -0.9834807581366959 + ], + [ + 0.9194211704897544, + 0.39320646177977625, + -0.007306823515005639, + 0.38531876673888465, + -0.8969484657017197, + 0.21682457857483783, + 0.07870298122736549, + -0.20216856404980577, + -0.9761832371312081 + ], + [ + 0.92020479094678, + 0.39090911993467947, + 0.02032738720269859, + 0.37195324310523836, + -0.8894008951558512, + 0.26573827846109616, + 0.12195871294044355, + -0.23697279938395038, + -0.9638308797138871 + ], + [ + 0.9219739322845912, + 0.38304921940474007, + 0.056897835645189465, + 0.335309232222134, + -0.8631478534363671, + 0.37754933703397564, + 0.19373122353996203, + -0.3290122773113654, + -0.9242397602376227 + ], + [ + 0.9355683022741191, + 0.3422312400553406, + 0.08711905710064885, + 0.26284223095874176, + -0.8395680228617518, + 0.47543611201994357, + 0.23585146470724697, + -0.42190438883495, + -0.8754260524323305 + ], + [ + 0.9515001564451254, + 0.30530238326577114, + 0.03791974495090698, + 0.23834639364202778, + -0.8094743875235125, + 0.5366024716503582, + 0.194521075780341, + -0.5015393012672827, + -0.8429827283886571 + ], + [ + 0.9695200732242854, + 0.2415639676999676, + -0.04095945707922741, + 0.21953159979841055, + -0.7822363444445048, + 0.5830198779802008, + 0.10879661899676185, + -0.5742413699300554, + -0.8114247622273592 + ], + [ + 0.9737521956485993, + 0.20400886533000911, + -0.10093088891065104, + 0.2232718959577087, + -0.7699717703450819, + 0.5977400215370479, + 0.044230328339071576, + -0.6045856893265193, + -0.7953111481153745 + ], + [ + 0.9760256334405178, + 0.16766220534638873, + -0.13879246292728437, + 0.21762955058457104, + -0.7616184193178642, + 0.610389025186492, + -0.003367726145911923, + -0.6259606762841766, + -0.7798473505542368 + ], + [ + 0.9780603283570093, + 0.15059759788180446, + -0.14393872865358215, + 0.20752478697423324, + -0.7647266364589591, + 0.6100218309876018, + -0.018205957417239738, + -0.6265090063218544, + -0.7792015195776535 + ], + [ + 0.9751932596907861, + 0.17840119853483447, + -0.13103861497662916, + 0.2213267833327666, + -0.7763778695998809, + 0.5901286796751372, + 0.003544183012949495, + -0.6044918659145752, + -0.7966034288213213 + ], + [ + 0.9753062246951886, + 0.21182720767529997, + -0.06250601698479424, + 0.20824343640181645, + -0.7877322354373366, + 0.5797521853761819, + 0.07356928208417343, + -0.578452382950733, + -0.812391778264796 + ], + [ + 0.9629575597928147, + 0.2691919091640574, + 0.015762426160882123, + 0.22157264725736303, + -0.8232196561285298, + 0.5226996840930641, + 0.15368246492437437, + -0.4998450898070669, + -0.852371155172753 + ], + [ + 0.9618059108434774, + 0.25710215364484346, + 0.09395675844627863, + 0.1951613798938398, + -0.8847548630442481, + 0.4232267336989551, + 0.19194120366529274, + -0.3887252434699054, + -0.9011388680024748 + ], + [ + 0.94927272614396, + 0.22628792103374448, + 0.2183462117680099, + 0.1446965674757524, + -0.930823987422934, + 0.33560334890880456, + 0.27918487559312705, + -0.28698515855753864, + -0.9163489095359665 + ], + [ + 0.9323394806442432, + 0.17653021888341136, + 0.31556326569009585, + 0.08804973648883598, + -0.957295163321821, + 0.2753783110284742, + 0.3506997814887681, + -0.22896080909540703, + -0.9080675146497132 + ], + [ + 0.9107669903950022, + 0.1303998761738605, + 0.39178994563499425, + 0.05101394418727099, + -0.9770909474988104, + 0.2066176609448833, + 0.40975732660354947, + -0.16819379480146882, + -0.8965543936008531 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.004605770111083984, + -0.0013172589242458344, + -0.007097724825143814, + 0.03556075692176819, + 0.02848653495311737, + 0.009770840406417847, + 1.0 + ], + [ + 0.006919294595718384, + -0.0026073958724737167, + -0.0003108680248260498, + 0.03254939615726471, + -0.01797746866941452, + 0.01583901047706604, + 1.0 + ], + [ + 0.005216538906097412, + 0.0001478167250752449, + -0.005538955330848694, + 0.03686957061290741, + -0.04347863048315048, + -0.012724995613098145, + 1.0 + ], + [ + 0.003623872995376587, + 0.0030808597803115845, + -0.011985303834080696, + 0.10090996325016022, + -0.07270091772079468, + -0.035312801599502563, + 1.0 + ], + [ + 0.0033984482288360596, + 0.003235654439777136, + -0.008244132623076439, + 0.10710334777832031, + -0.043130651116371155, + -0.07493126392364502, + 1.0 + ], + [ + 0.00020134449005126953, + 0.005496787838637829, + -0.005692904349416494, + 0.08760693669319153, + 0.04232548177242279, + -0.02843894064426422, + 1.0 + ], + [ + -0.0006308853626251221, + 0.004328006878495216, + -0.0034014959819614887, + 0.07916796207427979, + 0.08675677329301834, + -0.02276661992073059, + 1.0 + ], + [ + -0.0067559778690338135, + 0.0005304082296788692, + -0.0002497555688023567, + 0.03411751985549927, + 0.06476764380931854, + 0.002715975046157837, + 1.0 + ], + [ + -0.007731705904006958, + 0.002521265298128128, + 0.0010226746089756489, + 0.026377975940704346, + 0.047612495720386505, + -0.006007790565490723, + 0.0 + ], + [ + -0.005203276872634888, + 0.0027064960449934006, + 0.002419128315523267, + 0.0008320212364196777, + 0.01483923103660345, + -0.010307267308235168, + 0.0 + ], + [ + -0.0035603344440460205, + 0.006510306149721146, + 0.0023738150484859943, + -0.02806675434112549, + -0.021751154214143753, + 0.014097064733505249, + 0.0 + ], + [ + -0.0018234848976135254, + 0.00484468974173069, + 0.0016500747296959162, + -0.030374228954315186, + -0.0700916200876236, + -0.012818962335586548, + 0.0 + ], + [ + -0.00170859694480896, + 0.008298328146338463, + 0.0014147318433970213, + -0.08838611841201782, + -0.08065813034772873, + 0.015802279114723206, + 0.0 + ], + [ + 0.0009345710277557373, + 0.003662126138806343, + -0.006732272915542126, + -0.12311765551567078, + -0.03884580731391907, + -0.02596612274646759, + 0.0 + ], + [ + 0.0001907944679260254, + 0.018148750066757202, + -0.00198580464348197, + -0.10374736785888672, + -0.08980537950992584, + -0.0489288866519928, + 0.0 + ], + [ + 9.003281593322754e-05, + 0.00939696654677391, + -0.007011063862591982, + -0.05651478469371796, + -0.07537311315536499, + -0.05710422247648239, + 1.0 + ], + [ + 0.004140704870223999, + 0.003677990287542343, + -0.001437552273273468, + -0.061547696590423584, + -0.06386977434158325, + -0.03820669278502464, + 1.0 + ], + [ + -0.0033657848834991455, + 0.0021371766924858093, + 0.000188557431101799, + 0.008656546473503113, + 0.00961083173751831, + 0.00803980603814125, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 0.8242669105529785 + ], + [ + 0.5472165942192078 + ], + [ + 0.36865687370300293 + ], + [ + 0.3034155070781708 + ], + [ + 0.19787359237670898 + ], + [ + 0.07397755235433578 + ], + [ + 0.05619491636753082 + ], + [ + 0.14474673569202423 + ], + [ + 0.38577979803085327 + ], + [ + 0.7111459374427795 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2690415382385254, + -0.008034764789044857, + 0.02809271588921547 + ], + [ + 0.2759608328342438, + -0.010642160661518574, + 0.02778184786438942 + ], + [ + 0.2811773717403412, + -0.010494343936443329, + 0.022242892533540726 + ], + [ + 0.2848012447357178, + -0.007413484156131744, + 0.01025758869946003 + ], + [ + 0.28819969296455383, + -0.0041778297163546085, + 0.0020134560763835907 + ], + [ + 0.2884010374546051, + 0.0013189581222832203, + -0.0036794482730329037 + ], + [ + 0.28777015209198, + 0.005646965000778437, + -0.007080944254994392 + ], + [ + 0.28101417422294617, + 0.006177373230457306, + -0.007330699823796749 + ], + [ + 0.2732824683189392, + 0.008698638528585434, + -0.0063080252148211 + ], + [ + 0.2680791914463043, + 0.011405134573578835, + -0.0038888968992978334 + ], + [ + 0.2645188570022583, + 0.01791544072329998, + -0.001515081850811839 + ], + [ + 0.2626953721046448, + 0.02276013046503067, + 0.00013499282067641616 + ], + [ + 0.2609867751598358, + 0.031058458611369133, + 0.0015497247222810984 + ], + [ + 0.26192134618759155, + 0.034720584750175476, + -0.005182548426091671 + ], + [ + 0.2621121406555176, + 0.05286933481693268, + -0.007168353069573641 + ], + [ + 0.2622021734714508, + 0.06226630136370659, + -0.014179416932165623 + ], + [ + 0.2663428783416748, + 0.06594429165124893, + -0.01561696920543909 + ], + [ + 0.26297709345817566, + 0.06808146834373474, + -0.015428411774337292 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9265724649356631, + 0.3760324769645364, + -0.007939993133765155, + 0.3711745305491138, + -0.9107836806771076, + 0.18083847733241126, + 0.060769524390880195, + -0.17050707692109285, + -0.9834807581366959 + ], + [ + 0.9194211704897544, + 0.39320646177977625, + -0.007306823515005639, + 0.38531876673888465, + -0.8969484657017197, + 0.21682457857483783, + 0.07870298122736549, + -0.20216856404980577, + -0.9761832371312081 + ], + [ + 0.92020479094678, + 0.39090911993467947, + 0.02032738720269859, + 0.37195324310523836, + -0.8894008951558512, + 0.26573827846109616, + 0.12195871294044355, + -0.23697279938395038, + -0.9638308797138871 + ], + [ + 0.9219739322845912, + 0.38304921940474007, + 0.056897835645189465, + 0.335309232222134, + -0.8631478534363671, + 0.37754933703397564, + 0.19373122353996203, + -0.3290122773113654, + -0.9242397602376227 + ], + [ + 0.9355683022741191, + 0.3422312400553406, + 0.08711905710064885, + 0.26284223095874176, + -0.8395680228617518, + 0.47543611201994357, + 0.23585146470724697, + -0.42190438883495, + -0.8754260524323305 + ], + [ + 0.9515001564451254, + 0.30530238326577114, + 0.03791974495090698, + 0.23834639364202778, + -0.8094743875235125, + 0.5366024716503582, + 0.194521075780341, + -0.5015393012672827, + -0.8429827283886571 + ], + [ + 0.9695200732242854, + 0.2415639676999676, + -0.04095945707922741, + 0.21953159979841055, + -0.7822363444445048, + 0.5830198779802008, + 0.10879661899676185, + -0.5742413699300554, + -0.8114247622273592 + ], + [ + 0.9737521956485993, + 0.20400886533000911, + -0.10093088891065104, + 0.2232718959577087, + -0.7699717703450819, + 0.5977400215370479, + 0.044230328339071576, + -0.6045856893265193, + -0.7953111481153745 + ], + [ + 0.9760256334405178, + 0.16766220534638873, + -0.13879246292728437, + 0.21762955058457104, + -0.7616184193178642, + 0.610389025186492, + -0.003367726145911923, + -0.6259606762841766, + -0.7798473505542368 + ], + [ + 0.9780603283570093, + 0.15059759788180446, + -0.14393872865358215, + 0.20752478697423324, + -0.7647266364589591, + 0.6100218309876018, + -0.018205957417239738, + -0.6265090063218544, + -0.7792015195776535 + ], + [ + 0.9751932596907861, + 0.17840119853483447, + -0.13103861497662916, + 0.2213267833327666, + -0.7763778695998809, + 0.5901286796751372, + 0.003544183012949495, + -0.6044918659145752, + -0.7966034288213213 + ], + [ + 0.9753062246951886, + 0.21182720767529997, + -0.06250601698479424, + 0.20824343640181645, + -0.7877322354373366, + 0.5797521853761819, + 0.07356928208417343, + -0.578452382950733, + -0.812391778264796 + ], + [ + 0.9629575597928147, + 0.2691919091640574, + 0.015762426160882123, + 0.22157264725736303, + -0.8232196561285298, + 0.5226996840930641, + 0.15368246492437437, + -0.4998450898070669, + -0.852371155172753 + ], + [ + 0.9618059108434774, + 0.25710215364484346, + 0.09395675844627863, + 0.1951613798938398, + -0.8847548630442481, + 0.4232267336989551, + 0.19194120366529274, + -0.3887252434699054, + -0.9011388680024748 + ], + [ + 0.94927272614396, + 0.22628792103374448, + 0.2183462117680099, + 0.1446965674757524, + -0.930823987422934, + 0.33560334890880456, + 0.27918487559312705, + -0.28698515855753864, + -0.9163489095359665 + ], + [ + 0.9323394806442432, + 0.17653021888341136, + 0.31556326569009585, + 0.08804973648883598, + -0.957295163321821, + 0.2753783110284742, + 0.3506997814887681, + -0.22896080909540703, + -0.9080675146497132 + ], + [ + 0.9107669903950022, + 0.1303998761738605, + 0.39178994563499425, + 0.05101394418727099, + -0.9770909474988104, + 0.2066176609448833, + 0.40975732660354947, + -0.16819379480146882, + -0.8965543936008531 + ], + [ + 0.9142153625642323, + 0.1399318686944072, + 0.3803016473475245, + 0.058583749577054964, + -0.9742670110496309, + 0.217650489238852, + 0.40097158893996787, + -0.17669992445983074, + -0.8988876022945516 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005762.json b/json/chunk-0005/episode_0005762.json new file mode 100644 index 0000000000000000000000000000000000000000..3ca46833f386e5de2262e4fa73f3fb659bc725be --- /dev/null +++ b/json/chunk-0005/episode_0005762.json @@ -0,0 +1,1522 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 24, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the can to top left of table." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005762.mp4", + "start": 0, + "end": 24, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3790244162082672, + -0.04897873103618622, + 0.05587427318096161, + 0.03275403380393982, + -0.15085917711257935, + -0.01592053472995758, + 0.0, + 0.9994885921478271 + ], + [ + 0.37376275658607483, + -0.04898393526673317, + 0.04182421788573265, + 0.03317320719361305, + -0.1090400218963623, + -0.014598187990486622, + 0.0, + 0.9994885921478271 + ], + [ + 0.35083961486816406, + -0.036899395287036896, + 0.04549457132816315, + 0.003613377222791314, + -0.0949520468711853, + 0.019352925941348076, + 0.0, + 0.9994885921478271 + ], + [ + 0.3282521069049835, + -0.008338921703398228, + 0.07315453886985779, + -0.002358987694606185, + -0.15228207409381866, + 0.057012200355529785, + 0.0, + 0.9994885921478271 + ], + [ + 0.29650336503982544, + 0.019010430201888084, + 0.08191503584384918, + 0.02124614641070366, + -0.15483424067497253, + 0.04154197871685028, + 0.0, + 0.9994885921478271 + ], + [ + 0.2645998001098633, + 0.05587310716509819, + 0.07496503740549088, + 0.0619872584939003, + -0.12076147645711899, + -0.021189279854297638, + 0.0, + 0.9994885921478271 + ], + [ + 0.22962860763072968, + 0.098549485206604, + 0.06251206248998642, + 0.0802091583609581, + -0.08212350308895111, + -0.08553887158632278, + 0.0, + 0.9994885921478271 + ], + [ + 0.20600439608097076, + 0.1339287906885147, + 0.05640745162963867, + 0.10379765182733536, + -0.06028736010193825, + -0.11633628606796265, + 0.0, + 0.9994885921478271 + ], + [ + 0.18312396109104156, + 0.1621035486459732, + 0.05307877063751221, + 0.10199476033449173, + -0.0349816232919693, + -0.1070922464132309, + 0.0, + 0.9994885921478271 + ], + [ + 0.16258937120437622, + 0.1779063493013382, + 0.0535455048084259, + 0.0746036246418953, + -0.02086525410413742, + -0.07620879262685776, + 0.0, + 0.9994885921478271 + ], + [ + 0.16042543947696686, + 0.18999944627285004, + 0.044094301760196686, + 0.08018237352371216, + 0.019541006535291672, + -0.03229255974292755, + 0.0, + 0.9994885921478271 + ], + [ + 0.16910390555858612, + 0.18906377255916595, + 0.02440560981631279, + 0.08892877399921417, + 0.0792984589934349, + -0.04273013770580292, + 0.0, + 0.9994885921478271 + ], + [ + 0.19181180000305176, + 0.17778253555297852, + 0.016680032014846802, + 0.08712513744831085, + 0.08227850496768951, + -0.07571165263652802, + 0.0, + 0.9994885921478271 + ], + [ + 0.21289163827896118, + 0.16464385390281677, + 0.018824569880962372, + 0.08942212164402008, + 0.06043035164475441, + -0.10682123154401779, + 0.0, + 0.9994885921478271 + ], + [ + 0.23237481713294983, + 0.1504097282886505, + 0.016576332971453667, + 0.07374677062034607, + 0.05133892595767975, + -0.12692995369434357, + 0.0, + 0.9994885921478271 + ], + [ + 0.2510920464992523, + 0.1446927785873413, + 0.014430827461183071, + 0.07482555508613586, + 0.03849690407514572, + -0.10950829088687897, + 0.0, + 0.9994885921478271 + ], + [ + 0.276297003030777, + 0.14630205929279327, + 0.014926311559975147, + 0.07388224452733994, + 0.006523835007101297, + -0.04705671966075897, + 0.0, + 0.9994885921478271 + ], + [ + 0.30166149139404297, + 0.1525622308254242, + 0.014577203430235386, + 0.060821738094091415, + -0.01986030489206314, + 0.006473097018897533, + 0.0, + 0.9994885921478271 + ], + [ + 0.32185477018356323, + 0.1512918770313263, + 0.012987871654331684, + 0.06263331323862076, + -0.029520725831389427, + 0.020650073885917664, + 0.0, + 0.9994885921478271 + ], + [ + 0.3357252776622772, + 0.14792615175247192, + 0.011561233550310135, + 0.057683058083057404, + -0.033820461481809616, + 0.016963345929980278, + 0.0, + 1.0001531839370728 + ], + [ + 0.3446289002895355, + 0.14219754934310913, + 0.013715201988816261, + 0.044420044869184494, + -0.04398198798298836, + 0.012457410804927349, + 0.0, + 0.9994885921478271 + ], + [ + 0.3473081886768341, + 0.1405651569366455, + 0.015824800357222557, + 0.04797248914837837, + -0.05556119233369827, + -0.000813657883554697, + 0.0, + 0.9994885921478271 + ], + [ + 0.34310388565063477, + 0.13827037811279297, + 0.04338620975613594, + 0.060819294303655624, + -0.1110561415553093, + -0.018975527957081795, + 0.0, + 0.9994885921478271 + ], + [ + 0.3300391435623169, + 0.14656148850917816, + 0.059250473976135254, + 0.06955160200595856, + -0.13540787994861603, + -0.006009405478835106, + 0.0, + 0.9994885921478271 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3790244162082672, + -0.04897873103618622, + 0.05587427318096161 + ], + [ + 0.37376275658607483, + -0.04898393526673317, + 0.04182421788573265 + ], + [ + 0.35083961486816406, + -0.036899395287036896, + 0.04549457132816315 + ], + [ + 0.3282521069049835, + -0.008338921703398228, + 0.07315453886985779 + ], + [ + 0.29650336503982544, + 0.019010430201888084, + 0.08191503584384918 + ], + [ + 0.2645998001098633, + 0.05587310716509819, + 0.07496503740549088 + ], + [ + 0.22962860763072968, + 0.098549485206604, + 0.06251206248998642 + ], + [ + 0.20600439608097076, + 0.1339287906885147, + 0.05640745162963867 + ], + [ + 0.18312396109104156, + 0.1621035486459732, + 0.05307877063751221 + ], + [ + 0.16258937120437622, + 0.1779063493013382, + 0.0535455048084259 + ], + [ + 0.16042543947696686, + 0.18999944627285004, + 0.044094301760196686 + ], + [ + 0.16910390555858612, + 0.18906377255916595, + 0.02440560981631279 + ], + [ + 0.19181180000305176, + 0.17778253555297852, + 0.016680032014846802 + ], + [ + 0.21289163827896118, + 0.16464385390281677, + 0.018824569880962372 + ], + [ + 0.23237481713294983, + 0.1504097282886505, + 0.016576332971453667 + ], + [ + 0.2510920464992523, + 0.1446927785873413, + 0.014430827461183071 + ], + [ + 0.276297003030777, + 0.14630205929279327, + 0.014926311559975147 + ], + [ + 0.30166149139404297, + 0.1525622308254242, + 0.014577203430235386 + ], + [ + 0.32185477018356323, + 0.1512918770313263, + 0.012987871654331684 + ], + [ + 0.3357252776622772, + 0.14792615175247192, + 0.011561233550310135 + ], + [ + 0.3446289002895355, + 0.14219754934310913, + 0.013715201988816261 + ], + [ + 0.3473081886768341, + 0.1405651569366455, + 0.015824800357222557 + ], + [ + 0.34310388565063477, + 0.13827037811279297, + 0.04338620975613594 + ], + [ + 0.3300391435623169, + 0.14656148850917816, + 0.059250473976135254 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9885170294922495, + -0.01099030181721002, + 0.15070930850410658, + -0.015739049479457545, + -0.9994153254402331, + 0.030352752703439845, + 0.15028760669231023, + -0.03237623420287816, + -0.9881120456373043 + ], + [ + 0.9939551058651277, + -0.010980641251906145, + 0.10923677513703844, + -0.014510974301349556, + -0.9993960151459536, + 0.03157588534332562, + 0.1088240743101844, + -0.03297014449598621, + -0.9935141118386016 + ], + [ + 0.9953090218152362, + 0.019694108913629143, + 0.09472113368882011, + 0.019264546935130782, + -0.9997995814152196, + 0.005447406110747797, + 0.09480943162249926, + -0.0035970927218216585, + -0.9954889414751772 + ], + [ + 0.9868215218406264, + 0.05662389851882271, + 0.1515817210242724, + 0.05632190228016312, + -0.9983928572243099, + 0.006288558421661672, + 0.15169419025029943, + 0.002331686087140159, + -0.9884247244400036 + ], + [ + 0.9871846841400207, + 0.0447940879387287, + 0.15316621391516236, + 0.04103321201789502, + -0.9987756969003673, + 0.02762938277777048, + 0.15421632504654723, + -0.020990401780897956, + -0.9878141161788561 + ], + [ + 0.9924943404831285, + -0.013685966072134674, + 0.12152233721268137, + -0.02103338832455557, + -0.9980134693689952, + 0.059386122399518265, + 0.1204681729111416, + -0.06149641689346212, + -0.9908105823136515 + ], + [ + 0.9929858631344216, + -0.07861134995492082, + 0.08831382266357217, + -0.08514666143219006, + -0.9937020330708034, + 0.07284446113400936, + 0.08203122370256281, + -0.07985314727183376, + -0.9934255650065802 + ], + [ + 0.9914361105739647, + -0.10924884256206861, + 0.07154808906475411, + -0.11586316966453859, + -0.9886194141222785, + 0.09595509332916946, + 0.06025084700861876, + -0.10342313290251667, + -0.9928109039567268 + ], + [ + 0.9936628141090046, + -0.10279153858131161, + 0.0454764934120978, + -0.10682226811869021, + -0.9894845491849061, + 0.09751579337892839, + 0.034974489144982614, + -0.10175571984134317, + -0.9941944269551191 + ], + [ + 0.9968804753918289, + -0.07437271889491807, + 0.02642000126304275, + -0.07611847429610925, + -0.9944424237350545, + 0.0727340618058913, + 0.020863740158328276, + -0.07451821629727966, + -0.9970013740143381 + ], + [ + 0.9992878207462864, + -0.0337474636267885, + -0.016880758481060784, + -0.03228078333358286, + -0.9962168998574998, + 0.0806835761830253, + -0.01953976293376144, + -0.08008119090691868, + -0.996596809410617 + ], + [ + 0.9959475994360242, + -0.04957715964565269, + -0.075036553886025, + -0.04258289809663058, + -0.9948387297997545, + 0.0921010232304899, + -0.07921537708874989, + -0.08853251906435698, + -0.9929183839071601 + ], + [ + 0.9937619660068816, + -0.08248333883268961, + -0.07505766938261045, + -0.07538345489395469, + -0.9928121870806292, + 0.09295857094657109, + -0.08218570220171291, + -0.0867205857867053, + -0.9928368699612349 + ], + [ + 0.9924850817932624, + -0.11155478844737368, + -0.05028808598746954, + -0.10642357884953677, + -0.989752288349626, + 0.09520729789010644, + -0.06039357815759764, + -0.08913998474949804, + -0.9941864406821196 + ], + [ + 0.9906482493021672, + -0.1299958882806417, + -0.04143808857413212, + -0.12642260729323054, + -0.9887803755035124, + 0.0795656545521628, + -0.051316376720617264, + -0.0735828651878915, + -0.9959679670707325 + ], + [ + 0.9932734805945946, + -0.11184366432261739, + -0.02997978482894011, + -0.10920857612367355, + -0.990914148838121, + 0.07850246195796924, + -0.03848739596984535, + -0.07470036401057419, + -0.9964630329159976 + ], + [ + 0.9988717802757935, + -0.047392049945294674, + -0.0030265773821176903, + -0.0470383540237165, + -0.9961453529820283, + 0.0740393745452372, + -0.006523788731003309, + -0.07381347664412712, + -0.9972507261698537 + ], + [ + 0.9997818443393257, + 0.007668171678697613, + 0.019428403757449426, + 0.006471775267646106, + -0.9981222028192884, + 0.060911282731991354, + 0.01985899932880656, + -0.06077225832793713, + -0.9979540834945169 + ], + [ + 0.9993511827120038, + 0.022455227931948513, + 0.028159835770887393, + 0.020639609596688896, + -0.9977882396568719, + 0.06318730345676236, + 0.02951643826438714, + -0.06256509842527976, + -0.9976043245351434 + ], + [ + 0.9992843508773297, + 0.018883454009989187, + 0.032775009631213325, + 0.01695283224555155, + -0.9981600918392423, + 0.05821539777695674, + 0.03381401441011833, + -0.05761810673848747, + -0.9977658874732811 + ], + [ + 0.9989554307690517, + 0.014397059196057004, + 0.0433678685609954, + 0.012445041953487175, + -0.9989117546731531, + 0.04494916358040893, + 0.04396780944957899, + -0.04436249612350106, + -0.9980474941954907 + ], + [ + 0.9984565434808511, + 0.0018502932389755941, + 0.05550772194209184, + -0.0008124022172706672, + -0.9988513769477374, + 0.047908942508115, + 0.05553261008549982, + -0.047880091734856724, + -0.9973081900959969 + ], + [ + 0.9936606813336195, + -0.012204193883499782, + 0.1117564674784451, + -0.018857499436929083, + -0.9980991973564597, + 0.05867185825740435, + 0.11082799775595077, + -0.06040736617370992, + -0.9920020690630449 + ], + [ + 0.9908284609501334, + 0.0033865039259601865, + 0.13508328009916615, + -0.005954361658522023, + -0.997620626413041, + 0.06868501534171555, + 0.1349944685845677, + -0.06885940274509818, + -0.9884507454118081 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.005261659622192383, + -5.204230546951294e-06, + -0.014050055295228958, + 0.00041917338967323303, + 0.04181915521621704, + 0.0013223467394709587, + 1.0 + ], + [ + -0.022923141717910767, + 0.012084539979696274, + 0.003670353442430496, + -0.029559830203652382, + 0.014087975025177002, + 0.03395111486315727, + 1.0 + ], + [ + -0.022587507963180542, + 0.028560474514961243, + 0.02765996754169464, + -0.005972364917397499, + -0.05733002722263336, + 0.03765927255153656, + 1.0 + ], + [ + -0.03174874186515808, + 0.027349352836608887, + 0.008760496973991394, + 0.023605134338140488, + -0.0025521665811538696, + -0.015470221638679504, + 1.0 + ], + [ + -0.03190356492996216, + 0.036862678825855255, + -0.006949998438358307, + 0.04074111208319664, + 0.034072764217853546, + -0.06273125857114792, + 1.0 + ], + [ + -0.034971192479133606, + 0.042676378041505814, + -0.012452974915504456, + 0.0182218998670578, + 0.03863797336816788, + -0.06434959173202515, + 1.0 + ], + [ + -0.02362421154975891, + 0.035379305481910706, + -0.006104610860347748, + 0.02358849346637726, + 0.021836142987012863, + -0.030797414481639862, + 1.0 + ], + [ + -0.0228804349899292, + 0.028174757957458496, + -0.003328680992126465, + -0.001802891492843628, + 0.02530573680996895, + 0.00924403965473175, + 1.0 + ], + [ + -0.020534589886665344, + 0.01580280065536499, + 0.0004667341709136963, + -0.027391135692596436, + 0.014116369187831879, + 0.03088345378637314, + 1.0 + ], + [ + -0.002163931727409363, + 0.01209309697151184, + -0.009451203048229218, + 0.005578748881816864, + 0.04040626063942909, + 0.043916232883930206, + 1.0 + ], + [ + 0.008678466081619263, + -0.000935673713684082, + -0.019688691943883896, + 0.008746400475502014, + 0.059757452458143234, + -0.010437577962875366, + 1.0 + ], + [ + 0.022707894444465637, + -0.011281237006187439, + -0.007725577801465988, + -0.0018036365509033203, + 0.002980045974254608, + -0.0329815149307251, + 1.0 + ], + [ + 0.021079838275909424, + -0.013138681650161743, + 0.00214453786611557, + 0.0022969841957092285, + -0.021848153322935104, + -0.031109578907489777, + 1.0 + ], + [ + 0.019483178853988647, + -0.01423412561416626, + -0.002248236909508705, + -0.01567535102367401, + -0.009091425687074661, + -0.020108722150325775, + 1.0 + ], + [ + 0.01871722936630249, + -0.005716949701309204, + -0.0021455055102705956, + 0.001078784465789795, + -0.012842021882534027, + 0.0174216628074646, + 1.0 + ], + [ + 0.025204956531524658, + 0.0016092807054519653, + 0.0004954840987920761, + -0.000943310558795929, + -0.03197306767106056, + 0.062451571226119995, + 1.0 + ], + [ + 0.02536448836326599, + 0.00626017153263092, + -0.00034910812973976135, + -0.01306050643324852, + -0.02638413943350315, + 0.05352981761097908, + 1.0 + ], + [ + 0.020193278789520264, + -0.0012703537940979004, + -0.0015893317759037018, + 0.0018115751445293427, + -0.009660420939326286, + 0.01417697686702013, + 1.0 + ], + [ + 0.01387050747871399, + -0.00336572527885437, + -0.0014266381040215492, + -0.0049502551555633545, + -0.004299735650420189, + -0.0036867279559373856, + 1.0 + ], + [ + 0.0089036226272583, + -0.005728602409362793, + 0.0021539684385061264, + -0.01326301321387291, + -0.010161526501178741, + -0.004505935125052929, + 1.0 + ], + [ + 0.002679288387298584, + -0.001632392406463623, + 0.0021095983684062958, + 0.003552444279193878, + -0.011579204350709915, + -0.013271069154143333, + 1.0 + ], + [ + -0.004204303026199341, + -0.002294778823852539, + 0.027561409398913383, + 0.012846805155277252, + -0.05549494922161102, + -0.018161870539188385, + 1.0 + ], + [ + -0.013064742088317871, + 0.008291110396385193, + 0.015864264219999313, + 0.008732307702302933, + -0.024351738393306732, + 0.012966122478246689, + 1.0 + ], + [ + -0.010044664144515991, + 0.00264759361743927, + 0.004415884613990784, + -0.00394759327173233, + 0.003370940685272217, + 0.010602994821965694, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.37376275658607483, + -0.04898393526673317, + 0.04182421788573265 + ], + [ + 0.35083961486816406, + -0.036899395287036896, + 0.04549457132816315 + ], + [ + 0.3282521069049835, + -0.008338921703398228, + 0.07315453886985779 + ], + [ + 0.29650336503982544, + 0.019010430201888084, + 0.08191503584384918 + ], + [ + 0.2645998001098633, + 0.05587310716509819, + 0.07496503740549088 + ], + [ + 0.22962860763072968, + 0.098549485206604, + 0.06251206248998642 + ], + [ + 0.20600439608097076, + 0.1339287906885147, + 0.05640745162963867 + ], + [ + 0.18312396109104156, + 0.1621035486459732, + 0.05307877063751221 + ], + [ + 0.16258937120437622, + 0.1779063493013382, + 0.0535455048084259 + ], + [ + 0.16042543947696686, + 0.18999944627285004, + 0.044094301760196686 + ], + [ + 0.16910390555858612, + 0.18906377255916595, + 0.02440560981631279 + ], + [ + 0.19181180000305176, + 0.17778253555297852, + 0.016680032014846802 + ], + [ + 0.21289163827896118, + 0.16464385390281677, + 0.018824569880962372 + ], + [ + 0.23237481713294983, + 0.1504097282886505, + 0.016576332971453667 + ], + [ + 0.2510920464992523, + 0.1446927785873413, + 0.014430827461183071 + ], + [ + 0.276297003030777, + 0.14630205929279327, + 0.014926311559975147 + ], + [ + 0.30166149139404297, + 0.1525622308254242, + 0.014577203430235386 + ], + [ + 0.32185477018356323, + 0.1512918770313263, + 0.012987871654331684 + ], + [ + 0.3357252776622772, + 0.14792615175247192, + 0.011561233550310135 + ], + [ + 0.3446289002895355, + 0.14219754934310913, + 0.013715201988816261 + ], + [ + 0.3473081886768341, + 0.1405651569366455, + 0.015824800357222557 + ], + [ + 0.34310388565063477, + 0.13827037811279297, + 0.04338620975613594 + ], + [ + 0.3300391435623169, + 0.14656148850917816, + 0.059250473976135254 + ], + [ + 0.3199944794178009, + 0.14920908212661743, + 0.06366635859012604 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9939551058651277, + -0.010980641251906145, + 0.10923677513703844, + -0.014510974301349556, + -0.9993960151459536, + 0.03157588534332562, + 0.1088240743101844, + -0.03297014449598621, + -0.9935141118386016 + ], + [ + 0.9953090218152362, + 0.019694108913629143, + 0.09472113368882011, + 0.019264546935130782, + -0.9997995814152196, + 0.005447406110747797, + 0.09480943162249926, + -0.0035970927218216585, + -0.9954889414751772 + ], + [ + 0.9868215218406264, + 0.05662389851882271, + 0.1515817210242724, + 0.05632190228016312, + -0.9983928572243099, + 0.006288558421661672, + 0.15169419025029943, + 0.002331686087140159, + -0.9884247244400036 + ], + [ + 0.9871846841400207, + 0.0447940879387287, + 0.15316621391516236, + 0.04103321201789502, + -0.9987756969003673, + 0.02762938277777048, + 0.15421632504654723, + -0.020990401780897956, + -0.9878141161788561 + ], + [ + 0.9924943404831285, + -0.013685966072134674, + 0.12152233721268137, + -0.02103338832455557, + -0.9980134693689952, + 0.059386122399518265, + 0.1204681729111416, + -0.06149641689346212, + -0.9908105823136515 + ], + [ + 0.9929858631344216, + -0.07861134995492082, + 0.08831382266357217, + -0.08514666143219006, + -0.9937020330708034, + 0.07284446113400936, + 0.08203122370256281, + -0.07985314727183376, + -0.9934255650065802 + ], + [ + 0.9914361105739647, + -0.10924884256206861, + 0.07154808906475411, + -0.11586316966453859, + -0.9886194141222785, + 0.09595509332916946, + 0.06025084700861876, + -0.10342313290251667, + -0.9928109039567268 + ], + [ + 0.9936628141090046, + -0.10279153858131161, + 0.0454764934120978, + -0.10682226811869021, + -0.9894845491849061, + 0.09751579337892839, + 0.034974489144982614, + -0.10175571984134317, + -0.9941944269551191 + ], + [ + 0.9968804753918289, + -0.07437271889491807, + 0.02642000126304275, + -0.07611847429610925, + -0.9944424237350545, + 0.0727340618058913, + 0.020863740158328276, + -0.07451821629727966, + -0.9970013740143381 + ], + [ + 0.9992878207462864, + -0.0337474636267885, + -0.016880758481060784, + -0.03228078333358286, + -0.9962168998574998, + 0.0806835761830253, + -0.01953976293376144, + -0.08008119090691868, + -0.996596809410617 + ], + [ + 0.9959475994360242, + -0.04957715964565269, + -0.075036553886025, + -0.04258289809663058, + -0.9948387297997545, + 0.0921010232304899, + -0.07921537708874989, + -0.08853251906435698, + -0.9929183839071601 + ], + [ + 0.9937619660068816, + -0.08248333883268961, + -0.07505766938261045, + -0.07538345489395469, + -0.9928121870806292, + 0.09295857094657109, + -0.08218570220171291, + -0.0867205857867053, + -0.9928368699612349 + ], + [ + 0.9924850817932624, + -0.11155478844737368, + -0.05028808598746954, + -0.10642357884953677, + -0.989752288349626, + 0.09520729789010644, + -0.06039357815759764, + -0.08913998474949804, + -0.9941864406821196 + ], + [ + 0.9906482493021672, + -0.1299958882806417, + -0.04143808857413212, + -0.12642260729323054, + -0.9887803755035124, + 0.0795656545521628, + -0.051316376720617264, + -0.0735828651878915, + -0.9959679670707325 + ], + [ + 0.9932734805945946, + -0.11184366432261739, + -0.02997978482894011, + -0.10920857612367355, + -0.990914148838121, + 0.07850246195796924, + -0.03848739596984535, + -0.07470036401057419, + -0.9964630329159976 + ], + [ + 0.9988717802757935, + -0.047392049945294674, + -0.0030265773821176903, + -0.0470383540237165, + -0.9961453529820283, + 0.0740393745452372, + -0.006523788731003309, + -0.07381347664412712, + -0.9972507261698537 + ], + [ + 0.9997818443393257, + 0.007668171678697613, + 0.019428403757449426, + 0.006471775267646106, + -0.9981222028192884, + 0.060911282731991354, + 0.01985899932880656, + -0.06077225832793713, + -0.9979540834945169 + ], + [ + 0.9993511827120038, + 0.022455227931948513, + 0.028159835770887393, + 0.020639609596688896, + -0.9977882396568719, + 0.06318730345676236, + 0.02951643826438714, + -0.06256509842527976, + -0.9976043245351434 + ], + [ + 0.9992843508773297, + 0.018883454009989187, + 0.032775009631213325, + 0.01695283224555155, + -0.9981600918392423, + 0.05821539777695674, + 0.03381401441011833, + -0.05761810673848747, + -0.9977658874732811 + ], + [ + 0.9989554307690517, + 0.014397059196057004, + 0.0433678685609954, + 0.012445041953487175, + -0.9989117546731531, + 0.04494916358040893, + 0.04396780944957899, + -0.04436249612350106, + -0.9980474941954907 + ], + [ + 0.9984565434808511, + 0.0018502932389755941, + 0.05550772194209184, + -0.0008124022172706672, + -0.9988513769477374, + 0.047908942508115, + 0.05553261008549982, + -0.047880091734856724, + -0.9973081900959969 + ], + [ + 0.9936606813336195, + -0.012204193883499782, + 0.1117564674784451, + -0.018857499436929083, + -0.9980991973564597, + 0.05867185825740435, + 0.11082799775595077, + -0.06040736617370992, + -0.9920020690630449 + ], + [ + 0.9908284609501334, + 0.0033865039259601865, + 0.13508328009916615, + -0.005954361658522023, + -0.997620626413041, + 0.06868501534171555, + 0.1349944685845677, + -0.06885940274509818, + -0.9884507454118081 + ], + [ + 0.9912853212887232, + 0.013214411926655244, + 0.13106788742840786, + 0.0045535897164466245, + -0.9977986546373752, + 0.0661597281171743, + 0.13165362364252414, + -0.0649863379586573, + -0.9891633329539242 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005764.json b/json/chunk-0005/episode_0005764.json new file mode 100644 index 0000000000000000000000000000000000000000..70798798ef97668ba62c04a46c577f6e370470a2 --- /dev/null +++ b/json/chunk-0005/episode_0005764.json @@ -0,0 +1,2122 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 34, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nUnfold the cloth from top to bottom." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005764.mp4", + "start": 0, + "end": 34, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.34049347043037415, + 0.1241426020860672, + 0.15731538832187653, + -0.08322641998529434, + -0.16541218757629395, + 0.5684038996696472, + 0.0, + 0.9994885921478271 + ], + [ + 0.33962345123291016, + 0.12286633253097534, + 0.14568117260932922, + -0.07505092024803162, + -0.13260969519615173, + 0.5639455318450928, + 0.0, + 0.9994885921478271 + ], + [ + 0.35002753138542175, + 0.1291746199131012, + 0.14693792164325714, + -0.07721774280071259, + -0.17430910468101501, + 0.5692682266235352, + 0.0, + 0.9994885921478271 + ], + [ + 0.36860543489456177, + 0.13632792234420776, + 0.13893887400627136, + -0.07739124447107315, + -0.1545046865940094, + 0.5905842185020447, + 0.0, + 0.9994885921478271 + ], + [ + 0.3942546546459198, + 0.14576077461242676, + 0.13215652108192444, + -0.09099512547254562, + -0.1582954376935959, + 0.6434406042098999, + 0.0, + 0.9994885921478271 + ], + [ + 0.4081467092037201, + 0.15666188299655914, + 0.12050776928663254, + -0.07257059961557388, + -0.18474537134170532, + 0.6818666458129883, + 0.0, + 0.9994885921478271 + ], + [ + 0.41668882966041565, + 0.16483871638774872, + 0.1127174124121666, + -0.06044115871191025, + -0.24015069007873535, + 0.6835837960243225, + 0.0, + 0.9994885921478271 + ], + [ + 0.4130252003669739, + 0.1781945675611496, + 0.09685084223747253, + -0.0564153678715229, + -0.27632611989974976, + 0.6894958019256592, + 0.0, + 0.9994885921478271 + ], + [ + 0.4110184907913208, + 0.18837745487689972, + 0.08886969834566116, + -0.029838399961590767, + -0.31622374057769775, + 0.6905344128608704, + 0.0, + 0.9988223910331726 + ], + [ + 0.4091092646121979, + 0.1913095861673355, + 0.08144661784172058, + 0.000742127769626677, + -0.30525854229927063, + 0.6740593314170837, + 0.0, + 0.9994885921478271 + ], + [ + 0.4015253484249115, + 0.18686389923095703, + 0.06467808783054352, + 0.02241050824522972, + -0.222556933760643, + 0.641880989074707, + 0.0, + 0.9988223910331726 + ], + [ + 0.39681369066238403, + 0.18493279814720154, + 0.05295009911060333, + 0.030229885131120682, + -0.21620146930217743, + 0.6147176027297974, + 0.0, + 0.9994885921478271 + ], + [ + 0.39501282572746277, + 0.1819908767938614, + 0.04802753031253815, + 0.025467893108725548, + -0.20797471702098846, + 0.603058397769928, + 0.0, + 0.9507390260696411 + ], + [ + 0.39659008383750916, + 0.1843736171722412, + 0.04859600216150284, + 0.025964859873056412, + -0.2246258407831192, + 0.6138790249824524, + 0.0, + 0.649078905582428 + ], + [ + 0.3975566029548645, + 0.18516063690185547, + 0.0488877072930336, + 0.026976240798830986, + -0.23263013362884521, + 0.6118608713150024, + 0.0, + 0.34697994589805603 + ], + [ + 0.3962916135787964, + 0.18319189548492432, + 0.04836854338645935, + 0.020300667732954025, + -0.2186809927225113, + 0.6169012188911438, + 0.0, + 0.14185717701911926 + ], + [ + 0.39833617210388184, + 0.1808595210313797, + 0.05234063044190407, + 0.003150373697280884, + -0.21077828109264374, + 0.6348491311073303, + 0.0, + 0.050379663705825806 + ], + [ + 0.40332433581352234, + 0.18023881316184998, + 0.06110337749123573, + -0.018448568880558014, + -0.21393683552742004, + 0.6551804542541504, + 0.0, + 0.04860575497150421 + ], + [ + 0.4040061831474304, + 0.16941440105438232, + 0.085012286901474, + -0.07296396046876907, + -0.2221013605594635, + 0.6645018458366394, + 0.0, + 0.04860575497150421 + ], + [ + 0.38951727747917175, + 0.14872509241104126, + 0.1049102246761322, + -0.11837900429964066, + -0.2230580896139145, + 0.6173970103263855, + 0.0, + 0.04860575497150421 + ], + [ + 0.3699425756931305, + 0.12909060716629028, + 0.10994835197925568, + -0.14496168494224548, + -0.19837366044521332, + 0.561684250831604, + 0.0, + 0.04860575497150421 + ], + [ + 0.34945738315582275, + 0.11212748289108276, + 0.11907534301280975, + -0.17880603671073914, + -0.1968669444322586, + 0.507156252861023, + 0.0, + 0.04860575497150421 + ], + [ + 0.3202550709247589, + 0.09972605854272842, + 0.1138283982872963, + -0.1696767657995224, + -0.18377242982387543, + 0.4436311721801758, + 0.0, + 0.04860575497150421 + ], + [ + 0.2917459309101105, + 0.09646379947662354, + 0.09296455979347229, + -0.12393507361412048, + -0.16300848126411438, + 0.42924603819847107, + 0.0, + 0.04860575497150421 + ], + [ + 0.26627299189567566, + 0.103291817009449, + 0.06820295751094818, + -0.07254313677549362, + -0.12859457731246948, + 0.45914581418037415, + 0.0, + 0.04860575497150421 + ], + [ + 0.255719929933548, + 0.10646071285009384, + 0.0503547377884388, + -0.021128445863723755, + -0.15974964201450348, + 0.4074252247810364, + 0.0, + 0.04860575497150421 + ], + [ + 0.25008729100227356, + 0.10584138333797455, + 0.03997210040688515, + -0.003605105448514223, + -0.1828775554895401, + 0.36844125390052795, + 0.0, + 0.06956923007965088 + ], + [ + 0.24256235361099243, + 0.10611122101545334, + 0.03476580232381821, + 0.02120370604097843, + -0.16179223358631134, + 0.35026416182518005, + 0.0, + 0.22108687460422516 + ], + [ + 0.2387172132730484, + 0.10119941085577011, + 0.03521661087870598, + -0.0020156477112323046, + -0.11971089988946915, + 0.38645514845848083, + 0.0, + 0.4709327220916748 + ], + [ + 0.25666943192481995, + 0.10352388769388199, + 0.052514467388391495, + -0.03736163675785065, + -0.145063117146492, + 0.43653401732444763, + 0.0, + 0.7652681469917297 + ], + [ + 0.2745695412158966, + 0.10439383238554001, + 0.07436171174049377, + -0.06737362593412399, + -0.15856851637363434, + 0.45744138956069946, + 0.0, + 1.0060625076293945 + ], + [ + 0.29182401299476624, + 0.10229316353797913, + 0.10099365562200546, + -0.1298290342092514, + -0.17202411592006683, + 0.4826498329639435, + 0.0, + 1.0105689764022827 + ], + [ + 0.30386319756507874, + 0.09930992871522903, + 0.13801465928554535, + -0.2011098861694336, + -0.21065813302993774, + 0.5002292990684509, + 0.0, + 1.0008161067962646 + ], + [ + 0.317044198513031, + 0.09884074330329895, + 0.1719229817390442, + -0.2498965710401535, + -0.23570182919502258, + 0.5170350074768066, + 0.0, + 0.9994885921478271 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9507390260696411 + ], + [ + 0.649078905582428 + ], + [ + 0.34697994589805603 + ], + [ + 0.14185717701911926 + ], + [ + 0.050379663705825806 + ], + [ + 0.04860575497150421 + ], + [ + 0.04860575497150421 + ], + [ + 0.04860575497150421 + ], + [ + 0.04860575497150421 + ], + [ + 0.04860575497150421 + ], + [ + 0.04860575497150421 + ], + [ + 0.04860575497150421 + ], + [ + 0.04860575497150421 + ], + [ + 0.04860575497150421 + ], + [ + 0.06956923007965088 + ], + [ + 0.22108687460422516 + ], + [ + 0.4709327220916748 + ], + [ + 0.7652681469917297 + ], + [ + 1.0060625076293945 + ], + [ + 1.0105689764022827 + ], + [ + 1.0008161067962646 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.34049347043037415, + 0.1241426020860672, + 0.15731538832187653 + ], + [ + 0.33962345123291016, + 0.12286633253097534, + 0.14568117260932922 + ], + [ + 0.35002753138542175, + 0.1291746199131012, + 0.14693792164325714 + ], + [ + 0.36860543489456177, + 0.13632792234420776, + 0.13893887400627136 + ], + [ + 0.3942546546459198, + 0.14576077461242676, + 0.13215652108192444 + ], + [ + 0.4081467092037201, + 0.15666188299655914, + 0.12050776928663254 + ], + [ + 0.41668882966041565, + 0.16483871638774872, + 0.1127174124121666 + ], + [ + 0.4130252003669739, + 0.1781945675611496, + 0.09685084223747253 + ], + [ + 0.4110184907913208, + 0.18837745487689972, + 0.08886969834566116 + ], + [ + 0.4091092646121979, + 0.1913095861673355, + 0.08144661784172058 + ], + [ + 0.4015253484249115, + 0.18686389923095703, + 0.06467808783054352 + ], + [ + 0.39681369066238403, + 0.18493279814720154, + 0.05295009911060333 + ], + [ + 0.39501282572746277, + 0.1819908767938614, + 0.04802753031253815 + ], + [ + 0.39659008383750916, + 0.1843736171722412, + 0.04859600216150284 + ], + [ + 0.3975566029548645, + 0.18516063690185547, + 0.0488877072930336 + ], + [ + 0.3962916135787964, + 0.18319189548492432, + 0.04836854338645935 + ], + [ + 0.39833617210388184, + 0.1808595210313797, + 0.05234063044190407 + ], + [ + 0.40332433581352234, + 0.18023881316184998, + 0.06110337749123573 + ], + [ + 0.4040061831474304, + 0.16941440105438232, + 0.085012286901474 + ], + [ + 0.38951727747917175, + 0.14872509241104126, + 0.1049102246761322 + ], + [ + 0.3699425756931305, + 0.12909060716629028, + 0.10994835197925568 + ], + [ + 0.34945738315582275, + 0.11212748289108276, + 0.11907534301280975 + ], + [ + 0.3202550709247589, + 0.09972605854272842, + 0.1138283982872963 + ], + [ + 0.2917459309101105, + 0.09646379947662354, + 0.09296455979347229 + ], + [ + 0.26627299189567566, + 0.103291817009449, + 0.06820295751094818 + ], + [ + 0.255719929933548, + 0.10646071285009384, + 0.0503547377884388 + ], + [ + 0.25008729100227356, + 0.10584138333797455, + 0.03997210040688515 + ], + [ + 0.24256235361099243, + 0.10611122101545334, + 0.03476580232381821 + ], + [ + 0.2387172132730484, + 0.10119941085577011, + 0.03521661087870598 + ], + [ + 0.25666943192481995, + 0.10352388769388199, + 0.052514467388391495 + ], + [ + 0.2745695412158966, + 0.10439383238554001, + 0.07436171174049377 + ], + [ + 0.29182401299476624, + 0.10229316353797913, + 0.10099365562200546 + ], + [ + 0.30386319756507874, + 0.09930992871522903, + 0.13801465928554535 + ], + [ + 0.317044198513031, + 0.09884074330329895, + 0.1719229817390442 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.831257998142284, + 0.5248885707255224, + 0.1830358676494879, + 0.5309402838945796, + -0.8472123080826995, + 0.01826800402693799, + 0.16465890641694972, + 0.08199569107522214, + -0.9829364939723577 + ], + [ + 0.8377324480611086, + 0.524641376778012, + 0.1515116208018852, + 0.5298319111802359, + -0.8480728981597181, + 0.007106708244685643, + 0.13222137255618252, + 0.07432217152000145, + -0.9884299284521442 + ], + [ + 0.8295319906132728, + 0.5261410953553122, + 0.18722239269781166, + 0.5308478981694092, + -0.8469969249103961, + 0.02822619707742158, + 0.17342775313744258, + 0.07597208020480503, + -0.9819119397741598 + ], + [ + 0.8207211061561132, + 0.5452970350590469, + 0.1704934293915715, + 0.5502131558034427, + -0.8347546029584323, + 0.02121876576351297, + 0.1538907050172388, + 0.07639303892059016, + -0.9851303236190503 + ], + [ + 0.7900337809007469, + 0.5860095578651502, + 0.18010947539305566, + 0.5924506505258565, + -0.8053202452939494, + 0.02148323092978857, + 0.15763518556198047, + 0.08973349770506184, + -0.9834119419970736 + ], + [ + 0.7631857165263662, + 0.6182434900260365, + 0.1879429411565186, + 0.6195185647688768, + -0.7827484502144981, + 0.05917441671458963, + 0.18369624382890254, + 0.07127307154337402, + -0.9803957564554863 + ], + [ + 0.7530644074240858, + 0.6192833469051718, + 0.22222091377037248, + 0.6134507755149948, + -0.782972453502391, + 0.1031129626986721, + 0.23784899472367357, + 0.05867088973566845, + -0.9695285361486597 + ], + [ + 0.7422968885584134, + 0.6232669735747313, + 0.24603578781854715, + 0.6120154784804396, + -0.7801253779131495, + 0.12977460782535152, + 0.27282298901825813, + 0.054246422802433275, + -0.9605336757637821 + ], + [ + 0.7326815516404303, + 0.6295134488251124, + 0.25863209706856616, + 0.6053671021466842, + -0.7764720398689251, + 0.1749909795969966, + 0.31097976706579766, + 0.028354700670311497, + -0.9499934712541973 + ], + [ + 0.7451746247435895, + 0.6243367410258281, + 0.23434677818032337, + 0.5953071663508077, + -0.7811549992146689, + 0.1881654721071363, + 0.3005397749543667, + -0.0007078186051660412, + -0.9537690195551541 + ], + [ + 0.781216081338088, + 0.6025144850356627, + 0.1633331857920243, + 0.5839368599816137, + -0.797808631624752, + 0.15006375598342792, + 0.22072421211451873, + -0.02185595175806042, + -0.9750913493407549 + ], + [ + 0.7979175438393348, + 0.5817613271272044, + 0.15773823725589367, + 0.5633012506318751, + -0.8128236170158549, + 0.14835588514726294, + 0.21452108117844346, + -0.02952161717210218, + -0.9762731072039089 + ], + [ + 0.8058570767132022, + 0.5713106295156339, + 0.15555878796680728, + 0.5549422716260778, + -0.8203556167289393, + 0.1380425197675338, + 0.20647868430843058, + -0.024916394276289784, + -0.9781337977099697 + ], + [ + 0.7968840767178897, + 0.5805753905487805, + 0.1670568291408847, + 0.5615709569947902, + -0.8138130216858569, + 0.14948721013682081, + 0.2227416183236337, + -0.02530971401785185, + -0.9745489160852331 + ], + [ + 0.7965308030009164, + 0.579272908210654, + 0.17315189194428737, + 0.5589195761929173, + -0.8147110063112322, + 0.15445026236192982, + 0.23053760478291774, + -0.026246409440347285, + -0.972709380427908 + ], + [ + 0.7962492944648428, + 0.5819831856009073, + 0.1651745523440571, + 0.5647327998342869, + -0.8129593497602632, + 0.1420350676019737, + 0.21694221778060407, + -0.01981583496070348, + -0.9759833025360849 + ], + [ + 0.7873416565837359, + 0.5935838048341209, + 0.1665874618530071, + 0.5799307551457213, + -0.8047662867321069, + 0.12661572957389566, + 0.2092210196038921, + -0.0030806457220458605, + -0.977863525538121 + ], + [ + 0.7748611171604012, + 0.606093061695379, + 0.17955904231660702, + 0.5954118729271445, + -0.7951894296248826, + 0.11471038571221104, + 0.2123086213283047, + 0.018026968063871024, + -0.9770363748254715 + ], + [ + 0.7678872693748185, + 0.6023848631657004, + 0.21790277226535074, + 0.6015196823576298, + -0.7950321029080427, + 0.07808986542433963, + 0.22027985216188292, + 0.07110859283135751, + -0.972841382115853 + ], + [ + 0.7951873105368422, + 0.5535603657546097, + 0.24748345929941765, + 0.5645723679974025, + -0.8248061778561239, + 0.030867624854816603, + 0.2212129798519726, + 0.1151767790658992, + -0.9684002928071717 + ], + [ + 0.8297607873045945, + 0.5029316073619953, + 0.24198519410893546, + 0.52216704415706, + -0.852644791497216, + -0.018396671681255444, + 0.1970751477176619, + 0.14162153031565788, + -0.9701055243132639 + ], + [ + 0.8572447317570464, + 0.44754067523067326, + 0.2546346674921978, + 0.4763118590359106, + -0.8770890652435525, + -0.061982131069735005, + 0.19559775769814933, + 0.1744193671708048, + -0.9650489114750567 + ], + [ + 0.8879903601894359, + 0.39518704450478104, + 0.23516020085510192, + 0.421994426429098, + -0.9034735483054069, + -0.07520805525483154, + 0.182739772007662, + 0.1660203221536851, + -0.9690425317593516 + ], + [ + 0.8972259379616885, + 0.3947514950435438, + 0.1978809576731821, + 0.41066820175292906, + -0.910654877838605, + -0.045379748101672376, + 0.16228753592862316, + 0.12197930410378129, + -0.9791750635369415 + ], + [ + 0.8890296450753536, + 0.43368477854614895, + 0.1467780740934014, + 0.4395232380478912, + -0.8981929772922157, + -0.008288471441803329, + 0.1282404514694451, + 0.07188107122408871, + -0.98913472196996 + ], + [ + 0.9064535097676675, + 0.3930726052726269, + 0.15438899447197366, + 0.3912012760983624, + -0.9192708394765345, + 0.043619780686296065, + 0.15907104138997227, + 0.02085786835459013, + -0.9870467836525342 + ], + [ + 0.9173334300769442, + 0.3595477674088895, + 0.17095256948800489, + 0.354155837640987, + -0.9331199473076228, + 0.06213538928364447, + 0.18185989312676645, + 0.0035449806631716145, + -0.9833180626755612 + ], + [ + 0.9270152280234365, + 0.34627682230207424, + 0.1439969768746335, + 0.3386645116765169, + -0.9378989804140582, + 0.07517879401251737, + 0.16108729168858218, + -0.0209252210178983, + -0.9867183081213147 + ], + [ + 0.9196219674304381, + 0.3766836361714834, + 0.11137717566898372, + 0.37420991851338953, + -0.926339804475679, + 0.04314514491994564, + 0.11942518120385046, + 0.002001220774990084, + -0.9928411862981094 + ], + [ + 0.8967042737046841, + 0.41761280693845876, + 0.14670033742543528, + 0.41836028847184176, + -0.907873039643255, + 0.027225225778198782, + 0.14455488421188797, + 0.03696061917633584, + -0.9888062490096781 + ], + [ + 0.8859296638068422, + 0.43111440953377267, + 0.17108184205064375, + 0.4361131630369057, + -0.8998450052782985, + 0.009180168933292095, + 0.1579048441721791, + 0.06647805929812509, + -0.9852140517770309 + ], + [ + 0.8726945030376656, + 0.4405920341824488, + 0.2104351771515716, + 0.45727755241224427, + -0.8885992898689347, + -0.03589626866809119, + 0.17117693894829603, + 0.12755375909551409, + -0.9769485626750748 + ], + [ + 0.8580747663306446, + 0.43330817283055995, + 0.27559340112718805, + 0.4690238901200486, + -0.8798215180242216, + -0.07701095323530874, + 0.20910352910284946, + 0.19534104479037648, + -0.9581845283331065 + ], + [ + 0.8452533749860686, + 0.4287478701437147, + 0.3189388592220908, + 0.4806376892265409, + -0.8708337288651861, + -0.10313112219755187, + 0.23352546706865046, + 0.24046596540463616, + -0.9421475339416776 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0008700191974639893, + -0.001276269555091858, + -0.011634215712547302, + 0.008175499737262726, + 0.03280249238014221, + -0.004458367824554443, + 1.0 + ], + [ + 0.010404080152511597, + 0.0063082873821258545, + 0.0012567490339279175, + -0.0021668225526809692, + -0.04169940948486328, + 0.005322694778442383, + 1.0 + ], + [ + 0.018577903509140015, + 0.007153302431106567, + -0.007999047636985779, + -0.00017350167036056519, + 0.019804418087005615, + 0.02131599187850952, + 1.0 + ], + [ + 0.025649219751358032, + 0.009432852268218994, + -0.006782352924346924, + -0.013603881001472473, + -0.003790751099586487, + 0.052856385707855225, + 1.0 + ], + [ + 0.013892054557800293, + 0.010901108384132385, + -0.0116487517952919, + 0.01842452585697174, + -0.026449933648109436, + 0.03842604160308838, + 1.0 + ], + [ + 0.008542120456695557, + 0.008176833391189575, + -0.007790356874465942, + 0.012129440903663635, + -0.05540531873703003, + 0.0017171502113342285, + 1.0 + ], + [ + -0.0036636292934417725, + 0.013355851173400879, + -0.01586657017469406, + 0.004025790840387344, + -0.036175429821014404, + 0.00591200590133667, + 1.0 + ], + [ + -0.002006709575653076, + 0.010182887315750122, + -0.00798114389181137, + 0.026576967909932137, + -0.039897620677948, + 0.0010386109352111816, + 1.0 + ], + [ + -0.0019092261791229248, + 0.002932131290435791, + -0.007423080503940582, + 0.03058052808046341, + 0.010965198278427124, + -0.01647508144378662, + 1.0 + ], + [ + -0.007583916187286377, + -0.004445686936378479, + -0.016768530011177063, + 0.02166838012635708, + 0.08270160853862762, + -0.03217834234237671, + 1.0 + ], + [ + -0.004711657762527466, + -0.0019311010837554932, + -0.011727988719940186, + 0.00781937688589096, + 0.006355464458465576, + -0.027163386344909668, + 1.0 + ], + [ + -0.0018008649349212646, + -0.002941921353340149, + -0.0049225687980651855, + -0.004761992022395134, + 0.008226752281188965, + -0.011659204959869385, + 0.0 + ], + [ + 0.0015772581100463867, + 0.0023827403783798218, + 0.0005684718489646912, + 0.000496966764330864, + -0.016651123762130737, + 0.010820627212524414, + 0.0 + ], + [ + 0.0009665191173553467, + 0.0007870197296142578, + 0.0002917051315307617, + 0.0010113809257745743, + -0.008004292845726013, + -0.002018153667449951, + 0.0 + ], + [ + -0.0012649893760681152, + -0.0019687414169311523, + -0.0005191639065742493, + -0.006675573065876961, + 0.013949140906333923, + 0.005040347576141357, + 0.0 + ], + [ + 0.0020445585250854492, + -0.0023323744535446167, + 0.003972087055444717, + -0.01715029403567314, + 0.007902711629867554, + 0.017947912216186523, + 0.0 + ], + [ + 0.004988163709640503, + -0.0006207078695297241, + 0.008762747049331665, + -0.021598942577838898, + -0.003158554434776306, + 0.02033132314682007, + 0.0 + ], + [ + 0.0006818473339080811, + -0.010824412107467651, + 0.023908909410238266, + -0.05451539158821106, + -0.008164525032043457, + 0.009321391582489014, + 0.0 + ], + [ + -0.014488905668258667, + -0.020689308643341064, + 0.019897937774658203, + -0.04541504383087158, + -0.0009567290544509888, + -0.047104835510253906, + 0.0 + ], + [ + -0.01957470178604126, + -0.019634485244750977, + 0.005038127303123474, + -0.026582680642604828, + 0.024684429168701172, + -0.055712759494781494, + 0.0 + ], + [ + -0.02048519253730774, + -0.01696312427520752, + 0.009126991033554077, + -0.03384435176849365, + 0.001506716012954712, + -0.054527997970581055, + 0.0 + ], + [ + -0.029202312231063843, + -0.01240142434835434, + -0.005246944725513458, + 0.009129270911216736, + 0.013094514608383179, + -0.06352508068084717, + 0.0 + ], + [ + -0.028509140014648438, + -0.003262259066104889, + -0.020863838493824005, + 0.045741692185401917, + 0.020763948559761047, + -0.014385133981704712, + 0.0 + ], + [ + -0.025472939014434814, + 0.00682801753282547, + -0.02476160228252411, + 0.05139193683862686, + 0.0344139039516449, + 0.029899775981903076, + 0.0 + ], + [ + -0.010553061962127686, + 0.0031688958406448364, + -0.017848219722509384, + 0.05141469091176987, + -0.031155064702033997, + -0.05172058939933777, + 0.0 + ], + [ + -0.005632638931274414, + -0.0006193295121192932, + -0.01038263738155365, + 0.01752334088087082, + -0.02312791347503662, + -0.03898397088050842, + 1.0 + ], + [ + -0.007524937391281128, + 0.0002698376774787903, + -0.00520629808306694, + 0.024808811023831367, + 0.02108532190322876, + -0.0181770920753479, + 1.0 + ], + [ + -0.0038451403379440308, + -0.0049118101596832275, + 0.0004508085548877716, + -0.023219354450702667, + 0.042081333696842194, + 0.03619098663330078, + 1.0 + ], + [ + 0.017952218651771545, + 0.0023244768381118774, + 0.017297856509685516, + -0.03534599021077156, + -0.025352217257022858, + 0.0500788688659668, + 1.0 + ], + [ + 0.01790010929107666, + 0.00086994469165802, + 0.02184724435210228, + -0.030011989176273346, + -0.013505399227142334, + 0.02090737223625183, + 1.0 + ], + [ + 0.01725447177886963, + -0.0021006688475608826, + 0.026631943881511688, + -0.06245540827512741, + -0.013455599546432495, + 0.02520844340324402, + 1.0 + ], + [ + 0.0120391845703125, + -0.0029832348227500916, + 0.037021003663539886, + -0.07128085196018219, + -0.03863401710987091, + 0.017579466104507446, + 1.0 + ], + [ + 0.01318100094795227, + -0.00046918541193008423, + 0.03390832245349884, + -0.04878668487071991, + -0.02504369616508484, + 0.016805708408355713, + 1.0 + ], + [ + -0.0009739696979522705, + -0.0005734190344810486, + 0.00010004639625549316, + 0.0004523247480392456, + 0.007393091917037964, + -0.002297639846801758, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9507390260696411 + ], + [ + 0.649078905582428 + ], + [ + 0.34697994589805603 + ], + [ + 0.14185717701911926 + ], + [ + 0.050379663705825806 + ], + [ + 0.04860575497150421 + ], + [ + 0.04860575497150421 + ], + [ + 0.04860575497150421 + ], + [ + 0.04860575497150421 + ], + [ + 0.04860575497150421 + ], + [ + 0.04860575497150421 + ], + [ + 0.04860575497150421 + ], + [ + 0.04860575497150421 + ], + [ + 0.04860575497150421 + ], + [ + 0.06956923007965088 + ], + [ + 0.22108687460422516 + ], + [ + 0.4709327220916748 + ], + [ + 0.7652681469917297 + ], + [ + 1.0060625076293945 + ], + [ + 1.0105689764022827 + ], + [ + 1.0008161067962646 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.33962345123291016, + 0.12286633253097534, + 0.14568117260932922 + ], + [ + 0.35002753138542175, + 0.1291746199131012, + 0.14693792164325714 + ], + [ + 0.36860543489456177, + 0.13632792234420776, + 0.13893887400627136 + ], + [ + 0.3942546546459198, + 0.14576077461242676, + 0.13215652108192444 + ], + [ + 0.4081467092037201, + 0.15666188299655914, + 0.12050776928663254 + ], + [ + 0.41668882966041565, + 0.16483871638774872, + 0.1127174124121666 + ], + [ + 0.4130252003669739, + 0.1781945675611496, + 0.09685084223747253 + ], + [ + 0.4110184907913208, + 0.18837745487689972, + 0.08886969834566116 + ], + [ + 0.4091092646121979, + 0.1913095861673355, + 0.08144661784172058 + ], + [ + 0.4015253484249115, + 0.18686389923095703, + 0.06467808783054352 + ], + [ + 0.39681369066238403, + 0.18493279814720154, + 0.05295009911060333 + ], + [ + 0.39501282572746277, + 0.1819908767938614, + 0.04802753031253815 + ], + [ + 0.39659008383750916, + 0.1843736171722412, + 0.04859600216150284 + ], + [ + 0.3975566029548645, + 0.18516063690185547, + 0.0488877072930336 + ], + [ + 0.3962916135787964, + 0.18319189548492432, + 0.04836854338645935 + ], + [ + 0.39833617210388184, + 0.1808595210313797, + 0.05234063044190407 + ], + [ + 0.40332433581352234, + 0.18023881316184998, + 0.06110337749123573 + ], + [ + 0.4040061831474304, + 0.16941440105438232, + 0.085012286901474 + ], + [ + 0.38951727747917175, + 0.14872509241104126, + 0.1049102246761322 + ], + [ + 0.3699425756931305, + 0.12909060716629028, + 0.10994835197925568 + ], + [ + 0.34945738315582275, + 0.11212748289108276, + 0.11907534301280975 + ], + [ + 0.3202550709247589, + 0.09972605854272842, + 0.1138283982872963 + ], + [ + 0.2917459309101105, + 0.09646379947662354, + 0.09296455979347229 + ], + [ + 0.26627299189567566, + 0.103291817009449, + 0.06820295751094818 + ], + [ + 0.255719929933548, + 0.10646071285009384, + 0.0503547377884388 + ], + [ + 0.25008729100227356, + 0.10584138333797455, + 0.03997210040688515 + ], + [ + 0.24256235361099243, + 0.10611122101545334, + 0.03476580232381821 + ], + [ + 0.2387172132730484, + 0.10119941085577011, + 0.03521661087870598 + ], + [ + 0.25666943192481995, + 0.10352388769388199, + 0.052514467388391495 + ], + [ + 0.2745695412158966, + 0.10439383238554001, + 0.07436171174049377 + ], + [ + 0.29182401299476624, + 0.10229316353797913, + 0.10099365562200546 + ], + [ + 0.30386319756507874, + 0.09930992871522903, + 0.13801465928554535 + ], + [ + 0.317044198513031, + 0.09884074330329895, + 0.1719229817390442 + ], + [ + 0.31607022881507874, + 0.0982673242688179, + 0.17202302813529968 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8377324480611086, + 0.524641376778012, + 0.1515116208018852, + 0.5298319111802359, + -0.8480728981597181, + 0.007106708244685643, + 0.13222137255618252, + 0.07432217152000145, + -0.9884299284521442 + ], + [ + 0.8295319906132728, + 0.5261410953553122, + 0.18722239269781166, + 0.5308478981694092, + -0.8469969249103961, + 0.02822619707742158, + 0.17342775313744258, + 0.07597208020480503, + -0.9819119397741598 + ], + [ + 0.8207211061561132, + 0.5452970350590469, + 0.1704934293915715, + 0.5502131558034427, + -0.8347546029584323, + 0.02121876576351297, + 0.1538907050172388, + 0.07639303892059016, + -0.9851303236190503 + ], + [ + 0.7900337809007469, + 0.5860095578651502, + 0.18010947539305566, + 0.5924506505258565, + -0.8053202452939494, + 0.02148323092978857, + 0.15763518556198047, + 0.08973349770506184, + -0.9834119419970736 + ], + [ + 0.7631857165263662, + 0.6182434900260365, + 0.1879429411565186, + 0.6195185647688768, + -0.7827484502144981, + 0.05917441671458963, + 0.18369624382890254, + 0.07127307154337402, + -0.9803957564554863 + ], + [ + 0.7530644074240858, + 0.6192833469051718, + 0.22222091377037248, + 0.6134507755149948, + -0.782972453502391, + 0.1031129626986721, + 0.23784899472367357, + 0.05867088973566845, + -0.9695285361486597 + ], + [ + 0.7422968885584134, + 0.6232669735747313, + 0.24603578781854715, + 0.6120154784804396, + -0.7801253779131495, + 0.12977460782535152, + 0.27282298901825813, + 0.054246422802433275, + -0.9605336757637821 + ], + [ + 0.7326815516404303, + 0.6295134488251124, + 0.25863209706856616, + 0.6053671021466842, + -0.7764720398689251, + 0.1749909795969966, + 0.31097976706579766, + 0.028354700670311497, + -0.9499934712541973 + ], + [ + 0.7451746247435895, + 0.6243367410258281, + 0.23434677818032337, + 0.5953071663508077, + -0.7811549992146689, + 0.1881654721071363, + 0.3005397749543667, + -0.0007078186051660412, + -0.9537690195551541 + ], + [ + 0.781216081338088, + 0.6025144850356627, + 0.1633331857920243, + 0.5839368599816137, + -0.797808631624752, + 0.15006375598342792, + 0.22072421211451873, + -0.02185595175806042, + -0.9750913493407549 + ], + [ + 0.7979175438393348, + 0.5817613271272044, + 0.15773823725589367, + 0.5633012506318751, + -0.8128236170158549, + 0.14835588514726294, + 0.21452108117844346, + -0.02952161717210218, + -0.9762731072039089 + ], + [ + 0.8058570767132022, + 0.5713106295156339, + 0.15555878796680728, + 0.5549422716260778, + -0.8203556167289393, + 0.1380425197675338, + 0.20647868430843058, + -0.024916394276289784, + -0.9781337977099697 + ], + [ + 0.7968840767178897, + 0.5805753905487805, + 0.1670568291408847, + 0.5615709569947902, + -0.8138130216858569, + 0.14948721013682081, + 0.2227416183236337, + -0.02530971401785185, + -0.9745489160852331 + ], + [ + 0.7965308030009164, + 0.579272908210654, + 0.17315189194428737, + 0.5589195761929173, + -0.8147110063112322, + 0.15445026236192982, + 0.23053760478291774, + -0.026246409440347285, + -0.972709380427908 + ], + [ + 0.7962492944648428, + 0.5819831856009073, + 0.1651745523440571, + 0.5647327998342869, + -0.8129593497602632, + 0.1420350676019737, + 0.21694221778060407, + -0.01981583496070348, + -0.9759833025360849 + ], + [ + 0.7873416565837359, + 0.5935838048341209, + 0.1665874618530071, + 0.5799307551457213, + -0.8047662867321069, + 0.12661572957389566, + 0.2092210196038921, + -0.0030806457220458605, + -0.977863525538121 + ], + [ + 0.7748611171604012, + 0.606093061695379, + 0.17955904231660702, + 0.5954118729271445, + -0.7951894296248826, + 0.11471038571221104, + 0.2123086213283047, + 0.018026968063871024, + -0.9770363748254715 + ], + [ + 0.7678872693748185, + 0.6023848631657004, + 0.21790277226535074, + 0.6015196823576298, + -0.7950321029080427, + 0.07808986542433963, + 0.22027985216188292, + 0.07110859283135751, + -0.972841382115853 + ], + [ + 0.7951873105368422, + 0.5535603657546097, + 0.24748345929941765, + 0.5645723679974025, + -0.8248061778561239, + 0.030867624854816603, + 0.2212129798519726, + 0.1151767790658992, + -0.9684002928071717 + ], + [ + 0.8297607873045945, + 0.5029316073619953, + 0.24198519410893546, + 0.52216704415706, + -0.852644791497216, + -0.018396671681255444, + 0.1970751477176619, + 0.14162153031565788, + -0.9701055243132639 + ], + [ + 0.8572447317570464, + 0.44754067523067326, + 0.2546346674921978, + 0.4763118590359106, + -0.8770890652435525, + -0.061982131069735005, + 0.19559775769814933, + 0.1744193671708048, + -0.9650489114750567 + ], + [ + 0.8879903601894359, + 0.39518704450478104, + 0.23516020085510192, + 0.421994426429098, + -0.9034735483054069, + -0.07520805525483154, + 0.182739772007662, + 0.1660203221536851, + -0.9690425317593516 + ], + [ + 0.8972259379616885, + 0.3947514950435438, + 0.1978809576731821, + 0.41066820175292906, + -0.910654877838605, + -0.045379748101672376, + 0.16228753592862316, + 0.12197930410378129, + -0.9791750635369415 + ], + [ + 0.8890296450753536, + 0.43368477854614895, + 0.1467780740934014, + 0.4395232380478912, + -0.8981929772922157, + -0.008288471441803329, + 0.1282404514694451, + 0.07188107122408871, + -0.98913472196996 + ], + [ + 0.9064535097676675, + 0.3930726052726269, + 0.15438899447197366, + 0.3912012760983624, + -0.9192708394765345, + 0.043619780686296065, + 0.15907104138997227, + 0.02085786835459013, + -0.9870467836525342 + ], + [ + 0.9173334300769442, + 0.3595477674088895, + 0.17095256948800489, + 0.354155837640987, + -0.9331199473076228, + 0.06213538928364447, + 0.18185989312676645, + 0.0035449806631716145, + -0.9833180626755612 + ], + [ + 0.9270152280234365, + 0.34627682230207424, + 0.1439969768746335, + 0.3386645116765169, + -0.9378989804140582, + 0.07517879401251737, + 0.16108729168858218, + -0.0209252210178983, + -0.9867183081213147 + ], + [ + 0.9196219674304381, + 0.3766836361714834, + 0.11137717566898372, + 0.37420991851338953, + -0.926339804475679, + 0.04314514491994564, + 0.11942518120385046, + 0.002001220774990084, + -0.9928411862981094 + ], + [ + 0.8967042737046841, + 0.41761280693845876, + 0.14670033742543528, + 0.41836028847184176, + -0.907873039643255, + 0.027225225778198782, + 0.14455488421188797, + 0.03696061917633584, + -0.9888062490096781 + ], + [ + 0.8859296638068422, + 0.43111440953377267, + 0.17108184205064375, + 0.4361131630369057, + -0.8998450052782985, + 0.009180168933292095, + 0.1579048441721791, + 0.06647805929812509, + -0.9852140517770309 + ], + [ + 0.8726945030376656, + 0.4405920341824488, + 0.2104351771515716, + 0.45727755241224427, + -0.8885992898689347, + -0.03589626866809119, + 0.17117693894829603, + 0.12755375909551409, + -0.9769485626750748 + ], + [ + 0.8580747663306446, + 0.43330817283055995, + 0.27559340112718805, + 0.4690238901200486, + -0.8798215180242216, + -0.07701095323530874, + 0.20910352910284946, + 0.19534104479037648, + -0.9581845283331065 + ], + [ + 0.8452533749860686, + 0.4287478701437147, + 0.3189388592220908, + 0.4806376892265409, + -0.8708337288651861, + -0.10313112219755187, + 0.23352546706865046, + 0.24046596540463616, + -0.9421475339416776 + ], + [ + 0.8478350937776704, + 0.42843603036543665, + 0.3124391487053374, + 0.47953119912571296, + -0.870988996297407, + -0.10690181192988245, + 0.22633047259276673, + 0.2404594273750621, + -0.943903480744929 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005765.json b/json/chunk-0005/episode_0005765.json new file mode 100644 index 0000000000000000000000000000000000000000..dc451be559c875bdb7790a4861bc4b1e8c999727 --- /dev/null +++ b/json/chunk-0005/episode_0005765.json @@ -0,0 +1,2422 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 39, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut the yellow duck in the drawer." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005765.mp4", + "start": 0, + "end": 39, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.24417836964130402, + -0.021833965554833412, + 0.06693083792924881, + -0.01905314438045025, + -0.2474953979253769, + 0.10139596462249756, + 0.0, + 1.0014774799346924 + ], + [ + 0.24268373847007751, + -0.02222210355103016, + 0.06297680735588074, + -0.020283004269003868, + -0.2266150861978531, + 0.10132786631584167, + 0.0, + 1.0014774799346924 + ], + [ + 0.25713104009628296, + 0.028238097205758095, + 0.07863159477710724, + -0.043156158179044724, + -0.23736831545829773, + 0.24900391697883606, + 0.0, + 1.0014774799346924 + ], + [ + 0.27592024207115173, + 0.06380413472652435, + 0.09016851335763931, + -0.07391586899757385, + -0.24105961620807648, + 0.3482089638710022, + 0.0, + 1.0014774799346924 + ], + [ + 0.3038269877433777, + 0.10817112028598785, + 0.09519566595554352, + -0.08644906431436539, + -0.2466643750667572, + 0.44746240973472595, + 0.0, + 1.0014774799346924 + ], + [ + 0.3342420756816864, + 0.14032377302646637, + 0.10008455067873001, + -0.09738742560148239, + -0.26619696617126465, + 0.5198526382446289, + 0.0, + 1.0008161067962646 + ], + [ + 0.3611133396625519, + 0.15493838489055634, + 0.09325246512889862, + -0.09987825155258179, + -0.27830880880355835, + 0.5597872734069824, + 0.0, + 1.0014774799346924 + ], + [ + 0.384504109621048, + 0.15166038274765015, + 0.08438010513782501, + -0.10626840591430664, + -0.28532809019088745, + 0.5702916383743286, + 0.0, + 1.0014774799346924 + ], + [ + 0.40797314047813416, + 0.13322369754314423, + 0.07419764995574951, + -0.10168611258268356, + -0.28495171666145325, + 0.5487160682678223, + 0.0, + 1.0014774799346924 + ], + [ + 0.4238976538181305, + 0.12629714608192444, + 0.0641130656003952, + -0.08431565016508102, + -0.29232874512672424, + 0.546360433101654, + 0.0, + 1.0014774799346924 + ], + [ + 0.4335172474384308, + 0.13376270234584808, + 0.04959527775645256, + -0.060240037739276886, + -0.28445470333099365, + 0.5675753951072693, + 0.0, + 1.0014774799346924 + ], + [ + 0.438930869102478, + 0.14015504717826843, + 0.041173726320266724, + -0.02699170634150505, + -0.2703714668750763, + 0.5687987208366394, + 0.0, + 1.0014774799346924 + ], + [ + 0.43817514181137085, + 0.14363226294517517, + 0.039479777216911316, + -0.003471305361017585, + -0.2771123945713043, + 0.576388418674469, + 0.0, + 1.0014774799346924 + ], + [ + 0.43558260798454285, + 0.14361906051635742, + 0.019682627171278, + 0.007327827624976635, + -0.24200816452503204, + 0.5930732488632202, + 0.0, + 1.0014774799346924 + ], + [ + 0.44326281547546387, + 0.14581729471683502, + 0.013214894570410252, + -0.0031995181925594807, + -0.25354868173599243, + 0.6184883713722229, + 0.0, + 1.0014774799346924 + ], + [ + 0.44811883568763733, + 0.14717969298362732, + 0.003637435846030712, + 0.0033586088102310896, + -0.250992089509964, + 0.6288499236106873, + 0.0, + 1.0014774799346924 + ], + [ + 0.451539009809494, + 0.14857980608940125, + -0.0020481047686189413, + 0.012514812871813774, + -0.2415352165699005, + 0.6142890453338623, + 0.0, + 0.9553104043006897 + ], + [ + 0.4539720118045807, + 0.1468539535999298, + -0.003286277409642935, + -0.011221732944250107, + -0.24451866745948792, + 0.6067769527435303, + 0.0, + 0.7584560513496399 + ], + [ + 0.45443376898765564, + 0.14702904224395752, + -0.003006506012752652, + -0.025630563497543335, + -0.24160107970237732, + 0.5973706841468811, + 0.0, + 0.639030933380127 + ], + [ + 0.4483672082424164, + 0.14336387813091278, + -0.0033149125520139933, + -0.02858855202794075, + -0.22231826186180115, + 0.5859241485595703, + 0.0, + 0.603904664516449 + ], + [ + 0.44456154108047485, + 0.1204722449183464, + 0.02590845339000225, + -0.05590299516916275, + -0.25071030855178833, + 0.5428198575973511, + 0.0, + 0.6019018292427063 + ], + [ + 0.43956053256988525, + 0.0681004673242569, + 0.07465002685785294, + -0.11641030758619308, + -0.3278111219406128, + 0.4598540961742401, + 0.0, + 0.6009007096290588 + ], + [ + 0.4198777377605438, + 0.025894710794091225, + 0.09285419434309006, + -0.14967091381549835, + -0.3501588702201843, + 0.39201343059539795, + 0.0, + 0.6009007096290588 + ], + [ + 0.4014197885990143, + -0.017124556005001068, + 0.09631135314702988, + -0.16423873603343964, + -0.34186121821403503, + 0.33722013235092163, + 0.0, + 0.573952317237854 + ], + [ + 0.3890286982059479, + -0.03540593013167381, + 0.09329505264759064, + -0.15543876588344574, + -0.331981897354126, + 0.32876819372177124, + 0.0, + 0.5630297660827637 + ], + [ + 0.3767344653606415, + -0.03839275985956192, + 0.08947774767875671, + -0.14566044509410858, + -0.29871368408203125, + 0.3491460084915161, + 0.0, + 0.5590677857398987 + ], + [ + 0.3640740215778351, + -0.03769535571336746, + 0.07863420993089676, + -0.12419015169143677, + -0.2335595041513443, + 0.3643137216567993, + 0.0, + 0.5570889115333557 + ], + [ + 0.3586607575416565, + -0.032360732555389404, + 0.07572327554225922, + -0.11053664982318878, + -0.21787774562835693, + 0.375871866941452, + 0.0, + 0.5413121581077576 + ], + [ + 0.35275328159332275, + -0.018773583695292473, + 0.07496405392885208, + -0.1020335704088211, + -0.204885333776474, + 0.41766270995140076, + 0.0, + 0.6219554543495178 + ], + [ + 0.3547360897064209, + -0.011416171677410603, + 0.07503144443035126, + -0.1242806687951088, + -0.21124276518821716, + 0.4422354996204376, + 0.0, + 0.9255412817001343 + ], + [ + 0.351023405790329, + -0.009729891084134579, + 0.07630252838134766, + -0.10409307479858398, + -0.19533134996891022, + 0.4372327923774719, + 0.0, + 1.0047606229782104 + ], + [ + 0.3489115834236145, + -0.0034311634954065084, + 0.09657217562198639, + -0.11627086251974106, + -0.23229089379310608, + 0.4432772696018219, + 0.0, + 1.0001531839370728 + ], + [ + 0.343638151884079, + -0.007642385084182024, + 0.13073287904262543, + -0.12901899218559265, + -0.2842598259449005, + 0.3971261978149414, + 0.0, + 1.0008161067962646 + ], + [ + 0.3361908495426178, + -0.01038262527436018, + 0.15567781031131744, + -0.14110694825649261, + -0.32967811822891235, + 0.35834407806396484, + 0.0, + 1.0008161067962646 + ], + [ + 0.32670673727989197, + -0.012710586190223694, + 0.15323862433433533, + -0.1083412617444992, + -0.28080055117607117, + 0.25858935713768005, + 0.0, + 1.0008161067962646 + ], + [ + 0.32647421956062317, + -0.012708314694464207, + 0.15316717326641083, + -0.10615222156047821, + -0.2799813449382782, + 0.2520753741264343, + 0.0, + 1.0008161067962646 + ], + [ + 0.3262416124343872, + -0.012706030160188675, + 0.15309607982635498, + -0.10572532564401627, + -0.27850398421287537, + 0.2519119381904602, + 0.0, + 1.0008161067962646 + ], + [ + 0.3262607157230377, + -0.012205567210912704, + 0.15309607982635498, + -0.10572532564401627, + -0.27850398421287537, + 0.25344592332839966, + 0.0, + 1.0008161067962646 + ], + [ + 0.3262416124343872, + -0.012706030160188675, + 0.15309607982635498, + -0.10572532564401627, + -0.27850398421287537, + 0.2519119381904602, + 0.0, + 1.0008161067962646 + ] + ], + "left_gripper_pos": [ + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 0.9553104043006897 + ], + [ + 0.7584560513496399 + ], + [ + 0.639030933380127 + ], + [ + 0.603904664516449 + ], + [ + 0.6019018292427063 + ], + [ + 0.6009007096290588 + ], + [ + 0.6009007096290588 + ], + [ + 0.573952317237854 + ], + [ + 0.5630297660827637 + ], + [ + 0.5590677857398987 + ], + [ + 0.5570889115333557 + ], + [ + 0.5413121581077576 + ], + [ + 0.6219554543495178 + ], + [ + 0.9255412817001343 + ], + [ + 1.0047606229782104 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.24417836964130402, + -0.021833965554833412, + 0.06693083792924881 + ], + [ + 0.24268373847007751, + -0.02222210355103016, + 0.06297680735588074 + ], + [ + 0.25713104009628296, + 0.028238097205758095, + 0.07863159477710724 + ], + [ + 0.27592024207115173, + 0.06380413472652435, + 0.09016851335763931 + ], + [ + 0.3038269877433777, + 0.10817112028598785, + 0.09519566595554352 + ], + [ + 0.3342420756816864, + 0.14032377302646637, + 0.10008455067873001 + ], + [ + 0.3611133396625519, + 0.15493838489055634, + 0.09325246512889862 + ], + [ + 0.384504109621048, + 0.15166038274765015, + 0.08438010513782501 + ], + [ + 0.40797314047813416, + 0.13322369754314423, + 0.07419764995574951 + ], + [ + 0.4238976538181305, + 0.12629714608192444, + 0.0641130656003952 + ], + [ + 0.4335172474384308, + 0.13376270234584808, + 0.04959527775645256 + ], + [ + 0.438930869102478, + 0.14015504717826843, + 0.041173726320266724 + ], + [ + 0.43817514181137085, + 0.14363226294517517, + 0.039479777216911316 + ], + [ + 0.43558260798454285, + 0.14361906051635742, + 0.019682627171278 + ], + [ + 0.44326281547546387, + 0.14581729471683502, + 0.013214894570410252 + ], + [ + 0.44811883568763733, + 0.14717969298362732, + 0.003637435846030712 + ], + [ + 0.451539009809494, + 0.14857980608940125, + -0.0020481047686189413 + ], + [ + 0.4539720118045807, + 0.1468539535999298, + -0.003286277409642935 + ], + [ + 0.45443376898765564, + 0.14702904224395752, + -0.003006506012752652 + ], + [ + 0.4483672082424164, + 0.14336387813091278, + -0.0033149125520139933 + ], + [ + 0.44456154108047485, + 0.1204722449183464, + 0.02590845339000225 + ], + [ + 0.43956053256988525, + 0.0681004673242569, + 0.07465002685785294 + ], + [ + 0.4198777377605438, + 0.025894710794091225, + 0.09285419434309006 + ], + [ + 0.4014197885990143, + -0.017124556005001068, + 0.09631135314702988 + ], + [ + 0.3890286982059479, + -0.03540593013167381, + 0.09329505264759064 + ], + [ + 0.3767344653606415, + -0.03839275985956192, + 0.08947774767875671 + ], + [ + 0.3640740215778351, + -0.03769535571336746, + 0.07863420993089676 + ], + [ + 0.3586607575416565, + -0.032360732555389404, + 0.07572327554225922 + ], + [ + 0.35275328159332275, + -0.018773583695292473, + 0.07496405392885208 + ], + [ + 0.3547360897064209, + -0.011416171677410603, + 0.07503144443035126 + ], + [ + 0.351023405790329, + -0.009729891084134579, + 0.07630252838134766 + ], + [ + 0.3489115834236145, + -0.0034311634954065084, + 0.09657217562198639 + ], + [ + 0.343638151884079, + -0.007642385084182024, + 0.13073287904262543 + ], + [ + 0.3361908495426178, + -0.01038262527436018, + 0.15567781031131744 + ], + [ + 0.32670673727989197, + -0.012710586190223694, + 0.15323862433433533 + ], + [ + 0.32647421956062317, + -0.012708314694464207, + 0.15316717326641083 + ], + [ + 0.3262416124343872, + -0.012706030160188675, + 0.15309607982635498 + ], + [ + 0.3262607157230377, + -0.012205567210912704, + 0.15309607982635498 + ], + [ + 0.3262416124343872, + -0.012706030160188675, + 0.15309607982635498 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9645493664606395, + 0.09656061990511267, + 0.2456024558996089, + 0.09813796763206173, + -0.9951556922850899, + 0.005838443425403164, + 0.24497644574413144, + 0.018471458960341785, + -0.9693530555140624 + ], + [ + 0.9694343653175252, + 0.09660024547800072, + 0.2255335981954736, + 0.0985682915110723, + -0.9951270340507301, + 0.002545193506506409, + 0.22468044696856823, + 0.019763063400882158, + -0.9742320658215974 + ], + [ + 0.9419833386486817, + 0.23637731882521873, + 0.23831314032861006, + 0.23952861937966152, + -0.9707560881430803, + 0.016082842759199696, + 0.2351455511090017, + 0.04193304756567081, + -0.9710551937534235 + ], + [ + 0.9128061945430426, + 0.3237111675760367, + 0.2489898214594493, + 0.3313487714708405, + -0.9434343030093957, + 0.011819794834966778, + 0.23873173825156568, + 0.0717132895057469, + -0.9684339736190852 + ], + [ + 0.8742601619798983, + 0.41205690294097114, + 0.2566676409553353, + 0.41958295692905284, + -0.9073029920877241, + 0.027412092283070448, + 0.2441706604601675, + 0.08372806750043896, + -0.9661109145864606 + ], + [ + 0.8373237572813956, + 0.47219889754016653, + 0.27553062743371753, + 0.4792557968896941, + -0.8764862264825704, + 0.04567029596979906, + 0.2630642633270262, + 0.09380882660067817, + -0.9602067992948254 + ], + [ + 0.8147625802871846, + 0.5051468287132783, + 0.28458499469347803, + 0.5105736046092635, + -0.8576914199167766, + 0.06066318881700242, + 0.2747299256362011, + 0.09587549030936765, + -0.9567295115746487 + ], + [ + 0.8077113276612049, + 0.511701468044746, + 0.292854944927733, + 0.5180499591302425, + -0.8531133697202194, + 0.06182085610670812, + 0.2814722917321131, + 0.10178008648779996, + -0.9541562571097085 + ], + [ + 0.8187900224757279, + 0.49455123848690447, + 0.2915509759977935, + 0.5005591273261163, + -0.8636717502688167, + 0.05925932701369194, + 0.28111111529911786, + 0.09741755641909566, + -0.9547179481693105 + ], + [ + 0.8181727203995355, + 0.4969987422687397, + 0.2891118291895282, + 0.4975379230969604, + -0.8639959277390417, + 0.07724669527375587, + 0.28818295347641093, + 0.08064296022371824, + -0.9541736206225622 + ], + [ + 0.8093224764763828, + 0.5223679259231935, + 0.26856820183490887, + 0.5159860713368825, + -0.8507600852027853, + 0.09982811033010494, + 0.28063410921779447, + 0.057784317876487405, + -0.9580738329330807 + ], + [ + 0.8119402978099599, + 0.5323507434754954, + 0.239490372903299, + 0.5190531674581907, + -0.8461242642529353, + 0.12106832283487091, + 0.26708942724093976, + 0.02600798653330315, + -0.96332072670144 + ], + [ + 0.8064496014201269, + 0.5441998902076673, + 0.2312693664696664, + 0.5242073815583307, + -0.8389489444949115, + 0.1461892254943305, + 0.2735793513572921, + 0.0033388663998979162, + -0.9618436413898501 + ], + [ + 0.8050621469963168, + 0.5603532937241414, + 0.194625603881366, + 0.542624638029023, + -0.828223142678079, + 0.14001759938064132, + 0.23965275228453356, + -0.007114221317343045, + -0.9708326046118845 + ], + [ + 0.7887067595032963, + 0.5791473503723361, + 0.20622801475675565, + 0.5612669263498844, + -0.8152169979770262, + 0.14283096161224784, + 0.2508407560576303, + 0.003097219079827143, + -0.9680234100136259 + ], + [ + 0.7833649901322227, + 0.5888863462074927, + 0.19887725733610498, + 0.5697842369632427, + -0.8082093088191284, + 0.14880738034896607, + 0.24836508519386866, + -0.003253365718074705, + -0.9686610346597754 + ], + [ + 0.7934621537660704, + 0.5787786961445898, + 0.18823663679017974, + 0.5596465415374177, + -0.8153941187396615, + 0.1480816655429658, + 0.23919355987592325, + -0.012151214504729418, + -0.9708958692362141 + ], + [ + 0.797054060161186, + 0.5679551578578704, + 0.20526023444206049, + 0.5532608585335393, + -0.8229874826510231, + 0.1288178008446922, + 0.2420893380454811, + 0.010887702345912999, + -0.9701928727538289 + ], + [ + 0.8028034229568662, + 0.557215974439742, + 0.21217215160785818, + 0.5461341480865822, + -0.829994682398848, + 0.11334160526205127, + 0.23925751060830297, + 0.024883428598254084, + -0.9706372435666755 + ], + [ + 0.8126954239592026, + 0.5474922680375003, + 0.19944514111636363, + 0.5393604373457068, + -0.836346134948134, + 0.09805845799096474, + 0.22049142047258907, + 0.027881158449245352, + -0.9749903458504132 + ], + [ + 0.8294858918167075, + 0.5038763178098075, + 0.2409601868099186, + 0.5004032908593518, + -0.8620782546137856, + 0.08011010809616731, + 0.2480921235633488, + 0.054127065988085254, + -0.967223117462227 + ], + [ + 0.8483984505598355, + 0.4073022108337016, + 0.33811976892463563, + 0.42018380927905213, + -0.9066493964223938, + 0.037847567777254905, + 0.32197148244435453, + 0.10996263463962488, + -0.9403417376016534 + ], + [ + 0.868063143536752, + 0.3305063163762044, + 0.37044831443606846, + 0.3588664182767972, + -0.9333528616930276, + -0.00820544956833534, + 0.3430470414772218, + 0.14006430810477016, + -0.9288168371260594 + ], + [ + 0.8890696305514905, + 0.27468740862356616, + 0.36619942596173766, + 0.3117186864268982, + -0.9491146038637149, + -0.044865680256878836, + 0.33524118566089894, + 0.15403991780150159, + -0.929454168402284 + ], + [ + 0.8947634759404998, + 0.27123070642394914, + 0.3547283834367367, + 0.30524777372959583, + -0.9513214535703862, + -0.042559236481088544, + 0.3259173495780801, + 0.1463604996899548, + -0.9340002598364234 + ], + [ + 0.8980529094841705, + 0.2983348244033276, + 0.3232604280069743, + 0.32694605276021826, + -0.9443270517549924, + -0.03677904169818418, + 0.2942910979821325, + 0.13871824635555285, + -0.9455950495727605 + ], + [ + 0.9089992269207436, + 0.3267765837349037, + 0.25872276625769774, + 0.34663392713140917, + -0.937387278102388, + -0.03391181819444092, + 0.2314418415476051, + 0.12050790502843103, + -0.9653561616350265 + ], + [ + 0.9081967872221465, + 0.34266326653463247, + 0.24033410379550024, + 0.3584052196947552, + -0.9332640510580025, + -0.023746778694385226, + 0.21615803055848998, + 0.10770374538808437, + -0.9703997161244706 + ], + [ + 0.8949217424704359, + 0.38457371862909273, + 0.2263142279960991, + 0.3971412610511077, + -0.9176915255679865, + -0.011003757150967929, + 0.20345489334104208, + 0.09972621942344442, + -0.9739921906951268 + ], + [ + 0.8837067913502543, + 0.4011690628252762, + 0.24109269991712357, + 0.4184478663701141, + -0.9079496782418547, + -0.022994888797559156, + 0.2096752013275241, + 0.12120546527447743, + -0.9702296352595401 + ], + [ + 0.8886992219845941, + 0.40287229936266356, + 0.21887805566163615, + 0.41538192764487314, + -0.9095627156448849, + -0.012390338765841676, + 0.194091594434193, + 0.1019292731012213, + -0.975673550043789 + ], + [ + 0.8790883002673094, + 0.401881376540194, + 0.25631059190617056, + 0.41738264463456626, + -0.9087059343299624, + -0.0067270254470719534, + 0.2302074896500722, + 0.11289324206376994, + -0.96657106702267 + ], + [ + 0.8851688999089063, + 0.3502805798043924, + 0.306234442945197, + 0.37124852386142837, + -0.9284674110338712, + -0.011081524207927414, + 0.28044705768605765, + 0.12349810549137624, + -0.9518916250158281 + ], + [ + 0.8860463054196186, + 0.30459993610555647, + 0.349486514155747, + 0.33183629951540716, + -0.943139712920605, + -0.019291247651721265, + 0.32373849782836334, + 0.13306525029672453, + -0.936742773757719 + ], + [ + 0.928887766692115, + 0.2252486864391571, + 0.2939907245937688, + 0.2457016236252417, + -0.968746084886818, + -0.03408423630334445, + 0.2771249339876421, + 0.1038944285026702, + -0.9552003552598003 + ], + [ + 0.9306880799873835, + 0.21965686116828312, + 0.2925244624148471, + 0.23970223672831484, + -0.9702484624108525, + -0.03406991189920393, + 0.27633771996750756, + 0.10182722882939614, + -0.9556509195266257 + ], + [ + 0.9311215928141259, + 0.21976827439829413, + 0.2910575286146735, + 0.23965162308070312, + -0.9702614709293148, + -0.034055507408747354, + 0.2749175857417455, + 0.10146222744489078, + -0.9560992299190767 + ], + [ + 0.930752875414474, + 0.2212563819214441, + 0.29110942679123325, + 0.2410796672422177, + -0.9699232082288541, + -0.033608989592492484, + 0.27491758574174535, + 0.10146222744489078, + -0.9560992299190766 + ], + [ + 0.9311215928141259, + 0.21976827439829413, + 0.2910575286146735, + 0.23965162308070312, + -0.9702614709293148, + -0.034055507408747354, + 0.2749175857417455, + 0.10146222744489078, + -0.9560992299190767 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0014946311712265015, + -0.0003881379961967468, + -0.0039540305733680725, + -0.0012298598885536194, + 0.020880311727523804, + -6.809830665588379e-05, + 1.0 + ], + [ + 0.014447301626205444, + 0.050460200756788254, + 0.0156547874212265, + -0.022873153910040855, + -0.010753229260444641, + 0.14767605066299438, + 1.0 + ], + [ + 0.018789201974868774, + 0.03556603938341141, + 0.011536918580532074, + -0.03075971081852913, + -0.0036913007497787476, + 0.09920504689216614, + 1.0 + ], + [ + 0.027906745672225952, + 0.0443669855594635, + 0.005027152597904205, + -0.012533195316791534, + -0.005604758858680725, + 0.09925344586372375, + 1.0 + ], + [ + 0.030415087938308716, + 0.032152652740478516, + 0.004888884723186493, + -0.010938361287117004, + -0.019532591104507446, + 0.07239022850990295, + 1.0 + ], + [ + 0.02687126398086548, + 0.014614611864089966, + -0.00683208554983139, + -0.0024908259510993958, + -0.012111842632293701, + 0.039934635162353516, + 1.0 + ], + [ + 0.023390769958496094, + -0.003278002142906189, + -0.008872359991073608, + -0.0063901543617248535, + -0.0070192813873291016, + 0.010504364967346191, + 1.0 + ], + [ + 0.02346903085708618, + -0.01843668520450592, + -0.0101824551820755, + 0.004582293331623077, + 0.0003763735294342041, + -0.021575570106506348, + 1.0 + ], + [ + 0.015924513339996338, + -0.006926551461219788, + -0.010084584355354309, + 0.01737046241760254, + -0.007377028465270996, + -0.002355635166168213, + 1.0 + ], + [ + 0.009619593620300293, + 0.007465556263923645, + -0.014517787843942642, + 0.024075612425804138, + 0.00787404179573059, + 0.021214962005615234, + 1.0 + ], + [ + 0.005413621664047241, + 0.006392344832420349, + -0.008421551436185837, + 0.033248331397771835, + 0.014083236455917358, + 0.0012233257293701172, + 1.0 + ], + [ + -0.0007557272911071777, + 0.0034772157669067383, + -0.0016939491033554077, + 0.023520400747656822, + -0.006740927696228027, + 0.00758969783782959, + 1.0 + ], + [ + -0.002592533826828003, + -1.3202428817749023e-05, + -0.019797150045633316, + 0.010799133218824863, + 0.03510423004627228, + 0.01668483018875122, + 1.0 + ], + [ + 0.0076802074909210205, + 0.0021982342004776, + -0.006467732600867748, + -0.010527346283197403, + -0.011540517210960388, + 0.025415122509002686, + 1.0 + ], + [ + 0.004856020212173462, + 0.0013623982667922974, + -0.00957745872437954, + 0.006558126769959927, + 0.0025565922260284424, + 0.010361552238464355, + 1.0 + ], + [ + 0.0034201741218566895, + 0.0014001131057739258, + -0.005685540847480297, + 0.00915620382875204, + 0.009456872940063477, + -0.014560878276824951, + 0.0 + ], + [ + 0.00243300199508667, + -0.0017258524894714355, + -0.0012381726410239935, + -0.02373654581606388, + -0.0029834508895874023, + -0.007512092590332031, + 0.0 + ], + [ + 0.00046175718307495117, + 0.00017508864402770996, + 0.00027977139689028263, + -0.014408830553293228, + 0.0029175877571105957, + -0.00940626859664917, + 0.0 + ], + [ + -0.006066560745239258, + -0.0036651641130447388, + -0.0003084065392613411, + -0.002957988530397415, + 0.019282817840576172, + -0.011446535587310791, + 0.0 + ], + [ + -0.0038056671619415283, + -0.022891633212566376, + 0.0292233657091856, + -0.027314443141222, + -0.028392046689987183, + -0.04310429096221924, + 0.0 + ], + [ + -0.0050010085105896, + -0.05237177759408951, + 0.048741571605205536, + -0.060507312417030334, + -0.07710081338882446, + -0.08296576142311096, + 0.0 + ], + [ + -0.01968279480934143, + -0.04220575839281082, + 0.01820416748523712, + -0.03326060622930527, + -0.022347748279571533, + -0.06784066557884216, + 0.0 + ], + [ + -0.01845794916152954, + -0.043019264936447144, + 0.0034571588039398193, + -0.014567822217941284, + 0.008297652006149292, + -0.05479329824447632, + 0.0 + ], + [ + -0.012391090393066406, + -0.018281374126672745, + -0.0030163004994392395, + 0.008799970149993896, + 0.009879320859909058, + -0.00845193862915039, + 0.0 + ], + [ + -0.012294232845306396, + -0.0029868297278881073, + -0.0038173049688339233, + 0.009778320789337158, + 0.03326821327209473, + 0.020377814769744873, + 0.0 + ], + [ + -0.012660443782806396, + 0.000697404146194458, + -0.010843537747859955, + 0.021470293402671814, + 0.06515417993068695, + 0.015167713165283203, + 0.0 + ], + [ + -0.005413264036178589, + 0.005334623157978058, + -0.0029109343886375427, + 0.013653501868247986, + 0.015681758522987366, + 0.01155814528465271, + 0.0 + ], + [ + -0.00590747594833374, + 0.013587148860096931, + -0.000759221613407135, + 0.008503079414367676, + 0.012992411851882935, + 0.04179084300994873, + 1.0 + ], + [ + 0.0019828081130981445, + 0.00735741201788187, + 6.739050149917603e-05, + -0.02224709838628769, + -0.006357431411743164, + 0.024572789669036865, + 1.0 + ], + [ + -0.003712683916091919, + 0.0016862805932760239, + 0.001271083950996399, + 0.02018759399652481, + 0.015911415219306946, + -0.005002707242965698, + 1.0 + ], + [ + -0.0021118223667144775, + 0.006298727355897427, + 0.020269647240638733, + -0.012177787721157074, + -0.03695954382419586, + 0.006044477224349976, + 1.0 + ], + [ + -0.0052734315395355225, + -0.004211221821606159, + 0.03416070342063904, + -0.012748129665851593, + -0.051968932151794434, + -0.04615107178688049, + 1.0 + ], + [ + -0.007447302341461182, + -0.002740240190178156, + 0.024944931268692017, + -0.012087956070899963, + -0.04541829228401184, + -0.03878211975097656, + 1.0 + ], + [ + -0.00948411226272583, + -0.002327960915863514, + -0.0024391859769821167, + 0.03276568651199341, + 0.048877567052841187, + -0.09975472092628479, + 1.0 + ], + [ + -0.00023251771926879883, + 2.271495759487152e-06, + -7.145106792449951e-05, + 0.002189040184020996, + 0.0008192062377929688, + -0.0065139830112457275, + 1.0 + ], + [ + -0.00023260712623596191, + 2.284534275531769e-06, + -7.109344005584717e-05, + 0.0004268959164619446, + 0.001477360725402832, + -0.0001634359359741211, + 1.0 + ], + [ + 1.9103288650512695e-05, + 0.0005004629492759705, + 0.0, + 0.0, + 0.0, + 0.0015339851379394531, + 1.0 + ], + [ + -1.9103288650512695e-05, + -0.0005004629492759705, + 0.0, + 0.0, + 0.0, + -0.0015339851379394531, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 0.9553104043006897 + ], + [ + 0.7584560513496399 + ], + [ + 0.639030933380127 + ], + [ + 0.603904664516449 + ], + [ + 0.6019018292427063 + ], + [ + 0.6009007096290588 + ], + [ + 0.6009007096290588 + ], + [ + 0.573952317237854 + ], + [ + 0.5630297660827637 + ], + [ + 0.5590677857398987 + ], + [ + 0.5570889115333557 + ], + [ + 0.5413121581077576 + ], + [ + 0.6219554543495178 + ], + [ + 0.9255412817001343 + ], + [ + 1.0047606229782104 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.24268373847007751, + -0.02222210355103016, + 0.06297680735588074 + ], + [ + 0.25713104009628296, + 0.028238097205758095, + 0.07863159477710724 + ], + [ + 0.27592024207115173, + 0.06380413472652435, + 0.09016851335763931 + ], + [ + 0.3038269877433777, + 0.10817112028598785, + 0.09519566595554352 + ], + [ + 0.3342420756816864, + 0.14032377302646637, + 0.10008455067873001 + ], + [ + 0.3611133396625519, + 0.15493838489055634, + 0.09325246512889862 + ], + [ + 0.384504109621048, + 0.15166038274765015, + 0.08438010513782501 + ], + [ + 0.40797314047813416, + 0.13322369754314423, + 0.07419764995574951 + ], + [ + 0.4238976538181305, + 0.12629714608192444, + 0.0641130656003952 + ], + [ + 0.4335172474384308, + 0.13376270234584808, + 0.04959527775645256 + ], + [ + 0.438930869102478, + 0.14015504717826843, + 0.041173726320266724 + ], + [ + 0.43817514181137085, + 0.14363226294517517, + 0.039479777216911316 + ], + [ + 0.43558260798454285, + 0.14361906051635742, + 0.019682627171278 + ], + [ + 0.44326281547546387, + 0.14581729471683502, + 0.013214894570410252 + ], + [ + 0.44811883568763733, + 0.14717969298362732, + 0.003637435846030712 + ], + [ + 0.451539009809494, + 0.14857980608940125, + -0.0020481047686189413 + ], + [ + 0.4539720118045807, + 0.1468539535999298, + -0.003286277409642935 + ], + [ + 0.45443376898765564, + 0.14702904224395752, + -0.003006506012752652 + ], + [ + 0.4483672082424164, + 0.14336387813091278, + -0.0033149125520139933 + ], + [ + 0.44456154108047485, + 0.1204722449183464, + 0.02590845339000225 + ], + [ + 0.43956053256988525, + 0.0681004673242569, + 0.07465002685785294 + ], + [ + 0.4198777377605438, + 0.025894710794091225, + 0.09285419434309006 + ], + [ + 0.4014197885990143, + -0.017124556005001068, + 0.09631135314702988 + ], + [ + 0.3890286982059479, + -0.03540593013167381, + 0.09329505264759064 + ], + [ + 0.3767344653606415, + -0.03839275985956192, + 0.08947774767875671 + ], + [ + 0.3640740215778351, + -0.03769535571336746, + 0.07863420993089676 + ], + [ + 0.3586607575416565, + -0.032360732555389404, + 0.07572327554225922 + ], + [ + 0.35275328159332275, + -0.018773583695292473, + 0.07496405392885208 + ], + [ + 0.3547360897064209, + -0.011416171677410603, + 0.07503144443035126 + ], + [ + 0.351023405790329, + -0.009729891084134579, + 0.07630252838134766 + ], + [ + 0.3489115834236145, + -0.0034311634954065084, + 0.09657217562198639 + ], + [ + 0.343638151884079, + -0.007642385084182024, + 0.13073287904262543 + ], + [ + 0.3361908495426178, + -0.01038262527436018, + 0.15567781031131744 + ], + [ + 0.32670673727989197, + -0.012710586190223694, + 0.15323862433433533 + ], + [ + 0.32647421956062317, + -0.012708314694464207, + 0.15316717326641083 + ], + [ + 0.3262416124343872, + -0.012706030160188675, + 0.15309607982635498 + ], + [ + 0.3262607157230377, + -0.012205567210912704, + 0.15309607982635498 + ], + [ + 0.3262416124343872, + -0.012706030160188675, + 0.15309607982635498 + ], + [ + 0.3262416124343872, + -0.012706030160188675, + 0.15309607982635498 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9694343653175252, + 0.09660024547800072, + 0.2255335981954736, + 0.0985682915110723, + -0.9951270340507301, + 0.002545193506506409, + 0.22468044696856823, + 0.019763063400882158, + -0.9742320658215974 + ], + [ + 0.9419833386486817, + 0.23637731882521873, + 0.23831314032861006, + 0.23952861937966152, + -0.9707560881430803, + 0.016082842759199696, + 0.2351455511090017, + 0.04193304756567081, + -0.9710551937534235 + ], + [ + 0.9128061945430426, + 0.3237111675760367, + 0.2489898214594493, + 0.3313487714708405, + -0.9434343030093957, + 0.011819794834966778, + 0.23873173825156568, + 0.0717132895057469, + -0.9684339736190852 + ], + [ + 0.8742601619798983, + 0.41205690294097114, + 0.2566676409553353, + 0.41958295692905284, + -0.9073029920877241, + 0.027412092283070448, + 0.2441706604601675, + 0.08372806750043896, + -0.9661109145864606 + ], + [ + 0.8373237572813956, + 0.47219889754016653, + 0.27553062743371753, + 0.4792557968896941, + -0.8764862264825704, + 0.04567029596979906, + 0.2630642633270262, + 0.09380882660067817, + -0.9602067992948254 + ], + [ + 0.8147625802871846, + 0.5051468287132783, + 0.28458499469347803, + 0.5105736046092635, + -0.8576914199167766, + 0.06066318881700242, + 0.2747299256362011, + 0.09587549030936765, + -0.9567295115746487 + ], + [ + 0.8077113276612049, + 0.511701468044746, + 0.292854944927733, + 0.5180499591302425, + -0.8531133697202194, + 0.06182085610670812, + 0.2814722917321131, + 0.10178008648779996, + -0.9541562571097085 + ], + [ + 0.8187900224757279, + 0.49455123848690447, + 0.2915509759977935, + 0.5005591273261163, + -0.8636717502688167, + 0.05925932701369194, + 0.28111111529911786, + 0.09741755641909566, + -0.9547179481693105 + ], + [ + 0.8181727203995355, + 0.4969987422687397, + 0.2891118291895282, + 0.4975379230969604, + -0.8639959277390417, + 0.07724669527375587, + 0.28818295347641093, + 0.08064296022371824, + -0.9541736206225622 + ], + [ + 0.8093224764763828, + 0.5223679259231935, + 0.26856820183490887, + 0.5159860713368825, + -0.8507600852027853, + 0.09982811033010494, + 0.28063410921779447, + 0.057784317876487405, + -0.9580738329330807 + ], + [ + 0.8119402978099599, + 0.5323507434754954, + 0.239490372903299, + 0.5190531674581907, + -0.8461242642529353, + 0.12106832283487091, + 0.26708942724093976, + 0.02600798653330315, + -0.96332072670144 + ], + [ + 0.8064496014201269, + 0.5441998902076673, + 0.2312693664696664, + 0.5242073815583307, + -0.8389489444949115, + 0.1461892254943305, + 0.2735793513572921, + 0.0033388663998979162, + -0.9618436413898501 + ], + [ + 0.8050621469963168, + 0.5603532937241414, + 0.194625603881366, + 0.542624638029023, + -0.828223142678079, + 0.14001759938064132, + 0.23965275228453356, + -0.007114221317343045, + -0.9708326046118845 + ], + [ + 0.7887067595032963, + 0.5791473503723361, + 0.20622801475675565, + 0.5612669263498844, + -0.8152169979770262, + 0.14283096161224784, + 0.2508407560576303, + 0.003097219079827143, + -0.9680234100136259 + ], + [ + 0.7833649901322227, + 0.5888863462074927, + 0.19887725733610498, + 0.5697842369632427, + -0.8082093088191284, + 0.14880738034896607, + 0.24836508519386866, + -0.003253365718074705, + -0.9686610346597754 + ], + [ + 0.7934621537660704, + 0.5787786961445898, + 0.18823663679017974, + 0.5596465415374177, + -0.8153941187396615, + 0.1480816655429658, + 0.23919355987592325, + -0.012151214504729418, + -0.9708958692362141 + ], + [ + 0.797054060161186, + 0.5679551578578704, + 0.20526023444206049, + 0.5532608585335393, + -0.8229874826510231, + 0.1288178008446922, + 0.2420893380454811, + 0.010887702345912999, + -0.9701928727538289 + ], + [ + 0.8028034229568662, + 0.557215974439742, + 0.21217215160785818, + 0.5461341480865822, + -0.829994682398848, + 0.11334160526205127, + 0.23925751060830297, + 0.024883428598254084, + -0.9706372435666755 + ], + [ + 0.8126954239592026, + 0.5474922680375003, + 0.19944514111636363, + 0.5393604373457068, + -0.836346134948134, + 0.09805845799096474, + 0.22049142047258907, + 0.027881158449245352, + -0.9749903458504132 + ], + [ + 0.8294858918167075, + 0.5038763178098075, + 0.2409601868099186, + 0.5004032908593518, + -0.8620782546137856, + 0.08011010809616731, + 0.2480921235633488, + 0.054127065988085254, + -0.967223117462227 + ], + [ + 0.8483984505598355, + 0.4073022108337016, + 0.33811976892463563, + 0.42018380927905213, + -0.9066493964223938, + 0.037847567777254905, + 0.32197148244435453, + 0.10996263463962488, + -0.9403417376016534 + ], + [ + 0.868063143536752, + 0.3305063163762044, + 0.37044831443606846, + 0.3588664182767972, + -0.9333528616930276, + -0.00820544956833534, + 0.3430470414772218, + 0.14006430810477016, + -0.9288168371260594 + ], + [ + 0.8890696305514905, + 0.27468740862356616, + 0.36619942596173766, + 0.3117186864268982, + -0.9491146038637149, + -0.044865680256878836, + 0.33524118566089894, + 0.15403991780150159, + -0.929454168402284 + ], + [ + 0.8947634759404998, + 0.27123070642394914, + 0.3547283834367367, + 0.30524777372959583, + -0.9513214535703862, + -0.042559236481088544, + 0.3259173495780801, + 0.1463604996899548, + -0.9340002598364234 + ], + [ + 0.8980529094841705, + 0.2983348244033276, + 0.3232604280069743, + 0.32694605276021826, + -0.9443270517549924, + -0.03677904169818418, + 0.2942910979821325, + 0.13871824635555285, + -0.9455950495727605 + ], + [ + 0.9089992269207436, + 0.3267765837349037, + 0.25872276625769774, + 0.34663392713140917, + -0.937387278102388, + -0.03391181819444092, + 0.2314418415476051, + 0.12050790502843103, + -0.9653561616350265 + ], + [ + 0.9081967872221465, + 0.34266326653463247, + 0.24033410379550024, + 0.3584052196947552, + -0.9332640510580025, + -0.023746778694385226, + 0.21615803055848998, + 0.10770374538808437, + -0.9703997161244706 + ], + [ + 0.8949217424704359, + 0.38457371862909273, + 0.2263142279960991, + 0.3971412610511077, + -0.9176915255679865, + -0.011003757150967929, + 0.20345489334104208, + 0.09972621942344442, + -0.9739921906951268 + ], + [ + 0.8837067913502543, + 0.4011690628252762, + 0.24109269991712357, + 0.4184478663701141, + -0.9079496782418547, + -0.022994888797559156, + 0.2096752013275241, + 0.12120546527447743, + -0.9702296352595401 + ], + [ + 0.8886992219845941, + 0.40287229936266356, + 0.21887805566163615, + 0.41538192764487314, + -0.9095627156448849, + -0.012390338765841676, + 0.194091594434193, + 0.1019292731012213, + -0.975673550043789 + ], + [ + 0.8790883002673094, + 0.401881376540194, + 0.25631059190617056, + 0.41738264463456626, + -0.9087059343299624, + -0.0067270254470719534, + 0.2302074896500722, + 0.11289324206376994, + -0.96657106702267 + ], + [ + 0.8851688999089063, + 0.3502805798043924, + 0.306234442945197, + 0.37124852386142837, + -0.9284674110338712, + -0.011081524207927414, + 0.28044705768605765, + 0.12349810549137624, + -0.9518916250158281 + ], + [ + 0.8860463054196186, + 0.30459993610555647, + 0.349486514155747, + 0.33183629951540716, + -0.943139712920605, + -0.019291247651721265, + 0.32373849782836334, + 0.13306525029672453, + -0.936742773757719 + ], + [ + 0.928887766692115, + 0.2252486864391571, + 0.2939907245937688, + 0.2457016236252417, + -0.968746084886818, + -0.03408423630334445, + 0.2771249339876421, + 0.1038944285026702, + -0.9552003552598003 + ], + [ + 0.9306880799873835, + 0.21965686116828312, + 0.2925244624148471, + 0.23970223672831484, + -0.9702484624108525, + -0.03406991189920393, + 0.27633771996750756, + 0.10182722882939614, + -0.9556509195266257 + ], + [ + 0.9311215928141259, + 0.21976827439829413, + 0.2910575286146735, + 0.23965162308070312, + -0.9702614709293148, + -0.034055507408747354, + 0.2749175857417455, + 0.10146222744489078, + -0.9560992299190767 + ], + [ + 0.930752875414474, + 0.2212563819214441, + 0.29110942679123325, + 0.2410796672422177, + -0.9699232082288541, + -0.033608989592492484, + 0.27491758574174535, + 0.10146222744489078, + -0.9560992299190766 + ], + [ + 0.9311215928141259, + 0.21976827439829413, + 0.2910575286146735, + 0.23965162308070312, + -0.9702614709293148, + -0.034055507408747354, + 0.2749175857417455, + 0.10146222744489078, + -0.9560992299190767 + ], + [ + 0.9311215928141259, + 0.21976827439829413, + 0.2910575286146735, + 0.23965162308070312, + -0.9702614709293148, + -0.034055507408747354, + 0.2749175857417455, + 0.10146222744489078, + -0.9560992299190767 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005766.json b/json/chunk-0005/episode_0005766.json new file mode 100644 index 0000000000000000000000000000000000000000..9060fd50618137f9f1a947e855be0cf04e60d25a --- /dev/null +++ b/json/chunk-0005/episode_0005766.json @@ -0,0 +1,3862 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 63, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut cauliflower in pot or pan an put pot or pan on stove." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005766.mp4", + "start": 0, + "end": 63, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.26601752638816833, + 0.02564399689435959, + 0.08462200313806534, + 0.08797264844179153, + -0.22719788551330566, + 0.040451206266880035, + 0.0, + 1.0008161067962646 + ], + [ + 0.2631151080131531, + 0.024870874360203743, + 0.07778513431549072, + 0.08363999426364899, + -0.2086116373538971, + 0.04135795682668686, + 0.0, + 1.0008161067962646 + ], + [ + 0.26467934250831604, + 0.02685161493718624, + 0.06327549368143082, + 0.07162360101938248, + -0.24122613668441772, + 0.031672120094299316, + 0.0, + 1.0008161067962646 + ], + [ + 0.26924753189086914, + 0.03560947999358177, + 0.05007828027009964, + 0.08318135142326355, + -0.27755647897720337, + 0.011909572407603264, + 0.0, + 1.0008161067962646 + ], + [ + 0.27274495363235474, + 0.04253528267145157, + 0.0442085862159729, + 0.07406485080718994, + -0.2898905873298645, + -0.002191825769841671, + 0.0, + 1.0008161067962646 + ], + [ + 0.2764940559864044, + 0.045493897050619125, + 0.039755795150995255, + 0.06904897093772888, + -0.30776873230934143, + -0.01585034653544426, + 0.0, + 1.0008161067962646 + ], + [ + 0.2748401165008545, + 0.04458456486463547, + 0.033345673233270645, + 0.07020284980535507, + -0.33393508195877075, + -0.018962793052196503, + 0.0, + 1.0008161067962646 + ], + [ + 0.27177703380584717, + 0.04297772794961929, + 0.02940085530281067, + 0.07001149654388428, + -0.3483671545982361, + -0.007538836449384689, + 0.0, + 1.0008161067962646 + ], + [ + 0.26786184310913086, + 0.038779646158218384, + 0.027085520327091217, + 0.07354581356048584, + -0.36985716223716736, + 0.00826362892985344, + 0.0, + 1.0008161067962646 + ], + [ + 0.2606258988380432, + 0.033478446304798126, + 0.029691629111766815, + 0.07566498219966888, + -0.3859051465988159, + 0.02778305858373642, + 0.0, + 0.9628177285194397 + ], + [ + 0.2467227727174759, + 0.028254719451069832, + 0.022762438282370567, + 0.06958674639463425, + -0.335523784160614, + 0.06602490693330765, + 0.0, + 0.6791892647743225 + ], + [ + 0.246469646692276, + 0.02457570843398571, + 0.0234413743019104, + 0.07898832112550735, + -0.3224458694458008, + 0.059993136674165726, + 0.0, + 0.48704639077186584 + ], + [ + 0.2468097060918808, + 0.023072458803653717, + 0.025232670828700066, + 0.08424297720193863, + -0.3062485456466675, + 0.06953452527523041, + 0.0, + 0.5149424076080322 + ], + [ + 0.24965396523475647, + 0.021789614111185074, + 0.02780979685485363, + 0.08804390579462051, + -0.2877766489982605, + 0.0629851445555687, + 0.0, + 0.5236935019493103 + ], + [ + 0.25170910358428955, + 0.020468996837735176, + 0.0362088605761528, + 0.08239626884460449, + -0.23025356233119965, + 0.04968033358454704, + 0.0, + 0.5236935019493103 + ], + [ + 0.2554103136062622, + 0.02665453404188156, + 0.06402872502803802, + 0.08573447167873383, + -0.18697303533554077, + 0.0427987240254879, + 0.0, + 0.5236935019493103 + ], + [ + 0.2656981647014618, + 0.03708457946777344, + 0.0894836038351059, + 0.09818395227193832, + -0.14788536727428436, + 0.027122927829623222, + 0.0, + 0.5236935019493103 + ], + [ + 0.2872633934020996, + 0.051156241446733475, + 0.10649987310171127, + 0.08663036674261093, + -0.11170455813407898, + -0.0015443714801222086, + 0.0, + 0.5236935019493103 + ], + [ + 0.3081156313419342, + 0.06500382721424103, + 0.11137816309928894, + 0.07270227372646332, + -0.10148099064826965, + -0.023827793076634407, + 0.0, + 0.5236935019493103 + ], + [ + 0.32931268215179443, + 0.07965757697820663, + 0.10508917272090912, + 0.06005591154098511, + -0.10764174908399582, + -0.051687002182006836, + 0.0, + 0.5236935019493103 + ], + [ + 0.3392229378223419, + 0.08905981481075287, + 0.09661900997161865, + 0.04731692746281624, + -0.12018488347530365, + -0.06048005074262619, + 0.0, + 0.5236935019493103 + ], + [ + 0.3415271043777466, + 0.09041867405176163, + 0.09091103076934814, + 0.04295113682746887, + -0.15072190761566162, + -0.06646174937486649, + 0.0, + 0.5729578137397766 + ], + [ + 0.3369545340538025, + 0.08983363956212997, + 0.0856315866112709, + 0.041145842522382736, + -0.13509361445903778, + -0.06194969639182091, + 0.0, + 0.8792814016342163 + ], + [ + 0.3301297426223755, + 0.08441223204135895, + 0.08470337837934494, + 0.02419053390622139, + -0.08726340532302856, + -0.04875228554010391, + 0.0, + 1.0060625076293945 + ], + [ + 0.32678428292274475, + 0.07749485969543457, + 0.09169565886259079, + 0.029634913429617882, + -0.06359749287366867, + -0.032840415835380554, + 0.0, + 1.0027955770492554 + ], + [ + 0.32868221402168274, + 0.07040669023990631, + 0.09794152528047562, + 0.03132600337266922, + -0.054172925651073456, + -0.028637096285820007, + 0.0, + 1.0027955770492554 + ], + [ + 0.3308365046977997, + 0.06098135933279991, + 0.09749690443277359, + 0.043230220675468445, + -0.052557505667209625, + -0.03194323927164078, + 0.0, + 1.003452181816101 + ], + [ + 0.3348614275455475, + 0.053948428481817245, + 0.0977984145283699, + 0.06222514435648918, + -0.0676039531826973, + -0.03662152588367462, + 0.0, + 1.0027955770492554 + ], + [ + 0.3353244364261627, + 0.051916785538196564, + 0.09815552830696106, + 0.06225617229938507, + -0.06760091334581375, + -0.0426807627081871, + 0.0, + 1.0027955770492554 + ], + [ + 0.3349449634552002, + 0.05186702311038971, + 0.09778011590242386, + 0.061991430819034576, + -0.06608983874320984, + -0.042663078755140305, + 0.0, + 1.003452181816101 + ], + [ + 0.3352053165435791, + 0.051895253360271454, + 0.09831858426332474, + 0.06259596347808838, + -0.0690191239118576, + -0.04431018978357315, + 0.0, + 1.0027955770492554 + ], + [ + 0.3363678753376007, + 0.05223733186721802, + 0.09790684282779694, + 0.06422912329435349, + -0.07542169839143753, + -0.03622785583138466, + 0.0, + 1.0027955770492554 + ], + [ + 0.3415756821632385, + 0.04792892560362816, + 0.0939573347568512, + 0.08202922344207764, + -0.11925135552883148, + -0.01762298122048378, + 0.0, + 1.0027955770492554 + ], + [ + 0.34596171975135803, + 0.04337310791015625, + 0.09490730613470078, + 0.07701142132282257, + -0.14114540815353394, + -0.00891498476266861, + 0.0, + 1.0027955770492554 + ], + [ + 0.35205408930778503, + 0.03752817213535309, + 0.09275469183921814, + 0.06896430999040604, + -0.163209930062294, + 0.0003650716389529407, + 0.0, + 1.0027955770492554 + ], + [ + 0.3584868013858795, + 0.03328825905919075, + 0.08672423660755157, + 0.057959478348493576, + -0.18629585206508636, + 0.011001311242580414, + 0.0, + 1.0027955770492554 + ], + [ + 0.3644990026950836, + 0.03168085590004921, + 0.07444390654563904, + 0.04664644971489906, + -0.2050485759973526, + 0.008882294408977032, + 0.0, + 1.0027955770492554 + ], + [ + 0.366825133562088, + 0.0322515144944191, + 0.061791013926267624, + 0.0285237617790699, + -0.2302303910255432, + 0.007567912340164185, + 0.0, + 1.0027955770492554 + ], + [ + 0.3643255829811096, + 0.03239849582314491, + 0.05329999700188637, + 0.02407425083220005, + -0.24284033477306366, + 0.012749405577778816, + 0.0, + 1.0027955770492554 + ], + [ + 0.3564509451389313, + 0.031948208808898926, + 0.04299343377351761, + 0.026392335072159767, + -0.2335788607597351, + 0.01948407292366028, + 0.0, + 0.9679883122444153 + ], + [ + 0.3514990508556366, + 0.027982089668512344, + 0.037096843123435974, + 0.03436436504125595, + -0.24028903245925903, + 0.03478585183620453, + 0.0, + 0.6701657772064209 + ], + [ + 0.347919762134552, + 0.02644897811114788, + 0.03633468970656395, + 0.04341671243309975, + -0.25092601776123047, + 0.051354341208934784, + 0.0, + 0.3746064603328705 + ], + [ + 0.3479250967502594, + 0.024641728028655052, + 0.03695642203092575, + 0.05046111345291138, + -0.2702500522136688, + 0.04936559125781059, + 0.0, + 0.17844799160957336 + ], + [ + 0.34606969356536865, + 0.024477843195199966, + 0.038276057690382004, + 0.05348949879407883, + -0.27042096853256226, + 0.047285955399274826, + 0.0, + 0.08606764674186707 + ], + [ + 0.3410118818283081, + 0.018149780109524727, + 0.04032433405518532, + 0.04607938975095749, + -0.23349742591381073, + 0.040957383811473846, + 0.0, + 0.07526680082082748 + ], + [ + 0.33263692259788513, + 0.00784446019679308, + 0.057957928627729416, + 0.06366638839244843, + -0.17132088541984558, + 0.03891631215810776, + 0.0, + 0.0665184035897255 + ], + [ + 0.33023715019226074, + -0.006138841155916452, + 0.07943270355463028, + 0.10469633340835571, + -0.1644335687160492, + 0.02817380428314209, + 0.0, + 0.06413581967353821 + ], + [ + 0.3269641399383545, + -0.02553403563797474, + 0.08959384262561798, + 0.13892875611782074, + -0.16888946294784546, + 0.03882291167974472, + 0.0, + 0.07018911838531494 + ], + [ + 0.3247769773006439, + -0.05380048230290413, + 0.09516659379005432, + 0.1693493127822876, + -0.19294854998588562, + 0.04865502938628197, + 0.0, + 0.07270156592130661 + ], + [ + 0.3279361426830292, + -0.07792375981807709, + 0.1039523109793663, + 0.17192751169204712, + -0.24639569222927094, + 0.06220206245779991, + 0.0, + 0.07365728914737701 + ], + [ + 0.3332166373729706, + -0.0963425412774086, + 0.09415573626756668, + 0.16771653294563293, + -0.2580595910549164, + 0.06839843839406967, + 0.0, + 0.07365728914737701 + ], + [ + 0.34270307421684265, + -0.1045784056186676, + 0.07936733961105347, + 0.149167999625206, + -0.29854175448417664, + 0.08192481845617294, + 0.0, + 0.07365728914737701 + ], + [ + 0.34842997789382935, + -0.1085299700498581, + 0.05833206698298454, + 0.1279185265302658, + -0.32896608114242554, + 0.07892008870840073, + 0.0, + 0.07365728914737701 + ], + [ + 0.35107630491256714, + -0.1110573410987854, + 0.04998433589935303, + 0.1108936294913292, + -0.3570187985897064, + 0.0811094343662262, + 0.0, + 0.09851961582899094 + ], + [ + 0.35189324617385864, + -0.11243550479412079, + 0.05065528675913811, + 0.11511744558811188, + -0.36776623129844666, + 0.07485872507095337, + 0.0, + 0.27090853452682495 + ], + [ + 0.342825323343277, + -0.11048882454633713, + 0.04787088930606842, + 0.1288689821958542, + -0.309739351272583, + 0.08436977118253708, + 0.0, + 0.5521479845046997 + ], + [ + 0.33525872230529785, + -0.10840940475463867, + 0.04889191314578056, + 0.13580156862735748, + -0.2585015296936035, + 0.0889870896935463, + 0.0, + 0.8625253438949585 + ], + [ + 0.33173659443855286, + -0.10697335749864578, + 0.06487590074539185, + 0.12216816842556, + -0.251151442527771, + 0.10018033534288406, + 0.0, + 1.0092895030975342 + ], + [ + 0.325665146112442, + -0.10546068847179413, + 0.0729246512055397, + 0.12876290082931519, + -0.22517573833465576, + 0.10036151856184006, + 0.0, + 1.003452181816101 + ], + [ + 0.3217964470386505, + -0.10452712327241898, + 0.08292116224765778, + 0.13074235618114471, + -0.20725156366825104, + 0.09454991668462753, + 0.0, + 1.0014774799346924 + ], + [ + 0.3232472240924835, + -0.08690837025642395, + 0.09331659227609634, + 0.1326705813407898, + -0.19002079963684082, + 0.05894149839878082, + 0.0, + 1.0014774799346924 + ], + [ + 0.3302852213382721, + -0.052956946194171906, + 0.09913523495197296, + 0.12756337225437164, + -0.17881067097187042, + 0.02760319784283638, + 0.0, + 1.0014774799346924 + ], + [ + 0.33894845843315125, + -0.018517743796110153, + 0.09883676469326019, + 0.10205178707838058, + -0.18434183299541473, + -0.010670548304915428, + 0.0, + 1.0014774799346924 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9628177285194397 + ], + [ + 0.6791892647743225 + ], + [ + 0.48704639077186584 + ], + [ + 0.5149424076080322 + ], + [ + 0.5236935019493103 + ], + [ + 0.5236935019493103 + ], + [ + 0.5236935019493103 + ], + [ + 0.5236935019493103 + ], + [ + 0.5236935019493103 + ], + [ + 0.5236935019493103 + ], + [ + 0.5236935019493103 + ], + [ + 0.5236935019493103 + ], + [ + 0.5729578137397766 + ], + [ + 0.8792814016342163 + ], + [ + 1.0060625076293945 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.003452181816101 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.003452181816101 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 0.9679883122444153 + ], + [ + 0.6701657772064209 + ], + [ + 0.3746064603328705 + ], + [ + 0.17844799160957336 + ], + [ + 0.08606764674186707 + ], + [ + 0.07526680082082748 + ], + [ + 0.0665184035897255 + ], + [ + 0.06413581967353821 + ], + [ + 0.07018911838531494 + ], + [ + 0.07270156592130661 + ], + [ + 0.07365728914737701 + ], + [ + 0.07365728914737701 + ], + [ + 0.07365728914737701 + ], + [ + 0.07365728914737701 + ], + [ + 0.09851961582899094 + ], + [ + 0.27090853452682495 + ], + [ + 0.5521479845046997 + ], + [ + 0.8625253438949585 + ], + [ + 1.0092895030975342 + ], + [ + 1.003452181816101 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.26601752638816833, + 0.02564399689435959, + 0.08462200313806534 + ], + [ + 0.2631151080131531, + 0.024870874360203743, + 0.07778513431549072 + ], + [ + 0.26467934250831604, + 0.02685161493718624, + 0.06327549368143082 + ], + [ + 0.26924753189086914, + 0.03560947999358177, + 0.05007828027009964 + ], + [ + 0.27274495363235474, + 0.04253528267145157, + 0.0442085862159729 + ], + [ + 0.2764940559864044, + 0.045493897050619125, + 0.039755795150995255 + ], + [ + 0.2748401165008545, + 0.04458456486463547, + 0.033345673233270645 + ], + [ + 0.27177703380584717, + 0.04297772794961929, + 0.02940085530281067 + ], + [ + 0.26786184310913086, + 0.038779646158218384, + 0.027085520327091217 + ], + [ + 0.2606258988380432, + 0.033478446304798126, + 0.029691629111766815 + ], + [ + 0.2467227727174759, + 0.028254719451069832, + 0.022762438282370567 + ], + [ + 0.246469646692276, + 0.02457570843398571, + 0.0234413743019104 + ], + [ + 0.2468097060918808, + 0.023072458803653717, + 0.025232670828700066 + ], + [ + 0.24965396523475647, + 0.021789614111185074, + 0.02780979685485363 + ], + [ + 0.25170910358428955, + 0.020468996837735176, + 0.0362088605761528 + ], + [ + 0.2554103136062622, + 0.02665453404188156, + 0.06402872502803802 + ], + [ + 0.2656981647014618, + 0.03708457946777344, + 0.0894836038351059 + ], + [ + 0.2872633934020996, + 0.051156241446733475, + 0.10649987310171127 + ], + [ + 0.3081156313419342, + 0.06500382721424103, + 0.11137816309928894 + ], + [ + 0.32931268215179443, + 0.07965757697820663, + 0.10508917272090912 + ], + [ + 0.3392229378223419, + 0.08905981481075287, + 0.09661900997161865 + ], + [ + 0.3415271043777466, + 0.09041867405176163, + 0.09091103076934814 + ], + [ + 0.3369545340538025, + 0.08983363956212997, + 0.0856315866112709 + ], + [ + 0.3301297426223755, + 0.08441223204135895, + 0.08470337837934494 + ], + [ + 0.32678428292274475, + 0.07749485969543457, + 0.09169565886259079 + ], + [ + 0.32868221402168274, + 0.07040669023990631, + 0.09794152528047562 + ], + [ + 0.3308365046977997, + 0.06098135933279991, + 0.09749690443277359 + ], + [ + 0.3348614275455475, + 0.053948428481817245, + 0.0977984145283699 + ], + [ + 0.3353244364261627, + 0.051916785538196564, + 0.09815552830696106 + ], + [ + 0.3349449634552002, + 0.05186702311038971, + 0.09778011590242386 + ], + [ + 0.3352053165435791, + 0.051895253360271454, + 0.09831858426332474 + ], + [ + 0.3363678753376007, + 0.05223733186721802, + 0.09790684282779694 + ], + [ + 0.3415756821632385, + 0.04792892560362816, + 0.0939573347568512 + ], + [ + 0.34596171975135803, + 0.04337310791015625, + 0.09490730613470078 + ], + [ + 0.35205408930778503, + 0.03752817213535309, + 0.09275469183921814 + ], + [ + 0.3584868013858795, + 0.03328825905919075, + 0.08672423660755157 + ], + [ + 0.3644990026950836, + 0.03168085590004921, + 0.07444390654563904 + ], + [ + 0.366825133562088, + 0.0322515144944191, + 0.061791013926267624 + ], + [ + 0.3643255829811096, + 0.03239849582314491, + 0.05329999700188637 + ], + [ + 0.3564509451389313, + 0.031948208808898926, + 0.04299343377351761 + ], + [ + 0.3514990508556366, + 0.027982089668512344, + 0.037096843123435974 + ], + [ + 0.347919762134552, + 0.02644897811114788, + 0.03633468970656395 + ], + [ + 0.3479250967502594, + 0.024641728028655052, + 0.03695642203092575 + ], + [ + 0.34606969356536865, + 0.024477843195199966, + 0.038276057690382004 + ], + [ + 0.3410118818283081, + 0.018149780109524727, + 0.04032433405518532 + ], + [ + 0.33263692259788513, + 0.00784446019679308, + 0.057957928627729416 + ], + [ + 0.33023715019226074, + -0.006138841155916452, + 0.07943270355463028 + ], + [ + 0.3269641399383545, + -0.02553403563797474, + 0.08959384262561798 + ], + [ + 0.3247769773006439, + -0.05380048230290413, + 0.09516659379005432 + ], + [ + 0.3279361426830292, + -0.07792375981807709, + 0.1039523109793663 + ], + [ + 0.3332166373729706, + -0.0963425412774086, + 0.09415573626756668 + ], + [ + 0.34270307421684265, + -0.1045784056186676, + 0.07936733961105347 + ], + [ + 0.34842997789382935, + -0.1085299700498581, + 0.05833206698298454 + ], + [ + 0.35107630491256714, + -0.1110573410987854, + 0.04998433589935303 + ], + [ + 0.35189324617385864, + -0.11243550479412079, + 0.05065528675913811 + ], + [ + 0.342825323343277, + -0.11048882454633713, + 0.04787088930606842 + ], + [ + 0.33525872230529785, + -0.10840940475463867, + 0.04889191314578056 + ], + [ + 0.33173659443855286, + -0.10697335749864578, + 0.06487590074539185 + ], + [ + 0.325665146112442, + -0.10546068847179413, + 0.0729246512055397 + ], + [ + 0.3217964470386505, + -0.10452712327241898, + 0.08292116224765778 + ], + [ + 0.3232472240924835, + -0.08690837025642395, + 0.09331659227609634 + ], + [ + 0.3302852213382721, + -0.052956946194171906, + 0.09913523495197296 + ], + [ + 0.33894845843315125, + -0.018517743796110153, + 0.09883676469326019 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9735043747168768, + 0.06005774070453784, + 0.22064065851191, + 0.039400919183931765, + -0.9945177097379367, + 0.09686120268234483, + 0.22524830737336088, + -0.08560135979688352, + -0.9705336713511594 + ], + [ + 0.9774828110584343, + 0.05848864222519603, + 0.2027472140769232, + 0.04044975737057093, + -0.9949367218300315, + 0.0920040036236037, + 0.20710183778509222, + -0.08173125647365978, + -0.9748993950666262 + ], + [ + 0.970558790291439, + 0.048672844569062575, + 0.2358952920038342, + 0.030749937244087498, + -0.9963945232048195, + 0.07907209044236028, + 0.23889344057027395, + -0.06949034702025887, + -0.9685561500106747 + ], + [ + 0.9616596454144651, + 0.034632452626228966, + 0.27205021522949996, + 0.011453496697017592, + -0.9962006264197254, + 0.08633150835215475, + 0.27400646670240586, + -0.07990560146847506, + -0.9584026038462253 + ], + [ + 0.9582728547494659, + 0.01896602681223679, + 0.2852252192167915, + -0.002100370501044155, + -0.9973024182969398, + 0.0733721670855796, + 0.28584737937239796, + -0.07090963464884996, + -0.9556479997467159 + ], + [ + 0.9528921544383883, + 0.005086052743073695, + 0.30326667155700077, + -0.015104935835166635, + -0.9978230197794301, + 0.0641954991543395, + 0.30293296770603, + -0.06575221110923934, + -0.9507409025655011 + ], + [ + 0.9445900294400025, + 0.0040719357384401515, + 0.32822720122177085, + -0.017914212541337703, + -0.9977933941345017, + 0.06393296184734534, + 0.32776326406654943, + -0.06627037015810572, + -0.9424327460182761 + ], + [ + 0.9399046495079473, + 0.016358874963230827, + 0.3410449193922701, + -0.0070859216717193176, + -0.9977018733882946, + 0.06738517308391623, + 0.3413635006080833, + -0.0657522550748221, + -0.9376287119138207 + ], + [ + 0.9323471536708652, + 0.034801835734049456, + 0.3598855613544064, + 0.007704746291988996, + -0.9970431819288728, + 0.07645606747488823, + 0.36148225672418843, + -0.06851076994669392, + -0.9298585120731535 + ], + [ + 0.9261005742423419, + 0.056141990577603176, + 0.37307613603926587, + 0.025736528844066398, + -0.9959635417407277, + 0.08598985176359086, + 0.37639787123609375, + -0.07003356636106794, + -0.9238073078903883 + ], + [ + 0.9421806207566931, + 0.08866129748371868, + 0.3231638163517638, + 0.06229793901198247, + -0.9938957697279138, + 0.09105034712628737, + 0.32926379191370597, + -0.06565343285359612, + -0.9419527493930608 + ], + [ + 0.9467568595022309, + 0.08472960533544324, + 0.3105999725775477, + 0.05686715502018744, + -0.9935894136431985, + 0.09770467632654645, + 0.3168873232954946, + -0.0748396357277697, + -0.9455059244969075 + ], + [ + 0.9511671673152605, + 0.09453867556850563, + 0.2938425745926134, + 0.06624575905779893, + -0.9922831556661186, + 0.10481239615687227, + 0.3014838623016476, + -0.08022828555467154, + -0.9500899446729445 + ], + [ + 0.9569759127635399, + 0.08760665676897825, + 0.2766264197074313, + 0.06035509946167311, + -0.9925805646054924, + 0.10555133697122697, + 0.28382100760754314, + -0.08431427196628337, + -0.9551632002874872 + ], + [ + 0.9724073053513089, + 0.06825181381597849, + 0.223082322047793, + 0.048349303401301946, + -0.9944449293394853, + 0.09349667037705053, + 0.22822440132469418, + -0.08013097042851156, + -0.9703054417131596 + ], + [ + 0.9816716388498813, + 0.05853121613630975, + 0.18136948534798503, + 0.0420399653226652, + -0.9947336572149567, + 0.0934750903686451, + 0.18588554218512388, + -0.08413707827920966, + -0.9789624697940064 + ], + [ + 0.9887210843065538, + 0.04142754659524104, + 0.14392489649387205, + 0.026823588555596987, + -0.9944260820066084, + 0.10196696779833282, + 0.14734691223324872, + -0.09695630875856058, + -0.9843212695290304 + ], + [ + 0.9937663454642228, + 0.008106229365970559, + 0.11118785755714992, + -0.0015347456220057816, + -0.99626364306588, + 0.08635043752625982, + 0.11147239648701611, + -0.08598280380731393, + -0.9900408386884221 + ], + [ + 0.9945728137978441, + -0.016405933384633895, + 0.10274124490202267, + -0.02370296127047036, + -0.9972505613226513, + 0.07021030956111023, + 0.10130689848795603, + -0.07226453688660366, + -0.992227166039771 + ], + [ + 0.9928844723284418, + -0.04513129296524989, + 0.11019796279585498, + -0.051364971334360944, + -0.9971972557165776, + 0.054399199545092765, + 0.10743399987383942, + -0.059672435735533096, + -0.9924198386189671 + ], + [ + 0.9909713141369072, + -0.05471492254845058, + 0.12240151881528204, + -0.06000717869511785, + -0.9973972207930635, + 0.039974022306052764, + 0.11989575915278648, + -0.04695807922806962, + -0.9916753227404557 + ], + [ + 0.9864802001705109, + -0.05991860375878393, + 0.1525338506533749, + -0.06565990516744698, + -0.9973001862326477, + 0.0328803192461295, + 0.15015189484302258, + -0.04245114208031826, + -0.9877511371854379 + ], + [ + 0.988987936298934, + -0.056328222759319604, + 0.1368575652857822, + -0.061345999649086325, + -0.9975799710721034, + 0.03272414464635543, + 0.13468307310954097, + -0.040759448432943275, + -0.9900500680173767 + ], + [ + 0.995011328215191, + -0.0466131574680673, + 0.08820243916297531, + -0.04854754484900101, + -0.9986223458814939, + 0.019913467685863002, + 0.08715269710442376, + -0.024096137802536666, + -0.9959035011136498 + ], + [ + 0.9974402530585604, + -0.030937951192967, + 0.06446537640048511, + -0.032768133595068444, + -0.9990837894988777, + 0.027528730106160304, + 0.06355463003723943, + -0.02957067358961682, + -0.997540166742315 + ], + [ + 0.9981235937495252, + -0.026923915746709073, + 0.054994493918904944, + -0.028591177602293894, + -0.9991481278323718, + 0.029758414144239433, + 0.05414643260498746, + -0.03127493261271865, + -0.9980431064970205 + ], + [ + 0.9981097347275346, + -0.02963880715195613, + 0.05383770567863828, + -0.0318937066132407, + -0.9986285632774596, + 0.04151847883612092, + 0.05253331248454691, + -0.0431570818870559, + -0.9976861818038751 + ], + [ + 0.9970467613940927, + -0.03234454717312302, + 0.0696533262789176, + -0.036529705676278584, + -0.9975492482982743, + 0.059674767052354166, + 0.06755246995303868, + -0.06204294873483927, + -0.9957847841353724 + ], + [ + 0.9968073228612191, + -0.03838631969925949, + 0.0700117957932465, + -0.042570349342826934, + -0.9973331071082647, + 0.059282702558200714, + 0.06754943705967266, + -0.06207385863405518, + -0.9957830635370338 + ], + [ + 0.9969089168097865, + -0.03848053592671509, + 0.06849715278704299, + -0.0425570266543769, + -0.9973454620220117, + 0.05908408302105896, + 0.06604173731419682, + -0.06181648436213049, + -0.9959002014226274 + ], + [ + 0.9966399266930002, + -0.0398991025923332, + 0.07153263684289582, + -0.04419022901147587, + -0.9972529935153175, + 0.059444853306668696, + 0.06896433992495299, + -0.06240615784571675, + -0.9956653008323887 + ], + [ + 0.9965028400797225, + -0.03131206909933839, + 0.0774702784412521, + -0.03611696326889174, + -0.9974583871743028, + 0.061419303316400164, + 0.07535021351847915, + -0.0640025013914042, + -0.9951010125300661 + ], + [ + 0.9927438016007394, + -0.007816341384304645, + 0.1199943714958179, + -0.017496916745902202, + -0.9966545104724112, + 0.07983510919004293, + 0.11896891311472638, + -0.0813553413265725, + -0.9895593494833639 + ], + [ + 0.9900161698272489, + 0.0019341735768270522, + 0.14094056354775325, + -0.008826212896881193, + -0.9970929513745984, + 0.0756818623250742, + 0.14067722433458268, + -0.07617023888414204, + -0.9871210732538588 + ], + [ + 0.9867107321815559, + 0.011561078931115014, + 0.1620748976605759, + 0.0003602201201730335, + -0.9976187501932006, + 0.06896882994818312, + 0.1624863109286522, + -0.06799390205676467, + -0.9843652919744237 + ], + [ + 0.982637591165261, + 0.021711219222378994, + 0.1842606506794426, + 0.010810738119651594, + -0.9981423739264766, + 0.05995772939101636, + 0.1852201186973005, + -0.056924725140274815, + -0.9810469322603595 + ], + [ + 0.9790124739470601, + 0.018366601211962385, + 0.2029710418162592, + 0.008696105718394801, + -0.998788515734831, + 0.04843427073413724, + 0.20361471852837998, + -0.045652697577842474, + -0.977986133645296 + ], + [ + 0.9735859642847922, + 0.014072867668551623, + 0.22788664845320641, + 0.007368153900014638, + -0.9995153465084775, + 0.03024536992903781, + 0.2282018414819599, + -0.027767363749950768, + -0.9732178035027005 + ], + [ + 0.9705800146476388, + 0.018533244814155504, + 0.24006447884526308, + 0.012374988766874838, + -0.9995551841845733, + 0.02713472724689101, + 0.24046058891138253, + -0.023365628739711364, + -0.9703776340033755 + ], + [ + 0.9726596073093067, + 0.025582974216373518, + 0.23082200878414946, + 0.0189537692468564, + -0.9993429973822785, + 0.030892203131867725, + 0.23146067255636002, + -0.025672651075571165, + -0.9725054611910978 + ], + [ + 0.9706816449288053, + 0.04292989465328592, + 0.2365040556594462, + 0.03377961404900322, + -0.998520623274835, + 0.042608714713484666, + 0.23798336469805836, + -0.03337048156518742, + -0.9706957963683053 + ], + [ + 0.9674058481667076, + 0.062046221118702595, + 0.2455121002674665, + 0.04972420972992506, + -0.9971873364770651, + 0.05607957682179108, + 0.24830108316233318, + -0.042043815415180937, + -0.9677700603375508 + ], + [ + 0.9625301528709943, + 0.06273233622022857, + 0.26381879919083184, + 0.047554505878893504, + -0.9968459379188456, + 0.06353538404158068, + 0.2669724213935861, + -0.048608950277176946, + -0.9624774782654378 + ], + [ + 0.9625813744401537, + 0.06146698567333494, + 0.263929739235916, + 0.045550534750236536, + -0.9967785072894056, + 0.06601330312801855, + 0.2671371302624779, + -0.05152103529761614, + -0.9622802796259464 + ], + [ + 0.9720472287869794, + 0.05155167589462625, + 0.22905590959416205, + 0.03983478830631078, + -0.9976643789171245, + 0.05548852746739073, + 0.2313814483664257, + -0.044813075685154455, + -0.9718304448819719 + ], + [ + 0.9846143768297559, + 0.04966622427733147, + 0.16753445945889817, + 0.038336915887556916, + -0.9967963600318739, + 0.07019471139222078, + 0.17048404564762581, + -0.06269196753365294, + -0.9833640767215251 + ], + [ + 0.9861197324735756, + 0.04511586256637465, + 0.1597887110253268, + 0.02779009765097208, + -0.9936477604508098, + 0.10904970712312512, + 0.16369356645510794, + -0.10309552413166115, + -0.9811094379350476 + ], + [ + 0.9850292487687129, + 0.06169882098668304, + 0.16096780597063015, + 0.038260927984489074, + -0.9887151978374948, + 0.14483907951561018, + 0.16808771656462868, + -0.13651195205554986, + -0.9762740427185762 + ], + [ + 0.9802816454784246, + 0.080220173111052, + 0.1805896435683543, + 0.04773330475336696, + -0.9829563205487377, + 0.17753423194023613, + 0.19175355839054095, + -0.16541340852337275, + -0.967403213311412 + ], + [ + 0.9679223302797935, + 0.10289336468461911, + 0.22921456770810217, + 0.06028453419919967, + -0.9807574932046854, + 0.18568929548912272, + 0.24391010123018625, + -0.16591472215189096, + -0.9554999568242486 + ], + [ + 0.9646261653798487, + 0.10988821897126995, + 0.2396266687910399, + 0.06608200700705023, + -0.9807514492026201, + 0.18373830095241478, + 0.2552048773328767, + -0.1614037614750109, + -0.9533201436911048 + ], + [ + 0.9525608105592989, + 0.12448962276093581, + 0.2777233083690522, + 0.07821343088385638, + -0.982001277598541, + 0.17191902170559747, + 0.2941267777948618, + -0.1420416298824868, + -0.9451526934651029 + ], + [ + 0.9434312038026827, + 0.11927912093865717, + 0.3093704171370015, + 0.07461063980034069, + -0.9854932463700496, + 0.15243462135487726, + 0.3230647243510268, + -0.120729253568148, + -0.938644571290365 + ], + [ + 0.9338626009807903, + 0.11907172842071528, + 0.3372277657315552, + 0.0759116079828854, + -0.9874566755678401, + 0.13844400185620923, + 0.3494825750489514, + -0.10368817371047076, + -0.9311877857713455 + ], + [ + 0.9305194467277181, + 0.11547521158250769, + 0.3475615553704359, + 0.06978790799039945, + -0.9875106736130305, + 0.1412526721823791, + 0.35953192787270655, + -0.10718276452076703, + -0.9269566590892052 + ], + [ + 0.949025299923197, + 0.12260357521074676, + 0.29037793210095897, + 0.08025957395971738, + -0.9848793439292807, + 0.15352875525201967, + 0.30481040155068695, + -0.12239706388215635, + -0.9445155254729997 + ], + [ + 0.9629488477126059, + 0.12252318615400619, + 0.24024484498868043, + 0.08591691879012674, + -0.9837971602414879, + 0.15735765175673844, + 0.2556321571214684, + -0.13088627260127378, + -0.9578731564721761 + ], + [ + 0.9637703537523079, + 0.12940127789164974, + 0.23324239432007152, + 0.09687513711635687, + -0.9845413024689524, + 0.1459233755826189, + 0.24851944196951423, + -0.11804123437488716, + -0.9614074859030455 + ], + [ + 0.9698499255077186, + 0.12788990565927616, + 0.20744949752441916, + 0.09766373555528919, + -0.9838585841285976, + 0.149946927924041, + 0.22327766737866794, + -0.12516572400993994, + -0.9666853804537484 + ], + [ + 0.9742292270445402, + 0.1203099533955018, + 0.19079551432402705, + 0.09238876534058688, + -0.9845043335786211, + 0.14904876116142998, + 0.20577106018835542, + -0.1275802973773271, + -0.9702481839766941 + ], + [ + 0.9802950167424662, + 0.0833316015672787, + 0.17910199421033818, + 0.05784706150982081, + -0.9880190554977105, + 0.14308061870180325, + 0.18887932026711318, + -0.12990069343018965, + -0.9733706448325782 + ], + [ + 0.9836810517067434, + 0.04999367466966439, + 0.17283582095774758, + 0.027159641009143205, + -0.990872476969104, + 0.13203820767250127, + 0.17785933321973657, + -0.1251893241380265, + -0.9760602905089902 + ], + [ + 0.98300114005899, + 0.008057701502562886, + 0.18342255065618884, + -0.01048955926764966, + -0.9949398542579156, + 0.0999232483239446, + 0.18329955752564442, + -0.10014868873696663, + -0.977942489288184 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.002902418375015259, + -0.0007731225341558456, + -0.0068368688225746155, + -0.004332654178142548, + 0.01858624815940857, + 0.0009067505598068237, + 1.0 + ], + [ + 0.0015642344951629639, + 0.001980740576982498, + -0.014509640634059906, + -0.01201639324426651, + -0.03261449933052063, + -0.009685836732387543, + 1.0 + ], + [ + 0.004568189382553101, + 0.00875786505639553, + -0.013197213411331177, + 0.011557750403881073, + -0.036330342292785645, + -0.019762547686696053, + 1.0 + ], + [ + 0.0034974217414855957, + 0.006925802677869797, + -0.0058696940541267395, + -0.009116500616073608, + -0.012334108352661133, + -0.014101398177444935, + 1.0 + ], + [ + 0.0037491023540496826, + 0.0029586143791675568, + -0.004452791064977646, + -0.00501587986946106, + -0.01787814497947693, + -0.013658520765602589, + 1.0 + ], + [ + -0.0016539394855499268, + -0.0009093321859836578, + -0.006410121917724609, + 0.0011538788676261902, + -0.02616634964942932, + -0.003112446516752243, + 1.0 + ], + [ + -0.0030630826950073242, + -0.0016068369150161743, + -0.003944817930459976, + -0.00019135326147079468, + -0.014432072639465332, + 0.011423956602811813, + 1.0 + ], + [ + -0.003915190696716309, + -0.004198081791400909, + -0.002315334975719452, + 0.0035343170166015625, + -0.021490007638931274, + 0.01580246537923813, + 1.0 + ], + [ + -0.0072359442710876465, + -0.005301199853420258, + 0.002606108784675598, + 0.0021191686391830444, + -0.01604798436164856, + 0.01951942965388298, + 0.0 + ], + [ + -0.013903126120567322, + -0.005223726853728294, + -0.006929190829396248, + -0.0060782358050346375, + 0.050381362438201904, + 0.03824184834957123, + 0.0 + ], + [ + -0.00025312602519989014, + -0.0036790110170841217, + 0.0006789360195398331, + 0.009401574730873108, + 0.013077914714813232, + -0.006031770259141922, + 0.0 + ], + [ + 0.00034005939960479736, + -0.001503249630331993, + 0.0017912965267896652, + 0.005254656076431274, + 0.0161973237991333, + 0.009541388601064682, + 0.0 + ], + [ + 0.0028442591428756714, + -0.0012828446924686432, + 0.0025771260261535645, + 0.0038009285926818848, + 0.018471896648406982, + -0.006549380719661713, + 0.0 + ], + [ + 0.002055138349533081, + -0.0013206172734498978, + 0.008399063721299171, + -0.005647636950016022, + 0.05752308666706085, + -0.013304810971021652, + 0.0 + ], + [ + 0.0037012100219726562, + 0.006185537204146385, + 0.027819864451885223, + 0.0033382028341293335, + 0.043280526995658875, + -0.006881609559059143, + 0.0 + ], + [ + 0.010287851095199585, + 0.010430045425891876, + 0.02545487880706787, + 0.012449480593204498, + 0.03908766806125641, + -0.015675796195864677, + 0.0 + ], + [ + 0.021565228700637817, + 0.014071661978960037, + 0.017016269266605377, + -0.011553585529327393, + 0.03618080914020538, + -0.028667299076914787, + 0.0 + ], + [ + 0.020852237939834595, + 0.013847585767507553, + 0.004878289997577667, + -0.013928093016147614, + 0.010223567485809326, + -0.022283421829342842, + 0.0 + ], + [ + 0.02119705080986023, + 0.014653749763965607, + -0.006288990378379822, + -0.01264636218547821, + -0.006160758435726166, + -0.02785920910537243, + 0.0 + ], + [ + 0.009910255670547485, + 0.009402237832546234, + -0.008470162749290466, + -0.012738984078168869, + -0.01254313439130783, + -0.008793048560619354, + 0.0 + ], + [ + 0.002304166555404663, + 0.0013588592410087585, + -0.005707979202270508, + -0.004365790635347366, + -0.03053702414035797, + -0.005981698632240295, + 1.0 + ], + [ + -0.004572570323944092, + -0.0005850344896316528, + -0.00527944415807724, + -0.0018052943050861359, + 0.01562829315662384, + 0.004512052983045578, + 1.0 + ], + [ + -0.006824791431427002, + -0.005421407520771027, + -0.0009282082319259644, + -0.016955308616161346, + 0.047830209136009216, + 0.013197410851716995, + 1.0 + ], + [ + -0.0033454596996307373, + -0.0069173723459243774, + 0.00699228048324585, + 0.005444379523396492, + 0.023665912449359894, + 0.015911869704723358, + 1.0 + ], + [ + 0.0018979310989379883, + -0.007088169455528259, + 0.006245866417884827, + 0.0016910899430513382, + 0.009424567222595215, + 0.004203319549560547, + 1.0 + ], + [ + 0.0021542906761169434, + -0.0094253309071064, + -0.00044462084770202637, + 0.011904217302799225, + 0.0016154199838638306, + -0.0033061429858207703, + 1.0 + ], + [ + 0.004024922847747803, + -0.007032930850982666, + 0.0003015100955963135, + 0.018994923681020737, + -0.015046447515487671, + -0.004678286612033844, + 1.0 + ], + [ + 0.0004630088806152344, + -0.0020316429436206818, + 0.000357113778591156, + 3.102794289588928e-05, + 3.039836883544922e-06, + -0.006059236824512482, + 1.0 + ], + [ + -0.0003794729709625244, + -4.976242780685425e-05, + -0.00037541240453720093, + -0.0002647414803504944, + 0.0015110746026039124, + 1.7683953046798706e-05, + 1.0 + ], + [ + 0.00026035308837890625, + 2.8230249881744385e-05, + 0.0005384683609008789, + 0.0006045326590538025, + -0.002929285168647766, + -0.001647111028432846, + 1.0 + ], + [ + 0.0011625587940216064, + 0.0003420785069465637, + -0.0004117414355278015, + 0.0016331598162651062, + -0.0064025744795799255, + 0.008082333952188492, + 1.0 + ], + [ + 0.005207806825637817, + -0.004308406263589859, + -0.00394950807094574, + 0.01780010014772415, + -0.04382965713739395, + 0.01860487461090088, + 1.0 + ], + [ + 0.004386037588119507, + -0.004555817693471909, + 0.0009499713778495789, + -0.005017802119255066, + -0.021894052624702454, + 0.00870799645781517, + 1.0 + ], + [ + 0.006092369556427002, + -0.005844935774803162, + -0.0021526142954826355, + -0.008047111332416534, + -0.02206452190876007, + 0.009280056692659855, + 1.0 + ], + [ + 0.006432712078094482, + -0.004239913076162338, + -0.006030455231666565, + -0.01100483164191246, + -0.02308592200279236, + 0.010636239312589169, + 1.0 + ], + [ + 0.0060122013092041016, + -0.0016074031591415405, + -0.012280330061912537, + -0.011313028633594513, + -0.018752723932266235, + -0.002119016833603382, + 1.0 + ], + [ + 0.0023261308670043945, + 0.0005706585943698883, + -0.012652892619371414, + -0.018122687935829163, + -0.025181815028190613, + -0.0013143820688128471, + 1.0 + ], + [ + -0.0024995505809783936, + 0.00014698132872581482, + -0.008491016924381256, + -0.00444951094686985, + -0.012609943747520447, + 0.005181493237614632, + 1.0 + ], + [ + -0.007874637842178345, + -0.00045028701424598694, + -0.01030656322836876, + 0.002318084239959717, + 0.009261474013328552, + 0.006734667345881462, + 0.0 + ], + [ + -0.004951894283294678, + -0.003966119140386581, + -0.0058965906500816345, + 0.007972029969096184, + -0.006710171699523926, + 0.01530177891254425, + 0.0 + ], + [ + -0.0035792887210845947, + -0.0015331115573644638, + -0.0007621534168720245, + 0.009052347391843796, + -0.010636985301971436, + 0.016568489372730255, + 0.0 + ], + [ + 5.334615707397461e-06, + -0.0018072500824928284, + 0.0006217323243618011, + 0.00704440101981163, + -0.019324034452438354, + -0.0019887499511241913, + 0.0 + ], + [ + -0.001855403184890747, + -0.00016388483345508575, + 0.001319635659456253, + 0.00302838534116745, + -0.00017091631889343262, + -0.0020796358585357666, + 0.0 + ], + [ + -0.005057811737060547, + -0.0063280630856752396, + 0.002048276364803314, + -0.007410109043121338, + 0.036923542618751526, + -0.00632857158780098, + 0.0 + ], + [ + -0.008374959230422974, + -0.010305319912731647, + 0.017633594572544098, + 0.017586998641490936, + 0.06217654049396515, + -0.002041071653366089, + 0.0 + ], + [ + -0.0023997724056243896, + -0.013983301818370819, + 0.021474774926900864, + 0.04102994501590729, + 0.006887316703796387, + -0.010742507874965668, + 0.0 + ], + [ + -0.00327301025390625, + -0.019395194947719574, + 0.010161139070987701, + 0.03423242270946503, + -0.004455894231796265, + 0.01064910739660263, + 0.0 + ], + [ + -0.0021871626377105713, + -0.02826644666492939, + 0.00557275116443634, + 0.030420556664466858, + -0.02405908703804016, + 0.009832117706537247, + 0.0 + ], + [ + 0.003159165382385254, + -0.02412327751517296, + 0.008785717189311981, + 0.0025781989097595215, + -0.053447142243385315, + 0.013547033071517944, + 0.0 + ], + [ + 0.005280494689941406, + -0.018418781459331512, + -0.009796574711799622, + -0.004210978746414185, + -0.011663898825645447, + 0.00619637593626976, + 0.0 + ], + [ + 0.00948643684387207, + -0.008235864341259003, + -0.014788396656513214, + -0.01854853332042694, + -0.040482163429260254, + 0.013526380062103271, + 0.0 + ], + [ + 0.005726903676986694, + -0.003951564431190491, + -0.021035272628068924, + -0.021249473094940186, + -0.0304243266582489, + -0.003004729747772217, + 0.0 + ], + [ + 0.002646327018737793, + -0.002527371048927307, + -0.008347731083631516, + -0.017024897038936615, + -0.028052717447280884, + 0.00218934565782547, + 1.0 + ], + [ + 0.0008169412612915039, + -0.0013781636953353882, + 0.00067095085978508, + 0.004223816096782684, + -0.010747432708740234, + -0.006250709295272827, + 1.0 + ], + [ + -0.009067922830581665, + 0.0019466802477836609, + -0.002784397453069687, + 0.01375153660774231, + 0.05802688002586365, + 0.00951104611158371, + 1.0 + ], + [ + -0.007566601037979126, + 0.002079419791698456, + 0.001021023839712143, + 0.006932586431503296, + 0.05123782157897949, + 0.004617318511009216, + 1.0 + ], + [ + -0.003522127866744995, + 0.0014360472559928894, + 0.015983987599611282, + -0.013633400201797485, + 0.0073500871658325195, + 0.011193245649337769, + 1.0 + ], + [ + -0.00607144832611084, + 0.001512669026851654, + 0.008048750460147858, + 0.006594732403755188, + 0.025975704193115234, + 0.00018118321895599365, + 1.0 + ], + [ + -0.003868699073791504, + 0.0009335651993751526, + 0.009996511042118073, + 0.001979455351829529, + 0.017924174666404724, + -0.005811601877212524, + 1.0 + ], + [ + 0.0014507770538330078, + 0.017618753015995026, + 0.010395430028438568, + 0.0019282251596450806, + 0.017230764031410217, + -0.03560841828584671, + 1.0 + ], + [ + 0.007037997245788574, + 0.033951424062252045, + 0.005818642675876617, + -0.005107209086418152, + 0.011210128664970398, + -0.03133830055594444, + 1.0 + ], + [ + 0.00866323709487915, + 0.03443920239806175, + -0.00029847025871276855, + -0.02551158517599106, + -0.0055311620235443115, + -0.03827374428510666, + 1.0 + ], + [ + 0.004065334796905518, + 0.02869982272386551, + -0.002039186656475067, + -0.012100890278816223, + -0.01984003186225891, + -0.011905072256922722, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9628177285194397 + ], + [ + 0.6791892647743225 + ], + [ + 0.48704639077186584 + ], + [ + 0.5149424076080322 + ], + [ + 0.5236935019493103 + ], + [ + 0.5236935019493103 + ], + [ + 0.5236935019493103 + ], + [ + 0.5236935019493103 + ], + [ + 0.5236935019493103 + ], + [ + 0.5236935019493103 + ], + [ + 0.5236935019493103 + ], + [ + 0.5236935019493103 + ], + [ + 0.5729578137397766 + ], + [ + 0.8792814016342163 + ], + [ + 1.0060625076293945 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.003452181816101 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.003452181816101 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 0.9679883122444153 + ], + [ + 0.6701657772064209 + ], + [ + 0.3746064603328705 + ], + [ + 0.17844799160957336 + ], + [ + 0.08606764674186707 + ], + [ + 0.07526680082082748 + ], + [ + 0.0665184035897255 + ], + [ + 0.06413581967353821 + ], + [ + 0.07018911838531494 + ], + [ + 0.07270156592130661 + ], + [ + 0.07365728914737701 + ], + [ + 0.07365728914737701 + ], + [ + 0.07365728914737701 + ], + [ + 0.07365728914737701 + ], + [ + 0.09851961582899094 + ], + [ + 0.27090853452682495 + ], + [ + 0.5521479845046997 + ], + [ + 0.8625253438949585 + ], + [ + 1.0092895030975342 + ], + [ + 1.003452181816101 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2631151080131531, + 0.024870874360203743, + 0.07778513431549072 + ], + [ + 0.26467934250831604, + 0.02685161493718624, + 0.06327549368143082 + ], + [ + 0.26924753189086914, + 0.03560947999358177, + 0.05007828027009964 + ], + [ + 0.27274495363235474, + 0.04253528267145157, + 0.0442085862159729 + ], + [ + 0.2764940559864044, + 0.045493897050619125, + 0.039755795150995255 + ], + [ + 0.2748401165008545, + 0.04458456486463547, + 0.033345673233270645 + ], + [ + 0.27177703380584717, + 0.04297772794961929, + 0.02940085530281067 + ], + [ + 0.26786184310913086, + 0.038779646158218384, + 0.027085520327091217 + ], + [ + 0.2606258988380432, + 0.033478446304798126, + 0.029691629111766815 + ], + [ + 0.2467227727174759, + 0.028254719451069832, + 0.022762438282370567 + ], + [ + 0.246469646692276, + 0.02457570843398571, + 0.0234413743019104 + ], + [ + 0.2468097060918808, + 0.023072458803653717, + 0.025232670828700066 + ], + [ + 0.24965396523475647, + 0.021789614111185074, + 0.02780979685485363 + ], + [ + 0.25170910358428955, + 0.020468996837735176, + 0.0362088605761528 + ], + [ + 0.2554103136062622, + 0.02665453404188156, + 0.06402872502803802 + ], + [ + 0.2656981647014618, + 0.03708457946777344, + 0.0894836038351059 + ], + [ + 0.2872633934020996, + 0.051156241446733475, + 0.10649987310171127 + ], + [ + 0.3081156313419342, + 0.06500382721424103, + 0.11137816309928894 + ], + [ + 0.32931268215179443, + 0.07965757697820663, + 0.10508917272090912 + ], + [ + 0.3392229378223419, + 0.08905981481075287, + 0.09661900997161865 + ], + [ + 0.3415271043777466, + 0.09041867405176163, + 0.09091103076934814 + ], + [ + 0.3369545340538025, + 0.08983363956212997, + 0.0856315866112709 + ], + [ + 0.3301297426223755, + 0.08441223204135895, + 0.08470337837934494 + ], + [ + 0.32678428292274475, + 0.07749485969543457, + 0.09169565886259079 + ], + [ + 0.32868221402168274, + 0.07040669023990631, + 0.09794152528047562 + ], + [ + 0.3308365046977997, + 0.06098135933279991, + 0.09749690443277359 + ], + [ + 0.3348614275455475, + 0.053948428481817245, + 0.0977984145283699 + ], + [ + 0.3353244364261627, + 0.051916785538196564, + 0.09815552830696106 + ], + [ + 0.3349449634552002, + 0.05186702311038971, + 0.09778011590242386 + ], + [ + 0.3352053165435791, + 0.051895253360271454, + 0.09831858426332474 + ], + [ + 0.3363678753376007, + 0.05223733186721802, + 0.09790684282779694 + ], + [ + 0.3415756821632385, + 0.04792892560362816, + 0.0939573347568512 + ], + [ + 0.34596171975135803, + 0.04337310791015625, + 0.09490730613470078 + ], + [ + 0.35205408930778503, + 0.03752817213535309, + 0.09275469183921814 + ], + [ + 0.3584868013858795, + 0.03328825905919075, + 0.08672423660755157 + ], + [ + 0.3644990026950836, + 0.03168085590004921, + 0.07444390654563904 + ], + [ + 0.366825133562088, + 0.0322515144944191, + 0.061791013926267624 + ], + [ + 0.3643255829811096, + 0.03239849582314491, + 0.05329999700188637 + ], + [ + 0.3564509451389313, + 0.031948208808898926, + 0.04299343377351761 + ], + [ + 0.3514990508556366, + 0.027982089668512344, + 0.037096843123435974 + ], + [ + 0.347919762134552, + 0.02644897811114788, + 0.03633468970656395 + ], + [ + 0.3479250967502594, + 0.024641728028655052, + 0.03695642203092575 + ], + [ + 0.34606969356536865, + 0.024477843195199966, + 0.038276057690382004 + ], + [ + 0.3410118818283081, + 0.018149780109524727, + 0.04032433405518532 + ], + [ + 0.33263692259788513, + 0.00784446019679308, + 0.057957928627729416 + ], + [ + 0.33023715019226074, + -0.006138841155916452, + 0.07943270355463028 + ], + [ + 0.3269641399383545, + -0.02553403563797474, + 0.08959384262561798 + ], + [ + 0.3247769773006439, + -0.05380048230290413, + 0.09516659379005432 + ], + [ + 0.3279361426830292, + -0.07792375981807709, + 0.1039523109793663 + ], + [ + 0.3332166373729706, + -0.0963425412774086, + 0.09415573626756668 + ], + [ + 0.34270307421684265, + -0.1045784056186676, + 0.07936733961105347 + ], + [ + 0.34842997789382935, + -0.1085299700498581, + 0.05833206698298454 + ], + [ + 0.35107630491256714, + -0.1110573410987854, + 0.04998433589935303 + ], + [ + 0.35189324617385864, + -0.11243550479412079, + 0.05065528675913811 + ], + [ + 0.342825323343277, + -0.11048882454633713, + 0.04787088930606842 + ], + [ + 0.33525872230529785, + -0.10840940475463867, + 0.04889191314578056 + ], + [ + 0.33173659443855286, + -0.10697335749864578, + 0.06487590074539185 + ], + [ + 0.325665146112442, + -0.10546068847179413, + 0.0729246512055397 + ], + [ + 0.3217964470386505, + -0.10452712327241898, + 0.08292116224765778 + ], + [ + 0.3232472240924835, + -0.08690837025642395, + 0.09331659227609634 + ], + [ + 0.3302852213382721, + -0.052956946194171906, + 0.09913523495197296 + ], + [ + 0.33894845843315125, + -0.018517743796110153, + 0.09883676469326019 + ], + [ + 0.34301379323005676, + 0.01018207985907793, + 0.09679757803678513 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9774828110584343, + 0.05848864222519603, + 0.2027472140769232, + 0.04044975737057093, + -0.9949367218300315, + 0.0920040036236037, + 0.20710183778509222, + -0.08173125647365978, + -0.9748993950666262 + ], + [ + 0.970558790291439, + 0.048672844569062575, + 0.2358952920038342, + 0.030749937244087498, + -0.9963945232048195, + 0.07907209044236028, + 0.23889344057027395, + -0.06949034702025887, + -0.9685561500106747 + ], + [ + 0.9616596454144651, + 0.034632452626228966, + 0.27205021522949996, + 0.011453496697017592, + -0.9962006264197254, + 0.08633150835215475, + 0.27400646670240586, + -0.07990560146847506, + -0.9584026038462253 + ], + [ + 0.9582728547494659, + 0.01896602681223679, + 0.2852252192167915, + -0.002100370501044155, + -0.9973024182969398, + 0.0733721670855796, + 0.28584737937239796, + -0.07090963464884996, + -0.9556479997467159 + ], + [ + 0.9528921544383883, + 0.005086052743073695, + 0.30326667155700077, + -0.015104935835166635, + -0.9978230197794301, + 0.0641954991543395, + 0.30293296770603, + -0.06575221110923934, + -0.9507409025655011 + ], + [ + 0.9445900294400025, + 0.0040719357384401515, + 0.32822720122177085, + -0.017914212541337703, + -0.9977933941345017, + 0.06393296184734534, + 0.32776326406654943, + -0.06627037015810572, + -0.9424327460182761 + ], + [ + 0.9399046495079473, + 0.016358874963230827, + 0.3410449193922701, + -0.0070859216717193176, + -0.9977018733882946, + 0.06738517308391623, + 0.3413635006080833, + -0.0657522550748221, + -0.9376287119138207 + ], + [ + 0.9323471536708652, + 0.034801835734049456, + 0.3598855613544064, + 0.007704746291988996, + -0.9970431819288728, + 0.07645606747488823, + 0.36148225672418843, + -0.06851076994669392, + -0.9298585120731535 + ], + [ + 0.9261005742423419, + 0.056141990577603176, + 0.37307613603926587, + 0.025736528844066398, + -0.9959635417407277, + 0.08598985176359086, + 0.37639787123609375, + -0.07003356636106794, + -0.9238073078903883 + ], + [ + 0.9421806207566931, + 0.08866129748371868, + 0.3231638163517638, + 0.06229793901198247, + -0.9938957697279138, + 0.09105034712628737, + 0.32926379191370597, + -0.06565343285359612, + -0.9419527493930608 + ], + [ + 0.9467568595022309, + 0.08472960533544324, + 0.3105999725775477, + 0.05686715502018744, + -0.9935894136431985, + 0.09770467632654645, + 0.3168873232954946, + -0.0748396357277697, + -0.9455059244969075 + ], + [ + 0.9511671673152605, + 0.09453867556850563, + 0.2938425745926134, + 0.06624575905779893, + -0.9922831556661186, + 0.10481239615687227, + 0.3014838623016476, + -0.08022828555467154, + -0.9500899446729445 + ], + [ + 0.9569759127635399, + 0.08760665676897825, + 0.2766264197074313, + 0.06035509946167311, + -0.9925805646054924, + 0.10555133697122697, + 0.28382100760754314, + -0.08431427196628337, + -0.9551632002874872 + ], + [ + 0.9724073053513089, + 0.06825181381597849, + 0.223082322047793, + 0.048349303401301946, + -0.9944449293394853, + 0.09349667037705053, + 0.22822440132469418, + -0.08013097042851156, + -0.9703054417131596 + ], + [ + 0.9816716388498813, + 0.05853121613630975, + 0.18136948534798503, + 0.0420399653226652, + -0.9947336572149567, + 0.0934750903686451, + 0.18588554218512388, + -0.08413707827920966, + -0.9789624697940064 + ], + [ + 0.9887210843065538, + 0.04142754659524104, + 0.14392489649387205, + 0.026823588555596987, + -0.9944260820066084, + 0.10196696779833282, + 0.14734691223324872, + -0.09695630875856058, + -0.9843212695290304 + ], + [ + 0.9937663454642228, + 0.008106229365970559, + 0.11118785755714992, + -0.0015347456220057816, + -0.99626364306588, + 0.08635043752625982, + 0.11147239648701611, + -0.08598280380731393, + -0.9900408386884221 + ], + [ + 0.9945728137978441, + -0.016405933384633895, + 0.10274124490202267, + -0.02370296127047036, + -0.9972505613226513, + 0.07021030956111023, + 0.10130689848795603, + -0.07226453688660366, + -0.992227166039771 + ], + [ + 0.9928844723284418, + -0.04513129296524989, + 0.11019796279585498, + -0.051364971334360944, + -0.9971972557165776, + 0.054399199545092765, + 0.10743399987383942, + -0.059672435735533096, + -0.9924198386189671 + ], + [ + 0.9909713141369072, + -0.05471492254845058, + 0.12240151881528204, + -0.06000717869511785, + -0.9973972207930635, + 0.039974022306052764, + 0.11989575915278648, + -0.04695807922806962, + -0.9916753227404557 + ], + [ + 0.9864802001705109, + -0.05991860375878393, + 0.1525338506533749, + -0.06565990516744698, + -0.9973001862326477, + 0.0328803192461295, + 0.15015189484302258, + -0.04245114208031826, + -0.9877511371854379 + ], + [ + 0.988987936298934, + -0.056328222759319604, + 0.1368575652857822, + -0.061345999649086325, + -0.9975799710721034, + 0.03272414464635543, + 0.13468307310954097, + -0.040759448432943275, + -0.9900500680173767 + ], + [ + 0.995011328215191, + -0.0466131574680673, + 0.08820243916297531, + -0.04854754484900101, + -0.9986223458814939, + 0.019913467685863002, + 0.08715269710442376, + -0.024096137802536666, + -0.9959035011136498 + ], + [ + 0.9974402530585604, + -0.030937951192967, + 0.06446537640048511, + -0.032768133595068444, + -0.9990837894988777, + 0.027528730106160304, + 0.06355463003723943, + -0.02957067358961682, + -0.997540166742315 + ], + [ + 0.9981235937495252, + -0.026923915746709073, + 0.054994493918904944, + -0.028591177602293894, + -0.9991481278323718, + 0.029758414144239433, + 0.05414643260498746, + -0.03127493261271865, + -0.9980431064970205 + ], + [ + 0.9981097347275346, + -0.02963880715195613, + 0.05383770567863828, + -0.0318937066132407, + -0.9986285632774596, + 0.04151847883612092, + 0.05253331248454691, + -0.0431570818870559, + -0.9976861818038751 + ], + [ + 0.9970467613940927, + -0.03234454717312302, + 0.0696533262789176, + -0.036529705676278584, + -0.9975492482982743, + 0.059674767052354166, + 0.06755246995303868, + -0.06204294873483927, + -0.9957847841353724 + ], + [ + 0.9968073228612191, + -0.03838631969925949, + 0.0700117957932465, + -0.042570349342826934, + -0.9973331071082647, + 0.059282702558200714, + 0.06754943705967266, + -0.06207385863405518, + -0.9957830635370338 + ], + [ + 0.9969089168097865, + -0.03848053592671509, + 0.06849715278704299, + -0.0425570266543769, + -0.9973454620220117, + 0.05908408302105896, + 0.06604173731419682, + -0.06181648436213049, + -0.9959002014226274 + ], + [ + 0.9966399266930002, + -0.0398991025923332, + 0.07153263684289582, + -0.04419022901147587, + -0.9972529935153175, + 0.059444853306668696, + 0.06896433992495299, + -0.06240615784571675, + -0.9956653008323887 + ], + [ + 0.9965028400797225, + -0.03131206909933839, + 0.0774702784412521, + -0.03611696326889174, + -0.9974583871743028, + 0.061419303316400164, + 0.07535021351847915, + -0.0640025013914042, + -0.9951010125300661 + ], + [ + 0.9927438016007394, + -0.007816341384304645, + 0.1199943714958179, + -0.017496916745902202, + -0.9966545104724112, + 0.07983510919004293, + 0.11896891311472638, + -0.0813553413265725, + -0.9895593494833639 + ], + [ + 0.9900161698272489, + 0.0019341735768270522, + 0.14094056354775325, + -0.008826212896881193, + -0.9970929513745984, + 0.0756818623250742, + 0.14067722433458268, + -0.07617023888414204, + -0.9871210732538588 + ], + [ + 0.9867107321815559, + 0.011561078931115014, + 0.1620748976605759, + 0.0003602201201730335, + -0.9976187501932006, + 0.06896882994818312, + 0.1624863109286522, + -0.06799390205676467, + -0.9843652919744237 + ], + [ + 0.982637591165261, + 0.021711219222378994, + 0.1842606506794426, + 0.010810738119651594, + -0.9981423739264766, + 0.05995772939101636, + 0.1852201186973005, + -0.056924725140274815, + -0.9810469322603595 + ], + [ + 0.9790124739470601, + 0.018366601211962385, + 0.2029710418162592, + 0.008696105718394801, + -0.998788515734831, + 0.04843427073413724, + 0.20361471852837998, + -0.045652697577842474, + -0.977986133645296 + ], + [ + 0.9735859642847922, + 0.014072867668551623, + 0.22788664845320641, + 0.007368153900014638, + -0.9995153465084775, + 0.03024536992903781, + 0.2282018414819599, + -0.027767363749950768, + -0.9732178035027005 + ], + [ + 0.9705800146476388, + 0.018533244814155504, + 0.24006447884526308, + 0.012374988766874838, + -0.9995551841845733, + 0.02713472724689101, + 0.24046058891138253, + -0.023365628739711364, + -0.9703776340033755 + ], + [ + 0.9726596073093067, + 0.025582974216373518, + 0.23082200878414946, + 0.0189537692468564, + -0.9993429973822785, + 0.030892203131867725, + 0.23146067255636002, + -0.025672651075571165, + -0.9725054611910978 + ], + [ + 0.9706816449288053, + 0.04292989465328592, + 0.2365040556594462, + 0.03377961404900322, + -0.998520623274835, + 0.042608714713484666, + 0.23798336469805836, + -0.03337048156518742, + -0.9706957963683053 + ], + [ + 0.9674058481667076, + 0.062046221118702595, + 0.2455121002674665, + 0.04972420972992506, + -0.9971873364770651, + 0.05607957682179108, + 0.24830108316233318, + -0.042043815415180937, + -0.9677700603375508 + ], + [ + 0.9625301528709943, + 0.06273233622022857, + 0.26381879919083184, + 0.047554505878893504, + -0.9968459379188456, + 0.06353538404158068, + 0.2669724213935861, + -0.048608950277176946, + -0.9624774782654378 + ], + [ + 0.9625813744401537, + 0.06146698567333494, + 0.263929739235916, + 0.045550534750236536, + -0.9967785072894056, + 0.06601330312801855, + 0.2671371302624779, + -0.05152103529761614, + -0.9622802796259464 + ], + [ + 0.9720472287869794, + 0.05155167589462625, + 0.22905590959416205, + 0.03983478830631078, + -0.9976643789171245, + 0.05548852746739073, + 0.2313814483664257, + -0.044813075685154455, + -0.9718304448819719 + ], + [ + 0.9846143768297559, + 0.04966622427733147, + 0.16753445945889817, + 0.038336915887556916, + -0.9967963600318739, + 0.07019471139222078, + 0.17048404564762581, + -0.06269196753365294, + -0.9833640767215251 + ], + [ + 0.9861197324735756, + 0.04511586256637465, + 0.1597887110253268, + 0.02779009765097208, + -0.9936477604508098, + 0.10904970712312512, + 0.16369356645510794, + -0.10309552413166115, + -0.9811094379350476 + ], + [ + 0.9850292487687129, + 0.06169882098668304, + 0.16096780597063015, + 0.038260927984489074, + -0.9887151978374948, + 0.14483907951561018, + 0.16808771656462868, + -0.13651195205554986, + -0.9762740427185762 + ], + [ + 0.9802816454784246, + 0.080220173111052, + 0.1805896435683543, + 0.04773330475336696, + -0.9829563205487377, + 0.17753423194023613, + 0.19175355839054095, + -0.16541340852337275, + -0.967403213311412 + ], + [ + 0.9679223302797935, + 0.10289336468461911, + 0.22921456770810217, + 0.06028453419919967, + -0.9807574932046854, + 0.18568929548912272, + 0.24391010123018625, + -0.16591472215189096, + -0.9554999568242486 + ], + [ + 0.9646261653798487, + 0.10988821897126995, + 0.2396266687910399, + 0.06608200700705023, + -0.9807514492026201, + 0.18373830095241478, + 0.2552048773328767, + -0.1614037614750109, + -0.9533201436911048 + ], + [ + 0.9525608105592989, + 0.12448962276093581, + 0.2777233083690522, + 0.07821343088385638, + -0.982001277598541, + 0.17191902170559747, + 0.2941267777948618, + -0.1420416298824868, + -0.9451526934651029 + ], + [ + 0.9434312038026827, + 0.11927912093865717, + 0.3093704171370015, + 0.07461063980034069, + -0.9854932463700496, + 0.15243462135487726, + 0.3230647243510268, + -0.120729253568148, + -0.938644571290365 + ], + [ + 0.9338626009807903, + 0.11907172842071528, + 0.3372277657315552, + 0.0759116079828854, + -0.9874566755678401, + 0.13844400185620923, + 0.3494825750489514, + -0.10368817371047076, + -0.9311877857713455 + ], + [ + 0.9305194467277181, + 0.11547521158250769, + 0.3475615553704359, + 0.06978790799039945, + -0.9875106736130305, + 0.1412526721823791, + 0.35953192787270655, + -0.10718276452076703, + -0.9269566590892052 + ], + [ + 0.949025299923197, + 0.12260357521074676, + 0.29037793210095897, + 0.08025957395971738, + -0.9848793439292807, + 0.15352875525201967, + 0.30481040155068695, + -0.12239706388215635, + -0.9445155254729997 + ], + [ + 0.9629488477126059, + 0.12252318615400619, + 0.24024484498868043, + 0.08591691879012674, + -0.9837971602414879, + 0.15735765175673844, + 0.2556321571214684, + -0.13088627260127378, + -0.9578731564721761 + ], + [ + 0.9637703537523079, + 0.12940127789164974, + 0.23324239432007152, + 0.09687513711635687, + -0.9845413024689524, + 0.1459233755826189, + 0.24851944196951423, + -0.11804123437488716, + -0.9614074859030455 + ], + [ + 0.9698499255077186, + 0.12788990565927616, + 0.20744949752441916, + 0.09766373555528919, + -0.9838585841285976, + 0.149946927924041, + 0.22327766737866794, + -0.12516572400993994, + -0.9666853804537484 + ], + [ + 0.9742292270445402, + 0.1203099533955018, + 0.19079551432402705, + 0.09238876534058688, + -0.9845043335786211, + 0.14904876116142998, + 0.20577106018835542, + -0.1275802973773271, + -0.9702481839766941 + ], + [ + 0.9802950167424662, + 0.0833316015672787, + 0.17910199421033818, + 0.05784706150982081, + -0.9880190554977105, + 0.14308061870180325, + 0.18887932026711318, + -0.12990069343018965, + -0.9733706448325782 + ], + [ + 0.9836810517067434, + 0.04999367466966439, + 0.17283582095774758, + 0.027159641009143205, + -0.990872476969104, + 0.13203820767250127, + 0.17785933321973657, + -0.1251893241380265, + -0.9760602905089902 + ], + [ + 0.98300114005899, + 0.008057701502562886, + 0.18342255065618884, + -0.01048955926764966, + -0.9949398542579156, + 0.0999232483239446, + 0.18329955752564442, + -0.10014868873696663, + -0.977942489288184 + ], + [ + 0.9789776770775166, + -0.0042726765331919225, + 0.20392266185775484, + -0.02210478400189088, + -0.9961145234125404, + 0.08524807781315201, + 0.20276608766788215, + -0.08796363158629923, + -0.9752683288254624 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005767.json b/json/chunk-0005/episode_0005767.json new file mode 100644 index 0000000000000000000000000000000000000000..c43eaf1e7e0d531844699095e38bcc375e0d3c0d --- /dev/null +++ b/json/chunk-0005/episode_0005767.json @@ -0,0 +1,2242 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 36, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut the yellow duck on the table between the gray mouse and the green bell pepper." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005767.mp4", + "start": 0, + "end": 36, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.45206257700920105, + -0.003635637927800417, + 0.141103595495224, + -0.043339088559150696, + -0.17869624495506287, + 0.06821557879447937, + 0.0, + 0.9994885921478271 + ], + [ + 0.450032502412796, + -0.004120014142245054, + 0.1198844313621521, + -0.042898859828710556, + -0.12492121011018753, + 0.06823606789112091, + 0.0, + 1.0001531839370728 + ], + [ + 0.4480321407318115, + 0.005080176517367363, + 0.11337728053331375, + -0.07232166081666946, + -0.10196112096309662, + 0.11936400085687637, + 0.0, + 1.0001531839370728 + ], + [ + 0.435461163520813, + 0.04701652750372887, + 0.12166454643011093, + -0.0728415921330452, + -0.1112101748585701, + 0.21581855416297913, + 0.0, + 1.0001531839370728 + ], + [ + 0.4144277572631836, + 0.0726521834731102, + 0.1549648642539978, + -0.03979172930121422, + -0.16187596321105957, + 0.2100106179714203, + 0.0, + 1.0001531839370728 + ], + [ + 0.3840879797935486, + 0.10114803910255432, + 0.16759923100471497, + -0.028486358001828194, + -0.1724778115749359, + 0.21171794831752777, + 0.0, + 1.0001531839370728 + ], + [ + 0.3585694134235382, + 0.12319629639387131, + 0.1868395060300827, + -0.011994613334536552, + -0.20272919535636902, + 0.18443623185157776, + 0.0, + 1.0001531839370728 + ], + [ + 0.33304843306541443, + 0.13586920499801636, + 0.18680760264396667, + -0.003986396826803684, + -0.18758255243301392, + 0.13938167691230774, + 0.0, + 1.0001531839370728 + ], + [ + 0.2990249693393707, + 0.1462811976671219, + 0.18335270881652832, + 0.005457431077957153, + -0.18783007562160492, + 0.1311122328042984, + 0.0, + 1.0001531839370728 + ], + [ + 0.2734017074108124, + 0.1553940325975418, + 0.17611682415008545, + 0.024727892130613327, + -0.1657603234052658, + 0.14736752212047577, + 0.0, + 1.0001531839370728 + ], + [ + 0.2628460228443146, + 0.16398057341575623, + 0.16910181939601898, + 0.039953041821718216, + -0.13678067922592163, + 0.14728163182735443, + 0.0, + 1.0001531839370728 + ], + [ + 0.2484276443719864, + 0.18166182935237885, + 0.1636318862438202, + 0.039627835154533386, + -0.12893635034561157, + 0.1999579668045044, + 0.0, + 1.0001531839370728 + ], + [ + 0.2426408976316452, + 0.1909247785806656, + 0.15662603080272675, + 0.03397975116968155, + -0.1079675555229187, + 0.22624395787715912, + 0.0, + 1.0001531839370728 + ], + [ + 0.23741945624351501, + 0.1976213902235031, + 0.15373820066452026, + 0.039889246225357056, + -0.09318477660417557, + 0.24778492748737335, + 0.0, + 1.0001531839370728 + ], + [ + 0.23553349077701569, + 0.19971269369125366, + 0.13360695540905, + 0.01893884502351284, + -0.03363967314362526, + 0.3021107017993927, + 0.0, + 1.0001531839370728 + ], + [ + 0.23507356643676758, + 0.2005336433649063, + 0.11519157886505127, + 0.004397551063448191, + 0.017883550375699997, + 0.35407280921936035, + 0.0, + 1.0001531839370728 + ], + [ + 0.2348122000694275, + 0.2012508511543274, + 0.10854445397853851, + -0.002749278675764799, + 0.03623436018824577, + 0.3850460648536682, + 0.0, + 1.0001531839370728 + ], + [ + 0.2341555505990982, + 0.20196853578090668, + 0.10616729408502579, + -0.009916089475154877, + 0.04189204424619675, + 0.40988752245903015, + 0.0, + 0.9628177285194397 + ], + [ + 0.2346533089876175, + 0.20148254930973053, + 0.10481785237789154, + -0.012010850943624973, + 0.034832049161195755, + 0.4175527095794678, + 0.0, + 0.7061693072319031 + ], + [ + 0.23674187064170837, + 0.1985992044210434, + 0.10410191118717194, + -0.013381305150687695, + 0.034419700503349304, + 0.40732163190841675, + 0.0, + 0.42745357751846313 + ], + [ + 0.23977608978748322, + 0.1949394792318344, + 0.1045752763748169, + -0.010193790309131145, + 0.033777497708797455, + 0.3894589841365814, + 0.0, + 0.22426052391529083 + ], + [ + 0.24754928052425385, + 0.18788546323776245, + 0.10645473748445511, + -0.021872984245419502, + 0.012629031203687191, + 0.36818939447402954, + 0.0, + 0.117893286049366 + ], + [ + 0.2728586494922638, + 0.16332624852657318, + 0.10930173844099045, + -0.05398797616362572, + -0.04276055470108986, + 0.3258263170719147, + 0.0, + 0.08571679890155792 + ], + [ + 0.32341060042381287, + 0.10332033783197403, + 0.11983770877122879, + -0.054007891565561295, + -0.0899348109960556, + 0.18718977272510529, + 0.0, + 0.08432227373123169 + ], + [ + 0.3571535050868988, + 0.06384669989347458, + 0.11353768408298492, + -0.04932766780257225, + -0.06511874496936798, + 0.10960056632757187, + 0.0, + 0.08432227373123169 + ], + [ + 0.3930039405822754, + 0.007510621100664139, + 0.09960415959358215, + -0.07753240317106247, + -0.030208205804228783, + 0.028523385524749756, + 0.0, + 0.08432227373123169 + ], + [ + 0.41906651854515076, + -0.01922326721251011, + 0.09147264808416367, + -0.08062485605478287, + -0.022712841629981995, + -0.021427946165204048, + 0.0, + 0.08432227373123169 + ], + [ + 0.44928136467933655, + -0.032004911452531815, + 0.07980579137802124, + -0.07544492185115814, + -0.02876933477818966, + -0.0536147765815258, + 0.0, + 0.08432227373123169 + ], + [ + 0.4728476107120514, + -0.0431581549346447, + 0.07176640629768372, + -0.05631132796406746, + -0.022523432970046997, + -0.08922770619392395, + 0.0, + 0.08432227373123169 + ], + [ + 0.4767947494983673, + -0.04175395518541336, + 0.06966836005449295, + -0.0411878377199173, + -0.013024065643548965, + -0.09164350479841232, + 0.0, + 0.09775853902101517 + ], + [ + 0.4757255017757416, + -0.039725154638290405, + 0.06805547326803207, + -0.02907957136631012, + -0.005000528413802385, + -0.08720770478248596, + 0.0, + 0.2645227313041687 + ], + [ + 0.463459849357605, + -0.03854300454258919, + 0.04538413882255554, + -0.018060360103845596, + 0.06605001538991928, + -0.07155025005340576, + 0.0, + 0.5521479845046997 + ], + [ + 0.455937922000885, + -0.042839787900447845, + 0.043330807238817215, + -0.007918177172541618, + 0.07224396616220474, + -0.07296530157327652, + 0.0, + 0.8571589589118958 + ], + [ + 0.44627031683921814, + -0.048068590462207794, + 0.06846752762794495, + 0.005261225160211325, + 0.022860370576381683, + -0.07876776158809662, + 0.0, + 1.00800359249115 + ], + [ + 0.42543038725852966, + -0.04862453043460846, + 0.09714812785387039, + 0.005853107199072838, + -0.041689641773700714, + -0.07668550312519073, + 0.0, + 1.0008161067962646 + ], + [ + 0.4064039885997772, + -0.0452454499900341, + 0.11443015933036804, + 0.022079169750213623, + -0.0918039083480835, + -0.07168376445770264, + 0.0, + 1.0008161067962646 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9628177285194397 + ], + [ + 0.7061693072319031 + ], + [ + 0.42745357751846313 + ], + [ + 0.22426052391529083 + ], + [ + 0.117893286049366 + ], + [ + 0.08571679890155792 + ], + [ + 0.08432227373123169 + ], + [ + 0.08432227373123169 + ], + [ + 0.08432227373123169 + ], + [ + 0.08432227373123169 + ], + [ + 0.08432227373123169 + ], + [ + 0.08432227373123169 + ], + [ + 0.09775853902101517 + ], + [ + 0.2645227313041687 + ], + [ + 0.5521479845046997 + ], + [ + 0.8571589589118958 + ], + [ + 1.00800359249115 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.45206257700920105, + -0.003635637927800417, + 0.141103595495224 + ], + [ + 0.450032502412796, + -0.004120014142245054, + 0.1198844313621521 + ], + [ + 0.4480321407318115, + 0.005080176517367363, + 0.11337728053331375 + ], + [ + 0.435461163520813, + 0.04701652750372887, + 0.12166454643011093 + ], + [ + 0.4144277572631836, + 0.0726521834731102, + 0.1549648642539978 + ], + [ + 0.3840879797935486, + 0.10114803910255432, + 0.16759923100471497 + ], + [ + 0.3585694134235382, + 0.12319629639387131, + 0.1868395060300827 + ], + [ + 0.33304843306541443, + 0.13586920499801636, + 0.18680760264396667 + ], + [ + 0.2990249693393707, + 0.1462811976671219, + 0.18335270881652832 + ], + [ + 0.2734017074108124, + 0.1553940325975418, + 0.17611682415008545 + ], + [ + 0.2628460228443146, + 0.16398057341575623, + 0.16910181939601898 + ], + [ + 0.2484276443719864, + 0.18166182935237885, + 0.1636318862438202 + ], + [ + 0.2426408976316452, + 0.1909247785806656, + 0.15662603080272675 + ], + [ + 0.23741945624351501, + 0.1976213902235031, + 0.15373820066452026 + ], + [ + 0.23553349077701569, + 0.19971269369125366, + 0.13360695540905 + ], + [ + 0.23507356643676758, + 0.2005336433649063, + 0.11519157886505127 + ], + [ + 0.2348122000694275, + 0.2012508511543274, + 0.10854445397853851 + ], + [ + 0.2341555505990982, + 0.20196853578090668, + 0.10616729408502579 + ], + [ + 0.2346533089876175, + 0.20148254930973053, + 0.10481785237789154 + ], + [ + 0.23674187064170837, + 0.1985992044210434, + 0.10410191118717194 + ], + [ + 0.23977608978748322, + 0.1949394792318344, + 0.1045752763748169 + ], + [ + 0.24754928052425385, + 0.18788546323776245, + 0.10645473748445511 + ], + [ + 0.2728586494922638, + 0.16332624852657318, + 0.10930173844099045 + ], + [ + 0.32341060042381287, + 0.10332033783197403, + 0.11983770877122879 + ], + [ + 0.3571535050868988, + 0.06384669989347458, + 0.11353768408298492 + ], + [ + 0.3930039405822754, + 0.007510621100664139, + 0.09960415959358215 + ], + [ + 0.41906651854515076, + -0.01922326721251011, + 0.09147264808416367 + ], + [ + 0.44928136467933655, + -0.032004911452531815, + 0.07980579137802124 + ], + [ + 0.4728476107120514, + -0.0431581549346447, + 0.07176640629768372 + ], + [ + 0.4767947494983673, + -0.04175395518541336, + 0.06966836005449295 + ], + [ + 0.4757255017757416, + -0.039725154638290405, + 0.06805547326803207 + ], + [ + 0.463459849357605, + -0.03854300454258919, + 0.04538413882255554 + ], + [ + 0.455937922000885, + -0.042839787900447845, + 0.043330807238817215 + ], + [ + 0.44627031683921814, + -0.048068590462207794, + 0.06846752762794495 + ], + [ + 0.42543038725852966, + -0.04862453043460846, + 0.09714812785387039 + ], + [ + 0.4064039885997772, + -0.0452454499900341, + 0.11443015933036804 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9817875218879795, + 0.0604156223600186, + 0.1801200001107934, + 0.06707728137914079, + -0.997262330882198, + -0.031120439042364063, + 0.17774673045613013, + 0.04263561865691109, + -0.9831522282098021 + ], + [ + 0.9898984445224818, + 0.062789421770144, + 0.12711631699251646, + 0.06765180931092467, + -0.9971192792337094, + -0.03429833344939637, + 0.12459655785345458, + 0.042551515768755654, + -0.9912946415051641 + ], + [ + 0.9877279927375271, + 0.11146699258223122, + 0.10940074006773584, + 0.11846230778686753, + -0.9911649171314579, + -0.05965558382582169, + 0.10178454694355601, + 0.07188335420987936, + -0.9922059712534651 + ], + [ + 0.9707672584296034, + 0.20568967545215028, + 0.1237040313549272, + 0.21282417545295518, + -0.9759408145956375, + -0.047385617535001166, + 0.11098108083741783, + 0.07232761449676571, + -0.9911871245518507 + ], + [ + 0.9652426105711314, + 0.2020345942899011, + 0.16579724197929935, + 0.20574488398742544, + -0.9785911221390425, + -0.005334639973848476, + 0.16116992725328172, + 0.03926115613128066, + -0.9861454335788445 + ], + [ + 0.9631651886261003, + 0.20527541180989534, + 0.17370902315402753, + 0.20702185708377885, + -0.9783019204010566, + 0.00820385453236517, + 0.17162392056013648, + 0.02805989746742933, + -0.9847628506628818 + ], + [ + 0.9629078514159276, + 0.18100514436165793, + 0.20011398600841873, + 0.17963661296209865, + -0.9834119716498348, + 0.02513128129025649, + 0.2013433807331828, + 0.01174869058236696, + -0.9794502597398873 + ], + [ + 0.9729301328558503, + 0.13819352125466178, + 0.1852282571972626, + 0.1364936793688628, + -0.9903975020412853, + 0.021960497324351402, + 0.18648440168938524, + 0.0039164567685746575, + -0.9824501154221177 + ], + [ + 0.9739797878782923, + 0.13174526441050646, + 0.18440867146086778, + 0.12843747411895193, + -0.9912691059977546, + 0.029822386496651823, + 0.1867275770916018, + -0.00536141770596788, + -0.9823971025780165 + ], + [ + 0.9756027969073159, + 0.15082533220720984, + 0.1595333878258947, + 0.14482206367768624, + -0.988259591118512, + 0.048678028251026406, + 0.1650022804047227, + -0.024386466059195963, + -0.9859916570308214 + ], + [ + 0.9799348672303596, + 0.1520199979999436, + 0.1289091780840873, + 0.1453791116550157, + -0.9875850273919974, + 0.05950401302052154, + 0.13635457410962154, + -0.039569355304895526, + -0.9898695349590969 + ], + [ + 0.97193953945974, + 0.2034646878078865, + 0.11804936446261828, + 0.19697936645882008, + -0.9782936808902433, + 0.06434751836474276, + 0.12857939502218332, + -0.03928860834209232, + -0.9909206549619759 + ], + [ + 0.9688413714169128, + 0.2277568905460013, + 0.09733034388006997, + 0.22301262028315583, + -0.973132067962533, + 0.05726560483750512, + 0.10775791490854317, + -0.03377539210403242, + -0.9936032682428044 + ], + [ + 0.965252009535303, + 0.24865942484870154, + 0.08035576222009315, + 0.24419307984167735, + -0.967776808760285, + 0.06146371436217357, + 0.09304997498922497, + -0.03970565274204185, + -0.9948694202229923 + ], + [ + 0.954170469014419, + 0.2980907106210261, + 0.026469686478208236, + 0.2973676432424023, + -0.9543498818372389, + 0.028085366113100526, + 0.03363332890545263, + -0.01892699867118874, + -0.9992550064463215 + ], + [ + 0.9378183811473426, + 0.3466437250028894, + -0.018297865949304014, + 0.3466653958818511, + -0.937986564812938, + -0.00207545862484562, + -0.017882597134001164, + -0.004396833695417511, + -0.9998304259089127 + ], + [ + 0.9261727993291582, + 0.3756927137777854, + -0.03254121382300114, + 0.3753552869189731, + -0.9267402204606959, + -0.016154639037641513, + -0.03622643185253881, + 0.0027474706084202934, + -0.999339830608432 + ], + [ + 0.9163609824113315, + 0.3988674555713523, + -0.034457260485633884, + 0.3981565432233545, + -0.9169550696371779, + -0.025783082730877312, + -0.0418797922937615, + 0.0099072272969527, + -0.9990735357543598 + ], + [ + 0.9135296531112299, + 0.40587772218152496, + -0.02696010985164489, + 0.4052786594855071, + -0.9138485629365978, + -0.025100043512819276, + -0.034825006132178746, + 0.012003276863085915, + -0.9993213398564257 + ], + [ + 0.9176413139652643, + 0.39653884932499234, + -0.02629372320753962, + 0.39591687372220236, + -0.917920532711645, + -0.025917652833696354, + -0.034412904645515885, + 0.013372980310362671, + -0.9993182252873595 + ], + [ + 0.924586922043403, + 0.3799867119328592, + -0.027370099392602664, + 0.3794713929505454, + -0.9249358396669715, + -0.0222520657856232, + -0.033771075175058035, + 0.010187799272130859, + -0.9993776679651751 + ], + [ + 0.9329061592482386, + 0.360098361228123, + -0.003907464333806586, + 0.3598980606875425, + -0.932657973419564, + -0.024949760124247485, + -0.01262869550055357, + 0.021869496055733854, + -0.999681069737855 + ], + [ + 0.9465205529875885, + 0.31743999777135284, + 0.057712135526183705, + 0.31979914304169027, + -0.946744579061612, + -0.03745944643545915, + 0.04274752486249525, + 0.0539124274390792, + -0.9976302417658337 + ], + [ + 0.9785602822136946, + 0.18106356039341182, + 0.09816191303920072, + 0.18534639744678577, + -0.9820007512913118, + -0.03634882964824834, + 0.08981362384044206, + 0.05376347794702792, + -0.9945064109454936 + ], + [ + 0.9918931085991096, + 0.10605889261504649, + 0.06999694572526102, + 0.10914944153522783, + -0.9931417624786171, + -0.041902733006502366, + 0.06507273258549223, + 0.04920315963570203, + -0.996666738963291 + ], + [ + 0.9991371882442976, + 0.026095380054775623, + 0.032309599302308256, + 0.028506506439717347, + -0.9966570452962408, + -0.0765644379067027, + 0.030203611669488355, + 0.07741941101018399, + -0.9965410060007339 + ], + [ + 0.9995125640585825, + -0.023185363813785182, + 0.02090629555565549, + -0.02142078001393682, + -0.9964835622049167, + -0.08100407668132682, + 0.022710888856064714, + 0.08051676322494696, + -0.9964944888794646 + ], + [ + 0.9981498579692645, + -0.05560168056859134, + 0.024603133009539917, + -0.05356691829465704, + -0.9956063523873508, + -0.07680218974981999, + 0.0287653663343667, + 0.07534218077479672, + -0.9967427499087953 + ], + [ + 0.9957692158722155, + -0.09023061487462396, + 0.01738116395930344, + -0.08908675248770921, + -0.9943301400518004, + -0.0580613736985309, + 0.022521528643201262, + 0.056267297108659034, + -0.998161696331641 + ], + [ + 0.9957192161186061, + -0.09197168207978104, + 0.009189795839103815, + -0.09150751858219061, + -0.9949100554243798, + -0.042194260965061126, + 0.01302369744269143, + 0.04117270103932123, + -0.9990671609026333 + ], + [ + 0.9961873623493416, + -0.08720522493860422, + 0.002447006103182458, + -0.08709611942827905, + -0.9957659799084888, + -0.029400327165221576, + 0.005000507573889237, + 0.029075109635125274, + -0.9995647217282675 + ], + [ + 0.9952664424415733, + -0.07028865209191923, + -0.06711344080581158, + -0.07133333325799035, + -0.9973639180355235, + -0.01329550928447706, + -0.06600200084844796, + 0.018019999665101764, + -0.9976567623667324 + ], + [ + 0.9947376932199855, + -0.07232827337321901, + -0.07256405830871866, + -0.07271041677691095, + -0.9973496133784113, + -0.0026351444100134987, + -0.07218114005410368, + 0.007897440394369369, + -0.9973602726476063 + ], + [ + 0.9966389467036204, + -0.07880513686447713, + -0.022373205341855287, + -0.07866577654851412, + -0.9968761631376597, + 0.007043505374253132, + -0.02285837950330339, + -0.005259826205200522, + -0.9997248765109198 + ], + [ + 0.9961947737567006, + -0.07636582767036933, + 0.0420027749566053, + -0.07654379914162555, + -0.9970627168835438, + 0.0026429933356966603, + 0.041677566541273206, + -0.0058479881177641, + -0.999113998241528 + ], + [ + 0.9932316136083106, + -0.06958618564604967, + 0.09299851878532849, + -0.0713207850054439, + -0.9973336696354507, + 0.015456294436022505, + 0.091675009436808, + -0.021984407627208935, + -0.9955462713837273 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0020300745964050293, + -0.0004843762144446373, + -0.0212191641330719, + 0.00044022873044013977, + 0.053775034844875336, + 2.0489096641540527e-05, + 1.0 + ], + [ + -0.002000361680984497, + 0.009200191125273705, + -0.006507150828838348, + -0.029422800987958908, + 0.022960089147090912, + 0.05112793296575546, + 1.0 + ], + [ + -0.012570977210998535, + 0.04193635284900665, + 0.00828726589679718, + -0.0005199313163757324, + -0.00924905389547348, + 0.09645455330610275, + 1.0 + ], + [ + -0.021033406257629395, + 0.025635655969381332, + 0.03330031782388687, + 0.03304986283183098, + -0.05066578835248947, + -0.005807936191558838, + 1.0 + ], + [ + -0.03033977746963501, + 0.028495855629444122, + 0.012634366750717163, + 0.011305371299386024, + -0.010601848363876343, + 0.001707330346107483, + 1.0 + ], + [ + -0.025518566370010376, + 0.022048257291316986, + 0.019240275025367737, + 0.01649174466729164, + -0.030251383781433105, + -0.027281716465950012, + 1.0 + ], + [ + -0.02552098035812378, + 0.01267290860414505, + -3.190338611602783e-05, + 0.008008216507732868, + 0.015146642923355103, + -0.04505455493927002, + 1.0 + ], + [ + -0.0340234637260437, + 0.01041199266910553, + -0.0034548938274383545, + 0.009443827904760838, + -0.0002475231885910034, + -0.008269444108009338, + 1.0 + ], + [ + -0.02562326192855835, + 0.009112834930419922, + -0.007235884666442871, + 0.019270461052656174, + 0.02206975221633911, + 0.016255289316177368, + 1.0 + ], + [ + -0.010555684566497803, + 0.008586540818214417, + -0.007015004754066467, + 0.015225149691104889, + 0.028979644179344177, + -8.589029312133789e-05, + 1.0 + ], + [ + -0.014418378472328186, + 0.01768125593662262, + -0.0054699331521987915, + -0.0003252066671848297, + 0.007844328880310059, + 0.05267633497714996, + 1.0 + ], + [ + -0.0057867467403411865, + 0.009262949228286743, + -0.007005855441093445, + -0.005648083984851837, + 0.02096879482269287, + 0.026285991072654724, + 1.0 + ], + [ + -0.005221441388130188, + 0.006696611642837524, + -0.002887830138206482, + 0.005909495055675507, + 0.014782778918743134, + 0.021540969610214233, + 1.0 + ], + [ + -0.0018859654664993286, + 0.0020913034677505493, + -0.020131245255470276, + -0.020950401201844215, + 0.05954510346055031, + 0.05432577431201935, + 1.0 + ], + [ + -0.0004599243402481079, + 0.0008209496736526489, + -0.018415376543998718, + -0.014541294425725937, + 0.051523223519325256, + 0.05196210741996765, + 1.0 + ], + [ + -0.0002613663673400879, + 0.0007172077894210815, + -0.006647124886512756, + -0.00714682973921299, + 0.018350809812545776, + 0.03097325563430786, + 1.0 + ], + [ + -0.0006566494703292847, + 0.0007176846265792847, + -0.002377159893512726, + -0.007166810799390078, + 0.0056576840579509735, + 0.02484145760536194, + 0.0 + ], + [ + 0.0004977583885192871, + -0.00048598647117614746, + -0.0013494417071342468, + -0.0020947614684700966, + -0.007059995085000992, + 0.007665187120437622, + 0.0 + ], + [ + 0.0020885616540908813, + -0.002883344888687134, + -0.0007159411907196045, + -0.0013704542070627213, + -0.0004123486578464508, + -0.010231077671051025, + 0.0 + ], + [ + 0.0030342191457748413, + -0.0036597251892089844, + 0.0004733651876449585, + 0.003187514841556549, + -0.0006422027945518494, + -0.017862647771835327, + 0.0 + ], + [ + 0.00777319073677063, + -0.0070540159940719604, + 0.0018794611096382141, + -0.011679193936288357, + -0.02114846557378769, + -0.02126958966255188, + 0.0 + ], + [ + 0.02530936896800995, + -0.02455921471118927, + 0.0028470009565353394, + -0.032114990055561066, + -0.055389586836099625, + -0.04236307740211487, + 0.0 + ], + [ + 0.05055195093154907, + -0.06000591069459915, + 0.010535970330238342, + -1.9915401935577393e-05, + -0.047174256294965744, + -0.1386365443468094, + 0.0 + ], + [ + 0.03374290466308594, + -0.03947363793849945, + -0.006300024688243866, + 0.004680223762989044, + 0.024816066026687622, + -0.07758920639753342, + 0.0 + ], + [ + 0.03585043549537659, + -0.05633607879281044, + -0.013933524489402771, + -0.02820473536849022, + 0.03491053730249405, + -0.08107718080282211, + 0.0 + ], + [ + 0.026062577962875366, + -0.026733888313174248, + -0.008131511509418488, + -0.003092452883720398, + 0.007495364174246788, + -0.049951329827308655, + 0.0 + ], + [ + 0.03021484613418579, + -0.012781644240021706, + -0.011666856706142426, + 0.005179934203624725, + -0.0060564931482076645, + -0.032186828553676605, + 0.0 + ], + [ + 0.023566246032714844, + -0.011153243482112885, + -0.008039385080337524, + 0.019133593887090683, + 0.006245901808142662, + -0.03561292961239815, + 0.0 + ], + [ + 0.003947138786315918, + 0.0014041997492313385, + -0.0020980462431907654, + 0.015123490244150162, + 0.009499367326498032, + -0.002415798604488373, + 1.0 + ], + [ + -0.0010692477226257324, + 0.0020288005471229553, + -0.0016128867864608765, + 0.012108266353607178, + 0.008023537695407867, + 0.004435800015926361, + 1.0 + ], + [ + -0.012265652418136597, + 0.0011821500957012177, + -0.022671334445476532, + 0.011019211262464523, + 0.07105054706335068, + 0.0156574547290802, + 1.0 + ], + [ + -0.007521927356719971, + -0.004296783357858658, + -0.002053331583738327, + 0.010142182931303978, + 0.006193950772285461, + -0.001415051519870758, + 1.0 + ], + [ + -0.00966760516166687, + -0.005228802561759949, + 0.02513672038912773, + 0.01317940279841423, + -0.04938359558582306, + -0.005802460014820099, + 1.0 + ], + [ + -0.020839929580688477, + -0.0005559399724006653, + 0.028680600225925446, + 0.0005918820388615131, + -0.0645500123500824, + 0.002082258462905884, + 1.0 + ], + [ + -0.01902639865875244, + 0.003379080444574356, + 0.01728203147649765, + 0.016226062551140785, + -0.05011426657438278, + 0.005001738667488098, + 1.0 + ], + [ + -0.015405833721160889, + -0.0021637380123138428, + 0.0062819793820381165, + 0.009558677673339844, + -0.019849903881549835, + 0.005622468888759613, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9628177285194397 + ], + [ + 0.7061693072319031 + ], + [ + 0.42745357751846313 + ], + [ + 0.22426052391529083 + ], + [ + 0.117893286049366 + ], + [ + 0.08571679890155792 + ], + [ + 0.08432227373123169 + ], + [ + 0.08432227373123169 + ], + [ + 0.08432227373123169 + ], + [ + 0.08432227373123169 + ], + [ + 0.08432227373123169 + ], + [ + 0.08432227373123169 + ], + [ + 0.09775853902101517 + ], + [ + 0.2645227313041687 + ], + [ + 0.5521479845046997 + ], + [ + 0.8571589589118958 + ], + [ + 1.00800359249115 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.450032502412796, + -0.004120014142245054, + 0.1198844313621521 + ], + [ + 0.4480321407318115, + 0.005080176517367363, + 0.11337728053331375 + ], + [ + 0.435461163520813, + 0.04701652750372887, + 0.12166454643011093 + ], + [ + 0.4144277572631836, + 0.0726521834731102, + 0.1549648642539978 + ], + [ + 0.3840879797935486, + 0.10114803910255432, + 0.16759923100471497 + ], + [ + 0.3585694134235382, + 0.12319629639387131, + 0.1868395060300827 + ], + [ + 0.33304843306541443, + 0.13586920499801636, + 0.18680760264396667 + ], + [ + 0.2990249693393707, + 0.1462811976671219, + 0.18335270881652832 + ], + [ + 0.2734017074108124, + 0.1553940325975418, + 0.17611682415008545 + ], + [ + 0.2628460228443146, + 0.16398057341575623, + 0.16910181939601898 + ], + [ + 0.2484276443719864, + 0.18166182935237885, + 0.1636318862438202 + ], + [ + 0.2426408976316452, + 0.1909247785806656, + 0.15662603080272675 + ], + [ + 0.23741945624351501, + 0.1976213902235031, + 0.15373820066452026 + ], + [ + 0.23553349077701569, + 0.19971269369125366, + 0.13360695540905 + ], + [ + 0.23507356643676758, + 0.2005336433649063, + 0.11519157886505127 + ], + [ + 0.2348122000694275, + 0.2012508511543274, + 0.10854445397853851 + ], + [ + 0.2341555505990982, + 0.20196853578090668, + 0.10616729408502579 + ], + [ + 0.2346533089876175, + 0.20148254930973053, + 0.10481785237789154 + ], + [ + 0.23674187064170837, + 0.1985992044210434, + 0.10410191118717194 + ], + [ + 0.23977608978748322, + 0.1949394792318344, + 0.1045752763748169 + ], + [ + 0.24754928052425385, + 0.18788546323776245, + 0.10645473748445511 + ], + [ + 0.2728586494922638, + 0.16332624852657318, + 0.10930173844099045 + ], + [ + 0.32341060042381287, + 0.10332033783197403, + 0.11983770877122879 + ], + [ + 0.3571535050868988, + 0.06384669989347458, + 0.11353768408298492 + ], + [ + 0.3930039405822754, + 0.007510621100664139, + 0.09960415959358215 + ], + [ + 0.41906651854515076, + -0.01922326721251011, + 0.09147264808416367 + ], + [ + 0.44928136467933655, + -0.032004911452531815, + 0.07980579137802124 + ], + [ + 0.4728476107120514, + -0.0431581549346447, + 0.07176640629768372 + ], + [ + 0.4767947494983673, + -0.04175395518541336, + 0.06966836005449295 + ], + [ + 0.4757255017757416, + -0.039725154638290405, + 0.06805547326803207 + ], + [ + 0.463459849357605, + -0.03854300454258919, + 0.04538413882255554 + ], + [ + 0.455937922000885, + -0.042839787900447845, + 0.043330807238817215 + ], + [ + 0.44627031683921814, + -0.048068590462207794, + 0.06846752762794495 + ], + [ + 0.42543038725852966, + -0.04862453043460846, + 0.09714812785387039 + ], + [ + 0.4064039885997772, + -0.0452454499900341, + 0.11443015933036804 + ], + [ + 0.39099815487861633, + -0.047409188002347946, + 0.12071213871240616 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9898984445224818, + 0.062789421770144, + 0.12711631699251646, + 0.06765180931092467, + -0.9971192792337094, + -0.03429833344939637, + 0.12459655785345458, + 0.042551515768755654, + -0.9912946415051641 + ], + [ + 0.9877279927375271, + 0.11146699258223122, + 0.10940074006773584, + 0.11846230778686753, + -0.9911649171314579, + -0.05965558382582169, + 0.10178454694355601, + 0.07188335420987936, + -0.9922059712534651 + ], + [ + 0.9707672584296034, + 0.20568967545215028, + 0.1237040313549272, + 0.21282417545295518, + -0.9759408145956375, + -0.047385617535001166, + 0.11098108083741783, + 0.07232761449676571, + -0.9911871245518507 + ], + [ + 0.9652426105711314, + 0.2020345942899011, + 0.16579724197929935, + 0.20574488398742544, + -0.9785911221390425, + -0.005334639973848476, + 0.16116992725328172, + 0.03926115613128066, + -0.9861454335788445 + ], + [ + 0.9631651886261003, + 0.20527541180989534, + 0.17370902315402753, + 0.20702185708377885, + -0.9783019204010566, + 0.00820385453236517, + 0.17162392056013648, + 0.02805989746742933, + -0.9847628506628818 + ], + [ + 0.9629078514159276, + 0.18100514436165793, + 0.20011398600841873, + 0.17963661296209865, + -0.9834119716498348, + 0.02513128129025649, + 0.2013433807331828, + 0.01174869058236696, + -0.9794502597398873 + ], + [ + 0.9729301328558503, + 0.13819352125466178, + 0.1852282571972626, + 0.1364936793688628, + -0.9903975020412853, + 0.021960497324351402, + 0.18648440168938524, + 0.0039164567685746575, + -0.9824501154221177 + ], + [ + 0.9739797878782923, + 0.13174526441050646, + 0.18440867146086778, + 0.12843747411895193, + -0.9912691059977546, + 0.029822386496651823, + 0.1867275770916018, + -0.00536141770596788, + -0.9823971025780165 + ], + [ + 0.9756027969073159, + 0.15082533220720984, + 0.1595333878258947, + 0.14482206367768624, + -0.988259591118512, + 0.048678028251026406, + 0.1650022804047227, + -0.024386466059195963, + -0.9859916570308214 + ], + [ + 0.9799348672303596, + 0.1520199979999436, + 0.1289091780840873, + 0.1453791116550157, + -0.9875850273919974, + 0.05950401302052154, + 0.13635457410962154, + -0.039569355304895526, + -0.9898695349590969 + ], + [ + 0.97193953945974, + 0.2034646878078865, + 0.11804936446261828, + 0.19697936645882008, + -0.9782936808902433, + 0.06434751836474276, + 0.12857939502218332, + -0.03928860834209232, + -0.9909206549619759 + ], + [ + 0.9688413714169128, + 0.2277568905460013, + 0.09733034388006997, + 0.22301262028315583, + -0.973132067962533, + 0.05726560483750512, + 0.10775791490854317, + -0.03377539210403242, + -0.9936032682428044 + ], + [ + 0.965252009535303, + 0.24865942484870154, + 0.08035576222009315, + 0.24419307984167735, + -0.967776808760285, + 0.06146371436217357, + 0.09304997498922497, + -0.03970565274204185, + -0.9948694202229923 + ], + [ + 0.954170469014419, + 0.2980907106210261, + 0.026469686478208236, + 0.2973676432424023, + -0.9543498818372389, + 0.028085366113100526, + 0.03363332890545263, + -0.01892699867118874, + -0.9992550064463215 + ], + [ + 0.9378183811473426, + 0.3466437250028894, + -0.018297865949304014, + 0.3466653958818511, + -0.937986564812938, + -0.00207545862484562, + -0.017882597134001164, + -0.004396833695417511, + -0.9998304259089127 + ], + [ + 0.9261727993291582, + 0.3756927137777854, + -0.03254121382300114, + 0.3753552869189731, + -0.9267402204606959, + -0.016154639037641513, + -0.03622643185253881, + 0.0027474706084202934, + -0.999339830608432 + ], + [ + 0.9163609824113315, + 0.3988674555713523, + -0.034457260485633884, + 0.3981565432233545, + -0.9169550696371779, + -0.025783082730877312, + -0.0418797922937615, + 0.0099072272969527, + -0.9990735357543598 + ], + [ + 0.9135296531112299, + 0.40587772218152496, + -0.02696010985164489, + 0.4052786594855071, + -0.9138485629365978, + -0.025100043512819276, + -0.034825006132178746, + 0.012003276863085915, + -0.9993213398564257 + ], + [ + 0.9176413139652643, + 0.39653884932499234, + -0.02629372320753962, + 0.39591687372220236, + -0.917920532711645, + -0.025917652833696354, + -0.034412904645515885, + 0.013372980310362671, + -0.9993182252873595 + ], + [ + 0.924586922043403, + 0.3799867119328592, + -0.027370099392602664, + 0.3794713929505454, + -0.9249358396669715, + -0.0222520657856232, + -0.033771075175058035, + 0.010187799272130859, + -0.9993776679651751 + ], + [ + 0.9329061592482386, + 0.360098361228123, + -0.003907464333806586, + 0.3598980606875425, + -0.932657973419564, + -0.024949760124247485, + -0.01262869550055357, + 0.021869496055733854, + -0.999681069737855 + ], + [ + 0.9465205529875885, + 0.31743999777135284, + 0.057712135526183705, + 0.31979914304169027, + -0.946744579061612, + -0.03745944643545915, + 0.04274752486249525, + 0.0539124274390792, + -0.9976302417658337 + ], + [ + 0.9785602822136946, + 0.18106356039341182, + 0.09816191303920072, + 0.18534639744678577, + -0.9820007512913118, + -0.03634882964824834, + 0.08981362384044206, + 0.05376347794702792, + -0.9945064109454936 + ], + [ + 0.9918931085991096, + 0.10605889261504649, + 0.06999694572526102, + 0.10914944153522783, + -0.9931417624786171, + -0.041902733006502366, + 0.06507273258549223, + 0.04920315963570203, + -0.996666738963291 + ], + [ + 0.9991371882442976, + 0.026095380054775623, + 0.032309599302308256, + 0.028506506439717347, + -0.9966570452962408, + -0.0765644379067027, + 0.030203611669488355, + 0.07741941101018399, + -0.9965410060007339 + ], + [ + 0.9995125640585825, + -0.023185363813785182, + 0.02090629555565549, + -0.02142078001393682, + -0.9964835622049167, + -0.08100407668132682, + 0.022710888856064714, + 0.08051676322494696, + -0.9964944888794646 + ], + [ + 0.9981498579692645, + -0.05560168056859134, + 0.024603133009539917, + -0.05356691829465704, + -0.9956063523873508, + -0.07680218974981999, + 0.0287653663343667, + 0.07534218077479672, + -0.9967427499087953 + ], + [ + 0.9957692158722155, + -0.09023061487462396, + 0.01738116395930344, + -0.08908675248770921, + -0.9943301400518004, + -0.0580613736985309, + 0.022521528643201262, + 0.056267297108659034, + -0.998161696331641 + ], + [ + 0.9957192161186061, + -0.09197168207978104, + 0.009189795839103815, + -0.09150751858219061, + -0.9949100554243798, + -0.042194260965061126, + 0.01302369744269143, + 0.04117270103932123, + -0.9990671609026333 + ], + [ + 0.9961873623493416, + -0.08720522493860422, + 0.002447006103182458, + -0.08709611942827905, + -0.9957659799084888, + -0.029400327165221576, + 0.005000507573889237, + 0.029075109635125274, + -0.9995647217282675 + ], + [ + 0.9952664424415733, + -0.07028865209191923, + -0.06711344080581158, + -0.07133333325799035, + -0.9973639180355235, + -0.01329550928447706, + -0.06600200084844796, + 0.018019999665101764, + -0.9976567623667324 + ], + [ + 0.9947376932199855, + -0.07232827337321901, + -0.07256405830871866, + -0.07271041677691095, + -0.9973496133784113, + -0.0026351444100134987, + -0.07218114005410368, + 0.007897440394369369, + -0.9973602726476063 + ], + [ + 0.9966389467036204, + -0.07880513686447713, + -0.022373205341855287, + -0.07866577654851412, + -0.9968761631376597, + 0.007043505374253132, + -0.02285837950330339, + -0.005259826205200522, + -0.9997248765109198 + ], + [ + 0.9961947737567006, + -0.07636582767036933, + 0.0420027749566053, + -0.07654379914162555, + -0.9970627168835438, + 0.0026429933356966603, + 0.041677566541273206, + -0.0058479881177641, + -0.999113998241528 + ], + [ + 0.9932316136083106, + -0.06958618564604967, + 0.09299851878532849, + -0.0713207850054439, + -0.9973336696354507, + 0.015456294436022505, + 0.091675009436808, + -0.021984407627208935, + -0.9955462713837273 + ], + [ + 0.9916055143772288, + -0.062463345926743345, + 0.1132114582200361, + -0.06560220416147085, + -0.9975520705687164, + 0.02421192502100769, + 0.11142196671136119, + -0.031435599560087873, + -0.9932758672264567 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005768.json b/json/chunk-0005/episode_0005768.json new file mode 100644 index 0000000000000000000000000000000000000000..f802c07a77a4b6c3a13b56c85de6881c609d4845 --- /dev/null +++ b/json/chunk-0005/episode_0005768.json @@ -0,0 +1,2242 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 36, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut the bottle in the pot." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005768.mp4", + "start": 0, + "end": 36, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.18674705922603607, + 0.0973338708281517, + 0.14563167095184326, + 0.026232950389385223, + -0.16439734399318695, + 0.4644334614276886, + 0.0, + 1.0001531839370728 + ], + [ + 0.18765513598918915, + 0.09483962506055832, + 0.14251823723316193, + 0.017022524029016495, + -0.15056420862674713, + 0.4634040296077728, + 0.0, + 1.0001531839370728 + ], + [ + 0.2053135633468628, + 0.07330793887376785, + 0.13902612030506134, + -0.03713751584291458, + -0.1293875277042389, + 0.4019806385040283, + 0.0, + 1.0001531839370728 + ], + [ + 0.23169754445552826, + 0.04661191999912262, + 0.14499495923519135, + -0.0540335439145565, + -0.15834088623523712, + 0.3246642053127289, + 0.0, + 1.0001531839370728 + ], + [ + 0.26588672399520874, + 0.016234509646892548, + 0.14747774600982666, + -0.04751293361186981, + -0.18157289922237396, + 0.19215106964111328, + 0.0, + 1.0001531839370728 + ], + [ + 0.29483726620674133, + 0.00021989621745888144, + 0.14614304900169373, + -0.02419537492096424, + -0.18714570999145508, + 0.1367364376783371, + 0.0, + 1.0001531839370728 + ], + [ + 0.3169851303100586, + -0.007305652368813753, + 0.13581424951553345, + 0.027586286887526512, + -0.17266127467155457, + 0.12978188693523407, + 0.0, + 1.0001531839370728 + ], + [ + 0.3288862407207489, + -0.007591338828206062, + 0.12774789333343506, + 0.04262581840157509, + -0.18728308379650116, + 0.12582576274871826, + 0.0, + 1.0001531839370728 + ], + [ + 0.34264883399009705, + -0.007307303138077259, + 0.12080007791519165, + 0.04717378318309784, + -0.19956599175930023, + 0.12741997838020325, + 0.0, + 1.0001531839370728 + ], + [ + 0.35651683807373047, + -0.011669122613966465, + 0.11119912564754486, + 0.005640403367578983, + -0.17975576221942902, + 0.14490438997745514, + 0.0, + 1.0001531839370728 + ], + [ + 0.36013999581336975, + -0.006636775564402342, + 0.09979438781738281, + -0.012332708574831486, + -0.15396706759929657, + 0.16738465428352356, + 0.0, + 0.9492040276527405 + ], + [ + 0.3598552346229553, + -0.005778113845735788, + 0.09756726026535034, + -0.007422538474202156, + -0.1474384367465973, + 0.1796727031469345, + 0.0, + 0.6591242551803589 + ], + [ + 0.3584544062614441, + -0.005083302967250347, + 0.09792901575565338, + -0.0015020932769402862, + -0.14082476496696472, + 0.17742660641670227, + 0.0, + 0.37802740931510925 + ], + [ + 0.3567679524421692, + -0.00501443725079298, + 0.09770409762859344, + 0.00019964564125984907, + -0.1303393691778183, + 0.1820642203092575, + 0.0, + 0.325195848941803 + ], + [ + 0.35002341866493225, + -0.0008829999133013189, + 0.10525483638048172, + 0.00408076960593462, + -0.11800113320350647, + 0.22073328495025635, + 0.0, + 0.325195848941803 + ], + [ + 0.3330917954444885, + 0.007585333660244942, + 0.1269887238740921, + 0.03392350673675537, + -0.151345357298851, + 0.2854243516921997, + 0.0, + 0.325195848941803 + ], + [ + 0.3146402835845947, + 0.009576123207807541, + 0.13372687995433807, + 0.03962572291493416, + -0.16198141872882843, + 0.32270780205726624, + 0.0, + 0.325195848941803 + ], + [ + 0.2910940647125244, + 0.0002831649035215378, + 0.1476607769727707, + 0.03136374428868294, + -0.17801719903945923, + 0.3456836938858032, + 0.0, + 0.325195848941803 + ], + [ + 0.27621814608573914, + -0.013384304009377956, + 0.14690299332141876, + 0.005387474782764912, + -0.17214517295360565, + 0.33628949522972107, + 0.0, + 0.325195848941803 + ], + [ + 0.26728901267051697, + -0.027179526165127754, + 0.14516346156597137, + 0.02422049082815647, + -0.1691959798336029, + 0.29853782057762146, + 0.0, + 0.325195848941803 + ], + [ + 0.2532012462615967, + -0.03860653564333916, + 0.13248659670352936, + 0.03214471787214279, + -0.14486677944660187, + 0.2685925364494324, + 0.0, + 0.325195848941803 + ], + [ + 0.24486687779426575, + -0.04599082097411156, + 0.12193764001131058, + 0.03723552078008652, + -0.1428767740726471, + 0.23105846345424652, + 0.0, + 0.325195848941803 + ], + [ + 0.2408631145954132, + -0.047239311039447784, + 0.11566250771284103, + 0.013896260410547256, + -0.14067958295345306, + 0.22316591441631317, + 0.0, + 0.325195848941803 + ], + [ + 0.2419927716255188, + -0.04730253666639328, + 0.11034172028303146, + -0.00045313467853702605, + -0.15581105649471283, + 0.22973348200321198, + 0.0, + 0.325195848941803 + ], + [ + 0.24390581250190735, + -0.04849722608923912, + 0.10908496379852295, + -0.006160395219922066, + -0.16060122847557068, + 0.2193400114774704, + 0.0, + 0.3953573703765869 + ], + [ + 0.2424851804971695, + -0.045563071966171265, + 0.10728980600833893, + 0.001999039901420474, + -0.1436523050069809, + 0.22424562275409698, + 0.0, + 0.7001883387565613 + ], + [ + 0.24189437925815582, + -0.04417705163359642, + 0.10453595221042633, + 0.011249755509197712, + -0.1285688430070877, + 0.2374945729970932, + 0.0, + 0.9613274931907654 + ], + [ + 0.24219167232513428, + -0.04330494999885559, + 0.10664936155080795, + 0.017830917611718178, + -0.12855033576488495, + 0.23655971884727478, + 0.0, + 1.003452181816101 + ], + [ + 0.24183206260204315, + -0.04281952977180481, + 0.11601939052343369, + 0.013285794295370579, + -0.14076918363571167, + 0.24633757770061493, + 0.0, + 1.0014774799346924 + ], + [ + 0.24471823871135712, + -0.04019227996468544, + 0.1214420348405838, + 0.00548761710524559, + -0.1445319503545761, + 0.2561016082763672, + 0.0, + 1.0014774799346924 + ], + [ + 0.24999621510505676, + -0.043001897633075714, + 0.13071252405643463, + -0.013661248609423637, + -0.15344350039958954, + 0.2593899667263031, + 0.0, + 1.0014774799346924 + ], + [ + 0.2533194124698639, + -0.03981619328260422, + 0.14179727435112, + -0.025062672793865204, + -0.17501544952392578, + 0.27368542551994324, + 0.0, + 1.0014774799346924 + ], + [ + 0.25800007581710815, + -0.027297114953398705, + 0.15642142295837402, + -0.028816966339945793, + -0.1977057009935379, + 0.3269038796424866, + 0.0, + 1.0014774799346924 + ], + [ + 0.26324719190597534, + -0.0022734650410711765, + 0.1663246601819992, + -0.017965612933039665, + -0.2136489301919937, + 0.4125594198703766, + 0.0, + 1.0014774799346924 + ], + [ + 0.26747217774391174, + 0.030095379799604416, + 0.16054993867874146, + -0.002749298932030797, + -0.19956141710281372, + 0.48526135087013245, + 0.0, + 1.0014774799346924 + ], + [ + 0.2636868357658386, + 0.0664321705698967, + 0.15739573538303375, + -0.012031752616167068, + -0.19294965267181396, + 0.5547110438346863, + 0.0, + 1.0008161067962646 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9492040276527405 + ], + [ + 0.6591242551803589 + ], + [ + 0.37802740931510925 + ], + [ + 0.325195848941803 + ], + [ + 0.325195848941803 + ], + [ + 0.325195848941803 + ], + [ + 0.325195848941803 + ], + [ + 0.325195848941803 + ], + [ + 0.325195848941803 + ], + [ + 0.325195848941803 + ], + [ + 0.325195848941803 + ], + [ + 0.325195848941803 + ], + [ + 0.325195848941803 + ], + [ + 0.325195848941803 + ], + [ + 0.3953573703765869 + ], + [ + 0.7001883387565613 + ], + [ + 0.9613274931907654 + ], + [ + 1.003452181816101 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.18674705922603607, + 0.0973338708281517, + 0.14563167095184326 + ], + [ + 0.18765513598918915, + 0.09483962506055832, + 0.14251823723316193 + ], + [ + 0.2053135633468628, + 0.07330793887376785, + 0.13902612030506134 + ], + [ + 0.23169754445552826, + 0.04661191999912262, + 0.14499495923519135 + ], + [ + 0.26588672399520874, + 0.016234509646892548, + 0.14747774600982666 + ], + [ + 0.29483726620674133, + 0.00021989621745888144, + 0.14614304900169373 + ], + [ + 0.3169851303100586, + -0.007305652368813753, + 0.13581424951553345 + ], + [ + 0.3288862407207489, + -0.007591338828206062, + 0.12774789333343506 + ], + [ + 0.34264883399009705, + -0.007307303138077259, + 0.12080007791519165 + ], + [ + 0.35651683807373047, + -0.011669122613966465, + 0.11119912564754486 + ], + [ + 0.36013999581336975, + -0.006636775564402342, + 0.09979438781738281 + ], + [ + 0.3598552346229553, + -0.005778113845735788, + 0.09756726026535034 + ], + [ + 0.3584544062614441, + -0.005083302967250347, + 0.09792901575565338 + ], + [ + 0.3567679524421692, + -0.00501443725079298, + 0.09770409762859344 + ], + [ + 0.35002341866493225, + -0.0008829999133013189, + 0.10525483638048172 + ], + [ + 0.3330917954444885, + 0.007585333660244942, + 0.1269887238740921 + ], + [ + 0.3146402835845947, + 0.009576123207807541, + 0.13372687995433807 + ], + [ + 0.2910940647125244, + 0.0002831649035215378, + 0.1476607769727707 + ], + [ + 0.27621814608573914, + -0.013384304009377956, + 0.14690299332141876 + ], + [ + 0.26728901267051697, + -0.027179526165127754, + 0.14516346156597137 + ], + [ + 0.2532012462615967, + -0.03860653564333916, + 0.13248659670352936 + ], + [ + 0.24486687779426575, + -0.04599082097411156, + 0.12193764001131058 + ], + [ + 0.2408631145954132, + -0.047239311039447784, + 0.11566250771284103 + ], + [ + 0.2419927716255188, + -0.04730253666639328, + 0.11034172028303146 + ], + [ + 0.24390581250190735, + -0.04849722608923912, + 0.10908496379852295 + ], + [ + 0.2424851804971695, + -0.045563071966171265, + 0.10728980600833893 + ], + [ + 0.24189437925815582, + -0.04417705163359642, + 0.10453595221042633 + ], + [ + 0.24219167232513428, + -0.04330494999885559, + 0.10664936155080795 + ], + [ + 0.24183206260204315, + -0.04281952977180481, + 0.11601939052343369 + ], + [ + 0.24471823871135712, + -0.04019227996468544, + 0.1214420348405838 + ], + [ + 0.24999621510505676, + -0.043001897633075714, + 0.13071252405643463 + ], + [ + 0.2533194124698639, + -0.03981619328260422, + 0.14179727435112 + ], + [ + 0.25800007581710815, + -0.027297114953398705, + 0.15642142295837402 + ], + [ + 0.26324719190597534, + -0.0022734650410711765, + 0.1663246601819992 + ], + [ + 0.26747217774391174, + 0.030095379799604416, + 0.16054993867874146 + ], + [ + 0.2636868357658386, + 0.0664321705698967, + 0.15739573538303375 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8820207978950634, + 0.45160026255421165, + 0.134523287729385, + 0.44187716243078573, + -0.8918450653534952, + 0.09673134304214454, + 0.16365783025163438, + -0.02587628770877263, + -0.9861777387123176 + ], + [ + 0.8844158574238811, + 0.4492148754534194, + 0.12654875269456609, + 0.4419386796512016, + -0.8932652327822183, + 0.08226437461430258, + 0.14999598183062832, + -0.01682912873260478, + -0.9885433656955913 + ], + [ + 0.9125953011145911, + 0.38656333529707537, + 0.13318635135617135, + 0.38797151649684675, + -0.9215276321619443, + 0.016276533695378317, + 0.12902681415390205, + 0.036818622543500115, + -0.9909573503755312 + ], + [ + 0.9359016823041405, + 0.3104540182070573, + 0.1664522262974324, + 0.31500006021567395, + -0.9490911647494691, + -0.0009607593963936074, + 0.15768006571663173, + 0.05333163764209847, + -0.9860490521784454 + ], + [ + 0.9654591455310468, + 0.1823366370606055, + 0.1861235855443638, + 0.18783142382920048, + -0.9821258201642644, + -0.012174957452335915, + 0.18057683830645704, + 0.046714282099802926, + -0.9824509052950909 + ], + [ + 0.973368397989846, + 0.1318116260660823, + 0.18756240835651494, + 0.13393066354951952, + -0.9909897347713493, + 0.001386700759354164, + 0.18605520459225583, + 0.023770587111510127, + -0.9822517091013422 + ], + [ + 0.9768462274528483, + 0.13406762479788398, + 0.16672528270239148, + 0.12749355740733143, + -0.9905995752536696, + 0.04957695358604894, + 0.17180465864103348, + -0.027172660677665942, + -0.9847562164215745 + ], + [ + 0.9747463409940197, + 0.13325140059725138, + 0.17920277608798657, + 0.12329958773674604, + -0.9901975328474067, + 0.06562055780665887, + 0.18619017799744075, + -0.041867770203098134, + -0.9816212647633005 + ], + [ + 0.9722066626750803, + 0.13620675618169262, + 0.1904256406596644, + 0.12455335927264745, + -0.9896016357675524, + 0.07193791198028528, + 0.19824395512620682, + -0.04622036409035958, + -0.9790623127254328 + ], + [ + 0.9735759702357931, + 0.14539339499692336, + 0.1760982420999766, + 0.1420711964603064, + -0.9893583596585619, + 0.0313976322364629, + 0.17878927628851338, + -0.005549492318020618, + -0.9838717385001163 + ], + [ + 0.9743596650220019, + 0.16472660201153227, + 0.1532592240876444, + 0.16463327961051927, + -0.9862639786469354, + 0.013388340756126646, + 0.15335946799235164, + 0.012186509477772417, + -0.98809532058595 + ], + [ + 0.9732275153099146, + 0.17762978815402003, + 0.14586247565446214, + 0.1767686902958409, + -0.9840699945938982, + 0.018949297376388917, + 0.14690484530737463, + 0.007341941182256584, + -0.9891233807391742 + ], + [ + 0.9745571270165421, + 0.1762894437276301, + 0.13842123468408554, + 0.17474994488437934, + -0.9843372492181732, + 0.023294560835240858, + 0.14035976255384, + 0.0014872228491672988, + -0.9900994521885299 + ], + [ + 0.9751300760226816, + 0.18108557628716687, + 0.12778634080661136, + 0.1795242807920573, + -0.9834673227289584, + 0.023728837527974563, + 0.12997064069278616, + -0.00019795221422807228, + -0.9915178230232814 + ], + [ + 0.9689518287586005, + 0.21941211333679841, + 0.11397665579601661, + 0.21742261760936185, + -0.9756238530980046, + 0.029757396023448256, + 0.11772747723983958, + -0.00405238044648292, + -0.9930376726567125 + ], + [ + 0.9485738590823353, + 0.2863093843755563, + 0.13503544084474875, + 0.2783461325334424, + -0.9575503759413209, + 0.07497138146192923, + 0.15076824721844115, + -0.033529299919991803, + -0.9880003652213667 + ], + [ + 0.9359655455504796, + 0.32294592677133294, + 0.14026555501689686, + 0.31298433415712135, + -0.945609523280005, + 0.08867601735748648, + 0.16127400322003743, + -0.03909677562110109, + -0.9861349491937789 + ], + [ + 0.9259756058328277, + 0.34389780721543206, + 0.15589572025859205, + 0.33348522849693796, + -0.9384997449672268, + 0.08947530983905692, + 0.17707845655774385, + -0.030863034343169417, + -0.9837127087388163 + ], + [ + 0.930033069376714, + 0.3308530765391754, + 0.15992101678732118, + 0.32510936468134033, + -0.943667350707922, + 0.06161032546892661, + 0.17129620796218276, + -0.005307819934244205, + -0.985205276165999 + ], + [ + 0.9421196637478668, + 0.29793445385165696, + 0.15377125995361202, + 0.28992308071866024, + -0.9542877839124048, + 0.07265970507890124, + 0.1683898644402556, + -0.023872299505212462, + -0.9854313608111556 + ], + [ + 0.9540460750177805, + 0.26971088827202294, + 0.13058377958492381, + 0.2625949394144895, + -0.9624160409543412, + 0.06927670537541829, + 0.14436060590434, + -0.03180252916496286, + -0.9890139607718607 + ], + [ + 0.9635058006110451, + 0.23400915949500517, + 0.12998571252761035, + 0.2266745011184534, + -0.9715358810850885, + 0.06882370454226638, + 0.14239116100225327, + -0.03684759200629162, + -0.989124366412924 + ], + [ + 0.9655675842456878, + 0.22319686157448917, + 0.1336502945647537, + 0.21913171617149022, + -0.9746762866114995, + 0.04458057071142243, + 0.14021601628089625, + -0.013758535551322545, + -0.9900253388059312 + ], + [ + 0.9619313851767642, + 0.2276495218404414, + 0.1512074912751695, + 0.22495943860615591, + -0.9737430332584804, + 0.034896363171219275, + 0.15518138159558717, + 0.00044764538738496437, + -0.9878858934207394 + ], + [ + 0.9634809014569992, + 0.21661985461856642, + 0.15741788688913308, + 0.21478545601419124, + -0.9762370916144675, + 0.02878105003126661, + 0.15991172693828512, + 0.006081080591269076, + -0.9871125873204426 + ], + [ + 0.9649197715079307, + 0.22264950643366294, + 0.13912955055605203, + 0.22008045752624522, + -0.974896549911093, + 0.03378326784795205, + 0.14315874673983886, + -0.001978447950840321, + -0.989697761427995 + ], + [ + 0.9639085516975547, + 0.2366552491970705, + 0.12196145699275203, + 0.23332645754431733, + -0.9715296298922781, + 0.04109674501944237, + 0.12821492960705597, + -0.011156669254111943, + -0.9916836494351472 + ], + [ + 0.9641285633220896, + 0.23654437880048285, + 0.12042786323927514, + 0.2324257978809724, + -0.9714597642430463, + 0.04737272354677141, + 0.12819657509417806, + -0.017682853693314095, + -0.991591122801825 + ], + [ + 0.9602189966760022, + 0.24563995460837326, + 0.13281751060205937, + 0.24144163024878393, + -0.9692718840808899, + 0.047095158064193315, + 0.14030473122935427, + -0.013153989139351077, + -0.9900209871332933 + ], + [ + 0.957298324496477, + 0.25407202255502986, + 0.13793957108470875, + 0.25067007313934747, + -0.9671700566115222, + 0.04179229625634673, + 0.14402927601203594, + -0.005430372810446952, + -0.9895585271739048 + ], + [ + 0.9551903086047346, + 0.254448940316199, + 0.15121908318580457, + 0.2534773657768341, + -0.9669919742157853, + 0.025995131103634557, + 0.15284207335164268, + 0.01350031756002447, + -0.9881584093855345 + ], + [ + 0.948073741468384, + 0.2659955059403584, + 0.174363332033065, + 0.26615266169950896, + -0.9636583550402121, + 0.02292019702052057, + 0.1741233511290398, + 0.02467722797895806, + -0.984414594066376 + ], + [ + 0.9285925386558966, + 0.31561936576978816, + 0.19519301499714067, + 0.3148570863978923, + -0.9484652116130865, + 0.03575971902536973, + 0.19642024411355238, + 0.028251695715830152, + -0.9801127125956243 + ], + [ + 0.8952689868514346, + 0.3974012008369038, + 0.20140935121138856, + 0.39183909666266115, + -0.9174770108792203, + 0.06854237254954496, + 0.21202727067194746, + 0.017556197809258475, + -0.9771060415379115 + ], + [ + 0.8669978954278511, + 0.46595569314123453, + 0.17663505131470472, + 0.45718241584444985, + -0.8848039502902763, + 0.09003448335695952, + 0.19823947126218142, + 0.0026947318964472763, + -0.9801499122347034 + ], + [ + 0.8342781523979768, + 0.5246984245732282, + 0.16932668921877306, + 0.5169237102652982, + -0.851206279243227, + 0.09076204020657566, + 0.19175464061392825, + 0.01180819322649438, + -0.9813718583573453 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + 0.0009080767631530762, + -0.002494245767593384, + -0.0031134337186813354, + -0.009210426360368729, + 0.01383313536643982, + -0.0010294318199157715, + 1.0 + ], + [ + 0.017658427357673645, + -0.021531686186790466, + -0.003492116928100586, + -0.054160039871931076, + 0.02117668092250824, + -0.06142339110374451, + 1.0 + ], + [ + 0.026383981108665466, + -0.026696018874645233, + 0.005968838930130005, + -0.016896028071641922, + -0.02895335853099823, + -0.07731643319129944, + 1.0 + ], + [ + 0.03418917953968048, + -0.030377410352230072, + 0.002482786774635315, + 0.006520610302686691, + -0.02323201298713684, + -0.1325131356716156, + 1.0 + ], + [ + 0.028950542211532593, + -0.016014613211154938, + -0.0013346970081329346, + 0.02331755869090557, + -0.005572810769081116, + -0.055414631962776184, + 1.0 + ], + [ + 0.02214786410331726, + -0.007525548804551363, + -0.010328799486160278, + 0.05178166180849075, + 0.014484435319900513, + -0.006954550743103027, + 1.0 + ], + [ + 0.011901110410690308, + -0.0002856864593923092, + -0.008066356182098389, + 0.015039531514048576, + -0.014621809124946594, + -0.003956124186515808, + 1.0 + ], + [ + 0.013762593269348145, + 0.00028403569012880325, + -0.006947815418243408, + 0.004547964781522751, + -0.012282907962799072, + 0.0015942156314849854, + 1.0 + ], + [ + 0.013868004083633423, + -0.004361819475889206, + -0.00960095226764679, + -0.04153338074684143, + 0.019810229539871216, + 0.017484411597251892, + 1.0 + ], + [ + 0.0036231577396392822, + 0.005032347049564123, + -0.011404737830162048, + -0.01797311194241047, + 0.025788694620132446, + 0.02248026430606842, + 0.0 + ], + [ + -0.0002847611904144287, + 0.0008586617186665535, + -0.0022271275520324707, + 0.00491017010062933, + 0.00652863085269928, + 0.01228804886341095, + 0.0 + ], + [ + -0.0014008283615112305, + 0.0006948108784854412, + 0.00036175549030303955, + 0.005920445080846548, + 0.006613671779632568, + -0.0022460967302322388, + 0.0 + ], + [ + -0.0016864538192749023, + 6.886571645736694e-05, + -0.00022491812705993652, + 0.0017017389182001352, + 0.010485395789146423, + 0.004637613892555237, + 0.0 + ], + [ + -0.0067445337772369385, + 0.004131437279284, + 0.007550738751888275, + 0.003881123848259449, + 0.012338235974311829, + 0.03866906464099884, + 0.0 + ], + [ + -0.016931623220443726, + 0.008468333631753922, + 0.021733887493610382, + 0.029842738062143326, + -0.03334422409534454, + 0.06469106674194336, + 0.0 + ], + [ + -0.0184515118598938, + 0.001990789547562599, + 0.006738156080245972, + 0.005702216178178787, + -0.010636061429977417, + 0.03728345036506653, + 0.0 + ], + [ + -0.023546218872070312, + -0.009292958304286003, + 0.013933897018432617, + -0.00826197862625122, + -0.0160357803106308, + 0.022975891828536987, + 0.0 + ], + [ + -0.014875918626785278, + -0.013667468912899494, + -0.0007577836513519287, + -0.0259762704372406, + 0.005872026085853577, + -0.009394198656082153, + 0.0 + ], + [ + -0.008929133415222168, + -0.013795222155749798, + -0.0017395317554473877, + 0.018833015114068985, + 0.0029491931200027466, + -0.03775167465209961, + 0.0 + ], + [ + -0.014087766408920288, + -0.011427009478211403, + -0.012676864862442017, + 0.00792422704398632, + 0.024329200387001038, + -0.029945284128189087, + 0.0 + ], + [ + -0.008334368467330933, + -0.0073842853307724, + -0.01054895669221878, + 0.005090802907943726, + 0.001990005373954773, + -0.03753407299518585, + 0.0 + ], + [ + -0.004003763198852539, + -0.0012484900653362274, + -0.0062751322984695435, + -0.02333926036953926, + 0.0021971911191940308, + -0.00789254903793335, + 0.0 + ], + [ + 0.0011296570301055908, + -6.32256269454956e-05, + -0.00532078742980957, + -0.014349395409226418, + -0.015131473541259766, + 0.006567567586898804, + 0.0 + ], + [ + 0.0019130408763885498, + -0.0011946894228458405, + -0.0012567564845085144, + -0.005707260686904192, + -0.004790171980857849, + -0.010393470525741577, + 1.0 + ], + [ + -0.001420632004737854, + 0.002934154123067856, + -0.001795157790184021, + 0.008159435354173183, + 0.016948923468589783, + 0.004905611276626587, + 1.0 + ], + [ + -0.0005908012390136719, + 0.0013860203325748444, + -0.0027538537979125977, + 0.009250715374946594, + 0.015083461999893188, + 0.013248950242996216, + 1.0 + ], + [ + 0.0002972930669784546, + 0.0008721016347408295, + 0.0021134093403816223, + 0.006581162102520466, + 1.850724220275879e-05, + -0.0009348541498184204, + 1.0 + ], + [ + -0.0003596097230911255, + 0.00048542022705078125, + 0.009370028972625732, + -0.004545123316347599, + -0.012218847870826721, + 0.009777858853340149, + 1.0 + ], + [ + 0.002886176109313965, + 0.0026272498071193695, + 0.005422644317150116, + -0.0077981771901249886, + -0.003762766718864441, + 0.009764030575752258, + 1.0 + ], + [ + 0.005277976393699646, + -0.002809617668390274, + 0.00927048921585083, + -0.019148865714669228, + -0.008911550045013428, + 0.003288358449935913, + 1.0 + ], + [ + 0.003323197364807129, + 0.0031857043504714966, + 0.011084750294685364, + -0.011401424184441566, + -0.021571949124336243, + 0.014295458793640137, + 1.0 + ], + [ + 0.004680663347244263, + 0.012519078329205513, + 0.014624148607254028, + -0.0037542935460805893, + -0.02269025146961212, + 0.053218454122543335, + 1.0 + ], + [ + 0.0052471160888671875, + 0.025023650377988815, + 0.009903237223625183, + 0.010851353406906128, + -0.01594322919845581, + 0.08565554022789001, + 1.0 + ], + [ + 0.004224985837936401, + 0.032368846237659454, + -0.0057747215032577515, + 0.015216314233839512, + 0.014087513089179993, + 0.07270193099975586, + 1.0 + ], + [ + -0.00378534197807312, + 0.03633679077029228, + -0.0031542032957077026, + -0.009282453916966915, + 0.006611764430999756, + 0.06944969296455383, + 1.0 + ], + [ + 0.0009317398071289062, + 0.028302505612373352, + -0.005433142185211182, + -0.021192781627178192, + 0.005267128348350525, + 0.018150508403778076, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9492040276527405 + ], + [ + 0.6591242551803589 + ], + [ + 0.37802740931510925 + ], + [ + 0.325195848941803 + ], + [ + 0.325195848941803 + ], + [ + 0.325195848941803 + ], + [ + 0.325195848941803 + ], + [ + 0.325195848941803 + ], + [ + 0.325195848941803 + ], + [ + 0.325195848941803 + ], + [ + 0.325195848941803 + ], + [ + 0.325195848941803 + ], + [ + 0.325195848941803 + ], + [ + 0.325195848941803 + ], + [ + 0.3953573703765869 + ], + [ + 0.7001883387565613 + ], + [ + 0.9613274931907654 + ], + [ + 1.003452181816101 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.18765513598918915, + 0.09483962506055832, + 0.14251823723316193 + ], + [ + 0.2053135633468628, + 0.07330793887376785, + 0.13902612030506134 + ], + [ + 0.23169754445552826, + 0.04661191999912262, + 0.14499495923519135 + ], + [ + 0.26588672399520874, + 0.016234509646892548, + 0.14747774600982666 + ], + [ + 0.29483726620674133, + 0.00021989621745888144, + 0.14614304900169373 + ], + [ + 0.3169851303100586, + -0.007305652368813753, + 0.13581424951553345 + ], + [ + 0.3288862407207489, + -0.007591338828206062, + 0.12774789333343506 + ], + [ + 0.34264883399009705, + -0.007307303138077259, + 0.12080007791519165 + ], + [ + 0.35651683807373047, + -0.011669122613966465, + 0.11119912564754486 + ], + [ + 0.36013999581336975, + -0.006636775564402342, + 0.09979438781738281 + ], + [ + 0.3598552346229553, + -0.005778113845735788, + 0.09756726026535034 + ], + [ + 0.3584544062614441, + -0.005083302967250347, + 0.09792901575565338 + ], + [ + 0.3567679524421692, + -0.00501443725079298, + 0.09770409762859344 + ], + [ + 0.35002341866493225, + -0.0008829999133013189, + 0.10525483638048172 + ], + [ + 0.3330917954444885, + 0.007585333660244942, + 0.1269887238740921 + ], + [ + 0.3146402835845947, + 0.009576123207807541, + 0.13372687995433807 + ], + [ + 0.2910940647125244, + 0.0002831649035215378, + 0.1476607769727707 + ], + [ + 0.27621814608573914, + -0.013384304009377956, + 0.14690299332141876 + ], + [ + 0.26728901267051697, + -0.027179526165127754, + 0.14516346156597137 + ], + [ + 0.2532012462615967, + -0.03860653564333916, + 0.13248659670352936 + ], + [ + 0.24486687779426575, + -0.04599082097411156, + 0.12193764001131058 + ], + [ + 0.2408631145954132, + -0.047239311039447784, + 0.11566250771284103 + ], + [ + 0.2419927716255188, + -0.04730253666639328, + 0.11034172028303146 + ], + [ + 0.24390581250190735, + -0.04849722608923912, + 0.10908496379852295 + ], + [ + 0.2424851804971695, + -0.045563071966171265, + 0.10728980600833893 + ], + [ + 0.24189437925815582, + -0.04417705163359642, + 0.10453595221042633 + ], + [ + 0.24219167232513428, + -0.04330494999885559, + 0.10664936155080795 + ], + [ + 0.24183206260204315, + -0.04281952977180481, + 0.11601939052343369 + ], + [ + 0.24471823871135712, + -0.04019227996468544, + 0.1214420348405838 + ], + [ + 0.24999621510505676, + -0.043001897633075714, + 0.13071252405643463 + ], + [ + 0.2533194124698639, + -0.03981619328260422, + 0.14179727435112 + ], + [ + 0.25800007581710815, + -0.027297114953398705, + 0.15642142295837402 + ], + [ + 0.26324719190597534, + -0.0022734650410711765, + 0.1663246601819992 + ], + [ + 0.26747217774391174, + 0.030095379799604416, + 0.16054993867874146 + ], + [ + 0.2636868357658386, + 0.0664321705698967, + 0.15739573538303375 + ], + [ + 0.26461857557296753, + 0.09473467618227005, + 0.15196259319782257 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8844158574238811, + 0.4492148754534194, + 0.12654875269456609, + 0.4419386796512016, + -0.8932652327822183, + 0.08226437461430258, + 0.14999598183062832, + -0.01682912873260478, + -0.9885433656955913 + ], + [ + 0.9125953011145911, + 0.38656333529707537, + 0.13318635135617135, + 0.38797151649684675, + -0.9215276321619443, + 0.016276533695378317, + 0.12902681415390205, + 0.036818622543500115, + -0.9909573503755312 + ], + [ + 0.9359016823041405, + 0.3104540182070573, + 0.1664522262974324, + 0.31500006021567395, + -0.9490911647494691, + -0.0009607593963936074, + 0.15768006571663173, + 0.05333163764209847, + -0.9860490521784454 + ], + [ + 0.9654591455310468, + 0.1823366370606055, + 0.1861235855443638, + 0.18783142382920048, + -0.9821258201642644, + -0.012174957452335915, + 0.18057683830645704, + 0.046714282099802926, + -0.9824509052950909 + ], + [ + 0.973368397989846, + 0.1318116260660823, + 0.18756240835651494, + 0.13393066354951952, + -0.9909897347713493, + 0.001386700759354164, + 0.18605520459225583, + 0.023770587111510127, + -0.9822517091013422 + ], + [ + 0.9768462274528483, + 0.13406762479788398, + 0.16672528270239148, + 0.12749355740733143, + -0.9905995752536696, + 0.04957695358604894, + 0.17180465864103348, + -0.027172660677665942, + -0.9847562164215745 + ], + [ + 0.9747463409940197, + 0.13325140059725138, + 0.17920277608798657, + 0.12329958773674604, + -0.9901975328474067, + 0.06562055780665887, + 0.18619017799744075, + -0.041867770203098134, + -0.9816212647633005 + ], + [ + 0.9722066626750803, + 0.13620675618169262, + 0.1904256406596644, + 0.12455335927264745, + -0.9896016357675524, + 0.07193791198028528, + 0.19824395512620682, + -0.04622036409035958, + -0.9790623127254328 + ], + [ + 0.9735759702357931, + 0.14539339499692336, + 0.1760982420999766, + 0.1420711964603064, + -0.9893583596585619, + 0.0313976322364629, + 0.17878927628851338, + -0.005549492318020618, + -0.9838717385001163 + ], + [ + 0.9743596650220019, + 0.16472660201153227, + 0.1532592240876444, + 0.16463327961051927, + -0.9862639786469354, + 0.013388340756126646, + 0.15335946799235164, + 0.012186509477772417, + -0.98809532058595 + ], + [ + 0.9732275153099146, + 0.17762978815402003, + 0.14586247565446214, + 0.1767686902958409, + -0.9840699945938982, + 0.018949297376388917, + 0.14690484530737463, + 0.007341941182256584, + -0.9891233807391742 + ], + [ + 0.9745571270165421, + 0.1762894437276301, + 0.13842123468408554, + 0.17474994488437934, + -0.9843372492181732, + 0.023294560835240858, + 0.14035976255384, + 0.0014872228491672988, + -0.9900994521885299 + ], + [ + 0.9751300760226816, + 0.18108557628716687, + 0.12778634080661136, + 0.1795242807920573, + -0.9834673227289584, + 0.023728837527974563, + 0.12997064069278616, + -0.00019795221422807228, + -0.9915178230232814 + ], + [ + 0.9689518287586005, + 0.21941211333679841, + 0.11397665579601661, + 0.21742261760936185, + -0.9756238530980046, + 0.029757396023448256, + 0.11772747723983958, + -0.00405238044648292, + -0.9930376726567125 + ], + [ + 0.9485738590823353, + 0.2863093843755563, + 0.13503544084474875, + 0.2783461325334424, + -0.9575503759413209, + 0.07497138146192923, + 0.15076824721844115, + -0.033529299919991803, + -0.9880003652213667 + ], + [ + 0.9359655455504796, + 0.32294592677133294, + 0.14026555501689686, + 0.31298433415712135, + -0.945609523280005, + 0.08867601735748648, + 0.16127400322003743, + -0.03909677562110109, + -0.9861349491937789 + ], + [ + 0.9259756058328277, + 0.34389780721543206, + 0.15589572025859205, + 0.33348522849693796, + -0.9384997449672268, + 0.08947530983905692, + 0.17707845655774385, + -0.030863034343169417, + -0.9837127087388163 + ], + [ + 0.930033069376714, + 0.3308530765391754, + 0.15992101678732118, + 0.32510936468134033, + -0.943667350707922, + 0.06161032546892661, + 0.17129620796218276, + -0.005307819934244205, + -0.985205276165999 + ], + [ + 0.9421196637478668, + 0.29793445385165696, + 0.15377125995361202, + 0.28992308071866024, + -0.9542877839124048, + 0.07265970507890124, + 0.1683898644402556, + -0.023872299505212462, + -0.9854313608111556 + ], + [ + 0.9540460750177805, + 0.26971088827202294, + 0.13058377958492381, + 0.2625949394144895, + -0.9624160409543412, + 0.06927670537541829, + 0.14436060590434, + -0.03180252916496286, + -0.9890139607718607 + ], + [ + 0.9635058006110451, + 0.23400915949500517, + 0.12998571252761035, + 0.2266745011184534, + -0.9715358810850885, + 0.06882370454226638, + 0.14239116100225327, + -0.03684759200629162, + -0.989124366412924 + ], + [ + 0.9655675842456878, + 0.22319686157448917, + 0.1336502945647537, + 0.21913171617149022, + -0.9746762866114995, + 0.04458057071142243, + 0.14021601628089625, + -0.013758535551322545, + -0.9900253388059312 + ], + [ + 0.9619313851767642, + 0.2276495218404414, + 0.1512074912751695, + 0.22495943860615591, + -0.9737430332584804, + 0.034896363171219275, + 0.15518138159558717, + 0.00044764538738496437, + -0.9878858934207394 + ], + [ + 0.9634809014569992, + 0.21661985461856642, + 0.15741788688913308, + 0.21478545601419124, + -0.9762370916144675, + 0.02878105003126661, + 0.15991172693828512, + 0.006081080591269076, + -0.9871125873204426 + ], + [ + 0.9649197715079307, + 0.22264950643366294, + 0.13912955055605203, + 0.22008045752624522, + -0.974896549911093, + 0.03378326784795205, + 0.14315874673983886, + -0.001978447950840321, + -0.989697761427995 + ], + [ + 0.9639085516975547, + 0.2366552491970705, + 0.12196145699275203, + 0.23332645754431733, + -0.9715296298922781, + 0.04109674501944237, + 0.12821492960705597, + -0.011156669254111943, + -0.9916836494351472 + ], + [ + 0.9641285633220896, + 0.23654437880048285, + 0.12042786323927514, + 0.2324257978809724, + -0.9714597642430463, + 0.04737272354677141, + 0.12819657509417806, + -0.017682853693314095, + -0.991591122801825 + ], + [ + 0.9602189966760022, + 0.24563995460837326, + 0.13281751060205937, + 0.24144163024878393, + -0.9692718840808899, + 0.047095158064193315, + 0.14030473122935427, + -0.013153989139351077, + -0.9900209871332933 + ], + [ + 0.957298324496477, + 0.25407202255502986, + 0.13793957108470875, + 0.25067007313934747, + -0.9671700566115222, + 0.04179229625634673, + 0.14402927601203594, + -0.005430372810446952, + -0.9895585271739048 + ], + [ + 0.9551903086047346, + 0.254448940316199, + 0.15121908318580457, + 0.2534773657768341, + -0.9669919742157853, + 0.025995131103634557, + 0.15284207335164268, + 0.01350031756002447, + -0.9881584093855345 + ], + [ + 0.948073741468384, + 0.2659955059403584, + 0.174363332033065, + 0.26615266169950896, + -0.9636583550402121, + 0.02292019702052057, + 0.1741233511290398, + 0.02467722797895806, + -0.984414594066376 + ], + [ + 0.9285925386558966, + 0.31561936576978816, + 0.19519301499714067, + 0.3148570863978923, + -0.9484652116130865, + 0.03575971902536973, + 0.19642024411355238, + 0.028251695715830152, + -0.9801127125956243 + ], + [ + 0.8952689868514346, + 0.3974012008369038, + 0.20140935121138856, + 0.39183909666266115, + -0.9174770108792203, + 0.06854237254954496, + 0.21202727067194746, + 0.017556197809258475, + -0.9771060415379115 + ], + [ + 0.8669978954278511, + 0.46595569314123453, + 0.17663505131470472, + 0.45718241584444985, + -0.8848039502902763, + 0.09003448335695952, + 0.19823947126218142, + 0.0026947318964472763, + -0.9801499122347034 + ], + [ + 0.8342781523979768, + 0.5246984245732282, + 0.16932668921877306, + 0.5169237102652982, + -0.851206279243227, + 0.09076204020657566, + 0.19175464061392825, + 0.01180819322649438, + -0.9813718583573453 + ], + [ + 0.8255961298586536, + 0.5365313436378117, + 0.17471447466257, + 0.5325203814639398, + -0.8432491142557053, + 0.07316402553488119, + 0.18658261893304395, + 0.032635082368106014, + -0.9818970810176154 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005769.json b/json/chunk-0005/episode_0005769.json new file mode 100644 index 0000000000000000000000000000000000000000..7a4707e25a60c4a0b81a88e158ee8ddbc7eb2743 --- /dev/null +++ b/json/chunk-0005/episode_0005769.json @@ -0,0 +1,1702 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 27, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the yellow knife to the right of the pan." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005769.mp4", + "start": 0, + "end": 27, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.28061991930007935, + 0.06455840915441513, + 0.12073878943920135, + 0.0477122999727726, + -0.014215778559446335, + -0.1392820179462433, + 0.0, + 1.0001531839370728 + ], + [ + 0.2799181044101715, + 0.06370598077774048, + 0.11246948689222336, + 0.03059748373925686, + 0.012417739257216454, + -0.1396523118019104, + 0.0, + 0.9994885921478271 + ], + [ + 0.2915860414505005, + 0.09461802989244461, + 0.12439430505037308, + 0.0018892339430749416, + -0.0240644384175539, + -0.06668494641780853, + 0.0, + 1.0001531839370728 + ], + [ + 0.3109297752380371, + 0.1376466304063797, + 0.13194780051708221, + -0.012427651323378086, + -0.0797446221113205, + 0.017720771953463554, + 0.0, + 1.0001531839370728 + ], + [ + 0.3237474858760834, + 0.16563084721565247, + 0.11205539852380753, + -0.03926413133740425, + -0.08341871947050095, + 0.09001768380403519, + 0.0, + 1.0001531839370728 + ], + [ + 0.3276159167289734, + 0.16834129393100739, + 0.07556485384702682, + -0.0905308648943901, + -0.038557421416044235, + 0.1038227379322052, + 0.0, + 1.0001531839370728 + ], + [ + 0.3256329894065857, + 0.16721928119659424, + 0.04954509064555168, + -0.07620955258607864, + -0.007932043634355068, + 0.11569148302078247, + 0.0, + 1.0001531839370728 + ], + [ + 0.3308948278427124, + 0.16881877183914185, + 0.028058866038918495, + -0.01808891072869301, + 0.00356115959584713, + 0.1548430174589157, + 0.0, + 1.0001531839370728 + ], + [ + 0.33243176341056824, + 0.17769785225391388, + 0.017848461866378784, + 0.042125895619392395, + -0.001570991356857121, + 0.20333218574523926, + 0.0, + 1.0001531839370728 + ], + [ + 0.330792635679245, + 0.17707788944244385, + 0.010264195501804352, + 0.050913795828819275, + -0.018121998757123947, + 0.2290300726890564, + 0.0, + 0.9445669651031494 + ], + [ + 0.3330099880695343, + 0.17677940428256989, + 0.00908720213919878, + 0.05397610366344452, + -0.0351308137178421, + 0.23401397466659546, + 0.0, + 0.657115638256073 + ], + [ + 0.33358320593833923, + 0.17575524747371674, + 0.008780328556895256, + 0.05401521921157837, + -0.036972012370824814, + 0.23692730069160461, + 0.0, + 0.44944798946380615 + ], + [ + 0.3333132266998291, + 0.17347434163093567, + 0.00865100882947445, + 0.03996749967336655, + -0.03247222676873207, + 0.2509116530418396, + 0.0, + 0.4466742277145386 + ], + [ + 0.3320032060146332, + 0.16494107246398926, + 0.013551519252359867, + -0.002605064306408167, + -0.014486821368336678, + 0.28874441981315613, + 0.0, + 0.4466742277145386 + ], + [ + 0.34184855222702026, + 0.12463627755641937, + 0.08130615204572678, + -0.08078692108392715, + -0.1366058588027954, + 0.2529227137565613, + 0.0, + 0.4466742277145386 + ], + [ + 0.3305077850818634, + 0.07700430601835251, + 0.12533116340637207, + -0.13295334577560425, + -0.17619158327579498, + 0.1543738692998886, + 0.0, + 0.4466742277145386 + ], + [ + 0.30263423919677734, + 0.02982446923851967, + 0.12629914283752441, + -0.15094736218452454, + -0.14113543927669525, + 0.030007854104042053, + 0.0, + 0.4466742277145386 + ], + [ + 0.2629607021808624, + -0.023203007876873016, + 0.09378393739461899, + -0.10764382034540176, + -0.06256628036499023, + -0.12231230735778809, + 0.0, + 0.4466742277145386 + ], + [ + 0.24660725891590118, + -0.06425356864929199, + 0.05916408449411392, + -0.058451779186725616, + -0.010847420431673527, + -0.12128833681344986, + 0.0, + 0.4466742277145386 + ], + [ + 0.25177258253097534, + -0.0726836770772934, + 0.033062953501939774, + -0.033822886645793915, + 0.0020632934756577015, + -0.04907943308353424, + 0.0, + 0.4466742277145386 + ], + [ + 0.2599504888057709, + -0.07699526846408844, + 0.017168397083878517, + -0.051312170922756195, + 0.007914962247014046, + -0.020642053335905075, + 0.0, + 0.4466742277145386 + ], + [ + 0.263257771730423, + -0.07889251410961151, + 0.0072631556540727615, + -0.05599411949515343, + 0.015393503941595554, + -0.03934601694345474, + 0.0, + 0.4466742277145386 + ], + [ + 0.26385658979415894, + -0.07939232885837555, + 0.006058978382498026, + -0.046342793852090836, + 0.006690607871860266, + -0.06502816081047058, + 0.0, + 0.5246683359146118 + ], + [ + 0.2605348527431488, + -0.08184944093227386, + 0.007066078018397093, + -0.047723542898893356, + -0.004960362333804369, + -0.09810834378004074, + 0.0, + 0.8158720135688782 + ], + [ + 0.25691908597946167, + -0.08342400193214417, + 0.027453934773802757, + -0.0719931349158287, + -0.026947805657982826, + -0.12372609972953796, + 0.0, + 1.0027955770492554 + ], + [ + 0.2606998383998871, + -0.07049386948347092, + 0.06700652092695236, + -0.08591371774673462, + -0.09406772255897522, + -0.12045805901288986, + 0.0, + 1.002137303352356 + ], + [ + 0.2579476535320282, + -0.059128087013959885, + 0.08411277085542679, + -0.03874143585562706, + -0.08602085709571838, + -0.11245505511760712, + 0.0, + 0.9994885921478271 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9445669651031494 + ], + [ + 0.657115638256073 + ], + [ + 0.44944798946380615 + ], + [ + 0.4466742277145386 + ], + [ + 0.4466742277145386 + ], + [ + 0.4466742277145386 + ], + [ + 0.4466742277145386 + ], + [ + 0.4466742277145386 + ], + [ + 0.4466742277145386 + ], + [ + 0.4466742277145386 + ], + [ + 0.4466742277145386 + ], + [ + 0.4466742277145386 + ], + [ + 0.4466742277145386 + ], + [ + 0.5246683359146118 + ], + [ + 0.8158720135688782 + ], + [ + 1.0027955770492554 + ], + [ + 1.002137303352356 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.28061991930007935, + 0.06455840915441513, + 0.12073878943920135 + ], + [ + 0.2799181044101715, + 0.06370598077774048, + 0.11246948689222336 + ], + [ + 0.2915860414505005, + 0.09461802989244461, + 0.12439430505037308 + ], + [ + 0.3109297752380371, + 0.1376466304063797, + 0.13194780051708221 + ], + [ + 0.3237474858760834, + 0.16563084721565247, + 0.11205539852380753 + ], + [ + 0.3276159167289734, + 0.16834129393100739, + 0.07556485384702682 + ], + [ + 0.3256329894065857, + 0.16721928119659424, + 0.04954509064555168 + ], + [ + 0.3308948278427124, + 0.16881877183914185, + 0.028058866038918495 + ], + [ + 0.33243176341056824, + 0.17769785225391388, + 0.017848461866378784 + ], + [ + 0.330792635679245, + 0.17707788944244385, + 0.010264195501804352 + ], + [ + 0.3330099880695343, + 0.17677940428256989, + 0.00908720213919878 + ], + [ + 0.33358320593833923, + 0.17575524747371674, + 0.008780328556895256 + ], + [ + 0.3333132266998291, + 0.17347434163093567, + 0.00865100882947445 + ], + [ + 0.3320032060146332, + 0.16494107246398926, + 0.013551519252359867 + ], + [ + 0.34184855222702026, + 0.12463627755641937, + 0.08130615204572678 + ], + [ + 0.3305077850818634, + 0.07700430601835251, + 0.12533116340637207 + ], + [ + 0.30263423919677734, + 0.02982446923851967, + 0.12629914283752441 + ], + [ + 0.2629607021808624, + -0.023203007876873016, + 0.09378393739461899 + ], + [ + 0.24660725891590118, + -0.06425356864929199, + 0.05916408449411392 + ], + [ + 0.25177258253097534, + -0.0726836770772934, + 0.033062953501939774 + ], + [ + 0.2599504888057709, + -0.07699526846408844, + 0.017168397083878517 + ], + [ + 0.263257771730423, + -0.07889251410961151, + 0.0072631556540727615 + ], + [ + 0.26385658979415894, + -0.07939232885837555, + 0.006058978382498026 + ], + [ + 0.2605348527431488, + -0.08184944093227386, + 0.007066078018397093 + ], + [ + 0.25691908597946167, + -0.08342400193214417, + 0.027453934773802757 + ], + [ + 0.2606998383998871, + -0.07049386948347092, + 0.06700652092695236 + ], + [ + 0.2579476535320282, + -0.059128087013959885, + 0.08411277085542679 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9902158664527912, + -0.13800270660013686, + 0.02068310412351989, + -0.13881809348195534, + -0.9892830616025605, + 0.045261031233274754, + 0.014215299757055056, + -0.04768938034091981, + -0.9987610566374302 + ], + [ + 0.9901881053223591, + -0.13950984966393942, + -0.008032305077736727, + -0.13918808769287394, + -0.9897480650500938, + 0.03202255414541572, + -0.012417420123264276, + -0.030590351033295913, + -0.9994548704674675 + ], + [ + 0.9974884916861072, + -0.06659005723768173, + 0.024134482195745877, + -0.06661624076238724, + -0.9977786313320965, + 0.00028164469728617287, + 0.0240621158766672, + -0.0018886858209147305, + -0.9997086812894082 + ], + [ + 0.9966655724340221, + 0.016728668731252717, + 0.07986168272233615, + 0.017663532296390016, + -0.9997833230768393, + -0.011013924107548605, + 0.07966013025081911, + 0.012387838387404844, + -0.9967451053847769 + ], + [ + 0.9924878984375631, + 0.08656939219267785, + 0.086449475362083, + 0.08958356331835175, + -0.995477552765438, + -0.03161055398630571, + 0.08332200572583412, + 0.03911754434425315, + -0.9957546189128621 + ], + [ + 0.9938760159652532, + 0.09974567384313472, + 0.047552764784129314, + 0.10355929089508438, + -0.9909033628232972, + -0.08594183390403298, + 0.03854786840206646, + 0.090340058086433, + -0.9951646777024378 + ], + [ + 0.9932839532391093, + 0.11449865644349652, + 0.016644696161882747, + 0.11542994516583824, + -0.9905017726644426, + -0.07471389501029094, + 0.007931960457467135, + 0.07613340936298169, + -0.9970660900773178 + ], + [ + 0.9880294885226024, + 0.1542634088229052, + -0.0007283598711081967, + 0.1542240189001288, + -0.9878641768194061, + -0.0184206447012568, + -0.0035611520688320483, + 0.018087809575911457, + -0.9998300602305815 + ], + [ + 0.9793979263082845, + 0.20181963391358418, + -0.006966872326875287, + 0.20193373648605414, + -0.9785168869971171, + 0.04156281908451244, + 0.0015709907106524644, + -0.042113385383485094, + -0.9991116027550321 + ], + [ + 0.9737271473955849, + 0.22763696427145141, + 0.006070825490398055, + 0.22699575223928792, + -0.972415696833913, + 0.053671603444793915, + 0.018121006875356567, + -0.05088344571953988, + -0.998540186503042 + ], + [ + 0.9721432519727125, + 0.23338950825388832, + 0.021606366675767142, + 0.23174087083733452, + -0.9708873964620067, + 0.06061214543950956, + 0.035123587907179316, + -0.05391660994753479, + -0.9979275187829486 + ], + [ + 0.9713994812203331, + 0.23631442799421482, + 0.023206443213791075, + 0.2345564770047544, + -0.970177646713269, + 0.06114403415724117, + 0.036963589922868106, + -0.05395206149602467, + -0.9978591424045498 + ], + [ + 0.9681758038565195, + 0.24934552599677318, + 0.02150398782029679, + 0.2481562771356109, + -0.9675907920714734, + 0.04676025253025587, + 0.03246652037063487, + -0.03993579552095994, + -0.9986746503697447 + ], + [ + 0.9585015678435119, + 0.2847117063164247, + 0.014628353561494382, + 0.28471896868541463, + -0.9586096491094999, + 0.0016277299763825077, + 0.014486314653632086, + 0.0026047880052057753, + -0.9998916750164513 + ], + [ + 0.9591655033055383, + 0.2387785383389705, + 0.15161248925249585, + 0.24790354537399117, + -0.967777475940068, + -0.044165475816259125, + 0.13618138440931962, + 0.07994727444870062, + -0.9874528160112691 + ], + [ + 0.9728104822251897, + 0.12944512234434938, + 0.19205136285392482, + 0.15138096777142643, + -0.9829604124716326, + -0.10427190470200501, + 0.17528139738540377, + 0.13050972306634506, + -0.9758297207585788 + ], + [ + 0.9896111897350345, + 0.008518883727610725, + 0.1435169738088306, + 0.029705024910804075, + -0.9888186351546192, + -0.14613458956045985, + 0.14066735458612145, + 0.1488796003184822, + -0.9787990396208769 + ], + [ + 0.9905871568669885, + -0.12796868839198042, + 0.048591145710019865, + -0.1217688400996766, + -0.9859648232352977, + -0.1142178485323885, + 0.06252546865842397, + 0.10722584638893959, + -0.9922666897740848 + ], + [ + 0.9925951818366385, + -0.12141357082143556, + 0.0036810073456776276, + -0.12098406126318548, + -0.9908816403492459, + -0.05929950875895813, + 0.010847207703204772, + 0.05841506346120168, + -0.9982334488714889 + ], + [ + 0.9987937203399789, + -0.048961983417805964, + -0.003718654221388325, + -0.04905962734773119, + -0.9982280188195611, + -0.03367455134185706, + -0.0020632920116894046, + 0.03381636620584943, + -0.9994259333250795 + ], + [ + 0.9997556439046927, + -0.02020755573970413, + -0.00896142688082626, + -0.02063994092847733, + -0.9984794392378823, + -0.051115577446346414, + -0.00791487960632448, + 0.05128805036488736, + -0.9986525374576418 + ], + [ + 0.999107659384348, + -0.03841342156830785, + -0.01755830296313627, + -0.039331205321135876, + -0.9976938834933617, + -0.05531700577508803, + -0.015392896008109447, + 0.055958233383032484, + -0.9983144468899234 + ], + [ + 0.9978640793846093, + -0.06460327975483904, + -0.009679634229863312, + -0.06498088571381966, + -0.9968351893888592, + -0.045793991832168736, + -0.006690557955316267, + 0.046325170706595704, + -0.9989040068961837 + ], + [ + 0.9951789920144721, + -0.09807500829338256, + 0.00025807229938514626, + -0.09794982828152726, + -0.9940349796311312, + -0.04796134286438918, + 0.004960341992049408, + 0.04770484271003434, + -0.998849159277482 + ], + [ + 0.9919953905626699, + -0.12501432148864736, + 0.017792260259708793, + -0.12336586495783651, + -0.9895459123817518, + -0.07469772855831243, + 0.026944544264487703, + 0.07190484483885352, + -0.9970474837353934 + ], + [ + 0.9883646264564875, + -0.12772521238455692, + 0.08259319155262107, + -0.11963568871097374, + -0.9881235790195522, + -0.09643181307142357, + 0.09392905384479883, + 0.08542869955062418, + -0.991906885819889 + ], + [ + 0.9900094329430011, + -0.11544059288593671, + 0.08096167116618054, + -0.1118032563528754, + -0.9925645543418763, + -0.048121069533060896, + 0.08591480985703547, + 0.03858853428488666, + -0.9955549058032779 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0007018148899078369, + -0.0008524283766746521, + -0.008269302546977997, + -0.01711481623351574, + 0.02663351781666279, + -0.00037029385566711426, + 1.0 + ], + [ + 0.01166793704032898, + 0.030912049114704132, + 0.01192481815814972, + -0.02870824933052063, + -0.036482177674770355, + 0.07296736538410187, + 1.0 + ], + [ + 0.01934373378753662, + 0.04302860051393509, + 0.007553495466709137, + -0.01431688480079174, + -0.05568018555641174, + 0.08440572023391724, + 1.0 + ], + [ + 0.012817710638046265, + 0.027984216809272766, + -0.01989240199327469, + -0.02683648094534874, + -0.0036740973591804504, + 0.07229690998792648, + 1.0 + ], + [ + 0.0038684308528900146, + 0.0027104467153549194, + -0.0364905446767807, + -0.051266733556985855, + 0.04486129805445671, + 0.013805054128170013, + 1.0 + ], + [ + -0.0019829273223876953, + -0.001122012734413147, + -0.026019763201475143, + 0.014321312308311462, + 0.030625376850366592, + 0.01186874508857727, + 1.0 + ], + [ + 0.005261838436126709, + 0.0015994906425476074, + -0.021486224606633186, + 0.058120641857385635, + 0.011493203230202198, + 0.03915153443813324, + 1.0 + ], + [ + 0.001536935567855835, + 0.008879080414772034, + -0.010210404172539711, + 0.0602148063480854, + -0.005132150836288929, + 0.04848916828632355, + 1.0 + ], + [ + -0.0016391277313232422, + -0.0006199628114700317, + -0.007584266364574432, + 0.00878790020942688, + -0.016551006585359573, + 0.02569788694381714, + 0.0 + ], + [ + 0.0022173523902893066, + -0.0002984851598739624, + -0.0011769933626055717, + 0.003062307834625244, + -0.017008814960718155, + 0.0049839019775390625, + 0.0 + ], + [ + 0.0005732178688049316, + -0.0010241568088531494, + -0.000306873582303524, + 3.91155481338501e-05, + -0.0018411986529827118, + 0.0029133260250091553, + 0.0 + ], + [ + -0.00026997923851013184, + -0.002280905842781067, + -0.00012931972742080688, + -0.014047719538211823, + 0.004499785602092743, + 0.013984352350234985, + 0.0 + ], + [ + -0.0013100206851959229, + -0.008533269166946411, + 0.004900510422885418, + -0.042572565376758575, + 0.017985405400395393, + 0.03783276677131653, + 0.0 + ], + [ + 0.009845346212387085, + -0.040304794907569885, + 0.06775463372468948, + -0.07818185538053513, + -0.12211903929710388, + -0.03582170605659485, + 0.0 + ], + [ + -0.01134076714515686, + -0.047631971538066864, + 0.044025011360645294, + -0.052166424691677094, + -0.03958572447299957, + -0.09854884445667267, + 0.0 + ], + [ + -0.02787354588508606, + -0.04717983677983284, + 0.0009679794311523438, + -0.017994016408920288, + 0.03505614399909973, + -0.12436601519584656, + 0.0 + ], + [ + -0.03967353701591492, + -0.053027477115392685, + -0.032515205442905426, + 0.04330354183912277, + 0.07856915891170502, + -0.15232016146183014, + 0.0 + ], + [ + -0.016353443264961243, + -0.041050560772418976, + -0.034619852900505066, + 0.04919204115867615, + 0.05171886086463928, + 0.0010239705443382263, + 0.0 + ], + [ + 0.005165323615074158, + -0.008430108428001404, + -0.02610113099217415, + 0.0246288925409317, + 0.012910714372992516, + 0.07220890372991562, + 0.0 + ], + [ + 0.008177906274795532, + -0.004311591386795044, + -0.015894556418061256, + -0.01748928427696228, + 0.005851668771356344, + 0.028437379747629166, + 0.0 + ], + [ + 0.0033072829246520996, + -0.0018972456455230713, + -0.009905241429805756, + -0.004681948572397232, + 0.007478541694581509, + -0.018703963607549667, + 1.0 + ], + [ + 0.0005988180637359619, + -0.0004998147487640381, + -0.0012041772715747356, + 0.009651325643062592, + -0.008702896535396576, + -0.02568214386701584, + 1.0 + ], + [ + -0.003321737051010132, + -0.0024571120738983154, + 0.001007099635899067, + -0.0013807490468025208, + -0.011650970205664635, + -0.03308018296957016, + 1.0 + ], + [ + -0.003615766763687134, + -0.0015745609998703003, + 0.020387856289744377, + -0.02426959201693535, + -0.021987443789839745, + -0.025617755949497223, + 1.0 + ], + [ + 0.003780752420425415, + 0.012930132448673248, + 0.039552584290504456, + -0.013920582830905914, + -0.06711991876363754, + 0.003268040716648102, + 1.0 + ], + [ + -0.0027521848678588867, + 0.011365782469511032, + 0.017106249928474426, + 0.04717228189110756, + 0.008046865463256836, + 0.008003003895282745, + 1.0 + ], + [ + 0.001331031322479248, + 0.00857725739479065, + -0.007019668817520142, + 0.04198392108082771, + 0.02256055176258087, + 0.003820843994617462, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9445669651031494 + ], + [ + 0.657115638256073 + ], + [ + 0.44944798946380615 + ], + [ + 0.4466742277145386 + ], + [ + 0.4466742277145386 + ], + [ + 0.4466742277145386 + ], + [ + 0.4466742277145386 + ], + [ + 0.4466742277145386 + ], + [ + 0.4466742277145386 + ], + [ + 0.4466742277145386 + ], + [ + 0.4466742277145386 + ], + [ + 0.4466742277145386 + ], + [ + 0.4466742277145386 + ], + [ + 0.5246683359146118 + ], + [ + 0.8158720135688782 + ], + [ + 1.0027955770492554 + ], + [ + 1.002137303352356 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2799181044101715, + 0.06370598077774048, + 0.11246948689222336 + ], + [ + 0.2915860414505005, + 0.09461802989244461, + 0.12439430505037308 + ], + [ + 0.3109297752380371, + 0.1376466304063797, + 0.13194780051708221 + ], + [ + 0.3237474858760834, + 0.16563084721565247, + 0.11205539852380753 + ], + [ + 0.3276159167289734, + 0.16834129393100739, + 0.07556485384702682 + ], + [ + 0.3256329894065857, + 0.16721928119659424, + 0.04954509064555168 + ], + [ + 0.3308948278427124, + 0.16881877183914185, + 0.028058866038918495 + ], + [ + 0.33243176341056824, + 0.17769785225391388, + 0.017848461866378784 + ], + [ + 0.330792635679245, + 0.17707788944244385, + 0.010264195501804352 + ], + [ + 0.3330099880695343, + 0.17677940428256989, + 0.00908720213919878 + ], + [ + 0.33358320593833923, + 0.17575524747371674, + 0.008780328556895256 + ], + [ + 0.3333132266998291, + 0.17347434163093567, + 0.00865100882947445 + ], + [ + 0.3320032060146332, + 0.16494107246398926, + 0.013551519252359867 + ], + [ + 0.34184855222702026, + 0.12463627755641937, + 0.08130615204572678 + ], + [ + 0.3305077850818634, + 0.07700430601835251, + 0.12533116340637207 + ], + [ + 0.30263423919677734, + 0.02982446923851967, + 0.12629914283752441 + ], + [ + 0.2629607021808624, + -0.023203007876873016, + 0.09378393739461899 + ], + [ + 0.24660725891590118, + -0.06425356864929199, + 0.05916408449411392 + ], + [ + 0.25177258253097534, + -0.0726836770772934, + 0.033062953501939774 + ], + [ + 0.2599504888057709, + -0.07699526846408844, + 0.017168397083878517 + ], + [ + 0.263257771730423, + -0.07889251410961151, + 0.0072631556540727615 + ], + [ + 0.26385658979415894, + -0.07939232885837555, + 0.006058978382498026 + ], + [ + 0.2605348527431488, + -0.08184944093227386, + 0.007066078018397093 + ], + [ + 0.25691908597946167, + -0.08342400193214417, + 0.027453934773802757 + ], + [ + 0.2606998383998871, + -0.07049386948347092, + 0.06700652092695236 + ], + [ + 0.2579476535320282, + -0.059128087013959885, + 0.08411277085542679 + ], + [ + 0.25927868485450745, + -0.050550829619169235, + 0.07709310203790665 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9901881053223591, + -0.13950984966393942, + -0.008032305077736727, + -0.13918808769287394, + -0.9897480650500938, + 0.03202255414541572, + -0.012417420123264276, + -0.030590351033295913, + -0.9994548704674675 + ], + [ + 0.9974884916861072, + -0.06659005723768173, + 0.024134482195745877, + -0.06661624076238724, + -0.9977786313320965, + 0.00028164469728617287, + 0.0240621158766672, + -0.0018886858209147305, + -0.9997086812894082 + ], + [ + 0.9966655724340221, + 0.016728668731252717, + 0.07986168272233615, + 0.017663532296390016, + -0.9997833230768393, + -0.011013924107548605, + 0.07966013025081911, + 0.012387838387404844, + -0.9967451053847769 + ], + [ + 0.9924878984375631, + 0.08656939219267785, + 0.086449475362083, + 0.08958356331835175, + -0.995477552765438, + -0.03161055398630571, + 0.08332200572583412, + 0.03911754434425315, + -0.9957546189128621 + ], + [ + 0.9938760159652532, + 0.09974567384313472, + 0.047552764784129314, + 0.10355929089508438, + -0.9909033628232972, + -0.08594183390403298, + 0.03854786840206646, + 0.090340058086433, + -0.9951646777024378 + ], + [ + 0.9932839532391093, + 0.11449865644349652, + 0.016644696161882747, + 0.11542994516583824, + -0.9905017726644426, + -0.07471389501029094, + 0.007931960457467135, + 0.07613340936298169, + -0.9970660900773178 + ], + [ + 0.9880294885226024, + 0.1542634088229052, + -0.0007283598711081967, + 0.1542240189001288, + -0.9878641768194061, + -0.0184206447012568, + -0.0035611520688320483, + 0.018087809575911457, + -0.9998300602305815 + ], + [ + 0.9793979263082845, + 0.20181963391358418, + -0.006966872326875287, + 0.20193373648605414, + -0.9785168869971171, + 0.04156281908451244, + 0.0015709907106524644, + -0.042113385383485094, + -0.9991116027550321 + ], + [ + 0.9737271473955849, + 0.22763696427145141, + 0.006070825490398055, + 0.22699575223928792, + -0.972415696833913, + 0.053671603444793915, + 0.018121006875356567, + -0.05088344571953988, + -0.998540186503042 + ], + [ + 0.9721432519727125, + 0.23338950825388832, + 0.021606366675767142, + 0.23174087083733452, + -0.9708873964620067, + 0.06061214543950956, + 0.035123587907179316, + -0.05391660994753479, + -0.9979275187829486 + ], + [ + 0.9713994812203331, + 0.23631442799421482, + 0.023206443213791075, + 0.2345564770047544, + -0.970177646713269, + 0.06114403415724117, + 0.036963589922868106, + -0.05395206149602467, + -0.9978591424045498 + ], + [ + 0.9681758038565195, + 0.24934552599677318, + 0.02150398782029679, + 0.2481562771356109, + -0.9675907920714734, + 0.04676025253025587, + 0.03246652037063487, + -0.03993579552095994, + -0.9986746503697447 + ], + [ + 0.9585015678435119, + 0.2847117063164247, + 0.014628353561494382, + 0.28471896868541463, + -0.9586096491094999, + 0.0016277299763825077, + 0.014486314653632086, + 0.0026047880052057753, + -0.9998916750164513 + ], + [ + 0.9591655033055383, + 0.2387785383389705, + 0.15161248925249585, + 0.24790354537399117, + -0.967777475940068, + -0.044165475816259125, + 0.13618138440931962, + 0.07994727444870062, + -0.9874528160112691 + ], + [ + 0.9728104822251897, + 0.12944512234434938, + 0.19205136285392482, + 0.15138096777142643, + -0.9829604124716326, + -0.10427190470200501, + 0.17528139738540377, + 0.13050972306634506, + -0.9758297207585788 + ], + [ + 0.9896111897350345, + 0.008518883727610725, + 0.1435169738088306, + 0.029705024910804075, + -0.9888186351546192, + -0.14613458956045985, + 0.14066735458612145, + 0.1488796003184822, + -0.9787990396208769 + ], + [ + 0.9905871568669885, + -0.12796868839198042, + 0.048591145710019865, + -0.1217688400996766, + -0.9859648232352977, + -0.1142178485323885, + 0.06252546865842397, + 0.10722584638893959, + -0.9922666897740848 + ], + [ + 0.9925951818366385, + -0.12141357082143556, + 0.0036810073456776276, + -0.12098406126318548, + -0.9908816403492459, + -0.05929950875895813, + 0.010847207703204772, + 0.05841506346120168, + -0.9982334488714889 + ], + [ + 0.9987937203399789, + -0.048961983417805964, + -0.003718654221388325, + -0.04905962734773119, + -0.9982280188195611, + -0.03367455134185706, + -0.0020632920116894046, + 0.03381636620584943, + -0.9994259333250795 + ], + [ + 0.9997556439046927, + -0.02020755573970413, + -0.00896142688082626, + -0.02063994092847733, + -0.9984794392378823, + -0.051115577446346414, + -0.00791487960632448, + 0.05128805036488736, + -0.9986525374576418 + ], + [ + 0.999107659384348, + -0.03841342156830785, + -0.01755830296313627, + -0.039331205321135876, + -0.9976938834933617, + -0.05531700577508803, + -0.015392896008109447, + 0.055958233383032484, + -0.9983144468899234 + ], + [ + 0.9978640793846093, + -0.06460327975483904, + -0.009679634229863312, + -0.06498088571381966, + -0.9968351893888592, + -0.045793991832168736, + -0.006690557955316267, + 0.046325170706595704, + -0.9989040068961837 + ], + [ + 0.9951789920144721, + -0.09807500829338256, + 0.00025807229938514626, + -0.09794982828152726, + -0.9940349796311312, + -0.04796134286438918, + 0.004960341992049408, + 0.04770484271003434, + -0.998849159277482 + ], + [ + 0.9919953905626699, + -0.12501432148864736, + 0.017792260259708793, + -0.12336586495783651, + -0.9895459123817518, + -0.07469772855831243, + 0.026944544264487703, + 0.07190484483885352, + -0.9970474837353934 + ], + [ + 0.9883646264564875, + -0.12772521238455692, + 0.08259319155262107, + -0.11963568871097374, + -0.9881235790195522, + -0.09643181307142357, + 0.09392905384479883, + 0.08542869955062418, + -0.991906885819889 + ], + [ + 0.9900094329430011, + -0.11544059288593671, + 0.08096167116618054, + -0.1118032563528754, + -0.9925645543418763, + -0.048121069533060896, + 0.08591480985703547, + 0.03858853428488666, + -0.9955549058032779 + ], + [ + 0.9921040413487067, + -0.10821567632372911, + 0.06339509868563553, + -0.10820242153302367, + -0.9941221735861716, + -0.0036523908190798852, + 0.06341771924275916, + -0.0032359514989167035, + -0.9979818242352628 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005770.json b/json/chunk-0005/episode_0005770.json new file mode 100644 index 0000000000000000000000000000000000000000..c46bcdd2846159d99e5714afbe79f0073ec0dd9f --- /dev/null +++ b/json/chunk-0005/episode_0005770.json @@ -0,0 +1,5122 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 84, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nSweep into pile." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005770.mp4", + "start": 0, + "end": 84, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2901121973991394, + -0.01807720772922039, + 0.11155008524656296, + -0.015992868691682816, + 0.154388889670372, + 0.003758294740691781, + 0.0, + 1.0001531839370728 + ], + [ + 0.2869124412536621, + -0.018360378220677376, + 0.10420886427164078, + -0.014496124349534512, + 0.1819615513086319, + 0.0025101073551923037, + 0.0, + 1.0001531839370728 + ], + [ + 0.2861763834953308, + -0.01088738813996315, + 0.08296605199575424, + -0.01994599588215351, + 0.14366689324378967, + -0.05639226734638214, + 0.0, + 1.0001531839370728 + ], + [ + 0.2852453589439392, + 0.015387168154120445, + 0.06708937138319016, + 0.007693462539464235, + 0.13241472840309143, + -0.003207342466339469, + 0.0, + 1.0001531839370728 + ], + [ + 0.28458401560783386, + 0.036515381187200546, + 0.046337954699993134, + 0.03873492032289505, + 0.1282525509595871, + 0.030120380222797394, + 0.0, + 1.0001531839370728 + ], + [ + 0.2871178090572357, + 0.04486369341611862, + 0.023512540385127068, + 0.055262066423892975, + 0.12737604975700378, + 0.01845099776983261, + 0.0, + 1.0001531839370728 + ], + [ + 0.2884480059146881, + 0.042826030403375626, + 0.010778666473925114, + 0.0402136966586113, + 0.11657510697841644, + -0.0019296967657282948, + 0.0, + 0.9974852800369263 + ], + [ + 0.2861170470714569, + 0.041630662977695465, + 0.0066412026062607765, + 0.034414492547512054, + 0.11460768431425095, + -0.004042142070829868, + 0.0, + 0.9311676621437073 + ], + [ + 0.28091785311698914, + 0.04263194277882576, + 0.00092031538952142, + 0.011711208149790764, + 0.10942606627941132, + 0.01148437149822712, + 0.0, + 0.6289845705032349 + ], + [ + 0.2811204791069031, + 0.045847147703170776, + 0.0008278340683318675, + 0.006858005654066801, + 0.10437988489866257, + 0.019831182435154915, + 0.0, + 0.3737536668777466 + ], + [ + 0.2788291871547699, + 0.04393693432211876, + 0.0011832419550046325, + 0.02164147049188614, + 0.12234539538621902, + 0.024162916466593742, + 0.0, + 0.36024010181427 + ], + [ + 0.28026971220970154, + 0.028072208166122437, + 0.04127851873636246, + 0.016942931339144707, + 0.06344420462846756, + 0.05180996656417847, + 0.0, + 0.3610773980617523 + ], + [ + 0.281066358089447, + -0.007528011687099934, + 0.061166319996118546, + -0.04830000922083855, + 0.07726211100816727, + 0.026512913405895233, + 0.0, + 0.36024010181427 + ], + [ + 0.2920616865158081, + -0.05009123310446739, + 0.07497597485780716, + -0.09866314381361008, + 0.08090941607952118, + -0.06547977775335312, + 0.0, + 0.36024010181427 + ], + [ + 0.29334816336631775, + -0.10513563454151154, + 0.06085812672972679, + -0.15657639503479004, + 0.12135932594537735, + -0.1637566089630127, + 0.0, + 0.36024010181427 + ], + [ + 0.2996889650821686, + -0.15079334378242493, + 0.04297943040728569, + -0.2058667689561844, + 0.14392736554145813, + -0.20967061817646027, + 0.0, + 0.36024010181427 + ], + [ + 0.30649101734161377, + -0.18299037218093872, + 0.025220992043614388, + -0.22455596923828125, + 0.16299967467784882, + -0.2452477067708969, + 0.0, + 0.36024010181427 + ], + [ + 0.3127264380455017, + -0.1926373988389969, + 0.007754846476018429, + -0.24302320182323456, + 0.19514670968055725, + -0.2384738326072693, + 0.0, + 0.36024010181427 + ], + [ + 0.3201085329055786, + -0.19851022958755493, + 0.0018603084608912468, + -0.27082568407058716, + 0.212168887257576, + -0.2374151349067688, + 0.0, + 0.36024010181427 + ], + [ + 0.3309202790260315, + -0.18945059180259705, + -0.00017465396376792341, + -0.2789302468299866, + 0.2266940474510193, + -0.21565936505794525, + 0.0, + 0.36024010181427 + ], + [ + 0.33484017848968506, + -0.15355446934700012, + -0.0030622028280049562, + -0.23682865500450134, + 0.23846517503261566, + -0.11560662090778351, + 0.0, + 0.36024010181427 + ], + [ + 0.3202994763851166, + -0.10916289687156677, + -0.003673202358186245, + -0.1557735949754715, + 0.24612732231616974, + 0.0003362500574439764, + 0.0, + 0.36024010181427 + ], + [ + 0.3090978264808655, + -0.06035364419221878, + -0.004867143463343382, + -0.11212777346372604, + 0.24375267326831818, + 0.13484983146190643, + 0.0, + 0.36024010181427 + ], + [ + 0.30032241344451904, + -0.012760278768837452, + -0.008260472677648067, + -0.10159667581319809, + 0.24205592274665833, + 0.20736828446388245, + 0.0, + 0.36024010181427 + ], + [ + 0.2893340587615967, + 0.036841344088315964, + -0.011926578357815742, + -0.08635099977254868, + 0.24959106743335724, + 0.26380932331085205, + 0.0, + 0.35940393805503845 + ], + [ + 0.2751898169517517, + 0.08322874456644058, + -0.008850149810314178, + -0.07622046768665314, + 0.23694507777690887, + 0.3243679106235504, + 0.0, + 0.35940393805503845 + ], + [ + 0.26810869574546814, + 0.1313493549823761, + -0.005791439674794674, + -0.05899861082434654, + 0.2391136735677719, + 0.3053576350212097, + 0.0, + 0.35940393805503845 + ], + [ + 0.2678488492965698, + 0.14151756465435028, + -0.002319762483239174, + -0.045708008110523224, + 0.23971915245056152, + 0.27023234963417053, + 0.0, + 0.35940393805503845 + ], + [ + 0.2734608054161072, + 0.1256725937128067, + 0.002418326446786523, + -0.04201318696141243, + 0.23421931266784668, + 0.21236355602741241, + 0.0, + 0.35940393805503845 + ], + [ + 0.2889039218425751, + 0.09449812024831772, + 0.02311542257666588, + -0.058892637491226196, + 0.18107104301452637, + 0.15249834954738617, + 0.0, + 0.35940393805503845 + ], + [ + 0.3017491400241852, + 0.036523766815662384, + 0.03775088116526604, + -0.10237056016921997, + 0.1628689467906952, + 0.0718921422958374, + 0.0, + 0.35940393805503845 + ], + [ + 0.30735132098197937, + -0.008355740457773209, + 0.04643088951706886, + -0.13411922752857208, + 0.17714163661003113, + -0.017734544351696968, + 0.0, + 0.35940393805503845 + ], + [ + 0.3047979772090912, + -0.05346052721142769, + 0.04875043034553528, + -0.17504316568374634, + 0.17832224071025848, + -0.10391629487276077, + 0.0, + 0.35940393805503845 + ], + [ + 0.3051919937133789, + -0.10560338944196701, + 0.04563334211707115, + -0.24301967024803162, + 0.17651669681072235, + -0.19557008147239685, + 0.0, + 0.35940393805503845 + ], + [ + 0.30623888969421387, + -0.15501052141189575, + 0.027356410399079323, + -0.2914310097694397, + 0.2127271294593811, + -0.24756182730197906, + 0.0, + 0.35940393805503845 + ], + [ + 0.30802252888679504, + -0.1896752268075943, + 0.01443594228476286, + -0.2874895930290222, + 0.25891339778900146, + -0.3008429706096649, + 0.0, + 0.35940393805503845 + ], + [ + 0.3129827082157135, + -0.19577649235725403, + 0.002020792569965124, + -0.30431339144706726, + 0.3269812762737274, + -0.3311220407485962, + 0.0, + 0.35940393805503845 + ], + [ + 0.3263668119907379, + -0.19833113253116608, + -0.002261500107124448, + -0.3266895115375519, + 0.3509269952774048, + -0.3353497385978699, + 0.0, + 0.35940393805503845 + ], + [ + 0.3428925573825836, + -0.19383661448955536, + -0.0025231074541807175, + -0.3352031707763672, + 0.347445547580719, + -0.3159208297729492, + 0.0, + 0.35940393805503845 + ], + [ + 0.35656309127807617, + -0.17426098883152008, + -0.00041868886910378933, + -0.33043384552001953, + 0.3391196131706238, + -0.24577517807483673, + 0.0, + 0.35940393805503845 + ], + [ + 0.35554012656211853, + -0.14407499134540558, + -0.0002092996728606522, + -0.32960548996925354, + 0.32636094093322754, + -0.15832550823688507, + 0.0, + 0.35940393805503845 + ], + [ + 0.3532046973705292, + -0.09697939455509186, + -0.0019356808625161648, + -0.33392447233200073, + 0.3351849913597107, + -0.06144629791378975, + 0.0, + 0.35940393805503845 + ], + [ + 0.35188084840774536, + -0.044254086911678314, + -0.0039245327934622765, + -0.33909693360328674, + 0.3419257402420044, + 0.03946537524461746, + 0.0, + 0.35940393805503845 + ], + [ + 0.34794187545776367, + 0.0027897171676158905, + -0.005279900971800089, + -0.33216163516044617, + 0.3381224274635315, + 0.1275649517774582, + 0.0, + 0.35856863856315613 + ], + [ + 0.3438414931297302, + 0.04002637788653374, + -0.006025808397680521, + -0.3187905251979828, + 0.325401246547699, + 0.20546509325504303, + 0.0, + 0.35856863856315613 + ], + [ + 0.3404686748981476, + 0.06546753644943237, + -0.005219426471740007, + -0.2940146327018738, + 0.31473854184150696, + 0.2544313967227936, + 0.0, + 0.35856863856315613 + ], + [ + 0.3289382755756378, + 0.10451790690422058, + -0.003737835446372628, + -0.2557554244995117, + 0.309881329536438, + 0.3431665003299713, + 0.0, + 0.35856863856315613 + ], + [ + 0.3179137706756592, + 0.12165245413780212, + -0.0007828585221432149, + -0.21540232002735138, + 0.2960537374019623, + 0.37285324931144714, + 0.0, + 0.35856863856315613 + ], + [ + 0.3140900135040283, + 0.12414785474538803, + 0.0035590550396591425, + -0.19811579585075378, + 0.284624844789505, + 0.3433438241481781, + 0.0, + 0.35856863856315613 + ], + [ + 0.3165925443172455, + 0.11279962211847305, + 0.009218521416187286, + -0.204607754945755, + 0.27862298488616943, + 0.29838836193084717, + 0.0, + 0.35856863856315613 + ], + [ + 0.32505738735198975, + 0.08143030852079391, + 0.02703207917511463, + -0.20421850681304932, + 0.2404075711965561, + 0.24227802455425262, + 0.0, + 0.35856863856315613 + ], + [ + 0.3337114453315735, + 0.03588705509901047, + 0.03121519647538662, + -0.2131645679473877, + 0.2397705316543579, + 0.16008923947811127, + 0.0, + 0.35856863856315613 + ], + [ + 0.3304072320461273, + -0.007067233324050903, + 0.04299651086330414, + -0.2340436577796936, + 0.20362700521945953, + 0.11245473474264145, + 0.0, + 0.35856863856315613 + ], + [ + 0.310518354177475, + -0.05951141566038132, + 0.03562489151954651, + -0.27383774518966675, + 0.22153420746326447, + 0.04277947545051575, + 0.0, + 0.35856863856315613 + ], + [ + 0.3009319603443146, + -0.10483919084072113, + 0.034719109535217285, + -0.26554200053215027, + 0.21729962527751923, + -0.04120901599526405, + 0.0, + 0.35690104961395264 + ], + [ + 0.2884332835674286, + -0.14935410022735596, + 0.03419659659266472, + -0.2750817835330963, + 0.20502546429634094, + -0.10372451692819595, + 0.0, + 0.35690104961395264 + ], + [ + 0.2782417833805084, + -0.1983797252178192, + 0.024378351867198944, + -0.29982972145080566, + 0.2122729867696762, + -0.1264152228832245, + 0.0, + 0.35690104961395264 + ], + [ + 0.2765956223011017, + -0.20391963422298431, + 0.013182264752686024, + -0.2970980107784271, + 0.2216060310602188, + -0.11408116668462753, + 0.0, + 0.35690104961395264 + ], + [ + 0.267078697681427, + -0.2007591426372528, + 0.006548598874360323, + -0.3062533736228943, + 0.21771688759326935, + -0.07701921463012695, + 0.0, + 0.35690104961395264 + ], + [ + 0.24175536632537842, + -0.19046230614185333, + 0.004579097963869572, + -0.32005593180656433, + 0.22388912737369537, + -0.060475945472717285, + 0.0, + 0.35690104961395264 + ], + [ + 0.22382321953773499, + -0.17512796819210052, + 0.0078946053981781, + -0.3063497245311737, + 0.22971630096435547, + -0.05637507513165474, + 0.0, + 0.35690104961395264 + ], + [ + 0.22656430304050446, + -0.14617079496383667, + 0.0036705429665744305, + -0.26662150025367737, + 0.22933463752269745, + -0.054192379117012024, + 0.0, + 0.35690104961395264 + ], + [ + 0.23357805609703064, + -0.10853204876184464, + -0.00041130188037641346, + -0.23302727937698364, + 0.23676781356334686, + -0.03550117090344429, + 0.0, + 0.35690104961395264 + ], + [ + 0.23787380754947662, + -0.06292469799518585, + -0.008832811377942562, + -0.1794951856136322, + 0.23951373994350433, + 0.047703344374895096, + 0.0, + 0.35690104961395264 + ], + [ + 0.23370108008384705, + -0.01522098109126091, + -0.01238690409809351, + -0.14546306431293488, + 0.2605515420436859, + 0.1104218140244484, + 0.0, + 0.35606881976127625 + ], + [ + 0.22621309757232666, + 0.035774677991867065, + -0.010766318067908287, + -0.08470763266086578, + 0.2694683372974396, + 0.13265360891819, + 0.0, + 0.35690104961395264 + ], + [ + 0.2165900468826294, + 0.08113693445920944, + -0.008174885995686054, + -0.041122209280729294, + 0.2513914108276367, + 0.17722070217132568, + 0.0, + 0.35606881976127625 + ], + [ + 0.21347950398921967, + 0.10896801203489304, + -0.008770009502768517, + 0.0047339508309960365, + 0.25007107853889465, + 0.19772504270076752, + 0.0, + 0.35606881976127625 + ], + [ + 0.21128614246845245, + 0.12958398461341858, + -0.007976287975907326, + 0.02975507080554962, + 0.28348666429519653, + 0.19745929539203644, + 0.0, + 0.35606881976127625 + ], + [ + 0.21127277612686157, + 0.13381151854991913, + 0.0004522621165961027, + 0.04174761474132538, + 0.27265843749046326, + 0.1468195766210556, + 0.0, + 0.35690104961395264 + ], + [ + 0.21294282376766205, + 0.12616905570030212, + 0.011230816133320332, + 0.02596345543861389, + 0.30691206455230713, + 0.12120728194713593, + 0.0, + 0.35606881976127625 + ], + [ + 0.2178659439086914, + 0.10610811412334442, + 0.02792736329138279, + -0.01264970563352108, + 0.32478317618370056, + 0.12335465848445892, + 0.0, + 0.35606881976127625 + ], + [ + 0.22812536358833313, + 0.09022417664527893, + 0.03612696751952171, + -0.05197582766413689, + 0.33566632866859436, + 0.14616598188877106, + 0.0, + 0.35606881976127625 + ], + [ + 0.2489815354347229, + 0.06883537024259567, + 0.02738792821764946, + -0.08540946990251541, + 0.31403419375419617, + 0.12270697951316833, + 0.0, + 0.35606881976127625 + ], + [ + 0.2731133997440338, + 0.06263528019189835, + 0.01178173441439867, + -0.10881911963224411, + 0.3043328523635864, + 0.10935619473457336, + 0.0, + 0.35606881976127625 + ], + [ + 0.30088526010513306, + 0.04922371357679367, + 0.0004134170594625175, + -0.0995037853717804, + 0.3011716306209564, + 0.07312696427106857, + 0.0, + 0.35606881976127625 + ], + [ + 0.31285834312438965, + 0.047541771084070206, + -0.0043226853013038635, + -0.10129488259553909, + 0.3070905804634094, + 0.059109415858983994, + 0.0, + 0.35606881976127625 + ], + [ + 0.31154707074165344, + 0.04600042849779129, + -0.004337202291935682, + -0.08046462386846542, + 0.2999628782272339, + 0.07012958824634552, + 0.0, + 0.41037410497665405 + ], + [ + 0.3030376434326172, + 0.031725216656923294, + 0.008327513001859188, + 0.006519237067550421, + 0.27604156732559204, + 0.12822596728801727, + 0.0, + 0.7240482568740845 + ], + [ + 0.3016091287136078, + 0.009937462396919727, + 0.043566517531871796, + 0.07102823257446289, + 0.2390100210905075, + 0.11696436256170273, + 0.0, + 0.9961419701576233 + ], + [ + 0.29078617691993713, + -0.015143588185310364, + 0.07422284036874771, + 0.15350179374217987, + 0.23968841135501862, + 0.12353914976119995, + 0.0, + 1.0112061500549316 + ], + [ + 0.28463420271873474, + -0.0588340163230896, + 0.09152261167764664, + 0.10145540535449982, + 0.20036230981349945, + 0.02454373426735401, + 0.0, + 1.0027955770492554 + ], + [ + 0.2773438096046448, + -0.10015786439180374, + 0.09591391682624817, + 0.016887478530406952, + 0.2029845267534256, + -0.1388961672782898, + 0.0, + 0.9981546401977539 + ], + [ + 0.27577313780784607, + -0.11855990439653397, + 0.09456639736890793, + -0.04228462278842926, + 0.1777651458978653, + -0.19741053879261017, + 0.0, + 0.9981546401977539 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9974852800369263 + ], + [ + 0.9311676621437073 + ], + [ + 0.6289845705032349 + ], + [ + 0.3737536668777466 + ], + [ + 0.36024010181427 + ], + [ + 0.3610773980617523 + ], + [ + 0.36024010181427 + ], + [ + 0.36024010181427 + ], + [ + 0.36024010181427 + ], + [ + 0.36024010181427 + ], + [ + 0.36024010181427 + ], + [ + 0.36024010181427 + ], + [ + 0.36024010181427 + ], + [ + 0.36024010181427 + ], + [ + 0.36024010181427 + ], + [ + 0.36024010181427 + ], + [ + 0.36024010181427 + ], + [ + 0.36024010181427 + ], + [ + 0.35940393805503845 + ], + [ + 0.35940393805503845 + ], + [ + 0.35940393805503845 + ], + [ + 0.35940393805503845 + ], + [ + 0.35940393805503845 + ], + [ + 0.35940393805503845 + ], + [ + 0.35940393805503845 + ], + [ + 0.35940393805503845 + ], + [ + 0.35940393805503845 + ], + [ + 0.35940393805503845 + ], + [ + 0.35940393805503845 + ], + [ + 0.35940393805503845 + ], + [ + 0.35940393805503845 + ], + [ + 0.35940393805503845 + ], + [ + 0.35940393805503845 + ], + [ + 0.35940393805503845 + ], + [ + 0.35940393805503845 + ], + [ + 0.35940393805503845 + ], + [ + 0.35940393805503845 + ], + [ + 0.35856863856315613 + ], + [ + 0.35856863856315613 + ], + [ + 0.35856863856315613 + ], + [ + 0.35856863856315613 + ], + [ + 0.35856863856315613 + ], + [ + 0.35856863856315613 + ], + [ + 0.35856863856315613 + ], + [ + 0.35856863856315613 + ], + [ + 0.35856863856315613 + ], + [ + 0.35856863856315613 + ], + [ + 0.35856863856315613 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ], + [ + 0.35606881976127625 + ], + [ + 0.35690104961395264 + ], + [ + 0.35606881976127625 + ], + [ + 0.35606881976127625 + ], + [ + 0.35606881976127625 + ], + [ + 0.35690104961395264 + ], + [ + 0.35606881976127625 + ], + [ + 0.35606881976127625 + ], + [ + 0.35606881976127625 + ], + [ + 0.35606881976127625 + ], + [ + 0.35606881976127625 + ], + [ + 0.35606881976127625 + ], + [ + 0.35606881976127625 + ], + [ + 0.41037410497665405 + ], + [ + 0.7240482568740845 + ], + [ + 0.9961419701576233 + ], + [ + 1.0112061500549316 + ], + [ + 1.0027955770492554 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2901121973991394, + -0.01807720772922039, + 0.11155008524656296 + ], + [ + 0.2869124412536621, + -0.018360378220677376, + 0.10420886427164078 + ], + [ + 0.2861763834953308, + -0.01088738813996315, + 0.08296605199575424 + ], + [ + 0.2852453589439392, + 0.015387168154120445, + 0.06708937138319016 + ], + [ + 0.28458401560783386, + 0.036515381187200546, + 0.046337954699993134 + ], + [ + 0.2871178090572357, + 0.04486369341611862, + 0.023512540385127068 + ], + [ + 0.2884480059146881, + 0.042826030403375626, + 0.010778666473925114 + ], + [ + 0.2861170470714569, + 0.041630662977695465, + 0.0066412026062607765 + ], + [ + 0.28091785311698914, + 0.04263194277882576, + 0.00092031538952142 + ], + [ + 0.2811204791069031, + 0.045847147703170776, + 0.0008278340683318675 + ], + [ + 0.2788291871547699, + 0.04393693432211876, + 0.0011832419550046325 + ], + [ + 0.28026971220970154, + 0.028072208166122437, + 0.04127851873636246 + ], + [ + 0.281066358089447, + -0.007528011687099934, + 0.061166319996118546 + ], + [ + 0.2920616865158081, + -0.05009123310446739, + 0.07497597485780716 + ], + [ + 0.29334816336631775, + -0.10513563454151154, + 0.06085812672972679 + ], + [ + 0.2996889650821686, + -0.15079334378242493, + 0.04297943040728569 + ], + [ + 0.30649101734161377, + -0.18299037218093872, + 0.025220992043614388 + ], + [ + 0.3127264380455017, + -0.1926373988389969, + 0.007754846476018429 + ], + [ + 0.3201085329055786, + -0.19851022958755493, + 0.0018603084608912468 + ], + [ + 0.3309202790260315, + -0.18945059180259705, + -0.00017465396376792341 + ], + [ + 0.33484017848968506, + -0.15355446934700012, + -0.0030622028280049562 + ], + [ + 0.3202994763851166, + -0.10916289687156677, + -0.003673202358186245 + ], + [ + 0.3090978264808655, + -0.06035364419221878, + -0.004867143463343382 + ], + [ + 0.30032241344451904, + -0.012760278768837452, + -0.008260472677648067 + ], + [ + 0.2893340587615967, + 0.036841344088315964, + -0.011926578357815742 + ], + [ + 0.2751898169517517, + 0.08322874456644058, + -0.008850149810314178 + ], + [ + 0.26810869574546814, + 0.1313493549823761, + -0.005791439674794674 + ], + [ + 0.2678488492965698, + 0.14151756465435028, + -0.002319762483239174 + ], + [ + 0.2734608054161072, + 0.1256725937128067, + 0.002418326446786523 + ], + [ + 0.2889039218425751, + 0.09449812024831772, + 0.02311542257666588 + ], + [ + 0.3017491400241852, + 0.036523766815662384, + 0.03775088116526604 + ], + [ + 0.30735132098197937, + -0.008355740457773209, + 0.04643088951706886 + ], + [ + 0.3047979772090912, + -0.05346052721142769, + 0.04875043034553528 + ], + [ + 0.3051919937133789, + -0.10560338944196701, + 0.04563334211707115 + ], + [ + 0.30623888969421387, + -0.15501052141189575, + 0.027356410399079323 + ], + [ + 0.30802252888679504, + -0.1896752268075943, + 0.01443594228476286 + ], + [ + 0.3129827082157135, + -0.19577649235725403, + 0.002020792569965124 + ], + [ + 0.3263668119907379, + -0.19833113253116608, + -0.002261500107124448 + ], + [ + 0.3428925573825836, + -0.19383661448955536, + -0.0025231074541807175 + ], + [ + 0.35656309127807617, + -0.17426098883152008, + -0.00041868886910378933 + ], + [ + 0.35554012656211853, + -0.14407499134540558, + -0.0002092996728606522 + ], + [ + 0.3532046973705292, + -0.09697939455509186, + -0.0019356808625161648 + ], + [ + 0.35188084840774536, + -0.044254086911678314, + -0.0039245327934622765 + ], + [ + 0.34794187545776367, + 0.0027897171676158905, + -0.005279900971800089 + ], + [ + 0.3438414931297302, + 0.04002637788653374, + -0.006025808397680521 + ], + [ + 0.3404686748981476, + 0.06546753644943237, + -0.005219426471740007 + ], + [ + 0.3289382755756378, + 0.10451790690422058, + -0.003737835446372628 + ], + [ + 0.3179137706756592, + 0.12165245413780212, + -0.0007828585221432149 + ], + [ + 0.3140900135040283, + 0.12414785474538803, + 0.0035590550396591425 + ], + [ + 0.3165925443172455, + 0.11279962211847305, + 0.009218521416187286 + ], + [ + 0.32505738735198975, + 0.08143030852079391, + 0.02703207917511463 + ], + [ + 0.3337114453315735, + 0.03588705509901047, + 0.03121519647538662 + ], + [ + 0.3304072320461273, + -0.007067233324050903, + 0.04299651086330414 + ], + [ + 0.310518354177475, + -0.05951141566038132, + 0.03562489151954651 + ], + [ + 0.3009319603443146, + -0.10483919084072113, + 0.034719109535217285 + ], + [ + 0.2884332835674286, + -0.14935410022735596, + 0.03419659659266472 + ], + [ + 0.2782417833805084, + -0.1983797252178192, + 0.024378351867198944 + ], + [ + 0.2765956223011017, + -0.20391963422298431, + 0.013182264752686024 + ], + [ + 0.267078697681427, + -0.2007591426372528, + 0.006548598874360323 + ], + [ + 0.24175536632537842, + -0.19046230614185333, + 0.004579097963869572 + ], + [ + 0.22382321953773499, + -0.17512796819210052, + 0.0078946053981781 + ], + [ + 0.22656430304050446, + -0.14617079496383667, + 0.0036705429665744305 + ], + [ + 0.23357805609703064, + -0.10853204876184464, + -0.00041130188037641346 + ], + [ + 0.23787380754947662, + -0.06292469799518585, + -0.008832811377942562 + ], + [ + 0.23370108008384705, + -0.01522098109126091, + -0.01238690409809351 + ], + [ + 0.22621309757232666, + 0.035774677991867065, + -0.010766318067908287 + ], + [ + 0.2165900468826294, + 0.08113693445920944, + -0.008174885995686054 + ], + [ + 0.21347950398921967, + 0.10896801203489304, + -0.008770009502768517 + ], + [ + 0.21128614246845245, + 0.12958398461341858, + -0.007976287975907326 + ], + [ + 0.21127277612686157, + 0.13381151854991913, + 0.0004522621165961027 + ], + [ + 0.21294282376766205, + 0.12616905570030212, + 0.011230816133320332 + ], + [ + 0.2178659439086914, + 0.10610811412334442, + 0.02792736329138279 + ], + [ + 0.22812536358833313, + 0.09022417664527893, + 0.03612696751952171 + ], + [ + 0.2489815354347229, + 0.06883537024259567, + 0.02738792821764946 + ], + [ + 0.2731133997440338, + 0.06263528019189835, + 0.01178173441439867 + ], + [ + 0.30088526010513306, + 0.04922371357679367, + 0.0004134170594625175 + ], + [ + 0.31285834312438965, + 0.047541771084070206, + -0.0043226853013038635 + ], + [ + 0.31154707074165344, + 0.04600042849779129, + -0.004337202291935682 + ], + [ + 0.3030376434326172, + 0.031725216656923294, + 0.008327513001859188 + ], + [ + 0.3016091287136078, + 0.009937462396919727, + 0.043566517531871796 + ], + [ + 0.29078617691993713, + -0.015143588185310364, + 0.07422284036874771 + ], + [ + 0.28463420271873474, + -0.0588340163230896, + 0.09152261167764664 + ], + [ + 0.2773438096046448, + -0.10015786439180374, + 0.09591391682624817 + ], + [ + 0.27577313780784607, + -0.11855990439653397, + 0.09456639736890793 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.988098711173194, + 0.006217007024400364, + -0.15369543194750918, + 0.003713583674019682, + -0.9998558128745476, + -0.016569935343073206, + -0.15377628644940328, + 0.015801970909862118, + -0.9879793274361538 + ], + [ + 0.9834875262522698, + 0.00513294629188687, + -0.1809031192891799, + 0.0024686644581090175, + -0.999885198752759, + -0.014949749527949465, + -0.18095908764685986, + 0.014256303080383807, + -0.9833872921796865 + ], + [ + 0.9881244046557821, + -0.05350016889409849, + -0.14404128870556215, + -0.0557817183929392, + -0.9983727240143306, + -0.011844992078342838, + -0.1431731846987661, + 0.01973919634909469, + -0.9895007848964572 + ], + [ + 0.9912408734265767, + -0.004222980159962967, + -0.1319988533551939, + -0.0031792598494504135, + -0.9999620042656787, + 0.008116793195380681, + -0.13202811501845768, + -0.007626038521766379, + -0.9912166364529692 + ], + [ + 0.9913370497234304, + 0.025142477055231947, + -0.12891357451088048, + 0.02986848201335035, + -0.9989458165004292, + 0.03485870735568519, + -0.12790124169789502, + -0.038407180888712325, + -0.9910429661867939 + ], + [ + 0.9917297975001328, + 0.011406508019126859, + -0.12783544236695824, + 0.01830048106352156, + -0.9984329391433736, + 0.05288438735930212, + -0.1270318902606349, + -0.05478647285904267, + -0.990384441138125 + ], + [ + 0.9932109645648067, + -0.006604171498513719, + -0.11613941960878149, + -0.0019165983649718707, + -0.9991806545573247, + 0.040427047988981966, + -0.11631124846270796, + -0.03992999470591354, + -0.9924098392316715 + ], + [ + 0.9934316089399894, + -0.007974465273361948, + -0.11414922804166801, + -0.0040156135712653114, + -0.9993838103723807, + 0.034869390777994565, + -0.11435695521721033, + -0.03418197579406678, + -0.9928514890577863 + ], + [ + 0.9939533894668399, + 0.010204489611383092, + -0.10932761754996868, + 0.011415431844408486, + -0.9998801717795718, + 0.01045609859651842, + -0.10920781786661023, + -0.011640896607462174, + -0.9939507744566569 + ], + [ + 0.9943618027793711, + 0.019115023699955616, + -0.10430350445842847, + 0.01972195577454492, + -0.9997940262485419, + 0.004790567623696125, + -0.10419044886066171, + -0.006820626560694142, + -0.9945339760005858 + ], + [ + 0.9922354059118011, + 0.021514750930278298, + -0.12249903978175224, + 0.023979968283677558, + -0.9995377981146779, + 0.01868558966624492, + -0.12204040468696033, + -0.021478026735935258, + -0.9922927158814446 + ], + [ + 0.9966489549697288, + 0.0507066410591404, + -0.06418486667624314, + 0.05168260070758174, + -0.9985704556583783, + 0.013636490395973751, + -0.06340165093945331, + -0.016908034738499625, + -0.9978448521786508 + ], + [ + 0.9966663693079926, + 0.030204181119811685, + -0.07578822951689736, + 0.026430722457175343, + -0.9983839530259699, + -0.05030804359771603, + -0.07718526543852829, + 0.04813719749964202, + -0.9958540279659789 + ], + [ + 0.9945925943166717, + -0.05717069949132818, + -0.08670110985509041, + -0.06521893962194553, + -0.993525047612925, + -0.09302940223565724, + -0.0808211682977995, + 0.09818090896608635, + -0.9918812670222034 + ], + [ + 0.979365210031373, + -0.14240591220367751, + -0.14340272504259982, + -0.1618266450609586, + -0.9776300234610577, + -0.13435651891831218, + -0.12106164681070353, + 0.15479048225575998, + -0.9805019042686812 + ], + [ + 0.9679862925533987, + -0.1750653115888226, + -0.17987405067722836, + -0.20598566614689856, + -0.9635486456876682, + -0.17071588307910546, + -0.1434309686599938, + 0.2023021108930127, + -0.9687628260608924 + ], + [ + 0.9572187804653967, + -0.20164681771864124, + -0.20753497832482226, + -0.2395783430093934, + -0.9544950629500298, + -0.1775989649882356, + -0.16227884608048215, + 0.21972195090150679, + -0.9619708105794186 + ], + [ + 0.953256012067458, + -0.1839368997895555, + -0.23972941486820773, + -0.2317362901193418, + -0.9541686921806241, + -0.18936842055644212, + -0.19391046206682735, + 0.2360705906251863, + -0.9521918971210084 + ], + [ + 0.9501546454398231, + -0.17186266158322658, + -0.26013337983168033, + -0.22991724815386347, + -0.9497716654052121, + -0.21230130144387843, + -0.2105806466664938, + 0.26152821864368503, + -0.9419441502034938 + ], + [ + 0.9518429329424701, + -0.14527249826013822, + -0.2699832073606324, + -0.20851653949148719, + -0.95232352189054, + -0.22271228617319924, + -0.22475738867937395, + 0.2682830797930724, + -0.9367541328068815 + ], + [ + 0.9652155479274426, + -0.057079279588087936, + -0.2551487838121735, + -0.11208508840329263, + -0.9719909175708579, + -0.2065686063209687, + -0.23621151326036677, + 0.2279816045242821, + -0.9445784821822806 + ], + [ + 0.9698632145921678, + 0.03813307650193343, + -0.24064748795165852, + 0.00032611657391010476, + -0.9878790410775983, + -0.1552253002818308, + -0.2436498278861, + 0.1504688295830801, + -0.9581199782360095 + ], + [ + 0.9616290160130478, + 0.16035701267488198, + -0.2226101166788366, + 0.13046729764581225, + -0.9810682234586724, + -0.14312031709245024, + -0.24134605819606117, + 0.10858530934538155, + -0.9643450164684791 + ], + [ + 0.9500479236437762, + 0.22861356397128202, + -0.21247301275338082, + 0.19988315430015646, + -0.9685248741580607, + -0.14834518112878758, + -0.23969911849476966, + 0.09846525532116139, + -0.9658410459735955 + ], + [ + 0.9354891970688539, + 0.2803542610494824, + -0.2150847518511469, + 0.25267993401206085, + -0.9562517032418849, + -0.1474297493542412, + -0.24700771873593608, + 0.08357133694271321, + -0.9654030342434583 + ], + [ + 0.9213689984685856, + 0.3347265188053881, + -0.19757865843613223, + 0.3098048463802651, + -0.9394037085229302, + -0.14677067000142113, + -0.23473415989219806, + 0.07401911929894785, + -0.9692373518173514 + ], + [ + 0.926603962742999, + 0.3134303902870369, + -0.20776546073273766, + 0.292080721193556, + -0.9478816480064519, + -0.12731548876560647, + -0.236841610651556, + 0.05728675079884329, + -0.9698578656931582 + ], + [ + 0.9361513453575747, + 0.277131500916596, + -0.21637650007548806, + 0.25932169125591564, + -0.9598062602862188, + -0.10735084144781942, + -0.23742981916636866, + 0.044385514699032534, + -0.9703901313675483 + ], + [ + 0.950844674550972, + 0.2201136863595058, + -0.2178172857127855, + 0.2050160189632344, + -0.9746183423688755, + -0.0899306326376729, + -0.23208368500720342, + 0.04085403034431842, + -0.9718374922578891 + ], + [ + 0.9722357555118749, + 0.16212103626347252, + -0.1687436081903903, + 0.14942447382262009, + -0.9850709533043759, + -0.08548417151052871, + -0.18008320945353917, + 0.05789634320806613, + -0.9819460530579299 + ], + [ + 0.9842172032100815, + 0.08798176713195906, + -0.15354382292252317, + 0.07087963865445975, + -0.991004849705977, + -0.11351416071771588, + -0.16214984961306206, + 0.10083945909995722, + -0.9816001374077378 + ], + [ + 0.9841966124293386, + 0.0059851884724087465, + -0.17697798055567057, + -0.017456108576170817, + -0.9912815112080924, + -0.13059957814011833, + -0.17621666310536724, + 0.13162500923437645, + -0.9755114271950172 + ], + [ + 0.9788337766955735, + -0.07142031273529639, + -0.19179044952414212, + -0.10208450061535773, + -0.9826112771269226, + -0.1550929811342568, + -0.17737866933200583, + 0.1713890807250869, + -0.9691040143731819 + ], + [ + 0.9656945973526277, + -0.14716538683045935, + -0.21395395196861436, + -0.19130621775525922, + -0.9603243527958144, + -0.20292626364144745, + -0.1756014683655129, + 0.2368955177844067, + -0.9555336927401014 + ], + [ + 0.9476587557877465, + -0.17589629212828012, + -0.26646458863110195, + -0.2395173310312494, + -0.943496527087512, + -0.22901037423983675, + -0.2111263382775502, + 0.28084657339787134, + -0.9362429553786704 + ], + [ + 0.9232527919258473, + -0.21482805313360628, + -0.31851717345843766, + -0.28644852597606707, + -0.9374011639751666, + -0.19805630447966333, + -0.25603031884381666, + 0.27409481090459764, + -0.9269954209530413 + ], + [ + 0.895572562591267, + -0.21915512739840315, + -0.38719609407727834, + -0.3078790689404708, + -0.9335148796533719, + -0.18374016538062493, + -0.3211857158126116, + 0.2837622237027689, + -0.9035035895651992 + ], + [ + 0.8867446690327553, + -0.20752008018319967, + -0.4130609013968129, + -0.30904229796012195, + -0.930657161984813, + -0.19588288571976029, + -0.34376845406976536, + 0.30135139483190027, + -0.8893877595398711 + ], + [ + 0.8937134568283319, + -0.18693286696033298, + -0.40783864497365113, + -0.2921266441785885, + -0.9324092669447486, + -0.21277918760187287, + -0.340497108423713, + 0.30930415801528943, + -0.8879147802517667 + ], + [ + 0.9147083740485566, + -0.12545746610304676, + -0.38414712629987036, + -0.2294513629289474, + -0.9437370633016865, + -0.23814371165486814, + -0.33265697421742735, + 0.3059751289724565, + -0.8920305812890017 + ], + [ + 0.9353681602497269, + -0.0467077114435416, + -0.3505778008983854, + -0.14934258487424587, + -0.9506966127576085, + -0.271795406205271, + -0.32059818641739035, + 0.3065849640522451, + -0.8962267919912702 + ], + [ + 0.9425672694931508, + 0.04959326595323471, + -0.33031416931811747, + -0.05799027123042351, + -0.9496008841711759, + -0.30805079000701036, + -0.3289438719946735, + 0.3095136002721253, + -0.8921867855576764 + ], + [ + 0.9413771273649683, + 0.14865489857912842, + -0.3028379520511084, + 0.03717110177558012, + -0.9379205617675841, + -0.3448526192540359, + -0.33530197325227573, + 0.3133795477404494, + -0.8884626304978289 + ], + [ + 0.9357138346869049, + 0.2275550023886429, + -0.26955211084952074, + 0.12001599698417838, + -0.923897309639686, + -0.3633316965369853, + -0.33171641509491395, + 0.30762392970712643, + -0.8918137349402755 + ], + [ + 0.9275925300937159, + 0.2918317154030908, + -0.2332516838079152, + 0.19331590801170673, + -0.9091988561220113, + -0.36876333838389463, + -0.31968900172503206, + 0.2969708570067354, + -0.8997817803582916 + ], + [ + 0.9202653440138348, + 0.3277181295503176, + -0.21380487405842605, + 0.23933121865438794, + -0.9036961817319012, + -0.3550405313490107, + -0.3095678671705184, + 0.27556131565810105, + -0.9100734568859112 + ], + [ + 0.8968408492662114, + 0.39817214998794176, + -0.19270555275196594, + 0.3204444720514588, + -0.8851062729479167, + -0.337494038347213, + -0.3049456204294833, + 0.24092701086060955, + -0.9213915259099409 + ], + [ + 0.8907761550939959, + 0.4139297227525754, + -0.1875633923182599, + 0.3484264634555421, + -0.8870545410063118, + -0.30287495909029083, + -0.29174790672740253, + 0.20444174207352486, + -0.9343911028140847 + ], + [ + 0.9037495622331247, + 0.3820942079274675, + -0.1929786128868065, + 0.323093707165682, + -0.9046101087060031, + -0.2780126033417354, + -0.2807974094491814, + 0.18890359312409544, + -0.9409932238605304 + ], + [ + 0.9189507182974658, + 0.3412604865080083, + -0.1976634960959892, + 0.28264284318942273, + -0.9194458576673855, + -0.2733721602725579, + -0.27503199910986903, + 0.19534737051366524, + -0.9413802655139025 + ], + [ + 0.9428749120454831, + 0.28180583278145976, + -0.1776861639114597, + 0.2330150347339669, + -0.9390359170562321, + -0.2528152291027757, + -0.23809849605394484, + 0.1969695892484642, + -0.9510584036157509 + ], + [ + 0.9589713588776969, + 0.20539570557420506, + -0.19541375843051098, + 0.1548460888634018, + -0.9568602754992609, + -0.24584772102906774, + -0.2374797288527404, + 0.2055018669091678, + -0.949406320329118 + ], + [ + 0.9731536842836994, + 0.1557602396577969, + -0.16944218632562533, + 0.10989939551941508, + -0.9613296088323073, + -0.2525222882178727, + -0.2022227228318554, + 0.2271214012902987, + -0.9526394068305184 + ], + [ + 0.9746689480431986, + 0.10053885509962929, + -0.19978083075115188, + 0.0417212805835904, + -0.9593181488149605, + -0.2792275489644649, + -0.21972659481007295, + 0.2638193093188841, + -0.9392122207273907 + ], + [ + 0.9756541859897027, + 0.016777274574517363, + -0.21867197447003234, + -0.04022852333289531, + -0.9664620820990013, + -0.25363893584250496, + -0.21559354181242518, + 0.25626074011193156, + -0.9422578510185308 + ], + [ + 0.9737938000332353, + -0.044642267038828676, + -0.22300830255949042, + -0.10137009186341492, + -0.9629562597964726, + -0.24987866294342015, + -0.20359209093782135, + 0.26593666485165685, + -0.9422462262037156 + ], + [ + 0.9697539026008594, + -0.05872392809529921, + -0.2369153195963939, + -0.12324889527460707, + -0.9556084891591534, + -0.2676231030022436, + -0.21068241076082328, + 0.2887280999764635, + -0.9339427209845309 + ], + [ + 0.9692044632265009, + -0.04492035101679335, + -0.24212573288760073, + -0.11105014894688148, + -0.9572992424264976, + -0.2669195100934529, + -0.2197966625786323, + 0.28558767920584655, + -0.9328071100742709 + ], + [ + 0.9734986171864846, + -0.008434168465745198, + -0.22853732110597025, + -0.07512670724471071, + -0.955653922172944, + -0.2847482377364882, + -0.21600097267042445, + 0.29437127209997843, + -0.9309614030493801 + ], + [ + 0.973258862811261, + 0.012355350909817774, + -0.22937857629522862, + -0.058930610533957345, + -0.951704391374125, + -0.30130704369679256, + -0.22202335260378758, + 0.30676717024985106, + -0.9255266253087875 + ], + [ + 0.972184111385028, + 0.014839307702876472, + -0.23374740323135723, + -0.0548650877828431, + -0.9557953226292786, + -0.28886869574700247, + -0.22770128614718954, + 0.2936581280790517, + -0.9283948664765564 + ], + [ + 0.9723882561353199, + 0.007555486733702283, + -0.233246637597047, + -0.05274767984548097, + -0.9664946560011074, + -0.25120860294229486, + -0.2273296320346953, + 0.25657551430625203, + -0.9394095187177167 + ], + [ + 0.9714886775854862, + 0.01959745522753691, + -0.2362746052198759, + -0.03450348208571735, + -0.9742812643377442, + -0.22267808083510926, + -0.23456184482384193, + 0.2244815308862882, + -0.9458270366424215 + ], + [ + 0.9703483307624372, + 0.08922436655197069, + -0.2246399995547347, + 0.04632400435928652, + -0.9807949989281853, + -0.18946043570514032, + -0.23723027548496514, + 0.17343639321336335, + -0.9558460199752191 + ], + [ + 0.9603633033679296, + 0.14614756685077596, + -0.23736725605659278, + 0.10647817223530676, + -0.9792980010453465, + -0.17215639397366866, + -0.2576135174668955, + 0.14005825163904712, + -0.9560433890604271 + ], + [ + 0.9554440255401628, + 0.15411659576838083, + -0.2517434983636599, + 0.1274918004281757, + -0.98468124795823, + -0.11894822715368536, + -0.2662189979757093, + 0.08155314113011233, + -0.9604564176934949 + ], + [ + 0.9533970286928566, + 0.1862116251411349, + -0.2374012138594285, + 0.1707530690220813, + -0.9817024628988449, + -0.08428323533112972, + -0.2487518745641387, + 0.03981840027725498, + -0.967748417668656 + ], + [ + 0.950016892592894, + 0.19528831394200263, + -0.2435782794623353, + 0.1903289348285323, + -0.9807351511867609, + -0.0439711245446088, + -0.247472827508755, + -0.004586683373748457, + -0.9688839775641102 + ], + [ + 0.9414298144705799, + 0.18793208512239656, + -0.2799847063813266, + 0.1883483663308757, + -0.9817666088507108, + -0.025675253577438478, + -0.2797048396549113, + -0.028563212832659782, + -0.9596610576376935 + ], + [ + 0.9526971972492417, + 0.13504706382690557, + -0.2722688761227971, + 0.14088838638450307, + -0.9900236138354541, + 0.0019252610624049954, + -0.2692926158204311, + -0.04019371343778938, + -0.9622192850201405 + ], + [ + 0.9462772477542105, + 0.1130844052679757, + -0.3029377620368655, + 0.11526068622723057, + -0.993277142608485, + -0.010746728895400126, + -0.3021164421098994, + -0.02474742929501071, + -0.9529497469175088 + ], + [ + 0.9405186468454935, + 0.12703800123738299, + -0.3150968441249978, + 0.11660941474194672, + -0.9918254043401689, + -0.051813238646138446, + -0.3191033051058279, + 0.01198805851969836, + -0.9476441141712777 + ], + [ + 0.9341228939505941, + 0.162379956580808, + -0.3178791731117056, + 0.13751771988485134, + -0.9855082704816824, + -0.09930924191571647, + -0.3293983845058113, + 0.049053017369145024, + -0.942915959018588 + ], + [ + 0.943943816775042, + 0.14810573228347265, + -0.29501654671720096, + 0.11641336069484551, + -0.9856378632197259, + -0.1223353262119529, + -0.3088980417935631, + 0.08113380708699339, + -0.9476282525989149 + ], + [ + 0.9483481446234568, + 0.14084248121840195, + -0.284251986929715, + 0.10412313747092308, + -0.984595134234405, + -0.14046634431473218, + -0.2996567516884243, + 0.10361378830145018, + -0.9484039297901312 + ], + [ + 0.9524373019724472, + 0.10208970680731555, + -0.2871251949506364, + 0.06977326498870823, + -0.9902412271585679, + -0.12063997483549263, + -0.2966393050562587, + 0.0948683498301153, + -0.9502658148624784 + ], + [ + 0.9515523328037435, + 0.08928655109625931, + -0.2942381173965891, + 0.05631130028225266, + -0.9913307680005244, + -0.11871118681915584, + -0.3022866113414153, + 0.09639097576446469, + -0.9483309466609737 + ], + [ + 0.9529991459644489, + 0.09353743724795913, + -0.28817247547972846, + 0.06694321950808776, + -0.9926501074605086, + -0.10081849790853006, + -0.295484742673666, + 0.07678874912201925, + -0.9522564018452975 + ], + [ + 0.9542429535042479, + 0.12610994554530391, + -0.2711395716638385, + 0.12303376894284772, + -0.9919964409232249, + -0.028385786854908696, + -0.2725492201185087, + -0.006272386325381277, + -0.9621213955538965 + ], + [ + 0.9649345129033385, + 0.0997172477753091, + -0.24281238910754618, + 0.11338046232564794, + -0.9926239054877984, + 0.042926134428486966, + -0.2367409059939138, + -0.068951089550984, + -0.969123052392684 + ], + [ + 0.9640086093458949, + 0.08575449382922318, + -0.25166161386887637, + 0.119702387272803, + -0.9851829405802184, + 0.12282472092744948, + -0.23739995700965405, + -0.14852858437959907, + -0.9599898541307647 + ], + [ + 0.979699376635416, + 0.004263666121643051, + -0.20042692576443133, + 0.024050310617405243, + -0.9950528699849636, + 0.09639174494682584, + -0.19902440548682476, + -0.09925526225793146, + -0.9749552189381446 + ], + [ + 0.9700364276805897, + -0.14180171431006391, + -0.1972855868820816, + -0.1356075188938992, + -0.9897568907930069, + 0.044630683920380915, + -0.2015934765614233, + -0.016539980244461967, + -0.9793296172695851 + ], + [ + 0.9651251472759211, + -0.1886257124080306, + -0.18153178981708482, + -0.19304006431670667, + -0.9811673108960827, + -0.006800117466000968, + -0.17683038105549928, + 0.04160587275268468, + -0.9833615650859322 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.003199756145477295, + -0.0002831704914569855, + -0.00734122097492218, + 0.001496744342148304, + 0.027572661638259888, + -0.0012481873854994774, + 1.0 + ], + [ + -0.0007360577583312988, + 0.007472990080714226, + -0.021242812275886536, + -0.0054498715326189995, + -0.038294658064842224, + -0.058902375400066376, + 1.0 + ], + [ + -0.0009310245513916016, + 0.026274556294083595, + -0.015876680612564087, + 0.02763945795595646, + -0.011252164840698242, + 0.05318492650985718, + 1.0 + ], + [ + -0.0006613433361053467, + 0.0211282130330801, + -0.02075141668319702, + 0.031041458249092102, + -0.0041621774435043335, + 0.03332772105932236, + 1.0 + ], + [ + 0.0025337934494018555, + 0.008348312228918076, + -0.022825414314866066, + 0.016527146100997925, + -0.000876501202583313, + -0.011669382452964783, + 1.0 + ], + [ + 0.0013301968574523926, + -0.002037663012742996, + -0.012733873911201954, + -0.015048369765281677, + -0.010800942778587341, + -0.020380694419145584, + 1.0 + ], + [ + -0.002330958843231201, + -0.0011953674256801605, + -0.004137463867664337, + -0.005799204111099243, + -0.001967422664165497, + -0.0021124454215168953, + 0.0 + ], + [ + -0.0051991939544677734, + 0.0010012798011302948, + -0.005720887333154678, + -0.02270328439772129, + -0.00518161803483963, + 0.015526513569056988, + 0.0 + ], + [ + 0.00020262598991394043, + 0.0032152049243450165, + -9.248132118955255e-05, + -0.004853202495723963, + -0.005046181380748749, + 0.008346810936927795, + 0.0 + ], + [ + -0.0022912919521331787, + -0.0019102133810520172, + 0.000355407886672765, + 0.01478346437215805, + 0.017965510487556458, + 0.0043317340314388275, + 0.0 + ], + [ + 0.0014405250549316406, + -0.015864726155996323, + 0.04009527713060379, + -0.004698539152741432, + -0.058901190757751465, + 0.027647050097584724, + 0.0 + ], + [ + 0.0007966458797454834, + -0.035600218921899796, + 0.019887801259756088, + -0.0652429386973381, + 0.013817906379699707, + -0.025297053158283234, + 0.0 + ], + [ + 0.010995328426361084, + -0.04256322234869003, + 0.013809654861688614, + -0.05036313459277153, + 0.0036473050713539124, + -0.09199269115924835, + 0.0 + ], + [ + 0.0012864768505096436, + -0.055044401437044144, + -0.014117848128080368, + -0.05791325122117996, + 0.04044990986585617, + -0.09827683120965958, + 0.0 + ], + [ + 0.00634080171585083, + -0.04565770924091339, + -0.0178786963224411, + -0.04929037392139435, + 0.02256803959608078, + -0.04591400921344757, + 0.0 + ], + [ + 0.00680205225944519, + -0.032197028398513794, + -0.017758438363671303, + -0.018689200282096863, + 0.019072309136390686, + -0.035577088594436646, + 0.0 + ], + [ + 0.0062354207038879395, + -0.009647026658058167, + -0.017466146498918533, + -0.018467232584953308, + 0.032147035002708435, + 0.0067738741636276245, + 0.0 + ], + [ + 0.007382094860076904, + -0.005872830748558044, + -0.005894538015127182, + -0.0278024822473526, + 0.017022177577018738, + 0.0010586977005004883, + 0.0 + ], + [ + 0.01081174612045288, + 0.009059637784957886, + -0.002034962410107255, + -0.008104562759399414, + 0.014525160193443298, + 0.021755769848823547, + 0.0 + ], + [ + 0.0039198994636535645, + 0.035896122455596924, + -0.002887548878788948, + 0.04210159182548523, + 0.011771127581596375, + 0.10005274415016174, + 0.0 + ], + [ + -0.014540702104568481, + 0.04439157247543335, + -0.0006109995301812887, + 0.08105506002902985, + 0.007662147283554077, + 0.11594287306070328, + 0.0 + ], + [ + -0.011201649904251099, + 0.04880925267934799, + -0.001193941105157137, + 0.04364582151174545, + -0.0023746490478515625, + 0.13451358675956726, + 0.0 + ], + [ + -0.008775413036346436, + 0.0475933663547039, + -0.0033933292143046856, + 0.010531097650527954, + -0.001696750521659851, + 0.07251845300197601, + 0.0 + ], + [ + -0.010988354682922363, + 0.04960162192583084, + -0.003666105680167675, + 0.015245676040649414, + 0.007535144686698914, + 0.056441038846969604, + 0.0 + ], + [ + -0.01414424180984497, + 0.04638740047812462, + 0.003076428547501564, + 0.010130532085895538, + -0.012645989656448364, + 0.060558587312698364, + 0.0 + ], + [ + -0.007081121206283569, + 0.048120610415935516, + 0.0030587101355195045, + 0.017221856862306595, + 0.002168595790863037, + -0.019010275602340698, + 0.0 + ], + [ + -0.00025984644889831543, + 0.010168209671974182, + 0.0034716771915555, + 0.013290602713823318, + 0.0006054788827896118, + -0.035125285387039185, + 0.0 + ], + [ + 0.0056119561195373535, + -0.01584497094154358, + 0.004738088697195053, + 0.003694821149110794, + -0.005499839782714844, + -0.05786879360675812, + 0.0 + ], + [ + 0.015443116426467896, + -0.031174473464488983, + 0.02069709636271, + -0.016879450529813766, + -0.05314826965332031, + -0.059865206480026245, + 0.0 + ], + [ + 0.012845218181610107, + -0.057974353432655334, + 0.014635458588600159, + -0.043477922677993774, + -0.018202096223831177, + -0.08060620725154877, + 0.0 + ], + [ + 0.0056021809577941895, + -0.04487950727343559, + 0.008680008351802826, + -0.03174866735935211, + 0.014272689819335938, + -0.08962668478488922, + 0.0 + ], + [ + -0.0025533437728881836, + -0.04510478675365448, + 0.0023195408284664154, + -0.040923938155174255, + 0.001180604100227356, + -0.08618175238370895, + 0.0 + ], + [ + 0.0003940165042877197, + -0.05214286223053932, + -0.0031170882284641266, + -0.06797650456428528, + -0.0018055438995361328, + -0.09165378659963608, + 0.0 + ], + [ + 0.001046895980834961, + -0.04940713196992874, + -0.01827693171799183, + -0.04841133952140808, + 0.03621043264865875, + -0.051991745829582214, + 0.0 + ], + [ + 0.0017836391925811768, + -0.03466470539569855, + -0.012920468114316463, + 0.0039414167404174805, + 0.04618626832962036, + -0.05328114330768585, + 0.0 + ], + [ + 0.004960179328918457, + -0.006101265549659729, + -0.012415150180459023, + -0.016823798418045044, + 0.06806787848472595, + -0.030279070138931274, + 0.0 + ], + [ + 0.013384103775024414, + -0.0025546401739120483, + -0.004282292909920216, + -0.02237612009048462, + 0.023945719003677368, + -0.004227697849273682, + 0.0 + ], + [ + 0.016525745391845703, + 0.004494518041610718, + -0.00026160734705626965, + -0.008513659238815308, + -0.003481447696685791, + 0.019428908824920654, + 0.0 + ], + [ + 0.013670533895492554, + 0.01957562565803528, + 0.002104418585076928, + 0.004769325256347656, + -0.008325934410095215, + 0.07014565169811249, + 0.0 + ], + [ + -0.0010229647159576416, + 0.030185997486114502, + 0.00020938919624313712, + 0.0008283555507659912, + -0.01275867223739624, + 0.08744966983795166, + 0.0 + ], + [ + -0.0023354291915893555, + 0.04709559679031372, + -0.0017263812478631735, + -0.004318982362747192, + 0.008824050426483154, + 0.09687921404838562, + 0.0 + ], + [ + -0.0013238489627838135, + 0.052725307643413544, + -0.0019888519309461117, + -0.005172461271286011, + 0.006740748882293701, + 0.10091167688369751, + 0.0 + ], + [ + -0.0039389729499816895, + 0.047043804079294205, + -0.0013553681783378124, + 0.006935298442840576, + -0.0038033127784729004, + 0.08809957653284073, + 0.0 + ], + [ + -0.004100382328033447, + 0.03723666071891785, + -0.0007459074258804321, + 0.013371109962463379, + -0.01272118091583252, + 0.07790014147758484, + 0.0 + ], + [ + -0.0033728182315826416, + 0.025441158562898636, + 0.0008063819259405136, + 0.02477589249610901, + -0.010662704706192017, + 0.04896630346775055, + 0.0 + ], + [ + -0.011530399322509766, + 0.03905037045478821, + 0.0014815910253673792, + 0.03825920820236206, + -0.00485721230506897, + 0.08873510360717773, + 0.0 + ], + [ + -0.011024504899978638, + 0.017134547233581543, + 0.0029549768660217524, + 0.04035310447216034, + -0.013827592134475708, + 0.02968674898147583, + 0.0 + ], + [ + -0.0038237571716308594, + 0.002495400607585907, + 0.004341913387179375, + 0.017286524176597595, + -0.011428892612457275, + -0.029509425163269043, + 0.0 + ], + [ + 0.002502530813217163, + -0.011348232626914978, + 0.0056594666093587875, + -0.006491959095001221, + -0.006001859903335571, + -0.04495546221733093, + 0.0 + ], + [ + 0.008464843034744263, + -0.03136931359767914, + 0.017813557758927345, + 0.0003892481327056885, + -0.03821541368961334, + -0.05611033737659454, + 0.0 + ], + [ + 0.00865405797958374, + -0.04554325342178345, + 0.004183117300271988, + -0.008946061134338379, + -0.0006370395421981812, + -0.08218878507614136, + 0.0 + ], + [ + -0.003304213285446167, + -0.04295428842306137, + 0.011781314387917519, + -0.020879089832305908, + -0.036143526434898376, + -0.04763450473546982, + 0.0 + ], + [ + -0.019888877868652344, + -0.052444182336330414, + -0.007371619343757629, + -0.039794087409973145, + 0.01790720224380493, + -0.0696752592921257, + 0.0 + ], + [ + -0.0095863938331604, + -0.04532777518033981, + -0.0009057819843292236, + 0.00829574465751648, + -0.004234582185745239, + -0.0839884877204895, + 0.0 + ], + [ + -0.012498676776885986, + -0.04451490938663483, + -0.0005225129425525665, + -0.009539783000946045, + -0.012274160981178284, + -0.0625154972076416, + 0.0 + ], + [ + -0.010191500186920166, + -0.04902562499046326, + -0.009818244725465775, + -0.02474793791770935, + 0.007247522473335266, + -0.022690705955028534, + 0.0 + ], + [ + -0.0016461610794067383, + -0.0055399090051651, + -0.01119608711451292, + 0.00273171067237854, + 0.009333044290542603, + 0.012334056198596954, + 0.0 + ], + [ + -0.009516924619674683, + 0.0031604915857315063, + -0.006633665878325701, + -0.009155362844467163, + -0.003889143466949463, + 0.03706195205450058, + 0.0 + ], + [ + -0.025323331356048584, + 0.010296836495399475, + -0.0019695009104907513, + -0.013802558183670044, + 0.006172239780426025, + 0.016543269157409668, + 0.0 + ], + [ + -0.017932146787643433, + 0.015334337949752808, + 0.003315507434308529, + 0.013706207275390625, + 0.005827173590660095, + 0.004100870341062546, + 0.0 + ], + [ + 0.00274108350276947, + 0.028957173228263855, + -0.00422406243160367, + 0.03972822427749634, + -0.00038166344165802, + 0.0021826960146427155, + 0.0 + ], + [ + 0.007013753056526184, + 0.037638746201992035, + -0.0040818448178470135, + 0.033594220876693726, + 0.007433176040649414, + 0.018691208213567734, + 0.0 + ], + [ + 0.004295751452445984, + 0.04560735076665878, + -0.008421509526669979, + 0.05353209376335144, + 0.0027459263801574707, + 0.08320451527833939, + 0.0 + ], + [ + -0.004172727465629578, + 0.04770371690392494, + -0.0035540927201509476, + 0.03403212130069733, + 0.02103780210018158, + 0.062718465924263, + 0.0 + ], + [ + -0.007487982511520386, + 0.050995659083127975, + 0.0016205860301852226, + 0.06075543165206909, + 0.008916795253753662, + 0.022231794893741608, + 0.0 + ], + [ + -0.009623050689697266, + 0.04536225646734238, + 0.002591432072222233, + 0.04358542338013649, + -0.018076926469802856, + 0.04456709325313568, + 0.0 + ], + [ + -0.003110542893409729, + 0.027831077575683594, + -0.0005951235070824623, + 0.045856159180402756, + -0.0013203322887420654, + 0.020504340529441833, + 0.0 + ], + [ + -0.002193361520767212, + 0.020615972578525543, + 0.0007937215268611908, + 0.02502112090587616, + 0.03341558575630188, + -0.0002657473087310791, + 0.0 + ], + [ + -1.3366341590881348e-05, + 0.004227533936500549, + 0.008428550325334072, + 0.011992543935775757, + -0.010828226804733276, + -0.050639718770980835, + 0.0 + ], + [ + 0.001670047640800476, + -0.007642462849617004, + 0.010778553783893585, + -0.015784159302711487, + 0.03425362706184387, + -0.025612294673919678, + 0.0 + ], + [ + 0.004923120141029358, + -0.020060941576957703, + 0.016696546226739883, + -0.03861316293478012, + 0.017871111631393433, + 0.002147376537322998, + 0.0 + ], + [ + 0.010259419679641724, + -0.01588393747806549, + 0.008199604228138924, + -0.039326123893260956, + 0.010883152484893799, + 0.022811323404312134, + 0.0 + ], + [ + 0.02085617184638977, + -0.021388806402683258, + -0.008739039301872253, + -0.033433642238378525, + -0.021632134914398193, + -0.023459002375602722, + 0.0 + ], + [ + 0.024131864309310913, + -0.006200090050697327, + -0.01560619380325079, + -0.0234096497297287, + -0.009701341390609741, + -0.01335078477859497, + 0.0 + ], + [ + 0.027771860361099243, + -0.013411566615104675, + -0.011368317529559135, + 0.009315334260463715, + -0.003161221742630005, + -0.03622923046350479, + 0.0 + ], + [ + 0.011973083019256592, + -0.001681942492723465, + -0.004736102186143398, + -0.0017910972237586975, + 0.005918949842453003, + -0.01401754841208458, + 1.0 + ], + [ + -0.001311272382736206, + -0.0015413425862789154, + -1.4516990631818771e-05, + 0.02083025872707367, + -0.007127702236175537, + 0.011020172387361526, + 1.0 + ], + [ + -0.008509427309036255, + -0.014275211840867996, + 0.012664714828133583, + 0.08698385953903198, + -0.023921310901641846, + 0.05809637904167175, + 1.0 + ], + [ + -0.0014285147190093994, + -0.02178775519132614, + 0.03523900359869003, + 0.06450899690389633, + -0.037031546235084534, + -0.011261604726314545, + 1.0 + ], + [ + -0.010822951793670654, + -0.025081049650907516, + 0.030656322836875916, + 0.08247356116771698, + 0.0006783902645111084, + 0.006574787199497223, + 1.0 + ], + [ + -0.006151974201202393, + -0.043690428137779236, + 0.017299771308898926, + -0.052046388387680054, + -0.039326101541519165, + -0.09899541735649109, + 1.0 + ], + [ + -0.007290393114089966, + -0.04132384806871414, + 0.004391305148601532, + -0.08456792682409286, + 0.0026222169399261475, + -0.16343989968299866, + 1.0 + ], + [ + -0.001570671796798706, + -0.018402040004730225, + -0.0013475194573402405, + -0.05917210131883621, + -0.025219380855560303, + -0.058514371514320374, + 1.0 + ], + [ + -0.009784013032913208, + -0.00655471533536911, + -0.016973555088043213, + -0.06313768029212952, + 0.001168578863143921, + -0.008423075079917908, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9974852800369263 + ], + [ + 0.9311676621437073 + ], + [ + 0.6289845705032349 + ], + [ + 0.3737536668777466 + ], + [ + 0.36024010181427 + ], + [ + 0.3610773980617523 + ], + [ + 0.36024010181427 + ], + [ + 0.36024010181427 + ], + [ + 0.36024010181427 + ], + [ + 0.36024010181427 + ], + [ + 0.36024010181427 + ], + [ + 0.36024010181427 + ], + [ + 0.36024010181427 + ], + [ + 0.36024010181427 + ], + [ + 0.36024010181427 + ], + [ + 0.36024010181427 + ], + [ + 0.36024010181427 + ], + [ + 0.36024010181427 + ], + [ + 0.35940393805503845 + ], + [ + 0.35940393805503845 + ], + [ + 0.35940393805503845 + ], + [ + 0.35940393805503845 + ], + [ + 0.35940393805503845 + ], + [ + 0.35940393805503845 + ], + [ + 0.35940393805503845 + ], + [ + 0.35940393805503845 + ], + [ + 0.35940393805503845 + ], + [ + 0.35940393805503845 + ], + [ + 0.35940393805503845 + ], + [ + 0.35940393805503845 + ], + [ + 0.35940393805503845 + ], + [ + 0.35940393805503845 + ], + [ + 0.35940393805503845 + ], + [ + 0.35940393805503845 + ], + [ + 0.35940393805503845 + ], + [ + 0.35940393805503845 + ], + [ + 0.35940393805503845 + ], + [ + 0.35856863856315613 + ], + [ + 0.35856863856315613 + ], + [ + 0.35856863856315613 + ], + [ + 0.35856863856315613 + ], + [ + 0.35856863856315613 + ], + [ + 0.35856863856315613 + ], + [ + 0.35856863856315613 + ], + [ + 0.35856863856315613 + ], + [ + 0.35856863856315613 + ], + [ + 0.35856863856315613 + ], + [ + 0.35856863856315613 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ], + [ + 0.35690104961395264 + ], + [ + 0.35606881976127625 + ], + [ + 0.35690104961395264 + ], + [ + 0.35606881976127625 + ], + [ + 0.35606881976127625 + ], + [ + 0.35606881976127625 + ], + [ + 0.35690104961395264 + ], + [ + 0.35606881976127625 + ], + [ + 0.35606881976127625 + ], + [ + 0.35606881976127625 + ], + [ + 0.35606881976127625 + ], + [ + 0.35606881976127625 + ], + [ + 0.35606881976127625 + ], + [ + 0.35606881976127625 + ], + [ + 0.41037410497665405 + ], + [ + 0.7240482568740845 + ], + [ + 0.9961419701576233 + ], + [ + 1.0112061500549316 + ], + [ + 1.0027955770492554 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2869124412536621, + -0.018360378220677376, + 0.10420886427164078 + ], + [ + 0.2861763834953308, + -0.01088738813996315, + 0.08296605199575424 + ], + [ + 0.2852453589439392, + 0.015387168154120445, + 0.06708937138319016 + ], + [ + 0.28458401560783386, + 0.036515381187200546, + 0.046337954699993134 + ], + [ + 0.2871178090572357, + 0.04486369341611862, + 0.023512540385127068 + ], + [ + 0.2884480059146881, + 0.042826030403375626, + 0.010778666473925114 + ], + [ + 0.2861170470714569, + 0.041630662977695465, + 0.0066412026062607765 + ], + [ + 0.28091785311698914, + 0.04263194277882576, + 0.00092031538952142 + ], + [ + 0.2811204791069031, + 0.045847147703170776, + 0.0008278340683318675 + ], + [ + 0.2788291871547699, + 0.04393693432211876, + 0.0011832419550046325 + ], + [ + 0.28026971220970154, + 0.028072208166122437, + 0.04127851873636246 + ], + [ + 0.281066358089447, + -0.007528011687099934, + 0.061166319996118546 + ], + [ + 0.2920616865158081, + -0.05009123310446739, + 0.07497597485780716 + ], + [ + 0.29334816336631775, + -0.10513563454151154, + 0.06085812672972679 + ], + [ + 0.2996889650821686, + -0.15079334378242493, + 0.04297943040728569 + ], + [ + 0.30649101734161377, + -0.18299037218093872, + 0.025220992043614388 + ], + [ + 0.3127264380455017, + -0.1926373988389969, + 0.007754846476018429 + ], + [ + 0.3201085329055786, + -0.19851022958755493, + 0.0018603084608912468 + ], + [ + 0.3309202790260315, + -0.18945059180259705, + -0.00017465396376792341 + ], + [ + 0.33484017848968506, + -0.15355446934700012, + -0.0030622028280049562 + ], + [ + 0.3202994763851166, + -0.10916289687156677, + -0.003673202358186245 + ], + [ + 0.3090978264808655, + -0.06035364419221878, + -0.004867143463343382 + ], + [ + 0.30032241344451904, + -0.012760278768837452, + -0.008260472677648067 + ], + [ + 0.2893340587615967, + 0.036841344088315964, + -0.011926578357815742 + ], + [ + 0.2751898169517517, + 0.08322874456644058, + -0.008850149810314178 + ], + [ + 0.26810869574546814, + 0.1313493549823761, + -0.005791439674794674 + ], + [ + 0.2678488492965698, + 0.14151756465435028, + -0.002319762483239174 + ], + [ + 0.2734608054161072, + 0.1256725937128067, + 0.002418326446786523 + ], + [ + 0.2889039218425751, + 0.09449812024831772, + 0.02311542257666588 + ], + [ + 0.3017491400241852, + 0.036523766815662384, + 0.03775088116526604 + ], + [ + 0.30735132098197937, + -0.008355740457773209, + 0.04643088951706886 + ], + [ + 0.3047979772090912, + -0.05346052721142769, + 0.04875043034553528 + ], + [ + 0.3051919937133789, + -0.10560338944196701, + 0.04563334211707115 + ], + [ + 0.30623888969421387, + -0.15501052141189575, + 0.027356410399079323 + ], + [ + 0.30802252888679504, + -0.1896752268075943, + 0.01443594228476286 + ], + [ + 0.3129827082157135, + -0.19577649235725403, + 0.002020792569965124 + ], + [ + 0.3263668119907379, + -0.19833113253116608, + -0.002261500107124448 + ], + [ + 0.3428925573825836, + -0.19383661448955536, + -0.0025231074541807175 + ], + [ + 0.35656309127807617, + -0.17426098883152008, + -0.00041868886910378933 + ], + [ + 0.35554012656211853, + -0.14407499134540558, + -0.0002092996728606522 + ], + [ + 0.3532046973705292, + -0.09697939455509186, + -0.0019356808625161648 + ], + [ + 0.35188084840774536, + -0.044254086911678314, + -0.0039245327934622765 + ], + [ + 0.34794187545776367, + 0.0027897171676158905, + -0.005279900971800089 + ], + [ + 0.3438414931297302, + 0.04002637788653374, + -0.006025808397680521 + ], + [ + 0.3404686748981476, + 0.06546753644943237, + -0.005219426471740007 + ], + [ + 0.3289382755756378, + 0.10451790690422058, + -0.003737835446372628 + ], + [ + 0.3179137706756592, + 0.12165245413780212, + -0.0007828585221432149 + ], + [ + 0.3140900135040283, + 0.12414785474538803, + 0.0035590550396591425 + ], + [ + 0.3165925443172455, + 0.11279962211847305, + 0.009218521416187286 + ], + [ + 0.32505738735198975, + 0.08143030852079391, + 0.02703207917511463 + ], + [ + 0.3337114453315735, + 0.03588705509901047, + 0.03121519647538662 + ], + [ + 0.3304072320461273, + -0.007067233324050903, + 0.04299651086330414 + ], + [ + 0.310518354177475, + -0.05951141566038132, + 0.03562489151954651 + ], + [ + 0.3009319603443146, + -0.10483919084072113, + 0.034719109535217285 + ], + [ + 0.2884332835674286, + -0.14935410022735596, + 0.03419659659266472 + ], + [ + 0.2782417833805084, + -0.1983797252178192, + 0.024378351867198944 + ], + [ + 0.2765956223011017, + -0.20391963422298431, + 0.013182264752686024 + ], + [ + 0.267078697681427, + -0.2007591426372528, + 0.006548598874360323 + ], + [ + 0.24175536632537842, + -0.19046230614185333, + 0.004579097963869572 + ], + [ + 0.22382321953773499, + -0.17512796819210052, + 0.0078946053981781 + ], + [ + 0.22656430304050446, + -0.14617079496383667, + 0.0036705429665744305 + ], + [ + 0.23357805609703064, + -0.10853204876184464, + -0.00041130188037641346 + ], + [ + 0.23787380754947662, + -0.06292469799518585, + -0.008832811377942562 + ], + [ + 0.23370108008384705, + -0.01522098109126091, + -0.01238690409809351 + ], + [ + 0.22621309757232666, + 0.035774677991867065, + -0.010766318067908287 + ], + [ + 0.2165900468826294, + 0.08113693445920944, + -0.008174885995686054 + ], + [ + 0.21347950398921967, + 0.10896801203489304, + -0.008770009502768517 + ], + [ + 0.21128614246845245, + 0.12958398461341858, + -0.007976287975907326 + ], + [ + 0.21127277612686157, + 0.13381151854991913, + 0.0004522621165961027 + ], + [ + 0.21294282376766205, + 0.12616905570030212, + 0.011230816133320332 + ], + [ + 0.2178659439086914, + 0.10610811412334442, + 0.02792736329138279 + ], + [ + 0.22812536358833313, + 0.09022417664527893, + 0.03612696751952171 + ], + [ + 0.2489815354347229, + 0.06883537024259567, + 0.02738792821764946 + ], + [ + 0.2731133997440338, + 0.06263528019189835, + 0.01178173441439867 + ], + [ + 0.30088526010513306, + 0.04922371357679367, + 0.0004134170594625175 + ], + [ + 0.31285834312438965, + 0.047541771084070206, + -0.0043226853013038635 + ], + [ + 0.31154707074165344, + 0.04600042849779129, + -0.004337202291935682 + ], + [ + 0.3030376434326172, + 0.031725216656923294, + 0.008327513001859188 + ], + [ + 0.3016091287136078, + 0.009937462396919727, + 0.043566517531871796 + ], + [ + 0.29078617691993713, + -0.015143588185310364, + 0.07422284036874771 + ], + [ + 0.28463420271873474, + -0.0588340163230896, + 0.09152261167764664 + ], + [ + 0.2773438096046448, + -0.10015786439180374, + 0.09591391682624817 + ], + [ + 0.27577313780784607, + -0.11855990439653397, + 0.09456639736890793 + ], + [ + 0.26598912477493286, + -0.12511461973190308, + 0.07759284228086472 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9834875262522698, + 0.00513294629188687, + -0.1809031192891799, + 0.0024686644581090175, + -0.999885198752759, + -0.014949749527949465, + -0.18095908764685986, + 0.014256303080383807, + -0.9833872921796865 + ], + [ + 0.9881244046557821, + -0.05350016889409849, + -0.14404128870556215, + -0.0557817183929392, + -0.9983727240143306, + -0.011844992078342838, + -0.1431731846987661, + 0.01973919634909469, + -0.9895007848964572 + ], + [ + 0.9912408734265767, + -0.004222980159962967, + -0.1319988533551939, + -0.0031792598494504135, + -0.9999620042656787, + 0.008116793195380681, + -0.13202811501845768, + -0.007626038521766379, + -0.9912166364529692 + ], + [ + 0.9913370497234304, + 0.025142477055231947, + -0.12891357451088048, + 0.02986848201335035, + -0.9989458165004292, + 0.03485870735568519, + -0.12790124169789502, + -0.038407180888712325, + -0.9910429661867939 + ], + [ + 0.9917297975001328, + 0.011406508019126859, + -0.12783544236695824, + 0.01830048106352156, + -0.9984329391433736, + 0.05288438735930212, + -0.1270318902606349, + -0.05478647285904267, + -0.990384441138125 + ], + [ + 0.9932109645648067, + -0.006604171498513719, + -0.11613941960878149, + -0.0019165983649718707, + -0.9991806545573247, + 0.040427047988981966, + -0.11631124846270796, + -0.03992999470591354, + -0.9924098392316715 + ], + [ + 0.9934316089399894, + -0.007974465273361948, + -0.11414922804166801, + -0.0040156135712653114, + -0.9993838103723807, + 0.034869390777994565, + -0.11435695521721033, + -0.03418197579406678, + -0.9928514890577863 + ], + [ + 0.9939533894668399, + 0.010204489611383092, + -0.10932761754996868, + 0.011415431844408486, + -0.9998801717795718, + 0.01045609859651842, + -0.10920781786661023, + -0.011640896607462174, + -0.9939507744566569 + ], + [ + 0.9943618027793711, + 0.019115023699955616, + -0.10430350445842847, + 0.01972195577454492, + -0.9997940262485419, + 0.004790567623696125, + -0.10419044886066171, + -0.006820626560694142, + -0.9945339760005858 + ], + [ + 0.9922354059118011, + 0.021514750930278298, + -0.12249903978175224, + 0.023979968283677558, + -0.9995377981146779, + 0.01868558966624492, + -0.12204040468696033, + -0.021478026735935258, + -0.9922927158814446 + ], + [ + 0.9966489549697288, + 0.0507066410591404, + -0.06418486667624314, + 0.05168260070758174, + -0.9985704556583783, + 0.013636490395973751, + -0.06340165093945331, + -0.016908034738499625, + -0.9978448521786508 + ], + [ + 0.9966663693079926, + 0.030204181119811685, + -0.07578822951689736, + 0.026430722457175343, + -0.9983839530259699, + -0.05030804359771603, + -0.07718526543852829, + 0.04813719749964202, + -0.9958540279659789 + ], + [ + 0.9945925943166717, + -0.05717069949132818, + -0.08670110985509041, + -0.06521893962194553, + -0.993525047612925, + -0.09302940223565724, + -0.0808211682977995, + 0.09818090896608635, + -0.9918812670222034 + ], + [ + 0.979365210031373, + -0.14240591220367751, + -0.14340272504259982, + -0.1618266450609586, + -0.9776300234610577, + -0.13435651891831218, + -0.12106164681070353, + 0.15479048225575998, + -0.9805019042686812 + ], + [ + 0.9679862925533987, + -0.1750653115888226, + -0.17987405067722836, + -0.20598566614689856, + -0.9635486456876682, + -0.17071588307910546, + -0.1434309686599938, + 0.2023021108930127, + -0.9687628260608924 + ], + [ + 0.9572187804653967, + -0.20164681771864124, + -0.20753497832482226, + -0.2395783430093934, + -0.9544950629500298, + -0.1775989649882356, + -0.16227884608048215, + 0.21972195090150679, + -0.9619708105794186 + ], + [ + 0.953256012067458, + -0.1839368997895555, + -0.23972941486820773, + -0.2317362901193418, + -0.9541686921806241, + -0.18936842055644212, + -0.19391046206682735, + 0.2360705906251863, + -0.9521918971210084 + ], + [ + 0.9501546454398231, + -0.17186266158322658, + -0.26013337983168033, + -0.22991724815386347, + -0.9497716654052121, + -0.21230130144387843, + -0.2105806466664938, + 0.26152821864368503, + -0.9419441502034938 + ], + [ + 0.9518429329424701, + -0.14527249826013822, + -0.2699832073606324, + -0.20851653949148719, + -0.95232352189054, + -0.22271228617319924, + -0.22475738867937395, + 0.2682830797930724, + -0.9367541328068815 + ], + [ + 0.9652155479274426, + -0.057079279588087936, + -0.2551487838121735, + -0.11208508840329263, + -0.9719909175708579, + -0.2065686063209687, + -0.23621151326036677, + 0.2279816045242821, + -0.9445784821822806 + ], + [ + 0.9698632145921678, + 0.03813307650193343, + -0.24064748795165852, + 0.00032611657391010476, + -0.9878790410775983, + -0.1552253002818308, + -0.2436498278861, + 0.1504688295830801, + -0.9581199782360095 + ], + [ + 0.9616290160130478, + 0.16035701267488198, + -0.2226101166788366, + 0.13046729764581225, + -0.9810682234586724, + -0.14312031709245024, + -0.24134605819606117, + 0.10858530934538155, + -0.9643450164684791 + ], + [ + 0.9500479236437762, + 0.22861356397128202, + -0.21247301275338082, + 0.19988315430015646, + -0.9685248741580607, + -0.14834518112878758, + -0.23969911849476966, + 0.09846525532116139, + -0.9658410459735955 + ], + [ + 0.9354891970688539, + 0.2803542610494824, + -0.2150847518511469, + 0.25267993401206085, + -0.9562517032418849, + -0.1474297493542412, + -0.24700771873593608, + 0.08357133694271321, + -0.9654030342434583 + ], + [ + 0.9213689984685856, + 0.3347265188053881, + -0.19757865843613223, + 0.3098048463802651, + -0.9394037085229302, + -0.14677067000142113, + -0.23473415989219806, + 0.07401911929894785, + -0.9692373518173514 + ], + [ + 0.926603962742999, + 0.3134303902870369, + -0.20776546073273766, + 0.292080721193556, + -0.9478816480064519, + -0.12731548876560647, + -0.236841610651556, + 0.05728675079884329, + -0.9698578656931582 + ], + [ + 0.9361513453575747, + 0.277131500916596, + -0.21637650007548806, + 0.25932169125591564, + -0.9598062602862188, + -0.10735084144781942, + -0.23742981916636866, + 0.044385514699032534, + -0.9703901313675483 + ], + [ + 0.950844674550972, + 0.2201136863595058, + -0.2178172857127855, + 0.2050160189632344, + -0.9746183423688755, + -0.0899306326376729, + -0.23208368500720342, + 0.04085403034431842, + -0.9718374922578891 + ], + [ + 0.9722357555118749, + 0.16212103626347252, + -0.1687436081903903, + 0.14942447382262009, + -0.9850709533043759, + -0.08548417151052871, + -0.18008320945353917, + 0.05789634320806613, + -0.9819460530579299 + ], + [ + 0.9842172032100815, + 0.08798176713195906, + -0.15354382292252317, + 0.07087963865445975, + -0.991004849705977, + -0.11351416071771588, + -0.16214984961306206, + 0.10083945909995722, + -0.9816001374077378 + ], + [ + 0.9841966124293386, + 0.0059851884724087465, + -0.17697798055567057, + -0.017456108576170817, + -0.9912815112080924, + -0.13059957814011833, + -0.17621666310536724, + 0.13162500923437645, + -0.9755114271950172 + ], + [ + 0.9788337766955735, + -0.07142031273529639, + -0.19179044952414212, + -0.10208450061535773, + -0.9826112771269226, + -0.1550929811342568, + -0.17737866933200583, + 0.1713890807250869, + -0.9691040143731819 + ], + [ + 0.9656945973526277, + -0.14716538683045935, + -0.21395395196861436, + -0.19130621775525922, + -0.9603243527958144, + -0.20292626364144745, + -0.1756014683655129, + 0.2368955177844067, + -0.9555336927401014 + ], + [ + 0.9476587557877465, + -0.17589629212828012, + -0.26646458863110195, + -0.2395173310312494, + -0.943496527087512, + -0.22901037423983675, + -0.2111263382775502, + 0.28084657339787134, + -0.9362429553786704 + ], + [ + 0.9232527919258473, + -0.21482805313360628, + -0.31851717345843766, + -0.28644852597606707, + -0.9374011639751666, + -0.19805630447966333, + -0.25603031884381666, + 0.27409481090459764, + -0.9269954209530413 + ], + [ + 0.895572562591267, + -0.21915512739840315, + -0.38719609407727834, + -0.3078790689404708, + -0.9335148796533719, + -0.18374016538062493, + -0.3211857158126116, + 0.2837622237027689, + -0.9035035895651992 + ], + [ + 0.8867446690327553, + -0.20752008018319967, + -0.4130609013968129, + -0.30904229796012195, + -0.930657161984813, + -0.19588288571976029, + -0.34376845406976536, + 0.30135139483190027, + -0.8893877595398711 + ], + [ + 0.8937134568283319, + -0.18693286696033298, + -0.40783864497365113, + -0.2921266441785885, + -0.9324092669447486, + -0.21277918760187287, + -0.340497108423713, + 0.30930415801528943, + -0.8879147802517667 + ], + [ + 0.9147083740485566, + -0.12545746610304676, + -0.38414712629987036, + -0.2294513629289474, + -0.9437370633016865, + -0.23814371165486814, + -0.33265697421742735, + 0.3059751289724565, + -0.8920305812890017 + ], + [ + 0.9353681602497269, + -0.0467077114435416, + -0.3505778008983854, + -0.14934258487424587, + -0.9506966127576085, + -0.271795406205271, + -0.32059818641739035, + 0.3065849640522451, + -0.8962267919912702 + ], + [ + 0.9425672694931508, + 0.04959326595323471, + -0.33031416931811747, + -0.05799027123042351, + -0.9496008841711759, + -0.30805079000701036, + -0.3289438719946735, + 0.3095136002721253, + -0.8921867855576764 + ], + [ + 0.9413771273649683, + 0.14865489857912842, + -0.3028379520511084, + 0.03717110177558012, + -0.9379205617675841, + -0.3448526192540359, + -0.33530197325227573, + 0.3133795477404494, + -0.8884626304978289 + ], + [ + 0.9357138346869049, + 0.2275550023886429, + -0.26955211084952074, + 0.12001599698417838, + -0.923897309639686, + -0.3633316965369853, + -0.33171641509491395, + 0.30762392970712643, + -0.8918137349402755 + ], + [ + 0.9275925300937159, + 0.2918317154030908, + -0.2332516838079152, + 0.19331590801170673, + -0.9091988561220113, + -0.36876333838389463, + -0.31968900172503206, + 0.2969708570067354, + -0.8997817803582916 + ], + [ + 0.9202653440138348, + 0.3277181295503176, + -0.21380487405842605, + 0.23933121865438794, + -0.9036961817319012, + -0.3550405313490107, + -0.3095678671705184, + 0.27556131565810105, + -0.9100734568859112 + ], + [ + 0.8968408492662114, + 0.39817214998794176, + -0.19270555275196594, + 0.3204444720514588, + -0.8851062729479167, + -0.337494038347213, + -0.3049456204294833, + 0.24092701086060955, + -0.9213915259099409 + ], + [ + 0.8907761550939959, + 0.4139297227525754, + -0.1875633923182599, + 0.3484264634555421, + -0.8870545410063118, + -0.30287495909029083, + -0.29174790672740253, + 0.20444174207352486, + -0.9343911028140847 + ], + [ + 0.9037495622331247, + 0.3820942079274675, + -0.1929786128868065, + 0.323093707165682, + -0.9046101087060031, + -0.2780126033417354, + -0.2807974094491814, + 0.18890359312409544, + -0.9409932238605304 + ], + [ + 0.9189507182974658, + 0.3412604865080083, + -0.1976634960959892, + 0.28264284318942273, + -0.9194458576673855, + -0.2733721602725579, + -0.27503199910986903, + 0.19534737051366524, + -0.9413802655139025 + ], + [ + 0.9428749120454831, + 0.28180583278145976, + -0.1776861639114597, + 0.2330150347339669, + -0.9390359170562321, + -0.2528152291027757, + -0.23809849605394484, + 0.1969695892484642, + -0.9510584036157509 + ], + [ + 0.9589713588776969, + 0.20539570557420506, + -0.19541375843051098, + 0.1548460888634018, + -0.9568602754992609, + -0.24584772102906774, + -0.2374797288527404, + 0.2055018669091678, + -0.949406320329118 + ], + [ + 0.9731536842836994, + 0.1557602396577969, + -0.16944218632562533, + 0.10989939551941508, + -0.9613296088323073, + -0.2525222882178727, + -0.2022227228318554, + 0.2271214012902987, + -0.9526394068305184 + ], + [ + 0.9746689480431986, + 0.10053885509962929, + -0.19978083075115188, + 0.0417212805835904, + -0.9593181488149605, + -0.2792275489644649, + -0.21972659481007295, + 0.2638193093188841, + -0.9392122207273907 + ], + [ + 0.9756541859897027, + 0.016777274574517363, + -0.21867197447003234, + -0.04022852333289531, + -0.9664620820990013, + -0.25363893584250496, + -0.21559354181242518, + 0.25626074011193156, + -0.9422578510185308 + ], + [ + 0.9737938000332353, + -0.044642267038828676, + -0.22300830255949042, + -0.10137009186341492, + -0.9629562597964726, + -0.24987866294342015, + -0.20359209093782135, + 0.26593666485165685, + -0.9422462262037156 + ], + [ + 0.9697539026008594, + -0.05872392809529921, + -0.2369153195963939, + -0.12324889527460707, + -0.9556084891591534, + -0.2676231030022436, + -0.21068241076082328, + 0.2887280999764635, + -0.9339427209845309 + ], + [ + 0.9692044632265009, + -0.04492035101679335, + -0.24212573288760073, + -0.11105014894688148, + -0.9572992424264976, + -0.2669195100934529, + -0.2197966625786323, + 0.28558767920584655, + -0.9328071100742709 + ], + [ + 0.9734986171864846, + -0.008434168465745198, + -0.22853732110597025, + -0.07512670724471071, + -0.955653922172944, + -0.2847482377364882, + -0.21600097267042445, + 0.29437127209997843, + -0.9309614030493801 + ], + [ + 0.973258862811261, + 0.012355350909817774, + -0.22937857629522862, + -0.058930610533957345, + -0.951704391374125, + -0.30130704369679256, + -0.22202335260378758, + 0.30676717024985106, + -0.9255266253087875 + ], + [ + 0.972184111385028, + 0.014839307702876472, + -0.23374740323135723, + -0.0548650877828431, + -0.9557953226292786, + -0.28886869574700247, + -0.22770128614718954, + 0.2936581280790517, + -0.9283948664765564 + ], + [ + 0.9723882561353199, + 0.007555486733702283, + -0.233246637597047, + -0.05274767984548097, + -0.9664946560011074, + -0.25120860294229486, + -0.2273296320346953, + 0.25657551430625203, + -0.9394095187177167 + ], + [ + 0.9714886775854862, + 0.01959745522753691, + -0.2362746052198759, + -0.03450348208571735, + -0.9742812643377442, + -0.22267808083510926, + -0.23456184482384193, + 0.2244815308862882, + -0.9458270366424215 + ], + [ + 0.9703483307624372, + 0.08922436655197069, + -0.2246399995547347, + 0.04632400435928652, + -0.9807949989281853, + -0.18946043570514032, + -0.23723027548496514, + 0.17343639321336335, + -0.9558460199752191 + ], + [ + 0.9603633033679296, + 0.14614756685077596, + -0.23736725605659278, + 0.10647817223530676, + -0.9792980010453465, + -0.17215639397366866, + -0.2576135174668955, + 0.14005825163904712, + -0.9560433890604271 + ], + [ + 0.9554440255401628, + 0.15411659576838083, + -0.2517434983636599, + 0.1274918004281757, + -0.98468124795823, + -0.11894822715368536, + -0.2662189979757093, + 0.08155314113011233, + -0.9604564176934949 + ], + [ + 0.9533970286928566, + 0.1862116251411349, + -0.2374012138594285, + 0.1707530690220813, + -0.9817024628988449, + -0.08428323533112972, + -0.2487518745641387, + 0.03981840027725498, + -0.967748417668656 + ], + [ + 0.950016892592894, + 0.19528831394200263, + -0.2435782794623353, + 0.1903289348285323, + -0.9807351511867609, + -0.0439711245446088, + -0.247472827508755, + -0.004586683373748457, + -0.9688839775641102 + ], + [ + 0.9414298144705799, + 0.18793208512239656, + -0.2799847063813266, + 0.1883483663308757, + -0.9817666088507108, + -0.025675253577438478, + -0.2797048396549113, + -0.028563212832659782, + -0.9596610576376935 + ], + [ + 0.9526971972492417, + 0.13504706382690557, + -0.2722688761227971, + 0.14088838638450307, + -0.9900236138354541, + 0.0019252610624049954, + -0.2692926158204311, + -0.04019371343778938, + -0.9622192850201405 + ], + [ + 0.9462772477542105, + 0.1130844052679757, + -0.3029377620368655, + 0.11526068622723057, + -0.993277142608485, + -0.010746728895400126, + -0.3021164421098994, + -0.02474742929501071, + -0.9529497469175088 + ], + [ + 0.9405186468454935, + 0.12703800123738299, + -0.3150968441249978, + 0.11660941474194672, + -0.9918254043401689, + -0.051813238646138446, + -0.3191033051058279, + 0.01198805851969836, + -0.9476441141712777 + ], + [ + 0.9341228939505941, + 0.162379956580808, + -0.3178791731117056, + 0.13751771988485134, + -0.9855082704816824, + -0.09930924191571647, + -0.3293983845058113, + 0.049053017369145024, + -0.942915959018588 + ], + [ + 0.943943816775042, + 0.14810573228347265, + -0.29501654671720096, + 0.11641336069484551, + -0.9856378632197259, + -0.1223353262119529, + -0.3088980417935631, + 0.08113380708699339, + -0.9476282525989149 + ], + [ + 0.9483481446234568, + 0.14084248121840195, + -0.284251986929715, + 0.10412313747092308, + -0.984595134234405, + -0.14046634431473218, + -0.2996567516884243, + 0.10361378830145018, + -0.9484039297901312 + ], + [ + 0.9524373019724472, + 0.10208970680731555, + -0.2871251949506364, + 0.06977326498870823, + -0.9902412271585679, + -0.12063997483549263, + -0.2966393050562587, + 0.0948683498301153, + -0.9502658148624784 + ], + [ + 0.9515523328037435, + 0.08928655109625931, + -0.2942381173965891, + 0.05631130028225266, + -0.9913307680005244, + -0.11871118681915584, + -0.3022866113414153, + 0.09639097576446469, + -0.9483309466609737 + ], + [ + 0.9529991459644489, + 0.09353743724795913, + -0.28817247547972846, + 0.06694321950808776, + -0.9926501074605086, + -0.10081849790853006, + -0.295484742673666, + 0.07678874912201925, + -0.9522564018452975 + ], + [ + 0.9542429535042479, + 0.12610994554530391, + -0.2711395716638385, + 0.12303376894284772, + -0.9919964409232249, + -0.028385786854908696, + -0.2725492201185087, + -0.006272386325381277, + -0.9621213955538965 + ], + [ + 0.9649345129033385, + 0.0997172477753091, + -0.24281238910754618, + 0.11338046232564794, + -0.9926239054877984, + 0.042926134428486966, + -0.2367409059939138, + -0.068951089550984, + -0.969123052392684 + ], + [ + 0.9640086093458949, + 0.08575449382922318, + -0.25166161386887637, + 0.119702387272803, + -0.9851829405802184, + 0.12282472092744948, + -0.23739995700965405, + -0.14852858437959907, + -0.9599898541307647 + ], + [ + 0.979699376635416, + 0.004263666121643051, + -0.20042692576443133, + 0.024050310617405243, + -0.9950528699849636, + 0.09639174494682584, + -0.19902440548682476, + -0.09925526225793146, + -0.9749552189381446 + ], + [ + 0.9700364276805897, + -0.14180171431006391, + -0.1972855868820816, + -0.1356075188938992, + -0.9897568907930069, + 0.044630683920380915, + -0.2015934765614233, + -0.016539980244461967, + -0.9793296172695851 + ], + [ + 0.9651251472759211, + -0.1886257124080306, + -0.18153178981708482, + -0.19304006431670667, + -0.9811673108960827, + -0.006800117466000968, + -0.17683038105549928, + 0.04160587275268468, + -0.9833615650859322 + ], + [ + 0.9632620027445415, + -0.18491552354341254, + -0.1947628383990131, + -0.2011200707395441, + -0.9772841197433435, + -0.06683162756658426, + -0.1779804236827613, + 0.1035470832527092, + -0.9785708816103006 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005771.json b/json/chunk-0005/episode_0005771.json new file mode 100644 index 0000000000000000000000000000000000000000..9b3f0f3b662a6ad2e0295f95a6ed36f3c6f9be49 --- /dev/null +++ b/json/chunk-0005/episode_0005771.json @@ -0,0 +1,2182 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 35, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nTake carrot off plate." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005771.mp4", + "start": 0, + "end": 35, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.31708577275276184, + 0.10115382820367813, + 0.07294421643018723, + 0.2166801393032074, + -0.1347774863243103, + -1.3103291988372803, + 0.0, + 1.0105689764022827 + ], + [ + 0.31374886631965637, + 0.10003688931465149, + 0.06475948542356491, + 0.19116443395614624, + -0.13530978560447693, + -1.3133608102798462, + 0.0, + 1.0105689764022827 + ], + [ + 0.3067752718925476, + 0.1046086847782135, + 0.05831326171755791, + 0.18933135271072388, + -0.08347182720899582, + -1.423203706741333, + 0.0, + 1.0105689764022827 + ], + [ + 0.30014151334762573, + 0.11157038062810898, + 0.05893687903881073, + 0.21483226120471954, + -0.009280283004045486, + -1.533482551574707, + 0.0, + 1.0105689764022827 + ], + [ + 0.28911224007606506, + 0.12021369487047195, + 0.06659834831953049, + 0.1679292768239975, + 0.0692010447382927, + -1.6268283128738403, + 0.0, + 1.0105689764022827 + ], + [ + 0.2674308121204376, + 0.1301133781671524, + 0.06362001597881317, + 0.11250681430101395, + 0.09537973999977112, + -1.6880470514297485, + 0.0, + 1.0105689764022827 + ], + [ + 0.24843524396419525, + 0.14097170531749725, + 0.05826670676469803, + 0.06138485670089722, + 0.08344429731369019, + -1.6961208581924438, + 0.0, + 1.0105689764022827 + ], + [ + 0.22725698351860046, + 0.14333368837833405, + 0.04822326824069023, + 0.04432840272784233, + 0.07188834249973297, + -1.6709338426589966, + 0.0, + 1.0105689764022827 + ], + [ + 0.2105187177658081, + 0.144733265042305, + 0.04449523612856865, + 0.04823726415634155, + 0.08210309594869614, + -1.6394598484039307, + 0.0, + 1.0105689764022827 + ], + [ + 0.1996971070766449, + 0.14628508687019348, + 0.04557722061872482, + 0.04661077633500099, + 0.11722560971975327, + -1.6076562404632568, + 0.0, + 1.0105689764022827 + ], + [ + 0.19084036350250244, + 0.1472182273864746, + 0.050633274018764496, + 0.029166383668780327, + 0.146667018532753, + -1.5891287326812744, + 0.0, + 1.0105689764022827 + ], + [ + 0.18599309027194977, + 0.14656785130500793, + 0.044729605317115784, + 0.03523693233728409, + 0.1454489380121231, + -1.578919529914856, + 0.0, + 1.0105689764022827 + ], + [ + 0.1856367588043213, + 0.1462191343307495, + 0.04084032401442528, + 0.060922037810087204, + 0.14372867345809937, + -1.5703747272491455, + 0.0, + 1.0105689764022827 + ], + [ + 0.18556815385818481, + 0.1467379927635193, + 0.0387444868683815, + 0.06227192282676697, + 0.146524116396904, + -1.575032114982605, + 0.0, + 1.0105689764022827 + ], + [ + 0.18379589915275574, + 0.1443524956703186, + 0.02813948318362236, + 0.04672098159790039, + 0.12079420685768127, + -1.5794038772583008, + 0.0, + 1.0105689764022827 + ], + [ + 0.18392710387706757, + 0.1443595439195633, + 0.02143893577158451, + 0.04586563631892204, + 0.11813928931951523, + -1.587959885597229, + 0.0, + 1.0105689764022827 + ], + [ + 0.18549636006355286, + 0.14681938290596008, + 0.017291409894824028, + 0.02642197720706463, + 0.11328618228435516, + -1.597735047340393, + 0.0, + 1.0099300146102905 + ], + [ + 0.18695221841335297, + 0.1465977430343628, + 0.01695908233523369, + 0.03044532798230648, + 0.10759691894054413, + -1.592394471168518, + 0.0, + 0.9687211513519287 + ], + [ + 0.18652085959911346, + 0.1477452665567398, + 0.017307184636592865, + 0.05249014496803284, + 0.08096315711736679, + -1.5826729536056519, + 0.0, + 0.8289023637771606 + ], + [ + 0.18400175869464874, + 0.15035918354988098, + 0.017509842291474342, + 0.1348382979631424, + 0.060678862035274506, + -1.5539910793304443, + 0.0, + 0.5482020378112793 + ], + [ + 0.17789313197135925, + 0.15284350514411926, + 0.0182538740336895, + 0.17570945620536804, + 0.05663531646132469, + -1.5545707941055298, + 0.0, + 0.5393473505973816 + ], + [ + 0.17364287376403809, + 0.15473955869674683, + 0.01927817612886429, + 0.14665095508098602, + 0.054305754601955414, + -1.5755034685134888, + 0.0, + 0.562038779258728 + ], + [ + 0.17565014958381653, + 0.15563799440860748, + 0.028971387073397636, + 0.10219462960958481, + 0.06542372703552246, + -1.6101449728012085, + 0.0, + 0.562038779258728 + ], + [ + 0.18497736752033234, + 0.15753237903118134, + 0.051307931542396545, + 0.04127193242311478, + 0.09933748841285706, + -1.6668990850448608, + 0.0, + 0.561048150062561 + ], + [ + 0.19301533699035645, + 0.15942330658435822, + 0.06911880522966385, + -0.018380288034677505, + 0.11012814939022064, + -1.7021996974945068, + 0.0, + 0.562038779258728 + ], + [ + 0.2122744470834732, + 0.15932470560073853, + 0.08943970501422882, + -0.00985356979072094, + 0.13761764764785767, + -1.7124178409576416, + 0.0, + 0.562038779258728 + ], + [ + 0.23469018936157227, + 0.16348308324813843, + 0.09089834243059158, + 0.01148078590631485, + 0.13548016548156738, + -1.71665620803833, + 0.0, + 0.562038779258728 + ], + [ + 0.26069900393486023, + 0.16372601687908173, + 0.08927541971206665, + 0.024962514638900757, + 0.1271301954984665, + -1.7402725219726562, + 0.0, + 0.562038779258728 + ], + [ + 0.28143182396888733, + 0.1525568813085556, + 0.0954003557562828, + 0.044022947549819946, + 0.14333787560462952, + -1.7496047019958496, + 0.0, + 0.562038779258728 + ], + [ + 0.2999676465988159, + 0.1372828632593155, + 0.0962313711643219, + 0.05212599039077759, + 0.14717316627502441, + -1.7582474946975708, + 0.0, + 0.562038779258728 + ], + [ + 0.312350332736969, + 0.12626682221889496, + 0.09599144756793976, + 0.058832231909036636, + 0.15612071752548218, + -1.7549898624420166, + 0.0, + 0.562038779258728 + ], + [ + 0.3242094814777374, + 0.1154470294713974, + 0.08794961124658585, + 0.0613677054643631, + 0.1445229947566986, + -1.7491191625595093, + 0.0, + 0.562038779258728 + ], + [ + 0.3287663161754608, + 0.09936794638633728, + 0.07565107196569443, + 0.10707595199346542, + 0.11809417605400085, + -1.6994844675064087, + 0.0, + 0.562038779258728 + ], + [ + 0.3236333131790161, + 0.08780701458454132, + 0.05576000735163689, + 0.14367547631263733, + 0.08822484314441681, + -1.6238723993301392, + 0.0, + 0.562038779258728 + ], + [ + 0.32733646035194397, + 0.08591087907552719, + 0.04012368619441986, + 0.18366195261478424, + 0.05541961267590523, + -1.598924994468689, + 0.0, + 0.562038779258728 + ] + ], + "left_gripper_pos": [ + [ + 1.0105689764022827 + ], + [ + 1.0105689764022827 + ], + [ + 1.0105689764022827 + ], + [ + 1.0105689764022827 + ], + [ + 1.0105689764022827 + ], + [ + 1.0105689764022827 + ], + [ + 1.0105689764022827 + ], + [ + 1.0105689764022827 + ], + [ + 1.0105689764022827 + ], + [ + 1.0105689764022827 + ], + [ + 1.0105689764022827 + ], + [ + 1.0105689764022827 + ], + [ + 1.0105689764022827 + ], + [ + 1.0105689764022827 + ], + [ + 1.0105689764022827 + ], + [ + 1.0105689764022827 + ], + [ + 1.0099300146102905 + ], + [ + 0.9687211513519287 + ], + [ + 0.8289023637771606 + ], + [ + 0.5482020378112793 + ], + [ + 0.5393473505973816 + ], + [ + 0.562038779258728 + ], + [ + 0.562038779258728 + ], + [ + 0.561048150062561 + ], + [ + 0.562038779258728 + ], + [ + 0.562038779258728 + ], + [ + 0.562038779258728 + ], + [ + 0.562038779258728 + ], + [ + 0.562038779258728 + ], + [ + 0.562038779258728 + ], + [ + 0.562038779258728 + ], + [ + 0.562038779258728 + ], + [ + 0.562038779258728 + ], + [ + 0.562038779258728 + ], + [ + 0.562038779258728 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.31708577275276184, + 0.10115382820367813, + 0.07294421643018723 + ], + [ + 0.31374886631965637, + 0.10003688931465149, + 0.06475948542356491 + ], + [ + 0.3067752718925476, + 0.1046086847782135, + 0.05831326171755791 + ], + [ + 0.30014151334762573, + 0.11157038062810898, + 0.05893687903881073 + ], + [ + 0.28911224007606506, + 0.12021369487047195, + 0.06659834831953049 + ], + [ + 0.2674308121204376, + 0.1301133781671524, + 0.06362001597881317 + ], + [ + 0.24843524396419525, + 0.14097170531749725, + 0.05826670676469803 + ], + [ + 0.22725698351860046, + 0.14333368837833405, + 0.04822326824069023 + ], + [ + 0.2105187177658081, + 0.144733265042305, + 0.04449523612856865 + ], + [ + 0.1996971070766449, + 0.14628508687019348, + 0.04557722061872482 + ], + [ + 0.19084036350250244, + 0.1472182273864746, + 0.050633274018764496 + ], + [ + 0.18599309027194977, + 0.14656785130500793, + 0.044729605317115784 + ], + [ + 0.1856367588043213, + 0.1462191343307495, + 0.04084032401442528 + ], + [ + 0.18556815385818481, + 0.1467379927635193, + 0.0387444868683815 + ], + [ + 0.18379589915275574, + 0.1443524956703186, + 0.02813948318362236 + ], + [ + 0.18392710387706757, + 0.1443595439195633, + 0.02143893577158451 + ], + [ + 0.18549636006355286, + 0.14681938290596008, + 0.017291409894824028 + ], + [ + 0.18695221841335297, + 0.1465977430343628, + 0.01695908233523369 + ], + [ + 0.18652085959911346, + 0.1477452665567398, + 0.017307184636592865 + ], + [ + 0.18400175869464874, + 0.15035918354988098, + 0.017509842291474342 + ], + [ + 0.17789313197135925, + 0.15284350514411926, + 0.0182538740336895 + ], + [ + 0.17364287376403809, + 0.15473955869674683, + 0.01927817612886429 + ], + [ + 0.17565014958381653, + 0.15563799440860748, + 0.028971387073397636 + ], + [ + 0.18497736752033234, + 0.15753237903118134, + 0.051307931542396545 + ], + [ + 0.19301533699035645, + 0.15942330658435822, + 0.06911880522966385 + ], + [ + 0.2122744470834732, + 0.15932470560073853, + 0.08943970501422882 + ], + [ + 0.23469018936157227, + 0.16348308324813843, + 0.09089834243059158 + ], + [ + 0.26069900393486023, + 0.16372601687908173, + 0.08927541971206665 + ], + [ + 0.28143182396888733, + 0.1525568813085556, + 0.0954003557562828 + ], + [ + 0.2999676465988159, + 0.1372828632593155, + 0.0962313711643219 + ], + [ + 0.312350332736969, + 0.12626682221889496, + 0.09599144756793976 + ], + [ + 0.3242094814777374, + 0.1154470294713974, + 0.08794961124658585 + ], + [ + 0.3287663161754608, + 0.09936794638633728, + 0.07565107196569443 + ], + [ + 0.3236333131790161, + 0.08780701458454132, + 0.05576000735163689 + ], + [ + 0.32733646035194397, + 0.08591087907552719, + 0.04012368619441986 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.2551964599689334, + -0.9362354965972627, + 0.24153232026087423, + -0.9575069287865038, + -0.2794235483403737, + -0.07143501913425941, + 0.1343698185797753, + -0.21303890617479188, + -0.9677598753361736 + ], + [ + 0.25227425664425185, + -0.9429044000694747, + 0.2174603222756154, + -0.9582068803620435, + -0.27474966069627205, + -0.07970067988495547, + 0.13489727151218045, + -0.1882655472382234, + -0.9728097500856279 + ], + [ + 0.14654533703611655, + -0.9691450141997863, + 0.1981978951570047, + -0.9856840698020742, + -0.15995023396304536, + -0.05331826322740486, + 0.08337492867397726, + -0.1875469650697208, + -0.9787107627699545 + ], + [ + 0.0373035106356468, + -0.9762582867687896, + 0.21337339480245401, + -0.9992608903154473, + -0.038424551413567765, + -0.001107670820064327, + 0.009280149795974163, + -0.21317436844971258, + -0.97697009547674 + ], + [ + -0.05586863230365757, + -0.9837384498122751, + 0.17069668504531998, + -0.996040938217459, + 0.06675385365809128, + 0.058705812460765096, + -0.06914582647855977, + -0.16674107287269263, + -0.983573215016483 + ], + [ + -0.11645054622929674, + -0.9856044184776583, + 0.12256916643354843, + -0.9886200124235124, + 0.12686127346898857, + 0.08084978867975116, + -0.09523518949754009, + -0.11175932878799398, + -0.9891613170308594 + ], + [ + -0.1245618055343482, + -0.98964935105993, + 0.07126372533542598, + -0.9887049872161267, + 0.129834260486483, + 0.07486997434143489, + -0.0833474945993115, + -0.061132861462456445, + -0.9946436388945692 + ], + [ + -0.09971203598685696, + -0.9936948093797839, + 0.05126534590764558, + -0.9924205119167602, + 0.10303900318994408, + 0.06696634489426981, + -0.0718264394650838, + -0.044199430237249704, + -0.9964373402078381 + ], + [ + -0.06837846399660014, + -0.9962118232034792, + 0.0537251242070775, + -0.9942829578898235, + 0.07247490230423709, + 0.07841420908135904, + -0.08201088532219045, + -0.048056132237119575, + -0.9954721607574364 + ], + [ + -0.03659865318147909, + -0.9980345799146642, + 0.05086763096372559, + -0.9924623548930391, + 0.042257339424015605, + 0.11503387059891074, + -0.11695731146647143, + -0.04627412407991648, + -0.9920583111567443 + ], + [ + -0.01813456712655026, + -0.9993286037257832, + 0.0318351888734584, + -0.9890974297538991, + 0.02258468856014173, + 0.1455204669346256, + -0.14614175286126377, + -0.028849152814554725, + -0.9888429169754513 + ], + [ + -0.008037341321445346, + -0.99930479382724, + 0.03640508451274418, + -0.9894082933577047, + 0.013223968685396048, + 0.14455571827915298, + -0.14493664194908326, + -0.03485764888952098, + -0.988826736154731 + ], + [ + 0.0004172523375154391, + -0.9981484144975209, + 0.06082407859204905, + -0.9896887152723767, + 0.008299912160242173, + 0.14299425974718255, + -0.14323432815843865, + -0.0602565688885219, + -0.9878527588374613 + ], + [ + -0.004190387210244673, + -0.9980142911164431, + 0.06284835226457208, + -0.9892756585900662, + 0.013313333719223053, + 0.14545248869122623, + -0.14600038347969815, + -0.061564842829525034, + -0.9873670331498601 + ], + [ + -0.008544723850980207, + -0.998823327647528, + 0.04773832675565594, + -0.9926764716957379, + 0.014225704382627546, + 0.119962710358341, + -0.12050066487788196, + -0.046363665536035624, + -0.9916299714520791 + ], + [ + -0.017043086269690588, + -0.9987084726618425, + 0.0478635544423322, + -0.9928834032382037, + 0.022547914073770048, + 0.11693647482733907, + -0.11786467148610269, + -0.045529970397223986, + -0.9919853532240792 + ], + [ + -0.026762805602888518, + -0.9992078183838171, + 0.029453147826917617, + -0.9932294805685324, + 0.029911476399049064, + 0.11225195993474531, + -0.11304402313180707, + -0.026249557334960774, + -0.9932431774615387 + ], + [ + -0.02147157360357571, + -0.9992328551576858, + 0.03275168240572418, + -0.9939851518241177, + 0.02485469581445482, + 0.10665721752022478, + -0.10738942908951446, + -0.030264587712210946, + -0.9937562906721336 + ], + [ + -0.011837443938674086, + -0.9985018859946518, + 0.05342151800652749, + -0.9966539782776279, + 0.016102868534320913, + 0.08013454441340258, + -0.08087473341146766, + -0.05229418026979072, + -0.9953514937978112 + ], + [ + 0.016773529585535796, + -0.9909201495628218, + 0.13340129645411156, + -0.9980186576637889, + -0.008501015404357659, + 0.06234173314934095, + -0.060641633060232784, + -0.13418267372313564, + -0.9890993895520805 + ], + [ + 0.016198806674154465, + -0.9846337083401832, + 0.17387943829732283, + -0.9982652290867852, + -0.006081364101211906, + 0.05856235486194902, + -0.05660504446285439, + -0.17452643757015043, + -0.9830241052641744 + ], + [ + -0.0047001851159566566, + -0.9892177123802787, + 0.1463769987839741, + -0.9985147426204185, + 0.0125880855571045, + 0.05300800761852918, + -0.05427906621852268, + -0.1459104438178941, + -0.9878076358053272 + ], + [ + -0.039254333226517946, + -0.9937502818383623, + 0.10449629021700499, + -0.9970882291283865, + 0.04579764992555424, + 0.06097244127402407, + -0.06537706521831194, + -0.10179858843555462, + -0.992654464925217 + ], + [ + -0.09548184730580761, + -0.9941454045207371, + 0.05057797450838395, + -0.9904785188374902, + 0.09994625179503175, + 0.09467338841309027, + -0.09917419299677813, + -0.04105680726048237, + -0.994222720531478 + ], + [ + -0.13023179352829567, + -0.9914762055909885, + -0.0038227871113205372, + -0.9853732402498243, + 0.1290008416148713, + 0.11134792437318311, + -0.10990567480328114, + 0.018267912019439857, + -0.993774132303958 + ], + [ + -0.1398141083923412, + -0.990131157735683, + 0.009607579062915303, + -0.9806287032967957, + 0.13980353340218188, + 0.13719445440217232, + -0.13718367747257465, + 0.009760252520325363, + -0.9904975396768231 + ], + [ + -0.14401139431116428, + -0.9890907163526725, + 0.030988274129278612, + -0.9803151886390968, + 0.14686782025661294, + 0.13195444023057074, + -0.13506609208845266, + -0.011375332875490127, + -0.9907712917570458 + ], + [ + -0.16730490874930692, + -0.9848324024063289, + 0.04598050324827343, + -0.9777187041775501, + 0.17173280486463238, + 0.12072273702454697, + -0.1267880239208654, + -0.024758491551475144, + -0.9916208015599196 + ], + [ + -0.1760330969915312, + -0.9819848184594206, + 0.06868890069573616, + -0.973964540687497, + 0.18387106522956614, + 0.13260657922870037, + -0.142847548970793, + -0.043557406793370786, + -0.9887857857324172 + ], + [ + -0.18434073795085837, + -0.9797241225965295, + 0.07848016267945229, + -0.971861350640005, + 0.19360878283999527, + 0.1341683805499662, + -0.1466424476879665, + -0.05153913861984747, + -0.9878459949437494 + ], + [ + -0.1809262351475291, + -0.9797089640199591, + 0.08623249534995234, + -0.9711279019606246, + 0.1918246310952682, + 0.1418235133492321, + -0.15548728394597605, + -0.05808318796435663, + -0.9861288190733504 + ], + [ + -0.17553002600910678, + -0.9807232843655735, + 0.08585481624489516, + -0.9738826060581232, + 0.18573794776631075, + 0.13059128752331686, + -0.1440204137845768, + -0.06068982009168924, + -0.9877119348021253 + ], + [ + -0.12743939856427638, + -0.9844353862679978, + 0.12102136157288076, + -0.9848236782920397, + 0.1400857207715423, + 0.10246127810668215, + -0.1178198725551548, + -0.1061270987980727, + -0.9873477181478629 + ], + [ + -0.05284482500175103, + -0.9876334441321168, + 0.14760624818166548, + -0.9947079850410518, + 0.06510257406059439, + 0.07948383072207635, + -0.08811043619291176, + -0.14262480458327695, + -0.9858472073052077 + ], + [ + -0.028081778974108296, + -0.9825080512869679, + 0.18409058326251848, + -0.9980697487130976, + 0.037764104667451226, + 0.049301613588605214, + -0.0553912483468615, + -0.18235076516140725, + -0.9816720470970057 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0033369064331054688, + -0.0011169388890266418, + -0.008184731006622314, + -0.025515705347061157, + -0.000532299280166626, + -0.003031611442565918, + 1.0 + ], + [ + -0.006973594427108765, + 0.004571795463562012, + -0.006446223706007004, + -0.0018330812454223633, + 0.05183795839548111, + -0.10984289646148682, + 1.0 + ], + [ + -0.006633758544921875, + 0.006961695849895477, + 0.0006236173212528229, + 0.025500908493995667, + 0.07419154047966003, + -0.11027884483337402, + 1.0 + ], + [ + -0.011029273271560669, + 0.008643314242362976, + 0.007661469280719757, + -0.046902984380722046, + 0.07848133146762848, + -0.0933457612991333, + 1.0 + ], + [ + -0.02168142795562744, + 0.00989968329668045, + -0.0029783323407173157, + -0.05542246252298355, + 0.026178695261478424, + -0.0612187385559082, + 1.0 + ], + [ + -0.01899556815624237, + 0.010858327150344849, + -0.005353309214115143, + -0.05112195760011673, + -0.011935442686080933, + -0.008073806762695312, + 1.0 + ], + [ + -0.021178260445594788, + 0.002361983060836792, + -0.010043438524007797, + -0.017056453973054886, + -0.011555954813957214, + 0.025187015533447266, + 1.0 + ], + [ + -0.01673826575279236, + 0.0013995766639709473, + -0.003728032112121582, + 0.003908861428499222, + 0.010214753448963165, + 0.03147399425506592, + 1.0 + ], + [ + -0.010821610689163208, + 0.0015518218278884888, + 0.0010819844901561737, + -0.001626487821340561, + 0.03512251377105713, + 0.03180360794067383, + 1.0 + ], + [ + -0.008856743574142456, + 0.0009331405162811279, + 0.005056053400039673, + -0.017444392666220665, + 0.029441408812999725, + 0.018527507781982422, + 1.0 + ], + [ + -0.004847273230552673, + -0.0006503760814666748, + -0.005903668701648712, + 0.006070548668503761, + -0.0012180805206298828, + 0.010209202766418457, + 1.0 + ], + [ + -0.000356331467628479, + -0.00034871697425842285, + -0.003889281302690506, + 0.025685105472803116, + -0.0017202645540237427, + 0.00854480266571045, + 1.0 + ], + [ + -6.860494613647461e-05, + 0.0005188584327697754, + -0.0020958371460437775, + 0.0013498850166797638, + 0.0027954429388046265, + -0.004657387733459473, + 1.0 + ], + [ + -0.0017722547054290771, + -0.0023854970932006836, + -0.01060500368475914, + -0.015550941228866577, + -0.025729909539222717, + -0.004371762275695801, + 1.0 + ], + [ + 0.0001312047243118286, + 7.048249244689941e-06, + -0.006700547412037849, + -0.0008553452789783478, + -0.002654917538166046, + -0.008556008338928223, + 1.0 + ], + [ + 0.0015692561864852905, + 0.0024598389863967896, + -0.004147525876760483, + -0.019443659111857414, + -0.004853107035160065, + -0.009775161743164062, + 1.0 + ], + [ + 0.0014558583498001099, + -0.00022163987159729004, + -0.00033232755959033966, + 0.004023350775241852, + -0.005689263343811035, + 0.005340576171875, + 0.0 + ], + [ + -0.00043135881423950195, + 0.0011475235223770142, + 0.00034810230135917664, + 0.022044816985726357, + -0.026633761823177338, + 0.009721517562866211, + 0.0 + ], + [ + -0.0025191009044647217, + 0.0026139169931411743, + 0.00020265765488147736, + 0.08234815299510956, + -0.020284295082092285, + 0.02868187427520752, + 0.0 + ], + [ + -0.00610862672328949, + 0.0024843215942382812, + 0.0007440317422151566, + 0.04087115824222565, + -0.004043545573949814, + -0.0005797147750854492, + 0.0 + ], + [ + -0.004250258207321167, + 0.0018960535526275635, + 0.0010243020951747894, + -0.02905850112438202, + -0.002329561859369278, + -0.020932674407958984, + 0.0 + ], + [ + 0.0020072758197784424, + 0.0008984357118606567, + 0.009693210944533348, + -0.044456325471401215, + 0.011117972433567047, + -0.03464150428771973, + 0.0 + ], + [ + 0.009327217936515808, + 0.0018943846225738525, + 0.02233654446899891, + -0.06092269718647003, + 0.033913761377334595, + -0.056754112243652344, + 0.0 + ], + [ + 0.008037969470024109, + 0.0018909275531768799, + 0.017810873687267303, + -0.05965222045779228, + 0.010790660977363586, + -0.035300612449645996, + 0.0 + ], + [ + 0.01925911009311676, + -9.860098361968994e-05, + 0.020320899784564972, + 0.008526718243956566, + 0.027489498257637024, + -0.010218143463134766, + 0.0 + ], + [ + 0.02241574227809906, + 0.004158377647399902, + 0.0014586374163627625, + 0.02133435569703579, + -0.002137482166290283, + -0.0042383670806884766, + 0.0 + ], + [ + 0.026008814573287964, + 0.00024293363094329834, + -0.0016229227185249329, + 0.013481728732585907, + -0.008349969983100891, + -0.023616313934326172, + 0.0 + ], + [ + 0.0207328200340271, + -0.011169135570526123, + 0.006124936044216156, + 0.01906043291091919, + 0.016207680106163025, + -0.00933218002319336, + 0.0 + ], + [ + 0.01853582262992859, + -0.015274018049240112, + 0.000831015408039093, + 0.008103042840957642, + 0.0038352906703948975, + -0.008642792701721191, + 0.0 + ], + [ + 0.012382686138153076, + -0.011016041040420532, + -0.0002399235963821411, + 0.0067062415182590485, + 0.008947551250457764, + 0.0032576322555541992, + 0.0 + ], + [ + 0.011859148740768433, + -0.010819792747497559, + -0.008041836321353912, + 0.002535473555326462, + -0.01159772276878357, + 0.005870699882507324, + 0.0 + ], + [ + 0.004556834697723389, + -0.01607908308506012, + -0.012298539280891418, + 0.045708246529102325, + -0.026428818702697754, + 0.049634695053100586, + 0.0 + ], + [ + -0.005133002996444702, + -0.01156093180179596, + -0.01989106461405754, + 0.036599524319171906, + -0.029869332909584045, + 0.07561206817626953, + 0.0 + ], + [ + 0.0037031471729278564, + -0.0018961355090141296, + -0.015636321157217026, + 0.03998647630214691, + -0.03280523046851158, + 0.024947404861450195, + 0.0 + ], + [ + 0.011565625667572021, + 0.005117863416671753, + -0.002416960895061493, + 0.02344493567943573, + -0.002224743366241455, + -0.014335155487060547, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0105689764022827 + ], + [ + 1.0105689764022827 + ], + [ + 1.0105689764022827 + ], + [ + 1.0105689764022827 + ], + [ + 1.0105689764022827 + ], + [ + 1.0105689764022827 + ], + [ + 1.0105689764022827 + ], + [ + 1.0105689764022827 + ], + [ + 1.0105689764022827 + ], + [ + 1.0105689764022827 + ], + [ + 1.0105689764022827 + ], + [ + 1.0105689764022827 + ], + [ + 1.0105689764022827 + ], + [ + 1.0105689764022827 + ], + [ + 1.0105689764022827 + ], + [ + 1.0099300146102905 + ], + [ + 0.9687211513519287 + ], + [ + 0.8289023637771606 + ], + [ + 0.5482020378112793 + ], + [ + 0.5393473505973816 + ], + [ + 0.562038779258728 + ], + [ + 0.562038779258728 + ], + [ + 0.561048150062561 + ], + [ + 0.562038779258728 + ], + [ + 0.562038779258728 + ], + [ + 0.562038779258728 + ], + [ + 0.562038779258728 + ], + [ + 0.562038779258728 + ], + [ + 0.562038779258728 + ], + [ + 0.562038779258728 + ], + [ + 0.562038779258728 + ], + [ + 0.562038779258728 + ], + [ + 0.562038779258728 + ], + [ + 0.562038779258728 + ], + [ + 0.6370214223861694 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.31374886631965637, + 0.10003688931465149, + 0.06475948542356491 + ], + [ + 0.3067752718925476, + 0.1046086847782135, + 0.05831326171755791 + ], + [ + 0.30014151334762573, + 0.11157038062810898, + 0.05893687903881073 + ], + [ + 0.28911224007606506, + 0.12021369487047195, + 0.06659834831953049 + ], + [ + 0.2674308121204376, + 0.1301133781671524, + 0.06362001597881317 + ], + [ + 0.24843524396419525, + 0.14097170531749725, + 0.05826670676469803 + ], + [ + 0.22725698351860046, + 0.14333368837833405, + 0.04822326824069023 + ], + [ + 0.2105187177658081, + 0.144733265042305, + 0.04449523612856865 + ], + [ + 0.1996971070766449, + 0.14628508687019348, + 0.04557722061872482 + ], + [ + 0.19084036350250244, + 0.1472182273864746, + 0.050633274018764496 + ], + [ + 0.18599309027194977, + 0.14656785130500793, + 0.044729605317115784 + ], + [ + 0.1856367588043213, + 0.1462191343307495, + 0.04084032401442528 + ], + [ + 0.18556815385818481, + 0.1467379927635193, + 0.0387444868683815 + ], + [ + 0.18379589915275574, + 0.1443524956703186, + 0.02813948318362236 + ], + [ + 0.18392710387706757, + 0.1443595439195633, + 0.02143893577158451 + ], + [ + 0.18549636006355286, + 0.14681938290596008, + 0.017291409894824028 + ], + [ + 0.18695221841335297, + 0.1465977430343628, + 0.01695908233523369 + ], + [ + 0.18652085959911346, + 0.1477452665567398, + 0.017307184636592865 + ], + [ + 0.18400175869464874, + 0.15035918354988098, + 0.017509842291474342 + ], + [ + 0.17789313197135925, + 0.15284350514411926, + 0.0182538740336895 + ], + [ + 0.17364287376403809, + 0.15473955869674683, + 0.01927817612886429 + ], + [ + 0.17565014958381653, + 0.15563799440860748, + 0.028971387073397636 + ], + [ + 0.18497736752033234, + 0.15753237903118134, + 0.051307931542396545 + ], + [ + 0.19301533699035645, + 0.15942330658435822, + 0.06911880522966385 + ], + [ + 0.2122744470834732, + 0.15932470560073853, + 0.08943970501422882 + ], + [ + 0.23469018936157227, + 0.16348308324813843, + 0.09089834243059158 + ], + [ + 0.26069900393486023, + 0.16372601687908173, + 0.08927541971206665 + ], + [ + 0.28143182396888733, + 0.1525568813085556, + 0.0954003557562828 + ], + [ + 0.2999676465988159, + 0.1372828632593155, + 0.0962313711643219 + ], + [ + 0.312350332736969, + 0.12626682221889496, + 0.09599144756793976 + ], + [ + 0.3242094814777374, + 0.1154470294713974, + 0.08794961124658585 + ], + [ + 0.3287663161754608, + 0.09936794638633728, + 0.07565107196569443 + ], + [ + 0.3236333131790161, + 0.08780701458454132, + 0.05576000735163689 + ], + [ + 0.32733646035194397, + 0.08591087907552719, + 0.04012368619441986 + ], + [ + 0.338902086019516, + 0.09102874249219894, + 0.03770672529935837 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.25227425664425185, + -0.9429044000694747, + 0.2174603222756154, + -0.9582068803620435, + -0.27474966069627205, + -0.07970067988495547, + 0.13489727151218045, + -0.1882655472382234, + -0.9728097500856279 + ], + [ + 0.14654533703611655, + -0.9691450141997863, + 0.1981978951570047, + -0.9856840698020742, + -0.15995023396304536, + -0.05331826322740486, + 0.08337492867397726, + -0.1875469650697208, + -0.9787107627699545 + ], + [ + 0.0373035106356468, + -0.9762582867687896, + 0.21337339480245401, + -0.9992608903154473, + -0.038424551413567765, + -0.001107670820064327, + 0.009280149795974163, + -0.21317436844971258, + -0.97697009547674 + ], + [ + -0.05586863230365757, + -0.9837384498122751, + 0.17069668504531998, + -0.996040938217459, + 0.06675385365809128, + 0.058705812460765096, + -0.06914582647855977, + -0.16674107287269263, + -0.983573215016483 + ], + [ + -0.11645054622929674, + -0.9856044184776583, + 0.12256916643354843, + -0.9886200124235124, + 0.12686127346898857, + 0.08084978867975116, + -0.09523518949754009, + -0.11175932878799398, + -0.9891613170308594 + ], + [ + -0.1245618055343482, + -0.98964935105993, + 0.07126372533542598, + -0.9887049872161267, + 0.129834260486483, + 0.07486997434143489, + -0.0833474945993115, + -0.061132861462456445, + -0.9946436388945692 + ], + [ + -0.09971203598685696, + -0.9936948093797839, + 0.05126534590764558, + -0.9924205119167602, + 0.10303900318994408, + 0.06696634489426981, + -0.0718264394650838, + -0.044199430237249704, + -0.9964373402078381 + ], + [ + -0.06837846399660014, + -0.9962118232034792, + 0.0537251242070775, + -0.9942829578898235, + 0.07247490230423709, + 0.07841420908135904, + -0.08201088532219045, + -0.048056132237119575, + -0.9954721607574364 + ], + [ + -0.03659865318147909, + -0.9980345799146642, + 0.05086763096372559, + -0.9924623548930391, + 0.042257339424015605, + 0.11503387059891074, + -0.11695731146647143, + -0.04627412407991648, + -0.9920583111567443 + ], + [ + -0.01813456712655026, + -0.9993286037257832, + 0.0318351888734584, + -0.9890974297538991, + 0.02258468856014173, + 0.1455204669346256, + -0.14614175286126377, + -0.028849152814554725, + -0.9888429169754513 + ], + [ + -0.008037341321445346, + -0.99930479382724, + 0.03640508451274418, + -0.9894082933577047, + 0.013223968685396048, + 0.14455571827915298, + -0.14493664194908326, + -0.03485764888952098, + -0.988826736154731 + ], + [ + 0.0004172523375154391, + -0.9981484144975209, + 0.06082407859204905, + -0.9896887152723767, + 0.008299912160242173, + 0.14299425974718255, + -0.14323432815843865, + -0.0602565688885219, + -0.9878527588374613 + ], + [ + -0.004190387210244673, + -0.9980142911164431, + 0.06284835226457208, + -0.9892756585900662, + 0.013313333719223053, + 0.14545248869122623, + -0.14600038347969815, + -0.061564842829525034, + -0.9873670331498601 + ], + [ + -0.008544723850980207, + -0.998823327647528, + 0.04773832675565594, + -0.9926764716957379, + 0.014225704382627546, + 0.119962710358341, + -0.12050066487788196, + -0.046363665536035624, + -0.9916299714520791 + ], + [ + -0.017043086269690588, + -0.9987084726618425, + 0.0478635544423322, + -0.9928834032382037, + 0.022547914073770048, + 0.11693647482733907, + -0.11786467148610269, + -0.045529970397223986, + -0.9919853532240792 + ], + [ + -0.026762805602888518, + -0.9992078183838171, + 0.029453147826917617, + -0.9932294805685324, + 0.029911476399049064, + 0.11225195993474531, + -0.11304402313180707, + -0.026249557334960774, + -0.9932431774615387 + ], + [ + -0.02147157360357571, + -0.9992328551576858, + 0.03275168240572418, + -0.9939851518241177, + 0.02485469581445482, + 0.10665721752022478, + -0.10738942908951446, + -0.030264587712210946, + -0.9937562906721336 + ], + [ + -0.011837443938674086, + -0.9985018859946518, + 0.05342151800652749, + -0.9966539782776279, + 0.016102868534320913, + 0.08013454441340258, + -0.08087473341146766, + -0.05229418026979072, + -0.9953514937978112 + ], + [ + 0.016773529585535796, + -0.9909201495628218, + 0.13340129645411156, + -0.9980186576637889, + -0.008501015404357659, + 0.06234173314934095, + -0.060641633060232784, + -0.13418267372313564, + -0.9890993895520805 + ], + [ + 0.016198806674154465, + -0.9846337083401832, + 0.17387943829732283, + -0.9982652290867852, + -0.006081364101211906, + 0.05856235486194902, + -0.05660504446285439, + -0.17452643757015043, + -0.9830241052641744 + ], + [ + -0.0047001851159566566, + -0.9892177123802787, + 0.1463769987839741, + -0.9985147426204185, + 0.0125880855571045, + 0.05300800761852918, + -0.05427906621852268, + -0.1459104438178941, + -0.9878076358053272 + ], + [ + -0.039254333226517946, + -0.9937502818383623, + 0.10449629021700499, + -0.9970882291283865, + 0.04579764992555424, + 0.06097244127402407, + -0.06537706521831194, + -0.10179858843555462, + -0.992654464925217 + ], + [ + -0.09548184730580761, + -0.9941454045207371, + 0.05057797450838395, + -0.9904785188374902, + 0.09994625179503175, + 0.09467338841309027, + -0.09917419299677813, + -0.04105680726048237, + -0.994222720531478 + ], + [ + -0.13023179352829567, + -0.9914762055909885, + -0.0038227871113205372, + -0.9853732402498243, + 0.1290008416148713, + 0.11134792437318311, + -0.10990567480328114, + 0.018267912019439857, + -0.993774132303958 + ], + [ + -0.1398141083923412, + -0.990131157735683, + 0.009607579062915303, + -0.9806287032967957, + 0.13980353340218188, + 0.13719445440217232, + -0.13718367747257465, + 0.009760252520325363, + -0.9904975396768231 + ], + [ + -0.14401139431116428, + -0.9890907163526725, + 0.030988274129278612, + -0.9803151886390968, + 0.14686782025661294, + 0.13195444023057074, + -0.13506609208845266, + -0.011375332875490127, + -0.9907712917570458 + ], + [ + -0.16730490874930692, + -0.9848324024063289, + 0.04598050324827343, + -0.9777187041775501, + 0.17173280486463238, + 0.12072273702454697, + -0.1267880239208654, + -0.024758491551475144, + -0.9916208015599196 + ], + [ + -0.1760330969915312, + -0.9819848184594206, + 0.06868890069573616, + -0.973964540687497, + 0.18387106522956614, + 0.13260657922870037, + -0.142847548970793, + -0.043557406793370786, + -0.9887857857324172 + ], + [ + -0.18434073795085837, + -0.9797241225965295, + 0.07848016267945229, + -0.971861350640005, + 0.19360878283999527, + 0.1341683805499662, + -0.1466424476879665, + -0.05153913861984747, + -0.9878459949437494 + ], + [ + -0.1809262351475291, + -0.9797089640199591, + 0.08623249534995234, + -0.9711279019606246, + 0.1918246310952682, + 0.1418235133492321, + -0.15548728394597605, + -0.05808318796435663, + -0.9861288190733504 + ], + [ + -0.17553002600910678, + -0.9807232843655735, + 0.08585481624489516, + -0.9738826060581232, + 0.18573794776631075, + 0.13059128752331686, + -0.1440204137845768, + -0.06068982009168924, + -0.9877119348021253 + ], + [ + -0.12743939856427638, + -0.9844353862679978, + 0.12102136157288076, + -0.9848236782920397, + 0.1400857207715423, + 0.10246127810668215, + -0.1178198725551548, + -0.1061270987980727, + -0.9873477181478629 + ], + [ + -0.05284482500175103, + -0.9876334441321168, + 0.14760624818166548, + -0.9947079850410518, + 0.06510257406059439, + 0.07948383072207635, + -0.08811043619291176, + -0.14262480458327695, + -0.9858472073052077 + ], + [ + -0.028081778974108296, + -0.9825080512869679, + 0.18409058326251848, + -0.9980697487130976, + 0.037764104667451226, + 0.049301613588605214, + -0.0553912483468615, + -0.18235076516140725, + -0.9816720470970057 + ], + [ + -0.04239101508539417, + -0.9772836008505837, + 0.2076529926308459, + -0.9976853089870664, + 0.05246729942616152, + 0.04325744701559257, + -0.05316978532410278, + -0.20533861302600093, + -0.9772456333640722 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005772.json b/json/chunk-0005/episode_0005772.json new file mode 100644 index 0000000000000000000000000000000000000000..a399f815b1b91882595c61a82483682324fb60a0 --- /dev/null +++ b/json/chunk-0005/episode_0005772.json @@ -0,0 +1,1042 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 16, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nFlip pot upright in sink." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005772.mp4", + "start": 0, + "end": 16, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3832415044307709, + -0.1019037663936615, + 0.031510382890701294, + 0.1523571014404297, + -0.0990687906742096, + 0.09219402819871902, + 0.0, + 1.0008161067962646 + ], + [ + 0.376011461019516, + -0.10023102164268494, + 0.014911818318068981, + 0.22848498821258545, + -0.04836709052324295, + 0.06338988989591599, + 0.0, + 1.0008161067962646 + ], + [ + 0.37717264890670776, + -0.10141072422266006, + 0.013700501061975956, + 0.3161541223526001, + -0.021374644711613655, + 0.028984082862734795, + 0.0, + 1.0008161067962646 + ], + [ + 0.3792499601840973, + -0.09905555099248886, + 0.016110911965370178, + 0.4019334316253662, + 0.027292143553495407, + -0.013876819051802158, + 0.0, + 1.0008161067962646 + ], + [ + 0.3804180324077606, + -0.09270855784416199, + 0.016758518293499947, + 0.4667414426803589, + 0.055878739804029465, + -0.046037789434194565, + 0.0, + 1.0008161067962646 + ], + [ + 0.38091063499450684, + -0.08655411005020142, + 0.018720805644989014, + 0.5195652842521667, + 0.06116928160190582, + -0.07634146511554718, + 0.0, + 1.0008161067962646 + ], + [ + 0.37547481060028076, + -0.07953641563653946, + 0.01093898806720972, + 0.5674239993095398, + 0.08339273929595947, + -0.10123927891254425, + 0.0, + 1.0008161067962646 + ], + [ + 0.370717853307724, + -0.0727011188864708, + 0.002340467646718025, + 0.5939757227897644, + 0.09368320554494858, + -0.12049359828233719, + 0.0, + 0.9994885921478271 + ], + [ + 0.3686605393886566, + -0.0683259442448616, + -0.0009761396213434637, + 0.6121822595596313, + 0.08181590586900711, + -0.13242946565151215, + 0.0, + 0.8289023637771606 + ], + [ + 0.3690645694732666, + -0.06383880972862244, + 0.0020952315535396338, + 0.5996707081794739, + 0.05634016916155815, + -0.1356610804796219, + 0.0, + 0.5928986668586731 + ], + [ + 0.371817409992218, + -0.06023011729121208, + 0.00607729610055685, + 0.564478874206543, + 0.030931860208511353, + -0.12097080796957016, + 0.0, + 0.4485226273536682 + ], + [ + 0.37293148040771484, + -0.05720102787017822, + 0.010306383483111858, + 0.4683960974216461, + 0.02422945573925972, + -0.07742557674646378, + 0.0, + 0.35606881976127625 + ], + [ + 0.37246251106262207, + -0.055115848779678345, + 0.011360649019479752, + 0.3751309812068939, + 0.009511259384453297, + -0.04613656923174858, + 0.0, + 0.2617134153842926 + ], + [ + 0.3628367483615875, + -0.0618756003677845, + -0.007481730543076992, + 0.24342310428619385, + 0.015808090567588806, + -0.03109760768711567, + 0.0, + 0.09662370383739471 + ], + [ + 0.3591787815093994, + -0.051455557346343994, + -0.020211467519402504, + 0.13617432117462158, + 0.007531831506639719, + 0.026190917938947678, + 0.0, + 0.07018911838531494 + ], + [ + 0.36049047112464905, + -0.05002067610621452, + -0.022562790662050247, + 0.10747427493333817, + -0.0034331874921917915, + 0.00499691441655159, + 0.0, + 0.07755524665117264 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9994885921478271 + ], + [ + 0.8289023637771606 + ], + [ + 0.5928986668586731 + ], + [ + 0.4485226273536682 + ], + [ + 0.35606881976127625 + ], + [ + 0.2617134153842926 + ], + [ + 0.09662370383739471 + ], + [ + 0.07018911838531494 + ], + [ + 0.07755524665117264 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3832415044307709, + -0.1019037663936615, + 0.031510382890701294 + ], + [ + 0.376011461019516, + -0.10023102164268494, + 0.014911818318068981 + ], + [ + 0.37717264890670776, + -0.10141072422266006, + 0.013700501061975956 + ], + [ + 0.3792499601840973, + -0.09905555099248886, + 0.016110911965370178 + ], + [ + 0.3804180324077606, + -0.09270855784416199, + 0.016758518293499947 + ], + [ + 0.38091063499450684, + -0.08655411005020142, + 0.018720805644989014 + ], + [ + 0.37547481060028076, + -0.07953641563653946, + 0.01093898806720972 + ], + [ + 0.370717853307724, + -0.0727011188864708, + 0.002340467646718025 + ], + [ + 0.3686605393886566, + -0.0683259442448616, + -0.0009761396213434637 + ], + [ + 0.3690645694732666, + -0.06383880972862244, + 0.0020952315535396338 + ], + [ + 0.371817409992218, + -0.06023011729121208, + 0.00607729610055685 + ], + [ + 0.37293148040771484, + -0.05720102787017822, + 0.010306383483111858 + ], + [ + 0.37246251106262207, + -0.055115848779678345, + 0.011360649019479752 + ], + [ + 0.3628367483615875, + -0.0618756003677845, + -0.007481730543076992 + ], + [ + 0.3591787815093994, + -0.051455557346343994, + -0.020211467519402504 + ], + [ + 0.36049047112464905, + -0.05002067610621452, + -0.022562790662050247 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9908706632553319, + 0.10594419941622547, + 0.0833735888036077, + 0.09161206460894723, + -0.9828364679455387, + 0.1601240359671947, + 0.09890681633752088, + -0.151024183117779, + -0.9835695897065865 + ], + [ + 0.9968244227208154, + 0.07263007171784092, + 0.03264878174717177, + 0.06327336310441706, + -0.9713606818774849, + 0.229030363104904, + 0.04834823459827428, + -0.226237261265179, + -0.9728715998663243 + ], + [ + 0.9993516577960393, + 0.034186092780638444, + 0.01129491570136734, + 0.028973405010621817, + -0.9498464099892369, + 0.31137170589610175, + 0.021373017157104636, + -0.3108425783108736, + -0.9502210719862246 + ], + [ + 0.9995313469144851, + -0.023444805211462055, + -0.019683181752749482, + -0.013871206023881463, + -0.9200696160106228, + 0.3915092480868211, + -0.02728875553700101, + -0.39105273660039974, + -0.9199636302694689 + ], + [ + 0.9973812913026763, + -0.06620356346726544, + -0.029114394097099025, + -0.045949697587754725, + -0.8909365123481722, + 0.4517972512714842, + -0.05584966473488741, + -0.44927632827594033, + -0.8916454428750755 + ], + [ + 0.9952225953825222, + -0.09646610568485138, + -0.015042476327894058, + -0.07612469393315373, + -0.8631920151136729, + 0.49910377279437595, + -0.06113114274786492, + -0.4955742482191699, + -0.8664116503650816 + ], + [ + 0.9914223138961016, + -0.12976736143161463, + -0.015563656895983165, + -0.10071520536026027, + -0.8344457787992587, + 0.5418087205401353, + -0.08329611586466559, + -0.5355937585065519, + -0.8403577112936401 + ], + [ + 0.9883961564482573, + -0.15158876859390152, + -0.009689331994339377, + -0.11967514692794678, + -0.8164203880286452, + 0.5649208875753582, + -0.09354622988707936, + -0.557206061746766, + -0.8250881817276094 + ], + [ + 0.9879282606283021, + -0.1546154813488886, + 0.009581481054064707, + -0.1316010331151802, + -0.8050288843639616, + 0.5784545474129603, + -0.08172465928320022, + -0.5727325276837059, + -0.8156583425663456 + ], + [ + 0.9892400303651304, + -0.1431358725123551, + 0.030270188689916974, + -0.13503075496778894, + -0.8136386397410211, + 0.5654722443526388, + -0.056310367926566504, + -0.5634751866058596, + -0.8242116576119674 + ], + [ + 0.9922170944346501, + -0.11837945103072547, + 0.03862050084248833, + -0.12061825168446894, + -0.8366965687512614, + 0.5342191396800079, + -0.030926927947060607, + -0.5347196998554754, + -0.8444633607885114 + ], + [ + 0.9967114975343883, + -0.07992202496381229, + 0.01336639848429646, + -0.07732553931730973, + -0.8887743445065137, + 0.4517753042346428, + -0.02422708509178157, + -0.451323204004293, + -0.8920316215668899 + ], + [ + 0.998890713707048, + -0.04639409927358337, + 0.008057891933808733, + -0.04611811729275038, + -0.9293088138710209, + 0.3664126740698362, + -0.00951111598058647, + -0.3663778323182623, + -0.9304175528538651 + ], + [ + 0.9993916235120526, + -0.03398410610456471, + -0.007839858813633733, + -0.03108871084196897, + -0.9699309040795052, + 0.24138668846831285, + -0.01580743218010009, + -0.2409961033788463, + -0.9703973429704371 + ], + [ + 0.9996286831334199, + 0.024923376683947944, + -0.011014588127353689, + 0.026187180905926317, + -0.9904295844524432, + 0.13551188065096467, + -0.007531760295275539, + -0.13575000381595223, + -0.990714494216585 + ], + [ + 0.9999816221403208, + 0.005336326626455853, + 0.0028773251029890266, + 0.0049968641731853395, + -0.9942159443871678, + 0.10728321059125157, + 0.003433180747826906, + -0.10726686135273966, + -0.9942243377253872 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.007230043411254883, + 0.0016727447509765625, + -0.016598563641309738, + 0.07612788677215576, + 0.050701700150966644, + -0.02880413830280304, + 1.0 + ], + [ + 0.0011611878871917725, + -0.0011797025799751282, + -0.0012113172560930252, + 0.08766913414001465, + 0.026992445811629295, + -0.03440580517053604, + 1.0 + ], + [ + 0.0020773112773895264, + 0.0023551732301712036, + 0.0024104109033942223, + 0.08577930927276611, + 0.04866679012775421, + -0.04286090284585953, + 1.0 + ], + [ + 0.00116807222366333, + 0.006346993148326874, + 0.0006476063281297684, + 0.06480801105499268, + 0.028586596250534058, + -0.03216097131371498, + 1.0 + ], + [ + 0.0004926025867462158, + 0.006154447793960571, + 0.001962287351489067, + 0.05282384157180786, + 0.005290541797876358, + -0.030303675681352615, + 1.0 + ], + [ + -0.005435824394226074, + 0.007017694413661957, + -0.007781817577779293, + 0.04785871505737305, + 0.02222345769405365, + -0.02489781379699707, + 1.0 + ], + [ + -0.004756957292556763, + 0.0068352967500686646, + -0.008598520420491695, + 0.02655172348022461, + 0.010290466248989105, + -0.019254319369792938, + 1.0 + ], + [ + -0.002057313919067383, + 0.004375174641609192, + -0.0033166073262691498, + 0.018206536769866943, + -0.011867299675941467, + -0.011935867369174957, + 0.0 + ], + [ + 0.00040403008460998535, + 0.004487134516239166, + 0.0030713712330907583, + -0.01251155138015747, + -0.02547573670744896, + -0.003231614828109741, + 0.0 + ], + [ + 0.002752840518951416, + 0.0036086924374103546, + 0.003982064314186573, + -0.03519183397293091, + -0.0254083089530468, + 0.014690272510051727, + 0.0 + ], + [ + 0.0011140704154968262, + 0.0030290894210338593, + 0.004229087382555008, + -0.09608277678489685, + -0.006702404469251633, + 0.043545231223106384, + 0.0 + ], + [ + -0.00046896934509277344, + 0.002085179090499878, + 0.0010542655363678932, + -0.0932651162147522, + -0.014718196354806423, + 0.031289007514715195, + 0.0 + ], + [ + -0.009625762701034546, + -0.006759751588106155, + -0.018842380493879318, + -0.13170787692070007, + 0.0062968311831355095, + 0.015038961544632912, + 0.0 + ], + [ + -0.0036579668521881104, + 0.010420043021440506, + -0.012729736976325512, + -0.10724878311157227, + -0.008276259526610374, + 0.057288527488708496, + 0.0 + ], + [ + 0.0013116896152496338, + 0.0014348812401294708, + -0.0023513231426477432, + -0.028700046241283417, + -0.010965019464492798, + -0.021194003522396088, + 1.0 + ], + [ + 0.00018203258514404297, + 0.0041301921010017395, + -8.95131379365921e-05, + -0.005381159484386444, + 0.006338728591799736, + -0.017713084816932678, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9994885921478271 + ], + [ + 0.8289023637771606 + ], + [ + 0.5928986668586731 + ], + [ + 0.4485226273536682 + ], + [ + 0.35606881976127625 + ], + [ + 0.2617134153842926 + ], + [ + 0.09662370383739471 + ], + [ + 0.07018911838531494 + ], + [ + 0.07755524665117264 + ], + [ + 0.11160726845264435 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.376011461019516, + -0.10023102164268494, + 0.014911818318068981 + ], + [ + 0.37717264890670776, + -0.10141072422266006, + 0.013700501061975956 + ], + [ + 0.3792499601840973, + -0.09905555099248886, + 0.016110911965370178 + ], + [ + 0.3804180324077606, + -0.09270855784416199, + 0.016758518293499947 + ], + [ + 0.38091063499450684, + -0.08655411005020142, + 0.018720805644989014 + ], + [ + 0.37547481060028076, + -0.07953641563653946, + 0.01093898806720972 + ], + [ + 0.370717853307724, + -0.0727011188864708, + 0.002340467646718025 + ], + [ + 0.3686605393886566, + -0.0683259442448616, + -0.0009761396213434637 + ], + [ + 0.3690645694732666, + -0.06383880972862244, + 0.0020952315535396338 + ], + [ + 0.371817409992218, + -0.06023011729121208, + 0.00607729610055685 + ], + [ + 0.37293148040771484, + -0.05720102787017822, + 0.010306383483111858 + ], + [ + 0.37246251106262207, + -0.055115848779678345, + 0.011360649019479752 + ], + [ + 0.3628367483615875, + -0.0618756003677845, + -0.007481730543076992 + ], + [ + 0.3591787815093994, + -0.051455557346343994, + -0.020211467519402504 + ], + [ + 0.36049047112464905, + -0.05002067610621452, + -0.022562790662050247 + ], + [ + 0.3606725037097931, + -0.045890484005212784, + -0.02265230379998684 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9968244227208154, + 0.07263007171784092, + 0.03264878174717177, + 0.06327336310441706, + -0.9713606818774849, + 0.229030363104904, + 0.04834823459827428, + -0.226237261265179, + -0.9728715998663243 + ], + [ + 0.9993516577960393, + 0.034186092780638444, + 0.01129491570136734, + 0.028973405010621817, + -0.9498464099892369, + 0.31137170589610175, + 0.021373017157104636, + -0.3108425783108736, + -0.9502210719862246 + ], + [ + 0.9995313469144851, + -0.023444805211462055, + -0.019683181752749482, + -0.013871206023881463, + -0.9200696160106228, + 0.3915092480868211, + -0.02728875553700101, + -0.39105273660039974, + -0.9199636302694689 + ], + [ + 0.9973812913026763, + -0.06620356346726544, + -0.029114394097099025, + -0.045949697587754725, + -0.8909365123481722, + 0.4517972512714842, + -0.05584966473488741, + -0.44927632827594033, + -0.8916454428750755 + ], + [ + 0.9952225953825222, + -0.09646610568485138, + -0.015042476327894058, + -0.07612469393315373, + -0.8631920151136729, + 0.49910377279437595, + -0.06113114274786492, + -0.4955742482191699, + -0.8664116503650816 + ], + [ + 0.9914223138961016, + -0.12976736143161463, + -0.015563656895983165, + -0.10071520536026027, + -0.8344457787992587, + 0.5418087205401353, + -0.08329611586466559, + -0.5355937585065519, + -0.8403577112936401 + ], + [ + 0.9883961564482573, + -0.15158876859390152, + -0.009689331994339377, + -0.11967514692794678, + -0.8164203880286452, + 0.5649208875753582, + -0.09354622988707936, + -0.557206061746766, + -0.8250881817276094 + ], + [ + 0.9879282606283021, + -0.1546154813488886, + 0.009581481054064707, + -0.1316010331151802, + -0.8050288843639616, + 0.5784545474129603, + -0.08172465928320022, + -0.5727325276837059, + -0.8156583425663456 + ], + [ + 0.9892400303651304, + -0.1431358725123551, + 0.030270188689916974, + -0.13503075496778894, + -0.8136386397410211, + 0.5654722443526388, + -0.056310367926566504, + -0.5634751866058596, + -0.8242116576119674 + ], + [ + 0.9922170944346501, + -0.11837945103072547, + 0.03862050084248833, + -0.12061825168446894, + -0.8366965687512614, + 0.5342191396800079, + -0.030926927947060607, + -0.5347196998554754, + -0.8444633607885114 + ], + [ + 0.9967114975343883, + -0.07992202496381229, + 0.01336639848429646, + -0.07732553931730973, + -0.8887743445065137, + 0.4517753042346428, + -0.02422708509178157, + -0.451323204004293, + -0.8920316215668899 + ], + [ + 0.998890713707048, + -0.04639409927358337, + 0.008057891933808733, + -0.04611811729275038, + -0.9293088138710209, + 0.3664126740698362, + -0.00951111598058647, + -0.3663778323182623, + -0.9304175528538651 + ], + [ + 0.9993916235120526, + -0.03398410610456471, + -0.007839858813633733, + -0.03108871084196897, + -0.9699309040795052, + 0.24138668846831285, + -0.01580743218010009, + -0.2409961033788463, + -0.9703973429704371 + ], + [ + 0.9996286831334199, + 0.024923376683947944, + -0.011014588127353689, + 0.026187180905926317, + -0.9904295844524432, + 0.13551188065096467, + -0.007531760295275539, + -0.13575000381595223, + -0.990714494216585 + ], + [ + 0.9999816221403208, + 0.005336326626455853, + 0.0028773251029890266, + 0.0049968641731853395, + -0.9942159443871678, + 0.10728321059125157, + 0.003433180747826906, + -0.10726686135273966, + -0.9942243377253872 + ], + [ + 0.9999149298424937, + -0.012945713951227879, + -0.0015942297117481363, + -0.012715774956959507, + -0.9947088290912702, + 0.10194436911923167, + -0.002905537011431464, + -0.10191542482944953, + -0.9947888238397675 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005774.json b/json/chunk-0005/episode_0005774.json new file mode 100644 index 0000000000000000000000000000000000000000..e4d52b98bf3486d583f08916a1039b6c4fa0c536 --- /dev/null +++ b/json/chunk-0005/episode_0005774.json @@ -0,0 +1,1282 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 20, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPick up bowl and put in small4fbox." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005774.mp4", + "start": 0, + "end": 20, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.27645865082740784, + -0.0369354784488678, + 0.12450960278511047, + 0.023832036182284355, + -0.11955717951059341, + 0.03997566178441048, + 0.0, + 0.9920742511749268 + ], + [ + 0.2759152948856354, + -0.038383305072784424, + 0.11532995849847794, + 0.01651500165462494, + -0.08122481405735016, + 0.10878413170576096, + 0.0, + 0.9920742511749268 + ], + [ + 0.29718297719955444, + -0.0423797070980072, + 0.11961963027715683, + -0.007974897511303425, + -0.07965703308582306, + 0.3392997086048126, + 0.0, + 0.9920742511749268 + ], + [ + 0.3245289623737335, + -0.04660552740097046, + 0.12352671474218369, + -0.04090764373540878, + -0.09619718790054321, + 0.4941070079803467, + 0.0, + 0.9920742511749268 + ], + [ + 0.34490200877189636, + -0.048351485282182693, + 0.11751147359609604, + -0.1242310032248497, + -0.12564042210578918, + 0.6656128168106079, + 0.0, + 0.9920742511749268 + ], + [ + 0.36817803978919983, + -0.04918764904141426, + 0.09804697334766388, + -0.13831256330013275, + -0.14220717549324036, + 0.8020368218421936, + 0.0, + 0.9920742511749268 + ], + [ + 0.38754183053970337, + -0.050483692437410355, + 0.08672594279050827, + -0.1450285017490387, + -0.13398399949073792, + 0.8351918458938599, + 0.0, + 0.9920742511749268 + ], + [ + 0.40380430221557617, + -0.03852466493844986, + 0.06451111286878586, + -0.12768223881721497, + -0.08564679324626923, + 0.8395252823829651, + 0.0, + 0.9920742511749268 + ], + [ + 0.41446736454963684, + -0.04439294710755348, + 0.04664113000035286, + -0.15150786936283112, + -0.07794172316789627, + 0.8232107758522034, + 0.0, + 0.9920742511749268 + ], + [ + 0.42131364345550537, + -0.040132246911525726, + 0.028427688404917717, + -0.14034314453601837, + -0.06627719104290009, + 0.8127607107162476, + 0.0, + 0.9920742511749268 + ], + [ + 0.42215052247047424, + -0.031246617436408997, + 0.021212933585047722, + -0.14955651760101318, + -0.0325935035943985, + 0.8021607995033264, + 0.0, + 0.9920742511749268 + ], + [ + 0.42251378297805786, + -0.023854894563555717, + 0.00834457017481327, + -0.15458236634731293, + 0.034922465682029724, + 0.7695350050926208, + 0.0, + 0.8784087896347046 + ], + [ + 0.424416184425354, + -0.023232202976942062, + 0.004100547172129154, + -0.14999203383922577, + -0.009478477761149406, + 0.7479469180107117, + 0.0, + 0.5679898858070374 + ], + [ + 0.41933727264404297, + -0.024545282125473022, + 0.003477932885289192, + -0.12527048587799072, + -0.02670062892138958, + 0.7539598941802979, + 0.0, + 0.2824830114841461 + ], + [ + 0.40723735094070435, + -0.032247625291347504, + 0.037488289177417755, + -0.11675450950860977, + -0.10261200368404388, + 0.7134644389152527, + 0.0, + 0.10713252425193787 + ], + [ + 0.3914766311645508, + -0.05177542194724083, + 0.08892646431922913, + -0.09059618413448334, + -0.1715763360261917, + 0.661237895488739, + 0.0, + 0.06621777266263962 + ], + [ + 0.37909191846847534, + -0.04037932679057121, + 0.13097691535949707, + -0.021222058683633804, + -0.15079949796199799, + 0.5873302817344666, + 0.0, + 0.06772904843091965 + ], + [ + 0.3665443956851959, + -0.021430382505059242, + 0.16774506866931915, + 0.0873294249176979, + -0.145159050822258, + 0.5126333236694336, + 0.0, + 0.07143880426883698 + ], + [ + 0.3568821847438812, + 0.03206394985318184, + 0.19813521206378937, + 0.11836739629507065, + -0.2015327364206314, + 0.47297191619873047, + 0.0, + 0.07206849008798599 + ], + [ + 0.3483261168003082, + 0.07969246059656143, + 0.20097790658473969, + 0.14079836010932922, + -0.18219250440597534, + 0.4039173722267151, + 0.0, + 0.07238461822271347 + ] + ], + "left_gripper_pos": [ + [ + 0.9920742511749268 + ], + [ + 0.9920742511749268 + ], + [ + 0.9920742511749268 + ], + [ + 0.9920742511749268 + ], + [ + 0.9920742511749268 + ], + [ + 0.9920742511749268 + ], + [ + 0.9920742511749268 + ], + [ + 0.9920742511749268 + ], + [ + 0.9920742511749268 + ], + [ + 0.9920742511749268 + ], + [ + 0.9920742511749268 + ], + [ + 0.8784087896347046 + ], + [ + 0.5679898858070374 + ], + [ + 0.2824830114841461 + ], + [ + 0.10713252425193787 + ], + [ + 0.06621777266263962 + ], + [ + 0.06772904843091965 + ], + [ + 0.07143880426883698 + ], + [ + 0.07206849008798599 + ], + [ + 0.07238461822271347 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.27645865082740784, + -0.0369354784488678, + 0.12450960278511047 + ], + [ + 0.2759152948856354, + -0.038383305072784424, + 0.11532995849847794 + ], + [ + 0.29718297719955444, + -0.0423797070980072, + 0.11961963027715683 + ], + [ + 0.3245289623737335, + -0.04660552740097046, + 0.12352671474218369 + ], + [ + 0.34490200877189636, + -0.048351485282182693, + 0.11751147359609604 + ], + [ + 0.36817803978919983, + -0.04918764904141426, + 0.09804697334766388 + ], + [ + 0.38754183053970337, + -0.050483692437410355, + 0.08672594279050827 + ], + [ + 0.40380430221557617, + -0.03852466493844986, + 0.06451111286878586 + ], + [ + 0.41446736454963684, + -0.04439294710755348, + 0.04664113000035286 + ], + [ + 0.42131364345550537, + -0.040132246911525726, + 0.028427688404917717 + ], + [ + 0.42215052247047424, + -0.031246617436408997, + 0.021212933585047722 + ], + [ + 0.42251378297805786, + -0.023854894563555717, + 0.00834457017481327 + ], + [ + 0.424416184425354, + -0.023232202976942062, + 0.004100547172129154 + ], + [ + 0.41933727264404297, + -0.024545282125473022, + 0.003477932885289192 + ], + [ + 0.40723735094070435, + -0.032247625291347504, + 0.037488289177417755 + ], + [ + 0.3914766311645508, + -0.05177542194724083, + 0.08892646431922913 + ], + [ + 0.37909191846847534, + -0.04037932679057121, + 0.13097691535949707 + ], + [ + 0.3665443956851959, + -0.021430382505059242, + 0.16774506866931915 + ], + [ + 0.3568821847438812, + 0.03206394985318184, + 0.19813521206378937 + ], + [ + 0.3483261168003082, + 0.07969246059656143, + 0.20097790658473969 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9920683322179774, + 0.04279363474586997, + 0.1181910700327117, + 0.039679727144037606, + -0.9988037468486171, + 0.0285761182622471, + 0.11927255956008917, + -0.023659672575931334, + -0.9925796070993924 + ], + [ + 0.9908114058159162, + 0.1098868668744534, + 0.07885197900880042, + 0.10821175445168116, + -0.9938078040127087, + 0.025224291504953443, + 0.08113553046339936, + -0.01645980473620396, + -0.9965671580603432 + ], + [ + 0.9399978102156104, + 0.3322178240205679, + 0.07768805695148082, + 0.3317714321987182, + -0.9431691907874609, + 0.01896297250268714, + 0.0795728192705829, + 0.007949525291823634, + -0.996797357280288 + ], + [ + 0.8763221668733385, + 0.47039068712356186, + 0.1038848464110125, + 0.47205303787975766, + -0.8815188760813312, + 0.009507919898616202, + 0.09604889002434333, + 0.040707156369977, + -0.9945438844743663 + ], + [ + 0.7803386973501611, + 0.600569124391045, + 0.17432224254531237, + 0.6126735574200887, + -0.7900656411798254, + -0.020673525711023738, + 0.12531013309412198, + 0.12293498060065941, + -0.9844716151767143 + ], + [ + 0.6882260580709304, + 0.6983240935965596, + 0.1966935517364317, + 0.7115180720268535, + -0.7026496998883736, + 0.0050430572045521704, + 0.14172835344890647, + 0.13648025333110483, + -0.9804520458846213 + ], + [ + 0.665021343006381, + 0.7206868987769995, + 0.1958494505409188, + 0.7347802840026446, + -0.6783044197078582, + 0.0010239364133314555, + 0.13358348545752952, + 0.1432253753214714, + -0.9806334403216328 + ], + [ + 0.6653684020025981, + 0.7309929081862347, + 0.15144060815362545, + 0.7415978929245197, + -0.6704876305956904, + -0.021883839427520306, + 0.08554212311149106, + 0.1268688511795071, + -0.9882240837856415 + ], + [ + 0.6778061188943143, + 0.7169422494292149, + 0.16301127621365416, + 0.7311061787037066, + -0.6806999205988293, + -0.04616680147044554, + 0.07786283228017499, + 0.15047069176462613, + -0.9855434796441933 + ], + [ + 0.6859868425246642, + 0.7126789338813385, + 0.1466655688455884, + 0.724593550829001, + -0.6874644280048507, + -0.048547361668615174, + 0.06622867943769808, + 0.13957577665813645, + -0.9879941116171779 + ], + [ + 0.6947858098075714, + 0.7074600417627099, + 0.1295104930078703, + 0.718478056830173, + -0.690885649317154, + -0.08041331619298467, + 0.03258773302296027, + 0.14892047836586753, + -0.9883120614359138 + ], + [ + 0.7177963642475054, + 0.6913656527730592, + 0.08235237482152319, + 0.6953770894800877, + -0.705929497397064, + -0.13458918281545132, + -0.034915367666184596, + 0.15387358080713784, + -0.987473462038512 + ], + [ + 0.7330538554884285, + 0.6714604251916116, + 0.10850319052936105, + 0.6801045552731952, + -0.7258191938168197, + -0.10317117709782936, + 0.009478335834946075, + 0.1494235432875371, + -0.988727852273414 + ], + [ + 0.7287240823795275, + 0.6767351275372092, + 0.1048369158136235, + 0.6842868240578849, + -0.7255549010920564, + -0.07294948884035644, + 0.02669745644979702, + 0.12489856948137261, + -0.9918102606651222 + ], + [ + 0.7521220145536862, + 0.6409796007557704, + 0.15315882814476398, + 0.6510147117612926, + -0.7587606620841194, + -0.021496575169770445, + 0.10243202767721313, + 0.11587669778105339, + -0.9879677477616831 + ], + [ + 0.7776442337867059, + 0.5993847279428606, + 0.1897561423700163, + 0.6050774735416768, + -0.7954818133874316, + 0.03301417244555034, + 0.17073575100343913, + 0.08914388637874203, + -0.9812760421260601 + ], + [ + 0.8229761126358451, + 0.5513621853825375, + 0.1367847161088731, + 0.5478518816644171, + -0.834002155395435, + 0.06556462882169128, + 0.1502286050908755, + 0.020979640749091647, + -0.9884286625176795 + ], + [ + 0.8622907752493207, + 0.4995990826048069, + 0.08279719548608402, + 0.48531541444678983, + -0.8619471345842342, + 0.1466836244519772, + 0.14464980961019663, + -0.08630118100271487, + -0.9857121987361578 + ], + [ + 0.8722012102485993, + 0.47338986091521784, + 0.12315473366277817, + 0.4463143592488181, + -0.8732212139440922, + 0.1956737188442111, + 0.20017128058039696, + -0.11570112834660334, + -0.9729052920660507 + ], + [ + 0.9043091399305123, + 0.41251463820259165, + 0.10980279006802329, + 0.38651847565697434, + -0.9004358147438576, + 0.1995465146334925, + 0.18118622302467258, + -0.1380109299843698, + -0.9737168663379019 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0005433559417724609, + -0.001447826623916626, + -0.009179644286632538, + -0.007317034527659416, + 0.038332365453243256, + 0.06880846619606018, + 1.0 + ], + [ + 0.021267682313919067, + -0.003996402025222778, + 0.004289671778678894, + -0.02448989823460579, + 0.0015677809715270996, + 0.23051556944847107, + 1.0 + ], + [ + 0.027345985174179077, + -0.004225820302963257, + 0.0039070844650268555, + -0.03293274715542793, + -0.016540154814720154, + 0.15480729937553406, + 1.0 + ], + [ + 0.020373046398162842, + -0.0017459578812122345, + -0.0060152411460876465, + -0.08332335948944092, + -0.02944323420524597, + 0.17150580883026123, + 1.0 + ], + [ + 0.023276031017303467, + -0.0008361637592315674, + -0.01946450024843216, + -0.01408156007528305, + -0.016566753387451172, + 0.1364240050315857, + 1.0 + ], + [ + 0.01936379075050354, + -0.0012960433959960938, + -0.011321030557155609, + -0.006715938448905945, + 0.008223176002502441, + 0.03315502405166626, + 1.0 + ], + [ + 0.016262471675872803, + 0.011959027498960495, + -0.022214829921722412, + 0.01734626293182373, + 0.04833720624446869, + 0.004333436489105225, + 1.0 + ], + [ + 0.010663062334060669, + -0.0058682821691036224, + -0.017869982868433, + -0.02382563054561615, + 0.007705070078372955, + -0.01631450653076172, + 1.0 + ], + [ + 0.00684627890586853, + 0.004260700196027756, + -0.018213441595435143, + 0.011164724826812744, + 0.011664532124996185, + -0.01045006513595581, + 1.0 + ], + [ + 0.0008368790149688721, + 0.00888562947511673, + -0.007214754819869995, + -0.009213373064994812, + 0.03368368744850159, + -0.010599911212921143, + 1.0 + ], + [ + 0.00036326050758361816, + 0.007391722872853279, + -0.012868363410234451, + -0.005025848746299744, + 0.06751596927642822, + -0.032625794410705566, + 0.0 + ], + [ + 0.0019024014472961426, + 0.0006226915866136551, + -0.004244023002684116, + 0.004590332508087158, + -0.04440094530582428, + -0.02158808708190918, + 0.0 + ], + [ + -0.005078911781311035, + -0.00131307914853096, + -0.000622614286839962, + 0.024721547961235046, + -0.017222151160240173, + 0.006012976169586182, + 0.0 + ], + [ + -0.012099921703338623, + -0.007702343165874481, + 0.03401035815477371, + 0.008515976369380951, + -0.07591137290000916, + -0.040495455265045166, + 0.0 + ], + [ + -0.015760719776153564, + -0.019527796655893326, + 0.05143817514181137, + 0.026158325374126434, + -0.06896433234214783, + -0.05222654342651367, + 0.0 + ], + [ + -0.01238471269607544, + 0.011396095156669617, + 0.042050451040267944, + 0.06937412917613983, + 0.020776838064193726, + -0.07390761375427246, + 0.0 + ], + [ + -0.012547522783279419, + 0.01894894428551197, + 0.03676815330982208, + 0.10855148732662201, + 0.00564044713973999, + -0.07469695806503296, + 0.0 + ], + [ + -0.009662210941314697, + 0.05349433422088623, + 0.030390143394470215, + 0.03103797137737274, + -0.05637368559837341, + -0.039661407470703125, + 0.0 + ], + [ + -0.008556067943572998, + 0.04762851074337959, + 0.0028426945209503174, + 0.022430963814258575, + 0.019340232014656067, + -0.06905454397201538, + 0.0 + ], + [ + -0.0181124210357666, + 0.0490214005112648, + 0.00044864416122436523, + 0.03974607586860657, + -0.02190244197845459, + -0.03333577513694763, + 0.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9920742511749268 + ], + [ + 0.9920742511749268 + ], + [ + 0.9920742511749268 + ], + [ + 0.9920742511749268 + ], + [ + 0.9920742511749268 + ], + [ + 0.9920742511749268 + ], + [ + 0.9920742511749268 + ], + [ + 0.9920742511749268 + ], + [ + 0.9920742511749268 + ], + [ + 0.9920742511749268 + ], + [ + 0.8784087896347046 + ], + [ + 0.5679898858070374 + ], + [ + 0.2824830114841461 + ], + [ + 0.10713252425193787 + ], + [ + 0.06621777266263962 + ], + [ + 0.06772904843091965 + ], + [ + 0.07143880426883698 + ], + [ + 0.07206849008798599 + ], + [ + 0.07238461822271347 + ], + [ + 0.07270156592130661 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2759152948856354, + -0.038383305072784424, + 0.11532995849847794 + ], + [ + 0.29718297719955444, + -0.0423797070980072, + 0.11961963027715683 + ], + [ + 0.3245289623737335, + -0.04660552740097046, + 0.12352671474218369 + ], + [ + 0.34490200877189636, + -0.048351485282182693, + 0.11751147359609604 + ], + [ + 0.36817803978919983, + -0.04918764904141426, + 0.09804697334766388 + ], + [ + 0.38754183053970337, + -0.050483692437410355, + 0.08672594279050827 + ], + [ + 0.40380430221557617, + -0.03852466493844986, + 0.06451111286878586 + ], + [ + 0.41446736454963684, + -0.04439294710755348, + 0.04664113000035286 + ], + [ + 0.42131364345550537, + -0.040132246911525726, + 0.028427688404917717 + ], + [ + 0.42215052247047424, + -0.031246617436408997, + 0.021212933585047722 + ], + [ + 0.42251378297805786, + -0.023854894563555717, + 0.00834457017481327 + ], + [ + 0.424416184425354, + -0.023232202976942062, + 0.004100547172129154 + ], + [ + 0.41933727264404297, + -0.024545282125473022, + 0.003477932885289192 + ], + [ + 0.40723735094070435, + -0.032247625291347504, + 0.037488289177417755 + ], + [ + 0.3914766311645508, + -0.05177542194724083, + 0.08892646431922913 + ], + [ + 0.37909191846847534, + -0.04037932679057121, + 0.13097691535949707 + ], + [ + 0.3665443956851959, + -0.021430382505059242, + 0.16774506866931915 + ], + [ + 0.3568821847438812, + 0.03206394985318184, + 0.19813521206378937 + ], + [ + 0.3483261168003082, + 0.07969246059656143, + 0.20097790658473969 + ], + [ + 0.3302136957645416, + 0.12871386110782623, + 0.20142655074596405 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9908114058159162, + 0.1098868668744534, + 0.07885197900880042, + 0.10821175445168116, + -0.9938078040127087, + 0.025224291504953443, + 0.08113553046339936, + -0.01645980473620396, + -0.9965671580603432 + ], + [ + 0.9399978102156104, + 0.3322178240205679, + 0.07768805695148082, + 0.3317714321987182, + -0.9431691907874609, + 0.01896297250268714, + 0.0795728192705829, + 0.007949525291823634, + -0.996797357280288 + ], + [ + 0.8763221668733385, + 0.47039068712356186, + 0.1038848464110125, + 0.47205303787975766, + -0.8815188760813312, + 0.009507919898616202, + 0.09604889002434333, + 0.040707156369977, + -0.9945438844743663 + ], + [ + 0.7803386973501611, + 0.600569124391045, + 0.17432224254531237, + 0.6126735574200887, + -0.7900656411798254, + -0.020673525711023738, + 0.12531013309412198, + 0.12293498060065941, + -0.9844716151767143 + ], + [ + 0.6882260580709304, + 0.6983240935965596, + 0.1966935517364317, + 0.7115180720268535, + -0.7026496998883736, + 0.0050430572045521704, + 0.14172835344890647, + 0.13648025333110483, + -0.9804520458846213 + ], + [ + 0.665021343006381, + 0.7206868987769995, + 0.1958494505409188, + 0.7347802840026446, + -0.6783044197078582, + 0.0010239364133314555, + 0.13358348545752952, + 0.1432253753214714, + -0.9806334403216328 + ], + [ + 0.6653684020025981, + 0.7309929081862347, + 0.15144060815362545, + 0.7415978929245197, + -0.6704876305956904, + -0.021883839427520306, + 0.08554212311149106, + 0.1268688511795071, + -0.9882240837856415 + ], + [ + 0.6778061188943143, + 0.7169422494292149, + 0.16301127621365416, + 0.7311061787037066, + -0.6806999205988293, + -0.04616680147044554, + 0.07786283228017499, + 0.15047069176462613, + -0.9855434796441933 + ], + [ + 0.6859868425246642, + 0.7126789338813385, + 0.1466655688455884, + 0.724593550829001, + -0.6874644280048507, + -0.048547361668615174, + 0.06622867943769808, + 0.13957577665813645, + -0.9879941116171779 + ], + [ + 0.6947858098075714, + 0.7074600417627099, + 0.1295104930078703, + 0.718478056830173, + -0.690885649317154, + -0.08041331619298467, + 0.03258773302296027, + 0.14892047836586753, + -0.9883120614359138 + ], + [ + 0.7177963642475054, + 0.6913656527730592, + 0.08235237482152319, + 0.6953770894800877, + -0.705929497397064, + -0.13458918281545132, + -0.034915367666184596, + 0.15387358080713784, + -0.987473462038512 + ], + [ + 0.7330538554884285, + 0.6714604251916116, + 0.10850319052936105, + 0.6801045552731952, + -0.7258191938168197, + -0.10317117709782936, + 0.009478335834946075, + 0.1494235432875371, + -0.988727852273414 + ], + [ + 0.7287240823795275, + 0.6767351275372092, + 0.1048369158136235, + 0.6842868240578849, + -0.7255549010920564, + -0.07294948884035644, + 0.02669745644979702, + 0.12489856948137261, + -0.9918102606651222 + ], + [ + 0.7521220145536862, + 0.6409796007557704, + 0.15315882814476398, + 0.6510147117612926, + -0.7587606620841194, + -0.021496575169770445, + 0.10243202767721313, + 0.11587669778105339, + -0.9879677477616831 + ], + [ + 0.7776442337867059, + 0.5993847279428606, + 0.1897561423700163, + 0.6050774735416768, + -0.7954818133874316, + 0.03301417244555034, + 0.17073575100343913, + 0.08914388637874203, + -0.9812760421260601 + ], + [ + 0.8229761126358451, + 0.5513621853825375, + 0.1367847161088731, + 0.5478518816644171, + -0.834002155395435, + 0.06556462882169128, + 0.1502286050908755, + 0.020979640749091647, + -0.9884286625176795 + ], + [ + 0.8622907752493207, + 0.4995990826048069, + 0.08279719548608402, + 0.48531541444678983, + -0.8619471345842342, + 0.1466836244519772, + 0.14464980961019663, + -0.08630118100271487, + -0.9857121987361578 + ], + [ + 0.8722012102485993, + 0.47338986091521784, + 0.12315473366277817, + 0.4463143592488181, + -0.8732212139440922, + 0.1956737188442111, + 0.20017128058039696, + -0.11570112834660334, + -0.9729052920660507 + ], + [ + 0.9043091399305123, + 0.41251463820259165, + 0.10980279006802329, + 0.38651847565697434, + -0.9004358147438576, + 0.1995465146334925, + 0.18118622302467258, + -0.1380109299843698, + -0.9737168663379019 + ], + [ + 0.912770622482965, + 0.39019500578527244, + 0.12082072749446424, + 0.3546409642485886, + -0.9037857915065961, + 0.23958511962896756, + 0.20268097396867732, + -0.17583827948153563, + -0.9633282526014076 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005775.json b/json/chunk-0005/episode_0005775.json new file mode 100644 index 0000000000000000000000000000000000000000..ad5018a34b474b15f4c21bb7b1f414e9118aa8c3 --- /dev/null +++ b/json/chunk-0005/episode_0005775.json @@ -0,0 +1,1462 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 23, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the cloth to the middle of the table." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005775.mp4", + "start": 0, + "end": 23, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.34729236364364624, + -0.008796148002147675, + 0.1745358109474182, + 0.2371213734149933, + -0.25080132484436035, + -1.2882827520370483, + 0.0, + 1.0008161067962646 + ], + [ + 0.348625123500824, + -0.008718369528651237, + 0.16451376676559448, + 0.2067118138074875, + -0.24516551196575165, + -1.276465892791748, + 0.0, + 1.0008161067962646 + ], + [ + 0.349008709192276, + -0.011376479640603065, + 0.1499176025390625, + 0.16903431713581085, + -0.21560858190059662, + -1.265782117843628, + 0.0, + 1.0008161067962646 + ], + [ + 0.3536384701728821, + -0.024837279692292213, + 0.12574242055416107, + 0.13103033602237701, + -0.16780781745910645, + -1.3024532794952393, + 0.0, + 1.0008161067962646 + ], + [ + 0.36483386158943176, + -0.037555843591690063, + 0.10363007336854935, + 0.12515215575695038, + -0.1422320455312729, + -1.3187332153320312, + 0.0, + 1.0008161067962646 + ], + [ + 0.3771139085292816, + -0.045643988996744156, + 0.07869621366262436, + 0.0709289014339447, + -0.11156224459409714, + -1.3329719305038452, + 0.0, + 1.0008161067962646 + ], + [ + 0.38228458166122437, + -0.045952461659908295, + 0.07042625546455383, + 0.08936166018247604, + -0.11351538449525833, + -1.3310705423355103, + 0.0, + 1.0008161067962646 + ], + [ + 0.38176819682121277, + -0.04224326089024544, + 0.04766237363219261, + 0.07975897938013077, + -0.08634873479604721, + -1.3246419429779053, + 0.0, + 1.0008161067962646 + ], + [ + 0.38081905245780945, + -0.03738557547330856, + 0.03542366623878479, + 0.12324326485395432, + -0.07086335867643356, + -1.317497730255127, + 0.0, + 1.0008161067962646 + ], + [ + 0.38101139664649963, + -0.03616180643439293, + 0.026716813445091248, + 0.13503824174404144, + -0.06533662229776382, + -1.3267008066177368, + 0.0, + 1.0008161067962646 + ], + [ + 0.37949010729789734, + -0.03194548562169075, + 0.026150407269597054, + 0.12483047693967819, + -0.06194767355918884, + -1.3154922723770142, + 0.0, + 1.0008161067962646 + ], + [ + 0.37905845046043396, + -0.018899546936154366, + 0.02687324397265911, + 0.11293621361255646, + -0.059386808425188065, + -1.2888342142105103, + 0.0, + 1.0008161067962646 + ], + [ + 0.3808096945285797, + 0.013480925932526588, + 0.03039078414440155, + 0.10883279889822006, + -0.04842236638069153, + -1.2346720695495605, + 0.0, + 1.0001531839370728 + ], + [ + 0.37792855501174927, + 0.05095215514302254, + 0.03163755312561989, + 0.10852046310901642, + -0.039601705968379974, + -1.1687313318252563, + 0.0, + 1.0001531839370728 + ], + [ + 0.3749547004699707, + 0.08501297235488892, + 0.03232966735959053, + 0.10340966284275055, + -0.03574611619114876, + -1.102626919746399, + 0.0, + 1.0001531839370728 + ], + [ + 0.3670758306980133, + 0.12187601625919342, + 0.03476721793413162, + 0.11460866034030914, + -0.015363259240984917, + -1.0254251956939697, + 0.0, + 0.9994885921478271 + ], + [ + 0.3617895543575287, + 0.13552787899971008, + 0.03439890965819359, + 0.11224547773599625, + -0.0181437861174345, + -1.0007524490356445, + 0.0, + 0.9994885921478271 + ], + [ + 0.36000382900238037, + 0.13152176141738892, + 0.03502480685710907, + 0.08895839005708694, + -0.016731958836317062, + -1.0216565132141113, + 0.0, + 0.9981546401977539 + ], + [ + 0.36156851053237915, + 0.12618035078048706, + 0.04318474605679512, + 0.06426169723272324, + -0.042351268231868744, + -1.0424058437347412, + 0.0, + 0.9981546401977539 + ], + [ + 0.35919204354286194, + 0.12589003145694733, + 0.06265611201524734, + 0.08325111865997314, + -0.04164724424481392, + -1.0508071184158325, + 0.0, + 0.9981546401977539 + ], + [ + 0.3545154631137848, + 0.1227593943476677, + 0.09428279846906662, + 0.11589230597019196, + -0.05188186839222908, + -1.056782841682434, + 0.0, + 0.9981546401977539 + ], + [ + 0.3462786376476288, + 0.11944480240345001, + 0.12487536668777466, + 0.1513504981994629, + -0.06581928580999374, + -1.06393563747406, + 0.0, + 0.9988223910331726 + ], + [ + 0.33556416630744934, + 0.12006893008947372, + 0.13998769223690033, + 0.17452970147132874, + -0.08958717435598373, + -1.0887876749038696, + 0.0, + 0.9988223910331726 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.34729236364364624, + -0.008796148002147675, + 0.1745358109474182 + ], + [ + 0.348625123500824, + -0.008718369528651237, + 0.16451376676559448 + ], + [ + 0.349008709192276, + -0.011376479640603065, + 0.1499176025390625 + ], + [ + 0.3536384701728821, + -0.024837279692292213, + 0.12574242055416107 + ], + [ + 0.36483386158943176, + -0.037555843591690063, + 0.10363007336854935 + ], + [ + 0.3771139085292816, + -0.045643988996744156, + 0.07869621366262436 + ], + [ + 0.38228458166122437, + -0.045952461659908295, + 0.07042625546455383 + ], + [ + 0.38176819682121277, + -0.04224326089024544, + 0.04766237363219261 + ], + [ + 0.38081905245780945, + -0.03738557547330856, + 0.03542366623878479 + ], + [ + 0.38101139664649963, + -0.03616180643439293, + 0.026716813445091248 + ], + [ + 0.37949010729789734, + -0.03194548562169075, + 0.026150407269597054 + ], + [ + 0.37905845046043396, + -0.018899546936154366, + 0.02687324397265911 + ], + [ + 0.3808096945285797, + 0.013480925932526588, + 0.03039078414440155 + ], + [ + 0.37792855501174927, + 0.05095215514302254, + 0.03163755312561989 + ], + [ + 0.3749547004699707, + 0.08501297235488892, + 0.03232966735959053 + ], + [ + 0.3670758306980133, + 0.12187601625919342, + 0.03476721793413162 + ], + [ + 0.3617895543575287, + 0.13552787899971008, + 0.03439890965819359 + ], + [ + 0.36000382900238037, + 0.13152176141738892, + 0.03502480685710907 + ], + [ + 0.36156851053237915, + 0.12618035078048706, + 0.04318474605679512 + ], + [ + 0.35919204354286194, + 0.12589003145694733, + 0.06265611201524734 + ], + [ + 0.3545154631137848, + 0.1227593943476677, + 0.09428279846906662 + ], + [ + 0.3462786376476288, + 0.11944480240345001, + 0.12487536668777466 + ], + [ + 0.33556416630744934, + 0.12006893008947372, + 0.13998769223690033 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.27004880604859727, + -0.9172332126071948, + 0.29284274968318963, + -0.9303118747773519, + -0.3269577829670437, + -0.1661879171465966, + 0.24818029333525976, + -0.22755623886758136, + -0.9416075085471995 + ], + [ + 0.28142435622404244, + -0.9221716240315938, + 0.2653296582646132, + -0.9283796866819469, + -0.3315968942088651, + -0.16779349542626812, + 0.24271689080122472, + -0.19910548857821028, + -0.9494448458640548 + ], + [ + 0.29335353864317937, + -0.9294397091254822, + 0.22379796349891898, + -0.9317577687280136, + -0.3303569523800822, + -0.15063779216762777, + 0.2139419589059566, + -0.16433536172985677, + -0.9629240505380467 + ], + [ + 0.2614098825371622, + -0.9501602853062732, + 0.16988321146778734, + -0.9506675221967691, + -0.2839026748788461, + -0.12502213178830393, + 0.16702136256228678, + -0.128820430923585, + -0.9775014890139551 + ], + [ + 0.2468839559131466, + -0.956412748417405, + 0.1559582218972173, + -0.9586210967477935, + -0.2645870205469245, + -0.10506807996798787, + 0.14175297239470375, + -0.12356521849925048, + -0.9821597281473615 + ], + [ + 0.23412425394613823, + -0.9675504082565591, + 0.09503705170474251, + -0.9658111870877761, + -0.24266433808385934, + -0.09122921636418434, + 0.11133096878346539, + -0.07042887550492423, + -0.9912846154787468 + ], + [ + 0.23590813224167373, + -0.9651269590527537, + 0.11347821840260609, + -0.9651512125432026, + -0.2463084765226291, + -0.08840402320871867, + 0.11327175318070777, + -0.08866841209069924, + -0.9895996274396445 + ], + [ + 0.2427682009881722, + -0.965099084420617, + 0.09822096435819173, + -0.9662432454291642, + -0.24956553150257843, + -0.06396120815268712, + 0.08624147060134278, + -0.07937759593438358, + -0.9931070466028299 + ], + [ + 0.24996971684338837, + -0.9585670234741542, + 0.13661772274905068, + -0.9656613925043901, + -0.25712422100345317, + -0.03721840942127333, + 0.0708040654745078, + -0.12262298512622999, + -0.9899244354146501 + ], + [ + 0.24116309143333525, + -0.959398038651431, + 0.14627291875840925, + -0.9682858875815775, + -0.24800788735023838, + -0.030241159409456514, + 0.06529014658180396, + -0.13434095147742145, + -0.9887819302128593 + ], + [ + 0.25205521201469394, + -0.9581109939876804, + 0.13598343022650577, + -0.9657305846686155, + -0.25803267138138686, + -0.027992469262280148, + 0.06190806031400253, + -0.12426770980316844, + -0.990315570092904 + ], + [ + 0.27775030965949093, + -0.9525313118410614, + 0.1246549856459942, + -0.9588180831678244, + -0.2828928864972973, + -0.025288300844577706, + 0.059351907083391504, + -0.11249762100406102, + -0.9918778334018714 + ], + [ + 0.329444116294876, + -0.9367206482255827, + 0.11841030962940927, + -0.9429335505110025, + -0.33284257713041476, + -0.009598862948215922, + 0.048403445738944284, + -0.10849076475455541, + -0.992918355356355 + ], + [ + 0.39101268486979746, + -0.9131634257619189, + 0.11507231692144163, + -0.919533362545235, + -0.3929636266616313, + 0.006163058266101598, + 0.03959135558636267, + -0.10822266847428155, + -0.9933379981613206 + ], + [ + 0.45096515714615987, + -0.8859639216432169, + 0.10815894131652548, + -0.8918257600951869, + -0.45213498415797876, + 0.014858321947880199, + 0.03573850403670958, + -0.10315951554285507, + -0.9940225720184537 + ], + [ + 0.5186742018395585, + -0.8484147917914997, + 0.10568544561803939, + -0.8548339377803265, + -0.5168342989654365, + 0.04627360189013918, + 0.015362654883783987, + -0.11434442917034657, + -0.9933223748374088 + ], + [ + 0.5395801626803693, + -0.835482735839324, + 0.10402810272356294, + -0.8417387285785978, + -0.5379837393081442, + 0.045270399279351094, + 0.01814279065390332, + -0.11199149233073322, + -0.9935435293900432 + ], + [ + 0.5218806446618784, + -0.8488251549370219, + 0.08447750631643072, + -0.8528544192330857, + -0.5211576763328348, + 0.03215611907485279, + 0.016731178138378176, + -0.08882867074036715, + -0.9959063886393142 + ], + [ + 0.5036919281124926, + -0.8604663373210132, + 0.07676017125879753, + -0.8628452258351308, + -0.5054514716726837, + -0.004114126570784325, + 0.0423386089502443, + -0.06415989496000327, + -0.9970410974833884 + ], + [ + 0.4964399254927951, + -0.8630986878031364, + 0.09277960707619054, + -0.8670720327709609, + -0.49815448405114554, + 0.005310367799956757, + 0.041635205813613, + -0.08308288110219342, + -0.9956725086616669 + ], + [ + 0.4910144720326641, + -0.861988642486354, + 0.12601733404185678, + -0.8696065054113195, + -0.49359957021223094, + 0.011999584685056991, + 0.051858596209279316, + -0.11547746321613447, + -0.9919554634601139 + ], + [ + 0.48438391365185224, + -0.8594644945099514, + 0.16337994635838293, + -0.872379675440407, + -0.48855554992881006, + 0.01634553493305088, + 0.06577177262172995, + -0.1504468587592015, + -0.986427806083995 + ], + [ + 0.4617009167626008, + -0.8654030843918507, + 0.1947043014050931, + -0.8825122379738543, + -0.4702831787939284, + 0.0024251948080534075, + 0.08946738672249778, + -0.17294864344235072, + -0.9808589875433154 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + 0.0013327598571777344, + 7.777847349643707e-05, + -0.01002204418182373, + -0.0304095596075058, + 0.005635812878608704, + 0.011816859245300293, + 1.0 + ], + [ + 0.00038358569145202637, + -0.002658110111951828, + -0.014596164226531982, + -0.037677496671676636, + 0.02955693006515503, + 0.010683774948120117, + 1.0 + ], + [ + 0.004629760980606079, + -0.013460800051689148, + -0.024175181984901428, + -0.03800398111343384, + 0.04780076444149017, + -0.03667116165161133, + 1.0 + ], + [ + 0.011195391416549683, + -0.01271856389939785, + -0.022112347185611725, + -0.005878180265426636, + 0.025575771927833557, + -0.016279935836791992, + 1.0 + ], + [ + 0.012280046939849854, + -0.008088145405054092, + -0.024933859705924988, + -0.054223254323005676, + 0.03066980093717575, + -0.014238715171813965, + 1.0 + ], + [ + 0.005170673131942749, + -0.0003084726631641388, + -0.008269958198070526, + 0.01843275874853134, + -0.001953139901161194, + 0.001901388168334961, + 1.0 + ], + [ + -0.0005163848400115967, + 0.003709200769662857, + -0.02276388183236122, + -0.009602680802345276, + 0.02716664969921112, + 0.0064285993576049805, + 1.0 + ], + [ + -0.0009491443634033203, + 0.004857685416936874, + -0.012238707393407822, + 0.04348428547382355, + 0.015485376119613647, + 0.00714421272277832, + 1.0 + ], + [ + 0.00019234418869018555, + 0.0012237690389156342, + -0.008706852793693542, + 0.011794976890087128, + 0.005526736378669739, + -0.009203076362609863, + 1.0 + ], + [ + -0.001521289348602295, + 0.004216320812702179, + -0.000566406175494194, + -0.01020776480436325, + 0.0033889487385749817, + 0.011208534240722656, + 1.0 + ], + [ + -0.0004316568374633789, + 0.013045938685536385, + 0.0007228367030620575, + -0.011894263327121735, + 0.002560865134000778, + 0.026658058166503906, + 1.0 + ], + [ + 0.001751244068145752, + 0.032380472868680954, + 0.0035175401717424393, + -0.004103414714336395, + 0.010964442044496536, + 0.05416214466094971, + 1.0 + ], + [ + -0.0028811395168304443, + 0.0374712273478508, + 0.001246768981218338, + -0.0003123357892036438, + 0.008820660412311554, + 0.0659407377243042, + 1.0 + ], + [ + -0.0029738545417785645, + 0.03406081721186638, + 0.0006921142339706421, + -0.005110800266265869, + 0.0038555897772312164, + 0.06610441207885742, + 1.0 + ], + [ + -0.007878869771957397, + 0.036863043904304504, + 0.002437550574541092, + 0.011198997497558594, + 0.02038285695016384, + 0.0772017240524292, + 1.0 + ], + [ + -0.005286276340484619, + 0.013651862740516663, + -0.00036830827593803406, + -0.0023631826043128967, + -0.002780526876449585, + 0.024672746658325195, + 1.0 + ], + [ + -0.0017857253551483154, + -0.004006117582321167, + 0.0006258971989154816, + -0.023287087678909302, + 0.0014118272811174393, + -0.020904064178466797, + 1.0 + ], + [ + 0.0015646815299987793, + -0.0053414106369018555, + 0.00815993919968605, + -0.02469669282436371, + -0.02561930939555168, + -0.020749330520629883, + 1.0 + ], + [ + -0.002376466989517212, + -0.0002903193235397339, + 0.019471365958452225, + 0.01898942142724991, + 0.0007040239870548248, + -0.008401274681091309, + 1.0 + ], + [ + -0.0046765804290771484, + -0.0031306371092796326, + 0.031626686453819275, + 0.03264118731021881, + -0.010234624147415161, + -0.0059757232666015625, + 1.0 + ], + [ + -0.008236825466156006, + -0.003314591944217682, + 0.03059256821870804, + 0.035458192229270935, + -0.013937417417764664, + -0.0071527957916259766, + 1.0 + ], + [ + -0.010714471340179443, + 0.0006241276860237122, + 0.015112325549125671, + 0.023179203271865845, + -0.02376788854598999, + -0.02485203742980957, + 1.0 + ], + [ + -0.00038233399391174316, + 0.0026688799262046814, + 0.001060590147972107, + 0.004534080624580383, + -0.004111930727958679, + 0.005415558815002441, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.348625123500824, + -0.008718369528651237, + 0.16451376676559448 + ], + [ + 0.349008709192276, + -0.011376479640603065, + 0.1499176025390625 + ], + [ + 0.3536384701728821, + -0.024837279692292213, + 0.12574242055416107 + ], + [ + 0.36483386158943176, + -0.037555843591690063, + 0.10363007336854935 + ], + [ + 0.3771139085292816, + -0.045643988996744156, + 0.07869621366262436 + ], + [ + 0.38228458166122437, + -0.045952461659908295, + 0.07042625546455383 + ], + [ + 0.38176819682121277, + -0.04224326089024544, + 0.04766237363219261 + ], + [ + 0.38081905245780945, + -0.03738557547330856, + 0.03542366623878479 + ], + [ + 0.38101139664649963, + -0.03616180643439293, + 0.026716813445091248 + ], + [ + 0.37949010729789734, + -0.03194548562169075, + 0.026150407269597054 + ], + [ + 0.37905845046043396, + -0.018899546936154366, + 0.02687324397265911 + ], + [ + 0.3808096945285797, + 0.013480925932526588, + 0.03039078414440155 + ], + [ + 0.37792855501174927, + 0.05095215514302254, + 0.03163755312561989 + ], + [ + 0.3749547004699707, + 0.08501297235488892, + 0.03232966735959053 + ], + [ + 0.3670758306980133, + 0.12187601625919342, + 0.03476721793413162 + ], + [ + 0.3617895543575287, + 0.13552787899971008, + 0.03439890965819359 + ], + [ + 0.36000382900238037, + 0.13152176141738892, + 0.03502480685710907 + ], + [ + 0.36156851053237915, + 0.12618035078048706, + 0.04318474605679512 + ], + [ + 0.35919204354286194, + 0.12589003145694733, + 0.06265611201524734 + ], + [ + 0.3545154631137848, + 0.1227593943476677, + 0.09428279846906662 + ], + [ + 0.3462786376476288, + 0.11944480240345001, + 0.12487536668777466 + ], + [ + 0.33556416630744934, + 0.12006893008947372, + 0.13998769223690033 + ], + [ + 0.3351818323135376, + 0.1227378100156784, + 0.14104828238487244 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.28142435622404244, + -0.9221716240315938, + 0.2653296582646132, + -0.9283796866819469, + -0.3315968942088651, + -0.16779349542626812, + 0.24271689080122472, + -0.19910548857821028, + -0.9494448458640548 + ], + [ + 0.29335353864317937, + -0.9294397091254822, + 0.22379796349891898, + -0.9317577687280136, + -0.3303569523800822, + -0.15063779216762777, + 0.2139419589059566, + -0.16433536172985677, + -0.9629240505380467 + ], + [ + 0.2614098825371622, + -0.9501602853062732, + 0.16988321146778734, + -0.9506675221967691, + -0.2839026748788461, + -0.12502213178830393, + 0.16702136256228678, + -0.128820430923585, + -0.9775014890139551 + ], + [ + 0.2468839559131466, + -0.956412748417405, + 0.1559582218972173, + -0.9586210967477935, + -0.2645870205469245, + -0.10506807996798787, + 0.14175297239470375, + -0.12356521849925048, + -0.9821597281473615 + ], + [ + 0.23412425394613823, + -0.9675504082565591, + 0.09503705170474251, + -0.9658111870877761, + -0.24266433808385934, + -0.09122921636418434, + 0.11133096878346539, + -0.07042887550492423, + -0.9912846154787468 + ], + [ + 0.23590813224167373, + -0.9651269590527537, + 0.11347821840260609, + -0.9651512125432026, + -0.2463084765226291, + -0.08840402320871867, + 0.11327175318070777, + -0.08866841209069924, + -0.9895996274396445 + ], + [ + 0.2427682009881722, + -0.965099084420617, + 0.09822096435819173, + -0.9662432454291642, + -0.24956553150257843, + -0.06396120815268712, + 0.08624147060134278, + -0.07937759593438358, + -0.9931070466028299 + ], + [ + 0.24996971684338837, + -0.9585670234741542, + 0.13661772274905068, + -0.9656613925043901, + -0.25712422100345317, + -0.03721840942127333, + 0.0708040654745078, + -0.12262298512622999, + -0.9899244354146501 + ], + [ + 0.24116309143333525, + -0.959398038651431, + 0.14627291875840925, + -0.9682858875815775, + -0.24800788735023838, + -0.030241159409456514, + 0.06529014658180396, + -0.13434095147742145, + -0.9887819302128593 + ], + [ + 0.25205521201469394, + -0.9581109939876804, + 0.13598343022650577, + -0.9657305846686155, + -0.25803267138138686, + -0.027992469262280148, + 0.06190806031400253, + -0.12426770980316844, + -0.990315570092904 + ], + [ + 0.27775030965949093, + -0.9525313118410614, + 0.1246549856459942, + -0.9588180831678244, + -0.2828928864972973, + -0.025288300844577706, + 0.059351907083391504, + -0.11249762100406102, + -0.9918778334018714 + ], + [ + 0.329444116294876, + -0.9367206482255827, + 0.11841030962940927, + -0.9429335505110025, + -0.33284257713041476, + -0.009598862948215922, + 0.048403445738944284, + -0.10849076475455541, + -0.992918355356355 + ], + [ + 0.39101268486979746, + -0.9131634257619189, + 0.11507231692144163, + -0.919533362545235, + -0.3929636266616313, + 0.006163058266101598, + 0.03959135558636267, + -0.10822266847428155, + -0.9933379981613206 + ], + [ + 0.45096515714615987, + -0.8859639216432169, + 0.10815894131652548, + -0.8918257600951869, + -0.45213498415797876, + 0.014858321947880199, + 0.03573850403670958, + -0.10315951554285507, + -0.9940225720184537 + ], + [ + 0.5186742018395585, + -0.8484147917914997, + 0.10568544561803939, + -0.8548339377803265, + -0.5168342989654365, + 0.04627360189013918, + 0.015362654883783987, + -0.11434442917034657, + -0.9933223748374088 + ], + [ + 0.5395801626803693, + -0.835482735839324, + 0.10402810272356294, + -0.8417387285785978, + -0.5379837393081442, + 0.045270399279351094, + 0.01814279065390332, + -0.11199149233073322, + -0.9935435293900432 + ], + [ + 0.5218806446618784, + -0.8488251549370219, + 0.08447750631643072, + -0.8528544192330857, + -0.5211576763328348, + 0.03215611907485279, + 0.016731178138378176, + -0.08882867074036715, + -0.9959063886393142 + ], + [ + 0.5036919281124926, + -0.8604663373210132, + 0.07676017125879753, + -0.8628452258351308, + -0.5054514716726837, + -0.004114126570784325, + 0.0423386089502443, + -0.06415989496000327, + -0.9970410974833884 + ], + [ + 0.4964399254927951, + -0.8630986878031364, + 0.09277960707619054, + -0.8670720327709609, + -0.49815448405114554, + 0.005310367799956757, + 0.041635205813613, + -0.08308288110219342, + -0.9956725086616669 + ], + [ + 0.4910144720326641, + -0.861988642486354, + 0.12601733404185678, + -0.8696065054113195, + -0.49359957021223094, + 0.011999584685056991, + 0.051858596209279316, + -0.11547746321613447, + -0.9919554634601139 + ], + [ + 0.48438391365185224, + -0.8594644945099514, + 0.16337994635838293, + -0.872379675440407, + -0.48855554992881006, + 0.01634553493305088, + 0.06577177262172995, + -0.1504468587592015, + -0.986427806083995 + ], + [ + 0.4617009167626008, + -0.8654030843918507, + 0.1947043014050931, + -0.8825122379738543, + -0.4702831787939284, + 0.0024251948080534075, + 0.08946738672249778, + -0.17294864344235072, + -0.9808589875433154 + ], + [ + 0.46629717790454395, + -0.8616103948705807, + 0.20048558384387663, + -0.8796664611454261, + -0.47558660559431654, + 0.002073093137883106, + 0.0935620596937691, + -0.17732712153034574, + -0.9796944589797482 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005777.json b/json/chunk-0005/episode_0005777.json new file mode 100644 index 0000000000000000000000000000000000000000..23570c6e3ae7ab2732d62ae9f98c3aacd6c2429b --- /dev/null +++ b/json/chunk-0005/episode_0005777.json @@ -0,0 +1,2782 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 45, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove red fork to left below purple cloth." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005777.mp4", + "start": 0, + "end": 45, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.35456550121307373, + -0.01613130047917366, + 0.12290196120738983, + -0.1002645269036293, + -0.3896857798099518, + 0.27406588196754456, + 0.0, + 1.0001531839370728 + ], + [ + 0.35211533308029175, + -0.016529928892850876, + 0.11109552532434464, + -0.08627653867006302, + -0.3567093014717102, + 0.2631639838218689, + 0.0, + 1.0001531839370728 + ], + [ + 0.34986457228660583, + -0.035472795367240906, + 0.10819382220506668, + -0.061679139733314514, + -0.3662751317024231, + 0.1650976687669754, + 0.0, + 1.0001531839370728 + ], + [ + 0.3433953821659088, + -0.048476554453372955, + 0.09859342128038406, + -0.0731368362903595, + -0.360377699136734, + 0.14733494818210602, + 0.0, + 1.0001531839370728 + ], + [ + 0.33686313033103943, + -0.07585927844047546, + 0.09133732318878174, + -0.03982522338628769, + -0.3519149124622345, + 0.04524364694952965, + 0.0, + 1.0001531839370728 + ], + [ + 0.3300819993019104, + -0.08139753341674805, + 0.07613812386989594, + -0.031078526750206947, + -0.31602513790130615, + 0.0062703355215489864, + 0.0, + 1.0001531839370728 + ], + [ + 0.3257000148296356, + -0.09255971014499664, + 0.055490169674158096, + -0.011369060724973679, + -0.25923123955726624, + -0.05719568580389023, + 0.0, + 1.0001531839370728 + ], + [ + 0.32958948612213135, + -0.09515774250030518, + 0.046353042125701904, + 0.0018032309599220753, + -0.24079369008541107, + -0.06606832891702652, + 0.0, + 1.0001531839370728 + ], + [ + 0.3310079276561737, + -0.09433460980653763, + 0.03533130884170532, + 0.0075112017802894115, + -0.21623069047927856, + -0.0717410296201706, + 0.0, + 1.0001531839370728 + ], + [ + 0.33861151337623596, + -0.09026780724525452, + 0.025817781686782837, + 0.016743017360568047, + -0.20267359912395477, + -0.06157882884144783, + 0.0, + 1.0001531839370728 + ], + [ + 0.3407564163208008, + -0.081375852227211, + 0.01621142588555813, + 0.037439387291669846, + -0.1780809760093689, + -0.048424120992422104, + 0.0, + 0.9351479411125183 + ], + [ + 0.34764742851257324, + -0.07548733055591583, + 0.012692352756857872, + 0.05921920761466026, + -0.1777561753988266, + -0.04421262443065643, + 0.0, + 0.6591242551803589 + ], + [ + 0.349336177110672, + -0.0708964392542839, + 0.013451485894620419, + 0.091154083609581, + -0.19104412198066711, + -0.02406913787126541, + 0.0, + 0.39099013805389404 + ], + [ + 0.34900620579719543, + -0.07250330597162247, + 0.013451485894620419, + 0.09056273102760315, + -0.19132249057292938, + -0.025559047237038612, + 0.0, + 0.3661215305328369 + ], + [ + 0.34739920496940613, + -0.07554537802934647, + 0.013153753243386745, + 0.08509252220392227, + -0.1837511509656906, + -0.03425810858607292, + 0.0, + 0.3661215305328369 + ], + [ + 0.34447982907295227, + -0.07965348660945892, + 0.012250258587300777, + 0.06840376555919647, + -0.1691068708896637, + -0.03983781486749649, + 0.0, + 0.3661215305328369 + ], + [ + 0.34289488196372986, + -0.08915528655052185, + 0.022284332662820816, + 0.02850268967449665, + -0.178118035197258, + -0.04926375672221184, + 0.0, + 0.3661215305328369 + ], + [ + 0.3426680862903595, + -0.0931575670838356, + 0.04000735282897949, + 0.004144237842410803, + -0.20415157079696655, + -0.05267436057329178, + 0.0, + 0.3661215305328369 + ], + [ + 0.3444159924983978, + -0.09550797939300537, + 0.06474383920431137, + -0.02024482749402523, + -0.25238558650016785, + -0.033422697335481644, + 0.0, + 0.3661215305328369 + ], + [ + 0.34498050808906555, + -0.09842716157436371, + 0.08822108805179596, + -0.06837810575962067, + -0.28476887941360474, + 0.032844167202711105, + 0.0, + 0.3661215305328369 + ], + [ + 0.3428898751735687, + -0.07978618144989014, + 0.11093688011169434, + -0.11732243746519089, + -0.2908054292201996, + 0.15151703357696533, + 0.0, + 0.3661215305328369 + ], + [ + 0.3296129107475281, + -0.046050362288951874, + 0.13153766095638275, + -0.11406354606151581, + -0.30843064188957214, + 0.3281109631061554, + 0.0, + 0.3661215305328369 + ], + [ + 0.31012746691703796, + -0.004242212511599064, + 0.13630931079387665, + -0.13967259228229523, + -0.3022193908691406, + 0.5437316298484802, + 0.0, + 0.3661215305328369 + ], + [ + 0.2894138991832733, + 0.028071938082575798, + 0.13589605689048767, + -0.14470350742340088, + -0.2876371145248413, + 0.7275079488754272, + 0.0, + 0.3661215305328369 + ], + [ + 0.2698615789413452, + 0.04962581396102905, + 0.12838368117809296, + -0.1415015161037445, + -0.275803804397583, + 0.9245041012763977, + 0.0, + 0.3661215305328369 + ], + [ + 0.25350821018218994, + 0.0633891299366951, + 0.11703967303037643, + -0.12334693223237991, + -0.2819307744503021, + 1.094835638999939, + 0.0, + 0.3661215305328369 + ], + [ + 0.24803294241428375, + 0.07352158427238464, + 0.10653481632471085, + -0.12409127503633499, + -0.2861312925815582, + 1.203433871269226, + 0.0, + 0.3661215305328369 + ], + [ + 0.24810272455215454, + 0.0841926783323288, + 0.08759035915136337, + -0.10379959642887115, + -0.2804911434650421, + 1.304840087890625, + 0.0, + 0.3661215305328369 + ], + [ + 0.25115320086479187, + 0.09694957733154297, + 0.07157894223928452, + -0.07565940171480179, + -0.27955713868141174, + 1.3675223588943481, + 0.0, + 0.3661215305328369 + ], + [ + 0.24943134188652039, + 0.10899246484041214, + 0.05923912301659584, + -0.09656817466020584, + -0.281272292137146, + 1.4210394620895386, + 0.0, + 0.3661215305328369 + ], + [ + 0.249045267701149, + 0.11634445190429688, + 0.03972749784588814, + -0.07240554690361023, + -0.2697407603263855, + 1.431694507598877, + 0.0, + 0.3661215305328369 + ], + [ + 0.25105658173561096, + 0.12360559403896332, + 0.02229832485318184, + -0.04132911190390587, + -0.24987100064754486, + 1.4214117527008057, + 0.0, + 0.3661215305328369 + ], + [ + 0.25710824131965637, + 0.12802810966968536, + 0.01143251545727253, + -0.04276302084326744, + -0.24004077911376953, + 1.4028400182724, + 0.0, + 0.3661215305328369 + ], + [ + 0.2583248019218445, + 0.12799519300460815, + 0.009766947478055954, + -0.04073804244399071, + -0.229152113199234, + 1.4035683870315552, + 0.0, + 0.4615449905395508 + ], + [ + 0.264028400182724, + 0.12893101572990417, + 0.009253984317183495, + -0.013952060602605343, + -0.18888983130455017, + 1.4004113674163818, + 0.0, + 0.7349185347557068 + ], + [ + 0.2635769248008728, + 0.12573175132274628, + 0.008971412666141987, + -0.013805434107780457, + -0.16944490373134613, + 1.4128516912460327, + 0.0, + 0.9872581958770752 + ], + [ + 0.26224467158317566, + 0.1235312670469284, + 0.00936413835734129, + -0.003474766854196787, + -0.15387408435344696, + 1.423373818397522, + 0.0, + 1.0008161067962646 + ], + [ + 0.26925474405288696, + 0.12115113437175751, + 0.022545134648680687, + -0.02987201325595379, + -0.16047392785549164, + 1.4139348268508911, + 0.0, + 1.0008161067962646 + ], + [ + 0.2793923616409302, + 0.11715531349182129, + 0.04604863002896309, + -0.07855822145938873, + -0.16313320398330688, + 1.3980112075805664, + 0.0, + 1.0008161067962646 + ], + [ + 0.2893500328063965, + 0.11358080059289932, + 0.08325701206922531, + -0.14375828206539154, + -0.2034641057252884, + 1.3582875728607178, + 0.0, + 1.0008161067962646 + ], + [ + 0.2861868739128113, + 0.10774069279432297, + 0.10024053603410721, + -0.146837517619133, + -0.2102462500333786, + 1.3076754808425903, + 0.0, + 1.0008161067962646 + ], + [ + 0.2859855890274048, + 0.10769537836313248, + 0.10112154483795166, + -0.14681591093540192, + -0.21205446124076843, + 1.301903247833252, + 0.0, + 1.0008161067962646 + ], + [ + 0.2858019471168518, + 0.10694798082113266, + 0.10023010522127151, + -0.14496754109859467, + -0.20921547710895538, + 1.3006449937820435, + 0.0, + 1.0008161067962646 + ], + [ + 0.28597134351730347, + 0.10769079625606537, + 0.10065334290266037, + -0.14550387859344482, + -0.21121326088905334, + 1.3016276359558105, + 0.0, + 1.0008161067962646 + ], + [ + 0.28558942675590515, + 0.10756786912679672, + 0.10025056451559067, + -0.14419232308864594, + -0.2103716880083084, + 1.3013532161712646, + 0.0, + 1.0008161067962646 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9351479411125183 + ], + [ + 0.6591242551803589 + ], + [ + 0.39099013805389404 + ], + [ + 0.3661215305328369 + ], + [ + 0.3661215305328369 + ], + [ + 0.3661215305328369 + ], + [ + 0.3661215305328369 + ], + [ + 0.3661215305328369 + ], + [ + 0.3661215305328369 + ], + [ + 0.3661215305328369 + ], + [ + 0.3661215305328369 + ], + [ + 0.3661215305328369 + ], + [ + 0.3661215305328369 + ], + [ + 0.3661215305328369 + ], + [ + 0.3661215305328369 + ], + [ + 0.3661215305328369 + ], + [ + 0.3661215305328369 + ], + [ + 0.3661215305328369 + ], + [ + 0.3661215305328369 + ], + [ + 0.3661215305328369 + ], + [ + 0.3661215305328369 + ], + [ + 0.3661215305328369 + ], + [ + 0.3661215305328369 + ], + [ + 0.4615449905395508 + ], + [ + 0.7349185347557068 + ], + [ + 0.9872581958770752 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.35456550121307373, + -0.01613130047917366, + 0.12290196120738983 + ], + [ + 0.35211533308029175, + -0.016529928892850876, + 0.11109552532434464 + ], + [ + 0.34986457228660583, + -0.035472795367240906, + 0.10819382220506668 + ], + [ + 0.3433953821659088, + -0.048476554453372955, + 0.09859342128038406 + ], + [ + 0.33686313033103943, + -0.07585927844047546, + 0.09133732318878174 + ], + [ + 0.3300819993019104, + -0.08139753341674805, + 0.07613812386989594 + ], + [ + 0.3257000148296356, + -0.09255971014499664, + 0.055490169674158096 + ], + [ + 0.32958948612213135, + -0.09515774250030518, + 0.046353042125701904 + ], + [ + 0.3310079276561737, + -0.09433460980653763, + 0.03533130884170532 + ], + [ + 0.33861151337623596, + -0.09026780724525452, + 0.025817781686782837 + ], + [ + 0.3407564163208008, + -0.081375852227211, + 0.01621142588555813 + ], + [ + 0.34764742851257324, + -0.07548733055591583, + 0.012692352756857872 + ], + [ + 0.349336177110672, + -0.0708964392542839, + 0.013451485894620419 + ], + [ + 0.34900620579719543, + -0.07250330597162247, + 0.013451485894620419 + ], + [ + 0.34739920496940613, + -0.07554537802934647, + 0.013153753243386745 + ], + [ + 0.34447982907295227, + -0.07965348660945892, + 0.012250258587300777 + ], + [ + 0.34289488196372986, + -0.08915528655052185, + 0.022284332662820816 + ], + [ + 0.3426680862903595, + -0.0931575670838356, + 0.04000735282897949 + ], + [ + 0.3444159924983978, + -0.09550797939300537, + 0.06474383920431137 + ], + [ + 0.34498050808906555, + -0.09842716157436371, + 0.08822108805179596 + ], + [ + 0.3428898751735687, + -0.07978618144989014, + 0.11093688011169434 + ], + [ + 0.3296129107475281, + -0.046050362288951874, + 0.13153766095638275 + ], + [ + 0.31012746691703796, + -0.004242212511599064, + 0.13630931079387665 + ], + [ + 0.2894138991832733, + 0.028071938082575798, + 0.13589605689048767 + ], + [ + 0.2698615789413452, + 0.04962581396102905, + 0.12838368117809296 + ], + [ + 0.25350821018218994, + 0.0633891299366951, + 0.11703967303037643 + ], + [ + 0.24803294241428375, + 0.07352158427238464, + 0.10653481632471085 + ], + [ + 0.24810272455215454, + 0.0841926783323288, + 0.08759035915136337 + ], + [ + 0.25115320086479187, + 0.09694957733154297, + 0.07157894223928452 + ], + [ + 0.24943134188652039, + 0.10899246484041214, + 0.05923912301659584 + ], + [ + 0.249045267701149, + 0.11634445190429688, + 0.03972749784588814 + ], + [ + 0.25105658173561096, + 0.12360559403896332, + 0.02229832485318184 + ], + [ + 0.25710824131965637, + 0.12802810966968536, + 0.01143251545727253 + ], + [ + 0.2583248019218445, + 0.12799519300460815, + 0.009766947478055954 + ], + [ + 0.264028400182724, + 0.12893101572990417, + 0.009253984317183495 + ], + [ + 0.2635769248008728, + 0.12573175132274628, + 0.008971412666141987 + ], + [ + 0.26224467158317566, + 0.1235312670469284, + 0.00936413835734129 + ], + [ + 0.26925474405288696, + 0.12115113437175751, + 0.022545134648680687 + ], + [ + 0.2793923616409302, + 0.11715531349182129, + 0.04604863002896309 + ], + [ + 0.2893500328063965, + 0.11358080059289932, + 0.08325701206922531 + ], + [ + 0.2861868739128113, + 0.10774069279432297, + 0.10024053603410721 + ], + [ + 0.2859855890274048, + 0.10769537836313248, + 0.10112154483795166 + ], + [ + 0.2858019471168518, + 0.10694798082113266, + 0.10023010522127151 + ], + [ + 0.28597134351730347, + 0.10769079625606537, + 0.10065334290266037 + ], + [ + 0.28558942675590515, + 0.10756786912679672, + 0.10025056451559067 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8905049662554017, + 0.2326812569072316, + 0.3909735768035182, + 0.25035692214765826, + -0.9681353794793842, + 0.0059412568586020564, + 0.3798977712585545, + 0.09259222259120581, + -0.9203827267546927 + ], + [ + 0.9047899511521573, + 0.23011549306563905, + 0.35833225384443884, + 0.2437615398764733, + -0.9698077457003301, + 0.007297126605392189, + 0.34919257719935576, + 0.08074525515968381, + -0.9335656097982992 + ], + [ + 0.920972117020157, + 0.14226056194368106, + 0.36272895140432143, + 0.15344707077317607, + -0.9881547337205324, + -0.002053946648697149, + 0.3581401347832192, + 0.05755132267091592, + -0.931892423574892 + ], + [ + 0.9256254768973415, + 0.12092210748053893, + 0.35860189687316774, + 0.13737243115432726, + -0.9903041554988969, + -0.020651749571555498, + 0.35262769556193213, + 0.06837779993595593, + -0.933262120091992 + ], + [ + 0.9377537672208797, + 0.031482428184875545, + 0.3458709712864502, + 0.042456373547058855, + -0.99880528327253, + -0.024196331377167223, + 0.34469599418658886, + 0.03737462805788493, + -0.9379700468401184 + ], + [ + 0.9504595897959378, + -0.0033899154064148144, + 0.3108296585566998, + 0.005959778634984939, + -0.9995580070258446, + -0.029125103075236913, + 0.3107910056670869, + 0.029534709479839973, + -0.950019290189616 + ], + [ + 0.9650067358474198, + -0.06007030100816136, + 0.2552519514242684, + -0.05525448739749896, + -0.9981336593076175, + -0.02600268793076208, + 0.2563375536115374, + 0.010988953270164557, + -0.966524858197904 + ], + [ + 0.9690302331834637, + -0.06559108273032425, + 0.23807187369083718, + -0.06411552393701957, + -0.9978450496681782, + -0.01394476399917441, + 0.23847349279675437, + -0.0017512050065476206, + -0.9711474277957707 + ], + [ + 0.9742007061762894, + -0.07007011920438438, + 0.2145300969102061, + -0.07001031206532118, + -0.9975150917500447, + -0.00788656676992005, + 0.21454962197621183, + -0.007336220115524554, + -0.9766855377163528 + ], + [ + 0.9776753312101156, + -0.05816765439162202, + 0.20190956075869068, + -0.06028031450778728, + -0.9981721187372385, + 0.00432493450289721, + 0.20128892276037655, + -0.016399553597245146, + -0.9793946212920399 + ], + [ + 0.9830317625062599, + -0.04174854001434356, + 0.1786214245562592, + -0.047639691528707236, + -0.9984487819364047, + 0.02881821716830916, + 0.17714122528334916, + -0.03683869238152954, + -0.9834957534472293 + ], + [ + 0.9832811059412309, + -0.033665858366687285, + 0.17895495712447823, + -0.04350178707001716, + -0.9977340886160244, + 0.05132526605158317, + 0.1768215519123859, + -0.058252024805881715, + -0.9825176030918276 + ], + [ + 0.9815221301318399, + -0.006687149888078645, + 0.1912317706026644, + -0.02362895458549827, + -0.9959758861629169, + 0.0864506025843022, + 0.18988412405109636, + -0.08937178642260021, + -0.9777303837075848 + ], + [ + 0.9814329571995198, + -0.008259507119135224, + 0.191627584300264, + -0.02508995501328437, + -0.9960162292340612, + 0.08556965151146591, + 0.19015742078614023, + -0.0887888035988283, + -0.9777303839379503 + ], + [ + 0.982588331745372, + -0.018607340344662708, + 0.18486194092658503, + -0.03367479257613712, + -0.9963290854094256, + 0.07870426870361802, + 0.18271885141604977, + -0.0835590836026524, + -0.9796079322283401 + ], + [ + 0.9849533724454237, + -0.028239747754956534, + 0.17049742154977865, + -0.03925916107240655, + -0.9973279629892314, + 0.061608867151094114, + 0.16830202726134147, + -0.06737544720806499, + -0.9834302093861241 + ], + [ + 0.9829848585903735, + -0.04418059980119641, + 0.1782942578527698, + -0.04846473992557738, + -0.9986297548473877, + 0.01974289029986793, + 0.17717769827495106, + -0.028047947066639257, + -0.9837791296319197 + ], + [ + 0.9778751738446699, + -0.05181053331618771, + 0.2026716877507778, + -0.05155664114221857, + -0.998648686946656, + -0.006535504100855839, + 0.2027364228065324, + -0.004058164266267671, + -0.9792249354312822 + ], + [ + 0.9677786684671345, + -0.03846188942391076, + 0.24884760782841253, + -0.03235782314469995, + -0.9990677854373151, + -0.028575013258362484, + 0.24971467746473547, + 0.019602121398515335, + -0.9681210341147233 + ], + [ + 0.9592090074190085, + 0.013576994518235094, + 0.28237164394834807, + 0.031515754264849566, + -0.9977553937572291, + -0.05908410498158288, + 0.2809356462241103, + 0.06557316103566234, + -0.9574838501157255 + ], + [ + 0.9470375202442197, + 0.11672283311798282, + 0.2991583451595343, + 0.14460056458854775, + -0.9868133939213226, + -0.07273240198256982, + 0.286723929887885, + 0.11213877922642297, + -0.9514274970922667 + ], + [ + 0.9019813217501457, + 0.2874539185865156, + 0.32217998060574343, + 0.3070484811919303, + -0.9516353382737959, + -0.01055524259536944, + 0.3035637089831214, + 0.10844550538300382, + -0.9466195893550038 + ], + [ + 0.816998523784705, + 0.47683388065839816, + 0.3242574014419178, + 0.49388662262535, + -0.8688869770099781, + 0.03333804394662032, + 0.297639742180606, + 0.13290926016916263, + -0.9453812524246226 + ], + [ + 0.7161516849400884, + 0.6275092776246608, + 0.30554683872108584, + 0.6376898399242948, + -0.766232445174565, + 0.07899055651870569, + 0.28368720840883893, + 0.1382748945281972, + -0.9488949474670083 + ], + [ + 0.5794702228929876, + 0.767214426566834, + 0.2749477849484799, + 0.7681509180367067, + -0.6268712713442706, + 0.13029419128488712, + 0.2723204507555687, + 0.13569978935481875, + -0.9525897014293939 + ], + [ + 0.44010315669282724, + 0.866416112779886, + 0.23586506944522517, + 0.8537610967450957, + -0.48513638824805333, + 0.1890361724174655, + 0.27821071358526156, + 0.11817700416335741, + -0.953222426579103 + ], + [ + 0.3445529406132826, + 0.9135547379354071, + 0.2161041691187593, + 0.8953335691235699, + -0.388996610060023, + 0.21693187262885105, + 0.28224292925632244, + 0.11874080241256563, + -0.951966149990235 + ], + [ + 0.25256042521586464, + 0.9521096864874402, + 0.17233797176353888, + 0.9271352081315548, + -0.28909193109375575, + 0.23842433017488418, + 0.2768276313116894, + 0.09956405110918216, + -0.9557475933891165 + ], + [ + 0.19403964497252324, + 0.9723984784447022, + 0.12957551966851355, + 0.9413879366690676, + -0.22172680037886838, + 0.25421640129563866, + 0.27593000719909544, + 0.07265277084996591, + -0.958427986869608 + ], + [ + 0.1433347082664138, + 0.9802073814881769, + 0.13656006254492303, + 0.9499502735117284, + -0.1749666185524532, + 0.2588071873950033, + 0.27757816783957284, + 0.0926292160628145, + -0.9562270593694857 + ], + [ + 0.13363995050763006, + 0.9850731530702626, + 0.10849537653065819, + 0.9545302148745418, + -0.1573820574523534, + 0.2531856174501728, + 0.26648158007614575, + 0.06972640168741862, + -0.9613146188360215 + ], + [ + 0.14420758606903816, + 0.9864978642287036, + 0.0776281907063868, + 0.95815305877765, + -0.15880562320080593, + 0.23816693724116444, + 0.2472789681213792, + 0.04003420927169482, + -0.9681169216643286 + ], + [ + 0.16237477871601447, + 0.9833281245893741, + 0.08185493649420189, + 0.9576602008050856, + -0.17703540362644032, + 0.22703613293215416, + 0.23774223653126664, + 0.041524273074526746, + -0.9704402937402916 + ], + [ + 0.16209850042718082, + 0.9836920054428799, + 0.07793660620673723, + 0.9602739704370686, + -0.1754336120294922, + 0.21701831598119303, + 0.22715188280154444, + 0.0396621506987504, + -0.9730513531883416 + ], + [ + 0.1665458018817353, + 0.9849794500359123, + 0.04558485365251781, + 0.9679904199237118, + -0.17212698316321007, + 0.18266594812128453, + 0.18776858845793565, + 0.013703454822914879, + -0.9821176978928903 + ], + [ + 0.15503615301980456, + 0.9870923779179995, + 0.04015505837386717, + 0.9734094467030466, + -0.15957280212221958, + 0.16434892726188194, + 0.1686352286033027, + 0.013607287718420735, + -0.9855845988015741 + ], + [ + 0.14515355453635342, + 0.9890687686621751, + 0.025950269026550912, + 0.9774658527490698, + -0.14741499424996835, + 0.1510937661844961, + 0.15326758403196433, + 0.0034337046131410615, + -0.9881787577951846 + ], + [ + 0.15421186027284506, + 0.9865362396267082, + 0.054451354936150734, + 0.9750318539174837, + -0.1608631471936407, + 0.1530879868611243, + 0.15978606321398364, + 0.029483822312435133, + -0.986711263858088 + ], + [ + 0.16964403519477456, + 0.9798802615295953, + 0.10514549152258502, + 0.9720307078643361, + -0.183952204021111, + 0.14600647110499373, + 0.16241060399983712, + 0.07743551963064146, + -0.9836800984100169 + ], + [ + 0.20656227204427258, + 0.9613159013555646, + 0.18221900441185312, + 0.9573413688638825, + -0.23703433111848593, + 0.1652641199203267, + 0.20206318623078295, + 0.14030845901851746, + -0.9692698309026819 + ], + [ + 0.2543678353471305, + 0.9472500313441428, + 0.19497277363605203, + 0.9443203948379917, + -0.28678045812248965, + 0.16129463950198128, + 0.2087007336686535, + 0.1430885982794403, + -0.9674552479616771 + ], + [ + 0.25971372502610485, + 0.9455144157401735, + 0.1963447749765278, + 0.9424710454596138, + -0.292489289599878, + 0.1618590248939529, + 0.21046878510441258, + 0.1430122550583592, + -0.9670834428320008 + ], + [ + 0.261057799377053, + 0.9456143534574665, + 0.19406782298884143, + 0.9427155619986486, + -0.2929930251701711, + 0.15950691636165484, + 0.20769254813301033, + 0.14131023224398662, + -0.9679334810373945 + ], + [ + 0.2600204613669259, + 0.9457223326175926, + 0.1949323709876583, + 0.9425697674094461, + -0.29242237677323724, + 0.16140442102988728, + 0.20964635278543053, + 0.14176890755955618, + -0.9674450804118735 + ], + [ + 0.2603259846317939, + 0.9459284377634094, + 0.19351943663612323, + 0.9426681102487238, + -0.2923560333352323, + 0.1609496309178383, + 0.20882340780091393, + 0.14052523048536184, + -0.9678044450980007 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0024501681327819824, + -0.0003986284136772156, + -0.011806435883045197, + 0.013987988233566284, + 0.03297647833824158, + -0.01090189814567566, + 1.0 + ], + [ + -0.002250760793685913, + -0.01894286647439003, + -0.002901703119277954, + 0.024597398936748505, + -0.00956583023071289, + -0.0980663150548935, + 1.0 + ], + [ + -0.0064691901206970215, + -0.01300375908613205, + -0.009600400924682617, + -0.011457696557044983, + 0.005897432565689087, + -0.017762720584869385, + 1.0 + ], + [ + -0.006532251834869385, + -0.02738272398710251, + -0.0072560980916023254, + 0.03331161290407181, + 0.008462786674499512, + -0.10209129750728607, + 1.0 + ], + [ + -0.006781131029129028, + -0.005538254976272583, + -0.015199199318885803, + 0.008746696636080742, + 0.035889774560928345, + -0.03897331282496452, + 1.0 + ], + [ + -0.00438198447227478, + -0.011162176728248596, + -0.02064795419573784, + 0.01970946602523327, + 0.05679389834403992, + -0.06346601992845535, + 1.0 + ], + [ + 0.0038894712924957275, + -0.0025980323553085327, + -0.009137127548456192, + 0.013172291219234467, + 0.018437549471855164, + -0.008872643113136292, + 1.0 + ], + [ + 0.0014184415340423584, + 0.0008231326937675476, + -0.011021733283996582, + 0.005707970820367336, + 0.024562999606132507, + -0.0056727007031440735, + 1.0 + ], + [ + 0.007603585720062256, + 0.004066802561283112, + -0.009513527154922485, + 0.009231815114617348, + 0.013557091355323792, + 0.010162200778722763, + 1.0 + ], + [ + 0.0021449029445648193, + 0.008891955018043518, + -0.009606355801224709, + 0.0206963699311018, + 0.024592623114585876, + 0.013154707849025726, + 0.0 + ], + [ + 0.006891012191772461, + 0.005888521671295166, + -0.0035190731287002563, + 0.021779820322990417, + 0.00032480061054229736, + 0.004211496561765671, + 0.0 + ], + [ + 0.0016887485980987549, + 0.0045908913016319275, + 0.0007591331377625465, + 0.03193487599492073, + -0.013287946581840515, + 0.02014348655939102, + 0.0 + ], + [ + -0.0003299713134765625, + -0.001606866717338562, + 0.0, + -0.0005913525819778442, + -0.00027836859226226807, + -0.001489909365773201, + 0.0 + ], + [ + -0.0016070008277893066, + -0.003042072057723999, + -0.0002977326512336731, + -0.005470208823680878, + 0.0075713396072387695, + -0.00869906134903431, + 0.0 + ], + [ + -0.0029193758964538574, + -0.004108108580112457, + -0.000903494656085968, + -0.0166887566447258, + 0.014644280076026917, + -0.005579706281423569, + 0.0 + ], + [ + -0.0015849471092224121, + -0.009501799941062927, + 0.010034074075520039, + -0.03990107774734497, + -0.0090111643075943, + -0.009425941854715347, + 0.0 + ], + [ + -0.00022679567337036133, + -0.004002280533313751, + 0.017723020166158676, + -0.02435845136642456, + -0.026033535599708557, + -0.003410603851079941, + 0.0 + ], + [ + 0.00174790620803833, + -0.0023504123091697693, + 0.02473648637533188, + -0.02438906580209732, + -0.048234015703201294, + 0.019251663237810135, + 0.0 + ], + [ + 0.0005645155906677246, + -0.0029191821813583374, + 0.02347724884748459, + -0.04813327640295029, + -0.03238329291343689, + 0.06626686453819275, + 0.0 + ], + [ + -0.002090632915496826, + 0.018640980124473572, + 0.022715792059898376, + -0.04894433170557022, + -0.006036549806594849, + 0.11867286264896393, + 0.0 + ], + [ + -0.01327696442604065, + 0.03373581916093826, + 0.020600780844688416, + 0.0032588914036750793, + -0.01762521266937256, + 0.17659392952919006, + 0.0 + ], + [ + -0.019485443830490112, + 0.041808150708675385, + 0.0047716498374938965, + -0.02560904622077942, + 0.0062112510204315186, + 0.21562066674232483, + 0.0 + ], + [ + -0.02071356773376465, + 0.032314151525497437, + -0.00041325390338897705, + -0.005030915141105652, + 0.014582276344299316, + 0.18377631902694702, + 0.0 + ], + [ + -0.0195523202419281, + 0.021553875878453255, + -0.007512375712394714, + 0.003201991319656372, + 0.0118333101272583, + 0.19699615240097046, + 0.0 + ], + [ + -0.016353368759155273, + 0.013763315975666046, + -0.011344008147716522, + 0.018154583871364594, + -0.006126970052719116, + 0.17033153772354126, + 0.0 + ], + [ + -0.005475267767906189, + 0.010132454335689545, + -0.010504856705665588, + -0.0007443428039550781, + -0.0042005181312561035, + 0.10859823226928711, + 0.0 + ], + [ + 6.978213787078857e-05, + 0.010671094059944153, + -0.018944457173347473, + 0.020291678607463837, + 0.005640149116516113, + 0.10140621662139893, + 0.0 + ], + [ + 0.003050476312637329, + 0.012756898999214172, + -0.016011416912078857, + 0.028140194714069366, + 0.0009340047836303711, + 0.06268227100372314, + 0.0 + ], + [ + -0.0017218589782714844, + 0.012042887508869171, + -0.012339819222688675, + -0.020908772945404053, + -0.001715153455734253, + 0.05351710319519043, + 0.0 + ], + [ + -0.0003860741853713989, + 0.007351987063884735, + -0.019511625170707703, + 0.02416262775659561, + 0.011531531810760498, + 0.010655045509338379, + 0.0 + ], + [ + 0.002011314034461975, + 0.007261142134666443, + -0.0174291729927063, + 0.03107643499970436, + 0.019869759678840637, + -0.010282754898071289, + 0.0 + ], + [ + 0.00605165958404541, + 0.004422515630722046, + -0.01086580939590931, + -0.0014339089393615723, + 0.00983022153377533, + -0.01857173442840576, + 0.0 + ], + [ + 0.0012165606021881104, + -3.291666507720947e-05, + -0.0016655679792165756, + 0.0020249783992767334, + 0.010888665914535522, + 0.0007283687591552734, + 1.0 + ], + [ + 0.005703598260879517, + 0.0009358227252960205, + -0.0005129631608724594, + 0.02678598091006279, + 0.04026228189468384, + -0.00315701961517334, + 1.0 + ], + [ + -0.0004514753818511963, + -0.003199264407157898, + -0.0002825716510415077, + 0.00014662649482488632, + 0.01944492757320404, + 0.012440323829650879, + 1.0 + ], + [ + -0.0013322532176971436, + -0.002200484275817871, + 0.0003927256911993027, + 0.010330667719244957, + 0.01557081937789917, + 0.010522127151489258, + 1.0 + ], + [ + 0.007010072469711304, + -0.0023801326751708984, + 0.013180996291339397, + -0.02639724686741829, + -0.006599843502044678, + -0.00943899154663086, + 1.0 + ], + [ + 0.010137617588043213, + -0.003995820879936218, + 0.023503495380282402, + -0.048686206340789795, + -0.0026592761278152466, + -0.015923619270324707, + 1.0 + ], + [ + 0.009957671165466309, + -0.0035745128989219666, + 0.03720838204026222, + -0.06520006060600281, + -0.040330901741981506, + -0.03972363471984863, + 1.0 + ], + [ + -0.003163158893585205, + -0.005840107798576355, + 0.016983523964881897, + -0.003079235553741455, + -0.00678214430809021, + -0.05061209201812744, + 1.0 + ], + [ + -0.00020128488540649414, + -4.531443119049072e-05, + 0.0008810088038444519, + 2.16066837310791e-05, + -0.0018082112073898315, + -0.005772233009338379, + 1.0 + ], + [ + -0.00018364191055297852, + -0.0007473975419998169, + -0.0008914396166801453, + 0.001848369836807251, + 0.0028389841318130493, + -0.001258254051208496, + 1.0 + ], + [ + 0.00016939640045166016, + 0.0007428154349327087, + 0.000423237681388855, + -0.0005363374948501587, + -0.0019977837800979614, + 0.0009826421737670898, + 1.0 + ], + [ + -0.00038191676139831543, + -0.00012292712926864624, + -0.00040277838706970215, + 0.0013115555047988892, + 0.0008415728807449341, + -0.00027441978454589844, + 1.0 + ], + [ + 0.00038191676139831543, + 0.00012292712926864624, + 0.00040277838706970215, + -0.0013115555047988892, + -0.0008415728807449341, + 0.00027441978454589844, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9351479411125183 + ], + [ + 0.6591242551803589 + ], + [ + 0.39099013805389404 + ], + [ + 0.3661215305328369 + ], + [ + 0.3661215305328369 + ], + [ + 0.3661215305328369 + ], + [ + 0.3661215305328369 + ], + [ + 0.3661215305328369 + ], + [ + 0.3661215305328369 + ], + [ + 0.3661215305328369 + ], + [ + 0.3661215305328369 + ], + [ + 0.3661215305328369 + ], + [ + 0.3661215305328369 + ], + [ + 0.3661215305328369 + ], + [ + 0.3661215305328369 + ], + [ + 0.3661215305328369 + ], + [ + 0.3661215305328369 + ], + [ + 0.3661215305328369 + ], + [ + 0.3661215305328369 + ], + [ + 0.3661215305328369 + ], + [ + 0.3661215305328369 + ], + [ + 0.3661215305328369 + ], + [ + 0.3661215305328369 + ], + [ + 0.4615449905395508 + ], + [ + 0.7349185347557068 + ], + [ + 0.9872581958770752 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.35211533308029175, + -0.016529928892850876, + 0.11109552532434464 + ], + [ + 0.34986457228660583, + -0.035472795367240906, + 0.10819382220506668 + ], + [ + 0.3433953821659088, + -0.048476554453372955, + 0.09859342128038406 + ], + [ + 0.33686313033103943, + -0.07585927844047546, + 0.09133732318878174 + ], + [ + 0.3300819993019104, + -0.08139753341674805, + 0.07613812386989594 + ], + [ + 0.3257000148296356, + -0.09255971014499664, + 0.055490169674158096 + ], + [ + 0.32958948612213135, + -0.09515774250030518, + 0.046353042125701904 + ], + [ + 0.3310079276561737, + -0.09433460980653763, + 0.03533130884170532 + ], + [ + 0.33861151337623596, + -0.09026780724525452, + 0.025817781686782837 + ], + [ + 0.3407564163208008, + -0.081375852227211, + 0.01621142588555813 + ], + [ + 0.34764742851257324, + -0.07548733055591583, + 0.012692352756857872 + ], + [ + 0.349336177110672, + -0.0708964392542839, + 0.013451485894620419 + ], + [ + 0.34900620579719543, + -0.07250330597162247, + 0.013451485894620419 + ], + [ + 0.34739920496940613, + -0.07554537802934647, + 0.013153753243386745 + ], + [ + 0.34447982907295227, + -0.07965348660945892, + 0.012250258587300777 + ], + [ + 0.34289488196372986, + -0.08915528655052185, + 0.022284332662820816 + ], + [ + 0.3426680862903595, + -0.0931575670838356, + 0.04000735282897949 + ], + [ + 0.3444159924983978, + -0.09550797939300537, + 0.06474383920431137 + ], + [ + 0.34498050808906555, + -0.09842716157436371, + 0.08822108805179596 + ], + [ + 0.3428898751735687, + -0.07978618144989014, + 0.11093688011169434 + ], + [ + 0.3296129107475281, + -0.046050362288951874, + 0.13153766095638275 + ], + [ + 0.31012746691703796, + -0.004242212511599064, + 0.13630931079387665 + ], + [ + 0.2894138991832733, + 0.028071938082575798, + 0.13589605689048767 + ], + [ + 0.2698615789413452, + 0.04962581396102905, + 0.12838368117809296 + ], + [ + 0.25350821018218994, + 0.0633891299366951, + 0.11703967303037643 + ], + [ + 0.24803294241428375, + 0.07352158427238464, + 0.10653481632471085 + ], + [ + 0.24810272455215454, + 0.0841926783323288, + 0.08759035915136337 + ], + [ + 0.25115320086479187, + 0.09694957733154297, + 0.07157894223928452 + ], + [ + 0.24943134188652039, + 0.10899246484041214, + 0.05923912301659584 + ], + [ + 0.249045267701149, + 0.11634445190429688, + 0.03972749784588814 + ], + [ + 0.25105658173561096, + 0.12360559403896332, + 0.02229832485318184 + ], + [ + 0.25710824131965637, + 0.12802810966968536, + 0.01143251545727253 + ], + [ + 0.2583248019218445, + 0.12799519300460815, + 0.009766947478055954 + ], + [ + 0.264028400182724, + 0.12893101572990417, + 0.009253984317183495 + ], + [ + 0.2635769248008728, + 0.12573175132274628, + 0.008971412666141987 + ], + [ + 0.26224467158317566, + 0.1235312670469284, + 0.00936413835734129 + ], + [ + 0.26925474405288696, + 0.12115113437175751, + 0.022545134648680687 + ], + [ + 0.2793923616409302, + 0.11715531349182129, + 0.04604863002896309 + ], + [ + 0.2893500328063965, + 0.11358080059289932, + 0.08325701206922531 + ], + [ + 0.2861868739128113, + 0.10774069279432297, + 0.10024053603410721 + ], + [ + 0.2859855890274048, + 0.10769537836313248, + 0.10112154483795166 + ], + [ + 0.2858019471168518, + 0.10694798082113266, + 0.10023010522127151 + ], + [ + 0.28597134351730347, + 0.10769079625606537, + 0.10065334290266037 + ], + [ + 0.28558942675590515, + 0.10756786912679672, + 0.10025056451559067 + ], + [ + 0.28597134351730347, + 0.10769079625606537, + 0.10065334290266037 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9047899511521573, + 0.23011549306563905, + 0.35833225384443884, + 0.2437615398764733, + -0.9698077457003301, + 0.007297126605392189, + 0.34919257719935576, + 0.08074525515968381, + -0.9335656097982992 + ], + [ + 0.920972117020157, + 0.14226056194368106, + 0.36272895140432143, + 0.15344707077317607, + -0.9881547337205324, + -0.002053946648697149, + 0.3581401347832192, + 0.05755132267091592, + -0.931892423574892 + ], + [ + 0.9256254768973415, + 0.12092210748053893, + 0.35860189687316774, + 0.13737243115432726, + -0.9903041554988969, + -0.020651749571555498, + 0.35262769556193213, + 0.06837779993595593, + -0.933262120091992 + ], + [ + 0.9377537672208797, + 0.031482428184875545, + 0.3458709712864502, + 0.042456373547058855, + -0.99880528327253, + -0.024196331377167223, + 0.34469599418658886, + 0.03737462805788493, + -0.9379700468401184 + ], + [ + 0.9504595897959378, + -0.0033899154064148144, + 0.3108296585566998, + 0.005959778634984939, + -0.9995580070258446, + -0.029125103075236913, + 0.3107910056670869, + 0.029534709479839973, + -0.950019290189616 + ], + [ + 0.9650067358474198, + -0.06007030100816136, + 0.2552519514242684, + -0.05525448739749896, + -0.9981336593076175, + -0.02600268793076208, + 0.2563375536115374, + 0.010988953270164557, + -0.966524858197904 + ], + [ + 0.9690302331834637, + -0.06559108273032425, + 0.23807187369083718, + -0.06411552393701957, + -0.9978450496681782, + -0.01394476399917441, + 0.23847349279675437, + -0.0017512050065476206, + -0.9711474277957707 + ], + [ + 0.9742007061762894, + -0.07007011920438438, + 0.2145300969102061, + -0.07001031206532118, + -0.9975150917500447, + -0.00788656676992005, + 0.21454962197621183, + -0.007336220115524554, + -0.9766855377163528 + ], + [ + 0.9776753312101156, + -0.05816765439162202, + 0.20190956075869068, + -0.06028031450778728, + -0.9981721187372385, + 0.00432493450289721, + 0.20128892276037655, + -0.016399553597245146, + -0.9793946212920399 + ], + [ + 0.9830317625062599, + -0.04174854001434356, + 0.1786214245562592, + -0.047639691528707236, + -0.9984487819364047, + 0.02881821716830916, + 0.17714122528334916, + -0.03683869238152954, + -0.9834957534472293 + ], + [ + 0.9832811059412309, + -0.033665858366687285, + 0.17895495712447823, + -0.04350178707001716, + -0.9977340886160244, + 0.05132526605158317, + 0.1768215519123859, + -0.058252024805881715, + -0.9825176030918276 + ], + [ + 0.9815221301318399, + -0.006687149888078645, + 0.1912317706026644, + -0.02362895458549827, + -0.9959758861629169, + 0.0864506025843022, + 0.18988412405109636, + -0.08937178642260021, + -0.9777303837075848 + ], + [ + 0.9814329571995198, + -0.008259507119135224, + 0.191627584300264, + -0.02508995501328437, + -0.9960162292340612, + 0.08556965151146591, + 0.19015742078614023, + -0.0887888035988283, + -0.9777303839379503 + ], + [ + 0.982588331745372, + -0.018607340344662708, + 0.18486194092658503, + -0.03367479257613712, + -0.9963290854094256, + 0.07870426870361802, + 0.18271885141604977, + -0.0835590836026524, + -0.9796079322283401 + ], + [ + 0.9849533724454237, + -0.028239747754956534, + 0.17049742154977865, + -0.03925916107240655, + -0.9973279629892314, + 0.061608867151094114, + 0.16830202726134147, + -0.06737544720806499, + -0.9834302093861241 + ], + [ + 0.9829848585903735, + -0.04418059980119641, + 0.1782942578527698, + -0.04846473992557738, + -0.9986297548473877, + 0.01974289029986793, + 0.17717769827495106, + -0.028047947066639257, + -0.9837791296319197 + ], + [ + 0.9778751738446699, + -0.05181053331618771, + 0.2026716877507778, + -0.05155664114221857, + -0.998648686946656, + -0.006535504100855839, + 0.2027364228065324, + -0.004058164266267671, + -0.9792249354312822 + ], + [ + 0.9677786684671345, + -0.03846188942391076, + 0.24884760782841253, + -0.03235782314469995, + -0.9990677854373151, + -0.028575013258362484, + 0.24971467746473547, + 0.019602121398515335, + -0.9681210341147233 + ], + [ + 0.9592090074190085, + 0.013576994518235094, + 0.28237164394834807, + 0.031515754264849566, + -0.9977553937572291, + -0.05908410498158288, + 0.2809356462241103, + 0.06557316103566234, + -0.9574838501157255 + ], + [ + 0.9470375202442197, + 0.11672283311798282, + 0.2991583451595343, + 0.14460056458854775, + -0.9868133939213226, + -0.07273240198256982, + 0.286723929887885, + 0.11213877922642297, + -0.9514274970922667 + ], + [ + 0.9019813217501457, + 0.2874539185865156, + 0.32217998060574343, + 0.3070484811919303, + -0.9516353382737959, + -0.01055524259536944, + 0.3035637089831214, + 0.10844550538300382, + -0.9466195893550038 + ], + [ + 0.816998523784705, + 0.47683388065839816, + 0.3242574014419178, + 0.49388662262535, + -0.8688869770099781, + 0.03333804394662032, + 0.297639742180606, + 0.13290926016916263, + -0.9453812524246226 + ], + [ + 0.7161516849400884, + 0.6275092776246608, + 0.30554683872108584, + 0.6376898399242948, + -0.766232445174565, + 0.07899055651870569, + 0.28368720840883893, + 0.1382748945281972, + -0.9488949474670083 + ], + [ + 0.5794702228929876, + 0.767214426566834, + 0.2749477849484799, + 0.7681509180367067, + -0.6268712713442706, + 0.13029419128488712, + 0.2723204507555687, + 0.13569978935481875, + -0.9525897014293939 + ], + [ + 0.44010315669282724, + 0.866416112779886, + 0.23586506944522517, + 0.8537610967450957, + -0.48513638824805333, + 0.1890361724174655, + 0.27821071358526156, + 0.11817700416335741, + -0.953222426579103 + ], + [ + 0.3445529406132826, + 0.9135547379354071, + 0.2161041691187593, + 0.8953335691235699, + -0.388996610060023, + 0.21693187262885105, + 0.28224292925632244, + 0.11874080241256563, + -0.951966149990235 + ], + [ + 0.25256042521586464, + 0.9521096864874402, + 0.17233797176353888, + 0.9271352081315548, + -0.28909193109375575, + 0.23842433017488418, + 0.2768276313116894, + 0.09956405110918216, + -0.9557475933891165 + ], + [ + 0.19403964497252324, + 0.9723984784447022, + 0.12957551966851355, + 0.9413879366690676, + -0.22172680037886838, + 0.25421640129563866, + 0.27593000719909544, + 0.07265277084996591, + -0.958427986869608 + ], + [ + 0.1433347082664138, + 0.9802073814881769, + 0.13656006254492303, + 0.9499502735117284, + -0.1749666185524532, + 0.2588071873950033, + 0.27757816783957284, + 0.0926292160628145, + -0.9562270593694857 + ], + [ + 0.13363995050763006, + 0.9850731530702626, + 0.10849537653065819, + 0.9545302148745418, + -0.1573820574523534, + 0.2531856174501728, + 0.26648158007614575, + 0.06972640168741862, + -0.9613146188360215 + ], + [ + 0.14420758606903816, + 0.9864978642287036, + 0.0776281907063868, + 0.95815305877765, + -0.15880562320080593, + 0.23816693724116444, + 0.2472789681213792, + 0.04003420927169482, + -0.9681169216643286 + ], + [ + 0.16237477871601447, + 0.9833281245893741, + 0.08185493649420189, + 0.9576602008050856, + -0.17703540362644032, + 0.22703613293215416, + 0.23774223653126664, + 0.041524273074526746, + -0.9704402937402916 + ], + [ + 0.16209850042718082, + 0.9836920054428799, + 0.07793660620673723, + 0.9602739704370686, + -0.1754336120294922, + 0.21701831598119303, + 0.22715188280154444, + 0.0396621506987504, + -0.9730513531883416 + ], + [ + 0.1665458018817353, + 0.9849794500359123, + 0.04558485365251781, + 0.9679904199237118, + -0.17212698316321007, + 0.18266594812128453, + 0.18776858845793565, + 0.013703454822914879, + -0.9821176978928903 + ], + [ + 0.15503615301980456, + 0.9870923779179995, + 0.04015505837386717, + 0.9734094467030466, + -0.15957280212221958, + 0.16434892726188194, + 0.1686352286033027, + 0.013607287718420735, + -0.9855845988015741 + ], + [ + 0.14515355453635342, + 0.9890687686621751, + 0.025950269026550912, + 0.9774658527490698, + -0.14741499424996835, + 0.1510937661844961, + 0.15326758403196433, + 0.0034337046131410615, + -0.9881787577951846 + ], + [ + 0.15421186027284506, + 0.9865362396267082, + 0.054451354936150734, + 0.9750318539174837, + -0.1608631471936407, + 0.1530879868611243, + 0.15978606321398364, + 0.029483822312435133, + -0.986711263858088 + ], + [ + 0.16964403519477456, + 0.9798802615295953, + 0.10514549152258502, + 0.9720307078643361, + -0.183952204021111, + 0.14600647110499373, + 0.16241060399983712, + 0.07743551963064146, + -0.9836800984100169 + ], + [ + 0.20656227204427258, + 0.9613159013555646, + 0.18221900441185312, + 0.9573413688638825, + -0.23703433111848593, + 0.1652641199203267, + 0.20206318623078295, + 0.14030845901851746, + -0.9692698309026819 + ], + [ + 0.2543678353471305, + 0.9472500313441428, + 0.19497277363605203, + 0.9443203948379917, + -0.28678045812248965, + 0.16129463950198128, + 0.2087007336686535, + 0.1430885982794403, + -0.9674552479616771 + ], + [ + 0.25971372502610485, + 0.9455144157401735, + 0.1963447749765278, + 0.9424710454596138, + -0.292489289599878, + 0.1618590248939529, + 0.21046878510441258, + 0.1430122550583592, + -0.9670834428320008 + ], + [ + 0.261057799377053, + 0.9456143534574665, + 0.19406782298884143, + 0.9427155619986486, + -0.2929930251701711, + 0.15950691636165484, + 0.20769254813301033, + 0.14131023224398662, + -0.9679334810373945 + ], + [ + 0.2600204613669259, + 0.9457223326175926, + 0.1949323709876583, + 0.9425697674094461, + -0.29242237677323724, + 0.16140442102988728, + 0.20964635278543053, + 0.14176890755955618, + -0.9674450804118735 + ], + [ + 0.2603259846317939, + 0.9459284377634094, + 0.19351943663612323, + 0.9426681102487238, + -0.2923560333352323, + 0.1609496309178383, + 0.20882340780091393, + 0.14052523048536184, + -0.9678044450980007 + ], + [ + 0.2600204613669259, + 0.9457223326175926, + 0.1949323709876583, + 0.9425697674094461, + -0.29242237677323724, + 0.16140442102988728, + 0.20964635278543053, + 0.14176890755955618, + -0.9674450804118735 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005778.json b/json/chunk-0005/episode_0005778.json new file mode 100644 index 0000000000000000000000000000000000000000..eee6d35af8a69280323811958d5987cf74542879 --- /dev/null +++ b/json/chunk-0005/episode_0005778.json @@ -0,0 +1,2422 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 39, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nRemove grapes from pan and place on top of the orange cloth." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005778.mp4", + "start": 0, + "end": 39, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2359766662120819, + 0.06405137479305267, + 0.15390223264694214, + 0.2184787094593048, + 0.028394032269716263, + 0.5920891761779785, + 0.0, + 1.0001531839370728 + ], + [ + 0.23666749894618988, + 0.06377539783716202, + 0.14796803891658783, + 0.22931085526943207, + 0.0494854710996151, + 0.5954609513282776, + 0.0, + 1.0001531839370728 + ], + [ + 0.25960177183151245, + 0.05395820364356041, + 0.13996388018131256, + 0.22700323164463043, + 0.03453434631228447, + 0.560552716255188, + 0.0, + 1.0001531839370728 + ], + [ + 0.29584750533103943, + 0.04100007936358452, + 0.13881634175777435, + 0.18949994444847107, + -0.03615938499569893, + 0.5110743641853333, + 0.0, + 1.0001531839370728 + ], + [ + 0.3365941643714905, + 0.024349160492420197, + 0.13067135214805603, + 0.13224555552005768, + -0.08094178140163422, + 0.44701528549194336, + 0.0, + 1.0001531839370728 + ], + [ + 0.3740784823894501, + 0.006062728818506002, + 0.11103558540344238, + 0.07367824763059616, + -0.11103284358978271, + 0.41545844078063965, + 0.0, + 1.0001531839370728 + ], + [ + 0.4004901349544525, + -0.008488799445331097, + 0.10281741619110107, + 0.05332277715206146, + -0.14727284014225006, + 0.39629310369491577, + 0.0, + 1.0001531839370728 + ], + [ + 0.41948381066322327, + -0.02074394002556801, + 0.09274837374687195, + 0.0598161481320858, + -0.14905814826488495, + 0.3801601827144623, + 0.0, + 1.0001531839370728 + ], + [ + 0.4371728301048279, + -0.027472270652651787, + 0.07714199274778366, + 0.11055735498666763, + -0.15593667328357697, + 0.3629717230796814, + 0.0, + 1.0001531839370728 + ], + [ + 0.44682976603507996, + -0.0329878069460392, + 0.07041363418102264, + 0.08981992304325104, + -0.16686564683914185, + 0.34949713945388794, + 0.0, + 1.0001531839370728 + ], + [ + 0.4553196430206299, + -0.0350475087761879, + 0.06187181547284126, + 0.09252423793077469, + -0.1523159146308899, + 0.33026427030563354, + 0.0, + 1.0001531839370728 + ], + [ + 0.45662936568260193, + -0.036746084690093994, + 0.0579034648835659, + 0.08859827369451523, + -0.1380707174539566, + 0.3319590091705322, + 0.0, + 1.0001531839370728 + ], + [ + 0.45783984661102295, + -0.03635304421186447, + 0.049889612942934036, + 0.09688044339418411, + -0.12029194086790085, + 0.3252040445804596, + 0.0, + 1.0001531839370728 + ], + [ + 0.4566501975059509, + -0.03259848803281784, + 0.040410012006759644, + 0.10455283522605896, + -0.09510572999715805, + 0.33592984080314636, + 0.0, + 0.9994885921478271 + ], + [ + 0.4557029604911804, + -0.025589725002646446, + 0.03466504067182541, + 0.11777879297733307, + -0.07610693573951721, + 0.34997227787971497, + 0.0, + 0.9430103898048401 + ], + [ + 0.45754092931747437, + -0.027126165106892586, + 0.027880018576979637, + 0.11629518866539001, + -0.05982305854558945, + 0.34012460708618164, + 0.0, + 0.7467206716537476 + ], + [ + 0.4598509967327118, + -0.02927539497613907, + 0.030311714857816696, + 0.10370300710201263, + -0.0686604380607605, + 0.33764728903770447, + 0.0, + 0.6159340739250183 + ], + [ + 0.46038469672203064, + -0.03076290152966976, + 0.0301556084305048, + 0.09405030310153961, + -0.06816373765468597, + 0.3323545753955841, + 0.0, + 0.6149309277534485 + ], + [ + 0.45824167132377625, + -0.02736382931470871, + 0.03683556988835335, + 0.11547522246837616, + -0.06954479217529297, + 0.3382187485694885, + 0.0, + 0.6149309277534485 + ], + [ + 0.4642188251018524, + -0.02352822944521904, + 0.0717395544052124, + 0.08198317885398865, + -0.14939691126346588, + 0.36230015754699707, + 0.0, + 0.6149309277534485 + ], + [ + 0.4655267894268036, + -0.0127895912155509, + 0.09279060363769531, + 0.07710379362106323, + -0.2037646621465683, + 0.4043997824192047, + 0.0, + 0.6149309277534485 + ], + [ + 0.4516657590866089, + 0.0015158335445448756, + 0.09418212622404099, + 0.15978161990642548, + -0.14995604753494263, + 0.42971912026405334, + 0.0, + 0.6149309277534485 + ], + [ + 0.42410898208618164, + 0.02990521676838398, + 0.08725541085004807, + 0.24792401492595673, + -0.05324672907590866, + 0.5118998289108276, + 0.0, + 0.6149309277534485 + ], + [ + 0.3931734561920166, + 0.054830145090818405, + 0.10063650459051132, + 0.25979456305503845, + -0.042832449078559875, + 0.609209418296814, + 0.0, + 0.6149309277534485 + ], + [ + 0.34935736656188965, + 0.08125133812427521, + 0.10301388800144196, + 0.2952102720737457, + 0.002056489232927561, + 0.7237165570259094, + 0.0, + 0.6149309277534485 + ], + [ + 0.32013899087905884, + 0.09325115382671356, + 0.09761766344308853, + 0.319280743598938, + 0.019024591892957687, + 0.7927727699279785, + 0.0, + 0.6149309277534485 + ], + [ + 0.30361929535865784, + 0.11277148872613907, + 0.07699430733919144, + 0.32189539074897766, + 0.021472511813044548, + 0.867915689945221, + 0.0, + 0.6149309277534485 + ], + [ + 0.28815361857414246, + 0.132966086268425, + 0.06189722940325737, + 0.32181259989738464, + 0.017331033945083618, + 0.9300930500030518, + 0.0, + 0.6149309277534485 + ], + [ + 0.2815820872783661, + 0.14948178827762604, + 0.04773693159222603, + 0.29081985354423523, + -0.004029371775686741, + 0.9788954257965088, + 0.0, + 0.6149309277534485 + ], + [ + 0.2789204716682434, + 0.15435875952243805, + 0.0382826030254364, + 0.2623182535171509, + -0.02580246701836586, + 1.0075117349624634, + 0.0, + 0.6149309277534485 + ], + [ + 0.2742502987384796, + 0.15339115262031555, + 0.031191859394311905, + 0.24341200292110443, + -0.02594607137143612, + 1.0242112874984741, + 0.0, + 0.6902000904083252 + ], + [ + 0.2727249264717102, + 0.15577371418476105, + 0.0301424041390419, + 0.22732502222061157, + -0.01720649003982544, + 1.0239356756210327, + 0.0, + 0.9620732665061951 + ], + [ + 0.2726005017757416, + 0.15759265422821045, + 0.048285361379384995, + 0.23834051191806793, + -0.021309806033968925, + 1.0262378454208374, + 0.0, + 1.0067112445831299 + ], + [ + 0.28232255578041077, + 0.15249532461166382, + 0.06957279145717621, + 0.2721779942512512, + -0.04687798395752907, + 1.0014854669570923, + 0.0, + 1.0014774799346924 + ], + [ + 0.29758018255233765, + 0.12571509182453156, + 0.09248530119657516, + 0.2752723693847656, + -0.08266288787126541, + 0.8962749242782593, + 0.0, + 1.0001531839370728 + ], + [ + 0.3112482726573944, + 0.08813299238681793, + 0.10839744657278061, + 0.24673670530319214, + -0.1151576042175293, + 0.737396776676178, + 0.0, + 1.0001531839370728 + ], + [ + 0.3219050168991089, + 0.04367927834391594, + 0.11098439991474152, + 0.24687322974205017, + -0.12257059663534164, + 0.5876377820968628, + 0.0, + 1.0001531839370728 + ], + [ + 0.3302440941333771, + 0.005133453756570816, + 0.11617773771286011, + 0.20834395289421082, + -0.12436757236719131, + 0.480804443359375, + 0.0, + 1.0001531839370728 + ], + [ + 0.3325459361076355, + -0.038053154945373535, + 0.11611486971378326, + 0.17878358066082, + -0.13643962144851685, + 0.3616051971912384, + 0.0, + 1.0001531839370728 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9430103898048401 + ], + [ + 0.7467206716537476 + ], + [ + 0.6159340739250183 + ], + [ + 0.6149309277534485 + ], + [ + 0.6149309277534485 + ], + [ + 0.6149309277534485 + ], + [ + 0.6149309277534485 + ], + [ + 0.6149309277534485 + ], + [ + 0.6149309277534485 + ], + [ + 0.6149309277534485 + ], + [ + 0.6149309277534485 + ], + [ + 0.6149309277534485 + ], + [ + 0.6149309277534485 + ], + [ + 0.6149309277534485 + ], + [ + 0.6149309277534485 + ], + [ + 0.6149309277534485 + ], + [ + 0.6902000904083252 + ], + [ + 0.9620732665061951 + ], + [ + 1.0067112445831299 + ], + [ + 1.0014774799346924 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2359766662120819, + 0.06405137479305267, + 0.15390223264694214 + ], + [ + 0.23666749894618988, + 0.06377539783716202, + 0.14796803891658783 + ], + [ + 0.25960177183151245, + 0.05395820364356041, + 0.13996388018131256 + ], + [ + 0.29584750533103943, + 0.04100007936358452, + 0.13881634175777435 + ], + [ + 0.3365941643714905, + 0.024349160492420197, + 0.13067135214805603 + ], + [ + 0.3740784823894501, + 0.006062728818506002, + 0.11103558540344238 + ], + [ + 0.4004901349544525, + -0.008488799445331097, + 0.10281741619110107 + ], + [ + 0.41948381066322327, + -0.02074394002556801, + 0.09274837374687195 + ], + [ + 0.4371728301048279, + -0.027472270652651787, + 0.07714199274778366 + ], + [ + 0.44682976603507996, + -0.0329878069460392, + 0.07041363418102264 + ], + [ + 0.4553196430206299, + -0.0350475087761879, + 0.06187181547284126 + ], + [ + 0.45662936568260193, + -0.036746084690093994, + 0.0579034648835659 + ], + [ + 0.45783984661102295, + -0.03635304421186447, + 0.049889612942934036 + ], + [ + 0.4566501975059509, + -0.03259848803281784, + 0.040410012006759644 + ], + [ + 0.4557029604911804, + -0.025589725002646446, + 0.03466504067182541 + ], + [ + 0.45754092931747437, + -0.027126165106892586, + 0.027880018576979637 + ], + [ + 0.4598509967327118, + -0.02927539497613907, + 0.030311714857816696 + ], + [ + 0.46038469672203064, + -0.03076290152966976, + 0.0301556084305048 + ], + [ + 0.45824167132377625, + -0.02736382931470871, + 0.03683556988835335 + ], + [ + 0.4642188251018524, + -0.02352822944521904, + 0.0717395544052124 + ], + [ + 0.4655267894268036, + -0.0127895912155509, + 0.09279060363769531 + ], + [ + 0.4516657590866089, + 0.0015158335445448756, + 0.09418212622404099 + ], + [ + 0.42410898208618164, + 0.02990521676838398, + 0.08725541085004807 + ], + [ + 0.3931734561920166, + 0.054830145090818405, + 0.10063650459051132 + ], + [ + 0.34935736656188965, + 0.08125133812427521, + 0.10301388800144196 + ], + [ + 0.32013899087905884, + 0.09325115382671356, + 0.09761766344308853 + ], + [ + 0.30361929535865784, + 0.11277148872613907, + 0.07699430733919144 + ], + [ + 0.28815361857414246, + 0.132966086268425, + 0.06189722940325737 + ], + [ + 0.2815820872783661, + 0.14948178827762604, + 0.04773693159222603 + ], + [ + 0.2789204716682434, + 0.15435875952243805, + 0.0382826030254364 + ], + [ + 0.2742502987384796, + 0.15339115262031555, + 0.031191859394311905 + ], + [ + 0.2727249264717102, + 0.15577371418476105, + 0.0301424041390419 + ], + [ + 0.2726005017757416, + 0.15759265422821045, + 0.048285361379384995 + ], + [ + 0.28232255578041077, + 0.15249532461166382, + 0.06957279145717621 + ], + [ + 0.29758018255233765, + 0.12571509182453156, + 0.09248530119657516 + ], + [ + 0.3112482726573944, + 0.08813299238681793, + 0.10839744657278061 + ], + [ + 0.3219050168991089, + 0.04367927834391594, + 0.11098439991474152 + ], + [ + 0.3302440941333771, + 0.005133453756570816, + 0.11617773771286011 + ], + [ + 0.3325459361076355, + -0.038053154945373535, + 0.11611486971378326 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8294420611771327, + 0.5397229370434462, + -0.14396186432324884, + 0.5578708297827943, + -0.8134855440246248, + 0.16438189359055486, + -0.028390217112339772, + -0.21665738134703885, + -0.9758348091148203 + ], + [ + 0.8268765769794065, + 0.5368995440545065, + -0.1673738511144513, + 0.5602038136548934, + -0.8125251194511488, + 0.1611664277304981, + -0.04946527680437031, + -0.22702821378621513, + -0.9726311616104573 + ], + [ + 0.8464563845590414, + 0.5114334402105734, + -0.14814663436478767, + 0.5313374088125582, + -0.8293641079159507, + 0.17273023619834338, + -0.034527482323399, + -0.22492446006416678, + -0.9737642631711487 + ], + [ + 0.8716493720335001, + 0.4862983739655745, + -0.06116587048381894, + 0.4887948862908297, + -0.8532747687371952, + 0.1816637778216149, + 0.036151505771404885, + -0.1882446825674618, + -0.9814565747477245 + ], + [ + 0.8987890382821238, + 0.438115311047108, + 0.01527216061961291, + 0.43086075232415644, + -0.8892589433322393, + 0.15354980889044226, + 0.0808534276982573, + -0.1314287104468627, + -0.9880228829838495 + ], + [ + 0.9092974065083513, + 0.40997707481933005, + 0.07139344955786603, + 0.4011240621325954, + -0.9091571143169127, + 0.11195011507448255, + 0.11080484328508328, + -0.07315831879922871, + -0.9911458757897541 + ], + [ + 0.9125120996090067, + 0.3926675606762306, + 0.1146030316341633, + 0.38182290957441517, + -0.9181681376594795, + 0.10572859930525416, + 0.1467410433085789, + -0.05272056315615187, + -0.9877690056026297 + ], + [ + 0.9183082656791958, + 0.37864955966293956, + 0.1154748464053085, + 0.36695457803214204, + -0.9236501611112203, + 0.11052021326648531, + 0.14850679057376545, + -0.059117601831254585, + -0.9871427669325248 + ], + [ + 0.9235028734166122, + 0.3689049855226476, + 0.10512637370230216, + 0.35074585113788603, + -0.9230544496910942, + 0.157948823405024, + 0.1553054754373484, + -0.10899355284605924, + -0.9818353297458656 + ], + [ + 0.9264949332564809, + 0.3550427119194197, + 0.1247069018257346, + 0.3376691711397005, + -0.9306560520233752, + 0.14092140963704883, + 0.16609235235825, + -0.08845329584119094, + -0.9821350950571588 + ], + [ + 0.9350047114153562, + 0.33616678313948595, + 0.11295168677242635, + 0.32053847377543604, + -0.9373644315137468, + 0.13639284938230611, + 0.15172763908003248, + -0.09132259548742662, + -0.9841945473800591 + ], + [ + 0.9364086500759968, + 0.33613066197762004, + 0.10077210993790134, + 0.3227942825617555, + -0.9377288235048745, + 0.1283296719921223, + 0.13763244969225502, + -0.0876403539851995, + -0.9865984376356259 + ], + [ + 0.9407379635366986, + 0.32900318333408535, + 0.08227386776409083, + 0.31719330619214287, + -0.9394334201753357, + 0.129820089217996, + 0.12000204359810883, + -0.09602996622778295, + -0.9881182900435393 + ], + [ + 0.9398376574279612, + 0.3372036397640738, + 0.05476205812588901, + 0.3281574564306237, + -0.9356817841976164, + 0.1296621861212774, + 0.0949624213534269, + -0.10389082755771194, + -0.9900448648824296 + ], + [ + 0.9366629555925375, + 0.348889238243408, + 0.030639958527818027, + 0.34187924295978256, + -0.9298108967906532, + 0.13627281255851098, + 0.07603348508320454, + -0.11716652955215322, + -0.9901974113775527 + ], + [ + 0.9410267163394326, + 0.337891080705678, + 0.017272426435631993, + 0.33300778974500883, + -0.934031067266122, + 0.12919666153137763, + 0.059787382486351806, + -0.11582565761202629, + -0.9914685501488045 + ], + [ + 0.9413134913868718, + 0.3361894121715246, + 0.030093023723494084, + 0.3304876073207073, + -0.9361150034840171, + 0.12027735306180107, + 0.06860650363115708, + -0.10327332373795256, + -0.9922841167042958 + ], + [ + 0.9430815708457845, + 0.3308741014271581, + 0.03345862722555231, + 0.3255119769885194, + -0.939012158400249, + 0.11089688549969075, + 0.06811096510895581, + -0.09369362508344202, + -0.9932685442772514 + ], + [ + 0.9410668742128783, + 0.33715031325029865, + 0.02688502435237808, + 0.33100521489494816, + -0.9344080513457217, + 0.13159460966407446, + 0.06948874708578137, + -0.11494024471661958, + -0.9909389760085793 + ], + [ + 0.9246681821043036, + 0.3646331922493585, + 0.10968768442247656, + 0.35047806630432415, + -0.9276233107433205, + 0.12915153272486912, + 0.14884178863311276, + -0.0809791854469007, + -0.9855396965525297 + ], + [ + 0.9003191838456751, + 0.40662783261162677, + 0.15517465303659914, + 0.3853268686687235, + -0.9104743485836302, + 0.15019875117047826, + 0.202357533789613, + -0.07543385391709621, + -0.9764021518830244 + ], + [ + 0.8988807545645685, + 0.4329167139748689, + 0.06779755035864402, + 0.4119400692239556, + -0.88760038694314, + 0.20608477009752593, + 0.14939467340301676, + -0.15731710606157537, + -0.9761826466902679 + ], + [ + 0.8705798801150297, + 0.48624326158914355, + -0.07522076108397396, + 0.4891402014235542, + -0.8387614882778568, + 0.23920917443367362, + 0.05322157166248872, + -0.2450441926287309, + -0.9680500028246001 + ], + [ + 0.8193484891876884, + 0.5620379043035175, + -0.11305506353968695, + 0.5716944605637646, + -0.7862862165602749, + 0.234348947955895, + 0.04281935341126336, + -0.2566464100147102, + -0.9655563801249529 + ], + [ + 0.7493483172282962, + 0.6330808876161738, + -0.19412802271243348, + 0.6621728402200731, + -0.7173299543069147, + 0.2167137889681279, + -0.0020564877833950113, + -0.29094041724923353, + -0.9567389635991834 + ], + [ + 0.7017459539163267, + 0.6721124177145428, + -0.23625730489442331, + 0.7121732406717731, + -0.6706545706049784, + 0.20744088844226638, + -0.01902344430247449, + -0.31382693460020916, + -0.9492896100170415 + ], + [ + 0.6462692279954738, + 0.7194036398334557, + -0.2545476142895671, + 0.7628073721718253, + -0.6183992434197093, + 0.18896372323344518, + -0.02147086180033808, + -0.316292236282061, + -0.948418801670045 + ], + [ + 0.5976696182873672, + 0.7572439905909818, + -0.26338672345066655, + 0.8015551713453133, + -0.5714668432918356, + 0.1758833542654049, + -0.017330166352869505, + -0.316239127452486, + -0.9485212067224813 + ], + [ + 0.5579350234423655, + 0.7956787549511459, + -0.2358046406154064, + 0.8298748543408985, + -0.5335523567134448, + 0.1631858105908764, + 0.004029360872325097, + -0.2867354208411004, + -0.958001337517875 + ], + [ + 0.5337884760121997, + 0.8201546724657278, + -0.20595187813954913, + 0.8452243745349073, + -0.5100432433185276, + 0.15953572213517464, + 0.025799604040519772, + -0.25923387737283055, + -0.9654699256080431 + ], + [ + 0.5195979037051979, + 0.8323706858048625, + -0.19281353655256486, + 0.8540169617153128, + -0.4991088992151428, + 0.1467832954623742, + 0.025943160326184822, + -0.24093432328539613, + -0.9701946218647568 + ], + [ + 0.5199313100112232, + 0.8342024148870778, + -0.18378727884862167, + 0.854034776099425, + -0.5033177426513832, + 0.13151369185419762, + 0.01720564101735808, + -0.22533881363157052, + -0.9741285259083106 + ], + [ + 0.5179228666903853, + 0.8337822094578886, + -0.19121488266014908, + 0.855161894064405, + -0.4990930464877511, + 0.1400152344845183, + 0.02130819324561435, + -0.23603677285350427, + -0.9715104748593865 + ], + [ + 0.5384595460016965, + 0.8180573911996465, + -0.20209755570831478, + 0.8413473606087849, + -0.50859737931687, + 0.18292983504240964, + 0.04686081642778127, + -0.2685345610077786, + -0.9621295408769452 + ], + [ + 0.6223910828573441, + 0.7656181475063846, + -0.16265974360165003, + 0.778339088552451, + -0.5834829660414071, + 0.23181003336970082, + 0.08256877866967799, + -0.27088093426524884, + -0.9590651261726617 + ], + [ + 0.735318658991364, + 0.6727740685173209, + -0.08174058031231285, + 0.6679099586308228, + -0.6989342426356477, + 0.2557092325926192, + 0.11490325017559358, + -0.2426231176165718, + -0.9632918902892832 + ], + [ + 0.8260087336642827, + 0.5624540657043329, + -0.03681026871667962, + 0.5502373178013638, + -0.7904554795450074, + 0.2691078388974086, + 0.12226391949013046, + -0.2425398087529935, + -0.9624063461765889 + ], + [ + 0.8797751639945753, + 0.47523997163799253, + 0.011942787607524305, + 0.45892041706759407, + -0.8555831540567486, + 0.23951934638523853, + 0.12404721527234676, + -0.20524238317615195, + -0.9708181356625709 + ], + [ + 0.9266377002466641, + 0.37076111318641664, + 0.0622797674236434, + 0.3504882758017182, + -0.9118644670973648, + 0.2136847261054898, + 0.13601669385451431, + -0.17617999487458455, + -0.9749154160227846 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + 0.0006908327341079712, + -0.0002759769558906555, + -0.005934193730354309, + 0.010832145810127258, + 0.021091438829898834, + 0.0033717751502990723, + 1.0 + ], + [ + 0.02293427288532257, + -0.009817194193601608, + -0.008004158735275269, + -0.0023076236248016357, + -0.014951124787330627, + -0.0349082350730896, + 1.0 + ], + [ + 0.03624573349952698, + -0.012958124279975891, + -0.001147538423538208, + -0.03750328719615936, + -0.0706937313079834, + -0.049478352069854736, + 1.0 + ], + [ + 0.04074665904045105, + -0.016650918871164322, + -0.008144989609718323, + -0.05725438892841339, + -0.04478239640593529, + -0.06405907869338989, + 1.0 + ], + [ + 0.037484318017959595, + -0.018286431208252907, + -0.019635766744613647, + -0.05856730788946152, + -0.0300910621881485, + -0.03155684471130371, + 1.0 + ], + [ + 0.02641165256500244, + -0.014551527798175812, + -0.008218169212341309, + -0.0203554704785347, + -0.036239996552467346, + -0.019165337085723877, + 1.0 + ], + [ + 0.018993675708770752, + -0.012255140580236912, + -0.010069042444229126, + 0.006493370980024338, + -0.0017853081226348877, + -0.01613292098045349, + 1.0 + ], + [ + 0.017689019441604614, + -0.006728330627083778, + -0.015606380999088287, + 0.05074120685458183, + -0.006878525018692017, + -0.017188459634780884, + 1.0 + ], + [ + 0.009656935930252075, + -0.005515536293387413, + -0.006728358566761017, + -0.020737431943416595, + -0.01092897355556488, + -0.013474583625793457, + 1.0 + ], + [ + 0.008489876985549927, + -0.002059701830148697, + -0.008541818708181381, + 0.002704314887523651, + 0.014549732208251953, + -0.019232869148254395, + 1.0 + ], + [ + 0.001309722661972046, + -0.0016985759139060974, + -0.00396835058927536, + -0.0039259642362594604, + 0.014245197176933289, + 0.0016947388648986816, + 1.0 + ], + [ + 0.0012104809284210205, + 0.0003930404782295227, + -0.008013851940631866, + 0.008282169699668884, + 0.017778776586055756, + -0.006754964590072632, + 1.0 + ], + [ + -0.0011896491050720215, + 0.003754556179046631, + -0.009479600936174393, + 0.007672391831874847, + 0.025186210870742798, + 0.010725796222686768, + 1.0 + ], + [ + -0.0009472370147705078, + 0.007008763030171394, + -0.005744971334934235, + 0.013225957751274109, + 0.01899879425764084, + 0.014042437076568604, + 0.0 + ], + [ + 0.0018379688262939453, + -0.0015364401042461395, + -0.006785022094845772, + -0.0014836043119430542, + 0.016283877193927765, + -0.009847670793533325, + 0.0 + ], + [ + 0.0023100674152374268, + -0.002149229869246483, + 0.002431696280837059, + -0.01259218156337738, + -0.008837379515171051, + -0.002477318048477173, + 0.0 + ], + [ + 0.0005336999893188477, + -0.001487506553530693, + -0.00015610642731189728, + -0.009652704000473022, + 0.0004967004060745239, + -0.005292713642120361, + 0.0 + ], + [ + -0.0021430253982543945, + 0.003399072214961052, + 0.006679961457848549, + 0.021424919366836548, + -0.0013810545206069946, + 0.005864173173904419, + 0.0 + ], + [ + 0.005977153778076172, + 0.00383559986948967, + 0.034903984516859055, + -0.03349204361438751, + -0.07985211908817291, + 0.024081408977508545, + 0.0 + ], + [ + 0.0013079643249511719, + 0.01073863822966814, + 0.02105104923248291, + -0.004879385232925415, + -0.05436775088310242, + 0.04209962487220764, + 0.0 + ], + [ + -0.013861030340194702, + 0.014305424876511097, + 0.0013915225863456726, + 0.08267782628536224, + 0.05380861461162567, + 0.025319337844848633, + 0.0 + ], + [ + -0.027556777000427246, + 0.028389383107423782, + -0.00692671537399292, + 0.08814239501953125, + 0.09670931845903397, + 0.08218070864677429, + 0.0 + ], + [ + -0.03093552589416504, + 0.024924928322434425, + 0.013381093740463257, + 0.011870548129081726, + 0.010414279997348785, + 0.09730958938598633, + 0.0 + ], + [ + -0.04381608963012695, + 0.026421193033456802, + 0.0023773834109306335, + 0.035415709018707275, + 0.0448889397084713, + 0.11450713872909546, + 0.0 + ], + [ + -0.02921837568283081, + 0.011999815702438354, + -0.005396224558353424, + 0.02407047152519226, + 0.016968103125691414, + 0.06905621290206909, + 0.0 + ], + [ + -0.016519695520401, + 0.019520334899425507, + -0.020623356103897095, + 0.002614647150039673, + 0.0024479199200868607, + 0.07514292001724243, + 0.0 + ], + [ + -0.01546567678451538, + 0.02019459754228592, + -0.015097077935934067, + -8.279085159301758e-05, + -0.00414147786796093, + 0.06217736005783081, + 0.0 + ], + [ + -0.006571531295776367, + 0.01651570200920105, + -0.014160297811031342, + -0.030992746353149414, + -0.021360404789447784, + 0.04880237579345703, + 0.0 + ], + [ + -0.0026616156101226807, + 0.004876971244812012, + -0.009454328566789627, + -0.02850160002708435, + -0.021773096174001694, + 0.02861630916595459, + 0.0 + ], + [ + -0.004670172929763794, + -0.0009676069021224976, + -0.0070907436311244965, + -0.018906250596046448, + -0.0001436043530702591, + 0.016699552536010742, + 1.0 + ], + [ + -0.0015253722667694092, + 0.0023825615644454956, + -0.0010494552552700043, + -0.01608698070049286, + 0.00873958133161068, + -0.00027561187744140625, + 1.0 + ], + [ + -0.00012442469596862793, + 0.0018189400434494019, + 0.018142957240343094, + 0.01101548969745636, + -0.004103315994143486, + 0.0023021697998046875, + 1.0 + ], + [ + 0.00972205400466919, + -0.005097329616546631, + 0.021287430077791214, + 0.03383748233318329, + -0.025568177923560143, + -0.024752378463745117, + 1.0 + ], + [ + 0.01525762677192688, + -0.026780232787132263, + 0.022912509739398956, + 0.0030943751335144043, + -0.03578490391373634, + -0.10521054267883301, + 1.0 + ], + [ + 0.013668090105056763, + -0.03758209943771362, + 0.015912145376205444, + -0.028535664081573486, + -0.032494716346263885, + -0.1588781476020813, + 1.0 + ], + [ + 0.010656744241714478, + -0.04445371404290199, + 0.002586953341960907, + 0.00013652443885803223, + -0.007412992417812347, + -0.14975899457931519, + 1.0 + ], + [ + 0.008339077234268188, + -0.03854582458734512, + 0.005193337798118591, + -0.038529276847839355, + -0.0017969757318496704, + -0.10683333873748779, + 1.0 + ], + [ + 0.002301841974258423, + -0.04318660870194435, + -6.286799907684326e-05, + -0.029560372233390808, + -0.012072049081325531, + -0.1191992461681366, + 1.0 + ], + [ + 0.0054114460945129395, + -0.03345470875501633, + 0.006046682596206665, + -0.04270048439502716, + -0.008620202541351318, + -0.10860234498977661, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9430103898048401 + ], + [ + 0.7467206716537476 + ], + [ + 0.6159340739250183 + ], + [ + 0.6149309277534485 + ], + [ + 0.6149309277534485 + ], + [ + 0.6149309277534485 + ], + [ + 0.6149309277534485 + ], + [ + 0.6149309277534485 + ], + [ + 0.6149309277534485 + ], + [ + 0.6149309277534485 + ], + [ + 0.6149309277534485 + ], + [ + 0.6149309277534485 + ], + [ + 0.6149309277534485 + ], + [ + 0.6149309277534485 + ], + [ + 0.6149309277534485 + ], + [ + 0.6149309277534485 + ], + [ + 0.6902000904083252 + ], + [ + 0.9620732665061951 + ], + [ + 1.0067112445831299 + ], + [ + 1.0014774799346924 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.23666749894618988, + 0.06377539783716202, + 0.14796803891658783 + ], + [ + 0.25960177183151245, + 0.05395820364356041, + 0.13996388018131256 + ], + [ + 0.29584750533103943, + 0.04100007936358452, + 0.13881634175777435 + ], + [ + 0.3365941643714905, + 0.024349160492420197, + 0.13067135214805603 + ], + [ + 0.3740784823894501, + 0.006062728818506002, + 0.11103558540344238 + ], + [ + 0.4004901349544525, + -0.008488799445331097, + 0.10281741619110107 + ], + [ + 0.41948381066322327, + -0.02074394002556801, + 0.09274837374687195 + ], + [ + 0.4371728301048279, + -0.027472270652651787, + 0.07714199274778366 + ], + [ + 0.44682976603507996, + -0.0329878069460392, + 0.07041363418102264 + ], + [ + 0.4553196430206299, + -0.0350475087761879, + 0.06187181547284126 + ], + [ + 0.45662936568260193, + -0.036746084690093994, + 0.0579034648835659 + ], + [ + 0.45783984661102295, + -0.03635304421186447, + 0.049889612942934036 + ], + [ + 0.4566501975059509, + -0.03259848803281784, + 0.040410012006759644 + ], + [ + 0.4557029604911804, + -0.025589725002646446, + 0.03466504067182541 + ], + [ + 0.45754092931747437, + -0.027126165106892586, + 0.027880018576979637 + ], + [ + 0.4598509967327118, + -0.02927539497613907, + 0.030311714857816696 + ], + [ + 0.46038469672203064, + -0.03076290152966976, + 0.0301556084305048 + ], + [ + 0.45824167132377625, + -0.02736382931470871, + 0.03683556988835335 + ], + [ + 0.4642188251018524, + -0.02352822944521904, + 0.0717395544052124 + ], + [ + 0.4655267894268036, + -0.0127895912155509, + 0.09279060363769531 + ], + [ + 0.4516657590866089, + 0.0015158335445448756, + 0.09418212622404099 + ], + [ + 0.42410898208618164, + 0.02990521676838398, + 0.08725541085004807 + ], + [ + 0.3931734561920166, + 0.054830145090818405, + 0.10063650459051132 + ], + [ + 0.34935736656188965, + 0.08125133812427521, + 0.10301388800144196 + ], + [ + 0.32013899087905884, + 0.09325115382671356, + 0.09761766344308853 + ], + [ + 0.30361929535865784, + 0.11277148872613907, + 0.07699430733919144 + ], + [ + 0.28815361857414246, + 0.132966086268425, + 0.06189722940325737 + ], + [ + 0.2815820872783661, + 0.14948178827762604, + 0.04773693159222603 + ], + [ + 0.2789204716682434, + 0.15435875952243805, + 0.0382826030254364 + ], + [ + 0.2742502987384796, + 0.15339115262031555, + 0.031191859394311905 + ], + [ + 0.2727249264717102, + 0.15577371418476105, + 0.0301424041390419 + ], + [ + 0.2726005017757416, + 0.15759265422821045, + 0.048285361379384995 + ], + [ + 0.28232255578041077, + 0.15249532461166382, + 0.06957279145717621 + ], + [ + 0.29758018255233765, + 0.12571509182453156, + 0.09248530119657516 + ], + [ + 0.3112482726573944, + 0.08813299238681793, + 0.10839744657278061 + ], + [ + 0.3219050168991089, + 0.04367927834391594, + 0.11098439991474152 + ], + [ + 0.3302440941333771, + 0.005133453756570816, + 0.11617773771286011 + ], + [ + 0.3325459361076355, + -0.038053154945373535, + 0.11611486971378326 + ], + [ + 0.33795738220214844, + -0.07150786370038986, + 0.12216155230998993 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8268765769794065, + 0.5368995440545065, + -0.1673738511144513, + 0.5602038136548934, + -0.8125251194511488, + 0.1611664277304981, + -0.04946527680437031, + -0.22702821378621513, + -0.9726311616104573 + ], + [ + 0.8464563845590414, + 0.5114334402105734, + -0.14814663436478767, + 0.5313374088125582, + -0.8293641079159507, + 0.17273023619834338, + -0.034527482323399, + -0.22492446006416678, + -0.9737642631711487 + ], + [ + 0.8716493720335001, + 0.4862983739655745, + -0.06116587048381894, + 0.4887948862908297, + -0.8532747687371952, + 0.1816637778216149, + 0.036151505771404885, + -0.1882446825674618, + -0.9814565747477245 + ], + [ + 0.8987890382821238, + 0.438115311047108, + 0.01527216061961291, + 0.43086075232415644, + -0.8892589433322393, + 0.15354980889044226, + 0.0808534276982573, + -0.1314287104468627, + -0.9880228829838495 + ], + [ + 0.9092974065083513, + 0.40997707481933005, + 0.07139344955786603, + 0.4011240621325954, + -0.9091571143169127, + 0.11195011507448255, + 0.11080484328508328, + -0.07315831879922871, + -0.9911458757897541 + ], + [ + 0.9125120996090067, + 0.3926675606762306, + 0.1146030316341633, + 0.38182290957441517, + -0.9181681376594795, + 0.10572859930525416, + 0.1467410433085789, + -0.05272056315615187, + -0.9877690056026297 + ], + [ + 0.9183082656791958, + 0.37864955966293956, + 0.1154748464053085, + 0.36695457803214204, + -0.9236501611112203, + 0.11052021326648531, + 0.14850679057376545, + -0.059117601831254585, + -0.9871427669325248 + ], + [ + 0.9235028734166122, + 0.3689049855226476, + 0.10512637370230216, + 0.35074585113788603, + -0.9230544496910942, + 0.157948823405024, + 0.1553054754373484, + -0.10899355284605924, + -0.9818353297458656 + ], + [ + 0.9264949332564809, + 0.3550427119194197, + 0.1247069018257346, + 0.3376691711397005, + -0.9306560520233752, + 0.14092140963704883, + 0.16609235235825, + -0.08845329584119094, + -0.9821350950571588 + ], + [ + 0.9350047114153562, + 0.33616678313948595, + 0.11295168677242635, + 0.32053847377543604, + -0.9373644315137468, + 0.13639284938230611, + 0.15172763908003248, + -0.09132259548742662, + -0.9841945473800591 + ], + [ + 0.9364086500759968, + 0.33613066197762004, + 0.10077210993790134, + 0.3227942825617555, + -0.9377288235048745, + 0.1283296719921223, + 0.13763244969225502, + -0.0876403539851995, + -0.9865984376356259 + ], + [ + 0.9407379635366986, + 0.32900318333408535, + 0.08227386776409083, + 0.31719330619214287, + -0.9394334201753357, + 0.129820089217996, + 0.12000204359810883, + -0.09602996622778295, + -0.9881182900435393 + ], + [ + 0.9398376574279612, + 0.3372036397640738, + 0.05476205812588901, + 0.3281574564306237, + -0.9356817841976164, + 0.1296621861212774, + 0.0949624213534269, + -0.10389082755771194, + -0.9900448648824296 + ], + [ + 0.9366629555925375, + 0.348889238243408, + 0.030639958527818027, + 0.34187924295978256, + -0.9298108967906532, + 0.13627281255851098, + 0.07603348508320454, + -0.11716652955215322, + -0.9901974113775527 + ], + [ + 0.9410267163394326, + 0.337891080705678, + 0.017272426435631993, + 0.33300778974500883, + -0.934031067266122, + 0.12919666153137763, + 0.059787382486351806, + -0.11582565761202629, + -0.9914685501488045 + ], + [ + 0.9413134913868718, + 0.3361894121715246, + 0.030093023723494084, + 0.3304876073207073, + -0.9361150034840171, + 0.12027735306180107, + 0.06860650363115708, + -0.10327332373795256, + -0.9922841167042958 + ], + [ + 0.9430815708457845, + 0.3308741014271581, + 0.03345862722555231, + 0.3255119769885194, + -0.939012158400249, + 0.11089688549969075, + 0.06811096510895581, + -0.09369362508344202, + -0.9932685442772514 + ], + [ + 0.9410668742128783, + 0.33715031325029865, + 0.02688502435237808, + 0.33100521489494816, + -0.9344080513457217, + 0.13159460966407446, + 0.06948874708578137, + -0.11494024471661958, + -0.9909389760085793 + ], + [ + 0.9246681821043036, + 0.3646331922493585, + 0.10968768442247656, + 0.35047806630432415, + -0.9276233107433205, + 0.12915153272486912, + 0.14884178863311276, + -0.0809791854469007, + -0.9855396965525297 + ], + [ + 0.9003191838456751, + 0.40662783261162677, + 0.15517465303659914, + 0.3853268686687235, + -0.9104743485836302, + 0.15019875117047826, + 0.202357533789613, + -0.07543385391709621, + -0.9764021518830244 + ], + [ + 0.8988807545645685, + 0.4329167139748689, + 0.06779755035864402, + 0.4119400692239556, + -0.88760038694314, + 0.20608477009752593, + 0.14939467340301676, + -0.15731710606157537, + -0.9761826466902679 + ], + [ + 0.8705798801150297, + 0.48624326158914355, + -0.07522076108397396, + 0.4891402014235542, + -0.8387614882778568, + 0.23920917443367362, + 0.05322157166248872, + -0.2450441926287309, + -0.9680500028246001 + ], + [ + 0.8193484891876884, + 0.5620379043035175, + -0.11305506353968695, + 0.5716944605637646, + -0.7862862165602749, + 0.234348947955895, + 0.04281935341126336, + -0.2566464100147102, + -0.9655563801249529 + ], + [ + 0.7493483172282962, + 0.6330808876161738, + -0.19412802271243348, + 0.6621728402200731, + -0.7173299543069147, + 0.2167137889681279, + -0.0020564877833950113, + -0.29094041724923353, + -0.9567389635991834 + ], + [ + 0.7017459539163267, + 0.6721124177145428, + -0.23625730489442331, + 0.7121732406717731, + -0.6706545706049784, + 0.20744088844226638, + -0.01902344430247449, + -0.31382693460020916, + -0.9492896100170415 + ], + [ + 0.6462692279954738, + 0.7194036398334557, + -0.2545476142895671, + 0.7628073721718253, + -0.6183992434197093, + 0.18896372323344518, + -0.02147086180033808, + -0.316292236282061, + -0.948418801670045 + ], + [ + 0.5976696182873672, + 0.7572439905909818, + -0.26338672345066655, + 0.8015551713453133, + -0.5714668432918356, + 0.1758833542654049, + -0.017330166352869505, + -0.316239127452486, + -0.9485212067224813 + ], + [ + 0.5579350234423655, + 0.7956787549511459, + -0.2358046406154064, + 0.8298748543408985, + -0.5335523567134448, + 0.1631858105908764, + 0.004029360872325097, + -0.2867354208411004, + -0.958001337517875 + ], + [ + 0.5337884760121997, + 0.8201546724657278, + -0.20595187813954913, + 0.8452243745349073, + -0.5100432433185276, + 0.15953572213517464, + 0.025799604040519772, + -0.25923387737283055, + -0.9654699256080431 + ], + [ + 0.5195979037051979, + 0.8323706858048625, + -0.19281353655256486, + 0.8540169617153128, + -0.4991088992151428, + 0.1467832954623742, + 0.025943160326184822, + -0.24093432328539613, + -0.9701946218647568 + ], + [ + 0.5199313100112232, + 0.8342024148870778, + -0.18378727884862167, + 0.854034776099425, + -0.5033177426513832, + 0.13151369185419762, + 0.01720564101735808, + -0.22533881363157052, + -0.9741285259083106 + ], + [ + 0.5179228666903853, + 0.8337822094578886, + -0.19121488266014908, + 0.855161894064405, + -0.4990930464877511, + 0.1400152344845183, + 0.02130819324561435, + -0.23603677285350427, + -0.9715104748593865 + ], + [ + 0.5384595460016965, + 0.8180573911996465, + -0.20209755570831478, + 0.8413473606087849, + -0.50859737931687, + 0.18292983504240964, + 0.04686081642778127, + -0.2685345610077786, + -0.9621295408769452 + ], + [ + 0.6223910828573441, + 0.7656181475063846, + -0.16265974360165003, + 0.778339088552451, + -0.5834829660414071, + 0.23181003336970082, + 0.08256877866967799, + -0.27088093426524884, + -0.9590651261726617 + ], + [ + 0.735318658991364, + 0.6727740685173209, + -0.08174058031231285, + 0.6679099586308228, + -0.6989342426356477, + 0.2557092325926192, + 0.11490325017559358, + -0.2426231176165718, + -0.9632918902892832 + ], + [ + 0.8260087336642827, + 0.5624540657043329, + -0.03681026871667962, + 0.5502373178013638, + -0.7904554795450074, + 0.2691078388974086, + 0.12226391949013046, + -0.2425398087529935, + -0.9624063461765889 + ], + [ + 0.8797751639945753, + 0.47523997163799253, + 0.011942787607524305, + 0.45892041706759407, + -0.8555831540567486, + 0.23951934638523853, + 0.12404721527234676, + -0.20524238317615195, + -0.9708181356625709 + ], + [ + 0.9266377002466641, + 0.37076111318641664, + 0.0622797674236434, + 0.3504882758017182, + -0.9118644670973648, + 0.2136847261054898, + 0.13601669385451431, + -0.17617999487458455, + -0.9749154160227846 + ], + [ + 0.9579967501847477, + 0.26698427858716944, + 0.10469776321751673, + 0.2476833748142295, + -0.9543057077311254, + 0.1671931877572471, + 0.14455162564321586, + -0.1342386351952554, + -0.9803493338319862 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005779.json b/json/chunk-0005/episode_0005779.json new file mode 100644 index 0000000000000000000000000000000000000000..37c5beb3c8cb0ac1047fc5532fb16a85f35ea4ea --- /dev/null +++ b/json/chunk-0005/episode_0005779.json @@ -0,0 +1,2062 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 33, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nTopple basil bottle cardboard fence." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005779.mp4", + "start": 0, + "end": 33, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.31251242756843567, + 0.028044695034623146, + 0.07989593595266342, + 0.07134009897708893, + -0.1419520080089569, + -0.06539881229400635, + 0.0, + 0.9974852800369263 + ], + [ + 0.30544421076774597, + 0.02664525806903839, + 0.06944222003221512, + 0.06016453728079796, + -0.10132323950529099, + -0.06616915017366409, + 0.0, + 0.9974852800369263 + ], + [ + 0.28596359491348267, + 0.027371691539883614, + 0.07334580272436142, + 0.009347488172352314, + -0.08862832933664322, + -0.06301050633192062, + 0.0, + 0.9974852800369263 + ], + [ + 0.27023860812187195, + 0.036550696939229965, + 0.08033446967601776, + 0.0016400869935750961, + -0.07151742279529572, + -0.043451108038425446, + 0.0, + 0.9974852800369263 + ], + [ + 0.25962233543395996, + 0.0483410507440567, + 0.08173684775829315, + 0.015888536348938942, + -0.05932694301009178, + -0.0373430997133255, + 0.0, + 0.9974852800369263 + ], + [ + 0.2501954138278961, + 0.061495959758758545, + 0.07720517367124557, + 0.0440579354763031, + -0.06024717539548874, + -0.027304602786898613, + 0.0, + 0.9974852800369263 + ], + [ + 0.2484617829322815, + 0.07792191207408905, + 0.08242615312337875, + 0.0731922835111618, + -0.10131426155567169, + 0.0036319405771791935, + 0.0, + 0.9974852800369263 + ], + [ + 0.24870362877845764, + 0.0942673310637474, + 0.08651022613048553, + 0.10026343166828156, + -0.12057611346244812, + 0.05532437935471535, + 0.0, + 0.9974852800369263 + ], + [ + 0.2579677104949951, + 0.11141464114189148, + 0.09236603230237961, + 0.11508763581514359, + -0.15871503949165344, + 0.10504482686519623, + 0.0, + 0.9974852800369263 + ], + [ + 0.26453858613967896, + 0.11897271871566772, + 0.08783978223800659, + 0.11869514733552933, + -0.1644848734140396, + 0.10449691861867905, + 0.0, + 0.9974852800369263 + ], + [ + 0.26939961314201355, + 0.11946038901805878, + 0.08371197432279587, + 0.10793962329626083, + -0.16269338130950928, + 0.11086512356996536, + 0.0, + 0.9974852800369263 + ], + [ + 0.27632829546928406, + 0.11723746359348297, + 0.08457879722118378, + 0.08377505093812943, + -0.1741107553243637, + 0.09442111849784851, + 0.0, + 0.9974852800369263 + ], + [ + 0.2809407711029053, + 0.11260774731636047, + 0.08410616964101791, + 0.07864532619714737, + -0.17039798200130463, + 0.06724027544260025, + 0.0, + 0.9974852800369263 + ], + [ + 0.28725042939186096, + 0.10929494351148605, + 0.08847348392009735, + 0.07321415096521378, + -0.186645045876503, + 0.06788158416748047, + 0.0, + 0.9476637244224548 + ], + [ + 0.2915233373641968, + 0.1074146032333374, + 0.08654503524303436, + 0.08015070110559464, + -0.22412250936031342, + 0.018977880477905273, + 0.0, + 0.8481387495994568 + ], + [ + 0.29017913341522217, + 0.10573595762252808, + 0.08816143870353699, + 0.0170858483761549, + -0.391663521528244, + 0.019808603450655937, + 0.0, + 0.8749077320098877 + ], + [ + 0.29067784547805786, + 0.10033893585205078, + 0.09043210744857788, + -0.06784934550523758, + -0.5047532320022583, + -0.012237593531608582, + 0.0, + 0.875784695148468 + ], + [ + 0.2886275351047516, + 0.09893088787794113, + 0.09135307371616364, + -0.16758333146572113, + -0.590243935585022, + 0.010237041860818863, + 0.0, + 0.875784695148468 + ], + [ + 0.28658270835876465, + 0.10325438529253006, + 0.09644920378923416, + -0.19556593894958496, + -0.7343249917030334, + 0.022160805761814117, + 0.0, + 0.875784695148468 + ], + [ + 0.2868539094924927, + 0.10624253004789352, + 0.09475575387477875, + -0.12615051865577698, + -0.7747998833656311, + 0.008962768130004406, + 0.0, + 0.875784695148468 + ], + [ + 0.2860618829727173, + 0.11105810850858688, + 0.09134217351675034, + -0.04874475300312042, + -0.782590925693512, + -0.030772686004638672, + 0.0, + 0.875784695148468 + ], + [ + 0.28157830238342285, + 0.11376599222421646, + 0.08543527126312256, + 0.008364777080714703, + -0.7593082785606384, + -0.07277224212884903, + 0.0, + 0.875784695148468 + ], + [ + 0.27218931913375854, + 0.1158750131726265, + 0.08138986676931381, + 0.0721067562699318, + -0.7169098258018494, + -0.11215254664421082, + 0.0, + 0.875784695148468 + ], + [ + 0.2550189197063446, + 0.11741340905427933, + 0.07515594363212585, + 0.06615783274173737, + -0.6429034471511841, + -0.11594972759485245, + 0.0, + 0.875784695148468 + ], + [ + 0.23443132638931274, + 0.11931561678647995, + 0.07051607966423035, + 0.026371710002422333, + -0.5451904535293579, + -0.08073857426643372, + 0.0, + 0.875784695148468 + ], + [ + 0.22133316099643707, + 0.12177081406116486, + 0.06876161694526672, + 0.011748604476451874, + -0.46887409687042236, + -0.014057436026632786, + 0.0, + 0.875784695148468 + ], + [ + 0.21148596704006195, + 0.11815326660871506, + 0.06218132749199867, + 0.0053834738209843636, + -0.3613448441028595, + 0.06667637825012207, + 0.0, + 0.875784695148468 + ], + [ + 0.21070921421051025, + 0.11627568304538727, + 0.05635280907154083, + 0.06483810395002365, + -0.3242795169353485, + 0.14234280586242676, + 0.0, + 0.875784695148468 + ], + [ + 0.20508995652198792, + 0.11263016611337662, + 0.04556576535105705, + 0.10117822140455246, + -0.23539239168167114, + 0.16131235659122467, + 0.0, + 0.875784695148468 + ], + [ + 0.20103926956653595, + 0.11185937374830246, + 0.038810741156339645, + 0.11151254922151566, + -0.13946230709552765, + 0.16936150193214417, + 0.0, + 0.9116221070289612 + ], + [ + 0.20365522801876068, + 0.11710137128829956, + 0.04250962287187576, + 0.10993608832359314, + -0.1265321671962738, + 0.1943792849779129, + 0.0, + 0.9974852800369263 + ], + [ + 0.20630088448524475, + 0.11853817105293274, + 0.05093596875667572, + 0.0659811794757843, + -0.10727602988481522, + 0.2063528150320053, + 0.0, + 0.9968144297599792 + ], + [ + 0.20646023750305176, + 0.1168195828795433, + 0.05702440068125725, + 0.029454028233885765, + -0.1180339977145195, + 0.19438311457633972, + 0.0, + 0.9968144297599792 + ] + ], + "left_gripper_pos": [ + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9476637244224548 + ], + [ + 0.8481387495994568 + ], + [ + 0.8749077320098877 + ], + [ + 0.875784695148468 + ], + [ + 0.875784695148468 + ], + [ + 0.875784695148468 + ], + [ + 0.875784695148468 + ], + [ + 0.875784695148468 + ], + [ + 0.875784695148468 + ], + [ + 0.875784695148468 + ], + [ + 0.875784695148468 + ], + [ + 0.875784695148468 + ], + [ + 0.875784695148468 + ], + [ + 0.875784695148468 + ], + [ + 0.875784695148468 + ], + [ + 0.875784695148468 + ], + [ + 0.9116221070289612 + ], + [ + 0.9974852800369263 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.31251242756843567, + 0.028044695034623146, + 0.07989593595266342 + ], + [ + 0.30544421076774597, + 0.02664525806903839, + 0.06944222003221512 + ], + [ + 0.28596359491348267, + 0.027371691539883614, + 0.07334580272436142 + ], + [ + 0.27023860812187195, + 0.036550696939229965, + 0.08033446967601776 + ], + [ + 0.25962233543395996, + 0.0483410507440567, + 0.08173684775829315 + ], + [ + 0.2501954138278961, + 0.061495959758758545, + 0.07720517367124557 + ], + [ + 0.2484617829322815, + 0.07792191207408905, + 0.08242615312337875 + ], + [ + 0.24870362877845764, + 0.0942673310637474, + 0.08651022613048553 + ], + [ + 0.2579677104949951, + 0.11141464114189148, + 0.09236603230237961 + ], + [ + 0.26453858613967896, + 0.11897271871566772, + 0.08783978223800659 + ], + [ + 0.26939961314201355, + 0.11946038901805878, + 0.08371197432279587 + ], + [ + 0.27632829546928406, + 0.11723746359348297, + 0.08457879722118378 + ], + [ + 0.2809407711029053, + 0.11260774731636047, + 0.08410616964101791 + ], + [ + 0.28725042939186096, + 0.10929494351148605, + 0.08847348392009735 + ], + [ + 0.2915233373641968, + 0.1074146032333374, + 0.08654503524303436 + ], + [ + 0.29017913341522217, + 0.10573595762252808, + 0.08816143870353699 + ], + [ + 0.29067784547805786, + 0.10033893585205078, + 0.09043210744857788 + ], + [ + 0.2886275351047516, + 0.09893088787794113, + 0.09135307371616364 + ], + [ + 0.28658270835876465, + 0.10325438529253006, + 0.09644920378923416 + ], + [ + 0.2868539094924927, + 0.10624253004789352, + 0.09475575387477875 + ], + [ + 0.2860618829727173, + 0.11105810850858688, + 0.09134217351675034 + ], + [ + 0.28157830238342285, + 0.11376599222421646, + 0.08543527126312256 + ], + [ + 0.27218931913375854, + 0.1158750131726265, + 0.08138986676931381 + ], + [ + 0.2550189197063446, + 0.11741340905427933, + 0.07515594363212585 + ], + [ + 0.23443132638931274, + 0.11931561678647995, + 0.07051607966423035 + ], + [ + 0.22133316099643707, + 0.12177081406116486, + 0.06876161694526672 + ], + [ + 0.21148596704006195, + 0.11815326660871506, + 0.06218132749199867 + ], + [ + 0.21070921421051025, + 0.11627568304538727, + 0.05635280907154083 + ], + [ + 0.20508995652198792, + 0.11263016611337662, + 0.04556576535105705 + ], + [ + 0.20103926956653595, + 0.11185937374830246, + 0.038810741156339645 + ], + [ + 0.20365522801876068, + 0.11710137128829956, + 0.04250962287187576 + ], + [ + 0.20630088448524475, + 0.11853817105293274, + 0.05093596875667572 + ], + [ + 0.20646023750305176, + 0.1168195828795433, + 0.05702440068125725 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9878254823352866, + -0.05512319434912528, + 0.1454725056284075, + -0.06469487303230291, + -0.9959831051377099, + 0.06190498916549166, + 0.14147575711899438, + -0.07056265106268328, + -0.9874236792900064 + ], + [ + 0.9926940348860959, + -0.05993258028347627, + 0.10472172134818675, + -0.06578175402761459, + -0.9964083852033229, + 0.053320640783441425, + 0.10114995767973911, + -0.05981986055710141, + -0.9930711305562738 + ], + [ + 0.994098363604857, + -0.06214035414226258, + 0.0889214252316062, + -0.06272167166500754, + -0.9980239916529, + 0.0037555277604874545, + 0.08851234592808471, + -0.009310664438534512, + -0.9960315638301934 + ], + [ + 0.9965022808232037, + -0.04332029413683827, + 0.07146017373370006, + -0.04332639842643843, + -0.9990598960861052, + -0.0014653435822674647, + 0.07145647285968076, + -0.0016358937368896264, + -0.99744237745252 + ], + [ + 0.9975447270602407, + -0.036388339716095, + 0.05983649594533452, + -0.03726873766158622, + -0.999211865321969, + 0.013663432691060046, + 0.059292147097417855, + -0.0158599159044847, + -0.9981146749547773 + ], + [ + 0.997813616588226, + -0.024623803132665947, + 0.06133233136290093, + -0.027251677210186398, + -0.9987296204987588, + 0.042385035420973056, + 0.06021073525839705, + -0.04396377437947115, + -0.9972170545583114 + ], + [ + 0.9948655370994317, + 0.01101829467313832, + 0.10060397742810534, + 0.0036133084007504007, + -0.9972892002863548, + 0.07349282274211101, + 0.101141025772235, + -0.07275196337349375, + -0.9922084683830518 + ], + [ + 0.9912206087018528, + 0.06703993963029133, + 0.11396206113920218, + 0.054894683388591936, + -0.9927897516377184, + 0.10656023075605453, + 0.12028415781138682, + -0.0993687855288784, + -0.9877537981916957 + ], + [ + 0.9819883304965734, + 0.1222075025466761, + 0.1440980398543185, + 0.1035338865706854, + -0.9860060541214717, + 0.13066290815443438, + 0.15804952736443426, + -0.11339042092306499, + -0.9808990566530122 + ], + [ + 0.9811216234704849, + 0.12285720714449501, + 0.14935349547732146, + 0.10289899822060113, + -0.9855250277131978, + 0.1347301596380601, + 0.16374417890061427, + -0.11681834788916969, + -0.9795617987001168 + ], + [ + 0.9807364238153162, + 0.1273368943537692, + 0.14812623784556705, + 0.10917713323349937, + -0.9861460466730104, + 0.12488526017952464, + 0.16197660504177513, + -0.1063075254510698, + -0.9810516242541016 + ], + [ + 0.9804939569242259, + 0.10838124665567085, + 0.16396678263732908, + 0.09285544643738207, + -0.990687524636377, + 0.09957958925785303, + 0.17323240603879217, + -0.08241197669763108, + -0.98142692014984 + ], + [ + 0.9832903091425326, + 0.08027433768672969, + 0.1633897140438742, + 0.06621653525845807, + -0.9937611251039671, + 0.08974517641891545, + 0.16957458065626307, + -0.07742646150415096, + -0.9824711724290938 + ], + [ + 0.9803692490972067, + 0.08119021287452849, + 0.1796782812639521, + 0.0666514237359814, + -0.9941034423914932, + 0.08553323061448025, + 0.1855632591289175, + -0.0718783358096997, + -0.9799998886238112 + ], + [ + 0.9748139346825332, + 0.03670711411676553, + 0.21997813646355174, + 0.018502123635228938, + -0.9962724736779377, + 0.08425455247421398, + 0.22225090364213357, + -0.07806244913440857, + -0.9718594496455716 + ], + [ + 0.9240940007800904, + 0.02632494119875163, + 0.3812574919829485, + 0.018307406166602293, + -0.9995287057334921, + 0.02464153595417625, + 0.3817264944979544, + -0.015791259785469226, + -0.924140421966646 + ], + [ + 0.8752282953581422, + -0.044992871708561, + 0.4816129903770224, + -0.01071122283087999, + -0.997223195801157, + -0.07369645487806535, + 0.4835914605428306, + 0.05934255851869262, + -0.873279886427317 + ], + [ + 0.8307614055643178, + -0.08273652322055502, + 0.5504454148688803, + 0.008504836381043587, + -0.9868894196684498, + -0.16117363650610503, + 0.556563702358437, + 0.13857828499387972, + -0.819165980827588 + ], + [ + 0.7421009755829977, + -0.10844374639180913, + 0.6614575541236737, + 0.016448248249138986, + -0.9835823659311587, + -0.1797086101409711, + 0.6700862609905521, + 0.14424175296277367, + -0.7281337236620264 + ], + [ + 0.7145323439904715, + -0.07912266073537659, + 0.695113756121713, + 0.006404359211473906, + -0.9928025947903807, + -0.11959093594657116, + 0.6995730938040515, + 0.08990334996895818, + -0.7088828352342763 + ], + [ + 0.7087532968571216, + -0.06507225863710189, + 0.7024488346847954, + -0.02181712973039456, + -0.9972822326191864, + -0.07037159478382064, + 0.7051189807716766, + 0.03455068245284365, + -0.7082467601744147 + ], + [ + 0.7233926720830371, + -0.0669623134356625, + 0.6871819923105574, + -0.052736032717544054, + -0.9977370595614033, + -0.041709361430954314, + 0.6884198957248236, + -0.006067005612981454, + -0.7252870043045817 + ], + [ + 0.749103745956242, + -0.06458685523508524, + 0.6592966827803459, + -0.0843679218075281, + -0.9964331280052703, + -0.0017536201160322368, + 0.65705831671489, + -0.054309847582870906, + -0.7518808475359114 + ], + [ + 0.7949843337708831, + -0.07606899906337472, + 0.6018416871905448, + -0.09259354233865719, + -0.9956976925763825, + -0.003541315468463025, + 0.5995217635549559, + -0.05291136342567798, + -0.7986075648554748 + ], + [ + 0.8522432095740525, + -0.06699310486945635, + 0.5188385448623373, + -0.06895880782067458, + -0.9974986736759868, + -0.015526713708913948, + 0.5185809431119396, + -0.022545951179698098, + -0.8547312358434865 + ], + [ + 0.8919894881208146, + -0.008747664595719396, + 0.4519714940636057, + -0.012539911186821202, + -0.999906815174519, + 0.005395516191888987, + 0.45188217901284156, + -0.010480426120683124, + -0.8920160631731556 + ], + [ + 0.9333436720657055, + 0.06852501442892328, + 0.35238318945775654, + 0.06232436239279606, + -0.9976366889548691, + 0.028925952075905023, + 0.3535325496573642, + -0.005035796727627278, + -0.9354086684888492 + ], + [ + 0.9382940112385378, + 0.16200036123574743, + 0.305549065508932, + 0.13446881017580828, + -0.9848776532205945, + 0.10924352281300978, + 0.31862593674055595, + -0.06141572393273148, + -0.9458887996429715 + ], + [ + 0.95979827561038, + 0.18304343559881706, + 0.21279654795020103, + 0.1561844043567093, + -0.9781860178002663, + 0.13696184291910138, + 0.23322457411490843, + -0.09822023856740719, + -0.9674497830712873 + ], + [ + 0.9761223853239351, + 0.18275412411222403, + 0.117413879032614, + 0.16691651989354522, + -0.9769629673849751, + 0.13297456803829913, + 0.13901066238292373, + -0.1102011364656388, + -0.984140104489977 + ], + [ + 0.9733237892674733, + 0.20557616958955224, + 0.101878553890869, + 0.19161334480838596, + -0.9725702044789686, + 0.13187692539288173, + 0.1261947991691799, + -0.10883765826507272, + -0.9860168542200612 + ], + [ + 0.9731581001772937, + 0.21135536051048906, + 0.0910616474856566, + 0.2037136313592133, + -0.9752084629423992, + 0.08642459258779323, + 0.10707039020085493, + -0.06555429344447777, + -0.9920879830706711 + ], + [ + 0.9743401246825842, + 0.19648021788415537, + 0.10980366757864217, + 0.1918173015801224, + -0.9800715596975516, + 0.05163197349055021, + 0.11776011314552355, + -0.029244860269854664, + -0.9926113508819804 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.007068216800689697, + -0.001399436965584755, + -0.010453715920448303, + -0.01117556169629097, + 0.040628768503665924, + -0.0007703378796577454, + 1.0 + ], + [ + -0.019480615854263306, + 0.0007264334708452225, + 0.0039035826921463013, + -0.05081705003976822, + 0.012694910168647766, + 0.0031586438417434692, + 1.0 + ], + [ + -0.015724986791610718, + 0.009179005399346352, + 0.0069886669516563416, + -0.007707401178777218, + 0.017110906541347504, + 0.019559398293495178, + 1.0 + ], + [ + -0.010616272687911987, + 0.011790353804826736, + 0.0014023780822753906, + 0.014248449355363846, + 0.012190479785203934, + 0.006108008325099945, + 1.0 + ], + [ + -0.009426921606063843, + 0.013154909014701843, + -0.004531674087047577, + 0.02816939912736416, + -0.0009202323853969574, + 0.010038496926426888, + 1.0 + ], + [ + -0.001733630895614624, + 0.016425952315330505, + 0.005220979452133179, + 0.029134348034858704, + -0.04106708616018295, + 0.03093654289841652, + 1.0 + ], + [ + 0.00024184584617614746, + 0.016345418989658356, + 0.004084073007106781, + 0.02707114815711975, + -0.019261851906776428, + 0.05169243738055229, + 1.0 + ], + [ + 0.009264081716537476, + 0.017147310078144073, + 0.0058558061718940735, + 0.01482420414686203, + -0.03813892602920532, + 0.04972044751048088, + 1.0 + ], + [ + 0.006570875644683838, + 0.007558077573776245, + -0.004526250064373016, + 0.003607511520385742, + -0.005769833922386169, + -0.0005479082465171814, + 1.0 + ], + [ + 0.004861027002334595, + 0.00048767030239105225, + -0.004127807915210724, + -0.010755524039268494, + 0.0017914921045303345, + 0.006368204951286316, + 1.0 + ], + [ + 0.006928682327270508, + -0.0022229254245758057, + 0.0008668228983879089, + -0.02416457235813141, + -0.011417374014854431, + -0.016444005072116852, + 1.0 + ], + [ + 0.004612475633621216, + -0.0046297162771224976, + -0.00047262758016586304, + -0.005129724740982056, + 0.003712773323059082, + -0.02718084305524826, + 1.0 + ], + [ + 0.0063096582889556885, + -0.00331280380487442, + 0.004367314279079437, + -0.005431175231933594, + -0.016247063875198364, + 0.0006413087248802185, + 0.0 + ], + [ + 0.004272907972335815, + -0.0018803402781486511, + -0.0019284486770629883, + 0.006936550140380859, + -0.037477463483810425, + -0.048903703689575195, + 0.0 + ], + [ + -0.0013442039489746094, + -0.0016786456108093262, + 0.0016164034605026245, + -0.06306485086679459, + -0.1675410121679306, + 0.0008307229727506638, + 0.0 + ], + [ + 0.0004987120628356934, + -0.005397021770477295, + 0.0022706687450408936, + -0.08493519574403763, + -0.11308971047401428, + -0.03204619884490967, + 0.0 + ], + [ + -0.0020503103733062744, + -0.0014080479741096497, + 0.0009209662675857544, + -0.09973398596048355, + -0.08549070358276367, + 0.022474635392427444, + 0.0 + ], + [ + -0.0020448267459869385, + 0.004323497414588928, + 0.005096130073070526, + -0.02798260748386383, + -0.14408105611801147, + 0.011923763900995255, + 0.0 + ], + [ + 0.00027120113372802734, + 0.0029881447553634644, + -0.0016934499144554138, + 0.06941542029380798, + -0.040474891662597656, + -0.013198037631809711, + 0.0 + ], + [ + -0.0007920265197753906, + 0.004815578460693359, + -0.003413580358028412, + 0.07740576565265656, + -0.007791042327880859, + -0.03973545506596565, + 0.0 + ], + [ + -0.004483580589294434, + 0.0027078837156295776, + -0.005906902253627777, + 0.0571095310151577, + 0.023282647132873535, + -0.04199955612421036, + 0.0 + ], + [ + -0.009388983249664307, + 0.002109020948410034, + -0.004045404493808746, + 0.06374198198318481, + 0.04239845275878906, + -0.039380304515361786, + 0.0 + ], + [ + -0.01717039942741394, + 0.001538395881652832, + -0.006233923137187958, + -0.0059489235281944275, + 0.07400637865066528, + -0.003797180950641632, + 0.0 + ], + [ + -0.02058759331703186, + 0.0019022077322006226, + -0.004639863967895508, + -0.03978612273931503, + 0.09771299362182617, + 0.03521115332841873, + 0.0 + ], + [ + -0.013098165392875671, + 0.002455197274684906, + -0.001754462718963623, + -0.014623105525970459, + 0.07631635665893555, + 0.0666811391711235, + 0.0 + ], + [ + -0.009847193956375122, + -0.0036175474524497986, + -0.006580289453268051, + -0.00636513065546751, + 0.10752925276756287, + 0.08073381334543228, + 0.0 + ], + [ + -0.0007767528295516968, + -0.0018775835633277893, + -0.00582851842045784, + 0.05945463106036186, + 0.037065327167510986, + 0.07566642761230469, + 0.0 + ], + [ + -0.005619257688522339, + -0.0036455169320106506, + -0.01078704372048378, + 0.03634011745452881, + 0.08888712525367737, + 0.018969550728797913, + 0.0 + ], + [ + -0.004050686955451965, + -0.0007707923650741577, + -0.006755024194717407, + 0.010334327816963196, + 0.0959300845861435, + 0.008049145340919495, + 1.0 + ], + [ + 0.0026159584522247314, + 0.005241997539997101, + 0.0036988817155361176, + -0.0015764608979225159, + 0.012930139899253845, + 0.025017783045768738, + 1.0 + ], + [ + 0.00264565646648407, + 0.0014367997646331787, + 0.008426345884799957, + -0.04395490884780884, + 0.019256137311458588, + 0.011973530054092407, + 1.0 + ], + [ + 0.00015935301780700684, + -0.0017185881733894348, + 0.006088431924581528, + -0.03652714937925339, + -0.010757967829704285, + -0.011969700455665588, + 1.0 + ], + [ + 0.007679954171180725, + -0.0035585761070251465, + 0.012283552438020706, + -0.0038733389228582382, + -0.018703706562519073, + 0.0011089891195297241, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9476637244224548 + ], + [ + 0.8481387495994568 + ], + [ + 0.8749077320098877 + ], + [ + 0.875784695148468 + ], + [ + 0.875784695148468 + ], + [ + 0.875784695148468 + ], + [ + 0.875784695148468 + ], + [ + 0.875784695148468 + ], + [ + 0.875784695148468 + ], + [ + 0.875784695148468 + ], + [ + 0.875784695148468 + ], + [ + 0.875784695148468 + ], + [ + 0.875784695148468 + ], + [ + 0.875784695148468 + ], + [ + 0.875784695148468 + ], + [ + 0.875784695148468 + ], + [ + 0.9116221070289612 + ], + [ + 0.9974852800369263 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.30544421076774597, + 0.02664525806903839, + 0.06944222003221512 + ], + [ + 0.28596359491348267, + 0.027371691539883614, + 0.07334580272436142 + ], + [ + 0.27023860812187195, + 0.036550696939229965, + 0.08033446967601776 + ], + [ + 0.25962233543395996, + 0.0483410507440567, + 0.08173684775829315 + ], + [ + 0.2501954138278961, + 0.061495959758758545, + 0.07720517367124557 + ], + [ + 0.2484617829322815, + 0.07792191207408905, + 0.08242615312337875 + ], + [ + 0.24870362877845764, + 0.0942673310637474, + 0.08651022613048553 + ], + [ + 0.2579677104949951, + 0.11141464114189148, + 0.09236603230237961 + ], + [ + 0.26453858613967896, + 0.11897271871566772, + 0.08783978223800659 + ], + [ + 0.26939961314201355, + 0.11946038901805878, + 0.08371197432279587 + ], + [ + 0.27632829546928406, + 0.11723746359348297, + 0.08457879722118378 + ], + [ + 0.2809407711029053, + 0.11260774731636047, + 0.08410616964101791 + ], + [ + 0.28725042939186096, + 0.10929494351148605, + 0.08847348392009735 + ], + [ + 0.2915233373641968, + 0.1074146032333374, + 0.08654503524303436 + ], + [ + 0.29017913341522217, + 0.10573595762252808, + 0.08816143870353699 + ], + [ + 0.29067784547805786, + 0.10033893585205078, + 0.09043210744857788 + ], + [ + 0.2886275351047516, + 0.09893088787794113, + 0.09135307371616364 + ], + [ + 0.28658270835876465, + 0.10325438529253006, + 0.09644920378923416 + ], + [ + 0.2868539094924927, + 0.10624253004789352, + 0.09475575387477875 + ], + [ + 0.2860618829727173, + 0.11105810850858688, + 0.09134217351675034 + ], + [ + 0.28157830238342285, + 0.11376599222421646, + 0.08543527126312256 + ], + [ + 0.27218931913375854, + 0.1158750131726265, + 0.08138986676931381 + ], + [ + 0.2550189197063446, + 0.11741340905427933, + 0.07515594363212585 + ], + [ + 0.23443132638931274, + 0.11931561678647995, + 0.07051607966423035 + ], + [ + 0.22133316099643707, + 0.12177081406116486, + 0.06876161694526672 + ], + [ + 0.21148596704006195, + 0.11815326660871506, + 0.06218132749199867 + ], + [ + 0.21070921421051025, + 0.11627568304538727, + 0.05635280907154083 + ], + [ + 0.20508995652198792, + 0.11263016611337662, + 0.04556576535105705 + ], + [ + 0.20103926956653595, + 0.11185937374830246, + 0.038810741156339645 + ], + [ + 0.20365522801876068, + 0.11710137128829956, + 0.04250962287187576 + ], + [ + 0.20630088448524475, + 0.11853817105293274, + 0.05093596875667572 + ], + [ + 0.20646023750305176, + 0.1168195828795433, + 0.05702440068125725 + ], + [ + 0.21414019167423248, + 0.11326100677251816, + 0.06930795311927795 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9926940348860959, + -0.05993258028347627, + 0.10472172134818675, + -0.06578175402761459, + -0.9964083852033229, + 0.053320640783441425, + 0.10114995767973911, + -0.05981986055710141, + -0.9930711305562738 + ], + [ + 0.994098363604857, + -0.06214035414226258, + 0.0889214252316062, + -0.06272167166500754, + -0.9980239916529, + 0.0037555277604874545, + 0.08851234592808471, + -0.009310664438534512, + -0.9960315638301934 + ], + [ + 0.9965022808232037, + -0.04332029413683827, + 0.07146017373370006, + -0.04332639842643843, + -0.9990598960861052, + -0.0014653435822674647, + 0.07145647285968076, + -0.0016358937368896264, + -0.99744237745252 + ], + [ + 0.9975447270602407, + -0.036388339716095, + 0.05983649594533452, + -0.03726873766158622, + -0.999211865321969, + 0.013663432691060046, + 0.059292147097417855, + -0.0158599159044847, + -0.9981146749547773 + ], + [ + 0.997813616588226, + -0.024623803132665947, + 0.06133233136290093, + -0.027251677210186398, + -0.9987296204987588, + 0.042385035420973056, + 0.06021073525839705, + -0.04396377437947115, + -0.9972170545583114 + ], + [ + 0.9948655370994317, + 0.01101829467313832, + 0.10060397742810534, + 0.0036133084007504007, + -0.9972892002863548, + 0.07349282274211101, + 0.101141025772235, + -0.07275196337349375, + -0.9922084683830518 + ], + [ + 0.9912206087018528, + 0.06703993963029133, + 0.11396206113920218, + 0.054894683388591936, + -0.9927897516377184, + 0.10656023075605453, + 0.12028415781138682, + -0.0993687855288784, + -0.9877537981916957 + ], + [ + 0.9819883304965734, + 0.1222075025466761, + 0.1440980398543185, + 0.1035338865706854, + -0.9860060541214717, + 0.13066290815443438, + 0.15804952736443426, + -0.11339042092306499, + -0.9808990566530122 + ], + [ + 0.9811216234704849, + 0.12285720714449501, + 0.14935349547732146, + 0.10289899822060113, + -0.9855250277131978, + 0.1347301596380601, + 0.16374417890061427, + -0.11681834788916969, + -0.9795617987001168 + ], + [ + 0.9807364238153162, + 0.1273368943537692, + 0.14812623784556705, + 0.10917713323349937, + -0.9861460466730104, + 0.12488526017952464, + 0.16197660504177513, + -0.1063075254510698, + -0.9810516242541016 + ], + [ + 0.9804939569242259, + 0.10838124665567085, + 0.16396678263732908, + 0.09285544643738207, + -0.990687524636377, + 0.09957958925785303, + 0.17323240603879217, + -0.08241197669763108, + -0.98142692014984 + ], + [ + 0.9832903091425326, + 0.08027433768672969, + 0.1633897140438742, + 0.06621653525845807, + -0.9937611251039671, + 0.08974517641891545, + 0.16957458065626307, + -0.07742646150415096, + -0.9824711724290938 + ], + [ + 0.9803692490972067, + 0.08119021287452849, + 0.1796782812639521, + 0.0666514237359814, + -0.9941034423914932, + 0.08553323061448025, + 0.1855632591289175, + -0.0718783358096997, + -0.9799998886238112 + ], + [ + 0.9748139346825332, + 0.03670711411676553, + 0.21997813646355174, + 0.018502123635228938, + -0.9962724736779377, + 0.08425455247421398, + 0.22225090364213357, + -0.07806244913440857, + -0.9718594496455716 + ], + [ + 0.9240940007800904, + 0.02632494119875163, + 0.3812574919829485, + 0.018307406166602293, + -0.9995287057334921, + 0.02464153595417625, + 0.3817264944979544, + -0.015791259785469226, + -0.924140421966646 + ], + [ + 0.8752282953581422, + -0.044992871708561, + 0.4816129903770224, + -0.01071122283087999, + -0.997223195801157, + -0.07369645487806535, + 0.4835914605428306, + 0.05934255851869262, + -0.873279886427317 + ], + [ + 0.8307614055643178, + -0.08273652322055502, + 0.5504454148688803, + 0.008504836381043587, + -0.9868894196684498, + -0.16117363650610503, + 0.556563702358437, + 0.13857828499387972, + -0.819165980827588 + ], + [ + 0.7421009755829977, + -0.10844374639180913, + 0.6614575541236737, + 0.016448248249138986, + -0.9835823659311587, + -0.1797086101409711, + 0.6700862609905521, + 0.14424175296277367, + -0.7281337236620264 + ], + [ + 0.7145323439904715, + -0.07912266073537659, + 0.695113756121713, + 0.006404359211473906, + -0.9928025947903807, + -0.11959093594657116, + 0.6995730938040515, + 0.08990334996895818, + -0.7088828352342763 + ], + [ + 0.7087532968571216, + -0.06507225863710189, + 0.7024488346847954, + -0.02181712973039456, + -0.9972822326191864, + -0.07037159478382064, + 0.7051189807716766, + 0.03455068245284365, + -0.7082467601744147 + ], + [ + 0.7233926720830371, + -0.0669623134356625, + 0.6871819923105574, + -0.052736032717544054, + -0.9977370595614033, + -0.041709361430954314, + 0.6884198957248236, + -0.006067005612981454, + -0.7252870043045817 + ], + [ + 0.749103745956242, + -0.06458685523508524, + 0.6592966827803459, + -0.0843679218075281, + -0.9964331280052703, + -0.0017536201160322368, + 0.65705831671489, + -0.054309847582870906, + -0.7518808475359114 + ], + [ + 0.7949843337708831, + -0.07606899906337472, + 0.6018416871905448, + -0.09259354233865719, + -0.9956976925763825, + -0.003541315468463025, + 0.5995217635549559, + -0.05291136342567798, + -0.7986075648554748 + ], + [ + 0.8522432095740525, + -0.06699310486945635, + 0.5188385448623373, + -0.06895880782067458, + -0.9974986736759868, + -0.015526713708913948, + 0.5185809431119396, + -0.022545951179698098, + -0.8547312358434865 + ], + [ + 0.8919894881208146, + -0.008747664595719396, + 0.4519714940636057, + -0.012539911186821202, + -0.999906815174519, + 0.005395516191888987, + 0.45188217901284156, + -0.010480426120683124, + -0.8920160631731556 + ], + [ + 0.9333436720657055, + 0.06852501442892328, + 0.35238318945775654, + 0.06232436239279606, + -0.9976366889548691, + 0.028925952075905023, + 0.3535325496573642, + -0.005035796727627278, + -0.9354086684888492 + ], + [ + 0.9382940112385378, + 0.16200036123574743, + 0.305549065508932, + 0.13446881017580828, + -0.9848776532205945, + 0.10924352281300978, + 0.31862593674055595, + -0.06141572393273148, + -0.9458887996429715 + ], + [ + 0.95979827561038, + 0.18304343559881706, + 0.21279654795020103, + 0.1561844043567093, + -0.9781860178002663, + 0.13696184291910138, + 0.23322457411490843, + -0.09822023856740719, + -0.9674497830712873 + ], + [ + 0.9761223853239351, + 0.18275412411222403, + 0.117413879032614, + 0.16691651989354522, + -0.9769629673849751, + 0.13297456803829913, + 0.13901066238292373, + -0.1102011364656388, + -0.984140104489977 + ], + [ + 0.9733237892674733, + 0.20557616958955224, + 0.101878553890869, + 0.19161334480838596, + -0.9725702044789686, + 0.13187692539288173, + 0.1261947991691799, + -0.10883765826507272, + -0.9860168542200612 + ], + [ + 0.9731581001772937, + 0.21135536051048906, + 0.0910616474856566, + 0.2037136313592133, + -0.9752084629423992, + 0.08642459258779323, + 0.10707039020085493, + -0.06555429344447777, + -0.9920879830706711 + ], + [ + 0.9743401246825842, + 0.19648021788415537, + 0.10980366757864217, + 0.1918173015801224, + -0.9800715596975516, + 0.05163197349055021, + 0.11776011314552355, + -0.029244860269854664, + -0.9926113508819804 + ], + [ + 0.9717959476354057, + 0.1976058995806657, + 0.12870332012158908, + 0.1924361574699977, + -0.9799539967313369, + 0.051560542941882094, + 0.13631200041664204, + -0.025339154310972688, + -0.9903418429013381 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005780.json b/json/chunk-0005/episode_0005780.json new file mode 100644 index 0000000000000000000000000000000000000000..44df9ff8cda136a200e09833eb13363ec50fc900 --- /dev/null +++ b/json/chunk-0005/episode_0005780.json @@ -0,0 +1,1762 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 28, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the bear and put it inside the drawer." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005780.mp4", + "start": 0, + "end": 28, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.410611629486084, + -0.05109182745218277, + 0.19776879251003265, + 0.10174647718667984, + -0.2400107979774475, + -0.16399040818214417, + 0.0, + 1.0014774799346924 + ], + [ + 0.41011524200439453, + -0.05038527399301529, + 0.18086887896060944, + 0.10170532017946243, + -0.19702701270580292, + -0.16307632625102997, + 0.0, + 1.0014774799346924 + ], + [ + 0.38616570830345154, + -0.012953389436006546, + 0.156555637717247, + 0.1104283258318901, + -0.1481468826532364, + -0.11071916669607162, + 0.0, + 1.0014774799346924 + ], + [ + 0.35587209463119507, + 0.040929410606622696, + 0.1601342111825943, + 0.12564432621002197, + -0.19594284892082214, + -0.07439129799604416, + 0.0, + 1.0014774799346924 + ], + [ + 0.3144170641899109, + 0.08687682449817657, + 0.14299005270004272, + 0.15011385083198547, + -0.17578192055225372, + -0.038867637515068054, + 0.0, + 1.0014774799346924 + ], + [ + 0.28456005454063416, + 0.11753866821527481, + 0.12634988129138947, + 0.13396306335926056, + -0.1772390902042389, + -0.02547115832567215, + 0.0, + 1.0014774799346924 + ], + [ + 0.2662774622440338, + 0.13629266619682312, + 0.11175037920475006, + 0.11855092644691467, + -0.17727036774158478, + -0.030827857553958893, + 0.0, + 1.0014774799346924 + ], + [ + 0.24166791141033173, + 0.15067389607429504, + 0.09947109967470169, + 0.12017381936311722, + -0.18396145105361938, + -0.021128688007593155, + 0.0, + 1.0014774799346924 + ], + [ + 0.2325437217950821, + 0.157509908080101, + 0.08986836671829224, + 0.13100524246692657, + -0.18605773150920868, + -0.0013451300328597426, + 0.0, + 1.0014774799346924 + ], + [ + 0.22591517865657806, + 0.16941049695014954, + 0.07530710846185684, + 0.12586615979671478, + -0.2139921635389328, + 0.04309578612446785, + 0.0, + 1.0014774799346924 + ], + [ + 0.22575175762176514, + 0.181733638048172, + 0.05193526670336723, + 0.09654684364795685, + -0.21460048854351044, + 0.0908162072300911, + 0.0, + 1.0014774799346924 + ], + [ + 0.23021982610225677, + 0.20109915733337402, + 0.03177077695727348, + 0.0702148973941803, + -0.2163483053445816, + 0.09383416175842285, + 0.0, + 1.0014774799346924 + ], + [ + 0.22393567860126495, + 0.2170618176460266, + 0.013644061051309109, + 0.061593975871801376, + -0.1691528856754303, + 0.06983992457389832, + 0.0, + 1.0014774799346924 + ], + [ + 0.218258336186409, + 0.2194802165031433, + -0.0006214351742528379, + 0.04581914842128754, + -0.1161249503493309, + 0.036451712250709534, + 0.0, + 1.0014774799346924 + ], + [ + 0.21736149489879608, + 0.21660007536411285, + -0.013133130967617035, + 0.014786968007683754, + -0.07509494572877884, + 0.029480472207069397, + 0.0, + 0.9492040276527405 + ], + [ + 0.21827445924282074, + 0.21183018386363983, + -0.011914040893316269, + 0.006807402241975069, + -0.04908248782157898, + 0.028610818088054657, + 0.0, + 0.7091560959815979 + ], + [ + 0.24170954525470734, + 0.2087562382221222, + 0.029778556898236275, + 0.10185462236404419, + -0.061089999973773956, + 0.01643127016723156, + 0.0, + 0.5315056443214417 + ], + [ + 0.2796998918056488, + 0.188040629029274, + 0.07563349604606628, + 0.17721576988697052, + -0.11017056554555893, + -0.000685725943185389, + 0.0, + 0.44298648834228516 + ], + [ + 0.3276859521865845, + 0.15227749943733215, + 0.10185739398002625, + 0.21281841397285461, + -0.09691116213798523, + -0.06369780004024506, + 0.0, + 0.4220271706581116 + ], + [ + 0.37244468927383423, + 0.10176240652799606, + 0.11333808302879333, + 0.18974775075912476, + -0.10509125888347626, + -0.14433825016021729, + 0.0, + 0.4211256504058838 + ], + [ + 0.392345666885376, + 0.0640321895480156, + 0.1214296966791153, + 0.1616174876689911, + -0.14223390817642212, + -0.19815146923065186, + 0.0, + 0.4211256504058838 + ], + [ + 0.3956149220466614, + 0.03741421923041344, + 0.12192577868700027, + 0.17290851473808289, + -0.1426888257265091, + -0.24576576054096222, + 0.0, + 0.4211256504058838 + ], + [ + 0.39548760652542114, + 0.023698749020695686, + 0.11878371983766556, + 0.17728003859519958, + -0.13872194290161133, + -0.26114821434020996, + 0.0, + 0.4211256504058838 + ], + [ + 0.3936108350753784, + 0.017931455746293068, + 0.1109284907579422, + 0.1519041210412979, + -0.1484009474515915, + -0.23529180884361267, + 0.0, + 0.4975702464580536 + ], + [ + 0.3940136134624481, + 0.006375019904226065, + 0.10482628643512726, + 0.10830160230398178, + -0.17500631511211395, + -0.1983056515455246, + 0.0, + 0.8186774849891663 + ], + [ + 0.3941318988800049, + 0.0007019059848971665, + 0.10161802172660828, + 0.09201225638389587, + -0.1869792491197586, + -0.18102508783340454, + 0.0, + 1.0181074142456055 + ], + [ + 0.3947248160839081, + -0.010058704763650894, + 0.10294544696807861, + 0.08838388323783875, + -0.19583779573440552, + -0.19678476452827454, + 0.0, + 1.0105689764022827 + ], + [ + 0.3876933753490448, + -0.011174316518008709, + 0.12358875572681427, + 0.12068186700344086, + -0.2005845606327057, + -0.19346922636032104, + 0.0, + 1.0060625076293945 + ] + ], + "left_gripper_pos": [ + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 0.9492040276527405 + ], + [ + 0.7091560959815979 + ], + [ + 0.5315056443214417 + ], + [ + 0.44298648834228516 + ], + [ + 0.4220271706581116 + ], + [ + 0.4211256504058838 + ], + [ + 0.4211256504058838 + ], + [ + 0.4211256504058838 + ], + [ + 0.4211256504058838 + ], + [ + 0.4975702464580536 + ], + [ + 0.8186774849891663 + ], + [ + 1.0181074142456055 + ], + [ + 1.0105689764022827 + ], + [ + 1.0060625076293945 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.410611629486084, + -0.05109182745218277, + 0.19776879251003265 + ], + [ + 0.41011524200439453, + -0.05038527399301529, + 0.18086887896060944 + ], + [ + 0.38616570830345154, + -0.012953389436006546, + 0.156555637717247 + ], + [ + 0.35587209463119507, + 0.040929410606622696, + 0.1601342111825943 + ], + [ + 0.3144170641899109, + 0.08687682449817657, + 0.14299005270004272 + ], + [ + 0.28456005454063416, + 0.11753866821527481, + 0.12634988129138947 + ], + [ + 0.2662774622440338, + 0.13629266619682312, + 0.11175037920475006 + ], + [ + 0.24166791141033173, + 0.15067389607429504, + 0.09947109967470169 + ], + [ + 0.2325437217950821, + 0.157509908080101, + 0.08986836671829224 + ], + [ + 0.22591517865657806, + 0.16941049695014954, + 0.07530710846185684 + ], + [ + 0.22575175762176514, + 0.181733638048172, + 0.05193526670336723 + ], + [ + 0.23021982610225677, + 0.20109915733337402, + 0.03177077695727348 + ], + [ + 0.22393567860126495, + 0.2170618176460266, + 0.013644061051309109 + ], + [ + 0.218258336186409, + 0.2194802165031433, + -0.0006214351742528379 + ], + [ + 0.21736149489879608, + 0.21660007536411285, + -0.013133130967617035 + ], + [ + 0.21827445924282074, + 0.21183018386363983, + -0.011914040893316269 + ], + [ + 0.24170954525470734, + 0.2087562382221222, + 0.029778556898236275 + ], + [ + 0.2796998918056488, + 0.188040629029274, + 0.07563349604606628 + ], + [ + 0.3276859521865845, + 0.15227749943733215, + 0.10185739398002625 + ], + [ + 0.37244468927383423, + 0.10176240652799606, + 0.11333808302879333 + ], + [ + 0.392345666885376, + 0.0640321895480156, + 0.1214296966791153 + ], + [ + 0.3956149220466614, + 0.03741421923041344, + 0.12192577868700027 + ], + [ + 0.39548760652542114, + 0.023698749020695686, + 0.11878371983766556 + ], + [ + 0.3936108350753784, + 0.017931455746293068, + 0.1109284907579422 + ], + [ + 0.3940136134624481, + 0.006375019904226065, + 0.10482628643512726 + ], + [ + 0.3941318988800049, + 0.0007019059848971665, + 0.10161802172660828 + ], + [ + 0.3947248160839081, + -0.010058704763650894, + 0.10294544696807861 + ], + [ + 0.3876933753490448, + -0.011174316518008709, + 0.12358875572681427 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9583036618253216, + -0.13859122449477898, + 0.24989310559760913, + -0.1585766903970409, + -0.9854231430418166, + 0.061600831328068366, + 0.23771311489882313, + -0.09865952387187898, + -0.9663119441228456 + ], + [ + 0.9676420729149257, + -0.14190420923433616, + 0.20864327002442168, + -0.15921339068476376, + -0.9848603227445372, + 0.06856559567441392, + 0.19575473161986862, + -0.09956575759318143, + -0.9755853345368254 + ], + [ + 0.9829902691085364, + -0.09365295232407973, + 0.1579849845995225, + -0.10928278503311713, + -0.9896205349607361, + 0.0933191817336203, + 0.1476055680973222, + -0.10899688667576973, + -0.9830220114329367 + ], + [ + 0.9781517082096604, + -0.049406741211082635, + 0.20193615240819174, + -0.0729005035648996, + -0.9911864682253556, + 0.11061149030245546, + 0.19469142843614712, + -0.12291606538547858, + -0.9731325133627204 + ], + [ + 0.9838464859718598, + -0.01228747381348097, + 0.17859202117705572, + -0.038259056427212224, + -0.9890235545914305, + 0.14271879015963762, + 0.1748780622094215, + -0.14724614239637757, + -0.9735174558821548 + ], + [ + 0.9840149360600027, + -0.0016990628762366608, + 0.1780778447650666, + -0.025069421978131456, + -0.9913186440803242, + 0.12906924490532096, + 0.17631259085076978, + -0.1314703734081939, + -0.9755149466940006 + ], + [ + 0.9838610171241582, + -0.009759804211166448, + 0.17866797476094226, + -0.030339939153635843, + -0.9931521260954781, + 0.11281995623197813, + 0.17634337831506652, + -0.11641993237324735, + -0.9774197728052354 + ], + [ + 0.9829073217086938, + 0.0009503571206818141, + 0.18409859791097133, + -0.020770633051509103, + -0.9930295374621237, + 0.11602119862507915, + 0.18292560710322076, + -0.11786193002451503, + -0.9760362635254975 + ], + [ + 0.9827402456961039, + 0.022831265619811865, + 0.18357653117803277, + -0.0013219142162653134, + -0.9914626869741296, + 0.13038402080333383, + 0.1849861130787024, + -0.12837629706545112, + -0.9743201036208772 + ], + [ + 0.976283615406921, + 0.06937563968236916, + 0.20507882120456294, + 0.04209977633873076, + -0.9900196475827416, + 0.13449426096444664, + 0.21236268768364147, + -0.12267077084132924, + -0.969460659779949 + ], + [ + 0.9730351211193358, + 0.11071288288041946, + 0.20234947648211532, + 0.0886111024080704, + -0.9893794551739536, + 0.11522311491066901, + 0.21295709802283203, + -0.09418572739007382, + -0.97251134860098 + ], + [ + 0.972391207815123, + 0.10845966043141891, + 0.20662004022588612, + 0.09151225556678869, + -0.991736496518115, + 0.08991233816920187, + 0.2146644964704789, + -0.06852170118346058, + -0.974281237847676 + ], + [ + 0.9833247068319797, + 0.07998819996864338, + 0.1633230198091427, + 0.06878719890012246, + -0.9949473600911152, + 0.07313051288754921, + 0.16834738548987416, + -0.060676507097041504, + -0.9838584853957537 + ], + [ + 0.9926052552804715, + 0.04170880561511643, + 0.11399641539868742, + 0.03619819507471052, + -0.9980934893641831, + 0.049990770769834894, + 0.11586413536087374, + -0.04549463729924008, + -0.9922226262861008 + ], + [ + 0.9967484063137164, + 0.03058184039738332, + 0.0745477400661781, + 0.029393129355526695, + -0.9994235054232696, + 0.016991196372005392, + 0.07502438575393176, + -0.014744756538232429, + -0.9970726822538428 + ], + [ + 0.9983869278349198, + 0.02894010287913158, + 0.04884682972001528, + 0.028572463471284736, + -0.9995580233200774, + 0.008208066011062345, + 0.04906278283518972, + -0.006799151550387557, + -0.9987725541276463 + ], + [ + 0.9979998477319666, + 0.022552221208513995, + 0.05905676291106553, + 0.016399881067763945, + -0.9945810146841062, + 0.10266279331333733, + 0.06105200920473257, + -0.10148892820646041, + -0.9929615549574763 + ], + [ + 0.9939371254179907, + 0.01870767275803828, + 0.10834672904983876, + -0.0006815685796233064, + -0.9843513980951384, + 0.17621538108921558, + 0.10994783390359399, + -0.17522085506047608, + -0.9783706484619125 + ], + [ + 0.9932892842806433, + -0.041822978068869414, + 0.10782966307420984, + -0.06335605255374087, + -0.9767581583086576, + 0.20476696701930802, + 0.09675953874453087, + -0.21022449591550846, + -0.9728531507781714 + ], + [ + 0.9841416707222763, + -0.12167678916320426, + 0.1290733548293369, + -0.14304403988707734, + -0.9746856032530675, + 0.17183241098229476, + 0.10489792467323172, + -0.1875706101449189, + -0.9766338574968164 + ], + [ + 0.9705315488185924, + -0.17192782314021066, + 0.1688470798623792, + -0.19486940453333101, + -0.9721458528810141, + 0.13022425236134308, + 0.1417548162307342, + -0.15928987524797114, + -0.9770016927922268 + ], + [ + 0.9600938891379078, + -0.21594023579022648, + 0.17773446094358733, + -0.24082654835611428, + -0.9614404908418609, + 0.13279591927706727, + 0.1422051252484464, + -0.17029972735334195, + -0.9750772816635872 + ], + [ + 0.9568134044958055, + -0.2305845812918658, + 0.17702785048573755, + -0.25570971086441624, + -0.957248695618804, + 0.1352312038907252, + 0.13827744843893514, + -0.17465876905140829, + -0.9748711000161325 + ], + [ + 0.9617579757888876, + -0.20868494078493377, + 0.17740403461040768, + -0.2305644147294711, + -0.9664643075441304, + 0.11307870225511726, + 0.14785684518113626, + -0.14965740119631135, + -0.977620077330784 + ], + [ + 0.9654265794398112, + -0.17740303768263985, + 0.19099654952935027, + -0.19399925427504797, + -0.978365425128367, + 0.07187060772050574, + 0.1741143562486189, + -0.10643898315166958, + -0.9789560428404166 + ], + [ + 0.966514712569941, + -0.16247532993971087, + 0.19862295322249665, + -0.17689998788309041, + -0.9825737173886894, + 0.057055097790943934, + 0.18589164766822222, + -0.09028098946042735, + -0.9784138379383437 + ], + [ + 0.9619541824586181, + -0.1779093993374512, + 0.20734607900261623, + -0.19177985165426437, + -0.9802305202301742, + 0.04866842619964873, + 0.19458838441654272, + -0.0865815964086458, + -0.9770562869218387 + ], + [ + 0.9616674738749726, + -0.16732708022204512, + 0.21724943708855426, + -0.18840969554378384, + -0.9788173779641816, + 0.08011446324118383, + 0.19924220515750946, + -0.11797537378491156, + -0.9728228794926047 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0004963874816894531, + 0.0007065534591674805, + -0.016899913549423218, + -4.1157007217407227e-05, + 0.04298378527164459, + 0.0009140819311141968, + 1.0 + ], + [ + -0.023949533700942993, + 0.03743188455700874, + -0.024313241243362427, + 0.008723005652427673, + 0.04888013005256653, + 0.052357159554958344, + 1.0 + ], + [ + -0.03029361367225647, + 0.05388280004262924, + 0.00357857346534729, + 0.015216000378131866, + -0.047795966267585754, + 0.036327868700027466, + 1.0 + ], + [ + -0.04145503044128418, + 0.04594741389155388, + -0.017144158482551575, + 0.0244695246219635, + 0.02016092836856842, + 0.035523660480976105, + 1.0 + ], + [ + -0.029857009649276733, + 0.030661843717098236, + -0.01664017140865326, + -0.016150787472724915, + -0.0014571696519851685, + 0.013396479189395905, + 1.0 + ], + [ + -0.018282592296600342, + 0.01875399798154831, + -0.014599502086639404, + -0.015412136912345886, + -3.127753734588623e-05, + -0.005356699228286743, + 1.0 + ], + [ + -0.024609550833702087, + 0.014381229877471924, + -0.01227927953004837, + 0.0016228929162025452, + -0.006691083312034607, + 0.009699169546365738, + 1.0 + ], + [ + -0.009124189615249634, + 0.006836012005805969, + -0.009602732956409454, + 0.010831423103809357, + -0.0020962804555892944, + 0.019783558323979378, + 1.0 + ], + [ + -0.006628543138504028, + 0.011900588870048523, + -0.014561258256435394, + -0.005139082670211792, + -0.02793443202972412, + 0.044440917670726776, + 1.0 + ], + [ + -0.00016342103481292725, + 0.012323141098022461, + -0.02337184175848961, + -0.029319316148757935, + -0.0006083250045776367, + 0.047720421105623245, + 1.0 + ], + [ + 0.004468068480491638, + 0.019365519285202026, + -0.02016448974609375, + -0.02633194625377655, + -0.001747816801071167, + 0.0030179545283317566, + 1.0 + ], + [ + -0.006284147500991821, + 0.015962660312652588, + -0.0181267149746418, + -0.008620921522378922, + 0.047195419669151306, + -0.023994237184524536, + 1.0 + ], + [ + -0.005677342414855957, + 0.0024183988571166992, + -0.014265496283769608, + -0.01577482745051384, + 0.053027935326099396, + -0.03338821232318878, + 1.0 + ], + [ + -0.000896841287612915, + -0.0028801411390304565, + -0.012511695735156536, + -0.031032180413603783, + 0.04103000462055206, + -0.006971240043640137, + 0.0 + ], + [ + 0.0009129643440246582, + -0.0047698915004730225, + 0.001219090074300766, + -0.007979566231369972, + 0.02601245790719986, + -0.00086965411901474, + 0.0 + ], + [ + 0.023435086011886597, + -0.003073945641517639, + 0.04169259965419769, + 0.09504722058773041, + -0.012007512152194977, + -0.012179547920823097, + 0.0 + ], + [ + 0.03799034655094147, + -0.020715609192848206, + 0.04585494101047516, + 0.07536114752292633, + -0.04908056557178497, + -0.01711699552834034, + 0.0 + ], + [ + 0.04798606038093567, + -0.035763129591941833, + 0.02622389793395996, + 0.035602644085884094, + 0.0132594034075737, + -0.06301207095384598, + 0.0 + ], + [ + 0.044758737087249756, + -0.05051509290933609, + 0.01148068904876709, + -0.02307066321372986, + -0.008180096745491028, + -0.08064045011997223, + 0.0 + ], + [ + 0.019900977611541748, + -0.03773021697998047, + 0.00809161365032196, + -0.028130263090133667, + -0.03714264929294586, + -0.05381321907043457, + 0.0 + ], + [ + 0.0032692551612854004, + -0.026617970317602158, + 0.0004960820078849792, + 0.011291027069091797, + -0.0004549175500869751, + -0.047614291310310364, + 0.0 + ], + [ + -0.00012731552124023438, + -0.01371547020971775, + -0.003142058849334717, + 0.004371523857116699, + 0.003966882824897766, + -0.015382453799247742, + 0.0 + ], + [ + -0.0018767714500427246, + -0.005767293274402618, + -0.007855229079723358, + -0.025375917553901672, + -0.009679004549980164, + 0.02585640549659729, + 1.0 + ], + [ + 0.00040277838706970215, + -0.011556435376405716, + -0.006102204322814941, + -0.04360251873731613, + -0.02660536766052246, + 0.036986157298088074, + 1.0 + ], + [ + 0.0001182854175567627, + -0.0056731137447059155, + -0.003208264708518982, + -0.016289345920085907, + -0.011972934007644653, + 0.017280563712120056, + 1.0 + ], + [ + 0.0005929172039031982, + -0.010760610923171043, + 0.001327425241470337, + -0.003628373146057129, + -0.008858546614646912, + -0.015759676694869995, + 1.0 + ], + [ + -0.007031440734863281, + -0.0011156117543578148, + 0.020643308758735657, + 0.03229798376560211, + -0.004746764898300171, + 0.003315538167953491, + 1.0 + ], + [ + -0.00992235541343689, + 0.003097662702202797, + 0.014759242534637451, + 0.009917572140693665, + 0.01601552963256836, + 0.0179625004529953, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 0.9492040276527405 + ], + [ + 0.7091560959815979 + ], + [ + 0.5315056443214417 + ], + [ + 0.44298648834228516 + ], + [ + 0.4220271706581116 + ], + [ + 0.4211256504058838 + ], + [ + 0.4211256504058838 + ], + [ + 0.4211256504058838 + ], + [ + 0.4211256504058838 + ], + [ + 0.4975702464580536 + ], + [ + 0.8186774849891663 + ], + [ + 1.0181074142456055 + ], + [ + 1.0105689764022827 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.41011524200439453, + -0.05038527399301529, + 0.18086887896060944 + ], + [ + 0.38616570830345154, + -0.012953389436006546, + 0.156555637717247 + ], + [ + 0.35587209463119507, + 0.040929410606622696, + 0.1601342111825943 + ], + [ + 0.3144170641899109, + 0.08687682449817657, + 0.14299005270004272 + ], + [ + 0.28456005454063416, + 0.11753866821527481, + 0.12634988129138947 + ], + [ + 0.2662774622440338, + 0.13629266619682312, + 0.11175037920475006 + ], + [ + 0.24166791141033173, + 0.15067389607429504, + 0.09947109967470169 + ], + [ + 0.2325437217950821, + 0.157509908080101, + 0.08986836671829224 + ], + [ + 0.22591517865657806, + 0.16941049695014954, + 0.07530710846185684 + ], + [ + 0.22575175762176514, + 0.181733638048172, + 0.05193526670336723 + ], + [ + 0.23021982610225677, + 0.20109915733337402, + 0.03177077695727348 + ], + [ + 0.22393567860126495, + 0.2170618176460266, + 0.013644061051309109 + ], + [ + 0.218258336186409, + 0.2194802165031433, + -0.0006214351742528379 + ], + [ + 0.21736149489879608, + 0.21660007536411285, + -0.013133130967617035 + ], + [ + 0.21827445924282074, + 0.21183018386363983, + -0.011914040893316269 + ], + [ + 0.24170954525470734, + 0.2087562382221222, + 0.029778556898236275 + ], + [ + 0.2796998918056488, + 0.188040629029274, + 0.07563349604606628 + ], + [ + 0.3276859521865845, + 0.15227749943733215, + 0.10185739398002625 + ], + [ + 0.37244468927383423, + 0.10176240652799606, + 0.11333808302879333 + ], + [ + 0.392345666885376, + 0.0640321895480156, + 0.1214296966791153 + ], + [ + 0.3956149220466614, + 0.03741421923041344, + 0.12192577868700027 + ], + [ + 0.39548760652542114, + 0.023698749020695686, + 0.11878371983766556 + ], + [ + 0.3936108350753784, + 0.017931455746293068, + 0.1109284907579422 + ], + [ + 0.3940136134624481, + 0.006375019904226065, + 0.10482628643512726 + ], + [ + 0.3941318988800049, + 0.0007019059848971665, + 0.10161802172660828 + ], + [ + 0.3947248160839081, + -0.010058704763650894, + 0.10294544696807861 + ], + [ + 0.3876933753490448, + -0.011174316518008709, + 0.12358875572681427 + ], + [ + 0.3777710199356079, + -0.008076653815805912, + 0.13834799826145172 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9676420729149257, + -0.14190420923433616, + 0.20864327002442168, + -0.15921339068476376, + -0.9848603227445372, + 0.06856559567441392, + 0.19575473161986862, + -0.09956575759318143, + -0.9755853345368254 + ], + [ + 0.9829902691085364, + -0.09365295232407973, + 0.1579849845995225, + -0.10928278503311713, + -0.9896205349607361, + 0.0933191817336203, + 0.1476055680973222, + -0.10899688667576973, + -0.9830220114329367 + ], + [ + 0.9781517082096604, + -0.049406741211082635, + 0.20193615240819174, + -0.0729005035648996, + -0.9911864682253556, + 0.11061149030245546, + 0.19469142843614712, + -0.12291606538547858, + -0.9731325133627204 + ], + [ + 0.9838464859718598, + -0.01228747381348097, + 0.17859202117705572, + -0.038259056427212224, + -0.9890235545914305, + 0.14271879015963762, + 0.1748780622094215, + -0.14724614239637757, + -0.9735174558821548 + ], + [ + 0.9840149360600027, + -0.0016990628762366608, + 0.1780778447650666, + -0.025069421978131456, + -0.9913186440803242, + 0.12906924490532096, + 0.17631259085076978, + -0.1314703734081939, + -0.9755149466940006 + ], + [ + 0.9838610171241582, + -0.009759804211166448, + 0.17866797476094226, + -0.030339939153635843, + -0.9931521260954781, + 0.11281995623197813, + 0.17634337831506652, + -0.11641993237324735, + -0.9774197728052354 + ], + [ + 0.9829073217086938, + 0.0009503571206818141, + 0.18409859791097133, + -0.020770633051509103, + -0.9930295374621237, + 0.11602119862507915, + 0.18292560710322076, + -0.11786193002451503, + -0.9760362635254975 + ], + [ + 0.9827402456961039, + 0.022831265619811865, + 0.18357653117803277, + -0.0013219142162653134, + -0.9914626869741296, + 0.13038402080333383, + 0.1849861130787024, + -0.12837629706545112, + -0.9743201036208772 + ], + [ + 0.976283615406921, + 0.06937563968236916, + 0.20507882120456294, + 0.04209977633873076, + -0.9900196475827416, + 0.13449426096444664, + 0.21236268768364147, + -0.12267077084132924, + -0.969460659779949 + ], + [ + 0.9730351211193358, + 0.11071288288041946, + 0.20234947648211532, + 0.0886111024080704, + -0.9893794551739536, + 0.11522311491066901, + 0.21295709802283203, + -0.09418572739007382, + -0.97251134860098 + ], + [ + 0.972391207815123, + 0.10845966043141891, + 0.20662004022588612, + 0.09151225556678869, + -0.991736496518115, + 0.08991233816920187, + 0.2146644964704789, + -0.06852170118346058, + -0.974281237847676 + ], + [ + 0.9833247068319797, + 0.07998819996864338, + 0.1633230198091427, + 0.06878719890012246, + -0.9949473600911152, + 0.07313051288754921, + 0.16834738548987416, + -0.060676507097041504, + -0.9838584853957537 + ], + [ + 0.9926052552804715, + 0.04170880561511643, + 0.11399641539868742, + 0.03619819507471052, + -0.9980934893641831, + 0.049990770769834894, + 0.11586413536087374, + -0.04549463729924008, + -0.9922226262861008 + ], + [ + 0.9967484063137164, + 0.03058184039738332, + 0.0745477400661781, + 0.029393129355526695, + -0.9994235054232696, + 0.016991196372005392, + 0.07502438575393176, + -0.014744756538232429, + -0.9970726822538428 + ], + [ + 0.9983869278349198, + 0.02894010287913158, + 0.04884682972001528, + 0.028572463471284736, + -0.9995580233200774, + 0.008208066011062345, + 0.04906278283518972, + -0.006799151550387557, + -0.9987725541276463 + ], + [ + 0.9979998477319666, + 0.022552221208513995, + 0.05905676291106553, + 0.016399881067763945, + -0.9945810146841062, + 0.10266279331333733, + 0.06105200920473257, + -0.10148892820646041, + -0.9929615549574763 + ], + [ + 0.9939371254179907, + 0.01870767275803828, + 0.10834672904983876, + -0.0006815685796233064, + -0.9843513980951384, + 0.17621538108921558, + 0.10994783390359399, + -0.17522085506047608, + -0.9783706484619125 + ], + [ + 0.9932892842806433, + -0.041822978068869414, + 0.10782966307420984, + -0.06335605255374087, + -0.9767581583086576, + 0.20476696701930802, + 0.09675953874453087, + -0.21022449591550846, + -0.9728531507781714 + ], + [ + 0.9841416707222763, + -0.12167678916320426, + 0.1290733548293369, + -0.14304403988707734, + -0.9746856032530675, + 0.17183241098229476, + 0.10489792467323172, + -0.1875706101449189, + -0.9766338574968164 + ], + [ + 0.9705315488185924, + -0.17192782314021066, + 0.1688470798623792, + -0.19486940453333101, + -0.9721458528810141, + 0.13022425236134308, + 0.1417548162307342, + -0.15928987524797114, + -0.9770016927922268 + ], + [ + 0.9600938891379078, + -0.21594023579022648, + 0.17773446094358733, + -0.24082654835611428, + -0.9614404908418609, + 0.13279591927706727, + 0.1422051252484464, + -0.17029972735334195, + -0.9750772816635872 + ], + [ + 0.9568134044958055, + -0.2305845812918658, + 0.17702785048573755, + -0.25570971086441624, + -0.957248695618804, + 0.1352312038907252, + 0.13827744843893514, + -0.17465876905140829, + -0.9748711000161325 + ], + [ + 0.9617579757888876, + -0.20868494078493377, + 0.17740403461040768, + -0.2305644147294711, + -0.9664643075441304, + 0.11307870225511726, + 0.14785684518113626, + -0.14965740119631135, + -0.977620077330784 + ], + [ + 0.9654265794398112, + -0.17740303768263985, + 0.19099654952935027, + -0.19399925427504797, + -0.978365425128367, + 0.07187060772050574, + 0.1741143562486189, + -0.10643898315166958, + -0.9789560428404166 + ], + [ + 0.966514712569941, + -0.16247532993971087, + 0.19862295322249665, + -0.17689998788309041, + -0.9825737173886894, + 0.057055097790943934, + 0.18589164766822222, + -0.09028098946042735, + -0.9784138379383437 + ], + [ + 0.9619541824586181, + -0.1779093993374512, + 0.20734607900261623, + -0.19177985165426437, + -0.9802305202301742, + 0.04866842619964873, + 0.19458838441654272, + -0.0865815964086458, + -0.9770562869218387 + ], + [ + 0.9616674738749726, + -0.16732708022204512, + 0.21724943708855426, + -0.18840969554378384, + -0.9788173779641816, + 0.08011446324118383, + 0.19924220515750946, + -0.11797537378491156, + -0.9728228794926047 + ], + [ + 0.9679145356900439, + -0.14958738270218053, + 0.2019036070411786, + -0.17164147593038137, + -0.9804261106521256, + 0.09645644245972836, + 0.18352290140570354, + -0.128016625825937, + -0.9746440828178126 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005781.json b/json/chunk-0005/episode_0005781.json new file mode 100644 index 0000000000000000000000000000000000000000..e39cca60f2b38cfc9cf2320841f8e363e77ef7af --- /dev/null +++ b/json/chunk-0005/episode_0005781.json @@ -0,0 +1,1402 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 22, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPlace the cloth to the left of the bowl." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005781.mp4", + "start": 0, + "end": 22, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.353184312582016, + -0.028349388390779495, + 0.09746447950601578, + 0.018348757177591324, + -0.18326883018016815, + -0.06352467834949493, + 0.0, + 0.9994885921478271 + ], + [ + 0.350951611995697, + -0.028139514848589897, + 0.08537247031927109, + 0.01875736005604267, + -0.1450231373310089, + -0.05897343531250954, + 0.0, + 0.9994885921478271 + ], + [ + 0.35243555903434753, + -0.028221063315868378, + 0.07355006039142609, + 0.037934403866529465, + -0.09675364941358566, + -0.06889612972736359, + 0.0, + 0.9994885921478271 + ], + [ + 0.35715538263320923, + -0.028983747586607933, + 0.05930335074663162, + 0.039134103804826736, + -0.08165674656629562, + -0.1013398990035057, + 0.0, + 0.9988223910331726 + ], + [ + 0.36325642466545105, + -0.025197185575962067, + 0.05169064924120903, + 0.04458789527416229, + -0.10379534959793091, + -0.08220338821411133, + 0.0, + 0.9994885921478271 + ], + [ + 0.36140456795692444, + -0.02155488170683384, + 0.021826408803462982, + 0.03220615163445473, + -0.04632885009050369, + -0.07582488656044006, + 0.0, + 0.9994885921478271 + ], + [ + 0.36499714851379395, + -0.01939886435866356, + 0.015884380787611008, + 0.009031195193529129, + -0.061302412301301956, + -0.06648850440979004, + 0.0, + 0.9994885921478271 + ], + [ + 0.36659857630729675, + -0.01782170869410038, + 0.009601899422705173, + -0.0015824843430891633, + -0.06598680466413498, + -0.05943148583173752, + 0.0, + 1.0001531839370728 + ], + [ + 0.3650037348270416, + -0.012922916561365128, + 0.008938048034906387, + 0.013990744948387146, + -0.07983202487230301, + -0.042772047221660614, + 0.0, + 0.9994885921478271 + ], + [ + 0.36371296644210815, + -0.0019159162184223533, + 0.00917216669768095, + 0.03169304504990578, + -0.10239957273006439, + -0.0006144348881207407, + 0.0, + 0.9994885921478271 + ], + [ + 0.3627753257751465, + 0.00813672598451376, + 0.009153822436928749, + 0.038394778966903687, + -0.09381426125764847, + 0.030355345457792282, + 0.0, + 0.9994885921478271 + ], + [ + 0.36262813210487366, + 0.025991609320044518, + 0.01007423922419548, + 0.03883623704314232, + -0.09370652586221695, + 0.07655216753482819, + 0.0, + 0.9994885921478271 + ], + [ + 0.36621201038360596, + 0.04257369786500931, + 0.010937867686152458, + 0.017941666767001152, + -0.1001545786857605, + 0.12226808816194534, + 0.0, + 0.9994885921478271 + ], + [ + 0.3723548948764801, + 0.05986427515745163, + 0.011011124588549137, + 0.00667916052043438, + -0.09821771830320358, + 0.15970578789710999, + 0.0, + 0.9994885921478271 + ], + [ + 0.3759993612766266, + 0.07995551824569702, + 0.013439249247312546, + 0.005461571272462606, + -0.10434962809085846, + 0.2114308923482895, + 0.0, + 0.9994885921478271 + ], + [ + 0.37699100375175476, + 0.08927757292985916, + 0.012260382995009422, + 0.00915584061294794, + -0.08599862456321716, + 0.23487144708633423, + 0.0, + 0.9994885921478271 + ], + [ + 0.37604930996894836, + 0.09376338124275208, + 0.012081604450941086, + 0.041876956820487976, + -0.06080303713679314, + 0.23494534194469452, + 0.0, + 0.9994885921478271 + ], + [ + 0.3768693208694458, + 0.09292709827423096, + 0.012666093185544014, + 0.03534954786300659, + -0.06528066843748093, + 0.23778986930847168, + 0.0, + 0.9994885921478271 + ], + [ + 0.3764270544052124, + 0.09140966087579727, + 0.012535152025520802, + 0.02733859233558178, + -0.06316819787025452, + 0.22719699144363403, + 0.0, + 0.9994885921478271 + ], + [ + 0.37422433495521545, + 0.08725958317518234, + 0.025554262101650238, + 0.00475399661809206, + -0.08592422306537628, + 0.22958001494407654, + 0.0, + 0.9994885921478271 + ], + [ + 0.37306737899780273, + 0.0839257463812828, + 0.0510367788374424, + -0.01803889498114586, + -0.12686651945114136, + 0.2599106729030609, + 0.0, + 0.9994885921478271 + ], + [ + 0.37076878547668457, + 0.0837629958987236, + 0.08280354738235474, + -0.02340095303952694, + -0.17683355510234833, + 0.29383495450019836, + 0.0, + 0.9994885921478271 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.353184312582016, + -0.028349388390779495, + 0.09746447950601578 + ], + [ + 0.350951611995697, + -0.028139514848589897, + 0.08537247031927109 + ], + [ + 0.35243555903434753, + -0.028221063315868378, + 0.07355006039142609 + ], + [ + 0.35715538263320923, + -0.028983747586607933, + 0.05930335074663162 + ], + [ + 0.36325642466545105, + -0.025197185575962067, + 0.05169064924120903 + ], + [ + 0.36140456795692444, + -0.02155488170683384, + 0.021826408803462982 + ], + [ + 0.36499714851379395, + -0.01939886435866356, + 0.015884380787611008 + ], + [ + 0.36659857630729675, + -0.01782170869410038, + 0.009601899422705173 + ], + [ + 0.3650037348270416, + -0.012922916561365128, + 0.008938048034906387 + ], + [ + 0.36371296644210815, + -0.0019159162184223533, + 0.00917216669768095 + ], + [ + 0.3627753257751465, + 0.00813672598451376, + 0.009153822436928749 + ], + [ + 0.36262813210487366, + 0.025991609320044518, + 0.01007423922419548 + ], + [ + 0.36621201038360596, + 0.04257369786500931, + 0.010937867686152458 + ], + [ + 0.3723548948764801, + 0.05986427515745163, + 0.011011124588549137 + ], + [ + 0.3759993612766266, + 0.07995551824569702, + 0.013439249247312546 + ], + [ + 0.37699100375175476, + 0.08927757292985916, + 0.012260382995009422 + ], + [ + 0.37604930996894836, + 0.09376338124275208, + 0.012081604450941086 + ], + [ + 0.3768693208694458, + 0.09292709827423096, + 0.012666093185544014 + ], + [ + 0.3764270544052124, + 0.09140966087579727, + 0.012535152025520802 + ], + [ + 0.37422433495521545, + 0.08725958317518234, + 0.025554262101650238 + ], + [ + 0.37306737899780273, + 0.0839257463812828, + 0.0510367788374424 + ], + [ + 0.37076878547668457, + 0.0837629958987236, + 0.08280354738235474 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9812699847852439, + -0.06013424602323827, + 0.1830111729233613, + -0.06241884410467114, + -0.998027261239554, + 0.006743420742633764, + 0.1822446291669649, + -0.01804046224164103, + -0.983087705579672 + ], + [ + 0.9877823823760835, + -0.0562230345029019, + 0.1453441965085458, + -0.05832054646102606, + -0.998245721388318, + 0.010207526164765415, + 0.14451532419752783, + -0.01855936747851533, + -0.9893284949655909 + ], + [ + 0.9929617118836016, + -0.06513711408906782, + 0.09891509036206254, + -0.0685196668071434, + -0.9971620982156235, + 0.031189824347904085, + 0.09660276390365487, + -0.037747930411650685, + -0.9946069574237915 + ], + [ + 0.9915545405119827, + -0.09791424802194726, + 0.08504347843525276, + -0.10082943876213102, + -0.9944306347616887, + 0.030677955055352014, + 0.0815660313426145, + -0.03899375182976276, + -0.9959048497970346 + ], + [ + 0.9912594743661095, + -0.07742664592379124, + 0.10681652016620106, + -0.08166892677123001, + -0.9960118868880297, + 0.035923635364234936, + 0.10360907720590919, + -0.044333234471882386, + -0.9936295705351171 + ], + [ + 0.9960567641639013, + -0.07422596875532485, + 0.0485945277338081, + -0.07567096799308269, + -0.996722555103777, + 0.02860162146431635, + 0.04631227878574059, + -0.032166033478371686, + -0.9984089939117837 + ], + [ + 0.9959161994600726, + -0.0658847605719633, + 0.06172618550809645, + -0.06631472707149008, + -0.9977865223452286, + 0.004940931050779034, + 0.06126402391647685, + -0.0090141084190197, + -0.998080891122043 + ], + [ + 0.9960619720741755, + -0.05950059434680186, + 0.0657284341824882, + -0.05926723871864747, + -0.9982270212261967, + -0.005496226754868093, + 0.06593892782242677, + 0.001579039661124322, + -0.9978224112693487 + ], + [ + 0.9959034441996724, + -0.04164015538340699, + 0.08026473254721055, + -0.04262282439476809, + -0.9990353417393827, + 0.010567913525724955, + 0.07974725494863306, + -0.01394573107872657, + -0.996717558746126 + ], + [ + 0.9947615555970869, + 0.002625016398974912, + 0.10218882911047025, + -0.0006112162820376534, + -0.9994996190567864, + 0.03162495723310097, + 0.10222071179912784, + -0.031521751129085555, + -0.994262191418861 + ], + [ + 0.9951440064064355, + 0.03392247215792204, + 0.09239952595139568, + 0.03021722185436427, + -0.9986935270346423, + 0.041208719496119255, + 0.09367671010849905, + -0.038216553243335706, + -0.9948689205324724 + ], + [ + 0.9926969175889908, + 0.08004208610947354, + 0.09025571594397691, + 0.07614189533801412, + -0.9960416496069007, + 0.04586331892372172, + 0.09356944791784938, + -0.03865613404891557, + -0.9948620314982078 + ], + [ + 0.987560697282198, + 0.12372449459123419, + 0.0970366869881836, + 0.12135248098940749, + -0.9921560353276264, + 0.029999615342224464, + 0.09998722188967227, + -0.017850798332556282, + -0.9948285804386985 + ], + [ + 0.9825159623205142, + 0.1596708162763538, + 0.09574765905773816, + 0.15826131385303968, + -0.9871479366695558, + 0.022188007268533677, + 0.09805988131189877, + -0.006646920992587391, + -0.9951583181174817 + ], + [ + 0.9724132744110776, + 0.21041222143741717, + 0.10069320145321373, + 0.20871761747637146, + -0.9775976637788834, + 0.02719860160111715, + 0.10416035668196055, + -0.005431836138961633, + -0.9945456828381721 + ], + [ + 0.9689501282198727, + 0.2334730268889371, + 0.08140021337815989, + 0.23185793077932307, + -0.9723204909281548, + 0.028892262908307667, + 0.08589265950838254, + -0.009121876810711459, + -0.9962626372628993 + ], + [ + 0.9707298995886005, + 0.23505978438981742, + 0.04929867956972538, + 0.23235964889319158, + -0.9710822389171785, + 0.05484777867728799, + 0.06076557916237322, + -0.04178735481234219, + -0.9972769732460732 + ], + [ + 0.9697908666236743, + 0.23764875325129206, + 0.05503403575433554, + 0.23505352486251865, + -0.970710726935007, + 0.04970437669879578, + 0.0652343120068596, + -0.03526690646224827, + -0.9972465742460963 + ], + [ + 0.972358398973027, + 0.22684448880158153, + 0.05532379096699756, + 0.22479819214146984, + -0.9735488395719437, + 0.04084641695483201, + 0.0631261970701364, + -0.02728066840219153, + -0.9976326219480752 + ], + [ + 0.9701696382758753, + 0.22796328146556682, + 0.0824840304004856, + 0.2267290285947206, + -0.973658209248564, + 0.024158624865132233, + 0.08581853273129209, + -0.004736440259368405, + -0.9962995260329686 + ], + [ + 0.9586461011799821, + 0.2547467949325651, + 0.1268925654402394, + 0.25492882287602353, + -0.9668422378070376, + 0.015079206190143035, + 0.12652647137838324, + 0.017892950116329343, + -0.9918018422934441 + ], + [ + 0.9422142355541683, + 0.285605891243498, + 0.17510456649122777, + 0.28510842153650695, + -0.9580703069456555, + 0.02853900695571266, + 0.17591339428262728, + 0.023033927933896386, + -0.9841361266999095 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0022327005863189697, + 0.00020987354218959808, + -0.01209200918674469, + 0.00040860287845134735, + 0.03824569284915924, + 0.004551243036985397, + 1.0 + ], + [ + 0.0014839470386505127, + -8.154846727848053e-05, + -0.011822409927845001, + 0.019177043810486794, + 0.04826948791742325, + -0.00992269441485405, + 1.0 + ], + [ + 0.004719823598861694, + -0.0007626842707395554, + -0.014246709644794464, + 0.0011996999382972717, + 0.015096902847290039, + -0.03244376927614212, + 1.0 + ], + [ + 0.006101042032241821, + 0.0037865620106458664, + -0.007612701505422592, + 0.005453791469335556, + -0.022138603031635284, + 0.01913651078939438, + 1.0 + ], + [ + -0.0018518567085266113, + 0.0036423038691282272, + -0.029864240437746048, + -0.012381743639707565, + 0.057466499507427216, + 0.006378501653671265, + 1.0 + ], + [ + 0.003592580556869507, + 0.0021560173481702805, + -0.0059420280158519745, + -0.023174956440925598, + -0.014973562210798264, + 0.009336382150650024, + 1.0 + ], + [ + 0.0016014277935028076, + 0.001577155664563179, + -0.006282481364905834, + -0.010613679885864258, + -0.004684392362833023, + 0.007057018578052521, + 1.0 + ], + [ + -0.001594841480255127, + 0.004898792132735252, + -0.0006638513877987862, + 0.015573229640722275, + -0.01384522020816803, + 0.016659438610076904, + 1.0 + ], + [ + -0.0012907683849334717, + 0.01100700069218874, + 0.00023411866277456284, + 0.01770230010151863, + -0.022567547857761383, + 0.0421576127409935, + 1.0 + ], + [ + -0.0009376406669616699, + 0.010052641853690147, + -1.834426075220108e-05, + 0.0067017339169979095, + 0.008585311472415924, + 0.030969779938459396, + 1.0 + ], + [ + -0.00014719367027282715, + 0.017854884266853333, + 0.0009204167872667313, + 0.0004414580762386322, + 0.00010773539543151855, + 0.046196822077035904, + 1.0 + ], + [ + 0.0035838782787323, + 0.01658208854496479, + 0.0008636284619569778, + -0.020894570276141167, + -0.006448052823543549, + 0.04571592062711716, + 1.0 + ], + [ + 0.0061428844928741455, + 0.017290577292442322, + 7.325690239667892e-05, + -0.011262506246566772, + 0.0019368603825569153, + 0.03743769973516464, + 1.0 + ], + [ + 0.0036444664001464844, + 0.020091243088245392, + 0.0024281246587634087, + -0.0012175892479717731, + -0.006131909787654877, + 0.051725104451179504, + 1.0 + ], + [ + 0.0009916424751281738, + 0.00932205468416214, + -0.0011788662523031235, + 0.0036942693404853344, + 0.018351003527641296, + 0.02344055473804474, + 1.0 + ], + [ + -0.0009416937828063965, + 0.004485808312892914, + -0.0001787785440683365, + 0.03272111713886261, + 0.025195587426424026, + 7.389485836029053e-05, + 1.0 + ], + [ + 0.0008200109004974365, + -0.0008362829685211182, + 0.0005844887346029282, + -0.006527408957481384, + -0.00447763130068779, + 0.0028445273637771606, + 1.0 + ], + [ + -0.00044226646423339844, + -0.0015174373984336853, + -0.00013094116002321243, + -0.008010955527424812, + 0.00211247056722641, + -0.010592877864837646, + 1.0 + ], + [ + -0.0022027194499969482, + -0.004150077700614929, + 0.013019110076129436, + -0.022584594786167145, + -0.022756025195121765, + 0.002383023500442505, + 1.0 + ], + [ + -0.0011569559574127197, + -0.003333836793899536, + 0.02548251673579216, + -0.022792890667915344, + -0.040942296385765076, + 0.030330657958984375, + 1.0 + ], + [ + -0.002298593521118164, + -0.0001627504825592041, + 0.03176676854491234, + -0.005362058058381081, + -0.04996703565120697, + 0.03392428159713745, + 1.0 + ], + [ + -0.0042867958545684814, + -0.0006967708468437195, + 0.020369164645671844, + 0.03455425798892975, + -0.040602147579193115, + 0.02033543586730957, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.350951611995697, + -0.028139514848589897, + 0.08537247031927109 + ], + [ + 0.35243555903434753, + -0.028221063315868378, + 0.07355006039142609 + ], + [ + 0.35715538263320923, + -0.028983747586607933, + 0.05930335074663162 + ], + [ + 0.36325642466545105, + -0.025197185575962067, + 0.05169064924120903 + ], + [ + 0.36140456795692444, + -0.02155488170683384, + 0.021826408803462982 + ], + [ + 0.36499714851379395, + -0.01939886435866356, + 0.015884380787611008 + ], + [ + 0.36659857630729675, + -0.01782170869410038, + 0.009601899422705173 + ], + [ + 0.3650037348270416, + -0.012922916561365128, + 0.008938048034906387 + ], + [ + 0.36371296644210815, + -0.0019159162184223533, + 0.00917216669768095 + ], + [ + 0.3627753257751465, + 0.00813672598451376, + 0.009153822436928749 + ], + [ + 0.36262813210487366, + 0.025991609320044518, + 0.01007423922419548 + ], + [ + 0.36621201038360596, + 0.04257369786500931, + 0.010937867686152458 + ], + [ + 0.3723548948764801, + 0.05986427515745163, + 0.011011124588549137 + ], + [ + 0.3759993612766266, + 0.07995551824569702, + 0.013439249247312546 + ], + [ + 0.37699100375175476, + 0.08927757292985916, + 0.012260382995009422 + ], + [ + 0.37604930996894836, + 0.09376338124275208, + 0.012081604450941086 + ], + [ + 0.3768693208694458, + 0.09292709827423096, + 0.012666093185544014 + ], + [ + 0.3764270544052124, + 0.09140966087579727, + 0.012535152025520802 + ], + [ + 0.37422433495521545, + 0.08725958317518234, + 0.025554262101650238 + ], + [ + 0.37306737899780273, + 0.0839257463812828, + 0.0510367788374424 + ], + [ + 0.37076878547668457, + 0.0837629958987236, + 0.08280354738235474 + ], + [ + 0.3664819896221161, + 0.08306622505187988, + 0.10317271202802658 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9877823823760835, + -0.0562230345029019, + 0.1453441965085458, + -0.05832054646102606, + -0.998245721388318, + 0.010207526164765415, + 0.14451532419752783, + -0.01855936747851533, + -0.9893284949655909 + ], + [ + 0.9929617118836016, + -0.06513711408906782, + 0.09891509036206254, + -0.0685196668071434, + -0.9971620982156235, + 0.031189824347904085, + 0.09660276390365487, + -0.037747930411650685, + -0.9946069574237915 + ], + [ + 0.9915545405119827, + -0.09791424802194726, + 0.08504347843525276, + -0.10082943876213102, + -0.9944306347616887, + 0.030677955055352014, + 0.0815660313426145, + -0.03899375182976276, + -0.9959048497970346 + ], + [ + 0.9912594743661095, + -0.07742664592379124, + 0.10681652016620106, + -0.08166892677123001, + -0.9960118868880297, + 0.035923635364234936, + 0.10360907720590919, + -0.044333234471882386, + -0.9936295705351171 + ], + [ + 0.9960567641639013, + -0.07422596875532485, + 0.0485945277338081, + -0.07567096799308269, + -0.996722555103777, + 0.02860162146431635, + 0.04631227878574059, + -0.032166033478371686, + -0.9984089939117837 + ], + [ + 0.9959161994600726, + -0.0658847605719633, + 0.06172618550809645, + -0.06631472707149008, + -0.9977865223452286, + 0.004940931050779034, + 0.06126402391647685, + -0.0090141084190197, + -0.998080891122043 + ], + [ + 0.9960619720741755, + -0.05950059434680186, + 0.0657284341824882, + -0.05926723871864747, + -0.9982270212261967, + -0.005496226754868093, + 0.06593892782242677, + 0.001579039661124322, + -0.9978224112693487 + ], + [ + 0.9959034441996724, + -0.04164015538340699, + 0.08026473254721055, + -0.04262282439476809, + -0.9990353417393827, + 0.010567913525724955, + 0.07974725494863306, + -0.01394573107872657, + -0.996717558746126 + ], + [ + 0.9947615555970869, + 0.002625016398974912, + 0.10218882911047025, + -0.0006112162820376534, + -0.9994996190567864, + 0.03162495723310097, + 0.10222071179912784, + -0.031521751129085555, + -0.994262191418861 + ], + [ + 0.9951440064064355, + 0.03392247215792204, + 0.09239952595139568, + 0.03021722185436427, + -0.9986935270346423, + 0.041208719496119255, + 0.09367671010849905, + -0.038216553243335706, + -0.9948689205324724 + ], + [ + 0.9926969175889908, + 0.08004208610947354, + 0.09025571594397691, + 0.07614189533801412, + -0.9960416496069007, + 0.04586331892372172, + 0.09356944791784938, + -0.03865613404891557, + -0.9948620314982078 + ], + [ + 0.987560697282198, + 0.12372449459123419, + 0.0970366869881836, + 0.12135248098940749, + -0.9921560353276264, + 0.029999615342224464, + 0.09998722188967227, + -0.017850798332556282, + -0.9948285804386985 + ], + [ + 0.9825159623205142, + 0.1596708162763538, + 0.09574765905773816, + 0.15826131385303968, + -0.9871479366695558, + 0.022188007268533677, + 0.09805988131189877, + -0.006646920992587391, + -0.9951583181174817 + ], + [ + 0.9724132744110776, + 0.21041222143741717, + 0.10069320145321373, + 0.20871761747637146, + -0.9775976637788834, + 0.02719860160111715, + 0.10416035668196055, + -0.005431836138961633, + -0.9945456828381721 + ], + [ + 0.9689501282198727, + 0.2334730268889371, + 0.08140021337815989, + 0.23185793077932307, + -0.9723204909281548, + 0.028892262908307667, + 0.08589265950838254, + -0.009121876810711459, + -0.9962626372628993 + ], + [ + 0.9707298995886005, + 0.23505978438981742, + 0.04929867956972538, + 0.23235964889319158, + -0.9710822389171785, + 0.05484777867728799, + 0.06076557916237322, + -0.04178735481234219, + -0.9972769732460732 + ], + [ + 0.9697908666236743, + 0.23764875325129206, + 0.05503403575433554, + 0.23505352486251865, + -0.970710726935007, + 0.04970437669879578, + 0.0652343120068596, + -0.03526690646224827, + -0.9972465742460963 + ], + [ + 0.972358398973027, + 0.22684448880158153, + 0.05532379096699756, + 0.22479819214146984, + -0.9735488395719437, + 0.04084641695483201, + 0.0631261970701364, + -0.02728066840219153, + -0.9976326219480752 + ], + [ + 0.9701696382758753, + 0.22796328146556682, + 0.0824840304004856, + 0.2267290285947206, + -0.973658209248564, + 0.024158624865132233, + 0.08581853273129209, + -0.004736440259368405, + -0.9962995260329686 + ], + [ + 0.9586461011799821, + 0.2547467949325651, + 0.1268925654402394, + 0.25492882287602353, + -0.9668422378070376, + 0.015079206190143035, + 0.12652647137838324, + 0.017892950116329343, + -0.9918018422934441 + ], + [ + 0.9422142355541683, + 0.285605891243498, + 0.17510456649122777, + 0.28510842153650695, + -0.9580703069456555, + 0.02853900695571266, + 0.17591339428262728, + 0.023033927933896386, + -0.9841361266999095 + ], + [ + 0.9286594359738025, + 0.3112965998574132, + 0.20170790488732038, + 0.3017511639348859, + -0.950250401084239, + 0.07726843018454721, + 0.2157264171138072, + -0.010890461719146559, + -0.9763931128407161 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005782.json b/json/chunk-0005/episode_0005782.json new file mode 100644 index 0000000000000000000000000000000000000000..4b8290e4bdd7967a03ed31539221da6d184c049a --- /dev/null +++ b/json/chunk-0005/episode_0005782.json @@ -0,0 +1,2002 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 32, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the red pot to the right side of the blue cloth." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005782.mp4", + "start": 0, + "end": 32, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2718316912651062, + -0.011661184020340443, + 0.1099773645401001, + -0.05335021764039993, + -0.14155563712120056, + 0.22397425770759583, + 0.0, + 0.9994885921478271 + ], + [ + 0.2693523168563843, + -0.011991427280008793, + 0.10228316485881805, + -0.04996838420629501, + -0.11205491423606873, + 0.23695045709609985, + 0.0, + 0.9994885921478271 + ], + [ + 0.28519877791404724, + -0.016350731253623962, + 0.0934656485915184, + -0.08898946642875671, + -0.09609878063201904, + 0.4054778516292572, + 0.0, + 0.9994885921478271 + ], + [ + 0.2987809181213379, + -0.02145216427743435, + 0.09188202023506165, + -0.13104042410850525, + -0.11925974488258362, + 0.5270997881889343, + 0.0, + 0.9994885921478271 + ], + [ + 0.31303176283836365, + -0.0336679108440876, + 0.0757942870259285, + -0.1449204683303833, + -0.12799210846424103, + 0.6466600298881531, + 0.0, + 0.9994885921478271 + ], + [ + 0.32073429226875305, + -0.04797687008976936, + 0.06296750903129578, + -0.16336743533611298, + -0.1463073194026947, + 0.77840656042099, + 0.0, + 0.9994885921478271 + ], + [ + 0.3211027979850769, + -0.05578039586544037, + 0.053905948996543884, + -0.1508236676454544, + -0.12985646724700928, + 0.8217154741287231, + 0.0, + 0.9994885921478271 + ], + [ + 0.32143446803092957, + -0.058083195239305496, + 0.046654265373945236, + -0.137468159198761, + -0.13009177148342133, + 0.8307620882987976, + 0.0, + 0.9994885921478271 + ], + [ + 0.32744085788726807, + -0.058943767100572586, + 0.03805414214730263, + -0.12367962300777435, + -0.12141711264848709, + 0.8438283205032349, + 0.0, + 0.9994885921478271 + ], + [ + 0.32481956481933594, + -0.058161091059446335, + 0.030819740146398544, + -0.0964970588684082, + -0.09568767994642258, + 0.8260321021080017, + 0.0, + 0.9994885921478271 + ], + [ + 0.32725322246551514, + -0.056138575077056885, + 0.026537170633673668, + -0.06952633708715439, + -0.06728397309780121, + 0.8004921078681946, + 0.0, + 0.9499720335006714 + ], + [ + 0.3280976414680481, + -0.053737085312604904, + 0.024582093581557274, + -0.07010963559150696, + -0.06582088768482208, + 0.78954017162323, + 0.0, + 0.6731748580932617 + ], + [ + 0.33135542273521423, + -0.051752328872680664, + 0.021926989778876305, + -0.08375898003578186, + -0.06478694826364517, + 0.7589682936668396, + 0.0, + 0.3746064603328705 + ], + [ + 0.33445310592651367, + -0.05048105865716934, + 0.021254682913422585, + -0.09456939250230789, + -0.07835787534713745, + 0.7144626379013062, + 0.0, + 0.15872089564800262 + ], + [ + 0.33922454714775085, + -0.05118206888437271, + 0.021137451753020287, + -0.11554672569036484, + -0.10802751034498215, + 0.6603026390075684, + 0.0, + 0.06122923642396927 + ], + [ + 0.33961039781570435, + -0.05224095284938812, + 0.02067156322300434, + -0.12365687638521194, + -0.13052700459957123, + 0.5841152667999268, + 0.0, + 0.054840996861457825 + ], + [ + 0.3353642225265503, + -0.05983443558216095, + 0.03054586611688137, + -0.15977860987186432, + -0.12574128806591034, + 0.47592321038246155, + 0.0, + 0.054840996861457825 + ], + [ + 0.325618177652359, + -0.0667467713356018, + 0.0438741110265255, + -0.18500158190727234, + -0.12887141108512878, + 0.42557939887046814, + 0.0, + 0.054840996861457825 + ], + [ + 0.30925294756889343, + -0.07502386718988419, + 0.04383464902639389, + -0.1740587055683136, + -0.10555179417133331, + 0.3617246150970459, + 0.0, + 0.054840996861457825 + ], + [ + 0.2888776361942291, + -0.08500505238771439, + 0.048629991710186005, + -0.16820599138736725, + -0.10479798913002014, + 0.2638722360134125, + 0.0, + 0.054840996861457825 + ], + [ + 0.27036264538764954, + -0.09147386997938156, + 0.04378139227628708, + -0.15600623190402985, + -0.08212032169103622, + 0.18639980256557465, + 0.0, + 0.054840996861457825 + ], + [ + 0.2558711767196655, + -0.0932009145617485, + 0.03806307166814804, + -0.12863582372665405, + -0.10250164568424225, + 0.1321783810853958, + 0.0, + 0.054840996861457825 + ], + [ + 0.24924170970916748, + -0.09163606911897659, + 0.030913423746824265, + -0.10361732542514801, + -0.1111697405576706, + 0.10664603114128113, + 0.0, + 0.054840996861457825 + ], + [ + 0.24563175439834595, + -0.09170610457658768, + 0.027004387229681015, + -0.0916011855006218, + -0.1198611631989479, + 0.08147371560335159, + 0.0, + 0.054840996861457825 + ], + [ + 0.24393299221992493, + -0.09223950654268265, + 0.02682672254741192, + -0.09139298647642136, + -0.1102251261472702, + 0.0762096419930458, + 0.0, + 0.07689721137285233 + ], + [ + 0.24370647966861725, + -0.09215952455997467, + 0.028986789286136627, + -0.08603404462337494, + -0.0946260318160057, + 0.06769917160272598, + 0.0, + 0.22045548260211945 + ], + [ + 0.2483159899711609, + -0.09008795022964478, + 0.03528761863708496, + -0.07490848004817963, + -0.13934309780597687, + 0.1197432354092598, + 0.0, + 0.4634169340133667 + ], + [ + 0.24574068188667297, + -0.08948227763175964, + 0.03989215940237045, + -0.06308642029762268, + -0.13838237524032593, + 0.1159181147813797, + 0.0, + 0.7662391662597656 + ], + [ + 0.24482205510139465, + -0.08929701149463654, + 0.047298457473516464, + -0.07181183993816376, + -0.14429759979248047, + 0.11410501599311829, + 0.0, + 0.9907060265541077 + ], + [ + 0.24759551882743835, + -0.07653439790010452, + 0.06642097979784012, + -0.07722243666648865, + -0.15877021849155426, + 0.14978796243667603, + 0.0, + 0.9994885921478271 + ], + [ + 0.2551595866680145, + -0.056007202714681625, + 0.0795096904039383, + -0.05102553218603134, + -0.16915123164653778, + 0.19632558524608612, + 0.0, + 0.9994885921478271 + ], + [ + 0.2673025131225586, + -0.028114307671785355, + 0.0901753380894661, + -0.0021762168034911156, + -0.20915962755680084, + 0.3015254735946655, + 0.0, + 0.9994885921478271 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9499720335006714 + ], + [ + 0.6731748580932617 + ], + [ + 0.3746064603328705 + ], + [ + 0.15872089564800262 + ], + [ + 0.06122923642396927 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.07689721137285233 + ], + [ + 0.22045548260211945 + ], + [ + 0.4634169340133667 + ], + [ + 0.7662391662597656 + ], + [ + 0.9907060265541077 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2718316912651062, + -0.011661184020340443, + 0.1099773645401001 + ], + [ + 0.2693523168563843, + -0.011991427280008793, + 0.10228316485881805 + ], + [ + 0.28519877791404724, + -0.016350731253623962, + 0.0934656485915184 + ], + [ + 0.2987809181213379, + -0.02145216427743435, + 0.09188202023506165 + ], + [ + 0.31303176283836365, + -0.0336679108440876, + 0.0757942870259285 + ], + [ + 0.32073429226875305, + -0.04797687008976936, + 0.06296750903129578 + ], + [ + 0.3211027979850769, + -0.05578039586544037, + 0.053905948996543884 + ], + [ + 0.32143446803092957, + -0.058083195239305496, + 0.046654265373945236 + ], + [ + 0.32744085788726807, + -0.058943767100572586, + 0.03805414214730263 + ], + [ + 0.32481956481933594, + -0.058161091059446335, + 0.030819740146398544 + ], + [ + 0.32725322246551514, + -0.056138575077056885, + 0.026537170633673668 + ], + [ + 0.3280976414680481, + -0.053737085312604904, + 0.024582093581557274 + ], + [ + 0.33135542273521423, + -0.051752328872680664, + 0.021926989778876305 + ], + [ + 0.33445310592651367, + -0.05048105865716934, + 0.021254682913422585 + ], + [ + 0.33922454714775085, + -0.05118206888437271, + 0.021137451753020287 + ], + [ + 0.33961039781570435, + -0.05224095284938812, + 0.02067156322300434 + ], + [ + 0.3353642225265503, + -0.05983443558216095, + 0.03054586611688137 + ], + [ + 0.325618177652359, + -0.0667467713356018, + 0.0438741110265255 + ], + [ + 0.30925294756889343, + -0.07502386718988419, + 0.04383464902639389 + ], + [ + 0.2888776361942291, + -0.08500505238771439, + 0.048629991710186005 + ], + [ + 0.27036264538764954, + -0.09147386997938156, + 0.04378139227628708 + ], + [ + 0.2558711767196655, + -0.0932009145617485, + 0.03806307166814804 + ], + [ + 0.24924170970916748, + -0.09163606911897659, + 0.030913423746824265 + ], + [ + 0.24563175439834595, + -0.09170610457658768, + 0.027004387229681015 + ], + [ + 0.24393299221992493, + -0.09223950654268265, + 0.02682672254741192 + ], + [ + 0.24370647966861725, + -0.09215952455997467, + 0.028986789286136627 + ], + [ + 0.2483159899711609, + -0.09008795022964478, + 0.03528761863708496 + ], + [ + 0.24574068188667297, + -0.08948227763175964, + 0.03989215940237045 + ], + [ + 0.24482205510139465, + -0.08929701149463654, + 0.047298457473516464 + ], + [ + 0.24759551882743835, + -0.07653439790010452, + 0.06642097979784012 + ], + [ + 0.2551595866680145, + -0.056007202714681625, + 0.0795096904039383 + ], + [ + 0.2673025131225586, + -0.028114307671785355, + 0.0901753380894661 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9652699960514585, + 0.2144550022849501, + 0.14920752902511214, + 0.21988478734865005, + -0.9753061596397297, + -0.020702059352670086, + 0.14108336193703558, + 0.05279154254011323, + -0.9885891654376853 + ], + [ + 0.9659619945543458, + 0.22901728752953646, + 0.12028510751212555, + 0.2332672007710708, + -0.9721561160999294, + -0.02233604651520777, + 0.11182056215660398, + 0.049634342366089566, + -0.9924880825162924 + ], + [ + 0.9146741998699153, + 0.3850611514140118, + 0.12287806054803237, + 0.392637906639478, + -0.9186415963161806, + -0.04396693970960648, + 0.09595093726534921, + 0.08846200986511156, + -0.9914473714971088 + ], + [ + 0.8581306705977371, + 0.48528002000480375, + 0.16767544353188843, + 0.4994558717799348, + -0.8646799745161694, + -0.05359453157983649, + 0.11897724288292953, + 0.12973759615028324, + -0.984384361832878 + ], + [ + 0.791572344068751, + 0.5814964134863387, + 0.18781678627861836, + 0.5975956036731351, + -0.8008410485318543, + -0.0391549416669411, + 0.12764293390565884, + 0.14323245473329488, + -0.9814233262639678 + ], + [ + 0.7044260206123117, + 0.6759138656387972, + 0.2166204693040819, + 0.694644118276477, + -0.7192011694888095, + -0.014806307771494276, + 0.14578590613704207, + 0.16090408336380552, + -0.9761436090702305 + ], + [ + 0.6752325429166853, + 0.7107523995718673, + 0.19721064750438624, + 0.7261493521467474, + -0.6874836484081357, + -0.008564551844543578, + 0.12949181967647924, + 0.14898744804268357, + -0.9803237266141235 + ], + [ + 0.6686152439452386, + 0.7194918276594265, + 0.18784346008138594, + 0.7322056021561779, + -0.6810791249432413, + 0.002486310048643761, + 0.1297251391795677, + 0.1358776490002937, + -0.9821958321877542 + ], + [ + 0.6597143664098992, + 0.7315550030063306, + 0.17205880485692338, + 0.741692079358579, + -0.6706949548776875, + 0.007819010062928136, + 0.12111900828991497, + 0.12245633947666619, + -0.9850556485563864 + ], + [ + 0.6746978367484645, + 0.725587923331633, + 0.13529595190629645, + 0.7318842858118849, + -0.6814132999561948, + 0.004615931589213244, + 0.0955417252752422, + 0.0959066220763578, + -0.990794478473378 + ], + [ + 0.694777960276654, + 0.7127124424106251, + 0.09656376311481428, + 0.7160749125616163, + -0.6980233966979426, + -0.00023929509110222347, + 0.06723321733850181, + 0.06931314518436148, + -0.9953267716639423 + ], + [ + 0.7026470591039158, + 0.7050407167478543, + 0.09594111767271543, + 0.708492042295636, + -0.7057134721284349, + -0.0027424916020327844, + 0.0657733710279226, + 0.06990052205885362, + -0.9953832330713244 + ], + [ + 0.7240242364128682, + 0.6818308920765197, + 0.10438170192567416, + 0.6867295142299259, + -0.726730208189801, + -0.01630272339022306, + 0.06474163553921843, + 0.0834855623119676, + -0.994403681365451 + ], + [ + 0.753127421425975, + 0.6466998610507462, + 0.12074094919789025, + 0.6532011072710093, + -0.7569129313707847, + -0.020276286238192824, + 0.07827771430100164, + 0.09413874887967974, + -0.9924769495576103 + ], + [ + 0.7852026230027496, + 0.5994484874001353, + 0.1553008428286581, + 0.6097804712500898, + -0.792164305942296, + -0.025367090353027318, + 0.10781752042975276, + 0.11461772700874007, + -0.9875414720120516 + ], + [ + 0.827104132203378, + 0.533858647297665, + 0.17576603539251934, + 0.5467705117798043, + -0.8366835873234749, + -0.03166357768117885, + 0.13015668227235927, + 0.12229276106552069, + -0.9839226182230103 + ], + [ + 0.8818524710219096, + 0.43458809183012, + 0.18294646701154582, + 0.45454207753251935, + -0.8866896897165385, + -0.08469293891942214, + 0.125410203352728, + 0.1578435446568627, + -0.9794680680375362 + ], + [ + 0.9032469354742111, + 0.38427231845588483, + 0.19099675082311068, + 0.4094250477627529, + -0.9050175356135318, + -0.11538799979407398, + 0.12851499453726745, + 0.1824227110327789, + -0.9747850279310497 + ], + [ + 0.9300826241534379, + 0.3314755807827996, + 0.15833588220160477, + 0.35191823608316386, + -0.927612599656436, + -0.12525342338931558, + 0.10535590804491855, + 0.17221731708319662, + -0.9794086625799755 + ], + [ + 0.9600908689502757, + 0.24023327389851815, + 0.14322533808758992, + 0.2593897684433392, + -0.9563300891281995, + -0.13472085456588118, + 0.10460626838395358, + 0.16649544960763946, + -0.9804778395633094 + ], + [ + 0.9793661952138939, + 0.17054738808100225, + 0.10842252575461231, + 0.18469773736831438, + -0.9731057936826656, + -0.13766575504552683, + 0.08202805302630758, + 0.1548505819168202, + -0.9845266353922254 + ], + [ + 0.9860742365374398, + 0.1176933873817971, + 0.11749836851507199, + 0.1311020872714813, + -0.9848169641147154, + -0.11378835575284699, + 0.1023222495362877, + 0.12760804738915882, + -0.9865324847623418 + ], + [ + 0.988180776191807, + 0.09446343445979474, + 0.1207286756119601, + 0.10578691369495133, + -0.9902071252570449, + -0.091098726561219, + 0.11094089622792286, + 0.10279352431081878, + -0.9884966408156916 + ], + [ + 0.9895318988292214, + 0.07014085144666769, + 0.12612248870749507, + 0.08079970157187115, + -0.9933944646093459, + -0.08147911333223846, + 0.11957436776053758, + 0.09081684117963855, + -0.9886628707162115 + ], + [ + 0.9910464237887922, + 0.06580785806717622, + 0.11617362743779786, + 0.07567385220750315, + -0.9937004920005349, + -0.08266075423060106, + 0.11000206356029343, + 0.09071195078105888, + -0.9897832530397612 + ], + [ + 0.9932458308590965, + 0.05929697264029826, + 0.0997325850297634, + 0.0673448358496044, + -0.9945683350521185, + -0.07936308963269335, + 0.09448488008889627, + 0.08554353246945558, + -0.991844197183829 + ], + [ + 0.9832161947720631, + 0.1088022124722469, + 0.14645133286893844, + 0.11829943938126243, + -0.9912967928879554, + -0.0577573463044595, + 0.13889260952269414, + 0.07411306882863702, + -0.9875303013319532 + ], + [ + 0.9837935981103375, + 0.10679053230258326, + 0.14403450464262707, + 0.11455304287182963, + -0.9923188957852054, + -0.04669913742710689, + 0.1379411348580285, + 0.06244190322341221, + -0.9884701573825674 + ], + [ + 0.9831718200016919, + 0.10331373137696631, + 0.1506633507643082, + 0.11267426583821893, + -0.9921112042191716, + -0.05495332820315506, + 0.14379736497022222, + 0.07100444614074074, + -0.9870565771301397 + ], + [ + 0.976366039513604, + 0.13672327340884696, + 0.16738011648009313, + 0.14735154592926145, + -0.9876760875746219, + -0.05275858172416128, + 0.15810401258910736, + 0.07617540640953571, + -0.9844797756488275 + ], + [ + 0.9667921277513638, + 0.18639167989999078, + 0.17484599904501585, + 0.19228283456602208, + -0.9811883195612331, + -0.017227683763614398, + 0.16834575506749822, + 0.05027547335095603, + -0.9844450637440827 + ], + [ + 0.9340735795879329, + 0.29654502091454726, + 0.19891605889564626, + 0.29050480841446835, + -0.9550165018681391, + 0.05958554730482523, + 0.207637916103631, + 0.0021287861173166153, + -0.9782034369525636 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.002479374408721924, + -0.0003302432596683502, + -0.0076941996812820435, + 0.0033818334341049194, + 0.029500722885131836, + 0.012976199388504028, + 1.0 + ], + [ + 0.015846461057662964, + -0.0043593039736151695, + -0.008817516267299652, + -0.0390210822224617, + 0.015956133604049683, + 0.16852739453315735, + 1.0 + ], + [ + 0.01358214020729065, + -0.005101433023810387, + -0.0015836283564567566, + -0.042050957679748535, + -0.023160964250564575, + 0.12162193655967712, + 1.0 + ], + [ + 0.014250844717025757, + -0.012215746566653252, + -0.016087733209133148, + -0.013880044221878052, + -0.00873236358165741, + 0.11956024169921875, + 1.0 + ], + [ + 0.007702529430389404, + -0.014308959245681763, + -0.012826777994632721, + -0.018446967005729675, + -0.018315210938453674, + 0.13174653053283691, + 1.0 + ], + [ + 0.00036850571632385254, + -0.007803525775671005, + -0.009061560034751892, + 0.01254376769065857, + 0.016450852155685425, + 0.043308913707733154, + 1.0 + ], + [ + 0.00033167004585266113, + -0.0023027993738651276, + -0.007251683622598648, + 0.01335550844669342, + -0.00023530423641204834, + 0.009046614170074463, + 1.0 + ], + [ + 0.006006389856338501, + -0.0008605718612670898, + -0.008600123226642609, + 0.013788536190986633, + 0.008674658834934235, + 0.013066232204437256, + 1.0 + ], + [ + -0.002621293067932129, + 0.0007826760411262512, + -0.007234402000904083, + 0.02718256413936615, + 0.025729432702064514, + -0.017796218395233154, + 1.0 + ], + [ + 0.0024336576461791992, + 0.00202251598238945, + -0.004282569512724876, + 0.026970721781253815, + 0.02840370684862137, + -0.02553999423980713, + 0.0 + ], + [ + 0.000844419002532959, + 0.0024014897644519806, + -0.001955077052116394, + -0.0005832985043525696, + 0.001463085412979126, + -0.0109519362449646, + 0.0 + ], + [ + 0.0032577812671661377, + 0.00198475643992424, + -0.0026551038026809692, + -0.013649344444274902, + 0.0010339394211769104, + -0.03057187795639038, + 0.0 + ], + [ + 0.0030976831912994385, + 0.001271270215511322, + -0.0006723068654537201, + -0.010810412466526031, + -0.013570927083492279, + -0.04450565576553345, + 0.0 + ], + [ + 0.004771441221237183, + -0.0007010102272033691, + -0.00011723116040229797, + -0.020977333188056946, + -0.029669634997844696, + -0.05415999889373779, + 0.0 + ], + [ + 0.0003858506679534912, + -0.0010588839650154114, + -0.00046588853001594543, + -0.008110150694847107, + -0.02249949425458908, + -0.0761873722076416, + 0.0 + ], + [ + -0.004246175289154053, + -0.007593482732772827, + 0.00987430289387703, + -0.036121733486652374, + 0.004785716533660889, + -0.10819205641746521, + 0.0 + ], + [ + -0.009746044874191284, + -0.006912335753440857, + 0.013328244909644127, + -0.02522297203540802, + -0.003130123019218445, + -0.05034381151199341, + 0.0 + ], + [ + -0.016365230083465576, + -0.00827709585428238, + -3.9462000131607056e-05, + 0.01094287633895874, + 0.02331961691379547, + -0.06385478377342224, + 0.0 + ], + [ + -0.020375311374664307, + -0.0099811851978302, + 0.004795342683792114, + 0.00585271418094635, + 0.0007538050413131714, + -0.09785237908363342, + 0.0 + ], + [ + -0.01851499080657959, + -0.006468817591667175, + -0.004848599433898926, + 0.012199759483337402, + 0.022677667438983917, + -0.07747243344783783, + 0.0 + ], + [ + -0.014491468667984009, + -0.0017270445823669434, + -0.005718320608139038, + 0.027370408177375793, + -0.020381323993206024, + -0.05422142148017883, + 0.0 + ], + [ + -0.006629467010498047, + 0.0015648454427719116, + -0.007149647921323776, + 0.025018498301506042, + -0.008668094873428345, + -0.025532349944114685, + 0.0 + ], + [ + -0.003609955310821533, + -7.003545761108398e-05, + -0.0039090365171432495, + 0.012016139924526215, + -0.008691422641277313, + -0.025172315537929535, + 0.0 + ], + [ + -0.0016987621784210205, + -0.0005334019660949707, + -0.00017766468226909637, + 0.00020819902420043945, + 0.009636037051677704, + -0.005264073610305786, + 1.0 + ], + [ + -0.00022651255130767822, + 7.99819827079773e-05, + 0.0021600667387247086, + 0.005358941853046417, + 0.015599094331264496, + -0.008510470390319824, + 1.0 + ], + [ + 0.00460951030254364, + 0.002071574330329895, + 0.006300829350948334, + 0.011125564575195312, + -0.04471706598997116, + 0.052044063806533813, + 1.0 + ], + [ + -0.002575308084487915, + 0.0006056725978851318, + 0.004604540765285492, + 0.011822059750556946, + 0.0009607225656509399, + -0.0038251206278800964, + 1.0 + ], + [ + -0.0009186267852783203, + 0.0001852661371231079, + 0.007406298071146011, + -0.008725419640541077, + -0.005915224552154541, + -0.0018130987882614136, + 1.0 + ], + [ + 0.002773463726043701, + 0.012762613594532013, + 0.019122522324323654, + -0.00541059672832489, + -0.014472618699073792, + 0.03568294644355774, + 1.0 + ], + [ + 0.007564067840576172, + 0.020527195185422897, + 0.013088710606098175, + 0.026196904480457306, + -0.01038101315498352, + 0.046537622809410095, + 1.0 + ], + [ + 0.012142926454544067, + 0.02789289504289627, + 0.010665647685527802, + 0.04884931445121765, + -0.04000839591026306, + 0.1051998883485794, + 1.0 + ], + [ + 0.008974790573120117, + 0.02207387425005436, + 0.006392002105712891, + -0.0023900335654616356, + -0.02072802186012268, + 0.06293916702270508, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9499720335006714 + ], + [ + 0.6731748580932617 + ], + [ + 0.3746064603328705 + ], + [ + 0.15872089564800262 + ], + [ + 0.06122923642396927 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.07689721137285233 + ], + [ + 0.22045548260211945 + ], + [ + 0.4634169340133667 + ], + [ + 0.7662391662597656 + ], + [ + 0.9907060265541077 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2693523168563843, + -0.011991427280008793, + 0.10228316485881805 + ], + [ + 0.28519877791404724, + -0.016350731253623962, + 0.0934656485915184 + ], + [ + 0.2987809181213379, + -0.02145216427743435, + 0.09188202023506165 + ], + [ + 0.31303176283836365, + -0.0336679108440876, + 0.0757942870259285 + ], + [ + 0.32073429226875305, + -0.04797687008976936, + 0.06296750903129578 + ], + [ + 0.3211027979850769, + -0.05578039586544037, + 0.053905948996543884 + ], + [ + 0.32143446803092957, + -0.058083195239305496, + 0.046654265373945236 + ], + [ + 0.32744085788726807, + -0.058943767100572586, + 0.03805414214730263 + ], + [ + 0.32481956481933594, + -0.058161091059446335, + 0.030819740146398544 + ], + [ + 0.32725322246551514, + -0.056138575077056885, + 0.026537170633673668 + ], + [ + 0.3280976414680481, + -0.053737085312604904, + 0.024582093581557274 + ], + [ + 0.33135542273521423, + -0.051752328872680664, + 0.021926989778876305 + ], + [ + 0.33445310592651367, + -0.05048105865716934, + 0.021254682913422585 + ], + [ + 0.33922454714775085, + -0.05118206888437271, + 0.021137451753020287 + ], + [ + 0.33961039781570435, + -0.05224095284938812, + 0.02067156322300434 + ], + [ + 0.3353642225265503, + -0.05983443558216095, + 0.03054586611688137 + ], + [ + 0.325618177652359, + -0.0667467713356018, + 0.0438741110265255 + ], + [ + 0.30925294756889343, + -0.07502386718988419, + 0.04383464902639389 + ], + [ + 0.2888776361942291, + -0.08500505238771439, + 0.048629991710186005 + ], + [ + 0.27036264538764954, + -0.09147386997938156, + 0.04378139227628708 + ], + [ + 0.2558711767196655, + -0.0932009145617485, + 0.03806307166814804 + ], + [ + 0.24924170970916748, + -0.09163606911897659, + 0.030913423746824265 + ], + [ + 0.24563175439834595, + -0.09170610457658768, + 0.027004387229681015 + ], + [ + 0.24393299221992493, + -0.09223950654268265, + 0.02682672254741192 + ], + [ + 0.24370647966861725, + -0.09215952455997467, + 0.028986789286136627 + ], + [ + 0.2483159899711609, + -0.09008795022964478, + 0.03528761863708496 + ], + [ + 0.24574068188667297, + -0.08948227763175964, + 0.03989215940237045 + ], + [ + 0.24482205510139465, + -0.08929701149463654, + 0.047298457473516464 + ], + [ + 0.24759551882743835, + -0.07653439790010452, + 0.06642097979784012 + ], + [ + 0.2551595866680145, + -0.056007202714681625, + 0.0795096904039383 + ], + [ + 0.2673025131225586, + -0.028114307671785355, + 0.0901753380894661 + ], + [ + 0.2762773036956787, + -0.0060404338873922825, + 0.09656734019517899 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9659619945543458, + 0.22901728752953646, + 0.12028510751212555, + 0.2332672007710708, + -0.9721561160999294, + -0.02233604651520777, + 0.11182056215660398, + 0.049634342366089566, + -0.9924880825162924 + ], + [ + 0.9146741998699153, + 0.3850611514140118, + 0.12287806054803237, + 0.392637906639478, + -0.9186415963161806, + -0.04396693970960648, + 0.09595093726534921, + 0.08846200986511156, + -0.9914473714971088 + ], + [ + 0.8581306705977371, + 0.48528002000480375, + 0.16767544353188843, + 0.4994558717799348, + -0.8646799745161694, + -0.05359453157983649, + 0.11897724288292953, + 0.12973759615028324, + -0.984384361832878 + ], + [ + 0.791572344068751, + 0.5814964134863387, + 0.18781678627861836, + 0.5975956036731351, + -0.8008410485318543, + -0.0391549416669411, + 0.12764293390565884, + 0.14323245473329488, + -0.9814233262639678 + ], + [ + 0.7044260206123117, + 0.6759138656387972, + 0.2166204693040819, + 0.694644118276477, + -0.7192011694888095, + -0.014806307771494276, + 0.14578590613704207, + 0.16090408336380552, + -0.9761436090702305 + ], + [ + 0.6752325429166853, + 0.7107523995718673, + 0.19721064750438624, + 0.7261493521467474, + -0.6874836484081357, + -0.008564551844543578, + 0.12949181967647924, + 0.14898744804268357, + -0.9803237266141235 + ], + [ + 0.6686152439452386, + 0.7194918276594265, + 0.18784346008138594, + 0.7322056021561779, + -0.6810791249432413, + 0.002486310048643761, + 0.1297251391795677, + 0.1358776490002937, + -0.9821958321877542 + ], + [ + 0.6597143664098992, + 0.7315550030063306, + 0.17205880485692338, + 0.741692079358579, + -0.6706949548776875, + 0.007819010062928136, + 0.12111900828991497, + 0.12245633947666619, + -0.9850556485563864 + ], + [ + 0.6746978367484645, + 0.725587923331633, + 0.13529595190629645, + 0.7318842858118849, + -0.6814132999561948, + 0.004615931589213244, + 0.0955417252752422, + 0.0959066220763578, + -0.990794478473378 + ], + [ + 0.694777960276654, + 0.7127124424106251, + 0.09656376311481428, + 0.7160749125616163, + -0.6980233966979426, + -0.00023929509110222347, + 0.06723321733850181, + 0.06931314518436148, + -0.9953267716639423 + ], + [ + 0.7026470591039158, + 0.7050407167478543, + 0.09594111767271543, + 0.708492042295636, + -0.7057134721284349, + -0.0027424916020327844, + 0.0657733710279226, + 0.06990052205885362, + -0.9953832330713244 + ], + [ + 0.7240242364128682, + 0.6818308920765197, + 0.10438170192567416, + 0.6867295142299259, + -0.726730208189801, + -0.01630272339022306, + 0.06474163553921843, + 0.0834855623119676, + -0.994403681365451 + ], + [ + 0.753127421425975, + 0.6466998610507462, + 0.12074094919789025, + 0.6532011072710093, + -0.7569129313707847, + -0.020276286238192824, + 0.07827771430100164, + 0.09413874887967974, + -0.9924769495576103 + ], + [ + 0.7852026230027496, + 0.5994484874001353, + 0.1553008428286581, + 0.6097804712500898, + -0.792164305942296, + -0.025367090353027318, + 0.10781752042975276, + 0.11461772700874007, + -0.9875414720120516 + ], + [ + 0.827104132203378, + 0.533858647297665, + 0.17576603539251934, + 0.5467705117798043, + -0.8366835873234749, + -0.03166357768117885, + 0.13015668227235927, + 0.12229276106552069, + -0.9839226182230103 + ], + [ + 0.8818524710219096, + 0.43458809183012, + 0.18294646701154582, + 0.45454207753251935, + -0.8866896897165385, + -0.08469293891942214, + 0.125410203352728, + 0.1578435446568627, + -0.9794680680375362 + ], + [ + 0.9032469354742111, + 0.38427231845588483, + 0.19099675082311068, + 0.4094250477627529, + -0.9050175356135318, + -0.11538799979407398, + 0.12851499453726745, + 0.1824227110327789, + -0.9747850279310497 + ], + [ + 0.9300826241534379, + 0.3314755807827996, + 0.15833588220160477, + 0.35191823608316386, + -0.927612599656436, + -0.12525342338931558, + 0.10535590804491855, + 0.17221731708319662, + -0.9794086625799755 + ], + [ + 0.9600908689502757, + 0.24023327389851815, + 0.14322533808758992, + 0.2593897684433392, + -0.9563300891281995, + -0.13472085456588118, + 0.10460626838395358, + 0.16649544960763946, + -0.9804778395633094 + ], + [ + 0.9793661952138939, + 0.17054738808100225, + 0.10842252575461231, + 0.18469773736831438, + -0.9731057936826656, + -0.13766575504552683, + 0.08202805302630758, + 0.1548505819168202, + -0.9845266353922254 + ], + [ + 0.9860742365374398, + 0.1176933873817971, + 0.11749836851507199, + 0.1311020872714813, + -0.9848169641147154, + -0.11378835575284699, + 0.1023222495362877, + 0.12760804738915882, + -0.9865324847623418 + ], + [ + 0.988180776191807, + 0.09446343445979474, + 0.1207286756119601, + 0.10578691369495133, + -0.9902071252570449, + -0.091098726561219, + 0.11094089622792286, + 0.10279352431081878, + -0.9884966408156916 + ], + [ + 0.9895318988292214, + 0.07014085144666769, + 0.12612248870749507, + 0.08079970157187115, + -0.9933944646093459, + -0.08147911333223846, + 0.11957436776053758, + 0.09081684117963855, + -0.9886628707162115 + ], + [ + 0.9910464237887922, + 0.06580785806717622, + 0.11617362743779786, + 0.07567385220750315, + -0.9937004920005349, + -0.08266075423060106, + 0.11000206356029343, + 0.09071195078105888, + -0.9897832530397612 + ], + [ + 0.9932458308590965, + 0.05929697264029826, + 0.0997325850297634, + 0.0673448358496044, + -0.9945683350521185, + -0.07936308963269335, + 0.09448488008889627, + 0.08554353246945558, + -0.991844197183829 + ], + [ + 0.9832161947720631, + 0.1088022124722469, + 0.14645133286893844, + 0.11829943938126243, + -0.9912967928879554, + -0.0577573463044595, + 0.13889260952269414, + 0.07411306882863702, + -0.9875303013319532 + ], + [ + 0.9837935981103375, + 0.10679053230258326, + 0.14403450464262707, + 0.11455304287182963, + -0.9923188957852054, + -0.04669913742710689, + 0.1379411348580285, + 0.06244190322341221, + -0.9884701573825674 + ], + [ + 0.9831718200016919, + 0.10331373137696631, + 0.1506633507643082, + 0.11267426583821893, + -0.9921112042191716, + -0.05495332820315506, + 0.14379736497022222, + 0.07100444614074074, + -0.9870565771301397 + ], + [ + 0.976366039513604, + 0.13672327340884696, + 0.16738011648009313, + 0.14735154592926145, + -0.9876760875746219, + -0.05275858172416128, + 0.15810401258910736, + 0.07617540640953571, + -0.9844797756488275 + ], + [ + 0.9667921277513638, + 0.18639167989999078, + 0.17484599904501585, + 0.19228283456602208, + -0.9811883195612331, + -0.017227683763614398, + 0.16834575506749822, + 0.05027547335095603, + -0.9844450637440827 + ], + [ + 0.9340735795879329, + 0.29654502091454726, + 0.19891605889564626, + 0.29050480841446835, + -0.9550165018681391, + 0.05958554730482523, + 0.207637916103631, + 0.0021287861173166153, + -0.9782034369525636 + ], + [ + 0.9097347738195515, + 0.35547328150580604, + 0.21452595982534073, + 0.34707168796078103, + -0.9346758680295579, + 0.07695625471166641, + 0.22786813010937712, + 0.004446106013870063, + -0.9736818512336407 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005783.json b/json/chunk-0005/episode_0005783.json new file mode 100644 index 0000000000000000000000000000000000000000..7ab70cfe3821a313a5d7bba5ae191da871171a09 --- /dev/null +++ b/json/chunk-0005/episode_0005783.json @@ -0,0 +1,1642 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 26, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPick up glue and put into drawer." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005783.mp4", + "start": 0, + "end": 26, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.26160120964050293, + 0.06500378996133804, + 0.16932876408100128, + 0.05998855084180832, + -0.16729168593883514, + 0.00038794332067482173, + 0.0, + 0.9968144297599792 + ], + [ + 0.25713542103767395, + 0.06779795140028, + 0.16106905043125153, + 0.06220598518848419, + -0.1153874397277832, + -0.07268289476633072, + 0.0, + 0.9968144297599792 + ], + [ + 0.24166494607925415, + 0.09813689440488815, + 0.15773546695709229, + 0.11529434472322464, + -0.008989178575575352, + -0.30738750100135803, + 0.0, + 0.9961419701576233 + ], + [ + 0.245652437210083, + 0.1306106001138687, + 0.14646178483963013, + 0.1696530431509018, + 0.1528320163488388, + -0.6113404631614685, + 0.0, + 0.9968144297599792 + ], + [ + 0.25501954555511475, + 0.16668462753295898, + 0.13962940871715546, + 0.19483597576618195, + 0.21680691838264465, + -0.820265531539917, + 0.0, + 0.9968144297599792 + ], + [ + 0.2764762043952942, + 0.19147637486457825, + 0.1345253586769104, + 0.28893131017684937, + 0.29722121357917786, + -1.0747840404510498, + 0.0, + 0.9968144297599792 + ], + [ + 0.29677265882492065, + 0.2003459483385086, + 0.12446444481611252, + 0.29111701250076294, + 0.32658591866493225, + -1.2982726097106934, + 0.0, + 0.9968144297599792 + ], + [ + 0.3232690989971161, + 0.20901454985141754, + 0.12130726873874664, + 0.31799641251564026, + 0.3659193813800812, + -1.534906029701233, + 0.0, + 0.9968144297599792 + ], + [ + 0.34587228298187256, + 0.2153620719909668, + 0.11050529778003693, + 0.30277594923973083, + 0.38116517663002014, + -1.724336862564087, + 0.0, + 0.9968144297599792 + ], + [ + 0.3596474230289459, + 0.2196798026561737, + 0.09974735975265503, + 0.28977513313293457, + 0.38941919803619385, + -1.7627454996109009, + 0.0, + 0.9968144297599792 + ], + [ + 0.3674871027469635, + 0.218563050031662, + 0.0892275869846344, + 0.2806958854198456, + 0.40981411933898926, + -1.7981213331222534, + 0.0, + 0.9968144297599792 + ], + [ + 0.37904980778694153, + 0.21108661592006683, + 0.07840611785650253, + 0.28908219933509827, + 0.4214247167110443, + -1.8306326866149902, + 0.0, + 0.9968144297599792 + ], + [ + 0.38964977860450745, + 0.21113277971744537, + 0.07089698314666748, + 0.30375078320503235, + 0.41960471868515015, + -1.8316501379013062, + 0.0, + 0.9968144297599792 + ], + [ + 0.3956824243068695, + 0.20569820702075958, + 0.06501252204179764, + 0.30739226937294006, + 0.4090729057788849, + -1.8215004205703735, + 0.0, + 0.9968144297599792 + ], + [ + 0.3969472646713257, + 0.20192746818065643, + 0.05993535742163658, + 0.32534870505332947, + 0.35926854610443115, + -1.7985554933547974, + 0.0, + 0.9716382026672363 + ], + [ + 0.3977425694465637, + 0.19927017390727997, + 0.054531700909137726, + 0.34403789043426514, + 0.3055286407470703, + -1.7736413478851318, + 0.0, + 0.8362758755683899 + ], + [ + 0.39576953649520874, + 0.19711218774318695, + 0.051970839500427246, + 0.3342815935611725, + 0.2574120759963989, + -1.7211871147155762, + 0.0, + 0.5149424076080322 + ], + [ + 0.39736852049827576, + 0.19976915419101715, + 0.05209946259856224, + 0.3376760482788086, + 0.21189278364181519, + -1.5997025966644287, + 0.0, + 0.29885798692703247 + ], + [ + 0.394607275724411, + 0.19883993268013, + 0.05275332182645798, + 0.3347786068916321, + 0.1982458084821701, + -1.577307105064392, + 0.0, + 0.21606682240962982 + ], + [ + 0.38184696435928345, + 0.18207359313964844, + 0.06523553282022476, + 0.253174751996994, + 0.17714950442314148, + -1.529960036277771, + 0.0, + 0.18516062200069427 + ], + [ + 0.37445229291915894, + 0.13442681729793549, + 0.11397615820169449, + 0.22273287177085876, + 0.1850907951593399, + -1.4319003820419312, + 0.0, + 0.1718904674053192 + ], + [ + 0.36795130372047424, + 0.09518710523843765, + 0.15344911813735962, + 0.28793084621429443, + 0.1033104881644249, + -1.1652125120162964, + 0.0, + 0.1718904674053192 + ], + [ + 0.35943731665611267, + 0.04373013228178024, + 0.17157955467700958, + 0.30682387948036194, + -0.029404504224658012, + -0.9510345458984375, + 0.0, + 0.1718904674053192 + ], + [ + 0.3550064265727997, + 0.004507670644670725, + 0.18940162658691406, + 0.24829064309597015, + -0.11595939844846725, + -0.7935958504676819, + 0.0, + 0.1718904674053192 + ], + [ + 0.3692663013935089, + -0.052336812019348145, + 0.20781441032886505, + 0.2447245568037033, + -0.21411776542663574, + -0.5495913028717041, + 0.0, + 0.1718904674053192 + ], + [ + 0.3773146867752075, + -0.08318241685628891, + 0.20374923944473267, + 0.20018117129802704, + -0.26114144921302795, + -0.34659355878829956, + 0.0, + 0.1718904674053192 + ] + ], + "left_gripper_pos": [ + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9961419701576233 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9716382026672363 + ], + [ + 0.8362758755683899 + ], + [ + 0.5149424076080322 + ], + [ + 0.29885798692703247 + ], + [ + 0.21606682240962982 + ], + [ + 0.18516062200069427 + ], + [ + 0.1718904674053192 + ], + [ + 0.1718904674053192 + ], + [ + 0.1718904674053192 + ], + [ + 0.1718904674053192 + ], + [ + 0.1718904674053192 + ], + [ + 0.1718904674053192 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.26160120964050293, + 0.06500378996133804, + 0.16932876408100128 + ], + [ + 0.25713542103767395, + 0.06779795140028, + 0.16106905043125153 + ], + [ + 0.24166494607925415, + 0.09813689440488815, + 0.15773546695709229 + ], + [ + 0.245652437210083, + 0.1306106001138687, + 0.14646178483963013 + ], + [ + 0.25501954555511475, + 0.16668462753295898, + 0.13962940871715546 + ], + [ + 0.2764762043952942, + 0.19147637486457825, + 0.1345253586769104 + ], + [ + 0.29677265882492065, + 0.2003459483385086, + 0.12446444481611252 + ], + [ + 0.3232690989971161, + 0.20901454985141754, + 0.12130726873874664 + ], + [ + 0.34587228298187256, + 0.2153620719909668, + 0.11050529778003693 + ], + [ + 0.3596474230289459, + 0.2196798026561737, + 0.09974735975265503 + ], + [ + 0.3674871027469635, + 0.218563050031662, + 0.0892275869846344 + ], + [ + 0.37904980778694153, + 0.21108661592006683, + 0.07840611785650253 + ], + [ + 0.38964977860450745, + 0.21113277971744537, + 0.07089698314666748 + ], + [ + 0.3956824243068695, + 0.20569820702075958, + 0.06501252204179764 + ], + [ + 0.3969472646713257, + 0.20192746818065643, + 0.05993535742163658 + ], + [ + 0.3977425694465637, + 0.19927017390727997, + 0.054531700909137726 + ], + [ + 0.39576953649520874, + 0.19711218774318695, + 0.051970839500427246 + ], + [ + 0.39736852049827576, + 0.19976915419101715, + 0.05209946259856224 + ], + [ + 0.394607275724411, + 0.19883993268013, + 0.05275332182645798 + ], + [ + 0.38184696435928345, + 0.18207359313964844, + 0.06523553282022476 + ], + [ + 0.37445229291915894, + 0.13442681729793549, + 0.11397615820169449 + ], + [ + 0.36795130372047424, + 0.09518710523843765, + 0.15344911813735962 + ], + [ + 0.35943731665611267, + 0.04373013228178024, + 0.17157955467700958 + ], + [ + 0.3550064265727997, + 0.004507670644670725, + 0.18940162658691406 + ], + [ + 0.3692663013935089, + -0.052336812019348145, + 0.20781441032886505 + ], + [ + 0.3773146867752075, + -0.08318241685628891, + 0.20374923944473267 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9860392764721223, + 0.01037009589682043, + 0.1661896698517219, + 0.00038252737042051947, + -0.9981972785121938, + 0.06001705460667683, + 0.16651245877454474, + -0.059115601002956035, + -0.9842656891261194 + ], + [ + 0.9907275702866885, + -0.06534010228351589, + 0.11911990810697526, + -0.07213601929058783, + -0.9959504512678783, + 0.05365718349128341, + 0.11513156037656438, + -0.06175248701784405, + -0.9914289455893288 + ], + [ + 0.9530887758292483, + -0.29957523555767773, + 0.04331816742276, + -0.30255740320362, + -0.9471123253115067, + 0.10694513083685657, + 0.00898905751380541, + -0.11503443607716836, + -0.9933208320383807 + ], + [ + 0.8093344358429675, + -0.5867738381323507, + -0.02596601321295325, + -0.567275453249252, + -0.792369911841914, + 0.22438467627824546, + -0.15223774531830486, + -0.16687236347300657, + -0.9741546505608498 + ], + [ + 0.6660603092416504, + -0.7458941971290625, + -0.0023475821835500787, + -0.7142060778834409, + -0.6386651562384527, + 0.28638522399255406, + -0.21511239566159243, + -0.18907317339089755, + -0.9581116805136165 + ], + [ + 0.4550548976995177, + -0.8827451439739664, + 0.116987396201737, + -0.8409253756164328, + -0.38280564232622316, + 0.3824975200541419, + -0.2928643930628004, + -0.27243503995189094, + -0.9165203741774476 + ], + [ + 0.25493576486070413, + -0.9473558971401527, + 0.19371257044565807, + -0.9121885101245052, + -0.1691557510976941, + 0.3732270808333853, + -0.3208112806491118, + -0.2718513123462001, + -0.9072910151566175 + ], + [ + 0.033506992384242484, + -0.9532663914511158, + 0.3002673282112631, + -0.9331938413783095, + 0.07771806731175623, + 0.3508691443072758, + -0.3578079594907817, + -0.2919641912000398, + -0.886978227005573 + ], + [ + -0.14196188789287295, + -0.9263194502889293, + 0.34896862094220915, + -0.9173119040172076, + 0.2555966081486342, + 0.305301891005016, + -0.37200227571107214, + -0.27677183729442095, + -0.886008835704506 + ], + [ + -0.17648943028785352, + -0.9200130362463699, + 0.3498964048592165, + -0.9081390180834834, + 0.2893069314464956, + 0.3026301757118408, + -0.37965116203040367, + -0.26434355024049405, + -0.8865593508701015 + ], + [ + -0.20671019549735914, + -0.9112665696233193, + 0.3561799182497398, + -0.8935979974330721, + 0.3240893104537186, + 0.3105619710029484, + -0.39843884607433366, + -0.2540853359337782, + -0.881298546465596 + ], + [ + -0.23444351411652864, + -0.8963705697408372, + 0.37623933923924036, + -0.8818760642637059, + 0.35895929366045065, + 0.3056842043245716, + -0.40906093185178316, + -0.26013078863771105, + -0.8746434283954082 + ], + [ + -0.23553227681518385, + -0.89051339205254, + 0.38924342660260247, + -0.8823549165106607, + 0.36383045486150245, + 0.2984580396383013, + -0.4073994942163297, + -0.2731543495724572, + -0.8714426851043776 + ], + [ + -0.22761651301566715, + -0.8934716562717097, + 0.38716808034970607, + -0.8888073924985337, + 0.3530464132165168, + 0.29219796227028993, + -0.3977588993882424, + -0.27760877067203815, + -0.8744834065912364 + ], + [ + -0.21137906844374793, + -0.8976936742072239, + 0.3866069796475331, + -0.9119778840929325, + 0.32342929799786807, + 0.25236843725391717, + -0.35158957372088184, + -0.29923161010317917, + -0.887042961285319 + ], + [ + -0.1921269787567485, + -0.9016601769758769, + 0.3874224429348848, + -0.9341349810767282, + 0.28902770361514557, + 0.209415433222425, + -0.3007973755912512, + -0.3216705019096184, + -0.8978023318295791 + ], + [ + -0.14488810945541902, + -0.9214695813481224, + 0.3604181549097531, + -0.9561365466266694, + 0.22411329258034324, + 0.18861637334448061, + -0.2545787499836966, + -0.317280700230748, + -0.9135220945975115 + ], + [ + -0.02825583404415355, + -0.9411191993081731, + 0.3368920606604033, + -0.9772261796896533, + 0.09691589485657481, + 0.18877580102681418, + -0.21031072624009278, + -0.3238857237015749, + -0.9224247592138193 + ], + [ + -0.0063832102935196255, + -0.9440417469022095, + 0.32976421081156326, + -0.9803927938864887, + 0.07085774663468075, + 0.1838726446138748, + -0.1969498015276827, + -0.32212475820352554, + -0.9259840256886328 + ], + [ + 0.04018603208015403, + -0.9691170168495878, + 0.24330493311523385, + -0.9835293797969281, + 0.0045801445458295564, + 0.18069029125055172, + -0.17622440779279905, + -0.24655877580912608, + -0.9529710006970739 + ], + [ + 0.13608499149010228, + -0.9715331292067706, + 0.19391816300913917, + -0.9734534951797582, + -0.09476848490186679, + 0.20834401117314838, + -0.1840357786232099, + -0.2171228065475963, + -0.9586388887706591 + ], + [ + 0.3924515953312528, + -0.8925999303965938, + 0.2219168979098945, + -0.9139729786727396, + -0.3514038279218324, + 0.20290082300957546, + -0.10312681308968323, + -0.2824547998846526, + -0.9537212100210871 + ], + [ + 0.5805901758482883, + -0.7708425888854326, + 0.26213880076947316, + -0.8136649629934204, + -0.5609429543500513, + 0.15261824911180205, + 0.02940026709690441, + -0.301901813716712, + -0.9528855750661726 + ], + [ + 0.6965767746854483, + -0.6710787597452693, + 0.25383871885031545, + -0.7080920682488202, + -0.7000499642008242, + 0.09238869251988074, + 0.11569969685321778, + -0.24409700088525477, + -0.9628240931275545 + ], + [ + 0.8332651466502023, + -0.46287377666624524, + 0.30235254629776764, + -0.5104107565254622, + -0.8542214871289407, + 0.09892679389491105, + 0.2124854230320803, + -0.23675624131572082, + -0.9480487472682668 + ], + [ + 0.9086473220457899, + -0.28462624878397624, + 0.3055289554889627, + -0.3281788237250819, + -0.9391930071283315, + 0.10107005006263403, + 0.2581834692567208, + -0.19210516355476703, + -0.9468035183384989 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0044657886028289795, + 0.0027941614389419556, + -0.008259713649749756, + 0.002217434346675873, + 0.05190424621105194, + -0.07307083904743195, + 1.0 + ], + [ + -0.0154704749584198, + 0.030338943004608154, + -0.0033335834741592407, + 0.05308835953474045, + 0.10639826208353043, + -0.2347046136856079, + 1.0 + ], + [ + 0.003987491130828857, + 0.03247370570898056, + -0.011273682117462158, + 0.054358698427677155, + 0.16182120144367218, + -0.3039529621601105, + 1.0 + ], + [ + 0.009367108345031738, + 0.03607402741909027, + -0.00683237612247467, + 0.02518293261528015, + 0.06397490203380585, + -0.2089250683784485, + 1.0 + ], + [ + 0.021456658840179443, + 0.024791747331619263, + -0.005104050040245056, + 0.09409533441066742, + 0.0804142951965332, + -0.2545185089111328, + 1.0 + ], + [ + 0.020296454429626465, + 0.008869573473930359, + -0.010060913860797882, + 0.0021857023239135742, + 0.029364705085754395, + -0.22348856925964355, + 1.0 + ], + [ + 0.026496440172195435, + 0.008668601512908936, + -0.0031571760773658752, + 0.02687940001487732, + 0.039333462715148926, + -0.23663341999053955, + 1.0 + ], + [ + 0.02260318398475647, + 0.006347522139549255, + -0.010801970958709717, + -0.015220463275909424, + 0.015245795249938965, + -0.189430832862854, + 1.0 + ], + [ + 0.013775140047073364, + 0.004317730665206909, + -0.010757938027381897, + -0.013000816106796265, + 0.008254021406173706, + -0.038408637046813965, + 1.0 + ], + [ + 0.007839679718017578, + -0.0011167526245117188, + -0.01051977276802063, + -0.00907924771308899, + 0.02039492130279541, + -0.03537583351135254, + 1.0 + ], + [ + 0.011562705039978027, + -0.007476434111595154, + -0.010821469128131866, + 0.008386313915252686, + 0.011610597372055054, + -0.032511353492736816, + 1.0 + ], + [ + 0.010599970817565918, + 4.616379737854004e-05, + -0.0075091347098350525, + 0.014668583869934082, + -0.001819998025894165, + -0.001017451286315918, + 1.0 + ], + [ + 0.0060326457023620605, + -0.005434572696685791, + -0.0058844611048698425, + 0.003641486167907715, + -0.010531812906265259, + 0.010149717330932617, + 1.0 + ], + [ + 0.0012648403644561768, + -0.0037707388401031494, + -0.0050771646201610565, + 0.017956435680389404, + -0.049804359674453735, + 0.022944927215576172, + 1.0 + ], + [ + 0.0007953047752380371, + -0.002657294273376465, + -0.005403656512498856, + 0.01868918538093567, + -0.05373990535736084, + 0.024914145469665527, + 0.0 + ], + [ + -0.0019730329513549805, + -0.0021579861640930176, + -0.0025608614087104797, + -0.009756296873092651, + -0.04811656475067139, + 0.052454233169555664, + 0.0 + ], + [ + 0.0015989840030670166, + 0.0026569664478302, + 0.0001286230981349945, + 0.0033944547176361084, + -0.04551929235458374, + 0.12148451805114746, + 0.0 + ], + [ + -0.002761244773864746, + -0.000929221510887146, + 0.0006538592278957367, + -0.0028974413871765137, + -0.01364697515964508, + 0.02239549160003662, + 0.0 + ], + [ + -0.012760311365127563, + -0.016766339540481567, + 0.012482210993766785, + -0.08160385489463806, + -0.021096304059028625, + 0.047347068786621094, + 0.0 + ], + [ + -0.007394671440124512, + -0.04764677584171295, + 0.04874062538146973, + -0.030441880226135254, + 0.007941290736198425, + 0.09805965423583984, + 0.0 + ], + [ + -0.006500989198684692, + -0.03923971205949783, + 0.03947295993566513, + 0.06519797444343567, + -0.08178030699491501, + 0.26668787002563477, + 0.0 + ], + [ + -0.008513987064361572, + -0.05145697295665741, + 0.018130436539649963, + 0.018893033266067505, + -0.13271498680114746, + 0.2141779661178589, + 0.0 + ], + [ + -0.004430890083312988, + -0.039222460240125656, + 0.01782207190990448, + -0.058533236384391785, + -0.08655489236116409, + 0.15743869543075562, + 0.0 + ], + [ + 0.014259874820709229, + -0.05684448406100273, + 0.01841278374195099, + -0.0035660862922668457, + -0.09815836697816849, + 0.24400454759597778, + 0.0 + ], + [ + 0.008048385381698608, + -0.030845604836940765, + -0.004065170884132385, + -0.04454338550567627, + -0.04702368378639221, + 0.20299774408340454, + 0.0 + ], + [ + 0.0043925940990448, + -0.018339693546295166, + 0.002991214394569397, + -0.021243825554847717, + 0.008491307497024536, + 0.0860397219657898, + 0.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9968144297599792 + ], + [ + 0.9961419701576233 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9716382026672363 + ], + [ + 0.8362758755683899 + ], + [ + 0.5149424076080322 + ], + [ + 0.29885798692703247 + ], + [ + 0.21606682240962982 + ], + [ + 0.18516062200069427 + ], + [ + 0.1718904674053192 + ], + [ + 0.1718904674053192 + ], + [ + 0.1718904674053192 + ], + [ + 0.1718904674053192 + ], + [ + 0.1718904674053192 + ], + [ + 0.1718904674053192 + ], + [ + 0.1718904674053192 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.25713542103767395, + 0.06779795140028, + 0.16106905043125153 + ], + [ + 0.24166494607925415, + 0.09813689440488815, + 0.15773546695709229 + ], + [ + 0.245652437210083, + 0.1306106001138687, + 0.14646178483963013 + ], + [ + 0.25501954555511475, + 0.16668462753295898, + 0.13962940871715546 + ], + [ + 0.2764762043952942, + 0.19147637486457825, + 0.1345253586769104 + ], + [ + 0.29677265882492065, + 0.2003459483385086, + 0.12446444481611252 + ], + [ + 0.3232690989971161, + 0.20901454985141754, + 0.12130726873874664 + ], + [ + 0.34587228298187256, + 0.2153620719909668, + 0.11050529778003693 + ], + [ + 0.3596474230289459, + 0.2196798026561737, + 0.09974735975265503 + ], + [ + 0.3674871027469635, + 0.218563050031662, + 0.0892275869846344 + ], + [ + 0.37904980778694153, + 0.21108661592006683, + 0.07840611785650253 + ], + [ + 0.38964977860450745, + 0.21113277971744537, + 0.07089698314666748 + ], + [ + 0.3956824243068695, + 0.20569820702075958, + 0.06501252204179764 + ], + [ + 0.3969472646713257, + 0.20192746818065643, + 0.05993535742163658 + ], + [ + 0.3977425694465637, + 0.19927017390727997, + 0.054531700909137726 + ], + [ + 0.39576953649520874, + 0.19711218774318695, + 0.051970839500427246 + ], + [ + 0.39736852049827576, + 0.19976915419101715, + 0.05209946259856224 + ], + [ + 0.394607275724411, + 0.19883993268013, + 0.05275332182645798 + ], + [ + 0.38184696435928345, + 0.18207359313964844, + 0.06523553282022476 + ], + [ + 0.37445229291915894, + 0.13442681729793549, + 0.11397615820169449 + ], + [ + 0.36795130372047424, + 0.09518710523843765, + 0.15344911813735962 + ], + [ + 0.35943731665611267, + 0.04373013228178024, + 0.17157955467700958 + ], + [ + 0.3550064265727997, + 0.004507670644670725, + 0.18940162658691406 + ], + [ + 0.3692663013935089, + -0.052336812019348145, + 0.20781441032886505 + ], + [ + 0.3773146867752075, + -0.08318241685628891, + 0.20374923944473267 + ], + [ + 0.3817072808742523, + -0.10152211040258408, + 0.20674045383930206 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9907275702866885, + -0.06534010228351589, + 0.11911990810697526, + -0.07213601929058783, + -0.9959504512678783, + 0.05365718349128341, + 0.11513156037656438, + -0.06175248701784405, + -0.9914289455893288 + ], + [ + 0.9530887758292483, + -0.29957523555767773, + 0.04331816742276, + -0.30255740320362, + -0.9471123253115067, + 0.10694513083685657, + 0.00898905751380541, + -0.11503443607716836, + -0.9933208320383807 + ], + [ + 0.8093344358429675, + -0.5867738381323507, + -0.02596601321295325, + -0.567275453249252, + -0.792369911841914, + 0.22438467627824546, + -0.15223774531830486, + -0.16687236347300657, + -0.9741546505608498 + ], + [ + 0.6660603092416504, + -0.7458941971290625, + -0.0023475821835500787, + -0.7142060778834409, + -0.6386651562384527, + 0.28638522399255406, + -0.21511239566159243, + -0.18907317339089755, + -0.9581116805136165 + ], + [ + 0.4550548976995177, + -0.8827451439739664, + 0.116987396201737, + -0.8409253756164328, + -0.38280564232622316, + 0.3824975200541419, + -0.2928643930628004, + -0.27243503995189094, + -0.9165203741774476 + ], + [ + 0.25493576486070413, + -0.9473558971401527, + 0.19371257044565807, + -0.9121885101245052, + -0.1691557510976941, + 0.3732270808333853, + -0.3208112806491118, + -0.2718513123462001, + -0.9072910151566175 + ], + [ + 0.033506992384242484, + -0.9532663914511158, + 0.3002673282112631, + -0.9331938413783095, + 0.07771806731175623, + 0.3508691443072758, + -0.3578079594907817, + -0.2919641912000398, + -0.886978227005573 + ], + [ + -0.14196188789287295, + -0.9263194502889293, + 0.34896862094220915, + -0.9173119040172076, + 0.2555966081486342, + 0.305301891005016, + -0.37200227571107214, + -0.27677183729442095, + -0.886008835704506 + ], + [ + -0.17648943028785352, + -0.9200130362463699, + 0.3498964048592165, + -0.9081390180834834, + 0.2893069314464956, + 0.3026301757118408, + -0.37965116203040367, + -0.26434355024049405, + -0.8865593508701015 + ], + [ + -0.20671019549735914, + -0.9112665696233193, + 0.3561799182497398, + -0.8935979974330721, + 0.3240893104537186, + 0.3105619710029484, + -0.39843884607433366, + -0.2540853359337782, + -0.881298546465596 + ], + [ + -0.23444351411652864, + -0.8963705697408372, + 0.37623933923924036, + -0.8818760642637059, + 0.35895929366045065, + 0.3056842043245716, + -0.40906093185178316, + -0.26013078863771105, + -0.8746434283954082 + ], + [ + -0.23553227681518385, + -0.89051339205254, + 0.38924342660260247, + -0.8823549165106607, + 0.36383045486150245, + 0.2984580396383013, + -0.4073994942163297, + -0.2731543495724572, + -0.8714426851043776 + ], + [ + -0.22761651301566715, + -0.8934716562717097, + 0.38716808034970607, + -0.8888073924985337, + 0.3530464132165168, + 0.29219796227028993, + -0.3977588993882424, + -0.27760877067203815, + -0.8744834065912364 + ], + [ + -0.21137906844374793, + -0.8976936742072239, + 0.3866069796475331, + -0.9119778840929325, + 0.32342929799786807, + 0.25236843725391717, + -0.35158957372088184, + -0.29923161010317917, + -0.887042961285319 + ], + [ + -0.1921269787567485, + -0.9016601769758769, + 0.3874224429348848, + -0.9341349810767282, + 0.28902770361514557, + 0.209415433222425, + -0.3007973755912512, + -0.3216705019096184, + -0.8978023318295791 + ], + [ + -0.14488810945541902, + -0.9214695813481224, + 0.3604181549097531, + -0.9561365466266694, + 0.22411329258034324, + 0.18861637334448061, + -0.2545787499836966, + -0.317280700230748, + -0.9135220945975115 + ], + [ + -0.02825583404415355, + -0.9411191993081731, + 0.3368920606604033, + -0.9772261796896533, + 0.09691589485657481, + 0.18877580102681418, + -0.21031072624009278, + -0.3238857237015749, + -0.9224247592138193 + ], + [ + -0.0063832102935196255, + -0.9440417469022095, + 0.32976421081156326, + -0.9803927938864887, + 0.07085774663468075, + 0.1838726446138748, + -0.1969498015276827, + -0.32212475820352554, + -0.9259840256886328 + ], + [ + 0.04018603208015403, + -0.9691170168495878, + 0.24330493311523385, + -0.9835293797969281, + 0.0045801445458295564, + 0.18069029125055172, + -0.17622440779279905, + -0.24655877580912608, + -0.9529710006970739 + ], + [ + 0.13608499149010228, + -0.9715331292067706, + 0.19391816300913917, + -0.9734534951797582, + -0.09476848490186679, + 0.20834401117314838, + -0.1840357786232099, + -0.2171228065475963, + -0.9586388887706591 + ], + [ + 0.3924515953312528, + -0.8925999303965938, + 0.2219168979098945, + -0.9139729786727396, + -0.3514038279218324, + 0.20290082300957546, + -0.10312681308968323, + -0.2824547998846526, + -0.9537212100210871 + ], + [ + 0.5805901758482883, + -0.7708425888854326, + 0.26213880076947316, + -0.8136649629934204, + -0.5609429543500513, + 0.15261824911180205, + 0.02940026709690441, + -0.301901813716712, + -0.9528855750661726 + ], + [ + 0.6965767746854483, + -0.6710787597452693, + 0.25383871885031545, + -0.7080920682488202, + -0.7000499642008242, + 0.09238869251988074, + 0.11569969685321778, + -0.24409700088525477, + -0.9628240931275545 + ], + [ + 0.8332651466502023, + -0.46287377666624524, + 0.30235254629776764, + -0.5104107565254622, + -0.8542214871289407, + 0.09892679389491105, + 0.2124854230320803, + -0.23675624131572082, + -0.9480487472682668 + ], + [ + 0.9086473220457899, + -0.28462624878397624, + 0.3055289554889627, + -0.3281788237250819, + -0.9391930071283315, + 0.10107005006263403, + 0.2581834692567208, + -0.19210516355476703, + -0.9468035183384989 + ], + [ + 0.9355723436490412, + -0.2105133542751782, + 0.283528688973186, + -0.2494373019523669, + -0.9622812790549838, + 0.1086083439475441, + 0.24997084268723038, + -0.17233359409040833, + -0.9527936346104114 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005784.json b/json/chunk-0005/episode_0005784.json new file mode 100644 index 0000000000000000000000000000000000000000..90d8c328a45e1cd4fe14c8bbc86a2a8aaa93b76c --- /dev/null +++ b/json/chunk-0005/episode_0005784.json @@ -0,0 +1,1582 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 25, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut the spoon between the cloth and the mushroom." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005784.mp4", + "start": 0, + "end": 25, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.25559478998184204, + -0.07429737597703934, + 0.07529490441083908, + 0.10669554024934769, + -0.11077605932950974, + -0.11370217055082321, + 0.0, + 1.0014774799346924 + ], + [ + 0.2545481026172638, + -0.07473598420619965, + 0.06990563124418259, + 0.10669377446174622, + -0.09000436216592789, + -0.11196465790271759, + 0.0, + 1.0014774799346924 + ], + [ + 0.2629474401473999, + -0.03394971787929535, + 0.07097737491130829, + 0.0916406661272049, + -0.08091084659099579, + 0.010935451835393906, + 0.0, + 1.0014774799346924 + ], + [ + 0.2710524797439575, + -0.0005822995444759727, + 0.08714991062879562, + 0.0779675766825676, + -0.12123472988605499, + 0.09994928538799286, + 0.0, + 1.0008161067962646 + ], + [ + 0.27135658264160156, + 0.05471924692392349, + 0.09312639385461807, + 0.07323958724737167, + -0.13424710929393768, + 0.2602866291999817, + 0.0, + 1.0014774799346924 + ], + [ + 0.2680375576019287, + 0.09715887159109116, + 0.08178450912237167, + 0.11769092828035355, + -0.12943527102470398, + 0.3044556975364685, + 0.0, + 1.0008161067962646 + ], + [ + 0.2716532349586487, + 0.14809302985668182, + 0.06040060147643089, + 0.13662371039390564, + -0.08275546133518219, + 0.32770687341690063, + 0.0, + 1.0008161067962646 + ], + [ + 0.2790988087654114, + 0.17528626322746277, + 0.04252123832702637, + 0.13912178575992584, + -0.0452968031167984, + 0.3313503563404083, + 0.0, + 1.0008161067962646 + ], + [ + 0.2828925549983978, + 0.19031785428524017, + 0.03007727675139904, + 0.14525702595710754, + -0.0028949619736522436, + 0.3468237817287445, + 0.0, + 1.0008161067962646 + ], + [ + 0.28250783681869507, + 0.1930750161409378, + 0.01212299894541502, + 0.14345167577266693, + 0.06448091566562653, + 0.3624001741409302, + 0.0, + 1.0008161067962646 + ], + [ + 0.2887115180492401, + 0.19823522865772247, + 0.009516553953289986, + 0.1510646790266037, + 0.07194176316261292, + 0.36892467737197876, + 0.0, + 0.9476637244224548 + ], + [ + 0.28787705302238464, + 0.20576150715351105, + 0.005389089230448008, + 0.1471772938966751, + 0.07756361365318298, + 0.4132746160030365, + 0.0, + 0.7730204463005066 + ], + [ + 0.2855113744735718, + 0.20500077307224274, + 0.00427663279697299, + 0.15665005147457123, + 0.06950761377811432, + 0.4337224066257477, + 0.0, + 0.49277758598327637 + ], + [ + 0.2823581397533417, + 0.20043499767780304, + 0.006667133886367083, + 0.17901121079921722, + 0.05715518444776535, + 0.45107129216194153, + 0.0, + 0.3814634680747986 + ], + [ + 0.26567232608795166, + 0.18905900418758392, + 0.009931870736181736, + 0.17801080644130707, + 0.06643477827310562, + 0.479942262172699, + 0.0, + 0.3806030750274658 + ], + [ + 0.26217836141586304, + 0.1738136261701584, + 0.030696237459778786, + 0.1724831610918045, + 0.01531145442277193, + 0.4526500403881073, + 0.0, + 0.3806030750274658 + ], + [ + 0.2820163071155548, + 0.13411560654640198, + 0.06749310344457626, + 0.14183282852172852, + -0.05606897175312042, + 0.30196934938430786, + 0.0, + 0.3806030750274658 + ], + [ + 0.30765268206596375, + 0.09308463335037231, + 0.07819011807441711, + 0.13151313364505768, + -0.10386364907026291, + 0.13057178258895874, + 0.0, + 0.3806030750274658 + ], + [ + 0.3413771688938141, + 0.07384860515594482, + 0.0712113305926323, + 0.13187122344970703, + -0.10015184432268143, + 0.0045091016218066216, + 0.0, + 0.3806030750274658 + ], + [ + 0.3724353611469269, + 0.07333797216415405, + 0.0398198701441288, + 0.09399660676717758, + -0.05314246565103531, + -0.061939455568790436, + 0.0, + 0.3806030750274658 + ], + [ + 0.3891010582447052, + 0.09332826733589172, + 0.023899972438812256, + 0.0881567895412445, + -0.02564885839819908, + -0.04149986431002617, + 0.0, + 0.3806030750274658 + ], + [ + 0.3958396911621094, + 0.09599354863166809, + 0.01502777449786663, + 0.0782945528626442, + -0.0011432532919570804, + -0.0544244609773159, + 0.0, + 0.44944798946380615 + ], + [ + 0.39588800072669983, + 0.08334621787071228, + 0.012447931803762913, + 0.08740133047103882, + 0.011727815493941307, + -0.10555221885442734, + 0.0, + 0.7604051232337952 + ], + [ + 0.38846418261528015, + 0.07774034887552261, + 0.022679977118968964, + 0.09752336889505386, + -0.010306990705430508, + -0.11100924015045166, + 0.0, + 0.9927561283111572 + ], + [ + 0.38858845829963684, + 0.08023133873939514, + 0.06204800680279732, + 0.12402570247650146, + -0.11281324923038483, + -0.09109900891780853, + 0.0, + 1.0027955770492554 + ] + ], + "left_gripper_pos": [ + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9476637244224548 + ], + [ + 0.7730204463005066 + ], + [ + 0.49277758598327637 + ], + [ + 0.3814634680747986 + ], + [ + 0.3806030750274658 + ], + [ + 0.3806030750274658 + ], + [ + 0.3806030750274658 + ], + [ + 0.3806030750274658 + ], + [ + 0.3806030750274658 + ], + [ + 0.3806030750274658 + ], + [ + 0.3806030750274658 + ], + [ + 0.44944798946380615 + ], + [ + 0.7604051232337952 + ], + [ + 0.9927561283111572 + ], + [ + 1.0027955770492554 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.25559478998184204, + -0.07429737597703934, + 0.07529490441083908 + ], + [ + 0.2545481026172638, + -0.07473598420619965, + 0.06990563124418259 + ], + [ + 0.2629474401473999, + -0.03394971787929535, + 0.07097737491130829 + ], + [ + 0.2710524797439575, + -0.0005822995444759727, + 0.08714991062879562 + ], + [ + 0.27135658264160156, + 0.05471924692392349, + 0.09312639385461807 + ], + [ + 0.2680375576019287, + 0.09715887159109116, + 0.08178450912237167 + ], + [ + 0.2716532349586487, + 0.14809302985668182, + 0.06040060147643089 + ], + [ + 0.2790988087654114, + 0.17528626322746277, + 0.04252123832702637 + ], + [ + 0.2828925549983978, + 0.19031785428524017, + 0.03007727675139904 + ], + [ + 0.28250783681869507, + 0.1930750161409378, + 0.01212299894541502 + ], + [ + 0.2887115180492401, + 0.19823522865772247, + 0.009516553953289986 + ], + [ + 0.28787705302238464, + 0.20576150715351105, + 0.005389089230448008 + ], + [ + 0.2855113744735718, + 0.20500077307224274, + 0.00427663279697299 + ], + [ + 0.2823581397533417, + 0.20043499767780304, + 0.006667133886367083 + ], + [ + 0.26567232608795166, + 0.18905900418758392, + 0.009931870736181736 + ], + [ + 0.26217836141586304, + 0.1738136261701584, + 0.030696237459778786 + ], + [ + 0.2820163071155548, + 0.13411560654640198, + 0.06749310344457626 + ], + [ + 0.30765268206596375, + 0.09308463335037231, + 0.07819011807441711 + ], + [ + 0.3413771688938141, + 0.07384860515594482, + 0.0712113305926323 + ], + [ + 0.3724353611469269, + 0.07333797216415405, + 0.0398198701441288 + ], + [ + 0.3891010582447052, + 0.09332826733589172, + 0.023899972438812256 + ], + [ + 0.3958396911621094, + 0.09599354863166809, + 0.01502777449786663 + ], + [ + 0.39588800072669983, + 0.08334621787071228, + 0.012447931803762913 + ], + [ + 0.38846418261528015, + 0.07774034887552261, + 0.022679977118968964 + ], + [ + 0.38858845829963684, + 0.08023133873939514, + 0.06204800680279732 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9874530517727976, + -0.10111538357181911, + 0.12129365090437466, + -0.11276191019646505, + -0.9892287257783953, + 0.0933342365035278, + 0.11054963660470699, + -0.10584048044097306, + -0.9882188879729991 + ], + [ + 0.9897161883562033, + -0.10158369947634432, + 0.10071056799744549, + -0.11127862294395408, + -0.9891571860668998, + 0.09583908037909035, + 0.08988289370823363, + -0.10606042265101627, + -0.9902889740705599 + ], + [ + 0.9966689069421132, + 0.01828518054590557, + 0.07947793471911932, + 0.010899459298532335, + -0.9956635113884256, + 0.09238708717493904, + 0.08082259412944251, + -0.0912130706756098, + -0.992546162158775 + ], + [ + 0.9877059258058688, + 0.1088524996493616, + 0.11219686915443393, + 0.09905055504753181, + -0.9910465320716374, + 0.08953077020531439, + 0.12093796621717808, + -0.07731691010941055, + -0.9896444329850929 + ], + [ + 0.9576217072865132, + 0.2661316462863515, + 0.11015721755100648, + 0.2550419321452267, + -0.9612051887999545, + 0.10506282821090007, + 0.13384423252905983, + -0.072515735319721, + -0.988345683225129 + ], + [ + 0.9460299120810978, + 0.3121590385186994, + 0.08708696870893748, + 0.29726632355674576, + -0.9428674945360092, + 0.15044474276771747, + 0.12907415824589547, + -0.11643720375579991, + -0.9847752227054881 + ], + [ + 0.943542771496929, + 0.32953262792137306, + 0.03369399785017701, + 0.32077124487236086, + -0.9343365620262891, + 0.15530936006541932, + 0.08266103567539995, + -0.1357329584004123, + -0.9872911005295966 + ], + [ + 0.9446339782011558, + 0.32811478127404176, + -0.0027087889076137205, + 0.32498653782323256, + -0.9344248484427269, + 0.14571874569339177, + 0.04528131470625467, + -0.1385311983716106, + -0.9893223486893433 + ], + [ + 0.9404531500441997, + 0.3367268072973745, + -0.046507309310026335, + 0.3399110056919683, + -0.930410452515283, + 0.1371017799292944, + 0.002894957929968727, + -0.14474614709077005, + -0.9894645886139435 + ], + [ + 0.9331054154639985, + 0.3422645669232946, + -0.11031432300734349, + 0.353782778488174, + -0.9287099710894321, + 0.11106545477444285, + -0.0644362419523868, + -0.1426630850215843, + -0.9876716128831373 + ], + [ + 0.9303030109560084, + 0.34641639764365945, + -0.12054869244323971, + 0.35967987622959313, + -0.925994179103869, + 0.11473956118626283, + -0.07187972204766313, + -0.15010149802497524, + -0.9860541799764396 + ], + [ + 0.9130571856961934, + 0.3868621905968979, + -0.12908997302314365, + 0.40040294249095515, + -0.9104732610295312, + 0.1035177501438074, + -0.07748586511830015, + -0.14620563066045128, + -0.9862149128207542 + ], + [ + 0.9052165923498172, + 0.4052737456881211, + -0.1278128005737496, + 0.41923667309135865, + -0.9008503884419492, + 0.11273504148790009, + -0.06945165851060872, + -0.15563344338512025, + -0.9853703356759916 + ], + [ + 0.8985110205648343, + 0.41980987557332083, + -0.1282092597851355, + 0.435218090625633, + -0.8900331149470788, + 0.13574338985666248, + -0.057124071245997145, + -0.17776592099925245, + -0.9824134149204038 + ], + [ + 0.8850648330199283, + 0.4440046504585546, + -0.1397143933980442, + 0.46070939972619934, + -0.8784324112318014, + 0.12689896729843272, + -0.06638591985754025, + -0.1766815476179117, + -0.9820267513545688 + ], + [ + 0.8991858525306583, + 0.4284975086424453, + -0.0886266759837627, + 0.4372989598574458, + -0.8870965061738975, + 0.147747786588024, + -0.01531085615859798, + -0.17160907266599246, + -0.9850461430117926 + ], + [ + 0.9532523054392967, + 0.3019778936490853, + 0.010926752579243179, + 0.2969336719638, + -0.9428096750457604, + 0.15146059254539626, + 0.05603959875624279, + -0.14113563826110628, + -0.9884029011409619 + ], + [ + 0.9861445005590473, + 0.1425566283751689, + 0.08483296366066051, + 0.12949942799851924, + -0.9811555576706478, + 0.14340038284487422, + 0.10367700885540285, + -0.13042767865105998, + -0.9860221592218363 + ], + [ + 0.9949788796300911, + 0.017616699846526744, + 0.09852248969938898, + 0.004486491286287704, + -0.9912482252340667, + 0.13193493610962614, + 0.0999845012288749, + -0.13083045462288379, + -0.9863500857490625 + ], + [ + 0.9966733437629437, + -0.05665065436902897, + 0.05859137472319586, + -0.06181247228853645, + -0.9939850034955823, + 0.09040481787751285, + 0.053117455718172814, + -0.09372574985268549, + -0.9941800740874763 + ], + [ + 0.9988103734690509, + -0.039070841593805736, + 0.029177168947088154, + -0.041474307257436296, + -0.9953527314244063, + 0.08690697258269571, + 0.02564604624753984, + -0.08801368861220053, + -0.9957890694965192 + ], + [ + 0.9985187020068067, + -0.05414166606148182, + 0.005392748717400283, + -0.05439756166522452, + -0.9954653015224318, + 0.07803677818652029, + 0.0011432530429130697, + -0.07821453484449715, + -0.9969358953872305 + ], + [ + 0.9943661473210198, + -0.10597217967368214, + -0.0024211974643431585, + -0.10534908500542062, + -0.9905308597552622, + 0.08803514162550297, + -0.01172754665192894, + -0.08728409366952569, + -0.9961144269820696 + ], + [ + 0.993792009486532, + -0.10925760736208211, + 0.020981351582624118, + -0.11077550083460293, + -0.9892335864191225, + 0.0956331528038433, + 0.010306808214159476, + -0.09736368282821609, + -0.9951954998745538 + ], + [ + 0.9895230444692797, + -0.07640569329146027, + 0.12250026325236597, + -0.0903947700661519, + -0.9894707920486553, + 0.11303246094504948, + 0.11257410896354093, + -0.12292160800794102, + -0.9860108256382415 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.001046687364578247, + -0.00043860822916030884, + -0.005389273166656494, + -1.7657876014709473e-06, + 0.020771697163581848, + 0.0017375126481056213, + 1.0 + ], + [ + 0.008399337530136108, + 0.0407862663269043, + 0.001071743667125702, + -0.01505310833454132, + 0.009093515574932098, + 0.1229001134634018, + 1.0 + ], + [ + 0.008105039596557617, + 0.03336741775274277, + 0.016172535717487335, + -0.013673089444637299, + -0.040323883295059204, + 0.08901382982730865, + 1.0 + ], + [ + 0.00030410289764404297, + 0.055301547050476074, + 0.005976483225822449, + -0.004727989435195923, + -0.01301237940788269, + 0.16033734381198883, + 1.0 + ], + [ + -0.0033190250396728516, + 0.042439624667167664, + -0.011341884732246399, + 0.04445134103298187, + 0.004811838269233704, + 0.044169068336486816, + 1.0 + ], + [ + 0.0036156773567199707, + 0.05093415826559067, + -0.02138390764594078, + 0.018932782113552094, + 0.04667980968952179, + 0.02325117588043213, + 1.0 + ], + [ + 0.007445573806762695, + 0.027193233370780945, + -0.017879363149404526, + 0.0024980753660202026, + 0.03745865821838379, + 0.0036434829235076904, + 1.0 + ], + [ + 0.00379374623298645, + 0.015031591057777405, + -0.012443961575627327, + 0.006135240197181702, + 0.04240184277296066, + 0.015473425388336182, + 1.0 + ], + [ + -0.0003847181797027588, + 0.002757161855697632, + -0.017954278737306595, + -0.0018053501844406128, + 0.06737587600946426, + 0.015576392412185669, + 1.0 + ], + [ + 0.006203681230545044, + 0.005160212516784668, + -0.0026064449921250343, + 0.007613003253936768, + 0.007460847496986389, + 0.006524503231048584, + 0.0 + ], + [ + -0.0008344650268554688, + 0.007526278495788574, + -0.004127464722841978, + -0.003887385129928589, + 0.005621850490570068, + 0.04434993863105774, + 0.0 + ], + [ + -0.002365678548812866, + -0.0007607340812683105, + -0.0011124564334750175, + 0.009472757577896118, + -0.008055999875068665, + 0.02044779062271118, + 0.0 + ], + [ + -0.0031532347202301025, + -0.004565775394439697, + 0.0023905010893940926, + 0.022361159324645996, + -0.012352429330348969, + 0.017348885536193848, + 0.0 + ], + [ + -0.016685813665390015, + -0.011375993490219116, + 0.0032647368498146534, + -0.0010004043579101562, + 0.009279593825340271, + 0.028870970010757446, + 0.0 + ], + [ + -0.003493964672088623, + -0.015245378017425537, + 0.020764365792274475, + -0.0055276453495025635, + -0.051123324781656265, + -0.027292221784591675, + 0.0 + ], + [ + 0.019837945699691772, + -0.03969801962375641, + 0.03679686784744263, + -0.03065033257007599, + -0.07138042896986008, + -0.15068069100379944, + 0.0 + ], + [ + 0.025636374950408936, + -0.04103097319602966, + 0.01069701462984085, + -0.010319694876670837, + -0.04779467731714249, + -0.17139756679534912, + 0.0 + ], + [ + 0.03372448682785034, + -0.01923602819442749, + -0.0069787874817848206, + 0.00035808980464935303, + 0.003711804747581482, + -0.12606267631053925, + 0.0 + ], + [ + 0.031058192253112793, + -0.0005106329917907715, + -0.031391460448503494, + -0.03787461668252945, + 0.04700937867164612, + -0.06644855439662933, + 0.0 + ], + [ + 0.01666569709777832, + 0.01999029517173767, + -0.015919897705316544, + -0.005839817225933075, + 0.027493607252836227, + 0.020439591258764267, + 0.0 + ], + [ + 0.006738632917404175, + 0.002665281295776367, + -0.008872197940945625, + -0.009862236678600311, + 0.024505605921149254, + -0.012924596667289734, + 1.0 + ], + [ + 4.83095645904541e-05, + -0.01264733076095581, + -0.002579842694103718, + 0.009106777608394623, + 0.01287106890231371, + -0.051127757877111435, + 1.0 + ], + [ + -0.007423818111419678, + -0.005605868995189667, + 0.010232045315206051, + 0.010122038424015045, + -0.02203480526804924, + -0.0054570212960243225, + 1.0 + ], + [ + 0.00012427568435668945, + 0.002490989863872528, + 0.039368029683828354, + 0.0265023335814476, + -0.10250625759363174, + 0.019910231232643127, + 1.0 + ], + [ + -0.008727282285690308, + 0.00662849098443985, + 0.0018964298069477081, + -0.004295274615287781, + -0.010115660727024078, + 0.05106610432267189, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9476637244224548 + ], + [ + 0.7730204463005066 + ], + [ + 0.49277758598327637 + ], + [ + 0.3814634680747986 + ], + [ + 0.3806030750274658 + ], + [ + 0.3806030750274658 + ], + [ + 0.3806030750274658 + ], + [ + 0.3806030750274658 + ], + [ + 0.3806030750274658 + ], + [ + 0.3806030750274658 + ], + [ + 0.3806030750274658 + ], + [ + 0.44944798946380615 + ], + [ + 0.7604051232337952 + ], + [ + 0.9927561283111572 + ], + [ + 1.0027955770492554 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2545481026172638, + -0.07473598420619965, + 0.06990563124418259 + ], + [ + 0.2629474401473999, + -0.03394971787929535, + 0.07097737491130829 + ], + [ + 0.2710524797439575, + -0.0005822995444759727, + 0.08714991062879562 + ], + [ + 0.27135658264160156, + 0.05471924692392349, + 0.09312639385461807 + ], + [ + 0.2680375576019287, + 0.09715887159109116, + 0.08178450912237167 + ], + [ + 0.2716532349586487, + 0.14809302985668182, + 0.06040060147643089 + ], + [ + 0.2790988087654114, + 0.17528626322746277, + 0.04252123832702637 + ], + [ + 0.2828925549983978, + 0.19031785428524017, + 0.03007727675139904 + ], + [ + 0.28250783681869507, + 0.1930750161409378, + 0.01212299894541502 + ], + [ + 0.2887115180492401, + 0.19823522865772247, + 0.009516553953289986 + ], + [ + 0.28787705302238464, + 0.20576150715351105, + 0.005389089230448008 + ], + [ + 0.2855113744735718, + 0.20500077307224274, + 0.00427663279697299 + ], + [ + 0.2823581397533417, + 0.20043499767780304, + 0.006667133886367083 + ], + [ + 0.26567232608795166, + 0.18905900418758392, + 0.009931870736181736 + ], + [ + 0.26217836141586304, + 0.1738136261701584, + 0.030696237459778786 + ], + [ + 0.2820163071155548, + 0.13411560654640198, + 0.06749310344457626 + ], + [ + 0.30765268206596375, + 0.09308463335037231, + 0.07819011807441711 + ], + [ + 0.3413771688938141, + 0.07384860515594482, + 0.0712113305926323 + ], + [ + 0.3724353611469269, + 0.07333797216415405, + 0.0398198701441288 + ], + [ + 0.3891010582447052, + 0.09332826733589172, + 0.023899972438812256 + ], + [ + 0.3958396911621094, + 0.09599354863166809, + 0.01502777449786663 + ], + [ + 0.39588800072669983, + 0.08334621787071228, + 0.012447931803762913 + ], + [ + 0.38846418261528015, + 0.07774034887552261, + 0.022679977118968964 + ], + [ + 0.38858845829963684, + 0.08023133873939514, + 0.06204800680279732 + ], + [ + 0.37986117601394653, + 0.08685982972383499, + 0.06394443660974503 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9897161883562033, + -0.10158369947634432, + 0.10071056799744549, + -0.11127862294395408, + -0.9891571860668998, + 0.09583908037909035, + 0.08988289370823363, + -0.10606042265101627, + -0.9902889740705599 + ], + [ + 0.9966689069421132, + 0.01828518054590557, + 0.07947793471911932, + 0.010899459298532335, + -0.9956635113884256, + 0.09238708717493904, + 0.08082259412944251, + -0.0912130706756098, + -0.992546162158775 + ], + [ + 0.9877059258058688, + 0.1088524996493616, + 0.11219686915443393, + 0.09905055504753181, + -0.9910465320716374, + 0.08953077020531439, + 0.12093796621717808, + -0.07731691010941055, + -0.9896444329850929 + ], + [ + 0.9576217072865132, + 0.2661316462863515, + 0.11015721755100648, + 0.2550419321452267, + -0.9612051887999545, + 0.10506282821090007, + 0.13384423252905983, + -0.072515735319721, + -0.988345683225129 + ], + [ + 0.9460299120810978, + 0.3121590385186994, + 0.08708696870893748, + 0.29726632355674576, + -0.9428674945360092, + 0.15044474276771747, + 0.12907415824589547, + -0.11643720375579991, + -0.9847752227054881 + ], + [ + 0.943542771496929, + 0.32953262792137306, + 0.03369399785017701, + 0.32077124487236086, + -0.9343365620262891, + 0.15530936006541932, + 0.08266103567539995, + -0.1357329584004123, + -0.9872911005295966 + ], + [ + 0.9446339782011558, + 0.32811478127404176, + -0.0027087889076137205, + 0.32498653782323256, + -0.9344248484427269, + 0.14571874569339177, + 0.04528131470625467, + -0.1385311983716106, + -0.9893223486893433 + ], + [ + 0.9404531500441997, + 0.3367268072973745, + -0.046507309310026335, + 0.3399110056919683, + -0.930410452515283, + 0.1371017799292944, + 0.002894957929968727, + -0.14474614709077005, + -0.9894645886139435 + ], + [ + 0.9331054154639985, + 0.3422645669232946, + -0.11031432300734349, + 0.353782778488174, + -0.9287099710894321, + 0.11106545477444285, + -0.0644362419523868, + -0.1426630850215843, + -0.9876716128831373 + ], + [ + 0.9303030109560084, + 0.34641639764365945, + -0.12054869244323971, + 0.35967987622959313, + -0.925994179103869, + 0.11473956118626283, + -0.07187972204766313, + -0.15010149802497524, + -0.9860541799764396 + ], + [ + 0.9130571856961934, + 0.3868621905968979, + -0.12908997302314365, + 0.40040294249095515, + -0.9104732610295312, + 0.1035177501438074, + -0.07748586511830015, + -0.14620563066045128, + -0.9862149128207542 + ], + [ + 0.9052165923498172, + 0.4052737456881211, + -0.1278128005737496, + 0.41923667309135865, + -0.9008503884419492, + 0.11273504148790009, + -0.06945165851060872, + -0.15563344338512025, + -0.9853703356759916 + ], + [ + 0.8985110205648343, + 0.41980987557332083, + -0.1282092597851355, + 0.435218090625633, + -0.8900331149470788, + 0.13574338985666248, + -0.057124071245997145, + -0.17776592099925245, + -0.9824134149204038 + ], + [ + 0.8850648330199283, + 0.4440046504585546, + -0.1397143933980442, + 0.46070939972619934, + -0.8784324112318014, + 0.12689896729843272, + -0.06638591985754025, + -0.1766815476179117, + -0.9820267513545688 + ], + [ + 0.8991858525306583, + 0.4284975086424453, + -0.0886266759837627, + 0.4372989598574458, + -0.8870965061738975, + 0.147747786588024, + -0.01531085615859798, + -0.17160907266599246, + -0.9850461430117926 + ], + [ + 0.9532523054392967, + 0.3019778936490853, + 0.010926752579243179, + 0.2969336719638, + -0.9428096750457604, + 0.15146059254539626, + 0.05603959875624279, + -0.14113563826110628, + -0.9884029011409619 + ], + [ + 0.9861445005590473, + 0.1425566283751689, + 0.08483296366066051, + 0.12949942799851924, + -0.9811555576706478, + 0.14340038284487422, + 0.10367700885540285, + -0.13042767865105998, + -0.9860221592218363 + ], + [ + 0.9949788796300911, + 0.017616699846526744, + 0.09852248969938898, + 0.004486491286287704, + -0.9912482252340667, + 0.13193493610962614, + 0.0999845012288749, + -0.13083045462288379, + -0.9863500857490625 + ], + [ + 0.9966733437629437, + -0.05665065436902897, + 0.05859137472319586, + -0.06181247228853645, + -0.9939850034955823, + 0.09040481787751285, + 0.053117455718172814, + -0.09372574985268549, + -0.9941800740874763 + ], + [ + 0.9988103734690509, + -0.039070841593805736, + 0.029177168947088154, + -0.041474307257436296, + -0.9953527314244063, + 0.08690697258269571, + 0.02564604624753984, + -0.08801368861220053, + -0.9957890694965192 + ], + [ + 0.9985187020068067, + -0.05414166606148182, + 0.005392748717400283, + -0.05439756166522452, + -0.9954653015224318, + 0.07803677818652029, + 0.0011432530429130697, + -0.07821453484449715, + -0.9969358953872305 + ], + [ + 0.9943661473210198, + -0.10597217967368214, + -0.0024211974643431585, + -0.10534908500542062, + -0.9905308597552622, + 0.08803514162550297, + -0.01172754665192894, + -0.08728409366952569, + -0.9961144269820696 + ], + [ + 0.993792009486532, + -0.10925760736208211, + 0.020981351582624118, + -0.11077550083460293, + -0.9892335864191225, + 0.0956331528038433, + 0.010306808214159476, + -0.09736368282821609, + -0.9951954998745538 + ], + [ + 0.9895230444692797, + -0.07640569329146027, + 0.12250026325236597, + -0.0903947700661519, + -0.9894707920486553, + 0.11303246094504948, + 0.11257410896354093, + -0.12292160800794102, + -0.9860108256382415 + ], + [ + 0.9916585880857651, + -0.02510118519332017, + 0.12642458296406314, + -0.03972019488620627, + -0.9926315719463292, + 0.11447649755980871, + 0.12261953675474571, + -0.11854321101290338, + -0.985348647093404 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005785.json b/json/chunk-0005/episode_0005785.json new file mode 100644 index 0000000000000000000000000000000000000000..48148fd99e25be7560377297b7c224e08781723a --- /dev/null +++ b/json/chunk-0005/episode_0005785.json @@ -0,0 +1,2182 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 35, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nTake cucumber out of cup." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005785.mp4", + "start": 0, + "end": 35, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.33153098821640015, + 0.17824284732341766, + 0.07248879224061966, + 0.08659105747938156, + -0.202323779463768, + 0.200824573636055, + 0.0, + 0.9954678416252136 + ], + [ + 0.326911985874176, + 0.1762908697128296, + 0.060685887932777405, + 0.07136644423007965, + -0.16226406395435333, + 0.21813204884529114, + 0.0, + 0.9954678416252136 + ], + [ + 0.317555695772171, + 0.17002879083156586, + 0.06101474165916443, + 0.01649845764040947, + -0.10468858480453491, + 0.3810341954231262, + 0.0, + 0.9954678416252136 + ], + [ + 0.31380096077919006, + 0.17179985344409943, + 0.07843555510044098, + 0.05929895117878914, + -0.10925871133804321, + 0.4871930480003357, + 0.0, + 0.9954678416252136 + ], + [ + 0.3268257975578308, + 0.17117656767368317, + 0.09520593285560608, + 0.12475048750638962, + -0.19492186605930328, + 0.7359586954116821, + 0.0, + 0.9954678416252136 + ], + [ + 0.34687355160713196, + 0.1595584601163864, + 0.09798771888017654, + 0.1350795328617096, + -0.2550716698169708, + 0.9713643193244934, + 0.0, + 0.9954678416252136 + ], + [ + 0.3617528975009918, + 0.14997225999832153, + 0.09078589826822281, + 0.08512373268604279, + -0.2522645890712738, + 1.2234456539154053, + 0.0, + 0.9954678416252136 + ], + [ + 0.37266668677330017, + 0.14861172437667847, + 0.08444363623857498, + 0.0456799753010273, + -0.24616074562072754, + 1.4486085176467896, + 0.0, + 0.9954678416252136 + ], + [ + 0.38522014021873474, + 0.15348537266254425, + 0.07418610900640488, + 0.016896354034543037, + -0.20588120818138123, + 1.5111331939697266, + 0.0, + 0.9954678416252136 + ], + [ + 0.39304134249687195, + 0.15486083924770355, + 0.07252658903598785, + -0.04292549937963486, + -0.20733171701431274, + 1.528015375137329, + 0.0, + 0.9954678416252136 + ], + [ + 0.3967254161834717, + 0.15389908850193024, + 0.07061532139778137, + -0.06329437345266342, + -0.21174556016921997, + 1.543867588043213, + 0.0, + 0.9954678416252136 + ], + [ + 0.3964191675186157, + 0.15227900445461273, + 0.0673954039812088, + -0.055654026567935944, + -0.199091836810112, + 1.5435305833816528, + 0.0, + 0.9954678416252136 + ], + [ + 0.3951592445373535, + 0.15128019452095032, + 0.06549474596977234, + -0.04791394993662834, + -0.19156800210475922, + 1.5505815744400024, + 0.0, + 0.9954678416252136 + ], + [ + 0.3940887451171875, + 0.14902864396572113, + 0.05782286822795868, + -0.03509809821844101, + -0.1764208972454071, + 1.5329662561416626, + 0.0, + 0.9954678416252136 + ], + [ + 0.3946068286895752, + 0.14484111964702606, + 0.05143135040998459, + -0.02934364415705204, + -0.1471683233976364, + 1.5208061933517456, + 0.0, + 0.9461179971694946 + ], + [ + 0.3942634165287018, + 0.14493952691555023, + 0.050002820789813995, + -0.027209462597966194, + -0.13972975313663483, + 1.5141664743423462, + 0.0, + 0.6651484370231628 + ], + [ + 0.39323216676712036, + 0.14445455372333527, + 0.050538718700408936, + -0.022707989439368248, + -0.13643820583820343, + 1.5211188793182373, + 0.0, + 0.4112652540206909 + ], + [ + 0.3908371329307556, + 0.14339609444141388, + 0.04903385415673256, + -0.020789019763469696, + -0.13360030949115753, + 1.5235202312469482, + 0.0, + 0.39711064100265503 + ], + [ + 0.3838842511177063, + 0.14149315655231476, + 0.05295531079173088, + -0.010875167325139046, + -0.1315145343542099, + 1.5286586284637451, + 0.0, + 0.41932523250579834 + ], + [ + 0.38027721643447876, + 0.14566822350025177, + 0.06689760088920593, + -0.025428829714655876, + -0.13000930845737457, + 1.5300520658493042, + 0.0, + 0.41932523250579834 + ], + [ + 0.3773456811904907, + 0.15097711980342865, + 0.08789509534835815, + -0.05742398276925087, + -0.15029123425483704, + 1.5326648950576782, + 0.0, + 0.41932523250579834 + ], + [ + 0.3691335916519165, + 0.1475994884967804, + 0.10791243612766266, + -0.08364195376634598, + -0.17196157574653625, + 1.5161511898040771, + 0.0, + 0.41932523250579834 + ], + [ + 0.35247802734375, + 0.12589924037456512, + 0.11637520045042038, + -0.09479453414678574, + -0.16953721642494202, + 1.4220527410507202, + 0.0, + 0.41932523250579834 + ], + [ + 0.3305149972438812, + 0.09815479815006256, + 0.11742596328258514, + -0.10217049717903137, + -0.1501062661409378, + 1.29718017578125, + 0.0, + 0.41932523250579834 + ], + [ + 0.30730515718460083, + 0.07478611171245575, + 0.10342627018690109, + -0.0683220848441124, + -0.1373235583305359, + 1.1803148984909058, + 0.0, + 0.41932523250579834 + ], + [ + 0.2937869131565094, + 0.04835832864046097, + 0.08294538408517838, + -0.031939830631017685, + -0.14171577990055084, + 1.0597797632217407, + 0.0, + 0.41932523250579834 + ], + [ + 0.2993701100349426, + 0.023495707660913467, + 0.07002674788236618, + -0.04339197278022766, + -0.15978188812732697, + 0.9362351894378662, + 0.0, + 0.41932523250579834 + ], + [ + 0.3101114332675934, + 0.010795491747558117, + 0.050080712884664536, + -0.007486572489142418, + -0.16416645050048828, + 0.8866034150123596, + 0.0, + 0.41932523250579834 + ], + [ + 0.3282560408115387, + 0.010402768850326538, + 0.035846348851919174, + -0.013945926912128925, + -0.1793464869260788, + 0.8775799870491028, + 0.0, + 0.41932523250579834 + ], + [ + 0.34387657046318054, + 0.01068955659866333, + 0.028996946290135384, + -0.0027527986094355583, + -0.21305502951145172, + 0.8781321048736572, + 0.0, + 0.41932523250579834 + ], + [ + 0.34718063473701477, + 0.01448447722941637, + 0.027103014290332794, + -0.028478769585490227, + -0.21031850576400757, + 0.9125173687934875, + 0.0, + 0.4238326847553253 + ], + [ + 0.34547334909439087, + 0.016118481755256653, + 0.025447161868214607, + -0.051430001854896545, + -0.16641952097415924, + 0.9508175253868103, + 0.0, + 0.49086472392082214 + ], + [ + 0.3461017608642578, + 0.019098185002803802, + 0.01796584017574787, + -0.01590375415980816, + -0.1449659764766693, + 0.943867564201355, + 0.0, + 0.7768828272819519 + ], + [ + 0.3445059061050415, + 0.022782867774367332, + 0.017600690945982933, + -0.007399855647236109, + -0.1384824812412262, + 0.9555829167366028, + 0.0, + 0.9893313646316528 + ], + [ + 0.343082457780838, + 0.026650486513972282, + 0.018555888906121254, + -0.00044971576426178217, + -0.13117970526218414, + 0.9636940360069275, + 0.0, + 0.9974852800369263 + ] + ], + "left_gripper_pos": [ + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9461179971694946 + ], + [ + 0.6651484370231628 + ], + [ + 0.4112652540206909 + ], + [ + 0.39711064100265503 + ], + [ + 0.41932523250579834 + ], + [ + 0.41932523250579834 + ], + [ + 0.41932523250579834 + ], + [ + 0.41932523250579834 + ], + [ + 0.41932523250579834 + ], + [ + 0.41932523250579834 + ], + [ + 0.41932523250579834 + ], + [ + 0.41932523250579834 + ], + [ + 0.41932523250579834 + ], + [ + 0.41932523250579834 + ], + [ + 0.41932523250579834 + ], + [ + 0.41932523250579834 + ], + [ + 0.4238326847553253 + ], + [ + 0.49086472392082214 + ], + [ + 0.7768828272819519 + ], + [ + 0.9893313646316528 + ], + [ + 0.9974852800369263 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.33153098821640015, + 0.17824284732341766, + 0.07248879224061966 + ], + [ + 0.326911985874176, + 0.1762908697128296, + 0.060685887932777405 + ], + [ + 0.317555695772171, + 0.17002879083156586, + 0.06101474165916443 + ], + [ + 0.31380096077919006, + 0.17179985344409943, + 0.07843555510044098 + ], + [ + 0.3268257975578308, + 0.17117656767368317, + 0.09520593285560608 + ], + [ + 0.34687355160713196, + 0.1595584601163864, + 0.09798771888017654 + ], + [ + 0.3617528975009918, + 0.14997225999832153, + 0.09078589826822281 + ], + [ + 0.37266668677330017, + 0.14861172437667847, + 0.08444363623857498 + ], + [ + 0.38522014021873474, + 0.15348537266254425, + 0.07418610900640488 + ], + [ + 0.39304134249687195, + 0.15486083924770355, + 0.07252658903598785 + ], + [ + 0.3967254161834717, + 0.15389908850193024, + 0.07061532139778137 + ], + [ + 0.3964191675186157, + 0.15227900445461273, + 0.0673954039812088 + ], + [ + 0.3951592445373535, + 0.15128019452095032, + 0.06549474596977234 + ], + [ + 0.3940887451171875, + 0.14902864396572113, + 0.05782286822795868 + ], + [ + 0.3946068286895752, + 0.14484111964702606, + 0.05143135040998459 + ], + [ + 0.3942634165287018, + 0.14493952691555023, + 0.050002820789813995 + ], + [ + 0.39323216676712036, + 0.14445455372333527, + 0.050538718700408936 + ], + [ + 0.3908371329307556, + 0.14339609444141388, + 0.04903385415673256 + ], + [ + 0.3838842511177063, + 0.14149315655231476, + 0.05295531079173088 + ], + [ + 0.38027721643447876, + 0.14566822350025177, + 0.06689760088920593 + ], + [ + 0.3773456811904907, + 0.15097711980342865, + 0.08789509534835815 + ], + [ + 0.3691335916519165, + 0.1475994884967804, + 0.10791243612766266 + ], + [ + 0.35247802734375, + 0.12589924037456512, + 0.11637520045042038 + ], + [ + 0.3305149972438812, + 0.09815479815006256, + 0.11742596328258514 + ], + [ + 0.30730515718460083, + 0.07478611171245575, + 0.10342627018690109 + ], + [ + 0.2937869131565094, + 0.04835832864046097, + 0.08294538408517838 + ], + [ + 0.2993701100349426, + 0.023495707660913467, + 0.07002674788236618 + ], + [ + 0.3101114332675934, + 0.010795491747558117, + 0.050080712884664536 + ], + [ + 0.3282560408115387, + 0.010402768850326538, + 0.035846348851919174 + ], + [ + 0.34387657046318054, + 0.01068955659866333, + 0.028996946290135384 + ], + [ + 0.34718063473701477, + 0.01448447722941637, + 0.027103014290332794 + ], + [ + 0.34547334909439087, + 0.016118481755256653, + 0.025447161868214607 + ], + [ + 0.3461017608642578, + 0.019098185002803802, + 0.01796584017574787 + ], + [ + 0.3445059061050415, + 0.022782867774367332, + 0.017600690945982933 + ], + [ + 0.343082457780838, + 0.026650486513972282, + 0.018555888906121254 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9599146404706049, + 0.21575917368631498, + 0.17891859037111787, + 0.1954085137535419, + -0.9727644618684707, + 0.12467884535227505, + 0.20094625092999654, + -0.08471883318332035, + -0.9759320281357896 + ], + [ + 0.9634787131943707, + 0.22710214886114496, + 0.14189215342636075, + 0.21356361142866878, + -0.9713252742749311, + 0.10448825497765028, + 0.16155294208049603, + -0.07036920873066745, + -0.984351980425577 + ], + [ + 0.9231983409261112, + 0.37343040659590426, + 0.09085458018665839, + 0.3698447017340371, + -0.9275130883658527, + 0.05416980255917209, + 0.10449746365600197, + -0.016407386740616845, + -0.9943898017124909 + ], + [ + 0.8783813765796986, + 0.473034898631331, + 0.06844079159974689, + 0.4653559033310631, + -0.8790719535336664, + 0.10332658779536731, + 0.10904146235668294, + -0.05891082402538457, + -0.9922900152172076 + ], + [ + 0.7271515120573203, + 0.6839440371356308, + 0.058917167102364054, + 0.6585855361408116, + -0.7192490935673843, + 0.2212370515727778, + 0.19368988125060282, + -0.12207086249024048, + -0.9734387163206609 + ], + [ + 0.5459198823124849, + 0.8373050399586196, + 0.02986221953935804, + 0.7989422656625932, + -0.5309793509419078, + 0.2824042935424893, + 0.2523147602377729, + -0.1303119293587678, + -0.9588305704518136 + ], + [ + 0.3296338787641826, + 0.9440970735589674, + 0.004713986452436578, + 0.9105177583320047, + -0.3192216823061471, + 0.26278304608116243, + 0.24959751147185194, + -0.08233002637572051, + -0.9648434323889197 + ], + [ + 0.11820981711658701, + 0.9928652488156287, + -0.015653652338761453, + 0.9626242274122125, + -0.11071228662996674, + 0.24717885505885206, + 0.2436822437854346, + -0.04428755224037388, + -0.9688434222206662 + ], + [ + 0.0583684768825663, + 0.9982841486999375, + -0.0046775379046893745, + 0.9771394795656724, + -0.05617142194568503, + 0.20504440697255388, + 0.20442983730496833, + -0.016538736682113905, + -0.9787414938626151 + ], + [ + 0.04185197131315871, + 0.997786930303846, + 0.051668696635688405, + 0.9776882922655838, + -0.051553903989988326, + 0.20363643620481467, + 0.20584949760446108, + 0.04199329349097694, + -0.9776822324445565 + ], + [ + 0.026324118274910213, + 0.9972778153986112, + 0.06887669933164599, + 0.9773110865187195, + -0.04016024382621597, + 0.20796681221632188, + 0.21016679320161058, + 0.061839418897595616, + -0.9757078483366624 + ], + [ + 0.02672384075456763, + 0.997780674840315, + 0.06098820583137346, + 0.9798822525650001, + -0.03821759302475497, + 0.19588309445058105, + 0.19777918860048335, + 0.05452651188733483, + -0.9787288960983703 + ], + [ + 0.01984361027189152, + 0.9984639387602693, + 0.05173001185681275, + 0.981506323237285, + -0.02930756598492701, + 0.18917294738218982, + 0.19039844688600507, + 0.04701945949676424, + -0.9805802373350325 + ], + [ + 0.03723399566626262, + 0.9984361652353877, + 0.04169956254901393, + 0.9837737888111393, + -0.04395205146791348, + 0.1739463986978131, + 0.17550715659169402, + 0.03454621718533414, + -0.9838718396535613 + ], + [ + 0.0494291604209805, + 0.998105816153312, + 0.03662700999273777, + 0.9879545311409715, + -0.05424469472854915, + 0.1449253514462869, + 0.14663765716247734, + 0.029022282038765418, + -0.9887644333445464 + ], + [ + 0.05604795100424087, + 0.9978129331633995, + 0.03504251132666352, + 0.9886662532918072, + -0.06036170856096468, + 0.13746091714207734, + 0.13927550678481157, + 0.026940945630290987, + -0.9898871242007239 + ], + [ + 0.049195541582790936, + 0.9983554729315333, + 0.029430398502753592, + 0.9894845320639208, + -0.05272877325456504, + 0.13468495564580646, + 0.13601529139997487, + 0.022495024754902213, + -0.9904513185243669 + ], + [ + 0.04683735452482818, + 0.9985359939657039, + 0.027057918915514602, + 0.9899813953919288, + -0.05001414636503265, + 0.13204325784085352, + 0.13320322443156019, + 0.02060227944427745, + -0.9908745869597901 + ], + [ + 0.04176145384996144, + 0.9989931824031543, + 0.016389096508225655, + 0.9904844252131869, + -0.043547567754588457, + 0.1305534861762131, + 0.13113574791962976, + 0.010781041446813841, + -0.9913057978055418 + ], + [ + 0.04038923021705104, + 0.9987127713410022, + 0.03068404215304043, + 0.9907377584621659, + -0.04401340811849902, + 0.1284582183558449, + 0.1296433725257004, + 0.02521151058881546, + -0.991240120099057 + ], + [ + 0.037692459998492134, + 0.9972983898547413, + 0.06304918756338429, + 0.9880087936808098, + -0.0466462523460458, + 0.14718271213515566, + 0.14972609014013938, + 0.05674547325743049, + -0.9870977911008298 + ], + [ + 0.053812385466821155, + 0.9942357911355022, + 0.09273305125753392, + 0.9837803484078755, + -0.06870140213452952, + 0.16569955772792117, + 0.17111532151402828, + 0.08231226500292543, + -0.9818066193366384 + ], + [ + 0.14607102040177145, + 0.9821512478941579, + 0.11849971839094642, + 0.9747793187081841, + -0.1633243994268504, + 0.15208688428219808, + 0.16872621852454744, + 0.09329558838341165, + -0.9812376859714467 + ], + [ + 0.2671763124336552, + 0.9536577751051769, + 0.1383967703951125, + 0.9519735542846406, + -0.2834906411488705, + 0.11566939233725736, + 0.14954320451636016, + 0.10084594370844048, + -0.9835989658496658 + ], + [ + 0.37705033593172577, + 0.9190112805901544, + 0.11511433586576975, + 0.9160204829696196, + -0.3883876359840761, + 0.10030712335026573, + 0.13689236265722554, + 0.06762625498092667, + -0.9882748457202466 + ], + [ + 0.48416138172505385, + 0.8695970063673537, + 0.0968958356330322, + 0.8635036084556276, + -0.492749008097797, + 0.10751712981077916, + 0.14124190111364748, + 0.031614261585147845, + -0.9894701935047001 + ], + [ + 0.5852727528249139, + 0.8004824485665613, + 0.12916522108381262, + 0.7950736314226706, + -0.5978242216918802, + 0.10229428417494885, + 0.1591028768348166, + 0.04282580408329267, + -0.9863327152069452 + ], + [ + 0.6235498512773274, + 0.7741343781713511, + 0.10909421389458943, + 0.7645104336767826, + -0.6329782095875176, + 0.12191137349205146, + 0.16343004549763948, + 0.007385845966196833, + -0.9865272776299716 + ], + [ + 0.628764989821706, + 0.7675302436966185, + 0.12470730766687109, + 0.7568571962152719, + -0.6408658497075677, + 0.1282893106059694, + 0.17838658052574324, + 0.013721796150907302, + -0.9838647977231048 + ], + [ + 0.6241508593365205, + 0.7691727839464536, + 0.13714566426083166, + 0.7521475523186426, + -0.6390352019727041, + 0.16095984027321775, + 0.21144683570712866, + 0.002690553059700937, + -0.9773857972129916 + ], + [ + 0.5982759594013305, + 0.7870887595422386, + 0.15019041582164214, + 0.7736151367983796, + -0.6162108434317605, + 0.14766115451784542, + 0.20877139775084672, + 0.027847460196193108, + -0.9775679119333752 + ], + [ + 0.5729906812640813, + 0.8078668196730311, + 0.13795970736380542, + 0.8026462230519852, + -0.5871805564012891, + 0.10477611752997859, + 0.16565240657746977, + 0.05069709908520767, + -0.9848802385769742 + ], + [ + 0.5805067539341491, + 0.8083829267391812, + 0.09761635310455602, + 0.80133861406157, + -0.5884466105383929, + 0.10764298472153015, + 0.14445876314962638, + 0.015736273462071085, + -0.9893856858914059 + ], + [ + 0.5716077023129316, + 0.816038417446673, + 0.08570843545217982, + 0.8088321920345265, + -0.5779511984463757, + 0.10845689163451636, + 0.13804028319716719, + 0.007328947095427807, + -0.9903994985607164 + ], + [ + 0.5655884631397065, + 0.8212709358085191, + 0.07499160192624407, + 0.8142481535154806, + -0.5705382118774077, + 0.10717319293722963, + 0.1308038029259672, + 0.0004458519144692544, + -0.9914081734362368 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.004619002342224121, + -0.0019519776105880737, + -0.011802904307842255, + -0.01522461324930191, + 0.04005971550941467, + 0.017307475209236145, + 1.0 + ], + [ + -0.009356290102005005, + -0.006262078881263733, + 0.0003288537263870239, + -0.05486798658967018, + 0.05757547914981842, + 0.16290214657783508, + 1.0 + ], + [ + -0.003754734992980957, + 0.0017710626125335693, + 0.01742081344127655, + 0.04280049353837967, + -0.004570126533508301, + 0.10615885257720947, + 1.0 + ], + [ + 0.013024836778640747, + -0.0006232857704162598, + 0.0167703777551651, + 0.06545153260231018, + -0.08566315472126007, + 0.24876564741134644, + 1.0 + ], + [ + 0.020047754049301147, + -0.011618107557296753, + 0.002781786024570465, + 0.010329045355319977, + -0.06014980375766754, + 0.23540562391281128, + 1.0 + ], + [ + 0.014879345893859863, + -0.00958620011806488, + -0.007201820611953735, + -0.04995580017566681, + 0.0028070807456970215, + 0.25208133459091187, + 1.0 + ], + [ + 0.01091378927230835, + -0.0013605356216430664, + -0.006342262029647827, + -0.03944375738501549, + 0.006103843450546265, + 0.22516286373138428, + 1.0 + ], + [ + 0.01255345344543457, + 0.004873648285865784, + -0.010257527232170105, + -0.02878362126648426, + 0.040279537439346313, + 0.06252467632293701, + 1.0 + ], + [ + 0.007821202278137207, + 0.0013754665851593018, + -0.0016595199704170227, + -0.059821851551532745, + -0.0014505088329315186, + 0.01688218116760254, + 1.0 + ], + [ + 0.0036840736865997314, + -0.0009617507457733154, + -0.001911267638206482, + -0.020368874073028564, + -0.0044138431549072266, + 0.01585221290588379, + 1.0 + ], + [ + -0.00030624866485595703, + -0.0016200840473175049, + -0.003219917416572571, + 0.007640346884727478, + 0.012653723359107971, + -0.0003370046615600586, + 1.0 + ], + [ + -0.001259922981262207, + -0.0009988099336624146, + -0.0019006580114364624, + 0.007740076631307602, + 0.007523834705352783, + 0.007050991058349609, + 1.0 + ], + [ + -0.0010704994201660156, + -0.002251550555229187, + -0.00767187774181366, + 0.012815851718187332, + 0.015147104859352112, + -0.017615318298339844, + 1.0 + ], + [ + 0.0005180835723876953, + -0.004187524318695068, + -0.006391517817974091, + 0.005754454061388969, + 0.02925257384777069, + -0.012160062789916992, + 0.0 + ], + [ + -0.0003434121608734131, + 9.840726852416992e-05, + -0.0014285296201705933, + 0.002134181559085846, + 0.007438570261001587, + -0.006639719009399414, + 0.0 + ], + [ + -0.001031249761581421, + -0.0004849731922149658, + 0.0005358979105949402, + 0.004501473158597946, + 0.0032915472984313965, + 0.006952404975891113, + 0.0 + ], + [ + -0.002395033836364746, + -0.0010584592819213867, + -0.0015048645436763763, + 0.001918969675898552, + 0.0028378963470458984, + 0.0024013519287109375, + 0.0 + ], + [ + -0.006952881813049316, + -0.001902937889099121, + 0.0039214566349983215, + 0.00991385243833065, + 0.002085775136947632, + 0.005138397216796875, + 0.0 + ], + [ + -0.003607034683227539, + 0.004175066947937012, + 0.013942290097475052, + -0.01455366238951683, + 0.0015052258968353271, + 0.001393437385559082, + 0.0 + ], + [ + -0.002931535243988037, + 0.00530889630317688, + 0.02099749445915222, + -0.03199515491724014, + -0.020281925797462463, + 0.0026128292083740234, + 0.0 + ], + [ + -0.008212089538574219, + -0.0033776313066482544, + 0.020017340779304504, + -0.026217970997095108, + -0.02167034149169922, + -0.016513705253601074, + 0.0 + ], + [ + -0.016655564308166504, + -0.02170024812221527, + 0.008462764322757721, + -0.011152580380439758, + 0.0024243593215942383, + -0.09409844875335693, + 0.0 + ], + [ + -0.021963030099868774, + -0.027744442224502563, + 0.0010507628321647644, + -0.007375963032245636, + 0.01943095028400421, + -0.12487256526947021, + 0.0 + ], + [ + -0.023209840059280396, + -0.02336868643760681, + -0.013999693095684052, + 0.033848412334918976, + 0.012782707810401917, + -0.11686527729034424, + 0.0 + ], + [ + -0.01351824402809143, + -0.02642778307199478, + -0.020480886101722717, + 0.03638225421309471, + -0.004392221570014954, + -0.12053513526916504, + 0.0 + ], + [ + 0.0055831968784332275, + -0.0248626209795475, + -0.012918636202812195, + -0.011452142149209976, + -0.018066108226776123, + -0.12354457378387451, + 0.0 + ], + [ + 0.010741323232650757, + -0.01270021591335535, + -0.019946034997701645, + 0.035905398428440094, + -0.004384562373161316, + -0.04963177442550659, + 0.0 + ], + [ + 0.018144607543945312, + -0.0003927228972315788, + -0.014234364032745361, + -0.006459354422986507, + -0.015180036425590515, + -0.009023427963256836, + 0.0 + ], + [ + 0.015620529651641846, + 0.000286787748336792, + -0.006849402561783791, + 0.011193128302693367, + -0.033708542585372925, + 0.0005521178245544434, + 0.0 + ], + [ + 0.0033040642738342285, + 0.0037949206307530403, + -0.0018939319998025894, + -0.025725971907377243, + 0.002736523747444153, + 0.03438526391983032, + 1.0 + ], + [ + -0.0017072856426239014, + 0.0016340045258402824, + -0.001655852422118187, + -0.02295123226940632, + 0.04389898478984833, + 0.038300156593322754, + 1.0 + ], + [ + 0.0006284117698669434, + 0.0029797032475471497, + -0.007481321692466736, + 0.03552624583244324, + 0.02145354449748993, + -0.006949961185455322, + 1.0 + ], + [ + -0.0015958547592163086, + 0.00368468277156353, + -0.00036514922976493835, + 0.008503898978233337, + 0.006483495235443115, + 0.011715352535247803, + 1.0 + ], + [ + -0.0014234483242034912, + 0.00386761873960495, + 0.0009551979601383209, + 0.0069501399993896484, + 0.007302775979042053, + 0.008111119270324707, + 1.0 + ], + [ + -0.002926558256149292, + 0.0024992655962705612, + 0.006617086008191109, + 0.01061485055834055, + 0.004721388220787048, + 0.014652669429779053, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9461179971694946 + ], + [ + 0.6651484370231628 + ], + [ + 0.4112652540206909 + ], + [ + 0.39711064100265503 + ], + [ + 0.41932523250579834 + ], + [ + 0.41932523250579834 + ], + [ + 0.41932523250579834 + ], + [ + 0.41932523250579834 + ], + [ + 0.41932523250579834 + ], + [ + 0.41932523250579834 + ], + [ + 0.41932523250579834 + ], + [ + 0.41932523250579834 + ], + [ + 0.41932523250579834 + ], + [ + 0.41932523250579834 + ], + [ + 0.41932523250579834 + ], + [ + 0.41932523250579834 + ], + [ + 0.4238326847553253 + ], + [ + 0.49086472392082214 + ], + [ + 0.7768828272819519 + ], + [ + 0.9893313646316528 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.326911985874176, + 0.1762908697128296, + 0.060685887932777405 + ], + [ + 0.317555695772171, + 0.17002879083156586, + 0.06101474165916443 + ], + [ + 0.31380096077919006, + 0.17179985344409943, + 0.07843555510044098 + ], + [ + 0.3268257975578308, + 0.17117656767368317, + 0.09520593285560608 + ], + [ + 0.34687355160713196, + 0.1595584601163864, + 0.09798771888017654 + ], + [ + 0.3617528975009918, + 0.14997225999832153, + 0.09078589826822281 + ], + [ + 0.37266668677330017, + 0.14861172437667847, + 0.08444363623857498 + ], + [ + 0.38522014021873474, + 0.15348537266254425, + 0.07418610900640488 + ], + [ + 0.39304134249687195, + 0.15486083924770355, + 0.07252658903598785 + ], + [ + 0.3967254161834717, + 0.15389908850193024, + 0.07061532139778137 + ], + [ + 0.3964191675186157, + 0.15227900445461273, + 0.0673954039812088 + ], + [ + 0.3951592445373535, + 0.15128019452095032, + 0.06549474596977234 + ], + [ + 0.3940887451171875, + 0.14902864396572113, + 0.05782286822795868 + ], + [ + 0.3946068286895752, + 0.14484111964702606, + 0.05143135040998459 + ], + [ + 0.3942634165287018, + 0.14493952691555023, + 0.050002820789813995 + ], + [ + 0.39323216676712036, + 0.14445455372333527, + 0.050538718700408936 + ], + [ + 0.3908371329307556, + 0.14339609444141388, + 0.04903385415673256 + ], + [ + 0.3838842511177063, + 0.14149315655231476, + 0.05295531079173088 + ], + [ + 0.38027721643447876, + 0.14566822350025177, + 0.06689760088920593 + ], + [ + 0.3773456811904907, + 0.15097711980342865, + 0.08789509534835815 + ], + [ + 0.3691335916519165, + 0.1475994884967804, + 0.10791243612766266 + ], + [ + 0.35247802734375, + 0.12589924037456512, + 0.11637520045042038 + ], + [ + 0.3305149972438812, + 0.09815479815006256, + 0.11742596328258514 + ], + [ + 0.30730515718460083, + 0.07478611171245575, + 0.10342627018690109 + ], + [ + 0.2937869131565094, + 0.04835832864046097, + 0.08294538408517838 + ], + [ + 0.2993701100349426, + 0.023495707660913467, + 0.07002674788236618 + ], + [ + 0.3101114332675934, + 0.010795491747558117, + 0.050080712884664536 + ], + [ + 0.3282560408115387, + 0.010402768850326538, + 0.035846348851919174 + ], + [ + 0.34387657046318054, + 0.01068955659866333, + 0.028996946290135384 + ], + [ + 0.34718063473701477, + 0.01448447722941637, + 0.027103014290332794 + ], + [ + 0.34547334909439087, + 0.016118481755256653, + 0.025447161868214607 + ], + [ + 0.3461017608642578, + 0.019098185002803802, + 0.01796584017574787 + ], + [ + 0.3445059061050415, + 0.022782867774367332, + 0.017600690945982933 + ], + [ + 0.343082457780838, + 0.026650486513972282, + 0.018555888906121254 + ], + [ + 0.3401558995246887, + 0.029149752110242844, + 0.025172974914312363 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9634787131943707, + 0.22710214886114496, + 0.14189215342636075, + 0.21356361142866878, + -0.9713252742749311, + 0.10448825497765028, + 0.16155294208049603, + -0.07036920873066745, + -0.984351980425577 + ], + [ + 0.9231983409261112, + 0.37343040659590426, + 0.09085458018665839, + 0.3698447017340371, + -0.9275130883658527, + 0.05416980255917209, + 0.10449746365600197, + -0.016407386740616845, + -0.9943898017124909 + ], + [ + 0.8783813765796986, + 0.473034898631331, + 0.06844079159974689, + 0.4653559033310631, + -0.8790719535336664, + 0.10332658779536731, + 0.10904146235668294, + -0.05891082402538457, + -0.9922900152172076 + ], + [ + 0.7271515120573203, + 0.6839440371356308, + 0.058917167102364054, + 0.6585855361408116, + -0.7192490935673843, + 0.2212370515727778, + 0.19368988125060282, + -0.12207086249024048, + -0.9734387163206609 + ], + [ + 0.5459198823124849, + 0.8373050399586196, + 0.02986221953935804, + 0.7989422656625932, + -0.5309793509419078, + 0.2824042935424893, + 0.2523147602377729, + -0.1303119293587678, + -0.9588305704518136 + ], + [ + 0.3296338787641826, + 0.9440970735589674, + 0.004713986452436578, + 0.9105177583320047, + -0.3192216823061471, + 0.26278304608116243, + 0.24959751147185194, + -0.08233002637572051, + -0.9648434323889197 + ], + [ + 0.11820981711658701, + 0.9928652488156287, + -0.015653652338761453, + 0.9626242274122125, + -0.11071228662996674, + 0.24717885505885206, + 0.2436822437854346, + -0.04428755224037388, + -0.9688434222206662 + ], + [ + 0.0583684768825663, + 0.9982841486999375, + -0.0046775379046893745, + 0.9771394795656724, + -0.05617142194568503, + 0.20504440697255388, + 0.20442983730496833, + -0.016538736682113905, + -0.9787414938626151 + ], + [ + 0.04185197131315871, + 0.997786930303846, + 0.051668696635688405, + 0.9776882922655838, + -0.051553903989988326, + 0.20363643620481467, + 0.20584949760446108, + 0.04199329349097694, + -0.9776822324445565 + ], + [ + 0.026324118274910213, + 0.9972778153986112, + 0.06887669933164599, + 0.9773110865187195, + -0.04016024382621597, + 0.20796681221632188, + 0.21016679320161058, + 0.061839418897595616, + -0.9757078483366624 + ], + [ + 0.02672384075456763, + 0.997780674840315, + 0.06098820583137346, + 0.9798822525650001, + -0.03821759302475497, + 0.19588309445058105, + 0.19777918860048335, + 0.05452651188733483, + -0.9787288960983703 + ], + [ + 0.01984361027189152, + 0.9984639387602693, + 0.05173001185681275, + 0.981506323237285, + -0.02930756598492701, + 0.18917294738218982, + 0.19039844688600507, + 0.04701945949676424, + -0.9805802373350325 + ], + [ + 0.03723399566626262, + 0.9984361652353877, + 0.04169956254901393, + 0.9837737888111393, + -0.04395205146791348, + 0.1739463986978131, + 0.17550715659169402, + 0.03454621718533414, + -0.9838718396535613 + ], + [ + 0.0494291604209805, + 0.998105816153312, + 0.03662700999273777, + 0.9879545311409715, + -0.05424469472854915, + 0.1449253514462869, + 0.14663765716247734, + 0.029022282038765418, + -0.9887644333445464 + ], + [ + 0.05604795100424087, + 0.9978129331633995, + 0.03504251132666352, + 0.9886662532918072, + -0.06036170856096468, + 0.13746091714207734, + 0.13927550678481157, + 0.026940945630290987, + -0.9898871242007239 + ], + [ + 0.049195541582790936, + 0.9983554729315333, + 0.029430398502753592, + 0.9894845320639208, + -0.05272877325456504, + 0.13468495564580646, + 0.13601529139997487, + 0.022495024754902213, + -0.9904513185243669 + ], + [ + 0.04683735452482818, + 0.9985359939657039, + 0.027057918915514602, + 0.9899813953919288, + -0.05001414636503265, + 0.13204325784085352, + 0.13320322443156019, + 0.02060227944427745, + -0.9908745869597901 + ], + [ + 0.04176145384996144, + 0.9989931824031543, + 0.016389096508225655, + 0.9904844252131869, + -0.043547567754588457, + 0.1305534861762131, + 0.13113574791962976, + 0.010781041446813841, + -0.9913057978055418 + ], + [ + 0.04038923021705104, + 0.9987127713410022, + 0.03068404215304043, + 0.9907377584621659, + -0.04401340811849902, + 0.1284582183558449, + 0.1296433725257004, + 0.02521151058881546, + -0.991240120099057 + ], + [ + 0.037692459998492134, + 0.9972983898547413, + 0.06304918756338429, + 0.9880087936808098, + -0.0466462523460458, + 0.14718271213515566, + 0.14972609014013938, + 0.05674547325743049, + -0.9870977911008298 + ], + [ + 0.053812385466821155, + 0.9942357911355022, + 0.09273305125753392, + 0.9837803484078755, + -0.06870140213452952, + 0.16569955772792117, + 0.17111532151402828, + 0.08231226500292543, + -0.9818066193366384 + ], + [ + 0.14607102040177145, + 0.9821512478941579, + 0.11849971839094642, + 0.9747793187081841, + -0.1633243994268504, + 0.15208688428219808, + 0.16872621852454744, + 0.09329558838341165, + -0.9812376859714467 + ], + [ + 0.2671763124336552, + 0.9536577751051769, + 0.1383967703951125, + 0.9519735542846406, + -0.2834906411488705, + 0.11566939233725736, + 0.14954320451636016, + 0.10084594370844048, + -0.9835989658496658 + ], + [ + 0.37705033593172577, + 0.9190112805901544, + 0.11511433586576975, + 0.9160204829696196, + -0.3883876359840761, + 0.10030712335026573, + 0.13689236265722554, + 0.06762625498092667, + -0.9882748457202466 + ], + [ + 0.48416138172505385, + 0.8695970063673537, + 0.0968958356330322, + 0.8635036084556276, + -0.492749008097797, + 0.10751712981077916, + 0.14124190111364748, + 0.031614261585147845, + -0.9894701935047001 + ], + [ + 0.5852727528249139, + 0.8004824485665613, + 0.12916522108381262, + 0.7950736314226706, + -0.5978242216918802, + 0.10229428417494885, + 0.1591028768348166, + 0.04282580408329267, + -0.9863327152069452 + ], + [ + 0.6235498512773274, + 0.7741343781713511, + 0.10909421389458943, + 0.7645104336767826, + -0.6329782095875176, + 0.12191137349205146, + 0.16343004549763948, + 0.007385845966196833, + -0.9865272776299716 + ], + [ + 0.628764989821706, + 0.7675302436966185, + 0.12470730766687109, + 0.7568571962152719, + -0.6408658497075677, + 0.1282893106059694, + 0.17838658052574324, + 0.013721796150907302, + -0.9838647977231048 + ], + [ + 0.6241508593365205, + 0.7691727839464536, + 0.13714566426083166, + 0.7521475523186426, + -0.6390352019727041, + 0.16095984027321775, + 0.21144683570712866, + 0.002690553059700937, + -0.9773857972129916 + ], + [ + 0.5982759594013305, + 0.7870887595422386, + 0.15019041582164214, + 0.7736151367983796, + -0.6162108434317605, + 0.14766115451784542, + 0.20877139775084672, + 0.027847460196193108, + -0.9775679119333752 + ], + [ + 0.5729906812640813, + 0.8078668196730311, + 0.13795970736380542, + 0.8026462230519852, + -0.5871805564012891, + 0.10477611752997859, + 0.16565240657746977, + 0.05069709908520767, + -0.9848802385769742 + ], + [ + 0.5805067539341491, + 0.8083829267391812, + 0.09761635310455602, + 0.80133861406157, + -0.5884466105383929, + 0.10764298472153015, + 0.14445876314962638, + 0.015736273462071085, + -0.9893856858914059 + ], + [ + 0.5716077023129316, + 0.816038417446673, + 0.08570843545217982, + 0.8088321920345265, + -0.5779511984463757, + 0.10845689163451636, + 0.13804028319716719, + 0.007328947095427807, + -0.9903994985607164 + ], + [ + 0.5655884631397065, + 0.8212709358085191, + 0.07499160192624407, + 0.8142481535154806, + -0.5705382118774077, + 0.10717319293722963, + 0.1308038029259672, + 0.0004458519144692544, + -0.9914081734362368 + ], + [ + 0.5539359454621455, + 0.8302483274425143, + 0.06198937896016209, + 0.8229509862126583, + -0.5573024600301981, + 0.11029797067898686, + 0.12612153906677484, + -0.01008379012064499, + -0.9919635449754345 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005786.json b/json/chunk-0005/episode_0005786.json new file mode 100644 index 0000000000000000000000000000000000000000..4632fcd507269ff8d280e9887a778c79128ba2f8 --- /dev/null +++ b/json/chunk-0005/episode_0005786.json @@ -0,0 +1,1462 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 23, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nUnfold from the left to the right." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005786.mp4", + "start": 0, + "end": 23, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.4234311580657959, + 0.15116947889328003, + 0.03772241994738579, + 0.10663449764251709, + -0.04986678436398506, + -0.06353536248207092, + 0.0, + 1.0001531839370728 + ], + [ + 0.4179297089576721, + 0.1486128270626068, + 0.016847938299179077, + 0.089333176612854, + -0.007710363250225782, + -0.0592241995036602, + 0.0, + 1.0001531839370728 + ], + [ + 0.4027748107910156, + 0.12545505166053772, + 0.010040984489023685, + 0.08943981677293777, + 0.014606568031013012, + -0.06772296130657196, + 0.0, + 0.9988223910331726 + ], + [ + 0.39745622873306274, + 0.09277116507291794, + 0.018287524580955505, + 0.1135522648692131, + -0.014043133705854416, + -0.10241414606571198, + 0.0, + 0.9988223910331726 + ], + [ + 0.39920058846473694, + 0.06987335532903671, + 0.03786719962954521, + 0.17324796319007874, + -0.08512739837169647, + -0.11509416252374649, + 0.0, + 0.9988223910331726 + ], + [ + 0.4004904627799988, + 0.0485670268535614, + 0.06696854531764984, + 0.30580660700798035, + -0.22571326792240143, + -0.16813722252845764, + 0.0, + 0.9988223910331726 + ], + [ + 0.3964245319366455, + 0.03208591043949127, + 0.08778668195009232, + 0.29221588373184204, + -0.2670285403728485, + -0.12872998416423798, + 0.0, + 0.9988223910331726 + ], + [ + 0.37445366382598877, + 0.01749175600707531, + 0.07478892803192139, + 0.14969857037067413, + -0.20577795803546906, + 0.004617426078766584, + 0.0, + 0.9988223910331726 + ], + [ + 0.3654975891113281, + 0.01251015905290842, + 0.06011127680540085, + 0.07035259157419205, + -0.19327542185783386, + 0.0625840574502945, + 0.0, + 0.9988223910331726 + ], + [ + 0.3654640316963196, + 0.020366281270980835, + 0.04928864538669586, + 0.03711866959929466, + -0.16495677828788757, + 0.07604493945837021, + 0.0, + 0.9988223910331726 + ], + [ + 0.3686067759990692, + 0.02356013096868992, + 0.03387398272752762, + 0.013446826487779617, + -0.13084645569324493, + 0.07999081909656525, + 0.0, + 0.9988223910331726 + ], + [ + 0.372101753950119, + 0.02825441025197506, + 0.018341969698667526, + -0.01222581323236227, + -0.09834074974060059, + 0.07364190369844437, + 0.0, + 0.9620732665061951 + ], + [ + 0.3760894238948822, + 0.03163860738277435, + 0.020154625177383423, + -0.0051865181885659695, + -0.09995082765817642, + 0.05567825585603714, + 0.0, + 0.6892001032829285 + ], + [ + 0.3803516924381256, + 0.03590082749724388, + 0.028587881475687027, + 0.031109962612390518, + -0.09416953474283218, + 0.041164740920066833, + 0.0, + 0.3866458535194397 + ], + [ + 0.38396745920181274, + 0.02856075018644333, + 0.03265070170164108, + 0.07636947184801102, + -0.09699572622776031, + 0.003259941004216671, + 0.0, + 0.1660143882036209 + ], + [ + 0.3852052688598633, + 0.014800594188272953, + 0.03359828144311905, + 0.09792974591255188, + -0.1024295762181282, + -0.008508790284395218, + 0.0, + 0.06296365708112717 + ], + [ + 0.38470447063446045, + -0.005442299880087376, + 0.030861083418130875, + 0.07930706441402435, + -0.11264976859092712, + 0.0012315408093854785, + 0.0, + 0.05271430313587189 + ], + [ + 0.38511064648628235, + -0.023618575185537338, + 0.02878463827073574, + 0.04430649057030678, + -0.13464543223381042, + 0.006202522199600935, + 0.0, + 0.05271430313587189 + ], + [ + 0.3853437900543213, + -0.03725608065724373, + 0.027359522879123688, + 0.01864108443260193, + -0.14149536192417145, + 0.0019223158014938235, + 0.0, + 0.06712212413549423 + ], + [ + 0.38636600971221924, + -0.04725096374750137, + 0.028757037594914436, + -0.002765054116025567, + -0.15449966490268707, + 0.0035973493941128254, + 0.0, + 0.20503154397010803 + ], + [ + 0.38642117381095886, + -0.050449270755052567, + 0.025681158527731895, + -0.0032378004398196936, + -0.14520263671875, + -7.940521027194336e-05, + 0.0, + 0.45315688848495483 + ], + [ + 0.39144033193588257, + -0.0632176324725151, + 0.030709227547049522, + 0.0012706220149993896, + -0.15355360507965088, + -0.03565351665019989, + 0.0, + 0.7604051232337952 + ], + [ + 0.3939734399318695, + -0.0696394070982933, + 0.03673321381211281, + -0.019337370991706848, + -0.15223276615142822, + -0.025568043813109398, + 0.0, + 0.9941151142120361 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9620732665061951 + ], + [ + 0.6892001032829285 + ], + [ + 0.3866458535194397 + ], + [ + 0.1660143882036209 + ], + [ + 0.06296365708112717 + ], + [ + 0.05271430313587189 + ], + [ + 0.05271430313587189 + ], + [ + 0.06712212413549423 + ], + [ + 0.20503154397010803 + ], + [ + 0.45315688848495483 + ], + [ + 0.7604051232337952 + ], + [ + 0.9941151142120361 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.4234311580657959, + 0.15116947889328003, + 0.03772241994738579 + ], + [ + 0.4179297089576721, + 0.1486128270626068, + 0.016847938299179077 + ], + [ + 0.4027748107910156, + 0.12545505166053772, + 0.010040984489023685 + ], + [ + 0.39745622873306274, + 0.09277116507291794, + 0.018287524580955505 + ], + [ + 0.39920058846473694, + 0.06987335532903671, + 0.03786719962954521 + ], + [ + 0.4004904627799988, + 0.0485670268535614, + 0.06696854531764984 + ], + [ + 0.3964245319366455, + 0.03208591043949127, + 0.08778668195009232 + ], + [ + 0.37445366382598877, + 0.01749175600707531, + 0.07478892803192139 + ], + [ + 0.3654975891113281, + 0.01251015905290842, + 0.06011127680540085 + ], + [ + 0.3654640316963196, + 0.020366281270980835, + 0.04928864538669586 + ], + [ + 0.3686067759990692, + 0.02356013096868992, + 0.03387398272752762 + ], + [ + 0.372101753950119, + 0.02825441025197506, + 0.018341969698667526 + ], + [ + 0.3760894238948822, + 0.03163860738277435, + 0.020154625177383423 + ], + [ + 0.3803516924381256, + 0.03590082749724388, + 0.028587881475687027 + ], + [ + 0.38396745920181274, + 0.02856075018644333, + 0.03265070170164108 + ], + [ + 0.3852052688598633, + 0.014800594188272953, + 0.03359828144311905 + ], + [ + 0.38470447063446045, + -0.005442299880087376, + 0.030861083418130875 + ], + [ + 0.38511064648628235, + -0.023618575185537338, + 0.02878463827073574 + ], + [ + 0.3853437900543213, + -0.03725608065724373, + 0.027359522879123688 + ], + [ + 0.38636600971221924, + -0.04725096374750137, + 0.028757037594914436 + ], + [ + 0.38642117381095886, + -0.050449270755052567, + 0.025681158527731895 + ], + [ + 0.39144033193588257, + -0.0632176324725151, + 0.030709227547049522 + ], + [ + 0.3939734399318695, + -0.0696394070982933, + 0.03673321381211281 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9967417254497865, + -0.0578374384398868, + 0.05622066757069494, + -0.06341369805163953, + -0.9926505398379345, + 0.10307089142368189, + 0.04984611967643794, + -0.10630021859887795, + -0.9930838977040323 + ], + [ + 0.9982170870559395, + -0.058266899645472305, + 0.012946641080191725, + -0.05918782464480409, + -0.9943069101463602, + 0.08860344151901717, + 0.00771028685398732, + -0.0892117528182382, + -0.995982838524704 + ], + [ + 0.9976012470959358, + -0.06870234957327603, + -0.008469885226226256, + -0.06766398699130069, + -0.9936314790715158, + 0.09010032554099501, + -0.01460604864688458, + -0.0893110909196812, + -0.9958966775633212 + ], + [ + 0.9946621670450213, + -0.09999398492260575, + 0.025463236805236787, + -0.1022251280681834, + -0.9885165360859833, + 0.11128827914929716, + 0.014042672136932235, + -0.113297223548797, + -0.9934618978578837 + ], + [ + 0.9897867832771129, + -0.0985612832756101, + 0.10299416046072939, + -0.11442437481929872, + -0.9801962739357618, + 0.16162402980269258, + 0.08502462053522007, + -0.1717583709794488, + -0.981463130179289 + ], + [ + 0.9608906262374224, + -0.09315390762480354, + 0.260790248865412, + -0.16310135077424703, + -0.951432381246639, + 0.26110222766373703, + 0.22380159468750438, + -0.29342592491049513, + -0.9294159848021499 + ], + [ + 0.9565781999906612, + -0.04754831953506726, + 0.28757139046159946, + -0.12382503848273725, + -0.9594425689804011, + 0.2532534632991953, + 0.2638664570334304, + -0.27786528055458704, + -0.9236695181259071 + ], + [ + 0.9788918861692529, + 0.03503905282069388, + 0.201352774923592, + 0.004519993046560042, + -0.9886648278917004, + 0.1500714088450338, + 0.20432876658674648, + -0.14599357132183208, + -0.9679543544392141 + ], + [ + 0.9794590854556469, + 0.07586384769287487, + 0.18682766532722073, + 0.06137867987986841, + -0.9947289319574667, + 0.08214018251113153, + 0.19207435428654274, + -0.06898571257869016, + -0.9789527127933288 + ], + [ + 0.9835746611512952, + 0.08199557194038198, + 0.16080302274299627, + 0.07494038719181459, + -0.995960189045925, + 0.04946958866967046, + 0.16420969614689582, + -0.03660639312709076, + -0.985745985370252 + ], + [ + 0.988281582253035, + 0.08164710901172974, + 0.12897001112453949, + 0.07922249458291834, + -0.9965721355056533, + 0.023828031512502693, + 0.13047340928900647, + -0.013331478677478595, + -0.991362174558206 + ], + [ + 0.9924711995232836, + 0.07237278604347547, + 0.09880839011501011, + 0.07321987668010432, + -0.9973034430740322, + -0.004969113767162895, + 0.09818231905880517, + 0.0121664404402445, + -0.9950940709054843 + ], + [ + 0.9934671735317737, + 0.055132014333525124, + 0.09991714622784664, + 0.05537175003479571, + -0.9984657375718625, + 0.00037442377191157115, + 0.09978448984122237, + 0.005160609518734361, + -0.9949956902904266 + ], + [ + 0.9947259301761495, + 0.044055536170226395, + 0.09262523181049548, + 0.04097077996937784, + -0.9985490206638964, + 0.03494636633291447, + 0.09403041541913434, + -0.030967128764664394, + -0.9950875930852408 + ], + [ + 0.9952943128334428, + 0.010639109704423442, + 0.09631220164704876, + 0.003244612235408523, + -0.9970558840798504, + 0.07660963720831541, + 0.09684370569555037, + -0.0759366404737865, + -0.9923985707873164 + ], + [ + 0.9947226661436026, + 0.0015290917951766591, + 0.10258888506287993, + -0.008464090823684992, + -0.9952577518348619, + 0.09690390383851896, + 0.10225055807520698, + -0.09726083122664766, + -0.9899925020334297 + ], + [ + 0.9936609682470897, + 0.010133359640827747, + 0.11196068597791907, + 0.0012237346517663394, + -0.9968451190324893, + 0.07936189976685822, + 0.11241166601273476, + -0.0787218119931981, + -0.9905384867135398 + ], + [ + 0.9909299288245208, + 0.012141992623863042, + 0.13382992256947612, + 0.006146343701225073, + -0.9989625331308184, + 0.04512294161471227, + 0.134238960882958, + -0.0438911086209995, + -0.9899765007135689 + ], + [ + 0.9900043925321278, + 0.0045506580320671215, + 0.14096309544901348, + 0.0019031034314915074, + -0.9998193595349884, + 0.018911015212692662, + 0.14102368937317428, + -0.018453720777144942, + -0.9898342180512136 + ], + [ + 0.9880822555034846, + 0.003171828771421698, + 0.15389410599951875, + 0.00355449243598623, + -0.9999912374862602, + -0.0022114552268291893, + 0.1538857431429853, + 0.0027321151041885088, + -0.9880848716605211 + ], + [ + 0.9894766029659691, + -0.0005478908289124414, + 0.14469192098581501, + -7.856959788281296e-05, + -0.9999947179759257, + -0.003249284085298003, + 0.14469293697255586, + 0.0032037221927433074, + -0.9894714195742934 + ], + [ + 0.9876057501523031, + -0.03545171552378291, + 0.1528988493499147, + -0.03522654566948245, + -0.9993706015068049, + -0.004182263038514066, + 0.1529508834440096, + -0.0012556712739501506, + -0.9882329940572463 + ], + [ + 0.9881118885248048, + -0.0284917616895852, + 0.1510732116285589, + -0.025269594752186333, + -0.9994112918345704, + -0.02320597626938245, + 0.15164545274093694, + 0.01911254220083633, + -0.988250154259344 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.005501449108123779, + -0.0025566518306732178, + -0.02087448164820671, + -0.017301321029663086, + 0.04215642064809799, + 0.004311162978410721, + 1.0 + ], + [ + -0.015154898166656494, + -0.023157775402069092, + -0.006806953810155392, + 0.00010664016008377075, + 0.022316930815577507, + -0.008498761802911758, + 1.0 + ], + [ + -0.005318582057952881, + -0.03268388658761978, + 0.00824654009193182, + 0.02411244809627533, + -0.028649702668190002, + -0.034691184759140015, + 1.0 + ], + [ + 0.0017443597316741943, + -0.022897809743881226, + 0.019579675048589706, + 0.05969569832086563, + -0.07108426094055176, + -0.012680016458034515, + 1.0 + ], + [ + 0.0012898743152618408, + -0.02130632847547531, + 0.02910134568810463, + 0.1325586438179016, + -0.14058586955070496, + -0.05304306000471115, + 1.0 + ], + [ + -0.0040659308433532715, + -0.01648111641407013, + 0.020818136632442474, + -0.013590723276138306, + -0.04131527245044708, + 0.039407238364219666, + 1.0 + ], + [ + -0.02197086811065674, + -0.014594154432415962, + -0.012997753918170929, + -0.1425173133611679, + 0.061250582337379456, + 0.13334740698337555, + 1.0 + ], + [ + -0.008956074714660645, + -0.004981596954166889, + -0.014677651226520538, + -0.07934597879648209, + 0.012502536177635193, + 0.05796663090586662, + 1.0 + ], + [ + -3.355741500854492e-05, + 0.007856122218072414, + -0.010822631418704987, + -0.033233921974897385, + 0.02831864356994629, + 0.013460882008075714, + 1.0 + ], + [ + 0.003142744302749634, + 0.0031938496977090836, + -0.015414662659168243, + -0.023671843111515045, + 0.03411032259464264, + 0.003945879638195038, + 1.0 + ], + [ + 0.0034949779510498047, + 0.004694279283285141, + -0.015532013028860092, + -0.025672640651464462, + 0.03250570595264435, + -0.00634891539812088, + 0.0 + ], + [ + 0.003987669944763184, + 0.0033841971307992935, + 0.0018126554787158966, + 0.007039295043796301, + -0.0016100779175758362, + -0.017963647842407227, + 0.0 + ], + [ + 0.004262268543243408, + 0.004262220114469528, + 0.008433256298303604, + 0.036296479403972626, + 0.005781292915344238, + -0.014513514935970306, + 0.0 + ], + [ + 0.003615766763687134, + -0.007340077310800552, + 0.004062820225954056, + 0.0452595092356205, + -0.002826191484928131, + -0.03790479898452759, + 0.0 + ], + [ + 0.0012378096580505371, + -0.013760155998170376, + 0.0009475797414779663, + 0.021560274064540863, + -0.005433849990367889, + -0.011768731288611889, + 0.0 + ], + [ + -0.000500798225402832, + -0.02024289406836033, + -0.0027371980249881744, + -0.018622681498527527, + -0.01022019237279892, + 0.009740331210196018, + 0.0 + ], + [ + 0.0004061758518218994, + -0.018176276236772537, + -0.002076445147395134, + -0.035000573843717575, + -0.0219956636428833, + 0.004970981273800135, + 0.0 + ], + [ + 0.00023314356803894043, + -0.01363750547170639, + -0.001425115391612053, + -0.02566540613770485, + -0.006849929690361023, + -0.00428020628169179, + 1.0 + ], + [ + 0.0010222196578979492, + -0.009994883090257645, + 0.0013975147157907486, + -0.021406138315796852, + -0.013004302978515625, + 0.0016750335926190019, + 1.0 + ], + [ + 5.5164098739624023e-05, + -0.0031983070075511932, + -0.003075879067182541, + -0.0004727463237941265, + 0.009297028183937073, + -0.003676754655316472, + 1.0 + ], + [ + 0.005019158124923706, + -0.01276836171746254, + 0.005028069019317627, + 0.004508422687649727, + -0.008350968360900879, + -0.035574112087488174, + 1.0 + ], + [ + 0.0025331079959869385, + -0.006421774625778198, + 0.006023986265063286, + -0.020607993006706238, + 0.0013208389282226562, + 0.010085472837090492, + 1.0 + ], + [ + 0.002720475196838379, + -0.008947603404521942, + 0.005983017385005951, + 0.022467631846666336, + 0.014698877930641174, + -0.0161281730979681, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9620732665061951 + ], + [ + 0.6892001032829285 + ], + [ + 0.3866458535194397 + ], + [ + 0.1660143882036209 + ], + [ + 0.06296365708112717 + ], + [ + 0.05271430313587189 + ], + [ + 0.05271430313587189 + ], + [ + 0.06712212413549423 + ], + [ + 0.20503154397010803 + ], + [ + 0.45315688848495483 + ], + [ + 0.7604051232337952 + ], + [ + 0.9941151142120361 + ], + [ + 1.003452181816101 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.4179297089576721, + 0.1486128270626068, + 0.016847938299179077 + ], + [ + 0.4027748107910156, + 0.12545505166053772, + 0.010040984489023685 + ], + [ + 0.39745622873306274, + 0.09277116507291794, + 0.018287524580955505 + ], + [ + 0.39920058846473694, + 0.06987335532903671, + 0.03786719962954521 + ], + [ + 0.4004904627799988, + 0.0485670268535614, + 0.06696854531764984 + ], + [ + 0.3964245319366455, + 0.03208591043949127, + 0.08778668195009232 + ], + [ + 0.37445366382598877, + 0.01749175600707531, + 0.07478892803192139 + ], + [ + 0.3654975891113281, + 0.01251015905290842, + 0.06011127680540085 + ], + [ + 0.3654640316963196, + 0.020366281270980835, + 0.04928864538669586 + ], + [ + 0.3686067759990692, + 0.02356013096868992, + 0.03387398272752762 + ], + [ + 0.372101753950119, + 0.02825441025197506, + 0.018341969698667526 + ], + [ + 0.3760894238948822, + 0.03163860738277435, + 0.020154625177383423 + ], + [ + 0.3803516924381256, + 0.03590082749724388, + 0.028587881475687027 + ], + [ + 0.38396745920181274, + 0.02856075018644333, + 0.03265070170164108 + ], + [ + 0.3852052688598633, + 0.014800594188272953, + 0.03359828144311905 + ], + [ + 0.38470447063446045, + -0.005442299880087376, + 0.030861083418130875 + ], + [ + 0.38511064648628235, + -0.023618575185537338, + 0.02878463827073574 + ], + [ + 0.3853437900543213, + -0.03725608065724373, + 0.027359522879123688 + ], + [ + 0.38636600971221924, + -0.04725096374750137, + 0.028757037594914436 + ], + [ + 0.38642117381095886, + -0.050449270755052567, + 0.025681158527731895 + ], + [ + 0.39144033193588257, + -0.0632176324725151, + 0.030709227547049522 + ], + [ + 0.3939734399318695, + -0.0696394070982933, + 0.03673321381211281 + ], + [ + 0.3966939151287079, + -0.07858701050281525, + 0.04271623119711876 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9982170870559395, + -0.058266899645472305, + 0.012946641080191725, + -0.05918782464480409, + -0.9943069101463602, + 0.08860344151901717, + 0.00771028685398732, + -0.0892117528182382, + -0.995982838524704 + ], + [ + 0.9976012470959358, + -0.06870234957327603, + -0.008469885226226256, + -0.06766398699130069, + -0.9936314790715158, + 0.09010032554099501, + -0.01460604864688458, + -0.0893110909196812, + -0.9958966775633212 + ], + [ + 0.9946621670450213, + -0.09999398492260575, + 0.025463236805236787, + -0.1022251280681834, + -0.9885165360859833, + 0.11128827914929716, + 0.014042672136932235, + -0.113297223548797, + -0.9934618978578837 + ], + [ + 0.9897867832771129, + -0.0985612832756101, + 0.10299416046072939, + -0.11442437481929872, + -0.9801962739357618, + 0.16162402980269258, + 0.08502462053522007, + -0.1717583709794488, + -0.981463130179289 + ], + [ + 0.9608906262374224, + -0.09315390762480354, + 0.260790248865412, + -0.16310135077424703, + -0.951432381246639, + 0.26110222766373703, + 0.22380159468750438, + -0.29342592491049513, + -0.9294159848021499 + ], + [ + 0.9565781999906612, + -0.04754831953506726, + 0.28757139046159946, + -0.12382503848273725, + -0.9594425689804011, + 0.2532534632991953, + 0.2638664570334304, + -0.27786528055458704, + -0.9236695181259071 + ], + [ + 0.9788918861692529, + 0.03503905282069388, + 0.201352774923592, + 0.004519993046560042, + -0.9886648278917004, + 0.1500714088450338, + 0.20432876658674648, + -0.14599357132183208, + -0.9679543544392141 + ], + [ + 0.9794590854556469, + 0.07586384769287487, + 0.18682766532722073, + 0.06137867987986841, + -0.9947289319574667, + 0.08214018251113153, + 0.19207435428654274, + -0.06898571257869016, + -0.9789527127933288 + ], + [ + 0.9835746611512952, + 0.08199557194038198, + 0.16080302274299627, + 0.07494038719181459, + -0.995960189045925, + 0.04946958866967046, + 0.16420969614689582, + -0.03660639312709076, + -0.985745985370252 + ], + [ + 0.988281582253035, + 0.08164710901172974, + 0.12897001112453949, + 0.07922249458291834, + -0.9965721355056533, + 0.023828031512502693, + 0.13047340928900647, + -0.013331478677478595, + -0.991362174558206 + ], + [ + 0.9924711995232836, + 0.07237278604347547, + 0.09880839011501011, + 0.07321987668010432, + -0.9973034430740322, + -0.004969113767162895, + 0.09818231905880517, + 0.0121664404402445, + -0.9950940709054843 + ], + [ + 0.9934671735317737, + 0.055132014333525124, + 0.09991714622784664, + 0.05537175003479571, + -0.9984657375718625, + 0.00037442377191157115, + 0.09978448984122237, + 0.005160609518734361, + -0.9949956902904266 + ], + [ + 0.9947259301761495, + 0.044055536170226395, + 0.09262523181049548, + 0.04097077996937784, + -0.9985490206638964, + 0.03494636633291447, + 0.09403041541913434, + -0.030967128764664394, + -0.9950875930852408 + ], + [ + 0.9952943128334428, + 0.010639109704423442, + 0.09631220164704876, + 0.003244612235408523, + -0.9970558840798504, + 0.07660963720831541, + 0.09684370569555037, + -0.0759366404737865, + -0.9923985707873164 + ], + [ + 0.9947226661436026, + 0.0015290917951766591, + 0.10258888506287993, + -0.008464090823684992, + -0.9952577518348619, + 0.09690390383851896, + 0.10225055807520698, + -0.09726083122664766, + -0.9899925020334297 + ], + [ + 0.9936609682470897, + 0.010133359640827747, + 0.11196068597791907, + 0.0012237346517663394, + -0.9968451190324893, + 0.07936189976685822, + 0.11241166601273476, + -0.0787218119931981, + -0.9905384867135398 + ], + [ + 0.9909299288245208, + 0.012141992623863042, + 0.13382992256947612, + 0.006146343701225073, + -0.9989625331308184, + 0.04512294161471227, + 0.134238960882958, + -0.0438911086209995, + -0.9899765007135689 + ], + [ + 0.9900043925321278, + 0.0045506580320671215, + 0.14096309544901348, + 0.0019031034314915074, + -0.9998193595349884, + 0.018911015212692662, + 0.14102368937317428, + -0.018453720777144942, + -0.9898342180512136 + ], + [ + 0.9880822555034846, + 0.003171828771421698, + 0.15389410599951875, + 0.00355449243598623, + -0.9999912374862602, + -0.0022114552268291893, + 0.1538857431429853, + 0.0027321151041885088, + -0.9880848716605211 + ], + [ + 0.9894766029659691, + -0.0005478908289124414, + 0.14469192098581501, + -7.856959788281296e-05, + -0.9999947179759257, + -0.003249284085298003, + 0.14469293697255586, + 0.0032037221927433074, + -0.9894714195742934 + ], + [ + 0.9876057501523031, + -0.03545171552378291, + 0.1528988493499147, + -0.03522654566948245, + -0.9993706015068049, + -0.004182263038514066, + 0.1529508834440096, + -0.0012556712739501506, + -0.9882329940572463 + ], + [ + 0.9881118885248048, + -0.0284917616895852, + 0.1510732116285589, + -0.025269594752186333, + -0.9994112918345704, + -0.02320597626938245, + 0.15164545274093694, + 0.01911254220083633, + -0.988250154259344 + ], + [ + 0.9896961597573928, + -0.04125514443762061, + 0.13711135773122454, + -0.04129051740752352, + -0.9991438328556768, + -0.002587361336559912, + 0.13710070945727362, + -0.003100697324472211, + -0.9905522606820973 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005789.json b/json/chunk-0005/episode_0005789.json new file mode 100644 index 0000000000000000000000000000000000000000..0baca147d0fa5a9fdc40ac0496435f6abca7778c --- /dev/null +++ b/json/chunk-0005/episode_0005789.json @@ -0,0 +1,2602 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 42, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPlace the pan on the right edge of the table." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005789.mp4", + "start": 0, + "end": 42, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3365693986415863, + 0.05777228996157646, + 0.10585051774978638, + 0.10275908559560776, + -0.15038041770458221, + 0.09693637490272522, + 0.0, + 0.9994885921478271 + ], + [ + 0.3331611752510071, + 0.057798124849796295, + 0.09530488401651382, + 0.1035035252571106, + -0.11463247984647751, + 0.10660552978515625, + 0.0, + 0.9994885921478271 + ], + [ + 0.32126277685165405, + 0.0631384402513504, + 0.08831039071083069, + 0.14005474746227264, + -0.0739159882068634, + 0.1432342231273651, + 0.0, + 0.9994885921478271 + ], + [ + 0.30641791224479675, + 0.07221192866563797, + 0.0846327692270279, + 0.15426813066005707, + -0.06797220557928085, + 0.1704610288143158, + 0.0, + 0.9994885921478271 + ], + [ + 0.29551589488983154, + 0.08473314344882965, + 0.07270833104848862, + 0.13412222266197205, + -0.08275575935840607, + 0.17764586210250854, + 0.0, + 0.9994885921478271 + ], + [ + 0.2933657765388489, + 0.08916373550891876, + 0.05724157765507698, + 0.0977141261100769, + -0.14017479121685028, + 0.1390468031167984, + 0.0, + 0.9994885921478271 + ], + [ + 0.2969709038734436, + 0.0914938896894455, + 0.04906080290675163, + 0.08049020916223526, + -0.21347789466381073, + 0.11086418479681015, + 0.0, + 0.9994885921478271 + ], + [ + 0.2994548976421356, + 0.09081361442804337, + 0.04107651859521866, + 0.07672446966171265, + -0.21358537673950195, + 0.10191290825605392, + 0.0, + 0.9994885921478271 + ], + [ + 0.29753968119621277, + 0.08920478075742722, + 0.024974361062049866, + 0.060055457055568695, + -0.1643373668193817, + 0.0954720750451088, + 0.0, + 0.9927561283111572 + ], + [ + 0.2982870638370514, + 0.08942592889070511, + 0.015913762152194977, + 0.05473307892680168, + -0.13892832398414612, + 0.10087216645479202, + 0.0, + 0.9247323274612427 + ], + [ + 0.2998679280281067, + 0.08992058783769608, + 0.017163479700684547, + 0.05647581070661545, + -0.1382957100868225, + 0.09028100967407227, + 0.0, + 0.641040563583374 + ], + [ + 0.3005445599555969, + 0.09151756018400192, + 0.015344169922173023, + 0.052721042186021805, + -0.12916511297225952, + 0.08461563289165497, + 0.0, + 0.3445223569869995 + ], + [ + 0.3037896752357483, + 0.09170197695493698, + 0.01637944020330906, + 0.04644820839166641, + -0.13161595165729523, + 0.07871045917272568, + 0.0, + 0.147182896733284 + ], + [ + 0.30812332034111023, + 0.09457450360059738, + 0.020605789497494698, + 0.0477353110909462, + -0.14043323695659637, + 0.06974431872367859, + 0.0, + 0.08191495388746262 + ], + [ + 0.3110599219799042, + 0.09515528380870819, + 0.024121923372149467, + 0.054124172776937485, + -0.1382950246334076, + 0.031793031841516495, + 0.0, + 0.08022117614746094 + ], + [ + 0.3124818205833435, + 0.094760000705719, + 0.033978238701820374, + 0.09094712883234024, + -0.12907429039478302, + 0.03962613269686699, + 0.0, + 0.08022117614746094 + ], + [ + 0.3192356824874878, + 0.0832836702466011, + 0.053862493485212326, + 0.14791078865528107, + -0.13554339110851288, + 0.024604521691799164, + 0.0, + 0.08022117614746094 + ], + [ + 0.32253384590148926, + 0.06527277827262878, + 0.06398380547761917, + 0.17919228971004486, + -0.13604798913002014, + 0.03218058869242668, + 0.0, + 0.08022117614746094 + ], + [ + 0.3265373110771179, + 0.037286266684532166, + 0.07582372426986694, + 0.22419056296348572, + -0.15856057405471802, + 0.13549774885177612, + 0.0, + 0.07988496869802475 + ], + [ + 0.32640528678894043, + 0.004531580489128828, + 0.08479522168636322, + 0.22805221378803253, + -0.14479751884937286, + 0.15822190046310425, + 0.0, + 0.08022117614746094 + ], + [ + 0.32782214879989624, + -0.019275084137916565, + 0.08472996205091476, + 0.20341379940509796, + -0.17557290196418762, + 0.18180924654006958, + 0.0, + 0.08022117614746094 + ], + [ + 0.3247166872024536, + -0.05280318856239319, + 0.08797190338373184, + 0.24424515664577484, + -0.22609072923660278, + 0.18844614923000336, + 0.0, + 0.07988496869802475 + ], + [ + 0.32833483815193176, + -0.07054927200078964, + 0.07492674142122269, + 0.21375609934329987, + -0.23090925812721252, + 0.24281321465969086, + 0.0, + 0.07988496869802475 + ], + [ + 0.3333912491798401, + -0.09318183362483978, + 0.06284181028604507, + 0.19676415622234344, + -0.24464912712574005, + 0.27118825912475586, + 0.0, + 0.07988496869802475 + ], + [ + 0.336482971906662, + -0.11251137405633926, + 0.052140168845653534, + 0.16866561770439148, + -0.2523435354232788, + 0.28390610218048096, + 0.0, + 0.07988496869802475 + ], + [ + 0.3362899720668793, + -0.1252647489309311, + 0.042735178023576736, + 0.1448839008808136, + -0.24190856516361237, + 0.29336705803871155, + 0.0, + 0.07988496869802475 + ], + [ + 0.3344372510910034, + -0.1314748078584671, + 0.038384296000003815, + 0.10465464740991592, + -0.23255884647369385, + 0.3000452518463135, + 0.0, + 0.07988496869802475 + ], + [ + 0.33333858847618103, + -0.13185115158557892, + 0.026042837649583817, + 0.11083965748548508, + -0.2147940844297409, + 0.28915202617645264, + 0.0, + 0.07988496869802475 + ], + [ + 0.33260226249694824, + -0.1324772983789444, + 0.017217667773365974, + 0.1181115210056305, + -0.20013244450092316, + 0.27556005120277405, + 0.0, + 0.07988496869802475 + ], + [ + 0.33285775780677795, + -0.13270248472690582, + 0.017101524397730827, + 0.11415062099695206, + -0.19869641959667206, + 0.27394431829452515, + 0.0, + 0.11451414972543716 + ], + [ + 0.33011868596076965, + -0.13254323601722717, + 0.014425990171730518, + 0.11037926375865936, + -0.1833290308713913, + 0.2607189118862152, + 0.0, + 0.2973475158214569 + ], + [ + 0.33055320382118225, + -0.12790468335151672, + 0.014051888138055801, + 0.12155584245920181, + -0.18739432096481323, + 0.2594752609729767, + 0.0, + 0.5789291858673096 + ], + [ + 0.3332962393760681, + -0.12709873914718628, + 0.031175822019577026, + 0.10373365879058838, + -0.2181403785943985, + 0.21473823487758636, + 0.0, + 0.8731510639190674 + ], + [ + 0.3382960855960846, + -0.12071950733661652, + 0.053070247173309326, + 0.048487525433301926, + -0.2577396333217621, + 0.2414918839931488, + 0.0, + 1.0014774799346924 + ], + [ + 0.34124913811683655, + -0.1035790741443634, + 0.07973242551088333, + -0.08836852759122849, + -0.2732366621494293, + 0.27026137709617615, + 0.0, + 1.0014774799346924 + ], + [ + 0.3360859453678131, + -0.08316510170698166, + 0.08594124019145966, + 0.0026043409015983343, + -0.21839086711406708, + 0.19516199827194214, + 0.0, + 1.0014774799346924 + ], + [ + 0.33191969990730286, + -0.0446949228644371, + 0.09186634421348572, + 0.14726440608501434, + -0.14794041216373444, + 0.0826297178864479, + 0.0, + 1.0014774799346924 + ], + [ + 0.3262665271759033, + -0.0032122922129929066, + 0.11314938962459564, + 0.16562341153621674, + -0.14978443086147308, + 0.09828303754329681, + 0.0, + 1.0014774799346924 + ], + [ + 0.3218754231929779, + 0.049700960516929626, + 0.11309048533439636, + 0.17818710207939148, + -0.15068583190441132, + 0.18615244328975677, + 0.0, + 1.0014774799346924 + ], + [ + 0.32460474967956543, + 0.0819678008556366, + 0.10536026209592819, + 0.2067408561706543, + -0.14665566384792328, + 0.21106508374214172, + 0.0, + 1.0014774799346924 + ], + [ + 0.3263868987560272, + 0.12099100649356842, + 0.09689357876777649, + 0.2012420892715454, + -0.14073030650615692, + 0.2632604241371155, + 0.0, + 1.0014774799346924 + ], + [ + 0.3291480243206024, + 0.1385631561279297, + 0.08921793848276138, + 0.18642932176589966, + -0.13425667583942413, + 0.2694721519947052, + 0.0, + 1.0014774799346924 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9927561283111572 + ], + [ + 0.9247323274612427 + ], + [ + 0.641040563583374 + ], + [ + 0.3445223569869995 + ], + [ + 0.147182896733284 + ], + [ + 0.08191495388746262 + ], + [ + 0.08022117614746094 + ], + [ + 0.08022117614746094 + ], + [ + 0.08022117614746094 + ], + [ + 0.08022117614746094 + ], + [ + 0.07988496869802475 + ], + [ + 0.08022117614746094 + ], + [ + 0.08022117614746094 + ], + [ + 0.07988496869802475 + ], + [ + 0.07988496869802475 + ], + [ + 0.07988496869802475 + ], + [ + 0.07988496869802475 + ], + [ + 0.07988496869802475 + ], + [ + 0.07988496869802475 + ], + [ + 0.07988496869802475 + ], + [ + 0.07988496869802475 + ], + [ + 0.11451414972543716 + ], + [ + 0.2973475158214569 + ], + [ + 0.5789291858673096 + ], + [ + 0.8731510639190674 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3365693986415863, + 0.05777228996157646, + 0.10585051774978638 + ], + [ + 0.3331611752510071, + 0.057798124849796295, + 0.09530488401651382 + ], + [ + 0.32126277685165405, + 0.0631384402513504, + 0.08831039071083069 + ], + [ + 0.30641791224479675, + 0.07221192866563797, + 0.0846327692270279 + ], + [ + 0.29551589488983154, + 0.08473314344882965, + 0.07270833104848862 + ], + [ + 0.2933657765388489, + 0.08916373550891876, + 0.05724157765507698 + ], + [ + 0.2969709038734436, + 0.0914938896894455, + 0.04906080290675163 + ], + [ + 0.2994548976421356, + 0.09081361442804337, + 0.04107651859521866 + ], + [ + 0.29753968119621277, + 0.08920478075742722, + 0.024974361062049866 + ], + [ + 0.2982870638370514, + 0.08942592889070511, + 0.015913762152194977 + ], + [ + 0.2998679280281067, + 0.08992058783769608, + 0.017163479700684547 + ], + [ + 0.3005445599555969, + 0.09151756018400192, + 0.015344169922173023 + ], + [ + 0.3037896752357483, + 0.09170197695493698, + 0.01637944020330906 + ], + [ + 0.30812332034111023, + 0.09457450360059738, + 0.020605789497494698 + ], + [ + 0.3110599219799042, + 0.09515528380870819, + 0.024121923372149467 + ], + [ + 0.3124818205833435, + 0.094760000705719, + 0.033978238701820374 + ], + [ + 0.3192356824874878, + 0.0832836702466011, + 0.053862493485212326 + ], + [ + 0.32253384590148926, + 0.06527277827262878, + 0.06398380547761917 + ], + [ + 0.3265373110771179, + 0.037286266684532166, + 0.07582372426986694 + ], + [ + 0.32640528678894043, + 0.004531580489128828, + 0.08479522168636322 + ], + [ + 0.32782214879989624, + -0.019275084137916565, + 0.08472996205091476 + ], + [ + 0.3247166872024536, + -0.05280318856239319, + 0.08797190338373184 + ], + [ + 0.32833483815193176, + -0.07054927200078964, + 0.07492674142122269 + ], + [ + 0.3333912491798401, + -0.09318183362483978, + 0.06284181028604507 + ], + [ + 0.336482971906662, + -0.11251137405633926, + 0.052140168845653534 + ], + [ + 0.3362899720668793, + -0.1252647489309311, + 0.042735178023576736 + ], + [ + 0.3344372510910034, + -0.1314748078584671, + 0.038384296000003815 + ], + [ + 0.33333858847618103, + -0.13185115158557892, + 0.026042837649583817 + ], + [ + 0.33260226249694824, + -0.1324772983789444, + 0.017217667773365974 + ], + [ + 0.33285775780677795, + -0.13270248472690582, + 0.017101524397730827 + ], + [ + 0.33011868596076965, + -0.13254323601722717, + 0.014425990171730518 + ], + [ + 0.33055320382118225, + -0.12790468335151672, + 0.014051888138055801 + ], + [ + 0.3332962393760681, + -0.12709873914718628, + 0.031175822019577026 + ], + [ + 0.3382960855960846, + -0.12071950733661652, + 0.053070247173309326 + ], + [ + 0.34124913811683655, + -0.1035790741443634, + 0.07973242551088333 + ], + [ + 0.3360859453678131, + -0.08316510170698166, + 0.08594124019145966 + ], + [ + 0.33191969990730286, + -0.0446949228644371, + 0.09186634421348572 + ], + [ + 0.3262665271759033, + -0.0032122922129929066, + 0.11314938962459564 + ], + [ + 0.3218754231929779, + 0.049700960516929626, + 0.11309048533439636 + ], + [ + 0.32460474967956543, + 0.0819678008556366, + 0.10536026209592819 + ], + [ + 0.3263868987560272, + 0.12099100649356842, + 0.09689357876777649 + ], + [ + 0.3291480243206024, + 0.1385631561279297, + 0.08921793848276138 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9840724880980731, + 0.1115696395142097, + 0.1383963645011582, + 0.09569233704647273, + -0.9885676845352404, + 0.11651999709585552, + 0.14981426767518644, + -0.10142065189744744, + -0.983498620522492 + ], + [ + 0.9877971576852224, + 0.11758495991165108, + 0.1021300762340408, + 0.10570538105715477, + -0.9877442272871785, + 0.11483777199343423, + 0.11438158804876458, + -0.10264072614430242, + -0.9881203032283127 + ], + [ + 0.9870569235149766, + 0.15155076159934797, + 0.05244994184750827, + 0.14235518745026457, + -0.9785965615679936, + 0.14860609103700984, + 0.07384869902137368, + -0.13921614973111995, + -0.9875045484993438 + ], + [ + 0.9832309114813632, + 0.1779072554579851, + 0.04007471974867636, + 0.16924498537382324, + -0.9720326455068288, + 0.16281483653159545, + 0.06791987657042728, + -0.15330213476792492, + -0.9858424548792039 + ], + [ + 0.980893981208749, + 0.1860054890597263, + 0.056999611122384414, + 0.17610821022380546, + -0.9734695549757779, + 0.1460921757899089, + 0.08266133267870143, + -0.13326283643579606, + -0.9876275211358116 + ], + [ + 0.9806348138770933, + 0.15143700738534333, + 0.12418612888084551, + 0.13723974302794267, + -0.9837351897147097, + 0.11588929825738173, + 0.13971619357061932, + -0.09660180801173229, + -0.9854681506487166 + ], + [ + 0.9713002162121267, + 0.12720870626164682, + 0.20098217591993967, + 0.10812575651574902, + -0.9887585227074857, + 0.10327344552791441, + 0.21186012074992422, + -0.07857817015270975, + -0.9741359044872944 + ], + [ + 0.9722064955787779, + 0.11759995205163729, + 0.20244698375595613, + 0.09942484676941551, + -0.9902318479317745, + 0.09775268378157898, + 0.2119651617585069, + -0.07490753379384305, + -0.9744021919010725 + ], + [ + 0.9820343360673269, + 0.10492962143845064, + 0.15683857092433645, + 0.09404276026314237, + -0.9927153998061192, + 0.07531330712341748, + 0.163598661445911, + -0.05921072143252874, + -0.9847484797858517 + ], + [ + 0.9853306656474973, + 0.10808763390045677, + 0.1320626469992985, + 0.09973092911457525, + -0.9926639591260218, + 0.06835207407384149, + 0.13848184398181615, + -0.05417866415899504, + -0.9888819197646114 + ], + [ + 0.9864187001597121, + 0.09776433694988658, + 0.13198591741535545, + 0.08929761967717427, + -0.993638040850338, + 0.06862491453614177, + 0.13785529766829682, + -0.05590687073921295, + -0.9888732672637754 + ], + [ + 0.9881218143601853, + 0.09116063963980664, + 0.12371345022267008, + 0.08381067093233266, + -0.9944641149957834, + 0.06337898250623704, + 0.12880625537375115, + -0.05225764791984966, + -0.9902919199965621 + ], + [ + 0.9882818249440402, + 0.0846190408693536, + 0.12703799592101778, + 0.0779491565068742, + -0.9953496188033909, + 0.05659563011232853, + 0.13123628875103371, + -0.04602992798490284, + -0.9902819205885566 + ], + [ + 0.987748232349802, + 0.07627124429462255, + 0.13614744501308676, + 0.06900174487292109, + -0.995967056504782, + 0.057344411773883025, + 0.13997209969966792, + -0.04724743009889906, + -0.9890275484811916 + ], + [ + 0.9899519434520817, + 0.03919498371516986, + 0.13586354517314161, + 0.03148418241236764, + -0.9977939680799565, + 0.05844607361559694, + 0.1378546187592983, + -0.053581251523481484, + -0.9890020998824554 + ], + [ + 0.9909029900955415, + 0.051133097061363667, + 0.12448562408819727, + 0.039286218332803866, + -0.9946222739711564, + 0.09582862395731684, + 0.12871618883738775, + -0.09006630060882226, + -0.9875830113088311 + ], + [ + 0.9905281498913685, + 0.0442415851347735, + 0.1299871778966857, + 0.024376390562196704, + -0.9882918266328096, + 0.15061559346210965, + 0.13512873808313788, + -0.14602036692032663, + -0.9800093247456941 + ], + [ + 0.9902467715927348, + 0.05582109120624809, + 0.12765319082071552, + 0.031877728909246214, + -0.982700724081279, + 0.18243655688956267, + 0.13562869073228895, + -0.17658791766900067, + -0.9748956690762204 + ], + [ + 0.9784047829736486, + 0.1664844446806104, + 0.12250310336345223, + 0.13338897096373653, + -0.9612961065983088, + 0.24107504612499553, + 0.1578970014899692, + -0.21952841528677342, + -0.9627438973071473 + ], + [ + 0.9771748652788036, + 0.1856972126781999, + 0.10317862119111362, + 0.15591369750926024, + -0.9568010658011883, + 0.2454030142657194, + 0.14429207045552722, + -0.22371469707030286, + -0.9639146916187136 + ], + [ + 0.9683981857010591, + 0.21178613309192906, + 0.13172542564313555, + 0.17802964711649505, + -0.9568605587486783, + 0.22961558278728378, + 0.17467226075846665, + -0.1989082827363794, + -0.9643262395996446 + ], + [ + 0.957297237379322, + 0.23502261728457213, + 0.16836379857507097, + 0.18256519378249464, + -0.942986860753477, + 0.27829073011054867, + 0.2241694656394526, + -0.2356695776102881, + -0.9456256663521302 + ], + [ + 0.9449027034128762, + 0.28208717041427306, + 0.1660894619495972, + 0.23405282701232807, + -0.9369011998551983, + 0.25968329918850547, + 0.22886274325581055, + -0.2065017433281339, + -0.9513037762733133 + ], + [ + 0.9347639166049954, + 0.30832949172649915, + 0.1764917696238782, + 0.2598997320839751, + -0.9321781601731761, + 0.25198414029226246, + 0.24221591499314693, + -0.18967551826166526, + -0.9515012602704221 + ], + [ + 0.9295663923746703, + 0.3163669215606588, + 0.18925721415516053, + 0.27123649584906706, + -0.9346064637994982, + 0.23009024565095382, + 0.24967395836782694, + -0.1625506959887566, + -0.9545890140508172 + ], + [ + 0.9294021882336339, + 0.31925608720633447, + 0.18516782465707832, + 0.2807569578947354, + -0.9372443125950392, + 0.20675741607484494, + 0.23955605419238918, + -0.1401736397827857, + -0.9607102828687841 + ], + [ + 0.9296056723417868, + 0.3169462667397879, + 0.188091355329495, + 0.28760682460189635, + -0.9429803973719537, + 0.16754188913417117, + 0.23046823727444343, + -0.10165153305260123, + -0.967755835650536 + ], + [ + 0.9364602948235698, + 0.30598776769828023, + 0.17150394233945696, + 0.2785871366407952, + -0.9458816765304755, + 0.16642434107479523, + 0.21314624912776534, + -0.10807099528976374, + -0.9710248897221143 + ], + [ + 0.9430662450049186, + 0.2927323852720742, + 0.15790442725029702, + 0.26665513694571347, + -0.9491948918136194, + 0.16710504269887855, + 0.19879913348097178, + -0.11548509846665561, + -0.9732122566836904 + ], + [ + 0.9437697197168704, + 0.2904152159669312, + 0.15798012052286897, + 0.265208004240853, + -0.9503634267671653, + 0.16270854786996902, + 0.19739156677052638, + -0.11166180814518017, + -0.9739446647369785 + ], + [ + 0.950013487134667, + 0.27560957742281, + 0.14667561179368033, + 0.2534555009852807, + -0.9551483938373839, + 0.15313998423065975, + 0.1823038213601973, + -0.10830930976922717, + -0.977258619882569 + ], + [ + 0.9496038028799858, + 0.2765140588428978, + 0.14762314458815431, + 0.25208158490310906, + -0.9535969248436682, + 0.16464440312818293, + 0.18629946888975638, + -0.11913387507726521, + -0.9752433684473168 + ], + [ + 0.9538780940537654, + 0.23384073734333402, + 0.18824210804993008, + 0.20804174776662268, + -0.9670049394132563, + 0.1470376765885986, + 0.21641444700057488, + -0.10109380153644551, + -0.9710534642440368 + ], + [ + 0.9389093705844466, + 0.2508663255271337, + 0.235616808706917, + 0.23125197781751036, + -0.9668865082943662, + 0.10794907518741227, + 0.25489550130241106, + -0.046867545218861814, + -0.965832136875218 + ], + [ + 0.9279502717110331, + 0.24299086738631093, + 0.2826017190292164, + 0.2570789289735589, + -0.9662990788808239, + -0.013285873395421532, + 0.26984943488773094, + 0.08497957708131736, + -0.9591453247396104 + ], + [ + 0.9577145270674151, + 0.19447834439334435, + 0.2120402278013802, + 0.1893192161199271, + -0.9809035168494113, + 0.04457045030278543, + 0.21665899254767568, + -0.0025424780196658045, + -0.9762440354510473 + ], + [ + 0.9857021372644944, + 0.10319717465612474, + 0.13319774673469856, + 0.0816341645312415, + -0.9840160842334696, + 0.15826626030558502, + 0.14740135607752666, + -0.14512990426794295, + -0.9783711724666072 + ], + [ + 0.9840314122218603, + 0.12126570486069838, + 0.13029508273641274, + 0.09702620761067757, + -0.9791418153281919, + 0.1785139224612527, + 0.14922498047358004, + -0.1630212694725766, + -0.9752722547587461 + ], + [ + 0.9715877358626172, + 0.20829653464906583, + 0.1123824949649373, + 0.18298193791854023, + -0.9622393059372896, + 0.20152699200082091, + 0.1501162280265832, + -0.17523718715647651, + -0.9730144121854296 + ], + [ + 0.9673118721085299, + 0.2343708828709424, + 0.09684023616341601, + 0.20725253479889408, + -0.9507017328722476, + 0.23067856843048684, + 0.14613052007477562, + -0.20306773346841833, + -0.9681990325995348 + ], + [ + 0.9560010862657444, + 0.2820496825078344, + 0.08068394918412562, + 0.25765734101940646, + -0.9387648547656602, + 0.22876459969938173, + 0.14026623855199805, + -0.19791039400203042, + -0.9701323921344113 + ], + [ + 0.9552374136656373, + 0.28552425972650725, + 0.0774427571888701, + 0.26382696422382407, + -0.9406042393325452, + 0.2136796618728256, + 0.13385371299230106, + -0.18368332003008347, + -0.9738293595188536 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0034082233905792236, + 2.5834888219833374e-05, + -0.010545633733272552, + 0.0007444396615028381, + 0.035747937858104706, + 0.00966915488243103, + 1.0 + ], + [ + -0.011898398399353027, + 0.005340315401554108, + -0.006994493305683136, + 0.03655122220516205, + 0.040716491639614105, + 0.03662869334220886, + 1.0 + ], + [ + -0.0148448646068573, + 0.009073488414287567, + -0.0036776214838027954, + 0.014213383197784424, + 0.00594378262758255, + 0.027226805686950684, + 1.0 + ], + [ + -0.01090201735496521, + 0.012521214783191681, + -0.011924438178539276, + -0.020145907998085022, + -0.014783553779125214, + 0.007184833288192749, + 1.0 + ], + [ + -0.002150118350982666, + 0.004430592060089111, + -0.015466753393411636, + -0.03640809655189514, + -0.057419031858444214, + -0.038599058985710144, + 1.0 + ], + [ + 0.0036051273345947266, + 0.0023301541805267334, + -0.008180774748325348, + -0.017223916947841644, + -0.07330310344696045, + -0.02818261831998825, + 1.0 + ], + [ + 0.0024839937686920166, + -0.0006802752614021301, + -0.007984284311532974, + -0.0037657395005226135, + -0.00010748207569122314, + -0.008951276540756226, + 1.0 + ], + [ + -0.0019152164459228516, + -0.00160883367061615, + -0.016102157533168793, + -0.01666901260614395, + 0.04924800992012024, + -0.006440833210945129, + 1.0 + ], + [ + 0.000747382640838623, + 0.00022114813327789307, + -0.009060598909854889, + -0.0053223781287670135, + 0.025409042835235596, + 0.0054000914096832275, + 0.0 + ], + [ + 0.0015808641910552979, + 0.0004946589469909668, + 0.0012497175484895706, + 0.0017427317798137665, + 0.0006326138973236084, + -0.010591156780719757, + 0.0 + ], + [ + 0.0006766319274902344, + 0.0015969723463058472, + -0.0018193097785115242, + -0.003754768520593643, + 0.009130597114562988, + -0.005665376782417297, + 0.0 + ], + [ + 0.003245115280151367, + 0.0001844167709350586, + 0.001035270281136036, + -0.0062728337943553925, + -0.0024508386850357056, + -0.005905173718929291, + 0.0 + ], + [ + 0.0043336451053619385, + 0.0028725266456604004, + 0.004226349294185638, + 0.0012871026992797852, + -0.008817285299301147, + -0.008966140449047089, + 0.0 + ], + [ + 0.0029366016387939453, + 0.0005807802081108093, + 0.00351613387465477, + 0.006388861685991287, + 0.0021382123231887817, + -0.037951286882162094, + 0.0 + ], + [ + 0.001421898603439331, + -0.0003952831029891968, + 0.009856315329670906, + 0.036822956055402756, + 0.009220734238624573, + 0.007833100855350494, + 0.0 + ], + [ + 0.006753861904144287, + -0.01147633045911789, + 0.019884254783391953, + 0.056963659822940826, + -0.006469100713729858, + -0.015021611005067825, + 0.0 + ], + [ + 0.003298163414001465, + -0.01801089197397232, + 0.010121311992406845, + 0.031281501054763794, + -0.0005045980215072632, + 0.007576067000627518, + 0.0 + ], + [ + 0.004003465175628662, + -0.02798651158809662, + 0.011839918792247772, + 0.04499827325344086, + -0.022512584924697876, + 0.10331715643405914, + 0.0 + ], + [ + -0.00013202428817749023, + -0.03275468572974205, + 0.008971497416496277, + 0.003861650824546814, + 0.013763055205345154, + 0.022724151611328125, + 0.0 + ], + [ + 0.0014168620109558105, + -0.02380666509270668, + -6.525963544845581e-05, + -0.02463841438293457, + -0.03077538311481476, + 0.023587346076965332, + 0.0 + ], + [ + -0.003105461597442627, + -0.033528104424476624, + 0.0032419413328170776, + 0.04083135724067688, + -0.05051782727241516, + 0.006636902689933777, + 0.0 + ], + [ + 0.0036181509494781494, + -0.017746083438396454, + -0.013045161962509155, + -0.030489057302474976, + -0.004818528890609741, + 0.0543670654296875, + 0.0 + ], + [ + 0.005056411027908325, + -0.02263256162405014, + -0.012084931135177612, + -0.01699194312095642, + -0.013739868998527527, + 0.028375044465065002, + 0.0 + ], + [ + 0.0030917227268218994, + -0.01932954043149948, + -0.01070164144039154, + -0.028098538517951965, + -0.007694408297538757, + 0.012717843055725098, + 0.0 + ], + [ + -0.00019299983978271484, + -0.012753374874591827, + -0.009404990822076797, + -0.02378171682357788, + 0.010434970259666443, + 0.00946095585823059, + 0.0 + ], + [ + -0.0018527209758758545, + -0.006210058927536011, + -0.004350882023572922, + -0.040229253470897675, + 0.009349718689918518, + 0.006678193807601929, + 0.0 + ], + [ + -0.0010986626148223877, + -0.0003763437271118164, + -0.012341458350419998, + 0.006185010075569153, + 0.017764762043952942, + -0.01089322566986084, + 0.0 + ], + [ + -0.0007363259792327881, + -0.0006261467933654785, + -0.008825169876217842, + 0.007271863520145416, + 0.014661639928817749, + -0.013591974973678589, + 0.0 + ], + [ + 0.0002554953098297119, + -0.00022518634796142578, + -0.0001161433756351471, + -0.003960900008678436, + 0.0014360249042510986, + -0.0016157329082489014, + 1.0 + ], + [ + -0.0027390718460083008, + 0.0001592487096786499, + -0.002675534226000309, + -0.003771357238292694, + 0.015367388725280762, + -0.013225406408309937, + 1.0 + ], + [ + 0.00043451786041259766, + 0.004638552665710449, + -0.00037410203367471695, + 0.01117657870054245, + -0.004065290093421936, + -0.0012436509132385254, + 1.0 + ], + [ + 0.0027430355548858643, + 0.0008059442043304443, + 0.017123933881521225, + -0.017822183668613434, + -0.030746057629585266, + -0.04473702609539032, + 1.0 + ], + [ + 0.0049998462200164795, + 0.006379231810569763, + 0.0218944251537323, + -0.05524613335728645, + -0.039599254727363586, + 0.02675364911556244, + 1.0 + ], + [ + 0.002953052520751953, + 0.017140433192253113, + 0.026662178337574005, + -0.1368560492992401, + -0.015497028827667236, + 0.028769493103027344, + 1.0 + ], + [ + -0.0051631927490234375, + 0.020413972437381744, + 0.0062088146805763245, + 0.09097287058830261, + 0.054845795035362244, + -0.07509937882423401, + 1.0 + ], + [ + -0.004166245460510254, + 0.038470178842544556, + 0.005925104022026062, + 0.1446600705385208, + 0.07045045495033264, + -0.11253228038549423, + 1.0 + ], + [ + -0.005653172731399536, + 0.041482631117105484, + 0.021283045411109924, + 0.018359005451202393, + -0.0018440186977386475, + 0.015653319656848907, + 1.0 + ], + [ + -0.004391103982925415, + 0.052913252264261246, + -5.8904290199279785e-05, + 0.012563690543174744, + -0.0009014010429382324, + 0.08786940574645996, + 1.0 + ], + [ + 0.0027293264865875244, + 0.03226684033870697, + -0.00773022323846817, + 0.028553754091262817, + 0.004030168056488037, + 0.02491264045238495, + 1.0 + ], + [ + 0.001782149076461792, + 0.039023205637931824, + -0.008466683328151703, + -0.005498766899108887, + 0.005925357341766357, + 0.052195340394973755, + 1.0 + ], + [ + 0.0027611255645751953, + 0.017572149634361267, + -0.007675640285015106, + -0.014812767505645752, + 0.006473630666732788, + 0.006211727857589722, + 1.0 + ], + [ + -0.001430422067642212, + 0.015751302242279053, + -0.011342570185661316, + -0.020657449960708618, + 0.015534982085227966, + 0.011903464794158936, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9927561283111572 + ], + [ + 0.9247323274612427 + ], + [ + 0.641040563583374 + ], + [ + 0.3445223569869995 + ], + [ + 0.147182896733284 + ], + [ + 0.08191495388746262 + ], + [ + 0.08022117614746094 + ], + [ + 0.08022117614746094 + ], + [ + 0.08022117614746094 + ], + [ + 0.08022117614746094 + ], + [ + 0.07988496869802475 + ], + [ + 0.08022117614746094 + ], + [ + 0.08022117614746094 + ], + [ + 0.07988496869802475 + ], + [ + 0.07988496869802475 + ], + [ + 0.07988496869802475 + ], + [ + 0.07988496869802475 + ], + [ + 0.07988496869802475 + ], + [ + 0.07988496869802475 + ], + [ + 0.07988496869802475 + ], + [ + 0.07988496869802475 + ], + [ + 0.11451414972543716 + ], + [ + 0.2973475158214569 + ], + [ + 0.5789291858673096 + ], + [ + 0.8731510639190674 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3331611752510071, + 0.057798124849796295, + 0.09530488401651382 + ], + [ + 0.32126277685165405, + 0.0631384402513504, + 0.08831039071083069 + ], + [ + 0.30641791224479675, + 0.07221192866563797, + 0.0846327692270279 + ], + [ + 0.29551589488983154, + 0.08473314344882965, + 0.07270833104848862 + ], + [ + 0.2933657765388489, + 0.08916373550891876, + 0.05724157765507698 + ], + [ + 0.2969709038734436, + 0.0914938896894455, + 0.04906080290675163 + ], + [ + 0.2994548976421356, + 0.09081361442804337, + 0.04107651859521866 + ], + [ + 0.29753968119621277, + 0.08920478075742722, + 0.024974361062049866 + ], + [ + 0.2982870638370514, + 0.08942592889070511, + 0.015913762152194977 + ], + [ + 0.2998679280281067, + 0.08992058783769608, + 0.017163479700684547 + ], + [ + 0.3005445599555969, + 0.09151756018400192, + 0.015344169922173023 + ], + [ + 0.3037896752357483, + 0.09170197695493698, + 0.01637944020330906 + ], + [ + 0.30812332034111023, + 0.09457450360059738, + 0.020605789497494698 + ], + [ + 0.3110599219799042, + 0.09515528380870819, + 0.024121923372149467 + ], + [ + 0.3124818205833435, + 0.094760000705719, + 0.033978238701820374 + ], + [ + 0.3192356824874878, + 0.0832836702466011, + 0.053862493485212326 + ], + [ + 0.32253384590148926, + 0.06527277827262878, + 0.06398380547761917 + ], + [ + 0.3265373110771179, + 0.037286266684532166, + 0.07582372426986694 + ], + [ + 0.32640528678894043, + 0.004531580489128828, + 0.08479522168636322 + ], + [ + 0.32782214879989624, + -0.019275084137916565, + 0.08472996205091476 + ], + [ + 0.3247166872024536, + -0.05280318856239319, + 0.08797190338373184 + ], + [ + 0.32833483815193176, + -0.07054927200078964, + 0.07492674142122269 + ], + [ + 0.3333912491798401, + -0.09318183362483978, + 0.06284181028604507 + ], + [ + 0.336482971906662, + -0.11251137405633926, + 0.052140168845653534 + ], + [ + 0.3362899720668793, + -0.1252647489309311, + 0.042735178023576736 + ], + [ + 0.3344372510910034, + -0.1314748078584671, + 0.038384296000003815 + ], + [ + 0.33333858847618103, + -0.13185115158557892, + 0.026042837649583817 + ], + [ + 0.33260226249694824, + -0.1324772983789444, + 0.017217667773365974 + ], + [ + 0.33285775780677795, + -0.13270248472690582, + 0.017101524397730827 + ], + [ + 0.33011868596076965, + -0.13254323601722717, + 0.014425990171730518 + ], + [ + 0.33055320382118225, + -0.12790468335151672, + 0.014051888138055801 + ], + [ + 0.3332962393760681, + -0.12709873914718628, + 0.031175822019577026 + ], + [ + 0.3382960855960846, + -0.12071950733661652, + 0.053070247173309326 + ], + [ + 0.34124913811683655, + -0.1035790741443634, + 0.07973242551088333 + ], + [ + 0.3360859453678131, + -0.08316510170698166, + 0.08594124019145966 + ], + [ + 0.33191969990730286, + -0.0446949228644371, + 0.09186634421348572 + ], + [ + 0.3262665271759033, + -0.0032122922129929066, + 0.11314938962459564 + ], + [ + 0.3218754231929779, + 0.049700960516929626, + 0.11309048533439636 + ], + [ + 0.32460474967956543, + 0.0819678008556366, + 0.10536026209592819 + ], + [ + 0.3263868987560272, + 0.12099100649356842, + 0.09689357876777649 + ], + [ + 0.3291480243206024, + 0.1385631561279297, + 0.08921793848276138 + ], + [ + 0.3277176022529602, + 0.15431445837020874, + 0.07787536829710007 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9877971576852224, + 0.11758495991165108, + 0.1021300762340408, + 0.10570538105715477, + -0.9877442272871785, + 0.11483777199343423, + 0.11438158804876458, + -0.10264072614430242, + -0.9881203032283127 + ], + [ + 0.9870569235149766, + 0.15155076159934797, + 0.05244994184750827, + 0.14235518745026457, + -0.9785965615679936, + 0.14860609103700984, + 0.07384869902137368, + -0.13921614973111995, + -0.9875045484993438 + ], + [ + 0.9832309114813632, + 0.1779072554579851, + 0.04007471974867636, + 0.16924498537382324, + -0.9720326455068288, + 0.16281483653159545, + 0.06791987657042728, + -0.15330213476792492, + -0.9858424548792039 + ], + [ + 0.980893981208749, + 0.1860054890597263, + 0.056999611122384414, + 0.17610821022380546, + -0.9734695549757779, + 0.1460921757899089, + 0.08266133267870143, + -0.13326283643579606, + -0.9876275211358116 + ], + [ + 0.9806348138770933, + 0.15143700738534333, + 0.12418612888084551, + 0.13723974302794267, + -0.9837351897147097, + 0.11588929825738173, + 0.13971619357061932, + -0.09660180801173229, + -0.9854681506487166 + ], + [ + 0.9713002162121267, + 0.12720870626164682, + 0.20098217591993967, + 0.10812575651574902, + -0.9887585227074857, + 0.10327344552791441, + 0.21186012074992422, + -0.07857817015270975, + -0.9741359044872944 + ], + [ + 0.9722064955787779, + 0.11759995205163729, + 0.20244698375595613, + 0.09942484676941551, + -0.9902318479317745, + 0.09775268378157898, + 0.2119651617585069, + -0.07490753379384305, + -0.9744021919010725 + ], + [ + 0.9820343360673269, + 0.10492962143845064, + 0.15683857092433645, + 0.09404276026314237, + -0.9927153998061192, + 0.07531330712341748, + 0.163598661445911, + -0.05921072143252874, + -0.9847484797858517 + ], + [ + 0.9853306656474973, + 0.10808763390045677, + 0.1320626469992985, + 0.09973092911457525, + -0.9926639591260218, + 0.06835207407384149, + 0.13848184398181615, + -0.05417866415899504, + -0.9888819197646114 + ], + [ + 0.9864187001597121, + 0.09776433694988658, + 0.13198591741535545, + 0.08929761967717427, + -0.993638040850338, + 0.06862491453614177, + 0.13785529766829682, + -0.05590687073921295, + -0.9888732672637754 + ], + [ + 0.9881218143601853, + 0.09116063963980664, + 0.12371345022267008, + 0.08381067093233266, + -0.9944641149957834, + 0.06337898250623704, + 0.12880625537375115, + -0.05225764791984966, + -0.9902919199965621 + ], + [ + 0.9882818249440402, + 0.0846190408693536, + 0.12703799592101778, + 0.0779491565068742, + -0.9953496188033909, + 0.05659563011232853, + 0.13123628875103371, + -0.04602992798490284, + -0.9902819205885566 + ], + [ + 0.987748232349802, + 0.07627124429462255, + 0.13614744501308676, + 0.06900174487292109, + -0.995967056504782, + 0.057344411773883025, + 0.13997209969966792, + -0.04724743009889906, + -0.9890275484811916 + ], + [ + 0.9899519434520817, + 0.03919498371516986, + 0.13586354517314161, + 0.03148418241236764, + -0.9977939680799565, + 0.05844607361559694, + 0.1378546187592983, + -0.053581251523481484, + -0.9890020998824554 + ], + [ + 0.9909029900955415, + 0.051133097061363667, + 0.12448562408819727, + 0.039286218332803866, + -0.9946222739711564, + 0.09582862395731684, + 0.12871618883738775, + -0.09006630060882226, + -0.9875830113088311 + ], + [ + 0.9905281498913685, + 0.0442415851347735, + 0.1299871778966857, + 0.024376390562196704, + -0.9882918266328096, + 0.15061559346210965, + 0.13512873808313788, + -0.14602036692032663, + -0.9800093247456941 + ], + [ + 0.9902467715927348, + 0.05582109120624809, + 0.12765319082071552, + 0.031877728909246214, + -0.982700724081279, + 0.18243655688956267, + 0.13562869073228895, + -0.17658791766900067, + -0.9748956690762204 + ], + [ + 0.9784047829736486, + 0.1664844446806104, + 0.12250310336345223, + 0.13338897096373653, + -0.9612961065983088, + 0.24107504612499553, + 0.1578970014899692, + -0.21952841528677342, + -0.9627438973071473 + ], + [ + 0.9771748652788036, + 0.1856972126781999, + 0.10317862119111362, + 0.15591369750926024, + -0.9568010658011883, + 0.2454030142657194, + 0.14429207045552722, + -0.22371469707030286, + -0.9639146916187136 + ], + [ + 0.9683981857010591, + 0.21178613309192906, + 0.13172542564313555, + 0.17802964711649505, + -0.9568605587486783, + 0.22961558278728378, + 0.17467226075846665, + -0.1989082827363794, + -0.9643262395996446 + ], + [ + 0.957297237379322, + 0.23502261728457213, + 0.16836379857507097, + 0.18256519378249464, + -0.942986860753477, + 0.27829073011054867, + 0.2241694656394526, + -0.2356695776102881, + -0.9456256663521302 + ], + [ + 0.9449027034128762, + 0.28208717041427306, + 0.1660894619495972, + 0.23405282701232807, + -0.9369011998551983, + 0.25968329918850547, + 0.22886274325581055, + -0.2065017433281339, + -0.9513037762733133 + ], + [ + 0.9347639166049954, + 0.30832949172649915, + 0.1764917696238782, + 0.2598997320839751, + -0.9321781601731761, + 0.25198414029226246, + 0.24221591499314693, + -0.18967551826166526, + -0.9515012602704221 + ], + [ + 0.9295663923746703, + 0.3163669215606588, + 0.18925721415516053, + 0.27123649584906706, + -0.9346064637994982, + 0.23009024565095382, + 0.24967395836782694, + -0.1625506959887566, + -0.9545890140508172 + ], + [ + 0.9294021882336339, + 0.31925608720633447, + 0.18516782465707832, + 0.2807569578947354, + -0.9372443125950392, + 0.20675741607484494, + 0.23955605419238918, + -0.1401736397827857, + -0.9607102828687841 + ], + [ + 0.9296056723417868, + 0.3169462667397879, + 0.188091355329495, + 0.28760682460189635, + -0.9429803973719537, + 0.16754188913417117, + 0.23046823727444343, + -0.10165153305260123, + -0.967755835650536 + ], + [ + 0.9364602948235698, + 0.30598776769828023, + 0.17150394233945696, + 0.2785871366407952, + -0.9458816765304755, + 0.16642434107479523, + 0.21314624912776534, + -0.10807099528976374, + -0.9710248897221143 + ], + [ + 0.9430662450049186, + 0.2927323852720742, + 0.15790442725029702, + 0.26665513694571347, + -0.9491948918136194, + 0.16710504269887855, + 0.19879913348097178, + -0.11548509846665561, + -0.9732122566836904 + ], + [ + 0.9437697197168704, + 0.2904152159669312, + 0.15798012052286897, + 0.265208004240853, + -0.9503634267671653, + 0.16270854786996902, + 0.19739156677052638, + -0.11166180814518017, + -0.9739446647369785 + ], + [ + 0.950013487134667, + 0.27560957742281, + 0.14667561179368033, + 0.2534555009852807, + -0.9551483938373839, + 0.15313998423065975, + 0.1823038213601973, + -0.10830930976922717, + -0.977258619882569 + ], + [ + 0.9496038028799858, + 0.2765140588428978, + 0.14762314458815431, + 0.25208158490310906, + -0.9535969248436682, + 0.16464440312818293, + 0.18629946888975638, + -0.11913387507726521, + -0.9752433684473168 + ], + [ + 0.9538780940537654, + 0.23384073734333402, + 0.18824210804993008, + 0.20804174776662268, + -0.9670049394132563, + 0.1470376765885986, + 0.21641444700057488, + -0.10109380153644551, + -0.9710534642440368 + ], + [ + 0.9389093705844466, + 0.2508663255271337, + 0.235616808706917, + 0.23125197781751036, + -0.9668865082943662, + 0.10794907518741227, + 0.25489550130241106, + -0.046867545218861814, + -0.965832136875218 + ], + [ + 0.9279502717110331, + 0.24299086738631093, + 0.2826017190292164, + 0.2570789289735589, + -0.9662990788808239, + -0.013285873395421532, + 0.26984943488773094, + 0.08497957708131736, + -0.9591453247396104 + ], + [ + 0.9577145270674151, + 0.19447834439334435, + 0.2120402278013802, + 0.1893192161199271, + -0.9809035168494113, + 0.04457045030278543, + 0.21665899254767568, + -0.0025424780196658045, + -0.9762440354510473 + ], + [ + 0.9857021372644944, + 0.10319717465612474, + 0.13319774673469856, + 0.0816341645312415, + -0.9840160842334696, + 0.15826626030558502, + 0.14740135607752666, + -0.14512990426794295, + -0.9783711724666072 + ], + [ + 0.9840314122218603, + 0.12126570486069838, + 0.13029508273641274, + 0.09702620761067757, + -0.9791418153281919, + 0.1785139224612527, + 0.14922498047358004, + -0.1630212694725766, + -0.9752722547587461 + ], + [ + 0.9715877358626172, + 0.20829653464906583, + 0.1123824949649373, + 0.18298193791854023, + -0.9622393059372896, + 0.20152699200082091, + 0.1501162280265832, + -0.17523718715647651, + -0.9730144121854296 + ], + [ + 0.9673118721085299, + 0.2343708828709424, + 0.09684023616341601, + 0.20725253479889408, + -0.9507017328722476, + 0.23067856843048684, + 0.14613052007477562, + -0.20306773346841833, + -0.9681990325995348 + ], + [ + 0.9560010862657444, + 0.2820496825078344, + 0.08068394918412562, + 0.25765734101940646, + -0.9387648547656602, + 0.22876459969938173, + 0.14026623855199805, + -0.19791039400203042, + -0.9701323921344113 + ], + [ + 0.9552374136656373, + 0.28552425972650725, + 0.0774427571888701, + 0.26382696422382407, + -0.9406042393325452, + 0.2136796618728256, + 0.13385371299230106, + -0.18368332003008347, + -0.9738293595188536 + ], + [ + 0.9539120420373182, + 0.2926469338456532, + 0.06640473000420596, + 0.2757228185567371, + -0.9420776276331262, + 0.19096248542650818, + 0.1184429963455935, + -0.16385211510346326, + -0.9793486309750982 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005791.json b/json/chunk-0005/episode_0005791.json new file mode 100644 index 0000000000000000000000000000000000000000..e405df6107573b1d3157fd4819e388559f5c9138 --- /dev/null +++ b/json/chunk-0005/episode_0005791.json @@ -0,0 +1,1762 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 28, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut potato in pot cardboard fence." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005791.mp4", + "start": 0, + "end": 28, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2818527817726135, + 0.026774082332849503, + 0.12248068302869797, + -0.030078565701842308, + 0.03128679096698761, + 0.13662752509117126, + 0.0, + 0.9865638017654419 + ], + [ + 0.27746450901031494, + 0.025520257651805878, + 0.11507195979356766, + -0.03741088882088661, + 0.07082903385162354, + 0.12618482112884521, + 0.0, + 0.9872581958770752 + ], + [ + 0.26916995644569397, + 0.04319237917661667, + 0.11710575968027115, + -0.10324455797672272, + 0.10528276115655899, + 0.04856443777680397, + 0.0, + 0.9872581958770752 + ], + [ + 0.2591049373149872, + 0.07119420170783997, + 0.11673768609762192, + -0.17610932886600494, + 0.07514863461256027, + -0.05079585313796997, + 0.0, + 0.9865638017654419 + ], + [ + 0.2447054237127304, + 0.09298762679100037, + 0.12329920381307602, + -0.2404405027627945, + 0.06115790829062462, + -0.21550829708576202, + 0.0, + 0.9865638017654419 + ], + [ + 0.23867547512054443, + 0.11649449169635773, + 0.11747439950704575, + -0.26877015829086304, + 0.0857490748167038, + -0.36425307393074036, + 0.0, + 0.9865638017654419 + ], + [ + 0.23431913554668427, + 0.129240944981575, + 0.10844193398952484, + -0.24734744429588318, + 0.10113202780485153, + -0.46485528349876404, + 0.0, + 0.9865638017654419 + ], + [ + 0.22458839416503906, + 0.13432344794273376, + 0.0867871418595314, + -0.22292184829711914, + 0.09153429418802261, + -0.5192074775695801, + 0.0, + 0.9865638017654419 + ], + [ + 0.21841542422771454, + 0.13901279866695404, + 0.07114939391613007, + -0.20723538100719452, + 0.09747444838285446, + -0.526390016078949, + 0.0, + 0.9872581958770752 + ], + [ + 0.2172621488571167, + 0.1412799060344696, + 0.057664837688207626, + -0.18567731976509094, + 0.09227465838193893, + -0.5225797295570374, + 0.0, + 0.9865638017654419 + ], + [ + 0.21490663290023804, + 0.1435442715883255, + 0.049570176750421524, + -0.1628217250108719, + 0.07588524371385574, + -0.532318651676178, + 0.0, + 0.9865638017654419 + ], + [ + 0.21155302226543427, + 0.14572325348854065, + 0.03674300014972687, + -0.141643688082695, + 0.07404349744319916, + -0.5442805290222168, + 0.0, + 0.9865638017654419 + ], + [ + 0.20927755534648895, + 0.1433408558368683, + 0.02706066519021988, + -0.11667316406965256, + 0.08653759211301804, + -0.548694372177124, + 0.0, + 0.9872581958770752 + ], + [ + 0.20695699751377106, + 0.1409561187028885, + 0.015400160104036331, + -0.10100869089365005, + 0.10257520526647568, + -0.5535407066345215, + 0.0, + 0.9865638017654419 + ], + [ + 0.20505057275295258, + 0.1365923285484314, + 0.004643574357032776, + -0.08280466496944427, + 0.12059849500656128, + -0.5365712642669678, + 0.0, + 0.9865638017654419 + ], + [ + 0.20525683462619781, + 0.13460248708724976, + 7.06446953699924e-05, + -0.0344887338578701, + 0.09948942065238953, + -0.5245679616928101, + 0.0, + 0.9375205039978027 + ], + [ + 0.2074996680021286, + 0.13462060689926147, + 0.0017718657618388534, + -0.04753762111067772, + 0.10454078018665314, + -0.49735793471336365, + 0.0, + 0.7319586873054504 + ], + [ + 0.2147931456565857, + 0.13040412962436676, + 0.011957770213484764, + -0.10888563841581345, + 0.10997077077627182, + -0.45908039808273315, + 0.0, + 0.7398436665534973 + ], + [ + 0.23526591062545776, + 0.12878692150115967, + 0.03681432455778122, + -0.15722639858722687, + 0.09068560600280762, + -0.3832673132419586, + 0.0, + 0.7525970935821533 + ], + [ + 0.266436368227005, + 0.12401241809129715, + 0.07585404068231583, + -0.1925194412469864, + 0.058213427662849426, + -0.26976627111434937, + 0.0, + 0.7525970935821533 + ], + [ + 0.28889667987823486, + 0.11996977776288986, + 0.09759208559989929, + -0.2189340442419052, + 0.030256640166044235, + -0.19589900970458984, + 0.0, + 0.7525970935821533 + ], + [ + 0.3118703365325928, + 0.12309141457080841, + 0.09699272364377975, + -0.2066497951745987, + 0.02922115847468376, + -0.10955838114023209, + 0.0, + 0.7525970935821533 + ], + [ + 0.32264307141304016, + 0.1267775148153305, + 0.08425962924957275, + -0.175843745470047, + 0.013355019502341747, + -0.05842266231775284, + 0.0, + 0.7525970935821533 + ], + [ + 0.32610049843788147, + 0.1295992136001587, + 0.074803426861763, + -0.13684050738811493, + -0.020883675664663315, + -0.04902637004852295, + 0.0, + 0.8224069476127625 + ], + [ + 0.3216248154640198, + 0.12924107909202576, + 0.05849042907357216, + -0.11451547592878342, + -0.03512679040431976, + -0.06372160464525223, + 0.0, + 0.9886419177055359 + ], + [ + 0.32152867317199707, + 0.1271781623363495, + 0.0577678382396698, + -0.1331358700990677, + -0.046952128410339355, + -0.0692208856344223, + 0.0, + 0.9872581958770752 + ], + [ + 0.31817471981048584, + 0.12464431673288345, + 0.06476133316755295, + -0.13145916163921356, + -0.0613306388258934, + -0.07407760620117188, + 0.0, + 0.9872581958770752 + ], + [ + 0.30403846502304077, + 0.11244713515043259, + 0.09506921470165253, + -0.194041907787323, + -0.04374900832772255, + -0.0830593854188919, + 0.0, + 0.9872581958770752 + ] + ], + "left_gripper_pos": [ + [ + 0.9865638017654419 + ], + [ + 0.9872581958770752 + ], + [ + 0.9872581958770752 + ], + [ + 0.9865638017654419 + ], + [ + 0.9865638017654419 + ], + [ + 0.9865638017654419 + ], + [ + 0.9865638017654419 + ], + [ + 0.9865638017654419 + ], + [ + 0.9872581958770752 + ], + [ + 0.9865638017654419 + ], + [ + 0.9865638017654419 + ], + [ + 0.9865638017654419 + ], + [ + 0.9872581958770752 + ], + [ + 0.9865638017654419 + ], + [ + 0.9865638017654419 + ], + [ + 0.9375205039978027 + ], + [ + 0.7319586873054504 + ], + [ + 0.7398436665534973 + ], + [ + 0.7525970935821533 + ], + [ + 0.7525970935821533 + ], + [ + 0.7525970935821533 + ], + [ + 0.7525970935821533 + ], + [ + 0.7525970935821533 + ], + [ + 0.8224069476127625 + ], + [ + 0.9886419177055359 + ], + [ + 0.9872581958770752 + ], + [ + 0.9872581958770752 + ], + [ + 0.9872581958770752 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2818527817726135, + 0.026774082332849503, + 0.12248068302869797 + ], + [ + 0.27746450901031494, + 0.025520257651805878, + 0.11507195979356766 + ], + [ + 0.26916995644569397, + 0.04319237917661667, + 0.11710575968027115 + ], + [ + 0.2591049373149872, + 0.07119420170783997, + 0.11673768609762192 + ], + [ + 0.2447054237127304, + 0.09298762679100037, + 0.12329920381307602 + ], + [ + 0.23867547512054443, + 0.11649449169635773, + 0.11747439950704575 + ], + [ + 0.23431913554668427, + 0.129240944981575, + 0.10844193398952484 + ], + [ + 0.22458839416503906, + 0.13432344794273376, + 0.0867871418595314 + ], + [ + 0.21841542422771454, + 0.13901279866695404, + 0.07114939391613007 + ], + [ + 0.2172621488571167, + 0.1412799060344696, + 0.057664837688207626 + ], + [ + 0.21490663290023804, + 0.1435442715883255, + 0.049570176750421524 + ], + [ + 0.21155302226543427, + 0.14572325348854065, + 0.03674300014972687 + ], + [ + 0.20927755534648895, + 0.1433408558368683, + 0.02706066519021988 + ], + [ + 0.20695699751377106, + 0.1409561187028885, + 0.015400160104036331 + ], + [ + 0.20505057275295258, + 0.1365923285484314, + 0.004643574357032776 + ], + [ + 0.20525683462619781, + 0.13460248708724976, + 7.06446953699924e-05 + ], + [ + 0.2074996680021286, + 0.13462060689926147, + 0.0017718657618388534 + ], + [ + 0.2147931456565857, + 0.13040412962436676, + 0.011957770213484764 + ], + [ + 0.23526591062545776, + 0.12878692150115967, + 0.03681432455778122 + ], + [ + 0.266436368227005, + 0.12401241809129715, + 0.07585404068231583 + ], + [ + 0.28889667987823486, + 0.11996977776288986, + 0.09759208559989929 + ], + [ + 0.3118703365325928, + 0.12309141457080841, + 0.09699272364377975 + ], + [ + 0.32264307141304016, + 0.1267775148153305, + 0.08425962924957275 + ], + [ + 0.32610049843788147, + 0.1295992136001587, + 0.074803426861763 + ], + [ + 0.3216248154640198, + 0.12924107909202576, + 0.05849042907357216 + ], + [ + 0.32152867317199707, + 0.1271781623363495, + 0.0577678382396698 + ], + [ + 0.31817471981048584, + 0.12464431673288345, + 0.06476133316755295 + ], + [ + 0.30403846502304077, + 0.11244713515043259, + 0.09506921470165253 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9901961387591418, + 0.13707324011359945, + -0.02687998570025894, + 0.13613619227415258, + -0.990104724045945, + -0.034052497338646154, + -0.03128168696828177, + 0.030059312478216447, + -0.9990585036892262 + ], + [ + 0.9895618611718029, + 0.12838806364647692, + -0.0654509589487111, + 0.12553467463322138, + -0.9910219925112208, + -0.04600495433995478, + -0.07076982675497316, + 0.03730838340371068, + -0.9967947211682419 + ], + [ + 0.9932903954113457, + 0.05910461430635793, + -0.09940238906218073, + 0.04827654905909993, + -0.9929764987666999, + -0.10801410883755025, + -0.1050883685024979, + 0.1024905725651023, + -0.9891673859063291 + ], + [ + 0.9958914783058678, + -0.036851962250867835, + -0.08271696510398299, + -0.05063071086804439, + -0.9839307732573171, + -0.17122139046934, + -0.0750779232181433, + 0.17470594241615914, + -0.9817541133755091 + ], + [ + 0.9750415091257216, + -0.19347457332657514, + -0.1089111792146929, + -0.21344420035732414, + -0.9518788246472129, + -0.2199278893684541, + -0.06111979070364797, + 0.23768528070610556, + -0.969417391282002 + ], + [ + 0.9309569793706877, + -0.32221110895466826, + -0.17175303149350254, + -0.3549425345061839, + -0.908945855265152, + -0.2187080917447451, + -0.08564402932681062, + 0.2645702807620393, + -0.9605559154875702 + ], + [ + 0.8893191497251496, + -0.41255442533150677, + -0.1972569290836872, + -0.4460028967355133, + -0.8777622926163745, + -0.1749707797444383, + -0.10095972481969051, + 0.24358202684154656, + -0.9646112844892993 + ], + [ + 0.8645780627965456, + -0.4663692765402412, + -0.18709481882271478, + -0.49411498671683685, + -0.8567564718249379, + -0.14771163761838277, + -0.09140652729861565, + 0.22015459542198143, + -0.9711728995816301 + ], + [ + 0.8605221392734278, + -0.4743520048764182, + -0.18571974394233268, + -0.5000304320767638, + -0.8561868541587918, + -0.1300524423561377, + -0.09732016655045342, + 0.20477852972270835, + -0.9739581813133446 + ], + [ + 0.8628479912372014, + -0.4757976077596806, + -0.170616471854542, + -0.4969938331898843, + -0.8601304098670159, + -0.11477285303252122, + -0.09214376695768442, + 0.18382686003999632, + -0.978630273258846 + ], + [ + 0.8591529009473139, + -0.49023081983745026, + -0.14673116940621778, + -0.5060718998392942, + -0.856473764436902, + -0.10170507865553749, + -0.07581243293063565, + 0.16163673503502576, + -0.9839339616561441 + ], + [ + 0.8531560137556451, + -0.5036829068344184, + -0.13575104255735418, + -0.5163839544424815, + -0.8523399973153921, + -0.08285010905691735, + -0.0739758594875602, + 0.14078372895767619, + -0.9872727656903378 + ], + [ + 0.8500134972862423, + -0.509443495092225, + -0.13395663380150205, + -0.5196219536769792, + -0.8526532594216683, + -0.05454763472896938, + -0.08642962274666532, + 0.11597303352859188, + -0.9894848032213762 + ], + [ + 0.8461971946614507, + -0.5142395937816393, + -0.1396708557086449, + -0.5229392748178223, + -0.8517606159542352, + -0.032223717387529785, + -0.10239542274975287, + 0.1003069952523546, + -0.9896735239983654 + ], + [ + 0.8532240051263726, + -0.5008884336481527, + -0.14532575172216275, + -0.5074792338328089, + -0.8616082837616172, + -0.009797580406704712, + -0.12030637682424336, + 0.08210933193529643, + -0.9893353492646275 + ], + [ + 0.8612603141010025, + -0.4975768540968027, + -0.10318888322766046, + -0.4983624596818696, + -0.8667410242810505, + 0.019870974009153528, + -0.09932537507847408, + 0.03431138434054566, + -0.9944632717049715 + ], + [ + 0.874048187158472, + -0.472208313040555, + -0.11427631259531384, + -0.47450052322413994, + -0.8802191625872005, + 0.00796738817335024, + -0.1043504671048773, + 0.047260288929297165, + -0.9934170549700228 + ], + [ + 0.8910451315528698, + -0.42980799513557855, + -0.14595773653172187, + -0.4404471319579113, + -0.8964362935734168, + -0.049074387560164454, + -0.10974924822512137, + 0.1080141605618886, + -0.9880728938859377 + ], + [ + 0.9236367711386921, + -0.3561889028609773, + -0.14150823466916845, + -0.37241610494397154, + -0.9213107096230848, + -0.1117712893017188, + -0.09056135919282549, + 0.15593601832963738, + -0.9836069328795151 + ], + [ + 0.9622005535044593, + -0.2508533243668985, + -0.10603162023560578, + -0.26605472734354757, + -0.9489933834466305, + -0.1691934993806414, + -0.05818055425881306, + 0.19100829256498822, + -0.9798626716420752 + ], + [ + 0.9804241322492603, + -0.1835573339785412, + -0.07124062075792786, + -0.19455933787235566, + -0.9587380827626317, + -0.20728712624594728, + -0.03025202389849612, + 0.21708982888040382, + -0.9756827462073527 + ], + [ + 0.9935801330590823, + -0.10105415119826137, + -0.05085840850729834, + -0.10929266258457333, + -0.9735113193207129, + -0.2008253596028636, + -0.029217000110738793, + 0.2050945383964278, + -0.9783059834348787 + ], + [ + 0.9982048568236087, + -0.0551567689094877, + -0.023340836686475085, + -0.05838422621980241, + -0.983035888572124, + -0.17387272330049394, + -0.013354622513357218, + 0.17492333355696307, + -0.9844914836781706 + ], + [ + 0.9985806541943517, + -0.05139380724954903, + 0.013976896836457055, + -0.048996046354220175, + -0.9893220176256579, + -0.1372637347690668, + 0.02088215770546401, + 0.1363840973775675, + -0.9904359209318241 + ], + [ + 0.9973548351404943, + -0.06726621843545379, + 0.02754248861798278, + -0.06363920827825113, + -0.9911784849986878, + -0.11625515922067275, + 0.035119567075851996, + 0.1141948629891048, + -0.9928374233857751 + ], + [ + 0.996505781451742, + -0.07476889106050909, + 0.037226878231115194, + -0.06908939599146662, + -0.9883459663604, + -0.1356425675835612, + 0.04693487929873553, + 0.13259662027634178, + -0.99005820707497 + ], + [ + 0.9953825306592727, + -0.08138349365011346, + 0.05089542827842392, + -0.07387072625020785, + -0.9880582400848297, + -0.13521845289654918, + 0.061292197395827676, + 0.13083440358625623, + -0.989507769235098 + ], + [ + 0.9955990152892517, + -0.08981112546391944, + 0.026768685025165266, + -0.08288453302556549, + -0.9771504583088768, + -0.1957220887173594, + 0.04373505390652135, + 0.1926420088393393, + -0.9802939872763361 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.004388272762298584, + -0.0012538246810436249, + -0.00740872323513031, + -0.007332323119044304, + 0.039542242884635925, + -0.01044270396232605, + 1.0 + ], + [ + -0.008294552564620972, + 0.01767212152481079, + 0.002033799886703491, + -0.0658336728811264, + 0.034453727304935455, + -0.07762038707733154, + 1.0 + ], + [ + -0.010065019130706787, + 0.028001822531223297, + -0.00036807358264923096, + -0.07286477088928223, + -0.030134126543998718, + -0.09936028718948364, + 1.0 + ], + [ + -0.014399513602256775, + 0.0217934250831604, + 0.0065615177154541016, + -0.06433117389678955, + -0.013990726321935654, + -0.16471244394779205, + 1.0 + ], + [ + -0.006029948592185974, + 0.02350686490535736, + -0.0058248043060302734, + -0.028329655528068542, + 0.024591166526079178, + -0.14874477684497833, + 1.0 + ], + [ + -0.0043563395738601685, + 0.012746453285217285, + -0.009032465517520905, + 0.02142271399497986, + 0.015382952988147736, + -0.10060220956802368, + 1.0 + ], + [ + -0.009730741381645203, + 0.0050825029611587524, + -0.02165479212999344, + 0.024425595998764038, + -0.009597733616828918, + -0.05435219407081604, + 1.0 + ], + [ + -0.006172969937324524, + 0.004689350724220276, + -0.015637747943401337, + 0.01568646728992462, + 0.005940154194831848, + -0.0071825385093688965, + 1.0 + ], + [ + -0.0011532753705978394, + 0.002267107367515564, + -0.01348455622792244, + 0.021558061242103577, + -0.005199790000915527, + 0.003810286521911621, + 1.0 + ], + [ + -0.002355515956878662, + 0.002264365553855896, + -0.008094660937786102, + 0.022855594754219055, + -0.01638941466808319, + -0.009738922119140625, + 1.0 + ], + [ + -0.003353610634803772, + 0.002178981900215149, + -0.012827176600694656, + 0.02117803692817688, + -0.0018417462706565857, + -0.011961877346038818, + 1.0 + ], + [ + -0.0022754669189453125, + -0.0023823976516723633, + -0.009682334959506989, + 0.02497052401304245, + 0.012494094669818878, + -0.0044138431549072266, + 1.0 + ], + [ + -0.0023205578327178955, + -0.0023847371339797974, + -0.011660505086183548, + 0.015664473176002502, + 0.01603761315345764, + -0.004846334457397461, + 1.0 + ], + [ + -0.0019064247608184814, + -0.004363790154457092, + -0.010756585747003555, + 0.01820402592420578, + 0.018023289740085602, + 0.01696944236755371, + 1.0 + ], + [ + 0.00020626187324523926, + -0.0019898414611816406, + -0.004572929814457893, + 0.04831593111157417, + -0.021109074354171753, + 0.012003302574157715, + 0.0 + ], + [ + 0.002242833375930786, + 1.811981201171875e-05, + 0.001701221102848649, + -0.013048887252807617, + 0.005051359534263611, + 0.02721002697944641, + 0.0 + ], + [ + 0.007293477654457092, + -0.004216477274894714, + 0.010185904800891876, + -0.06134801730513573, + 0.005429990589618683, + 0.03827753663063049, + 0.0 + ], + [ + 0.02047276496887207, + -0.0016172081232070923, + 0.024856554344296455, + -0.04834076017141342, + -0.019285164773464203, + 0.07581308484077454, + 0.0 + ], + [ + 0.03117045760154724, + -0.004774503409862518, + 0.03903971612453461, + -0.03529304265975952, + -0.03247217833995819, + 0.11350104212760925, + 0.0 + ], + [ + 0.02246031165122986, + -0.004042640328407288, + 0.021738044917583466, + -0.026414602994918823, + -0.02795678749680519, + 0.07386726140975952, + 0.0 + ], + [ + 0.02297365665435791, + 0.0031216368079185486, + -0.0005993619561195374, + 0.012284249067306519, + -0.0010354816913604736, + 0.08634062856435776, + 0.0 + ], + [ + 0.010772734880447388, + 0.0036861002445220947, + -0.012733094394207, + 0.030806049704551697, + -0.01586613804101944, + 0.05113571882247925, + 0.0 + ], + [ + 0.0034574270248413086, + 0.002821698784828186, + -0.009456202387809753, + 0.03900323808193207, + -0.03423869609832764, + 0.009396292269229889, + 1.0 + ], + [ + -0.004475682973861694, + -0.00035813450813293457, + -0.01631299778819084, + 0.022325031459331512, + -0.014243114739656448, + -0.014695234596729279, + 1.0 + ], + [ + -9.614229202270508e-05, + -0.0020629167556762695, + -0.000722590833902359, + -0.01862039417028427, + -0.011825338006019592, + -0.0054992809891700745, + 1.0 + ], + [ + -0.0033539533615112305, + -0.002533845603466034, + 0.006993494927883148, + 0.001676708459854126, + -0.014378510415554047, + -0.004856720566749573, + 1.0 + ], + [ + -0.014136254787445068, + -0.012197181582450867, + 0.03030788153409958, + -0.06258274614810944, + 0.017581630498170853, + -0.008981779217720032, + 1.0 + ], + [ + -0.02191135287284851, + -0.009546667337417603, + 0.03461012244224548, + -0.025617331266403198, + -0.00651077926158905, + -0.04152126610279083, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9872581958770752 + ], + [ + 0.9872581958770752 + ], + [ + 0.9865638017654419 + ], + [ + 0.9865638017654419 + ], + [ + 0.9865638017654419 + ], + [ + 0.9865638017654419 + ], + [ + 0.9865638017654419 + ], + [ + 0.9872581958770752 + ], + [ + 0.9865638017654419 + ], + [ + 0.9865638017654419 + ], + [ + 0.9865638017654419 + ], + [ + 0.9872581958770752 + ], + [ + 0.9865638017654419 + ], + [ + 0.9865638017654419 + ], + [ + 0.9375205039978027 + ], + [ + 0.7319586873054504 + ], + [ + 0.7398436665534973 + ], + [ + 0.7525970935821533 + ], + [ + 0.7525970935821533 + ], + [ + 0.7525970935821533 + ], + [ + 0.7525970935821533 + ], + [ + 0.7525970935821533 + ], + [ + 0.8224069476127625 + ], + [ + 0.9886419177055359 + ], + [ + 0.9872581958770752 + ], + [ + 0.9872581958770752 + ], + [ + 0.9872581958770752 + ], + [ + 0.9872581958770752 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.27746450901031494, + 0.025520257651805878, + 0.11507195979356766 + ], + [ + 0.26916995644569397, + 0.04319237917661667, + 0.11710575968027115 + ], + [ + 0.2591049373149872, + 0.07119420170783997, + 0.11673768609762192 + ], + [ + 0.2447054237127304, + 0.09298762679100037, + 0.12329920381307602 + ], + [ + 0.23867547512054443, + 0.11649449169635773, + 0.11747439950704575 + ], + [ + 0.23431913554668427, + 0.129240944981575, + 0.10844193398952484 + ], + [ + 0.22458839416503906, + 0.13432344794273376, + 0.0867871418595314 + ], + [ + 0.21841542422771454, + 0.13901279866695404, + 0.07114939391613007 + ], + [ + 0.2172621488571167, + 0.1412799060344696, + 0.057664837688207626 + ], + [ + 0.21490663290023804, + 0.1435442715883255, + 0.049570176750421524 + ], + [ + 0.21155302226543427, + 0.14572325348854065, + 0.03674300014972687 + ], + [ + 0.20927755534648895, + 0.1433408558368683, + 0.02706066519021988 + ], + [ + 0.20695699751377106, + 0.1409561187028885, + 0.015400160104036331 + ], + [ + 0.20505057275295258, + 0.1365923285484314, + 0.004643574357032776 + ], + [ + 0.20525683462619781, + 0.13460248708724976, + 7.06446953699924e-05 + ], + [ + 0.2074996680021286, + 0.13462060689926147, + 0.0017718657618388534 + ], + [ + 0.2147931456565857, + 0.13040412962436676, + 0.011957770213484764 + ], + [ + 0.23526591062545776, + 0.12878692150115967, + 0.03681432455778122 + ], + [ + 0.266436368227005, + 0.12401241809129715, + 0.07585404068231583 + ], + [ + 0.28889667987823486, + 0.11996977776288986, + 0.09759208559989929 + ], + [ + 0.3118703365325928, + 0.12309141457080841, + 0.09699272364377975 + ], + [ + 0.32264307141304016, + 0.1267775148153305, + 0.08425962924957275 + ], + [ + 0.32610049843788147, + 0.1295992136001587, + 0.074803426861763 + ], + [ + 0.3216248154640198, + 0.12924107909202576, + 0.05849042907357216 + ], + [ + 0.32152867317199707, + 0.1271781623363495, + 0.0577678382396698 + ], + [ + 0.31817471981048584, + 0.12464431673288345, + 0.06476133316755295 + ], + [ + 0.30403846502304077, + 0.11244713515043259, + 0.09506921470165253 + ], + [ + 0.28212711215019226, + 0.10290046781301498, + 0.129679337143898 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9895618611718029, + 0.12838806364647692, + -0.0654509589487111, + 0.12553467463322138, + -0.9910219925112208, + -0.04600495433995478, + -0.07076982675497316, + 0.03730838340371068, + -0.9967947211682419 + ], + [ + 0.9932903954113457, + 0.05910461430635793, + -0.09940238906218073, + 0.04827654905909993, + -0.9929764987666999, + -0.10801410883755025, + -0.1050883685024979, + 0.1024905725651023, + -0.9891673859063291 + ], + [ + 0.9958914783058678, + -0.036851962250867835, + -0.08271696510398299, + -0.05063071086804439, + -0.9839307732573171, + -0.17122139046934, + -0.0750779232181433, + 0.17470594241615914, + -0.9817541133755091 + ], + [ + 0.9750415091257216, + -0.19347457332657514, + -0.1089111792146929, + -0.21344420035732414, + -0.9518788246472129, + -0.2199278893684541, + -0.06111979070364797, + 0.23768528070610556, + -0.969417391282002 + ], + [ + 0.9309569793706877, + -0.32221110895466826, + -0.17175303149350254, + -0.3549425345061839, + -0.908945855265152, + -0.2187080917447451, + -0.08564402932681062, + 0.2645702807620393, + -0.9605559154875702 + ], + [ + 0.8893191497251496, + -0.41255442533150677, + -0.1972569290836872, + -0.4460028967355133, + -0.8777622926163745, + -0.1749707797444383, + -0.10095972481969051, + 0.24358202684154656, + -0.9646112844892993 + ], + [ + 0.8645780627965456, + -0.4663692765402412, + -0.18709481882271478, + -0.49411498671683685, + -0.8567564718249379, + -0.14771163761838277, + -0.09140652729861565, + 0.22015459542198143, + -0.9711728995816301 + ], + [ + 0.8605221392734278, + -0.4743520048764182, + -0.18571974394233268, + -0.5000304320767638, + -0.8561868541587918, + -0.1300524423561377, + -0.09732016655045342, + 0.20477852972270835, + -0.9739581813133446 + ], + [ + 0.8628479912372014, + -0.4757976077596806, + -0.170616471854542, + -0.4969938331898843, + -0.8601304098670159, + -0.11477285303252122, + -0.09214376695768442, + 0.18382686003999632, + -0.978630273258846 + ], + [ + 0.8591529009473139, + -0.49023081983745026, + -0.14673116940621778, + -0.5060718998392942, + -0.856473764436902, + -0.10170507865553749, + -0.07581243293063565, + 0.16163673503502576, + -0.9839339616561441 + ], + [ + 0.8531560137556451, + -0.5036829068344184, + -0.13575104255735418, + -0.5163839544424815, + -0.8523399973153921, + -0.08285010905691735, + -0.0739758594875602, + 0.14078372895767619, + -0.9872727656903378 + ], + [ + 0.8500134972862423, + -0.509443495092225, + -0.13395663380150205, + -0.5196219536769792, + -0.8526532594216683, + -0.05454763472896938, + -0.08642962274666532, + 0.11597303352859188, + -0.9894848032213762 + ], + [ + 0.8461971946614507, + -0.5142395937816393, + -0.1396708557086449, + -0.5229392748178223, + -0.8517606159542352, + -0.032223717387529785, + -0.10239542274975287, + 0.1003069952523546, + -0.9896735239983654 + ], + [ + 0.8532240051263726, + -0.5008884336481527, + -0.14532575172216275, + -0.5074792338328089, + -0.8616082837616172, + -0.009797580406704712, + -0.12030637682424336, + 0.08210933193529643, + -0.9893353492646275 + ], + [ + 0.8612603141010025, + -0.4975768540968027, + -0.10318888322766046, + -0.4983624596818696, + -0.8667410242810505, + 0.019870974009153528, + -0.09932537507847408, + 0.03431138434054566, + -0.9944632717049715 + ], + [ + 0.874048187158472, + -0.472208313040555, + -0.11427631259531384, + -0.47450052322413994, + -0.8802191625872005, + 0.00796738817335024, + -0.1043504671048773, + 0.047260288929297165, + -0.9934170549700228 + ], + [ + 0.8910451315528698, + -0.42980799513557855, + -0.14595773653172187, + -0.4404471319579113, + -0.8964362935734168, + -0.049074387560164454, + -0.10974924822512137, + 0.1080141605618886, + -0.9880728938859377 + ], + [ + 0.9236367711386921, + -0.3561889028609773, + -0.14150823466916845, + -0.37241610494397154, + -0.9213107096230848, + -0.1117712893017188, + -0.09056135919282549, + 0.15593601832963738, + -0.9836069328795151 + ], + [ + 0.9622005535044593, + -0.2508533243668985, + -0.10603162023560578, + -0.26605472734354757, + -0.9489933834466305, + -0.1691934993806414, + -0.05818055425881306, + 0.19100829256498822, + -0.9798626716420752 + ], + [ + 0.9804241322492603, + -0.1835573339785412, + -0.07124062075792786, + -0.19455933787235566, + -0.9587380827626317, + -0.20728712624594728, + -0.03025202389849612, + 0.21708982888040382, + -0.9756827462073527 + ], + [ + 0.9935801330590823, + -0.10105415119826137, + -0.05085840850729834, + -0.10929266258457333, + -0.9735113193207129, + -0.2008253596028636, + -0.029217000110738793, + 0.2050945383964278, + -0.9783059834348787 + ], + [ + 0.9982048568236087, + -0.0551567689094877, + -0.023340836686475085, + -0.05838422621980241, + -0.983035888572124, + -0.17387272330049394, + -0.013354622513357218, + 0.17492333355696307, + -0.9844914836781706 + ], + [ + 0.9985806541943517, + -0.05139380724954903, + 0.013976896836457055, + -0.048996046354220175, + -0.9893220176256579, + -0.1372637347690668, + 0.02088215770546401, + 0.1363840973775675, + -0.9904359209318241 + ], + [ + 0.9973548351404943, + -0.06726621843545379, + 0.02754248861798278, + -0.06363920827825113, + -0.9911784849986878, + -0.11625515922067275, + 0.035119567075851996, + 0.1141948629891048, + -0.9928374233857751 + ], + [ + 0.996505781451742, + -0.07476889106050909, + 0.037226878231115194, + -0.06908939599146662, + -0.9883459663604, + -0.1356425675835612, + 0.04693487929873553, + 0.13259662027634178, + -0.99005820707497 + ], + [ + 0.9953825306592727, + -0.08138349365011346, + 0.05089542827842392, + -0.07387072625020785, + -0.9880582400848297, + -0.13521845289654918, + 0.061292197395827676, + 0.13083440358625623, + -0.989507769235098 + ], + [ + 0.9955990152892517, + -0.08981112546391944, + 0.026768685025165266, + -0.08288453302556549, + -0.9771504583088768, + -0.1957220887173594, + 0.04373505390652135, + 0.1926420088393393, + -0.9802939872763361 + ], + [ + 0.9909968914145347, + -0.13213493931434225, + 0.02157588976437031, + -0.12410173734417398, + -0.967047600386712, + -0.22230091626995202, + 0.05023863050369531, + 0.21762191157762045, + -0.9747393413658935 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005793.json b/json/chunk-0005/episode_0005793.json new file mode 100644 index 0000000000000000000000000000000000000000..9e8b8ba3a7cc15634f6621ed3a36f0a3521c9811 --- /dev/null +++ b/json/chunk-0005/episode_0005793.json @@ -0,0 +1,1702 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 27, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut potato in pot cardboard fence." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005793.mp4", + "start": 0, + "end": 27, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.25304514169692993, + -0.023250512778759003, + 0.12217603623867035, + 0.05636253580451012, + -0.11377564072608948, + 0.19867272675037384, + 0.0, + 0.9844722747802734 + ], + [ + 0.2505979835987091, + -0.02257935330271721, + 0.11354261636734009, + 0.06494094431400299, + -0.09113283455371857, + 0.1859865039587021, + 0.0, + 0.9844722747802734 + ], + [ + 0.2703767716884613, + 0.0036857854574918747, + 0.0982179343700409, + 0.08283701539039612, + -0.15008637309074402, + 0.06871363520622253, + 0.0, + 0.9844722747802734 + ], + [ + 0.2826325595378876, + 0.031212573871016502, + 0.09081028401851654, + 0.002606016583740711, + -0.09705541282892227, + -0.005558351054787636, + 0.0, + 0.9844722747802734 + ], + [ + 0.2965906858444214, + 0.055417243391275406, + 0.0926487073302269, + -0.04477453604340553, + -0.05642094835639, + -0.03164477273821831, + 0.0, + 0.9844722747802734 + ], + [ + 0.30483278632164, + 0.07900834083557129, + 0.08433880656957626, + -0.09071692824363708, + -0.041386011987924576, + -0.09934987127780914, + 0.0, + 0.9844722747802734 + ], + [ + 0.30155137181282043, + 0.08784714341163635, + 0.07598676532506943, + -0.13930919766426086, + 0.021731127053499222, + -0.1794651448726654, + 0.0, + 0.9844722747802734 + ], + [ + 0.29881539940834045, + 0.0859060138463974, + 0.06443291902542114, + -0.18789954483509064, + 0.057236652821302414, + -0.3042691648006439, + 0.0, + 0.9844722747802734 + ], + [ + 0.2998902201652527, + 0.08458617329597473, + 0.05943924933671951, + -0.19679325819015503, + 0.01935393735766411, + -0.32756081223487854, + 0.0, + 0.9844722747802734 + ], + [ + 0.2943536043167114, + 0.07826761156320572, + 0.03966860473155975, + -0.20548173785209656, + -0.03269578516483307, + -0.33234190940856934, + 0.0, + 0.9844722747802734 + ], + [ + 0.2963223457336426, + 0.07620037347078323, + 0.03156565502285957, + -0.1815512627363205, + -0.09344246238470078, + -0.2509658634662628, + 0.0, + 0.9844722747802734 + ], + [ + 0.3046643137931824, + 0.0791132003068924, + 0.02704325132071972, + -0.13170699775218964, + -0.12029416859149933, + -0.21871142089366913, + 0.0, + 0.9844722747802734 + ], + [ + 0.3080764412879944, + 0.0778607428073883, + 0.010310632176697254, + -0.11556269228458405, + -0.08193694055080414, + -0.18003647029399872, + 0.0, + 0.933559775352478 + ], + [ + 0.31229597330093384, + 0.07744983583688736, + 0.005436948500573635, + -0.12397535890340805, + -0.040849361568689346, + -0.13187889754772186, + 0.0, + 0.728995144367218 + ], + [ + 0.3146090507507324, + 0.07726245373487473, + 0.005312876310199499, + -0.12638671696186066, + -0.05621436983346939, + -0.11457330733537674, + 0.0, + 0.672171950340271 + ], + [ + 0.31193044781684875, + 0.07539796084165573, + 0.011768803000450134, + -0.1537426859140396, + -0.056266237050294876, + -0.10403719544410706, + 0.0, + 0.7011857628822327 + ], + [ + 0.2988903820514679, + 0.07067881524562836, + 0.044367656111717224, + -0.18052038550376892, + -0.11102201044559479, + -0.12871398031711578, + 0.0, + 0.7011857628822327 + ], + [ + 0.2817341387271881, + 0.06097417697310448, + 0.06798243522644043, + -0.2265280932188034, + -0.1321703940629959, + -0.13378244638442993, + 0.0, + 0.7011857628822327 + ], + [ + 0.2627566158771515, + 0.04418371245265007, + 0.08806139975786209, + -0.254657506942749, + -0.151203915476799, + -0.14296706020832062, + 0.0, + 0.7011857628822327 + ], + [ + 0.23850379884243011, + 0.016471071168780327, + 0.0939522534608841, + -0.2491460144519806, + -0.11759085208177567, + -0.187051922082901, + 0.0, + 0.7011857628822327 + ], + [ + 0.22378715872764587, + -0.007224096916615963, + 0.08947426080703735, + -0.22236673533916473, + -0.10272100567817688, + -0.21088968217372894, + 0.0, + 0.7011857628822327 + ], + [ + 0.21231700479984283, + -0.021855400875210762, + 0.07480296492576599, + -0.1897202432155609, + -0.06692732870578766, + -0.22410449385643005, + 0.0, + 0.7011857628822327 + ], + [ + 0.20396378636360168, + -0.02752051316201687, + 0.05930202081799507, + -0.1507585346698761, + -0.06929345428943634, + -0.23506882786750793, + 0.0, + 0.6701657772064209 + ], + [ + 0.195729061961174, + -0.028355956077575684, + 0.04895159602165222, + -0.13348959386348724, + -0.06650993227958679, + -0.2596019506454468, + 0.0, + 0.7457395792007446 + ], + [ + 0.1926628202199936, + -0.030283216387033463, + 0.04610234498977661, + -0.11363449692726135, + -0.05448067933320999, + -0.2523384094238281, + 0.0, + 0.9723638892173767 + ], + [ + 0.18810345232486725, + -0.029705289751291275, + 0.04804051294922829, + -0.11912357807159424, + -0.01601826399564743, + -0.2425316572189331, + 0.0, + 0.9844722747802734 + ], + [ + 0.19402700662612915, + -0.02876163460314274, + 0.07200369983911514, + -0.12483041733503342, + -0.04642324149608612, + -0.2137240618467331, + 0.0, + 0.9844722747802734 + ] + ], + "left_gripper_pos": [ + [ + 0.9844722747802734 + ], + [ + 0.9844722747802734 + ], + [ + 0.9844722747802734 + ], + [ + 0.9844722747802734 + ], + [ + 0.9844722747802734 + ], + [ + 0.9844722747802734 + ], + [ + 0.9844722747802734 + ], + [ + 0.9844722747802734 + ], + [ + 0.9844722747802734 + ], + [ + 0.9844722747802734 + ], + [ + 0.9844722747802734 + ], + [ + 0.9844722747802734 + ], + [ + 0.933559775352478 + ], + [ + 0.728995144367218 + ], + [ + 0.672171950340271 + ], + [ + 0.7011857628822327 + ], + [ + 0.7011857628822327 + ], + [ + 0.7011857628822327 + ], + [ + 0.7011857628822327 + ], + [ + 0.7011857628822327 + ], + [ + 0.7011857628822327 + ], + [ + 0.7011857628822327 + ], + [ + 0.6701657772064209 + ], + [ + 0.7457395792007446 + ], + [ + 0.9723638892173767 + ], + [ + 0.9844722747802734 + ], + [ + 0.9844722747802734 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.25304514169692993, + -0.023250512778759003, + 0.12217603623867035 + ], + [ + 0.2505979835987091, + -0.02257935330271721, + 0.11354261636734009 + ], + [ + 0.2703767716884613, + 0.0036857854574918747, + 0.0982179343700409 + ], + [ + 0.2826325595378876, + 0.031212573871016502, + 0.09081028401851654 + ], + [ + 0.2965906858444214, + 0.055417243391275406, + 0.0926487073302269 + ], + [ + 0.30483278632164, + 0.07900834083557129, + 0.08433880656957626 + ], + [ + 0.30155137181282043, + 0.08784714341163635, + 0.07598676532506943 + ], + [ + 0.29881539940834045, + 0.0859060138463974, + 0.06443291902542114 + ], + [ + 0.2998902201652527, + 0.08458617329597473, + 0.05943924933671951 + ], + [ + 0.2943536043167114, + 0.07826761156320572, + 0.03966860473155975 + ], + [ + 0.2963223457336426, + 0.07620037347078323, + 0.03156565502285957 + ], + [ + 0.3046643137931824, + 0.0791132003068924, + 0.02704325132071972 + ], + [ + 0.3080764412879944, + 0.0778607428073883, + 0.010310632176697254 + ], + [ + 0.31229597330093384, + 0.07744983583688736, + 0.005436948500573635 + ], + [ + 0.3146090507507324, + 0.07726245373487473, + 0.005312876310199499 + ], + [ + 0.31193044781684875, + 0.07539796084165573, + 0.011768803000450134 + ], + [ + 0.2988903820514679, + 0.07067881524562836, + 0.044367656111717224 + ], + [ + 0.2817341387271881, + 0.06097417697310448, + 0.06798243522644043 + ], + [ + 0.2627566158771515, + 0.04418371245265007, + 0.08806139975786209 + ], + [ + 0.23850379884243011, + 0.016471071168780327, + 0.0939522534608841 + ], + [ + 0.22378715872764587, + -0.007224096916615963, + 0.08947426080703735 + ], + [ + 0.21231700479984283, + -0.021855400875210762, + 0.07480296492576599 + ], + [ + 0.20396378636360168, + -0.02752051316201687, + 0.05930202081799507 + ], + [ + 0.195729061961174, + -0.028355956077575684, + 0.04895159602165222 + ], + [ + 0.1926628202199936, + -0.030283216387033463, + 0.04610234498977661 + ], + [ + 0.18810345232486725, + -0.029705289751291275, + 0.04804051294922829 + ], + [ + 0.19402700662612915, + -0.02876163460314274, + 0.07200369983911514 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9739911134949608, + 0.20332459674841472, + 0.10000209592774024, + 0.1960922611231848, + -0.9775104282864796, + 0.07759631253339236, + 0.11353033057488694, + -0.05596848173997359, + -0.9919568504180407 + ], + [ + 0.9786761496845344, + 0.1903303845428266, + 0.0772485518209552, + 0.18414876361069085, + -0.9795906407936986, + 0.08056928279465579, + 0.09100674095532131, + -0.06462601015977283, + -0.9937511015900915 + ], + [ + 0.9864248427932621, + 0.08076686682910313, + 0.14297811980473996, + 0.0678877158437728, + -0.9933697638705633, + 0.09277806995867638, + 0.14952353513010525, + -0.0818121351044685, + -0.985367691266486 + ], + [ + 0.9952784445215664, + -0.005305776630593745, + 0.09691577067266585, + -0.0055321639645911, + -0.9999825604474835, + 0.0020673564673973814, + 0.09690311157336173, + -0.002593749263258764, + -0.9952904397371449 + ], + [ + 0.9979089031006365, + -0.03413055654026482, + 0.05489012864565055, + -0.031589145524832864, + -0.9984177763487782, + -0.04651956315113205, + 0.05639101876624692, + 0.044688353975202724, + -0.9974081431497799 + ], + [ + 0.9942168032340021, + -0.10250837528457957, + 0.03201532701186881, + -0.09910158350138318, + -0.9906054064839932, + -0.09423271614572393, + 0.041374198659061404, + 0.09051498020326798, + -0.995035282813691 + ], + [ + 0.9837069874120224, + -0.1738051561097903, + -0.04596009819848208, + -0.1784611872832078, + -0.9749456598007143, + -0.13278766911583773, + -0.021729416702491386, + 0.13882625164355916, + -0.9900783324082839 + ], + [ + 0.9525038124354951, + -0.28412783429012956, + -0.10958038637204921, + -0.2991053807181665, + -0.9404748155910864, + -0.16137872370406336, + -0.05720540639911227, + 0.18648993275915032, + -0.9807900113980564 + ], + [ + 0.9466526064081254, + -0.31194181282419026, + -0.08087736514415622, + -0.3216742368544709, + -0.9297722327586612, + -0.1790231284920143, + -0.019352729130462765, + 0.19548887590584885, + -0.9805149520901102 + ], + [ + 0.9447756560961198, + -0.32569917881880156, + -0.03631810244085847, + -0.32608331168105215, + -0.9232186672073041, + -0.20331494377710393, + 0.03268996009884586, + 0.20392973651904592, + -0.978439588872 + ], + [ + 0.9644471063864618, + -0.2605774133876152, + 0.04405894477856251, + -0.24725628128208418, + -0.9485688821545486, + -0.19769017976274064, + 0.09330653969221767, + 0.17976787099003463, + -0.9792739158225213 + ], + [ + 0.9691233762286093, + -0.23047707633696202, + 0.08763674417975453, + -0.2154039469824397, + -0.9643039069294336, + -0.15401011234661396, + 0.12000425522308722, + 0.13037749945368846, + -0.9841751299258459 + ], + [ + 0.9805364349582051, + -0.18715579006674862, + 0.059338098755725516, + -0.17846469810597196, + -0.9755851472269509, + -0.12799989078164214, + 0.08184528849846762, + 0.11491880070144812, + -0.9899974838331372 + ], + [ + 0.9904895990747711, + -0.13549379841229517, + 0.02391202033513369, + -0.1313872586334718, + -0.9830440611911, + -0.12791310341669623, + 0.04083800183016689, + 0.12355486371939213, + -0.9914970767772349 + ], + [ + 0.9918744002787091, + -0.1204466308160905, + 0.040960751907201436, + -0.11414221806058544, + -0.9847101270710366, + -0.13159604743286432, + 0.05618476775746848, + 0.12585139955040356, + -0.990456812336229 + ], + [ + 0.9930190401754412, + -0.11119007080901869, + 0.0393694551972871, + -0.10368527358912419, + -0.9819672943696124, + -0.1580809818705957, + 0.056236552968636416, + 0.15289539215394474, + -0.9866409930508145 + ], + [ + 0.985622098936017, + -0.14600067251917176, + 0.08504635037971957, + -0.1275686114429781, + -0.9730592689011003, + -0.1920466312648231, + 0.11079407684290228, + 0.17843615897459245, + -0.9776938220664603 + ], + [ + 0.9824206028563505, + -0.15931012214287868, + 0.09731415141789916, + -0.13222038995479987, + -0.9617968292161307, + -0.2397178086625971, + 0.1317859156494554, + 0.22263679905311687, + -0.9659530672573158 + ], + [ + 0.9785044606008999, + -0.17544374740668436, + 0.10839055346311942, + -0.1408548879672427, + -0.9524697863762326, + -0.2701133217302495, + 0.15062842069104135, + 0.24903975091602001, + -0.9567080439422516 + ], + [ + 0.9757713569342149, + -0.20864488872165576, + 0.065860226214986, + -0.1846788221643379, + -0.9468390694546029, + -0.26341888542459285, + 0.11732003934006374, + 0.24487361426799298, + -0.9624307358997719 + ], + [ + 0.9726906818221247, + -0.22628900292789744, + 0.05163452963190872, + -0.20822654114839595, + -0.9490349666486342, + -0.23658896770475474, + 0.10254045571278587, + 0.2193762047992538, + -0.9702368451620925 + ], + [ + 0.9728106959820443, + -0.23054244467730853, + 0.02212534711908907, + -0.22173580317012456, + -0.9546964212359347, + -0.19846404427955688, + 0.06687737566195182, + 0.18816196342913805, + -0.9798584041294238 + ], + [ + 0.9701644814178387, + -0.24038086996639177, + 0.0315898140142727, + -0.23235097661799323, + -0.9590457254547019, + -0.1620009881196071, + 0.06923801455790353, + 0.14982768049083908, + -0.9862848287887299 + ], + [ + 0.9643553466672611, + -0.26296128357648996, + 0.02949794389566995, + -0.25612831369632283, + -0.9556232145363098, + -0.14554229200603003, + 0.06646090788836179, + 0.13279922883471612, + -0.9889121864673122 + ], + [ + 0.9668945233384423, + -0.2540377406316255, + 0.024079183393659324, + -0.2492985595279033, + -0.9605444480018638, + -0.12330690017232258, + 0.05445373224526436, + 0.11322186073181124, + -0.9920764090013366 + ], + [ + 0.970608546128947, + -0.24030682808854528, + -0.013102616359882635, + -0.2401301466799138, + -0.963396502451434, + -0.11918343727140587, + 0.016017578997307783, + 0.11882679596103907, + -0.9927857924671861 + ], + [ + 0.9761949642312855, + -0.21609675257302052, + 0.01858992568231896, + -0.211872183616937, + -0.9684181515639521, + -0.1314399540887378, + 0.04640656870390571, + 0.1243723331326277, + -0.9911498136670744 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.002447158098220825, + 0.0006711594760417938, + -0.008633419871330261, + 0.008578408509492874, + 0.02264280617237091, + -0.012686222791671753, + 1.0 + ], + [ + 0.019778788089752197, + 0.026265138760209084, + -0.015324681997299194, + 0.017896071076393127, + -0.05895353853702545, + -0.11727286875247955, + 1.0 + ], + [ + 0.01225578784942627, + 0.027526788413524628, + -0.007407650351524353, + -0.08023099601268768, + 0.05303096026182175, + -0.07427198439836502, + 1.0 + ], + [ + 0.013958126306533813, + 0.024204669520258904, + 0.0018384233117103577, + -0.04738055169582367, + 0.04063446447253227, + -0.02608642168343067, + 1.0 + ], + [ + 0.008242100477218628, + 0.023591097444295883, + -0.008309900760650635, + -0.04594239220023155, + 0.015034936368465424, + -0.06770509481430054, + 1.0 + ], + [ + -0.00328141450881958, + 0.008838802576065063, + -0.008352041244506836, + -0.04859226942062378, + 0.0631171390414238, + -0.08011527359485626, + 1.0 + ], + [ + -0.0027359724044799805, + -0.0019411295652389526, + -0.011553846299648285, + -0.04859034717082977, + 0.03550552576780319, + -0.12480401992797852, + 1.0 + ], + [ + 0.0010748207569122314, + -0.0013198405504226685, + -0.00499366968870163, + -0.008893713355064392, + -0.037882715463638306, + -0.02329164743423462, + 1.0 + ], + [ + -0.00553661584854126, + -0.0063185617327690125, + -0.01977064460515976, + -0.008688479661941528, + -0.05204972252249718, + -0.004781097173690796, + 1.0 + ], + [ + 0.0019687414169311523, + -0.0020672380924224854, + -0.00810294970870018, + 0.023930475115776062, + -0.060746677219867706, + 0.08137604594230652, + 1.0 + ], + [ + 0.008341968059539795, + 0.0029128268361091614, + -0.004522403702139854, + 0.04984426498413086, + -0.026851706206798553, + 0.03225444257259369, + 1.0 + ], + [ + 0.0034121274948120117, + -0.0012524574995040894, + -0.01673261821269989, + 0.01614430546760559, + 0.03835722804069519, + 0.03867495059967041, + 0.0 + ], + [ + 0.004219532012939453, + -0.00041090697050094604, + -0.004873683676123619, + -0.008412666618824005, + 0.04108757898211479, + 0.048157572746276855, + 0.0 + ], + [ + 0.002313077449798584, + -0.00018738210201263428, + -0.00012407219037413597, + -0.002411358058452606, + -0.015365008264780045, + 0.017305590212345123, + 0.0 + ], + [ + -0.002678602933883667, + -0.0018644928932189941, + 0.006455926690250635, + -0.027355968952178955, + -5.186721682548523e-05, + 0.010536111891269684, + 0.0 + ], + [ + -0.01304006576538086, + -0.004719145596027374, + 0.03259885311126709, + -0.02677769958972931, + -0.05475577339529991, + -0.024676784873008728, + 0.0 + ], + [ + -0.017156243324279785, + -0.00970463827252388, + 0.023614779114723206, + -0.046007707715034485, + -0.021148383617401123, + -0.005068466067314148, + 0.0 + ], + [ + -0.01897752285003662, + -0.016790464520454407, + 0.02007896453142166, + -0.028129413723945618, + -0.0190335214138031, + -0.009184613823890686, + 0.0 + ], + [ + -0.024252817034721375, + -0.027712641283869743, + 0.005890853703022003, + 0.005511492490768433, + 0.033613063395023346, + -0.04408486187458038, + 0.0 + ], + [ + -0.01471664011478424, + -0.023695167154073715, + -0.004477992653846741, + 0.026779279112815857, + 0.014869846403598785, + -0.023837760090827942, + 0.0 + ], + [ + -0.01147015392780304, + -0.014631303958594799, + -0.014671295881271362, + 0.03264649212360382, + 0.03579367697238922, + -0.01321481168270111, + 0.0 + ], + [ + -0.00835321843624115, + -0.005665112286806107, + -0.01550094410777092, + 0.038961708545684814, + -0.0023661255836486816, + -0.01096433401107788, + 1.0 + ], + [ + -0.008234724402427673, + -0.000835442915558815, + -0.01035042479634285, + 0.017268940806388855, + 0.0027835220098495483, + -0.024533122777938843, + 1.0 + ], + [ + -0.00306624174118042, + -0.001927260309457779, + -0.0028492510318756104, + 0.01985509693622589, + 0.0120292529463768, + 0.007263541221618652, + 1.0 + ], + [ + -0.004559367895126343, + 0.0005779266357421875, + 0.0019381679594516754, + -0.005489081144332886, + 0.03846241533756256, + 0.00980675220489502, + 1.0 + ], + [ + 0.005923554301261902, + 0.0009436551481485367, + 0.023963186889886856, + -0.0057068392634391785, + -0.03040497750043869, + 0.028807595372200012, + 1.0 + ], + [ + 0.010563716292381287, + 0.0016310177743434906, + 0.03669598698616028, + -0.013361714780330658, + 0.012165475636720657, + 0.033884212374687195, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9844722747802734 + ], + [ + 0.9844722747802734 + ], + [ + 0.9844722747802734 + ], + [ + 0.9844722747802734 + ], + [ + 0.9844722747802734 + ], + [ + 0.9844722747802734 + ], + [ + 0.9844722747802734 + ], + [ + 0.9844722747802734 + ], + [ + 0.9844722747802734 + ], + [ + 0.9844722747802734 + ], + [ + 0.9844722747802734 + ], + [ + 0.933559775352478 + ], + [ + 0.728995144367218 + ], + [ + 0.672171950340271 + ], + [ + 0.7011857628822327 + ], + [ + 0.7011857628822327 + ], + [ + 0.7011857628822327 + ], + [ + 0.7011857628822327 + ], + [ + 0.7011857628822327 + ], + [ + 0.7011857628822327 + ], + [ + 0.7011857628822327 + ], + [ + 0.6701657772064209 + ], + [ + 0.7457395792007446 + ], + [ + 0.9723638892173767 + ], + [ + 0.9844722747802734 + ], + [ + 0.9844722747802734 + ], + [ + 0.9844722747802734 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2505979835987091, + -0.02257935330271721, + 0.11354261636734009 + ], + [ + 0.2703767716884613, + 0.0036857854574918747, + 0.0982179343700409 + ], + [ + 0.2826325595378876, + 0.031212573871016502, + 0.09081028401851654 + ], + [ + 0.2965906858444214, + 0.055417243391275406, + 0.0926487073302269 + ], + [ + 0.30483278632164, + 0.07900834083557129, + 0.08433880656957626 + ], + [ + 0.30155137181282043, + 0.08784714341163635, + 0.07598676532506943 + ], + [ + 0.29881539940834045, + 0.0859060138463974, + 0.06443291902542114 + ], + [ + 0.2998902201652527, + 0.08458617329597473, + 0.05943924933671951 + ], + [ + 0.2943536043167114, + 0.07826761156320572, + 0.03966860473155975 + ], + [ + 0.2963223457336426, + 0.07620037347078323, + 0.03156565502285957 + ], + [ + 0.3046643137931824, + 0.0791132003068924, + 0.02704325132071972 + ], + [ + 0.3080764412879944, + 0.0778607428073883, + 0.010310632176697254 + ], + [ + 0.31229597330093384, + 0.07744983583688736, + 0.005436948500573635 + ], + [ + 0.3146090507507324, + 0.07726245373487473, + 0.005312876310199499 + ], + [ + 0.31193044781684875, + 0.07539796084165573, + 0.011768803000450134 + ], + [ + 0.2988903820514679, + 0.07067881524562836, + 0.044367656111717224 + ], + [ + 0.2817341387271881, + 0.06097417697310448, + 0.06798243522644043 + ], + [ + 0.2627566158771515, + 0.04418371245265007, + 0.08806139975786209 + ], + [ + 0.23850379884243011, + 0.016471071168780327, + 0.0939522534608841 + ], + [ + 0.22378715872764587, + -0.007224096916615963, + 0.08947426080703735 + ], + [ + 0.21231700479984283, + -0.021855400875210762, + 0.07480296492576599 + ], + [ + 0.20396378636360168, + -0.02752051316201687, + 0.05930202081799507 + ], + [ + 0.195729061961174, + -0.028355956077575684, + 0.04895159602165222 + ], + [ + 0.1926628202199936, + -0.030283216387033463, + 0.04610234498977661 + ], + [ + 0.18810345232486725, + -0.029705289751291275, + 0.04804051294922829 + ], + [ + 0.19402700662612915, + -0.02876163460314274, + 0.07200369983911514 + ], + [ + 0.20459072291851044, + -0.027130616828799248, + 0.10869968682527542 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9786761496845344, + 0.1903303845428266, + 0.0772485518209552, + 0.18414876361069085, + -0.9795906407936986, + 0.08056928279465579, + 0.09100674095532131, + -0.06462601015977283, + -0.9937511015900915 + ], + [ + 0.9864248427932621, + 0.08076686682910313, + 0.14297811980473996, + 0.0678877158437728, + -0.9933697638705633, + 0.09277806995867638, + 0.14952353513010525, + -0.0818121351044685, + -0.985367691266486 + ], + [ + 0.9952784445215664, + -0.005305776630593745, + 0.09691577067266585, + -0.0055321639645911, + -0.9999825604474835, + 0.0020673564673973814, + 0.09690311157336173, + -0.002593749263258764, + -0.9952904397371449 + ], + [ + 0.9979089031006365, + -0.03413055654026482, + 0.05489012864565055, + -0.031589145524832864, + -0.9984177763487782, + -0.04651956315113205, + 0.05639101876624692, + 0.044688353975202724, + -0.9974081431497799 + ], + [ + 0.9942168032340021, + -0.10250837528457957, + 0.03201532701186881, + -0.09910158350138318, + -0.9906054064839932, + -0.09423271614572393, + 0.041374198659061404, + 0.09051498020326798, + -0.995035282813691 + ], + [ + 0.9837069874120224, + -0.1738051561097903, + -0.04596009819848208, + -0.1784611872832078, + -0.9749456598007143, + -0.13278766911583773, + -0.021729416702491386, + 0.13882625164355916, + -0.9900783324082839 + ], + [ + 0.9525038124354951, + -0.28412783429012956, + -0.10958038637204921, + -0.2991053807181665, + -0.9404748155910864, + -0.16137872370406336, + -0.05720540639911227, + 0.18648993275915032, + -0.9807900113980564 + ], + [ + 0.9466526064081254, + -0.31194181282419026, + -0.08087736514415622, + -0.3216742368544709, + -0.9297722327586612, + -0.1790231284920143, + -0.019352729130462765, + 0.19548887590584885, + -0.9805149520901102 + ], + [ + 0.9447756560961198, + -0.32569917881880156, + -0.03631810244085847, + -0.32608331168105215, + -0.9232186672073041, + -0.20331494377710393, + 0.03268996009884586, + 0.20392973651904592, + -0.978439588872 + ], + [ + 0.9644471063864618, + -0.2605774133876152, + 0.04405894477856251, + -0.24725628128208418, + -0.9485688821545486, + -0.19769017976274064, + 0.09330653969221767, + 0.17976787099003463, + -0.9792739158225213 + ], + [ + 0.9691233762286093, + -0.23047707633696202, + 0.08763674417975453, + -0.2154039469824397, + -0.9643039069294336, + -0.15401011234661396, + 0.12000425522308722, + 0.13037749945368846, + -0.9841751299258459 + ], + [ + 0.9805364349582051, + -0.18715579006674862, + 0.059338098755725516, + -0.17846469810597196, + -0.9755851472269509, + -0.12799989078164214, + 0.08184528849846762, + 0.11491880070144812, + -0.9899974838331372 + ], + [ + 0.9904895990747711, + -0.13549379841229517, + 0.02391202033513369, + -0.1313872586334718, + -0.9830440611911, + -0.12791310341669623, + 0.04083800183016689, + 0.12355486371939213, + -0.9914970767772349 + ], + [ + 0.9918744002787091, + -0.1204466308160905, + 0.040960751907201436, + -0.11414221806058544, + -0.9847101270710366, + -0.13159604743286432, + 0.05618476775746848, + 0.12585139955040356, + -0.990456812336229 + ], + [ + 0.9930190401754412, + -0.11119007080901869, + 0.0393694551972871, + -0.10368527358912419, + -0.9819672943696124, + -0.1580809818705957, + 0.056236552968636416, + 0.15289539215394474, + -0.9866409930508145 + ], + [ + 0.985622098936017, + -0.14600067251917176, + 0.08504635037971957, + -0.1275686114429781, + -0.9730592689011003, + -0.1920466312648231, + 0.11079407684290228, + 0.17843615897459245, + -0.9776938220664603 + ], + [ + 0.9824206028563505, + -0.15931012214287868, + 0.09731415141789916, + -0.13222038995479987, + -0.9617968292161307, + -0.2397178086625971, + 0.1317859156494554, + 0.22263679905311687, + -0.9659530672573158 + ], + [ + 0.9785044606008999, + -0.17544374740668436, + 0.10839055346311942, + -0.1408548879672427, + -0.9524697863762326, + -0.2701133217302495, + 0.15062842069104135, + 0.24903975091602001, + -0.9567080439422516 + ], + [ + 0.9757713569342149, + -0.20864488872165576, + 0.065860226214986, + -0.1846788221643379, + -0.9468390694546029, + -0.26341888542459285, + 0.11732003934006374, + 0.24487361426799298, + -0.9624307358997719 + ], + [ + 0.9726906818221247, + -0.22628900292789744, + 0.05163452963190872, + -0.20822654114839595, + -0.9490349666486342, + -0.23658896770475474, + 0.10254045571278587, + 0.2193762047992538, + -0.9702368451620925 + ], + [ + 0.9728106959820443, + -0.23054244467730853, + 0.02212534711908907, + -0.22173580317012456, + -0.9546964212359347, + -0.19846404427955688, + 0.06687737566195182, + 0.18816196342913805, + -0.9798584041294238 + ], + [ + 0.9701644814178387, + -0.24038086996639177, + 0.0315898140142727, + -0.23235097661799323, + -0.9590457254547019, + -0.1620009881196071, + 0.06923801455790353, + 0.14982768049083908, + -0.9862848287887299 + ], + [ + 0.9643553466672611, + -0.26296128357648996, + 0.02949794389566995, + -0.25612831369632283, + -0.9556232145363098, + -0.14554229200603003, + 0.06646090788836179, + 0.13279922883471612, + -0.9889121864673122 + ], + [ + 0.9668945233384423, + -0.2540377406316255, + 0.024079183393659324, + -0.2492985595279033, + -0.9605444480018638, + -0.12330690017232258, + 0.05445373224526436, + 0.11322186073181124, + -0.9920764090013366 + ], + [ + 0.970608546128947, + -0.24030682808854528, + -0.013102616359882635, + -0.2401301466799138, + -0.963396502451434, + -0.11918343727140587, + 0.016017578997307783, + 0.11882679596103907, + -0.9927857924671861 + ], + [ + 0.9761949642312855, + -0.21609675257302052, + 0.01858992568231896, + -0.211872183616937, + -0.9684181515639521, + -0.1314399540887378, + 0.04640656870390571, + 0.1243723331326277, + -0.9911498136670744 + ], + [ + 0.9832950747114699, + -0.18180884310849757, + 0.008737311698355487, + -0.1787670567042158, + -0.9736488059015149, + -0.14159923094376453, + 0.03425106546483196, + 0.1376718828741133, + -0.9898855071069684 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005794.json b/json/chunk-0005/episode_0005794.json new file mode 100644 index 0000000000000000000000000000000000000000..d931009654f1f3d39d2bb889c5622c35170fde80 --- /dev/null +++ b/json/chunk-0005/episode_0005794.json @@ -0,0 +1,1102 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 17, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut lid on pot or pan." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005794.mp4", + "start": 0, + "end": 17, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3428284823894501, + 0.09422618895769119, + 0.1698562353849411, + 0.051709432154893875, + -0.16726075112819672, + 0.0921562910079956, + 0.0, + 1.0001531839370728 + ], + [ + 0.3454429805278778, + 0.09442594647407532, + 0.15383125841617584, + 0.039663661271333694, + -0.12916885316371918, + 0.11238503456115723, + 0.0, + 1.0001531839370728 + ], + [ + 0.3524886667728424, + 0.09522219002246857, + 0.14601610600948334, + 0.017689229920506477, + -0.15392690896987915, + 0.1489659696817398, + 0.0, + 1.0001531839370728 + ], + [ + 0.35214078426361084, + 0.10173032432794571, + 0.14034536480903625, + -0.0030379812233150005, + -0.16235202550888062, + 0.18417413532733917, + 0.0, + 1.0001531839370728 + ], + [ + 0.3549130856990814, + 0.10395652055740356, + 0.1301669478416443, + -0.009292983449995518, + -0.1297115981578827, + 0.1664118766784668, + 0.0, + 1.0001531839370728 + ], + [ + 0.3589547574520111, + 0.10280539095401764, + 0.12707582116127014, + -0.02264566347002983, + -0.12892144918441772, + 0.15639476478099823, + 0.0, + 0.9351479411125183 + ], + [ + 0.3612971603870392, + 0.10814110934734344, + 0.12661103904247284, + -0.030122244730591774, + -0.13489754498004913, + 0.16876636445522308, + 0.0, + 0.7240482568740845 + ], + [ + 0.36391761898994446, + 0.10859885066747665, + 0.12766222655773163, + -0.028873261064291, + -0.13760271668434143, + 0.1710544228553772, + 0.0, + 0.43017780780792236 + ], + [ + 0.36374327540397644, + 0.10891927778720856, + 0.1272990107536316, + -0.030354395508766174, + -0.13780517876148224, + 0.17319902777671814, + 0.0, + 0.29961487650871277 + ], + [ + 0.3579784631729126, + 0.10813625156879425, + 0.12649807333946228, + -0.023741966113448143, + -0.12529908120632172, + 0.1866014152765274, + 0.0, + 0.29885798692703247 + ], + [ + 0.3321917951107025, + 0.10435589402914047, + 0.1288464367389679, + -0.003137531690299511, + -0.09240540117025375, + 0.24827012419700623, + 0.0, + 0.29885798692703247 + ], + [ + 0.3128475546836853, + 0.10234338045120239, + 0.13521458208560944, + 3.860795550281182e-05, + -0.12275293469429016, + 0.2939521372318268, + 0.0, + 0.29885798692703247 + ], + [ + 0.2859324812889099, + 0.11146984994411469, + 0.13402658700942993, + -0.012764040380716324, + -0.15200628340244293, + 0.3715411126613617, + 0.0, + 0.29885798692703247 + ], + [ + 0.2719331383705139, + 0.11434251815080643, + 0.12972334027290344, + -0.028305532410740852, + -0.16007645428180695, + 0.40337252616882324, + 0.0, + 0.29885798692703247 + ], + [ + 0.2685796320438385, + 0.11762823164463043, + 0.12568362057209015, + -0.032855913043022156, + -0.15763822197914124, + 0.40877217054367065, + 0.0, + 0.29885798692703247 + ], + [ + 0.2674533724784851, + 0.11934559047222137, + 0.12484271079301834, + -0.03128291666507721, + -0.1552598625421524, + 0.3970101475715637, + 0.0, + 0.29885798692703247 + ], + [ + 0.26874542236328125, + 0.11920345574617386, + 0.12406708300113678, + -0.03644614666700363, + -0.1410771757364273, + 0.3799169957637787, + 0.0, + 0.48704639077186584 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9351479411125183 + ], + [ + 0.7240482568740845 + ], + [ + 0.43017780780792236 + ], + [ + 0.29961487650871277 + ], + [ + 0.29885798692703247 + ], + [ + 0.29885798692703247 + ], + [ + 0.29885798692703247 + ], + [ + 0.29885798692703247 + ], + [ + 0.29885798692703247 + ], + [ + 0.29885798692703247 + ], + [ + 0.29885798692703247 + ], + [ + 0.48704639077186584 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3428284823894501, + 0.09422618895769119, + 0.1698562353849411 + ], + [ + 0.3454429805278778, + 0.09442594647407532, + 0.15383125841617584 + ], + [ + 0.3524886667728424, + 0.09522219002246857, + 0.14601610600948334 + ], + [ + 0.35214078426361084, + 0.10173032432794571, + 0.14034536480903625 + ], + [ + 0.3549130856990814, + 0.10395652055740356, + 0.1301669478416443 + ], + [ + 0.3589547574520111, + 0.10280539095401764, + 0.12707582116127014 + ], + [ + 0.3612971603870392, + 0.10814110934734344, + 0.12661103904247284 + ], + [ + 0.36391761898994446, + 0.10859885066747665, + 0.12766222655773163 + ], + [ + 0.36374327540397644, + 0.10891927778720856, + 0.1272990107536316 + ], + [ + 0.3579784631729126, + 0.10813625156879425, + 0.12649807333946228 + ], + [ + 0.3321917951107025, + 0.10435589402914047, + 0.1288464367389679 + ], + [ + 0.3128475546836853, + 0.10234338045120239, + 0.13521458208560944 + ], + [ + 0.2859324812889099, + 0.11146984994411469, + 0.13402658700942993 + ], + [ + 0.2719331383705139, + 0.11434251815080643, + 0.12972334027290344 + ], + [ + 0.2685796320438385, + 0.11762823164463043, + 0.12568362057209015 + ], + [ + 0.2674533724784851, + 0.11934559047222137, + 0.12484271079301834 + ], + [ + 0.26874542236328125, + 0.11920345574617386, + 0.12406708300113678 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9818603332759186, + 0.10047123526817928, + 0.16079744034961665, + 0.09074163513807665, + -0.9936337812871792, + 0.0667672400014458, + 0.16648195575428146, + -0.050965081856391245, + -0.9847265198214178 + ], + [ + 0.985413297075046, + 0.11713591401243174, + 0.12344963181864635, + 0.11121432918908498, + -0.9923370825492022, + 0.05383760377988491, + 0.12880996440768464, + -0.03932292265600607, + -0.9908893484254843 + ], + [ + 0.9772326416525613, + 0.15107434645018278, + 0.1489728362266308, + 0.14666085991788522, + -0.9883678568190206, + 0.04024390357709001, + 0.15331978429707913, + -0.017479171937646684, + -0.9880220252056484 + ], + [ + 0.9701600607663015, + 0.18265110054977668, + 0.1594616943403082, + 0.18072644661353565, + -0.9831732234475072, + 0.026615112065947834, + 0.16163974755106297, + 0.0029980266498957804, + -0.9868452785760468 + ], + [ + 0.9779007600068297, + 0.16445230758876375, + 0.12909508939845735, + 0.1642533249765826, + -0.9863419925709158, + 0.012260461874364467, + 0.12934816895573822, + 0.009214782686870027, + -0.9915564224832755 + ], + [ + 0.9795976654846357, + 0.15284240373138241, + 0.1304898976881538, + 0.15446537765583102, + -0.9879954130395058, + -0.0023475345658455337, + 0.12856461753800405, + 0.0224558107070182, + -0.9914468597372212 + ], + [ + 0.9768369131551008, + 0.16389722676228685, + 0.13757668464258538, + 0.16644041317631458, + -0.986025877098854, + -0.0071104537923588895, + 0.13448878748546866, + 0.029844073968999282, + -0.9904655962170625 + ], + [ + 0.9760914530672448, + 0.16624835853474898, + 0.1400248497002452, + 0.16861248918187102, + -0.9856691793019692, + -0.00510856790850584, + 0.1371688876566699, + 0.02859636792818187, + -0.990134811023402 + ], + [ + 0.9757002254951238, + 0.16814825415647294, + 0.14048215044230491, + 0.17070064087619835, + -0.9853032222918706, + -0.006233084766902753, + 0.13736943318373038, + 0.030062015324765202, + -0.9900635909179742 + ], + [ + 0.9749368438934093, + 0.18255281385723285, + 0.12717161857885118, + 0.18406596843391668, + -0.982913880736094, + -0.00014940145963723492, + 0.12497147547997779, + 0.0235536241185567, + -0.9918807171768383 + ], + [ + 0.9652034184113607, + 0.2454456470451709, + 0.09021527272918235, + 0.24467913424034915, + -0.9694053198177508, + 0.019632808674185008, + 0.09227395274082802, + 0.0031241407812937355, + -0.9957287569363263 + ], + [ + 0.9499043485647063, + 0.2897416177044369, + 0.11718158365492985, + 0.2875569127867947, + -0.9571049020362344, + 0.035513777703002236, + 0.12244488754696604, + -3.8317442762982046e-05, + -0.9924753135697557 + ], + [ + 0.9210249750934081, + 0.361221420835633, + 0.14571232063100917, + 0.3588655719523931, + -0.9323947171528983, + 0.04307659100542728, + 0.1514215853881781, + 0.01261651912587501, + -0.9883887529326087 + ], + [ + 0.907983619785275, + 0.38821612042933606, + 0.1576514828361099, + 0.3875040641515204, + -0.9211447252391091, + 0.036510209944897336, + 0.15939368390147518, + 0.02793991773361803, + -0.9868196464042227 + ], + [ + 0.9062319348265331, + 0.3925363272397652, + 0.15703156401715765, + 0.3925544906723683, + -0.9191641332042805, + 0.032222167583538894, + 0.1569861527444897, + 0.032442688358705465, + -0.9870677888668762 + ], + [ + 0.9111281305738094, + 0.3820130772844185, + 0.15463356188345473, + 0.38201174982064917, + -0.9236401359785361, + 0.030917991663704403, + 0.15463684126378524, + 0.030901585610450567, + -0.9874879945248544 + ], + [ + 0.9194689328593115, + 0.3658388987682821, + 0.14400965819892003, + 0.3671590965419352, + -0.9299787187396947, + 0.01826966112947477, + 0.14060967012644976, + 0.03607607017520895, + -0.9894076196531157 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + 0.0026144981384277344, + 0.00019975751638412476, + -0.01602497696876526, + -0.01204577088356018, + 0.03809189796447754, + 0.02022874355316162, + 1.0 + ], + [ + 0.0070456862449646, + 0.0007962435483932495, + -0.007815152406692505, + -0.021974431350827217, + -0.024758055806159973, + 0.03658093512058258, + 1.0 + ], + [ + -0.0003478825092315674, + 0.006508134305477142, + -0.0056707412004470825, + -0.020727211609482765, + -0.008425116539001465, + 0.035208165645599365, + 1.0 + ], + [ + 0.002772301435470581, + 0.0022261962294578552, + -0.010178416967391968, + -0.006255002226680517, + 0.032640427350997925, + -0.017762258648872375, + 1.0 + ], + [ + 0.0040416717529296875, + -0.0011511296033859253, + -0.0030911266803741455, + -0.013352680020034313, + 0.0007901489734649658, + -0.010017111897468567, + 0.0 + ], + [ + 0.002342402935028076, + 0.005335718393325806, + -0.00046478211879730225, + -0.007476581260561943, + -0.005976095795631409, + 0.012371599674224854, + 0.0 + ], + [ + 0.0026204586029052734, + 0.00045774132013320923, + 0.001051187515258789, + 0.0012489836663007736, + -0.0027051717042922974, + 0.0022880584001541138, + 0.0 + ], + [ + -0.00017434358596801758, + 0.0003204271197319031, + -0.0003632158041000366, + -0.001481134444475174, + -0.0002024620771408081, + 0.0021446049213409424, + 0.0 + ], + [ + -0.005764812231063843, + -0.0007830262184143066, + -0.0008009374141693115, + 0.006612429395318031, + 0.012506097555160522, + 0.013402387499809265, + 0.0 + ], + [ + -0.025786668062210083, + -0.003780357539653778, + 0.0023483633995056152, + 0.020604435354471207, + 0.03289368003606796, + 0.06166870892047882, + 0.0 + ], + [ + -0.019344240427017212, + -0.00201251357793808, + 0.0063681453466415405, + 0.0031761396676301956, + -0.030347533524036407, + 0.04568201303482056, + 0.0 + ], + [ + -0.02691507339477539, + 0.009126469492912292, + -0.0011879950761795044, + -0.012802648358047009, + -0.02925334870815277, + 0.07758897542953491, + 0.0 + ], + [ + -0.013999342918395996, + 0.002872668206691742, + -0.004303246736526489, + -0.015541492030024529, + -0.008070170879364014, + 0.03183141350746155, + 0.0 + ], + [ + -0.003353506326675415, + 0.003285713493824005, + -0.0040397197008132935, + -0.004550380632281303, + 0.0024382323026657104, + 0.005399644374847412, + 0.0 + ], + [ + -0.0011262595653533936, + 0.0017173588275909424, + -0.0008409097790718079, + 0.0015729963779449463, + 0.0023783594369888306, + -0.011762022972106934, + 0.0 + ], + [ + 0.0012920498847961426, + -0.00014213472604751587, + -0.0007756277918815613, + -0.005163230001926422, + 0.014182686805725098, + -0.017093151807785034, + 1.0 + ], + [ + 0.0006825625896453857, + 0.0023318082094192505, + 0.0004887059330940247, + -0.0018011108040809631, + 0.0009846538305282593, + -0.0004086792469024658, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9351479411125183 + ], + [ + 0.7240482568740845 + ], + [ + 0.43017780780792236 + ], + [ + 0.29961487650871277 + ], + [ + 0.29885798692703247 + ], + [ + 0.29885798692703247 + ], + [ + 0.29885798692703247 + ], + [ + 0.29885798692703247 + ], + [ + 0.29885798692703247 + ], + [ + 0.29885798692703247 + ], + [ + 0.29885798692703247 + ], + [ + 0.48704639077186584 + ], + [ + 0.7797733545303345 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3454429805278778, + 0.09442594647407532, + 0.15383125841617584 + ], + [ + 0.3524886667728424, + 0.09522219002246857, + 0.14601610600948334 + ], + [ + 0.35214078426361084, + 0.10173032432794571, + 0.14034536480903625 + ], + [ + 0.3549130856990814, + 0.10395652055740356, + 0.1301669478416443 + ], + [ + 0.3589547574520111, + 0.10280539095401764, + 0.12707582116127014 + ], + [ + 0.3612971603870392, + 0.10814110934734344, + 0.12661103904247284 + ], + [ + 0.36391761898994446, + 0.10859885066747665, + 0.12766222655773163 + ], + [ + 0.36374327540397644, + 0.10891927778720856, + 0.1272990107536316 + ], + [ + 0.3579784631729126, + 0.10813625156879425, + 0.12649807333946228 + ], + [ + 0.3321917951107025, + 0.10435589402914047, + 0.1288464367389679 + ], + [ + 0.3128475546836853, + 0.10234338045120239, + 0.13521458208560944 + ], + [ + 0.2859324812889099, + 0.11146984994411469, + 0.13402658700942993 + ], + [ + 0.2719331383705139, + 0.11434251815080643, + 0.12972334027290344 + ], + [ + 0.2685796320438385, + 0.11762823164463043, + 0.12568362057209015 + ], + [ + 0.2674533724784851, + 0.11934559047222137, + 0.12484271079301834 + ], + [ + 0.26874542236328125, + 0.11920345574617386, + 0.12406708300113678 + ], + [ + 0.26942798495292664, + 0.12153526395559311, + 0.1245557889342308 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.985413297075046, + 0.11713591401243174, + 0.12344963181864635, + 0.11121432918908498, + -0.9923370825492022, + 0.05383760377988491, + 0.12880996440768464, + -0.03932292265600607, + -0.9908893484254843 + ], + [ + 0.9772326416525613, + 0.15107434645018278, + 0.1489728362266308, + 0.14666085991788522, + -0.9883678568190206, + 0.04024390357709001, + 0.15331978429707913, + -0.017479171937646684, + -0.9880220252056484 + ], + [ + 0.9701600607663015, + 0.18265110054977668, + 0.1594616943403082, + 0.18072644661353565, + -0.9831732234475072, + 0.026615112065947834, + 0.16163974755106297, + 0.0029980266498957804, + -0.9868452785760468 + ], + [ + 0.9779007600068297, + 0.16445230758876375, + 0.12909508939845735, + 0.1642533249765826, + -0.9863419925709158, + 0.012260461874364467, + 0.12934816895573822, + 0.009214782686870027, + -0.9915564224832755 + ], + [ + 0.9795976654846357, + 0.15284240373138241, + 0.1304898976881538, + 0.15446537765583102, + -0.9879954130395058, + -0.0023475345658455337, + 0.12856461753800405, + 0.0224558107070182, + -0.9914468597372212 + ], + [ + 0.9768369131551008, + 0.16389722676228685, + 0.13757668464258538, + 0.16644041317631458, + -0.986025877098854, + -0.0071104537923588895, + 0.13448878748546866, + 0.029844073968999282, + -0.9904655962170625 + ], + [ + 0.9760914530672448, + 0.16624835853474898, + 0.1400248497002452, + 0.16861248918187102, + -0.9856691793019692, + -0.00510856790850584, + 0.1371688876566699, + 0.02859636792818187, + -0.990134811023402 + ], + [ + 0.9757002254951238, + 0.16814825415647294, + 0.14048215044230491, + 0.17070064087619835, + -0.9853032222918706, + -0.006233084766902753, + 0.13736943318373038, + 0.030062015324765202, + -0.9900635909179742 + ], + [ + 0.9749368438934093, + 0.18255281385723285, + 0.12717161857885118, + 0.18406596843391668, + -0.982913880736094, + -0.00014940145963723492, + 0.12497147547997779, + 0.0235536241185567, + -0.9918807171768383 + ], + [ + 0.9652034184113607, + 0.2454456470451709, + 0.09021527272918235, + 0.24467913424034915, + -0.9694053198177508, + 0.019632808674185008, + 0.09227395274082802, + 0.0031241407812937355, + -0.9957287569363263 + ], + [ + 0.9499043485647063, + 0.2897416177044369, + 0.11718158365492985, + 0.2875569127867947, + -0.9571049020362344, + 0.035513777703002236, + 0.12244488754696604, + -3.8317442762982046e-05, + -0.9924753135697557 + ], + [ + 0.9210249750934081, + 0.361221420835633, + 0.14571232063100917, + 0.3588655719523931, + -0.9323947171528983, + 0.04307659100542728, + 0.1514215853881781, + 0.01261651912587501, + -0.9883887529326087 + ], + [ + 0.907983619785275, + 0.38821612042933606, + 0.1576514828361099, + 0.3875040641515204, + -0.9211447252391091, + 0.036510209944897336, + 0.15939368390147518, + 0.02793991773361803, + -0.9868196464042227 + ], + [ + 0.9062319348265331, + 0.3925363272397652, + 0.15703156401715765, + 0.3925544906723683, + -0.9191641332042805, + 0.032222167583538894, + 0.1569861527444897, + 0.032442688358705465, + -0.9870677888668762 + ], + [ + 0.9111281305738094, + 0.3820130772844185, + 0.15463356188345473, + 0.38201174982064917, + -0.9236401359785361, + 0.030917991663704403, + 0.15463684126378524, + 0.030901585610450567, + -0.9874879945248544 + ], + [ + 0.9194689328593115, + 0.3658388987682821, + 0.14400965819892003, + 0.3671590965419352, + -0.9299787187396947, + 0.01826966112947477, + 0.14060967012644976, + 0.03607607017520895, + -0.9894076196531157 + ], + [ + 0.9197470611198624, + 0.3652334489181191, + 0.14377020328549273, + 0.36683441160647773, + -0.9301456320651376, + 0.016174597722203303, + 0.13963473071806143, + 0.03786331920898491, + -0.9894789088382698 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005797.json b/json/chunk-0005/episode_0005797.json new file mode 100644 index 0000000000000000000000000000000000000000..6442360f67aec93d21570cb208be36e56c3a2064 --- /dev/null +++ b/json/chunk-0005/episode_0005797.json @@ -0,0 +1,2182 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 35, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nOpen oven." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005797.mp4", + "start": 0, + "end": 35, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2528829872608185, + 0.07350363582372665, + 0.05176413431763649, + -0.16025692224502563, + -0.06644431501626968, + 1.2417727708816528, + 0.0, + 1.0162451267242432 + ], + [ + 0.2498028725385666, + 0.07210423052310944, + 0.04606739059090614, + -0.1424475759267807, + -0.050786178559064865, + 1.2528208494186401, + 0.0, + 1.0168675184249878 + ], + [ + 0.2616000771522522, + 0.061839379370212555, + 0.049506086856126785, + -0.1619059145450592, + -0.04413946345448494, + 1.3310160636901855, + 0.0, + 1.0168675184249878 + ], + [ + 0.28242743015289307, + 0.05268898233771324, + 0.0623357780277729, + -0.17981454730033875, + -0.012416353449225426, + 1.405961275100708, + 0.0, + 1.0168675184249878 + ], + [ + 0.2949986159801483, + 0.04340400919318199, + 0.07527454942464828, + -0.210977703332901, + 0.029954073950648308, + 1.4429171085357666, + 0.0, + 1.0168675184249878 + ], + [ + 0.30995187163352966, + 0.031045716255903244, + 0.08638928830623627, + -0.274237722158432, + 0.07940487563610077, + 1.469627857208252, + 0.0, + 1.0168675184249878 + ], + [ + 0.3223313093185425, + 0.018459167331457138, + 0.09218261390924454, + -0.3083333671092987, + 0.10081308335065842, + 1.471960425376892, + 0.0, + 1.0168675184249878 + ], + [ + 0.3357386887073517, + 0.0032901845406740904, + 0.08836079388856888, + -0.33099374175071716, + 0.1160011813044548, + 1.4837336540222168, + 0.0, + 1.0168675184249878 + ], + [ + 0.3467298746109009, + -0.009227827191352844, + 0.08431018888950348, + -0.34014222025871277, + 0.11104556173086166, + 1.4943927526474, + 0.0, + 1.0168675184249878 + ], + [ + 0.35492753982543945, + -0.013623942621052265, + 0.08158978074789047, + -0.378726065158844, + 0.09879150241613388, + 1.4919819831848145, + 0.0, + 1.0168675184249878 + ], + [ + 0.35851332545280457, + -0.016436411067843437, + 0.07374181598424911, + -0.3805629014968872, + 0.08757417649030685, + 1.5019659996032715, + 0.0, + 1.0168675184249878 + ], + [ + 0.3600582182407379, + -0.015302791260182858, + 0.07124768942594528, + -0.3852824568748474, + 0.07612235099077225, + 1.508895754814148, + 0.0, + 1.0168675184249878 + ], + [ + 0.3592764139175415, + -0.013443353585898876, + 0.06925688683986664, + -0.38306552171707153, + 0.06684987246990204, + 1.5172663927078247, + 0.0, + 1.0168675184249878 + ], + [ + 0.35199907422065735, + -0.010314276441931725, + 0.06142858788371086, + -0.361258864402771, + 0.049275800585746765, + 1.5169190168380737, + 0.0, + 1.0168675184249878 + ], + [ + 0.34506919980049133, + -0.008619396947324276, + 0.057641588151454926, + -0.3581264913082123, + 0.034813735634088516, + 1.51656174659729, + 0.0, + 1.0168675184249878 + ], + [ + 0.3302825689315796, + -0.0037492101546376944, + 0.05605487897992134, + -0.3516763150691986, + 0.024898210540413857, + 1.5000050067901611, + 0.0, + 1.0168675184249878 + ], + [ + 0.312176376581192, + 0.0044002048671245575, + 0.05552709102630615, + -0.3414417505264282, + 0.021609822288155556, + 1.4584587812423706, + 0.0, + 1.0168675184249878 + ], + [ + 0.3001847565174103, + 0.01254303939640522, + 0.05374901369214058, + -0.33970963954925537, + 0.0032818587496876717, + 1.4198267459869385, + 0.0, + 1.0168675184249878 + ], + [ + 0.28990668058395386, + 0.02237960509955883, + 0.053435053676366806, + -0.3398543894290924, + 0.0010260811541229486, + 1.38447105884552, + 0.0, + 1.0168675184249878 + ], + [ + 0.28161346912384033, + 0.029530175030231476, + 0.054368071258068085, + -0.329397976398468, + 0.005544907879084349, + 1.3401349782943726, + 0.0, + 1.0168675184249878 + ], + [ + 0.27592331171035767, + 0.032957542687654495, + 0.05739040672779083, + -0.3178800344467163, + 0.028247132897377014, + 1.306960940361023, + 0.0, + 1.0168675184249878 + ], + [ + 0.27482870221138, + 0.026444660499691963, + 0.08759745210409164, + -0.3454272150993347, + 0.10361424833536148, + 1.3238563537597656, + 0.0, + 1.0168675184249878 + ], + [ + 0.2893531918525696, + 0.020307112485170364, + 0.11756730824708939, + -0.3792725205421448, + 0.17763201892375946, + 1.325947880744934, + 0.0, + 1.0168675184249878 + ], + [ + 0.2971484065055847, + 0.017152568325400352, + 0.13272789120674133, + -0.39879149198532104, + 0.20969802141189575, + 1.342108964920044, + 0.0, + 1.0168675184249878 + ], + [ + 0.3036251962184906, + 0.004754275549203157, + 0.13308624923229218, + -0.3988400995731354, + 0.2163330316543579, + 1.3640228509902954, + 0.0, + 1.0168675184249878 + ], + [ + 0.31726714968681335, + -0.019217317923903465, + 0.10478594899177551, + -0.29399895668029785, + 0.1510283201932907, + 1.4634405374526978, + 0.0, + 1.0168675184249878 + ], + [ + 0.31813380122184753, + -0.035707127302885056, + 0.0870998352766037, + -0.24802963435649872, + 0.025431377813220024, + 1.494431972503662, + 0.0, + 1.0168675184249878 + ], + [ + 0.3160151541233063, + -0.03152937442064285, + 0.08562236279249191, + -0.2514474391937256, + 0.010172109119594097, + 1.4911949634552002, + 0.0, + 1.0168675184249878 + ], + [ + 0.3028324544429779, + -0.014277818612754345, + 0.08025267720222473, + -0.19365887343883514, + 0.029495075345039368, + 1.4440133571624756, + 0.0, + 1.0162451267242432 + ], + [ + 0.29359057545661926, + 0.003717556595802307, + 0.07935208082199097, + -0.14809288084506989, + 0.0710463672876358, + 1.3915636539459229, + 0.0, + 1.0162451267242432 + ], + [ + 0.28368911147117615, + 0.02497338503599167, + 0.07595958560705185, + -0.1132163554430008, + 0.05177505686879158, + 1.322353720664978, + 0.0, + 1.0168675184249878 + ], + [ + 0.2628443241119385, + 0.05941065400838852, + 0.07218331098556519, + -0.06799779087305069, + 0.02804657444357872, + 1.1253948211669922, + 0.0, + 1.0174883604049683 + ], + [ + 0.25050225853919983, + 0.08425486832857132, + 0.0736103504896164, + -0.07972260564565659, + -0.044307250529527664, + 0.992409348487854, + 0.0, + 1.0181074142456055 + ], + [ + 0.241901695728302, + 0.10607409477233887, + 0.07266214489936829, + -0.03003016859292984, + -0.08400034159421921, + 0.822200357913971, + 0.0, + 1.0174883604049683 + ], + [ + 0.23342099785804749, + 0.12916003167629242, + 0.07558571547269821, + 0.013135058805346489, + -0.04509322717785835, + 0.6931003332138062, + 0.0, + 1.0174883604049683 + ] + ], + "left_gripper_pos": [ + [ + 1.0162451267242432 + ], + [ + 1.0168675184249878 + ], + [ + 1.0168675184249878 + ], + [ + 1.0168675184249878 + ], + [ + 1.0168675184249878 + ], + [ + 1.0168675184249878 + ], + [ + 1.0168675184249878 + ], + [ + 1.0168675184249878 + ], + [ + 1.0168675184249878 + ], + [ + 1.0168675184249878 + ], + [ + 1.0168675184249878 + ], + [ + 1.0168675184249878 + ], + [ + 1.0168675184249878 + ], + [ + 1.0168675184249878 + ], + [ + 1.0168675184249878 + ], + [ + 1.0168675184249878 + ], + [ + 1.0168675184249878 + ], + [ + 1.0168675184249878 + ], + [ + 1.0168675184249878 + ], + [ + 1.0168675184249878 + ], + [ + 1.0168675184249878 + ], + [ + 1.0168675184249878 + ], + [ + 1.0168675184249878 + ], + [ + 1.0168675184249878 + ], + [ + 1.0168675184249878 + ], + [ + 1.0168675184249878 + ], + [ + 1.0168675184249878 + ], + [ + 1.0168675184249878 + ], + [ + 1.0162451267242432 + ], + [ + 1.0162451267242432 + ], + [ + 1.0168675184249878 + ], + [ + 1.0174883604049683 + ], + [ + 1.0181074142456055 + ], + [ + 1.0174883604049683 + ], + [ + 1.0174883604049683 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2528829872608185, + 0.07350363582372665, + 0.05176413431763649 + ], + [ + 0.2498028725385666, + 0.07210423052310944, + 0.04606739059090614 + ], + [ + 0.2616000771522522, + 0.061839379370212555, + 0.049506086856126785 + ], + [ + 0.28242743015289307, + 0.05268898233771324, + 0.0623357780277729 + ], + [ + 0.2949986159801483, + 0.04340400919318199, + 0.07527454942464828 + ], + [ + 0.30995187163352966, + 0.031045716255903244, + 0.08638928830623627 + ], + [ + 0.3223313093185425, + 0.018459167331457138, + 0.09218261390924454 + ], + [ + 0.3357386887073517, + 0.0032901845406740904, + 0.08836079388856888 + ], + [ + 0.3467298746109009, + -0.009227827191352844, + 0.08431018888950348 + ], + [ + 0.35492753982543945, + -0.013623942621052265, + 0.08158978074789047 + ], + [ + 0.35851332545280457, + -0.016436411067843437, + 0.07374181598424911 + ], + [ + 0.3600582182407379, + -0.015302791260182858, + 0.07124768942594528 + ], + [ + 0.3592764139175415, + -0.013443353585898876, + 0.06925688683986664 + ], + [ + 0.35199907422065735, + -0.010314276441931725, + 0.06142858788371086 + ], + [ + 0.34506919980049133, + -0.008619396947324276, + 0.057641588151454926 + ], + [ + 0.3302825689315796, + -0.0037492101546376944, + 0.05605487897992134 + ], + [ + 0.312176376581192, + 0.0044002048671245575, + 0.05552709102630615 + ], + [ + 0.3001847565174103, + 0.01254303939640522, + 0.05374901369214058 + ], + [ + 0.28990668058395386, + 0.02237960509955883, + 0.053435053676366806 + ], + [ + 0.28161346912384033, + 0.029530175030231476, + 0.054368071258068085 + ], + [ + 0.27592331171035767, + 0.032957542687654495, + 0.05739040672779083 + ], + [ + 0.27482870221138, + 0.026444660499691963, + 0.08759745210409164 + ], + [ + 0.2893531918525696, + 0.020307112485170364, + 0.11756730824708939 + ], + [ + 0.2971484065055847, + 0.017152568325400352, + 0.13272789120674133 + ], + [ + 0.3036251962184906, + 0.004754275549203157, + 0.13308624923229218 + ], + [ + 0.31726714968681335, + -0.019217317923903465, + 0.10478594899177551 + ], + [ + 0.31813380122184753, + -0.035707127302885056, + 0.0870998352766037 + ], + [ + 0.3160151541233063, + -0.03152937442064285, + 0.08562236279249191 + ], + [ + 0.3028324544429779, + -0.014277818612754345, + 0.08025267720222473 + ], + [ + 0.29359057545661926, + 0.003717556595802307, + 0.07935208082199097 + ], + [ + 0.28368911147117615, + 0.02497338503599167, + 0.07595958560705185 + ], + [ + 0.2628443241119385, + 0.05941065400838852, + 0.07218331098556519 + ], + [ + 0.25050225853919983, + 0.08425486832857132, + 0.0736103504896164 + ], + [ + 0.241901695728302, + 0.10607409477233887, + 0.07266214489936829 + ], + [ + 0.23342099785804749, + 0.12916003167629242, + 0.07558571547269821 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.3224061182530475, + 0.9308085724413787, + 0.1721908719492542, + 0.9442700572663635, + -0.3290052877771806, + 0.010468025832649913, + 0.06639543555983637, + 0.15921972894179007, + -0.9850079817202104 + ], + [ + 0.312241063810293, + 0.9379963739212833, + 0.1505600231839123, + 0.9486456128932095, + -0.31632310062909014, + 0.0033462138104563277, + 0.05076434978489619, + 0.14178328011060473, + -0.9885952064783615 + ], + [ + 0.23725787029382217, + 0.9569969423529672, + 0.16692979156133725, + 0.9704440610884417, + -0.2412927097370564, + 0.004019020517658456, + 0.04412513208833007, + 0.16104248059074439, + -0.9859605936158743 + ], + [ + 0.16407697237616498, + 0.9701764815656791, + 0.17842741312004237, + 0.9863693979565161, + -0.16363445668174664, + -0.01729668642744331, + 0.012416034422105898, + 0.1788333279993096, + -0.9838010382622697 + ], + [ + 0.12747375722652543, + 0.9706421440086248, + 0.20397124673073974, + 0.9913896625397427, + -0.11848246346897018, + -0.05575341119302703, + -0.029949594786699063, + 0.2093220822671693, + -0.9773879923794073 + ], + [ + 0.10067775098632414, + 0.9598793401363666, + 0.26171672249917205, + 0.9917520338365404, + -0.07585049122468324, + -0.10331798663378525, + -0.07932145887097942, + 0.269959914358312, + -0.9595987446856272 + ], + [ + 0.09817405981097449, + 0.9512042653088815, + 0.292527433992818, + 0.9900671493997637, + -0.06362861669101438, + -0.12537319816218379, + -0.1006424048781498, + 0.3019301985495642, + -0.9480027750719738 + ], + [ + 0.08636835246686969, + 0.9454085225608747, + 0.3142343602495168, + 0.9895172977493373, + -0.04476146464559971, + -0.1373023260459574, + -0.11574119900453868, + 0.3227989107045519, + -0.9393640604690743 + ], + [ + 0.0758591323330296, + 0.9427790095638362, + 0.3246738843324359, + 0.990941409711386, + -0.0350929452364393, + -0.12962873027937633, + -0.11081748310122785, + 0.3315663196412813, + -0.9369008811601389 + ], + [ + 0.07834887961551484, + 0.9291233324672717, + 0.361374163614259, + 0.9920349801304816, + -0.036799192745121, + -0.12046749607600536, + -0.09863088390817806, + 0.3679343045683823, + -0.9246060221852724 + ], + [ + 0.0685124303171405, + 0.9284915765383592, + 0.3649786831985541, + 0.993809034068345, + -0.03144512076222761, + -0.10655894230139115, + -0.08746228156286143, + 0.370019724714184, + -0.9248976984652182 + ], + [ + 0.061681905146953875, + 0.9266855238333285, + 0.37074153057782927, + 0.9951944102153127, + -0.028800147909102403, + -0.09358759189448812, + -0.07604885570235503, + 0.37473255983189285, + -0.9240087013379252 + ], + [ + 0.0533848646805426, + 0.9275305133099492, + 0.36991512959329276, + 0.9963371938490897, + -0.024694736785396132, + -0.08186797987016353, + -0.06680009263437928, + 0.37293071320834176, + -0.9254514740222504 + ], + [ + 0.053785883213632535, + 0.9350327738720008, + 0.35045797259038225, + 0.9973369234305731, + -0.032990964061613726, + -0.06504350430538258, + -0.049255861874182016, + 0.3530230985013827, + -0.9343171581403793 + ], + [ + 0.054175149976769255, + 0.9358394824523715, + 0.3482377294439415, + 0.9979246196491973, + -0.03858626527064429, + -0.051551465842089195, + -0.034806703707751074, + 0.3503078120963629, + -0.9359876762870651 + ], + [ + 0.07071028436489252, + 0.9370518118055323, + 0.3419560756544686, + 0.9971861726312538, + -0.05784878410903699, + -0.04767866703397616, + -0.02489563813335119, + 0.34436524239399463, + -0.9385056137460542 + ], + [ + 0.11207524266788188, + 0.9371446172323865, + 0.3304528807156917, + 0.9934647594396926, + -0.09844033241996858, + -0.0577691328001354, + -0.021608140419040855, + 0.33476778122365636, + -0.9420528758632506 + ], + [ + 0.15039594561092368, + 0.9322916690219095, + 0.3289579052342998, + 0.988620396808407, + -0.1407206814016318, + -0.05317330947241042, + -0.003281852858427914, + 0.3332115449653612, + -0.942846379716024 + ], + [ + 0.18524892800109094, + 0.9265481714711398, + 0.3274008561655474, + 0.982691091763979, + -0.17431725312332014, + -0.06270337655389108, + -0.0010260809740726407, + 0.33334963807844037, + -0.942802718468083 + ], + [ + 0.22861789185371906, + 0.9215866076392493, + 0.31370684427398443, + 0.9735004436753371, + -0.21458397389608908, + -0.07906076340944725, + -0.005544879465168628, + 0.3234684571437272, + -0.9462227071597751 + ], + [ + 0.2606810975897452, + 0.91933273377844, + 0.29474173434188955, + 0.9650117496875288, + -0.2391977312388992, + -0.10740934938438555, + -0.028243376646912455, + 0.3124288238521258, + -0.9495212170888849 + ], + [ + 0.24312694893258352, + 0.9209481328330806, + 0.30453870580600406, + 0.9644644831351445, + -0.19604063096870822, + -0.1771336551315129, + -0.1034289489146628, + 0.33678273061523467, + -0.9358845254013739 + ], + [ + 0.23859495275376913, + 0.9170868075711239, + 0.3194123289721782, + 0.9549082616055168, + -0.1617115487489244, + -0.2489971624712907, + -0.1766993504174726, + 0.36441893800985226, + -0.9143173284925834 + ], + [ + 0.22173314128727528, + 0.9158631025363686, + 0.33470762086832445, + 0.9526289602273763, + -0.13018351325287625, + -0.27486417921083467, + -0.20816454595099726, + 0.37979867073173784, + -0.9013437144172138 + ], + [ + 0.20051779416450916, + 0.918996291284269, + 0.3394678642068474, + 0.955886066713363, + -0.1076059282979604, + -0.2733181143985714, + -0.21464957881779287, + 0.3792977468966739, + -0.9000326535812192 + ], + [ + 0.10592999355547733, + 0.9562542560257362, + 0.27268412916413487, + 0.9829253184415193, + -0.059204105708436205, + -0.17422024059764868, + -0.15045482654928297, + 0.28648328345634827, + -0.9461980096513072 + ], + [ + 0.07626548676496975, + 0.967049108739808, + 0.242898326083251, + 0.9967632416826312, + -0.06773113183005114, + -0.0433074336731339, + -0.025428636590169057, + 0.24541498541564927, + -0.9690845522319514 + ], + [ + 0.07951321206173562, + 0.9656876107593092, + 0.24723488332677093, + 0.9967819123922944, + -0.07449394317474495, + -0.029605262333542007, + -0.01017193369942157, + 0.24879326931461482, + -0.9685031961271784 + ], + [ + 0.1263885961755783, + 0.9741481217902132, + 0.187246787874631, + 0.9915423417758767, + -0.11844996799963514, + -0.053041394650747364, + -0.02949079894437448, + 0.1923669459483252, + -0.9808798350889557 + ], + [ + 0.17782485184746505, + 0.9750776840455733, + 0.13267189657854758, + 0.9814984578470796, + -0.16601680733592666, + -0.09538971079624378, + -0.07098661359180566, + 0.1471799230816062, + -0.9865591573405321 + ], + [ + 0.2455651755898684, + 0.964528652203909, + 0.09686187906100394, + 0.9679976665644555, + -0.23865328902371313, + -0.07762167972888677, + -0.051751928111780914, + 0.11282325432230488, + -0.9922664214921506 + ], + [ + 0.43065081613288203, + 0.9011731434486681, + 0.049262968758788536, + 0.9020828512151056, + -0.42810514860996196, + -0.05452074171605222, + -0.02804289763395863, + 0.06791868123343658, + -0.9972966703202224 + ], + [ + 0.5461374830943515, + 0.8327576541051952, + 0.09082146821417697, + 0.8365237602144638, + -0.547891313796336, + -0.006565581709092563, + 0.0442927551188777, + 0.07956002636837585, + -0.9958455472854424 + ], + [ + 0.6782109718125849, + 0.7306002656376978, + 0.07907673212238042, + 0.7300619156628276, + -0.6821495864173919, + 0.041006597631399286, + 0.08390159123491919, + 0.029919786107302355, + -0.9960247634409205 + ], + [ + 0.7684868513884539, + 0.6393255949095255, + 0.026281988825850984, + 0.6382757538630809, + -0.7688241765252368, + 0.03890305413213552, + 0.045077946643305354, + -0.013121329348558298, + -0.9988972967440398 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.003080114722251892, + -0.001399405300617218, + -0.005696743726730347, + 0.017809346318244934, + 0.01565813645720482, + 0.011048078536987305, + 1.0 + ], + [ + 0.011797204613685608, + -0.010264851152896881, + 0.003438696265220642, + -0.019458338618278503, + 0.0066467151045799255, + 0.07819521427154541, + 1.0 + ], + [ + 0.02082735300064087, + -0.009150397032499313, + 0.012829691171646118, + -0.01790863275527954, + 0.03172311186790466, + 0.07494521141052246, + 1.0 + ], + [ + 0.012571185827255249, + -0.00928497314453125, + 0.012938771396875381, + -0.031163156032562256, + 0.042370427399873734, + 0.036955833435058594, + 1.0 + ], + [ + 0.014953255653381348, + -0.012358292937278748, + 0.011114738881587982, + -0.063260018825531, + 0.04945079982280731, + 0.02671074867248535, + 1.0 + ], + [ + 0.012379437685012817, + -0.012586548924446106, + 0.00579332560300827, + -0.0340956449508667, + 0.021408207714557648, + 0.0023325681686401367, + 1.0 + ], + [ + 0.013407379388809204, + -0.015168982557952404, + -0.003821820020675659, + -0.022660374641418457, + 0.015188097953796387, + 0.011773228645324707, + 1.0 + ], + [ + 0.010991185903549194, + -0.012518011964857578, + -0.004050604999065399, + -0.009148478507995605, + -0.00495561957359314, + 0.010659098625183105, + 1.0 + ], + [ + 0.008197665214538574, + -0.004396115429699421, + -0.0027204081416130066, + -0.038583844900131226, + -0.012254059314727783, + -0.0024107694625854492, + 1.0 + ], + [ + 0.0035857856273651123, + -0.002812468446791172, + -0.007847964763641357, + -0.0018368363380432129, + -0.011217325925827026, + 0.009984016418457031, + 1.0 + ], + [ + 0.0015448927879333496, + 0.0011336198076605797, + -0.002494126558303833, + -0.004719555377960205, + -0.011451825499534607, + 0.006929755210876465, + 1.0 + ], + [ + -0.0007818043231964111, + 0.0018594376742839813, + -0.001990802586078644, + 0.002216935157775879, + -0.009272478520870209, + 0.008370637893676758, + 1.0 + ], + [ + -0.007277339696884155, + 0.0031290771439671516, + -0.007828298956155777, + 0.021806657314300537, + -0.017574071884155273, + -0.00034737586975097656, + 1.0 + ], + [ + -0.006929874420166016, + 0.0016948794946074486, + -0.0037869997322559357, + 0.003132373094558716, + -0.014462064951658249, + -0.0003572702407836914, + 1.0 + ], + [ + -0.014786630868911743, + 0.004870186559855938, + -0.0015867091715335846, + 0.006450176239013672, + -0.00991552509367466, + -0.016556739807128906, + 1.0 + ], + [ + -0.018106192350387573, + 0.008149415254592896, + -0.0005277879536151886, + 0.010234564542770386, + -0.0032883882522583008, + -0.04154622554779053, + 1.0 + ], + [ + -0.011991620063781738, + 0.008142834529280663, + -0.0017780773341655731, + 0.0017321109771728516, + -0.01832796260714531, + -0.03863203525543213, + 1.0 + ], + [ + -0.010278075933456421, + 0.00983656570315361, + -0.0003139600157737732, + -0.00014474987983703613, + -0.002255777595564723, + -0.03535568714141846, + 1.0 + ], + [ + -0.008293211460113525, + 0.007150569930672646, + 0.0009330175817012787, + 0.01045641303062439, + 0.004518826492130756, + -0.04433608055114746, + 1.0 + ], + [ + -0.005690157413482666, + 0.0034273676574230194, + 0.003022335469722748, + 0.011517941951751709, + 0.022702224552631378, + -0.03317403793334961, + 1.0 + ], + [ + -0.0010946094989776611, + -0.006512882187962532, + 0.030207045376300812, + -0.027547180652618408, + 0.07536711543798447, + 0.016895413398742676, + 1.0 + ], + [ + 0.014524489641189575, + -0.006137548014521599, + 0.02996985614299774, + -0.03384530544281006, + 0.07401777058839798, + 0.002091526985168457, + 1.0 + ], + [ + 0.007795214653015137, + -0.003154544159770012, + 0.015160582959651947, + -0.01951897144317627, + 0.03206600248813629, + 0.016161084175109863, + 1.0 + ], + [ + 0.006476789712905884, + -0.012398293241858482, + 0.0003583580255508423, + -4.8607587814331055e-05, + 0.006635010242462158, + 0.021913886070251465, + 1.0 + ], + [ + 0.013641953468322754, + -0.023971593007445335, + -0.028300300240516663, + 0.10484114289283752, + -0.0653047114610672, + 0.09941768646240234, + 1.0 + ], + [ + 0.0008666515350341797, + -0.01648980937898159, + -0.017686113715171814, + 0.04596932232379913, + -0.12559694051742554, + 0.030991435050964355, + 1.0 + ], + [ + -0.0021186470985412598, + 0.004177752882242203, + -0.0014774724841117859, + -0.0034178048372268677, + -0.015259268693625927, + -0.003237009048461914, + 1.0 + ], + [ + -0.01318269968032837, + 0.017251554876565933, + -0.005369685590267181, + 0.05778856575489044, + 0.019322965294122696, + -0.04718160629272461, + 1.0 + ], + [ + -0.009241878986358643, + 0.017995376139879227, + -0.0009005963802337646, + 0.04556599259376526, + 0.041551291942596436, + -0.052449703216552734, + 1.0 + ], + [ + -0.009901463985443115, + 0.02125582844018936, + -0.0033924952149391174, + 0.03487652540206909, + -0.019271310418844223, + -0.06920993328094482, + 1.0 + ], + [ + -0.02084478735923767, + 0.03443726897239685, + -0.003776274621486664, + 0.045218564569950104, + -0.02372848242521286, + -0.19695889949798584, + 1.0 + ], + [ + -0.012342065572738647, + 0.0248442143201828, + 0.0014270395040512085, + -0.011724814772605896, + -0.07235382497310638, + -0.13298547267913818, + 1.0 + ], + [ + -0.008600562810897827, + 0.021819226443767548, + -0.0009482055902481079, + 0.049692437052726746, + -0.039693091064691544, + -0.17020899057388306, + 1.0 + ], + [ + -0.008480697870254517, + 0.023085936903953552, + 0.0029235705733299255, + 0.04316522926092148, + 0.038907114416360855, + -0.1291000247001648, + 1.0 + ], + [ + 0.0030222833156585693, + 0.010381683707237244, + -0.002369530498981476, + 0.01821357198059559, + 0.003833521157503128, + -0.06144368648529053, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0168675184249878 + ], + [ + 1.0168675184249878 + ], + [ + 1.0168675184249878 + ], + [ + 1.0168675184249878 + ], + [ + 1.0168675184249878 + ], + [ + 1.0168675184249878 + ], + [ + 1.0168675184249878 + ], + [ + 1.0168675184249878 + ], + [ + 1.0168675184249878 + ], + [ + 1.0168675184249878 + ], + [ + 1.0168675184249878 + ], + [ + 1.0168675184249878 + ], + [ + 1.0168675184249878 + ], + [ + 1.0168675184249878 + ], + [ + 1.0168675184249878 + ], + [ + 1.0168675184249878 + ], + [ + 1.0168675184249878 + ], + [ + 1.0168675184249878 + ], + [ + 1.0168675184249878 + ], + [ + 1.0168675184249878 + ], + [ + 1.0168675184249878 + ], + [ + 1.0168675184249878 + ], + [ + 1.0168675184249878 + ], + [ + 1.0168675184249878 + ], + [ + 1.0168675184249878 + ], + [ + 1.0168675184249878 + ], + [ + 1.0168675184249878 + ], + [ + 1.0162451267242432 + ], + [ + 1.0162451267242432 + ], + [ + 1.0168675184249878 + ], + [ + 1.0174883604049683 + ], + [ + 1.0181074142456055 + ], + [ + 1.0174883604049683 + ], + [ + 1.0174883604049683 + ], + [ + 1.0174883604049683 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2498028725385666, + 0.07210423052310944, + 0.04606739059090614 + ], + [ + 0.2616000771522522, + 0.061839379370212555, + 0.049506086856126785 + ], + [ + 0.28242743015289307, + 0.05268898233771324, + 0.0623357780277729 + ], + [ + 0.2949986159801483, + 0.04340400919318199, + 0.07527454942464828 + ], + [ + 0.30995187163352966, + 0.031045716255903244, + 0.08638928830623627 + ], + [ + 0.3223313093185425, + 0.018459167331457138, + 0.09218261390924454 + ], + [ + 0.3357386887073517, + 0.0032901845406740904, + 0.08836079388856888 + ], + [ + 0.3467298746109009, + -0.009227827191352844, + 0.08431018888950348 + ], + [ + 0.35492753982543945, + -0.013623942621052265, + 0.08158978074789047 + ], + [ + 0.35851332545280457, + -0.016436411067843437, + 0.07374181598424911 + ], + [ + 0.3600582182407379, + -0.015302791260182858, + 0.07124768942594528 + ], + [ + 0.3592764139175415, + -0.013443353585898876, + 0.06925688683986664 + ], + [ + 0.35199907422065735, + -0.010314276441931725, + 0.06142858788371086 + ], + [ + 0.34506919980049133, + -0.008619396947324276, + 0.057641588151454926 + ], + [ + 0.3302825689315796, + -0.0037492101546376944, + 0.05605487897992134 + ], + [ + 0.312176376581192, + 0.0044002048671245575, + 0.05552709102630615 + ], + [ + 0.3001847565174103, + 0.01254303939640522, + 0.05374901369214058 + ], + [ + 0.28990668058395386, + 0.02237960509955883, + 0.053435053676366806 + ], + [ + 0.28161346912384033, + 0.029530175030231476, + 0.054368071258068085 + ], + [ + 0.27592331171035767, + 0.032957542687654495, + 0.05739040672779083 + ], + [ + 0.27482870221138, + 0.026444660499691963, + 0.08759745210409164 + ], + [ + 0.2893531918525696, + 0.020307112485170364, + 0.11756730824708939 + ], + [ + 0.2971484065055847, + 0.017152568325400352, + 0.13272789120674133 + ], + [ + 0.3036251962184906, + 0.004754275549203157, + 0.13308624923229218 + ], + [ + 0.31726714968681335, + -0.019217317923903465, + 0.10478594899177551 + ], + [ + 0.31813380122184753, + -0.035707127302885056, + 0.0870998352766037 + ], + [ + 0.3160151541233063, + -0.03152937442064285, + 0.08562236279249191 + ], + [ + 0.3028324544429779, + -0.014277818612754345, + 0.08025267720222473 + ], + [ + 0.29359057545661926, + 0.003717556595802307, + 0.07935208082199097 + ], + [ + 0.28368911147117615, + 0.02497338503599167, + 0.07595958560705185 + ], + [ + 0.2628443241119385, + 0.05941065400838852, + 0.07218331098556519 + ], + [ + 0.25050225853919983, + 0.08425486832857132, + 0.0736103504896164 + ], + [ + 0.241901695728302, + 0.10607409477233887, + 0.07266214489936829 + ], + [ + 0.23342099785804749, + 0.12916003167629242, + 0.07558571547269821 + ], + [ + 0.23644328117370605, + 0.13954171538352966, + 0.07321618497371674 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.312241063810293, + 0.9379963739212833, + 0.1505600231839123, + 0.9486456128932095, + -0.31632310062909014, + 0.0033462138104563277, + 0.05076434978489619, + 0.14178328011060473, + -0.9885952064783615 + ], + [ + 0.23725787029382217, + 0.9569969423529672, + 0.16692979156133725, + 0.9704440610884417, + -0.2412927097370564, + 0.004019020517658456, + 0.04412513208833007, + 0.16104248059074439, + -0.9859605936158743 + ], + [ + 0.16407697237616498, + 0.9701764815656791, + 0.17842741312004237, + 0.9863693979565161, + -0.16363445668174664, + -0.01729668642744331, + 0.012416034422105898, + 0.1788333279993096, + -0.9838010382622697 + ], + [ + 0.12747375722652543, + 0.9706421440086248, + 0.20397124673073974, + 0.9913896625397427, + -0.11848246346897018, + -0.05575341119302703, + -0.029949594786699063, + 0.2093220822671693, + -0.9773879923794073 + ], + [ + 0.10067775098632414, + 0.9598793401363666, + 0.26171672249917205, + 0.9917520338365404, + -0.07585049122468324, + -0.10331798663378525, + -0.07932145887097942, + 0.269959914358312, + -0.9595987446856272 + ], + [ + 0.09817405981097449, + 0.9512042653088815, + 0.292527433992818, + 0.9900671493997637, + -0.06362861669101438, + -0.12537319816218379, + -0.1006424048781498, + 0.3019301985495642, + -0.9480027750719738 + ], + [ + 0.08636835246686969, + 0.9454085225608747, + 0.3142343602495168, + 0.9895172977493373, + -0.04476146464559971, + -0.1373023260459574, + -0.11574119900453868, + 0.3227989107045519, + -0.9393640604690743 + ], + [ + 0.0758591323330296, + 0.9427790095638362, + 0.3246738843324359, + 0.990941409711386, + -0.0350929452364393, + -0.12962873027937633, + -0.11081748310122785, + 0.3315663196412813, + -0.9369008811601389 + ], + [ + 0.07834887961551484, + 0.9291233324672717, + 0.361374163614259, + 0.9920349801304816, + -0.036799192745121, + -0.12046749607600536, + -0.09863088390817806, + 0.3679343045683823, + -0.9246060221852724 + ], + [ + 0.0685124303171405, + 0.9284915765383592, + 0.3649786831985541, + 0.993809034068345, + -0.03144512076222761, + -0.10655894230139115, + -0.08746228156286143, + 0.370019724714184, + -0.9248976984652182 + ], + [ + 0.061681905146953875, + 0.9266855238333285, + 0.37074153057782927, + 0.9951944102153127, + -0.028800147909102403, + -0.09358759189448812, + -0.07604885570235503, + 0.37473255983189285, + -0.9240087013379252 + ], + [ + 0.0533848646805426, + 0.9275305133099492, + 0.36991512959329276, + 0.9963371938490897, + -0.024694736785396132, + -0.08186797987016353, + -0.06680009263437928, + 0.37293071320834176, + -0.9254514740222504 + ], + [ + 0.053785883213632535, + 0.9350327738720008, + 0.35045797259038225, + 0.9973369234305731, + -0.032990964061613726, + -0.06504350430538258, + -0.049255861874182016, + 0.3530230985013827, + -0.9343171581403793 + ], + [ + 0.054175149976769255, + 0.9358394824523715, + 0.3482377294439415, + 0.9979246196491973, + -0.03858626527064429, + -0.051551465842089195, + -0.034806703707751074, + 0.3503078120963629, + -0.9359876762870651 + ], + [ + 0.07071028436489252, + 0.9370518118055323, + 0.3419560756544686, + 0.9971861726312538, + -0.05784878410903699, + -0.04767866703397616, + -0.02489563813335119, + 0.34436524239399463, + -0.9385056137460542 + ], + [ + 0.11207524266788188, + 0.9371446172323865, + 0.3304528807156917, + 0.9934647594396926, + -0.09844033241996858, + -0.0577691328001354, + -0.021608140419040855, + 0.33476778122365636, + -0.9420528758632506 + ], + [ + 0.15039594561092368, + 0.9322916690219095, + 0.3289579052342998, + 0.988620396808407, + -0.1407206814016318, + -0.05317330947241042, + -0.003281852858427914, + 0.3332115449653612, + -0.942846379716024 + ], + [ + 0.18524892800109094, + 0.9265481714711398, + 0.3274008561655474, + 0.982691091763979, + -0.17431725312332014, + -0.06270337655389108, + -0.0010260809740726407, + 0.33334963807844037, + -0.942802718468083 + ], + [ + 0.22861789185371906, + 0.9215866076392493, + 0.31370684427398443, + 0.9735004436753371, + -0.21458397389608908, + -0.07906076340944725, + -0.005544879465168628, + 0.3234684571437272, + -0.9462227071597751 + ], + [ + 0.2606810975897452, + 0.91933273377844, + 0.29474173434188955, + 0.9650117496875288, + -0.2391977312388992, + -0.10740934938438555, + -0.028243376646912455, + 0.3124288238521258, + -0.9495212170888849 + ], + [ + 0.24312694893258352, + 0.9209481328330806, + 0.30453870580600406, + 0.9644644831351445, + -0.19604063096870822, + -0.1771336551315129, + -0.1034289489146628, + 0.33678273061523467, + -0.9358845254013739 + ], + [ + 0.23859495275376913, + 0.9170868075711239, + 0.3194123289721782, + 0.9549082616055168, + -0.1617115487489244, + -0.2489971624712907, + -0.1766993504174726, + 0.36441893800985226, + -0.9143173284925834 + ], + [ + 0.22173314128727528, + 0.9158631025363686, + 0.33470762086832445, + 0.9526289602273763, + -0.13018351325287625, + -0.27486417921083467, + -0.20816454595099726, + 0.37979867073173784, + -0.9013437144172138 + ], + [ + 0.20051779416450916, + 0.918996291284269, + 0.3394678642068474, + 0.955886066713363, + -0.1076059282979604, + -0.2733181143985714, + -0.21464957881779287, + 0.3792977468966739, + -0.9000326535812192 + ], + [ + 0.10592999355547733, + 0.9562542560257362, + 0.27268412916413487, + 0.9829253184415193, + -0.059204105708436205, + -0.17422024059764868, + -0.15045482654928297, + 0.28648328345634827, + -0.9461980096513072 + ], + [ + 0.07626548676496975, + 0.967049108739808, + 0.242898326083251, + 0.9967632416826312, + -0.06773113183005114, + -0.0433074336731339, + -0.025428636590169057, + 0.24541498541564927, + -0.9690845522319514 + ], + [ + 0.07951321206173562, + 0.9656876107593092, + 0.24723488332677093, + 0.9967819123922944, + -0.07449394317474495, + -0.029605262333542007, + -0.01017193369942157, + 0.24879326931461482, + -0.9685031961271784 + ], + [ + 0.1263885961755783, + 0.9741481217902132, + 0.187246787874631, + 0.9915423417758767, + -0.11844996799963514, + -0.053041394650747364, + -0.02949079894437448, + 0.1923669459483252, + -0.9808798350889557 + ], + [ + 0.17782485184746505, + 0.9750776840455733, + 0.13267189657854758, + 0.9814984578470796, + -0.16601680733592666, + -0.09538971079624378, + -0.07098661359180566, + 0.1471799230816062, + -0.9865591573405321 + ], + [ + 0.2455651755898684, + 0.964528652203909, + 0.09686187906100394, + 0.9679976665644555, + -0.23865328902371313, + -0.07762167972888677, + -0.051751928111780914, + 0.11282325432230488, + -0.9922664214921506 + ], + [ + 0.43065081613288203, + 0.9011731434486681, + 0.049262968758788536, + 0.9020828512151056, + -0.42810514860996196, + -0.05452074171605222, + -0.02804289763395863, + 0.06791868123343658, + -0.9972966703202224 + ], + [ + 0.5461374830943515, + 0.8327576541051952, + 0.09082146821417697, + 0.8365237602144638, + -0.547891313796336, + -0.006565581709092563, + 0.0442927551188777, + 0.07956002636837585, + -0.9958455472854424 + ], + [ + 0.6782109718125849, + 0.7306002656376978, + 0.07907673212238042, + 0.7300619156628276, + -0.6821495864173919, + 0.041006597631399286, + 0.08390159123491919, + 0.029919786107302355, + -0.9960247634409205 + ], + [ + 0.7684868513884539, + 0.6393255949095255, + 0.026281988825850984, + 0.6382757538630809, + -0.7688241765252368, + 0.03890305413213552, + 0.045077946643305354, + -0.013121329348558298, + -0.9988972967440398 + ], + [ + 0.8063635461596114, + 0.5912358447381012, + 0.014765071002887336, + 0.5899800283725014, + -0.8058904594325135, + 0.049640039456420516, + 0.041248000514920016, + -0.031316821238376806, + -0.9986580291376247 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005798.json b/json/chunk-0005/episode_0005798.json new file mode 100644 index 0000000000000000000000000000000000000000..2744a849a28328b2f09955db3a76aa577ef4fd2d --- /dev/null +++ b/json/chunk-0005/episode_0005798.json @@ -0,0 +1,1342 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 21, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut corn into bowl." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005798.mp4", + "start": 0, + "end": 21, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3936677575111389, + 0.1558767557144165, + 0.09586907178163528, + 0.06986354291439056, + -0.0610506646335125, + 0.003581003984436393, + 0.0, + 0.9994885921478271 + ], + [ + 0.37948083877563477, + 0.1425895243883133, + 0.07455389946699142, + 0.07007574290037155, + 0.01679607480764389, + 0.021656302735209465, + 0.0, + 0.9994885921478271 + ], + [ + 0.36910372972488403, + 0.12069903314113617, + 0.1072600781917572, + 0.12122072279453278, + -0.025945911183953285, + 0.05738353356719017, + 0.0, + 0.9994885921478271 + ], + [ + 0.3544676899909973, + 0.10064060986042023, + 0.13354651629924774, + 0.15558892488479614, + -0.053079042583703995, + 0.08884076774120331, + 0.0, + 0.9994885921478271 + ], + [ + 0.34435218572616577, + 0.058938149362802505, + 0.13683348894119263, + 0.13322366774082184, + -0.0761617124080658, + 0.074788399040699, + 0.0, + 0.9994885921478271 + ], + [ + 0.3361615836620331, + 0.012840092182159424, + 0.12091481685638428, + 0.1166870966553688, + -0.07730738818645477, + 0.07587939500808716, + 0.0, + 0.9994885921478271 + ], + [ + 0.3379414975643158, + -0.014213526621460915, + 0.11167795211076736, + 0.10789109766483307, + -0.10739489644765854, + 0.0565180666744709, + 0.0, + 0.9994885921478271 + ], + [ + 0.3382558524608612, + -0.0234838854521513, + 0.08627261221408844, + 0.08294409513473511, + -0.1112673431634903, + 0.06033588945865631, + 0.0, + 0.9994885921478271 + ], + [ + 0.3384472131729126, + -0.03103799745440483, + 0.07060670107603073, + 0.0519905686378479, + -0.12238360196352005, + 0.059837646782398224, + 0.0, + 0.9994885921478271 + ], + [ + 0.33791372179985046, + -0.03003671020269394, + 0.05563150718808174, + 0.048687372356653214, + -0.12000029534101486, + 0.061474572867155075, + 0.0, + 0.9994885921478271 + ], + [ + 0.33684855699539185, + -0.02948942221701145, + 0.04017207771539688, + 0.052281882613897324, + -0.12039689719676971, + 0.05243169516324997, + 0.0, + 0.9994885921478271 + ], + [ + 0.3350820243358612, + -0.029332444071769714, + 0.029899494722485542, + 0.046890173107385635, + -0.13177092373371124, + 0.051783811300992966, + 0.0, + 0.8168079853057861 + ], + [ + 0.33361876010894775, + -0.028125030919909477, + 0.025860395282506943, + 0.04430621489882469, + -0.14271163940429688, + 0.059979669749736786, + 0.0, + 0.608914315700531 + ], + [ + 0.33155524730682373, + -0.025717126205563545, + 0.02882656268775463, + 0.06641185283660889, + -0.11489817500114441, + 0.05764063447713852, + 0.0, + 0.608914315700531 + ], + [ + 0.32553476095199585, + -0.006185193080455065, + 0.05427566170692444, + 0.15952716767787933, + -0.036038003861904144, + 0.05327387899160385, + 0.0, + 0.6069100499153137 + ], + [ + 0.3287186622619629, + 0.02307818830013275, + 0.09581716358661652, + 0.250032901763916, + -0.042921047657728195, + 0.04303465783596039, + 0.0, + 0.6069100499153137 + ], + [ + 0.3313749432563782, + 0.06119466572999954, + 0.10433530807495117, + 0.29603683948516846, + -0.05592063069343567, + 0.006041455082595348, + 0.0, + 0.6069100499153137 + ], + [ + 0.3340202569961548, + 0.11527124792337418, + 0.10555833578109741, + 0.3163347840309143, + -0.10600142180919647, + -0.03276241198182106, + 0.0, + 0.6069100499153137 + ], + [ + 0.33358168601989746, + 0.15690702199935913, + 0.10320693999528885, + 0.3443998098373413, + -0.14325730502605438, + -0.08486148715019226, + 0.0, + 0.6069100499153137 + ], + [ + 0.33242642879486084, + 0.17119954526424408, + 0.09214305877685547, + 0.31136375665664673, + -0.149899423122406, + -0.1157974898815155, + 0.0, + 0.6069100499153137 + ], + [ + 0.3311493694782257, + 0.17389164865016937, + 0.08286435157060623, + 0.259263813495636, + -0.15512800216674805, + -0.12160436064004898, + 0.0, + 0.8399420380592346 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.8168079853057861 + ], + [ + 0.608914315700531 + ], + [ + 0.608914315700531 + ], + [ + 0.6069100499153137 + ], + [ + 0.6069100499153137 + ], + [ + 0.6069100499153137 + ], + [ + 0.6069100499153137 + ], + [ + 0.6069100499153137 + ], + [ + 0.6069100499153137 + ], + [ + 0.8399420380592346 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3936677575111389, + 0.1558767557144165, + 0.09586907178163528 + ], + [ + 0.37948083877563477, + 0.1425895243883133, + 0.07455389946699142 + ], + [ + 0.36910372972488403, + 0.12069903314113617, + 0.1072600781917572 + ], + [ + 0.3544676899909973, + 0.10064060986042023, + 0.13354651629924774 + ], + [ + 0.34435218572616577, + 0.058938149362802505, + 0.13683348894119263 + ], + [ + 0.3361615836620331, + 0.012840092182159424, + 0.12091481685638428 + ], + [ + 0.3379414975643158, + -0.014213526621460915, + 0.11167795211076736 + ], + [ + 0.3382558524608612, + -0.0234838854521513, + 0.08627261221408844 + ], + [ + 0.3384472131729126, + -0.03103799745440483, + 0.07060670107603073 + ], + [ + 0.33791372179985046, + -0.03003671020269394, + 0.05563150718808174 + ], + [ + 0.33684855699539185, + -0.02948942221701145, + 0.04017207771539688 + ], + [ + 0.3350820243358612, + -0.029332444071769714, + 0.029899494722485542 + ], + [ + 0.33361876010894775, + -0.028125030919909477, + 0.025860395282506943 + ], + [ + 0.33155524730682373, + -0.025717126205563545, + 0.02882656268775463 + ], + [ + 0.32553476095199585, + -0.006185193080455065, + 0.05427566170692444 + ], + [ + 0.3287186622619629, + 0.02307818830013275, + 0.09581716358661652 + ], + [ + 0.3313749432563782, + 0.06119466572999954, + 0.10433530807495117 + ], + [ + 0.3340202569961548, + 0.11527124792337418, + 0.10555833578109741 + ], + [ + 0.33358168601989746, + 0.15690702199935913, + 0.10320693999528885 + ], + [ + 0.33242642879486084, + 0.17119954526424408, + 0.09214305877685547 + ], + [ + 0.3311493694782257, + 0.17389164865016937, + 0.08286435157060623 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9981305870884051, + 0.007831333298512481, + 0.06061354087432239, + 0.0035743248879228865, + -0.9975388871948647, + 0.07002422963250964, + 0.06101274719393577, + -0.06967667294581793, + -0.9957020668488392 + ], + [ + 0.999624493766966, + 0.020425759761976563, + -0.018266357033703322, + 0.021651555591389853, + -0.9973372520317205, + 0.06963918329711484, + -0.016795285100576846, + -0.07000852839449077, + -0.9974049951501286 + ], + [ + 0.9980179945070371, + 0.0600631522582321, + 0.018774993500828972, + 0.05733274266209129, + -0.9908479351502962, + 0.12220198863863398, + 0.025943000192617638, + -0.12088336175503574, + -0.9923276543520326 + ], + [ + 0.9946534464567157, + 0.09584114890599107, + 0.038457712206488415, + 0.08859899312111866, + -0.9832949014182543, + 0.15900111717465965, + 0.0530541220802061, + -0.15474369460900667, + -0.9865290918716251 + ], + [ + 0.9943138528972979, + 0.08413513090277533, + 0.06527818689657233, + 0.07450209733407331, + -0.9876131006124264, + 0.1380934502122897, + 0.07608810307370811, + -0.13244486870650268, + -0.9882656309535217 + ], + [ + 0.9941444057298298, + 0.08425658272870111, + 0.0676589153250734, + 0.0755801873431247, + -0.9896602849027988, + 0.12190223856553865, + 0.07723040746533763, + -0.11607475502017169, + -0.9902333641166335 + ], + [ + 0.9926511870471156, + 0.06768336680502081, + 0.1003124255109484, + 0.056162538559038064, + -0.9919459631630256, + 0.1135296235666361, + 0.10718857269577353, + -0.10706151513272422, + -0.9884576075183642 + ], + [ + 0.9920077677860555, + 0.06927462721930747, + 0.10545906635161086, + 0.05992640776285074, + -0.9941939921949119, + 0.08937075324838704, + 0.11103789580484681, + -0.08233669842281464, + -0.9903995425019453 + ], + [ + 0.990744118050907, + 0.06605384835550007, + 0.11858744311670939, + 0.059354654153029575, + -0.9964820879378842, + 0.05916479907283359, + 0.12207832558609426, + -0.05157846000398929, + -0.991179370692163 + ], + [ + 0.9909332182553017, + 0.06717823813093515, + 0.11635480772109975, + 0.06099405037203115, + -0.9965703391922087, + 0.055922132126202256, + 0.11971250050602424, + -0.04831814735634704, + -0.9916321262739755 + ], + [ + 0.9913967657192307, + 0.058603960898970686, + 0.11703857777844305, + 0.052028298443776835, + -0.9969323270902656, + 0.05847214177224065, + 0.12010624081409775, + -0.05187977418358368, + -0.9914045490858746 + ], + [ + 0.9900019057849906, + 0.057854161542739646, + 0.12864339289008483, + 0.051311945485040686, + -0.9972430733907746, + 0.0536035150401705, + 0.13138991891551785, + -0.04646663928355651, + -0.9902411527709121 + ], + [ + 0.9880540053410654, + 0.06617306826117147, + 0.1391776115845528, + 0.0593343229506971, + -0.9968445477385021, + 0.052729363394639996, + 0.14222770703861007, + -0.04384144934789406, + -0.9888625822982765 + ], + [ + 0.9917566520578862, + 0.06507731726633295, + 0.11037973489889333, + 0.057228876602971344, + -0.9957001426906603, + 0.07284285502752148, + 0.11464553537619687, + -0.06592547780043521, + -0.9912165417279363 + ], + [ + 0.9979329050824933, + 0.05828788632645311, + 0.027063615080213585, + 0.05321410878520935, + -0.9855970343917411, + 0.16052023057671336, + 0.03603020371592962, + -0.15874825386693173, + -0.986661449695076 + ], + [ + 0.9981540379207383, + 0.05229071045964747, + 0.0308900984483887, + 0.04298175457479866, + -0.9675504675045041, + 0.24899530438441597, + 0.04290787056237592, + -0.24720795786430805, + -0.968011952515237 + ], + [ + 0.9984186279339979, + 0.022083642045063405, + 0.05169677116047217, + 0.006031974681843881, + -0.9563842145667276, + 0.2920493954950445, + 0.055891490191533756, + -0.2912757231243428, + -0.9550050232551454 + ], + [ + 0.9938534802060466, + 0.001764866012030986, + 0.11068940839253608, + -0.03257269224690461, + -0.950950122588533, + 0.30762458300441997, + 0.10580302265114405, + -0.30933921445043855, + -0.9450476023995128 + ], + [ + 0.9861944968378459, + -0.031752946782636335, + 0.1625181982959665, + -0.08389140891392532, + -0.9419766704421484, + 0.32502643562202876, + 0.14276780420383509, + -0.3341731627664665, + -0.9316360079824482 + ], + [ + 0.9821641619891686, + -0.06453880833400417, + 0.17660209829710605, + -0.11424323307077451, + -0.9508276490757248, + 0.28788064445298633, + 0.14933868421025653, + -0.3029216465886133, + -0.9412419632732023 + ], + [ + 0.9806957356223335, + -0.0779325559214322, + 0.17933876005962285, + -0.11984821778166752, + -0.9642460474842085, + 0.2363598202014031, + 0.15450656564278464, + -0.25329049851629737, + -0.9549720647928072 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.01418691873550415, + -0.01328723132610321, + -0.02131517231464386, + 0.00021219998598098755, + 0.07784673571586609, + 0.01807529851794243, + 1.0 + ], + [ + -0.010377109050750732, + -0.021890491247177124, + 0.03270617872476578, + 0.051144979894161224, + -0.042741984128952026, + 0.035727232694625854, + 1.0 + ], + [ + -0.014636039733886719, + -0.020058423280715942, + 0.02628643810749054, + 0.03436820209026337, + -0.02713313139975071, + 0.03145723417401314, + 1.0 + ], + [ + -0.010115504264831543, + -0.04170246049761772, + 0.0032869726419448853, + -0.022365257143974304, + -0.0230826698243618, + -0.014052368700504303, + 1.0 + ], + [ + -0.00819060206413269, + -0.04609805718064308, + -0.01591867208480835, + -0.016536571085453033, + -0.001145675778388977, + 0.001090995967388153, + 1.0 + ], + [ + 0.0017799139022827148, + -0.02705361880362034, + -0.009236864745616913, + -0.008795998990535736, + -0.030087508261203766, + -0.019361328333616257, + 1.0 + ], + [ + 0.00031435489654541016, + -0.009270358830690384, + -0.025405339896678925, + -0.02494700253009796, + -0.0038724467158317566, + 0.0038178227841854095, + 1.0 + ], + [ + 0.0001913607120513916, + -0.007554112002253532, + -0.01566591113805771, + -0.030953526496887207, + -0.011116258800029755, + -0.0004982426762580872, + 1.0 + ], + [ + -0.0005334913730621338, + 0.0010012872517108917, + -0.01497519388794899, + -0.003303196281194687, + 0.002383306622505188, + 0.0016369260847568512, + 1.0 + ], + [ + -0.0010651648044586182, + 0.0005472879856824875, + -0.01545942947268486, + 0.00359451025724411, + -0.0003966018557548523, + -0.009042877703905106, + 1.0 + ], + [ + -0.0017665326595306396, + 0.00015697814524173737, + -0.010272582992911339, + -0.005391709506511688, + -0.011374026536941528, + -0.0006478838622570038, + 0.0 + ], + [ + -0.0014632642269134521, + 0.0012074131518602371, + -0.0040390994399785995, + -0.0025839582085609436, + -0.010940715670585632, + 0.00819585844874382, + 0.0 + ], + [ + -0.0020635128021240234, + 0.002407904714345932, + 0.0029661674052476883, + 0.022105637937784195, + 0.027813464403152466, + -0.0023390352725982666, + 0.0 + ], + [ + -0.006020486354827881, + 0.019531933590769768, + 0.025449099019169807, + 0.09311531484127045, + 0.07886017113924026, + -0.004366755485534668, + 0.0 + ], + [ + 0.003183901309967041, + 0.02926338091492653, + 0.04154150187969208, + 0.09050573408603668, + -0.006883043795824051, + -0.010239221155643463, + 0.0 + ], + [ + 0.002656280994415283, + 0.03811647742986679, + 0.008518144488334656, + 0.04600393772125244, + -0.012999583035707474, + -0.036993201822042465, + 0.0 + ], + [ + 0.0026453137397766113, + 0.054076582193374634, + 0.0012230277061462402, + 0.02029794454574585, + -0.0500807911157608, + -0.03880386799573898, + 0.0 + ], + [ + -0.0004385709762573242, + 0.041635774075984955, + -0.0023513957858085632, + 0.028065025806427002, + -0.03725588321685791, + -0.0520990751683712, + 0.0 + ], + [ + -0.001155257225036621, + 0.014292523264884949, + -0.01106388121843338, + -0.03303605318069458, + -0.0066421180963516235, + -0.030936002731323242, + 1.0 + ], + [ + -0.0012770593166351318, + 0.002692103385925293, + -0.009278707206249237, + -0.05209994316101074, + -0.005228579044342041, + -0.005806870758533478, + 1.0 + ], + [ + 0.0011698901653289795, + -0.002331748604774475, + -0.00026688724756240845, + -0.009857237339019775, + -0.0050433725118637085, + -0.0090765580534935, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.8168079853057861 + ], + [ + 0.608914315700531 + ], + [ + 0.608914315700531 + ], + [ + 0.6069100499153137 + ], + [ + 0.6069100499153137 + ], + [ + 0.6069100499153137 + ], + [ + 0.6069100499153137 + ], + [ + 0.6069100499153137 + ], + [ + 0.6069100499153137 + ], + [ + 0.8399420380592346 + ], + [ + 1.002137303352356 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.37948083877563477, + 0.1425895243883133, + 0.07455389946699142 + ], + [ + 0.36910372972488403, + 0.12069903314113617, + 0.1072600781917572 + ], + [ + 0.3544676899909973, + 0.10064060986042023, + 0.13354651629924774 + ], + [ + 0.34435218572616577, + 0.058938149362802505, + 0.13683348894119263 + ], + [ + 0.3361615836620331, + 0.012840092182159424, + 0.12091481685638428 + ], + [ + 0.3379414975643158, + -0.014213526621460915, + 0.11167795211076736 + ], + [ + 0.3382558524608612, + -0.0234838854521513, + 0.08627261221408844 + ], + [ + 0.3384472131729126, + -0.03103799745440483, + 0.07060670107603073 + ], + [ + 0.33791372179985046, + -0.03003671020269394, + 0.05563150718808174 + ], + [ + 0.33684855699539185, + -0.02948942221701145, + 0.04017207771539688 + ], + [ + 0.3350820243358612, + -0.029332444071769714, + 0.029899494722485542 + ], + [ + 0.33361876010894775, + -0.028125030919909477, + 0.025860395282506943 + ], + [ + 0.33155524730682373, + -0.025717126205563545, + 0.02882656268775463 + ], + [ + 0.32553476095199585, + -0.006185193080455065, + 0.05427566170692444 + ], + [ + 0.3287186622619629, + 0.02307818830013275, + 0.09581716358661652 + ], + [ + 0.3313749432563782, + 0.06119466572999954, + 0.10433530807495117 + ], + [ + 0.3340202569961548, + 0.11527124792337418, + 0.10555833578109741 + ], + [ + 0.33358168601989746, + 0.15690702199935913, + 0.10320693999528885 + ], + [ + 0.33242642879486084, + 0.17119954526424408, + 0.09214305877685547 + ], + [ + 0.3311493694782257, + 0.17389164865016937, + 0.08286435157060623 + ], + [ + 0.3323192596435547, + 0.1715599000453949, + 0.08259746432304382 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.999624493766966, + 0.020425759761976563, + -0.018266357033703322, + 0.021651555591389853, + -0.9973372520317205, + 0.06963918329711484, + -0.016795285100576846, + -0.07000852839449077, + -0.9974049951501286 + ], + [ + 0.9980179945070371, + 0.0600631522582321, + 0.018774993500828972, + 0.05733274266209129, + -0.9908479351502962, + 0.12220198863863398, + 0.025943000192617638, + -0.12088336175503574, + -0.9923276543520326 + ], + [ + 0.9946534464567157, + 0.09584114890599107, + 0.038457712206488415, + 0.08859899312111866, + -0.9832949014182543, + 0.15900111717465965, + 0.0530541220802061, + -0.15474369460900667, + -0.9865290918716251 + ], + [ + 0.9943138528972979, + 0.08413513090277533, + 0.06527818689657233, + 0.07450209733407331, + -0.9876131006124264, + 0.1380934502122897, + 0.07608810307370811, + -0.13244486870650268, + -0.9882656309535217 + ], + [ + 0.9941444057298298, + 0.08425658272870111, + 0.0676589153250734, + 0.0755801873431247, + -0.9896602849027988, + 0.12190223856553865, + 0.07723040746533763, + -0.11607475502017169, + -0.9902333641166335 + ], + [ + 0.9926511870471156, + 0.06768336680502081, + 0.1003124255109484, + 0.056162538559038064, + -0.9919459631630256, + 0.1135296235666361, + 0.10718857269577353, + -0.10706151513272422, + -0.9884576075183642 + ], + [ + 0.9920077677860555, + 0.06927462721930747, + 0.10545906635161086, + 0.05992640776285074, + -0.9941939921949119, + 0.08937075324838704, + 0.11103789580484681, + -0.08233669842281464, + -0.9903995425019453 + ], + [ + 0.990744118050907, + 0.06605384835550007, + 0.11858744311670939, + 0.059354654153029575, + -0.9964820879378842, + 0.05916479907283359, + 0.12207832558609426, + -0.05157846000398929, + -0.991179370692163 + ], + [ + 0.9909332182553017, + 0.06717823813093515, + 0.11635480772109975, + 0.06099405037203115, + -0.9965703391922087, + 0.055922132126202256, + 0.11971250050602424, + -0.04831814735634704, + -0.9916321262739755 + ], + [ + 0.9913967657192307, + 0.058603960898970686, + 0.11703857777844305, + 0.052028298443776835, + -0.9969323270902656, + 0.05847214177224065, + 0.12010624081409775, + -0.05187977418358368, + -0.9914045490858746 + ], + [ + 0.9900019057849906, + 0.057854161542739646, + 0.12864339289008483, + 0.051311945485040686, + -0.9972430733907746, + 0.0536035150401705, + 0.13138991891551785, + -0.04646663928355651, + -0.9902411527709121 + ], + [ + 0.9880540053410654, + 0.06617306826117147, + 0.1391776115845528, + 0.0593343229506971, + -0.9968445477385021, + 0.052729363394639996, + 0.14222770703861007, + -0.04384144934789406, + -0.9888625822982765 + ], + [ + 0.9917566520578862, + 0.06507731726633295, + 0.11037973489889333, + 0.057228876602971344, + -0.9957001426906603, + 0.07284285502752148, + 0.11464553537619687, + -0.06592547780043521, + -0.9912165417279363 + ], + [ + 0.9979329050824933, + 0.05828788632645311, + 0.027063615080213585, + 0.05321410878520935, + -0.9855970343917411, + 0.16052023057671336, + 0.03603020371592962, + -0.15874825386693173, + -0.986661449695076 + ], + [ + 0.9981540379207383, + 0.05229071045964747, + 0.0308900984483887, + 0.04298175457479866, + -0.9675504675045041, + 0.24899530438441597, + 0.04290787056237592, + -0.24720795786430805, + -0.968011952515237 + ], + [ + 0.9984186279339979, + 0.022083642045063405, + 0.05169677116047217, + 0.006031974681843881, + -0.9563842145667276, + 0.2920493954950445, + 0.055891490191533756, + -0.2912757231243428, + -0.9550050232551454 + ], + [ + 0.9938534802060466, + 0.001764866012030986, + 0.11068940839253608, + -0.03257269224690461, + -0.950950122588533, + 0.30762458300441997, + 0.10580302265114405, + -0.30933921445043855, + -0.9450476023995128 + ], + [ + 0.9861944968378459, + -0.031752946782636335, + 0.1625181982959665, + -0.08389140891392532, + -0.9419766704421484, + 0.32502643562202876, + 0.14276780420383509, + -0.3341731627664665, + -0.9316360079824482 + ], + [ + 0.9821641619891686, + -0.06453880833400417, + 0.17660209829710605, + -0.11424323307077451, + -0.9508276490757248, + 0.28788064445298633, + 0.14933868421025653, + -0.3029216465886133, + -0.9412419632732023 + ], + [ + 0.9806957356223335, + -0.0779325559214322, + 0.17933876005962285, + -0.11984821778166752, + -0.9642460474842085, + 0.2363598202014031, + 0.15450656564278464, + -0.25329049851629737, + -0.9549720647928072 + ], + [ + 0.9787825001683601, + -0.08724695045466421, + 0.18539899406559782, + -0.1286413222291407, + -0.9659260500250433, + 0.22458467467339785, + 0.15948739003229254, + -0.24366952111287724, + -0.9566550772882086 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005799.json b/json/chunk-0005/episode_0005799.json new file mode 100644 index 0000000000000000000000000000000000000000..2c2b2ffea5900a81fcd7912194cf5613c98a3f94 --- /dev/null +++ b/json/chunk-0005/episode_0005799.json @@ -0,0 +1,2782 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 45, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the yellow spoon to the middle of the table." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005799.mp4", + "start": 0, + "end": 45, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.34197336435317993, + 0.17148831486701965, + 0.1381596326828003, + -0.3844735026359558, + -0.14327286183834076, + 2.00779128074646, + 0.0, + 1.0001531839370728 + ], + [ + 0.3399984538555145, + 0.170434832572937, + 0.12632030248641968, + -0.35096657276153564, + -0.14122989773750305, + 2.007735013961792, + 0.0, + 1.0001531839370728 + ], + [ + 0.3249445855617523, + 0.16072602570056915, + 0.11907356232404709, + -0.3207773268222809, + -0.12730129063129425, + 2.0364503860473633, + 0.0, + 1.0001531839370728 + ], + [ + 0.30294427275657654, + 0.14168059825897217, + 0.1391858011484146, + -0.353950172662735, + -0.12019054591655731, + 2.045707941055298, + 0.0, + 1.0001531839370728 + ], + [ + 0.2672034502029419, + 0.11404460668563843, + 0.14701974391937256, + -0.3336300849914551, + -0.0507504865527153, + 2.0474131107330322, + 0.0, + 1.0001531839370728 + ], + [ + 0.243597149848938, + 0.07629133760929108, + 0.14642995595932007, + -0.2854732573032379, + -0.009724097326397896, + 2.0077645778656006, + 0.0, + 1.0001531839370728 + ], + [ + 0.21984587609767914, + 0.029297487810254097, + 0.13225217163562775, + -0.23949304223060608, + 0.030716169625520706, + 1.8832429647445679, + 0.0, + 1.0001531839370728 + ], + [ + 0.2109246551990509, + -0.01935119554400444, + 0.11389806866645813, + -0.21502505242824554, + 0.0035089394077658653, + 1.752984642982483, + 0.0, + 1.0001531839370728 + ], + [ + 0.2100064903497696, + -0.048891182988882065, + 0.09399101138114929, + -0.17768841981887817, + -0.009459376335144043, + 1.7172813415527344, + 0.0, + 0.9994885921478271 + ], + [ + 0.21090953052043915, + -0.0591912604868412, + 0.08155960589647293, + -0.16253484785556793, + -0.019733330234885216, + 1.699089527130127, + 0.0, + 1.0001531839370728 + ], + [ + 0.21608199179172516, + -0.06602302193641663, + 0.06537660956382751, + -0.146299347281456, + -0.02105165459215641, + 1.6842594146728516, + 0.0, + 1.0001531839370728 + ], + [ + 0.220798522233963, + -0.06726129353046417, + 0.05580650642514229, + -0.13662560284137726, + -0.0314469188451767, + 1.667319893836975, + 0.0, + 0.9994885921478271 + ], + [ + 0.23103030025959015, + -0.06575891375541687, + 0.05358007550239563, + -0.14830435812473297, + -0.04015038162469864, + 1.661892294883728, + 0.0, + 1.0001531839370728 + ], + [ + 0.2359100580215454, + -0.06527374684810638, + 0.049196820706129074, + -0.14934846758842468, + -0.04066738486289978, + 1.673816204071045, + 0.0, + 0.9635607004165649 + ], + [ + 0.23406174778938293, + -0.06482966989278793, + 0.048651084303855896, + -0.15426836907863617, + -0.0394526869058609, + 1.674059510231018, + 0.0, + 0.7091560959815979 + ], + [ + 0.2289452999830246, + -0.07136143743991852, + 0.049248408526182175, + -0.15153871476650238, + -0.017479216679930687, + 1.648483395576477, + 0.0, + 0.443907231092453 + ], + [ + 0.2232102006673813, + -0.07351695001125336, + 0.05384289100766182, + -0.14146670699119568, + -0.0019668687600642443, + 1.624610185623169, + 0.0, + 0.4059307873249054 + ], + [ + 0.22355055809020996, + -0.07546336948871613, + 0.07268473505973816, + -0.1715211421251297, + 0.020656999200582504, + 1.5748379230499268, + 0.0, + 0.4059307873249054 + ], + [ + 0.23209848999977112, + -0.07912730425596237, + 0.10552596300840378, + -0.20230042934417725, + 0.15218977630138397, + 1.5228196382522583, + 0.0, + 0.4059307873249054 + ], + [ + 0.24128331243991852, + -0.0906819999217987, + 0.12261658906936646, + -0.23506277799606323, + 0.2962717115879059, + 1.4141709804534912, + 0.0, + 0.4059307873249054 + ], + [ + 0.2601909339427948, + -0.11178542673587799, + 0.12142247706651688, + -0.24868811666965485, + 0.40533336997032166, + 1.1976743936538696, + 0.0, + 0.4059307873249054 + ], + [ + 0.2699286937713623, + -0.12452627718448639, + 0.11582230776548386, + -0.26575779914855957, + 0.4644935727119446, + 1.0996206998825073, + 0.0, + 0.4059307873249054 + ], + [ + 0.2741643190383911, + -0.12639719247817993, + 0.11390161514282227, + -0.24857182800769806, + 0.47092533111572266, + 1.0758999586105347, + 0.0, + 0.4050447642803192 + ], + [ + 0.2741350829601288, + -0.1239522397518158, + 0.11250413209199905, + -0.23014035820960999, + 0.4596657156944275, + 1.1001827716827393, + 0.0, + 0.4050447642803192 + ], + [ + 0.27482762932777405, + -0.12641724944114685, + 0.11047057062387466, + -0.1978277862071991, + 0.44407522678375244, + 1.1751863956451416, + 0.0, + 0.4050447642803192 + ], + [ + 0.27166107296943665, + -0.13212233781814575, + 0.1113608255982399, + -0.1639406830072403, + 0.44426411390304565, + 1.2951279878616333, + 0.0, + 0.4050447642803192 + ], + [ + 0.2743470370769501, + -0.08310913294553757, + 0.0936586931347847, + -0.1801099330186844, + 0.4823004901409149, + 1.386791467666626, + 0.0, + 0.4050447642803192 + ], + [ + 0.2742919623851776, + -0.03553708270192146, + 0.0939684808254242, + -0.17042411863803864, + 0.4942353367805481, + 1.453563928604126, + 0.0, + 0.4050447642803192 + ], + [ + 0.28416141867637634, + -0.020784033462405205, + 0.0872313603758812, + -0.14730119705200195, + 0.48476600646972656, + 1.497215747833252, + 0.0, + 0.4050447642803192 + ], + [ + 0.2951474189758301, + -0.00218922714702785, + 0.08723744004964828, + -0.15428674221038818, + 0.47505730390548706, + 1.5480437278747559, + 0.0, + 0.4050447642803192 + ], + [ + 0.30224180221557617, + 0.0018236777978017926, + 0.0882435292005539, + -0.16026659309864044, + 0.47463762760162354, + 1.5569418668746948, + 0.0, + 0.4050447642803192 + ], + [ + 0.30599483847618103, + -0.009206914342939854, + 0.09235769510269165, + -0.18471719324588776, + 0.480648398399353, + 1.506109595298767, + 0.0, + 0.4050447642803192 + ], + [ + 0.31981799006462097, + -0.02537226304411888, + 0.09288565069437027, + -0.19647443294525146, + 0.48404863476753235, + 1.4435757398605347, + 0.0, + 0.4050447642803192 + ], + [ + 0.33629515767097473, + -0.027308650314807892, + 0.08905225992202759, + -0.20348504185676575, + 0.5018479824066162, + 1.426304817199707, + 0.0, + 0.4050447642803192 + ], + [ + 0.3510597050189972, + -0.023846808820962906, + 0.08604007214307785, + -0.19587156176567078, + 0.4957055449485779, + 1.426714539527893, + 0.0, + 0.4050447642803192 + ], + [ + 0.3621182441711426, + -0.01657828688621521, + 0.0884593203663826, + -0.20363067090511322, + 0.49341657757759094, + 1.4322872161865234, + 0.0, + 0.4050447642803192 + ], + [ + 0.37086594104766846, + -0.005836788564920425, + 0.09475871175527573, + -0.230482816696167, + 0.4919584095478058, + 1.4320696592330933, + 0.0, + 0.4050447642803192 + ], + [ + 0.36684128642082214, + -0.004667218308895826, + 0.0898260548710823, + -0.22341753542423248, + 0.4789133369922638, + 1.4348406791687012, + 0.0, + 0.4050447642803192 + ], + [ + 0.3424493670463562, + -0.006482051219791174, + 0.09569096565246582, + -0.2351582795381546, + 0.4518764317035675, + 1.4406322240829468, + 0.0, + 0.4050447642803192 + ], + [ + 0.3212468922138214, + -0.014383637346327305, + 0.09491360932588577, + -0.250907301902771, + 0.4246395528316498, + 1.4053902626037598, + 0.0, + 0.4050447642803192 + ], + [ + 0.3101014792919159, + -0.021618369966745377, + 0.08489241451025009, + -0.25180289149284363, + 0.35253965854644775, + 1.34308922290802, + 0.0, + 0.4050447642803192 + ], + [ + 0.30676984786987305, + -0.019313866272568703, + 0.0648258700966835, + -0.25051385164260864, + 0.19232356548309326, + 1.313101053237915, + 0.0, + 0.4050447642803192 + ], + [ + 0.31487810611724854, + -0.014035235159099102, + 0.05549892038106918, + -0.25610843300819397, + 0.06318429857492447, + 1.3015633821487427, + 0.0, + 0.4050447642803192 + ], + [ + 0.32054078578948975, + -0.009893503040075302, + 0.05220929533243179, + -0.25093182921409607, + 0.03282898664474487, + 1.2954288721084595, + 0.0, + 0.4513009488582611 + ], + [ + 0.3196582794189453, + -0.00989918876439333, + 0.05299021676182747, + -0.23507638275623322, + 0.045755546540021896, + 1.3058894872665405, + 0.0, + 0.7525970935821533 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9635607004165649 + ], + [ + 0.7091560959815979 + ], + [ + 0.443907231092453 + ], + [ + 0.4059307873249054 + ], + [ + 0.4059307873249054 + ], + [ + 0.4059307873249054 + ], + [ + 0.4059307873249054 + ], + [ + 0.4059307873249054 + ], + [ + 0.4059307873249054 + ], + [ + 0.4050447642803192 + ], + [ + 0.4050447642803192 + ], + [ + 0.4050447642803192 + ], + [ + 0.4050447642803192 + ], + [ + 0.4050447642803192 + ], + [ + 0.4050447642803192 + ], + [ + 0.4050447642803192 + ], + [ + 0.4050447642803192 + ], + [ + 0.4050447642803192 + ], + [ + 0.4050447642803192 + ], + [ + 0.4050447642803192 + ], + [ + 0.4050447642803192 + ], + [ + 0.4050447642803192 + ], + [ + 0.4050447642803192 + ], + [ + 0.4050447642803192 + ], + [ + 0.4050447642803192 + ], + [ + 0.4050447642803192 + ], + [ + 0.4050447642803192 + ], + [ + 0.4050447642803192 + ], + [ + 0.4050447642803192 + ], + [ + 0.4050447642803192 + ], + [ + 0.4513009488582611 + ], + [ + 0.7525970935821533 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.34197336435317993, + 0.17148831486701965, + 0.1381596326828003 + ], + [ + 0.3399984538555145, + 0.170434832572937, + 0.12632030248641968 + ], + [ + 0.3249445855617523, + 0.16072602570056915, + 0.11907356232404709 + ], + [ + 0.30294427275657654, + 0.14168059825897217, + 0.1391858011484146 + ], + [ + 0.2672034502029419, + 0.11404460668563843, + 0.14701974391937256 + ], + [ + 0.243597149848938, + 0.07629133760929108, + 0.14642995595932007 + ], + [ + 0.21984587609767914, + 0.029297487810254097, + 0.13225217163562775 + ], + [ + 0.2109246551990509, + -0.01935119554400444, + 0.11389806866645813 + ], + [ + 0.2100064903497696, + -0.048891182988882065, + 0.09399101138114929 + ], + [ + 0.21090953052043915, + -0.0591912604868412, + 0.08155960589647293 + ], + [ + 0.21608199179172516, + -0.06602302193641663, + 0.06537660956382751 + ], + [ + 0.220798522233963, + -0.06726129353046417, + 0.05580650642514229 + ], + [ + 0.23103030025959015, + -0.06575891375541687, + 0.05358007550239563 + ], + [ + 0.2359100580215454, + -0.06527374684810638, + 0.049196820706129074 + ], + [ + 0.23406174778938293, + -0.06482966989278793, + 0.048651084303855896 + ], + [ + 0.2289452999830246, + -0.07136143743991852, + 0.049248408526182175 + ], + [ + 0.2232102006673813, + -0.07351695001125336, + 0.05384289100766182 + ], + [ + 0.22355055809020996, + -0.07546336948871613, + 0.07268473505973816 + ], + [ + 0.23209848999977112, + -0.07912730425596237, + 0.10552596300840378 + ], + [ + 0.24128331243991852, + -0.0906819999217987, + 0.12261658906936646 + ], + [ + 0.2601909339427948, + -0.11178542673587799, + 0.12142247706651688 + ], + [ + 0.2699286937713623, + -0.12452627718448639, + 0.11582230776548386 + ], + [ + 0.2741643190383911, + -0.12639719247817993, + 0.11390161514282227 + ], + [ + 0.2741350829601288, + -0.1239522397518158, + 0.11250413209199905 + ], + [ + 0.27482762932777405, + -0.12641724944114685, + 0.11047057062387466 + ], + [ + 0.27166107296943665, + -0.13212233781814575, + 0.1113608255982399 + ], + [ + 0.2743470370769501, + -0.08310913294553757, + 0.0936586931347847 + ], + [ + 0.2742919623851776, + -0.03553708270192146, + 0.0939684808254242 + ], + [ + 0.28416141867637634, + -0.020784033462405205, + 0.0872313603758812 + ], + [ + 0.2951474189758301, + -0.00218922714702785, + 0.08723744004964828 + ], + [ + 0.30224180221557617, + 0.0018236777978017926, + 0.0882435292005539 + ], + [ + 0.30599483847618103, + -0.009206914342939854, + 0.09235769510269165 + ], + [ + 0.31981799006462097, + -0.02537226304411888, + 0.09288565069437027 + ], + [ + 0.33629515767097473, + -0.027308650314807892, + 0.08905225992202759 + ], + [ + 0.3510597050189972, + -0.023846808820962906, + 0.08604007214307785 + ], + [ + 0.3621182441711426, + -0.01657828688621521, + 0.0884593203663826 + ], + [ + 0.37086594104766846, + -0.005836788564920425, + 0.09475871175527573 + ], + [ + 0.36684128642082214, + -0.004667218308895826, + 0.0898260548710823 + ], + [ + 0.3424493670463562, + -0.006482051219791174, + 0.09569096565246582 + ], + [ + 0.3212468922138214, + -0.014383637346327305, + 0.09491360932588577 + ], + [ + 0.3101014792919159, + -0.021618369966745377, + 0.08489241451025009 + ], + [ + 0.30676984786987305, + -0.019313866272568703, + 0.0648258700966835 + ], + [ + 0.31487810611724854, + -0.014035235159099102, + 0.05549892038106918 + ], + [ + 0.32054078578948975, + -0.009893503040075302, + 0.05220929533243179 + ], + [ + 0.3196582794189453, + -0.00989918876439333, + 0.05299021676182747 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + -0.4188824215487388, + 0.8625489357868785, + 0.2838077699612688, + 0.896744375085472, + 0.34380081154193887, + 0.2786584427855558, + 0.14278320163811778, + 0.3712281446173335, + -0.917498022871952 + ], + [ + -0.41895452827309027, + 0.8712981649736645, + 0.2555711465580507, + 0.8970303672743839, + 0.3535240017974857, + 0.2652495058255047, + 0.1407608732107599, + 0.3403825610494983, + -0.9296913943381042 + ], + [ + -0.44537400773161084, + 0.8659236658654371, + 0.22763610902325151, + 0.8862977639582396, + 0.39033550977466325, + 0.24922773403371118, + 0.12695773643109567, + 0.3127529291679238, + -0.9413114991633619 + ], + [ + -0.45396108390012596, + 0.8532072033223169, + 0.2568205647979418, + 0.8829173195715562, + 0.391955345593808, + 0.2585111484269442, + 0.11990138074601919, + 0.3441053258224138, + -0.9312438905226972 + ], + [ + -0.4581849558008442, + 0.8471785661606809, + 0.26898889069199716, + 0.887408105040777, + 0.4187176941320947, + 0.19282724840809892, + 0.05072870376537955, + 0.32705346605506913, + -0.9436432742067576 + ], + [ + -0.4231745238004656, + 0.8705289458559431, + 0.25120246183743816, + 0.9059960084447434, + 0.40358613377425256, + 0.12763018963922002, + 0.009723944078478416, + 0.28159827245935204, + -0.9594831201534849 + ], + [ + -0.30724274036294746, + 0.922185237082669, + 0.23489633245550642, + 0.9511354856699351, + 0.3055467170045932, + 0.04452517969791174, + -0.03071133982233229, + 0.23709827547769374, + -0.971000113991662 + ], + [ + -0.1811809887094173, + 0.9606660999057247, + 0.21046162078203812, + 0.983443509676608, + 0.17774598644134193, + 0.03528778229004921, + -0.003508932207043125, + 0.21337059027878869, + -0.9769650344811975 + ], + [ + -0.14595517045808887, + 0.9739578157369018, + 0.17350291461976372, + 0.9892459810809171, + 0.1420094604031013, + 0.03501002815299152, + 0.009459235265257049, + 0.17674695562023918, + -0.9842108699598746 + ], + [ + -0.1279166474215085, + 0.9791188113874473, + 0.15799900157809302, + 0.9915886130512496, + 0.12308851913982893, + 0.0400154835415458, + 0.01973204955247329, + 0.1617886573378885, + -0.9866281349005117 + ], + [ + -0.11319470598359188, + 0.9833034123120546, + 0.14248283360727387, + 0.9933498134290563, + 0.10896139234146701, + 0.037196278570152196, + 0.02105009970873427, + 0.1457457179970609, + -0.9890981139339889 + ], + [ + -0.09632610657299318, + 0.9864825350568945, + 0.13256503769927877, + 0.9948531039428868, + 0.09121320983804176, + 0.044129943646518205, + 0.03144173607948295, + 0.136133604884188, + -0.9901914253585233 + ], + [ + -0.09089671300454322, + 0.9854617457245396, + 0.143537226107072, + 0.9950510542040742, + 0.08406496698520133, + 0.05297622913286146, + 0.040139595069334476, + 0.1476422332509232, + -0.9882259781387808 + ], + [ + -0.10275272065023994, + 0.984247500588096, + 0.14387055287674363, + 0.9938757234841189, + 0.09567566397154331, + 0.05529207531395063, + 0.040656176257649196, + 0.14867086099734014, + -0.9880506315075237 + ], + [ + -0.10299954829856595, + 0.9834852972319093, + 0.14882124572437355, + 0.9938990823809783, + 0.09582727498251065, + 0.054605378962841095, + 0.03944245292246147, + 0.15353762893209363, + -0.9873553004918594 + ], + [ + -0.07759709312381607, + 0.9857631793444126, + 0.14916315023332377, + 0.9968315801761565, + 0.074088987740132, + 0.02894171140670758, + 0.017478326643028327, + 0.1509363314263265, + -0.9883889578264833 + ], + [ + -0.05378778500713882, + 0.9885920237496554, + 0.1406864768291065, + 0.9985504522137553, + 0.05297364448582681, + 0.009528240844674227, + 0.0019668674919020163, + 0.14099504802811386, + -0.9900083473707781 + ], + [ + -0.004040722987105061, + 0.9853039802907497, + 0.17076222937449437, + 0.999778486282128, + 0.007507765478296735, + -0.019662447074045325, + -0.020655530135007885, + 0.17064495269631866, + -0.9851160587433914 + ], + [ + 0.04740395829171601, + 0.9799406022549827, + 0.19356983440200398, + 0.9873041108385084, + -0.016554741387576788, + -0.15797636930558007, + -0.15160295993040446, + 0.19860099846106627, + -0.9682841452541748 + ], + [ + 0.149189710712048, + 0.9712023409243239, + 0.18576448315210545, + 0.9447242433283299, + -0.08453062230396235, + -0.31678175130619407, + -0.2919563910678613, + 0.22275678861937814, + -0.9301294957362722 + ], + [ + 0.33498728392557375, + 0.937926138238668, + 0.0898781331407483, + 0.8557401497419238, + -0.262931935929385, + -0.4456182146053902, + -0.39432513960922766, + 0.22618876249081163, + -0.8906999090574996 + ], + [ + 0.4058391427321096, + 0.9131620072636488, + 0.03781188591819262, + 0.7966287656040216, + -0.33316335263557567, + -0.5043657306685654, + -0.44797008833032503, + 0.23481339176215452, + -0.8626618520663087 + ], + [ + 0.42324263487610847, + 0.905984169029684, + 0.0076392074669109356, + 0.7842269577925712, + -0.3621137144380665, + -0.5038469375586949, + -0.4537110872510591, + 0.21924037785832196, + -0.8637591713099216 + ], + [ + 0.406367243963241, + 0.9136794235816232, + 0.007454794247506363, + 0.7987750814670733, + -0.3512773569271881, + -0.4884286925821613, + -0.443648545879495, + 0.2044361255595541, + -0.8725719674073928 + ], + [ + 0.34799330653177796, + 0.9373039681297456, + 0.019024456294800124, + 0.8332615125811106, + -0.2999385085249371, + -0.46444821321098406, + -0.42962298618686534, + 0.17747721665630492, + -0.8853959155698716 + ], + [ + 0.2457678441003861, + 0.9684344379929709, + 0.041628188952761325, + 0.8688358160996822, + -0.20104352111792634, + -0.4524442808555603, + -0.42979354516866297, + 0.14736431700294483, + -0.8908205580281632 + ], + [ + 0.16209713781560098, + 0.9824182488747883, + 0.09262236333512833, + 0.8709747070163425, + -0.09832381371705456, + -0.48138912263773714, + -0.46381847489053996, + 0.15870353472411516, + -0.8715994552638758 + ], + [ + 0.10296716295752889, + 0.9881584309570959, + 0.11375710386999294, + 0.8742892261066251, + -0.03537040786172324, + -0.48411494850043035, + -0.4743586327520104, + 0.14930455309904656, + -0.8675782604223885 + ], + [ + 0.0650441903157637, + 0.9915222269561283, + 0.11248522906642655, + 0.8823899397928363, + -0.004508570310605031, + -0.47049725498258615, + -0.4660013384729287, + 0.12985894749963928, + -0.8752024944524122 + ], + [ + 0.020231378629426255, + 0.9894647679049251, + 0.14335328525571134, + 0.8890363447325951, + 0.04779089559188465, + -0.4553354895492243, + -0.4573894063741081, + 0.13665834542163216, + -0.8787032647961215 + ], + [ + 0.012322571395459947, + 0.9881004246482876, + 0.15331570384040033, + 0.8893730274101532, + 0.05924780020840076, + -0.45332694193679257, + -0.4570161620222007, + 0.14194100528155698, + -0.8780597808066137 + ], + [ + 0.05731742960704833, + 0.9864217170525207, + 0.15390551773863617, + 0.8848408341770724, + 0.02120035736357284, + -0.46541083251303833, + -0.4623542045186393, + 0.16285803933123283, + -0.8716110649763018 + ], + [ + 0.11230173365932505, + 0.9843610280421229, + 0.13572651579173714, + 0.8779648863491694, + -0.03432535019571903, + -0.477492857194567, + -0.46536649960541854, + 0.1727863906845556, + -0.8680892144469968 + ], + [ + 0.12623467501158564, + 0.9831599386172317, + 0.13214137097397138, + 0.8675592743854234, + -0.04481987838561313, + -0.49531008866096893, + -0.48104647618765217, + 0.17716577999055072, + -0.8586073457336495 + ], + [ + 0.1263010897638856, + 0.984006580895535, + 0.12561482189110407, + 0.8705187178749353, + -0.049225276467301626, + -0.4896672686489232, + -0.4756523904637018, + 0.17119556335079658, + -0.8628133532434287 + ], + [ + 0.1215980365879149, + 0.9831839305767166, + 0.13624711429488126, + 0.8722850750572683, + -0.04034934271589952, + -0.48733015336087193, + -0.47363769416115964, + 0.17810471413781623, + -0.8625230695300774 + ], + [ + 0.12188317951346839, + 0.979124870835465, + 0.16266215866980613, + 0.8729416806007131, + -0.027754210210673036, + -0.4870344198160782, + -0.47235295364979957, + 0.20135588177904143, + -0.8581016816504291 + ], + [ + 0.12028875129196459, + 0.9799858695761369, + 0.15861371864918505, + 0.8793066112503266, + -0.031010907652481823, + -0.4752454176717923, + -0.4608150385177191, + 0.19663676929219567, + -0.8654383174081448 + ], + [ + 0.11676906176199331, + 0.977456324687503, + 0.17590940720616077, + 0.8920190164283006, + -0.025346047312091002, + -0.45128666301580506, + -0.4366543948542272, + 0.20961085662258133, + -0.8748692635133759 + ], + [ + 0.15002959991377207, + 0.9723089496449223, + 0.17918265984771348, + 0.8987510240422464, + -0.05860260563903008, + -0.43452540937824324, + -0.41199237363418156, + 0.2262322723501318, + -0.8826557896567431 + ], + [ + 0.21186086745078592, + 0.962885569943677, + 0.16723143256350026, + 0.9142729611261983, + -0.13481893064425654, + -0.38200629378777523, + -0.34528238500759545, + 0.2338273618167454, + -0.9089030968531724 + ], + [ + 0.25015382752453913, + 0.9488717246773841, + 0.19252405741254655, + 0.9491514692895258, + -0.2010780637495762, + -0.24223769447436486, + -0.19114013424803675, + 0.24333117841018184, + -0.9509234389230055 + ], + [ + 0.2654613150761076, + 0.9367878917223643, + 0.22794459002229328, + 0.9620516329626313, + -0.24189741248383156, + -0.12626281062752281, + -0.06314226565461668, + 0.2528123568103325, + -0.9654527262025867 + ], + [ + 0.2717540600439944, + 0.9344027714470354, + 0.2303067336438605, + 0.9618068286335114, + -0.25554190035891644, + -0.09811198476690175, + -0.032823090097555394, + 0.2481729192983244, + -0.9681595152057304 + ], + [ + 0.26154533777000605, + 0.9413621578361874, + 0.21314625045909358, + 0.9641068026187057, + -0.24433651359063596, + -0.10391218056950334, + -0.04573958280427977, + 0.23267349638575113, + -0.9714787360743005 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0019749104976654053, + -0.0010534822940826416, + -0.011839330196380615, + 0.033506929874420166, + 0.0020429641008377075, + -5.626678466796875e-05, + 1.0 + ], + [ + -0.015053868293762207, + -0.009708806872367859, + -0.007246740162372589, + 0.03018924593925476, + 0.013928607106208801, + 0.02871537208557129, + 1.0 + ], + [ + -0.02200031280517578, + -0.019045427441596985, + 0.020112238824367523, + -0.0331728458404541, + 0.0071107447147369385, + 0.00925755500793457, + 1.0 + ], + [ + -0.035740822553634644, + -0.02763599157333374, + 0.007833942770957947, + 0.020320087671279907, + 0.06944005936384201, + 0.001705169677734375, + 1.0 + ], + [ + -0.023606300354003906, + -0.03775326907634735, + -0.0005897879600524902, + 0.04815682768821716, + 0.041026391088962555, + -0.03964853286743164, + 1.0 + ], + [ + -0.02375127375125885, + -0.04699385166168213, + -0.014177784323692322, + 0.045980215072631836, + 0.04044026881456375, + -0.12452161312103271, + 1.0 + ], + [ + -0.008921220898628235, + -0.048648685216903687, + -0.018354102969169617, + 0.024467989802360535, + -0.027207229286432266, + -0.13025832176208496, + 1.0 + ], + [ + -0.000918164849281311, + -0.029539987444877625, + -0.019907057285308838, + 0.03733663260936737, + -0.012968315742909908, + -0.035703301429748535, + 1.0 + ], + [ + 0.0009030401706695557, + -0.010300077497959137, + -0.012431405484676361, + 0.015153571963310242, + -0.010273953899741173, + -0.018191814422607422, + 1.0 + ], + [ + 0.005172461271286011, + -0.006831761449575424, + -0.016182996332645416, + 0.01623550057411194, + -0.0013183243572711945, + -0.01483011245727539, + 1.0 + ], + [ + 0.004716530442237854, + -0.0012382715940475464, + -0.009570103138685226, + 0.009673744440078735, + -0.010395264253020287, + -0.016939520835876465, + 1.0 + ], + [ + 0.010231778025627136, + 0.0015023797750473022, + -0.0022264309227466583, + -0.011678755283355713, + -0.008703462779521942, + -0.00542759895324707, + 1.0 + ], + [ + 0.004879757761955261, + 0.00048516690731048584, + -0.004383254796266556, + -0.0010441094636917114, + -0.0005170032382011414, + 0.011923909187316895, + 0.0 + ], + [ + -0.0018483102321624756, + 0.00044407695531845093, + -0.0005457364022731781, + -0.004919901490211487, + 0.0012146979570388794, + 0.00024330615997314453, + 0.0 + ], + [ + -0.005116447806358337, + -0.006531767547130585, + 0.0005973242223262787, + 0.002729654312133789, + 0.021973470225930214, + -0.025576114654541016, + 0.0 + ], + [ + -0.0057350993156433105, + -0.002155512571334839, + 0.004594482481479645, + 0.010072007775306702, + 0.015512348152697086, + -0.023873209953308105, + 0.0 + ], + [ + 0.0003403574228286743, + -0.0019464194774627686, + 0.01884184405207634, + -0.03005443513393402, + 0.02262386865913868, + -0.04977226257324219, + 0.0 + ], + [ + 0.008547931909561157, + -0.0036639347672462463, + 0.03284122794866562, + -0.030779287219047546, + 0.13153277337551117, + -0.05201828479766846, + 0.0 + ], + [ + 0.0091848224401474, + -0.011554695665836334, + 0.017090626060962677, + -0.032762348651885986, + 0.1440819352865219, + -0.10864865779876709, + 0.0 + ], + [ + 0.018907621502876282, + -0.021103426814079285, + -0.0011941120028495789, + -0.013625338673591614, + 0.10906165838241577, + -0.21649658679962158, + 0.0 + ], + [ + 0.009737759828567505, + -0.012740850448608398, + -0.00560016930103302, + -0.017069682478904724, + 0.059160202741622925, + -0.0980536937713623, + 0.0 + ], + [ + 0.004235625267028809, + -0.0018709152936935425, + -0.0019206926226615906, + 0.01718597114086151, + 0.006431758403778076, + -0.023720741271972656, + 0.0 + ], + [ + -2.92360782623291e-05, + 0.0024449527263641357, + -0.0013974830508232117, + 0.018431469798088074, + -0.011259615421295166, + 0.02428281307220459, + 0.0 + ], + [ + 0.0006925463676452637, + -0.0024650096893310547, + -0.0020335614681243896, + 0.03231257200241089, + -0.015590488910675049, + 0.07500362396240234, + 0.0 + ], + [ + -0.0031665563583374023, + -0.005705088376998901, + 0.0008902549743652344, + 0.0338871031999588, + 0.0001888871192932129, + 0.1199415922164917, + 0.0 + ], + [ + 0.0026859641075134277, + 0.049013204872608185, + -0.0177021324634552, + -0.016169250011444092, + 0.03803637623786926, + 0.09166347980499268, + 0.0 + ], + [ + -5.507469177246094e-05, + 0.047572050243616104, + 0.00030978769063949585, + 0.009685814380645752, + 0.011934846639633179, + 0.0667724609375, + 0.0 + ], + [ + 0.00986945629119873, + 0.014753049239516258, + -0.006737120449542999, + 0.023122921586036682, + -0.009469330310821533, + 0.04365181922912598, + 0.0 + ], + [ + 0.010986000299453735, + 0.018594807013869286, + 6.079673767089844e-06, + -0.0069855451583862305, + -0.009708702564239502, + 0.050827980041503906, + 0.0 + ], + [ + 0.007094383239746094, + 0.004012905061244965, + 0.0010060891509056091, + -0.005979850888252258, + -0.0004196763038635254, + 0.008898138999938965, + 0.0 + ], + [ + 0.0037530362606048584, + -0.011030592024326324, + 0.004114165902137756, + -0.024450600147247314, + 0.006010770797729492, + -0.050832271575927734, + 0.0 + ], + [ + 0.013823151588439941, + -0.016165349632501602, + 0.0005279555916786194, + -0.011757239699363708, + 0.0034002363681793213, + -0.06253385543823242, + 0.0 + ], + [ + 0.01647716760635376, + -0.0019363872706890106, + -0.003833390772342682, + -0.007010608911514282, + 0.017799347639083862, + -0.017270922660827637, + 0.0 + ], + [ + 0.014764547348022461, + 0.003461841493844986, + -0.0030121877789497375, + 0.007613480091094971, + -0.00614243745803833, + 0.00040972232818603516, + 0.0 + ], + [ + 0.011058539152145386, + 0.007268521934747696, + 0.0024192482233047485, + -0.007759109139442444, + -0.0022889673709869385, + 0.005572676658630371, + 0.0 + ], + [ + 0.008747696876525879, + 0.010741498321294785, + 0.0062993913888931274, + -0.026852145791053772, + -0.0014581680297851562, + -0.00021755695343017578, + 0.0 + ], + [ + -0.0040246546268463135, + 0.001169570256024599, + -0.00493265688419342, + 0.007065281271934509, + -0.013045072555541992, + 0.00277101993560791, + 0.0 + ], + [ + -0.024391919374465942, + -0.0018148329108953476, + 0.005864910781383514, + -0.01174074411392212, + -0.02703690528869629, + 0.0057915449142456055, + 0.0 + ], + [ + -0.02120247483253479, + -0.007901586592197418, + -0.0007773563265800476, + -0.015749022364616394, + -0.027236878871917725, + -0.03524196147918701, + 0.0 + ], + [ + -0.011145412921905518, + -0.007234732620418072, + -0.010021194815635681, + -0.0008955895900726318, + -0.07209989428520203, + -0.062301039695739746, + 0.0 + ], + [ + -0.0033316314220428467, + 0.002304503694176674, + -0.02006654441356659, + 0.0012890398502349854, + -0.1602160930633545, + -0.02998816967010498, + 0.0 + ], + [ + 0.008108258247375488, + 0.005278631113469601, + -0.009326949715614319, + -0.005594581365585327, + -0.1291392743587494, + -0.011537671089172363, + 0.0 + ], + [ + 0.005662679672241211, + 0.0041417321190238, + -0.00328962504863739, + 0.0051766037940979, + -0.030355311930179596, + -0.006134510040283203, + 1.0 + ], + [ + -0.0008825063705444336, + -5.685724318027496e-06, + 0.0007809214293956757, + 0.015855446457862854, + 0.012926559895277023, + 0.010460615158081055, + 1.0 + ], + [ + -0.0028872787952423096, + -0.0008560037240386009, + 0.005453873425722122, + 0.010760590434074402, + 0.01029222086071968, + 0.008892536163330078, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9635607004165649 + ], + [ + 0.7091560959815979 + ], + [ + 0.443907231092453 + ], + [ + 0.4059307873249054 + ], + [ + 0.4059307873249054 + ], + [ + 0.4059307873249054 + ], + [ + 0.4059307873249054 + ], + [ + 0.4059307873249054 + ], + [ + 0.4059307873249054 + ], + [ + 0.4050447642803192 + ], + [ + 0.4050447642803192 + ], + [ + 0.4050447642803192 + ], + [ + 0.4050447642803192 + ], + [ + 0.4050447642803192 + ], + [ + 0.4050447642803192 + ], + [ + 0.4050447642803192 + ], + [ + 0.4050447642803192 + ], + [ + 0.4050447642803192 + ], + [ + 0.4050447642803192 + ], + [ + 0.4050447642803192 + ], + [ + 0.4050447642803192 + ], + [ + 0.4050447642803192 + ], + [ + 0.4050447642803192 + ], + [ + 0.4050447642803192 + ], + [ + 0.4050447642803192 + ], + [ + 0.4050447642803192 + ], + [ + 0.4050447642803192 + ], + [ + 0.4050447642803192 + ], + [ + 0.4050447642803192 + ], + [ + 0.4050447642803192 + ], + [ + 0.4513009488582611 + ], + [ + 0.7525970935821533 + ], + [ + 0.993436336517334 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3399984538555145, + 0.170434832572937, + 0.12632030248641968 + ], + [ + 0.3249445855617523, + 0.16072602570056915, + 0.11907356232404709 + ], + [ + 0.30294427275657654, + 0.14168059825897217, + 0.1391858011484146 + ], + [ + 0.2672034502029419, + 0.11404460668563843, + 0.14701974391937256 + ], + [ + 0.243597149848938, + 0.07629133760929108, + 0.14642995595932007 + ], + [ + 0.21984587609767914, + 0.029297487810254097, + 0.13225217163562775 + ], + [ + 0.2109246551990509, + -0.01935119554400444, + 0.11389806866645813 + ], + [ + 0.2100064903497696, + -0.048891182988882065, + 0.09399101138114929 + ], + [ + 0.21090953052043915, + -0.0591912604868412, + 0.08155960589647293 + ], + [ + 0.21608199179172516, + -0.06602302193641663, + 0.06537660956382751 + ], + [ + 0.220798522233963, + -0.06726129353046417, + 0.05580650642514229 + ], + [ + 0.23103030025959015, + -0.06575891375541687, + 0.05358007550239563 + ], + [ + 0.2359100580215454, + -0.06527374684810638, + 0.049196820706129074 + ], + [ + 0.23406174778938293, + -0.06482966989278793, + 0.048651084303855896 + ], + [ + 0.2289452999830246, + -0.07136143743991852, + 0.049248408526182175 + ], + [ + 0.2232102006673813, + -0.07351695001125336, + 0.05384289100766182 + ], + [ + 0.22355055809020996, + -0.07546336948871613, + 0.07268473505973816 + ], + [ + 0.23209848999977112, + -0.07912730425596237, + 0.10552596300840378 + ], + [ + 0.24128331243991852, + -0.0906819999217987, + 0.12261658906936646 + ], + [ + 0.2601909339427948, + -0.11178542673587799, + 0.12142247706651688 + ], + [ + 0.2699286937713623, + -0.12452627718448639, + 0.11582230776548386 + ], + [ + 0.2741643190383911, + -0.12639719247817993, + 0.11390161514282227 + ], + [ + 0.2741350829601288, + -0.1239522397518158, + 0.11250413209199905 + ], + [ + 0.27482762932777405, + -0.12641724944114685, + 0.11047057062387466 + ], + [ + 0.27166107296943665, + -0.13212233781814575, + 0.1113608255982399 + ], + [ + 0.2743470370769501, + -0.08310913294553757, + 0.0936586931347847 + ], + [ + 0.2742919623851776, + -0.03553708270192146, + 0.0939684808254242 + ], + [ + 0.28416141867637634, + -0.020784033462405205, + 0.0872313603758812 + ], + [ + 0.2951474189758301, + -0.00218922714702785, + 0.08723744004964828 + ], + [ + 0.30224180221557617, + 0.0018236777978017926, + 0.0882435292005539 + ], + [ + 0.30599483847618103, + -0.009206914342939854, + 0.09235769510269165 + ], + [ + 0.31981799006462097, + -0.02537226304411888, + 0.09288565069437027 + ], + [ + 0.33629515767097473, + -0.027308650314807892, + 0.08905225992202759 + ], + [ + 0.3510597050189972, + -0.023846808820962906, + 0.08604007214307785 + ], + [ + 0.3621182441711426, + -0.01657828688621521, + 0.0884593203663826 + ], + [ + 0.37086594104766846, + -0.005836788564920425, + 0.09475871175527573 + ], + [ + 0.36684128642082214, + -0.004667218308895826, + 0.0898260548710823 + ], + [ + 0.3424493670463562, + -0.006482051219791174, + 0.09569096565246582 + ], + [ + 0.3212468922138214, + -0.014383637346327305, + 0.09491360932588577 + ], + [ + 0.3101014792919159, + -0.021618369966745377, + 0.08489241451025009 + ], + [ + 0.30676984786987305, + -0.019313866272568703, + 0.0648258700966835 + ], + [ + 0.31487810611724854, + -0.014035235159099102, + 0.05549892038106918 + ], + [ + 0.32054078578948975, + -0.009893503040075302, + 0.05220929533243179 + ], + [ + 0.3196582794189453, + -0.00989918876439333, + 0.05299021676182747 + ], + [ + 0.316771000623703, + -0.01075519248843193, + 0.05844409018754959 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + -0.41895452827309027, + 0.8712981649736645, + 0.2555711465580507, + 0.8970303672743839, + 0.3535240017974857, + 0.2652495058255047, + 0.1407608732107599, + 0.3403825610494983, + -0.9296913943381042 + ], + [ + -0.44537400773161084, + 0.8659236658654371, + 0.22763610902325151, + 0.8862977639582396, + 0.39033550977466325, + 0.24922773403371118, + 0.12695773643109567, + 0.3127529291679238, + -0.9413114991633619 + ], + [ + -0.45396108390012596, + 0.8532072033223169, + 0.2568205647979418, + 0.8829173195715562, + 0.391955345593808, + 0.2585111484269442, + 0.11990138074601919, + 0.3441053258224138, + -0.9312438905226972 + ], + [ + -0.4581849558008442, + 0.8471785661606809, + 0.26898889069199716, + 0.887408105040777, + 0.4187176941320947, + 0.19282724840809892, + 0.05072870376537955, + 0.32705346605506913, + -0.9436432742067576 + ], + [ + -0.4231745238004656, + 0.8705289458559431, + 0.25120246183743816, + 0.9059960084447434, + 0.40358613377425256, + 0.12763018963922002, + 0.009723944078478416, + 0.28159827245935204, + -0.9594831201534849 + ], + [ + -0.30724274036294746, + 0.922185237082669, + 0.23489633245550642, + 0.9511354856699351, + 0.3055467170045932, + 0.04452517969791174, + -0.03071133982233229, + 0.23709827547769374, + -0.971000113991662 + ], + [ + -0.1811809887094173, + 0.9606660999057247, + 0.21046162078203812, + 0.983443509676608, + 0.17774598644134193, + 0.03528778229004921, + -0.003508932207043125, + 0.21337059027878869, + -0.9769650344811975 + ], + [ + -0.14595517045808887, + 0.9739578157369018, + 0.17350291461976372, + 0.9892459810809171, + 0.1420094604031013, + 0.03501002815299152, + 0.009459235265257049, + 0.17674695562023918, + -0.9842108699598746 + ], + [ + -0.1279166474215085, + 0.9791188113874473, + 0.15799900157809302, + 0.9915886130512496, + 0.12308851913982893, + 0.0400154835415458, + 0.01973204955247329, + 0.1617886573378885, + -0.9866281349005117 + ], + [ + -0.11319470598359188, + 0.9833034123120546, + 0.14248283360727387, + 0.9933498134290563, + 0.10896139234146701, + 0.037196278570152196, + 0.02105009970873427, + 0.1457457179970609, + -0.9890981139339889 + ], + [ + -0.09632610657299318, + 0.9864825350568945, + 0.13256503769927877, + 0.9948531039428868, + 0.09121320983804176, + 0.044129943646518205, + 0.03144173607948295, + 0.136133604884188, + -0.9901914253585233 + ], + [ + -0.09089671300454322, + 0.9854617457245396, + 0.143537226107072, + 0.9950510542040742, + 0.08406496698520133, + 0.05297622913286146, + 0.040139595069334476, + 0.1476422332509232, + -0.9882259781387808 + ], + [ + -0.10275272065023994, + 0.984247500588096, + 0.14387055287674363, + 0.9938757234841189, + 0.09567566397154331, + 0.05529207531395063, + 0.040656176257649196, + 0.14867086099734014, + -0.9880506315075237 + ], + [ + -0.10299954829856595, + 0.9834852972319093, + 0.14882124572437355, + 0.9938990823809783, + 0.09582727498251065, + 0.054605378962841095, + 0.03944245292246147, + 0.15353762893209363, + -0.9873553004918594 + ], + [ + -0.07759709312381607, + 0.9857631793444126, + 0.14916315023332377, + 0.9968315801761565, + 0.074088987740132, + 0.02894171140670758, + 0.017478326643028327, + 0.1509363314263265, + -0.9883889578264833 + ], + [ + -0.05378778500713882, + 0.9885920237496554, + 0.1406864768291065, + 0.9985504522137553, + 0.05297364448582681, + 0.009528240844674227, + 0.0019668674919020163, + 0.14099504802811386, + -0.9900083473707781 + ], + [ + -0.004040722987105061, + 0.9853039802907497, + 0.17076222937449437, + 0.999778486282128, + 0.007507765478296735, + -0.019662447074045325, + -0.020655530135007885, + 0.17064495269631866, + -0.9851160587433914 + ], + [ + 0.04740395829171601, + 0.9799406022549827, + 0.19356983440200398, + 0.9873041108385084, + -0.016554741387576788, + -0.15797636930558007, + -0.15160295993040446, + 0.19860099846106627, + -0.9682841452541748 + ], + [ + 0.149189710712048, + 0.9712023409243239, + 0.18576448315210545, + 0.9447242433283299, + -0.08453062230396235, + -0.31678175130619407, + -0.2919563910678613, + 0.22275678861937814, + -0.9301294957362722 + ], + [ + 0.33498728392557375, + 0.937926138238668, + 0.0898781331407483, + 0.8557401497419238, + -0.262931935929385, + -0.4456182146053902, + -0.39432513960922766, + 0.22618876249081163, + -0.8906999090574996 + ], + [ + 0.4058391427321096, + 0.9131620072636488, + 0.03781188591819262, + 0.7966287656040216, + -0.33316335263557567, + -0.5043657306685654, + -0.44797008833032503, + 0.23481339176215452, + -0.8626618520663087 + ], + [ + 0.42324263487610847, + 0.905984169029684, + 0.0076392074669109356, + 0.7842269577925712, + -0.3621137144380665, + -0.5038469375586949, + -0.4537110872510591, + 0.21924037785832196, + -0.8637591713099216 + ], + [ + 0.406367243963241, + 0.9136794235816232, + 0.007454794247506363, + 0.7987750814670733, + -0.3512773569271881, + -0.4884286925821613, + -0.443648545879495, + 0.2044361255595541, + -0.8725719674073928 + ], + [ + 0.34799330653177796, + 0.9373039681297456, + 0.019024456294800124, + 0.8332615125811106, + -0.2999385085249371, + -0.46444821321098406, + -0.42962298618686534, + 0.17747721665630492, + -0.8853959155698716 + ], + [ + 0.2457678441003861, + 0.9684344379929709, + 0.041628188952761325, + 0.8688358160996822, + -0.20104352111792634, + -0.4524442808555603, + -0.42979354516866297, + 0.14736431700294483, + -0.8908205580281632 + ], + [ + 0.16209713781560098, + 0.9824182488747883, + 0.09262236333512833, + 0.8709747070163425, + -0.09832381371705456, + -0.48138912263773714, + -0.46381847489053996, + 0.15870353472411516, + -0.8715994552638758 + ], + [ + 0.10296716295752889, + 0.9881584309570959, + 0.11375710386999294, + 0.8742892261066251, + -0.03537040786172324, + -0.48411494850043035, + -0.4743586327520104, + 0.14930455309904656, + -0.8675782604223885 + ], + [ + 0.0650441903157637, + 0.9915222269561283, + 0.11248522906642655, + 0.8823899397928363, + -0.004508570310605031, + -0.47049725498258615, + -0.4660013384729287, + 0.12985894749963928, + -0.8752024944524122 + ], + [ + 0.020231378629426255, + 0.9894647679049251, + 0.14335328525571134, + 0.8890363447325951, + 0.04779089559188465, + -0.4553354895492243, + -0.4573894063741081, + 0.13665834542163216, + -0.8787032647961215 + ], + [ + 0.012322571395459947, + 0.9881004246482876, + 0.15331570384040033, + 0.8893730274101532, + 0.05924780020840076, + -0.45332694193679257, + -0.4570161620222007, + 0.14194100528155698, + -0.8780597808066137 + ], + [ + 0.05731742960704833, + 0.9864217170525207, + 0.15390551773863617, + 0.8848408341770724, + 0.02120035736357284, + -0.46541083251303833, + -0.4623542045186393, + 0.16285803933123283, + -0.8716110649763018 + ], + [ + 0.11230173365932505, + 0.9843610280421229, + 0.13572651579173714, + 0.8779648863491694, + -0.03432535019571903, + -0.477492857194567, + -0.46536649960541854, + 0.1727863906845556, + -0.8680892144469968 + ], + [ + 0.12623467501158564, + 0.9831599386172317, + 0.13214137097397138, + 0.8675592743854234, + -0.04481987838561313, + -0.49531008866096893, + -0.48104647618765217, + 0.17716577999055072, + -0.8586073457336495 + ], + [ + 0.1263010897638856, + 0.984006580895535, + 0.12561482189110407, + 0.8705187178749353, + -0.049225276467301626, + -0.4896672686489232, + -0.4756523904637018, + 0.17119556335079658, + -0.8628133532434287 + ], + [ + 0.1215980365879149, + 0.9831839305767166, + 0.13624711429488126, + 0.8722850750572683, + -0.04034934271589952, + -0.48733015336087193, + -0.47363769416115964, + 0.17810471413781623, + -0.8625230695300774 + ], + [ + 0.12188317951346839, + 0.979124870835465, + 0.16266215866980613, + 0.8729416806007131, + -0.027754210210673036, + -0.4870344198160782, + -0.47235295364979957, + 0.20135588177904143, + -0.8581016816504291 + ], + [ + 0.12028875129196459, + 0.9799858695761369, + 0.15861371864918505, + 0.8793066112503266, + -0.031010907652481823, + -0.4752454176717923, + -0.4608150385177191, + 0.19663676929219567, + -0.8654383174081448 + ], + [ + 0.11676906176199331, + 0.977456324687503, + 0.17590940720616077, + 0.8920190164283006, + -0.025346047312091002, + -0.45128666301580506, + -0.4366543948542272, + 0.20961085662258133, + -0.8748692635133759 + ], + [ + 0.15002959991377207, + 0.9723089496449223, + 0.17918265984771348, + 0.8987510240422464, + -0.05860260563903008, + -0.43452540937824324, + -0.41199237363418156, + 0.2262322723501318, + -0.8826557896567431 + ], + [ + 0.21186086745078592, + 0.962885569943677, + 0.16723143256350026, + 0.9142729611261983, + -0.13481893064425654, + -0.38200629378777523, + -0.34528238500759545, + 0.2338273618167454, + -0.9089030968531724 + ], + [ + 0.25015382752453913, + 0.9488717246773841, + 0.19252405741254655, + 0.9491514692895258, + -0.2010780637495762, + -0.24223769447436486, + -0.19114013424803675, + 0.24333117841018184, + -0.9509234389230055 + ], + [ + 0.2654613150761076, + 0.9367878917223643, + 0.22794459002229328, + 0.9620516329626313, + -0.24189741248383156, + -0.12626281062752281, + -0.06314226565461668, + 0.2528123568103325, + -0.9654527262025867 + ], + [ + 0.2717540600439944, + 0.9344027714470354, + 0.2303067336438605, + 0.9618068286335114, + -0.25554190035891644, + -0.09811198476690175, + -0.032823090097555394, + 0.2481729192983244, + -0.9681595152057304 + ], + [ + 0.26154533777000605, + 0.9413621578361874, + 0.21314625045909358, + 0.9641068026187057, + -0.24433651359063596, + -0.10391218056950334, + -0.04573958280427977, + 0.23267349638575113, + -0.9714787360743005 + ], + [ + 0.25282914969558373, + 0.946325427324048, + 0.20135939676152814, + 0.9658878593401938, + -0.23482800304535062, + -0.10916250347510055, + -0.05601842771291131, + 0.222090059628276, + -0.9734156055718866 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005800.json b/json/chunk-0005/episode_0005800.json new file mode 100644 index 0000000000000000000000000000000000000000..4099401f5c8d5d4df6c92963984e14922a44adfa --- /dev/null +++ b/json/chunk-0005/episode_0005800.json @@ -0,0 +1,2482 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 40, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut a siver pot from the right side of the table to the left side." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005800.mp4", + "start": 0, + "end": 40, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.28457319736480713, + -0.03970523178577423, + 0.04753201827406883, + 0.09344383329153061, + -0.18381468951702118, + 0.7913135886192322, + 0.0, + 0.9994885921478271 + ], + [ + 0.2807329595088959, + -0.03918462246656418, + 0.03952394425868988, + 0.11676005274057388, + -0.166957825422287, + 0.7854920029640198, + 0.0, + 0.9994885921478271 + ], + [ + 0.27320989966392517, + -0.03934744372963905, + 0.03343262895941734, + 0.07935510575771332, + -0.15740564465522766, + 0.6865832805633545, + 0.0, + 0.9994885921478271 + ], + [ + 0.26749441027641296, + -0.03501543030142784, + 0.03658893704414368, + 0.03678867965936661, + -0.15635380148887634, + 0.636299729347229, + 0.0, + 0.9994885921478271 + ], + [ + 0.25827711820602417, + -0.027097303420305252, + 0.038163382560014725, + -0.05803122743964195, + -0.13429442048072815, + 0.4925069808959961, + 0.0, + 0.9994885921478271 + ], + [ + 0.2505663335323334, + -0.014502794481813908, + 0.032413847744464874, + -0.13029108941555023, + -0.10464760661125183, + 0.3463866412639618, + 0.0, + 0.9994885921478271 + ], + [ + 0.24710285663604736, + -0.014068695716559887, + 0.025044310837984085, + -0.13330133259296417, + -0.07672005891799927, + 0.24031002819538116, + 0.0, + 0.9994885921478271 + ], + [ + 0.24698281288146973, + -0.023788873106241226, + 0.005985280033200979, + -0.11526930332183838, + -0.009959017857909203, + 0.14320488274097443, + 0.0, + 0.9994885921478271 + ], + [ + 0.24378293752670288, + -0.036088645458221436, + -0.007492528762668371, + -0.11714904010295868, + 0.02096835896372795, + 0.06547274440526962, + 0.0, + 0.9994885921478271 + ], + [ + 0.24114806950092316, + -0.0445566400885582, + -0.013784327544271946, + -0.1309332549571991, + 0.027607440948486328, + 0.026782529428601265, + 0.0, + 0.9994885921478271 + ], + [ + 0.2410348802804947, + -0.05029488354921341, + -0.0155643867328763, + -0.13728000223636627, + 0.02069530263543129, + -0.016901640221476555, + 0.0, + 0.9994885921478271 + ], + [ + 0.23676469922065735, + -0.051284849643707275, + -0.02302795834839344, + -0.1340668648481369, + 0.05163281410932541, + -0.019883237779140472, + 0.0, + 0.9605803489685059 + ], + [ + 0.23532092571258545, + -0.051480136811733246, + -0.026341069489717484, + -0.11396987736225128, + 0.06426722556352615, + 0.014864916913211346, + 0.0, + 0.6781873106956482 + ], + [ + 0.2327299416065216, + -0.04939925670623779, + -0.030743105337023735, + -0.09105953574180603, + 0.08870614320039749, + 0.026720697060227394, + 0.0, + 0.3806030750274658 + ], + [ + 0.23415333032608032, + -0.04871216043829918, + -0.03035382553935051, + -0.08277218043804169, + 0.08248356729745865, + 0.04487038776278496, + 0.0, + 0.19669602811336517 + ], + [ + 0.23396070301532745, + -0.04775281623005867, + -0.02992068976163864, + -0.0745021402835846, + 0.0807953029870987, + 0.04760546609759331, + 0.0, + 0.12395496666431427 + ], + [ + 0.23084589838981628, + -0.04705910012125969, + -0.023418810218572617, + -0.07465299218893051, + 0.047212835401296616, + 0.047173913568258286, + 0.0, + 0.09400739520788193 + ], + [ + 0.22595636546611786, + -0.04937789961695671, + -0.01298956386744976, + -0.08456787467002869, + 0.0031308899633586407, + 0.049005910754203796, + 0.0, + 0.07988496869802475 + ], + [ + 0.22168748080730438, + -0.05205516144633293, + 0.005872667767107487, + -0.09579343348741531, + -0.06321972608566284, + 0.06506643444299698, + 0.0, + 0.06833917647600174 + ], + [ + 0.217964768409729, + -0.04744495823979378, + 0.022075215354561806, + -0.09718164801597595, + -0.10855979472398758, + 0.17981143295764923, + 0.0, + 0.06296365708112717 + ], + [ + 0.2176303267478943, + -0.02075270004570484, + 0.033485475927591324, + -0.11782281845808029, + -0.1461312621831894, + 0.33851078152656555, + 0.0, + 0.06267260015010834 + ], + [ + 0.21791960299015045, + 0.011609505861997604, + 0.041733015328645706, + -0.10210522264242172, + -0.17447488009929657, + 0.46634340286254883, + 0.0, + 0.06267260015010834 + ], + [ + 0.21446247398853302, + 0.038361649960279465, + 0.04224100336432457, + -0.09317171573638916, + -0.17706862092018127, + 0.6137295365333557, + 0.0, + 0.06267260015010834 + ], + [ + 0.21546109020709991, + 0.05245441570878029, + 0.04656076058745384, + -0.08925039321184158, + -0.1796136349439621, + 0.8583299517631531, + 0.0, + 0.06267260015010834 + ], + [ + 0.21533378958702087, + 0.06942574679851532, + 0.04665648192167282, + -0.10924374312162399, + -0.18365612626075745, + 1.0603141784667969, + 0.0, + 0.06267260015010834 + ], + [ + 0.2204468548297882, + 0.08832673728466034, + 0.050706204026937485, + -0.10342693328857422, + -0.2194293886423111, + 1.1970566511154175, + 0.0, + 0.06267260015010834 + ], + [ + 0.22142967581748962, + 0.11445640027523041, + 0.048641692847013474, + -0.1307157725095749, + -0.25124144554138184, + 1.3175352811813354, + 0.0, + 0.0600886270403862 + ], + [ + 0.21991270780563354, + 0.13447155058383942, + 0.03988645225763321, + -0.15509626269340515, + -0.2767685651779175, + 1.438537359237671, + 0.0, + 0.05980546772480011 + ], + [ + 0.22285617887973785, + 0.14651985466480255, + 0.024855520576238632, + -0.18441523611545563, + -0.2859911322593689, + 1.515886902809143, + 0.0, + 0.05952305346727371 + ], + [ + 0.22947773337364197, + 0.15085087716579437, + 0.011488068848848343, + -0.20796142518520355, + -0.2898636758327484, + 1.539867877960205, + 0.0, + 0.05952305346727371 + ], + [ + 0.2378520667552948, + 0.15426307916641235, + 0.0025173192843794823, + -0.21174997091293335, + -0.2864346206188202, + 1.5413504838943481, + 0.0, + 0.05952305346727371 + ], + [ + 0.24411262571811676, + 0.15468928217887878, + -0.00670273695141077, + -0.22413337230682373, + -0.2727762460708618, + 1.5450026988983154, + 0.0, + 0.05952305346727371 + ], + [ + 0.2525213658809662, + 0.15213266015052795, + -0.01388068962842226, + -0.2523689270019531, + -0.24126192927360535, + 1.5487022399902344, + 0.0, + 0.07365728914737701 + ], + [ + 0.2537752389907837, + 0.14583057165145874, + -0.015322691760957241, + -0.2571670413017273, + -0.2041482776403427, + 1.515956163406372, + 0.0, + 0.22235295176506042 + ], + [ + 0.2502810060977936, + 0.1451023817062378, + -0.0159736480563879, + -0.24324271082878113, + -0.18037697672843933, + 1.5215933322906494, + 0.0, + 0.48514097929000854 + ], + [ + 0.2518726885318756, + 0.14314717054367065, + -0.015524346381425858, + -0.24682247638702393, + -0.1681460589170456, + 1.5165965557098389, + 0.0, + 0.803636372089386 + ], + [ + 0.2554490566253662, + 0.1379990130662918, + -0.013595820404589176, + -0.23109965026378632, + -0.15809915959835052, + 1.484107255935669, + 0.0, + 1.0118417739868164 + ], + [ + 0.2585923969745636, + 0.1320105642080307, + 0.007095160894095898, + -0.19553402066230774, + -0.17784716188907623, + 1.4410029649734497, + 0.0, + 1.0105689764022827 + ], + [ + 0.26003751158714294, + 0.12637899816036224, + 0.034882474690675735, + -0.14663603901863098, + -0.20567096769809723, + 1.3954914808273315, + 0.0, + 1.0041072368621826 + ], + [ + 0.2613629400730133, + 0.11809910088777542, + 0.05785846710205078, + -0.08311866968870163, + -0.2370462566614151, + 1.362944483757019, + 0.0, + 1.0014774799346924 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9605803489685059 + ], + [ + 0.6781873106956482 + ], + [ + 0.3806030750274658 + ], + [ + 0.19669602811336517 + ], + [ + 0.12395496666431427 + ], + [ + 0.09400739520788193 + ], + [ + 0.07988496869802475 + ], + [ + 0.06833917647600174 + ], + [ + 0.06296365708112717 + ], + [ + 0.06267260015010834 + ], + [ + 0.06267260015010834 + ], + [ + 0.06267260015010834 + ], + [ + 0.06267260015010834 + ], + [ + 0.06267260015010834 + ], + [ + 0.06267260015010834 + ], + [ + 0.0600886270403862 + ], + [ + 0.05980546772480011 + ], + [ + 0.05952305346727371 + ], + [ + 0.05952305346727371 + ], + [ + 0.05952305346727371 + ], + [ + 0.05952305346727371 + ], + [ + 0.07365728914737701 + ], + [ + 0.22235295176506042 + ], + [ + 0.48514097929000854 + ], + [ + 0.803636372089386 + ], + [ + 1.0118417739868164 + ], + [ + 1.0105689764022827 + ], + [ + 1.0041072368621826 + ], + [ + 1.0014774799346924 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.28457319736480713, + -0.03970523178577423, + 0.04753201827406883 + ], + [ + 0.2807329595088959, + -0.03918462246656418, + 0.03952394425868988 + ], + [ + 0.27320989966392517, + -0.03934744372963905, + 0.03343262895941734 + ], + [ + 0.26749441027641296, + -0.03501543030142784, + 0.03658893704414368 + ], + [ + 0.25827711820602417, + -0.027097303420305252, + 0.038163382560014725 + ], + [ + 0.2505663335323334, + -0.014502794481813908, + 0.032413847744464874 + ], + [ + 0.24710285663604736, + -0.014068695716559887, + 0.025044310837984085 + ], + [ + 0.24698281288146973, + -0.023788873106241226, + 0.005985280033200979 + ], + [ + 0.24378293752670288, + -0.036088645458221436, + -0.007492528762668371 + ], + [ + 0.24114806950092316, + -0.0445566400885582, + -0.013784327544271946 + ], + [ + 0.2410348802804947, + -0.05029488354921341, + -0.0155643867328763 + ], + [ + 0.23676469922065735, + -0.051284849643707275, + -0.02302795834839344 + ], + [ + 0.23532092571258545, + -0.051480136811733246, + -0.026341069489717484 + ], + [ + 0.2327299416065216, + -0.04939925670623779, + -0.030743105337023735 + ], + [ + 0.23415333032608032, + -0.04871216043829918, + -0.03035382553935051 + ], + [ + 0.23396070301532745, + -0.04775281623005867, + -0.02992068976163864 + ], + [ + 0.23084589838981628, + -0.04705910012125969, + -0.023418810218572617 + ], + [ + 0.22595636546611786, + -0.04937789961695671, + -0.01298956386744976 + ], + [ + 0.22168748080730438, + -0.05205516144633293, + 0.005872667767107487 + ], + [ + 0.217964768409729, + -0.04744495823979378, + 0.022075215354561806 + ], + [ + 0.2176303267478943, + -0.02075270004570484, + 0.033485475927591324 + ], + [ + 0.21791960299015045, + 0.011609505861997604, + 0.041733015328645706 + ], + [ + 0.21446247398853302, + 0.038361649960279465, + 0.04224100336432457 + ], + [ + 0.21546109020709991, + 0.05245441570878029, + 0.04656076058745384 + ], + [ + 0.21533378958702087, + 0.06942574679851532, + 0.04665648192167282 + ], + [ + 0.2204468548297882, + 0.08832673728466034, + 0.050706204026937485 + ], + [ + 0.22142967581748962, + 0.11445640027523041, + 0.048641692847013474 + ], + [ + 0.21991270780563354, + 0.13447155058383942, + 0.03988645225763321 + ], + [ + 0.22285617887973785, + 0.14651985466480255, + 0.024855520576238632 + ], + [ + 0.22947773337364197, + 0.15085087716579437, + 0.011488068848848343 + ], + [ + 0.2378520667552948, + 0.15426307916641235, + 0.0025173192843794823 + ], + [ + 0.24411262571811676, + 0.15468928217887878, + -0.00670273695141077 + ], + [ + 0.2525213658809662, + 0.15213266015052795, + -0.01388068962842226 + ], + [ + 0.2537752389907837, + 0.14583057165145874, + -0.015322691760957241 + ], + [ + 0.2502810060977936, + 0.1451023817062378, + -0.0159736480563879 + ], + [ + 0.2518726885318756, + 0.14314717054367065, + -0.015524346381425858 + ], + [ + 0.2554490566253662, + 0.1379990130662918, + -0.013595820404589176 + ], + [ + 0.2585923969745636, + 0.1320105642080307, + 0.007095160894095898 + ], + [ + 0.26003751158714294, + 0.12637899816036224, + 0.034882474690675735 + ], + [ + 0.2613629400730133, + 0.11809910088777542, + 0.05785846710205078 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.6910700624461529, + 0.720162250473979, + 0.06155080651725259, + 0.6992947575033307, + -0.6877142131536154, + 0.19502821117689983, + 0.1827813199400534, + -0.09173600175916508, + -0.9788643905374299 + ], + [ + 0.6972089469568593, + 0.7160461469130983, + 0.03431617365344071, + 0.6973398108082349, + -0.6885358637503135, + 0.1990867966278655, + 0.16618324989373223, + -0.11487506178677563, + -0.9793808491257331 + ], + [ + 0.7638548545070095, + 0.6415142458913845, + 0.07060618644625616, + 0.6260616384015336, + -0.7631054065815674, + 0.16036509398235002, + 0.15675645494863255, + -0.07829183076406362, + -0.9845292291585601 + ], + [ + 0.7944888932287434, + 0.5984278286773168, + 0.10330310934680632, + 0.5869748288743091, + -0.8003525097814633, + 0.12205085151070526, + 0.15571752889171436, + -0.03633172100334024, + -0.9871332520206142 + ], + [ + 0.8732164032104957, + 0.46519787735692575, + 0.14520347126269392, + 0.46857900264255237, + -0.8833387760203684, + 0.0120964896291745, + 0.13389111787805882, + 0.05747644457904882, + -0.9893278662162082 + ], + [ + 0.9354599459197448, + 0.3238584669764666, + 0.14152873541256844, + 0.3376440216757808, + -0.9372406027528786, + -0.08704347866454738, + 0.10445670972432924, + 0.1292120192515911, + -0.9860999188086842 + ], + [ + 0.9684072205976362, + 0.22599840767550752, + 0.10541430084431572, + 0.2373036594725094, + -0.9650721431330752, + -0.11100780039928784, + 0.07664481910289891, + 0.1325159548004237, + -0.9882130809840637 + ], + [ + 0.9897146092894853, + 0.14063514914099262, + 0.026205857838510344, + 0.14270884135627127, + -0.9833589367957716, + -0.11242503290032949, + 0.009958853232779829, + 0.11500850512018809, + -0.9933145851100282 + ], + [ + 0.9976380684253446, + 0.06742291926452794, + -0.013131427431794768, + 0.065411595182483, + -0.9908576713946945, + -0.11799321274533832, + -0.02096682246384779, + 0.11685557323522335, + -0.9929275740755903 + ], + [ + 0.9992604449627636, + 0.030152771906203926, + -0.02386154813065576, + 0.026769123112129076, + -0.9909884079306956, + -0.13124553095169492, + -0.02760393415125531, + 0.13050971493860933, + -0.991062680725097 + ], + [ + 0.9996430611320833, + -0.013910301299527339, + -0.022809073813598264, + -0.016897216383389438, + -0.9904982661859413, + -0.13648321787361659, + -0.020693825382725198, + 0.13681991156407222, + -0.9903797642271517 + ], + [ + 0.9984699207275325, + -0.01280641524834995, + -0.0537941737629818, + -0.019855431487684306, + -0.9909677542060581, + -0.13262229060093816, + -0.051609875438649574, + 0.13348747451460996, + -0.9897057718862301 + ], + [ + 0.997825319797249, + 0.02207078084000065, + -0.06210887057925187, + 0.014833683067438486, + -0.9932941321148995, + -0.11465918608102525, + -0.06422299446594178, + 0.11348853571714214, + -0.991461425998312 + ], + [ + 0.995712616286066, + 0.034659756834895264, + -0.08576180399748663, + 0.026612469209426625, + -0.9952862156753012, + -0.09325837961982349, + -0.08858985411058483, + 0.09057621179362559, + -0.9919414234750868 + ], + [ + 0.9955970738010401, + 0.051506728222099514, + -0.07831681547829052, + 0.04470283162518763, + -0.9952677309066342, + -0.08627746322562514, + -0.08239006908296624, + 0.08239660650666235, + -0.993188137138523 + ], + [ + 0.99560860424895, + 0.053455988516656686, + -0.0768502728502924, + 0.047432248662704804, + -0.9958103424992083, + -0.07817892016655512, + -0.08070742798687529, + 0.07419042433708226, + -0.9939728829321386 + ], + [ + 0.9977744380300165, + 0.05054115947325462, + -0.04349439059216661, + 0.04710387159361097, + -0.9959393845457638, + -0.07672005990285655, + -0.04719529737990339, + 0.0745005604657061, + -0.9961035440131303 + ], + [ + 0.9987945553044932, + 0.049075373241966556, + 0.0010217804368546316, + 0.04898605775285709, + -0.9952170542460337, + -0.08451852509172647, + -0.003130884848284301, + 0.0844666956794731, + -0.996421384194989 + ], + [ + 0.9958904521604861, + 0.05869247147927032, + 0.06897391599175375, + 0.06489064123197566, + -0.9937018471643984, + -0.09135558889616724, + 0.0631776224314075, + 0.0954559203701768, + -0.9934267739950423 + ], + [ + 0.9780855155334701, + 0.16765693683299515, + 0.12344989200239366, + 0.17779122529621005, + -0.9811152280022054, + -0.07617866886374604, + 0.1083466866650654, + 0.09645756017004094, + -0.9894225258072229 + ], + [ + 0.9331969183408337, + 0.31363505057115354, + 0.1754325130994843, + 0.3285433553992793, + -0.9423947900757382, + -0.0628595518683327, + 0.14561172762574318, + 0.1162975265916465, + -0.9824826258446056 + ], + [ + 0.8796573546673274, + 0.4314770289409443, + 0.20007626514900545, + 0.44279690400906513, + -0.8965218046827108, + -0.013399833149776226, + 0.1735910141097931, + 0.10038041255519214, + -0.9796886916748518 + ], + [ + 0.8047234912005883, + 0.5600251439636992, + 0.19695669787639794, + 0.5669154397511624, + -0.8233981576417126, + 0.02494710732689181, + 0.1761447895388419, + 0.09158226968508282, + -0.98009474082746 + ], + [ + 0.6431859470193053, + 0.7433307570826139, + 0.18376948367960122, + 0.7445778778122697, + -0.6631503861682158, + 0.07638945737157028, + 0.17864943724920057, + 0.08769806668298973, + -0.9799966467649824 + ], + [ + 0.48038101707239134, + 0.8575793742356296, + 0.18382517597467718, + 0.8578356674550819, + -0.5030579190968342, + 0.1051222986614037, + 0.18262542560768796, + 0.10719303577933227, + -0.9773216497151906 + ], + [ + 0.35634507373713986, + 0.917788676398454, + 0.17516316364477386, + 0.9086455696762437, + -0.38407023311861865, + 0.16386971880107737, + 0.21767272941507076, + 0.10076706558684438, + -0.9708061502493737 + ], + [ + 0.24269578606218856, + 0.951722159729237, + 0.18794596592630716, + 0.9377065125980896, + -0.2797953803983684, + 0.20596368936989978, + 0.24860662030361266, + 0.12625163677374068, + -0.9603412271443761 + ], + [ + 0.12685505668068997, + 0.9738016129728948, + 0.1887278812627514, + 0.9535423349684062, + -0.1721322882152191, + 0.2472397435219355, + 0.2732486230844332, + 0.1485964128947297, + -0.9503969150082928 + ], + [ + 0.05265267372542737, + 0.9787229833110114, + 0.19831545045295135, + 0.9579365898189123, + -0.10560398779981439, + 0.26684318924583655, + 0.2821084646650582, + 0.1759236189360882, + -0.9431148893240702 + ], + [ + 0.02963347712053699, + 0.9761610318689887, + 0.21501510852546554, + 0.9578245535337756, + -0.08924136154698303, + 0.27314484076596407, + 0.28582159064977897, + 0.19785251893698946, + -0.9376355363725921 + ], + [ + 0.02824205841803662, + 0.9754925482469436, + 0.21821245255712696, + 0.9588414753076746, + -0.08813872208291762, + 0.26991589597389815, + 0.28253391188689936, + 0.20160816943833004, + -0.9378319330506992 + ], + [ + 0.0248371973163648, + 0.9731184592183545, + 0.2289619574470044, + 0.9627063325906163, + -0.08500434384694577, + 0.2568477734321949, + 0.2694060704946974, + 0.21404374752756994, + -0.9389385727112078 + ], + [ + 0.02145243558943105, + 0.9667692618372123, + 0.2547488711928147, + 0.970800241990063, + -0.081037947948498, + 0.225786937497128, + 0.23892819666024512, + 0.2424665860670878, + -0.9402782946987849 + ], + [ + 0.05367443996758142, + 0.9628341564241101, + 0.2647063310864297, + 0.9777618855876902, + -0.1044961363391757, + 0.181830285107264, + 0.20273319803665854, + 0.24906012268778888, + -0.9470313118902524 + ], + [ + 0.048385203242281905, + 0.9672623270169207, + 0.24912338878759296, + 0.9825855442500293, + -0.09089180374046879, + 0.1620627293478593, + 0.17940044687256626, + 0.23694360245977364, + -0.9548157984215113 + ], + [ + 0.05340921866694326, + 0.9660546374146496, + 0.2527565882247921, + 0.9844489889240556, + -0.09336020328931083, + 0.14880880568092644, + 0.1673548432755736, + 0.24087820567961107, + -0.9560178065605158 + ], + [ + 0.08550073052285712, + 0.9666375598870084, + 0.24145693797393422, + 0.9838200260924667, + -0.1202050236213853, + 0.13284919478717447, + 0.1574413584147323, + 0.22619146781404628, + -0.9612750067221405 + ], + [ + 0.1273877363724943, + 0.9682442413847058, + 0.21511730206389193, + 0.9759481676334049, + -0.16104586336837062, + 0.14693333176966897, + 0.17691110398980445, + 0.19122583224369014, + -0.9654714611876505 + ], + [ + 0.17073252057091015, + 0.9689018460063961, + 0.17910784244388034, + 0.9639206144902499, + -0.2019186650316417, + 0.17345288026602132, + 0.20422403232784037, + 0.1430316941004259, + -0.9684185454143881 + ], + [ + 0.2005878175506235, + 0.9710751338889247, + 0.12952842079205718, + 0.9511141989356531, + -0.22472289603583395, + 0.2118523084138059, + 0.2348325105969536, + 0.08070132799325072, + -0.9686800233445805 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.003840237855911255, + 0.0005206093192100525, + -0.008008074015378952, + 0.023316219449043274, + 0.016856864094734192, + -0.005821585655212402, + 1.0 + ], + [ + -0.007523059844970703, + -0.00016282126307487488, + -0.006091315299272537, + -0.037404946982860565, + 0.009552180767059326, + -0.09890872240066528, + 1.0 + ], + [ + -0.005715489387512207, + 0.004332013428211212, + 0.0031563080847263336, + -0.04256642609834671, + 0.0010518431663513184, + -0.05028355121612549, + 1.0 + ], + [ + -0.009217292070388794, + 0.007918126881122589, + 0.001574445515871048, + -0.09481990337371826, + 0.022059381008148193, + -0.1437927484512329, + 1.0 + ], + [ + -0.007710784673690796, + 0.012594508938491344, + -0.0057495348155498505, + -0.07225985825061798, + 0.02964681386947632, + -0.1461203396320343, + 1.0 + ], + [ + -0.0034634768962860107, + 0.0004340987652540207, + -0.007369536906480789, + -0.0030102431774139404, + 0.027927547693252563, + -0.10607661306858063, + 1.0 + ], + [ + -0.00012004375457763672, + -0.00972017738968134, + -0.01905903033912182, + 0.018032029271125793, + 0.06676103919744492, + -0.09710514545440674, + 1.0 + ], + [ + -0.0031998753547668457, + -0.01229977235198021, + -0.01347780879586935, + -0.0018797367811203003, + 0.030927376821637154, + -0.0777321383357048, + 1.0 + ], + [ + -0.002634868025779724, + -0.008467994630336761, + -0.006291798781603575, + -0.013784214854240417, + 0.006639081984758377, + -0.03869021683931351, + 1.0 + ], + [ + -0.0001131892204284668, + -0.005738243460655212, + -0.0017800591886043549, + -0.006346747279167175, + -0.0069121383130550385, + -0.04368416965007782, + 1.0 + ], + [ + -0.004270181059837341, + -0.000989966094493866, + -0.0074635716155171394, + 0.00321313738822937, + 0.03093751147389412, + -0.0029815975576639175, + 0.0 + ], + [ + -0.0014437735080718994, + -0.00019528716802597046, + -0.0033131111413240433, + 0.02009698748588562, + 0.012634411454200745, + 0.03474815562367439, + 0.0 + ], + [ + -0.0025909841060638428, + 0.002080880105495453, + -0.0044020358473062515, + 0.02291034162044525, + 0.024438917636871338, + 0.011855780147016048, + 0.0 + ], + [ + 0.0014233887195587158, + 0.0006870962679386139, + 0.0003892797976732254, + 0.008287355303764343, + -0.006222575902938843, + 0.018149690702557564, + 0.0 + ], + [ + -0.00019262731075286865, + 0.000959344208240509, + 0.0004331357777118683, + 0.008270040154457092, + -0.0016882643103599548, + 0.0027350783348083496, + 0.0 + ], + [ + -0.0031148046255111694, + 0.0006937161087989807, + 0.006501879543066025, + -0.00015085190534591675, + -0.03358246758580208, + -0.00043155252933502197, + 0.0 + ], + [ + -0.004889532923698425, + -0.0023187994956970215, + 0.010429246351122856, + -0.009914882481098175, + -0.04408194497227669, + 0.0018319971859455109, + 0.0 + ], + [ + -0.0042688846588134766, + -0.0026772618293762207, + 0.018862232565879822, + -0.011225558817386627, + -0.06635061651468277, + 0.016060523688793182, + 0.0 + ], + [ + -0.0037227123975753784, + 0.004610203206539154, + 0.016202546656131744, + -0.0013882145285606384, + -0.04534006863832474, + 0.11474499851465225, + 0.0 + ], + [ + -0.0003344416618347168, + 0.026692258194088936, + 0.011410260573029518, + -0.02064117044210434, + -0.03757146745920181, + 0.15869934856891632, + 0.0 + ], + [ + 0.00028927624225616455, + 0.032362207770347595, + 0.008247539401054382, + 0.01571759581565857, + -0.028343617916107178, + 0.12783262133598328, + 0.0 + ], + [ + -0.0034571290016174316, + 0.02675214409828186, + 0.0005079880356788635, + 0.008933506906032562, + -0.0025937408208847046, + 0.14738613367080688, + 0.0 + ], + [ + 0.0009986162185668945, + 0.014092765748500824, + 0.0043197572231292725, + 0.003921322524547577, + -0.0025450140237808228, + 0.24460041522979736, + 0.0 + ], + [ + -0.00012730062007904053, + 0.01697133108973503, + 9.572133421897888e-05, + -0.01999334990978241, + -0.004042491316795349, + 0.2019842267036438, + 0.0 + ], + [ + 0.005113065242767334, + 0.01890099048614502, + 0.004049722105264664, + 0.005816809833049774, + -0.03577326238155365, + 0.1367424726486206, + 0.0 + ], + [ + 0.000982820987701416, + 0.02612966299057007, + -0.0020645111799240112, + -0.02728883922100067, + -0.03181205689907074, + 0.12047863006591797, + 0.0 + ], + [ + -0.001516968011856079, + 0.02001515030860901, + -0.008755240589380264, + -0.02438049018383026, + -0.025527119636535645, + 0.12100207805633545, + 0.0 + ], + [ + 0.002943471074104309, + 0.012048304080963135, + -0.015030931681394577, + -0.029318973422050476, + -0.009222567081451416, + 0.07734954357147217, + 0.0 + ], + [ + 0.006621554493904114, + 0.004331022500991821, + -0.01336745172739029, + -0.023546189069747925, + -0.0038725435733795166, + 0.02398097515106201, + 0.0 + ], + [ + 0.008374333381652832, + 0.003412202000617981, + -0.00897074956446886, + -0.0037885457277297974, + 0.0034290552139282227, + 0.0014826059341430664, + 0.0 + ], + [ + 0.0062605589628219604, + 0.00042620301246643066, + -0.009220056235790253, + -0.01238340139389038, + 0.013658374547958374, + 0.003652215003967285, + 0.0 + ], + [ + 0.008408740162849426, + -0.00255662202835083, + -0.00717795267701149, + -0.028235554695129395, + 0.03151431679725647, + 0.0036995410919189453, + 1.0 + ], + [ + 0.0012538731098175049, + -0.006302088499069214, + -0.0014420021325349808, + -0.00479811429977417, + 0.037113651633262634, + -0.032746076583862305, + 1.0 + ], + [ + -0.0034942328929901123, + -0.0007281899452209473, + -0.0006509562954306602, + 0.013924330472946167, + 0.02377130091190338, + 0.005637168884277344, + 1.0 + ], + [ + 0.0015916824340820312, + -0.0019552111625671387, + 0.00044930167496204376, + -0.003579765558242798, + 0.012230917811393738, + -0.004996776580810547, + 1.0 + ], + [ + 0.0035763680934906006, + -0.005148157477378845, + 0.0019285259768366814, + 0.01572282612323761, + 0.010046899318695068, + -0.03248929977416992, + 1.0 + ], + [ + 0.0031433403491973877, + -0.005988448858261108, + 0.020690981298685074, + 0.03556562960147858, + -0.019748002290725708, + -0.04310429096221924, + 1.0 + ], + [ + 0.0014451146125793457, + -0.005631566047668457, + 0.027787312865257263, + 0.04889798164367676, + -0.027823805809020996, + -0.045511484146118164, + 1.0 + ], + [ + 0.0013254284858703613, + -0.008279897272586823, + 0.022975992411375046, + 0.06351736932992935, + -0.03137528896331787, + -0.0325469970703125, + 1.0 + ], + [ + -0.00028014183044433594, + -0.000884421169757843, + 0.0014919675886631012, + 0.0022429078817367554, + -0.0009924471378326416, + 0.0036891698837280273, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9605803489685059 + ], + [ + 0.6781873106956482 + ], + [ + 0.3806030750274658 + ], + [ + 0.19669602811336517 + ], + [ + 0.12395496666431427 + ], + [ + 0.09400739520788193 + ], + [ + 0.07988496869802475 + ], + [ + 0.06833917647600174 + ], + [ + 0.06296365708112717 + ], + [ + 0.06267260015010834 + ], + [ + 0.06267260015010834 + ], + [ + 0.06267260015010834 + ], + [ + 0.06267260015010834 + ], + [ + 0.06267260015010834 + ], + [ + 0.06267260015010834 + ], + [ + 0.0600886270403862 + ], + [ + 0.05980546772480011 + ], + [ + 0.05952305346727371 + ], + [ + 0.05952305346727371 + ], + [ + 0.05952305346727371 + ], + [ + 0.05952305346727371 + ], + [ + 0.07365728914737701 + ], + [ + 0.22235295176506042 + ], + [ + 0.48514097929000854 + ], + [ + 0.803636372089386 + ], + [ + 1.0118417739868164 + ], + [ + 1.0105689764022827 + ], + [ + 1.0041072368621826 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2807329595088959, + -0.03918462246656418, + 0.03952394425868988 + ], + [ + 0.27320989966392517, + -0.03934744372963905, + 0.03343262895941734 + ], + [ + 0.26749441027641296, + -0.03501543030142784, + 0.03658893704414368 + ], + [ + 0.25827711820602417, + -0.027097303420305252, + 0.038163382560014725 + ], + [ + 0.2505663335323334, + -0.014502794481813908, + 0.032413847744464874 + ], + [ + 0.24710285663604736, + -0.014068695716559887, + 0.025044310837984085 + ], + [ + 0.24698281288146973, + -0.023788873106241226, + 0.005985280033200979 + ], + [ + 0.24378293752670288, + -0.036088645458221436, + -0.007492528762668371 + ], + [ + 0.24114806950092316, + -0.0445566400885582, + -0.013784327544271946 + ], + [ + 0.2410348802804947, + -0.05029488354921341, + -0.0155643867328763 + ], + [ + 0.23676469922065735, + -0.051284849643707275, + -0.02302795834839344 + ], + [ + 0.23532092571258545, + -0.051480136811733246, + -0.026341069489717484 + ], + [ + 0.2327299416065216, + -0.04939925670623779, + -0.030743105337023735 + ], + [ + 0.23415333032608032, + -0.04871216043829918, + -0.03035382553935051 + ], + [ + 0.23396070301532745, + -0.04775281623005867, + -0.02992068976163864 + ], + [ + 0.23084589838981628, + -0.04705910012125969, + -0.023418810218572617 + ], + [ + 0.22595636546611786, + -0.04937789961695671, + -0.01298956386744976 + ], + [ + 0.22168748080730438, + -0.05205516144633293, + 0.005872667767107487 + ], + [ + 0.217964768409729, + -0.04744495823979378, + 0.022075215354561806 + ], + [ + 0.2176303267478943, + -0.02075270004570484, + 0.033485475927591324 + ], + [ + 0.21791960299015045, + 0.011609505861997604, + 0.041733015328645706 + ], + [ + 0.21446247398853302, + 0.038361649960279465, + 0.04224100336432457 + ], + [ + 0.21546109020709991, + 0.05245441570878029, + 0.04656076058745384 + ], + [ + 0.21533378958702087, + 0.06942574679851532, + 0.04665648192167282 + ], + [ + 0.2204468548297882, + 0.08832673728466034, + 0.050706204026937485 + ], + [ + 0.22142967581748962, + 0.11445640027523041, + 0.048641692847013474 + ], + [ + 0.21991270780563354, + 0.13447155058383942, + 0.03988645225763321 + ], + [ + 0.22285617887973785, + 0.14651985466480255, + 0.024855520576238632 + ], + [ + 0.22947773337364197, + 0.15085087716579437, + 0.011488068848848343 + ], + [ + 0.2378520667552948, + 0.15426307916641235, + 0.0025173192843794823 + ], + [ + 0.24411262571811676, + 0.15468928217887878, + -0.00670273695141077 + ], + [ + 0.2525213658809662, + 0.15213266015052795, + -0.01388068962842226 + ], + [ + 0.2537752389907837, + 0.14583057165145874, + -0.015322691760957241 + ], + [ + 0.2502810060977936, + 0.1451023817062378, + -0.0159736480563879 + ], + [ + 0.2518726885318756, + 0.14314717054367065, + -0.015524346381425858 + ], + [ + 0.2554490566253662, + 0.1379990130662918, + -0.013595820404589176 + ], + [ + 0.2585923969745636, + 0.1320105642080307, + 0.007095160894095898 + ], + [ + 0.26003751158714294, + 0.12637899816036224, + 0.034882474690675735 + ], + [ + 0.2613629400730133, + 0.11809910088777542, + 0.05785846710205078 + ], + [ + 0.26108279824256897, + 0.11721467971801758, + 0.05935043469071388 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.6972089469568593, + 0.7160461469130983, + 0.03431617365344071, + 0.6973398108082349, + -0.6885358637503135, + 0.1990867966278655, + 0.16618324989373223, + -0.11487506178677563, + -0.9793808491257331 + ], + [ + 0.7638548545070095, + 0.6415142458913845, + 0.07060618644625616, + 0.6260616384015336, + -0.7631054065815674, + 0.16036509398235002, + 0.15675645494863255, + -0.07829183076406362, + -0.9845292291585601 + ], + [ + 0.7944888932287434, + 0.5984278286773168, + 0.10330310934680632, + 0.5869748288743091, + -0.8003525097814633, + 0.12205085151070526, + 0.15571752889171436, + -0.03633172100334024, + -0.9871332520206142 + ], + [ + 0.8732164032104957, + 0.46519787735692575, + 0.14520347126269392, + 0.46857900264255237, + -0.8833387760203684, + 0.0120964896291745, + 0.13389111787805882, + 0.05747644457904882, + -0.9893278662162082 + ], + [ + 0.9354599459197448, + 0.3238584669764666, + 0.14152873541256844, + 0.3376440216757808, + -0.9372406027528786, + -0.08704347866454738, + 0.10445670972432924, + 0.1292120192515911, + -0.9860999188086842 + ], + [ + 0.9684072205976362, + 0.22599840767550752, + 0.10541430084431572, + 0.2373036594725094, + -0.9650721431330752, + -0.11100780039928784, + 0.07664481910289891, + 0.1325159548004237, + -0.9882130809840637 + ], + [ + 0.9897146092894853, + 0.14063514914099262, + 0.026205857838510344, + 0.14270884135627127, + -0.9833589367957716, + -0.11242503290032949, + 0.009958853232779829, + 0.11500850512018809, + -0.9933145851100282 + ], + [ + 0.9976380684253446, + 0.06742291926452794, + -0.013131427431794768, + 0.065411595182483, + -0.9908576713946945, + -0.11799321274533832, + -0.02096682246384779, + 0.11685557323522335, + -0.9929275740755903 + ], + [ + 0.9992604449627636, + 0.030152771906203926, + -0.02386154813065576, + 0.026769123112129076, + -0.9909884079306956, + -0.13124553095169492, + -0.02760393415125531, + 0.13050971493860933, + -0.991062680725097 + ], + [ + 0.9996430611320833, + -0.013910301299527339, + -0.022809073813598264, + -0.016897216383389438, + -0.9904982661859413, + -0.13648321787361659, + -0.020693825382725198, + 0.13681991156407222, + -0.9903797642271517 + ], + [ + 0.9984699207275325, + -0.01280641524834995, + -0.0537941737629818, + -0.019855431487684306, + -0.9909677542060581, + -0.13262229060093816, + -0.051609875438649574, + 0.13348747451460996, + -0.9897057718862301 + ], + [ + 0.997825319797249, + 0.02207078084000065, + -0.06210887057925187, + 0.014833683067438486, + -0.9932941321148995, + -0.11465918608102525, + -0.06422299446594178, + 0.11348853571714214, + -0.991461425998312 + ], + [ + 0.995712616286066, + 0.034659756834895264, + -0.08576180399748663, + 0.026612469209426625, + -0.9952862156753012, + -0.09325837961982349, + -0.08858985411058483, + 0.09057621179362559, + -0.9919414234750868 + ], + [ + 0.9955970738010401, + 0.051506728222099514, + -0.07831681547829052, + 0.04470283162518763, + -0.9952677309066342, + -0.08627746322562514, + -0.08239006908296624, + 0.08239660650666235, + -0.993188137138523 + ], + [ + 0.99560860424895, + 0.053455988516656686, + -0.0768502728502924, + 0.047432248662704804, + -0.9958103424992083, + -0.07817892016655512, + -0.08070742798687529, + 0.07419042433708226, + -0.9939728829321386 + ], + [ + 0.9977744380300165, + 0.05054115947325462, + -0.04349439059216661, + 0.04710387159361097, + -0.9959393845457638, + -0.07672005990285655, + -0.04719529737990339, + 0.0745005604657061, + -0.9961035440131303 + ], + [ + 0.9987945553044932, + 0.049075373241966556, + 0.0010217804368546316, + 0.04898605775285709, + -0.9952170542460337, + -0.08451852509172647, + -0.003130884848284301, + 0.0844666956794731, + -0.996421384194989 + ], + [ + 0.9958904521604861, + 0.05869247147927032, + 0.06897391599175375, + 0.06489064123197566, + -0.9937018471643984, + -0.09135558889616724, + 0.0631776224314075, + 0.0954559203701768, + -0.9934267739950423 + ], + [ + 0.9780855155334701, + 0.16765693683299515, + 0.12344989200239366, + 0.17779122529621005, + -0.9811152280022054, + -0.07617866886374604, + 0.1083466866650654, + 0.09645756017004094, + -0.9894225258072229 + ], + [ + 0.9331969183408337, + 0.31363505057115354, + 0.1754325130994843, + 0.3285433553992793, + -0.9423947900757382, + -0.0628595518683327, + 0.14561172762574318, + 0.1162975265916465, + -0.9824826258446056 + ], + [ + 0.8796573546673274, + 0.4314770289409443, + 0.20007626514900545, + 0.44279690400906513, + -0.8965218046827108, + -0.013399833149776226, + 0.1735910141097931, + 0.10038041255519214, + -0.9796886916748518 + ], + [ + 0.8047234912005883, + 0.5600251439636992, + 0.19695669787639794, + 0.5669154397511624, + -0.8233981576417126, + 0.02494710732689181, + 0.1761447895388419, + 0.09158226968508282, + -0.98009474082746 + ], + [ + 0.6431859470193053, + 0.7433307570826139, + 0.18376948367960122, + 0.7445778778122697, + -0.6631503861682158, + 0.07638945737157028, + 0.17864943724920057, + 0.08769806668298973, + -0.9799966467649824 + ], + [ + 0.48038101707239134, + 0.8575793742356296, + 0.18382517597467718, + 0.8578356674550819, + -0.5030579190968342, + 0.1051222986614037, + 0.18262542560768796, + 0.10719303577933227, + -0.9773216497151906 + ], + [ + 0.35634507373713986, + 0.917788676398454, + 0.17516316364477386, + 0.9086455696762437, + -0.38407023311861865, + 0.16386971880107737, + 0.21767272941507076, + 0.10076706558684438, + -0.9708061502493737 + ], + [ + 0.24269578606218856, + 0.951722159729237, + 0.18794596592630716, + 0.9377065125980896, + -0.2797953803983684, + 0.20596368936989978, + 0.24860662030361266, + 0.12625163677374068, + -0.9603412271443761 + ], + [ + 0.12685505668068997, + 0.9738016129728948, + 0.1887278812627514, + 0.9535423349684062, + -0.1721322882152191, + 0.2472397435219355, + 0.2732486230844332, + 0.1485964128947297, + -0.9503969150082928 + ], + [ + 0.05265267372542737, + 0.9787229833110114, + 0.19831545045295135, + 0.9579365898189123, + -0.10560398779981439, + 0.26684318924583655, + 0.2821084646650582, + 0.1759236189360882, + -0.9431148893240702 + ], + [ + 0.02963347712053699, + 0.9761610318689887, + 0.21501510852546554, + 0.9578245535337756, + -0.08924136154698303, + 0.27314484076596407, + 0.28582159064977897, + 0.19785251893698946, + -0.9376355363725921 + ], + [ + 0.02824205841803662, + 0.9754925482469436, + 0.21821245255712696, + 0.9588414753076746, + -0.08813872208291762, + 0.26991589597389815, + 0.28253391188689936, + 0.20160816943833004, + -0.9378319330506992 + ], + [ + 0.0248371973163648, + 0.9731184592183545, + 0.2289619574470044, + 0.9627063325906163, + -0.08500434384694577, + 0.2568477734321949, + 0.2694060704946974, + 0.21404374752756994, + -0.9389385727112078 + ], + [ + 0.02145243558943105, + 0.9667692618372123, + 0.2547488711928147, + 0.970800241990063, + -0.081037947948498, + 0.225786937497128, + 0.23892819666024512, + 0.2424665860670878, + -0.9402782946987849 + ], + [ + 0.05367443996758142, + 0.9628341564241101, + 0.2647063310864297, + 0.9777618855876902, + -0.1044961363391757, + 0.181830285107264, + 0.20273319803665854, + 0.24906012268778888, + -0.9470313118902524 + ], + [ + 0.048385203242281905, + 0.9672623270169207, + 0.24912338878759296, + 0.9825855442500293, + -0.09089180374046879, + 0.1620627293478593, + 0.17940044687256626, + 0.23694360245977364, + -0.9548157984215113 + ], + [ + 0.05340921866694326, + 0.9660546374146496, + 0.2527565882247921, + 0.9844489889240556, + -0.09336020328931083, + 0.14880880568092644, + 0.1673548432755736, + 0.24087820567961107, + -0.9560178065605158 + ], + [ + 0.08550073052285712, + 0.9666375598870084, + 0.24145693797393422, + 0.9838200260924667, + -0.1202050236213853, + 0.13284919478717447, + 0.1574413584147323, + 0.22619146781404628, + -0.9612750067221405 + ], + [ + 0.1273877363724943, + 0.9682442413847058, + 0.21511730206389193, + 0.9759481676334049, + -0.16104586336837062, + 0.14693333176966897, + 0.17691110398980445, + 0.19122583224369014, + -0.9654714611876505 + ], + [ + 0.17073252057091015, + 0.9689018460063961, + 0.17910784244388034, + 0.9639206144902499, + -0.2019186650316417, + 0.17345288026602132, + 0.20422403232784037, + 0.1430316941004259, + -0.9684185454143881 + ], + [ + 0.2005878175506235, + 0.9710751338889247, + 0.12952842079205718, + 0.9511141989356531, + -0.22472289603583395, + 0.2118523084138059, + 0.2348325105969536, + 0.08070132799325072, + -0.9686800233445805 + ], + [ + 0.19703028955499108, + 0.9721680860226235, + 0.1267607096737206, + 0.9516190402801844, + -0.22073843175675384, + 0.2137656355025052, + 0.2357970889856305, + 0.0785095998249758, + -0.9686258181368206 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005801.json b/json/chunk-0005/episode_0005801.json new file mode 100644 index 0000000000000000000000000000000000000000..a6bd025cd521b2995efc4d02cfc95a4fd54a2167 --- /dev/null +++ b/json/chunk-0005/episode_0005801.json @@ -0,0 +1,1102 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 17, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut knife on cutting board." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005801.mp4", + "start": 0, + "end": 17, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2052932232618332, + -0.015500747598707676, + 0.1813073456287384, + 0.1409781128168106, + -0.08185938000679016, + -0.6351785063743591, + 0.0, + 1.003452181816101 + ], + [ + 0.20483319461345673, + -0.016015248373150826, + 0.1704474538564682, + 0.12558528780937195, + -0.07665451616048813, + -0.6608985662460327, + 0.0, + 1.003452181816101 + ], + [ + 0.20745974779129028, + -0.010590219870209694, + 0.16051974892616272, + 0.13219431042671204, + -0.08354916423559189, + -0.6751083135604858, + 0.0, + 1.003452181816101 + ], + [ + 0.21027882397174835, + -0.008015151135623455, + 0.1525055468082428, + 0.14283323287963867, + -0.10036171227693558, + -0.7069142460823059, + 0.0, + 1.003452181816101 + ], + [ + 0.21162045001983643, + -0.004411171190440655, + 0.14358331263065338, + 0.14800775051116943, + -0.12382569909095764, + -0.7299228310585022, + 0.0, + 1.003452181816101 + ], + [ + 0.21086682379245758, + -0.00257255882024765, + 0.1356019526720047, + 0.14279264211654663, + -0.1385350078344345, + -0.7467957139015198, + 0.0, + 1.003452181816101 + ], + [ + 0.2118595689535141, + -0.0007783566834405065, + 0.1285831332206726, + 0.1492966264486313, + -0.15074391663074493, + -0.7684707641601562, + 0.0, + 1.003452181816101 + ], + [ + 0.21307285130023956, + -0.0008609907818026841, + 0.12445983290672302, + 0.15589939057826996, + -0.16571898758411407, + -0.770106315612793, + 0.0, + 0.8214757442474365 + ], + [ + 0.21313823759555817, + -0.0007745486218482256, + 0.1241341307759285, + 0.16182877123355865, + -0.1686071753501892, + -0.7706177830696106, + 0.0, + 0.5679898858070374 + ], + [ + 0.21547560393810272, + -0.0034719062969088554, + 0.12915687263011932, + 0.18293385207653046, + -0.1375301331281662, + -0.8219981789588928, + 0.0, + 0.5600578188896179 + ], + [ + 0.22149963676929474, + -0.005941815674304962, + 0.14520885050296783, + 0.2330642193555832, + -0.10426481068134308, + -0.8801687359809875, + 0.0, + 0.5600578188896179 + ], + [ + 0.23145847022533417, + -0.007727517746388912, + 0.15931499004364014, + 0.27558186650276184, + -0.10930391401052475, + -0.9307337403297424, + 0.0, + 0.5600578188896179 + ], + [ + 0.25283870100975037, + -0.01234881766140461, + 0.16264460980892181, + 0.27188733220100403, + -0.1039942055940628, + -1.0413459539413452, + 0.0, + 0.5600578188896179 + ], + [ + 0.2837189733982086, + -0.006193571258336306, + 0.16826972365379333, + 0.2442045360803604, + -0.07806585729122162, + -1.1323072910308838, + 0.0, + 0.5600578188896179 + ], + [ + 0.3074774444103241, + -0.0016791841480880976, + 0.17092058062553406, + 0.22192232310771942, + -0.05586044117808342, + -1.1888638734817505, + 0.0, + 0.5600578188896179 + ], + [ + 0.3217335641384125, + 0.00029769743559882045, + 0.17146189510822296, + 0.2286136895418167, + -0.055831875652074814, + -1.220627784729004, + 0.0, + 0.5600578188896179 + ], + [ + 0.3257935047149658, + 0.005620470270514488, + 0.1711140275001526, + 0.2352987378835678, + -0.07085930556058884, + -1.2407153844833374, + 0.0, + 0.5600578188896179 + ] + ], + "left_gripper_pos": [ + [ + 1.003452181816101 + ], + [ + 1.003452181816101 + ], + [ + 1.003452181816101 + ], + [ + 1.003452181816101 + ], + [ + 1.003452181816101 + ], + [ + 1.003452181816101 + ], + [ + 1.003452181816101 + ], + [ + 0.8214757442474365 + ], + [ + 0.5679898858070374 + ], + [ + 0.5600578188896179 + ], + [ + 0.5600578188896179 + ], + [ + 0.5600578188896179 + ], + [ + 0.5600578188896179 + ], + [ + 0.5600578188896179 + ], + [ + 0.5600578188896179 + ], + [ + 0.5600578188896179 + ], + [ + 0.5600578188896179 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2052932232618332, + -0.015500747598707676, + 0.1813073456287384 + ], + [ + 0.20483319461345673, + -0.016015248373150826, + 0.1704474538564682 + ], + [ + 0.20745974779129028, + -0.010590219870209694, + 0.16051974892616272 + ], + [ + 0.21027882397174835, + -0.008015151135623455, + 0.1525055468082428 + ], + [ + 0.21162045001983643, + -0.004411171190440655, + 0.14358331263065338 + ], + [ + 0.21086682379245758, + -0.00257255882024765, + 0.1356019526720047 + ], + [ + 0.2118595689535141, + -0.0007783566834405065, + 0.1285831332206726 + ], + [ + 0.21307285130023956, + -0.0008609907818026841, + 0.12445983290672302 + ], + [ + 0.21313823759555817, + -0.0007745486218482256, + 0.1241341307759285 + ], + [ + 0.21547560393810272, + -0.0034719062969088554, + 0.12915687263011932 + ], + [ + 0.22149963676929474, + -0.005941815674304962, + 0.14520885050296783 + ], + [ + 0.23145847022533417, + -0.007727517746388912, + 0.15931499004364014 + ], + [ + 0.25283870100975037, + -0.01234881766140461, + 0.16264460980892181 + ], + [ + 0.2837189733982086, + -0.006193571258336306, + 0.16826972365379333 + ], + [ + 0.3074774444103241, + -0.0016791841480880976, + 0.17092058062553406 + ], + [ + 0.3217335641384125, + 0.00029769743559882045, + 0.17146189510822296 + ], + [ + 0.3257935047149658, + 0.005620470270514488, + 0.1711140275001526 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8022702823565736, + -0.5781863616955432, + 0.14853593907460252, + -0.5913344148609629, + -0.803796634226496, + 0.06507365524695134, + 0.08176798792037249, + -0.14004107238744973, + -0.9867636465719777 + ], + [ + 0.787122777994643, + -0.6014199771196966, + 0.13686395976786309, + -0.612023951568174, + -0.7891115852246005, + 0.05224546651332705, + 0.07657946897748139, + -0.12488761822399126, + -0.9892111340585817 + ], + [ + 0.7779162345712405, + -0.610942080951904, + 0.14695613533520757, + -0.6228018114324884, + -0.7807028832931799, + 0.05119484050299328, + 0.08345199618291979, + -0.13134984484144893, + -0.9878172819875208 + ], + [ + 0.7565434725655888, + -0.632031934143741, + 0.16786187280297432, + -0.6462223097986703, + -0.7618898063259667, + 0.043825213462711655, + 0.1001933153302722, + -0.14163176634887675, + -0.9848358961390602 + ], + [ + 0.7395199570232205, + -0.6459484440232729, + 0.18936958791814057, + -0.6617066074432697, + -0.7492232961941616, + 0.028439727598443404, + 0.12350950906829916, + -0.1463388537055958, + -0.9814939332802008 + ], + [ + 0.7268383394080989, + -0.6579554799094935, + 0.19697871667656217, + -0.6727826864485851, + -0.7397494430064967, + 0.011585265927162386, + 0.13809230674263615, + -0.1409444856269521, + -0.9803393120699853 + ], + [ + 0.7108209526464555, + -0.6712450537066155, + 0.21015149571960687, + -0.6871546018413217, + -0.7265016602537082, + 0.0037270386233340252, + 0.150173654304208, + -0.1470558245123531, + -0.9776617298584986 + ], + [ + 0.7080022969243378, + -0.6693819014531686, + 0.22507913620947226, + -0.6866734649236068, + -0.7269632463899977, + -0.001997740704758416, + 0.16496151102505605, + -0.1531414653353426, + -0.9743384378516913 + ], + [ + 0.7073062059334306, + -0.6680780641116573, + 0.2310619642019768, + -0.6867007524010693, + -0.7269401764669078, + 0.0002376763896380918, + 0.1678094386495009, + -0.15883853465416128, + -0.972939007445512 + ], + [ + 0.6743309077849101, + -0.7033069547446175, + 0.22502700774313988, + -0.7255909606572842, + -0.6876686514946436, + 0.025091503820559802, + 0.13709698982259894, + -0.1801975392711857, + -0.9740293949477044 + ], + [ + 0.6335616433453415, + -0.7346928743141108, + 0.24254076876603764, + -0.7666601791219239, + -0.6383272405795508, + 0.06906883293379171, + 0.10407600026081916, + -0.22970571252401742, + -0.9676794261549346 + ], + [ + 0.5936814411687291, + -0.7540661976535042, + 0.280938633812096, + -0.7972719139378278, + -0.5985174164779196, + 0.07832239410608816, + 0.10908639538335486, + -0.2704830340871359, + -0.9565244830182255 + ], + [ + 0.502330448158273, + -0.8173003446104413, + 0.2822840193010626, + -0.8584219571267223, + -0.5105665816349726, + 0.049330611594695165, + 0.10380686092853594, + -0.26709906854430054, + -0.9580617011481729 + ], + [ + 0.4232788591555787, + -0.8705254219039917, + 0.2510388360609338, + -0.9026367482753606, + -0.42904693621717094, + 0.03414128271670211, + 0.07798658894216776, + -0.24104816187130643, + -0.9673747338046561 + ], + [ + 0.37213302106481666, + -0.9006090883571776, + 0.2245446160602072, + -0.9264987155973075, + -0.37497730745241037, + 0.031498395074667576, + 0.05583139466028118, + -0.21976189129190177, + -0.9739546018712032 + ], + [ + 0.34252157828779745, + -0.9105369008121972, + 0.23152002217206913, + -0.937851271629817, + -0.3460093367976644, + 0.026693279138685425, + 0.055802873667684674, + -0.2262743713020977, + -0.9724638544348416 + ], + [ + 0.3233062336669392, + -0.9145985188255449, + 0.2428633950067769, + -0.9436421122871693, + -0.3308032087688054, + 0.010430771135032726, + 0.07080002253041849, + -0.23254846039133742, + -0.9700044177112344 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.00046002864837646484, + -0.0005145007744431496, + -0.010859891772270203, + -0.01539282500743866, + 0.0052048638463020325, + -0.025720059871673584, + 1.0 + ], + [ + 0.002626553177833557, + 0.005425028502941132, + -0.009927704930305481, + 0.006609022617340088, + -0.00689464807510376, + -0.014209747314453125, + 1.0 + ], + [ + 0.002819076180458069, + 0.002575068734586239, + -0.008014202117919922, + 0.010638922452926636, + -0.01681254804134369, + -0.03180593252182007, + 1.0 + ], + [ + 0.0013416260480880737, + 0.0036039799451828003, + -0.008922234177589417, + 0.005174517631530762, + -0.023463986814022064, + -0.02300858497619629, + 1.0 + ], + [ + -0.0007536262273788452, + 0.0018386123701930046, + -0.007981359958648682, + -0.005215108394622803, + -0.014709308743476868, + -0.016872882843017578, + 1.0 + ], + [ + 0.0009927451610565186, + 0.0017942021368071437, + -0.007018819451332092, + 0.006503984332084656, + -0.012208908796310425, + -0.021675050258636475, + 1.0 + ], + [ + 0.0012132823467254639, + -8.263409836217761e-05, + -0.004123300313949585, + 0.006602764129638672, + -0.01497507095336914, + -0.0016355514526367188, + 0.0 + ], + [ + 6.538629531860352e-05, + 8.644215995445848e-05, + -0.00032570213079452515, + 0.005929380655288696, + -0.0028881877660751343, + -0.000511467456817627, + 0.0 + ], + [ + 0.0023373663425445557, + -0.00269735767506063, + 0.005022741854190826, + 0.021105080842971802, + 0.03107704222202301, + -0.05138039588928223, + 0.0 + ], + [ + 0.006024032831192017, + -0.0024699093773961067, + 0.01605197787284851, + 0.050130367279052734, + 0.03326532244682312, + -0.05817055702209473, + 0.0 + ], + [ + 0.009958833456039429, + -0.00178570207208395, + 0.014106139540672302, + 0.04251764714717865, + -0.005039103329181671, + -0.05056500434875488, + 0.0 + ], + [ + 0.0213802307844162, + -0.0046212999150156975, + 0.0033296197652816772, + -0.0036945343017578125, + 0.005309708416461945, + -0.11061221361160278, + 0.0 + ], + [ + 0.030880272388458252, + 0.006155246403068304, + 0.005625113844871521, + -0.027682796120643616, + 0.025928348302841187, + -0.09096133708953857, + 0.0 + ], + [ + 0.02375847101211548, + 0.004514386877417564, + 0.0026508569717407227, + -0.02228221297264099, + 0.0222054161131382, + -0.0565565824508667, + 0.0 + ], + [ + 0.014256119728088379, + 0.001976881641894579, + 0.0005413144826889038, + 0.00669136643409729, + 2.8565526008605957e-05, + -0.03176391124725342, + 0.0 + ], + [ + 0.004059940576553345, + 0.0053227730095386505, + -0.00034786760807037354, + 0.006685048341751099, + -0.015027429908514023, + -0.020087599754333496, + 0.0 + ], + [ + -0.002275794744491577, + 0.0044848015531897545, + -0.0060993582010269165, + -0.017029747366905212, + -0.01965808868408203, + -0.002673506736755371, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.003452181816101 + ], + [ + 1.003452181816101 + ], + [ + 1.003452181816101 + ], + [ + 1.003452181816101 + ], + [ + 1.003452181816101 + ], + [ + 1.003452181816101 + ], + [ + 0.8214757442474365 + ], + [ + 0.5679898858070374 + ], + [ + 0.5600578188896179 + ], + [ + 0.5600578188896179 + ], + [ + 0.5600578188896179 + ], + [ + 0.5600578188896179 + ], + [ + 0.5600578188896179 + ], + [ + 0.5600578188896179 + ], + [ + 0.5600578188896179 + ], + [ + 0.5600578188896179 + ], + [ + 0.7710858583450317 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.20483319461345673, + -0.016015248373150826, + 0.1704474538564682 + ], + [ + 0.20745974779129028, + -0.010590219870209694, + 0.16051974892616272 + ], + [ + 0.21027882397174835, + -0.008015151135623455, + 0.1525055468082428 + ], + [ + 0.21162045001983643, + -0.004411171190440655, + 0.14358331263065338 + ], + [ + 0.21086682379245758, + -0.00257255882024765, + 0.1356019526720047 + ], + [ + 0.2118595689535141, + -0.0007783566834405065, + 0.1285831332206726 + ], + [ + 0.21307285130023956, + -0.0008609907818026841, + 0.12445983290672302 + ], + [ + 0.21313823759555817, + -0.0007745486218482256, + 0.1241341307759285 + ], + [ + 0.21547560393810272, + -0.0034719062969088554, + 0.12915687263011932 + ], + [ + 0.22149963676929474, + -0.005941815674304962, + 0.14520885050296783 + ], + [ + 0.23145847022533417, + -0.007727517746388912, + 0.15931499004364014 + ], + [ + 0.25283870100975037, + -0.01234881766140461, + 0.16264460980892181 + ], + [ + 0.2837189733982086, + -0.006193571258336306, + 0.16826972365379333 + ], + [ + 0.3074774444103241, + -0.0016791841480880976, + 0.17092058062553406 + ], + [ + 0.3217335641384125, + 0.00029769743559882045, + 0.17146189510822296 + ], + [ + 0.3257935047149658, + 0.005620470270514488, + 0.1711140275001526 + ], + [ + 0.32351770997047424, + 0.010105271823704243, + 0.16501466929912567 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.787122777994643, + -0.6014199771196966, + 0.13686395976786309, + -0.612023951568174, + -0.7891115852246005, + 0.05224546651332705, + 0.07657946897748139, + -0.12488761822399126, + -0.9892111340585817 + ], + [ + 0.7779162345712405, + -0.610942080951904, + 0.14695613533520757, + -0.6228018114324884, + -0.7807028832931799, + 0.05119484050299328, + 0.08345199618291979, + -0.13134984484144893, + -0.9878172819875208 + ], + [ + 0.7565434725655888, + -0.632031934143741, + 0.16786187280297432, + -0.6462223097986703, + -0.7618898063259667, + 0.043825213462711655, + 0.1001933153302722, + -0.14163176634887675, + -0.9848358961390602 + ], + [ + 0.7395199570232205, + -0.6459484440232729, + 0.18936958791814057, + -0.6617066074432697, + -0.7492232961941616, + 0.028439727598443404, + 0.12350950906829916, + -0.1463388537055958, + -0.9814939332802008 + ], + [ + 0.7268383394080989, + -0.6579554799094935, + 0.19697871667656217, + -0.6727826864485851, + -0.7397494430064967, + 0.011585265927162386, + 0.13809230674263615, + -0.1409444856269521, + -0.9803393120699853 + ], + [ + 0.7108209526464555, + -0.6712450537066155, + 0.21015149571960687, + -0.6871546018413217, + -0.7265016602537082, + 0.0037270386233340252, + 0.150173654304208, + -0.1470558245123531, + -0.9776617298584986 + ], + [ + 0.7080022969243378, + -0.6693819014531686, + 0.22507913620947226, + -0.6866734649236068, + -0.7269632463899977, + -0.001997740704758416, + 0.16496151102505605, + -0.1531414653353426, + -0.9743384378516913 + ], + [ + 0.7073062059334306, + -0.6680780641116573, + 0.2310619642019768, + -0.6867007524010693, + -0.7269401764669078, + 0.0002376763896380918, + 0.1678094386495009, + -0.15883853465416128, + -0.972939007445512 + ], + [ + 0.6743309077849101, + -0.7033069547446175, + 0.22502700774313988, + -0.7255909606572842, + -0.6876686514946436, + 0.025091503820559802, + 0.13709698982259894, + -0.1801975392711857, + -0.9740293949477044 + ], + [ + 0.6335616433453415, + -0.7346928743141108, + 0.24254076876603764, + -0.7666601791219239, + -0.6383272405795508, + 0.06906883293379171, + 0.10407600026081916, + -0.22970571252401742, + -0.9676794261549346 + ], + [ + 0.5936814411687291, + -0.7540661976535042, + 0.280938633812096, + -0.7972719139378278, + -0.5985174164779196, + 0.07832239410608816, + 0.10908639538335486, + -0.2704830340871359, + -0.9565244830182255 + ], + [ + 0.502330448158273, + -0.8173003446104413, + 0.2822840193010626, + -0.8584219571267223, + -0.5105665816349726, + 0.049330611594695165, + 0.10380686092853594, + -0.26709906854430054, + -0.9580617011481729 + ], + [ + 0.4232788591555787, + -0.8705254219039917, + 0.2510388360609338, + -0.9026367482753606, + -0.42904693621717094, + 0.03414128271670211, + 0.07798658894216776, + -0.24104816187130643, + -0.9673747338046561 + ], + [ + 0.37213302106481666, + -0.9006090883571776, + 0.2245446160602072, + -0.9264987155973075, + -0.37497730745241037, + 0.031498395074667576, + 0.05583139466028118, + -0.21976189129190177, + -0.9739546018712032 + ], + [ + 0.34252157828779745, + -0.9105369008121972, + 0.23152002217206913, + -0.937851271629817, + -0.3460093367976644, + 0.026693279138685425, + 0.055802873667684674, + -0.2262743713020977, + -0.9724638544348416 + ], + [ + 0.3233062336669392, + -0.9145985188255449, + 0.2428633950067769, + -0.9436421122871693, + -0.3308032087688054, + 0.010430771135032726, + 0.07080002253041849, + -0.23254846039133742, + -0.9700044177112344 + ], + [ + 0.32027271116649136, + -0.9181186158955121, + 0.23341721793426945, + -0.943002833850435, + -0.3324932607110771, + -0.013924328772489017, + 0.09039383735694502, + -0.21565351545436207, + -0.9722769746528307 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005802.json b/json/chunk-0005/episode_0005802.json new file mode 100644 index 0000000000000000000000000000000000000000..3d7bf30b1633e8bcff503639d36cd60087e35dea --- /dev/null +++ b/json/chunk-0005/episode_0005802.json @@ -0,0 +1,1702 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 27, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nClose the drawer." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005802.mp4", + "start": 0, + "end": 27, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.1599656045436859, + 0.07415930926799774, + 0.16406509280204773, + 0.06311841309070587, + -0.2547853887081146, + -0.4706764817237854, + 0.0, + 1.0001531839370728 + ], + [ + 0.1594085842370987, + 0.0741167962551117, + 0.16084417700767517, + 0.058408185839653015, + -0.24927309155464172, + -0.4743958115577698, + 0.0, + 1.0001531839370728 + ], + [ + 0.15764743089675903, + 0.0966487005352974, + 0.13712239265441895, + 0.07683653384447098, + -0.20834560692310333, + -0.48017939925193787, + 0.0, + 1.0001531839370728 + ], + [ + 0.1577959954738617, + 0.11659982800483704, + 0.12203525751829147, + 0.13280005753040314, + -0.1833982914686203, + -0.49658912420272827, + 0.0, + 1.0001531839370728 + ], + [ + 0.15794408321380615, + 0.13349522650241852, + 0.1064489558339119, + 0.15973155200481415, + -0.15536999702453613, + -0.5021963715553284, + 0.0, + 1.0001531839370728 + ], + [ + 0.15992842614650726, + 0.14117172360420227, + 0.08661778271198273, + 0.12399450689554214, + -0.11463571339845657, + -0.5148076415061951, + 0.0, + 1.0001531839370728 + ], + [ + 0.16546402871608734, + 0.12540753185749054, + 0.06444822996854782, + 0.11507686227560043, + -0.06942389160394669, + -0.5885626673698425, + 0.0, + 1.0001531839370728 + ], + [ + 0.16640610992908478, + 0.11514797806739807, + 0.058648329228162766, + 0.11578260362148285, + -0.04976901039481163, + -0.6089950203895569, + 0.0, + 1.0001531839370728 + ], + [ + 0.16835173964500427, + 0.11150452494621277, + 0.052878059446811676, + 0.12052061408758163, + -0.04999633878469467, + -0.6165882349014282, + 0.0, + 1.0001531839370728 + ], + [ + 0.17216770350933075, + 0.1096147745847702, + 0.05077505484223366, + 0.12767472863197327, + -0.048602182418107986, + -0.6213757991790771, + 0.0, + 1.0001531839370728 + ], + [ + 0.17605145275592804, + 0.1088634729385376, + 0.04487617313861847, + 0.1297200322151184, + -0.04783299192786217, + -0.6262713670730591, + 0.0, + 1.0001531839370728 + ], + [ + 0.17890289425849915, + 0.10682684183120728, + 0.04014343395829201, + 0.12330552935600281, + -0.04381132125854492, + -0.6242894530296326, + 0.0, + 1.0001531839370728 + ], + [ + 0.18841812014579773, + 0.10000395774841309, + 0.03815875202417374, + 0.12007506936788559, + -0.037812892347574234, + -0.6431361436843872, + 0.0, + 1.0001531839370728 + ], + [ + 0.19600234925746918, + 0.09485523402690887, + 0.03765387833118439, + 0.11959248036146164, + -0.040422044694423676, + -0.6455422639846802, + 0.0, + 1.0001531839370728 + ], + [ + 0.20495884120464325, + 0.09019912034273148, + 0.03623666986823082, + 0.11837013065814972, + -0.03854610025882721, + -0.6460397839546204, + 0.0, + 1.0001531839370728 + ], + [ + 0.21309509873390198, + 0.08542867004871368, + 0.035001564770936966, + 0.1241462379693985, + -0.043017175048589706, + -0.6465535163879395, + 0.0, + 1.0001531839370728 + ], + [ + 0.22171667218208313, + 0.08241073787212372, + 0.031416088342666626, + 0.13177956640720367, + -0.04986424744129181, + -0.6466595530509949, + 0.0, + 1.0001531839370728 + ], + [ + 0.23400110006332397, + 0.07537024468183517, + 0.03207268565893173, + 0.13944080471992493, + -0.07272800803184509, + -0.6424462199211121, + 0.0, + 1.0001531839370728 + ], + [ + 0.24729610979557037, + 0.06932982802391052, + 0.03391163423657417, + 0.13407683372497559, + -0.07880198210477829, + -0.6352788209915161, + 0.0, + 1.0001531839370728 + ], + [ + 0.2656988799571991, + 0.061862342059612274, + 0.038857556879520416, + 0.1251310259103775, + -0.09744487702846527, + -0.6209970712661743, + 0.0, + 1.0001531839370728 + ], + [ + 0.2802407443523407, + 0.053719379007816315, + 0.040371015667915344, + 0.11778269708156586, + -0.10794200748205185, + -0.6196528077125549, + 0.0, + 1.0001531839370728 + ], + [ + 0.29343223571777344, + 0.04168811812996864, + 0.03624821826815605, + 0.10316377878189087, + -0.10741743445396423, + -0.6268132925033569, + 0.0, + 1.0001531839370728 + ], + [ + 0.3011649250984192, + 0.03491361811757088, + 0.030591843649744987, + 0.08528926223516464, + -0.10091770440340042, + -0.6248482465744019, + 0.0, + 1.0001531839370728 + ], + [ + 0.30346569418907166, + 0.03391122817993164, + 0.027552185580134392, + 0.0780436173081398, + -0.09708964079618454, + -0.6221855282783508, + 0.0, + 1.0001531839370728 + ], + [ + 0.2976102828979492, + 0.03461676836013794, + 0.03596661612391472, + 0.08755870908498764, + -0.10913602262735367, + -0.6109976768493652, + 0.0, + 1.0001531839370728 + ], + [ + 0.2772710919380188, + 0.05675244331359863, + 0.07456518709659576, + 0.1336241066455841, + -0.13068291544914246, + -0.5114434957504272, + 0.0, + 1.0001531839370728 + ], + [ + 0.24806809425354004, + 0.08640807121992111, + 0.10967928916215897, + 0.12650400400161743, + -0.13278080523014069, + -0.36172690987586975, + 0.0, + 1.0001531839370728 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.1599656045436859, + 0.07415930926799774, + 0.16406509280204773 + ], + [ + 0.1594085842370987, + 0.0741167962551117, + 0.16084417700767517 + ], + [ + 0.15764743089675903, + 0.0966487005352974, + 0.13712239265441895 + ], + [ + 0.1577959954738617, + 0.11659982800483704, + 0.12203525751829147 + ], + [ + 0.15794408321380615, + 0.13349522650241852, + 0.1064489558339119 + ], + [ + 0.15992842614650726, + 0.14117172360420227, + 0.08661778271198273 + ], + [ + 0.16546402871608734, + 0.12540753185749054, + 0.06444822996854782 + ], + [ + 0.16640610992908478, + 0.11514797806739807, + 0.058648329228162766 + ], + [ + 0.16835173964500427, + 0.11150452494621277, + 0.052878059446811676 + ], + [ + 0.17216770350933075, + 0.1096147745847702, + 0.05077505484223366 + ], + [ + 0.17605145275592804, + 0.1088634729385376, + 0.04487617313861847 + ], + [ + 0.17890289425849915, + 0.10682684183120728, + 0.04014343395829201 + ], + [ + 0.18841812014579773, + 0.10000395774841309, + 0.03815875202417374 + ], + [ + 0.19600234925746918, + 0.09485523402690887, + 0.03765387833118439 + ], + [ + 0.20495884120464325, + 0.09019912034273148, + 0.03623666986823082 + ], + [ + 0.21309509873390198, + 0.08542867004871368, + 0.035001564770936966 + ], + [ + 0.22171667218208313, + 0.08241073787212372, + 0.031416088342666626 + ], + [ + 0.23400110006332397, + 0.07537024468183517, + 0.03207268565893173 + ], + [ + 0.24729610979557037, + 0.06932982802391052, + 0.03391163423657417 + ], + [ + 0.2656988799571991, + 0.061862342059612274, + 0.038857556879520416 + ], + [ + 0.2802407443523407, + 0.053719379007816315, + 0.040371015667915344 + ], + [ + 0.29343223571777344, + 0.04168811812996864, + 0.03624821826815605 + ], + [ + 0.3011649250984192, + 0.03491361811757088, + 0.030591843649744987 + ], + [ + 0.30346569418907166, + 0.03391122817993164, + 0.027552185580134392 + ], + [ + 0.2976102828979492, + 0.03461676836013794, + 0.03596661612391472 + ], + [ + 0.2772710919380188, + 0.05675244331359863, + 0.07456518709659576 + ], + [ + 0.24806809425354004, + 0.08640807121992111, + 0.10967928916215897 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8624894767167476, + -0.43841729897953563, + 0.25278879426976114, + -0.43884950099695985, + -0.8966963595736637, + -0.057851138295269416, + 0.2520377313570142, + -0.06104023822715268, + -0.9657903868281058 + ], + [ + 0.8620740881209574, + -0.4432113369654079, + 0.24574779220932053, + -0.4426822587080254, + -0.8946303502215859, + -0.06057189354447771, + 0.24669958333078024, + -0.056570727834617175, + -0.9674394391054569 + ], + [ + 0.8677321051011526, + -0.4464935391087998, + 0.21836783946089933, + -0.45194862499553906, + -0.8916296127693736, + -0.027185915422856213, + 0.20684156773086998, + -0.07510095316862314, + -0.9754877819285079 + ], + [ + 0.864467982017532, + -0.45100336011442793, + 0.22201593913958284, + -0.46843952709543785, + -0.882976027332598, + 0.0302942999678998, + 0.18237192086814757, + -0.13018949389807988, + -0.9745723052485246 + ], + [ + 0.8659691003391097, + -0.4536504922784756, + 0.21047267783104295, + -0.47555367841167534, + -0.8772166810896552, + 0.0658755900707943, + 0.15474565004224883, + -0.15713728161562165, + -0.9753777004419646 + ], + [ + 0.8646746780407764, + -0.4762741207907104, + 0.15968927020972917, + -0.48913578748397535, + -0.870670481345746, + 0.051759968272774695, + 0.11438480037798493, + -0.12286527083843944, + -0.9858094352684427 + ], + [ + 0.8297359435010403, + -0.5448693649759629, + 0.12106047733727726, + -0.5538287871331707, + -0.8306602712191481, + 0.057246732314888873, + 0.06936813825553981, + -0.11454644878311278, + -0.9909930234195083 + ], + [ + 0.8192077057285769, + -0.5634994834918822, + 0.1066164479773312, + -0.571335124865408, + -0.818019282776808, + 0.0664878041474138, + 0.04974846701105025, + -0.11538104311236864, + -0.9920747476477525 + ], + [ + 0.8148366131120738, + -0.5691583843087562, + 0.11000012501398106, + -0.5775324597538685, + -0.8134124467900503, + 0.06940064364017527, + 0.049975512630603805, + -0.12007882818411587, + -0.9915056848849827 + ], + [ + 0.8121181725238455, + -0.5723862902084376, + 0.1133049365118366, + -0.5814669045503973, + -0.8100615686822534, + 0.07547512077913851, + 0.04858305022441664, + -0.12717778786198744, + -0.990689405164617 + ], + [ + 0.8092918795114763, + -0.5761919483389147, + 0.11423437497613302, + -0.5854574306315113, + -0.8070365433780301, + 0.07701697586110602, + 0.04781475373910628, + -0.12920857681224793, + -0.9904639786499165 + ], + [ + 0.8106000853690521, + -0.5757122084997728, + 0.10715854881435814, + -0.5839600136036001, + -0.808366944627199, + 0.0743880726069024, + 0.043797307129186044, + -0.12287528562896897, + -0.9914552234316135 + ], + [ + 0.7996469114990069, + -0.5917661640384505, + 0.10187062397627983, + -0.5992793033547233, + -0.7971727863551396, + 0.07334756482297208, + 0.0378038820860559, + -0.1197011102454788, + -0.9920899710738047 + ], + [ + 0.7981211552817368, + -0.5934832590193011, + 0.10382794785401009, + -0.6011402245087551, + -0.7959689448814696, + 0.07116086889466397, + 0.04041103771631427, + -0.11921015077630437, + -0.9920463134262338 + ], + [ + 0.7978811048013659, + -0.5941824637822442, + 0.10165108132535415, + -0.6015818119583269, + -0.7956266343886722, + 0.071257155235738, + 0.03853655565677609, + -0.11800617943572289, + -0.9922648212514117 + ], + [ + 0.7974264523158751, + -0.5935523200277687, + 0.10865862384813649, + -0.6018818130981448, + -0.7952299845790177, + 0.07312697647342656, + 0.04300390922471248, + -0.12371303494825672, + -0.9913857719249778 + ], + [ + 0.797108935540592, + -0.5920725954848863, + 0.11860601400070023, + -0.6017748431309294, + -0.7951272688381418, + 0.07509769986319441, + 0.049843585907208686, + -0.13123516306915398, + -0.9900974441529091 + ], + [ + 0.7985160032507531, + -0.585254276812765, + 0.14088869374371546, + -0.5975718773613506, + -0.7989126278717097, + 0.06816497938054188, + 0.07266391084488819, + -0.13862194811604073, + -0.9876760154834375 + ], + [ + 0.8024084334926984, + -0.5796062490706205, + 0.14211721182910697, + -0.5915604757869993, + -0.8039267339771323, + 0.061302609108581874, + 0.07872045062404265, + -0.13326065599098072, + -0.9879497397228265 + ], + [ + 0.8094404325747986, + -0.5674217443902189, + 0.15112494865601867, + -0.5790860893633404, + -0.8140047778834323, + 0.04533787256607332, + 0.0972907355250048, + -0.12421266270435291, + -0.9874744185065749 + ], + [ + 0.809342123622091, + -0.5664228697629821, + 0.1553398195581296, + -0.57737252447146, + -0.8157920505442292, + 0.033530557023340214, + 0.10773251559458541, + -0.11682663599672014, + -0.9872918728549085 + ], + [ + 0.8052328029479471, + -0.5745063871037858, + 0.1467737859208773, + -0.5831860240495658, + -0.8120709606864587, + 0.020852245994886373, + 0.1072109808268339, + -0.10238733313612101, + -0.9889502715523268 + ], + [ + 0.8069253730248955, + -0.5758872687018263, + 0.1312451755905104, + -0.5819979263522711, + -0.8131241421183706, + 0.010370305006139925, + 0.10074649418361788, + -0.08475248227287815, + -0.9912956978915504 + ], + [ + 0.808779675800587, + -0.5748971303877011, + 0.1239706638035141, + -0.5800677714332847, + -0.8145378795899074, + 0.007030167679360752, + 0.0969371784008588, + -0.07759724341214656, + -0.9922609794094072 + ], + [ + 0.8142030400603271, + -0.5636858082886558, + 0.13903855253305256, + -0.570271822133249, + -0.8214025037724632, + 0.009379535017936598, + 0.10891950439359117, + -0.08692661462574963, + -0.9902425486881287 + ], + [ + 0.8646031572862208, + -0.46993406794014747, + 0.1778295594099111, + -0.48526318071059404, + -0.8727622767690901, + 0.05296842168189682, + 0.13031126527409534, + -0.13209080224625291, + -0.9826347205877703 + ], + [ + 0.9270542863977873, + -0.3354395629086772, + 0.16748328187351877, + -0.3507748265264165, + -0.9337243837677952, + 0.07152479453177954, + 0.13239097834388622, + -0.12505628649966571, + -0.9832769467754554 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0005570203065872192, + -4.251301288604736e-05, + -0.0032209157943725586, + -0.0047102272510528564, + 0.0055122971534729, + -0.003719329833984375, + 1.0 + ], + [ + -0.0017611533403396606, + 0.0225319042801857, + -0.023721784353256226, + 0.018428348004817963, + 0.04092748463153839, + -0.005783587694168091, + 1.0 + ], + [ + 0.00014856457710266113, + 0.019951127469539642, + -0.015087135136127472, + 0.05596352368593216, + 0.024947315454483032, + -0.016409724950790405, + 1.0 + ], + [ + 0.000148087739944458, + 0.016895398497581482, + -0.015586301684379578, + 0.02693149447441101, + 0.028028294444084167, + -0.005607247352600098, + 1.0 + ], + [ + 0.001984342932701111, + 0.0076764971017837524, + -0.01983117312192917, + -0.035737045109272, + 0.04073428362607956, + -0.0126112699508667, + 1.0 + ], + [ + 0.005535602569580078, + -0.01576419174671173, + -0.022169552743434906, + -0.008917644619941711, + 0.04521182179450989, + -0.07375502586364746, + 1.0 + ], + [ + 0.0009420812129974365, + -0.010259553790092468, + -0.0057999007403850555, + 0.0007057413458824158, + 0.019654881209135056, + -0.020432353019714355, + 1.0 + ], + [ + 0.0019456297159194946, + -0.0036434531211853027, + -0.0057702697813510895, + 0.004738010466098785, + -0.00022732838988304138, + -0.007593214511871338, + 1.0 + ], + [ + 0.003815963864326477, + -0.001889750361442566, + -0.002103004604578018, + 0.007154114544391632, + 0.0013941563665866852, + -0.004787564277648926, + 1.0 + ], + [ + 0.00388374924659729, + -0.000751301646232605, + -0.005898881703615189, + 0.0020453035831451416, + 0.0007691904902458191, + -0.004895567893981934, + 1.0 + ], + [ + 0.002851441502571106, + -0.0020366311073303223, + -0.004732739180326462, + -0.006414502859115601, + 0.0040216706693172455, + 0.0019819140434265137, + 1.0 + ], + [ + 0.009515225887298584, + -0.0068228840827941895, + -0.001984681934118271, + -0.003230459988117218, + 0.005998428910970688, + -0.01884669065475464, + 1.0 + ], + [ + 0.007584229111671448, + -0.005148723721504211, + -0.0005048736929893494, + -0.0004825890064239502, + -0.0026091523468494415, + -0.0024061203002929688, + 1.0 + ], + [ + 0.008956491947174072, + -0.004656113684177399, + -0.0014172084629535675, + -0.0012223497033119202, + 0.001875944435596466, + -0.0004975199699401855, + 1.0 + ], + [ + 0.008136257529258728, + -0.004770450294017792, + -0.0012351050972938538, + 0.005776107311248779, + -0.004471074789762497, + -0.0005137324333190918, + 1.0 + ], + [ + 0.008621573448181152, + -0.003017932176589966, + -0.00358547642827034, + 0.007633328437805176, + -0.006847072392702103, + -0.00010603666305541992, + 1.0 + ], + [ + 0.012284427881240845, + -0.007040493190288544, + 0.0006565973162651062, + 0.0076612383127212524, + -0.022863760590553284, + 0.0042133331298828125, + 1.0 + ], + [ + 0.013295009732246399, + -0.006040416657924652, + 0.0018389485776424408, + -0.005363970994949341, + -0.006073974072933197, + 0.007167398929595947, + 1.0 + ], + [ + 0.018402770161628723, + -0.007467485964298248, + 0.004945922642946243, + -0.008945807814598083, + -0.01864289492368698, + 0.014281749725341797, + 1.0 + ], + [ + 0.014541864395141602, + -0.00814296305179596, + 0.001513458788394928, + -0.0073483288288116455, + -0.010497130453586578, + 0.0013442635536193848, + 1.0 + ], + [ + 0.01319149136543274, + -0.012031260877847672, + -0.004122797399759293, + -0.014618918299674988, + 0.000524573028087616, + -0.007160484790802002, + 1.0 + ], + [ + 0.007732689380645752, + -0.006774500012397766, + -0.005656374618411064, + -0.017874516546726227, + 0.006499730050563812, + 0.001965045928955078, + 1.0 + ], + [ + 0.002300769090652466, + -0.0010023899376392365, + -0.0030396580696105957, + -0.007245644927024841, + 0.0038280636072158813, + 0.0026627182960510254, + 1.0 + ], + [ + -0.0058554112911224365, + 0.0007055401802062988, + 0.008414430543780327, + 0.00951509177684784, + -0.012046381831169128, + 0.011187851428985596, + 1.0 + ], + [ + -0.02033919095993042, + 0.022135674953460693, + 0.038598570972681046, + 0.046065397560596466, + -0.021546892821788788, + 0.09955418109893799, + 1.0 + ], + [ + -0.02920299768447876, + 0.02965562790632248, + 0.0351141020655632, + -0.007120102643966675, + -0.00209788978099823, + 0.1497165858745575, + 1.0 + ], + [ + -0.027109786868095398, + 0.009426511824131012, + 0.01921582967042923, + -0.003840230405330658, + -0.03447328507900238, + 0.0331474244594574, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.1594085842370987, + 0.0741167962551117, + 0.16084417700767517 + ], + [ + 0.15764743089675903, + 0.0966487005352974, + 0.13712239265441895 + ], + [ + 0.1577959954738617, + 0.11659982800483704, + 0.12203525751829147 + ], + [ + 0.15794408321380615, + 0.13349522650241852, + 0.1064489558339119 + ], + [ + 0.15992842614650726, + 0.14117172360420227, + 0.08661778271198273 + ], + [ + 0.16546402871608734, + 0.12540753185749054, + 0.06444822996854782 + ], + [ + 0.16640610992908478, + 0.11514797806739807, + 0.058648329228162766 + ], + [ + 0.16835173964500427, + 0.11150452494621277, + 0.052878059446811676 + ], + [ + 0.17216770350933075, + 0.1096147745847702, + 0.05077505484223366 + ], + [ + 0.17605145275592804, + 0.1088634729385376, + 0.04487617313861847 + ], + [ + 0.17890289425849915, + 0.10682684183120728, + 0.04014343395829201 + ], + [ + 0.18841812014579773, + 0.10000395774841309, + 0.03815875202417374 + ], + [ + 0.19600234925746918, + 0.09485523402690887, + 0.03765387833118439 + ], + [ + 0.20495884120464325, + 0.09019912034273148, + 0.03623666986823082 + ], + [ + 0.21309509873390198, + 0.08542867004871368, + 0.035001564770936966 + ], + [ + 0.22171667218208313, + 0.08241073787212372, + 0.031416088342666626 + ], + [ + 0.23400110006332397, + 0.07537024468183517, + 0.03207268565893173 + ], + [ + 0.24729610979557037, + 0.06932982802391052, + 0.03391163423657417 + ], + [ + 0.2656988799571991, + 0.061862342059612274, + 0.038857556879520416 + ], + [ + 0.2802407443523407, + 0.053719379007816315, + 0.040371015667915344 + ], + [ + 0.29343223571777344, + 0.04168811812996864, + 0.03624821826815605 + ], + [ + 0.3011649250984192, + 0.03491361811757088, + 0.030591843649744987 + ], + [ + 0.30346569418907166, + 0.03391122817993164, + 0.027552185580134392 + ], + [ + 0.2976102828979492, + 0.03461676836013794, + 0.03596661612391472 + ], + [ + 0.2772710919380188, + 0.05675244331359863, + 0.07456518709659576 + ], + [ + 0.24806809425354004, + 0.08640807121992111, + 0.10967928916215897 + ], + [ + 0.22095830738544464, + 0.09583458304405212, + 0.1288951188325882 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8620740881209574, + -0.4432113369654079, + 0.24574779220932053, + -0.4426822587080254, + -0.8946303502215859, + -0.06057189354447771, + 0.24669958333078024, + -0.056570727834617175, + -0.9674394391054569 + ], + [ + 0.8677321051011526, + -0.4464935391087998, + 0.21836783946089933, + -0.45194862499553906, + -0.8916296127693736, + -0.027185915422856213, + 0.20684156773086998, + -0.07510095316862314, + -0.9754877819285079 + ], + [ + 0.864467982017532, + -0.45100336011442793, + 0.22201593913958284, + -0.46843952709543785, + -0.882976027332598, + 0.0302942999678998, + 0.18237192086814757, + -0.13018949389807988, + -0.9745723052485246 + ], + [ + 0.8659691003391097, + -0.4536504922784756, + 0.21047267783104295, + -0.47555367841167534, + -0.8772166810896552, + 0.0658755900707943, + 0.15474565004224883, + -0.15713728161562165, + -0.9753777004419646 + ], + [ + 0.8646746780407764, + -0.4762741207907104, + 0.15968927020972917, + -0.48913578748397535, + -0.870670481345746, + 0.051759968272774695, + 0.11438480037798493, + -0.12286527083843944, + -0.9858094352684427 + ], + [ + 0.8297359435010403, + -0.5448693649759629, + 0.12106047733727726, + -0.5538287871331707, + -0.8306602712191481, + 0.057246732314888873, + 0.06936813825553981, + -0.11454644878311278, + -0.9909930234195083 + ], + [ + 0.8192077057285769, + -0.5634994834918822, + 0.1066164479773312, + -0.571335124865408, + -0.818019282776808, + 0.0664878041474138, + 0.04974846701105025, + -0.11538104311236864, + -0.9920747476477525 + ], + [ + 0.8148366131120738, + -0.5691583843087562, + 0.11000012501398106, + -0.5775324597538685, + -0.8134124467900503, + 0.06940064364017527, + 0.049975512630603805, + -0.12007882818411587, + -0.9915056848849827 + ], + [ + 0.8121181725238455, + -0.5723862902084376, + 0.1133049365118366, + -0.5814669045503973, + -0.8100615686822534, + 0.07547512077913851, + 0.04858305022441664, + -0.12717778786198744, + -0.990689405164617 + ], + [ + 0.8092918795114763, + -0.5761919483389147, + 0.11423437497613302, + -0.5854574306315113, + -0.8070365433780301, + 0.07701697586110602, + 0.04781475373910628, + -0.12920857681224793, + -0.9904639786499165 + ], + [ + 0.8106000853690521, + -0.5757122084997728, + 0.10715854881435814, + -0.5839600136036001, + -0.808366944627199, + 0.0743880726069024, + 0.043797307129186044, + -0.12287528562896897, + -0.9914552234316135 + ], + [ + 0.7996469114990069, + -0.5917661640384505, + 0.10187062397627983, + -0.5992793033547233, + -0.7971727863551396, + 0.07334756482297208, + 0.0378038820860559, + -0.1197011102454788, + -0.9920899710738047 + ], + [ + 0.7981211552817368, + -0.5934832590193011, + 0.10382794785401009, + -0.6011402245087551, + -0.7959689448814696, + 0.07116086889466397, + 0.04041103771631427, + -0.11921015077630437, + -0.9920463134262338 + ], + [ + 0.7978811048013659, + -0.5941824637822442, + 0.10165108132535415, + -0.6015818119583269, + -0.7956266343886722, + 0.071257155235738, + 0.03853655565677609, + -0.11800617943572289, + -0.9922648212514117 + ], + [ + 0.7974264523158751, + -0.5935523200277687, + 0.10865862384813649, + -0.6018818130981448, + -0.7952299845790177, + 0.07312697647342656, + 0.04300390922471248, + -0.12371303494825672, + -0.9913857719249778 + ], + [ + 0.797108935540592, + -0.5920725954848863, + 0.11860601400070023, + -0.6017748431309294, + -0.7951272688381418, + 0.07509769986319441, + 0.049843585907208686, + -0.13123516306915398, + -0.9900974441529091 + ], + [ + 0.7985160032507531, + -0.585254276812765, + 0.14088869374371546, + -0.5975718773613506, + -0.7989126278717097, + 0.06816497938054188, + 0.07266391084488819, + -0.13862194811604073, + -0.9876760154834375 + ], + [ + 0.8024084334926984, + -0.5796062490706205, + 0.14211721182910697, + -0.5915604757869993, + -0.8039267339771323, + 0.061302609108581874, + 0.07872045062404265, + -0.13326065599098072, + -0.9879497397228265 + ], + [ + 0.8094404325747986, + -0.5674217443902189, + 0.15112494865601867, + -0.5790860893633404, + -0.8140047778834323, + 0.04533787256607332, + 0.0972907355250048, + -0.12421266270435291, + -0.9874744185065749 + ], + [ + 0.809342123622091, + -0.5664228697629821, + 0.1553398195581296, + -0.57737252447146, + -0.8157920505442292, + 0.033530557023340214, + 0.10773251559458541, + -0.11682663599672014, + -0.9872918728549085 + ], + [ + 0.8052328029479471, + -0.5745063871037858, + 0.1467737859208773, + -0.5831860240495658, + -0.8120709606864587, + 0.020852245994886373, + 0.1072109808268339, + -0.10238733313612101, + -0.9889502715523268 + ], + [ + 0.8069253730248955, + -0.5758872687018263, + 0.1312451755905104, + -0.5819979263522711, + -0.8131241421183706, + 0.010370305006139925, + 0.10074649418361788, + -0.08475248227287815, + -0.9912956978915504 + ], + [ + 0.808779675800587, + -0.5748971303877011, + 0.1239706638035141, + -0.5800677714332847, + -0.8145378795899074, + 0.007030167679360752, + 0.0969371784008588, + -0.07759724341214656, + -0.9922609794094072 + ], + [ + 0.8142030400603271, + -0.5636858082886558, + 0.13903855253305256, + -0.570271822133249, + -0.8214025037724632, + 0.009379535017936598, + 0.10891950439359117, + -0.08692661462574963, + -0.9902425486881287 + ], + [ + 0.8646031572862208, + -0.46993406794014747, + 0.1778295594099111, + -0.48526318071059404, + -0.8727622767690901, + 0.05296842168189682, + 0.13031126527409534, + -0.13209080224625291, + -0.9826347205877703 + ], + [ + 0.9270542863977873, + -0.3354395629086772, + 0.16748328187351877, + -0.3507748265264165, + -0.9337243837677952, + 0.07152479453177954, + 0.13239097834388622, + -0.12505628649966571, + -0.9832769467754554 + ], + [ + 0.9332938430274593, + -0.30099454528282105, + 0.19586956444793546, + -0.31819576960583024, + -0.945963057102868, + 0.062492773994675246, + 0.1664753878865869, + -0.12064898800480651, + -0.9786366879089639 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005803.json b/json/chunk-0005/episode_0005803.json new file mode 100644 index 0000000000000000000000000000000000000000..892069aa00b5998459e3864020e2d701cca8cb3b --- /dev/null +++ b/json/chunk-0005/episode_0005803.json @@ -0,0 +1,1402 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 22, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the cloth to the right side of the table." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005803.mp4", + "start": 0, + "end": 22, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2500641942024231, + -0.020367145538330078, + 0.08589080721139908, + 0.11858141422271729, + -0.19646579027175903, + -1.040208101272583, + 0.0, + 1.0008161067962646 + ], + [ + 0.2495468258857727, + -0.02022397518157959, + 0.07927548140287399, + 0.10313481092453003, + -0.1861109733581543, + -1.0376685857772827, + 0.0, + 1.0008161067962646 + ], + [ + 0.25909358263015747, + -0.01721934601664543, + 0.03656904026865959, + 0.09021800756454468, + -0.1428370475769043, + -1.086179494857788, + 0.0, + 1.0008161067962646 + ], + [ + 0.26460230350494385, + -0.02252434380352497, + 0.014666857197880745, + 0.1401723474264145, + -0.142520472407341, + -1.1750515699386597, + 0.0, + 1.0008161067962646 + ], + [ + 0.26955124735832214, + -0.023593341931700706, + 0.0038587141316384077, + 0.14802560210227966, + -0.16493622958660126, + -1.2356239557266235, + 0.0, + 1.0008161067962646 + ], + [ + 0.28265324234962463, + -0.021457087248563766, + 0.0035296441055834293, + 0.15758346021175385, + -0.16523703932762146, + -1.221662163734436, + 0.0, + 1.0014774799346924 + ], + [ + 0.30419087409973145, + -0.01985779218375683, + 0.0034739719703793526, + 0.15033352375030518, + -0.16161517798900604, + -1.1712976694107056, + 0.0, + 1.0014774799346924 + ], + [ + 0.3223339319229126, + -0.01709754392504692, + 0.003124298993498087, + 0.13850320875644684, + -0.16104812920093536, + -1.1180758476257324, + 0.0, + 1.0014774799346924 + ], + [ + 0.3347634971141815, + -0.016533395275473595, + 0.003688446246087551, + 0.1419287472963333, + -0.16256840527057648, + -1.0961357355117798, + 0.0, + 1.0014774799346924 + ], + [ + 0.33864298462867737, + -0.016720207408070564, + 0.004248808603733778, + 0.1442774534225464, + -0.16284818947315216, + -1.1047412157058716, + 0.0, + 1.0014774799346924 + ], + [ + 0.3375529944896698, + -0.020478837192058563, + 0.0043774857185781, + 0.135353684425354, + -0.17508305609226227, + -1.1500440835952759, + 0.0, + 1.0014774799346924 + ], + [ + 0.3366503119468689, + -0.027412282302975655, + 0.00447031669318676, + 0.1297038495540619, + -0.18257009983062744, + -1.1761894226074219, + 0.0, + 1.002137303352356 + ], + [ + 0.33280283212661743, + -0.04512558504939079, + 0.004091138020157814, + 0.12280917912721634, + -0.18939480185508728, + -1.223833680152893, + 0.0, + 1.0008161067962646 + ], + [ + 0.3270891010761261, + -0.060490816831588745, + 0.004087076988071203, + 0.1138809397816658, + -0.1903408318758011, + -1.2457679510116577, + 0.0, + 1.0008161067962646 + ], + [ + 0.32465165853500366, + -0.07192881405353546, + 0.004004949238151312, + 0.11089365184307098, + -0.18933340907096863, + -1.260857343673706, + 0.0, + 1.0008161067962646 + ], + [ + 0.3248129189014435, + -0.07506239414215088, + 0.00444694934412837, + 0.11852790415287018, + -0.1903843879699707, + -1.299883484840393, + 0.0, + 1.0008161067962646 + ], + [ + 0.3315281271934509, + -0.07533407211303711, + 0.0038056860212236643, + 0.14627985656261444, + -0.17391230165958405, + -1.3765126466751099, + 0.0, + 0.9994885921478271 + ], + [ + 0.3413637578487396, + -0.07565007358789444, + 0.0025586525443941355, + 0.16831734776496887, + -0.15516461431980133, + -1.4567714929580688, + 0.0, + 1.0001531839370728 + ], + [ + 0.34167927503585815, + -0.0771508440375328, + 0.00023152242647483945, + 0.15899235010147095, + -0.13633932173252106, + -1.5860764980316162, + 0.0, + 1.0008161067962646 + ], + [ + 0.3378625810146332, + -0.07444245368242264, + -0.0016023123171180487, + 0.14660365879535675, + -0.1464613825082779, + -1.7046691179275513, + 0.0, + 1.0014774799346924 + ], + [ + 0.3356710374355316, + -0.07141916453838348, + -0.0020507164299488068, + 0.1459634006023407, + -0.1220964714884758, + -1.7537864446640015, + 0.0, + 1.0014774799346924 + ], + [ + 0.33053141832351685, + -0.06802062690258026, + -0.0014941766858100891, + 0.15523743629455566, + -0.10179343819618225, + -1.7772636413574219, + 0.0, + 1.0014774799346924 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.002137303352356 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2500641942024231, + -0.020367145538330078, + 0.08589080721139908 + ], + [ + 0.2495468258857727, + -0.02022397518157959, + 0.07927548140287399 + ], + [ + 0.25909358263015747, + -0.01721934601664543, + 0.03656904026865959 + ], + [ + 0.26460230350494385, + -0.02252434380352497, + 0.014666857197880745 + ], + [ + 0.26955124735832214, + -0.023593341931700706, + 0.0038587141316384077 + ], + [ + 0.28265324234962463, + -0.021457087248563766, + 0.0035296441055834293 + ], + [ + 0.30419087409973145, + -0.01985779218375683, + 0.0034739719703793526 + ], + [ + 0.3223339319229126, + -0.01709754392504692, + 0.003124298993498087 + ], + [ + 0.3347634971141815, + -0.016533395275473595, + 0.003688446246087551 + ], + [ + 0.33864298462867737, + -0.016720207408070564, + 0.004248808603733778 + ], + [ + 0.3375529944896698, + -0.020478837192058563, + 0.0043774857185781 + ], + [ + 0.3366503119468689, + -0.027412282302975655, + 0.00447031669318676 + ], + [ + 0.33280283212661743, + -0.04512558504939079, + 0.004091138020157814 + ], + [ + 0.3270891010761261, + -0.060490816831588745, + 0.004087076988071203 + ], + [ + 0.32465165853500366, + -0.07192881405353546, + 0.004004949238151312 + ], + [ + 0.3248129189014435, + -0.07506239414215088, + 0.00444694934412837 + ], + [ + 0.3315281271934509, + -0.07533407211303711, + 0.0038056860212236643 + ], + [ + 0.3413637578487396, + -0.07565007358789444, + 0.0025586525443941355 + ], + [ + 0.34167927503585815, + -0.0771508440375328, + 0.00023152242647483945 + ], + [ + 0.3378625810146332, + -0.07444245368242264, + -0.0016023123171180487 + ], + [ + 0.3356710374355316, + -0.07141916453838348, + -0.0020507164299488068 + ], + [ + 0.33053141832351685, + -0.06802062690258026, + -0.0014941766858100891 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.49630586726358783, + -0.8447663448102537, + 0.20012573246752025, + -0.8459171077372577, + -0.5224053612298426, + -0.10731675263327005, + 0.19520433641999546, + -0.11602784680515792, + -0.9738751489839896 + ], + [ + 0.49945303038739014, + -0.8469635994206005, + 0.1822068376690437, + -0.8463494832065978, + -0.5219352816992961, + -0.10618904836847042, + 0.1850384357715382, + -0.1011742208963179, + -0.9775093627752347 + ], + [ + 0.4611249891115162, + -0.8752800159566434, + 0.14576912596239927, + -0.8758422793497171, + -0.47532320733155997, + -0.08347544714184307, + 0.14235183918866617, + -0.0891781488873625, + -0.9857906530499401 + ], + [ + 0.3815870039700557, + -0.9060096650839983, + 0.1831334081360855, + -0.9133544921648856, + -0.40002545118313776, + -0.07591580894616715, + 0.142038480854241, + -0.13829723489682805, + -0.9801525109780166 + ], + [ + 0.324467961806355, + -0.9260610861731302, + 0.19269511264448766, + -0.9315376396238688, + -0.3482028895727844, + -0.10484452135020801, + 0.1641894263502394, + -0.14548406225083668, + -0.9756414402359987 + ], + [ + 0.33742493926519285, + -0.919195912982449, + 0.20303517901645318, + -0.9268703890142851, + -0.3621015297217149, + -0.09896344851358961, + 0.1644861463175205, + -0.15479455975439294, + -0.9741575601205665 + ], + [ + 0.3838879048234114, + -0.9014917588126568, + 0.19985666194338925, + -0.9092509164731355, + -0.4067713997445429, + -0.08831647209115961, + 0.16091254588457277, + -0.14781622760281773, + -0.9758368282834058 + ], + [ + 0.43175333036441244, + -0.8809652607493377, + 0.19362146335592567, + -0.8876238064621533, + -0.4531330182996076, + -0.08242842912688042, + 0.16035286065697796, + -0.13627427152452154, + -0.9776074278561844 + ], + [ + 0.45101048381734477, + -0.8700408419682224, + 0.19904390669917793, + -0.8777203768035138, + -0.4728046325422749, + -0.07786346762418096, + 0.16185327809699152, + -0.1395876525835679, + -0.976892421720768 + ], + [ + 0.4434203057708266, + -0.8735911349424418, + 0.20054166993441205, + -0.8815285025450322, + -0.4655211720156085, + -0.07872444096928793, + 0.16212936695990435, + -0.14187518230892335, + -0.9765170254603808 + ], + [ + 0.40220289227656353, + -0.894832655916867, + 0.19366814748206077, + -0.8988274048092698, + -0.4261666422412999, + -0.10242699548756343, + 0.17418992453124402, + -0.13287780456322304, + -0.9757055699575861 + ], + [ + 0.37805597461816504, + -0.9063657105133862, + 0.18861304000803847, + -0.9078053392454635, + -0.402894126070753, + -0.11647226800879698, + 0.1815575558684855, + -0.12719088797256167, + -0.9751201628126726 + ], + [ + 0.33396249373935605, + -0.9254848570332469, + 0.17873676783902348, + -0.9235938018153388, + -0.3591702056251226, + -0.13405690075298565, + 0.18826455328520897, + -0.1203101940541928, + -0.974721455177305 + ], + [ + 0.3135684127410475, + -0.9346379849003782, + 0.16771013002326562, + -0.9305270758715997, + -0.3376405527442339, + -0.14183870491660128, + 0.18919358234599432, + -0.11158267931865067, + -0.9755793632888925 + ], + [ + 0.2995501401389324, + -0.9401499285045163, + 0.1624432992637693, + -0.9353335612668123, + -0.3229625950192406, + -0.14438244833212885, + 0.188204257950472, + -0.10868888697282057, + -0.9760972713505153 + ], + [ + 0.2627757829168024, + -0.9507782858933159, + 0.1642240511807862, + -0.9461175884288863, + -0.2872946186817163, + -0.1494098756509618, + 0.18923635162930558, + -0.11611396621550385, + -0.9750421273318065 + ], + [ + 0.1901514392078042, + -0.9658379251060529, + 0.1760668412678415, + -0.9663853498025394, + -0.21574898516837526, + -0.13982750475439248, + 0.1730369493900774, + -0.1435600147173674, + -0.9743966011435616 + ], + [ + 0.11241099306603797, + -0.9765203640518308, + 0.18377090964020196, + -0.9815703289910095, + -0.13789145685869242, + -0.13230886353479537, + 0.1545427380448169, + -0.1655111014931248, + -0.9740239306095841 + ], + [ + -0.015137784953961952, + -0.9876008514470409, + 0.15625429814173963, + -0.9906045265757699, + -0.006429513511197915, + -0.13660649063497768, + 0.13591732558538122, + -0.15685413471467488, + -0.9782245453006321 + ], + [ + -0.13204426681772152, + -0.9832667662079959, + 0.12550210385264635, + -0.9804418993038486, + 0.11091370880812268, + -0.16257869260111785, + 0.1459383215267058, + -0.1445151053326158, + -0.9786814551429237 + ], + [ + -0.18061589389744087, + -0.9760712434530445, + 0.12109015887204082, + -0.9759837507702005, + 0.162616993372306, + -0.1449532052045852, + 0.12179333768379767, + -0.1443628801686192, + -0.9820008868250891 + ], + [ + -0.20394233403954198, + -0.9702124127057271, + 0.13074937329958924, + -0.9736946957860871, + 0.18716043299126783, + -0.12996003893720587, + 0.10161773361250871, + -0.15381432493188862, + -0.9828606155814792 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0005173683166503906, + 0.00014317035675048828, + -0.0066153258085250854, + -0.015446603298187256, + 0.010354816913604736, + 0.002539515495300293, + 1.0 + ], + [ + 0.009546756744384766, + 0.0030046291649341583, + -0.0427064411342144, + -0.012916803359985352, + 0.04327392578125, + -0.04851090908050537, + 1.0 + ], + [ + 0.005508720874786377, + -0.0053049977868795395, + -0.021902183070778847, + 0.04995433986186981, + 0.00031657516956329346, + -0.08887207508087158, + 1.0 + ], + [ + 0.004948943853378296, + -0.0010689981281757355, + -0.010808142833411694, + 0.007853254675865173, + -0.022415757179260254, + -0.06057238578796387, + 1.0 + ], + [ + 0.01310199499130249, + 0.00213625468313694, + -0.00032907002605497837, + 0.009557858109474182, + -0.00030080974102020264, + 0.0139617919921875, + 1.0 + ], + [ + 0.02153763175010681, + 0.0015992950648069382, + -5.567213520407677e-05, + -0.007249936461448669, + 0.0036218613386154175, + 0.05036449432373047, + 1.0 + ], + [ + 0.018143057823181152, + 0.0027602482587099075, + -0.00034967297688126564, + -0.011830314993858337, + 0.0005670487880706787, + 0.053221821784973145, + 1.0 + ], + [ + 0.012429565191268921, + 0.0005641486495733261, + 0.0005641472525894642, + 0.0034255385398864746, + -0.0015202760696411133, + 0.021940112113952637, + 1.0 + ], + [ + 0.0038794875144958496, + -0.0001868121325969696, + 0.0005603623576462269, + 0.0023487061262130737, + -0.0002797842025756836, + -0.008605480194091797, + 1.0 + ], + [ + -0.0010899901390075684, + -0.003758629783987999, + 0.0001286771148443222, + -0.008923768997192383, + -0.012234866619110107, + -0.0453028678894043, + 1.0 + ], + [ + -0.0009026825428009033, + -0.006933445110917091, + 9.283097460865974e-05, + -0.005649834871292114, + -0.007487043738365173, + -0.026145339012145996, + 1.0 + ], + [ + -0.003847479820251465, + -0.017713302746415138, + -0.0003791786730289459, + -0.0068946704268455505, + -0.006824702024459839, + -0.04764425754547119, + 1.0 + ], + [ + -0.005713731050491333, + -0.015365231782197952, + -4.061032086610794e-06, + -0.008928239345550537, + -0.0009460300207138062, + -0.02193427085876465, + 1.0 + ], + [ + -0.0024374425411224365, + -0.011437997221946716, + -8.212774991989136e-05, + -0.002987287938594818, + 0.0010074228048324585, + -0.01508939266204834, + 1.0 + ], + [ + 0.00016126036643981934, + -0.0031335800886154175, + 0.0004420001059770584, + 0.007634252309799194, + -0.0010509788990020752, + -0.03902614116668701, + 1.0 + ], + [ + 0.006715208292007446, + -0.00027167797088623047, + -0.000641263322904706, + 0.027751952409744263, + 0.016472086310386658, + -0.0766291618347168, + 1.0 + ], + [ + 0.009835630655288696, + -0.0003160014748573303, + -0.0012470334768295288, + 0.02203749120235443, + 0.018747687339782715, + -0.08025884628295898, + 1.0 + ], + [ + 0.0003155171871185303, + -0.0015007704496383667, + -0.002327130176126957, + -0.009324997663497925, + 0.018825292587280273, + -0.12930500507354736, + 1.0 + ], + [ + -0.0038166940212249756, + 0.0027083903551101685, + -0.0018338346853852272, + -0.012388691306114197, + -0.010122060775756836, + -0.11859261989593506, + 1.0 + ], + [ + -0.0021915435791015625, + 0.003023289144039154, + -0.0004484041128307581, + -0.0006402581930160522, + 0.024364911019802094, + -0.049117326736450195, + 1.0 + ], + [ + -0.0051396191120147705, + 0.0033985376358032227, + 0.0005565397441387177, + 0.009274035692214966, + 0.02030303329229355, + -0.02347719669342041, + 1.0 + ], + [ + -0.019744575023651123, + 0.01158815249800682, + 0.012690417468547821, + -0.04185359925031662, + -0.07959134876728058, + 0.053542375564575195, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.002137303352356 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 0.9981546401977539 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2495468258857727, + -0.02022397518157959, + 0.07927548140287399 + ], + [ + 0.25909358263015747, + -0.01721934601664543, + 0.03656904026865959 + ], + [ + 0.26460230350494385, + -0.02252434380352497, + 0.014666857197880745 + ], + [ + 0.26955124735832214, + -0.023593341931700706, + 0.0038587141316384077 + ], + [ + 0.28265324234962463, + -0.021457087248563766, + 0.0035296441055834293 + ], + [ + 0.30419087409973145, + -0.01985779218375683, + 0.0034739719703793526 + ], + [ + 0.3223339319229126, + -0.01709754392504692, + 0.003124298993498087 + ], + [ + 0.3347634971141815, + -0.016533395275473595, + 0.003688446246087551 + ], + [ + 0.33864298462867737, + -0.016720207408070564, + 0.004248808603733778 + ], + [ + 0.3375529944896698, + -0.020478837192058563, + 0.0043774857185781 + ], + [ + 0.3366503119468689, + -0.027412282302975655, + 0.00447031669318676 + ], + [ + 0.33280283212661743, + -0.04512558504939079, + 0.004091138020157814 + ], + [ + 0.3270891010761261, + -0.060490816831588745, + 0.004087076988071203 + ], + [ + 0.32465165853500366, + -0.07192881405353546, + 0.004004949238151312 + ], + [ + 0.3248129189014435, + -0.07506239414215088, + 0.00444694934412837 + ], + [ + 0.3315281271934509, + -0.07533407211303711, + 0.0038056860212236643 + ], + [ + 0.3413637578487396, + -0.07565007358789444, + 0.0025586525443941355 + ], + [ + 0.34167927503585815, + -0.0771508440375328, + 0.00023152242647483945 + ], + [ + 0.3378625810146332, + -0.07444245368242264, + -0.0016023123171180487 + ], + [ + 0.3356710374355316, + -0.07141916453838348, + -0.0020507164299488068 + ], + [ + 0.33053141832351685, + -0.06802062690258026, + -0.0014941766858100891 + ], + [ + 0.3107868432998657, + -0.05643247440457344, + 0.011196240782737732 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.49945303038739014, + -0.8469635994206005, + 0.1822068376690437, + -0.8463494832065978, + -0.5219352816992961, + -0.10618904836847042, + 0.1850384357715382, + -0.1011742208963179, + -0.9775093627752347 + ], + [ + 0.4611249891115162, + -0.8752800159566434, + 0.14576912596239927, + -0.8758422793497171, + -0.47532320733155997, + -0.08347544714184307, + 0.14235183918866617, + -0.0891781488873625, + -0.9857906530499401 + ], + [ + 0.3815870039700557, + -0.9060096650839983, + 0.1831334081360855, + -0.9133544921648856, + -0.40002545118313776, + -0.07591580894616715, + 0.142038480854241, + -0.13829723489682805, + -0.9801525109780166 + ], + [ + 0.324467961806355, + -0.9260610861731302, + 0.19269511264448766, + -0.9315376396238688, + -0.3482028895727844, + -0.10484452135020801, + 0.1641894263502394, + -0.14548406225083668, + -0.9756414402359987 + ], + [ + 0.33742493926519285, + -0.919195912982449, + 0.20303517901645318, + -0.9268703890142851, + -0.3621015297217149, + -0.09896344851358961, + 0.1644861463175205, + -0.15479455975439294, + -0.9741575601205665 + ], + [ + 0.3838879048234114, + -0.9014917588126568, + 0.19985666194338925, + -0.9092509164731355, + -0.4067713997445429, + -0.08831647209115961, + 0.16091254588457277, + -0.14781622760281773, + -0.9758368282834058 + ], + [ + 0.43175333036441244, + -0.8809652607493377, + 0.19362146335592567, + -0.8876238064621533, + -0.4531330182996076, + -0.08242842912688042, + 0.16035286065697796, + -0.13627427152452154, + -0.9776074278561844 + ], + [ + 0.45101048381734477, + -0.8700408419682224, + 0.19904390669917793, + -0.8777203768035138, + -0.4728046325422749, + -0.07786346762418096, + 0.16185327809699152, + -0.1395876525835679, + -0.976892421720768 + ], + [ + 0.4434203057708266, + -0.8735911349424418, + 0.20054166993441205, + -0.8815285025450322, + -0.4655211720156085, + -0.07872444096928793, + 0.16212936695990435, + -0.14187518230892335, + -0.9765170254603808 + ], + [ + 0.40220289227656353, + -0.894832655916867, + 0.19366814748206077, + -0.8988274048092698, + -0.4261666422412999, + -0.10242699548756343, + 0.17418992453124402, + -0.13287780456322304, + -0.9757055699575861 + ], + [ + 0.37805597461816504, + -0.9063657105133862, + 0.18861304000803847, + -0.9078053392454635, + -0.402894126070753, + -0.11647226800879698, + 0.1815575558684855, + -0.12719088797256167, + -0.9751201628126726 + ], + [ + 0.33396249373935605, + -0.9254848570332469, + 0.17873676783902348, + -0.9235938018153388, + -0.3591702056251226, + -0.13405690075298565, + 0.18826455328520897, + -0.1203101940541928, + -0.974721455177305 + ], + [ + 0.3135684127410475, + -0.9346379849003782, + 0.16771013002326562, + -0.9305270758715997, + -0.3376405527442339, + -0.14183870491660128, + 0.18919358234599432, + -0.11158267931865067, + -0.9755793632888925 + ], + [ + 0.2995501401389324, + -0.9401499285045163, + 0.1624432992637693, + -0.9353335612668123, + -0.3229625950192406, + -0.14438244833212885, + 0.188204257950472, + -0.10868888697282057, + -0.9760972713505153 + ], + [ + 0.2627757829168024, + -0.9507782858933159, + 0.1642240511807862, + -0.9461175884288863, + -0.2872946186817163, + -0.1494098756509618, + 0.18923635162930558, + -0.11611396621550385, + -0.9750421273318065 + ], + [ + 0.1901514392078042, + -0.9658379251060529, + 0.1760668412678415, + -0.9663853498025394, + -0.21574898516837526, + -0.13982750475439248, + 0.1730369493900774, + -0.1435600147173674, + -0.9743966011435616 + ], + [ + 0.11241099306603797, + -0.9765203640518308, + 0.18377090964020196, + -0.9815703289910095, + -0.13789145685869242, + -0.13230886353479537, + 0.1545427380448169, + -0.1655111014931248, + -0.9740239306095841 + ], + [ + -0.015137784953961952, + -0.9876008514470409, + 0.15625429814173963, + -0.9906045265757699, + -0.006429513511197915, + -0.13660649063497768, + 0.13591732558538122, + -0.15685413471467488, + -0.9782245453006321 + ], + [ + -0.13204426681772152, + -0.9832667662079959, + 0.12550210385264635, + -0.9804418993038486, + 0.11091370880812268, + -0.16257869260111785, + 0.1459383215267058, + -0.1445151053326158, + -0.9786814551429237 + ], + [ + -0.18061589389744087, + -0.9760712434530445, + 0.12109015887204082, + -0.9759837507702005, + 0.162616993372306, + -0.1449532052045852, + 0.12179333768379767, + -0.1443628801686192, + -0.9820008868250891 + ], + [ + -0.20394233403954198, + -0.9702124127057271, + 0.13074937329958924, + -0.9736946957860871, + 0.18716043299126783, + -0.12996003893720587, + 0.10161773361250871, + -0.15381432493188862, + -0.9828606155814792 + ], + [ + -0.1498305917320507, + -0.9850926272716918, + 0.08451810147050956, + -0.9721160356514738, + 0.1311799330786091, + -0.19437653764473284, + 0.18039181525359224, + -0.11128495339643829, + -0.9772791065693907 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005804.json b/json/chunk-0005/episode_0005804.json new file mode 100644 index 0000000000000000000000000000000000000000..c8a94044fb91385f5d1cb0afb878ec933c7673ca --- /dev/null +++ b/json/chunk-0005/episode_0005804.json @@ -0,0 +1,2002 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 32, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut corn in bowl sink." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005804.mp4", + "start": 0, + "end": 32, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3248489797115326, + -0.06887413561344147, + 0.08413372933864594, + 0.019989818334579468, + -0.19261114299297333, + 0.3945850431919098, + 0.0, + 0.9994885921478271 + ], + [ + 0.3201490640640259, + -0.06902698427438736, + 0.07520614564418793, + 0.028389230370521545, + -0.1641521006822586, + 0.4113817811012268, + 0.0, + 0.9994885921478271 + ], + [ + 0.3175754249095917, + -0.05667402595281601, + 0.06777380406856537, + -0.033167049288749695, + -0.12549389898777008, + 0.6592021584510803, + 0.0, + 0.9994885921478271 + ], + [ + 0.3219868838787079, + -0.04259732365608215, + 0.06804364919662476, + -0.06025320664048195, + -0.12902164459228516, + 0.8367124199867249, + 0.0, + 0.9994885921478271 + ], + [ + 0.33290594816207886, + -0.03260629624128342, + 0.06602220982313156, + -0.09837266802787781, + -0.11190512031316757, + 1.0549557209014893, + 0.0, + 0.9994885921478271 + ], + [ + 0.3467875123023987, + -0.026755858212709427, + 0.057852815836668015, + -0.10072606056928635, + -0.04476314038038254, + 1.2171062231063843, + 0.0, + 0.9994885921478271 + ], + [ + 0.3550625145435333, + -0.027354951947927475, + 0.04508364945650101, + -0.12425070255994797, + -0.011311000213027, + 1.3217648267745972, + 0.0, + 0.9994885921478271 + ], + [ + 0.36658915877342224, + -0.02912902645766735, + 0.039918284863233566, + -0.1878221184015274, + 0.008480067364871502, + 1.4538840055465698, + 0.0, + 0.9994885921478271 + ], + [ + 0.36841925978660583, + -0.030127784237265587, + 0.02612159587442875, + -0.1795935034751892, + -0.002602348802611232, + 1.5083073377609253, + 0.0, + 0.9994885921478271 + ], + [ + 0.37081611156463623, + -0.03145129978656769, + 0.010860273614525795, + -0.15923884510993958, + -0.027364933863282204, + 1.5674513578414917, + 0.0, + 0.9994885921478271 + ], + [ + 0.3758484125137329, + -0.03570382297039032, + -0.0027248854748904705, + -0.12995675206184387, + -0.043283700942993164, + 1.6097594499588013, + 0.0, + 0.9994885921478271 + ], + [ + 0.3772294223308563, + -0.038848038762807846, + -0.00497794896364212, + -0.1362440437078476, + -0.04492508992552757, + 1.6346349716186523, + 0.0, + 0.9994885921478271 + ], + [ + 0.3776897192001343, + -0.04040440171957016, + -0.006979391444474459, + -0.13590577244758606, + -0.0590641088783741, + 1.6463063955307007, + 0.0, + 0.9823668599128723 + ], + [ + 0.3780341148376465, + -0.03878748044371605, + -0.007967839017510414, + -0.13165126740932465, + -0.0704476535320282, + 1.6488507986068726, + 0.0, + 0.8749077320098877 + ], + [ + 0.37856024503707886, + -0.03769958019256592, + -0.00925215519964695, + -0.12760089337825775, + -0.07707107067108154, + 1.6649175882339478, + 0.0, + 0.5769375562667847 + ], + [ + 0.37894144654273987, + -0.03684459626674652, + -0.008999151177704334, + -0.13077878952026367, + -0.0913117453455925, + 1.6491647958755493, + 0.0, + 0.5023775696754456 + ], + [ + 0.37874799966812134, + -0.03612111136317253, + -0.010074501857161522, + -0.1286878138780594, + -0.09686882793903351, + 1.643634557723999, + 0.0, + 0.5334634184837341 + ], + [ + 0.3782590329647064, + -0.035022612661123276, + -0.009694630280137062, + -0.1297808736562729, + -0.08907421678304672, + 1.6406420469284058, + 0.0, + 0.5334634184837341 + ], + [ + 0.37588807940483093, + -0.034579772502183914, + -0.0065378756262362, + -0.12446954101324081, + -0.05571383982896805, + 1.6029037237167358, + 0.0, + 0.5334634184837341 + ], + [ + 0.3676151931285858, + -0.0355917252600193, + -0.004906255751848221, + -0.06505785882472992, + 0.012973708100616932, + 1.5701510906219482, + 0.0, + 0.5334634184837341 + ], + [ + 0.35657548904418945, + -0.03358229249715805, + -0.003884079633280635, + -0.018872873857617378, + 0.03283418342471123, + 1.5367181301116943, + 0.0, + 0.5334634184837341 + ], + [ + 0.35176578164100647, + -0.03639623895287514, + 0.007758800406008959, + -0.02784445509314537, + 0.06640993803739548, + 1.519025206565857, + 0.0, + 0.5334634184837341 + ], + [ + 0.3528182804584503, + -0.02979062683880329, + 0.02621207758784294, + -0.06207215040922165, + 0.07507047802209854, + 1.517147183418274, + 0.0, + 0.5334634184837341 + ], + [ + 0.3530503809452057, + -0.02163221314549446, + 0.034729164093732834, + -0.0713966116309166, + 0.09039123356342316, + 1.5229439735412598, + 0.0, + 0.5334634184837341 + ], + [ + 0.3549730181694031, + -0.009166693314909935, + 0.035535912960767746, + -0.0815846249461174, + 0.07807616889476776, + 1.5299007892608643, + 0.0, + 0.5334634184837341 + ], + [ + 0.36563295125961304, + 0.008241952396929264, + 0.045007530599832535, + -0.10314283519983292, + 0.03654548525810242, + 1.5413682460784912, + 0.0, + 0.5334634184837341 + ], + [ + 0.3710991442203522, + 0.021024266257882118, + 0.041830044239759445, + -0.08566368371248245, + 0.020502565428614616, + 1.536426067352295, + 0.0, + 0.5334634184837341 + ], + [ + 0.3738445043563843, + 0.027623236179351807, + 0.039985742419958115, + -0.07990015298128128, + 0.008411063812673092, + 1.532633662223816, + 0.0, + 0.5334634184837341 + ], + [ + 0.3711303770542145, + 0.028809355571866035, + 0.031146422028541565, + -0.0453694611787796, + 0.0019269526237621903, + 1.4951211214065552, + 0.0, + 0.5998998284339905 + ], + [ + 0.37321487069129944, + 0.02967997081577778, + 0.034323472529649734, + -0.03075389377772808, + 0.006786550860852003, + 1.4871305227279663, + 0.0, + 0.8956556916236877 + ], + [ + 0.37403953075408936, + 0.03204846382141113, + 0.034018732607364655, + -0.035986244678497314, + -0.008208950981497765, + 1.5018917322158813, + 0.0, + 1.0060625076293945 + ], + [ + 0.37341874837875366, + 0.031990788877010345, + 0.03163846582174301, + -0.043585389852523804, + -0.009283020161092281, + 1.5034377574920654, + 0.0, + 1.0014774799346924 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9823668599128723 + ], + [ + 0.8749077320098877 + ], + [ + 0.5769375562667847 + ], + [ + 0.5023775696754456 + ], + [ + 0.5334634184837341 + ], + [ + 0.5334634184837341 + ], + [ + 0.5334634184837341 + ], + [ + 0.5334634184837341 + ], + [ + 0.5334634184837341 + ], + [ + 0.5334634184837341 + ], + [ + 0.5334634184837341 + ], + [ + 0.5334634184837341 + ], + [ + 0.5334634184837341 + ], + [ + 0.5334634184837341 + ], + [ + 0.5334634184837341 + ], + [ + 0.5334634184837341 + ], + [ + 0.5998998284339905 + ], + [ + 0.8956556916236877 + ], + [ + 1.0060625076293945 + ], + [ + 1.0014774799346924 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3248489797115326, + -0.06887413561344147, + 0.08413372933864594 + ], + [ + 0.3201490640640259, + -0.06902698427438736, + 0.07520614564418793 + ], + [ + 0.3175754249095917, + -0.05667402595281601, + 0.06777380406856537 + ], + [ + 0.3219868838787079, + -0.04259732365608215, + 0.06804364919662476 + ], + [ + 0.33290594816207886, + -0.03260629624128342, + 0.06602220982313156 + ], + [ + 0.3467875123023987, + -0.026755858212709427, + 0.057852815836668015 + ], + [ + 0.3550625145435333, + -0.027354951947927475, + 0.04508364945650101 + ], + [ + 0.36658915877342224, + -0.02912902645766735, + 0.039918284863233566 + ], + [ + 0.36841925978660583, + -0.030127784237265587, + 0.02612159587442875 + ], + [ + 0.37081611156463623, + -0.03145129978656769, + 0.010860273614525795 + ], + [ + 0.3758484125137329, + -0.03570382297039032, + -0.0027248854748904705 + ], + [ + 0.3772294223308563, + -0.038848038762807846, + -0.00497794896364212 + ], + [ + 0.3776897192001343, + -0.04040440171957016, + -0.006979391444474459 + ], + [ + 0.3780341148376465, + -0.03878748044371605, + -0.007967839017510414 + ], + [ + 0.37856024503707886, + -0.03769958019256592, + -0.00925215519964695 + ], + [ + 0.37894144654273987, + -0.03684459626674652, + -0.008999151177704334 + ], + [ + 0.37874799966812134, + -0.03612111136317253, + -0.010074501857161522 + ], + [ + 0.3782590329647064, + -0.035022612661123276, + -0.009694630280137062 + ], + [ + 0.37588807940483093, + -0.034579772502183914, + -0.0065378756262362 + ], + [ + 0.3676151931285858, + -0.0355917252600193, + -0.004906255751848221 + ], + [ + 0.35657548904418945, + -0.03358229249715805, + -0.003884079633280635 + ], + [ + 0.35176578164100647, + -0.03639623895287514, + 0.007758800406008959 + ], + [ + 0.3528182804584503, + -0.02979062683880329, + 0.02621207758784294 + ], + [ + 0.3530503809452057, + -0.02163221314549446, + 0.034729164093732834 + ], + [ + 0.3549730181694031, + -0.009166693314909935, + 0.035535912960767746 + ], + [ + 0.36563295125961304, + 0.008241952396929264, + 0.045007530599832535 + ], + [ + 0.3710991442203522, + 0.021024266257882118, + 0.041830044239759445 + ], + [ + 0.3738445043563843, + 0.027623236179351807, + 0.039985742419958115 + ], + [ + 0.3711303770542145, + 0.028809355571866035, + 0.031146422028541565 + ], + [ + 0.37321487069129944, + 0.02967997081577778, + 0.034323472529649734 + ], + [ + 0.37403953075408936, + 0.03204846382141113, + 0.034018732607364655 + ], + [ + 0.37341874837875366, + 0.031990788877010345, + 0.03163846582174301 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9060849294854365, + 0.38788056868732534, + 0.1689933874273457, + 0.37731626612337865, + -0.9215008220096192, + 0.09202537885989914, + 0.19142240171433333, + -0.0196188549715147, + -0.9813116552102717 + ], + [ + 0.9042479650881708, + 0.40396670179928396, + 0.13837095602513722, + 0.39450077945165896, + -0.914344950662488, + 0.09133699256076838, + 0.1634158885969647, + -0.02800383965496036, + -0.9861597397575321 + ], + [ + 0.7842647822276542, + 0.6088685563213522, + 0.11919661270591002, + 0.6076697567879722, + -0.7925885809371946, + 0.05040642868931519, + 0.12516476358247614, + 0.032900189834050894, + -0.9915903183604742 + ], + [ + 0.664339184603367, + 0.7359072070476966, + 0.1307441410381054, + 0.7362737451839929, + -0.6744438836895424, + 0.05501290672654563, + 0.12866398079210073, + 0.059716248785615614, + -0.9898886551919385 + ], + [ + 0.4901809434286656, + 0.8602627815529424, + 0.1402518783267378, + 0.864437431329466, + -0.5004220536247126, + 0.048225465913147254, + 0.1116717064251201, + 0.09759976906130455, + -0.9889407035122388 + ], + [ + 0.3460148963207249, + 0.9317876282982696, + 0.1097520262885539, + 0.9371612938832443, + -0.3488274492082646, + 0.006936852740149983, + 0.044748192938273375, + 0.1004550965812139, + -0.9939347930320266 + ], + [ + 0.24644968563914788, + 0.9613347170246701, + 0.12287438419565955, + 0.9690895826385498, + -0.24592391650882334, + -0.01966743781997133, + 0.011310759028744018, + 0.12392331956519997, + -0.9922273316121335 + ], + [ + 0.11664197329937293, + 0.975891504128037, + 0.18447336456937463, + 0.9931378254029274, + -0.11302216838732798, + -0.03005410466094008, + -0.008479965729449465, + 0.18671304620658813, + -0.9823778949861828 + ], + [ + 0.062448116914590956, + 0.9819669473158159, + 0.1784408783689419, + 0.9980448188783002, + -0.06190788235908651, + -0.008599628596325709, + 0.002602345865332756, + 0.1786290247442208, + -0.9839130547537858 + ], + [ + 0.0033437103735737828, + 0.9873282270492453, + 0.15865620590677063, + 0.9996200112528687, + -0.007641245334685409, + 0.026484797007904348, + 0.027361518666777357, + 0.15850736084336617, + -0.986978603544534 + ], + [ + -0.03891678206910487, + 0.9910333607454189, + 0.12782160209849647, + 0.9983051512378753, + 0.03302160981070623, + 0.0479207501760223, + 0.0432701870265091, + 0.1294698852055953, + -0.9906388038733093 + ], + [ + -0.06373092557990306, + 0.9891041492988591, + 0.1327077652758441, + 0.9969560987579674, + 0.05711673001273271, + 0.05306803465313035, + 0.04490997967069339, + 0.13568589091144403, + -0.9897335160201179 + ], + [ + -0.07530678468048091, + 0.9885591028181802, + 0.1306896645355023, + 0.9954116605914725, + 0.06676769340132838, + 0.06853977732961572, + 0.059029773331893895, + 0.13525152625083628, + -0.9890513184396471 + ], + [ + -0.07778182758390523, + 0.9890486243445369, + 0.12543048265827156, + 0.9944824382618389, + 0.06808850369792391, + 0.07980373207416983, + 0.07038939754320754, + 0.13094569235510245, + -0.9888875357527505 + ], + [ + -0.0937033687832588, + 0.9884007291889478, + 0.11951433896158536, + 0.9926184969238376, + 0.08346368532918136, + 0.08799052673971516, + 0.07699479361183922, + 0.12687715227741966, + -0.9889256746523687 + ], + [ + -0.07796212487904708, + 0.9893485403042254, + 0.12292832416592508, + 0.9927775277790173, + 0.06576515157263352, + 0.10033805447392058, + 0.09118490785939726, + 0.12986304569248114, + -0.9873301889146032 + ], + [ + -0.07243266962063871, + 0.9900048087806423, + 0.12101234219215498, + 0.99267278209349, + 0.05979296986673982, + 0.10500261161173834, + 0.09671740309994795, + 0.1277312778677132, + -0.9870817922502082 + ], + [ + -0.06951226719472287, + 0.9899760030589314, + 0.1229453458936624, + 0.9936069596958649, + 0.057717640861231934, + 0.09702516981358064, + 0.08895647448831231, + 0.12890379087085335, + -0.9876591306446441 + ], + [ + -0.03205207095546936, + 0.9919741784842718, + 0.12231064535811634, + 0.9979337869525714, + 0.024943886701403684, + 0.05921114231905095, + 0.05568502137886747, + 0.12395576524180263, + -0.9907240517204342 + ], + [ + 0.0006451818268006226, + 0.9978848203074371, + 0.06500360867217103, + 0.9999156344821636, + 0.00019955143429828404, + -0.012987844215177537, + -0.01297334415418851, + 0.0650065041301211, + -0.9978005044908717 + ], + [ + 0.03405323673055943, + 0.9992625187352514, + 0.017742483452254515, + 0.998880714015811, + -0.033446365790961885, + -0.03344637174105208, + -0.032828284076935055, + 0.01886158175387804, + -0.9992830152155623 + ], + [ + 0.051633927105152855, + 0.9983686694716252, + 0.024370830703043626, + 0.9964587986530404, + -0.049882862106624126, + -0.06768724144911471, + -0.06636113439837349, + 0.027779486775463953, + -0.99740889306034 + ], + [ + 0.053472382837299215, + 0.9968876219736373, + 0.05792903787779878, + 0.9957488168340338, + -0.04887441249478014, + -0.07807423119641602, + -0.07499998698214987, + 0.061857586107414646, + -0.9952631013926121 + ], + [ + 0.04763880990535063, + 0.9966185767133731, + 0.06694741474181669, + 0.9947774611556555, + -0.041280230229095105, + -0.09334744436213473, + -0.09026819244623656, + 0.07104474042491711, + -0.9933802385242247 + ], + [ + 0.04075958995032719, + 0.996100366503253, + 0.07824778386105359, + 0.9961200450909339, + -0.034397177217804054, + -0.08100425894656825, + -0.07799686913663197, + 0.0812458863668306, + -0.9936375568351625 + ], + [ + 0.02940418674432216, + 0.9943655072707501, + 0.10184611800205459, + 0.9988996024565787, + -0.02550720141307855, + -0.03935691664957185, + -0.036537350943845574, + 0.10289130491084289, + -0.9940213284229619 + ], + [ + 0.03435627064337193, + 0.9958049517535648, + 0.08480651349135726, + 0.9991993546707876, + -0.03248446650642872, + -0.023353994546415444, + -0.020501129065509258, + 0.08554096970968411, + -0.9961237102931373 + ], + [ + 0.03815205237277225, + 0.9961095105974757, + 0.0794371688632099, + 0.9992365468564487, + -0.03736084668181566, + -0.011423246544538086, + -0.008410964638178246, + 0.07981234260736081, + -0.9967744206395848 + ], + [ + 0.0756028570419966, + 0.996118532743672, + 0.045078561774765824, + 0.9971361466044991, + -0.07543805596398229, + -0.005348349942370184, + -0.0019269514312528734, + 0.04535381391866644, + -0.9989691278619238 + ], + [ + 0.08356630412811589, + 0.9960482869971881, + 0.030074620269161502, + 0.9964791097904995, + -0.08332076378069292, + -0.009329205439650767, + -0.006786498765968152, + 0.0307483380521449, + -0.9995041186215944 + ], + [ + 0.06884776303703477, + 0.9969607845098599, + 0.03645791648299971, + 0.9975934042295139, + -0.06910014826865829, + 0.005706956020478474, + 0.008208858785881123, + 0.0359772658596303, + -0.9993188935363423 + ], + [ + 0.06730474448737273, + 0.9967575061573596, + 0.04409699863313129, + 0.997689279977236, + -0.06764727590755898, + 0.006320338661081299, + 0.009282886835120026, + 0.04356971403678818, + -0.9990072612502667 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.004699915647506714, + -0.00015284866094589233, + -0.008927583694458008, + 0.008399412035942078, + 0.02845904231071472, + 0.016796737909317017, + 1.0 + ], + [ + -0.002573639154434204, + 0.01235295832157135, + -0.007432341575622559, + -0.06155627965927124, + 0.038658201694488525, + 0.24782037734985352, + 1.0 + ], + [ + 0.004411458969116211, + 0.014076702296733856, + 0.0002698451280593872, + -0.027086157351732254, + -0.0035277456045150757, + 0.17751026153564453, + 1.0 + ], + [ + 0.010919064283370972, + 0.009991027414798737, + -0.0020214393734931946, + -0.03811946138739586, + 0.017116524279117584, + 0.2182433009147644, + 1.0 + ], + [ + 0.013881564140319824, + 0.00585043802857399, + -0.008169393986463547, + -0.002353392541408539, + 0.06714197993278503, + 0.16215050220489502, + 1.0 + ], + [ + 0.008275002241134644, + -0.0005990937352180481, + -0.012769166380167007, + -0.02352464199066162, + 0.03345213830471039, + 0.10465860366821289, + 1.0 + ], + [ + 0.011526644229888916, + -0.0017740745097398758, + -0.005165364593267441, + -0.06357141584157944, + 0.019791066646575928, + 0.13211917877197266, + 1.0 + ], + [ + 0.0018301010131835938, + -0.000998757779598236, + -0.013796688988804817, + 0.008228614926338196, + -0.011082416400313377, + 0.05442333221435547, + 1.0 + ], + [ + 0.0023968517780303955, + -0.0013235155493021011, + -0.015261322259902954, + 0.020354658365249634, + -0.024762585759162903, + 0.059144020080566406, + 1.0 + ], + [ + 0.00503230094909668, + -0.004252523183822632, + -0.013585159555077553, + 0.029282093048095703, + -0.01591876707971096, + 0.04230809211730957, + 1.0 + ], + [ + 0.001381009817123413, + -0.0031442157924175262, + -0.00225306348875165, + -0.006287291646003723, + -0.0016413889825344086, + 0.024875521659851074, + 1.0 + ], + [ + 0.0004602968692779541, + -0.0015563629567623138, + -0.0020014424808323383, + 0.00033827126026153564, + -0.014139018952846527, + 0.01167142391204834, + 0.0 + ], + [ + 0.00034439563751220703, + 0.0016169212758541107, + -0.0009884475730359554, + 0.004254505038261414, + -0.011383544653654099, + 0.002544403076171875, + 0.0 + ], + [ + 0.000526130199432373, + 0.0010879002511501312, + -0.0012843161821365356, + 0.0040503740310668945, + -0.006623417139053345, + 0.016066789627075195, + 0.0 + ], + [ + 0.00038120150566101074, + 0.000854983925819397, + 0.0002530040219426155, + -0.0031778961420059204, + -0.014240674674510956, + -0.015752792358398438, + 0.0 + ], + [ + -0.00019344687461853027, + 0.0007234849035739899, + -0.0010753506794571877, + 0.0020909756422042847, + -0.0055570825934410095, + -0.005530238151550293, + 0.0 + ], + [ + -0.000488966703414917, + 0.0010984987020492554, + 0.00037987157702445984, + -0.001093059778213501, + 0.007794611155986786, + -0.0029925107955932617, + 0.0 + ], + [ + -0.0023709535598754883, + 0.00044284015893936157, + 0.0031567546539008617, + 0.005311332643032074, + 0.033360376954078674, + -0.03773832321166992, + 0.0 + ], + [ + -0.008272886276245117, + -0.0010119527578353882, + 0.0016316198743879795, + 0.059411682188510895, + 0.0686875507235527, + -0.0327526330947876, + 0.0 + ], + [ + -0.011039704084396362, + 0.002009432762861252, + 0.001022176118567586, + 0.04618498682975769, + 0.01986047625541687, + -0.033432960510253906, + 0.0 + ], + [ + -0.004809707403182983, + -0.002813946455717087, + 0.01164287980645895, + -0.008971581235527992, + 0.03357575461268425, + -0.017692923545837402, + 0.0 + ], + [ + 0.0010524988174438477, + 0.006605612114071846, + 0.01845327764749527, + -0.03422769531607628, + 0.008660539984703064, + -0.0018780231475830078, + 0.0 + ], + [ + 0.0002321004867553711, + 0.00815841369330883, + 0.008517086505889893, + -0.009324461221694946, + 0.015320755541324615, + 0.00579679012298584, + 0.0 + ], + [ + 0.0019226372241973877, + 0.012465519830584526, + 0.0008067488670349121, + -0.010188013315200806, + -0.012315064668655396, + 0.006956815719604492, + 0.0 + ], + [ + 0.010659933090209961, + 0.017408646643161774, + 0.009471617639064789, + -0.021558210253715515, + -0.041530683636665344, + 0.011467456817626953, + 0.0 + ], + [ + 0.005466192960739136, + 0.012782313860952854, + -0.0031774863600730896, + 0.017479151487350464, + -0.0160429198294878, + -0.004942178726196289, + 0.0 + ], + [ + 0.0027453601360321045, + 0.006598969921469688, + -0.0018443018198013306, + 0.005763530731201172, + -0.012091501615941525, + -0.003792405128479004, + 0.0 + ], + [ + -0.0027141273021698, + 0.0011861193925142288, + -0.00883932039141655, + 0.03453069180250168, + -0.006484111305326223, + -0.03751254081726074, + 1.0 + ], + [ + 0.002084493637084961, + 0.0008706152439117432, + 0.0031770505011081696, + 0.014615567401051521, + 0.004859598353505135, + -0.007990598678588867, + 1.0 + ], + [ + 0.000824660062789917, + 0.002368493005633354, + -0.00030473992228507996, + -0.005232350900769234, + -0.014995502308011055, + 0.014761209487915039, + 1.0 + ], + [ + -0.0006207823753356934, + -5.7674944400787354e-05, + -0.002380266785621643, + -0.007599145174026489, + -0.0010740691795945168, + 0.001546025276184082, + 1.0 + ], + [ + -0.0018231868743896484, + -0.004460299387574196, + 0.00356108695268631, + -0.005913838744163513, + 0.0077524324879050255, + -0.017589807510375977, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9823668599128723 + ], + [ + 0.8749077320098877 + ], + [ + 0.5769375562667847 + ], + [ + 0.5023775696754456 + ], + [ + 0.5334634184837341 + ], + [ + 0.5334634184837341 + ], + [ + 0.5334634184837341 + ], + [ + 0.5334634184837341 + ], + [ + 0.5334634184837341 + ], + [ + 0.5334634184837341 + ], + [ + 0.5334634184837341 + ], + [ + 0.5334634184837341 + ], + [ + 0.5334634184837341 + ], + [ + 0.5334634184837341 + ], + [ + 0.5334634184837341 + ], + [ + 0.5334634184837341 + ], + [ + 0.5998998284339905 + ], + [ + 0.8956556916236877 + ], + [ + 1.0060625076293945 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3201490640640259, + -0.06902698427438736, + 0.07520614564418793 + ], + [ + 0.3175754249095917, + -0.05667402595281601, + 0.06777380406856537 + ], + [ + 0.3219868838787079, + -0.04259732365608215, + 0.06804364919662476 + ], + [ + 0.33290594816207886, + -0.03260629624128342, + 0.06602220982313156 + ], + [ + 0.3467875123023987, + -0.026755858212709427, + 0.057852815836668015 + ], + [ + 0.3550625145435333, + -0.027354951947927475, + 0.04508364945650101 + ], + [ + 0.36658915877342224, + -0.02912902645766735, + 0.039918284863233566 + ], + [ + 0.36841925978660583, + -0.030127784237265587, + 0.02612159587442875 + ], + [ + 0.37081611156463623, + -0.03145129978656769, + 0.010860273614525795 + ], + [ + 0.3758484125137329, + -0.03570382297039032, + -0.0027248854748904705 + ], + [ + 0.3772294223308563, + -0.038848038762807846, + -0.00497794896364212 + ], + [ + 0.3776897192001343, + -0.04040440171957016, + -0.006979391444474459 + ], + [ + 0.3780341148376465, + -0.03878748044371605, + -0.007967839017510414 + ], + [ + 0.37856024503707886, + -0.03769958019256592, + -0.00925215519964695 + ], + [ + 0.37894144654273987, + -0.03684459626674652, + -0.008999151177704334 + ], + [ + 0.37874799966812134, + -0.03612111136317253, + -0.010074501857161522 + ], + [ + 0.3782590329647064, + -0.035022612661123276, + -0.009694630280137062 + ], + [ + 0.37588807940483093, + -0.034579772502183914, + -0.0065378756262362 + ], + [ + 0.3676151931285858, + -0.0355917252600193, + -0.004906255751848221 + ], + [ + 0.35657548904418945, + -0.03358229249715805, + -0.003884079633280635 + ], + [ + 0.35176578164100647, + -0.03639623895287514, + 0.007758800406008959 + ], + [ + 0.3528182804584503, + -0.02979062683880329, + 0.02621207758784294 + ], + [ + 0.3530503809452057, + -0.02163221314549446, + 0.034729164093732834 + ], + [ + 0.3549730181694031, + -0.009166693314909935, + 0.035535912960767746 + ], + [ + 0.36563295125961304, + 0.008241952396929264, + 0.045007530599832535 + ], + [ + 0.3710991442203522, + 0.021024266257882118, + 0.041830044239759445 + ], + [ + 0.3738445043563843, + 0.027623236179351807, + 0.039985742419958115 + ], + [ + 0.3711303770542145, + 0.028809355571866035, + 0.031146422028541565 + ], + [ + 0.37321487069129944, + 0.02967997081577778, + 0.034323472529649734 + ], + [ + 0.37403953075408936, + 0.03204846382141113, + 0.034018732607364655 + ], + [ + 0.37341874837875366, + 0.031990788877010345, + 0.03163846582174301 + ], + [ + 0.371595561504364, + 0.02753048948943615, + 0.03519955277442932 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9042479650881708, + 0.40396670179928396, + 0.13837095602513722, + 0.39450077945165896, + -0.914344950662488, + 0.09133699256076838, + 0.1634158885969647, + -0.02800383965496036, + -0.9861597397575321 + ], + [ + 0.7842647822276542, + 0.6088685563213522, + 0.11919661270591002, + 0.6076697567879722, + -0.7925885809371946, + 0.05040642868931519, + 0.12516476358247614, + 0.032900189834050894, + -0.9915903183604742 + ], + [ + 0.664339184603367, + 0.7359072070476966, + 0.1307441410381054, + 0.7362737451839929, + -0.6744438836895424, + 0.05501290672654563, + 0.12866398079210073, + 0.059716248785615614, + -0.9898886551919385 + ], + [ + 0.4901809434286656, + 0.8602627815529424, + 0.1402518783267378, + 0.864437431329466, + -0.5004220536247126, + 0.048225465913147254, + 0.1116717064251201, + 0.09759976906130455, + -0.9889407035122388 + ], + [ + 0.3460148963207249, + 0.9317876282982696, + 0.1097520262885539, + 0.9371612938832443, + -0.3488274492082646, + 0.006936852740149983, + 0.044748192938273375, + 0.1004550965812139, + -0.9939347930320266 + ], + [ + 0.24644968563914788, + 0.9613347170246701, + 0.12287438419565955, + 0.9690895826385498, + -0.24592391650882334, + -0.01966743781997133, + 0.011310759028744018, + 0.12392331956519997, + -0.9922273316121335 + ], + [ + 0.11664197329937293, + 0.975891504128037, + 0.18447336456937463, + 0.9931378254029274, + -0.11302216838732798, + -0.03005410466094008, + -0.008479965729449465, + 0.18671304620658813, + -0.9823778949861828 + ], + [ + 0.062448116914590956, + 0.9819669473158159, + 0.1784408783689419, + 0.9980448188783002, + -0.06190788235908651, + -0.008599628596325709, + 0.002602345865332756, + 0.1786290247442208, + -0.9839130547537858 + ], + [ + 0.0033437103735737828, + 0.9873282270492453, + 0.15865620590677063, + 0.9996200112528687, + -0.007641245334685409, + 0.026484797007904348, + 0.027361518666777357, + 0.15850736084336617, + -0.986978603544534 + ], + [ + -0.03891678206910487, + 0.9910333607454189, + 0.12782160209849647, + 0.9983051512378753, + 0.03302160981070623, + 0.0479207501760223, + 0.0432701870265091, + 0.1294698852055953, + -0.9906388038733093 + ], + [ + -0.06373092557990306, + 0.9891041492988591, + 0.1327077652758441, + 0.9969560987579674, + 0.05711673001273271, + 0.05306803465313035, + 0.04490997967069339, + 0.13568589091144403, + -0.9897335160201179 + ], + [ + -0.07530678468048091, + 0.9885591028181802, + 0.1306896645355023, + 0.9954116605914725, + 0.06676769340132838, + 0.06853977732961572, + 0.059029773331893895, + 0.13525152625083628, + -0.9890513184396471 + ], + [ + -0.07778182758390523, + 0.9890486243445369, + 0.12543048265827156, + 0.9944824382618389, + 0.06808850369792391, + 0.07980373207416983, + 0.07038939754320754, + 0.13094569235510245, + -0.9888875357527505 + ], + [ + -0.0937033687832588, + 0.9884007291889478, + 0.11951433896158536, + 0.9926184969238376, + 0.08346368532918136, + 0.08799052673971516, + 0.07699479361183922, + 0.12687715227741966, + -0.9889256746523687 + ], + [ + -0.07796212487904708, + 0.9893485403042254, + 0.12292832416592508, + 0.9927775277790173, + 0.06576515157263352, + 0.10033805447392058, + 0.09118490785939726, + 0.12986304569248114, + -0.9873301889146032 + ], + [ + -0.07243266962063871, + 0.9900048087806423, + 0.12101234219215498, + 0.99267278209349, + 0.05979296986673982, + 0.10500261161173834, + 0.09671740309994795, + 0.1277312778677132, + -0.9870817922502082 + ], + [ + -0.06951226719472287, + 0.9899760030589314, + 0.1229453458936624, + 0.9936069596958649, + 0.057717640861231934, + 0.09702516981358064, + 0.08895647448831231, + 0.12890379087085335, + -0.9876591306446441 + ], + [ + -0.03205207095546936, + 0.9919741784842718, + 0.12231064535811634, + 0.9979337869525714, + 0.024943886701403684, + 0.05921114231905095, + 0.05568502137886747, + 0.12395576524180263, + -0.9907240517204342 + ], + [ + 0.0006451818268006226, + 0.9978848203074371, + 0.06500360867217103, + 0.9999156344821636, + 0.00019955143429828404, + -0.012987844215177537, + -0.01297334415418851, + 0.0650065041301211, + -0.9978005044908717 + ], + [ + 0.03405323673055943, + 0.9992625187352514, + 0.017742483452254515, + 0.998880714015811, + -0.033446365790961885, + -0.03344637174105208, + -0.032828284076935055, + 0.01886158175387804, + -0.9992830152155623 + ], + [ + 0.051633927105152855, + 0.9983686694716252, + 0.024370830703043626, + 0.9964587986530404, + -0.049882862106624126, + -0.06768724144911471, + -0.06636113439837349, + 0.027779486775463953, + -0.99740889306034 + ], + [ + 0.053472382837299215, + 0.9968876219736373, + 0.05792903787779878, + 0.9957488168340338, + -0.04887441249478014, + -0.07807423119641602, + -0.07499998698214987, + 0.061857586107414646, + -0.9952631013926121 + ], + [ + 0.04763880990535063, + 0.9966185767133731, + 0.06694741474181669, + 0.9947774611556555, + -0.041280230229095105, + -0.09334744436213473, + -0.09026819244623656, + 0.07104474042491711, + -0.9933802385242247 + ], + [ + 0.04075958995032719, + 0.996100366503253, + 0.07824778386105359, + 0.9961200450909339, + -0.034397177217804054, + -0.08100425894656825, + -0.07799686913663197, + 0.0812458863668306, + -0.9936375568351625 + ], + [ + 0.02940418674432216, + 0.9943655072707501, + 0.10184611800205459, + 0.9988996024565787, + -0.02550720141307855, + -0.03935691664957185, + -0.036537350943845574, + 0.10289130491084289, + -0.9940213284229619 + ], + [ + 0.03435627064337193, + 0.9958049517535648, + 0.08480651349135726, + 0.9991993546707876, + -0.03248446650642872, + -0.023353994546415444, + -0.020501129065509258, + 0.08554096970968411, + -0.9961237102931373 + ], + [ + 0.03815205237277225, + 0.9961095105974757, + 0.0794371688632099, + 0.9992365468564487, + -0.03736084668181566, + -0.011423246544538086, + -0.008410964638178246, + 0.07981234260736081, + -0.9967744206395848 + ], + [ + 0.0756028570419966, + 0.996118532743672, + 0.045078561774765824, + 0.9971361466044991, + -0.07543805596398229, + -0.005348349942370184, + -0.0019269514312528734, + 0.04535381391866644, + -0.9989691278619238 + ], + [ + 0.08356630412811589, + 0.9960482869971881, + 0.030074620269161502, + 0.9964791097904995, + -0.08332076378069292, + -0.009329205439650767, + -0.006786498765968152, + 0.0307483380521449, + -0.9995041186215944 + ], + [ + 0.06884776303703477, + 0.9969607845098599, + 0.03645791648299971, + 0.9975934042295139, + -0.06910014826865829, + 0.005706956020478474, + 0.008208858785881123, + 0.0359772658596303, + -0.9993188935363423 + ], + [ + 0.06730474448737273, + 0.9967575061573596, + 0.04409699863313129, + 0.997689279977236, + -0.06764727590755898, + 0.006320338661081299, + 0.009282886835120026, + 0.04356971403678818, + -0.9990072612502667 + ], + [ + 0.08484614649444189, + 0.9951672102879363, + 0.04943030439689765, + 0.9963928887381179, + -0.08481778194871104, + -0.0026749088600290308, + 0.001530587191984907, + 0.04947895949822664, + -0.9987739933888049 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005805.json b/json/chunk-0005/episode_0005805.json new file mode 100644 index 0000000000000000000000000000000000000000..f026846febb52a7b8d56b7e26742d8eb737731ec --- /dev/null +++ b/json/chunk-0005/episode_0005805.json @@ -0,0 +1,2482 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 40, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nUnfold the cloth from bottom left to the top right." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005805.mp4", + "start": 0, + "end": 40, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3652586042881012, + 0.1389961838722229, + 0.16169169545173645, + 0.11967071890830994, + -0.33600953221321106, + -1.0483044385910034, + 0.0, + 1.0001531839370728 + ], + [ + 0.3642856776714325, + 0.13806860148906708, + 0.14716868102550507, + 0.07582207769155502, + -0.33837994933128357, + -1.0193392038345337, + 0.0, + 1.0001531839370728 + ], + [ + 0.3537282943725586, + 0.1332651823759079, + 0.13999798893928528, + 0.06321561336517334, + -0.36347901821136475, + -0.8480658531188965, + 0.0, + 1.0008161067962646 + ], + [ + 0.34957650303840637, + 0.1362023800611496, + 0.14950880408287048, + 0.10653848201036453, + -0.36171814799308777, + -0.7963008284568787, + 0.0, + 1.0008161067962646 + ], + [ + 0.3444824516773224, + 0.15080314874649048, + 0.14100348949432373, + 0.11869924515485764, + -0.3392038345336914, + -0.7191771268844604, + 0.0, + 1.0001531839370728 + ], + [ + 0.33694612979888916, + 0.16512659192085266, + 0.12624119222164154, + 0.14558713138103485, + -0.2833133935928345, + -0.6348406076431274, + 0.0, + 1.0001531839370728 + ], + [ + 0.3215749263763428, + 0.18337927758693695, + 0.12350312620401382, + 0.21189333498477936, + -0.21660935878753662, + -0.42784345149993896, + 0.0, + 1.0001531839370728 + ], + [ + 0.3110728859901428, + 0.18847636878490448, + 0.11392742395401001, + 0.20659229159355164, + -0.19387876987457275, + -0.25921714305877686, + 0.0, + 1.0001531839370728 + ], + [ + 0.30445078015327454, + 0.19190864264965057, + 0.11068718880414963, + 0.204008087515831, + -0.17971351742744446, + -0.12663862109184265, + 0.0, + 1.0001531839370728 + ], + [ + 0.30465051531791687, + 0.18948028981685638, + 0.1031457781791687, + 0.15792830288410187, + -0.18416817486286163, + -0.03302857652306557, + 0.0, + 1.0001531839370728 + ], + [ + 0.3053564131259918, + 0.1887621134519577, + 0.08988431096076965, + 0.11497274786233902, + -0.22093524038791656, + 0.042744819074869156, + 0.0, + 1.0001531839370728 + ], + [ + 0.3051159977912903, + 0.19121135771274567, + 0.07470915466547012, + 0.06484360247850418, + -0.24446049332618713, + 0.12214349955320358, + 0.0, + 1.0001531839370728 + ], + [ + 0.30604860186576843, + 0.1928175836801529, + 0.07080491632223129, + 0.06372156739234924, + -0.24592401087284088, + 0.13738249242305756, + 0.0, + 1.0008161067962646 + ], + [ + 0.3038182258605957, + 0.19500093162059784, + 0.05679916590452194, + 0.06891749054193497, + -0.21013060212135315, + 0.14975093305110931, + 0.0, + 1.0001531839370728 + ], + [ + 0.30050647258758545, + 0.19856087863445282, + 0.0427999347448349, + 0.07248686999082565, + -0.16434842348098755, + 0.1777421087026596, + 0.0, + 1.0008161067962646 + ], + [ + 0.30025362968444824, + 0.20121842622756958, + 0.03728216513991356, + 0.07310496270656586, + -0.1474858522415161, + 0.18544994294643402, + 0.0, + 0.9672539830207825 + ], + [ + 0.29974237084388733, + 0.2027917206287384, + 0.03423918038606644, + 0.08203865587711334, + -0.13397669792175293, + 0.18463242053985596, + 0.0, + 0.6971942782402039 + ], + [ + 0.3017275035381317, + 0.19913418591022491, + 0.033181946724653244, + 0.09522572159767151, + -0.12386345118284225, + 0.1647202968597412, + 0.0, + 0.39273425936698914 + ], + [ + 0.3017416000366211, + 0.19928841292858124, + 0.033272918313741684, + 0.10680992901325226, + -0.119001604616642, + 0.15164902806282043, + 0.0, + 0.16866940259933472 + ], + [ + 0.30183088779449463, + 0.19913363456726074, + 0.03326280042529106, + 0.10581813752651215, + -0.11934573948383331, + 0.15111052989959717, + 0.0, + 0.06296365708112717 + ], + [ + 0.30383458733558655, + 0.19761265814304352, + 0.03329997509717941, + 0.09634508192539215, + -0.1289481818675995, + 0.1358863264322281, + 0.0, + 0.05271430313587189 + ], + [ + 0.30886730551719666, + 0.19589951634407043, + 0.04809291288256645, + 0.10146763175725937, + -0.17603598535060883, + 0.0942208468914032, + 0.0, + 0.05271430313587189 + ], + [ + 0.3148919641971588, + 0.19155603647232056, + 0.07884779572486877, + 0.11379539966583252, + -0.261732816696167, + 0.02181018888950348, + 0.0, + 0.052190229296684265 + ], + [ + 0.31698834896087646, + 0.18255673348903656, + 0.10889341682195663, + 0.12857018411159515, + -0.32488059997558594, + -0.0709831640124321, + 0.0, + 0.052190229296684265 + ], + [ + 0.3180387318134308, + 0.16509805619716644, + 0.12672726809978485, + 0.09870341420173645, + -0.3619318902492523, + -0.18155927956104279, + 0.0, + 0.052190229296684265 + ], + [ + 0.3260219097137451, + 0.14096538722515106, + 0.14282944798469543, + 0.08194982260465622, + -0.4048149287700653, + -0.30463850498199463, + 0.0, + 0.052190229296684265 + ], + [ + 0.34458696842193604, + 0.10554267466068268, + 0.1555904895067215, + 0.06631451100111008, + -0.4550488293170929, + -0.46270930767059326, + 0.0, + 0.052190229296684265 + ], + [ + 0.36370909214019775, + 0.07624607533216476, + 0.14627254009246826, + 0.024458974599838257, + -0.48377883434295654, + -0.5522512793540955, + 0.0, + 0.052190229296684265 + ], + [ + 0.3870430290699005, + 0.062068093568086624, + 0.1279381513595581, + -0.0010212284978479147, + -0.5164444446563721, + -0.5808739066123962, + 0.0, + 0.052190229296684265 + ], + [ + 0.4075521230697632, + 0.0591670423746109, + 0.10457327961921692, + 0.0003202063380740583, + -0.5166279077529907, + -0.6129339337348938, + 0.0, + 0.052190229296684265 + ], + [ + 0.41787803173065186, + 0.05070118233561516, + 0.08271048963069916, + -0.0175472442060709, + -0.516605794429779, + -0.6317808628082275, + 0.0, + 0.052190229296684265 + ], + [ + 0.4226372539997101, + 0.03944586217403412, + 0.06451963633298874, + -0.050813693553209305, + -0.5276129245758057, + -0.6510568857192993, + 0.0, + 0.052190229296684265 + ], + [ + 0.42773881554603577, + 0.04008020833134651, + 0.06160227954387665, + -0.04996291548013687, + -0.5291534662246704, + -0.6645855903625488, + 0.0, + 0.06742517650127411 + ], + [ + 0.42954349517822266, + 0.03892150893807411, + 0.06441781669855118, + -0.05260561779141426, + -0.5202539563179016, + -0.6774289011955261, + 0.0, + 0.2044290155172348 + ], + [ + 0.4286893606185913, + 0.03940904140472412, + 0.06418707221746445, + -0.046896446496248245, + -0.5089080333709717, + -0.6899628639221191, + 0.0, + 0.4503740966320038 + ], + [ + 0.42829373478889465, + 0.04141608625650406, + 0.0632290169596672, + -0.03493427857756615, + -0.5018208622932434, + -0.7006795406341553, + 0.0, + 0.7584560513496399 + ], + [ + 0.42568400502204895, + 0.04155322536826134, + 0.06597307324409485, + -0.0242694690823555, + -0.4992440938949585, + -0.7272768020629883, + 0.0, + 0.9920742511749268 + ], + [ + 0.41820988059043884, + 0.05051855370402336, + 0.09492699056863785, + 0.04311317205429077, + -0.517469584941864, + -0.767015278339386, + 0.0, + 1.0041072368621826 + ], + [ + 0.41186437010765076, + 0.059640832245349884, + 0.11931890994310379, + 0.10160868614912033, + -0.5221279263496399, + -0.8098474144935608, + 0.0, + 0.9994885921478271 + ], + [ + 0.4050091803073883, + 0.06953483819961548, + 0.13407814502716064, + 0.12716276943683624, + -0.5227923393249512, + -0.8255856037139893, + 0.0, + 0.9994885921478271 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 0.9672539830207825 + ], + [ + 0.6971942782402039 + ], + [ + 0.39273425936698914 + ], + [ + 0.16866940259933472 + ], + [ + 0.06296365708112717 + ], + [ + 0.05271430313587189 + ], + [ + 0.05271430313587189 + ], + [ + 0.052190229296684265 + ], + [ + 0.052190229296684265 + ], + [ + 0.052190229296684265 + ], + [ + 0.052190229296684265 + ], + [ + 0.052190229296684265 + ], + [ + 0.052190229296684265 + ], + [ + 0.052190229296684265 + ], + [ + 0.052190229296684265 + ], + [ + 0.052190229296684265 + ], + [ + 0.052190229296684265 + ], + [ + 0.06742517650127411 + ], + [ + 0.2044290155172348 + ], + [ + 0.4503740966320038 + ], + [ + 0.7584560513496399 + ], + [ + 0.9920742511749268 + ], + [ + 1.0041072368621826 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3652586042881012, + 0.1389961838722229, + 0.16169169545173645 + ], + [ + 0.3642856776714325, + 0.13806860148906708, + 0.14716868102550507 + ], + [ + 0.3537282943725586, + 0.1332651823759079, + 0.13999798893928528 + ], + [ + 0.34957650303840637, + 0.1362023800611496, + 0.14950880408287048 + ], + [ + 0.3444824516773224, + 0.15080314874649048, + 0.14100348949432373 + ], + [ + 0.33694612979888916, + 0.16512659192085266, + 0.12624119222164154 + ], + [ + 0.3215749263763428, + 0.18337927758693695, + 0.12350312620401382 + ], + [ + 0.3110728859901428, + 0.18847636878490448, + 0.11392742395401001 + ], + [ + 0.30445078015327454, + 0.19190864264965057, + 0.11068718880414963 + ], + [ + 0.30465051531791687, + 0.18948028981685638, + 0.1031457781791687 + ], + [ + 0.3053564131259918, + 0.1887621134519577, + 0.08988431096076965 + ], + [ + 0.3051159977912903, + 0.19121135771274567, + 0.07470915466547012 + ], + [ + 0.30604860186576843, + 0.1928175836801529, + 0.07080491632223129 + ], + [ + 0.3038182258605957, + 0.19500093162059784, + 0.05679916590452194 + ], + [ + 0.30050647258758545, + 0.19856087863445282, + 0.0427999347448349 + ], + [ + 0.30025362968444824, + 0.20121842622756958, + 0.03728216513991356 + ], + [ + 0.29974237084388733, + 0.2027917206287384, + 0.03423918038606644 + ], + [ + 0.3017275035381317, + 0.19913418591022491, + 0.033181946724653244 + ], + [ + 0.3017416000366211, + 0.19928841292858124, + 0.033272918313741684 + ], + [ + 0.30183088779449463, + 0.19913363456726074, + 0.03326280042529106 + ], + [ + 0.30383458733558655, + 0.19761265814304352, + 0.03329997509717941 + ], + [ + 0.30886730551719666, + 0.19589951634407043, + 0.04809291288256645 + ], + [ + 0.3148919641971588, + 0.19155603647232056, + 0.07884779572486877 + ], + [ + 0.31698834896087646, + 0.18255673348903656, + 0.10889341682195663 + ], + [ + 0.3180387318134308, + 0.16509805619716644, + 0.12672726809978485 + ], + [ + 0.3260219097137451, + 0.14096538722515106, + 0.14282944798469543 + ], + [ + 0.34458696842193604, + 0.10554267466068268, + 0.1555904895067215 + ], + [ + 0.36370909214019775, + 0.07624607533216476, + 0.14627254009246826 + ], + [ + 0.3870430290699005, + 0.062068093568086624, + 0.1279381513595581 + ], + [ + 0.4075521230697632, + 0.0591670423746109, + 0.10457327961921692 + ], + [ + 0.41787803173065186, + 0.05070118233561516, + 0.08271048963069916 + ], + [ + 0.4226372539997101, + 0.03944586217403412, + 0.06451963633298874 + ], + [ + 0.42773881554603577, + 0.04008020833134651, + 0.06160227954387665 + ], + [ + 0.42954349517822266, + 0.03892150893807411, + 0.06441781669855118 + ], + [ + 0.4286893606185913, + 0.03940904140472412, + 0.06418707221746445 + ], + [ + 0.42829373478889465, + 0.04141608625650406, + 0.0632290169596672 + ], + [ + 0.42568400502204895, + 0.04155322536826134, + 0.06597307324409485 + ], + [ + 0.41820988059043884, + 0.05051855370402336, + 0.09492699056863785 + ], + [ + 0.41186437010765076, + 0.059640832245349884, + 0.11931890994310379 + ], + [ + 0.4050091803073883, + 0.06953483819961548, + 0.13407814502716064 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.47113368758370144, + -0.840736293001354, + 0.2668249127314098, + -0.81811745953534, + -0.5295839533350376, + -0.22410858701413894, + 0.329722414808615, + -0.11270901472541567, + -0.9373258809893182 + ], + [ + 0.494218833818837, + -0.8361402072956615, + 0.23794389683771472, + -0.8034617213428153, + -0.5438417811220007, + -0.24225065416400865, + 0.3319593448535361, + -0.07145397714346086, + -0.940583501085785 + ], + [ + 0.6182205344040634, + -0.7336486062099419, + 0.2820693061064323, + -0.7010015286325098, + -0.6769588459200016, + -0.22432917283658121, + 0.35552809691505294, + -0.059046113647467646, + -0.9327986539265006 + ], + [ + 0.6541003896460919, + -0.6844040173416553, + 0.3220928768405686, + -0.6685210596991588, + -0.7222877852587697, + -0.17714386245279537, + 0.35388172177091076, + -0.09945600189322037, + -0.9299872207099791 + ], + [ + 0.7094791796744833, + -0.6244857306798991, + 0.32658362755290526, + -0.6212292517068446, + -0.773011445910095, + -0.12855940772941638, + 0.3327363978169149, + -0.11167307942909441, + -0.9363843296951563 + ], + [ + 0.7730678712000876, + -0.5541228755365306, + 0.30872950187063647, + -0.569406976020028, + -0.8206985734555424, + -0.047218081152930136, + 0.27953848067465054, + -0.13928995058928, + -0.9499771299810031 + ], + [ + 0.8886007640393064, + -0.3645041600967753, + 0.27843383311103725, + -0.4052139054916027, + -0.9082669912722304, + 0.10417659699535324, + 0.2149194568786247, + -0.20539666462100636, + -0.9547888966769369 + ], + [ + 0.9484811908045861, + -0.2126728436975337, + 0.23484823236192004, + -0.25152152235996156, + -0.9561671116283442, + 0.14993791525173605, + 0.1926664331938528, + -0.20128267733193989, + -0.9603983180568595 + ], + [ + 0.9760159505320725, + -0.08775767713204706, + 0.19922714275761316, + -0.1242663259207611, + -0.9759943166642664, + 0.17886579908190064, + 0.1787477120108959, + -0.19933309796277954, + -0.9634913448015144 + ], + [ + 0.9825527512474268, + -0.003826167057054396, + 0.18594475378930056, + -0.03246412448681911, + -0.9879677052895647, + 0.15121472787455661, + 0.1831288389015133, + -0.15461298053696335, + -0.9708546001395163 + ], + [ + 0.9748017073027494, + 0.06756663321914606, + 0.2125944061236661, + 0.041693118476840554, + -0.9914162470474731, + 0.12391734730044855, + 0.2191422262169503, + -0.11193111795087742, + -0.9692513139134482 + ], + [ + 0.9630393071838917, + 0.13715039974784843, + 0.23182980970482564, + 0.11821747359738354, + -0.9885529477263567, + 0.09374272493256988, + 0.24203289395250022, + -0.06287159446472554, + -0.9682289196540461 + ], + [ + 0.960774130951623, + 0.1520294147097083, + 0.23194854247694174, + 0.13283027545290368, + -0.9864443445908984, + 0.09635181860110009, + 0.2434526385506221, + -0.06176254599396865, + -0.9679443169392977 + ], + [ + 0.9670581253647682, + 0.1630408971348148, + 0.1954897645081565, + 0.14591018596412803, + -0.9843179788841689, + 0.09913795477665331, + 0.20858763098010705, + -0.06734821680533883, + -0.9756820270432612 + ], + [ + 0.9709828732024304, + 0.18800588968941034, + 0.14780407771657417, + 0.17442525286312477, + -0.9795657395238939, + 0.10013387595934986, + 0.16360956913086966, + -0.07144751495399088, + -0.9839345311024058 + ], + [ + 0.9721831972362103, + 0.19444557693868986, + 0.1305785151568175, + 0.18238699322526852, + -0.978249099354404, + 0.09881135721435391, + 0.14695174620883217, + -0.07224691842062778, + -0.9865016812276082 + ], + [ + 0.9741946488995475, + 0.19372784999064016, + 0.11582014588788547, + 0.1819400221825794, + -0.9776881314680934, + 0.10499402799507432, + 0.13357624932483156, + -0.08121230032717924, + -0.9877053952934945 + ], + [ + 0.9789066849731186, + 0.17482158962028424, + 0.10573132893128812, + 0.16272015185544395, + -0.9800687953501261, + 0.11396187327827448, + 0.12354697201906883, + -0.09435342168458521, + -0.9878428911124126 + ], + [ + 0.9815321342001786, + 0.16271875990205942, + 0.10058466437971049, + 0.15000003260894323, + -0.9809779550465707, + 0.12321624052844926, + 0.11872093223083714, + -0.10585299659709513, + -0.9872692051115829 + ], + [ + 0.9815723180629483, + 0.16212625566663674, + 0.10114772185297582, + 0.1494652984790677, + -0.9811816722665162, + 0.12224013481196071, + 0.11906262622289934, + -0.1048694580504708, + -0.9873330176820316 + ], + [ + 0.9825558813235122, + 0.14709620576175578, + 0.11378333062039872, + 0.13434381933257036, + -0.9845110628004689, + 0.1126485926704309, + 0.12859112832428782, + -0.09539745003922362, + -0.9870986010740265 + ], + [ + 0.9801786837002077, + 0.1112582839029167, + 0.16392480679478164, + 0.09262753044431543, + -0.9887749412033701, + 0.11723590001385979, + 0.17512820624763994, + -0.09972818012603209, + -0.9794817004238692 + ], + [ + 0.9657133211331476, + 0.05104201207912682, + 0.2545436983877242, + 0.02106573026561604, + -0.992655225686554, + 0.11912950065182494, + 0.2587547417814073, + -0.1096827968283592, + -0.9596956119966092 + ], + [ + 0.9453023304049213, + -0.029515174670905912, + 0.32485744349663737, + -0.0672134757859188, + -0.9921513939198506, + 0.10544173848942814, + 0.31919563406130846, + -0.12150911902833944, + -0.939866842264986 + ], + [ + 0.9198427190655613, + -0.14536576745754923, + 0.36435993994064786, + -0.16886555367498576, + -0.9850763941153421, + 0.03330048856631963, + 0.35408162471966165, + -0.09215905494411715, + -0.9306626196574631 + ], + [ + 0.8768522849202194, + -0.2681864656366245, + 0.3990063784947877, + -0.27570511058906877, + -0.9604242113527318, + -0.03964878614222851, + 0.39384865421283277, + -0.07524196898552307, + -0.9160905433841797 + ], + [ + 0.8037864606314363, + -0.4193312679286094, + 0.4220054661292597, + -0.4009509297386019, + -0.9058798704051694, + -0.13645516603069624, + 0.4395061747545075, + -0.0595226690606104, + -0.8962652365346778 + ], + [ + 0.7536482919310741, + -0.5147638538603425, + 0.4086960078447337, + -0.4644033761206154, + -0.8570586051147343, + -0.22311443621281052, + 0.4651276774361518, + -0.02164999209316261, + -0.8849788254671505 + ], + [ + 0.7269547664049025, + -0.549175996042399, + 0.4122408191482648, + -0.4771863333510158, + -0.8357062502791329, + -0.2718239623495402, + 0.4937914244538949, + 0.0008880401060853138, + -0.8695799218706486 + ], + [ + 0.7112111003592361, + -0.5751403802837763, + 0.4042181511174848, + -0.5001911911394424, + -0.8180546836559838, + -0.2838931257621677, + 0.49395095205122375, + -0.00027841612990359144, + -0.8694897236035329 + ], + [ + 0.7016670951477112, + -0.5974857140494264, + 0.388167630146847, + -0.5135121605168954, + -0.8017344067362935, + -0.3058221739123461, + 0.49393172462218143, + 0.015256558001403464, + -0.8693668321541298 + ], + [ + 0.6872724265480328, + -0.6255865246244138, + 0.3691857417549154, + -0.5236145886133649, + -0.7789195284432482, + -0.345126253421853, + 0.5034723173105311, + 0.04388471736374819, + -0.8628961451321174 + ], + [ + 0.6795145686069729, + -0.6358087067195497, + 0.36606999263869383, + -0.532385311285996, + -0.770641721415569, + -0.35025307641841186, + 0.5048027648278016, + 0.04311178114230893, + -0.8621574931234692 + ], + [ + 0.6760949365647297, + -0.6462912121031014, + 0.3538407917550469, + -0.5438627765596517, + -0.761725722605296, + -0.35211816737320784, + 0.4971005099819963, + 0.04562447456951252, + -0.8664926371850458 + ], + [ + 0.6735320953710476, + -0.6534250766330243, + 0.3455288493486644, + -0.5558483074174856, + -0.7558833916652186, + -0.34593779404078107, + 0.4872239481452056, + 0.04093858121395874, + -0.8723169475150564 + ], + [ + 0.6701594179955693, + -0.657186474515205, + 0.3449525941141998, + -0.5652464211420356, + -0.7531057667556916, + -0.3366425217726403, + 0.48102269994040886, + 0.030620937177000734, + -0.8761732250807724 + ], + [ + 0.6558138615771841, + -0.6733207417901853, + 0.3413903303234234, + -0.5836909250486647, + -0.7390434823573286, + -0.3363326258348819, + 0.47876203168072523, + 0.021305160414019947, + -0.8776861666681758 + ], + [ + 0.6257202446804144, + -0.6779938917175535, + 0.38574403195742174, + -0.6031279250867655, + -0.7341125677126827, + -0.3119542336735067, + 0.49468260670617387, + -0.03745691818580493, + -0.8682661446252564 + ], + [ + 0.5977253704822926, + -0.6855610933476857, + 0.41560843202434183, + -0.6276918756533016, + -0.7226868339897005, + -0.2893555757485645, + 0.4987256667955302, + -0.08791886751925906, + -0.8622893841475058 + ], + [ + 0.587548187180746, + -0.6860708070020031, + 0.42906173858809576, + -0.6367771953889484, + -0.7191891770948431, + -0.2779959190028289, + 0.4993014431915896, + -0.10988073229307622, + -0.8594325415630555 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0009729266166687012, + -0.0009275823831558228, + -0.014523014426231384, + -0.04384864121675491, + -0.0023704171180725098, + 0.028965234756469727, + 1.0 + ], + [ + -0.010557383298873901, + -0.00480341911315918, + -0.007170692086219788, + -0.012606464326381683, + -0.025099068880081177, + 0.1712733507156372, + 1.0 + ], + [ + -0.004151791334152222, + 0.0029371976852416992, + 0.009510815143585205, + 0.04332286864519119, + 0.0017608702182769775, + 0.05176502466201782, + 1.0 + ], + [ + -0.005094051361083984, + 0.014600768685340881, + -0.008505314588546753, + 0.012160763144493103, + 0.022514313459396362, + 0.07712370157241821, + 1.0 + ], + [ + -0.0075363218784332275, + 0.014323443174362183, + -0.01476229727268219, + 0.026887886226177216, + 0.055890440940856934, + 0.08433651924133301, + 1.0 + ], + [ + -0.015371203422546387, + 0.01825268566608429, + -0.002738066017627716, + 0.0663062036037445, + 0.06670403480529785, + 0.20699715614318848, + 1.0 + ], + [ + -0.010502040386199951, + 0.005097091197967529, + -0.009575702250003815, + -0.005301043391227722, + 0.022730588912963867, + 0.1686263084411621, + 1.0 + ], + [ + -0.006622105836868286, + 0.0034322738647460938, + -0.003240235149860382, + -0.002584204077720642, + 0.014165252447128296, + 0.1325785219669342, + 1.0 + ], + [ + 0.00019973516464233398, + -0.0024283528327941895, + -0.0075414106249809265, + -0.046079784631729126, + -0.004454657435417175, + 0.09361004829406738, + 1.0 + ], + [ + 0.0007058978080749512, + -0.0007181763648986816, + -0.013261467218399048, + -0.04295555502176285, + -0.03676706552505493, + 0.07577339559793472, + 1.0 + ], + [ + -0.00024041533470153809, + 0.002449244260787964, + -0.01517515629529953, + -0.05012914538383484, + -0.02352525293827057, + 0.07939867675304413, + 1.0 + ], + [ + 0.0009326040744781494, + 0.0016062259674072266, + -0.0039042383432388306, + -0.0011220350861549377, + -0.0014635175466537476, + 0.015238992869853973, + 1.0 + ], + [ + -0.0022303760051727295, + 0.0021833479404449463, + -0.01400575041770935, + 0.005195923149585724, + 0.03579340875148773, + 0.012368440628051758, + 1.0 + ], + [ + -0.003311753273010254, + 0.0035599470138549805, + -0.013999231159687042, + 0.003569379448890686, + 0.0457821786403656, + 0.027991175651550293, + 1.0 + ], + [ + -0.00025284290313720703, + 0.0026575475931167603, + -0.005517769604921341, + 0.0006180927157402039, + 0.016862571239471436, + 0.007707834243774414, + 0.0 + ], + [ + -0.0005112588405609131, + 0.0015732944011688232, + -0.003042984753847122, + 0.008933693170547485, + 0.013509154319763184, + -0.000817522406578064, + 0.0 + ], + [ + 0.0019851326942443848, + -0.0036575347185134888, + -0.0010572336614131927, + 0.013187065720558167, + 0.010113246738910675, + -0.019912123680114746, + 0.0 + ], + [ + 1.4096498489379883e-05, + 0.00015422701835632324, + 9.097158908843994e-05, + 0.01158420741558075, + 0.004861846566200256, + -0.013071268796920776, + 0.0 + ], + [ + 8.928775787353516e-05, + -0.0001547783613204956, + -1.0117888450622559e-05, + -0.0009917914867401123, + -0.0003441348671913147, + -0.0005384981632232666, + 0.0 + ], + [ + 0.002003699541091919, + -0.0015209764242172241, + 3.717467188835144e-05, + -0.009473055601119995, + -0.009602442383766174, + -0.01522420346736908, + 0.0 + ], + [ + 0.005032718181610107, + -0.0017131417989730835, + 0.01479293778538704, + 0.005122549831867218, + -0.04708780348300934, + -0.04166547954082489, + 0.0 + ], + [ + 0.006024658679962158, + -0.004343479871749878, + 0.030754882842302322, + 0.01232776790857315, + -0.08569683134555817, + -0.07241065800189972, + 0.0 + ], + [ + 0.0020963847637176514, + -0.008999302983283997, + 0.03004562109708786, + 0.014774784445762634, + -0.06314778327941895, + -0.09279335290193558, + 0.0 + ], + [ + 0.0010503828525543213, + -0.017458677291870117, + 0.017833851277828217, + -0.029866769909858704, + -0.03705129027366638, + -0.11057611554861069, + 0.0 + ], + [ + 0.007983177900314331, + -0.02413266897201538, + 0.016102179884910583, + -0.01675359159708023, + -0.04288303852081299, + -0.12307922542095184, + 0.0 + ], + [ + 0.018565058708190918, + -0.035422712564468384, + 0.012761041522026062, + -0.015635311603546143, + -0.05023390054702759, + -0.15807080268859863, + 0.0 + ], + [ + 0.01912212371826172, + -0.029296599328517914, + -0.009317949414253235, + -0.04185553640127182, + -0.028730005025863647, + -0.0895419716835022, + 0.0 + ], + [ + 0.02333393692970276, + -0.01417798176407814, + -0.018334388732910156, + -0.025480203330516815, + -0.03266561031341553, + -0.02862262725830078, + 0.0 + ], + [ + 0.02050909399986267, + -0.0029010511934757233, + -0.023364871740341187, + 0.001341434894129634, + -0.00018346309661865234, + -0.03206002712249756, + 0.0 + ], + [ + 0.010325908660888672, + -0.008465860038995743, + -0.02186278998851776, + -0.017867449671030045, + 2.2113323211669922e-05, + -0.01884692907333374, + 0.0 + ], + [ + 0.0047592222690582275, + -0.01125532016158104, + -0.01819085329771042, + -0.033266447484493256, + -0.011007130146026611, + -0.019276022911071777, + 0.0 + ], + [ + 0.005101561546325684, + 0.0006343461573123932, + -0.002917356789112091, + 0.0008507780730724335, + -0.001540541648864746, + -0.013528704643249512, + 1.0 + ], + [ + 0.0018046796321868896, + -0.0011586993932724, + 0.00281553715467453, + -0.0026427023112773895, + 0.008899509906768799, + -0.012843310832977295, + 1.0 + ], + [ + -0.0008541345596313477, + 0.00048753246665000916, + -0.00023074448108673096, + 0.005709171295166016, + 0.011345922946929932, + -0.012533962726593018, + 1.0 + ], + [ + -0.0003956258296966553, + 0.0020070448517799377, + -0.0009580552577972412, + 0.011962167918682098, + 0.0070871710777282715, + -0.010716676712036133, + 1.0 + ], + [ + -0.002609729766845703, + 0.00013713911175727844, + 0.002744056284427643, + 0.010664809495210648, + 0.002576768398284912, + -0.026597261428833008, + 1.0 + ], + [ + -0.007474124431610107, + 0.008965328335762024, + 0.028953917324543, + 0.06738264113664627, + -0.018225491046905518, + -0.039738476276397705, + 1.0 + ], + [ + -0.006345510482788086, + 0.009122278541326523, + 0.024391919374465942, + 0.05849551409482956, + -0.004658341407775879, + -0.042832136154174805, + 1.0 + ], + [ + -0.006855189800262451, + 0.009894005954265594, + 0.014759235084056854, + 0.025554083287715912, + -0.0006644129753112793, + -0.015738189220428467, + 1.0 + ], + [ + -0.000970989465713501, + 0.0037408173084259033, + 0.00047335028648376465, + 0.0007949322462081909, + 0.0010941624641418457, + 0.007691383361816406, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 0.9672539830207825 + ], + [ + 0.6971942782402039 + ], + [ + 0.39273425936698914 + ], + [ + 0.16866940259933472 + ], + [ + 0.06296365708112717 + ], + [ + 0.05271430313587189 + ], + [ + 0.05271430313587189 + ], + [ + 0.052190229296684265 + ], + [ + 0.052190229296684265 + ], + [ + 0.052190229296684265 + ], + [ + 0.052190229296684265 + ], + [ + 0.052190229296684265 + ], + [ + 0.052190229296684265 + ], + [ + 0.052190229296684265 + ], + [ + 0.052190229296684265 + ], + [ + 0.052190229296684265 + ], + [ + 0.052190229296684265 + ], + [ + 0.06742517650127411 + ], + [ + 0.2044290155172348 + ], + [ + 0.4503740966320038 + ], + [ + 0.7584560513496399 + ], + [ + 0.9920742511749268 + ], + [ + 1.0041072368621826 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3642856776714325, + 0.13806860148906708, + 0.14716868102550507 + ], + [ + 0.3537282943725586, + 0.1332651823759079, + 0.13999798893928528 + ], + [ + 0.34957650303840637, + 0.1362023800611496, + 0.14950880408287048 + ], + [ + 0.3444824516773224, + 0.15080314874649048, + 0.14100348949432373 + ], + [ + 0.33694612979888916, + 0.16512659192085266, + 0.12624119222164154 + ], + [ + 0.3215749263763428, + 0.18337927758693695, + 0.12350312620401382 + ], + [ + 0.3110728859901428, + 0.18847636878490448, + 0.11392742395401001 + ], + [ + 0.30445078015327454, + 0.19190864264965057, + 0.11068718880414963 + ], + [ + 0.30465051531791687, + 0.18948028981685638, + 0.1031457781791687 + ], + [ + 0.3053564131259918, + 0.1887621134519577, + 0.08988431096076965 + ], + [ + 0.3051159977912903, + 0.19121135771274567, + 0.07470915466547012 + ], + [ + 0.30604860186576843, + 0.1928175836801529, + 0.07080491632223129 + ], + [ + 0.3038182258605957, + 0.19500093162059784, + 0.05679916590452194 + ], + [ + 0.30050647258758545, + 0.19856087863445282, + 0.0427999347448349 + ], + [ + 0.30025362968444824, + 0.20121842622756958, + 0.03728216513991356 + ], + [ + 0.29974237084388733, + 0.2027917206287384, + 0.03423918038606644 + ], + [ + 0.3017275035381317, + 0.19913418591022491, + 0.033181946724653244 + ], + [ + 0.3017416000366211, + 0.19928841292858124, + 0.033272918313741684 + ], + [ + 0.30183088779449463, + 0.19913363456726074, + 0.03326280042529106 + ], + [ + 0.30383458733558655, + 0.19761265814304352, + 0.03329997509717941 + ], + [ + 0.30886730551719666, + 0.19589951634407043, + 0.04809291288256645 + ], + [ + 0.3148919641971588, + 0.19155603647232056, + 0.07884779572486877 + ], + [ + 0.31698834896087646, + 0.18255673348903656, + 0.10889341682195663 + ], + [ + 0.3180387318134308, + 0.16509805619716644, + 0.12672726809978485 + ], + [ + 0.3260219097137451, + 0.14096538722515106, + 0.14282944798469543 + ], + [ + 0.34458696842193604, + 0.10554267466068268, + 0.1555904895067215 + ], + [ + 0.36370909214019775, + 0.07624607533216476, + 0.14627254009246826 + ], + [ + 0.3870430290699005, + 0.062068093568086624, + 0.1279381513595581 + ], + [ + 0.4075521230697632, + 0.0591670423746109, + 0.10457327961921692 + ], + [ + 0.41787803173065186, + 0.05070118233561516, + 0.08271048963069916 + ], + [ + 0.4226372539997101, + 0.03944586217403412, + 0.06451963633298874 + ], + [ + 0.42773881554603577, + 0.04008020833134651, + 0.06160227954387665 + ], + [ + 0.42954349517822266, + 0.03892150893807411, + 0.06441781669855118 + ], + [ + 0.4286893606185913, + 0.03940904140472412, + 0.06418707221746445 + ], + [ + 0.42829373478889465, + 0.04141608625650406, + 0.0632290169596672 + ], + [ + 0.42568400502204895, + 0.04155322536826134, + 0.06597307324409485 + ], + [ + 0.41820988059043884, + 0.05051855370402336, + 0.09492699056863785 + ], + [ + 0.41186437010765076, + 0.059640832245349884, + 0.11931890994310379 + ], + [ + 0.4050091803073883, + 0.06953483819961548, + 0.13407814502716064 + ], + [ + 0.4040381908416748, + 0.07327565550804138, + 0.1345514953136444 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.494218833818837, + -0.8361402072956615, + 0.23794389683771472, + -0.8034617213428153, + -0.5438417811220007, + -0.24225065416400865, + 0.3319593448535361, + -0.07145397714346086, + -0.940583501085785 + ], + [ + 0.6182205344040634, + -0.7336486062099419, + 0.2820693061064323, + -0.7010015286325098, + -0.6769588459200016, + -0.22432917283658121, + 0.35552809691505294, + -0.059046113647467646, + -0.9327986539265006 + ], + [ + 0.6541003896460919, + -0.6844040173416553, + 0.3220928768405686, + -0.6685210596991588, + -0.7222877852587697, + -0.17714386245279537, + 0.35388172177091076, + -0.09945600189322037, + -0.9299872207099791 + ], + [ + 0.7094791796744833, + -0.6244857306798991, + 0.32658362755290526, + -0.6212292517068446, + -0.773011445910095, + -0.12855940772941638, + 0.3327363978169149, + -0.11167307942909441, + -0.9363843296951563 + ], + [ + 0.7730678712000876, + -0.5541228755365306, + 0.30872950187063647, + -0.569406976020028, + -0.8206985734555424, + -0.047218081152930136, + 0.27953848067465054, + -0.13928995058928, + -0.9499771299810031 + ], + [ + 0.8886007640393064, + -0.3645041600967753, + 0.27843383311103725, + -0.4052139054916027, + -0.9082669912722304, + 0.10417659699535324, + 0.2149194568786247, + -0.20539666462100636, + -0.9547888966769369 + ], + [ + 0.9484811908045861, + -0.2126728436975337, + 0.23484823236192004, + -0.25152152235996156, + -0.9561671116283442, + 0.14993791525173605, + 0.1926664331938528, + -0.20128267733193989, + -0.9603983180568595 + ], + [ + 0.9760159505320725, + -0.08775767713204706, + 0.19922714275761316, + -0.1242663259207611, + -0.9759943166642664, + 0.17886579908190064, + 0.1787477120108959, + -0.19933309796277954, + -0.9634913448015144 + ], + [ + 0.9825527512474268, + -0.003826167057054396, + 0.18594475378930056, + -0.03246412448681911, + -0.9879677052895647, + 0.15121472787455661, + 0.1831288389015133, + -0.15461298053696335, + -0.9708546001395163 + ], + [ + 0.9748017073027494, + 0.06756663321914606, + 0.2125944061236661, + 0.041693118476840554, + -0.9914162470474731, + 0.12391734730044855, + 0.2191422262169503, + -0.11193111795087742, + -0.9692513139134482 + ], + [ + 0.9630393071838917, + 0.13715039974784843, + 0.23182980970482564, + 0.11821747359738354, + -0.9885529477263567, + 0.09374272493256988, + 0.24203289395250022, + -0.06287159446472554, + -0.9682289196540461 + ], + [ + 0.960774130951623, + 0.1520294147097083, + 0.23194854247694174, + 0.13283027545290368, + -0.9864443445908984, + 0.09635181860110009, + 0.2434526385506221, + -0.06176254599396865, + -0.9679443169392977 + ], + [ + 0.9670581253647682, + 0.1630408971348148, + 0.1954897645081565, + 0.14591018596412803, + -0.9843179788841689, + 0.09913795477665331, + 0.20858763098010705, + -0.06734821680533883, + -0.9756820270432612 + ], + [ + 0.9709828732024304, + 0.18800588968941034, + 0.14780407771657417, + 0.17442525286312477, + -0.9795657395238939, + 0.10013387595934986, + 0.16360956913086966, + -0.07144751495399088, + -0.9839345311024058 + ], + [ + 0.9721831972362103, + 0.19444557693868986, + 0.1305785151568175, + 0.18238699322526852, + -0.978249099354404, + 0.09881135721435391, + 0.14695174620883217, + -0.07224691842062778, + -0.9865016812276082 + ], + [ + 0.9741946488995475, + 0.19372784999064016, + 0.11582014588788547, + 0.1819400221825794, + -0.9776881314680934, + 0.10499402799507432, + 0.13357624932483156, + -0.08121230032717924, + -0.9877053952934945 + ], + [ + 0.9789066849731186, + 0.17482158962028424, + 0.10573132893128812, + 0.16272015185544395, + -0.9800687953501261, + 0.11396187327827448, + 0.12354697201906883, + -0.09435342168458521, + -0.9878428911124126 + ], + [ + 0.9815321342001786, + 0.16271875990205942, + 0.10058466437971049, + 0.15000003260894323, + -0.9809779550465707, + 0.12321624052844926, + 0.11872093223083714, + -0.10585299659709513, + -0.9872692051115829 + ], + [ + 0.9815723180629483, + 0.16212625566663674, + 0.10114772185297582, + 0.1494652984790677, + -0.9811816722665162, + 0.12224013481196071, + 0.11906262622289934, + -0.1048694580504708, + -0.9873330176820316 + ], + [ + 0.9825558813235122, + 0.14709620576175578, + 0.11378333062039872, + 0.13434381933257036, + -0.9845110628004689, + 0.1126485926704309, + 0.12859112832428782, + -0.09539745003922362, + -0.9870986010740265 + ], + [ + 0.9801786837002077, + 0.1112582839029167, + 0.16392480679478164, + 0.09262753044431543, + -0.9887749412033701, + 0.11723590001385979, + 0.17512820624763994, + -0.09972818012603209, + -0.9794817004238692 + ], + [ + 0.9657133211331476, + 0.05104201207912682, + 0.2545436983877242, + 0.02106573026561604, + -0.992655225686554, + 0.11912950065182494, + 0.2587547417814073, + -0.1096827968283592, + -0.9596956119966092 + ], + [ + 0.9453023304049213, + -0.029515174670905912, + 0.32485744349663737, + -0.0672134757859188, + -0.9921513939198506, + 0.10544173848942814, + 0.31919563406130846, + -0.12150911902833944, + -0.939866842264986 + ], + [ + 0.9198427190655613, + -0.14536576745754923, + 0.36435993994064786, + -0.16886555367498576, + -0.9850763941153421, + 0.03330048856631963, + 0.35408162471966165, + -0.09215905494411715, + -0.9306626196574631 + ], + [ + 0.8768522849202194, + -0.2681864656366245, + 0.3990063784947877, + -0.27570511058906877, + -0.9604242113527318, + -0.03964878614222851, + 0.39384865421283277, + -0.07524196898552307, + -0.9160905433841797 + ], + [ + 0.8037864606314363, + -0.4193312679286094, + 0.4220054661292597, + -0.4009509297386019, + -0.9058798704051694, + -0.13645516603069624, + 0.4395061747545075, + -0.0595226690606104, + -0.8962652365346778 + ], + [ + 0.7536482919310741, + -0.5147638538603425, + 0.4086960078447337, + -0.4644033761206154, + -0.8570586051147343, + -0.22311443621281052, + 0.4651276774361518, + -0.02164999209316261, + -0.8849788254671505 + ], + [ + 0.7269547664049025, + -0.549175996042399, + 0.4122408191482648, + -0.4771863333510158, + -0.8357062502791329, + -0.2718239623495402, + 0.4937914244538949, + 0.0008880401060853138, + -0.8695799218706486 + ], + [ + 0.7112111003592361, + -0.5751403802837763, + 0.4042181511174848, + -0.5001911911394424, + -0.8180546836559838, + -0.2838931257621677, + 0.49395095205122375, + -0.00027841612990359144, + -0.8694897236035329 + ], + [ + 0.7016670951477112, + -0.5974857140494264, + 0.388167630146847, + -0.5135121605168954, + -0.8017344067362935, + -0.3058221739123461, + 0.49393172462218143, + 0.015256558001403464, + -0.8693668321541298 + ], + [ + 0.6872724265480328, + -0.6255865246244138, + 0.3691857417549154, + -0.5236145886133649, + -0.7789195284432482, + -0.345126253421853, + 0.5034723173105311, + 0.04388471736374819, + -0.8628961451321174 + ], + [ + 0.6795145686069729, + -0.6358087067195497, + 0.36606999263869383, + -0.532385311285996, + -0.770641721415569, + -0.35025307641841186, + 0.5048027648278016, + 0.04311178114230893, + -0.8621574931234692 + ], + [ + 0.6760949365647297, + -0.6462912121031014, + 0.3538407917550469, + -0.5438627765596517, + -0.761725722605296, + -0.35211816737320784, + 0.4971005099819963, + 0.04562447456951252, + -0.8664926371850458 + ], + [ + 0.6735320953710476, + -0.6534250766330243, + 0.3455288493486644, + -0.5558483074174856, + -0.7558833916652186, + -0.34593779404078107, + 0.4872239481452056, + 0.04093858121395874, + -0.8723169475150564 + ], + [ + 0.6701594179955693, + -0.657186474515205, + 0.3449525941141998, + -0.5652464211420356, + -0.7531057667556916, + -0.3366425217726403, + 0.48102269994040886, + 0.030620937177000734, + -0.8761732250807724 + ], + [ + 0.6558138615771841, + -0.6733207417901853, + 0.3413903303234234, + -0.5836909250486647, + -0.7390434823573286, + -0.3363326258348819, + 0.47876203168072523, + 0.021305160414019947, + -0.8776861666681758 + ], + [ + 0.6257202446804144, + -0.6779938917175535, + 0.38574403195742174, + -0.6031279250867655, + -0.7341125677126827, + -0.3119542336735067, + 0.49468260670617387, + -0.03745691818580493, + -0.8682661446252564 + ], + [ + 0.5977253704822926, + -0.6855610933476857, + 0.41560843202434183, + -0.6276918756533016, + -0.7226868339897005, + -0.2893555757485645, + 0.4987256667955302, + -0.08791886751925906, + -0.8622893841475058 + ], + [ + 0.587548187180746, + -0.6860708070020031, + 0.42906173858809576, + -0.6367771953889484, + -0.7191891770948431, + -0.2779959190028289, + 0.4993014431915896, + -0.10988073229307622, + -0.8594325415630555 + ], + [ + 0.5928016521717769, + -0.6802587730539897, + 0.43108491375307084, + -0.6326376197098031, + -0.7245745111575557, + -0.27342534613437763, + 0.49835313113326246, + -0.11063353679544946, + -0.8598862583073437 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005806.json b/json/chunk-0005/episode_0005806.json new file mode 100644 index 0000000000000000000000000000000000000000..f7abfeb5133e2003824a855bd2bdd39867423f22 --- /dev/null +++ b/json/chunk-0005/episode_0005806.json @@ -0,0 +1,1702 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 27, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMoved the silver pot to the top right banner." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005806.mp4", + "start": 0, + "end": 27, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.23870255053043365, + 0.06832405924797058, + 0.07477188855409622, + 0.08116121590137482, + -0.16575758159160614, + 0.039939746260643005, + 0.0, + 0.9981546401977539 + ], + [ + 0.23663191497325897, + 0.06683307886123657, + 0.06952808797359467, + 0.07537565380334854, + -0.14501674473285675, + 0.03860773518681526, + 0.0, + 0.9981546401977539 + ], + [ + 0.24586229026317596, + 0.032889194786548615, + 0.07093716412782669, + 0.04257982596755028, + -0.1629447638988495, + 0.02639586851000786, + 0.0, + 0.9981546401977539 + ], + [ + 0.26546865701675415, + -0.006768866907805204, + 0.07063256204128265, + 0.014448205940425396, + -0.19356702268123627, + -0.02516273595392704, + 0.0, + 0.9981546401977539 + ], + [ + 0.286154180765152, + -0.04559239000082016, + 0.0611942782998085, + -0.016794264316558838, + -0.2110319882631302, + -0.07798828184604645, + 0.0, + 0.9981546401977539 + ], + [ + 0.305681437253952, + -0.06404135376214981, + 0.04600227251648903, + -0.010793020948767662, + -0.19965946674346924, + -0.09230376034975052, + 0.0, + 0.9981546401977539 + ], + [ + 0.3180350661277771, + -0.06522638350725174, + 0.02570437826216221, + 0.003462672233581543, + -0.17858102917671204, + -0.09004813432693481, + 0.0, + 0.9981546401977539 + ], + [ + 0.32812947034835815, + -0.06561218202114105, + 0.0065742419101297855, + 0.005190505646169186, + -0.1600344032049179, + -0.0915159359574318, + 0.0, + 0.9981546401977539 + ], + [ + 0.3352357745170593, + -0.06711659580469131, + -0.007866830565035343, + 0.009549563750624657, + -0.13556352257728577, + -0.10277921706438065, + 0.0, + 0.9981546401977539 + ], + [ + 0.33300161361694336, + -0.06838955730199814, + -0.01917084865272045, + 0.013070614077150822, + -0.10479454696178436, + -0.11886416375637054, + 0.0, + 0.9583302736282349 + ], + [ + 0.3329893946647644, + -0.06798414140939713, + -0.02892507053911686, + 0.015589963644742966, + -0.10124100744724274, + -0.1472759246826172, + 0.0, + 0.6811928749084473 + ], + [ + 0.33405932784080505, + -0.06109529361128807, + -0.030164554715156555, + 0.053054023534059525, + -0.10651818662881851, + -0.17794066667556763, + 0.0, + 0.3788849711418152 + ], + [ + 0.3351895213127136, + -0.05335359275341034, + -0.03183090686798096, + 0.09105797111988068, + -0.11774837225675583, + -0.216303288936615, + 0.0, + 0.1556580364704132 + ], + [ + 0.33997219800949097, + -0.048193272203207016, + -0.0315275676548481, + 0.14602212607860565, + -0.13250382244586945, + -0.3328873813152313, + 0.0, + 0.07888144999742508 + ], + [ + 0.35623571276664734, + -0.054315391927957535, + -0.024774402379989624, + 0.20311211049556732, + -0.17886121571063995, + -0.5158672332763672, + 0.0, + 0.06926051527261734 + ], + [ + 0.39343076944351196, + -0.06260299682617188, + -0.0011982704745605588, + 0.28299111127853394, + -0.2492089569568634, + -0.6307002305984497, + 0.0, + 0.06681985408067703 + ], + [ + 0.41801291704177856, + -0.07247563451528549, + -0.002953894669190049, + 0.31140679121017456, + -0.2553320527076721, + -0.692740797996521, + 0.0, + 0.06681985408067703 + ], + [ + 0.4495331943035126, + -0.08034436404705048, + -0.009836546145379543, + 0.3195217251777649, + -0.2771776616573334, + -0.7143042087554932, + 0.0, + 0.06681985408067703 + ], + [ + 0.47217443585395813, + -0.07996147871017456, + -0.021246256306767464, + 0.32105350494384766, + -0.28115883469581604, + -0.7166739106178284, + 0.0, + 0.06681985408067703 + ], + [ + 0.49076390266418457, + -0.07828030735254288, + -0.02468409202992916, + 0.32978302240371704, + -0.2810690104961395, + -0.7095155715942383, + 0.0, + 0.0665184035897255 + ], + [ + 0.4967489242553711, + -0.06864610314369202, + -0.022250141948461533, + 0.3350835144519806, + -0.276667982339859, + -0.67315274477005, + 0.0, + 0.06803370267152786 + ], + [ + 0.49480417370796204, + -0.05697853863239288, + -0.023158099502325058, + 0.32387804985046387, + -0.26788926124572754, + -0.5926888585090637, + 0.0, + 0.0846695825457573 + ], + [ + 0.4903203845024109, + -0.052262093871831894, + -0.026433536782860756, + 0.3220215141773224, + -0.25533100962638855, + -0.5300400853157043, + 0.0, + 0.2352597415447235 + ], + [ + 0.48450759053230286, + -0.05246233567595482, + -0.014303546398878098, + 0.33197686076164246, + -0.2736424207687378, + -0.5256103277206421, + 0.0, + 0.5023775696754456 + ], + [ + 0.4794602394104004, + -0.05665237084031105, + 0.008781924843788147, + 0.3486073315143585, + -0.31604060530662537, + -0.5398857593536377, + 0.0, + 0.8205437660217285 + ], + [ + 0.4561904966831207, + -0.05889382213354111, + 0.03722463175654411, + 0.3442103862762451, + -0.35383421182632446, + -0.5113390684127808, + 0.0, + 1.0014774799346924 + ], + [ + 0.42054829001426697, + -0.06512515246868134, + 0.059611182659864426, + 0.28725457191467285, + -0.3236756920814514, + -0.42399168014526367, + 0.0, + 0.9988223910331726 + ] + ], + "left_gripper_pos": [ + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9583302736282349 + ], + [ + 0.6811928749084473 + ], + [ + 0.3788849711418152 + ], + [ + 0.1556580364704132 + ], + [ + 0.07888144999742508 + ], + [ + 0.06926051527261734 + ], + [ + 0.06681985408067703 + ], + [ + 0.06681985408067703 + ], + [ + 0.06681985408067703 + ], + [ + 0.06681985408067703 + ], + [ + 0.0665184035897255 + ], + [ + 0.06803370267152786 + ], + [ + 0.0846695825457573 + ], + [ + 0.2352597415447235 + ], + [ + 0.5023775696754456 + ], + [ + 0.8205437660217285 + ], + [ + 1.0014774799346924 + ], + [ + 0.9988223910331726 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.23870255053043365, + 0.06832405924797058, + 0.07477188855409622 + ], + [ + 0.23663191497325897, + 0.06683307886123657, + 0.06952808797359467 + ], + [ + 0.24586229026317596, + 0.032889194786548615, + 0.07093716412782669 + ], + [ + 0.26546865701675415, + -0.006768866907805204, + 0.07063256204128265 + ], + [ + 0.286154180765152, + -0.04559239000082016, + 0.0611942782998085 + ], + [ + 0.305681437253952, + -0.06404135376214981, + 0.04600227251648903 + ], + [ + 0.3180350661277771, + -0.06522638350725174, + 0.02570437826216221 + ], + [ + 0.32812947034835815, + -0.06561218202114105, + 0.0065742419101297855 + ], + [ + 0.3352357745170593, + -0.06711659580469131, + -0.007866830565035343 + ], + [ + 0.33300161361694336, + -0.06838955730199814, + -0.01917084865272045 + ], + [ + 0.3329893946647644, + -0.06798414140939713, + -0.02892507053911686 + ], + [ + 0.33405932784080505, + -0.06109529361128807, + -0.030164554715156555 + ], + [ + 0.3351895213127136, + -0.05335359275341034, + -0.03183090686798096 + ], + [ + 0.33997219800949097, + -0.048193272203207016, + -0.0315275676548481 + ], + [ + 0.35623571276664734, + -0.054315391927957535, + -0.024774402379989624 + ], + [ + 0.39343076944351196, + -0.06260299682617188, + -0.0011982704745605588 + ], + [ + 0.41801291704177856, + -0.07247563451528549, + -0.002953894669190049 + ], + [ + 0.4495331943035126, + -0.08034436404705048, + -0.009836546145379543 + ], + [ + 0.47217443585395813, + -0.07996147871017456, + -0.021246256306767464 + ], + [ + 0.49076390266418457, + -0.07828030735254288, + -0.02468409202992916 + ], + [ + 0.4967489242553711, + -0.06864610314369202, + -0.022250141948461533 + ], + [ + 0.49480417370796204, + -0.05697853863239288, + -0.023158099502325058 + ], + [ + 0.4903203845024109, + -0.052262093871831894, + -0.026433536782860756 + ], + [ + 0.48450759053230286, + -0.05246233567595482, + -0.014303546398878098 + ], + [ + 0.4794602394104004, + -0.05665237084031105, + 0.008781924843788147 + ], + [ + 0.4561904966831207, + -0.05889382213354111, + 0.03722463175654411 + ], + [ + 0.42054829001426697, + -0.06512515246868134, + 0.059611182659864426 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9855070827296931, + 0.053163892484375114, + 0.16108814489439982, + 0.03938184547070063, + -0.9953792488201109, + 0.08757409015018779, + 0.16499957617197447, + -0.07996093767722566, + -0.9830469919128216 + ], + [ + 0.988766122062689, + 0.04936258889045003, + 0.1410846932843674, + 0.03819299877155047, + -0.995997499205286, + 0.08081012573714215, + 0.14450899870232287, + -0.07451386713121792, + -0.9866938901702003 + ], + [ + 0.9864101127119197, + 0.03327188675690224, + 0.1608977038098858, + 0.02604320037580071, + -0.9985633280432562, + 0.04682981530352336, + 0.16222466290254314, + -0.04200311225149977, + -0.985859471378829 + ], + [ + 0.9810136723781346, + -0.022379166749367727, + 0.1926430572399902, + -0.024690199201058777, + -0.9996490186754988, + 0.009603828638852679, + 0.1923605174420629, + -0.014177882659847494, + -0.981221900985045 + ], + [ + 0.9748431522912293, + -0.08140528463729757, + 0.20749459767429948, + -0.07618085353241055, + -0.9965458008280073, + -0.033059709725568945, + 0.20946910508705632, + 0.016420916088514387, + -0.9776773739474804 + ], + [ + 0.9759617743614302, + -0.0942988625465417, + 0.19648496000385676, + -0.09034165741140625, + -0.9954877306657847, + -0.029026936284187357, + 0.19833557401900662, + 0.010578403297029389, + -0.9800770875100777 + ], + [ + 0.9801095791441216, + -0.0893133567360922, + 0.17722397461535544, + -0.08849636427644034, + -0.995997747279986, + -0.01252521149699152, + 0.17763334816352527, + -0.003407597647071636, + -0.9840908402675492 + ], + [ + 0.9830906127274383, + -0.0905633614168012, + 0.15915754690268294, + -0.09022046878107608, + -0.995877512840096, + -0.009393957225114005, + 0.1593521703024868, + -0.0051241573272334875, + -0.9872085032208611 + ], + [ + 0.9855966093522931, + -0.10130990119272122, + 0.135409111781978, + -0.10165705390454487, + -0.9948099206133098, + -0.004366376162059982, + 0.1351486848796969, + -0.009461805835104085, + -0.9907801507931147 + ], + [ + 0.987496752435447, + -0.11721679528694194, + 0.10540581972597476, + -0.11793391677744615, + -0.9930212791639419, + 0.0005748053052559163, + 0.1046028450998153, + -0.01299853954364448, + -0.9944291240539752 + ], + [ + 0.9841094265973106, + -0.1451677335640211, + 0.10224952622969902, + -0.14599269206971613, + -0.9892854918188322, + 0.0005912182407811824, + 0.10106814703233447, + -0.01550950704105585, + -0.9947586063195402 + ], + [ + 0.9786320791486905, + -0.17120521214819587, + 0.11387725406946833, + -0.17599993245546294, + -0.9838233945468093, + 0.03339988200676012, + 0.10631687277560173, + -0.052728584996036616, + -0.9929332398945723 + ], + [ + 0.9699345316943525, + -0.2032979088972008, + 0.1337795367942457, + -0.2131344251043362, + -0.9749437988650108, + 0.06370483411881663, + 0.1174764702495849, + -0.09030254311306675, + -0.9889614399181657 + ], + [ + 0.9368181884480489, + -0.3051275167956163, + 0.17108150188450214, + -0.32390883144100885, + -0.9413264028029737, + 0.09480333485977056, + 0.13211642860536346, + -0.14422829777874585, + -0.9806851928179651 + ], + [ + 0.8559882319642854, + -0.4519318080345532, + 0.25108123710320607, + -0.4854199304673877, + -0.8696868561106722, + 0.08951124741266503, + 0.17790907184203167, + -0.19850041106998884, + -0.9638184211568859 + ], + [ + 0.7826657967441559, + -0.5106353284501219, + 0.3559295041795096, + -0.571492982008045, + -0.8161038880829987, + 0.0858499584820192, + 0.2466374304974565, + -0.27060303988397516, + -0.9305611063671014 + ], + [ + 0.7445509617811412, + -0.5483834641925601, + 0.38068286211877844, + -0.617943300263854, + -0.7819107272094833, + 0.08222951011500378, + 0.2525667099397585, + -0.29646448501448575, + -0.9210422716440879 + ], + [ + 0.7267111099062262, + -0.5569920961672304, + 0.4020581643818413, + -0.6300880482803332, + -0.773615722594153, + 0.06713989253347948, + 0.2736421278844715, + -0.3021233499125173, + -0.9131492031888859 + ], + [ + 0.7243887905691796, + -0.5572964191166397, + 0.40580978467441076, + -0.6310877445988529, + -0.7729846613867887, + 0.06498439718797532, + 0.277469167142683, + -0.3031755506311847, + -0.91164436420384 + ], + [ + 0.7289066385161587, + -0.5482107543604946, + 0.41007326312571435, + -0.6259024336241812, + -0.7763137109901582, + 0.07472058425906689, + 0.277382868812047, + -0.31113018325483366, + -0.9089866628050228 + ], + [ + 0.7521265509569539, + -0.5185484186714221, + 0.40671020252627554, + -0.5997447032392343, + -0.7943771876364781, + 0.09628693940115728, + 0.2731518667007041, + -0.3163422533524837, + -0.9084688417671757 + ], + [ + 0.7998569665708478, + -0.45968022909236855, + 0.38590532518957177, + -0.538669245433379, + -0.8333727200794243, + 0.12379561160095891, + 0.2646965754450096, + -0.30689411269851524, + -0.9141945780514537 + ], + [ + 0.8348150388600205, + -0.41061519401980245, + 0.3667138030306766, + -0.48917728661028365, + -0.8588491401455327, + 0.15193332990453068, + 0.2525657006755714, + -0.3062242918374676, + -0.9178438047570505 + ], + [ + 0.8328331190628402, + -0.39815978284072984, + 0.38452279922038995, + -0.48307274199280936, + -0.861978490119237, + 0.1537329129214346, + 0.27024011866414294, + -0.3137863443491186, + -0.9102243725392144 + ], + [ + 0.8152851654528471, + -0.3920509281392707, + 0.4261527528218725, + -0.4885794832469132, + -0.8607464669503301, + 0.1428481997881083, + 0.3108057070626322, + -0.32467150995684924, + -0.8933018655973112 + ], + [ + 0.8180649774040242, + -0.35867099793573537, + 0.449582926705116, + -0.45903104414927703, + -0.8781526617095958, + 0.13467888936124056, + 0.34649703209721505, + -0.3165486028592395, + -0.8830270600472477 + ], + [ + 0.8641247278780988, + -0.31241282298393397, + 0.3945715178580568, + -0.39003898522101105, + -0.9111793459384769, + 0.1327470886418729, + 0.31805352486235017, + -0.26860831627173876, + -0.9092257848039154 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0020706355571746826, + -0.0014909803867340088, + -0.005243800580501556, + -0.005785562098026276, + 0.02074083685874939, + -0.0013320110738277435, + 1.0 + ], + [ + 0.009230375289916992, + -0.03394388407468796, + 0.0014090761542320251, + -0.032795827835798264, + -0.017928019165992737, + -0.012211866676807404, + 1.0 + ], + [ + 0.019606366753578186, + -0.039658062160015106, + -0.00030460208654403687, + -0.028131619095802307, + -0.03062225878238678, + -0.05155860632658005, + 1.0 + ], + [ + 0.020685523748397827, + -0.03882352262735367, + -0.009438283741474152, + -0.03124247118830681, + -0.01746496558189392, + -0.05282554775476456, + 1.0 + ], + [ + 0.01952725648880005, + -0.01844896376132965, + -0.015192005783319473, + 0.006001243367791176, + 0.01137252151966095, + -0.014315478503704071, + 1.0 + ], + [ + 0.012353628873825073, + -0.0011850297451019287, + -0.02029789425432682, + 0.014255693182349205, + 0.021078437566757202, + 0.0022556260228157043, + 1.0 + ], + [ + 0.010094404220581055, + -0.00038579851388931274, + -0.01913013681769371, + 0.0017278334125876427, + 0.01854662597179413, + -0.0014678016304969788, + 1.0 + ], + [ + 0.007106304168701172, + -0.0015044137835502625, + -0.014441072940826416, + 0.004359058104455471, + 0.02447088062763214, + -0.011263281106948853, + 1.0 + ], + [ + -0.002234160900115967, + -0.0012729614973068237, + -0.011304018087685108, + 0.003521050326526165, + 0.030768975615501404, + -0.0160849466919899, + 0.0 + ], + [ + -1.2218952178955078e-05, + 0.0004054158926010132, + -0.009754221886396408, + 0.002519349567592144, + 0.003553539514541626, + -0.028411760926246643, + 0.0 + ], + [ + 0.0010699331760406494, + 0.0068888477981090546, + -0.0012394841760396957, + 0.03746405988931656, + -0.005277179181575775, + -0.03066474199295044, + 0.0 + ], + [ + 0.0011301934719085693, + 0.007741700857877731, + -0.0016663521528244019, + 0.03800394758582115, + -0.011230185627937317, + -0.03836262226104736, + 0.0 + ], + [ + 0.004782676696777344, + 0.005160320550203323, + 0.0003033392131328583, + 0.054964154958724976, + -0.014755450189113617, + -0.11658409237861633, + 0.0 + ], + [ + 0.016263514757156372, + -0.006122119724750519, + 0.006753165274858475, + 0.05708998441696167, + -0.04635739326477051, + -0.18297985196113586, + 0.0 + ], + [ + 0.037195056676864624, + -0.00828760489821434, + 0.023576131090521812, + 0.07987900078296661, + -0.07034774124622345, + -0.11483299732208252, + 0.0 + ], + [ + 0.0245821475982666, + -0.009872637689113617, + -0.0017556241946294904, + 0.028415679931640625, + -0.006123095750808716, + -0.06204056739807129, + 0.0 + ], + [ + 0.03152027726173401, + -0.007868729531764984, + -0.006882651709020138, + 0.008114933967590332, + -0.021845608949661255, + -0.021563410758972168, + 0.0 + ], + [ + 0.022641241550445557, + 0.00038288533687591553, + -0.01140971016138792, + 0.0015317797660827637, + -0.003981173038482666, + -0.002369701862335205, + 0.0 + ], + [ + 0.01858946681022644, + 0.0016811713576316833, + -0.0034378357231616974, + 0.008729517459869385, + 8.982419967651367e-05, + 0.007158339023590088, + 0.0 + ], + [ + 0.0059850215911865234, + 0.00963420420885086, + 0.0024339500814676285, + 0.00530049204826355, + 0.004401028156280518, + 0.03636282682418823, + 1.0 + ], + [ + -0.0019447505474090576, + 0.011667564511299133, + -0.0009079575538635254, + -0.011205464601516724, + 0.00877872109413147, + 0.08046388626098633, + 1.0 + ], + [ + -0.0044837892055511475, + 0.004716444760560989, + -0.003275437280535698, + -0.0018565356731414795, + 0.01255825161933899, + 0.06264877319335938, + 1.0 + ], + [ + -0.005812793970108032, + -0.0002002418041229248, + 0.012129990383982658, + 0.009955346584320068, + -0.018311411142349243, + 0.004429757595062256, + 1.0 + ], + [ + -0.005047351121902466, + -0.004190035164356232, + 0.023085471242666245, + 0.016630470752716064, + -0.04239818453788757, + -0.014275431632995605, + 1.0 + ], + [ + -0.023269742727279663, + -0.0022414512932300568, + 0.028442706912755966, + -0.004396945238113403, + -0.0377936065196991, + 0.028546690940856934, + 1.0 + ], + [ + -0.03564220666885376, + -0.006231330335140228, + 0.022386550903320312, + -0.056955814361572266, + 0.030158519744873047, + 0.08734738826751709, + 1.0 + ], + [ + -0.04528933763504028, + -0.0013051405549049377, + -0.0034192390739917755, + -0.10931193828582764, + 0.08725601434707642, + 0.10144668817520142, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9583302736282349 + ], + [ + 0.6811928749084473 + ], + [ + 0.3788849711418152 + ], + [ + 0.1556580364704132 + ], + [ + 0.07888144999742508 + ], + [ + 0.06926051527261734 + ], + [ + 0.06681985408067703 + ], + [ + 0.06681985408067703 + ], + [ + 0.06681985408067703 + ], + [ + 0.06681985408067703 + ], + [ + 0.0665184035897255 + ], + [ + 0.06803370267152786 + ], + [ + 0.0846695825457573 + ], + [ + 0.2352597415447235 + ], + [ + 0.5023775696754456 + ], + [ + 0.8205437660217285 + ], + [ + 1.0014774799346924 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.23663191497325897, + 0.06683307886123657, + 0.06952808797359467 + ], + [ + 0.24586229026317596, + 0.032889194786548615, + 0.07093716412782669 + ], + [ + 0.26546865701675415, + -0.006768866907805204, + 0.07063256204128265 + ], + [ + 0.286154180765152, + -0.04559239000082016, + 0.0611942782998085 + ], + [ + 0.305681437253952, + -0.06404135376214981, + 0.04600227251648903 + ], + [ + 0.3180350661277771, + -0.06522638350725174, + 0.02570437826216221 + ], + [ + 0.32812947034835815, + -0.06561218202114105, + 0.0065742419101297855 + ], + [ + 0.3352357745170593, + -0.06711659580469131, + -0.007866830565035343 + ], + [ + 0.33300161361694336, + -0.06838955730199814, + -0.01917084865272045 + ], + [ + 0.3329893946647644, + -0.06798414140939713, + -0.02892507053911686 + ], + [ + 0.33405932784080505, + -0.06109529361128807, + -0.030164554715156555 + ], + [ + 0.3351895213127136, + -0.05335359275341034, + -0.03183090686798096 + ], + [ + 0.33997219800949097, + -0.048193272203207016, + -0.0315275676548481 + ], + [ + 0.35623571276664734, + -0.054315391927957535, + -0.024774402379989624 + ], + [ + 0.39343076944351196, + -0.06260299682617188, + -0.0011982704745605588 + ], + [ + 0.41801291704177856, + -0.07247563451528549, + -0.002953894669190049 + ], + [ + 0.4495331943035126, + -0.08034436404705048, + -0.009836546145379543 + ], + [ + 0.47217443585395813, + -0.07996147871017456, + -0.021246256306767464 + ], + [ + 0.49076390266418457, + -0.07828030735254288, + -0.02468409202992916 + ], + [ + 0.4967489242553711, + -0.06864610314369202, + -0.022250141948461533 + ], + [ + 0.49480417370796204, + -0.05697853863239288, + -0.023158099502325058 + ], + [ + 0.4903203845024109, + -0.052262093871831894, + -0.026433536782860756 + ], + [ + 0.48450759053230286, + -0.05246233567595482, + -0.014303546398878098 + ], + [ + 0.4794602394104004, + -0.05665237084031105, + 0.008781924843788147 + ], + [ + 0.4561904966831207, + -0.05889382213354111, + 0.03722463175654411 + ], + [ + 0.42054829001426697, + -0.06512515246868134, + 0.059611182659864426 + ], + [ + 0.3752589523792267, + -0.06643029302358627, + 0.05619194358587265 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.988766122062689, + 0.04936258889045003, + 0.1410846932843674, + 0.03819299877155047, + -0.995997499205286, + 0.08081012573714215, + 0.14450899870232287, + -0.07451386713121792, + -0.9866938901702003 + ], + [ + 0.9864101127119197, + 0.03327188675690224, + 0.1608977038098858, + 0.02604320037580071, + -0.9985633280432562, + 0.04682981530352336, + 0.16222466290254314, + -0.04200311225149977, + -0.985859471378829 + ], + [ + 0.9810136723781346, + -0.022379166749367727, + 0.1926430572399902, + -0.024690199201058777, + -0.9996490186754988, + 0.009603828638852679, + 0.1923605174420629, + -0.014177882659847494, + -0.981221900985045 + ], + [ + 0.9748431522912293, + -0.08140528463729757, + 0.20749459767429948, + -0.07618085353241055, + -0.9965458008280073, + -0.033059709725568945, + 0.20946910508705632, + 0.016420916088514387, + -0.9776773739474804 + ], + [ + 0.9759617743614302, + -0.0942988625465417, + 0.19648496000385676, + -0.09034165741140625, + -0.9954877306657847, + -0.029026936284187357, + 0.19833557401900662, + 0.010578403297029389, + -0.9800770875100777 + ], + [ + 0.9801095791441216, + -0.0893133567360922, + 0.17722397461535544, + -0.08849636427644034, + -0.995997747279986, + -0.01252521149699152, + 0.17763334816352527, + -0.003407597647071636, + -0.9840908402675492 + ], + [ + 0.9830906127274383, + -0.0905633614168012, + 0.15915754690268294, + -0.09022046878107608, + -0.995877512840096, + -0.009393957225114005, + 0.1593521703024868, + -0.0051241573272334875, + -0.9872085032208611 + ], + [ + 0.9855966093522931, + -0.10130990119272122, + 0.135409111781978, + -0.10165705390454487, + -0.9948099206133098, + -0.004366376162059982, + 0.1351486848796969, + -0.009461805835104085, + -0.9907801507931147 + ], + [ + 0.987496752435447, + -0.11721679528694194, + 0.10540581972597476, + -0.11793391677744615, + -0.9930212791639419, + 0.0005748053052559163, + 0.1046028450998153, + -0.01299853954364448, + -0.9944291240539752 + ], + [ + 0.9841094265973106, + -0.1451677335640211, + 0.10224952622969902, + -0.14599269206971613, + -0.9892854918188322, + 0.0005912182407811824, + 0.10106814703233447, + -0.01550950704105585, + -0.9947586063195402 + ], + [ + 0.9786320791486905, + -0.17120521214819587, + 0.11387725406946833, + -0.17599993245546294, + -0.9838233945468093, + 0.03339988200676012, + 0.10631687277560173, + -0.052728584996036616, + -0.9929332398945723 + ], + [ + 0.9699345316943525, + -0.2032979088972008, + 0.1337795367942457, + -0.2131344251043362, + -0.9749437988650108, + 0.06370483411881663, + 0.1174764702495849, + -0.09030254311306675, + -0.9889614399181657 + ], + [ + 0.9368181884480489, + -0.3051275167956163, + 0.17108150188450214, + -0.32390883144100885, + -0.9413264028029737, + 0.09480333485977056, + 0.13211642860536346, + -0.14422829777874585, + -0.9806851928179651 + ], + [ + 0.8559882319642854, + -0.4519318080345532, + 0.25108123710320607, + -0.4854199304673877, + -0.8696868561106722, + 0.08951124741266503, + 0.17790907184203167, + -0.19850041106998884, + -0.9638184211568859 + ], + [ + 0.7826657967441559, + -0.5106353284501219, + 0.3559295041795096, + -0.571492982008045, + -0.8161038880829987, + 0.0858499584820192, + 0.2466374304974565, + -0.27060303988397516, + -0.9305611063671014 + ], + [ + 0.7445509617811412, + -0.5483834641925601, + 0.38068286211877844, + -0.617943300263854, + -0.7819107272094833, + 0.08222951011500378, + 0.2525667099397585, + -0.29646448501448575, + -0.9210422716440879 + ], + [ + 0.7267111099062262, + -0.5569920961672304, + 0.4020581643818413, + -0.6300880482803332, + -0.773615722594153, + 0.06713989253347948, + 0.2736421278844715, + -0.3021233499125173, + -0.9131492031888859 + ], + [ + 0.7243887905691796, + -0.5572964191166397, + 0.40580978467441076, + -0.6310877445988529, + -0.7729846613867887, + 0.06498439718797532, + 0.277469167142683, + -0.3031755506311847, + -0.91164436420384 + ], + [ + 0.7289066385161587, + -0.5482107543604946, + 0.41007326312571435, + -0.6259024336241812, + -0.7763137109901582, + 0.07472058425906689, + 0.277382868812047, + -0.31113018325483366, + -0.9089866628050228 + ], + [ + 0.7521265509569539, + -0.5185484186714221, + 0.40671020252627554, + -0.5997447032392343, + -0.7943771876364781, + 0.09628693940115728, + 0.2731518667007041, + -0.3163422533524837, + -0.9084688417671757 + ], + [ + 0.7998569665708478, + -0.45968022909236855, + 0.38590532518957177, + -0.538669245433379, + -0.8333727200794243, + 0.12379561160095891, + 0.2646965754450096, + -0.30689411269851524, + -0.9141945780514537 + ], + [ + 0.8348150388600205, + -0.41061519401980245, + 0.3667138030306766, + -0.48917728661028365, + -0.8588491401455327, + 0.15193332990453068, + 0.2525657006755714, + -0.3062242918374676, + -0.9178438047570505 + ], + [ + 0.8328331190628402, + -0.39815978284072984, + 0.38452279922038995, + -0.48307274199280936, + -0.861978490119237, + 0.1537329129214346, + 0.27024011866414294, + -0.3137863443491186, + -0.9102243725392144 + ], + [ + 0.8152851654528471, + -0.3920509281392707, + 0.4261527528218725, + -0.4885794832469132, + -0.8607464669503301, + 0.1428481997881083, + 0.3108057070626322, + -0.32467150995684924, + -0.8933018655973112 + ], + [ + 0.8180649774040242, + -0.35867099793573537, + 0.449582926705116, + -0.45903104414927703, + -0.8781526617095958, + 0.13467888936124056, + 0.34649703209721505, + -0.3165486028592395, + -0.8830270600472477 + ], + [ + 0.8641247278780988, + -0.31241282298393397, + 0.3945715178580568, + -0.39003898522101105, + -0.9111793459384769, + 0.1327470886418729, + 0.31805352486235017, + -0.26860831627173876, + -0.9092257848039154 + ], + [ + 0.9220490585298713, + -0.27265540414752093, + 0.27474454362794887, + -0.3081638023989925, + -0.946597624364069, + 0.09480510766459563, + 0.23422340735966718, + -0.17208128351872812, + -0.9568319744382368 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005809.json b/json/chunk-0005/episode_0005809.json new file mode 100644 index 0000000000000000000000000000000000000000..3c9446194d56229f5e5197970699b27be0d707c4 --- /dev/null +++ b/json/chunk-0005/episode_0005809.json @@ -0,0 +1,2182 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 35, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut broccoli in pot." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005809.mp4", + "start": 0, + "end": 35, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.23487727344036102, + 0.11062126606702805, + 0.1253742277622223, + -0.03683968633413315, + -0.01043193880468607, + 0.03287836164236069, + 0.0, + 1.0112061500549316 + ], + [ + 0.23077718913555145, + 0.10391581803560257, + 0.11595093458890915, + -0.05359601601958275, + 0.01859367825090885, + 0.0484655424952507, + 0.0, + 1.0112061500549316 + ], + [ + 0.2186976671218872, + 0.07161255180835724, + 0.11119051277637482, + -0.055346958339214325, + 0.006507693789899349, + 0.14386139810085297, + 0.0, + 1.0112061500549316 + ], + [ + 0.21474316716194153, + 0.044289764016866684, + 0.11557558178901672, + -0.06893295049667358, + -0.06943794339895248, + 0.16380012035369873, + 0.0, + 1.0112061500549316 + ], + [ + 0.21189777553081512, + 0.006859989836812019, + 0.11826664209365845, + -0.07679276168346405, + -0.11552540957927704, + 0.1768523007631302, + 0.0, + 1.0112061500549316 + ], + [ + 0.21290317177772522, + -0.010548435151576996, + 0.11109919846057892, + -0.07219558954238892, + -0.1353938728570938, + 0.2335284948348999, + 0.0, + 1.0112061500549316 + ], + [ + 0.21122217178344727, + -0.024962173774838448, + 0.09159856289625168, + -0.08590614050626755, + -0.12996187806129456, + 0.2469671666622162, + 0.0, + 1.0112061500549316 + ], + [ + 0.20818038284778595, + -0.029991639778017998, + 0.0728263333439827, + -0.10313864052295685, + -0.1253097951412201, + 0.27494490146636963, + 0.0, + 1.0112061500549316 + ], + [ + 0.20181351900100708, + -0.03588242828845978, + 0.059862278401851654, + -0.09170278161764145, + -0.13789290189743042, + 0.31140056252479553, + 0.0, + 1.0112061500549316 + ], + [ + 0.19324441254138947, + -0.034437306225299835, + 0.04414328187704086, + -0.08172742277383804, + -0.15135028958320618, + 0.3407755494117737, + 0.0, + 1.0112061500549316 + ], + [ + 0.18810604512691498, + -0.03263334929943085, + 0.03618575632572174, + -0.09059454500675201, + -0.1533767133951187, + 0.3559624254703522, + 0.0, + 1.0112061500549316 + ], + [ + 0.1887327879667282, + -0.031000984832644463, + 0.030229855328798294, + -0.08475867658853531, + -0.15319262444972992, + 0.3622269630432129, + 0.0, + 1.0112061500549316 + ], + [ + 0.18848000466823578, + -0.03078729473054409, + 0.023408973589539528, + -0.08958600461483002, + -0.12808160483837128, + 0.3519298732280731, + 0.0, + 1.0112061500549316 + ], + [ + 0.1909201741218567, + -0.03438211604952812, + 0.013557515107095242, + -0.10610218346118927, + -0.11277173459529877, + 0.3626477122306824, + 0.0, + 0.9553104043006897 + ], + [ + 0.19705122709274292, + -0.0397472158074379, + -0.000602666987106204, + -0.13958941400051117, + -0.11372710019350052, + 0.33787357807159424, + 0.0, + 0.6631406545639038 + ], + [ + 0.2002129852771759, + -0.0371088944375515, + -0.0015019162092357874, + -0.16095225512981415, + -0.10243791341781616, + 0.3401910066604614, + 0.0, + 0.6019018292427063 + ], + [ + 0.19901926815509796, + -0.031134093180298805, + 0.017675312235951424, + -0.10872091352939606, + -0.12555339932441711, + 0.32050713896751404, + 0.0, + 0.6340072751045227 + ], + [ + 0.2107802778482437, + -0.023323405534029007, + 0.06934907287359238, + -0.07492930442094803, + -0.19675113260746002, + 0.290931761264801, + 0.0, + 0.6340072751045227 + ], + [ + 0.22938433289527893, + -0.005564376711845398, + 0.1154325008392334, + 0.010271087288856506, + -0.23272250592708588, + 0.27497369050979614, + 0.0, + 0.6340072751045227 + ], + [ + 0.2580157518386841, + 0.036030590534210205, + 0.14106936752796173, + 0.12243153899908066, + -0.29922065138816833, + 0.1361522078514099, + 0.0, + 0.6340072751045227 + ], + [ + 0.28046751022338867, + 0.08441794663667679, + 0.12525132298469543, + 0.1766437590122223, + -0.2933568060398102, + 0.020315514877438545, + 0.0, + 0.6340072751045227 + ], + [ + 0.2914729118347168, + 0.12824733555316925, + 0.1077173724770546, + 0.1669527143239975, + -0.26074516773223877, + -0.006609498523175716, + 0.0, + 0.6340072751045227 + ], + [ + 0.28529638051986694, + 0.15165363252162933, + 0.08857753127813339, + 0.1553376466035843, + -0.27003777027130127, + 0.049275293946266174, + 0.0, + 0.6340072751045227 + ], + [ + 0.28040534257888794, + 0.16114801168441772, + 0.07011312246322632, + 0.1097896546125412, + -0.25395962595939636, + 0.08860401809215546, + 0.0, + 0.6340072751045227 + ], + [ + 0.27252280712127686, + 0.16568174958229065, + 0.06427463889122009, + 0.06647676974534988, + -0.26702994108200073, + 0.15184642374515533, + 0.0, + 0.6811928749084473 + ], + [ + 0.2729198634624481, + 0.16701996326446533, + 0.06286565214395523, + 0.06498602777719498, + -0.2814294695854187, + 0.15926125645637512, + 0.0, + 0.9628177285194397 + ], + [ + 0.2715817987918854, + 0.16371369361877441, + 0.05851244181394577, + 0.0687110498547554, + -0.2816075384616852, + 0.14828193187713623, + 0.0, + 1.003452181816101 + ], + [ + 0.27194443345069885, + 0.15853741765022278, + 0.0584878996014595, + 0.07623543590307236, + -0.2567656338214874, + 0.13635051250457764, + 0.0, + 1.003452181816101 + ], + [ + 0.2744452953338623, + 0.1526349037885666, + 0.061893071979284286, + 0.06984919309616089, + -0.2323152869939804, + 0.1220225989818573, + 0.0, + 1.0027955770492554 + ], + [ + 0.2756814658641815, + 0.14886640012264252, + 0.06721952557563782, + 0.04541046544909477, + -0.20704488456249237, + 0.13231037557125092, + 0.0, + 1.003452181816101 + ], + [ + 0.2754780650138855, + 0.14874273538589478, + 0.06716949492692947, + 0.0447927825152874, + -0.2056364119052887, + 0.1323753297328949, + 0.0, + 1.0027955770492554 + ], + [ + 0.27586397528648376, + 0.14895980060100555, + 0.06754394620656967, + 0.045374151319265366, + -0.20706096291542053, + 0.13225620985031128, + 0.0, + 1.003452181816101 + ], + [ + 0.2754780650138855, + 0.14874273538589478, + 0.06716949492692947, + 0.0447927825152874, + -0.2056364119052887, + 0.1323753297328949, + 0.0, + 1.003452181816101 + ], + [ + 0.2756814658641815, + 0.14886640012264252, + 0.06721952557563782, + 0.04541046544909477, + -0.20704488456249237, + 0.13231037557125092, + 0.0, + 1.003452181816101 + ], + [ + 0.2756814658641815, + 0.14886640012264252, + 0.06721952557563782, + 0.04541046544909477, + -0.20704488456249237, + 0.13231037557125092, + 0.0, + 1.003452181816101 + ] + ], + "left_gripper_pos": [ + [ + 1.0112061500549316 + ], + [ + 1.0112061500549316 + ], + [ + 1.0112061500549316 + ], + [ + 1.0112061500549316 + ], + [ + 1.0112061500549316 + ], + [ + 1.0112061500549316 + ], + [ + 1.0112061500549316 + ], + [ + 1.0112061500549316 + ], + [ + 1.0112061500549316 + ], + [ + 1.0112061500549316 + ], + [ + 1.0112061500549316 + ], + [ + 1.0112061500549316 + ], + [ + 1.0112061500549316 + ], + [ + 0.9553104043006897 + ], + [ + 0.6631406545639038 + ], + [ + 0.6019018292427063 + ], + [ + 0.6340072751045227 + ], + [ + 0.6340072751045227 + ], + [ + 0.6340072751045227 + ], + [ + 0.6340072751045227 + ], + [ + 0.6340072751045227 + ], + [ + 0.6340072751045227 + ], + [ + 0.6340072751045227 + ], + [ + 0.6340072751045227 + ], + [ + 0.6811928749084473 + ], + [ + 0.9628177285194397 + ], + [ + 1.003452181816101 + ], + [ + 1.003452181816101 + ], + [ + 1.0027955770492554 + ], + [ + 1.003452181816101 + ], + [ + 1.0027955770492554 + ], + [ + 1.003452181816101 + ], + [ + 1.003452181816101 + ], + [ + 1.003452181816101 + ], + [ + 1.003452181816101 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.23487727344036102, + 0.11062126606702805, + 0.1253742277622223 + ], + [ + 0.23077718913555145, + 0.10391581803560257, + 0.11595093458890915 + ], + [ + 0.2186976671218872, + 0.07161255180835724, + 0.11119051277637482 + ], + [ + 0.21474316716194153, + 0.044289764016866684, + 0.11557558178901672 + ], + [ + 0.21189777553081512, + 0.006859989836812019, + 0.11826664209365845 + ], + [ + 0.21290317177772522, + -0.010548435151576996, + 0.11109919846057892 + ], + [ + 0.21122217178344727, + -0.024962173774838448, + 0.09159856289625168 + ], + [ + 0.20818038284778595, + -0.029991639778017998, + 0.0728263333439827 + ], + [ + 0.20181351900100708, + -0.03588242828845978, + 0.059862278401851654 + ], + [ + 0.19324441254138947, + -0.034437306225299835, + 0.04414328187704086 + ], + [ + 0.18810604512691498, + -0.03263334929943085, + 0.03618575632572174 + ], + [ + 0.1887327879667282, + -0.031000984832644463, + 0.030229855328798294 + ], + [ + 0.18848000466823578, + -0.03078729473054409, + 0.023408973589539528 + ], + [ + 0.1909201741218567, + -0.03438211604952812, + 0.013557515107095242 + ], + [ + 0.19705122709274292, + -0.0397472158074379, + -0.000602666987106204 + ], + [ + 0.2002129852771759, + -0.0371088944375515, + -0.0015019162092357874 + ], + [ + 0.19901926815509796, + -0.031134093180298805, + 0.017675312235951424 + ], + [ + 0.2107802778482437, + -0.023323405534029007, + 0.06934907287359238 + ], + [ + 0.22938433289527893, + -0.005564376711845398, + 0.1154325008392334 + ], + [ + 0.2580157518386841, + 0.036030590534210205, + 0.14106936752796173 + ], + [ + 0.28046751022338867, + 0.08441794663667679, + 0.12525132298469543 + ], + [ + 0.2914729118347168, + 0.12824733555316925, + 0.1077173724770546 + ], + [ + 0.28529638051986694, + 0.15165363252162933, + 0.08857753127813339 + ], + [ + 0.28040534257888794, + 0.16114801168441772, + 0.07011312246322632 + ], + [ + 0.27252280712127686, + 0.16568174958229065, + 0.06427463889122009 + ], + [ + 0.2729198634624481, + 0.16701996326446533, + 0.06286565214395523 + ], + [ + 0.2715817987918854, + 0.16371369361877441, + 0.05851244181394577 + ], + [ + 0.27194443345069885, + 0.15853741765022278, + 0.0584878996014595 + ], + [ + 0.2744452953338623, + 0.1526349037885666, + 0.061893071979284286 + ], + [ + 0.2756814658641815, + 0.14886640012264252, + 0.06721952557563782 + ], + [ + 0.2754780650138855, + 0.14874273538589478, + 0.06716949492692947 + ], + [ + 0.27586397528648376, + 0.14895980060100555, + 0.06754394620656967 + ], + [ + 0.2754780650138855, + 0.14874273538589478, + 0.06716949492692947 + ], + [ + 0.2756814658641815, + 0.14886640012264252, + 0.06721952557563782 + ], + [ + 0.2756814658641815, + 0.14886640012264252, + 0.06721952557563782 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9994051725815569, + 0.03246612653832651, + 0.011629774065992115, + 0.032870649789724614, + -0.998794047645546, + -0.036468764309037886, + 0.010431749595821835, + 0.03682934991856698, + -0.9992671202360989 + ], + [ + 0.998653120986041, + 0.049371848777064416, + -0.015948808518943935, + 0.04843819684917942, + -0.9973432854764447, + -0.0544069113353318, + -0.01859260688659341, + 0.05356110028168946, + -0.9983914680653951 + ], + [ + 0.989648827564462, + 0.14350242983967354, + 0.0015002434453380712, + 0.14336264722605496, + -0.9881027391208907, + -0.0556787959831273, + -0.0065076478564395105, + 0.055317534036710005, + -0.9984476055094098 + ], + [ + 0.984237139209052, + 0.1579663896544487, + 0.07952278630128252, + 0.1626756595294736, + -0.9850508757729363, + -0.056669232707186774, + 0.06938215619474035, + 0.0687123851900761, + -0.9952209425666537 + ], + [ + 0.9778406756918536, + 0.16670819011451993, + 0.12663329858785363, + 0.1747591489073857, + -0.9830569843127007, + -0.05530104399724357, + 0.11526861166712123, + 0.07620593771327772, + -0.9904068872042312 + ], + [ + 0.9639525768787206, + 0.22133660311043726, + 0.14766698226891123, + 0.22929385062458987, + -0.9725748066760199, + -0.039020193295915134, + 0.13498058969578708, + 0.07147274685245486, + -0.9882671131140317 + ], + [ + 0.9614810109423727, + 0.2327807233498096, + 0.14617592289420486, + 0.24240266844464492, + -0.968800829858959, + -0.051632338660068916, + 0.12959634226377167, + 0.08507694694411594, + -0.98791026979707 + ], + [ + 0.9548936608682331, + 0.2576668329291193, + 0.14760047304104784, + 0.26936512350327924, + -0.9608191641367053, + -0.06533730992094873, + 0.1249821054140427, + 0.10214860271154134, + -0.9868865873495053 + ], + [ + 0.9428697334552736, + 0.29312267669619446, + 0.15835328269549473, + 0.30348381288119625, + -0.9517624109253077, + -0.04523149863465287, + 0.13745632416543116, + 0.09070506907612041, + -0.9863459582675967 + ], + [ + 0.9317215042489193, + 0.3215017923700475, + 0.16891310198731843, + 0.3303974937322697, + -0.9434636109844464, + -0.026719110831469137, + 0.15077312312068822, + 0.08070323569124328, + -0.9852687212600417 + ], + [ + 0.9263082674111568, + 0.3341082035051894, + 0.17413989225985957, + 0.34440160560543326, + -0.9382845020225198, + -0.03177620683390999, + 0.15277607071181062, + 0.08940862159147053, + -0.9842080931403545 + ], + [ + 0.9241588722988213, + 0.34100553406119194, + 0.1721789896909969, + 0.3502076628500581, + -0.9363307424566232, + -0.02528504719649899, + 0.1525941402297978, + 0.08366580227470725, + -0.9847411141499367 + ], + [ + 0.9310200207627524, + 0.332600440109731, + 0.15026199844850086, + 0.34188643485867476, + -0.9388840898186341, + -0.04012893650546988, + 0.12773169770479503, + 0.08873338224280743, + -0.9878314634983048 + ], + [ + 0.9290219560612532, + 0.3416135368659206, + 0.14219140827096166, + 0.35249760424443083, + -0.9339307944379531, + -0.059318717134057244, + 0.11253285812623619, + 0.10523052138258178, + -0.9880601667972909 + ], + [ + 0.9373669437083684, + 0.3133605979883321, + 0.15214581318993717, + 0.3293402875025178, + -0.9395187433117796, + -0.0940186470526616, + 0.1134821037458826, + 0.1382377176976275, + -0.9838760824083282 + ], + [ + 0.9377491976640637, + 0.31390590022486586, + 0.14862546243635744, + 0.3319180163162265, + -0.9359748647078334, + -0.11739456154291733, + 0.10225885157337596, + 0.1594181245629529, + -0.9819007021260983 + ], + [ + 0.941605136511859, + 0.30029207709145234, + 0.15233002110741262, + 0.31256802117885263, + -0.9477528974879805, + -0.06376266493390856, + 0.12522379578506582, + 0.10765274608312969, + -0.9862706967308424 + ], + [ + 0.9394946304858861, + 0.2720212648620071, + 0.2082168839241003, + 0.28131081395571117, + -0.9594866741943487, + -0.0157970881824186, + 0.19548418155892758, + 0.0734149406207048, + -0.9779551018599446 + ], + [ + 0.9364872032792909, + 0.2737870588447174, + 0.21916287209126317, + 0.26420196804246715, + -0.9617384082366048, + 0.07250209793522283, + 0.2306274879033704, + -0.009994024798886829, + -0.9729907919871081 + ], + [ + 0.9467233150923746, + 0.17038251776615465, + 0.2732851300385188, + 0.12970090195992512, + -0.9784431726267019, + 0.1607066705864317, + 0.2947755768229214, + -0.11669942407681354, + -0.9484137302511251 + ], + [ + 0.9570810550623173, + 0.07080188817137617, + 0.2810390483049813, + 0.019446269775737823, + -0.9832036259959614, + 0.1814730625194906, + 0.2891672468185339, + -0.16821926899068865, + -0.942382396327323 + ], + [ + 0.9661770373808363, + 0.03632235610004218, + 0.2553088695782655, + -0.006386038694334571, + -0.9863573524939775, + 0.16449435154699316, + 0.2578006030787836, + -0.16056107756368926, + -0.9527638686599121 + ], + [ + 0.9625910259379145, + 0.08988482975032336, + 0.25561540283118306, + 0.04747038220017961, + -0.9847272831941237, + 0.1675074343033411, + 0.2667678383867918, + -0.14910699216963183, + -0.9521565130211331 + ], + [ + 0.964128254901868, + 0.11537538383782547, + 0.23905068271007385, + 0.08564989113770277, + -0.9876441147139884, + 0.1312371853512609, + 0.2512385405306631, + -0.10605481354043284, + -0.9620974858489788 + ], + [ + 0.9534601236848688, + 0.16825593564632804, + 0.25020737931286724, + 0.1459026126951886, + -0.983658742412904, + 0.10548889080553268, + 0.26386780810010174, + -0.0640735405174594, + -0.962428366816983 + ], + [ + 0.9485019903706724, + 0.17606166407773421, + 0.26333678950168143, + 0.15234987700709812, + -0.9824002946752926, + 0.10807023641049997, + 0.27772916526500396, + -0.06238550684316303, + -0.9586316077081575 + ], + [ + 0.9500685599494715, + 0.16626094013882634, + 0.26405876463334893, + 0.14191968387829215, + -0.9838737496423784, + 0.10886343781330537, + 0.27790022440333223, + -0.06595259319237867, + -0.9583432165606315 + ], + [ + 0.9582393518322958, + 0.15469560362362217, + 0.24051323210905695, + 0.1314721917768143, + -0.9852120447255354, + 0.10987397197303217, + 0.2539535536066044, + -0.07366476190997479, + -0.9644071212218026 + ], + [ + 0.9659001761592617, + 0.13737212008223051, + 0.21946696862995374, + 0.11845012251746903, + -0.9881882986031899, + 0.09722887934831868, + 0.2302312276193315, + -0.06791750236755305, + -0.9707629961535666 + ], + [ + 0.9700890790609581, + 0.14103888160699887, + 0.19757330933531825, + 0.12910711569127056, + -0.9890067858310252, + 0.0720897375363907, + 0.2055687995891966, + -0.04442534699056132, + -0.9776338052564596 + ], + [ + 0.9703667335698193, + 0.1409198693530173, + 0.19629058256209828, + 0.1292082144587608, + -0.9890501182842651, + 0.07130989299010469, + 0.20419020470487378, + -0.04383439224410256, + -0.9779493373172109 + ], + [ + 0.9700927943495155, + 0.14097884367844696, + 0.19759791493392861, + 0.1290541340498886, + -0.9890169465700164, + 0.07204519332998012, + 0.2055845345248067, + -0.044389695115069794, + -0.9776321159474095 + ], + [ + 0.9703667335698193, + 0.1409198693530173, + 0.19629058256209828, + 0.1292082144587608, + -0.9890501182842651, + 0.07130989299010469, + 0.20419020470487378, + -0.04383439224410256, + -0.9779493373172109 + ], + [ + 0.9700890790609581, + 0.14103888160699887, + 0.19757330933531825, + 0.12910711569127056, + -0.9890067858310252, + 0.0720897375363907, + 0.2055687995891966, + -0.04442534699056132, + -0.9776338052564596 + ], + [ + 0.9700890790609581, + 0.14103888160699887, + 0.19757330933531825, + 0.12910711569127056, + -0.9890067858310252, + 0.0720897375363907, + 0.2055687995891966, + -0.04442534699056132, + -0.9776338052564596 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.00410008430480957, + -0.006705448031425476, + -0.009423293173313141, + -0.0167563296854496, + 0.029025617986917496, + 0.015587180852890015, + 1.0 + ], + [ + -0.012079522013664246, + -0.03230326622724533, + -0.004760421812534332, + -0.0017509423196315765, + -0.012085984461009502, + 0.09539585560560226, + 1.0 + ], + [ + -0.003954499959945679, + -0.027322787791490555, + 0.004385069012641907, + -0.013585992157459259, + -0.07594563812017441, + 0.019938722252845764, + 1.0 + ], + [ + -0.002845391631126404, + -0.037429772317409515, + 0.0026910603046417236, + -0.007859811186790466, + -0.046087466180324554, + 0.013052180409431458, + 1.0 + ], + [ + 0.0010053962469100952, + -0.017408424988389015, + -0.007167443633079529, + 0.004597172141075134, + -0.019868463277816772, + 0.056676194071769714, + 1.0 + ], + [ + -0.001680999994277954, + -0.014413738623261452, + -0.01950063556432724, + -0.013710550963878632, + 0.005431994795799255, + 0.013438671827316284, + 1.0 + ], + [ + -0.003041788935661316, + -0.00502946600317955, + -0.018772229552268982, + -0.0172325000166893, + 0.004652082920074463, + 0.027977734804153442, + 1.0 + ], + [ + -0.00636686384677887, + -0.00589078851044178, + -0.012964054942131042, + 0.0114358589053154, + -0.012583106756210327, + 0.0364556610584259, + 1.0 + ], + [ + -0.008569106459617615, + 0.0014451220631599426, + -0.01571899652481079, + 0.009975358843803406, + -0.013457387685775757, + 0.02937498688697815, + 1.0 + ], + [ + -0.005138367414474487, + 0.001803956925868988, + -0.007957525551319122, + -0.008867122232913971, + -0.0020264238119125366, + 0.015186876058578491, + 1.0 + ], + [ + 0.0006267428398132324, + 0.0016323644667863846, + -0.005955900996923447, + 0.005835868418216705, + 0.00018408894538879395, + 0.006264537572860718, + 1.0 + ], + [ + -0.00025278329849243164, + 0.00021369010210037231, + -0.006820881739258766, + -0.004827328026294708, + 0.025111019611358643, + -0.01029708981513977, + 1.0 + ], + [ + 0.0024401694536209106, + -0.0035948213189840317, + -0.009851458482444286, + -0.016516178846359253, + 0.01530987024307251, + 0.010717839002609253, + 0.0 + ], + [ + 0.0061310529708862305, + -0.005365099757909775, + -0.01416018232703209, + -0.0334872305393219, + -0.0009553655982017517, + -0.024774134159088135, + 0.0 + ], + [ + 0.0031617581844329834, + 0.0026383213698863983, + -0.0008992492221295834, + -0.02136284112930298, + 0.011289186775684357, + 0.0023174285888671875, + 0.0 + ], + [ + -0.001193717122077942, + 0.005974801257252693, + 0.019177228212356567, + 0.05223134160041809, + -0.023115485906600952, + -0.019683867692947388, + 0.0 + ], + [ + 0.011761009693145752, + 0.007810687646269798, + 0.0516737625002861, + 0.03379160910844803, + -0.07119773328304291, + -0.029575377702713013, + 0.0 + ], + [ + 0.018604055047035217, + 0.01775902882218361, + 0.04608342796564102, + 0.08520039170980453, + -0.035971373319625854, + -0.015958070755004883, + 0.0 + ], + [ + 0.02863141894340515, + 0.0415949672460556, + 0.025636866688728333, + 0.11216045171022415, + -0.06649814546108246, + -0.13882148265838623, + 0.0 + ], + [ + 0.02245175838470459, + 0.04838735610246658, + -0.015818044543266296, + 0.05421222001314163, + 0.005863845348358154, + -0.11583669483661652, + 0.0 + ], + [ + 0.011005401611328125, + 0.04382938891649246, + -0.01753395050764084, + -0.009691044688224792, + 0.03261163830757141, + -0.026925012469291687, + 0.0 + ], + [ + -0.0061765313148498535, + 0.023406296968460083, + -0.019139841198921204, + -0.011615067720413208, + -0.0092926025390625, + 0.055884793400764465, + 0.0 + ], + [ + -0.004891037940979004, + 0.009494379162788391, + -0.018464408814907074, + -0.04554799199104309, + 0.016078144311904907, + 0.03932872414588928, + 0.0 + ], + [ + -0.007882535457611084, + 0.004533737897872925, + -0.005838483572006226, + -0.043312884867191315, + -0.01307031512260437, + 0.06324240565299988, + 1.0 + ], + [ + 0.00039705634117126465, + 0.0013382136821746826, + -0.001408986747264862, + -0.0014907419681549072, + -0.014399528503417969, + 0.007414832711219788, + 1.0 + ], + [ + -0.0013380646705627441, + -0.003306269645690918, + -0.0043532103300094604, + 0.003725022077560425, + -0.0001780688762664795, + -0.010979324579238892, + 1.0 + ], + [ + 0.00036263465881347656, + -0.005176275968551636, + -2.454221248626709e-05, + 0.007524386048316956, + 0.024841904640197754, + -0.011931419372558594, + 1.0 + ], + [ + 0.002500861883163452, + -0.005902513861656189, + 0.0034051723778247833, + -0.0063862428069114685, + 0.02445034682750702, + -0.014327913522720337, + 1.0 + ], + [ + 0.0012361705303192139, + -0.0037685036659240723, + 0.005326453596353531, + -0.024438727647066116, + 0.025270402431488037, + 0.010287776589393616, + 1.0 + ], + [ + -0.0002034008502960205, + -0.0001236647367477417, + -5.0030648708343506e-05, + -0.000617682933807373, + 0.0014084726572036743, + 6.495416164398193e-05, + 1.0 + ], + [ + 0.0003859102725982666, + 0.0002170652151107788, + 0.00037445127964019775, + 0.0005813688039779663, + -0.001424551010131836, + -0.00011911988258361816, + 1.0 + ], + [ + -0.0003859102725982666, + -0.0002170652151107788, + -0.00037445127964019775, + -0.0005813688039779663, + 0.001424551010131836, + 0.00011911988258361816, + 1.0 + ], + [ + 0.0002034008502960205, + 0.0001236647367477417, + 5.0030648708343506e-05, + 0.000617682933807373, + -0.0014084726572036743, + -6.495416164398193e-05, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + -0.0002034008502960205, + -0.0001236647367477417, + -5.0030648708343506e-05, + -0.000617682933807373, + 0.0014084726572036743, + 6.495416164398193e-05, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0112061500549316 + ], + [ + 1.0112061500549316 + ], + [ + 1.0112061500549316 + ], + [ + 1.0112061500549316 + ], + [ + 1.0112061500549316 + ], + [ + 1.0112061500549316 + ], + [ + 1.0112061500549316 + ], + [ + 1.0112061500549316 + ], + [ + 1.0112061500549316 + ], + [ + 1.0112061500549316 + ], + [ + 1.0112061500549316 + ], + [ + 1.0112061500549316 + ], + [ + 0.9553104043006897 + ], + [ + 0.6631406545639038 + ], + [ + 0.6019018292427063 + ], + [ + 0.6340072751045227 + ], + [ + 0.6340072751045227 + ], + [ + 0.6340072751045227 + ], + [ + 0.6340072751045227 + ], + [ + 0.6340072751045227 + ], + [ + 0.6340072751045227 + ], + [ + 0.6340072751045227 + ], + [ + 0.6340072751045227 + ], + [ + 0.6811928749084473 + ], + [ + 0.9628177285194397 + ], + [ + 1.003452181816101 + ], + [ + 1.003452181816101 + ], + [ + 1.0027955770492554 + ], + [ + 1.003452181816101 + ], + [ + 1.0027955770492554 + ], + [ + 1.003452181816101 + ], + [ + 1.003452181816101 + ], + [ + 1.003452181816101 + ], + [ + 1.003452181816101 + ], + [ + 1.003452181816101 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.23077718913555145, + 0.10391581803560257, + 0.11595093458890915 + ], + [ + 0.2186976671218872, + 0.07161255180835724, + 0.11119051277637482 + ], + [ + 0.21474316716194153, + 0.044289764016866684, + 0.11557558178901672 + ], + [ + 0.21189777553081512, + 0.006859989836812019, + 0.11826664209365845 + ], + [ + 0.21290317177772522, + -0.010548435151576996, + 0.11109919846057892 + ], + [ + 0.21122217178344727, + -0.024962173774838448, + 0.09159856289625168 + ], + [ + 0.20818038284778595, + -0.029991639778017998, + 0.0728263333439827 + ], + [ + 0.20181351900100708, + -0.03588242828845978, + 0.059862278401851654 + ], + [ + 0.19324441254138947, + -0.034437306225299835, + 0.04414328187704086 + ], + [ + 0.18810604512691498, + -0.03263334929943085, + 0.03618575632572174 + ], + [ + 0.1887327879667282, + -0.031000984832644463, + 0.030229855328798294 + ], + [ + 0.18848000466823578, + -0.03078729473054409, + 0.023408973589539528 + ], + [ + 0.1909201741218567, + -0.03438211604952812, + 0.013557515107095242 + ], + [ + 0.19705122709274292, + -0.0397472158074379, + -0.000602666987106204 + ], + [ + 0.2002129852771759, + -0.0371088944375515, + -0.0015019162092357874 + ], + [ + 0.19901926815509796, + -0.031134093180298805, + 0.017675312235951424 + ], + [ + 0.2107802778482437, + -0.023323405534029007, + 0.06934907287359238 + ], + [ + 0.22938433289527893, + -0.005564376711845398, + 0.1154325008392334 + ], + [ + 0.2580157518386841, + 0.036030590534210205, + 0.14106936752796173 + ], + [ + 0.28046751022338867, + 0.08441794663667679, + 0.12525132298469543 + ], + [ + 0.2914729118347168, + 0.12824733555316925, + 0.1077173724770546 + ], + [ + 0.28529638051986694, + 0.15165363252162933, + 0.08857753127813339 + ], + [ + 0.28040534257888794, + 0.16114801168441772, + 0.07011312246322632 + ], + [ + 0.27252280712127686, + 0.16568174958229065, + 0.06427463889122009 + ], + [ + 0.2729198634624481, + 0.16701996326446533, + 0.06286565214395523 + ], + [ + 0.2715817987918854, + 0.16371369361877441, + 0.05851244181394577 + ], + [ + 0.27194443345069885, + 0.15853741765022278, + 0.0584878996014595 + ], + [ + 0.2744452953338623, + 0.1526349037885666, + 0.061893071979284286 + ], + [ + 0.2756814658641815, + 0.14886640012264252, + 0.06721952557563782 + ], + [ + 0.2754780650138855, + 0.14874273538589478, + 0.06716949492692947 + ], + [ + 0.27586397528648376, + 0.14895980060100555, + 0.06754394620656967 + ], + [ + 0.2754780650138855, + 0.14874273538589478, + 0.06716949492692947 + ], + [ + 0.2756814658641815, + 0.14886640012264252, + 0.06721952557563782 + ], + [ + 0.2756814658641815, + 0.14886640012264252, + 0.06721952557563782 + ], + [ + 0.2754780650138855, + 0.14874273538589478, + 0.06716949492692947 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.998653120986041, + 0.049371848777064416, + -0.015948808518943935, + 0.04843819684917942, + -0.9973432854764447, + -0.0544069113353318, + -0.01859260688659341, + 0.05356110028168946, + -0.9983914680653951 + ], + [ + 0.989648827564462, + 0.14350242983967354, + 0.0015002434453380712, + 0.14336264722605496, + -0.9881027391208907, + -0.0556787959831273, + -0.0065076478564395105, + 0.055317534036710005, + -0.9984476055094098 + ], + [ + 0.984237139209052, + 0.1579663896544487, + 0.07952278630128252, + 0.1626756595294736, + -0.9850508757729363, + -0.056669232707186774, + 0.06938215619474035, + 0.0687123851900761, + -0.9952209425666537 + ], + [ + 0.9778406756918536, + 0.16670819011451993, + 0.12663329858785363, + 0.1747591489073857, + -0.9830569843127007, + -0.05530104399724357, + 0.11526861166712123, + 0.07620593771327772, + -0.9904068872042312 + ], + [ + 0.9639525768787206, + 0.22133660311043726, + 0.14766698226891123, + 0.22929385062458987, + -0.9725748066760199, + -0.039020193295915134, + 0.13498058969578708, + 0.07147274685245486, + -0.9882671131140317 + ], + [ + 0.9614810109423727, + 0.2327807233498096, + 0.14617592289420486, + 0.24240266844464492, + -0.968800829858959, + -0.051632338660068916, + 0.12959634226377167, + 0.08507694694411594, + -0.98791026979707 + ], + [ + 0.9548936608682331, + 0.2576668329291193, + 0.14760047304104784, + 0.26936512350327924, + -0.9608191641367053, + -0.06533730992094873, + 0.1249821054140427, + 0.10214860271154134, + -0.9868865873495053 + ], + [ + 0.9428697334552736, + 0.29312267669619446, + 0.15835328269549473, + 0.30348381288119625, + -0.9517624109253077, + -0.04523149863465287, + 0.13745632416543116, + 0.09070506907612041, + -0.9863459582675967 + ], + [ + 0.9317215042489193, + 0.3215017923700475, + 0.16891310198731843, + 0.3303974937322697, + -0.9434636109844464, + -0.026719110831469137, + 0.15077312312068822, + 0.08070323569124328, + -0.9852687212600417 + ], + [ + 0.9263082674111568, + 0.3341082035051894, + 0.17413989225985957, + 0.34440160560543326, + -0.9382845020225198, + -0.03177620683390999, + 0.15277607071181062, + 0.08940862159147053, + -0.9842080931403545 + ], + [ + 0.9241588722988213, + 0.34100553406119194, + 0.1721789896909969, + 0.3502076628500581, + -0.9363307424566232, + -0.02528504719649899, + 0.1525941402297978, + 0.08366580227470725, + -0.9847411141499367 + ], + [ + 0.9310200207627524, + 0.332600440109731, + 0.15026199844850086, + 0.34188643485867476, + -0.9388840898186341, + -0.04012893650546988, + 0.12773169770479503, + 0.08873338224280743, + -0.9878314634983048 + ], + [ + 0.9290219560612532, + 0.3416135368659206, + 0.14219140827096166, + 0.35249760424443083, + -0.9339307944379531, + -0.059318717134057244, + 0.11253285812623619, + 0.10523052138258178, + -0.9880601667972909 + ], + [ + 0.9373669437083684, + 0.3133605979883321, + 0.15214581318993717, + 0.3293402875025178, + -0.9395187433117796, + -0.0940186470526616, + 0.1134821037458826, + 0.1382377176976275, + -0.9838760824083282 + ], + [ + 0.9377491976640637, + 0.31390590022486586, + 0.14862546243635744, + 0.3319180163162265, + -0.9359748647078334, + -0.11739456154291733, + 0.10225885157337596, + 0.1594181245629529, + -0.9819007021260983 + ], + [ + 0.941605136511859, + 0.30029207709145234, + 0.15233002110741262, + 0.31256802117885263, + -0.9477528974879805, + -0.06376266493390856, + 0.12522379578506582, + 0.10765274608312969, + -0.9862706967308424 + ], + [ + 0.9394946304858861, + 0.2720212648620071, + 0.2082168839241003, + 0.28131081395571117, + -0.9594866741943487, + -0.0157970881824186, + 0.19548418155892758, + 0.0734149406207048, + -0.9779551018599446 + ], + [ + 0.9364872032792909, + 0.2737870588447174, + 0.21916287209126317, + 0.26420196804246715, + -0.9617384082366048, + 0.07250209793522283, + 0.2306274879033704, + -0.009994024798886829, + -0.9729907919871081 + ], + [ + 0.9467233150923746, + 0.17038251776615465, + 0.2732851300385188, + 0.12970090195992512, + -0.9784431726267019, + 0.1607066705864317, + 0.2947755768229214, + -0.11669942407681354, + -0.9484137302511251 + ], + [ + 0.9570810550623173, + 0.07080188817137617, + 0.2810390483049813, + 0.019446269775737823, + -0.9832036259959614, + 0.1814730625194906, + 0.2891672468185339, + -0.16821926899068865, + -0.942382396327323 + ], + [ + 0.9661770373808363, + 0.03632235610004218, + 0.2553088695782655, + -0.006386038694334571, + -0.9863573524939775, + 0.16449435154699316, + 0.2578006030787836, + -0.16056107756368926, + -0.9527638686599121 + ], + [ + 0.9625910259379145, + 0.08988482975032336, + 0.25561540283118306, + 0.04747038220017961, + -0.9847272831941237, + 0.1675074343033411, + 0.2667678383867918, + -0.14910699216963183, + -0.9521565130211331 + ], + [ + 0.964128254901868, + 0.11537538383782547, + 0.23905068271007385, + 0.08564989113770277, + -0.9876441147139884, + 0.1312371853512609, + 0.2512385405306631, + -0.10605481354043284, + -0.9620974858489788 + ], + [ + 0.9534601236848688, + 0.16825593564632804, + 0.25020737931286724, + 0.1459026126951886, + -0.983658742412904, + 0.10548889080553268, + 0.26386780810010174, + -0.0640735405174594, + -0.962428366816983 + ], + [ + 0.9485019903706724, + 0.17606166407773421, + 0.26333678950168143, + 0.15234987700709812, + -0.9824002946752926, + 0.10807023641049997, + 0.27772916526500396, + -0.06238550684316303, + -0.9586316077081575 + ], + [ + 0.9500685599494715, + 0.16626094013882634, + 0.26405876463334893, + 0.14191968387829215, + -0.9838737496423784, + 0.10886343781330537, + 0.27790022440333223, + -0.06595259319237867, + -0.9583432165606315 + ], + [ + 0.9582393518322958, + 0.15469560362362217, + 0.24051323210905695, + 0.1314721917768143, + -0.9852120447255354, + 0.10987397197303217, + 0.2539535536066044, + -0.07366476190997479, + -0.9644071212218026 + ], + [ + 0.9659001761592617, + 0.13737212008223051, + 0.21946696862995374, + 0.11845012251746903, + -0.9881882986031899, + 0.09722887934831868, + 0.2302312276193315, + -0.06791750236755305, + -0.9707629961535666 + ], + [ + 0.9700890790609581, + 0.14103888160699887, + 0.19757330933531825, + 0.12910711569127056, + -0.9890067858310252, + 0.0720897375363907, + 0.2055687995891966, + -0.04442534699056132, + -0.9776338052564596 + ], + [ + 0.9703667335698193, + 0.1409198693530173, + 0.19629058256209828, + 0.1292082144587608, + -0.9890501182842651, + 0.07130989299010469, + 0.20419020470487378, + -0.04383439224410256, + -0.9779493373172109 + ], + [ + 0.9700927943495155, + 0.14097884367844696, + 0.19759791493392861, + 0.1290541340498886, + -0.9890169465700164, + 0.07204519332998012, + 0.2055845345248067, + -0.044389695115069794, + -0.9776321159474095 + ], + [ + 0.9703667335698193, + 0.1409198693530173, + 0.19629058256209828, + 0.1292082144587608, + -0.9890501182842651, + 0.07130989299010469, + 0.20419020470487378, + -0.04383439224410256, + -0.9779493373172109 + ], + [ + 0.9700890790609581, + 0.14103888160699887, + 0.19757330933531825, + 0.12910711569127056, + -0.9890067858310252, + 0.0720897375363907, + 0.2055687995891966, + -0.04442534699056132, + -0.9776338052564596 + ], + [ + 0.9700890790609581, + 0.14103888160699887, + 0.19757330933531825, + 0.12910711569127056, + -0.9890067858310252, + 0.0720897375363907, + 0.2055687995891966, + -0.04442534699056132, + -0.9776338052564596 + ], + [ + 0.9703667335698193, + 0.1409198693530173, + 0.19629058256209828, + 0.1292082144587608, + -0.9890501182842651, + 0.07130989299010469, + 0.20419020470487378, + -0.04383439224410256, + -0.9779493373172109 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005810.json b/json/chunk-0005/episode_0005810.json new file mode 100644 index 0000000000000000000000000000000000000000..c83ae7d9d8b12cc0fa3658e8288b0d8bcbb43579 --- /dev/null +++ b/json/chunk-0005/episode_0005810.json @@ -0,0 +1,2782 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 45, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut the red arch on top of the blue block." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005810.mp4", + "start": 0, + "end": 45, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.292059063911438, + -0.06328021734952927, + 0.08866053074598312, + -0.08470415323972702, + 0.020315691828727722, + 0.08857347816228867, + 0.0, + 0.9988223910331726 + ], + [ + 0.2889348566532135, + -0.06319182366132736, + 0.0789877399802208, + -0.07632936537265778, + 0.05157637596130371, + 0.08913327008485794, + 0.0, + 0.9988223910331726 + ], + [ + 0.27635231614112854, + -0.055001676082611084, + 0.07287202030420303, + -0.03884854540228844, + 0.0259507168084383, + 0.33315345644950867, + 0.0, + 0.9988223910331726 + ], + [ + 0.265667587518692, + -0.046291839331388474, + 0.07594732940196991, + -0.03331436961889267, + -0.019603924825787544, + 0.5674372315406799, + 0.0, + 0.9988223910331726 + ], + [ + 0.25657808780670166, + -0.033108945935964584, + 0.07662240415811539, + 0.049726951867341995, + -0.024462537840008736, + 0.8066498637199402, + 0.0, + 0.9988223910331726 + ], + [ + 0.2491874396800995, + -0.022566601634025574, + 0.07726427912712097, + 0.15517668426036835, + -0.07663928717374802, + 1.0557507276535034, + 0.0, + 0.9988223910331726 + ], + [ + 0.2457553595304489, + -0.016647540032863617, + 0.07771138101816177, + 0.16831758618354797, + -0.1556951403617859, + 1.3128126859664917, + 0.0, + 0.9988223910331726 + ], + [ + 0.2435581535100937, + -0.01648404262959957, + 0.07316075265407562, + 0.11021210253238678, + -0.16854512691497803, + 1.5374197959899902, + 0.0, + 0.9988223910331726 + ], + [ + 0.23811687529087067, + -0.013092228211462498, + 0.06805461645126343, + 0.02015838213264942, + -0.12100448459386826, + 1.7536174058914185, + 0.0, + 0.9988223910331726 + ], + [ + 0.23701594769954681, + -0.009704096242785454, + 0.05995500832796097, + -0.006578462664037943, + -0.07129686325788498, + 1.8111356496810913, + 0.0, + 0.9988223910331726 + ], + [ + 0.23735670745372772, + -0.0037352321669459343, + 0.05347444489598274, + -0.023335464298725128, + -0.028371788561344147, + 1.8225841522216797, + 0.0, + 0.9988223910331726 + ], + [ + 0.24008221924304962, + -0.0010826553916558623, + 0.042826343327760696, + -0.007337849587202072, + -0.010295202024281025, + 1.8003038167953491, + 0.0, + 0.9988223910331726 + ], + [ + 0.2465355098247528, + 0.0001800147001631558, + 0.03544473648071289, + 0.025334803387522697, + -0.019342845305800438, + 1.7928413152694702, + 0.0, + 0.9988223910331726 + ], + [ + 0.24559278786182404, + -0.0020563467405736446, + 0.02342250384390354, + 0.06302523612976074, + -0.006876858416944742, + 1.8063147068023682, + 0.0, + 0.9988223910331726 + ], + [ + 0.24407438933849335, + -0.0037199549842625856, + 0.018550381064414978, + 0.08379685878753662, + 0.0012741602258756757, + 1.8088775873184204, + 0.0, + 0.9988223910331726 + ], + [ + 0.24270671606063843, + -0.00650397501885891, + 0.014893376268446445, + 0.10262028872966766, + 0.013368955813348293, + 1.8238338232040405, + 0.0, + 0.9672539830207825 + ], + [ + 0.24221615493297577, + -0.007655150722712278, + 0.012619507499039173, + 0.09775672852993011, + 0.03073015622794628, + 1.8145310878753662, + 0.0, + 0.6892001032829285 + ], + [ + 0.24270197749137878, + -0.006522885523736477, + 0.012559138238430023, + 0.09406303614377975, + 0.029829351231455803, + 1.809306263923645, + 0.0, + 0.5482020378112793 + ], + [ + 0.2528335452079773, + 0.0010904058581218123, + 0.037677742540836334, + 0.022223154082894325, + -0.04385317116975784, + 1.8251127004623413, + 0.0, + 0.5482020378112793 + ], + [ + 0.2656400799751282, + 0.0011446030111983418, + 0.07733052223920822, + -0.10970804840326309, + -0.10823021084070206, + 1.802740216255188, + 0.0, + 0.5482020378112793 + ], + [ + 0.2781161367893219, + 0.0014977023238316178, + 0.10885944962501526, + -0.21962426602840424, + -0.1433914601802826, + 1.8383163213729858, + 0.0, + 0.5482020378112793 + ], + [ + 0.2916902005672455, + -9.736280480865389e-05, + 0.12110640108585358, + -0.27655312418937683, + -0.08237055689096451, + 1.8746894598007202, + 0.0, + 0.5482020378112793 + ], + [ + 0.30478453636169434, + 0.008551070466637611, + 0.12183147668838501, + -0.27662166953086853, + -0.006592140067368746, + 1.9325087070465088, + 0.0, + 0.5482020378112793 + ], + [ + 0.30872467160224915, + 0.01463466975837946, + 0.11952590197324753, + -0.2764742374420166, + 0.04401177167892456, + 1.9678943157196045, + 0.0, + 0.5482020378112793 + ], + [ + 0.3094399869441986, + 0.023787952959537506, + 0.11147978901863098, + -0.2418222427368164, + 0.03866963088512421, + 1.978096604347229, + 0.0, + 0.5482020378112793 + ], + [ + 0.3105388283729553, + 0.029142530634999275, + 0.10955113917589188, + -0.22121964395046234, + 0.0370778851211071, + 1.9728339910507202, + 0.0, + 0.5482020378112793 + ], + [ + 0.3192906081676483, + 0.034214578568935394, + 0.1047290489077568, + -0.18594005703926086, + 0.047126296907663345, + 1.9168850183486938, + 0.0, + 0.5482020378112793 + ], + [ + 0.3206372857093811, + 0.038775015622377396, + 0.1012149527668953, + -0.17845696210861206, + 0.062103431671857834, + 1.8622859716415405, + 0.0, + 0.5482020378112793 + ], + [ + 0.3211866617202759, + 0.04196883738040924, + 0.09851974248886108, + -0.15257638692855835, + 0.04855947196483612, + 1.8184360265731812, + 0.0, + 0.5482020378112793 + ], + [ + 0.3197200298309326, + 0.043051112443208694, + 0.09862416982650757, + -0.1442827433347702, + 0.04109412431716919, + 1.8099517822265625, + 0.0, + 0.5482020378112793 + ], + [ + 0.31858029961586, + 0.04370158910751343, + 0.09698264300823212, + -0.13419145345687866, + 0.03419036790728569, + 1.804658055305481, + 0.0, + 0.5482020378112793 + ], + [ + 0.31791239976882935, + 0.04638988524675369, + 0.08976688235998154, + -0.11429688334465027, + 0.03345763683319092, + 1.8122047185897827, + 0.0, + 0.5482020378112793 + ], + [ + 0.31951403617858887, + 0.04847944155335426, + 0.08293064683675766, + -0.094716377556324, + 0.026876578107476234, + 1.8192633390426636, + 0.0, + 0.5482020378112793 + ], + [ + 0.3239801526069641, + 0.04960480332374573, + 0.07601884007453918, + -0.07341781258583069, + 0.0227679293602705, + 1.8243906497955322, + 0.0, + 0.5482020378112793 + ], + [ + 0.32795682549476624, + 0.05148925259709358, + 0.07519121468067169, + -0.05882173404097557, + 0.013596254400908947, + 1.824807047843933, + 0.0, + 0.5482020378112793 + ], + [ + 0.3320372700691223, + 0.05256776884198189, + 0.07534496486186981, + -0.05754896253347397, + 0.010748262517154217, + 1.8233946561813354, + 0.0, + 0.6199479699134827 + ], + [ + 0.3305443525314331, + 0.05080685019493103, + 0.07116954773664474, + -0.031094064936041832, + 0.017146717756986618, + 1.803877353668213, + 0.0, + 0.8965065479278564 + ], + [ + 0.33042827248573303, + 0.050854314118623734, + 0.07286319881677628, + -0.024913735687732697, + 0.019351035356521606, + 1.7990044355392456, + 0.0, + 1.0054124593734741 + ], + [ + 0.3325197696685791, + 0.05134499445557594, + 0.07416684925556183, + -0.036739517003297806, + 0.03196929767727852, + 1.7973294258117676, + 0.0, + 0.9994885921478271 + ], + [ + 0.33186057209968567, + 0.05475423485040665, + 0.08617512136697769, + -0.046336036175489426, + 0.037137556821107864, + 1.7516140937805176, + 0.0, + 0.9994885921478271 + ], + [ + 0.3451882302761078, + 0.05540953204035759, + 0.11605588346719742, + -0.09968442469835281, + 0.03898172453045845, + 1.655550241470337, + 0.0, + 0.9994885921478271 + ], + [ + 0.33846765756607056, + 0.04641304165124893, + 0.13355228304862976, + -0.01409195177257061, + 0.007840810343623161, + 1.514866828918457, + 0.0, + 0.9994885921478271 + ], + [ + 0.31244131922721863, + 0.013103814795613289, + 0.1286861151456833, + 0.05322520062327385, + -0.027254629880189896, + 1.2523623704910278, + 0.0, + 0.9994885921478271 + ], + [ + 0.2924075722694397, + -0.01292380876839161, + 0.12379559874534607, + 0.0926724225282669, + -0.02820955589413643, + 0.9967259764671326, + 0.0, + 0.9994885921478271 + ], + [ + 0.2809942662715912, + -0.0329931303858757, + 0.11075092852115631, + 0.017690125852823257, + -0.009584035724401474, + 0.7566462159156799, + 0.0, + 0.9994885921478271 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9672539830207825 + ], + [ + 0.6892001032829285 + ], + [ + 0.5482020378112793 + ], + [ + 0.5482020378112793 + ], + [ + 0.5482020378112793 + ], + [ + 0.5482020378112793 + ], + [ + 0.5482020378112793 + ], + [ + 0.5482020378112793 + ], + [ + 0.5482020378112793 + ], + [ + 0.5482020378112793 + ], + [ + 0.5482020378112793 + ], + [ + 0.5482020378112793 + ], + [ + 0.5482020378112793 + ], + [ + 0.5482020378112793 + ], + [ + 0.5482020378112793 + ], + [ + 0.5482020378112793 + ], + [ + 0.5482020378112793 + ], + [ + 0.5482020378112793 + ], + [ + 0.5482020378112793 + ], + [ + 0.5482020378112793 + ], + [ + 0.6199479699134827 + ], + [ + 0.8965065479278564 + ], + [ + 1.0054124593734741 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.292059063911438, + -0.06328021734952927, + 0.08866053074598312 + ], + [ + 0.2889348566532135, + -0.06319182366132736, + 0.0789877399802208 + ], + [ + 0.27635231614112854, + -0.055001676082611084, + 0.07287202030420303 + ], + [ + 0.265667587518692, + -0.046291839331388474, + 0.07594732940196991 + ], + [ + 0.25657808780670166, + -0.033108945935964584, + 0.07662240415811539 + ], + [ + 0.2491874396800995, + -0.022566601634025574, + 0.07726427912712097 + ], + [ + 0.2457553595304489, + -0.016647540032863617, + 0.07771138101816177 + ], + [ + 0.2435581535100937, + -0.01648404262959957, + 0.07316075265407562 + ], + [ + 0.23811687529087067, + -0.013092228211462498, + 0.06805461645126343 + ], + [ + 0.23701594769954681, + -0.009704096242785454, + 0.05995500832796097 + ], + [ + 0.23735670745372772, + -0.0037352321669459343, + 0.05347444489598274 + ], + [ + 0.24008221924304962, + -0.0010826553916558623, + 0.042826343327760696 + ], + [ + 0.2465355098247528, + 0.0001800147001631558, + 0.03544473648071289 + ], + [ + 0.24559278786182404, + -0.0020563467405736446, + 0.02342250384390354 + ], + [ + 0.24407438933849335, + -0.0037199549842625856, + 0.018550381064414978 + ], + [ + 0.24270671606063843, + -0.00650397501885891, + 0.014893376268446445 + ], + [ + 0.24221615493297577, + -0.007655150722712278, + 0.012619507499039173 + ], + [ + 0.24270197749137878, + -0.006522885523736477, + 0.012559138238430023 + ], + [ + 0.2528335452079773, + 0.0010904058581218123, + 0.037677742540836334 + ], + [ + 0.2656400799751282, + 0.0011446030111983418, + 0.07733052223920822 + ], + [ + 0.2781161367893219, + 0.0014977023238316178, + 0.10885944962501526 + ], + [ + 0.2916902005672455, + -9.736280480865389e-05, + 0.12110640108585358 + ], + [ + 0.30478453636169434, + 0.008551070466637611, + 0.12183147668838501 + ], + [ + 0.30872467160224915, + 0.01463466975837946, + 0.11952590197324753 + ], + [ + 0.3094399869441986, + 0.023787952959537506, + 0.11147978901863098 + ], + [ + 0.3105388283729553, + 0.029142530634999275, + 0.10955113917589188 + ], + [ + 0.3192906081676483, + 0.034214578568935394, + 0.1047290489077568 + ], + [ + 0.3206372857093811, + 0.038775015622377396, + 0.1012149527668953 + ], + [ + 0.3211866617202759, + 0.04196883738040924, + 0.09851974248886108 + ], + [ + 0.3197200298309326, + 0.043051112443208694, + 0.09862416982650757 + ], + [ + 0.31858029961586, + 0.04370158910751343, + 0.09698264300823212 + ], + [ + 0.31791239976882935, + 0.04638988524675369, + 0.08976688235998154 + ], + [ + 0.31951403617858887, + 0.04847944155335426, + 0.08293064683675766 + ], + [ + 0.3239801526069641, + 0.04960480332374573, + 0.07601884007453918 + ], + [ + 0.32795682549476624, + 0.05148925259709358, + 0.07519121468067169 + ], + [ + 0.3320372700691223, + 0.05256776884198189, + 0.07534496486186981 + ], + [ + 0.3305443525314331, + 0.05080685019493103, + 0.07116954773664474 + ], + [ + 0.33042827248573303, + 0.050854314118623734, + 0.07286319881677628 + ], + [ + 0.3325197696685791, + 0.05134499445557594, + 0.07416684925556183 + ], + [ + 0.33186057209968567, + 0.05475423485040665, + 0.08617512136697769 + ], + [ + 0.3451882302761078, + 0.05540953204035759, + 0.11605588346719742 + ], + [ + 0.33846765756607056, + 0.04641304165124893, + 0.13355228304862976 + ], + [ + 0.31244131922721863, + 0.013103814795613289, + 0.1286861151456833 + ], + [ + 0.2924075722694397, + -0.01292380876839161, + 0.12379559874534607 + ], + [ + 0.2809942662715912, + -0.0329931303858757, + 0.11075092852115631 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9958743856794359, + 0.08985247770000877, + -0.012678335804649417, + 0.0884394560775099, + -0.9923567076616212, + -0.086061764841895, + -0.02031429438401012, + 0.08458544206987904, + -0.99620913087239 + ], + [ + 0.994705771706436, + 0.09267173119079174, + -0.04441146216918894, + 0.08889692396717315, + -0.9927802066618296, + -0.080528244546057, + -0.05155351242231995, + 0.07615386725962486, + -0.9957624334440044 + ], + [ + 0.9446975980718079, + 0.3277303410982922, + -0.011801344031674692, + 0.3269146060588138, + -0.9439731928138, + -0.04518242572429012, + -0.025947804199343897, + 0.03882569732171528, + -0.9989090432490413 + ], + [ + 0.8431191237998843, + 0.5366238496620964, + 0.034423640957153404, + 0.5373694059436215, + -0.8431641795013698, + -0.017558130925047613, + 0.019602669173217846, + 0.033301807452651835, + -0.9992530835487433 + ], + [ + 0.6917140019968979, + 0.7219220024811112, + -0.018983197177974587, + 0.7217571911948487, + -0.6901879224868315, + 0.05203065069585494, + 0.024460098118322657, + -0.04969158869440542, + -0.9984650467658185 + ], + [ + 0.4911286529940753, + 0.8656421179258019, + -0.09724386809026872, + 0.8677157118067448, + -0.47635764757979465, + 0.14196068144369756, + 0.07656428470207219, + -0.15410099047435288, + -0.9850841563251761 + ], + [ + 0.25204536533199384, + 0.9598697205668713, + -0.12297663742979154, + 0.9552106574302127, + -0.2264081979607191, + 0.19055688869185727, + 0.1550668686289976, + -0.1654975753147353, + -0.9739429237992034 + ], + [ + 0.03289747205890925, + 0.9939949245765753, + -0.1043640083943781, + 0.9852808098814272, + -0.014727660998036463, + 0.17030802001352163, + 0.16774826977209767, + -0.10843055804308789, + -0.9798486271210122 + ], + [ + -0.18047498401453482, + 0.982692578812647, + -0.041762132267197105, + 0.9761444662733674, + 0.1841600130163515, + 0.11500900212461695, + 0.12070940770642666, + -0.020009626492433062, + -0.9924861982611128 + ], + [ + -0.23742747842489392, + 0.971347792315887, + -0.010566875216881252, + 0.9687897383135534, + 0.23757190579680326, + 0.07075332157878889, + 0.07123647539816406, + 0.006561702456483111, + -0.9974378720670873 + ], + [ + -0.2490355439511982, + 0.96836979149151, + 0.015532056387357584, + 0.9680787960830369, + 0.24842693091972912, + 0.033279191219465785, + 0.028367982363016755, + 0.02332395593576258, + -0.9993253977840041 + ], + [ + -0.22748589918658085, + 0.973769527949324, + 0.004803343483789914, + 0.9737269526059188, + 0.22741826899759338, + 0.011694130789791191, + 0.010295020158468253, + 0.007337394870711382, + -0.9999200844049727 + ], + [ + -0.22018366760592578, + 0.9750281993140688, + -0.02896831134132212, + 0.9752666576451852, + 0.22063212743757055, + 0.013281973797626297, + 0.019341639154746015, + -0.02532735447566917, + -0.9994920840657376 + ], + [ + -0.2333415685888542, + 0.9703618189660349, + -0.06284626211176705, + 0.9723705167950573, + 0.23330495948915247, + -0.008023337552289053, + 0.006876804214612769, + -0.06298203053802555, + -0.9979909685929531 + ], + [ + -0.23583825405514197, + 0.9684075024967034, + -0.08103842935496892, + 0.9717914871209874, + 0.23490727386565918, + -0.020973274522222342, + -0.0012741598811125132, + -0.08369875622195441, + -0.9964902883237226 + ], + [ + -0.25032350971070866, + 0.9634059890141712, + -0.09584905225269089, + 0.9680699469327284, + 0.24770298153611342, + -0.038520264586112254, + -0.013368557580268774, + -0.10243111475399554, + -0.9946502643635482 + ], + [ + -0.24121473597392384, + 0.9665338719506023, + -0.0873368508775512, + 0.9699852606461248, + 0.2372662893102795, + -0.05322877122572488, + -0.030725319824210867, + -0.09755502205990284, + -0.9947557350388045 + ], + [ + -0.23614990752543852, + 0.968057384363631, + -0.08425035165963748, + 0.9712588197068758, + 0.23248861715169467, + -0.05104261000869437, + -0.02982492778421645, + -0.09388260474623891, + -0.9951364379866352 + ], + [ + -0.2513419578892373, + 0.9673514455012571, + -0.03253307687620531, + 0.9669050377563999, + 0.2524645373116694, + 0.03682805128294807, + 0.043839116844430384, + -0.022199961410617752, + -0.9987919170416165 + ], + [ + -0.2285247832381494, + 0.9700891123647573, + 0.08187513369341251, + 0.9675269045708104, + 0.21697774365052336, + 0.1296624374749828, + 0.10801903710727531, + 0.1088474750818092, + -0.9881721078793573 + ], + [ + -0.2616275482246007, + 0.9494928741839953, + 0.17324637913618937, + 0.954531533871532, + 0.22796550870277593, + 0.1920970527799568, + 0.1429005838156204, + 0.21562701295454756, + -0.9659629467166195 + ], + [ + -0.2982226350418465, + 0.9246445537211634, + 0.23684532763490937, + 0.9509435747856296, + 0.266431116351408, + 0.1572284255905072, + 0.08227744236803183, + 0.2721156179154964, + -0.9587405868971244 + ], + [ + -0.3538686382010798, + 0.900372856516332, + 0.2531910467341478, + 0.9352719022918015, + 0.3387393615879279, + 0.1025773546864883, + 0.00659209232245804, + 0.27310138073547563, + -0.9619626708761564 + ], + [ + -0.38636926922023107, + 0.8825213477420389, + 0.2680948686226567, + 0.9212941995561527, + 0.38313202773850696, + 0.06653455632352082, + -0.0439975643236349, + 0.27270115529743344, + -0.9610922402314112 + ], + [ + -0.39583576758071437, + 0.8878097401079806, + 0.23475074115577732, + 0.9175071934050406, + 0.393106372412367, + 0.060398096152071465, + -0.038659994229074776, + 0.23929322041835938, + -0.9701773855888512 + ], + [ + -0.39102540666206625, + 0.8946565305440564, + 0.21607596742728702, + 0.9196330744712058, + 0.3892439365086265, + 0.05257533860952704, + -0.037069390113728506, + 0.21926889940468217, + -0.9749600043440019 + ], + [ + -0.33884440130820725, + 0.9215373558449758, + 0.18961374814167076, + 0.9396622943746193, + 0.3415664782424963, + 0.019160205417591378, + -0.04710885514113641, + 0.18466521795743962, + -0.9816717949722414 + ], + [ + -0.2868253409081912, + 0.9394394858708044, + 0.18757578788238816, + 0.9559703674453384, + 0.29336765535813397, + -0.00748834802182137, + -0.062063518908652415, + 0.17716904689157736, + -0.9822215882601062 + ], + [ + -0.2448274099026786, + 0.9564225295589639, + 0.15910840427953063, + 0.9683508506131968, + 0.24942113675040267, + -0.009258869198510072, + -0.04854039016163774, + 0.15180593365929299, + -0.987217700929631 + ], + [ + -0.23668221699576275, + 0.9600441511991653, + 0.14932098280631884, + 0.9707181627487187, + 0.2401596672464481, + -0.005439001546910863, + -0.04108255916715313, + 0.1436612751452166, + -0.9887738170865609 + ], + [ + -0.23160041532247272, + 0.9629734810110185, + 0.1379975452389628, + 0.9722102251054338, + 0.23410141760552855, + -0.001950506478725092, + -0.034183706980076695, + 0.1337108864102074, + -0.9904306502893057 + ], + [ + -0.23893661782069975, + 0.963754585714107, + 0.11868610356497085, + 0.970458807387055, + 0.24121497501392652, + -0.005003897873245691, + -0.03345139502771034, + 0.11398436008532457, + -0.9929192161634497 + ], + [ + -0.2458295239900617, + 0.9643209422002426, + 0.09824950671049656, + 0.9689404876448084, + 0.24727956456316053, + -0.002673640232772438, + -0.026873342506288506, + 0.0945406652371873, + -0.9951582216306356 + ], + [ + -0.2508199139517777, + 0.9649902371077601, + 0.07670210591588539, + 0.9677660263327106, + 0.2518256012402904, + -0.0035755889251401496, + -0.022765962343335146, + 0.07333286334703651, + -0.9970476428495816 + ], + [ + -0.2512647704703942, + 0.9660375124814741, + 0.0603120186949999, + 0.9678229013498741, + 0.25162701683106714, + 0.001635855558870948, + -0.013595835508411692, + 0.05878238579118508, + -0.9981782327708437 + ], + [ + -0.24990623896691272, + 0.9665088643147751, + 0.058373683508718494, + 0.9682103857255885, + 0.2501055154467469, + 0.0039849863518383564, + -0.010748055569248141, + 0.05751387957772215, + -0.9982868490355865 + ], + [ + -0.23094237521911953, + 0.9723659375902329, + 0.03420676457104556, + 0.9728163435156354, + 0.23138331451291672, + -0.009493342608705442, + -0.017145877551790704, + 0.03108448454268141, + -0.9993696882053683 + ], + [ + -0.22619009769497989, + 0.973662007278274, + 0.028641495903276158, + 0.9738909712456374, + 0.2266317764930651, + -0.01320658963647619, + -0.019349827672730184, + 0.024906494463077508, + -0.9995025015989686 + ], + [ + -0.22448579008894654, + 0.9735296410787635, + 0.04296705702274275, + 0.9739529979380814, + 0.2255930661187886, + -0.022876326771306386, + -0.031963852326731775, + 0.03671248371028715, + -0.9988145501965101 + ], + [ + -0.17971006921225663, + 0.9823318577812522, + 0.05223420538075843, + 0.9830186808209634, + 0.18133280667079954, + -0.028154686677406324, + -0.037129020734977536, + 0.04628751897567834, + -0.998237898201795 + ], + [ + -0.08458817360983945, + 0.9911356556345092, + 0.10244487793590759, + 0.9956535720744553, + 0.08809677064412064, + -0.03021462257673127, + -0.03897185267252238, + 0.09944380891754165, + -0.9942797008725675 + ], + [ + 0.05589862519116162, + 0.99834339493823, + 0.013631195286824521, + 0.9984056623711345, + -0.05578447840285805, + -0.008615411457225023, + -0.00784073000391275, + 0.014091052215167385, + -0.9998699741468764 + ], + [ + 0.31296335844308626, + 0.9488358384280243, + -0.042005808962719784, + 0.9493741650837865, + -0.3112593865276189, + 0.04250045846709993, + 0.02725125581487367, + -0.05318031602988563, + -0.9982130148637984 + ], + [ + 0.5428383396156593, + 0.8375118191453865, + -0.06245390168035691, + 0.8393634308601188, + -0.5385323994906108, + 0.07383688531903243, + 0.02820581461409883, + -0.09250301341400033, + -0.995312827472491 + ], + [ + 0.7271090286413389, + 0.6865024932384265, + -0.00517563963903, + 0.6864551038049158, + -0.7269122695402697, + 0.019440752351617734, + 0.009583889003486497, + -0.01768839080410877, + -0.999797614471214 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0031242072582244873, + 8.83936882019043e-05, + -0.009672790765762329, + 0.008374787867069244, + 0.03126068413257599, + 0.0005597919225692749, + 1.0 + ], + [ + -0.012582540512084961, + 0.008190147578716278, + -0.006115719676017761, + 0.03748081997036934, + -0.02562565915286541, + 0.24402019381523132, + 1.0 + ], + [ + -0.010684728622436523, + 0.00870983675122261, + 0.0030753090977668762, + 0.005534175783395767, + -0.045554641634225845, + 0.23428377509117126, + 1.0 + ], + [ + -0.009089499711990356, + 0.01318289339542389, + 0.0006750747561454773, + 0.08304132521152496, + -0.004858613014221191, + 0.23921263217926025, + 1.0 + ], + [ + -0.007390648126602173, + 0.01054234430193901, + 0.0006418749690055847, + 0.10544973611831665, + -0.05217675119638443, + 0.24910086393356323, + 1.0 + ], + [ + -0.0034320801496505737, + 0.005919061601161957, + 0.000447101891040802, + 0.013140901923179626, + -0.07905585318803787, + 0.2570619583129883, + 1.0 + ], + [ + -0.0021972060203552246, + 0.00016349740326404572, + -0.004550628364086151, + -0.058105483651161194, + -0.012849986553192139, + 0.22460711002349854, + 1.0 + ], + [ + -0.0054412782192230225, + 0.0033918144181370735, + -0.005106136202812195, + -0.09005372226238251, + 0.04754064232110977, + 0.21619760990142822, + 1.0 + ], + [ + -0.0011009275913238525, + 0.003388131968677044, + -0.00809960812330246, + -0.026736844331026077, + 0.049707621335983276, + 0.05751824378967285, + 1.0 + ], + [ + 0.0003407597541809082, + 0.0059688640758395195, + -0.006480563431978226, + -0.016757002100348473, + 0.04292507469654083, + 0.011448502540588379, + 1.0 + ], + [ + 0.0027255117893218994, + 0.00265257665887475, + -0.010648101568222046, + 0.015997614711523056, + 0.018076587468385696, + -0.022280335426330566, + 1.0 + ], + [ + 0.006453290581703186, + 0.001262670150026679, + -0.007381606847047806, + 0.03267265111207962, + -0.009047643281519413, + -0.007462501525878906, + 1.0 + ], + [ + -0.000942721962928772, + -0.0022363613825291395, + -0.012022232636809349, + 0.037690430879592896, + 0.012465987354516983, + 0.01347339153289795, + 1.0 + ], + [ + -0.0015183985233306885, + -0.001663608243688941, + -0.0048721227794885635, + 0.02077162265777588, + 0.008151018992066383, + 0.002562880516052246, + 1.0 + ], + [ + -0.0013676732778549194, + -0.002784020034596324, + -0.0036570047959685326, + 0.018823429942131042, + 0.01209479570388794, + 0.014956235885620117, + 0.0 + ], + [ + -0.0004905611276626587, + -0.0011511757038533688, + -0.0022738687694072723, + -0.004863560199737549, + 0.017361201345920563, + -0.009302735328674316, + 0.0 + ], + [ + 0.00048582255840301514, + 0.0011322651989758015, + -6.036926060914993e-05, + -0.00369369238615036, + -0.0009008049964904785, + -0.005224823951721191, + 0.0 + ], + [ + 0.01013156771659851, + 0.007613291498273611, + 0.02511860430240631, + -0.07183988392353058, + -0.0736825242638588, + 0.01580643653869629, + 0.0 + ], + [ + 0.012806534767150879, + 5.41971530765295e-05, + 0.03965277969837189, + -0.13193120062351227, + -0.06437703967094421, + -0.02237248420715332, + 0.0 + ], + [ + 0.012476056814193726, + 0.000353099312633276, + 0.03152892738580704, + -0.10991621762514114, + -0.035161249339580536, + 0.03557610511779785, + 0.0 + ], + [ + 0.013574063777923584, + -0.0015950651140883565, + 0.012246951460838318, + -0.056928858160972595, + 0.061020903289318085, + 0.036373138427734375, + 0.0 + ], + [ + 0.013094335794448853, + 0.008648433722555637, + 0.0007250756025314331, + -6.854534149169922e-05, + 0.07577841728925705, + 0.057819247245788574, + 0.0 + ], + [ + 0.00394013524055481, + 0.006083599291741848, + -0.0023055747151374817, + 0.0001474320888519287, + 0.05060391128063202, + 0.0353856086730957, + 0.0 + ], + [ + 0.0007153153419494629, + 0.009153283201158047, + -0.008046112954616547, + 0.034651994705200195, + -0.005342140793800354, + 0.010202288627624512, + 0.0 + ], + [ + 0.0010988414287567139, + 0.005354577675461769, + -0.0019286498427391052, + 0.020602598786354065, + -0.001591745764017105, + -0.005262613296508789, + 0.0 + ], + [ + 0.008751779794692993, + 0.005072047933936119, + -0.004822090268135071, + 0.03527958691120148, + 0.010048411786556244, + -0.05594897270202637, + 0.0 + ], + [ + 0.001346677541732788, + 0.004560437053442001, + -0.0035140961408615112, + 0.007483094930648804, + 0.014977134764194489, + -0.05459904670715332, + 0.0 + ], + [ + 0.0005493760108947754, + 0.003193821758031845, + -0.00269521027803421, + 0.02588057518005371, + -0.013543959707021713, + -0.043849945068359375, + 0.0 + ], + [ + -0.0014666318893432617, + 0.0010822750627994537, + 0.00010442733764648438, + 0.008293643593788147, + -0.007465347647666931, + -0.008484244346618652, + 0.0 + ], + [ + -0.0011397302150726318, + 0.0006504766643047333, + -0.0016415268182754517, + 0.01009128987789154, + -0.006903756409883499, + -0.005293726921081543, + 0.0 + ], + [ + -0.0006678998470306396, + 0.002688296139240265, + -0.00721576064825058, + 0.019894570112228394, + -0.0007327310740947723, + 0.007546663284301758, + 0.0 + ], + [ + 0.0016016364097595215, + 0.0020895563066005707, + -0.006836235523223877, + 0.019580505788326263, + -0.0065810587257146835, + 0.007058620452880859, + 0.0 + ], + [ + 0.004466116428375244, + 0.0011253617703914642, + -0.006911806762218475, + 0.021298564970493317, + -0.004108648747205734, + 0.005127310752868652, + 0.0 + ], + [ + 0.003976672887802124, + 0.0018844492733478546, + -0.0008276253938674927, + 0.014596078544855118, + -0.009171674959361553, + 0.0004163980484008789, + 0.0 + ], + [ + 0.004080444574356079, + 0.0010785162448883057, + 0.00015375018119812012, + 0.0012727715075016022, + -0.0028479918837547302, + -0.0014123916625976562, + 1.0 + ], + [ + -0.001492917537689209, + -0.0017609186470508575, + -0.004175417125225067, + 0.026454897597432137, + 0.006398455239832401, + -0.01951730251312256, + 1.0 + ], + [ + -0.00011608004570007324, + 4.746392369270325e-05, + 0.0016936510801315308, + 0.0061803292483091354, + 0.0022043175995349884, + -0.004872918128967285, + 1.0 + ], + [ + 0.0020914971828460693, + 0.0004906803369522095, + 0.001303650438785553, + -0.01182578131556511, + 0.012618262320756912, + -0.0016750097274780273, + 1.0 + ], + [ + -0.0006591975688934326, + 0.0034092403948307037, + 0.012008272111415863, + -0.00959651917219162, + 0.005168259143829346, + -0.04571533203125, + 1.0 + ], + [ + 0.01332765817642212, + 0.000655297189950943, + 0.029880762100219727, + -0.05334838852286339, + 0.001844167709350586, + -0.09606385231018066, + 1.0 + ], + [ + -0.0067205727100372314, + -0.008996490389108658, + 0.017496399581432343, + 0.08559247106313705, + -0.03114091418683529, + -0.14068341255187988, + 1.0 + ], + [ + -0.02602633833885193, + -0.03330922871828079, + -0.004866167902946472, + 0.06731715053319931, + -0.03509543836116791, + -0.2625044584274292, + 1.0 + ], + [ + -0.02003374695777893, + -0.026027623564004898, + -0.004890516400337219, + 0.03944722190499306, + -0.0009549260139465332, + -0.25563639402389526, + 1.0 + ], + [ + -0.01141330599784851, + -0.020069321617484093, + -0.013044670224189758, + -0.07498230040073395, + 0.018625520169734955, + -0.24007976055145264, + 1.0 + ], + [ + -0.0010974705219268799, + -0.014217708259820938, + -0.0058494433760643005, + -0.10892501473426819, + 0.0004002377390861511, + -0.25898289680480957, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9672539830207825 + ], + [ + 0.6892001032829285 + ], + [ + 0.5482020378112793 + ], + [ + 0.5482020378112793 + ], + [ + 0.5482020378112793 + ], + [ + 0.5482020378112793 + ], + [ + 0.5482020378112793 + ], + [ + 0.5482020378112793 + ], + [ + 0.5482020378112793 + ], + [ + 0.5482020378112793 + ], + [ + 0.5482020378112793 + ], + [ + 0.5482020378112793 + ], + [ + 0.5482020378112793 + ], + [ + 0.5482020378112793 + ], + [ + 0.5482020378112793 + ], + [ + 0.5482020378112793 + ], + [ + 0.5482020378112793 + ], + [ + 0.5482020378112793 + ], + [ + 0.5482020378112793 + ], + [ + 0.5482020378112793 + ], + [ + 0.6199479699134827 + ], + [ + 0.8965065479278564 + ], + [ + 1.0054124593734741 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2889348566532135, + -0.06319182366132736, + 0.0789877399802208 + ], + [ + 0.27635231614112854, + -0.055001676082611084, + 0.07287202030420303 + ], + [ + 0.265667587518692, + -0.046291839331388474, + 0.07594732940196991 + ], + [ + 0.25657808780670166, + -0.033108945935964584, + 0.07662240415811539 + ], + [ + 0.2491874396800995, + -0.022566601634025574, + 0.07726427912712097 + ], + [ + 0.2457553595304489, + -0.016647540032863617, + 0.07771138101816177 + ], + [ + 0.2435581535100937, + -0.01648404262959957, + 0.07316075265407562 + ], + [ + 0.23811687529087067, + -0.013092228211462498, + 0.06805461645126343 + ], + [ + 0.23701594769954681, + -0.009704096242785454, + 0.05995500832796097 + ], + [ + 0.23735670745372772, + -0.0037352321669459343, + 0.05347444489598274 + ], + [ + 0.24008221924304962, + -0.0010826553916558623, + 0.042826343327760696 + ], + [ + 0.2465355098247528, + 0.0001800147001631558, + 0.03544473648071289 + ], + [ + 0.24559278786182404, + -0.0020563467405736446, + 0.02342250384390354 + ], + [ + 0.24407438933849335, + -0.0037199549842625856, + 0.018550381064414978 + ], + [ + 0.24270671606063843, + -0.00650397501885891, + 0.014893376268446445 + ], + [ + 0.24221615493297577, + -0.007655150722712278, + 0.012619507499039173 + ], + [ + 0.24270197749137878, + -0.006522885523736477, + 0.012559138238430023 + ], + [ + 0.2528335452079773, + 0.0010904058581218123, + 0.037677742540836334 + ], + [ + 0.2656400799751282, + 0.0011446030111983418, + 0.07733052223920822 + ], + [ + 0.2781161367893219, + 0.0014977023238316178, + 0.10885944962501526 + ], + [ + 0.2916902005672455, + -9.736280480865389e-05, + 0.12110640108585358 + ], + [ + 0.30478453636169434, + 0.008551070466637611, + 0.12183147668838501 + ], + [ + 0.30872467160224915, + 0.01463466975837946, + 0.11952590197324753 + ], + [ + 0.3094399869441986, + 0.023787952959537506, + 0.11147978901863098 + ], + [ + 0.3105388283729553, + 0.029142530634999275, + 0.10955113917589188 + ], + [ + 0.3192906081676483, + 0.034214578568935394, + 0.1047290489077568 + ], + [ + 0.3206372857093811, + 0.038775015622377396, + 0.1012149527668953 + ], + [ + 0.3211866617202759, + 0.04196883738040924, + 0.09851974248886108 + ], + [ + 0.3197200298309326, + 0.043051112443208694, + 0.09862416982650757 + ], + [ + 0.31858029961586, + 0.04370158910751343, + 0.09698264300823212 + ], + [ + 0.31791239976882935, + 0.04638988524675369, + 0.08976688235998154 + ], + [ + 0.31951403617858887, + 0.04847944155335426, + 0.08293064683675766 + ], + [ + 0.3239801526069641, + 0.04960480332374573, + 0.07601884007453918 + ], + [ + 0.32795682549476624, + 0.05148925259709358, + 0.07519121468067169 + ], + [ + 0.3320372700691223, + 0.05256776884198189, + 0.07534496486186981 + ], + [ + 0.3305443525314331, + 0.05080685019493103, + 0.07116954773664474 + ], + [ + 0.33042827248573303, + 0.050854314118623734, + 0.07286319881677628 + ], + [ + 0.3325197696685791, + 0.05134499445557594, + 0.07416684925556183 + ], + [ + 0.33186057209968567, + 0.05475423485040665, + 0.08617512136697769 + ], + [ + 0.3451882302761078, + 0.05540953204035759, + 0.11605588346719742 + ], + [ + 0.33846765756607056, + 0.04641304165124893, + 0.13355228304862976 + ], + [ + 0.31244131922721863, + 0.013103814795613289, + 0.1286861151456833 + ], + [ + 0.2924075722694397, + -0.01292380876839161, + 0.12379559874534607 + ], + [ + 0.2809942662715912, + -0.0329931303858757, + 0.11075092852115631 + ], + [ + 0.2798967957496643, + -0.04721083864569664, + 0.10490148514509201 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.994705771706436, + 0.09267173119079174, + -0.04441146216918894, + 0.08889692396717315, + -0.9927802066618296, + -0.080528244546057, + -0.05155351242231995, + 0.07615386725962486, + -0.9957624334440044 + ], + [ + 0.9446975980718079, + 0.3277303410982922, + -0.011801344031674692, + 0.3269146060588138, + -0.9439731928138, + -0.04518242572429012, + -0.025947804199343897, + 0.03882569732171528, + -0.9989090432490413 + ], + [ + 0.8431191237998843, + 0.5366238496620964, + 0.034423640957153404, + 0.5373694059436215, + -0.8431641795013698, + -0.017558130925047613, + 0.019602669173217846, + 0.033301807452651835, + -0.9992530835487433 + ], + [ + 0.6917140019968979, + 0.7219220024811112, + -0.018983197177974587, + 0.7217571911948487, + -0.6901879224868315, + 0.05203065069585494, + 0.024460098118322657, + -0.04969158869440542, + -0.9984650467658185 + ], + [ + 0.4911286529940753, + 0.8656421179258019, + -0.09724386809026872, + 0.8677157118067448, + -0.47635764757979465, + 0.14196068144369756, + 0.07656428470207219, + -0.15410099047435288, + -0.9850841563251761 + ], + [ + 0.25204536533199384, + 0.9598697205668713, + -0.12297663742979154, + 0.9552106574302127, + -0.2264081979607191, + 0.19055688869185727, + 0.1550668686289976, + -0.1654975753147353, + -0.9739429237992034 + ], + [ + 0.03289747205890925, + 0.9939949245765753, + -0.1043640083943781, + 0.9852808098814272, + -0.014727660998036463, + 0.17030802001352163, + 0.16774826977209767, + -0.10843055804308789, + -0.9798486271210122 + ], + [ + -0.18047498401453482, + 0.982692578812647, + -0.041762132267197105, + 0.9761444662733674, + 0.1841600130163515, + 0.11500900212461695, + 0.12070940770642666, + -0.020009626492433062, + -0.9924861982611128 + ], + [ + -0.23742747842489392, + 0.971347792315887, + -0.010566875216881252, + 0.9687897383135534, + 0.23757190579680326, + 0.07075332157878889, + 0.07123647539816406, + 0.006561702456483111, + -0.9974378720670873 + ], + [ + -0.2490355439511982, + 0.96836979149151, + 0.015532056387357584, + 0.9680787960830369, + 0.24842693091972912, + 0.033279191219465785, + 0.028367982363016755, + 0.02332395593576258, + -0.9993253977840041 + ], + [ + -0.22748589918658085, + 0.973769527949324, + 0.004803343483789914, + 0.9737269526059188, + 0.22741826899759338, + 0.011694130789791191, + 0.010295020158468253, + 0.007337394870711382, + -0.9999200844049727 + ], + [ + -0.22018366760592578, + 0.9750281993140688, + -0.02896831134132212, + 0.9752666576451852, + 0.22063212743757055, + 0.013281973797626297, + 0.019341639154746015, + -0.02532735447566917, + -0.9994920840657376 + ], + [ + -0.2333415685888542, + 0.9703618189660349, + -0.06284626211176705, + 0.9723705167950573, + 0.23330495948915247, + -0.008023337552289053, + 0.006876804214612769, + -0.06298203053802555, + -0.9979909685929531 + ], + [ + -0.23583825405514197, + 0.9684075024967034, + -0.08103842935496892, + 0.9717914871209874, + 0.23490727386565918, + -0.020973274522222342, + -0.0012741598811125132, + -0.08369875622195441, + -0.9964902883237226 + ], + [ + -0.25032350971070866, + 0.9634059890141712, + -0.09584905225269089, + 0.9680699469327284, + 0.24770298153611342, + -0.038520264586112254, + -0.013368557580268774, + -0.10243111475399554, + -0.9946502643635482 + ], + [ + -0.24121473597392384, + 0.9665338719506023, + -0.0873368508775512, + 0.9699852606461248, + 0.2372662893102795, + -0.05322877122572488, + -0.030725319824210867, + -0.09755502205990284, + -0.9947557350388045 + ], + [ + -0.23614990752543852, + 0.968057384363631, + -0.08425035165963748, + 0.9712588197068758, + 0.23248861715169467, + -0.05104261000869437, + -0.02982492778421645, + -0.09388260474623891, + -0.9951364379866352 + ], + [ + -0.2513419578892373, + 0.9673514455012571, + -0.03253307687620531, + 0.9669050377563999, + 0.2524645373116694, + 0.03682805128294807, + 0.043839116844430384, + -0.022199961410617752, + -0.9987919170416165 + ], + [ + -0.2285247832381494, + 0.9700891123647573, + 0.08187513369341251, + 0.9675269045708104, + 0.21697774365052336, + 0.1296624374749828, + 0.10801903710727531, + 0.1088474750818092, + -0.9881721078793573 + ], + [ + -0.2616275482246007, + 0.9494928741839953, + 0.17324637913618937, + 0.954531533871532, + 0.22796550870277593, + 0.1920970527799568, + 0.1429005838156204, + 0.21562701295454756, + -0.9659629467166195 + ], + [ + -0.2982226350418465, + 0.9246445537211634, + 0.23684532763490937, + 0.9509435747856296, + 0.266431116351408, + 0.1572284255905072, + 0.08227744236803183, + 0.2721156179154964, + -0.9587405868971244 + ], + [ + -0.3538686382010798, + 0.900372856516332, + 0.2531910467341478, + 0.9352719022918015, + 0.3387393615879279, + 0.1025773546864883, + 0.00659209232245804, + 0.27310138073547563, + -0.9619626708761564 + ], + [ + -0.38636926922023107, + 0.8825213477420389, + 0.2680948686226567, + 0.9212941995561527, + 0.38313202773850696, + 0.06653455632352082, + -0.0439975643236349, + 0.27270115529743344, + -0.9610922402314112 + ], + [ + -0.39583576758071437, + 0.8878097401079806, + 0.23475074115577732, + 0.9175071934050406, + 0.393106372412367, + 0.060398096152071465, + -0.038659994229074776, + 0.23929322041835938, + -0.9701773855888512 + ], + [ + -0.39102540666206625, + 0.8946565305440564, + 0.21607596742728702, + 0.9196330744712058, + 0.3892439365086265, + 0.05257533860952704, + -0.037069390113728506, + 0.21926889940468217, + -0.9749600043440019 + ], + [ + -0.33884440130820725, + 0.9215373558449758, + 0.18961374814167076, + 0.9396622943746193, + 0.3415664782424963, + 0.019160205417591378, + -0.04710885514113641, + 0.18466521795743962, + -0.9816717949722414 + ], + [ + -0.2868253409081912, + 0.9394394858708044, + 0.18757578788238816, + 0.9559703674453384, + 0.29336765535813397, + -0.00748834802182137, + -0.062063518908652415, + 0.17716904689157736, + -0.9822215882601062 + ], + [ + -0.2448274099026786, + 0.9564225295589639, + 0.15910840427953063, + 0.9683508506131968, + 0.24942113675040267, + -0.009258869198510072, + -0.04854039016163774, + 0.15180593365929299, + -0.987217700929631 + ], + [ + -0.23668221699576275, + 0.9600441511991653, + 0.14932098280631884, + 0.9707181627487187, + 0.2401596672464481, + -0.005439001546910863, + -0.04108255916715313, + 0.1436612751452166, + -0.9887738170865609 + ], + [ + -0.23160041532247272, + 0.9629734810110185, + 0.1379975452389628, + 0.9722102251054338, + 0.23410141760552855, + -0.001950506478725092, + -0.034183706980076695, + 0.1337108864102074, + -0.9904306502893057 + ], + [ + -0.23893661782069975, + 0.963754585714107, + 0.11868610356497085, + 0.970458807387055, + 0.24121497501392652, + -0.005003897873245691, + -0.03345139502771034, + 0.11398436008532457, + -0.9929192161634497 + ], + [ + -0.2458295239900617, + 0.9643209422002426, + 0.09824950671049656, + 0.9689404876448084, + 0.24727956456316053, + -0.002673640232772438, + -0.026873342506288506, + 0.0945406652371873, + -0.9951582216306356 + ], + [ + -0.2508199139517777, + 0.9649902371077601, + 0.07670210591588539, + 0.9677660263327106, + 0.2518256012402904, + -0.0035755889251401496, + -0.022765962343335146, + 0.07333286334703651, + -0.9970476428495816 + ], + [ + -0.2512647704703942, + 0.9660375124814741, + 0.0603120186949999, + 0.9678229013498741, + 0.25162701683106714, + 0.001635855558870948, + -0.013595835508411692, + 0.05878238579118508, + -0.9981782327708437 + ], + [ + -0.24990623896691272, + 0.9665088643147751, + 0.058373683508718494, + 0.9682103857255885, + 0.2501055154467469, + 0.0039849863518383564, + -0.010748055569248141, + 0.05751387957772215, + -0.9982868490355865 + ], + [ + -0.23094237521911953, + 0.9723659375902329, + 0.03420676457104556, + 0.9728163435156354, + 0.23138331451291672, + -0.009493342608705442, + -0.017145877551790704, + 0.03108448454268141, + -0.9993696882053683 + ], + [ + -0.22619009769497989, + 0.973662007278274, + 0.028641495903276158, + 0.9738909712456374, + 0.2266317764930651, + -0.01320658963647619, + -0.019349827672730184, + 0.024906494463077508, + -0.9995025015989686 + ], + [ + -0.22448579008894654, + 0.9735296410787635, + 0.04296705702274275, + 0.9739529979380814, + 0.2255930661187886, + -0.022876326771306386, + -0.031963852326731775, + 0.03671248371028715, + -0.9988145501965101 + ], + [ + -0.17971006921225663, + 0.9823318577812522, + 0.05223420538075843, + 0.9830186808209634, + 0.18133280667079954, + -0.028154686677406324, + -0.037129020734977536, + 0.04628751897567834, + -0.998237898201795 + ], + [ + -0.08458817360983945, + 0.9911356556345092, + 0.10244487793590759, + 0.9956535720744553, + 0.08809677064412064, + -0.03021462257673127, + -0.03897185267252238, + 0.09944380891754165, + -0.9942797008725675 + ], + [ + 0.05589862519116162, + 0.99834339493823, + 0.013631195286824521, + 0.9984056623711345, + -0.05578447840285805, + -0.008615411457225023, + -0.00784073000391275, + 0.014091052215167385, + -0.9998699741468764 + ], + [ + 0.31296335844308626, + 0.9488358384280243, + -0.042005808962719784, + 0.9493741650837865, + -0.3112593865276189, + 0.04250045846709993, + 0.02725125581487367, + -0.05318031602988563, + -0.9982130148637984 + ], + [ + 0.5428383396156593, + 0.8375118191453865, + -0.06245390168035691, + 0.8393634308601188, + -0.5385323994906108, + 0.07383688531903243, + 0.02820581461409883, + -0.09250301341400033, + -0.995312827472491 + ], + [ + 0.7271090286413389, + 0.6865024932384265, + -0.00517563963903, + 0.6864551038049158, + -0.7269122695402697, + 0.019440752351617734, + 0.009583889003486497, + -0.01768839080410877, + -0.999797614471214 + ], + [ + 0.8786633740521258, + 0.474652979746616, + 0.05152886489136127, + 0.47735347000422135, + -0.8754453226220358, + -0.07569116047550178, + 0.009183668888988843, + 0.09110453291059531, + -0.9957989879031205 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005811.json b/json/chunk-0005/episode_0005811.json new file mode 100644 index 0000000000000000000000000000000000000000..649d166ff3bf0ba96a13083bbd02f80b96ed8218 --- /dev/null +++ b/json/chunk-0005/episode_0005811.json @@ -0,0 +1,2782 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 45, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the put to the left of the green cloth." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005811.mp4", + "start": 0, + "end": 45, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.285614013671875, + 0.0307606291025877, + 0.1619149148464203, + -0.265310674905777, + -0.40545159578323364, + -0.011685088276863098, + 0.0, + 0.9988223910331726 + ], + [ + 0.283397376537323, + 0.030205875635147095, + 0.15375693142414093, + -0.2695428133010864, + -0.3761562407016754, + -0.007711939513683319, + 0.0, + 0.9988223910331726 + ], + [ + 0.27882230281829834, + 0.014269823208451271, + 0.15444009006023407, + -0.2199924737215042, + -0.37713536620140076, + -0.08142900466918945, + 0.0, + 0.9988223910331726 + ], + [ + 0.2750817835330963, + 0.0022672449704259634, + 0.1540529429912567, + -0.20734933018684387, + -0.3836342394351959, + -0.09612102061510086, + 0.0, + 0.9988223910331726 + ], + [ + 0.2716270983219147, + -0.013939566910266876, + 0.14968939125537872, + -0.17786921560764313, + -0.39330393075942993, + -0.14234724640846252, + 0.0, + 0.9988223910331726 + ], + [ + 0.26596948504447937, + -0.030258679762482643, + 0.1359778344631195, + -0.12239688634872437, + -0.426216185092926, + -0.19894646108150482, + 0.0, + 0.9988223910331726 + ], + [ + 0.26560986042022705, + -0.04204736649990082, + 0.12603695690631866, + -0.11707694083452225, + -0.4279104173183441, + -0.21340176463127136, + 0.0, + 0.9988223910331726 + ], + [ + 0.266131728887558, + -0.049752168357372284, + 0.10338740050792694, + -0.11870754510164261, + -0.3981139063835144, + -0.21377775073051453, + 0.0, + 0.9981546401977539 + ], + [ + 0.26707789301872253, + -0.04989059269428253, + 0.08752918988466263, + -0.10433168709278107, + -0.38954782485961914, + -0.19396738708019257, + 0.0, + 0.9988223910331726 + ], + [ + 0.26892054080963135, + -0.05287656560540199, + 0.06426791846752167, + -0.1008305624127388, + -0.33315593004226685, + -0.19328318536281586, + 0.0, + 0.9988223910331726 + ], + [ + 0.2762865126132965, + -0.05783750116825104, + 0.04960847273468971, + -0.09402763098478317, + -0.32373669743537903, + -0.19015178084373474, + 0.0, + 0.9988223910331726 + ], + [ + 0.2881205976009369, + -0.06396903097629547, + 0.038128919899463654, + -0.10673956573009491, + -0.32820478081703186, + -0.16186170279979706, + 0.0, + 0.9988223910331726 + ], + [ + 0.3025570809841156, + -0.08304602652788162, + 0.025010675191879272, + -0.09439580887556076, + -0.30968013405799866, + -0.17467206716537476, + 0.0, + 0.9981546401977539 + ], + [ + 0.3065401017665863, + -0.09118395298719406, + 0.014010770246386528, + -0.0779995247721672, + -0.3007957637310028, + -0.17359954118728638, + 0.0, + 0.9484345316886902 + ], + [ + 0.3087961673736572, + -0.0953865796327591, + 0.014120562002062798, + -0.05835559964179993, + -0.32435911893844604, + -0.20228971540927887, + 0.0, + 0.6811928749084473 + ], + [ + 0.30552056431770325, + -0.09391877800226212, + 0.011678703129291534, + -0.058004893362522125, + -0.31979092955589294, + -0.20071355998516083, + 0.0, + 0.4175282120704651 + ], + [ + 0.29799675941467285, + -0.09261089563369751, + 0.013411005958914757, + -0.0624002069234848, + -0.31373679637908936, + -0.20214346051216125, + 0.0, + 0.24658186733722687 + ], + [ + 0.2946886718273163, + -0.09320918470621109, + 0.02314753644168377, + -0.08121901750564575, + -0.3203982412815094, + -0.21372829377651215, + 0.0, + 0.13900397717952728 + ], + [ + 0.28850191831588745, + -0.09340270608663559, + 0.02449299767613411, + -0.09040648490190506, + -0.28772905468940735, + -0.24232898652553558, + 0.0, + 0.08819076418876648 + ], + [ + 0.2902330756187439, + -0.09577970206737518, + 0.03953651338815689, + -0.11348053067922592, + -0.3297547399997711, + -0.2483423501253128, + 0.0, + 0.08259850740432739 + ], + [ + 0.2893328070640564, + -0.10871940851211548, + 0.05907738208770752, + -0.1640322208404541, + -0.38068199157714844, + -0.23413525521755219, + 0.0, + 0.07689721137285233 + ], + [ + 0.28971922397613525, + -0.10110845416784286, + 0.07513725012540817, + -0.1821478307247162, + -0.4069993197917938, + -0.20479802787303925, + 0.0, + 0.07270156592130661 + ], + [ + 0.28761547803878784, + -0.09701511263847351, + 0.09349175542593002, + -0.1990719437599182, + -0.43522632122039795, + -0.1868971586227417, + 0.0, + 0.07270156592130661 + ], + [ + 0.2951049506664276, + -0.07380858808755875, + 0.11100605875253677, + -0.2075105756521225, + -0.4768376648426056, + -0.1306186020374298, + 0.0, + 0.07238461822271347 + ], + [ + 0.3082068860530853, + -0.04645891115069389, + 0.12429381161928177, + -0.2055753469467163, + -0.5038269758224487, + -0.06841221451759338, + 0.0, + 0.07238461822271347 + ], + [ + 0.3210045397281647, + -0.01873442344367504, + 0.13779860734939575, + -0.19006836414337158, + -0.5386632680892944, + -0.003192674834281206, + 0.0, + 0.07238461822271347 + ], + [ + 0.3243650197982788, + 0.013904331251978874, + 0.13152794539928436, + -0.18668179214000702, + -0.5066415071487427, + 0.0882384330034256, + 0.0, + 0.07238461822271347 + ], + [ + 0.32213693857192993, + 0.05121403932571411, + 0.1287720948457718, + -0.17117835581302643, + -0.505671501159668, + 0.1987450122833252, + 0.0, + 0.07238461822271347 + ], + [ + 0.31984567642211914, + 0.0783487856388092, + 0.1181332990527153, + -0.21293357014656067, + -0.4809216856956482, + 0.3696001172065735, + 0.0, + 0.07238461822271347 + ], + [ + 0.3180142045021057, + 0.09323358535766602, + 0.10836256295442581, + -0.23430578410625458, + -0.4591512084007263, + 0.5542303323745728, + 0.0, + 0.07206849008798599 + ], + [ + 0.3189602494239807, + 0.10247984528541565, + 0.09747137874364853, + -0.2543962597846985, + -0.4279288053512573, + 0.7082647085189819, + 0.0, + 0.07206849008798599 + ], + [ + 0.3209327757358551, + 0.11253973096609116, + 0.0882863849401474, + -0.2539665997028351, + -0.4323641061782837, + 0.8697013854980469, + 0.0, + 0.07206849008798599 + ], + [ + 0.32182928919792175, + 0.11605634540319443, + 0.07386527210474014, + -0.2480069398880005, + -0.4083828330039978, + 0.9287144541740417, + 0.0, + 0.07206849008798599 + ], + [ + 0.3197048604488373, + 0.12324213236570358, + 0.0579962432384491, + -0.2325953096151352, + -0.3736227750778198, + 0.9489942193031311, + 0.0, + 0.07206849008798599 + ], + [ + 0.3178471326828003, + 0.13347405195236206, + 0.04677710682153702, + -0.22307263314723969, + -0.3574499785900116, + 0.9672840237617493, + 0.0, + 0.07206849008798599 + ], + [ + 0.3147723376750946, + 0.14320462942123413, + 0.032194726169109344, + -0.22679558396339417, + -0.3300652503967285, + 1.0054857730865479, + 0.0, + 0.07175325602293015 + ], + [ + 0.3200474977493286, + 0.14929521083831787, + 0.025261104106903076, + -0.2314745932817459, + -0.3225136399269104, + 1.0135945081710815, + 0.0, + 0.07206849008798599 + ], + [ + 0.32363903522491455, + 0.15472757816314697, + 0.014898659661412239, + -0.2539757788181305, + -0.3165450394153595, + 1.0363283157348633, + 0.0, + 0.07175325602293015 + ], + [ + 0.3235946595668793, + 0.15786655247211456, + 0.013886169530451298, + -0.2488359957933426, + -0.312856525182724, + 1.068364143371582, + 0.0, + 0.07206849008798599 + ], + [ + 0.3231041133403778, + 0.1608489453792572, + 0.0135123236104846, + -0.2858912944793701, + -0.29027631878852844, + 1.0838308334350586, + 0.0, + 0.10160017013549805 + ], + [ + 0.3206726014614105, + 0.1623895913362503, + 0.012763729318976402, + -0.27674832940101624, + -0.28184470534324646, + 1.1092792749404907, + 0.0, + 0.2920950949192047 + ], + [ + 0.31980541348457336, + 0.1647685170173645, + 0.013109254650771618, + -0.2882199287414551, + -0.27847814559936523, + 1.1043052673339844, + 0.0, + 0.5373842120170593 + ], + [ + 0.32176026701927185, + 0.16310273110866547, + 0.014926680363714695, + -0.308860182762146, + -0.271120548248291, + 1.1120703220367432, + 0.0, + 0.8205437660217285 + ], + [ + 0.32077959179878235, + 0.16225403547286987, + 0.018004968762397766, + -0.3186410963535309, + -0.26301684975624084, + 1.1022183895111084, + 0.0, + 1.0008161067962646 + ], + [ + 0.3201422095298767, + 0.1623527556657791, + 0.02300482615828514, + -0.3299674987792969, + -0.25959181785583496, + 1.1005029678344727, + 0.0, + 1.0008161067962646 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9981546401977539 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9981546401977539 + ], + [ + 0.9484345316886902 + ], + [ + 0.6811928749084473 + ], + [ + 0.4175282120704651 + ], + [ + 0.24658186733722687 + ], + [ + 0.13900397717952728 + ], + [ + 0.08819076418876648 + ], + [ + 0.08259850740432739 + ], + [ + 0.07689721137285233 + ], + [ + 0.07270156592130661 + ], + [ + 0.07270156592130661 + ], + [ + 0.07238461822271347 + ], + [ + 0.07238461822271347 + ], + [ + 0.07238461822271347 + ], + [ + 0.07238461822271347 + ], + [ + 0.07238461822271347 + ], + [ + 0.07238461822271347 + ], + [ + 0.07206849008798599 + ], + [ + 0.07206849008798599 + ], + [ + 0.07206849008798599 + ], + [ + 0.07206849008798599 + ], + [ + 0.07206849008798599 + ], + [ + 0.07206849008798599 + ], + [ + 0.07175325602293015 + ], + [ + 0.07206849008798599 + ], + [ + 0.07175325602293015 + ], + [ + 0.07206849008798599 + ], + [ + 0.10160017013549805 + ], + [ + 0.2920950949192047 + ], + [ + 0.5373842120170593 + ], + [ + 0.8205437660217285 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.285614013671875, + 0.0307606291025877, + 0.1619149148464203 + ], + [ + 0.283397376537323, + 0.030205875635147095, + 0.15375693142414093 + ], + [ + 0.27882230281829834, + 0.014269823208451271, + 0.15444009006023407 + ], + [ + 0.2750817835330963, + 0.0022672449704259634, + 0.1540529429912567 + ], + [ + 0.2716270983219147, + -0.013939566910266876, + 0.14968939125537872 + ], + [ + 0.26596948504447937, + -0.030258679762482643, + 0.1359778344631195 + ], + [ + 0.26560986042022705, + -0.04204736649990082, + 0.12603695690631866 + ], + [ + 0.266131728887558, + -0.049752168357372284, + 0.10338740050792694 + ], + [ + 0.26707789301872253, + -0.04989059269428253, + 0.08752918988466263 + ], + [ + 0.26892054080963135, + -0.05287656560540199, + 0.06426791846752167 + ], + [ + 0.2762865126132965, + -0.05783750116825104, + 0.04960847273468971 + ], + [ + 0.2881205976009369, + -0.06396903097629547, + 0.038128919899463654 + ], + [ + 0.3025570809841156, + -0.08304602652788162, + 0.025010675191879272 + ], + [ + 0.3065401017665863, + -0.09118395298719406, + 0.014010770246386528 + ], + [ + 0.3087961673736572, + -0.0953865796327591, + 0.014120562002062798 + ], + [ + 0.30552056431770325, + -0.09391877800226212, + 0.011678703129291534 + ], + [ + 0.29799675941467285, + -0.09261089563369751, + 0.013411005958914757 + ], + [ + 0.2946886718273163, + -0.09320918470621109, + 0.02314753644168377 + ], + [ + 0.28850191831588745, + -0.09340270608663559, + 0.02449299767613411 + ], + [ + 0.2902330756187439, + -0.09577970206737518, + 0.03953651338815689 + ], + [ + 0.2893328070640564, + -0.10871940851211548, + 0.05907738208770752 + ], + [ + 0.28971922397613525, + -0.10110845416784286, + 0.07513725012540817 + ], + [ + 0.28761547803878784, + -0.09701511263847351, + 0.09349175542593002 + ], + [ + 0.2951049506664276, + -0.07380858808755875, + 0.11100605875253677 + ], + [ + 0.3082068860530853, + -0.04645891115069389, + 0.12429381161928177 + ], + [ + 0.3210045397281647, + -0.01873442344367504, + 0.13779860734939575 + ], + [ + 0.3243650197982788, + 0.013904331251978874, + 0.13152794539928436 + ], + [ + 0.32213693857192993, + 0.05121403932571411, + 0.1287720948457718 + ], + [ + 0.31984567642211914, + 0.0783487856388092, + 0.1181332990527153 + ], + [ + 0.3180142045021057, + 0.09323358535766602, + 0.10836256295442581 + ], + [ + 0.3189602494239807, + 0.10247984528541565, + 0.09747137874364853 + ], + [ + 0.3209327757358551, + 0.11253973096609116, + 0.0882863849401474 + ], + [ + 0.32182928919792175, + 0.11605634540319443, + 0.07386527210474014 + ], + [ + 0.3197048604488373, + 0.12324213236570358, + 0.0579962432384491 + ], + [ + 0.3178471326828003, + 0.13347405195236206, + 0.04677710682153702 + ], + [ + 0.3147723376750946, + 0.14320462942123413, + 0.032194726169109344 + ], + [ + 0.3200474977493286, + 0.14929521083831787, + 0.025261104106903076 + ], + [ + 0.32363903522491455, + 0.15472757816314697, + 0.014898659661412239 + ], + [ + 0.3235946595668793, + 0.15786655247211456, + 0.013886169530451298 + ], + [ + 0.3231041133403778, + 0.1608489453792572, + 0.0135123236104846 + ], + [ + 0.3206726014614105, + 0.1623895913362503, + 0.012763729318976402 + ], + [ + 0.31980541348457336, + 0.1647685170173645, + 0.013109254650771618 + ], + [ + 0.32176026701927185, + 0.16310273110866547, + 0.014926680363714695 + ], + [ + 0.32077959179878235, + 0.16225403547286987, + 0.018004968762397766 + ], + [ + 0.3201422095298767, + 0.1623527556657791, + 0.02300482615828514 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9188616313963697, + -0.11469304388998486, + 0.3775431207568901, + -0.010737467984107213, + -0.963736712003886, + -0.26663881322348576, + 0.39443378294574616, + 0.24095031774037706, + -0.8867722003152326 + ], + [ + 0.9300558430452208, + -0.10525193399006937, + 0.35202011193793026, + -0.007172676602425487, + -0.963109693056619, + -0.2690135161116285, + 0.36734817479851445, + 0.24767266609727945, + -0.8965007356050886 + ], + [ + 0.9266427274702854, + -0.159474665486708, + 0.340442486617538, + -0.0756228125411327, + -0.9661288520861842, + -0.24673109125118498, + 0.36825866703962135, + 0.2028863530022028, + -0.9073161973180389 + ], + [ + 0.9230299622451257, + -0.1706161237672163, + 0.34482724241047413, + -0.08899683903548554, + -0.9666676879221455, + -0.24006903958850137, + 0.3742930021246107, + 0.19090238195974266, + -0.9074475351901303 + ], + [ + 0.9143058704590027, + -0.20675104783084647, + 0.34827974311615084, + -0.13103516466876702, + -0.964648498342772, + -0.2286548933770359, + 0.383242169997554, + 0.1634236178337806, + -0.9090754425622133 + ], + [ + 0.8925765758429867, + -0.2456386144962326, + 0.37811205657156777, + -0.1799554330545795, + -0.9629658204767859, + -0.20078065322039715, + 0.4134284682633115, + 0.11116878906348607, + -0.9037247379415981 + ], + [ + 0.8891962712271247, + -0.25770892305338533, + 0.37804246086179516, + -0.19269002733160673, + -0.9603599344802078, + -0.20144316720136102, + 0.41497053461989597, + 0.10627750102366523, + -0.9036064122024824 + ], + [ + 0.9008105145441531, + -0.2555275912133375, + 0.3510641921577982, + -0.1955614754221225, + -0.9606186549313283, + -0.19740189747985748, + 0.3876804434291477, + 0.10916707345456804, + -0.9153067375781434 + ], + [ + 0.9077330502569447, + -0.23051381292998635, + 0.350548272738153, + -0.1783124744628678, + -0.9682881486209665, + -0.17499349328220842, + 0.3797701553863236, + 0.0963402475015529, + -0.9200506430567761 + ], + [ + 0.9274177441242585, + -0.22341186794410386, + 0.2999724406427988, + -0.18152034148936977, + -0.9700713215899054, + -0.1612823507219456, + 0.32702705317611525, + 0.09512501401072374, + -0.94021515527054 + ], + [ + 0.9309652216450246, + -0.21750189194013483, + 0.2932519106329787, + -0.1791896135130208, + -0.9719926986621406, + -0.15205681884264122, + 0.31811136178465055, + 0.08901191352819847, + -0.9438654781024487 + ], + [ + 0.9342492148935563, + -0.1941313708160998, + 0.29915115800517195, + -0.15255376427681303, + -0.9757777531747135, + -0.1567964457960776, + 0.32234415377938525, + 0.10085032114162891, + -0.9412350711962884 + ], + [ + 0.937938509057549, + -0.20129922486837074, + 0.28240038118652605, + -0.16551843291040416, + -0.9754074030657707, + -0.14554740262668164, + 0.30475400176828876, + 0.08977204526957398, + -0.9481908976014964 + ], + [ + 0.9407452852193893, + -0.19494302844014957, + 0.2774806732009854, + -0.16497354741096434, + -0.9779870117078601, + -0.12776984615069137, + 0.29628033514246493, + 0.07442190936352058, + -0.9521971132147774 + ], + [ + 0.9285275629357496, + -0.21877932888478202, + 0.29995361328265696, + -0.1904363136819825, + -0.9742071579349587, + -0.12105545778488361, + 0.3187013889204358, + 0.05528126880792938, + -0.9462417270545461 + ], + [ + 0.930243530911086, + -0.2168921120576981, + 0.295981055010665, + -0.18926085964287814, + -0.9746430906774946, + -0.1193782760884908, + 0.3143680966722198, + 0.0550332401533117, + -0.9477046176277257 + ], + [ + 0.9318193753120256, + -0.21923215189246553, + 0.2892229509733024, + -0.19096943628127372, + -0.9738680121056454, + -0.12292993697147533, + 0.3086151749339603, + 0.05931575316892879, + -0.9493357231382814 + ], + [ + 0.9275148915010357, + -0.2363756377499605, + 0.28955601171815026, + -0.20131082912741532, + -0.9686059022052029, + -0.1458648562515238, + 0.3149445603909594, + 0.07700106552213784, + -0.9459813739120877 + ], + [ + 0.9308736606011352, + -0.2638558490787723, + 0.2526941212334838, + -0.23009947256687155, + -0.9606692441097927, + -0.15546329517274116, + 0.28377537018474663, + 0.08657190264999065, + -0.9549747875981178 + ], + [ + 0.9170959082036316, + -0.2797590436488265, + 0.284024598675626, + -0.2325543730358189, + -0.9540737557522462, + -0.1888431416989264, + 0.32381099230581034, + 0.10713611007264372, + -0.940036326521709 + ], + [ + 0.9030800524516255, + -0.2879060988086012, + 0.3186793013874317, + -0.2153932418321894, + -0.9455819798177331, + -0.2438861841453847, + 0.37155372456347346, + 0.15160738013958452, + -0.9159492518967534 + ], + [ + 0.8991219634722687, + -0.27021272232961324, + 0.3443323677683994, + -0.18675673305008045, + -0.9483218505896978, + -0.2565299014824445, + 0.3958555512585796, + 0.166345280622418, + -0.9031210495567114 + ], + [ + 0.8909836235170506, + -0.2640679000531908, + 0.3693458092166805, + -0.16848869209436862, + -0.9476873096141613, + -0.27110943147113464, + 0.4216156345070182, + 0.1793234712963444, + -0.888866328185219 + ], + [ + 0.8808825284273014, + -0.2212072400945387, + 0.41846544426186677, + -0.11571849370151974, + -0.9578949554260416, + -0.2627669777289243, + 0.4589718960099581, + 0.1830426488529348, + -0.8693906989230592 + ], + [ + 0.873692853120516, + -0.16523913976783336, + 0.4575552699892318, + -0.05986468556434218, + -0.969916973738766, + -0.23596034301491514, + 0.4827805068852872, + 0.17876546294578377, + -0.8573015172209628 + ], + [ + 0.858390801965047, + -0.10005165524845339, + 0.503145006319101, + -0.0027405720231264766, + -0.9816768929835163, + -0.1905333751530583, + 0.5129890060876447, + 0.16217319157084692, + -0.8429366142059176 + ], + [ + 0.8709773632226878, + -0.003117622851268549, + 0.491313253618719, + 0.07705376233160177, + -0.9867391322264896, + -0.14285868067240387, + 0.4852433930144743, + 0.162284211680225, + -0.8591872230050496 + ], + [ + 0.8576281062754092, + 0.11366425347698858, + 0.5015520599179857, + 0.17272956838816814, + -0.982278976538498, + -0.07274962855519163, + 0.4843950118765603, + 0.14902499700385874, + -0.8620632359271027 + ], + [ + 0.8267005931098363, + 0.26192585583226285, + 0.4979568007351466, + 0.32026644915990937, + -0.9467271099481684, + -0.03372211191032798, + 0.4625965098164371, + 0.18735694632365826, + -0.8665459270978808 + ], + [ + 0.7622387368599801, + 0.42441732825015543, + 0.48873514249652855, + 0.4717807218800125, + -0.8812236881275692, + 0.029457799395391476, + 0.443187385303865, + 0.2081219425333251, + -0.8719347444296959 + ], + [ + 0.6910063632161569, + 0.5502617737370704, + 0.4687453320925062, + 0.5918579020301818, + -0.8029854057913296, + 0.07013317254028698, + 0.41498726462291885, + 0.22896816034083659, + -0.8805448039429458 + ], + [ + 0.5856953251706941, + 0.6717164270524782, + 0.45360558605582413, + 0.6938187516064664, + -0.7048091746231937, + 0.1478498132775861, + 0.4190185270276716, + 0.2281251169749293, + -0.8788528915653265 + ], + [ + 0.5496159710929559, + 0.7179682897863643, + 0.42713442752930914, + 0.7349921677431596, + -0.6586105528468756, + 0.16130298520159014, + 0.3971256698776328, + 0.22528576195573569, + -0.8896839482559328 + ], + [ + 0.5423148614894822, + 0.741934913486604, + 0.39424253341980847, + 0.7567538611178881, + -0.635199782481887, + 0.15441771277327995, + 0.36499066384061324, + 0.21460153886817415, + -0.9059403925339677 + ], + [ + 0.5316649325004289, + 0.7590167559861463, + 0.3758004306564603, + 0.7713052658793935, + -0.6172062446265243, + 0.15538545112313698, + 0.3498865335734318, + 0.2072438557021404, + -0.9135805371710137 + ], + [ + 0.5067628190514455, + 0.7837596449119741, + 0.35904354086167317, + 0.7988413806848726, + -0.5834993654155208, + 0.1462222249357837, + 0.32410475734323657, + 0.21271885099149215, + -0.9217954201992659 + ], + [ + 0.5015486376493162, + 0.7876500755185751, + 0.35784958098019004, + 0.804978662507374, + -0.5764236050778255, + 0.14051754487224083, + 0.31695160037449566, + 0.21758489387975855, + -0.9231459781504656 + ], + [ + 0.48407540144740013, + 0.793094878613952, + 0.36969111326871185, + 0.8177851677348411, + -0.560347143050161, + 0.13129546339619183, + 0.31128511873592146, + 0.2387710049227996, + -0.9198314965588644 + ], + [ + 0.4581828784781359, + 0.8129188402109232, + 0.35948770368347427, + 0.8338712758249588, + -0.5331570885534012, + 0.14283631988859202, + 0.3077777529704596, + 0.23432131391614458, + -0.922153119943248 + ], + [ + 0.44836966599143535, + 0.8101146804556865, + 0.3777285362914878, + 0.8467847863584204, + -0.520286707328192, + 0.1107125456735264, + 0.2862169949717401, + 0.2702146307803657, + -0.9192735638000135 + ], + [ + 0.4277369263744092, + 0.8274678498588839, + 0.3637830112384149, + 0.8600499487673523, + -0.49640474817963764, + 0.1178830420797882, + 0.2781280414504223, + 0.26244863008715813, + -0.9239943231017851 + ], + [ + 0.4324281847740598, + 0.8211680684258923, + 0.37240954393073805, + 0.8587431775848381, + -0.50099163164429, + 0.10755249868732521, + 0.2748927426552155, + 0.2732954233427279, + -0.9218153782701894 + ], + [ + 0.42663109315679515, + 0.8181423329691617, + 0.38552436155918185, + 0.8638651864546154, + -0.49484414389818787, + 0.09416056967436834, + 0.2678112207947419, + 0.29286924770867695, + -0.9178805770703415 + ], + [ + 0.43608682383959485, + 0.8105148994122516, + 0.3910164701188962, + 0.8615282757719961, + -0.5015552471622526, + 0.07881220774310967, + 0.25999483094635856, + 0.3025027799455058, + -0.9170031384932198 + ], + [ + 0.43796502234534734, + 0.8056569657379585, + 0.39887779176076604, + 0.8615677002004763, + -0.5028419741359482, + 0.06964945813374461, + 0.25668606735329696, + 0.31315619522048094, + -0.9143552155599761 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.002216637134552002, + -0.0005547534674406052, + -0.008157983422279358, + -0.004232138395309448, + 0.029295355081558228, + 0.003973148763179779, + 1.0 + ], + [ + -0.004575073719024658, + -0.015936052426695824, + 0.0006831586360931396, + 0.049550339579582214, + -0.0009791254997253418, + -0.07371706515550613, + 1.0 + ], + [ + -0.0037405192852020264, + -0.012002578005194664, + -0.00038714706897735596, + 0.01264314353466034, + -0.006498873233795166, + -0.014692015945911407, + 1.0 + ], + [ + -0.0034546852111816406, + -0.016206812113523483, + -0.004363551735877991, + 0.029480114579200745, + -0.009669691324234009, + -0.046226225793361664, + 1.0 + ], + [ + -0.005657613277435303, + -0.016319112852215767, + -0.013711556792259216, + 0.05547232925891876, + -0.032912254333496094, + -0.0565992146730423, + 1.0 + ], + [ + -0.00035962462425231934, + -0.011788686737418175, + -0.009940877556800842, + 0.005319945514202118, + -0.0016942322254180908, + -0.01445530354976654, + 1.0 + ], + [ + 0.0005218684673309326, + -0.007704801857471466, + -0.022649556398391724, + -0.0016306042671203613, + 0.029796510934829712, + -0.00037598609924316406, + 1.0 + ], + [ + 0.0009461641311645508, + -0.0001384243369102478, + -0.015858210623264313, + 0.014375858008861542, + 0.008566081523895264, + 0.01981036365032196, + 1.0 + ], + [ + 0.0018426477909088135, + -0.002985972911119461, + -0.02326127141714096, + 0.003501124680042267, + 0.056391894817352295, + 0.000684201717376709, + 1.0 + ], + [ + 0.007365971803665161, + -0.004960935562849045, + -0.014659445732831955, + 0.0068029314279556274, + 0.009419232606887817, + 0.0031314045190811157, + 1.0 + ], + [ + 0.01183408498764038, + -0.006131529808044434, + -0.011479552835226059, + -0.012711934745311737, + -0.004468083381652832, + 0.028290078043937683, + 1.0 + ], + [ + 0.014436483383178711, + -0.01907699555158615, + -0.013118244707584381, + 0.01234375685453415, + 0.018524646759033203, + -0.012810364365577698, + 1.0 + ], + [ + 0.003983020782470703, + -0.008137926459312439, + -0.010999904945492744, + 0.016396284103393555, + 0.00888437032699585, + 0.001072525978088379, + 0.0 + ], + [ + 0.002256065607070923, + -0.004202626645565033, + 0.00010979175567626953, + 0.01964392513036728, + -0.023563355207443237, + -0.028690174221992493, + 0.0 + ], + [ + -0.0032756030559539795, + 0.0014678016304969788, + -0.002441858872771263, + 0.0003507062792778015, + 0.004568189382553101, + 0.001576155424118042, + 0.0 + ], + [ + -0.0075238049030303955, + 0.0013078823685646057, + 0.0017323028296232224, + -0.004395313560962677, + 0.006054133176803589, + -0.0014299005270004272, + 0.0 + ], + [ + -0.0033080875873565674, + -0.0005982890725135803, + 0.009736530482769012, + -0.01881881058216095, + -0.006661444902420044, + -0.011584833264350891, + 0.0 + ], + [ + -0.006186753511428833, + -0.0001935213804244995, + 0.0013454612344503403, + -0.009187467396259308, + 0.03266918659210205, + -0.028600692749023438, + 0.0 + ], + [ + 0.0017311573028564453, + -0.0023769959807395935, + 0.015043515712022781, + -0.023074045777320862, + -0.04202568531036377, + -0.006013363599777222, + 0.0 + ], + [ + -0.0009002685546875, + -0.012939706444740295, + 0.01954086869955063, + -0.05055169016122818, + -0.05092725157737732, + 0.01420709490776062, + 0.0 + ], + [ + 0.0003864169120788574, + 0.0076109543442726135, + 0.016059868037700653, + -0.018115609884262085, + -0.026317328214645386, + 0.02933722734451294, + 0.0 + ], + [ + -0.002103745937347412, + 0.004093341529369354, + 0.01835450530052185, + -0.016924113035202026, + -0.028227001428604126, + 0.017900869250297546, + 0.0 + ], + [ + 0.0074894726276397705, + 0.023206524550914764, + 0.01751430332660675, + -0.008438631892204285, + -0.04161134362220764, + 0.05627855658531189, + 0.0 + ], + [ + 0.013101935386657715, + 0.027349676936864853, + 0.013287752866744995, + 0.001935228705406189, + -0.02698931097984314, + 0.062206387519836426, + 0.0 + ], + [ + 0.012797653675079346, + 0.027724487707018852, + 0.013504795730113983, + 0.015506982803344727, + -0.0348362922668457, + 0.06521953642368317, + 0.0 + ], + [ + 0.0033604800701141357, + 0.032638754695653915, + -0.006270661950111389, + 0.003386572003364563, + 0.03202176094055176, + 0.09143111109733582, + 0.0 + ], + [ + -0.002228081226348877, + 0.03730970621109009, + -0.0027558505535125732, + 0.01550343632698059, + 0.000970005989074707, + 0.1105065792798996, + 0.0 + ], + [ + -0.002291262149810791, + 0.027134746313095093, + -0.010638795793056488, + -0.04175521433353424, + 0.024749815464019775, + 0.1708551049232483, + 0.0 + ], + [ + -0.0018314719200134277, + 0.014884799718856812, + -0.00977073609828949, + -0.02137221395969391, + 0.021770477294921875, + 0.18463021516799927, + 0.0 + ], + [ + 0.000946044921875, + 0.009246259927749634, + -0.010891184210777283, + -0.02009047567844391, + 0.031222403049468994, + 0.15403437614440918, + 0.0 + ], + [ + 0.0019725263118743896, + 0.010059885680675507, + -0.00918499380350113, + 0.0004296600818634033, + -0.004435300827026367, + 0.16143667697906494, + 0.0 + ], + [ + 0.0008965134620666504, + 0.0035166144371032715, + -0.014421112835407257, + 0.005959659814834595, + 0.02398127317428589, + 0.05901306867599487, + 0.0 + ], + [ + -0.0021244287490844727, + 0.007185786962509155, + -0.015869028866291046, + 0.015411630272865295, + 0.03476005792617798, + 0.020279765129089355, + 0.0 + ], + [ + -0.0018577277660369873, + 0.010231919586658478, + -0.011219136416912079, + 0.009522676467895508, + 0.016172796487808228, + 0.018289804458618164, + 0.0 + ], + [ + -0.0030747950077056885, + 0.00973057746887207, + -0.014582380652427673, + -0.00372295081615448, + 0.02738472819328308, + 0.038201749324798584, + 0.0 + ], + [ + 0.005275160074234009, + 0.00609058141708374, + -0.006933622062206268, + -0.004679009318351746, + 0.007551610469818115, + 0.008108735084533691, + 0.0 + ], + [ + 0.0035915374755859375, + 0.0054323673248291016, + -0.010362444445490837, + -0.022501185536384583, + 0.005968600511550903, + 0.02273380756378174, + 0.0 + ], + [ + -4.437565803527832e-05, + 0.0031389743089675903, + -0.0010124901309609413, + 0.005139783024787903, + 0.003688514232635498, + 0.03203582763671875, + 0.0 + ], + [ + -0.0004905462265014648, + 0.002982392907142639, + -0.0003738459199666977, + -0.03705529868602753, + 0.022580206394195557, + 0.015466690063476562, + 1.0 + ], + [ + -0.002431511878967285, + 0.001540645956993103, + -0.0007485942915081978, + 0.009142965078353882, + 0.008431613445281982, + 0.02544844150543213, + 1.0 + ], + [ + -0.0008671879768371582, + 0.0023789256811141968, + 0.0003455253317952156, + -0.011471599340438843, + 0.0033665597438812256, + -0.004974007606506348, + 1.0 + ], + [ + 0.0019548535346984863, + -0.0016657859086990356, + 0.001817425712943077, + -0.020640254020690918, + 0.007357597351074219, + 0.007765054702758789, + 1.0 + ], + [ + -0.000980675220489502, + -0.0008486956357955933, + 0.003078288398683071, + -0.009780913591384888, + 0.008103698492050171, + -0.009851932525634766, + 1.0 + ], + [ + -0.0006373822689056396, + 9.872019290924072e-05, + 0.004999857395887375, + -0.011326402425765991, + 0.003425031900405884, + -0.0017154216766357422, + 1.0 + ], + [ + 0.002729743719100952, + -0.000629618763923645, + 0.01413363590836525, + -0.026715010404586792, + -0.02295631170272827, + -0.002122640609741211, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9981546401977539 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9981546401977539 + ], + [ + 0.9484345316886902 + ], + [ + 0.6811928749084473 + ], + [ + 0.4175282120704651 + ], + [ + 0.24658186733722687 + ], + [ + 0.13900397717952728 + ], + [ + 0.08819076418876648 + ], + [ + 0.08259850740432739 + ], + [ + 0.07689721137285233 + ], + [ + 0.07270156592130661 + ], + [ + 0.07270156592130661 + ], + [ + 0.07238461822271347 + ], + [ + 0.07238461822271347 + ], + [ + 0.07238461822271347 + ], + [ + 0.07238461822271347 + ], + [ + 0.07238461822271347 + ], + [ + 0.07238461822271347 + ], + [ + 0.07206849008798599 + ], + [ + 0.07206849008798599 + ], + [ + 0.07206849008798599 + ], + [ + 0.07206849008798599 + ], + [ + 0.07206849008798599 + ], + [ + 0.07206849008798599 + ], + [ + 0.07175325602293015 + ], + [ + 0.07206849008798599 + ], + [ + 0.07175325602293015 + ], + [ + 0.07206849008798599 + ], + [ + 0.10160017013549805 + ], + [ + 0.2920950949192047 + ], + [ + 0.5373842120170593 + ], + [ + 0.8205437660217285 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.283397376537323, + 0.030205875635147095, + 0.15375693142414093 + ], + [ + 0.27882230281829834, + 0.014269823208451271, + 0.15444009006023407 + ], + [ + 0.2750817835330963, + 0.0022672449704259634, + 0.1540529429912567 + ], + [ + 0.2716270983219147, + -0.013939566910266876, + 0.14968939125537872 + ], + [ + 0.26596948504447937, + -0.030258679762482643, + 0.1359778344631195 + ], + [ + 0.26560986042022705, + -0.04204736649990082, + 0.12603695690631866 + ], + [ + 0.266131728887558, + -0.049752168357372284, + 0.10338740050792694 + ], + [ + 0.26707789301872253, + -0.04989059269428253, + 0.08752918988466263 + ], + [ + 0.26892054080963135, + -0.05287656560540199, + 0.06426791846752167 + ], + [ + 0.2762865126132965, + -0.05783750116825104, + 0.04960847273468971 + ], + [ + 0.2881205976009369, + -0.06396903097629547, + 0.038128919899463654 + ], + [ + 0.3025570809841156, + -0.08304602652788162, + 0.025010675191879272 + ], + [ + 0.3065401017665863, + -0.09118395298719406, + 0.014010770246386528 + ], + [ + 0.3087961673736572, + -0.0953865796327591, + 0.014120562002062798 + ], + [ + 0.30552056431770325, + -0.09391877800226212, + 0.011678703129291534 + ], + [ + 0.29799675941467285, + -0.09261089563369751, + 0.013411005958914757 + ], + [ + 0.2946886718273163, + -0.09320918470621109, + 0.02314753644168377 + ], + [ + 0.28850191831588745, + -0.09340270608663559, + 0.02449299767613411 + ], + [ + 0.2902330756187439, + -0.09577970206737518, + 0.03953651338815689 + ], + [ + 0.2893328070640564, + -0.10871940851211548, + 0.05907738208770752 + ], + [ + 0.28971922397613525, + -0.10110845416784286, + 0.07513725012540817 + ], + [ + 0.28761547803878784, + -0.09701511263847351, + 0.09349175542593002 + ], + [ + 0.2951049506664276, + -0.07380858808755875, + 0.11100605875253677 + ], + [ + 0.3082068860530853, + -0.04645891115069389, + 0.12429381161928177 + ], + [ + 0.3210045397281647, + -0.01873442344367504, + 0.13779860734939575 + ], + [ + 0.3243650197982788, + 0.013904331251978874, + 0.13152794539928436 + ], + [ + 0.32213693857192993, + 0.05121403932571411, + 0.1287720948457718 + ], + [ + 0.31984567642211914, + 0.0783487856388092, + 0.1181332990527153 + ], + [ + 0.3180142045021057, + 0.09323358535766602, + 0.10836256295442581 + ], + [ + 0.3189602494239807, + 0.10247984528541565, + 0.09747137874364853 + ], + [ + 0.3209327757358551, + 0.11253973096609116, + 0.0882863849401474 + ], + [ + 0.32182928919792175, + 0.11605634540319443, + 0.07386527210474014 + ], + [ + 0.3197048604488373, + 0.12324213236570358, + 0.0579962432384491 + ], + [ + 0.3178471326828003, + 0.13347405195236206, + 0.04677710682153702 + ], + [ + 0.3147723376750946, + 0.14320462942123413, + 0.032194726169109344 + ], + [ + 0.3200474977493286, + 0.14929521083831787, + 0.025261104106903076 + ], + [ + 0.32363903522491455, + 0.15472757816314697, + 0.014898659661412239 + ], + [ + 0.3235946595668793, + 0.15786655247211456, + 0.013886169530451298 + ], + [ + 0.3231041133403778, + 0.1608489453792572, + 0.0135123236104846 + ], + [ + 0.3206726014614105, + 0.1623895913362503, + 0.012763729318976402 + ], + [ + 0.31980541348457336, + 0.1647685170173645, + 0.013109254650771618 + ], + [ + 0.32176026701927185, + 0.16310273110866547, + 0.014926680363714695 + ], + [ + 0.32077959179878235, + 0.16225403547286987, + 0.018004968762397766 + ], + [ + 0.3201422095298767, + 0.1623527556657791, + 0.02300482615828514 + ], + [ + 0.32287195324897766, + 0.16172313690185547, + 0.03713846206665039 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9300558430452208, + -0.10525193399006937, + 0.35202011193793026, + -0.007172676602425487, + -0.963109693056619, + -0.2690135161116285, + 0.36734817479851445, + 0.24767266609727945, + -0.8965007356050886 + ], + [ + 0.9266427274702854, + -0.159474665486708, + 0.340442486617538, + -0.0756228125411327, + -0.9661288520861842, + -0.24673109125118498, + 0.36825866703962135, + 0.2028863530022028, + -0.9073161973180389 + ], + [ + 0.9230299622451257, + -0.1706161237672163, + 0.34482724241047413, + -0.08899683903548554, + -0.9666676879221455, + -0.24006903958850137, + 0.3742930021246107, + 0.19090238195974266, + -0.9074475351901303 + ], + [ + 0.9143058704590027, + -0.20675104783084647, + 0.34827974311615084, + -0.13103516466876702, + -0.964648498342772, + -0.2286548933770359, + 0.383242169997554, + 0.1634236178337806, + -0.9090754425622133 + ], + [ + 0.8925765758429867, + -0.2456386144962326, + 0.37811205657156777, + -0.1799554330545795, + -0.9629658204767859, + -0.20078065322039715, + 0.4134284682633115, + 0.11116878906348607, + -0.9037247379415981 + ], + [ + 0.8891962712271247, + -0.25770892305338533, + 0.37804246086179516, + -0.19269002733160673, + -0.9603599344802078, + -0.20144316720136102, + 0.41497053461989597, + 0.10627750102366523, + -0.9036064122024824 + ], + [ + 0.9008105145441531, + -0.2555275912133375, + 0.3510641921577982, + -0.1955614754221225, + -0.9606186549313283, + -0.19740189747985748, + 0.3876804434291477, + 0.10916707345456804, + -0.9153067375781434 + ], + [ + 0.9077330502569447, + -0.23051381292998635, + 0.350548272738153, + -0.1783124744628678, + -0.9682881486209665, + -0.17499349328220842, + 0.3797701553863236, + 0.0963402475015529, + -0.9200506430567761 + ], + [ + 0.9274177441242585, + -0.22341186794410386, + 0.2999724406427988, + -0.18152034148936977, + -0.9700713215899054, + -0.1612823507219456, + 0.32702705317611525, + 0.09512501401072374, + -0.94021515527054 + ], + [ + 0.9309652216450246, + -0.21750189194013483, + 0.2932519106329787, + -0.1791896135130208, + -0.9719926986621406, + -0.15205681884264122, + 0.31811136178465055, + 0.08901191352819847, + -0.9438654781024487 + ], + [ + 0.9342492148935563, + -0.1941313708160998, + 0.29915115800517195, + -0.15255376427681303, + -0.9757777531747135, + -0.1567964457960776, + 0.32234415377938525, + 0.10085032114162891, + -0.9412350711962884 + ], + [ + 0.937938509057549, + -0.20129922486837074, + 0.28240038118652605, + -0.16551843291040416, + -0.9754074030657707, + -0.14554740262668164, + 0.30475400176828876, + 0.08977204526957398, + -0.9481908976014964 + ], + [ + 0.9407452852193893, + -0.19494302844014957, + 0.2774806732009854, + -0.16497354741096434, + -0.9779870117078601, + -0.12776984615069137, + 0.29628033514246493, + 0.07442190936352058, + -0.9521971132147774 + ], + [ + 0.9285275629357496, + -0.21877932888478202, + 0.29995361328265696, + -0.1904363136819825, + -0.9742071579349587, + -0.12105545778488361, + 0.3187013889204358, + 0.05528126880792938, + -0.9462417270545461 + ], + [ + 0.930243530911086, + -0.2168921120576981, + 0.295981055010665, + -0.18926085964287814, + -0.9746430906774946, + -0.1193782760884908, + 0.3143680966722198, + 0.0550332401533117, + -0.9477046176277257 + ], + [ + 0.9318193753120256, + -0.21923215189246553, + 0.2892229509733024, + -0.19096943628127372, + -0.9738680121056454, + -0.12292993697147533, + 0.3086151749339603, + 0.05931575316892879, + -0.9493357231382814 + ], + [ + 0.9275148915010357, + -0.2363756377499605, + 0.28955601171815026, + -0.20131082912741532, + -0.9686059022052029, + -0.1458648562515238, + 0.3149445603909594, + 0.07700106552213784, + -0.9459813739120877 + ], + [ + 0.9308736606011352, + -0.2638558490787723, + 0.2526941212334838, + -0.23009947256687155, + -0.9606692441097927, + -0.15546329517274116, + 0.28377537018474663, + 0.08657190264999065, + -0.9549747875981178 + ], + [ + 0.9170959082036316, + -0.2797590436488265, + 0.284024598675626, + -0.2325543730358189, + -0.9540737557522462, + -0.1888431416989264, + 0.32381099230581034, + 0.10713611007264372, + -0.940036326521709 + ], + [ + 0.9030800524516255, + -0.2879060988086012, + 0.3186793013874317, + -0.2153932418321894, + -0.9455819798177331, + -0.2438861841453847, + 0.37155372456347346, + 0.15160738013958452, + -0.9159492518967534 + ], + [ + 0.8991219634722687, + -0.27021272232961324, + 0.3443323677683994, + -0.18675673305008045, + -0.9483218505896978, + -0.2565299014824445, + 0.3958555512585796, + 0.166345280622418, + -0.9031210495567114 + ], + [ + 0.8909836235170506, + -0.2640679000531908, + 0.3693458092166805, + -0.16848869209436862, + -0.9476873096141613, + -0.27110943147113464, + 0.4216156345070182, + 0.1793234712963444, + -0.888866328185219 + ], + [ + 0.8808825284273014, + -0.2212072400945387, + 0.41846544426186677, + -0.11571849370151974, + -0.9578949554260416, + -0.2627669777289243, + 0.4589718960099581, + 0.1830426488529348, + -0.8693906989230592 + ], + [ + 0.873692853120516, + -0.16523913976783336, + 0.4575552699892318, + -0.05986468556434218, + -0.969916973738766, + -0.23596034301491514, + 0.4827805068852872, + 0.17876546294578377, + -0.8573015172209628 + ], + [ + 0.858390801965047, + -0.10005165524845339, + 0.503145006319101, + -0.0027405720231264766, + -0.9816768929835163, + -0.1905333751530583, + 0.5129890060876447, + 0.16217319157084692, + -0.8429366142059176 + ], + [ + 0.8709773632226878, + -0.003117622851268549, + 0.491313253618719, + 0.07705376233160177, + -0.9867391322264896, + -0.14285868067240387, + 0.4852433930144743, + 0.162284211680225, + -0.8591872230050496 + ], + [ + 0.8576281062754092, + 0.11366425347698858, + 0.5015520599179857, + 0.17272956838816814, + -0.982278976538498, + -0.07274962855519163, + 0.4843950118765603, + 0.14902499700385874, + -0.8620632359271027 + ], + [ + 0.8267005931098363, + 0.26192585583226285, + 0.4979568007351466, + 0.32026644915990937, + -0.9467271099481684, + -0.03372211191032798, + 0.4625965098164371, + 0.18735694632365826, + -0.8665459270978808 + ], + [ + 0.7622387368599801, + 0.42441732825015543, + 0.48873514249652855, + 0.4717807218800125, + -0.8812236881275692, + 0.029457799395391476, + 0.443187385303865, + 0.2081219425333251, + -0.8719347444296959 + ], + [ + 0.6910063632161569, + 0.5502617737370704, + 0.4687453320925062, + 0.5918579020301818, + -0.8029854057913296, + 0.07013317254028698, + 0.41498726462291885, + 0.22896816034083659, + -0.8805448039429458 + ], + [ + 0.5856953251706941, + 0.6717164270524782, + 0.45360558605582413, + 0.6938187516064664, + -0.7048091746231937, + 0.1478498132775861, + 0.4190185270276716, + 0.2281251169749293, + -0.8788528915653265 + ], + [ + 0.5496159710929559, + 0.7179682897863643, + 0.42713442752930914, + 0.7349921677431596, + -0.6586105528468756, + 0.16130298520159014, + 0.3971256698776328, + 0.22528576195573569, + -0.8896839482559328 + ], + [ + 0.5423148614894822, + 0.741934913486604, + 0.39424253341980847, + 0.7567538611178881, + -0.635199782481887, + 0.15441771277327995, + 0.36499066384061324, + 0.21460153886817415, + -0.9059403925339677 + ], + [ + 0.5316649325004289, + 0.7590167559861463, + 0.3758004306564603, + 0.7713052658793935, + -0.6172062446265243, + 0.15538545112313698, + 0.3498865335734318, + 0.2072438557021404, + -0.9135805371710137 + ], + [ + 0.5067628190514455, + 0.7837596449119741, + 0.35904354086167317, + 0.7988413806848726, + -0.5834993654155208, + 0.1462222249357837, + 0.32410475734323657, + 0.21271885099149215, + -0.9217954201992659 + ], + [ + 0.5015486376493162, + 0.7876500755185751, + 0.35784958098019004, + 0.804978662507374, + -0.5764236050778255, + 0.14051754487224083, + 0.31695160037449566, + 0.21758489387975855, + -0.9231459781504656 + ], + [ + 0.48407540144740013, + 0.793094878613952, + 0.36969111326871185, + 0.8177851677348411, + -0.560347143050161, + 0.13129546339619183, + 0.31128511873592146, + 0.2387710049227996, + -0.9198314965588644 + ], + [ + 0.4581828784781359, + 0.8129188402109232, + 0.35948770368347427, + 0.8338712758249588, + -0.5331570885534012, + 0.14283631988859202, + 0.3077777529704596, + 0.23432131391614458, + -0.922153119943248 + ], + [ + 0.44836966599143535, + 0.8101146804556865, + 0.3777285362914878, + 0.8467847863584204, + -0.520286707328192, + 0.1107125456735264, + 0.2862169949717401, + 0.2702146307803657, + -0.9192735638000135 + ], + [ + 0.4277369263744092, + 0.8274678498588839, + 0.3637830112384149, + 0.8600499487673523, + -0.49640474817963764, + 0.1178830420797882, + 0.2781280414504223, + 0.26244863008715813, + -0.9239943231017851 + ], + [ + 0.4324281847740598, + 0.8211680684258923, + 0.37240954393073805, + 0.8587431775848381, + -0.50099163164429, + 0.10755249868732521, + 0.2748927426552155, + 0.2732954233427279, + -0.9218153782701894 + ], + [ + 0.42663109315679515, + 0.8181423329691617, + 0.38552436155918185, + 0.8638651864546154, + -0.49484414389818787, + 0.09416056967436834, + 0.2678112207947419, + 0.29286924770867695, + -0.9178805770703415 + ], + [ + 0.43608682383959485, + 0.8105148994122516, + 0.3910164701188962, + 0.8615282757719961, + -0.5015552471622526, + 0.07881220774310967, + 0.25999483094635856, + 0.3025027799455058, + -0.9170031384932198 + ], + [ + 0.43796502234534734, + 0.8056569657379585, + 0.39887779176076604, + 0.8615677002004763, + -0.5028419741359482, + 0.06964945813374461, + 0.25668606735329696, + 0.31315619522048094, + -0.9143552155599761 + ], + [ + 0.43699584280095083, + 0.7901278732083802, + 0.4298052784155737, + 0.8551626525422401, + -0.5130856463095514, + 0.07375606583888691, + 0.2788036425006083, + 0.3353223278135712, + -0.89990414233855 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005812.json b/json/chunk-0005/episode_0005812.json new file mode 100644 index 0000000000000000000000000000000000000000..4189c083ab9a088cc246fbe3fef9d09acba0a4e2 --- /dev/null +++ b/json/chunk-0005/episode_0005812.json @@ -0,0 +1,1822 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 29, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nOpen the drawer." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005812.mp4", + "start": 0, + "end": 29, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.29701948165893555, + 0.03551238402724266, + 0.12099307030439377, + 0.010764846578240395, + -0.24445442855358124, + -0.4673342704772949, + 0.0, + 0.9961419701576233 + ], + [ + 0.2945900857448578, + 0.034574590623378754, + 0.11271599680185318, + -0.007564899977296591, + -0.2214021533727646, + -0.4646368622779846, + 0.0, + 0.9961419701576233 + ], + [ + 0.2984861135482788, + 0.04427625611424446, + 0.10795512050390244, + 0.018720921128988266, + -0.2187022864818573, + -0.45745745301246643, + 0.0, + 0.9961419701576233 + ], + [ + 0.3069891333580017, + 0.05519118532538414, + 0.10136829316616058, + 0.05641401559114456, + -0.19690881669521332, + -0.47446924448013306, + 0.0, + 0.9961419701576233 + ], + [ + 0.3112999200820923, + 0.061681248247623444, + 0.08625089377164841, + 0.08550857752561569, + -0.16231471300125122, + -0.5004943013191223, + 0.0, + 0.9961419701576233 + ], + [ + 0.3095252811908722, + 0.05859583243727684, + 0.07170197367668152, + 0.07766568660736084, + -0.15438881516456604, + -0.5281968712806702, + 0.0, + 0.9961419701576233 + ], + [ + 0.30634620785713196, + 0.05848924070596695, + 0.055837538093328476, + 0.09433284401893616, + -0.13269931077957153, + -0.552453339099884, + 0.0, + 0.9961419701576233 + ], + [ + 0.30815961956977844, + 0.05325721949338913, + 0.04515817016363144, + 0.09665599465370178, + -0.1134001761674881, + -0.5644604563713074, + 0.0, + 0.9961419701576233 + ], + [ + 0.3093273341655731, + 0.048138346523046494, + 0.038776833564043045, + 0.08927873522043228, + -0.10139208287000656, + -0.5772268772125244, + 0.0, + 0.9961419701576233 + ], + [ + 0.31558409333229065, + 0.04395259544253349, + 0.03518242388963699, + 0.06657421588897705, + -0.12443216890096664, + -0.5768235921859741, + 0.0, + 0.9461179971694946 + ], + [ + 0.3177955448627472, + 0.04247741773724556, + 0.035103101283311844, + 0.06606622040271759, + -0.13573266565799713, + -0.581070065498352, + 0.0, + 0.7604051232337952 + ], + [ + 0.32162678241729736, + 0.04288633540272713, + 0.0359848216176033, + 0.08063720911741257, + -0.1537485271692276, + -0.5817662477493286, + 0.0, + 0.47659820318222046 + ], + [ + 0.3214189112186432, + 0.040760673582553864, + 0.034576449543237686, + 0.08519235998392105, + -0.1555992066860199, + -0.5868985056877136, + 0.0, + 0.228750541806221 + ], + [ + 0.3190397322177887, + 0.03852974995970726, + 0.031349241733551025, + 0.10356300324201584, + -0.1528470516204834, + -0.5971421599388123, + 0.0, + 0.13248759508132935 + ], + [ + 0.31911593675613403, + 0.03830135613679886, + 0.03165474534034729, + 0.12219028919935226, + -0.16896799206733704, + -0.5942220687866211, + 0.0, + 0.11746759712696075 + ], + [ + 0.3142898380756378, + 0.032644838094711304, + 0.030750306323170662, + 0.13103540241718292, + -0.1732853800058365, + -0.6065835356712341, + 0.0, + 0.11746759712696075 + ], + [ + 0.3030247092247009, + 0.017784804105758667, + 0.030167492106556892, + 0.12800490856170654, + -0.16738703846931458, + -0.6340221762657166, + 0.0, + 0.11704280227422714 + ], + [ + 0.2931065261363983, + 0.003453726414591074, + 0.03036939539015293, + 0.1254766285419464, + -0.1593443602323532, + -0.6638939380645752, + 0.0, + 0.11746759712696075 + ], + [ + 0.2886161208152771, + -0.007019707001745701, + 0.030553709715604782, + 0.10651212185621262, + -0.1662777066230774, + -0.6723955273628235, + 0.0, + 0.11746759712696075 + ], + [ + 0.2821130156517029, + -0.017505528405308723, + 0.034592729061841965, + 0.0956306904554367, + -0.1764105260372162, + -0.6895449161529541, + 0.0, + 0.11704280227422714 + ], + [ + 0.27671995759010315, + -0.023099185898900032, + 0.03349198400974274, + 0.08788355439901352, + -0.1705668866634369, + -0.7046419382095337, + 0.0, + 0.11704280227422714 + ], + [ + 0.27746862173080444, + -0.022255534306168556, + 0.033825118094682693, + 0.0954849123954773, + -0.16834376752376556, + -0.7016465663909912, + 0.0, + 0.15718480944633484 + ], + [ + 0.28056246042251587, + -0.024605005979537964, + 0.036493197083473206, + 0.10989098995923996, + -0.17052842676639557, + -0.6882844567298889, + 0.0, + 0.36865687370300293 + ], + [ + 0.27820464968681335, + -0.02460252307355404, + 0.036512717604637146, + 0.09753554314374924, + -0.15671275556087494, + -0.6944196224212646, + 0.0, + 0.6851980090141296 + ], + [ + 0.2786925435066223, + -0.024487268179655075, + 0.036600831896066666, + 0.10029877722263336, + -0.15854474902153015, + -0.695834219455719, + 0.0, + 0.9583302736282349 + ], + [ + 0.2775368392467499, + -0.023975785821676254, + 0.036379195749759674, + 0.09530746191740036, + -0.15260352194309235, + -0.6905898451805115, + 0.0, + 0.9994885921478271 + ], + [ + 0.27747300267219543, + -0.024620065465569496, + 0.04708220437169075, + 0.09750634431838989, + -0.16036590933799744, + -0.6858554482460022, + 0.0, + 0.9994885921478271 + ], + [ + 0.27830439805984497, + -0.029041437432169914, + 0.07198953628540039, + 0.0924556776881218, + -0.20839008688926697, + -0.6701608896255493, + 0.0, + 0.9994885921478271 + ], + [ + 0.2766609787940979, + -0.030582498759031296, + 0.09744345396757126, + 0.10401355475187302, + -0.24831905961036682, + -0.6831937432289124, + 0.0, + 0.9994885921478271 + ] + ], + "left_gripper_pos": [ + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9461179971694946 + ], + [ + 0.7604051232337952 + ], + [ + 0.47659820318222046 + ], + [ + 0.228750541806221 + ], + [ + 0.13248759508132935 + ], + [ + 0.11746759712696075 + ], + [ + 0.11746759712696075 + ], + [ + 0.11704280227422714 + ], + [ + 0.11746759712696075 + ], + [ + 0.11746759712696075 + ], + [ + 0.11704280227422714 + ], + [ + 0.11704280227422714 + ], + [ + 0.15718480944633484 + ], + [ + 0.36865687370300293 + ], + [ + 0.6851980090141296 + ], + [ + 0.9583302736282349 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.29701948165893555, + 0.03551238402724266, + 0.12099307030439377 + ], + [ + 0.2945900857448578, + 0.034574590623378754, + 0.11271599680185318 + ], + [ + 0.2984861135482788, + 0.04427625611424446, + 0.10795512050390244 + ], + [ + 0.3069891333580017, + 0.05519118532538414, + 0.10136829316616058 + ], + [ + 0.3112999200820923, + 0.061681248247623444, + 0.08625089377164841 + ], + [ + 0.3095252811908722, + 0.05859583243727684, + 0.07170197367668152 + ], + [ + 0.30634620785713196, + 0.05848924070596695, + 0.055837538093328476 + ], + [ + 0.30815961956977844, + 0.05325721949338913, + 0.04515817016363144 + ], + [ + 0.3093273341655731, + 0.048138346523046494, + 0.038776833564043045 + ], + [ + 0.31558409333229065, + 0.04395259544253349, + 0.03518242388963699 + ], + [ + 0.3177955448627472, + 0.04247741773724556, + 0.035103101283311844 + ], + [ + 0.32162678241729736, + 0.04288633540272713, + 0.0359848216176033 + ], + [ + 0.3214189112186432, + 0.040760673582553864, + 0.034576449543237686 + ], + [ + 0.3190397322177887, + 0.03852974995970726, + 0.031349241733551025 + ], + [ + 0.31911593675613403, + 0.03830135613679886, + 0.03165474534034729 + ], + [ + 0.3142898380756378, + 0.032644838094711304, + 0.030750306323170662 + ], + [ + 0.3030247092247009, + 0.017784804105758667, + 0.030167492106556892 + ], + [ + 0.2931065261363983, + 0.003453726414591074, + 0.03036939539015293 + ], + [ + 0.2886161208152771, + -0.007019707001745701, + 0.030553709715604782 + ], + [ + 0.2821130156517029, + -0.017505528405308723, + 0.034592729061841965 + ], + [ + 0.27671995759010315, + -0.023099185898900032, + 0.03349198400974274 + ], + [ + 0.27746862173080444, + -0.022255534306168556, + 0.033825118094682693 + ], + [ + 0.28056246042251587, + -0.024605005979537964, + 0.036493197083473206 + ], + [ + 0.27820464968681335, + -0.02460252307355404, + 0.036512717604637146 + ], + [ + 0.2786925435066223, + -0.024487268179655075, + 0.036600831896066666 + ], + [ + 0.2775368392467499, + -0.023975785821676254, + 0.036379195749759674 + ], + [ + 0.27747300267219543, + -0.024620065465569496, + 0.04708220437169075 + ], + [ + 0.27830439805984497, + -0.029041437432169914, + 0.07198953628540039 + ], + [ + 0.2766609787940979, + -0.030582498759031296, + 0.09744345396757126 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8662298327983512, + -0.4481559268968379, + 0.22091206838327457, + -0.43711417667014596, + -0.893894387219852, + -0.09941841404300147, + 0.2420270094929922, + -0.010444600714307625, + -0.9702132945861945 + ], + [ + 0.8721626338551709, + -0.4495704738438028, + 0.19292156218180828, + -0.43716033817193856, + -0.8932143763270856, + -0.10516138384412548, + 0.2195977660091445, + 0.007380174149289112, + -0.9755625834324104 + ], + [ + 0.8758074152681296, + -0.4379471258248295, + 0.20288835930907737, + -0.4311478007562179, + -0.8988149859117311, + -0.0790138912063658, + 0.21696300436810625, + -0.01827391808742161, + -0.9760087697624953 + ], + [ + 0.8723459662758791, + -0.4463271889804801, + 0.19951079043245967, + -0.44803790781850744, + -0.893159870984212, + -0.03908296330985749, + 0.19563882099372987, + -0.05529453173911358, + -0.9791159106458922 + ], + [ + 0.8658135249505398, + -0.4659972673797628, + 0.18224567706070544, + -0.47355193427049375, + -0.880762804191582, + -0.0023341596464322573, + 0.1616029255966459, + -0.08428184589325799, + -0.9832502554748868 + ], + [ + 0.8534438983684329, + -0.4921524242900151, + 0.1715211462273757, + -0.4979823176634069, + -0.8671265782609731, + -0.010252246973133844, + 0.1537762128297921, + -0.07666478030280535, + -0.985127092221531 + ], + [ + 0.8437558354117911, + -0.5118352633532761, + 0.16155727590124996, + -0.520163532912576, + -0.853995117505583, + 0.01105614329378092, + 0.13231020080272599, + -0.09336488882180258, + -0.986801402663593 + ], + [ + 0.8394507842912797, + -0.5232367693863381, + 0.14678441305160178, + -0.5315240441161265, + -0.8467757744110606, + 0.021283289148684437, + 0.11315728557717014, + -0.09588571860656057, + -0.9889395116427041 + ], + [ + 0.8336754967366482, + -0.5359663778548942, + 0.13313605052730168, + -0.5428996150136907, + -0.8395665241450142, + 0.019699227219519763, + 0.1012184477202151, + -0.08870227361327657, + -0.9909019792577599 + ], + [ + 0.8317184713967621, + -0.5372355140000964, + 0.140079930163053, + -0.5411476382801264, + -0.8408451642833779, + -0.011774688322883968, + 0.12411131262409189, + -0.06601069760509881, + -0.9900701843204922 + ], + [ + 0.8281877452725815, + -0.5402540268575544, + 0.14909944682833284, + -0.5438699886172251, + -0.8389558939907293, + -0.018932602032366436, + 0.13531627419426465, + -0.06541096546003128, + -0.988640941664753 + ], + [ + 0.8256378856831863, + -0.5374085398263566, + 0.17179680743919812, + -0.543018551557019, + -0.839556997669392, + -0.016580118493951253, + 0.15314350913282215, + -0.07959967956003086, + -0.9849928713571613 + ], + [ + 0.822602711245391, + -0.5407929299402515, + 0.1756923059737399, + -0.5470908784925169, + -0.8369448566683882, + -0.014658702760377403, + 0.15497209465583808, + -0.0840613693855227, + -0.9843359873818557 + ], + [ + 0.8173050449798106, + -0.5462531000194965, + 0.18335761279434137, + -0.5557261984320859, + -0.8313653097354925, + 0.00033785297141139536, + 0.15225260532014384, + -0.1021727580497777, + -0.9830462205235978 + ], + [ + 0.8167842837165187, + -0.5387064872088274, + 0.20653995863468816, + -0.551891224469649, + -0.8338819709642825, + 0.007545518810183449, + 0.16816512785677312, + -0.12015065184945392, + -0.9784090712136035 + ], + [ + 0.809295812198054, + -0.5466673598718332, + 0.21493042132153414, + -0.5615263318733421, + -0.8273996013060355, + 0.009903452503208898, + 0.17241945067643025, + -0.1287039137298223, + -0.9765791496950287 + ], + [ + 0.7943911235430269, + -0.5704086066715501, + 0.2087504832834365, + -0.5841104551964109, + -0.8116590419719832, + 0.004957389974980055, + 0.1666064793646667, + -0.1258714464052242, + -0.9779563691768501 + ], + [ + 0.7776211346442821, + -0.5957044082402727, + 0.20110104166226025, + -0.6083822106552446, + -0.7936426405213385, + 0.001563619056954707, + 0.1586709069513915, + -0.12356219951677888, + -0.9795692554065786 + ], + [ + 0.771541661519147, + -0.6055663393524766, + 0.19496890311922838, + -0.614271161935741, + -0.7888580511481962, + -0.0193368754659185, + 0.16551254983954694, + -0.10484456963482176, + -0.9806187903888547 + ], + [ + 0.7595613611654095, + -0.6203504438623205, + 0.19552970471100423, + -0.6263125102094397, + -0.7786711438250711, + -0.037468511170133584, + 0.1754969463543487, + -0.09400306683283152, + -0.9799817576089472 + ], + [ + 0.7507881999549679, + -0.6339110601554452, + 0.18567134033279944, + -0.6383612294493008, + -0.76855388251639, + -0.04265993911106701, + 0.16974103671285826, + -0.08649680619295887, + -0.9816854297452222 + ], + [ + 0.7529833139647547, + -0.6303351282024977, + 0.18892790964967623, + -0.6363514804913538, + -0.7706121638368691, + -0.03483799970033055, + 0.16754976027173998, + -0.0939921225454502, + -0.9813727929448031 + ], + [ + 0.7611343168095003, + -0.6170073522131205, + 0.19994118907791206, + -0.6259995190223775, + -0.7795003600780017, + -0.022445285073202363, + 0.16970313479334156, + -0.10807921147574884, + -0.9795507797394136 + ], + [ + 0.7590086985175657, + -0.6252191778821187, + 0.18167766836647462, + -0.6320975375410781, + -0.7744991407473609, + -0.02457201693196257, + 0.15607209426792576, + -0.09618763220917276, + -0.9830510875843719 + ], + [ + 0.7578930525869338, + -0.6256707970518952, + 0.1847543627547272, + -0.6329862496796325, + -0.7737957188793476, + -0.02384519155946871, + 0.1578813749527578, + -0.09887486617153919, + -0.9824954108201153 + ], + [ + 0.7619118765876279, + -0.6229497444104755, + 0.177267899670646, + -0.62958928790413, + -0.7765866579726115, + -0.02303239491022021, + 0.152011910293534, + -0.09405731549354956, + -0.983893083892278 + ], + [ + 0.7639478610769519, + -0.6182969244166546, + 0.18464175804204136, + -0.6252088808332038, + -0.7800469016295564, + -0.02531178747978738, + 0.15967943162236914, + -0.09610278099532195, + -0.9824798901767517 + ], + [ + 0.7667661210801816, + -0.6034898817625813, + 0.21879140333623132, + -0.6076744826999123, + -0.7922380113110244, + -0.0555936732852465, + 0.20688508558870516, + -0.09032660762000488, + -0.9741866686199393 + ], + [ + 0.7517717252695906, + -0.6080708022828756, + 0.2551257973946265, + -0.6119100902939998, + -0.787477745759107, + -0.07378916811121308, + 0.24577492647048638, + -0.10064143950290003, + -0.9640881630707908 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.002429395914077759, + -0.0009377934038639069, + -0.008277073502540588, + -0.018329747021198273, + 0.02305227518081665, + 0.0026974081993103027, + 1.0 + ], + [ + 0.0038960278034210205, + 0.009701665490865707, + -0.004760876297950745, + 0.026285821571946144, + 0.0026998668909072876, + 0.0071794092655181885, + 1.0 + ], + [ + 0.0085030198097229, + 0.010914929211139679, + -0.006586827337741852, + 0.037693094462156296, + 0.021793469786643982, + -0.017011791467666626, + 1.0 + ], + [ + 0.004310786724090576, + 0.006490062922239304, + -0.015117399394512177, + 0.02909456193447113, + 0.0345941036939621, + -0.026025056838989258, + 1.0 + ], + [ + -0.0017746388912200928, + -0.0030854158103466034, + -0.014548920094966888, + -0.007842890918254852, + 0.00792589783668518, + -0.02770256996154785, + 1.0 + ], + [ + -0.0031790733337402344, + -0.00010659173130989075, + -0.015864435583353043, + 0.016667157411575317, + 0.021689504384994507, + -0.024256467819213867, + 1.0 + ], + [ + 0.0018134117126464844, + -0.00523202121257782, + -0.010679367929697037, + 0.002323150634765625, + 0.019299134612083435, + -0.01200711727142334, + 1.0 + ], + [ + 0.0011677145957946777, + -0.005118872970342636, + -0.006381336599588394, + -0.007377259433269501, + 0.012008093297481537, + -0.012766420841217041, + 1.0 + ], + [ + 0.006256759166717529, + -0.0041857510805130005, + -0.0035944096744060516, + -0.02270451933145523, + -0.023040086030960083, + 0.00040328502655029297, + 0.0 + ], + [ + 0.002211451530456543, + -0.0014751777052879333, + -7.932260632514954e-05, + -0.0005079954862594604, + -0.011300496757030487, + -0.00424647331237793, + 0.0 + ], + [ + 0.003831237554550171, + 0.0004089176654815674, + 0.0008817203342914581, + 0.014570988714694977, + -0.01801586151123047, + -0.0006961822509765625, + 0.0 + ], + [ + -0.0002078711986541748, + -0.0021256618201732635, + -0.0014083720743656158, + 0.004555150866508484, + -0.0018506795167922974, + -0.00513225793838501, + 0.0 + ], + [ + -0.002379179000854492, + -0.0022309236228466034, + -0.0032272078096866608, + 0.018370643258094788, + 0.002752155065536499, + -0.010243654251098633, + 0.0 + ], + [ + 7.620453834533691e-05, + -0.0002283938229084015, + 0.00030550360679626465, + 0.018627285957336426, + -0.016120940446853638, + 0.002920091152191162, + 0.0 + ], + [ + -0.004826098680496216, + -0.005656518042087555, + -0.0009044390171766281, + 0.008845113217830658, + -0.004317387938499451, + -0.012361466884613037, + 0.0 + ], + [ + -0.01126512885093689, + -0.014860033988952637, + -0.0005828142166137695, + -0.0030304938554763794, + 0.005898341536521912, + -0.027438640594482422, + 0.0 + ], + [ + -0.009918183088302612, + -0.01433107815682888, + 0.00020190328359603882, + -0.002528280019760132, + 0.008042678236961365, + -0.029871761798858643, + 0.0 + ], + [ + -0.004490405321121216, + -0.010473433881998062, + 0.0001843143254518509, + -0.018964506685733795, + -0.006933346390724182, + -0.008501589298248291, + 0.0 + ], + [ + -0.006503105163574219, + -0.010485821403563023, + 0.004039019346237183, + -0.01088143140077591, + -0.010132819414138794, + -0.017149388790130615, + 0.0 + ], + [ + -0.0053930580615997314, + -0.005593657493591309, + -0.001100745052099228, + -0.007747136056423187, + 0.005843639373779297, + -0.01509702205657959, + 0.0 + ], + [ + 0.0007486641407012939, + 0.0008436515927314758, + 0.00033313408493995667, + 0.007601357996463776, + 0.0022231191396713257, + 0.0029953718185424805, + 1.0 + ], + [ + 0.0030938386917114258, + -0.0023494716733694077, + 0.002668078988790512, + 0.014406077563762665, + -0.002184659242630005, + 0.013362109661102295, + 1.0 + ], + [ + -0.0023578107357025146, + 2.4829059839248657e-06, + 1.952052116394043e-05, + -0.012355446815490723, + 0.01381567120552063, + -0.006135165691375732, + 1.0 + ], + [ + 0.00048789381980895996, + 0.00011525489389896393, + 8.811429142951965e-05, + 0.0027632340788841248, + -0.0018319934606552124, + -0.0014145970344543457, + 1.0 + ], + [ + -0.0011557042598724365, + 0.0005114823579788208, + -0.00022163614630699158, + -0.004991315305233002, + 0.005941227078437805, + 0.0052443742752075195, + 1.0 + ], + [ + -6.383657455444336e-05, + -0.0006442796438932419, + 0.010703008621931076, + 0.0021988824009895325, + -0.00776238739490509, + 0.004734396934509277, + 1.0 + ], + [ + 0.0008313953876495361, + -0.004421371966600418, + 0.02490733191370964, + -0.005050666630268097, + -0.04802417755126953, + 0.01569455862045288, + 1.0 + ], + [ + -0.0016434192657470703, + -0.0015410613268613815, + 0.025453917682170868, + 0.01155787706375122, + -0.039928972721099854, + -0.013032853603363037, + 1.0 + ], + [ + 0.00013941526412963867, + 0.0004171505570411682, + 0.002134270966053009, + 0.004497408866882324, + -0.006312966346740723, + 0.00041484832763671875, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9461179971694946 + ], + [ + 0.7604051232337952 + ], + [ + 0.47659820318222046 + ], + [ + 0.228750541806221 + ], + [ + 0.13248759508132935 + ], + [ + 0.11746759712696075 + ], + [ + 0.11746759712696075 + ], + [ + 0.11704280227422714 + ], + [ + 0.11746759712696075 + ], + [ + 0.11746759712696075 + ], + [ + 0.11704280227422714 + ], + [ + 0.11704280227422714 + ], + [ + 0.15718480944633484 + ], + [ + 0.36865687370300293 + ], + [ + 0.6851980090141296 + ], + [ + 0.9583302736282349 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2945900857448578, + 0.034574590623378754, + 0.11271599680185318 + ], + [ + 0.2984861135482788, + 0.04427625611424446, + 0.10795512050390244 + ], + [ + 0.3069891333580017, + 0.05519118532538414, + 0.10136829316616058 + ], + [ + 0.3112999200820923, + 0.061681248247623444, + 0.08625089377164841 + ], + [ + 0.3095252811908722, + 0.05859583243727684, + 0.07170197367668152 + ], + [ + 0.30634620785713196, + 0.05848924070596695, + 0.055837538093328476 + ], + [ + 0.30815961956977844, + 0.05325721949338913, + 0.04515817016363144 + ], + [ + 0.3093273341655731, + 0.048138346523046494, + 0.038776833564043045 + ], + [ + 0.31558409333229065, + 0.04395259544253349, + 0.03518242388963699 + ], + [ + 0.3177955448627472, + 0.04247741773724556, + 0.035103101283311844 + ], + [ + 0.32162678241729736, + 0.04288633540272713, + 0.0359848216176033 + ], + [ + 0.3214189112186432, + 0.040760673582553864, + 0.034576449543237686 + ], + [ + 0.3190397322177887, + 0.03852974995970726, + 0.031349241733551025 + ], + [ + 0.31911593675613403, + 0.03830135613679886, + 0.03165474534034729 + ], + [ + 0.3142898380756378, + 0.032644838094711304, + 0.030750306323170662 + ], + [ + 0.3030247092247009, + 0.017784804105758667, + 0.030167492106556892 + ], + [ + 0.2931065261363983, + 0.003453726414591074, + 0.03036939539015293 + ], + [ + 0.2886161208152771, + -0.007019707001745701, + 0.030553709715604782 + ], + [ + 0.2821130156517029, + -0.017505528405308723, + 0.034592729061841965 + ], + [ + 0.27671995759010315, + -0.023099185898900032, + 0.03349198400974274 + ], + [ + 0.27746862173080444, + -0.022255534306168556, + 0.033825118094682693 + ], + [ + 0.28056246042251587, + -0.024605005979537964, + 0.036493197083473206 + ], + [ + 0.27820464968681335, + -0.02460252307355404, + 0.036512717604637146 + ], + [ + 0.2786925435066223, + -0.024487268179655075, + 0.036600831896066666 + ], + [ + 0.2775368392467499, + -0.023975785821676254, + 0.036379195749759674 + ], + [ + 0.27747300267219543, + -0.024620065465569496, + 0.04708220437169075 + ], + [ + 0.27830439805984497, + -0.029041437432169914, + 0.07198953628540039 + ], + [ + 0.2766609787940979, + -0.030582498759031296, + 0.09744345396757126 + ], + [ + 0.27680039405822754, + -0.030165348201990128, + 0.09957772493362427 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8721626338551709, + -0.4495704738438028, + 0.19292156218180828, + -0.43716033817193856, + -0.8932143763270856, + -0.10516138384412548, + 0.2195977660091445, + 0.007380174149289112, + -0.9755625834324104 + ], + [ + 0.8758074152681296, + -0.4379471258248295, + 0.20288835930907737, + -0.4311478007562179, + -0.8988149859117311, + -0.0790138912063658, + 0.21696300436810625, + -0.01827391808742161, + -0.9760087697624953 + ], + [ + 0.8723459662758791, + -0.4463271889804801, + 0.19951079043245967, + -0.44803790781850744, + -0.893159870984212, + -0.03908296330985749, + 0.19563882099372987, + -0.05529453173911358, + -0.9791159106458922 + ], + [ + 0.8658135249505398, + -0.4659972673797628, + 0.18224567706070544, + -0.47355193427049375, + -0.880762804191582, + -0.0023341596464322573, + 0.1616029255966459, + -0.08428184589325799, + -0.9832502554748868 + ], + [ + 0.8534438983684329, + -0.4921524242900151, + 0.1715211462273757, + -0.4979823176634069, + -0.8671265782609731, + -0.010252246973133844, + 0.1537762128297921, + -0.07666478030280535, + -0.985127092221531 + ], + [ + 0.8437558354117911, + -0.5118352633532761, + 0.16155727590124996, + -0.520163532912576, + -0.853995117505583, + 0.01105614329378092, + 0.13231020080272599, + -0.09336488882180258, + -0.986801402663593 + ], + [ + 0.8394507842912797, + -0.5232367693863381, + 0.14678441305160178, + -0.5315240441161265, + -0.8467757744110606, + 0.021283289148684437, + 0.11315728557717014, + -0.09588571860656057, + -0.9889395116427041 + ], + [ + 0.8336754967366482, + -0.5359663778548942, + 0.13313605052730168, + -0.5428996150136907, + -0.8395665241450142, + 0.019699227219519763, + 0.1012184477202151, + -0.08870227361327657, + -0.9909019792577599 + ], + [ + 0.8317184713967621, + -0.5372355140000964, + 0.140079930163053, + -0.5411476382801264, + -0.8408451642833779, + -0.011774688322883968, + 0.12411131262409189, + -0.06601069760509881, + -0.9900701843204922 + ], + [ + 0.8281877452725815, + -0.5402540268575544, + 0.14909944682833284, + -0.5438699886172251, + -0.8389558939907293, + -0.018932602032366436, + 0.13531627419426465, + -0.06541096546003128, + -0.988640941664753 + ], + [ + 0.8256378856831863, + -0.5374085398263566, + 0.17179680743919812, + -0.543018551557019, + -0.839556997669392, + -0.016580118493951253, + 0.15314350913282215, + -0.07959967956003086, + -0.9849928713571613 + ], + [ + 0.822602711245391, + -0.5407929299402515, + 0.1756923059737399, + -0.5470908784925169, + -0.8369448566683882, + -0.014658702760377403, + 0.15497209465583808, + -0.0840613693855227, + -0.9843359873818557 + ], + [ + 0.8173050449798106, + -0.5462531000194965, + 0.18335761279434137, + -0.5557261984320859, + -0.8313653097354925, + 0.00033785297141139536, + 0.15225260532014384, + -0.1021727580497777, + -0.9830462205235978 + ], + [ + 0.8167842837165187, + -0.5387064872088274, + 0.20653995863468816, + -0.551891224469649, + -0.8338819709642825, + 0.007545518810183449, + 0.16816512785677312, + -0.12015065184945392, + -0.9784090712136035 + ], + [ + 0.809295812198054, + -0.5466673598718332, + 0.21493042132153414, + -0.5615263318733421, + -0.8273996013060355, + 0.009903452503208898, + 0.17241945067643025, + -0.1287039137298223, + -0.9765791496950287 + ], + [ + 0.7943911235430269, + -0.5704086066715501, + 0.2087504832834365, + -0.5841104551964109, + -0.8116590419719832, + 0.004957389974980055, + 0.1666064793646667, + -0.1258714464052242, + -0.9779563691768501 + ], + [ + 0.7776211346442821, + -0.5957044082402727, + 0.20110104166226025, + -0.6083822106552446, + -0.7936426405213385, + 0.001563619056954707, + 0.1586709069513915, + -0.12356219951677888, + -0.9795692554065786 + ], + [ + 0.771541661519147, + -0.6055663393524766, + 0.19496890311922838, + -0.614271161935741, + -0.7888580511481962, + -0.0193368754659185, + 0.16551254983954694, + -0.10484456963482176, + -0.9806187903888547 + ], + [ + 0.7595613611654095, + -0.6203504438623205, + 0.19552970471100423, + -0.6263125102094397, + -0.7786711438250711, + -0.037468511170133584, + 0.1754969463543487, + -0.09400306683283152, + -0.9799817576089472 + ], + [ + 0.7507881999549679, + -0.6339110601554452, + 0.18567134033279944, + -0.6383612294493008, + -0.76855388251639, + -0.04265993911106701, + 0.16974103671285826, + -0.08649680619295887, + -0.9816854297452222 + ], + [ + 0.7529833139647547, + -0.6303351282024977, + 0.18892790964967623, + -0.6363514804913538, + -0.7706121638368691, + -0.03483799970033055, + 0.16754976027173998, + -0.0939921225454502, + -0.9813727929448031 + ], + [ + 0.7611343168095003, + -0.6170073522131205, + 0.19994118907791206, + -0.6259995190223775, + -0.7795003600780017, + -0.022445285073202363, + 0.16970313479334156, + -0.10807921147574884, + -0.9795507797394136 + ], + [ + 0.7590086985175657, + -0.6252191778821187, + 0.18167766836647462, + -0.6320975375410781, + -0.7744991407473609, + -0.02457201693196257, + 0.15607209426792576, + -0.09618763220917276, + -0.9830510875843719 + ], + [ + 0.7578930525869338, + -0.6256707970518952, + 0.1847543627547272, + -0.6329862496796325, + -0.7737957188793476, + -0.02384519155946871, + 0.1578813749527578, + -0.09887486617153919, + -0.9824954108201153 + ], + [ + 0.7619118765876279, + -0.6229497444104755, + 0.177267899670646, + -0.62958928790413, + -0.7765866579726115, + -0.02303239491022021, + 0.152011910293534, + -0.09405731549354956, + -0.983893083892278 + ], + [ + 0.7639478610769519, + -0.6182969244166546, + 0.18464175804204136, + -0.6252088808332038, + -0.7800469016295564, + -0.02531178747978738, + 0.15967943162236914, + -0.09610278099532195, + -0.9824798901767517 + ], + [ + 0.7667661210801816, + -0.6034898817625813, + 0.21879140333623132, + -0.6076744826999123, + -0.7922380113110244, + -0.0555936732852465, + 0.20688508558870516, + -0.09032660762000488, + -0.9741866686199393 + ], + [ + 0.7517717252695906, + -0.6080708022828756, + 0.2551257973946265, + -0.6119100902939998, + -0.787477745759107, + -0.07378916811121308, + 0.24577492647048638, + -0.10064143950290003, + -0.9640881630707908 + ], + [ + 0.7508067912418814, + -0.6060766492980308, + 0.2626028510902748, + -0.6106070212608422, + -0.7884711530454999, + -0.07397503904737533, + 0.25188931658970903, + -0.10480618297968451, + -0.9620641538885012 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005813.json b/json/chunk-0005/episode_0005813.json new file mode 100644 index 0000000000000000000000000000000000000000..b7571d5a9a39daa808abfd916d8ae2e8508e5ef5 --- /dev/null +++ b/json/chunk-0005/episode_0005813.json @@ -0,0 +1,982 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 15, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut sushi on plate." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005813.mp4", + "start": 0, + "end": 15, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.33975163102149963, + 0.09259630739688873, + 0.05933510884642601, + 0.14734897017478943, + -0.13865843415260315, + -0.021285811439156532, + 0.0, + 1.0001531839370728 + ], + [ + 0.3376014232635498, + 0.09031437337398529, + 0.045759908854961395, + 0.12953419983386993, + -0.1024865135550499, + -0.06301045417785645, + 0.0, + 1.0001531839370728 + ], + [ + 0.35146278142929077, + 0.0939037948846817, + 0.04939771816134453, + 0.12377383559942245, + -0.11851708590984344, + -0.12896762788295746, + 0.0, + 1.0001531839370728 + ], + [ + 0.3654063642024994, + 0.10095364600419998, + 0.045597244054079056, + 0.1120750680565834, + -0.1214892715215683, + -0.16679289937019348, + 0.0, + 1.0001531839370728 + ], + [ + 0.3752456307411194, + 0.1060275062918663, + 0.040816780179739, + 0.10283829271793365, + -0.13830725848674774, + -0.19160908460617065, + 0.0, + 1.0001531839370728 + ], + [ + 0.3800959587097168, + 0.10526900738477707, + 0.03196359798312187, + 0.08757709711790085, + -0.1535768210887909, + -0.20785267651081085, + 0.0, + 1.0001531839370728 + ], + [ + 0.3847901523113251, + 0.10352017730474472, + 0.021656466647982597, + 0.06663508713245392, + -0.17882661521434784, + -0.22204585373401642, + 0.0, + 1.0001531839370728 + ], + [ + 0.38526520133018494, + 0.10196196287870407, + 0.010305237025022507, + 0.04730250686407089, + -0.17069751024246216, + -0.22545014321804047, + 0.0, + 0.803636372089386 + ], + [ + 0.38766101002693176, + 0.10187403112649918, + 0.014110310934484005, + 0.04340039938688278, + -0.1703546643257141, + -0.2121390849351883, + 0.0, + 0.5809218287467957 + ], + [ + 0.3881717920303345, + 0.10491441935300827, + 0.02005312591791153, + 0.06059546023607254, + -0.14524692296981812, + -0.22437268495559692, + 0.0, + 0.5809218287467957 + ], + [ + 0.3899228572845459, + 0.1213751882314682, + 0.03355637565255165, + 0.08833663910627365, + -0.11578360199928284, + -0.23044882714748383, + 0.0, + 0.5809218287467957 + ], + [ + 0.39879310131073, + 0.1455044001340866, + 0.04322969168424606, + 0.1182466372847557, + -0.11851311475038528, + -0.22619043290615082, + 0.0, + 0.5809218287467957 + ], + [ + 0.40653175115585327, + 0.15806622803211212, + 0.03751136735081673, + 0.11349903047084808, + -0.09196378290653229, + -0.25019973516464233, + 0.0, + 0.5809218287467957 + ], + [ + 0.4110003411769867, + 0.16783685982227325, + 0.031231796368956566, + 0.11066066473722458, + -0.08178586512804031, + -0.2852495312690735, + 0.0, + 0.5799254179000854 + ], + [ + 0.4168950021266937, + 0.16836398839950562, + 0.02841649390757084, + 0.13548557460308075, + -0.12373501807451248, + -0.3118675649166107, + 0.0, + 0.7797733545303345 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.803636372089386 + ], + [ + 0.5809218287467957 + ], + [ + 0.5809218287467957 + ], + [ + 0.5809218287467957 + ], + [ + 0.5809218287467957 + ], + [ + 0.5809218287467957 + ], + [ + 0.5799254179000854 + ], + [ + 0.7797733545303345 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.33975163102149963, + 0.09259630739688873, + 0.05933510884642601 + ], + [ + 0.3376014232635498, + 0.09031437337398529, + 0.045759908854961395 + ], + [ + 0.35146278142929077, + 0.0939037948846817, + 0.04939771816134453 + ], + [ + 0.3654063642024994, + 0.10095364600419998, + 0.045597244054079056 + ], + [ + 0.3752456307411194, + 0.1060275062918663, + 0.040816780179739 + ], + [ + 0.3800959587097168, + 0.10526900738477707, + 0.03196359798312187 + ], + [ + 0.3847901523113251, + 0.10352017730474472, + 0.021656466647982597 + ], + [ + 0.38526520133018494, + 0.10196196287870407, + 0.010305237025022507 + ], + [ + 0.38766101002693176, + 0.10187403112649918, + 0.014110310934484005 + ], + [ + 0.3881717920303345, + 0.10491441935300827, + 0.02005312591791153 + ], + [ + 0.3899228572845459, + 0.1213751882314682, + 0.03355637565255165 + ], + [ + 0.39879310131073, + 0.1455044001340866, + 0.04322969168424606 + ], + [ + 0.40653175115585327, + 0.15806622803211212, + 0.03751136735081673 + ], + [ + 0.4110003411769867, + 0.16783685982227325, + 0.031231796368956566 + ], + [ + 0.4168950021266937, + 0.16836398839950562, + 0.02841649390757084 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9901779512137701, + -0.0007660048767471547, + 0.13981072264540112, + -0.021079924928245418, + -0.9893715907259981, + 0.14387318106348818, + 0.13821454950590412, + -0.1454072511975813, + -0.9796700820194741 + ], + [ + 0.9927787634897254, + -0.04925219954176879, + 0.10938257449936842, + -0.06263836079260279, + -0.9904864417317494, + 0.1225277295259878, + 0.10230719681932357, + -0.12849447297792888, + -0.9864189819205106 + ], + [ + 0.9847385207068083, + -0.11315008977726766, + 0.13223881056468695, + -0.1277082194518279, + -0.9859859332301182, + 0.10734221050815401, + 0.11823982628797568, + -0.12259199262484213, + -0.9853885258230177 + ], + [ + 0.978853822313099, + -0.15161309514208768, + 0.13732685070470535, + -0.16479691860781673, + -0.9821857582432648, + 0.09029458412037684, + 0.1211906356135027, + -0.11101624063865363, + -0.9864016545779188 + ], + [ + 0.9723246213065908, + -0.17553866229754647, + 0.1541784966841414, + -0.1886202374111576, + -0.9792078433366234, + 0.07466194202534839, + 0.13786673579929432, + -0.10167682915406968, + -0.9852180396101266 + ], + [ + 0.9669598598780507, + -0.19247651579267894, + 0.1671568731848358, + -0.2039304731221176, + -0.9774874181045959, + 0.054136028478272064, + 0.15297382624753142, + -0.08643574674590149, + -0.9844429237734753 + ], + [ + 0.959893541078499, + -0.20818379570265336, + 0.1877868392689326, + -0.21671378799944704, + -0.9758924733201456, + 0.025865316700549104, + 0.1778750232233597, + -0.0655239477132206, + -0.9818691808939541 + ], + [ + 0.9605278895919598, + -0.21546608747836674, + 0.17595606969576488, + -0.2202962478656992, + -0.9753989049043533, + 0.00815717400101355, + 0.16986976332564446, + -0.0465976550714004, + -0.9843642222518738 + ], + [ + 0.9634319622047312, + -0.20316269335277953, + 0.17471054413510845, + -0.20750371663103234, + -0.9782109231845186, + 0.006752580751061745, + 0.16953189017600623, + -0.04275873936560634, + -0.984596683125235 + ], + [ + 0.9646680118136713, + -0.21354114193278229, + 0.15432371070416223, + -0.2201519887372974, + -0.9750947074067635, + 0.02689634626359471, + 0.14473675704005357, + -0.05992071669599464, + -0.9876541797978516 + ], + [ + 0.9670455387653889, + -0.2176014887377941, + 0.13218365274516666, + -0.22688517365453637, + -0.972095869793211, + 0.059604848013662295, + 0.11552507922399366, + -0.08763111336777922, + -0.9894315256955449 + ], + [ + 0.9676920335611087, + -0.20910743852000663, + 0.14087656773916407, + -0.22269352068958465, + -0.9708508728900731, + 0.08863508589413173, + 0.11823588298500232, + -0.1171437653662551, + -0.9860515271579736 + ], + [ + 0.9647688732039662, + -0.2359275303188722, + 0.1164440712719512, + -0.24655121018988102, + -0.9652044168676159, + 0.08713744552803163, + 0.091834209588011, + -0.11277692182748736, + -0.9893673957900888 + ], + [ + 0.9563839347323524, + -0.27101831474082677, + 0.10899010258232364, + -0.2804563108123472, + -0.9562607337058441, + 0.08312440615059222, + 0.08169471899328251, + -0.11006580871189131, + -0.9905611998464334 + ], + [ + 0.9444855753352327, + -0.2881584465816693, + 0.15783443112107795, + -0.30449075455445124, + -0.9481552175940318, + 0.09103331115627805, + 0.12341952185345703, + -0.1340387742888381, + -0.9832605090272926 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.002150207757949829, + -0.0022819340229034424, + -0.013575199991464615, + -0.017814770340919495, + 0.03617192059755325, + -0.04172464460134506, + 1.0 + ], + [ + 0.013861358165740967, + 0.003589421510696411, + 0.003637809306383133, + -0.005760364234447479, + -0.01603057235479355, + -0.06595717370510101, + 1.0 + ], + [ + 0.013943582773208618, + 0.00704985111951828, + -0.0038004741072654724, + -0.01169876754283905, + -0.0029721856117248535, + -0.03782527148723602, + 1.0 + ], + [ + 0.009839266538619995, + 0.005073860287666321, + -0.004780463874340057, + -0.00923677533864975, + -0.016817986965179443, + -0.024816185235977173, + 1.0 + ], + [ + 0.004850327968597412, + -0.0007584989070892334, + -0.008853182196617126, + -0.015261195600032806, + -0.015269562602043152, + -0.016243591904640198, + 1.0 + ], + [ + 0.004694193601608276, + -0.0017488300800323486, + -0.010307131335139275, + -0.02094200998544693, + -0.025249794125556946, + -0.014193177223205566, + 1.0 + ], + [ + 0.0004750490188598633, + -0.0015582144260406494, + -0.01135122962296009, + -0.019332580268383026, + 0.008129104971885681, + -0.003404289484024048, + 0.0 + ], + [ + 0.002395808696746826, + -8.793175220489502e-05, + 0.0038050739094614983, + -0.0039021074771881104, + 0.0003428459167480469, + 0.013311058282852173, + 0.0 + ], + [ + 0.00051078200340271, + 0.0030403882265090942, + 0.005942814983427525, + 0.01719506084918976, + 0.025107741355895996, + -0.01223360002040863, + 0.0 + ], + [ + 0.0017510652542114258, + 0.01646076887845993, + 0.013503249734640121, + 0.02774117887020111, + 0.02946332097053528, + -0.006076142191886902, + 0.0 + ], + [ + 0.008870244026184082, + 0.024129211902618408, + 0.009673316031694412, + 0.029909998178482056, + -0.0027295127511024475, + 0.004258394241333008, + 0.0 + ], + [ + 0.007738649845123291, + 0.012561827898025513, + -0.0057183243334293365, + -0.004747606813907623, + 0.026549331843852997, + -0.024009302258491516, + 0.0 + ], + [ + 0.004468590021133423, + 0.009770631790161133, + -0.006279570981860161, + -0.0028383657336235046, + 0.010177917778491974, + -0.03504979610443115, + 0.0 + ], + [ + 0.005894660949707031, + 0.0005271285772323608, + -0.002815302461385727, + 0.02482490986585617, + -0.04194915294647217, + -0.02661803364753723, + 1.0 + ], + [ + 0.000660330057144165, + -0.0006539672613143921, + -0.006689663976430893, + 0.016103923320770264, + -0.01613367348909378, + -0.018827587366104126, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.803636372089386 + ], + [ + 0.5809218287467957 + ], + [ + 0.5809218287467957 + ], + [ + 0.5809218287467957 + ], + [ + 0.5809218287467957 + ], + [ + 0.5809218287467957 + ], + [ + 0.5799254179000854 + ], + [ + 0.7797733545303345 + ], + [ + 0.9745318293571472 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3376014232635498, + 0.09031437337398529, + 0.045759908854961395 + ], + [ + 0.35146278142929077, + 0.0939037948846817, + 0.04939771816134453 + ], + [ + 0.3654063642024994, + 0.10095364600419998, + 0.045597244054079056 + ], + [ + 0.3752456307411194, + 0.1060275062918663, + 0.040816780179739 + ], + [ + 0.3800959587097168, + 0.10526900738477707, + 0.03196359798312187 + ], + [ + 0.3847901523113251, + 0.10352017730474472, + 0.021656466647982597 + ], + [ + 0.38526520133018494, + 0.10196196287870407, + 0.010305237025022507 + ], + [ + 0.38766101002693176, + 0.10187403112649918, + 0.014110310934484005 + ], + [ + 0.3881717920303345, + 0.10491441935300827, + 0.02005312591791153 + ], + [ + 0.3899228572845459, + 0.1213751882314682, + 0.03355637565255165 + ], + [ + 0.39879310131073, + 0.1455044001340866, + 0.04322969168424606 + ], + [ + 0.40653175115585327, + 0.15806622803211212, + 0.03751136735081673 + ], + [ + 0.4110003411769867, + 0.16783685982227325, + 0.031231796368956566 + ], + [ + 0.4168950021266937, + 0.16836398839950562, + 0.02841649390757084 + ], + [ + 0.4175553321838379, + 0.16771002113819122, + 0.021726829931139946 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9927787634897254, + -0.04925219954176879, + 0.10938257449936842, + -0.06263836079260279, + -0.9904864417317494, + 0.1225277295259878, + 0.10230719681932357, + -0.12849447297792888, + -0.9864189819205106 + ], + [ + 0.9847385207068083, + -0.11315008977726766, + 0.13223881056468695, + -0.1277082194518279, + -0.9859859332301182, + 0.10734221050815401, + 0.11823982628797568, + -0.12259199262484213, + -0.9853885258230177 + ], + [ + 0.978853822313099, + -0.15161309514208768, + 0.13732685070470535, + -0.16479691860781673, + -0.9821857582432648, + 0.09029458412037684, + 0.1211906356135027, + -0.11101624063865363, + -0.9864016545779188 + ], + [ + 0.9723246213065908, + -0.17553866229754647, + 0.1541784966841414, + -0.1886202374111576, + -0.9792078433366234, + 0.07466194202534839, + 0.13786673579929432, + -0.10167682915406968, + -0.9852180396101266 + ], + [ + 0.9669598598780507, + -0.19247651579267894, + 0.1671568731848358, + -0.2039304731221176, + -0.9774874181045959, + 0.054136028478272064, + 0.15297382624753142, + -0.08643574674590149, + -0.9844429237734753 + ], + [ + 0.959893541078499, + -0.20818379570265336, + 0.1877868392689326, + -0.21671378799944704, + -0.9758924733201456, + 0.025865316700549104, + 0.1778750232233597, + -0.0655239477132206, + -0.9818691808939541 + ], + [ + 0.9605278895919598, + -0.21546608747836674, + 0.17595606969576488, + -0.2202962478656992, + -0.9753989049043533, + 0.00815717400101355, + 0.16986976332564446, + -0.0465976550714004, + -0.9843642222518738 + ], + [ + 0.9634319622047312, + -0.20316269335277953, + 0.17471054413510845, + -0.20750371663103234, + -0.9782109231845186, + 0.006752580751061745, + 0.16953189017600623, + -0.04275873936560634, + -0.984596683125235 + ], + [ + 0.9646680118136713, + -0.21354114193278229, + 0.15432371070416223, + -0.2201519887372974, + -0.9750947074067635, + 0.02689634626359471, + 0.14473675704005357, + -0.05992071669599464, + -0.9876541797978516 + ], + [ + 0.9670455387653889, + -0.2176014887377941, + 0.13218365274516666, + -0.22688517365453637, + -0.972095869793211, + 0.059604848013662295, + 0.11552507922399366, + -0.08763111336777922, + -0.9894315256955449 + ], + [ + 0.9676920335611087, + -0.20910743852000663, + 0.14087656773916407, + -0.22269352068958465, + -0.9708508728900731, + 0.08863508589413173, + 0.11823588298500232, + -0.1171437653662551, + -0.9860515271579736 + ], + [ + 0.9647688732039662, + -0.2359275303188722, + 0.1164440712719512, + -0.24655121018988102, + -0.9652044168676159, + 0.08713744552803163, + 0.091834209588011, + -0.11277692182748736, + -0.9893673957900888 + ], + [ + 0.9563839347323524, + -0.27101831474082677, + 0.10899010258232364, + -0.2804563108123472, + -0.9562607337058441, + 0.08312440615059222, + 0.08169471899328251, + -0.11006580871189131, + -0.9905611998464334 + ], + [ + 0.9444855753352327, + -0.2881584465816693, + 0.15783443112107795, + -0.30449075455445124, + -0.9481552175940318, + 0.09103331115627805, + 0.12341952185345703, + -0.1340387742888381, + -0.9832605090272926 + ], + [ + 0.9365803023221306, + -0.30106501204051594, + 0.17938003185201684, + -0.32152966848306475, + -0.9418063379627883, + 0.09807901946029428, + 0.1394130897274608, + -0.1495348798714411, + -0.978878598251324 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005814.json b/json/chunk-0005/episode_0005814.json new file mode 100644 index 0000000000000000000000000000000000000000..f4e8ac770dd4471c4bffe50388b1356b0d29e594 --- /dev/null +++ b/json/chunk-0005/episode_0005814.json @@ -0,0 +1,2182 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 35, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut carrot on plate." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005814.mp4", + "start": 0, + "end": 35, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2809782922267914, + 0.05039709061384201, + 0.09199994802474976, + 0.1364838033914566, + -0.49577459692955017, + 0.07773476839065552, + 0.0, + 1.0067112445831299 + ], + [ + 0.27651965618133545, + 0.05052893981337547, + 0.08684217929840088, + 0.1351168006658554, + -0.4649004638195038, + 0.08754844963550568, + 0.0, + 1.0067112445831299 + ], + [ + 0.266427218914032, + 0.0418306440114975, + 0.0960063710808754, + 0.13015872240066528, + -0.3815067708492279, + 0.14524643123149872, + 0.0, + 1.0067112445831299 + ], + [ + 0.2609021067619324, + 0.026452429592609406, + 0.12310431152582169, + 0.11633425205945969, + -0.336747407913208, + 0.22904673218727112, + 0.0, + 1.0067112445831299 + ], + [ + 0.25271525979042053, + 0.006992720998823643, + 0.13659124076366425, + 0.056834712624549866, + -0.3372185230255127, + 0.3273099362850189, + 0.0, + 1.0067112445831299 + ], + [ + 0.23775802552700043, + -0.012677144259214401, + 0.12667103111743927, + -0.0713271051645279, + -0.41171494126319885, + 0.4581476151943207, + 0.0, + 1.0067112445831299 + ], + [ + 0.23366282880306244, + -0.0283212773501873, + 0.11395001411437988, + -0.1467202752828598, + -0.4228441119194031, + 0.5133459568023682, + 0.0, + 1.0067112445831299 + ], + [ + 0.2387392371892929, + -0.036411967128515244, + 0.10807724297046661, + -0.20047476887702942, + -0.43384304642677307, + 0.5267021059989929, + 0.0, + 1.0067112445831299 + ], + [ + 0.24248147010803223, + -0.044013965874910355, + 0.0986732691526413, + -0.22685328125953674, + -0.42698830366134644, + 0.5013941526412964, + 0.0, + 1.0067112445831299 + ], + [ + 0.24268431961536407, + -0.04919877275824547, + 0.08411729335784912, + -0.21948185563087463, + -0.43308505415916443, + 0.45613887906074524, + 0.0, + 1.0067112445831299 + ], + [ + 0.24035683274269104, + -0.05155101791024208, + 0.06906701624393463, + -0.22379854321479797, + -0.4105395972728729, + 0.43729323148727417, + 0.0, + 1.0067112445831299 + ], + [ + 0.24036523699760437, + -0.05120524391531944, + 0.06082424893975258, + -0.20687070488929749, + -0.3909732401371002, + 0.43711549043655396, + 0.0, + 1.0067112445831299 + ], + [ + 0.23847727477550507, + -0.05093028396368027, + 0.0489397868514061, + -0.21443314850330353, + -0.3840979337692261, + 0.4413260221481323, + 0.0, + 1.0067112445831299 + ], + [ + 0.23923981189727783, + -0.04855962097644806, + 0.04228334128856659, + -0.2078198492527008, + -0.38558122515678406, + 0.43940162658691406, + 0.0, + 1.0067112445831299 + ], + [ + 0.23851968348026276, + -0.043884482234716415, + 0.030388757586479187, + -0.18624360859394073, + -0.3861626088619232, + 0.45081111788749695, + 0.0, + 1.0067112445831299 + ], + [ + 0.2358996719121933, + -0.04050128161907196, + 0.01715371571481228, + -0.17904189229011536, + -0.3923167288303375, + 0.460714191198349, + 0.0, + 1.0067112445831299 + ], + [ + 0.2352738082408905, + -0.03623981773853302, + 0.009741242974996567, + -0.19581228494644165, + -0.4087161421775818, + 0.4707830548286438, + 0.0, + 0.9367310404777527 + ], + [ + 0.23634949326515198, + -0.03595660626888275, + 0.01181543618440628, + -0.1551900953054428, + -0.36178889870643616, + 0.4554891288280487, + 0.0, + 0.6661520600318909 + ], + [ + 0.23654089868068695, + -0.032807618379592896, + 0.01581130176782608, + -0.1040196493268013, + -0.33303597569465637, + 0.45164909958839417, + 0.0, + 0.5178548097610474 + ], + [ + 0.237037792801857, + -0.03141763061285019, + 0.02627141773700714, + -0.06732091307640076, + -0.30779293179512024, + 0.41309455037117004, + 0.0, + 0.5324842929840088 + ], + [ + 0.24899648129940033, + -0.029199905693531036, + 0.0440070778131485, + -0.061193011701107025, + -0.2476910650730133, + 0.3993970453739166, + 0.0, + 0.5413121581077576 + ], + [ + 0.27331820130348206, + -0.022574415430426598, + 0.07345769554376602, + -0.07604118436574936, + -0.2160220742225647, + 0.3946727216243744, + 0.0, + 0.5413121581077576 + ], + [ + 0.2991565763950348, + -0.013204298913478851, + 0.08845724165439606, + -0.08669153600931168, + -0.16437414288520813, + 0.4617483615875244, + 0.0, + 0.5413121581077576 + ], + [ + 0.32066071033477783, + -0.0035194577649235725, + 0.088631272315979, + -0.09893959760665894, + -0.1863238364458084, + 0.5989412069320679, + 0.0, + 0.5413121581077576 + ], + [ + 0.33828768134117126, + 0.004827980417758226, + 0.07919576019048691, + -0.21515636146068573, + -0.19359822571277618, + 0.8762096166610718, + 0.0, + 0.5413121581077576 + ], + [ + 0.3438335955142975, + 0.009089935570955276, + 0.06897541135549545, + -0.2939819395542145, + -0.21795514225959778, + 1.1281644105911255, + 0.0, + 0.5413121581077576 + ], + [ + 0.34161141514778137, + -0.005031891632825136, + 0.05685850977897644, + -0.33192571997642517, + -0.24447335302829742, + 1.3205498456954956, + 0.0, + 0.5413121581077576 + ], + [ + 0.3398137390613556, + -0.017274893820285797, + 0.04421946033835411, + -0.35946229100227356, + -0.22049909830093384, + 1.360605239868164, + 0.0, + 0.5413121581077576 + ], + [ + 0.34269341826438904, + -0.0255604051053524, + 0.035326097160577774, + -0.36286309361457825, + -0.19816161692142487, + 1.388383388519287, + 0.0, + 0.5422952175140381 + ], + [ + 0.35243016481399536, + -0.03105258382856846, + 0.03207463026046753, + -0.373847097158432, + -0.1888049989938736, + 1.3629531860351562, + 0.0, + 0.5422952175140381 + ], + [ + 0.36344560980796814, + -0.02931545488536358, + 0.03015749529004097, + -0.39720606803894043, + -0.20177187025547028, + 1.3511403799057007, + 0.0, + 0.6530976295471191 + ], + [ + 0.3685731887817383, + -0.03306509554386139, + 0.03131173551082611, + -0.4158947467803955, + -0.2585347890853882, + 1.36094331741333, + 0.0, + 0.8956556916236877 + ], + [ + 0.36849185824394226, + -0.0340672992169857, + 0.03443976491689682, + -0.3980068564414978, + -0.3053952753543854, + 1.3466126918792725, + 0.0, + 0.9823668599128723 + ], + [ + 0.3640594184398651, + -0.03738262131810188, + 0.04285649210214615, + -0.35347986221313477, + -0.37220752239227295, + 1.3336597681045532, + 0.0, + 0.9823668599128723 + ], + [ + 0.3613440990447998, + -0.03944801166653633, + 0.08064787089824677, + -0.3514319658279419, + -0.4197600483894348, + 1.3365261554718018, + 0.0, + 0.9823668599128723 + ] + ], + "left_gripper_pos": [ + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 0.9367310404777527 + ], + [ + 0.6661520600318909 + ], + [ + 0.5178548097610474 + ], + [ + 0.5324842929840088 + ], + [ + 0.5413121581077576 + ], + [ + 0.5413121581077576 + ], + [ + 0.5413121581077576 + ], + [ + 0.5413121581077576 + ], + [ + 0.5413121581077576 + ], + [ + 0.5413121581077576 + ], + [ + 0.5413121581077576 + ], + [ + 0.5413121581077576 + ], + [ + 0.5422952175140381 + ], + [ + 0.5422952175140381 + ], + [ + 0.6530976295471191 + ], + [ + 0.8956556916236877 + ], + [ + 0.9823668599128723 + ], + [ + 0.9823668599128723 + ], + [ + 0.9823668599128723 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2809782922267914, + 0.05039709061384201, + 0.09199994802474976 + ], + [ + 0.27651965618133545, + 0.05052893981337547, + 0.08684217929840088 + ], + [ + 0.266427218914032, + 0.0418306440114975, + 0.0960063710808754 + ], + [ + 0.2609021067619324, + 0.026452429592609406, + 0.12310431152582169 + ], + [ + 0.25271525979042053, + 0.006992720998823643, + 0.13659124076366425 + ], + [ + 0.23775802552700043, + -0.012677144259214401, + 0.12667103111743927 + ], + [ + 0.23366282880306244, + -0.0283212773501873, + 0.11395001411437988 + ], + [ + 0.2387392371892929, + -0.036411967128515244, + 0.10807724297046661 + ], + [ + 0.24248147010803223, + -0.044013965874910355, + 0.0986732691526413 + ], + [ + 0.24268431961536407, + -0.04919877275824547, + 0.08411729335784912 + ], + [ + 0.24035683274269104, + -0.05155101791024208, + 0.06906701624393463 + ], + [ + 0.24036523699760437, + -0.05120524391531944, + 0.06082424893975258 + ], + [ + 0.23847727477550507, + -0.05093028396368027, + 0.0489397868514061 + ], + [ + 0.23923981189727783, + -0.04855962097644806, + 0.04228334128856659 + ], + [ + 0.23851968348026276, + -0.043884482234716415, + 0.030388757586479187 + ], + [ + 0.2358996719121933, + -0.04050128161907196, + 0.01715371571481228 + ], + [ + 0.2352738082408905, + -0.03623981773853302, + 0.009741242974996567 + ], + [ + 0.23634949326515198, + -0.03595660626888275, + 0.01181543618440628 + ], + [ + 0.23654089868068695, + -0.032807618379592896, + 0.01581130176782608 + ], + [ + 0.237037792801857, + -0.03141763061285019, + 0.02627141773700714 + ], + [ + 0.24899648129940033, + -0.029199905693531036, + 0.0440070778131485 + ], + [ + 0.27331820130348206, + -0.022574415430426598, + 0.07345769554376602 + ], + [ + 0.2991565763950348, + -0.013204298913478851, + 0.08845724165439606 + ], + [ + 0.32066071033477783, + -0.0035194577649235725, + 0.088631272315979 + ], + [ + 0.33828768134117126, + 0.004827980417758226, + 0.07919576019048691 + ], + [ + 0.3438335955142975, + 0.009089935570955276, + 0.06897541135549545 + ], + [ + 0.34161141514778137, + -0.005031891632825136, + 0.05685850977897644 + ], + [ + 0.3398137390613556, + -0.017274893820285797, + 0.04421946033835411 + ], + [ + 0.34269341826438904, + -0.0255604051053524, + 0.035326097160577774 + ], + [ + 0.35243016481399536, + -0.03105258382856846, + 0.03207463026046753 + ], + [ + 0.36344560980796814, + -0.02931545488536358, + 0.03015749529004097 + ], + [ + 0.3685731887817383, + -0.03306509554386139, + 0.03131173551082611 + ], + [ + 0.36849185824394226, + -0.0340672992169857, + 0.03443976491689682 + ], + [ + 0.3640594184398651, + -0.03738262131810188, + 0.04285649210214615 + ], + [ + 0.3613440990447998, + -0.03944801166653633, + 0.08064787089824677 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8769442474082381, + 0.1414646293538392, + 0.459300060504437, + 0.06830669891969568, + -0.9826824162257778, + 0.1722482618877793, + 0.4757131297539439, + -0.11967885144188117, + -0.8714206737834829 + ], + [ + 0.8904427609679656, + 0.1468016983364744, + 0.43076786185284643, + 0.07815666860212575, + -0.9818100071286686, + 0.1730336529552011, + 0.44833383163973217, + -0.12040918265452286, + -0.8857191451807428 + ], + [ + 0.9183319961415308, + 0.19132704655896898, + 0.3464971949637298, + 0.13433041136372115, + -0.9741064214085302, + 0.18185714270690564, + 0.3723193326239779, + -0.12046012213877463, + -0.9202541352956511 + ], + [ + 0.9191845125763166, + 0.2628653399214273, + 0.2932603705034676, + 0.21429689175486355, + -0.9585927207701813, + 0.18755489295303623, + 0.3304189371450173, + -0.10955276698656713, + -0.9374548080955921 + ], + [ + 0.8935792882384297, + 0.33877446655610255, + 0.2945299924301936, + 0.3033897881265265, + -0.9393393331189981, + 0.1599882924344704, + 0.330863555097631, + -0.05360483247977193, + -0.9421548863339684 + ], + [ + 0.8219268951435525, + 0.4155844443443122, + 0.3895198950743192, + 0.4053281467680905, + -0.9072067034887555, + 0.11262810742709925, + 0.40018154939630163, + 0.06531130655632472, + -0.9141056617036571 + ], + [ + 0.7943839902056986, + 0.43355912791200996, + 0.4254180987088464, + 0.44784177228028893, + -0.8912085480168364, + 0.07200743671713336, + 0.4103557275166537, + 0.13331844038203994, + -0.9021276907114525 + ], + [ + 0.7843825056353281, + 0.4202540743650112, + 0.45621332491812644, + 0.4561148842695168, + -0.8892350736718307, + 0.03493130543880214, + 0.4203609130271863, + 0.1806861830120421, + -0.8891845736783163 + ], + [ + 0.7981815082822574, + 0.3866551985958248, + 0.46195674822983634, + 0.43749454167288054, + -0.8992150948771251, + -0.0032770644728914167, + 0.4141313871740433, + 0.20471924810321715, + -0.8868963995943138 + ], + [ + 0.8148745844446076, + 0.3478870789579435, + 0.46363131033218347, + 0.3998174153281449, + -0.9164714219374552, + -0.01503885541722623, + 0.41967302275289214, + 0.19762265322084943, + -0.8859005818416659 + ], + [ + 0.8306259454616545, + 0.33268737973546336, + 0.4465194800797438, + 0.3882993941682905, + -0.9208200230279504, + -0.03625004385299231, + 0.3991041458247104, + 0.20349347054772265, + -0.89403931022633 + ], + [ + 0.8376102737358234, + 0.343386685446063, + 0.4248465765315351, + 0.3913830165422114, + -0.919795668037542, + -0.028200415275150395, + 0.38108839354474966, + 0.18989869224862632, + -0.9048260180762617 + ], + [ + 0.8383042042950629, + 0.34525755507054307, + 0.4219517528437729, + 0.3960161252224966, + -0.9175371155672468, + -0.0360120829763661, + 0.37472295049140153, + 0.19728877875654185, + -0.9059027807396172 + ], + [ + 0.8385607967514898, + 0.34601699745204983, + 0.4208182833786755, + 0.39416528412381524, + -0.9185439436955457, + -0.030178672797632533, + 0.3760977518453135, + 0.19117861013853701, + -0.9066428293889488 + ], + [ + 0.8338121361969112, + 0.36538743125465795, + 0.4138228444780043, + 0.4036116372179351, + -0.9149144207469779, + -0.0054082355237315555, + 0.37663638676182354, + 0.17153316819304887, + -0.9103413669479453 + ], + [ + 0.827682426209303, + 0.3764923071046953, + 0.41616744711145515, + 0.4108107262994539, + -0.9116877670777881, + 0.007743546863826542, + 0.3823301564114413, + 0.16455685355432903, + -0.9092550211281223 + ], + [ + 0.817805760030462, + 0.37600265075191924, + 0.4356784886685686, + 0.4162233826537696, + -0.9092559355035018, + 0.003426293026719665, + 0.3974315470533907, + 0.17853753213031015, + -0.9000958365793981 + ], + [ + 0.8399110903166851, + 0.3854837765988209, + 0.38203614795219076, + 0.41142465794882327, + -0.9113199721107421, + 0.015021959385198846, + 0.3539478933328063, + 0.14456198120940075, + -0.9240252823348947 + ], + [ + 0.8502922689045787, + 0.40355025614669804, + 0.337861285448685, + 0.4124687810172165, + -0.9096803161709388, + 0.048489453052308805, + 0.32691369216855215, + 0.09812702550813923, + -0.9399460222468362 + ], + [ + 0.87284057336694, + 0.3818705594718576, + 0.3038489909364879, + 0.3825793739374453, + -0.9219896703748717, + 0.059733327043349944, + 0.3029560300144293, + 0.0641086852983735, + -0.9508457920962843 + ], + [ + 0.8931786788509171, + 0.37432200408850913, + 0.24922857962379094, + 0.37699523668780144, + -0.9254014896618443, + 0.03881590455403213, + 0.24516614603333534, + 0.05928844901666192, + -0.9676664924716365 + ], + [ + 0.9016670825867649, + 0.3683633881993025, + 0.2265058198232477, + 0.3755693343106997, + -0.9267159425704172, + 0.012051427767715592, + 0.21434585908034098, + 0.0742022642521952, + -0.9739352528145582 + ], + [ + 0.8832075003495866, + 0.4311567288252528, + 0.18452204885851123, + 0.43950894997743695, + -0.8982249124815717, + -0.004887687306310652, + 0.1636349419163469, + 0.08541593402978662, + -0.9828162208662683 + ], + [ + 0.8116376396408055, + 0.5458978887807324, + 0.20794190761614323, + 0.5540105248546152, + -0.8322098196778468, + 0.022341763181969995, + 0.1852476187933746, + 0.09706858944326145, + -0.9778859896096681 + ], + [ + 0.6281104129310501, + 0.724312064145378, + 0.28434018868434247, + 0.7539648263177088, + -0.6568690159592013, + 0.007754775850897094, + 0.19239113764228566, + 0.2095116455146401, + -0.9586920884989376 + ], + [ + 0.41818589477447754, + 0.8380225157162443, + 0.3504836951475587, + 0.8822491649434158, + -0.4665619547372962, + 0.06289954966737647, + 0.2162335967612693, + 0.28291024291165284, + -0.9344542932039825 + ], + [ + 0.24027909571603123, + 0.8964356234619157, + 0.3723830409005396, + 0.9400425492490896, + -0.31054269856901695, + 0.1410079358289659, + 0.24204537129050702, + 0.3161746437555031, + -0.9173045475102156 + ], + [ + 0.2035951144970981, + 0.8994309478724488, + 0.38674668629761, + 0.9543123440268729, + -0.27055619709123646, + 0.12683569786721588, + 0.21871666463909226, + 0.34325400831570263, + -0.9134219760791584 + ], + [ + 0.17785297479981987, + 0.9066974111915318, + 0.3824501587049335, + 0.9641636800729685, + -0.23830996770161073, + 0.11660513420174849, + 0.19686725828081508, + 0.3480059824667263, + -0.9165888493672414 + ], + [ + 0.2026829422658908, + 0.8967503061120958, + 0.3933935858682801, + 0.9610899367160899, + -0.2591646120604142, + 0.09560249682219232, + 0.18768526435898966, + 0.3587096212027736, + -0.9143859410550115 + ], + [ + 0.21347344216264574, + 0.8830961862679468, + 0.4178160065031485, + 0.9561729432842806, + -0.27659264498275016, + 0.09607190678092117, + 0.200405568840557, + 0.37899556005374757, + -0.9034378636282845 + ], + [ + 0.20139287815390866, + 0.8731697934237761, + 0.4438641914833469, + 0.9455562746641419, + -0.29158280551042653, + 0.14457800307771057, + 0.255664311299318, + 0.39058159119824004, + -0.8843538774409803 + ], + [ + 0.2120237884646738, + 0.8728604540992926, + 0.43950033082429407, + 0.9298620078372763, + -0.3185517899876688, + 0.18406901824174882, + 0.30067018393235534, + 0.36964764947883655, + -0.8791803317459137 + ], + [ + 0.2188345427855739, + 0.8823443996565024, + 0.4166290955737915, + 0.9054576868935875, + -0.3427635745943495, + 0.2503188150671417, + 0.36367268268202785, + 0.32246161372496807, + -0.8739340292863911 + ], + [ + 0.21198092269460062, + 0.8806676041165757, + 0.4236610195346227, + 0.8882421636090678, + -0.35440619653256084, + 0.29227060516994474, + 0.4075413441610895, + 0.31435778806782266, + -0.8573734506505775 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.004458636045455933, + 0.00013184919953346252, + -0.005157768726348877, + -0.0013670027256011963, + 0.030874133110046387, + 0.009813681244850159, + 1.0 + ], + [ + -0.010092437267303467, + -0.008698295801877975, + 0.009164191782474518, + -0.0049580782651901245, + 0.08339369297027588, + 0.05769798159599304, + 1.0 + ], + [ + -0.005525112152099609, + -0.015378214418888092, + 0.02709794044494629, + -0.013824470341205597, + 0.0447593629360199, + 0.0838003009557724, + 1.0 + ], + [ + -0.00818684697151184, + -0.019459709525108337, + 0.01348692923784256, + -0.05949953943490982, + -0.0004711151123046875, + 0.0982632040977478, + 1.0 + ], + [ + -0.014957234263420105, + -0.01966986432671547, + -0.009920209646224976, + -0.12816181778907776, + -0.07449641823768616, + 0.13083767890930176, + 1.0 + ], + [ + -0.004095196723937988, + -0.0156441330909729, + -0.012721017003059387, + -0.07539317011833191, + -0.011129170656204224, + 0.055198341608047485, + 1.0 + ], + [ + 0.005076408386230469, + -0.008090689778327942, + -0.005872771143913269, + -0.05375449359416962, + -0.010998934507369995, + 0.013356149196624756, + 1.0 + ], + [ + 0.003742232918739319, + -0.007601998746395111, + -0.009403973817825317, + -0.026378512382507324, + 0.006854742765426636, + -0.025307953357696533, + 1.0 + ], + [ + 0.00020284950733184814, + -0.0051848068833351135, + -0.014555975794792175, + 0.007371425628662109, + -0.006096750497817993, + -0.04525527358055115, + 1.0 + ], + [ + -0.0023274868726730347, + -0.0023522451519966125, + -0.01505027711391449, + -0.00431668758392334, + 0.022545456886291504, + -0.01884564757347107, + 1.0 + ], + [ + 8.404254913330078e-06, + 0.00034577399492263794, + -0.008242767304182053, + 0.01692783832550049, + 0.019566357135772705, + -0.00017774105072021484, + 1.0 + ], + [ + -0.0018879622220993042, + 0.0002749599516391754, + -0.011884462088346481, + -0.0075624436140060425, + 0.0068753063678741455, + 0.004210531711578369, + 1.0 + ], + [ + 0.0007625371217727661, + 0.0023706629872322083, + -0.006656445562839508, + 0.006613299250602722, + -0.0014832913875579834, + -0.0019243955612182617, + 1.0 + ], + [ + -0.0007201284170150757, + 0.004675138741731644, + -0.011894583702087402, + 0.02157624065876007, + -0.0005813837051391602, + 0.011409491300582886, + 1.0 + ], + [ + -0.002620011568069458, + 0.003383200615644455, + -0.013235041871666908, + 0.007201716303825378, + -0.006154119968414307, + 0.00990307331085205, + 1.0 + ], + [ + -0.0006258636713027954, + 0.00426146388053894, + -0.007412472739815712, + -0.016770392656326294, + -0.016399413347244263, + 0.0100688636302948, + 0.0 + ], + [ + 0.0010756850242614746, + 0.00028321146965026855, + 0.0020741932094097137, + 0.04062218964099884, + 0.04692724347114563, + -0.015293926000595093, + 0.0 + ], + [ + 0.00019140541553497314, + 0.003148987889289856, + 0.0039958655834198, + 0.05117044597864151, + 0.028752923011779785, + -0.003840029239654541, + 0.0 + ], + [ + 0.0004968941211700439, + 0.0013899877667427063, + 0.01046011596918106, + 0.03669873625040054, + 0.025243043899536133, + -0.03855454921722412, + 0.0 + ], + [ + 0.011958688497543335, + 0.002217724919319153, + 0.017735660076141357, + 0.006127901375293732, + 0.060101866722106934, + -0.013697504997253418, + 0.0 + ], + [ + 0.024321720004081726, + 0.006625490263104439, + 0.029450617730617523, + -0.014848172664642334, + 0.03166899085044861, + -0.004724323749542236, + 0.0 + ], + [ + 0.025838375091552734, + 0.009370116516947746, + 0.014999546110630035, + -0.010650351643562317, + 0.05164793133735657, + 0.06707563996315002, + 0.0 + ], + [ + 0.021504133939743042, + 0.009684841148555279, + 0.00017403066158294678, + -0.01224806159734726, + -0.02194969356060028, + 0.13719284534454346, + 0.0 + ], + [ + 0.017626971006393433, + 0.008347438648343086, + -0.009435512125492096, + -0.1162167638540268, + -0.0072743892669677734, + 0.2772684097290039, + 0.0 + ], + [ + 0.005545914173126221, + 0.00426195515319705, + -0.010220348834991455, + -0.07882557809352875, + -0.024356916546821594, + 0.2519547939300537, + 0.0 + ], + [ + -0.0022221803665161133, + -0.014121826738119125, + -0.012116901576519012, + -0.03794378042221069, + -0.026518210768699646, + 0.19238543510437012, + 0.0 + ], + [ + -0.0017976760864257812, + -0.012243002653121948, + -0.01263904944062233, + -0.02753657102584839, + 0.023974254727363586, + 0.04005539417266846, + 0.0 + ], + [ + 0.0028796792030334473, + -0.008285511285066605, + -0.008893363177776337, + -0.0034008026123046875, + 0.022337481379508972, + 0.027778148651123047, + 0.0 + ], + [ + 0.009736746549606323, + -0.005492178723216057, + -0.0032514669001102448, + -0.01098400354385376, + 0.00935661792755127, + -0.02543020248413086, + 0.0 + ], + [ + 0.011015444993972778, + 0.0017371289432048798, + -0.0019171349704265594, + -0.023358970880508423, + -0.01296687126159668, + -0.011812806129455566, + 1.0 + ], + [ + 0.005127578973770142, + -0.0037496406584978104, + 0.001154240220785141, + -0.018688678741455078, + -0.05676291882991791, + 0.009802937507629395, + 1.0 + ], + [ + -8.133053779602051e-05, + -0.0010022036731243134, + 0.0031280294060707092, + 0.017887890338897705, + -0.04686048626899719, + -0.014330625534057617, + 1.0 + ], + [ + -0.0044324398040771484, + -0.0033153221011161804, + 0.008416727185249329, + 0.04452699422836304, + -0.06681224703788757, + -0.012952923774719238, + 1.0 + ], + [ + -0.0027153193950653076, + -0.0020653903484344482, + 0.037791378796100616, + 0.002047896385192871, + -0.047552525997161865, + 0.002866387367248535, + 1.0 + ], + [ + -0.024509191513061523, + -0.0015090890228748322, + 0.024241261184215546, + 0.06923004984855652, + -0.012330621480941772, + -0.06718933582305908, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 0.9367310404777527 + ], + [ + 0.6661520600318909 + ], + [ + 0.5178548097610474 + ], + [ + 0.5324842929840088 + ], + [ + 0.5413121581077576 + ], + [ + 0.5413121581077576 + ], + [ + 0.5413121581077576 + ], + [ + 0.5413121581077576 + ], + [ + 0.5413121581077576 + ], + [ + 0.5413121581077576 + ], + [ + 0.5413121581077576 + ], + [ + 0.5413121581077576 + ], + [ + 0.5422952175140381 + ], + [ + 0.5422952175140381 + ], + [ + 0.6530976295471191 + ], + [ + 0.8956556916236877 + ], + [ + 0.9823668599128723 + ], + [ + 0.9823668599128723 + ], + [ + 0.9823668599128723 + ], + [ + 0.9823668599128723 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.27651965618133545, + 0.05052893981337547, + 0.08684217929840088 + ], + [ + 0.266427218914032, + 0.0418306440114975, + 0.0960063710808754 + ], + [ + 0.2609021067619324, + 0.026452429592609406, + 0.12310431152582169 + ], + [ + 0.25271525979042053, + 0.006992720998823643, + 0.13659124076366425 + ], + [ + 0.23775802552700043, + -0.012677144259214401, + 0.12667103111743927 + ], + [ + 0.23366282880306244, + -0.0283212773501873, + 0.11395001411437988 + ], + [ + 0.2387392371892929, + -0.036411967128515244, + 0.10807724297046661 + ], + [ + 0.24248147010803223, + -0.044013965874910355, + 0.0986732691526413 + ], + [ + 0.24268431961536407, + -0.04919877275824547, + 0.08411729335784912 + ], + [ + 0.24035683274269104, + -0.05155101791024208, + 0.06906701624393463 + ], + [ + 0.24036523699760437, + -0.05120524391531944, + 0.06082424893975258 + ], + [ + 0.23847727477550507, + -0.05093028396368027, + 0.0489397868514061 + ], + [ + 0.23923981189727783, + -0.04855962097644806, + 0.04228334128856659 + ], + [ + 0.23851968348026276, + -0.043884482234716415, + 0.030388757586479187 + ], + [ + 0.2358996719121933, + -0.04050128161907196, + 0.01715371571481228 + ], + [ + 0.2352738082408905, + -0.03623981773853302, + 0.009741242974996567 + ], + [ + 0.23634949326515198, + -0.03595660626888275, + 0.01181543618440628 + ], + [ + 0.23654089868068695, + -0.032807618379592896, + 0.01581130176782608 + ], + [ + 0.237037792801857, + -0.03141763061285019, + 0.02627141773700714 + ], + [ + 0.24899648129940033, + -0.029199905693531036, + 0.0440070778131485 + ], + [ + 0.27331820130348206, + -0.022574415430426598, + 0.07345769554376602 + ], + [ + 0.2991565763950348, + -0.013204298913478851, + 0.08845724165439606 + ], + [ + 0.32066071033477783, + -0.0035194577649235725, + 0.088631272315979 + ], + [ + 0.33828768134117126, + 0.004827980417758226, + 0.07919576019048691 + ], + [ + 0.3438335955142975, + 0.009089935570955276, + 0.06897541135549545 + ], + [ + 0.34161141514778137, + -0.005031891632825136, + 0.05685850977897644 + ], + [ + 0.3398137390613556, + -0.017274893820285797, + 0.04421946033835411 + ], + [ + 0.34269341826438904, + -0.0255604051053524, + 0.035326097160577774 + ], + [ + 0.35243016481399536, + -0.03105258382856846, + 0.03207463026046753 + ], + [ + 0.36344560980796814, + -0.02931545488536358, + 0.03015749529004097 + ], + [ + 0.3685731887817383, + -0.03306509554386139, + 0.03131173551082611 + ], + [ + 0.36849185824394226, + -0.0340672992169857, + 0.03443976491689682 + ], + [ + 0.3640594184398651, + -0.03738262131810188, + 0.04285649210214615 + ], + [ + 0.3613440990447998, + -0.03944801166653633, + 0.08064787089824677 + ], + [ + 0.3368349075317383, + -0.04095710068941116, + 0.10488913208246231 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8904427609679656, + 0.1468016983364744, + 0.43076786185284643, + 0.07815666860212575, + -0.9818100071286686, + 0.1730336529552011, + 0.44833383163973217, + -0.12040918265452286, + -0.8857191451807428 + ], + [ + 0.9183319961415308, + 0.19132704655896898, + 0.3464971949637298, + 0.13433041136372115, + -0.9741064214085302, + 0.18185714270690564, + 0.3723193326239779, + -0.12046012213877463, + -0.9202541352956511 + ], + [ + 0.9191845125763166, + 0.2628653399214273, + 0.2932603705034676, + 0.21429689175486355, + -0.9585927207701813, + 0.18755489295303623, + 0.3304189371450173, + -0.10955276698656713, + -0.9374548080955921 + ], + [ + 0.8935792882384297, + 0.33877446655610255, + 0.2945299924301936, + 0.3033897881265265, + -0.9393393331189981, + 0.1599882924344704, + 0.330863555097631, + -0.05360483247977193, + -0.9421548863339684 + ], + [ + 0.8219268951435525, + 0.4155844443443122, + 0.3895198950743192, + 0.4053281467680905, + -0.9072067034887555, + 0.11262810742709925, + 0.40018154939630163, + 0.06531130655632472, + -0.9141056617036571 + ], + [ + 0.7943839902056986, + 0.43355912791200996, + 0.4254180987088464, + 0.44784177228028893, + -0.8912085480168364, + 0.07200743671713336, + 0.4103557275166537, + 0.13331844038203994, + -0.9021276907114525 + ], + [ + 0.7843825056353281, + 0.4202540743650112, + 0.45621332491812644, + 0.4561148842695168, + -0.8892350736718307, + 0.03493130543880214, + 0.4203609130271863, + 0.1806861830120421, + -0.8891845736783163 + ], + [ + 0.7981815082822574, + 0.3866551985958248, + 0.46195674822983634, + 0.43749454167288054, + -0.8992150948771251, + -0.0032770644728914167, + 0.4141313871740433, + 0.20471924810321715, + -0.8868963995943138 + ], + [ + 0.8148745844446076, + 0.3478870789579435, + 0.46363131033218347, + 0.3998174153281449, + -0.9164714219374552, + -0.01503885541722623, + 0.41967302275289214, + 0.19762265322084943, + -0.8859005818416659 + ], + [ + 0.8306259454616545, + 0.33268737973546336, + 0.4465194800797438, + 0.3882993941682905, + -0.9208200230279504, + -0.03625004385299231, + 0.3991041458247104, + 0.20349347054772265, + -0.89403931022633 + ], + [ + 0.8376102737358234, + 0.343386685446063, + 0.4248465765315351, + 0.3913830165422114, + -0.919795668037542, + -0.028200415275150395, + 0.38108839354474966, + 0.18989869224862632, + -0.9048260180762617 + ], + [ + 0.8383042042950629, + 0.34525755507054307, + 0.4219517528437729, + 0.3960161252224966, + -0.9175371155672468, + -0.0360120829763661, + 0.37472295049140153, + 0.19728877875654185, + -0.9059027807396172 + ], + [ + 0.8385607967514898, + 0.34601699745204983, + 0.4208182833786755, + 0.39416528412381524, + -0.9185439436955457, + -0.030178672797632533, + 0.3760977518453135, + 0.19117861013853701, + -0.9066428293889488 + ], + [ + 0.8338121361969112, + 0.36538743125465795, + 0.4138228444780043, + 0.4036116372179351, + -0.9149144207469779, + -0.0054082355237315555, + 0.37663638676182354, + 0.17153316819304887, + -0.9103413669479453 + ], + [ + 0.827682426209303, + 0.3764923071046953, + 0.41616744711145515, + 0.4108107262994539, + -0.9116877670777881, + 0.007743546863826542, + 0.3823301564114413, + 0.16455685355432903, + -0.9092550211281223 + ], + [ + 0.817805760030462, + 0.37600265075191924, + 0.4356784886685686, + 0.4162233826537696, + -0.9092559355035018, + 0.003426293026719665, + 0.3974315470533907, + 0.17853753213031015, + -0.9000958365793981 + ], + [ + 0.8399110903166851, + 0.3854837765988209, + 0.38203614795219076, + 0.41142465794882327, + -0.9113199721107421, + 0.015021959385198846, + 0.3539478933328063, + 0.14456198120940075, + -0.9240252823348947 + ], + [ + 0.8502922689045787, + 0.40355025614669804, + 0.337861285448685, + 0.4124687810172165, + -0.9096803161709388, + 0.048489453052308805, + 0.32691369216855215, + 0.09812702550813923, + -0.9399460222468362 + ], + [ + 0.87284057336694, + 0.3818705594718576, + 0.3038489909364879, + 0.3825793739374453, + -0.9219896703748717, + 0.059733327043349944, + 0.3029560300144293, + 0.0641086852983735, + -0.9508457920962843 + ], + [ + 0.8931786788509171, + 0.37432200408850913, + 0.24922857962379094, + 0.37699523668780144, + -0.9254014896618443, + 0.03881590455403213, + 0.24516614603333534, + 0.05928844901666192, + -0.9676664924716365 + ], + [ + 0.9016670825867649, + 0.3683633881993025, + 0.2265058198232477, + 0.3755693343106997, + -0.9267159425704172, + 0.012051427767715592, + 0.21434585908034098, + 0.0742022642521952, + -0.9739352528145582 + ], + [ + 0.8832075003495866, + 0.4311567288252528, + 0.18452204885851123, + 0.43950894997743695, + -0.8982249124815717, + -0.004887687306310652, + 0.1636349419163469, + 0.08541593402978662, + -0.9828162208662683 + ], + [ + 0.8116376396408055, + 0.5458978887807324, + 0.20794190761614323, + 0.5540105248546152, + -0.8322098196778468, + 0.022341763181969995, + 0.1852476187933746, + 0.09706858944326145, + -0.9778859896096681 + ], + [ + 0.6281104129310501, + 0.724312064145378, + 0.28434018868434247, + 0.7539648263177088, + -0.6568690159592013, + 0.007754775850897094, + 0.19239113764228566, + 0.2095116455146401, + -0.9586920884989376 + ], + [ + 0.41818589477447754, + 0.8380225157162443, + 0.3504836951475587, + 0.8822491649434158, + -0.4665619547372962, + 0.06289954966737647, + 0.2162335967612693, + 0.28291024291165284, + -0.9344542932039825 + ], + [ + 0.24027909571603123, + 0.8964356234619157, + 0.3723830409005396, + 0.9400425492490896, + -0.31054269856901695, + 0.1410079358289659, + 0.24204537129050702, + 0.3161746437555031, + -0.9173045475102156 + ], + [ + 0.2035951144970981, + 0.8994309478724488, + 0.38674668629761, + 0.9543123440268729, + -0.27055619709123646, + 0.12683569786721588, + 0.21871666463909226, + 0.34325400831570263, + -0.9134219760791584 + ], + [ + 0.17785297479981987, + 0.9066974111915318, + 0.3824501587049335, + 0.9641636800729685, + -0.23830996770161073, + 0.11660513420174849, + 0.19686725828081508, + 0.3480059824667263, + -0.9165888493672414 + ], + [ + 0.2026829422658908, + 0.8967503061120958, + 0.3933935858682801, + 0.9610899367160899, + -0.2591646120604142, + 0.09560249682219232, + 0.18768526435898966, + 0.3587096212027736, + -0.9143859410550115 + ], + [ + 0.21347344216264574, + 0.8830961862679468, + 0.4178160065031485, + 0.9561729432842806, + -0.27659264498275016, + 0.09607190678092117, + 0.200405568840557, + 0.37899556005374757, + -0.9034378636282845 + ], + [ + 0.20139287815390866, + 0.8731697934237761, + 0.4438641914833469, + 0.9455562746641419, + -0.29158280551042653, + 0.14457800307771057, + 0.255664311299318, + 0.39058159119824004, + -0.8843538774409803 + ], + [ + 0.2120237884646738, + 0.8728604540992926, + 0.43950033082429407, + 0.9298620078372763, + -0.3185517899876688, + 0.18406901824174882, + 0.30067018393235534, + 0.36964764947883655, + -0.8791803317459137 + ], + [ + 0.2188345427855739, + 0.8823443996565024, + 0.4166290955737915, + 0.9054576868935875, + -0.3427635745943495, + 0.2503188150671417, + 0.36367268268202785, + 0.32246161372496807, + -0.8739340292863911 + ], + [ + 0.21198092269460062, + 0.8806676041165757, + 0.4236610195346227, + 0.8882421636090678, + -0.35440619653256084, + 0.29227060516994474, + 0.4075413441610895, + 0.31435778806782266, + -0.8573734506505775 + ], + [ + 0.26962548714638995, + 0.8825077620520345, + 0.3853338119072622, + 0.8671410410262488, + -0.3965262052291845, + 0.3013857719509265, + 0.41877023730082, + 0.2528774772186168, + -0.8721722707507746 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005815.json b/json/chunk-0005/episode_0005815.json new file mode 100644 index 0000000000000000000000000000000000000000..437a4baa1c7e108f31da0e3335d49f37542675fa --- /dev/null +++ b/json/chunk-0005/episode_0005815.json @@ -0,0 +1,2182 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 35, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nTake broccoli out of pan." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005815.mp4", + "start": 0, + "end": 35, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3477296829223633, + 0.020950667560100555, + 0.09913226217031479, + -0.11726892739534378, + -0.22922207415103912, + -0.05789385735988617, + 0.0, + 1.0060625076293945 + ], + [ + 0.343204528093338, + 0.02117241360247135, + 0.08834059536457062, + -0.12226222455501556, + -0.19240133464336395, + -0.038241710513830185, + 0.0, + 1.0060625076293945 + ], + [ + 0.33803901076316833, + 0.02098214626312256, + 0.0908995047211647, + -0.10765037685632706, + -0.1893516480922699, + 0.11580756306648254, + 0.0, + 1.0060625076293945 + ], + [ + 0.3305571377277374, + 0.02166908048093319, + 0.09906569123268127, + -0.1446113884449005, + -0.23619288206100464, + 0.23713688552379608, + 0.0, + 1.0060625076293945 + ], + [ + 0.31659772992134094, + 0.02709045633673668, + 0.09788987785577774, + -0.13913020491600037, + -0.1806875765323639, + 0.4336180090904236, + 0.0, + 1.0060625076293945 + ], + [ + 0.30386513471603394, + 0.03353254124522209, + 0.09074940532445908, + -0.08468420058488846, + -0.16198915243148804, + 0.6187279224395752, + 0.0, + 1.0060625076293945 + ], + [ + 0.2934134304523468, + 0.04133684188127518, + 0.08672987669706345, + -0.055868957191705704, + -0.0865643322467804, + 0.7732184529304504, + 0.0, + 1.0067112445831299 + ], + [ + 0.2887047231197357, + 0.05548817664384842, + 0.08001221716403961, + -0.020206457003951073, + -0.0387420579791069, + 0.8487594723701477, + 0.0, + 1.0060625076293945 + ], + [ + 0.28496253490448, + 0.0684511736035347, + 0.07739561051130295, + -0.007741067558526993, + -0.053218647837638855, + 0.9013004302978516, + 0.0, + 1.0060625076293945 + ], + [ + 0.27487754821777344, + 0.0789080336689949, + 0.0645836740732193, + -0.005114697851240635, + -0.059739116579294205, + 0.9466091990470886, + 0.0, + 1.0060625076293945 + ], + [ + 0.2650156617164612, + 0.0914578065276146, + 0.052488382905721664, + -0.017732955515384674, + -0.06601506471633911, + 0.9725223779678345, + 0.0, + 1.0060625076293945 + ], + [ + 0.25809478759765625, + 0.10096395015716553, + 0.04397151619195938, + -0.035460956394672394, + -0.08234184980392456, + 0.9830475449562073, + 0.0, + 1.0060625076293945 + ], + [ + 0.25811296701431274, + 0.10692835599184036, + 0.04165063798427582, + -0.04971165582537651, + -0.08310694247484207, + 0.986393928527832, + 0.0, + 1.0060625076293945 + ], + [ + 0.2607385516166687, + 0.1043153777718544, + 0.025800025090575218, + -0.06386572867631912, + -0.06073928251862526, + 0.9878016710281372, + 0.0, + 1.0060625076293945 + ], + [ + 0.262153685092926, + 0.09779376536607742, + 0.019522355869412422, + -0.06584662199020386, + -0.046347856521606445, + 0.9792602062225342, + 0.0, + 1.0067112445831299 + ], + [ + 0.2600003480911255, + 0.08811774104833603, + 0.01521135400980711, + -0.04587559774518013, + -0.04299617186188698, + 0.9404898881912231, + 0.0, + 1.0060625076293945 + ], + [ + 0.2575409710407257, + 0.08409087359905243, + 0.012988897040486336, + -0.012436367571353912, + -0.05478323623538017, + 0.8967092037200928, + 0.0, + 1.0060625076293945 + ], + [ + 0.25785908102989197, + 0.08210524171590805, + 0.013264552690088749, + -0.012080429121851921, + -0.03790063410997391, + 0.874215841293335, + 0.0, + 0.9643021821975708 + ], + [ + 0.2597607374191284, + 0.08067304641008377, + 0.009214550256729126, + -0.027318155393004417, + -0.03197086229920387, + 0.8428303003311157, + 0.0, + 0.8261235952377319 + ], + [ + 0.25995659828186035, + 0.08434818685054779, + 0.0083087757229805, + -0.03763331472873688, + -0.03177214413881302, + 0.8390447497367859, + 0.0, + 0.7031799554824829 + ], + [ + 0.25923484563827515, + 0.0852305069565773, + 0.008800049312412739, + -0.035284433513879776, + -0.02637096866965294, + 0.8291938900947571, + 0.0, + 0.7388594746589661 + ], + [ + 0.257902592420578, + 0.08740391582250595, + 0.011201252229511738, + -0.003380505833774805, + -0.017373856157064438, + 0.8198089599609375, + 0.0, + 0.7398436665534973 + ], + [ + 0.2582630217075348, + 0.08991146832704544, + 0.0275300033390522, + 0.026666678488254547, + -0.03548916056752205, + 0.8292909264564514, + 0.0, + 0.7398436665534973 + ], + [ + 0.264283150434494, + 0.09259144961833954, + 0.05015639215707779, + 0.036192990839481354, + -0.037782877683639526, + 0.8596872687339783, + 0.0, + 0.7398436665534973 + ], + [ + 0.2595881521701813, + 0.08863995224237442, + 0.06313712894916534, + 0.0400158055126667, + -0.023744674399495125, + 0.8884726762771606, + 0.0, + 0.7398436665534973 + ], + [ + 0.2524941563606262, + 0.0770212709903717, + 0.07487012445926666, + 0.033384814858436584, + -0.03998468816280365, + 0.947170078754425, + 0.0, + 0.7398436665534973 + ], + [ + 0.23350942134857178, + 0.058212436735630035, + 0.0695890560746193, + 0.009468134492635727, + -0.017888715490698814, + 1.0013283491134644, + 0.0, + 0.7398436665534973 + ], + [ + 0.21251130104064941, + 0.03908880427479744, + 0.056739140301942825, + -0.015732841566205025, + 0.004284646827727556, + 1.0624533891677856, + 0.0, + 0.7398436665534973 + ], + [ + 0.19871780276298523, + 0.027804059907794, + 0.042506661266088486, + -0.038151878863573074, + 0.032826513051986694, + 1.0937777757644653, + 0.0, + 0.7398436665534973 + ], + [ + 0.19730612635612488, + 0.028856007382273674, + 0.02950085885822773, + -0.08340159058570862, + 0.03397270292043686, + 1.0766140222549438, + 0.0, + 0.7398436665534973 + ], + [ + 0.19692538678646088, + 0.03559568151831627, + 0.017642760649323463, + -0.09721322357654572, + 0.04408005625009537, + 1.0483862161636353, + 0.0, + 0.7398436665534973 + ], + [ + 0.19549430906772614, + 0.04052827134728432, + 0.01715751551091671, + -0.08959003537893295, + 0.03953828290104866, + 1.0331389904022217, + 0.0, + 0.8205437660217285 + ], + [ + 0.199087455868721, + 0.045224763453006744, + 0.021229736506938934, + -0.08895019441843033, + 0.031903281807899475, + 1.0155720710754395, + 0.0, + 1.0118417739868164 + ], + [ + 0.20084123313426971, + 0.04836873710155487, + 0.033663295209407806, + -0.019456157460808754, + 0.01996547169983387, + 1.014070749282837, + 0.0, + 1.0105689764022827 + ], + [ + 0.21077655255794525, + 0.05096956342458725, + 0.0626603364944458, + 0.0766274705529213, + -0.03409941866993904, + 1.0068626403808594, + 0.0, + 1.0105689764022827 + ] + ], + "left_gripper_pos": [ + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0067112445831299 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0067112445831299 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 0.9643021821975708 + ], + [ + 0.8261235952377319 + ], + [ + 0.7031799554824829 + ], + [ + 0.7388594746589661 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.8205437660217285 + ], + [ + 1.0118417739868164 + ], + [ + 1.0105689764022827 + ], + [ + 1.0105689764022827 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3477296829223633, + 0.020950667560100555, + 0.09913226217031479 + ], + [ + 0.343204528093338, + 0.02117241360247135, + 0.08834059536457062 + ], + [ + 0.33803901076316833, + 0.02098214626312256, + 0.0908995047211647 + ], + [ + 0.3305571377277374, + 0.02166908048093319, + 0.09906569123268127 + ], + [ + 0.31659772992134094, + 0.02709045633673668, + 0.09788987785577774 + ], + [ + 0.30386513471603394, + 0.03353254124522209, + 0.09074940532445908 + ], + [ + 0.2934134304523468, + 0.04133684188127518, + 0.08672987669706345 + ], + [ + 0.2887047231197357, + 0.05548817664384842, + 0.08001221716403961 + ], + [ + 0.28496253490448, + 0.0684511736035347, + 0.07739561051130295 + ], + [ + 0.27487754821777344, + 0.0789080336689949, + 0.0645836740732193 + ], + [ + 0.2650156617164612, + 0.0914578065276146, + 0.052488382905721664 + ], + [ + 0.25809478759765625, + 0.10096395015716553, + 0.04397151619195938 + ], + [ + 0.25811296701431274, + 0.10692835599184036, + 0.04165063798427582 + ], + [ + 0.2607385516166687, + 0.1043153777718544, + 0.025800025090575218 + ], + [ + 0.262153685092926, + 0.09779376536607742, + 0.019522355869412422 + ], + [ + 0.2600003480911255, + 0.08811774104833603, + 0.01521135400980711 + ], + [ + 0.2575409710407257, + 0.08409087359905243, + 0.012988897040486336 + ], + [ + 0.25785908102989197, + 0.08210524171590805, + 0.013264552690088749 + ], + [ + 0.2597607374191284, + 0.08067304641008377, + 0.009214550256729126 + ], + [ + 0.25995659828186035, + 0.08434818685054779, + 0.0083087757229805 + ], + [ + 0.25923484563827515, + 0.0852305069565773, + 0.008800049312412739 + ], + [ + 0.257902592420578, + 0.08740391582250595, + 0.011201252229511738 + ], + [ + 0.2582630217075348, + 0.08991146832704544, + 0.0275300033390522 + ], + [ + 0.264283150434494, + 0.09259144961833954, + 0.05015639215707779 + ], + [ + 0.2595881521701813, + 0.08863995224237442, + 0.06313712894916534 + ], + [ + 0.2524941563606262, + 0.0770212709903717, + 0.07487012445926666 + ], + [ + 0.23350942134857178, + 0.058212436735630035, + 0.0695890560746193 + ], + [ + 0.21251130104064941, + 0.03908880427479744, + 0.056739140301942825 + ], + [ + 0.19871780276298523, + 0.027804059907794, + 0.042506661266088486 + ], + [ + 0.19730612635612488, + 0.028856007382273674, + 0.02950085885822773 + ], + [ + 0.19692538678646088, + 0.03559568151831627, + 0.017642760649323463 + ], + [ + 0.19549430906772614, + 0.04052827134728432, + 0.01715751551091671 + ], + [ + 0.199087455868721, + 0.045224763453006744, + 0.021229736506938934 + ], + [ + 0.20084123313426971, + 0.04836873710155487, + 0.033663295209407806 + ], + [ + 0.21077655255794525, + 0.05096956342458725, + 0.0626603364944458 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.972211890841742, + -0.08400439953926482, + 0.21851155613370346, + -0.0563480645152087, + -0.9899297630280265, + -0.12986131023775085, + 0.2272200143722268, + 0.11394000671108924, + -0.967154972038795 + ], + [ + 0.9808302565254428, + -0.061250296465396536, + 0.1849875916572107, + -0.03752692199614574, + -0.9909180195657337, + -0.12912477928507482, + 0.1912164689814376, + 0.11970747546759612, + -0.9742209104240401 + ], + [ + 0.9755479914731422, + 0.09479238413053258, + 0.19829402472986196, + 0.11348361412091552, + -0.989888614531237, + -0.08509994211209987, + 0.18822217100748967, + 0.10552220018686664, + -0.9764412320303509 + ], + [ + 0.9450274483884187, + 0.19969054915091847, + 0.25893398072149376, + 0.22839824387445515, + -0.9697905715428207, + -0.08567665692423997, + 0.23400291448513882, + 0.14010685895577565, + -0.9620876800406535 + ], + [ + 0.8926785800653632, + 0.39348127704059144, + 0.21976677936165154, + 0.41331671470693443, + -0.9091539764045582, + -0.051071915292527206, + 0.17970599888805613, + 0.1364240880720332, + -0.9742146694427058 + ], + [ + 0.8039522990446526, + 0.5668081593748607, + 0.17997002896843614, + 0.5724062673074343, + -0.8196098577713289, + 0.02430527085288086, + 0.16128163568115075, + 0.0834756941279568, + -0.9833717722620821 + ], + [ + 0.7129867690070932, + 0.6938974071205011, + 0.10077824969839194, + 0.6958269769459637, + -0.7179217234655424, + 0.020327742877817342, + 0.08645626278684002, + 0.055630813113875605, + -0.9947012251210018 + ], + [ + 0.6604186850271527, + 0.7497906725815209, + 0.04075668996320515, + 0.749897969198235, + -0.6613670043327514, + 0.01570736681577003, + 0.038732367076764584, + 0.020189920496939663, + -0.9990456300144444 + ], + [ + 0.6197121621029458, + 0.7838555722756307, + 0.03908040370998366, + 0.783024446927643, + -0.6208950703923173, + 0.036905651006016366, + 0.05319353020199615, + 0.007730030721963802, + -0.9985543024641607 + ], + [ + 0.5833953205512409, + 0.8112493806431766, + 0.03904282731792853, + 0.8099909760261881, + -0.5846780103164001, + 0.045455945800292094, + 0.05970359047041, + 0.005105551734949618, + -0.9982030928756049 + ], + [ + 0.5619902603049924, + 0.8255202582266675, + 0.051800102120588054, + 0.8245091179387477, + -0.5640950689166394, + 0.04451367946822918, + 0.06596712634483372, + 0.017693402197100003, + -0.9976649145682616 + ], + [ + 0.5526102801585977, + 0.8300509897379824, + 0.07508150703090566, + 0.8293714534527588, + -0.556567071540727, + 0.048745123594443364, + 0.08224883257952367, + 0.03533340220775493, + -0.9959852811300629 + ], + [ + 0.5497969178359546, + 0.8307358536568861, + 0.08718538058097394, + 0.8311633243493983, + -0.5544598658085316, + 0.041734703353947175, + 0.08301130883525079, + 0.049519679487551746, + -0.9953174990669604 + ], + [ + 0.549511187966961, + 0.8309829811690093, + 0.08662989845662522, + 0.8332783019544063, + -0.5526382227701265, + 0.015435874625600539, + 0.060701942235158485, + 0.0637046288815965, + -0.9961209738118847 + ], + [ + 0.557037961844934, + 0.8265861940177429, + 0.08039883657680594, + 0.8291936582996183, + -0.5589588916990068, + 0.00168357545527828, + 0.04633126481478117, + 0.06572838998393452, + -0.9967613519046483 + ], + [ + 0.5888476288181355, + 0.8058352014291206, + 0.06235461629220078, + 0.8071003271925299, + -0.5903646493436864, + 0.007657848981083151, + 0.04298292545849017, + 0.04581712499704173, + -0.9980246786407814 + ], + [ + 0.6232479493329106, + 0.7807916274973313, + 0.04389109342896817, + 0.7801049877325109, + -0.6246681061594194, + 0.035013786742704125, + 0.05475583774522012, + 0.012417390115201501, + -0.9984225591679838 + ], + [ + 0.6411377774079907, + 0.7666909717793479, + 0.03357535066653596, + 0.7664897781357612, + -0.64190282258673, + 0.021311648659370522, + 0.037891560983061505, + 0.012071460028854734, + -0.9992089418430155 + ], + [ + 0.6650125801317058, + 0.7456697742741549, + 0.04165160261625677, + 0.746147760458332, + -0.6657561521297406, + 0.005680269748660529, + 0.03196541614913615, + 0.027300799170219568, + -0.9991160485824858 + ], + [ + 0.6678366196701808, + 0.7426797871267877, + 0.04920348789278248, + 0.7436296927332827, + -0.6685899822871242, + -0.0015217327972712018, + 0.03176679890875894, + 0.037605443470486485, + -0.9987876156162923 + ], + [ + 0.67523553762499, + 0.7362998231253034, + 0.043812546079147315, + 0.7371307224173088, + -0.6757358663273276, + -0.004397388701531838, + 0.026367912257647473, + 0.03526484686628839, + -0.9990300915281132 + ], + [ + 0.6822578899416314, + 0.730971233252627, + 0.014325772912002504, + 0.7309051587618749, + -0.6823999060888783, + 0.010393125861275571, + 0.01737298211796748, + 0.003379989204622087, + -0.9998433653154404 + ], + [ + 0.6749735567806737, + 0.7378294317357342, + 0.00429270443550234, + 0.736988294210971, + -0.6744610303866083, + 0.044165288245841136, + 0.035481711385587936, + -0.026646728774066333, + -0.9990150149035758 + ], + [ + 0.6522086313961805, + 0.7580344238075805, + -0.002777310755197524, + 0.7570977707355209, + -0.6512114248802328, + 0.05221729266020973, + 0.037773888860246504, + -0.036159264762529036, + -0.9986318845761972 + ], + [ + 0.6304203718301641, + 0.7760871845339676, + -0.01608840525523843, + 0.7758907469300182, + -0.629356158282993, + 0.043639143663119946, + 0.023742443216647324, + -0.03999384994485381, + -0.9989178086092432 + ], + [ + 0.5835158926913359, + 0.812092994409529, + -0.0037644930067517596, + 0.8111173031904966, + -0.582574129939304, + 0.051924017472060345, + 0.03997403459258719, + -0.033351934822845784, + -0.9986439430557635 + ], + [ + 0.5390977934702817, + 0.8422415202256135, + 0.0016705339028615564, + 0.8420532032281292, + -0.5390172607618766, + 0.020169172863795198, + 0.017887761422826345, + -0.009466478162986913, + -0.9997951859168304 + ], + [ + 0.48672591748833066, + 0.8734769484856799, + 0.011657688848483096, + 0.873544230797185, + -0.4866112648981887, + -0.011399724344894856, + -0.004284633718006807, + 0.01573204812890409, + -0.9998670634517235 + ], + [ + 0.458885243146657, + 0.8882960608533004, + 0.01882662728008345, + 0.8878891488620619, + -0.45768637259954925, + -0.04664808323682675, + -0.03282061783752496, + 0.038122075090113304, + -0.9987339557838149 + ], + [ + 0.47403826017486456, + 0.8786389061118637, + 0.057283510340539114, + 0.8798488661667337, + -0.4701722733102351, + -0.06931093792034664, + -0.03396616839591903, + 0.0832568680460229, + -0.9959490917349474 + ], + [ + 0.4984855490467906, + 0.8646615068484415, + 0.062230506715780086, + 0.8657773178995715, + -0.49290779396059886, + -0.08643808456647292, + -0.04406578266801409, + 0.09696589723959051, + -0.9943117325921368 + ], + [ + 0.5117250153989956, + 0.857277280430538, + 0.056684857524016447, + 0.8582395045911033, + -0.5070337746761857, + -0.07963481711435075, + -0.039527982165990044, + 0.08940031205336652, + -0.9952110946078954 + ], + [ + 0.5268656411959938, + 0.8479163449380244, + 0.05874068533882683, + 0.8493498231052564, + -0.5226419514236132, + -0.073825934489085, + -0.031897870120174115, + 0.08878773901309933, + -0.9955396844338942 + ], + [ + 0.5283037703130113, + 0.8490344443914674, + 0.005969799823206783, + 0.8488206872926868, + -0.5279793261022578, + -0.02722631140232786, + -0.019964145286682413, + 0.01945105255450008, + -0.9996114692506755 + ], + [ + 0.5342041865541681, + 0.8440739909021489, + -0.04652939877667702, + 0.8446677259862632, + -0.5307406369679762, + 0.06964774905208504, + 0.034092810755274226, + -0.0765080005839017, + -0.9964859287021864 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0045251548290252686, + 0.0002217460423707962, + -0.010791666805744171, + -0.0049932971596717834, + 0.03682073950767517, + 0.019652146846055984, + 1.0 + ], + [ + -0.005165517330169678, + -0.00019026733934879303, + 0.0025589093565940857, + 0.014611847698688507, + 0.003049686551094055, + 0.15404927730560303, + 1.0 + ], + [ + -0.007481873035430908, + 0.0006869342178106308, + 0.008166186511516571, + -0.036961011588573456, + -0.04684123396873474, + 0.12132932245731354, + 1.0 + ], + [ + -0.013959407806396484, + 0.00542137585580349, + -0.001175813376903534, + 0.0054811835289001465, + 0.05550530552864075, + 0.1964811235666275, + 1.0 + ], + [ + -0.012732595205307007, + 0.006442084908485413, + -0.0071404725313186646, + 0.05444600433111191, + 0.018698424100875854, + 0.1851099133491516, + 1.0 + ], + [ + -0.010451704263687134, + 0.007804300636053085, + -0.00401952862739563, + 0.028815243393182755, + 0.07542482018470764, + 0.15449053049087524, + 1.0 + ], + [ + -0.004708707332611084, + 0.014151334762573242, + -0.006717659533023834, + 0.03566250205039978, + 0.04782227426767349, + 0.07554101943969727, + 1.0 + ], + [ + -0.0037421882152557373, + 0.01296299695968628, + -0.002616606652736664, + 0.01246538944542408, + -0.014476589858531952, + 0.05254095792770386, + 1.0 + ], + [ + -0.010084986686706543, + 0.010456860065460205, + -0.012811936438083649, + 0.002626369707286358, + -0.00652046874165535, + 0.04530876874923706, + 1.0 + ], + [ + -0.009861886501312256, + 0.01254977285861969, + -0.012095291167497635, + -0.01261825766414404, + -0.006275948137044907, + 0.02591317892074585, + 1.0 + ], + [ + -0.006920874118804932, + 0.009506143629550934, + -0.008516866713762283, + -0.01772800087928772, + -0.01632678508758545, + 0.010525166988372803, + 1.0 + ], + [ + 1.817941665649414e-05, + 0.005964405834674835, + -0.0023208782076835632, + -0.014250699430704117, + -0.000765092670917511, + 0.003346383571624756, + 1.0 + ], + [ + 0.002625584602355957, + -0.002612978219985962, + -0.0158506128937006, + -0.014154072850942612, + 0.022367659956216812, + 0.0014077425003051758, + 1.0 + ], + [ + 0.0014151334762573242, + -0.0065216124057769775, + -0.006277669221162796, + -0.001980893313884735, + 0.014391425997018814, + -0.008541464805603027, + 1.0 + ], + [ + -0.002153337001800537, + -0.009676024317741394, + -0.004311001859605312, + 0.019971024245023727, + 0.003351684659719467, + -0.038770318031311035, + 1.0 + ], + [ + -0.0024593770503997803, + -0.0040268674492836, + -0.002222456969320774, + 0.03343923017382622, + -0.011787064373493195, + -0.04378068447113037, + 1.0 + ], + [ + 0.00031810998916625977, + -0.0019856318831443787, + 0.0002756556496024132, + 0.00035593844950199127, + 0.016882602125406265, + -0.022493362426757812, + 0.0 + ], + [ + 0.0019016563892364502, + -0.0014321953058242798, + -0.004050002433359623, + -0.015237726271152496, + 0.005929771810770035, + -0.03138554096221924, + 0.0 + ], + [ + 0.0001958608627319336, + 0.0036751404404640198, + -0.0009057745337486267, + -0.01031515933573246, + 0.00019871816039085388, + -0.003785550594329834, + 0.0 + ], + [ + -0.0007217526435852051, + 0.0008823201060295105, + 0.0004912735894322395, + 0.0023488812148571014, + 0.00540117546916008, + -0.009850859642028809, + 0.0 + ], + [ + -0.0013322532176971436, + 0.00217340886592865, + 0.002401202917098999, + 0.03190392628312111, + 0.008997112512588501, + -0.00938493013381958, + 0.0 + ], + [ + 0.0003604292869567871, + 0.0025075525045394897, + 0.016328752040863037, + 0.030047183856368065, + -0.01811530441045761, + 0.009481966495513916, + 0.0 + ], + [ + 0.0060201287269592285, + 0.002679981291294098, + 0.02262638881802559, + 0.009526312351226807, + -0.0022937171161174774, + 0.030396342277526855, + 0.0 + ], + [ + -0.004694998264312744, + -0.003951497375965118, + 0.012980736792087555, + 0.0038228146731853485, + 0.014038203284144402, + 0.028785407543182373, + 0.0 + ], + [ + -0.007093995809555054, + -0.011618681252002716, + 0.011732995510101318, + -0.006630990654230118, + -0.016240013763308525, + 0.058697402477264404, + 0.0 + ], + [ + -0.018984735012054443, + -0.01880883425474167, + -0.005281068384647369, + -0.023916680365800858, + 0.022095972672104836, + 0.05415827035903931, + 0.0 + ], + [ + -0.020998120307922363, + -0.019123632460832596, + -0.012849915772676468, + -0.02520097605884075, + 0.022173361852765083, + 0.06112504005432129, + 0.0 + ], + [ + -0.013793498277664185, + -0.01128474436700344, + -0.01423247903585434, + -0.02241903729736805, + 0.028541866689920425, + 0.03132438659667969, + 0.0 + ], + [ + -0.0014116764068603516, + 0.0010519474744796753, + -0.013005802407860756, + -0.045249711722135544, + 0.0011461898684501648, + -0.017163753509521484, + 0.0 + ], + [ + -0.00038073956966400146, + 0.006739674136042595, + -0.011858098208904266, + -0.013811632990837097, + 0.010107353329658508, + -0.028227806091308594, + 0.0 + ], + [ + -0.0014310777187347412, + 0.004932589828968048, + -0.00048524513840675354, + 0.0076231881976127625, + -0.004541773349046707, + -0.015247225761413574, + 1.0 + ], + [ + 0.003593146800994873, + 0.004696492105722427, + 0.004072220996022224, + 0.0006398409605026245, + -0.007635001093149185, + -0.017566919326782227, + 1.0 + ], + [ + 0.001753777265548706, + 0.0031439736485481262, + 0.012433558702468872, + 0.06949403882026672, + -0.011937810108065605, + -0.001501321792602539, + 1.0 + ], + [ + 0.009935319423675537, + 0.002600826323032379, + 0.028997041285037994, + 0.0960836261510849, + -0.05406489223241806, + -0.007208108901977539, + 1.0 + ], + [ + 0.009282320737838745, + -0.0022242143750190735, + 0.022895976901054382, + 0.048527367413043976, + -0.008540213108062744, + -0.008770644664764404, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0067112445831299 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0067112445831299 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 0.9643021821975708 + ], + [ + 0.8261235952377319 + ], + [ + 0.7031799554824829 + ], + [ + 0.7388594746589661 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.7398436665534973 + ], + [ + 0.8205437660217285 + ], + [ + 1.0118417739868164 + ], + [ + 1.0105689764022827 + ], + [ + 1.0105689764022827 + ], + [ + 1.0105689764022827 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.343204528093338, + 0.02117241360247135, + 0.08834059536457062 + ], + [ + 0.33803901076316833, + 0.02098214626312256, + 0.0908995047211647 + ], + [ + 0.3305571377277374, + 0.02166908048093319, + 0.09906569123268127 + ], + [ + 0.31659772992134094, + 0.02709045633673668, + 0.09788987785577774 + ], + [ + 0.30386513471603394, + 0.03353254124522209, + 0.09074940532445908 + ], + [ + 0.2934134304523468, + 0.04133684188127518, + 0.08672987669706345 + ], + [ + 0.2887047231197357, + 0.05548817664384842, + 0.08001221716403961 + ], + [ + 0.28496253490448, + 0.0684511736035347, + 0.07739561051130295 + ], + [ + 0.27487754821777344, + 0.0789080336689949, + 0.0645836740732193 + ], + [ + 0.2650156617164612, + 0.0914578065276146, + 0.052488382905721664 + ], + [ + 0.25809478759765625, + 0.10096395015716553, + 0.04397151619195938 + ], + [ + 0.25811296701431274, + 0.10692835599184036, + 0.04165063798427582 + ], + [ + 0.2607385516166687, + 0.1043153777718544, + 0.025800025090575218 + ], + [ + 0.262153685092926, + 0.09779376536607742, + 0.019522355869412422 + ], + [ + 0.2600003480911255, + 0.08811774104833603, + 0.01521135400980711 + ], + [ + 0.2575409710407257, + 0.08409087359905243, + 0.012988897040486336 + ], + [ + 0.25785908102989197, + 0.08210524171590805, + 0.013264552690088749 + ], + [ + 0.2597607374191284, + 0.08067304641008377, + 0.009214550256729126 + ], + [ + 0.25995659828186035, + 0.08434818685054779, + 0.0083087757229805 + ], + [ + 0.25923484563827515, + 0.0852305069565773, + 0.008800049312412739 + ], + [ + 0.257902592420578, + 0.08740391582250595, + 0.011201252229511738 + ], + [ + 0.2582630217075348, + 0.08991146832704544, + 0.0275300033390522 + ], + [ + 0.264283150434494, + 0.09259144961833954, + 0.05015639215707779 + ], + [ + 0.2595881521701813, + 0.08863995224237442, + 0.06313712894916534 + ], + [ + 0.2524941563606262, + 0.0770212709903717, + 0.07487012445926666 + ], + [ + 0.23350942134857178, + 0.058212436735630035, + 0.0695890560746193 + ], + [ + 0.21251130104064941, + 0.03908880427479744, + 0.056739140301942825 + ], + [ + 0.19871780276298523, + 0.027804059907794, + 0.042506661266088486 + ], + [ + 0.19730612635612488, + 0.028856007382273674, + 0.02950085885822773 + ], + [ + 0.19692538678646088, + 0.03559568151831627, + 0.017642760649323463 + ], + [ + 0.19549430906772614, + 0.04052827134728432, + 0.01715751551091671 + ], + [ + 0.199087455868721, + 0.045224763453006744, + 0.021229736506938934 + ], + [ + 0.20084123313426971, + 0.04836873710155487, + 0.033663295209407806 + ], + [ + 0.21077655255794525, + 0.05096956342458725, + 0.0626603364944458 + ], + [ + 0.220058873295784, + 0.048745349049568176, + 0.08555631339550018 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9808302565254428, + -0.061250296465396536, + 0.1849875916572107, + -0.03752692199614574, + -0.9909180195657337, + -0.12912477928507482, + 0.1912164689814376, + 0.11970747546759612, + -0.9742209104240401 + ], + [ + 0.9755479914731422, + 0.09479238413053258, + 0.19829402472986196, + 0.11348361412091552, + -0.989888614531237, + -0.08509994211209987, + 0.18822217100748967, + 0.10552220018686664, + -0.9764412320303509 + ], + [ + 0.9450274483884187, + 0.19969054915091847, + 0.25893398072149376, + 0.22839824387445515, + -0.9697905715428207, + -0.08567665692423997, + 0.23400291448513882, + 0.14010685895577565, + -0.9620876800406535 + ], + [ + 0.8926785800653632, + 0.39348127704059144, + 0.21976677936165154, + 0.41331671470693443, + -0.9091539764045582, + -0.051071915292527206, + 0.17970599888805613, + 0.1364240880720332, + -0.9742146694427058 + ], + [ + 0.8039522990446526, + 0.5668081593748607, + 0.17997002896843614, + 0.5724062673074343, + -0.8196098577713289, + 0.02430527085288086, + 0.16128163568115075, + 0.0834756941279568, + -0.9833717722620821 + ], + [ + 0.7129867690070932, + 0.6938974071205011, + 0.10077824969839194, + 0.6958269769459637, + -0.7179217234655424, + 0.020327742877817342, + 0.08645626278684002, + 0.055630813113875605, + -0.9947012251210018 + ], + [ + 0.6604186850271527, + 0.7497906725815209, + 0.04075668996320515, + 0.749897969198235, + -0.6613670043327514, + 0.01570736681577003, + 0.038732367076764584, + 0.020189920496939663, + -0.9990456300144444 + ], + [ + 0.6197121621029458, + 0.7838555722756307, + 0.03908040370998366, + 0.783024446927643, + -0.6208950703923173, + 0.036905651006016366, + 0.05319353020199615, + 0.007730030721963802, + -0.9985543024641607 + ], + [ + 0.5833953205512409, + 0.8112493806431766, + 0.03904282731792853, + 0.8099909760261881, + -0.5846780103164001, + 0.045455945800292094, + 0.05970359047041, + 0.005105551734949618, + -0.9982030928756049 + ], + [ + 0.5619902603049924, + 0.8255202582266675, + 0.051800102120588054, + 0.8245091179387477, + -0.5640950689166394, + 0.04451367946822918, + 0.06596712634483372, + 0.017693402197100003, + -0.9976649145682616 + ], + [ + 0.5526102801585977, + 0.8300509897379824, + 0.07508150703090566, + 0.8293714534527588, + -0.556567071540727, + 0.048745123594443364, + 0.08224883257952367, + 0.03533340220775493, + -0.9959852811300629 + ], + [ + 0.5497969178359546, + 0.8307358536568861, + 0.08718538058097394, + 0.8311633243493983, + -0.5544598658085316, + 0.041734703353947175, + 0.08301130883525079, + 0.049519679487551746, + -0.9953174990669604 + ], + [ + 0.549511187966961, + 0.8309829811690093, + 0.08662989845662522, + 0.8332783019544063, + -0.5526382227701265, + 0.015435874625600539, + 0.060701942235158485, + 0.0637046288815965, + -0.9961209738118847 + ], + [ + 0.557037961844934, + 0.8265861940177429, + 0.08039883657680594, + 0.8291936582996183, + -0.5589588916990068, + 0.00168357545527828, + 0.04633126481478117, + 0.06572838998393452, + -0.9967613519046483 + ], + [ + 0.5888476288181355, + 0.8058352014291206, + 0.06235461629220078, + 0.8071003271925299, + -0.5903646493436864, + 0.007657848981083151, + 0.04298292545849017, + 0.04581712499704173, + -0.9980246786407814 + ], + [ + 0.6232479493329106, + 0.7807916274973313, + 0.04389109342896817, + 0.7801049877325109, + -0.6246681061594194, + 0.035013786742704125, + 0.05475583774522012, + 0.012417390115201501, + -0.9984225591679838 + ], + [ + 0.6411377774079907, + 0.7666909717793479, + 0.03357535066653596, + 0.7664897781357612, + -0.64190282258673, + 0.021311648659370522, + 0.037891560983061505, + 0.012071460028854734, + -0.9992089418430155 + ], + [ + 0.6650125801317058, + 0.7456697742741549, + 0.04165160261625677, + 0.746147760458332, + -0.6657561521297406, + 0.005680269748660529, + 0.03196541614913615, + 0.027300799170219568, + -0.9991160485824858 + ], + [ + 0.6678366196701808, + 0.7426797871267877, + 0.04920348789278248, + 0.7436296927332827, + -0.6685899822871242, + -0.0015217327972712018, + 0.03176679890875894, + 0.037605443470486485, + -0.9987876156162923 + ], + [ + 0.67523553762499, + 0.7362998231253034, + 0.043812546079147315, + 0.7371307224173088, + -0.6757358663273276, + -0.004397388701531838, + 0.026367912257647473, + 0.03526484686628839, + -0.9990300915281132 + ], + [ + 0.6822578899416314, + 0.730971233252627, + 0.014325772912002504, + 0.7309051587618749, + -0.6823999060888783, + 0.010393125861275571, + 0.01737298211796748, + 0.003379989204622087, + -0.9998433653154404 + ], + [ + 0.6749735567806737, + 0.7378294317357342, + 0.00429270443550234, + 0.736988294210971, + -0.6744610303866083, + 0.044165288245841136, + 0.035481711385587936, + -0.026646728774066333, + -0.9990150149035758 + ], + [ + 0.6522086313961805, + 0.7580344238075805, + -0.002777310755197524, + 0.7570977707355209, + -0.6512114248802328, + 0.05221729266020973, + 0.037773888860246504, + -0.036159264762529036, + -0.9986318845761972 + ], + [ + 0.6304203718301641, + 0.7760871845339676, + -0.01608840525523843, + 0.7758907469300182, + -0.629356158282993, + 0.043639143663119946, + 0.023742443216647324, + -0.03999384994485381, + -0.9989178086092432 + ], + [ + 0.5835158926913359, + 0.812092994409529, + -0.0037644930067517596, + 0.8111173031904966, + -0.582574129939304, + 0.051924017472060345, + 0.03997403459258719, + -0.033351934822845784, + -0.9986439430557635 + ], + [ + 0.5390977934702817, + 0.8422415202256135, + 0.0016705339028615564, + 0.8420532032281292, + -0.5390172607618766, + 0.020169172863795198, + 0.017887761422826345, + -0.009466478162986913, + -0.9997951859168304 + ], + [ + 0.48672591748833066, + 0.8734769484856799, + 0.011657688848483096, + 0.873544230797185, + -0.4866112648981887, + -0.011399724344894856, + -0.004284633718006807, + 0.01573204812890409, + -0.9998670634517235 + ], + [ + 0.458885243146657, + 0.8882960608533004, + 0.01882662728008345, + 0.8878891488620619, + -0.45768637259954925, + -0.04664808323682675, + -0.03282061783752496, + 0.038122075090113304, + -0.9987339557838149 + ], + [ + 0.47403826017486456, + 0.8786389061118637, + 0.057283510340539114, + 0.8798488661667337, + -0.4701722733102351, + -0.06931093792034664, + -0.03396616839591903, + 0.0832568680460229, + -0.9959490917349474 + ], + [ + 0.4984855490467906, + 0.8646615068484415, + 0.062230506715780086, + 0.8657773178995715, + -0.49290779396059886, + -0.08643808456647292, + -0.04406578266801409, + 0.09696589723959051, + -0.9943117325921368 + ], + [ + 0.5117250153989956, + 0.857277280430538, + 0.056684857524016447, + 0.8582395045911033, + -0.5070337746761857, + -0.07963481711435075, + -0.039527982165990044, + 0.08940031205336652, + -0.9952110946078954 + ], + [ + 0.5268656411959938, + 0.8479163449380244, + 0.05874068533882683, + 0.8493498231052564, + -0.5226419514236132, + -0.073825934489085, + -0.031897870120174115, + 0.08878773901309933, + -0.9955396844338942 + ], + [ + 0.5283037703130113, + 0.8490344443914674, + 0.005969799823206783, + 0.8488206872926868, + -0.5279793261022578, + -0.02722631140232786, + -0.019964145286682413, + 0.01945105255450008, + -0.9996114692506755 + ], + [ + 0.5342041865541681, + 0.8440739909021489, + -0.04652939877667702, + 0.8446677259862632, + -0.5307406369679762, + 0.06964774905208504, + 0.034092810755274226, + -0.0765080005839017, + -0.9964859287021864 + ], + [ + 0.5414142955194094, + 0.8367484378506275, + -0.08199153835461764, + 0.8396746536709804, + -0.5331962538664097, + 0.10319026526444683, + 0.04262671216199154, + -0.12471490134447591, + -0.9912765289226295 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005816.json b/json/chunk-0005/episode_0005816.json new file mode 100644 index 0000000000000000000000000000000000000000..668c0aed082ce7d11ea68eeef8d3057e97d54f81 --- /dev/null +++ b/json/chunk-0005/episode_0005816.json @@ -0,0 +1,1642 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 26, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut carrot in pot cardboard fence." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005816.mp4", + "start": 0, + "end": 26, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3045046627521515, + -0.023476218804717064, + 0.08976449817419052, + 0.12624020874500275, + -0.20200540125370026, + 0.04823414236307144, + 0.0, + 0.9927561283111572 + ], + [ + 0.2984919846057892, + -0.023409580811858177, + 0.08245260268449783, + 0.12472650408744812, + -0.17275404930114746, + 0.04141199588775635, + 0.0, + 0.9927561283111572 + ], + [ + 0.2703897953033447, + -0.01631033979356289, + 0.09878937900066376, + 0.07956205308437347, + -0.20124033093452454, + -0.04326769709587097, + 0.0, + 0.9927561283111572 + ], + [ + 0.24571189284324646, + -0.003489552065730095, + 0.1138078048825264, + 0.053170718252658844, + -0.2017143964767456, + -0.07546340674161911, + 0.0, + 0.9927561283111572 + ], + [ + 0.22557975351810455, + 0.012728320434689522, + 0.10361321270465851, + 0.042813871055841446, + -0.12078756093978882, + -0.11687443405389786, + 0.0, + 0.9927561283111572 + ], + [ + 0.21431878209114075, + 0.021532315760850906, + 0.07741536945104599, + 0.0565732903778553, + -0.03054746240377426, + -0.1564287692308426, + 0.0, + 0.9927561283111572 + ], + [ + 0.20902976393699646, + 0.020419692620635033, + 0.05039658397436142, + 0.04417797178030014, + 0.027868881821632385, + -0.19320937991142273, + 0.0, + 0.9927561283111572 + ], + [ + 0.21222107112407684, + 0.013356375508010387, + 0.04051360487937927, + 0.02720051258802414, + 0.027962341904640198, + -0.19176450371742249, + 0.0, + 0.9927561283111572 + ], + [ + 0.21243727207183838, + 0.009921030141413212, + 0.03025566041469574, + 0.017713500186800957, + 0.050353582948446274, + -0.17946794629096985, + 0.0, + 0.9927561283111572 + ], + [ + 0.21361763775348663, + 0.007893946021795273, + 0.025641435757279396, + 0.018854917958378792, + 0.04821665585041046, + -0.16011272370815277, + 0.0, + 0.9927561283111572 + ], + [ + 0.21180635690689087, + 0.005523202940821648, + 0.01641339622437954, + 0.02130453661084175, + 0.06479907035827637, + -0.14683403074741364, + 0.0, + 0.9927561283111572 + ], + [ + 0.21216270327568054, + 0.005364906042814255, + 0.010276802815496922, + 0.031523749232292175, + 0.055562593042850494, + -0.1230655387043953, + 0.0, + 0.9927561283111572 + ], + [ + 0.2077976018190384, + 0.00518623273819685, + 0.006067737936973572, + 0.041957855224609375, + 0.06644586473703384, + -0.1191600039601326, + 0.0, + 0.9422301650047302 + ], + [ + 0.206624835729599, + 0.004809109959751368, + 0.004656289704144001, + 0.049595907330513, + 0.06390447169542313, + -0.13038554787635803, + 0.0, + 0.672171950340271 + ], + [ + 0.2063167840242386, + 0.004358028527349234, + 0.0042531234212219715, + 0.046232473105192184, + 0.06832204759120941, + -0.12990519404411316, + 0.0, + 0.6239634156227112 + ], + [ + 0.2056075781583786, + 0.0003742075932677835, + 0.01945166289806366, + 0.02046811394393444, + 0.05143187567591667, + -0.13332964479923248, + 0.0, + 0.6541022062301636 + ], + [ + 0.22223711013793945, + -0.007164661772549152, + 0.061879049986600876, + -0.01667455956339836, + -0.058547936379909515, + -0.10095230489969254, + 0.0, + 0.6541022062301636 + ], + [ + 0.2490083873271942, + -0.008669893257319927, + 0.08876638859510422, + -0.02361586131155491, + -0.14682796597480774, + -0.04811355844140053, + 0.0, + 0.6541022062301636 + ], + [ + 0.28042811155319214, + 0.0008340573986060917, + 0.09608382731676102, + 0.006567024625837803, + -0.2149667739868164, + 0.016244908794760704, + 0.0, + 0.6541022062301636 + ], + [ + 0.30328285694122314, + 0.012481126934289932, + 0.08477911353111267, + 0.04398103803396225, + -0.21015919744968414, + 0.053955938667058945, + 0.0, + 0.6541022062301636 + ], + [ + 0.3179348409175873, + 0.023951824754476547, + 0.07214850187301636, + 0.08975709229707718, + -0.2232593446969986, + 0.06760527193546295, + 0.0, + 0.6551066637039185 + ], + [ + 0.3226512670516968, + 0.03028295189142227, + 0.06402710825204849, + 0.12250159680843353, + -0.2136000245809555, + 0.0744292214512825, + 0.0, + 0.7260281443595886 + ], + [ + 0.3224225640296936, + 0.033852364867925644, + 0.054144732654094696, + 0.17878925800323486, + -0.18429386615753174, + 0.05658968538045883, + 0.0, + 0.9701826572418213 + ], + [ + 0.3256826400756836, + 0.03277707099914551, + 0.05616914480924606, + 0.1739165037870407, + -0.17777329683303833, + 0.06196272000670433, + 0.0, + 0.9920742511749268 + ], + [ + 0.324573278427124, + 0.030396031215786934, + 0.05640481412410736, + 0.16304287314414978, + -0.16814549267292023, + 0.05642077326774597, + 0.0, + 0.9920742511749268 + ], + [ + 0.3230673670768738, + 0.025666506960988045, + 0.07442303746938705, + 0.130140021443367, + -0.18611033260822296, + 0.06749522686004639, + 0.0, + 0.9920742511749268 + ] + ], + "left_gripper_pos": [ + [ + 0.9927561283111572 + ], + [ + 0.9927561283111572 + ], + [ + 0.9927561283111572 + ], + [ + 0.9927561283111572 + ], + [ + 0.9927561283111572 + ], + [ + 0.9927561283111572 + ], + [ + 0.9927561283111572 + ], + [ + 0.9927561283111572 + ], + [ + 0.9927561283111572 + ], + [ + 0.9927561283111572 + ], + [ + 0.9927561283111572 + ], + [ + 0.9927561283111572 + ], + [ + 0.9422301650047302 + ], + [ + 0.672171950340271 + ], + [ + 0.6239634156227112 + ], + [ + 0.6541022062301636 + ], + [ + 0.6541022062301636 + ], + [ + 0.6541022062301636 + ], + [ + 0.6541022062301636 + ], + [ + 0.6541022062301636 + ], + [ + 0.6551066637039185 + ], + [ + 0.7260281443595886 + ], + [ + 0.9701826572418213 + ], + [ + 0.9920742511749268 + ], + [ + 0.9920742511749268 + ], + [ + 0.9920742511749268 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3045046627521515, + -0.023476218804717064, + 0.08976449817419052 + ], + [ + 0.2984919846057892, + -0.023409580811858177, + 0.08245260268449783 + ], + [ + 0.2703897953033447, + -0.01631033979356289, + 0.09878937900066376 + ], + [ + 0.24571189284324646, + -0.003489552065730095, + 0.1138078048825264 + ], + [ + 0.22557975351810455, + 0.012728320434689522, + 0.10361321270465851 + ], + [ + 0.21431878209114075, + 0.021532315760850906, + 0.07741536945104599 + ], + [ + 0.20902976393699646, + 0.020419692620635033, + 0.05039658397436142 + ], + [ + 0.21222107112407684, + 0.013356375508010387, + 0.04051360487937927 + ], + [ + 0.21243727207183838, + 0.009921030141413212, + 0.03025566041469574 + ], + [ + 0.21361763775348663, + 0.007893946021795273, + 0.025641435757279396 + ], + [ + 0.21180635690689087, + 0.005523202940821648, + 0.01641339622437954 + ], + [ + 0.21216270327568054, + 0.005364906042814255, + 0.010276802815496922 + ], + [ + 0.2077976018190384, + 0.00518623273819685, + 0.006067737936973572 + ], + [ + 0.206624835729599, + 0.004809109959751368, + 0.004656289704144001 + ], + [ + 0.2063167840242386, + 0.004358028527349234, + 0.0042531234212219715 + ], + [ + 0.2056075781583786, + 0.0003742075932677835, + 0.01945166289806366 + ], + [ + 0.22223711013793945, + -0.007164661772549152, + 0.061879049986600876 + ], + [ + 0.2490083873271942, + -0.008669893257319927, + 0.08876638859510422 + ], + [ + 0.28042811155319214, + 0.0008340573986060917, + 0.09608382731676102 + ], + [ + 0.30328285694122314, + 0.012481126934289932, + 0.08477911353111267 + ], + [ + 0.3179348409175873, + 0.023951824754476547, + 0.07214850187301636 + ], + [ + 0.3226512670516968, + 0.03028295189142227, + 0.06402710825204849 + ], + [ + 0.3224225640296936, + 0.033852364867925644, + 0.054144732654094696 + ], + [ + 0.3256826400756836, + 0.03277707099914551, + 0.05616914480924606 + ], + [ + 0.324573278427124, + 0.030396031215786934, + 0.05640481412410736 + ], + [ + 0.3230673670768738, + 0.025666506960988045, + 0.07442303746938705 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9785268039610955, + 0.07306327979439012, + 0.19273570264839354, + 0.04723503813481255, + -0.9896705303610551, + 0.13535543028364333, + 0.2006343567340502, + -0.12334503832969566, + -0.9718702878560284 + ], + [ + 0.9842705007176423, + 0.06244466627786477, + 0.16526416753333859, + 0.0407839227698288, + -0.9904957145828285, + 0.1313579500317974, + 0.17189605306855052, + -0.12255163420574056, + -0.9774624513979839 + ], + [ + 0.9789023945574714, + -0.027245765478419313, + 0.20250375352853003, + -0.04238130285095148, + -0.9965908254995057, + 0.07078525057432306, + 0.19988478455926703, + -0.07787422419330253, + -0.9767198565136201 + ], + [ + 0.976936232035657, + -0.06466786539203578, + 0.20350347840174715, + -0.07386319972018363, + -0.9965475294893525, + 0.03791106956766344, + 0.2003492607000812, + -0.05206811552481511, + -0.9783399639607008 + ], + [ + 0.9859417066048629, + -0.1113796230986336, + 0.12455332486728954, + -0.11575893443804365, + -0.9928692103530892, + 0.02847104196550805, + 0.12049406738449389, + -0.0424889478716446, + -0.9918043501789562 + ], + [ + 0.9873291078566655, + -0.15383644619285936, + 0.03893045853457244, + -0.1557188991043365, + -0.986478690150813, + 0.05110203851187623, + 0.030542711744277893, + -0.05651673823821838, + -0.99793436710949 + ], + [ + 0.9810119719861065, + -0.1930299328503813, + -0.018840271858662827, + -0.1919349819589595, + -0.9801992326345423, + 0.048687031569695026, + -0.027865274453070084, + -0.04414645361104199, + -0.9986363788252577 + ], + [ + 0.9812857093242685, + -0.19126730699421618, + -0.022252504379221997, + -0.19051684407227293, + -0.9811614087621426, + 0.03202533498074088, + -0.02795869812255718, + -0.027186526645889816, + -0.9992393126614985 + ], + [ + 0.9826916902011548, + -0.1793552823194356, + -0.046354338671942684, + -0.17827983862856916, + -0.9836253058096651, + 0.026411302683020204, + -0.05033230720093156, + -0.017690123655823436, + -0.998575845079818 + ], + [ + 0.9860619857026652, + -0.16029824307813426, + -0.04456718095393087, + -0.1592442009258037, + -0.9868889670193282, + 0.026295460578319156, + -0.04819797530622321, + -0.018831888954299124, + -0.9986602601159185 + ], + [ + 0.9871630969191587, + -0.14763836808365857, + -0.0609256296690454, + -0.14599991180630598, + -0.9888129249361197, + 0.030545461722267096, + -0.064753732197661, + -0.021258216032154525, + -0.9976748179730727 + ], + [ + 0.9909054565250147, + -0.12443125692452771, + -0.051217560749555135, + -0.12256569713458977, + -0.9917290498893198, + 0.038093851098820325, + -0.05553400863312684, + -0.03146988887507006, + -0.9979607306799835 + ], + [ + 0.9907177771256214, + -0.1215388932582599, + -0.06088171739385281, + -0.11861587957365746, + -0.9917038999565472, + 0.04953431057299667, + -0.06639698186088913, + -0.04185298360370273, + -0.9969151260579974 + ], + [ + 0.9894879698897908, + -0.1329956282932532, + -0.05679542497651991, + -0.12975103855113487, + -0.9898810272832876, + 0.05744753971655655, + -0.06386098525925347, + -0.04947438407364214, + -0.9967316890127711 + ], + [ + 0.9892607938053989, + -0.13253025016974562, + -0.06163452465506914, + -0.12923791331150258, + -0.9901059379833237, + 0.05466071105511634, + -0.06826890655635429, + -0.046108181053984454, + -0.9966009191434114 + ], + [ + 0.989814170955872, + -0.13394995932293965, + -0.04822152395271873, + -0.1327591832780103, + -0.9907772859147349, + 0.027117687415914436, + -0.05140920375084098, + -0.02043962115143988, + -0.9984684850594385 + ], + [ + 0.9932039251139548, + -0.10173759905260234, + 0.056528082200317714, + -0.10060823642988524, + -0.9946720050746585, + -0.022485219216789653, + 0.05851449308250274, + 0.016645217324225654, + -0.9981477800604114 + ], + [ + 0.9880953432845506, + -0.05153229096769022, + 0.1449552191782251, + -0.047577501327810155, + -0.9983980933085037, + -0.030620722482436597, + 0.14630097042326204, + 0.023359586159979132, + -0.9889642843842472 + ], + [ + 0.9768545736517886, + 0.01764449377573753, + 0.21317554685043077, + 0.015870309521963517, + -0.9998237389582254, + 0.010031165997588829, + 0.21331496715246995, + -0.006415828472774783, + -0.9769624158245539 + ], + [ + 0.9765744667243801, + 0.06303643691889058, + 0.20573944338061126, + 0.05274318471486096, + -0.9970844756389223, + 0.05514258704476667, + 0.20861559723119236, + -0.04299948907168946, + -0.9770519825124183 + ], + [ + 0.9729533109713412, + 0.08708289070181952, + 0.21395893254762663, + 0.06587716702908819, + -0.9923586674286707, + 0.10432868274551688, + 0.22140924446401625, + -0.08741192896972386, + -0.9712554252819727 + ], + [ + 0.9745684601380119, + 0.09963447826435017, + 0.20072191520911356, + 0.07267061267310555, + -0.9878320745056655, + 0.13750190773785095, + 0.21197947673758258, + -0.11941843793495098, + -0.96995048230476 + ], + [ + 0.981492235035045, + 0.08819503390971087, + 0.16998420091166389, + 0.055601702283900545, + -0.9806412445146223, + 0.1877530299620895, + 0.1832524031739951, + -0.17482673008003594, + -0.9673955608645709 + ], + [ + 0.9823510687337, + 0.09153052936271351, + 0.1631212431056689, + 0.06094716393932838, + -0.9811296157858176, + 0.18349419673582748, + 0.17683840353698604, + -0.1703139431243237, + -0.9693922528120053 + ], + [ + 0.9843280335741511, + 0.08276495235268247, + 0.15571860833600895, + 0.05559555383650577, + -0.9836359337747367, + 0.17137527295591548, + 0.1673542850173169, + -0.1600322231588393, + -0.9728217878096597 + ], + [ + 0.9804937842410332, + 0.09083189899087322, + 0.1743029121684714, + 0.06627932847724023, + -0.9876665222608317, + 0.14185165286946672, + 0.1850378060864972, + -0.12753198395267518, + -0.9744211632491313 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.006012678146362305, + 6.663799285888672e-05, + -0.007311895489692688, + -0.0015137046575546265, + 0.029251351952552795, + -0.006822146475315094, + 1.0 + ], + [ + -0.028102189302444458, + 0.007099241018295288, + 0.016336776316165924, + -0.045164451003074646, + -0.028486281633377075, + -0.08467969298362732, + 1.0 + ], + [ + -0.024677902460098267, + 0.012820787727832794, + 0.01501842588186264, + -0.02639133483171463, + -0.00047406554222106934, + -0.03219570964574814, + 1.0 + ], + [ + -0.020132139325141907, + 0.016217872500419617, + -0.01019459217786789, + -0.010356847196817398, + 0.08092683553695679, + -0.04141102731227875, + 1.0 + ], + [ + -0.011260971426963806, + 0.008803995326161385, + -0.02619784325361252, + 0.013759419322013855, + 0.09024009853601456, + -0.03955433517694473, + 1.0 + ], + [ + -0.005289018154144287, + -0.0011126231402158737, + -0.02701878547668457, + -0.01239531859755516, + 0.05841634422540665, + -0.03678061068058014, + 1.0 + ], + [ + 0.0031913071870803833, + -0.007063317112624645, + -0.009882979094982147, + -0.016977459192276, + 9.34600830078125e-05, + 0.0014448761940002441, + 1.0 + ], + [ + 0.00021620094776153564, + -0.0034353453665971756, + -0.010257944464683533, + -0.009487012401223183, + 0.022391241043806076, + 0.012296557426452637, + 1.0 + ], + [ + 0.0011803656816482544, + -0.002027084119617939, + -0.004614224657416344, + 0.001141417771577835, + -0.0021369270980358124, + 0.019355222582817078, + 1.0 + ], + [ + -0.0018112808465957642, + -0.002370743080973625, + -0.009228039532899857, + 0.0024496186524629593, + 0.016582414507865906, + 0.013278692960739136, + 1.0 + ], + [ + 0.00035634636878967285, + -0.00015829689800739288, + -0.006136593408882618, + 0.010219212621450424, + -0.009236477315425873, + 0.02376849204301834, + 1.0 + ], + [ + -0.004365101456642151, + -0.00017867330461740494, + -0.00420906487852335, + 0.0104341059923172, + 0.01088327169418335, + 0.0039055347442626953, + 0.0 + ], + [ + -0.001172766089439392, + -0.00037712277844548225, + -0.0014114482328295708, + 0.0076380521059036255, + -0.0025413930416107178, + -0.011225543916225433, + 0.0 + ], + [ + -0.0003080517053604126, + -0.00045108143240213394, + -0.0004031662829220295, + -0.003363434225320816, + 0.004417575895786285, + 0.00048035383224487305, + 0.0 + ], + [ + -0.0007092058658599854, + -0.003983820788562298, + 0.015198539942502975, + -0.025764359161257744, + -0.01689017191529274, + -0.0034244507551193237, + 0.0 + ], + [ + 0.016629531979560852, + -0.007538869511336088, + 0.042427387088537216, + -0.03714267164468765, + -0.10997980833053589, + 0.03237733989953995, + 0.0 + ], + [ + 0.02677127718925476, + -0.0015052314847707748, + 0.02688733860850334, + -0.0069413017481565475, + -0.08828002959489822, + 0.05283874645829201, + 0.0 + ], + [ + 0.031419724225997925, + 0.009503950364887714, + 0.007317438721656799, + 0.030182886868715286, + -0.06813880801200867, + 0.06435846537351608, + 0.0 + ], + [ + 0.022854745388031006, + 0.011647069826722145, + -0.011304713785648346, + 0.03741401433944702, + 0.004807576537132263, + 0.03771103173494339, + 0.0 + ], + [ + 0.014651983976364136, + 0.011470697820186615, + -0.012630611658096313, + 0.04577605426311493, + -0.013100147247314453, + 0.013649333268404007, + 0.0 + ], + [ + 0.004716426134109497, + 0.0063311271369457245, + -0.008121393620967865, + 0.032744504511356354, + 0.00965932011604309, + 0.0068239495158195496, + 1.0 + ], + [ + -0.00022870302200317383, + 0.003569412976503372, + -0.009882375597953796, + 0.05628766119480133, + 0.029306158423423767, + -0.01783953607082367, + 1.0 + ], + [ + 0.0032600760459899902, + -0.001075293868780136, + 0.002024412155151367, + -0.004872754216194153, + 0.006520569324493408, + 0.005373034626245499, + 1.0 + ], + [ + -0.0011093616485595703, + -0.002381039783358574, + 0.0002356693148612976, + -0.01087363064289093, + 0.009627804160118103, + -0.005541946738958359, + 1.0 + ], + [ + -0.0015059113502502441, + -0.004729524254798889, + 0.018018223345279694, + -0.032902851700782776, + -0.017964839935302734, + 0.011074453592300415, + 1.0 + ], + [ + 0.000521540641784668, + -0.0067395418882369995, + 0.03223273158073425, + -0.04266924411058426, + -0.037975847721099854, + 0.015181057155132294, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9927561283111572 + ], + [ + 0.9927561283111572 + ], + [ + 0.9927561283111572 + ], + [ + 0.9927561283111572 + ], + [ + 0.9927561283111572 + ], + [ + 0.9927561283111572 + ], + [ + 0.9927561283111572 + ], + [ + 0.9927561283111572 + ], + [ + 0.9927561283111572 + ], + [ + 0.9927561283111572 + ], + [ + 0.9927561283111572 + ], + [ + 0.9422301650047302 + ], + [ + 0.672171950340271 + ], + [ + 0.6239634156227112 + ], + [ + 0.6541022062301636 + ], + [ + 0.6541022062301636 + ], + [ + 0.6541022062301636 + ], + [ + 0.6541022062301636 + ], + [ + 0.6541022062301636 + ], + [ + 0.6551066637039185 + ], + [ + 0.7260281443595886 + ], + [ + 0.9701826572418213 + ], + [ + 0.9920742511749268 + ], + [ + 0.9920742511749268 + ], + [ + 0.9920742511749268 + ], + [ + 0.9920742511749268 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2984919846057892, + -0.023409580811858177, + 0.08245260268449783 + ], + [ + 0.2703897953033447, + -0.01631033979356289, + 0.09878937900066376 + ], + [ + 0.24571189284324646, + -0.003489552065730095, + 0.1138078048825264 + ], + [ + 0.22557975351810455, + 0.012728320434689522, + 0.10361321270465851 + ], + [ + 0.21431878209114075, + 0.021532315760850906, + 0.07741536945104599 + ], + [ + 0.20902976393699646, + 0.020419692620635033, + 0.05039658397436142 + ], + [ + 0.21222107112407684, + 0.013356375508010387, + 0.04051360487937927 + ], + [ + 0.21243727207183838, + 0.009921030141413212, + 0.03025566041469574 + ], + [ + 0.21361763775348663, + 0.007893946021795273, + 0.025641435757279396 + ], + [ + 0.21180635690689087, + 0.005523202940821648, + 0.01641339622437954 + ], + [ + 0.21216270327568054, + 0.005364906042814255, + 0.010276802815496922 + ], + [ + 0.2077976018190384, + 0.00518623273819685, + 0.006067737936973572 + ], + [ + 0.206624835729599, + 0.004809109959751368, + 0.004656289704144001 + ], + [ + 0.2063167840242386, + 0.004358028527349234, + 0.0042531234212219715 + ], + [ + 0.2056075781583786, + 0.0003742075932677835, + 0.01945166289806366 + ], + [ + 0.22223711013793945, + -0.007164661772549152, + 0.061879049986600876 + ], + [ + 0.2490083873271942, + -0.008669893257319927, + 0.08876638859510422 + ], + [ + 0.28042811155319214, + 0.0008340573986060917, + 0.09608382731676102 + ], + [ + 0.30328285694122314, + 0.012481126934289932, + 0.08477911353111267 + ], + [ + 0.3179348409175873, + 0.023951824754476547, + 0.07214850187301636 + ], + [ + 0.3226512670516968, + 0.03028295189142227, + 0.06402710825204849 + ], + [ + 0.3224225640296936, + 0.033852364867925644, + 0.054144732654094696 + ], + [ + 0.3256826400756836, + 0.03277707099914551, + 0.05616914480924606 + ], + [ + 0.324573278427124, + 0.030396031215786934, + 0.05640481412410736 + ], + [ + 0.3230673670768738, + 0.025666506960988045, + 0.07442303746938705 + ], + [ + 0.32358890771865845, + 0.018926965072751045, + 0.10665576905012131 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9842705007176423, + 0.06244466627786477, + 0.16526416753333859, + 0.0407839227698288, + -0.9904957145828285, + 0.1313579500317974, + 0.17189605306855052, + -0.12255163420574056, + -0.9774624513979839 + ], + [ + 0.9789023945574714, + -0.027245765478419313, + 0.20250375352853003, + -0.04238130285095148, + -0.9965908254995057, + 0.07078525057432306, + 0.19988478455926703, + -0.07787422419330253, + -0.9767198565136201 + ], + [ + 0.976936232035657, + -0.06466786539203578, + 0.20350347840174715, + -0.07386319972018363, + -0.9965475294893525, + 0.03791106956766344, + 0.2003492607000812, + -0.05206811552481511, + -0.9783399639607008 + ], + [ + 0.9859417066048629, + -0.1113796230986336, + 0.12455332486728954, + -0.11575893443804365, + -0.9928692103530892, + 0.02847104196550805, + 0.12049406738449389, + -0.0424889478716446, + -0.9918043501789562 + ], + [ + 0.9873291078566655, + -0.15383644619285936, + 0.03893045853457244, + -0.1557188991043365, + -0.986478690150813, + 0.05110203851187623, + 0.030542711744277893, + -0.05651673823821838, + -0.99793436710949 + ], + [ + 0.9810119719861065, + -0.1930299328503813, + -0.018840271858662827, + -0.1919349819589595, + -0.9801992326345423, + 0.048687031569695026, + -0.027865274453070084, + -0.04414645361104199, + -0.9986363788252577 + ], + [ + 0.9812857093242685, + -0.19126730699421618, + -0.022252504379221997, + -0.19051684407227293, + -0.9811614087621426, + 0.03202533498074088, + -0.02795869812255718, + -0.027186526645889816, + -0.9992393126614985 + ], + [ + 0.9826916902011548, + -0.1793552823194356, + -0.046354338671942684, + -0.17827983862856916, + -0.9836253058096651, + 0.026411302683020204, + -0.05033230720093156, + -0.017690123655823436, + -0.998575845079818 + ], + [ + 0.9860619857026652, + -0.16029824307813426, + -0.04456718095393087, + -0.1592442009258037, + -0.9868889670193282, + 0.026295460578319156, + -0.04819797530622321, + -0.018831888954299124, + -0.9986602601159185 + ], + [ + 0.9871630969191587, + -0.14763836808365857, + -0.0609256296690454, + -0.14599991180630598, + -0.9888129249361197, + 0.030545461722267096, + -0.064753732197661, + -0.021258216032154525, + -0.9976748179730727 + ], + [ + 0.9909054565250147, + -0.12443125692452771, + -0.051217560749555135, + -0.12256569713458977, + -0.9917290498893198, + 0.038093851098820325, + -0.05553400863312684, + -0.03146988887507006, + -0.9979607306799835 + ], + [ + 0.9907177771256214, + -0.1215388932582599, + -0.06088171739385281, + -0.11861587957365746, + -0.9917038999565472, + 0.04953431057299667, + -0.06639698186088913, + -0.04185298360370273, + -0.9969151260579974 + ], + [ + 0.9894879698897908, + -0.1329956282932532, + -0.05679542497651991, + -0.12975103855113487, + -0.9898810272832876, + 0.05744753971655655, + -0.06386098525925347, + -0.04947438407364214, + -0.9967316890127711 + ], + [ + 0.9892607938053989, + -0.13253025016974562, + -0.06163452465506914, + -0.12923791331150258, + -0.9901059379833237, + 0.05466071105511634, + -0.06826890655635429, + -0.046108181053984454, + -0.9966009191434114 + ], + [ + 0.989814170955872, + -0.13394995932293965, + -0.04822152395271873, + -0.1327591832780103, + -0.9907772859147349, + 0.027117687415914436, + -0.05140920375084098, + -0.02043962115143988, + -0.9984684850594385 + ], + [ + 0.9932039251139548, + -0.10173759905260234, + 0.056528082200317714, + -0.10060823642988524, + -0.9946720050746585, + -0.022485219216789653, + 0.05851449308250274, + 0.016645217324225654, + -0.9981477800604114 + ], + [ + 0.9880953432845506, + -0.05153229096769022, + 0.1449552191782251, + -0.047577501327810155, + -0.9983980933085037, + -0.030620722482436597, + 0.14630097042326204, + 0.023359586159979132, + -0.9889642843842472 + ], + [ + 0.9768545736517886, + 0.01764449377573753, + 0.21317554685043077, + 0.015870309521963517, + -0.9998237389582254, + 0.010031165997588829, + 0.21331496715246995, + -0.006415828472774783, + -0.9769624158245539 + ], + [ + 0.9765744667243801, + 0.06303643691889058, + 0.20573944338061126, + 0.05274318471486096, + -0.9970844756389223, + 0.05514258704476667, + 0.20861559723119236, + -0.04299948907168946, + -0.9770519825124183 + ], + [ + 0.9729533109713412, + 0.08708289070181952, + 0.21395893254762663, + 0.06587716702908819, + -0.9923586674286707, + 0.10432868274551688, + 0.22140924446401625, + -0.08741192896972386, + -0.9712554252819727 + ], + [ + 0.9745684601380119, + 0.09963447826435017, + 0.20072191520911356, + 0.07267061267310555, + -0.9878320745056655, + 0.13750190773785095, + 0.21197947673758258, + -0.11941843793495098, + -0.96995048230476 + ], + [ + 0.981492235035045, + 0.08819503390971087, + 0.16998420091166389, + 0.055601702283900545, + -0.9806412445146223, + 0.1877530299620895, + 0.1832524031739951, + -0.17482673008003594, + -0.9673955608645709 + ], + [ + 0.9823510687337, + 0.09153052936271351, + 0.1631212431056689, + 0.06094716393932838, + -0.9811296157858176, + 0.18349419673582748, + 0.17683840353698604, + -0.1703139431243237, + -0.9693922528120053 + ], + [ + 0.9843280335741511, + 0.08276495235268247, + 0.15571860833600895, + 0.05559555383650577, + -0.9836359337747367, + 0.17137527295591548, + 0.1673542850173169, + -0.1600322231588393, + -0.9728217878096597 + ], + [ + 0.9804937842410332, + 0.09083189899087322, + 0.1743029121684714, + 0.06627932847724023, + -0.9876665222608317, + 0.14185165286946672, + 0.1850378060864972, + -0.12753198395267518, + -0.9744211632491313 + ], + [ + 0.9716672430726571, + 0.10161268276315984, + 0.21339548130467798, + 0.0805173759065327, + -0.9911710587193164, + 0.10534175114528531, + 0.22221548307151742, + -0.08517508473082107, + -0.9712700366141176 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005817.json b/json/chunk-0005/episode_0005817.json new file mode 100644 index 0000000000000000000000000000000000000000..f5e8eb8b2dede4f577486d079f3fe4de5094e437 --- /dev/null +++ b/json/chunk-0005/episode_0005817.json @@ -0,0 +1,2182 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 35, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut the silver cup over the blue cloth." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005817.mp4", + "start": 0, + "end": 35, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3168644309043884, + 0.09627185761928558, + 0.04656197130680084, + 0.05412893742322922, + -0.2079637050628662, + 0.17776840925216675, + 0.0, + 0.9981546401977539 + ], + [ + 0.3104288876056671, + 0.09420352429151535, + 0.03434571996331215, + 0.04820111393928528, + -0.17322351038455963, + 0.1839720755815506, + 0.0, + 0.9981546401977539 + ], + [ + 0.2881138026714325, + 0.0775584951043129, + 0.02291191928088665, + 0.03857376053929329, + -0.16234661638736725, + 0.17865876853466034, + 0.0, + 0.9981546401977539 + ], + [ + 0.2762403190135956, + 0.06084471568465233, + 0.03155578300356865, + 0.030071964487433434, + -0.19072410464286804, + 0.15292420983314514, + 0.0, + 0.9981546401977539 + ], + [ + 0.25722363591194153, + 0.03880808874964714, + 0.04523669555783272, + 0.0026473558973520994, + -0.1901983618736267, + 0.13123875856399536, + 0.0, + 0.9981546401977539 + ], + [ + 0.23982301354408264, + 0.03545072302222252, + 0.04310167208313942, + -0.0060656629502773285, + -0.1180075854063034, + 0.17383192479610443, + 0.0, + 0.9981546401977539 + ], + [ + 0.22766390442848206, + 0.03858141973614693, + 0.025740979239344597, + -0.010660368017852306, + -0.05519416555762291, + 0.18327899277210236, + 0.0, + 0.9981546401977539 + ], + [ + 0.220722496509552, + 0.042575325816869736, + 0.01514902338385582, + 0.007077210117131472, + -0.02147926576435566, + 0.18207120895385742, + 0.0, + 0.9981546401977539 + ], + [ + 0.2122170329093933, + 0.04251765459775925, + 0.0011432054452598095, + 0.02305026724934578, + 0.008270155638456345, + 0.20733819901943207, + 0.0, + 0.9981546401977539 + ], + [ + 0.20939446985721588, + 0.039554912596940994, + -0.015620940364897251, + 0.02287505939602852, + 0.05068941041827202, + 0.22752982378005981, + 0.0, + 0.9981546401977539 + ], + [ + 0.21306222677230835, + 0.03823241963982582, + -0.02635122463107109, + 0.012414350174367428, + 0.06210886314511299, + 0.2449534833431244, + 0.0, + 0.9981546401977539 + ], + [ + 0.21546266973018646, + 0.03455951809883118, + -0.03357034921646118, + -0.01152215525507927, + 0.065543033182621, + 0.2649582624435425, + 0.0, + 0.9453431367874146 + ], + [ + 0.21740053594112396, + 0.029531512409448624, + -0.04128112643957138, + -0.046551696956157684, + 0.06708839535713196, + 0.2737714648246765, + 0.0, + 0.6460646390914917 + ], + [ + 0.21923166513442993, + 0.029830455780029297, + -0.04095226526260376, + -0.046999748796224594, + 0.06404180079698563, + 0.2736693322658539, + 0.0, + 0.3445223569869995 + ], + [ + 0.2218092828989029, + 0.029934868216514587, + -0.037450749427080154, + -0.04359566047787666, + 0.059096794575452805, + 0.26064202189445496, + 0.0, + 0.2062399983406067 + ], + [ + 0.22717656195163727, + 0.024980297312140465, + -0.029104851186275482, + -0.04154234752058983, + 0.04125841706991196, + 0.2440582662820816, + 0.0, + 0.1302075982093811 + ], + [ + 0.2348359078168869, + 0.019072094932198524, + -0.01976863108575344, + -0.03176809847354889, + 0.024749306961894035, + 0.2282651662826538, + 0.0, + 0.0686454325914383 + ], + [ + 0.2514740824699402, + 0.02301216684281826, + -0.005416278261691332, + -0.009781106375157833, + -0.007966107688844204, + 0.23631305992603302, + 0.0, + 0.054840996861457825 + ], + [ + 0.277413934469223, + 0.03361647576093674, + 0.014895472675561905, + -0.006378183141350746, + -0.04558814689517021, + 0.23747502267360687, + 0.0, + 0.054840996861457825 + ], + [ + 0.30551981925964355, + 0.0558716356754303, + 0.03666481748223305, + -0.000951544672716409, + -0.07692218571901321, + 0.265157014131546, + 0.0, + 0.054840996861457825 + ], + [ + 0.3347579836845398, + 0.10128845274448395, + 0.03446340933442116, + 0.006124688778072596, + -0.06473463773727417, + 0.3280367851257324, + 0.0, + 0.054840996861457825 + ], + [ + 0.3495503067970276, + 0.14236390590667725, + 0.02607017382979393, + 0.011187924072146416, + -0.053784776479005814, + 0.3864986002445221, + 0.0, + 0.054840996861457825 + ], + [ + 0.3553805351257324, + 0.1769731193780899, + 0.019729215651750565, + 0.03182246536016464, + -0.0399198904633522, + 0.44111335277557373, + 0.0, + 0.054840996861457825 + ], + [ + 0.35384345054626465, + 0.19472762942314148, + 0.015274458564817905, + 0.03954683616757393, + -0.015846526250243187, + 0.4509686231613159, + 0.0, + 0.054840996861457825 + ], + [ + 0.3487282395362854, + 0.18968035280704498, + 0.003367087570950389, + 0.02357073500752449, + 0.0426376573741436, + 0.4315156936645508, + 0.0, + 0.054840996861457825 + ], + [ + 0.3458521366119385, + 0.18374505639076233, + 9.516279533272609e-05, + -0.0025349680799990892, + 0.05978673696517944, + 0.42256394028663635, + 0.0, + 0.054840996861457825 + ], + [ + 0.33921027183532715, + 0.18064938485622406, + -0.002214369596913457, + 0.010517788119614124, + 0.06977297365665436, + 0.4199243485927582, + 0.0, + 0.054840996861457825 + ], + [ + 0.33421847224235535, + 0.1782609224319458, + -0.004570653662085533, + 0.011797687970101833, + 0.0804629698395729, + 0.42826104164123535, + 0.0, + 0.07656946033239365 + ], + [ + 0.3272647261619568, + 0.17827816307544708, + -0.006973339710384607, + 0.046874336898326874, + 0.09505628794431686, + 0.4319961667060852, + 0.0, + 0.22426052391529083 + ], + [ + 0.3308778405189514, + 0.17372210323810577, + 0.008877847343683243, + 0.07967720925807953, + 0.015101637691259384, + 0.40767553448677063, + 0.0, + 0.47944000363349915 + ], + [ + 0.33273446559906006, + 0.16573794186115265, + 0.020533431321382523, + 0.10072921961545944, + -0.03322488069534302, + 0.3505614399909973, + 0.0, + 0.7969971895217896 + ], + [ + 0.3331821858882904, + 0.14416879415512085, + 0.04020756855607033, + 0.12093394994735718, + -0.08372120559215546, + 0.2734127640724182, + 0.0, + 1.00800359249115 + ], + [ + 0.3269965946674347, + 0.12301559746265411, + 0.051157090812921524, + 0.12313654273748398, + -0.0942545235157013, + 0.24446217715740204, + 0.0, + 1.0047606229782104 + ], + [ + 0.3162837028503418, + 0.09649607539176941, + 0.05315922945737839, + 0.06805192679166794, + -0.088615782558918, + 0.25592929124832153, + 0.0, + 1.0014774799346924 + ], + [ + 0.30565664172172546, + 0.07463003695011139, + 0.04111405834555626, + 0.014967736788094044, + -0.05701528117060661, + 0.24219490587711334, + 0.0, + 1.002137303352356 + ] + ], + "left_gripper_pos": [ + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9453431367874146 + ], + [ + 0.6460646390914917 + ], + [ + 0.3445223569869995 + ], + [ + 0.2062399983406067 + ], + [ + 0.1302075982093811 + ], + [ + 0.0686454325914383 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.07656946033239365 + ], + [ + 0.22426052391529083 + ], + [ + 0.47944000363349915 + ], + [ + 0.7969971895217896 + ], + [ + 1.00800359249115 + ], + [ + 1.0047606229782104 + ], + [ + 1.0014774799346924 + ], + [ + 1.002137303352356 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3168644309043884, + 0.09627185761928558, + 0.04656197130680084 + ], + [ + 0.3104288876056671, + 0.09420352429151535, + 0.03434571996331215 + ], + [ + 0.2881138026714325, + 0.0775584951043129, + 0.02291191928088665 + ], + [ + 0.2762403190135956, + 0.06084471568465233, + 0.03155578300356865 + ], + [ + 0.25722363591194153, + 0.03880808874964714, + 0.04523669555783272 + ], + [ + 0.23982301354408264, + 0.03545072302222252, + 0.04310167208313942 + ], + [ + 0.22766390442848206, + 0.03858141973614693, + 0.025740979239344597 + ], + [ + 0.220722496509552, + 0.042575325816869736, + 0.01514902338385582 + ], + [ + 0.2122170329093933, + 0.04251765459775925, + 0.0011432054452598095 + ], + [ + 0.20939446985721588, + 0.039554912596940994, + -0.015620940364897251 + ], + [ + 0.21306222677230835, + 0.03823241963982582, + -0.02635122463107109 + ], + [ + 0.21546266973018646, + 0.03455951809883118, + -0.03357034921646118 + ], + [ + 0.21740053594112396, + 0.029531512409448624, + -0.04128112643957138 + ], + [ + 0.21923166513442993, + 0.029830455780029297, + -0.04095226526260376 + ], + [ + 0.2218092828989029, + 0.029934868216514587, + -0.037450749427080154 + ], + [ + 0.22717656195163727, + 0.024980297312140465, + -0.029104851186275482 + ], + [ + 0.2348359078168869, + 0.019072094932198524, + -0.01976863108575344 + ], + [ + 0.2514740824699402, + 0.02301216684281826, + -0.005416278261691332 + ], + [ + 0.277413934469223, + 0.03361647576093674, + 0.014895472675561905 + ], + [ + 0.30551981925964355, + 0.0558716356754303, + 0.03666481748223305 + ], + [ + 0.3347579836845398, + 0.10128845274448395, + 0.03446340933442116 + ], + [ + 0.3495503067970276, + 0.14236390590667725, + 0.02607017382979393 + ], + [ + 0.3553805351257324, + 0.1769731193780899, + 0.019729215651750565 + ], + [ + 0.35384345054626465, + 0.19472762942314148, + 0.015274458564817905 + ], + [ + 0.3487282395362854, + 0.18968035280704498, + 0.003367087570950389 + ], + [ + 0.3458521366119385, + 0.18374505639076233, + 9.516279533272609e-05 + ], + [ + 0.33921027183532715, + 0.18064938485622406, + -0.002214369596913457 + ], + [ + 0.33421847224235535, + 0.1782609224319458, + -0.004570653662085533 + ], + [ + 0.3272647261619568, + 0.17827816307544708, + -0.006973339710384607 + ], + [ + 0.3308778405189514, + 0.17372210323810577, + 0.008877847343683243 + ], + [ + 0.33273446559906006, + 0.16573794186115265, + 0.020533431321382523 + ], + [ + 0.3331821858882904, + 0.14416879415512085, + 0.04020756855607033 + ], + [ + 0.3269965946674347, + 0.12301559746265411, + 0.051157090812921524 + ], + [ + 0.3162837028503418, + 0.09649607539176941, + 0.05315922945737839 + ], + [ + 0.30565664172172546, + 0.07463003695011139, + 0.04111405834555626 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9630336943957359, + 0.18756899458463913, + 0.19334936185311713, + 0.17302342543748225, + -0.9808239237269426, + 0.08970688320727997, + 0.20646790963338596, + -0.05293678225385605, + -0.977020316767378 + ], + [ + 0.9684116498132608, + 0.19088809430249948, + 0.16043881063981638, + 0.1801982837445344, + -0.9804637444225676, + 0.07886332739875175, + 0.17235850730811944, + -0.04746136667267924, + -0.983890219298921 + ], + [ + 0.9711429330096476, + 0.18371174176348748, + 0.15209010356905217, + 0.175373091756528, + -0.9822431739716709, + 0.06665302599142992, + 0.16163440955803854, + -0.0380571034668103, + -0.9861166130445936 + ], + [ + 0.9704086986798981, + 0.1578933537870874, + 0.18269276492585093, + 0.1495667183906111, + -0.9870147552032393, + 0.058580455451908625, + 0.18956991922836866, + -0.02952222621949553, + -0.9814232949562561 + ], + [ + 0.9735223770044774, + 0.13135807789997173, + 0.18708082970196774, + 0.12850247562552491, + -0.9913315779221357, + 0.027364509360111235, + 0.18905368345965404, + -0.002599612439036678, + -0.9819633123419139 + ], + [ + 0.9780792343498633, + 0.1722512354767774, + 0.11700650926469405, + 0.17175489442040204, + -0.9850346339302605, + 0.014388405071939812, + 0.1177338845711875, + 0.006023440428978737, + -0.9930269133257048 + ], + [ + 0.9817540618249821, + 0.18166603489615182, + 0.05618197090935284, + 0.1819770821604463, + -0.9833026789662113, + -0.00042790915185488346, + 0.055166145945855144, + 0.010643932684032721, + -0.9984204540365238 + ], + [ + 0.9832439173451473, + 0.1812118871747048, + 0.019840638859447878, + 0.1810251670135786, + -0.9834186234680854, + 0.010848959574160202, + 0.02147761419420129, + -0.00707551854762877, + -0.9997442918695795 + ], + [ + 0.97854886296157, + 0.20561462825932125, + -0.012835398022660836, + 0.20584880102063774, + -0.9783616101675261, + 0.02085259860957698, + -0.008270061365242526, + -0.02304743795278296, + -0.9997001658941687 + ], + [ + 0.9729752396870602, + 0.2243836319628842, + -0.054508427449818354, + 0.22528197110955012, + -0.9742331095467485, + 0.010857336499735214, + -0.05066770617368612, + -0.022843685561169932, + -0.9984542801656362 + ], + [ + 0.9682780288593357, + 0.24174498528692928, + -0.06322199709675301, + 0.24204360253206997, + -0.9702607111624254, + -0.0030077978458964254, + -0.062068939910206664, + -0.012390095367138221, + -0.9979949560169211 + ], + [ + 0.9630311847946135, + 0.26257991001830805, + -0.06018910173661295, + 0.261306708575451, + -0.9648417518687348, + -0.028270088509505922, + -0.06549611565999482, + 0.011497160764650786, + -0.9977865874663803 + ], + [ + 0.9605922725403278, + 0.27307489321397577, + -0.05189015929811661, + 0.26975615220385635, + -0.960871655894287, + -0.06290690937520597, + -0.06703808084945528, + 0.04643020132571247, + -0.9966695200119623 + ], + [ + 0.9608119972851885, + 0.2728624668799331, + -0.04885058895289165, + 0.26971199007149804, + -0.9609098628795695, + -0.06251142161588681, + -0.06399803344259178, + 0.046886134293247575, + -0.9968480035223608 + ], + [ + 0.9645379819648227, + 0.25994320001511345, + -0.045782246702521415, + 0.25725107194551683, + -0.9646433437525517, + -0.057315838446099776, + -0.05906240200085293, + 0.04350577110912514, + -0.9973058109477205 + ], + [ + 0.9695395298036595, + 0.24309635542870262, + -0.029954333999953297, + 0.2414369666035533, + -0.9691141946186619, + -0.050258023696689975, + -0.04124671266141784, + 0.04149505712617157, + -0.9982869672237148 + ], + [ + 0.9737621281931564, + 0.22693949207846012, + -0.016905165834895722, + 0.22621873166257425, + -0.9733910890020705, + -0.03653591789376007, + -0.024746780431219972, + 0.03175302799000264, + -0.9991893424530484 + ], + [ + 0.9721769188176456, + 0.23403280515461877, + 0.010034173094437654, + 0.23411232558079909, + -0.9721795025566055, + -0.00764420172031628, + 0.007966023435743893, + 0.00978064007369671, + -0.999920437610098 + ], + [ + 0.9709252702848842, + 0.2349619705077805, + 0.045792924533437473, + 0.23500485044791225, + -0.9719836810532355, + 0.004521507730415421, + 0.04557235772020815, + 0.006371513266304221, + -0.9989407209792373 + ], + [ + 0.9621976576694431, + 0.26199011225714347, + 0.07441000372884471, + 0.261285870460017, + -0.9650700912314252, + 0.019220117286843297, + 0.07684634977270238, + 0.0009487307616917115, + -0.9970424958027383 + ], + [ + 0.9446938196469942, + 0.3225541513383047, + 0.05926555977292424, + 0.32151028624761235, + -0.9465312805636278, + 0.026639646235580922, + 0.06468943466865669, + -0.0061118220691177595, + -0.9978867283781485 + ], + [ + 0.9248951953890855, + 0.37748109600657004, + 0.045573015084186236, + 0.37640252884966824, + -0.9259499011620111, + 0.030625427566579697, + 0.05375884877635943, + -0.01117151268807424, + -0.9984914538855604 + ], + [ + 0.9035564506097244, + 0.42787859770413683, + 0.02248657795882563, + 0.4266063633432251, + -0.9032769179482065, + 0.04580196782953196, + 0.03990928860084021, + -0.031791746235944156, + -0.9986974184179334 + ], + [ + 0.8999123609171773, + 0.4360606109895003, + -0.0029809749974420274, + 0.435782802887761, + -0.8990486076561134, + 0.042484700527254046, + 0.01584586304871241, + -0.03953156479406407, + -0.9990926703810682 + ], + [ + 0.9075073216013821, + 0.41721934274919803, + -0.04856419746905319, + 0.4178679131232199, + -0.9085007168940877, + 0.0035853291305148367, + -0.04262473955264791, + -0.02354713228519014, + -0.9988136283307377 + ], + [ + 0.9104109289487727, + 0.4102370421495451, + -0.053455679763943866, + 0.40936749188397153, + -0.9119754197023368, + -0.026815861861470898, + -0.059751125840937024, + 0.002530436155945212, + -0.9982100980523095 + ], + [ + 0.91089803106376, + 0.40699928168669763, + -0.06794381289475186, + 0.4066994025515269, + -0.9133682185034478, + -0.018817369424778317, + -0.06971637518112912, + -0.010492003352538347, + -0.9975116765718854 + ], + [ + 0.9067460884410563, + 0.4143980229235957, + -0.07801159973913761, + 0.41394589219764083, + -0.9100197793207965, + -0.022645078441643603, + -0.08037617451423916, + -0.011759244956381337, + -0.9966952346271716 + ], + [ + 0.9040320817492581, + 0.41418574162054383, + -0.10571739027399088, + 0.41679428875223384, + -0.9089963453125575, + 0.0028574589994595848, + -0.09491320262019753, + -0.046645639095784945, + -0.9943921099454297 + ], + [ + 0.9179402155306494, + 0.3941151630448136, + -0.0453761938653354, + 0.39643122806749026, + -0.9156088947669055, + 0.06710166344157799, + -0.015101063685912878, + -0.07958385566109065, + -0.9967137842899878 + ], + [ + 0.9386617189494129, + 0.34482164641199897, + -0.003494215885089174, + 0.34323561996820984, + -0.9332722459048057, + 0.10579330890391024, + 0.033218768248866104, + -0.10050346854471197, + -0.9943820021734655 + ], + [ + 0.9594825237385765, + 0.2777604392737381, + 0.047354250228591854, + 0.2690732382832766, + -0.9530986568609935, + 0.13857323958658566, + 0.08362343618868529, + -0.12021684018568382, + -0.9892194055192036 + ], + [ + 0.9659609390633248, + 0.2514179442044203, + 0.060897303190884024, + 0.24096021630389783, + -0.9601231779166514, + 0.14178031381686532, + 0.09411502729467927, + -0.12228041772603267, + -0.9880232087750108 + ], + [ + 0.9636324632117332, + 0.25838052675285, + 0.06820541942842238, + 0.2521512496096357, + -0.9636658127885447, + 0.08813596645463405, + 0.08849984838849413, + -0.06773259671319969, + -0.9937706335858895 + ], + [ + 0.9692363951238555, + 0.2406351855751119, + 0.05172540797852366, + 0.23944433381429123, + -0.9705006019984463, + 0.02819561180189751, + 0.056984395860125873, + -0.014942857286492757, + -0.9982632366488169 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0064355432987213135, + -0.002068333327770233, + -0.012216251343488693, + -0.005927823483943939, + 0.03474019467830658, + 0.00620366632938385, + 1.0 + ], + [ + -0.02231508493423462, + -0.016645029187202454, + -0.011433800682425499, + -0.00962735339999199, + 0.010876893997192383, + -0.005313307046890259, + 1.0 + ], + [ + -0.011873483657836914, + -0.016713779419660568, + 0.008643863722682, + -0.008501796051859856, + -0.028377488255500793, + -0.025734558701515198, + 1.0 + ], + [ + -0.019016683101654053, + -0.022036626935005188, + 0.013680912554264069, + -0.027424609288573265, + 0.000525742769241333, + -0.02168545126914978, + 1.0 + ], + [ + -0.017400622367858887, + -0.0033573657274246216, + -0.0021350234746932983, + -0.008713019080460072, + 0.0721907764673233, + 0.04259316623210907, + 1.0 + ], + [ + -0.012159109115600586, + 0.003130696713924408, + -0.017360692843794823, + -0.004594705067574978, + 0.0628134161233902, + 0.009447067975997925, + 1.0 + ], + [ + -0.006941407918930054, + 0.003993906080722809, + -0.010591955855488777, + 0.017737578600645065, + 0.0337148979306221, + -0.001207783818244934, + 1.0 + ], + [ + -0.008505463600158691, + -5.767121911048889e-05, + -0.014005817472934723, + 0.015973057597875595, + 0.029749421402812004, + 0.025266990065574646, + 1.0 + ], + [ + -0.002822563052177429, + -0.0029627420008182526, + -0.016764145344495773, + -0.00017520785331726074, + 0.042419254779815674, + 0.020191624760627747, + 1.0 + ], + [ + 0.0036677569150924683, + -0.0013224929571151733, + -0.01073028426617384, + -0.01046070922166109, + 0.011419452726840973, + 0.017423659563064575, + 1.0 + ], + [ + 0.002400442957878113, + -0.003672901540994644, + -0.007219124585390091, + -0.023936506360769272, + 0.003434170037508011, + 0.02000477910041809, + 0.0 + ], + [ + 0.0019378662109375, + -0.005028005689382553, + -0.007710777223110199, + -0.035029541701078415, + 0.0015453621745109558, + 0.008813202381134033, + 0.0 + ], + [ + 0.0018311291933059692, + 0.0002989433705806732, + 0.00032886117696762085, + -0.0004480518400669098, + -0.003046594560146332, + -0.00010213255882263184, + 0.0 + ], + [ + 0.0025776177644729614, + 0.00010441243648529053, + 0.0035015158355236053, + 0.003404088318347931, + -0.004945006221532822, + -0.013027310371398926, + 0.0 + ], + [ + 0.005367279052734375, + -0.004954570904374123, + 0.008345898240804672, + 0.0020533129572868347, + -0.017838377505540848, + -0.016583755612373352, + 0.0 + ], + [ + 0.007659345865249634, + -0.00590820237994194, + 0.009336220100522041, + 0.00977424904704094, + -0.01650911010801792, + -0.015793099999427795, + 0.0 + ], + [ + 0.016638174653053284, + 0.003940071910619736, + 0.014352353289723396, + 0.02198699116706848, + -0.032715413719415665, + 0.008047893643379211, + 0.0 + ], + [ + 0.025939851999282837, + 0.010604308918118477, + 0.02031175047159195, + 0.003402923233807087, + -0.03762203827500343, + 0.0011619627475738525, + 0.0 + ], + [ + 0.028105884790420532, + 0.02225515991449356, + 0.021769344806671143, + 0.0054266382940113544, + -0.031334038823843, + 0.027681991457939148, + 0.0 + ], + [ + 0.02923816442489624, + 0.04541681706905365, + -0.0022014081478118896, + 0.007076233625411987, + 0.012187547981739044, + 0.0628797709941864, + 0.0 + ], + [ + 0.014792323112487793, + 0.0410754531621933, + -0.008393235504627228, + 0.00506323529407382, + 0.010949861258268356, + 0.05846181511878967, + 0.0 + ], + [ + 0.005830228328704834, + 0.03460921347141266, + -0.0063409581780433655, + 0.020634541288018227, + 0.01386488601565361, + 0.054614752531051636, + 0.0 + ], + [ + -0.0015370845794677734, + 0.017754510045051575, + -0.004454757086932659, + 0.0077243708074092865, + 0.024073364213109016, + 0.009855270385742188, + 0.0 + ], + [ + -0.005115211009979248, + -0.005047276616096497, + -0.011907370761036873, + -0.01597610116004944, + 0.05848418176174164, + -0.019452929496765137, + 0.0 + ], + [ + -0.002876102924346924, + -0.005935296416282654, + -0.0032719247974455357, + -0.02610570378601551, + 0.017149079591035843, + -0.008951753377914429, + 0.0 + ], + [ + -0.006641864776611328, + -0.003095671534538269, + -0.00230953237041831, + 0.01305275596678257, + 0.009986236691474915, + -0.002639591693878174, + 0.0 + ], + [ + -0.004991799592971802, + -0.0023884624242782593, + -0.0023562840651720762, + 0.001279899850487709, + 0.010689996182918549, + 0.008336693048477173, + 1.0 + ], + [ + -0.00695374608039856, + 1.7240643501281738e-05, + -0.002402686048299074, + 0.035076647996902466, + 0.014593318104743958, + 0.0037351250648498535, + 1.0 + ], + [ + 0.003613114356994629, + -0.004556059837341309, + 0.015851186588406563, + 0.032802872359752655, + -0.07995465397834778, + -0.024320632219314575, + 1.0 + ], + [ + 0.0018566250801086426, + -0.007984161376953125, + 0.01165558397769928, + 0.021052010357379913, + -0.0483265183866024, + -0.057114094495773315, + 1.0 + ], + [ + 0.0004477202892303467, + -0.0215691477060318, + 0.019674137234687805, + 0.020204730331897736, + -0.05049632489681244, + -0.0771486759185791, + 1.0 + ], + [ + -0.006185591220855713, + -0.021153196692466736, + 0.010949522256851196, + 0.0022025927901268005, + -0.010533317923545837, + -0.028950586915016174, + 1.0 + ], + [ + -0.010712891817092896, + -0.026519522070884705, + 0.0020021386444568634, + -0.05508461594581604, + 0.005638740956783295, + 0.011467114090919495, + 1.0 + ], + [ + -0.010627061128616333, + -0.02186603844165802, + -0.012045171111822128, + -0.05308419093489647, + 0.031600501388311386, + -0.013734385371208191, + 1.0 + ], + [ + -0.006841212511062622, + -0.010816328227519989, + -0.005313221365213394, + 0.004455759190022945, + 0.008544974029064178, + -0.006801322102546692, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9453431367874146 + ], + [ + 0.6460646390914917 + ], + [ + 0.3445223569869995 + ], + [ + 0.2062399983406067 + ], + [ + 0.1302075982093811 + ], + [ + 0.0686454325914383 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.07656946033239365 + ], + [ + 0.22426052391529083 + ], + [ + 0.47944000363349915 + ], + [ + 0.7969971895217896 + ], + [ + 1.00800359249115 + ], + [ + 1.0047606229782104 + ], + [ + 1.0014774799346924 + ], + [ + 1.002137303352356 + ], + [ + 1.0014774799346924 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3104288876056671, + 0.09420352429151535, + 0.03434571996331215 + ], + [ + 0.2881138026714325, + 0.0775584951043129, + 0.02291191928088665 + ], + [ + 0.2762403190135956, + 0.06084471568465233, + 0.03155578300356865 + ], + [ + 0.25722363591194153, + 0.03880808874964714, + 0.04523669555783272 + ], + [ + 0.23982301354408264, + 0.03545072302222252, + 0.04310167208313942 + ], + [ + 0.22766390442848206, + 0.03858141973614693, + 0.025740979239344597 + ], + [ + 0.220722496509552, + 0.042575325816869736, + 0.01514902338385582 + ], + [ + 0.2122170329093933, + 0.04251765459775925, + 0.0011432054452598095 + ], + [ + 0.20939446985721588, + 0.039554912596940994, + -0.015620940364897251 + ], + [ + 0.21306222677230835, + 0.03823241963982582, + -0.02635122463107109 + ], + [ + 0.21546266973018646, + 0.03455951809883118, + -0.03357034921646118 + ], + [ + 0.21740053594112396, + 0.029531512409448624, + -0.04128112643957138 + ], + [ + 0.21923166513442993, + 0.029830455780029297, + -0.04095226526260376 + ], + [ + 0.2218092828989029, + 0.029934868216514587, + -0.037450749427080154 + ], + [ + 0.22717656195163727, + 0.024980297312140465, + -0.029104851186275482 + ], + [ + 0.2348359078168869, + 0.019072094932198524, + -0.01976863108575344 + ], + [ + 0.2514740824699402, + 0.02301216684281826, + -0.005416278261691332 + ], + [ + 0.277413934469223, + 0.03361647576093674, + 0.014895472675561905 + ], + [ + 0.30551981925964355, + 0.0558716356754303, + 0.03666481748223305 + ], + [ + 0.3347579836845398, + 0.10128845274448395, + 0.03446340933442116 + ], + [ + 0.3495503067970276, + 0.14236390590667725, + 0.02607017382979393 + ], + [ + 0.3553805351257324, + 0.1769731193780899, + 0.019729215651750565 + ], + [ + 0.35384345054626465, + 0.19472762942314148, + 0.015274458564817905 + ], + [ + 0.3487282395362854, + 0.18968035280704498, + 0.003367087570950389 + ], + [ + 0.3458521366119385, + 0.18374505639076233, + 9.516279533272609e-05 + ], + [ + 0.33921027183532715, + 0.18064938485622406, + -0.002214369596913457 + ], + [ + 0.33421847224235535, + 0.1782609224319458, + -0.004570653662085533 + ], + [ + 0.3272647261619568, + 0.17827816307544708, + -0.006973339710384607 + ], + [ + 0.3308778405189514, + 0.17372210323810577, + 0.008877847343683243 + ], + [ + 0.33273446559906006, + 0.16573794186115265, + 0.020533431321382523 + ], + [ + 0.3331821858882904, + 0.14416879415512085, + 0.04020756855607033 + ], + [ + 0.3269965946674347, + 0.12301559746265411, + 0.051157090812921524 + ], + [ + 0.3162837028503418, + 0.09649607539176941, + 0.05315922945737839 + ], + [ + 0.30565664172172546, + 0.07463003695011139, + 0.04111405834555626 + ], + [ + 0.29881542921066284, + 0.0638137087225914, + 0.035800836980342865 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9684116498132608, + 0.19088809430249948, + 0.16043881063981638, + 0.1801982837445344, + -0.9804637444225676, + 0.07886332739875175, + 0.17235850730811944, + -0.04746136667267924, + -0.983890219298921 + ], + [ + 0.9711429330096476, + 0.18371174176348748, + 0.15209010356905217, + 0.175373091756528, + -0.9822431739716709, + 0.06665302599142992, + 0.16163440955803854, + -0.0380571034668103, + -0.9861166130445936 + ], + [ + 0.9704086986798981, + 0.1578933537870874, + 0.18269276492585093, + 0.1495667183906111, + -0.9870147552032393, + 0.058580455451908625, + 0.18956991922836866, + -0.02952222621949553, + -0.9814232949562561 + ], + [ + 0.9735223770044774, + 0.13135807789997173, + 0.18708082970196774, + 0.12850247562552491, + -0.9913315779221357, + 0.027364509360111235, + 0.18905368345965404, + -0.002599612439036678, + -0.9819633123419139 + ], + [ + 0.9780792343498633, + 0.1722512354767774, + 0.11700650926469405, + 0.17175489442040204, + -0.9850346339302605, + 0.014388405071939812, + 0.1177338845711875, + 0.006023440428978737, + -0.9930269133257048 + ], + [ + 0.9817540618249821, + 0.18166603489615182, + 0.05618197090935284, + 0.1819770821604463, + -0.9833026789662113, + -0.00042790915185488346, + 0.055166145945855144, + 0.010643932684032721, + -0.9984204540365238 + ], + [ + 0.9832439173451473, + 0.1812118871747048, + 0.019840638859447878, + 0.1810251670135786, + -0.9834186234680854, + 0.010848959574160202, + 0.02147761419420129, + -0.00707551854762877, + -0.9997442918695795 + ], + [ + 0.97854886296157, + 0.20561462825932125, + -0.012835398022660836, + 0.20584880102063774, + -0.9783616101675261, + 0.02085259860957698, + -0.008270061365242526, + -0.02304743795278296, + -0.9997001658941687 + ], + [ + 0.9729752396870602, + 0.2243836319628842, + -0.054508427449818354, + 0.22528197110955012, + -0.9742331095467485, + 0.010857336499735214, + -0.05066770617368612, + -0.022843685561169932, + -0.9984542801656362 + ], + [ + 0.9682780288593357, + 0.24174498528692928, + -0.06322199709675301, + 0.24204360253206997, + -0.9702607111624254, + -0.0030077978458964254, + -0.062068939910206664, + -0.012390095367138221, + -0.9979949560169211 + ], + [ + 0.9630311847946135, + 0.26257991001830805, + -0.06018910173661295, + 0.261306708575451, + -0.9648417518687348, + -0.028270088509505922, + -0.06549611565999482, + 0.011497160764650786, + -0.9977865874663803 + ], + [ + 0.9605922725403278, + 0.27307489321397577, + -0.05189015929811661, + 0.26975615220385635, + -0.960871655894287, + -0.06290690937520597, + -0.06703808084945528, + 0.04643020132571247, + -0.9966695200119623 + ], + [ + 0.9608119972851885, + 0.2728624668799331, + -0.04885058895289165, + 0.26971199007149804, + -0.9609098628795695, + -0.06251142161588681, + -0.06399803344259178, + 0.046886134293247575, + -0.9968480035223608 + ], + [ + 0.9645379819648227, + 0.25994320001511345, + -0.045782246702521415, + 0.25725107194551683, + -0.9646433437525517, + -0.057315838446099776, + -0.05906240200085293, + 0.04350577110912514, + -0.9973058109477205 + ], + [ + 0.9695395298036595, + 0.24309635542870262, + -0.029954333999953297, + 0.2414369666035533, + -0.9691141946186619, + -0.050258023696689975, + -0.04124671266141784, + 0.04149505712617157, + -0.9982869672237148 + ], + [ + 0.9737621281931564, + 0.22693949207846012, + -0.016905165834895722, + 0.22621873166257425, + -0.9733910890020705, + -0.03653591789376007, + -0.024746780431219972, + 0.03175302799000264, + -0.9991893424530484 + ], + [ + 0.9721769188176456, + 0.23403280515461877, + 0.010034173094437654, + 0.23411232558079909, + -0.9721795025566055, + -0.00764420172031628, + 0.007966023435743893, + 0.00978064007369671, + -0.999920437610098 + ], + [ + 0.9709252702848842, + 0.2349619705077805, + 0.045792924533437473, + 0.23500485044791225, + -0.9719836810532355, + 0.004521507730415421, + 0.04557235772020815, + 0.006371513266304221, + -0.9989407209792373 + ], + [ + 0.9621976576694431, + 0.26199011225714347, + 0.07441000372884471, + 0.261285870460017, + -0.9650700912314252, + 0.019220117286843297, + 0.07684634977270238, + 0.0009487307616917115, + -0.9970424958027383 + ], + [ + 0.9446938196469942, + 0.3225541513383047, + 0.05926555977292424, + 0.32151028624761235, + -0.9465312805636278, + 0.026639646235580922, + 0.06468943466865669, + -0.0061118220691177595, + -0.9978867283781485 + ], + [ + 0.9248951953890855, + 0.37748109600657004, + 0.045573015084186236, + 0.37640252884966824, + -0.9259499011620111, + 0.030625427566579697, + 0.05375884877635943, + -0.01117151268807424, + -0.9984914538855604 + ], + [ + 0.9035564506097244, + 0.42787859770413683, + 0.02248657795882563, + 0.4266063633432251, + -0.9032769179482065, + 0.04580196782953196, + 0.03990928860084021, + -0.031791746235944156, + -0.9986974184179334 + ], + [ + 0.8999123609171773, + 0.4360606109895003, + -0.0029809749974420274, + 0.435782802887761, + -0.8990486076561134, + 0.042484700527254046, + 0.01584586304871241, + -0.03953156479406407, + -0.9990926703810682 + ], + [ + 0.9075073216013821, + 0.41721934274919803, + -0.04856419746905319, + 0.4178679131232199, + -0.9085007168940877, + 0.0035853291305148367, + -0.04262473955264791, + -0.02354713228519014, + -0.9988136283307377 + ], + [ + 0.9104109289487727, + 0.4102370421495451, + -0.053455679763943866, + 0.40936749188397153, + -0.9119754197023368, + -0.026815861861470898, + -0.059751125840937024, + 0.002530436155945212, + -0.9982100980523095 + ], + [ + 0.91089803106376, + 0.40699928168669763, + -0.06794381289475186, + 0.4066994025515269, + -0.9133682185034478, + -0.018817369424778317, + -0.06971637518112912, + -0.010492003352538347, + -0.9975116765718854 + ], + [ + 0.9067460884410563, + 0.4143980229235957, + -0.07801159973913761, + 0.41394589219764083, + -0.9100197793207965, + -0.022645078441643603, + -0.08037617451423916, + -0.011759244956381337, + -0.9966952346271716 + ], + [ + 0.9040320817492581, + 0.41418574162054383, + -0.10571739027399088, + 0.41679428875223384, + -0.9089963453125575, + 0.0028574589994595848, + -0.09491320262019753, + -0.046645639095784945, + -0.9943921099454297 + ], + [ + 0.9179402155306494, + 0.3941151630448136, + -0.0453761938653354, + 0.39643122806749026, + -0.9156088947669055, + 0.06710166344157799, + -0.015101063685912878, + -0.07958385566109065, + -0.9967137842899878 + ], + [ + 0.9386617189494129, + 0.34482164641199897, + -0.003494215885089174, + 0.34323561996820984, + -0.9332722459048057, + 0.10579330890391024, + 0.033218768248866104, + -0.10050346854471197, + -0.9943820021734655 + ], + [ + 0.9594825237385765, + 0.2777604392737381, + 0.047354250228591854, + 0.2690732382832766, + -0.9530986568609935, + 0.13857323958658566, + 0.08362343618868529, + -0.12021684018568382, + -0.9892194055192036 + ], + [ + 0.9659609390633248, + 0.2514179442044203, + 0.060897303190884024, + 0.24096021630389783, + -0.9601231779166514, + 0.14178031381686532, + 0.09411502729467927, + -0.12228041772603267, + -0.9880232087750108 + ], + [ + 0.9636324632117332, + 0.25838052675285, + 0.06820541942842238, + 0.2521512496096357, + -0.9636658127885447, + 0.08813596645463405, + 0.08849984838849413, + -0.06773259671319969, + -0.9937706335858895 + ], + [ + 0.9692363951238555, + 0.2406351855751119, + 0.05172540797852366, + 0.23944433381429123, + -0.9705006019984463, + 0.02819561180189751, + 0.056984395860125873, + -0.014942857286492757, + -0.9982632366488169 + ], + [ + 0.9712805558132804, + 0.23409682369024365, + 0.042576508043563735, + 0.23295182011724364, + -0.9720197209581014, + 0.030184624771524327, + 0.04845133025117088, + -0.01939946408211683, + -0.9986371359959624 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005818.json b/json/chunk-0005/episode_0005818.json new file mode 100644 index 0000000000000000000000000000000000000000..8ba22992ff55c79e668305bb84d39f8fb21925af --- /dev/null +++ b/json/chunk-0005/episode_0005818.json @@ -0,0 +1,1522 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 24, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove pot to the right of the spoon." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005818.mp4", + "start": 0, + "end": 24, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2255929857492447, + -0.022111967206001282, + 0.09892895072698593, + 0.05471368879079819, + -0.0954662337899208, + -0.1708114743232727, + 0.0, + 1.0008161067962646 + ], + [ + 0.22579120099544525, + -0.02193705178797245, + 0.09202217310667038, + 0.05453529208898544, + -0.06662410497665405, + -0.16546042263507843, + 0.0, + 1.0008161067962646 + ], + [ + 0.27525967359542847, + -0.0061880736611783504, + 0.08842074126005173, + 0.061295244842767715, + -0.08269447088241577, + -0.07780548930168152, + 0.0, + 1.0008161067962646 + ], + [ + 0.32289427518844604, + 0.017231391742825508, + 0.08404769003391266, + 0.06377273797988892, + -0.11368484795093536, + 0.005927303805947304, + 0.0, + 1.0008161067962646 + ], + [ + 0.36244305968284607, + 0.03041670471429825, + 0.08274069428443909, + 0.0647742971777916, + -0.15500052273273468, + 0.03812554106116295, + 0.0, + 1.0008161067962646 + ], + [ + 0.37578085064888, + 0.03614017739892006, + 0.05033658817410469, + 0.017607921734452248, + -0.102119080722332, + 0.043449848890304565, + 0.0, + 1.0008161067962646 + ], + [ + 0.3796987533569336, + 0.02981407195329666, + 0.03294660896062851, + -0.04598578065633774, + -0.1170618087053299, + 0.022928806021809578, + 0.0, + 1.0008161067962646 + ], + [ + 0.3811173141002655, + 0.025903696194291115, + 0.014285740442574024, + -0.07749207317829132, + -0.1066548228263855, + 0.002713169902563095, + 0.0, + 1.0008161067962646 + ], + [ + 0.3825712203979492, + 0.022413307800889015, + 0.01300092600286007, + -0.0762738287448883, + -0.11232544481754303, + -0.018725840374827385, + 0.0, + 0.9468915462493896 + ], + [ + 0.3818769156932831, + 0.02017303928732872, + 0.011244785971939564, + -0.060178760439157486, + -0.11253298074007034, + -0.03089824877679348, + 0.0, + 0.6631406545639038 + ], + [ + 0.37940019369125366, + 0.017445936799049377, + 0.009466296061873436, + -0.05836339667439461, + -0.10602734982967377, + -0.038751501590013504, + 0.0, + 0.3445223569869995 + ], + [ + 0.37545812129974365, + 0.016210472211241722, + 0.011381956748664379, + -0.06357209384441376, + -0.09202899038791656, + -0.06676307320594788, + 0.0, + 0.17460396885871887 + ], + [ + 0.37360820174217224, + 0.012020545080304146, + 0.029993560165166855, + -0.10560481995344162, + -0.10656730830669403, + -0.09992139786481857, + 0.0, + 0.09737934172153473 + ], + [ + 0.3685968220233917, + 0.013508453033864498, + 0.08606240153312683, + -0.10120102018117905, + -0.2381592094898224, + -0.13632608950138092, + 0.0, + 0.07559127360582352 + ], + [ + 0.3318457007408142, + 0.007305097300559282, + 0.10939197987318039, + -0.08539475500583649, + -0.2257879227399826, + -0.17251801490783691, + 0.0, + 0.07365728914737701 + ], + [ + 0.28145867586135864, + -0.00968035589903593, + 0.08814837783575058, + -0.0698704719543457, + -0.12866412103176117, + -0.22699466347694397, + 0.0, + 0.07333792001008987 + ], + [ + 0.24406729638576508, + -0.010587390512228012, + 0.06211891770362854, + -0.06516287475824356, + -0.06777215749025345, + -0.2176516354084015, + 0.0, + 0.07301933318376541 + ], + [ + 0.24168923497200012, + -0.007224441971629858, + 0.049170076847076416, + -0.04413527250289917, + -0.04634447768330574, + -0.19911199808120728, + 0.0, + 0.07301933318376541 + ], + [ + 0.24227850139141083, + 0.00022651421022601426, + 0.0382724329829216, + -0.020941033959388733, + -0.007526196073740721, + -0.18180091679096222, + 0.0, + 0.07301933318376541 + ], + [ + 0.24407124519348145, + 0.016901981085538864, + 0.026484422385692596, + 0.016793083399534225, + 0.013952926732599735, + -0.13124902546405792, + 0.0, + 0.07301933318376541 + ], + [ + 0.24820245802402496, + 0.020725863054394722, + 0.02062765322625637, + 0.029293671250343323, + 0.01864716410636902, + -0.11054036766290665, + 0.0, + 0.10753463208675385 + ], + [ + 0.24490122497081757, + 0.018632762134075165, + 0.020394179970026016, + 0.01364227570593357, + 0.026957310736179352, + -0.0982055813074112, + 0.0, + 0.2788355052471161 + ], + [ + 0.24446532130241394, + 0.008304704912006855, + 0.04758564755320549, + -0.008130907081067562, + -0.042394738644361496, + -0.15176883339881897, + 0.0, + 0.5869058966636658 + ], + [ + 0.23733749985694885, + -0.0023211236111819744, + 0.08610834926366806, + -0.04508233442902565, + -0.12333796918392181, + -0.25240057706832886, + 0.0, + 0.8616333603858948 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9468915462493896 + ], + [ + 0.6631406545639038 + ], + [ + 0.3445223569869995 + ], + [ + 0.17460396885871887 + ], + [ + 0.09737934172153473 + ], + [ + 0.07559127360582352 + ], + [ + 0.07365728914737701 + ], + [ + 0.07333792001008987 + ], + [ + 0.07301933318376541 + ], + [ + 0.07301933318376541 + ], + [ + 0.07301933318376541 + ], + [ + 0.07301933318376541 + ], + [ + 0.10753463208675385 + ], + [ + 0.2788355052471161 + ], + [ + 0.5869058966636658 + ], + [ + 0.8616333603858948 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2255929857492447, + -0.022111967206001282, + 0.09892895072698593 + ], + [ + 0.22579120099544525, + -0.02193705178797245, + 0.09202217310667038 + ], + [ + 0.27525967359542847, + -0.0061880736611783504, + 0.08842074126005173 + ], + [ + 0.32289427518844604, + 0.017231391742825508, + 0.08404769003391266 + ], + [ + 0.36244305968284607, + 0.03041670471429825, + 0.08274069428443909 + ], + [ + 0.37578085064888, + 0.03614017739892006, + 0.05033658817410469 + ], + [ + 0.3796987533569336, + 0.02981407195329666, + 0.03294660896062851 + ], + [ + 0.3811173141002655, + 0.025903696194291115, + 0.014285740442574024 + ], + [ + 0.3825712203979492, + 0.022413307800889015, + 0.01300092600286007 + ], + [ + 0.3818769156932831, + 0.02017303928732872, + 0.011244785971939564 + ], + [ + 0.37940019369125366, + 0.017445936799049377, + 0.009466296061873436 + ], + [ + 0.37545812129974365, + 0.016210472211241722, + 0.011381956748664379 + ], + [ + 0.37360820174217224, + 0.012020545080304146, + 0.029993560165166855 + ], + [ + 0.3685968220233917, + 0.013508453033864498, + 0.08606240153312683 + ], + [ + 0.3318457007408142, + 0.007305097300559282, + 0.10939197987318039 + ], + [ + 0.28145867586135864, + -0.00968035589903593, + 0.08814837783575058 + ], + [ + 0.24406729638576508, + -0.010587390512228012, + 0.06211891770362854 + ], + [ + 0.24168923497200012, + -0.007224441971629858, + 0.049170076847076416 + ], + [ + 0.24227850139141083, + 0.00022651421022601426, + 0.0382724329829216 + ], + [ + 0.24407124519348145, + 0.016901981085538864, + 0.026484422385692596 + ], + [ + 0.24820245802402496, + 0.020725863054394722, + 0.02062765322625637 + ], + [ + 0.24490122497081757, + 0.018632762134075165, + 0.020394179970026016 + ], + [ + 0.24446532130241394, + 0.008304704912006855, + 0.04758564755320549 + ], + [ + 0.23733749985694885, + -0.0023211236111819744, + 0.08610834926366806 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9809599797565968, + -0.1645907884377659, + 0.10308923550677572, + -0.16920806667191177, + -0.9848585906963386, + 0.037711888109389954, + 0.0953212897997648, + -0.05443738323115714, + -0.993956952296151 + ], + [ + 0.9841543602166426, + -0.1608822996550266, + 0.07454583103219713, + -0.16434107088820238, + -0.9854739487083868, + 0.04281482028945677, + 0.06657482771956301, + -0.05438733377184313, + -0.9962980529135347 + ], + [ + 0.9935677780943187, + -0.07253651726038805, + 0.08695702384771344, + -0.07746139945592619, + -0.9954956812871547, + 0.05466333444780829, + 0.08260025379529905, + -0.06104754051030175, + -0.994711212297617 + ], + [ + 0.9935273814933522, + 0.01314457785800929, + 0.11282979347627238, + 0.005889007595831284, + -0.9979068262201164, + 0.06439942369952661, + 0.1134401243498075, + -0.06331813528705374, + -0.9915251645476635 + ], + [ + 0.9872934716284539, + 0.04802201376509961, + 0.15147767846709395, + 0.03765934622768846, + -0.9967968195535643, + 0.0705540514045967, + 0.15438061575709175, + -0.06395300400953788, + -0.9859394701281705 + ], + [ + 0.9938514969684641, + 0.04522263993632623, + 0.10106490395153245, + 0.04320989261794005, + -0.9988233715697792, + 0.022017665315036947, + 0.10194168506302598, + -0.017515285985911955, + -0.9946361684572619 + ], + [ + 0.9928950326636964, + 0.01753497137481238, + 0.11769443015980699, + 0.022769888016005484, + -0.9988033585915267, + -0.043282595416917584, + 0.11679463305946786, + 0.045654962985096324, + -0.992106162687912 + ], + [ + 0.9943141041252971, + -0.005535934681331738, + 0.10634291591221529, + 0.0026977497206501664, + -0.9970176810875798, + -0.07712629736471331, + 0.10645273356731239, + 0.07697465184039147, + -0.9913338078014378 + ], + [ + 0.9935239087425428, + -0.027210007261155234, + 0.11031708055322982, + -0.01860674503693555, + -0.9967578160041765, + -0.07827927742203047, + 0.11208939198724556, + 0.07571969188680455, + -0.9908090110937109 + ], + [ + 0.9932005494934669, + -0.03758791889650112, + 0.11018083698586277, + -0.030697927407280362, + -0.9975047105937036, + -0.06357664348067475, + 0.11229561762941846, + 0.05976203390449101, + -0.9918760978896637 + ], + [ + 0.9936378347536577, + -0.04484422775060555, + 0.10330947964012842, + -0.03852424374516518, + -0.9973087191101958, + -0.062379495274033525, + 0.10582880510487393, + 0.058002707042274226, + -0.9926912661980271 + ], + [ + 0.9935499215239213, + -0.07240400388445338, + 0.08727092105226239, + -0.06643117689058399, + -0.9953671564285648, + -0.06950627770385408, + 0.09189914132755592, + 0.06326044676425706, + -0.9937568433467238 + ], + [ + 0.9893673820214166, + -0.11035541039572096, + 0.09473049555702662, + -0.09918930319992224, + -0.9883503469090471, + -0.11543428388256094, + 0.10636571591824939, + 0.10481066339432155, + -0.9887876715028561 + ], + [ + 0.9627577532346504, + -0.15882176116180594, + 0.21879935275962428, + -0.13206816873340863, + -0.9824138529766696, + -0.1319887127255162, + 0.2359141949819301, + 0.09817672667693303, + -0.9668018529900689 + ], + [ + 0.9601504324675145, + -0.18984902339477422, + 0.20510605878056198, + -0.16730636598085075, + -0.9782879899900663, + -0.12231593740587345, + 0.22387435524134175, + 0.08312615086268822, + -0.9710665868559308 + ], + [ + 0.9662933722451292, + -0.23322914744792542, + 0.10900130061540793, + -0.22319007891069018, + -0.96995384542509, + -0.09682833480402828, + 0.12830942066339693, + 0.06923656928094413, + -0.9893144040411163 + ], + [ + 0.9741657476507435, + -0.21978465499365296, + 0.05192110874575452, + -0.2154415432341963, + -0.9733827394915537, + -0.07817278240401593, + 0.06772028907894197, + 0.06496728322193118, + -0.9955868694181466 + ], + [ + 0.979190110811476, + -0.19960997993165047, + 0.03664127182148123, + -0.19758657225072035, + -0.9788837398611305, + -0.05240391494628622, + 0.04632788960464791, + 0.04407357198109577, + -0.9979535294279023 + ], + [ + 0.9834918252175783, + -0.18091645727817698, + 0.0036145838087713387, + -0.18079598217977297, + -0.9832755450617497, + -0.02195484709969011, + 0.007526125022101005, + 0.020938910416569152, + -0.9997524290906821 + ], + [ + 0.9913027006643822, + -0.13108635307178426, + -0.011632871263882523, + -0.13085978803568318, + -0.9912287535127389, + 0.018473605085048063, + -0.013952474001359749, + -0.01679065954397735, + -0.9997616727107115 + ], + [ + 0.9937238399634444, + -0.1108108588935982, + -0.015293248169379926, + -0.11029620782029083, + -0.9934099748173015, + 0.0311667847868835, + -0.018646083470004942, + -0.029284389779398914, + -0.9993971923547105 + ], + [ + 0.9948201305201263, + -0.09840461044135887, + -0.025484123602802916, + -0.098012179457727, + -0.9950530476856991, + 0.01621866114535139, + -0.026954045890456815, + -0.013636896101599356, + -0.9995436531111831 + ], + [ + 0.9876170060865759, + -0.15152251102958153, + 0.04066420956908658, + -0.15105102430933431, + -0.9884204253291363, + -0.014444751547535196, + 0.04238204034363067, + 0.008123511768901182, + -0.9990684517153223 + ], + [ + 0.96095991751792, + -0.25484418703648043, + 0.10775192461235945, + -0.24783212777408284, + -0.9659472761698888, + -0.07433099019213296, + 0.12302549884850257, + 0.04472471345562381, + -0.9913951919589833 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + 0.00019821524620056152, + 0.00017491541802883148, + -0.006906777620315552, + -0.00017839670181274414, + 0.028842128813266754, + 0.005351051688194275, + 1.0 + ], + [ + 0.049468472599983215, + 0.015748977661132812, + -0.0036014318466186523, + 0.006759952753782272, + -0.01607036590576172, + 0.08765493333339691, + 1.0 + ], + [ + 0.04763460159301758, + 0.023419465869665146, + -0.004373051226139069, + 0.0024774931371212006, + -0.030990377068519592, + 0.08373279124498367, + 1.0 + ], + [ + 0.039548784494400024, + 0.01318531297147274, + -0.0013069957494735718, + 0.0010015591979026794, + -0.041315674781799316, + 0.032198235392570496, + 1.0 + ], + [ + 0.013337790966033936, + 0.005723472684621811, + -0.032404106110334396, + -0.0471663773059845, + 0.05288144201040268, + 0.005324307829141617, + 1.0 + ], + [ + 0.003917902708053589, + -0.006326105445623398, + -0.01738997921347618, + -0.06359370052814484, + -0.014942727982997894, + -0.020521042868494987, + 1.0 + ], + [ + 0.0014185607433319092, + -0.003910375759005547, + -0.01866086944937706, + -0.03150629252195358, + 0.010406985878944397, + -0.020215636119246483, + 1.0 + ], + [ + 0.0014539062976837158, + -0.0034903883934020996, + -0.001284814439713955, + 0.0012182444334030151, + -0.005670621991157532, + -0.02143901027739048, + 0.0 + ], + [ + -0.0006943047046661377, + -0.002240268513560295, + -0.0017561400309205055, + 0.01609506830573082, + -0.00020753592252731323, + -0.012172408401966095, + 0.0 + ], + [ + -0.002476722002029419, + -0.0027271024882793427, + -0.0017784899100661278, + 0.0018153637647628784, + 0.006505630910396576, + -0.007853252813220024, + 0.0 + ], + [ + -0.00394207239151001, + -0.0012354645878076553, + 0.0019156606867909431, + -0.00520869717001915, + 0.013998359441757202, + -0.028011571615934372, + 0.0 + ], + [ + -0.0018499195575714111, + -0.004189927130937576, + 0.0186116024851799, + -0.04203272610902786, + -0.014538317918777466, + -0.0331583246588707, + 0.0 + ], + [ + -0.005011379718780518, + 0.0014879079535603523, + 0.056068841367959976, + 0.004403799772262573, + -0.13159190118312836, + -0.03640469163656235, + 0.0 + ], + [ + -0.036751121282577515, + -0.006203355733305216, + 0.02332957834005356, + 0.01580626517534256, + 0.012371286749839783, + -0.036191925406455994, + 0.0 + ], + [ + -0.050387024879455566, + -0.0169854536652565, + -0.02124360203742981, + 0.015524283051490784, + 0.09712380170822144, + -0.054476648569107056, + 0.0 + ], + [ + -0.03739137947559357, + -0.0009070346131920815, + -0.02602946013212204, + 0.004707597196102142, + 0.06089196354150772, + 0.00934302806854248, + 0.0 + ], + [ + -0.0023780614137649536, + 0.003362948540598154, + -0.012948840856552124, + 0.02102760225534439, + 0.021427679806947708, + 0.018539637327194214, + 0.0 + ], + [ + 0.0005892664194107056, + 0.0074509563855826855, + -0.010897643864154816, + 0.023194238543510437, + 0.03881828114390373, + 0.017311081290245056, + 0.0 + ], + [ + 0.0017927438020706177, + 0.016675466671586037, + -0.011788010597229004, + 0.03773411735892296, + 0.02147912234067917, + 0.0505518913269043, + 0.0 + ], + [ + 0.004131212830543518, + 0.003823881968855858, + -0.005856769159436226, + 0.012500587850809097, + 0.004694237373769283, + 0.020708657801151276, + 1.0 + ], + [ + -0.0033012330532073975, + -0.002093100920319557, + -0.0002334732562303543, + -0.015651395544409752, + 0.008310146629810333, + 0.012334786355495453, + 1.0 + ], + [ + -0.0004359036684036255, + -0.01032805722206831, + 0.027191467583179474, + -0.02177318185567856, + -0.06935204565525055, + -0.053563252091407776, + 1.0 + ], + [ + -0.007127821445465088, + -0.010625828057527542, + 0.03852270171046257, + -0.03695142641663551, + -0.08094322681427002, + -0.10063174366950989, + 1.0 + ], + [ + -0.0064593106508255005, + 0.0037788585759699345, + 0.01680149883031845, + -0.003434073179960251, + -0.025404050946235657, + -0.004114359617233276, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9468915462493896 + ], + [ + 0.6631406545639038 + ], + [ + 0.3445223569869995 + ], + [ + 0.17460396885871887 + ], + [ + 0.09737934172153473 + ], + [ + 0.07559127360582352 + ], + [ + 0.07365728914737701 + ], + [ + 0.07333792001008987 + ], + [ + 0.07301933318376541 + ], + [ + 0.07301933318376541 + ], + [ + 0.07301933318376541 + ], + [ + 0.07301933318376541 + ], + [ + 0.10753463208675385 + ], + [ + 0.2788355052471161 + ], + [ + 0.5869058966636658 + ], + [ + 0.8616333603858948 + ], + [ + 1.0099300146102905 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.22579120099544525, + -0.02193705178797245, + 0.09202217310667038 + ], + [ + 0.27525967359542847, + -0.0061880736611783504, + 0.08842074126005173 + ], + [ + 0.32289427518844604, + 0.017231391742825508, + 0.08404769003391266 + ], + [ + 0.36244305968284607, + 0.03041670471429825, + 0.08274069428443909 + ], + [ + 0.37578085064888, + 0.03614017739892006, + 0.05033658817410469 + ], + [ + 0.3796987533569336, + 0.02981407195329666, + 0.03294660896062851 + ], + [ + 0.3811173141002655, + 0.025903696194291115, + 0.014285740442574024 + ], + [ + 0.3825712203979492, + 0.022413307800889015, + 0.01300092600286007 + ], + [ + 0.3818769156932831, + 0.02017303928732872, + 0.011244785971939564 + ], + [ + 0.37940019369125366, + 0.017445936799049377, + 0.009466296061873436 + ], + [ + 0.37545812129974365, + 0.016210472211241722, + 0.011381956748664379 + ], + [ + 0.37360820174217224, + 0.012020545080304146, + 0.029993560165166855 + ], + [ + 0.3685968220233917, + 0.013508453033864498, + 0.08606240153312683 + ], + [ + 0.3318457007408142, + 0.007305097300559282, + 0.10939197987318039 + ], + [ + 0.28145867586135864, + -0.00968035589903593, + 0.08814837783575058 + ], + [ + 0.24406729638576508, + -0.010587390512228012, + 0.06211891770362854 + ], + [ + 0.24168923497200012, + -0.007224441971629858, + 0.049170076847076416 + ], + [ + 0.24227850139141083, + 0.00022651421022601426, + 0.0382724329829216 + ], + [ + 0.24407124519348145, + 0.016901981085538864, + 0.026484422385692596 + ], + [ + 0.24820245802402496, + 0.020725863054394722, + 0.02062765322625637 + ], + [ + 0.24490122497081757, + 0.018632762134075165, + 0.020394179970026016 + ], + [ + 0.24446532130241394, + 0.008304704912006855, + 0.04758564755320549 + ], + [ + 0.23733749985694885, + -0.0023211236111819744, + 0.08610834926366806 + ], + [ + 0.23087818920612335, + 0.00145773496478796, + 0.10290984809398651 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9841543602166426, + -0.1608822996550266, + 0.07454583103219713, + -0.16434107088820238, + -0.9854739487083868, + 0.04281482028945677, + 0.06657482771956301, + -0.05438733377184313, + -0.9962980529135347 + ], + [ + 0.9935677780943187, + -0.07253651726038805, + 0.08695702384771344, + -0.07746139945592619, + -0.9954956812871547, + 0.05466333444780829, + 0.08260025379529905, + -0.06104754051030175, + -0.994711212297617 + ], + [ + 0.9935273814933522, + 0.01314457785800929, + 0.11282979347627238, + 0.005889007595831284, + -0.9979068262201164, + 0.06439942369952661, + 0.1134401243498075, + -0.06331813528705374, + -0.9915251645476635 + ], + [ + 0.9872934716284539, + 0.04802201376509961, + 0.15147767846709395, + 0.03765934622768846, + -0.9967968195535643, + 0.0705540514045967, + 0.15438061575709175, + -0.06395300400953788, + -0.9859394701281705 + ], + [ + 0.9938514969684641, + 0.04522263993632623, + 0.10106490395153245, + 0.04320989261794005, + -0.9988233715697792, + 0.022017665315036947, + 0.10194168506302598, + -0.017515285985911955, + -0.9946361684572619 + ], + [ + 0.9928950326636964, + 0.01753497137481238, + 0.11769443015980699, + 0.022769888016005484, + -0.9988033585915267, + -0.043282595416917584, + 0.11679463305946786, + 0.045654962985096324, + -0.992106162687912 + ], + [ + 0.9943141041252971, + -0.005535934681331738, + 0.10634291591221529, + 0.0026977497206501664, + -0.9970176810875798, + -0.07712629736471331, + 0.10645273356731239, + 0.07697465184039147, + -0.9913338078014378 + ], + [ + 0.9935239087425428, + -0.027210007261155234, + 0.11031708055322982, + -0.01860674503693555, + -0.9967578160041765, + -0.07827927742203047, + 0.11208939198724556, + 0.07571969188680455, + -0.9908090110937109 + ], + [ + 0.9932005494934669, + -0.03758791889650112, + 0.11018083698586277, + -0.030697927407280362, + -0.9975047105937036, + -0.06357664348067475, + 0.11229561762941846, + 0.05976203390449101, + -0.9918760978896637 + ], + [ + 0.9936378347536577, + -0.04484422775060555, + 0.10330947964012842, + -0.03852424374516518, + -0.9973087191101958, + -0.062379495274033525, + 0.10582880510487393, + 0.058002707042274226, + -0.9926912661980271 + ], + [ + 0.9935499215239213, + -0.07240400388445338, + 0.08727092105226239, + -0.06643117689058399, + -0.9953671564285648, + -0.06950627770385408, + 0.09189914132755592, + 0.06326044676425706, + -0.9937568433467238 + ], + [ + 0.9893673820214166, + -0.11035541039572096, + 0.09473049555702662, + -0.09918930319992224, + -0.9883503469090471, + -0.11543428388256094, + 0.10636571591824939, + 0.10481066339432155, + -0.9887876715028561 + ], + [ + 0.9627577532346504, + -0.15882176116180594, + 0.21879935275962428, + -0.13206816873340863, + -0.9824138529766696, + -0.1319887127255162, + 0.2359141949819301, + 0.09817672667693303, + -0.9668018529900689 + ], + [ + 0.9601504324675145, + -0.18984902339477422, + 0.20510605878056198, + -0.16730636598085075, + -0.9782879899900663, + -0.12231593740587345, + 0.22387435524134175, + 0.08312615086268822, + -0.9710665868559308 + ], + [ + 0.9662933722451292, + -0.23322914744792542, + 0.10900130061540793, + -0.22319007891069018, + -0.96995384542509, + -0.09682833480402828, + 0.12830942066339693, + 0.06923656928094413, + -0.9893144040411163 + ], + [ + 0.9741657476507435, + -0.21978465499365296, + 0.05192110874575452, + -0.2154415432341963, + -0.9733827394915537, + -0.07817278240401593, + 0.06772028907894197, + 0.06496728322193118, + -0.9955868694181466 + ], + [ + 0.979190110811476, + -0.19960997993165047, + 0.03664127182148123, + -0.19758657225072035, + -0.9788837398611305, + -0.05240391494628622, + 0.04632788960464791, + 0.04407357198109577, + -0.9979535294279023 + ], + [ + 0.9834918252175783, + -0.18091645727817698, + 0.0036145838087713387, + -0.18079598217977297, + -0.9832755450617497, + -0.02195484709969011, + 0.007526125022101005, + 0.020938910416569152, + -0.9997524290906821 + ], + [ + 0.9913027006643822, + -0.13108635307178426, + -0.011632871263882523, + -0.13085978803568318, + -0.9912287535127389, + 0.018473605085048063, + -0.013952474001359749, + -0.01679065954397735, + -0.9997616727107115 + ], + [ + 0.9937238399634444, + -0.1108108588935982, + -0.015293248169379926, + -0.11029620782029083, + -0.9934099748173015, + 0.0311667847868835, + -0.018646083470004942, + -0.029284389779398914, + -0.9993971923547105 + ], + [ + 0.9948201305201263, + -0.09840461044135887, + -0.025484123602802916, + -0.098012179457727, + -0.9950530476856991, + 0.01621866114535139, + -0.026954045890456815, + -0.013636896101599356, + -0.9995436531111831 + ], + [ + 0.9876170060865759, + -0.15152251102958153, + 0.04066420956908658, + -0.15105102430933431, + -0.9884204253291363, + -0.014444751547535196, + 0.04238204034363067, + 0.008123511768901182, + -0.9990684517153223 + ], + [ + 0.96095991751792, + -0.25484418703648043, + 0.10775192461235945, + -0.24783212777408284, + -0.9659472761698888, + -0.07433099019213296, + 0.12302549884850257, + 0.04472471345562381, + -0.9913951919589833 + ], + [ + 0.9565996196242085, + -0.2603643967499395, + 0.1308722607730887, + -0.25090966211880417, + -0.9643184322342667, + -0.08446480159612693, + 0.14819416044583797, + 0.04796188234718956, + -0.9877945882882064 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005821.json b/json/chunk-0005/episode_0005821.json new file mode 100644 index 0000000000000000000000000000000000000000..971b3ece25fee958ef16ec953c4b37a5803938e8 --- /dev/null +++ b/json/chunk-0005/episode_0005821.json @@ -0,0 +1,1522 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 24, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPicking the stuffed doll and putting it near the banana." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005821.mp4", + "start": 0, + "end": 24, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3339695632457733, + 0.06352530419826508, + 0.06915058195590973, + 0.06322982907295227, + -0.05996590480208397, + 0.2320244163274765, + 0.0, + 1.0008161067962646 + ], + [ + 0.3307487368583679, + 0.06238076090812683, + 0.05855339765548706, + 0.061846133321523666, + -0.025817137211561203, + 0.23119382560253143, + 0.0, + 1.0008161067962646 + ], + [ + 0.3169189989566803, + 0.05660059675574303, + 0.06643687188625336, + 0.04026562348008156, + -0.023556141182780266, + 0.19550473988056183, + 0.0, + 1.0001531839370728 + ], + [ + 0.2860701382160187, + 0.058910977095365524, + 0.09111297875642776, + 0.08595272153615952, + -0.07427546381950378, + 0.1564914584159851, + 0.0, + 1.0008161067962646 + ], + [ + 0.2551884055137634, + 0.06544484943151474, + 0.09366391599178314, + 0.10929032415151596, + -0.11305594444274902, + 0.02596225030720234, + 0.0, + 1.0001531839370728 + ], + [ + 0.2321425825357437, + 0.07109646499156952, + 0.06746705621480942, + 0.11355128139257431, + -0.09758702665567398, + -0.0749535858631134, + 0.0, + 1.0001531839370728 + ], + [ + 0.22103704512119293, + 0.07960201054811478, + 0.033396344631910324, + 0.08072695136070251, + -0.03694932162761688, + -0.06227634847164154, + 0.0, + 1.0008161067962646 + ], + [ + 0.21974822878837585, + 0.07674852013587952, + 0.003985841292887926, + 0.05930337309837341, + 0.04881015792489052, + -0.05350799858570099, + 0.0, + 1.0001531839370728 + ], + [ + 0.23420833051204681, + 0.07455778867006302, + 0.0006431021611206234, + 0.0871049165725708, + 0.06781352311372757, + -0.09352938085794449, + 0.0, + 0.9635607004165649 + ], + [ + 0.2277616411447525, + 0.06732113659381866, + 0.0016809806693345308, + 0.05935376510024071, + 0.04940767213702202, + -0.08740075677633286, + 0.0, + 0.7031799554824829 + ], + [ + 0.2251245230436325, + 0.062347665429115295, + 0.011495097540318966, + 0.027554886415600777, + 0.011042531579732895, + -0.09591050446033478, + 0.0, + 0.39886748790740967 + ], + [ + 0.22247691452503204, + 0.06866279989480972, + 0.020856833085417747, + 0.0300764013081789, + -0.0021618076134473085, + -0.08103351294994354, + 0.0, + 0.17734436690807343 + ], + [ + 0.2202140837907791, + 0.0699031800031662, + 0.020767951384186745, + 0.027560733258724213, + 0.011637313291430473, + -0.07671785354614258, + 0.0, + 0.07722585648298264 + ], + [ + 0.22727622091770172, + 0.07319087535142899, + 0.03464558720588684, + 0.039362579584121704, + 9.014194802148268e-05, + -0.04945281147956848, + 0.0, + 0.06267260015010834 + ], + [ + 0.25304654240608215, + 0.08729490637779236, + 0.05878669396042824, + 0.06827005743980408, + -0.06849343329668045, + 0.06945718079805374, + 0.0, + 0.06238236278295517 + ], + [ + 0.28346022963523865, + 0.11427043378353119, + 0.07166137546300888, + 0.11043452471494675, + -0.10732930898666382, + 0.26300477981567383, + 0.0, + 0.062092870473861694 + ], + [ + 0.3072511553764343, + 0.1288953274488449, + 0.0679996907711029, + 0.10784301906824112, + -0.12250437587499619, + 0.3343883156776428, + 0.0, + 0.06238236278295517 + ], + [ + 0.3305807411670685, + 0.14106421172618866, + 0.06617600470781326, + 0.12556996941566467, + -0.15288759768009186, + 0.36722680926322937, + 0.0, + 0.06238236278295517 + ], + [ + 0.34830719232559204, + 0.14970439672470093, + 0.0529625378549099, + 0.14352858066558838, + -0.15215593576431274, + 0.38348114490509033, + 0.0, + 0.062092870473861694 + ], + [ + 0.35783466696739197, + 0.15729127824306488, + 0.03886067122220993, + 0.15799084305763245, + -0.14804065227508545, + 0.4094654619693756, + 0.0, + 0.062092870473861694 + ], + [ + 0.35930848121643066, + 0.1667642444372177, + 0.023233234882354736, + 0.17420601844787598, + -0.1226181760430336, + 0.42894986271858215, + 0.0, + 0.07954961806535721 + ], + [ + 0.35652485489845276, + 0.16662992537021637, + 0.020066773518919945, + 0.1765078604221344, + -0.10394259542226791, + 0.43709221482276917, + 0.0, + 0.23329517245292664 + ], + [ + 0.35621654987335205, + 0.16738423705101013, + 0.035065438598394394, + 0.18229621648788452, + -0.12508165836334229, + 0.4517825245857239, + 0.0, + 0.4985305666923523 + ], + [ + 0.35656651854515076, + 0.16626638174057007, + 0.07738440483808517, + 0.18563516438007355, + -0.1536046713590622, + 0.40835943818092346, + 0.0, + 0.803636372089386 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 0.9635607004165649 + ], + [ + 0.7031799554824829 + ], + [ + 0.39886748790740967 + ], + [ + 0.17734436690807343 + ], + [ + 0.07722585648298264 + ], + [ + 0.06267260015010834 + ], + [ + 0.06238236278295517 + ], + [ + 0.062092870473861694 + ], + [ + 0.06238236278295517 + ], + [ + 0.06238236278295517 + ], + [ + 0.062092870473861694 + ], + [ + 0.062092870473861694 + ], + [ + 0.07954961806535721 + ], + [ + 0.23329517245292664 + ], + [ + 0.4985305666923523 + ], + [ + 0.803636372089386 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3339695632457733, + 0.06352530419826508, + 0.06915058195590973 + ], + [ + 0.3307487368583679, + 0.06238076090812683, + 0.05855339765548706 + ], + [ + 0.3169189989566803, + 0.05660059675574303, + 0.06643687188625336 + ], + [ + 0.2860701382160187, + 0.058910977095365524, + 0.09111297875642776 + ], + [ + 0.2551884055137634, + 0.06544484943151474, + 0.09366391599178314 + ], + [ + 0.2321425825357437, + 0.07109646499156952, + 0.06746705621480942 + ], + [ + 0.22103704512119293, + 0.07960201054811478, + 0.033396344631910324 + ], + [ + 0.21974822878837585, + 0.07674852013587952, + 0.003985841292887926 + ], + [ + 0.23420833051204681, + 0.07455778867006302, + 0.0006431021611206234 + ], + [ + 0.2277616411447525, + 0.06732113659381866, + 0.0016809806693345308 + ], + [ + 0.2251245230436325, + 0.062347665429115295, + 0.011495097540318966 + ], + [ + 0.22247691452503204, + 0.06866279989480972, + 0.020856833085417747 + ], + [ + 0.2202140837907791, + 0.0699031800031662, + 0.020767951384186745 + ], + [ + 0.22727622091770172, + 0.07319087535142899, + 0.03464558720588684 + ], + [ + 0.25304654240608215, + 0.08729490637779236, + 0.05878669396042824 + ], + [ + 0.28346022963523865, + 0.11427043378353119, + 0.07166137546300888 + ], + [ + 0.3072511553764343, + 0.1288953274488449, + 0.0679996907711029 + ], + [ + 0.3305807411670685, + 0.14106421172618866, + 0.06617600470781326 + ], + [ + 0.34830719232559204, + 0.14970439672470093, + 0.0529625378549099 + ], + [ + 0.35783466696739197, + 0.15729127824306488, + 0.03886067122220993 + ], + [ + 0.35930848121643066, + 0.1667642444372177, + 0.023233234882354736 + ], + [ + 0.35652485489845276, + 0.16662992537021637, + 0.020066773518919945 + ], + [ + 0.35621654987335205, + 0.16738423705101013, + 0.035065438598394394 + ], + [ + 0.35656651854515076, + 0.16626638174057007, + 0.07738440483808517 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9714536281491158, + 0.2331740077361815, + 0.043677574018785775, + 0.22953484863986798, + -0.9703873124487414, + 0.07524770493763568, + 0.059929972599628664, + -0.06307413063020169, + -0.9962078359606754 + ], + [ + 0.9730691584834292, + 0.2302547096485281, + 0.01091702766428633, + 0.22906338927553002, + -0.9711669497717765, + 0.06606602276958043, + 0.025814269347741843, + -0.06178611782314655, + -0.9977555307500863 + ], + [ + 0.9806775949956485, + 0.19503432126658563, + 0.015266571377788352, + 0.19420778952838066, + -0.979970442480834, + 0.0440598042485306, + 0.023553962725007278, + -0.04024357578547052, + -0.9989122411142773 + ], + [ + 0.9850567180526666, + 0.16157075990669498, + 0.059650245284340105, + 0.1554237929830156, + -0.9831407720068664, + 0.09632064676129845, + 0.07420718829117243, + -0.08561023280493552, + -0.9935613625966957 + ], + [ + 0.9932811320429348, + 0.038105393099074944, + 0.10927292319815858, + 0.02579360893060402, + -0.9933793331654523, + 0.11194726516577284, + 0.11281525812513464, + -0.10837656322529222, + -0.9876878242023809 + ], + [ + 0.9924478171799195, + -0.06339237686106389, + 0.10501779244831533, + -0.0745271404661843, + -0.9915970514143047, + 0.10574021448999378, + 0.09743220981146952, + -0.11276832082797504, + -0.9888327817729812 + ], + [ + 0.997380229487012, + -0.0590603054006837, + 0.04176790818814161, + -0.062193622271768625, + -0.9949965113213416, + 0.07819140494373819, + 0.0369409146767053, + -0.08058425891163268, + -0.9960630231258015 + ], + [ + 0.9973795138336063, + -0.05627607399602269, + -0.04546546910165587, + -0.05341877255042031, + -0.9966587162255929, + 0.06178865681304329, + -0.048790779090376366, + -0.05919803093978513, + -0.997053184643932 + ], + [ + 0.9933409048804549, + -0.09890814275634173, + -0.05908490490615966, + -0.0931784187489962, + -0.9913041068048813, + 0.09291905138997444, + -0.06776155968331542, + -0.08679485657725994, + -0.993919022808708 + ], + [ + 0.994967331785739, + -0.09005425063094827, + -0.04393450378080541, + -0.08718300476141227, + -0.994173063454212, + 0.0633959271786368, + -0.04938757293023028, + -0.059246534458699034, + -0.9970209204398348 + ], + [ + 0.9953434243223274, + -0.09603000792262151, + -0.008348966204532755, + -0.09575768956478015, + -0.9949971108071627, + 0.0284818253385171, + -0.011042307164645253, + -0.027549719849389552, + -0.9995594431491813 + ], + [ + 0.9967162520424204, + -0.08084345416875147, + 0.004587900671877845, + -0.0809446694330932, + -0.9962730664615651, + 0.029798280716122557, + 0.0021618059296113715, + -0.030071796775958625, + -0.9995454034878996 + ], + [ + 0.9969911149523123, + -0.0769332552150097, + -0.009486355895061069, + -0.07663743053422743, + -0.996655394492688, + 0.028367743472756307, + -0.011637050625353612, + -0.027555378252653785, + -0.9995525399808138 + ], + [ + 0.9987774548429297, + -0.049397909256821436, + 0.0018553324593573975, + -0.0494326569375867, + -0.9980036242235623, + 0.039308758117319764, + -9.014194789940682e-05, + -0.03935241539842156, + -0.9992253896277554 + ], + [ + 0.9952497149279756, + 0.07389718651129192, + 0.06338147017463712, + 0.06923861783595898, + -0.9949409223605699, + 0.07279131000651383, + 0.06843989140807503, + -0.06805708514191387, + -0.9953312084055422 + ], + [ + 0.9600567540218703, + 0.2697995491782139, + 0.07415680899433703, + 0.25848716444694875, + -0.956661539512783, + 0.13410102398269722, + 0.10712336287274642, + -0.10957601051445712, + -0.9881890927583493 + ], + [ + 0.9375320532906104, + 0.33870900571630874, + 0.07943461776430638, + 0.32573186845053453, + -0.934806986870938, + 0.14154379948624168, + 0.12219819527478942, + -0.10682746249886907, + -0.9867398311245152 + ], + [ + 0.922439742936224, + 0.3740031900113775, + 0.09605485158525974, + 0.3548406131080877, + -0.9191301774721816, + 0.17113695144249863, + 0.15229267855294057, + -0.12377936306698756, + -0.980553725880383 + ], + [ + 0.9166535335380728, + 0.39040908160141063, + 0.08559818021026044, + 0.36982831551018125, + -0.9097204993689793, + 0.18877401853739473, + 0.15156951045334596, + -0.141383740334587, + -0.9782828432871217 + ], + [ + 0.9072999495335943, + 0.414449090473971, + 0.07098417416322808, + 0.3937644015501373, + -0.8966696163189006, + 0.20231953747074907, + 0.1475005005015222, + -0.15561346527795653, + -0.9767435957179278 + ], + [ + 0.9025750454924011, + 0.4289000205786521, + 0.03745743720574716, + 0.41279325557204954, + -0.8868214135367758, + 0.20772459807847538, + 0.12231114180081601, + -0.1720248611110246, + -0.9774699134761714 + ], + [ + 0.9010966148143383, + 0.43323579186765054, + 0.018210969632332742, + 0.4210221857336936, + -0.884197856708774, + 0.20232268610225934, + 0.1037555294437996, + -0.1746450653079552, + -0.9791495755365555 + ], + [ + 0.892641645845257, + 0.44968356927466624, + 0.031234270074176618, + 0.433159201558609, + -0.8748890141028072, + 0.21666176198703324, + 0.12475575420708454, + -0.17987190032524247, + -0.9757469453017042 + ], + [ + 0.9069676475503118, + 0.41619918084049845, + 0.06471420373265538, + 0.3924286860092948, + -0.8907914051595501, + 0.22910783245208502, + 0.15300134866749343, + -0.18239768189747477, + -0.9712474828509755 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0032208263874053955, + -0.0011445432901382446, + -0.010597184300422668, + -0.0013836957514286041, + 0.034148767590522766, + -0.0008305907249450684, + 1.0 + ], + [ + -0.013829737901687622, + -0.005780164152383804, + 0.007883474230766296, + -0.021580509841442108, + 0.002260996028780937, + -0.035689085721969604, + 1.0 + ], + [ + -0.03084886074066162, + 0.0023103803396224976, + 0.024676106870174408, + 0.04568709805607796, + -0.05071932077407837, + -0.03901328146457672, + 1.0 + ], + [ + -0.03088173270225525, + 0.006533872336149216, + 0.002550937235355377, + 0.023337602615356445, + -0.03878048062324524, + -0.13052920997142792, + 1.0 + ], + [ + -0.023045822978019714, + 0.005651615560054779, + -0.026196859776973724, + 0.00426095724105835, + 0.015468917787075043, + -0.1009158343076706, + 1.0 + ], + [ + -0.011105537414550781, + 0.008505545556545258, + -0.034070711582899094, + -0.032824330031871796, + 0.0606377050280571, + 0.012677237391471863, + 1.0 + ], + [ + -0.0012888163328170776, + -0.00285349041223526, + -0.029410503804683685, + -0.0214235782623291, + 0.0857594758272171, + 0.008768349885940552, + 1.0 + ], + [ + 0.01446010172367096, + -0.002190731465816498, + -0.003342739073559642, + 0.027801543474197388, + 0.01900336518883705, + -0.0400213822722435, + 0.0 + ], + [ + -0.0064466893672943115, + -0.007236652076244354, + 0.0010378784500062466, + -0.027751151472330093, + -0.01840585097670555, + 0.006128624081611633, + 0.0 + ], + [ + -0.002637118101119995, + -0.004973471164703369, + 0.009814117103815079, + -0.03179887682199478, + -0.038365140557289124, + -0.008509747684001923, + 0.0 + ], + [ + -0.002647608518600464, + 0.0063151344656944275, + 0.009361735545098782, + 0.002521514892578125, + -0.01320433896034956, + 0.014876991510391235, + 0.0 + ], + [ + -0.0022628307342529297, + 0.0012403801083564758, + -8.888170123100281e-05, + -0.002515668049454689, + 0.013799120672047138, + 0.004315659403800964, + 0.0 + ], + [ + 0.007062137126922607, + 0.003287695348262787, + 0.013877635821700096, + 0.011801846325397491, + -0.011547171510756016, + 0.027265042066574097, + 0.0 + ], + [ + 0.025770321488380432, + 0.014104031026363373, + 0.024141106754541397, + 0.028907477855682373, + -0.06858357787132263, + 0.11890999227762222, + 0.0 + ], + [ + 0.030413687229156494, + 0.02697552740573883, + 0.012874681502580643, + 0.04216446727514267, + -0.03883587568998337, + 0.19354760646820068, + 0.0 + ], + [ + 0.02379092574119568, + 0.01462489366531372, + -0.0036616846919059753, + -0.0025915056467056274, + -0.015175066888332367, + 0.071383535861969, + 0.0 + ], + [ + 0.023329585790634155, + 0.01216888427734375, + -0.0018236860632896423, + 0.017726950347423553, + -0.030383221805095673, + 0.03283849358558655, + 0.0 + ], + [ + 0.01772645115852356, + 0.008640184998512268, + -0.013213466852903366, + 0.017958611249923706, + 0.0007316619157791138, + 0.016254335641860962, + 0.0 + ], + [ + 0.009527474641799927, + 0.007586881518363953, + -0.014101866632699966, + 0.014462262392044067, + 0.004115283489227295, + 0.02598431706428528, + 0.0 + ], + [ + 0.0014738142490386963, + 0.009472966194152832, + -0.015627436339855194, + 0.01621517539024353, + 0.02542247623205185, + 0.019484400749206543, + 1.0 + ], + [ + -0.0027836263179779053, + -0.00013431906700134277, + -0.0031664613634347916, + 0.002301841974258423, + 0.018675580620765686, + 0.008142352104187012, + 1.0 + ], + [ + -0.000308305025100708, + 0.0007543116807937622, + 0.01499866507947445, + 0.005788356065750122, + -0.02113906294107437, + 0.014690309762954712, + 1.0 + ], + [ + 0.00034996867179870605, + -0.0011178553104400635, + 0.04231896623969078, + 0.003338947892189026, + -0.02852301299571991, + -0.043423086404800415, + 1.0 + ], + [ + -0.0010667145252227783, + -0.006150886416435242, + 0.023189350962638855, + -0.01421058177947998, + 0.01687261462211609, + -0.09058061242103577, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 0.9635607004165649 + ], + [ + 0.7031799554824829 + ], + [ + 0.39886748790740967 + ], + [ + 0.17734436690807343 + ], + [ + 0.07722585648298264 + ], + [ + 0.06267260015010834 + ], + [ + 0.06238236278295517 + ], + [ + 0.062092870473861694 + ], + [ + 0.06238236278295517 + ], + [ + 0.06238236278295517 + ], + [ + 0.062092870473861694 + ], + [ + 0.062092870473861694 + ], + [ + 0.07954961806535721 + ], + [ + 0.23329517245292664 + ], + [ + 0.4985305666923523 + ], + [ + 0.803636372089386 + ], + [ + 1.0092895030975342 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3307487368583679, + 0.06238076090812683, + 0.05855339765548706 + ], + [ + 0.3169189989566803, + 0.05660059675574303, + 0.06643687188625336 + ], + [ + 0.2860701382160187, + 0.058910977095365524, + 0.09111297875642776 + ], + [ + 0.2551884055137634, + 0.06544484943151474, + 0.09366391599178314 + ], + [ + 0.2321425825357437, + 0.07109646499156952, + 0.06746705621480942 + ], + [ + 0.22103704512119293, + 0.07960201054811478, + 0.033396344631910324 + ], + [ + 0.21974822878837585, + 0.07674852013587952, + 0.003985841292887926 + ], + [ + 0.23420833051204681, + 0.07455778867006302, + 0.0006431021611206234 + ], + [ + 0.2277616411447525, + 0.06732113659381866, + 0.0016809806693345308 + ], + [ + 0.2251245230436325, + 0.062347665429115295, + 0.011495097540318966 + ], + [ + 0.22247691452503204, + 0.06866279989480972, + 0.020856833085417747 + ], + [ + 0.2202140837907791, + 0.0699031800031662, + 0.020767951384186745 + ], + [ + 0.22727622091770172, + 0.07319087535142899, + 0.03464558720588684 + ], + [ + 0.25304654240608215, + 0.08729490637779236, + 0.05878669396042824 + ], + [ + 0.28346022963523865, + 0.11427043378353119, + 0.07166137546300888 + ], + [ + 0.3072511553764343, + 0.1288953274488449, + 0.0679996907711029 + ], + [ + 0.3305807411670685, + 0.14106421172618866, + 0.06617600470781326 + ], + [ + 0.34830719232559204, + 0.14970439672470093, + 0.0529625378549099 + ], + [ + 0.35783466696739197, + 0.15729127824306488, + 0.03886067122220993 + ], + [ + 0.35930848121643066, + 0.1667642444372177, + 0.023233234882354736 + ], + [ + 0.35652485489845276, + 0.16662992537021637, + 0.020066773518919945 + ], + [ + 0.35621654987335205, + 0.16738423705101013, + 0.035065438598394394 + ], + [ + 0.35656651854515076, + 0.16626638174057007, + 0.07738440483808517 + ], + [ + 0.355499804019928, + 0.16011549532413483, + 0.10057375580072403 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9730691584834292, + 0.2302547096485281, + 0.01091702766428633, + 0.22906338927553002, + -0.9711669497717765, + 0.06606602276958043, + 0.025814269347741843, + -0.06178611782314655, + -0.9977555307500863 + ], + [ + 0.9806775949956485, + 0.19503432126658563, + 0.015266571377788352, + 0.19420778952838066, + -0.979970442480834, + 0.0440598042485306, + 0.023553962725007278, + -0.04024357578547052, + -0.9989122411142773 + ], + [ + 0.9850567180526666, + 0.16157075990669498, + 0.059650245284340105, + 0.1554237929830156, + -0.9831407720068664, + 0.09632064676129845, + 0.07420718829117243, + -0.08561023280493552, + -0.9935613625966957 + ], + [ + 0.9932811320429348, + 0.038105393099074944, + 0.10927292319815858, + 0.02579360893060402, + -0.9933793331654523, + 0.11194726516577284, + 0.11281525812513464, + -0.10837656322529222, + -0.9876878242023809 + ], + [ + 0.9924478171799195, + -0.06339237686106389, + 0.10501779244831533, + -0.0745271404661843, + -0.9915970514143047, + 0.10574021448999378, + 0.09743220981146952, + -0.11276832082797504, + -0.9888327817729812 + ], + [ + 0.997380229487012, + -0.0590603054006837, + 0.04176790818814161, + -0.062193622271768625, + -0.9949965113213416, + 0.07819140494373819, + 0.0369409146767053, + -0.08058425891163268, + -0.9960630231258015 + ], + [ + 0.9973795138336063, + -0.05627607399602269, + -0.04546546910165587, + -0.05341877255042031, + -0.9966587162255929, + 0.06178865681304329, + -0.048790779090376366, + -0.05919803093978513, + -0.997053184643932 + ], + [ + 0.9933409048804549, + -0.09890814275634173, + -0.05908490490615966, + -0.0931784187489962, + -0.9913041068048813, + 0.09291905138997444, + -0.06776155968331542, + -0.08679485657725994, + -0.993919022808708 + ], + [ + 0.994967331785739, + -0.09005425063094827, + -0.04393450378080541, + -0.08718300476141227, + -0.994173063454212, + 0.0633959271786368, + -0.04938757293023028, + -0.059246534458699034, + -0.9970209204398348 + ], + [ + 0.9953434243223274, + -0.09603000792262151, + -0.008348966204532755, + -0.09575768956478015, + -0.9949971108071627, + 0.0284818253385171, + -0.011042307164645253, + -0.027549719849389552, + -0.9995594431491813 + ], + [ + 0.9967162520424204, + -0.08084345416875147, + 0.004587900671877845, + -0.0809446694330932, + -0.9962730664615651, + 0.029798280716122557, + 0.0021618059296113715, + -0.030071796775958625, + -0.9995454034878996 + ], + [ + 0.9969911149523123, + -0.0769332552150097, + -0.009486355895061069, + -0.07663743053422743, + -0.996655394492688, + 0.028367743472756307, + -0.011637050625353612, + -0.027555378252653785, + -0.9995525399808138 + ], + [ + 0.9987774548429297, + -0.049397909256821436, + 0.0018553324593573975, + -0.0494326569375867, + -0.9980036242235623, + 0.039308758117319764, + -9.014194789940682e-05, + -0.03935241539842156, + -0.9992253896277554 + ], + [ + 0.9952497149279756, + 0.07389718651129192, + 0.06338147017463712, + 0.06923861783595898, + -0.9949409223605699, + 0.07279131000651383, + 0.06843989140807503, + -0.06805708514191387, + -0.9953312084055422 + ], + [ + 0.9600567540218703, + 0.2697995491782139, + 0.07415680899433703, + 0.25848716444694875, + -0.956661539512783, + 0.13410102398269722, + 0.10712336287274642, + -0.10957601051445712, + -0.9881890927583493 + ], + [ + 0.9375320532906104, + 0.33870900571630874, + 0.07943461776430638, + 0.32573186845053453, + -0.934806986870938, + 0.14154379948624168, + 0.12219819527478942, + -0.10682746249886907, + -0.9867398311245152 + ], + [ + 0.922439742936224, + 0.3740031900113775, + 0.09605485158525974, + 0.3548406131080877, + -0.9191301774721816, + 0.17113695144249863, + 0.15229267855294057, + -0.12377936306698756, + -0.980553725880383 + ], + [ + 0.9166535335380728, + 0.39040908160141063, + 0.08559818021026044, + 0.36982831551018125, + -0.9097204993689793, + 0.18877401853739473, + 0.15156951045334596, + -0.141383740334587, + -0.9782828432871217 + ], + [ + 0.9072999495335943, + 0.414449090473971, + 0.07098417416322808, + 0.3937644015501373, + -0.8966696163189006, + 0.20231953747074907, + 0.1475005005015222, + -0.15561346527795653, + -0.9767435957179278 + ], + [ + 0.9025750454924011, + 0.4289000205786521, + 0.03745743720574716, + 0.41279325557204954, + -0.8868214135367758, + 0.20772459807847538, + 0.12231114180081601, + -0.1720248611110246, + -0.9774699134761714 + ], + [ + 0.9010966148143383, + 0.43323579186765054, + 0.018210969632332742, + 0.4210221857336936, + -0.884197856708774, + 0.20232268610225934, + 0.1037555294437996, + -0.1746450653079552, + -0.9791495755365555 + ], + [ + 0.892641645845257, + 0.44968356927466624, + 0.031234270074176618, + 0.433159201558609, + -0.8748890141028072, + 0.21666176198703324, + 0.12475575420708454, + -0.17987190032524247, + -0.9757469453017042 + ], + [ + 0.9069676475503118, + 0.41619918084049845, + 0.06471420373265538, + 0.3924286860092948, + -0.8907914051595501, + 0.22910783245208502, + 0.15300134866749343, + -0.18239768189747477, + -0.9712474828509755 + ], + [ + 0.9410658103154931, + 0.32996541326015977, + 0.0742830176237922, + 0.30954111915982635, + -0.928743140789489, + 0.20401096535666355, + 0.13630640558875734, + -0.1689940960167768, + -0.976146279666601 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005822.json b/json/chunk-0005/episode_0005822.json new file mode 100644 index 0000000000000000000000000000000000000000..dace6c1ebdfc5ca0ef537dfceebe25112bc273a5 --- /dev/null +++ b/json/chunk-0005/episode_0005822.json @@ -0,0 +1,1822 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 29, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the green object from under the heater to the top right outside." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005822.mp4", + "start": 0, + "end": 29, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.313614159822464, + 0.001509475288912654, + 0.1579992175102234, + -0.02578023448586464, + -0.05441872030496597, + -0.05773773416876793, + 0.0, + 1.0008161067962646 + ], + [ + 0.3115012049674988, + 0.0012346056755632162, + 0.1472707986831665, + -0.026434658095240593, + -0.023911407217383385, + -0.06697198748588562, + 0.0, + 1.0008161067962646 + ], + [ + 0.3007131516933441, + -0.015015142038464546, + 0.13433857262134552, + -0.004234902560710907, + -0.02230762504041195, + -0.18805263936519623, + 0.0, + 1.0008161067962646 + ], + [ + 0.2928014397621155, + -0.02250104397535324, + 0.1287030726671219, + 0.01734994910657406, + -0.07634327560663223, + -0.2655439078807831, + 0.0, + 1.0008161067962646 + ], + [ + 0.28450754284858704, + -0.031087374314665794, + 0.10783185809850693, + 0.016626227647066116, + -0.09691901504993439, + -0.3310280442237854, + 0.0, + 1.0008161067962646 + ], + [ + 0.28436315059661865, + -0.029219772666692734, + 0.08454980701208115, + 0.030236436054110527, + -0.08419568836688995, + -0.3519028127193451, + 0.0, + 1.0001531839370728 + ], + [ + 0.2868020236492157, + -0.03298244997859001, + 0.057559650391340256, + 0.008853821083903313, + -0.09564489126205444, + -0.33538174629211426, + 0.0, + 1.0008161067962646 + ], + [ + 0.2909502387046814, + -0.03612221032381058, + 0.03702554851770401, + -0.00822174921631813, + -0.10655907541513443, + -0.34004756808280945, + 0.0, + 1.0008161067962646 + ], + [ + 0.29142528772354126, + -0.0341649204492569, + 0.015051803551614285, + -0.006090942304581404, + -0.07128722220659256, + -0.3454847037792206, + 0.0, + 1.0008161067962646 + ], + [ + 0.2946168780326843, + -0.03142349421977997, + 0.0048720198683440685, + 0.001960946014150977, + -0.05810891091823578, + -0.34560319781303406, + 0.0, + 0.9453431367874146 + ], + [ + 0.2972356081008911, + -0.02988250181078911, + 0.0031314927618950605, + 0.020204326137900352, + -0.07561208307743073, + -0.3374485969543457, + 0.0, + 0.6581199765205383 + ], + [ + 0.295700341463089, + -0.030481183901429176, + 0.0034771347418427467, + 0.030204180628061295, + -0.08296989649534225, + -0.3264271020889282, + 0.0, + 0.3806030750274658 + ], + [ + 0.2936590611934662, + -0.030128680169582367, + 0.004189209546893835, + 0.029326554387807846, + -0.08944334834814072, + -0.32271987199783325, + 0.0, + 0.3034155070781708 + ], + [ + 0.2880435585975647, + -0.03102034702897072, + 0.008233188651502132, + 0.001264557708054781, + -0.08614403754472733, + -0.30741214752197266, + 0.0, + 0.3034155070781708 + ], + [ + 0.2889321446418762, + -0.02590756304562092, + 0.02304430678486824, + -0.008245931938290596, + -0.11655598133802414, + -0.2300824671983719, + 0.0, + 0.3034155070781708 + ], + [ + 0.30090272426605225, + -0.024385929107666016, + 0.0643223226070404, + -0.015722814947366714, + -0.2129061073064804, + -0.15081779658794403, + 0.0, + 0.3034155070781708 + ], + [ + 0.31881484389305115, + -0.03786984086036682, + 0.09389990568161011, + 0.016827749088406563, + -0.25590649247169495, + -0.08879566192626953, + 0.0, + 0.3034155070781708 + ], + [ + 0.34139183163642883, + -0.07278173416852951, + 0.12294517457485199, + 0.035518478602170944, + -0.3061637282371521, + -0.13286736607551575, + 0.0, + 0.3034155070781708 + ], + [ + 0.362030029296875, + -0.0874030664563179, + 0.11478231847286224, + 0.02891511656343937, + -0.28099244832992554, + -0.12690593302249908, + 0.0, + 0.3034155070781708 + ], + [ + 0.3751266896724701, + -0.09417439997196198, + 0.09373048692941666, + -0.007803578395396471, + -0.25234049558639526, + -0.09797223657369614, + 0.0, + 0.3034155070781708 + ], + [ + 0.3843337297439575, + -0.08749334514141083, + 0.06080407276749611, + -0.006588607095181942, + -0.20084066689014435, + -0.08369360119104385, + 0.0, + 0.3034155070781708 + ], + [ + 0.3924952745437622, + -0.09023143351078033, + 0.03117557242512703, + -0.023840870708227158, + -0.16396595537662506, + -0.08768283575773239, + 0.0, + 0.3026532232761383 + ], + [ + 0.4018304944038391, + -0.09370690584182739, + 0.017431538552045822, + -0.0412505567073822, + -0.15580661594867706, + -0.09451780468225479, + 0.0, + 0.3034155070781708 + ], + [ + 0.4090757966041565, + -0.09577374160289764, + 0.009527568705379963, + -0.050954367965459824, + -0.13865764439105988, + -0.11186366528272629, + 0.0, + 0.37120094895362854 + ], + [ + 0.41119277477264404, + -0.09592869132757187, + 0.014146354049444199, + -0.05090998485684395, + -0.12979502975940704, + -0.12007845193147659, + 0.0, + 0.6892001032829285 + ], + [ + 0.4095592498779297, + -0.09644835442304611, + 0.012708601541817188, + -0.052912283688783646, + -0.12146787345409393, + -0.11012032628059387, + 0.0, + 0.9613274931907654 + ], + [ + 0.4087228775024414, + -0.09552891552448273, + 0.014408831484615803, + -0.043772295117378235, + -0.1207718700170517, + -0.11502763628959656, + 0.0, + 1.0067112445831299 + ], + [ + 0.40877482295036316, + -0.09417051076889038, + 0.0411880798637867, + -0.03782104328274727, + -0.163096085190773, + -0.1258007436990738, + 0.0, + 1.0014774799346924 + ], + [ + 0.3982277810573578, + -0.092323899269104, + 0.08728156238794327, + -0.04576379060745239, + -0.2330012172460556, + -0.11636405438184738, + 0.0, + 1.0008161067962646 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9453431367874146 + ], + [ + 0.6581199765205383 + ], + [ + 0.3806030750274658 + ], + [ + 0.3034155070781708 + ], + [ + 0.3034155070781708 + ], + [ + 0.3034155070781708 + ], + [ + 0.3034155070781708 + ], + [ + 0.3034155070781708 + ], + [ + 0.3034155070781708 + ], + [ + 0.3034155070781708 + ], + [ + 0.3034155070781708 + ], + [ + 0.3034155070781708 + ], + [ + 0.3026532232761383 + ], + [ + 0.3034155070781708 + ], + [ + 0.37120094895362854 + ], + [ + 0.6892001032829285 + ], + [ + 0.9613274931907654 + ], + [ + 1.0067112445831299 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.313614159822464, + 0.001509475288912654, + 0.1579992175102234 + ], + [ + 0.3115012049674988, + 0.0012346056755632162, + 0.1472707986831665 + ], + [ + 0.3007131516933441, + -0.015015142038464546, + 0.13433857262134552 + ], + [ + 0.2928014397621155, + -0.02250104397535324, + 0.1287030726671219 + ], + [ + 0.28450754284858704, + -0.031087374314665794, + 0.10783185809850693 + ], + [ + 0.28436315059661865, + -0.029219772666692734, + 0.08454980701208115 + ], + [ + 0.2868020236492157, + -0.03298244997859001, + 0.057559650391340256 + ], + [ + 0.2909502387046814, + -0.03612221032381058, + 0.03702554851770401 + ], + [ + 0.29142528772354126, + -0.0341649204492569, + 0.015051803551614285 + ], + [ + 0.2946168780326843, + -0.03142349421977997, + 0.0048720198683440685 + ], + [ + 0.2972356081008911, + -0.02988250181078911, + 0.0031314927618950605 + ], + [ + 0.295700341463089, + -0.030481183901429176, + 0.0034771347418427467 + ], + [ + 0.2936590611934662, + -0.030128680169582367, + 0.004189209546893835 + ], + [ + 0.2880435585975647, + -0.03102034702897072, + 0.008233188651502132 + ], + [ + 0.2889321446418762, + -0.02590756304562092, + 0.02304430678486824 + ], + [ + 0.30090272426605225, + -0.024385929107666016, + 0.0643223226070404 + ], + [ + 0.31881484389305115, + -0.03786984086036682, + 0.09389990568161011 + ], + [ + 0.34139183163642883, + -0.07278173416852951, + 0.12294517457485199 + ], + [ + 0.362030029296875, + -0.0874030664563179, + 0.11478231847286224 + ], + [ + 0.3751266896724701, + -0.09417439997196198, + 0.09373048692941666 + ], + [ + 0.3843337297439575, + -0.08749334514141083, + 0.06080407276749611 + ], + [ + 0.3924952745437622, + -0.09023143351078033, + 0.03117557242512703 + ], + [ + 0.4018304944038391, + -0.09370690584182739, + 0.017431538552045822 + ], + [ + 0.4090757966041565, + -0.09577374160289764, + 0.009527568705379963 + ], + [ + 0.41119277477264404, + -0.09592869132757187, + 0.014146354049444199 + ], + [ + 0.4095592498779297, + -0.09644835442304611, + 0.012708601541817188 + ], + [ + 0.4087228775024414, + -0.09552891552448273, + 0.014408831484615803 + ], + [ + 0.40877482295036316, + -0.09417051076889038, + 0.0411880798637867 + ], + [ + 0.3982277810573578, + -0.092323899269104, + 0.08728156238794327 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9968557736083361, + -0.0590862282130674, + 0.052795684097085537, + -0.05762023638476853, + -0.9979209939669661, + -0.02887210000928331, + 0.054391865041468555, + 0.02573921979268173, + -0.9981878668776609 + ], + [ + 0.9974729913166388, + -0.06752909285313577, + 0.022078342606944187, + -0.06690280381637265, + -0.9973673308228903, + -0.02797181168125504, + 0.023909128703175114, + 0.02642402364622411, + -0.9993648605684509 + ], + [ + 0.982125730919296, + -0.18703734245755907, + 0.021120634286211536, + -0.18689970859011037, + -0.9823436807742455, + -0.008330172377490279, + 0.022305774928702924, + 0.004233836241595141, + -0.9997422302951441 + ], + [ + 0.9621392624191938, + -0.2611178317053572, + 0.07813781208187971, + -0.26166975025011097, + -0.9651519249792377, + -0.003271622367744297, + 0.07626913868331626, + -0.017298545440739936, + -0.9969371990301799 + ], + [ + 0.9412705281408756, + -0.32344905112719463, + 0.09690461381335046, + -0.32349014188573627, + -0.9461008897540256, + -0.015723692612976792, + 0.09676735480596411, + -0.016547438821721765, + -0.9951694636152669 + ], + [ + 0.935393259943661, + -0.3421405029454041, + 0.08932707034397062, + -0.34346363765023635, + -0.9391657875322936, + -0.000594256606067255, + 0.08409624762162625, + -0.0301247368969864, + -0.9960021693564977 + ], + [ + 0.9399688934913132, + -0.32831835811939075, + 0.09308885535070299, + -0.3276253882248275, + -0.9445260094504497, + -0.023069947163794284, + 0.09549913224342765, + -0.008813239665224099, + -0.9953904975171081 + ], + [ + 0.9373915412662845, + -0.33434502783686804, + 0.09752179614416369, + -0.33164012759714645, + -0.9424152860392375, + -0.04322330860694136, + 0.10635752972765157, + 0.00817502295693567, + -0.9942943451865175 + ], + [ + 0.9385216353281078, + -0.3390546996628503, + 0.0649542197057924, + -0.33779265030674654, + -0.9407470434345496, + -0.02985172805546381, + 0.07122685883708474, + 0.006075434608957531, + -0.9974416392323483 + ], + [ + 0.9392832344470385, + -0.33865646859751186, + 0.05530643510272669, + -0.3381924878323963, + -0.9409080528629472, + -0.01782911190698263, + 0.05807621423994612, + -0.0019576349812232604, + -0.9983102328459006 + ], + [ + 0.9409063650582943, + -0.32957302648719733, + 0.07795404033696103, + -0.33013468795760315, + -0.9439151392153501, + -0.00594119240571155, + 0.0755400555991547, + -0.020145227031107046, + -0.9969392508212028 + ], + [ + 0.9439357014258496, + -0.31814397632485497, + 0.08814647980435195, + -0.31955777233499344, + -0.9475645936373384, + 0.0020423087919721663, + 0.08287473507641138, + -0.03009570090752863, + -0.9961054296975289 + ], + [ + 0.9445852969935183, + -0.31452684051645846, + 0.09397597192049295, + -0.3158794316350793, + -0.9487992024184366, + -0.0005080945167756541, + 0.08932413656770627, + -0.02920513798757017, + -0.9955743360199483 + ], + [ + 0.9495855597552133, + -0.3024891781175313, + 0.08238666048674659, + -0.3014710722680285, + -0.9531519867543395, + -0.02482907029713998, + 0.08603753419260204, + -0.001259868261210299, + -0.9962910997504801 + ], + [ + 0.9670414292543991, + -0.22898372199581055, + 0.1113432942145811, + -0.22651045470005435, + -0.9733957986090609, + -0.03454899653830299, + 0.11629225261032676, + 0.008189890791359115, + -0.9931812713053151 + ], + [ + 0.9663258210123536, + -0.1535125285633085, + 0.20651467555333725, + -0.1468542726882135, + -0.9880272028013869, + -0.04728709250612832, + 0.21130127836342255, + 0.015367176011443853, + -0.9773001686602826 + ], + [ + 0.9636227952386346, + -0.08442396489883638, + 0.25358174746467943, + -0.08579112077425402, + -0.9962969382723517, + -0.005682814921771764, + 0.2531224843682951, + -0.016278972323147164, + -0.9672972671145744 + ], + [ + 0.9450928302958692, + -0.12178443296279615, + 0.3032624177363131, + -0.12631618894540408, + -0.9919788691660563, + -0.004705692121418798, + 0.30140299025333644, + -0.03385963697328751, + -0.9528954624985811 + ], + [ + 0.9530543320071881, + -0.11855982161565552, + 0.2786234177896696, + -0.12160175464780389, + -0.9925583081301329, + -0.006404547480024669, + 0.27730931017351024, + -0.02777721476880872, + -0.9603790776723428 + ], + [ + 0.9636871467945862, + -0.09975156602698146, + 0.2477028626763812, + -0.09471783079694279, + -0.9949836814630891, + -0.03218704943419474, + 0.24967101480154064, + 0.007556367998075596, + -0.9683012370490116 + ], + [ + 0.9764693093392058, + -0.08490388596260688, + 0.1982397994022973, + -0.08191558480945722, + -0.9963682294254835, + -0.02324195251806003, + 0.19949317001827166, + 0.006456124222456018, + -0.9798779483058517 + ], + [ + 0.9827975204592311, + -0.09142191941138084, + 0.16047138819841422, + -0.08639599934019684, + -0.9955344769955995, + -0.03803730288949021, + 0.1632322427622554, + 0.02351888101583706, + -0.9863073036120978 + ], + [ + 0.9834772682109568, + -0.10066761043845737, + 0.15046094217744557, + -0.09323391649226184, + -0.9940856804334318, + -0.055687492067023524, + 0.155176994840819, + 0.04073931965327663, + -0.9870463049453965 + ], + [ + 0.9842121893990122, + -0.11848117547941346, + 0.13148603460223027, + -0.1105591278929673, + -0.9916741727544653, + -0.06602283189392039, + 0.13821376732420312, + 0.050443494612911234, + -0.9891169841698644 + ], + [ + 0.9844482547577885, + -0.12617394206973573, + 0.12223653319252488, + -0.11878247358912114, + -0.9907239423299998, + -0.06600601534824613, + 0.1294308992180538, + 0.05045994883752988, + -0.9903037089150579 + ], + [ + 0.9866193553076771, + -0.11611363585756522, + 0.114454669193531, + -0.10908815421439759, + -0.9918475652406448, + -0.06586487634772326, + 0.12116939523807024, + 0.05249791323606881, + -0.9912426275960385 + ], + [ + 0.9861556865156569, + -0.11990130239380029, + 0.11454536060925175, + -0.11393812011156343, + -0.9918350067252675, + -0.05728371688124977, + 0.120478490770245, + 0.04343958009187813, + -0.9917650609610952 + ], + [ + 0.9789316779793049, + -0.13147063300418113, + 0.15623137490946543, + -0.12380412410612264, + -0.9906176957037003, + -0.05787158035691221, + 0.16237397791191116, + 0.03731023473754463, + -0.9860236496559761 + ], + [ + 0.9663978823274364, + -0.12647174567255387, + 0.22378568001456917, + -0.11296430448483225, + -0.9909710459848297, + -0.07221808590644535, + 0.23089867679418258, + 0.044511611589218646, + -0.9719591130744266 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.00211295485496521, + -0.0002748696133494377, + -0.010728418827056885, + -0.0006544236093759537, + 0.030507313087582588, + -0.009234253317117691, + 1.0 + ], + [ + -0.010788053274154663, + -0.016249747946858406, + -0.012932226061820984, + 0.022199755534529686, + 0.0016037821769714355, + -0.12108065187931061, + 1.0 + ], + [ + -0.007911711931228638, + -0.007485901936888695, + -0.005635499954223633, + 0.021584851667284966, + -0.054035648703575134, + -0.07749126851558685, + 1.0 + ], + [ + -0.008293896913528442, + -0.008586330339312553, + -0.02087121456861496, + -0.0007237214595079422, + -0.020575739443302155, + -0.06548413634300232, + 1.0 + ], + [ + -0.0001443922519683838, + 0.0018676016479730606, + -0.02328205108642578, + 0.01361020840704441, + 0.012723326683044434, + -0.020874768495559692, + 1.0 + ], + [ + 0.002438873052597046, + -0.003762677311897278, + -0.02699015662074089, + -0.021382614970207214, + -0.01144920289516449, + 0.016521066427230835, + 1.0 + ], + [ + 0.004148215055465698, + -0.003139760345220566, + -0.020534101873636246, + -0.017075570300221443, + -0.010914184153079987, + -0.00466582179069519, + 1.0 + ], + [ + 0.0004750490188598633, + 0.0019572898745536804, + -0.02197374403476715, + 0.0021308069117367268, + 0.03527185320854187, + -0.005437135696411133, + 1.0 + ], + [ + 0.0031915903091430664, + 0.0027414262294769287, + -0.010179784148931503, + 0.008051888085901737, + 0.013178311288356781, + -0.00011849403381347656, + 0.0 + ], + [ + 0.002618730068206787, + 0.00154099240899086, + -0.001740527106449008, + 0.01824337989091873, + -0.017503172159194946, + 0.008154600858688354, + 0.0 + ], + [ + -0.001535266637802124, + -0.000598682090640068, + 0.0003456419799476862, + 0.009999854490160942, + -0.0073578134179115295, + 0.01102149486541748, + 0.0 + ], + [ + -0.0020412802696228027, + 0.0003525037318468094, + 0.0007120748050510883, + -0.0008776262402534485, + -0.006473451852798462, + 0.0037072300910949707, + 0.0 + ], + [ + -0.005615502595901489, + -0.0008916668593883514, + 0.004043979104608297, + -0.028061997145414352, + 0.003299310803413391, + 0.015307724475860596, + 0.0 + ], + [ + 0.0008885860443115234, + 0.0051127839833498, + 0.014811118133366108, + -0.00951048918068409, + -0.030411943793296814, + 0.07732968032360077, + 0.0 + ], + [ + 0.011970579624176025, + 0.0015216339379549026, + 0.041278015822172165, + -0.0074768830090761185, + -0.09635012596845627, + 0.07926467061042786, + 0.0 + ], + [ + 0.0179121196269989, + -0.013483911752700806, + 0.029577583074569702, + 0.032550565898418427, + -0.04300038516521454, + 0.0620221346616745, + 0.0 + ], + [ + 0.022576987743377686, + -0.03491189330816269, + 0.029045268893241882, + 0.01869072951376438, + -0.05025723576545715, + -0.044071704149246216, + 0.0 + ], + [ + 0.020638197660446167, + -0.014621332287788391, + -0.008162856101989746, + -0.006603362038731575, + 0.025171279907226562, + 0.005961433053016663, + 0.0 + ], + [ + 0.013096660375595093, + -0.0067713335156440735, + -0.021051831543445587, + -0.0367186963558197, + 0.028651952743530273, + 0.028933696448802948, + 0.0 + ], + [ + 0.009207040071487427, + 0.0066810548305511475, + -0.03292641416192055, + 0.001214971300214529, + 0.051499828696250916, + 0.014278635382652283, + 0.0 + ], + [ + 0.008161544799804688, + -0.002738088369369507, + -0.02962850034236908, + -0.01725226268172264, + 0.03687471151351929, + -0.003989234566688538, + 0.0 + ], + [ + 0.009335219860076904, + -0.003475472331047058, + -0.013744033873081207, + -0.017409685999155045, + 0.008159339427947998, + -0.0068349689245224, + 0.0 + ], + [ + 0.007245302200317383, + -0.0020668357610702515, + -0.00790396984666586, + -0.009703811258077621, + 0.017148971557617188, + -0.017345860600471497, + 1.0 + ], + [ + 0.002116978168487549, + -0.00015494972467422485, + 0.004618785344064236, + 4.4383108615875244e-05, + 0.008862614631652832, + -0.008214786648750305, + 1.0 + ], + [ + -0.0016335248947143555, + -0.0005196630954742432, + -0.0014377525076270103, + -0.0020022988319396973, + 0.00832715630531311, + 0.009958125650882721, + 1.0 + ], + [ + -0.0008363723754882812, + 0.000919438898563385, + 0.0017002299427986145, + 0.00913998857140541, + 0.0006960034370422363, + -0.0049073100090026855, + 1.0 + ], + [ + 5.194544792175293e-05, + 0.0013584047555923462, + 0.02677924931049347, + 0.005951251834630966, + -0.042324215173721313, + -0.010773107409477234, + 1.0 + ], + [ + -0.010547041893005371, + 0.001846611499786377, + 0.04609348252415657, + -0.007942747324705124, + -0.06990513205528259, + 0.00943668931722641, + 1.0 + ], + [ + -0.023211181163787842, + 0.001163966953754425, + 0.03467748314142227, + -0.010876111686229706, + -0.05829907953739166, + 0.02277880162000656, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9453431367874146 + ], + [ + 0.6581199765205383 + ], + [ + 0.3806030750274658 + ], + [ + 0.3034155070781708 + ], + [ + 0.3034155070781708 + ], + [ + 0.3034155070781708 + ], + [ + 0.3034155070781708 + ], + [ + 0.3034155070781708 + ], + [ + 0.3034155070781708 + ], + [ + 0.3034155070781708 + ], + [ + 0.3034155070781708 + ], + [ + 0.3034155070781708 + ], + [ + 0.3026532232761383 + ], + [ + 0.3034155070781708 + ], + [ + 0.37120094895362854 + ], + [ + 0.6892001032829285 + ], + [ + 0.9613274931907654 + ], + [ + 1.0067112445831299 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3115012049674988, + 0.0012346056755632162, + 0.1472707986831665 + ], + [ + 0.3007131516933441, + -0.015015142038464546, + 0.13433857262134552 + ], + [ + 0.2928014397621155, + -0.02250104397535324, + 0.1287030726671219 + ], + [ + 0.28450754284858704, + -0.031087374314665794, + 0.10783185809850693 + ], + [ + 0.28436315059661865, + -0.029219772666692734, + 0.08454980701208115 + ], + [ + 0.2868020236492157, + -0.03298244997859001, + 0.057559650391340256 + ], + [ + 0.2909502387046814, + -0.03612221032381058, + 0.03702554851770401 + ], + [ + 0.29142528772354126, + -0.0341649204492569, + 0.015051803551614285 + ], + [ + 0.2946168780326843, + -0.03142349421977997, + 0.0048720198683440685 + ], + [ + 0.2972356081008911, + -0.02988250181078911, + 0.0031314927618950605 + ], + [ + 0.295700341463089, + -0.030481183901429176, + 0.0034771347418427467 + ], + [ + 0.2936590611934662, + -0.030128680169582367, + 0.004189209546893835 + ], + [ + 0.2880435585975647, + -0.03102034702897072, + 0.008233188651502132 + ], + [ + 0.2889321446418762, + -0.02590756304562092, + 0.02304430678486824 + ], + [ + 0.30090272426605225, + -0.024385929107666016, + 0.0643223226070404 + ], + [ + 0.31881484389305115, + -0.03786984086036682, + 0.09389990568161011 + ], + [ + 0.34139183163642883, + -0.07278173416852951, + 0.12294517457485199 + ], + [ + 0.362030029296875, + -0.0874030664563179, + 0.11478231847286224 + ], + [ + 0.3751266896724701, + -0.09417439997196198, + 0.09373048692941666 + ], + [ + 0.3843337297439575, + -0.08749334514141083, + 0.06080407276749611 + ], + [ + 0.3924952745437622, + -0.09023143351078033, + 0.03117557242512703 + ], + [ + 0.4018304944038391, + -0.09370690584182739, + 0.017431538552045822 + ], + [ + 0.4090757966041565, + -0.09577374160289764, + 0.009527568705379963 + ], + [ + 0.41119277477264404, + -0.09592869132757187, + 0.014146354049444199 + ], + [ + 0.4095592498779297, + -0.09644835442304611, + 0.012708601541817188 + ], + [ + 0.4087228775024414, + -0.09552891552448273, + 0.014408831484615803 + ], + [ + 0.40877482295036316, + -0.09417051076889038, + 0.0411880798637867 + ], + [ + 0.3982277810573578, + -0.092323899269104, + 0.08728156238794327 + ], + [ + 0.37501659989356995, + -0.09115993231534958, + 0.12195904552936554 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9974729913166388, + -0.06752909285313577, + 0.022078342606944187, + -0.06690280381637265, + -0.9973673308228903, + -0.02797181168125504, + 0.023909128703175114, + 0.02642402364622411, + -0.9993648605684509 + ], + [ + 0.982125730919296, + -0.18703734245755907, + 0.021120634286211536, + -0.18689970859011037, + -0.9823436807742455, + -0.008330172377490279, + 0.022305774928702924, + 0.004233836241595141, + -0.9997422302951441 + ], + [ + 0.9621392624191938, + -0.2611178317053572, + 0.07813781208187971, + -0.26166975025011097, + -0.9651519249792377, + -0.003271622367744297, + 0.07626913868331626, + -0.017298545440739936, + -0.9969371990301799 + ], + [ + 0.9412705281408756, + -0.32344905112719463, + 0.09690461381335046, + -0.32349014188573627, + -0.9461008897540256, + -0.015723692612976792, + 0.09676735480596411, + -0.016547438821721765, + -0.9951694636152669 + ], + [ + 0.935393259943661, + -0.3421405029454041, + 0.08932707034397062, + -0.34346363765023635, + -0.9391657875322936, + -0.000594256606067255, + 0.08409624762162625, + -0.0301247368969864, + -0.9960021693564977 + ], + [ + 0.9399688934913132, + -0.32831835811939075, + 0.09308885535070299, + -0.3276253882248275, + -0.9445260094504497, + -0.023069947163794284, + 0.09549913224342765, + -0.008813239665224099, + -0.9953904975171081 + ], + [ + 0.9373915412662845, + -0.33434502783686804, + 0.09752179614416369, + -0.33164012759714645, + -0.9424152860392375, + -0.04322330860694136, + 0.10635752972765157, + 0.00817502295693567, + -0.9942943451865175 + ], + [ + 0.9385216353281078, + -0.3390546996628503, + 0.0649542197057924, + -0.33779265030674654, + -0.9407470434345496, + -0.02985172805546381, + 0.07122685883708474, + 0.006075434608957531, + -0.9974416392323483 + ], + [ + 0.9392832344470385, + -0.33865646859751186, + 0.05530643510272669, + -0.3381924878323963, + -0.9409080528629472, + -0.01782911190698263, + 0.05807621423994612, + -0.0019576349812232604, + -0.9983102328459006 + ], + [ + 0.9409063650582943, + -0.32957302648719733, + 0.07795404033696103, + -0.33013468795760315, + -0.9439151392153501, + -0.00594119240571155, + 0.0755400555991547, + -0.020145227031107046, + -0.9969392508212028 + ], + [ + 0.9439357014258496, + -0.31814397632485497, + 0.08814647980435195, + -0.31955777233499344, + -0.9475645936373384, + 0.0020423087919721663, + 0.08287473507641138, + -0.03009570090752863, + -0.9961054296975289 + ], + [ + 0.9445852969935183, + -0.31452684051645846, + 0.09397597192049295, + -0.3158794316350793, + -0.9487992024184366, + -0.0005080945167756541, + 0.08932413656770627, + -0.02920513798757017, + -0.9955743360199483 + ], + [ + 0.9495855597552133, + -0.3024891781175313, + 0.08238666048674659, + -0.3014710722680285, + -0.9531519867543395, + -0.02482907029713998, + 0.08603753419260204, + -0.001259868261210299, + -0.9962910997504801 + ], + [ + 0.9670414292543991, + -0.22898372199581055, + 0.1113432942145811, + -0.22651045470005435, + -0.9733957986090609, + -0.03454899653830299, + 0.11629225261032676, + 0.008189890791359115, + -0.9931812713053151 + ], + [ + 0.9663258210123536, + -0.1535125285633085, + 0.20651467555333725, + -0.1468542726882135, + -0.9880272028013869, + -0.04728709250612832, + 0.21130127836342255, + 0.015367176011443853, + -0.9773001686602826 + ], + [ + 0.9636227952386346, + -0.08442396489883638, + 0.25358174746467943, + -0.08579112077425402, + -0.9962969382723517, + -0.005682814921771764, + 0.2531224843682951, + -0.016278972323147164, + -0.9672972671145744 + ], + [ + 0.9450928302958692, + -0.12178443296279615, + 0.3032624177363131, + -0.12631618894540408, + -0.9919788691660563, + -0.004705692121418798, + 0.30140299025333644, + -0.03385963697328751, + -0.9528954624985811 + ], + [ + 0.9530543320071881, + -0.11855982161565552, + 0.2786234177896696, + -0.12160175464780389, + -0.9925583081301329, + -0.006404547480024669, + 0.27730931017351024, + -0.02777721476880872, + -0.9603790776723428 + ], + [ + 0.9636871467945862, + -0.09975156602698146, + 0.2477028626763812, + -0.09471783079694279, + -0.9949836814630891, + -0.03218704943419474, + 0.24967101480154064, + 0.007556367998075596, + -0.9683012370490116 + ], + [ + 0.9764693093392058, + -0.08490388596260688, + 0.1982397994022973, + -0.08191558480945722, + -0.9963682294254835, + -0.02324195251806003, + 0.19949317001827166, + 0.006456124222456018, + -0.9798779483058517 + ], + [ + 0.9827975204592311, + -0.09142191941138084, + 0.16047138819841422, + -0.08639599934019684, + -0.9955344769955995, + -0.03803730288949021, + 0.1632322427622554, + 0.02351888101583706, + -0.9863073036120978 + ], + [ + 0.9834772682109568, + -0.10066761043845737, + 0.15046094217744557, + -0.09323391649226184, + -0.9940856804334318, + -0.055687492067023524, + 0.155176994840819, + 0.04073931965327663, + -0.9870463049453965 + ], + [ + 0.9842121893990122, + -0.11848117547941346, + 0.13148603460223027, + -0.1105591278929673, + -0.9916741727544653, + -0.06602283189392039, + 0.13821376732420312, + 0.050443494612911234, + -0.9891169841698644 + ], + [ + 0.9844482547577885, + -0.12617394206973573, + 0.12223653319252488, + -0.11878247358912114, + -0.9907239423299998, + -0.06600601534824613, + 0.1294308992180538, + 0.05045994883752988, + -0.9903037089150579 + ], + [ + 0.9866193553076771, + -0.11611363585756522, + 0.114454669193531, + -0.10908815421439759, + -0.9918475652406448, + -0.06586487634772326, + 0.12116939523807024, + 0.05249791323606881, + -0.9912426275960385 + ], + [ + 0.9861556865156569, + -0.11990130239380029, + 0.11454536060925175, + -0.11393812011156343, + -0.9918350067252675, + -0.05728371688124977, + 0.120478490770245, + 0.04343958009187813, + -0.9917650609610952 + ], + [ + 0.9789316779793049, + -0.13147063300418113, + 0.15623137490946543, + -0.12380412410612264, + -0.9906176957037003, + -0.05787158035691221, + 0.16237397791191116, + 0.03731023473754463, + -0.9860236496559761 + ], + [ + 0.9663978823274364, + -0.12647174567255387, + 0.22378568001456917, + -0.11296430448483225, + -0.9909710459848297, + -0.07221808590644535, + 0.23089867679418258, + 0.044511611589218646, + -0.9719591130744266 + ], + [ + 0.9536796895820139, + -0.10948587626871017, + 0.2801925990750397, + -0.08951182832847113, + -0.9925081972291618, + -0.08315714654924791, + 0.2871979844428709, + 0.0542247298802997, + -0.9563351904020685 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005823.json b/json/chunk-0005/episode_0005823.json new file mode 100644 index 0000000000000000000000000000000000000000..283bd8fd1c69b260c9e25d07b8189ed866bcde38 --- /dev/null +++ b/json/chunk-0005/episode_0005823.json @@ -0,0 +1,4102 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 67, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut redcube in pan and put pan on stove." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005823.mp4", + "start": 0, + "end": 67, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.25654658675193787, + -0.13682027161121368, + 0.10217277705669403, + 0.05816107988357544, + -0.03218588978052139, + 0.010836372151970863, + 0.0, + 1.0060625076293945 + ], + [ + 0.25354811549186707, + -0.13507886230945587, + 0.09320370107889175, + 0.07541234791278839, + -0.0034160336945205927, + 0.013590340502560139, + 0.0, + 1.0060625076293945 + ], + [ + 0.25423112511634827, + -0.13834284245967865, + 0.08441957086324692, + 0.06038416177034378, + -0.020065084099769592, + 0.016089726239442825, + 0.0, + 1.0060625076293945 + ], + [ + 0.2523268759250641, + -0.14066974818706512, + 0.0753830298781395, + 0.047125980257987976, + -0.03783004358410835, + 0.015787184238433838, + 0.0, + 1.0060625076293945 + ], + [ + 0.2522679567337036, + -0.1432771533727646, + 0.07091742753982544, + 0.03894369676709175, + -0.05532044544816017, + 0.01608269475400448, + 0.0, + 1.0060625076293945 + ], + [ + 0.24855947494506836, + -0.14397582411766052, + 0.0634513646364212, + 0.03324991837143898, + -0.06507918983697891, + 0.013385141268372536, + 0.0, + 1.0060625076293945 + ], + [ + 0.24688316881656647, + -0.14449959993362427, + 0.054115571081638336, + 0.035205621272325516, + -0.07129663974046707, + 0.015941569581627846, + 0.0, + 1.0060625076293945 + ], + [ + 0.24835100769996643, + -0.14578387141227722, + 0.04733824357390404, + 0.02810024656355381, + -0.09443266689777374, + 0.006886814255267382, + 0.0, + 1.0060625076293945 + ], + [ + 0.25193658471107483, + -0.14672651886940002, + 0.03953319787979126, + 0.02215210534632206, + -0.1137300357222557, + -0.004813787993043661, + 0.0, + 1.0060625076293945 + ], + [ + 0.2544460594654083, + -0.14712068438529968, + 0.033254895359277725, + 0.013381043449044228, + -0.12551197409629822, + -0.00974272284656763, + 0.0, + 1.0060625076293945 + ], + [ + 0.25743457674980164, + -0.14693574607372284, + 0.026648446917533875, + 0.011726993136107922, + -0.13050290942192078, + -0.01864401064813137, + 0.0, + 0.9492040276527405 + ], + [ + 0.2594449818134308, + -0.1470198631286621, + 0.017215987667441368, + 0.022927531972527504, + -0.11249776929616928, + -0.01391266193240881, + 0.0, + 0.648074209690094 + ], + [ + 0.25924694538116455, + -0.144678995013237, + 0.018481386825442314, + 0.026647260412573814, + -0.08594071120023727, + -0.011872583068907261, + 0.0, + 0.58391273021698 + ], + [ + 0.25767508149147034, + -0.14294373989105225, + 0.022867748513817787, + 0.050514236092567444, + -0.053770504891872406, + -0.012014067731797695, + 0.0, + 0.58391273021698 + ], + [ + 0.2547743022441864, + -0.13801641762256622, + 0.03854619339108467, + 0.0931115373969078, + -0.0041073099710047245, + -0.010721785947680473, + 0.0, + 0.58391273021698 + ], + [ + 0.2608233690261841, + -0.13332124054431915, + 0.07120487838983536, + 0.09401880204677582, + 0.027662459760904312, + -0.032963093370199203, + 0.0, + 0.58391273021698 + ], + [ + 0.2731042802333832, + -0.1300521343946457, + 0.09501571208238602, + 0.10196710377931595, + 0.035296063870191574, + -0.04118341580033302, + 0.0, + 0.58391273021698 + ], + [ + 0.29018479585647583, + -0.12522955238819122, + 0.12060362845659256, + 0.1011337861418724, + 0.034245628863573074, + -0.06223132833838463, + 0.0, + 0.58391273021698 + ], + [ + 0.31654271483421326, + -0.1218966618180275, + 0.11332707107067108, + 0.09037423133850098, + 0.04370511323213577, + -0.10237684845924377, + 0.0, + 0.58391273021698 + ], + [ + 0.34044739603996277, + -0.11367446184158325, + 0.10593339800834656, + 0.06460481882095337, + 0.035475920885801315, + -0.12650436162948608, + 0.0, + 0.58391273021698 + ], + [ + 0.35220909118652344, + -0.10669831931591034, + 0.0934952050447464, + 0.04642512649297714, + 0.03569136559963226, + -0.1487082839012146, + 0.0, + 0.58391273021698 + ], + [ + 0.3573491871356964, + -0.10262859612703323, + 0.09444104880094528, + 0.04153906926512718, + 0.02052604965865612, + -0.16257773339748383, + 0.0, + 0.58391273021698 + ], + [ + 0.36021915078163147, + -0.10282183438539505, + 0.08944054692983627, + 0.03149488940834999, + 0.027009500190615654, + -0.1705102026462555, + 0.0, + 0.58391273021698 + ], + [ + 0.3673758804798126, + -0.10309258103370667, + 0.08710098266601562, + 0.03818497434258461, + -0.012300102971494198, + -0.17721357941627502, + 0.0, + 0.6360166668891907 + ], + [ + 0.36742088198661804, + -0.10460559278726578, + 0.08433204144239426, + 0.036376938223838806, + -0.017087919637560844, + -0.21108390390872955, + 0.0, + 0.9375205039978027 + ], + [ + 0.36251068115234375, + -0.1067022904753685, + 0.08432985842227936, + 0.03903051093220711, + 0.008017406798899174, + -0.19785141944885254, + 0.0, + 1.0118417739868164 + ], + [ + 0.3615795373916626, + -0.10765325278043747, + 0.08992844820022583, + 0.05189976841211319, + 0.020699940621852875, + -0.17938493192195892, + 0.0, + 1.0086473226547241 + ], + [ + 0.3585783839225769, + -0.09993606060743332, + 0.09060275554656982, + 0.09679299592971802, + 0.04769677668809891, + -0.17399287223815918, + 0.0, + 1.00800359249115 + ], + [ + 0.3602858781814575, + -0.08267902582883835, + 0.09813786298036575, + 0.15247014164924622, + 0.0504799522459507, + -0.1912045180797577, + 0.0, + 1.0073583126068115 + ], + [ + 0.3639112412929535, + -0.06749378889799118, + 0.10702871531248093, + 0.16448606550693512, + 0.03664564713835716, + -0.22347842156887054, + 0.0, + 1.00800359249115 + ], + [ + 0.36478814482688904, + -0.04990708455443382, + 0.10355710983276367, + 0.161582350730896, + 0.033314187079668045, + -0.2233048677444458, + 0.0, + 1.00800359249115 + ], + [ + 0.3607848286628723, + -0.03439570590853691, + 0.10425207018852234, + 0.15086127817630768, + 0.012541362084448338, + -0.2257823497056961, + 0.0, + 1.0073583126068115 + ], + [ + 0.3565141558647156, + -0.024236494675278664, + 0.09019061923027039, + 0.13049809634685516, + 0.009372941218316555, + -0.22143343091011047, + 0.0, + 1.0073583126068115 + ], + [ + 0.35470104217529297, + -0.023335201665759087, + 0.07400450110435486, + 0.11698395013809204, + -0.022797420620918274, + -0.21212740242481232, + 0.0, + 1.0073583126068115 + ], + [ + 0.3575083613395691, + -0.02785693109035492, + 0.06859271228313446, + 0.1102922111749649, + -0.06254229694604874, + -0.19943659007549286, + 0.0, + 1.00800359249115 + ], + [ + 0.3637305498123169, + -0.0334906205534935, + 0.06450273096561432, + 0.08455228060483932, + -0.1034543514251709, + -0.21570298075675964, + 0.0, + 1.0073583126068115 + ], + [ + 0.3686158061027527, + -0.031483739614486694, + 0.04598017409443855, + 0.07329642027616501, + -0.11449126899242401, + -0.23191887140274048, + 0.0, + 1.00800359249115 + ], + [ + 0.3695423901081085, + -0.032642610371112823, + 0.04129772633314133, + 0.06893689185380936, + -0.1350015550851822, + -0.23077896237373352, + 0.0, + 0.9694526195526123 + ], + [ + 0.3660600781440735, + -0.037008315324783325, + 0.038469210267066956, + 0.06190720200538635, + -0.12828843295574188, + -0.20660004019737244, + 0.0, + 0.680191159248352 + ], + [ + 0.3600406348705292, + -0.04116581007838249, + 0.03850473463535309, + 0.07046004384756088, + -0.09508312493562698, + -0.18993374705314636, + 0.0, + 0.37631502747535706 + ], + [ + 0.3595949113368988, + -0.043208181858062744, + 0.03841359168291092, + 0.08221603184938431, + -0.09328305721282959, + -0.16999422013759613, + 0.0, + 0.17569689452648163 + ], + [ + 0.3593178391456604, + -0.045399703085422516, + 0.040593285113573074, + 0.08790901303291321, + -0.08874009549617767, + -0.16408108174800873, + 0.0, + 0.08641935139894485 + ], + [ + 0.35763514041900635, + -0.046055667102336884, + 0.04243906959891319, + 0.09554724395275116, + -0.08368398249149323, + -0.16392961144447327, + 0.0, + 0.07788556814193726 + ], + [ + 0.35250693559646606, + -0.04693606495857239, + 0.04664963111281395, + 0.10761462897062302, + -0.06955279409885406, + -0.15701191127300262, + 0.0, + 0.07755524665117264 + ], + [ + 0.3409297466278076, + -0.0455269031226635, + 0.05599736422300339, + 0.12766064703464508, + -0.017359735444188118, + -0.15267519652843475, + 0.0, + 0.07270156592130661 + ], + [ + 0.3292042016983032, + -0.041568513959646225, + 0.07377149164676666, + 0.13948512077331543, + 0.027440538629889488, + -0.16648603975772858, + 0.0, + 0.058401256799697876 + ], + [ + 0.3279571533203125, + -0.031404800713062286, + 0.08773896843194962, + 0.14604449272155762, + 0.02020188607275486, + -0.1764640510082245, + 0.0, + 0.05784503370523453 + ], + [ + 0.330522358417511, + -0.011049251072108746, + 0.0982675850391388, + 0.15774725377559662, + 0.04857553914189339, + -0.19220812618732452, + 0.0, + 0.05784503370523453 + ], + [ + 0.33435264229774475, + 0.007879834622144699, + 0.10322018712759018, + 0.15436552464962006, + 0.04902587831020355, + -0.21382388472557068, + 0.0, + 0.05784503370523453 + ], + [ + 0.3356785774230957, + 0.023589598014950752, + 0.10643039643764496, + 0.1515597403049469, + 0.051816824823617935, + -0.22374489903450012, + 0.0, + 0.05784503370523453 + ], + [ + 0.33988356590270996, + 0.03858447074890137, + 0.11404222249984741, + 0.15274743735790253, + 0.04188310354948044, + -0.240411177277565, + 0.0, + 0.05784503370523453 + ], + [ + 0.3486057221889496, + 0.057875409722328186, + 0.11857307702302933, + 0.15671418607234955, + 0.006160534452646971, + -0.2713337540626526, + 0.0, + 0.05784503370523453 + ], + [ + 0.3609314262866974, + 0.07749589532613754, + 0.10696890205144882, + 0.14895153045654297, + -0.0028723254799842834, + -0.30648115277290344, + 0.0, + 0.05784503370523453 + ], + [ + 0.3726781904697418, + 0.09302111715078354, + 0.09815091639757156, + 0.1402035504579544, + -0.009620873257517815, + -0.31977951526641846, + 0.0, + 0.05784503370523453 + ], + [ + 0.37680625915527344, + 0.1032671332359314, + 0.08614663779735565, + 0.12299459427595139, + -0.016266100108623505, + -0.32485559582710266, + 0.0, + 0.05784503370523453 + ], + [ + 0.3773263394832611, + 0.11348176002502441, + 0.07830068469047546, + 0.11967014521360397, + -0.018023278564214706, + -0.332392156124115, + 0.0, + 0.05784503370523453 + ], + [ + 0.3786334693431854, + 0.12237008661031723, + 0.0743132010102272, + 0.12148290872573853, + -0.03576456010341644, + -0.31935352087020874, + 0.0, + 0.07526680082082748 + ], + [ + 0.37302878499031067, + 0.121592216193676, + 0.06325369328260422, + 0.11594675481319427, + -0.029050998389720917, + -0.29433152079582214, + 0.0, + 0.2418806254863739 + ], + [ + 0.36599069833755493, + 0.11433277279138565, + 0.05522586777806282, + 0.10149629414081573, + 2.192398278566543e-05, + -0.27674010396003723, + 0.0, + 0.519798994064331 + ], + [ + 0.35942965745925903, + 0.10524790734052658, + 0.05163682997226715, + 0.088438980281353, + 0.03283347189426422, + -0.2625901401042938, + 0.0, + 0.8472316861152649 + ], + [ + 0.356809139251709, + 0.1008773073554039, + 0.06740348786115646, + 0.0956890881061554, + 0.031527891755104065, + -0.25895529985427856, + 0.0, + 1.0149952173233032 + ], + [ + 0.35188165307044983, + 0.0962134450674057, + 0.07294394075870514, + 0.09094466269016266, + 0.07084227353334427, + -0.2502724826335907, + 0.0, + 1.0112061500549316 + ], + [ + 0.3497324287891388, + 0.0938088595867157, + 0.09414299577474594, + 0.10357887297868729, + 0.08305473625659943, + -0.2435104250907898, + 0.0, + 1.0092895030975342 + ], + [ + 0.34738457202911377, + 0.08612191677093506, + 0.11033205687999725, + 0.11056854575872421, + 0.10473262518644333, + -0.24437177181243896, + 0.0, + 1.0092895030975342 + ], + [ + 0.3444737195968628, + 0.07853322476148605, + 0.11256245523691177, + 0.10703548789024353, + 0.12827078998088837, + -0.23345515131950378, + 0.0, + 1.0092895030975342 + ], + [ + 0.3423452079296112, + 0.06533538550138474, + 0.12983132898807526, + 0.12028796225786209, + 0.09338513761758804, + -0.23122642934322357, + 0.0, + 1.0092895030975342 + ], + [ + 0.3364855945110321, + 0.05269032344222069, + 0.12925279140472412, + 0.073876291513443, + 0.10129528492689133, + -0.22883522510528564, + 0.0, + 1.0092895030975342 + ] + ], + "left_gripper_pos": [ + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 0.9492040276527405 + ], + [ + 0.648074209690094 + ], + [ + 0.58391273021698 + ], + [ + 0.58391273021698 + ], + [ + 0.58391273021698 + ], + [ + 0.58391273021698 + ], + [ + 0.58391273021698 + ], + [ + 0.58391273021698 + ], + [ + 0.58391273021698 + ], + [ + 0.58391273021698 + ], + [ + 0.58391273021698 + ], + [ + 0.58391273021698 + ], + [ + 0.58391273021698 + ], + [ + 0.6360166668891907 + ], + [ + 0.9375205039978027 + ], + [ + 1.0118417739868164 + ], + [ + 1.0086473226547241 + ], + [ + 1.00800359249115 + ], + [ + 1.0073583126068115 + ], + [ + 1.00800359249115 + ], + [ + 1.00800359249115 + ], + [ + 1.0073583126068115 + ], + [ + 1.0073583126068115 + ], + [ + 1.0073583126068115 + ], + [ + 1.00800359249115 + ], + [ + 1.0073583126068115 + ], + [ + 1.00800359249115 + ], + [ + 0.9694526195526123 + ], + [ + 0.680191159248352 + ], + [ + 0.37631502747535706 + ], + [ + 0.17569689452648163 + ], + [ + 0.08641935139894485 + ], + [ + 0.07788556814193726 + ], + [ + 0.07755524665117264 + ], + [ + 0.07270156592130661 + ], + [ + 0.058401256799697876 + ], + [ + 0.05784503370523453 + ], + [ + 0.05784503370523453 + ], + [ + 0.05784503370523453 + ], + [ + 0.05784503370523453 + ], + [ + 0.05784503370523453 + ], + [ + 0.05784503370523453 + ], + [ + 0.05784503370523453 + ], + [ + 0.05784503370523453 + ], + [ + 0.05784503370523453 + ], + [ + 0.05784503370523453 + ], + [ + 0.07526680082082748 + ], + [ + 0.2418806254863739 + ], + [ + 0.519798994064331 + ], + [ + 0.8472316861152649 + ], + [ + 1.0149952173233032 + ], + [ + 1.0112061500549316 + ], + [ + 1.0092895030975342 + ], + [ + 1.0092895030975342 + ], + [ + 1.0092895030975342 + ], + [ + 1.0092895030975342 + ], + [ + 1.0092895030975342 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.25654658675193787, + -0.13682027161121368, + 0.10217277705669403 + ], + [ + 0.25354811549186707, + -0.13507886230945587, + 0.09320370107889175 + ], + [ + 0.25423112511634827, + -0.13834284245967865, + 0.08441957086324692 + ], + [ + 0.2523268759250641, + -0.14066974818706512, + 0.0753830298781395 + ], + [ + 0.2522679567337036, + -0.1432771533727646, + 0.07091742753982544 + ], + [ + 0.24855947494506836, + -0.14397582411766052, + 0.0634513646364212 + ], + [ + 0.24688316881656647, + -0.14449959993362427, + 0.054115571081638336 + ], + [ + 0.24835100769996643, + -0.14578387141227722, + 0.04733824357390404 + ], + [ + 0.25193658471107483, + -0.14672651886940002, + 0.03953319787979126 + ], + [ + 0.2544460594654083, + -0.14712068438529968, + 0.033254895359277725 + ], + [ + 0.25743457674980164, + -0.14693574607372284, + 0.026648446917533875 + ], + [ + 0.2594449818134308, + -0.1470198631286621, + 0.017215987667441368 + ], + [ + 0.25924694538116455, + -0.144678995013237, + 0.018481386825442314 + ], + [ + 0.25767508149147034, + -0.14294373989105225, + 0.022867748513817787 + ], + [ + 0.2547743022441864, + -0.13801641762256622, + 0.03854619339108467 + ], + [ + 0.2608233690261841, + -0.13332124054431915, + 0.07120487838983536 + ], + [ + 0.2731042802333832, + -0.1300521343946457, + 0.09501571208238602 + ], + [ + 0.29018479585647583, + -0.12522955238819122, + 0.12060362845659256 + ], + [ + 0.31654271483421326, + -0.1218966618180275, + 0.11332707107067108 + ], + [ + 0.34044739603996277, + -0.11367446184158325, + 0.10593339800834656 + ], + [ + 0.35220909118652344, + -0.10669831931591034, + 0.0934952050447464 + ], + [ + 0.3573491871356964, + -0.10262859612703323, + 0.09444104880094528 + ], + [ + 0.36021915078163147, + -0.10282183438539505, + 0.08944054692983627 + ], + [ + 0.3673758804798126, + -0.10309258103370667, + 0.08710098266601562 + ], + [ + 0.36742088198661804, + -0.10460559278726578, + 0.08433204144239426 + ], + [ + 0.36251068115234375, + -0.1067022904753685, + 0.08432985842227936 + ], + [ + 0.3615795373916626, + -0.10765325278043747, + 0.08992844820022583 + ], + [ + 0.3585783839225769, + -0.09993606060743332, + 0.09060275554656982 + ], + [ + 0.3602858781814575, + -0.08267902582883835, + 0.09813786298036575 + ], + [ + 0.3639112412929535, + -0.06749378889799118, + 0.10702871531248093 + ], + [ + 0.36478814482688904, + -0.04990708455443382, + 0.10355710983276367 + ], + [ + 0.3607848286628723, + -0.03439570590853691, + 0.10425207018852234 + ], + [ + 0.3565141558647156, + -0.024236494675278664, + 0.09019061923027039 + ], + [ + 0.35470104217529297, + -0.023335201665759087, + 0.07400450110435486 + ], + [ + 0.3575083613395691, + -0.02785693109035492, + 0.06859271228313446 + ], + [ + 0.3637305498123169, + -0.0334906205534935, + 0.06450273096561432 + ], + [ + 0.3686158061027527, + -0.031483739614486694, + 0.04598017409443855 + ], + [ + 0.3695423901081085, + -0.032642610371112823, + 0.04129772633314133 + ], + [ + 0.3660600781440735, + -0.037008315324783325, + 0.038469210267066956 + ], + [ + 0.3600406348705292, + -0.04116581007838249, + 0.03850473463535309 + ], + [ + 0.3595949113368988, + -0.043208181858062744, + 0.03841359168291092 + ], + [ + 0.3593178391456604, + -0.045399703085422516, + 0.040593285113573074 + ], + [ + 0.35763514041900635, + -0.046055667102336884, + 0.04243906959891319 + ], + [ + 0.35250693559646606, + -0.04693606495857239, + 0.04664963111281395 + ], + [ + 0.3409297466278076, + -0.0455269031226635, + 0.05599736422300339 + ], + [ + 0.3292042016983032, + -0.041568513959646225, + 0.07377149164676666 + ], + [ + 0.3279571533203125, + -0.031404800713062286, + 0.08773896843194962 + ], + [ + 0.330522358417511, + -0.011049251072108746, + 0.0982675850391388 + ], + [ + 0.33435264229774475, + 0.007879834622144699, + 0.10322018712759018 + ], + [ + 0.3356785774230957, + 0.023589598014950752, + 0.10643039643764496 + ], + [ + 0.33988356590270996, + 0.03858447074890137, + 0.11404222249984741 + ], + [ + 0.3486057221889496, + 0.057875409722328186, + 0.11857307702302933 + ], + [ + 0.3609314262866974, + 0.07749589532613754, + 0.10696890205144882 + ], + [ + 0.3726781904697418, + 0.09302111715078354, + 0.09815091639757156 + ], + [ + 0.37680625915527344, + 0.1032671332359314, + 0.08614663779735565 + ], + [ + 0.3773263394832611, + 0.11348176002502441, + 0.07830068469047546 + ], + [ + 0.3786334693431854, + 0.12237008661031723, + 0.0743132010102272 + ], + [ + 0.37302878499031067, + 0.121592216193676, + 0.06325369328260422 + ], + [ + 0.36599069833755493, + 0.11433277279138565, + 0.05522586777806282 + ], + [ + 0.35942965745925903, + 0.10524790734052658, + 0.05163682997226715 + ], + [ + 0.356809139251709, + 0.1008773073554039, + 0.06740348786115646 + ], + [ + 0.35188165307044983, + 0.0962134450674057, + 0.07294394075870514 + ], + [ + 0.3497324287891388, + 0.0938088595867157, + 0.09414299577474594 + ], + [ + 0.34738457202911377, + 0.08612191677093506, + 0.11033205687999725 + ], + [ + 0.3444737195968628, + 0.07853322476148605, + 0.11256245523691177 + ], + [ + 0.3423452079296112, + 0.06533538550138474, + 0.12983132898807526 + ], + [ + 0.3364855945110321, + 0.05269032344222069, + 0.12925279140472412 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9994233964652117, + 0.012688315503474098, + 0.031494146243781516, + 0.010830547797575314, + -0.9982302375006773, + 0.05847300380300201, + 0.03218033300549942, + -0.058098189206082396, + -0.997792075824733 + ], + [ + 0.9999018186452684, + 0.013808640121892403, + 0.0023821267531698186, + 0.013589842864164405, + -0.997062253847255, + 0.0753802236926812, + 0.003416027050745326, + -0.075340450031941, + -0.9971520181738451 + ], + [ + 0.9996692921562529, + 0.01727034779179546, + 0.01905364550333772, + 0.0160857933576525, + -0.9980287489209859, + 0.060661879127395235, + 0.020063737734314087, + -0.06033532476387471, + -0.9979765002312261 + ], + [ + 0.9991600033874362, + 0.017550472898393954, + 0.03703064314673708, + 0.015775233660027768, + -0.9987371730836925, + 0.04769906816454084, + 0.03782102105694364, + -0.047074834060639295, + -0.9981751000522769 + ], + [ + 0.9983410884474582, + 0.018222269241059654, + 0.05461703050560541, + 0.016057399441644363, + -0.9990779440176771, + 0.03981735426396724, + 0.055292233095755684, + -0.03887429331984212, + -0.9977131643303936 + ], + [ + 0.9977937067923717, + 0.015539102019924641, + 0.06454653355489354, + 0.013356407385219898, + -0.9993288050651058, + 0.03411078640119427, + 0.06503326123837452, + -0.03317341820738753, + -0.9973315392872819 + ], + [ + 0.9973327297055158, + 0.01843809642767855, + 0.07062197149803087, + 0.01590039607130361, + -0.9992133905530555, + 0.036328742673578746, + 0.07123625244860043, + -0.035108926779254535, + -0.9968413913945833 + ], + [ + 0.9955209398014236, + 0.009533268590460652, + 0.09405942380682702, + 0.006856076190459464, + -0.9995632643740178, + 0.02874499492482037, + 0.09429237846274097, + -0.027971365786094007, + -0.9951515211564014 + ], + [ + 0.9935281959877954, + -0.002298890952621936, + 0.11356248886680953, + -0.004782671042889127, + -0.9997551692350637, + 0.021603880333501965, + 0.113485020310752, + -0.022007196281142134, + -0.993295944558776 + ], + [ + 0.9920866203470354, + -0.008066750897140065, + 0.12529591078068142, + -0.009665930815904819, + -0.9998793385212208, + 0.01216051725166379, + 0.1251826965273521, + -0.0132753880669968, + -0.9920448863644282 + ], + [ + 0.9913242574106702, + -0.01711588249949018, + 0.1303198497368946, + -0.018484401781225807, + -0.9997859067190553, + 0.009298796521413312, + 0.13013279202404504, + -0.011627007019008708, + -0.9914283983968819 + ], + [ + 0.9935826290450578, + -0.01133517205402083, + 0.11253920709875548, + -0.013824271183267574, + -0.9996762265084519, + 0.02136192126363233, + 0.11226062883380936, + -0.022780606408256444, + -0.9934176338204942 + ], + [ + 0.996239151264525, + -0.009581254605876529, + 0.08611476672392625, + -0.011828487859340936, + -0.9996016814093206, + 0.025623532126163216, + 0.08583496002620546, + -0.02654577337047207, + -0.9959556624435966 + ], + [ + 0.9984826509374233, + -0.00928493724646859, + 0.054278777780134964, + -0.011996415381769635, + -0.9986849532070636, + 0.049844260008484895, + 0.05374459782121523, + -0.05041977963195145, + -0.9972809854935075 + ], + [ + 0.9999340877027545, + -0.010293274783357986, + 0.005086132547894229, + -0.010721490088971474, + -0.9956151173482711, + 0.09292786319431236, + 0.004107298422631218, + -0.09297626902507454, + -0.995659853312287 + ], + [ + 0.9990743928169662, + -0.0354067883286236, + -0.02442779068320209, + -0.0329445154835415, + -0.9949570753584457, + 0.09473688349171507, + -0.02765893195633167, + -0.09384443262346544, + -0.9952025954289985 + ], + [ + 0.9985297697072483, + -0.044546935270357045, + -0.030884778879055053, + -0.04114613161666455, + -0.9938144534146821, + 0.1031495421078567, + -0.035288735615967085, + -0.1017270993496571, + -0.9941862513616506 + ], + [ + 0.9974790664574891, + -0.06532351443975157, + -0.027719134913184198, + -0.062154704318432945, + -0.9927494994978051, + 0.10288451767853722, + -0.034238935587776555, + -0.10090227801242464, + -0.994307007710254 + ], + [ + 0.9938141494421303, + -0.1057035785588342, + -0.03406155968935499, + -0.10210051588489427, + -0.9903014754770071, + 0.09422564578765763, + -0.04369120076918894, + -0.09016507720796915, + -0.994968008444205 + ], + [ + 0.9913848121849473, + -0.1281755530674778, + -0.026966307957577224, + -0.12608783086741637, + -0.9896505908364597, + 0.06850961220293111, + -0.035468480037443344, + -0.06451926574979278, + -0.9972859425816354 + ], + [ + 0.9883334443931566, + -0.14963891263918003, + -0.02837602012480737, + -0.14806643759370694, + -0.9876523648891018, + 0.05117749688362861, + -0.035683788367667946, + -0.046378895557449125, + -0.9982863643737718 + ], + [ + 0.9866054498889741, + -0.16256394550015937, + -0.013514801988773546, + -0.16182838657442292, + -0.9858241161719291, + 0.04429881795887436, + -0.02052460835420925, + -0.04151837662114899, + -0.9989269066626698 + ], + [ + 0.9851388762383955, + -0.17043910890689878, + -0.021258049740595135, + -0.16962328496525736, + -0.9848652868468648, + 0.03561331157920899, + -0.027006216346360266, + -0.031478197519315194, + -0.9991395234698648 + ], + [ + 0.9842642638728873, + -0.1756967742178883, + 0.018828233910594648, + -0.17627414433010477, + -0.983703959676876, + 0.035411096519664544, + 0.012299792821551032, + -0.03817280767069651, + -0.9991954522770224 + ], + [ + 0.9776616352502273, + -0.20877361145081866, + 0.024316786827906937, + -0.20948927987358665, + -0.9772877095829875, + 0.031983969673638396, + 0.017087088046163983, + -0.036363606254340736, + -0.9991925337802929 + ], + [ + 0.9804596601500983, + -0.19672015815642005, + -0.00018491421562607645, + -0.19655680447091736, + -0.9796829435416733, + 0.03983406519180084, + -0.00801732090761146, + -0.039019347873025204, + -0.9992062915419562 + ], + [ + 0.9837428236513367, + -0.17924069514008822, + -0.011082875086940839, + -0.17838618379732957, + -0.9824371520926521, + 0.054732180829052623, + -0.02069846237574517, + -0.05186535832110592, + -0.9984395616468243 + ], + [ + 0.9837812842679019, + -0.17684417371091346, + -0.030008714545978837, + -0.17291942307430022, + -0.9794935976110546, + 0.10339809167777077, + -0.04767869385636464, + -0.09653201781511554, + -0.9941872618821332 + ], + [ + 0.9805254110415698, + -0.1953608947726154, + -0.020100723753230545, + -0.1897995165227291, + -0.9689299736904559, + 0.1585901939337697, + -0.05045851592644064, + -0.1516866074439517, + -0.9871398640986218 + ], + [ + 0.974477771244635, + -0.2244815808512142, + 0.0010455661759279783, + -0.22147408633555973, + -0.9606411760617952, + 0.16768351122409025, + -0.03663744576137221, + -0.16363542010564325, + -0.9858403252327081 + ], + [ + 0.9746298117745049, + -0.22379452211291875, + 0.0035695759753745383, + -0.22133076030415852, + -0.9612815950516745, + 0.16416573807616489, + -0.033308025212803724, + -0.1607908793655883, + -0.9864263117786672 + ], + [ + 0.9745426157059334, + -0.22316317181216458, + 0.021561282887893548, + -0.2238513181917893, + -0.9631275938772516, + 0.1492508802520582, + -0.012541033324083201, + -0.1502778648336149, + -0.9885642547777125 + ], + [ + 0.9755407765646353, + -0.21895070936810268, + 0.019513588262359854, + -0.219618632645811, + -0.9670205648753775, + 0.12899179548672896, + -0.009372803980271766, + -0.13012230391178298, + -0.9914536482207511 + ], + [ + 0.9773311982960503, + -0.2065001019860793, + 0.04670585313368448, + -0.21048538305811218, + -0.9714637703190636, + 0.10933456213087116, + 0.02279544595058936, + -0.11668697801043777, + -0.9929071038152085 + ], + [ + 0.9782619764592072, + -0.1901702532397435, + 0.08269691769865278, + -0.19772977492844138, + -0.9755857081907393, + 0.0955796112187216, + 0.06250153214821091, + -0.10985354230385963, + -0.9919807244712069 + ], + [ + 0.9716034453595643, + -0.20475035225415567, + 0.11859189777224882, + -0.21288980956957326, + -0.9752032026870584, + 0.060470178190040434, + 0.10326990823495091, + -0.0840000400041784, + -0.9911000551571176 + ], + [ + 0.9668554551972894, + -0.2210863110738024, + 0.12771598103221027, + -0.22834065227480316, + -0.9725369306008199, + 0.045082869654149406, + 0.11424130283728139, + -0.07275136887587398, + -0.9907856292118526 + ], + [ + 0.9646308603945138, + -0.21916739985609665, + 0.14646826965202434, + -0.22665466367372636, + -0.9732968871302828, + 0.036343265365840274, + 0.13459185194316278, + -0.06825555173624887, + -0.9885475269544153 + ], + [ + 0.9706910916005294, + -0.19699364447460124, + 0.13766738438710324, + -0.20344771440330509, + -0.978482777337439, + 0.03435814252956899, + 0.127936828909596, + -0.06135925757883131, + -0.9898824219663317 + ], + [ + 0.9775809800235309, + -0.18176164499443315, + 0.1062926709851173, + -0.18794105295555874, + -0.9808419709709387, + 0.05125610788774322, + 0.0949399184231196, + -0.07008375268749356, + -0.9930129301771702 + ], + [ + 0.981300703456741, + -0.16106584519565753, + 0.10538843820226848, + -0.16844112144633444, + -0.9835507362401166, + 0.06523448357598652, + 0.0931478287519687, + -0.08176639134102062, + -0.9922891409492803 + ], + [ + 0.9826869032762581, + -0.15503877832674895, + 0.10143681454120945, + -0.16270308767166108, + -0.9840301876048542, + 0.07219622666361264, + 0.08862367286129755, + -0.08745036933772873, + -0.9922188657303734 + ], + [ + 0.9831410576919997, + -0.1545846283757701, + 0.09765886211799618, + -0.1626252867058076, + -0.983394963232832, + 0.08054416435814105, + 0.08358634340674687, + -0.09506807538928308, + -0.9919553337916317 + ], + [ + 0.9853108534223696, + -0.1480903939894865, + 0.0850397397463098, + -0.15598950828194028, + -0.9831524202837917, + 0.0952816445916041, + 0.06949672966435136, + -0.1071473457354914, + -0.9918112980137899 + ], + [ + 0.9882188401648725, + -0.1486608472210764, + 0.03637961581305936, + -0.15205983624871258, + -0.9806609695142837, + 0.12321472749359035, + 0.017358863534480767, + -0.12729499351827156, + -0.9917129899733966 + ], + [ + 0.9858019181793725, + -0.16787042900321136, + -0.0037546211723189, + -0.16565561846537036, + -0.9759630243505364, + 0.14161352750147146, + -0.027437095048956993, + -0.13898091295869422, + -0.9899149012154744 + ], + [ + 0.9842696980835287, + -0.176574862525318, + 0.005871912697265702, + -0.17551381925721066, + -0.9734742817815554, + 0.14677439136181764, + -0.020200511981295445, + -0.14549618769593192, + -0.989152565927847 + ], + [ + 0.9804269794163427, + -0.19614241967898, + -0.017061337433547197, + -0.19080149455168222, + -0.9679400107243938, + 0.16336133360041152, + -0.04855643839276995, + -0.15690853017390557, + -0.9864187677904724 + ], + [ + 0.9760524747578628, + -0.21703832690123642, + -0.01469459679487279, + -0.21194328208487934, + -0.9640078280664653, + 0.16052710863173783, + -0.04900624142026316, + -0.15356846057211268, + -0.9869220416118847 + ], + [ + 0.9737646252257328, + -0.2269641248436377, + -0.016423784367478877, + -0.22158491263900576, + -0.962160808758009, + 0.15857712502406457, + -0.05179364005118757, + -0.15077753189416276, + -0.9872099851227967 + ], + [ + 0.9703884073449823, + -0.2415173243723856, + -0.003964961345604961, + -0.23789319036128703, + -0.9584148807160333, + 0.15763167956283325, + -0.04187085943943242, + -0.15202071717392723, + -0.9874900164962316 + ], + [ + 0.9633960033275502, + -0.26565852066862977, + 0.03596791860336395, + -0.26801154651969955, + -0.9513503745699313, + 0.15199432797894252, + -0.0061604954850973045, + -0.15607054559335232, + -0.9877266995953746 + ], + [ + 0.9533971934823589, + -0.29795852358565283, + 0.047481677335788224, + -0.3017043937846909, + -0.9429729253797017, + 0.14062901824253765, + 0.0028723215304169436, + -0.1484007419910891, + -0.9889231363182481 + ], + [ + 0.9492608180776643, + -0.3099963648977102, + 0.052973134820674894, + -0.31434271252267, + -0.9404124033111951, + 0.1296656114100891, + 0.009620724838272157, + -0.13973820325404174, + -0.9901417455116811 + ], + [ + 0.9475714551573726, + -0.31486967345108097, + 0.05445572616125066, + -0.3191297145247136, + -0.9411745475918353, + 0.11111568868831681, + 0.01626538282101768, + -0.12266849516527786, + -0.9923144046196105 + ], + [ + 0.9451109509081638, + -0.3219376488268195, + 0.0558698553902366, + -0.3262521832495614, + -0.9392060842437969, + 0.10701142109293053, + 0.018022302804056544, + -0.11936532824607547, + -0.9926868161783683 + ], + [ + 0.9488314299179205, + -0.30752492031789946, + 0.07174497183345876, + -0.31375206631404007, + -0.9438016531495088, + 0.1039138123442893, + 0.03575693616047661, + -0.12110682431524476, + -0.9919952513095472 + ], + [ + 0.9565924769366648, + -0.28493651741154835, + 0.06117200432841551, + -0.2899777749365203, + -0.9515455633331042, + 0.10234222463846906, + 0.029046912246261485, + -0.11563832386568276, + -0.9928665846640697 + ], + [ + 0.9619512206421851, + -0.27181729542732597, + 0.027662375378549535, + -0.27322124482614624, + -0.9570000967892038, + 0.0974728994187894, + -2.1923982783908155e-05, + -0.10132212321121284, + -0.9948536710829943 + ], + [ + 0.9652003679730817, + -0.2613683396015008, + -0.008651053033113646, + -0.2594428648472596, + -0.9611940049284767, + 0.09378424584865834, + -0.03282757292998993, + -0.08827613462034643, + -0.995554958057071 + ], + [ + 0.9661776297284289, + -0.2578107304929433, + -0.005866434611352157, + -0.2559435663594472, + -0.961464616567776, + 0.10039263881075206, + -0.031522668852137836, + -0.09549564561211077, + -0.994930602111305 + ], + [ + 0.9664148529196884, + -0.25287263504986496, + -0.04580133730749471, + -0.24704674509568625, + -0.9632489821549678, + 0.10544811100747846, + -0.07078303323427237, + -0.09059154938710508, + -0.9933694848271712 + ], + [ + 0.9671521887278297, + -0.24814314647958507, + -0.05515090837130185, + -0.24027983946813297, + -0.9632280527561368, + 0.12023858419321735, + -0.08295928268817665, + -0.10303735846202748, + -0.9912119148683751 + ], + [ + 0.9649728613594252, + -0.25166208095360787, + -0.07411864711328325, + -0.24062107390530427, + -0.9615735016331406, + 0.13220400806949384, + -0.10454126282220724, + -0.10973877148519749, + -0.9884475334586342 + ], + [ + 0.9648803244152577, + -0.2433114652674591, + -0.09902267632067575, + -0.22943976189539297, + -0.9641438550028834, + 0.1333567490664223, + -0.12791933089917512, + -0.10595356402491325, + -0.9861087602555442 + ], + [ + 0.9691448033224321, + -0.23840747417681557, + -0.06261171176190161, + -0.22817293331449795, + -0.9637881221723662, + 0.13802017266371522, + -0.09324946485520491, + -0.11947523515814946, + -0.9884483828142584 + ], + [ + 0.9689389226660206, + -0.2334936921133919, + -0.08147428972423662, + -0.22568047244519182, + -0.9695816717929955, + 0.09476131109274473, + -0.10112214643552286, + -0.07343076648352152, + -0.9921603872529462 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0029984712600708008, + 0.0017414093017578125, + -0.008969075977802277, + 0.01725126802921295, + 0.028769856318831444, + 0.0027539683505892754, + 1.0 + ], + [ + 0.0006830096244812012, + -0.0032639801502227783, + -0.008784130215644836, + -0.01502818614244461, + -0.016649050638079643, + 0.0024993857368826866, + 1.0 + ], + [ + -0.0019042491912841797, + -0.0023269057273864746, + -0.009036540985107422, + -0.013258181512355804, + -0.01776495948433876, + -0.0003025420010089874, + 1.0 + ], + [ + -5.891919136047363e-05, + -0.002607405185699463, + -0.004465602338314056, + -0.008182283490896225, + -0.01749040186405182, + 0.00029551051557064056, + 1.0 + ], + [ + -0.003708481788635254, + -0.0006986707448959351, + -0.007466062903404236, + -0.005693778395652771, + -0.00975874438881874, + -0.0026975534856319427, + 1.0 + ], + [ + -0.001676306128501892, + -0.0005237758159637451, + -0.009335793554782867, + 0.0019557029008865356, + -0.006217449903488159, + 0.00255642831325531, + 1.0 + ], + [ + 0.0014678388833999634, + -0.001284271478652954, + -0.006777327507734299, + -0.007105374708771706, + -0.02313602715730667, + -0.009054755792021751, + 1.0 + ], + [ + 0.0035855770111083984, + -0.0009426474571228027, + -0.007805045694112778, + -0.0059481412172317505, + -0.019297368824481964, + -0.011700602248311043, + 1.0 + ], + [ + 0.002509474754333496, + -0.0003941655158996582, + -0.0062783025205135345, + -0.008771061897277832, + -0.011781938374042511, + -0.00492893485352397, + 1.0 + ], + [ + 0.0029885172843933105, + 0.00018493831157684326, + -0.006606448441743851, + -0.001654050312936306, + -0.004990935325622559, + -0.00890128780156374, + 0.0 + ], + [ + 0.0020104050636291504, + -8.411705493927002e-05, + -0.009432459250092506, + 0.011200538836419582, + 0.018005140125751495, + 0.004731348715722561, + 0.0 + ], + [ + -0.00019803643226623535, + 0.00234086811542511, + 0.001265399158000946, + 0.0037197284400463104, + 0.026557058095932007, + 0.0020400788635015488, + 0.0 + ], + [ + -0.0015718638896942139, + 0.0017352551221847534, + 0.004386361688375473, + 0.02386697567999363, + 0.03217020630836487, + -0.00014148466289043427, + 0.0 + ], + [ + -0.0029007792472839355, + 0.004927322268486023, + 0.015678444877266884, + 0.04259730130434036, + 0.04966319352388382, + 0.0012922817841172218, + 0.0 + ], + [ + 0.006049066781997681, + 0.00469517707824707, + 0.03265868499875069, + 0.0009072646498680115, + 0.0317697711288929, + -0.02224130742251873, + 0.0 + ], + [ + 0.012280911207199097, + 0.003269106149673462, + 0.02381083369255066, + 0.00794830173254013, + 0.007633604109287262, + -0.00822032243013382, + 0.0 + ], + [ + 0.01708051562309265, + 0.004822582006454468, + 0.025587916374206543, + -0.0008333176374435425, + -0.0010504350066184998, + -0.021047912538051605, + 0.0 + ], + [ + 0.026357918977737427, + 0.003332890570163727, + -0.007276557385921478, + -0.01075955480337143, + 0.009459484368562698, + -0.040145520120859146, + 0.0 + ], + [ + 0.02390468120574951, + 0.008222199976444244, + -0.007393673062324524, + -0.025769412517547607, + -0.008229192346334457, + -0.02412751317024231, + 0.0 + ], + [ + 0.011761695146560669, + 0.006976142525672913, + -0.012438192963600159, + -0.018179692327976227, + 0.00021544471383094788, + -0.022203922271728516, + 0.0 + ], + [ + 0.005140095949172974, + 0.004069723188877106, + 0.0009458437561988831, + -0.00488605722784996, + -0.015165315940976143, + -0.013869449496269226, + 0.0 + ], + [ + 0.0028699636459350586, + -0.0001932382583618164, + -0.005000501871109009, + -0.010044179856777191, + 0.006483450531959534, + -0.007932469248771667, + 0.0 + ], + [ + 0.007156729698181152, + -0.000270746648311615, + -0.002339564263820648, + 0.006690084934234619, + -0.03930960223078728, + -0.006703376770019531, + 1.0 + ], + [ + 4.500150680541992e-05, + -0.0015130117535591125, + -0.0027689412236213684, + -0.0018080361187458038, + -0.004787816666066647, + -0.03387032449245453, + 1.0 + ], + [ + -0.004910200834274292, + -0.002096697688102722, + -2.1830201148986816e-06, + 0.0026535727083683014, + 0.025105327367782593, + 0.013232484459877014, + 1.0 + ], + [ + -0.0009311437606811523, + -0.0009509623050689697, + 0.005598589777946472, + 0.012869257479906082, + 0.012682533822953701, + 0.018466487526893616, + 1.0 + ], + [ + -0.0030011534690856934, + 0.00771719217300415, + 0.0006743073463439941, + 0.04489322751760483, + 0.026996836066246033, + 0.005392059683799744, + 1.0 + ], + [ + 0.0017074942588806152, + 0.01725703477859497, + 0.007535107433795929, + 0.0556771457195282, + 0.0027831755578517914, + -0.01721164584159851, + 1.0 + ], + [ + 0.0036253631114959717, + 0.015185236930847168, + 0.008890852332115173, + 0.012015923857688904, + -0.013834305107593536, + -0.032273903489112854, + 1.0 + ], + [ + 0.0008769035339355469, + 0.017586704343557358, + -0.0034716054797172546, + -0.0029037147760391235, + -0.0033314600586891174, + 0.00017355382442474365, + 1.0 + ], + [ + -0.004003316164016724, + 0.015511378645896912, + 0.000694960355758667, + -0.010721072554588318, + -0.020772825926542282, + -0.002477481961250305, + 1.0 + ], + [ + -0.004270672798156738, + 0.010159211233258247, + -0.014061450958251953, + -0.020363181829452515, + -0.0031684208661317825, + 0.004348918795585632, + 1.0 + ], + [ + -0.0018131136894226074, + 0.000901293009519577, + -0.016186118125915527, + -0.013514146208763123, + -0.032170362770557404, + 0.009306028485298157, + 1.0 + ], + [ + 0.002807319164276123, + -0.004521729424595833, + -0.005411788821220398, + -0.006691738963127136, + -0.03974487632513046, + 0.012690812349319458, + 1.0 + ], + [ + 0.006222188472747803, + -0.00563368946313858, + -0.004089981317520142, + -0.02573993057012558, + -0.04091205447912216, + -0.016266390681266785, + 1.0 + ], + [ + 0.004885256290435791, + 0.0020068809390068054, + -0.018522556871175766, + -0.011255860328674316, + -0.011036917567253113, + -0.016215890645980835, + 1.0 + ], + [ + 0.000926584005355835, + -0.0011588707566261292, + -0.004682447761297226, + -0.004359528422355652, + -0.02051028609275818, + 0.001139909029006958, + 0.0 + ], + [ + -0.003482311964035034, + -0.004365704953670502, + -0.0028285160660743713, + -0.007029689848423004, + 0.006713122129440308, + 0.024178922176361084, + 0.0 + ], + [ + -0.0060194432735443115, + -0.004157494753599167, + 3.552436828613281e-05, + 0.00855284184217453, + 0.0332053080201149, + 0.016666293144226074, + 0.0 + ], + [ + -0.0004457235336303711, + -0.002042371779680252, + -9.114295244216919e-05, + 0.011755988001823425, + 0.0018000677227973938, + 0.019939526915550232, + 0.0 + ], + [ + -0.0002770721912384033, + -0.0021915212273597717, + 0.002179693430662155, + 0.0056929811835289, + 0.0045429617166519165, + 0.005913138389587402, + 0.0 + ], + [ + -0.0016826987266540527, + -0.0006559640169143677, + 0.0018457844853401184, + 0.007638230919837952, + 0.005056113004684448, + 0.00015147030353546143, + 0.0 + ], + [ + -0.005128204822540283, + -0.0008803978562355042, + 0.004210561513900757, + 0.012067385017871857, + 0.01413118839263916, + 0.006917700171470642, + 0.0 + ], + [ + -0.011577188968658447, + 0.0014091618359088898, + 0.009347733110189438, + 0.020046018064022064, + 0.052193060517311096, + 0.004336714744567871, + 0.0 + ], + [ + -0.011725544929504395, + 0.003958389163017273, + 0.017774127423763275, + 0.011824473738670349, + 0.044800274074077606, + -0.013810843229293823, + 0.0 + ], + [ + -0.0012470483779907227, + 0.010163713246583939, + 0.013967476785182953, + 0.0065593719482421875, + -0.007238652557134628, + -0.00997801125049591, + 0.0 + ], + [ + 0.0025652050971984863, + 0.020355548709630966, + 0.010528616607189178, + 0.011702761054039001, + 0.028373653069138527, + -0.015744075179100037, + 0.0 + ], + [ + 0.0038302838802337646, + 0.01892908662557602, + 0.0049526020884513855, + -0.0033817291259765625, + 0.0004503391683101654, + -0.021615758538246155, + 0.0 + ], + [ + 0.0013259351253509521, + 0.015709763392806053, + 0.003210209310054779, + -0.0028057843446731567, + 0.002790946513414383, + -0.009921014308929443, + 0.0 + ], + [ + 0.004204988479614258, + 0.014994872733950615, + 0.007611826062202454, + 0.0011876970529556274, + -0.009933721274137497, + -0.01666627824306488, + 0.0 + ], + [ + 0.008722156286239624, + 0.01929093897342682, + 0.004530854523181915, + 0.0039667487144470215, + -0.03572256863117218, + -0.030922576785087585, + 0.0 + ], + [ + 0.012325704097747803, + 0.019620485603809357, + -0.011604174971580505, + -0.00776265561580658, + -0.009032860398292542, + -0.035147398710250854, + 0.0 + ], + [ + 0.011746764183044434, + 0.015525221824645996, + -0.008817985653877258, + -0.008747979998588562, + -0.006748547777533531, + -0.013298362493515015, + 0.0 + ], + [ + 0.004128068685531616, + 0.010246016085147858, + -0.012004278600215912, + -0.01720895618200302, + -0.00664522685110569, + -0.005076080560684204, + 0.0 + ], + [ + 0.0005200803279876709, + 0.010214626789093018, + -0.007845953106880188, + -0.003324449062347412, + -0.0017571784555912018, + -0.007536560297012329, + 0.0 + ], + [ + 0.0013071298599243164, + 0.008888326585292816, + -0.0039874836802482605, + 0.001812763512134552, + -0.017741281539201736, + 0.01303863525390625, + 1.0 + ], + [ + -0.005604684352874756, + -0.0007778704166412354, + -0.011059507727622986, + -0.0055361539125442505, + 0.006713561713695526, + 0.025022000074386597, + 1.0 + ], + [ + -0.007038086652755737, + -0.007259443402290344, + -0.008027825504541397, + -0.01445046067237854, + 0.029072921723127365, + 0.017591416835784912, + 1.0 + ], + [ + -0.0065610408782958984, + -0.00908486545085907, + -0.0035890378057956696, + -0.013057313859462738, + 0.03281154856085777, + 0.014149963855743408, + 1.0 + ], + [ + -0.002620518207550049, + -0.004370599985122681, + 0.015766657888889313, + 0.007250107824802399, + -0.0013055801391601562, + 0.003634840250015259, + 1.0 + ], + [ + -0.004927486181259155, + -0.0046638622879981995, + 0.0055404528975486755, + -0.004744425415992737, + 0.039314381778240204, + 0.008682817220687866, + 1.0 + ], + [ + -0.002149224281311035, + -0.0024045854806900024, + 0.021199055016040802, + 0.012634210288524628, + 0.012212462723255157, + 0.006762057542800903, + 1.0 + ], + [ + -0.0023478567600250244, + -0.00768694281578064, + 0.016189061105251312, + 0.006989672780036926, + 0.021677888929843903, + -0.0008613467216491699, + 1.0 + ], + [ + -0.0029108524322509766, + -0.007588692009449005, + 0.0022303983569145203, + -0.0035330578684806824, + 0.023538164794445038, + 0.01091662049293518, + 1.0 + ], + [ + -0.002128511667251587, + -0.013197839260101318, + 0.017268873751163483, + 0.01325247436761856, + -0.034885652363300323, + 0.0022287219762802124, + 1.0 + ], + [ + -0.0058596134185791016, + -0.012645062059164047, + -0.0005785375833511353, + -0.0464116707444191, + 0.007910147309303284, + 0.0023912042379379272, + 1.0 + ], + [ + -0.008733004331588745, + -0.013079755008220673, + 0.0035337060689926147, + -0.03416062891483307, + -0.012854576110839844, + 0.001967102289199829, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 0.9492040276527405 + ], + [ + 0.648074209690094 + ], + [ + 0.58391273021698 + ], + [ + 0.58391273021698 + ], + [ + 0.58391273021698 + ], + [ + 0.58391273021698 + ], + [ + 0.58391273021698 + ], + [ + 0.58391273021698 + ], + [ + 0.58391273021698 + ], + [ + 0.58391273021698 + ], + [ + 0.58391273021698 + ], + [ + 0.58391273021698 + ], + [ + 0.58391273021698 + ], + [ + 0.6360166668891907 + ], + [ + 0.9375205039978027 + ], + [ + 1.0118417739868164 + ], + [ + 1.0086473226547241 + ], + [ + 1.00800359249115 + ], + [ + 1.0073583126068115 + ], + [ + 1.00800359249115 + ], + [ + 1.00800359249115 + ], + [ + 1.0073583126068115 + ], + [ + 1.0073583126068115 + ], + [ + 1.0073583126068115 + ], + [ + 1.00800359249115 + ], + [ + 1.0073583126068115 + ], + [ + 1.00800359249115 + ], + [ + 0.9694526195526123 + ], + [ + 0.680191159248352 + ], + [ + 0.37631502747535706 + ], + [ + 0.17569689452648163 + ], + [ + 0.08641935139894485 + ], + [ + 0.07788556814193726 + ], + [ + 0.07755524665117264 + ], + [ + 0.07270156592130661 + ], + [ + 0.058401256799697876 + ], + [ + 0.05784503370523453 + ], + [ + 0.05784503370523453 + ], + [ + 0.05784503370523453 + ], + [ + 0.05784503370523453 + ], + [ + 0.05784503370523453 + ], + [ + 0.05784503370523453 + ], + [ + 0.05784503370523453 + ], + [ + 0.05784503370523453 + ], + [ + 0.05784503370523453 + ], + [ + 0.05784503370523453 + ], + [ + 0.07526680082082748 + ], + [ + 0.2418806254863739 + ], + [ + 0.519798994064331 + ], + [ + 0.8472316861152649 + ], + [ + 1.0149952173233032 + ], + [ + 1.0112061500549316 + ], + [ + 1.0092895030975342 + ], + [ + 1.0092895030975342 + ], + [ + 1.0092895030975342 + ], + [ + 1.0092895030975342 + ], + [ + 1.0092895030975342 + ], + [ + 1.0092895030975342 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.25354811549186707, + -0.13507886230945587, + 0.09320370107889175 + ], + [ + 0.25423112511634827, + -0.13834284245967865, + 0.08441957086324692 + ], + [ + 0.2523268759250641, + -0.14066974818706512, + 0.0753830298781395 + ], + [ + 0.2522679567337036, + -0.1432771533727646, + 0.07091742753982544 + ], + [ + 0.24855947494506836, + -0.14397582411766052, + 0.0634513646364212 + ], + [ + 0.24688316881656647, + -0.14449959993362427, + 0.054115571081638336 + ], + [ + 0.24835100769996643, + -0.14578387141227722, + 0.04733824357390404 + ], + [ + 0.25193658471107483, + -0.14672651886940002, + 0.03953319787979126 + ], + [ + 0.2544460594654083, + -0.14712068438529968, + 0.033254895359277725 + ], + [ + 0.25743457674980164, + -0.14693574607372284, + 0.026648446917533875 + ], + [ + 0.2594449818134308, + -0.1470198631286621, + 0.017215987667441368 + ], + [ + 0.25924694538116455, + -0.144678995013237, + 0.018481386825442314 + ], + [ + 0.25767508149147034, + -0.14294373989105225, + 0.022867748513817787 + ], + [ + 0.2547743022441864, + -0.13801641762256622, + 0.03854619339108467 + ], + [ + 0.2608233690261841, + -0.13332124054431915, + 0.07120487838983536 + ], + [ + 0.2731042802333832, + -0.1300521343946457, + 0.09501571208238602 + ], + [ + 0.29018479585647583, + -0.12522955238819122, + 0.12060362845659256 + ], + [ + 0.31654271483421326, + -0.1218966618180275, + 0.11332707107067108 + ], + [ + 0.34044739603996277, + -0.11367446184158325, + 0.10593339800834656 + ], + [ + 0.35220909118652344, + -0.10669831931591034, + 0.0934952050447464 + ], + [ + 0.3573491871356964, + -0.10262859612703323, + 0.09444104880094528 + ], + [ + 0.36021915078163147, + -0.10282183438539505, + 0.08944054692983627 + ], + [ + 0.3673758804798126, + -0.10309258103370667, + 0.08710098266601562 + ], + [ + 0.36742088198661804, + -0.10460559278726578, + 0.08433204144239426 + ], + [ + 0.36251068115234375, + -0.1067022904753685, + 0.08432985842227936 + ], + [ + 0.3615795373916626, + -0.10765325278043747, + 0.08992844820022583 + ], + [ + 0.3585783839225769, + -0.09993606060743332, + 0.09060275554656982 + ], + [ + 0.3602858781814575, + -0.08267902582883835, + 0.09813786298036575 + ], + [ + 0.3639112412929535, + -0.06749378889799118, + 0.10702871531248093 + ], + [ + 0.36478814482688904, + -0.04990708455443382, + 0.10355710983276367 + ], + [ + 0.3607848286628723, + -0.03439570590853691, + 0.10425207018852234 + ], + [ + 0.3565141558647156, + -0.024236494675278664, + 0.09019061923027039 + ], + [ + 0.35470104217529297, + -0.023335201665759087, + 0.07400450110435486 + ], + [ + 0.3575083613395691, + -0.02785693109035492, + 0.06859271228313446 + ], + [ + 0.3637305498123169, + -0.0334906205534935, + 0.06450273096561432 + ], + [ + 0.3686158061027527, + -0.031483739614486694, + 0.04598017409443855 + ], + [ + 0.3695423901081085, + -0.032642610371112823, + 0.04129772633314133 + ], + [ + 0.3660600781440735, + -0.037008315324783325, + 0.038469210267066956 + ], + [ + 0.3600406348705292, + -0.04116581007838249, + 0.03850473463535309 + ], + [ + 0.3595949113368988, + -0.043208181858062744, + 0.03841359168291092 + ], + [ + 0.3593178391456604, + -0.045399703085422516, + 0.040593285113573074 + ], + [ + 0.35763514041900635, + -0.046055667102336884, + 0.04243906959891319 + ], + [ + 0.35250693559646606, + -0.04693606495857239, + 0.04664963111281395 + ], + [ + 0.3409297466278076, + -0.0455269031226635, + 0.05599736422300339 + ], + [ + 0.3292042016983032, + -0.041568513959646225, + 0.07377149164676666 + ], + [ + 0.3279571533203125, + -0.031404800713062286, + 0.08773896843194962 + ], + [ + 0.330522358417511, + -0.011049251072108746, + 0.0982675850391388 + ], + [ + 0.33435264229774475, + 0.007879834622144699, + 0.10322018712759018 + ], + [ + 0.3356785774230957, + 0.023589598014950752, + 0.10643039643764496 + ], + [ + 0.33988356590270996, + 0.03858447074890137, + 0.11404222249984741 + ], + [ + 0.3486057221889496, + 0.057875409722328186, + 0.11857307702302933 + ], + [ + 0.3609314262866974, + 0.07749589532613754, + 0.10696890205144882 + ], + [ + 0.3726781904697418, + 0.09302111715078354, + 0.09815091639757156 + ], + [ + 0.37680625915527344, + 0.1032671332359314, + 0.08614663779735565 + ], + [ + 0.3773263394832611, + 0.11348176002502441, + 0.07830068469047546 + ], + [ + 0.3786334693431854, + 0.12237008661031723, + 0.0743132010102272 + ], + [ + 0.37302878499031067, + 0.121592216193676, + 0.06325369328260422 + ], + [ + 0.36599069833755493, + 0.11433277279138565, + 0.05522586777806282 + ], + [ + 0.35942965745925903, + 0.10524790734052658, + 0.05163682997226715 + ], + [ + 0.356809139251709, + 0.1008773073554039, + 0.06740348786115646 + ], + [ + 0.35188165307044983, + 0.0962134450674057, + 0.07294394075870514 + ], + [ + 0.3497324287891388, + 0.0938088595867157, + 0.09414299577474594 + ], + [ + 0.34738457202911377, + 0.08612191677093506, + 0.11033205687999725 + ], + [ + 0.3444737195968628, + 0.07853322476148605, + 0.11256245523691177 + ], + [ + 0.3423452079296112, + 0.06533538550138474, + 0.12983132898807526 + ], + [ + 0.3364855945110321, + 0.05269032344222069, + 0.12925279140472412 + ], + [ + 0.32775259017944336, + 0.039610568434000015, + 0.13278649747371674 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9999018186452684, + 0.013808640121892403, + 0.0023821267531698186, + 0.013589842864164405, + -0.997062253847255, + 0.0753802236926812, + 0.003416027050745326, + -0.075340450031941, + -0.9971520181738451 + ], + [ + 0.9996692921562529, + 0.01727034779179546, + 0.01905364550333772, + 0.0160857933576525, + -0.9980287489209859, + 0.060661879127395235, + 0.020063737734314087, + -0.06033532476387471, + -0.9979765002312261 + ], + [ + 0.9991600033874362, + 0.017550472898393954, + 0.03703064314673708, + 0.015775233660027768, + -0.9987371730836925, + 0.04769906816454084, + 0.03782102105694364, + -0.047074834060639295, + -0.9981751000522769 + ], + [ + 0.9983410884474582, + 0.018222269241059654, + 0.05461703050560541, + 0.016057399441644363, + -0.9990779440176771, + 0.03981735426396724, + 0.055292233095755684, + -0.03887429331984212, + -0.9977131643303936 + ], + [ + 0.9977937067923717, + 0.015539102019924641, + 0.06454653355489354, + 0.013356407385219898, + -0.9993288050651058, + 0.03411078640119427, + 0.06503326123837452, + -0.03317341820738753, + -0.9973315392872819 + ], + [ + 0.9973327297055158, + 0.01843809642767855, + 0.07062197149803087, + 0.01590039607130361, + -0.9992133905530555, + 0.036328742673578746, + 0.07123625244860043, + -0.035108926779254535, + -0.9968413913945833 + ], + [ + 0.9955209398014236, + 0.009533268590460652, + 0.09405942380682702, + 0.006856076190459464, + -0.9995632643740178, + 0.02874499492482037, + 0.09429237846274097, + -0.027971365786094007, + -0.9951515211564014 + ], + [ + 0.9935281959877954, + -0.002298890952621936, + 0.11356248886680953, + -0.004782671042889127, + -0.9997551692350637, + 0.021603880333501965, + 0.113485020310752, + -0.022007196281142134, + -0.993295944558776 + ], + [ + 0.9920866203470354, + -0.008066750897140065, + 0.12529591078068142, + -0.009665930815904819, + -0.9998793385212208, + 0.01216051725166379, + 0.1251826965273521, + -0.0132753880669968, + -0.9920448863644282 + ], + [ + 0.9913242574106702, + -0.01711588249949018, + 0.1303198497368946, + -0.018484401781225807, + -0.9997859067190553, + 0.009298796521413312, + 0.13013279202404504, + -0.011627007019008708, + -0.9914283983968819 + ], + [ + 0.9935826290450578, + -0.01133517205402083, + 0.11253920709875548, + -0.013824271183267574, + -0.9996762265084519, + 0.02136192126363233, + 0.11226062883380936, + -0.022780606408256444, + -0.9934176338204942 + ], + [ + 0.996239151264525, + -0.009581254605876529, + 0.08611476672392625, + -0.011828487859340936, + -0.9996016814093206, + 0.025623532126163216, + 0.08583496002620546, + -0.02654577337047207, + -0.9959556624435966 + ], + [ + 0.9984826509374233, + -0.00928493724646859, + 0.054278777780134964, + -0.011996415381769635, + -0.9986849532070636, + 0.049844260008484895, + 0.05374459782121523, + -0.05041977963195145, + -0.9972809854935075 + ], + [ + 0.9999340877027545, + -0.010293274783357986, + 0.005086132547894229, + -0.010721490088971474, + -0.9956151173482711, + 0.09292786319431236, + 0.004107298422631218, + -0.09297626902507454, + -0.995659853312287 + ], + [ + 0.9990743928169662, + -0.0354067883286236, + -0.02442779068320209, + -0.0329445154835415, + -0.9949570753584457, + 0.09473688349171507, + -0.02765893195633167, + -0.09384443262346544, + -0.9952025954289985 + ], + [ + 0.9985297697072483, + -0.044546935270357045, + -0.030884778879055053, + -0.04114613161666455, + -0.9938144534146821, + 0.1031495421078567, + -0.035288735615967085, + -0.1017270993496571, + -0.9941862513616506 + ], + [ + 0.9974790664574891, + -0.06532351443975157, + -0.027719134913184198, + -0.062154704318432945, + -0.9927494994978051, + 0.10288451767853722, + -0.034238935587776555, + -0.10090227801242464, + -0.994307007710254 + ], + [ + 0.9938141494421303, + -0.1057035785588342, + -0.03406155968935499, + -0.10210051588489427, + -0.9903014754770071, + 0.09422564578765763, + -0.04369120076918894, + -0.09016507720796915, + -0.994968008444205 + ], + [ + 0.9913848121849473, + -0.1281755530674778, + -0.026966307957577224, + -0.12608783086741637, + -0.9896505908364597, + 0.06850961220293111, + -0.035468480037443344, + -0.06451926574979278, + -0.9972859425816354 + ], + [ + 0.9883334443931566, + -0.14963891263918003, + -0.02837602012480737, + -0.14806643759370694, + -0.9876523648891018, + 0.05117749688362861, + -0.035683788367667946, + -0.046378895557449125, + -0.9982863643737718 + ], + [ + 0.9866054498889741, + -0.16256394550015937, + -0.013514801988773546, + -0.16182838657442292, + -0.9858241161719291, + 0.04429881795887436, + -0.02052460835420925, + -0.04151837662114899, + -0.9989269066626698 + ], + [ + 0.9851388762383955, + -0.17043910890689878, + -0.021258049740595135, + -0.16962328496525736, + -0.9848652868468648, + 0.03561331157920899, + -0.027006216346360266, + -0.031478197519315194, + -0.9991395234698648 + ], + [ + 0.9842642638728873, + -0.1756967742178883, + 0.018828233910594648, + -0.17627414433010477, + -0.983703959676876, + 0.035411096519664544, + 0.012299792821551032, + -0.03817280767069651, + -0.9991954522770224 + ], + [ + 0.9776616352502273, + -0.20877361145081866, + 0.024316786827906937, + -0.20948927987358665, + -0.9772877095829875, + 0.031983969673638396, + 0.017087088046163983, + -0.036363606254340736, + -0.9991925337802929 + ], + [ + 0.9804596601500983, + -0.19672015815642005, + -0.00018491421562607645, + -0.19655680447091736, + -0.9796829435416733, + 0.03983406519180084, + -0.00801732090761146, + -0.039019347873025204, + -0.9992062915419562 + ], + [ + 0.9837428236513367, + -0.17924069514008822, + -0.011082875086940839, + -0.17838618379732957, + -0.9824371520926521, + 0.054732180829052623, + -0.02069846237574517, + -0.05186535832110592, + -0.9984395616468243 + ], + [ + 0.9837812842679019, + -0.17684417371091346, + -0.030008714545978837, + -0.17291942307430022, + -0.9794935976110546, + 0.10339809167777077, + -0.04767869385636464, + -0.09653201781511554, + -0.9941872618821332 + ], + [ + 0.9805254110415698, + -0.1953608947726154, + -0.020100723753230545, + -0.1897995165227291, + -0.9689299736904559, + 0.1585901939337697, + -0.05045851592644064, + -0.1516866074439517, + -0.9871398640986218 + ], + [ + 0.974477771244635, + -0.2244815808512142, + 0.0010455661759279783, + -0.22147408633555973, + -0.9606411760617952, + 0.16768351122409025, + -0.03663744576137221, + -0.16363542010564325, + -0.9858403252327081 + ], + [ + 0.9746298117745049, + -0.22379452211291875, + 0.0035695759753745383, + -0.22133076030415852, + -0.9612815950516745, + 0.16416573807616489, + -0.033308025212803724, + -0.1607908793655883, + -0.9864263117786672 + ], + [ + 0.9745426157059334, + -0.22316317181216458, + 0.021561282887893548, + -0.2238513181917893, + -0.9631275938772516, + 0.1492508802520582, + -0.012541033324083201, + -0.1502778648336149, + -0.9885642547777125 + ], + [ + 0.9755407765646353, + -0.21895070936810268, + 0.019513588262359854, + -0.219618632645811, + -0.9670205648753775, + 0.12899179548672896, + -0.009372803980271766, + -0.13012230391178298, + -0.9914536482207511 + ], + [ + 0.9773311982960503, + -0.2065001019860793, + 0.04670585313368448, + -0.21048538305811218, + -0.9714637703190636, + 0.10933456213087116, + 0.02279544595058936, + -0.11668697801043777, + -0.9929071038152085 + ], + [ + 0.9782619764592072, + -0.1901702532397435, + 0.08269691769865278, + -0.19772977492844138, + -0.9755857081907393, + 0.0955796112187216, + 0.06250153214821091, + -0.10985354230385963, + -0.9919807244712069 + ], + [ + 0.9716034453595643, + -0.20475035225415567, + 0.11859189777224882, + -0.21288980956957326, + -0.9752032026870584, + 0.060470178190040434, + 0.10326990823495091, + -0.0840000400041784, + -0.9911000551571176 + ], + [ + 0.9668554551972894, + -0.2210863110738024, + 0.12771598103221027, + -0.22834065227480316, + -0.9725369306008199, + 0.045082869654149406, + 0.11424130283728139, + -0.07275136887587398, + -0.9907856292118526 + ], + [ + 0.9646308603945138, + -0.21916739985609665, + 0.14646826965202434, + -0.22665466367372636, + -0.9732968871302828, + 0.036343265365840274, + 0.13459185194316278, + -0.06825555173624887, + -0.9885475269544153 + ], + [ + 0.9706910916005294, + -0.19699364447460124, + 0.13766738438710324, + -0.20344771440330509, + -0.978482777337439, + 0.03435814252956899, + 0.127936828909596, + -0.06135925757883131, + -0.9898824219663317 + ], + [ + 0.9775809800235309, + -0.18176164499443315, + 0.1062926709851173, + -0.18794105295555874, + -0.9808419709709387, + 0.05125610788774322, + 0.0949399184231196, + -0.07008375268749356, + -0.9930129301771702 + ], + [ + 0.981300703456741, + -0.16106584519565753, + 0.10538843820226848, + -0.16844112144633444, + -0.9835507362401166, + 0.06523448357598652, + 0.0931478287519687, + -0.08176639134102062, + -0.9922891409492803 + ], + [ + 0.9826869032762581, + -0.15503877832674895, + 0.10143681454120945, + -0.16270308767166108, + -0.9840301876048542, + 0.07219622666361264, + 0.08862367286129755, + -0.08745036933772873, + -0.9922188657303734 + ], + [ + 0.9831410576919997, + -0.1545846283757701, + 0.09765886211799618, + -0.1626252867058076, + -0.983394963232832, + 0.08054416435814105, + 0.08358634340674687, + -0.09506807538928308, + -0.9919553337916317 + ], + [ + 0.9853108534223696, + -0.1480903939894865, + 0.0850397397463098, + -0.15598950828194028, + -0.9831524202837917, + 0.0952816445916041, + 0.06949672966435136, + -0.1071473457354914, + -0.9918112980137899 + ], + [ + 0.9882188401648725, + -0.1486608472210764, + 0.03637961581305936, + -0.15205983624871258, + -0.9806609695142837, + 0.12321472749359035, + 0.017358863534480767, + -0.12729499351827156, + -0.9917129899733966 + ], + [ + 0.9858019181793725, + -0.16787042900321136, + -0.0037546211723189, + -0.16565561846537036, + -0.9759630243505364, + 0.14161352750147146, + -0.027437095048956993, + -0.13898091295869422, + -0.9899149012154744 + ], + [ + 0.9842696980835287, + -0.176574862525318, + 0.005871912697265702, + -0.17551381925721066, + -0.9734742817815554, + 0.14677439136181764, + -0.020200511981295445, + -0.14549618769593192, + -0.989152565927847 + ], + [ + 0.9804269794163427, + -0.19614241967898, + -0.017061337433547197, + -0.19080149455168222, + -0.9679400107243938, + 0.16336133360041152, + -0.04855643839276995, + -0.15690853017390557, + -0.9864187677904724 + ], + [ + 0.9760524747578628, + -0.21703832690123642, + -0.01469459679487279, + -0.21194328208487934, + -0.9640078280664653, + 0.16052710863173783, + -0.04900624142026316, + -0.15356846057211268, + -0.9869220416118847 + ], + [ + 0.9737646252257328, + -0.2269641248436377, + -0.016423784367478877, + -0.22158491263900576, + -0.962160808758009, + 0.15857712502406457, + -0.05179364005118757, + -0.15077753189416276, + -0.9872099851227967 + ], + [ + 0.9703884073449823, + -0.2415173243723856, + -0.003964961345604961, + -0.23789319036128703, + -0.9584148807160333, + 0.15763167956283325, + -0.04187085943943242, + -0.15202071717392723, + -0.9874900164962316 + ], + [ + 0.9633960033275502, + -0.26565852066862977, + 0.03596791860336395, + -0.26801154651969955, + -0.9513503745699313, + 0.15199432797894252, + -0.0061604954850973045, + -0.15607054559335232, + -0.9877266995953746 + ], + [ + 0.9533971934823589, + -0.29795852358565283, + 0.047481677335788224, + -0.3017043937846909, + -0.9429729253797017, + 0.14062901824253765, + 0.0028723215304169436, + -0.1484007419910891, + -0.9889231363182481 + ], + [ + 0.9492608180776643, + -0.3099963648977102, + 0.052973134820674894, + -0.31434271252267, + -0.9404124033111951, + 0.1296656114100891, + 0.009620724838272157, + -0.13973820325404174, + -0.9901417455116811 + ], + [ + 0.9475714551573726, + -0.31486967345108097, + 0.05445572616125066, + -0.3191297145247136, + -0.9411745475918353, + 0.11111568868831681, + 0.01626538282101768, + -0.12266849516527786, + -0.9923144046196105 + ], + [ + 0.9451109509081638, + -0.3219376488268195, + 0.0558698553902366, + -0.3262521832495614, + -0.9392060842437969, + 0.10701142109293053, + 0.018022302804056544, + -0.11936532824607547, + -0.9926868161783683 + ], + [ + 0.9488314299179205, + -0.30752492031789946, + 0.07174497183345876, + -0.31375206631404007, + -0.9438016531495088, + 0.1039138123442893, + 0.03575693616047661, + -0.12110682431524476, + -0.9919952513095472 + ], + [ + 0.9565924769366648, + -0.28493651741154835, + 0.06117200432841551, + -0.2899777749365203, + -0.9515455633331042, + 0.10234222463846906, + 0.029046912246261485, + -0.11563832386568276, + -0.9928665846640697 + ], + [ + 0.9619512206421851, + -0.27181729542732597, + 0.027662375378549535, + -0.27322124482614624, + -0.9570000967892038, + 0.0974728994187894, + -2.1923982783908155e-05, + -0.10132212321121284, + -0.9948536710829943 + ], + [ + 0.9652003679730817, + -0.2613683396015008, + -0.008651053033113646, + -0.2594428648472596, + -0.9611940049284767, + 0.09378424584865834, + -0.03282757292998993, + -0.08827613462034643, + -0.995554958057071 + ], + [ + 0.9661776297284289, + -0.2578107304929433, + -0.005866434611352157, + -0.2559435663594472, + -0.961464616567776, + 0.10039263881075206, + -0.031522668852137836, + -0.09549564561211077, + -0.994930602111305 + ], + [ + 0.9664148529196884, + -0.25287263504986496, + -0.04580133730749471, + -0.24704674509568625, + -0.9632489821549678, + 0.10544811100747846, + -0.07078303323427237, + -0.09059154938710508, + -0.9933694848271712 + ], + [ + 0.9671521887278297, + -0.24814314647958507, + -0.05515090837130185, + -0.24027983946813297, + -0.9632280527561368, + 0.12023858419321735, + -0.08295928268817665, + -0.10303735846202748, + -0.9912119148683751 + ], + [ + 0.9649728613594252, + -0.25166208095360787, + -0.07411864711328325, + -0.24062107390530427, + -0.9615735016331406, + 0.13220400806949384, + -0.10454126282220724, + -0.10973877148519749, + -0.9884475334586342 + ], + [ + 0.9648803244152577, + -0.2433114652674591, + -0.09902267632067575, + -0.22943976189539297, + -0.9641438550028834, + 0.1333567490664223, + -0.12791933089917512, + -0.10595356402491325, + -0.9861087602555442 + ], + [ + 0.9691448033224321, + -0.23840747417681557, + -0.06261171176190161, + -0.22817293331449795, + -0.9637881221723662, + 0.13802017266371522, + -0.09324946485520491, + -0.11947523515814946, + -0.9884483828142584 + ], + [ + 0.9689389226660206, + -0.2334936921133919, + -0.08147428972423662, + -0.22568047244519182, + -0.9695816717929955, + 0.09476131109274473, + -0.10112214643552286, + -0.07343076648352152, + -0.9921603872529462 + ], + [ + 0.970567433851335, + -0.22816675550938187, + -0.07706353241031796, + -0.22404791768618948, + -0.9728184444698923, + 0.05853891594197207, + -0.08832546024627685, + -0.03955004146016493, + -0.9953061877094819 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005824.json b/json/chunk-0005/episode_0005824.json new file mode 100644 index 0000000000000000000000000000000000000000..1235271520a8b3d9132ecd3c1b015bcd541c6820 --- /dev/null +++ b/json/chunk-0005/episode_0005824.json @@ -0,0 +1,1582 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 25, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove triangular object into drawer." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005824.mp4", + "start": 0, + "end": 25, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.30565863847732544, + -0.047206223011016846, + 0.09236012399196625, + -0.02591940388083458, + -0.07873134315013885, + 0.13435322046279907, + 0.0, + 1.0001531839370728 + ], + [ + 0.3016255497932434, + -0.04611547663807869, + 0.08298519253730774, + -0.01638302206993103, + -0.046353571116924286, + 0.13529105484485626, + 0.0, + 1.0001531839370728 + ], + [ + 0.27392005920410156, + -0.03911452740430832, + 0.10558722168207169, + -0.008039342239499092, + -0.09248132258653641, + 0.15282323956489563, + 0.0, + 1.0001531839370728 + ], + [ + 0.24038290977478027, + -0.039038095623254776, + 0.12748341262340546, + -0.028892137110233307, + -0.16272971034049988, + 0.17044897377490997, + 0.0, + 1.0001531839370728 + ], + [ + 0.21142996847629547, + -0.03731583431363106, + 0.12128497660160065, + -0.04686731472611427, + -0.15651503205299377, + 0.19769549369812012, + 0.0, + 1.0001531839370728 + ], + [ + 0.19720323383808136, + -0.03443503752350807, + 0.09078796207904816, + -0.026270566508173943, + -0.10043879598379135, + 0.20913739502429962, + 0.0, + 1.0001531839370728 + ], + [ + 0.19139094650745392, + -0.030122829601168633, + 0.050275981426239014, + 0.019962746649980545, + -0.04444006830453873, + 0.22530320286750793, + 0.0, + 1.0001531839370728 + ], + [ + 0.19366033375263214, + -0.024996383115649223, + 0.023279618471860886, + 0.03534048795700073, + -0.04757848381996155, + 0.24788898229599, + 0.0, + 1.0001531839370728 + ], + [ + 0.2015272080898285, + -0.02475466951727867, + 0.007822624407708645, + 0.022569511085748672, + -0.06743646413087845, + 0.29092657566070557, + 0.0, + 1.0001531839370728 + ], + [ + 0.20606490969657898, + -0.025955114513635635, + 0.0016442472115159035, + 0.009450343437492847, + -0.06777544319629669, + 0.3099893629550934, + 0.0, + 0.9665181636810303 + ], + [ + 0.2080482393503189, + -0.023682648316025734, + 0.005829828791320324, + 0.022886138409376144, + -0.08234233409166336, + 0.3021530508995056, + 0.0, + 0.6931989789009094 + ], + [ + 0.20827412605285645, + -0.02421097829937935, + 0.02315295860171318, + 0.03771268576383591, + -0.1250477284193039, + 0.2885560095310211, + 0.0, + 0.4094836115837097 + ], + [ + 0.20685870945453644, + -0.02834508754312992, + 0.04389919340610504, + 0.046599678695201874, + -0.1618131399154663, + 0.25438207387924194, + 0.0, + 0.35690104961395264 + ], + [ + 0.20482660830020905, + -0.03070826269686222, + 0.06508099287748337, + 0.04480859264731407, + -0.187247633934021, + 0.23729968070983887, + 0.0, + 0.35606881976127625 + ], + [ + 0.20685262978076935, + -0.0255005843937397, + 0.08819446712732315, + 0.03774099424481392, + -0.16603150963783264, + 0.22645238041877747, + 0.0, + 0.35606881976127625 + ], + [ + 0.22160179913043976, + 0.008565620519220829, + 0.11274289339780807, + -0.009643890894949436, + -0.15783633291721344, + 0.3098410665988922, + 0.0, + 0.3552374839782715 + ], + [ + 0.23862381279468536, + 0.040447499603033066, + 0.13074196875095367, + -0.05442631244659424, + -0.1425045132637024, + 0.38716134428977966, + 0.0, + 0.3544071912765503 + ], + [ + 0.25798365473747253, + 0.06319895386695862, + 0.13029225170612335, + -0.08421063423156738, + -0.11001847684383392, + 0.4424223303794861, + 0.0, + 0.3544071912765503 + ], + [ + 0.27507346868515015, + 0.07253102958202362, + 0.11109601706266403, + -0.06935204565525055, + -0.07076849043369293, + 0.4446629285812378, + 0.0, + 0.3544071912765503 + ], + [ + 0.28316226601600647, + 0.07572692632675171, + 0.09183052182197571, + -0.0485437773168087, + -0.05785940960049629, + 0.44239792227745056, + 0.0, + 0.35357794165611267 + ], + [ + 0.2931067943572998, + 0.07824937999248505, + 0.08210348337888718, + -0.035402826964855194, + -0.1019606664776802, + 0.41636186838150024, + 0.0, + 0.35357794165611267 + ], + [ + 0.2959592938423157, + 0.08228105306625366, + 0.07724065333604813, + -0.019809074699878693, + -0.14288771152496338, + 0.3859246075153351, + 0.0, + 0.39974725246429443 + ], + [ + 0.2949241101741791, + 0.081702321767807, + 0.07676903903484344, + -0.017147701233625412, + -0.13701972365379333, + 0.3786947727203369, + 0.0, + 0.7081608176231384 + ], + [ + 0.29510608315467834, + 0.07187452167272568, + 0.0904712975025177, + -0.027868367731571198, + -0.14988039433956146, + 0.34748756885528564, + 0.0, + 0.9694526195526123 + ], + [ + 0.2955308258533478, + 0.055928900837898254, + 0.11551294475793839, + -0.04088999330997467, + -0.17809398472309113, + 0.2967599034309387, + 0.0, + 0.9981546401977539 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9665181636810303 + ], + [ + 0.6931989789009094 + ], + [ + 0.4094836115837097 + ], + [ + 0.35690104961395264 + ], + [ + 0.35606881976127625 + ], + [ + 0.35606881976127625 + ], + [ + 0.3552374839782715 + ], + [ + 0.3544071912765503 + ], + [ + 0.3544071912765503 + ], + [ + 0.3544071912765503 + ], + [ + 0.35357794165611267 + ], + [ + 0.35357794165611267 + ], + [ + 0.39974725246429443 + ], + [ + 0.7081608176231384 + ], + [ + 0.9694526195526123 + ], + [ + 0.9981546401977539 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.30565863847732544, + -0.047206223011016846, + 0.09236012399196625 + ], + [ + 0.3016255497932434, + -0.04611547663807869, + 0.08298519253730774 + ], + [ + 0.27392005920410156, + -0.03911452740430832, + 0.10558722168207169 + ], + [ + 0.24038290977478027, + -0.039038095623254776, + 0.12748341262340546 + ], + [ + 0.21142996847629547, + -0.03731583431363106, + 0.12128497660160065 + ], + [ + 0.19720323383808136, + -0.03443503752350807, + 0.09078796207904816 + ], + [ + 0.19139094650745392, + -0.030122829601168633, + 0.050275981426239014 + ], + [ + 0.19366033375263214, + -0.024996383115649223, + 0.023279618471860886 + ], + [ + 0.2015272080898285, + -0.02475466951727867, + 0.007822624407708645 + ], + [ + 0.20606490969657898, + -0.025955114513635635, + 0.0016442472115159035 + ], + [ + 0.2080482393503189, + -0.023682648316025734, + 0.005829828791320324 + ], + [ + 0.20827412605285645, + -0.02421097829937935, + 0.02315295860171318 + ], + [ + 0.20685870945453644, + -0.02834508754312992, + 0.04389919340610504 + ], + [ + 0.20482660830020905, + -0.03070826269686222, + 0.06508099287748337 + ], + [ + 0.20685262978076935, + -0.0255005843937397, + 0.08819446712732315 + ], + [ + 0.22160179913043976, + 0.008565620519220829, + 0.11274289339780807 + ], + [ + 0.23862381279468536, + 0.040447499603033066, + 0.13074196875095367 + ], + [ + 0.25798365473747253, + 0.06319895386695862, + 0.13029225170612335 + ], + [ + 0.27507346868515015, + 0.07253102958202362, + 0.11109601706266403 + ], + [ + 0.28316226601600647, + 0.07572692632675171, + 0.09183052182197571 + ], + [ + 0.2931067943572998, + 0.07824937999248505, + 0.08210348337888718 + ], + [ + 0.2959592938423157, + 0.08228105306625366, + 0.07724065333604813 + ], + [ + 0.2949241101741791, + 0.081702321767807, + 0.07676903903484344 + ], + [ + 0.29510608315467834, + 0.07187452167272568, + 0.0904712975025177 + ], + [ + 0.2955308258533478, + 0.055928900837898254, + 0.11551294475793839 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9879183786639779, + 0.1318844315238824, + 0.081386570265365, + 0.13353445162660293, + -0.9909283457748499, + -0.015151361942137117, + 0.0786500306847954, + 0.02583621995458271, + -0.9965674399716955 + ], + [ + 0.9897977969592496, + 0.13410844231012578, + 0.04811701191645221, + 0.13473383406757775, + -0.9908315308583351, + -0.009983557200663816, + 0.04633697327261202, + 0.01636469242241263, + -0.9987918110146145 + ], + [ + 0.9841216926894403, + 0.151490382604357, + 0.09249409687356468, + 0.15157854266272158, + -0.9884263177076034, + 0.006112271855329749, + 0.09234954998437363, + 0.008004901084554388, + -0.9956944723037837 + ], + [ + 0.9724888710262434, + 0.16494162880838248, + 0.1644981909205716, + 0.16738387140233513, + -0.9858912923562133, + -0.000999625211095161, + 0.16201245422642546, + 0.02850646842795302, + -0.9863768782434517 + ], + [ + 0.9685364074196884, + 0.18903395708551202, + 0.16187461373284007, + 0.19400941634300273, + -0.9808794815529867, + -0.015355423751609754, + 0.15587679068036647, + 0.04627748628584838, + -0.9866918568581846 + ], + [ + 0.973280446373595, + 0.20496807333756037, + 0.10350488693344181, + 0.206569837174471, + -0.9784196656592311, + -0.004884692517586286, + 0.10027001085333859, + 0.026135163354517245, + -0.9946169504688247 + ], + [ + 0.9737640709828241, + 0.22422178208805946, + 0.03883460441683432, + 0.223181348128189, + -0.9743340908143246, + 0.029379675367627957, + 0.04442544215470843, + -0.019941712922361195, + -0.9988136503748237 + ], + [ + 0.9683354854145537, + 0.2468339094065231, + 0.03740867351367551, + 0.24508036065693484, + -0.9684148981221976, + 0.045915159971845705, + 0.0475605351865092, + -0.03529314752279498, + -0.9982446539955557 + ], + [ + 0.955801044952706, + 0.2882237575137006, + 0.058063999793315266, + 0.2861880070545823, + -0.9572983243820706, + 0.04094316491681516, + 0.06738536254588921, + -0.02251629942869634, + -0.9974729215244872 + ], + [ + 0.9501503672278523, + 0.3056443816609518, + 0.0616099960710289, + 0.3043481527738034, + -0.9520990574664603, + 0.02965782653283849, + 0.06772356724177611, + -0.009428506274737496, + -0.9976595720532512 + ], + [ + 0.951463283245868, + 0.2992954172667932, + 0.07169291344400401, + 0.29656815537036574, + -0.953887892788007, + 0.046316489641103714, + 0.0822493152264012, + -0.022806604209132206, + -0.9963507961301764 + ], + [ + 0.9511703315688772, + 0.28887396266242593, + 0.1087512484473607, + 0.2823462427435566, + -0.9566359676362072, + 0.07161162359096611, + 0.12472208926949893, + -0.03740934536242152, + -0.9914862285114233 + ], + [ + 0.9551761618292575, + 0.25863758217091093, + 0.14403159709561197, + 0.24836009420127714, + -0.9648797673081537, + 0.0855821140641843, + 0.16110792494927162, + -0.04597429421043471, + -0.9858654070360677 + ], + [ + 0.9549864744841655, + 0.24294777361588152, + 0.17022694512735295, + 0.23096973827543507, + -0.969040476164785, + 0.08725557606997991, + 0.1861553479040596, + -0.044010622006663475, + -0.9815341316517248 + ], + [ + 0.9610685379133006, + 0.2304387683002437, + 0.15246389571782906, + 0.22143436347470372, + -0.9723750073003213, + 0.07384895293944672, + 0.16526974346728826, + -0.03721315952679112, + -0.9855460885480141 + ], + [ + 0.9405436319756605, + 0.3034494558052648, + 0.15263061331699393, + 0.30111718114951075, + -0.9527999389879601, + 0.03873912080974319, + 0.15718180418421776, + 0.009523866653194449, + -0.9875237599153582 + ], + [ + 0.9165982240721735, + 0.3698482006334414, + 0.1518552077340216, + 0.3737342010027585, + -0.9275304303118795, + 0.003169833795177889, + 0.14202268350009056, + 0.05384802070331848, + -0.988397666952815 + ], + [ + 0.8982534320155667, + 0.4182667513446331, + 0.13488401162429084, + 0.4255413775530268, + -0.9044686441502525, + -0.0291720369408014, + 0.10979666599003465, + 0.083602610417439, + -0.9904318733102555 + ], + [ + 0.9004960712580278, + 0.42469614464440014, + 0.09348802261808874, + 0.4290769178707788, + -0.9026932999595405, + -0.03221497724147131, + 0.07070943500955472, + 0.06912301304441484, + -0.995099082940132 + ], + [ + 0.9022154055591183, + 0.42506754338627517, + 0.07297222438265567, + 0.42739137187008847, + -0.903864375655345, + -0.019126046956363246, + 0.05782713223737894, + 0.04844351329879314, + -0.9971505647576349 + ], + [ + 0.90981659169081, + 0.40088749769490767, + 0.10734516140019093, + 0.40233539183881567, + -0.9154503574603297, + 0.008767867452298793, + 0.10178409481851428, + 0.03521160629209946, + -0.994183152555054 + ], + [ + 0.9170092463901156, + 0.3737288413245729, + 0.13935851318532416, + 0.3725798117637485, + -0.9273307722748155, + 0.03524092306231113, + 0.1424019869985027, + 0.01960591631080196, + -0.9896147139894859 + ], + [ + 0.9204395173054855, + 0.36747751161069403, + 0.1332342802842325, + 0.36624293760981635, + -0.9298772763744351, + 0.034559536070309066, + 0.1365913819879474, + 0.01698615150277016, + -0.9904818347772704 + ], + [ + 0.9296902695025481, + 0.3364923099690874, + 0.1498296636983051, + 0.33671884351437287, + -0.9412830564682066, + 0.024629819898126914, + 0.14931986878718748, + 0.02755236718575189, + -0.9884049999103802 + ], + [ + 0.9411634964154665, + 0.28525358600858247, + 0.181222693623781, + 0.2877980599101175, + -0.9576073180340147, + 0.012668905227929161, + 0.17715402825503848, + 0.040232028496535795, + -0.9833604802696045 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.004033088684082031, + 0.0010907463729381561, + -0.009374931454658508, + 0.00953638181090355, + 0.03237777203321457, + 0.0009378343820571899, + 1.0 + ], + [ + -0.027705490589141846, + 0.0070009492337703705, + 0.022602029144763947, + 0.008343679830431938, + -0.04612775146961212, + 0.017532184720039368, + 1.0 + ], + [ + -0.03353714942932129, + 7.643178105354309e-05, + 0.02189619094133377, + -0.020852794870734215, + -0.07024838775396347, + 0.017625734210014343, + 1.0 + ], + [ + -0.028952941298484802, + 0.0017222613096237183, + -0.00619843602180481, + -0.017975177615880966, + 0.0062146782875061035, + 0.027246519923210144, + 1.0 + ], + [ + -0.014226734638214111, + 0.002880796790122986, + -0.03049701452255249, + 0.02059674821794033, + 0.05607623606920242, + 0.011441901326179504, + 1.0 + ], + [ + -0.005812287330627441, + 0.004312207922339439, + -0.04051198065280914, + 0.04623331129550934, + 0.055998727679252625, + 0.016165807843208313, + 1.0 + ], + [ + 0.0022693872451782227, + 0.005126446485519409, + -0.026996362954378128, + 0.015377741307020187, + -0.003138415515422821, + 0.022585779428482056, + 1.0 + ], + [ + 0.00786687433719635, + 0.00024171359837055206, + -0.01545699406415224, + -0.01277097687125206, + -0.0198579803109169, + 0.043037593364715576, + 1.0 + ], + [ + 0.004537701606750488, + -0.0012004449963569641, + -0.006178377196192741, + -0.013119167648255825, + -0.0003389790654182434, + 0.019062787294387817, + 0.0 + ], + [ + 0.001983329653739929, + 0.0022724661976099014, + 0.0041855815798044205, + 0.013435794971883297, + -0.014566890895366669, + -0.007836312055587769, + 0.0 + ], + [ + 0.00022588670253753662, + -0.0005283299833536148, + 0.017323128879070282, + 0.014826547354459763, + -0.04270539432764053, + -0.013597041368484497, + 0.0 + ], + [ + -0.0014154165983200073, + -0.004134109243750572, + 0.02074623480439186, + 0.008886992931365967, + -0.036765411496162415, + -0.034173935651779175, + 0.0 + ], + [ + -0.0020321011543273926, + -0.0023631751537323, + 0.021181799471378326, + -0.0017910860478878021, + -0.025434494018554688, + -0.017082393169403076, + 0.0 + ], + [ + 0.0020260214805603027, + 0.0052076783031225204, + 0.023113474249839783, + -0.007067598402500153, + 0.021216124296188354, + -0.010847300291061401, + 0.0 + ], + [ + 0.01474916934967041, + 0.034066203981637955, + 0.024548426270484924, + -0.04738488420844078, + 0.008195176720619202, + 0.08338868618011475, + 0.0 + ], + [ + 0.017022013664245605, + 0.03188188001513481, + 0.0179990753531456, + -0.04478242248296738, + 0.015331819653511047, + 0.07732027769088745, + 0.0 + ], + [ + 0.01935984194278717, + 0.022751454263925552, + -0.00044971704483032227, + -0.029784321784973145, + 0.03248603641986847, + 0.05526098608970642, + 0.0 + ], + [ + 0.017089813947677612, + 0.009332075715065002, + -0.01919623464345932, + 0.014858588576316833, + 0.03924998641014099, + 0.002240598201751709, + 0.0 + ], + [ + 0.008088797330856323, + 0.0031958967447280884, + -0.019265495240688324, + 0.02080826833844185, + 0.01290908083319664, + -0.0022650063037872314, + 0.0 + ], + [ + 0.009944528341293335, + 0.0025224536657333374, + -0.009727038443088531, + 0.013140950351953506, + -0.044101256877183914, + -0.026036053895950317, + 0.0 + ], + [ + 0.002852499485015869, + 0.004031673073768616, + -0.00486283004283905, + 0.015593752264976501, + -0.04092704504728317, + -0.03043726086616516, + 1.0 + ], + [ + -0.0010351836681365967, + -0.0005787312984466553, + -0.0004716143012046814, + 0.0026613734662532806, + 0.005867987871170044, + -0.007229834794998169, + 1.0 + ], + [ + 0.00018197298049926758, + -0.00982780009508133, + 0.013702258467674255, + -0.010720666497945786, + -0.012860670685768127, + -0.03120720386505127, + 1.0 + ], + [ + 0.0004247426986694336, + -0.015945620834827423, + 0.025041647255420685, + -0.013021625578403473, + -0.028213590383529663, + -0.050727665424346924, + 1.0 + ], + [ + -0.006425529718399048, + -0.012804832309484482, + 0.012121222913265228, + -0.006682787090539932, + 0.008516430854797363, + -0.027533292770385742, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9665181636810303 + ], + [ + 0.6931989789009094 + ], + [ + 0.4094836115837097 + ], + [ + 0.35690104961395264 + ], + [ + 0.35606881976127625 + ], + [ + 0.35606881976127625 + ], + [ + 0.3552374839782715 + ], + [ + 0.3544071912765503 + ], + [ + 0.3544071912765503 + ], + [ + 0.3544071912765503 + ], + [ + 0.35357794165611267 + ], + [ + 0.35357794165611267 + ], + [ + 0.39974725246429443 + ], + [ + 0.7081608176231384 + ], + [ + 0.9694526195526123 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3016255497932434, + -0.04611547663807869, + 0.08298519253730774 + ], + [ + 0.27392005920410156, + -0.03911452740430832, + 0.10558722168207169 + ], + [ + 0.24038290977478027, + -0.039038095623254776, + 0.12748341262340546 + ], + [ + 0.21142996847629547, + -0.03731583431363106, + 0.12128497660160065 + ], + [ + 0.19720323383808136, + -0.03443503752350807, + 0.09078796207904816 + ], + [ + 0.19139094650745392, + -0.030122829601168633, + 0.050275981426239014 + ], + [ + 0.19366033375263214, + -0.024996383115649223, + 0.023279618471860886 + ], + [ + 0.2015272080898285, + -0.02475466951727867, + 0.007822624407708645 + ], + [ + 0.20606490969657898, + -0.025955114513635635, + 0.0016442472115159035 + ], + [ + 0.2080482393503189, + -0.023682648316025734, + 0.005829828791320324 + ], + [ + 0.20827412605285645, + -0.02421097829937935, + 0.02315295860171318 + ], + [ + 0.20685870945453644, + -0.02834508754312992, + 0.04389919340610504 + ], + [ + 0.20482660830020905, + -0.03070826269686222, + 0.06508099287748337 + ], + [ + 0.20685262978076935, + -0.0255005843937397, + 0.08819446712732315 + ], + [ + 0.22160179913043976, + 0.008565620519220829, + 0.11274289339780807 + ], + [ + 0.23862381279468536, + 0.040447499603033066, + 0.13074196875095367 + ], + [ + 0.25798365473747253, + 0.06319895386695862, + 0.13029225170612335 + ], + [ + 0.27507346868515015, + 0.07253102958202362, + 0.11109601706266403 + ], + [ + 0.28316226601600647, + 0.07572692632675171, + 0.09183052182197571 + ], + [ + 0.2931067943572998, + 0.07824937999248505, + 0.08210348337888718 + ], + [ + 0.2959592938423157, + 0.08228105306625366, + 0.07724065333604813 + ], + [ + 0.2949241101741791, + 0.081702321767807, + 0.07676903903484344 + ], + [ + 0.29510608315467834, + 0.07187452167272568, + 0.0904712975025177 + ], + [ + 0.2955308258533478, + 0.055928900837898254, + 0.11551294475793839 + ], + [ + 0.28910529613494873, + 0.04312406852841377, + 0.1276341676712036 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9897977969592496, + 0.13410844231012578, + 0.04811701191645221, + 0.13473383406757775, + -0.9908315308583351, + -0.009983557200663816, + 0.04633697327261202, + 0.01636469242241263, + -0.9987918110146145 + ], + [ + 0.9841216926894403, + 0.151490382604357, + 0.09249409687356468, + 0.15157854266272158, + -0.9884263177076034, + 0.006112271855329749, + 0.09234954998437363, + 0.008004901084554388, + -0.9956944723037837 + ], + [ + 0.9724888710262434, + 0.16494162880838248, + 0.1644981909205716, + 0.16738387140233513, + -0.9858912923562133, + -0.000999625211095161, + 0.16201245422642546, + 0.02850646842795302, + -0.9863768782434517 + ], + [ + 0.9685364074196884, + 0.18903395708551202, + 0.16187461373284007, + 0.19400941634300273, + -0.9808794815529867, + -0.015355423751609754, + 0.15587679068036647, + 0.04627748628584838, + -0.9866918568581846 + ], + [ + 0.973280446373595, + 0.20496807333756037, + 0.10350488693344181, + 0.206569837174471, + -0.9784196656592311, + -0.004884692517586286, + 0.10027001085333859, + 0.026135163354517245, + -0.9946169504688247 + ], + [ + 0.9737640709828241, + 0.22422178208805946, + 0.03883460441683432, + 0.223181348128189, + -0.9743340908143246, + 0.029379675367627957, + 0.04442544215470843, + -0.019941712922361195, + -0.9988136503748237 + ], + [ + 0.9683354854145537, + 0.2468339094065231, + 0.03740867351367551, + 0.24508036065693484, + -0.9684148981221976, + 0.045915159971845705, + 0.0475605351865092, + -0.03529314752279498, + -0.9982446539955557 + ], + [ + 0.955801044952706, + 0.2882237575137006, + 0.058063999793315266, + 0.2861880070545823, + -0.9572983243820706, + 0.04094316491681516, + 0.06738536254588921, + -0.02251629942869634, + -0.9974729215244872 + ], + [ + 0.9501503672278523, + 0.3056443816609518, + 0.0616099960710289, + 0.3043481527738034, + -0.9520990574664603, + 0.02965782653283849, + 0.06772356724177611, + -0.009428506274737496, + -0.9976595720532512 + ], + [ + 0.951463283245868, + 0.2992954172667932, + 0.07169291344400401, + 0.29656815537036574, + -0.953887892788007, + 0.046316489641103714, + 0.0822493152264012, + -0.022806604209132206, + -0.9963507961301764 + ], + [ + 0.9511703315688772, + 0.28887396266242593, + 0.1087512484473607, + 0.2823462427435566, + -0.9566359676362072, + 0.07161162359096611, + 0.12472208926949893, + -0.03740934536242152, + -0.9914862285114233 + ], + [ + 0.9551761618292575, + 0.25863758217091093, + 0.14403159709561197, + 0.24836009420127714, + -0.9648797673081537, + 0.0855821140641843, + 0.16110792494927162, + -0.04597429421043471, + -0.9858654070360677 + ], + [ + 0.9549864744841655, + 0.24294777361588152, + 0.17022694512735295, + 0.23096973827543507, + -0.969040476164785, + 0.08725557606997991, + 0.1861553479040596, + -0.044010622006663475, + -0.9815341316517248 + ], + [ + 0.9610685379133006, + 0.2304387683002437, + 0.15246389571782906, + 0.22143436347470372, + -0.9723750073003213, + 0.07384895293944672, + 0.16526974346728826, + -0.03721315952679112, + -0.9855460885480141 + ], + [ + 0.9405436319756605, + 0.3034494558052648, + 0.15263061331699393, + 0.30111718114951075, + -0.9527999389879601, + 0.03873912080974319, + 0.15718180418421776, + 0.009523866653194449, + -0.9875237599153582 + ], + [ + 0.9165982240721735, + 0.3698482006334414, + 0.1518552077340216, + 0.3737342010027585, + -0.9275304303118795, + 0.003169833795177889, + 0.14202268350009056, + 0.05384802070331848, + -0.988397666952815 + ], + [ + 0.8982534320155667, + 0.4182667513446331, + 0.13488401162429084, + 0.4255413775530268, + -0.9044686441502525, + -0.0291720369408014, + 0.10979666599003465, + 0.083602610417439, + -0.9904318733102555 + ], + [ + 0.9004960712580278, + 0.42469614464440014, + 0.09348802261808874, + 0.4290769178707788, + -0.9026932999595405, + -0.03221497724147131, + 0.07070943500955472, + 0.06912301304441484, + -0.995099082940132 + ], + [ + 0.9022154055591183, + 0.42506754338627517, + 0.07297222438265567, + 0.42739137187008847, + -0.903864375655345, + -0.019126046956363246, + 0.05782713223737894, + 0.04844351329879314, + -0.9971505647576349 + ], + [ + 0.90981659169081, + 0.40088749769490767, + 0.10734516140019093, + 0.40233539183881567, + -0.9154503574603297, + 0.008767867452298793, + 0.10178409481851428, + 0.03521160629209946, + -0.994183152555054 + ], + [ + 0.9170092463901156, + 0.3737288413245729, + 0.13935851318532416, + 0.3725798117637485, + -0.9273307722748155, + 0.03524092306231113, + 0.1424019869985027, + 0.01960591631080196, + -0.9896147139894859 + ], + [ + 0.9204395173054855, + 0.36747751161069403, + 0.1332342802842325, + 0.36624293760981635, + -0.9298772763744351, + 0.034559536070309066, + 0.1365913819879474, + 0.01698615150277016, + -0.9904818347772704 + ], + [ + 0.9296902695025481, + 0.3364923099690874, + 0.1498296636983051, + 0.33671884351437287, + -0.9412830564682066, + 0.024629819898126914, + 0.14931986878718748, + 0.02755236718575189, + -0.9884049999103802 + ], + [ + 0.9411634964154665, + 0.28525358600858247, + 0.181222693623781, + 0.2877980599101175, + -0.9576073180340147, + 0.012668905227929161, + 0.17715402825503848, + 0.040232028496535795, + -0.9833604802696045 + ], + [ + 0.950149754787895, + 0.25794852760616643, + 0.1751513647743382, + 0.2621707235968265, + -0.9650209869972253, + -0.0010031667942317496, + 0.16876597751092745, + 0.04687271872541063, + -0.9845410062938308 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005825.json b/json/chunk-0005/episode_0005825.json new file mode 100644 index 0000000000000000000000000000000000000000..4299b58f2e292b11ffe54a339154b58a1c97723c --- /dev/null +++ b/json/chunk-0005/episode_0005825.json @@ -0,0 +1,1942 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 31, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut the towel on the right of the pan." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005825.mp4", + "start": 0, + "end": 31, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3164694607257843, + 0.12631596624851227, + 0.1367054581642151, + -0.053855352103710175, + -0.3553621172904968, + 0.35604164004325867, + 0.0, + 1.0001531839370728 + ], + [ + 0.31368857622146606, + 0.12454348802566528, + 0.12515434622764587, + -0.055456168949604034, + -0.3202153444290161, + 0.35372865200042725, + 0.0, + 1.0001531839370728 + ], + [ + 0.30322664976119995, + 0.11055497080087662, + 0.10971222072839737, + -0.045234277844429016, + -0.2925093472003937, + 0.3099813163280487, + 0.0, + 1.0001531839370728 + ], + [ + 0.29320353269577026, + 0.09739923477172852, + 0.10992640256881714, + -0.0384252555668354, + -0.3070467710494995, + 0.26400721073150635, + 0.0, + 1.0001531839370728 + ], + [ + 0.2849794626235962, + 0.08337795734405518, + 0.10899195075035095, + -0.036351773887872696, + -0.3063064515590668, + 0.2169092893600464, + 0.0, + 1.0001531839370728 + ], + [ + 0.27083712816238403, + 0.06742081046104431, + 0.0996224582195282, + -0.023729952052235603, + -0.2971799075603485, + 0.14751380681991577, + 0.0, + 1.0001531839370728 + ], + [ + 0.2593867778778076, + 0.05481604114174843, + 0.08854882419109344, + -0.009862533770501614, + -0.2799256443977356, + 0.09409741312265396, + 0.0, + 1.0001531839370728 + ], + [ + 0.2529279589653015, + 0.04039238020777702, + 0.07534845173358917, + 0.014072294346988201, + -0.2689695954322815, + 0.04500357434153557, + 0.0, + 1.0001531839370728 + ], + [ + 0.2488020658493042, + 0.027159402146935463, + 0.061570387333631516, + 0.04031354933977127, + -0.25512468814849854, + -0.002993069589138031, + 0.0, + 1.0001531839370728 + ], + [ + 0.24383527040481567, + 0.013139587827026844, + 0.043100036680698395, + 0.061719223856925964, + -0.22149722278118134, + -0.05035511404275894, + 0.0, + 1.0001531839370728 + ], + [ + 0.24768470227718353, + 0.003680204739794135, + 0.026136208325624466, + 0.07686769962310791, + -0.20501595735549927, + -0.06865056604146957, + 0.0, + 1.0001531839370728 + ], + [ + 0.2517433762550354, + -0.0033334025647491217, + 0.012353734113276005, + 0.0906776487827301, + -0.17749682068824768, + -0.08051259070634842, + 0.0, + 1.0001531839370728 + ], + [ + 0.2680015563964844, + -0.00663836719468236, + 0.010463993065059185, + 0.08802621811628342, + -0.1875280886888504, + -0.07752315700054169, + 0.0, + 1.0001531839370728 + ], + [ + 0.28498315811157227, + -0.007519374135881662, + 0.009354619309306145, + 0.08768116682767868, + -0.19388243556022644, + -0.04879692196846008, + 0.0, + 1.0001531839370728 + ], + [ + 0.3081953227519989, + -0.008249466307461262, + 0.008468723855912685, + 0.08893726766109467, + -0.19370391964912415, + -0.03331939876079559, + 0.0, + 1.0001531839370728 + ], + [ + 0.33030951023101807, + -0.0027016461826860905, + 0.007923955097794533, + 0.08753862977027893, + -0.19586899876594543, + -0.00018349230231251568, + 0.0, + 1.0001531839370728 + ], + [ + 0.3486309051513672, + 0.0012217216426506639, + 0.006802254356443882, + 0.09099198877811432, + -0.1980336755514145, + 0.015189982950687408, + 0.0, + 1.0001531839370728 + ], + [ + 0.3687840700149536, + 0.004998972173780203, + 0.007176208775490522, + 0.08062636107206345, + -0.20246431231498718, + 0.049387652426958084, + 0.0, + 1.0001531839370728 + ], + [ + 0.38025709986686707, + 0.006213114596903324, + 0.007973372004926205, + 0.07737787067890167, + -0.21313419938087463, + 0.05912509933114052, + 0.0, + 1.0001531839370728 + ], + [ + 0.38395997881889343, + 0.006333895493298769, + 0.006691023241728544, + 0.07018514722585678, + -0.2107892632484436, + 0.06814327090978622, + 0.0, + 1.0001531839370728 + ], + [ + 0.3839705288410187, + 0.0065673161298036575, + 0.006877987179905176, + 0.06911356747150421, + -0.20547664165496826, + 0.06602055579423904, + 0.0, + 1.0001531839370728 + ], + [ + 0.3820543587207794, + 0.006751963868737221, + 0.008200004696846008, + 0.051941655576229095, + -0.18886664509773254, + 0.07864165306091309, + 0.0, + 0.9988223910331726 + ], + [ + 0.37942373752593994, + 0.010201714001595974, + 0.013563401065766811, + 0.024948984384536743, + -0.15238134562969208, + 0.10177116096019745, + 0.0, + 0.9988223910331726 + ], + [ + 0.38500627875328064, + 0.012406821362674236, + 0.030018549412488937, + 0.001145535847172141, + -0.1561831831932068, + 0.13724619150161743, + 0.0, + 0.9994885921478271 + ], + [ + 0.3909975588321686, + 0.01133003644645214, + 0.04272187873721123, + -0.014528059400618076, + -0.1759786307811737, + 0.14949344098567963, + 0.0, + 0.9994885921478271 + ], + [ + 0.391571968793869, + 0.010338271968066692, + 0.05245739966630936, + -0.0401325598359108, + -0.1897430270910263, + 0.16732673346996307, + 0.0, + 0.9994885921478271 + ], + [ + 0.3950467109680176, + 0.009661483578383923, + 0.07842107862234116, + -0.05700000002980232, + -0.2385948747396469, + 0.1750771850347519, + 0.0, + 0.9994885921478271 + ], + [ + 0.3959425985813141, + 0.009216582402586937, + 0.10179965198040009, + -0.07990455627441406, + -0.26611754298210144, + 0.1960764229297638, + 0.0, + 0.9994885921478271 + ], + [ + 0.3966139853000641, + 0.02090412564575672, + 0.1319255828857422, + -0.08648428320884705, + -0.32146909832954407, + 0.25208809971809387, + 0.0, + 0.9988223910331726 + ], + [ + 0.39658257365226746, + 0.02741931937634945, + 0.15296265482902527, + -0.08757250010967255, + -0.3738454580307007, + 0.30496126413345337, + 0.0, + 0.9994885921478271 + ], + [ + 0.39530375599861145, + 0.031599245965480804, + 0.1622762531042099, + -0.09919422119855881, + -0.4075360894203186, + 0.3257753849029541, + 0.0, + 0.9988223910331726 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3164694607257843, + 0.12631596624851227, + 0.1367054581642151 + ], + [ + 0.31368857622146606, + 0.12454348802566528, + 0.12515434622764587 + ], + [ + 0.30322664976119995, + 0.11055497080087662, + 0.10971222072839737 + ], + [ + 0.29320353269577026, + 0.09739923477172852, + 0.10992640256881714 + ], + [ + 0.2849794626235962, + 0.08337795734405518, + 0.10899195075035095 + ], + [ + 0.27083712816238403, + 0.06742081046104431, + 0.0996224582195282 + ], + [ + 0.2593867778778076, + 0.05481604114174843, + 0.08854882419109344 + ], + [ + 0.2529279589653015, + 0.04039238020777702, + 0.07534845173358917 + ], + [ + 0.2488020658493042, + 0.027159402146935463, + 0.061570387333631516 + ], + [ + 0.24383527040481567, + 0.013139587827026844, + 0.043100036680698395 + ], + [ + 0.24768470227718353, + 0.003680204739794135, + 0.026136208325624466 + ], + [ + 0.2517433762550354, + -0.0033334025647491217, + 0.012353734113276005 + ], + [ + 0.2680015563964844, + -0.00663836719468236, + 0.010463993065059185 + ], + [ + 0.28498315811157227, + -0.007519374135881662, + 0.009354619309306145 + ], + [ + 0.3081953227519989, + -0.008249466307461262, + 0.008468723855912685 + ], + [ + 0.33030951023101807, + -0.0027016461826860905, + 0.007923955097794533 + ], + [ + 0.3486309051513672, + 0.0012217216426506639, + 0.006802254356443882 + ], + [ + 0.3687840700149536, + 0.004998972173780203, + 0.007176208775490522 + ], + [ + 0.38025709986686707, + 0.006213114596903324, + 0.007973372004926205 + ], + [ + 0.38395997881889343, + 0.006333895493298769, + 0.006691023241728544 + ], + [ + 0.3839705288410187, + 0.0065673161298036575, + 0.006877987179905176 + ], + [ + 0.3820543587207794, + 0.006751963868737221, + 0.008200004696846008 + ], + [ + 0.37942373752593994, + 0.010201714001595974, + 0.013563401065766811 + ], + [ + 0.38500627875328064, + 0.012406821362674236, + 0.030018549412488937 + ], + [ + 0.3909975588321686, + 0.01133003644645214, + 0.04272187873721123 + ], + [ + 0.391571968793869, + 0.010338271968066692, + 0.05245739966630936 + ], + [ + 0.3950467109680176, + 0.009661483578383923, + 0.07842107862234116 + ], + [ + 0.3959425985813141, + 0.009216582402586937, + 0.10179965198040009 + ], + [ + 0.3966139853000641, + 0.02090412564575672, + 0.1319255828857422 + ], + [ + 0.39658257365226746, + 0.02741931937634945, + 0.15296265482902527 + ], + [ + 0.39530375599861145, + 0.031599245965480804, + 0.1622762531042099 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8787229408949636, + 0.330507266505234, + 0.34439939014484994, + 0.32678860359351525, + -0.9424532454807872, + 0.07064763721548901, + 0.3479298804447624, + 0.05046609624261878, + -0.9361612956236356 + ], + [ + 0.8904024455867678, + 0.32949863412555924, + 0.31402887606475627, + 0.3287897868427928, + -0.9426891397599694, + 0.056872329356905026, + 0.31477096587991416, + 0.05261022607820862, + -0.9477085011494969 + ], + [ + 0.9118870455173578, + 0.29231114981821293, + 0.2881253336823721, + 0.2920837167149474, + -0.9553425907508152, + 0.04480665941020934, + 0.2883558888727718, + 0.04329810607260336, + -0.9565438596127827 + ], + [ + 0.9202028431926568, + 0.2495497010833911, + 0.30158195249275266, + 0.24874641167577385, + -0.9676693587029885, + 0.04172810690378365, + 0.30224485116967204, + 0.03661910589483707, + -0.9525266878281603 + ], + [ + 0.9311117959070129, + 0.20436792286579766, + 0.30210027412489443, + 0.20519505530956098, + -0.9782806262755528, + 0.02935993069504926, + 0.3015390734205489, + 0.034652104660918503, + -0.9528239180684148 + ], + [ + 0.9457816931069246, + 0.14006540682803148, + 0.29305062837997287, + 0.1405367146143936, + -0.9898822922618932, + 0.01955707830255668, + 0.2928248978983711, + 0.022687645898988203, + -0.955896882458757 + ], + [ + 0.9568242841234824, + 0.0912412798332393, + 0.2759752129557619, + 0.09030136656519995, + -0.9957837049624185, + 0.01613927283915236, + 0.2762841879443031, + 0.009478490687431852, + -0.9610292428985943 + ], + [ + 0.9630691398717749, + 0.04871956724045005, + 0.2648098102309342, + 0.04337083755264257, + -0.998720366597172, + 0.026011531942449324, + 0.2657382213318634, + -0.013565880432689909, + -0.9639497728675825 + ], + [ + 0.9676275019084852, + 0.007180337373684481, + 0.2522805190765721, + -0.002896185098039211, + -0.9992134858383839, + 0.03954771587062935, + 0.25236606281792817, + -0.038998108593958795, + -0.9668456535889643 + ], + [ + 0.9743330331362229, + -0.03670465409611589, + 0.22209887191801048, + -0.049104161467986275, + -0.9975128855167005, + 0.05056505270117164, + 0.21969051382819027, + -0.060173180037545106, + -0.9737121065993147 + ], + [ + 0.9767515412449743, + -0.052797389126347516, + 0.20777117792660385, + -0.06716008561330172, + -0.9957709716774401, + 0.06268727833445173, + 0.20358278310304487, + -0.07518382582715566, + -0.9761667084868295 + ], + [ + 0.9811002597577481, + -0.06415832455804604, + 0.182554073340433, + -0.07916204773507193, + -0.9939514187530438, + 0.07611798313934713, + 0.17656627792891244, + -0.08913072729825651, + -0.9802448994764595 + ], + [ + 0.9795173172226769, + -0.06080527960846815, + 0.19195974378141317, + -0.07608776095931372, + -0.9944057097536312, + 0.07326620668204044, + 0.18643089307592808, + -0.0863713053109257, + -0.978664150628702 + ], + [ + 0.9800955724428126, + -0.03173836638199219, + 0.1959728169348965, + -0.04786364320743844, + -0.995795677566479, + 0.07810275410527268, + 0.19267003019906093, + -0.08592813648229597, + -0.977494048485091 + ], + [ + 0.980753323034066, + -0.016093653335531227, + 0.19458651977964192, + -0.03269020931588413, + -0.9960644111867845, + 0.08238348731395305, + 0.19249485596379168, + -0.08715895300794017, + -0.9774195861236048 + ], + [ + 0.9808788997547974, + 0.016832139429110504, + 0.19388982205896552, + -0.00017998372962575726, + -0.9961740456018943, + 0.08739129519015276, + 0.19461899090704224, + -0.08575517448757439, + -0.9771230723030392 + ], + [ + 0.980342220481285, + 0.033001735458850184, + 0.19452510428869538, + 0.014892527044534528, + -0.9954766516976249, + 0.09383202312171245, + 0.19674181909307323, + -0.08909052352293055, + -0.9763992704003618 + ], + [ + 0.9783796027865707, + 0.06538256250383294, + 0.19621027845560085, + 0.04835919644594941, + -0.9947365810156658, + 0.0903356104112096, + 0.20108391524508895, + -0.07889394723105281, + -0.9763918291956409 + ], + [ + 0.9756649160318113, + 0.0752362419322503, + 0.20595504248391372, + 0.057753598671188, + -0.9942994855470516, + 0.0896273110240173, + 0.21152421484351658, + -0.07555157801648144, + -0.9744482877988208 + ], + [ + 0.975596595581134, + 0.08256176406088228, + 0.20345721369776054, + 0.06658343520915452, + -0.9942238065454176, + 0.08417641388232275, + 0.2092317586941555, + -0.06857534260574263, + -0.9754586067795268 + ], + [ + 0.9768311079510481, + 0.07987468632911526, + 0.19854727654378354, + 0.06458479548835702, + -0.994509671142284, + 0.08233661516113966, + 0.20403379801115137, + -0.06760583176244458, + -0.9766266742112121 + ], + [ + 0.9791819463119543, + 0.08817198420653294, + 0.18283439834400964, + 0.0771636255909336, + -0.9947990770480608, + 0.06648737617013181, + 0.18774581460686493, + -0.05099507334448395, + -0.9808929664301786 + ], + [ + 0.983298151209412, + 0.1053310322408049, + 0.14842546774471943, + 0.10041832392654385, + -0.9941314751288151, + 0.04023394559311534, + 0.1517923122161855, + -0.02465732761863237, + -0.9881048072683238 + ], + [ + 0.9785391529400862, + 0.1369921453141234, + 0.15392945879698575, + 0.13515042729822146, + -0.9905714873854405, + 0.0224162971987846, + 0.1555489895962265, + -0.0011315923427553127, + -0.987827531168454 + ], + [ + 0.9735745860136957, + 0.14640652889665862, + 0.17526452511758464, + 0.14663700795832446, + -0.9891210984159163, + 0.011706432655640508, + 0.1750717377685241, + 0.0143031802380668, + -0.984451779250658 + ], + [ + 0.9683369087595126, + 0.15895136881990898, + 0.1925047882114862, + 0.16355795335511938, + -0.9864998568172696, + -0.008174863533528073, + 0.18860654025869966, + 0.03940171125451882, + -0.9812619824093154 + ], + [ + 0.9568171776330956, + 0.16064313339043415, + 0.24226983361685822, + 0.16924968373636165, + -0.9854590700202095, + -0.014998862291689941, + 0.23633754069419133, + 0.05535526180415645, + -0.9700929655704212 + ], + [ + 0.9463122290412894, + 0.173611503384052, + 0.2726760184901411, + 0.18796453946339692, + -0.9817986198507977, + -0.027217677406091767, + 0.26298763672693737, + 0.07700984321369751, + -0.9617208466998012 + ], + [ + 0.9187850892202231, + 0.22206538723512573, + 0.32637543354042586, + 0.2366490441221243, + -0.9715816447861682, + -0.0051320006517532255, + 0.31596074082498304, + 0.081951640048985, + -0.9452262898113921 + ], + [ + 0.887975455830109, + 0.26863897737275927, + 0.373272942602901, + 0.27951749287016664, + -0.9597936928579157, + 0.025807718414102704, + 0.3651979751078678, + 0.08141969654993456, + -0.9273625353608103 + ], + [ + 0.8698107270508835, + 0.28128370358087557, + 0.4053501908313839, + 0.29383197876897876, + -0.9553077292257927, + 0.032402326061037004, + 0.39634841662345477, + 0.09092095787707831, + -0.913587057733851 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0027808845043182373, + -0.0017724782228469849, + -0.011551111936569214, + -0.0016008168458938599, + 0.03514677286148071, + -0.002312988042831421, + 1.0 + ], + [ + -0.010461926460266113, + -0.013988517224788666, + -0.015442125499248505, + 0.010221891105175018, + 0.027705997228622437, + -0.04374733567237854, + 1.0 + ], + [ + -0.010023117065429688, + -0.013155736029148102, + 0.0002141818404197693, + 0.006809022277593613, + -0.014537423849105835, + -0.04597410559654236, + 1.0 + ], + [ + -0.008224070072174072, + -0.01402127742767334, + -0.0009344518184661865, + 0.0020734816789627075, + 0.0007403194904327393, + -0.04709792137145996, + 1.0 + ], + [ + -0.014142334461212158, + -0.015957146883010864, + -0.009369492530822754, + 0.012621821835637093, + 0.009126543998718262, + -0.06939548254013062, + 1.0 + ], + [ + -0.011450350284576416, + -0.012604769319295883, + -0.011073634028434753, + 0.01386741828173399, + 0.017254263162612915, + -0.05341639369726181, + 1.0 + ], + [ + -0.0064588189125061035, + -0.014423660933971405, + -0.013200372457504272, + 0.023934828117489815, + 0.010956048965454102, + -0.04909383878111839, + 1.0 + ], + [ + -0.0041258931159973145, + -0.01323297806084156, + -0.013778064399957657, + 0.026241254061460495, + 0.013844907283782959, + -0.0479966439306736, + 1.0 + ], + [ + -0.004966795444488525, + -0.014019814319908619, + -0.01847035065293312, + 0.021405674517154694, + 0.0336274653673172, + -0.04736204445362091, + 1.0 + ], + [ + 0.003849431872367859, + -0.009459382854402065, + -0.01696382835507393, + 0.015148475766181946, + 0.016481265425682068, + -0.018295451998710632, + 1.0 + ], + [ + 0.004058673977851868, + -0.007013607304543257, + -0.013782474212348461, + 0.013809949159622192, + 0.027519136667251587, + -0.011862024664878845, + 1.0 + ], + [ + 0.016258180141448975, + -0.003304964629933238, + -0.0018897410482168198, + -0.002651430666446686, + -0.010031268000602722, + 0.002989433705806732, + 1.0 + ], + [ + 0.01698160171508789, + -0.0008810069411993027, + -0.0011093737557530403, + -0.00034505128860473633, + -0.006354346871376038, + 0.028726235032081604, + 1.0 + ], + [ + 0.023212164640426636, + -0.0007300921715795994, + -0.0008858954533934593, + 0.001256100833415985, + 0.00017851591110229492, + 0.01547752320766449, + 1.0 + ], + [ + 0.022114187479019165, + 0.005547820124775171, + -0.0005447687581181526, + -0.0013986378908157349, + -0.002165079116821289, + 0.03313590586185455, + 1.0 + ], + [ + 0.01832139492034912, + 0.0039233677089214325, + -0.0011217007413506508, + 0.003453359007835388, + -0.002164676785469055, + 0.015373474918305874, + 1.0 + ], + [ + 0.020153164863586426, + 0.003777250647544861, + 0.0003739544190466404, + -0.010365627706050873, + -0.004430636763572693, + 0.034197669476270676, + 1.0 + ], + [ + 0.011473029851913452, + 0.0012141424231231213, + 0.0007971632294356823, + -0.0032484903931617737, + -0.010669887065887451, + 0.009737446904182434, + 1.0 + ], + [ + 0.003702878952026367, + 0.00012078089639544487, + -0.0012823487631976604, + -0.007192723453044891, + 0.0023449361324310303, + 0.009018171578645706, + 1.0 + ], + [ + 1.055002212524414e-05, + 0.00023342063650488853, + 0.00018696393817663193, + -0.0010715797543525696, + 0.005312621593475342, + -0.00212271511554718, + 1.0 + ], + [ + -0.0019161701202392578, + 0.00018464773893356323, + 0.0013220175169408321, + -0.017171911895275116, + 0.016609996557235718, + 0.012621097266674042, + 1.0 + ], + [ + -0.0026306211948394775, + 0.003449750132858753, + 0.005363396368920803, + -0.026992671191692352, + 0.036485299468040466, + 0.023129507899284363, + 1.0 + ], + [ + 0.005582541227340698, + 0.0022051073610782623, + 0.01645514741539955, + -0.02380344830453396, + -0.0038018375635147095, + 0.03547503054141998, + 1.0 + ], + [ + 0.0059912800788879395, + -0.0010767849162220955, + 0.01270332932472229, + -0.015673594549298286, + -0.01979544758796692, + 0.012247249484062195, + 1.0 + ], + [ + 0.0005744099617004395, + -0.0009917644783854485, + 0.00973552092909813, + -0.025604501366615295, + -0.0137643963098526, + 0.017833292484283447, + 1.0 + ], + [ + 0.0034747421741485596, + -0.0006767883896827698, + 0.0259636789560318, + -0.016867440193891525, + -0.048851847648620605, + 0.007750451564788818, + 1.0 + ], + [ + 0.0008958876132965088, + -0.0004449011757969856, + 0.02337857335805893, + -0.02290455624461174, + -0.02752266824245453, + 0.020999237895011902, + 1.0 + ], + [ + 0.00067138671875, + 0.011687543243169785, + 0.030125930905342102, + -0.006579726934432983, + -0.05535155534744263, + 0.05601167678833008, + 1.0 + ], + [ + -3.141164779663086e-05, + 0.006515193730592728, + 0.02103707194328308, + -0.0010882169008255005, + -0.052376359701156616, + 0.0528731644153595, + 1.0 + ], + [ + -0.0012788176536560059, + 0.004179926589131355, + 0.009313598275184631, + -0.011621721088886261, + -0.03369063138961792, + 0.020814120769500732, + 1.0 + ], + [ + -0.00037041306495666504, + 0.0009877495467662811, + -0.00047619640827178955, + -0.0011874660849571228, + 0.0018560290336608887, + 0.0038056373596191406, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.31368857622146606, + 0.12454348802566528, + 0.12515434622764587 + ], + [ + 0.30322664976119995, + 0.11055497080087662, + 0.10971222072839737 + ], + [ + 0.29320353269577026, + 0.09739923477172852, + 0.10992640256881714 + ], + [ + 0.2849794626235962, + 0.08337795734405518, + 0.10899195075035095 + ], + [ + 0.27083712816238403, + 0.06742081046104431, + 0.0996224582195282 + ], + [ + 0.2593867778778076, + 0.05481604114174843, + 0.08854882419109344 + ], + [ + 0.2529279589653015, + 0.04039238020777702, + 0.07534845173358917 + ], + [ + 0.2488020658493042, + 0.027159402146935463, + 0.061570387333631516 + ], + [ + 0.24383527040481567, + 0.013139587827026844, + 0.043100036680698395 + ], + [ + 0.24768470227718353, + 0.003680204739794135, + 0.026136208325624466 + ], + [ + 0.2517433762550354, + -0.0033334025647491217, + 0.012353734113276005 + ], + [ + 0.2680015563964844, + -0.00663836719468236, + 0.010463993065059185 + ], + [ + 0.28498315811157227, + -0.007519374135881662, + 0.009354619309306145 + ], + [ + 0.3081953227519989, + -0.008249466307461262, + 0.008468723855912685 + ], + [ + 0.33030951023101807, + -0.0027016461826860905, + 0.007923955097794533 + ], + [ + 0.3486309051513672, + 0.0012217216426506639, + 0.006802254356443882 + ], + [ + 0.3687840700149536, + 0.004998972173780203, + 0.007176208775490522 + ], + [ + 0.38025709986686707, + 0.006213114596903324, + 0.007973372004926205 + ], + [ + 0.38395997881889343, + 0.006333895493298769, + 0.006691023241728544 + ], + [ + 0.3839705288410187, + 0.0065673161298036575, + 0.006877987179905176 + ], + [ + 0.3820543587207794, + 0.006751963868737221, + 0.008200004696846008 + ], + [ + 0.37942373752593994, + 0.010201714001595974, + 0.013563401065766811 + ], + [ + 0.38500627875328064, + 0.012406821362674236, + 0.030018549412488937 + ], + [ + 0.3909975588321686, + 0.01133003644645214, + 0.04272187873721123 + ], + [ + 0.391571968793869, + 0.010338271968066692, + 0.05245739966630936 + ], + [ + 0.3950467109680176, + 0.009661483578383923, + 0.07842107862234116 + ], + [ + 0.3959425985813141, + 0.009216582402586937, + 0.10179965198040009 + ], + [ + 0.3966139853000641, + 0.02090412564575672, + 0.1319255828857422 + ], + [ + 0.39658257365226746, + 0.02741931937634945, + 0.15296265482902527 + ], + [ + 0.39530375599861145, + 0.031599245965480804, + 0.1622762531042099 + ], + [ + 0.3949333429336548, + 0.032586995512247086, + 0.1618000566959381 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8904024455867678, + 0.32949863412555924, + 0.31402887606475627, + 0.3287897868427928, + -0.9426891397599694, + 0.056872329356905026, + 0.31477096587991416, + 0.05261022607820862, + -0.9477085011494969 + ], + [ + 0.9118870455173578, + 0.29231114981821293, + 0.2881253336823721, + 0.2920837167149474, + -0.9553425907508152, + 0.04480665941020934, + 0.2883558888727718, + 0.04329810607260336, + -0.9565438596127827 + ], + [ + 0.9202028431926568, + 0.2495497010833911, + 0.30158195249275266, + 0.24874641167577385, + -0.9676693587029885, + 0.04172810690378365, + 0.30224485116967204, + 0.03661910589483707, + -0.9525266878281603 + ], + [ + 0.9311117959070129, + 0.20436792286579766, + 0.30210027412489443, + 0.20519505530956098, + -0.9782806262755528, + 0.02935993069504926, + 0.3015390734205489, + 0.034652104660918503, + -0.9528239180684148 + ], + [ + 0.9457816931069246, + 0.14006540682803148, + 0.29305062837997287, + 0.1405367146143936, + -0.9898822922618932, + 0.01955707830255668, + 0.2928248978983711, + 0.022687645898988203, + -0.955896882458757 + ], + [ + 0.9568242841234824, + 0.0912412798332393, + 0.2759752129557619, + 0.09030136656519995, + -0.9957837049624185, + 0.01613927283915236, + 0.2762841879443031, + 0.009478490687431852, + -0.9610292428985943 + ], + [ + 0.9630691398717749, + 0.04871956724045005, + 0.2648098102309342, + 0.04337083755264257, + -0.998720366597172, + 0.026011531942449324, + 0.2657382213318634, + -0.013565880432689909, + -0.9639497728675825 + ], + [ + 0.9676275019084852, + 0.007180337373684481, + 0.2522805190765721, + -0.002896185098039211, + -0.9992134858383839, + 0.03954771587062935, + 0.25236606281792817, + -0.038998108593958795, + -0.9668456535889643 + ], + [ + 0.9743330331362229, + -0.03670465409611589, + 0.22209887191801048, + -0.049104161467986275, + -0.9975128855167005, + 0.05056505270117164, + 0.21969051382819027, + -0.060173180037545106, + -0.9737121065993147 + ], + [ + 0.9767515412449743, + -0.052797389126347516, + 0.20777117792660385, + -0.06716008561330172, + -0.9957709716774401, + 0.06268727833445173, + 0.20358278310304487, + -0.07518382582715566, + -0.9761667084868295 + ], + [ + 0.9811002597577481, + -0.06415832455804604, + 0.182554073340433, + -0.07916204773507193, + -0.9939514187530438, + 0.07611798313934713, + 0.17656627792891244, + -0.08913072729825651, + -0.9802448994764595 + ], + [ + 0.9795173172226769, + -0.06080527960846815, + 0.19195974378141317, + -0.07608776095931372, + -0.9944057097536312, + 0.07326620668204044, + 0.18643089307592808, + -0.0863713053109257, + -0.978664150628702 + ], + [ + 0.9800955724428126, + -0.03173836638199219, + 0.1959728169348965, + -0.04786364320743844, + -0.995795677566479, + 0.07810275410527268, + 0.19267003019906093, + -0.08592813648229597, + -0.977494048485091 + ], + [ + 0.980753323034066, + -0.016093653335531227, + 0.19458651977964192, + -0.03269020931588413, + -0.9960644111867845, + 0.08238348731395305, + 0.19249485596379168, + -0.08715895300794017, + -0.9774195861236048 + ], + [ + 0.9808788997547974, + 0.016832139429110504, + 0.19388982205896552, + -0.00017998372962575726, + -0.9961740456018943, + 0.08739129519015276, + 0.19461899090704224, + -0.08575517448757439, + -0.9771230723030392 + ], + [ + 0.980342220481285, + 0.033001735458850184, + 0.19452510428869538, + 0.014892527044534528, + -0.9954766516976249, + 0.09383202312171245, + 0.19674181909307323, + -0.08909052352293055, + -0.9763992704003618 + ], + [ + 0.9783796027865707, + 0.06538256250383294, + 0.19621027845560085, + 0.04835919644594941, + -0.9947365810156658, + 0.0903356104112096, + 0.20108391524508895, + -0.07889394723105281, + -0.9763918291956409 + ], + [ + 0.9756649160318113, + 0.0752362419322503, + 0.20595504248391372, + 0.057753598671188, + -0.9942994855470516, + 0.0896273110240173, + 0.21152421484351658, + -0.07555157801648144, + -0.9744482877988208 + ], + [ + 0.975596595581134, + 0.08256176406088228, + 0.20345721369776054, + 0.06658343520915452, + -0.9942238065454176, + 0.08417641388232275, + 0.2092317586941555, + -0.06857534260574263, + -0.9754586067795268 + ], + [ + 0.9768311079510481, + 0.07987468632911526, + 0.19854727654378354, + 0.06458479548835702, + -0.994509671142284, + 0.08233661516113966, + 0.20403379801115137, + -0.06760583176244458, + -0.9766266742112121 + ], + [ + 0.9791819463119543, + 0.08817198420653294, + 0.18283439834400964, + 0.0771636255909336, + -0.9947990770480608, + 0.06648737617013181, + 0.18774581460686493, + -0.05099507334448395, + -0.9808929664301786 + ], + [ + 0.983298151209412, + 0.1053310322408049, + 0.14842546774471943, + 0.10041832392654385, + -0.9941314751288151, + 0.04023394559311534, + 0.1517923122161855, + -0.02465732761863237, + -0.9881048072683238 + ], + [ + 0.9785391529400862, + 0.1369921453141234, + 0.15392945879698575, + 0.13515042729822146, + -0.9905714873854405, + 0.0224162971987846, + 0.1555489895962265, + -0.0011315923427553127, + -0.987827531168454 + ], + [ + 0.9735745860136957, + 0.14640652889665862, + 0.17526452511758464, + 0.14663700795832446, + -0.9891210984159163, + 0.011706432655640508, + 0.1750717377685241, + 0.0143031802380668, + -0.984451779250658 + ], + [ + 0.9683369087595126, + 0.15895136881990898, + 0.1925047882114862, + 0.16355795335511938, + -0.9864998568172696, + -0.008174863533528073, + 0.18860654025869966, + 0.03940171125451882, + -0.9812619824093154 + ], + [ + 0.9568171776330956, + 0.16064313339043415, + 0.24226983361685822, + 0.16924968373636165, + -0.9854590700202095, + -0.014998862291689941, + 0.23633754069419133, + 0.05535526180415645, + -0.9700929655704212 + ], + [ + 0.9463122290412894, + 0.173611503384052, + 0.2726760184901411, + 0.18796453946339692, + -0.9817986198507977, + -0.027217677406091767, + 0.26298763672693737, + 0.07700984321369751, + -0.9617208466998012 + ], + [ + 0.9187850892202231, + 0.22206538723512573, + 0.32637543354042586, + 0.2366490441221243, + -0.9715816447861682, + -0.0051320006517532255, + 0.31596074082498304, + 0.081951640048985, + -0.9452262898113921 + ], + [ + 0.887975455830109, + 0.26863897737275927, + 0.373272942602901, + 0.27951749287016664, + -0.9597936928579157, + 0.025807718414102704, + 0.3651979751078678, + 0.08141969654993456, + -0.9273625353608103 + ], + [ + 0.8698107270508835, + 0.28128370358087557, + 0.4053501908313839, + 0.29383197876897876, + -0.9553077292257927, + 0.032402326061037004, + 0.39634841662345477, + 0.09092095787707831, + -0.913587057733851 + ], + [ + 0.8693807573646858, + 0.28459746128778557, + 0.4039571558377849, + 0.2973776007960876, + -0.9542146959156872, + 0.032262619907489576, + 0.3946437143408822, + 0.0920793088977095, + -0.9142088052541126 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005827.json b/json/chunk-0005/episode_0005827.json new file mode 100644 index 0000000000000000000000000000000000000000..87af48127d3b8f66e4daade181959542ebd95e0a --- /dev/null +++ b/json/chunk-0005/episode_0005827.json @@ -0,0 +1,2302 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 37, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPlace pot on front left corner of table." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005827.mp4", + "start": 0, + "end": 37, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.37354397773742676, + -0.025980908423662186, + 0.0770263522863388, + -0.03752747178077698, + -0.16841307282447815, + -0.17451836168766022, + 0.0, + 1.0001531839370728 + ], + [ + 0.3692629933357239, + -0.0270078144967556, + 0.06434839218854904, + -0.048359669744968414, + -0.13234056532382965, + -0.1871652901172638, + 0.0, + 1.0001531839370728 + ], + [ + 0.34574276208877563, + -0.032874997705221176, + 0.046963952481746674, + -0.09298086166381836, + -0.0739649310708046, + -0.33768430352211, + 0.0, + 1.0001531839370728 + ], + [ + 0.3242833912372589, + -0.03843162581324577, + 0.059878792613744736, + -0.04428224265575409, + -0.040942851454019547, + -0.4826890528202057, + 0.0, + 1.0001531839370728 + ], + [ + 0.31284502148628235, + -0.04281396418809891, + 0.05903985723853111, + -0.025986652821302414, + 0.029332714155316353, + -0.6478657126426697, + 0.0, + 1.0001531839370728 + ], + [ + 0.2926276624202728, + -0.04724513366818428, + 0.042106617242097855, + -0.04242148622870445, + 0.08101657778024673, + -0.7968372106552124, + 0.0, + 1.0001531839370728 + ], + [ + 0.28417184948921204, + -0.04939507320523262, + 0.03169544041156769, + -0.009308154694736004, + 0.10617809742689133, + -0.8687730431556702, + 0.0, + 1.0001531839370728 + ], + [ + 0.27805253863334656, + -0.05065029859542847, + 0.026395058259367943, + 0.04625757783651352, + 0.10098060220479965, + -0.9278607368469238, + 0.0, + 1.0001531839370728 + ], + [ + 0.276788592338562, + -0.04991856589913368, + 0.018176410347223282, + 0.07901231199502945, + 0.07434547692537308, + -0.9145814776420593, + 0.0, + 0.9476637244224548 + ], + [ + 0.27474379539489746, + -0.04253801330924034, + 0.019989971071481705, + 0.08892636001110077, + 0.04849943146109581, + -0.9075111150741577, + 0.0, + 0.6671556830406189 + ], + [ + 0.27382996678352356, + -0.035784848034381866, + 0.018345357850193977, + 0.08308510482311249, + 0.04414372518658638, + -0.8947404623031616, + 0.0, + 0.37205085158348083 + ], + [ + 0.27739986777305603, + -0.024709973484277725, + 0.01938427798449993, + 0.0817665159702301, + 0.03483104333281517, + -0.8768021464347839, + 0.0, + 0.18800361454486847 + ], + [ + 0.2797013521194458, + -0.012729798443615437, + 0.020339570939540863, + 0.07283996790647507, + 0.022437628358602524, + -0.8299920558929443, + 0.0, + 0.10955921560525894 + ], + [ + 0.27841681241989136, + -0.009136100299656391, + 0.023366635665297508, + 0.04962804168462753, + 0.023691758513450623, + -0.7858913540840149, + 0.0, + 0.09700111299753189 + ], + [ + 0.2761646509170532, + 0.009938634000718594, + 0.043847281485795975, + 0.007815021090209484, + -0.0484914593398571, + -0.7195374965667725, + 0.0, + 0.0846695825457573 + ], + [ + 0.27188441157341003, + 0.03689122200012207, + 0.0552251897752285, + -0.03401944786310196, + -0.03395522013306618, + -0.6688545942306519, + 0.0, + 0.08432227373123169 + ], + [ + 0.26539331674575806, + 0.07548347860574722, + 0.06520005315542221, + -0.08123958855867386, + -0.041667286306619644, + -0.5559782385826111, + 0.0, + 0.08432227373123169 + ], + [ + 0.2653006911277771, + 0.11589296907186508, + 0.05872545391321182, + -0.08901539444923401, + -0.03586637228727341, + -0.4556160867214203, + 0.0, + 0.08432227373123169 + ], + [ + 0.2717922329902649, + 0.15079528093338013, + 0.04795152321457863, + -0.08312301337718964, + -0.03696684166789055, + -0.48155802488327026, + 0.0, + 0.08432227373123169 + ], + [ + 0.2789541184902191, + 0.17333437502384186, + 0.03822162002325058, + -0.08005782961845398, + -0.030003746971488, + -0.5823107361793518, + 0.0, + 0.08432227373123169 + ], + [ + 0.28766000270843506, + 0.18607689440250397, + 0.032563041895627975, + -0.09330850839614868, + 0.0014436893397942185, + -0.6532471179962158, + 0.0, + 0.08432227373123169 + ], + [ + 0.2898424565792084, + 0.19810329377651215, + 0.02941126376390457, + -0.1044389009475708, + 0.0580291710793972, + -0.7035841941833496, + 0.0, + 0.08432227373123169 + ], + [ + 0.2898629605770111, + 0.20413565635681152, + 0.025822851806879044, + -0.12230633199214935, + 0.09281153231859207, + -0.7283742427825928, + 0.0, + 0.08432227373123169 + ], + [ + 0.28720003366470337, + 0.2062775194644928, + 0.02448764443397522, + -0.13403557240962982, + 0.13472090661525726, + -0.740833580493927, + 0.0, + 0.11367882788181305 + ], + [ + 0.28939470648765564, + 0.20678384602069855, + 0.02320639230310917, + -0.11143170297145844, + 0.15557488799095154, + -0.7562757730484009, + 0.0, + 0.29359033703804016 + ], + [ + 0.28634440898895264, + 0.20328183472156525, + 0.016925673931837082, + -0.09004178643226624, + 0.188370481133461, + -0.7423522472381592, + 0.0, + 0.570969820022583 + ], + [ + 0.28755661845207214, + 0.20161204040050507, + 0.03414700925350189, + -0.016074012964963913, + 0.16622817516326904, + -0.7001977562904358, + 0.0, + 0.8678563833236694 + ], + [ + 0.28271499276161194, + 0.19729164242744446, + 0.0475592166185379, + 0.01651650480926037, + 0.14827878773212433, + -0.6639664173126221, + 0.0, + 1.00800359249115 + ], + [ + 0.2790105640888214, + 0.18973864614963531, + 0.07185464352369308, + 0.05040496587753296, + 0.10404861718416214, + -0.61737060546875, + 0.0, + 1.0041072368621826 + ], + [ + 0.27035149931907654, + 0.17935071885585785, + 0.08992674946784973, + 0.09661708027124405, + 0.132511705160141, + -0.5152827501296997, + 0.0, + 1.0008161067962646 + ], + [ + 0.268764853477478, + 0.15811046957969666, + 0.09716861695051193, + 0.0760456770658493, + 0.059048209339380264, + -0.2921365201473236, + 0.0, + 1.0008161067962646 + ], + [ + 0.2704852819442749, + 0.11445611715316772, + 0.10736982524394989, + 0.08015073090791702, + -0.016691964119672775, + -0.23019354045391083, + 0.0, + 1.0001531839370728 + ], + [ + 0.2823331356048584, + 0.07319878041744232, + 0.1076030433177948, + 0.04461561515927315, + -0.03381703794002533, + -0.2458970844745636, + 0.0, + 1.0008161067962646 + ], + [ + 0.27480772137641907, + 0.0352574847638607, + 0.10185445100069046, + 0.02740049548447132, + 0.026105625554919243, + -0.2878292500972748, + 0.0, + 1.0001531839370728 + ], + [ + 0.25295332074165344, + 0.013707232661545277, + 0.11099832504987717, + 0.03302544355392456, + 0.0680423453450203, + -0.28834715485572815, + 0.0, + 1.0001531839370728 + ], + [ + 0.23343686759471893, + -0.004146970808506012, + 0.12279736250638962, + -0.012456052005290985, + 0.021930184215307236, + -0.2972666025161743, + 0.0, + 1.0001531839370728 + ], + [ + 0.23001699149608612, + -0.03892888128757477, + 0.12262137234210968, + -0.05330793187022209, + 0.011328636668622494, + -0.4163757264614105, + 0.0, + 1.0001531839370728 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9476637244224548 + ], + [ + 0.6671556830406189 + ], + [ + 0.37205085158348083 + ], + [ + 0.18800361454486847 + ], + [ + 0.10955921560525894 + ], + [ + 0.09700111299753189 + ], + [ + 0.0846695825457573 + ], + [ + 0.08432227373123169 + ], + [ + 0.08432227373123169 + ], + [ + 0.08432227373123169 + ], + [ + 0.08432227373123169 + ], + [ + 0.08432227373123169 + ], + [ + 0.08432227373123169 + ], + [ + 0.08432227373123169 + ], + [ + 0.08432227373123169 + ], + [ + 0.11367882788181305 + ], + [ + 0.29359033703804016 + ], + [ + 0.570969820022583 + ], + [ + 0.8678563833236694 + ], + [ + 1.00800359249115 + ], + [ + 1.0041072368621826 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.37354397773742676, + -0.025980908423662186, + 0.0770263522863388 + ], + [ + 0.3692629933357239, + -0.0270078144967556, + 0.06434839218854904 + ], + [ + 0.34574276208877563, + -0.032874997705221176, + 0.046963952481746674 + ], + [ + 0.3242833912372589, + -0.03843162581324577, + 0.059878792613744736 + ], + [ + 0.31284502148628235, + -0.04281396418809891, + 0.05903985723853111 + ], + [ + 0.2926276624202728, + -0.04724513366818428, + 0.042106617242097855 + ], + [ + 0.28417184948921204, + -0.04939507320523262, + 0.03169544041156769 + ], + [ + 0.27805253863334656, + -0.05065029859542847, + 0.026395058259367943 + ], + [ + 0.276788592338562, + -0.04991856589913368, + 0.018176410347223282 + ], + [ + 0.27474379539489746, + -0.04253801330924034, + 0.019989971071481705 + ], + [ + 0.27382996678352356, + -0.035784848034381866, + 0.018345357850193977 + ], + [ + 0.27739986777305603, + -0.024709973484277725, + 0.01938427798449993 + ], + [ + 0.2797013521194458, + -0.012729798443615437, + 0.020339570939540863 + ], + [ + 0.27841681241989136, + -0.009136100299656391, + 0.023366635665297508 + ], + [ + 0.2761646509170532, + 0.009938634000718594, + 0.043847281485795975 + ], + [ + 0.27188441157341003, + 0.03689122200012207, + 0.0552251897752285 + ], + [ + 0.26539331674575806, + 0.07548347860574722, + 0.06520005315542221 + ], + [ + 0.2653006911277771, + 0.11589296907186508, + 0.05872545391321182 + ], + [ + 0.2717922329902649, + 0.15079528093338013, + 0.04795152321457863 + ], + [ + 0.2789541184902191, + 0.17333437502384186, + 0.03822162002325058 + ], + [ + 0.28766000270843506, + 0.18607689440250397, + 0.032563041895627975 + ], + [ + 0.2898424565792084, + 0.19810329377651215, + 0.02941126376390457 + ], + [ + 0.2898629605770111, + 0.20413565635681152, + 0.025822851806879044 + ], + [ + 0.28720003366470337, + 0.2062775194644928, + 0.02448764443397522 + ], + [ + 0.28939470648765564, + 0.20678384602069855, + 0.02320639230310917 + ], + [ + 0.28634440898895264, + 0.20328183472156525, + 0.016925673931837082 + ], + [ + 0.28755661845207214, + 0.20161204040050507, + 0.03414700925350189 + ], + [ + 0.28271499276161194, + 0.19729164242744446, + 0.0475592166185379 + ], + [ + 0.2790105640888214, + 0.18973864614963531, + 0.07185464352369308 + ], + [ + 0.27035149931907654, + 0.17935071885585785, + 0.08992674946784973 + ], + [ + 0.268764853477478, + 0.15811046957969666, + 0.09716861695051193 + ], + [ + 0.2704852819442749, + 0.11445611715316772, + 0.10736982524394989 + ], + [ + 0.2823331356048584, + 0.07319878041744232, + 0.1076030433177948 + ], + [ + 0.27480772137641907, + 0.0352574847638607, + 0.10185445100069046 + ], + [ + 0.25295332074165344, + 0.013707232661545277, + 0.11099832504987717 + ], + [ + 0.23343686759471893, + -0.004146970808506012, + 0.12279736250638962 + ], + [ + 0.23001699149608612, + -0.03892888128757477, + 0.12262137234210968 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9708771917256082, + -0.1797048659344995, + 0.15844128169912097, + -0.1711772649013216, + -0.9830249539555557, + -0.06603244567317272, + 0.16761808544396223, + 0.03698785016922837, + -0.9851578941326915 + ], + [ + 0.9739441223578967, + -0.19212429542950998, + 0.12050353368354134, + -0.1844473633634524, + -0.9802000351959267, + -0.07202125485003906, + 0.13195460080185373, + 0.04791811878212753, + -0.9900968827441106 + ], + [ + 0.9409446465920104, + -0.33634563693016617, + 0.038662443894272036, + -0.33039723112964237, + -0.937175614926836, + -0.11198007165729411, + 0.07389750815624692, + 0.09259308453954797, + -0.9929580449262445 + ], + [ + 0.8850076735503296, + -0.465312589405783, + 0.01567201000250299, + -0.46377369173140137, + -0.8840406334881703, + -0.05819038751943137, + 0.040931413545838256, + 0.04423067354585182, + -0.9981824817651429 + ], + [ + 0.7970306173340636, + -0.6026745499413811, + -0.03905869794341695, + -0.603226353578351, + -0.7975643005229762, + -0.0030253726814758655, + -0.029328507985366136, + 0.025972550591907964, + -0.9992323379650515 + ], + [ + 0.6966794050029737, + -0.7121066708261159, + -0.08684409024020301, + -0.7128032469517429, + -0.7007976634639025, + 0.02818095134284039, + -0.08092797896744539, + 0.04226966108783907, + -0.9958232463503571 + ], + [ + 0.6421271762344488, + -0.7628670956917635, + -0.07554127250706508, + -0.7592372512180464, + -0.6464890781418106, + 0.07490439377110561, + -0.10597870495546738, + 0.009255601231984191, + -0.9943253229913217 + ], + [ + 0.5964932682125508, + -0.8022778707457051, + -0.023366623394212097, + -0.796262087522711, + -0.5951753608305225, + 0.1083188710900891, + -0.10080907176977634, + -0.046005521103388916, + -0.9938415482746337 + ], + [ + 0.6084368546623085, + -0.7934123869076117, + 0.017360247411923303, + -0.7901186745956186, + -0.60357368289051, + 0.1068236367909694, + -0.07427700817816979, + -0.07871209324844713, + -0.9941264167260359 + ], + [ + 0.6149848388390023, + -0.7875111371732972, + 0.0402474449646978, + -0.7870472011520926, + -0.6098833263004961, + 0.09273096278643957, + -0.048480420344957684, + -0.08870477511759235, + -0.9948774355238506 + ], + [ + 0.6251117263108509, + -0.7796474392528756, + 0.0372182763585581, + -0.7792868063788172, + -0.620706064021389, + 0.08623256630171501, + -0.04412938966915501, + -0.08290870010746494, + -0.9955796022488201 + ], + [ + 0.639224641953876, + -0.7679484203026768, + 0.040584244154135314, + -0.7682311801009437, + -0.635289254592032, + 0.07892032007418504, + -0.03482400091389038, + -0.08162589512234242, + -0.9960544674895173 + ], + [ + 0.6747117457627734, + -0.7370712119316668, + 0.03860166669114673, + -0.7377402642150356, + -0.6718872005621905, + 0.0656269173177595, + -0.022435745712590972, + -0.07275725573636203, + -0.9970972966827427 + ], + [ + 0.7065596145861064, + -0.7074149713865379, + 0.01837305892105571, + -0.7072568957780669, + -0.7050563936002917, + 0.05179927815832193, + -0.023689542213927425, + -0.04959375062983584, + -0.998488490413465 + ], + [ + 0.7512265250697587, + -0.658731857050705, + 0.04160587143835015, + -0.6582622037502888, + -0.7523372984850774, + -0.02606646163154143, + 0.048472457596332036, + -0.00780575522963251, + -0.9987940183240319 + ], + [ + 0.784080209870626, + -0.6206348939582191, + 0.005527466933909864, + -0.6197303530972968, + -0.7833624865164724, + -0.04772320367105986, + 0.03394869569121994, + 0.03399328051541765, + -0.9988453048098416 + ], + [ + 0.8486473291864265, + -0.5289049917506632, + -0.007564414450292437, + -0.5273163684523012, + -0.8447991313094485, + -0.09083983322902987, + 0.04165523048815997, + 0.08107982141095292, + -0.9958367859910308 + ], + [ + 0.8974125870006008, + -0.441136080951453, + -0.0070432077693133345, + -0.4397326500758085, + -0.8930320744017854, + -0.09554533241843904, + 0.035858683051601364, + 0.08884071235889845, + -0.9954001620842583 + ], + [ + 0.8856688840493007, + -0.46428099193566336, + -0.0058127750776232594, + -0.46284414527405965, + -0.8817930823087218, + -0.09064357218252718, + 0.03695842275303088, + 0.08297060033361396, + -0.9958664340502134 + ], + [ + 0.8348181761344569, + -0.5501975776828383, + -0.01900627021474295, + -0.549707793346341, + -0.8311996188130886, + -0.0832378256519972, + 0.029999245487762373, + 0.07993634465568886, + -0.9963484461137336 + ], + [ + 0.7941136659105357, + -0.6050175289205694, + -0.05776915537705245, + -0.6077675553833622, + -0.7907417835958743, + -0.07311655283824013, + -0.0014436888382953518, + 0.09317307215318903, + -0.9956488810760924 + ], + [ + 0.7612447753975078, + -0.6388194474420819, + -0.11142757961919096, + -0.6458659189778382, + -0.7622849761936207, + -0.04217617541223735, + -0.05799660880526196, + 0.10407366928903951, + -0.9928771649745023 + ], + [ + 0.7430457675921567, + -0.6522468880043886, + -0.14985654590965697, + -0.662792359563547, + -0.7482094925782027, + -0.029813475477611616, + -0.09267834357371925, + 0.1214765504303564, + -0.988258150650918 + ], + [ + 0.7312199542896468, + -0.6556051700039917, + -0.18841241867956812, + -0.6687878546565363, + -0.7434015208003648, + -0.00877407178072389, + -0.13431375176263724, + 0.13242371364579242, + -0.9820508012071996 + ], + [ + 0.7186116291196867, + -0.6694278903699004, + -0.18831788573806574, + -0.6779295112223888, + -0.7347091067863541, + 0.02478116661844998, + -0.1549480697128029, + 0.10985821771766979, + -0.981795430673913 + ], + [ + 0.7238455119229175, + -0.660876697889677, + -0.19821620785265373, + -0.6640647164092837, + -0.7452783926654587, + 0.05981780542821924, + -0.18725845051507697, + 0.0883295398631013, + -0.97833131662963 + ], + [ + 0.7541738546277087, + -0.6422518866742059, + -0.13687333947634536, + -0.6354868688950771, + -0.7663297173113784, + 0.09431438823103253, + -0.16546370133027624, + 0.015851764219983674, + -0.9860884773250316 + ], + [ + 0.7789121791399272, + -0.6180830172563798, + -0.10615649281480594, + -0.60948329222446, + -0.785943106793115, + 0.10403628878242474, + -0.1477360270439267, + -0.01633452367337907, + -0.9888919302176756 + ], + [ + 0.8109935672782529, + -0.5824248355348621, + -0.05541430127216709, + -0.5757623910938142, + -0.811338514095789, + 0.10113102662769108, + -0.10386097840492117, + -0.05011114144604726, + -0.9933286317567548 + ], + [ + 0.8625249305134376, + -0.5015733066350433, + -0.06689515912215424, + -0.48846077515118935, + -0.859814409499228, + 0.14874559609007904, + -0.13212424221727345, + -0.09562112365310568, + -0.9866102499618725 + ], + [ + 0.955961749990949, + -0.29146000708887737, + -0.034470230953586894, + -0.2874969425623998, + -0.9535718951845952, + 0.08970032737583154, + -0.059013901510697034, + -0.07583999592438494, + -0.9953721185801191 + ], + [ + 0.973486620918444, + -0.2261323419458597, + 0.03446683650802161, + -0.2281341778478924, + -0.9708015012945511, + 0.07415687413795147, + 0.0166911890066619, + -0.08005378823220394, + -0.9966507889924221 + ], + [ + 0.9693647979488969, + -0.2417216667152398, + 0.043617935965620025, + -0.24328734515024553, + -0.9693212455861984, + 0.03503698824051932, + 0.033810592825913255, + -0.044575314868517985, + -0.9984337159356813 + ], + [ + 0.9585356325373583, + -0.28445060567065295, + -0.017242218239108726, + -0.2837747209888216, + -0.9582994130624098, + 0.03367703448876134, + -0.026102660475951504, + -0.027387731885635834, + -0.9992840253192471 + ], + [ + 0.9564967462313926, + -0.28636524646224004, + -0.055757690656802146, + -0.283709982507685, + -0.9575540204776862, + 0.05097983613653601, + -0.06798985420081576, + -0.032943033947096016, + -0.997141983992306 + ], + [ + 0.9559107828493757, + -0.29262391400808985, + -0.024613414693615936, + -0.29283735988851645, + -0.9561465234709181, + -0.005486921541329285, + -0.021928426432769814, + 0.012452734842724886, + -0.9996819861881675 + ], + [ + 0.9145020898015127, + -0.4033219308514329, + -0.03189589069045275, + -0.40442254540272177, + -0.9135057414359526, + -0.044155012552747605, + -0.011328394354398714, + 0.0532792685556196, + -0.9985153914805364 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.004280984401702881, + -0.0010269060730934143, + -0.012677960097789764, + -0.010832197964191437, + 0.0360725075006485, + -0.012646928429603577, + 1.0 + ], + [ + -0.023520231246948242, + -0.005867183208465576, + -0.017384439706802368, + -0.044621191918849945, + 0.058375634253025055, + -0.1505190134048462, + 1.0 + ], + [ + -0.021459370851516724, + -0.005556628108024597, + 0.012914840131998062, + 0.04869861900806427, + 0.03302207961678505, + -0.1450047492980957, + 1.0 + ], + [ + -0.011438369750976562, + -0.004382338374853134, + -0.000838935375213623, + 0.018295589834451675, + 0.07027556747198105, + -0.165176659822464, + 1.0 + ], + [ + -0.02021735906600952, + -0.004431169480085373, + -0.016933239996433258, + -0.01643483340740204, + 0.05168386548757553, + -0.14897149801254272, + 1.0 + ], + [ + -0.008455812931060791, + -0.00214993953704834, + -0.010411176830530167, + 0.033113330602645874, + 0.025161519646644592, + -0.07193583250045776, + 1.0 + ], + [ + -0.0061193108558654785, + -0.0012552253901958466, + -0.005300382152199745, + 0.0555657334625721, + -0.005197495222091675, + -0.05908769369125366, + 1.0 + ], + [ + -0.001263946294784546, + 0.0007317326962947845, + -0.008218647912144661, + 0.03275473415851593, + -0.026635125279426575, + 0.013279259204864502, + 0.0 + ], + [ + -0.0020447969436645508, + 0.007380552589893341, + 0.0018135607242584229, + 0.00991404801607132, + -0.025846045464277267, + 0.007070362567901611, + 0.0 + ], + [ + -0.0009138286113739014, + 0.006753165274858475, + -0.0016446132212877274, + -0.005841255187988281, + -0.00435570627450943, + 0.012770652770996094, + 0.0 + ], + [ + 0.0035699009895324707, + 0.011074874550104141, + 0.001038920134305954, + -0.0013185888528823853, + -0.00931268185377121, + 0.017938315868377686, + 0.0 + ], + [ + 0.0023014843463897705, + 0.011980175040662289, + 0.0009552929550409317, + -0.008926548063755035, + -0.012393414974212646, + 0.0468100905418396, + 0.0 + ], + [ + -0.0012845396995544434, + 0.0035936981439590454, + 0.003027064725756645, + -0.023211926221847534, + 0.0012541301548480988, + 0.04410070180892944, + 0.0 + ], + [ + -0.0022521615028381348, + 0.019074734300374985, + 0.020480645820498466, + -0.041813019663095474, + -0.07218322157859802, + 0.06635385751724243, + 0.0 + ], + [ + -0.0042802393436431885, + 0.026952587068080902, + 0.011377908289432526, + -0.04183446988463402, + 0.014536239206790924, + 0.050682902336120605, + 0.0 + ], + [ + -0.0064910948276519775, + 0.03859225660562515, + 0.00997486338019371, + -0.0472201406955719, + -0.007712066173553467, + 0.11287635564804077, + 0.0 + ], + [ + -9.262561798095703e-05, + 0.04040949046611786, + -0.006474599242210388, + -0.00777580589056015, + 0.005800914019346237, + 0.1003621518611908, + 0.0 + ], + [ + 0.006491541862487793, + 0.034902311861515045, + -0.010773930698633194, + 0.0058923810720443726, + -0.0011004693806171417, + -0.025941938161849976, + 0.0 + ], + [ + 0.007161885499954224, + 0.02253909409046173, + -0.009729903191328049, + 0.0030651837587356567, + 0.00696309469640255, + -0.10075271129608154, + 0.0 + ], + [ + 0.008705884218215942, + 0.01274251937866211, + -0.005658578127622604, + -0.013250678777694702, + 0.03144743666052818, + -0.07093638181686401, + 0.0 + ], + [ + 0.0021824538707733154, + 0.012026399374008179, + -0.003151778131723404, + -0.01113039255142212, + 0.05658548325300217, + -0.05033707618713379, + 0.0 + ], + [ + 2.0503997802734375e-05, + 0.0060323625802993774, + -0.003588411957025528, + -0.017867431044578552, + 0.03478236123919487, + -0.024790048599243164, + 0.0 + ], + [ + -0.0026629269123077393, + 0.0021418631076812744, + -0.0013352073729038239, + -0.011729240417480469, + 0.04190937429666519, + -0.012459337711334229, + 1.0 + ], + [ + 0.0021946728229522705, + 0.0005063265562057495, + -0.0012812521308660507, + 0.022603869438171387, + 0.020853981375694275, + -0.015442192554473877, + 1.0 + ], + [ + -0.003050297498703003, + -0.0035020112991333008, + -0.006280718371272087, + 0.0213899165391922, + 0.03279559314250946, + 0.0139235258102417, + 1.0 + ], + [ + 0.0012122094631195068, + -0.0016697943210601807, + 0.01722133532166481, + 0.07396776974201202, + -0.022142305970191956, + 0.04215449094772339, + 1.0 + ], + [ + -0.004841625690460205, + -0.004320397973060608, + 0.01341220736503601, + 0.03259051591157913, + -0.017949387431144714, + 0.03623133897781372, + 1.0 + ], + [ + -0.0037044286727905273, + -0.007552996277809143, + 0.024295426905155182, + 0.03388845920562744, + -0.04423017054796219, + 0.04659581184387207, + 1.0 + ], + [ + -0.008659064769744873, + -0.010387927293777466, + 0.018072105944156647, + 0.04621211439371109, + 0.02846308797597885, + 0.10208785533905029, + 1.0 + ], + [ + -0.0015866458415985107, + -0.021240249276161194, + 0.007241867482662201, + -0.020571403205394745, + -0.07346349954605103, + 0.2231462299823761, + 1.0 + ], + [ + 0.001720428466796875, + -0.04365435242652893, + 0.010201208293437958, + 0.0041050538420677185, + -0.07574017345905304, + 0.06194297969341278, + 1.0 + ], + [ + 0.011847853660583496, + -0.0412573367357254, + 0.00023321807384490967, + -0.035535115748643875, + -0.017125073820352554, + -0.01570354402065277, + 1.0 + ], + [ + -0.007525414228439331, + -0.03794129565358162, + -0.00574859231710434, + -0.017215119674801826, + 0.05992266535758972, + -0.04193216562271118, + 1.0 + ], + [ + -0.021854400634765625, + -0.021550253033638, + 0.009143874049186707, + 0.0056249480694532394, + 0.0419367179274559, + -0.0005179047584533691, + 1.0 + ], + [ + -0.01951645314693451, + -0.017854202538728714, + 0.011799037456512451, + -0.045481495559215546, + -0.04611216112971306, + -0.008919447660446167, + 1.0 + ], + [ + -0.0034198760986328125, + -0.034781910479068756, + -0.00017599016427993774, + -0.04085187986493111, + -0.010601547546684742, + -0.1191091239452362, + 1.0 + ], + [ + -0.006728500127792358, + -0.021298516541719437, + -0.005272313952445984, + -0.012689288705587387, + -0.0030146241188049316, + -0.04564550518989563, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9476637244224548 + ], + [ + 0.6671556830406189 + ], + [ + 0.37205085158348083 + ], + [ + 0.18800361454486847 + ], + [ + 0.10955921560525894 + ], + [ + 0.09700111299753189 + ], + [ + 0.0846695825457573 + ], + [ + 0.08432227373123169 + ], + [ + 0.08432227373123169 + ], + [ + 0.08432227373123169 + ], + [ + 0.08432227373123169 + ], + [ + 0.08432227373123169 + ], + [ + 0.08432227373123169 + ], + [ + 0.08432227373123169 + ], + [ + 0.08432227373123169 + ], + [ + 0.11367882788181305 + ], + [ + 0.29359033703804016 + ], + [ + 0.570969820022583 + ], + [ + 0.8678563833236694 + ], + [ + 1.00800359249115 + ], + [ + 1.0041072368621826 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3692629933357239, + -0.0270078144967556, + 0.06434839218854904 + ], + [ + 0.34574276208877563, + -0.032874997705221176, + 0.046963952481746674 + ], + [ + 0.3242833912372589, + -0.03843162581324577, + 0.059878792613744736 + ], + [ + 0.31284502148628235, + -0.04281396418809891, + 0.05903985723853111 + ], + [ + 0.2926276624202728, + -0.04724513366818428, + 0.042106617242097855 + ], + [ + 0.28417184948921204, + -0.04939507320523262, + 0.03169544041156769 + ], + [ + 0.27805253863334656, + -0.05065029859542847, + 0.026395058259367943 + ], + [ + 0.276788592338562, + -0.04991856589913368, + 0.018176410347223282 + ], + [ + 0.27474379539489746, + -0.04253801330924034, + 0.019989971071481705 + ], + [ + 0.27382996678352356, + -0.035784848034381866, + 0.018345357850193977 + ], + [ + 0.27739986777305603, + -0.024709973484277725, + 0.01938427798449993 + ], + [ + 0.2797013521194458, + -0.012729798443615437, + 0.020339570939540863 + ], + [ + 0.27841681241989136, + -0.009136100299656391, + 0.023366635665297508 + ], + [ + 0.2761646509170532, + 0.009938634000718594, + 0.043847281485795975 + ], + [ + 0.27188441157341003, + 0.03689122200012207, + 0.0552251897752285 + ], + [ + 0.26539331674575806, + 0.07548347860574722, + 0.06520005315542221 + ], + [ + 0.2653006911277771, + 0.11589296907186508, + 0.05872545391321182 + ], + [ + 0.2717922329902649, + 0.15079528093338013, + 0.04795152321457863 + ], + [ + 0.2789541184902191, + 0.17333437502384186, + 0.03822162002325058 + ], + [ + 0.28766000270843506, + 0.18607689440250397, + 0.032563041895627975 + ], + [ + 0.2898424565792084, + 0.19810329377651215, + 0.02941126376390457 + ], + [ + 0.2898629605770111, + 0.20413565635681152, + 0.025822851806879044 + ], + [ + 0.28720003366470337, + 0.2062775194644928, + 0.02448764443397522 + ], + [ + 0.28939470648765564, + 0.20678384602069855, + 0.02320639230310917 + ], + [ + 0.28634440898895264, + 0.20328183472156525, + 0.016925673931837082 + ], + [ + 0.28755661845207214, + 0.20161204040050507, + 0.03414700925350189 + ], + [ + 0.28271499276161194, + 0.19729164242744446, + 0.0475592166185379 + ], + [ + 0.2790105640888214, + 0.18973864614963531, + 0.07185464352369308 + ], + [ + 0.27035149931907654, + 0.17935071885585785, + 0.08992674946784973 + ], + [ + 0.268764853477478, + 0.15811046957969666, + 0.09716861695051193 + ], + [ + 0.2704852819442749, + 0.11445611715316772, + 0.10736982524394989 + ], + [ + 0.2823331356048584, + 0.07319878041744232, + 0.1076030433177948 + ], + [ + 0.27480772137641907, + 0.0352574847638607, + 0.10185445100069046 + ], + [ + 0.25295332074165344, + 0.013707232661545277, + 0.11099832504987717 + ], + [ + 0.23343686759471893, + -0.004146970808506012, + 0.12279736250638962 + ], + [ + 0.23001699149608612, + -0.03892888128757477, + 0.12262137234210968 + ], + [ + 0.22328849136829376, + -0.060227397829294205, + 0.1173490583896637 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9739441223578967, + -0.19212429542950998, + 0.12050353368354134, + -0.1844473633634524, + -0.9802000351959267, + -0.07202125485003906, + 0.13195460080185373, + 0.04791811878212753, + -0.9900968827441106 + ], + [ + 0.9409446465920104, + -0.33634563693016617, + 0.038662443894272036, + -0.33039723112964237, + -0.937175614926836, + -0.11198007165729411, + 0.07389750815624692, + 0.09259308453954797, + -0.9929580449262445 + ], + [ + 0.8850076735503296, + -0.465312589405783, + 0.01567201000250299, + -0.46377369173140137, + -0.8840406334881703, + -0.05819038751943137, + 0.040931413545838256, + 0.04423067354585182, + -0.9981824817651429 + ], + [ + 0.7970306173340636, + -0.6026745499413811, + -0.03905869794341695, + -0.603226353578351, + -0.7975643005229762, + -0.0030253726814758655, + -0.029328507985366136, + 0.025972550591907964, + -0.9992323379650515 + ], + [ + 0.6966794050029737, + -0.7121066708261159, + -0.08684409024020301, + -0.7128032469517429, + -0.7007976634639025, + 0.02818095134284039, + -0.08092797896744539, + 0.04226966108783907, + -0.9958232463503571 + ], + [ + 0.6421271762344488, + -0.7628670956917635, + -0.07554127250706508, + -0.7592372512180464, + -0.6464890781418106, + 0.07490439377110561, + -0.10597870495546738, + 0.009255601231984191, + -0.9943253229913217 + ], + [ + 0.5964932682125508, + -0.8022778707457051, + -0.023366623394212097, + -0.796262087522711, + -0.5951753608305225, + 0.1083188710900891, + -0.10080907176977634, + -0.046005521103388916, + -0.9938415482746337 + ], + [ + 0.6084368546623085, + -0.7934123869076117, + 0.017360247411923303, + -0.7901186745956186, + -0.60357368289051, + 0.1068236367909694, + -0.07427700817816979, + -0.07871209324844713, + -0.9941264167260359 + ], + [ + 0.6149848388390023, + -0.7875111371732972, + 0.0402474449646978, + -0.7870472011520926, + -0.6098833263004961, + 0.09273096278643957, + -0.048480420344957684, + -0.08870477511759235, + -0.9948774355238506 + ], + [ + 0.6251117263108509, + -0.7796474392528756, + 0.0372182763585581, + -0.7792868063788172, + -0.620706064021389, + 0.08623256630171501, + -0.04412938966915501, + -0.08290870010746494, + -0.9955796022488201 + ], + [ + 0.639224641953876, + -0.7679484203026768, + 0.040584244154135314, + -0.7682311801009437, + -0.635289254592032, + 0.07892032007418504, + -0.03482400091389038, + -0.08162589512234242, + -0.9960544674895173 + ], + [ + 0.6747117457627734, + -0.7370712119316668, + 0.03860166669114673, + -0.7377402642150356, + -0.6718872005621905, + 0.0656269173177595, + -0.022435745712590972, + -0.07275725573636203, + -0.9970972966827427 + ], + [ + 0.7065596145861064, + -0.7074149713865379, + 0.01837305892105571, + -0.7072568957780669, + -0.7050563936002917, + 0.05179927815832193, + -0.023689542213927425, + -0.04959375062983584, + -0.998488490413465 + ], + [ + 0.7512265250697587, + -0.658731857050705, + 0.04160587143835015, + -0.6582622037502888, + -0.7523372984850774, + -0.02606646163154143, + 0.048472457596332036, + -0.00780575522963251, + -0.9987940183240319 + ], + [ + 0.784080209870626, + -0.6206348939582191, + 0.005527466933909864, + -0.6197303530972968, + -0.7833624865164724, + -0.04772320367105986, + 0.03394869569121994, + 0.03399328051541765, + -0.9988453048098416 + ], + [ + 0.8486473291864265, + -0.5289049917506632, + -0.007564414450292437, + -0.5273163684523012, + -0.8447991313094485, + -0.09083983322902987, + 0.04165523048815997, + 0.08107982141095292, + -0.9958367859910308 + ], + [ + 0.8974125870006008, + -0.441136080951453, + -0.0070432077693133345, + -0.4397326500758085, + -0.8930320744017854, + -0.09554533241843904, + 0.035858683051601364, + 0.08884071235889845, + -0.9954001620842583 + ], + [ + 0.8856688840493007, + -0.46428099193566336, + -0.0058127750776232594, + -0.46284414527405965, + -0.8817930823087218, + -0.09064357218252718, + 0.03695842275303088, + 0.08297060033361396, + -0.9958664340502134 + ], + [ + 0.8348181761344569, + -0.5501975776828383, + -0.01900627021474295, + -0.549707793346341, + -0.8311996188130886, + -0.0832378256519972, + 0.029999245487762373, + 0.07993634465568886, + -0.9963484461137336 + ], + [ + 0.7941136659105357, + -0.6050175289205694, + -0.05776915537705245, + -0.6077675553833622, + -0.7907417835958743, + -0.07311655283824013, + -0.0014436888382953518, + 0.09317307215318903, + -0.9956488810760924 + ], + [ + 0.7612447753975078, + -0.6388194474420819, + -0.11142757961919096, + -0.6458659189778382, + -0.7622849761936207, + -0.04217617541223735, + -0.05799660880526196, + 0.10407366928903951, + -0.9928771649745023 + ], + [ + 0.7430457675921567, + -0.6522468880043886, + -0.14985654590965697, + -0.662792359563547, + -0.7482094925782027, + -0.029813475477611616, + -0.09267834357371925, + 0.1214765504303564, + -0.988258150650918 + ], + [ + 0.7312199542896468, + -0.6556051700039917, + -0.18841241867956812, + -0.6687878546565363, + -0.7434015208003648, + -0.00877407178072389, + -0.13431375176263724, + 0.13242371364579242, + -0.9820508012071996 + ], + [ + 0.7186116291196867, + -0.6694278903699004, + -0.18831788573806574, + -0.6779295112223888, + -0.7347091067863541, + 0.02478116661844998, + -0.1549480697128029, + 0.10985821771766979, + -0.981795430673913 + ], + [ + 0.7238455119229175, + -0.660876697889677, + -0.19821620785265373, + -0.6640647164092837, + -0.7452783926654587, + 0.05981780542821924, + -0.18725845051507697, + 0.0883295398631013, + -0.97833131662963 + ], + [ + 0.7541738546277087, + -0.6422518866742059, + -0.13687333947634536, + -0.6354868688950771, + -0.7663297173113784, + 0.09431438823103253, + -0.16546370133027624, + 0.015851764219983674, + -0.9860884773250316 + ], + [ + 0.7789121791399272, + -0.6180830172563798, + -0.10615649281480594, + -0.60948329222446, + -0.785943106793115, + 0.10403628878242474, + -0.1477360270439267, + -0.01633452367337907, + -0.9888919302176756 + ], + [ + 0.8109935672782529, + -0.5824248355348621, + -0.05541430127216709, + -0.5757623910938142, + -0.811338514095789, + 0.10113102662769108, + -0.10386097840492117, + -0.05011114144604726, + -0.9933286317567548 + ], + [ + 0.8625249305134376, + -0.5015733066350433, + -0.06689515912215424, + -0.48846077515118935, + -0.859814409499228, + 0.14874559609007904, + -0.13212424221727345, + -0.09562112365310568, + -0.9866102499618725 + ], + [ + 0.955961749990949, + -0.29146000708887737, + -0.034470230953586894, + -0.2874969425623998, + -0.9535718951845952, + 0.08970032737583154, + -0.059013901510697034, + -0.07583999592438494, + -0.9953721185801191 + ], + [ + 0.973486620918444, + -0.2261323419458597, + 0.03446683650802161, + -0.2281341778478924, + -0.9708015012945511, + 0.07415687413795147, + 0.0166911890066619, + -0.08005378823220394, + -0.9966507889924221 + ], + [ + 0.9693647979488969, + -0.2417216667152398, + 0.043617935965620025, + -0.24328734515024553, + -0.9693212455861984, + 0.03503698824051932, + 0.033810592825913255, + -0.044575314868517985, + -0.9984337159356813 + ], + [ + 0.9585356325373583, + -0.28445060567065295, + -0.017242218239108726, + -0.2837747209888216, + -0.9582994130624098, + 0.03367703448876134, + -0.026102660475951504, + -0.027387731885635834, + -0.9992840253192471 + ], + [ + 0.9564967462313926, + -0.28636524646224004, + -0.055757690656802146, + -0.283709982507685, + -0.9575540204776862, + 0.05097983613653601, + -0.06798985420081576, + -0.032943033947096016, + -0.997141983992306 + ], + [ + 0.9559107828493757, + -0.29262391400808985, + -0.024613414693615936, + -0.29283735988851645, + -0.9561465234709181, + -0.005486921541329285, + -0.021928426432769814, + 0.012452734842724886, + -0.9996819861881675 + ], + [ + 0.9145020898015127, + -0.4033219308514329, + -0.03189589069045275, + -0.40442254540272177, + -0.9135057414359526, + -0.044155012552747605, + -0.011328394354398714, + 0.0532792685556196, + -0.9985153914805364 + ], + [ + 0.8951224082387575, + -0.44429709095294445, + -0.03682348760775242, + -0.445742922609892, + -0.8934489815607825, + -0.05533682581421341, + -0.008313916768837668, + 0.06594704177407605, + -0.9977884878415912 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005828.json b/json/chunk-0005/episode_0005828.json new file mode 100644 index 0000000000000000000000000000000000000000..7bb5e5352479b6e21caa76efacd731a40a8c1f88 --- /dev/null +++ b/json/chunk-0005/episode_0005828.json @@ -0,0 +1,1462 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 23, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut the red and white mushroom in the pot." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005828.mp4", + "start": 0, + "end": 23, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.4224286675453186, + 0.12764804065227509, + 0.06979558616876602, + -0.004397023469209671, + -0.15957705676555634, + 0.3540727496147156, + 0.0, + 1.0014774799346924 + ], + [ + 0.41733279824256897, + 0.1258888840675354, + 0.048352960497140884, + -0.003129654796794057, + -0.10588420927524567, + 0.36044466495513916, + 0.0, + 1.0014774799346924 + ], + [ + 0.4082012176513672, + 0.10358566790819168, + 0.03984280675649643, + -3.417755215195939e-05, + -0.08325374871492386, + 0.3443276882171631, + 0.0, + 1.0014774799346924 + ], + [ + 0.3982877731323242, + 0.050488512963056564, + 0.06422005593776703, + -0.002909923903644085, + -0.1168728768825531, + 0.3170376121997833, + 0.0, + 1.0014774799346924 + ], + [ + 0.38600602746009827, + -2.9252900276333094e-05, + 0.08038953691720963, + 0.00013380339078139514, + -0.13962896168231964, + 0.3339340388774872, + 0.0, + 1.0014774799346924 + ], + [ + 0.3815583884716034, + -0.042068712413311005, + 0.09086167067289352, + -0.009740328416228294, + -0.19235605001449585, + 0.35647326707839966, + 0.0, + 1.0014774799346924 + ], + [ + 0.3876945674419403, + -0.06789709627628326, + 0.0865657851099968, + -0.003075201762840152, + -0.2100895494222641, + 0.33433833718299866, + 0.0, + 1.0014774799346924 + ], + [ + 0.39704740047454834, + -0.07035991549491882, + 0.04518366605043411, + 0.07175786793231964, + -0.14966735243797302, + 0.3220401704311371, + 0.0, + 1.0014774799346924 + ], + [ + 0.4003060758113861, + -0.06860505789518356, + 0.02745039574801922, + 0.11742439866065979, + -0.12007404118776321, + 0.3243636190891266, + 0.0, + 1.0014774799346924 + ], + [ + 0.4011845588684082, + -0.06313931196928024, + 0.02425428293645382, + 0.11839424073696136, + -0.11181089282035828, + 0.3136785626411438, + 0.0, + 0.9522681832313538 + ], + [ + 0.4005189538002014, + -0.06043784320354462, + 0.023848537355661392, + 0.10896783322095871, + -0.09739676862955093, + 0.31476670503616333, + 0.0, + 0.6711689233779907 + ], + [ + 0.39803099632263184, + -0.06725165992975235, + 0.05631226301193237, + 0.02580087073147297, + -0.14294056594371796, + 0.31690335273742676, + 0.0, + 0.38577979803085327 + ], + [ + 0.3943832218647003, + -0.049271728843450546, + 0.09790897369384766, + -0.07013658434152603, + -0.2023490071296692, + 0.3782801330089569, + 0.0, + 0.254768431186676 + ], + [ + 0.38085365295410156, + 0.006052867509424686, + 0.1014103889465332, + -0.08501339703798294, + -0.17550542950630188, + 0.47623905539512634, + 0.0, + 0.22553777694702148 + ], + [ + 0.3724273443222046, + 0.05391935631632805, + 0.08801553398370743, + -0.052773721516132355, + -0.14249256253242493, + 0.5163160562515259, + 0.0, + 0.2248985916376114 + ], + [ + 0.36436304450035095, + 0.09907756745815277, + 0.05698093771934509, + -0.0005744587979279459, + -0.08049431443214417, + 0.4976827800273895, + 0.0, + 0.2248985916376114 + ], + [ + 0.3696731925010681, + 0.1381511688232422, + 0.04771698638796806, + 0.03305339813232422, + -0.09099921584129333, + 0.49036502838134766, + 0.0, + 0.2248985916376114 + ], + [ + 0.3814496099948883, + 0.14747001230716705, + 0.0512239970266819, + 0.05039824917912483, + -0.11909488588571548, + 0.4726234972476959, + 0.0, + 0.2781093716621399 + ], + [ + 0.3819960057735443, + 0.1504667103290558, + 0.05219284072518349, + 0.06822717189788818, + -0.11544274538755417, + 0.46754148602485657, + 0.0, + 0.5640211701393127 + ], + [ + 0.38020238280296326, + 0.15088656544685364, + 0.049535054713487625, + 0.08390699326992035, + -0.11402272433042526, + 0.45364922285079956, + 0.0, + 0.8713903427124023 + ], + [ + 0.3767796456813812, + 0.14399021863937378, + 0.05551449954509735, + 0.09329517930746078, + -0.1195015236735344, + 0.4295554757118225, + 0.0, + 1.0187249183654785 + ], + [ + 0.3755546808242798, + 0.12468783557415009, + 0.08124932646751404, + 0.06797345727682114, + -0.142674520611763, + 0.40441372990608215, + 0.0, + 1.0092895030975342 + ], + [ + 0.37545183300971985, + 0.10152878612279892, + 0.08424938470125198, + 0.03955589607357979, + -0.10281676799058914, + 0.3069445490837097, + 0.0, + 1.0060625076293945 + ] + ], + "left_gripper_pos": [ + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 0.9522681832313538 + ], + [ + 0.6711689233779907 + ], + [ + 0.38577979803085327 + ], + [ + 0.254768431186676 + ], + [ + 0.22553777694702148 + ], + [ + 0.2248985916376114 + ], + [ + 0.2248985916376114 + ], + [ + 0.2248985916376114 + ], + [ + 0.2781093716621399 + ], + [ + 0.5640211701393127 + ], + [ + 0.8713903427124023 + ], + [ + 1.0187249183654785 + ], + [ + 1.0092895030975342 + ], + [ + 1.0060625076293945 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.4224286675453186, + 0.12764804065227509, + 0.06979558616876602 + ], + [ + 0.41733279824256897, + 0.1258888840675354, + 0.048352960497140884 + ], + [ + 0.4082012176513672, + 0.10358566790819168, + 0.03984280675649643 + ], + [ + 0.3982877731323242, + 0.050488512963056564, + 0.06422005593776703 + ], + [ + 0.38600602746009827, + -2.9252900276333094e-05, + 0.08038953691720963 + ], + [ + 0.3815583884716034, + -0.042068712413311005, + 0.09086167067289352 + ], + [ + 0.3876945674419403, + -0.06789709627628326, + 0.0865657851099968 + ], + [ + 0.39704740047454834, + -0.07035991549491882, + 0.04518366605043411 + ], + [ + 0.4003060758113861, + -0.06860505789518356, + 0.02745039574801922 + ], + [ + 0.4011845588684082, + -0.06313931196928024, + 0.02425428293645382 + ], + [ + 0.4005189538002014, + -0.06043784320354462, + 0.023848537355661392 + ], + [ + 0.39803099632263184, + -0.06725165992975235, + 0.05631226301193237 + ], + [ + 0.3943832218647003, + -0.049271728843450546, + 0.09790897369384766 + ], + [ + 0.38085365295410156, + 0.006052867509424686, + 0.1014103889465332 + ], + [ + 0.3724273443222046, + 0.05391935631632805, + 0.08801553398370743 + ], + [ + 0.36436304450035095, + 0.09907756745815277, + 0.05698093771934509 + ], + [ + 0.3696731925010681, + 0.1381511688232422, + 0.04771698638796806 + ], + [ + 0.3814496099948883, + 0.14747001230716705, + 0.0512239970266819 + ], + [ + 0.3819960057735443, + 0.1504667103290558, + 0.05219284072518349 + ], + [ + 0.38020238280296326, + 0.15088656544685364, + 0.049535054713487625 + ], + [ + 0.3767796456813812, + 0.14399021863937378, + 0.05551449954509735 + ], + [ + 0.3755546808242798, + 0.12468783557415009, + 0.08124932646751404 + ], + [ + 0.37545183300971985, + 0.10152878612279892, + 0.08424938470125198 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9260511044334219, + 0.34606208423048695, + 0.15056688160313186, + 0.3423155488747745, + -0.9382015712690328, + 0.05096936988898712, + 0.15890065127683423, + 0.004341143440367162, + -0.9872850335629669 + ], + [ + 0.9304994771600302, + 0.35237912479329087, + 0.09999837706095331, + 0.3507151174903292, + -0.935852160923933, + 0.034345876866802565, + 0.10568646729196142, + 0.0031121220926119218, + -0.9943946325918225 + ], + [ + 0.938042325241568, + 0.33756122925175086, + 0.07828801033005772, + 0.3363947210811555, + -0.9413035723644204, + 0.028038835259548256, + 0.08315760749398643, + 3.4059175046478526e-05, + -0.9965364073408702 + ], + [ + 0.9436812359433129, + 0.31142945462739546, + 0.1117023711430722, + 0.30962644315656773, + -0.9502648800693845, + 0.03358754836142694, + 0.11660699218620783, + 0.0028900687191671087, + -0.9931739308278708 + ], + [ + 0.9355655418747739, + 0.3277798691661282, + 0.13144380634322955, + 0.32457239905683355, + -0.9447541160602975, + 0.04574295527857185, + 0.13917569696988108, + -0.00013250117616677923, + -0.9902676950281606 + ], + [ + 0.919849404427261, + 0.34720984909565206, + 0.18254422441093085, + 0.34253515445601385, + -0.9377387252958154, + 0.057582558491045224, + 0.19117201975343687, + 0.009560531970265573, + -0.9815099872603629 + ], + [ + 0.9238573945991615, + 0.32753685224578716, + 0.19800789091692925, + 0.32092906157849627, + -0.944833617565577, + 0.06552841026830088, + 0.2085474811135222, + 0.0030075802344099734, + -0.9780076188774496 + ], + [ + 0.9379871144761123, + 0.3258289844269244, + 0.11838769355002962, + 0.31296424076309554, + -0.942766886228279, + 0.11508250186285732, + 0.14910921192319357, + -0.07089478922145431, + -0.9862760119666755 + ], + [ + 0.9410289711423067, + 0.3298126141338392, + 0.07541959313768994, + 0.31641090023443563, + -0.9368539619434433, + 0.14895904203406682, + 0.11978571569133538, + -0.1163111927076502, + -0.985963026064993 + ], + [ + 0.945265315595425, + 0.31893600968574093, + 0.06894421555154984, + 0.3066330346112561, + -0.9404795014664178, + 0.14654176676487365, + 0.11157806781520216, + -0.11738027537544518, + -0.9867989692614251 + ], + [ + 0.9463621637808456, + 0.31781420553984857, + 0.058247624167092456, + 0.308127379615781, + -0.9419548310396604, + 0.1333364699253636, + 0.09724285523959256, + -0.1082369023860157, + -0.9893576704441785 + ], + [ + 0.9405141875295223, + 0.3150139320245556, + 0.1272764144926751, + 0.30844745862758577, + -0.9487434802400245, + 0.0688910296644642, + 0.14245430257407563, + -0.0255349041994489, + -0.9894719502571353 + ], + [ + 0.9103408479990828, + 0.35532658778649195, + 0.21218519381973794, + 0.3617875234380151, + -0.9322179420365074, + 0.008916077041334222, + 0.2009709639447923, + 0.06864928664762486, + -0.9771887980804291 + ], + [ + 0.8750731399959104, + 0.44360813232600277, + 0.1935428236642565, + 0.4513976134963375, + -0.8923125858021501, + 0.00429461859675799, + 0.17460582518206264, + 0.08360666333083802, + -0.9810824285752828 + ], + [ + 0.8608300131635382, + 0.4864780013251673, + 0.14936814474155105, + 0.4886763814754155, + -0.872131175707452, + 0.02413724398582866, + 0.14201085389841364, + 0.05221462042194486, + -0.9884870008195532 + ], + [ + 0.8758460089724527, + 0.47735003527554554, + 0.07092751503797019, + 0.47584494927767096, + -0.8787130452844922, + 0.037880975354187094, + 0.08040741765506969, + 0.00057259871568556, + -0.9967619170678391 + ], + [ + 0.8785110031272154, + 0.4733399453313408, + 0.0645578309590535, + 0.46899935224979666, + -0.8802648383700609, + 0.07192650358944366, + 0.09087367591159466, + -0.03291064391734744, + -0.995318473928451 + ], + [ + 0.8840701627547203, + 0.45997505984574805, + 0.08272177250726259, + 0.45199921115752884, + -0.8865218194235511, + 0.09887252802942126, + 0.11881355326651294, + -0.05002007602810584, + -0.9916558533858045 + ], + [ + 0.8867372442311404, + 0.4566544048252981, + 0.07185968443442733, + 0.4476931207320128, + -0.8870629581184271, + 0.11265069011513922, + 0.1151864980915478, + -0.0677204761341683, + -0.9910327985337152 + ], + [ + 0.8930170710748364, + 0.4452776690274485, + 0.06517904751070266, + 0.43540277341749833, + -0.8915126720406827, + 0.12501832062234874, + 0.11377581319977881, + -0.08326435645799385, + -0.9900111672473018 + ], + [ + 0.902667073637649, + 0.42475283463415436, + 0.06911717326897837, + 0.41349654091916643, + -0.9005718250746915, + 0.13413052795513594, + 0.1192173008347672, + -0.0924954990899022, + -0.988550361807522 + ], + [ + 0.9099921200449482, + 0.40144989438048934, + 0.1036934123172475, + 0.38948179776024855, + -0.9134100807185996, + 0.11826222412539927, + 0.14219096549902738, + -0.06723099540788666, + -0.9875534023975205 + ], + [ + 0.9482270525684895, + 0.3057801450902499, + 0.08581351668508128, + 0.30055177131445004, + -0.9512891903174658, + 0.06868412585806695, + 0.10263571277592201, + -0.039336741778214716, + -0.9939409093146596 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.005095869302749634, + -0.001759156584739685, + -0.021442625671625137, + 0.0012673686724156141, + 0.05369284749031067, + 0.006371915340423584, + 1.0 + ], + [ + -0.009131580591201782, + -0.02230321615934372, + -0.008510153740644455, + 0.0030954773537814617, + 0.022630460560321808, + -0.016116976737976074, + 1.0 + ], + [ + -0.009913444519042969, + -0.05309715494513512, + 0.0243772491812706, + -0.0028757464606314898, + -0.03361912816762924, + -0.02729007601737976, + 1.0 + ], + [ + -0.012281745672225952, + -0.050517767667770386, + 0.016169480979442596, + 0.0030437272507697344, + -0.02275608479976654, + 0.016896426677703857, + 1.0 + ], + [ + -0.004447638988494873, + -0.04203945770859718, + 0.010472133755683899, + -0.0098741315305233, + -0.05272708833217621, + 0.022539228200912476, + 1.0 + ], + [ + 0.006136178970336914, + -0.02582838386297226, + -0.0042958855628967285, + 0.006665126420557499, + -0.01773349940776825, + -0.022134929895401, + 1.0 + ], + [ + 0.009352833032608032, + -0.002462819218635559, + -0.04138211905956268, + 0.07483307272195816, + 0.06042219698429108, + -0.012298166751861572, + 1.0 + ], + [ + 0.0032586753368377686, + 0.00175485759973526, + -0.017733270302414894, + 0.04566653072834015, + 0.02959331125020981, + 0.002323448657989502, + 1.0 + ], + [ + 0.0008784830570220947, + 0.00546574592590332, + -0.003196112811565399, + 0.0009698420763015747, + 0.008263148367404938, + -0.010685056447982788, + 0.0 + ], + [ + -0.0006656050682067871, + 0.0027014687657356262, + -0.00040574558079242706, + -0.009426407516002655, + 0.014414124190807343, + 0.0010881423950195312, + 0.0 + ], + [ + -0.00248795747756958, + -0.006813816726207733, + 0.03246372565627098, + -0.08316696435213089, + -0.04554379731416702, + 0.0021366477012634277, + 0.0 + ], + [ + -0.0036477744579315186, + 0.017979931086301804, + 0.04159671068191528, + -0.09593745321035385, + -0.05940844118595123, + 0.06137678027153015, + 0.0 + ], + [ + -0.013529568910598755, + 0.05532459542155266, + 0.003501415252685547, + -0.01487681269645691, + 0.02684357762336731, + 0.09795892238616943, + 0.0 + ], + [ + -0.008426308631896973, + 0.04786648973822594, + -0.013394854962825775, + 0.032239675521850586, + 0.03301286697387695, + 0.040077000856399536, + 0.0 + ], + [ + -0.008064299821853638, + 0.04515821114182472, + -0.031034596264362335, + 0.052199263125658035, + 0.06199824810028076, + -0.018633276224136353, + 0.0 + ], + [ + 0.005310148000717163, + 0.039073601365089417, + -0.00926395133137703, + 0.03362785652279854, + -0.01050490140914917, + -0.00731775164604187, + 0.0 + ], + [ + 0.01177641749382019, + 0.009318843483924866, + 0.0035070106387138367, + 0.017344851046800613, + -0.02809567004442215, + -0.017741531133651733, + 1.0 + ], + [ + 0.0005463957786560059, + 0.002996698021888733, + 0.0009688436985015869, + 0.01782892271876335, + 0.003652140498161316, + -0.0050820112228393555, + 1.0 + ], + [ + -0.0017936229705810547, + 0.00041985511779785156, + -0.002657786011695862, + 0.015679821372032166, + 0.0014200210571289062, + -0.013892263174057007, + 1.0 + ], + [ + -0.0034227371215820312, + -0.006896346807479858, + 0.005979444831609726, + 0.009388186037540436, + -0.005478799343109131, + -0.02409374713897705, + 1.0 + ], + [ + -0.0012249648571014404, + -0.019302383065223694, + 0.025734826922416687, + -0.02532172203063965, + -0.023172996938228607, + -0.025141745805740356, + 1.0 + ], + [ + -0.00010284781455993652, + -0.023159049451351166, + 0.0030000582337379456, + -0.02841756120324135, + 0.03985775262117386, + -0.09746918082237244, + 1.0 + ], + [ + 0.0062139034271240234, + -0.011034123599529266, + 0.0066642165184021, + -0.0031659677624702454, + 0.0005112960934638977, + -0.1530754715204239, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 0.9522681832313538 + ], + [ + 0.6711689233779907 + ], + [ + 0.38577979803085327 + ], + [ + 0.254768431186676 + ], + [ + 0.22553777694702148 + ], + [ + 0.2248985916376114 + ], + [ + 0.2248985916376114 + ], + [ + 0.2248985916376114 + ], + [ + 0.2781093716621399 + ], + [ + 0.5640211701393127 + ], + [ + 0.8713903427124023 + ], + [ + 1.0187249183654785 + ], + [ + 1.0092895030975342 + ], + [ + 1.0060625076293945 + ], + [ + 1.002137303352356 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.41733279824256897, + 0.1258888840675354, + 0.048352960497140884 + ], + [ + 0.4082012176513672, + 0.10358566790819168, + 0.03984280675649643 + ], + [ + 0.3982877731323242, + 0.050488512963056564, + 0.06422005593776703 + ], + [ + 0.38600602746009827, + -2.9252900276333094e-05, + 0.08038953691720963 + ], + [ + 0.3815583884716034, + -0.042068712413311005, + 0.09086167067289352 + ], + [ + 0.3876945674419403, + -0.06789709627628326, + 0.0865657851099968 + ], + [ + 0.39704740047454834, + -0.07035991549491882, + 0.04518366605043411 + ], + [ + 0.4003060758113861, + -0.06860505789518356, + 0.02745039574801922 + ], + [ + 0.4011845588684082, + -0.06313931196928024, + 0.02425428293645382 + ], + [ + 0.4005189538002014, + -0.06043784320354462, + 0.023848537355661392 + ], + [ + 0.39803099632263184, + -0.06725165992975235, + 0.05631226301193237 + ], + [ + 0.3943832218647003, + -0.049271728843450546, + 0.09790897369384766 + ], + [ + 0.38085365295410156, + 0.006052867509424686, + 0.1014103889465332 + ], + [ + 0.3724273443222046, + 0.05391935631632805, + 0.08801553398370743 + ], + [ + 0.36436304450035095, + 0.09907756745815277, + 0.05698093771934509 + ], + [ + 0.3696731925010681, + 0.1381511688232422, + 0.04771698638796806 + ], + [ + 0.3814496099948883, + 0.14747001230716705, + 0.0512239970266819 + ], + [ + 0.3819960057735443, + 0.1504667103290558, + 0.05219284072518349 + ], + [ + 0.38020238280296326, + 0.15088656544685364, + 0.049535054713487625 + ], + [ + 0.3767796456813812, + 0.14399021863937378, + 0.05551449954509735 + ], + [ + 0.3755546808242798, + 0.12468783557415009, + 0.08124932646751404 + ], + [ + 0.37545183300971985, + 0.10152878612279892, + 0.08424938470125198 + ], + [ + 0.38166573643684387, + 0.09049466252326965, + 0.09091360121965408 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9304994771600302, + 0.35237912479329087, + 0.09999837706095331, + 0.3507151174903292, + -0.935852160923933, + 0.034345876866802565, + 0.10568646729196142, + 0.0031121220926119218, + -0.9943946325918225 + ], + [ + 0.938042325241568, + 0.33756122925175086, + 0.07828801033005772, + 0.3363947210811555, + -0.9413035723644204, + 0.028038835259548256, + 0.08315760749398643, + 3.4059175046478526e-05, + -0.9965364073408702 + ], + [ + 0.9436812359433129, + 0.31142945462739546, + 0.1117023711430722, + 0.30962644315656773, + -0.9502648800693845, + 0.03358754836142694, + 0.11660699218620783, + 0.0028900687191671087, + -0.9931739308278708 + ], + [ + 0.9355655418747739, + 0.3277798691661282, + 0.13144380634322955, + 0.32457239905683355, + -0.9447541160602975, + 0.04574295527857185, + 0.13917569696988108, + -0.00013250117616677923, + -0.9902676950281606 + ], + [ + 0.919849404427261, + 0.34720984909565206, + 0.18254422441093085, + 0.34253515445601385, + -0.9377387252958154, + 0.057582558491045224, + 0.19117201975343687, + 0.009560531970265573, + -0.9815099872603629 + ], + [ + 0.9238573945991615, + 0.32753685224578716, + 0.19800789091692925, + 0.32092906157849627, + -0.944833617565577, + 0.06552841026830088, + 0.2085474811135222, + 0.0030075802344099734, + -0.9780076188774496 + ], + [ + 0.9379871144761123, + 0.3258289844269244, + 0.11838769355002962, + 0.31296424076309554, + -0.942766886228279, + 0.11508250186285732, + 0.14910921192319357, + -0.07089478922145431, + -0.9862760119666755 + ], + [ + 0.9410289711423067, + 0.3298126141338392, + 0.07541959313768994, + 0.31641090023443563, + -0.9368539619434433, + 0.14895904203406682, + 0.11978571569133538, + -0.1163111927076502, + -0.985963026064993 + ], + [ + 0.945265315595425, + 0.31893600968574093, + 0.06894421555154984, + 0.3066330346112561, + -0.9404795014664178, + 0.14654176676487365, + 0.11157806781520216, + -0.11738027537544518, + -0.9867989692614251 + ], + [ + 0.9463621637808456, + 0.31781420553984857, + 0.058247624167092456, + 0.308127379615781, + -0.9419548310396604, + 0.1333364699253636, + 0.09724285523959256, + -0.1082369023860157, + -0.9893576704441785 + ], + [ + 0.9405141875295223, + 0.3150139320245556, + 0.1272764144926751, + 0.30844745862758577, + -0.9487434802400245, + 0.0688910296644642, + 0.14245430257407563, + -0.0255349041994489, + -0.9894719502571353 + ], + [ + 0.9103408479990828, + 0.35532658778649195, + 0.21218519381973794, + 0.3617875234380151, + -0.9322179420365074, + 0.008916077041334222, + 0.2009709639447923, + 0.06864928664762486, + -0.9771887980804291 + ], + [ + 0.8750731399959104, + 0.44360813232600277, + 0.1935428236642565, + 0.4513976134963375, + -0.8923125858021501, + 0.00429461859675799, + 0.17460582518206264, + 0.08360666333083802, + -0.9810824285752828 + ], + [ + 0.8608300131635382, + 0.4864780013251673, + 0.14936814474155105, + 0.4886763814754155, + -0.872131175707452, + 0.02413724398582866, + 0.14201085389841364, + 0.05221462042194486, + -0.9884870008195532 + ], + [ + 0.8758460089724527, + 0.47735003527554554, + 0.07092751503797019, + 0.47584494927767096, + -0.8787130452844922, + 0.037880975354187094, + 0.08040741765506969, + 0.00057259871568556, + -0.9967619170678391 + ], + [ + 0.8785110031272154, + 0.4733399453313408, + 0.0645578309590535, + 0.46899935224979666, + -0.8802648383700609, + 0.07192650358944366, + 0.09087367591159466, + -0.03291064391734744, + -0.995318473928451 + ], + [ + 0.8840701627547203, + 0.45997505984574805, + 0.08272177250726259, + 0.45199921115752884, + -0.8865218194235511, + 0.09887252802942126, + 0.11881355326651294, + -0.05002007602810584, + -0.9916558533858045 + ], + [ + 0.8867372442311404, + 0.4566544048252981, + 0.07185968443442733, + 0.4476931207320128, + -0.8870629581184271, + 0.11265069011513922, + 0.1151864980915478, + -0.0677204761341683, + -0.9910327985337152 + ], + [ + 0.8930170710748364, + 0.4452776690274485, + 0.06517904751070266, + 0.43540277341749833, + -0.8915126720406827, + 0.12501832062234874, + 0.11377581319977881, + -0.08326435645799385, + -0.9900111672473018 + ], + [ + 0.902667073637649, + 0.42475283463415436, + 0.06911717326897837, + 0.41349654091916643, + -0.9005718250746915, + 0.13413052795513594, + 0.1192173008347672, + -0.0924954990899022, + -0.988550361807522 + ], + [ + 0.9099921200449482, + 0.40144989438048934, + 0.1036934123172475, + 0.38948179776024855, + -0.9134100807185996, + 0.11826222412539927, + 0.14219096549902738, + -0.06723099540788666, + -0.9875534023975205 + ], + [ + 0.9482270525684895, + 0.3057801450902499, + 0.08581351668508128, + 0.30055177131445004, + -0.9512891903174658, + 0.06868412585806695, + 0.10263571277592201, + -0.039336741778214716, + -0.9939409093146596 + ], + [ + 0.9830186226907239, + 0.15683285041598682, + 0.09527772286126936, + 0.1524612809423571, + -0.9869618128827087, + 0.05159396984815961, + 0.10212710343805805, + -0.03619166950658457, + -0.9941127792165627 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005829.json b/json/chunk-0005/episode_0005829.json new file mode 100644 index 0000000000000000000000000000000000000000..0f57f5eef3345731bb0092b55622099efbb71da7 --- /dev/null +++ b/json/chunk-0005/episode_0005829.json @@ -0,0 +1,2782 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 45, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPlace the pot in the front centre of the table." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005829.mp4", + "start": 0, + "end": 45, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.23173397779464722, + 0.15106196701526642, + 0.0811636671423912, + 0.1521914005279541, + -0.039509888738393784, + 0.4822040796279907, + 0.0, + 1.0001531839370728 + ], + [ + 0.23112140595912933, + 0.14749911427497864, + 0.07464922219514847, + 0.1549680531024933, + -0.011270087212324142, + 0.48442915081977844, + 0.0, + 1.0001531839370728 + ], + [ + 0.24686576426029205, + 0.12068011611700058, + 0.07588056474924088, + 0.21496786177158356, + 0.07663819938898087, + 0.48654255270957947, + 0.0, + 1.0001531839370728 + ], + [ + 0.2609790861606598, + 0.08236284554004669, + 0.08799215406179428, + 0.20104406774044037, + 0.1122218444943428, + 0.4891253113746643, + 0.0, + 1.0001531839370728 + ], + [ + 0.26926788687705994, + 0.04493744298815727, + 0.08755335211753845, + 0.22604168951511383, + 0.12424787878990173, + 0.5958606004714966, + 0.0, + 1.0001531839370728 + ], + [ + 0.2794766426086426, + 0.01620970480144024, + 0.08548472821712494, + 0.2756234407424927, + 0.10538328438997269, + 0.7380838990211487, + 0.0, + 1.0001531839370728 + ], + [ + 0.28140223026275635, + -0.011183309368789196, + 0.08726797997951508, + 0.20876376330852509, + 0.019386110827326775, + 0.9570098519325256, + 0.0, + 1.0001531839370728 + ], + [ + 0.28763124346733093, + -0.04282047972083092, + 0.0849699079990387, + 0.14950524270534515, + -0.07081662118434906, + 1.056978702545166, + 0.0, + 1.0001531839370728 + ], + [ + 0.28303226828575134, + -0.07293199002742767, + 0.0803854912519455, + 0.03145832195878029, + -0.09368870407342911, + 1.217746376991272, + 0.0, + 1.0001531839370728 + ], + [ + 0.2982027530670166, + -0.08489920943975449, + 0.0746913030743599, + -0.063985176384449, + -0.11060468852519989, + 1.3068491220474243, + 0.0, + 1.0001531839370728 + ], + [ + 0.3158220052719116, + -0.09404131025075912, + 0.05961330607533455, + -0.08172864466905594, + -0.12285862863063812, + 1.3477513790130615, + 0.0, + 1.0001531839370728 + ], + [ + 0.3295435905456543, + -0.0997401550412178, + 0.05217901989817619, + -0.0916595384478569, + -0.08089343458414078, + 1.3600249290466309, + 0.0, + 1.0001531839370728 + ], + [ + 0.3391825556755066, + -0.0979166328907013, + 0.05168122053146362, + -0.08215445280075073, + -0.08791778981685638, + 1.3881882429122925, + 0.0, + 1.0001531839370728 + ], + [ + 0.3401709794998169, + -0.09926073253154755, + 0.0439620278775692, + -0.07658155262470245, + -0.08129044622182846, + 1.4075794219970703, + 0.0, + 1.0001531839370728 + ], + [ + 0.3410542905330658, + -0.09807326644659042, + 0.038428083062171936, + -0.06928271055221558, + -0.08466330915689468, + 1.4077032804489136, + 0.0, + 1.0001531839370728 + ], + [ + 0.34542596340179443, + -0.08863335102796555, + 0.026854176074266434, + -0.05219828709959984, + -0.06643114238977432, + 1.4366979598999023, + 0.0, + 1.0001531839370728 + ], + [ + 0.34783822298049927, + -0.08386369049549103, + 0.02186162769794464, + -0.04376394301652908, + -0.08039740473031998, + 1.4413353204727173, + 0.0, + 1.0001531839370728 + ], + [ + 0.35047468543052673, + -0.08729728311300278, + 0.019686022773385048, + -0.04033564403653145, + -0.0613316185772419, + 1.425795078277588, + 0.0, + 0.9182166457176208 + ], + [ + 0.3512132167816162, + -0.08655280619859695, + 0.018863841891288757, + -0.024620460346341133, + -0.05150236189365387, + 1.4330698251724243, + 0.0, + 0.6289845705032349 + ], + [ + 0.35324332118034363, + -0.08813545852899551, + 0.01717323251068592, + -0.0421798974275589, + -0.014575882814824581, + 1.443392038345337, + 0.0, + 0.33478444814682007 + ], + [ + 0.3556521236896515, + -0.08103720098733902, + 0.01717335358262062, + -0.0437089242041111, + 0.009087183512747288, + 1.470491647720337, + 0.0, + 0.1511339694261551 + ], + [ + 0.3554796278476715, + -0.0823809951543808, + 0.018420837819576263, + -0.05334994196891785, + 0.0189349465072155, + 1.471882939338684, + 0.0, + 0.09700111299753189 + ], + [ + 0.3524671494960785, + -0.08549302816390991, + 0.03004216030240059, + -0.08646555989980698, + 0.025784678757190704, + 1.4668915271759033, + 0.0, + 0.0885477215051651 + ], + [ + 0.3514121472835541, + -0.0895908996462822, + 0.03705935552716255, + -0.11581967771053314, + 0.026974892243742943, + 1.4441125392913818, + 0.0, + 0.08747956901788712 + ], + [ + 0.3489975333213806, + -0.09326008707284927, + 0.05594813823699951, + -0.1670333594083786, + 0.0022974691819399595, + 1.436116099357605, + 0.0, + 0.08747956901788712 + ], + [ + 0.3399256765842438, + -0.09208615124225616, + 0.07157598435878754, + -0.19429147243499756, + -0.02821086160838604, + 1.349100947380066, + 0.0, + 0.08747956901788712 + ], + [ + 0.3159443736076355, + -0.09212489426136017, + 0.0851823017001152, + -0.19292841851711273, + 0.01769663579761982, + 1.1813733577728271, + 0.0, + 0.08747956901788712 + ], + [ + 0.2915029227733612, + -0.0747934952378273, + 0.08818035572767258, + -0.20287778973579407, + 0.09184468537569046, + 1.100303053855896, + 0.0, + 0.08747956901788712 + ], + [ + 0.272706001996994, + -0.06514175981283188, + 0.08295100182294846, + -0.11777574568986893, + 0.05605996027588844, + 0.8589267730712891, + 0.0, + 0.08747956901788712 + ], + [ + 0.26103898882865906, + -0.04622488096356392, + 0.07683464884757996, + -0.03256320580840111, + 0.04389798268675804, + 0.7210448980331421, + 0.0, + 0.08747956901788712 + ], + [ + 0.25550761818885803, + -0.025618785992264748, + 0.06539694964885712, + 0.10281222313642502, + 0.03200704976916313, + 0.6351677179336548, + 0.0, + 0.08747956901788712 + ], + [ + 0.2497449666261673, + 0.0028940297197550535, + 0.05548365041613579, + 0.11204225569963455, + 0.03138444945216179, + 0.6303879022598267, + 0.0, + 0.0853668823838234 + ], + [ + 0.2508733868598938, + 0.01760571449995041, + 0.04605293273925781, + 0.07327732443809509, + 0.009923101402819157, + 0.5764569640159607, + 0.0, + 0.0853668823838234 + ], + [ + 0.24137094616889954, + 0.03070138208568096, + 0.03401397541165352, + 0.09497561305761337, + -0.028813794255256653, + 0.5318434238433838, + 0.0, + 0.0853668823838234 + ], + [ + 0.233621746301651, + 0.04180276766419411, + 0.028661904856562614, + 0.07111489027738571, + -0.017899634316563606, + 0.5520225763320923, + 0.0, + 0.0853668823838234 + ], + [ + 0.22776611149311066, + 0.05083879828453064, + 0.02559792436659336, + 0.0702594667673111, + -0.008670967072248459, + 0.5714355111122131, + 0.0, + 0.0853668823838234 + ], + [ + 0.22385568916797638, + 0.05839404836297035, + 0.022271778434515, + 0.07285288721323013, + 0.003458474762737751, + 0.61174076795578, + 0.0, + 0.0853668823838234 + ], + [ + 0.2235351949930191, + 0.057065632194280624, + 0.02193657122552395, + 0.06644084304571152, + 0.008555197156965733, + 0.6086356043815613, + 0.0, + 0.1275043487548828 + ], + [ + 0.22048582136631012, + 0.05843609943985939, + 0.019696474075317383, + 0.05936107039451599, + 0.03667515888810158, + 0.6072043776512146, + 0.0, + 0.32837530970573425 + ], + [ + 0.2183883786201477, + 0.05833439528942108, + 0.020330140367150307, + 0.08212915062904358, + 0.03923831135034561, + 0.6335183382034302, + 0.0, + 0.6019018292427063 + ], + [ + 0.21511293947696686, + 0.05669521912932396, + 0.02150462381541729, + 0.11131509393453598, + 0.05266245827078819, + 0.6266579627990723, + 0.0, + 0.8713903427124023 + ], + [ + 0.216538667678833, + 0.048907119780778885, + 0.027433903887867928, + 0.13295914232730865, + 0.03730325400829315, + 0.6066726446151733, + 0.0, + 1.0073583126068115 + ], + [ + 0.22342030704021454, + 0.038170211017131805, + 0.034494251012802124, + 0.14907777309417725, + 0.023934168741106987, + 0.5865512490272522, + 0.0, + 1.003452181816101 + ], + [ + 0.23114049434661865, + 0.02276717685163021, + 0.045433513820171356, + 0.1545930951833725, + 0.002938098507001996, + 0.5543720722198486, + 0.0, + 0.9994885921478271 + ], + [ + 0.2544969320297241, + -0.005573624279350042, + 0.059055592864751816, + 0.1377183198928833, + -0.035629235208034515, + 0.46456223726272583, + 0.0, + 0.9994885921478271 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9182166457176208 + ], + [ + 0.6289845705032349 + ], + [ + 0.33478444814682007 + ], + [ + 0.1511339694261551 + ], + [ + 0.09700111299753189 + ], + [ + 0.0885477215051651 + ], + [ + 0.08747956901788712 + ], + [ + 0.08747956901788712 + ], + [ + 0.08747956901788712 + ], + [ + 0.08747956901788712 + ], + [ + 0.08747956901788712 + ], + [ + 0.08747956901788712 + ], + [ + 0.08747956901788712 + ], + [ + 0.08747956901788712 + ], + [ + 0.0853668823838234 + ], + [ + 0.0853668823838234 + ], + [ + 0.0853668823838234 + ], + [ + 0.0853668823838234 + ], + [ + 0.0853668823838234 + ], + [ + 0.0853668823838234 + ], + [ + 0.1275043487548828 + ], + [ + 0.32837530970573425 + ], + [ + 0.6019018292427063 + ], + [ + 0.8713903427124023 + ], + [ + 1.0073583126068115 + ], + [ + 1.003452181816101 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.23173397779464722, + 0.15106196701526642, + 0.0811636671423912 + ], + [ + 0.23112140595912933, + 0.14749911427497864, + 0.07464922219514847 + ], + [ + 0.24686576426029205, + 0.12068011611700058, + 0.07588056474924088 + ], + [ + 0.2609790861606598, + 0.08236284554004669, + 0.08799215406179428 + ], + [ + 0.26926788687705994, + 0.04493744298815727, + 0.08755335211753845 + ], + [ + 0.2794766426086426, + 0.01620970480144024, + 0.08548472821712494 + ], + [ + 0.28140223026275635, + -0.011183309368789196, + 0.08726797997951508 + ], + [ + 0.28763124346733093, + -0.04282047972083092, + 0.0849699079990387 + ], + [ + 0.28303226828575134, + -0.07293199002742767, + 0.0803854912519455 + ], + [ + 0.2982027530670166, + -0.08489920943975449, + 0.0746913030743599 + ], + [ + 0.3158220052719116, + -0.09404131025075912, + 0.05961330607533455 + ], + [ + 0.3295435905456543, + -0.0997401550412178, + 0.05217901989817619 + ], + [ + 0.3391825556755066, + -0.0979166328907013, + 0.05168122053146362 + ], + [ + 0.3401709794998169, + -0.09926073253154755, + 0.0439620278775692 + ], + [ + 0.3410542905330658, + -0.09807326644659042, + 0.038428083062171936 + ], + [ + 0.34542596340179443, + -0.08863335102796555, + 0.026854176074266434 + ], + [ + 0.34783822298049927, + -0.08386369049549103, + 0.02186162769794464 + ], + [ + 0.35047468543052673, + -0.08729728311300278, + 0.019686022773385048 + ], + [ + 0.3512132167816162, + -0.08655280619859695, + 0.018863841891288757 + ], + [ + 0.35324332118034363, + -0.08813545852899551, + 0.01717323251068592 + ], + [ + 0.3556521236896515, + -0.08103720098733902, + 0.01717335358262062 + ], + [ + 0.3554796278476715, + -0.0823809951543808, + 0.018420837819576263 + ], + [ + 0.3524671494960785, + -0.08549302816390991, + 0.03004216030240059 + ], + [ + 0.3514121472835541, + -0.0895908996462822, + 0.03705935552716255 + ], + [ + 0.3489975333213806, + -0.09326008707284927, + 0.05594813823699951 + ], + [ + 0.3399256765842438, + -0.09208615124225616, + 0.07157598435878754 + ], + [ + 0.3159443736076355, + -0.09212489426136017, + 0.0851823017001152 + ], + [ + 0.2915029227733612, + -0.0747934952378273, + 0.08818035572767258 + ], + [ + 0.272706001996994, + -0.06514175981283188, + 0.08295100182294846 + ], + [ + 0.26103898882865906, + -0.04622488096356392, + 0.07683464884757996 + ], + [ + 0.25550761818885803, + -0.025618785992264748, + 0.06539694964885712 + ], + [ + 0.2497449666261673, + 0.0028940297197550535, + 0.05548365041613579 + ], + [ + 0.2508733868598938, + 0.01760571449995041, + 0.04605293273925781 + ], + [ + 0.24137094616889954, + 0.03070138208568096, + 0.03401397541165352 + ], + [ + 0.233621746301651, + 0.04180276766419411, + 0.028661904856562614 + ], + [ + 0.22776611149311066, + 0.05083879828453064, + 0.02559792436659336 + ], + [ + 0.22385568916797638, + 0.05839404836297035, + 0.022271778434515 + ], + [ + 0.2235351949930191, + 0.057065632194280624, + 0.02193657122552395 + ], + [ + 0.22048582136631012, + 0.05843609943985939, + 0.019696474075317383 + ], + [ + 0.2183883786201477, + 0.05833439528942108, + 0.020330140367150307 + ], + [ + 0.21511293947696686, + 0.05669521912932396, + 0.02150462381541729 + ], + [ + 0.216538667678833, + 0.048907119780778885, + 0.027433903887867928 + ], + [ + 0.22342030704021454, + 0.038170211017131805, + 0.034494251012802124 + ], + [ + 0.23114049434661865, + 0.02276717685163021, + 0.045433513820171356 + ], + [ + 0.2544969320297241, + -0.005573624279350042, + 0.059055592864751816 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8852835436527565, + 0.4636783764901259, + -0.03571289001325069, + 0.463371155914313, + -0.8729572033734991, + 0.15242340025387224, + 0.03949961017846744, + -0.15148625103883123, + -0.9876698317463933 + ], + [ + 0.8848847398774284, + 0.46166183601445854, + -0.062026980418320186, + 0.4656736922393008, + -0.8735261327644547, + 0.1417748487348623, + 0.011269848635736872, + -0.1543387331337644, + -0.9879537165102381 + ], + [ + 0.8813601003072157, + 0.4423735751919304, + -0.16586136849298033, + 0.46620001069854783, + -0.8712454480459103, + 0.15358684606422182, + -0.076563200110292, + -0.21268988981893464, + -0.9741155409691813 + ], + [ + 0.8771914769004198, + 0.4406497587183505, + -0.19069059492990129, + 0.4668984356658456, + -0.8754717593191983, + 0.12471988376892335, + -0.11198644393874849, + -0.19843635951107091, + -0.9736950485639466 + ], + [ + 0.8212854723543082, + 0.5239559802337059, + -0.22574388956757538, + 0.5568948853686242, + -0.8221989172879458, + 0.11771587429398306, + -0.12392844528205846, + -0.22239395492653646, + -0.967048431704486 + ], + [ + 0.7356552577665376, + 0.6262977854276092, + -0.2579969489914982, + 0.6691388166780466, + -0.7310996074180226, + 0.13321639556720064, + -0.1051883345963458, + -0.27063711497443543, + -0.9569174291772313 + ], + [ + 0.5758586956648947, + 0.7974099555580686, + -0.18034446319198624, + 0.8173193919223415, + -0.5667456801473436, + 0.10386696116676927, + -0.01938489656460471, + -0.2072117197728073, + -0.9781040481329046 + ], + [ + 0.4902735584482451, + 0.8663398732741314, + -0.09532608175025768, + 0.8686916724791223, + -0.47684433635662643, + 0.1341426742317053, + 0.07075744520486953, + -0.14857557962185478, + -0.9863664030613114 + ], + [ + 0.34424488509397844, + 0.9388756688372142, + 0.002817366164825294, + 0.9342074382644807, + -0.3428291660981708, + 0.09861351410303165, + 0.09355170430275218, + -0.0313151934036171, + -0.9951218203235943 + ], + [ + 0.2592989002485459, + 0.9615508828079388, + 0.09046535304285261, + 0.9594688568386754, + -0.26717259215413053, + 0.08965667157734468, + 0.1103793145774147, + 0.06355081252758245, + -0.9918556856420717 + ], + [ + 0.2195328379487234, + 0.9697601499177021, + 0.1066329437546174, + 0.9678775145335424, + -0.23021866324579282, + 0.10105683526458013, + 0.1225497854855396, + 0.0810223347288642, + -0.9891496000871314 + ], + [ + 0.20853013902536344, + 0.9722175293244345, + 0.10634028771991977, + 0.9746720958641989, + -0.21556857475308033, + 0.05953566261171309, + 0.08080523907366838, + 0.09123193110538846, + -0.9925458418053189 + ], + [ + 0.18089353810203157, + 0.9787482529574502, + 0.09658874264461799, + 0.9795753594515216, + -0.18806805231502333, + 0.07115140795413627, + 0.08780457293530404, + 0.08174512236930745, + -0.9927779670905655 + ], + [ + 0.16195659994754508, + 0.9828082078214172, + 0.08864584802620423, + 0.9834513033653153, + -0.16814678899151025, + 0.06745510552142796, + 0.08120094606895484, + 0.07625407523994086, + -0.9937764951772647 + ], + [ + 0.16178939939320403, + 0.9834120107239946, + 0.08200614250027842, + 0.9831955167287986, + -0.16775776594192648, + 0.07199936007052042, + 0.08456220271715335, + 0.06897933842799218, + -0.9940277082363748 + ], + [ + 0.13340192694154068, + 0.9892094312823827, + 0.06056919142822198, + 0.9888363450024718, + -0.1369471036382091, + 0.058721151276675376, + 0.06638229199445006, + 0.05205950313910386, + -0.9964352459856451 + ], + [ + 0.12868266936532702, + 0.9902285416108553, + 0.05374203182103371, + 0.9884285217339944, + -0.13246026003072708, + 0.07391438923066976, + 0.08031082136153694, + 0.04360865615713527, + -0.9958154734088059 + ], + [ + 0.14422198896954863, + 0.988343754627829, + 0.04875080087375743, + 0.9876452625101219, + -0.14682182946054168, + 0.054773952159505854, + 0.06129317530508275, + 0.040248889202374, + -0.9973079632585891 + ], + [ + 0.13710945933965413, + 0.9900564967749341, + 0.03145042691812432, + 0.9892172902299523, + -0.1385052154400379, + 0.04759682768860376, + 0.05147959663495521, + 0.02458533078185495, + -0.998371380118966 + ], + [ + 0.1270464030275696, + 0.990934722952534, + 0.0436759238567523, + 0.991789680407797, + -0.1275565118163408, + 0.009086590661378766, + 0.014575366697139876, + 0.04216291190409156, + -0.9990044281910924 + ], + [ + 0.10013243450118325, + 0.9940631796512956, + 0.04256630618719351, + 0.9949326213013766, + -0.09964586687099519, + -0.01340821710367666, + -0.009087058448016605, + 0.04369320401485299, + -0.9990036683074186 + ], + [ + 0.09873447152635917, + 0.9937959458889114, + 0.051196895093106605, + 0.9949336735579801, + -0.09760696844211647, + -0.02408038479681219, + -0.018933815062829727, + 0.053315078976811696, + -0.9983982236567046 + ], + [ + 0.10368346104930465, + 0.9911220053413825, + 0.08322806277280559, + 0.99427613748639, + -0.10111601112719054, + -0.03450383629208914, + -0.025781821696356635, + 0.08632915395046235, + -0.995933017249762 + ], + [ + 0.12629924146424404, + 0.9857342197233073, + 0.11124994234622643, + 0.9916254500898328, + -0.12240685531509682, + -0.04117679572289809, + -0.026971621006029574, + 0.11551887221727489, + -0.9929390322783951 + ], + [ + 0.1342730867015101, + 0.9772039737997513, + 0.16444796069767253, + 0.9909417035488481, + -0.1320261552789707, + -0.024568974133229116, + -0.0022974671607938063, + 0.16625729431284392, + -0.9860797299064701 + ], + [ + 0.21979633333841847, + 0.9559737767149855, + 0.1944317620253282, + 0.9751379031927111, + -0.22105935065408538, + -0.01545423066078995, + 0.028207119808828826, + 0.19299456396925052, + -0.9807942988570076 + ], + [ + 0.37959520383240375, + 0.9092524684828049, + 0.17078474693414905, + 0.9249834284999516, + -0.36947206911966735, + -0.08885970482117558, + -0.01769571213346849, + 0.1917037785187272, + -0.9812932910571294 + ], + [ + 0.45141535682580775, + 0.881441327630068, + 0.13887174502961938, + 0.8875879796654297, + -0.42755689180738604, + -0.17141377605504132, + -0.09171561467530692, + 0.2006397024861981, + -0.9753624740633507 + ], + [ + 0.6522242067974959, + 0.7561976452300974, + 0.05261848929637643, + 0.7559524824814652, + -0.6437401331674205, + -0.11888854099408204, + -0.05603060143784888, + 0.11731906195519691, + -0.9915123848971658 + ], + [ + 0.7503927323820783, + 0.6608930490203863, + -0.01145098007576999, + 0.6595338898076214, + -0.7497749205193397, + -0.05340989379736765, + -0.04388388523577631, + 0.03252608671136118, + -0.9985070146472974 + ], + [ + 0.8045599064619591, + 0.5875357115106126, + -0.0865167302528366, + 0.593008647040379, + -0.8026701770779809, + 0.06372857573288396, + -0.03200158510547434, + -0.10257862608419505, + -0.9942099999604792 + ], + [ + 0.8074011152277903, + 0.5829280195482953, + -0.09109535199132093, + 0.5891678698101623, + -0.8048019683289472, + 0.07193756290845457, + -0.031379297510877036, + -0.11175292300138903, + -0.9932404662962386 + ], + [ + 0.8383577869089333, + 0.5429851045116425, + -0.04820163283164064, + 0.5450300509326444, + -0.8365451222964897, + 0.055986622887167145, + -0.009922938552392947, + -0.07320815965745621, + -0.9972673165455959 + ], + [ + 0.8615159388400422, + 0.507192241508193, + -0.023373431037299223, + 0.5069124994740061, + -0.8566038858682972, + 0.09627824568587076, + 0.02880980738526812, + -0.09479352757033585, + -0.9950799878045963 + ], + [ + 0.8513292043706903, + 0.5241678409917333, + -0.02206037750430197, + 0.5243264470666139, + -0.8486465012445907, + 0.06986338691916016, + 0.017898678500625546, + -0.07104358095830923, + -0.9973126124303008 + ], + [ + 0.8410938400841291, + 0.5400177005939159, + -0.030692592229939, + 0.5408197189330669, + -0.8387210371836581, + 0.06372639483547836, + 0.008670858417245488, + -0.07019903725001274, + -0.9974953189782293 + ], + [ + 0.8186446512050718, + 0.5725639548290666, + -0.04462569533155113, + 0.5742899738401588, + -0.8166225696053273, + 0.05760733250083445, + -0.003458467868244948, + -0.07278802402655563, + -0.9973414373013454 + ], + [ + 0.8203988485521967, + 0.5700211128566286, + -0.044962875707857376, + 0.571727679653065, + -0.8189434410649192, + 0.049589319971854465, + -0.008555092796207073, + -0.06638954160437832, + -0.9977571042858119 + ], + [ + 0.8206940799741784, + 0.567782351534407, + -0.0639095327896811, + 0.5701901110825981, + -0.8210410060079443, + 0.027837091749618795, + -0.03666693768165989, + -0.05928632000319542, + -0.9975673751389063 + ], + [ + 0.805329342273537, + 0.5873949407958542, + -0.08007392834566537, + 0.5915283555354222, + -0.8051381837742719, + 0.042973359494291125, + -0.03922824327995212, + -0.0819737064923944, + -0.9958621673570431 + ], + [ + 0.8088690060962874, + 0.5780751696795416, + -0.10751757612955098, + 0.585628004207966, + -0.8084079008486067, + 0.059300139400715365, + -0.05263811987713155, + -0.11093134834445488, + -0.9924331031814096 + ], + [ + 0.8209780703611484, + 0.5610431823602938, + -0.10595072209814936, + 0.5697403975155767, + -0.8171173628334686, + 0.08783561233844853, + -0.037294603160213255, + -0.13247551805187138, + -0.9904844015389694 + ], + [ + 0.8326159477245335, + 0.5443925500406385, + -0.10191876694224561, + 0.5533334876335213, + -0.8255842504504862, + 0.11060152291642436, + -0.02393188371400127, + -0.1484836585902962, + -0.9886252414709731 + ], + [ + 0.850227485255052, + 0.5197470545380382, + -0.08352378473167803, + 0.5264072481633139, + -0.840329674023841, + 0.1293887477183084, + -0.0029380942798523657, + -0.15397739526962537, + -0.9880700022508445 + ], + [ + 0.8934503907350494, + 0.44816141630788175, + -0.029962380217550343, + 0.4477471317209122, + -0.8833620596877237, + 0.13854233122031154, + 0.03562169747616851, + -0.13719626976407154, + -0.9899031660883505 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0006125718355178833, + -0.0035628527402877808, + -0.006514444947242737, + 0.0027766525745391846, + 0.02823980152606964, + 0.0022250711917877197, + 1.0 + ], + [ + 0.01574435830116272, + -0.026818998157978058, + 0.0012313425540924072, + 0.05999980866909027, + 0.08790828287601471, + 0.0021134018898010254, + 1.0 + ], + [ + 0.014113321900367737, + -0.03831727057695389, + 0.012111589312553406, + -0.013923794031143188, + 0.03558364510536194, + 0.002582758665084839, + 1.0 + ], + [ + 0.008288800716400146, + -0.03742540255188942, + -0.00043880194425582886, + 0.024997621774673462, + 0.01202603429555893, + 0.10673528909683228, + 1.0 + ], + [ + 0.010208755731582642, + -0.028727738186717033, + -0.002068623900413513, + 0.049581751227378845, + -0.018864594399929047, + 0.1422232985496521, + 1.0 + ], + [ + 0.0019255876541137695, + -0.02739301323890686, + 0.0017832517623901367, + -0.06685967743396759, + -0.08599717170000076, + 0.21892595291137695, + 1.0 + ], + [ + 0.006229013204574585, + -0.03163716942071915, + -0.0022980719804763794, + -0.05925852060317993, + -0.09020273387432098, + 0.09996885061264038, + 1.0 + ], + [ + -0.00459897518157959, + -0.030111510306596756, + -0.004584416747093201, + -0.11804692447185516, + -0.022872082889080048, + 0.16076767444610596, + 1.0 + ], + [ + 0.015170484781265259, + -0.011967219412326813, + -0.005694188177585602, + -0.09544350206851959, + -0.016915984451770782, + 0.08910274505615234, + 1.0 + ], + [ + 0.01761925220489502, + -0.009142100811004639, + -0.015077996999025345, + -0.017743468284606934, + -0.012253940105438232, + 0.04090225696563721, + 1.0 + ], + [ + 0.013721585273742676, + -0.005698844790458679, + -0.007434286177158356, + -0.009930893778800964, + 0.041965194046497345, + 0.012273550033569336, + 1.0 + ], + [ + 0.009638965129852295, + 0.00182352215051651, + -0.0004977993667125702, + 0.00950508564710617, + -0.007024355232715607, + 0.02816331386566162, + 1.0 + ], + [ + 0.0009884238243103027, + -0.0013440996408462524, + -0.0077191926538944244, + 0.005572900176048279, + 0.006627343595027924, + 0.019391179084777832, + 1.0 + ], + [ + 0.0008833110332489014, + 0.0011874660849571228, + -0.005533944815397263, + 0.0072988420724868774, + -0.003372862935066223, + 0.00012385845184326172, + 1.0 + ], + [ + 0.004371672868728638, + 0.009439915418624878, + -0.011573906987905502, + 0.017084423452615738, + 0.01823216676712036, + 0.02899467945098877, + 1.0 + ], + [ + 0.002412259578704834, + 0.004769660532474518, + -0.004992548376321793, + 0.008434344083070755, + -0.013966262340545654, + 0.004637360572814941, + 1.0 + ], + [ + 0.002636462450027466, + -0.0034335926175117493, + -0.002175604924559593, + 0.003428298979997635, + 0.01906578615307808, + -0.015540242195129395, + 0.0 + ], + [ + 0.0007385313510894775, + 0.0007444769144058228, + -0.0008221808820962906, + 0.015715183690190315, + 0.009829256683588028, + 0.007274746894836426, + 0.0 + ], + [ + 0.002030104398727417, + -0.0015826523303985596, + -0.0016906093806028366, + -0.017559437081217766, + 0.036926478147506714, + 0.010322213172912598, + 0.0 + ], + [ + 0.0024088025093078613, + 0.007098257541656494, + 1.210719347000122e-07, + -0.0015290267765522003, + 0.02366306632757187, + 0.027099609375, + 0.0 + ], + [ + -0.00017249584197998047, + -0.0013437941670417786, + 0.0012474842369556427, + -0.009641017764806747, + 0.009847762994468212, + 0.001391291618347168, + 0.0 + ], + [ + -0.0030124783515930176, + -0.0031120330095291138, + 0.011621322482824326, + -0.03311561793088913, + 0.0068497322499752045, + -0.004991412162780762, + 0.0 + ], + [ + -0.001055002212524414, + -0.004097871482372284, + 0.007017195224761963, + -0.029354117810726166, + 0.0011902134865522385, + -0.022778987884521484, + 0.0 + ], + [ + -0.002414613962173462, + -0.0036691874265670776, + 0.01888878270983696, + -0.05121368169784546, + -0.024677423760294914, + -0.007996439933776855, + 0.0 + ], + [ + -0.00907185673713684, + 0.0011739358305931091, + 0.015627846121788025, + -0.027258113026618958, + -0.03050833009183407, + -0.08701515197753906, + 0.0 + ], + [ + -0.023981302976608276, + -3.8743019104003906e-05, + 0.013606317341327667, + 0.0013630539178848267, + 0.04590749740600586, + -0.16772758960723877, + 0.0 + ], + [ + -0.024441450834274292, + 0.017331399023532867, + 0.002998054027557373, + -0.009949371218681335, + 0.07414805144071579, + -0.08107030391693115, + 0.0 + ], + [ + -0.018796920776367188, + 0.009651735424995422, + -0.005229353904724121, + 0.08510204404592514, + -0.03578472509980202, + -0.24137628078460693, + 0.0 + ], + [ + -0.011667013168334961, + 0.01891687884926796, + -0.0061163529753685, + 0.08521254360675812, + -0.012161977589130402, + -0.13788187503814697, + 0.0 + ], + [ + -0.005531370639801025, + 0.02060609497129917, + -0.01143769919872284, + 0.13537542521953583, + -0.01189093291759491, + -0.0858771800994873, + 0.0 + ], + [ + -0.005762651562690735, + 0.02851281501352787, + -0.009913299232721329, + 0.009230032563209534, + -0.0006226003170013428, + -0.004779815673828125, + 0.0 + ], + [ + 0.0011284202337265015, + 0.014711684547364712, + -0.009430717676877975, + -0.03876493126153946, + -0.021461348980665207, + -0.05393093824386597, + 0.0 + ], + [ + -0.009502440690994263, + 0.013095667585730553, + -0.012038957327604294, + 0.02169828861951828, + -0.038736894726753235, + -0.044613540172576904, + 0.0 + ], + [ + -0.007749199867248535, + 0.011101385578513145, + -0.005352070555090904, + -0.02386072278022766, + 0.010914159938693047, + 0.020179152488708496, + 0.0 + ], + [ + -0.005855634808540344, + 0.009036030620336533, + -0.0030639804899692535, + -0.0008554235100746155, + 0.009228667244315147, + 0.01941293478012085, + 0.0 + ], + [ + -0.003910422325134277, + 0.0075552500784397125, + -0.0033261459320783615, + 0.002593420445919037, + 0.01212944183498621, + 0.040305256843566895, + 0.0 + ], + [ + -0.0003204941749572754, + -0.0013284161686897278, + -0.0003352072089910507, + -0.006412044167518616, + 0.005096722394227982, + -0.00310516357421875, + 1.0 + ], + [ + -0.0030493736267089844, + 0.0013704672455787659, + -0.002240097150206566, + -0.007079772651195526, + 0.02811996266245842, + -0.0014312267303466797, + 1.0 + ], + [ + -0.0020974427461624146, + -0.00010170415043830872, + 0.0006336662918329239, + 0.022768080234527588, + 0.002563152462244034, + 0.026313960552215576, + 1.0 + ], + [ + -0.003275439143180847, + -0.0016391761600971222, + 0.001174483448266983, + 0.0291859433054924, + 0.013424146920442581, + -0.00686037540435791, + 1.0 + ], + [ + 0.00142572820186615, + -0.0077880993485450745, + 0.005929280072450638, + 0.021644048392772675, + -0.015359204262495041, + -0.019985318183898926, + 1.0 + ], + [ + 0.006881639361381531, + -0.01073690876364708, + 0.0070603471249341965, + 0.01611863076686859, + -0.013369085267186165, + -0.020121395587921143, + 1.0 + ], + [ + 0.007720187306404114, + -0.015403034165501595, + 0.010939262807369232, + 0.0055153220891952515, + -0.02099606953561306, + -0.032179176807403564, + 1.0 + ], + [ + 0.02335643768310547, + -0.02834080159664154, + 0.01362207904458046, + -0.016874775290489197, + -0.03856733441352844, + -0.0898098349571228, + 1.0 + ], + [ + 0.01373898983001709, + -0.03914658725261688, + 0.006859060376882553, + -0.0017154663801193237, + -0.02821151167154312, + -0.13084378838539124, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9182166457176208 + ], + [ + 0.6289845705032349 + ], + [ + 0.33478444814682007 + ], + [ + 0.1511339694261551 + ], + [ + 0.09700111299753189 + ], + [ + 0.0885477215051651 + ], + [ + 0.08747956901788712 + ], + [ + 0.08747956901788712 + ], + [ + 0.08747956901788712 + ], + [ + 0.08747956901788712 + ], + [ + 0.08747956901788712 + ], + [ + 0.08747956901788712 + ], + [ + 0.08747956901788712 + ], + [ + 0.08747956901788712 + ], + [ + 0.0853668823838234 + ], + [ + 0.0853668823838234 + ], + [ + 0.0853668823838234 + ], + [ + 0.0853668823838234 + ], + [ + 0.0853668823838234 + ], + [ + 0.0853668823838234 + ], + [ + 0.1275043487548828 + ], + [ + 0.32837530970573425 + ], + [ + 0.6019018292427063 + ], + [ + 0.8713903427124023 + ], + [ + 1.0073583126068115 + ], + [ + 1.003452181816101 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.23112140595912933, + 0.14749911427497864, + 0.07464922219514847 + ], + [ + 0.24686576426029205, + 0.12068011611700058, + 0.07588056474924088 + ], + [ + 0.2609790861606598, + 0.08236284554004669, + 0.08799215406179428 + ], + [ + 0.26926788687705994, + 0.04493744298815727, + 0.08755335211753845 + ], + [ + 0.2794766426086426, + 0.01620970480144024, + 0.08548472821712494 + ], + [ + 0.28140223026275635, + -0.011183309368789196, + 0.08726797997951508 + ], + [ + 0.28763124346733093, + -0.04282047972083092, + 0.0849699079990387 + ], + [ + 0.28303226828575134, + -0.07293199002742767, + 0.0803854912519455 + ], + [ + 0.2982027530670166, + -0.08489920943975449, + 0.0746913030743599 + ], + [ + 0.3158220052719116, + -0.09404131025075912, + 0.05961330607533455 + ], + [ + 0.3295435905456543, + -0.0997401550412178, + 0.05217901989817619 + ], + [ + 0.3391825556755066, + -0.0979166328907013, + 0.05168122053146362 + ], + [ + 0.3401709794998169, + -0.09926073253154755, + 0.0439620278775692 + ], + [ + 0.3410542905330658, + -0.09807326644659042, + 0.038428083062171936 + ], + [ + 0.34542596340179443, + -0.08863335102796555, + 0.026854176074266434 + ], + [ + 0.34783822298049927, + -0.08386369049549103, + 0.02186162769794464 + ], + [ + 0.35047468543052673, + -0.08729728311300278, + 0.019686022773385048 + ], + [ + 0.3512132167816162, + -0.08655280619859695, + 0.018863841891288757 + ], + [ + 0.35324332118034363, + -0.08813545852899551, + 0.01717323251068592 + ], + [ + 0.3556521236896515, + -0.08103720098733902, + 0.01717335358262062 + ], + [ + 0.3554796278476715, + -0.0823809951543808, + 0.018420837819576263 + ], + [ + 0.3524671494960785, + -0.08549302816390991, + 0.03004216030240059 + ], + [ + 0.3514121472835541, + -0.0895908996462822, + 0.03705935552716255 + ], + [ + 0.3489975333213806, + -0.09326008707284927, + 0.05594813823699951 + ], + [ + 0.3399256765842438, + -0.09208615124225616, + 0.07157598435878754 + ], + [ + 0.3159443736076355, + -0.09212489426136017, + 0.0851823017001152 + ], + [ + 0.2915029227733612, + -0.0747934952378273, + 0.08818035572767258 + ], + [ + 0.272706001996994, + -0.06514175981283188, + 0.08295100182294846 + ], + [ + 0.26103898882865906, + -0.04622488096356392, + 0.07683464884757996 + ], + [ + 0.25550761818885803, + -0.025618785992264748, + 0.06539694964885712 + ], + [ + 0.2497449666261673, + 0.0028940297197550535, + 0.05548365041613579 + ], + [ + 0.2508733868598938, + 0.01760571449995041, + 0.04605293273925781 + ], + [ + 0.24137094616889954, + 0.03070138208568096, + 0.03401397541165352 + ], + [ + 0.233621746301651, + 0.04180276766419411, + 0.028661904856562614 + ], + [ + 0.22776611149311066, + 0.05083879828453064, + 0.02559792436659336 + ], + [ + 0.22385568916797638, + 0.05839404836297035, + 0.022271778434515 + ], + [ + 0.2235351949930191, + 0.057065632194280624, + 0.02193657122552395 + ], + [ + 0.22048582136631012, + 0.05843609943985939, + 0.019696474075317383 + ], + [ + 0.2183883786201477, + 0.05833439528942108, + 0.020330140367150307 + ], + [ + 0.21511293947696686, + 0.05669521912932396, + 0.02150462381541729 + ], + [ + 0.216538667678833, + 0.048907119780778885, + 0.027433903887867928 + ], + [ + 0.22342030704021454, + 0.038170211017131805, + 0.034494251012802124 + ], + [ + 0.23114049434661865, + 0.02276717685163021, + 0.045433513820171356 + ], + [ + 0.2544969320297241, + -0.005573624279350042, + 0.059055592864751816 + ], + [ + 0.2682359218597412, + -0.04472021013498306, + 0.06591465324163437 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8848847398774284, + 0.46166183601445854, + -0.062026980418320186, + 0.4656736922393008, + -0.8735261327644547, + 0.1417748487348623, + 0.011269848635736872, + -0.1543387331337644, + -0.9879537165102381 + ], + [ + 0.8813601003072157, + 0.4423735751919304, + -0.16586136849298033, + 0.46620001069854783, + -0.8712454480459103, + 0.15358684606422182, + -0.076563200110292, + -0.21268988981893464, + -0.9741155409691813 + ], + [ + 0.8771914769004198, + 0.4406497587183505, + -0.19069059492990129, + 0.4668984356658456, + -0.8754717593191983, + 0.12471988376892335, + -0.11198644393874849, + -0.19843635951107091, + -0.9736950485639466 + ], + [ + 0.8212854723543082, + 0.5239559802337059, + -0.22574388956757538, + 0.5568948853686242, + -0.8221989172879458, + 0.11771587429398306, + -0.12392844528205846, + -0.22239395492653646, + -0.967048431704486 + ], + [ + 0.7356552577665376, + 0.6262977854276092, + -0.2579969489914982, + 0.6691388166780466, + -0.7310996074180226, + 0.13321639556720064, + -0.1051883345963458, + -0.27063711497443543, + -0.9569174291772313 + ], + [ + 0.5758586956648947, + 0.7974099555580686, + -0.18034446319198624, + 0.8173193919223415, + -0.5667456801473436, + 0.10386696116676927, + -0.01938489656460471, + -0.2072117197728073, + -0.9781040481329046 + ], + [ + 0.4902735584482451, + 0.8663398732741314, + -0.09532608175025768, + 0.8686916724791223, + -0.47684433635662643, + 0.1341426742317053, + 0.07075744520486953, + -0.14857557962185478, + -0.9863664030613114 + ], + [ + 0.34424488509397844, + 0.9388756688372142, + 0.002817366164825294, + 0.9342074382644807, + -0.3428291660981708, + 0.09861351410303165, + 0.09355170430275218, + -0.0313151934036171, + -0.9951218203235943 + ], + [ + 0.2592989002485459, + 0.9615508828079388, + 0.09046535304285261, + 0.9594688568386754, + -0.26717259215413053, + 0.08965667157734468, + 0.1103793145774147, + 0.06355081252758245, + -0.9918556856420717 + ], + [ + 0.2195328379487234, + 0.9697601499177021, + 0.1066329437546174, + 0.9678775145335424, + -0.23021866324579282, + 0.10105683526458013, + 0.1225497854855396, + 0.0810223347288642, + -0.9891496000871314 + ], + [ + 0.20853013902536344, + 0.9722175293244345, + 0.10634028771991977, + 0.9746720958641989, + -0.21556857475308033, + 0.05953566261171309, + 0.08080523907366838, + 0.09123193110538846, + -0.9925458418053189 + ], + [ + 0.18089353810203157, + 0.9787482529574502, + 0.09658874264461799, + 0.9795753594515216, + -0.18806805231502333, + 0.07115140795413627, + 0.08780457293530404, + 0.08174512236930745, + -0.9927779670905655 + ], + [ + 0.16195659994754508, + 0.9828082078214172, + 0.08864584802620423, + 0.9834513033653153, + -0.16814678899151025, + 0.06745510552142796, + 0.08120094606895484, + 0.07625407523994086, + -0.9937764951772647 + ], + [ + 0.16178939939320403, + 0.9834120107239946, + 0.08200614250027842, + 0.9831955167287986, + -0.16775776594192648, + 0.07199936007052042, + 0.08456220271715335, + 0.06897933842799218, + -0.9940277082363748 + ], + [ + 0.13340192694154068, + 0.9892094312823827, + 0.06056919142822198, + 0.9888363450024718, + -0.1369471036382091, + 0.058721151276675376, + 0.06638229199445006, + 0.05205950313910386, + -0.9964352459856451 + ], + [ + 0.12868266936532702, + 0.9902285416108553, + 0.05374203182103371, + 0.9884285217339944, + -0.13246026003072708, + 0.07391438923066976, + 0.08031082136153694, + 0.04360865615713527, + -0.9958154734088059 + ], + [ + 0.14422198896954863, + 0.988343754627829, + 0.04875080087375743, + 0.9876452625101219, + -0.14682182946054168, + 0.054773952159505854, + 0.06129317530508275, + 0.040248889202374, + -0.9973079632585891 + ], + [ + 0.13710945933965413, + 0.9900564967749341, + 0.03145042691812432, + 0.9892172902299523, + -0.1385052154400379, + 0.04759682768860376, + 0.05147959663495521, + 0.02458533078185495, + -0.998371380118966 + ], + [ + 0.1270464030275696, + 0.990934722952534, + 0.0436759238567523, + 0.991789680407797, + -0.1275565118163408, + 0.009086590661378766, + 0.014575366697139876, + 0.04216291190409156, + -0.9990044281910924 + ], + [ + 0.10013243450118325, + 0.9940631796512956, + 0.04256630618719351, + 0.9949326213013766, + -0.09964586687099519, + -0.01340821710367666, + -0.009087058448016605, + 0.04369320401485299, + -0.9990036683074186 + ], + [ + 0.09873447152635917, + 0.9937959458889114, + 0.051196895093106605, + 0.9949336735579801, + -0.09760696844211647, + -0.02408038479681219, + -0.018933815062829727, + 0.053315078976811696, + -0.9983982236567046 + ], + [ + 0.10368346104930465, + 0.9911220053413825, + 0.08322806277280559, + 0.99427613748639, + -0.10111601112719054, + -0.03450383629208914, + -0.025781821696356635, + 0.08632915395046235, + -0.995933017249762 + ], + [ + 0.12629924146424404, + 0.9857342197233073, + 0.11124994234622643, + 0.9916254500898328, + -0.12240685531509682, + -0.04117679572289809, + -0.026971621006029574, + 0.11551887221727489, + -0.9929390322783951 + ], + [ + 0.1342730867015101, + 0.9772039737997513, + 0.16444796069767253, + 0.9909417035488481, + -0.1320261552789707, + -0.024568974133229116, + -0.0022974671607938063, + 0.16625729431284392, + -0.9860797299064701 + ], + [ + 0.21979633333841847, + 0.9559737767149855, + 0.1944317620253282, + 0.9751379031927111, + -0.22105935065408538, + -0.01545423066078995, + 0.028207119808828826, + 0.19299456396925052, + -0.9807942988570076 + ], + [ + 0.37959520383240375, + 0.9092524684828049, + 0.17078474693414905, + 0.9249834284999516, + -0.36947206911966735, + -0.08885970482117558, + -0.01769571213346849, + 0.1917037785187272, + -0.9812932910571294 + ], + [ + 0.45141535682580775, + 0.881441327630068, + 0.13887174502961938, + 0.8875879796654297, + -0.42755689180738604, + -0.17141377605504132, + -0.09171561467530692, + 0.2006397024861981, + -0.9753624740633507 + ], + [ + 0.6522242067974959, + 0.7561976452300974, + 0.05261848929637643, + 0.7559524824814652, + -0.6437401331674205, + -0.11888854099408204, + -0.05603060143784888, + 0.11731906195519691, + -0.9915123848971658 + ], + [ + 0.7503927323820783, + 0.6608930490203863, + -0.01145098007576999, + 0.6595338898076214, + -0.7497749205193397, + -0.05340989379736765, + -0.04388388523577631, + 0.03252608671136118, + -0.9985070146472974 + ], + [ + 0.8045599064619591, + 0.5875357115106126, + -0.0865167302528366, + 0.593008647040379, + -0.8026701770779809, + 0.06372857573288396, + -0.03200158510547434, + -0.10257862608419505, + -0.9942099999604792 + ], + [ + 0.8074011152277903, + 0.5829280195482953, + -0.09109535199132093, + 0.5891678698101623, + -0.8048019683289472, + 0.07193756290845457, + -0.031379297510877036, + -0.11175292300138903, + -0.9932404662962386 + ], + [ + 0.8383577869089333, + 0.5429851045116425, + -0.04820163283164064, + 0.5450300509326444, + -0.8365451222964897, + 0.055986622887167145, + -0.009922938552392947, + -0.07320815965745621, + -0.9972673165455959 + ], + [ + 0.8615159388400422, + 0.507192241508193, + -0.023373431037299223, + 0.5069124994740061, + -0.8566038858682972, + 0.09627824568587076, + 0.02880980738526812, + -0.09479352757033585, + -0.9950799878045963 + ], + [ + 0.8513292043706903, + 0.5241678409917333, + -0.02206037750430197, + 0.5243264470666139, + -0.8486465012445907, + 0.06986338691916016, + 0.017898678500625546, + -0.07104358095830923, + -0.9973126124303008 + ], + [ + 0.8410938400841291, + 0.5400177005939159, + -0.030692592229939, + 0.5408197189330669, + -0.8387210371836581, + 0.06372639483547836, + 0.008670858417245488, + -0.07019903725001274, + -0.9974953189782293 + ], + [ + 0.8186446512050718, + 0.5725639548290666, + -0.04462569533155113, + 0.5742899738401588, + -0.8166225696053273, + 0.05760733250083445, + -0.003458467868244948, + -0.07278802402655563, + -0.9973414373013454 + ], + [ + 0.8203988485521967, + 0.5700211128566286, + -0.044962875707857376, + 0.571727679653065, + -0.8189434410649192, + 0.049589319971854465, + -0.008555092796207073, + -0.06638954160437832, + -0.9977571042858119 + ], + [ + 0.8206940799741784, + 0.567782351534407, + -0.0639095327896811, + 0.5701901110825981, + -0.8210410060079443, + 0.027837091749618795, + -0.03666693768165989, + -0.05928632000319542, + -0.9975673751389063 + ], + [ + 0.805329342273537, + 0.5873949407958542, + -0.08007392834566537, + 0.5915283555354222, + -0.8051381837742719, + 0.042973359494291125, + -0.03922824327995212, + -0.0819737064923944, + -0.9958621673570431 + ], + [ + 0.8088690060962874, + 0.5780751696795416, + -0.10751757612955098, + 0.585628004207966, + -0.8084079008486067, + 0.059300139400715365, + -0.05263811987713155, + -0.11093134834445488, + -0.9924331031814096 + ], + [ + 0.8209780703611484, + 0.5610431823602938, + -0.10595072209814936, + 0.5697403975155767, + -0.8171173628334686, + 0.08783561233844853, + -0.037294603160213255, + -0.13247551805187138, + -0.9904844015389694 + ], + [ + 0.8326159477245335, + 0.5443925500406385, + -0.10191876694224561, + 0.5533334876335213, + -0.8255842504504862, + 0.11060152291642436, + -0.02393188371400127, + -0.1484836585902962, + -0.9886252414709731 + ], + [ + 0.850227485255052, + 0.5197470545380382, + -0.08352378473167803, + 0.5264072481633139, + -0.840329674023841, + 0.1293887477183084, + -0.0029380942798523657, + -0.15397739526962537, + -0.9880700022508445 + ], + [ + 0.8934503907350494, + 0.44816141630788175, + -0.029962380217550343, + 0.4477471317209122, + -0.8833620596877237, + 0.13854233122031154, + 0.03562169747616851, + -0.13719626976407154, + -0.9899031660883505 + ], + [ + 0.9429061266304, + 0.3327065637125379, + 0.015309435830583664, + 0.3268913112067335, + -0.9332728163940889, + 0.1488083359136431, + 0.06379739038862263, + -0.13530777007415382, + -0.988747541254673 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005831.json b/json/chunk-0005/episode_0005831.json new file mode 100644 index 0000000000000000000000000000000000000000..d5198299da473316f0fd8d8609d0bed7f285dcff --- /dev/null +++ b/json/chunk-0005/episode_0005831.json @@ -0,0 +1,1342 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 21, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut lid on pot or pan." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005831.mp4", + "start": 0, + "end": 21, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.22181890904903412, + -0.0604165680706501, + 0.09928105026483536, + 0.13547876477241516, + -0.1883184164762497, + -0.0669834315776825, + 0.0, + 0.9941151142120361 + ], + [ + 0.2200048714876175, + -0.05546862632036209, + 0.09508858621120453, + 0.14298252761363983, + -0.16218167543411255, + -0.0894123762845993, + 0.0, + 0.9941151142120361 + ], + [ + 0.22487366199493408, + -0.011498150415718555, + 0.0967826247215271, + 0.17885944247245789, + -0.100981704890728, + -0.1601542979478836, + 0.0, + 0.9941151142120361 + ], + [ + 0.23729227483272552, + 0.036012835800647736, + 0.10095199942588806, + 0.2505539655685425, + -0.029003389179706573, + -0.2931268811225891, + 0.0, + 0.9941151142120361 + ], + [ + 0.248733252286911, + 0.08620130270719528, + 0.09133993089199066, + 0.2821674942970276, + -0.004356174264103174, + -0.3459356725215912, + 0.0, + 0.9941151142120361 + ], + [ + 0.2575713098049164, + 0.1195850595831871, + 0.0821157842874527, + 0.2973752021789551, + -0.011541629210114479, + -0.38471198081970215, + 0.0, + 0.9941151142120361 + ], + [ + 0.26151928305625916, + 0.1404104083776474, + 0.06824246048927307, + 0.2620152235031128, + -0.025858383625745773, + -0.41250094771385193, + 0.0, + 0.9941151142120361 + ], + [ + 0.2606257200241089, + 0.15299686789512634, + 0.05237722396850586, + 0.22126100957393646, + -0.05286037176847458, + -0.42997607588768005, + 0.0, + 0.9941151142120361 + ], + [ + 0.2615451216697693, + 0.1562640219926834, + 0.04541979730129242, + 0.2061934620141983, + -0.07218305766582489, + -0.44160059094429016, + 0.0, + 0.9082958698272705 + ], + [ + 0.2658883333206177, + 0.16252341866493225, + 0.03693235665559769, + 0.1865272969007492, + -0.06716310232877731, + -0.4480041563510895, + 0.0, + 0.6019018292427063 + ], + [ + 0.26800134778022766, + 0.16455458104610443, + 0.03688494488596916, + 0.17084673047065735, + -0.06421820819377899, + -0.4489784836769104, + 0.0, + 0.3236125409603119 + ], + [ + 0.2673937678337097, + 0.16363514959812164, + 0.03787020966410637, + 0.1409393697977066, + -0.0477319099009037, + -0.4478665590286255, + 0.0, + 0.28321579098701477 + ], + [ + 0.2618344724178314, + 0.1507779061794281, + 0.055134762078523636, + 0.12992604076862335, + -0.009377739392220974, + -0.40224489569664, + 0.0, + 0.2824830114841461 + ], + [ + 0.25229427218437195, + 0.1203523725271225, + 0.09808679670095444, + 0.153159037232399, + -0.003415063489228487, + -0.2998386323451996, + 0.0, + 0.2824830114841461 + ], + [ + 0.24087809026241302, + 0.07179538905620575, + 0.11914394795894623, + 0.13679112493991852, + -0.019722923636436462, + -0.14195670187473297, + 0.0, + 0.2824830114841461 + ], + [ + 0.23514068126678467, + 0.023854020982980728, + 0.11578530073165894, + 0.13749003410339355, + -0.05147651955485344, + -0.03651956841349602, + 0.0, + 0.2824830114841461 + ], + [ + 0.23093391954898834, + -0.010865352116525173, + 0.10898767411708832, + 0.13334505259990692, + -0.1283140629529953, + 0.039581235498189926, + 0.0, + 0.2824830114841461 + ], + [ + 0.22822877764701843, + -0.02588345669209957, + 0.09598815441131592, + 0.13907025754451752, + -0.20286239683628082, + 0.06774545460939407, + 0.0, + 0.2824830114841461 + ], + [ + 0.23016461730003357, + -0.032791126519441605, + 0.0901951938867569, + 0.11551332473754883, + -0.2437027096748352, + 0.06594394892454147, + 0.0, + 0.2824830114841461 + ], + [ + 0.23508299887180328, + -0.03346681222319603, + 0.08288400620222092, + 0.093662329018116, + -0.25989559292793274, + 0.07422830164432526, + 0.0, + 0.2824830114841461 + ], + [ + 0.23863662779331207, + -0.04069160670042038, + 0.07576831430196762, + 0.10285381227731705, + -0.2668328881263733, + 0.031748976558446884, + 0.0, + 0.2824830114841461 + ] + ], + "left_gripper_pos": [ + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9082958698272705 + ], + [ + 0.6019018292427063 + ], + [ + 0.3236125409603119 + ], + [ + 0.28321579098701477 + ], + [ + 0.2824830114841461 + ], + [ + 0.2824830114841461 + ], + [ + 0.2824830114841461 + ], + [ + 0.2824830114841461 + ], + [ + 0.2824830114841461 + ], + [ + 0.2824830114841461 + ], + [ + 0.2824830114841461 + ], + [ + 0.2824830114841461 + ], + [ + 0.2824830114841461 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.22181890904903412, + -0.0604165680706501, + 0.09928105026483536 + ], + [ + 0.2200048714876175, + -0.05546862632036209, + 0.09508858621120453 + ], + [ + 0.22487366199493408, + -0.011498150415718555, + 0.0967826247215271 + ], + [ + 0.23729227483272552, + 0.036012835800647736, + 0.10095199942588806 + ], + [ + 0.248733252286911, + 0.08620130270719528, + 0.09133993089199066 + ], + [ + 0.2575713098049164, + 0.1195850595831871, + 0.0821157842874527 + ], + [ + 0.26151928305625916, + 0.1404104083776474, + 0.06824246048927307 + ], + [ + 0.2606257200241089, + 0.15299686789512634, + 0.05237722396850586 + ], + [ + 0.2615451216697693, + 0.1562640219926834, + 0.04541979730129242 + ], + [ + 0.2658883333206177, + 0.16252341866493225, + 0.03693235665559769 + ], + [ + 0.26800134778022766, + 0.16455458104610443, + 0.03688494488596916 + ], + [ + 0.2673937678337097, + 0.16363514959812164, + 0.03787020966410637 + ], + [ + 0.2618344724178314, + 0.1507779061794281, + 0.055134762078523636 + ], + [ + 0.25229427218437195, + 0.1203523725271225, + 0.09808679670095444 + ], + [ + 0.24087809026241302, + 0.07179538905620575, + 0.11914394795894623 + ], + [ + 0.23514068126678467, + 0.023854020982980728, + 0.11578530073165894 + ], + [ + 0.23093391954898834, + -0.010865352116525173, + 0.10898767411708832 + ], + [ + 0.22822877764701843, + -0.02588345669209957, + 0.09598815441131592 + ], + [ + 0.23016461730003357, + -0.032791126519441605, + 0.0901951938867569 + ], + [ + 0.23508299887180328, + -0.03346681222319603, + 0.08288400620222092 + ], + [ + 0.23863662779331207, + -0.04069160670042038, + 0.07576831430196762 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9801175245247129, + -0.04109163146763452, + 0.19411624337720138, + -0.06574999983231423, + -0.990307194639673, + 0.12234622089362458, + 0.18720730659244963, + -0.1326768181267135, + -0.9733192108913559 + ], + [ + 0.9829351494426348, + -0.06546496287218012, + 0.17190936747696212, + -0.08812152401894863, + -0.9878960932376465, + 0.12765541888370102, + 0.1614716352637917, + -0.14062591369281618, + -0.9768066663384816 + ], + [ + 0.9821735616380267, + -0.13922118816586618, + 0.12630342665564573, + -0.15865813776185902, + -0.9743141707282147, + 0.15981080076180892, + 0.1008101688383298, + -0.1770010098385772, + -0.9790341936699206 + ], + [ + 0.9569424243299729, + -0.2730414084812773, + 0.09853723038544532, + -0.28882561482263863, + -0.9295297270153573, + 0.22924713916880174, + 0.028999323092079345, + -0.24783638927590007, + -0.9683677831334981 + ], + [ + 0.940749673344055, + -0.32452692167744795, + 0.09834800053693826, + -0.3390738503171061, + -0.9039668046543035, + 0.2605243560863771, + 0.004356160486804532, + -0.27843543809947796, + -0.9604450690571352 + ], + [ + 0.9268448269073553, + -0.35568561813154903, + 0.12019321066288549, + -0.37526718953972443, + -0.8874927403215629, + 0.26745312174562447, + 0.011541372969946263, + -0.29299211069737213, + -0.9560451975607992 + ], + [ + 0.9158147867384518, + -0.3810834247577965, + 0.12672292517959244, + -0.40076772500763863, + -0.8875387432230837, + 0.2272888247806975, + 0.02585550199484539, + -0.25894092502510635, + -0.9655470420252638 + ], + [ + 0.9077060797847454, + -0.39614701311582623, + 0.1383373294567271, + -0.41626680795132065, + -0.8916497494160667, + 0.17799626109636138, + 0.05283575796587028, + -0.21915352692958215, + -0.9742587512126832 + ], + [ + 0.9017144950949881, + -0.4049847400188071, + 0.15132194053569964, + -0.42627411209030946, + -0.8912287943378188, + 0.15492455423455648, + 0.0721203903012793, + -0.2042023420410672, + -0.9762684327620831 + ], + [ + 0.8992813362006605, + -0.4144362335364503, + 0.1397701208888202, + -0.4321909007082493, + -0.8910705431083156, + 0.1385796253048903, + 0.06711261957446463, + -0.1850294450534087, + -0.9804386777137472 + ], + [ + 0.8990339678137154, + -0.41789696193489767, + 0.1307671744846894, + -0.43315079637787146, + -0.8925107591962713, + 0.1257176690688722, + 0.06417407821186291, + -0.1696663606154071, + -0.9834098910226496 + ], + [ + 0.9003464056978324, + -0.4227081804890771, + 0.10341249389995533, + -0.43255027946949276, + -0.8953379188298904, + 0.10616151297068285, + 0.04771378708358984, + -0.140313239763661, + -0.9889568187080604 + ], + [ + 0.9201440091747054, + -0.3870674088942562, + 0.05927751134946897, + -0.3914678313242261, + -0.9129043183073934, + 0.11557959445343642, + 0.009377601943305156, + -0.12955511023344535, + -0.9915278785763882 + ], + [ + 0.9553785929355709, + -0.2914107472644351, + 0.04828582130638089, + -0.29536432003062235, + -0.9443543855449503, + 0.14475742797821128, + 0.0034150568511124094, + -0.15256005663607508, + -0.9882883013098459 + ], + [ + 0.9897485223181138, + -0.13749650050939613, + 0.03863385713049731, + -0.14145288716894142, + -0.9810741831681455, + 0.13222907332552314, + 0.019721644979077718, + -0.1363384005650113, + -0.9904660000478026 + ], + [ + 0.9980094943921439, + -0.029119483747259388, + 0.05593840156306261, + -0.03646308746573506, + -0.9901601349933907, + 0.13510496039130637, + 0.05145378854470781, + -0.13687572003888565, + -0.9892510019748443 + ], + [ + 0.9910022435205984, + 0.056218905423536525, + 0.12146599528312431, + 0.03924559033893975, + -0.9896732278231464, + 0.13786473722117135, + 0.12796224824567845, + -0.1318572591975655, + -0.9829747332565661 + ], + [ + 0.9772470851880937, + 0.0949048124892746, + 0.1896871399377157, + 0.06630551430695475, + -0.9861830062150838, + 0.15181125460607467, + 0.20147385255626876, + -0.13577980269154846, + -0.9700371806880287 + ], + [ + 0.9683418849205115, + 0.09320770836495718, + 0.23157356716590846, + 0.06394901100200229, + -0.9893440741396916, + 0.1308007146637275, + 0.2412975712692861, + -0.1118509099919583, + -0.9639838463550695 + ], + [ + 0.9637556347424956, + 0.09780305852112313, + 0.24821288896027027, + 0.07166962174410517, + -0.9910929283433381, + 0.1122420273644593, + 0.2569796525430498, + -0.09038456246362488, + -0.9621809024539578 + ], + [ + 0.9641247078366263, + 0.05863470942321063, + 0.25889287087479984, + 0.03062026182255164, + -0.9933545361724281, + 0.11094667652335796, + 0.2636777338056031, + -0.09903906459834874, + -0.9595130621198575 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.001814037561416626, + 0.00494794175028801, + -0.004192464053630829, + 0.00750376284122467, + 0.026136741042137146, + -0.02242894470691681, + 1.0 + ], + [ + 0.004868790507316589, + 0.04397047683596611, + 0.0016940385103225708, + 0.035876914858818054, + 0.06119997054338455, + -0.0707419216632843, + 1.0 + ], + [ + 0.012418612837791443, + 0.047510985285043716, + 0.004169374704360962, + 0.0716945230960846, + 0.07197831571102142, + -0.1329725831747055, + 1.0 + ], + [ + 0.011440977454185486, + 0.050188466906547546, + -0.0096120685338974, + 0.03161352872848511, + 0.024647215381264687, + -0.052808791399002075, + 1.0 + ], + [ + 0.008838057518005371, + 0.03338375687599182, + -0.009224146604537964, + 0.01520770788192749, + -0.007185454946011305, + -0.03877630829811096, + 1.0 + ], + [ + 0.0039479732513427734, + 0.020825348794460297, + -0.013873323798179626, + -0.035359978675842285, + -0.014316754415631294, + -0.02778896689414978, + 1.0 + ], + [ + -0.0008935630321502686, + 0.012586459517478943, + -0.015865236520767212, + -0.04075421392917633, + -0.027001988142728806, + -0.017475128173828125, + 1.0 + ], + [ + 0.0009194016456604004, + 0.003267154097557068, + -0.00695742666721344, + -0.01506754755973816, + -0.01932268589735031, + -0.011624515056610107, + 0.0 + ], + [ + 0.004343211650848389, + 0.00625939667224884, + -0.008487440645694733, + -0.019666165113449097, + 0.005019955337047577, + -0.006403565406799316, + 0.0 + ], + [ + 0.0021130144596099854, + 0.00203116238117218, + -4.741176962852478e-05, + -0.015680566430091858, + 0.0029448941349983215, + -0.0009743273258209229, + 0.0 + ], + [ + -0.0006075799465179443, + -0.0009194314479827881, + 0.000985264778137207, + -0.029907360672950745, + 0.01648629829287529, + 0.0011119246482849121, + 0.0 + ], + [ + -0.005559295415878296, + -0.012857243418693542, + 0.017264552414417267, + -0.011013329029083252, + 0.03835416957736015, + 0.045621663331985474, + 0.0 + ], + [ + -0.009540200233459473, + -0.030425533652305603, + 0.0429520346224308, + 0.023232996463775635, + 0.005962675902992487, + 0.10240626335144043, + 0.0 + ], + [ + -0.011416181921958923, + -0.04855698347091675, + 0.02105715125799179, + -0.01636791229248047, + -0.016307860612869263, + 0.1578819304704666, + 0.0 + ], + [ + -0.005737408995628357, + -0.04794136807322502, + -0.0033586472272872925, + 0.0006989091634750366, + -0.03175359591841698, + 0.10543712973594666, + 0.0 + ], + [ + -0.004206761717796326, + -0.034719374030828476, + -0.006797626614570618, + -0.004144981503486633, + -0.07683753967285156, + 0.07610080391168594, + 0.0 + ], + [ + -0.0027051419019699097, + -0.015018104575574398, + -0.0129995197057724, + 0.005725204944610596, + -0.07454833388328552, + 0.028164219111204147, + 0.0 + ], + [ + 0.0019358396530151367, + -0.006907669827342033, + -0.005792960524559021, + -0.02355693280696869, + -0.04084031283855438, + -0.0018015056848526, + 0.0 + ], + [ + 0.004918381571769714, + -0.000675685703754425, + -0.00731118768453598, + -0.02185099571943283, + -0.016192883253097534, + 0.008284352719783783, + 0.0 + ], + [ + 0.003553628921508789, + -0.00722479447722435, + -0.007115691900253296, + 0.00919148325920105, + -0.006937295198440552, + -0.04247932508587837, + 0.0 + ], + [ + 0.00546284019947052, + -0.003770798444747925, + -0.005724281072616577, + -0.020027175545692444, + -0.014328181743621826, + 0.006000299006700516, + 0.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9082958698272705 + ], + [ + 0.6019018292427063 + ], + [ + 0.3236125409603119 + ], + [ + 0.28321579098701477 + ], + [ + 0.2824830114841461 + ], + [ + 0.2824830114841461 + ], + [ + 0.2824830114841461 + ], + [ + 0.2824830114841461 + ], + [ + 0.2824830114841461 + ], + [ + 0.2824830114841461 + ], + [ + 0.2824830114841461 + ], + [ + 0.2824830114841461 + ], + [ + 0.2824830114841461 + ], + [ + 0.2824830114841461 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2200048714876175, + -0.05546862632036209, + 0.09508858621120453 + ], + [ + 0.22487366199493408, + -0.011498150415718555, + 0.0967826247215271 + ], + [ + 0.23729227483272552, + 0.036012835800647736, + 0.10095199942588806 + ], + [ + 0.248733252286911, + 0.08620130270719528, + 0.09133993089199066 + ], + [ + 0.2575713098049164, + 0.1195850595831871, + 0.0821157842874527 + ], + [ + 0.26151928305625916, + 0.1404104083776474, + 0.06824246048927307 + ], + [ + 0.2606257200241089, + 0.15299686789512634, + 0.05237722396850586 + ], + [ + 0.2615451216697693, + 0.1562640219926834, + 0.04541979730129242 + ], + [ + 0.2658883333206177, + 0.16252341866493225, + 0.03693235665559769 + ], + [ + 0.26800134778022766, + 0.16455458104610443, + 0.03688494488596916 + ], + [ + 0.2673937678337097, + 0.16363514959812164, + 0.03787020966410637 + ], + [ + 0.2618344724178314, + 0.1507779061794281, + 0.055134762078523636 + ], + [ + 0.25229427218437195, + 0.1203523725271225, + 0.09808679670095444 + ], + [ + 0.24087809026241302, + 0.07179538905620575, + 0.11914394795894623 + ], + [ + 0.23514068126678467, + 0.023854020982980728, + 0.11578530073165894 + ], + [ + 0.23093391954898834, + -0.010865352116525173, + 0.10898767411708832 + ], + [ + 0.22822877764701843, + -0.02588345669209957, + 0.09598815441131592 + ], + [ + 0.23016461730003357, + -0.032791126519441605, + 0.0901951938867569 + ], + [ + 0.23508299887180328, + -0.03346681222319603, + 0.08288400620222092 + ], + [ + 0.23863662779331207, + -0.04069160670042038, + 0.07576831430196762 + ], + [ + 0.2440994679927826, + -0.044462405145168304, + 0.07004403322935104 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9829351494426348, + -0.06546496287218012, + 0.17190936747696212, + -0.08812152401894863, + -0.9878960932376465, + 0.12765541888370102, + 0.1614716352637917, + -0.14062591369281618, + -0.9768066663384816 + ], + [ + 0.9821735616380267, + -0.13922118816586618, + 0.12630342665564573, + -0.15865813776185902, + -0.9743141707282147, + 0.15981080076180892, + 0.1008101688383298, + -0.1770010098385772, + -0.9790341936699206 + ], + [ + 0.9569424243299729, + -0.2730414084812773, + 0.09853723038544532, + -0.28882561482263863, + -0.9295297270153573, + 0.22924713916880174, + 0.028999323092079345, + -0.24783638927590007, + -0.9683677831334981 + ], + [ + 0.940749673344055, + -0.32452692167744795, + 0.09834800053693826, + -0.3390738503171061, + -0.9039668046543035, + 0.2605243560863771, + 0.004356160486804532, + -0.27843543809947796, + -0.9604450690571352 + ], + [ + 0.9268448269073553, + -0.35568561813154903, + 0.12019321066288549, + -0.37526718953972443, + -0.8874927403215629, + 0.26745312174562447, + 0.011541372969946263, + -0.29299211069737213, + -0.9560451975607992 + ], + [ + 0.9158147867384518, + -0.3810834247577965, + 0.12672292517959244, + -0.40076772500763863, + -0.8875387432230837, + 0.2272888247806975, + 0.02585550199484539, + -0.25894092502510635, + -0.9655470420252638 + ], + [ + 0.9077060797847454, + -0.39614701311582623, + 0.1383373294567271, + -0.41626680795132065, + -0.8916497494160667, + 0.17799626109636138, + 0.05283575796587028, + -0.21915352692958215, + -0.9742587512126832 + ], + [ + 0.9017144950949881, + -0.4049847400188071, + 0.15132194053569964, + -0.42627411209030946, + -0.8912287943378188, + 0.15492455423455648, + 0.0721203903012793, + -0.2042023420410672, + -0.9762684327620831 + ], + [ + 0.8992813362006605, + -0.4144362335364503, + 0.1397701208888202, + -0.4321909007082493, + -0.8910705431083156, + 0.1385796253048903, + 0.06711261957446463, + -0.1850294450534087, + -0.9804386777137472 + ], + [ + 0.8990339678137154, + -0.41789696193489767, + 0.1307671744846894, + -0.43315079637787146, + -0.8925107591962713, + 0.1257176690688722, + 0.06417407821186291, + -0.1696663606154071, + -0.9834098910226496 + ], + [ + 0.9003464056978324, + -0.4227081804890771, + 0.10341249389995533, + -0.43255027946949276, + -0.8953379188298904, + 0.10616151297068285, + 0.04771378708358984, + -0.140313239763661, + -0.9889568187080604 + ], + [ + 0.9201440091747054, + -0.3870674088942562, + 0.05927751134946897, + -0.3914678313242261, + -0.9129043183073934, + 0.11557959445343642, + 0.009377601943305156, + -0.12955511023344535, + -0.9915278785763882 + ], + [ + 0.9553785929355709, + -0.2914107472644351, + 0.04828582130638089, + -0.29536432003062235, + -0.9443543855449503, + 0.14475742797821128, + 0.0034150568511124094, + -0.15256005663607508, + -0.9882883013098459 + ], + [ + 0.9897485223181138, + -0.13749650050939613, + 0.03863385713049731, + -0.14145288716894142, + -0.9810741831681455, + 0.13222907332552314, + 0.019721644979077718, + -0.1363384005650113, + -0.9904660000478026 + ], + [ + 0.9980094943921439, + -0.029119483747259388, + 0.05593840156306261, + -0.03646308746573506, + -0.9901601349933907, + 0.13510496039130637, + 0.05145378854470781, + -0.13687572003888565, + -0.9892510019748443 + ], + [ + 0.9910022435205984, + 0.056218905423536525, + 0.12146599528312431, + 0.03924559033893975, + -0.9896732278231464, + 0.13786473722117135, + 0.12796224824567845, + -0.1318572591975655, + -0.9829747332565661 + ], + [ + 0.9772470851880937, + 0.0949048124892746, + 0.1896871399377157, + 0.06630551430695475, + -0.9861830062150838, + 0.15181125460607467, + 0.20147385255626876, + -0.13577980269154846, + -0.9700371806880287 + ], + [ + 0.9683418849205115, + 0.09320770836495718, + 0.23157356716590846, + 0.06394901100200229, + -0.9893440741396916, + 0.1308007146637275, + 0.2412975712692861, + -0.1118509099919583, + -0.9639838463550695 + ], + [ + 0.9637556347424956, + 0.09780305852112313, + 0.24821288896027027, + 0.07166962174410517, + -0.9910929283433381, + 0.1122420273644593, + 0.2569796525430498, + -0.09038456246362488, + -0.9621809024539578 + ], + [ + 0.9641247078366263, + 0.05863470942321063, + 0.25889287087479984, + 0.03062026182255164, + -0.9933545361724281, + 0.11094667652335796, + 0.2636777338056031, + -0.09903906459834874, + -0.9595130621198575 + ], + [ + 0.960049476989457, + 0.060550324274913594, + 0.27320076859788167, + 0.036258396732239254, + -0.9949955005794567, + 0.09310898180650573, + 0.27747131455103247, + -0.079483407430982, + -0.9574403676179957 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005832.json b/json/chunk-0005/episode_0005832.json new file mode 100644 index 0000000000000000000000000000000000000000..0c900867e96f352850f8f807eeddbd96febda2d2 --- /dev/null +++ b/json/chunk-0005/episode_0005832.json @@ -0,0 +1,3802 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 62, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut egg in pot or pan an put pot or pan on stove." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005832.mp4", + "start": 0, + "end": 62, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2608930170536041, + -0.136665940284729, + 0.10338237881660461, + 0.04064834862947464, + -0.27568215131759644, + 0.10444566607475281, + 0.0, + 0.933559775352478 + ], + [ + 0.25919094681739807, + -0.13544446229934692, + 0.09411359578371048, + 0.05369909107685089, + -0.2600961923599243, + 0.10536116361618042, + 0.0, + 0.933559775352478 + ], + [ + 0.2616835832595825, + -0.1404600441455841, + 0.07078580558300018, + 0.03910461813211441, + -0.2934558391571045, + 0.1112368255853653, + 0.0, + 0.933559775352478 + ], + [ + 0.2664089798927307, + -0.14298006892204285, + 0.054078854620456696, + 0.025658825412392616, + -0.32840797305107117, + 0.11020027846097946, + 0.0, + 0.933559775352478 + ], + [ + 0.2677517235279083, + -0.14619800448417664, + 0.04252122342586517, + 0.016915466636419296, + -0.35544338822364807, + 0.11372732371091843, + 0.0, + 0.933559775352478 + ], + [ + 0.267447829246521, + -0.1516931653022766, + 0.03870672360062599, + 0.013534532859921455, + -0.3721018135547638, + 0.11843496561050415, + 0.0, + 0.933559775352478 + ], + [ + 0.2655376195907593, + -0.153495654463768, + 0.03509578853845596, + 0.01119385939091444, + -0.3763309717178345, + 0.13033993542194366, + 0.0, + 0.933559775352478 + ], + [ + 0.26206377148628235, + -0.1572263389825821, + 0.03131464868783951, + 0.005810532718896866, + -0.38189008831977844, + 0.1448083370923996, + 0.0, + 0.933559775352478 + ], + [ + 0.2587304711341858, + -0.16138295829296112, + 0.025860706344246864, + 0.0019562882371246815, + -0.3901044726371765, + 0.15046876668930054, + 0.0, + 0.933559775352478 + ], + [ + 0.26085278391838074, + -0.16396978497505188, + 0.023810282349586487, + -0.006642346270382404, + -0.4027600586414337, + 0.16328397393226624, + 0.0, + 0.8870869278907776 + ], + [ + 0.2622218132019043, + -0.16649994254112244, + 0.023362502455711365, + -0.015605307184159756, + -0.39582714438438416, + 0.18000708520412445, + 0.0, + 0.8399420380592346 + ], + [ + 0.261653333902359, + -0.1693911999464035, + 0.023862572386860847, + -0.015270299278199673, + -0.3889131546020508, + 0.18679887056350708, + 0.0, + 0.8687413334846497 + ], + [ + 0.2559819519519806, + -0.16812311112880707, + 0.025256384164094925, + 0.025275805965065956, + -0.3404901921749115, + 0.17862163484096527, + 0.0, + 0.8705081939697266 + ], + [ + 0.25602564215660095, + -0.1665365844964981, + 0.042726900428533554, + 0.05743922293186188, + -0.28331631422042847, + 0.16456319391727448, + 0.0, + 0.8705081939697266 + ], + [ + 0.26337796449661255, + -0.1661427617073059, + 0.06755529344081879, + 0.06796462833881378, + -0.24278180301189423, + 0.15355201065540314, + 0.0, + 0.8705081939697266 + ], + [ + 0.27914878726005554, + -0.15996336936950684, + 0.08941730111837387, + 0.07040373235940933, + -0.21130529046058655, + 0.1429462879896164, + 0.0, + 0.8705081939697266 + ], + [ + 0.29910194873809814, + -0.14730630815029144, + 0.10922086238861084, + 0.057552386075258255, + -0.1998186856508255, + 0.1194029450416565, + 0.0, + 0.8705081939697266 + ], + [ + 0.32108476758003235, + -0.1264866590499878, + 0.11364231258630753, + 0.06839844584465027, + -0.19267965853214264, + 0.07673683017492294, + 0.0, + 0.8705081939697266 + ], + [ + 0.3445374369621277, + -0.1045427918434143, + 0.11142291128635406, + 0.058284543454647064, + -0.1912509799003601, + 0.03457329049706459, + 0.0, + 0.8705081939697266 + ], + [ + 0.3572746813297272, + -0.09051471948623657, + 0.10120320320129395, + 0.04242361709475517, + -0.19841644167900085, + 0.019734540954232216, + 0.0, + 0.8705081939697266 + ], + [ + 0.362276554107666, + -0.08780789375305176, + 0.09031752496957779, + 0.02467985637485981, + -0.24016007781028748, + 0.03646016865968704, + 0.0, + 0.8705081939697266 + ], + [ + 0.35898005962371826, + -0.095463827252388, + 0.08066514879465103, + 0.014145798981189728, + -0.2665373384952545, + 0.04216190427541733, + 0.0, + 0.9255412817001343 + ], + [ + 0.3584011495113373, + -0.10180134326219559, + 0.07537771016359329, + 0.016066692769527435, + -0.2865844666957855, + 0.044056326150894165, + 0.0, + 1.002137303352356 + ], + [ + 0.35660311579704285, + -0.1071484163403511, + 0.0725022405385971, + 0.02192094549536705, + -0.29763373732566833, + 0.055707093328237534, + 0.0, + 1.0001531839370728 + ], + [ + 0.3478502035140991, + -0.10686732083559036, + 0.07233932614326477, + 0.05946015566587448, + -0.24860966205596924, + 0.051227230578660965, + 0.0, + 1.0001531839370728 + ], + [ + 0.34205329418182373, + -0.10195962339639664, + 0.09133235365152359, + 0.09197632223367691, + -0.20882026851177216, + 0.04364711418747902, + 0.0, + 1.0001531839370728 + ], + [ + 0.3430786430835724, + -0.09616538882255554, + 0.10436603426933289, + 0.10603804141283035, + -0.200675830245018, + 0.029003646224737167, + 0.0, + 1.0001531839370728 + ], + [ + 0.3496963679790497, + -0.08127198368310928, + 0.10784208029508591, + 0.09251277893781662, + -0.19151011109352112, + -0.0011225936468690634, + 0.0, + 1.0001531839370728 + ], + [ + 0.3586539328098297, + -0.059236910194158554, + 0.10800497233867645, + 0.07199988514184952, + -0.20515619218349457, + -0.016412485390901566, + 0.0, + 1.0001531839370728 + ], + [ + 0.3686572015285492, + -0.04003502428531647, + 0.10518085211515427, + 0.04963917285203934, + -0.25279930233955383, + -0.029872935265302658, + 0.0, + 1.0001531839370728 + ], + [ + 0.3691606819629669, + -0.022810399532318115, + 0.09495341032743454, + 0.05230719968676567, + -0.2719283401966095, + -0.034748949110507965, + 0.0, + 1.0001531839370728 + ], + [ + 0.3637120723724365, + -0.013579319231212139, + 0.08021997660398483, + 0.045744217932224274, + -0.2776736617088318, + -0.02675519324839115, + 0.0, + 1.0001531839370728 + ], + [ + 0.35661426186561584, + -0.013499000109732151, + 0.06276553869247437, + 0.0343577042222023, + -0.2995249330997467, + -0.00833001546561718, + 0.0, + 1.0001531839370728 + ], + [ + 0.3540724515914917, + -0.01990748755633831, + 0.05289296433329582, + 0.035960886627435684, + -0.3388882875442505, + 0.006622363813221455, + 0.0, + 1.0001531839370728 + ], + [ + 0.3546089828014374, + -0.028513334691524506, + 0.04449087008833885, + 0.029694247990846634, + -0.35835325717926025, + -0.0011102191638201475, + 0.0, + 0.9499720335006714 + ], + [ + 0.35342124104499817, + -0.038174182176589966, + 0.044626567512750626, + 0.03371065482497215, + -0.3604485094547272, + 0.011172162368893623, + 0.0, + 0.6470694541931152 + ], + [ + 0.34907421469688416, + -0.04742516204714775, + 0.044066525995731354, + 0.05162809416651726, + -0.34819161891937256, + 0.032004214823246, + 0.0, + 0.34125998616218567 + ], + [ + 0.3463577628135681, + -0.05086541920900345, + 0.04426417127251625, + 0.05620063841342926, + -0.33391010761260986, + 0.051889412105083466, + 0.0, + 0.147182896733284 + ], + [ + 0.3447985053062439, + -0.05708250403404236, + 0.047738365828990936, + 0.06632264703512192, + -0.31841084361076355, + 0.05449093133211136, + 0.0, + 0.07888144999742508 + ], + [ + 0.3381238281726837, + -0.06114228814840317, + 0.056141261011362076, + 0.08940371125936508, + -0.26963701844215393, + 0.04654475301504135, + 0.0, + 0.07888144999742508 + ], + [ + 0.3320540487766266, + -0.06012946367263794, + 0.06969033926725388, + 0.09634873270988464, + -0.23794306814670563, + 0.04166785627603531, + 0.0, + 0.0846695825457573 + ], + [ + 0.3266935348510742, + -0.05457847937941551, + 0.07660360634326935, + 0.10738684237003326, + -0.21155817806720734, + 0.035450223833322525, + 0.0, + 0.08571679890155792 + ], + [ + 0.33095669746398926, + -0.04002413898706436, + 0.08164032548666, + 0.09692858159542084, + -0.20377790927886963, + 0.026999210938811302, + 0.0, + 0.08571679890155792 + ], + [ + 0.33721962571144104, + -0.0153743801638484, + 0.0862438753247261, + 0.08812358975410461, + -0.20194774866104126, + 0.009555872529745102, + 0.0, + 0.08571679890155792 + ], + [ + 0.3443291485309601, + 0.010709255933761597, + 0.0886346846818924, + 0.07755173742771149, + -0.22948023676872253, + -0.004371787421405315, + 0.0, + 0.08571679890155792 + ], + [ + 0.3549730181694031, + 0.03213143348693848, + 0.08072487264871597, + 0.06192980334162712, + -0.23554077744483948, + -0.01729782484471798, + 0.0, + 0.08571679890155792 + ], + [ + 0.3653021454811096, + 0.05631650984287262, + 0.07024528831243515, + 0.04017509147524834, + -0.2375776618719101, + -0.033500827848911285, + 0.0, + 0.08571679890155792 + ], + [ + 0.3721211850643158, + 0.07894117385149002, + 0.06326941400766373, + 0.040494341403245926, + -0.2513992488384247, + -0.040559541434049606, + 0.0, + 0.08571679890155792 + ], + [ + 0.3778768479824066, + 0.09752155840396881, + 0.057796381413936615, + 0.03700302541255951, + -0.2648402750492096, + -0.046417828649282455, + 0.0, + 0.08571679890155792 + ], + [ + 0.37953564524650574, + 0.10950928181409836, + 0.04991881921887398, + 0.03801370784640312, + -0.27279791235923767, + -0.05998888611793518, + 0.0, + 0.08571679890155792 + ], + [ + 0.3807109594345093, + 0.1132475808262825, + 0.046696461737155914, + 0.04199982434511185, + -0.29848283529281616, + -0.054692283272743225, + 0.0, + 0.11746759712696075 + ], + [ + 0.37617528438568115, + 0.11150195449590683, + 0.03868711739778519, + 0.04445141181349754, + -0.30337390303611755, + -0.0621001236140728, + 0.0, + 0.30724331736564636 + ], + [ + 0.3662711977958679, + 0.10492850840091705, + 0.041146062314510345, + 0.04955746605992317, + -0.2633442282676697, + -0.04764503985643387, + 0.0, + 0.5899012684822083 + ], + [ + 0.3556573688983917, + 0.09693675488233566, + 0.045153480023145676, + 0.05178666487336159, + -0.21871449053287506, + -0.03408677130937576, + 0.0, + 0.8870869278907776 + ], + [ + 0.34969034790992737, + 0.0828830748796463, + 0.05582675710320473, + 0.04952961951494217, + -0.20595556497573853, + -0.02440810576081276, + 0.0, + 1.0067112445831299 + ], + [ + 0.34436410665512085, + 0.07316248118877411, + 0.07079429179430008, + 0.06249779462814331, + -0.20178480446338654, + -0.012668600305914879, + 0.0, + 1.0008161067962646 + ], + [ + 0.33648255467414856, + 0.06413547694683075, + 0.08345665782690048, + 0.07580867409706116, + -0.1698857843875885, + -0.005343147087842226, + 0.0, + 1.0008161067962646 + ], + [ + 0.33119040727615356, + 0.055420853197574615, + 0.09522439539432526, + 0.08211202174425125, + -0.1599937528371811, + -0.0038323693443089724, + 0.0, + 1.0008161067962646 + ], + [ + 0.3274010419845581, + 0.05078420415520668, + 0.10165182501077652, + 0.08408620953559875, + -0.1518770158290863, + 0.001310550607740879, + 0.0, + 1.0008161067962646 + ], + [ + 0.3267337381839752, + 0.04468177631497383, + 0.1045030802488327, + 0.08763910084962845, + -0.15167228877544403, + 0.001344311167486012, + 0.0, + 1.0008161067962646 + ], + [ + 0.32647597789764404, + 0.034716349095106125, + 0.10382796823978424, + 0.07083476334810257, + -0.14693237841129303, + 0.007637700065970421, + 0.0, + 1.0008161067962646 + ], + [ + 0.319648414850235, + 0.018394989892840385, + 0.10305603593587875, + 0.0623432956635952, + -0.1459996998310089, + 0.013900951482355595, + 0.0, + 1.0008161067962646 + ] + ], + "left_gripper_pos": [ + [ + 0.933559775352478 + ], + [ + 0.933559775352478 + ], + [ + 0.933559775352478 + ], + [ + 0.933559775352478 + ], + [ + 0.933559775352478 + ], + [ + 0.933559775352478 + ], + [ + 0.933559775352478 + ], + [ + 0.933559775352478 + ], + [ + 0.933559775352478 + ], + [ + 0.8870869278907776 + ], + [ + 0.8399420380592346 + ], + [ + 0.8687413334846497 + ], + [ + 0.8705081939697266 + ], + [ + 0.8705081939697266 + ], + [ + 0.8705081939697266 + ], + [ + 0.8705081939697266 + ], + [ + 0.8705081939697266 + ], + [ + 0.8705081939697266 + ], + [ + 0.8705081939697266 + ], + [ + 0.8705081939697266 + ], + [ + 0.8705081939697266 + ], + [ + 0.9255412817001343 + ], + [ + 1.002137303352356 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9499720335006714 + ], + [ + 0.6470694541931152 + ], + [ + 0.34125998616218567 + ], + [ + 0.147182896733284 + ], + [ + 0.07888144999742508 + ], + [ + 0.07888144999742508 + ], + [ + 0.0846695825457573 + ], + [ + 0.08571679890155792 + ], + [ + 0.08571679890155792 + ], + [ + 0.08571679890155792 + ], + [ + 0.08571679890155792 + ], + [ + 0.08571679890155792 + ], + [ + 0.08571679890155792 + ], + [ + 0.08571679890155792 + ], + [ + 0.08571679890155792 + ], + [ + 0.08571679890155792 + ], + [ + 0.11746759712696075 + ], + [ + 0.30724331736564636 + ], + [ + 0.5899012684822083 + ], + [ + 0.8870869278907776 + ], + [ + 1.0067112445831299 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2608930170536041, + -0.136665940284729, + 0.10338237881660461 + ], + [ + 0.25919094681739807, + -0.13544446229934692, + 0.09411359578371048 + ], + [ + 0.2616835832595825, + -0.1404600441455841, + 0.07078580558300018 + ], + [ + 0.2664089798927307, + -0.14298006892204285, + 0.054078854620456696 + ], + [ + 0.2677517235279083, + -0.14619800448417664, + 0.04252122342586517 + ], + [ + 0.267447829246521, + -0.1516931653022766, + 0.03870672360062599 + ], + [ + 0.2655376195907593, + -0.153495654463768, + 0.03509578853845596 + ], + [ + 0.26206377148628235, + -0.1572263389825821, + 0.03131464868783951 + ], + [ + 0.2587304711341858, + -0.16138295829296112, + 0.025860706344246864 + ], + [ + 0.26085278391838074, + -0.16396978497505188, + 0.023810282349586487 + ], + [ + 0.2622218132019043, + -0.16649994254112244, + 0.023362502455711365 + ], + [ + 0.261653333902359, + -0.1693911999464035, + 0.023862572386860847 + ], + [ + 0.2559819519519806, + -0.16812311112880707, + 0.025256384164094925 + ], + [ + 0.25602564215660095, + -0.1665365844964981, + 0.042726900428533554 + ], + [ + 0.26337796449661255, + -0.1661427617073059, + 0.06755529344081879 + ], + [ + 0.27914878726005554, + -0.15996336936950684, + 0.08941730111837387 + ], + [ + 0.29910194873809814, + -0.14730630815029144, + 0.10922086238861084 + ], + [ + 0.32108476758003235, + -0.1264866590499878, + 0.11364231258630753 + ], + [ + 0.3445374369621277, + -0.1045427918434143, + 0.11142291128635406 + ], + [ + 0.3572746813297272, + -0.09051471948623657, + 0.10120320320129395 + ], + [ + 0.362276554107666, + -0.08780789375305176, + 0.09031752496957779 + ], + [ + 0.35898005962371826, + -0.095463827252388, + 0.08066514879465103 + ], + [ + 0.3584011495113373, + -0.10180134326219559, + 0.07537771016359329 + ], + [ + 0.35660311579704285, + -0.1071484163403511, + 0.0725022405385971 + ], + [ + 0.3478502035140991, + -0.10686732083559036, + 0.07233932614326477 + ], + [ + 0.34205329418182373, + -0.10195962339639664, + 0.09133235365152359 + ], + [ + 0.3430786430835724, + -0.09616538882255554, + 0.10436603426933289 + ], + [ + 0.3496963679790497, + -0.08127198368310928, + 0.10784208029508591 + ], + [ + 0.3586539328098297, + -0.059236910194158554, + 0.10800497233867645 + ], + [ + 0.3686572015285492, + -0.04003502428531647, + 0.10518085211515427 + ], + [ + 0.3691606819629669, + -0.022810399532318115, + 0.09495341032743454 + ], + [ + 0.3637120723724365, + -0.013579319231212139, + 0.08021997660398483 + ], + [ + 0.35661426186561584, + -0.013499000109732151, + 0.06276553869247437 + ], + [ + 0.3540724515914917, + -0.01990748755633831, + 0.05289296433329582 + ], + [ + 0.3546089828014374, + -0.028513334691524506, + 0.04449087008833885 + ], + [ + 0.35342124104499817, + -0.038174182176589966, + 0.044626567512750626 + ], + [ + 0.34907421469688416, + -0.04742516204714775, + 0.044066525995731354 + ], + [ + 0.3463577628135681, + -0.05086541920900345, + 0.04426417127251625 + ], + [ + 0.3447985053062439, + -0.05708250403404236, + 0.047738365828990936 + ], + [ + 0.3381238281726837, + -0.06114228814840317, + 0.056141261011362076 + ], + [ + 0.3320540487766266, + -0.06012946367263794, + 0.06969033926725388 + ], + [ + 0.3266935348510742, + -0.05457847937941551, + 0.07660360634326935 + ], + [ + 0.33095669746398926, + -0.04002413898706436, + 0.08164032548666 + ], + [ + 0.33721962571144104, + -0.0153743801638484, + 0.0862438753247261 + ], + [ + 0.3443291485309601, + 0.010709255933761597, + 0.0886346846818924 + ], + [ + 0.3549730181694031, + 0.03213143348693848, + 0.08072487264871597 + ], + [ + 0.3653021454811096, + 0.05631650984287262, + 0.07024528831243515 + ], + [ + 0.3721211850643158, + 0.07894117385149002, + 0.06326941400766373 + ], + [ + 0.3778768479824066, + 0.09752155840396881, + 0.057796381413936615 + ], + [ + 0.37953564524650574, + 0.10950928181409836, + 0.04991881921887398 + ], + [ + 0.3807109594345093, + 0.1132475808262825, + 0.046696461737155914 + ], + [ + 0.37617528438568115, + 0.11150195449590683, + 0.03868711739778519 + ], + [ + 0.3662711977958679, + 0.10492850840091705, + 0.041146062314510345 + ], + [ + 0.3556573688983917, + 0.09693675488233566, + 0.045153480023145676 + ], + [ + 0.34969034790992737, + 0.0828830748796463, + 0.05582675710320473 + ], + [ + 0.34436410665512085, + 0.07316248118877411, + 0.07079429179430008 + ], + [ + 0.33648255467414856, + 0.06413547694683075, + 0.08345665782690048 + ], + [ + 0.33119040727615356, + 0.055420853197574615, + 0.09522439539432526 + ], + [ + 0.3274010419845581, + 0.05078420415520668, + 0.10165182501077652 + ], + [ + 0.3267337381839752, + 0.04468177631497383, + 0.1045030802488327 + ], + [ + 0.32647597789764404, + 0.034716349095106125, + 0.10382796823978424 + ], + [ + 0.319648414850235, + 0.018394989892840385, + 0.10305603593587875 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.956996019980174, + 0.11517104501864947, + 0.2662597380968795, + 0.10031914271479164, + -0.9925757453865562, + 0.06877106422974633, + 0.27220339334232385, + -0.03910268609232425, + -0.9614448983656263 + ], + [ + 0.9610064064792615, + 0.11874154770129611, + 0.24973412172812431, + 0.10162909249802907, + -0.9915695414388064, + 0.0803826601255676, + 0.2571735100352364, + -0.05186799919349394, + -0.9649722775270905 + ], + [ + 0.9513337257212602, + 0.12216141008411606, + 0.28291470833374244, + 0.10626198791318948, + -0.9918044577639055, + 0.07093875868932722, + 0.28926204768348596, + -0.03742335428453542, + -0.956518144273307 + ], + [ + 0.9408153015944521, + 0.1181659695347349, + 0.31765291109897903, + 0.10409984948753842, + -0.9926968562518834, + 0.06096042096556717, + 0.3225364934738573, + -0.024284876601362707, + -0.9462454518495953 + ], + [ + 0.9314360932724179, + 0.11931446898655276, + 0.3437889783571778, + 0.10638880427933176, + -0.9927298733921263, + 0.056292280100085926, + 0.34800607246631365, + -0.015857363125987508, + -0.9373581586358871 + ], + [ + 0.9250394132498119, + 0.12303364603892973, + 0.3593950554429084, + 0.11007214784756796, + -0.992322408500226, + 0.056394679328229905, + 0.36357421003512747, + -0.012607915397800398, + -0.9314799161907116 + ], + [ + 0.9221306611309271, + 0.13404194236020067, + 0.3629156947426554, + 0.12087572636228595, + -0.9909209774724574, + 0.058861491498428446, + 0.3675106836251558, + -0.010410287860306157, + -0.9299610332309824 + ], + [ + 0.9182494671381363, + 0.14644310367688043, + 0.36792979423527433, + 0.13390747839412562, + -0.9892043997857152, + 0.05952682315317821, + 0.3726750640043624, + -0.005391922668716881, + -0.9279462397355134 + ], + [ + 0.9144191607686617, + 0.15063687290362146, + 0.3756941987054829, + 0.13863941074213196, + -0.9885875069611656, + 0.05893941694131313, + 0.3802850407368282, + -0.0018093098479042106, + -0.924867565757208 + ], + [ + 0.9077457631235644, + 0.15998690563104195, + 0.3878167344994566, + 0.1495518035244428, + -0.9871002219471278, + 0.05716126218443539, + 0.39195903815807637, + 0.006110798518637273, + -0.9199623745282524 + ], + [ + 0.9077697177943843, + 0.17309524255483597, + 0.38208922578422294, + 0.1651930727397312, + -0.9847998436490012, + 0.05367044501128199, + 0.38557150850952443, + 0.014398088546250236, + -0.9225656111474698 + ], + [ + 0.9092246049421704, + 0.18000347002986994, + 0.3753789665723953, + 0.17184557724322824, + -0.9835644925995894, + 0.05540745869694269, + 0.37918295762032267, + 0.014129390451022402, + -0.9252138374320754 + ], + [ + 0.9275940088675134, + 0.18592220882930388, + 0.32404056378349894, + 0.16747327511056015, + -0.9822756407726695, + 0.08418591134140979, + 0.3339491830156764, + -0.02382221250584845, + -0.9422900006656593 + ], + [ + 0.9471622744428388, + 0.17938227168389492, + 0.2659052960694724, + 0.15729048263070855, + -0.9822341345893699, + 0.1023513992150101, + 0.27954128486874213, + -0.055119011720067196, + -0.9585502410416138 + ], + [ + 0.9592520719012883, + 0.16873047442802816, + 0.22663955866612925, + 0.14846375968500677, + -0.9834553852705197, + 0.10379796357639137, + 0.24040377412444644, + -0.06592065064686367, + -0.9684319765502458 + ], + [ + 0.9677854017066989, + 0.15671059004573254, + 0.19706143004383653, + 0.13929136897104552, + -0.9852466548369186, + 0.0994331115013202, + 0.20973633632152439, + -0.06878095739505424, + -0.975335762251259 + ], + [ + 0.9731241879193381, + 0.13025826989627318, + 0.18990023172697407, + 0.11674925584231657, + -0.9898760112094017, + 0.08071613031129332, + 0.1984916273967094, + -0.05637610802276108, + -0.9784798456266802 + ], + [ + 0.9786062647296282, + 0.08953115667493816, + 0.1852402510697193, + 0.0752428910414884, + -0.9937224941169901, + 0.08278956476288273, + 0.1914896497976945, + -0.06708037470345947, + -0.9791996412121483 + ], + [ + 0.9811805072810178, + 0.04557396497998075, + 0.18763748518824144, + 0.03393616122418127, + -0.9973226054089273, + 0.06477621246811886, + 0.19008721443887386, + -0.05718946106016379, + -0.9801001053211437 + ], + [ + 0.9801890540230805, + 0.028073789029489246, + 0.19606448108432634, + 0.01934609255355086, + -0.9987407404646124, + 0.04628889757930222, + 0.19711708976201903, + -0.04157878913250621, + -0.9794978597312128 + ], + [ + 0.9706543872005298, + 0.042306797502236246, + 0.23672810457034693, + 0.035405912936279996, + -0.9988171087360883, + 0.03332873572804712, + 0.2378581130369803, + -0.02396910889428769, + -0.9710041193946096 + ], + [ + 0.9638314164375164, + 0.045867660917318455, + 0.26253601347248556, + 0.04066106416384615, + -0.9988543181060199, + 0.025233490880610106, + 0.26339263191880447, + -0.013645837567996474, + -0.9645922001384591 + ], + [ + 0.9582842152769023, + 0.0485734840823638, + 0.28165933216428674, + 0.04224581795005706, + -0.9987007186624222, + 0.028498515906837493, + 0.2826776496592228, + -0.015410749081792973, + -0.9590911610456411 + ], + [ + 0.9545500566261929, + 0.06208293247289137, + 0.2915131195855482, + 0.05323028331492949, + -0.9978509797226777, + 0.038209412514514686, + 0.29325880435742085, + -0.020955470933825902, + -0.9558034012833379 + ], + [ + 0.9679839641159642, + 0.06571710025404354, + 0.24225669845959613, + 0.04963055931020006, + -0.996174542200976, + 0.07192418962513661, + 0.24605660486339398, + -0.0575981267479758, + -0.9675425587529594 + ], + [ + 0.9773444661408924, + 0.0624710582025511, + 0.20222552111646983, + 0.042685375174830564, + -0.9939940074583554, + 0.10076642239884845, + 0.20730594118345538, + -0.08985143306554805, + -0.974141143123577 + ], + [ + 0.9795199511125745, + 0.04992497208556456, + 0.19505938207293655, + 0.02841761898829607, + -0.9933532103464355, + 0.1115429891363269, + 0.19933164400931497, + -0.10371546006592414, + -0.974428036870788 + ], + [ + 0.9817172990263059, + 0.016466120311476085, + 0.18963125183993926, + -0.001102070065857383, + -0.9957428562581611, + 0.09216805114793766, + 0.19034161456198803, + -0.09069195715567566, + -0.9775198405522051 + ], + [ + 0.9788973195513175, + -0.0017160489806032882, + 0.20434552344287324, + -0.016067580688575965, + -0.9975153116214769, + 0.06859326447636045, + 0.20372007909399062, + -0.0704291009214515, + -0.9764926375131224 + ], + [ + 0.9677840857545206, + -0.017426821559723252, + 0.25117776424399596, + -0.028919154266184122, + -0.9986932962786454, + 0.04213528787871653, + 0.25011526518150684, + -0.04804170957011455, + -0.9670234476292523 + ], + [ + 0.9626732543771317, + -0.020660162175942617, + 0.2698765699459776, + -0.03346535469856217, + -0.9985173047669278, + 0.042933228575194174, + 0.2685894177771005, + -0.050362186011472895, + -0.9619373029872083 + ], + [ + 0.961351544135296, + -0.014193508696982864, + 0.2749577292958884, + -0.025727285512453162, + -0.9989317274316374, + 0.03838633494625402, + 0.27411916271731734, + -0.043976678379727095, + -0.9606897191028139 + ], + [ + 0.95544362351207, + 0.001810452357244525, + 0.29516809541748923, + -0.007959044251691253, + -0.9994595886898127, + 0.03189332517299269, + 0.29506632458605897, + -0.03282153010224807, + -0.9549128815012508 + ], + [ + 0.9431041440035252, + 0.018569989889910706, + 0.33197850689294117, + 0.006245670058364361, + -0.9992524120418065, + 0.03815243942598857, + 0.33243881417322496, + -0.03390829550597154, + -0.9425150727319853 + ], + [ + 0.9364750823723202, + 0.009303473674204537, + 0.3506107035921021, + -0.0010396930100603913, + -0.9995701031331155, + 0.0293006477897228, + 0.3507325749544806, + -0.027803854050220074, + -0.9360628219119448 + ], + [ + 0.9356803336837358, + 0.023052133215226478, + 0.35209503306880136, + 0.01045400756360732, + -0.9992366731844666, + 0.03764020043915234, + 0.35269395640321494, + -0.031538391168018945, + -0.935207090969257 + ], + [ + 0.9395099052009197, + 0.04955470267929668, + 0.3389180866695152, + 0.03007854705139093, + -0.9975927357583496, + 0.06248211399631467, + 0.34119850386048844, + -0.048508401380974266, + -0.9387387900576103 + ], + [ + 0.9434964577644418, + 0.07016894710258019, + 0.32386841934413096, + 0.049001463407440056, + -0.9961225026086822, + 0.07306720454858592, + 0.327739669203897, + -0.05306862217102385, + -0.9432764338045284 + ], + [ + 0.9483244590613209, + 0.07506102873103027, + 0.3082962249394126, + 0.051726289411394066, + -0.9951904626300626, + 0.08318854532861374, + 0.31305768051555954, + -0.06294271249319948, + -0.9476460856322979 + ], + [ + 0.9628237717386359, + 0.07010015412857078, + 0.2608761257112983, + 0.04484678489897071, + -0.9938208525080664, + 0.10153264994259167, + 0.26638158806346196, + -0.0860585934772933, + -0.9600181081779121 + ], + [ + 0.9709813336788231, + 0.06411759752270875, + 0.23040005064064142, + 0.04048214187385369, + -0.9935535647284636, + 0.10588914110836967, + 0.23570414895923955, + -0.09348929191773234, + -0.9673175830409173 + ], + [ + 0.9770906243978756, + 0.05773065306416346, + 0.20484404655872923, + 0.03465259874247567, + -0.9928172165214407, + 0.11451275902279108, + 0.20998359248799087, + -0.10479096466491776, + -0.9720729111596689 + ], + [ + 0.9789521152822456, + 0.0464468624282216, + 0.19873460935375836, + 0.026437358874425443, + -0.9944146464023175, + 0.1021791420804602, + 0.20237050684366514, + -0.09477446908913756, + -0.9747122539338008 + ], + [ + 0.979633031962028, + 0.02717061521766624, + 0.19894944171215373, + 0.009361533329626767, + -0.9959054636855794, + 0.08991478796576945, + 0.2005778761045256, + -0.08622102452363063, + -0.9758762475578002 + ], + [ + 0.973775452086419, + 0.013264324160823007, + 0.22712425369926223, + -0.0042571663944726505, + -0.9970618876442155, + 0.07648181968052013, + 0.22747141677182212, + -0.07544302427600864, + -0.9708579219638215 + ], + [ + 0.9722428100744761, + -0.0028227126382350115, + 0.23395715537646747, + -0.016819363402508756, + -0.9981834700762178, + 0.057852131173667456, + 0.23336886526103037, + -0.06018132899797765, + -0.9705241781464368 + ], + [ + 0.9713655811912102, + -0.024020213392889452, + 0.23637245403308518, + -0.03255373043500959, + -0.9989490535972305, + 0.03226519722491495, + 0.23534902233029917, + -0.03903610720548328, + -0.9711266755796665 + ], + [ + 0.9677687208627096, + -0.03045286518989085, + 0.24999265173496915, + -0.0392737940252644, + -0.9987668118077653, + 0.03037144603428611, + 0.2487594661969999, + -0.039210695391420705, + -0.9677712794582743 + ], + [ + 0.9640947623346343, + -0.036696307760922114, + 0.2630107796947505, + -0.044783353726507075, + -0.9986884161223405, + 0.024817307107286316, + 0.2617551154570459, + -0.03570474057833927, + -0.9644736549187344 + ], + [ + 0.9612885580057398, + -0.04968856890032791, + 0.27102648277960417, + -0.057735903874226, + -0.9980939566965287, + 0.021794930825633975, + 0.2694269356450313, + -0.036599176582341325, + -0.9623251148247265 + ], + [ + 0.9543546065087758, + -0.042287999186402754, + 0.2956670596469795, + -0.0522479383497236, + -0.9982991696383202, + 0.025863503970728986, + 0.29407046430011163, + -0.04013094845940266, + -0.954940871992641 + ], + [ + 0.9524944294792167, + -0.04874938415623836, + 0.30062910596854914, + -0.05922617516767169, + -0.9979103664170206, + 0.02582945551993239, + 0.29874173124300846, + -0.04240752458981063, + -0.9533913046971295 + ], + [ + 0.9644291522568716, + -0.034688105968809835, + 0.2620556154357097, + -0.04598506679596655, + -0.9982530168258918, + 0.03709835616002685, + 0.26031093697511526, + -0.047829381161607426, + -0.9643394456252607 + ], + [ + 0.9756101200305066, + -0.022809620529667736, + 0.21832227304000246, + -0.03326828494200661, + -0.9984620188938289, + 0.044348822346000065, + 0.21697491770036065, + -0.050530367480874104, + -0.9748684870541102 + ], + [ + 0.9785744479157273, + -0.01425397213649305, + 0.20539930419736466, + -0.023889892987382033, + -0.9987232639467427, + 0.04450971876586432, + 0.20450262320929016, + -0.04846304086514773, + -0.977665592506263 + ], + [ + 0.9796318136132216, + -0.00012698755650496565, + 0.2008021255640249, + -0.012411227874254778, + -0.9981261350062315, + 0.059918111119888214, + 0.20041824063573468, + -0.06118988880266448, + -0.977797691922411 + ], + [ + 0.9855900146657148, + 0.007476724419084009, + 0.16898645384526204, + -0.005266202532089169, + -0.9971820817478224, + 0.07483423649620494, + 0.1690697787959954, + -0.07464579313692088, + -0.9827733286291569 + ], + [ + 0.9872210289141028, + 0.009247195021697175, + 0.15908843281021837, + -0.003783414129689247, + -0.9966734593427334, + 0.08141069474775739, + 0.1593120392415587, + -0.08097224725805727, + -0.9839020120554062 + ], + [ + 0.9884879896618626, + 0.01401264552691836, + 0.15064906259112987, + 0.0012954642772678212, + -0.996449328631601, + 0.08418466155979856, + 0.15129380709915247, + -0.08302036638661889, + -0.9849963465406741 + ], + [ + 0.9885188985547642, + 0.014563712947251652, + 0.15039376803998764, + 0.0013288777951020458, + -0.9961434733089778, + 0.08772921216864484, + 0.15109143352249074, + -0.08652212924515594, + -0.9847260024326578 + ], + [ + 0.9891959917352955, + 0.01798001119454513, + 0.14549229921982051, + 0.0075553292039278784, + -0.9973840331646772, + 0.07188885441278746, + 0.14640425859737152, + -0.07001292441832942, + -0.9867441327309465 + ], + [ + 0.9892653736211227, + 0.022936549556815983, + 0.14431886657221402, + 0.013752615808855596, + -0.9978348639797695, + 0.0643152375793567, + 0.145481566229797, + -0.06164007560753642, + -0.9874389170811644 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0017020702362060547, + 0.00122147798538208, + -0.009268783032894135, + 0.013050742447376251, + 0.01558595895767212, + 0.0009154975414276123, + 1.0 + ], + [ + 0.0024926364421844482, + -0.005015581846237183, + -0.023327790200710297, + -0.01459447294473648, + -0.033359646797180176, + 0.0058756619691848755, + 1.0 + ], + [ + 0.004725396633148193, + -0.0025200247764587402, + -0.016706950962543488, + -0.013445792719721794, + -0.034952133893966675, + -0.0010365471243858337, + 1.0 + ], + [ + 0.0013427436351776123, + -0.003217935562133789, + -0.011557631194591522, + -0.00874335877597332, + -0.027035415172576904, + 0.003527045249938965, + 1.0 + ], + [ + -0.0003038942813873291, + -0.005495160818099976, + -0.0038144998252391815, + -0.003380933776497841, + -0.016658425331115723, + 0.004707641899585724, + 1.0 + ], + [ + -0.0019102096557617188, + -0.001802489161491394, + -0.0036109350621700287, + -0.0023406734690070152, + -0.004229158163070679, + 0.011904969811439514, + 1.0 + ], + [ + -0.0034738481044769287, + -0.003730684518814087, + -0.003781139850616455, + -0.005383326672017574, + -0.00555911660194397, + 0.014468401670455933, + 1.0 + ], + [ + -0.0033333003520965576, + -0.004156619310379028, + -0.005453942343592644, + -0.0038542444817721844, + -0.008214384317398071, + 0.00566042959690094, + 1.0 + ], + [ + 0.0021223127841949463, + -0.0025868266820907593, + -0.0020504239946603775, + -0.008598634973168373, + -0.012655586004257202, + 0.012815207242965698, + 0.0 + ], + [ + 0.0013690292835235596, + -0.0025301575660705566, + -0.00044777989387512207, + -0.008962960913777351, + 0.0069329142570495605, + 0.016723111271858215, + 0.0 + ], + [ + -0.0005684792995452881, + -0.002891257405281067, + 0.0005000699311494827, + 0.000335007905960083, + 0.006913989782333374, + 0.006791785359382629, + 0.0 + ], + [ + -0.005671381950378418, + 0.0012680888175964355, + 0.0013938117772340775, + 0.040546104311943054, + 0.04842296242713928, + -0.008177235722541809, + 0.0 + ], + [ + 4.369020462036133e-05, + 0.00158652663230896, + 0.01747051626443863, + 0.03216341882944107, + 0.05717387795448303, + -0.014058440923690796, + 0.0 + ], + [ + 0.007352322340011597, + 0.0003938227891921997, + 0.024828393012285233, + 0.010525405406951904, + 0.04053451120853424, + -0.011011183261871338, + 0.0 + ], + [ + 0.015770822763442993, + 0.006179392337799072, + 0.021862007677555084, + 0.0024391040205955505, + 0.03147651255130768, + -0.010605722665786743, + 0.0 + ], + [ + 0.019953161478042603, + 0.012657061219215393, + 0.01980356127023697, + -0.012851346284151077, + 0.011486604809761047, + -0.0235433429479599, + 0.0 + ], + [ + 0.021982818841934204, + 0.02081964910030365, + 0.004421450197696686, + 0.010846059769392014, + 0.007139027118682861, + -0.04266611486673355, + 0.0 + ], + [ + 0.023452669382095337, + 0.021943867206573486, + -0.0022194012999534607, + -0.010113902390003204, + 0.0014286786317825317, + -0.04216353967785835, + 0.0 + ], + [ + 0.012737244367599487, + 0.014028072357177734, + -0.01021970808506012, + -0.01586092635989189, + -0.007165461778640747, + -0.014838749542832375, + 0.0 + ], + [ + 0.005001872777938843, + 0.0027068257331848145, + -0.010885678231716156, + -0.017743760719895363, + -0.04174363613128662, + 0.016725627705454826, + 0.0 + ], + [ + -0.003296494483947754, + -0.007655933499336243, + -0.009652376174926758, + -0.010534057393670082, + -0.02637726068496704, + 0.005701735615730286, + 1.0 + ], + [ + -0.0005789101123809814, + -0.006337516009807587, + -0.005287438631057739, + 0.0019208937883377075, + -0.020047128200531006, + 0.0018944218754768372, + 1.0 + ], + [ + -0.0017980337142944336, + -0.005347073078155518, + -0.0028754696249961853, + 0.005854252725839615, + -0.011049270629882812, + 0.011650767177343369, + 1.0 + ], + [ + -0.008752912282943726, + 0.0002810955047607422, + -0.00016291439533233643, + 0.03753921017050743, + 0.0490240752696991, + -0.004479862749576569, + 1.0 + ], + [ + -0.005796909332275391, + 0.004907697439193726, + 0.01899302750825882, + 0.03251616656780243, + 0.03978939354419708, + -0.007580116391181946, + 1.0 + ], + [ + 0.0010253489017486572, + 0.005794234573841095, + 0.013033680617809296, + 0.014061719179153442, + 0.00814443826675415, + -0.014643467962741852, + 1.0 + ], + [ + 0.006617724895477295, + 0.014893405139446259, + 0.0034760460257530212, + -0.013525262475013733, + 0.009165719151496887, + -0.030126240104436874, + 1.0 + ], + [ + 0.00895756483078003, + 0.02203507348895073, + 0.00016289204359054565, + -0.020512893795967102, + -0.01364608108997345, + -0.015289891511201859, + 1.0 + ], + [ + 0.010003268718719482, + 0.019201885908842087, + -0.0028241202235221863, + -0.02236071228981018, + -0.047643110156059265, + -0.013460449874401093, + 1.0 + ], + [ + 0.0005034804344177246, + 0.017224624752998352, + -0.010227441787719727, + 0.0026680268347263336, + -0.019129037857055664, + -0.004876013845205307, + 1.0 + ], + [ + -0.0054486095905303955, + 0.009231080301105976, + -0.014733433723449707, + -0.006562981754541397, + -0.00574532151222229, + 0.007993755862116814, + 1.0 + ], + [ + -0.007097810506820679, + 8.03191214799881e-05, + -0.017454437911510468, + -0.011386513710021973, + -0.021851271390914917, + 0.01842517778277397, + 1.0 + ], + [ + -0.0025418102741241455, + -0.006408487446606159, + -0.009872574359178543, + 0.0016031824052333832, + -0.039363354444503784, + 0.014952379278838634, + 1.0 + ], + [ + 0.0005365312099456787, + -0.008605847135186195, + -0.00840209424495697, + -0.00626663863658905, + -0.019464969635009766, + -0.007732583209872246, + 0.0 + ], + [ + -0.001187741756439209, + -0.00966084748506546, + 0.00013569742441177368, + 0.004016406834125519, + -0.002095252275466919, + 0.012282381765544415, + 0.0 + ], + [ + -0.004347026348114014, + -0.009250979870557785, + -0.0005600415170192719, + 0.017917439341545105, + 0.012256890535354614, + 0.02083205245435238, + 0.0 + ], + [ + -0.00271645188331604, + -0.0034402571618556976, + 0.00019764527678489685, + 0.0045725442469120026, + 0.014281511306762695, + 0.019885197281837463, + 0.0 + ], + [ + -0.0015592575073242188, + -0.00621708482503891, + 0.0034741945564746857, + 0.010122008621692657, + 0.015499264001846313, + 0.002601519227027893, + 0.0 + ], + [ + -0.006674677133560181, + -0.004059784114360809, + 0.00840289518237114, + 0.023081064224243164, + 0.04877382516860962, + -0.007946178317070007, + 0.0 + ], + [ + -0.006069779396057129, + 0.0010128244757652283, + 0.0135490782558918, + 0.006945021450519562, + 0.0316939502954483, + -0.0048768967390060425, + 0.0 + ], + [ + -0.005360513925552368, + 0.005550984293222427, + 0.006913267076015472, + 0.01103810966014862, + 0.02638489007949829, + -0.006217632442712784, + 0.0 + ], + [ + 0.004263162612915039, + 0.01455434039235115, + 0.0050367191433906555, + -0.010458260774612427, + 0.0077802687883377075, + -0.008451012894511223, + 0.0 + ], + [ + 0.006262928247451782, + 0.024649757891893387, + 0.004603549838066101, + -0.008804991841316223, + 0.0018301606178283691, + -0.0174433384090662, + 0.0 + ], + [ + 0.007109522819519043, + 0.02608363702893257, + 0.0023908093571662903, + -0.010571852326393127, + -0.027532488107681274, + -0.013927659951150417, + 0.0 + ], + [ + 0.010643869638442993, + 0.02142217755317688, + -0.007909812033176422, + -0.015621934086084366, + -0.006060540676116943, + -0.012926037423312664, + 0.0 + ], + [ + 0.010329127311706543, + 0.024185076355934143, + -0.010479584336280823, + -0.021754711866378784, + -0.0020368844270706177, + -0.016203003004193306, + 0.0 + ], + [ + 0.006819039583206177, + 0.0226246640086174, + -0.006975874304771423, + 0.0003192499279975891, + -0.013821586966514587, + -0.007058713585138321, + 0.0 + ], + [ + 0.00575566291809082, + 0.01858038455247879, + -0.005473032593727112, + -0.0034913159906864166, + -0.013441026210784912, + -0.005858287215232849, + 0.0 + ], + [ + 0.001658797264099121, + 0.011987723410129547, + -0.007877562195062637, + 0.0010106824338436127, + -0.007957637310028076, + -0.013571057468652725, + 0.0 + ], + [ + 0.00117531418800354, + 0.003738299012184143, + -0.0032223574817180634, + 0.003986116498708725, + -0.02568492293357849, + 0.005296602845191956, + 1.0 + ], + [ + -0.004535675048828125, + -0.0017456263303756714, + -0.008009344339370728, + 0.0024515874683856964, + -0.004891067743301392, + -0.007407840341329575, + 1.0 + ], + [ + -0.009904086589813232, + -0.006573446094989777, + 0.0024589449167251587, + 0.005106054246425629, + 0.040029674768447876, + 0.014455083757638931, + 1.0 + ], + [ + -0.010613828897476196, + -0.00799175351858139, + 0.00400741770863533, + 0.0022291988134384155, + 0.04462973773479462, + 0.013558268547058105, + 1.0 + ], + [ + -0.0059670209884643555, + -0.014053680002689362, + 0.010673277080059052, + -0.0022570453584194183, + 0.012758925557136536, + 0.009678665548563004, + 1.0 + ], + [ + -0.0053262412548065186, + -0.009720593690872192, + 0.014967534691095352, + 0.012968175113201141, + 0.00417076051235199, + 0.01173950545489788, + 1.0 + ], + [ + -0.00788155198097229, + -0.00902700424194336, + 0.012662366032600403, + 0.013310879468917847, + 0.031899020075798035, + 0.007325453218072653, + 1.0 + ], + [ + -0.005292147397994995, + -0.008714623749256134, + 0.011767737567424774, + 0.006303347647190094, + 0.00989203155040741, + 0.0015107777435332537, + 1.0 + ], + [ + -0.003789365291595459, + -0.004636649042367935, + 0.006427429616451263, + 0.0019741877913475037, + 0.008116737008094788, + 0.005142919719219208, + 1.0 + ], + [ + -0.0006673038005828857, + -0.006102427840232849, + 0.002851255238056183, + 0.0035528913140296936, + 0.00020472705364227295, + 3.376055974513292e-05, + 1.0 + ], + [ + -0.00025776028633117676, + -0.009965427219867706, + -0.0006751120090484619, + -0.01680433750152588, + 0.004739910364151001, + 0.006293389014899731, + 1.0 + ], + [ + -0.006827563047409058, + -0.01632135920226574, + -0.0007719323039054871, + -0.00849146768450737, + 0.0009326785802841187, + 0.006263251416385174, + 1.0 + ], + [ + -0.005509108304977417, + -0.019335512071847916, + 0.0010131672024726868, + -0.01081395149230957, + 0.010575100779533386, + 0.02313932776451111, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.933559775352478 + ], + [ + 0.933559775352478 + ], + [ + 0.933559775352478 + ], + [ + 0.933559775352478 + ], + [ + 0.933559775352478 + ], + [ + 0.933559775352478 + ], + [ + 0.933559775352478 + ], + [ + 0.933559775352478 + ], + [ + 0.8870869278907776 + ], + [ + 0.8399420380592346 + ], + [ + 0.8687413334846497 + ], + [ + 0.8705081939697266 + ], + [ + 0.8705081939697266 + ], + [ + 0.8705081939697266 + ], + [ + 0.8705081939697266 + ], + [ + 0.8705081939697266 + ], + [ + 0.8705081939697266 + ], + [ + 0.8705081939697266 + ], + [ + 0.8705081939697266 + ], + [ + 0.8705081939697266 + ], + [ + 0.9255412817001343 + ], + [ + 1.002137303352356 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9499720335006714 + ], + [ + 0.6470694541931152 + ], + [ + 0.34125998616218567 + ], + [ + 0.147182896733284 + ], + [ + 0.07888144999742508 + ], + [ + 0.07888144999742508 + ], + [ + 0.0846695825457573 + ], + [ + 0.08571679890155792 + ], + [ + 0.08571679890155792 + ], + [ + 0.08571679890155792 + ], + [ + 0.08571679890155792 + ], + [ + 0.08571679890155792 + ], + [ + 0.08571679890155792 + ], + [ + 0.08571679890155792 + ], + [ + 0.08571679890155792 + ], + [ + 0.08571679890155792 + ], + [ + 0.11746759712696075 + ], + [ + 0.30724331736564636 + ], + [ + 0.5899012684822083 + ], + [ + 0.8870869278907776 + ], + [ + 1.0067112445831299 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.25919094681739807, + -0.13544446229934692, + 0.09411359578371048 + ], + [ + 0.2616835832595825, + -0.1404600441455841, + 0.07078580558300018 + ], + [ + 0.2664089798927307, + -0.14298006892204285, + 0.054078854620456696 + ], + [ + 0.2677517235279083, + -0.14619800448417664, + 0.04252122342586517 + ], + [ + 0.267447829246521, + -0.1516931653022766, + 0.03870672360062599 + ], + [ + 0.2655376195907593, + -0.153495654463768, + 0.03509578853845596 + ], + [ + 0.26206377148628235, + -0.1572263389825821, + 0.03131464868783951 + ], + [ + 0.2587304711341858, + -0.16138295829296112, + 0.025860706344246864 + ], + [ + 0.26085278391838074, + -0.16396978497505188, + 0.023810282349586487 + ], + [ + 0.2622218132019043, + -0.16649994254112244, + 0.023362502455711365 + ], + [ + 0.261653333902359, + -0.1693911999464035, + 0.023862572386860847 + ], + [ + 0.2559819519519806, + -0.16812311112880707, + 0.025256384164094925 + ], + [ + 0.25602564215660095, + -0.1665365844964981, + 0.042726900428533554 + ], + [ + 0.26337796449661255, + -0.1661427617073059, + 0.06755529344081879 + ], + [ + 0.27914878726005554, + -0.15996336936950684, + 0.08941730111837387 + ], + [ + 0.29910194873809814, + -0.14730630815029144, + 0.10922086238861084 + ], + [ + 0.32108476758003235, + -0.1264866590499878, + 0.11364231258630753 + ], + [ + 0.3445374369621277, + -0.1045427918434143, + 0.11142291128635406 + ], + [ + 0.3572746813297272, + -0.09051471948623657, + 0.10120320320129395 + ], + [ + 0.362276554107666, + -0.08780789375305176, + 0.09031752496957779 + ], + [ + 0.35898005962371826, + -0.095463827252388, + 0.08066514879465103 + ], + [ + 0.3584011495113373, + -0.10180134326219559, + 0.07537771016359329 + ], + [ + 0.35660311579704285, + -0.1071484163403511, + 0.0725022405385971 + ], + [ + 0.3478502035140991, + -0.10686732083559036, + 0.07233932614326477 + ], + [ + 0.34205329418182373, + -0.10195962339639664, + 0.09133235365152359 + ], + [ + 0.3430786430835724, + -0.09616538882255554, + 0.10436603426933289 + ], + [ + 0.3496963679790497, + -0.08127198368310928, + 0.10784208029508591 + ], + [ + 0.3586539328098297, + -0.059236910194158554, + 0.10800497233867645 + ], + [ + 0.3686572015285492, + -0.04003502428531647, + 0.10518085211515427 + ], + [ + 0.3691606819629669, + -0.022810399532318115, + 0.09495341032743454 + ], + [ + 0.3637120723724365, + -0.013579319231212139, + 0.08021997660398483 + ], + [ + 0.35661426186561584, + -0.013499000109732151, + 0.06276553869247437 + ], + [ + 0.3540724515914917, + -0.01990748755633831, + 0.05289296433329582 + ], + [ + 0.3546089828014374, + -0.028513334691524506, + 0.04449087008833885 + ], + [ + 0.35342124104499817, + -0.038174182176589966, + 0.044626567512750626 + ], + [ + 0.34907421469688416, + -0.04742516204714775, + 0.044066525995731354 + ], + [ + 0.3463577628135681, + -0.05086541920900345, + 0.04426417127251625 + ], + [ + 0.3447985053062439, + -0.05708250403404236, + 0.047738365828990936 + ], + [ + 0.3381238281726837, + -0.06114228814840317, + 0.056141261011362076 + ], + [ + 0.3320540487766266, + -0.06012946367263794, + 0.06969033926725388 + ], + [ + 0.3266935348510742, + -0.05457847937941551, + 0.07660360634326935 + ], + [ + 0.33095669746398926, + -0.04002413898706436, + 0.08164032548666 + ], + [ + 0.33721962571144104, + -0.0153743801638484, + 0.0862438753247261 + ], + [ + 0.3443291485309601, + 0.010709255933761597, + 0.0886346846818924 + ], + [ + 0.3549730181694031, + 0.03213143348693848, + 0.08072487264871597 + ], + [ + 0.3653021454811096, + 0.05631650984287262, + 0.07024528831243515 + ], + [ + 0.3721211850643158, + 0.07894117385149002, + 0.06326941400766373 + ], + [ + 0.3778768479824066, + 0.09752155840396881, + 0.057796381413936615 + ], + [ + 0.37953564524650574, + 0.10950928181409836, + 0.04991881921887398 + ], + [ + 0.3807109594345093, + 0.1132475808262825, + 0.046696461737155914 + ], + [ + 0.37617528438568115, + 0.11150195449590683, + 0.03868711739778519 + ], + [ + 0.3662711977958679, + 0.10492850840091705, + 0.041146062314510345 + ], + [ + 0.3556573688983917, + 0.09693675488233566, + 0.045153480023145676 + ], + [ + 0.34969034790992737, + 0.0828830748796463, + 0.05582675710320473 + ], + [ + 0.34436410665512085, + 0.07316248118877411, + 0.07079429179430008 + ], + [ + 0.33648255467414856, + 0.06413547694683075, + 0.08345665782690048 + ], + [ + 0.33119040727615356, + 0.055420853197574615, + 0.09522439539432526 + ], + [ + 0.3274010419845581, + 0.05078420415520668, + 0.10165182501077652 + ], + [ + 0.3267337381839752, + 0.04468177631497383, + 0.1045030802488327 + ], + [ + 0.32647597789764404, + 0.034716349095106125, + 0.10382796823978424 + ], + [ + 0.319648414850235, + 0.018394989892840385, + 0.10305603593587875 + ], + [ + 0.31413930654525757, + -0.0009405213058926165, + 0.10406920313835144 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9610064064792615, + 0.11874154770129611, + 0.24973412172812431, + 0.10162909249802907, + -0.9915695414388064, + 0.0803826601255676, + 0.2571735100352364, + -0.05186799919349394, + -0.9649722775270905 + ], + [ + 0.9513337257212602, + 0.12216141008411606, + 0.28291470833374244, + 0.10626198791318948, + -0.9918044577639055, + 0.07093875868932722, + 0.28926204768348596, + -0.03742335428453542, + -0.956518144273307 + ], + [ + 0.9408153015944521, + 0.1181659695347349, + 0.31765291109897903, + 0.10409984948753842, + -0.9926968562518834, + 0.06096042096556717, + 0.3225364934738573, + -0.024284876601362707, + -0.9462454518495953 + ], + [ + 0.9314360932724179, + 0.11931446898655276, + 0.3437889783571778, + 0.10638880427933176, + -0.9927298733921263, + 0.056292280100085926, + 0.34800607246631365, + -0.015857363125987508, + -0.9373581586358871 + ], + [ + 0.9250394132498119, + 0.12303364603892973, + 0.3593950554429084, + 0.11007214784756796, + -0.992322408500226, + 0.056394679328229905, + 0.36357421003512747, + -0.012607915397800398, + -0.9314799161907116 + ], + [ + 0.9221306611309271, + 0.13404194236020067, + 0.3629156947426554, + 0.12087572636228595, + -0.9909209774724574, + 0.058861491498428446, + 0.3675106836251558, + -0.010410287860306157, + -0.9299610332309824 + ], + [ + 0.9182494671381363, + 0.14644310367688043, + 0.36792979423527433, + 0.13390747839412562, + -0.9892043997857152, + 0.05952682315317821, + 0.3726750640043624, + -0.005391922668716881, + -0.9279462397355134 + ], + [ + 0.9144191607686617, + 0.15063687290362146, + 0.3756941987054829, + 0.13863941074213196, + -0.9885875069611656, + 0.05893941694131313, + 0.3802850407368282, + -0.0018093098479042106, + -0.924867565757208 + ], + [ + 0.9077457631235644, + 0.15998690563104195, + 0.3878167344994566, + 0.1495518035244428, + -0.9871002219471278, + 0.05716126218443539, + 0.39195903815807637, + 0.006110798518637273, + -0.9199623745282524 + ], + [ + 0.9077697177943843, + 0.17309524255483597, + 0.38208922578422294, + 0.1651930727397312, + -0.9847998436490012, + 0.05367044501128199, + 0.38557150850952443, + 0.014398088546250236, + -0.9225656111474698 + ], + [ + 0.9092246049421704, + 0.18000347002986994, + 0.3753789665723953, + 0.17184557724322824, + -0.9835644925995894, + 0.05540745869694269, + 0.37918295762032267, + 0.014129390451022402, + -0.9252138374320754 + ], + [ + 0.9275940088675134, + 0.18592220882930388, + 0.32404056378349894, + 0.16747327511056015, + -0.9822756407726695, + 0.08418591134140979, + 0.3339491830156764, + -0.02382221250584845, + -0.9422900006656593 + ], + [ + 0.9471622744428388, + 0.17938227168389492, + 0.2659052960694724, + 0.15729048263070855, + -0.9822341345893699, + 0.1023513992150101, + 0.27954128486874213, + -0.055119011720067196, + -0.9585502410416138 + ], + [ + 0.9592520719012883, + 0.16873047442802816, + 0.22663955866612925, + 0.14846375968500677, + -0.9834553852705197, + 0.10379796357639137, + 0.24040377412444644, + -0.06592065064686367, + -0.9684319765502458 + ], + [ + 0.9677854017066989, + 0.15671059004573254, + 0.19706143004383653, + 0.13929136897104552, + -0.9852466548369186, + 0.0994331115013202, + 0.20973633632152439, + -0.06878095739505424, + -0.975335762251259 + ], + [ + 0.9731241879193381, + 0.13025826989627318, + 0.18990023172697407, + 0.11674925584231657, + -0.9898760112094017, + 0.08071613031129332, + 0.1984916273967094, + -0.05637610802276108, + -0.9784798456266802 + ], + [ + 0.9786062647296282, + 0.08953115667493816, + 0.1852402510697193, + 0.0752428910414884, + -0.9937224941169901, + 0.08278956476288273, + 0.1914896497976945, + -0.06708037470345947, + -0.9791996412121483 + ], + [ + 0.9811805072810178, + 0.04557396497998075, + 0.18763748518824144, + 0.03393616122418127, + -0.9973226054089273, + 0.06477621246811886, + 0.19008721443887386, + -0.05718946106016379, + -0.9801001053211437 + ], + [ + 0.9801890540230805, + 0.028073789029489246, + 0.19606448108432634, + 0.01934609255355086, + -0.9987407404646124, + 0.04628889757930222, + 0.19711708976201903, + -0.04157878913250621, + -0.9794978597312128 + ], + [ + 0.9706543872005298, + 0.042306797502236246, + 0.23672810457034693, + 0.035405912936279996, + -0.9988171087360883, + 0.03332873572804712, + 0.2378581130369803, + -0.02396910889428769, + -0.9710041193946096 + ], + [ + 0.9638314164375164, + 0.045867660917318455, + 0.26253601347248556, + 0.04066106416384615, + -0.9988543181060199, + 0.025233490880610106, + 0.26339263191880447, + -0.013645837567996474, + -0.9645922001384591 + ], + [ + 0.9582842152769023, + 0.0485734840823638, + 0.28165933216428674, + 0.04224581795005706, + -0.9987007186624222, + 0.028498515906837493, + 0.2826776496592228, + -0.015410749081792973, + -0.9590911610456411 + ], + [ + 0.9545500566261929, + 0.06208293247289137, + 0.2915131195855482, + 0.05323028331492949, + -0.9978509797226777, + 0.038209412514514686, + 0.29325880435742085, + -0.020955470933825902, + -0.9558034012833379 + ], + [ + 0.9679839641159642, + 0.06571710025404354, + 0.24225669845959613, + 0.04963055931020006, + -0.996174542200976, + 0.07192418962513661, + 0.24605660486339398, + -0.0575981267479758, + -0.9675425587529594 + ], + [ + 0.9773444661408924, + 0.0624710582025511, + 0.20222552111646983, + 0.042685375174830564, + -0.9939940074583554, + 0.10076642239884845, + 0.20730594118345538, + -0.08985143306554805, + -0.974141143123577 + ], + [ + 0.9795199511125745, + 0.04992497208556456, + 0.19505938207293655, + 0.02841761898829607, + -0.9933532103464355, + 0.1115429891363269, + 0.19933164400931497, + -0.10371546006592414, + -0.974428036870788 + ], + [ + 0.9817172990263059, + 0.016466120311476085, + 0.18963125183993926, + -0.001102070065857383, + -0.9957428562581611, + 0.09216805114793766, + 0.19034161456198803, + -0.09069195715567566, + -0.9775198405522051 + ], + [ + 0.9788973195513175, + -0.0017160489806032882, + 0.20434552344287324, + -0.016067580688575965, + -0.9975153116214769, + 0.06859326447636045, + 0.20372007909399062, + -0.0704291009214515, + -0.9764926375131224 + ], + [ + 0.9677840857545206, + -0.017426821559723252, + 0.25117776424399596, + -0.028919154266184122, + -0.9986932962786454, + 0.04213528787871653, + 0.25011526518150684, + -0.04804170957011455, + -0.9670234476292523 + ], + [ + 0.9626732543771317, + -0.020660162175942617, + 0.2698765699459776, + -0.03346535469856217, + -0.9985173047669278, + 0.042933228575194174, + 0.2685894177771005, + -0.050362186011472895, + -0.9619373029872083 + ], + [ + 0.961351544135296, + -0.014193508696982864, + 0.2749577292958884, + -0.025727285512453162, + -0.9989317274316374, + 0.03838633494625402, + 0.27411916271731734, + -0.043976678379727095, + -0.9606897191028139 + ], + [ + 0.95544362351207, + 0.001810452357244525, + 0.29516809541748923, + -0.007959044251691253, + -0.9994595886898127, + 0.03189332517299269, + 0.29506632458605897, + -0.03282153010224807, + -0.9549128815012508 + ], + [ + 0.9431041440035252, + 0.018569989889910706, + 0.33197850689294117, + 0.006245670058364361, + -0.9992524120418065, + 0.03815243942598857, + 0.33243881417322496, + -0.03390829550597154, + -0.9425150727319853 + ], + [ + 0.9364750823723202, + 0.009303473674204537, + 0.3506107035921021, + -0.0010396930100603913, + -0.9995701031331155, + 0.0293006477897228, + 0.3507325749544806, + -0.027803854050220074, + -0.9360628219119448 + ], + [ + 0.9356803336837358, + 0.023052133215226478, + 0.35209503306880136, + 0.01045400756360732, + -0.9992366731844666, + 0.03764020043915234, + 0.35269395640321494, + -0.031538391168018945, + -0.935207090969257 + ], + [ + 0.9395099052009197, + 0.04955470267929668, + 0.3389180866695152, + 0.03007854705139093, + -0.9975927357583496, + 0.06248211399631467, + 0.34119850386048844, + -0.048508401380974266, + -0.9387387900576103 + ], + [ + 0.9434964577644418, + 0.07016894710258019, + 0.32386841934413096, + 0.049001463407440056, + -0.9961225026086822, + 0.07306720454858592, + 0.327739669203897, + -0.05306862217102385, + -0.9432764338045284 + ], + [ + 0.9483244590613209, + 0.07506102873103027, + 0.3082962249394126, + 0.051726289411394066, + -0.9951904626300626, + 0.08318854532861374, + 0.31305768051555954, + -0.06294271249319948, + -0.9476460856322979 + ], + [ + 0.9628237717386359, + 0.07010015412857078, + 0.2608761257112983, + 0.04484678489897071, + -0.9938208525080664, + 0.10153264994259167, + 0.26638158806346196, + -0.0860585934772933, + -0.9600181081779121 + ], + [ + 0.9709813336788231, + 0.06411759752270875, + 0.23040005064064142, + 0.04048214187385369, + -0.9935535647284636, + 0.10588914110836967, + 0.23570414895923955, + -0.09348929191773234, + -0.9673175830409173 + ], + [ + 0.9770906243978756, + 0.05773065306416346, + 0.20484404655872923, + 0.03465259874247567, + -0.9928172165214407, + 0.11451275902279108, + 0.20998359248799087, + -0.10479096466491776, + -0.9720729111596689 + ], + [ + 0.9789521152822456, + 0.0464468624282216, + 0.19873460935375836, + 0.026437358874425443, + -0.9944146464023175, + 0.1021791420804602, + 0.20237050684366514, + -0.09477446908913756, + -0.9747122539338008 + ], + [ + 0.979633031962028, + 0.02717061521766624, + 0.19894944171215373, + 0.009361533329626767, + -0.9959054636855794, + 0.08991478796576945, + 0.2005778761045256, + -0.08622102452363063, + -0.9758762475578002 + ], + [ + 0.973775452086419, + 0.013264324160823007, + 0.22712425369926223, + -0.0042571663944726505, + -0.9970618876442155, + 0.07648181968052013, + 0.22747141677182212, + -0.07544302427600864, + -0.9708579219638215 + ], + [ + 0.9722428100744761, + -0.0028227126382350115, + 0.23395715537646747, + -0.016819363402508756, + -0.9981834700762178, + 0.057852131173667456, + 0.23336886526103037, + -0.06018132899797765, + -0.9705241781464368 + ], + [ + 0.9713655811912102, + -0.024020213392889452, + 0.23637245403308518, + -0.03255373043500959, + -0.9989490535972305, + 0.03226519722491495, + 0.23534902233029917, + -0.03903610720548328, + -0.9711266755796665 + ], + [ + 0.9677687208627096, + -0.03045286518989085, + 0.24999265173496915, + -0.0392737940252644, + -0.9987668118077653, + 0.03037144603428611, + 0.2487594661969999, + -0.039210695391420705, + -0.9677712794582743 + ], + [ + 0.9640947623346343, + -0.036696307760922114, + 0.2630107796947505, + -0.044783353726507075, + -0.9986884161223405, + 0.024817307107286316, + 0.2617551154570459, + -0.03570474057833927, + -0.9644736549187344 + ], + [ + 0.9612885580057398, + -0.04968856890032791, + 0.27102648277960417, + -0.057735903874226, + -0.9980939566965287, + 0.021794930825633975, + 0.2694269356450313, + -0.036599176582341325, + -0.9623251148247265 + ], + [ + 0.9543546065087758, + -0.042287999186402754, + 0.2956670596469795, + -0.0522479383497236, + -0.9982991696383202, + 0.025863503970728986, + 0.29407046430011163, + -0.04013094845940266, + -0.954940871992641 + ], + [ + 0.9524944294792167, + -0.04874938415623836, + 0.30062910596854914, + -0.05922617516767169, + -0.9979103664170206, + 0.02582945551993239, + 0.29874173124300846, + -0.04240752458981063, + -0.9533913046971295 + ], + [ + 0.9644291522568716, + -0.034688105968809835, + 0.2620556154357097, + -0.04598506679596655, + -0.9982530168258918, + 0.03709835616002685, + 0.26031093697511526, + -0.047829381161607426, + -0.9643394456252607 + ], + [ + 0.9756101200305066, + -0.022809620529667736, + 0.21832227304000246, + -0.03326828494200661, + -0.9984620188938289, + 0.044348822346000065, + 0.21697491770036065, + -0.050530367480874104, + -0.9748684870541102 + ], + [ + 0.9785744479157273, + -0.01425397213649305, + 0.20539930419736466, + -0.023889892987382033, + -0.9987232639467427, + 0.04450971876586432, + 0.20450262320929016, + -0.04846304086514773, + -0.977665592506263 + ], + [ + 0.9796318136132216, + -0.00012698755650496565, + 0.2008021255640249, + -0.012411227874254778, + -0.9981261350062315, + 0.059918111119888214, + 0.20041824063573468, + -0.06118988880266448, + -0.977797691922411 + ], + [ + 0.9855900146657148, + 0.007476724419084009, + 0.16898645384526204, + -0.005266202532089169, + -0.9971820817478224, + 0.07483423649620494, + 0.1690697787959954, + -0.07464579313692088, + -0.9827733286291569 + ], + [ + 0.9872210289141028, + 0.009247195021697175, + 0.15908843281021837, + -0.003783414129689247, + -0.9966734593427334, + 0.08141069474775739, + 0.1593120392415587, + -0.08097224725805727, + -0.9839020120554062 + ], + [ + 0.9884879896618626, + 0.01401264552691836, + 0.15064906259112987, + 0.0012954642772678212, + -0.996449328631601, + 0.08418466155979856, + 0.15129380709915247, + -0.08302036638661889, + -0.9849963465406741 + ], + [ + 0.9885188985547642, + 0.014563712947251652, + 0.15039376803998764, + 0.0013288777951020458, + -0.9961434733089778, + 0.08772921216864484, + 0.15109143352249074, + -0.08652212924515594, + -0.9847260024326578 + ], + [ + 0.9891959917352955, + 0.01798001119454513, + 0.14549229921982051, + 0.0075553292039278784, + -0.9973840331646772, + 0.07188885441278746, + 0.14640425859737152, + -0.07001292441832942, + -0.9867441327309465 + ], + [ + 0.9892653736211227, + 0.022936549556815983, + 0.14431886657221402, + 0.013752615808855596, + -0.9978348639797695, + 0.0643152375793567, + 0.145481566229797, + -0.06164007560753642, + -0.9874389170811644 + ], + [ + 0.9901644624354482, + 0.04393183709262623, + 0.13283196535317518, + 0.036692749401715505, + -0.9977301374368528, + 0.05646428067001316, + 0.13501103462777805, + -0.05103495409918643, + -0.9895289050800038 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005833.json b/json/chunk-0005/episode_0005833.json new file mode 100644 index 0000000000000000000000000000000000000000..f2e315b7d9dd18fbb1c532365bf4cf045585b597 --- /dev/null +++ b/json/chunk-0005/episode_0005833.json @@ -0,0 +1,1882 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 30, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut the pot on the napkin." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005833.mp4", + "start": 0, + "end": 30, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.34723153710365295, + 0.03863856941461563, + 0.10013741999864578, + 0.0661352202296257, + -0.154220849275589, + -0.04512043297290802, + 0.0, + 0.9994885921478271 + ], + [ + 0.3454698324203491, + 0.037437014281749725, + 0.08926844596862793, + 0.055108170956373215, + -0.12146005779504776, + -0.045146193355321884, + 0.0, + 0.9994885921478271 + ], + [ + 0.35020941495895386, + 0.06022040918469429, + 0.09214545786380768, + 0.041863955557346344, + -0.1328030675649643, + -0.019304707646369934, + 0.0, + 0.9994885921478271 + ], + [ + 0.3638904094696045, + 0.08337048441171646, + 0.0849681943655014, + 0.06089246645569801, + -0.12996052205562592, + -0.003304030280560255, + 0.0, + 0.9994885921478271 + ], + [ + 0.3662932515144348, + 0.1055871769785881, + 0.06274096667766571, + 0.06839942187070847, + -0.08234459906816483, + 0.03008137084543705, + 0.0, + 0.9994885921478271 + ], + [ + 0.3645215630531311, + 0.11600290238857269, + 0.0359887033700943, + 0.037745825946331024, + -0.0339910164475441, + 0.06715603917837143, + 0.0, + 1.0001531839370728 + ], + [ + 0.36528146266937256, + 0.11429508030414581, + 0.016475463286042213, + 0.021260973066091537, + 0.0011705056531354785, + 0.08866900950670242, + 0.0, + 0.9994885921478271 + ], + [ + 0.3695332109928131, + 0.11271598190069199, + 0.011154942214488983, + -0.0015079089207574725, + 0.007520315237343311, + 0.09816909581422806, + 0.0, + 0.9437892436981201 + ], + [ + 0.3713033199310303, + 0.11176230758428574, + 0.011418269947171211, + -0.0044821384362876415, + -0.004125677049160004, + 0.07986278831958771, + 0.0, + 0.6621366739273071 + ], + [ + 0.37010717391967773, + 0.11335791647434235, + 0.01102623250335455, + 0.007079893723130226, + -0.0015514279948547482, + 0.07119625061750412, + 0.0, + 0.39974725246429443 + ], + [ + 0.37066197395324707, + 0.11243908107280731, + 0.013990047387778759, + 0.001909262384288013, + -0.007428375072777271, + 0.042944371700286865, + 0.0, + 0.19029754400253296 + ], + [ + 0.378567636013031, + 0.11240869015455246, + 0.04188169166445732, + 0.005433328449726105, + -0.0674089640378952, + -0.004576379433274269, + 0.0, + 0.09143470972776413 + ], + [ + 0.38647711277008057, + 0.10831350088119507, + 0.08507807552814484, + 0.038689401000738144, + -0.1560499370098114, + -0.0817917138338089, + 0.0, + 0.08191495388746262 + ], + [ + 0.37798699736595154, + 0.07973039150238037, + 0.1155628189444542, + 0.056460775434970856, + -0.17377977073192596, + -0.13621580600738525, + 0.0, + 0.08191495388746262 + ], + [ + 0.34374651312828064, + 0.03905962035059929, + 0.11825250089168549, + 0.021979019045829773, + -0.1287749707698822, + -0.20787587761878967, + 0.0, + 0.08191495388746262 + ], + [ + 0.3086954355239868, + 0.01902006007730961, + 0.11577913910150528, + 0.0057119932025671005, + -0.09645096212625504, + -0.2326352447271347, + 0.0, + 0.08123486489057541 + ], + [ + 0.26172497868537903, + -0.015398168005049229, + 0.10513656586408615, + 0.022248748689889908, + -0.05432548373937607, + -0.33524635434150696, + 0.0, + 0.07954961806535721 + ], + [ + 0.2342357635498047, + -0.024306081235408783, + 0.08107592165470123, + 0.047530148178339005, + -0.00628456799313426, + -0.3749410808086395, + 0.0, + 0.07954961806535721 + ], + [ + 0.22996141016483307, + -0.03415600210428238, + 0.06355080008506775, + 0.06755002588033676, + 0.016291910782456398, + -0.4109656810760498, + 0.0, + 0.07954961806535721 + ], + [ + 0.2337079793214798, + -0.030474331229925156, + 0.04385760426521301, + 0.08645638078451157, + 0.0621243417263031, + -0.3913801610469818, + 0.0, + 0.07954961806535721 + ], + [ + 0.252928763628006, + -0.0273456834256649, + 0.03746771439909935, + 0.10581665486097336, + 0.04771718755364418, + -0.36508604884147644, + 0.0, + 0.07954961806535721 + ], + [ + 0.2583208680152893, + -0.02695394866168499, + 0.03437170013785362, + 0.11065053194761276, + 0.05433546006679535, + -0.36371049284935, + 0.0, + 0.07954961806535721 + ], + [ + 0.2576655447483063, + -0.028826087713241577, + 0.03325187787413597, + 0.10944030433893204, + 0.04800298437476158, + -0.3703051209449768, + 0.0, + 0.07954961806535721 + ], + [ + 0.2530215382575989, + -0.038567014038562775, + 0.033479396253824234, + 0.11073680967092514, + 0.04836266115307808, + -0.40065816044807434, + 0.0, + 0.10996698588132858 + ], + [ + 0.25189685821533203, + -0.038410432636737823, + 0.0345379002392292, + 0.12152164429426193, + 0.05617465078830719, + -0.4018554091453552, + 0.0, + 0.289117693901062 + ], + [ + 0.25187361240386963, + -0.036626461893320084, + 0.03777879849076271, + 0.1322004646062851, + 0.06484594196081161, + -0.37919652462005615, + 0.0, + 0.5729578137397766 + ], + [ + 0.2617599368095398, + -0.02010061778128147, + 0.062403034418821335, + 0.1191694512963295, + 0.010779127478599548, + -0.2532704472541809, + 0.0, + 0.8888095021247864 + ], + [ + 0.27610862255096436, + 0.013067628256976604, + 0.10539926588535309, + 0.10498732328414917, + -0.05249117687344551, + -0.07719576358795166, + 0.0, + 1.003452181816101 + ], + [ + 0.30908021330833435, + 0.04337451234459877, + 0.12939776480197906, + 0.039499055594205856, + -0.07044300436973572, + 0.0707986131310463, + 0.0, + 1.0001531839370728 + ], + [ + 0.3530066907405853, + 0.04909464716911316, + 0.116024911403656, + -0.027193067595362663, + -0.03821815922856331, + 0.05563199147582054, + 0.0, + 0.9994885921478271 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9437892436981201 + ], + [ + 0.6621366739273071 + ], + [ + 0.39974725246429443 + ], + [ + 0.19029754400253296 + ], + [ + 0.09143470972776413 + ], + [ + 0.08191495388746262 + ], + [ + 0.08191495388746262 + ], + [ + 0.08191495388746262 + ], + [ + 0.08123486489057541 + ], + [ + 0.07954961806535721 + ], + [ + 0.07954961806535721 + ], + [ + 0.07954961806535721 + ], + [ + 0.07954961806535721 + ], + [ + 0.07954961806535721 + ], + [ + 0.07954961806535721 + ], + [ + 0.07954961806535721 + ], + [ + 0.10996698588132858 + ], + [ + 0.289117693901062 + ], + [ + 0.5729578137397766 + ], + [ + 0.8888095021247864 + ], + [ + 1.003452181816101 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.34723153710365295, + 0.03863856941461563, + 0.10013741999864578 + ], + [ + 0.3454698324203491, + 0.037437014281749725, + 0.08926844596862793 + ], + [ + 0.35020941495895386, + 0.06022040918469429, + 0.09214545786380768 + ], + [ + 0.3638904094696045, + 0.08337048441171646, + 0.0849681943655014 + ], + [ + 0.3662932515144348, + 0.1055871769785881, + 0.06274096667766571 + ], + [ + 0.3645215630531311, + 0.11600290238857269, + 0.0359887033700943 + ], + [ + 0.36528146266937256, + 0.11429508030414581, + 0.016475463286042213 + ], + [ + 0.3695332109928131, + 0.11271598190069199, + 0.011154942214488983 + ], + [ + 0.3713033199310303, + 0.11176230758428574, + 0.011418269947171211 + ], + [ + 0.37010717391967773, + 0.11335791647434235, + 0.01102623250335455 + ], + [ + 0.37066197395324707, + 0.11243908107280731, + 0.013990047387778759 + ], + [ + 0.378567636013031, + 0.11240869015455246, + 0.04188169166445732 + ], + [ + 0.38647711277008057, + 0.10831350088119507, + 0.08507807552814484 + ], + [ + 0.37798699736595154, + 0.07973039150238037, + 0.1155628189444542 + ], + [ + 0.34374651312828064, + 0.03905962035059929, + 0.11825250089168549 + ], + [ + 0.3086954355239868, + 0.01902006007730961, + 0.11577913910150528 + ], + [ + 0.26172497868537903, + -0.015398168005049229, + 0.10513656586408615 + ], + [ + 0.2342357635498047, + -0.024306081235408783, + 0.08107592165470123 + ], + [ + 0.22996141016483307, + -0.03415600210428238, + 0.06355080008506775 + ], + [ + 0.2337079793214798, + -0.030474331229925156, + 0.04385760426521301 + ], + [ + 0.252928763628006, + -0.0273456834256649, + 0.03746771439909935 + ], + [ + 0.2583208680152893, + -0.02695394866168499, + 0.03437170013785362 + ], + [ + 0.2576655447483063, + -0.028826087713241577, + 0.03325187787413597 + ], + [ + 0.2530215382575989, + -0.038567014038562775, + 0.033479396253824234 + ], + [ + 0.25189685821533203, + -0.038410432636737823, + 0.0345379002392292 + ], + [ + 0.25187361240386963, + -0.036626461893320084, + 0.03777879849076271 + ], + [ + 0.2617599368095398, + -0.02010061778128147, + 0.062403034418821335 + ], + [ + 0.27610862255096436, + 0.013067628256976604, + 0.10539926588535309 + ], + [ + 0.30908021330833435, + 0.04337451234459877, + 0.12939776480197906 + ], + [ + 0.3530066907405853, + 0.04909464716911316, + 0.116024911403656 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9871258413750132, + -0.03486520755138444, + 0.1560992972183764, + -0.04456979532497297, + -0.9972562253469022, + 0.05910629705487205, + 0.15361024260889033, + -0.0653026669382472, + -0.9859713256765585 + ], + [ + 0.9916213812164969, + -0.03839552977092869, + 0.12334025947717595, + -0.04479837044395687, + -0.9977657455454868, + 0.04956433215151024, + 0.12116163716231873, + -0.05467449414186609, + -0.9911259038943933 + ], + [ + 0.9910099361129724, + -0.01374591333808817, + 0.13308026296887226, + -0.019133533992814245, + -0.9990446403004212, + 0.03929013316276798, + 0.1324130446833251, + -0.041483208090792444, + -0.9903261730582443 + ], + [ + 0.9915615983583093, + 0.0045885395104041365, + 0.12955516958530158, + -0.0032761614675575913, + -0.9981672354916467, + 0.06042711938361574, + 0.12959499769340357, + -0.06034165473472465, + -0.9897292666566558 + ], + [ + 0.996160721405214, + 0.035625535765134005, + 0.07996648254669217, + 0.029974921952158874, + -0.9970412398177299, + 0.0707832618398276, + 0.08225157252846446, + -0.06811451610465107, + -0.9942811933816427 + ], + [ + 0.9971695436401441, + 0.06833735030154513, + 0.03135136026188737, + 0.0670668095525634, + -0.9969491363186094, + 0.0399307231341864, + 0.03398447135011709, + -0.0377150652570398, + -0.9987104833532641 + ], + [ + 0.9960707959379674, + 0.0885080664311424, + -0.0030482217971826552, + 0.08855280569607055, + -0.9958485637515815, + 0.021072225256641913, + -0.0011705053858537529, + -0.02125935677609189, + -0.9997733091389311 + ], + [ + 0.9951571415757605, + 0.09802266685473737, + -0.007336235645542387, + 0.09800872152847437, + -0.9951830400100714, + -0.0022377177361700192, + -0.0075202443521286515, + 0.0015078657095291069, + -0.9999705857003427 + ], + [ + 0.99680417868127, + 0.07975868622777146, + 0.00447004863264337, + 0.07977724142271397, + -0.996804124631681, + -0.004138703691956712, + 0.004125665345166622, + 0.004482085283403713, + -0.9999814447263367 + ], + [ + 0.9974654169281763, + 0.07114529119340439, + 0.0010438262814590656, + 0.0711360323985535, + -0.9974408371447484, + 0.007172258401370012, + 0.0015514273724920305, + -0.007079826056462817, + -0.9999737342231139 + ], + [ + 0.9990504673613375, + 0.042945264366652844, + 0.007339477745127592, + 0.042929988630741, + -0.9990756023400836, + 0.002226406288916612, + 0.007428306755740091, + -0.0019092085473244582, + -0.999970587158175 + ], + [ + 0.9977184281483175, + -0.004210323813036342, + 0.06738109012653618, + -0.004565969970236105, + -0.9999764428946436, + 0.005124995025061119, + 0.06735792493450132, + -0.005420962014751463, + -0.9977141490022846 + ], + [ + 0.9845464410636201, + -0.07564800045191136, + 0.15794203182366506, + -0.08070779635967032, + -0.996402225605052, + 0.025862258525993595, + 0.155417363881022, + -0.03820974793069118, + -0.9871096485028131 + ], + [ + 0.9758147382322737, + -0.12591170500526966, + 0.17869482138927636, + -0.13374964639374182, + -0.9904832220460725, + 0.032465657775253356, + 0.17290641612799815, + -0.055580836516706006, + -0.9833687720656351 + ], + [ + 0.9703697145398346, + -0.20357058236415818, + 0.13016003649276364, + -0.20467312180444916, + -0.9788176458878312, + -0.004992925938339887, + 0.12841935334949006, + -0.02179527688564955, + -0.9914804262267495 + ], + [ + 0.9685396501004193, + -0.23000356448586384, + 0.09502266312387905, + -0.22947106488501312, + -0.9731731790333052, + -0.016643136445639396, + 0.09630148785919787, + -0.005685414145613273, + -0.9953359731779503 + ], + [ + 0.9429361501704455, + -0.32777966292688016, + 0.058582499718602715, + -0.3285164542063251, + -0.9444929997838355, + 0.003148440095593048, + 0.0542987662607798, + -0.02221409306887917, + -0.9982776057047883 + ], + [ + 0.9305108248436863, + -0.3655262690130734, + 0.023241159827013316, + -0.3662104716878424, + -0.9295876620957024, + 0.04191263420037083, + 0.00628452662421458, + -0.04751131592398184, + -0.9988509296107608 + ], + [ + 0.916613805579336, + -0.399591759293613, + 0.012064714087046933, + -0.39944177115983914, + -0.9142054283487648, + 0.06837182336563825, + -0.01629119007493343, + -0.06748970797304295, + -0.9975869568331653 + ], + [ + 0.9226002331126274, + -0.38499533007357195, + -0.024236453578583523, + -0.38072869414824434, + -0.9188858659050833, + 0.1034138621850954, + -0.06208438863915877, + -0.0861821400372875, + -0.9943430833600116 + ], + [ + 0.9330298121676978, + -0.3597385855368865, + -0.006596944916488108, + -0.35662328475639943, + -0.927069628626266, + 0.11559297750431823, + -0.04769908149919714, + -0.10549906992328391, + -0.9932747574913274 + ], + [ + 0.9332040076218042, + -0.35917360243236285, + -0.01116259263622842, + -0.3552194282918506, + -0.9267343924297058, + 0.12240311945352828, + -0.05430872786775803, + -0.11026191184494713, + -0.9924176907299077 + ], + [ + 0.9311431245042902, + -0.3646204984975525, + -0.0049369792165101685, + -0.36148300727408234, + -0.9247431648393111, + 0.11908028608909399, + -0.04798455106045814, + -0.10909615556183, + -0.9928723541831322 + ], + [ + 0.9197278482040295, + -0.3925549440024467, + -0.001140691554080489, + -0.38956842946170467, + -0.9130808066761281, + 0.1204984615935491, + -0.0483438104076051, + -0.11038141337610743, + -0.9927128585730953 + ], + [ + 0.9188851569160947, + -0.39450605864623245, + -0.003877897716413843, + -0.3905096603980396, + -0.9108876617498805, + 0.13336368624045622, + -0.05614511140866458, + -0.12103155523767536, + -0.991059578986883 + ], + [ + 0.9270099039718221, + -0.3748790802210515, + -0.01087718487346186, + -0.36939617275148456, + -0.9176945304564665, + 0.1462300117172967, + -0.06480050535843353, + -0.1315386786572825, + -0.9891908160321686 + ], + [ + 0.9680418789825723, + -0.25003488302156757, + 0.0194287881320855, + -0.2505568507277894, + -0.9609109950283625, + 0.11777658590303156, + -0.010778918742746581, + -0.11888068348555583, + -0.9928500380242447 + ], + [ + 0.9956486427734696, + -0.0712125998404685, + 0.060104457133468646, + -0.07701289610897587, + -0.9919561967771178, + 0.10045853626439168, + 0.052467075163913544, + -0.10465022359955718, + -0.9931241295650342 + ], + [ + 0.9950209552948852, + 0.07345675223097409, + 0.0673602559060705, + 0.07056404251590626, + -0.9965201786643039, + 0.044364957102167826, + 0.07038475991198234, + -0.039390850035777344, + -0.9967418655326922 + ], + [ + 0.9977238445693276, + 0.05454546207534046, + 0.03964747841650211, + 0.05556269691906039, + -0.9981415687067834, + -0.025023899189402857, + 0.03820885615770306, + 0.027169861732227407, + -0.9989003363321942 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.001761704683303833, + -0.0012015551328659058, + -0.010868974030017853, + -0.011027049273252487, + 0.03276079148054123, + -2.5760382413864136e-05, + 1.0 + ], + [ + 0.004739582538604736, + 0.022783394902944565, + 0.0028770118951797485, + -0.01324421539902687, + -0.011343009769916534, + 0.02584148570895195, + 1.0 + ], + [ + 0.013680994510650635, + 0.02315007522702217, + -0.007177263498306274, + 0.01902851089835167, + 0.002842545509338379, + 0.01600067690014839, + 1.0 + ], + [ + 0.0024028420448303223, + 0.022216692566871643, + -0.022227227687835693, + 0.007506955415010452, + 0.04761592298746109, + 0.03338539972901344, + 1.0 + ], + [ + -0.001771688461303711, + 0.010415725409984589, + -0.02675226330757141, + -0.03065359592437744, + 0.04835358262062073, + 0.03707467019557953, + 1.0 + ], + [ + 0.0007598996162414551, + -0.0017078220844268799, + -0.019513240084052086, + -0.016484852880239487, + 0.035161521285772324, + 0.021512970328330994, + 1.0 + ], + [ + 0.004251748323440552, + -0.001579098403453827, + -0.00532052107155323, + -0.022768881171941757, + 0.006349809467792511, + 0.009500086307525635, + 0.0 + ], + [ + 0.001770108938217163, + -0.00095367431640625, + 0.0002633277326822281, + -0.002974229399114847, + -0.011645992286503315, + -0.01830630749464035, + 0.0 + ], + [ + -0.001196146011352539, + 0.00159560889005661, + -0.00039203744381666183, + 0.011562032625079155, + 0.0025742491707205772, + -0.008666537702083588, + 0.0 + ], + [ + 0.0005548000335693359, + -0.0009188354015350342, + 0.0029638148844242096, + -0.005170631222426891, + -0.005876947194337845, + -0.028251878917217255, + 0.0 + ], + [ + 0.007905662059783936, + -3.0390918254852295e-05, + 0.027891643345355988, + 0.00352406594902277, + -0.059980589896440506, + -0.047520749270915985, + 0.0 + ], + [ + 0.00790947675704956, + -0.004095189273357391, + 0.043196383863687515, + 0.03325607255101204, + -0.0886409729719162, + -0.07721533626317978, + 0.0 + ], + [ + -0.008490115404129028, + -0.028583109378814697, + 0.030484743416309357, + 0.017771374434232712, + -0.017729833722114563, + -0.054424092173576355, + 0.0 + ], + [ + -0.0342404842376709, + -0.04067077115178108, + 0.0026896819472312927, + -0.03448175638914108, + 0.04500479996204376, + -0.07166007161140442, + 0.0 + ], + [ + -0.03505107760429382, + -0.02003956027328968, + -0.0024733617901802063, + -0.016267025843262672, + 0.03232400864362717, + -0.024759367108345032, + 0.0 + ], + [ + -0.04697045683860779, + -0.03441822901368141, + -0.010642573237419128, + 0.016536755487322807, + 0.04212547838687897, + -0.10261110961437225, + 0.0 + ], + [ + -0.02748921513557434, + -0.008907913230359554, + -0.024060644209384918, + 0.025281399488449097, + 0.04804091528058052, + -0.03969472646713257, + 0.0 + ], + [ + -0.004274353384971619, + -0.009849920868873596, + -0.017525121569633484, + 0.020019877701997757, + 0.022576479241251945, + -0.03602460026741028, + 0.0 + ], + [ + 0.0037465691566467285, + 0.0036816708743572235, + -0.019693195819854736, + 0.018906354904174805, + 0.04583243280649185, + 0.019585520029067993, + 0.0 + ], + [ + 0.019220784306526184, + 0.003128647804260254, + -0.006389889866113663, + 0.019360274076461792, + -0.01440715417265892, + 0.02629411220550537, + 0.0 + ], + [ + 0.005392104387283325, + 0.0003917347639799118, + -0.0030960142612457275, + 0.004833877086639404, + 0.006618272513151169, + 0.0013755559921264648, + 0.0 + ], + [ + -0.0006553232669830322, + -0.0018721390515565872, + -0.0011198222637176514, + -0.001210227608680725, + -0.006332475692033768, + -0.006594628095626831, + 0.0 + ], + [ + -0.0046440064907073975, + -0.009740926325321198, + 0.00022751837968826294, + 0.001296505331993103, + 0.0003596767783164978, + -0.030353039503097534, + 1.0 + ], + [ + -0.0011246800422668457, + 0.00015658140182495117, + 0.0010585039854049683, + 0.010784834623336792, + 0.007811989635229111, + -0.0011972486972808838, + 1.0 + ], + [ + -2.3245811462402344e-05, + 0.0017839707434177399, + 0.0032408982515335083, + 0.010678820312023163, + 0.008671291172504425, + 0.022658884525299072, + 1.0 + ], + [ + 0.009886324405670166, + 0.016525844112038612, + 0.024624235928058624, + -0.013031013309955597, + -0.05406681448221207, + 0.12592607736587524, + 1.0 + ], + [ + 0.01434868574142456, + 0.0331682451069355, + 0.042996231466531754, + -0.014182128012180328, + -0.06327030062675476, + 0.17607468366622925, + 1.0 + ], + [ + 0.032971590757369995, + 0.03030688315629959, + 0.023998498916625977, + -0.06548826396465302, + -0.017951827496290207, + 0.14799436926841736, + 1.0 + ], + [ + 0.04392647743225098, + 0.005720134824514389, + -0.013372853398323059, + -0.06669212132692337, + 0.03222484514117241, + -0.015166621655225754, + 1.0 + ], + [ + 0.023474276065826416, + -0.004154175519943237, + -0.008608214557170868, + -0.05127754807472229, + 0.005482073873281479, + -0.06746625155210495, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9437892436981201 + ], + [ + 0.6621366739273071 + ], + [ + 0.39974725246429443 + ], + [ + 0.19029754400253296 + ], + [ + 0.09143470972776413 + ], + [ + 0.08191495388746262 + ], + [ + 0.08191495388746262 + ], + [ + 0.08191495388746262 + ], + [ + 0.08123486489057541 + ], + [ + 0.07954961806535721 + ], + [ + 0.07954961806535721 + ], + [ + 0.07954961806535721 + ], + [ + 0.07954961806535721 + ], + [ + 0.07954961806535721 + ], + [ + 0.07954961806535721 + ], + [ + 0.07954961806535721 + ], + [ + 0.10996698588132858 + ], + [ + 0.289117693901062 + ], + [ + 0.5729578137397766 + ], + [ + 0.8888095021247864 + ], + [ + 1.003452181816101 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3454698324203491, + 0.037437014281749725, + 0.08926844596862793 + ], + [ + 0.35020941495895386, + 0.06022040918469429, + 0.09214545786380768 + ], + [ + 0.3638904094696045, + 0.08337048441171646, + 0.0849681943655014 + ], + [ + 0.3662932515144348, + 0.1055871769785881, + 0.06274096667766571 + ], + [ + 0.3645215630531311, + 0.11600290238857269, + 0.0359887033700943 + ], + [ + 0.36528146266937256, + 0.11429508030414581, + 0.016475463286042213 + ], + [ + 0.3695332109928131, + 0.11271598190069199, + 0.011154942214488983 + ], + [ + 0.3713033199310303, + 0.11176230758428574, + 0.011418269947171211 + ], + [ + 0.37010717391967773, + 0.11335791647434235, + 0.01102623250335455 + ], + [ + 0.37066197395324707, + 0.11243908107280731, + 0.013990047387778759 + ], + [ + 0.378567636013031, + 0.11240869015455246, + 0.04188169166445732 + ], + [ + 0.38647711277008057, + 0.10831350088119507, + 0.08507807552814484 + ], + [ + 0.37798699736595154, + 0.07973039150238037, + 0.1155628189444542 + ], + [ + 0.34374651312828064, + 0.03905962035059929, + 0.11825250089168549 + ], + [ + 0.3086954355239868, + 0.01902006007730961, + 0.11577913910150528 + ], + [ + 0.26172497868537903, + -0.015398168005049229, + 0.10513656586408615 + ], + [ + 0.2342357635498047, + -0.024306081235408783, + 0.08107592165470123 + ], + [ + 0.22996141016483307, + -0.03415600210428238, + 0.06355080008506775 + ], + [ + 0.2337079793214798, + -0.030474331229925156, + 0.04385760426521301 + ], + [ + 0.252928763628006, + -0.0273456834256649, + 0.03746771439909935 + ], + [ + 0.2583208680152893, + -0.02695394866168499, + 0.03437170013785362 + ], + [ + 0.2576655447483063, + -0.028826087713241577, + 0.03325187787413597 + ], + [ + 0.2530215382575989, + -0.038567014038562775, + 0.033479396253824234 + ], + [ + 0.25189685821533203, + -0.038410432636737823, + 0.0345379002392292 + ], + [ + 0.25187361240386963, + -0.036626461893320084, + 0.03777879849076271 + ], + [ + 0.2617599368095398, + -0.02010061778128147, + 0.062403034418821335 + ], + [ + 0.27610862255096436, + 0.013067628256976604, + 0.10539926588535309 + ], + [ + 0.30908021330833435, + 0.04337451234459877, + 0.12939776480197906 + ], + [ + 0.3530066907405853, + 0.04909464716911316, + 0.116024911403656 + ], + [ + 0.37648096680641174, + 0.04494047164916992, + 0.10741669684648514 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9916213812164969, + -0.03839552977092869, + 0.12334025947717595, + -0.04479837044395687, + -0.9977657455454868, + 0.04956433215151024, + 0.12116163716231873, + -0.05467449414186609, + -0.9911259038943933 + ], + [ + 0.9910099361129724, + -0.01374591333808817, + 0.13308026296887226, + -0.019133533992814245, + -0.9990446403004212, + 0.03929013316276798, + 0.1324130446833251, + -0.041483208090792444, + -0.9903261730582443 + ], + [ + 0.9915615983583093, + 0.0045885395104041365, + 0.12955516958530158, + -0.0032761614675575913, + -0.9981672354916467, + 0.06042711938361574, + 0.12959499769340357, + -0.06034165473472465, + -0.9897292666566558 + ], + [ + 0.996160721405214, + 0.035625535765134005, + 0.07996648254669217, + 0.029974921952158874, + -0.9970412398177299, + 0.0707832618398276, + 0.08225157252846446, + -0.06811451610465107, + -0.9942811933816427 + ], + [ + 0.9971695436401441, + 0.06833735030154513, + 0.03135136026188737, + 0.0670668095525634, + -0.9969491363186094, + 0.0399307231341864, + 0.03398447135011709, + -0.0377150652570398, + -0.9987104833532641 + ], + [ + 0.9960707959379674, + 0.0885080664311424, + -0.0030482217971826552, + 0.08855280569607055, + -0.9958485637515815, + 0.021072225256641913, + -0.0011705053858537529, + -0.02125935677609189, + -0.9997733091389311 + ], + [ + 0.9951571415757605, + 0.09802266685473737, + -0.007336235645542387, + 0.09800872152847437, + -0.9951830400100714, + -0.0022377177361700192, + -0.0075202443521286515, + 0.0015078657095291069, + -0.9999705857003427 + ], + [ + 0.99680417868127, + 0.07975868622777146, + 0.00447004863264337, + 0.07977724142271397, + -0.996804124631681, + -0.004138703691956712, + 0.004125665345166622, + 0.004482085283403713, + -0.9999814447263367 + ], + [ + 0.9974654169281763, + 0.07114529119340439, + 0.0010438262814590656, + 0.0711360323985535, + -0.9974408371447484, + 0.007172258401370012, + 0.0015514273724920305, + -0.007079826056462817, + -0.9999737342231139 + ], + [ + 0.9990504673613375, + 0.042945264366652844, + 0.007339477745127592, + 0.042929988630741, + -0.9990756023400836, + 0.002226406288916612, + 0.007428306755740091, + -0.0019092085473244582, + -0.999970587158175 + ], + [ + 0.9977184281483175, + -0.004210323813036342, + 0.06738109012653618, + -0.004565969970236105, + -0.9999764428946436, + 0.005124995025061119, + 0.06735792493450132, + -0.005420962014751463, + -0.9977141490022846 + ], + [ + 0.9845464410636201, + -0.07564800045191136, + 0.15794203182366506, + -0.08070779635967032, + -0.996402225605052, + 0.025862258525993595, + 0.155417363881022, + -0.03820974793069118, + -0.9871096485028131 + ], + [ + 0.9758147382322737, + -0.12591170500526966, + 0.17869482138927636, + -0.13374964639374182, + -0.9904832220460725, + 0.032465657775253356, + 0.17290641612799815, + -0.055580836516706006, + -0.9833687720656351 + ], + [ + 0.9703697145398346, + -0.20357058236415818, + 0.13016003649276364, + -0.20467312180444916, + -0.9788176458878312, + -0.004992925938339887, + 0.12841935334949006, + -0.02179527688564955, + -0.9914804262267495 + ], + [ + 0.9685396501004193, + -0.23000356448586384, + 0.09502266312387905, + -0.22947106488501312, + -0.9731731790333052, + -0.016643136445639396, + 0.09630148785919787, + -0.005685414145613273, + -0.9953359731779503 + ], + [ + 0.9429361501704455, + -0.32777966292688016, + 0.058582499718602715, + -0.3285164542063251, + -0.9444929997838355, + 0.003148440095593048, + 0.0542987662607798, + -0.02221409306887917, + -0.9982776057047883 + ], + [ + 0.9305108248436863, + -0.3655262690130734, + 0.023241159827013316, + -0.3662104716878424, + -0.9295876620957024, + 0.04191263420037083, + 0.00628452662421458, + -0.04751131592398184, + -0.9988509296107608 + ], + [ + 0.916613805579336, + -0.399591759293613, + 0.012064714087046933, + -0.39944177115983914, + -0.9142054283487648, + 0.06837182336563825, + -0.01629119007493343, + -0.06748970797304295, + -0.9975869568331653 + ], + [ + 0.9226002331126274, + -0.38499533007357195, + -0.024236453578583523, + -0.38072869414824434, + -0.9188858659050833, + 0.1034138621850954, + -0.06208438863915877, + -0.0861821400372875, + -0.9943430833600116 + ], + [ + 0.9330298121676978, + -0.3597385855368865, + -0.006596944916488108, + -0.35662328475639943, + -0.927069628626266, + 0.11559297750431823, + -0.04769908149919714, + -0.10549906992328391, + -0.9932747574913274 + ], + [ + 0.9332040076218042, + -0.35917360243236285, + -0.01116259263622842, + -0.3552194282918506, + -0.9267343924297058, + 0.12240311945352828, + -0.05430872786775803, + -0.11026191184494713, + -0.9924176907299077 + ], + [ + 0.9311431245042902, + -0.3646204984975525, + -0.0049369792165101685, + -0.36148300727408234, + -0.9247431648393111, + 0.11908028608909399, + -0.04798455106045814, + -0.10909615556183, + -0.9928723541831322 + ], + [ + 0.9197278482040295, + -0.3925549440024467, + -0.001140691554080489, + -0.38956842946170467, + -0.9130808066761281, + 0.1204984615935491, + -0.0483438104076051, + -0.11038141337610743, + -0.9927128585730953 + ], + [ + 0.9188851569160947, + -0.39450605864623245, + -0.003877897716413843, + -0.3905096603980396, + -0.9108876617498805, + 0.13336368624045622, + -0.05614511140866458, + -0.12103155523767536, + -0.991059578986883 + ], + [ + 0.9270099039718221, + -0.3748790802210515, + -0.01087718487346186, + -0.36939617275148456, + -0.9176945304564665, + 0.1462300117172967, + -0.06480050535843353, + -0.1315386786572825, + -0.9891908160321686 + ], + [ + 0.9680418789825723, + -0.25003488302156757, + 0.0194287881320855, + -0.2505568507277894, + -0.9609109950283625, + 0.11777658590303156, + -0.010778918742746581, + -0.11888068348555583, + -0.9928500380242447 + ], + [ + 0.9956486427734696, + -0.0712125998404685, + 0.060104457133468646, + -0.07701289610897587, + -0.9919561967771178, + 0.10045853626439168, + 0.052467075163913544, + -0.10465022359955718, + -0.9931241295650342 + ], + [ + 0.9950209552948852, + 0.07345675223097409, + 0.0673602559060705, + 0.07056404251590626, + -0.9965201786643039, + 0.044364957102167826, + 0.07038475991198234, + -0.039390850035777344, + -0.9967418655326922 + ], + [ + 0.9977238445693276, + 0.05454546207534046, + 0.03964747841650211, + 0.05556269691906039, + -0.9981415687067834, + -0.025023899189402857, + 0.03820885615770306, + 0.027169861732227407, + -0.9989003363321942 + ], + [ + 0.999394235675392, + -0.014363116127662825, + 0.031699567724214166, + -0.011827644392451214, + -0.9968225892788503, + -0.07877075809927171, + 0.03273023872391532, + 0.07834811036975643, + -0.9963886315462274 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005835.json b/json/chunk-0005/episode_0005835.json new file mode 100644 index 0000000000000000000000000000000000000000..e74368a4c36b6401fab11d106066fe28b2ca348b --- /dev/null +++ b/json/chunk-0005/episode_0005835.json @@ -0,0 +1,2662 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 43, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nRemove the cube from the cylinder and put it in the red block." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005835.mp4", + "start": 0, + "end": 43, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3314524292945862, + 0.07655499875545502, + 0.12037689238786697, + 0.05726238712668419, + -0.0807950496673584, + 0.03611937537789345, + 0.0, + 1.0008161067962646 + ], + [ + 0.33088627457618713, + 0.07627692818641663, + 0.10915689915418625, + 0.04736233875155449, + -0.04812965169548988, + 0.036636803299188614, + 0.0, + 1.0008161067962646 + ], + [ + 0.32498854398727417, + 0.09740142524242401, + 0.10979137569665909, + 0.035366546362638474, + -0.04629191756248474, + 0.08328884094953537, + 0.0, + 1.0008161067962646 + ], + [ + 0.3224625587463379, + 0.1192619651556015, + 0.1081099659204483, + 0.028770703822374344, + -0.02734757959842682, + 0.15263544023036957, + 0.0, + 1.0008161067962646 + ], + [ + 0.3272489309310913, + 0.12504103779792786, + 0.11939775943756104, + 0.05166583135724068, + -0.03149840980768204, + 0.13178718090057373, + 0.0, + 1.0008161067962646 + ], + [ + 0.33229511976242065, + 0.13976411521434784, + 0.11874929815530777, + 0.060688238590955734, + -0.002210885053500533, + 0.09368202090263367, + 0.0, + 1.0008161067962646 + ], + [ + 0.3398779630661011, + 0.15513227880001068, + 0.11222463846206665, + 0.07609518617391586, + 0.07960110157728195, + 0.04775971919298172, + 0.0, + 1.0008161067962646 + ], + [ + 0.3492303192615509, + 0.16180527210235596, + 0.10357646644115448, + 0.07822029292583466, + 0.1287756860256195, + 0.02199430949985981, + 0.0, + 1.0008161067962646 + ], + [ + 0.3504144549369812, + 0.15972085297107697, + 0.09944656491279602, + 0.06440075486898422, + 0.13757430016994476, + -0.0023099633399397135, + 0.0, + 1.0008161067962646 + ], + [ + 0.35357511043548584, + 0.15582957863807678, + 0.09905515611171722, + 0.054046880453825, + 0.12324003875255585, + -0.004306370858103037, + 0.0, + 1.0008161067962646 + ], + [ + 0.35244250297546387, + 0.15042588114738464, + 0.0939793586730957, + 0.04624469205737114, + 0.13355889916419983, + -0.01770429126918316, + 0.0, + 1.0008161067962646 + ], + [ + 0.3507674038410187, + 0.14900198578834534, + 0.0907043069601059, + 0.03946710750460625, + 0.13885869085788727, + -0.014987478964030743, + 0.0, + 1.0008161067962646 + ], + [ + 0.3516155183315277, + 0.14839938282966614, + 0.09013310074806213, + 0.031905125826597214, + 0.13145668804645538, + -0.01869594305753708, + 0.0, + 0.9665181636810303 + ], + [ + 0.35260260105133057, + 0.14819715917110443, + 0.08983182907104492, + 0.01638474129140377, + 0.11922915279865265, + -0.019329017028212547, + 0.0, + 0.6681591272354126 + ], + [ + 0.35170310735702515, + 0.14969973266124725, + 0.08902370184659958, + 0.01051865890622139, + 0.11629627645015717, + -0.001401839661411941, + 0.0, + 0.529549777507782 + ], + [ + 0.3455137610435486, + 0.14794306457042694, + 0.08950028568506241, + 0.006321324035525322, + 0.1222250759601593, + 0.013933504931628704, + 0.0, + 0.529549777507782 + ], + [ + 0.330066442489624, + 0.1410057693719864, + 0.11087436228990555, + 0.011686250567436218, + 0.09076792001724243, + 0.03154212608933449, + 0.0, + 0.529549777507782 + ], + [ + 0.3079501688480377, + 0.1279725730419159, + 0.12139583379030228, + 0.0020947763696312904, + 0.08264008164405823, + -0.030685992911458015, + 0.0, + 0.529549777507782 + ], + [ + 0.3003651797771454, + 0.12466456741094589, + 0.11255618929862976, + -0.010877972468733788, + 0.10387763381004333, + -0.08183902502059937, + 0.0, + 0.529549777507782 + ], + [ + 0.300005167722702, + 0.12900608777999878, + 0.09321145713329315, + 6.222478987183422e-05, + 0.1303740292787552, + -0.12394393235445023, + 0.0, + 0.529549777507782 + ], + [ + 0.29095518589019775, + 0.1285882443189621, + 0.07491449266672134, + 0.013904903084039688, + 0.1461799144744873, + -0.1688857525587082, + 0.0, + 0.529549777507782 + ], + [ + 0.280152291059494, + 0.11691617220640182, + 0.06310797482728958, + 0.014202066697180271, + 0.13993088901042938, + -0.22087685763835907, + 0.0, + 0.529549777507782 + ], + [ + 0.2720238268375397, + 0.10445306450128555, + 0.0625571683049202, + 0.028058530762791634, + 0.1402384638786316, + -0.2531318664550781, + 0.0, + 0.529549777507782 + ], + [ + 0.2763662338256836, + 0.10144661366939545, + 0.061366189271211624, + 0.032104335725307465, + 0.1203201487660408, + -0.2713870108127594, + 0.0, + 0.529549777507782 + ], + [ + 0.27571722865104675, + 0.10037742555141449, + 0.06182948499917984, + 0.024114731699228287, + 0.12175466865301132, + -0.27931711077690125, + 0.0, + 0.529549777507782 + ], + [ + 0.27324825525283813, + 0.10370264202356339, + 0.06254275888204575, + 0.013037100434303284, + 0.1262313425540924, + -0.26650458574295044, + 0.0, + 0.529549777507782 + ], + [ + 0.2728070020675659, + 0.11059533804655075, + 0.06634963303804398, + 0.006389152258634567, + 0.1255989670753479, + -0.2373352199792862, + 0.0, + 0.529549777507782 + ], + [ + 0.27187636494636536, + 0.12122626602649689, + 0.07014308869838715, + 0.015669912099838257, + 0.12809288501739502, + -0.19124214351177216, + 0.0, + 0.529549777507782 + ], + [ + 0.27150216698646545, + 0.12208586931228638, + 0.06361448764801025, + 0.003313095308840275, + 0.1516524851322174, + -0.1970067322254181, + 0.0, + 0.529549777507782 + ], + [ + 0.27302175760269165, + 0.12366978824138641, + 0.062200356274843216, + 0.006159124430269003, + 0.15844842791557312, + -0.19482916593551636, + 0.0, + 0.529549777507782 + ], + [ + 0.2732639014720917, + 0.12377551943063736, + 0.06299323588609695, + 0.007067829370498657, + 0.15719301998615265, + -0.19455598294734955, + 0.0, + 0.6009007096290588 + ], + [ + 0.2725732624530792, + 0.12313812971115112, + 0.06436511874198914, + -0.003412357997149229, + 0.16503766179084778, + -0.19015108048915863, + 0.0, + 0.8998980522155762 + ], + [ + 0.27461114525794983, + 0.11915485560894012, + 0.06505326181650162, + -0.05257818102836609, + 0.12849722802639008, + -0.18086794018745422, + 0.0, + 1.0073583126068115 + ], + [ + 0.2816926836967468, + 0.11468091607093811, + 0.09887968748807907, + -0.047847259789705276, + -0.011777816340327263, + -0.136951744556427, + 0.0, + 1.002137303352356 + ], + [ + 0.28253334760665894, + 0.11282461881637573, + 0.12150167673826218, + -0.005675415508449078, + -0.04015667364001274, + -0.11559690535068512, + 0.0, + 1.0008161067962646 + ], + [ + 0.2801228165626526, + 0.10288632661104202, + 0.14627107977867126, + 0.031071100383996964, + -0.07749130576848984, + -0.14708666503429413, + 0.0, + 1.0008161067962646 + ], + [ + 0.2864065170288086, + 0.09730526059865952, + 0.15475817024707794, + 0.04554983228445053, + -0.09782572090625763, + -0.19893886148929596, + 0.0, + 1.0008161067962646 + ], + [ + 0.29657283425331116, + 0.09501168876886368, + 0.13419713079929352, + 0.02349156327545643, + -0.06063825264573097, + -0.1897464245557785, + 0.0, + 1.0008161067962646 + ], + [ + 0.29664692282676697, + 0.09477532655000687, + 0.1341952532529831, + 0.02469724230468273, + -0.05996103957295418, + -0.19022688269615173, + 0.0, + 1.0008161067962646 + ], + [ + 0.29664692282676697, + 0.09477532655000687, + 0.1341952532529831, + 0.02469724230468273, + -0.05996103957295418, + -0.19022688269615173, + 0.0, + 1.0008161067962646 + ], + [ + 0.29631945490837097, + 0.09466937184333801, + 0.13380993902683258, + 0.0239562951028347, + -0.05861716717481613, + -0.19018296897411346, + 0.0, + 1.0008161067962646 + ], + [ + 0.29631945490837097, + 0.09466937184333801, + 0.13380993902683258, + 0.0239562951028347, + -0.05861716717481613, + -0.19018296897411346, + 0.0, + 1.0008161067962646 + ], + [ + 0.29631945490837097, + 0.09466937184333801, + 0.13380993902683258, + 0.0239562951028347, + -0.05861716717481613, + -0.19018296897411346, + 0.0, + 1.0008161067962646 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9665181636810303 + ], + [ + 0.6681591272354126 + ], + [ + 0.529549777507782 + ], + [ + 0.529549777507782 + ], + [ + 0.529549777507782 + ], + [ + 0.529549777507782 + ], + [ + 0.529549777507782 + ], + [ + 0.529549777507782 + ], + [ + 0.529549777507782 + ], + [ + 0.529549777507782 + ], + [ + 0.529549777507782 + ], + [ + 0.529549777507782 + ], + [ + 0.529549777507782 + ], + [ + 0.529549777507782 + ], + [ + 0.529549777507782 + ], + [ + 0.529549777507782 + ], + [ + 0.529549777507782 + ], + [ + 0.529549777507782 + ], + [ + 0.6009007096290588 + ], + [ + 0.8998980522155762 + ], + [ + 1.0073583126068115 + ], + [ + 1.002137303352356 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3314524292945862, + 0.07655499875545502, + 0.12037689238786697 + ], + [ + 0.33088627457618713, + 0.07627692818641663, + 0.10915689915418625 + ], + [ + 0.32498854398727417, + 0.09740142524242401, + 0.10979137569665909 + ], + [ + 0.3224625587463379, + 0.1192619651556015, + 0.1081099659204483 + ], + [ + 0.3272489309310913, + 0.12504103779792786, + 0.11939775943756104 + ], + [ + 0.33229511976242065, + 0.13976411521434784, + 0.11874929815530777 + ], + [ + 0.3398779630661011, + 0.15513227880001068, + 0.11222463846206665 + ], + [ + 0.3492303192615509, + 0.16180527210235596, + 0.10357646644115448 + ], + [ + 0.3504144549369812, + 0.15972085297107697, + 0.09944656491279602 + ], + [ + 0.35357511043548584, + 0.15582957863807678, + 0.09905515611171722 + ], + [ + 0.35244250297546387, + 0.15042588114738464, + 0.0939793586730957 + ], + [ + 0.3507674038410187, + 0.14900198578834534, + 0.0907043069601059 + ], + [ + 0.3516155183315277, + 0.14839938282966614, + 0.09013310074806213 + ], + [ + 0.35260260105133057, + 0.14819715917110443, + 0.08983182907104492 + ], + [ + 0.35170310735702515, + 0.14969973266124725, + 0.08902370184659958 + ], + [ + 0.3455137610435486, + 0.14794306457042694, + 0.08950028568506241 + ], + [ + 0.330066442489624, + 0.1410057693719864, + 0.11087436228990555 + ], + [ + 0.3079501688480377, + 0.1279725730419159, + 0.12139583379030228 + ], + [ + 0.3003651797771454, + 0.12466456741094589, + 0.11255618929862976 + ], + [ + 0.300005167722702, + 0.12900608777999878, + 0.09321145713329315 + ], + [ + 0.29095518589019775, + 0.1285882443189621, + 0.07491449266672134 + ], + [ + 0.280152291059494, + 0.11691617220640182, + 0.06310797482728958 + ], + [ + 0.2720238268375397, + 0.10445306450128555, + 0.0625571683049202 + ], + [ + 0.2763662338256836, + 0.10144661366939545, + 0.061366189271211624 + ], + [ + 0.27571722865104675, + 0.10037742555141449, + 0.06182948499917984 + ], + [ + 0.27324825525283813, + 0.10370264202356339, + 0.06254275888204575 + ], + [ + 0.2728070020675659, + 0.11059533804655075, + 0.06634963303804398 + ], + [ + 0.27187636494636536, + 0.12122626602649689, + 0.07014308869838715 + ], + [ + 0.27150216698646545, + 0.12208586931228638, + 0.06361448764801025 + ], + [ + 0.27302175760269165, + 0.12366978824138641, + 0.062200356274843216 + ], + [ + 0.2732639014720917, + 0.12377551943063736, + 0.06299323588609695 + ], + [ + 0.2725732624530792, + 0.12313812971115112, + 0.06436511874198914 + ], + [ + 0.27461114525794983, + 0.11915485560894012, + 0.06505326181650162 + ], + [ + 0.2816926836967468, + 0.11468091607093811, + 0.09887968748807907 + ], + [ + 0.28253334760665894, + 0.11282461881637573, + 0.12150167673826218 + ], + [ + 0.2801228165626526, + 0.10288632661104202, + 0.14627107977867126 + ], + [ + 0.2864065170288086, + 0.09730526059865952, + 0.15475817024707794 + ], + [ + 0.29657283425331116, + 0.09501168876886368, + 0.13419713079929352 + ], + [ + 0.29664692282676697, + 0.09477532655000687, + 0.1341952532529831 + ], + [ + 0.29664692282676697, + 0.09477532655000687, + 0.1341952532529831 + ], + [ + 0.29631945490837097, + 0.09466937184333801, + 0.13380993902683258 + ], + [ + 0.29631945490837097, + 0.09466937184333801, + 0.13380993902683258 + ], + [ + 0.29631945490837097, + 0.09466937184333801, + 0.13380993902683258 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9960877490731828, + 0.040668281628728556, + 0.0784556372460657, + 0.03599372126052956, + -0.9975429950750067, + 0.0601034525348115, + 0.08070717549350327, + -0.05704440240857517, + -0.9951041593610737 + ], + [ + 0.998171716351763, + 0.03886380560921173, + 0.04629070413102305, + 0.03658619163299381, + -0.9981248812948603, + 0.049073128307820305, + 0.04811107208502389, + -0.04728980813760343, + -0.997721904535096 + ], + [ + 0.9954659232371703, + 0.08477114253926767, + 0.04314451374340491, + 0.08310345562970732, + -0.9957742010832357, + 0.03908396243275062, + 0.046275385854349795, + -0.03532129456334463, + -0.9983040592997706 + ], + [ + 0.9880042348863869, + 0.15275799198838869, + 0.0226412837586753, + 0.15198660521447538, + -0.9878451749112533, + 0.03258806898137308, + 0.027344170895177565, + -0.028755978304187604, + -0.999212384846097 + ], + [ + 0.9908368980393452, + 0.1328429847916871, + 0.024392270812790502, + 0.13134085328021672, + -0.9897921007700342, + 0.055327908986945014, + 0.031493201542452075, + -0.051617232053633756, + -0.9981702458056584 + ], + [ + 0.9956126145780181, + 0.09350634145579749, + -0.003476463817547132, + 0.09354482181482486, + -0.9937696107320043, + 0.060591477100277055, + 0.00221088325236193, + -0.06065084412530908, + -0.9981565944791088 + ], + [ + 0.9956968369114609, + 0.04156527317241623, + -0.08282594418787746, + 0.04759039125035968, + -0.996257778382625, + 0.07214980022670633, + -0.07951706499329982, + -0.07578104695910687, + -0.9939488262967227 + ], + [ + 0.9914800010204505, + 0.01189290314485688, + -0.129714942976032, + 0.02181043504890106, + -0.9969219178512176, + 0.07530600660523999, + -0.12842006268284503, + -0.07749353884446002, + -0.9886875335200181 + ], + [ + 0.9905489296103359, + -0.011131012551935408, + -0.13670741972324102, + -0.0022881357835957856, + -0.9979039381759811, + 0.06467220892704524, + -0.13714073968902735, + -0.06374818218926888, + -0.9884981470822847 + ], + [ + 0.9924063510930435, + -0.010940665630144368, + -0.12251504456906433, + -0.0042736962080992865, + -0.9985019669401985, + 0.054548671269566584, + -0.12292831175490583, + -0.0536108557301946, + -0.9909664506515671 + ], + [ + 0.9909389392178996, + -0.023839324574478033, + -0.13218057854895435, + -0.017545704834721756, + -0.9986653761919474, + 0.048575864760687947, + -0.13316218300837676, + -0.04581651448144556, + -0.990034686269736 + ], + [ + 0.9902633839577965, + -0.020435971826239244, + -0.13769822601606344, + -0.014842662994605123, + -0.999027203476503, + 0.041525198002496606, + -0.13841288143696132, + -0.03907707472975842, + -0.98960338342332 + ], + [ + 0.9911987490689088, + -0.022865972277837675, + -0.13039243519475952, + -0.01853355481728186, + -0.9992382295575818, + 0.03434338271726218, + -0.1310784009288533, + -0.0316244826427041, + -0.990867470909968 + ], + [ + 0.9927151472263553, + -0.02127368157074527, + -0.11859201887050386, + -0.01919059798328875, + -0.9996413320148878, + 0.018679621959358152, + -0.11894686803947047, + -0.016267691905346455, + -0.992767346755358 + ], + [ + 0.9932442303693011, + -0.002622263230759211, + -0.11601302760312475, + -0.001392370067674456, + -0.9999419859461344, + 0.010681107044472555, + -0.11603430589135878, + -0.010447414878784382, + -0.9931902594058508 + ], + [ + 0.9924434640898079, + 0.013162153611869945, + -0.12199478799407559, + 0.013829110852500952, + -0.99989369088954, + 0.004621970610233389, + -0.12192098374952176, + -0.006274123969938733, + -0.992519979189315 + ], + [ + 0.9953880558420463, + 0.03047601293717341, + -0.09096060093493233, + 0.03140707194791958, + -0.9994677445643567, + 0.008821757596721274, + -0.09064333466200908, + -0.011637878281299615, + -0.9958154174697538 + ], + [ + 0.9961180798739275, + -0.03085394399727208, + -0.08244273823747567, + -0.03057647018269065, + -0.9995217236048072, + 0.004626393113687241, + -0.0825460502958607, + -0.0020876258976505503, + -0.9965850648081501 + ], + [ + 0.9912806655032281, + -0.08061871490388954, + -0.10422698790007466, + -0.08130704568394502, + -0.9966862943793507, + -0.0023653580081940597, + -0.10369091822153863, + 0.010819122127207354, + -0.9945507227259808 + ], + [ + 0.9839072193263759, + -0.123634863440383, + -0.12900001666479297, + -0.12257765695400553, + -0.9923277768638719, + 0.016133855090219466, + -0.1300050067232226, + -6.169670903454459e-05, + -0.9915133354728071 + ], + [ + 0.975259132834354, + -0.17006431607841885, + -0.14123651163903714, + -0.1662913968265425, + -0.9853369456448474, + 0.03818736556455083, + -0.14565986119951366, + -0.013756160222348594, + -0.9892390878302756 + ], + [ + 0.966168816792801, + -0.22099580889255568, + -0.13296115940049752, + -0.21694384350461068, + -0.9751733644498433, + 0.044410337006385435, + -0.13947467950365217, + -0.014062777801655825, + -0.990125775877921 + ], + [ + 0.9586283768273866, + -0.25413518839026844, + -0.12824562824179422, + -0.24797862570975368, + -0.966769677588384, + 0.06215297005577144, + -0.13977924142157735, + -0.027779426154881236, + -0.9897929415539967 + ], + [ + 0.9564348777455769, + -0.27164161469501924, + -0.10697269650563102, + -0.2661298786363051, + -0.9618707517625625, + 0.06308363179738613, + -0.12003004760820779, + -0.031866754927438116, + -0.9922586848204281 + ], + [ + 0.9541278959704038, + -0.278434180790746, + -0.11006527653386598, + -0.2736583023649952, + -0.9601570578775436, + 0.056652958922268404, + -0.12145407229812859, + -0.023933891771410157, + -0.9923084586694176 + ], + [ + 0.9570216306716106, + -0.26492199040534964, + -0.11800820914800642, + -0.2612655765656962, + -0.9641831135380661, + 0.045729881585629406, + -0.12589637377004198, + -0.012933003042959544, + -0.991959092152416 + ], + [ + 0.9643115774354574, + -0.23588650633990177, + -0.12025280766242329, + -0.23326135145007032, + -0.9717599374266433, + 0.03566182738241875, + -0.12526900472035002, + -0.006338780586368983, + -0.9921025634061487 + ], + [ + 0.9737255670446164, + -0.19202034889016706, + -0.12242020133841956, + -0.1885212860492026, + -0.981267887030865, + 0.03966180263599862, + -0.1277428854770214, + -0.015540897467028242, + -0.9916855528421923 + ], + [ + 0.9694016461052065, + -0.19622460223862326, + -0.1475003525582579, + -0.19348835233880185, + -0.9805535066638339, + 0.03281886772078987, + -0.15107185719958557, + -0.0032750642059530214, + -0.988517358429641 + ], + [ + 0.9687910416976974, + -0.1945486967073202, + -0.15360573601195374, + -0.19117377778784114, + -0.980874005521466, + 0.03658923309664602, + -0.15778626116559077, + -0.006081932403332527, + -0.9874545588965731 + ], + [ + 0.9690368164008724, + -0.19441164515281228, + -0.1522227338101592, + -0.19094725914608712, + -0.9808951947307627, + 0.03719894055878035, + -0.15654645535513936, + -0.006980629131791495, + -0.9876459275128234 + ], + [ + 0.9686327708971069, + -0.1884556453168226, + -0.16197229668191035, + -0.1864390557950785, + -0.9820759338736188, + 0.027700876890436515, + -0.16428948115577105, + 0.0033659849196725315, + -0.9864064256314878 + ], + [ + 0.9755780032739352, + -0.17301022343213107, + -0.1353330045332836, + -0.1784003896922376, + -0.9835399824267445, + -0.02867758577106947, + -0.12814390537867745, + 0.05212068261221612, + -0.990385063476998 + ], + [ + 0.9905680498770647, + -0.13692582699198885, + 0.005124106293705818, + -0.13651457072054834, + -0.9894261071312698, + -0.048987248422886556, + 0.01177754404507393, + 0.047825687968090336, + -0.998786259930845 + ], + [ + 0.9925253238498567, + -0.11556409575707301, + 0.039222713937039036, + -0.1152466471275183, + -0.9932838374246693, + -0.01026784479762509, + 0.0401458820130037, + 0.005670809710517379, + -0.9991777369790746 + ], + [ + 0.9862336989832315, + -0.14410716657347886, + 0.08109386864625598, + -0.14611707127715365, + -0.989077249588597, + 0.01939061184293456, + 0.07741377442832639, + -0.030972873428530532, + -0.9965178315716886 + ], + [ + 0.9755900193860866, + -0.19306466055331695, + 0.10464296880195938, + -0.19668434345103097, + -0.9801390016967896, + 0.02535362684228172, + 0.09766976561604017, + -0.045316378918149325, + -0.9941866236709558 + ], + [ + 0.9802471450542118, + -0.18715990157397475, + 0.0639273482625932, + -0.18826322394683817, + -0.9820496145867093, + 0.011641005078525515, + 0.060601098358111026, + -0.02344623067607432, + -0.9978866574641003 + ], + [ + 0.9801966541103905, + -0.18757088680739248, + 0.06349552498471088, + -0.188741886526133, + -0.9819417103677365, + 0.01292198555334514, + 0.059925116114631076, + -0.02465035217543325, + -0.9978984620672964 + ], + [ + 0.9801966541103905, + -0.18757088680739248, + 0.06349552498471088, + -0.188741886526133, + -0.9819417103677365, + 0.01292198555334514, + 0.059925116114631076, + -0.02465035217543325, + -0.9978984620672964 + ], + [ + 0.9802831360743736, + -0.18760631600394403, + 0.06203904676588016, + -0.18871389546084874, + -0.9819531787131597, + 0.012450721871161015, + 0.05858360511425215, + -0.02391286286811853, + -0.9979960602132995 + ], + [ + 0.9802831360743736, + -0.18760631600394403, + 0.06203904676588016, + -0.18871389546084874, + -0.9819531787131597, + 0.012450721871161015, + 0.05858360511425215, + -0.02391286286811853, + -0.9979960602132995 + ], + [ + 0.9802831360743736, + -0.18760631600394403, + 0.06203904676588016, + -0.18871389546084874, + -0.9819531787131597, + 0.012450721871161015, + 0.05858360511425215, + -0.02391286286811853, + -0.9979960602132995 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0005661547183990479, + -0.0002780705690383911, + -0.011219993233680725, + -0.0099000483751297, + 0.032665397971868515, + 0.000517427921295166, + 1.0 + ], + [ + -0.005897730588912964, + 0.021124497056007385, + 0.0006344765424728394, + -0.011995792388916016, + 0.0018377341330051422, + 0.046652037650346756, + 1.0 + ], + [ + -0.0025259852409362793, + 0.02186053991317749, + -0.001681409776210785, + -0.00659584254026413, + 0.018944337964057922, + 0.0693465992808342, + 1.0 + ], + [ + 0.004786372184753418, + 0.005779072642326355, + 0.011287793517112732, + 0.022895127534866333, + -0.0041508302092552185, + -0.020848259329795837, + 1.0 + ], + [ + 0.005046188831329346, + 0.014723077416419983, + -0.0006484612822532654, + 0.009022407233715057, + 0.02928752452135086, + -0.038105159997940063, + 1.0 + ], + [ + 0.00758284330368042, + 0.015368163585662842, + -0.006524659693241119, + 0.015406947582960129, + 0.08181198686361313, + -0.04592230170965195, + 1.0 + ], + [ + 0.009352356195449829, + 0.006672993302345276, + -0.00864817202091217, + 0.0021251067519187927, + 0.049174584448337555, + -0.02576540969312191, + 1.0 + ], + [ + 0.0011841356754302979, + -0.0020844191312789917, + -0.0041299015283584595, + -0.013819538056850433, + 0.008798614144325256, + -0.02430427260696888, + 1.0 + ], + [ + 0.0031606554985046387, + -0.003891274333000183, + -0.0003914088010787964, + -0.010353874415159225, + -0.014334261417388916, + -0.0019964075181633234, + 1.0 + ], + [ + -0.0011326074600219727, + -0.005403697490692139, + -0.005075797438621521, + -0.007802188396453857, + 0.010318860411643982, + -0.01339792087674141, + 1.0 + ], + [ + -0.0016750991344451904, + -0.0014238953590393066, + -0.003275051712989807, + -0.006777584552764893, + 0.005299791693687439, + 0.0027168123051524162, + 1.0 + ], + [ + 0.0008481144905090332, + -0.0006026029586791992, + -0.0005712062120437622, + -0.007561981678009033, + -0.007402002811431885, + -0.003708464093506336, + 0.0 + ], + [ + 0.0009870827198028564, + -0.00020222365856170654, + -0.0003012716770172119, + -0.015520384535193443, + -0.012227535247802734, + -0.0006330739706754684, + 0.0 + ], + [ + -0.0008994936943054199, + 0.0015025734901428223, + -0.000808127224445343, + -0.005866082385182381, + -0.0029328763484954834, + 0.017927177250385284, + 0.0 + ], + [ + -0.0061893463134765625, + -0.0017566680908203125, + 0.0004765838384628296, + -0.004197334870696068, + 0.005928799510002136, + 0.015335344709455967, + 0.0 + ], + [ + -0.01544731855392456, + -0.006937295198440552, + 0.02137407660484314, + 0.005364926531910896, + -0.03145715594291687, + 0.01760862022638321, + 0.0 + ], + [ + -0.022116273641586304, + -0.013033196330070496, + 0.010521471500396729, + -0.009591474197804928, + -0.008127838373184204, + -0.06222812086343765, + 0.0 + ], + [ + -0.007584989070892334, + -0.0033080056309700012, + -0.008839644491672516, + -0.012972748838365078, + 0.021237552165985107, + -0.0511530339717865, + 0.0 + ], + [ + -0.0003600120544433594, + 0.004341520369052887, + -0.01934473216533661, + 0.010940196923911572, + 0.026496395468711853, + -0.04210490733385086, + 0.0 + ], + [ + -0.009049981832504272, + -0.00041784346103668213, + -0.018296964466571808, + 0.013842678628861904, + 0.015805885195732117, + -0.044941820204257965, + 0.0 + ], + [ + -0.010802894830703735, + -0.011672072112560272, + -0.011806517839431763, + 0.00029716361314058304, + -0.006249025464057922, + -0.05199110507965088, + 0.0 + ], + [ + -0.008128464221954346, + -0.012463107705116272, + -0.0005508065223693848, + 0.013856464065611362, + 0.00030757486820220947, + -0.032255008816719055, + 0.0 + ], + [ + 0.004342406988143921, + -0.003006450831890106, + -0.0011909790337085724, + 0.004045804962515831, + -0.01991831511259079, + -0.018255144357681274, + 0.0 + ], + [ + -0.0006490051746368408, + -0.001069188117980957, + 0.00046329572796821594, + -0.007989604026079178, + 0.00143451988697052, + -0.007930099964141846, + 0.0 + ], + [ + -0.002468973398208618, + 0.0033252164721488953, + 0.0007132738828659058, + -0.011077631264925003, + 0.004476673901081085, + 0.012812525033950806, + 0.0 + ], + [ + -0.0004412531852722168, + 0.006892696022987366, + 0.00380687415599823, + -0.006647948175668716, + -0.0006323754787445068, + 0.029169365763664246, + 0.0 + ], + [ + -0.0009306371212005615, + 0.010630927979946136, + 0.00379345566034317, + 0.00928075984120369, + 0.002493917942047119, + 0.04609307646751404, + 0.0 + ], + [ + -0.00037419795989990234, + 0.0008596032857894897, + -0.006528601050376892, + -0.012356816790997982, + 0.023559600114822388, + -0.005764588713645935, + 0.0 + ], + [ + 0.0015195906162261963, + 0.0015839189291000366, + -0.001414131373167038, + 0.002846029121428728, + 0.006795942783355713, + 0.0021775662899017334, + 0.0 + ], + [ + 0.00024214386940002441, + 0.00010573118925094604, + 0.0007928796112537384, + 0.0009087049402296543, + -0.0012554079294204712, + 0.0002731829881668091, + 1.0 + ], + [ + -0.0006906390190124512, + -0.0006373897194862366, + 0.0013718828558921814, + -0.010480187833309174, + 0.00784464180469513, + 0.004404902458190918, + 1.0 + ], + [ + 0.0020378828048706055, + -0.0039832741022109985, + 0.0006881430745124817, + -0.04916582256555557, + -0.0365404337644577, + 0.009283140301704407, + 1.0 + ], + [ + 0.007081538438796997, + -0.004473939538002014, + 0.033826425671577454, + 0.004730921238660812, + -0.1402750462293625, + 0.04391619563102722, + 1.0 + ], + [ + 0.0008406639099121094, + -0.001856297254562378, + 0.022621989250183105, + 0.042171843349933624, + -0.028378857299685478, + 0.021354839205741882, + 1.0 + ], + [ + -0.0024105310440063477, + -0.00993829220533371, + 0.024769403040409088, + 0.036746516823768616, + -0.0373346321284771, + -0.03148975968360901, + 1.0 + ], + [ + 0.006283700466156006, + -0.005581066012382507, + 0.008487090468406677, + 0.014478731900453568, + -0.020334415137767792, + -0.05185219645500183, + 1.0 + ], + [ + 0.010166317224502563, + -0.0022935718297958374, + -0.020561039447784424, + -0.022058269008994102, + 0.03718746826052666, + 0.009192436933517456, + 1.0 + ], + [ + 7.408857345581055e-05, + -0.00023636221885681152, + -1.8775463104248047e-06, + 0.001205679029226303, + 0.0006772130727767944, + -0.00048045814037323, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + -0.0003274679183959961, + -0.00010595470666885376, + -0.0003853142261505127, + -0.0007409472018480301, + 0.0013438723981380463, + 4.391372203826904e-05, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9665181636810303 + ], + [ + 0.6681591272354126 + ], + [ + 0.529549777507782 + ], + [ + 0.529549777507782 + ], + [ + 0.529549777507782 + ], + [ + 0.529549777507782 + ], + [ + 0.529549777507782 + ], + [ + 0.529549777507782 + ], + [ + 0.529549777507782 + ], + [ + 0.529549777507782 + ], + [ + 0.529549777507782 + ], + [ + 0.529549777507782 + ], + [ + 0.529549777507782 + ], + [ + 0.529549777507782 + ], + [ + 0.529549777507782 + ], + [ + 0.529549777507782 + ], + [ + 0.529549777507782 + ], + [ + 0.529549777507782 + ], + [ + 0.6009007096290588 + ], + [ + 0.8998980522155762 + ], + [ + 1.0073583126068115 + ], + [ + 1.002137303352356 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.33088627457618713, + 0.07627692818641663, + 0.10915689915418625 + ], + [ + 0.32498854398727417, + 0.09740142524242401, + 0.10979137569665909 + ], + [ + 0.3224625587463379, + 0.1192619651556015, + 0.1081099659204483 + ], + [ + 0.3272489309310913, + 0.12504103779792786, + 0.11939775943756104 + ], + [ + 0.33229511976242065, + 0.13976411521434784, + 0.11874929815530777 + ], + [ + 0.3398779630661011, + 0.15513227880001068, + 0.11222463846206665 + ], + [ + 0.3492303192615509, + 0.16180527210235596, + 0.10357646644115448 + ], + [ + 0.3504144549369812, + 0.15972085297107697, + 0.09944656491279602 + ], + [ + 0.35357511043548584, + 0.15582957863807678, + 0.09905515611171722 + ], + [ + 0.35244250297546387, + 0.15042588114738464, + 0.0939793586730957 + ], + [ + 0.3507674038410187, + 0.14900198578834534, + 0.0907043069601059 + ], + [ + 0.3516155183315277, + 0.14839938282966614, + 0.09013310074806213 + ], + [ + 0.35260260105133057, + 0.14819715917110443, + 0.08983182907104492 + ], + [ + 0.35170310735702515, + 0.14969973266124725, + 0.08902370184659958 + ], + [ + 0.3455137610435486, + 0.14794306457042694, + 0.08950028568506241 + ], + [ + 0.330066442489624, + 0.1410057693719864, + 0.11087436228990555 + ], + [ + 0.3079501688480377, + 0.1279725730419159, + 0.12139583379030228 + ], + [ + 0.3003651797771454, + 0.12466456741094589, + 0.11255618929862976 + ], + [ + 0.300005167722702, + 0.12900608777999878, + 0.09321145713329315 + ], + [ + 0.29095518589019775, + 0.1285882443189621, + 0.07491449266672134 + ], + [ + 0.280152291059494, + 0.11691617220640182, + 0.06310797482728958 + ], + [ + 0.2720238268375397, + 0.10445306450128555, + 0.0625571683049202 + ], + [ + 0.2763662338256836, + 0.10144661366939545, + 0.061366189271211624 + ], + [ + 0.27571722865104675, + 0.10037742555141449, + 0.06182948499917984 + ], + [ + 0.27324825525283813, + 0.10370264202356339, + 0.06254275888204575 + ], + [ + 0.2728070020675659, + 0.11059533804655075, + 0.06634963303804398 + ], + [ + 0.27187636494636536, + 0.12122626602649689, + 0.07014308869838715 + ], + [ + 0.27150216698646545, + 0.12208586931228638, + 0.06361448764801025 + ], + [ + 0.27302175760269165, + 0.12366978824138641, + 0.062200356274843216 + ], + [ + 0.2732639014720917, + 0.12377551943063736, + 0.06299323588609695 + ], + [ + 0.2725732624530792, + 0.12313812971115112, + 0.06436511874198914 + ], + [ + 0.27461114525794983, + 0.11915485560894012, + 0.06505326181650162 + ], + [ + 0.2816926836967468, + 0.11468091607093811, + 0.09887968748807907 + ], + [ + 0.28253334760665894, + 0.11282461881637573, + 0.12150167673826218 + ], + [ + 0.2801228165626526, + 0.10288632661104202, + 0.14627107977867126 + ], + [ + 0.2864065170288086, + 0.09730526059865952, + 0.15475817024707794 + ], + [ + 0.29657283425331116, + 0.09501168876886368, + 0.13419713079929352 + ], + [ + 0.29664692282676697, + 0.09477532655000687, + 0.1341952532529831 + ], + [ + 0.29664692282676697, + 0.09477532655000687, + 0.1341952532529831 + ], + [ + 0.29631945490837097, + 0.09466937184333801, + 0.13380993902683258 + ], + [ + 0.29631945490837097, + 0.09466937184333801, + 0.13380993902683258 + ], + [ + 0.29631945490837097, + 0.09466937184333801, + 0.13380993902683258 + ], + [ + 0.29631945490837097, + 0.09466937184333801, + 0.13380993902683258 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.998171716351763, + 0.03886380560921173, + 0.04629070413102305, + 0.03658619163299381, + -0.9981248812948603, + 0.049073128307820305, + 0.04811107208502389, + -0.04728980813760343, + -0.997721904535096 + ], + [ + 0.9954659232371703, + 0.08477114253926767, + 0.04314451374340491, + 0.08310345562970732, + -0.9957742010832357, + 0.03908396243275062, + 0.046275385854349795, + -0.03532129456334463, + -0.9983040592997706 + ], + [ + 0.9880042348863869, + 0.15275799198838869, + 0.0226412837586753, + 0.15198660521447538, + -0.9878451749112533, + 0.03258806898137308, + 0.027344170895177565, + -0.028755978304187604, + -0.999212384846097 + ], + [ + 0.9908368980393452, + 0.1328429847916871, + 0.024392270812790502, + 0.13134085328021672, + -0.9897921007700342, + 0.055327908986945014, + 0.031493201542452075, + -0.051617232053633756, + -0.9981702458056584 + ], + [ + 0.9956126145780181, + 0.09350634145579749, + -0.003476463817547132, + 0.09354482181482486, + -0.9937696107320043, + 0.060591477100277055, + 0.00221088325236193, + -0.06065084412530908, + -0.9981565944791088 + ], + [ + 0.9956968369114609, + 0.04156527317241623, + -0.08282594418787746, + 0.04759039125035968, + -0.996257778382625, + 0.07214980022670633, + -0.07951706499329982, + -0.07578104695910687, + -0.9939488262967227 + ], + [ + 0.9914800010204505, + 0.01189290314485688, + -0.129714942976032, + 0.02181043504890106, + -0.9969219178512176, + 0.07530600660523999, + -0.12842006268284503, + -0.07749353884446002, + -0.9886875335200181 + ], + [ + 0.9905489296103359, + -0.011131012551935408, + -0.13670741972324102, + -0.0022881357835957856, + -0.9979039381759811, + 0.06467220892704524, + -0.13714073968902735, + -0.06374818218926888, + -0.9884981470822847 + ], + [ + 0.9924063510930435, + -0.010940665630144368, + -0.12251504456906433, + -0.0042736962080992865, + -0.9985019669401985, + 0.054548671269566584, + -0.12292831175490583, + -0.0536108557301946, + -0.9909664506515671 + ], + [ + 0.9909389392178996, + -0.023839324574478033, + -0.13218057854895435, + -0.017545704834721756, + -0.9986653761919474, + 0.048575864760687947, + -0.13316218300837676, + -0.04581651448144556, + -0.990034686269736 + ], + [ + 0.9902633839577965, + -0.020435971826239244, + -0.13769822601606344, + -0.014842662994605123, + -0.999027203476503, + 0.041525198002496606, + -0.13841288143696132, + -0.03907707472975842, + -0.98960338342332 + ], + [ + 0.9911987490689088, + -0.022865972277837675, + -0.13039243519475952, + -0.01853355481728186, + -0.9992382295575818, + 0.03434338271726218, + -0.1310784009288533, + -0.0316244826427041, + -0.990867470909968 + ], + [ + 0.9927151472263553, + -0.02127368157074527, + -0.11859201887050386, + -0.01919059798328875, + -0.9996413320148878, + 0.018679621959358152, + -0.11894686803947047, + -0.016267691905346455, + -0.992767346755358 + ], + [ + 0.9932442303693011, + -0.002622263230759211, + -0.11601302760312475, + -0.001392370067674456, + -0.9999419859461344, + 0.010681107044472555, + -0.11603430589135878, + -0.010447414878784382, + -0.9931902594058508 + ], + [ + 0.9924434640898079, + 0.013162153611869945, + -0.12199478799407559, + 0.013829110852500952, + -0.99989369088954, + 0.004621970610233389, + -0.12192098374952176, + -0.006274123969938733, + -0.992519979189315 + ], + [ + 0.9953880558420463, + 0.03047601293717341, + -0.09096060093493233, + 0.03140707194791958, + -0.9994677445643567, + 0.008821757596721274, + -0.09064333466200908, + -0.011637878281299615, + -0.9958154174697538 + ], + [ + 0.9961180798739275, + -0.03085394399727208, + -0.08244273823747567, + -0.03057647018269065, + -0.9995217236048072, + 0.004626393113687241, + -0.0825460502958607, + -0.0020876258976505503, + -0.9965850648081501 + ], + [ + 0.9912806655032281, + -0.08061871490388954, + -0.10422698790007466, + -0.08130704568394502, + -0.9966862943793507, + -0.0023653580081940597, + -0.10369091822153863, + 0.010819122127207354, + -0.9945507227259808 + ], + [ + 0.9839072193263759, + -0.123634863440383, + -0.12900001666479297, + -0.12257765695400553, + -0.9923277768638719, + 0.016133855090219466, + -0.1300050067232226, + -6.169670903454459e-05, + -0.9915133354728071 + ], + [ + 0.975259132834354, + -0.17006431607841885, + -0.14123651163903714, + -0.1662913968265425, + -0.9853369456448474, + 0.03818736556455083, + -0.14565986119951366, + -0.013756160222348594, + -0.9892390878302756 + ], + [ + 0.966168816792801, + -0.22099580889255568, + -0.13296115940049752, + -0.21694384350461068, + -0.9751733644498433, + 0.044410337006385435, + -0.13947467950365217, + -0.014062777801655825, + -0.990125775877921 + ], + [ + 0.9586283768273866, + -0.25413518839026844, + -0.12824562824179422, + -0.24797862570975368, + -0.966769677588384, + 0.06215297005577144, + -0.13977924142157735, + -0.027779426154881236, + -0.9897929415539967 + ], + [ + 0.9564348777455769, + -0.27164161469501924, + -0.10697269650563102, + -0.2661298786363051, + -0.9618707517625625, + 0.06308363179738613, + -0.12003004760820779, + -0.031866754927438116, + -0.9922586848204281 + ], + [ + 0.9541278959704038, + -0.278434180790746, + -0.11006527653386598, + -0.2736583023649952, + -0.9601570578775436, + 0.056652958922268404, + -0.12145407229812859, + -0.023933891771410157, + -0.9923084586694176 + ], + [ + 0.9570216306716106, + -0.26492199040534964, + -0.11800820914800642, + -0.2612655765656962, + -0.9641831135380661, + 0.045729881585629406, + -0.12589637377004198, + -0.012933003042959544, + -0.991959092152416 + ], + [ + 0.9643115774354574, + -0.23588650633990177, + -0.12025280766242329, + -0.23326135145007032, + -0.9717599374266433, + 0.03566182738241875, + -0.12526900472035002, + -0.006338780586368983, + -0.9921025634061487 + ], + [ + 0.9737255670446164, + -0.19202034889016706, + -0.12242020133841956, + -0.1885212860492026, + -0.981267887030865, + 0.03966180263599862, + -0.1277428854770214, + -0.015540897467028242, + -0.9916855528421923 + ], + [ + 0.9694016461052065, + -0.19622460223862326, + -0.1475003525582579, + -0.19348835233880185, + -0.9805535066638339, + 0.03281886772078987, + -0.15107185719958557, + -0.0032750642059530214, + -0.988517358429641 + ], + [ + 0.9687910416976974, + -0.1945486967073202, + -0.15360573601195374, + -0.19117377778784114, + -0.980874005521466, + 0.03658923309664602, + -0.15778626116559077, + -0.006081932403332527, + -0.9874545588965731 + ], + [ + 0.9690368164008724, + -0.19441164515281228, + -0.1522227338101592, + -0.19094725914608712, + -0.9808951947307627, + 0.03719894055878035, + -0.15654645535513936, + -0.006980629131791495, + -0.9876459275128234 + ], + [ + 0.9686327708971069, + -0.1884556453168226, + -0.16197229668191035, + -0.1864390557950785, + -0.9820759338736188, + 0.027700876890436515, + -0.16428948115577105, + 0.0033659849196725315, + -0.9864064256314878 + ], + [ + 0.9755780032739352, + -0.17301022343213107, + -0.1353330045332836, + -0.1784003896922376, + -0.9835399824267445, + -0.02867758577106947, + -0.12814390537867745, + 0.05212068261221612, + -0.990385063476998 + ], + [ + 0.9905680498770647, + -0.13692582699198885, + 0.005124106293705818, + -0.13651457072054834, + -0.9894261071312698, + -0.048987248422886556, + 0.01177754404507393, + 0.047825687968090336, + -0.998786259930845 + ], + [ + 0.9925253238498567, + -0.11556409575707301, + 0.039222713937039036, + -0.1152466471275183, + -0.9932838374246693, + -0.01026784479762509, + 0.0401458820130037, + 0.005670809710517379, + -0.9991777369790746 + ], + [ + 0.9862336989832315, + -0.14410716657347886, + 0.08109386864625598, + -0.14611707127715365, + -0.989077249588597, + 0.01939061184293456, + 0.07741377442832639, + -0.030972873428530532, + -0.9965178315716886 + ], + [ + 0.9755900193860866, + -0.19306466055331695, + 0.10464296880195938, + -0.19668434345103097, + -0.9801390016967896, + 0.02535362684228172, + 0.09766976561604017, + -0.045316378918149325, + -0.9941866236709558 + ], + [ + 0.9802471450542118, + -0.18715990157397475, + 0.0639273482625932, + -0.18826322394683817, + -0.9820496145867093, + 0.011641005078525515, + 0.060601098358111026, + -0.02344623067607432, + -0.9978866574641003 + ], + [ + 0.9801966541103905, + -0.18757088680739248, + 0.06349552498471088, + -0.188741886526133, + -0.9819417103677365, + 0.01292198555334514, + 0.059925116114631076, + -0.02465035217543325, + -0.9978984620672964 + ], + [ + 0.9801966541103905, + -0.18757088680739248, + 0.06349552498471088, + -0.188741886526133, + -0.9819417103677365, + 0.01292198555334514, + 0.059925116114631076, + -0.02465035217543325, + -0.9978984620672964 + ], + [ + 0.9802831360743736, + -0.18760631600394403, + 0.06203904676588016, + -0.18871389546084874, + -0.9819531787131597, + 0.012450721871161015, + 0.05858360511425215, + -0.02391286286811853, + -0.9979960602132995 + ], + [ + 0.9802831360743736, + -0.18760631600394403, + 0.06203904676588016, + -0.18871389546084874, + -0.9819531787131597, + 0.012450721871161015, + 0.05858360511425215, + -0.02391286286811853, + -0.9979960602132995 + ], + [ + 0.9802831360743736, + -0.18760631600394403, + 0.06203904676588016, + -0.18871389546084874, + -0.9819531787131597, + 0.012450721871161015, + 0.05858360511425215, + -0.02391286286811853, + -0.9979960602132995 + ], + [ + 0.9802831360743736, + -0.18760631600394403, + 0.06203904676588016, + -0.18871389546084874, + -0.9819531787131597, + 0.012450721871161015, + 0.05858360511425215, + -0.02391286286811853, + -0.9979960602132995 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005836.json b/json/chunk-0005/episode_0005836.json new file mode 100644 index 0000000000000000000000000000000000000000..1cee04c45eac084effbac9bc627f836edc7ca236 --- /dev/null +++ b/json/chunk-0005/episode_0005836.json @@ -0,0 +1,1582 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 25, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMoved the silver object." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005836.mp4", + "start": 0, + "end": 25, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3738424479961395, + 0.0241684727370739, + 0.055002592504024506, + 0.023404400795698166, + -0.01332949846982956, + -0.038364168256521225, + 0.0, + 1.0001531839370728 + ], + [ + 0.3710542917251587, + 0.02335769683122635, + 0.04227907955646515, + 0.015930471941828728, + 0.0214926116168499, + -0.04096810147166252, + 0.0, + 1.0001531839370728 + ], + [ + 0.36642250418663025, + 0.033006247133016586, + 0.04111439734697342, + 0.0005474570207297802, + 0.04329938814043999, + -0.028774671256542206, + 0.0, + 1.0001531839370728 + ], + [ + 0.3631022572517395, + 0.05915873870253563, + 0.05635415017604828, + 0.014979529194533825, + 0.003236314281821251, + 0.038817353546619415, + 0.0, + 1.0001531839370728 + ], + [ + 0.35909369587898254, + 0.07920967042446136, + 0.06321735680103302, + 0.033100858330726624, + -0.01911032199859619, + 0.07424695044755936, + 0.0, + 1.0001531839370728 + ], + [ + 0.35758480429649353, + 0.09772778302431107, + 0.0628814771771431, + 0.06365847587585449, + -0.018932020291686058, + 0.11179462820291519, + 0.0, + 1.0001531839370728 + ], + [ + 0.3580203056335449, + 0.10721536725759506, + 0.03773525357246399, + 0.103386290371418, + 0.040507473051548004, + 0.12585625052452087, + 0.0, + 1.0001531839370728 + ], + [ + 0.36279046535491943, + 0.11153838783502579, + 0.030281677842140198, + 0.1218029260635376, + 0.049165792763233185, + 0.12726110219955444, + 0.0, + 1.0001531839370728 + ], + [ + 0.360783189535141, + 0.1106344610452652, + 0.023889396339654922, + 0.11691880226135254, + 0.07017058879137039, + 0.12900474667549133, + 0.0, + 0.930367648601532 + ], + [ + 0.36072245240211487, + 0.10921978205442429, + 0.022713392972946167, + 0.10775767266750336, + 0.06922687590122223, + 0.1184750348329544, + 0.0, + 0.6420453786849976 + ], + [ + 0.3589754104614258, + 0.10629833489656448, + 0.021348150447010994, + 0.09130576997995377, + 0.07339432090520859, + 0.11010798066854477, + 0.0, + 0.3661215305328369 + ], + [ + 0.3579809069633484, + 0.1067366749048233, + 0.021295150741934776, + 0.08409502357244492, + 0.07733479142189026, + 0.11537151783704758, + 0.0, + 0.1546454280614853 + ], + [ + 0.3570103943347931, + 0.1069728210568428, + 0.022746492177248, + 0.07525160908699036, + 0.0815524086356163, + 0.11548847705125809, + 0.0, + 0.08089608699083328 + ], + [ + 0.3524075448513031, + 0.10768675804138184, + 0.039875347167253494, + 0.052171770483255386, + 0.048156775534152985, + 0.13509826362133026, + 0.0, + 0.07888144999742508 + ], + [ + 0.3367975652217865, + 0.09947804361581802, + 0.06713760644197464, + 0.04134136065840721, + 0.004480433184653521, + 0.11377459764480591, + 0.0, + 0.07888144999742508 + ], + [ + 0.3089768588542938, + 0.07044357061386108, + 0.07821659743785858, + 0.0232020802795887, + -0.005122872069478035, + 0.027220791205763817, + 0.0, + 0.07888144999742508 + ], + [ + 0.27784693241119385, + 0.04092083126306534, + 0.06694409251213074, + 0.01845756731927395, + 0.03376475349068642, + -0.0865602120757103, + 0.0, + 0.07888144999742508 + ], + [ + 0.2521788477897644, + 0.020356880500912666, + 0.049230899661779404, + 0.04296920821070671, + 0.07139402627944946, + -0.17638689279556274, + 0.0, + 0.07888144999742508 + ], + [ + 0.24290341138839722, + -0.0005447170697152615, + 0.0373343825340271, + 0.08351466804742813, + 0.09024857729673386, + -0.2714935541152954, + 0.0, + 0.07888144999742508 + ], + [ + 0.2412412166595459, + -0.018801569938659668, + 0.02077796682715416, + 0.10929897427558899, + 0.13284832239151, + -0.328051894903183, + 0.0, + 0.07888144999742508 + ], + [ + 0.2416118085384369, + -0.019622530788183212, + 0.014372773468494415, + 0.11789363622665405, + 0.154394268989563, + -0.3367580473423004, + 0.0, + 0.07888144999742508 + ], + [ + 0.24745318293571472, + -0.016336992383003235, + 0.01028519682586193, + 0.1159679964184761, + 0.1655469685792923, + -0.3241340219974518, + 0.0, + 0.11874768137931824 + ], + [ + 0.2459636926651001, + -0.014811165630817413, + 0.012694761157035828, + 0.09887898713350296, + 0.16833291947841644, + -0.3302346467971802, + 0.0, + 0.3080119788646698 + ], + [ + 0.24550879001617432, + -0.016542164608836174, + 0.03572780266404152, + 0.04474799335002899, + 0.11420423537492752, + -0.3153996169567108, + 0.0, + 0.5749470591545105 + ], + [ + 0.2490656077861786, + -0.017465077340602875, + 0.057788848876953125, + -0.0038738965522497892, + 0.0727258175611496, + -0.27526041865348816, + 0.0, + 0.8930966854095459 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.930367648601532 + ], + [ + 0.6420453786849976 + ], + [ + 0.3661215305328369 + ], + [ + 0.1546454280614853 + ], + [ + 0.08089608699083328 + ], + [ + 0.07888144999742508 + ], + [ + 0.07888144999742508 + ], + [ + 0.07888144999742508 + ], + [ + 0.07888144999742508 + ], + [ + 0.07888144999742508 + ], + [ + 0.07888144999742508 + ], + [ + 0.07888144999742508 + ], + [ + 0.07888144999742508 + ], + [ + 0.11874768137931824 + ], + [ + 0.3080119788646698 + ], + [ + 0.5749470591545105 + ], + [ + 0.8930966854095459 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3738424479961395, + 0.0241684727370739, + 0.055002592504024506 + ], + [ + 0.3710542917251587, + 0.02335769683122635, + 0.04227907955646515 + ], + [ + 0.36642250418663025, + 0.033006247133016586, + 0.04111439734697342 + ], + [ + 0.3631022572517395, + 0.05915873870253563, + 0.05635415017604828 + ], + [ + 0.35909369587898254, + 0.07920967042446136, + 0.06321735680103302 + ], + [ + 0.35758480429649353, + 0.09772778302431107, + 0.0628814771771431 + ], + [ + 0.3580203056335449, + 0.10721536725759506, + 0.03773525357246399 + ], + [ + 0.36279046535491943, + 0.11153838783502579, + 0.030281677842140198 + ], + [ + 0.360783189535141, + 0.1106344610452652, + 0.023889396339654922 + ], + [ + 0.36072245240211487, + 0.10921978205442429, + 0.022713392972946167 + ], + [ + 0.3589754104614258, + 0.10629833489656448, + 0.021348150447010994 + ], + [ + 0.3579809069633484, + 0.1067366749048233, + 0.021295150741934776 + ], + [ + 0.3570103943347931, + 0.1069728210568428, + 0.022746492177248 + ], + [ + 0.3524075448513031, + 0.10768675804138184, + 0.039875347167253494 + ], + [ + 0.3367975652217865, + 0.09947804361581802, + 0.06713760644197464 + ], + [ + 0.3089768588542938, + 0.07044357061386108, + 0.07821659743785858 + ], + [ + 0.27784693241119385, + 0.04092083126306534, + 0.06694409251213074 + ], + [ + 0.2521788477897644, + 0.020356880500912666, + 0.049230899661779404 + ], + [ + 0.24290341138839722, + -0.0005447170697152615, + 0.0373343825340271 + ], + [ + 0.2412412166595459, + -0.018801569938659668, + 0.02077796682715416 + ], + [ + 0.2416118085384369, + -0.019622530788183212, + 0.014372773468494415 + ], + [ + 0.24745318293571472, + -0.016336992383003235, + 0.01028519682586193 + ], + [ + 0.2459636926651001, + -0.014811165630817413, + 0.012694761157035828 + ], + [ + 0.24550879001617432, + -0.016542164608836174, + 0.03572780266404152 + ], + [ + 0.2490656077861786, + -0.017465077340602875, + 0.057788848876953125 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.999175414469618, + -0.03803255223853858, + 0.014213236425600767, + -0.03835135085789427, + -0.9990024806291754, + 0.022873949902213014, + 0.013329103752386488, + -0.023400185191085384, + -0.9996373173937542 + ], + [ + 0.9989301612026505, + -0.04129350486455416, + -0.02081776874805894, + -0.04094718315488638, + -0.9990201225141911, + 0.016796517597724672, + -0.02149095696628716, + -0.015926119041735423, + -0.9996421847345888 + ], + [ + 0.9986491536493631, + -0.0287943836293937, + -0.043252183607468464, + -0.02874373463029418, + -0.9995852061349241, + 0.0017925946850234735, + -0.04328585952610953, + -0.0005469438772412048, + -0.9990625782289522 + ], + [ + 0.9992414682117798, + 0.038754812118756844, + -0.003814805841223313, + 0.038807402804129316, + -0.9991364758506692, + 0.014842106060222897, + -0.003236308632443808, + -0.014978890557871983, + -0.9998825726774573 + ], + [ + 0.9970628675592909, + 0.07476879134871364, + 0.01659114145249258, + 0.07416520871322047, + -0.9966517752299631, + 0.03442035368045537, + 0.019109158824201052, + -0.03308877107442515, + -0.9992697199844573 + ], + [ + 0.9935793995640493, + 0.11253271420346964, + 0.011677542376004841, + 0.11154191225515542, + -0.9916102601554739, + 0.06532605731908499, + 0.0189308893717748, + -0.06360408939992294, + -0.9977956410203445 + ], + [ + 0.9912767234491269, + 0.12070774603129754, + -0.05291594840883826, + 0.12542128785577183, + -0.9873177859340044, + 0.09732980083702387, + -0.040496396142899946, + -0.1031175524652272, + -0.9938444608051192 + ], + [ + 0.9907146066759522, + 0.12005451713403567, + -0.06380815805699613, + 0.12676450628225278, + -0.9853222013495815, + 0.1143281219763154, + -0.0491459872820738, + -0.12135515004864067, + -0.9913917487505844 + ], + [ + 0.989249925114259, + 0.1196580172215962, + -0.08406274190168321, + 0.1283306294737398, + -0.9859721206558985, + 0.10672500563684255, + -0.07011301733848378, + -0.11636552841759688, + -0.9907286351952217 + ], + [ + 0.9906116053762379, + 0.11012528886861374, + -0.08100042003296491, + 0.11791495931110811, + -0.98810977283325, + 0.09866680901946043, + -0.06917159579315836, + -0.10729164731248811, + -0.9918184273103623 + ], + [ + 0.9912683869197015, + 0.10278237983977626, + -0.08260004532737782, + 0.10958979916848013, + -0.9905386831775801, + 0.08260262130851435, + -0.07332844612989632, + -0.09093348955856469, + -0.9931535830197046 + ], + [ + 0.9903831099742357, + 0.10826274153121698, + -0.08614217476884395, + 0.11477168123908901, + -0.9905886999677705, + 0.07457538924950735, + -0.0772577288257563, + -0.08374488815627792, + -0.9934878142405063 + ], + [ + 0.9900371991156267, + 0.1088222423588449, + -0.08935358938105166, + 0.11484894559351734, + -0.9912331228342275, + 0.06531933781325663, + -0.08146204062839364, + -0.07493073978213394, + -0.9938557843934702 + ], + [ + 0.9897393511918118, + 0.13201697833686885, + -0.054658340015173335, + 0.13453153467248088, + -0.9898779693197541, + 0.045198141931578485, + -0.04813816449636052, + -0.052087650035327455, + -0.9974816258120842 + ], + [ + 0.9935246770646493, + 0.11324831452300875, + -0.009139765931481986, + 0.11352815472995094, + -0.9927067638067141, + 0.04055415115636756, + -0.004480418194422386, + -0.041329170692125876, + -0.9991355391050328 + ], + [ + 0.9996164201198613, + 0.027328910027686726, + 0.0044881291705601975, + 0.027217072548151096, + -0.9993572458675051, + 0.023330797115054848, + 0.005122849662220195, + -0.023199694153453305, + -0.9997177254618048 + ], + [ + 0.9956881622790629, + -0.08705816080395874, + -0.03203061246331379, + -0.0864028824619038, + -0.9960324401031785, + 0.02130540223471117, + -0.03375833822357621, + -0.01844599955384531, + -0.9992597858919584 + ], + [ + 0.981976177706876, + -0.17832836412393752, + -0.0626241244655333, + -0.17502666571389489, + -0.9830377241250347, + 0.05479506580111985, + -0.07133339123629796, + -0.04284655757412618, + -0.9965318458527939 + ], + [ + 0.9594508692309579, + -0.2744786503103537, + -0.06415216329763224, + -0.2670792250402373, + -0.957997647738882, + 0.10444708937388195, + -0.0901261176566803, + -0.0830781406302282, + -0.9924592210592628 + ], + [ + 0.9383303442103235, + -0.333954981335692, + -0.08949991941456267, + -0.3193604071050915, + -0.9363674840076476, + 0.14568756043965392, + -0.1324579008885684, + -0.10812032803439516, + -0.9852740223703904 + ], + [ + 0.9326038607016464, + -0.34520725799003615, + -0.10527102182170014, + -0.32649848078883215, + -0.9313025748093827, + 0.16147524948424377, + -0.15378160178307684, + -0.11622161238089417, + -0.9812460220396394 + ], + [ + 0.934967176880855, + -0.33442367102161324, + -0.11830970550158477, + -0.31413377018124083, + -0.9354870347251025, + 0.1618146541353841, + -0.16479184623992552, + -0.11412631651666692, + -0.979703440481442 + ], + [ + 0.9325954626053129, + -0.3383265601424421, + -0.12570139947576192, + -0.3196816614014262, + -0.9359826114349431, + 0.14744553725036358, + -0.16753906556862042, + -0.09732260679619577, + -0.9810499333442649 + ], + [ + 0.9444796063779172, + -0.3147320415642774, + -0.09435049098439853, + -0.3081757135875172, + -0.9481395893317138, + 0.07783989142280462, + -0.11395614371783415, + -0.04444166012506069, + -0.9924912776212642 + ], + [ + 0.9598106028405269, + -0.27152463506659685, + -0.07097872376181097, + -0.27107910326266416, + -0.9624237345293267, + 0.016021079518358544, + -0.07266172616456282, + 0.003863646797408339, + -0.9973491594141997 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.002788156270980835, + -0.0008107759058475494, + -0.012723512947559357, + -0.007473928853869438, + 0.03482211008667946, + -0.0026039332151412964, + 1.0 + ], + [ + -0.004631787538528442, + 0.009648550301790237, + -0.0011646822094917297, + -0.01538301445543766, + 0.021806776523590088, + 0.012193430215120316, + 1.0 + ], + [ + -0.003320246934890747, + 0.026152491569519043, + 0.01523975282907486, + 0.014432072639465332, + -0.040063075721263885, + 0.06759202480316162, + 1.0 + ], + [ + -0.004008561372756958, + 0.020050931721925735, + 0.006863206624984741, + 0.018121328204870224, + -0.022346636280417442, + 0.03542959690093994, + 1.0 + ], + [ + -0.0015088915824890137, + 0.0185181125998497, + -0.0003358796238899231, + 0.03055761754512787, + 0.00017830170691013336, + 0.037547677755355835, + 1.0 + ], + [ + 0.0004355013370513916, + 0.009487584233283997, + -0.025146223604679108, + 0.03972781449556351, + 0.05943949520587921, + 0.014061622321605682, + 1.0 + ], + [ + 0.004770159721374512, + 0.004323020577430725, + -0.0074535757303237915, + 0.0184166356921196, + 0.00865831971168518, + 0.0014048516750335693, + 1.0 + ], + [ + -0.0020072758197784424, + -0.0009039267897605896, + -0.006392281502485275, + -0.004884123802185059, + 0.021004796028137207, + 0.0017436444759368896, + 0.0 + ], + [ + -6.073713302612305e-05, + -0.0014146789908409119, + -0.0011760033667087555, + -0.009161129593849182, + -0.0009437128901481628, + -0.010529711842536926, + 0.0 + ], + [ + -0.001747041940689087, + -0.0029214471578598022, + -0.001365242525935173, + -0.01645190268754959, + 0.004167445003986359, + -0.008367054164409637, + 0.0 + ], + [ + -0.0009945034980773926, + 0.0004383400082588196, + -5.299970507621765e-05, + -0.00721074640750885, + 0.003940470516681671, + 0.005263537168502808, + 0.0 + ], + [ + -0.0009705126285552979, + 0.00023614615201950073, + 0.0014513414353132248, + -0.00884341448545456, + 0.004217617213726044, + 0.00011695921421051025, + 0.0 + ], + [ + -0.00460284948348999, + 0.000713936984539032, + 0.017128854990005493, + -0.02307983860373497, + -0.03339563310146332, + 0.019609786570072174, + 0.0 + ], + [ + -0.015609979629516602, + -0.008208714425563812, + 0.027262259274721146, + -0.010830409824848175, + -0.04367634281516075, + -0.021323665976524353, + 0.0 + ], + [ + -0.027820706367492676, + -0.02903447300195694, + 0.011078990995883942, + -0.018139280378818512, + -0.009603304788470268, + -0.08655380457639694, + 0.0 + ], + [ + -0.031129926443099976, + -0.029522739350795746, + -0.011272504925727844, + -0.004744512960314751, + 0.0388876274228096, + -0.11378100514411926, + 0.0 + ], + [ + -0.025668084621429443, + -0.020563950762152672, + -0.017713192850351334, + 0.024511640891432762, + 0.037629272788763046, + -0.08982668071985245, + 0.0 + ], + [ + -0.009275436401367188, + -0.020901598036289215, + -0.011896517127752304, + 0.04054545983672142, + 0.018854551017284393, + -0.09510666131973267, + 0.0 + ], + [ + -0.0016621947288513184, + -0.01825685240328312, + -0.01655641570687294, + 0.025784306228160858, + 0.042599745094776154, + -0.05655834078788757, + 0.0 + ], + [ + 0.0003705918788909912, + -0.0008209608495235443, + -0.006405193358659744, + 0.008594661951065063, + 0.02154594659805298, + -0.008706152439117432, + 0.0 + ], + [ + 0.005841374397277832, + 0.0032855384051799774, + -0.0040875766426324844, + -0.001925639808177948, + 0.011152699589729309, + 0.012624025344848633, + 1.0 + ], + [ + -0.001489490270614624, + 0.0015258267521858215, + 0.002409564331173897, + -0.017089009284973145, + 0.0027859508991241455, + -0.0061006247997283936, + 1.0 + ], + [ + -0.00045490264892578125, + -0.0017309989780187607, + 0.02303304150700569, + -0.05413099378347397, + -0.05412868410348892, + 0.01483502984046936, + 1.0 + ], + [ + 0.0035568177700042725, + -0.0009229127317667007, + 0.022061046212911606, + -0.04862188920378685, + -0.041478417813777924, + 0.040139198303222656, + 1.0 + ], + [ + 0.0007368177175521851, + 0.004466913640499115, + 0.005514569580554962, + -0.007529211230576038, + 0.00781596451997757, + 0.047713086009025574, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.930367648601532 + ], + [ + 0.6420453786849976 + ], + [ + 0.3661215305328369 + ], + [ + 0.1546454280614853 + ], + [ + 0.08089608699083328 + ], + [ + 0.07888144999742508 + ], + [ + 0.07888144999742508 + ], + [ + 0.07888144999742508 + ], + [ + 0.07888144999742508 + ], + [ + 0.07888144999742508 + ], + [ + 0.07888144999742508 + ], + [ + 0.07888144999742508 + ], + [ + 0.07888144999742508 + ], + [ + 0.11874768137931824 + ], + [ + 0.3080119788646698 + ], + [ + 0.5749470591545105 + ], + [ + 0.8930966854095459 + ], + [ + 1.0112061500549316 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3710542917251587, + 0.02335769683122635, + 0.04227907955646515 + ], + [ + 0.36642250418663025, + 0.033006247133016586, + 0.04111439734697342 + ], + [ + 0.3631022572517395, + 0.05915873870253563, + 0.05635415017604828 + ], + [ + 0.35909369587898254, + 0.07920967042446136, + 0.06321735680103302 + ], + [ + 0.35758480429649353, + 0.09772778302431107, + 0.0628814771771431 + ], + [ + 0.3580203056335449, + 0.10721536725759506, + 0.03773525357246399 + ], + [ + 0.36279046535491943, + 0.11153838783502579, + 0.030281677842140198 + ], + [ + 0.360783189535141, + 0.1106344610452652, + 0.023889396339654922 + ], + [ + 0.36072245240211487, + 0.10921978205442429, + 0.022713392972946167 + ], + [ + 0.3589754104614258, + 0.10629833489656448, + 0.021348150447010994 + ], + [ + 0.3579809069633484, + 0.1067366749048233, + 0.021295150741934776 + ], + [ + 0.3570103943347931, + 0.1069728210568428, + 0.022746492177248 + ], + [ + 0.3524075448513031, + 0.10768675804138184, + 0.039875347167253494 + ], + [ + 0.3367975652217865, + 0.09947804361581802, + 0.06713760644197464 + ], + [ + 0.3089768588542938, + 0.07044357061386108, + 0.07821659743785858 + ], + [ + 0.27784693241119385, + 0.04092083126306534, + 0.06694409251213074 + ], + [ + 0.2521788477897644, + 0.020356880500912666, + 0.049230899661779404 + ], + [ + 0.24290341138839722, + -0.0005447170697152615, + 0.0373343825340271 + ], + [ + 0.2412412166595459, + -0.018801569938659668, + 0.02077796682715416 + ], + [ + 0.2416118085384369, + -0.019622530788183212, + 0.014372773468494415 + ], + [ + 0.24745318293571472, + -0.016336992383003235, + 0.01028519682586193 + ], + [ + 0.2459636926651001, + -0.014811165630817413, + 0.012694761157035828 + ], + [ + 0.24550879001617432, + -0.016542164608836174, + 0.03572780266404152 + ], + [ + 0.2490656077861786, + -0.017465077340602875, + 0.057788848876953125 + ], + [ + 0.24980242550373077, + -0.01299816370010376, + 0.06330341845750809 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9989301612026505, + -0.04129350486455416, + -0.02081776874805894, + -0.04094718315488638, + -0.9990201225141911, + 0.016796517597724672, + -0.02149095696628716, + -0.015926119041735423, + -0.9996421847345888 + ], + [ + 0.9986491536493631, + -0.0287943836293937, + -0.043252183607468464, + -0.02874373463029418, + -0.9995852061349241, + 0.0017925946850234735, + -0.04328585952610953, + -0.0005469438772412048, + -0.9990625782289522 + ], + [ + 0.9992414682117798, + 0.038754812118756844, + -0.003814805841223313, + 0.038807402804129316, + -0.9991364758506692, + 0.014842106060222897, + -0.003236308632443808, + -0.014978890557871983, + -0.9998825726774573 + ], + [ + 0.9970628675592909, + 0.07476879134871364, + 0.01659114145249258, + 0.07416520871322047, + -0.9966517752299631, + 0.03442035368045537, + 0.019109158824201052, + -0.03308877107442515, + -0.9992697199844573 + ], + [ + 0.9935793995640493, + 0.11253271420346964, + 0.011677542376004841, + 0.11154191225515542, + -0.9916102601554739, + 0.06532605731908499, + 0.0189308893717748, + -0.06360408939992294, + -0.9977956410203445 + ], + [ + 0.9912767234491269, + 0.12070774603129754, + -0.05291594840883826, + 0.12542128785577183, + -0.9873177859340044, + 0.09732980083702387, + -0.040496396142899946, + -0.1031175524652272, + -0.9938444608051192 + ], + [ + 0.9907146066759522, + 0.12005451713403567, + -0.06380815805699613, + 0.12676450628225278, + -0.9853222013495815, + 0.1143281219763154, + -0.0491459872820738, + -0.12135515004864067, + -0.9913917487505844 + ], + [ + 0.989249925114259, + 0.1196580172215962, + -0.08406274190168321, + 0.1283306294737398, + -0.9859721206558985, + 0.10672500563684255, + -0.07011301733848378, + -0.11636552841759688, + -0.9907286351952217 + ], + [ + 0.9906116053762379, + 0.11012528886861374, + -0.08100042003296491, + 0.11791495931110811, + -0.98810977283325, + 0.09866680901946043, + -0.06917159579315836, + -0.10729164731248811, + -0.9918184273103623 + ], + [ + 0.9912683869197015, + 0.10278237983977626, + -0.08260004532737782, + 0.10958979916848013, + -0.9905386831775801, + 0.08260262130851435, + -0.07332844612989632, + -0.09093348955856469, + -0.9931535830197046 + ], + [ + 0.9903831099742357, + 0.10826274153121698, + -0.08614217476884395, + 0.11477168123908901, + -0.9905886999677705, + 0.07457538924950735, + -0.0772577288257563, + -0.08374488815627792, + -0.9934878142405063 + ], + [ + 0.9900371991156267, + 0.1088222423588449, + -0.08935358938105166, + 0.11484894559351734, + -0.9912331228342275, + 0.06531933781325663, + -0.08146204062839364, + -0.07493073978213394, + -0.9938557843934702 + ], + [ + 0.9897393511918118, + 0.13201697833686885, + -0.054658340015173335, + 0.13453153467248088, + -0.9898779693197541, + 0.045198141931578485, + -0.04813816449636052, + -0.052087650035327455, + -0.9974816258120842 + ], + [ + 0.9935246770646493, + 0.11324831452300875, + -0.009139765931481986, + 0.11352815472995094, + -0.9927067638067141, + 0.04055415115636756, + -0.004480418194422386, + -0.041329170692125876, + -0.9991355391050328 + ], + [ + 0.9996164201198613, + 0.027328910027686726, + 0.0044881291705601975, + 0.027217072548151096, + -0.9993572458675051, + 0.023330797115054848, + 0.005122849662220195, + -0.023199694153453305, + -0.9997177254618048 + ], + [ + 0.9956881622790629, + -0.08705816080395874, + -0.03203061246331379, + -0.0864028824619038, + -0.9960324401031785, + 0.02130540223471117, + -0.03375833822357621, + -0.01844599955384531, + -0.9992597858919584 + ], + [ + 0.981976177706876, + -0.17832836412393752, + -0.0626241244655333, + -0.17502666571389489, + -0.9830377241250347, + 0.05479506580111985, + -0.07133339123629796, + -0.04284655757412618, + -0.9965318458527939 + ], + [ + 0.9594508692309579, + -0.2744786503103537, + -0.06415216329763224, + -0.2670792250402373, + -0.957997647738882, + 0.10444708937388195, + -0.0901261176566803, + -0.0830781406302282, + -0.9924592210592628 + ], + [ + 0.9383303442103235, + -0.333954981335692, + -0.08949991941456267, + -0.3193604071050915, + -0.9363674840076476, + 0.14568756043965392, + -0.1324579008885684, + -0.10812032803439516, + -0.9852740223703904 + ], + [ + 0.9326038607016464, + -0.34520725799003615, + -0.10527102182170014, + -0.32649848078883215, + -0.9313025748093827, + 0.16147524948424377, + -0.15378160178307684, + -0.11622161238089417, + -0.9812460220396394 + ], + [ + 0.934967176880855, + -0.33442367102161324, + -0.11830970550158477, + -0.31413377018124083, + -0.9354870347251025, + 0.1618146541353841, + -0.16479184623992552, + -0.11412631651666692, + -0.979703440481442 + ], + [ + 0.9325954626053129, + -0.3383265601424421, + -0.12570139947576192, + -0.3196816614014262, + -0.9359826114349431, + 0.14744553725036358, + -0.16753906556862042, + -0.09732260679619577, + -0.9810499333442649 + ], + [ + 0.9444796063779172, + -0.3147320415642774, + -0.09435049098439853, + -0.3081757135875172, + -0.9481395893317138, + 0.07783989142280462, + -0.11395614371783415, + -0.04444166012506069, + -0.9924912776212642 + ], + [ + 0.9598106028405269, + -0.27152463506659685, + -0.07097872376181097, + -0.27107910326266416, + -0.9624237345293267, + 0.016021079518358544, + -0.07266172616456282, + 0.003863646797408339, + -0.9973491594141997 + ], + [ + 0.9710644460274171, + -0.22468032826832304, + -0.08094808058690849, + -0.22485746115702263, + -0.9743662383833842, + 0.0070395781572911605, + -0.08045473151707173, + 0.01136589582272966, + -0.9966934596899205 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005837.json b/json/chunk-0005/episode_0005837.json new file mode 100644 index 0000000000000000000000000000000000000000..b6b73078355e1c58fa0b9659c68971f09318278b --- /dev/null +++ b/json/chunk-0005/episode_0005837.json @@ -0,0 +1,2122 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 34, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPlace the vessel on the green cloth." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005837.mp4", + "start": 0, + "end": 34, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2715388238430023, + 0.040857236832380295, + 0.22278517484664917, + -0.006320549175143242, + -0.1277153491973877, + 0.03118988126516342, + 0.0, + 0.9994885921478271 + ], + [ + 0.27330660820007324, + 0.04090220481157303, + 0.21570990979671478, + -0.010559292510151863, + -0.10513605922460556, + 0.028638476505875587, + 0.0, + 0.9994885921478271 + ], + [ + 0.2800275683403015, + 0.07303574681282043, + 0.20023438334465027, + -0.0043091727420687675, + -0.11603676527738571, + 0.09436085820198059, + 0.0, + 0.9994885921478271 + ], + [ + 0.2875385284423828, + 0.10888726264238358, + 0.17420747876167297, + 0.016985395923256874, + -0.10796582698822021, + 0.1280132383108139, + 0.0, + 0.9994885921478271 + ], + [ + 0.2932843863964081, + 0.14006751775741577, + 0.1496839076280594, + 0.04950999096035957, + -0.08978812396526337, + 0.16041399538516998, + 0.0, + 0.9994885921478271 + ], + [ + 0.30420181155204773, + 0.15297116339206696, + 0.13046377897262573, + 0.07646652311086655, + -0.09572449326515198, + 0.17641009390354156, + 0.0, + 0.9994885921478271 + ], + [ + 0.3157731294631958, + 0.1584203839302063, + 0.11481764912605286, + 0.092705138027668, + -0.09262623637914658, + 0.20098350942134857, + 0.0, + 0.9994885921478271 + ], + [ + 0.32425686717033386, + 0.15702693164348602, + 0.09214777499437332, + 0.11518418788909912, + -0.056805942207574844, + 0.20119604468345642, + 0.0, + 0.9994885921478271 + ], + [ + 0.33132612705230713, + 0.1608995795249939, + 0.07826562970876694, + 0.11670038849115372, + -0.04154762998223305, + 0.20498491823673248, + 0.0, + 0.9994885921478271 + ], + [ + 0.3297642767429352, + 0.1592298299074173, + 0.05342845618724823, + 0.09884817898273468, + 0.01669762097299099, + 0.21474194526672363, + 0.0, + 0.9994885921478271 + ], + [ + 0.3289300501346588, + 0.1595773696899414, + 0.03947538882493973, + 0.09648708254098892, + 0.05137025564908981, + 0.22016887366771698, + 0.0, + 0.9994885921478271 + ], + [ + 0.32710349559783936, + 0.15998928248882294, + 0.029767237603664398, + 0.09666267037391663, + 0.06850054115056992, + 0.21971538662910461, + 0.0, + 0.9994885921478271 + ], + [ + 0.32060834765434265, + 0.16180498898029327, + 0.01901513710618019, + 0.09826195985078812, + 0.09302902966737747, + 0.231207013130188, + 0.0, + 0.9994885921478271 + ], + [ + 0.31921085715293884, + 0.16387784481048584, + 0.013329640030860901, + 0.11063012480735779, + 0.0940253883600235, + 0.23543424904346466, + 0.0, + 0.9430103898048401 + ], + [ + 0.31698599457740784, + 0.16279572248458862, + 0.00898627657443285, + 0.11343688517808914, + 0.07667293399572372, + 0.23790478706359863, + 0.0, + 0.6520930528640747 + ], + [ + 0.3137504458427429, + 0.16099753975868225, + 0.010030358098447323, + 0.10731183737516403, + 0.057427629828453064, + 0.22602805495262146, + 0.0, + 0.3494465947151184 + ], + [ + 0.31104475259780884, + 0.16538088023662567, + 0.031235771253705025, + 0.09117208421230316, + -0.010856715962290764, + 0.2505892813205719, + 0.0, + 0.1531343013048172 + ], + [ + 0.3061792552471161, + 0.17414246499538422, + 0.05875850096344948, + 0.08126766234636307, + -0.08794388175010681, + 0.28500285744667053, + 0.0, + 0.08819076418876648 + ], + [ + 0.30372941493988037, + 0.1754438430070877, + 0.06336212903261185, + 0.08083946257829666, + -0.0972481369972229, + 0.29123562574386597, + 0.0, + 0.08747956901788712 + ], + [ + 0.30086249113082886, + 0.16815981268882751, + 0.07561124116182327, + 0.08510597795248032, + -0.11750802397727966, + 0.2873850464820862, + 0.0, + 0.08747956901788712 + ], + [ + 0.3025050163269043, + 0.1327005922794342, + 0.09259512275457382, + 0.053881287574768066, + -0.13990825414657593, + 0.2547244429588318, + 0.0, + 0.08747956901788712 + ], + [ + 0.303453266620636, + 0.09619421511888504, + 0.10425303876399994, + 0.01802137866616249, + -0.15558210015296936, + 0.22977210581302643, + 0.0, + 0.08747956901788712 + ], + [ + 0.3054685592651367, + 0.0701492503285408, + 0.10052606463432312, + 0.010755782015621662, + -0.1393451690673828, + 0.1920318752527237, + 0.0, + 0.08747956901788712 + ], + [ + 0.3030644655227661, + 0.04957250878214836, + 0.09159836173057556, + 0.03315071016550064, + -0.125076562166214, + 0.15702654421329498, + 0.0, + 0.08747956901788712 + ], + [ + 0.29855138063430786, + 0.034514427185058594, + 0.07167056947946548, + 0.05243026092648506, + -0.08425529301166534, + 0.12095542997121811, + 0.0, + 0.08747956901788712 + ], + [ + 0.2973504066467285, + 0.02167225256562233, + 0.05441422015428543, + 0.07655792683362961, + -0.04814925417304039, + 0.08749637752771378, + 0.0, + 0.08712529391050339 + ], + [ + 0.29180943965911865, + 0.02198740467429161, + 0.03713301196694374, + 0.09327936172485352, + -0.007853643968701363, + 0.0886242613196373, + 0.0, + 0.08747956901788712 + ], + [ + 0.2897554934024811, + 0.024575285613536835, + 0.023968396708369255, + 0.11187846213579178, + 0.019940126687288284, + 0.09087876230478287, + 0.0, + 0.08747956901788712 + ], + [ + 0.28838953375816345, + 0.024419261142611504, + 0.01841445453464985, + 0.10892871767282486, + 0.040549203753471375, + 0.07704674452543259, + 0.0, + 0.1270572394132614 + ], + [ + 0.2830759286880493, + 0.02996429242193699, + 0.019737299531698227, + 0.06428923457860947, + 0.07228945940732956, + 0.09274937212467194, + 0.0, + 0.3236125409603119 + ], + [ + 0.28710001707077026, + 0.032427288591861725, + 0.05758560448884964, + 0.01540076732635498, + -0.04284461960196495, + 0.09191413968801498, + 0.0, + 0.6029031276702881 + ], + [ + 0.28165245056152344, + 0.0388994961977005, + 0.0922413170337677, + -0.015236607752740383, + -0.10386231541633606, + 0.09572453796863556, + 0.0, + 0.9149291515350342 + ], + [ + 0.28875404596328735, + 0.04499368742108345, + 0.12703938782215118, + -0.01733587682247162, + -0.13564082980155945, + 0.08398221433162689, + 0.0, + 1.0131081342697144 + ], + [ + 0.2960748076438904, + 0.05137385427951813, + 0.1551891714334488, + 0.012557117268443108, + -0.13748960196971893, + 0.08043637871742249, + 0.0, + 1.0092895030975342 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9430103898048401 + ], + [ + 0.6520930528640747 + ], + [ + 0.3494465947151184 + ], + [ + 0.1531343013048172 + ], + [ + 0.08819076418876648 + ], + [ + 0.08747956901788712 + ], + [ + 0.08747956901788712 + ], + [ + 0.08747956901788712 + ], + [ + 0.08747956901788712 + ], + [ + 0.08747956901788712 + ], + [ + 0.08747956901788712 + ], + [ + 0.08747956901788712 + ], + [ + 0.08712529391050339 + ], + [ + 0.08747956901788712 + ], + [ + 0.08747956901788712 + ], + [ + 0.1270572394132614 + ], + [ + 0.3236125409603119 + ], + [ + 0.6029031276702881 + ], + [ + 0.9149291515350342 + ], + [ + 1.0131081342697144 + ], + [ + 1.0092895030975342 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2715388238430023, + 0.040857236832380295, + 0.22278517484664917 + ], + [ + 0.27330660820007324, + 0.04090220481157303, + 0.21570990979671478 + ], + [ + 0.2800275683403015, + 0.07303574681282043, + 0.20023438334465027 + ], + [ + 0.2875385284423828, + 0.10888726264238358, + 0.17420747876167297 + ], + [ + 0.2932843863964081, + 0.14006751775741577, + 0.1496839076280594 + ], + [ + 0.30420181155204773, + 0.15297116339206696, + 0.13046377897262573 + ], + [ + 0.3157731294631958, + 0.1584203839302063, + 0.11481764912605286 + ], + [ + 0.32425686717033386, + 0.15702693164348602, + 0.09214777499437332 + ], + [ + 0.33132612705230713, + 0.1608995795249939, + 0.07826562970876694 + ], + [ + 0.3297642767429352, + 0.1592298299074173, + 0.05342845618724823 + ], + [ + 0.3289300501346588, + 0.1595773696899414, + 0.03947538882493973 + ], + [ + 0.32710349559783936, + 0.15998928248882294, + 0.029767237603664398 + ], + [ + 0.32060834765434265, + 0.16180498898029327, + 0.01901513710618019 + ], + [ + 0.31921085715293884, + 0.16387784481048584, + 0.013329640030860901 + ], + [ + 0.31698599457740784, + 0.16279572248458862, + 0.00898627657443285 + ], + [ + 0.3137504458427429, + 0.16099753975868225, + 0.010030358098447323 + ], + [ + 0.31104475259780884, + 0.16538088023662567, + 0.031235771253705025 + ], + [ + 0.3061792552471161, + 0.17414246499538422, + 0.05875850096344948 + ], + [ + 0.30372941493988037, + 0.1754438430070877, + 0.06336212903261185 + ], + [ + 0.30086249113082886, + 0.16815981268882751, + 0.07561124116182327 + ], + [ + 0.3025050163269043, + 0.1327005922794342, + 0.09259512275457382 + ], + [ + 0.303453266620636, + 0.09619421511888504, + 0.10425303876399994 + ], + [ + 0.3054685592651367, + 0.0701492503285408, + 0.10052606463432312 + ], + [ + 0.3030644655227661, + 0.04957250878214836, + 0.09159836173057556 + ], + [ + 0.29855138063430786, + 0.034514427185058594, + 0.07167056947946548 + ], + [ + 0.2973504066467285, + 0.02167225256562233, + 0.05441422015428543 + ], + [ + 0.29180943965911865, + 0.02198740467429161, + 0.03713301196694374 + ], + [ + 0.2897554934024811, + 0.024575285613536835, + 0.023968396708369255 + ], + [ + 0.28838953375816345, + 0.024419261142611504, + 0.01841445453464985 + ], + [ + 0.2830759286880493, + 0.02996429242193699, + 0.019737299531698227 + ], + [ + 0.28710001707077026, + 0.032427288591861725, + 0.05758560448884964 + ], + [ + 0.28165245056152344, + 0.0388994961977005, + 0.0922413170337677 + ], + [ + 0.28875404596328735, + 0.04499368742108345, + 0.12703938782215118 + ], + [ + 0.2960748076438904, + 0.05137385427951813, + 0.1551891714334488 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.991373070708587, + 0.030379560094068496, + 0.1275010470636131, + 0.030930838945094394, + -0.9995187750096884, + -0.002345550102700074, + 0.12736843359317657, + 0.006269029559870132, + -0.9918356624927327 + ], + [ + 0.9940705046131146, + 0.027525322275521666, + 0.10519595283021331, + 0.028476450321260734, + -0.9995659508005506, + -0.007549952138410156, + 0.10494247774532751, + 0.010500792056801503, + -0.9944228525787465 + ], + [ + 0.9888565177921588, + 0.09372333453678432, + 0.11566643326078718, + 0.09358728084124975, + -0.9955890801979067, + 0.0066184783317105545, + 0.11577654375868704, + 0.004280181537304805, + -0.9932660630270727 + ], + [ + 0.9860424820752642, + 0.12946069365106083, + 0.10469074621110634, + 0.12692054865909297, + -0.9914407710384164, + 0.03060019364032128, + 0.1077561964386592, + -0.016885683940442632, + -0.9940339409733133 + ], + [ + 0.9831847132207178, + 0.16391182752729852, + 0.08050299675016226, + 0.15908348120394436, + -0.9852427966300543, + 0.06315914578763791, + 0.08966752866634484, + -0.04929040966811864, + -0.9947513205910409 + ], + [ + 0.9799730110366104, + 0.1821718031143213, + 0.08041350502195732, + 0.17469308172988507, + -0.980321887561234, + 0.09193108268749454, + 0.0955783701239726, + -0.07604229690413232, + -0.9925131456288065 + ], + [ + 0.9756702561803794, + 0.20716592877458, + 0.07176231016263711, + 0.19877736317856798, + -0.9739537677889888, + 0.10909453743156998, + 0.09249384353938682, + -0.0921755724940083, + -0.9914376191887785 + ], + [ + 0.9782477732854249, + 0.2049107219686647, + 0.03229380876250644, + 0.19951904293217784, + -0.9720315569608173, + 0.12388221736697225, + 0.05677539581135933, + -0.1147442734719715, + -0.9917712972938134 + ], + [ + 0.978219143205363, + 0.2069028619140212, + 0.016688726684595118, + 0.20337673255001062, + -0.9714202631262837, + 0.12239516757185816, + 0.04153567772225568, + -0.11633519725108678, + -0.9923411254990412 + ], + [ + 0.9768952168234865, + 0.21044516266796898, + -0.037263505699884195, + 0.21306560189773915, + -0.972613164946244, + 0.09287992604004594, + -0.01669684507167037, + -0.09867352675820573, + -0.9949797739058569 + ], + [ + 0.9745732645183526, + 0.21255132017796916, + -0.07091465558432977, + 0.2181063258458301, + -0.972401925002164, + 0.08285002642195655, + -0.05134766510830124, + -0.09621035569359856, + -0.9940357059709866 + ], + [ + 0.9736706568812044, + 0.210487259158995, + -0.08752465744153852, + 0.21744071031501047, + -0.9728433305994666, + 0.07934350386667524, + -0.0684469825940361, + -0.09628586521328814, + -0.9929975038910726 + ], + [ + 0.9691814952009439, + 0.21917634227200888, + -0.112467596881619, + 0.22816171112436273, + -0.9707833986662614, + 0.07430899306803809, + -0.09289490264199646, + -0.09767970035911294, + -0.9908729551263815 + ], + [ + 0.9681178614348178, + 0.22175966949308096, + -0.11649229741572642, + 0.23223491364640736, + -0.9688864323771558, + 0.08559220781772503, + -0.09388690672569994, + -0.10991692381879331, + -0.9894965985811639 + ], + [ + 0.9689787004362541, + 0.22572611383512778, + -0.10063796318367788, + 0.23497457335671793, + -0.9676311643875319, + 0.09206997111902257, + -0.07659783271540238, + -0.1128612034266877, + -0.990653885463729 + ], + [ + 0.9729576443869683, + 0.21682812925042394, + -0.07961774045226207, + 0.22373894033162278, + -0.9703358491734705, + 0.09159272016968939, + -0.05739606962366735, + -0.10692942613968301, + -0.9926085779486261 + ], + [ + 0.9687093701003595, + 0.24790253192997852, + -0.012103344268025272, + 0.24796026421421435, + -0.9644977806812454, + 0.09088310311476525, + 0.01085650268647218, + -0.09104046201364543, + -0.9957880149036542 + ], + [ + 0.9559521713430829, + 0.2870745675781708, + 0.06118528217023548, + 0.2800736298200716, + -0.9544889325329989, + 0.10251653306382175, + 0.08783056406430827, + -0.08086451831194219, + -0.9928477837485075 + ], + [ + 0.9533639048719881, + 0.29370871670686977, + 0.06951585874920269, + 0.2857793555324863, + -0.952510298328988, + 0.10513939094677847, + 0.09709492694611901, + -0.08036990299624876, + -0.992024825220469 + ], + [ + 0.9523750446172835, + 0.29197649508677337, + 0.08792895260988162, + 0.2814908109816534, + -0.9526927533067332, + 0.11462740130408207, + 0.11723778283095629, + -0.08441708425241547, + -0.9895095038266193 + ], + [ + 0.9582768512588266, + 0.2588809676595577, + 0.12118630667332052, + 0.2495166164648055, + -0.9644359301931154, + 0.08720547379892918, + 0.139452265845429, + -0.05332898964157873, + -0.9887917295438835 + ], + [ + 0.9619572664356847, + 0.23043760891867707, + 0.14675396399221402, + 0.2250046780988922, + -0.9729242368811541, + 0.05283298328542281, + 0.15495519476674247, + -0.017802743751083, + -0.9877610793758449 + ], + [ + 0.9721038008109444, + 0.1923092061936096, + 0.1342809355869249, + 0.1890038985728261, + -0.9812765759664671, + 0.03706491310929391, + 0.13889466070799478, + -0.010651322580336664, + -0.9902498788457896 + ], + [ + 0.9799808753757663, + 0.16038005294971752, + 0.11796492069082795, + 0.1551603921448908, + -0.9865073584420535, + 0.05223489685187689, + 0.12475069782246204, + -0.03288571658833535, + -0.9916429765985746 + ], + [ + 0.989172346031405, + 0.12487296416253887, + 0.07710261129162502, + 0.12023268248983884, + -0.9907975469750835, + 0.06216367886036478, + 0.08415564097565736, + -0.05222033827368648, + -0.9950833454352243 + ], + [ + 0.9950201153616969, + 0.09079592196191062, + 0.04112262857214127, + 0.08728350575998133, + -0.9929350318437502, + 0.08038415366039696, + 0.04813065185350143, + -0.07639452266057849, + -0.9959153163093837 + ], + [ + 0.9960447212003829, + 0.0888521585210422, + -0.0004552966099186685, + 0.0885055643074677, + -0.9916803902889499, + 0.09347068312028356, + 0.007853563233852157, + -0.0931412767923403, + -0.9956219282950854 + ], + [ + 0.9956753892185878, + 0.08796945362403757, + -0.0298646033541692, + 0.09073567846697123, + -0.9898493201518733, + 0.10938628820840587, + -0.019938805319074774, + -0.11162302013456868, + -0.9935505751689169 + ], + [ + 0.9962137998270602, + 0.07212038430606636, + -0.04854601118192434, + 0.07690726938548749, + -0.991463293403588, + 0.10528917204052411, + -0.040538092577207974, + -0.10862406731869471, + -0.9932559967346513 + ], + [ + 0.9931013398600285, + 0.0878048746449808, + -0.0777176476535103, + 0.09237456015124929, + -0.994074655503301, + 0.05729327991009424, + -0.07222651455718457, + -0.06407716656167303, + -0.9953278089756903 + ], + [ + 0.9948650518393114, + 0.09243071910236407, + 0.041232157292394614, + 0.09170054603260551, + -0.9956002372295405, + 0.01926596703529711, + 0.042831512769068755, + -0.015386025955490457, + -0.9989638290344705 + ], + [ + 0.9900577311142142, + 0.09399494736741257, + 0.10464530056515485, + 0.0950633575162883, + -0.9954573364885464, + -0.0052582591091853955, + 0.10367568238842033, + 0.015153913703275505, + -0.9944957072711622 + ], + [ + 0.9873228166781535, + 0.08153505363730708, + 0.13618256384382993, + 0.08311304745936034, + -0.9965224671128536, + -0.005932443116426172, + 0.135225282431709, + 0.017175784339382417, + -0.9906659958954842 + ], + [ + 0.98736043440488, + 0.08205876384051745, + 0.13559399635961844, + 0.07959142438191145, + -0.996549872404514, + 0.023527791553923424, + 0.13705684126180823, + -0.012438291181371557, + -0.9904850888205347 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + 0.0017677843570709229, + 4.4967979192733765e-05, + -0.007075265049934387, + -0.004238743335008621, + 0.022579289972782135, + -0.002551404759287834, + 1.0 + ], + [ + 0.0067209601402282715, + 0.032133542001247406, + -0.015475526452064514, + 0.0062501197680830956, + -0.010900706052780151, + 0.06572238355875015, + 1.0 + ], + [ + 0.007510960102081299, + 0.03585151582956314, + -0.026026904582977295, + 0.021294567734003067, + 0.008070938289165497, + 0.03365238010883331, + 1.0 + ], + [ + 0.0057458579540252686, + 0.031180255115032196, + -0.024523571133613586, + 0.03252459317445755, + 0.018177703022956848, + 0.03240075707435608, + 1.0 + ], + [ + 0.010917425155639648, + 0.012903645634651184, + -0.019220128655433655, + 0.026956532150506973, + -0.005936369299888611, + 0.015996098518371582, + 1.0 + ], + [ + 0.011571317911148071, + 0.005449220538139343, + -0.015646129846572876, + 0.016238614916801453, + 0.0030982568860054016, + 0.024573415517807007, + 1.0 + ], + [ + 0.008483737707138062, + -0.0013934522867202759, + -0.022669874131679535, + 0.022479049861431122, + 0.03582029417157173, + 0.00021253526210784912, + 1.0 + ], + [ + 0.007069259881973267, + 0.0038726478815078735, + -0.013882145285606384, + 0.001516200602054596, + 0.015258312225341797, + 0.003788873553276062, + 1.0 + ], + [ + -0.0015618503093719482, + -0.0016697496175765991, + -0.024837173521518707, + -0.017852209508419037, + 0.05824524909257889, + 0.00975702702999115, + 1.0 + ], + [ + -0.0008342266082763672, + 0.0003475397825241089, + -0.013953067362308502, + -0.002361096441745758, + 0.034672632813453674, + 0.005426928400993347, + 1.0 + ], + [ + -0.001826554536819458, + 0.00041191279888153076, + -0.00970815122127533, + 0.00017558783292770386, + 0.017130285501480103, + -0.0004534870386123657, + 1.0 + ], + [ + -0.006495147943496704, + 0.001815706491470337, + -0.010752100497484207, + 0.0015992894768714905, + 0.024528488516807556, + 0.011491626501083374, + 1.0 + ], + [ + -0.0013974905014038086, + 0.002072855830192566, + -0.00568549707531929, + 0.012368164956569672, + 0.0009963586926460266, + 0.004227235913276672, + 0.0 + ], + [ + -0.002224862575531006, + -0.0010821223258972168, + -0.004343363456428051, + 0.0028067603707313538, + -0.017352454364299774, + 0.002470538020133972, + 0.0 + ], + [ + -0.003235548734664917, + -0.001798182725906372, + 0.001044081524014473, + -0.00612504780292511, + -0.01924530416727066, + -0.011876732110977173, + 0.0 + ], + [ + -0.002705693244934082, + 0.00438334047794342, + 0.021205414086580276, + -0.01613975316286087, + -0.06828434765338898, + 0.02456122636795044, + 0.0 + ], + [ + -0.004865497350692749, + 0.008761584758758545, + 0.027522729709744453, + -0.009904421865940094, + -0.0770871639251709, + 0.03441357612609863, + 0.0 + ], + [ + -0.0024498403072357178, + 0.0013013780117034912, + 0.004603628069162369, + -0.00042819976806640625, + -0.009304255247116089, + 0.006232768297195435, + 0.0 + ], + [ + -0.0028669238090515137, + -0.007284030318260193, + 0.012249112129211426, + 0.004266515374183655, + -0.020259886980056763, + -0.003850579261779785, + 0.0 + ], + [ + 0.0016425251960754395, + -0.03545922040939331, + 0.01698388159275055, + -0.03122469037771225, + -0.022400230169296265, + -0.032660603523254395, + 0.0 + ], + [ + 0.0009482502937316895, + -0.036506377160549164, + 0.011657916009426117, + -0.035859908908605576, + -0.015673846006393433, + -0.02495233714580536, + 0.0 + ], + [ + 0.0020152926445007324, + -0.02604496479034424, + -0.003726974129676819, + -0.007265596650540829, + 0.016236931085586548, + -0.037740230560302734, + 0.0 + ], + [ + -0.0024040937423706055, + -0.02057674154639244, + -0.008927702903747559, + 0.022394929081201553, + 0.014268606901168823, + -0.03500533103942871, + 0.0 + ], + [ + -0.004513084888458252, + -0.015058081597089767, + -0.019927792251110077, + 0.01927955076098442, + 0.040821269154548645, + -0.036071114242076874, + 0.0 + ], + [ + -0.0012009739875793457, + -0.012842174619436264, + -0.017256349325180054, + 0.024127665907144547, + 0.036106038838624954, + -0.033459052443504333, + 0.0 + ], + [ + -0.005540966987609863, + 0.000315152108669281, + -0.01728120818734169, + 0.016721434891223907, + 0.04029560834169388, + 0.001127883791923523, + 0.0 + ], + [ + -0.0020539462566375732, + 0.002587880939245224, + -0.013164615258574486, + 0.018599100410938263, + 0.027793770655989647, + 0.002254500985145569, + 0.0 + ], + [ + -0.001365959644317627, + -0.00015602447092533112, + -0.005553942173719406, + -0.002949744462966919, + 0.02060907706618309, + -0.01383201777935028, + 1.0 + ], + [ + -0.005313605070114136, + 0.005545031279325485, + 0.001322844997048378, + -0.04463948309421539, + 0.031740255653858185, + 0.01570262759923935, + 1.0 + ], + [ + 0.004024088382720947, + 0.002462996169924736, + 0.03784830495715141, + -0.048888467252254486, + -0.11513407528400421, + -0.0008352324366569519, + 1.0 + ], + [ + -0.005447566509246826, + 0.006472207605838776, + 0.03465571254491806, + -0.030637376010417938, + -0.06101769581437111, + 0.003810398280620575, + 1.0 + ], + [ + 0.007101595401763916, + 0.00609419122338295, + 0.034798070788383484, + -0.0020992690697312355, + -0.03177851438522339, + -0.011742323637008667, + 1.0 + ], + [ + 0.007320761680603027, + 0.006380166858434677, + 0.028149783611297607, + 0.029892994090914726, + -0.0018487721681594849, + -0.0035458356142044067, + 1.0 + ], + [ + 0.0021488070487976074, + 0.004624493420124054, + 0.017002105712890625, + 0.0038146506994962692, + 0.0003993511199951172, + -0.014065206050872803, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9430103898048401 + ], + [ + 0.6520930528640747 + ], + [ + 0.3494465947151184 + ], + [ + 0.1531343013048172 + ], + [ + 0.08819076418876648 + ], + [ + 0.08747956901788712 + ], + [ + 0.08747956901788712 + ], + [ + 0.08747956901788712 + ], + [ + 0.08747956901788712 + ], + [ + 0.08747956901788712 + ], + [ + 0.08747956901788712 + ], + [ + 0.08747956901788712 + ], + [ + 0.08712529391050339 + ], + [ + 0.08747956901788712 + ], + [ + 0.08747956901788712 + ], + [ + 0.1270572394132614 + ], + [ + 0.3236125409603119 + ], + [ + 0.6029031276702881 + ], + [ + 0.9149291515350342 + ], + [ + 1.0131081342697144 + ], + [ + 1.0092895030975342 + ], + [ + 1.0027955770492554 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.27330660820007324, + 0.04090220481157303, + 0.21570990979671478 + ], + [ + 0.2800275683403015, + 0.07303574681282043, + 0.20023438334465027 + ], + [ + 0.2875385284423828, + 0.10888726264238358, + 0.17420747876167297 + ], + [ + 0.2932843863964081, + 0.14006751775741577, + 0.1496839076280594 + ], + [ + 0.30420181155204773, + 0.15297116339206696, + 0.13046377897262573 + ], + [ + 0.3157731294631958, + 0.1584203839302063, + 0.11481764912605286 + ], + [ + 0.32425686717033386, + 0.15702693164348602, + 0.09214777499437332 + ], + [ + 0.33132612705230713, + 0.1608995795249939, + 0.07826562970876694 + ], + [ + 0.3297642767429352, + 0.1592298299074173, + 0.05342845618724823 + ], + [ + 0.3289300501346588, + 0.1595773696899414, + 0.03947538882493973 + ], + [ + 0.32710349559783936, + 0.15998928248882294, + 0.029767237603664398 + ], + [ + 0.32060834765434265, + 0.16180498898029327, + 0.01901513710618019 + ], + [ + 0.31921085715293884, + 0.16387784481048584, + 0.013329640030860901 + ], + [ + 0.31698599457740784, + 0.16279572248458862, + 0.00898627657443285 + ], + [ + 0.3137504458427429, + 0.16099753975868225, + 0.010030358098447323 + ], + [ + 0.31104475259780884, + 0.16538088023662567, + 0.031235771253705025 + ], + [ + 0.3061792552471161, + 0.17414246499538422, + 0.05875850096344948 + ], + [ + 0.30372941493988037, + 0.1754438430070877, + 0.06336212903261185 + ], + [ + 0.30086249113082886, + 0.16815981268882751, + 0.07561124116182327 + ], + [ + 0.3025050163269043, + 0.1327005922794342, + 0.09259512275457382 + ], + [ + 0.303453266620636, + 0.09619421511888504, + 0.10425303876399994 + ], + [ + 0.3054685592651367, + 0.0701492503285408, + 0.10052606463432312 + ], + [ + 0.3030644655227661, + 0.04957250878214836, + 0.09159836173057556 + ], + [ + 0.29855138063430786, + 0.034514427185058594, + 0.07167056947946548 + ], + [ + 0.2973504066467285, + 0.02167225256562233, + 0.05441422015428543 + ], + [ + 0.29180943965911865, + 0.02198740467429161, + 0.03713301196694374 + ], + [ + 0.2897554934024811, + 0.024575285613536835, + 0.023968396708369255 + ], + [ + 0.28838953375816345, + 0.024419261142611504, + 0.01841445453464985 + ], + [ + 0.2830759286880493, + 0.02996429242193699, + 0.019737299531698227 + ], + [ + 0.28710001707077026, + 0.032427288591861725, + 0.05758560448884964 + ], + [ + 0.28165245056152344, + 0.0388994961977005, + 0.0922413170337677 + ], + [ + 0.28875404596328735, + 0.04499368742108345, + 0.12703938782215118 + ], + [ + 0.2960748076438904, + 0.05137385427951813, + 0.1551891714334488 + ], + [ + 0.298223614692688, + 0.05599834769964218, + 0.17219127714633942 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9940705046131146, + 0.027525322275521666, + 0.10519595283021331, + 0.028476450321260734, + -0.9995659508005506, + -0.007549952138410156, + 0.10494247774532751, + 0.010500792056801503, + -0.9944228525787465 + ], + [ + 0.9888565177921588, + 0.09372333453678432, + 0.11566643326078718, + 0.09358728084124975, + -0.9955890801979067, + 0.0066184783317105545, + 0.11577654375868704, + 0.004280181537304805, + -0.9932660630270727 + ], + [ + 0.9860424820752642, + 0.12946069365106083, + 0.10469074621110634, + 0.12692054865909297, + -0.9914407710384164, + 0.03060019364032128, + 0.1077561964386592, + -0.016885683940442632, + -0.9940339409733133 + ], + [ + 0.9831847132207178, + 0.16391182752729852, + 0.08050299675016226, + 0.15908348120394436, + -0.9852427966300543, + 0.06315914578763791, + 0.08966752866634484, + -0.04929040966811864, + -0.9947513205910409 + ], + [ + 0.9799730110366104, + 0.1821718031143213, + 0.08041350502195732, + 0.17469308172988507, + -0.980321887561234, + 0.09193108268749454, + 0.0955783701239726, + -0.07604229690413232, + -0.9925131456288065 + ], + [ + 0.9756702561803794, + 0.20716592877458, + 0.07176231016263711, + 0.19877736317856798, + -0.9739537677889888, + 0.10909453743156998, + 0.09249384353938682, + -0.0921755724940083, + -0.9914376191887785 + ], + [ + 0.9782477732854249, + 0.2049107219686647, + 0.03229380876250644, + 0.19951904293217784, + -0.9720315569608173, + 0.12388221736697225, + 0.05677539581135933, + -0.1147442734719715, + -0.9917712972938134 + ], + [ + 0.978219143205363, + 0.2069028619140212, + 0.016688726684595118, + 0.20337673255001062, + -0.9714202631262837, + 0.12239516757185816, + 0.04153567772225568, + -0.11633519725108678, + -0.9923411254990412 + ], + [ + 0.9768952168234865, + 0.21044516266796898, + -0.037263505699884195, + 0.21306560189773915, + -0.972613164946244, + 0.09287992604004594, + -0.01669684507167037, + -0.09867352675820573, + -0.9949797739058569 + ], + [ + 0.9745732645183526, + 0.21255132017796916, + -0.07091465558432977, + 0.2181063258458301, + -0.972401925002164, + 0.08285002642195655, + -0.05134766510830124, + -0.09621035569359856, + -0.9940357059709866 + ], + [ + 0.9736706568812044, + 0.210487259158995, + -0.08752465744153852, + 0.21744071031501047, + -0.9728433305994666, + 0.07934350386667524, + -0.0684469825940361, + -0.09628586521328814, + -0.9929975038910726 + ], + [ + 0.9691814952009439, + 0.21917634227200888, + -0.112467596881619, + 0.22816171112436273, + -0.9707833986662614, + 0.07430899306803809, + -0.09289490264199646, + -0.09767970035911294, + -0.9908729551263815 + ], + [ + 0.9681178614348178, + 0.22175966949308096, + -0.11649229741572642, + 0.23223491364640736, + -0.9688864323771558, + 0.08559220781772503, + -0.09388690672569994, + -0.10991692381879331, + -0.9894965985811639 + ], + [ + 0.9689787004362541, + 0.22572611383512778, + -0.10063796318367788, + 0.23497457335671793, + -0.9676311643875319, + 0.09206997111902257, + -0.07659783271540238, + -0.1128612034266877, + -0.990653885463729 + ], + [ + 0.9729576443869683, + 0.21682812925042394, + -0.07961774045226207, + 0.22373894033162278, + -0.9703358491734705, + 0.09159272016968939, + -0.05739606962366735, + -0.10692942613968301, + -0.9926085779486261 + ], + [ + 0.9687093701003595, + 0.24790253192997852, + -0.012103344268025272, + 0.24796026421421435, + -0.9644977806812454, + 0.09088310311476525, + 0.01085650268647218, + -0.09104046201364543, + -0.9957880149036542 + ], + [ + 0.9559521713430829, + 0.2870745675781708, + 0.06118528217023548, + 0.2800736298200716, + -0.9544889325329989, + 0.10251653306382175, + 0.08783056406430827, + -0.08086451831194219, + -0.9928477837485075 + ], + [ + 0.9533639048719881, + 0.29370871670686977, + 0.06951585874920269, + 0.2857793555324863, + -0.952510298328988, + 0.10513939094677847, + 0.09709492694611901, + -0.08036990299624876, + -0.992024825220469 + ], + [ + 0.9523750446172835, + 0.29197649508677337, + 0.08792895260988162, + 0.2814908109816534, + -0.9526927533067332, + 0.11462740130408207, + 0.11723778283095629, + -0.08441708425241547, + -0.9895095038266193 + ], + [ + 0.9582768512588266, + 0.2588809676595577, + 0.12118630667332052, + 0.2495166164648055, + -0.9644359301931154, + 0.08720547379892918, + 0.139452265845429, + -0.05332898964157873, + -0.9887917295438835 + ], + [ + 0.9619572664356847, + 0.23043760891867707, + 0.14675396399221402, + 0.2250046780988922, + -0.9729242368811541, + 0.05283298328542281, + 0.15495519476674247, + -0.017802743751083, + -0.9877610793758449 + ], + [ + 0.9721038008109444, + 0.1923092061936096, + 0.1342809355869249, + 0.1890038985728261, + -0.9812765759664671, + 0.03706491310929391, + 0.13889466070799478, + -0.010651322580336664, + -0.9902498788457896 + ], + [ + 0.9799808753757663, + 0.16038005294971752, + 0.11796492069082795, + 0.1551603921448908, + -0.9865073584420535, + 0.05223489685187689, + 0.12475069782246204, + -0.03288571658833535, + -0.9916429765985746 + ], + [ + 0.989172346031405, + 0.12487296416253887, + 0.07710261129162502, + 0.12023268248983884, + -0.9907975469750835, + 0.06216367886036478, + 0.08415564097565736, + -0.05222033827368648, + -0.9950833454352243 + ], + [ + 0.9950201153616969, + 0.09079592196191062, + 0.04112262857214127, + 0.08728350575998133, + -0.9929350318437502, + 0.08038415366039696, + 0.04813065185350143, + -0.07639452266057849, + -0.9959153163093837 + ], + [ + 0.9960447212003829, + 0.0888521585210422, + -0.0004552966099186685, + 0.0885055643074677, + -0.9916803902889499, + 0.09347068312028356, + 0.007853563233852157, + -0.0931412767923403, + -0.9956219282950854 + ], + [ + 0.9956753892185878, + 0.08796945362403757, + -0.0298646033541692, + 0.09073567846697123, + -0.9898493201518733, + 0.10938628820840587, + -0.019938805319074774, + -0.11162302013456868, + -0.9935505751689169 + ], + [ + 0.9962137998270602, + 0.07212038430606636, + -0.04854601118192434, + 0.07690726938548749, + -0.991463293403588, + 0.10528917204052411, + -0.040538092577207974, + -0.10862406731869471, + -0.9932559967346513 + ], + [ + 0.9931013398600285, + 0.0878048746449808, + -0.0777176476535103, + 0.09237456015124929, + -0.994074655503301, + 0.05729327991009424, + -0.07222651455718457, + -0.06407716656167303, + -0.9953278089756903 + ], + [ + 0.9948650518393114, + 0.09243071910236407, + 0.041232157292394614, + 0.09170054603260551, + -0.9956002372295405, + 0.01926596703529711, + 0.042831512769068755, + -0.015386025955490457, + -0.9989638290344705 + ], + [ + 0.9900577311142142, + 0.09399494736741257, + 0.10464530056515485, + 0.0950633575162883, + -0.9954573364885464, + -0.0052582591091853955, + 0.10367568238842033, + 0.015153913703275505, + -0.9944957072711622 + ], + [ + 0.9873228166781535, + 0.08153505363730708, + 0.13618256384382993, + 0.08311304745936034, + -0.9965224671128536, + -0.005932443116426172, + 0.135225282431709, + 0.017175784339382417, + -0.9906659958954842 + ], + [ + 0.98736043440488, + 0.08205876384051745, + 0.13559399635961844, + 0.07959142438191145, + -0.996549872404514, + 0.023527791553923424, + 0.13705684126180823, + -0.012438291181371557, + -0.9904850888205347 + ], + [ + 0.988436738597266, + 0.06854592659415601, + 0.1352563112706713, + 0.06570020649726718, + -0.9975161404997893, + 0.02539748626579288, + 0.13666124782620934, + -0.01621744091258742, + -0.9904850821455264 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005838.json b/json/chunk-0005/episode_0005838.json new file mode 100644 index 0000000000000000000000000000000000000000..585a1463784a4b61cb0f79b27ed8a559f106c1ff --- /dev/null +++ b/json/chunk-0005/episode_0005838.json @@ -0,0 +1,1282 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 20, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut cap on container." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005838.mp4", + "start": 0, + "end": 20, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.31301960349082947, + -0.01089263241738081, + 0.08758092671632767, + -0.013501021079719067, + -0.08208049088716507, + -0.07135158777236938, + 0.0, + 1.0014774799346924 + ], + [ + 0.3149518072605133, + -0.009448543190956116, + 0.07569075375795364, + -0.005192280281335115, + -0.07387692481279373, + -0.06113161891698837, + 0.0, + 1.0014774799346924 + ], + [ + 0.32700687646865845, + -0.008262828923761845, + 0.051778677850961685, + 0.025915026664733887, + -0.1071283370256424, + -0.05624215304851532, + 0.0, + 1.0014774799346924 + ], + [ + 0.3343564569950104, + -0.008264545351266861, + 0.03631896898150444, + 0.04075060412287712, + -0.14121411740779877, + -0.059079308062791824, + 0.0, + 1.0014774799346924 + ], + [ + 0.3373037874698639, + -0.009280574508011341, + 0.021958626806735992, + 0.06043451651930809, + -0.13775281608104706, + -0.0656174048781395, + 0.0, + 1.0014774799346924 + ], + [ + 0.3391548693180084, + -0.011598675511777401, + 0.01608838327229023, + 0.06823878735303879, + -0.14051786065101624, + -0.06736817210912704, + 0.0, + 1.0014774799346924 + ], + [ + 0.3360459506511688, + -0.0161716490983963, + 0.005584515631198883, + 0.07315904647111893, + -0.11477087438106537, + -0.05012752488255501, + 0.0, + 0.8990517854690552 + ], + [ + 0.33811527490615845, + -0.020103037357330322, + 0.005587384104728699, + 0.0822860524058342, + -0.1127513200044632, + -0.03553635999560356, + 0.0, + 0.8371937274932861 + ], + [ + 0.33378419280052185, + -0.021041251718997955, + 0.014625205658376217, + 0.05874459818005562, + -0.04657517001032829, + -0.033464375883340836, + 0.0, + 0.8669703602790833 + ], + [ + 0.32833603024482727, + -0.02190336585044861, + 0.05146024748682976, + 0.020637497305870056, + -0.008557995781302452, + -0.04043135046958923, + 0.0, + 0.8687413334846497 + ], + [ + 0.3146720230579376, + -0.026477748528122902, + 0.09341319650411606, + -0.035201989114284515, + 0.03415202721953392, + -0.04766247794032097, + 0.0, + 0.8687413334846497 + ], + [ + 0.30052173137664795, + -0.02773129753768444, + 0.12660807371139526, + -0.046693433076143265, + 0.09028696268796921, + -0.06763038784265518, + 0.0, + 0.8687413334846497 + ], + [ + 0.2836383879184723, + -0.02529550902545452, + 0.14350180327892303, + -0.030894985422492027, + 0.14193607866764069, + -0.09752834588289261, + 0.0, + 0.8687413334846497 + ], + [ + 0.27158260345458984, + -0.02104692906141281, + 0.14499971270561218, + -0.006715657655149698, + 0.1563304215669632, + -0.1311541497707367, + 0.0, + 0.8678563833236694 + ], + [ + 0.255611389875412, + -0.012253782711923122, + 0.1360565721988678, + -0.021607767790555954, + 0.1426086574792862, + -0.17577554285526276, + 0.0, + 0.8687413334846497 + ], + [ + 0.2460087388753891, + -0.008641541004180908, + 0.12377622723579407, + -0.05742083117365837, + 0.12976208329200745, + -0.19571010768413544, + 0.0, + 0.8678563833236694 + ], + [ + 0.23663000762462616, + -0.007425525225698948, + 0.11584286391735077, + -0.06878093630075455, + 0.10902591794729233, + -0.2119528353214264, + 0.0, + 0.8687413334846497 + ], + [ + 0.22976775467395782, + -0.005141822155565023, + 0.10559393465518951, + -0.0932968407869339, + 0.09144073724746704, + -0.24505560100078583, + 0.0, + 0.8687413334846497 + ], + [ + 0.2284906655550003, + -0.005646559875458479, + 0.10760896652936935, + -0.13134606182575226, + 0.0603669136762619, + -0.2631112337112427, + 0.0, + 0.8678563833236694 + ], + [ + 0.22293062508106232, + -0.012442856095731258, + 0.0987887904047966, + -0.15641197562217712, + 0.04572056606411934, + -0.27142131328582764, + 0.0, + 0.8687413334846497 + ] + ], + "left_gripper_pos": [ + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 0.8990517854690552 + ], + [ + 0.8371937274932861 + ], + [ + 0.8669703602790833 + ], + [ + 0.8687413334846497 + ], + [ + 0.8687413334846497 + ], + [ + 0.8687413334846497 + ], + [ + 0.8687413334846497 + ], + [ + 0.8678563833236694 + ], + [ + 0.8687413334846497 + ], + [ + 0.8678563833236694 + ], + [ + 0.8687413334846497 + ], + [ + 0.8687413334846497 + ], + [ + 0.8678563833236694 + ], + [ + 0.8687413334846497 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.31301960349082947, + -0.01089263241738081, + 0.08758092671632767 + ], + [ + 0.3149518072605133, + -0.009448543190956116, + 0.07569075375795364 + ], + [ + 0.32700687646865845, + -0.008262828923761845, + 0.051778677850961685 + ], + [ + 0.3343564569950104, + -0.008264545351266861, + 0.03631896898150444 + ], + [ + 0.3373037874698639, + -0.009280574508011341, + 0.021958626806735992 + ], + [ + 0.3391548693180084, + -0.011598675511777401, + 0.01608838327229023 + ], + [ + 0.3360459506511688, + -0.0161716490983963, + 0.005584515631198883 + ], + [ + 0.33811527490615845, + -0.020103037357330322, + 0.005587384104728699 + ], + [ + 0.33378419280052185, + -0.021041251718997955, + 0.014625205658376217 + ], + [ + 0.32833603024482727, + -0.02190336585044861, + 0.05146024748682976 + ], + [ + 0.3146720230579376, + -0.026477748528122902, + 0.09341319650411606 + ], + [ + 0.30052173137664795, + -0.02773129753768444, + 0.12660807371139526 + ], + [ + 0.2836383879184723, + -0.02529550902545452, + 0.14350180327892303 + ], + [ + 0.27158260345458984, + -0.02104692906141281, + 0.14499971270561218 + ], + [ + 0.255611389875412, + -0.012253782711923122, + 0.1360565721988678 + ], + [ + 0.2460087388753891, + -0.008641541004180908, + 0.12377622723579407 + ], + [ + 0.23663000762462616, + -0.007425525225698948, + 0.11584286391735077 + ], + [ + 0.22976775467395782, + -0.005141822155565023, + 0.10559393465518951 + ], + [ + 0.2284906655550003, + -0.005646559875458479, + 0.10760896652936935 + ], + [ + 0.22293062508106232, + -0.012442856095731258, + 0.0987887904047966 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9940974089730117, + -0.07238863996622905, + 0.08080981547426327, + -0.07105104425839714, + -0.9972857381514615, + -0.019310763565581177, + 0.08198835638635588, + 0.013455158250059896, + -0.996542456764151 + ], + [ + 0.9954094804767126, + -0.0614752501996483, + 0.0733536624168937, + -0.0609269080804764, + -0.9980951762997806, + -0.009691796472426992, + 0.07380974223525064, + 0.00517809424406421, + -0.9972588978250159 + ], + [ + 0.9926951369518819, + -0.053427396723292955, + 0.10817522059814036, + -0.05589025456155408, + -0.998239325671836, + 0.019862732120305808, + 0.10692354519528965, + -0.025763578198887853, + -0.9939333949119834 + ], + [ + 0.9883185366945703, + -0.05327206445472546, + 0.14278850505077334, + -0.05845720344330177, + -0.9977651385204103, + 0.0323648531424862, + 0.1407452499784329, + -0.040333800987234616, + -0.9892239175770218 + ], + [ + 0.9883954114018217, + -0.057174799987437255, + 0.1407322030177169, + -0.06494918467622575, + -0.9965700882349192, + 0.05128023640096298, + 0.13731756671932718, + -0.05982559219800228, + -0.9887187589949131 + ], + [ + 0.9878975803854807, + -0.05763238806523101, + 0.14400305036495167, + -0.06665372006058838, + -0.9960524073809293, + 0.05862493797642401, + 0.14005588981045, + -0.06751377338405448, + -0.9878391762492765 + ], + [ + 0.9921731922900133, + -0.041612382869093766, + 0.11773175482001513, + -0.049776885971445785, + -0.9964917325642897, + 0.0672791836603707, + 0.11451907318883561, + -0.07261292256187021, + -0.9907637182259925 + ], + [ + 0.9930229599860384, + -0.026166733418289807, + 0.1149813158855968, + -0.03530328335690633, + -0.9963157618167949, + 0.07815741129056161, + 0.11251257318535214, + -0.08167132188005888, + -0.9902881984844488 + ], + [ + 0.9983562999974986, + -0.03066846877053272, + 0.04841635342087967, + -0.033421847399765885, + -0.9978075750949077, + 0.05712287807531217, + 0.046558332999490325, + -0.058647149176162656, + -0.9971924756644615 + ], + [ + 0.9991461747905382, + -0.04023527195805643, + 0.009383191988653767, + -0.040418855718864694, + -0.9989771309921233, + 0.0202733287134398, + 0.008557891318093295, + -0.02063527671747637, + -0.9997504427860886 + ], + [ + 0.9982818975287887, + -0.046414544492500515, + -0.035762314324919164, + -0.04761665148419769, + -0.9983027927266434, + -0.033528920883569915, + -0.03414538867479887, + 0.035174196419220816, + -0.99879771142034 + ], + [ + 0.9936501484440005, + -0.06330625511754902, + -0.09301451800771632, + -0.0673035888295092, + -0.996910897405343, + -0.0404832010239093, + -0.09016434676680327, + 0.0464863495820621, + -0.9948413993570283 + ], + [ + 0.9852396409456404, + -0.09297839644791596, + -0.1437284512658497, + -0.0963946145258164, + -0.9951984303033933, + -0.016975353076777357, + -0.14145998798149545, + 0.030579439426453765, + -0.9894715608266056 + ], + [ + 0.9793216150002231, + -0.1297389151166854, + -0.15523204661957063, + -0.12918365831664802, + -0.99152599954197, + 0.013703089294948262, + -0.15569443412428907, + 0.006633712131475588, + -0.9877829908669589 + ], + [ + 0.9745962422724466, + -0.1718074962639192, + -0.1436814141632461, + -0.17309659062856333, + -0.9848983658013475, + 0.003574822317671148, + -0.14212577127739512, + 0.021386754530754493, + -0.9896175381779806 + ], + [ + 0.9726630315493026, + -0.18685832983644055, + -0.13787890204109146, + -0.19282822713228312, + -0.9807372642050589, + -0.031171997379017817, + -0.12939822981146817, + 0.05690679370965177, + -0.9899584410223219 + ], + [ + 0.9718173899657897, + -0.20256120958845747, + -0.12058157790533962, + -0.2091203784520821, + -0.9768835741902601, + -0.044352562421138005, + -0.10881005411329615, + 0.06831865665631894, + -0.9917121221788799 + ], + [ + 0.9660708615143536, + -0.23330241320479417, + -0.11080196083885024, + -0.2415966898008018, + -0.9679686339977531, + -0.06832102951375192, + -0.09131336161926012, + 0.09277234280400219, + -0.9914913829178986 + ], + [ + 0.9638266227300832, + -0.2502162626908361, + -0.09181537562822709, + -0.2596122137805339, + -0.9593234312921196, + -0.11090560233768329, + -0.06033025586463448, + 0.13073016506891022, + -0.9895806607691782 + ], + [ + 0.9623840677723838, + -0.2579691662275797, + -0.0852573479163368, + -0.2678208208483621, + -0.9535390658288466, + -0.13796832193790035, + -0.04570463891105031, + 0.15561220779263404, + -0.9867603188048821 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + 0.0019322037696838379, + 0.001444089226424694, + -0.011890172958374023, + 0.008308740332722664, + 0.008203566074371338, + 0.010219968855381012, + 1.0 + ], + [ + 0.012055069208145142, + 0.001185714267194271, + -0.02391207590699196, + 0.031107306480407715, + -0.03325141221284866, + 0.004889465868473053, + 1.0 + ], + [ + 0.007349580526351929, + -1.716427505016327e-06, + -0.015459708869457245, + 0.014835577458143234, + -0.03408578038215637, + -0.0028371550142765045, + 1.0 + ], + [ + 0.0029473304748535156, + -0.0010160291567444801, + -0.014360342174768448, + 0.01968391239643097, + 0.003461301326751709, + -0.0065380968153476715, + 1.0 + ], + [ + 0.0018510818481445312, + -0.00231810100376606, + -0.005870243534445763, + 0.007804270833730698, + -0.0027650445699691772, + -0.0017507672309875488, + 1.0 + ], + [ + -0.0031089186668395996, + -0.0045729735866189, + -0.010503867641091347, + 0.004920259118080139, + 0.025746986269950867, + 0.017240647226572037, + 0.0 + ], + [ + 0.002069324254989624, + -0.003931388258934021, + 2.868473529815674e-06, + 0.009127005934715271, + 0.002019554376602173, + 0.014591164886951447, + 0.0 + ], + [ + -0.004331082105636597, + -0.0009382143616676331, + 0.009037821553647518, + -0.02354145422577858, + 0.0661761462688446, + 0.002071984112262726, + 0.0 + ], + [ + -0.00544816255569458, + -0.0008621141314506531, + 0.036835040897130966, + -0.03810710087418556, + 0.03801717609167099, + -0.006966974586248398, + 0.0 + ], + [ + -0.013664007186889648, + -0.0045743826776742935, + 0.0419529490172863, + -0.05583948642015457, + 0.04271002113819122, + -0.007231127470731735, + 0.0 + ], + [ + -0.014150291681289673, + -0.0012535490095615387, + 0.033194877207279205, + -0.01149144396185875, + 0.05613493546843529, + -0.019967909902334213, + 0.0 + ], + [ + -0.01688334345817566, + 0.0024357885122299194, + 0.01689372956752777, + 0.015798447653651237, + 0.05164911597967148, + -0.029897958040237427, + 0.0 + ], + [ + -0.012055784463882446, + 0.00424857996404171, + 0.001497909426689148, + 0.024179328233003616, + 0.01439434289932251, + -0.033625803887844086, + 0.0 + ], + [ + -0.015971213579177856, + 0.008793146349489689, + -0.008943140506744385, + -0.014892110601067543, + -0.013721764087677002, + -0.04462139308452606, + 0.0 + ], + [ + -0.009602651000022888, + 0.003612241707742214, + -0.01228034496307373, + -0.03581306338310242, + -0.012846574187278748, + -0.01993456482887268, + 0.0 + ], + [ + -0.00937873125076294, + 0.0012160157784819603, + -0.007933363318443298, + -0.011360105127096176, + -0.02073616534471512, + -0.016242727637290955, + 0.0 + ], + [ + -0.006862252950668335, + 0.0022837030701339245, + -0.010248929262161255, + -0.024515904486179352, + -0.017585180699825287, + -0.033102765679359436, + 0.0 + ], + [ + -0.0012770891189575195, + -0.0005047377198934555, + 0.00201503187417984, + -0.03804922103881836, + -0.03107382357120514, + -0.018055632710456848, + 0.0 + ], + [ + -0.005560040473937988, + -0.0067962962202727795, + -0.008820176124572754, + -0.025065913796424866, + -0.014646347612142563, + -0.008310079574584961, + 0.0 + ], + [ + -0.008257031440734863, + -0.009486428461968899, + -0.005679339170455933, + -0.026109769940376282, + -0.039090096950531006, + -0.004120618104934692, + 0.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 0.8990517854690552 + ], + [ + 0.8371937274932861 + ], + [ + 0.8669703602790833 + ], + [ + 0.8687413334846497 + ], + [ + 0.8687413334846497 + ], + [ + 0.8687413334846497 + ], + [ + 0.8687413334846497 + ], + [ + 0.8678563833236694 + ], + [ + 0.8687413334846497 + ], + [ + 0.8678563833236694 + ], + [ + 0.8687413334846497 + ], + [ + 0.8687413334846497 + ], + [ + 0.8678563833236694 + ], + [ + 0.8687413334846497 + ], + [ + 0.8687413334846497 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3149518072605133, + -0.009448543190956116, + 0.07569075375795364 + ], + [ + 0.32700687646865845, + -0.008262828923761845, + 0.051778677850961685 + ], + [ + 0.3343564569950104, + -0.008264545351266861, + 0.03631896898150444 + ], + [ + 0.3373037874698639, + -0.009280574508011341, + 0.021958626806735992 + ], + [ + 0.3391548693180084, + -0.011598675511777401, + 0.01608838327229023 + ], + [ + 0.3360459506511688, + -0.0161716490983963, + 0.005584515631198883 + ], + [ + 0.33811527490615845, + -0.020103037357330322, + 0.005587384104728699 + ], + [ + 0.33378419280052185, + -0.021041251718997955, + 0.014625205658376217 + ], + [ + 0.32833603024482727, + -0.02190336585044861, + 0.05146024748682976 + ], + [ + 0.3146720230579376, + -0.026477748528122902, + 0.09341319650411606 + ], + [ + 0.30052173137664795, + -0.02773129753768444, + 0.12660807371139526 + ], + [ + 0.2836383879184723, + -0.02529550902545452, + 0.14350180327892303 + ], + [ + 0.27158260345458984, + -0.02104692906141281, + 0.14499971270561218 + ], + [ + 0.255611389875412, + -0.012253782711923122, + 0.1360565721988678 + ], + [ + 0.2460087388753891, + -0.008641541004180908, + 0.12377622723579407 + ], + [ + 0.23663000762462616, + -0.007425525225698948, + 0.11584286391735077 + ], + [ + 0.22976775467395782, + -0.005141822155565023, + 0.10559393465518951 + ], + [ + 0.2284906655550003, + -0.005646559875458479, + 0.10760896652936935 + ], + [ + 0.22293062508106232, + -0.012442856095731258, + 0.0987887904047966 + ], + [ + 0.21467359364032745, + -0.021929284557700157, + 0.09310945123434067 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9954094804767126, + -0.0614752501996483, + 0.0733536624168937, + -0.0609269080804764, + -0.9980951762997806, + -0.009691796472426992, + 0.07380974223525064, + 0.00517809424406421, + -0.9972588978250159 + ], + [ + 0.9926951369518819, + -0.053427396723292955, + 0.10817522059814036, + -0.05589025456155408, + -0.998239325671836, + 0.019862732120305808, + 0.10692354519528965, + -0.025763578198887853, + -0.9939333949119834 + ], + [ + 0.9883185366945703, + -0.05327206445472546, + 0.14278850505077334, + -0.05845720344330177, + -0.9977651385204103, + 0.0323648531424862, + 0.1407452499784329, + -0.040333800987234616, + -0.9892239175770218 + ], + [ + 0.9883954114018217, + -0.057174799987437255, + 0.1407322030177169, + -0.06494918467622575, + -0.9965700882349192, + 0.05128023640096298, + 0.13731756671932718, + -0.05982559219800228, + -0.9887187589949131 + ], + [ + 0.9878975803854807, + -0.05763238806523101, + 0.14400305036495167, + -0.06665372006058838, + -0.9960524073809293, + 0.05862493797642401, + 0.14005588981045, + -0.06751377338405448, + -0.9878391762492765 + ], + [ + 0.9921731922900133, + -0.041612382869093766, + 0.11773175482001513, + -0.049776885971445785, + -0.9964917325642897, + 0.0672791836603707, + 0.11451907318883561, + -0.07261292256187021, + -0.9907637182259925 + ], + [ + 0.9930229599860384, + -0.026166733418289807, + 0.1149813158855968, + -0.03530328335690633, + -0.9963157618167949, + 0.07815741129056161, + 0.11251257318535214, + -0.08167132188005888, + -0.9902881984844488 + ], + [ + 0.9983562999974986, + -0.03066846877053272, + 0.04841635342087967, + -0.033421847399765885, + -0.9978075750949077, + 0.05712287807531217, + 0.046558332999490325, + -0.058647149176162656, + -0.9971924756644615 + ], + [ + 0.9991461747905382, + -0.04023527195805643, + 0.009383191988653767, + -0.040418855718864694, + -0.9989771309921233, + 0.0202733287134398, + 0.008557891318093295, + -0.02063527671747637, + -0.9997504427860886 + ], + [ + 0.9982818975287887, + -0.046414544492500515, + -0.035762314324919164, + -0.04761665148419769, + -0.9983027927266434, + -0.033528920883569915, + -0.03414538867479887, + 0.035174196419220816, + -0.99879771142034 + ], + [ + 0.9936501484440005, + -0.06330625511754902, + -0.09301451800771632, + -0.0673035888295092, + -0.996910897405343, + -0.0404832010239093, + -0.09016434676680327, + 0.0464863495820621, + -0.9948413993570283 + ], + [ + 0.9852396409456404, + -0.09297839644791596, + -0.1437284512658497, + -0.0963946145258164, + -0.9951984303033933, + -0.016975353076777357, + -0.14145998798149545, + 0.030579439426453765, + -0.9894715608266056 + ], + [ + 0.9793216150002231, + -0.1297389151166854, + -0.15523204661957063, + -0.12918365831664802, + -0.99152599954197, + 0.013703089294948262, + -0.15569443412428907, + 0.006633712131475588, + -0.9877829908669589 + ], + [ + 0.9745962422724466, + -0.1718074962639192, + -0.1436814141632461, + -0.17309659062856333, + -0.9848983658013475, + 0.003574822317671148, + -0.14212577127739512, + 0.021386754530754493, + -0.9896175381779806 + ], + [ + 0.9726630315493026, + -0.18685832983644055, + -0.13787890204109146, + -0.19282822713228312, + -0.9807372642050589, + -0.031171997379017817, + -0.12939822981146817, + 0.05690679370965177, + -0.9899584410223219 + ], + [ + 0.9718173899657897, + -0.20256120958845747, + -0.12058157790533962, + -0.2091203784520821, + -0.9768835741902601, + -0.044352562421138005, + -0.10881005411329615, + 0.06831865665631894, + -0.9917121221788799 + ], + [ + 0.9660708615143536, + -0.23330241320479417, + -0.11080196083885024, + -0.2415966898008018, + -0.9679686339977531, + -0.06832102951375192, + -0.09131336161926012, + 0.09277234280400219, + -0.9914913829178986 + ], + [ + 0.9638266227300832, + -0.2502162626908361, + -0.09181537562822709, + -0.2596122137805339, + -0.9593234312921196, + -0.11090560233768329, + -0.06033025586463448, + 0.13073016506891022, + -0.9895806607691782 + ], + [ + 0.9623840677723838, + -0.2579691662275797, + -0.0852573479163368, + -0.2678208208483621, + -0.9535390658288466, + -0.13796832193790035, + -0.04570463891105031, + 0.15561220779263404, + -0.9867603188048821 + ], + [ + 0.9622567441950616, + -0.26639107296248055, + -0.055657474763214615, + -0.2720624850103406, + -0.9466210238034426, + -0.1728891018639408, + -0.0066304223936137045, + 0.18150601515988452, + -0.9833674816464402 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005839.json b/json/chunk-0005/episode_0005839.json new file mode 100644 index 0000000000000000000000000000000000000000..04ee81c1bb2df94b010b6aac9281d7838bf26953 --- /dev/null +++ b/json/chunk-0005/episode_0005839.json @@ -0,0 +1,982 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 15, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut eggplant in pot or pan." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005839.mp4", + "start": 0, + "end": 15, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2349357306957245, + -0.04670841619372368, + 0.05828297510743141, + -0.10782509297132492, + -0.1461993157863617, + 1.0044447183609009, + 0.0, + 1.0014774799346924 + ], + [ + 0.2305358648300171, + -0.04748513177037239, + 0.04622829705476761, + -0.11214327812194824, + -0.12979701161384583, + 1.022929072380066, + 0.0, + 1.0014774799346924 + ], + [ + 0.2303878515958786, + -0.04547552764415741, + 0.03455061838030815, + -0.1417025923728943, + -0.12706489861011505, + 1.0413603782653809, + 0.0, + 1.0014774799346924 + ], + [ + 0.23213540017604828, + -0.04163170978426933, + 0.024249136447906494, + -0.17674946784973145, + -0.11704292893409729, + 1.0539226531982422, + 0.0, + 1.0014774799346924 + ], + [ + 0.23501570522785187, + -0.0389830581843853, + 0.01773560419678688, + -0.20372051000595093, + -0.11115372180938721, + 1.0576388835906982, + 0.0, + 1.0014774799346924 + ], + [ + 0.2352980375289917, + -0.03758510202169418, + 0.009866360574960709, + -0.2266697734594345, + -0.10582319647073746, + 1.0511274337768555, + 0.0, + 1.0014774799346924 + ], + [ + 0.23362694680690765, + -0.03563937917351723, + 0.0009373138309456408, + -0.2492438703775406, + -0.08861610293388367, + 1.050960659980774, + 0.0, + 0.8381108045578003 + ], + [ + 0.23795510828495026, + -0.033787358552217484, + 0.0008676954894326627, + -0.2856283187866211, + -0.09481082111597061, + 1.0612825155258179, + 0.0, + 0.6249675154685974 + ], + [ + 0.2337387055158615, + -0.03018634021282196, + 0.0017207862110808492, + -0.22673587501049042, + -0.09481139481067657, + 1.0472612380981445, + 0.0, + 0.6229594349861145 + ], + [ + 0.23684416711330414, + -0.025739792734384537, + 0.024133756756782532, + -0.15972435474395752, + -0.11664611846208572, + 0.9954736232757568, + 0.0, + 0.6229594349861145 + ], + [ + 0.2488531470298767, + -0.024102583527565002, + 0.058689139783382416, + -0.13377796113491058, + -0.14279305934906006, + 0.9168936610221863, + 0.0, + 0.6229594349861145 + ], + [ + 0.2697444558143616, + -0.02364254929125309, + 0.08913341909646988, + -0.1662306934595108, + -0.19416776299476624, + 0.8897811770439148, + 0.0, + 0.6229594349861145 + ], + [ + 0.29905080795288086, + -0.041362959891557693, + 0.09556474536657333, + -0.2142869383096695, + -0.21265169978141785, + 0.8687583208084106, + 0.0, + 0.6229594349861145 + ], + [ + 0.32125478982925415, + -0.05126633867621422, + 0.08585597574710846, + -0.2546921670436859, + -0.19653260707855225, + 0.8694308400154114, + 0.0, + 0.6229594349861145 + ], + [ + 0.3276181221008301, + -0.05752340704202652, + 0.07430224120616913, + -0.2857096195220947, + -0.19988864660263062, + 0.8795279264450073, + 0.0, + 0.7398436665534973 + ] + ], + "left_gripper_pos": [ + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 0.8381108045578003 + ], + [ + 0.6249675154685974 + ], + [ + 0.6229594349861145 + ], + [ + 0.6229594349861145 + ], + [ + 0.6229594349861145 + ], + [ + 0.6229594349861145 + ], + [ + 0.6229594349861145 + ], + [ + 0.6229594349861145 + ], + [ + 0.7398436665534973 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2349357306957245, + -0.04670841619372368, + 0.05828297510743141 + ], + [ + 0.2305358648300171, + -0.04748513177037239, + 0.04622829705476761 + ], + [ + 0.2303878515958786, + -0.04547552764415741, + 0.03455061838030815 + ], + [ + 0.23213540017604828, + -0.04163170978426933, + 0.024249136447906494 + ], + [ + 0.23501570522785187, + -0.0389830581843853, + 0.01773560419678688 + ], + [ + 0.2352980375289917, + -0.03758510202169418, + 0.009866360574960709 + ], + [ + 0.23362694680690765, + -0.03563937917351723, + 0.0009373138309456408 + ], + [ + 0.23795510828495026, + -0.033787358552217484, + 0.0008676954894326627 + ], + [ + 0.2337387055158615, + -0.03018634021282196, + 0.0017207862110808492 + ], + [ + 0.23684416711330414, + -0.025739792734384537, + 0.024133756756782532 + ], + [ + 0.2488531470298767, + -0.024102583527565002, + 0.058689139783382416 + ], + [ + 0.2697444558143616, + -0.02364254929125309, + 0.08913341909646988 + ], + [ + 0.29905080795288086, + -0.041362959891557693, + 0.09556474536657333 + ], + [ + 0.32125478982925415, + -0.05126633867621422, + 0.08585597574710846 + ], + [ + 0.3276181221008301, + -0.05752340704202652, + 0.07430224120616913 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.5308328384267589, + 0.8305515821008583, + 0.16852467806689952, + 0.8348617313171419, + -0.5466704561648332, + 0.06447714276143039, + 0.14567905556371252, + 0.10646821979489825, + -0.9835863617109432 + ], + [ + 0.5164863811865603, + 0.8407306705997131, + 0.16252309854838426, + 0.8464567039498045, + -0.5299606213347532, + 0.05150522471473476, + 0.12943286440175888, + 0.11096701918786067, + -0.9853595558299096 + ], + [ + 0.500974963873051, + 0.8454024792866863, + 0.18525316080520648, + 0.8561339279220737, + -0.5154312398259708, + 0.036950432638664155, + 0.12672325371894988, + 0.1400902745638926, + -0.9819958920176277 + ], + [ + 0.49078369800450916, + 0.8456773940650409, + 0.20966904144479678, + 0.8634203814158466, + -0.5043163034448118, + 0.013050327025558028, + 0.11677588247892748, + 0.17462763597758987, + -0.9776853185070059 + ], + [ + 0.4879008116793017, + 0.8421656214605928, + 0.22958628877302759, + 0.8658224111124879, + -0.5003295138109287, + -0.0046829504671284106, + 0.110924976349046, + 0.20106576943779658, + -0.9732770448245198 + ], + [ + 0.49381480429670704, + 0.8339928539806333, + 0.24617647849996266, + 0.8631281076863876, + -0.5044939494146616, + -0.022264876503408276, + 0.10562579599283593, + 0.2234765636777924, + -0.9689692547793479 + ], + [ + 0.49478840205076113, + 0.8302380017061918, + 0.2566891071295476, + 0.864495319563617, + -0.50033460395225, + -0.04809497417137586, + 0.08850016750636489, + 0.24570336711338542, + -0.965296625779087 + ], + [ + 0.48556228467829865, + 0.8246024416442086, + 0.2902758703929772, + 0.8690610325093162, + -0.4912773208644114, + -0.05813360283112963, + 0.09466884108212276, + 0.2804949326435253, + -0.9551755876745762 + ], + [ + 0.49769947502944567, + 0.8332512363604536, + 0.24080616615691036, + 0.86216757938876, + -0.5055799376086696, + -0.03249602650386402, + 0.0946694122002469, + 0.22378852470890703, + -0.9700290710088386 + ], + [ + 0.5404081314661517, + 0.8182656226513415, + 0.19596025676722106, + 0.8333152664317184, + -0.552709995376844, + 0.009865482368531422, + 0.11638177768489809, + 0.15796528668521442, + -0.980562211195884 + ], + [ + 0.6020977087762602, + 0.7750781880135527, + 0.1916563371036972, + 0.7856377646095982, + -0.6179191248316298, + 0.030810030615804368, + 0.1423082987938921, + 0.13202180741431, + -0.9809783842987814 + ], + [ + 0.6177513178239453, + 0.7461238465759796, + 0.24835964828740262, + 0.7623343133877987, + -0.6457084957299677, + 0.04366844597298431, + 0.19295000377904106, + 0.16235684190327745, + -0.9676830844490678 + ], + [ + 0.631228825802884, + 0.717081781997457, + 0.2955399928992082, + 0.746328993149436, + -0.6652726084689881, + 0.020134309161673122, + 0.2110526082759027, + 0.20786070900538228, + -0.9551181718466666 + ], + [ + 0.6328398942778517, + 0.7075716651660051, + 0.3144137510742877, + 0.7492551949052266, + -0.6620311218107741, + -0.018205676628419987, + 0.1952698674089992, + 0.24709741481483494, + -0.9491114510287488 + ], + [ + 0.6248211641795747, + 0.7035293795417515, + 0.33859256476609106, + 0.7550975840439506, + -0.6547864344886531, + -0.03289929757040873, + 0.19856019582048795, + 0.2762266050387532, + -0.940357757082109 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0043998658657073975, + -0.0007767155766487122, + -0.012054678052663803, + -0.0043181851506233215, + 0.01640230417251587, + 0.01848435401916504, + 1.0 + ], + [ + -0.00014801323413848877, + 0.002009604126214981, + -0.011677678674459457, + -0.029559314250946045, + 0.002732113003730774, + 0.01843130588531494, + 1.0 + ], + [ + 0.0017475485801696777, + 0.0038438178598880768, + -0.010301481932401657, + -0.03504687547683716, + 0.010021969676017761, + 0.012562274932861328, + 1.0 + ], + [ + 0.002880305051803589, + 0.002648651599884033, + -0.006513532251119614, + -0.026971042156219482, + 0.005889207124710083, + 0.0037162303924560547, + 1.0 + ], + [ + 0.00028233230113983154, + 0.0013979561626911163, + -0.007869243621826172, + -0.02294926345348358, + 0.00533052533864975, + -0.0065114498138427734, + 1.0 + ], + [ + -0.0016710907220840454, + 0.0019457228481769562, + -0.008929046802222729, + -0.02257409691810608, + 0.01720709353685379, + -0.00016677379608154297, + 0.0 + ], + [ + 0.0043281614780426025, + 0.0018520206212997437, + -6.961834151297808e-05, + -0.036384448409080505, + -0.006194718182086945, + 0.010321855545043945, + 0.0 + ], + [ + -0.004216402769088745, + 0.003601018339395523, + 0.0008530907216481864, + 0.058892443776130676, + -5.736947059631348e-07, + -0.01402127742767334, + 0.0 + ], + [ + 0.003105461597442627, + 0.004446547478437424, + 0.022412970662117004, + 0.0670115202665329, + -0.02183472365140915, + -0.051787614822387695, + 0.0 + ], + [ + 0.01200897991657257, + 0.0016372092068195343, + 0.034555383026599884, + 0.025946393609046936, + -0.026146940886974335, + -0.07857996225357056, + 0.0 + ], + [ + 0.020891308784484863, + 0.00046003423631191254, + 0.030444279313087463, + -0.03245273232460022, + -0.05137470364570618, + -0.027112483978271484, + 0.0 + ], + [ + 0.029306352138519287, + -0.017720410600304604, + 0.006431326270103455, + -0.04805624485015869, + -0.01848393678665161, + -0.02102285623550415, + 0.0 + ], + [ + 0.02220398187637329, + -0.009903378784656525, + -0.009708769619464874, + -0.04040522873401642, + 0.0161190927028656, + 0.0006725192070007324, + 1.0 + ], + [ + 0.006363332271575928, + -0.006257068365812302, + -0.011553734540939331, + -0.031017452478408813, + -0.003356039524078369, + 0.010097086429595947, + 1.0 + ], + [ + -0.005122005939483643, + -0.00917784869670868, + -0.00751466304063797, + -0.009245812892913818, + 0.0006478875875473022, + 0.0022487640380859375, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 0.8381108045578003 + ], + [ + 0.6249675154685974 + ], + [ + 0.6229594349861145 + ], + [ + 0.6229594349861145 + ], + [ + 0.6229594349861145 + ], + [ + 0.6229594349861145 + ], + [ + 0.6229594349861145 + ], + [ + 0.6229594349861145 + ], + [ + 0.7398436665534973 + ], + [ + 0.9173964858055115 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2305358648300171, + -0.04748513177037239, + 0.04622829705476761 + ], + [ + 0.2303878515958786, + -0.04547552764415741, + 0.03455061838030815 + ], + [ + 0.23213540017604828, + -0.04163170978426933, + 0.024249136447906494 + ], + [ + 0.23501570522785187, + -0.0389830581843853, + 0.01773560419678688 + ], + [ + 0.2352980375289917, + -0.03758510202169418, + 0.009866360574960709 + ], + [ + 0.23362694680690765, + -0.03563937917351723, + 0.0009373138309456408 + ], + [ + 0.23795510828495026, + -0.033787358552217484, + 0.0008676954894326627 + ], + [ + 0.2337387055158615, + -0.03018634021282196, + 0.0017207862110808492 + ], + [ + 0.23684416711330414, + -0.025739792734384537, + 0.024133756756782532 + ], + [ + 0.2488531470298767, + -0.024102583527565002, + 0.058689139783382416 + ], + [ + 0.2697444558143616, + -0.02364254929125309, + 0.08913341909646988 + ], + [ + 0.29905080795288086, + -0.041362959891557693, + 0.09556474536657333 + ], + [ + 0.32125478982925415, + -0.05126633867621422, + 0.08585597574710846 + ], + [ + 0.3276181221008301, + -0.05752340704202652, + 0.07430224120616913 + ], + [ + 0.32249611616134644, + -0.0667012557387352, + 0.06678757816553116 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.5164863811865603, + 0.8407306705997131, + 0.16252309854838426, + 0.8464567039498045, + -0.5299606213347532, + 0.05150522471473476, + 0.12943286440175888, + 0.11096701918786067, + -0.9853595558299096 + ], + [ + 0.500974963873051, + 0.8454024792866863, + 0.18525316080520648, + 0.8561339279220737, + -0.5154312398259708, + 0.036950432638664155, + 0.12672325371894988, + 0.1400902745638926, + -0.9819958920176277 + ], + [ + 0.49078369800450916, + 0.8456773940650409, + 0.20966904144479678, + 0.8634203814158466, + -0.5043163034448118, + 0.013050327025558028, + 0.11677588247892748, + 0.17462763597758987, + -0.9776853185070059 + ], + [ + 0.4879008116793017, + 0.8421656214605928, + 0.22958628877302759, + 0.8658224111124879, + -0.5003295138109287, + -0.0046829504671284106, + 0.110924976349046, + 0.20106576943779658, + -0.9732770448245198 + ], + [ + 0.49381480429670704, + 0.8339928539806333, + 0.24617647849996266, + 0.8631281076863876, + -0.5044939494146616, + -0.022264876503408276, + 0.10562579599283593, + 0.2234765636777924, + -0.9689692547793479 + ], + [ + 0.49478840205076113, + 0.8302380017061918, + 0.2566891071295476, + 0.864495319563617, + -0.50033460395225, + -0.04809497417137586, + 0.08850016750636489, + 0.24570336711338542, + -0.965296625779087 + ], + [ + 0.48556228467829865, + 0.8246024416442086, + 0.2902758703929772, + 0.8690610325093162, + -0.4912773208644114, + -0.05813360283112963, + 0.09466884108212276, + 0.2804949326435253, + -0.9551755876745762 + ], + [ + 0.49769947502944567, + 0.8332512363604536, + 0.24080616615691036, + 0.86216757938876, + -0.5055799376086696, + -0.03249602650386402, + 0.0946694122002469, + 0.22378852470890703, + -0.9700290710088386 + ], + [ + 0.5404081314661517, + 0.8182656226513415, + 0.19596025676722106, + 0.8333152664317184, + -0.552709995376844, + 0.009865482368531422, + 0.11638177768489809, + 0.15796528668521442, + -0.980562211195884 + ], + [ + 0.6020977087762602, + 0.7750781880135527, + 0.1916563371036972, + 0.7856377646095982, + -0.6179191248316298, + 0.030810030615804368, + 0.1423082987938921, + 0.13202180741431, + -0.9809783842987814 + ], + [ + 0.6177513178239453, + 0.7461238465759796, + 0.24835964828740262, + 0.7623343133877987, + -0.6457084957299677, + 0.04366844597298431, + 0.19295000377904106, + 0.16235684190327745, + -0.9676830844490678 + ], + [ + 0.631228825802884, + 0.717081781997457, + 0.2955399928992082, + 0.746328993149436, + -0.6652726084689881, + 0.020134309161673122, + 0.2110526082759027, + 0.20786070900538228, + -0.9551181718466666 + ], + [ + 0.6328398942778517, + 0.7075716651660051, + 0.3144137510742877, + 0.7492551949052266, + -0.6620311218107741, + -0.018205676628419987, + 0.1952698674089992, + 0.24709741481483494, + -0.9491114510287488 + ], + [ + 0.6248211641795747, + 0.7035293795417515, + 0.33859256476609106, + 0.7550975840439506, + -0.6547864344886531, + -0.03289929757040873, + 0.19856019582048795, + 0.2762266050387532, + -0.940357757082109 + ], + [ + 0.6232032085100271, + 0.7019560972152896, + 0.3447831180395683, + 0.7565998871357034, + -0.6527351654355845, + -0.038644722667153006, + 0.1979251668915523, + 0.2849463833531831, + -0.9378865533340864 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005840.json b/json/chunk-0005/episode_0005840.json new file mode 100644 index 0000000000000000000000000000000000000000..c9d70c722c22b9fe20c7af2c764fe2fac303dd23 --- /dev/null +++ b/json/chunk-0005/episode_0005840.json @@ -0,0 +1,1522 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 24, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut sushi in pot cardboard fence." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005840.mp4", + "start": 0, + "end": 24, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.23861610889434814, + 0.09448520839214325, + 0.09283372014760971, + 0.10095648467540741, + -0.09518347680568695, + 0.11843432486057281, + 0.0, + 0.9913908839225769 + ], + [ + 0.23564355075359344, + 0.09119892865419388, + 0.08794908225536346, + 0.09092351794242859, + -0.07876577973365784, + 0.13966980576515198, + 0.0, + 0.9920742511749268 + ], + [ + 0.23223911225795746, + 0.06425920128822327, + 0.09637704491615295, + 0.06010543927550316, + -0.10280758887529373, + 0.299872487783432, + 0.0, + 0.9920742511749268 + ], + [ + 0.22410054504871368, + 0.036866605281829834, + 0.09207199513912201, + 0.05287889018654823, + -0.0681108832359314, + 0.3783237338066101, + 0.0, + 0.9913908839225769 + ], + [ + 0.2163621187210083, + 0.016944438219070435, + 0.08872036635875702, + -0.007491416297852993, + -0.10639926046133041, + 0.6245670318603516, + 0.0, + 0.9913908839225769 + ], + [ + 0.21135495603084564, + 0.005711935460567474, + 0.0761464461684227, + -0.0601484514772892, + -0.09535818547010422, + 0.8202773332595825, + 0.0, + 0.9920742511749268 + ], + [ + 0.211480975151062, + -0.0005131486104801297, + 0.06505831331014633, + -0.067465640604496, + -0.09066677838563919, + 0.9160346984863281, + 0.0, + 0.9920742511749268 + ], + [ + 0.21712902188301086, + -0.00867835059762001, + 0.052607759833335876, + -0.06495179235935211, + -0.09153290838003159, + 0.9697428941726685, + 0.0, + 0.9913908839225769 + ], + [ + 0.222651869058609, + -0.013976462185382843, + 0.04216035455465317, + -0.05399070680141449, + -0.08475279808044434, + 0.9909436702728271, + 0.0, + 0.9920742511749268 + ], + [ + 0.22379030287265778, + -0.019877826794981956, + 0.026773586869239807, + -0.025447413325309753, + -0.07542654126882553, + 0.9967440366744995, + 0.0, + 0.9920742511749268 + ], + [ + 0.22586075961589813, + -0.025436220690608025, + 0.019185906276106834, + -0.025793414562940598, + -0.08075305074453354, + 1.001259684562683, + 0.0, + 0.9913908839225769 + ], + [ + 0.22658970952033997, + -0.027766702696681023, + 0.00839947909116745, + -0.016994383186101913, + -0.08748921006917953, + 0.9998884201049805, + 0.0, + 0.9422301650047302 + ], + [ + 0.22432370483875275, + -0.027955351397395134, + 0.0021938432473689318, + -0.02005348727107048, + -0.08946061134338379, + 0.9988978505134583, + 0.0, + 0.680191159248352 + ], + [ + 0.22395791113376617, + -0.027399642392992973, + 0.0022187952417880297, + -0.02996806427836418, + -0.07323843240737915, + 1.0141630172729492, + 0.0, + 0.6350118517875671 + ], + [ + 0.225807785987854, + -0.022455580532550812, + 0.020317357033491135, + -0.03738316148519516, + -0.041426680982112885, + 1.0405406951904297, + 0.0, + 0.6611326336860657 + ], + [ + 0.24435581266880035, + -0.00971995946019888, + 0.06158428639173508, + -0.08574332296848297, + -0.020097078755497932, + 1.0989075899124146, + 0.0, + 0.6611326336860657 + ], + [ + 0.2695086598396301, + 0.006872520782053471, + 0.0889677181839943, + -0.12659908831119537, + -0.011836121790111065, + 1.1647406816482544, + 0.0, + 0.6611326336860657 + ], + [ + 0.2903275489807129, + 0.024478718638420105, + 0.08788509666919708, + -0.11991618573665619, + -0.021852431818842888, + 1.2083009481430054, + 0.0, + 0.6611326336860657 + ], + [ + 0.30231207609176636, + 0.03325340524315834, + 0.06993745267391205, + -0.09011537581682205, + -0.046224649995565414, + 1.2192178964614868, + 0.0, + 0.6611326336860657 + ], + [ + 0.312423437833786, + 0.034367553889751434, + 0.06425848603248596, + -0.0873560979962349, + -0.0631900280714035, + 1.2283918857574463, + 0.0, + 0.6370214223861694 + ], + [ + 0.3173772394657135, + 0.034209076315164566, + 0.05151412636041641, + -0.05275268852710724, + -0.06933705508708954, + 1.2181217670440674, + 0.0, + 0.67718505859375 + ], + [ + 0.32213521003723145, + 0.035230860114097595, + 0.05150139704346657, + -0.04766073450446129, + -0.07773981988430023, + 1.2191449403762817, + 0.0, + 0.9492040276527405 + ], + [ + 0.3263881504535675, + 0.03344712778925896, + 0.05732085555791855, + -0.05392666533589363, + -0.06997248530387878, + 1.2097289562225342, + 0.0, + 0.9913908839225769 + ], + [ + 0.3229149281978607, + 0.029555104672908783, + 0.07451281696557999, + -0.07658896595239639, + -0.05311776325106621, + 1.2022173404693604, + 0.0, + 0.9900195002555847 + ] + ], + "left_gripper_pos": [ + [ + 0.9913908839225769 + ], + [ + 0.9920742511749268 + ], + [ + 0.9920742511749268 + ], + [ + 0.9913908839225769 + ], + [ + 0.9913908839225769 + ], + [ + 0.9920742511749268 + ], + [ + 0.9920742511749268 + ], + [ + 0.9913908839225769 + ], + [ + 0.9920742511749268 + ], + [ + 0.9920742511749268 + ], + [ + 0.9913908839225769 + ], + [ + 0.9422301650047302 + ], + [ + 0.680191159248352 + ], + [ + 0.6350118517875671 + ], + [ + 0.6611326336860657 + ], + [ + 0.6611326336860657 + ], + [ + 0.6611326336860657 + ], + [ + 0.6611326336860657 + ], + [ + 0.6611326336860657 + ], + [ + 0.6370214223861694 + ], + [ + 0.67718505859375 + ], + [ + 0.9492040276527405 + ], + [ + 0.9913908839225769 + ], + [ + 0.9900195002555847 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.23861610889434814, + 0.09448520839214325, + 0.09283372014760971 + ], + [ + 0.23564355075359344, + 0.09119892865419388, + 0.08794908225536346 + ], + [ + 0.23223911225795746, + 0.06425920128822327, + 0.09637704491615295 + ], + [ + 0.22410054504871368, + 0.036866605281829834, + 0.09207199513912201 + ], + [ + 0.2163621187210083, + 0.016944438219070435, + 0.08872036635875702 + ], + [ + 0.21135495603084564, + 0.005711935460567474, + 0.0761464461684227 + ], + [ + 0.211480975151062, + -0.0005131486104801297, + 0.06505831331014633 + ], + [ + 0.21712902188301086, + -0.00867835059762001, + 0.052607759833335876 + ], + [ + 0.222651869058609, + -0.013976462185382843, + 0.04216035455465317 + ], + [ + 0.22379030287265778, + -0.019877826794981956, + 0.026773586869239807 + ], + [ + 0.22586075961589813, + -0.025436220690608025, + 0.019185906276106834 + ], + [ + 0.22658970952033997, + -0.027766702696681023, + 0.00839947909116745 + ], + [ + 0.22432370483875275, + -0.027955351397395134, + 0.0021938432473689318 + ], + [ + 0.22395791113376617, + -0.027399642392992973, + 0.0022187952417880297 + ], + [ + 0.225807785987854, + -0.022455580532550812, + 0.020317357033491135 + ], + [ + 0.24435581266880035, + -0.00971995946019888, + 0.06158428639173508 + ], + [ + 0.2695086598396301, + 0.006872520782053471, + 0.0889677181839943 + ], + [ + 0.2903275489807129, + 0.024478718638420105, + 0.08788509666919708 + ], + [ + 0.30231207609176636, + 0.03325340524315834, + 0.06993745267391205 + ], + [ + 0.312423437833786, + 0.034367553889751434, + 0.06425848603248596 + ], + [ + 0.3173772394657135, + 0.034209076315164566, + 0.05151412636041641 + ], + [ + 0.32213521003723145, + 0.035230860114097595, + 0.05150139704346657 + ], + [ + 0.3263881504535675, + 0.03344712778925896, + 0.05732085555791855 + ], + [ + 0.3229149281978607, + 0.029555104672908783, + 0.07451281696557999 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9885000302695649, + 0.12706750851185739, + 0.0819849890995793, + 0.11762280149602335, + -0.9868069547824747, + 0.11125156430884832, + 0.09503981652600227, + -0.10032887058831956, + -0.990404741002978 + ], + [ + 0.9871917897999781, + 0.14571591721782945, + 0.06495568967290777, + 0.13878451483078064, + -0.9851769304840103, + 0.10082298391383179, + 0.07868436054706965, + -0.09051677806611672, + -0.9927816901483572 + ], + [ + 0.9503297431850372, + 0.3007545576741489, + 0.08012537211201295, + 0.2938386697797751, + -0.95182791728078, + 0.08764959798530302, + 0.10262658213111153, + -0.05975208718664139, + -0.9929236993429689 + ], + [ + 0.9271304054810577, + 0.3721897712634335, + 0.043634681153895544, + 0.36850683590360817, + -0.9266575106153557, + 0.07421974071945167, + 0.06805823333616769, + -0.05273170002023936, + -0.9962868285228581 + ], + [ + 0.806628892026063, + 0.5840843087120915, + 0.0905281771887855, + 0.5814393207217152, + -0.8116588156243102, + 0.05602038323692751, + 0.1061986198944046, + 0.007448982189544248, + -0.994317034851995 + ], + [ + 0.6789198997208133, + 0.7261089414271997, + 0.10878223633733405, + 0.728012441396021, + -0.6849708667486785, + 0.028509592739444332, + 0.0952137329154018, + 0.05983909161271674, + -0.9936566953325876 + ], + [ + 0.6064688910780295, + 0.7876715602765298, + 0.10848500949957234, + 0.7899351366559879, + -0.6124263705818423, + 0.03060098841929426, + 0.0905426089245893, + 0.06713757329162981, + -0.993626983440788 + ], + [ + 0.5631442435954116, + 0.8196462336348694, + 0.10511238078135507, + 0.8212878057988439, + -0.5692121249367148, + 0.03852138199948402, + 0.09140514729199936, + 0.06463442204586234, + -0.9937139882960917 + ], + [ + 0.5459340657595946, + 0.8328215223036043, + 0.09145658987249534, + 0.8335407256216275, + -0.5509237833126142, + 0.04114418197858263, + 0.08465137077076494, + 0.0537707817352791, + -0.994958716961768 + ], + [ + 0.5414952485525112, + 0.8383942380467317, + 0.062273569073031595, + 0.837319839336014, + -0.5444734583952994, + 0.049438241851560184, + 0.07535504262732094, + 0.025372321791701243, + -0.9968339193855376 + ], + [ + 0.5374846316395852, + 0.8407489608655242, + 0.06520318669207154, + 0.8394065629647086, + -0.5408145339896706, + 0.05400242473547309, + 0.08066531350608183, + 0.025706509468947827, + -0.9964096961430517 + ], + [ + 0.5383293186252263, + 0.8404867806937393, + 0.06151029334651306, + 0.8381925152738372, + -0.5415675350534408, + 0.06432660658746593, + 0.08737764043173704, + 0.016928569201641822, + -0.9960314108989573 + ], + [ + 0.5390650645308385, + 0.8397363054385311, + 0.06520577835443958, + 0.8375123777349326, + -0.5426269973923611, + 0.06425697504340927, + 0.08934133054270979, + 0.019971956073351817, + -0.9958008072036604 + ], + [ + 0.5269144322624801, + 0.8474990416781362, + 0.0640824112229653, + 0.8467625975417764, + -0.5299550598499667, + 0.04626810935970883, + 0.07317297641760918, + 0.02988325440876905, + -0.9968714594310186 + ], + [ + 0.5053199677054657, + 0.8612922511817006, + 0.05317319148316796, + 0.8619376670402027, + -0.5067358325931877, + 0.016800419738263628, + 0.04141483279502667, + 0.037342389056506116, + -0.998443968184551 + ], + [ + 0.4544776189746771, + 0.8866568053846007, + 0.08538034502320985, + 0.8905314456267555, + -0.45443234149054756, + -0.0210948182580259, + 0.02009572593933808, + 0.08562100485624141, + -0.9961250952196607 + ], + [ + 0.3949611192179113, + 0.91074345336453, + 0.12063198771381231, + 0.9186215907919166, + -0.393200595842765, + -0.039085347124252344, + 0.011835845430875132, + 0.12625234089926846, + -0.9919275473442561 + ], + [ + 0.35452388649080513, + 0.9273732607328081, + 0.1195476858214039, + 0.9347916137500708, + -0.35450609532621913, + -0.02213746234543372, + 0.02185069266619688, + 0.11960043333682367, + -0.9925816256488182 + ], + [ + 0.3440122579362408, + 0.9335887817163864, + 0.10033719670652125, + 0.9378274732294196, + -0.3468868069670381, + 0.012213664820004952, + 0.046208190245149466, + 0.08989732924579372, + -0.9948785219054344 + ], + [ + 0.3350828196871254, + 0.936508544320101, + 0.10330174425425025, + 0.9400701229711513, + -0.33966218939270776, + 0.029962659994676177, + 0.06314798371705653, + 0.08707091082788473, + -0.9941986665853424 + ], + [ + 0.3445790202626643, + 0.9358849616603737, + 0.0733800881219377, + 0.9361972928160802, + -0.3483567394478696, + 0.046714141382366264, + 0.06928151065518869, + 0.052601526776416135, + -0.996209391474566 + ], + [ + 0.3434082965561452, + 0.9364646463564443, + 0.07144723914124353, + 0.9359697788942332, + -0.34753104897195036, + 0.05641580449781789, + 0.0776615403728695, + 0.04749880130019294, + -0.9958476535203353 + ], + [ + 0.3524084954279396, + 0.932829025542159, + 0.07508835766136968, + 0.9332309945524078, + -0.35628491855023525, + 0.04627059131214896, + 0.06991539999842344, + 0.053768633232751425, + -0.9961027913440169 + ], + [ + 0.3597820580571862, + 0.9286420179437231, + 0.0904481796917187, + 0.931524571089744, + -0.36302354741807463, + 0.021814616110893418, + 0.053092788175082894, + 0.07640619431307166, + -0.9956622164742364 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0029725581407546997, + -0.0032862797379493713, + -0.004884637892246246, + -0.01003296673297882, + 0.016417697072029114, + 0.021235480904579163, + 1.0 + ], + [ + -0.0034044384956359863, + -0.02693972736597061, + 0.00842796266078949, + -0.03081807866692543, + -0.024041809141635895, + 0.16020268201828003, + 1.0 + ], + [ + -0.008138567209243774, + -0.027392596006393433, + -0.004305049777030945, + -0.0072265490889549255, + 0.034696705639362335, + 0.0784512460231781, + 1.0 + ], + [ + -0.007738426327705383, + -0.0199221670627594, + -0.0033516287803649902, + -0.0603703074157238, + -0.03828837722539902, + 0.24624329805374146, + 1.0 + ], + [ + -0.005007162690162659, + -0.01123250275850296, + -0.01257392019033432, + -0.05265703424811363, + 0.011041074991226196, + 0.19571030139923096, + 1.0 + ], + [ + 0.00012601912021636963, + -0.006225083954632282, + -0.011088132858276367, + -0.007317189127206802, + 0.004691407084465027, + 0.0957573652267456, + 1.0 + ], + [ + 0.0056480467319488525, + -0.008165202103555202, + -0.012450553476810455, + 0.0025138482451438904, + -0.000866129994392395, + 0.05370819568634033, + 1.0 + ], + [ + 0.0055228471755981445, + -0.005298111587762833, + -0.010447405278682709, + 0.010961085557937622, + 0.00678011029958725, + 0.02120077610015869, + 1.0 + ], + [ + 0.001138433814048767, + -0.0059013646095991135, + -0.01538676768541336, + 0.028543293476104736, + 0.009326256811618805, + 0.005800366401672363, + 1.0 + ], + [ + 0.0020704567432403564, + -0.005558393895626068, + -0.007587680593132973, + -0.0003460012376308441, + -0.005326509475708008, + 0.004515647888183594, + 1.0 + ], + [ + 0.0007289499044418335, + -0.002330482006072998, + -0.010786427184939384, + 0.008799031376838684, + -0.006736159324645996, + -0.0013712644577026367, + 0.0 + ], + [ + -0.0022660046815872192, + -0.00018864870071411133, + -0.006205636076629162, + -0.003059104084968567, + -0.001971401274204254, + -0.0009905695915222168, + 0.0 + ], + [ + -0.00036579370498657227, + 0.0005557090044021606, + 2.49519944190979e-05, + -0.009914577007293701, + 0.01622217893600464, + 0.015265166759490967, + 0.0 + ], + [ + 0.0018498748540878296, + 0.0049440618604421616, + 0.018098561093211174, + -0.007415097206830978, + 0.031811751425266266, + 0.02637767791748047, + 0.0 + ], + [ + 0.01854802668094635, + 0.012735621072351933, + 0.04126692935824394, + -0.04836016148328781, + 0.021329602226614952, + 0.05836689472198486, + 0.0 + ], + [ + 0.025152847170829773, + 0.01659248024225235, + 0.027383431792259216, + -0.0408557653427124, + 0.008260956965386868, + 0.06583309173583984, + 0.0 + ], + [ + 0.020818889141082764, + 0.01760619878768921, + -0.0010826215147972107, + 0.006682902574539185, + -0.010016310028731823, + 0.04356026649475098, + 0.0 + ], + [ + 0.011984527111053467, + 0.008774686604738235, + -0.017947643995285034, + 0.029800809919834137, + -0.024372218176722527, + 0.010916948318481445, + 0.0 + ], + [ + 0.010111361742019653, + 0.0011141486465930939, + -0.005678966641426086, + 0.002759277820587158, + -0.01696537807583809, + 0.009173989295959473, + 0.0 + ], + [ + 0.00495380163192749, + -0.00015847757458686829, + -0.01274435967206955, + 0.034603409469127655, + -0.006147027015686035, + -0.010270118713378906, + 1.0 + ], + [ + 0.004757970571517944, + 0.0010217837989330292, + -1.272931694984436e-05, + 0.00509195402264595, + -0.008402764797210693, + 0.0010231733322143555, + 1.0 + ], + [ + 0.00425294041633606, + -0.0017837323248386383, + 0.005819458514451981, + -0.0062659308314323425, + 0.007767334580421448, + -0.009415984153747559, + 1.0 + ], + [ + -0.003473222255706787, + -0.003892023116350174, + 0.017191961407661438, + -0.022662300616502762, + 0.016854722052812576, + -0.007511615753173828, + 1.0 + ], + [ + -0.008545547723770142, + -0.006887158378958702, + 0.03049255907535553, + -0.03172075003385544, + 0.022091282531619072, + -0.019597768783569336, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9920742511749268 + ], + [ + 0.9920742511749268 + ], + [ + 0.9913908839225769 + ], + [ + 0.9913908839225769 + ], + [ + 0.9920742511749268 + ], + [ + 0.9920742511749268 + ], + [ + 0.9913908839225769 + ], + [ + 0.9920742511749268 + ], + [ + 0.9920742511749268 + ], + [ + 0.9913908839225769 + ], + [ + 0.9422301650047302 + ], + [ + 0.680191159248352 + ], + [ + 0.6350118517875671 + ], + [ + 0.6611326336860657 + ], + [ + 0.6611326336860657 + ], + [ + 0.6611326336860657 + ], + [ + 0.6611326336860657 + ], + [ + 0.6611326336860657 + ], + [ + 0.6370214223861694 + ], + [ + 0.67718505859375 + ], + [ + 0.9492040276527405 + ], + [ + 0.9913908839225769 + ], + [ + 0.9900195002555847 + ], + [ + 0.9900195002555847 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.23564355075359344, + 0.09119892865419388, + 0.08794908225536346 + ], + [ + 0.23223911225795746, + 0.06425920128822327, + 0.09637704491615295 + ], + [ + 0.22410054504871368, + 0.036866605281829834, + 0.09207199513912201 + ], + [ + 0.2163621187210083, + 0.016944438219070435, + 0.08872036635875702 + ], + [ + 0.21135495603084564, + 0.005711935460567474, + 0.0761464461684227 + ], + [ + 0.211480975151062, + -0.0005131486104801297, + 0.06505831331014633 + ], + [ + 0.21712902188301086, + -0.00867835059762001, + 0.052607759833335876 + ], + [ + 0.222651869058609, + -0.013976462185382843, + 0.04216035455465317 + ], + [ + 0.22379030287265778, + -0.019877826794981956, + 0.026773586869239807 + ], + [ + 0.22586075961589813, + -0.025436220690608025, + 0.019185906276106834 + ], + [ + 0.22658970952033997, + -0.027766702696681023, + 0.00839947909116745 + ], + [ + 0.22432370483875275, + -0.027955351397395134, + 0.0021938432473689318 + ], + [ + 0.22395791113376617, + -0.027399642392992973, + 0.0022187952417880297 + ], + [ + 0.225807785987854, + -0.022455580532550812, + 0.020317357033491135 + ], + [ + 0.24435581266880035, + -0.00971995946019888, + 0.06158428639173508 + ], + [ + 0.2695086598396301, + 0.006872520782053471, + 0.0889677181839943 + ], + [ + 0.2903275489807129, + 0.024478718638420105, + 0.08788509666919708 + ], + [ + 0.30231207609176636, + 0.03325340524315834, + 0.06993745267391205 + ], + [ + 0.312423437833786, + 0.034367553889751434, + 0.06425848603248596 + ], + [ + 0.3173772394657135, + 0.034209076315164566, + 0.05151412636041641 + ], + [ + 0.32213521003723145, + 0.035230860114097595, + 0.05150139704346657 + ], + [ + 0.3263881504535675, + 0.03344712778925896, + 0.05732085555791855 + ], + [ + 0.3229149281978607, + 0.029555104672908783, + 0.07451281696557999 + ], + [ + 0.3143693804740906, + 0.02266794629395008, + 0.10500537604093552 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9871917897999781, + 0.14571591721782945, + 0.06495568967290777, + 0.13878451483078064, + -0.9851769304840103, + 0.10082298391383179, + 0.07868436054706965, + -0.09051677806611672, + -0.9927816901483572 + ], + [ + 0.9503297431850372, + 0.3007545576741489, + 0.08012537211201295, + 0.2938386697797751, + -0.95182791728078, + 0.08764959798530302, + 0.10262658213111153, + -0.05975208718664139, + -0.9929236993429689 + ], + [ + 0.9271304054810577, + 0.3721897712634335, + 0.043634681153895544, + 0.36850683590360817, + -0.9266575106153557, + 0.07421974071945167, + 0.06805823333616769, + -0.05273170002023936, + -0.9962868285228581 + ], + [ + 0.806628892026063, + 0.5840843087120915, + 0.0905281771887855, + 0.5814393207217152, + -0.8116588156243102, + 0.05602038323692751, + 0.1061986198944046, + 0.007448982189544248, + -0.994317034851995 + ], + [ + 0.6789198997208133, + 0.7261089414271997, + 0.10878223633733405, + 0.728012441396021, + -0.6849708667486785, + 0.028509592739444332, + 0.0952137329154018, + 0.05983909161271674, + -0.9936566953325876 + ], + [ + 0.6064688910780295, + 0.7876715602765298, + 0.10848500949957234, + 0.7899351366559879, + -0.6124263705818423, + 0.03060098841929426, + 0.0905426089245893, + 0.06713757329162981, + -0.993626983440788 + ], + [ + 0.5631442435954116, + 0.8196462336348694, + 0.10511238078135507, + 0.8212878057988439, + -0.5692121249367148, + 0.03852138199948402, + 0.09140514729199936, + 0.06463442204586234, + -0.9937139882960917 + ], + [ + 0.5459340657595946, + 0.8328215223036043, + 0.09145658987249534, + 0.8335407256216275, + -0.5509237833126142, + 0.04114418197858263, + 0.08465137077076494, + 0.0537707817352791, + -0.994958716961768 + ], + [ + 0.5414952485525112, + 0.8383942380467317, + 0.062273569073031595, + 0.837319839336014, + -0.5444734583952994, + 0.049438241851560184, + 0.07535504262732094, + 0.025372321791701243, + -0.9968339193855376 + ], + [ + 0.5374846316395852, + 0.8407489608655242, + 0.06520318669207154, + 0.8394065629647086, + -0.5408145339896706, + 0.05400242473547309, + 0.08066531350608183, + 0.025706509468947827, + -0.9964096961430517 + ], + [ + 0.5383293186252263, + 0.8404867806937393, + 0.06151029334651306, + 0.8381925152738372, + -0.5415675350534408, + 0.06432660658746593, + 0.08737764043173704, + 0.016928569201641822, + -0.9960314108989573 + ], + [ + 0.5390650645308385, + 0.8397363054385311, + 0.06520577835443958, + 0.8375123777349326, + -0.5426269973923611, + 0.06425697504340927, + 0.08934133054270979, + 0.019971956073351817, + -0.9958008072036604 + ], + [ + 0.5269144322624801, + 0.8474990416781362, + 0.0640824112229653, + 0.8467625975417764, + -0.5299550598499667, + 0.04626810935970883, + 0.07317297641760918, + 0.02988325440876905, + -0.9968714594310186 + ], + [ + 0.5053199677054657, + 0.8612922511817006, + 0.05317319148316796, + 0.8619376670402027, + -0.5067358325931877, + 0.016800419738263628, + 0.04141483279502667, + 0.037342389056506116, + -0.998443968184551 + ], + [ + 0.4544776189746771, + 0.8866568053846007, + 0.08538034502320985, + 0.8905314456267555, + -0.45443234149054756, + -0.0210948182580259, + 0.02009572593933808, + 0.08562100485624141, + -0.9961250952196607 + ], + [ + 0.3949611192179113, + 0.91074345336453, + 0.12063198771381231, + 0.9186215907919166, + -0.393200595842765, + -0.039085347124252344, + 0.011835845430875132, + 0.12625234089926846, + -0.9919275473442561 + ], + [ + 0.35452388649080513, + 0.9273732607328081, + 0.1195476858214039, + 0.9347916137500708, + -0.35450609532621913, + -0.02213746234543372, + 0.02185069266619688, + 0.11960043333682367, + -0.9925816256488182 + ], + [ + 0.3440122579362408, + 0.9335887817163864, + 0.10033719670652125, + 0.9378274732294196, + -0.3468868069670381, + 0.012213664820004952, + 0.046208190245149466, + 0.08989732924579372, + -0.9948785219054344 + ], + [ + 0.3350828196871254, + 0.936508544320101, + 0.10330174425425025, + 0.9400701229711513, + -0.33966218939270776, + 0.029962659994676177, + 0.06314798371705653, + 0.08707091082788473, + -0.9941986665853424 + ], + [ + 0.3445790202626643, + 0.9358849616603737, + 0.0733800881219377, + 0.9361972928160802, + -0.3483567394478696, + 0.046714141382366264, + 0.06928151065518869, + 0.052601526776416135, + -0.996209391474566 + ], + [ + 0.3434082965561452, + 0.9364646463564443, + 0.07144723914124353, + 0.9359697788942332, + -0.34753104897195036, + 0.05641580449781789, + 0.0776615403728695, + 0.04749880130019294, + -0.9958476535203353 + ], + [ + 0.3524084954279396, + 0.932829025542159, + 0.07508835766136968, + 0.9332309945524078, + -0.35628491855023525, + 0.04627059131214896, + 0.06991539999842344, + 0.053768633232751425, + -0.9961027913440169 + ], + [ + 0.3597820580571862, + 0.9286420179437231, + 0.0904481796917187, + 0.931524571089744, + -0.36302354741807463, + 0.021814616110893418, + 0.053092788175082894, + 0.07640619431307166, + -0.9956622164742364 + ], + [ + 0.3783192822470937, + 0.9189076422569041, + 0.11172853566525354, + 0.9251552232074881, + -0.3793873955054809, + -0.012370008224384443, + 0.031021503057514138, + 0.10804605098487317, + -0.9936617720404802 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005841.json b/json/chunk-0005/episode_0005841.json new file mode 100644 index 0000000000000000000000000000000000000000..5321f6dfd31e1d9eac39d8d20d101f437423b1cb --- /dev/null +++ b/json/chunk-0005/episode_0005841.json @@ -0,0 +1,2782 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 45, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nTake the knife and put it into the pot." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005841.mp4", + "start": 0, + "end": 45, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3712729215621948, + 0.03342451527714729, + 0.053290873765945435, + -0.019443826749920845, + -0.34358882904052734, + 0.4038161337375641, + 0.0, + 0.9988223910331726 + ], + [ + 0.36866840720176697, + 0.032614268362522125, + 0.04330412298440933, + -0.011365003883838654, + -0.3158377707004547, + 0.4050813615322113, + 0.0, + 0.9988223910331726 + ], + [ + 0.38294968008995056, + 0.03411152586340904, + 0.03386658802628517, + -0.023295748978853226, + -0.27448776364326477, + 0.49698570370674133, + 0.0, + 0.9994885921478271 + ], + [ + 0.4044170677661896, + 0.04016386717557907, + 0.030871819704771042, + -0.050523873418569565, + -0.2673061490058899, + 0.6035902500152588, + 0.0, + 0.9994885921478271 + ], + [ + 0.41729310154914856, + 0.044610220938920975, + 0.029506918042898178, + -0.0816722959280014, + -0.23512692749500275, + 0.7407473921775818, + 0.0, + 0.9994885921478271 + ], + [ + 0.41750767827033997, + 0.04442336782813072, + 0.020127631723880768, + -0.09287809580564499, + -0.2020087093114853, + 0.8712804317474365, + 0.0, + 0.9988223910331726 + ], + [ + 0.40905964374542236, + 0.04357192665338516, + 0.002225615084171295, + -0.12001851201057434, + -0.22439280152320862, + 0.9585353136062622, + 0.0, + 0.9988223910331726 + ], + [ + 0.4111889600753784, + 0.04447907209396362, + 0.0031007917132228613, + -0.14127808809280396, + -0.2281961292028427, + 1.0218900442123413, + 0.0, + 0.9988223910331726 + ], + [ + 0.4109351634979248, + 0.04752308875322342, + -0.007264204788953066, + -0.14478260278701782, + -0.22577279806137085, + 1.1031110286712646, + 0.0, + 0.9988223910331726 + ], + [ + 0.4163788855075836, + 0.05016745626926422, + -0.00948274228721857, + -0.14217762649059296, + -0.20456543564796448, + 1.1564936637878418, + 0.0, + 0.9994885921478271 + ], + [ + 0.4150336682796478, + 0.05307440087199211, + -0.01790754683315754, + -0.13386470079421997, + -0.20487068593502045, + 1.1903151273727417, + 0.0, + 0.9994885921478271 + ], + [ + 0.41402164101600647, + 0.05331894010305405, + -0.02866898849606514, + -0.11283925175666809, + -0.19307063519954681, + 1.2042547464370728, + 0.0, + 0.9988223910331726 + ], + [ + 0.4160752594470978, + 0.055310048162937164, + -0.02935199625790119, + -0.1265997737646103, + -0.21083098649978638, + 1.2146254777908325, + 0.0, + 0.9988223910331726 + ], + [ + 0.41507482528686523, + 0.05610403046011925, + -0.03606945276260376, + -0.11297939717769623, + -0.22165903449058533, + 1.2207696437835693, + 0.0, + 0.9537920951843262 + ], + [ + 0.4144481122493744, + 0.05579347908496857, + -0.03662104159593582, + -0.10175898671150208, + -0.19205236434936523, + 1.22571861743927, + 0.0, + 0.680191159248352 + ], + [ + 0.4152612090110779, + 0.056877799332141876, + -0.038036223500967026, + -0.09670665860176086, + -0.18760982155799866, + 1.2290925979614258, + 0.0, + 0.38924968242645264 + ], + [ + 0.4178275167942047, + 0.05876370146870613, + -0.03716292977333069, + -0.08508571982383728, + -0.15924450755119324, + 1.2553999423980713, + 0.0, + 0.32440370321273804 + ], + [ + 0.4186795651912689, + 0.056034404784440994, + -0.03398200497031212, + -0.07759568840265274, + -0.1261351853609085, + 1.2667837142944336, + 0.0, + 0.325195848941803 + ], + [ + 0.4236045181751251, + 0.05125953629612923, + -0.02623717300593853, + -0.08888610452413559, + -0.09094207733869553, + 1.2965853214263916, + 0.0, + 0.32440370321273804 + ], + [ + 0.42001330852508545, + 0.04334130510687828, + -0.020594486966729164, + -0.08817221224308014, + -0.02398175559937954, + 1.280045747756958, + 0.0, + 0.32440370321273804 + ], + [ + 0.4212942123413086, + 0.038926802575588226, + 0.01458054967224598, + -0.16489873826503754, + -0.001304367557168007, + 1.2190536260604858, + 0.0, + 0.325195848941803 + ], + [ + 0.4016597867012024, + 0.04240328446030617, + 0.022196603938937187, + -0.18500326573848724, + -0.005561579018831253, + 1.138533115386963, + 0.0, + 0.32440370321273804 + ], + [ + 0.3844657242298126, + 0.04716183617711067, + 0.041094474494457245, + -0.20572294294834137, + 0.029175132513046265, + 1.0440137386322021, + 0.0, + 0.32440370321273804 + ], + [ + 0.35841628909111023, + 0.05039798468351364, + 0.040659233927726746, + -0.17889629304409027, + 0.05063297972083092, + 0.9994680881500244, + 0.0, + 0.325195848941803 + ], + [ + 0.33526816964149475, + 0.0552649162709713, + 0.03736424446105957, + -0.15881694853305817, + 0.06650170683860779, + 0.9522107243537903, + 0.0, + 0.32440370321273804 + ], + [ + 0.31207796931266785, + 0.05445857718586922, + 0.02004396915435791, + -0.1241670772433281, + 0.061617083847522736, + 0.8785808682441711, + 0.0, + 0.32440370321273804 + ], + [ + 0.30176493525505066, + 0.0528770349919796, + 0.006256793159991503, + -0.10421384125947952, + 0.03274959325790405, + 0.8514397740364075, + 0.0, + 0.32440370321273804 + ], + [ + 0.30537229776382446, + 0.05587943270802498, + 0.004615236539393663, + -0.11012905836105347, + -0.007358907721936703, + 0.8594716191291809, + 0.0, + 0.32440370321273804 + ], + [ + 0.30863162875175476, + 0.05441790446639061, + 0.0044470434077084064, + -0.10712551325559616, + -0.029956690967082977, + 0.8555127382278442, + 0.0, + 0.32440370321273804 + ], + [ + 0.30853086709976196, + 0.05387929454445839, + -0.004388616885989904, + -0.08493474870920181, + -0.014555036090314388, + 0.8573880791664124, + 0.0, + 0.32440370321273804 + ], + [ + 0.3102199137210846, + 0.051897838711738586, + -0.010857968591153622, + -0.07789209485054016, + -0.04183109477162361, + 0.8388189077377319, + 0.0, + 0.32440370321273804 + ], + [ + 0.31080031394958496, + 0.048930536955595016, + -0.018380580469965935, + -0.0690716877579689, + -0.04778926447033882, + 0.8328988552093506, + 0.0, + 0.325195848941803 + ], + [ + 0.30876025557518005, + 0.04672149941325188, + -0.02063930593430996, + -0.06910187751054764, + -0.050025273114442825, + 0.8164839148521423, + 0.0, + 0.32440370321273804 + ], + [ + 0.30911895632743835, + 0.04628628492355347, + -0.02038794569671154, + -0.06936981528997421, + -0.04967866465449333, + 0.8195069432258606, + 0.0, + 0.3875128924846649 + ], + [ + 0.3087926208972931, + 0.047504108399152756, + -0.025350309908390045, + -0.03608405217528343, + -0.03418084233999252, + 0.8169918060302734, + 0.0, + 0.684196949005127 + ], + [ + 0.3089466691017151, + 0.04761446267366409, + -0.025105679407715797, + -0.028171176090836525, + -0.03444717451930046, + 0.8177454471588135, + 0.0, + 0.9537920951843262 + ], + [ + 0.30939629673957825, + 0.04724374786019325, + -0.024368083104491234, + -0.03042730689048767, + -0.028936805203557014, + 0.8048102855682373, + 0.0, + 1.0001531839370728 + ], + [ + 0.3059677183628082, + 0.04762857034802437, + -0.022504199296236038, + -0.032762311398983, + 0.002840203233063221, + 0.8100571632385254, + 0.0, + 1.0001531839370728 + ], + [ + 0.31102293729782104, + 0.0492306724190712, + -0.003743633860722184, + -0.08069377392530441, + -0.018743226304650307, + 0.819345235824585, + 0.0, + 1.0001531839370728 + ], + [ + 0.3102167546749115, + 0.052364494651556015, + 0.012593511492013931, + -0.11331084370613098, + -0.001977158710360527, + 0.8280486464500427, + 0.0, + 1.0001531839370728 + ], + [ + 0.31819385290145874, + 0.05486831068992615, + 0.044034458696842194, + -0.185900017619133, + -0.08758220821619034, + 0.848125696182251, + 0.0, + 1.0001531839370728 + ], + [ + 0.32523393630981445, + 0.05674198642373085, + 0.054962821304798126, + -0.1658397763967514, + -0.19071343541145325, + 0.8464393615722656, + 0.0, + 1.0001531839370728 + ], + [ + 0.33479970693588257, + 0.06441603600978851, + 0.06351641565561295, + -0.1444554179906845, + -0.25386250019073486, + 0.8239741325378418, + 0.0, + 1.0001531839370728 + ], + [ + 0.34381330013275146, + 0.08342476934194565, + 0.060370463877916336, + -0.11544792354106903, + -0.26442691683769226, + 0.8485969305038452, + 0.0, + 1.0001531839370728 + ], + [ + 0.3473854064941406, + 0.09915391355752945, + 0.06282426416873932, + -0.12157482653856277, + -0.23235823214054108, + 0.8769212961196899, + 0.0, + 1.0001531839370728 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9537920951843262 + ], + [ + 0.680191159248352 + ], + [ + 0.38924968242645264 + ], + [ + 0.32440370321273804 + ], + [ + 0.325195848941803 + ], + [ + 0.32440370321273804 + ], + [ + 0.32440370321273804 + ], + [ + 0.325195848941803 + ], + [ + 0.32440370321273804 + ], + [ + 0.32440370321273804 + ], + [ + 0.325195848941803 + ], + [ + 0.32440370321273804 + ], + [ + 0.32440370321273804 + ], + [ + 0.32440370321273804 + ], + [ + 0.32440370321273804 + ], + [ + 0.32440370321273804 + ], + [ + 0.32440370321273804 + ], + [ + 0.32440370321273804 + ], + [ + 0.325195848941803 + ], + [ + 0.32440370321273804 + ], + [ + 0.3875128924846649 + ], + [ + 0.684196949005127 + ], + [ + 0.9537920951843262 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3712729215621948, + 0.03342451527714729, + 0.053290873765945435 + ], + [ + 0.36866840720176697, + 0.032614268362522125, + 0.04330412298440933 + ], + [ + 0.38294968008995056, + 0.03411152586340904, + 0.03386658802628517 + ], + [ + 0.4044170677661896, + 0.04016386717557907, + 0.030871819704771042 + ], + [ + 0.41729310154914856, + 0.044610220938920975, + 0.029506918042898178 + ], + [ + 0.41750767827033997, + 0.04442336782813072, + 0.020127631723880768 + ], + [ + 0.40905964374542236, + 0.04357192665338516, + 0.002225615084171295 + ], + [ + 0.4111889600753784, + 0.04447907209396362, + 0.0031007917132228613 + ], + [ + 0.4109351634979248, + 0.04752308875322342, + -0.007264204788953066 + ], + [ + 0.4163788855075836, + 0.05016745626926422, + -0.00948274228721857 + ], + [ + 0.4150336682796478, + 0.05307440087199211, + -0.01790754683315754 + ], + [ + 0.41402164101600647, + 0.05331894010305405, + -0.02866898849606514 + ], + [ + 0.4160752594470978, + 0.055310048162937164, + -0.02935199625790119 + ], + [ + 0.41507482528686523, + 0.05610403046011925, + -0.03606945276260376 + ], + [ + 0.4144481122493744, + 0.05579347908496857, + -0.03662104159593582 + ], + [ + 0.4152612090110779, + 0.056877799332141876, + -0.038036223500967026 + ], + [ + 0.4178275167942047, + 0.05876370146870613, + -0.03716292977333069 + ], + [ + 0.4186795651912689, + 0.056034404784440994, + -0.03398200497031212 + ], + [ + 0.4236045181751251, + 0.05125953629612923, + -0.02623717300593853 + ], + [ + 0.42001330852508545, + 0.04334130510687828, + -0.020594486966729164 + ], + [ + 0.4212942123413086, + 0.038926802575588226, + 0.01458054967224598 + ], + [ + 0.4016597867012024, + 0.04240328446030617, + 0.022196603938937187 + ], + [ + 0.3844657242298126, + 0.04716183617711067, + 0.041094474494457245 + ], + [ + 0.35841628909111023, + 0.05039798468351364, + 0.040659233927726746 + ], + [ + 0.33526816964149475, + 0.0552649162709713, + 0.03736424446105957 + ], + [ + 0.31207796931266785, + 0.05445857718586922, + 0.02004396915435791 + ], + [ + 0.30176493525505066, + 0.0528770349919796, + 0.006256793159991503 + ], + [ + 0.30537229776382446, + 0.05587943270802498, + 0.004615236539393663 + ], + [ + 0.30863162875175476, + 0.05441790446639061, + 0.0044470434077084064 + ], + [ + 0.30853086709976196, + 0.05387929454445839, + -0.004388616885989904 + ], + [ + 0.3102199137210846, + 0.051897838711738586, + -0.010857968591153622 + ], + [ + 0.31080031394958496, + 0.048930536955595016, + -0.018380580469965935 + ], + [ + 0.30876025557518005, + 0.04672149941325188, + -0.02063930593430996 + ], + [ + 0.30911895632743835, + 0.04628628492355347, + -0.02038794569671154 + ], + [ + 0.3087926208972931, + 0.047504108399152756, + -0.025350309908390045 + ], + [ + 0.3089466691017151, + 0.04761446267366409, + -0.025105679407715797 + ], + [ + 0.30939629673957825, + 0.04724374786019325, + -0.024368083104491234 + ], + [ + 0.3059677183628082, + 0.04762857034802437, + -0.022504199296236038 + ], + [ + 0.31102293729782104, + 0.0492306724190712, + -0.003743633860722184 + ], + [ + 0.3102167546749115, + 0.052364494651556015, + 0.012593511492013931 + ], + [ + 0.31819385290145874, + 0.05486831068992615, + 0.044034458696842194 + ], + [ + 0.32523393630981445, + 0.05674198642373085, + 0.054962821304798126 + ], + [ + 0.33479970693588257, + 0.06441603600978851, + 0.06351641565561295 + ], + [ + 0.34381330013275146, + 0.08342476934194565, + 0.060370463877916336 + ], + [ + 0.3473854064941406, + 0.09915391355752945, + 0.06282426416873932 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8658210826077762, + 0.3868333155567719, + 0.3173544373208813, + 0.36996430387689594, + -0.9219679324323083, + 0.11446198243686972, + 0.3368683225962068, + 0.018306215934741056, + -0.941373791694547 + ], + [ + 0.8736098915004165, + 0.3908237317786798, + 0.28993545514686003, + 0.3746002890031854, + -0.9204021480393293, + 0.11195762306925884, + 0.31061291175892913, + 0.010802618348104115, + -0.9504751035589858 + ], + [ + 0.8461167194157628, + 0.4710986960927515, + 0.24930406267210503, + 0.45892948676167394, + -0.8817954917485409, + 0.10872183273204913, + 0.2710539121757405, + 0.02242162508959864, + -0.962302991485825 + ], + [ + 0.7940642514255984, + 0.5558953203502885, + 0.2458502743959301, + 0.5474441342345211, + -0.8298239825960831, + 0.10815302954883489, + 0.26413421682947436, + 0.0487088361698932, + -0.963255191929353 + ], + [ + 0.7176591418321421, + 0.6585646147535271, + 0.2264023063912808, + 0.6562712870129399, + -0.7483303556156213, + 0.09648666595222913, + 0.2329664224456661, + 0.07933679511258249, + -0.9692431681235268 + ], + [ + 0.6307550545379377, + 0.7498753502878237, + 0.1995871243481331, + 0.749594967721972, + -0.6553103495583266, + 0.0931435994990534, + 0.2006375975253377, + 0.09085870785157477, + -0.9754431042694407 + ], + [ + 0.560310671685865, + 0.7971522467624278, + 0.22494498588887996, + 0.797834118554937, + -0.5923872608471242, + 0.11197344531498521, + 0.22251442754257889, + 0.11672886818458744, + -0.9679161641731912 + ], + [ + 0.508228559500761, + 0.8279762764684835, + 0.2369789376994647, + 0.8309800765675395, + -0.5437305350721191, + 0.11759769376137073, + 0.22622078519797306, + 0.13715826929344227, + -0.9643711762121677 + ], + [ + 0.4393801441674027, + 0.8687144697758631, + 0.22864876757479666, + 0.869960896786752, + -0.4749340792631387, + 0.13268631585986893, + 0.22385961443150618, + 0.14061575429700499, + -0.9644242233944882 + ], + [ + 0.3941582256443396, + 0.8945732461202224, + 0.21066086604501144, + 0.8963106340733563, + -0.4248395549631541, + 0.12703778880997374, + 0.20314167569438873, + 0.13874458499212694, + -0.9692695186228846 + ], + [ + 0.3636010065768674, + 0.9100958784026909, + 0.19879587553750466, + 0.9090688917130241, + -0.39325533973904864, + 0.1376371602670564, + 0.20344055184732174, + 0.1306741362365163, + -0.9703278889029714 + ], + [ + 0.35172991970209905, + 0.919892274338766, + 0.17344816862165852, + 0.9162263207953906, + -0.3762794557475608, + 0.1376339357282984, + 0.1918733766526688, + 0.11050780422292245, + -0.9751782568011509 + ], + [ + 0.3409670934225282, + 0.9205246651157523, + 0.19072436162306336, + 0.9164859178189907, + -0.3706621978036436, + 0.1505426768689019, + 0.2092725582642764, + 0.123466092644518, + -0.970031504810344 + ], + [ + 0.3345329408273023, + 0.9248752325336267, + 0.18081348331168753, + 0.9163811466374421, + -0.36401922979676854, + 0.16654006852890904, + 0.21984836953883233, + 0.10998092827411785, + -0.9693146495473386 + ], + [ + 0.33205056733635585, + 0.9296222128718626, + 0.1598279139162655, + 0.9237475656230792, + -0.3547665426889265, + 0.14432995251845887, + 0.1908739262891575, + 0.0997158037813818, + -0.9765366878613388 + ], + [ + 0.3292128772745682, + 0.9317482066986523, + 0.1531801578222369, + 0.9256524491139434, + -0.3504947010914247, + 0.14255177289739743, + 0.18651119238790578, + 0.09486170892767093, + -0.97786237850393 + ], + [ + 0.30626856487386783, + 0.9430541803562273, + 0.12980130616733324, + 0.9386449733462536, + -0.3218824140981516, + 0.1238439562762633, + 0.15857231846041844, + 0.08390783281071221, + -0.983775531008521 + ], + [ + 0.29697301642495977, + 0.9483527240906087, + 0.11150846705691146, + 0.946562803344233, + -0.30775508553632436, + 0.09646588335591201, + 0.12580098107951027, + 0.07690200281170466, + -0.9890703691461904 + ], + [ + 0.2696685069330402, + 0.9566558555084552, + 0.10994758064591868, + 0.958661154938335, + -0.27747902849998324, + 0.06304108783169547, + 0.09081677367536735, + 0.08840227861368415, + -0.9919361626410774 + ], + [ + 0.2865889503237794, + 0.9537020363786229, + 0.09120964510172266, + 0.9577534960512198, + -0.2875807216930477, + -0.0023599390186795563, + 0.0239794569158761, + 0.08803268891595742, + -0.9958289166961591 + ], + [ + 0.34453403836124485, + 0.9259654667890831, + 0.1545453031462542, + 0.9387729198462922, + -0.3400617229002719, + -0.05534825725680709, + 0.0013043671872983859, + 0.16415230407208423, + -0.9864341436173358 + ], + [ + 0.4189204357639383, + 0.8920966039829122, + 0.1693201631865126, + 0.9080059127875107, + -0.4127071451240247, + -0.07209767476484216, + 0.0055615503478593925, + 0.183946898657554, + -0.98292044827239 + ], + [ + 0.5025407694332013, + 0.849197245600946, + 0.16222457619378422, + 0.864061240989394, + -0.48700236853116313, + -0.12738471205331447, + -0.029170993767007228, + 0.2041879798342791, + -0.9784969708761706 + ], + [ + 0.5400568060914219, + 0.8326287384005544, + 0.12275190501101474, + 0.8401054324669015, + -0.5245441548222983, + -0.1381169503767041, + -0.05061134787705734, + 0.1777155413329448, + -0.9827795672656232 + ], + [ + 0.5786016439528193, + 0.8105408124782193, + 0.09079498291338944, + 0.8128986260253465, + -0.5640235540875562, + -0.1451662985701059, + -0.06645270063134057, + 0.15780057585949817, + -0.9852324684241847 + ], + [ + 0.6370330656767043, + 0.7687745479781104, + 0.05634330142609714, + 0.768372963260301, + -0.6274595304992843, + -0.12608539533269464, + -0.061578101343935085, + 0.12361323540248428, + -0.9904180458110636 + ], + [ + 0.6585474724007033, + 0.750393075942732, + 0.05679311729294612, + 0.7518264920349946, + -0.6527637926708874, + -0.09303954456183058, + -0.032743739386316854, + 0.10396952705059381, + -0.9940413396714831 + ], + [ + 0.6528201299291619, + 0.7523807357945809, + 0.08802900865326779, + 0.7574772111515564, + -0.6494955169914656, + -0.06621063354212152, + 0.007358841303653614, + 0.10990360236677342, + -0.993915009264612 + ], + [ + 0.6555372754485138, + 0.7484795064081539, + 0.10024624174773689, + 0.7545685824204261, + -0.654489603004782, + -0.04764046581081485, + 0.02995221062906448, + 0.1068727656872848, + -0.9938214512842751 + ], + [ + 0.6543453478393295, + 0.7526021502368352, + 0.07363538021847188, + 0.7560557728402211, + -0.6529892392416563, + -0.04455021649306283, + 0.014554522183934458, + 0.08482368120693091, + -0.9962896712254434 + ], + [ + 0.6677571917613254, + 0.7394240277551666, + 0.08574637035674222, + 0.7432035473343649, + -0.6687359553641883, + -0.020993075829032058, + 0.04181889621505498, + 0.07774528398220404, + -0.9960958039957208 + ], + [ + 0.6719657181135794, + 0.7359023723041487, + 0.08312503905098398, + 0.7390399163468608, + -0.6735690409794233, + -0.011169112770708766, + 0.047771076250451246, + 0.0689379827902296, + -0.9964765319879276 + ], + [ + 0.6839310843134659, + 0.7246390293249781, + 0.0844780982785488, + 0.7278309081180306, + -0.6856695443748686, + -0.010929094420073542, + 0.050004410784344804, + 0.06896051838344557, + -0.9963653977363911 + ], + [ + 0.6817394985809068, + 0.7267022223921558, + 0.08446973449085646, + 0.7299077448392646, + -0.6834553900929708, + -0.011109175330515995, + 0.04965823293586788, + 0.06922867702886584, + -0.99636411526034 + ], + [ + 0.6840177718149141, + 0.7277718615759036, + 0.04967701017275772, + 0.7286644034023707, + -0.6848708956292845, + 0.0002086485300006255, + 0.03417418697829529, + 0.03605514967776252, + -0.9987653133374662 + ], + [ + 0.6834621775605288, + 0.7286529567596775, + 0.04409444919261428, + 0.7291730338428976, + -0.6843043215200773, + 0.005855105916335368, + 0.03444036237563228, + 0.028150739853983954, + -0.9990102087992438 + ], + [ + 0.6929577530984781, + 0.719755339321933, + 0.04197384826625179, + 0.7203974232402971, + -0.6935614543519527, + -0.00024824573530607234, + 0.028932767054839326, + 0.03040987594144097, + -0.9991186788544077 + ], + [ + 0.6894542483863507, + 0.7240020305832747, + 0.02176922353477098, + 0.7243236656697735, + -0.6890196537864414, + -0.024640293153989173, + -0.0028401994145277696, + 0.03275631858599297, + -0.9994593322691916 + ], + [ + 0.6825798734903227, + 0.7272899252002575, + 0.07165250175771126, + 0.7305706323901399, + -0.6815821907486579, + -0.04137956432021674, + 0.018742128881373225, + 0.08059207130024496, + -0.9965709461190057 + ], + [ + 0.6763131173599459, + 0.7317380948600477, + 0.08461635667800735, + 0.7366116060281699, + -0.6721420376944256, + -0.07502281671988596, + 0.001977157422190283, + 0.11306830543778941, + -0.9935852500686364 + ], + [ + 0.6588550907995939, + 0.7264262291904321, + 0.19548632400152371, + 0.7471672630713985, + -0.6621206614961259, + -0.05776946091429429, + 0.08747028250700002, + 0.18412268508823804, + -0.9790034660378089 + ], + [ + 0.6506395782669507, + 0.7179143170239792, + 0.2475220648843208, + 0.7353470993972371, + -0.676998257712092, + 0.0306268258698454, + 0.18955944344894696, + 0.16208760738188843, + -0.9683980715245876 + ], + [ + 0.6575379939594519, + 0.7016486213329156, + 0.2744685750343715, + 0.7103310581131588, + -0.6987657976747758, + 0.08459401799048456, + 0.251144528866587, + 0.13933977243254303, + -0.9578678684655975 + ], + [ + 0.6380605742393388, + 0.7254575781178052, + 0.2580503942116993, + 0.7242731998868632, + -0.6792264437435079, + 0.11865820681769518, + 0.2613561469087896, + 0.11118786116746512, + -0.9588170962190836 + ], + [ + 0.6223345513888383, + 0.7452396420637587, + 0.23941090627691453, + 0.7481136564230843, + -0.6562697641556148, + 0.09816289384699661, + 0.23027301887311125, + 0.1180164079770861, + -0.9659433028015926 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0026045143604278564, + -0.0008102469146251678, + -0.009986750781536102, + 0.008078822866082191, + 0.027751058340072632, + 0.0012652277946472168, + 1.0 + ], + [ + 0.014281272888183594, + 0.0014972575008869171, + -0.00943753495812416, + -0.011930745095014572, + 0.04135000705718994, + 0.09190434217453003, + 1.0 + ], + [ + 0.021467387676239014, + 0.006052341312170029, + -0.0029947683215141296, + -0.02722812443971634, + 0.007181614637374878, + 0.10660454630851746, + 1.0 + ], + [ + 0.012876033782958984, + 0.004446353763341904, + -0.0013649016618728638, + -0.03114842250943184, + 0.032179221510887146, + 0.137157142162323, + 1.0 + ], + [ + 0.00021457672119140625, + -0.00018685311079025269, + -0.00937928631901741, + -0.011205799877643585, + 0.033118218183517456, + 0.13053303956985474, + 1.0 + ], + [ + -0.008448034524917603, + -0.0008514411747455597, + -0.017902016639709473, + -0.027140416204929352, + -0.022384092211723328, + 0.08725488185882568, + 1.0 + ], + [ + 0.0021293163299560547, + 0.0009071454405784607, + 0.0008751766290515661, + -0.021259576082229614, + -0.0038033276796340942, + 0.0633547306060791, + 1.0 + ], + [ + -0.0002537965774536133, + 0.003044016659259796, + -0.010364996269345284, + -0.003504514694213867, + 0.002423331141471863, + 0.08122098445892334, + 1.0 + ], + [ + 0.0054437220096588135, + 0.002644367516040802, + -0.002218537498265505, + 0.0026049762964248657, + 0.021207362413406372, + 0.05338263511657715, + 1.0 + ], + [ + -0.001345217227935791, + 0.00290694460272789, + -0.008424804545938969, + 0.008312925696372986, + -0.00030525028705596924, + 0.0338214635848999, + 1.0 + ], + [ + -0.0010120272636413574, + 0.0002445392310619354, + -0.0107614416629076, + 0.02102544903755188, + 0.011800050735473633, + 0.013939619064331055, + 1.0 + ], + [ + 0.0020536184310913086, + 0.0019911080598831177, + -0.0006830077618360519, + -0.0137605220079422, + -0.017760351300239563, + 0.010370731353759766, + 1.0 + ], + [ + -0.001000434160232544, + 0.0007939822971820831, + -0.006717456504702568, + 0.013620376586914062, + -0.01082804799079895, + 0.006144165992736816, + 0.0 + ], + [ + -0.0006267130374908447, + -0.00031055137515068054, + -0.0005515888333320618, + 0.011220410466194153, + 0.029606670141220093, + 0.004948973655700684, + 0.0 + ], + [ + 0.0008130967617034912, + 0.0010843202471733093, + -0.0014151819050312042, + 0.005052328109741211, + 0.004442542791366577, + 0.0033739805221557617, + 0.0 + ], + [ + 0.002566307783126831, + 0.0018859021365642548, + 0.0008732937276363373, + 0.011620938777923584, + 0.02836531400680542, + 0.026307344436645508, + 0.0 + ], + [ + 0.000852048397064209, + -0.0027292966842651367, + 0.00318092480301857, + 0.00749003142118454, + 0.03310932219028473, + 0.011383771896362305, + 0.0 + ], + [ + 0.004924952983856201, + -0.004774868488311768, + 0.0077448319643735886, + -0.011290416121482849, + 0.03519310802221298, + 0.029801607131958008, + 0.0 + ], + [ + -0.003591209650039673, + -0.007918231189250946, + 0.005642686039209366, + 0.0007138922810554504, + 0.06696031987667084, + -0.016539573669433594, + 0.0 + ], + [ + 0.0012809038162231445, + -0.004414502531290054, + 0.03517503663897514, + -0.0767265260219574, + 0.022677388042211533, + -0.06099212169647217, + 0.0 + ], + [ + -0.0196344256401062, + 0.0034764818847179413, + 0.007616054266691208, + -0.020104527473449707, + -0.004257211461663246, + -0.08052051067352295, + 0.0 + ], + [ + -0.01719406247138977, + 0.004758551716804504, + 0.018897870555520058, + -0.020719677209854126, + 0.03473671153187752, + -0.09451937675476074, + 0.0 + ], + [ + -0.026049435138702393, + 0.0032361485064029694, + -0.00043524056673049927, + 0.0268266499042511, + 0.021457847207784653, + -0.044545650482177734, + 0.0 + ], + [ + -0.02314811944961548, + 0.004866931587457657, + -0.0032949894666671753, + 0.020079344511032104, + 0.01586872711777687, + -0.04725736379623413, + 0.0 + ], + [ + -0.023190200328826904, + -0.0008063390851020813, + -0.01732027530670166, + 0.03464987128973007, + -0.0048846229910850525, + -0.07362985610961914, + 0.0 + ], + [ + -0.010313034057617188, + -0.001581542193889618, + -0.013787176460027695, + 0.019953235983848572, + -0.028867490589618683, + -0.027141094207763672, + 0.0 + ], + [ + 0.0036073625087738037, + 0.0030023977160453796, + -0.0016415566205978394, + -0.005915217101573944, + -0.04010850191116333, + 0.008031845092773438, + 0.0 + ], + [ + 0.003259330987930298, + -0.001461528241634369, + -0.00016819313168525696, + 0.003003545105457306, + -0.0225977823138237, + -0.00395888090133667, + 0.0 + ], + [ + -0.00010076165199279785, + -0.0005386099219322205, + -0.00883566029369831, + 0.022190764546394348, + 0.015401654876768589, + 0.0018753409385681152, + 0.0 + ], + [ + 0.0016890466213226318, + -0.001981455832719803, + -0.006469351705163717, + 0.007042653858661652, + -0.02727605774998665, + -0.01856917142868042, + 0.0 + ], + [ + 0.0005804002285003662, + -0.00296730175614357, + -0.007522611878812313, + 0.008820407092571259, + -0.00595816969871521, + -0.005920052528381348, + 0.0 + ], + [ + -0.0020400583744049072, + -0.0022090375423431396, + -0.0022587254643440247, + -3.018975257873535e-05, + -0.002236008644104004, + -0.016414940357208252, + 0.0 + ], + [ + 0.0003587007522583008, + -0.00043521448969841003, + 0.0002513602375984192, + -0.0002679377794265747, + 0.0003466084599494934, + 0.0030230283737182617, + 1.0 + ], + [ + -0.00032633543014526367, + 0.001217823475599289, + -0.004962364211678505, + 0.03328576311469078, + 0.015497822314500809, + -0.002515137195587158, + 1.0 + ], + [ + 0.00015404820442199707, + 0.00011035427451133728, + 0.00024463050067424774, + 0.007912876084446907, + -0.0002663321793079376, + 0.0007536411285400391, + 1.0 + ], + [ + 0.0004496276378631592, + -0.00037071481347084045, + 0.0007375963032245636, + -0.002256130799651146, + 0.005510369315743446, + -0.012935161590576172, + 1.0 + ], + [ + -0.0034285783767700195, + 0.0003848224878311157, + 0.0018638838082551956, + -0.002335004508495331, + 0.03177700936794281, + 0.005246877670288086, + 1.0 + ], + [ + 0.005055218935012817, + 0.0016021020710468292, + 0.018760565668344498, + -0.04793146252632141, + -0.021583430469036102, + 0.00928807258605957, + 1.0 + ], + [ + -0.0008061826229095459, + 0.0031338222324848175, + 0.016337145119905472, + -0.03261706978082657, + 0.01676606759428978, + 0.008703410625457764, + 1.0 + ], + [ + 0.007977098226547241, + 0.0025038160383701324, + 0.03144094720482826, + -0.07258917391300201, + -0.08560504764318466, + 0.020077049732208252, + 1.0 + ], + [ + 0.007040083408355713, + 0.0018736757338047028, + 0.010928362607955933, + 0.020060241222381592, + -0.10313122719526291, + -0.0016863346099853516, + 1.0 + ], + [ + 0.009565770626068115, + 0.007674049586057663, + 0.00855359435081482, + 0.021384358406066895, + -0.06314906477928162, + -0.022465229034423828, + 1.0 + ], + [ + 0.009013593196868896, + 0.019008733332157135, + -0.0031459517776966095, + 0.02900749444961548, + -0.010564416646957397, + 0.024622797966003418, + 1.0 + ], + [ + 0.00357210636138916, + 0.0157291442155838, + 0.002453800290822983, + -0.006126902997493744, + 0.032068684697151184, + 0.028324365615844727, + 1.0 + ], + [ + 0.0006034374237060547, + 0.015110313892364502, + 0.009610980749130249, + -0.02298993617296219, + 0.02698218822479248, + 0.007007300853729248, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9537920951843262 + ], + [ + 0.680191159248352 + ], + [ + 0.38924968242645264 + ], + [ + 0.32440370321273804 + ], + [ + 0.325195848941803 + ], + [ + 0.32440370321273804 + ], + [ + 0.32440370321273804 + ], + [ + 0.325195848941803 + ], + [ + 0.32440370321273804 + ], + [ + 0.32440370321273804 + ], + [ + 0.325195848941803 + ], + [ + 0.32440370321273804 + ], + [ + 0.32440370321273804 + ], + [ + 0.32440370321273804 + ], + [ + 0.32440370321273804 + ], + [ + 0.32440370321273804 + ], + [ + 0.32440370321273804 + ], + [ + 0.32440370321273804 + ], + [ + 0.325195848941803 + ], + [ + 0.32440370321273804 + ], + [ + 0.3875128924846649 + ], + [ + 0.684196949005127 + ], + [ + 0.9537920951843262 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.36866840720176697, + 0.032614268362522125, + 0.04330412298440933 + ], + [ + 0.38294968008995056, + 0.03411152586340904, + 0.03386658802628517 + ], + [ + 0.4044170677661896, + 0.04016386717557907, + 0.030871819704771042 + ], + [ + 0.41729310154914856, + 0.044610220938920975, + 0.029506918042898178 + ], + [ + 0.41750767827033997, + 0.04442336782813072, + 0.020127631723880768 + ], + [ + 0.40905964374542236, + 0.04357192665338516, + 0.002225615084171295 + ], + [ + 0.4111889600753784, + 0.04447907209396362, + 0.0031007917132228613 + ], + [ + 0.4109351634979248, + 0.04752308875322342, + -0.007264204788953066 + ], + [ + 0.4163788855075836, + 0.05016745626926422, + -0.00948274228721857 + ], + [ + 0.4150336682796478, + 0.05307440087199211, + -0.01790754683315754 + ], + [ + 0.41402164101600647, + 0.05331894010305405, + -0.02866898849606514 + ], + [ + 0.4160752594470978, + 0.055310048162937164, + -0.02935199625790119 + ], + [ + 0.41507482528686523, + 0.05610403046011925, + -0.03606945276260376 + ], + [ + 0.4144481122493744, + 0.05579347908496857, + -0.03662104159593582 + ], + [ + 0.4152612090110779, + 0.056877799332141876, + -0.038036223500967026 + ], + [ + 0.4178275167942047, + 0.05876370146870613, + -0.03716292977333069 + ], + [ + 0.4186795651912689, + 0.056034404784440994, + -0.03398200497031212 + ], + [ + 0.4236045181751251, + 0.05125953629612923, + -0.02623717300593853 + ], + [ + 0.42001330852508545, + 0.04334130510687828, + -0.020594486966729164 + ], + [ + 0.4212942123413086, + 0.038926802575588226, + 0.01458054967224598 + ], + [ + 0.4016597867012024, + 0.04240328446030617, + 0.022196603938937187 + ], + [ + 0.3844657242298126, + 0.04716183617711067, + 0.041094474494457245 + ], + [ + 0.35841628909111023, + 0.05039798468351364, + 0.040659233927726746 + ], + [ + 0.33526816964149475, + 0.0552649162709713, + 0.03736424446105957 + ], + [ + 0.31207796931266785, + 0.05445857718586922, + 0.02004396915435791 + ], + [ + 0.30176493525505066, + 0.0528770349919796, + 0.006256793159991503 + ], + [ + 0.30537229776382446, + 0.05587943270802498, + 0.004615236539393663 + ], + [ + 0.30863162875175476, + 0.05441790446639061, + 0.0044470434077084064 + ], + [ + 0.30853086709976196, + 0.05387929454445839, + -0.004388616885989904 + ], + [ + 0.3102199137210846, + 0.051897838711738586, + -0.010857968591153622 + ], + [ + 0.31080031394958496, + 0.048930536955595016, + -0.018380580469965935 + ], + [ + 0.30876025557518005, + 0.04672149941325188, + -0.02063930593430996 + ], + [ + 0.30911895632743835, + 0.04628628492355347, + -0.02038794569671154 + ], + [ + 0.3087926208972931, + 0.047504108399152756, + -0.025350309908390045 + ], + [ + 0.3089466691017151, + 0.04761446267366409, + -0.025105679407715797 + ], + [ + 0.30939629673957825, + 0.04724374786019325, + -0.024368083104491234 + ], + [ + 0.3059677183628082, + 0.04762857034802437, + -0.022504199296236038 + ], + [ + 0.31102293729782104, + 0.0492306724190712, + -0.003743633860722184 + ], + [ + 0.3102167546749115, + 0.052364494651556015, + 0.012593511492013931 + ], + [ + 0.31819385290145874, + 0.05486831068992615, + 0.044034458696842194 + ], + [ + 0.32523393630981445, + 0.05674198642373085, + 0.054962821304798126 + ], + [ + 0.33479970693588257, + 0.06441603600978851, + 0.06351641565561295 + ], + [ + 0.34381330013275146, + 0.08342476934194565, + 0.060370463877916336 + ], + [ + 0.3473854064941406, + 0.09915391355752945, + 0.06282426416873932 + ], + [ + 0.3479888439178467, + 0.11426422744989395, + 0.07243524491786957 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8736098915004165, + 0.3908237317786798, + 0.28993545514686003, + 0.3746002890031854, + -0.9204021480393293, + 0.11195762306925884, + 0.31061291175892913, + 0.010802618348104115, + -0.9504751035589858 + ], + [ + 0.8461167194157628, + 0.4710986960927515, + 0.24930406267210503, + 0.45892948676167394, + -0.8817954917485409, + 0.10872183273204913, + 0.2710539121757405, + 0.02242162508959864, + -0.962302991485825 + ], + [ + 0.7940642514255984, + 0.5558953203502885, + 0.2458502743959301, + 0.5474441342345211, + -0.8298239825960831, + 0.10815302954883489, + 0.26413421682947436, + 0.0487088361698932, + -0.963255191929353 + ], + [ + 0.7176591418321421, + 0.6585646147535271, + 0.2264023063912808, + 0.6562712870129399, + -0.7483303556156213, + 0.09648666595222913, + 0.2329664224456661, + 0.07933679511258249, + -0.9692431681235268 + ], + [ + 0.6307550545379377, + 0.7498753502878237, + 0.1995871243481331, + 0.749594967721972, + -0.6553103495583266, + 0.0931435994990534, + 0.2006375975253377, + 0.09085870785157477, + -0.9754431042694407 + ], + [ + 0.560310671685865, + 0.7971522467624278, + 0.22494498588887996, + 0.797834118554937, + -0.5923872608471242, + 0.11197344531498521, + 0.22251442754257889, + 0.11672886818458744, + -0.9679161641731912 + ], + [ + 0.508228559500761, + 0.8279762764684835, + 0.2369789376994647, + 0.8309800765675395, + -0.5437305350721191, + 0.11759769376137073, + 0.22622078519797306, + 0.13715826929344227, + -0.9643711762121677 + ], + [ + 0.4393801441674027, + 0.8687144697758631, + 0.22864876757479666, + 0.869960896786752, + -0.4749340792631387, + 0.13268631585986893, + 0.22385961443150618, + 0.14061575429700499, + -0.9644242233944882 + ], + [ + 0.3941582256443396, + 0.8945732461202224, + 0.21066086604501144, + 0.8963106340733563, + -0.4248395549631541, + 0.12703778880997374, + 0.20314167569438873, + 0.13874458499212694, + -0.9692695186228846 + ], + [ + 0.3636010065768674, + 0.9100958784026909, + 0.19879587553750466, + 0.9090688917130241, + -0.39325533973904864, + 0.1376371602670564, + 0.20344055184732174, + 0.1306741362365163, + -0.9703278889029714 + ], + [ + 0.35172991970209905, + 0.919892274338766, + 0.17344816862165852, + 0.9162263207953906, + -0.3762794557475608, + 0.1376339357282984, + 0.1918733766526688, + 0.11050780422292245, + -0.9751782568011509 + ], + [ + 0.3409670934225282, + 0.9205246651157523, + 0.19072436162306336, + 0.9164859178189907, + -0.3706621978036436, + 0.1505426768689019, + 0.2092725582642764, + 0.123466092644518, + -0.970031504810344 + ], + [ + 0.3345329408273023, + 0.9248752325336267, + 0.18081348331168753, + 0.9163811466374421, + -0.36401922979676854, + 0.16654006852890904, + 0.21984836953883233, + 0.10998092827411785, + -0.9693146495473386 + ], + [ + 0.33205056733635585, + 0.9296222128718626, + 0.1598279139162655, + 0.9237475656230792, + -0.3547665426889265, + 0.14432995251845887, + 0.1908739262891575, + 0.0997158037813818, + -0.9765366878613388 + ], + [ + 0.3292128772745682, + 0.9317482066986523, + 0.1531801578222369, + 0.9256524491139434, + -0.3504947010914247, + 0.14255177289739743, + 0.18651119238790578, + 0.09486170892767093, + -0.97786237850393 + ], + [ + 0.30626856487386783, + 0.9430541803562273, + 0.12980130616733324, + 0.9386449733462536, + -0.3218824140981516, + 0.1238439562762633, + 0.15857231846041844, + 0.08390783281071221, + -0.983775531008521 + ], + [ + 0.29697301642495977, + 0.9483527240906087, + 0.11150846705691146, + 0.946562803344233, + -0.30775508553632436, + 0.09646588335591201, + 0.12580098107951027, + 0.07690200281170466, + -0.9890703691461904 + ], + [ + 0.2696685069330402, + 0.9566558555084552, + 0.10994758064591868, + 0.958661154938335, + -0.27747902849998324, + 0.06304108783169547, + 0.09081677367536735, + 0.08840227861368415, + -0.9919361626410774 + ], + [ + 0.2865889503237794, + 0.9537020363786229, + 0.09120964510172266, + 0.9577534960512198, + -0.2875807216930477, + -0.0023599390186795563, + 0.0239794569158761, + 0.08803268891595742, + -0.9958289166961591 + ], + [ + 0.34453403836124485, + 0.9259654667890831, + 0.1545453031462542, + 0.9387729198462922, + -0.3400617229002719, + -0.05534825725680709, + 0.0013043671872983859, + 0.16415230407208423, + -0.9864341436173358 + ], + [ + 0.4189204357639383, + 0.8920966039829122, + 0.1693201631865126, + 0.9080059127875107, + -0.4127071451240247, + -0.07209767476484216, + 0.0055615503478593925, + 0.183946898657554, + -0.98292044827239 + ], + [ + 0.5025407694332013, + 0.849197245600946, + 0.16222457619378422, + 0.864061240989394, + -0.48700236853116313, + -0.12738471205331447, + -0.029170993767007228, + 0.2041879798342791, + -0.9784969708761706 + ], + [ + 0.5400568060914219, + 0.8326287384005544, + 0.12275190501101474, + 0.8401054324669015, + -0.5245441548222983, + -0.1381169503767041, + -0.05061134787705734, + 0.1777155413329448, + -0.9827795672656232 + ], + [ + 0.5786016439528193, + 0.8105408124782193, + 0.09079498291338944, + 0.8128986260253465, + -0.5640235540875562, + -0.1451662985701059, + -0.06645270063134057, + 0.15780057585949817, + -0.9852324684241847 + ], + [ + 0.6370330656767043, + 0.7687745479781104, + 0.05634330142609714, + 0.768372963260301, + -0.6274595304992843, + -0.12608539533269464, + -0.061578101343935085, + 0.12361323540248428, + -0.9904180458110636 + ], + [ + 0.6585474724007033, + 0.750393075942732, + 0.05679311729294612, + 0.7518264920349946, + -0.6527637926708874, + -0.09303954456183058, + -0.032743739386316854, + 0.10396952705059381, + -0.9940413396714831 + ], + [ + 0.6528201299291619, + 0.7523807357945809, + 0.08802900865326779, + 0.7574772111515564, + -0.6494955169914656, + -0.06621063354212152, + 0.007358841303653614, + 0.10990360236677342, + -0.993915009264612 + ], + [ + 0.6555372754485138, + 0.7484795064081539, + 0.10024624174773689, + 0.7545685824204261, + -0.654489603004782, + -0.04764046581081485, + 0.02995221062906448, + 0.1068727656872848, + -0.9938214512842751 + ], + [ + 0.6543453478393295, + 0.7526021502368352, + 0.07363538021847188, + 0.7560557728402211, + -0.6529892392416563, + -0.04455021649306283, + 0.014554522183934458, + 0.08482368120693091, + -0.9962896712254434 + ], + [ + 0.6677571917613254, + 0.7394240277551666, + 0.08574637035674222, + 0.7432035473343649, + -0.6687359553641883, + -0.020993075829032058, + 0.04181889621505498, + 0.07774528398220404, + -0.9960958039957208 + ], + [ + 0.6719657181135794, + 0.7359023723041487, + 0.08312503905098398, + 0.7390399163468608, + -0.6735690409794233, + -0.011169112770708766, + 0.047771076250451246, + 0.0689379827902296, + -0.9964765319879276 + ], + [ + 0.6839310843134659, + 0.7246390293249781, + 0.0844780982785488, + 0.7278309081180306, + -0.6856695443748686, + -0.010929094420073542, + 0.050004410784344804, + 0.06896051838344557, + -0.9963653977363911 + ], + [ + 0.6817394985809068, + 0.7267022223921558, + 0.08446973449085646, + 0.7299077448392646, + -0.6834553900929708, + -0.011109175330515995, + 0.04965823293586788, + 0.06922867702886584, + -0.99636411526034 + ], + [ + 0.6840177718149141, + 0.7277718615759036, + 0.04967701017275772, + 0.7286644034023707, + -0.6848708956292845, + 0.0002086485300006255, + 0.03417418697829529, + 0.03605514967776252, + -0.9987653133374662 + ], + [ + 0.6834621775605288, + 0.7286529567596775, + 0.04409444919261428, + 0.7291730338428976, + -0.6843043215200773, + 0.005855105916335368, + 0.03444036237563228, + 0.028150739853983954, + -0.9990102087992438 + ], + [ + 0.6929577530984781, + 0.719755339321933, + 0.04197384826625179, + 0.7203974232402971, + -0.6935614543519527, + -0.00024824573530607234, + 0.028932767054839326, + 0.03040987594144097, + -0.9991186788544077 + ], + [ + 0.6894542483863507, + 0.7240020305832747, + 0.02176922353477098, + 0.7243236656697735, + -0.6890196537864414, + -0.024640293153989173, + -0.0028401994145277696, + 0.03275631858599297, + -0.9994593322691916 + ], + [ + 0.6825798734903227, + 0.7272899252002575, + 0.07165250175771126, + 0.7305706323901399, + -0.6815821907486579, + -0.04137956432021674, + 0.018742128881373225, + 0.08059207130024496, + -0.9965709461190057 + ], + [ + 0.6763131173599459, + 0.7317380948600477, + 0.08461635667800735, + 0.7366116060281699, + -0.6721420376944256, + -0.07502281671988596, + 0.001977157422190283, + 0.11306830543778941, + -0.9935852500686364 + ], + [ + 0.6588550907995939, + 0.7264262291904321, + 0.19548632400152371, + 0.7471672630713985, + -0.6621206614961259, + -0.05776946091429429, + 0.08747028250700002, + 0.18412268508823804, + -0.9790034660378089 + ], + [ + 0.6506395782669507, + 0.7179143170239792, + 0.2475220648843208, + 0.7353470993972371, + -0.676998257712092, + 0.0306268258698454, + 0.18955944344894696, + 0.16208760738188843, + -0.9683980715245876 + ], + [ + 0.6575379939594519, + 0.7016486213329156, + 0.2744685750343715, + 0.7103310581131588, + -0.6987657976747758, + 0.08459401799048456, + 0.251144528866587, + 0.13933977243254303, + -0.9578678684655975 + ], + [ + 0.6380605742393388, + 0.7254575781178052, + 0.2580503942116993, + 0.7242731998868632, + -0.6792264437435079, + 0.11865820681769518, + 0.2613561469087896, + 0.11118786116746512, + -0.9588170962190836 + ], + [ + 0.6223345513888383, + 0.7452396420637587, + 0.23941090627691453, + 0.7481136564230843, + -0.6562697641556148, + 0.09816289384699661, + 0.23027301887311125, + 0.1180164079770861, + -0.9659433028015926 + ], + [ + 0.620791913771471, + 0.7465402402578631, + 0.2393638850613991, + 0.7569859885867654, + -0.650220750915358, + 0.06469303024581399, + 0.20393531542935955, + 0.14103419711119755, + -0.9687722861260678 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005842.json b/json/chunk-0005/episode_0005842.json new file mode 100644 index 0000000000000000000000000000000000000000..97b74b13da465e9138d88a593e8b8dde1c6ec308 --- /dev/null +++ b/json/chunk-0005/episode_0005842.json @@ -0,0 +1,1462 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 23, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nTake the yellow object and move it to the left of the silver cap." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005842.mp4", + "start": 0, + "end": 23, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.38581910729408264, + 0.020801523700356483, + 0.08580935001373291, + -0.00343615491874516, + -0.18198950588703156, + -0.02072950452566147, + 0.0, + 1.0001531839370728 + ], + [ + 0.38487929105758667, + 0.01911921799182892, + 0.06731966137886047, + -0.014486657455563545, + -0.13665582239627838, + -0.015996050089597702, + 0.0, + 1.0001531839370728 + ], + [ + 0.40564948320388794, + -0.007741574663668871, + 0.05532890558242798, + -0.07031632214784622, + -0.15054233372211456, + -0.02994406409561634, + 0.0, + 1.0001531839370728 + ], + [ + 0.42582646012306213, + -0.03096604533493519, + 0.04155106842517853, + -0.09164107590913773, + -0.13644327223300934, + -0.04326422140002251, + 0.0, + 1.0001531839370728 + ], + [ + 0.43794435262680054, + -0.03756915405392647, + 0.03514034301042557, + -0.10310327261686325, + -0.1350277215242386, + -0.035702504217624664, + 0.0, + 1.0001531839370728 + ], + [ + 0.43552932143211365, + -0.0357670783996582, + 0.01305276621133089, + -0.09277255833148956, + -0.08757620304822922, + -0.02501021884381771, + 0.0, + 1.0001531839370728 + ], + [ + 0.4327682554721832, + -0.03525630384683609, + 0.00909548532217741, + -0.08656788617372513, + -0.07274696975946426, + -0.016710739582777023, + 0.0, + 1.0001531839370728 + ], + [ + 0.42886030673980713, + -0.03858839347958565, + 0.0043731993064284325, + -0.10055418312549591, + -0.06338070333003998, + -0.014863292686641216, + 0.0, + 0.9351479411125183 + ], + [ + 0.42929962277412415, + -0.04782677814364433, + 0.005190442781895399, + -0.1034788191318512, + -0.07124527543783188, + -0.05051148682832718, + 0.0, + 0.6781873106956482 + ], + [ + 0.43542665243148804, + -0.050374992191791534, + 0.01318647712469101, + -0.11176535487174988, + -0.08973623067140579, + -0.06449952721595764, + 0.0, + 0.651088297367096 + ], + [ + 0.44351059198379517, + -0.040306489914655685, + 0.0374109223484993, + -0.1316874772310257, + -0.13466905057430267, + -0.06226376071572304, + 0.0, + 0.651088297367096 + ], + [ + 0.4480811655521393, + -0.009582323022186756, + 0.08114990592002869, + -0.1277945339679718, + -0.227916419506073, + -0.05933346971869469, + 0.0, + 0.651088297367096 + ], + [ + 0.43180379271507263, + 0.023028939962387085, + 0.09539031237363815, + -0.1384028196334839, + -0.23502108454704285, + -0.06016048416495323, + 0.0, + 0.6500836610794067 + ], + [ + 0.41063183546066284, + 0.06473155319690704, + 0.1027257889509201, + -0.11844054609537125, + -0.24551977217197418, + -0.05878060683608055, + 0.0, + 0.6500836610794067 + ], + [ + 0.38730961084365845, + 0.09573579579591751, + 0.08853290975093842, + -0.09775026887655258, + -0.22590318322181702, + -0.09185661375522614, + 0.0, + 0.651088297367096 + ], + [ + 0.3640921711921692, + 0.12334258109331131, + 0.0827440693974495, + -0.05426220968365669, + -0.23280197381973267, + -0.08000531047582626, + 0.0, + 0.6500836610794067 + ], + [ + 0.3600236177444458, + 0.14083340764045715, + 0.07342679053544998, + -0.01080024242401123, + -0.24857646226882935, + -0.04016906023025513, + 0.0, + 0.651088297367096 + ], + [ + 0.36667051911354065, + 0.14921122789382935, + 0.046586740761995316, + 0.014159167185425758, + -0.2176206260919571, + -0.06400296092033386, + 0.0, + 0.6500836610794067 + ], + [ + 0.37633001804351807, + 0.1538652926683426, + 0.013260611332952976, + 0.003220813814550638, + -0.18228943645954132, + -0.1162651851773262, + 0.0, + 0.6500836610794067 + ], + [ + 0.3835285007953644, + 0.1558597981929779, + 0.00506889633834362, + -0.007586514577269554, + -0.1669636070728302, + -0.12986506521701813, + 0.0, + 0.6500836610794067 + ], + [ + 0.3885013461112976, + 0.155029296875, + 0.008268781006336212, + 0.0035915703047066927, + -0.17218521237373352, + -0.14026868343353271, + 0.0, + 0.7309711575508118 + ], + [ + 0.3874008357524872, + 0.14860376715660095, + 0.007936516776680946, + 0.010965672321617603, + -0.1570480763912201, + -0.13384278118610382, + 0.0, + 0.9851709604263306 + ], + [ + 0.38865458965301514, + 0.14837327599525452, + 0.050335854291915894, + 0.03937385603785515, + -0.22990375757217407, + -0.10209178924560547, + 0.0, + 1.003452181816101 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9351479411125183 + ], + [ + 0.6781873106956482 + ], + [ + 0.651088297367096 + ], + [ + 0.651088297367096 + ], + [ + 0.651088297367096 + ], + [ + 0.6500836610794067 + ], + [ + 0.6500836610794067 + ], + [ + 0.651088297367096 + ], + [ + 0.6500836610794067 + ], + [ + 0.651088297367096 + ], + [ + 0.6500836610794067 + ], + [ + 0.6500836610794067 + ], + [ + 0.6500836610794067 + ], + [ + 0.7309711575508118 + ], + [ + 0.9851709604263306 + ], + [ + 1.003452181816101 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.38581910729408264, + 0.020801523700356483, + 0.08580935001373291 + ], + [ + 0.38487929105758667, + 0.01911921799182892, + 0.06731966137886047 + ], + [ + 0.40564948320388794, + -0.007741574663668871, + 0.05532890558242798 + ], + [ + 0.42582646012306213, + -0.03096604533493519, + 0.04155106842517853 + ], + [ + 0.43794435262680054, + -0.03756915405392647, + 0.03514034301042557 + ], + [ + 0.43552932143211365, + -0.0357670783996582, + 0.01305276621133089 + ], + [ + 0.4327682554721832, + -0.03525630384683609, + 0.00909548532217741 + ], + [ + 0.42886030673980713, + -0.03858839347958565, + 0.0043731993064284325 + ], + [ + 0.42929962277412415, + -0.04782677814364433, + 0.005190442781895399 + ], + [ + 0.43542665243148804, + -0.050374992191791534, + 0.01318647712469101 + ], + [ + 0.44351059198379517, + -0.040306489914655685, + 0.0374109223484993 + ], + [ + 0.4480811655521393, + -0.009582323022186756, + 0.08114990592002869 + ], + [ + 0.43180379271507263, + 0.023028939962387085, + 0.09539031237363815 + ], + [ + 0.41063183546066284, + 0.06473155319690704, + 0.1027257889509201 + ], + [ + 0.38730961084365845, + 0.09573579579591751, + 0.08853290975093842 + ], + [ + 0.3640921711921692, + 0.12334258109331131, + 0.0827440693974495 + ], + [ + 0.3600236177444458, + 0.14083340764045715, + 0.07342679053544998 + ], + [ + 0.36667051911354065, + 0.14921122789382935, + 0.046586740761995316 + ], + [ + 0.37633001804351807, + 0.1538652926683426, + 0.013260611332952976 + ], + [ + 0.3835285007953644, + 0.1558597981929779, + 0.00506889633834362 + ], + [ + 0.3885013461112976, + 0.155029296875, + 0.008268781006336212 + ], + [ + 0.3874008357524872, + 0.14860376715660095, + 0.007936516776680946 + ], + [ + 0.38865458965301514, + 0.14837327599525452, + 0.050335854291915894 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9832742651570635, + -0.021349660659364965, + 0.1808754031635237, + -0.020385708410136462, + -0.9997663585213731, + -0.007186881210277144, + 0.1809865806419199, + 0.0033794021133488963, + -0.9834797594607134 + ], + [ + 0.9905503738880388, + -0.01796689817352447, + 0.13596744963515645, + -0.015846244965384493, + -0.9997355833193844, + -0.01666313192491909, + 0.13623088236799918, + 0.014351098044137051, + -0.9905731637159185 + ], + [ + 0.9882466674108933, + -0.0403978367449622, + 0.14743316837669376, + -0.02960096928664926, + -0.9967661715253637, + -0.07470596977457625, + 0.1499743543695188, + 0.069463760976472, + -0.9862466623225903 + ], + [ + 0.9897789951394758, + -0.05550520110607192, + 0.1313648104739802, + -0.042848755584343784, + -0.9943337024240223, + -0.09728551983008409, + 0.13602031070970022, + 0.09066234540265893, + -0.9865489416144169 + ], + [ + 0.9902661337244641, + -0.04935149121026198, + 0.13014382318698584, + -0.0353700104427779, + -0.9935611302811352, + -0.10763476555347258, + 0.13461778025090068, + 0.10198387475378969, + -0.985635501861882 + ], + [ + 0.9958561139500168, + -0.03300018992193582, + 0.08474424920599355, + -0.02491177376001774, + -0.9951856894954436, + -0.09478843258335104, + 0.08746430035449357, + 0.09228451055618683, + -0.9918838466649733 + ], + [ + 0.9972158540528123, + -0.022930653864170335, + 0.07095579989741224, + -0.016665765772234782, + -0.9960112338501955, + -0.08765771098674698, + 0.07268282243381172, + 0.08623112638469164, + -0.9936203501164227 + ], + [ + 0.9978818805991141, + -0.02114516803728354, + 0.061519381016483694, + -0.014832902756575268, + -0.9947442874165819, + -0.10131035311305259, + 0.06333827727204328, + 0.10018325469235098, + -0.9929509444637525 + ], + [ + 0.9961909303845736, + -0.057563555790687185, + 0.06549860505575501, + -0.0503619236560148, + -0.993010978099085, + -0.10673740684672806, + 0.07118501854451588, + 0.10303220088608539, + -0.9921275415567224 + ], + [ + 0.993905398652142, + -0.0740269889530717, + 0.08168269973910133, + -0.06419547477964312, + -0.9910501190426148, + -0.11704102940180915, + 0.0896158442907424, + 0.11108405129522757, + -0.9897622613536528 + ], + [ + 0.9890256025639786, + -0.07928024236901185, + 0.12467157110933338, + -0.06166015492853915, + -0.988323766245593, + -0.1393346990821555, + 0.13426236541617828, + 0.13011831632801363, + -0.982365940466594 + ], + [ + 0.9724250841691382, + -0.08756086029341922, + 0.21615399932298412, + -0.05776515685340844, + -0.9883924317497429, + -0.14051187677036622, + 0.2259483178347328, + 0.12415110391980325, + -0.9661955604654517 + ], + [ + 0.9707500686173158, + -0.09161731999403538, + 0.22192469659005387, + -0.058471352631875674, + -0.9867142514532181, + -0.1515786492238089, + 0.23286349048503885, + 0.13416874694289346, + -0.9632099159284534 + ], + [ + 0.9683358306678028, + -0.08700654962152529, + 0.23399910121163514, + -0.05698501364538136, + -0.9895918678710497, + -0.13213872734108814, + 0.24306054238549646, + 0.11462022232766692, + -0.9632153328144358 + ], + [ + 0.9704834659491284, + -0.11305735794905428, + 0.21302552929859564, + -0.08939689931095857, + -0.9890253631642957, + -0.11763088629828392, + 0.22398668869589938, + 0.09511500844405618, + -0.9699397396002154 + ], + [ + 0.9699113578413541, + -0.0922747455351366, + 0.22529387312300914, + -0.07776404882565573, + -0.9943341656740955, + -0.07247288929966422, + 0.23070481278157545, + 0.0527725147176647, + -0.9715916585941812 + ], + [ + 0.9684817545614741, + -0.04281084490984365, + 0.2453779179951497, + -0.038923939468196424, + -0.9990283533951612, + -0.020670656710166938, + 0.2460244256528308, + 0.010468078651725107, + -0.969207099288659 + ], + [ + 0.974414738051193, + -0.060902160085319214, + 0.2163488968438878, + -0.06245072564356107, + -0.9980479964856017, + 0.00032183484776216863, + 0.21590698259949287, + -0.013824746218962649, + -0.976316061148624 + ], + [ + 0.9767919101834739, + -0.11542289161468682, + 0.180430375190612, + -0.11408139143259134, + -0.9933113929646417, + -0.01783010755568904, + 0.1812815498855982, + -0.0031674434403512423, + -0.9834261370195161 + ], + [ + 0.977790401467304, + -0.13074678478890597, + 0.1638023475587941, + -0.12769950397346638, + -0.9913875698945438, + -0.02904346645153879, + 0.16618895114699753, + 0.007480944188704937, + -0.9860655495405497 + ], + [ + 0.9755364160333465, + -0.13919894358911455, + 0.17015391590112788, + -0.13774176623646062, + -0.9902581145606302, + -0.020397852359654675, + 0.17133565544530954, + -0.0035384531225566736, + -0.9852063603746303 + ], + [ + 0.9788597609073377, + -0.1317358141404071, + 0.1564584409649859, + -0.1318012788492335, + -0.9912256935031949, + -0.010002371359696489, + 0.1564032971843511, + -0.010830503768283537, + -0.9876338941216979 + ], + [ + 0.9686184904062735, + -0.0929119077313318, + 0.23053328923345698, + -0.09923299425812902, + -0.9949363522122612, + 0.015952049934904487, + 0.22788381446175235, + -0.03832795909364391, + -0.9729336743365797 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0009398162364959717, + -0.001682305708527565, + -0.018489688634872437, + -0.011050502769649029, + 0.045333683490753174, + 0.0047334544360637665, + 1.0 + ], + [ + 0.02077019214630127, + -0.026860792189836502, + -0.011990755796432495, + -0.055829666554927826, + -0.013886511325836182, + -0.013948014006018639, + 1.0 + ], + [ + 0.020176976919174194, + -0.023224471136927605, + -0.01377783715724945, + -0.021324753761291504, + 0.014099061489105225, + -0.013320157304406166, + 1.0 + ], + [ + 0.012117892503738403, + -0.00660310871899128, + -0.00641072541475296, + -0.011462196707725525, + 0.001415550708770752, + 0.007561717182397842, + 1.0 + ], + [ + -0.0024150311946868896, + 0.0018020756542682648, + -0.02208757773041725, + 0.010330714285373688, + 0.04745151847600937, + 0.010692285373806953, + 1.0 + ], + [ + -0.00276106595993042, + 0.000510774552822113, + -0.0039572808891534805, + 0.006204672157764435, + 0.014829233288764954, + 0.008299479261040688, + 1.0 + ], + [ + -0.003907948732376099, + -0.0033320896327495575, + -0.004722286015748978, + -0.013986296951770782, + 0.009366266429424286, + 0.001847446896135807, + 0.0 + ], + [ + 0.0004393160343170166, + -0.009238384664058685, + 0.0008172434754669666, + -0.0029246360063552856, + -0.0078645721077919, + -0.03564819321036339, + 0.0 + ], + [ + 0.006127029657363892, + -0.0025482140481472015, + 0.007996033877134323, + -0.008286535739898682, + -0.018490955233573914, + -0.013988040387630463, + 0.0 + ], + [ + 0.008083939552307129, + 0.010068502277135849, + 0.02422444522380829, + -0.019922122359275818, + -0.04493281990289688, + 0.002235766500234604, + 0.0 + ], + [ + 0.004570573568344116, + 0.030724167823791504, + 0.04373898357152939, + 0.003892943263053894, + -0.09324736893177032, + 0.002930290997028351, + 0.0 + ], + [ + -0.01627737283706665, + 0.032611262053251266, + 0.014240406453609467, + -0.010608285665512085, + -0.007104665040969849, + -0.0008270144462585449, + 0.0 + ], + [ + -0.02117195725440979, + 0.04170261323451996, + 0.007335476577281952, + 0.01996227353811264, + -0.010498687624931335, + 0.0013798773288726807, + 0.0 + ], + [ + -0.023322224617004395, + 0.031004242599010468, + -0.01419287919998169, + 0.020690277218818665, + 0.019616588950157166, + -0.033076006919145584, + 0.0 + ], + [ + -0.023217439651489258, + 0.0276067852973938, + -0.005788840353488922, + 0.04348805919289589, + -0.006898790597915649, + 0.011851303279399872, + 0.0 + ], + [ + -0.004068553447723389, + 0.017490826547145844, + -0.009317278861999512, + 0.04346196725964546, + -0.01577448844909668, + 0.039836250245571136, + 0.0 + ], + [ + 0.006646901369094849, + 0.008377820253372192, + -0.026840049773454666, + 0.02495940960943699, + 0.030955836176872253, + -0.023833900690078735, + 0.0 + ], + [ + 0.009659498929977417, + 0.004654064774513245, + -0.033326130360364914, + -0.010938353836536407, + 0.03533118963241577, + -0.05226222425699234, + 0.0 + ], + [ + 0.0071984827518463135, + 0.001994505524635315, + -0.008191714994609356, + -0.010807327926158905, + 0.01532582938671112, + -0.013599880039691925, + 0.0 + ], + [ + 0.0049728453159332275, + -0.0008305013179779053, + 0.003199884667992592, + 0.011178084649145603, + -0.00522160530090332, + -0.010403618216514587, + 1.0 + ], + [ + -0.0011005103588104248, + -0.006425529718399048, + -0.0003322642296552658, + 0.007374102249741554, + 0.015137135982513428, + 0.006425902247428894, + 1.0 + ], + [ + 0.001253753900527954, + -0.00023049116134643555, + 0.042399339377880096, + 0.02840818464756012, + -0.07285568118095398, + 0.03175099194049835, + 1.0 + ], + [ + -0.00474199652671814, + -0.0007438957691192627, + 0.029603317379951477, + -0.008491039276123047, + -0.017433226108551025, + 0.050799500197172165, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9351479411125183 + ], + [ + 0.6781873106956482 + ], + [ + 0.651088297367096 + ], + [ + 0.651088297367096 + ], + [ + 0.651088297367096 + ], + [ + 0.6500836610794067 + ], + [ + 0.6500836610794067 + ], + [ + 0.651088297367096 + ], + [ + 0.6500836610794067 + ], + [ + 0.651088297367096 + ], + [ + 0.6500836610794067 + ], + [ + 0.6500836610794067 + ], + [ + 0.6500836610794067 + ], + [ + 0.7309711575508118 + ], + [ + 0.9851709604263306 + ], + [ + 1.003452181816101 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.38487929105758667, + 0.01911921799182892, + 0.06731966137886047 + ], + [ + 0.40564948320388794, + -0.007741574663668871, + 0.05532890558242798 + ], + [ + 0.42582646012306213, + -0.03096604533493519, + 0.04155106842517853 + ], + [ + 0.43794435262680054, + -0.03756915405392647, + 0.03514034301042557 + ], + [ + 0.43552932143211365, + -0.0357670783996582, + 0.01305276621133089 + ], + [ + 0.4327682554721832, + -0.03525630384683609, + 0.00909548532217741 + ], + [ + 0.42886030673980713, + -0.03858839347958565, + 0.0043731993064284325 + ], + [ + 0.42929962277412415, + -0.04782677814364433, + 0.005190442781895399 + ], + [ + 0.43542665243148804, + -0.050374992191791534, + 0.01318647712469101 + ], + [ + 0.44351059198379517, + -0.040306489914655685, + 0.0374109223484993 + ], + [ + 0.4480811655521393, + -0.009582323022186756, + 0.08114990592002869 + ], + [ + 0.43180379271507263, + 0.023028939962387085, + 0.09539031237363815 + ], + [ + 0.41063183546066284, + 0.06473155319690704, + 0.1027257889509201 + ], + [ + 0.38730961084365845, + 0.09573579579591751, + 0.08853290975093842 + ], + [ + 0.3640921711921692, + 0.12334258109331131, + 0.0827440693974495 + ], + [ + 0.3600236177444458, + 0.14083340764045715, + 0.07342679053544998 + ], + [ + 0.36667051911354065, + 0.14921122789382935, + 0.046586740761995316 + ], + [ + 0.37633001804351807, + 0.1538652926683426, + 0.013260611332952976 + ], + [ + 0.3835285007953644, + 0.1558597981929779, + 0.00506889633834362 + ], + [ + 0.3885013461112976, + 0.155029296875, + 0.008268781006336212 + ], + [ + 0.3874008357524872, + 0.14860376715660095, + 0.007936516776680946 + ], + [ + 0.38865458965301514, + 0.14837327599525452, + 0.050335854291915894 + ], + [ + 0.383912593126297, + 0.14762938022613525, + 0.07993917167186737 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9905503738880388, + -0.01796689817352447, + 0.13596744963515645, + -0.015846244965384493, + -0.9997355833193844, + -0.01666313192491909, + 0.13623088236799918, + 0.014351098044137051, + -0.9905731637159185 + ], + [ + 0.9882466674108933, + -0.0403978367449622, + 0.14743316837669376, + -0.02960096928664926, + -0.9967661715253637, + -0.07470596977457625, + 0.1499743543695188, + 0.069463760976472, + -0.9862466623225903 + ], + [ + 0.9897789951394758, + -0.05550520110607192, + 0.1313648104739802, + -0.042848755584343784, + -0.9943337024240223, + -0.09728551983008409, + 0.13602031070970022, + 0.09066234540265893, + -0.9865489416144169 + ], + [ + 0.9902661337244641, + -0.04935149121026198, + 0.13014382318698584, + -0.0353700104427779, + -0.9935611302811352, + -0.10763476555347258, + 0.13461778025090068, + 0.10198387475378969, + -0.985635501861882 + ], + [ + 0.9958561139500168, + -0.03300018992193582, + 0.08474424920599355, + -0.02491177376001774, + -0.9951856894954436, + -0.09478843258335104, + 0.08746430035449357, + 0.09228451055618683, + -0.9918838466649733 + ], + [ + 0.9972158540528123, + -0.022930653864170335, + 0.07095579989741224, + -0.016665765772234782, + -0.9960112338501955, + -0.08765771098674698, + 0.07268282243381172, + 0.08623112638469164, + -0.9936203501164227 + ], + [ + 0.9978818805991141, + -0.02114516803728354, + 0.061519381016483694, + -0.014832902756575268, + -0.9947442874165819, + -0.10131035311305259, + 0.06333827727204328, + 0.10018325469235098, + -0.9929509444637525 + ], + [ + 0.9961909303845736, + -0.057563555790687185, + 0.06549860505575501, + -0.0503619236560148, + -0.993010978099085, + -0.10673740684672806, + 0.07118501854451588, + 0.10303220088608539, + -0.9921275415567224 + ], + [ + 0.993905398652142, + -0.0740269889530717, + 0.08168269973910133, + -0.06419547477964312, + -0.9910501190426148, + -0.11704102940180915, + 0.0896158442907424, + 0.11108405129522757, + -0.9897622613536528 + ], + [ + 0.9890256025639786, + -0.07928024236901185, + 0.12467157110933338, + -0.06166015492853915, + -0.988323766245593, + -0.1393346990821555, + 0.13426236541617828, + 0.13011831632801363, + -0.982365940466594 + ], + [ + 0.9724250841691382, + -0.08756086029341922, + 0.21615399932298412, + -0.05776515685340844, + -0.9883924317497429, + -0.14051187677036622, + 0.2259483178347328, + 0.12415110391980325, + -0.9661955604654517 + ], + [ + 0.9707500686173158, + -0.09161731999403538, + 0.22192469659005387, + -0.058471352631875674, + -0.9867142514532181, + -0.1515786492238089, + 0.23286349048503885, + 0.13416874694289346, + -0.9632099159284534 + ], + [ + 0.9683358306678028, + -0.08700654962152529, + 0.23399910121163514, + -0.05698501364538136, + -0.9895918678710497, + -0.13213872734108814, + 0.24306054238549646, + 0.11462022232766692, + -0.9632153328144358 + ], + [ + 0.9704834659491284, + -0.11305735794905428, + 0.21302552929859564, + -0.08939689931095857, + -0.9890253631642957, + -0.11763088629828392, + 0.22398668869589938, + 0.09511500844405618, + -0.9699397396002154 + ], + [ + 0.9699113578413541, + -0.0922747455351366, + 0.22529387312300914, + -0.07776404882565573, + -0.9943341656740955, + -0.07247288929966422, + 0.23070481278157545, + 0.0527725147176647, + -0.9715916585941812 + ], + [ + 0.9684817545614741, + -0.04281084490984365, + 0.2453779179951497, + -0.038923939468196424, + -0.9990283533951612, + -0.020670656710166938, + 0.2460244256528308, + 0.010468078651725107, + -0.969207099288659 + ], + [ + 0.974414738051193, + -0.060902160085319214, + 0.2163488968438878, + -0.06245072564356107, + -0.9980479964856017, + 0.00032183484776216863, + 0.21590698259949287, + -0.013824746218962649, + -0.976316061148624 + ], + [ + 0.9767919101834739, + -0.11542289161468682, + 0.180430375190612, + -0.11408139143259134, + -0.9933113929646417, + -0.01783010755568904, + 0.1812815498855982, + -0.0031674434403512423, + -0.9834261370195161 + ], + [ + 0.977790401467304, + -0.13074678478890597, + 0.1638023475587941, + -0.12769950397346638, + -0.9913875698945438, + -0.02904346645153879, + 0.16618895114699753, + 0.007480944188704937, + -0.9860655495405497 + ], + [ + 0.9755364160333465, + -0.13919894358911455, + 0.17015391590112788, + -0.13774176623646062, + -0.9902581145606302, + -0.020397852359654675, + 0.17133565544530954, + -0.0035384531225566736, + -0.9852063603746303 + ], + [ + 0.9788597609073377, + -0.1317358141404071, + 0.1564584409649859, + -0.1318012788492335, + -0.9912256935031949, + -0.010002371359696489, + 0.1564032971843511, + -0.010830503768283537, + -0.9876338941216979 + ], + [ + 0.9686184904062735, + -0.0929119077313318, + 0.23053328923345698, + -0.09923299425812902, + -0.9949363522122612, + 0.015952049934904487, + 0.22788381446175235, + -0.03832795909364391, + -0.9729336743365797 + ], + [ + 0.9682926882468955, + -0.043695678427056635, + 0.24596739128266648, + -0.04970954969711908, + -0.9985962098401805, + 0.018291264629227456, + 0.24482285546188443, + -0.02993822606010644, + -0.9691055009976282 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005843.json b/json/chunk-0005/episode_0005843.json new file mode 100644 index 0000000000000000000000000000000000000000..dff149692650994e36ea5075437566683435473d --- /dev/null +++ b/json/chunk-0005/episode_0005843.json @@ -0,0 +1,1882 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 30, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the blue thing to the right lower corner of the table." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005843.mp4", + "start": 0, + "end": 30, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3855034112930298, + 0.029083872213959694, + 0.05017509311437607, + 0.05570163205265999, + -0.2289455533027649, + -0.0480201318860054, + 0.0, + 1.0008161067962646 + ], + [ + 0.3827940821647644, + 0.02926904335618019, + 0.03680478781461716, + 0.05346402898430824, + -0.19383767247200012, + -0.0446244478225708, + 0.0, + 1.0008161067962646 + ], + [ + 0.38208553194999695, + 0.04396369680762291, + 0.03230114281177521, + 0.1040361151099205, + -0.18554794788360596, + -0.02357444353401661, + 0.0, + 1.0008161067962646 + ], + [ + 0.3812524974346161, + 0.06515899300575256, + 0.03408382087945938, + 0.14161553978919983, + -0.18875358998775482, + -0.0020144039299339056, + 0.0, + 1.0008161067962646 + ], + [ + 0.38247111439704895, + 0.07663539052009583, + 0.024607928469777107, + 0.16621054708957672, + -0.17855076491832733, + 0.0002499505353625864, + 0.0, + 1.0008161067962646 + ], + [ + 0.3908994197845459, + 0.08867068588733673, + 0.016303418204188347, + 0.17255878448486328, + -0.15705052018165588, + 0.02606770396232605, + 0.0, + 1.0008161067962646 + ], + [ + 0.39732444286346436, + 0.09243092685937881, + 0.0008226250065490603, + 0.17315933108329773, + -0.12463460862636566, + 0.03079858422279358, + 0.0, + 1.0008161067962646 + ], + [ + 0.4023207724094391, + 0.0906534194946289, + -0.004698649048805237, + 0.15186750888824463, + -0.11823055148124695, + 0.029992619529366493, + 0.0, + 1.0008161067962646 + ], + [ + 0.4047136604785919, + 0.09393603354692459, + -0.011445140466094017, + 0.16686756908893585, + -0.10792576521635056, + 0.04356611892580986, + 0.0, + 0.9643021821975708 + ], + [ + 0.40703481435775757, + 0.09265000373125076, + -0.01198623701930046, + 0.15691548585891724, + -0.12687115371227264, + 0.055043891072273254, + 0.0, + 0.6871993541717529 + ], + [ + 0.40470460057258606, + 0.09402051568031311, + -0.012706289067864418, + 0.14250168204307556, + -0.12815241515636444, + 0.07316303253173828, + 0.0, + 0.6219554543495178 + ], + [ + 0.3984498381614685, + 0.09757693111896515, + -0.010249122977256775, + 0.13516530394554138, + -0.12201087921857834, + 0.0872911736369133, + 0.0, + 0.6209517121315002 + ], + [ + 0.3930665850639343, + 0.09813755005598068, + 0.01628514565527439, + 0.1369854360818863, + -0.16217012703418732, + 0.0954529419541359, + 0.0, + 0.6209517121315002 + ], + [ + 0.38284382224082947, + 0.09855502098798752, + 0.05589704215526581, + 0.16063617169857025, + -0.227369487285614, + 0.13276591897010803, + 0.0, + 0.6209517121315002 + ], + [ + 0.3618191182613373, + 0.08149811625480652, + 0.08039915561676025, + 0.15301980078220367, + -0.26418375968933105, + 0.16763827204704285, + 0.0, + 0.6209517121315002 + ], + [ + 0.33182579278945923, + 0.06052784621715546, + 0.09454987198114395, + 0.2035142481327057, + -0.2809039354324341, + 0.21449486911296844, + 0.0, + 0.6209517121315002 + ], + [ + 0.31370118260383606, + 0.036409929394721985, + 0.08711560070514679, + 0.16187642514705658, + -0.2624683976173401, + 0.19632457196712494, + 0.0, + 0.6209517121315002 + ], + [ + 0.29575854539871216, + 0.009996635839343071, + 0.0717422366142273, + 0.16617874801158905, + -0.20730018615722656, + 0.11222449690103531, + 0.0, + 0.6209517121315002 + ], + [ + 0.2766611874103546, + -0.007906573824584484, + 0.053904302418231964, + 0.16141986846923828, + -0.15666133165359497, + 0.042570408433675766, + 0.0, + 0.6209517121315002 + ], + [ + 0.27229857444763184, + -0.021730337291955948, + 0.03960049897432327, + 0.1542181819677353, + -0.1378130465745926, + -0.011264440603554249, + 0.0, + 0.6209517121315002 + ], + [ + 0.2700405716896057, + -0.03477579355239868, + 0.019565925002098083, + 0.16629010438919067, + -0.09982335567474365, + -0.05820223689079285, + 0.0, + 0.6209517121315002 + ], + [ + 0.2671070396900177, + -0.03630075976252556, + -0.002212077146396041, + 0.1840730607509613, + -0.0557224415242672, + -0.07006840407848358, + 0.0, + 0.6209517121315002 + ], + [ + 0.2656286060810089, + -0.03698822110891342, + -0.01667758636176586, + 0.19315235316753387, + -0.027280019596219063, + -0.07301667332649231, + 0.0, + 0.6209517121315002 + ], + [ + 0.2689686715602875, + -0.03881952166557312, + -0.018225297331809998, + 0.1893167495727539, + -0.029255056753754616, + -0.08969838172197342, + 0.0, + 0.6791892647743225 + ], + [ + 0.26740193367004395, + -0.04345035180449486, + -0.017777107656002045, + 0.16179236769676208, + -0.00562365772202611, + -0.07997637987136841, + 0.0, + 0.9468915462493896 + ], + [ + 0.2650861442089081, + -0.04890929535031319, + -0.011619231663644314, + 0.1201370432972908, + -0.01028614304959774, + -0.10033579915761948, + 0.0, + 1.0067112445831299 + ], + [ + 0.268435537815094, + -0.04875662177801132, + 0.009705008007586002, + 0.09389667958021164, + -0.05243201181292534, + -0.10366854071617126, + 0.0, + 1.0014774799346924 + ], + [ + 0.27368250489234924, + -0.046883873641490936, + 0.034879766404628754, + 0.09478412568569183, + -0.1337876170873642, + -0.1026168018579483, + 0.0, + 1.0008161067962646 + ], + [ + 0.2757129371166229, + -0.03962114453315735, + 0.05556946620345116, + 0.07240906357765198, + -0.1848946213722229, + -0.08815773576498032, + 0.0, + 1.0008161067962646 + ], + [ + 0.27481621503829956, + -0.03640754520893097, + 0.0611201710999012, + 0.08215140551328659, + -0.21239705383777618, + -0.10399848222732544, + 0.0, + 1.0008161067962646 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9643021821975708 + ], + [ + 0.6871993541717529 + ], + [ + 0.6219554543495178 + ], + [ + 0.6209517121315002 + ], + [ + 0.6209517121315002 + ], + [ + 0.6209517121315002 + ], + [ + 0.6209517121315002 + ], + [ + 0.6209517121315002 + ], + [ + 0.6209517121315002 + ], + [ + 0.6209517121315002 + ], + [ + 0.6209517121315002 + ], + [ + 0.6209517121315002 + ], + [ + 0.6209517121315002 + ], + [ + 0.6209517121315002 + ], + [ + 0.6209517121315002 + ], + [ + 0.6791892647743225 + ], + [ + 0.9468915462493896 + ], + [ + 1.0067112445831299 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3855034112930298, + 0.029083872213959694, + 0.05017509311437607 + ], + [ + 0.3827940821647644, + 0.02926904335618019, + 0.03680478781461716 + ], + [ + 0.38208553194999695, + 0.04396369680762291, + 0.03230114281177521 + ], + [ + 0.3812524974346161, + 0.06515899300575256, + 0.03408382087945938 + ], + [ + 0.38247111439704895, + 0.07663539052009583, + 0.024607928469777107 + ], + [ + 0.3908994197845459, + 0.08867068588733673, + 0.016303418204188347 + ], + [ + 0.39732444286346436, + 0.09243092685937881, + 0.0008226250065490603 + ], + [ + 0.4023207724094391, + 0.0906534194946289, + -0.004698649048805237 + ], + [ + 0.4047136604785919, + 0.09393603354692459, + -0.011445140466094017 + ], + [ + 0.40703481435775757, + 0.09265000373125076, + -0.01198623701930046 + ], + [ + 0.40470460057258606, + 0.09402051568031311, + -0.012706289067864418 + ], + [ + 0.3984498381614685, + 0.09757693111896515, + -0.010249122977256775 + ], + [ + 0.3930665850639343, + 0.09813755005598068, + 0.01628514565527439 + ], + [ + 0.38284382224082947, + 0.09855502098798752, + 0.05589704215526581 + ], + [ + 0.3618191182613373, + 0.08149811625480652, + 0.08039915561676025 + ], + [ + 0.33182579278945923, + 0.06052784621715546, + 0.09454987198114395 + ], + [ + 0.31370118260383606, + 0.036409929394721985, + 0.08711560070514679 + ], + [ + 0.29575854539871216, + 0.009996635839343071, + 0.0717422366142273 + ], + [ + 0.2766611874103546, + -0.007906573824584484, + 0.053904302418231964 + ], + [ + 0.27229857444763184, + -0.021730337291955948, + 0.03960049897432327 + ], + [ + 0.2700405716896057, + -0.03477579355239868, + 0.019565925002098083 + ], + [ + 0.2671070396900177, + -0.03630075976252556, + -0.002212077146396041 + ], + [ + 0.2656286060810089, + -0.03698822110891342, + -0.01667758636176586 + ], + [ + 0.2689686715602875, + -0.03881952166557312, + -0.018225297331809998 + ], + [ + 0.26740193367004395, + -0.04345035180449486, + -0.017777107656002045 + ], + [ + 0.2650861442089081, + -0.04890929535031319, + -0.011619231663644314 + ], + [ + 0.268435537815094, + -0.04875662177801132, + 0.009705008007586002 + ], + [ + 0.27368250489234924, + -0.046883873641490936, + 0.034879766404628754 + ], + [ + 0.2757129371166229, + -0.03962114453315735, + 0.05556946620345116 + ], + [ + 0.27481621503829956, + -0.03640754520893097, + 0.0611201710999012 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9727835782702454, + -0.03530680695682145, + 0.22900991076862084, + -0.04674913470881696, + -0.997904608694676, + 0.04473153641339683, + 0.22695071767173333, + -0.054220119221926336, + -0.9723957786929384 + ], + [ + 0.9802953651204434, + -0.03426248315873328, + 0.19454325835447045, + -0.04377419968755034, + -0.9980362527400529, + 0.04480466112256174, + 0.19262610561679117, + -0.052437777073314686, + -0.9798701255628309 + ], + [ + 0.982562215089855, + -0.0042916217461163066, + 0.18588457563904062, + -0.023167649458264664, + -0.9947683702187078, + 0.09949447035386079, + 0.18448510372465557, + -0.10206601586818491, + -0.9775212401316397 + ], + [ + 0.9822368750084566, + 0.024488980681162606, + 0.18604034830869148, + -0.0019786244974465492, + -0.9900406060102818, + 0.14076819063940602, + 0.18763476868299145, + -0.13863581166492192, + -0.9724059364819245 + ], + [ + 0.9841020847201657, + 0.029630360592997396, + 0.17511461555379307, + 0.00024597684804972784, + -0.9862114221355662, + 0.16549009137931578, + 0.1776035651241664, + -0.162816069785734, + -0.9705400048811553 + ], + [ + 0.9873573322763737, + 0.05252396873880925, + 0.14955511060477697, + 0.02574397013239129, + -0.9841139616874385, + 0.17566148813464283, + 0.15640571089926683, + -0.16959051600776298, + -0.9730243113500894 + ], + [ + 0.9917725957564447, + 0.05174145230533919, + 0.11708945477650058, + 0.030554853395060907, + -0.9839186469486819, + 0.1759843661257483, + 0.1243121846020341, + -0.17095882048028233, + -0.9774045029871002 + ], + [ + 0.992572300929489, + 0.04747973991988564, + 0.11200848952057238, + 0.029778773149560893, + -0.987510576403935, + 0.15471291529822329, + 0.11795529702920146, + -0.15022827892080853, + -0.981589533417734 + ], + [ + 0.993238333019358, + 0.06082148478159507, + 0.09888559455193015, + 0.04329893669578779, + -0.9843950112401649, + 0.17056278587807314, + 0.10771636784602738, + -0.16512785602204574, + -0.9803723656160559 + ], + [ + 0.9904602851459869, + 0.0740835306308768, + 0.11618973292763192, + 0.05457391574449056, + -0.9851302303698245, + 0.16291137753947682, + 0.12653106839367056, + -0.15501632075610827, + -0.9797753972367319 + ], + [ + 0.989146427846277, + 0.09045870334716237, + 0.11578673182925475, + 0.07249835557249361, + -0.9858889460504175, + 0.15088729070031345, + 0.12780192767808302, + -0.14085527694888358, + -0.9817466364787909 + ], + [ + 0.9887867510283734, + 0.1027234533550903, + 0.10839120407836496, + 0.08653225238296096, + -0.9856765216498573, + 0.1447548409061668, + 0.12170838216115075, + -0.1337523338078357, + -0.9835127771984827 + ], + [ + 0.9823867721845018, + 0.11636345149308344, + 0.14620457240979964, + 0.09405754224495097, + -0.984021219193667, + 0.15118008772139319, + 0.16146023839866827, + -0.1347656756493496, + -0.9776342895393038 + ], + [ + 0.9656887669400452, + 0.16640903764972798, + 0.1993821396071041, + 0.12896921963514757, + -0.9736658335384887, + 0.1879941089143526, + 0.22541549590149385, + -0.15582964027517943, + -0.9617198019273556 + ], + [ + 0.9517738964112313, + 0.20414760802279835, + 0.22902009573125326, + 0.16106535019113838, + -0.9678197144864563, + 0.19334671763223693, + 0.261121433585963, + -0.14713515687939394, + -0.9540266466572553 + ], + [ + 0.9387874616580593, + 0.2632075381536987, + 0.22226086855919422, + 0.20451114220262578, + -0.9449930273989876, + 0.2552711712714028, + 0.2772242676040385, + -0.19419055081637146, + -0.9409764797406145 + ], + [ + 0.9472004990500071, + 0.2335304449435766, + 0.21971514714255014, + 0.1883853074733724, + -0.9598106025968172, + 0.20802543851870028, + 0.2594652009953941, + -0.15565069362900294, + -0.9531267864482825 + ], + [ + 0.9724342699495014, + 0.1442776408131386, + 0.18318174851544342, + 0.10959141054739541, + -0.9762074317153246, + 0.18710631469301656, + 0.2058186419205326, + -0.1618734463250995, + -0.9651091513465317 + ], + [ + 0.9868588028244258, + 0.06705729741160141, + 0.14701368015185867, + 0.042036378702135224, + -0.9850387113483527, + 0.16712773561197797, + 0.15602130032002565, + -0.15875155435153565, + -0.9749129693656864 + ], + [ + 0.9904559606542868, + 0.009970330212097396, + 0.13746847827722442, + -0.01115740425538348, + -0.9883069350644084, + 0.1520687819175167, + 0.13737722640480093, + -0.15215122286415264, + -0.9787632517857763 + ], + [ + 0.9933369421219074, + -0.04089909366980605, + 0.10774499316853219, + -0.05787980273330596, + -0.9854952685033412, + 0.15952744025114032, + 0.09965765325077751, + -0.164700758633699, + -0.9812960879642963 + ], + [ + 0.9959979284702669, + -0.05865945525588809, + 0.06743289102522311, + -0.06990241997721341, + -0.9814076884508056, + 0.1787529041189983, + 0.05569360972559085, + -0.18275124447928937, + -0.9815804625587271 + ], + [ + 0.9969643815909651, + -0.06637330192345561, + 0.0407014327846347, + -0.07292466635101505, + -0.9791709879767254, + 0.18948923278718596, + 0.027276636092771187, + -0.19188215418965107, + -0.9810388493974137 + ], + [ + 0.995553618308556, + -0.0824951262880258, + 0.04547028932682048, + -0.08953981719725759, + -0.9786777667827392, + 0.18485791825462078, + 0.029250883901581197, + -0.1881073707856049, + -0.9817127904061876 + ], + [ + 0.9967878314423777, + -0.07794478206190174, + 0.018401903100633145, + -0.07988988606587095, + -0.983857852237899, + 0.16012911257548135, + 0.005623628080217237, + -0.16108487681701117, + -0.9869245347381249 + ], + [ + 0.9949179493652117, + -0.09821899249838117, + 0.022165368111645645, + -0.1001622335193259, + -0.9879225388808479, + 0.11822260421611208, + 0.010285961663444153, + -0.11984192373214975, + -0.9927397001776627 + ], + [ + 0.9932643626146359, + -0.09813977383146168, + 0.061599437919923526, + -0.10334073923885388, + -0.9907583071467828, + 0.08785595274771155, + 0.052407991502328784, + -0.09362991835920007, + -0.9942267552297822 + ], + [ + 0.9858503013615131, + -0.08941918292720875, + 0.14178643457695167, + -0.10152140261098687, + -0.9915676589793854, + 0.08054180577836079, + 0.1333888605443188, + -0.09379652120826049, + -0.9866152362962558 + ], + [ + 0.9791384417807184, + -0.07456426442111476, + 0.1890187353109863, + -0.08654294202759442, + -0.9946774109924853, + 0.05592108051973609, + 0.1838429520336177, + -0.0711127170949364, + -0.9803799010867881 + ], + [ + 0.9722468592901903, + -0.08625612399565166, + 0.21747626462123948, + -0.10147831425508894, + -0.9930384832098591, + 0.059805707087261815, + 0.21080369146745515, + -0.0802150356074764, + -0.9742316725123367 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.002709329128265381, + 0.00018517114222049713, + -0.013370305299758911, + -0.0022376030683517456, + 0.03510788083076477, + 0.003395684063434601, + 1.0 + ], + [ + -0.0007085502147674561, + 0.014694653451442719, + -0.0045036450028419495, + 0.05057208612561226, + 0.008289724588394165, + 0.02105000428855419, + 1.0 + ], + [ + -0.0008330345153808594, + 0.021195296198129654, + 0.0017826780676841736, + 0.03757942467927933, + -0.0032056421041488647, + 0.02156003937125206, + 1.0 + ], + [ + 0.0012186169624328613, + 0.011476397514343262, + -0.009475892409682274, + 0.024595007300376892, + 0.01020282506942749, + 0.0022643543779850006, + 1.0 + ], + [ + 0.008428305387496948, + 0.012035295367240906, + -0.00830451026558876, + 0.00634823739528656, + 0.021500244736671448, + 0.0258177537471056, + 1.0 + ], + [ + 0.006425023078918457, + 0.0037602409720420837, + -0.015480793081223965, + 0.0006005465984344482, + 0.03241591155529022, + 0.004730880260467529, + 1.0 + ], + [ + 0.0049963295459747314, + -0.0017775073647499084, + -0.005521274171769619, + -0.0212918221950531, + 0.006404057145118713, + -0.0008059646934270859, + 1.0 + ], + [ + 0.002392888069152832, + 0.003282614052295685, + -0.00674649141728878, + 0.015000060200691223, + 0.010304786264896393, + 0.013573499396443367, + 0.0 + ], + [ + 0.0023211538791656494, + -0.0012860298156738281, + -0.0005410965532064438, + -0.009952083230018616, + -0.01894538849592209, + 0.011477772146463394, + 0.0 + ], + [ + -0.002330213785171509, + 0.0013705119490623474, + -0.0007200520485639572, + -0.014413803815841675, + -0.0012812614440917969, + 0.018119141459465027, + 0.0 + ], + [ + -0.006254762411117554, + 0.0035564154386520386, + 0.002457166090607643, + -0.00733637809753418, + 0.006141535937786102, + 0.014128141105175018, + 0.0 + ], + [ + -0.00538325309753418, + 0.0005606189370155334, + 0.026534268632531166, + 0.0018201321363449097, + -0.04015924781560898, + 0.008161768317222595, + 0.0 + ], + [ + -0.010222762823104858, + 0.00041747093200683594, + 0.039611898362636566, + 0.02365073561668396, + -0.0651993602514267, + 0.03731297701597214, + 0.0 + ], + [ + -0.021024703979492188, + -0.017056904733181, + 0.024502113461494446, + -0.007616370916366577, + -0.03681427240371704, + 0.034872353076934814, + 0.0 + ], + [ + -0.029993325471878052, + -0.020970270037651062, + 0.014150716364383698, + 0.050494447350502014, + -0.016720175743103027, + 0.0468565970659256, + 0.0 + ], + [ + -0.01812461018562317, + -0.02411791682243347, + -0.007434271275997162, + -0.04163782298564911, + 0.018435537815093994, + -0.018170297145843506, + 0.0 + ], + [ + -0.0179426372051239, + -0.026413293555378914, + -0.015373364090919495, + 0.004302322864532471, + 0.055168211460113525, + -0.08410007506608963, + 0.0 + ], + [ + -0.019097357988357544, + -0.01790320873260498, + -0.01783793419599533, + -0.004758879542350769, + 0.05063885450363159, + -0.06965409219264984, + 0.0 + ], + [ + -0.004362612962722778, + -0.013823763467371464, + -0.014303803443908691, + -0.007201686501502991, + 0.01884828507900238, + -0.05383484810590744, + 0.0 + ], + [ + -0.002258002758026123, + -0.013045456260442734, + -0.02003457397222519, + 0.012071922421455383, + 0.03798969089984894, + -0.04693779721856117, + 0.0 + ], + [ + -0.0029335319995880127, + -0.0015249662101268768, + -0.021778002381324768, + 0.01778295636177063, + 0.044100914150476456, + -0.011866167187690735, + 0.0 + ], + [ + -0.001478433609008789, + -0.0006874613463878632, + -0.014465508982539177, + 0.00907929241657257, + 0.028442421928048134, + -0.002948269248008728, + 0.0 + ], + [ + 0.0033400654792785645, + -0.0018313005566596985, + -0.001547710970044136, + -0.0038356035947799683, + -0.001975037157535553, + -0.01668170839548111, + 1.0 + ], + [ + -0.0015667378902435303, + -0.004630830138921738, + 0.0004481896758079529, + -0.02752438187599182, + 0.023631399497389793, + 0.009722001850605011, + 1.0 + ], + [ + -0.0023157894611358643, + -0.005458943545818329, + 0.006157875992357731, + -0.04165532439947128, + -0.0046624853275716305, + -0.020359419286251068, + 1.0 + ], + [ + 0.003349393606185913, + 0.00015267357230186462, + 0.021324239671230316, + -0.026240363717079163, + -0.04214587062597275, + -0.0033327415585517883, + 1.0 + ], + [ + 0.005246967077255249, + 0.0018727481365203857, + 0.025174759328365326, + 0.0008874461054801941, + -0.08135560154914856, + 0.0010517388582229614, + 1.0 + ], + [ + 0.0020304322242736816, + 0.007262729108333588, + 0.020689699798822403, + -0.022375062108039856, + -0.051107004284858704, + 0.014459066092967987, + 1.0 + ], + [ + -0.0008967220783233643, + 0.0032135993242263794, + 0.005550704896450043, + 0.009742341935634613, + -0.027502432465553284, + -0.015840746462345123, + 1.0 + ], + [ + 0.00014078617095947266, + 0.0006714947521686554, + 0.0004050731658935547, + -0.0017338618636131287, + -0.001545935869216919, + 0.00582672655582428, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9643021821975708 + ], + [ + 0.6871993541717529 + ], + [ + 0.6219554543495178 + ], + [ + 0.6209517121315002 + ], + [ + 0.6209517121315002 + ], + [ + 0.6209517121315002 + ], + [ + 0.6209517121315002 + ], + [ + 0.6209517121315002 + ], + [ + 0.6209517121315002 + ], + [ + 0.6209517121315002 + ], + [ + 0.6209517121315002 + ], + [ + 0.6209517121315002 + ], + [ + 0.6209517121315002 + ], + [ + 0.6209517121315002 + ], + [ + 0.6209517121315002 + ], + [ + 0.6791892647743225 + ], + [ + 0.9468915462493896 + ], + [ + 1.0067112445831299 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3827940821647644, + 0.02926904335618019, + 0.03680478781461716 + ], + [ + 0.38208553194999695, + 0.04396369680762291, + 0.03230114281177521 + ], + [ + 0.3812524974346161, + 0.06515899300575256, + 0.03408382087945938 + ], + [ + 0.38247111439704895, + 0.07663539052009583, + 0.024607928469777107 + ], + [ + 0.3908994197845459, + 0.08867068588733673, + 0.016303418204188347 + ], + [ + 0.39732444286346436, + 0.09243092685937881, + 0.0008226250065490603 + ], + [ + 0.4023207724094391, + 0.0906534194946289, + -0.004698649048805237 + ], + [ + 0.4047136604785919, + 0.09393603354692459, + -0.011445140466094017 + ], + [ + 0.40703481435775757, + 0.09265000373125076, + -0.01198623701930046 + ], + [ + 0.40470460057258606, + 0.09402051568031311, + -0.012706289067864418 + ], + [ + 0.3984498381614685, + 0.09757693111896515, + -0.010249122977256775 + ], + [ + 0.3930665850639343, + 0.09813755005598068, + 0.01628514565527439 + ], + [ + 0.38284382224082947, + 0.09855502098798752, + 0.05589704215526581 + ], + [ + 0.3618191182613373, + 0.08149811625480652, + 0.08039915561676025 + ], + [ + 0.33182579278945923, + 0.06052784621715546, + 0.09454987198114395 + ], + [ + 0.31370118260383606, + 0.036409929394721985, + 0.08711560070514679 + ], + [ + 0.29575854539871216, + 0.009996635839343071, + 0.0717422366142273 + ], + [ + 0.2766611874103546, + -0.007906573824584484, + 0.053904302418231964 + ], + [ + 0.27229857444763184, + -0.021730337291955948, + 0.03960049897432327 + ], + [ + 0.2700405716896057, + -0.03477579355239868, + 0.019565925002098083 + ], + [ + 0.2671070396900177, + -0.03630075976252556, + -0.002212077146396041 + ], + [ + 0.2656286060810089, + -0.03698822110891342, + -0.01667758636176586 + ], + [ + 0.2689686715602875, + -0.03881952166557312, + -0.018225297331809998 + ], + [ + 0.26740193367004395, + -0.04345035180449486, + -0.017777107656002045 + ], + [ + 0.2650861442089081, + -0.04890929535031319, + -0.011619231663644314 + ], + [ + 0.268435537815094, + -0.04875662177801132, + 0.009705008007586002 + ], + [ + 0.27368250489234924, + -0.046883873641490936, + 0.034879766404628754 + ], + [ + 0.2757129371166229, + -0.03962114453315735, + 0.05556946620345116 + ], + [ + 0.27481621503829956, + -0.03640754520893097, + 0.0611201710999012 + ], + [ + 0.27495700120925903, + -0.035736050456762314, + 0.061525244265794754 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9802953651204434, + -0.03426248315873328, + 0.19454325835447045, + -0.04377419968755034, + -0.9980362527400529, + 0.04480466112256174, + 0.19262610561679117, + -0.052437777073314686, + -0.9798701255628309 + ], + [ + 0.982562215089855, + -0.0042916217461163066, + 0.18588457563904062, + -0.023167649458264664, + -0.9947683702187078, + 0.09949447035386079, + 0.18448510372465557, + -0.10206601586818491, + -0.9775212401316397 + ], + [ + 0.9822368750084566, + 0.024488980681162606, + 0.18604034830869148, + -0.0019786244974465492, + -0.9900406060102818, + 0.14076819063940602, + 0.18763476868299145, + -0.13863581166492192, + -0.9724059364819245 + ], + [ + 0.9841020847201657, + 0.029630360592997396, + 0.17511461555379307, + 0.00024597684804972784, + -0.9862114221355662, + 0.16549009137931578, + 0.1776035651241664, + -0.162816069785734, + -0.9705400048811553 + ], + [ + 0.9873573322763737, + 0.05252396873880925, + 0.14955511060477697, + 0.02574397013239129, + -0.9841139616874385, + 0.17566148813464283, + 0.15640571089926683, + -0.16959051600776298, + -0.9730243113500894 + ], + [ + 0.9917725957564447, + 0.05174145230533919, + 0.11708945477650058, + 0.030554853395060907, + -0.9839186469486819, + 0.1759843661257483, + 0.1243121846020341, + -0.17095882048028233, + -0.9774045029871002 + ], + [ + 0.992572300929489, + 0.04747973991988564, + 0.11200848952057238, + 0.029778773149560893, + -0.987510576403935, + 0.15471291529822329, + 0.11795529702920146, + -0.15022827892080853, + -0.981589533417734 + ], + [ + 0.993238333019358, + 0.06082148478159507, + 0.09888559455193015, + 0.04329893669578779, + -0.9843950112401649, + 0.17056278587807314, + 0.10771636784602738, + -0.16512785602204574, + -0.9803723656160559 + ], + [ + 0.9904602851459869, + 0.0740835306308768, + 0.11618973292763192, + 0.05457391574449056, + -0.9851302303698245, + 0.16291137753947682, + 0.12653106839367056, + -0.15501632075610827, + -0.9797753972367319 + ], + [ + 0.989146427846277, + 0.09045870334716237, + 0.11578673182925475, + 0.07249835557249361, + -0.9858889460504175, + 0.15088729070031345, + 0.12780192767808302, + -0.14085527694888358, + -0.9817466364787909 + ], + [ + 0.9887867510283734, + 0.1027234533550903, + 0.10839120407836496, + 0.08653225238296096, + -0.9856765216498573, + 0.1447548409061668, + 0.12170838216115075, + -0.1337523338078357, + -0.9835127771984827 + ], + [ + 0.9823867721845018, + 0.11636345149308344, + 0.14620457240979964, + 0.09405754224495097, + -0.984021219193667, + 0.15118008772139319, + 0.16146023839866827, + -0.1347656756493496, + -0.9776342895393038 + ], + [ + 0.9656887669400452, + 0.16640903764972798, + 0.1993821396071041, + 0.12896921963514757, + -0.9736658335384887, + 0.1879941089143526, + 0.22541549590149385, + -0.15582964027517943, + -0.9617198019273556 + ], + [ + 0.9517738964112313, + 0.20414760802279835, + 0.22902009573125326, + 0.16106535019113838, + -0.9678197144864563, + 0.19334671763223693, + 0.261121433585963, + -0.14713515687939394, + -0.9540266466572553 + ], + [ + 0.9387874616580593, + 0.2632075381536987, + 0.22226086855919422, + 0.20451114220262578, + -0.9449930273989876, + 0.2552711712714028, + 0.2772242676040385, + -0.19419055081637146, + -0.9409764797406145 + ], + [ + 0.9472004990500071, + 0.2335304449435766, + 0.21971514714255014, + 0.1883853074733724, + -0.9598106025968172, + 0.20802543851870028, + 0.2594652009953941, + -0.15565069362900294, + -0.9531267864482825 + ], + [ + 0.9724342699495014, + 0.1442776408131386, + 0.18318174851544342, + 0.10959141054739541, + -0.9762074317153246, + 0.18710631469301656, + 0.2058186419205326, + -0.1618734463250995, + -0.9651091513465317 + ], + [ + 0.9868588028244258, + 0.06705729741160141, + 0.14701368015185867, + 0.042036378702135224, + -0.9850387113483527, + 0.16712773561197797, + 0.15602130032002565, + -0.15875155435153565, + -0.9749129693656864 + ], + [ + 0.9904559606542868, + 0.009970330212097396, + 0.13746847827722442, + -0.01115740425538348, + -0.9883069350644084, + 0.1520687819175167, + 0.13737722640480093, + -0.15215122286415264, + -0.9787632517857763 + ], + [ + 0.9933369421219074, + -0.04089909366980605, + 0.10774499316853219, + -0.05787980273330596, + -0.9854952685033412, + 0.15952744025114032, + 0.09965765325077751, + -0.164700758633699, + -0.9812960879642963 + ], + [ + 0.9959979284702669, + -0.05865945525588809, + 0.06743289102522311, + -0.06990241997721341, + -0.9814076884508056, + 0.1787529041189983, + 0.05569360972559085, + -0.18275124447928937, + -0.9815804625587271 + ], + [ + 0.9969643815909651, + -0.06637330192345561, + 0.0407014327846347, + -0.07292466635101505, + -0.9791709879767254, + 0.18948923278718596, + 0.027276636092771187, + -0.19188215418965107, + -0.9810388493974137 + ], + [ + 0.995553618308556, + -0.0824951262880258, + 0.04547028932682048, + -0.08953981719725759, + -0.9786777667827392, + 0.18485791825462078, + 0.029250883901581197, + -0.1881073707856049, + -0.9817127904061876 + ], + [ + 0.9967878314423777, + -0.07794478206190174, + 0.018401903100633145, + -0.07988988606587095, + -0.983857852237899, + 0.16012911257548135, + 0.005623628080217237, + -0.16108487681701117, + -0.9869245347381249 + ], + [ + 0.9949179493652117, + -0.09821899249838117, + 0.022165368111645645, + -0.1001622335193259, + -0.9879225388808479, + 0.11822260421611208, + 0.010285961663444153, + -0.11984192373214975, + -0.9927397001776627 + ], + [ + 0.9932643626146359, + -0.09813977383146168, + 0.061599437919923526, + -0.10334073923885388, + -0.9907583071467828, + 0.08785595274771155, + 0.052407991502328784, + -0.09362991835920007, + -0.9942267552297822 + ], + [ + 0.9858503013615131, + -0.08941918292720875, + 0.14178643457695167, + -0.10152140261098687, + -0.9915676589793854, + 0.08054180577836079, + 0.1333888605443188, + -0.09379652120826049, + -0.9866152362962558 + ], + [ + 0.9791384417807184, + -0.07456426442111476, + 0.1890187353109863, + -0.08654294202759442, + -0.9946774109924853, + 0.05592108051973609, + 0.1838429520336177, + -0.0711127170949364, + -0.9803799010867881 + ], + [ + 0.9722468592901903, + -0.08625612399565166, + 0.21747626462123948, + -0.10147831425508894, + -0.9930384832098591, + 0.059805707087261815, + 0.21080369146745515, + -0.0802150356074764, + -0.9742316725123367 + ], + [ + 0.9724961559361526, + -0.08072407982536758, + 0.21848306484886634, + -0.09577955088216009, + -0.9936405072875809, + 0.0592015194913973, + 0.21231463520496643, + -0.07849945995754537, + -0.9740432898306705 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005845.json b/json/chunk-0005/episode_0005845.json new file mode 100644 index 0000000000000000000000000000000000000000..7db900485fddc7caabb4beb19fd81b7fac06fb90 --- /dev/null +++ b/json/chunk-0005/episode_0005845.json @@ -0,0 +1,1402 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 22, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPick up blue pen and put into drawer." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005845.mp4", + "start": 0, + "end": 22, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.21818384528160095, + -0.16681000590324402, + 0.20413702726364136, + -0.04681809991598129, + -0.15870901942253113, + 0.2084231674671173, + 0.0, + 0.993436336517334 + ], + [ + 0.21687287092208862, + -0.16039042174816132, + 0.19309234619140625, + -0.0042400481179356575, + -0.13743092119693756, + 0.16719751060009003, + 0.0, + 0.993436336517334 + ], + [ + 0.2284417599439621, + -0.1206590011715889, + 0.18970394134521484, + 0.07413339614868164, + -0.15467672049999237, + 0.022163648158311844, + 0.0, + 0.993436336517334 + ], + [ + 0.24056163430213928, + -0.09942010045051575, + 0.18561892211437225, + 0.11516775190830231, + -0.16789360344409943, + -0.12362498044967651, + 0.0, + 0.993436336517334 + ], + [ + 0.2579496204853058, + -0.06788835674524307, + 0.1660146415233612, + 0.157351553440094, + -0.18363766372203827, + -0.3705782890319824, + 0.0, + 0.993436336517334 + ], + [ + 0.2704419493675232, + -0.04551315680146217, + 0.15217244625091553, + 0.16511885821819305, + -0.20024101436138153, + -0.54375159740448, + 0.0, + 0.993436336517334 + ], + [ + 0.27818214893341064, + -0.03510546311736107, + 0.135985866189003, + 0.18913139402866364, + -0.20126433670520782, + -0.6915769577026367, + 0.0, + 0.993436336517334 + ], + [ + 0.2852994203567505, + -0.019701998680830002, + 0.11701706051826477, + 0.1850995123386383, + -0.21511021256446838, + -0.7382734417915344, + 0.0, + 0.993436336517334 + ], + [ + 0.29217270016670227, + -0.007963676936924458, + 0.09402080625295639, + 0.1285383254289627, + -0.2219582200050354, + -0.7503559589385986, + 0.0, + 0.993436336517334 + ], + [ + 0.2956448495388031, + 0.002059327904134989, + 0.06776709854602814, + 0.06111709028482437, + -0.2156391739845276, + -0.7570549845695496, + 0.0, + 0.993436336517334 + ], + [ + 0.3000456690788269, + 0.008192412555217743, + 0.05314011499285698, + 0.06837230920791626, + -0.2241191416978836, + -0.7894876003265381, + 0.0, + 0.993436336517334 + ], + [ + 0.29681676626205444, + 0.010336687788367271, + 0.04043440520763397, + 0.062495097517967224, + -0.24085284769535065, + -0.7844138741493225, + 0.0, + 0.993436336517334 + ], + [ + 0.2966877222061157, + 0.011581365950405598, + 0.0341755710542202, + 0.07024161517620087, + -0.2661389410495758, + -0.7759483456611633, + 0.0, + 0.8905277252197266 + ], + [ + 0.2960662841796875, + 0.01146779302507639, + 0.03342890366911888, + 0.07438468933105469, + -0.2648143470287323, + -0.7705589532852173, + 0.0, + 0.6551066637039185 + ], + [ + 0.29040437936782837, + 0.011129951104521751, + 0.03742167353630066, + 0.05501227080821991, + -0.21979761123657227, + -0.7658931612968445, + 0.0, + 0.4077054560184479 + ], + [ + 0.27885183691978455, + 0.006456324364989996, + 0.050876591354608536, + 0.04955718293786049, + -0.15641184151172638, + -0.7559898495674133, + 0.0, + 0.32678350806236267 + ], + [ + 0.2750347852706909, + 0.006475686561316252, + 0.07180403918027878, + 0.08071772754192352, + -0.1283632218837738, + -0.7456061840057373, + 0.0, + 0.32678350806236267 + ], + [ + 0.2714853286743164, + 0.010810580104589462, + 0.08845435082912445, + 0.09635654091835022, + -0.09472234547138214, + -0.7394464612007141, + 0.0, + 0.32678350806236267 + ], + [ + 0.27435266971588135, + 0.027402836829423904, + 0.11269888281822205, + 0.12638850510120392, + -0.07082757353782654, + -0.7246079444885254, + 0.0, + 0.32678350806236267 + ], + [ + 0.28333723545074463, + 0.06972537189722061, + 0.13575366139411926, + 0.15020877122879028, + -0.08008795976638794, + -0.7324414253234863, + 0.0, + 0.32678350806236267 + ], + [ + 0.2879742681980133, + 0.11165203899145126, + 0.1527358889579773, + 0.1684737354516983, + -0.09218549728393555, + -0.7314420938491821, + 0.0, + 0.32678350806236267 + ], + [ + 0.2815034091472626, + 0.1349526196718216, + 0.16181951761245728, + 0.1621083766222, + -0.12774226069450378, + -0.6565125584602356, + 0.0, + 0.4624805450439453 + ] + ], + "left_gripper_pos": [ + [ + 0.993436336517334 + ], + [ + 0.993436336517334 + ], + [ + 0.993436336517334 + ], + [ + 0.993436336517334 + ], + [ + 0.993436336517334 + ], + [ + 0.993436336517334 + ], + [ + 0.993436336517334 + ], + [ + 0.993436336517334 + ], + [ + 0.993436336517334 + ], + [ + 0.993436336517334 + ], + [ + 0.993436336517334 + ], + [ + 0.993436336517334 + ], + [ + 0.8905277252197266 + ], + [ + 0.6551066637039185 + ], + [ + 0.4077054560184479 + ], + [ + 0.32678350806236267 + ], + [ + 0.32678350806236267 + ], + [ + 0.32678350806236267 + ], + [ + 0.32678350806236267 + ], + [ + 0.32678350806236267 + ], + [ + 0.32678350806236267 + ], + [ + 0.4624805450439453 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.21818384528160095, + -0.16681000590324402, + 0.20413702726364136 + ], + [ + 0.21687287092208862, + -0.16039042174816132, + 0.19309234619140625 + ], + [ + 0.2284417599439621, + -0.1206590011715889, + 0.18970394134521484 + ], + [ + 0.24056163430213928, + -0.09942010045051575, + 0.18561892211437225 + ], + [ + 0.2579496204853058, + -0.06788835674524307, + 0.1660146415233612 + ], + [ + 0.2704419493675232, + -0.04551315680146217, + 0.15217244625091553 + ], + [ + 0.27818214893341064, + -0.03510546311736107, + 0.135985866189003 + ], + [ + 0.2852994203567505, + -0.019701998680830002, + 0.11701706051826477 + ], + [ + 0.29217270016670227, + -0.007963676936924458, + 0.09402080625295639 + ], + [ + 0.2956448495388031, + 0.002059327904134989, + 0.06776709854602814 + ], + [ + 0.3000456690788269, + 0.008192412555217743, + 0.05314011499285698 + ], + [ + 0.29681676626205444, + 0.010336687788367271, + 0.04043440520763397 + ], + [ + 0.2966877222061157, + 0.011581365950405598, + 0.0341755710542202 + ], + [ + 0.2960662841796875, + 0.01146779302507639, + 0.03342890366911888 + ], + [ + 0.29040437936782837, + 0.011129951104521751, + 0.03742167353630066 + ], + [ + 0.27885183691978455, + 0.006456324364989996, + 0.050876591354608536 + ], + [ + 0.2750347852706909, + 0.006475686561316252, + 0.07180403918027878 + ], + [ + 0.2714853286743164, + 0.010810580104589462, + 0.08845435082912445 + ], + [ + 0.27435266971588135, + 0.027402836829423904, + 0.11269888281822205 + ], + [ + 0.28333723545074463, + 0.06972537189722061, + 0.13575366139411926 + ], + [ + 0.2879742681980133, + 0.11165203899145126, + 0.1527358889579773 + ], + [ + 0.2815034091472626, + 0.1349526196718216, + 0.16181951761245728 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9660625310015638, + 0.19945419377771423, + 0.1641377798659844, + 0.20431694026874914, + -0.9788168372151116, + -0.01312200836083844, + 0.15804358295757762, + 0.046212809573618695, + -0.9863501417434092 + ], + [ + 0.9767577369518592, + 0.16584532245037978, + 0.13579268141550283, + 0.16485046455361793, + -0.9861428337426071, + 0.01861815765743311, + 0.13699871401272, + 0.004200057074639785, + -0.9905623210477121 + ], + [ + 0.9878187156369191, + 0.03350874460107013, + 0.15195837940925658, + 0.02189725208433498, + -0.996755569560101, + 0.07745221044020326, + 0.15406068735593256, + -0.07318127210003045, + -0.9853475559543642 + ], + [ + 0.9784144164263964, + -0.10343730962928305, + 0.17890207574438508, + -0.12157645154222832, + -0.9881621289652871, + 0.09356694560148406, + 0.16710594292063366, + -0.1132975280200177, + -0.97940761380804 + ], + [ + 0.9164453780576727, + -0.331007720116244, + 0.224859418882501, + -0.3560652365656044, + -0.9309655598548157, + 0.0807506883790482, + 0.18260727353041, + -0.15406821731835618, + -0.971039426628051 + ], + [ + 0.8386743172793389, + -0.48233488950414055, + 0.2529396052480987, + -0.5070127982857161, + -0.8610485447432856, + 0.03915898326002054, + 0.19890553514299994, + -0.16108525060507367, + -0.966689262445269 + ], + [ + 0.7546936436450672, + -0.5974314553648795, + 0.2711331045489171, + -0.6248793271546361, + -0.7804755016647207, + 0.019591268360457645, + 0.19990830582169714, + -0.18421087764245703, + -0.9623424659764809 + ], + [ + 0.7225852713722686, + -0.6324588881275661, + 0.27904530174204284, + -0.6575009087388839, + -0.7534366333822047, + -0.005078827151142093, + 0.21345510207864962, + -0.17980265377944843, + -0.9602645078781477 + ], + [ + 0.7135025225244835, + -0.6556333283369087, + 0.2471013741869244, + -0.665170979171952, + -0.744654228590792, + -0.05511486468530685, + 0.22014022535335487, + -0.12504006804108936, + -0.9674209334956807 + ], + [ + 0.7100275060599448, + -0.6760020361568699, + 0.19718566821668665, + -0.6708777766662093, + -0.7344803610656265, + -0.10228200225020459, + 0.21397184257209867, + -0.059664447711121116, + -0.9750160020561858 + ], + [ + 0.6865971145695475, + -0.6976411145586507, + 0.20464915719869264, + -0.6922357962268579, + -0.7133441867208329, + -0.10931456304519375, + 0.22224762020534616, + -0.0666104087133315, + -0.9727122127145845 + ], + [ + 0.6873716462675437, + -0.6944870442820121, + 0.2126216480791191, + -0.6860198313660837, + -0.7169442935557662, + -0.12396641041134004, + 0.23853094323356927, + -0.06065167155369532, + -0.9692390643478243 + ], + [ + 0.6886283035205774, + -0.685490959900734, + 0.23641743481550107, + -0.6757349357921806, + -0.7249255829941184, + -0.13366074842890502, + 0.26300828150518174, + -0.0677129456973171, + -0.9624144641705481 + ], + [ + 0.692509448003835, + -0.6806539606463682, + 0.23904152417903485, + -0.6722559212897452, + -0.7290854774973884, + -0.1284770127037556, + 0.26173009134660014, + -0.0717255349148225, + -0.9624722369631671 + ], + [ + 0.7034231029332831, + -0.6834915974367004, + 0.1950260866990341, + -0.6765042041031566, + -0.7279832824630204, + -0.11127624312997328, + 0.21803210793474054, + -0.05366168733643906, + -0.9744651985688046 + ], + [ + 0.7187108265677283, + -0.67955244874564, + 0.14718429664246674, + -0.6776348135693856, + -0.7319932450810724, + -0.07068909813023258, + 0.15577486065831475, + -0.04893218326915236, + -0.9865798671305823 + ], + [ + 0.7286324203791175, + -0.6686254241592677, + 0.14844136263288715, + -0.6728357742510644, + -0.739287063648765, + -0.027325050952515896, + 0.12801100288818817, + -0.07996674114546726, + -0.9885436274895176 + ], + [ + 0.7355296045870181, + -0.6640301134322284, + 0.1343882778788627, + -0.6708581669434752, + -0.7415463054486051, + 0.00764177471300459, + 0.09458076242717119, + -0.09577622528950357, + -0.9908992855219894 + ], + [ + 0.7468820427839558, + -0.6508755267049645, + 0.13611856193554264, + -0.661180045040599, + -0.7486998370151399, + 0.047848741818506596, + 0.07076837010258566, + -0.12573624294545196, + -0.9895363737644945 + ], + [ + 0.7411607689614265, + -0.6522557738422894, + 0.15888083598062935, + -0.6665435732268814, + -0.7431771250208598, + 0.058373160233713216, + 0.0800023721051343, + -0.14916489645733017, + -0.9855706236097066 + ], + [ + 0.7410519597555275, + -0.646999351117944, + 0.17953783054122885, + -0.6651074144181911, + -0.7439853643217481, + 0.06417090431795328, + 0.09205498481038499, + -0.16696591666563182, + -0.981655877812365 + ], + [ + 0.7856714293914341, + -0.586068508130521, + 0.1981012589957124, + -0.6053849080910629, + -0.7942900887184452, + 0.05111132965615385, + 0.12739512586279073, + -0.16008422389889038, + -0.9788480592845317 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.001310974359512329, + 0.006419584155082703, + -0.011044681072235107, + 0.04257805272936821, + 0.021278098225593567, + -0.04122565686702728, + 1.0 + ], + [ + 0.011568889021873474, + 0.03973142057657242, + -0.0033884048461914062, + 0.07837344706058502, + -0.01724579930305481, + -0.14503386616706848, + 1.0 + ], + [ + 0.012119874358177185, + 0.02123890072107315, + -0.00408501923084259, + 0.041034355759620667, + -0.013216882944107056, + -0.14578862488269806, + 1.0 + ], + [ + 0.017387986183166504, + 0.031531743705272675, + -0.019604280591011047, + 0.04218380153179169, + -0.015744060277938843, + -0.2469533085823059, + 1.0 + ], + [ + 0.012492328882217407, + 0.0223751999437809, + -0.013842195272445679, + 0.00776730477809906, + -0.01660335063934326, + -0.17317330837249756, + 1.0 + ], + [ + 0.007740199565887451, + 0.010407693684101105, + -0.016186580061912537, + 0.02401253581047058, + -0.001023322343826294, + -0.14782536029815674, + 1.0 + ], + [ + 0.007117271423339844, + 0.015403464436531067, + -0.01896880567073822, + -0.00403188169002533, + -0.013845875859260559, + -0.046696484088897705, + 1.0 + ], + [ + 0.006873279809951782, + 0.011738321743905544, + -0.02299625426530838, + -0.0565611869096756, + -0.006848007440567017, + -0.012082517147064209, + 1.0 + ], + [ + 0.00347214937210083, + 0.010023005306720734, + -0.026253707706928253, + -0.06742123514413834, + 0.0063190460205078125, + -0.006699025630950928, + 1.0 + ], + [ + 0.004400819540023804, + 0.006133084651082754, + -0.014626983553171158, + 0.007255218923091888, + -0.008479967713356018, + -0.032432615756988525, + 1.0 + ], + [ + -0.003228902816772461, + 0.0021442752331495285, + -0.012705709785223007, + -0.005877211689949036, + -0.01673370599746704, + 0.005073726177215576, + 1.0 + ], + [ + -0.0001290440559387207, + 0.0012446781620383263, + -0.006258834153413773, + 0.007746517658233643, + -0.02528609335422516, + 0.00846552848815918, + 0.0 + ], + [ + -0.0006214380264282227, + -0.00011357292532920837, + -0.0007466673851013184, + 0.004143074154853821, + 0.0013245940208435059, + 0.005389392375946045, + 0.0 + ], + [ + -0.005661904811859131, + -0.0003378419205546379, + 0.003992769867181778, + -0.019372418522834778, + 0.045016735792160034, + 0.004665791988372803, + 0.0 + ], + [ + -0.011552542448043823, + -0.0046736267395317554, + 0.013454917818307877, + -0.005455087870359421, + 0.06338576972484589, + 0.009903311729431152, + 0.0 + ], + [ + -0.003817051649093628, + 1.93621963262558e-05, + 0.020927447825670242, + 0.031160544604063034, + 0.028048619627952576, + 0.010383665561676025, + 0.0 + ], + [ + -0.0035494565963745117, + 0.0043348935432732105, + 0.016650311648845673, + 0.015638813376426697, + 0.03364087641239166, + 0.006159722805023193, + 0.0 + ], + [ + 0.0028673410415649414, + 0.016592256724834442, + 0.024244531989097595, + 0.0300319641828537, + 0.023894771933555603, + 0.01483851671218872, + 0.0 + ], + [ + 0.008984565734863281, + 0.04232253506779671, + 0.023054778575897217, + 0.023820266127586365, + -0.009260386228561401, + -0.007833480834960938, + 0.0 + ], + [ + 0.004637032747268677, + 0.04192666709423065, + 0.016982227563858032, + 0.01826496422290802, + -0.012097537517547607, + 0.0009993314743041992, + 1.0 + ], + [ + -0.006470859050750732, + 0.02330058068037033, + 0.00908362865447998, + -0.006365358829498291, + -0.03555676341056824, + 0.07492953538894653, + 1.0 + ], + [ + -0.007052510976791382, + 0.008981451392173767, + -0.003618568181991577, + -0.0375700369477272, + -0.04436063766479492, + 0.06801855564117432, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.993436336517334 + ], + [ + 0.993436336517334 + ], + [ + 0.993436336517334 + ], + [ + 0.993436336517334 + ], + [ + 0.993436336517334 + ], + [ + 0.993436336517334 + ], + [ + 0.993436336517334 + ], + [ + 0.993436336517334 + ], + [ + 0.993436336517334 + ], + [ + 0.993436336517334 + ], + [ + 0.993436336517334 + ], + [ + 0.8905277252197266 + ], + [ + 0.6551066637039185 + ], + [ + 0.4077054560184479 + ], + [ + 0.32678350806236267 + ], + [ + 0.32678350806236267 + ], + [ + 0.32678350806236267 + ], + [ + 0.32678350806236267 + ], + [ + 0.32678350806236267 + ], + [ + 0.32678350806236267 + ], + [ + 0.4624805450439453 + ], + [ + 0.788411557674408 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.21687287092208862, + -0.16039042174816132, + 0.19309234619140625 + ], + [ + 0.2284417599439621, + -0.1206590011715889, + 0.18970394134521484 + ], + [ + 0.24056163430213928, + -0.09942010045051575, + 0.18561892211437225 + ], + [ + 0.2579496204853058, + -0.06788835674524307, + 0.1660146415233612 + ], + [ + 0.2704419493675232, + -0.04551315680146217, + 0.15217244625091553 + ], + [ + 0.27818214893341064, + -0.03510546311736107, + 0.135985866189003 + ], + [ + 0.2852994203567505, + -0.019701998680830002, + 0.11701706051826477 + ], + [ + 0.29217270016670227, + -0.007963676936924458, + 0.09402080625295639 + ], + [ + 0.2956448495388031, + 0.002059327904134989, + 0.06776709854602814 + ], + [ + 0.3000456690788269, + 0.008192412555217743, + 0.05314011499285698 + ], + [ + 0.29681676626205444, + 0.010336687788367271, + 0.04043440520763397 + ], + [ + 0.2966877222061157, + 0.011581365950405598, + 0.0341755710542202 + ], + [ + 0.2960662841796875, + 0.01146779302507639, + 0.03342890366911888 + ], + [ + 0.29040437936782837, + 0.011129951104521751, + 0.03742167353630066 + ], + [ + 0.27885183691978455, + 0.006456324364989996, + 0.050876591354608536 + ], + [ + 0.2750347852706909, + 0.006475686561316252, + 0.07180403918027878 + ], + [ + 0.2714853286743164, + 0.010810580104589462, + 0.08845435082912445 + ], + [ + 0.27435266971588135, + 0.027402836829423904, + 0.11269888281822205 + ], + [ + 0.28333723545074463, + 0.06972537189722061, + 0.13575366139411926 + ], + [ + 0.2879742681980133, + 0.11165203899145126, + 0.1527358889579773 + ], + [ + 0.2815034091472626, + 0.1349526196718216, + 0.16181951761245728 + ], + [ + 0.2744508981704712, + 0.14393407106399536, + 0.1582009494304657 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9767577369518592, + 0.16584532245037978, + 0.13579268141550283, + 0.16485046455361793, + -0.9861428337426071, + 0.01861815765743311, + 0.13699871401272, + 0.004200057074639785, + -0.9905623210477121 + ], + [ + 0.9878187156369191, + 0.03350874460107013, + 0.15195837940925658, + 0.02189725208433498, + -0.996755569560101, + 0.07745221044020326, + 0.15406068735593256, + -0.07318127210003045, + -0.9853475559543642 + ], + [ + 0.9784144164263964, + -0.10343730962928305, + 0.17890207574438508, + -0.12157645154222832, + -0.9881621289652871, + 0.09356694560148406, + 0.16710594292063366, + -0.1132975280200177, + -0.97940761380804 + ], + [ + 0.9164453780576727, + -0.331007720116244, + 0.224859418882501, + -0.3560652365656044, + -0.9309655598548157, + 0.0807506883790482, + 0.18260727353041, + -0.15406821731835618, + -0.971039426628051 + ], + [ + 0.8386743172793389, + -0.48233488950414055, + 0.2529396052480987, + -0.5070127982857161, + -0.8610485447432856, + 0.03915898326002054, + 0.19890553514299994, + -0.16108525060507367, + -0.966689262445269 + ], + [ + 0.7546936436450672, + -0.5974314553648795, + 0.2711331045489171, + -0.6248793271546361, + -0.7804755016647207, + 0.019591268360457645, + 0.19990830582169714, + -0.18421087764245703, + -0.9623424659764809 + ], + [ + 0.7225852713722686, + -0.6324588881275661, + 0.27904530174204284, + -0.6575009087388839, + -0.7534366333822047, + -0.005078827151142093, + 0.21345510207864962, + -0.17980265377944843, + -0.9602645078781477 + ], + [ + 0.7135025225244835, + -0.6556333283369087, + 0.2471013741869244, + -0.665170979171952, + -0.744654228590792, + -0.05511486468530685, + 0.22014022535335487, + -0.12504006804108936, + -0.9674209334956807 + ], + [ + 0.7100275060599448, + -0.6760020361568699, + 0.19718566821668665, + -0.6708777766662093, + -0.7344803610656265, + -0.10228200225020459, + 0.21397184257209867, + -0.059664447711121116, + -0.9750160020561858 + ], + [ + 0.6865971145695475, + -0.6976411145586507, + 0.20464915719869264, + -0.6922357962268579, + -0.7133441867208329, + -0.10931456304519375, + 0.22224762020534616, + -0.0666104087133315, + -0.9727122127145845 + ], + [ + 0.6873716462675437, + -0.6944870442820121, + 0.2126216480791191, + -0.6860198313660837, + -0.7169442935557662, + -0.12396641041134004, + 0.23853094323356927, + -0.06065167155369532, + -0.9692390643478243 + ], + [ + 0.6886283035205774, + -0.685490959900734, + 0.23641743481550107, + -0.6757349357921806, + -0.7249255829941184, + -0.13366074842890502, + 0.26300828150518174, + -0.0677129456973171, + -0.9624144641705481 + ], + [ + 0.692509448003835, + -0.6806539606463682, + 0.23904152417903485, + -0.6722559212897452, + -0.7290854774973884, + -0.1284770127037556, + 0.26173009134660014, + -0.0717255349148225, + -0.9624722369631671 + ], + [ + 0.7034231029332831, + -0.6834915974367004, + 0.1950260866990341, + -0.6765042041031566, + -0.7279832824630204, + -0.11127624312997328, + 0.21803210793474054, + -0.05366168733643906, + -0.9744651985688046 + ], + [ + 0.7187108265677283, + -0.67955244874564, + 0.14718429664246674, + -0.6776348135693856, + -0.7319932450810724, + -0.07068909813023258, + 0.15577486065831475, + -0.04893218326915236, + -0.9865798671305823 + ], + [ + 0.7286324203791175, + -0.6686254241592677, + 0.14844136263288715, + -0.6728357742510644, + -0.739287063648765, + -0.027325050952515896, + 0.12801100288818817, + -0.07996674114546726, + -0.9885436274895176 + ], + [ + 0.7355296045870181, + -0.6640301134322284, + 0.1343882778788627, + -0.6708581669434752, + -0.7415463054486051, + 0.00764177471300459, + 0.09458076242717119, + -0.09577622528950357, + -0.9908992855219894 + ], + [ + 0.7468820427839558, + -0.6508755267049645, + 0.13611856193554264, + -0.661180045040599, + -0.7486998370151399, + 0.047848741818506596, + 0.07076837010258566, + -0.12573624294545196, + -0.9895363737644945 + ], + [ + 0.7411607689614265, + -0.6522557738422894, + 0.15888083598062935, + -0.6665435732268814, + -0.7431771250208598, + 0.058373160233713216, + 0.0800023721051343, + -0.14916489645733017, + -0.9855706236097066 + ], + [ + 0.7410519597555275, + -0.646999351117944, + 0.17953783054122885, + -0.6651074144181911, + -0.7439853643217481, + 0.06417090431795328, + 0.09205498481038499, + -0.16696591666563182, + -0.981655877812365 + ], + [ + 0.7856714293914341, + -0.586068508130521, + 0.1981012589957124, + -0.6053849080910629, + -0.7942900887184452, + 0.05111132965615385, + 0.12739512586279073, + -0.16008422389889038, + -0.9788480592845317 + ], + [ + 0.819489609764241, + -0.5331156146290105, + 0.21029626940862273, + -0.5469082700372104, + -0.8371442461333969, + 0.008991959222110733, + 0.17125455805133266, + -0.12238158605149252, + -0.9775963501068136 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005846.json b/json/chunk-0005/episode_0005846.json new file mode 100644 index 0000000000000000000000000000000000000000..5661338bc4cee748b92a6f87832197eb5c54f8ff --- /dev/null +++ b/json/chunk-0005/episode_0005846.json @@ -0,0 +1,2782 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 45, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nUnfold cloth from top left to bottom right." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005846.mp4", + "start": 0, + "end": 45, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3852261006832123, + 0.1821957528591156, + 0.15753521025180817, + 0.11956363171339035, + -0.07787018269300461, + -0.7482295632362366, + 0.0, + 1.0001531839370728 + ], + [ + 0.3855973184108734, + 0.1823762208223343, + 0.1401895433664322, + 0.07944325357675552, + -0.06227824091911316, + -0.745419979095459, + 0.0, + 1.0001531839370728 + ], + [ + 0.3859071433544159, + 0.18145820498466492, + 0.13643187284469604, + 0.0702466145157814, + -0.06496848911046982, + -0.7475122213363647, + 0.0, + 1.0001531839370728 + ], + [ + 0.40446361899375916, + 0.18077720701694489, + 0.11385130137205124, + 0.08724883198738098, + -0.12294097244739532, + -0.8445574641227722, + 0.0, + 1.0001531839370728 + ], + [ + 0.4204714894294739, + 0.18158189952373505, + 0.10651127249002457, + 0.1541730761528015, + -0.17444321513175964, + -0.8972923755645752, + 0.0, + 1.0001531839370728 + ], + [ + 0.4293890595436096, + 0.18545061349868774, + 0.09828902781009674, + 0.2087816447019577, + -0.1898595690727234, + -0.9040071964263916, + 0.0, + 1.0001531839370728 + ], + [ + 0.4344918131828308, + 0.18546371161937714, + 0.09389419108629227, + 0.23733282089233398, + -0.2055784910917282, + -0.8972070813179016, + 0.0, + 1.0001531839370728 + ], + [ + 0.44075828790664673, + 0.17973563075065613, + 0.07888573408126831, + 0.23612508177757263, + -0.17828841507434845, + -0.8951270580291748, + 0.0, + 1.0001531839370728 + ], + [ + 0.45056331157684326, + 0.16978076100349426, + 0.07311588525772095, + 0.27228397130966187, + -0.14827951788902283, + -0.9052757024765015, + 0.0, + 1.0001531839370728 + ], + [ + 0.45074233412742615, + 0.1595342755317688, + 0.058881934732198715, + 0.28373706340789795, + -0.11720885336399078, + -0.9216146469116211, + 0.0, + 1.0001531839370728 + ], + [ + 0.45568251609802246, + 0.14687179028987885, + 0.05280332267284393, + 0.3113010823726654, + -0.09275069087743759, + -0.9233121275901794, + 0.0, + 1.0001531839370728 + ], + [ + 0.45775681734085083, + 0.1456594467163086, + 0.03907270357012749, + 0.3131636381149292, + -0.05744902789592743, + -0.9151811599731445, + 0.0, + 1.0001531839370728 + ], + [ + 0.46464306116104126, + 0.14989329874515533, + 0.03979472815990448, + 0.33006060123443604, + -0.04590830206871033, + -0.8978538513183594, + 0.0, + 1.0001531839370728 + ], + [ + 0.4708649218082428, + 0.15258435904979706, + 0.036021020263433456, + 0.319210410118103, + -0.03757584095001221, + -0.8771380186080933, + 0.0, + 1.0001531839370728 + ], + [ + 0.4768953025341034, + 0.15587665140628815, + 0.03356774151325226, + 0.3098517656326294, + -0.030169956386089325, + -0.8548489809036255, + 0.0, + 1.0001531839370728 + ], + [ + 0.4821070730686188, + 0.15535590052604675, + 0.04175259545445442, + 0.30903351306915283, + -0.04730214178562164, + -0.8453888297080994, + 0.0, + 1.0001531839370728 + ], + [ + 0.4873659908771515, + 0.15733098983764648, + 0.05747564509510994, + 0.30119049549102783, + -0.0874708890914917, + -0.8300033807754517, + 0.0, + 1.0001531839370728 + ], + [ + 0.4874824285507202, + 0.17155922949314117, + 0.0545288547873497, + 0.2813701331615448, + -0.0872395858168602, + -0.7881482839584351, + 0.0, + 1.0001531839370728 + ], + [ + 0.4918813407421112, + 0.17773565649986267, + 0.058431126177310944, + 0.2901451885700226, + -0.08937373757362366, + -0.7623628973960876, + 0.0, + 1.0001531839370728 + ], + [ + 0.49728840589523315, + 0.18325138092041016, + 0.04662163183093071, + 0.27744394540786743, + -0.06394368410110474, + -0.7397529482841492, + 0.0, + 1.0001531839370728 + ], + [ + 0.4979408085346222, + 0.18698646128177643, + 0.047578323632478714, + 0.28906533122062683, + -0.04674430191516876, + -0.7361671924591064, + 0.0, + 1.0001531839370728 + ], + [ + 0.49415314197540283, + 0.18988743424415588, + 0.024002334102988243, + 0.2556767165660858, + 0.01037070993334055, + -0.7260317206382751, + 0.0, + 1.0001531839370728 + ], + [ + 0.4923889636993408, + 0.1885717511177063, + 0.019386783242225647, + 0.23975759744644165, + 0.03723891079425812, + -0.7266615629196167, + 0.0, + 1.0001531839370728 + ], + [ + 0.48980268836021423, + 0.18813176453113556, + 0.01602783612906933, + 0.22846081852912903, + 0.0547296479344368, + -0.7384873628616333, + 0.0, + 1.0001531839370728 + ], + [ + 0.4835008382797241, + 0.18336565792560577, + 0.0067578568123281, + 0.19806039333343506, + 0.052263472229242325, + -0.7685144543647766, + 0.0, + 0.9994885921478271 + ], + [ + 0.4797353744506836, + 0.18034899234771729, + 0.0053092376329004765, + 0.17892374098300934, + 0.051474105566740036, + -0.7784584164619446, + 0.0, + 0.9568231701850891 + ], + [ + 0.4781726002693176, + 0.18105153739452362, + 0.006523689720779657, + 0.17784585058689117, + 0.06286409497261047, + -0.7584664821624756, + 0.0, + 0.7836189270019531 + ], + [ + 0.4784700870513916, + 0.18317224085330963, + 0.006817689631134272, + 0.18794740736484528, + 0.0631936714053154, + -0.7399669289588928, + 0.0, + 0.4889543354511261 + ], + [ + 0.47789445519447327, + 0.1826602816581726, + 0.0048420848324894905, + 0.18734857439994812, + 0.060602884739637375, + -0.7356250286102295, + 0.0, + 0.23460371792316437 + ], + [ + 0.4780696630477905, + 0.18143580853939056, + 0.004694249015301466, + 0.18618686497211456, + 0.05208716541528702, + -0.7345423102378845, + 0.0, + 0.0936371386051178 + ], + [ + 0.4775214195251465, + 0.17790837585926056, + 0.010435476899147034, + 0.15108545124530792, + 0.019464410841464996, + -0.725409746170044, + 0.0, + 0.05565106123685837 + ], + [ + 0.4850921928882599, + 0.18125690519809723, + 0.04740308225154877, + 0.16854098439216614, + -0.04686806723475456, + -0.6930249333381653, + 0.0, + 0.05166913568973541 + ], + [ + 0.48542046546936035, + 0.1815628707408905, + 0.08232973515987396, + 0.15835458040237427, + -0.11802102625370026, + -0.6659718155860901, + 0.0, + 0.051409780979156494 + ], + [ + 0.4703811705112457, + 0.17381073534488678, + 0.06128852814435959, + 0.07068608701229095, + -0.11199977248907089, + -0.6594220399856567, + 0.0, + 0.051409780979156494 + ], + [ + 0.4432065188884735, + 0.1533239632844925, + 0.07752912491559982, + 0.10970589518547058, + -0.08448967337608337, + -0.7377617955207825, + 0.0, + 0.051409780979156494 + ], + [ + 0.40956950187683105, + 0.11532453447580338, + 0.07111872732639313, + 0.1051468700170517, + -0.06569112837314606, + -0.8697348833084106, + 0.0, + 0.051409780979156494 + ], + [ + 0.3754746615886688, + 0.10217831283807755, + 0.08552709966897964, + 0.13714705407619476, + -0.08444110304117203, + -0.9287074208259583, + 0.0, + 0.051409780979156494 + ], + [ + 0.3433470129966736, + 0.07733120769262314, + 0.08166081458330154, + 0.14261995255947113, + -0.07110065966844559, + -1.001452088356018, + 0.0, + 0.051409780979156494 + ], + [ + 0.31408849358558655, + 0.057430606335401535, + 0.0786123126745224, + 0.1630740612745285, + -0.04539135470986366, + -1.0553107261657715, + 0.0, + 0.051409780979156494 + ], + [ + 0.2933652102947235, + 0.042389165610075, + 0.06602991372346878, + 0.15615014731884003, + -0.005000049713999033, + -1.0752222537994385, + 0.0, + 0.051409780979156494 + ], + [ + 0.2786730229854584, + 0.028658607974648476, + 0.054089564830064774, + 0.14060278236865997, + 0.03646157309412956, + -1.0871065855026245, + 0.0, + 0.051409780979156494 + ], + [ + 0.265133798122406, + 0.01459617167711258, + 0.04641581326723099, + 0.10387560725212097, + 0.07751847803592682, + -1.0791231393814087, + 0.0, + 0.051409780979156494 + ], + [ + 0.25027191638946533, + 0.00021627543901558965, + 0.04481283575296402, + 0.060076598078012466, + 0.10425320267677307, + -1.0806246995925903, + 0.0, + 0.05115113407373428 + ], + [ + 0.23986172676086426, + -0.010049938224256039, + 0.049189746379852295, + 0.005119738169014454, + 0.10824116319417953, + -1.075240969657898, + 0.0, + 0.051409780979156494 + ], + [ + 0.22914423048496246, + -0.02586938999593258, + 0.05165555700659752, + -0.059570763260126114, + 0.1278543323278427, + -1.086564064025879, + 0.0, + 0.06591799855232239 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9568231701850891 + ], + [ + 0.7836189270019531 + ], + [ + 0.4889543354511261 + ], + [ + 0.23460371792316437 + ], + [ + 0.0936371386051178 + ], + [ + 0.05565106123685837 + ], + [ + 0.05166913568973541 + ], + [ + 0.051409780979156494 + ], + [ + 0.051409780979156494 + ], + [ + 0.051409780979156494 + ], + [ + 0.051409780979156494 + ], + [ + 0.051409780979156494 + ], + [ + 0.051409780979156494 + ], + [ + 0.051409780979156494 + ], + [ + 0.051409780979156494 + ], + [ + 0.051409780979156494 + ], + [ + 0.051409780979156494 + ], + [ + 0.05115113407373428 + ], + [ + 0.051409780979156494 + ], + [ + 0.06591799855232239 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3852261006832123, + 0.1821957528591156, + 0.15753521025180817 + ], + [ + 0.3855973184108734, + 0.1823762208223343, + 0.1401895433664322 + ], + [ + 0.3859071433544159, + 0.18145820498466492, + 0.13643187284469604 + ], + [ + 0.40446361899375916, + 0.18077720701694489, + 0.11385130137205124 + ], + [ + 0.4204714894294739, + 0.18158189952373505, + 0.10651127249002457 + ], + [ + 0.4293890595436096, + 0.18545061349868774, + 0.09828902781009674 + ], + [ + 0.4344918131828308, + 0.18546371161937714, + 0.09389419108629227 + ], + [ + 0.44075828790664673, + 0.17973563075065613, + 0.07888573408126831 + ], + [ + 0.45056331157684326, + 0.16978076100349426, + 0.07311588525772095 + ], + [ + 0.45074233412742615, + 0.1595342755317688, + 0.058881934732198715 + ], + [ + 0.45568251609802246, + 0.14687179028987885, + 0.05280332267284393 + ], + [ + 0.45775681734085083, + 0.1456594467163086, + 0.03907270357012749 + ], + [ + 0.46464306116104126, + 0.14989329874515533, + 0.03979472815990448 + ], + [ + 0.4708649218082428, + 0.15258435904979706, + 0.036021020263433456 + ], + [ + 0.4768953025341034, + 0.15587665140628815, + 0.03356774151325226 + ], + [ + 0.4821070730686188, + 0.15535590052604675, + 0.04175259545445442 + ], + [ + 0.4873659908771515, + 0.15733098983764648, + 0.05747564509510994 + ], + [ + 0.4874824285507202, + 0.17155922949314117, + 0.0545288547873497 + ], + [ + 0.4918813407421112, + 0.17773565649986267, + 0.058431126177310944 + ], + [ + 0.49728840589523315, + 0.18325138092041016, + 0.04662163183093071 + ], + [ + 0.4979408085346222, + 0.18698646128177643, + 0.047578323632478714 + ], + [ + 0.49415314197540283, + 0.18988743424415588, + 0.024002334102988243 + ], + [ + 0.4923889636993408, + 0.1885717511177063, + 0.019386783242225647 + ], + [ + 0.48980268836021423, + 0.18813176453113556, + 0.01602783612906933 + ], + [ + 0.4835008382797241, + 0.18336565792560577, + 0.0067578568123281 + ], + [ + 0.4797353744506836, + 0.18034899234771729, + 0.0053092376329004765 + ], + [ + 0.4781726002693176, + 0.18105153739452362, + 0.006523689720779657 + ], + [ + 0.4784700870513916, + 0.18317224085330963, + 0.006817689631134272 + ], + [ + 0.47789445519447327, + 0.1826602816581726, + 0.0048420848324894905 + ], + [ + 0.4780696630477905, + 0.18143580853939056, + 0.004694249015301466 + ], + [ + 0.4775214195251465, + 0.17790837585926056, + 0.010435476899147034 + ], + [ + 0.4850921928882599, + 0.18125690519809723, + 0.04740308225154877 + ], + [ + 0.48542046546936035, + 0.1815628707408905, + 0.08232973515987396 + ], + [ + 0.4703811705112457, + 0.17381073534488678, + 0.06128852814435959 + ], + [ + 0.4432065188884735, + 0.1533239632844925, + 0.07752912491559982 + ], + [ + 0.40956950187683105, + 0.11532453447580338, + 0.07111872732639313 + ], + [ + 0.3754746615886688, + 0.10217831283807755, + 0.08552709966897964 + ], + [ + 0.3433470129966736, + 0.07733120769262314, + 0.08166081458330154 + ], + [ + 0.31408849358558655, + 0.057430606335401535, + 0.0786123126745224 + ], + [ + 0.2933652102947235, + 0.042389165610075, + 0.06602991372346878 + ], + [ + 0.2786730229854584, + 0.028658607974648476, + 0.054089564830064774 + ], + [ + 0.265133798122406, + 0.01459617167711258, + 0.04641581326723099 + ], + [ + 0.25027191638946533, + 0.00021627543901558965, + 0.04481283575296402 + ], + [ + 0.23986172676086426, + -0.010049938224256039, + 0.049189746379852295 + ], + [ + 0.22914423048496246, + -0.02586938999593258, + 0.05165555700659752 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.7306735922516534, + -0.6686847221167997, + 0.13775646624983823, + -0.6782806076729055, + -0.7339750462798581, + 0.03487188973018379, + 0.07779150879715908, + -0.1189175085765693, + -0.9898520633473484 + ], + [ + 0.733378568043582, + -0.6725118738994192, + 0.09941657506993876, + -0.6769655150072235, + -0.7358357225346916, + 0.016232095762801657, + 0.06223799020975623, + -0.07920586408934516, + -0.9949134955706 + ], + [ + 0.7318351451014738, + -0.6747978374236807, + 0.09521133862428298, + -0.6783821571609068, + -0.7346714694863983, + 0.007448541361259532, + 0.0649227944563303, + -0.07004077763003036, + -0.995429214072483 + ], + [ + 0.659050060846557, + -0.7377372314792296, + 0.1462764320986501, + -0.7420340494158406, + -0.6695258793951948, + -0.03347486112922473, + 0.12263150820926615, + -0.08648048398021699, + -0.9886772168331119 + ], + [ + 0.6142625165604335, + -0.7557459468162946, + 0.22700137580989613, + -0.7697782448402186, + -0.6371630927909643, + -0.03827070623552128, + 0.1735598297981297, + -0.1512324603244803, + -0.9731421933225631 + ], + [ + 0.607352668370917, + -0.7445551493053275, + 0.27705661130109915, + -0.7716910809395889, + -0.6357732228367884, + -0.01689037364927541, + 0.1887209893493982, + -0.20354370235073554, + -0.9607051313552663 + ], + [ + 0.610660088307774, + -0.7297402262879017, + 0.3075279803289843, + -0.7651299034452516, + -0.643820956219913, + -0.008414700585125112, + 0.20413350386891937, + -0.23016033209343298, + -0.9515018308594255 + ], + [ + 0.6155059494515707, + -0.7326897269342268, + 0.2903759463777414, + -0.7679199453002502, + -0.6404377179998605, + 0.011768048826903257, + 0.17734537997867814, + -0.23022878492529902, + -0.956840280711488 + ], + [ + 0.6106930797745695, + -0.733083865909614, + 0.29940275192200005, + -0.7779638907138441, + -0.6259730083823427, + 0.05412926677997659, + 0.14773674918864851, + -0.2659808984114742, + -0.9525901608873544 + ], + [ + 0.6003869799225476, + -0.7449376956411018, + 0.2908664710007107, + -0.7911133635689773, + -0.6064406028423747, + 0.07980877900805153, + 0.11694067009411725, + -0.2780245040227608, + -0.9534292080908978 + ], + [ + 0.600589071035223, + -0.7421562521488342, + 0.2974842267237774, + -0.7941754954534143, + -0.5968171837323077, + 0.11443134021394981, + 0.09261776381651499, + -0.3049808954643434, + -0.9478441872097942 + ], + [ + 0.6086412248205048, + -0.7433365753631097, + 0.27750062193883346, + -0.7913653378214401, + -0.5940172822629841, + 0.1445142569702238, + 0.057417432403003135, + -0.3075617077926669, + -0.94979420631835 + ], + [ + 0.6226329727986855, + -0.7305106720324906, + 0.2805037240938353, + -0.7811671326862292, + -0.6012772583055225, + 0.16805823233441858, + 0.04589217792442142, + -0.32375888665986163, + -0.9450259738833215 + ], + [ + 0.6389030589638053, + -0.7225320052147706, + 0.26410297742928884, + -0.7683694435796846, + -0.6161212574812606, + 0.17321372420439485, + 0.03756699907815876, + -0.31359543606378143, + -0.9488132709127907 + ], + [ + 0.6560337740084361, + -0.7125060240058751, + 0.24890731832468835, + -0.7541284620202415, + -0.6320166990557408, + 0.17845210810094275, + 0.0301653796799167, + -0.30477870311100275, + -0.9519453723815994 + ], + [ + 0.6626983158159481, + -0.7032430453944131, + 0.25744933738329384, + -0.7473922115532746, + -0.6427721706913789, + 0.1680738489301586, + 0.04728450406011171, + -0.30379788624854537, + -0.9515624099273283 + ], + [ + 0.6722931305368054, + -0.6872249467850498, + 0.27521595002707705, + -0.7351124292902735, + -0.6636173109351677, + 0.13864263748980216, + 0.08735938951236814, + -0.29552315838773385, + -0.9513329595470579 + ], + [ + 0.7024777876003867, + -0.6641058977619438, + 0.25590684728210916, + -0.7063522498209696, + -0.6945839343547061, + 0.1364538651310107, + 0.08712896820759924, + -0.276616186609063, + -0.9570224805117898 + ], + [ + 0.7203196960135945, + -0.6432983395771453, + 0.25943550611312055, + -0.687875799491941, + -0.7106131327409317, + 0.1478372755750123, + 0.08925480383825946, + -0.28494950758583, + -0.9543779954076829 + ], + [ + 0.7371255709398843, + -0.6353990800079422, + 0.23003021930087855, + -0.6727277812312874, + -0.7221870178304387, + 0.16088270148405198, + 0.06390011757562428, + -0.2733384722322093, + -0.9597931311337787 + ], + [ + 0.7402380859344297, + -0.6337237907959732, + 0.2245923709998034, + -0.6707191195714526, + -0.7192457103473009, + 0.18116696936335222, + 0.04672728082637663, + -0.2847450879755225, + -0.9574637309581939 + ], + [ + 0.7477746392055241, + -0.6442865812161304, + 0.160399159056021, + -0.6638716300552806, + -0.7217639340418383, + 0.19578376419967405, + -0.010370524036556777, + -0.25288658481872756, + -0.9674403482643917 + ], + [ + 0.7468783868413966, + -0.6519817571850159, + 0.13073814885920562, + -0.6639176000726488, + -0.7201439417591575, + 0.20150961133741846, + -0.03723030463167586, + -0.23730253147727243, + -0.9707221090361084 + ], + [ + 0.7383804364528206, + -0.6648399922641792, + 0.11305801939671713, + -0.6721621725317057, + -0.7119330806168764, + 0.2033452791210598, + -0.05470232976025534, + -0.22613949988785784, + -0.9725577523773434 + ], + [ + 0.7179623540178317, + -0.6888695510008033, + 0.09994398389660698, + -0.6941189190298954, + -0.6977440433267414, + 0.17706545752014902, + -0.05223968278945555, + -0.19649934276226472, + -0.9791113439420742 + ], + [ + 0.7110538174942955, + -0.6974925066673473, + 0.08891946788914794, + -0.7012526109427307, + -0.6942006313098203, + 0.16226601349342934, + -0.05145137775406984, + -0.1777348773649871, + -0.9827324504132653 + ], + [ + 0.7244577801075465, + -0.6850278439362671, + 0.0767969913061402, + -0.6864504596005887, + -0.7067979137549671, + 0.1709458265818938, + -0.06282269777545949, + -0.17656036402221073, + -0.9822829258928194 + ], + [ + 0.7370167888729691, + -0.6711033554822176, + 0.08016569827479457, + -0.6729176218815006, + -0.7175299746040942, + 0.17981270729843735, + -0.0631516197790903, + -0.1864698951711941, + -0.9804289118106018 + ], + [ + 0.740050394486011, + -0.6676719342011991, + 0.0808678050965234, + -0.6698187800043217, + -0.7208680143245829, + 0.17802277347928003, + -0.06056579541805461, + -0.18591259829221551, + -0.9806978587830278 + ], + [ + 0.7411310874960139, + -0.6658162931341667, + 0.08610095785793179, + -0.6693385474082514, + -0.7228517962540031, + 0.17167174958557793, + -0.05206361589813019, + -0.18486196052578988, + -0.981384448343346 + ], + [ + 0.7480859084144773, + -0.658076220120544, + 0.08545854049504636, + -0.6633164088017584, + -0.7377605414515848, + 0.12538231650198145, + -0.019463181806294083, + -0.1504827963221101, + -0.9884210198923602 + ], + [ + 0.7684722145961536, + -0.6237688040436384, + 0.14269875435914764, + -0.6381656897467316, + -0.7634370508158698, + 0.09954105621122158, + 0.04685091059693162, + -0.16755998491148252, + -0.98474801022023 + ], + [ + 0.7808468112939687, + -0.5954931111267219, + 0.1888550022971562, + -0.6135257506128249, + -0.7879501613307454, + 0.05216029710251016, + 0.11774723192929462, + -0.15659660870999062, + -0.9806187289224692 + ], + [ + 0.7853946032864624, + -0.6048914539900013, + 0.13138358351926258, + -0.6088215918183449, + -0.7932089465033628, + -0.012483449955939935, + 0.11176576606581073, + -0.07018472823120404, + -0.9912530037577869 + ], + [ + 0.7373363119773766, + -0.6617527811145237, + 0.13571447869256073, + -0.6702340099229384, + -0.7417421697744823, + 0.024595233702105368, + 0.08438918759070288, + -0.10909541816884824, + -0.9904426559636579 + ], + [ + 0.6436379063314875, + -0.7554936797946746, + 0.12230922010838526, + -0.7625097540079281, + -0.6467314630406471, + 0.017812629117393404, + 0.06564389214533918, + -0.10472685664912473, + -0.9923321847649633 + ], + [ + 0.5967358480931664, + -0.7864211506498406, + 0.15952461067531343, + -0.7979930818453551, + -0.6024807506673896, + 0.014966175269963043, + 0.08434079041295436, + -0.13623038899540615, + -0.9870804993447488 + ], + [ + 0.537717814184687, + -0.8282598853468186, + 0.15762333150177144, + -0.8401266341820939, + -0.5421112516511463, + 0.017396245890818944, + 0.07104076890285409, + -0.14177783027858212, + -0.9873460669872488 + ], + [ + 0.492449654252358, + -0.8548787812932778, + 0.1633266889435216, + -0.8691572801306736, + -0.49282683372174574, + 0.04107717565326509, + 0.045375769112859024, + -0.16218502168301352, + -0.985716520262848 + ], + [ + 0.47553079492564093, + -0.8686231108883368, + 0.13915586336211883, + -0.8796848656130142, + -0.47043507412529034, + 0.06960875120375376, + 0.005000028880070312, + -0.15551441175467062, + -0.9878209693298667 + ], + [ + 0.4647397120722133, + -0.87892453116979, + 0.10727846256822196, + -0.8846966388252056, + -0.4559370065099406, + 0.09712519418842167, + -0.03645349468048948, + -0.14004683003452648, + -0.9894736116354292 + ], + [ + 0.47068379102667324, + -0.8805833214513182, + 0.05504346324972163, + -0.8788968547409383, + -0.4624782183851046, + 0.11685125692873598, + -0.07744086512459043, + -0.10337751932167803, + -0.9916229126576548 + ], + [ + 0.4682212540923745, + -0.8836018947438272, + 0.004068024248040411, + -0.8774619344232076, + -0.4644156247008653, + 0.11991113864853274, + -0.10406445528828134, + -0.05971448014362664, + -0.9927762940394628 + ], + [ + 0.47273736027957386, + -0.8799562346195804, + -0.04686590818527109, + -0.8745564152302705, + -0.47502749348274304, + 0.09746772293985909, + -0.10802992537014461, + -0.005089753396028178, + -0.9941346134376816 + ], + [ + 0.4617292658903245, + -0.8799288282870014, + -0.11194347756724118, + -0.8778087677152965, + -0.4714216824276376, + 0.08493152924120005, + -0.12750628354138166, + 0.05904959344958298, + -0.9900784277878718 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + 0.0003712177276611328, + 0.00018046796321868896, + -0.017345666885375977, + -0.04012037813663483, + 0.015591941773891449, + 0.002809584140777588, + 1.0 + ], + [ + 0.00030982494354248047, + -0.0009180158376693726, + -0.003757670521736145, + -0.009196639060974121, + -0.002690248191356659, + -0.0020922422409057617, + 1.0 + ], + [ + 0.01855647563934326, + -0.0006809979677200317, + -0.022580571472644806, + 0.01700221747159958, + -0.05797248333692551, + -0.09704524278640747, + 1.0 + ], + [ + 0.01600787043571472, + 0.0008046925067901611, + -0.007340028882026672, + 0.06692424416542053, + -0.05150224268436432, + -0.05273491144180298, + 1.0 + ], + [ + 0.008917570114135742, + 0.0038687139749526978, + -0.008222244679927826, + 0.05460856854915619, + -0.015416353940963745, + -0.006714820861816406, + 1.0 + ], + [ + 0.005102753639221191, + 1.309812068939209e-05, + -0.004394836723804474, + 0.028551176190376282, + -0.015718922019004822, + 0.00680011510848999, + 1.0 + ], + [ + 0.006266474723815918, + -0.005728080868721008, + -0.015008457005023956, + -0.0012077391147613525, + 0.02729007601737976, + 0.0020800232887268066, + 1.0 + ], + [ + 0.009805023670196533, + -0.009954869747161865, + -0.005769848823547363, + 0.03615888953208923, + 0.030008897185325623, + -0.01014864444732666, + 1.0 + ], + [ + 0.00017902255058288574, + -0.010246485471725464, + -0.014233950525522232, + 0.011453092098236084, + 0.031070664525032043, + -0.01633894443511963, + 1.0 + ], + [ + 0.0049401819705963135, + -0.012662485241889954, + -0.006078612059354782, + 0.027564018964767456, + 0.024458162486553192, + -0.0016974806785583496, + 1.0 + ], + [ + 0.002074301242828369, + -0.0012123435735702515, + -0.013730619102716446, + 0.001862555742263794, + 0.03530166298151016, + 0.008130967617034912, + 1.0 + ], + [ + 0.00688624382019043, + 0.004233852028846741, + 0.0007220245897769928, + 0.016896963119506836, + 0.011540725827217102, + 0.017327308654785156, + 1.0 + ], + [ + 0.006221860647201538, + 0.0026910603046417236, + -0.0037737078964710236, + -0.010850191116333008, + 0.00833246111869812, + 0.020715832710266113, + 1.0 + ], + [ + 0.006030380725860596, + 0.003292292356491089, + -0.002453278750181198, + -0.009358644485473633, + 0.007405884563922882, + 0.022289037704467773, + 1.0 + ], + [ + 0.005211770534515381, + -0.000520750880241394, + 0.008184853941202164, + -0.0008182525634765625, + -0.017132185399532318, + 0.009460151195526123, + 1.0 + ], + [ + 0.005258917808532715, + 0.0019750893115997314, + 0.015723049640655518, + -0.007843017578125, + -0.040168747305870056, + 0.015385448932647705, + 1.0 + ], + [ + 0.00011643767356872559, + 0.01422823965549469, + -0.0029467903077602386, + -0.019820362329483032, + 0.00023130327463150024, + 0.0418550968170166, + 1.0 + ], + [ + 0.004398912191390991, + 0.006176427006721497, + 0.0039022713899612427, + 0.008775055408477783, + -0.0021341517567634583, + 0.025785386562347412, + 1.0 + ], + [ + 0.005407065153121948, + 0.005515724420547485, + -0.011809494346380234, + -0.012701243162155151, + 0.02543005347251892, + 0.022609949111938477, + 1.0 + ], + [ + 0.0006524026393890381, + 0.003735080361366272, + 0.0009566918015480042, + 0.0116213858127594, + 0.017199382185935974, + 0.0035857558250427246, + 1.0 + ], + [ + -0.0037876665592193604, + 0.0029009729623794556, + -0.02357598952949047, + -0.033388614654541016, + 0.05711501091718674, + 0.010135471820831299, + 1.0 + ], + [ + -0.0017641782760620117, + -0.001315683126449585, + -0.004615550860762596, + -0.015919119119644165, + 0.026868201792240143, + -0.0006298422813415527, + 1.0 + ], + [ + -0.002586275339126587, + -0.00043998658657073975, + -0.0033589471131563187, + -0.011296778917312622, + 0.01749073714017868, + -0.011825799942016602, + 1.0 + ], + [ + -0.006301850080490112, + -0.004766106605529785, + -0.00926997885107994, + -0.03040042519569397, + -0.0024661757051944733, + -0.03002709150314331, + 1.0 + ], + [ + -0.0037654638290405273, + -0.0030166655778884888, + -0.0014486191794276237, + -0.01913665235042572, + -0.0007893666625022888, + -0.009943962097167969, + 0.0 + ], + [ + -0.0015627741813659668, + 0.0007025450468063354, + 0.001214452087879181, + -0.001077890396118164, + 0.011389989405870438, + 0.019991934299468994, + 0.0 + ], + [ + 0.0002974867820739746, + 0.0021207034587860107, + 0.00029399991035461426, + 0.010101556777954102, + 0.00032957643270492554, + 0.018499553203582764, + 0.0 + ], + [ + -0.000575631856918335, + -0.0005119591951370239, + -0.001975604798644781, + -0.0005988329648971558, + -0.0025907866656780243, + 0.00434190034866333, + 0.0 + ], + [ + 0.00017520785331726074, + -0.0012244731187820435, + -0.00014783581718802452, + -0.0011617094278335571, + -0.008515719324350357, + 0.0010827183723449707, + 0.0 + ], + [ + -0.000548243522644043, + -0.003527432680130005, + 0.005741227883845568, + -0.03510141372680664, + -0.03262275457382202, + 0.009132564067840576, + 0.0 + ], + [ + 0.007570773363113403, + 0.00334852933883667, + 0.03696760535240173, + 0.017455533146858215, + -0.06633247435092926, + 0.03238481283187866, + 0.0 + ], + [ + 0.00032827258110046387, + 0.0003059655427932739, + 0.034926652908325195, + -0.01018640398979187, + -0.0711529552936554, + 0.027053117752075195, + 0.0 + ], + [ + -0.015039294958114624, + -0.007752135396003723, + -0.021041207015514374, + -0.08766849339008331, + 0.006021253764629364, + 0.00654977560043335, + 0.0 + ], + [ + -0.027174651622772217, + -0.020486772060394287, + 0.016240596771240234, + 0.039019808173179626, + 0.02751009911298752, + -0.07833975553512573, + 0.0 + ], + [ + -0.033637017011642456, + -0.03799942880868912, + -0.0064103975892066956, + -0.004559025168418884, + 0.018798545002937317, + -0.13197308778762817, + 0.0 + ], + [ + -0.03409484028816223, + -0.01314622163772583, + 0.014408372342586517, + 0.032000184059143066, + -0.01874997466802597, + -0.05897253751754761, + 0.0 + ], + [ + -0.03212764859199524, + -0.024847105145454407, + -0.0038662850856781006, + 0.005472898483276367, + 0.01334044337272644, + -0.07274466753005981, + 0.0 + ], + [ + -0.029258519411087036, + -0.019900601357221603, + -0.0030485019087791443, + 0.020454108715057373, + 0.025709304958581924, + -0.05385863780975342, + 0.0 + ], + [ + -0.020723283290863037, + -0.015041440725326538, + -0.01258239895105362, + -0.0069239139556884766, + 0.04039130359888077, + -0.019911527633666992, + 0.0 + ], + [ + -0.014692187309265137, + -0.013730557635426521, + -0.011940348893404007, + -0.015547364950180054, + 0.04146162420511246, + -0.011884331703186035, + 0.0 + ], + [ + -0.013539224863052368, + -0.014062436297535896, + -0.007673751562833786, + -0.036727175116539, + 0.041056904941797256, + 0.00798344612121582, + 0.0 + ], + [ + -0.014861881732940674, + -0.014379896223545074, + -0.0016029775142669678, + -0.043799009174108505, + 0.026734724640846252, + -0.0015015602111816406, + 0.0 + ], + [ + -0.010410189628601074, + -0.010266213677823544, + 0.004376910626888275, + -0.05495686084032059, + 0.003987960517406464, + 0.005383729934692383, + 0.0 + ], + [ + -0.010717496275901794, + -0.015819452702999115, + 0.002465810626745224, + -0.064690500497818, + 0.019613169133663177, + -0.011323094367980957, + 1.0 + ], + [ + -0.0014152675867080688, + -0.018146110698580742, + 0.0038690418004989624, + -0.007143322378396988, + 0.016454413533210754, + -0.06854593753814697, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9568231701850891 + ], + [ + 0.7836189270019531 + ], + [ + 0.4889543354511261 + ], + [ + 0.23460371792316437 + ], + [ + 0.0936371386051178 + ], + [ + 0.05565106123685837 + ], + [ + 0.05166913568973541 + ], + [ + 0.051409780979156494 + ], + [ + 0.051409780979156494 + ], + [ + 0.051409780979156494 + ], + [ + 0.051409780979156494 + ], + [ + 0.051409780979156494 + ], + [ + 0.051409780979156494 + ], + [ + 0.051409780979156494 + ], + [ + 0.051409780979156494 + ], + [ + 0.051409780979156494 + ], + [ + 0.051409780979156494 + ], + [ + 0.05115113407373428 + ], + [ + 0.051409780979156494 + ], + [ + 0.06591799855232239 + ], + [ + 0.2020297795534134 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3855973184108734, + 0.1823762208223343, + 0.1401895433664322 + ], + [ + 0.3859071433544159, + 0.18145820498466492, + 0.13643187284469604 + ], + [ + 0.40446361899375916, + 0.18077720701694489, + 0.11385130137205124 + ], + [ + 0.4204714894294739, + 0.18158189952373505, + 0.10651127249002457 + ], + [ + 0.4293890595436096, + 0.18545061349868774, + 0.09828902781009674 + ], + [ + 0.4344918131828308, + 0.18546371161937714, + 0.09389419108629227 + ], + [ + 0.44075828790664673, + 0.17973563075065613, + 0.07888573408126831 + ], + [ + 0.45056331157684326, + 0.16978076100349426, + 0.07311588525772095 + ], + [ + 0.45074233412742615, + 0.1595342755317688, + 0.058881934732198715 + ], + [ + 0.45568251609802246, + 0.14687179028987885, + 0.05280332267284393 + ], + [ + 0.45775681734085083, + 0.1456594467163086, + 0.03907270357012749 + ], + [ + 0.46464306116104126, + 0.14989329874515533, + 0.03979472815990448 + ], + [ + 0.4708649218082428, + 0.15258435904979706, + 0.036021020263433456 + ], + [ + 0.4768953025341034, + 0.15587665140628815, + 0.03356774151325226 + ], + [ + 0.4821070730686188, + 0.15535590052604675, + 0.04175259545445442 + ], + [ + 0.4873659908771515, + 0.15733098983764648, + 0.05747564509510994 + ], + [ + 0.4874824285507202, + 0.17155922949314117, + 0.0545288547873497 + ], + [ + 0.4918813407421112, + 0.17773565649986267, + 0.058431126177310944 + ], + [ + 0.49728840589523315, + 0.18325138092041016, + 0.04662163183093071 + ], + [ + 0.4979408085346222, + 0.18698646128177643, + 0.047578323632478714 + ], + [ + 0.49415314197540283, + 0.18988743424415588, + 0.024002334102988243 + ], + [ + 0.4923889636993408, + 0.1885717511177063, + 0.019386783242225647 + ], + [ + 0.48980268836021423, + 0.18813176453113556, + 0.01602783612906933 + ], + [ + 0.4835008382797241, + 0.18336565792560577, + 0.0067578568123281 + ], + [ + 0.4797353744506836, + 0.18034899234771729, + 0.0053092376329004765 + ], + [ + 0.4781726002693176, + 0.18105153739452362, + 0.006523689720779657 + ], + [ + 0.4784700870513916, + 0.18317224085330963, + 0.006817689631134272 + ], + [ + 0.47789445519447327, + 0.1826602816581726, + 0.0048420848324894905 + ], + [ + 0.4780696630477905, + 0.18143580853939056, + 0.004694249015301466 + ], + [ + 0.4775214195251465, + 0.17790837585926056, + 0.010435476899147034 + ], + [ + 0.4850921928882599, + 0.18125690519809723, + 0.04740308225154877 + ], + [ + 0.48542046546936035, + 0.1815628707408905, + 0.08232973515987396 + ], + [ + 0.4703811705112457, + 0.17381073534488678, + 0.06128852814435959 + ], + [ + 0.4432065188884735, + 0.1533239632844925, + 0.07752912491559982 + ], + [ + 0.40956950187683105, + 0.11532453447580338, + 0.07111872732639313 + ], + [ + 0.3754746615886688, + 0.10217831283807755, + 0.08552709966897964 + ], + [ + 0.3433470129966736, + 0.07733120769262314, + 0.08166081458330154 + ], + [ + 0.31408849358558655, + 0.057430606335401535, + 0.0786123126745224 + ], + [ + 0.2933652102947235, + 0.042389165610075, + 0.06602991372346878 + ], + [ + 0.2786730229854584, + 0.028658607974648476, + 0.054089564830064774 + ], + [ + 0.265133798122406, + 0.01459617167711258, + 0.04641581326723099 + ], + [ + 0.25027191638946533, + 0.00021627543901558965, + 0.04481283575296402 + ], + [ + 0.23986172676086426, + -0.010049938224256039, + 0.049189746379852295 + ], + [ + 0.22914423048496246, + -0.02586938999593258, + 0.05165555700659752 + ], + [ + 0.2277289628982544, + -0.04401550069451332, + 0.05552459880709648 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.733378568043582, + -0.6725118738994192, + 0.09941657506993876, + -0.6769655150072235, + -0.7358357225346916, + 0.016232095762801657, + 0.06223799020975623, + -0.07920586408934516, + -0.9949134955706 + ], + [ + 0.7318351451014738, + -0.6747978374236807, + 0.09521133862428298, + -0.6783821571609068, + -0.7346714694863983, + 0.007448541361259532, + 0.0649227944563303, + -0.07004077763003036, + -0.995429214072483 + ], + [ + 0.659050060846557, + -0.7377372314792296, + 0.1462764320986501, + -0.7420340494158406, + -0.6695258793951948, + -0.03347486112922473, + 0.12263150820926615, + -0.08648048398021699, + -0.9886772168331119 + ], + [ + 0.6142625165604335, + -0.7557459468162946, + 0.22700137580989613, + -0.7697782448402186, + -0.6371630927909643, + -0.03827070623552128, + 0.1735598297981297, + -0.1512324603244803, + -0.9731421933225631 + ], + [ + 0.607352668370917, + -0.7445551493053275, + 0.27705661130109915, + -0.7716910809395889, + -0.6357732228367884, + -0.01689037364927541, + 0.1887209893493982, + -0.20354370235073554, + -0.9607051313552663 + ], + [ + 0.610660088307774, + -0.7297402262879017, + 0.3075279803289843, + -0.7651299034452516, + -0.643820956219913, + -0.008414700585125112, + 0.20413350386891937, + -0.23016033209343298, + -0.9515018308594255 + ], + [ + 0.6155059494515707, + -0.7326897269342268, + 0.2903759463777414, + -0.7679199453002502, + -0.6404377179998605, + 0.011768048826903257, + 0.17734537997867814, + -0.23022878492529902, + -0.956840280711488 + ], + [ + 0.6106930797745695, + -0.733083865909614, + 0.29940275192200005, + -0.7779638907138441, + -0.6259730083823427, + 0.05412926677997659, + 0.14773674918864851, + -0.2659808984114742, + -0.9525901608873544 + ], + [ + 0.6003869799225476, + -0.7449376956411018, + 0.2908664710007107, + -0.7911133635689773, + -0.6064406028423747, + 0.07980877900805153, + 0.11694067009411725, + -0.2780245040227608, + -0.9534292080908978 + ], + [ + 0.600589071035223, + -0.7421562521488342, + 0.2974842267237774, + -0.7941754954534143, + -0.5968171837323077, + 0.11443134021394981, + 0.09261776381651499, + -0.3049808954643434, + -0.9478441872097942 + ], + [ + 0.6086412248205048, + -0.7433365753631097, + 0.27750062193883346, + -0.7913653378214401, + -0.5940172822629841, + 0.1445142569702238, + 0.057417432403003135, + -0.3075617077926669, + -0.94979420631835 + ], + [ + 0.6226329727986855, + -0.7305106720324906, + 0.2805037240938353, + -0.7811671326862292, + -0.6012772583055225, + 0.16805823233441858, + 0.04589217792442142, + -0.32375888665986163, + -0.9450259738833215 + ], + [ + 0.6389030589638053, + -0.7225320052147706, + 0.26410297742928884, + -0.7683694435796846, + -0.6161212574812606, + 0.17321372420439485, + 0.03756699907815876, + -0.31359543606378143, + -0.9488132709127907 + ], + [ + 0.6560337740084361, + -0.7125060240058751, + 0.24890731832468835, + -0.7541284620202415, + -0.6320166990557408, + 0.17845210810094275, + 0.0301653796799167, + -0.30477870311100275, + -0.9519453723815994 + ], + [ + 0.6626983158159481, + -0.7032430453944131, + 0.25744933738329384, + -0.7473922115532746, + -0.6427721706913789, + 0.1680738489301586, + 0.04728450406011171, + -0.30379788624854537, + -0.9515624099273283 + ], + [ + 0.6722931305368054, + -0.6872249467850498, + 0.27521595002707705, + -0.7351124292902735, + -0.6636173109351677, + 0.13864263748980216, + 0.08735938951236814, + -0.29552315838773385, + -0.9513329595470579 + ], + [ + 0.7024777876003867, + -0.6641058977619438, + 0.25590684728210916, + -0.7063522498209696, + -0.6945839343547061, + 0.1364538651310107, + 0.08712896820759924, + -0.276616186609063, + -0.9570224805117898 + ], + [ + 0.7203196960135945, + -0.6432983395771453, + 0.25943550611312055, + -0.687875799491941, + -0.7106131327409317, + 0.1478372755750123, + 0.08925480383825946, + -0.28494950758583, + -0.9543779954076829 + ], + [ + 0.7371255709398843, + -0.6353990800079422, + 0.23003021930087855, + -0.6727277812312874, + -0.7221870178304387, + 0.16088270148405198, + 0.06390011757562428, + -0.2733384722322093, + -0.9597931311337787 + ], + [ + 0.7402380859344297, + -0.6337237907959732, + 0.2245923709998034, + -0.6707191195714526, + -0.7192457103473009, + 0.18116696936335222, + 0.04672728082637663, + -0.2847450879755225, + -0.9574637309581939 + ], + [ + 0.7477746392055241, + -0.6442865812161304, + 0.160399159056021, + -0.6638716300552806, + -0.7217639340418383, + 0.19578376419967405, + -0.010370524036556777, + -0.25288658481872756, + -0.9674403482643917 + ], + [ + 0.7468783868413966, + -0.6519817571850159, + 0.13073814885920562, + -0.6639176000726488, + -0.7201439417591575, + 0.20150961133741846, + -0.03723030463167586, + -0.23730253147727243, + -0.9707221090361084 + ], + [ + 0.7383804364528206, + -0.6648399922641792, + 0.11305801939671713, + -0.6721621725317057, + -0.7119330806168764, + 0.2033452791210598, + -0.05470232976025534, + -0.22613949988785784, + -0.9725577523773434 + ], + [ + 0.7179623540178317, + -0.6888695510008033, + 0.09994398389660698, + -0.6941189190298954, + -0.6977440433267414, + 0.17706545752014902, + -0.05223968278945555, + -0.19649934276226472, + -0.9791113439420742 + ], + [ + 0.7110538174942955, + -0.6974925066673473, + 0.08891946788914794, + -0.7012526109427307, + -0.6942006313098203, + 0.16226601349342934, + -0.05145137775406984, + -0.1777348773649871, + -0.9827324504132653 + ], + [ + 0.7244577801075465, + -0.6850278439362671, + 0.0767969913061402, + -0.6864504596005887, + -0.7067979137549671, + 0.1709458265818938, + -0.06282269777545949, + -0.17656036402221073, + -0.9822829258928194 + ], + [ + 0.7370167888729691, + -0.6711033554822176, + 0.08016569827479457, + -0.6729176218815006, + -0.7175299746040942, + 0.17981270729843735, + -0.0631516197790903, + -0.1864698951711941, + -0.9804289118106018 + ], + [ + 0.740050394486011, + -0.6676719342011991, + 0.0808678050965234, + -0.6698187800043217, + -0.7208680143245829, + 0.17802277347928003, + -0.06056579541805461, + -0.18591259829221551, + -0.9806978587830278 + ], + [ + 0.7411310874960139, + -0.6658162931341667, + 0.08610095785793179, + -0.6693385474082514, + -0.7228517962540031, + 0.17167174958557793, + -0.05206361589813019, + -0.18486196052578988, + -0.981384448343346 + ], + [ + 0.7480859084144773, + -0.658076220120544, + 0.08545854049504636, + -0.6633164088017584, + -0.7377605414515848, + 0.12538231650198145, + -0.019463181806294083, + -0.1504827963221101, + -0.9884210198923602 + ], + [ + 0.7684722145961536, + -0.6237688040436384, + 0.14269875435914764, + -0.6381656897467316, + -0.7634370508158698, + 0.09954105621122158, + 0.04685091059693162, + -0.16755998491148252, + -0.98474801022023 + ], + [ + 0.7808468112939687, + -0.5954931111267219, + 0.1888550022971562, + -0.6135257506128249, + -0.7879501613307454, + 0.05216029710251016, + 0.11774723192929462, + -0.15659660870999062, + -0.9806187289224692 + ], + [ + 0.7853946032864624, + -0.6048914539900013, + 0.13138358351926258, + -0.6088215918183449, + -0.7932089465033628, + -0.012483449955939935, + 0.11176576606581073, + -0.07018472823120404, + -0.9912530037577869 + ], + [ + 0.7373363119773766, + -0.6617527811145237, + 0.13571447869256073, + -0.6702340099229384, + -0.7417421697744823, + 0.024595233702105368, + 0.08438918759070288, + -0.10909541816884824, + -0.9904426559636579 + ], + [ + 0.6436379063314875, + -0.7554936797946746, + 0.12230922010838526, + -0.7625097540079281, + -0.6467314630406471, + 0.017812629117393404, + 0.06564389214533918, + -0.10472685664912473, + -0.9923321847649633 + ], + [ + 0.5967358480931664, + -0.7864211506498406, + 0.15952461067531343, + -0.7979930818453551, + -0.6024807506673896, + 0.014966175269963043, + 0.08434079041295436, + -0.13623038899540615, + -0.9870804993447488 + ], + [ + 0.537717814184687, + -0.8282598853468186, + 0.15762333150177144, + -0.8401266341820939, + -0.5421112516511463, + 0.017396245890818944, + 0.07104076890285409, + -0.14177783027858212, + -0.9873460669872488 + ], + [ + 0.492449654252358, + -0.8548787812932778, + 0.1633266889435216, + -0.8691572801306736, + -0.49282683372174574, + 0.04107717565326509, + 0.045375769112859024, + -0.16218502168301352, + -0.985716520262848 + ], + [ + 0.47553079492564093, + -0.8686231108883368, + 0.13915586336211883, + -0.8796848656130142, + -0.47043507412529034, + 0.06960875120375376, + 0.005000028880070312, + -0.15551441175467062, + -0.9878209693298667 + ], + [ + 0.4647397120722133, + -0.87892453116979, + 0.10727846256822196, + -0.8846966388252056, + -0.4559370065099406, + 0.09712519418842167, + -0.03645349468048948, + -0.14004683003452648, + -0.9894736116354292 + ], + [ + 0.47068379102667324, + -0.8805833214513182, + 0.05504346324972163, + -0.8788968547409383, + -0.4624782183851046, + 0.11685125692873598, + -0.07744086512459043, + -0.10337751932167803, + -0.9916229126576548 + ], + [ + 0.4682212540923745, + -0.8836018947438272, + 0.004068024248040411, + -0.8774619344232076, + -0.4644156247008653, + 0.11991113864853274, + -0.10406445528828134, + -0.05971448014362664, + -0.9927762940394628 + ], + [ + 0.47273736027957386, + -0.8799562346195804, + -0.04686590818527109, + -0.8745564152302705, + -0.47502749348274304, + 0.09746772293985909, + -0.10802992537014461, + -0.005089753396028178, + -0.9941346134376816 + ], + [ + 0.4617292658903245, + -0.8799288282870014, + -0.11194347756724118, + -0.8778087677152965, + -0.4714216824276376, + 0.08493152924120005, + -0.12750628354138166, + 0.05904959344958298, + -0.9900784277878718 + ], + [ + 0.39962043797671704, + -0.9089328969482989, + -0.11893062850447507, + -0.9053301337214149, + -0.4116900873893283, + 0.10434855495564735, + -0.14380839519048041, + 0.06597166657391504, + -0.9874041141711931 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005847.json b/json/chunk-0005/episode_0005847.json new file mode 100644 index 0000000000000000000000000000000000000000..745e90d8a01039ae1dfc8f360d8a619a93c7448a --- /dev/null +++ b/json/chunk-0005/episode_0005847.json @@ -0,0 +1,2182 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 35, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove sushi to the bottom of the table." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005847.mp4", + "start": 0, + "end": 35, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.11781641095876694, + -0.02043096162378788, + 0.2430534064769745, + -0.03750493377447128, + -0.11208988726139069, + 0.011026667430996895, + 0.0, + 0.9981546401977539 + ], + [ + 0.11732218414545059, + -0.020730439573526382, + 0.23959152400493622, + -0.03608669340610504, + -0.10299371927976608, + 0.00789419561624527, + 0.0, + 0.9974852800369263 + ], + [ + 0.15672969818115234, + -0.028151696547865868, + 0.23017820715904236, + -0.04510725289583206, + -0.10097489506006241, + -0.02015092223882675, + 0.0, + 0.9981546401977539 + ], + [ + 0.20941609144210815, + -0.03784389793872833, + 0.21210342645645142, + -0.05733456835150719, + -0.10764414817094803, + -0.02837197855114937, + 0.0, + 0.9974852800369263 + ], + [ + 0.2599625885486603, + -0.04345335438847542, + 0.1862303912639618, + -0.04700705409049988, + -0.108621746301651, + -0.02019805647432804, + 0.0, + 0.9974852800369263 + ], + [ + 0.30650320649147034, + -0.05072387680411339, + 0.148311048746109, + -0.056588612496852875, + -0.12404412031173706, + -0.00452895974740386, + 0.0, + 0.9974852800369263 + ], + [ + 0.3557644784450531, + -0.05355179309844971, + 0.11163560301065445, + -0.05134548619389534, + -0.17475514113903046, + 0.04235316812992096, + 0.0, + 0.9981546401977539 + ], + [ + 0.40440067648887634, + -0.05764022469520569, + 0.07669335603713989, + -0.053095534443855286, + -0.20667551457881927, + 0.08964641392230988, + 0.0, + 0.9981546401977539 + ], + [ + 0.4511638581752777, + -0.05823381617665291, + 0.04203006625175476, + -0.057137664407491684, + -0.19156424701213837, + 0.10812178254127502, + 0.0, + 0.9981546401977539 + ], + [ + 0.5012016296386719, + -0.060161370784044266, + 0.02878688834607601, + -0.062187228351831436, + -0.2125989943742752, + 0.10787182301282883, + 0.0, + 0.9981546401977539 + ], + [ + 0.5220665335655212, + -0.06604801118373871, + 0.015694616362452507, + -0.08051588386297226, + -0.2099565714597702, + 0.11439907550811768, + 0.0, + 0.9981546401977539 + ], + [ + 0.5201577544212341, + -0.06665059179067612, + 0.009444433264434338, + -0.0774446353316307, + -0.1915626972913742, + 0.11790221184492111, + 0.0, + 0.9974852800369263 + ], + [ + 0.5122317671775818, + -0.06786235421895981, + 0.008618864230811596, + -0.08434706181287766, + -0.170381560921669, + 0.13312268257141113, + 0.0, + 0.9974852800369263 + ], + [ + 0.5035771131515503, + -0.06750613451004028, + 0.01724613457918167, + -0.07340119779109955, + -0.1425338089466095, + 0.1416393518447876, + 0.0, + 0.9981546401977539 + ], + [ + 0.489488810300827, + -0.06773748993873596, + 0.04638167843222618, + -0.06397920846939087, + -0.16547589004039764, + 0.14011730253696442, + 0.0, + 0.9981546401977539 + ], + [ + 0.47050243616104126, + -0.07038542628288269, + 0.04795927554368973, + -0.05220942944288254, + -0.14002490043640137, + 0.127260223031044, + 0.0, + 0.9981546401977539 + ], + [ + 0.4474483132362366, + -0.07738886028528214, + 0.01844235323369503, + -0.018825620412826538, + -0.058473795652389526, + 0.0952104702591896, + 0.0, + 0.9981546401977539 + ], + [ + 0.4375951886177063, + -0.08121126890182495, + 0.004620428197085857, + -0.016713568940758705, + -0.03355143964290619, + 0.09382928907871246, + 0.0, + 0.9981546401977539 + ], + [ + 0.4395548701286316, + -0.08200445026159286, + 0.002995879855006933, + -0.023694414645433426, + -0.04748795926570892, + 0.09853364527225494, + 0.0, + 0.9628177285194397 + ], + [ + 0.44142869114875793, + -0.08211752027273178, + 0.003780362196266651, + -0.0261376965790987, + -0.059486664831638336, + 0.10582949221134186, + 0.0, + 0.6881998181343079 + ], + [ + 0.4416431784629822, + -0.08041612058877945, + 0.004117388278245926, + -0.01157858595252037, + -0.06221332773566246, + 0.1107167974114418, + 0.0, + 0.5719637274742126 + ], + [ + 0.4407183825969696, + -0.07884981483221054, + 0.00823463685810566, + -0.0012686734553426504, + -0.045885119587183, + 0.0934629887342453, + 0.0, + 0.570969820022583 + ], + [ + 0.4379337728023529, + -0.07345063239336014, + 0.04934674873948097, + -0.025024302303791046, + -0.08078888058662415, + 0.06898384541273117, + 0.0, + 0.570969820022583 + ], + [ + 0.4280093014240265, + -0.05183742567896843, + 0.11496832221746445, + -0.021485760807991028, + -0.17387284338474274, + 0.05749675631523132, + 0.0, + 0.570969820022583 + ], + [ + 0.397818922996521, + -0.012529898434877396, + 0.15567131340503693, + -0.02982746623456478, + -0.19108901917934418, + 0.09610028564929962, + 0.0, + 0.570969820022583 + ], + [ + 0.36020219326019287, + 0.02738639898598194, + 0.22002694010734558, + -0.04431794211268425, + -0.23763303458690643, + 0.1370873898267746, + 0.0, + 0.570969820022583 + ], + [ + 0.3214939832687378, + 0.05761490389704704, + 0.21461378037929535, + -0.035497333854436874, + -0.18791353702545166, + 0.1455245465040207, + 0.0, + 0.570969820022583 + ], + [ + 0.29675057530403137, + 0.079079270362854, + 0.18154996633529663, + -0.032408054918050766, + -0.09892183542251587, + 0.1505708247423172, + 0.0, + 0.570969820022583 + ], + [ + 0.271759033203125, + 0.09725932776927948, + 0.14798037707805634, + -0.03857146203517914, + -0.020294565707445145, + 0.17279104888439178, + 0.0, + 0.570969820022583 + ], + [ + 0.25034523010253906, + 0.10731657594442368, + 0.1196695864200592, + -0.021013937890529633, + 0.031217876821756363, + 0.17741349339485168, + 0.0, + 0.570969820022583 + ], + [ + 0.24405279755592346, + 0.11133181303739548, + 0.11071541905403137, + -0.010169985704123974, + 0.03856576979160309, + 0.17007574439048767, + 0.0, + 0.570969820022583 + ], + [ + 0.2373720109462738, + 0.11507035791873932, + 0.1213260069489479, + 0.011654967442154884, + 0.017569607123732567, + 0.16789159178733826, + 0.0, + 0.6259716749191284 + ], + [ + 0.2305665910243988, + 0.11381558328866959, + 0.13875538110733032, + 0.01628846302628517, + -0.0033237487077713013, + 0.16909675300121307, + 0.0, + 0.9190354347229004 + ], + [ + 0.23596611618995667, + 0.1114509180188179, + 0.165055051445961, + -0.0007624911377206445, + -0.04649806022644043, + 0.17137695848941803, + 0.0, + 1.0014774799346924 + ], + [ + 0.24002763628959656, + 0.10762354731559753, + 0.17822468280792236, + -0.026755044236779213, + -0.06536327302455902, + 0.16680458188056946, + 0.0, + 0.9994885921478271 + ] + ], + "left_gripper_pos": [ + [ + 0.9981546401977539 + ], + [ + 0.9974852800369263 + ], + [ + 0.9981546401977539 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9628177285194397 + ], + [ + 0.6881998181343079 + ], + [ + 0.5719637274742126 + ], + [ + 0.570969820022583 + ], + [ + 0.570969820022583 + ], + [ + 0.570969820022583 + ], + [ + 0.570969820022583 + ], + [ + 0.570969820022583 + ], + [ + 0.570969820022583 + ], + [ + 0.570969820022583 + ], + [ + 0.570969820022583 + ], + [ + 0.570969820022583 + ], + [ + 0.570969820022583 + ], + [ + 0.6259716749191284 + ], + [ + 0.9190354347229004 + ], + [ + 1.0014774799346924 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.11781641095876694, + -0.02043096162378788, + 0.2430534064769745 + ], + [ + 0.11732218414545059, + -0.020730439573526382, + 0.23959152400493622 + ], + [ + 0.15672969818115234, + -0.028151696547865868, + 0.23017820715904236 + ], + [ + 0.20941609144210815, + -0.03784389793872833, + 0.21210342645645142 + ], + [ + 0.2599625885486603, + -0.04345335438847542, + 0.1862303912639618 + ], + [ + 0.30650320649147034, + -0.05072387680411339, + 0.148311048746109 + ], + [ + 0.3557644784450531, + -0.05355179309844971, + 0.11163560301065445 + ], + [ + 0.40440067648887634, + -0.05764022469520569, + 0.07669335603713989 + ], + [ + 0.4511638581752777, + -0.05823381617665291, + 0.04203006625175476 + ], + [ + 0.5012016296386719, + -0.060161370784044266, + 0.02878688834607601 + ], + [ + 0.5220665335655212, + -0.06604801118373871, + 0.015694616362452507 + ], + [ + 0.5201577544212341, + -0.06665059179067612, + 0.009444433264434338 + ], + [ + 0.5122317671775818, + -0.06786235421895981, + 0.008618864230811596 + ], + [ + 0.5035771131515503, + -0.06750613451004028, + 0.01724613457918167 + ], + [ + 0.489488810300827, + -0.06773748993873596, + 0.04638167843222618 + ], + [ + 0.47050243616104126, + -0.07038542628288269, + 0.04795927554368973 + ], + [ + 0.4474483132362366, + -0.07738886028528214, + 0.01844235323369503 + ], + [ + 0.4375951886177063, + -0.08121126890182495, + 0.004620428197085857 + ], + [ + 0.4395548701286316, + -0.08200445026159286, + 0.002995879855006933 + ], + [ + 0.44142869114875793, + -0.08211752027273178, + 0.003780362196266651 + ], + [ + 0.4416431784629822, + -0.08041612058877945, + 0.004117388278245926 + ], + [ + 0.4407183825969696, + -0.07884981483221054, + 0.00823463685810566 + ], + [ + 0.4379337728023529, + -0.07345063239336014, + 0.04934674873948097 + ], + [ + 0.4280093014240265, + -0.05183742567896843, + 0.11496832221746445 + ], + [ + 0.397818922996521, + -0.012529898434877396, + 0.15567131340503693 + ], + [ + 0.36020219326019287, + 0.02738639898598194, + 0.22002694010734558 + ], + [ + 0.3214939832687378, + 0.05761490389704704, + 0.21461378037929535 + ], + [ + 0.29675057530403137, + 0.079079270362854, + 0.18154996633529663 + ], + [ + 0.271759033203125, + 0.09725932776927948, + 0.14798037707805634 + ], + [ + 0.25034523010253906, + 0.10731657594442368, + 0.1196695864200592 + ], + [ + 0.24405279755592346, + 0.11133181303739548, + 0.11071541905403137 + ], + [ + 0.2373720109462738, + 0.11507035791873932, + 0.1213260069489479 + ], + [ + 0.2305665910243988, + 0.11381558328866959, + 0.13875538110733032 + ], + [ + 0.23596611618995667, + 0.1114509180188179, + 0.165055051445961 + ], + [ + 0.24002763628959656, + 0.10762354731559753, + 0.17822468280792236 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9936640916618191, + 0.006824802068675273, + 0.11218330989329649, + 0.010957247568206293, + -0.9992822685587917, + -0.03626136331860805, + 0.11185531577721743, + 0.03726083494392553, + -0.9930256887471042 + ], + [ + 0.9946698398295952, + 0.004179759603623059, + 0.10302640119417678, + 0.007852281403545179, + -0.9993470890961207, + -0.03526665835984086, + 0.1028117279794824, + 0.035887673716279184, + -0.9940532296940174 + ], + [ + 0.9947043765140001, + -0.024673562782221492, + 0.099771832916539, + -0.020046924030976986, + -0.9986884356390832, + -0.04711188127910815, + 0.10080339369679096, + 0.04486227613922769, + -0.9938943867427853 + ], + [ + 0.993811832737628, + -0.03447552516879504, + 0.10559109467665045, + -0.02820397618553455, + -0.9977803804830981, + -0.06032286507063693, + 0.10743638507509168, + 0.05697148837216953, + -0.9925782954883997 + ], + [ + 0.9939036845273875, + -0.025267411333763014, + 0.10731739750559487, + -0.020077653127451016, + -0.9985887399069064, + -0.049167228679584944, + 0.10840827333638882, + 0.046712808260982, + -0.9930083382412233 + ], + [ + 0.9923062110483395, + -0.011519383893822756, + 0.12327078854941667, + -0.00449414561416601, + -0.9983573599213226, + -0.057117287629274476, + 0.12372625497479076, + 0.056123842399049405, + -0.9907279788843554 + ], + [ + 0.9838860383872021, + 0.03336934488366181, + 0.1756552028514165, + 0.04169562486321076, + -0.9981643503357798, + -0.04392498817321695, + 0.17386701335792093, + 0.050541236043314994, + -0.9834713239974059 + ], + [ + 0.9747884380010899, + 0.07855348306068238, + 0.20884647815663615, + 0.08762113547237721, + -0.995555857348134, + -0.03451190400938862, + 0.2052073043483748, + 0.05194117055724697, + -0.9773392845083105 + ], + [ + 0.9759749618375596, + 0.0969258386663351, + 0.19513650520853723, + 0.10593728827134168, + -0.9937114460355438, + -0.0362609014182345, + 0.19039476048433832, + 0.0560619640823959, + -0.9801055511338232 + ], + [ + 0.9718041648031513, + 0.09441773012598462, + 0.21606007847148936, + 0.1052388016972245, + -0.9936775016831597, + -0.03911287851905346, + 0.21100108978055462, + 0.0607479619952037, + -0.9755963433843157 + ], + [ + 0.9716470664136635, + 0.09712668812594172, + 0.21556526803594278, + 0.11164298099286382, + -0.9921585492165629, + -0.056189483104156696, + 0.2084174251946052, + 0.07866269554351232, + -0.974871456759854 + ], + [ + 0.9748924802590936, + 0.10264873172768992, + 0.19760538911924866, + 0.11547755814411408, + -0.9918137558199219, + -0.054501443388713086, + 0.19039323911143927, + 0.0759520351345314, + -0.9787653972528745 + ], + [ + 0.9768005095716012, + 0.11809955784886618, + 0.178642825035214, + 0.13080792934867122, + -0.9895246226441635, + -0.06107623760873377, + 0.16955839737439377, + 0.08302719805478066, + -0.9820165142516694 + ], + [ + 0.9799466982830535, + 0.13047304383006966, + 0.1506029659663412, + 0.13973470620663273, + -0.9887907970043226, + -0.052602011757180656, + 0.14205168216352893, + 0.07259162894764973, + -0.9871938892645348 + ], + [ + 0.9766735706633485, + 0.1289451649467657, + 0.1717028852540251, + 0.13775153376226365, + -0.9896445329275649, + -0.04035112628819784, + 0.16472173904451548, + 0.0630622143873298, + -0.9843220539044715 + ], + [ + 0.9822050096225128, + 0.11951951855647193, + 0.14487375109545778, + 0.12567480358326294, + -0.991486149434678, + -0.034074319120173856, + 0.13956777141141066, + 0.051674947152603116, + -0.9888632549650269 + ], + [ + 0.9937695414652279, + 0.09395471147046655, + 0.059955071916326895, + 0.09490420877579972, + -0.9953990960028305, + -0.013184492155071663, + 0.0584404792299821, + 0.018792335385712636, + -0.9981140007624985 + ], + [ + 0.9950409397042234, + 0.09312041915069572, + 0.03495877357310694, + 0.09363894246797502, + -0.995514733426762, + -0.013496813835979879, + 0.033545145192952715, + 0.016703384909729502, + -0.9992976134098099 + ], + [ + 0.994027613627398, + 0.09722745110336585, + 0.04955730115899196, + 0.09826337939171696, + -0.9949807874578915, + -0.018908750889301044, + 0.04747011287894645, + 0.023665488408582458, + -0.9985922756769368 + ], + [ + 0.9926463699316396, + 0.10405091793225986, + 0.06185944340998078, + 0.10544521347982251, + -0.9942297506108607, + -0.019710655860735157, + 0.05945158715907547, + 0.026088493205238976, + -0.9978902240760489 + ], + [ + 0.9919543742696806, + 0.10976787733441898, + 0.06306768168200227, + 0.11027697959364197, + -0.9938900712073737, + -0.0046383323625004205, + 0.06217320274000601, + 0.011555927522163386, + -0.9979984736462038 + ], + [ + 0.9945875697359527, + 0.09326896255742169, + 0.04578718980450481, + 0.0932287463404576, + -0.9956401430629396, + 0.0030176774837656836, + 0.045869019855650846, + 0.0012673377891011485, + -0.9989466586722288 + ], + [ + 0.9943676685913541, + 0.0668930908588666, + 0.08220860086111512, + 0.06870432283549599, + -0.9974483980988964, + -0.019401266805574295, + 0.08070102653566844, + 0.024940078694594227, + -0.9964262826676124 + ], + [ + 0.9832945931640256, + 0.05374125077465596, + 0.17390693206301192, + 0.05659863273174081, + -0.9983306691720445, + -0.011509550964115675, + 0.17299808619545773, + 0.02116017381009895, + -0.9846948305018339 + ], + [ + 0.9772678876629842, + 0.09027165325165287, + 0.19182936261673197, + 0.09420590737263645, + -0.9954866640343601, + -0.011469470163817597, + 0.18992820422155984, + 0.029280204045631395, + -0.9813612723621302 + ], + [ + 0.9627797649911493, + 0.12619292083537792, + 0.23901981268217737, + 0.1328180234968534, + -0.9910707944130619, + -0.01174959981665243, + 0.23540283931587663, + 0.04305841604725161, + -0.9709436008592492 + ], + [ + 0.9720121943397217, + 0.13836032817799468, + 0.18986498792920334, + 0.14245869102076744, + -0.989768075327386, + -0.008042289187254833, + 0.18680956990349404, + 0.03486512081148631, + -0.9817772700278165 + ], + [ + 0.9838521511628552, + 0.146759886342199, + 0.10245233239437358, + 0.14926919432660513, + -0.9886464797302265, + -0.01722921188322744, + 0.09876058058410035, + 0.032243974287543636, + -0.9945886958159317 + ], + [ + 0.9849058713814512, + 0.17103373050103532, + 0.026606156228269957, + 0.1718970961460714, + -0.9845105664149209, + -0.03450120220977375, + 0.020293172617709763, + 0.03855395762137319, + -0.9990504389152917 + ], + [ + 0.9838238720929319, + 0.17709085522080448, + -0.027007734026284886, + 0.1763982692999988, + -0.9839703951611817, + -0.026189922380813458, + -0.031212806474836378, + 0.021002153306553892, + -0.9992920845620926 + ], + [ + 0.9848391105597202, + 0.16963470014386406, + -0.03627664288548177, + 0.169131147156028, + -0.9854546144868362, + -0.01654865095066817, + -0.038556210571391136, + 0.010162248457028216, + -0.9992047574609882 + ], + [ + 0.9857871100249522, + 0.166890731138822, + -0.019268045271954682, + 0.16707816846093418, + -0.9859065339423857, + 0.008555229596631755, + -0.017568703207475448, + -0.011652904773524108, + -0.9997777505415625 + ], + [ + 0.9857317334258026, + 0.16832309319187694, + 0.0005348043388606863, + 0.16829112410513714, + -0.9855973055281295, + 0.01661471886971746, + 0.0033237425880301335, + -0.016287652808465815, + -0.9998618230041584 + ], + [ + 0.9842858688864718, + 0.17050432559588594, + 0.0459304176281452, + 0.17035497186206158, + -0.9853566333143426, + 0.007175565852310991, + 0.04648130669720802, + 0.000761666932961392, + -0.998918869574103 + ], + [ + 0.984014563162947, + 0.16424962196335333, + 0.06882878153890683, + 0.16567758721072087, + -0.9860575304170421, + -0.015539749157508718, + 0.0653167404213424, + 0.026694725934907598, + -0.9975074511140213 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0004942268133163452, + -0.0002994779497385025, + -0.003461882472038269, + 0.0014182403683662415, + 0.009096167981624603, + -0.003132471814751625, + 1.0 + ], + [ + 0.03940751403570175, + -0.007421256974339485, + -0.00941331684589386, + -0.00902055948972702, + 0.0020188242197036743, + -0.02804511785507202, + 1.0 + ], + [ + 0.05268639326095581, + -0.009692201390862465, + -0.018074780702590942, + -0.012227315455675125, + -0.00666925311088562, + -0.008221056312322617, + 1.0 + ], + [ + 0.050546497106552124, + -0.005609456449747086, + -0.025873035192489624, + 0.010327514261007309, + -0.0009775981307029724, + 0.008173922076821327, + 1.0 + ], + [ + 0.04654061794281006, + -0.00727052241563797, + -0.03791934251785278, + -0.009581558406352997, + -0.01542237401008606, + 0.015669096261262894, + 1.0 + ], + [ + 0.049261271953582764, + -0.002827916294336319, + -0.03667544573545456, + 0.005243126302957535, + -0.050711020827293396, + 0.04688212648034096, + 1.0 + ], + [ + 0.04863619804382324, + -0.0040884315967559814, + -0.03494224697351456, + -0.0017500482499599457, + -0.03192037343978882, + 0.047293245792388916, + 1.0 + ], + [ + 0.04676318168640137, + -0.0005935914814472198, + -0.03466328978538513, + -0.004042129963636398, + 0.015111267566680908, + 0.01847536861896515, + 1.0 + ], + [ + 0.050037771463394165, + -0.0019275546073913574, + -0.013243177905678749, + -0.005049563944339752, + -0.02103474736213684, + -0.0002499595284461975, + 1.0 + ], + [ + 0.020864903926849365, + -0.005886640399694443, + -0.013092271983623505, + -0.018328655511140823, + 0.002642422914505005, + 0.006527252495288849, + 1.0 + ], + [ + -0.0019087791442871094, + -0.0006025806069374084, + -0.006250183098018169, + 0.0030712485313415527, + 0.018393874168395996, + 0.0035031363368034363, + 1.0 + ], + [ + -0.007925987243652344, + -0.0012117624282836914, + -0.0008255690336227417, + -0.006902426481246948, + 0.0211811363697052, + 0.01522047072649002, + 1.0 + ], + [ + -0.008654654026031494, + 0.00035621970891952515, + 0.008627270348370075, + 0.010945864021778107, + 0.02784775197505951, + 0.008516669273376465, + 1.0 + ], + [ + -0.014088302850723267, + -0.0002313554286956787, + 0.02913554385304451, + 0.00942198932170868, + -0.022942081093788147, + -0.0015220493078231812, + 1.0 + ], + [ + -0.018986374139785767, + -0.0026479363441467285, + 0.0015775971114635468, + 0.011769779026508331, + 0.025450989603996277, + -0.01285707950592041, + 1.0 + ], + [ + -0.023054122924804688, + -0.007003434002399445, + -0.029516922309994698, + 0.033383809030056, + 0.08155110478401184, + -0.0320497527718544, + 1.0 + ], + [ + -0.009853124618530273, + -0.003822408616542816, + -0.013821925036609173, + 0.002112051472067833, + 0.024922356009483337, + -0.0013811811804771423, + 1.0 + ], + [ + 0.001959681510925293, + -0.0007931813597679138, + -0.0016245483420789242, + -0.006980845704674721, + -0.013936519622802734, + 0.0047043561935424805, + 0.0 + ], + [ + 0.0018738210201263428, + -0.00011307001113891602, + 0.0007844823412597179, + -0.0024432819336652756, + -0.011998705565929413, + 0.007295846939086914, + 0.0 + ], + [ + 0.00021448731422424316, + 0.0017013996839523315, + 0.00033702608197927475, + 0.014559110626578331, + -0.002726662904024124, + 0.004887305200099945, + 0.0 + ], + [ + -0.0009247958660125732, + 0.0015663057565689087, + 0.004117248579859734, + 0.010309912264347076, + 0.01632820814847946, + -0.017253808677196503, + 0.0 + ], + [ + -0.0027846097946166992, + 0.005399182438850403, + 0.041112110018730164, + -0.023755628615617752, + -0.03490376099944115, + -0.02447914332151413, + 0.0 + ], + [ + -0.009924471378326416, + 0.02161320671439171, + 0.06562156975269318, + 0.0035385414958000183, + -0.09308396279811859, + -0.011487089097499847, + 0.0 + ], + [ + -0.030190378427505493, + 0.039307527244091034, + 0.04070299118757248, + -0.008341705426573753, + -0.01721617579460144, + 0.0386035293340683, + 0.0 + ], + [ + -0.037616729736328125, + 0.039916299283504486, + 0.06435562670230865, + -0.014490475878119469, + -0.046544015407562256, + 0.040987104177474976, + 0.0 + ], + [ + -0.03870820999145508, + 0.0302285049110651, + -0.005413159728050232, + 0.008820608258247375, + 0.04971949756145477, + 0.008437156677246094, + 0.0 + ], + [ + -0.02474340796470642, + 0.02146436646580696, + -0.03306381404399872, + 0.0030892789363861084, + 0.08899170160293579, + 0.005046278238296509, + 0.0 + ], + [ + -0.024991542100906372, + 0.018180057406425476, + -0.033569589257240295, + -0.006163407117128372, + 0.07862727344036102, + 0.022220224142074585, + 0.0 + ], + [ + -0.021413803100585938, + 0.010057248175144196, + -0.02831079065799713, + 0.017557524144649506, + 0.05151244252920151, + 0.0046224445104599, + 0.0 + ], + [ + -0.006292432546615601, + 0.004015237092971802, + -0.008954167366027832, + 0.010843952186405659, + 0.0073478929698467255, + -0.007337749004364014, + 0.0 + ], + [ + -0.006680786609649658, + 0.0037385448813438416, + 0.010610587894916534, + 0.021824952214956284, + -0.02099616266787052, + -0.002184152603149414, + 1.0 + ], + [ + -0.006805419921875, + -0.0012547746300697327, + 0.017429374158382416, + 0.004633495584130287, + -0.020893355831503868, + 0.001205161213874817, + 1.0 + ], + [ + 0.005399525165557861, + -0.0023646652698516846, + 0.026299670338630676, + -0.017050953581929207, + -0.04317431151866913, + 0.002280205488204956, + 1.0 + ], + [ + 0.004061520099639893, + -0.0038273707032203674, + 0.013169631361961365, + -0.025992553681135178, + -0.01886521279811859, + -0.004572376608848572, + 1.0 + ], + [ + -0.005350098013877869, + -0.004429847002029419, + 0.005652427673339844, + 0.0006392132490873337, + 0.014336466789245605, + -0.015860289335250854, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9974852800369263 + ], + [ + 0.9981546401977539 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9628177285194397 + ], + [ + 0.6881998181343079 + ], + [ + 0.5719637274742126 + ], + [ + 0.570969820022583 + ], + [ + 0.570969820022583 + ], + [ + 0.570969820022583 + ], + [ + 0.570969820022583 + ], + [ + 0.570969820022583 + ], + [ + 0.570969820022583 + ], + [ + 0.570969820022583 + ], + [ + 0.570969820022583 + ], + [ + 0.570969820022583 + ], + [ + 0.570969820022583 + ], + [ + 0.6259716749191284 + ], + [ + 0.9190354347229004 + ], + [ + 1.0014774799346924 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.11732218414545059, + -0.020730439573526382, + 0.23959152400493622 + ], + [ + 0.15672969818115234, + -0.028151696547865868, + 0.23017820715904236 + ], + [ + 0.20941609144210815, + -0.03784389793872833, + 0.21210342645645142 + ], + [ + 0.2599625885486603, + -0.04345335438847542, + 0.1862303912639618 + ], + [ + 0.30650320649147034, + -0.05072387680411339, + 0.148311048746109 + ], + [ + 0.3557644784450531, + -0.05355179309844971, + 0.11163560301065445 + ], + [ + 0.40440067648887634, + -0.05764022469520569, + 0.07669335603713989 + ], + [ + 0.4511638581752777, + -0.05823381617665291, + 0.04203006625175476 + ], + [ + 0.5012016296386719, + -0.060161370784044266, + 0.02878688834607601 + ], + [ + 0.5220665335655212, + -0.06604801118373871, + 0.015694616362452507 + ], + [ + 0.5201577544212341, + -0.06665059179067612, + 0.009444433264434338 + ], + [ + 0.5122317671775818, + -0.06786235421895981, + 0.008618864230811596 + ], + [ + 0.5035771131515503, + -0.06750613451004028, + 0.01724613457918167 + ], + [ + 0.489488810300827, + -0.06773748993873596, + 0.04638167843222618 + ], + [ + 0.47050243616104126, + -0.07038542628288269, + 0.04795927554368973 + ], + [ + 0.4474483132362366, + -0.07738886028528214, + 0.01844235323369503 + ], + [ + 0.4375951886177063, + -0.08121126890182495, + 0.004620428197085857 + ], + [ + 0.4395548701286316, + -0.08200445026159286, + 0.002995879855006933 + ], + [ + 0.44142869114875793, + -0.08211752027273178, + 0.003780362196266651 + ], + [ + 0.4416431784629822, + -0.08041612058877945, + 0.004117388278245926 + ], + [ + 0.4407183825969696, + -0.07884981483221054, + 0.00823463685810566 + ], + [ + 0.4379337728023529, + -0.07345063239336014, + 0.04934674873948097 + ], + [ + 0.4280093014240265, + -0.05183742567896843, + 0.11496832221746445 + ], + [ + 0.397818922996521, + -0.012529898434877396, + 0.15567131340503693 + ], + [ + 0.36020219326019287, + 0.02738639898598194, + 0.22002694010734558 + ], + [ + 0.3214939832687378, + 0.05761490389704704, + 0.21461378037929535 + ], + [ + 0.29675057530403137, + 0.079079270362854, + 0.18154996633529663 + ], + [ + 0.271759033203125, + 0.09725932776927948, + 0.14798037707805634 + ], + [ + 0.25034523010253906, + 0.10731657594442368, + 0.1196695864200592 + ], + [ + 0.24405279755592346, + 0.11133181303739548, + 0.11071541905403137 + ], + [ + 0.2373720109462738, + 0.11507035791873932, + 0.1213260069489479 + ], + [ + 0.2305665910243988, + 0.11381558328866959, + 0.13875538110733032 + ], + [ + 0.23596611618995667, + 0.1114509180188179, + 0.165055051445961 + ], + [ + 0.24002763628959656, + 0.10762354731559753, + 0.17822468280792236 + ], + [ + 0.2346775382757187, + 0.10319370031356812, + 0.1838771104812622 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9946698398295952, + 0.004179759603623059, + 0.10302640119417678, + 0.007852281403545179, + -0.9993470890961207, + -0.03526665835984086, + 0.1028117279794824, + 0.035887673716279184, + -0.9940532296940174 + ], + [ + 0.9947043765140001, + -0.024673562782221492, + 0.099771832916539, + -0.020046924030976986, + -0.9986884356390832, + -0.04711188127910815, + 0.10080339369679096, + 0.04486227613922769, + -0.9938943867427853 + ], + [ + 0.993811832737628, + -0.03447552516879504, + 0.10559109467665045, + -0.02820397618553455, + -0.9977803804830981, + -0.06032286507063693, + 0.10743638507509168, + 0.05697148837216953, + -0.9925782954883997 + ], + [ + 0.9939036845273875, + -0.025267411333763014, + 0.10731739750559487, + -0.020077653127451016, + -0.9985887399069064, + -0.049167228679584944, + 0.10840827333638882, + 0.046712808260982, + -0.9930083382412233 + ], + [ + 0.9923062110483395, + -0.011519383893822756, + 0.12327078854941667, + -0.00449414561416601, + -0.9983573599213226, + -0.057117287629274476, + 0.12372625497479076, + 0.056123842399049405, + -0.9907279788843554 + ], + [ + 0.9838860383872021, + 0.03336934488366181, + 0.1756552028514165, + 0.04169562486321076, + -0.9981643503357798, + -0.04392498817321695, + 0.17386701335792093, + 0.050541236043314994, + -0.9834713239974059 + ], + [ + 0.9747884380010899, + 0.07855348306068238, + 0.20884647815663615, + 0.08762113547237721, + -0.995555857348134, + -0.03451190400938862, + 0.2052073043483748, + 0.05194117055724697, + -0.9773392845083105 + ], + [ + 0.9759749618375596, + 0.0969258386663351, + 0.19513650520853723, + 0.10593728827134168, + -0.9937114460355438, + -0.0362609014182345, + 0.19039476048433832, + 0.0560619640823959, + -0.9801055511338232 + ], + [ + 0.9718041648031513, + 0.09441773012598462, + 0.21606007847148936, + 0.1052388016972245, + -0.9936775016831597, + -0.03911287851905346, + 0.21100108978055462, + 0.0607479619952037, + -0.9755963433843157 + ], + [ + 0.9716470664136635, + 0.09712668812594172, + 0.21556526803594278, + 0.11164298099286382, + -0.9921585492165629, + -0.056189483104156696, + 0.2084174251946052, + 0.07866269554351232, + -0.974871456759854 + ], + [ + 0.9748924802590936, + 0.10264873172768992, + 0.19760538911924866, + 0.11547755814411408, + -0.9918137558199219, + -0.054501443388713086, + 0.19039323911143927, + 0.0759520351345314, + -0.9787653972528745 + ], + [ + 0.9768005095716012, + 0.11809955784886618, + 0.178642825035214, + 0.13080792934867122, + -0.9895246226441635, + -0.06107623760873377, + 0.16955839737439377, + 0.08302719805478066, + -0.9820165142516694 + ], + [ + 0.9799466982830535, + 0.13047304383006966, + 0.1506029659663412, + 0.13973470620663273, + -0.9887907970043226, + -0.052602011757180656, + 0.14205168216352893, + 0.07259162894764973, + -0.9871938892645348 + ], + [ + 0.9766735706633485, + 0.1289451649467657, + 0.1717028852540251, + 0.13775153376226365, + -0.9896445329275649, + -0.04035112628819784, + 0.16472173904451548, + 0.0630622143873298, + -0.9843220539044715 + ], + [ + 0.9822050096225128, + 0.11951951855647193, + 0.14487375109545778, + 0.12567480358326294, + -0.991486149434678, + -0.034074319120173856, + 0.13956777141141066, + 0.051674947152603116, + -0.9888632549650269 + ], + [ + 0.9937695414652279, + 0.09395471147046655, + 0.059955071916326895, + 0.09490420877579972, + -0.9953990960028305, + -0.013184492155071663, + 0.0584404792299821, + 0.018792335385712636, + -0.9981140007624985 + ], + [ + 0.9950409397042234, + 0.09312041915069572, + 0.03495877357310694, + 0.09363894246797502, + -0.995514733426762, + -0.013496813835979879, + 0.033545145192952715, + 0.016703384909729502, + -0.9992976134098099 + ], + [ + 0.994027613627398, + 0.09722745110336585, + 0.04955730115899196, + 0.09826337939171696, + -0.9949807874578915, + -0.018908750889301044, + 0.04747011287894645, + 0.023665488408582458, + -0.9985922756769368 + ], + [ + 0.9926463699316396, + 0.10405091793225986, + 0.06185944340998078, + 0.10544521347982251, + -0.9942297506108607, + -0.019710655860735157, + 0.05945158715907547, + 0.026088493205238976, + -0.9978902240760489 + ], + [ + 0.9919543742696806, + 0.10976787733441898, + 0.06306768168200227, + 0.11027697959364197, + -0.9938900712073737, + -0.0046383323625004205, + 0.06217320274000601, + 0.011555927522163386, + -0.9979984736462038 + ], + [ + 0.9945875697359527, + 0.09326896255742169, + 0.04578718980450481, + 0.0932287463404576, + -0.9956401430629396, + 0.0030176774837656836, + 0.045869019855650846, + 0.0012673377891011485, + -0.9989466586722288 + ], + [ + 0.9943676685913541, + 0.0668930908588666, + 0.08220860086111512, + 0.06870432283549599, + -0.9974483980988964, + -0.019401266805574295, + 0.08070102653566844, + 0.024940078694594227, + -0.9964262826676124 + ], + [ + 0.9832945931640256, + 0.05374125077465596, + 0.17390693206301192, + 0.05659863273174081, + -0.9983306691720445, + -0.011509550964115675, + 0.17299808619545773, + 0.02116017381009895, + -0.9846948305018339 + ], + [ + 0.9772678876629842, + 0.09027165325165287, + 0.19182936261673197, + 0.09420590737263645, + -0.9954866640343601, + -0.011469470163817597, + 0.18992820422155984, + 0.029280204045631395, + -0.9813612723621302 + ], + [ + 0.9627797649911493, + 0.12619292083537792, + 0.23901981268217737, + 0.1328180234968534, + -0.9910707944130619, + -0.01174959981665243, + 0.23540283931587663, + 0.04305841604725161, + -0.9709436008592492 + ], + [ + 0.9720121943397217, + 0.13836032817799468, + 0.18986498792920334, + 0.14245869102076744, + -0.989768075327386, + -0.008042289187254833, + 0.18680956990349404, + 0.03486512081148631, + -0.9817772700278165 + ], + [ + 0.9838521511628552, + 0.146759886342199, + 0.10245233239437358, + 0.14926919432660513, + -0.9886464797302265, + -0.01722921188322744, + 0.09876058058410035, + 0.032243974287543636, + -0.9945886958159317 + ], + [ + 0.9849058713814512, + 0.17103373050103532, + 0.026606156228269957, + 0.1718970961460714, + -0.9845105664149209, + -0.03450120220977375, + 0.020293172617709763, + 0.03855395762137319, + -0.9990504389152917 + ], + [ + 0.9838238720929319, + 0.17709085522080448, + -0.027007734026284886, + 0.1763982692999988, + -0.9839703951611817, + -0.026189922380813458, + -0.031212806474836378, + 0.021002153306553892, + -0.9992920845620926 + ], + [ + 0.9848391105597202, + 0.16963470014386406, + -0.03627664288548177, + 0.169131147156028, + -0.9854546144868362, + -0.01654865095066817, + -0.038556210571391136, + 0.010162248457028216, + -0.9992047574609882 + ], + [ + 0.9857871100249522, + 0.166890731138822, + -0.019268045271954682, + 0.16707816846093418, + -0.9859065339423857, + 0.008555229596631755, + -0.017568703207475448, + -0.011652904773524108, + -0.9997777505415625 + ], + [ + 0.9857317334258026, + 0.16832309319187694, + 0.0005348043388606863, + 0.16829112410513714, + -0.9855973055281295, + 0.01661471886971746, + 0.0033237425880301335, + -0.016287652808465815, + -0.9998618230041584 + ], + [ + 0.9842858688864718, + 0.17050432559588594, + 0.0459304176281452, + 0.17035497186206158, + -0.9853566333143426, + 0.007175565852310991, + 0.04648130669720802, + 0.000761666932961392, + -0.998918869574103 + ], + [ + 0.984014563162947, + 0.16424962196335333, + 0.06882878153890683, + 0.16567758721072087, + -0.9860575304170421, + -0.015539749157508718, + 0.0653167404213424, + 0.026694725934907598, + -0.9975074511140213 + ], + [ + 0.9873427384209409, + 0.1490037445241211, + 0.054334160573511404, + 0.1501760332422756, + -0.9884926789976883, + -0.018148901002213738, + 0.05100466573807343, + 0.02607887431933506, + -0.9983578598815075 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005849.json b/json/chunk-0005/episode_0005849.json new file mode 100644 index 0000000000000000000000000000000000000000..78593dce9b1036788dd74afd13674afccd23f901 --- /dev/null +++ b/json/chunk-0005/episode_0005849.json @@ -0,0 +1,4582 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 75, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut strawberry on plate and stuffedduck in pot or pan in sink." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005849.mp4", + "start": 0, + "end": 75, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3257078528404236, + -0.08086884021759033, + 0.15124660730361938, + 0.03006519004702568, + -0.17227457463741302, + 0.017210012301802635, + 0.0, + 1.0008161067962646 + ], + [ + 0.3244943916797638, + -0.08082219213247299, + 0.13749493658542633, + 0.03792625293135643, + -0.14091210067272186, + 0.015197736211121082, + 0.0, + 1.0008161067962646 + ], + [ + 0.3251851201057434, + -0.082640141248703, + 0.1198980063199997, + 0.018127476796507835, + -0.16618458926677704, + 0.0074189347214996815, + 0.0, + 1.0008161067962646 + ], + [ + 0.32972830533981323, + -0.08375462144613266, + 0.10340845584869385, + -0.0036703962832689285, + -0.19703231751918793, + -0.0006921567255631089, + 0.0, + 1.0008161067962646 + ], + [ + 0.33478379249572754, + -0.08328859508037567, + 0.09012085944414139, + -0.0221638772636652, + -0.24529646337032318, + -0.0056437100283801556, + 0.0, + 1.0008161067962646 + ], + [ + 0.3382719159126282, + -0.08034978061914444, + 0.07518021762371063, + -0.020456748083233833, + -0.2720663249492645, + -0.014491257257759571, + 0.0, + 1.0008161067962646 + ], + [ + 0.34002137184143066, + -0.07619094103574753, + 0.0685047134757042, + -0.0019180179806426167, + -0.30675309896469116, + -0.026598485186696053, + 0.0, + 1.0008161067962646 + ], + [ + 0.3414488732814789, + -0.07022170722484589, + 0.06795345991849899, + 0.017970453947782516, + -0.31511202454566956, + -0.026304129511117935, + 0.0, + 1.0008161067962646 + ], + [ + 0.3394066393375397, + -0.0646752417087555, + 0.06495504826307297, + 0.04200791195034981, + -0.3035459518432617, + -0.02241995558142662, + 0.0, + 1.0008161067962646 + ], + [ + 0.33335450291633606, + -0.0656910389661789, + 0.05168212205171585, + 0.06096551567316055, + -0.27935051918029785, + -0.021544884890317917, + 0.0, + 1.0008161067962646 + ], + [ + 0.3303300142288208, + -0.07132383435964584, + 0.04003553465008736, + 0.04497141018509865, + -0.28562650084495544, + 0.0032400351483374834, + 0.0, + 1.0008161067962646 + ], + [ + 0.32832595705986023, + -0.07846846431493759, + 0.03248608484864235, + 0.03346145898103714, + -0.30823543667793274, + 0.016592446714639664, + 0.0, + 0.9701826572418213 + ], + [ + 0.3274882137775421, + -0.08212526142597198, + 0.03142121061682701, + 0.03922072425484657, + -0.3134312331676483, + 0.03906082361936569, + 0.0, + 0.8233373761177063 + ], + [ + 0.3268257677555084, + -0.08209669589996338, + 0.03281960263848305, + 0.059401076287031174, + -0.29093804955482483, + 0.0464421845972538, + 0.0, + 0.8417698740959167 + ], + [ + 0.32068800926208496, + -0.08170986920595169, + 0.034853048622608185, + 0.08581854403018951, + -0.23928652703762054, + 0.05154019221663475, + 0.0, + 0.8472316861152649 + ], + [ + 0.31378045678138733, + -0.08807384967803955, + 0.04975514113903046, + 0.10712417960166931, + -0.1668470948934555, + 0.045037269592285156, + 0.0, + 0.8472316861152649 + ], + [ + 0.3129921853542328, + -0.09073078632354736, + 0.07162965834140778, + 0.11638417094945908, + -0.14665202796459198, + 0.04353373125195503, + 0.0, + 0.8472316861152649 + ], + [ + 0.3097182810306549, + -0.09080648422241211, + 0.07849903404712677, + 0.12390872091054916, + -0.10235004127025604, + 0.034555062651634216, + 0.0, + 0.8472316861152649 + ], + [ + 0.3139653205871582, + -0.0882965624332428, + 0.09931382536888123, + 0.09688805043697357, + -0.10141140222549438, + -0.009200554341077805, + 0.0, + 0.8472316861152649 + ], + [ + 0.33239448070526123, + -0.06787960231304169, + 0.11223536729812622, + 0.053424686193466187, + -0.13021394610404968, + -0.06752688437700272, + 0.0, + 0.8472316861152649 + ], + [ + 0.3518610894680023, + -0.033452123403549194, + 0.111395463347435, + 0.035351693630218506, + -0.14355409145355225, + -0.135830819606781, + 0.0, + 0.8472316861152649 + ], + [ + 0.36058709025382996, + -0.006511318031698465, + 0.10318971425294876, + 0.020494934171438217, + -0.15515388548374176, + -0.16599449515342712, + 0.0, + 0.8463236093521118 + ], + [ + 0.3659040331840515, + 0.014447958208620548, + 0.10029416531324387, + 0.022051619365811348, + -0.19038476049900055, + -0.18386052548885345, + 0.0, + 0.8472316861152649 + ], + [ + 0.3574591875076294, + 0.028225010260939598, + 0.08461523056030273, + 0.022396374493837357, + -0.18026681244373322, + -0.1808750033378601, + 0.0, + 0.8472316861152649 + ], + [ + 0.34590545296669006, + 0.03866911679506302, + 0.07036004215478897, + 0.01723621040582657, + -0.16361728310585022, + -0.17463865876197815, + 0.0, + 0.8472316861152649 + ], + [ + 0.33898621797561646, + 0.04979227855801582, + 0.07183514535427094, + 0.015329514630138874, + -0.2023182064294815, + -0.17088505625724792, + 0.0, + 0.8472316861152649 + ], + [ + 0.3371870219707489, + 0.05528742074966431, + 0.06256522238254547, + 0.01572270505130291, + -0.24028076231479645, + -0.1802169233560562, + 0.0, + 0.8472316861152649 + ], + [ + 0.3407301902770996, + 0.06023414805531502, + 0.06733090430498123, + 0.02363639883697033, + -0.25257590413093567, + -0.2075110375881195, + 0.0, + 0.8472316861152649 + ], + [ + 0.3526637554168701, + 0.0622706338763237, + 0.07672789692878723, + 0.02695646695792675, + -0.28089144825935364, + -0.22406889498233795, + 0.0, + 0.7950940132141113 + ], + [ + 0.35712867975234985, + 0.06004093587398529, + 0.06521821767091751, + 0.017066864296793938, + -0.286380410194397, + -0.24494032561779022, + 0.0, + 0.8307508826255798 + ], + [ + 0.3582801818847656, + 0.05713339149951935, + 0.06549560278654099, + 0.021790748462080956, + -0.2848568856716156, + -0.23138174414634705, + 0.0, + 1.0060625076293945 + ], + [ + 0.35499832034111023, + 0.05033150687813759, + 0.06354910135269165, + 0.021424459293484688, + -0.25448817014694214, + -0.21952678263187408, + 0.0, + 1.002137303352356 + ], + [ + 0.350402295589447, + 0.04198463633656502, + 0.07266692072153091, + 0.03457743301987648, + -0.24210932850837708, + -0.21751657128334045, + 0.0, + 1.002137303352356 + ], + [ + 0.3418259620666504, + 0.03809845820069313, + 0.08071309328079224, + 0.039146631956100464, + -0.19125798344612122, + -0.21193459630012512, + 0.0, + 1.002137303352356 + ], + [ + 0.33775901794433594, + 0.037770431488752365, + 0.10497337579727173, + 0.04954969137907028, + -0.15332600474357605, + -0.21022243797779083, + 0.0, + 1.002137303352356 + ], + [ + 0.3342224061489105, + 0.036483220756053925, + 0.12551841139793396, + 0.06121028587222099, + -0.12087181955575943, + -0.20557518303394318, + 0.0, + 1.002137303352356 + ], + [ + 0.33331581950187683, + 0.035306915640830994, + 0.1409880667924881, + 0.07569379359483719, + -0.08122535049915314, + -0.2208048403263092, + 0.0, + 1.002137303352356 + ], + [ + 0.33240315318107605, + 0.0347323939204216, + 0.1408945620059967, + 0.07392323762178421, + -0.07535670697689056, + -0.22189763188362122, + 0.0, + 1.0027955770492554 + ], + [ + 0.33240315318107605, + 0.0347323939204216, + 0.1408945620059967, + 0.07392323762178421, + -0.07535670697689056, + -0.22189763188362122, + 0.0, + 1.002137303352356 + ], + [ + 0.33371761441230774, + 0.034636057913303375, + 0.14114511013031006, + 0.07285909354686737, + -0.08685491234064102, + -0.22128592431545258, + 0.0, + 1.0027955770492554 + ], + [ + 0.32258689403533936, + 0.04516923800110817, + 0.1420018970966339, + 0.06201722100377083, + -0.19453774392604828, + -0.1900499314069748, + 0.0, + 1.002137303352356 + ], + [ + 0.3193053901195526, + 0.06507682055234909, + 0.14121411740779877, + 0.09575185179710388, + -0.2697069048881531, + -0.1925322562456131, + 0.0, + 1.002137303352356 + ], + [ + 0.3190115690231323, + 0.07697442919015884, + 0.1347566694021225, + 0.1072855219244957, + -0.30703967809677124, + -0.20389048755168915, + 0.0, + 1.002137303352356 + ], + [ + 0.3202219009399414, + 0.09036141633987427, + 0.13039381802082062, + 0.13112331926822662, + -0.3486056625843048, + -0.19421052932739258, + 0.0, + 1.002137303352356 + ], + [ + 0.3184058666229248, + 0.10420799255371094, + 0.1284208446741104, + 0.16590477526187897, + -0.357876718044281, + -0.15601690113544464, + 0.0, + 1.002137303352356 + ], + [ + 0.3090590834617615, + 0.10868420451879501, + 0.11287478357553482, + 0.18383248150348663, + -0.3381180465221405, + -0.0861547663807869, + 0.0, + 1.002137303352356 + ], + [ + 0.299730509519577, + 0.10817568004131317, + 0.09498786181211472, + 0.19425594806671143, + -0.34348148107528687, + -0.019383925944566727, + 0.0, + 1.002137303352356 + ], + [ + 0.2942180335521698, + 0.1056397333741188, + 0.08359358459711075, + 0.17230655252933502, + -0.35786911845207214, + 0.015120956115424633, + 0.0, + 1.002137303352356 + ], + [ + 0.29147589206695557, + 0.10592807084321976, + 0.07279426604509354, + 0.15231953561306, + -0.4018736481666565, + 0.032904595136642456, + 0.0, + 1.002137303352356 + ], + [ + 0.29456600546836853, + 0.11396027356386185, + 0.06594853103160858, + 0.15473107993602753, + -0.43367230892181396, + 0.02788899838924408, + 0.0, + 1.002137303352356 + ], + [ + 0.2965361773967743, + 0.12527847290039062, + 0.06362263113260269, + 0.1841864287853241, + -0.45598816871643066, + 0.0024591858964413404, + 0.0, + 1.002137303352356 + ], + [ + 0.2994528114795685, + 0.13467080891132355, + 0.05970408767461777, + 0.20975275337696075, + -0.48112931847572327, + -0.010907146148383617, + 0.0, + 1.002137303352356 + ], + [ + 0.30045565962791443, + 0.13330022990703583, + 0.05104600265622139, + 0.19413043558597565, + -0.4892527461051941, + 0.0030687518883496523, + 0.0, + 1.002137303352356 + ], + [ + 0.303411602973938, + 0.13244394958019257, + 0.04487241804599762, + 0.17717495560646057, + -0.5244284272193909, + 0.032898981124162674, + 0.0, + 1.002137303352356 + ], + [ + 0.3081296980381012, + 0.13163383305072784, + 0.0408225953578949, + 0.15760213136672974, + -0.5591810941696167, + 0.06956928223371506, + 0.0, + 1.0027955770492554 + ], + [ + 0.3072909414768219, + 0.1268913596868515, + 0.03630750626325607, + 0.13180246949195862, + -0.5589878559112549, + 0.09505751729011536, + 0.0, + 0.9628177285194397 + ], + [ + 0.30686649680137634, + 0.12362262606620789, + 0.03387879207730293, + 0.1260477602481842, + -0.5586650371551514, + 0.11607542634010315, + 0.0, + 0.8233373761177063 + ], + [ + 0.300704687833786, + 0.11719661206007004, + 0.03527722507715225, + 0.11812471598386765, + -0.5313406586647034, + 0.14725996553897858, + 0.0, + 0.5383656024932861 + ], + [ + 0.29336023330688477, + 0.11065366864204407, + 0.03672827407717705, + 0.10458284616470337, + -0.47935765981674194, + 0.15723635256290436, + 0.0, + 0.3661215305328369 + ], + [ + 0.2896910309791565, + 0.10402335226535797, + 0.038911961019039154, + 0.09508385509252548, + -0.42314013838768005, + 0.17074134945869446, + 0.0, + 0.34697994589805603 + ], + [ + 0.28539934754371643, + 0.10141574591398239, + 0.040553487837314606, + 0.07971922308206558, + -0.3663853406906128, + 0.18409934639930725, + 0.0, + 0.37120094895362854 + ], + [ + 0.2744331657886505, + 0.09747764468193054, + 0.038986239582300186, + 0.07191502302885056, + -0.3018779456615448, + 0.17675639688968658, + 0.0, + 0.37120094895362854 + ], + [ + 0.2662111520767212, + 0.09902170300483704, + 0.0559411346912384, + 0.05276968330144882, + -0.28408366441726685, + 0.13045166432857513, + 0.0, + 0.37120094895362854 + ], + [ + 0.26300013065338135, + 0.11328005790710449, + 0.08252260833978653, + 0.01784193329513073, + -0.29118767380714417, + 0.07307339459657669, + 0.0, + 0.37120094895362854 + ], + [ + 0.26311439275741577, + 0.13131031394004822, + 0.10185796022415161, + 0.011394918896257877, + -0.286607563495636, + 0.0395282618701458, + 0.0, + 0.37120094895362854 + ], + [ + 0.2644138038158417, + 0.142924502491951, + 0.11088242381811142, + -0.008354670368134975, + -0.303068071603775, + 0.0033691679127514362, + 0.0, + 0.37120094895362854 + ], + [ + 0.25762882828712463, + 0.16550089418888092, + 0.09613385051488876, + -0.05849749222397804, + -0.3639308214187622, + -0.021407941356301308, + 0.0, + 0.37120094895362854 + ], + [ + 0.258231520652771, + 0.17989124357700348, + 0.07733886688947678, + -0.07424671202898026, + -0.40939339995384216, + -0.03688248246908188, + 0.0, + 0.37120094895362854 + ], + [ + 0.26224493980407715, + 0.18461593985557556, + 0.06827988475561142, + -0.06855326145887375, + -0.44710543751716614, + -0.05800275132060051, + 0.0, + 0.37120094895362854 + ], + [ + 0.2621449828147888, + 0.19048698246479034, + 0.05308520421385765, + -0.10037096589803696, + -0.4893137812614441, + -0.08149704337120056, + 0.0, + 0.37120094895362854 + ], + [ + 0.2643510699272156, + 0.19863590598106384, + 0.04798028990626335, + -0.10462115705013275, + -0.5179389119148254, + -0.10426164418458939, + 0.0, + 0.37120094895362854 + ], + [ + 0.2713279724121094, + 0.2088194638490677, + 0.04318217933177948, + -0.09697406738996506, + -0.5438655018806458, + -0.1400233507156372, + 0.0, + 0.37120094895362854 + ], + [ + 0.2772706151008606, + 0.2159300595521927, + 0.03356748819351196, + -0.10001344978809357, + -0.5797882080078125, + -0.1760033667087555, + 0.0, + 0.37120094895362854 + ], + [ + 0.2791440188884735, + 0.22255030274391174, + 0.030615078285336494, + -0.09923778474330902, + -0.5911102294921875, + -0.19630298018455505, + 0.0, + 0.4448287785053253 + ], + [ + 0.27804240584373474, + 0.22260981798171997, + 0.028636928647756577, + -0.09114312380552292, + -0.5827538371086121, + -0.19977779686450958, + 0.0, + 0.7565051317214966 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9701826572418213 + ], + [ + 0.8233373761177063 + ], + [ + 0.8417698740959167 + ], + [ + 0.8472316861152649 + ], + [ + 0.8472316861152649 + ], + [ + 0.8472316861152649 + ], + [ + 0.8472316861152649 + ], + [ + 0.8472316861152649 + ], + [ + 0.8472316861152649 + ], + [ + 0.8472316861152649 + ], + [ + 0.8463236093521118 + ], + [ + 0.8472316861152649 + ], + [ + 0.8472316861152649 + ], + [ + 0.8472316861152649 + ], + [ + 0.8472316861152649 + ], + [ + 0.8472316861152649 + ], + [ + 0.8472316861152649 + ], + [ + 0.7950940132141113 + ], + [ + 0.8307508826255798 + ], + [ + 1.0060625076293945 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.0027955770492554 + ], + [ + 1.002137303352356 + ], + [ + 1.0027955770492554 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.0027955770492554 + ], + [ + 0.9628177285194397 + ], + [ + 0.8233373761177063 + ], + [ + 0.5383656024932861 + ], + [ + 0.3661215305328369 + ], + [ + 0.34697994589805603 + ], + [ + 0.37120094895362854 + ], + [ + 0.37120094895362854 + ], + [ + 0.37120094895362854 + ], + [ + 0.37120094895362854 + ], + [ + 0.37120094895362854 + ], + [ + 0.37120094895362854 + ], + [ + 0.37120094895362854 + ], + [ + 0.37120094895362854 + ], + [ + 0.37120094895362854 + ], + [ + 0.37120094895362854 + ], + [ + 0.37120094895362854 + ], + [ + 0.37120094895362854 + ], + [ + 0.37120094895362854 + ], + [ + 0.4448287785053253 + ], + [ + 0.7565051317214966 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3257078528404236, + -0.08086884021759033, + 0.15124660730361938 + ], + [ + 0.3244943916797638, + -0.08082219213247299, + 0.13749493658542633 + ], + [ + 0.3251851201057434, + -0.082640141248703, + 0.1198980063199997 + ], + [ + 0.32972830533981323, + -0.08375462144613266, + 0.10340845584869385 + ], + [ + 0.33478379249572754, + -0.08328859508037567, + 0.09012085944414139 + ], + [ + 0.3382719159126282, + -0.08034978061914444, + 0.07518021762371063 + ], + [ + 0.34002137184143066, + -0.07619094103574753, + 0.0685047134757042 + ], + [ + 0.3414488732814789, + -0.07022170722484589, + 0.06795345991849899 + ], + [ + 0.3394066393375397, + -0.0646752417087555, + 0.06495504826307297 + ], + [ + 0.33335450291633606, + -0.0656910389661789, + 0.05168212205171585 + ], + [ + 0.3303300142288208, + -0.07132383435964584, + 0.04003553465008736 + ], + [ + 0.32832595705986023, + -0.07846846431493759, + 0.03248608484864235 + ], + [ + 0.3274882137775421, + -0.08212526142597198, + 0.03142121061682701 + ], + [ + 0.3268257677555084, + -0.08209669589996338, + 0.03281960263848305 + ], + [ + 0.32068800926208496, + -0.08170986920595169, + 0.034853048622608185 + ], + [ + 0.31378045678138733, + -0.08807384967803955, + 0.04975514113903046 + ], + [ + 0.3129921853542328, + -0.09073078632354736, + 0.07162965834140778 + ], + [ + 0.3097182810306549, + -0.09080648422241211, + 0.07849903404712677 + ], + [ + 0.3139653205871582, + -0.0882965624332428, + 0.09931382536888123 + ], + [ + 0.33239448070526123, + -0.06787960231304169, + 0.11223536729812622 + ], + [ + 0.3518610894680023, + -0.033452123403549194, + 0.111395463347435 + ], + [ + 0.36058709025382996, + -0.006511318031698465, + 0.10318971425294876 + ], + [ + 0.3659040331840515, + 0.014447958208620548, + 0.10029416531324387 + ], + [ + 0.3574591875076294, + 0.028225010260939598, + 0.08461523056030273 + ], + [ + 0.34590545296669006, + 0.03866911679506302, + 0.07036004215478897 + ], + [ + 0.33898621797561646, + 0.04979227855801582, + 0.07183514535427094 + ], + [ + 0.3371870219707489, + 0.05528742074966431, + 0.06256522238254547 + ], + [ + 0.3407301902770996, + 0.06023414805531502, + 0.06733090430498123 + ], + [ + 0.3526637554168701, + 0.0622706338763237, + 0.07672789692878723 + ], + [ + 0.35712867975234985, + 0.06004093587398529, + 0.06521821767091751 + ], + [ + 0.3582801818847656, + 0.05713339149951935, + 0.06549560278654099 + ], + [ + 0.35499832034111023, + 0.05033150687813759, + 0.06354910135269165 + ], + [ + 0.350402295589447, + 0.04198463633656502, + 0.07266692072153091 + ], + [ + 0.3418259620666504, + 0.03809845820069313, + 0.08071309328079224 + ], + [ + 0.33775901794433594, + 0.037770431488752365, + 0.10497337579727173 + ], + [ + 0.3342224061489105, + 0.036483220756053925, + 0.12551841139793396 + ], + [ + 0.33331581950187683, + 0.035306915640830994, + 0.1409880667924881 + ], + [ + 0.33240315318107605, + 0.0347323939204216, + 0.1408945620059967 + ], + [ + 0.33240315318107605, + 0.0347323939204216, + 0.1408945620059967 + ], + [ + 0.33371761441230774, + 0.034636057913303375, + 0.14114511013031006 + ], + [ + 0.32258689403533936, + 0.04516923800110817, + 0.1420018970966339 + ], + [ + 0.3193053901195526, + 0.06507682055234909, + 0.14121411740779877 + ], + [ + 0.3190115690231323, + 0.07697442919015884, + 0.1347566694021225 + ], + [ + 0.3202219009399414, + 0.09036141633987427, + 0.13039381802082062 + ], + [ + 0.3184058666229248, + 0.10420799255371094, + 0.1284208446741104 + ], + [ + 0.3090590834617615, + 0.10868420451879501, + 0.11287478357553482 + ], + [ + 0.299730509519577, + 0.10817568004131317, + 0.09498786181211472 + ], + [ + 0.2942180335521698, + 0.1056397333741188, + 0.08359358459711075 + ], + [ + 0.29147589206695557, + 0.10592807084321976, + 0.07279426604509354 + ], + [ + 0.29456600546836853, + 0.11396027356386185, + 0.06594853103160858 + ], + [ + 0.2965361773967743, + 0.12527847290039062, + 0.06362263113260269 + ], + [ + 0.2994528114795685, + 0.13467080891132355, + 0.05970408767461777 + ], + [ + 0.30045565962791443, + 0.13330022990703583, + 0.05104600265622139 + ], + [ + 0.303411602973938, + 0.13244394958019257, + 0.04487241804599762 + ], + [ + 0.3081296980381012, + 0.13163383305072784, + 0.0408225953578949 + ], + [ + 0.3072909414768219, + 0.1268913596868515, + 0.03630750626325607 + ], + [ + 0.30686649680137634, + 0.12362262606620789, + 0.03387879207730293 + ], + [ + 0.300704687833786, + 0.11719661206007004, + 0.03527722507715225 + ], + [ + 0.29336023330688477, + 0.11065366864204407, + 0.03672827407717705 + ], + [ + 0.2896910309791565, + 0.10402335226535797, + 0.038911961019039154 + ], + [ + 0.28539934754371643, + 0.10141574591398239, + 0.040553487837314606 + ], + [ + 0.2744331657886505, + 0.09747764468193054, + 0.038986239582300186 + ], + [ + 0.2662111520767212, + 0.09902170300483704, + 0.0559411346912384 + ], + [ + 0.26300013065338135, + 0.11328005790710449, + 0.08252260833978653 + ], + [ + 0.26311439275741577, + 0.13131031394004822, + 0.10185796022415161 + ], + [ + 0.2644138038158417, + 0.142924502491951, + 0.11088242381811142 + ], + [ + 0.25762882828712463, + 0.16550089418888092, + 0.09613385051488876 + ], + [ + 0.258231520652771, + 0.17989124357700348, + 0.07733886688947678 + ], + [ + 0.26224493980407715, + 0.18461593985557556, + 0.06827988475561142 + ], + [ + 0.2621449828147888, + 0.19048698246479034, + 0.05308520421385765 + ], + [ + 0.2643510699272156, + 0.19863590598106384, + 0.04798028990626335 + ], + [ + 0.2713279724121094, + 0.2088194638490677, + 0.04318217933177948 + ], + [ + 0.2772706151008606, + 0.2159300595521927, + 0.03356748819351196 + ], + [ + 0.2791440188884735, + 0.22255030274391174, + 0.030615078285336494 + ], + [ + 0.27804240584373474, + 0.22260981798171997, + 0.028636928647756577 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9850515032971823, + 0.02235373198656696, + 0.17080353192552708, + 0.01695442240187946, + -0.9993113738338447, + 0.03300493428766435, + 0.1714236955994721, + -0.029615684908290186, + -0.9847521656713596 + ], + [ + 0.989973968233093, + 0.020510930195280032, + 0.13975279590529677, + 0.015046521680573709, + -0.9990845558179555, + 0.040045630365306416, + 0.1404462331504096, + -0.0375413381296282, + -0.9893763204793704 + ], + [ + 0.986195950719851, + 0.010416061204560118, + 0.16525450811627623, + 0.0073166576192137175, + -0.9997859407014551, + 0.019353017774756617, + 0.16542071606982228, + -0.017876757107755905, + -0.9860610570599865 + ], + [ + 0.9806516137742226, + -0.0014106667560260626, + 0.1957560278032753, + -0.0006787647183025596, + -0.9999925272393861, + -0.003805882794185981, + 0.1957599337976759, + 0.003599372818886111, + -0.9806452431102903 + ], + [ + 0.9700499243155968, + -0.011024130494424661, + 0.24265533763374378, + -0.005474738612157342, + -0.9997080957017669, + -0.023531906541437216, + 0.24284392430619475, + 0.02149864961313334, + -0.9698271168060719 + ], + [ + 0.9631165510114577, + -0.01998394260646142, + 0.2683414824541602, + -0.013957746749751742, + -0.999606140785018, + -0.02434634696526261, + 0.2687223296889644, + 0.019702927264363873, + -0.9630161494927024 + ], + [ + 0.9529818365096545, + -0.027174268954670937, + 0.3018065247629107, + -0.025353852653225744, + -0.999629039074273, + -0.009948185517181646, + 0.301964901003949, + 0.001828481945481547, + -0.9533172898964176 + ], + [ + 0.9504327654283876, + -0.02072961923881637, + 0.31023836204821814, + -0.025006074113970263, + -0.9996391328580339, + 0.009813272453414991, + 0.30992298181573147, + -0.017084699150175908, + -0.9506081518677366 + ], + [ + 0.9540427576856978, + -0.009848733932939027, + 0.2995086291701579, + -0.021393180829100703, + -0.9991481103141383, + 0.03529001940634038, + 0.29890591884652, + -0.040075629696920016, + -0.9534407142465193 + ], + [ + 0.9610116379627293, + -0.004707397754497794, + 0.27646785004150654, + -0.020708089325207846, + -0.998272447108833, + 0.054984510362840196, + 0.27573140324723844, + -0.058565875300579405, + -0.9594489207423111 + ], + [ + 0.9594802827015375, + 0.01590349924983398, + 0.2813266176858993, + 0.0031087607185089055, + -0.9989426721001491, + 0.04586800043831148, + 0.28175862491461134, + -0.04313486488937245, + -0.958515237603035 + ], + [ + 0.9527392182309614, + 0.026730567055064536, + 0.30261106858403475, + 0.01580972559283966, + -0.9991342447699936, + 0.038481339693077765, + 0.3033777094997847, + -0.031878483539993396, + -0.9523369822000272 + ], + [ + 0.9505556231201931, + 0.051101249043811574, + 0.3063211871561345, + 0.037148380478791855, + -0.9979966655314763, + 0.05121184839329295, + 0.30832451278220513, + -0.037300374451432146, + -0.9505496709185685 + ], + [ + 0.9569422851553219, + 0.06335448610595383, + 0.2832802004587696, + 0.04447447016816876, + -0.9963693413106202, + 0.0725958483627083, + 0.28685097940388987, + -0.05687130020046291, + -0.9562856115348268 + ], + [ + 0.9702172557683678, + 0.07161566540099493, + 0.23140802293453547, + 0.05004950873282825, + -0.9939502652670451, + 0.09776459917154809, + 0.23700954260303594, + -0.08327104325480528, + -0.967932027608528 + ], + [ + 0.9851133579746733, + 0.06250250087202418, + 0.16014090459531471, + 0.044396837467339564, + -0.9924600604256462, + 0.11424512804851317, + 0.1660740580667604, + -0.10543465201092642, + -0.980460576154173 + ], + [ + 0.9883285769339295, + 0.06017798564197526, + 0.13994725456338186, + 0.04305283179833954, + -0.9915555014046878, + 0.12232800704761775, + 0.14612692322052656, + -0.11487513951317906, + -0.9825734703481109 + ], + [ + 0.9941729625644877, + 0.04690333348447038, + 0.09705770352627303, + 0.03436738891753815, + -0.9913044820670852, + 0.12702088967055167, + 0.10217143967244481, + -0.12294511434681878, + -0.9871400588434791 + ], + [ + 0.9948201618183232, + 0.0006356919807858647, + 0.1016486179712771, + -0.009153155232007727, + -0.9953580003790534, + 0.09580537996746777, + 0.10123766783694617, + -0.09623952918171239, + -0.9901963884168727 + ], + [ + 0.9892743567962617, + -0.06046141067335125, + 0.13296866098720742, + -0.06690433795553066, + -0.996765273938837, + 0.04452862261924617, + 0.12984628045529326, + -0.05294720473286074, + -0.9901194559056506 + ], + [ + 0.9805977077434882, + -0.13031907678456164, + 0.14644136640388242, + -0.13402063334363387, + -0.9908548248069071, + 0.015658416109072863, + 0.1430615441213601, + -0.03498077161660602, + -0.9890954151196533 + ], + [ + 0.9744073956327998, + -0.1620751629559412, + 0.15576221906774973, + -0.16324841693535092, + -0.9865706702093864, + -0.005316676659732832, + 0.15453213809498134, + -0.020247326623715513, + -0.9877802711435303 + ], + [ + 0.9653812525724418, + -0.17867962454436245, + 0.1900332311843091, + -0.17952298448666984, + -0.9836690538887986, + -0.012910866063708625, + 0.18923671742730663, + -0.021651424761474396, + -0.9816927628250786 + ], + [ + 0.9677468982268633, + -0.17589560085836456, + 0.18035154163732398, + -0.17697540801259112, + -0.9841622556022382, + -0.01021565498101136, + 0.17929206879017656, + -0.02203161924573569, + -0.9835491659405486 + ], + [ + 0.9716370587781429, + -0.17096176071911465, + 0.16338146278197985, + -0.1714317596857661, + -0.9851309052830194, + -0.011324805839388406, + 0.16288823708297973, + -0.017005170627732418, + -0.9864979707996971 + ], + [ + 0.965335117162937, + -0.166999260246848, + 0.20059750409470262, + -0.16658604339890534, + -0.9858426644869417, + -0.01906124397790756, + 0.20094079156984707, + -0.0150162563341475, + -0.9794882900417904 + ], + [ + 0.9555413002827614, + -0.17553996539423486, + 0.23691041345479127, + -0.17409355169151028, + -0.984353867265657, + -0.027182701458472344, + 0.23797533215307162, + -0.015270381414222, + -0.9711511503046779 + ], + [ + 0.9474993236320943, + -0.20018797112595488, + 0.24933874134036593, + -0.19948819740627538, + -0.9794902162062336, + -0.02834387856065195, + 0.24989896120696253, + -0.022884330288211213, + -0.9680014548619963 + ], + [ + 0.9367898465137288, + -0.21483292924380867, + 0.27617312682683176, + -0.21349037664100481, + -0.9763074129421607, + -0.03529439779720465, + 0.2772122698411211, + -0.025896871369146476, + -0.9604596344994534 + ], + [ + 0.9306400623852628, + -0.23778616287752566, + 0.27814890801068565, + -0.2326221076364203, + -0.9711795568928966, + -0.05193479866242386, + 0.2824819097258154, + -0.01637098095105028, + -0.9591329217894444 + ], + [ + 0.9341262659033103, + -0.2233082454467659, + 0.278462828515809, + -0.22008139122668838, + -0.9745235548523062, + -0.04322062324572847, + 0.28102010708357367, + -0.020910967302131843, + -0.9594740386593198 + ], + [ + 0.9445658515040285, + -0.21245404678391974, + 0.2503170593020104, + -0.21075398218672722, + -0.9769510874905397, + -0.0339017941042797, + 0.25175009665322234, + -0.020732840041546623, + -0.9675701722246843 + ], + [ + 0.9479580646430517, + -0.2075833669049788, + 0.24142214782946705, + -0.209511292073513, + -0.9776414064409613, + -0.017952685198222205, + 0.23975096698843, + -0.03356227341126162, + -0.9702541149779168 + ], + [ + 0.959799649737565, + -0.20291725973068359, + 0.19393096211548616, + -0.2065160265017446, + -0.9784417498483476, + -0.0016949783581116096, + 0.19009409028578067, + -0.03842301207732229, + -0.9810137149812573 + ], + [ + 0.9665113718811451, + -0.20102343548546986, + 0.15951597540699683, + -0.20622936270016834, + -0.9783627321552449, + 0.016607657571329603, + 0.15272595714124335, + -0.04894836785167875, + -0.9870556414407181 + ], + [ + 0.9718012541251516, + -0.1965273000262282, + 0.13030480737556607, + -0.20264090882545532, + -0.9786160653519697, + 0.03531655002152588, + 0.12057771166835109, + -0.0607257521932031, + -0.9908447903023933 + ], + [ + 0.9725045731468863, + -0.21240119517394632, + 0.09550176698403082, + -0.218292909052367, + -0.9742714006506638, + 0.05606642249733369, + 0.08113606513658389, + -0.07537221081322786, + -0.9938490673997128 + ], + [ + 0.9727131823453206, + -0.21405611987703727, + 0.08949325357157413, + -0.21945653881490795, + -0.9740411675030839, + 0.05552145153550727, + 0.07528540670687396, + -0.07364632748763733, + -0.99443869895764 + ], + [ + 0.9727131823453206, + -0.21405611987703727, + 0.08949325357157413, + -0.21945653881490795, + -0.9740411675030839, + 0.05552145153550727, + 0.07528540670687396, + -0.07364632748763733, + -0.99443869895764 + ], + [ + 0.9719384143019886, + -0.21274141881385836, + 0.10038330301998694, + -0.218657022421501, + -0.9744136197097519, + 0.052030801165290026, + 0.08674575119220079, + -0.07252024851863967, + -0.993587433598521 + ], + [ + 0.9634715679839149, + -0.17677942980471853, + 0.20117547287016735, + -0.18534458276192975, + -0.9823702822823407, + 0.024413400609516647, + 0.1933130190324051, + -0.06080840144612554, + -0.9792509458694151 + ], + [ + 0.9460398476158584, + -0.16546515257295602, + 0.27862140981441463, + -0.1844276672871526, + -0.9819011035748206, + 0.04308895841823909, + 0.2664489486974624, + -0.09214936832424722, + -0.9594339225061095 + ], + [ + 0.9334874409376533, + -0.16962334573146695, + 0.3159574626346629, + -0.19301122920287614, + -0.980208770549097, + 0.04401626449646116, + 0.3022380899444443, + -0.10207196834337452, + -0.9477517872656549 + ], + [ + 0.9221810529298121, + -0.1475130121993189, + 0.35752205085721234, + -0.18138348307642288, + -0.9813967496927585, + 0.06293212025313245, + 0.3415876720321278, + -0.12288340377924638, + -0.9317819119253704 + ], + [ + 0.9252662575662786, + -0.09610587543862728, + 0.3669414303611243, + -0.14553997102943333, + -0.9832788292423257, + 0.10945711852863971, + 0.3502862678468062, + -0.15468162356923992, + -0.9237819688042949 + ], + [ + 0.9398815789113024, + -0.024186631724353296, + 0.34064295746283657, + -0.08117622471448614, + -0.9847214833292897, + 0.15405849801574378, + 0.33171228220296667, + -0.17244885362215134, + -0.9274849619913551 + ], + [ + 0.9414110364741526, + 0.04597801475948573, + 0.33411267944128975, + -0.018250527668652365, + -0.9822672800620481, + 0.18659557540124438, + 0.3367672469888918, + -0.18176086674056724, + -0.9238781351873419 + ], + [ + 0.9365382761728354, + 0.07494679205644529, + 0.3424602686789547, + 0.014162433572792853, + -0.9841712035055663, + 0.17665352435120366, + 0.35027914973419433, + -0.1605927163692458, + -0.9227754313540412 + ], + [ + 0.9198315634950447, + 0.09183428921393647, + 0.3814136312755904, + 0.030277613295128264, + -0.9859342598705805, + 0.16436818836563497, + 0.39114340200419034, + -0.1396427532599571, + -0.9096739748561385 + ], + [ + 0.9070758712101888, + 0.09228684606138127, + 0.4107267971685309, + 0.025303998302812318, + -0.9858629322739589, + 0.1656320815484802, + 0.42020598703275025, + -0.13984783449247268, + -0.896587704382342 + ], + [ + 0.8978236119291592, + 0.08306598128396393, + 0.43244977120564, + 0.002207919614818074, + -0.9828842764745309, + 0.18421081442225926, + 0.4403497325461351, + -0.16443400442873637, + -0.8826401142221427 + ], + [ + 0.8864201320462649, + 0.0856856752091912, + 0.45488164896709976, + -0.009668697347030228, + -0.9790752311626194, + 0.2032688072860057, + 0.4627805806153649, + -0.18457967598792882, + -0.8670435268298227 + ], + [ + 0.8826801330423066, + 0.09367348762558708, + 0.460544308887294, + 0.002708734828021288, + -0.980932949701109, + 0.19432758668370648, + 0.4699664301713982, + -0.17028160765843436, + -0.8661037631861507 + ], + [ + 0.8651418786233874, + 0.12058170394552715, + 0.48681575829628737, + 0.028472559433920255, + -0.9809100256668669, + 0.19236640794460072, + 0.5007183272172868, + -0.1525633449417648, + -0.8520596120981807 + ], + [ + 0.8456392849496296, + 0.1517112792984911, + 0.5117400585096838, + 0.058925613167801864, + -0.9794297437117692, + 0.19299002369422372, + 0.5304921977396821, + -0.13304534890898548, + -0.8371839482879546 + ], + [ + 0.8439649005587783, + 0.16347293643017624, + 0.5108814399444428, + 0.08046772119501075, + -0.980236020570354, + 0.18072711424155152, + 0.5303283817320112, + -0.11141787572599093, + -0.8404390902963844 + ], + [ + 0.8422573609204609, + 0.18108314899166428, + 0.5077513477348565, + 0.09820684239158926, + -0.9776733096544299, + 0.18576952305700356, + 0.5300546708432763, + -0.10660109164833047, + -0.8412361459047097 + ], + [ + 0.8527975849755176, + 0.20477299838007332, + 0.4804209593620571, + 0.12649866313167354, + -0.9735219814447487, + 0.1904023105684114, + 0.5066896163193244, + -0.10160202152676341, + -0.856120705237206 + ], + [ + 0.8763455661414713, + 0.20328643793905588, + 0.4366841797617983, + 0.13894029157498528, + -0.9747281550594216, + 0.17493032644888729, + 0.461209327834165, + -0.09262638870487498, + -0.8824433738400732 + ], + [ + 0.8985455406389099, + 0.20756364381040399, + 0.3866952872302381, + 0.15492732415077065, + -0.9743836220768627, + 0.16301558594151414, + 0.410625663627361, + -0.08656726169009207, + -0.9076853384152836 + ], + [ + 0.9178514720358916, + 0.21052631720924106, + 0.33649271172472817, + 0.17091110520007782, + -0.9747568150304106, + 0.1436612183961211, + 0.35824303119646994, + -0.07434931952670498, + -0.9306632631006131 + ], + [ + 0.9399036167308129, + 0.19641298893921297, + 0.27929040268563127, + 0.16788604060457876, + -0.9781183212385887, + 0.12287728442443321, + 0.2973137545194558, + -0.0686038441588365, + -0.9523119467591359 + ], + [ + 0.9517626853196802, + 0.1445586145532749, + 0.2706484764256189, + 0.1248681515266773, + -0.988200029191371, + 0.08870539465265863, + 0.2802779612587865, + -0.05063110965217786, + -0.9585826804026907 + ], + [ + 0.9553472506670493, + 0.07810506166313998, + 0.28497584105588114, + 0.0699349887350121, + -0.9967986422144595, + 0.038750022323135395, + 0.28709010431142257, + -0.017089945055700544, + -0.9577511189157909 + ], + [ + 0.9584591582884852, + 0.04273415877066466, + 0.2820103430143873, + 0.03790596914106705, + -0.999026691189066, + 0.02255676828145401, + 0.28269980437984965, + -0.01092986578098571, + -0.9591461612484328 + ], + [ + 0.9544199001004022, + 0.0008756369793708387, + 0.2984658900983798, + 0.003215613069840341, + -0.9999678252403221, + -0.0073490350880434175, + 0.2984498519432081, + 0.007973816151666632, + -0.9543920075792002 + ], + [ + 0.9342907361231282, + -0.04217525155323139, + 0.35400857129584423, + -0.02000429737155006, + -0.9976152879949981, + -0.06605728760195553, + 0.35595034552753807, + 0.05463501912764858, + -0.932906408062324 + ], + [ + 0.91673856912923, + -0.06627942678954041, + 0.3939510546442824, + -0.03382693405276699, + -0.9954779895442639, + -0.0887654823988501, + 0.39805292914822543, + 0.06804858497691754, + -0.9148350975335159 + ], + [ + 0.900185981254318, + -0.08740055861049345, + 0.4266454517603279, + -0.052271896545948826, + -0.9942565437990651, + -0.09338936740457865, + 0.4323573151742552, + 0.061766232419595196, + -0.8995843954560341 + ], + [ + 0.8797260282416948, + -0.12793804575526704, + 0.4579453806759235, + -0.07185422045022387, + -0.9878306834128234, + -0.1379402476133963, + 0.4700203040694986, + 0.08844431783035953, + -0.8782132522377117 + ], + [ + 0.8641233593824216, + -0.15492553406493298, + 0.47884120401687796, + -0.09042280667107445, + -0.9837507394423477, + -0.15510705554667448, + 0.4950904319448756, + 0.09073346428594556, + -0.8640907953770294 + ], + [ + 0.8473397784998168, + -0.18852055703063408, + 0.4964627874763033, + -0.11942890628012437, + -0.9785680968610755, + -0.16775343856513447, + 0.5174476167851341, + 0.08285215375928694, + -0.8516944783787392 + ], + [ + 0.8236546858432428, + -0.22807679890860522, + 0.5192050965544089, + -0.1464816603876984, + -0.9700534841584105, + -0.19375077042993083, + 0.5478467684111429, + 0.08352970532530585, + -0.8323981659456823 + ], + [ + 0.814375606476022, + -0.24823745648470344, + 0.5245669993192632, + -0.16194996205243342, + -0.965199859795031, + -0.20533251189927895, + 0.5572832146835451, + 0.08226418327350679, + -0.8262372678488403 + ], + [ + 0.818343733060521, + -0.24672056718736898, + 0.5190785068631855, + -0.165697185174406, + -0.966102361587153, + -0.19796633491835153, + 0.5503253377647169, + 0.07599466206562971, + -0.8314847166073958 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.00121346116065979, + 4.664808511734009e-05, + -0.013751670718193054, + 0.00786106288433075, + 0.03136247396469116, + -0.002012276090681553, + 1.0 + ], + [ + 0.0006907284259796143, + -0.001817949116230011, + -0.017596930265426636, + -0.019798776134848595, + -0.025272488594055176, + -0.007778801489621401, + 1.0 + ], + [ + 0.004543185234069824, + -0.001114480197429657, + -0.016489550471305847, + -0.021797873079776764, + -0.03084772825241089, + -0.008111091330647469, + 1.0 + ], + [ + 0.005055487155914307, + 0.0004660263657569885, + -0.01328759640455246, + -0.01849348098039627, + -0.048264145851135254, + -0.0049515534192323685, + 1.0 + ], + [ + 0.0034881234169006348, + 0.0029388144612312317, + -0.014940641820430756, + 0.001707129180431366, + -0.026769861578941345, + -0.008847547695040703, + 1.0 + ], + [ + 0.0017494559288024902, + 0.004158839583396912, + -0.006675504148006439, + 0.01853873021900654, + -0.034686774015426636, + -0.012107227928936481, + 1.0 + ], + [ + 0.0014275014400482178, + 0.005969233810901642, + -0.0005512535572052002, + 0.01988847181200981, + -0.008358925580978394, + 0.00029435567557811737, + 1.0 + ], + [ + -0.002042233943939209, + 0.005546465516090393, + -0.0029984116554260254, + 0.02403745800256729, + 0.011566072702407837, + 0.0038841739296913147, + 1.0 + ], + [ + -0.006052136421203613, + -0.0010157972574234009, + -0.013272926211357117, + 0.018957603722810745, + 0.024195432662963867, + 0.0008750706911087036, + 1.0 + ], + [ + -0.003024488687515259, + -0.0056327953934669495, + -0.011646587401628494, + -0.015994105488061905, + -0.006275981664657593, + 0.02478492073714733, + 1.0 + ], + [ + -0.0020040571689605713, + -0.007144629955291748, + -0.007549449801445007, + -0.011509951204061508, + -0.022608935832977295, + 0.013352411799132824, + 0.0 + ], + [ + -0.0008377432823181152, + -0.0036567971110343933, + -0.0010648742318153381, + 0.005759265273809433, + -0.005195796489715576, + 0.02246837690472603, + 0.0 + ], + [ + -0.0006624460220336914, + 2.8565526008605957e-05, + 0.0013983920216560364, + 0.0201803520321846, + 0.022493183612823486, + 0.007381360977888107, + 0.0 + ], + [ + -0.006137758493423462, + 0.00038682669401168823, + 0.0020334459841251373, + 0.02641746774315834, + 0.051651522517204285, + 0.005098007619380951, + 0.0 + ], + [ + -0.006907552480697632, + -0.00636398047208786, + 0.014902092516422272, + 0.021305635571479797, + 0.07243943214416504, + -0.006502922624349594, + 0.0 + ], + [ + -0.000788271427154541, + -0.0026569366455078125, + 0.02187451720237732, + 0.009259991347789764, + 0.020195066928863525, + -0.001503538340330124, + 0.0 + ], + [ + -0.003273904323577881, + -7.56978988647461e-05, + 0.006869375705718994, + 0.007524549961090088, + 0.04430198669433594, + -0.008978668600320816, + 0.0 + ], + [ + 0.004247039556503296, + 0.0025099217891693115, + 0.020814791321754456, + -0.027020670473575592, + 0.0009386390447616577, + -0.04375561699271202, + 0.0 + ], + [ + 0.018429160118103027, + 0.02041696012020111, + 0.012921541929244995, + -0.043463364243507385, + -0.028802543878555298, + -0.05832633003592491, + 0.0 + ], + [ + 0.01946660876274109, + 0.03442747890949249, + -0.0008399039506912231, + -0.01807299256324768, + -0.013340145349502563, + -0.06830393522977829, + 0.0 + ], + [ + 0.008726000785827637, + 0.026940805837512016, + -0.008205749094486237, + -0.014856759458780289, + -0.011599794030189514, + -0.030163675546646118, + 0.0 + ], + [ + 0.005316942930221558, + 0.0209592767059803, + -0.002895548939704895, + 0.0015566851943731308, + -0.03523087501525879, + -0.01786603033542633, + 0.0 + ], + [ + -0.00844484567642212, + 0.01377705205231905, + -0.01567893475294113, + 0.0003447551280260086, + 0.010117948055267334, + 0.002985522150993347, + 0.0 + ], + [ + -0.011553734540939331, + 0.01044410653412342, + -0.014255188405513763, + -0.005160164088010788, + 0.016649529337882996, + 0.006236344575881958, + 0.0 + ], + [ + -0.006919234991073608, + 0.011123161762952805, + 0.0014751031994819641, + -0.0019066957756876945, + -0.03870092332363129, + 0.0037536025047302246, + 0.0 + ], + [ + -0.0017991960048675537, + 0.005495142191648483, + -0.009269922971725464, + 0.0003931904211640358, + -0.03796255588531494, + -0.009331867098808289, + 0.0 + ], + [ + 0.003543168306350708, + 0.004946727305650711, + 0.0047656819224357605, + 0.00791369378566742, + -0.012295141816139221, + -0.027294114232063293, + 0.0 + ], + [ + 0.011933565139770508, + 0.0020364858210086823, + 0.009396992623806, + 0.003320068120956421, + -0.02831554412841797, + -0.016557857394218445, + 1.0 + ], + [ + 0.004464924335479736, + -0.0022296980023384094, + -0.01150967925786972, + -0.009889602661132812, + -0.005488961935043335, + -0.02087143063545227, + 1.0 + ], + [ + 0.0011515021324157715, + -0.0029075443744659424, + 0.0002773851156234741, + 0.004723884165287018, + 0.001523524522781372, + 0.013558581471443176, + 1.0 + ], + [ + -0.0032818615436553955, + -0.00680188462138176, + -0.0019465014338493347, + -0.0003662891685962677, + 0.030368715524673462, + 0.011854961514472961, + 1.0 + ], + [ + -0.004596024751663208, + -0.00834687054157257, + 0.009117819368839264, + 0.013152973726391792, + 0.012378841638565063, + 0.0020102113485336304, + 1.0 + ], + [ + -0.00857633352279663, + -0.003886178135871887, + 0.008046172559261322, + 0.004569198936223984, + 0.05085134506225586, + 0.005581974983215332, + 1.0 + ], + [ + -0.004066944122314453, + -0.0003280267119407654, + 0.024260282516479492, + 0.010403059422969818, + 0.037931978702545166, + 0.0017121583223342896, + 1.0 + ], + [ + -0.003536611795425415, + -0.0012872107326984406, + 0.02054503560066223, + 0.011660594493150711, + 0.03245418518781662, + 0.004647254943847656, + 1.0 + ], + [ + -0.0009065866470336914, + -0.001176305115222931, + 0.015469655394554138, + 0.014483507722616196, + 0.03964646905660629, + -0.015229657292366028, + 1.0 + ], + [ + -0.0009126663208007812, + -0.0005745217204093933, + -9.350478649139404e-05, + -0.0017705559730529785, + 0.005868643522262573, + -0.0010927915573120117, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0013144612312316895, + -9.63360071182251e-05, + 0.0002505481243133545, + -0.0010641440749168396, + -0.011498205363750458, + 0.0006117075681686401, + 1.0 + ], + [ + -0.011130720376968384, + 0.010533180087804794, + 0.0008567869663238525, + -0.010841872543096542, + -0.10768283158540726, + 0.031235992908477783, + 1.0 + ], + [ + -0.003281503915786743, + 0.01990758255124092, + -0.000787779688835144, + 0.033734630793333054, + -0.0751691609621048, + -0.0024823248386383057, + 1.0 + ], + [ + -0.0002938210964202881, + 0.011897608637809753, + -0.0064574480056762695, + 0.011533670127391815, + -0.037332773208618164, + -0.01135823130607605, + 1.0 + ], + [ + 0.001210331916809082, + 0.013386987149715424, + -0.00436285138130188, + 0.023837797343730927, + -0.04156598448753357, + 0.00967995822429657, + 1.0 + ], + [ + -0.0018160343170166016, + 0.01384657621383667, + -0.001972973346710205, + 0.034781455993652344, + -0.009271055459976196, + 0.03819362819194794, + 1.0 + ], + [ + -0.00934678316116333, + 0.004476211965084076, + -0.015546061098575592, + 0.017927706241607666, + 0.019758671522140503, + 0.06986213475465775, + 1.0 + ], + [ + -0.009328573942184448, + -0.000508524477481842, + -0.017886921763420105, + 0.010423466563224792, + -0.005363434553146362, + 0.06677083671092987, + 1.0 + ], + [ + -0.0055124759674072266, + -0.0025359466671943665, + -0.011394277215003967, + -0.021949395537376404, + -0.014387637376785278, + 0.034504882991313934, + 1.0 + ], + [ + -0.0027421414852142334, + 0.00028833746910095215, + -0.010799318552017212, + -0.019987016916275024, + -0.04400452971458435, + 0.01778363808989525, + 1.0 + ], + [ + 0.003090113401412964, + 0.00803220272064209, + -0.006845735013484955, + 0.0024115443229675293, + -0.03179866075515747, + -0.0050155967473983765, + 1.0 + ], + [ + 0.0019701719284057617, + 0.011318199336528778, + -0.00232589989900589, + 0.02945534884929657, + -0.0223158597946167, + -0.02542981319129467, + 1.0 + ], + [ + 0.0029166340827941895, + 0.009392336010932922, + -0.003918543457984924, + 0.025566324591636658, + -0.025141149759292603, + -0.013366332277655602, + 1.0 + ], + [ + 0.0010028481483459473, + -0.0013705790042877197, + -0.008658085018396378, + -0.015622317790985107, + -0.008123427629470825, + 0.013975897803902626, + 1.0 + ], + [ + 0.0029559433460235596, + -0.0008562803268432617, + -0.00617358461022377, + -0.016955479979515076, + -0.03517568111419678, + 0.02983022853732109, + 1.0 + ], + [ + 0.004718095064163208, + -0.0008101165294647217, + -0.004049822688102722, + -0.019572824239730835, + -0.03475266695022583, + 0.03667030110955238, + 1.0 + ], + [ + -0.0008387565612792969, + -0.004742473363876343, + -0.0045150890946388245, + -0.025799661874771118, + 0.0001932382583618164, + 0.0254882350564003, + 0.0 + ], + [ + -0.00042444467544555664, + -0.0032687336206436157, + -0.0024287141859531403, + -0.005754709243774414, + 0.0003228187561035156, + 0.021017909049987793, + 0.0 + ], + [ + -0.006161808967590332, + -0.006426014006137848, + 0.0013984329998493195, + -0.007923044264316559, + 0.027324378490447998, + 0.031184539198875427, + 0.0 + ], + [ + -0.007344454526901245, + -0.0065429434180259705, + 0.0014510490000247955, + -0.013541869819164276, + 0.051982998847961426, + 0.009976387023925781, + 0.0 + ], + [ + -0.0036692023277282715, + -0.006630316376686096, + 0.0021836869418621063, + -0.009498991072177887, + 0.05621752142906189, + 0.0135049968957901, + 0.0 + ], + [ + -0.0042916834354400635, + -0.00260760635137558, + 0.0016415268182754517, + -0.0153646320104599, + 0.05675479769706726, + 0.013357996940612793, + 0.0 + ], + [ + -0.010966181755065918, + -0.003938101232051849, + -0.0015672482550144196, + -0.007804200053215027, + 0.064507395029068, + -0.0073429495096206665, + 0.0 + ], + [ + -0.008222013711929321, + 0.0015440583229064941, + 0.016954895108938217, + -0.019145339727401733, + 0.017794281244277954, + -0.04630473256111145, + 0.0 + ], + [ + -0.0032110214233398438, + 0.014258354902267456, + 0.026581473648548126, + -0.03492774814367294, + -0.007104009389877319, + -0.057378269731998444, + 0.0 + ], + [ + 0.00011426210403442383, + 0.018030256032943726, + 0.019335351884365082, + -0.006447014398872852, + 0.004580110311508179, + -0.03354513272643089, + 0.0 + ], + [ + 0.0012994110584259033, + 0.011614188551902771, + 0.009024463593959808, + -0.019749589264392853, + -0.016460508108139038, + -0.03615909442305565, + 0.0 + ], + [ + -0.006784975528717041, + 0.02257639169692993, + -0.014748573303222656, + -0.05014282092452049, + -0.06086274981498718, + -0.024777108803391457, + 0.0 + ], + [ + 0.0006026923656463623, + 0.014390349388122559, + -0.018794983625411987, + -0.015749219805002213, + -0.045462578535079956, + -0.015474541112780571, + 0.0 + ], + [ + 0.004013419151306152, + 0.0047246962785720825, + -0.009058982133865356, + 0.005693450570106506, + -0.037712037563323975, + -0.02112026885151863, + 0.0 + ], + [ + -9.995698928833008e-05, + 0.005871042609214783, + -0.015194680541753769, + -0.03181770443916321, + -0.042208343744277954, + -0.023494292050600052, + 0.0 + ], + [ + 0.002206087112426758, + 0.008148923516273499, + -0.005104914307594299, + -0.004250191152095795, + -0.028625130653381348, + -0.022764600813388824, + 0.0 + ], + [ + 0.006976902484893799, + 0.010183557868003845, + -0.0047981105744838715, + 0.007647089660167694, + -0.025926589965820312, + -0.03576170653104782, + 0.0 + ], + [ + 0.005942642688751221, + 0.007110595703125, + -0.009614691138267517, + -0.0030393823981285095, + -0.03592270612716675, + -0.035980015993118286, + 0.0 + ], + [ + 0.001873403787612915, + 0.006620243191719055, + -0.0029524099081754684, + 0.0007756650447845459, + -0.011322021484375, + -0.02029961347579956, + 1.0 + ], + [ + -0.0011016130447387695, + 5.951523780822754e-05, + -0.001978149637579918, + 0.008094660937786102, + 0.00835639238357544, + -0.003474816679954529, + 1.0 + ], + [ + -0.0054808855056762695, + -0.005005002021789551, + 0.002548227086663246, + -0.01802341639995575, + 0.03603440523147583, + 0.023989155888557434, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9701826572418213 + ], + [ + 0.8233373761177063 + ], + [ + 0.8417698740959167 + ], + [ + 0.8472316861152649 + ], + [ + 0.8472316861152649 + ], + [ + 0.8472316861152649 + ], + [ + 0.8472316861152649 + ], + [ + 0.8472316861152649 + ], + [ + 0.8472316861152649 + ], + [ + 0.8472316861152649 + ], + [ + 0.8463236093521118 + ], + [ + 0.8472316861152649 + ], + [ + 0.8472316861152649 + ], + [ + 0.8472316861152649 + ], + [ + 0.8472316861152649 + ], + [ + 0.8472316861152649 + ], + [ + 0.8472316861152649 + ], + [ + 0.7950940132141113 + ], + [ + 0.8307508826255798 + ], + [ + 1.0060625076293945 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.0027955770492554 + ], + [ + 1.002137303352356 + ], + [ + 1.0027955770492554 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.0027955770492554 + ], + [ + 0.9628177285194397 + ], + [ + 0.8233373761177063 + ], + [ + 0.5383656024932861 + ], + [ + 0.3661215305328369 + ], + [ + 0.34697994589805603 + ], + [ + 0.37120094895362854 + ], + [ + 0.37120094895362854 + ], + [ + 0.37120094895362854 + ], + [ + 0.37120094895362854 + ], + [ + 0.37120094895362854 + ], + [ + 0.37120094895362854 + ], + [ + 0.37120094895362854 + ], + [ + 0.37120094895362854 + ], + [ + 0.37120094895362854 + ], + [ + 0.37120094895362854 + ], + [ + 0.37120094895362854 + ], + [ + 0.37120094895362854 + ], + [ + 0.37120094895362854 + ], + [ + 0.4448287785053253 + ], + [ + 0.7565051317214966 + ], + [ + 0.9920742511749268 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3244943916797638, + -0.08082219213247299, + 0.13749493658542633 + ], + [ + 0.3251851201057434, + -0.082640141248703, + 0.1198980063199997 + ], + [ + 0.32972830533981323, + -0.08375462144613266, + 0.10340845584869385 + ], + [ + 0.33478379249572754, + -0.08328859508037567, + 0.09012085944414139 + ], + [ + 0.3382719159126282, + -0.08034978061914444, + 0.07518021762371063 + ], + [ + 0.34002137184143066, + -0.07619094103574753, + 0.0685047134757042 + ], + [ + 0.3414488732814789, + -0.07022170722484589, + 0.06795345991849899 + ], + [ + 0.3394066393375397, + -0.0646752417087555, + 0.06495504826307297 + ], + [ + 0.33335450291633606, + -0.0656910389661789, + 0.05168212205171585 + ], + [ + 0.3303300142288208, + -0.07132383435964584, + 0.04003553465008736 + ], + [ + 0.32832595705986023, + -0.07846846431493759, + 0.03248608484864235 + ], + [ + 0.3274882137775421, + -0.08212526142597198, + 0.03142121061682701 + ], + [ + 0.3268257677555084, + -0.08209669589996338, + 0.03281960263848305 + ], + [ + 0.32068800926208496, + -0.08170986920595169, + 0.034853048622608185 + ], + [ + 0.31378045678138733, + -0.08807384967803955, + 0.04975514113903046 + ], + [ + 0.3129921853542328, + -0.09073078632354736, + 0.07162965834140778 + ], + [ + 0.3097182810306549, + -0.09080648422241211, + 0.07849903404712677 + ], + [ + 0.3139653205871582, + -0.0882965624332428, + 0.09931382536888123 + ], + [ + 0.33239448070526123, + -0.06787960231304169, + 0.11223536729812622 + ], + [ + 0.3518610894680023, + -0.033452123403549194, + 0.111395463347435 + ], + [ + 0.36058709025382996, + -0.006511318031698465, + 0.10318971425294876 + ], + [ + 0.3659040331840515, + 0.014447958208620548, + 0.10029416531324387 + ], + [ + 0.3574591875076294, + 0.028225010260939598, + 0.08461523056030273 + ], + [ + 0.34590545296669006, + 0.03866911679506302, + 0.07036004215478897 + ], + [ + 0.33898621797561646, + 0.04979227855801582, + 0.07183514535427094 + ], + [ + 0.3371870219707489, + 0.05528742074966431, + 0.06256522238254547 + ], + [ + 0.3407301902770996, + 0.06023414805531502, + 0.06733090430498123 + ], + [ + 0.3526637554168701, + 0.0622706338763237, + 0.07672789692878723 + ], + [ + 0.35712867975234985, + 0.06004093587398529, + 0.06521821767091751 + ], + [ + 0.3582801818847656, + 0.05713339149951935, + 0.06549560278654099 + ], + [ + 0.35499832034111023, + 0.05033150687813759, + 0.06354910135269165 + ], + [ + 0.350402295589447, + 0.04198463633656502, + 0.07266692072153091 + ], + [ + 0.3418259620666504, + 0.03809845820069313, + 0.08071309328079224 + ], + [ + 0.33775901794433594, + 0.037770431488752365, + 0.10497337579727173 + ], + [ + 0.3342224061489105, + 0.036483220756053925, + 0.12551841139793396 + ], + [ + 0.33331581950187683, + 0.035306915640830994, + 0.1409880667924881 + ], + [ + 0.33240315318107605, + 0.0347323939204216, + 0.1408945620059967 + ], + [ + 0.33240315318107605, + 0.0347323939204216, + 0.1408945620059967 + ], + [ + 0.33371761441230774, + 0.034636057913303375, + 0.14114511013031006 + ], + [ + 0.32258689403533936, + 0.04516923800110817, + 0.1420018970966339 + ], + [ + 0.3193053901195526, + 0.06507682055234909, + 0.14121411740779877 + ], + [ + 0.3190115690231323, + 0.07697442919015884, + 0.1347566694021225 + ], + [ + 0.3202219009399414, + 0.09036141633987427, + 0.13039381802082062 + ], + [ + 0.3184058666229248, + 0.10420799255371094, + 0.1284208446741104 + ], + [ + 0.3090590834617615, + 0.10868420451879501, + 0.11287478357553482 + ], + [ + 0.299730509519577, + 0.10817568004131317, + 0.09498786181211472 + ], + [ + 0.2942180335521698, + 0.1056397333741188, + 0.08359358459711075 + ], + [ + 0.29147589206695557, + 0.10592807084321976, + 0.07279426604509354 + ], + [ + 0.29456600546836853, + 0.11396027356386185, + 0.06594853103160858 + ], + [ + 0.2965361773967743, + 0.12527847290039062, + 0.06362263113260269 + ], + [ + 0.2994528114795685, + 0.13467080891132355, + 0.05970408767461777 + ], + [ + 0.30045565962791443, + 0.13330022990703583, + 0.05104600265622139 + ], + [ + 0.303411602973938, + 0.13244394958019257, + 0.04487241804599762 + ], + [ + 0.3081296980381012, + 0.13163383305072784, + 0.0408225953578949 + ], + [ + 0.3072909414768219, + 0.1268913596868515, + 0.03630750626325607 + ], + [ + 0.30686649680137634, + 0.12362262606620789, + 0.03387879207730293 + ], + [ + 0.300704687833786, + 0.11719661206007004, + 0.03527722507715225 + ], + [ + 0.29336023330688477, + 0.11065366864204407, + 0.03672827407717705 + ], + [ + 0.2896910309791565, + 0.10402335226535797, + 0.038911961019039154 + ], + [ + 0.28539934754371643, + 0.10141574591398239, + 0.040553487837314606 + ], + [ + 0.2744331657886505, + 0.09747764468193054, + 0.038986239582300186 + ], + [ + 0.2662111520767212, + 0.09902170300483704, + 0.0559411346912384 + ], + [ + 0.26300013065338135, + 0.11328005790710449, + 0.08252260833978653 + ], + [ + 0.26311439275741577, + 0.13131031394004822, + 0.10185796022415161 + ], + [ + 0.2644138038158417, + 0.142924502491951, + 0.11088242381811142 + ], + [ + 0.25762882828712463, + 0.16550089418888092, + 0.09613385051488876 + ], + [ + 0.258231520652771, + 0.17989124357700348, + 0.07733886688947678 + ], + [ + 0.26224493980407715, + 0.18461593985557556, + 0.06827988475561142 + ], + [ + 0.2621449828147888, + 0.19048698246479034, + 0.05308520421385765 + ], + [ + 0.2643510699272156, + 0.19863590598106384, + 0.04798028990626335 + ], + [ + 0.2713279724121094, + 0.2088194638490677, + 0.04318217933177948 + ], + [ + 0.2772706151008606, + 0.2159300595521927, + 0.03356748819351196 + ], + [ + 0.2791440188884735, + 0.22255030274391174, + 0.030615078285336494 + ], + [ + 0.27804240584373474, + 0.22260981798171997, + 0.028636928647756577 + ], + [ + 0.27256152033805847, + 0.21760481595993042, + 0.031185155734419823 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.989973968233093, + 0.020510930195280032, + 0.13975279590529677, + 0.015046521680573709, + -0.9990845558179555, + 0.040045630365306416, + 0.1404462331504096, + -0.0375413381296282, + -0.9893763204793704 + ], + [ + 0.986195950719851, + 0.010416061204560118, + 0.16525450811627623, + 0.0073166576192137175, + -0.9997859407014551, + 0.019353017774756617, + 0.16542071606982228, + -0.017876757107755905, + -0.9860610570599865 + ], + [ + 0.9806516137742226, + -0.0014106667560260626, + 0.1957560278032753, + -0.0006787647183025596, + -0.9999925272393861, + -0.003805882794185981, + 0.1957599337976759, + 0.003599372818886111, + -0.9806452431102903 + ], + [ + 0.9700499243155968, + -0.011024130494424661, + 0.24265533763374378, + -0.005474738612157342, + -0.9997080957017669, + -0.023531906541437216, + 0.24284392430619475, + 0.02149864961313334, + -0.9698271168060719 + ], + [ + 0.9631165510114577, + -0.01998394260646142, + 0.2683414824541602, + -0.013957746749751742, + -0.999606140785018, + -0.02434634696526261, + 0.2687223296889644, + 0.019702927264363873, + -0.9630161494927024 + ], + [ + 0.9529818365096545, + -0.027174268954670937, + 0.3018065247629107, + -0.025353852653225744, + -0.999629039074273, + -0.009948185517181646, + 0.301964901003949, + 0.001828481945481547, + -0.9533172898964176 + ], + [ + 0.9504327654283876, + -0.02072961923881637, + 0.31023836204821814, + -0.025006074113970263, + -0.9996391328580339, + 0.009813272453414991, + 0.30992298181573147, + -0.017084699150175908, + -0.9506081518677366 + ], + [ + 0.9540427576856978, + -0.009848733932939027, + 0.2995086291701579, + -0.021393180829100703, + -0.9991481103141383, + 0.03529001940634038, + 0.29890591884652, + -0.040075629696920016, + -0.9534407142465193 + ], + [ + 0.9610116379627293, + -0.004707397754497794, + 0.27646785004150654, + -0.020708089325207846, + -0.998272447108833, + 0.054984510362840196, + 0.27573140324723844, + -0.058565875300579405, + -0.9594489207423111 + ], + [ + 0.9594802827015375, + 0.01590349924983398, + 0.2813266176858993, + 0.0031087607185089055, + -0.9989426721001491, + 0.04586800043831148, + 0.28175862491461134, + -0.04313486488937245, + -0.958515237603035 + ], + [ + 0.9527392182309614, + 0.026730567055064536, + 0.30261106858403475, + 0.01580972559283966, + -0.9991342447699936, + 0.038481339693077765, + 0.3033777094997847, + -0.031878483539993396, + -0.9523369822000272 + ], + [ + 0.9505556231201931, + 0.051101249043811574, + 0.3063211871561345, + 0.037148380478791855, + -0.9979966655314763, + 0.05121184839329295, + 0.30832451278220513, + -0.037300374451432146, + -0.9505496709185685 + ], + [ + 0.9569422851553219, + 0.06335448610595383, + 0.2832802004587696, + 0.04447447016816876, + -0.9963693413106202, + 0.0725958483627083, + 0.28685097940388987, + -0.05687130020046291, + -0.9562856115348268 + ], + [ + 0.9702172557683678, + 0.07161566540099493, + 0.23140802293453547, + 0.05004950873282825, + -0.9939502652670451, + 0.09776459917154809, + 0.23700954260303594, + -0.08327104325480528, + -0.967932027608528 + ], + [ + 0.9851133579746733, + 0.06250250087202418, + 0.16014090459531471, + 0.044396837467339564, + -0.9924600604256462, + 0.11424512804851317, + 0.1660740580667604, + -0.10543465201092642, + -0.980460576154173 + ], + [ + 0.9883285769339295, + 0.06017798564197526, + 0.13994725456338186, + 0.04305283179833954, + -0.9915555014046878, + 0.12232800704761775, + 0.14612692322052656, + -0.11487513951317906, + -0.9825734703481109 + ], + [ + 0.9941729625644877, + 0.04690333348447038, + 0.09705770352627303, + 0.03436738891753815, + -0.9913044820670852, + 0.12702088967055167, + 0.10217143967244481, + -0.12294511434681878, + -0.9871400588434791 + ], + [ + 0.9948201618183232, + 0.0006356919807858647, + 0.1016486179712771, + -0.009153155232007727, + -0.9953580003790534, + 0.09580537996746777, + 0.10123766783694617, + -0.09623952918171239, + -0.9901963884168727 + ], + [ + 0.9892743567962617, + -0.06046141067335125, + 0.13296866098720742, + -0.06690433795553066, + -0.996765273938837, + 0.04452862261924617, + 0.12984628045529326, + -0.05294720473286074, + -0.9901194559056506 + ], + [ + 0.9805977077434882, + -0.13031907678456164, + 0.14644136640388242, + -0.13402063334363387, + -0.9908548248069071, + 0.015658416109072863, + 0.1430615441213601, + -0.03498077161660602, + -0.9890954151196533 + ], + [ + 0.9744073956327998, + -0.1620751629559412, + 0.15576221906774973, + -0.16324841693535092, + -0.9865706702093864, + -0.005316676659732832, + 0.15453213809498134, + -0.020247326623715513, + -0.9877802711435303 + ], + [ + 0.9653812525724418, + -0.17867962454436245, + 0.1900332311843091, + -0.17952298448666984, + -0.9836690538887986, + -0.012910866063708625, + 0.18923671742730663, + -0.021651424761474396, + -0.9816927628250786 + ], + [ + 0.9677468982268633, + -0.17589560085836456, + 0.18035154163732398, + -0.17697540801259112, + -0.9841622556022382, + -0.01021565498101136, + 0.17929206879017656, + -0.02203161924573569, + -0.9835491659405486 + ], + [ + 0.9716370587781429, + -0.17096176071911465, + 0.16338146278197985, + -0.1714317596857661, + -0.9851309052830194, + -0.011324805839388406, + 0.16288823708297973, + -0.017005170627732418, + -0.9864979707996971 + ], + [ + 0.965335117162937, + -0.166999260246848, + 0.20059750409470262, + -0.16658604339890534, + -0.9858426644869417, + -0.01906124397790756, + 0.20094079156984707, + -0.0150162563341475, + -0.9794882900417904 + ], + [ + 0.9555413002827614, + -0.17553996539423486, + 0.23691041345479127, + -0.17409355169151028, + -0.984353867265657, + -0.027182701458472344, + 0.23797533215307162, + -0.015270381414222, + -0.9711511503046779 + ], + [ + 0.9474993236320943, + -0.20018797112595488, + 0.24933874134036593, + -0.19948819740627538, + -0.9794902162062336, + -0.02834387856065195, + 0.24989896120696253, + -0.022884330288211213, + -0.9680014548619963 + ], + [ + 0.9367898465137288, + -0.21483292924380867, + 0.27617312682683176, + -0.21349037664100481, + -0.9763074129421607, + -0.03529439779720465, + 0.2772122698411211, + -0.025896871369146476, + -0.9604596344994534 + ], + [ + 0.9306400623852628, + -0.23778616287752566, + 0.27814890801068565, + -0.2326221076364203, + -0.9711795568928966, + -0.05193479866242386, + 0.2824819097258154, + -0.01637098095105028, + -0.9591329217894444 + ], + [ + 0.9341262659033103, + -0.2233082454467659, + 0.278462828515809, + -0.22008139122668838, + -0.9745235548523062, + -0.04322062324572847, + 0.28102010708357367, + -0.020910967302131843, + -0.9594740386593198 + ], + [ + 0.9445658515040285, + -0.21245404678391974, + 0.2503170593020104, + -0.21075398218672722, + -0.9769510874905397, + -0.0339017941042797, + 0.25175009665322234, + -0.020732840041546623, + -0.9675701722246843 + ], + [ + 0.9479580646430517, + -0.2075833669049788, + 0.24142214782946705, + -0.209511292073513, + -0.9776414064409613, + -0.017952685198222205, + 0.23975096698843, + -0.03356227341126162, + -0.9702541149779168 + ], + [ + 0.959799649737565, + -0.20291725973068359, + 0.19393096211548616, + -0.2065160265017446, + -0.9784417498483476, + -0.0016949783581116096, + 0.19009409028578067, + -0.03842301207732229, + -0.9810137149812573 + ], + [ + 0.9665113718811451, + -0.20102343548546986, + 0.15951597540699683, + -0.20622936270016834, + -0.9783627321552449, + 0.016607657571329603, + 0.15272595714124335, + -0.04894836785167875, + -0.9870556414407181 + ], + [ + 0.9718012541251516, + -0.1965273000262282, + 0.13030480737556607, + -0.20264090882545532, + -0.9786160653519697, + 0.03531655002152588, + 0.12057771166835109, + -0.0607257521932031, + -0.9908447903023933 + ], + [ + 0.9725045731468863, + -0.21240119517394632, + 0.09550176698403082, + -0.218292909052367, + -0.9742714006506638, + 0.05606642249733369, + 0.08113606513658389, + -0.07537221081322786, + -0.9938490673997128 + ], + [ + 0.9727131823453206, + -0.21405611987703727, + 0.08949325357157413, + -0.21945653881490795, + -0.9740411675030839, + 0.05552145153550727, + 0.07528540670687396, + -0.07364632748763733, + -0.99443869895764 + ], + [ + 0.9727131823453206, + -0.21405611987703727, + 0.08949325357157413, + -0.21945653881490795, + -0.9740411675030839, + 0.05552145153550727, + 0.07528540670687396, + -0.07364632748763733, + -0.99443869895764 + ], + [ + 0.9719384143019886, + -0.21274141881385836, + 0.10038330301998694, + -0.218657022421501, + -0.9744136197097519, + 0.052030801165290026, + 0.08674575119220079, + -0.07252024851863967, + -0.993587433598521 + ], + [ + 0.9634715679839149, + -0.17677942980471853, + 0.20117547287016735, + -0.18534458276192975, + -0.9823702822823407, + 0.024413400609516647, + 0.1933130190324051, + -0.06080840144612554, + -0.9792509458694151 + ], + [ + 0.9460398476158584, + -0.16546515257295602, + 0.27862140981441463, + -0.1844276672871526, + -0.9819011035748206, + 0.04308895841823909, + 0.2664489486974624, + -0.09214936832424722, + -0.9594339225061095 + ], + [ + 0.9334874409376533, + -0.16962334573146695, + 0.3159574626346629, + -0.19301122920287614, + -0.980208770549097, + 0.04401626449646116, + 0.3022380899444443, + -0.10207196834337452, + -0.9477517872656549 + ], + [ + 0.9221810529298121, + -0.1475130121993189, + 0.35752205085721234, + -0.18138348307642288, + -0.9813967496927585, + 0.06293212025313245, + 0.3415876720321278, + -0.12288340377924638, + -0.9317819119253704 + ], + [ + 0.9252662575662786, + -0.09610587543862728, + 0.3669414303611243, + -0.14553997102943333, + -0.9832788292423257, + 0.10945711852863971, + 0.3502862678468062, + -0.15468162356923992, + -0.9237819688042949 + ], + [ + 0.9398815789113024, + -0.024186631724353296, + 0.34064295746283657, + -0.08117622471448614, + -0.9847214833292897, + 0.15405849801574378, + 0.33171228220296667, + -0.17244885362215134, + -0.9274849619913551 + ], + [ + 0.9414110364741526, + 0.04597801475948573, + 0.33411267944128975, + -0.018250527668652365, + -0.9822672800620481, + 0.18659557540124438, + 0.3367672469888918, + -0.18176086674056724, + -0.9238781351873419 + ], + [ + 0.9365382761728354, + 0.07494679205644529, + 0.3424602686789547, + 0.014162433572792853, + -0.9841712035055663, + 0.17665352435120366, + 0.35027914973419433, + -0.1605927163692458, + -0.9227754313540412 + ], + [ + 0.9198315634950447, + 0.09183428921393647, + 0.3814136312755904, + 0.030277613295128264, + -0.9859342598705805, + 0.16436818836563497, + 0.39114340200419034, + -0.1396427532599571, + -0.9096739748561385 + ], + [ + 0.9070758712101888, + 0.09228684606138127, + 0.4107267971685309, + 0.025303998302812318, + -0.9858629322739589, + 0.1656320815484802, + 0.42020598703275025, + -0.13984783449247268, + -0.896587704382342 + ], + [ + 0.8978236119291592, + 0.08306598128396393, + 0.43244977120564, + 0.002207919614818074, + -0.9828842764745309, + 0.18421081442225926, + 0.4403497325461351, + -0.16443400442873637, + -0.8826401142221427 + ], + [ + 0.8864201320462649, + 0.0856856752091912, + 0.45488164896709976, + -0.009668697347030228, + -0.9790752311626194, + 0.2032688072860057, + 0.4627805806153649, + -0.18457967598792882, + -0.8670435268298227 + ], + [ + 0.8826801330423066, + 0.09367348762558708, + 0.460544308887294, + 0.002708734828021288, + -0.980932949701109, + 0.19432758668370648, + 0.4699664301713982, + -0.17028160765843436, + -0.8661037631861507 + ], + [ + 0.8651418786233874, + 0.12058170394552715, + 0.48681575829628737, + 0.028472559433920255, + -0.9809100256668669, + 0.19236640794460072, + 0.5007183272172868, + -0.1525633449417648, + -0.8520596120981807 + ], + [ + 0.8456392849496296, + 0.1517112792984911, + 0.5117400585096838, + 0.058925613167801864, + -0.9794297437117692, + 0.19299002369422372, + 0.5304921977396821, + -0.13304534890898548, + -0.8371839482879546 + ], + [ + 0.8439649005587783, + 0.16347293643017624, + 0.5108814399444428, + 0.08046772119501075, + -0.980236020570354, + 0.18072711424155152, + 0.5303283817320112, + -0.11141787572599093, + -0.8404390902963844 + ], + [ + 0.8422573609204609, + 0.18108314899166428, + 0.5077513477348565, + 0.09820684239158926, + -0.9776733096544299, + 0.18576952305700356, + 0.5300546708432763, + -0.10660109164833047, + -0.8412361459047097 + ], + [ + 0.8527975849755176, + 0.20477299838007332, + 0.4804209593620571, + 0.12649866313167354, + -0.9735219814447487, + 0.1904023105684114, + 0.5066896163193244, + -0.10160202152676341, + -0.856120705237206 + ], + [ + 0.8763455661414713, + 0.20328643793905588, + 0.4366841797617983, + 0.13894029157498528, + -0.9747281550594216, + 0.17493032644888729, + 0.461209327834165, + -0.09262638870487498, + -0.8824433738400732 + ], + [ + 0.8985455406389099, + 0.20756364381040399, + 0.3866952872302381, + 0.15492732415077065, + -0.9743836220768627, + 0.16301558594151414, + 0.410625663627361, + -0.08656726169009207, + -0.9076853384152836 + ], + [ + 0.9178514720358916, + 0.21052631720924106, + 0.33649271172472817, + 0.17091110520007782, + -0.9747568150304106, + 0.1436612183961211, + 0.35824303119646994, + -0.07434931952670498, + -0.9306632631006131 + ], + [ + 0.9399036167308129, + 0.19641298893921297, + 0.27929040268563127, + 0.16788604060457876, + -0.9781183212385887, + 0.12287728442443321, + 0.2973137545194558, + -0.0686038441588365, + -0.9523119467591359 + ], + [ + 0.9517626853196802, + 0.1445586145532749, + 0.2706484764256189, + 0.1248681515266773, + -0.988200029191371, + 0.08870539465265863, + 0.2802779612587865, + -0.05063110965217786, + -0.9585826804026907 + ], + [ + 0.9553472506670493, + 0.07810506166313998, + 0.28497584105588114, + 0.0699349887350121, + -0.9967986422144595, + 0.038750022323135395, + 0.28709010431142257, + -0.017089945055700544, + -0.9577511189157909 + ], + [ + 0.9584591582884852, + 0.04273415877066466, + 0.2820103430143873, + 0.03790596914106705, + -0.999026691189066, + 0.02255676828145401, + 0.28269980437984965, + -0.01092986578098571, + -0.9591461612484328 + ], + [ + 0.9544199001004022, + 0.0008756369793708387, + 0.2984658900983798, + 0.003215613069840341, + -0.9999678252403221, + -0.0073490350880434175, + 0.2984498519432081, + 0.007973816151666632, + -0.9543920075792002 + ], + [ + 0.9342907361231282, + -0.04217525155323139, + 0.35400857129584423, + -0.02000429737155006, + -0.9976152879949981, + -0.06605728760195553, + 0.35595034552753807, + 0.05463501912764858, + -0.932906408062324 + ], + [ + 0.91673856912923, + -0.06627942678954041, + 0.3939510546442824, + -0.03382693405276699, + -0.9954779895442639, + -0.0887654823988501, + 0.39805292914822543, + 0.06804858497691754, + -0.9148350975335159 + ], + [ + 0.900185981254318, + -0.08740055861049345, + 0.4266454517603279, + -0.052271896545948826, + -0.9942565437990651, + -0.09338936740457865, + 0.4323573151742552, + 0.061766232419595196, + -0.8995843954560341 + ], + [ + 0.8797260282416948, + -0.12793804575526704, + 0.4579453806759235, + -0.07185422045022387, + -0.9878306834128234, + -0.1379402476133963, + 0.4700203040694986, + 0.08844431783035953, + -0.8782132522377117 + ], + [ + 0.8641233593824216, + -0.15492553406493298, + 0.47884120401687796, + -0.09042280667107445, + -0.9837507394423477, + -0.15510705554667448, + 0.4950904319448756, + 0.09073346428594556, + -0.8640907953770294 + ], + [ + 0.8473397784998168, + -0.18852055703063408, + 0.4964627874763033, + -0.11942890628012437, + -0.9785680968610755, + -0.16775343856513447, + 0.5174476167851341, + 0.08285215375928694, + -0.8516944783787392 + ], + [ + 0.8236546858432428, + -0.22807679890860522, + 0.5192050965544089, + -0.1464816603876984, + -0.9700534841584105, + -0.19375077042993083, + 0.5478467684111429, + 0.08352970532530585, + -0.8323981659456823 + ], + [ + 0.814375606476022, + -0.24823745648470344, + 0.5245669993192632, + -0.16194996205243342, + -0.965199859795031, + -0.20533251189927895, + 0.5572832146835451, + 0.08226418327350679, + -0.8262372678488403 + ], + [ + 0.818343733060521, + -0.24672056718736898, + 0.5190785068631855, + -0.165697185174406, + -0.966102361587153, + -0.19796633491835153, + 0.5503253377647169, + 0.07599466206562971, + -0.8314847166073958 + ], + [ + 0.8410699674599308, + -0.2296124020242326, + 0.4897749020454327, + -0.14939255131309592, + -0.9688221491672414, + -0.19764996558343106, + 0.5198876565654498, + 0.09306872793602394, + -0.8491495960260803 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005850.json b/json/chunk-0005/episode_0005850.json new file mode 100644 index 0000000000000000000000000000000000000000..d81b9a53c1e3f0707e1b18dfcbd1c5bf805bd310 --- /dev/null +++ b/json/chunk-0005/episode_0005850.json @@ -0,0 +1,982 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 15, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nEnd effector reaching banana." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005850.mp4", + "start": 0, + "end": 15, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.34410297870635986, + -0.018516305834054947, + 0.14667561650276184, + 0.05835826322436333, + -0.2525472044944763, + -0.1572224199771881, + 0.0, + 1.0001531839370728 + ], + [ + 0.3390476703643799, + -0.018154241144657135, + 0.1340050846338272, + 0.05229051038622856, + -0.21032856404781342, + -0.14533084630966187, + 0.0, + 1.0001531839370728 + ], + [ + 0.3230791687965393, + -0.0461139939725399, + 0.12181796878576279, + 0.024052759632468224, + -0.1682719588279724, + -0.08442462235689163, + 0.0, + 1.0001531839370728 + ], + [ + 0.30348026752471924, + -0.08042685687541962, + 0.12867848575115204, + 0.03595942631363869, + -0.1758730113506317, + -0.041568148881196976, + 0.0, + 1.0001531839370728 + ], + [ + 0.28702062368392944, + -0.10241378843784332, + 0.12571321427822113, + 0.06121132895350456, + -0.18281957507133484, + -0.00016292832151520997, + 0.0, + 1.0001531839370728 + ], + [ + 0.26948097348213196, + -0.12375897169113159, + 0.11608218401670456, + 0.08575354516506195, + -0.2220621258020401, + 0.03388519957661629, + 0.0, + 1.0001531839370728 + ], + [ + 0.25139662623405457, + -0.1448010951280594, + 0.09850797802209854, + 0.09087668359279633, + -0.272663950920105, + 0.04093122482299805, + 0.0, + 1.0001531839370728 + ], + [ + 0.2446700632572174, + -0.15551672875881195, + 0.08886898308992386, + 0.08209607750177383, + -0.3317030370235443, + 0.046333346515893936, + 0.0, + 1.0001531839370728 + ], + [ + 0.24485883116722107, + -0.15914402902126312, + 0.07838273793458939, + 0.07145097106695175, + -0.3625715970993042, + 0.04993787407875061, + 0.0, + 1.0001531839370728 + ], + [ + 0.2483864277601242, + -0.15984466671943665, + 0.07146943360567093, + 0.06070813536643982, + -0.3898088037967682, + 0.04400131478905678, + 0.0, + 1.0001531839370728 + ], + [ + 0.2537496089935303, + -0.1532757580280304, + 0.061552636325359344, + 0.04762257635593414, + -0.40427497029304504, + 0.04173646867275238, + 0.0, + 1.0001531839370728 + ], + [ + 0.2551445960998535, + -0.14589250087738037, + 0.04517748951911926, + 0.039178673177957535, + -0.423456609249115, + 0.024067703634500504, + 0.0, + 1.0001531839370728 + ], + [ + 0.25533556938171387, + -0.14596042037010193, + 0.03163205832242966, + 0.00562022952362895, + -0.45774734020233154, + 0.034426622092723846, + 0.0, + 1.0001531839370728 + ], + [ + 0.25414523482322693, + -0.14363878965377808, + 0.02173580415546894, + -0.006607291754335165, + -0.4732730984687805, + 0.04124035686254501, + 0.0, + 1.0008161067962646 + ], + [ + 0.2584376931190491, + -0.14562195539474487, + 0.018811669200658798, + -0.0305482130497694, + -0.4846839904785156, + 0.03081207163631916, + 0.0, + 1.0001531839370728 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.34410297870635986, + -0.018516305834054947, + 0.14667561650276184 + ], + [ + 0.3390476703643799, + -0.018154241144657135, + 0.1340050846338272 + ], + [ + 0.3230791687965393, + -0.0461139939725399, + 0.12181796878576279 + ], + [ + 0.30348026752471924, + -0.08042685687541962, + 0.12867848575115204 + ], + [ + 0.28702062368392944, + -0.10241378843784332, + 0.12571321427822113 + ], + [ + 0.26948097348213196, + -0.12375897169113159, + 0.11608218401670456 + ], + [ + 0.25139662623405457, + -0.1448010951280594, + 0.09850797802209854 + ], + [ + 0.2446700632572174, + -0.15551672875881195, + 0.08886898308992386 + ], + [ + 0.24485883116722107, + -0.15914402902126312, + 0.07838273793458939 + ], + [ + 0.2483864277601242, + -0.15984466671943665, + 0.07146943360567093 + ], + [ + 0.2537496089935303, + -0.1532757580280304, + 0.061552636325359344 + ], + [ + 0.2551445960998535, + -0.14589250087738037, + 0.04517748951911926 + ], + [ + 0.25533556938171387, + -0.14596042037010193, + 0.03163205832242966 + ], + [ + 0.25414523482322693, + -0.14363878965377808, + 0.02173580415546894 + ], + [ + 0.2584376931190491, + -0.14562195539474487, + 0.018811669200658798 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9563363302122972, + -0.14191492584206278, + 0.2555014233606493, + -0.15160877577978826, + -0.9882665259169154, + 0.018548661910349068, + 0.24987117205197926, + -0.05647501726739329, + -0.9666307308388337 + ], + [ + 0.9676527361027927, + -0.1338245852613419, + 0.21386716132311817, + -0.14162831101751933, + -0.9896859362822398, + 0.021521362491048163, + 0.2087812343844715, + -0.051114850139427334, + -0.9766256541091474 + ], + [ + 0.9823643129686316, + -0.08028638048801266, + 0.1688622329409441, + -0.08313334148511091, + -0.9964897880788036, + 0.009846308352887701, + 0.16747896625901282, + -0.023710743615379684, + -0.9855904811320052 + ], + [ + 0.9837236595009774, + -0.03524436389464808, + 0.17619760654352395, + -0.04091514015812649, + -0.9987516611549851, + 0.028654330318442153, + 0.17496774858197645, + -0.03539709244866243, + -0.9839376671325958 + ], + [ + 0.9833349823052238, + 0.010958824455196225, + 0.18147235806410192, + -0.00016021311957183267, + -0.9981289702279651, + 0.06114354523102556, + 0.18180287925811775, + -0.060153661220430664, + -0.9814933775299943 + ], + [ + 0.9748854048880908, + 0.05260675415173549, + 0.21640465973218312, + 0.03304683567718651, + -0.9951144120077531, + 0.09303340080954094, + 0.22024158096941668, + -0.08354541538637845, + -0.9718610032201155 + ], + [ + 0.9622502946060162, + 0.06516970499337524, + 0.2642485195449761, + 0.039408093251854896, + -0.9940393974058577, + 0.10164978401970462, + 0.26929792557108245, + -0.08739900431970565, + -0.9590829168153481 + ], + [ + 0.9444744180602401, + 0.07283698692697317, + 0.32041043516897366, + 0.04379200222348072, + -0.994325542963245, + 0.09694831175480591, + 0.32565370283635625, + -0.0775337858371969, + -0.9423047160461006 + ], + [ + 0.9338222327112399, + 0.07507884966891704, + 0.34977021603702496, + 0.04667190017969057, + -0.9949410750350028, + 0.08896061455391373, + 0.3546798153656505, + -0.06674895909739091, + -0.9326021686826612 + ], + [ + 0.9240864421661124, + 0.06693939595167128, + 0.3762756498557961, + 0.04068728025137054, + -0.9961775578736418, + 0.07729694958181492, + 0.3800115690745779, + -0.056119430311903376, + -0.9232777571841232 + ], + [ + 0.9185871911903626, + 0.06038611053794021, + 0.390577892148416, + 0.0383608621302744, + -0.9972151028143891, + 0.06395688372262347, + 0.3933522803259466, + -0.04376706950421475, + -0.9183454835678079 + ], + [ + 0.9114099868812999, + 0.04013720636337574, + 0.40953734930818286, + 0.021939781855468965, + -0.998555891787711, + 0.04903852514282811, + 0.4109142024622211, + -0.03570904145161474, + -0.9109744137863828 + ], + [ + 0.8965187511853122, + 0.03690153324506091, + 0.44146619985825863, + 0.030876311332251806, + -0.9993061888599365, + 0.020827729226751496, + 0.4419284808333156, + -0.005041601966903385, + -0.8970361197175759 + ], + [ + 0.8893243705885452, + 0.038218733341086775, + 0.4556769604655155, + 0.036696861039397344, + -0.9992520915456213, + 0.012190075125135393, + 0.4558020450449331, + 0.005880983208969866, + -0.8900617449196166 + ], + [ + 0.884402246514997, + 0.01656850016562273, + 0.4664312930770066, + 0.027258892304183893, + -0.9994974263607563, + -0.016181702276752717, + 0.4659287704677353, + 0.0270255342312843, + -0.8844094082210672 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0050553083419799805, + 0.0003620646893978119, + -0.012670531868934631, + -0.006067752838134766, + 0.0422186404466629, + 0.011891573667526245, + 1.0 + ], + [ + -0.015968501567840576, + -0.027959752827882767, + -0.012187115848064423, + -0.028237750753760338, + 0.042056605219841, + 0.06090622395277023, + 1.0 + ], + [ + -0.01959890127182007, + -0.034312862902879715, + 0.006860516965389252, + 0.011906666681170464, + -0.007601052522659302, + 0.042856473475694656, + 1.0 + ], + [ + -0.016459643840789795, + -0.021986931562423706, + -0.002965271472930908, + 0.025251902639865875, + -0.006946563720703125, + 0.041405219584703445, + 1.0 + ], + [ + -0.017539650201797485, + -0.02134518325328827, + -0.009631030261516571, + 0.02454221621155739, + -0.03924255073070526, + 0.03404812887310982, + 1.0 + ], + [ + -0.018084347248077393, + -0.021042123436927795, + -0.017574205994606018, + 0.005123138427734375, + -0.05060182511806488, + 0.00704602524638176, + 1.0 + ], + [ + -0.006726562976837158, + -0.010715633630752563, + -0.009638994932174683, + -0.008780606091022491, + -0.05903908610343933, + 0.005402121692895889, + 1.0 + ], + [ + 0.0001887679100036621, + -0.003627300262451172, + -0.010486245155334473, + -0.010645106434822083, + -0.030868560075759888, + 0.003604527562856674, + 1.0 + ], + [ + 0.003527596592903137, + -0.000700637698173523, + -0.006913304328918457, + -0.010742835700511932, + -0.02723720669746399, + -0.005936559289693832, + 1.0 + ], + [ + 0.005363181233406067, + 0.00656890869140625, + -0.009916797280311584, + -0.013085559010505676, + -0.014466166496276855, + -0.0022648461163043976, + 1.0 + ], + [ + 0.0013949871063232422, + 0.007383257150650024, + -0.016375146806240082, + -0.008443903177976608, + -0.019181638956069946, + -0.017668765038251877, + 1.0 + ], + [ + 0.00019097328186035156, + -6.791949272155762e-05, + -0.013545431196689606, + -0.0335584431886673, + -0.03429073095321655, + 0.010358918458223343, + 1.0 + ], + [ + -0.0011903345584869385, + 0.0023216307163238525, + -0.009896254166960716, + -0.012227521277964115, + -0.015525758266448975, + 0.006813734769821167, + 1.0 + ], + [ + 0.0042924582958221436, + -0.001983165740966797, + -0.0029241349548101425, + -0.02394092082977295, + -0.011410892009735107, + -0.010428285226225853, + 1.0 + ], + [ + 0.0010640621185302734, + -0.0011338591575622559, + -0.0018140636384487152, + -0.006700640544295311, + -0.0025389492511749268, + 0.011839354410767555, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3390476703643799, + -0.018154241144657135, + 0.1340050846338272 + ], + [ + 0.3230791687965393, + -0.0461139939725399, + 0.12181796878576279 + ], + [ + 0.30348026752471924, + -0.08042685687541962, + 0.12867848575115204 + ], + [ + 0.28702062368392944, + -0.10241378843784332, + 0.12571321427822113 + ], + [ + 0.26948097348213196, + -0.12375897169113159, + 0.11608218401670456 + ], + [ + 0.25139662623405457, + -0.1448010951280594, + 0.09850797802209854 + ], + [ + 0.2446700632572174, + -0.15551672875881195, + 0.08886898308992386 + ], + [ + 0.24485883116722107, + -0.15914402902126312, + 0.07838273793458939 + ], + [ + 0.2483864277601242, + -0.15984466671943665, + 0.07146943360567093 + ], + [ + 0.2537496089935303, + -0.1532757580280304, + 0.061552636325359344 + ], + [ + 0.2551445960998535, + -0.14589250087738037, + 0.04517748951911926 + ], + [ + 0.25533556938171387, + -0.14596042037010193, + 0.03163205832242966 + ], + [ + 0.25414523482322693, + -0.14363878965377808, + 0.02173580415546894 + ], + [ + 0.2584376931190491, + -0.14562195539474487, + 0.018811669200658798 + ], + [ + 0.25950175523757935, + -0.14675581455230713, + 0.016997605562210083 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9676527361027927, + -0.1338245852613419, + 0.21386716132311817, + -0.14162831101751933, + -0.9896859362822398, + 0.021521362491048163, + 0.2087812343844715, + -0.051114850139427334, + -0.9766256541091474 + ], + [ + 0.9823643129686316, + -0.08028638048801266, + 0.1688622329409441, + -0.08313334148511091, + -0.9964897880788036, + 0.009846308352887701, + 0.16747896625901282, + -0.023710743615379684, + -0.9855904811320052 + ], + [ + 0.9837236595009774, + -0.03524436389464808, + 0.17619760654352395, + -0.04091514015812649, + -0.9987516611549851, + 0.028654330318442153, + 0.17496774858197645, + -0.03539709244866243, + -0.9839376671325958 + ], + [ + 0.9833349823052238, + 0.010958824455196225, + 0.18147235806410192, + -0.00016021311957183267, + -0.9981289702279651, + 0.06114354523102556, + 0.18180287925811775, + -0.060153661220430664, + -0.9814933775299943 + ], + [ + 0.9748854048880908, + 0.05260675415173549, + 0.21640465973218312, + 0.03304683567718651, + -0.9951144120077531, + 0.09303340080954094, + 0.22024158096941668, + -0.08354541538637845, + -0.9718610032201155 + ], + [ + 0.9622502946060162, + 0.06516970499337524, + 0.2642485195449761, + 0.039408093251854896, + -0.9940393974058577, + 0.10164978401970462, + 0.26929792557108245, + -0.08739900431970565, + -0.9590829168153481 + ], + [ + 0.9444744180602401, + 0.07283698692697317, + 0.32041043516897366, + 0.04379200222348072, + -0.994325542963245, + 0.09694831175480591, + 0.32565370283635625, + -0.0775337858371969, + -0.9423047160461006 + ], + [ + 0.9338222327112399, + 0.07507884966891704, + 0.34977021603702496, + 0.04667190017969057, + -0.9949410750350028, + 0.08896061455391373, + 0.3546798153656505, + -0.06674895909739091, + -0.9326021686826612 + ], + [ + 0.9240864421661124, + 0.06693939595167128, + 0.3762756498557961, + 0.04068728025137054, + -0.9961775578736418, + 0.07729694958181492, + 0.3800115690745779, + -0.056119430311903376, + -0.9232777571841232 + ], + [ + 0.9185871911903626, + 0.06038611053794021, + 0.390577892148416, + 0.0383608621302744, + -0.9972151028143891, + 0.06395688372262347, + 0.3933522803259466, + -0.04376706950421475, + -0.9183454835678079 + ], + [ + 0.9114099868812999, + 0.04013720636337574, + 0.40953734930818286, + 0.021939781855468965, + -0.998555891787711, + 0.04903852514282811, + 0.4109142024622211, + -0.03570904145161474, + -0.9109744137863828 + ], + [ + 0.8965187511853122, + 0.03690153324506091, + 0.44146619985825863, + 0.030876311332251806, + -0.9993061888599365, + 0.020827729226751496, + 0.4419284808333156, + -0.005041601966903385, + -0.8970361197175759 + ], + [ + 0.8893243705885452, + 0.038218733341086775, + 0.4556769604655155, + 0.036696861039397344, + -0.9992520915456213, + 0.012190075125135393, + 0.4558020450449331, + 0.005880983208969866, + -0.8900617449196166 + ], + [ + 0.884402246514997, + 0.01656850016562273, + 0.4664312930770066, + 0.027258892304183893, + -0.9994974263607563, + -0.016181702276752717, + 0.4659287704677353, + 0.0270255342312843, + -0.8844094082210672 + ], + [ + 0.882832801918246, + 0.025189870690052314, + 0.4690114223255094, + 0.03767692732141925, + -0.9991409363997297, + -0.0172579940284995, + 0.46817378504653095, + 0.03290683249554226, + -0.8830234693202185 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005852.json b/json/chunk-0005/episode_0005852.json new file mode 100644 index 0000000000000000000000000000000000000000..1af0a0aa30f37ee0a1daf426517784d911539899 --- /dev/null +++ b/json/chunk-0005/episode_0005852.json @@ -0,0 +1,2182 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 35, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nTake spoon out of bowl sink." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005852.mp4", + "start": 0, + "end": 35, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3004674017429352, + -0.018261883407831192, + 0.0908767580986023, + 0.07826395332813263, + -0.19648587703704834, + 0.3489287793636322, + 0.0, + 0.9994885921478271 + ], + [ + 0.298539936542511, + -0.018087532371282578, + 0.08371804654598236, + 0.09045276790857315, + -0.17705486714839935, + 0.32908350229263306, + 0.0, + 0.9994885921478271 + ], + [ + 0.3099348545074463, + -0.004648181609809399, + 0.0774800181388855, + 0.15229199826717377, + -0.18560856580734253, + 0.06228186562657356, + 0.0, + 0.9994885921478271 + ], + [ + 0.31898629665374756, + 0.01563218981027603, + 0.07549221068620682, + 0.15406370162963867, + -0.06701955944299698, + -0.17248564958572388, + 0.0, + 0.9994885921478271 + ], + [ + 0.3349074721336365, + 0.0396014079451561, + 0.07155688852071762, + 0.12804676592350006, + 0.06394772976636887, + -0.4240703880786896, + 0.0, + 0.9994885921478271 + ], + [ + 0.348933607339859, + 0.05454639717936516, + 0.0633452758193016, + 0.10166383534669876, + 0.18800878524780273, + -0.599798858165741, + 0.0, + 0.9994885921478271 + ], + [ + 0.3556024432182312, + 0.06123339384794235, + 0.059006161987781525, + 0.10060682147741318, + 0.14851799607276917, + -0.6860366463661194, + 0.0, + 0.9994885921478271 + ], + [ + 0.3605336546897888, + 0.06168929487466812, + 0.05000488460063934, + 0.11250185966491699, + 0.08240978419780731, + -0.7221298813819885, + 0.0, + 0.9994885921478271 + ], + [ + 0.36555033922195435, + 0.06310626864433289, + 0.04088374599814415, + 0.12215226888656616, + 0.021291615441441536, + -0.7379136085510254, + 0.0, + 0.9994885921478271 + ], + [ + 0.3642213046550751, + 0.06441810727119446, + 0.026956673711538315, + 0.10790635645389557, + 0.04516194015741348, + -0.7321090698242188, + 0.0, + 0.9994885921478271 + ], + [ + 0.3656497001647949, + 0.061166804283857346, + 0.019649451598525047, + 0.09547109156847, + 0.05645919218659401, + -0.75566166639328, + 0.0, + 0.9994885921478271 + ], + [ + 0.36838680505752563, + 0.05906088277697563, + 0.017573049291968346, + 0.10375369340181351, + 0.03979255631566048, + -0.7690198421478271, + 0.0, + 0.9994885921478271 + ], + [ + 0.3676697313785553, + 0.05582156404852867, + 0.014177520759403706, + 0.0963909700512886, + 0.019920293241739273, + -0.7661187052726746, + 0.0, + 0.9499720335006714 + ], + [ + 0.3674021363258362, + 0.053898267447948456, + 0.014090746641159058, + 0.09104795008897781, + 0.017372874543070793, + -0.7579586505889893, + 0.0, + 0.6661520600318909 + ], + [ + 0.36718711256980896, + 0.05159745737910271, + 0.012940136715769768, + 0.08751348406076431, + 0.020653991028666496, + -0.7671025395393372, + 0.0, + 0.39273425936698914 + ], + [ + 0.36595088243484497, + 0.04859710857272148, + 0.01100551150739193, + 0.0671723335981369, + 0.013822640292346478, + -0.7616393566131592, + 0.0, + 0.3806030750274658 + ], + [ + 0.364239364862442, + 0.048100899904966354, + 0.011315356008708477, + 0.03989104554057121, + -0.0029280707240104675, + -0.7502506375312805, + 0.0, + 0.4059307873249054 + ], + [ + 0.36000576615333557, + 0.04971226677298546, + 0.014900636859238148, + -0.009649726562201977, + -0.026460224762558937, + -0.7303110361099243, + 0.0, + 0.4068177044391632 + ], + [ + 0.3606582283973694, + 0.058012332767248154, + 0.04100809618830681, + 0.005362031981348991, + -0.07752516865730286, + -0.7028886079788208, + 0.0, + 0.4059307873249054 + ], + [ + 0.35783031582832336, + 0.06800413131713867, + 0.04772775620222092, + 0.0005903972196392715, + -0.06645714491605759, + -0.6821662783622742, + 0.0, + 0.4059307873249054 + ], + [ + 0.3532065451145172, + 0.07949863374233246, + 0.0676737129688263, + 0.03149380162358284, + -0.08397193253040314, + -0.6813108921051025, + 0.0, + 0.4068177044391632 + ], + [ + 0.32752132415771484, + 0.08173119276762009, + 0.05939679965376854, + -0.01990685984492302, + -0.03217358514666557, + -0.7846249341964722, + 0.0, + 0.4068177044391632 + ], + [ + 0.31400588154792786, + 0.08357870578765869, + 0.055337436497211456, + -0.012232623063027859, + -0.023498276248574257, + -0.8678784370422363, + 0.0, + 0.4059307873249054 + ], + [ + 0.3076111376285553, + 0.09343402087688446, + 0.05012013390660286, + 0.011152642779052258, + -0.024473588913679123, + -0.8536586165428162, + 0.0, + 0.4059307873249054 + ], + [ + 0.3039093613624573, + 0.10602331906557083, + 0.04995674267411232, + 0.025375433266162872, + -0.006537923123687506, + -0.8868650197982788, + 0.0, + 0.4059307873249054 + ], + [ + 0.302577406167984, + 0.11020677536725998, + 0.04226209968328476, + 0.06696943193674088, + 0.0070559182204306126, + -0.8753480315208435, + 0.0, + 0.4059307873249054 + ], + [ + 0.3047336935997009, + 0.11239686608314514, + 0.0381283164024353, + 0.08154239505529404, + 0.016230488196015358, + -0.8615125417709351, + 0.0, + 0.4068177044391632 + ], + [ + 0.30938971042633057, + 0.11144725233316422, + 0.024935632944107056, + 0.0984305590391159, + 0.04129441827535629, + -0.8425618410110474, + 0.0, + 0.4059307873249054 + ], + [ + 0.31077760457992554, + 0.10535073280334473, + 0.017569754272699356, + 0.10031009465456009, + 0.058040548115968704, + -0.8421351909637451, + 0.0, + 0.4068177044391632 + ], + [ + 0.30833664536476135, + 0.10066156834363937, + 0.011525128968060017, + 0.10653719305992126, + 0.07602062821388245, + -0.8474576473236084, + 0.0, + 0.4068177044391632 + ], + [ + 0.30245885252952576, + 0.10254251211881638, + 0.008720395155251026, + 0.1038820743560791, + 0.10430435836315155, + -0.8455336093902588, + 0.0, + 0.4513009488582611 + ], + [ + 0.3024356961250305, + 0.10301101952791214, + 0.011243795044720173, + 0.10734299570322037, + 0.1292847990989685, + -0.8302615284919739, + 0.0, + 0.729983389377594 + ], + [ + 0.30495452880859375, + 0.10509542375802994, + 0.017529292032122612, + 0.10757044702768326, + 0.1495310515165329, + -0.8110588788986206, + 0.0, + 0.9643021821975708 + ], + [ + 0.30438515543937683, + 0.10467347502708435, + 0.022307800129055977, + 0.08885680139064789, + 0.15802869200706482, + -0.7991589903831482, + 0.0, + 0.9893313646316528 + ], + [ + 0.30029526352882385, + 0.10305336117744446, + 0.03962837532162666, + 0.06600101292133331, + 0.13100124895572662, + -0.7794688940048218, + 0.0, + 0.9886419177055359 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9499720335006714 + ], + [ + 0.6661520600318909 + ], + [ + 0.39273425936698914 + ], + [ + 0.3806030750274658 + ], + [ + 0.4059307873249054 + ], + [ + 0.4068177044391632 + ], + [ + 0.4059307873249054 + ], + [ + 0.4059307873249054 + ], + [ + 0.4068177044391632 + ], + [ + 0.4068177044391632 + ], + [ + 0.4059307873249054 + ], + [ + 0.4059307873249054 + ], + [ + 0.4059307873249054 + ], + [ + 0.4059307873249054 + ], + [ + 0.4068177044391632 + ], + [ + 0.4059307873249054 + ], + [ + 0.4068177044391632 + ], + [ + 0.4068177044391632 + ], + [ + 0.4513009488582611 + ], + [ + 0.729983389377594 + ], + [ + 0.9643021821975708 + ], + [ + 0.9893313646316528 + ], + [ + 0.9886419177055359 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3004674017429352, + -0.018261883407831192, + 0.0908767580986023 + ], + [ + 0.298539936542511, + -0.018087532371282578, + 0.08371804654598236 + ], + [ + 0.3099348545074463, + -0.004648181609809399, + 0.0774800181388855 + ], + [ + 0.31898629665374756, + 0.01563218981027603, + 0.07549221068620682 + ], + [ + 0.3349074721336365, + 0.0396014079451561, + 0.07155688852071762 + ], + [ + 0.348933607339859, + 0.05454639717936516, + 0.0633452758193016 + ], + [ + 0.3556024432182312, + 0.06123339384794235, + 0.059006161987781525 + ], + [ + 0.3605336546897888, + 0.06168929487466812, + 0.05000488460063934 + ], + [ + 0.36555033922195435, + 0.06310626864433289, + 0.04088374599814415 + ], + [ + 0.3642213046550751, + 0.06441810727119446, + 0.026956673711538315 + ], + [ + 0.3656497001647949, + 0.061166804283857346, + 0.019649451598525047 + ], + [ + 0.36838680505752563, + 0.05906088277697563, + 0.017573049291968346 + ], + [ + 0.3676697313785553, + 0.05582156404852867, + 0.014177520759403706 + ], + [ + 0.3674021363258362, + 0.053898267447948456, + 0.014090746641159058 + ], + [ + 0.36718711256980896, + 0.05159745737910271, + 0.012940136715769768 + ], + [ + 0.36595088243484497, + 0.04859710857272148, + 0.01100551150739193 + ], + [ + 0.364239364862442, + 0.048100899904966354, + 0.011315356008708477 + ], + [ + 0.36000576615333557, + 0.04971226677298546, + 0.014900636859238148 + ], + [ + 0.3606582283973694, + 0.058012332767248154, + 0.04100809618830681 + ], + [ + 0.35783031582832336, + 0.06800413131713867, + 0.04772775620222092 + ], + [ + 0.3532065451145172, + 0.07949863374233246, + 0.0676737129688263 + ], + [ + 0.32752132415771484, + 0.08173119276762009, + 0.05939679965376854 + ], + [ + 0.31400588154792786, + 0.08357870578765869, + 0.055337436497211456 + ], + [ + 0.3076111376285553, + 0.09343402087688446, + 0.05012013390660286 + ], + [ + 0.3039093613624573, + 0.10602331906557083, + 0.04995674267411232 + ], + [ + 0.302577406167984, + 0.11020677536725998, + 0.04226209968328476 + ], + [ + 0.3047336935997009, + 0.11239686608314514, + 0.0381283164024353 + ], + [ + 0.30938971042633057, + 0.11144725233316422, + 0.024935632944107056 + ], + [ + 0.31077760457992554, + 0.10535073280334473, + 0.017569754272699356 + ], + [ + 0.30833664536476135, + 0.10066156834363937, + 0.011525128968060017 + ], + [ + 0.30245885252952576, + 0.10254251211881638, + 0.008720395155251026 + ], + [ + 0.3024356961250305, + 0.10301101952791214, + 0.011243795044720173 + ], + [ + 0.30495452880859375, + 0.10509542375802994, + 0.017529292032122612 + ], + [ + 0.30438515543937683, + 0.10467347502708435, + 0.022307800129055977 + ], + [ + 0.30029526352882385, + 0.10305336117744446, + 0.03962837532162666 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9216576585255083, + 0.35518841630138603, + 0.15616769642467848, + 0.33531289263111447, + -0.931644465596998, + 0.14001376274437638, + 0.19522403672865685, + -0.0766797147086313, + -0.97775651203946 + ], + [ + 0.9315445219997902, + 0.33691078777605327, + 0.13680615707014665, + 0.3181235389334927, + -0.9373285603633221, + 0.14217096716155714, + 0.1761312508006827, + -0.0889173268117143, + -0.9803425378325914 + ], + [ + 0.980918538636168, + 0.08946310633511229, + 0.17261278389724585, + 0.061172553815926727, + -0.9847669949996163, + 0.16276327662916948, + 0.1845446808215356, + -0.14909835064244806, + -0.9714488883189787 + ], + [ + 0.9829495371001371, + -0.15947448472943487, + 0.09153194106380153, + -0.17124633434911568, + -0.9752564159604763, + 0.13981994171046228, + 0.06696939962861304, + -0.15311045636470236, + -0.9859372635544188 + ], + [ + 0.9095587287428587, + -0.4155425868375681, + -0.005222785848302457, + -0.4106326557215823, + -0.9006022372207491, + 0.1424655480037976, + -0.06390415497223584, + -0.1274361363088353, + -0.9897859819880056 + ], + [ + 0.8109033923161217, + -0.5772194758851329, + -0.09619441246298538, + -0.5545294441105967, + -0.8104798003849495, + 0.18873152567169477, + -0.186903140542365, + -0.09970040033452975, + -0.9773060146282412 + ], + [ + 0.7652447744221124, + -0.6417718642769326, + -0.05029224037722432, + -0.6265018300132759, + -0.7604354825333428, + 0.17097758301689192, + -0.1479726062812522, + -0.09933152131520084, + -0.9839905267143282 + ], + [ + 0.7478529339379079, + -0.6637405352268858, + 0.012825408266024518, + -0.6587412063936849, + -0.7395475245412994, + 0.1383093704122347, + -0.08231653660994032, + -0.11188369336754714, + -0.9903060269224766 + ], + [ + 0.7397060807317293, + -0.6696522206066399, + 0.06633865814968395, + -0.6725932275453171, + -0.7326155353645076, + 0.10436870988351397, + -0.021290006779651517, + -0.12182110153488242, + -0.9923237147383662 + ], + [ + 0.743007907185357, + -0.6681682739518352, + 0.038605796770185094, + -0.6677582161991013, + -0.736190287171253, + 0.11010370463023568, + -0.045146589667769674, + -0.10758726113686996, + -0.9931700592962096 + ], + [ + 0.7266582484769413, + -0.6865625205079896, + 0.02448867808070504, + -0.6846776870293879, + -0.7208146577213095, + 0.10790131648037984, + -0.05642920170010912, + -0.09517423310869333, + -0.9938599551987497 + ], + [ + 0.7180237952594943, + -0.6946521938999589, + 0.0435908126917315, + -0.6948807217755332, + -0.7118630822700993, + 0.10193985778697068, + -0.03978205557617444, + -0.10348565896242626, + -0.9938350499168594 + ], + [ + 0.7204641911526168, + -0.6915064998859111, + 0.052441490085069396, + -0.693206018200498, + -0.7159329273758559, + 0.0830990964430355, + -0.01991897581244958, + -0.0962226798347167, + -0.9951605047870464 + ], + [ + 0.7261312358420475, + -0.6857400856097393, + 0.049939596738944075, + -0.6873366292638885, + -0.7221469253747229, + 0.07792416983189898, + -0.017372000652112262, + -0.09090848783134609, + -0.9957077183760108 + ], + [ + 0.7197711276705927, + -0.6926956729558669, + 0.045850064776640054, + -0.6939041699556663, + -0.7159168139719622, + 0.07720180302540151, + -0.020652522604786547, + -0.08738317996304416, + -0.9959606684852595 + ], + [ + 0.7236365128768784, + -0.6892238746132152, + 0.03634071951047202, + -0.6900428566510132, + -0.7214332757480225, + 0.05809375722388291, + -0.013822200125204142, + -0.0671154178011659, + -0.997649471245825 + ], + [ + 0.7315148657690701, + -0.6811942876886511, + 0.02933161398918601, + -0.6818192044708015, + -0.731015666341441, + 0.02717844694205867, + 0.0029280665399952933, + -0.039880295682583285, + -0.9992001743607769 + ], + [ + 0.7447061691010224, + -0.667260510010322, + 0.013271529062046167, + -0.6668678591696003, + -0.7447619503079203, + -0.02483738674050243, + 0.026457137211609003, + 0.009646198956486229, + -0.9996034067250164 + ], + [ + 0.7606864475823998, + -0.6460981878395877, + 0.06255605594081068, + -0.6444827442887127, + -0.7632355815943181, + -0.04597215790533368, + 0.07744753565194279, + -0.005345901119906477, + -0.9969820964102902 + ], + [ + 0.7744953021748677, + -0.6304454433871342, + 0.051918877313175196, + -0.6290842335876382, + -0.7762333385527648, + -0.041410520048451166, + 0.06640823714355497, + -0.0005890939051458287, + -0.9977923626726438 + ], + [ + 0.7740108447460815, + -0.62744804963481, + 0.0849479677504427, + -0.6275926104812113, + -0.7780259561922352, + -0.02833949118344547, + 0.0838732823063211, + -0.03137764332500133, + -0.9959822869983849 + ], + [ + 0.7072870969694685, + -0.7068729462039478, + 0.008694848213338036, + -0.7061941517750889, + -0.7070606884933293, + -0.0368103624812674, + 0.03216803474203653, + 0.019895243458938047, + -0.9992844424029352 + ], + [ + 0.6462682011045079, + -0.7630878915148702, + 0.005855088772472114, + -0.7627485462963559, + -0.646179017630262, + -0.025832775638437687, + 0.023496113805046126, + 0.012228940991750257, + -0.9996491312647059 + ], + [ + 0.6570332716989462, + -0.7534637586850575, + 0.02448763420105092, + -0.753464294376116, + -0.6573949060839883, + -0.011112810406288906, + 0.02447114588409579, + -0.011149071845221178, + -0.999638365218197 + ], + [ + 0.6318315302846373, + -0.7747403919431874, + 0.02379584900544611, + -0.7750781725145071, + -0.6317701941304352, + 0.010965778584508857, + 0.006537876547144609, + -0.02537216782438505, + -0.9996566957061539 + ], + [ + 0.6407137404034349, + -0.7663480420583665, + 0.046867699874731064, + -0.7677474309318889, + -0.6389309018585378, + 0.04828234612899201, + -0.007055859672940184, + -0.06691771875627137, + -0.9977335484791179 + ], + [ + 0.6512046713205908, + -0.75716811765477, + 0.05127297199669263, + -0.7587285881222059, + -0.6481232529575397, + 0.06532364458464317, + -0.01622977560920621, + -0.08144133215308565, + -0.9965459867967987 + ], + [ + 0.6649856008744965, + -0.7454380841282204, + 0.046002319081031126, + -0.7457143492632823, + -0.6593035685287512, + 0.09606723597613219, + -0.04128268320281955, + -0.09818791807805331, + -0.994311255498535 + ], + [ + 0.6647501029610224, + -0.7461842919725514, + 0.03628089065516667, + -0.7448102955880986, + -0.6581901971645361, + 0.10974191515769195, + -0.05800796668802506, + -0.09997333029328968, + -0.9932977444003332 + ], + [ + 0.6599793724551322, + -0.7506954302704599, + 0.029725391583276122, + -0.7474350916626872, + -0.6520845767959773, + 0.12699011164654359, + -0.07594742711192046, + -0.10602865497524827, + -0.9914584775164411 + ], + [ + 0.6597270066325492, + -0.7514525535537523, + 0.008907102626637471, + -0.7442582039419542, + -0.6516769881094004, + 0.14627654984226676, + -0.10411533309149565, + -0.1031317745712034, + -0.9892036365122409 + ], + [ + 0.6690520839277644, + -0.7431786377810761, + -0.0074041432846999045, + -0.7319478587430395, + -0.6606042465189437, + 0.16689625988205525, + -0.1289249435656097, + -0.10624284365077603, + -0.9859466603724573 + ], + [ + 0.6810455967028796, + -0.73184198877987, + -0.024170202116302428, + -0.7169264351495619, + -0.6731539835176141, + 0.18132898570859557, + -0.14897443336143007, + -0.10616505043135332, + -0.9831254244863921 + ], + [ + 0.6886208892551126, + -0.7236801630924166, + -0.045697838329965164, + -0.7078385388738033, + -0.6845489565934637, + 0.17423354703328434, + -0.15737176928057187, + -0.08763416898295892, + -0.9836434204833421 + ], + [ + 0.7051923629860037, + -0.7074992519147025, + -0.04635234326711625, + -0.6968790067050843, + -0.7036826123777203, + 0.13852953133177803, + -0.13062687778536053, + -0.0653879926087591, + -0.9892729801337169 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0019274652004241943, + 0.0001743510365486145, + -0.007158711552619934, + 0.012188814580440521, + 0.019431009888648987, + -0.019845277070999146, + 1.0 + ], + [ + 0.011394917964935303, + 0.013439350761473179, + -0.006238028407096863, + 0.061839230358600616, + -0.008553698658943176, + -0.2668016254901886, + 1.0 + ], + [ + 0.00905144214630127, + 0.020280372351408005, + -0.0019878074526786804, + 0.0017717033624649048, + 0.11858900636434555, + -0.23476751148700714, + 1.0 + ], + [ + 0.015921175479888916, + 0.023969218134880066, + -0.003935322165489197, + -0.02601693570613861, + 0.13096728920936584, + -0.2515847384929657, + 1.0 + ], + [ + 0.014026135206222534, + 0.01494498923420906, + -0.008211612701416016, + -0.0263829305768013, + 0.12406105548143387, + -0.1757284700870514, + 1.0 + ], + [ + 0.006668835878372192, + 0.006686996668577194, + -0.004339113831520081, + -0.0010570138692855835, + -0.03949078917503357, + -0.08623778820037842, + 1.0 + ], + [ + 0.004931211471557617, + 0.00045590102672576904, + -0.009001277387142181, + 0.011895038187503815, + -0.06610821187496185, + -0.03609323501586914, + 1.0 + ], + [ + 0.005016684532165527, + 0.0014169737696647644, + -0.009121138602495193, + 0.00965040922164917, + -0.061118170619010925, + -0.015783727169036865, + 1.0 + ], + [ + -0.0013290345668792725, + 0.0013118386268615723, + -0.013927072286605835, + -0.014245912432670593, + 0.023870324715971947, + 0.005804538726806641, + 1.0 + ], + [ + 0.0014283955097198486, + -0.0032513029873371124, + -0.0073072221130132675, + -0.012435264885425568, + 0.011297252029180527, + -0.02355259656906128, + 1.0 + ], + [ + 0.002737104892730713, + -0.002105921506881714, + -0.0020764023065567017, + 0.008282601833343506, + -0.016666635870933533, + -0.01335817575454712, + 1.0 + ], + [ + -0.0007170736789703369, + -0.0032393187284469604, + -0.00339552853256464, + -0.007362723350524902, + -0.019872263073921204, + 0.002901136875152588, + 0.0 + ], + [ + -0.0002675950527191162, + -0.0019232966005802155, + -8.677411824464798e-05, + -0.005343019962310791, + -0.00254741869866848, + 0.008160054683685303, + 0.0 + ], + [ + -0.00021502375602722168, + -0.002300810068845749, + -0.0011506099253892899, + -0.003534466028213501, + 0.003281116485595703, + -0.0091438889503479, + 0.0 + ], + [ + -0.0012362301349639893, + -0.0030003488063812256, + -0.0019346252083778381, + -0.02034115046262741, + -0.006831350736320019, + 0.0054631829261779785, + 0.0 + ], + [ + -0.001711517572402954, + -0.000496208667755127, + 0.0003098445013165474, + -0.02728128805756569, + -0.01675071194767952, + 0.011388719081878662, + 0.0 + ], + [ + -0.004233598709106445, + 0.001611366868019104, + 0.0035852808505296707, + -0.049540773034095764, + -0.02353215403854847, + 0.0199396014213562, + 0.0 + ], + [ + 0.0006524622440338135, + 0.008300065994262695, + 0.026107460260391235, + 0.015011758543550968, + -0.05106494575738907, + 0.027422428131103516, + 0.0 + ], + [ + -0.0028279125690460205, + 0.009991798549890518, + 0.006719660013914108, + -0.004771634936332703, + 0.01106802374124527, + 0.02072232961654663, + 0.0 + ], + [ + -0.004623770713806152, + 0.011494502425193787, + 0.019945956766605377, + 0.03090340457856655, + -0.01751478761434555, + 0.0008553862571716309, + 0.0 + ], + [ + -0.025685220956802368, + 0.002232559025287628, + -0.008276913315057755, + -0.05140066146850586, + 0.051798347383737564, + -0.10331404209136963, + 0.0 + ], + [ + -0.013515442609786987, + 0.0018475130200386047, + -0.004059363156557083, + 0.007674236781895161, + 0.008675308898091316, + -0.08325350284576416, + 0.0 + ], + [ + -0.006394743919372559, + 0.009855315089225769, + -0.005217302590608597, + 0.023385265842080116, + -0.000975312665104866, + 0.014219820499420166, + 0.0 + ], + [ + -0.0037017762660980225, + 0.01258929818868637, + -0.00016339123249053955, + 0.014222790487110615, + 0.01793566532433033, + -0.033206403255462646, + 0.0 + ], + [ + -0.0013319551944732666, + 0.004183456301689148, + -0.00769464299082756, + 0.041593998670578, + 0.013593841344118118, + 0.011516988277435303, + 0.0 + ], + [ + 0.002156287431716919, + 0.0021900907158851624, + -0.004133783280849457, + 0.014572963118553162, + 0.009174570441246033, + 0.013835489749908447, + 0.0 + ], + [ + 0.004656016826629639, + -0.0009496137499809265, + -0.013192683458328247, + 0.01688816398382187, + 0.025063930079340935, + 0.018950700759887695, + 0.0 + ], + [ + 0.0013878941535949707, + -0.0060965195298194885, + -0.0073658786714077, + 0.0018795356154441833, + 0.01674612984061241, + 0.0004266500473022461, + 0.0 + ], + [ + -0.0024409592151641846, + -0.004689164459705353, + -0.0060446253046393394, + 0.0062270984053611755, + 0.017980080097913742, + -0.005322456359863281, + 0.0 + ], + [ + -0.005877792835235596, + 0.001880943775177002, + -0.0028047338128089905, + -0.002655118703842163, + 0.028283730149269104, + 0.0019240379333496094, + 1.0 + ], + [ + -2.3156404495239258e-05, + 0.00046850740909576416, + 0.0025233998894691467, + 0.003460921347141266, + 0.024980440735816956, + 0.015272080898284912, + 1.0 + ], + [ + 0.0025188326835632324, + 0.002084404230117798, + 0.006285496987402439, + 0.00022745132446289062, + 0.020246252417564392, + 0.01920264959335327, + 1.0 + ], + [ + -0.0005693733692169189, + -0.00042194873094558716, + 0.004778508096933365, + -0.01871364563703537, + 0.008497640490531921, + 0.011899888515472412, + 1.0 + ], + [ + -0.0040898919105529785, + -0.0016201138496398926, + 0.017320575192570686, + -0.022855788469314575, + -0.027027443051338196, + 0.019690096378326416, + 1.0 + ], + [ + 0.0048971474170684814, + -0.0047508180141448975, + 0.020567085593938828, + -0.03314165398478508, + -0.06304576247930527, + 0.0555453896522522, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9499720335006714 + ], + [ + 0.6661520600318909 + ], + [ + 0.39273425936698914 + ], + [ + 0.3806030750274658 + ], + [ + 0.4059307873249054 + ], + [ + 0.4068177044391632 + ], + [ + 0.4059307873249054 + ], + [ + 0.4059307873249054 + ], + [ + 0.4068177044391632 + ], + [ + 0.4068177044391632 + ], + [ + 0.4059307873249054 + ], + [ + 0.4059307873249054 + ], + [ + 0.4059307873249054 + ], + [ + 0.4059307873249054 + ], + [ + 0.4068177044391632 + ], + [ + 0.4059307873249054 + ], + [ + 0.4068177044391632 + ], + [ + 0.4068177044391632 + ], + [ + 0.4513009488582611 + ], + [ + 0.729983389377594 + ], + [ + 0.9643021821975708 + ], + [ + 0.9893313646316528 + ], + [ + 0.9886419177055359 + ], + [ + 0.9886419177055359 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.298539936542511, + -0.018087532371282578, + 0.08371804654598236 + ], + [ + 0.3099348545074463, + -0.004648181609809399, + 0.0774800181388855 + ], + [ + 0.31898629665374756, + 0.01563218981027603, + 0.07549221068620682 + ], + [ + 0.3349074721336365, + 0.0396014079451561, + 0.07155688852071762 + ], + [ + 0.348933607339859, + 0.05454639717936516, + 0.0633452758193016 + ], + [ + 0.3556024432182312, + 0.06123339384794235, + 0.059006161987781525 + ], + [ + 0.3605336546897888, + 0.06168929487466812, + 0.05000488460063934 + ], + [ + 0.36555033922195435, + 0.06310626864433289, + 0.04088374599814415 + ], + [ + 0.3642213046550751, + 0.06441810727119446, + 0.026956673711538315 + ], + [ + 0.3656497001647949, + 0.061166804283857346, + 0.019649451598525047 + ], + [ + 0.36838680505752563, + 0.05906088277697563, + 0.017573049291968346 + ], + [ + 0.3676697313785553, + 0.05582156404852867, + 0.014177520759403706 + ], + [ + 0.3674021363258362, + 0.053898267447948456, + 0.014090746641159058 + ], + [ + 0.36718711256980896, + 0.05159745737910271, + 0.012940136715769768 + ], + [ + 0.36595088243484497, + 0.04859710857272148, + 0.01100551150739193 + ], + [ + 0.364239364862442, + 0.048100899904966354, + 0.011315356008708477 + ], + [ + 0.36000576615333557, + 0.04971226677298546, + 0.014900636859238148 + ], + [ + 0.3606582283973694, + 0.058012332767248154, + 0.04100809618830681 + ], + [ + 0.35783031582832336, + 0.06800413131713867, + 0.04772775620222092 + ], + [ + 0.3532065451145172, + 0.07949863374233246, + 0.0676737129688263 + ], + [ + 0.32752132415771484, + 0.08173119276762009, + 0.05939679965376854 + ], + [ + 0.31400588154792786, + 0.08357870578765869, + 0.055337436497211456 + ], + [ + 0.3076111376285553, + 0.09343402087688446, + 0.05012013390660286 + ], + [ + 0.3039093613624573, + 0.10602331906557083, + 0.04995674267411232 + ], + [ + 0.302577406167984, + 0.11020677536725998, + 0.04226209968328476 + ], + [ + 0.3047336935997009, + 0.11239686608314514, + 0.0381283164024353 + ], + [ + 0.30938971042633057, + 0.11144725233316422, + 0.024935632944107056 + ], + [ + 0.31077760457992554, + 0.10535073280334473, + 0.017569754272699356 + ], + [ + 0.30833664536476135, + 0.10066156834363937, + 0.011525128968060017 + ], + [ + 0.30245885252952576, + 0.10254251211881638, + 0.008720395155251026 + ], + [ + 0.3024356961250305, + 0.10301101952791214, + 0.011243795044720173 + ], + [ + 0.30495452880859375, + 0.10509542375802994, + 0.017529292032122612 + ], + [ + 0.30438515543937683, + 0.10467347502708435, + 0.022307800129055977 + ], + [ + 0.30029526352882385, + 0.10305336117744446, + 0.03962837532162666 + ], + [ + 0.30519241094589233, + 0.09830254316329956, + 0.06019546091556549 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9315445219997902, + 0.33691078777605327, + 0.13680615707014665, + 0.3181235389334927, + -0.9373285603633221, + 0.14217096716155714, + 0.1761312508006827, + -0.0889173268117143, + -0.9803425378325914 + ], + [ + 0.980918538636168, + 0.08946310633511229, + 0.17261278389724585, + 0.061172553815926727, + -0.9847669949996163, + 0.16276327662916948, + 0.1845446808215356, + -0.14909835064244806, + -0.9714488883189787 + ], + [ + 0.9829495371001371, + -0.15947448472943487, + 0.09153194106380153, + -0.17124633434911568, + -0.9752564159604763, + 0.13981994171046228, + 0.06696939962861304, + -0.15311045636470236, + -0.9859372635544188 + ], + [ + 0.9095587287428587, + -0.4155425868375681, + -0.005222785848302457, + -0.4106326557215823, + -0.9006022372207491, + 0.1424655480037976, + -0.06390415497223584, + -0.1274361363088353, + -0.9897859819880056 + ], + [ + 0.8109033923161217, + -0.5772194758851329, + -0.09619441246298538, + -0.5545294441105967, + -0.8104798003849495, + 0.18873152567169477, + -0.186903140542365, + -0.09970040033452975, + -0.9773060146282412 + ], + [ + 0.7652447744221124, + -0.6417718642769326, + -0.05029224037722432, + -0.6265018300132759, + -0.7604354825333428, + 0.17097758301689192, + -0.1479726062812522, + -0.09933152131520084, + -0.9839905267143282 + ], + [ + 0.7478529339379079, + -0.6637405352268858, + 0.012825408266024518, + -0.6587412063936849, + -0.7395475245412994, + 0.1383093704122347, + -0.08231653660994032, + -0.11188369336754714, + -0.9903060269224766 + ], + [ + 0.7397060807317293, + -0.6696522206066399, + 0.06633865814968395, + -0.6725932275453171, + -0.7326155353645076, + 0.10436870988351397, + -0.021290006779651517, + -0.12182110153488242, + -0.9923237147383662 + ], + [ + 0.743007907185357, + -0.6681682739518352, + 0.038605796770185094, + -0.6677582161991013, + -0.736190287171253, + 0.11010370463023568, + -0.045146589667769674, + -0.10758726113686996, + -0.9931700592962096 + ], + [ + 0.7266582484769413, + -0.6865625205079896, + 0.02448867808070504, + -0.6846776870293879, + -0.7208146577213095, + 0.10790131648037984, + -0.05642920170010912, + -0.09517423310869333, + -0.9938599551987497 + ], + [ + 0.7180237952594943, + -0.6946521938999589, + 0.0435908126917315, + -0.6948807217755332, + -0.7118630822700993, + 0.10193985778697068, + -0.03978205557617444, + -0.10348565896242626, + -0.9938350499168594 + ], + [ + 0.7204641911526168, + -0.6915064998859111, + 0.052441490085069396, + -0.693206018200498, + -0.7159329273758559, + 0.0830990964430355, + -0.01991897581244958, + -0.0962226798347167, + -0.9951605047870464 + ], + [ + 0.7261312358420475, + -0.6857400856097393, + 0.049939596738944075, + -0.6873366292638885, + -0.7221469253747229, + 0.07792416983189898, + -0.017372000652112262, + -0.09090848783134609, + -0.9957077183760108 + ], + [ + 0.7197711276705927, + -0.6926956729558669, + 0.045850064776640054, + -0.6939041699556663, + -0.7159168139719622, + 0.07720180302540151, + -0.020652522604786547, + -0.08738317996304416, + -0.9959606684852595 + ], + [ + 0.7236365128768784, + -0.6892238746132152, + 0.03634071951047202, + -0.6900428566510132, + -0.7214332757480225, + 0.05809375722388291, + -0.013822200125204142, + -0.0671154178011659, + -0.997649471245825 + ], + [ + 0.7315148657690701, + -0.6811942876886511, + 0.02933161398918601, + -0.6818192044708015, + -0.731015666341441, + 0.02717844694205867, + 0.0029280665399952933, + -0.039880295682583285, + -0.9992001743607769 + ], + [ + 0.7447061691010224, + -0.667260510010322, + 0.013271529062046167, + -0.6668678591696003, + -0.7447619503079203, + -0.02483738674050243, + 0.026457137211609003, + 0.009646198956486229, + -0.9996034067250164 + ], + [ + 0.7606864475823998, + -0.6460981878395877, + 0.06255605594081068, + -0.6444827442887127, + -0.7632355815943181, + -0.04597215790533368, + 0.07744753565194279, + -0.005345901119906477, + -0.9969820964102902 + ], + [ + 0.7744953021748677, + -0.6304454433871342, + 0.051918877313175196, + -0.6290842335876382, + -0.7762333385527648, + -0.041410520048451166, + 0.06640823714355497, + -0.0005890939051458287, + -0.9977923626726438 + ], + [ + 0.7740108447460815, + -0.62744804963481, + 0.0849479677504427, + -0.6275926104812113, + -0.7780259561922352, + -0.02833949118344547, + 0.0838732823063211, + -0.03137764332500133, + -0.9959822869983849 + ], + [ + 0.7072870969694685, + -0.7068729462039478, + 0.008694848213338036, + -0.7061941517750889, + -0.7070606884933293, + -0.0368103624812674, + 0.03216803474203653, + 0.019895243458938047, + -0.9992844424029352 + ], + [ + 0.6462682011045079, + -0.7630878915148702, + 0.005855088772472114, + -0.7627485462963559, + -0.646179017630262, + -0.025832775638437687, + 0.023496113805046126, + 0.012228940991750257, + -0.9996491312647059 + ], + [ + 0.6570332716989462, + -0.7534637586850575, + 0.02448763420105092, + -0.753464294376116, + -0.6573949060839883, + -0.011112810406288906, + 0.02447114588409579, + -0.011149071845221178, + -0.999638365218197 + ], + [ + 0.6318315302846373, + -0.7747403919431874, + 0.02379584900544611, + -0.7750781725145071, + -0.6317701941304352, + 0.010965778584508857, + 0.006537876547144609, + -0.02537216782438505, + -0.9996566957061539 + ], + [ + 0.6407137404034349, + -0.7663480420583665, + 0.046867699874731064, + -0.7677474309318889, + -0.6389309018585378, + 0.04828234612899201, + -0.007055859672940184, + -0.06691771875627137, + -0.9977335484791179 + ], + [ + 0.6512046713205908, + -0.75716811765477, + 0.05127297199669263, + -0.7587285881222059, + -0.6481232529575397, + 0.06532364458464317, + -0.01622977560920621, + -0.08144133215308565, + -0.9965459867967987 + ], + [ + 0.6649856008744965, + -0.7454380841282204, + 0.046002319081031126, + -0.7457143492632823, + -0.6593035685287512, + 0.09606723597613219, + -0.04128268320281955, + -0.09818791807805331, + -0.994311255498535 + ], + [ + 0.6647501029610224, + -0.7461842919725514, + 0.03628089065516667, + -0.7448102955880986, + -0.6581901971645361, + 0.10974191515769195, + -0.05800796668802506, + -0.09997333029328968, + -0.9932977444003332 + ], + [ + 0.6599793724551322, + -0.7506954302704599, + 0.029725391583276122, + -0.7474350916626872, + -0.6520845767959773, + 0.12699011164654359, + -0.07594742711192046, + -0.10602865497524827, + -0.9914584775164411 + ], + [ + 0.6597270066325492, + -0.7514525535537523, + 0.008907102626637471, + -0.7442582039419542, + -0.6516769881094004, + 0.14627654984226676, + -0.10411533309149565, + -0.1031317745712034, + -0.9892036365122409 + ], + [ + 0.6690520839277644, + -0.7431786377810761, + -0.0074041432846999045, + -0.7319478587430395, + -0.6606042465189437, + 0.16689625988205525, + -0.1289249435656097, + -0.10624284365077603, + -0.9859466603724573 + ], + [ + 0.6810455967028796, + -0.73184198877987, + -0.024170202116302428, + -0.7169264351495619, + -0.6731539835176141, + 0.18132898570859557, + -0.14897443336143007, + -0.10616505043135332, + -0.9831254244863921 + ], + [ + 0.6886208892551126, + -0.7236801630924166, + -0.045697838329965164, + -0.7078385388738033, + -0.6845489565934637, + 0.17423354703328434, + -0.15737176928057187, + -0.08763416898295892, + -0.9836434204833421 + ], + [ + 0.7051923629860037, + -0.7074992519147025, + -0.04635234326711625, + -0.6968790067050843, + -0.7036826123777203, + 0.13852953133177803, + -0.13062687778536053, + -0.0653879926087591, + -0.9892729801337169 + ], + [ + 0.7474836031219925, + -0.6636431479780752, + -0.02908668433346018, + -0.6608005894577892, + -0.747330850384617, + 0.06956422238222491, + -0.06790319606618034, + -0.032777617441721904, + -0.9971533401432511 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005853.json b/json/chunk-0005/episode_0005853.json new file mode 100644 index 0000000000000000000000000000000000000000..73c1c8bfbbcbd81ea1bd0963c2f99b5f7eb31c88 --- /dev/null +++ b/json/chunk-0005/episode_0005853.json @@ -0,0 +1,982 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 15, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nEnd effector reaching knife." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005853.mp4", + "start": 0, + "end": 15, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.20920921862125397, + -0.014877745881676674, + 0.07640145719051361, + 0.017450885847210884, + -0.44431179761886597, + -0.023010486736893654, + 0.0, + 0.9974852800369263 + ], + [ + 0.20563198626041412, + -0.015931228175759315, + 0.07246503978967667, + 0.017481572926044464, + -0.4301665723323822, + -0.019410114735364914, + 0.0, + 0.9974852800369263 + ], + [ + 0.20830075442790985, + -0.0314326174557209, + 0.06565406918525696, + 0.009796313010156155, + -0.42397189140319824, + 0.02971753105521202, + 0.0, + 0.9974852800369263 + ], + [ + 0.20642448961734772, + -0.044562339782714844, + 0.06253168731927872, + -0.003021530108526349, + -0.4157140254974365, + 0.04255489259958267, + 0.0, + 0.9974852800369263 + ], + [ + 0.21137720346450806, + -0.06463943421840668, + 0.05949702486395836, + 0.009111622348427773, + -0.43265876173973083, + 0.08944167196750641, + 0.0, + 0.9974852800369263 + ], + [ + 0.21284058690071106, + -0.07863935083150864, + 0.055361002683639526, + 0.021337639540433884, + -0.4514908492565155, + 0.1104782372713089, + 0.0, + 0.9974852800369263 + ], + [ + 0.2194707691669464, + -0.09226026386022568, + 0.05963235720992088, + 0.023331843316555023, + -0.43518856167793274, + 0.13265205919742584, + 0.0, + 0.9974852800369263 + ], + [ + 0.2278379499912262, + -0.1067473515868187, + 0.06429465115070343, + 0.0069167958572506905, + -0.4359644055366516, + 0.18110352754592896, + 0.0, + 0.9974852800369263 + ], + [ + 0.23233862221240997, + -0.11911821365356445, + 0.06565994024276733, + 0.011617396026849747, + -0.429592102766037, + 0.20761187374591827, + 0.0, + 0.9974852800369263 + ], + [ + 0.2326168417930603, + -0.12871576845645905, + 0.05459970235824585, + 0.021762045100331306, + -0.4449838697910309, + 0.2393946498632431, + 0.0, + 0.9974852800369263 + ], + [ + 0.235341414809227, + -0.14072132110595703, + 0.04740222916007042, + 0.009706655517220497, + -0.46370503306388855, + 0.2746948003768921, + 0.0, + 0.9974852800369263 + ], + [ + 0.23672865331172943, + -0.14628274738788605, + 0.037687093019485474, + 0.002169633749872446, + -0.4835909307003021, + 0.2903114855289459, + 0.0, + 0.9974852800369263 + ], + [ + 0.24115698039531708, + -0.14941902458667755, + 0.029916884377598763, + -0.012226978316903114, + -0.5060027837753296, + 0.29982489347457886, + 0.0, + 0.9974852800369263 + ], + [ + 0.24241964519023895, + -0.149917870759964, + 0.022556301206350327, + -0.03435665741562843, + -0.522273600101471, + 0.3047161102294922, + 0.0, + 0.9974852800369263 + ], + [ + 0.24605202674865723, + -0.15100573003292084, + 0.018261650577187538, + -0.0568171888589859, + -0.5402525663375854, + 0.29443612694740295, + 0.0, + 0.9974852800369263 + ] + ], + "left_gripper_pos": [ + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.20920921862125397, + -0.014877745881676674, + 0.07640145719051361 + ], + [ + 0.20563198626041412, + -0.015931228175759315, + 0.07246503978967667 + ], + [ + 0.20830075442790985, + -0.0314326174557209, + 0.06565406918525696 + ], + [ + 0.20642448961734772, + -0.044562339782714844, + 0.06253168731927872 + ], + [ + 0.21137720346450806, + -0.06463943421840668, + 0.05949702486395836 + ], + [ + 0.21284058690071106, + -0.07863935083150864, + 0.055361002683639526 + ], + [ + 0.2194707691669464, + -0.09226026386022568, + 0.05963235720992088 + ], + [ + 0.2278379499912262, + -0.1067473515868187, + 0.06429465115070343 + ], + [ + 0.23233862221240997, + -0.11911821365356445, + 0.06565994024276733 + ], + [ + 0.2326168417930603, + -0.12871576845645905, + 0.05459970235824585 + ], + [ + 0.235341414809227, + -0.14072132110595703, + 0.04740222916007042 + ], + [ + 0.23672865331172943, + -0.14628274738788605, + 0.037687093019485474 + ], + [ + 0.24115698039531708, + -0.14941902458667755, + 0.029916884377598763 + ], + [ + 0.24241964519023895, + -0.149917870759964, + 0.022556301206350327 + ], + [ + 0.24605202674865723, + -0.15100573003292084, + 0.018261650577187538 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9026676676628658, + -0.015506289773421418, + 0.43005887589206293, + -0.020774489100152234, + -0.9997556262427839, + 0.007557009893242424, + 0.42983659960351184, + -0.015755721924481724, + -0.9027692146212832 + ], + [ + 0.9087250887976973, + -0.012117470712412738, + 0.41721922282314744, + -0.017640673681735077, + -0.9998003472212633, + 0.009384685838964497, + 0.4170222051901696, + -0.015888127635921765, + -0.9087574196552967 + ], + [ + 0.9110597210087158, + 0.033739933216192966, + 0.4108914718780228, + 0.027082418468637754, + -0.9993907609018788, + 0.022014759454819156, + 0.41138391724204626, + -0.008928825820386411, + -0.9114184267964186 + ], + [ + 0.9139999845166765, + 0.0413227376874155, + 0.40360433552370595, + 0.038918666863449455, + -0.9991420272798825, + 0.014161450936200162, + 0.4038432439364153, + 0.0027641767424703666, + -0.9148240233257157 + ], + [ + 0.9042252665978249, + 0.09312381158992894, + 0.4167788657802309, + 0.0810917747622785, + -0.9956201741731583, + 0.04652518506479693, + 0.4192860495079656, + -0.008271909959200761, + -0.9078164925763523 + ], + [ + 0.8943120033946338, + 0.11948084957778324, + 0.43119643686891407, + 0.09920596000407775, + -0.9926508749373636, + 0.0692994804147595, + 0.43630748112305573, + -0.019198100694012434, + -0.8995928050211366 + ], + [ + 0.8988240552656043, + 0.1419763366924611, + 0.4146782336888238, + 0.119935170927124, + -0.9896439654511847, + 0.07886936300450006, + 0.42158139481074747, + -0.021155175854692822, + -0.9065437585047847 + ], + [ + 0.891638484472436, + 0.18298392002508368, + 0.41412280548159996, + 0.16326776867231746, + -0.9830959134204933, + 0.08286169639036065, + 0.4222847957486273, + -0.006269770983015309, + -0.9064415266587031 + ], + [ + 0.8896128922424765, + 0.21084437053790162, + 0.40513399433823344, + 0.18739436847530455, + -0.9774625849773019, + 0.09721237386893003, + 0.4165000031449189, + -0.010561552062404937, + -0.9090743649439882 + ], + [ + 0.8768764800487666, + 0.2461579067649346, + 0.4129090985609184, + 0.2140237981861824, + -0.9690307043898414, + 0.123179981164504, + 0.4304433209462597, + -0.019641254716363146, + -0.9024038832839327 + ], + [ + 0.8608686331215308, + 0.27541902582048167, + 0.4278429112695032, + 0.24260926461820936, + -0.9612850730052339, + 0.13065891909369856, + 0.44726495640601976, + -0.008681511010120997, + -0.8943593741543174 + ], + [ + 0.8482841019064742, + 0.28721659832314106, + 0.44488280265752017, + 0.25342660720758536, + -0.9578637356178658, + 0.13517403133531097, + 0.46496132872743173, + -0.0019208424898547877, + -0.8853289067641191 + ], + [ + 0.8356674540813201, + 0.2896691293944827, + 0.46663872713812254, + 0.2583419117868105, + -0.9570670939836632, + 0.1314611510218966, + 0.48468480768802785, + 0.01069453549755811, + -0.874623498487727 + ], + [ + 0.8267608259635469, + 0.2834992057722799, + 0.48589580876825894, + 0.26002556202938504, + -0.9585102558599637, + 0.1168109434195686, + 0.49885192566870623, + 0.029770618699545413, + -0.8661757711451356 + ], + [ + 0.8206736949192192, + 0.2617806097312736, + 0.5079031392267219, + 0.2488696157526451, + -0.9638979817719814, + 0.0946815456730173, + 0.5143526035928729, + 0.04869900517077859, + -0.8561949579813054 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0035772323608398438, + -0.0010534822940826416, + -0.003936417400836945, + 3.068707883358002e-05, + 0.014145225286483765, + 0.00360037200152874, + 1.0 + ], + [ + 0.0026687681674957275, + -0.015501389279961586, + -0.006810970604419708, + -0.0076852599158883095, + 0.00619468092918396, + 0.049127645790576935, + 1.0 + ], + [ + -0.0018762648105621338, + -0.013129722326993942, + -0.003122381865978241, + -0.01281784288585186, + 0.008257865905761719, + 0.012837361544370651, + 1.0 + ], + [ + 0.004952713847160339, + -0.020077094435691833, + -0.0030346624553203583, + 0.012133152224123478, + -0.01694473624229431, + 0.04688677936792374, + 1.0 + ], + [ + 0.001463383436203003, + -0.01399991661310196, + -0.004136022180318832, + 0.012226017192006111, + -0.018832087516784668, + 0.02103656530380249, + 1.0 + ], + [ + 0.0066301822662353516, + -0.013620913028717041, + 0.004271354526281357, + 0.0019942037761211395, + 0.016302287578582764, + 0.022173821926116943, + 1.0 + ], + [ + 0.008367180824279785, + -0.014487087726593018, + 0.004662293940782547, + -0.016415048390626907, + -0.0007758438587188721, + 0.04845146834850311, + 1.0 + ], + [ + 0.004500672221183777, + -0.012370862066745758, + 0.0013652890920639038, + 0.004700600169599056, + 0.006372302770614624, + 0.02650834619998932, + 1.0 + ], + [ + 0.0002782195806503296, + -0.009597554802894592, + -0.011060237884521484, + 0.01014464907348156, + -0.015391767024993896, + 0.03178277611732483, + 1.0 + ], + [ + 0.002724573016166687, + -0.012005552649497986, + -0.00719747319817543, + -0.01205538958311081, + -0.018721163272857666, + 0.03530015051364899, + 1.0 + ], + [ + 0.0013872385025024414, + -0.005561426281929016, + -0.009715136140584946, + -0.007537021767348051, + -0.019885897636413574, + 0.015616685152053833, + 1.0 + ], + [ + 0.0044283270835876465, + -0.003136277198791504, + -0.007770208641886711, + -0.014396611601114273, + -0.022411853075027466, + 0.009513407945632935, + 1.0 + ], + [ + 0.001262664794921875, + -0.000498846173286438, + -0.007360583171248436, + -0.02212967909872532, + -0.016270816326141357, + 0.00489121675491333, + 1.0 + ], + [ + 0.003632381558418274, + -0.0010878592729568481, + -0.004294650629162788, + -0.022460531443357468, + -0.017978966236114502, + -0.010279983282089233, + 1.0 + ], + [ + 0.0016812235116958618, + 0.0032691508531570435, + -0.0022362153977155685, + -0.019385874271392822, + 0.005783200263977051, + -0.012879610061645508, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.20563198626041412, + -0.015931228175759315, + 0.07246503978967667 + ], + [ + 0.20830075442790985, + -0.0314326174557209, + 0.06565406918525696 + ], + [ + 0.20642448961734772, + -0.044562339782714844, + 0.06253168731927872 + ], + [ + 0.21137720346450806, + -0.06463943421840668, + 0.05949702486395836 + ], + [ + 0.21284058690071106, + -0.07863935083150864, + 0.055361002683639526 + ], + [ + 0.2194707691669464, + -0.09226026386022568, + 0.05963235720992088 + ], + [ + 0.2278379499912262, + -0.1067473515868187, + 0.06429465115070343 + ], + [ + 0.23233862221240997, + -0.11911821365356445, + 0.06565994024276733 + ], + [ + 0.2326168417930603, + -0.12871576845645905, + 0.05459970235824585 + ], + [ + 0.235341414809227, + -0.14072132110595703, + 0.04740222916007042 + ], + [ + 0.23672865331172943, + -0.14628274738788605, + 0.037687093019485474 + ], + [ + 0.24115698039531708, + -0.14941902458667755, + 0.029916884377598763 + ], + [ + 0.24241964519023895, + -0.149917870759964, + 0.022556301206350327 + ], + [ + 0.24605202674865723, + -0.15100573003292084, + 0.018261650577187538 + ], + [ + 0.2477332502603531, + -0.1477365791797638, + 0.01602543517947197 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9087250887976973, + -0.012117470712412738, + 0.41721922282314744, + -0.017640673681735077, + -0.9998003472212633, + 0.009384685838964497, + 0.4170222051901696, + -0.015888127635921765, + -0.9087574196552967 + ], + [ + 0.9110597210087158, + 0.033739933216192966, + 0.4108914718780228, + 0.027082418468637754, + -0.9993907609018788, + 0.022014759454819156, + 0.41138391724204626, + -0.008928825820386411, + -0.9114184267964186 + ], + [ + 0.9139999845166765, + 0.0413227376874155, + 0.40360433552370595, + 0.038918666863449455, + -0.9991420272798825, + 0.014161450936200162, + 0.4038432439364153, + 0.0027641767424703666, + -0.9148240233257157 + ], + [ + 0.9042252665978249, + 0.09312381158992894, + 0.4167788657802309, + 0.0810917747622785, + -0.9956201741731583, + 0.04652518506479693, + 0.4192860495079656, + -0.008271909959200761, + -0.9078164925763523 + ], + [ + 0.8943120033946338, + 0.11948084957778324, + 0.43119643686891407, + 0.09920596000407775, + -0.9926508749373636, + 0.0692994804147595, + 0.43630748112305573, + -0.019198100694012434, + -0.8995928050211366 + ], + [ + 0.8988240552656043, + 0.1419763366924611, + 0.4146782336888238, + 0.119935170927124, + -0.9896439654511847, + 0.07886936300450006, + 0.42158139481074747, + -0.021155175854692822, + -0.9065437585047847 + ], + [ + 0.891638484472436, + 0.18298392002508368, + 0.41412280548159996, + 0.16326776867231746, + -0.9830959134204933, + 0.08286169639036065, + 0.4222847957486273, + -0.006269770983015309, + -0.9064415266587031 + ], + [ + 0.8896128922424765, + 0.21084437053790162, + 0.40513399433823344, + 0.18739436847530455, + -0.9774625849773019, + 0.09721237386893003, + 0.4165000031449189, + -0.010561552062404937, + -0.9090743649439882 + ], + [ + 0.8768764800487666, + 0.2461579067649346, + 0.4129090985609184, + 0.2140237981861824, + -0.9690307043898414, + 0.123179981164504, + 0.4304433209462597, + -0.019641254716363146, + -0.9024038832839327 + ], + [ + 0.8608686331215308, + 0.27541902582048167, + 0.4278429112695032, + 0.24260926461820936, + -0.9612850730052339, + 0.13065891909369856, + 0.44726495640601976, + -0.008681511010120997, + -0.8943593741543174 + ], + [ + 0.8482841019064742, + 0.28721659832314106, + 0.44488280265752017, + 0.25342660720758536, + -0.9578637356178658, + 0.13517403133531097, + 0.46496132872743173, + -0.0019208424898547877, + -0.8853289067641191 + ], + [ + 0.8356674540813201, + 0.2896691293944827, + 0.46663872713812254, + 0.2583419117868105, + -0.9570670939836632, + 0.1314611510218966, + 0.48468480768802785, + 0.01069453549755811, + -0.874623498487727 + ], + [ + 0.8267608259635469, + 0.2834992057722799, + 0.48589580876825894, + 0.26002556202938504, + -0.9585102558599637, + 0.1168109434195686, + 0.49885192566870623, + 0.029770618699545413, + -0.8661757711451356 + ], + [ + 0.8206736949192192, + 0.2617806097312736, + 0.5079031392267219, + 0.2488696157526451, + -0.9638979817719814, + 0.0946815456730173, + 0.5143526035928729, + 0.04869900517077859, + -0.8561949579813054 + ], + [ + 0.8266545666153355, + 0.23979273448098712, + 0.5090595957097185, + 0.23910181738961503, + -0.968611164348863, + 0.067990684801101, + 0.5093844799510429, + 0.06551226441568235, + -0.8580417208948145 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005854.json b/json/chunk-0005/episode_0005854.json new file mode 100644 index 0000000000000000000000000000000000000000..3037c8855511947a767c327d22c90b8f4d77d75c --- /dev/null +++ b/json/chunk-0005/episode_0005854.json @@ -0,0 +1,2662 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 43, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut the blue figure on the top edge of the cloth." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005854.mp4", + "start": 0, + "end": 43, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3596244156360626, + -0.04595131427049637, + 0.11092162132263184, + -0.10037966817617416, + -0.12899279594421387, + 0.27603429555892944, + 0.0, + 1.0008161067962646 + ], + [ + 0.3558346927165985, + -0.04643775522708893, + 0.09846838563680649, + -0.0845092311501503, + -0.0921318531036377, + 0.2751932442188263, + 0.0, + 1.0008161067962646 + ], + [ + 0.35207000374794006, + -0.04836254194378853, + 0.09516900032758713, + -0.05645769089460373, + -0.08125535398721695, + 0.27079328894615173, + 0.0, + 1.0008161067962646 + ], + [ + 0.3426438570022583, + -0.04704415053129196, + 0.08771347254514694, + -0.03692677244544029, + -0.04626122862100601, + 0.261540025472641, + 0.0, + 1.0008161067962646 + ], + [ + 0.3336727023124695, + -0.049928367137908936, + 0.09790298342704773, + 0.0032089962624013424, + -0.07814748585224152, + 0.23365649580955505, + 0.0, + 1.0008161067962646 + ], + [ + 0.3158494532108307, + -0.057782210409641266, + 0.10064827650785446, + 0.02829703502357006, + -0.08707908540964127, + 0.17877668142318726, + 0.0, + 1.0008161067962646 + ], + [ + 0.2962903380393982, + -0.05451703444123268, + 0.10335592925548553, + 0.057924967259168625, + -0.10108554363250732, + 0.11572521179914474, + 0.0, + 1.0008161067962646 + ], + [ + 0.28531280159950256, + -0.06487294286489487, + 0.09779346734285355, + 0.0590638667345047, + -0.10024985671043396, + -0.007956292480230331, + 0.0, + 1.0008161067962646 + ], + [ + 0.2766357362270355, + -0.06733642518520355, + 0.09081758558750153, + 0.08633168786764145, + -0.0727449506521225, + -0.07246790081262589, + 0.0, + 1.0008161067962646 + ], + [ + 0.26415738463401794, + -0.069176584482193, + 0.07912540435791016, + 0.09564179182052612, + -0.0353909470140934, + -0.12586812674999237, + 0.0, + 1.0008161067962646 + ], + [ + 0.2594565749168396, + -0.06867647916078568, + 0.07045052200555801, + 0.10120300203561783, + -0.030747706070542336, + -0.1612638533115387, + 0.0, + 1.0008161067962646 + ], + [ + 0.25712713599205017, + -0.07967741042375565, + 0.05474821850657463, + 0.10392889380455017, + 0.005986735690385103, + -0.21490705013275146, + 0.0, + 1.0008161067962646 + ], + [ + 0.2597465515136719, + -0.08296763896942139, + 0.04613855853676796, + 0.08980589359998703, + 0.00504335155710578, + -0.2254292368888855, + 0.0, + 1.0008161067962646 + ], + [ + 0.26016417145729065, + -0.08440788090229034, + 0.035485778003931046, + 0.08407855778932571, + 0.022810308262705803, + -0.23949623107910156, + 0.0, + 1.0008161067962646 + ], + [ + 0.2597184181213379, + -0.08633456379175186, + 0.02258455567061901, + 0.07344834506511688, + 0.04602818936109543, + -0.25723376870155334, + 0.0, + 1.0008161067962646 + ], + [ + 0.25853803753852844, + -0.08745911717414856, + 0.015044513158500195, + 0.06112663075327873, + 0.053520724177360535, + -0.2744123041629791, + 0.0, + 0.9590815901756287 + ], + [ + 0.25917860865592957, + -0.08796310424804688, + 0.01267104409635067, + 0.05616335943341255, + 0.048227228224277496, + -0.27838996052742004, + 0.0, + 0.7807356715202332 + ], + [ + 0.25929006934165955, + -0.08793018013238907, + 0.010194896720349789, + 0.050013795495033264, + 0.0301777645945549, + -0.2708216905593872, + 0.0, + 0.48514097929000854 + ], + [ + 0.2599143385887146, + -0.08760285377502441, + 0.009634928777813911, + 0.053651440888643265, + 0.02910059317946434, + -0.25871556997299194, + 0.0, + 0.31732118129730225 + ], + [ + 0.26043766736984253, + -0.0875699445605278, + 0.01010318286716938, + 0.0603288859128952, + 0.024165011942386627, + -0.24673554301261902, + 0.0, + 0.1949377954006195 + ], + [ + 0.25996047258377075, + -0.08725699037313461, + 0.010298174805939198, + 0.06398627907037735, + 0.02492748759686947, + -0.24520891904830933, + 0.0, + 0.09775853902101517 + ], + [ + 0.25875362753868103, + -0.08621898293495178, + 0.011375878937542439, + 0.06758789718151093, + 0.023821566253900528, + -0.23755347728729248, + 0.0, + 0.052190229296684265 + ], + [ + 0.2546083331108093, + -0.08957349509000778, + 0.014586777426302433, + 0.03803132474422455, + 0.028159627690911293, + -0.263654500246048, + 0.0, + 0.050379663705825806 + ], + [ + 0.25396186113357544, + -0.08748964220285416, + 0.027274239808321, + 0.042423591017723083, + 0.013523044995963573, + -0.2558056116104126, + 0.0, + 0.050379663705825806 + ], + [ + 0.2543516159057617, + -0.08422752469778061, + 0.03988964483141899, + 0.029754163697361946, + -0.0029840990900993347, + -0.24955032765865326, + 0.0, + 0.050379663705825806 + ], + [ + 0.26158586144447327, + -0.08197325468063354, + 0.057616688311100006, + 0.013225132599473, + -0.0379924476146698, + -0.23888999223709106, + 0.0, + 0.050379663705825806 + ], + [ + 0.2743309736251831, + -0.0776696652173996, + 0.07487360388040543, + -0.025174899026751518, + -0.061740197241306305, + -0.20784330368041992, + 0.0, + 0.050379663705825806 + ], + [ + 0.2967182695865631, + -0.06562423706054688, + 0.09669996052980423, + -0.05473458021879196, + -0.10870791226625443, + -0.1708236187696457, + 0.0, + 0.050379663705825806 + ], + [ + 0.3154750168323517, + -0.06592455506324768, + 0.09920745342969894, + -0.07250732183456421, + -0.10127341002225876, + -0.17190448939800262, + 0.0, + 0.050379663705825806 + ], + [ + 0.3390563428401947, + -0.05799800530076027, + 0.10320799052715302, + -0.0636000856757164, + -0.1014544889330864, + -0.1508112996816635, + 0.0, + 0.050379663705825806 + ], + [ + 0.3607470989227295, + -0.04443875700235367, + 0.09426288306713104, + -0.05517032742500305, + -0.07642882317304611, + -0.10823463648557663, + 0.0, + 0.050379663705825806 + ], + [ + 0.3767204284667969, + -0.040005408227443695, + 0.08440013974905014, + -0.04322349652647972, + -0.05309487506747246, + -0.09977766871452332, + 0.0, + 0.050379663705825806 + ], + [ + 0.3874824345111847, + -0.02303066849708557, + 0.0707431361079216, + -0.032319195568561554, + -0.02824404649436474, + -0.05878922715783119, + 0.0, + 0.050379663705825806 + ], + [ + 0.38790538907051086, + -0.017644671723246574, + 0.05461498349905014, + -0.009887810796499252, + -0.00013101473450660706, + -0.05257143825292587, + 0.0, + 0.050379663705825806 + ], + [ + 0.3908853828907013, + -0.015088179148733616, + 0.051044903695583344, + 0.0071111517027020454, + -0.012217334471642971, + -0.05069432035088539, + 0.0, + 0.050379663705825806 + ], + [ + 0.3923432528972626, + -0.015153228305280209, + 0.05106951296329498, + 0.006938279140740633, + -0.021496577188372612, + -0.04001997038722038, + 0.0, + 0.07559127360582352 + ], + [ + 0.38893115520477295, + -0.015014968812465668, + 0.04718685895204544, + 0.006566990632563829, + -0.010986360721290112, + -0.006314108148217201, + 0.0, + 0.23134081065654755 + ], + [ + 0.3850041925907135, + -0.01485461462289095, + 0.04620465263724327, + 0.006684624124318361, + -0.004967095330357552, + 0.010525858029723167, + 0.0, + 0.45967593789100647 + ], + [ + 0.3826891779899597, + -0.014758678153157234, + 0.06104113906621933, + 0.004434467758983374, + -0.035692982375621796, + 0.028977451846003532, + 0.0, + 0.7477011680603027 + ], + [ + 0.3808926045894623, + -0.015124867670238018, + 0.06437566131353378, + 0.0009874791139736772, + -0.04161784052848816, + 0.03490712493658066, + 0.0, + 1.002137303352356 + ], + [ + 0.3774310350418091, + -0.015641188248991966, + 0.07485845685005188, + -0.005006865598261356, + -0.05807609111070633, + 0.044630877673625946, + 0.0, + 1.0092895030975342 + ], + [ + 0.37495821714401245, + -0.01651296392083168, + 0.0944187343120575, + -0.01774364337325096, + -0.0955243781208992, + 0.043181855231523514, + 0.0, + 0.9994885921478271 + ], + [ + 0.37027087807655334, + -0.020423276349902153, + 0.11925291270017624, + -0.05045657232403755, + -0.1488758623600006, + 0.036778394132852554, + 0.0, + 0.9994885921478271 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9590815901756287 + ], + [ + 0.7807356715202332 + ], + [ + 0.48514097929000854 + ], + [ + 0.31732118129730225 + ], + [ + 0.1949377954006195 + ], + [ + 0.09775853902101517 + ], + [ + 0.052190229296684265 + ], + [ + 0.050379663705825806 + ], + [ + 0.050379663705825806 + ], + [ + 0.050379663705825806 + ], + [ + 0.050379663705825806 + ], + [ + 0.050379663705825806 + ], + [ + 0.050379663705825806 + ], + [ + 0.050379663705825806 + ], + [ + 0.050379663705825806 + ], + [ + 0.050379663705825806 + ], + [ + 0.050379663705825806 + ], + [ + 0.050379663705825806 + ], + [ + 0.050379663705825806 + ], + [ + 0.050379663705825806 + ], + [ + 0.07559127360582352 + ], + [ + 0.23134081065654755 + ], + [ + 0.45967593789100647 + ], + [ + 0.7477011680603027 + ], + [ + 1.002137303352356 + ], + [ + 1.0092895030975342 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3596244156360626, + -0.04595131427049637, + 0.11092162132263184 + ], + [ + 0.3558346927165985, + -0.04643775522708893, + 0.09846838563680649 + ], + [ + 0.35207000374794006, + -0.04836254194378853, + 0.09516900032758713 + ], + [ + 0.3426438570022583, + -0.04704415053129196, + 0.08771347254514694 + ], + [ + 0.3336727023124695, + -0.049928367137908936, + 0.09790298342704773 + ], + [ + 0.3158494532108307, + -0.057782210409641266, + 0.10064827650785446 + ], + [ + 0.2962903380393982, + -0.05451703444123268, + 0.10335592925548553 + ], + [ + 0.28531280159950256, + -0.06487294286489487, + 0.09779346734285355 + ], + [ + 0.2766357362270355, + -0.06733642518520355, + 0.09081758558750153 + ], + [ + 0.26415738463401794, + -0.069176584482193, + 0.07912540435791016 + ], + [ + 0.2594565749168396, + -0.06867647916078568, + 0.07045052200555801 + ], + [ + 0.25712713599205017, + -0.07967741042375565, + 0.05474821850657463 + ], + [ + 0.2597465515136719, + -0.08296763896942139, + 0.04613855853676796 + ], + [ + 0.26016417145729065, + -0.08440788090229034, + 0.035485778003931046 + ], + [ + 0.2597184181213379, + -0.08633456379175186, + 0.02258455567061901 + ], + [ + 0.25853803753852844, + -0.08745911717414856, + 0.015044513158500195 + ], + [ + 0.25917860865592957, + -0.08796310424804688, + 0.01267104409635067 + ], + [ + 0.25929006934165955, + -0.08793018013238907, + 0.010194896720349789 + ], + [ + 0.2599143385887146, + -0.08760285377502441, + 0.009634928777813911 + ], + [ + 0.26043766736984253, + -0.0875699445605278, + 0.01010318286716938 + ], + [ + 0.25996047258377075, + -0.08725699037313461, + 0.010298174805939198 + ], + [ + 0.25875362753868103, + -0.08621898293495178, + 0.011375878937542439 + ], + [ + 0.2546083331108093, + -0.08957349509000778, + 0.014586777426302433 + ], + [ + 0.25396186113357544, + -0.08748964220285416, + 0.027274239808321 + ], + [ + 0.2543516159057617, + -0.08422752469778061, + 0.03988964483141899 + ], + [ + 0.26158586144447327, + -0.08197325468063354, + 0.057616688311100006 + ], + [ + 0.2743309736251831, + -0.0776696652173996, + 0.07487360388040543 + ], + [ + 0.2967182695865631, + -0.06562423706054688, + 0.09669996052980423 + ], + [ + 0.3154750168323517, + -0.06592455506324768, + 0.09920745342969894 + ], + [ + 0.3390563428401947, + -0.05799800530076027, + 0.10320799052715302 + ], + [ + 0.3607470989227295, + -0.04443875700235367, + 0.09426288306713104 + ], + [ + 0.3767204284667969, + -0.040005408227443695, + 0.08440013974905014 + ], + [ + 0.3874824345111847, + -0.02303066849708557, + 0.0707431361079216 + ], + [ + 0.38790538907051086, + -0.017644671723246574, + 0.05461498349905014 + ], + [ + 0.3908853828907013, + -0.015088179148733616, + 0.051044903695583344 + ], + [ + 0.3923432528972626, + -0.015153228305280209, + 0.05106951296329498 + ], + [ + 0.38893115520477295, + -0.015014968812465668, + 0.04718685895204544 + ], + [ + 0.3850041925907135, + -0.01485461462289095, + 0.04620465263724327 + ], + [ + 0.3826891779899597, + -0.014758678153157234, + 0.06104113906621933 + ], + [ + 0.3808926045894623, + -0.015124867670238018, + 0.06437566131353378 + ], + [ + 0.3774310350418091, + -0.015641188248991966, + 0.07485845685005188 + ], + [ + 0.37495821714401245, + -0.01651296392083168, + 0.0944187343120575 + ], + [ + 0.37027087807655334, + -0.020423276349902153, + 0.11925291270017624 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9541502925571596, + 0.258767588066973, + 0.15045449338284397, + 0.27027793161133196, + -0.9608138346257186, + -0.06153547656208036, + 0.12863537187331883, + 0.0993786222374991, + -0.9866999698718903 + ], + [ + 0.958291149423002, + 0.26328963280733503, + 0.111160434479723, + 0.27058045822362925, + -0.9610484125750773, + -0.056321970086415124, + 0.09200156827485571, + 0.08405068674973984, + -0.992205217428262 + ], + [ + 0.9603798311505697, + 0.26265658792205127, + 0.09317776956092753, + 0.2666133254117513, + -0.9632488814746876, + -0.03269444984475459, + 0.08116596966765775, + 0.05624152521855493, + -0.9951125444938376 + ], + [ + 0.9649594447005173, + 0.2567430204691696, + 0.05418755875324956, + 0.25829187957037775, + -0.9657758380704733, + -0.023713615230002448, + 0.04624472976751806, + 0.036878883383891996, + -0.9982491537332183 + ], + [ + 0.969857261081389, + 0.23177871838043254, + 0.07520318366685501, + 0.23082955920062667, + -0.9727632758509257, + 0.0211972581958278, + 0.07806796863599678, + -0.0031991970399366625, + -0.9969429057931798 + ], + [ + 0.9803333673959322, + 0.1801761165519749, + 0.08051742540842398, + 0.17715210528322645, + -0.983230447693388, + 0.04330148175733193, + 0.08696907705542593, + -0.028186056001311282, + -0.9958121940824074 + ], + [ + 0.9882406573516622, + 0.12107648579932813, + 0.09338569346339902, + 0.11487764406229155, + -0.9909707686799285, + 0.06913799618595644, + 0.10091347804853563, + -0.05759705034458768, + -0.9932265852965027 + ], + [ + 0.99494769795721, + -0.002034726902227126, + 0.10037399173133199, + -0.00791626192814551, + -0.9982716445560605, + 0.058232778333367805, + 0.10008202199562688, + -0.05873315555775553, + -0.993244182118121 + ], + [ + 0.9947375448269301, + -0.06588441804982303, + 0.07846311470957296, + -0.07221299719062857, + -0.9941146085198909, + 0.08075535997127736, + 0.07268080866664683, + -0.08599644519153374, + -0.993640836251199 + ], + [ + 0.9914678194735684, + -0.12161005690549884, + 0.046931407476965184, + -0.1254574296929989, + -0.9879792086106212, + 0.0903189719159659, + 0.03538355950372789, + -0.09543624789655202, + -0.9948064768105775 + ], + [ + 0.9865585995239871, + -0.15667856764197263, + 0.0464107331005347, + -0.16048989432258126, + -0.9824735846911102, + 0.09480848698574655, + 0.03074286137619532, + -0.10098258179438462, + -0.9944130905456466 + ], + [ + 0.9769787123910485, + -0.21271272319662898, + 0.016306223505260602, + -0.2132527958988889, + -0.9715921474251236, + 0.10262526055091871, + -0.005986699928679326, + -0.10374004266488142, + -0.9945864281055985 + ], + [ + 0.9746858558997706, + -0.2230648581170136, + 0.015150953176896718, + -0.2235219164414437, + -0.9706692710548664, + 0.08853879997017595, + -0.005043330177193201, + -0.08968408611928406, + -0.9959574938307724 + ], + [ + 0.9712048801151372, + -0.23823606757926188, + -0.0021579955771769584, + -0.23715155684104303, + -0.9675715391099536, + 0.08697387994257097, + -0.02280833024163053, + -0.08395768463198938, + -0.9962082549662112 + ], + [ + 0.9660731614213572, + -0.2569857729235815, + -0.025709128655271665, + -0.25413686920647105, + -0.9636310224525424, + 0.08264202488443981, + -0.046011938573341016, + -0.07330460477989614, + -0.9962476280658268 + ], + [ + 0.9612063011002737, + -0.2736208509481648, + -0.034843602734678396, + -0.27059326086044877, + -0.9599012948226947, + 0.0732720367850054, + -0.053495176437123794, + -0.06100109936809556, + -0.9967031313153605 + ], + [ + 0.9603811938369972, + -0.2769765930142847, + -0.030853353892616793, + -0.27448843261557465, + -0.9592394290839833, + 0.067199836687887, + -0.048208535390207106, + -0.05606857063304614, + -0.9972623789668885 + ], + [ + 0.9631126817123737, + -0.2686422147600087, + -0.015662783074460982, + -0.26740146086351113, + -0.9619430030192471, + 0.05623270996824995, + -0.030173184334113912, + -0.049970185022176185, + -0.9982948259687563 + ], + [ + 0.9663100812463077, + -0.25697934591039273, + -0.014368112514204237, + -0.2557307595497976, + -0.9649291860444035, + 0.05927431602109314, + -0.02909648607371193, + -0.053603000803607435, + -0.998138323481776 + ], + [ + 0.9694317795058259, + -0.24520804652119038, + -0.008662494180634153, + -0.24416836555572557, + -0.9675949437319121, + 0.06435708295349744, + -0.024162660160118032, + -0.06027469440569166, + -0.9978893360830584 + ], + [ + 0.9697852487318738, + -0.24380830099810816, + -0.008607189231883602, + -0.2426835808160924, + -0.9677145204554424, + 0.06806824885342866, + -0.02492490610487235, + -0.06392276014151019, + -0.9976435384402358 + ], + [ + 0.9716408599181507, + -0.23635171845072783, + -0.00720447936384962, + -0.23525875042219335, + -0.9693189778645206, + 0.07123229254677124, + -0.023819313325627103, + -0.06751728917150435, + -0.9974337351301221 + ], + [ + 0.9650612698543444, + -0.2614556057951506, + -0.017254321934259104, + -0.2605071791158662, + -0.9644669138003928, + 0.044040683616851886, + -0.028155906240329875, + -0.03800708332188164, + -0.9988807268944322 + ], + [ + 0.9673713102048161, + -0.25335207400012105, + -0.0023398274411382146, + -0.2530017521557171, + -0.9664441907782569, + 0.04444929152525215, + -0.01352263283367022, + -0.042406988938109014, + -0.9990089017073114 + ], + [ + 0.9690192599646245, + -0.24677290127219495, + 0.010237627426086526, + -0.24696714153235924, + -0.9686165877419322, + 0.028091581559459608, + 0.0029840946612768133, + -0.029749641155477312, + -0.9995529270779877 + ], + [ + 0.9709000952256154, + -0.23611554015032668, + 0.04003069810046104, + -0.23645353322468374, + -0.9716351218894813, + 0.0038621932080048207, + 0.037983308392689506, + -0.013215203756736255, + -0.9991909860848494 + ], + [ + 0.9766139097524588, + -0.2078044399291263, + 0.055159641258426456, + -0.2059569378941993, + -0.9778476800425943, + -0.037358457791522796, + 0.061700980634517386, + 0.025124278717173234, + -0.9977784120773913 + ], + [ + 0.9796281183024466, + -0.17558847672457764, + 0.09745479296961439, + -0.16899058184106017, + -0.9829603410937426, + -0.07232669690987725, + 0.10849393107555778, + 0.05438432382971922, + -0.9926083881578659 + ], + [ + 0.9802125238304351, + -0.17782576346041643, + 0.08695634522959672, + -0.17018260943588379, + -0.9814191434724999, + -0.08862473848366581, + 0.10110038363706744, + 0.072072620844706, + -0.9922621880093049 + ], + [ + 0.9835657849431994, + -0.15630056107283763, + 0.09037965090319874, + -0.14946772329691393, + -0.9856835450946333, + -0.07802146257353161, + 0.10128053308264673, + 0.06323040042568108, + -0.9928464987501858 + ], + [ + 0.9912461690764779, + -0.11204480461995246, + 0.06983547843956804, + -0.10770808824400364, + -0.9921809365223898, + -0.06305518954356894, + 0.07635443679334304, + 0.05498136920112269, + -0.9955636840618189 + ], + [ + 0.9936241438927998, + -0.10180090530673189, + 0.04845241327354694, + -0.0994718199455353, + -0.9938685661443892, + -0.04827660164944116, + 0.05306993225946104, + 0.04314914725490677, + -0.9976581245001469 + ], + [ + 0.9978742635006964, + -0.059635653621974184, + 0.026278186010880007, + -0.05873193492768009, + -0.9976974765845468, + -0.033916147134932524, + 0.02824029147500507, + 0.03230068163224357, + -0.9990791519712034 + ], + [ + 0.9986184316046129, + -0.05254595074600546, + -0.0003887412267301465, + -0.05254722537567927, + -0.9985695556373295, + -0.009880873422108574, + 0.00013101473413179874, + 0.009887649592523575, + -0.9999511074150951 + ], + [ + 0.9986407832785072, + -0.05058456376946226, + 0.012561364621052645, + -0.05066882806674257, + -0.9986944687088302, + 0.006482903109768499, + 0.012217030540712735, + -0.007110561063725662, + -0.9999000870517647 + ], + [ + 0.9989684503350839, + -0.03985930842037006, + 0.02175478722881161, + -0.04000004474491626, + -0.999181224217611, + 0.006072692269560019, + 0.021494921621763242, + -0.006936620448452813, + -0.9997448932808951 + ], + [ + 0.9999197178344443, + -0.006241786125583763, + 0.01102714794711543, + -0.006313685142750351, + -0.999958959440274, + 0.006497446809509608, + 0.010986139713444186, + -0.006566547120569771, + -0.9999180892418688 + ], + [ + 0.9999322683585569, + 0.010558629441964732, + 0.004896329198343988, + 0.010525533819853203, + -0.9999219134075441, + 0.006736484632455145, + 0.00496707490565693, + -0.006684491880723127, + -0.9999653222663166 + ], + [ + 0.9989435235413364, + 0.029131290605110712, + 0.03554159088307532, + 0.028954942722174238, + -0.999565770009074, + 0.005466508769077134, + 0.035685404113936045, + -0.004431628802977131, + -0.9993532471550676 + ], + [ + 0.9985254383411696, + 0.0349410791050277, + 0.04154599832175424, + 0.03486981642196329, + -0.9993888870526128, + 0.0024389215728839865, + 0.04160582757587678, + -0.0009866238980969521, + -0.9991336155314814 + ], + [ + 0.9973199443055898, + 0.04432517795004911, + 0.058208309458285486, + 0.04454084222459536, + -0.9990046519225354, + -0.00241222118750721, + 0.05804344979598259, + 0.00499840342811937, + -0.9983015445740584 + ], + [ + 0.994513073269898, + 0.04147093352138183, + 0.09604118266726738, + 0.04297163221869596, + -0.9989835942902878, + -0.01360945124971841, + 0.09537916921279732, + 0.017661823567300724, + -0.99528431820689 + ], + [ + 0.9882696736438648, + 0.02924749349725647, + 0.14989208211235405, + 0.03636336868573206, + -0.9983270213890032, + -0.044954018534340535, + 0.14832652350026365, + 0.049877274270836526, + -0.9876798570071362 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0037897229194641113, + -0.0004864409565925598, + -0.012453235685825348, + 0.015870437026023865, + 0.03686094284057617, + -0.0008410513401031494, + 1.0 + ], + [ + -0.0037646889686584473, + -0.0019247867166996002, + -0.0032993853092193604, + 0.02805154025554657, + 0.010876499116420746, + -0.0043999552726745605, + 1.0 + ], + [ + -0.009426146745681763, + 0.0013183914124965668, + -0.0074555277824401855, + 0.019530918449163437, + 0.03499412536621094, + -0.009253263473510742, + 1.0 + ], + [ + -0.008971154689788818, + -0.002884216606616974, + 0.010189510881900787, + 0.04013576731085777, + -0.031886257231235504, + -0.027883529663085938, + 1.0 + ], + [ + -0.017823249101638794, + -0.00785384327173233, + 0.002745293080806732, + 0.02508803829550743, + -0.00893159955739975, + -0.0548798143863678, + 1.0 + ], + [ + -0.019559115171432495, + 0.0032651759684085846, + 0.002707652747631073, + 0.029627932235598564, + -0.014006458222866058, + -0.06305146962404251, + 1.0 + ], + [ + -0.01097753643989563, + -0.010355908423662186, + -0.0055624619126319885, + 0.0011388994753360748, + 0.0008356869220733643, + -0.12368150055408478, + 1.0 + ], + [ + -0.008677065372467041, + -0.0024634823203086853, + -0.00697588175535202, + 0.02726782113313675, + 0.027504906058311462, + -0.06451161205768585, + 1.0 + ], + [ + -0.012478351593017578, + -0.001840159296989441, + -0.01169218122959137, + 0.009310103952884674, + 0.0373540036380291, + -0.053400225937366486, + 1.0 + ], + [ + -0.004700809717178345, + 0.0005001053214073181, + -0.008674882352352142, + 0.005561210215091705, + 0.0046432409435510635, + -0.035395726561546326, + 1.0 + ], + [ + -0.0023294389247894287, + -0.01100093126296997, + -0.015702303498983383, + 0.0027258917689323425, + 0.0367344431579113, + -0.05364319682121277, + 1.0 + ], + [ + 0.002619415521621704, + -0.003290228545665741, + -0.008609659969806671, + -0.014123000204563141, + -0.0009433841332793236, + -0.010522186756134033, + 1.0 + ], + [ + 0.0004176199436187744, + -0.0014402419328689575, + -0.010652780532836914, + -0.005727335810661316, + 0.017766956239938736, + -0.014066994190216064, + 1.0 + ], + [ + -0.0004457533359527588, + -0.0019266828894615173, + -0.012901222333312035, + -0.010630212724208832, + 0.023217881098389626, + -0.017737537622451782, + 1.0 + ], + [ + -0.0011803805828094482, + -0.001124553382396698, + -0.007540042512118816, + -0.01232171431183815, + 0.007492534816265106, + -0.01717853546142578, + 0.0 + ], + [ + 0.000640571117401123, + -0.0005039870738983154, + -0.0023734690621495247, + -0.00496327131986618, + -0.005293495953083038, + -0.003977656364440918, + 0.0 + ], + [ + 0.00011146068572998047, + 3.2924115657806396e-05, + -0.002476147376000881, + -0.006149563938379288, + -0.018049463629722595, + 0.007568269968032837, + 0.0 + ], + [ + 0.0006242692470550537, + 0.00032732635736465454, + -0.0005599679425358772, + 0.0036376453936100006, + -0.001077171415090561, + 0.012106120586395264, + 0.0 + ], + [ + 0.0005233287811279297, + 3.290921449661255e-05, + 0.00046825408935546875, + 0.006677445024251938, + -0.004935581237077713, + 0.011980026960372925, + 0.0 + ], + [ + -0.00047719478607177734, + 0.0003129541873931885, + 0.00019499193876981735, + 0.003657393157482147, + 0.0007624756544828415, + 0.0015266239643096924, + 0.0 + ], + [ + -0.0012068450450897217, + 0.0010380074381828308, + 0.001077704131603241, + 0.0036016181111335754, + -0.0011059213429689407, + 0.007655441761016846, + 0.0 + ], + [ + -0.004145294427871704, + -0.0033545121550559998, + 0.0032108984887599945, + -0.029556572437286377, + 0.004338061437010765, + -0.026101022958755493, + 0.0 + ], + [ + -0.0006464719772338867, + 0.0020838528871536255, + 0.012687462382018566, + 0.004392266273498535, + -0.01463658269494772, + 0.007848888635635376, + 0.0 + ], + [ + 0.0003897547721862793, + 0.0032621175050735474, + 0.012615405023097992, + -0.012669427320361137, + -0.016507145017385483, + 0.006255283951759338, + 0.0 + ], + [ + 0.007234245538711548, + 0.002254270017147064, + 0.017727043479681015, + -0.016529031097888947, + -0.035008348524570465, + 0.010660335421562195, + 0.0 + ], + [ + 0.012745112180709839, + 0.004303589463233948, + 0.01725691556930542, + -0.03840003162622452, + -0.023747749626636505, + 0.031046688556671143, + 0.0 + ], + [ + 0.022387295961380005, + 0.012045428156852722, + 0.021826356649398804, + -0.029559681192040443, + -0.04696771502494812, + 0.03701968491077423, + 0.0 + ], + [ + 0.018756747245788574, + -0.00030031800270080566, + 0.0025074928998947144, + -0.017772741615772247, + 0.0074345022439956665, + -0.0010808706283569336, + 0.0 + ], + [ + 0.023581326007843018, + 0.007926549762487411, + 0.004000537097454071, + 0.008907236158847809, + -0.00018107891082763672, + 0.02109318971633911, + 0.0 + ], + [ + 0.02169075608253479, + 0.013559248298406601, + -0.008945107460021973, + 0.008429758250713348, + 0.025025665760040283, + 0.042576663196086884, + 0.0 + ], + [ + 0.015973329544067383, + 0.004433348774909973, + -0.009862743318080902, + 0.01194683089852333, + 0.023333948105573654, + 0.008456967771053314, + 0.0 + ], + [ + 0.010762006044387817, + 0.016974739730358124, + -0.01365700364112854, + 0.010904300957918167, + 0.02485082857310772, + 0.04098844155669212, + 0.0 + ], + [ + 0.0004229545593261719, + 0.005385996773838997, + -0.01612815260887146, + 0.0224313847720623, + 0.02811303175985813, + 0.006217788904905319, + 0.0 + ], + [ + 0.0029799938201904297, + 0.0025564925745129585, + -0.003570079803466797, + 0.016998961567878723, + -0.012086319737136364, + 0.0018771179020404816, + 0.0 + ], + [ + 0.0014578700065612793, + -6.504915654659271e-05, + 2.4609267711639404e-05, + -0.00017287256196141243, + -0.009279242716729641, + 0.010674349963665009, + 1.0 + ], + [ + -0.003412097692489624, + 0.00013825949281454086, + -0.0038826540112495422, + -0.0003712885081768036, + 0.0105102164670825, + 0.03370586037635803, + 1.0 + ], + [ + -0.003926962614059448, + 0.00016035418957471848, + -0.0009822063148021698, + 0.00011763349175453186, + 0.00601926539093256, + 0.01683996617794037, + 1.0 + ], + [ + -0.002315014600753784, + 9.593646973371506e-05, + 0.014836486428976059, + -0.0022501563653349876, + -0.030725887045264244, + 0.018451593816280365, + 1.0 + ], + [ + -0.0017965734004974365, + -0.00036618951708078384, + 0.003334522247314453, + -0.0034469887614250183, + -0.0059248581528663635, + 0.0059296730905771255, + 1.0 + ], + [ + -0.0034615695476531982, + -0.0005163205787539482, + 0.010482795536518097, + -0.005994344595819712, + -0.01645825058221817, + 0.009723752737045288, + 1.0 + ], + [ + -0.002472817897796631, + -0.000871775671839714, + 0.019560277462005615, + -0.012736777774989605, + -0.03744828701019287, + -0.0014490224421024323, + 1.0 + ], + [ + -0.0046873390674591064, + -0.003910312429070473, + 0.024834178388118744, + -0.03271292895078659, + -0.05335148423910141, + -0.0064034610986709595, + 1.0 + ], + [ + -0.00880122184753418, + 0.002494022250175476, + 0.002633318305015564, + -0.03865897282958031, + -0.013001963496208191, + -0.004968713968992233, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9590815901756287 + ], + [ + 0.7807356715202332 + ], + [ + 0.48514097929000854 + ], + [ + 0.31732118129730225 + ], + [ + 0.1949377954006195 + ], + [ + 0.09775853902101517 + ], + [ + 0.052190229296684265 + ], + [ + 0.050379663705825806 + ], + [ + 0.050379663705825806 + ], + [ + 0.050379663705825806 + ], + [ + 0.050379663705825806 + ], + [ + 0.050379663705825806 + ], + [ + 0.050379663705825806 + ], + [ + 0.050379663705825806 + ], + [ + 0.050379663705825806 + ], + [ + 0.050379663705825806 + ], + [ + 0.050379663705825806 + ], + [ + 0.050379663705825806 + ], + [ + 0.050379663705825806 + ], + [ + 0.050379663705825806 + ], + [ + 0.07559127360582352 + ], + [ + 0.23134081065654755 + ], + [ + 0.45967593789100647 + ], + [ + 0.7477011680603027 + ], + [ + 1.002137303352356 + ], + [ + 1.0092895030975342 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3558346927165985, + -0.04643775522708893, + 0.09846838563680649 + ], + [ + 0.35207000374794006, + -0.04836254194378853, + 0.09516900032758713 + ], + [ + 0.3426438570022583, + -0.04704415053129196, + 0.08771347254514694 + ], + [ + 0.3336727023124695, + -0.049928367137908936, + 0.09790298342704773 + ], + [ + 0.3158494532108307, + -0.057782210409641266, + 0.10064827650785446 + ], + [ + 0.2962903380393982, + -0.05451703444123268, + 0.10335592925548553 + ], + [ + 0.28531280159950256, + -0.06487294286489487, + 0.09779346734285355 + ], + [ + 0.2766357362270355, + -0.06733642518520355, + 0.09081758558750153 + ], + [ + 0.26415738463401794, + -0.069176584482193, + 0.07912540435791016 + ], + [ + 0.2594565749168396, + -0.06867647916078568, + 0.07045052200555801 + ], + [ + 0.25712713599205017, + -0.07967741042375565, + 0.05474821850657463 + ], + [ + 0.2597465515136719, + -0.08296763896942139, + 0.04613855853676796 + ], + [ + 0.26016417145729065, + -0.08440788090229034, + 0.035485778003931046 + ], + [ + 0.2597184181213379, + -0.08633456379175186, + 0.02258455567061901 + ], + [ + 0.25853803753852844, + -0.08745911717414856, + 0.015044513158500195 + ], + [ + 0.25917860865592957, + -0.08796310424804688, + 0.01267104409635067 + ], + [ + 0.25929006934165955, + -0.08793018013238907, + 0.010194896720349789 + ], + [ + 0.2599143385887146, + -0.08760285377502441, + 0.009634928777813911 + ], + [ + 0.26043766736984253, + -0.0875699445605278, + 0.01010318286716938 + ], + [ + 0.25996047258377075, + -0.08725699037313461, + 0.010298174805939198 + ], + [ + 0.25875362753868103, + -0.08621898293495178, + 0.011375878937542439 + ], + [ + 0.2546083331108093, + -0.08957349509000778, + 0.014586777426302433 + ], + [ + 0.25396186113357544, + -0.08748964220285416, + 0.027274239808321 + ], + [ + 0.2543516159057617, + -0.08422752469778061, + 0.03988964483141899 + ], + [ + 0.26158586144447327, + -0.08197325468063354, + 0.057616688311100006 + ], + [ + 0.2743309736251831, + -0.0776696652173996, + 0.07487360388040543 + ], + [ + 0.2967182695865631, + -0.06562423706054688, + 0.09669996052980423 + ], + [ + 0.3154750168323517, + -0.06592455506324768, + 0.09920745342969894 + ], + [ + 0.3390563428401947, + -0.05799800530076027, + 0.10320799052715302 + ], + [ + 0.3607470989227295, + -0.04443875700235367, + 0.09426288306713104 + ], + [ + 0.3767204284667969, + -0.040005408227443695, + 0.08440013974905014 + ], + [ + 0.3874824345111847, + -0.02303066849708557, + 0.0707431361079216 + ], + [ + 0.38790538907051086, + -0.017644671723246574, + 0.05461498349905014 + ], + [ + 0.3908853828907013, + -0.015088179148733616, + 0.051044903695583344 + ], + [ + 0.3923432528972626, + -0.015153228305280209, + 0.05106951296329498 + ], + [ + 0.38893115520477295, + -0.015014968812465668, + 0.04718685895204544 + ], + [ + 0.3850041925907135, + -0.01485461462289095, + 0.04620465263724327 + ], + [ + 0.3826891779899597, + -0.014758678153157234, + 0.06104113906621933 + ], + [ + 0.3808926045894623, + -0.015124867670238018, + 0.06437566131353378 + ], + [ + 0.3774310350418091, + -0.015641188248991966, + 0.07485845685005188 + ], + [ + 0.37495821714401245, + -0.01651296392083168, + 0.0944187343120575 + ], + [ + 0.37027087807655334, + -0.020423276349902153, + 0.11925291270017624 + ], + [ + 0.36146965622901917, + -0.017929254099726677, + 0.1218862310051918 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.958291149423002, + 0.26328963280733503, + 0.111160434479723, + 0.27058045822362925, + -0.9610484125750773, + -0.056321970086415124, + 0.09200156827485571, + 0.08405068674973984, + -0.992205217428262 + ], + [ + 0.9603798311505697, + 0.26265658792205127, + 0.09317776956092753, + 0.2666133254117513, + -0.9632488814746876, + -0.03269444984475459, + 0.08116596966765775, + 0.05624152521855493, + -0.9951125444938376 + ], + [ + 0.9649594447005173, + 0.2567430204691696, + 0.05418755875324956, + 0.25829187957037775, + -0.9657758380704733, + -0.023713615230002448, + 0.04624472976751806, + 0.036878883383891996, + -0.9982491537332183 + ], + [ + 0.969857261081389, + 0.23177871838043254, + 0.07520318366685501, + 0.23082955920062667, + -0.9727632758509257, + 0.0211972581958278, + 0.07806796863599678, + -0.0031991970399366625, + -0.9969429057931798 + ], + [ + 0.9803333673959322, + 0.1801761165519749, + 0.08051742540842398, + 0.17715210528322645, + -0.983230447693388, + 0.04330148175733193, + 0.08696907705542593, + -0.028186056001311282, + -0.9958121940824074 + ], + [ + 0.9882406573516622, + 0.12107648579932813, + 0.09338569346339902, + 0.11487764406229155, + -0.9909707686799285, + 0.06913799618595644, + 0.10091347804853563, + -0.05759705034458768, + -0.9932265852965027 + ], + [ + 0.99494769795721, + -0.002034726902227126, + 0.10037399173133199, + -0.00791626192814551, + -0.9982716445560605, + 0.058232778333367805, + 0.10008202199562688, + -0.05873315555775553, + -0.993244182118121 + ], + [ + 0.9947375448269301, + -0.06588441804982303, + 0.07846311470957296, + -0.07221299719062857, + -0.9941146085198909, + 0.08075535997127736, + 0.07268080866664683, + -0.08599644519153374, + -0.993640836251199 + ], + [ + 0.9914678194735684, + -0.12161005690549884, + 0.046931407476965184, + -0.1254574296929989, + -0.9879792086106212, + 0.0903189719159659, + 0.03538355950372789, + -0.09543624789655202, + -0.9948064768105775 + ], + [ + 0.9865585995239871, + -0.15667856764197263, + 0.0464107331005347, + -0.16048989432258126, + -0.9824735846911102, + 0.09480848698574655, + 0.03074286137619532, + -0.10098258179438462, + -0.9944130905456466 + ], + [ + 0.9769787123910485, + -0.21271272319662898, + 0.016306223505260602, + -0.2132527958988889, + -0.9715921474251236, + 0.10262526055091871, + -0.005986699928679326, + -0.10374004266488142, + -0.9945864281055985 + ], + [ + 0.9746858558997706, + -0.2230648581170136, + 0.015150953176896718, + -0.2235219164414437, + -0.9706692710548664, + 0.08853879997017595, + -0.005043330177193201, + -0.08968408611928406, + -0.9959574938307724 + ], + [ + 0.9712048801151372, + -0.23823606757926188, + -0.0021579955771769584, + -0.23715155684104303, + -0.9675715391099536, + 0.08697387994257097, + -0.02280833024163053, + -0.08395768463198938, + -0.9962082549662112 + ], + [ + 0.9660731614213572, + -0.2569857729235815, + -0.025709128655271665, + -0.25413686920647105, + -0.9636310224525424, + 0.08264202488443981, + -0.046011938573341016, + -0.07330460477989614, + -0.9962476280658268 + ], + [ + 0.9612063011002737, + -0.2736208509481648, + -0.034843602734678396, + -0.27059326086044877, + -0.9599012948226947, + 0.0732720367850054, + -0.053495176437123794, + -0.06100109936809556, + -0.9967031313153605 + ], + [ + 0.9603811938369972, + -0.2769765930142847, + -0.030853353892616793, + -0.27448843261557465, + -0.9592394290839833, + 0.067199836687887, + -0.048208535390207106, + -0.05606857063304614, + -0.9972623789668885 + ], + [ + 0.9631126817123737, + -0.2686422147600087, + -0.015662783074460982, + -0.26740146086351113, + -0.9619430030192471, + 0.05623270996824995, + -0.030173184334113912, + -0.049970185022176185, + -0.9982948259687563 + ], + [ + 0.9663100812463077, + -0.25697934591039273, + -0.014368112514204237, + -0.2557307595497976, + -0.9649291860444035, + 0.05927431602109314, + -0.02909648607371193, + -0.053603000803607435, + -0.998138323481776 + ], + [ + 0.9694317795058259, + -0.24520804652119038, + -0.008662494180634153, + -0.24416836555572557, + -0.9675949437319121, + 0.06435708295349744, + -0.024162660160118032, + -0.06027469440569166, + -0.9978893360830584 + ], + [ + 0.9697852487318738, + -0.24380830099810816, + -0.008607189231883602, + -0.2426835808160924, + -0.9677145204554424, + 0.06806824885342866, + -0.02492490610487235, + -0.06392276014151019, + -0.9976435384402358 + ], + [ + 0.9716408599181507, + -0.23635171845072783, + -0.00720447936384962, + -0.23525875042219335, + -0.9693189778645206, + 0.07123229254677124, + -0.023819313325627103, + -0.06751728917150435, + -0.9974337351301221 + ], + [ + 0.9650612698543444, + -0.2614556057951506, + -0.017254321934259104, + -0.2605071791158662, + -0.9644669138003928, + 0.044040683616851886, + -0.028155906240329875, + -0.03800708332188164, + -0.9988807268944322 + ], + [ + 0.9673713102048161, + -0.25335207400012105, + -0.0023398274411382146, + -0.2530017521557171, + -0.9664441907782569, + 0.04444929152525215, + -0.01352263283367022, + -0.042406988938109014, + -0.9990089017073114 + ], + [ + 0.9690192599646245, + -0.24677290127219495, + 0.010237627426086526, + -0.24696714153235924, + -0.9686165877419322, + 0.028091581559459608, + 0.0029840946612768133, + -0.029749641155477312, + -0.9995529270779877 + ], + [ + 0.9709000952256154, + -0.23611554015032668, + 0.04003069810046104, + -0.23645353322468374, + -0.9716351218894813, + 0.0038621932080048207, + 0.037983308392689506, + -0.013215203756736255, + -0.9991909860848494 + ], + [ + 0.9766139097524588, + -0.2078044399291263, + 0.055159641258426456, + -0.2059569378941993, + -0.9778476800425943, + -0.037358457791522796, + 0.061700980634517386, + 0.025124278717173234, + -0.9977784120773913 + ], + [ + 0.9796281183024466, + -0.17558847672457764, + 0.09745479296961439, + -0.16899058184106017, + -0.9829603410937426, + -0.07232669690987725, + 0.10849393107555778, + 0.05438432382971922, + -0.9926083881578659 + ], + [ + 0.9802125238304351, + -0.17782576346041643, + 0.08695634522959672, + -0.17018260943588379, + -0.9814191434724999, + -0.08862473848366581, + 0.10110038363706744, + 0.072072620844706, + -0.9922621880093049 + ], + [ + 0.9835657849431994, + -0.15630056107283763, + 0.09037965090319874, + -0.14946772329691393, + -0.9856835450946333, + -0.07802146257353161, + 0.10128053308264673, + 0.06323040042568108, + -0.9928464987501858 + ], + [ + 0.9912461690764779, + -0.11204480461995246, + 0.06983547843956804, + -0.10770808824400364, + -0.9921809365223898, + -0.06305518954356894, + 0.07635443679334304, + 0.05498136920112269, + -0.9955636840618189 + ], + [ + 0.9936241438927998, + -0.10180090530673189, + 0.04845241327354694, + -0.0994718199455353, + -0.9938685661443892, + -0.04827660164944116, + 0.05306993225946104, + 0.04314914725490677, + -0.9976581245001469 + ], + [ + 0.9978742635006964, + -0.059635653621974184, + 0.026278186010880007, + -0.05873193492768009, + -0.9976974765845468, + -0.033916147134932524, + 0.02824029147500507, + 0.03230068163224357, + -0.9990791519712034 + ], + [ + 0.9986184316046129, + -0.05254595074600546, + -0.0003887412267301465, + -0.05254722537567927, + -0.9985695556373295, + -0.009880873422108574, + 0.00013101473413179874, + 0.009887649592523575, + -0.9999511074150951 + ], + [ + 0.9986407832785072, + -0.05058456376946226, + 0.012561364621052645, + -0.05066882806674257, + -0.9986944687088302, + 0.006482903109768499, + 0.012217030540712735, + -0.007110561063725662, + -0.9999000870517647 + ], + [ + 0.9989684503350839, + -0.03985930842037006, + 0.02175478722881161, + -0.04000004474491626, + -0.999181224217611, + 0.006072692269560019, + 0.021494921621763242, + -0.006936620448452813, + -0.9997448932808951 + ], + [ + 0.9999197178344443, + -0.006241786125583763, + 0.01102714794711543, + -0.006313685142750351, + -0.999958959440274, + 0.006497446809509608, + 0.010986139713444186, + -0.006566547120569771, + -0.9999180892418688 + ], + [ + 0.9999322683585569, + 0.010558629441964732, + 0.004896329198343988, + 0.010525533819853203, + -0.9999219134075441, + 0.006736484632455145, + 0.00496707490565693, + -0.006684491880723127, + -0.9999653222663166 + ], + [ + 0.9989435235413364, + 0.029131290605110712, + 0.03554159088307532, + 0.028954942722174238, + -0.999565770009074, + 0.005466508769077134, + 0.035685404113936045, + -0.004431628802977131, + -0.9993532471550676 + ], + [ + 0.9985254383411696, + 0.0349410791050277, + 0.04154599832175424, + 0.03486981642196329, + -0.9993888870526128, + 0.0024389215728839865, + 0.04160582757587678, + -0.0009866238980969521, + -0.9991336155314814 + ], + [ + 0.9973199443055898, + 0.04432517795004911, + 0.058208309458285486, + 0.04454084222459536, + -0.9990046519225354, + -0.00241222118750721, + 0.05804344979598259, + 0.00499840342811937, + -0.9983015445740584 + ], + [ + 0.994513073269898, + 0.04147093352138183, + 0.09604118266726738, + 0.04297163221869596, + -0.9989835942902878, + -0.01360945124971841, + 0.09537916921279732, + 0.017661823567300724, + -0.99528431820689 + ], + [ + 0.9882696736438648, + 0.02924749349725647, + 0.14989208211235405, + 0.03636336868573206, + -0.9983270213890032, + -0.044954018534340535, + 0.14832652350026365, + 0.049877274270836526, + -0.9876798570071362 + ], + [ + 0.9864270996476017, + 0.017341461029827268, + 0.1632815078634795, + 0.03138851814319471, + -0.9959841573285317, + -0.08384699922685937, + 0.1611717655471791, + 0.0878341168335266, + -0.9830100863727084 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005855.json b/json/chunk-0005/episode_0005855.json new file mode 100644 index 0000000000000000000000000000000000000000..e05c7b06bb11a556cc8078018da61b24c25f4874 --- /dev/null +++ b/json/chunk-0005/episode_0005855.json @@ -0,0 +1,2782 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 45, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the bread to the middle of the bottom of counter." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005855.mp4", + "start": 0, + "end": 45, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.28699132800102234, + 0.06384971737861633, + 0.11852949857711792, + 0.02244853600859642, + -0.1538635492324829, + -0.1180960163474083, + 0.0, + 1.0001531839370728 + ], + [ + 0.2872007489204407, + 0.06396665424108505, + 0.11147080361843109, + 0.010625549592077732, + -0.13558374345302582, + -0.11857204884290695, + 0.0, + 1.0001531839370728 + ], + [ + 0.2771317660808563, + 0.11477815359830856, + 0.09639723598957062, + -0.01415124349296093, + -0.13962382078170776, + -0.036262396723032, + 0.0, + 1.0001531839370728 + ], + [ + 0.2681330442428589, + 0.15849876403808594, + 0.08238932490348816, + -0.016332527622580528, + -0.12725692987442017, + 0.04370258003473282, + 0.0, + 1.0001531839370728 + ], + [ + 0.25916194915771484, + 0.21034622192382812, + 0.07070720195770264, + -0.00481683062389493, + -0.10748302191495895, + 0.12885993719100952, + 0.0, + 1.0001531839370728 + ], + [ + 0.25888434052467346, + 0.22271832823753357, + 0.05418222025036812, + 0.0034821301233023405, + -0.06741166859865189, + 0.1144929900765419, + 0.0, + 1.0001531839370728 + ], + [ + 0.256967157125473, + 0.21328352391719818, + 0.042736202478408813, + 0.027853703126311302, + -0.042293570935726166, + 0.0861828550696373, + 0.0, + 1.0001531839370728 + ], + [ + 0.25832635164260864, + 0.192521333694458, + 0.04458542540669441, + 0.04229093715548515, + -0.043785691261291504, + 0.047765765339136124, + 0.0, + 1.0001531839370728 + ], + [ + 0.2570711076259613, + 0.18605107069015503, + 0.06411778181791306, + 0.051759060472249985, + -0.0889776274561882, + 0.05327577888965607, + 0.0, + 1.0001531839370728 + ], + [ + 0.2554391622543335, + 0.17851217091083527, + 0.061791256070137024, + 0.052012864500284195, + -0.07613573968410492, + 0.06051256135106087, + 0.0, + 1.0001531839370728 + ], + [ + 0.25510042905807495, + 0.17438967525959015, + 0.043269041925668716, + 0.08484913408756256, + -0.03411158174276352, + 0.04849593713879585, + 0.0, + 1.0001531839370728 + ], + [ + 0.2529228627681732, + 0.17394469678401947, + 0.015736939385533333, + 0.09647275507450104, + 0.03896227478981018, + 0.04726826399564743, + 0.0, + 1.0001531839370728 + ], + [ + 0.2531643509864807, + 0.17649389803409576, + 0.010782139375805855, + 0.10936462879180908, + 0.04864532873034477, + 0.05120035633444786, + 0.0, + 0.9287639856338501 + ], + [ + 0.2541974186897278, + 0.17626018822193146, + 0.010579957626760006, + 0.11350905150175095, + 0.03777031600475311, + 0.04344828054308891, + 0.0, + 0.6951970458030701 + ], + [ + 0.252266526222229, + 0.17346425354480743, + 0.013495897874236107, + 0.10692436993122101, + 0.025643937289714813, + 0.03910425305366516, + 0.0, + 0.6781873106956482 + ], + [ + 0.24877901375293732, + 0.17190207540988922, + 0.02592305652797222, + 0.07931705564260483, + 0.015141340903937817, + 0.054971713572740555, + 0.0, + 0.6781873106956482 + ], + [ + 0.24368727207183838, + 0.17310947179794312, + 0.03660052269697189, + 0.05795462429523468, + 0.007948783226311207, + 0.05592331290245056, + 0.0, + 0.7388594746589661 + ], + [ + 0.24299676716327667, + 0.17378754913806915, + 0.03887566924095154, + 0.059723686426877975, + 0.004936652258038521, + 0.06691224128007889, + 0.0, + 0.9872581958770752 + ], + [ + 0.24414251744747162, + 0.17469170689582825, + 0.03985025733709335, + 0.06522302329540253, + 0.002810470759868622, + 0.06264401972293854, + 0.0, + 0.9422301650047302 + ], + [ + 0.24392572045326233, + 0.16994348168373108, + 0.04489287734031677, + 0.051872774958610535, + -0.02139580063521862, + 0.05322159081697464, + 0.0, + 0.6500836610794067 + ], + [ + 0.24360115826129913, + 0.1719723343849182, + 0.0460648313164711, + 0.06653282046318054, + -0.024591218680143356, + 0.0681416466832161, + 0.0, + 0.5120346546173096 + ], + [ + 0.24162611365318298, + 0.17336487770080566, + 0.03921131789684296, + 0.06846347451210022, + 0.0007632900378666818, + 0.06628616899251938, + 0.0, + 0.8417698740959167 + ], + [ + 0.24028420448303223, + 0.17497913539409637, + 0.03737935796380043, + 0.07659613341093063, + 0.012208313681185246, + 0.08223456889390945, + 0.0, + 1.0099300146102905 + ], + [ + 0.2395734041929245, + 0.17590604722499847, + 0.03078455664217472, + 0.08444560319185257, + 0.03101024590432644, + 0.07908353209495544, + 0.0, + 0.9445669651031494 + ], + [ + 0.23993490636348724, + 0.17675189673900604, + 0.030842984095215797, + 0.08977118879556656, + 0.027777032926678658, + 0.08510389178991318, + 0.0, + 0.9116221070289612 + ], + [ + 0.24253566563129425, + 0.17691197991371155, + 0.031740784645080566, + 0.10142680257558823, + 0.019754091277718544, + 0.07564897835254669, + 0.0, + 0.9437892436981201 + ], + [ + 0.2430313527584076, + 0.17639438807964325, + 0.030972745269536972, + 0.10080254822969437, + 0.017534755170345306, + 0.07612881064414978, + 0.0, + 0.8445048928260803 + ], + [ + 0.24180357158184052, + 0.17605821788311005, + 0.027332274243235588, + 0.0964125245809555, + 0.030685584992170334, + 0.07576661556959152, + 0.0, + 1.0099300146102905 + ], + [ + 0.24115906655788422, + 0.17575134336948395, + 0.024643070995807648, + 0.09538702666759491, + 0.039726968854665756, + 0.07888532429933548, + 0.0, + 0.9968144297599792 + ], + [ + 0.2399965524673462, + 0.17565424740314484, + 0.02105080522596836, + 0.09268458187580109, + 0.052042070776224136, + 0.07730788737535477, + 0.0, + 0.8844947218894958 + ], + [ + 0.24060921370983124, + 0.17463308572769165, + 0.020974276587367058, + 0.08851137012243271, + 0.04996347427368164, + 0.07803613692522049, + 0.0, + 0.608914315700531 + ], + [ + 0.23948007822036743, + 0.17239855229854584, + 0.021618427708745003, + 0.07415707409381866, + 0.0594230517745018, + 0.07159844040870667, + 0.0, + 0.5968981385231018 + ], + [ + 0.24095354974269867, + 0.16943852603435516, + 0.04103709012269974, + 0.07325883954763412, + 0.012052701786160469, + 0.07052405178546906, + 0.0, + 0.5968981385231018 + ], + [ + 0.2330450862646103, + 0.1571151465177536, + 0.06700245290994644, + 0.06444491446018219, + -0.03808574751019478, + 0.05578933283686638, + 0.0, + 0.5968981385231018 + ], + [ + 0.22675026953220367, + 0.1314583271741867, + 0.08511046320199966, + 0.04065657779574394, + -0.06865954399108887, + 0.005480106454342604, + 0.0, + 0.5968981385231018 + ], + [ + 0.2160978615283966, + 0.08668416738510132, + 0.0822141245007515, + -0.007361649535596371, + -0.03153715282678604, + -0.07943277060985565, + 0.0, + 0.5968981385231018 + ], + [ + 0.20558705925941467, + 0.05280884727835655, + 0.0631432831287384, + -0.02479173056781292, + 0.018349317833781242, + -0.1009630635380745, + 0.0, + 0.5968981385231018 + ], + [ + 0.20906879007816315, + 0.028071237727999687, + 0.03764832019805908, + -0.025350360199809074, + 0.0774814561009407, + -0.10346880555152893, + 0.0, + 0.5968981385231018 + ], + [ + 0.2283162921667099, + 0.0228435005992651, + 0.025272618979215622, + -0.030961114913225174, + 0.07711102813482285, + -0.05484985187649727, + 0.0, + 0.5958979725837708 + ], + [ + 0.24572934210300446, + 0.019927460700273514, + 0.01341953407973051, + -0.05700211599469185, + 0.09348229318857193, + -0.03000791370868683, + 0.0, + 0.5938982367515564 + ], + [ + 0.2611158490180969, + 0.019493306055665016, + 0.013507658615708351, + -0.06148786470293999, + 0.09327143430709839, + -0.022579561918973923, + 0.0, + 0.590900182723999 + ], + [ + 0.25581279397010803, + 0.01461326889693737, + 0.010771693661808968, + -0.053971752524375916, + 0.10263527929782867, + -0.03412359580397606, + 0.0, + 0.6941980719566345 + ], + [ + 0.24493511021137238, + 0.012356583029031754, + 0.010776761919260025, + -0.052434273064136505, + 0.1241559386253357, + -0.05652454122900963, + 0.0, + 0.9701826572418213 + ], + [ + 0.2461719959974289, + 0.019728858023881912, + 0.04794696345925331, + -0.04811475798487663, + 0.042600348591804504, + -0.06248776614665985, + 0.0, + 1.0041072368621826 + ], + [ + 0.25391849875450134, + 0.03981579840183258, + 0.07794998586177826, + -0.08196727931499481, + -0.016715841367840767, + -0.024318918585777283, + 0.0, + 0.9994885921478271 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9287639856338501 + ], + [ + 0.6951970458030701 + ], + [ + 0.6781873106956482 + ], + [ + 0.6781873106956482 + ], + [ + 0.7388594746589661 + ], + [ + 0.9872581958770752 + ], + [ + 0.9422301650047302 + ], + [ + 0.6500836610794067 + ], + [ + 0.5120346546173096 + ], + [ + 0.8417698740959167 + ], + [ + 1.0099300146102905 + ], + [ + 0.9445669651031494 + ], + [ + 0.9116221070289612 + ], + [ + 0.9437892436981201 + ], + [ + 0.8445048928260803 + ], + [ + 1.0099300146102905 + ], + [ + 0.9968144297599792 + ], + [ + 0.8844947218894958 + ], + [ + 0.608914315700531 + ], + [ + 0.5968981385231018 + ], + [ + 0.5968981385231018 + ], + [ + 0.5968981385231018 + ], + [ + 0.5968981385231018 + ], + [ + 0.5968981385231018 + ], + [ + 0.5968981385231018 + ], + [ + 0.5968981385231018 + ], + [ + 0.5958979725837708 + ], + [ + 0.5938982367515564 + ], + [ + 0.590900182723999 + ], + [ + 0.6941980719566345 + ], + [ + 0.9701826572418213 + ], + [ + 1.0041072368621826 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.28699132800102234, + 0.06384971737861633, + 0.11852949857711792 + ], + [ + 0.2872007489204407, + 0.06396665424108505, + 0.11147080361843109 + ], + [ + 0.2771317660808563, + 0.11477815359830856, + 0.09639723598957062 + ], + [ + 0.2681330442428589, + 0.15849876403808594, + 0.08238932490348816 + ], + [ + 0.25916194915771484, + 0.21034622192382812, + 0.07070720195770264 + ], + [ + 0.25888434052467346, + 0.22271832823753357, + 0.05418222025036812 + ], + [ + 0.256967157125473, + 0.21328352391719818, + 0.042736202478408813 + ], + [ + 0.25832635164260864, + 0.192521333694458, + 0.04458542540669441 + ], + [ + 0.2570711076259613, + 0.18605107069015503, + 0.06411778181791306 + ], + [ + 0.2554391622543335, + 0.17851217091083527, + 0.061791256070137024 + ], + [ + 0.25510042905807495, + 0.17438967525959015, + 0.043269041925668716 + ], + [ + 0.2529228627681732, + 0.17394469678401947, + 0.015736939385533333 + ], + [ + 0.2531643509864807, + 0.17649389803409576, + 0.010782139375805855 + ], + [ + 0.2541974186897278, + 0.17626018822193146, + 0.010579957626760006 + ], + [ + 0.252266526222229, + 0.17346425354480743, + 0.013495897874236107 + ], + [ + 0.24877901375293732, + 0.17190207540988922, + 0.02592305652797222 + ], + [ + 0.24368727207183838, + 0.17310947179794312, + 0.03660052269697189 + ], + [ + 0.24299676716327667, + 0.17378754913806915, + 0.03887566924095154 + ], + [ + 0.24414251744747162, + 0.17469170689582825, + 0.03985025733709335 + ], + [ + 0.24392572045326233, + 0.16994348168373108, + 0.04489287734031677 + ], + [ + 0.24360115826129913, + 0.1719723343849182, + 0.0460648313164711 + ], + [ + 0.24162611365318298, + 0.17336487770080566, + 0.03921131789684296 + ], + [ + 0.24028420448303223, + 0.17497913539409637, + 0.03737935796380043 + ], + [ + 0.2395734041929245, + 0.17590604722499847, + 0.03078455664217472 + ], + [ + 0.23993490636348724, + 0.17675189673900604, + 0.030842984095215797 + ], + [ + 0.24253566563129425, + 0.17691197991371155, + 0.031740784645080566 + ], + [ + 0.2430313527584076, + 0.17639438807964325, + 0.030972745269536972 + ], + [ + 0.24180357158184052, + 0.17605821788311005, + 0.027332274243235588 + ], + [ + 0.24115906655788422, + 0.17575134336948395, + 0.024643070995807648 + ], + [ + 0.2399965524673462, + 0.17565424740314484, + 0.02105080522596836 + ], + [ + 0.24060921370983124, + 0.17463308572769165, + 0.020974276587367058 + ], + [ + 0.23948007822036743, + 0.17239855229854584, + 0.021618427708745003 + ], + [ + 0.24095354974269867, + 0.16943852603435516, + 0.04103709012269974 + ], + [ + 0.2330450862646103, + 0.1571151465177536, + 0.06700245290994644 + ], + [ + 0.22675026953220367, + 0.1314583271741867, + 0.08511046320199966 + ], + [ + 0.2160978615283966, + 0.08668416738510132, + 0.0822141245007515 + ], + [ + 0.20558705925941467, + 0.05280884727835655, + 0.0631432831287384 + ], + [ + 0.20906879007816315, + 0.028071237727999687, + 0.03764832019805908 + ], + [ + 0.2283162921667099, + 0.0228435005992651, + 0.025272618979215622 + ], + [ + 0.24572934210300446, + 0.019927460700273514, + 0.01341953407973051 + ], + [ + 0.2611158490180969, + 0.019493306055665016, + 0.013507658615708351 + ], + [ + 0.25581279397010803, + 0.01461326889693737, + 0.010771693661808968 + ], + [ + 0.24493511021137238, + 0.012356583029031754, + 0.010776761919260025 + ], + [ + 0.2461719959974289, + 0.019728858023881912, + 0.04794696345925331 + ], + [ + 0.25391849875450134, + 0.03981579840183258, + 0.07794998586177826 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9813033892772414, + -0.11437586488062024, + 0.15479605849571382, + -0.11642979430208636, + -0.9931898830371308, + 0.004237833345437977, + 0.1532571733778625, + -0.02218147347450009, + -0.9879373568413775 + ], + [ + 0.9838656014865356, + -0.11686159506150878, + 0.13546898468364366, + -0.1172087679693308, + -0.9930924087202251, + -0.005438056028841232, + 0.1351687202079272, + -0.010527836527092656, + -0.990766663617327 + ], + [ + 0.989617408329086, + -0.038218896634776275, + 0.13855216011323476, + -0.03590163686695835, + -0.9991711315078615, + -0.019186516921335214, + 0.13917060610019708, + 0.014013061811035881, + -0.9901692665884878 + ], + [ + 0.9909666733645734, + 0.04161209224533896, + 0.12748916055773638, + 0.043335392847472384, + -0.9990025036243331, + -0.010772255059632033, + 0.12691373451091145, + 0.016199738617642234, + -0.9917814640641426 + ], + [ + 0.9859861441413837, + 0.1279896799649068, + 0.10700451104363538, + 0.12776205467117197, + -0.9917639372117589, + 0.009008342379755969, + 0.10727619003025422, + 0.004789015421897962, + -0.9942177248389217 + ], + [ + 0.9911963987536818, + 0.11447534233435772, + 0.066521388253429, + 0.11398353178980933, + -0.9934200148143228, + 0.011154758940997486, + 0.0673606233526187, + -0.003474214118595168, + -0.9977226449559038 + ], + [ + 0.995397634982873, + 0.08721597846509774, + 0.03971046928554796, + 0.08599923494577613, + -0.9958007489017975, + 0.03138471085354144, + 0.04228096331972628, + -0.027825196980341593, + -0.9987182177940688 + ], + [ + 0.997902085638769, + 0.04955339525069148, + 0.04166399521078045, + 0.04770184070983839, + -0.9978779626645062, + 0.04431823576619449, + 0.04377170171113289, + -0.042237810640036046, + -0.9981482883227564 + ], + [ + 0.9946308958781467, + 0.05777001499504383, + 0.08586038860911312, + 0.05303992641022535, + -0.9969990729269057, + 0.056388073112038674, + 0.08886026767365372, + -0.05153129098288874, + -0.9947101984390245 + ], + [ + 0.9952780502500025, + 0.06434104423853253, + 0.07267621837195692, + 0.06030044417177384, + -0.9965806380843402, + 0.056487947635720674, + 0.07606220561645549, + -0.05183880613695049, + -0.9957546279355448 + ], + [ + 0.9982432428532236, + 0.051189440775548135, + 0.029834028406608072, + 0.048448728987781374, + -0.9950908902672164, + 0.08629507962025806, + 0.03410496675483147, + -0.08469805936551802, + -0.9958228205772183 + ], + [ + 0.9981249778639046, + 0.04328312387833678, + -0.04327932244746875, + 0.04721480402882861, + -0.9944156545120855, + 0.0943836232713047, + -0.038952417700301084, + -0.09625007661624385, + -0.994594707359067 + ], + [ + 0.9975081475684333, + 0.045571803257798915, + -0.05385820533981198, + 0.05111744813981668, + -0.9929946457917004, + 0.10652999542236387, + -0.04862614554194108, + -0.10901763241259728, + -0.9928497639587199 + ], + [ + 0.9983437314226006, + 0.03888208104321941, + -0.042402567174003564, + 0.043403633740217926, + -0.9928128788103241, + 0.11152897491908018, + -0.03776133614349979, + -0.11318467847771763, + -0.9928561376405709 + ], + [ + 0.998906989728062, + 0.03613667344149331, + -0.02964737264926838, + 0.03908143409644013, + -0.9936359048903995, + 0.1056424631556979, + -0.02564112675736622, + -0.10668565669864087, + -0.9939621236613561 + ], + [ + 0.9983749810480294, + 0.05357344040896971, + -0.019423792114149078, + 0.05493773323065613, + -0.9954161503311236, + 0.07828494828153836, + -0.015140762359418043, + -0.07922483286642167, + -0.9967417835991743 + ], + [ + 0.9984051570010506, + 0.055340641221332185, + -0.011160461590793137, + 0.055892402432006494, + -0.9967861584195784, + 0.05738809748996736, + -0.007948699521708829, + -0.057920357495022015, + -0.9982895623833612 + ], + [ + 0.9977500531233668, + 0.06644911196661035, + -0.008907693930942519, + 0.06686150727268542, + -0.9960029731759916, + 0.059225132079290525, + -0.004936632206586423, + -0.05968746052089711, + -0.9982049071803961 + ], + [ + 0.9980345633522119, + 0.06228712696131103, + -0.0068792564470818805, + 0.06260280847744634, + -0.9959278756384845, + 0.06487337587139212, + -0.002810467060004353, + -0.06517653213481268, + -0.9978697915729206 + ], + [ + 0.9983555080771548, + 0.05423262152015012, + 0.018576928030719968, + 0.05318429333162051, + -0.9971818695966974, + 0.05291266285542356, + 0.021394168243298116, + -0.05183764761915536, + -0.9984263357176082 + ], + [ + 0.997377609084555, + 0.06956923694336015, + 0.019950593171513875, + 0.0680683388179821, + -0.9953605905774827, + 0.0679999704103261, + 0.0245887402551866, + -0.06646364417005321, + -0.9974858283987295 + ], + [ + 0.9978035855317704, + 0.06603036020976681, + -0.0052911464269992485, + 0.06623761837788812, + -0.9954697713987762, + 0.06820932592317544, + -0.0007632899637497353, + -0.06840998291066266, + -0.9976570009911195 + ], + [ + 0.9965463741945076, + 0.080970055083538, + -0.01841668427132595, + 0.0821357934234104, + -0.993775236158683, + 0.07526281576224148, + -0.012208010422985985, + -0.07651555513438477, + -0.9969936480760495 + ], + [ + 0.9963952504474486, + 0.07611263529834493, + -0.037461602124147064, + 0.07896314167202263, + -0.9935288523311342, + 0.08164093239830071, + -0.03100527605184071, + -0.08430472307955801, + -0.9959575224493405 + ], + [ + 0.9959964880904272, + 0.08217802454747342, + -0.035181927079262196, + 0.0849684092453635, + -0.9925803397133028, + 0.08697493112924462, + -0.027773461106748845, + -0.08961607833474569, + -0.995589068522778 + ], + [ + 0.9969454326529709, + 0.07319412349695197, + -0.02724746956863524, + 0.07556209992992498, + -0.9921665447979658, + 0.09947822092220053, + -0.019752806548963928, + -0.10123323401521382, + -0.9946666069413712 + ], + [ + 0.9969503167459408, + 0.07390986383170481, + -0.025047913456947936, + 0.0760436046759255, + -0.9921762249682557, + 0.09901367984088037, + -0.017533856622530694, + -0.10061645310842383, + -0.9947707742167643 + ], + [ + 0.9966616677797538, + 0.07239765854922034, + -0.03773723645247638, + 0.07565851145203309, + -0.992723875278647, + 0.09367548823789516, + -0.030680769601530336, + -0.09621791147357107, + -0.9948873322584432 + ], + [ + 0.9961036074362092, + 0.07467436657037514, + -0.04691846363515819, + 0.07874135695830205, + -0.9926564989096318, + 0.09183068047682807, + -0.03971651994996136, + -0.09516729558932141, + -0.9946686804626347 + ], + [ + 0.9956633940334721, + 0.07209937805900606, + -0.05878848071902486, + 0.07712634355717492, + -0.9931057330215548, + 0.08827530894435173, + -0.05201858236483635, + -0.09242663427402645, + -0.9943597861767781 + ], + [ + 0.9957126085087176, + 0.07325049972639633, + -0.0564868617166746, + 0.07785967541908595, + -0.9933982225950972, + 0.08424869309690432, + -0.04994268915867555, + -0.08828553468567206, + -0.9948423956410709 + ], + [ + 0.9956774185125714, + 0.0669519336051406, + -0.06437326192352387, + 0.07141101767850302, + -0.9950113568810903, + 0.06966251669134632, + -0.05938808650110129, + -0.0739583549315723, + -0.9954914449243416 + ], + [ + 0.9974417572214237, + 0.0693966380574528, + -0.017147815527401647, + 0.07046048796867446, + -0.994900809849594, + 0.07216438315290091, + -0.012052409977062131, + -0.0731880125904871, + -0.99724533301831 + ], + [ + 0.9977201325915483, + 0.05809297274585828, + 0.03434739493837056, + 0.05571996107843181, + -0.9962348211515635, + 0.06641887579996197, + 0.03807654079510744, + -0.0643536140606081, + -0.9972004760319848 + ], + [ + 0.9976288789577965, + 0.008264009636714845, + 0.06832514920682263, + 0.005467167187923552, + -0.9991433506358872, + 0.041020421292715506, + 0.0686056116680668, + -0.04054961189477477, + -0.9968194415353432 + ], + [ + 0.9963511890209487, + -0.07957850877472418, + 0.030847513315231577, + -0.07930980911685782, + -0.9968014455839512, + -0.009840338388137445, + 0.03153192532005966, + 0.007357922460628481, + -0.9994756618660977 + ], + [ + 0.9947400712137028, + -0.10030812626935795, + -0.020747783642777972, + -0.10077465476740555, + -0.9946476676147622, + -0.02281416807650776, + -0.018348288156316134, + 0.024785017910896497, + -0.999524408510812 + ], + [ + 0.9916677357544477, + -0.10129958459829412, + -0.07958326472230527, + -0.1029744129383174, + -0.9945349368040255, + -0.01722003937923576, + -0.07740395431537304, + 0.025271597425303237, + -0.9966794741640451 + ], + [ + 0.9955290104123149, + -0.052414968544636203, + -0.07857900801067703, + -0.05465944418349046, + -0.9981483223827229, + -0.026688418576379207, + -0.07703463240016882, + 0.030864179837166078, + -0.9965505846739292 + ], + [ + 0.9951854736084491, + -0.024639023893151864, + -0.09486196087114984, + -0.029872406805193718, + -0.9980859064186688, + -0.05414944801278586, + -0.09334619665734586, + 0.05672249915172174, + -0.9940166224262001 + ], + [ + 0.9953995727982355, + -0.016813293701962946, + -0.09432392924376072, + -0.02247950670985273, + -0.9979850060533121, + -0.059334639721267464, + -0.09313625637297289, + 0.06118203043102164, + -0.9937718032330993 + ], + [ + 0.9941585317559093, + -0.028543511488115163, + -0.10408689489490355, + -0.03393743739996254, + -0.99815113733042, + -0.050423778009115766, + -0.10245518083366251, + 0.053661671590780696, + -0.9932891627932043 + ], + [ + 0.9907177538171557, + -0.04993682906576757, + -0.12643039735105605, + -0.05605958314290637, + -0.9973974149448708, + -0.045340046307130795, + -0.12383721334612297, + 0.05200682420745866, + -0.9909387644181255 + ], + [ + 0.9971427878303745, + -0.060330541031164586, + -0.04545862400860841, + -0.062390452255696616, + -0.9970211518812808, + -0.045345938833085846, + -0.042587464648634624, + 0.048052559975627594, + -0.9979365006525166 + ], + [ + 0.9995646445593094, + -0.025603030283618527, + 0.014663089282892047, + -0.02431312440793604, + -0.9963145869231408, + -0.08225640318963608, + 0.016715062923787508, + 0.08186408690303619, + -0.9965033256075899 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + 0.00020942091941833496, + 0.00011693686246871948, + -0.007058694958686829, + -0.011822986416518688, + 0.018279805779457092, + -0.0004760324954986572, + 1.0 + ], + [ + -0.01006898283958435, + 0.05081149935722351, + -0.015073567628860474, + -0.024776794016361237, + -0.004040077328681946, + 0.08230964839458466, + 1.0 + ], + [ + -0.008998721837997437, + 0.043720610439777374, + -0.014007911086082458, + -0.0021812841296195984, + 0.012366890907287598, + 0.07996498048305511, + 1.0 + ], + [ + -0.008971095085144043, + 0.05184745788574219, + -0.011682122945785522, + 0.011515697464346886, + 0.019773907959461212, + 0.0851573571562767, + 1.0 + ], + [ + -0.00027760863304138184, + 0.012372106313705444, + -0.01652498170733452, + 0.008298960514366627, + 0.04007135331630707, + -0.01436694711446762, + 1.0 + ], + [ + -0.0019171833992004395, + -0.009434804320335388, + -0.011446017771959305, + 0.024371573701500893, + 0.02511809766292572, + -0.028310135006904602, + 1.0 + ], + [ + 0.0013591945171356201, + -0.020762190222740173, + 0.0018492229282855988, + 0.014437234029173851, + -0.0014921203255653381, + -0.038417089730501175, + 1.0 + ], + [ + -0.0012552440166473389, + -0.0064702630043029785, + 0.019532356411218643, + 0.009468123316764832, + -0.0451919361948967, + 0.005510013550519943, + 1.0 + ], + [ + -0.0016319453716278076, + -0.007538899779319763, + -0.0023265257477760315, + 0.0002538040280342102, + 0.012841887772083282, + 0.0072367824614048, + 1.0 + ], + [ + -0.0003387331962585449, + -0.004122495651245117, + -0.018522214144468307, + 0.032836269587278366, + 0.0420241579413414, + -0.012016624212265015, + 1.0 + ], + [ + -0.0021775662899017334, + -0.0004449784755706787, + -0.027532102540135384, + 0.011623620986938477, + 0.0730738565325737, + -0.0012276731431484222, + 1.0 + ], + [ + 0.00024148821830749512, + 0.002549201250076294, + -0.004954800009727478, + 0.012891873717308044, + 0.009683053940534592, + 0.00393209233880043, + 0.0 + ], + [ + 0.0010330677032470703, + -0.00023370981216430664, + -0.00020218174904584885, + 0.004144422709941864, + -0.01087501272559166, + -0.007752075791358948, + 0.0 + ], + [ + -0.0019308924674987793, + -0.0027959346771240234, + 0.002915940247476101, + -0.006584681570529938, + -0.0121263787150383, + -0.004344027489423752, + 0.0 + ], + [ + -0.003487512469291687, + -0.0015621781349182129, + 0.012427158653736115, + -0.02760731428861618, + -0.010502596385776997, + 0.015867460519075394, + 0.0 + ], + [ + -0.005091741681098938, + 0.001207396388053894, + 0.010677466168999672, + -0.021362431347370148, + -0.00719255767762661, + 0.0009515993297100067, + 1.0 + ], + [ + -0.0006905049085617065, + 0.0006780773401260376, + 0.0022751465439796448, + 0.0017690621316432953, + -0.003012130968272686, + 0.010988928377628326, + 1.0 + ], + [ + 0.0011457502841949463, + 0.0009041577577590942, + 0.0009745880961418152, + 0.005499336868524551, + -0.002126181498169899, + -0.00426822155714035, + 1.0 + ], + [ + -0.00021679699420928955, + -0.004748225212097168, + 0.005042620003223419, + -0.013350248336791992, + -0.024206271395087242, + -0.009422428905963898, + 1.0 + ], + [ + -0.0003245621919631958, + 0.002028852701187134, + 0.0011719539761543274, + 0.014660045504570007, + -0.003195418044924736, + 0.014920055866241455, + 1.0 + ], + [ + -0.00197504460811615, + 0.0013925433158874512, + -0.006853513419628143, + 0.0019306540489196777, + 0.025354508310556412, + -0.0018554776906967163, + 1.0 + ], + [ + -0.0013419091701507568, + 0.0016142576932907104, + -0.0018319599330425262, + 0.008132658898830414, + 0.01144502405077219, + 0.015948399901390076, + 1.0 + ], + [ + -0.000710800290107727, + 0.0009269118309020996, + -0.0065948013216257095, + 0.007849469780921936, + 0.01880193129181862, + -0.00315103679895401, + 1.0 + ], + [ + 0.00036150217056274414, + 0.0008458495140075684, + 5.842745304107666e-05, + 0.005325585603713989, + -0.0032332129776477814, + 0.006020359694957733, + 1.0 + ], + [ + 0.002600759267807007, + 0.00016008317470550537, + 0.000897800549864769, + 0.011655613780021667, + -0.008022941648960114, + -0.009454913437366486, + 0.0 + ], + [ + 0.0004956871271133423, + -0.0005175918340682983, + -0.0007680393755435944, + -0.0006242543458938599, + -0.0022193361073732376, + 0.0004798322916030884, + 1.0 + ], + [ + -0.0012277811765670776, + -0.0003361701965332031, + -0.003640471026301384, + -0.004390023648738861, + 0.013150829821825027, + -0.00036219507455825806, + 1.0 + ], + [ + -0.0006445050239562988, + -0.00030687451362609863, + -0.0026892032474279404, + -0.0010254979133605957, + 0.009041383862495422, + 0.0031187087297439575, + 1.0 + ], + [ + -0.001162514090538025, + -9.709596633911133e-05, + -0.003592265769839287, + -0.0027024447917938232, + 0.01231510192155838, + -0.0015774369239807129, + 0.0 + ], + [ + 0.0006126612424850464, + -0.001021161675453186, + -7.65286386013031e-05, + -0.004173211753368378, + -0.0020785965025424957, + 0.0007282495498657227, + 0.0 + ], + [ + -0.0011291354894638062, + -0.002234533429145813, + 0.000644151121377945, + -0.014354296028614044, + 0.00945957750082016, + -0.0064376965165138245, + 0.0 + ], + [ + 0.0014734715223312378, + -0.002960026264190674, + 0.019418662413954735, + -0.0008982345461845398, + -0.04737035185098648, + -0.0010743886232376099, + 0.0 + ], + [ + -0.007908463478088379, + -0.012323379516601562, + 0.025965362787246704, + -0.008813925087451935, + -0.0501384511590004, + -0.014734718948602676, + 0.0 + ], + [ + -0.006294816732406616, + -0.025656819343566895, + 0.018108010292053223, + -0.023788336664438248, + -0.03057379648089409, + -0.05030922591686249, + 0.0 + ], + [ + -0.010652408003807068, + -0.04477415978908539, + -0.002896338701248169, + -0.04801822826266289, + 0.037122391164302826, + -0.08491287380456924, + 0.0 + ], + [ + -0.010510802268981934, + -0.033875320106744766, + -0.019070841372013092, + -0.017430081963539124, + 0.04988647252321243, + -0.02153029292821884, + 0.0 + ], + [ + 0.003481730818748474, + -0.024737609550356865, + -0.02549496293067932, + -0.0005586296319961548, + 0.05913213640451431, + -0.0025057420134544373, + 0.0 + ], + [ + 0.019247502088546753, + -0.005227737128734589, + -0.01237570121884346, + -0.0056107547134160995, + -0.0003704279661178589, + 0.04861895367503166, + 0.0 + ], + [ + 0.017413049936294556, + -0.0029160398989915848, + -0.011853084899485111, + -0.026041001081466675, + 0.016371265053749084, + 0.02484193816781044, + 0.0 + ], + [ + 0.015386506915092468, + -0.0004341546446084976, + 8.812453597784042e-05, + -0.004485748708248138, + -0.00021085888147354126, + 0.007428351789712906, + 0.0 + ], + [ + -0.005303055047988892, + -0.004880037158727646, + -0.0027359649538993835, + 0.007516112178564072, + 0.009363844990730286, + -0.011544033885002136, + 1.0 + ], + [ + -0.010877683758735657, + -0.0022566858679056168, + 5.068257451057434e-06, + 0.0015374794602394104, + 0.02152065932750702, + -0.02240094542503357, + 1.0 + ], + [ + 0.0012368857860565186, + 0.007372274994850159, + 0.037170201539993286, + 0.0043195150792598724, + -0.08155559003353119, + -0.005963224917650223, + 1.0 + ], + [ + 0.007746502757072449, + 0.02008694037795067, + 0.030003022402524948, + -0.03385252133011818, + -0.05931618809700012, + 0.03816884756088257, + 1.0 + ], + [ + 0.0015249550342559814, + 0.02355559915304184, + 0.015341006219387054, + -0.005352400243282318, + -0.02416042424738407, + 0.024020643904805183, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9287639856338501 + ], + [ + 0.6951970458030701 + ], + [ + 0.6781873106956482 + ], + [ + 0.6781873106956482 + ], + [ + 0.7388594746589661 + ], + [ + 0.9872581958770752 + ], + [ + 0.9422301650047302 + ], + [ + 0.6500836610794067 + ], + [ + 0.5120346546173096 + ], + [ + 0.8417698740959167 + ], + [ + 1.0099300146102905 + ], + [ + 0.9445669651031494 + ], + [ + 0.9116221070289612 + ], + [ + 0.9437892436981201 + ], + [ + 0.8445048928260803 + ], + [ + 1.0099300146102905 + ], + [ + 0.9968144297599792 + ], + [ + 0.8844947218894958 + ], + [ + 0.608914315700531 + ], + [ + 0.5968981385231018 + ], + [ + 0.5968981385231018 + ], + [ + 0.5968981385231018 + ], + [ + 0.5968981385231018 + ], + [ + 0.5968981385231018 + ], + [ + 0.5968981385231018 + ], + [ + 0.5968981385231018 + ], + [ + 0.5958979725837708 + ], + [ + 0.5938982367515564 + ], + [ + 0.590900182723999 + ], + [ + 0.6941980719566345 + ], + [ + 0.9701826572418213 + ], + [ + 1.0041072368621826 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2872007489204407, + 0.06396665424108505, + 0.11147080361843109 + ], + [ + 0.2771317660808563, + 0.11477815359830856, + 0.09639723598957062 + ], + [ + 0.2681330442428589, + 0.15849876403808594, + 0.08238932490348816 + ], + [ + 0.25916194915771484, + 0.21034622192382812, + 0.07070720195770264 + ], + [ + 0.25888434052467346, + 0.22271832823753357, + 0.05418222025036812 + ], + [ + 0.256967157125473, + 0.21328352391719818, + 0.042736202478408813 + ], + [ + 0.25832635164260864, + 0.192521333694458, + 0.04458542540669441 + ], + [ + 0.2570711076259613, + 0.18605107069015503, + 0.06411778181791306 + ], + [ + 0.2554391622543335, + 0.17851217091083527, + 0.061791256070137024 + ], + [ + 0.25510042905807495, + 0.17438967525959015, + 0.043269041925668716 + ], + [ + 0.2529228627681732, + 0.17394469678401947, + 0.015736939385533333 + ], + [ + 0.2531643509864807, + 0.17649389803409576, + 0.010782139375805855 + ], + [ + 0.2541974186897278, + 0.17626018822193146, + 0.010579957626760006 + ], + [ + 0.252266526222229, + 0.17346425354480743, + 0.013495897874236107 + ], + [ + 0.24877901375293732, + 0.17190207540988922, + 0.02592305652797222 + ], + [ + 0.24368727207183838, + 0.17310947179794312, + 0.03660052269697189 + ], + [ + 0.24299676716327667, + 0.17378754913806915, + 0.03887566924095154 + ], + [ + 0.24414251744747162, + 0.17469170689582825, + 0.03985025733709335 + ], + [ + 0.24392572045326233, + 0.16994348168373108, + 0.04489287734031677 + ], + [ + 0.24360115826129913, + 0.1719723343849182, + 0.0460648313164711 + ], + [ + 0.24162611365318298, + 0.17336487770080566, + 0.03921131789684296 + ], + [ + 0.24028420448303223, + 0.17497913539409637, + 0.03737935796380043 + ], + [ + 0.2395734041929245, + 0.17590604722499847, + 0.03078455664217472 + ], + [ + 0.23993490636348724, + 0.17675189673900604, + 0.030842984095215797 + ], + [ + 0.24253566563129425, + 0.17691197991371155, + 0.031740784645080566 + ], + [ + 0.2430313527584076, + 0.17639438807964325, + 0.030972745269536972 + ], + [ + 0.24180357158184052, + 0.17605821788311005, + 0.027332274243235588 + ], + [ + 0.24115906655788422, + 0.17575134336948395, + 0.024643070995807648 + ], + [ + 0.2399965524673462, + 0.17565424740314484, + 0.02105080522596836 + ], + [ + 0.24060921370983124, + 0.17463308572769165, + 0.020974276587367058 + ], + [ + 0.23948007822036743, + 0.17239855229854584, + 0.021618427708745003 + ], + [ + 0.24095354974269867, + 0.16943852603435516, + 0.04103709012269974 + ], + [ + 0.2330450862646103, + 0.1571151465177536, + 0.06700245290994644 + ], + [ + 0.22675026953220367, + 0.1314583271741867, + 0.08511046320199966 + ], + [ + 0.2160978615283966, + 0.08668416738510132, + 0.0822141245007515 + ], + [ + 0.20558705925941467, + 0.05280884727835655, + 0.0631432831287384 + ], + [ + 0.20906879007816315, + 0.028071237727999687, + 0.03764832019805908 + ], + [ + 0.2283162921667099, + 0.0228435005992651, + 0.025272618979215622 + ], + [ + 0.24572934210300446, + 0.019927460700273514, + 0.01341953407973051 + ], + [ + 0.2611158490180969, + 0.019493306055665016, + 0.013507658615708351 + ], + [ + 0.25581279397010803, + 0.01461326889693737, + 0.010771693661808968 + ], + [ + 0.24493511021137238, + 0.012356583029031754, + 0.010776761919260025 + ], + [ + 0.2461719959974289, + 0.019728858023881912, + 0.04794696345925331 + ], + [ + 0.25391849875450134, + 0.03981579840183258, + 0.07794998586177826 + ], + [ + 0.2554434537887573, + 0.06337139755487442, + 0.09329099208116531 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9838656014865356, + -0.11686159506150878, + 0.13546898468364366, + -0.1172087679693308, + -0.9930924087202251, + -0.005438056028841232, + 0.1351687202079272, + -0.010527836527092656, + -0.990766663617327 + ], + [ + 0.989617408329086, + -0.038218896634776275, + 0.13855216011323476, + -0.03590163686695835, + -0.9991711315078615, + -0.019186516921335214, + 0.13917060610019708, + 0.014013061811035881, + -0.9901692665884878 + ], + [ + 0.9909666733645734, + 0.04161209224533896, + 0.12748916055773638, + 0.043335392847472384, + -0.9990025036243331, + -0.010772255059632033, + 0.12691373451091145, + 0.016199738617642234, + -0.9917814640641426 + ], + [ + 0.9859861441413837, + 0.1279896799649068, + 0.10700451104363538, + 0.12776205467117197, + -0.9917639372117589, + 0.009008342379755969, + 0.10727619003025422, + 0.004789015421897962, + -0.9942177248389217 + ], + [ + 0.9911963987536818, + 0.11447534233435772, + 0.066521388253429, + 0.11398353178980933, + -0.9934200148143228, + 0.011154758940997486, + 0.0673606233526187, + -0.003474214118595168, + -0.9977226449559038 + ], + [ + 0.995397634982873, + 0.08721597846509774, + 0.03971046928554796, + 0.08599923494577613, + -0.9958007489017975, + 0.03138471085354144, + 0.04228096331972628, + -0.027825196980341593, + -0.9987182177940688 + ], + [ + 0.997902085638769, + 0.04955339525069148, + 0.04166399521078045, + 0.04770184070983839, + -0.9978779626645062, + 0.04431823576619449, + 0.04377170171113289, + -0.042237810640036046, + -0.9981482883227564 + ], + [ + 0.9946308958781467, + 0.05777001499504383, + 0.08586038860911312, + 0.05303992641022535, + -0.9969990729269057, + 0.056388073112038674, + 0.08886026767365372, + -0.05153129098288874, + -0.9947101984390245 + ], + [ + 0.9952780502500025, + 0.06434104423853253, + 0.07267621837195692, + 0.06030044417177384, + -0.9965806380843402, + 0.056487947635720674, + 0.07606220561645549, + -0.05183880613695049, + -0.9957546279355448 + ], + [ + 0.9982432428532236, + 0.051189440775548135, + 0.029834028406608072, + 0.048448728987781374, + -0.9950908902672164, + 0.08629507962025806, + 0.03410496675483147, + -0.08469805936551802, + -0.9958228205772183 + ], + [ + 0.9981249778639046, + 0.04328312387833678, + -0.04327932244746875, + 0.04721480402882861, + -0.9944156545120855, + 0.0943836232713047, + -0.038952417700301084, + -0.09625007661624385, + -0.994594707359067 + ], + [ + 0.9975081475684333, + 0.045571803257798915, + -0.05385820533981198, + 0.05111744813981668, + -0.9929946457917004, + 0.10652999542236387, + -0.04862614554194108, + -0.10901763241259728, + -0.9928497639587199 + ], + [ + 0.9983437314226006, + 0.03888208104321941, + -0.042402567174003564, + 0.043403633740217926, + -0.9928128788103241, + 0.11152897491908018, + -0.03776133614349979, + -0.11318467847771763, + -0.9928561376405709 + ], + [ + 0.998906989728062, + 0.03613667344149331, + -0.02964737264926838, + 0.03908143409644013, + -0.9936359048903995, + 0.1056424631556979, + -0.02564112675736622, + -0.10668565669864087, + -0.9939621236613561 + ], + [ + 0.9983749810480294, + 0.05357344040896971, + -0.019423792114149078, + 0.05493773323065613, + -0.9954161503311236, + 0.07828494828153836, + -0.015140762359418043, + -0.07922483286642167, + -0.9967417835991743 + ], + [ + 0.9984051570010506, + 0.055340641221332185, + -0.011160461590793137, + 0.055892402432006494, + -0.9967861584195784, + 0.05738809748996736, + -0.007948699521708829, + -0.057920357495022015, + -0.9982895623833612 + ], + [ + 0.9977500531233668, + 0.06644911196661035, + -0.008907693930942519, + 0.06686150727268542, + -0.9960029731759916, + 0.059225132079290525, + -0.004936632206586423, + -0.05968746052089711, + -0.9982049071803961 + ], + [ + 0.9980345633522119, + 0.06228712696131103, + -0.0068792564470818805, + 0.06260280847744634, + -0.9959278756384845, + 0.06487337587139212, + -0.002810467060004353, + -0.06517653213481268, + -0.9978697915729206 + ], + [ + 0.9983555080771548, + 0.05423262152015012, + 0.018576928030719968, + 0.05318429333162051, + -0.9971818695966974, + 0.05291266285542356, + 0.021394168243298116, + -0.05183764761915536, + -0.9984263357176082 + ], + [ + 0.997377609084555, + 0.06956923694336015, + 0.019950593171513875, + 0.0680683388179821, + -0.9953605905774827, + 0.0679999704103261, + 0.0245887402551866, + -0.06646364417005321, + -0.9974858283987295 + ], + [ + 0.9978035855317704, + 0.06603036020976681, + -0.0052911464269992485, + 0.06623761837788812, + -0.9954697713987762, + 0.06820932592317544, + -0.0007632899637497353, + -0.06840998291066266, + -0.9976570009911195 + ], + [ + 0.9965463741945076, + 0.080970055083538, + -0.01841668427132595, + 0.0821357934234104, + -0.993775236158683, + 0.07526281576224148, + -0.012208010422985985, + -0.07651555513438477, + -0.9969936480760495 + ], + [ + 0.9963952504474486, + 0.07611263529834493, + -0.037461602124147064, + 0.07896314167202263, + -0.9935288523311342, + 0.08164093239830071, + -0.03100527605184071, + -0.08430472307955801, + -0.9959575224493405 + ], + [ + 0.9959964880904272, + 0.08217802454747342, + -0.035181927079262196, + 0.0849684092453635, + -0.9925803397133028, + 0.08697493112924462, + -0.027773461106748845, + -0.08961607833474569, + -0.995589068522778 + ], + [ + 0.9969454326529709, + 0.07319412349695197, + -0.02724746956863524, + 0.07556209992992498, + -0.9921665447979658, + 0.09947822092220053, + -0.019752806548963928, + -0.10123323401521382, + -0.9946666069413712 + ], + [ + 0.9969503167459408, + 0.07390986383170481, + -0.025047913456947936, + 0.0760436046759255, + -0.9921762249682557, + 0.09901367984088037, + -0.017533856622530694, + -0.10061645310842383, + -0.9947707742167643 + ], + [ + 0.9966616677797538, + 0.07239765854922034, + -0.03773723645247638, + 0.07565851145203309, + -0.992723875278647, + 0.09367548823789516, + -0.030680769601530336, + -0.09621791147357107, + -0.9948873322584432 + ], + [ + 0.9961036074362092, + 0.07467436657037514, + -0.04691846363515819, + 0.07874135695830205, + -0.9926564989096318, + 0.09183068047682807, + -0.03971651994996136, + -0.09516729558932141, + -0.9946686804626347 + ], + [ + 0.9956633940334721, + 0.07209937805900606, + -0.05878848071902486, + 0.07712634355717492, + -0.9931057330215548, + 0.08827530894435173, + -0.05201858236483635, + -0.09242663427402645, + -0.9943597861767781 + ], + [ + 0.9957126085087176, + 0.07325049972639633, + -0.0564868617166746, + 0.07785967541908595, + -0.9933982225950972, + 0.08424869309690432, + -0.04994268915867555, + -0.08828553468567206, + -0.9948423956410709 + ], + [ + 0.9956774185125714, + 0.0669519336051406, + -0.06437326192352387, + 0.07141101767850302, + -0.9950113568810903, + 0.06966251669134632, + -0.05938808650110129, + -0.0739583549315723, + -0.9954914449243416 + ], + [ + 0.9974417572214237, + 0.0693966380574528, + -0.017147815527401647, + 0.07046048796867446, + -0.994900809849594, + 0.07216438315290091, + -0.012052409977062131, + -0.0731880125904871, + -0.99724533301831 + ], + [ + 0.9977201325915483, + 0.05809297274585828, + 0.03434739493837056, + 0.05571996107843181, + -0.9962348211515635, + 0.06641887579996197, + 0.03807654079510744, + -0.0643536140606081, + -0.9972004760319848 + ], + [ + 0.9976288789577965, + 0.008264009636714845, + 0.06832514920682263, + 0.005467167187923552, + -0.9991433506358872, + 0.041020421292715506, + 0.0686056116680668, + -0.04054961189477477, + -0.9968194415353432 + ], + [ + 0.9963511890209487, + -0.07957850877472418, + 0.030847513315231577, + -0.07930980911685782, + -0.9968014455839512, + -0.009840338388137445, + 0.03153192532005966, + 0.007357922460628481, + -0.9994756618660977 + ], + [ + 0.9947400712137028, + -0.10030812626935795, + -0.020747783642777972, + -0.10077465476740555, + -0.9946476676147622, + -0.02281416807650776, + -0.018348288156316134, + 0.024785017910896497, + -0.999524408510812 + ], + [ + 0.9916677357544477, + -0.10129958459829412, + -0.07958326472230527, + -0.1029744129383174, + -0.9945349368040255, + -0.01722003937923576, + -0.07740395431537304, + 0.025271597425303237, + -0.9966794741640451 + ], + [ + 0.9955290104123149, + -0.052414968544636203, + -0.07857900801067703, + -0.05465944418349046, + -0.9981483223827229, + -0.026688418576379207, + -0.07703463240016882, + 0.030864179837166078, + -0.9965505846739292 + ], + [ + 0.9951854736084491, + -0.024639023893151864, + -0.09486196087114984, + -0.029872406805193718, + -0.9980859064186688, + -0.05414944801278586, + -0.09334619665734586, + 0.05672249915172174, + -0.9940166224262001 + ], + [ + 0.9953995727982355, + -0.016813293701962946, + -0.09432392924376072, + -0.02247950670985273, + -0.9979850060533121, + -0.059334639721267464, + -0.09313625637297289, + 0.06118203043102164, + -0.9937718032330993 + ], + [ + 0.9941585317559093, + -0.028543511488115163, + -0.10408689489490355, + -0.03393743739996254, + -0.99815113733042, + -0.050423778009115766, + -0.10245518083366251, + 0.053661671590780696, + -0.9932891627932043 + ], + [ + 0.9907177538171557, + -0.04993682906576757, + -0.12643039735105605, + -0.05605958314290637, + -0.9973974149448708, + -0.045340046307130795, + -0.12383721334612297, + 0.05200682420745866, + -0.9909387644181255 + ], + [ + 0.9971427878303745, + -0.060330541031164586, + -0.04545862400860841, + -0.062390452255696616, + -0.9970211518812808, + -0.045345938833085846, + -0.042587464648634624, + 0.048052559975627594, + -0.9979365006525166 + ], + [ + 0.9995646445593094, + -0.025603030283618527, + 0.014663089282892047, + -0.02431312440793604, + -0.9963145869231408, + -0.08225640318963608, + 0.016715062923787508, + 0.08186408690303619, + -0.9965033256075899 + ], + [ + 0.9991646373266886, + -0.0038609135389703116, + 0.04068317665167266, + -0.0002980252605597575, + -0.996188951220122, + -0.08722089570680393, + 0.04086488341804827, + 0.08713591001187566, + -0.995357922804471 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005859.json b/json/chunk-0005/episode_0005859.json new file mode 100644 index 0000000000000000000000000000000000000000..e56cded16f9b3765e23c74f5172f70a689d0ab45 --- /dev/null +++ b/json/chunk-0005/episode_0005859.json @@ -0,0 +1,1282 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 20, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut lid on pot or pan." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005859.mp4", + "start": 0, + "end": 20, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.252886563539505, + -0.020684294402599335, + 0.1217385083436966, + -0.03245044872164726, + -0.04849442467093468, + 0.12483026832342148, + 0.0, + 1.0014774799346924 + ], + [ + 0.24485893547534943, + -0.022366857156157494, + 0.10490488260984421, + -0.04714897274971008, + -0.025576936081051826, + 0.1290055215358734, + 0.0, + 1.0014774799346924 + ], + [ + 0.24196644127368927, + -0.01960241235792637, + 0.09408804029226303, + -0.07060171663761139, + -0.034200750291347504, + 0.15342877805233002, + 0.0, + 1.0014774799346924 + ], + [ + 0.2424245923757553, + -0.018882164731621742, + 0.08765357732772827, + -0.09221380949020386, + -0.050817687064409256, + 0.15575580298900604, + 0.0, + 1.0014774799346924 + ], + [ + 0.24610795080661774, + -0.016686221584677696, + 0.0825389102101326, + -0.09790602326393127, + -0.07810238003730774, + 0.14987535774707794, + 0.0, + 1.0014774799346924 + ], + [ + 0.2499472200870514, + -0.015813173726201057, + 0.07497409731149673, + -0.10851499438285828, + -0.08166148513555527, + 0.14780011773109436, + 0.0, + 1.0014774799346924 + ], + [ + 0.2516668140888214, + -0.014034184627234936, + 0.06697624921798706, + -0.11790324747562408, + -0.06644810736179352, + 0.14374707639217377, + 0.0, + 1.0014774799346924 + ], + [ + 0.2535834014415741, + -0.013008339330554008, + 0.05828062444925308, + -0.1333429217338562, + -0.05127880349755287, + 0.14397898316383362, + 0.0, + 1.0014774799346924 + ], + [ + 0.25832459330558777, + -0.011431175284087658, + 0.05600736290216446, + -0.14066378772258759, + -0.044357165694236755, + 0.14905840158462524, + 0.0, + 0.8390268683433533 + ], + [ + 0.26166272163391113, + -0.01166913378983736, + 0.05627582594752312, + -0.14796636998653412, + -0.0448889434337616, + 0.1483602076768875, + 0.0, + 0.5679898858070374 + ], + [ + 0.26182258129119873, + -0.012491041794419289, + 0.056205540895462036, + -0.1527840942144394, + -0.04027007520198822, + 0.14846870303153992, + 0.0, + 0.33397963643074036 + ], + [ + 0.2609937787055969, + -0.013097519055008888, + 0.05727551132440567, + -0.15344031155109406, + -0.035281650722026825, + 0.14858300983905792, + 0.0, + 0.2928420901298523 + ], + [ + 0.25681179761886597, + -0.009142137132585049, + 0.06120387092232704, + -0.12349051982164383, + -0.003298488212749362, + 0.14334982633590698, + 0.0, + 0.2928420901298523 + ], + [ + 0.2622169256210327, + -0.007340088486671448, + 0.07709148526191711, + -0.09475342184305191, + -0.022524001076817513, + 0.12692245841026306, + 0.0, + 0.2928420901298523 + ], + [ + 0.2643148601055145, + -0.009268187917768955, + 0.09983701258897781, + -0.07444880902767181, + -0.021550334990024567, + 0.12910598516464233, + 0.0, + 0.2928420901298523 + ], + [ + 0.2584535479545593, + -0.018219323828816414, + 0.11544840782880783, + -0.06987186521291733, + 0.006029090844094753, + 0.13767482340335846, + 0.0, + 0.2928420901298523 + ], + [ + 0.25134578347206116, + -0.03207914158701897, + 0.12432461231946945, + -0.0905287116765976, + 0.01965910755097866, + 0.16049344837665558, + 0.0, + 0.2928420901298523 + ], + [ + 0.23741550743579865, + -0.05144920572638512, + 0.1197441965341568, + -0.14551761746406555, + 0.008366593159735203, + 0.17588438093662262, + 0.0, + 0.2928420901298523 + ], + [ + 0.2257717102766037, + -0.07253485172986984, + 0.11386200040578842, + -0.19731223583221436, + -0.032944586127996445, + 0.17583660781383514, + 0.0, + 0.2928420901298523 + ], + [ + 0.2253492772579193, + -0.08471006155014038, + 0.11312231421470642, + -0.2150653749704361, + -0.053148042410612106, + 0.16483841836452484, + 0.0, + 0.2928420901298523 + ] + ], + "left_gripper_pos": [ + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 0.8390268683433533 + ], + [ + 0.5679898858070374 + ], + [ + 0.33397963643074036 + ], + [ + 0.2928420901298523 + ], + [ + 0.2928420901298523 + ], + [ + 0.2928420901298523 + ], + [ + 0.2928420901298523 + ], + [ + 0.2928420901298523 + ], + [ + 0.2928420901298523 + ], + [ + 0.2928420901298523 + ], + [ + 0.2928420901298523 + ], + [ + 0.2928420901298523 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.252886563539505, + -0.020684294402599335, + 0.1217385083436966 + ], + [ + 0.24485893547534943, + -0.022366857156157494, + 0.10490488260984421 + ], + [ + 0.24196644127368927, + -0.01960241235792637, + 0.09408804029226303 + ], + [ + 0.2424245923757553, + -0.018882164731621742, + 0.08765357732772827 + ], + [ + 0.24610795080661774, + -0.016686221584677696, + 0.0825389102101326 + ], + [ + 0.2499472200870514, + -0.015813173726201057, + 0.07497409731149673 + ], + [ + 0.2516668140888214, + -0.014034184627234936, + 0.06697624921798706 + ], + [ + 0.2535834014415741, + -0.013008339330554008, + 0.05828062444925308 + ], + [ + 0.25832459330558777, + -0.011431175284087658, + 0.05600736290216446 + ], + [ + 0.26166272163391113, + -0.01166913378983736, + 0.05627582594752312 + ], + [ + 0.26182258129119873, + -0.012491041794419289, + 0.056205540895462036 + ], + [ + 0.2609937787055969, + -0.013097519055008888, + 0.05727551132440567 + ], + [ + 0.25681179761886597, + -0.009142137132585049, + 0.06120387092232704 + ], + [ + 0.2622169256210327, + -0.007340088486671448, + 0.07709148526191711 + ], + [ + 0.2643148601055145, + -0.009268187917768955, + 0.09983701258897781 + ], + [ + 0.2584535479545593, + -0.018219323828816414, + 0.11544840782880783 + ], + [ + 0.25134578347206116, + -0.03207914158701897, + 0.12432461231946945 + ], + [ + 0.23741550743579865, + -0.05144920572638512, + 0.1197441965341568 + ], + [ + 0.2257717102766037, + -0.07253485172986984, + 0.11386200040578842 + ], + [ + 0.2253492772579193, + -0.08471006155014038, + 0.11312231421470642 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.99105233774786, + 0.12288024041107129, + 0.05211247797810921, + 0.12435995156991453, + -0.9918922613281397, + -0.026159976354686705, + 0.04847541944150778, + 0.032406610959286895, + -0.9982985251296844 + ], + [ + 0.991365967599848, + 0.12730969229895225, + 0.03139682359034902, + 0.12860591457403295, + -0.9907433150277604, + -0.04345345169696773, + 0.025574147520375824, + 0.04711609039967408, + -0.998561984557822 + ], + [ + 0.9876749574334579, + 0.15006296995460755, + 0.044489139205203074, + 0.15273815216398123, + -0.9861595194169951, + -0.06450162119492829, + 0.034194083294480856, + 0.07050182488165867, + -0.9969254021018856 + ], + [ + 0.9866192542376261, + 0.1498468950433112, + 0.06425227788545465, + 0.1549265376812232, + -0.9844229147324143, + -0.08312215632336925, + 0.05079581763983469, + 0.09196430283331125, + -0.9944658626190666 + ], + [ + 0.985775429715605, + 0.14105859879185978, + 0.09137436115175755, + 0.14885971106095436, + -0.9851931982874784, + -0.08505967593953478, + 0.07802300040285469, + 0.09745169960019492, + -0.9921771906535495 + ], + [ + 0.9858013170630818, + 0.13765842591762573, + 0.09615571252179805, + 0.14677184794333115, + -0.9845805435493554, + -0.09517971378059194, + 0.08157075412176107, + 0.10794123881972671, + -0.9908051781425397 + ], + [ + 0.9875020650484861, + 0.1345280033982961, + 0.08210899966899632, + 0.14293640253587966, + -0.9839341138068218, + -0.10697123219485248, + 0.06639921953664948, + 0.11737067772170402, + -0.9908659181019759 + ], + [ + 0.9883520504360024, + 0.13546443784700565, + 0.0693513552697059, + 0.1432934495612083, + -0.981845516564871, + -0.12428342171951827, + 0.05125633338232139, + 0.13277336962002928, + -0.9898201961002533 + ], + [ + 0.9879386395098215, + 0.14089234375143775, + 0.06423855567889326, + 0.14836096691828551, + -0.9800672686055105, + -0.13212559367210513, + 0.04434262124136288, + 0.1400624734908017, + -0.9891492483245813 + ], + [ + 0.9880185223420354, + 0.139658404593062, + 0.06568812324600007, + 0.14766765161803358, + -0.9791856653398249, + -0.13924689389217837, + 0.04487386962003796, + 0.14727852124300106, + -0.9880766028025352 + ], + [ + 0.9881969418686912, + 0.14014106333049853, + 0.061865066475059696, + 0.1478039294108332, + -0.9783844392695699, + -0.14463017474194934, + 0.04025919189556336, + 0.15206699630020498, + -0.9875499106901633 + ], + [ + 0.9883663616575514, + 0.14096574661657857, + 0.057101606147680076, + 0.14794477579552295, + -0.9781605125072619, + -0.14599436662537035, + 0.03527433144124274, + 0.15274380528309872, + -0.9876360926419265 + ], + [ + 0.9897376119090513, + 0.1413693351291814, + 0.020836762169329313, + 0.14285859997751835, + -0.9822638800892819, + -0.12144583271735628, + 0.0032984822314805276, + 0.12317621912155725, + -0.9923793322403921 + ], + [ + 0.9917045376536235, + 0.12390043224925663, + 0.03421685090215294, + 0.12654985247596515, + -0.9877762144103682, + -0.09101255453745812, + 0.02252209660587252, + 0.09458770075210464, + -0.9952617354399325 + ], + [ + 0.9914471253096839, + 0.12680153313835055, + 0.030886387113547655, + 0.1287177247580701, + -0.9891367689221361, + -0.07099436385645563, + 0.021548666971992352, + 0.0743627834339255, + -0.9969984109273643 + ], + [ + 0.9905197785929646, + 0.13732237555065577, + 0.0036240018307268007, + 0.13723781811211974, + -0.9880630569559313, + -0.06997983108528401, + -0.006029054317983011, + 0.06981375689665185, + -0.9975418236104219 + ], + [ + 0.9869577971843705, + 0.16090527194735363, + -0.004878528110339803, + 0.1597744530698513, + -0.9828222464699303, + -0.09237183548046247, + -0.01965784126513089, + 0.09038763910705887, + -0.9957126312212009 + ], + [ + 0.9845377161487157, + 0.17432405066396656, + 0.01722239358445124, + 0.17497281855443414, + -0.9739539333785545, + -0.14421597839199116, + -0.008366495549989101, + 0.14499952074592873, + -0.9893963516890807 + ], + [ + 0.9840462772544142, + 0.16518016523356258, + 0.06609415431898222, + 0.1748369842688743, + -0.9666062849196402, + -0.18736146585041638, + 0.032938627073602525, + 0.19592805558996476, + -0.980064918196362 + ], + [ + 0.985051998012565, + 0.14912926298579204, + 0.0862149878661961, + 0.16386123845611278, + -0.9655799344136764, + -0.20200219006067652, + 0.05312302460405295, + 0.21310995560741688, + -0.9755829493579324 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.008027628064155579, + -0.0016825627535581589, + -0.016833625733852386, + -0.01469852402806282, + 0.02291748858988285, + 0.004175253212451935, + 1.0 + ], + [ + -0.0028924942016601562, + 0.002764444798231125, + -0.010816842317581177, + -0.023452743887901306, + -0.008623814210295677, + 0.024423256516456604, + 1.0 + ], + [ + 0.00045815110206604004, + 0.0007202476263046265, + -0.0064344629645347595, + -0.021612092852592468, + -0.016616936773061752, + 0.0023270249366760254, + 1.0 + ], + [ + 0.0036833584308624268, + 0.002195943146944046, + -0.005114667117595673, + -0.005692213773727417, + -0.027284692972898483, + -0.005880445241928101, + 1.0 + ], + [ + 0.003839269280433655, + 0.0008730478584766388, + -0.007564812898635864, + -0.010608971118927002, + -0.003559105098247528, + -0.0020752400159835815, + 1.0 + ], + [ + 0.0017195940017700195, + 0.0017789890989661217, + -0.007997848093509674, + -0.009388253092765808, + 0.01521337777376175, + -0.004053041338920593, + 1.0 + ], + [ + 0.0019165873527526855, + 0.0010258452966809273, + -0.008695624768733978, + -0.015439674258232117, + 0.015169303864240646, + 0.00023190677165985107, + 1.0 + ], + [ + 0.004741191864013672, + 0.0015771640464663506, + -0.002273261547088623, + -0.007320865988731384, + 0.006921637803316116, + 0.005079418420791626, + 0.0 + ], + [ + 0.0033381283283233643, + -0.00023795850574970245, + 0.00026846304535865784, + -0.007302582263946533, + -0.0005317777395248413, + -0.0006981939077377319, + 0.0 + ], + [ + 0.00015985965728759766, + -0.0008219080045819283, + -7.028505206108093e-05, + -0.0048177242279052734, + 0.0046188682317733765, + 0.00010849535465240479, + 0.0 + ], + [ + -0.0008288025856018066, + -0.0006064772605895996, + 0.001069970428943634, + -0.0006562173366546631, + 0.004988424479961395, + 0.00011430680751800537, + 0.0 + ], + [ + -0.004181981086730957, + 0.00395538192242384, + 0.0039283595979213715, + 0.029949791729450226, + 0.031983163207769394, + -0.00523318350315094, + 0.0 + ], + [ + 0.005405128002166748, + 0.001802048645913601, + 0.015887614339590073, + 0.02873709797859192, + -0.01922551356256008, + -0.01642736792564392, + 0.0 + ], + [ + 0.0020979344844818115, + -0.0019280994310975075, + 0.0227455273270607, + 0.020304612815380096, + 0.0009736660867929459, + 0.0021835267543792725, + 0.0 + ], + [ + -0.0058613121509552, + -0.008951135911047459, + 0.015611395239830017, + 0.004576943814754486, + 0.027579426765441895, + 0.008568838238716125, + 0.0 + ], + [ + -0.007107764482498169, + -0.013859817758202553, + 0.008876204490661621, + -0.020656846463680267, + 0.013630016706883907, + 0.02281862497329712, + 0.0 + ], + [ + -0.013930276036262512, + -0.01937006413936615, + -0.004580415785312653, + -0.05498890578746796, + -0.011292514391243458, + 0.015390932559967041, + 0.0 + ], + [ + -0.011643797159194946, + -0.021085646003484726, + -0.005882196128368378, + -0.051794618368148804, + -0.04131117835640907, + -4.7773122787475586e-05, + 0.0 + ], + [ + -0.0004224330186843872, + -0.012175209820270538, + -0.0007396861910820007, + -0.01775313913822174, + -0.02020345628261566, + -0.010998189449310303, + 0.0 + ], + [ + -0.0008848458528518677, + -0.010320030152797699, + -0.0061737895011901855, + -0.011138901114463806, + 0.017636116594076157, + -0.0037298500537872314, + 0.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 0.8390268683433533 + ], + [ + 0.5679898858070374 + ], + [ + 0.33397963643074036 + ], + [ + 0.2928420901298523 + ], + [ + 0.2928420901298523 + ], + [ + 0.2928420901298523 + ], + [ + 0.2928420901298523 + ], + [ + 0.2928420901298523 + ], + [ + 0.2928420901298523 + ], + [ + 0.2928420901298523 + ], + [ + 0.2928420901298523 + ], + [ + 0.2928420901298523 + ], + [ + 0.2928420901298523 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.24485893547534943, + -0.022366857156157494, + 0.10490488260984421 + ], + [ + 0.24196644127368927, + -0.01960241235792637, + 0.09408804029226303 + ], + [ + 0.2424245923757553, + -0.018882164731621742, + 0.08765357732772827 + ], + [ + 0.24610795080661774, + -0.016686221584677696, + 0.0825389102101326 + ], + [ + 0.2499472200870514, + -0.015813173726201057, + 0.07497409731149673 + ], + [ + 0.2516668140888214, + -0.014034184627234936, + 0.06697624921798706 + ], + [ + 0.2535834014415741, + -0.013008339330554008, + 0.05828062444925308 + ], + [ + 0.25832459330558777, + -0.011431175284087658, + 0.05600736290216446 + ], + [ + 0.26166272163391113, + -0.01166913378983736, + 0.05627582594752312 + ], + [ + 0.26182258129119873, + -0.012491041794419289, + 0.056205540895462036 + ], + [ + 0.2609937787055969, + -0.013097519055008888, + 0.05727551132440567 + ], + [ + 0.25681179761886597, + -0.009142137132585049, + 0.06120387092232704 + ], + [ + 0.2622169256210327, + -0.007340088486671448, + 0.07709148526191711 + ], + [ + 0.2643148601055145, + -0.009268187917768955, + 0.09983701258897781 + ], + [ + 0.2584535479545593, + -0.018219323828816414, + 0.11544840782880783 + ], + [ + 0.25134578347206116, + -0.03207914158701897, + 0.12432461231946945 + ], + [ + 0.23741550743579865, + -0.05144920572638512, + 0.1197441965341568 + ], + [ + 0.2257717102766037, + -0.07253485172986984, + 0.11386200040578842 + ], + [ + 0.2253492772579193, + -0.08471006155014038, + 0.11312231421470642 + ], + [ + 0.22446443140506744, + -0.09503009170293808, + 0.10694852471351624 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.991365967599848, + 0.12730969229895225, + 0.03139682359034902, + 0.12860591457403295, + -0.9907433150277604, + -0.04345345169696773, + 0.025574147520375824, + 0.04711609039967408, + -0.998561984557822 + ], + [ + 0.9876749574334579, + 0.15006296995460755, + 0.044489139205203074, + 0.15273815216398123, + -0.9861595194169951, + -0.06450162119492829, + 0.034194083294480856, + 0.07050182488165867, + -0.9969254021018856 + ], + [ + 0.9866192542376261, + 0.1498468950433112, + 0.06425227788545465, + 0.1549265376812232, + -0.9844229147324143, + -0.08312215632336925, + 0.05079581763983469, + 0.09196430283331125, + -0.9944658626190666 + ], + [ + 0.985775429715605, + 0.14105859879185978, + 0.09137436115175755, + 0.14885971106095436, + -0.9851931982874784, + -0.08505967593953478, + 0.07802300040285469, + 0.09745169960019492, + -0.9921771906535495 + ], + [ + 0.9858013170630818, + 0.13765842591762573, + 0.09615571252179805, + 0.14677184794333115, + -0.9845805435493554, + -0.09517971378059194, + 0.08157075412176107, + 0.10794123881972671, + -0.9908051781425397 + ], + [ + 0.9875020650484861, + 0.1345280033982961, + 0.08210899966899632, + 0.14293640253587966, + -0.9839341138068218, + -0.10697123219485248, + 0.06639921953664948, + 0.11737067772170402, + -0.9908659181019759 + ], + [ + 0.9883520504360024, + 0.13546443784700565, + 0.0693513552697059, + 0.1432934495612083, + -0.981845516564871, + -0.12428342171951827, + 0.05125633338232139, + 0.13277336962002928, + -0.9898201961002533 + ], + [ + 0.9879386395098215, + 0.14089234375143775, + 0.06423855567889326, + 0.14836096691828551, + -0.9800672686055105, + -0.13212559367210513, + 0.04434262124136288, + 0.1400624734908017, + -0.9891492483245813 + ], + [ + 0.9880185223420354, + 0.139658404593062, + 0.06568812324600007, + 0.14766765161803358, + -0.9791856653398249, + -0.13924689389217837, + 0.04487386962003796, + 0.14727852124300106, + -0.9880766028025352 + ], + [ + 0.9881969418686912, + 0.14014106333049853, + 0.061865066475059696, + 0.1478039294108332, + -0.9783844392695699, + -0.14463017474194934, + 0.04025919189556336, + 0.15206699630020498, + -0.9875499106901633 + ], + [ + 0.9883663616575514, + 0.14096574661657857, + 0.057101606147680076, + 0.14794477579552295, + -0.9781605125072619, + -0.14599436662537035, + 0.03527433144124274, + 0.15274380528309872, + -0.9876360926419265 + ], + [ + 0.9897376119090513, + 0.1413693351291814, + 0.020836762169329313, + 0.14285859997751835, + -0.9822638800892819, + -0.12144583271735628, + 0.0032984822314805276, + 0.12317621912155725, + -0.9923793322403921 + ], + [ + 0.9917045376536235, + 0.12390043224925663, + 0.03421685090215294, + 0.12654985247596515, + -0.9877762144103682, + -0.09101255453745812, + 0.02252209660587252, + 0.09458770075210464, + -0.9952617354399325 + ], + [ + 0.9914471253096839, + 0.12680153313835055, + 0.030886387113547655, + 0.1287177247580701, + -0.9891367689221361, + -0.07099436385645563, + 0.021548666971992352, + 0.0743627834339255, + -0.9969984109273643 + ], + [ + 0.9905197785929646, + 0.13732237555065577, + 0.0036240018307268007, + 0.13723781811211974, + -0.9880630569559313, + -0.06997983108528401, + -0.006029054317983011, + 0.06981375689665185, + -0.9975418236104219 + ], + [ + 0.9869577971843705, + 0.16090527194735363, + -0.004878528110339803, + 0.1597744530698513, + -0.9828222464699303, + -0.09237183548046247, + -0.01965784126513089, + 0.09038763910705887, + -0.9957126312212009 + ], + [ + 0.9845377161487157, + 0.17432405066396656, + 0.01722239358445124, + 0.17497281855443414, + -0.9739539333785545, + -0.14421597839199116, + -0.008366495549989101, + 0.14499952074592873, + -0.9893963516890807 + ], + [ + 0.9840462772544142, + 0.16518016523356258, + 0.06609415431898222, + 0.1748369842688743, + -0.9666062849196402, + -0.18736146585041638, + 0.032938627073602525, + 0.19592805558996476, + -0.980064918196362 + ], + [ + 0.985051998012565, + 0.14912926298579204, + 0.0862149878661961, + 0.16386123845611278, + -0.9655799344136764, + -0.20200219006067652, + 0.05312302460405295, + 0.21310995560741688, + -0.9755829493579324 + ], + [ + 0.9864277442132997, + 0.148466137898028, + 0.07012924742148888, + 0.1603113801441051, + -0.9631820396914437, + -0.21582543828780257, + 0.035504462290716354, + 0.22413871667669014, + -0.9739102981506937 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005860.json b/json/chunk-0005/episode_0005860.json new file mode 100644 index 0000000000000000000000000000000000000000..1dae4c78378fa9a1b0125adb55124d164507acc8 --- /dev/null +++ b/json/chunk-0005/episode_0005860.json @@ -0,0 +1,1822 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 29, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nClosed the drawer." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005860.mp4", + "start": 0, + "end": 29, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3770570755004883, + 0.0077550592832267284, + 0.1383407562971115, + -0.04230896383523941, + -0.08279526233673096, + 0.0804947093129158, + 0.0, + 0.9988223910331726 + ], + [ + 0.3751648962497711, + 0.007682986091822386, + 0.12633953988552094, + -0.040712278336286545, + -0.04601544886827469, + 0.08033175766468048, + 0.0, + 0.9988223910331726 + ], + [ + 0.3775365948677063, + -0.015411466360092163, + 0.12142357230186462, + -0.049038127064704895, + -0.03813633322715759, + 0.05323823541402817, + 0.0, + 0.9988223910331726 + ], + [ + 0.38335853815078735, + -0.054412540048360825, + 0.11512697488069534, + -0.04183114320039749, + -0.035135768353939056, + -0.001196297467686236, + 0.0, + 0.9988223910331726 + ], + [ + 0.3937191665172577, + -0.07115700095891953, + 0.10682442784309387, + -0.04389254376292229, + -0.04499388858675957, + -0.02056954987347126, + 0.0, + 0.9988223910331726 + ], + [ + 0.4003005623817444, + -0.06963672488927841, + 0.07966553419828415, + 0.022336110472679138, + -0.023267466574907303, + 0.011868738569319248, + 0.0, + 0.9988223910331726 + ], + [ + 0.4054625928401947, + -0.06981968134641647, + 0.060042187571525574, + 0.06472470611333847, + 0.0019173463806509972, + 0.004774466156959534, + 0.0, + 0.9988223910331726 + ], + [ + 0.4073890149593353, + -0.06765373051166534, + 0.04342043772339821, + 0.0982397198677063, + 0.02728603594005108, + 0.00027871099882759154, + 0.0, + 0.9988223910331726 + ], + [ + 0.4082571268081665, + -0.07125647366046906, + 0.02615746669471264, + 0.12028321623802185, + 0.061768900603055954, + -0.015561386942863464, + 0.0, + 0.9858682155609131 + ], + [ + 0.40850016474723816, + -0.0712321549654007, + 0.01908181421458721, + 0.12691622972488403, + 0.07709856331348419, + -0.02714221365749836, + 0.0, + 0.9157527089118958 + ], + [ + 0.4101182818412781, + -0.06947927922010422, + 0.01957710273563862, + 0.13880175352096558, + 0.06751594692468643, + -0.022917520254850388, + 0.0, + 0.6350118517875671 + ], + [ + 0.4094476103782654, + -0.06583698838949203, + 0.016593728214502335, + 0.16443538665771484, + 0.062069982290267944, + -0.020076898857951164, + 0.0, + 0.3502708673477173 + ], + [ + 0.40963953733444214, + -0.05977162718772888, + 0.016139082610607147, + 0.18740175664424896, + 0.058554597198963165, + -0.0004993246402591467, + 0.0, + 0.1618213802576065 + ], + [ + 0.40967509150505066, + -0.05140108987689018, + 0.0162323210388422, + 0.20064327120780945, + 0.0629236251115799, + 0.014827961102128029, + 0.0, + 0.1261659562587738 + ], + [ + 0.4077620506286621, + -0.04299424961209297, + 0.015547791495919228, + 0.20992247760295868, + 0.07403520494699478, + 0.03574056923389435, + 0.0, + 0.12264012545347214 + ], + [ + 0.4072225093841553, + -0.024766964837908745, + 0.016357721760869026, + 0.2161119133234024, + 0.09015630930662155, + 0.07920097559690475, + 0.0, + 0.12264012545347214 + ], + [ + 0.41437098383903503, + 0.008296635001897812, + 0.014734312891960144, + 0.21549776196479797, + 0.11004013568162918, + 0.17460650205612183, + 0.0, + 0.12264012545347214 + ], + [ + 0.4173007905483246, + 0.017762884497642517, + 0.012599967420101166, + 0.21088829636573792, + 0.12197750061750412, + 0.20623686909675598, + 0.0, + 0.12264012545347214 + ], + [ + 0.41566231846809387, + 0.028634214773774147, + 0.013138290494680405, + 0.20972660183906555, + 0.1312353014945984, + 0.23887071013450623, + 0.0, + 0.12264012545347214 + ], + [ + 0.41067227721214294, + 0.03884837403893471, + 0.014350460842251778, + 0.21728530526161194, + 0.15818855166435242, + 0.264835923910141, + 0.0, + 0.12264012545347214 + ], + [ + 0.4062753915786743, + 0.04432890936732292, + 0.01423853263258934, + 0.21838468313217163, + 0.1643366813659668, + 0.2778136134147644, + 0.0, + 0.12220374494791031 + ], + [ + 0.40266960859298706, + 0.04416564851999283, + 0.014838319271802902, + 0.21965613961219788, + 0.17039507627487183, + 0.2775251865386963, + 0.0, + 0.12264012545347214 + ], + [ + 0.40049299597740173, + 0.04342265427112579, + 0.01432510931044817, + 0.22006432712078094, + 0.17145231366157532, + 0.2777651846408844, + 0.0, + 0.147182896733284 + ], + [ + 0.3985106348991394, + 0.04482970014214516, + 0.01362599153071642, + 0.23058898746967316, + 0.17127618193626404, + 0.3196190595626831, + 0.0, + 0.36865687370300293 + ], + [ + 0.3997318148612976, + 0.046981919556856155, + 0.015280032530426979, + 0.23038437962532043, + 0.1670594960451126, + 0.32115790247917175, + 0.0, + 0.684196949005127 + ], + [ + 0.40594297647476196, + 0.04677443578839302, + 0.02146466076374054, + 0.23741695284843445, + 0.14665935933589935, + 0.29029691219329834, + 0.0, + 0.9530308246612549 + ], + [ + 0.41397202014923096, + 0.035257019102573395, + 0.035914357751607895, + 0.22730375826358795, + 0.10275331884622574, + 0.2279164344072342, + 0.0, + 0.9954678416252136 + ], + [ + 0.43229177594184875, + 0.013600083999335766, + 0.07673779129981995, + 0.16247035562992096, + -0.01074192114174366, + 0.15487469732761383, + 0.0, + 0.9961419701576233 + ], + [ + 0.4386875331401825, + -0.023658379912376404, + 0.10072654485702515, + 0.11909585446119308, + -0.06097264960408211, + 0.06010027602314949, + 0.0, + 0.9961419701576233 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9858682155609131 + ], + [ + 0.9157527089118958 + ], + [ + 0.6350118517875671 + ], + [ + 0.3502708673477173 + ], + [ + 0.1618213802576065 + ], + [ + 0.1261659562587738 + ], + [ + 0.12264012545347214 + ], + [ + 0.12264012545347214 + ], + [ + 0.12264012545347214 + ], + [ + 0.12264012545347214 + ], + [ + 0.12264012545347214 + ], + [ + 0.12264012545347214 + ], + [ + 0.12220374494791031 + ], + [ + 0.12264012545347214 + ], + [ + 0.147182896733284 + ], + [ + 0.36865687370300293 + ], + [ + 0.684196949005127 + ], + [ + 0.9530308246612549 + ], + [ + 0.9954678416252136 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3770570755004883, + 0.0077550592832267284, + 0.1383407562971115 + ], + [ + 0.3751648962497711, + 0.007682986091822386, + 0.12633953988552094 + ], + [ + 0.3775365948677063, + -0.015411466360092163, + 0.12142357230186462 + ], + [ + 0.38335853815078735, + -0.054412540048360825, + 0.11512697488069534 + ], + [ + 0.3937191665172577, + -0.07115700095891953, + 0.10682442784309387 + ], + [ + 0.4003005623817444, + -0.06963672488927841, + 0.07966553419828415 + ], + [ + 0.4054625928401947, + -0.06981968134641647, + 0.060042187571525574 + ], + [ + 0.4073890149593353, + -0.06765373051166534, + 0.04342043772339821 + ], + [ + 0.4082571268081665, + -0.07125647366046906, + 0.02615746669471264 + ], + [ + 0.40850016474723816, + -0.0712321549654007, + 0.01908181421458721 + ], + [ + 0.4101182818412781, + -0.06947927922010422, + 0.01957710273563862 + ], + [ + 0.4094476103782654, + -0.06583698838949203, + 0.016593728214502335 + ], + [ + 0.40963953733444214, + -0.05977162718772888, + 0.016139082610607147 + ], + [ + 0.40967509150505066, + -0.05140108987689018, + 0.0162323210388422 + ], + [ + 0.4077620506286621, + -0.04299424961209297, + 0.015547791495919228 + ], + [ + 0.4072225093841553, + -0.024766964837908745, + 0.016357721760869026 + ], + [ + 0.41437098383903503, + 0.008296635001897812, + 0.014734312891960144 + ], + [ + 0.4173007905483246, + 0.017762884497642517, + 0.012599967420101166 + ], + [ + 0.41566231846809387, + 0.028634214773774147, + 0.013138290494680405 + ], + [ + 0.41067227721214294, + 0.03884837403893471, + 0.014350460842251778 + ], + [ + 0.4062753915786743, + 0.04432890936732292, + 0.01423853263258934 + ], + [ + 0.40266960859298706, + 0.04416564851999283, + 0.014838319271802902 + ], + [ + 0.40049299597740173, + 0.04342265427112579, + 0.01432510931044817 + ], + [ + 0.3985106348991394, + 0.04482970014214516, + 0.01362599153071642 + ], + [ + 0.3997318148612976, + 0.046981919556856155, + 0.015280032530426979 + ], + [ + 0.40594297647476196, + 0.04677443578839302, + 0.02146466076374054 + ], + [ + 0.41397202014923096, + 0.035257019102573395, + 0.035914357751607895 + ], + [ + 0.43229177594184875, + 0.013600083999335766, + 0.07673779129981995 + ], + [ + 0.4386875331401825, + -0.023658379912376404, + 0.10072654485702515 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9933475714203485, + 0.07684924405554588, + 0.08576010751734679, + 0.08013236865603826, + -0.9961513181579262, + -0.03551555751778133, + 0.08270070040131773, + 0.0421514533594893, + -0.9956826046149518 + ], + [ + 0.9957200287587725, + 0.0783127146356458, + 0.049078947167047124, + 0.0801604445068398, + -0.9960994176609631, + -0.03688161156940844, + 0.045999211570370985, + 0.04065794955339944, + -0.9981137228157011 + ], + [ + 0.997857108181148, + 0.051282837215533755, + 0.040635726392937936, + 0.05317439870158265, + -0.9974822066470312, + -0.04692260377786478, + 0.0381270897798635, + 0.04898283403085647, + -0.998071644219604 + ], + [ + 0.9993820872682697, + -0.0026642880634060407, + 0.03504775622535936, + -0.0011955588305824962, + -0.999122732959016, + -0.04186090208762681, + 0.035128539485717876, + 0.0417931340488178, + -0.9985085476148806 + ], + [ + 0.9987766141137535, + -0.022521468364930415, + 0.04402338653663256, + -0.020547283353787346, + -0.9987849418336895, + -0.04479340479414948, + 0.04497870881034154, + 0.043834044177565895, + -0.9980257974244923 + ], + [ + 0.9996589111248994, + 0.012385077450118636, + 0.02299285247930114, + 0.011865247420289727, + -0.9996739773481169, + 0.022608735405848197, + 0.023265367227612153, + -0.022328207934156043, + -0.9994799516839811 + ], + [ + 0.9999867641710511, + 0.004640439179034263, + -0.002222117669277675, + 0.004774439241616971, + -0.9978953055800867, + 0.06466965154655954, + -0.001917345205887607, + -0.06467940495591318, + -0.9979042531034279 + ], + [ + 0.999627720392046, + -0.0023985635530127713, + -0.027178438451895354, + 0.0002786072476202695, + -0.9951790655731717, + 0.09807420569604446, + -0.02728265019756839, + -0.09804526677912924, + -0.9948079124436064 + ], + [ + 0.9979720628987744, + -0.022854577779747094, + -0.05940900561425387, + -0.015531083101447601, + -0.9925392296401113, + 0.12093247323655716, + -0.061729629281738654, + -0.11976454358416842, + -0.9908813788586478 + ], + [ + 0.9966621445929764, + -0.036666156431435504, + -0.07293944411547128, + -0.027058261804257095, + -0.991326994604027, + 0.128602644753051, + -0.07702220461309024, + -0.1261997731451711, + -0.9890102108950373 + ], + [ + 0.9974596675226586, + -0.032026847276080087, + -0.06362776688790873, + -0.02286330497364777, + -0.9899085255755641, + 0.13985127914500697, + -0.06746466446421702, + -0.13804126935944674, + -0.9881260683750648 + ], + [ + 0.9978731309697824, + -0.029956748473282023, + -0.05789479863918799, + -0.020036890164931667, + -0.9861082734712127, + 0.16489086094790872, + -0.062030133976012605, + -0.16338012796093843, + -0.984611190402783 + ], + [ + 0.998286044884316, + -0.011393466186064908, + -0.05740349743261667, + -0.0004984688616645203, + -0.9824860546863703, + 0.18633546059621756, + -0.05852114248733858, + -0.18598747612427455, + -0.9808077969749727 + ], + [ + 0.9979112471705207, + 0.001998948245639164, + -0.06456893197573803, + 0.01479807371539848, + -0.9800166729641447, + 0.19836415433893964, + -0.06288211021339742, + -0.1989053164653984, + -0.977999240949046 + ], + [ + 0.9966237690696861, + 0.019544692960250434, + -0.07974376403470229, + 0.03563507538687562, + -0.9779732416475053, + 0.2056659427898588, + -0.07396758970998335, + -0.20781324211550936, + -0.9753678547470876 + ], + [ + 0.9928166451598618, + 0.058031953916314265, + -0.10462983044128592, + 0.07879687469492988, + -0.9752042120636064, + 0.20680376522614946, + -0.09003422478051877, + -0.21356272403688714, + -0.9727717107678018 + ], + [ + 0.978838629683166, + 0.14657671725899152, + -0.14279426808369933, + 0.17266992019044042, + -0.9660961942502311, + 0.19194593540017127, + -0.10981819385424561, + -0.2125403712540219, + -0.9709616649929047 + ], + [ + 0.9715358675847038, + 0.17531083196016273, + -0.15932410424625862, + 0.20325646640810224, + -0.9623390132506535, + 0.18052820399885036, + -0.12167525163207635, + -0.20777327973826212, + -0.9705799283763686 + ], + [ + 0.9632509523571646, + 0.20495074296617258, + -0.1736168071951246, + 0.2345709817991191, + -0.9567618841491601, + 0.17199753352053135, + -0.1308589212885868, + -0.20640225288732392, + -0.9696772930837477 + ], + [ + 0.9530850307038007, + 0.2228200146045329, + -0.20489061798913838, + 0.25848276219152444, + -0.9513306407990206, + 0.16779950395267687, + -0.1575296349839455, + -0.21288788826178048, + -0.9642941258419365 + ], + [ + 0.9487010379404336, + 0.23365489302424824, + -0.21300641205506365, + 0.2705587548763092, + -0.9485373814860638, + 0.16454420707926262, + -0.16359798522758673, + -0.21373400966947012, + -0.9630957752685273 + ], + [ + 0.9478084121221492, + 0.231858507920529, + -0.21886261950218022, + 0.2700086048632339, + -0.9487512975283846, + 0.16421427690069013, + -0.16957171701171203, + -0.21473846358552656, + -0.9618382530585001 + ], + [ + 0.9475706476699691, + 0.2317781204927397, + -0.21997447700851264, + 0.2701867590922816, + -0.9486908980535378, + 0.16427018950978833, + -0.1706135483644982, + -0.21509180089260832, + -0.961575027911629 + ], + [ + 0.93546426937546, + 0.26890714844740077, + -0.22933718895051525, + 0.30960750691430444, + -0.9364672099256307, + 0.16484039673700632, + -0.17043999643318958, + -0.22520681661084838, + -0.9592872861493902 + ], + [ + 0.9356603559925956, + 0.2712954886263611, + -0.2256954941393227, + 0.31127077261458225, + -0.9357863198905262, + 0.16557315489434457, + -0.1662835059160412, + -0.22517264788763655, + -0.9600245175533488 + ], + [ + 0.9478728825393828, + 0.24527577914319582, + -0.20341285778479984, + 0.2831639122184982, + -0.9411192296597704, + 0.1846964926080482, + -0.14613417589186872, + -0.23266797744919343, + -0.9615146462254778 + ], + [ + 0.969001210065026, + 0.1976192676346762, + -0.1482675957586454, + 0.2247565726060669, + -0.9543047958031402, + 0.1969437477491996, + -0.10257259849925142, + -0.22416284653497065, + -0.9691387311785915 + ], + [ + 0.9879738639225023, + 0.1539415954443476, + -0.01447858411894838, + 0.15424739795002707, + -0.9747511643121928, + 0.16145559110068147, + 0.01074171455991216, + -0.16174718811798022, + -0.9867737647020415 + ], + [ + 0.9963396208101009, + 0.06686551205671372, + 0.05325751873095465, + 0.0599524872690506, + -0.9906889174572971, + 0.12223407093582019, + 0.060934877321931466, + -0.11859372717257126, + -0.9910713741204914 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.001892179250717163, + -7.207319140434265e-05, + -0.012001216411590576, + 0.0015966854989528656, + 0.03677981346845627, + -0.00016295164823532104, + 1.0 + ], + [ + 0.0023716986179351807, + -0.023094452917575836, + -0.004915967583656311, + -0.00832584872841835, + 0.007879115641117096, + -0.027093522250652313, + 1.0 + ], + [ + 0.005821943283081055, + -0.03900107368826866, + -0.006296597421169281, + 0.0072069838643074036, + 0.0030005648732185364, + -0.054434534162282944, + 1.0 + ], + [ + 0.010360628366470337, + -0.0167444609105587, + -0.008302547037601471, + -0.0020614005625247955, + -0.00985812023282051, + -0.019373252987861633, + 1.0 + ], + [ + 0.006581395864486694, + 0.0015202760696411133, + -0.027158893644809723, + 0.06622865796089172, + 0.021726422011852264, + 0.03243828937411308, + 1.0 + ], + [ + 0.005162030458450317, + -0.00018295645713806152, + -0.019623346626758575, + 0.04238859564065933, + 0.025184813886880875, + -0.0070942724123597145, + 1.0 + ], + [ + 0.001926422119140625, + 0.002165950834751129, + -0.016621749848127365, + 0.03351501375436783, + 0.025368690490722656, + -0.0044957553036510944, + 1.0 + ], + [ + 0.0008681118488311768, + -0.003602743148803711, + -0.01726297102868557, + 0.022043496370315552, + 0.034482866525650024, + -0.01584009826183319, + 1.0 + ], + [ + 0.00024303793907165527, + 2.4318695068359375e-05, + -0.007075652480125427, + 0.006633013486862183, + 0.015329662710428238, + -0.011580826714634895, + 0.0 + ], + [ + 0.001618117094039917, + 0.0017528757452964783, + 0.0004952885210514069, + 0.011885523796081543, + -0.00958261638879776, + 0.004224693402647972, + 0.0 + ], + [ + -0.0006706714630126953, + 0.0036422908306121826, + -0.002983374521136284, + 0.025633633136749268, + -0.0054459646344184875, + 0.0028406213968992233, + 0.0 + ], + [ + 0.0001919269561767578, + 0.006065361201763153, + -0.0004546456038951874, + 0.02296636998653412, + -0.003515385091304779, + 0.019577573984861374, + 0.0 + ], + [ + 3.555417060852051e-05, + 0.0083705373108387, + 9.323842823505402e-05, + 0.013241514563560486, + 0.00436902791261673, + 0.01532728597521782, + 0.0 + ], + [ + -0.0019130408763885498, + 0.00840684026479721, + -0.0006845295429229736, + 0.009279206395149231, + 0.011111579835414886, + 0.02091260813176632, + 0.0 + ], + [ + -0.0005395412445068359, + 0.018227284774184227, + 0.0008099302649497986, + 0.006189435720443726, + 0.01612110435962677, + 0.043460406363010406, + 0.0 + ], + [ + 0.007148474454879761, + 0.03306359797716141, + -0.0016234088689088821, + -0.0006141513586044312, + 0.01988382637500763, + 0.09540552645921707, + 0.0 + ], + [ + 0.0029298067092895508, + 0.009466249495744705, + -0.0021343454718589783, + -0.004609465599060059, + 0.011937364935874939, + 0.031630367040634155, + 0.0 + ], + [ + -0.0016384720802307129, + 0.01087133027613163, + 0.0005383230745792389, + -0.0011616945266723633, + 0.009257800877094269, + 0.032633841037750244, + 0.0 + ], + [ + -0.004990041255950928, + 0.01021415926516056, + 0.001212170347571373, + 0.007558703422546387, + 0.02695325016975403, + 0.025965213775634766, + 0.0 + ], + [ + -0.004396885633468628, + 0.005480535328388214, + -0.00011192820966243744, + 0.0010993778705596924, + 0.00614812970161438, + 0.012977689504623413, + 0.0 + ], + [ + -0.003605782985687256, + -0.00016326084733009338, + 0.000599786639213562, + 0.0012714564800262451, + 0.006058394908905029, + -0.00028842687606811523, + 0.0 + ], + [ + -0.002176612615585327, + -0.0007429942488670349, + -0.0005132099613547325, + 0.00040818750858306885, + 0.0010572373867034912, + 0.00023999810218811035, + 1.0 + ], + [ + -0.001982361078262329, + 0.0014070458710193634, + -0.0006991177797317505, + 0.010524660348892212, + -0.0001761317253112793, + 0.041853874921798706, + 1.0 + ], + [ + 0.0012211799621582031, + 0.0021522194147109985, + 0.0016540409997105598, + -0.00020460784435272217, + -0.004216685891151428, + 0.0015388429164886475, + 1.0 + ], + [ + 0.0062111616134643555, + -0.00020748376846313477, + 0.0061846282333135605, + 0.007032573223114014, + -0.020400136709213257, + -0.030860990285873413, + 1.0 + ], + [ + 0.008029043674468994, + -0.011517416685819626, + 0.014449696987867355, + -0.010113194584846497, + -0.043906040489673615, + -0.06238047778606415, + 1.0 + ], + [ + 0.018319755792617798, + -0.021656934171915054, + 0.04082343354821205, + -0.06483340263366699, + -0.11349523812532425, + -0.07304173707962036, + 1.0 + ], + [ + 0.00639575719833374, + -0.037258464843034744, + 0.0239887535572052, + -0.043374501168727875, + -0.0502307265996933, + -0.09477442502975464, + 1.0 + ], + [ + -0.00648459792137146, + -0.01663077622652054, + 0.015803053975105286, + -0.07037912309169769, + -0.039420921355485916, + -0.009397003799676895, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9858682155609131 + ], + [ + 0.9157527089118958 + ], + [ + 0.6350118517875671 + ], + [ + 0.3502708673477173 + ], + [ + 0.1618213802576065 + ], + [ + 0.1261659562587738 + ], + [ + 0.12264012545347214 + ], + [ + 0.12264012545347214 + ], + [ + 0.12264012545347214 + ], + [ + 0.12264012545347214 + ], + [ + 0.12264012545347214 + ], + [ + 0.12264012545347214 + ], + [ + 0.12220374494791031 + ], + [ + 0.12264012545347214 + ], + [ + 0.147182896733284 + ], + [ + 0.36865687370300293 + ], + [ + 0.684196949005127 + ], + [ + 0.9530308246612549 + ], + [ + 0.9954678416252136 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3751648962497711, + 0.007682986091822386, + 0.12633953988552094 + ], + [ + 0.3775365948677063, + -0.015411466360092163, + 0.12142357230186462 + ], + [ + 0.38335853815078735, + -0.054412540048360825, + 0.11512697488069534 + ], + [ + 0.3937191665172577, + -0.07115700095891953, + 0.10682442784309387 + ], + [ + 0.4003005623817444, + -0.06963672488927841, + 0.07966553419828415 + ], + [ + 0.4054625928401947, + -0.06981968134641647, + 0.060042187571525574 + ], + [ + 0.4073890149593353, + -0.06765373051166534, + 0.04342043772339821 + ], + [ + 0.4082571268081665, + -0.07125647366046906, + 0.02615746669471264 + ], + [ + 0.40850016474723816, + -0.0712321549654007, + 0.01908181421458721 + ], + [ + 0.4101182818412781, + -0.06947927922010422, + 0.01957710273563862 + ], + [ + 0.4094476103782654, + -0.06583698838949203, + 0.016593728214502335 + ], + [ + 0.40963953733444214, + -0.05977162718772888, + 0.016139082610607147 + ], + [ + 0.40967509150505066, + -0.05140108987689018, + 0.0162323210388422 + ], + [ + 0.4077620506286621, + -0.04299424961209297, + 0.015547791495919228 + ], + [ + 0.4072225093841553, + -0.024766964837908745, + 0.016357721760869026 + ], + [ + 0.41437098383903503, + 0.008296635001897812, + 0.014734312891960144 + ], + [ + 0.4173007905483246, + 0.017762884497642517, + 0.012599967420101166 + ], + [ + 0.41566231846809387, + 0.028634214773774147, + 0.013138290494680405 + ], + [ + 0.41067227721214294, + 0.03884837403893471, + 0.014350460842251778 + ], + [ + 0.4062753915786743, + 0.04432890936732292, + 0.01423853263258934 + ], + [ + 0.40266960859298706, + 0.04416564851999283, + 0.014838319271802902 + ], + [ + 0.40049299597740173, + 0.04342265427112579, + 0.01432510931044817 + ], + [ + 0.3985106348991394, + 0.04482970014214516, + 0.01362599153071642 + ], + [ + 0.3997318148612976, + 0.046981919556856155, + 0.015280032530426979 + ], + [ + 0.40594297647476196, + 0.04677443578839302, + 0.02146466076374054 + ], + [ + 0.41397202014923096, + 0.035257019102573395, + 0.035914357751607895 + ], + [ + 0.43229177594184875, + 0.013600083999335766, + 0.07673779129981995 + ], + [ + 0.4386875331401825, + -0.023658379912376404, + 0.10072654485702515 + ], + [ + 0.43220293521881104, + -0.04028915613889694, + 0.11652959883213043 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9957200287587725, + 0.0783127146356458, + 0.049078947167047124, + 0.0801604445068398, + -0.9960994176609631, + -0.03688161156940844, + 0.045999211570370985, + 0.04065794955339944, + -0.9981137228157011 + ], + [ + 0.997857108181148, + 0.051282837215533755, + 0.040635726392937936, + 0.05317439870158265, + -0.9974822066470312, + -0.04692260377786478, + 0.0381270897798635, + 0.04898283403085647, + -0.998071644219604 + ], + [ + 0.9993820872682697, + -0.0026642880634060407, + 0.03504775622535936, + -0.0011955588305824962, + -0.999122732959016, + -0.04186090208762681, + 0.035128539485717876, + 0.0417931340488178, + -0.9985085476148806 + ], + [ + 0.9987766141137535, + -0.022521468364930415, + 0.04402338653663256, + -0.020547283353787346, + -0.9987849418336895, + -0.04479340479414948, + 0.04497870881034154, + 0.043834044177565895, + -0.9980257974244923 + ], + [ + 0.9996589111248994, + 0.012385077450118636, + 0.02299285247930114, + 0.011865247420289727, + -0.9996739773481169, + 0.022608735405848197, + 0.023265367227612153, + -0.022328207934156043, + -0.9994799516839811 + ], + [ + 0.9999867641710511, + 0.004640439179034263, + -0.002222117669277675, + 0.004774439241616971, + -0.9978953055800867, + 0.06466965154655954, + -0.001917345205887607, + -0.06467940495591318, + -0.9979042531034279 + ], + [ + 0.999627720392046, + -0.0023985635530127713, + -0.027178438451895354, + 0.0002786072476202695, + -0.9951790655731717, + 0.09807420569604446, + -0.02728265019756839, + -0.09804526677912924, + -0.9948079124436064 + ], + [ + 0.9979720628987744, + -0.022854577779747094, + -0.05940900561425387, + -0.015531083101447601, + -0.9925392296401113, + 0.12093247323655716, + -0.061729629281738654, + -0.11976454358416842, + -0.9908813788586478 + ], + [ + 0.9966621445929764, + -0.036666156431435504, + -0.07293944411547128, + -0.027058261804257095, + -0.991326994604027, + 0.128602644753051, + -0.07702220461309024, + -0.1261997731451711, + -0.9890102108950373 + ], + [ + 0.9974596675226586, + -0.032026847276080087, + -0.06362776688790873, + -0.02286330497364777, + -0.9899085255755641, + 0.13985127914500697, + -0.06746466446421702, + -0.13804126935944674, + -0.9881260683750648 + ], + [ + 0.9978731309697824, + -0.029956748473282023, + -0.05789479863918799, + -0.020036890164931667, + -0.9861082734712127, + 0.16489086094790872, + -0.062030133976012605, + -0.16338012796093843, + -0.984611190402783 + ], + [ + 0.998286044884316, + -0.011393466186064908, + -0.05740349743261667, + -0.0004984688616645203, + -0.9824860546863703, + 0.18633546059621756, + -0.05852114248733858, + -0.18598747612427455, + -0.9808077969749727 + ], + [ + 0.9979112471705207, + 0.001998948245639164, + -0.06456893197573803, + 0.01479807371539848, + -0.9800166729641447, + 0.19836415433893964, + -0.06288211021339742, + -0.1989053164653984, + -0.977999240949046 + ], + [ + 0.9966237690696861, + 0.019544692960250434, + -0.07974376403470229, + 0.03563507538687562, + -0.9779732416475053, + 0.2056659427898588, + -0.07396758970998335, + -0.20781324211550936, + -0.9753678547470876 + ], + [ + 0.9928166451598618, + 0.058031953916314265, + -0.10462983044128592, + 0.07879687469492988, + -0.9752042120636064, + 0.20680376522614946, + -0.09003422478051877, + -0.21356272403688714, + -0.9727717107678018 + ], + [ + 0.978838629683166, + 0.14657671725899152, + -0.14279426808369933, + 0.17266992019044042, + -0.9660961942502311, + 0.19194593540017127, + -0.10981819385424561, + -0.2125403712540219, + -0.9709616649929047 + ], + [ + 0.9715358675847038, + 0.17531083196016273, + -0.15932410424625862, + 0.20325646640810224, + -0.9623390132506535, + 0.18052820399885036, + -0.12167525163207635, + -0.20777327973826212, + -0.9705799283763686 + ], + [ + 0.9632509523571646, + 0.20495074296617258, + -0.1736168071951246, + 0.2345709817991191, + -0.9567618841491601, + 0.17199753352053135, + -0.1308589212885868, + -0.20640225288732392, + -0.9696772930837477 + ], + [ + 0.9530850307038007, + 0.2228200146045329, + -0.20489061798913838, + 0.25848276219152444, + -0.9513306407990206, + 0.16779950395267687, + -0.1575296349839455, + -0.21288788826178048, + -0.9642941258419365 + ], + [ + 0.9487010379404336, + 0.23365489302424824, + -0.21300641205506365, + 0.2705587548763092, + -0.9485373814860638, + 0.16454420707926262, + -0.16359798522758673, + -0.21373400966947012, + -0.9630957752685273 + ], + [ + 0.9478084121221492, + 0.231858507920529, + -0.21886261950218022, + 0.2700086048632339, + -0.9487512975283846, + 0.16421427690069013, + -0.16957171701171203, + -0.21473846358552656, + -0.9618382530585001 + ], + [ + 0.9475706476699691, + 0.2317781204927397, + -0.21997447700851264, + 0.2701867590922816, + -0.9486908980535378, + 0.16427018950978833, + -0.1706135483644982, + -0.21509180089260832, + -0.961575027911629 + ], + [ + 0.93546426937546, + 0.26890714844740077, + -0.22933718895051525, + 0.30960750691430444, + -0.9364672099256307, + 0.16484039673700632, + -0.17043999643318958, + -0.22520681661084838, + -0.9592872861493902 + ], + [ + 0.9356603559925956, + 0.2712954886263611, + -0.2256954941393227, + 0.31127077261458225, + -0.9357863198905262, + 0.16557315489434457, + -0.1662835059160412, + -0.22517264788763655, + -0.9600245175533488 + ], + [ + 0.9478728825393828, + 0.24527577914319582, + -0.20341285778479984, + 0.2831639122184982, + -0.9411192296597704, + 0.1846964926080482, + -0.14613417589186872, + -0.23266797744919343, + -0.9615146462254778 + ], + [ + 0.969001210065026, + 0.1976192676346762, + -0.1482675957586454, + 0.2247565726060669, + -0.9543047958031402, + 0.1969437477491996, + -0.10257259849925142, + -0.22416284653497065, + -0.9691387311785915 + ], + [ + 0.9879738639225023, + 0.1539415954443476, + -0.01447858411894838, + 0.15424739795002707, + -0.9747511643121928, + 0.16145559110068147, + 0.01074171455991216, + -0.16174718811798022, + -0.9867737647020415 + ], + [ + 0.9963396208101009, + 0.06686551205671372, + 0.05325751873095465, + 0.0599524872690506, + -0.9906889174572971, + 0.12223407093582019, + 0.060934877321931466, + -0.11859372717257126, + -0.9910713741204914 + ], + [ + 0.9936861320516321, + 0.05549585188391168, + 0.09750939130127631, + 0.05042635825994944, + -0.9972826022419792, + 0.053708413289780266, + 0.1002250136488178, + -0.04845226196108446, + -0.9937843452932578 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005861.json b/json/chunk-0005/episode_0005861.json new file mode 100644 index 0000000000000000000000000000000000000000..03e5fb5fde04d945f7fa90256de5e697075d33d7 --- /dev/null +++ b/json/chunk-0005/episode_0005861.json @@ -0,0 +1,2182 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 35, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nTake broccoli out of pan." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005861.mp4", + "start": 0, + "end": 35, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2846341133117676, + 0.17194560170173645, + 0.0802345722913742, + -0.01694883406162262, + -0.15460436046123505, + 0.03316523879766464, + 0.0, + 1.0149952173233032 + ], + [ + 0.28061217069625854, + 0.1685626357793808, + 0.07113007456064224, + -0.03860973194241524, + -0.12197230756282806, + 0.04143240302801132, + 0.0, + 1.0149952173233032 + ], + [ + 0.27646028995513916, + 0.16185909509658813, + 0.0753147229552269, + -0.04560939595103264, + -0.08082742244005203, + 0.10950630903244019, + 0.0, + 1.0149952173233032 + ], + [ + 0.2747702896595001, + 0.14557813107967377, + 0.09425131976604462, + -0.029257040470838547, + -0.08542892336845398, + 0.18567366898059845, + 0.0, + 1.0149952173233032 + ], + [ + 0.2721140682697296, + 0.12202753126621246, + 0.09437616169452667, + -0.010824198834598064, + -0.09091182053089142, + 0.2602189779281616, + 0.0, + 1.0149952173233032 + ], + [ + 0.27272239327430725, + 0.10578201711177826, + 0.08000248670578003, + -0.0175222959369421, + -0.10374680906534195, + 0.28568223118782043, + 0.0, + 1.0149952173233032 + ], + [ + 0.27640673518180847, + 0.09750331938266754, + 0.06491563469171524, + -0.05150160193443298, + -0.1484886258840561, + 0.2995213270187378, + 0.0, + 1.0143678188323975 + ], + [ + 0.27813687920570374, + 0.09420960396528244, + 0.04871748387813568, + -0.05259040743112564, + -0.1685044765472412, + 0.31470340490341187, + 0.0, + 1.0143678188323975 + ], + [ + 0.2820003628730774, + 0.09525789320468903, + 0.03513156622648239, + -0.04908580332994461, + -0.16723789274692535, + 0.3266119360923767, + 0.0, + 1.0149952173233032 + ], + [ + 0.2834220826625824, + 0.09352145344018936, + 0.02559877559542656, + -0.06662808358669281, + -0.15328359603881836, + 0.3338157832622528, + 0.0, + 1.0149952173233032 + ], + [ + 0.2907062768936157, + 0.09651344269514084, + 0.02222190424799919, + -0.06762190163135529, + -0.14886900782585144, + 0.35133135318756104, + 0.0, + 1.0143678188323975 + ], + [ + 0.2888643145561218, + 0.09807821363210678, + 0.01917198672890663, + -0.0866142064332962, + -0.15415121614933014, + 0.3669990599155426, + 0.0, + 1.0149952173233032 + ], + [ + 0.2828849256038666, + 0.09849972277879715, + 0.014535807073116302, + -0.10126391053199768, + -0.14794911444187164, + 0.3764355182647705, + 0.0, + 1.0143678188323975 + ], + [ + 0.27739331126213074, + 0.09835956990718842, + 0.014407692477107048, + -0.10699169337749481, + -0.11698023229837418, + 0.3671732544898987, + 0.0, + 0.9730880856513977 + ], + [ + 0.2716834247112274, + 0.09824539721012115, + 0.016299672424793243, + -0.1218755841255188, + -0.08626089990139008, + 0.3731299340724945, + 0.0, + 0.6981924772262573 + ], + [ + 0.2708806097507477, + 0.09946948289871216, + 0.017200179398059845, + -0.1212962418794632, + -0.08140789717435837, + 0.37735676765441895, + 0.0, + 0.49661046266555786 + ], + [ + 0.2742956578731537, + 0.10007775574922562, + 0.023026252165436745, + -0.12239718437194824, + -0.07267322391271591, + 0.39008602499961853, + 0.0, + 0.5236935019493103 + ], + [ + 0.2835082411766052, + 0.09744205325841904, + 0.039015207439661026, + -0.16274233162403107, + -0.15114176273345947, + 0.4476425349712372, + 0.0, + 0.5315056443214417 + ], + [ + 0.29294583201408386, + 0.09177616983652115, + 0.04294214025139809, + -0.2347249537706375, + -0.21114380657672882, + 0.5027968287467957, + 0.0, + 0.5315056443214417 + ], + [ + 0.30453041195869446, + 0.09410983324050903, + 0.059128738939762115, + -0.2151976227760315, + -0.2041315734386444, + 0.4955269992351532, + 0.0, + 0.5315056443214417 + ], + [ + 0.3151247203350067, + 0.11034493148326874, + 0.08148428797721863, + -0.1277608573436737, + -0.22896097600460052, + 0.4106736183166504, + 0.0, + 0.5315056443214417 + ], + [ + 0.3046531677246094, + 0.1278233826160431, + 0.08648306876420975, + -0.06987428665161133, + -0.1905624121427536, + 0.36559897661209106, + 0.0, + 0.5315056443214417 + ], + [ + 0.29334884881973267, + 0.14231644570827484, + 0.08919568359851837, + -0.0030884023290127516, + -0.1697130650281906, + 0.37481144070625305, + 0.0, + 0.5315056443214417 + ], + [ + 0.2759062647819519, + 0.15813812613487244, + 0.08832059055566788, + 0.07695969194173813, + -0.1724199652671814, + 0.3433748483657837, + 0.0, + 0.5315056443214417 + ], + [ + 0.2558470368385315, + 0.17413458228111267, + 0.07333900034427643, + 0.105872243642807, + -0.1620599776506424, + 0.3551124334335327, + 0.0, + 0.5315056443214417 + ], + [ + 0.2417868822813034, + 0.1868983507156372, + 0.06629924476146698, + 0.11876571923494339, + -0.15846745669841766, + 0.35761985182762146, + 0.0, + 0.5315056443214417 + ], + [ + 0.22798652946949005, + 0.19453421235084534, + 0.057918429374694824, + 0.13342857360839844, + -0.1464679092168808, + 0.367554247379303, + 0.0, + 0.5315056443214417 + ], + [ + 0.2117670774459839, + 0.1999659538269043, + 0.04955665022134781, + 0.11977562308311462, + -0.13068470358848572, + 0.4051920175552368, + 0.0, + 0.5315056443214417 + ], + [ + 0.2008933573961258, + 0.1985035538673401, + 0.04010650888085365, + 0.11066558957099915, + -0.12626056373119354, + 0.4247989058494568, + 0.0, + 0.603904664516449 + ], + [ + 0.19822944700717926, + 0.19856497645378113, + 0.036598194390535355, + 0.09465537220239639, + -0.13839508593082428, + 0.4155670404434204, + 0.0, + 0.9124506115913391 + ], + [ + 0.19900213181972504, + 0.19856519997119904, + 0.03624168783426285, + 0.09350752830505371, + -0.14074303209781647, + 0.3913266658782959, + 0.0, + 1.002137303352356 + ], + [ + 0.19949458539485931, + 0.19826875627040863, + 0.03731665015220642, + 0.11308355629444122, + -0.13074955344200134, + 0.37233805656433105, + 0.0, + 1.0001531839370728 + ], + [ + 0.2145666629076004, + 0.2038099616765976, + 0.055718231946229935, + 0.15027587115764618, + -0.12351305782794952, + 0.3675977885723114, + 0.0, + 1.0014774799346924 + ], + [ + 0.2357190102338791, + 0.20411226153373718, + 0.07541132718324661, + 0.1587246209383011, + -0.14803223311901093, + 0.3502998650074005, + 0.0, + 1.0014774799346924 + ], + [ + 0.2634543478488922, + 0.1955113261938095, + 0.08602076023817062, + 0.15429162979125977, + -0.18263325095176697, + 0.31456121802330017, + 0.0, + 1.0014774799346924 + ] + ], + "left_gripper_pos": [ + [ + 1.0149952173233032 + ], + [ + 1.0149952173233032 + ], + [ + 1.0149952173233032 + ], + [ + 1.0149952173233032 + ], + [ + 1.0149952173233032 + ], + [ + 1.0149952173233032 + ], + [ + 1.0143678188323975 + ], + [ + 1.0143678188323975 + ], + [ + 1.0149952173233032 + ], + [ + 1.0149952173233032 + ], + [ + 1.0143678188323975 + ], + [ + 1.0149952173233032 + ], + [ + 1.0143678188323975 + ], + [ + 0.9730880856513977 + ], + [ + 0.6981924772262573 + ], + [ + 0.49661046266555786 + ], + [ + 0.5236935019493103 + ], + [ + 0.5315056443214417 + ], + [ + 0.5315056443214417 + ], + [ + 0.5315056443214417 + ], + [ + 0.5315056443214417 + ], + [ + 0.5315056443214417 + ], + [ + 0.5315056443214417 + ], + [ + 0.5315056443214417 + ], + [ + 0.5315056443214417 + ], + [ + 0.5315056443214417 + ], + [ + 0.5315056443214417 + ], + [ + 0.5315056443214417 + ], + [ + 0.603904664516449 + ], + [ + 0.9124506115913391 + ], + [ + 1.002137303352356 + ], + [ + 1.0001531839370728 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2846341133117676, + 0.17194560170173645, + 0.0802345722913742 + ], + [ + 0.28061217069625854, + 0.1685626357793808, + 0.07113007456064224 + ], + [ + 0.27646028995513916, + 0.16185909509658813, + 0.0753147229552269 + ], + [ + 0.2747702896595001, + 0.14557813107967377, + 0.09425131976604462 + ], + [ + 0.2721140682697296, + 0.12202753126621246, + 0.09437616169452667 + ], + [ + 0.27272239327430725, + 0.10578201711177826, + 0.08000248670578003 + ], + [ + 0.27640673518180847, + 0.09750331938266754, + 0.06491563469171524 + ], + [ + 0.27813687920570374, + 0.09420960396528244, + 0.04871748387813568 + ], + [ + 0.2820003628730774, + 0.09525789320468903, + 0.03513156622648239 + ], + [ + 0.2834220826625824, + 0.09352145344018936, + 0.02559877559542656 + ], + [ + 0.2907062768936157, + 0.09651344269514084, + 0.02222190424799919 + ], + [ + 0.2888643145561218, + 0.09807821363210678, + 0.01917198672890663 + ], + [ + 0.2828849256038666, + 0.09849972277879715, + 0.014535807073116302 + ], + [ + 0.27739331126213074, + 0.09835956990718842, + 0.014407692477107048 + ], + [ + 0.2716834247112274, + 0.09824539721012115, + 0.016299672424793243 + ], + [ + 0.2708806097507477, + 0.09946948289871216, + 0.017200179398059845 + ], + [ + 0.2742956578731537, + 0.10007775574922562, + 0.023026252165436745 + ], + [ + 0.2835082411766052, + 0.09744205325841904, + 0.039015207439661026 + ], + [ + 0.29294583201408386, + 0.09177616983652115, + 0.04294214025139809 + ], + [ + 0.30453041195869446, + 0.09410983324050903, + 0.059128738939762115 + ], + [ + 0.3151247203350067, + 0.11034493148326874, + 0.08148428797721863 + ], + [ + 0.3046531677246094, + 0.1278233826160431, + 0.08648306876420975 + ], + [ + 0.29334884881973267, + 0.14231644570827484, + 0.08919568359851837 + ], + [ + 0.2759062647819519, + 0.15813812613487244, + 0.08832059055566788 + ], + [ + 0.2558470368385315, + 0.17413458228111267, + 0.07333900034427643 + ], + [ + 0.2417868822813034, + 0.1868983507156372, + 0.06629924476146698 + ], + [ + 0.22798652946949005, + 0.19453421235084534, + 0.057918429374694824 + ], + [ + 0.2117670774459839, + 0.1999659538269043, + 0.04955665022134781 + ], + [ + 0.2008933573961258, + 0.1985035538673401, + 0.04010650888085365 + ], + [ + 0.19822944700717926, + 0.19856497645378113, + 0.036598194390535355 + ], + [ + 0.19900213181972504, + 0.19856519997119904, + 0.03624168783426285 + ], + [ + 0.19949458539485931, + 0.19826875627040863, + 0.03731665015220642 + ], + [ + 0.2145666629076004, + 0.2038099616765976, + 0.055718231946229935 + ], + [ + 0.2357190102338791, + 0.20411226153373718, + 0.07541132718324661 + ], + [ + 0.2634543478488922, + 0.1955113261938095, + 0.08602076023817062 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9875291753001068, + 0.030546019513300358, + 0.15444438682899522, + 0.032763654408384815, + -0.9993930739912297, + -0.011833283913129074, + 0.15398919079240322, + 0.016745875619204473, + -0.987930617386083 + ], + [ + 0.9917187723822067, + 0.0366972284571721, + 0.12307392058552331, + 0.04111281991936478, + -0.9985917081402091, + -0.03353112691064802, + 0.12167009716034365, + 0.03831336395022263, + -0.9918308694529582 + ], + [ + 0.9907649705962803, + 0.10551477823232017, + 0.0851551796072097, + 0.10893078281591731, + -0.9933787836710475, + -0.03650584483807965, + 0.08073944261922608, + 0.045444732663035746, + -0.9956987087863085 + ], + [ + 0.9792279581191544, + 0.18207655959115315, + 0.08922293699066765, + 0.18393542865698426, + -0.9828522911713383, + -0.013005069166372552, + 0.08532504979525556, + 0.029146186486398922, + -0.99592677225323 + ], + [ + 0.9623430555555642, + 0.25632750089760403, + 0.09050997573510307, + 0.2562296413063988, + -0.9665298853248188, + 0.012897739723952436, + 0.09078664185866979, + 0.010779288361547549, + -0.9958120267412138 + ], + [ + 0.954310666953576, + 0.2800278490381785, + 0.10428592763010862, + 0.280296828557452, + -0.9598336818683538, + 0.012368955156935903, + 0.10356079779171028, + 0.017427188932557028, + -0.9944704391014615 + ], + [ + 0.9449635732260931, + 0.28739476758354165, + 0.15635885917138126, + 0.29181594973912395, + -0.9564581432142432, + -0.005592115611734977, + 0.1479435593516218, + 0.05091235453958106, + -0.9876844817053717 + ], + [ + 0.9374204936652808, + 0.30072368825102136, + 0.1755223102088265, + 0.3051504207598196, + -0.9523023570027701, + 0.0018551434104773362, + 0.16770819528707018, + 0.05182165736128943, + -0.9844737056223913 + ], + [ + 0.9339206558105863, + 0.3127137506354619, + 0.1732117744664786, + 0.3163597183042163, + -0.9486144300105713, + 0.006869629552989646, + 0.16645941632962988, + 0.04838153923988475, + -0.9848606446477481 + ], + [ + 0.9337212641552133, + 0.3173191792204739, + 0.16575023186480067, + 0.3238088680354323, + -0.9460333715161868, + -0.012987569415735856, + 0.15268404581357684, + 0.06579816468991602, + -0.9860822398144266 + ], + [ + 0.928530450389165, + 0.33395176342432253, + 0.16219563004557064, + 0.3403416753898473, + -0.9402185409320901, + -0.012515561528091055, + 0.14831974478445586, + 0.06682301245317306, + -0.9866792479391451 + ], + [ + 0.9223401723180191, + 0.3450731075076234, + 0.17381932287119012, + 0.3545611852665786, + -0.93467517843082, + -0.025858784342536342, + 0.15354143554990546, + 0.08548018074587274, + -0.9844379951367822 + ], + [ + 0.9198212766572431, + 0.3518663275462989, + 0.17354799494007517, + 0.36359197148808053, + -0.9306947806899908, + -0.04010116539230645, + 0.14740996329302325, + 0.09998656277465992, + -0.9840086330853296 + ], + [ + 0.9269669664158747, + 0.34529301723157374, + 0.1466457480626929, + 0.35652513985515505, + -0.9324829561771248, + -0.05801173235159065, + 0.11671361456579452, + 0.10605785539169904, + -0.9874865383815117 + ], + [ + 0.9277286266250897, + 0.35207443575454833, + 0.12394832402433666, + 0.36317638973995525, + -0.9281018470292642, + -0.0820357938726808, + 0.08615396262376802, + 0.12112205921707782, + -0.9888917744097367 + ], + [ + 0.9265630377777303, + 0.356610135968814, + 0.1196250306098543, + 0.36724422187421807, + -0.9264368625563497, + -0.08274310362046859, + 0.08131800860882374, + 0.12059830272873433, + -0.9893651655758071 + ], + [ + 0.9224351056315252, + 0.369224096338288, + 0.11307980625085717, + 0.3792642477212823, + -0.9213282507709133, + -0.0855154064003594, + 0.0726092714394419, + 0.12176954058623804, + -0.9898990214594869 + ], + [ + 0.8911930863375647, + 0.40513037332741586, + 0.20406926145726856, + 0.42790707912345016, + -0.9001180227521831, + -0.08175008717266291, + 0.15056697679160513, + 0.16017779410482982, + -0.9755371134793116 + ], + [ + 0.8567786182397825, + 0.42595390027827246, + 0.29067795610409913, + 0.4711764809647698, + -0.8756984512683778, + -0.10556962741158361, + 0.20957844143132903, + 0.22741041595294653, + -0.9509791688587731 + ], + [ + 0.8614530069005797, + 0.4264461863948899, + 0.2757578049869206, + 0.46562280807995876, + -0.8800102154497799, + -0.093687893026612, + 0.2027168406859273, + 0.20910684066593038, + -0.9566505170066181 + ], + [ + 0.892924779687472, + 0.36945919623059803, + 0.2572649220953382, + 0.38880829676704126, + -0.9209245163275981, + -0.026947051636351055, + 0.2269657379103558, + 0.12408842632340969, + -0.9659651216619509 + ], + [ + 0.9170040266380972, + 0.34428613856358825, + 0.20142162228144586, + 0.35103707644960347, + -0.9363586167745876, + 0.002347711587055226, + 0.18941115618471635, + 0.06855359644070051, + -0.979501821503061 + ], + [ + 0.9172073263275545, + 0.365609905060938, + 0.1583038781975698, + 0.36083744924936884, + -0.9307631982515403, + 0.058959341921136124, + 0.1688995433690343, + 0.003044027249576496, + -0.9856285700748715 + ], + [ + 0.9276618711358069, + 0.3480910140430389, + 0.13518912228172322, + 0.33167490196960125, + -0.9343958103913641, + 0.12998549506203233, + 0.17156693225755723, + -0.0757437486896121, + -0.9822564188083354 + ], + [ + 0.9253219295214361, + 0.36173586902175614, + 0.11369471320075153, + 0.3431399269311489, + -0.9264290446664581, + 0.1548683820025228, + 0.16135153328187507, + -0.10428991447627345, + -0.981371130839969 + ], + [ + 0.9249956447362624, + 0.36509465712392414, + 0.10530407664715875, + 0.34565969236183874, + -0.9235888686267273, + 0.16584022077023747, + 0.15780505155179725, + -0.11700210719626551, + -0.9805141878710213 + ], + [ + 0.923216865231857, + 0.37425890246769933, + 0.08718310429857717, + 0.35548662622144267, + -0.9179376073337652, + 0.17612440949527378, + 0.14594477835523884, + -0.1316085976144252, + -0.9804995148926923 + ], + [ + 0.9111900892455647, + 0.40568120846238714, + 0.07180096351134366, + 0.3908338948256734, + -0.9063043019014718, + 0.1608147350533538, + 0.13031303816600454, + -0.11847054256389278, + -0.9843694644941818 + ], + [ + 0.9038688451873765, + 0.42228757527769756, + 0.06851506743572214, + 0.40885683778806403, + -0.8998164559294568, + 0.1522052293204696, + 0.12592536239210625, + -0.10956071104476733, + -0.9859712235667843 + ], + [ + 0.9061400117043085, + 0.41383040675659244, + 0.08749099172022921, + 0.3998487829356834, + -0.9055282909516604, + 0.1419135831096445, + 0.1379537240286347, + -0.09361040930280401, + -0.9860050006449221 + ], + [ + 0.9152633926694512, + 0.39185671920688087, + 0.09349456482398145, + 0.3776437071598537, + -0.9153696881938352, + 0.13958353906705315, + 0.14027883832484714, + -0.09244806946789433, + -0.9857865904798517 + ], + [ + 0.9235286300743375, + 0.37517471722447676, + 0.07961658739579167, + 0.3606890905097864, + -0.920177648501642, + 0.15223821854321679, + 0.13037733476429447, + -0.11187951891889357, + -0.9851318306837094 + ], + [ + 0.9260842220956861, + 0.37253659449489457, + 0.059870688551027444, + 0.3566370101632041, + -0.9160476643009358, + 0.18348493047291492, + 0.12319925554676969, + -0.14857039574203967, + -0.9811976258337436 + ], + [ + 0.9289972625469155, + 0.36076229253527053, + 0.08255092043722972, + 0.33942619957436343, + -0.9194625579342985, + 0.19844006550951787, + 0.14749217342910892, + -0.15633033244259809, + -0.9766303732403293 + ], + [ + 0.935117135144307, + 0.3322655791356514, + 0.12310779212200207, + 0.3042535845689451, + -0.9310000157835574, + 0.2016648875931648, + 0.18161965707613176, + -0.15112430490383133, + -0.9716870610597232 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.004021942615509033, + -0.003382965922355652, + -0.009104497730731964, + -0.021660897880792618, + 0.03263205289840698, + 0.00826716423034668, + 1.0 + ], + [ + -0.004151880741119385, + -0.006703540682792664, + 0.004184648394584656, + -0.006999664008617401, + 0.04114488512277603, + 0.06807390600442886, + 1.0 + ], + [ + -0.001690000295639038, + -0.016280964016914368, + 0.01893659681081772, + 0.016352355480194092, + -0.004601500928401947, + 0.07616735994815826, + 1.0 + ], + [ + -0.002656221389770508, + -0.023550599813461304, + 0.00012484192848205566, + 0.018432840704917908, + -0.005482897162437439, + 0.07454530894756317, + 1.0 + ], + [ + 0.0006083250045776367, + -0.016245514154434204, + -0.014373674988746643, + -0.006698097102344036, + -0.012834988534450531, + 0.025463253259658813, + 1.0 + ], + [ + 0.0036843419075012207, + -0.008278697729110718, + -0.015086852014064789, + -0.033979304134845734, + -0.04474181681871414, + 0.013839095830917358, + 1.0 + ], + [ + 0.0017301440238952637, + -0.0032937154173851013, + -0.01619815081357956, + -0.0010888054966926575, + -0.02001585066318512, + 0.015182077884674072, + 1.0 + ], + [ + 0.0038634836673736572, + 0.0010482892394065857, + -0.01358591765165329, + 0.0035046041011810303, + 0.001266583800315857, + 0.011908531188964844, + 1.0 + ], + [ + 0.0014217197895050049, + -0.0017364397644996643, + -0.009532790631055832, + -0.0175422802567482, + 0.013954296708106995, + 0.007203847169876099, + 1.0 + ], + [ + 0.007284194231033325, + 0.002991989254951477, + -0.003376871347427368, + -0.0009938180446624756, + 0.004414588212966919, + 0.017515569925308228, + 1.0 + ], + [ + -0.0018419623374938965, + 0.0015647709369659424, + -0.00304991751909256, + -0.018992304801940918, + -0.005282208323478699, + 0.015667706727981567, + 1.0 + ], + [ + -0.005979388952255249, + 0.00042150914669036865, + -0.004636179655790329, + -0.014649704098701477, + 0.006202101707458496, + 0.009436458349227905, + 1.0 + ], + [ + -0.00549161434173584, + -0.00014015287160873413, + -0.00012811459600925446, + -0.005727782845497131, + 0.030968882143497467, + -0.009262263774871826, + 0.0 + ], + [ + -0.00570988655090332, + -0.00011417269706726074, + 0.0018919799476861954, + -0.014883890748023987, + 0.0307193323969841, + 0.005956679582595825, + 0.0 + ], + [ + -0.0008028149604797363, + 0.0012240856885910034, + 0.0009005069732666016, + 0.000579342246055603, + 0.004853002727031708, + 0.0042268335819244385, + 0.0 + ], + [ + 0.003415048122406006, + 0.0006082728505134583, + 0.0058260727673769, + -0.0011009424924850464, + 0.008734673261642456, + 0.012729257345199585, + 0.0 + ], + [ + 0.009212583303451538, + -0.0026357024908065796, + 0.01598895527422428, + -0.040345147252082825, + -0.07846853882074356, + 0.05755650997161865, + 0.0 + ], + [ + 0.009437590837478638, + -0.005665883421897888, + 0.0039269328117370605, + -0.07198262214660645, + -0.06000204384326935, + 0.05515429377555847, + 0.0 + ], + [ + 0.011584579944610596, + 0.0023336634039878845, + 0.01618659868836403, + 0.019527330994606018, + 0.007012233138084412, + -0.007269829511642456, + 0.0 + ], + [ + 0.010594308376312256, + 0.016235098242759705, + 0.022355549037456512, + 0.08743676543235779, + -0.024829402565956116, + -0.08485338091850281, + 0.0 + ], + [ + -0.010471552610397339, + 0.017478451132774353, + 0.004998780786991119, + 0.05788657069206238, + 0.038398563861846924, + -0.045074641704559326, + 0.0 + ], + [ + -0.011304318904876709, + 0.01449306309223175, + 0.0027126148343086243, + 0.06678588688373566, + 0.02084934711456299, + 0.009212464094161987, + 0.0 + ], + [ + -0.01744258403778076, + 0.015821680426597595, + -0.0008750930428504944, + 0.0800480917096138, + -0.0027069002389907837, + -0.03143659234046936, + 0.0 + ], + [ + -0.02005922794342041, + 0.015996456146240234, + -0.014981590211391449, + 0.028912551701068878, + 0.010359987616539001, + 0.011737585067749023, + 0.0 + ], + [ + -0.014060154557228088, + 0.012763768434524536, + -0.007039755582809448, + 0.012893475592136383, + 0.0035925209522247314, + 0.002507418394088745, + 0.0 + ], + [ + -0.013800352811813354, + 0.00763586163520813, + -0.008380815386772156, + 0.014662854373455048, + 0.011999547481536865, + 0.009934395551681519, + 0.0 + ], + [ + -0.016219452023506165, + 0.00543174147605896, + -0.008361779153347015, + -0.013652950525283813, + 0.01578320562839508, + 0.03763777017593384, + 0.0 + ], + [ + -0.010873720049858093, + -0.001462399959564209, + -0.009450141340494156, + -0.009110033512115479, + 0.004424139857292175, + 0.01960688829421997, + 1.0 + ], + [ + -0.002663910388946533, + 6.142258644104004e-05, + -0.0035083144903182983, + -0.016010217368602753, + -0.012134522199630737, + -0.009231865406036377, + 1.0 + ], + [ + 0.0007726848125457764, + 2.2351741790771484e-07, + -0.0003565065562725067, + -0.0011478438973426819, + -0.0023479461669921875, + -0.02424037456512451, + 1.0 + ], + [ + 0.0004924535751342773, + -0.0002964437007904053, + 0.001074962317943573, + 0.019576027989387512, + 0.009993478655815125, + -0.018988609313964844, + 1.0 + ], + [ + 0.015072077512741089, + 0.005541205406188965, + 0.018401581794023514, + 0.037192314863204956, + 0.007236495614051819, + -0.004740267992019653, + 1.0 + ], + [ + 0.021152347326278687, + 0.0003022998571395874, + 0.019693095237016678, + 0.008448749780654907, + -0.0245191752910614, + -0.01729792356491089, + 1.0 + ], + [ + 0.027735337615013123, + -0.008600935339927673, + 0.010609433054924011, + -0.004432991147041321, + -0.03460101783275604, + -0.03573864698410034, + 1.0 + ], + [ + 0.025183498859405518, + -0.01670275628566742, + -0.004258446395397186, + -0.025302782654762268, + 0.012194141745567322, + -0.013482123613357544, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0149952173233032 + ], + [ + 1.0149952173233032 + ], + [ + 1.0149952173233032 + ], + [ + 1.0149952173233032 + ], + [ + 1.0149952173233032 + ], + [ + 1.0143678188323975 + ], + [ + 1.0143678188323975 + ], + [ + 1.0149952173233032 + ], + [ + 1.0149952173233032 + ], + [ + 1.0143678188323975 + ], + [ + 1.0149952173233032 + ], + [ + 1.0143678188323975 + ], + [ + 0.9730880856513977 + ], + [ + 0.6981924772262573 + ], + [ + 0.49661046266555786 + ], + [ + 0.5236935019493103 + ], + [ + 0.5315056443214417 + ], + [ + 0.5315056443214417 + ], + [ + 0.5315056443214417 + ], + [ + 0.5315056443214417 + ], + [ + 0.5315056443214417 + ], + [ + 0.5315056443214417 + ], + [ + 0.5315056443214417 + ], + [ + 0.5315056443214417 + ], + [ + 0.5315056443214417 + ], + [ + 0.5315056443214417 + ], + [ + 0.5315056443214417 + ], + [ + 0.603904664516449 + ], + [ + 0.9124506115913391 + ], + [ + 1.002137303352356 + ], + [ + 1.0001531839370728 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.28061217069625854, + 0.1685626357793808, + 0.07113007456064224 + ], + [ + 0.27646028995513916, + 0.16185909509658813, + 0.0753147229552269 + ], + [ + 0.2747702896595001, + 0.14557813107967377, + 0.09425131976604462 + ], + [ + 0.2721140682697296, + 0.12202753126621246, + 0.09437616169452667 + ], + [ + 0.27272239327430725, + 0.10578201711177826, + 0.08000248670578003 + ], + [ + 0.27640673518180847, + 0.09750331938266754, + 0.06491563469171524 + ], + [ + 0.27813687920570374, + 0.09420960396528244, + 0.04871748387813568 + ], + [ + 0.2820003628730774, + 0.09525789320468903, + 0.03513156622648239 + ], + [ + 0.2834220826625824, + 0.09352145344018936, + 0.02559877559542656 + ], + [ + 0.2907062768936157, + 0.09651344269514084, + 0.02222190424799919 + ], + [ + 0.2888643145561218, + 0.09807821363210678, + 0.01917198672890663 + ], + [ + 0.2828849256038666, + 0.09849972277879715, + 0.014535807073116302 + ], + [ + 0.27739331126213074, + 0.09835956990718842, + 0.014407692477107048 + ], + [ + 0.2716834247112274, + 0.09824539721012115, + 0.016299672424793243 + ], + [ + 0.2708806097507477, + 0.09946948289871216, + 0.017200179398059845 + ], + [ + 0.2742956578731537, + 0.10007775574922562, + 0.023026252165436745 + ], + [ + 0.2835082411766052, + 0.09744205325841904, + 0.039015207439661026 + ], + [ + 0.29294583201408386, + 0.09177616983652115, + 0.04294214025139809 + ], + [ + 0.30453041195869446, + 0.09410983324050903, + 0.059128738939762115 + ], + [ + 0.3151247203350067, + 0.11034493148326874, + 0.08148428797721863 + ], + [ + 0.3046531677246094, + 0.1278233826160431, + 0.08648306876420975 + ], + [ + 0.29334884881973267, + 0.14231644570827484, + 0.08919568359851837 + ], + [ + 0.2759062647819519, + 0.15813812613487244, + 0.08832059055566788 + ], + [ + 0.2558470368385315, + 0.17413458228111267, + 0.07333900034427643 + ], + [ + 0.2417868822813034, + 0.1868983507156372, + 0.06629924476146698 + ], + [ + 0.22798652946949005, + 0.19453421235084534, + 0.057918429374694824 + ], + [ + 0.2117670774459839, + 0.1999659538269043, + 0.04955665022134781 + ], + [ + 0.2008933573961258, + 0.1985035538673401, + 0.04010650888085365 + ], + [ + 0.19822944700717926, + 0.19856497645378113, + 0.036598194390535355 + ], + [ + 0.19900213181972504, + 0.19856519997119904, + 0.03624168783426285 + ], + [ + 0.19949458539485931, + 0.19826875627040863, + 0.03731665015220642 + ], + [ + 0.2145666629076004, + 0.2038099616765976, + 0.055718231946229935 + ], + [ + 0.2357190102338791, + 0.20411226153373718, + 0.07541132718324661 + ], + [ + 0.2634543478488922, + 0.1955113261938095, + 0.08602076023817062 + ], + [ + 0.28863784670829773, + 0.1788085699081421, + 0.08176231384277344 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9917187723822067, + 0.0366972284571721, + 0.12307392058552331, + 0.04111281991936478, + -0.9985917081402091, + -0.03353112691064802, + 0.12167009716034365, + 0.03831336395022263, + -0.9918308694529582 + ], + [ + 0.9907649705962803, + 0.10551477823232017, + 0.0851551796072097, + 0.10893078281591731, + -0.9933787836710475, + -0.03650584483807965, + 0.08073944261922608, + 0.045444732663035746, + -0.9956987087863085 + ], + [ + 0.9792279581191544, + 0.18207655959115315, + 0.08922293699066765, + 0.18393542865698426, + -0.9828522911713383, + -0.013005069166372552, + 0.08532504979525556, + 0.029146186486398922, + -0.99592677225323 + ], + [ + 0.9623430555555642, + 0.25632750089760403, + 0.09050997573510307, + 0.2562296413063988, + -0.9665298853248188, + 0.012897739723952436, + 0.09078664185866979, + 0.010779288361547549, + -0.9958120267412138 + ], + [ + 0.954310666953576, + 0.2800278490381785, + 0.10428592763010862, + 0.280296828557452, + -0.9598336818683538, + 0.012368955156935903, + 0.10356079779171028, + 0.017427188932557028, + -0.9944704391014615 + ], + [ + 0.9449635732260931, + 0.28739476758354165, + 0.15635885917138126, + 0.29181594973912395, + -0.9564581432142432, + -0.005592115611734977, + 0.1479435593516218, + 0.05091235453958106, + -0.9876844817053717 + ], + [ + 0.9374204936652808, + 0.30072368825102136, + 0.1755223102088265, + 0.3051504207598196, + -0.9523023570027701, + 0.0018551434104773362, + 0.16770819528707018, + 0.05182165736128943, + -0.9844737056223913 + ], + [ + 0.9339206558105863, + 0.3127137506354619, + 0.1732117744664786, + 0.3163597183042163, + -0.9486144300105713, + 0.006869629552989646, + 0.16645941632962988, + 0.04838153923988475, + -0.9848606446477481 + ], + [ + 0.9337212641552133, + 0.3173191792204739, + 0.16575023186480067, + 0.3238088680354323, + -0.9460333715161868, + -0.012987569415735856, + 0.15268404581357684, + 0.06579816468991602, + -0.9860822398144266 + ], + [ + 0.928530450389165, + 0.33395176342432253, + 0.16219563004557064, + 0.3403416753898473, + -0.9402185409320901, + -0.012515561528091055, + 0.14831974478445586, + 0.06682301245317306, + -0.9866792479391451 + ], + [ + 0.9223401723180191, + 0.3450731075076234, + 0.17381932287119012, + 0.3545611852665786, + -0.93467517843082, + -0.025858784342536342, + 0.15354143554990546, + 0.08548018074587274, + -0.9844379951367822 + ], + [ + 0.9198212766572431, + 0.3518663275462989, + 0.17354799494007517, + 0.36359197148808053, + -0.9306947806899908, + -0.04010116539230645, + 0.14740996329302325, + 0.09998656277465992, + -0.9840086330853296 + ], + [ + 0.9269669664158747, + 0.34529301723157374, + 0.1466457480626929, + 0.35652513985515505, + -0.9324829561771248, + -0.05801173235159065, + 0.11671361456579452, + 0.10605785539169904, + -0.9874865383815117 + ], + [ + 0.9277286266250897, + 0.35207443575454833, + 0.12394832402433666, + 0.36317638973995525, + -0.9281018470292642, + -0.0820357938726808, + 0.08615396262376802, + 0.12112205921707782, + -0.9888917744097367 + ], + [ + 0.9265630377777303, + 0.356610135968814, + 0.1196250306098543, + 0.36724422187421807, + -0.9264368625563497, + -0.08274310362046859, + 0.08131800860882374, + 0.12059830272873433, + -0.9893651655758071 + ], + [ + 0.9224351056315252, + 0.369224096338288, + 0.11307980625085717, + 0.3792642477212823, + -0.9213282507709133, + -0.0855154064003594, + 0.0726092714394419, + 0.12176954058623804, + -0.9898990214594869 + ], + [ + 0.8911930863375647, + 0.40513037332741586, + 0.20406926145726856, + 0.42790707912345016, + -0.9001180227521831, + -0.08175008717266291, + 0.15056697679160513, + 0.16017779410482982, + -0.9755371134793116 + ], + [ + 0.8567786182397825, + 0.42595390027827246, + 0.29067795610409913, + 0.4711764809647698, + -0.8756984512683778, + -0.10556962741158361, + 0.20957844143132903, + 0.22741041595294653, + -0.9509791688587731 + ], + [ + 0.8614530069005797, + 0.4264461863948899, + 0.2757578049869206, + 0.46562280807995876, + -0.8800102154497799, + -0.093687893026612, + 0.2027168406859273, + 0.20910684066593038, + -0.9566505170066181 + ], + [ + 0.892924779687472, + 0.36945919623059803, + 0.2572649220953382, + 0.38880829676704126, + -0.9209245163275981, + -0.026947051636351055, + 0.2269657379103558, + 0.12408842632340969, + -0.9659651216619509 + ], + [ + 0.9170040266380972, + 0.34428613856358825, + 0.20142162228144586, + 0.35103707644960347, + -0.9363586167745876, + 0.002347711587055226, + 0.18941115618471635, + 0.06855359644070051, + -0.979501821503061 + ], + [ + 0.9172073263275545, + 0.365609905060938, + 0.1583038781975698, + 0.36083744924936884, + -0.9307631982515403, + 0.058959341921136124, + 0.1688995433690343, + 0.003044027249576496, + -0.9856285700748715 + ], + [ + 0.9276618711358069, + 0.3480910140430389, + 0.13518912228172322, + 0.33167490196960125, + -0.9343958103913641, + 0.12998549506203233, + 0.17156693225755723, + -0.0757437486896121, + -0.9822564188083354 + ], + [ + 0.9253219295214361, + 0.36173586902175614, + 0.11369471320075153, + 0.3431399269311489, + -0.9264290446664581, + 0.1548683820025228, + 0.16135153328187507, + -0.10428991447627345, + -0.981371130839969 + ], + [ + 0.9249956447362624, + 0.36509465712392414, + 0.10530407664715875, + 0.34565969236183874, + -0.9235888686267273, + 0.16584022077023747, + 0.15780505155179725, + -0.11700210719626551, + -0.9805141878710213 + ], + [ + 0.923216865231857, + 0.37425890246769933, + 0.08718310429857717, + 0.35548662622144267, + -0.9179376073337652, + 0.17612440949527378, + 0.14594477835523884, + -0.1316085976144252, + -0.9804995148926923 + ], + [ + 0.9111900892455647, + 0.40568120846238714, + 0.07180096351134366, + 0.3908338948256734, + -0.9063043019014718, + 0.1608147350533538, + 0.13031303816600454, + -0.11847054256389278, + -0.9843694644941818 + ], + [ + 0.9038688451873765, + 0.42228757527769756, + 0.06851506743572214, + 0.40885683778806403, + -0.8998164559294568, + 0.1522052293204696, + 0.12592536239210625, + -0.10956071104476733, + -0.9859712235667843 + ], + [ + 0.9061400117043085, + 0.41383040675659244, + 0.08749099172022921, + 0.3998487829356834, + -0.9055282909516604, + 0.1419135831096445, + 0.1379537240286347, + -0.09361040930280401, + -0.9860050006449221 + ], + [ + 0.9152633926694512, + 0.39185671920688087, + 0.09349456482398145, + 0.3776437071598537, + -0.9153696881938352, + 0.13958353906705315, + 0.14027883832484714, + -0.09244806946789433, + -0.9857865904798517 + ], + [ + 0.9235286300743375, + 0.37517471722447676, + 0.07961658739579167, + 0.3606890905097864, + -0.920177648501642, + 0.15223821854321679, + 0.13037733476429447, + -0.11187951891889357, + -0.9851318306837094 + ], + [ + 0.9260842220956861, + 0.37253659449489457, + 0.059870688551027444, + 0.3566370101632041, + -0.9160476643009358, + 0.18348493047291492, + 0.12319925554676969, + -0.14857039574203967, + -0.9811976258337436 + ], + [ + 0.9289972625469155, + 0.36076229253527053, + 0.08255092043722972, + 0.33942619957436343, + -0.9194625579342985, + 0.19844006550951787, + 0.14749217342910892, + -0.15633033244259809, + -0.9766303732403293 + ], + [ + 0.935117135144307, + 0.3322655791356514, + 0.12310779212200207, + 0.3042535845689451, + -0.9310000157835574, + 0.2016648875931648, + 0.18161965707613176, + -0.15112430490383133, + -0.9716870610597232 + ], + [ + 0.9411792070407998, + 0.31492373373553084, + 0.12249384541324396, + 0.2922540230445505, + -0.940613102492522, + 0.1727268868290856, + 0.1696151120871209, + -0.12676763526020696, + -0.9773232220725181 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005864.json b/json/chunk-0005/episode_0005864.json new file mode 100644 index 0000000000000000000000000000000000000000..7e4472807bffc33ecfd03539902af0ecc7d1a53b --- /dev/null +++ b/json/chunk-0005/episode_0005864.json @@ -0,0 +1,2182 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 35, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut banana in pot cardboard fence." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005864.mp4", + "start": 0, + "end": 35, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.28904199600219727, + 0.059764761477708817, + 0.10494663566350937, + 0.1482304036617279, + -0.17644552886486053, + 0.25443705916404724, + 0.0, + 0.9858682155609131 + ], + [ + 0.28148552775382996, + 0.059406232088804245, + 0.09407874196767807, + 0.1441178023815155, + -0.1373356133699417, + 0.2504418194293976, + 0.0, + 0.9858682155609131 + ], + [ + 0.2515716850757599, + 0.07032991945743561, + 0.09725281596183777, + 0.10313942283391953, + -0.1629323661327362, + 0.18131624162197113, + 0.0, + 0.9858682155609131 + ], + [ + 0.23246733844280243, + 0.08740855008363724, + 0.09859471768140793, + 0.07382962852716446, + -0.16873177886009216, + 0.16115820407867432, + 0.0, + 0.9858682155609131 + ], + [ + 0.21460099518299103, + 0.10381893068552017, + 0.10103753209114075, + 0.06428852677345276, + -0.18100625276565552, + 0.1465824544429779, + 0.0, + 0.9858682155609131 + ], + [ + 0.20155808329582214, + 0.1222909465432167, + 0.09597179293632507, + 0.10349926352500916, + -0.16547006368637085, + 0.16355204582214355, + 0.0, + 0.9858682155609131 + ], + [ + 0.19567538797855377, + 0.136577770113945, + 0.08973660320043564, + 0.11890923231840134, + -0.14643487334251404, + 0.17820294201374054, + 0.0, + 0.9858682155609131 + ], + [ + 0.18729501962661743, + 0.15321072936058044, + 0.08195038139820099, + 0.12426584959030151, + -0.12803983688354492, + 0.18404684960842133, + 0.0, + 0.9858682155609131 + ], + [ + 0.18341654539108276, + 0.1701829731464386, + 0.06674855947494507, + 0.10846853256225586, + -0.06296533346176147, + 0.18052835762500763, + 0.0, + 0.9858682155609131 + ], + [ + 0.1801372915506363, + 0.18236100673675537, + 0.055315662175416946, + 0.08270194381475449, + -0.08130326122045517, + 0.17626646161079407, + 0.0, + 0.9858682155609131 + ], + [ + 0.17918629944324493, + 0.18451742827892303, + 0.04102416709065437, + 0.03870810940861702, + -0.055318232625722885, + 0.17329254746437073, + 0.0, + 0.9858682155609131 + ], + [ + 0.17852193117141724, + 0.17928743362426758, + 0.030597183853387833, + -0.02602974884212017, + -0.016777701675891876, + 0.14907783269882202, + 0.0, + 0.9858682155609131 + ], + [ + 0.18111729621887207, + 0.18047665059566498, + 0.030340230092406273, + -0.016052396968007088, + -0.032433561980724335, + 0.14538873732089996, + 0.0, + 0.9858682155609131 + ], + [ + 0.18350714445114136, + 0.18232902884483337, + 0.02739475667476654, + -0.006983934435993433, + -0.04471777379512787, + 0.1469947248697281, + 0.0, + 0.9858682155609131 + ], + [ + 0.18532557785511017, + 0.18010586500167847, + 0.018067030236124992, + -0.011323652230203152, + -0.04418287053704262, + 0.14200933277606964, + 0.0, + 0.9851709604263306 + ], + [ + 0.18618087470531464, + 0.1803223192691803, + 0.0160419549793005, + -0.002131942193955183, + -0.06071006879210472, + 0.1378958374261856, + 0.0, + 0.9851709604263306 + ], + [ + 0.18471944332122803, + 0.17758293449878693, + 0.016599491238594055, + -0.016887560486793518, + -0.046768806874752045, + 0.14145299792289734, + 0.0, + 0.9851709604263306 + ], + [ + 0.18876829743385315, + 0.18179066479206085, + 0.01354861631989479, + 0.014415020123124123, + -0.06801120936870575, + 0.15081191062927246, + 0.0, + 0.9851709604263306 + ], + [ + 0.1896744966506958, + 0.18247497081756592, + 0.00867168977856636, + 0.036395296454429626, + -0.0626356303691864, + 0.15124891698360443, + 0.0, + 0.9851709604263306 + ], + [ + 0.18875810503959656, + 0.18264877796173096, + 0.004641860257834196, + 0.0436522513628006, + -0.06497130542993546, + 0.15436607599258423, + 0.0, + 0.9351479411125183 + ], + [ + 0.18747222423553467, + 0.182007297873497, + 0.0030019055120646954, + 0.046121153980493546, + -0.06322173029184341, + 0.1507371962070465, + 0.0, + 0.6621366739273071 + ], + [ + 0.18661350011825562, + 0.1831529438495636, + 0.00229255435988307, + 0.059902455657720566, + -0.06712234765291214, + 0.1773499846458435, + 0.0, + 0.40239205956459045 + ], + [ + 0.18487834930419922, + 0.1826779991388321, + 0.010119173675775528, + 0.08312617987394333, + -0.07063308358192444, + 0.2445298135280609, + 0.0, + 0.38577979803085327 + ], + [ + 0.18562723696231842, + 0.17506276071071625, + 0.0397028811275959, + 0.058890171349048615, + -0.09475357085466385, + 0.3212665021419525, + 0.0, + 0.4094836115837097 + ], + [ + 0.19532138109207153, + 0.1575952023267746, + 0.06633017957210541, + 0.017493417486548424, + -0.08638939261436462, + 0.36333397030830383, + 0.0, + 0.4094836115837097 + ], + [ + 0.21039670705795288, + 0.138571634888649, + 0.08358490467071533, + -0.004080179147422314, + -0.07724908739328384, + 0.4133208394050598, + 0.0, + 0.4094836115837097 + ], + [ + 0.23210325837135315, + 0.11637910455465317, + 0.0844806581735611, + 0.005604146979749203, + -0.1180121973156929, + 0.43672534823417664, + 0.0, + 0.41037410497665405 + ], + [ + 0.25439006090164185, + 0.09649397432804108, + 0.07097118347883224, + 0.024276815354824066, + -0.15972180664539337, + 0.425967276096344, + 0.0, + 0.4094836115837097 + ], + [ + 0.2648372948169708, + 0.07571210712194443, + 0.05957605317234993, + 0.02574887126684189, + -0.19473937153816223, + 0.39864063262939453, + 0.0, + 0.4094836115837097 + ], + [ + 0.2738291323184967, + 0.05965211242437363, + 0.056471824645996094, + 0.023616068065166473, + -0.1275661587715149, + 0.40758994221687317, + 0.0, + 0.4094836115837097 + ], + [ + 0.2810722589492798, + 0.0493088997900486, + 0.055298998951911926, + 0.03020583838224411, + -0.07942154258489609, + 0.415823757648468, + 0.0, + 0.3831871449947357 + ], + [ + 0.28973156213760376, + 0.0476066954433918, + 0.05002938583493233, + 0.04731900990009308, + -0.050059638917446136, + 0.43485355377197266, + 0.0, + 0.44022873044013977 + ], + [ + 0.2918723523616791, + 0.051092926412820816, + 0.0433192178606987, + 0.06884434819221497, + -0.048485469073057175, + 0.4360905885696411, + 0.0, + 0.7349185347557068 + ], + [ + 0.2875251770019531, + 0.051659684628248215, + 0.04251330718398094, + 0.06636357307434082, + -0.03408638760447502, + 0.419096440076828, + 0.0, + 0.9709111452102661 + ], + [ + 0.28118783235549927, + 0.05168385058641434, + 0.06993263214826584, + 0.022460823878645897, + -0.049384985119104385, + 0.4268169403076172, + 0.0, + 0.9865638017654419 + ] + ], + "left_gripper_pos": [ + [ + 0.9858682155609131 + ], + [ + 0.9858682155609131 + ], + [ + 0.9858682155609131 + ], + [ + 0.9858682155609131 + ], + [ + 0.9858682155609131 + ], + [ + 0.9858682155609131 + ], + [ + 0.9858682155609131 + ], + [ + 0.9858682155609131 + ], + [ + 0.9858682155609131 + ], + [ + 0.9858682155609131 + ], + [ + 0.9858682155609131 + ], + [ + 0.9858682155609131 + ], + [ + 0.9858682155609131 + ], + [ + 0.9858682155609131 + ], + [ + 0.9851709604263306 + ], + [ + 0.9851709604263306 + ], + [ + 0.9851709604263306 + ], + [ + 0.9851709604263306 + ], + [ + 0.9851709604263306 + ], + [ + 0.9351479411125183 + ], + [ + 0.6621366739273071 + ], + [ + 0.40239205956459045 + ], + [ + 0.38577979803085327 + ], + [ + 0.4094836115837097 + ], + [ + 0.4094836115837097 + ], + [ + 0.4094836115837097 + ], + [ + 0.41037410497665405 + ], + [ + 0.4094836115837097 + ], + [ + 0.4094836115837097 + ], + [ + 0.4094836115837097 + ], + [ + 0.3831871449947357 + ], + [ + 0.44022873044013977 + ], + [ + 0.7349185347557068 + ], + [ + 0.9709111452102661 + ], + [ + 0.9865638017654419 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.28904199600219727, + 0.059764761477708817, + 0.10494663566350937 + ], + [ + 0.28148552775382996, + 0.059406232088804245, + 0.09407874196767807 + ], + [ + 0.2515716850757599, + 0.07032991945743561, + 0.09725281596183777 + ], + [ + 0.23246733844280243, + 0.08740855008363724, + 0.09859471768140793 + ], + [ + 0.21460099518299103, + 0.10381893068552017, + 0.10103753209114075 + ], + [ + 0.20155808329582214, + 0.1222909465432167, + 0.09597179293632507 + ], + [ + 0.19567538797855377, + 0.136577770113945, + 0.08973660320043564 + ], + [ + 0.18729501962661743, + 0.15321072936058044, + 0.08195038139820099 + ], + [ + 0.18341654539108276, + 0.1701829731464386, + 0.06674855947494507 + ], + [ + 0.1801372915506363, + 0.18236100673675537, + 0.055315662175416946 + ], + [ + 0.17918629944324493, + 0.18451742827892303, + 0.04102416709065437 + ], + [ + 0.17852193117141724, + 0.17928743362426758, + 0.030597183853387833 + ], + [ + 0.18111729621887207, + 0.18047665059566498, + 0.030340230092406273 + ], + [ + 0.18350714445114136, + 0.18232902884483337, + 0.02739475667476654 + ], + [ + 0.18532557785511017, + 0.18010586500167847, + 0.018067030236124992 + ], + [ + 0.18618087470531464, + 0.1803223192691803, + 0.0160419549793005 + ], + [ + 0.18471944332122803, + 0.17758293449878693, + 0.016599491238594055 + ], + [ + 0.18876829743385315, + 0.18179066479206085, + 0.01354861631989479 + ], + [ + 0.1896744966506958, + 0.18247497081756592, + 0.00867168977856636 + ], + [ + 0.18875810503959656, + 0.18264877796173096, + 0.004641860257834196 + ], + [ + 0.18747222423553467, + 0.182007297873497, + 0.0030019055120646954 + ], + [ + 0.18661350011825562, + 0.1831529438495636, + 0.00229255435988307 + ], + [ + 0.18487834930419922, + 0.1826779991388321, + 0.010119173675775528 + ], + [ + 0.18562723696231842, + 0.17506276071071625, + 0.0397028811275959 + ], + [ + 0.19532138109207153, + 0.1575952023267746, + 0.06633017957210541 + ], + [ + 0.21039670705795288, + 0.138571634888649, + 0.08358490467071533 + ], + [ + 0.23210325837135315, + 0.11637910455465317, + 0.0844806581735611 + ], + [ + 0.25439006090164185, + 0.09649397432804108, + 0.07097118347883224 + ], + [ + 0.2648372948169708, + 0.07571210712194443, + 0.05957605317234993 + ], + [ + 0.2738291323184967, + 0.05965211242437363, + 0.056471824645996094 + ], + [ + 0.2810722589492798, + 0.0493088997900486, + 0.055298998951911926 + ], + [ + 0.28973156213760376, + 0.0476066954433918, + 0.05002938583493233 + ], + [ + 0.2918723523616791, + 0.051092926412820816, + 0.0433192178606987 + ], + [ + 0.2875251770019531, + 0.051659684628248215, + 0.04251330718398094 + ], + [ + 0.28118783235549927, + 0.05168385058641434, + 0.06993263214826584 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.952778836215304, + 0.2740297721043081, + 0.13084407996035322, + 0.24779268517785122, + -0.9506671008267115, + 0.1866302456143836, + 0.175531405829728, + -0.14539514230604741, + -0.9736780670022526 + ], + [ + 0.9596810392069273, + 0.2643114627423759, + 0.09566479838319315, + 0.2454985019879218, + -0.9538865277357839, + 0.172716466284646, + 0.13690430419967703, + -0.14226715315614685, + -0.9803148823844545 + ], + [ + 0.9705801633012102, + 0.19579319775182105, + 0.14013982417682858, + 0.17793615251448017, + -0.975368580895593, + 0.13036432422277464, + 0.16221242934664343, + -0.10159308596471191, + -0.9815120848209801 + ], + [ + 0.9730246543421406, + 0.17225099173569808, + 0.15346862183660323, + 0.1581827216280518, + -0.9823655730224059, + 0.0996800256756718, + 0.16793227391034796, + -0.0727150382412661, + -0.983113052803629 + ], + [ + 0.9731142573248994, + 0.15719756141112626, + 0.16833766327653574, + 0.14367195171909877, + -0.9855431786826777, + 0.08979428289856835, + 0.18001947805788707, + -0.06319469628408993, + -0.9816309988388341 + ], + [ + 0.9731784651713259, + 0.17874302311411375, + 0.14482612545673554, + 0.16059986555276703, + -0.9786044280997608, + 0.12861203865880402, + 0.16471599227523673, + -0.10190341010765021, + -0.9810628608286099 + ], + [ + 0.9736308751692746, + 0.19304487452414776, + 0.12155901997412216, + 0.17536413293921488, + -0.9741459864532858, + 0.14243250315652203, + 0.14591209612499695, + -0.11735959056213234, + -0.9823117563724354 + ], + [ + 0.9750634762270933, + 0.19715780270883324, + 0.10188237413292665, + 0.18151146471572652, + -0.9726338502348348, + 0.14504130981934985, + 0.1276902717699685, + -0.12293166479140291, + -0.9841661446559345 + ], + [ + 0.9817995061178985, + 0.18519533739813138, + 0.04210008067263678, + 0.17919356360839006, + -0.976744457581446, + 0.1177282096409029, + 0.06292373596645469, + -0.1080414345976524, + -0.9921530385288878 + ], + [ + 0.9812531417178285, + 0.18136070347619224, + 0.06519637339232809, + 0.17477586720394214, + -0.9799639136168101, + 0.09552028188785389, + 0.08121371874259406, + -0.08233482400203304, + -0.9932901432333621 + ], + [ + 0.9835156321242035, + 0.17440494327537165, + 0.047748477760482896, + 0.17216275628367061, + -0.983915608295035, + 0.04764515822432533, + 0.05529002365832704, + -0.03863924836906073, + -0.9977224171929465 + ], + [ + 0.9887692831674626, + 0.14804413627996826, + 0.02045087718460142, + 0.14850535277366483, + -0.988638320904583, + -0.023247164053608275, + 0.01677691455753504, + 0.02602314646779279, + -0.999520550557038 + ], + [ + 0.9889292882961203, + 0.14434338004575015, + 0.03440714151302693, + 0.14480088263560353, + -0.9893975956432558, + -0.01118490604765444, + 0.0324278759415335, + 0.01604326563742029, + -0.9993453089346084 + ], + [ + 0.98822682254982, + 0.14615352848987354, + 0.04524260495424621, + 0.14631951493330883, + -0.9892373168412203, + -0.00036127339245684877, + 0.04470287175078875, + 0.006976896067924047, + -0.9989759637641387 + ], + [ + 0.9889675284722848, + 0.14102832772773055, + 0.045323706884365884, + 0.14139438289166334, + -0.9899409281856075, + -0.00495854713631266, + 0.04416849685132828, + 0.011312359671490007, + -0.9989600464505858 + ], + [ + 0.9886826231073104, + 0.1373307965459414, + 0.06038975977519306, + 0.1372059920228992, + -0.9905229547471608, + 0.00622831212819146, + 0.060672782354696746, + 0.0021280129255485296, + -0.9981554413228074 + ], + [ + 0.9889296551193242, + 0.14018004542545873, + 0.048658936384705004, + 0.14082759053372465, + -0.9899823309347027, + -0.010127891269084963, + 0.04675175900476923, + 0.016868292788814, + -0.9987641031436556 + ], + [ + 0.9863637917562059, + 0.15119374211337966, + 0.06501478799529356, + 0.1498935393586463, + -0.9883995313313616, + 0.02446003521017213, + 0.06795879023980694, + -0.014381196393129108, + -0.9975844746283116 + ], + [ + 0.986645088240584, + 0.1528247743524335, + 0.056356527526615845, + 0.15037744356590424, + -0.987585815609442, + 0.045396930222389865, + 0.06259468281981878, + -0.03631590768741747, + -0.997378093067782 + ], + [ + 0.9860243929121961, + 0.15640683621891383, + 0.05738290831009873, + 0.15342934015071846, + -0.9867322939179819, + 0.05309253921477791, + 0.06492560483392096, + -0.04354631698947073, + -0.9969395087534662 + ], + [ + 0.9866854701102474, + 0.1528871776285393, + 0.05547336288796347, + 0.1498670022292735, + -0.9871718912174028, + 0.0550594118481797, + 0.06317962263365573, + -0.0460126950638192, + -0.9969409045559486 + ], + [ + 0.9820981308238577, + 0.18005770421602846, + 0.055339719774662566, + 0.17602447004024396, + -0.9818407875504916, + 0.07073933735398999, + 0.06707195672810079, + -0.05973182614556127, + -0.9959585641812516 + ], + [ + 0.9678319629725002, + 0.24694968385873625, + 0.048136733279976196, + 0.2414964808242104, + -0.9654823305446681, + 0.0975874948728487, + 0.07057436643937452, + -0.08282344503887004, + -0.9940621387788464 + ], + [ + 0.944580004131618, + 0.3205047073679021, + 0.07103061558038344, + 0.31435205431658003, + -0.9454330730450894, + 0.0856684909372445, + 0.09461184778693764, + -0.05859212359638707, + -0.9937884892223331 + ], + [ + 0.9312313648433905, + 0.35674890366413153, + 0.07442019125449881, + 0.35406717667648185, + -0.9340377450880128, + 0.04700984100425326, + 0.08628197686806321, + -0.017427291394257357, + -0.9961183212763424 + ], + [ + 0.9130609506510896, + 0.40136103129801914, + 0.07231198345723083, + 0.4004549156801368, + -0.9159108984681337, + 0.027259614357330982, + 0.07717228066956977, + 0.004067999838542103, + -0.9970094736127488 + ], + [ + 0.8998390706567577, + 0.42356568848133236, + 0.10431564820733971, + 0.4200324998369679, + -0.9058482967746065, + 0.05487770322500681, + 0.11773846440433197, + -0.005565138981124866, + -0.9930290445036493 + ], + [ + 0.8990484646826922, + 0.41659575605579663, + 0.13475842900536225, + 0.40794240286142475, + -0.9087758981116141, + 0.08780297807635075, + 0.15904356038312614, + -0.023965455299833016, + -0.986980649685155 + ], + [ + 0.9041697471286522, + 0.39262873533356696, + 0.16828471281632632, + 0.3808288636603642, + -0.9193501182907384, + 0.09881668179999452, + 0.19351083943920386, + -0.025259378241941244, + -0.9807729190951214 + ], + [ + 0.9106189487265451, + 0.3990453869743582, + 0.10740535067977942, + 0.3931769138475666, + -0.9166319813114071, + 0.07209525126128066, + 0.12722045683562405, + -0.02342199760073222, + -0.9915978849266099 + ], + [ + 0.9119002671179717, + 0.405951285513006, + 0.060344482933486175, + 0.4026703030475139, + -0.9133986971238254, + 0.05966110237099046, + 0.07933807329268382, + -0.030106043958586452, + -0.9963930430524736 + ], + [ + 0.9057956131099963, + 0.42295265478702904, + 0.02540391858139617, + 0.4207498454114843, + -0.9049194638194636, + 0.06395570019088644, + 0.05003873356608905, + -0.04724209785031472, + -0.9976293446635396 + ], + [ + 0.905344713749321, + 0.42442055586923105, + 0.01476959856641722, + 0.4219027733356256, + -0.9028544988619233, + 0.0827756228396583, + 0.04846647437010399, + -0.0687091379689669, + -0.996458757411311 + ], + [ + 0.9129263903695164, + 0.40810389817343945, + 0.004076035148081877, + 0.40669887369778296, + -0.9105265804410984, + 0.0744135232548139, + 0.03407978726225016, + -0.06627635027581785, + -0.9972191401564036 + ], + [ + 0.9091782527072172, + 0.41488020596289515, + 0.03562751050013384, + 0.41347068833354444, + -0.9095994943382036, + 0.04087480628295531, + 0.04936491358481672, + -0.022431553665982373, + -0.9985288832612172 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.00755646824836731, + -0.00035852938890457153, + -0.010867893695831299, + -0.004112601280212402, + 0.03910991549491882, + -0.003995239734649658, + 1.0 + ], + [ + -0.02991384267807007, + 0.010923687368631363, + 0.0031740739941596985, + -0.04097837954759598, + -0.025596752762794495, + -0.06912557780742645, + 1.0 + ], + [ + -0.01910434663295746, + 0.01707863062620163, + 0.00134190171957016, + -0.029309794306755066, + -0.005799412727355957, + -0.020158037543296814, + 1.0 + ], + [ + -0.0178663432598114, + 0.016410380601882935, + 0.0024428144097328186, + -0.0095411017537117, + -0.012274473905563354, + -0.014575749635696411, + 1.0 + ], + [ + -0.013042911887168884, + 0.018472015857696533, + -0.005065739154815674, + 0.039210736751556396, + 0.015536189079284668, + 0.01696959137916565, + 1.0 + ], + [ + -0.005882695317268372, + 0.014286823570728302, + -0.006235189735889435, + 0.015409968793392181, + 0.01903519034385681, + 0.014650896191596985, + 1.0 + ], + [ + -0.00838036835193634, + 0.016632959246635437, + -0.00778622180223465, + 0.005356617271900177, + 0.018395036458969116, + 0.005843907594680786, + 1.0 + ], + [ + -0.003878474235534668, + 0.016972243785858154, + -0.01520182192325592, + -0.015797317028045654, + 0.06507450342178345, + -0.0035184919834136963, + 1.0 + ], + [ + -0.003279253840446472, + 0.012178033590316772, + -0.011432897299528122, + -0.025766588747501373, + -0.018337927758693695, + -0.004261896014213562, + 1.0 + ], + [ + -0.0009509921073913574, + 0.0021564215421676636, + -0.014291495084762573, + -0.043993834406137466, + 0.025985028594732285, + -0.00297391414642334, + 1.0 + ], + [ + -0.0006643682718276978, + -0.0052299946546554565, + -0.01042698323726654, + -0.06473785638809204, + 0.03854053094983101, + -0.024214714765548706, + 1.0 + ], + [ + 0.002595365047454834, + 0.0011892169713974, + -0.00025695376098155975, + 0.009977351874113083, + -0.01565586030483246, + -0.003689095377922058, + 1.0 + ], + [ + 0.002389848232269287, + 0.001852378249168396, + -0.0029454734176397324, + 0.009068462997674942, + -0.012284211814403534, + 0.001605987548828125, + 1.0 + ], + [ + 0.001818433403968811, + -0.0022231638431549072, + -0.009327726438641548, + -0.004339717794209719, + 0.0005349032580852509, + -0.004985392093658447, + 1.0 + ], + [ + 0.0008552968502044678, + 0.00021645426750183105, + -0.0020250752568244934, + 0.009191710501909256, + -0.016527198255062103, + -0.004113495349884033, + 1.0 + ], + [ + -0.0014614313840866089, + -0.0027393847703933716, + 0.0005575362592935562, + -0.014755617827177048, + 0.013941261917352676, + 0.003557160496711731, + 1.0 + ], + [ + 0.004048854112625122, + 0.004207730293273926, + -0.0030508749186992645, + 0.03130257874727249, + -0.021242402493953705, + 0.009358912706375122, + 1.0 + ], + [ + 0.0009061992168426514, + 0.0006843060255050659, + -0.00487692654132843, + 0.021980276331305504, + 0.005375578999519348, + 0.0004370063543319702, + 1.0 + ], + [ + -0.0009163916110992432, + 0.00017380714416503906, + -0.004029829520732164, + 0.007256954908370972, + -0.002335675060749054, + 0.0031171590089797974, + 0.0 + ], + [ + -0.0012858808040618896, + -0.0006414800882339478, + -0.0016399547457695007, + 0.0024689026176929474, + 0.001749575138092041, + -0.0036288797855377197, + 0.0 + ], + [ + -0.0008587241172790527, + 0.0011456459760665894, + -0.0007093511521816254, + 0.01378130167722702, + -0.0039006173610687256, + 0.026612788438796997, + 0.0 + ], + [ + -0.0017351508140563965, + -0.00047494471073150635, + 0.00782661885023117, + 0.023223724216222763, + -0.0035107359290122986, + 0.06717982888221741, + 0.0 + ], + [ + 0.0007488876581192017, + -0.007615238428115845, + 0.029583707451820374, + -0.024236008524894714, + -0.02412048727273941, + 0.0767366886138916, + 0.0 + ], + [ + 0.009694144129753113, + -0.01746755838394165, + 0.026627298444509506, + -0.04139675199985504, + 0.008364178240299225, + 0.04206746816635132, + 0.0 + ], + [ + 0.015075325965881348, + -0.01902356743812561, + 0.017254725098609924, + -0.021573595702648163, + 0.00914030522108078, + 0.04998686909675598, + 0.0 + ], + [ + 0.02170655131340027, + -0.02219253033399582, + 0.0008957535028457642, + 0.009684326127171516, + -0.04076310992240906, + 0.02340450882911682, + 0.0 + ], + [ + 0.022286802530288696, + -0.01988513022661209, + -0.013509474694728851, + 0.01867266744375229, + -0.04170960932970047, + -0.010758072137832642, + 0.0 + ], + [ + 0.01044723391532898, + -0.02078186720609665, + -0.011395130306482315, + 0.0014720559120178223, + -0.03501756489276886, + -0.027326643466949463, + 0.0 + ], + [ + 0.008991837501525879, + -0.0160599946975708, + -0.003104228526353836, + -0.002132803201675415, + 0.06717321276664734, + 0.008949309587478638, + 0.0 + ], + [ + 0.007243126630783081, + -0.010343212634325027, + -0.0011728256940841675, + 0.006589770317077637, + 0.048144616186618805, + 0.008233815431594849, + 1.0 + ], + [ + 0.008659303188323975, + -0.0017022043466567993, + -0.005269613116979599, + 0.01711317151784897, + 0.02936190366744995, + 0.01902979612350464, + 1.0 + ], + [ + 0.0021407902240753174, + 0.003486230969429016, + -0.006710167974233627, + 0.021525338292121887, + 0.0015741698443889618, + 0.001237034797668457, + 1.0 + ], + [ + -0.004347175359725952, + 0.0005667582154273987, + -0.0008059106767177582, + -0.0024807751178741455, + 0.014399081468582153, + -0.01699414849281311, + 1.0 + ], + [ + -0.006337344646453857, + 2.4165958166122437e-05, + 0.027419324964284897, + -0.043902747333049774, + -0.015298597514629364, + 0.007720500230789185, + 1.0 + ], + [ + -0.00527527928352356, + -0.0027222447097301483, + 0.018152408301830292, + -0.02569844014942646, + 0.02013522759079933, + -0.005538642406463623, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9858682155609131 + ], + [ + 0.9858682155609131 + ], + [ + 0.9858682155609131 + ], + [ + 0.9858682155609131 + ], + [ + 0.9858682155609131 + ], + [ + 0.9858682155609131 + ], + [ + 0.9858682155609131 + ], + [ + 0.9858682155609131 + ], + [ + 0.9858682155609131 + ], + [ + 0.9858682155609131 + ], + [ + 0.9858682155609131 + ], + [ + 0.9858682155609131 + ], + [ + 0.9858682155609131 + ], + [ + 0.9851709604263306 + ], + [ + 0.9851709604263306 + ], + [ + 0.9851709604263306 + ], + [ + 0.9851709604263306 + ], + [ + 0.9851709604263306 + ], + [ + 0.9351479411125183 + ], + [ + 0.6621366739273071 + ], + [ + 0.40239205956459045 + ], + [ + 0.38577979803085327 + ], + [ + 0.4094836115837097 + ], + [ + 0.4094836115837097 + ], + [ + 0.4094836115837097 + ], + [ + 0.41037410497665405 + ], + [ + 0.4094836115837097 + ], + [ + 0.4094836115837097 + ], + [ + 0.4094836115837097 + ], + [ + 0.3831871449947357 + ], + [ + 0.44022873044013977 + ], + [ + 0.7349185347557068 + ], + [ + 0.9709111452102661 + ], + [ + 0.9865638017654419 + ], + [ + 0.9858682155609131 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.28148552775382996, + 0.059406232088804245, + 0.09407874196767807 + ], + [ + 0.2515716850757599, + 0.07032991945743561, + 0.09725281596183777 + ], + [ + 0.23246733844280243, + 0.08740855008363724, + 0.09859471768140793 + ], + [ + 0.21460099518299103, + 0.10381893068552017, + 0.10103753209114075 + ], + [ + 0.20155808329582214, + 0.1222909465432167, + 0.09597179293632507 + ], + [ + 0.19567538797855377, + 0.136577770113945, + 0.08973660320043564 + ], + [ + 0.18729501962661743, + 0.15321072936058044, + 0.08195038139820099 + ], + [ + 0.18341654539108276, + 0.1701829731464386, + 0.06674855947494507 + ], + [ + 0.1801372915506363, + 0.18236100673675537, + 0.055315662175416946 + ], + [ + 0.17918629944324493, + 0.18451742827892303, + 0.04102416709065437 + ], + [ + 0.17852193117141724, + 0.17928743362426758, + 0.030597183853387833 + ], + [ + 0.18111729621887207, + 0.18047665059566498, + 0.030340230092406273 + ], + [ + 0.18350714445114136, + 0.18232902884483337, + 0.02739475667476654 + ], + [ + 0.18532557785511017, + 0.18010586500167847, + 0.018067030236124992 + ], + [ + 0.18618087470531464, + 0.1803223192691803, + 0.0160419549793005 + ], + [ + 0.18471944332122803, + 0.17758293449878693, + 0.016599491238594055 + ], + [ + 0.18876829743385315, + 0.18179066479206085, + 0.01354861631989479 + ], + [ + 0.1896744966506958, + 0.18247497081756592, + 0.00867168977856636 + ], + [ + 0.18875810503959656, + 0.18264877796173096, + 0.004641860257834196 + ], + [ + 0.18747222423553467, + 0.182007297873497, + 0.0030019055120646954 + ], + [ + 0.18661350011825562, + 0.1831529438495636, + 0.00229255435988307 + ], + [ + 0.18487834930419922, + 0.1826779991388321, + 0.010119173675775528 + ], + [ + 0.18562723696231842, + 0.17506276071071625, + 0.0397028811275959 + ], + [ + 0.19532138109207153, + 0.1575952023267746, + 0.06633017957210541 + ], + [ + 0.21039670705795288, + 0.138571634888649, + 0.08358490467071533 + ], + [ + 0.23210325837135315, + 0.11637910455465317, + 0.0844806581735611 + ], + [ + 0.25439006090164185, + 0.09649397432804108, + 0.07097118347883224 + ], + [ + 0.2648372948169708, + 0.07571210712194443, + 0.05957605317234993 + ], + [ + 0.2738291323184967, + 0.05965211242437363, + 0.056471824645996094 + ], + [ + 0.2810722589492798, + 0.0493088997900486, + 0.055298998951911926 + ], + [ + 0.28973156213760376, + 0.0476066954433918, + 0.05002938583493233 + ], + [ + 0.2918723523616791, + 0.051092926412820816, + 0.0433192178606987 + ], + [ + 0.2875251770019531, + 0.051659684628248215, + 0.04251330718398094 + ], + [ + 0.28118783235549927, + 0.05168385058641434, + 0.06993263214826584 + ], + [ + 0.2759125530719757, + 0.04896160587668419, + 0.08808504045009613 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9596810392069273, + 0.2643114627423759, + 0.09566479838319315, + 0.2454985019879218, + -0.9538865277357839, + 0.172716466284646, + 0.13690430419967703, + -0.14226715315614685, + -0.9803148823844545 + ], + [ + 0.9705801633012102, + 0.19579319775182105, + 0.14013982417682858, + 0.17793615251448017, + -0.975368580895593, + 0.13036432422277464, + 0.16221242934664343, + -0.10159308596471191, + -0.9815120848209801 + ], + [ + 0.9730246543421406, + 0.17225099173569808, + 0.15346862183660323, + 0.1581827216280518, + -0.9823655730224059, + 0.0996800256756718, + 0.16793227391034796, + -0.0727150382412661, + -0.983113052803629 + ], + [ + 0.9731142573248994, + 0.15719756141112626, + 0.16833766327653574, + 0.14367195171909877, + -0.9855431786826777, + 0.08979428289856835, + 0.18001947805788707, + -0.06319469628408993, + -0.9816309988388341 + ], + [ + 0.9731784651713259, + 0.17874302311411375, + 0.14482612545673554, + 0.16059986555276703, + -0.9786044280997608, + 0.12861203865880402, + 0.16471599227523673, + -0.10190341010765021, + -0.9810628608286099 + ], + [ + 0.9736308751692746, + 0.19304487452414776, + 0.12155901997412216, + 0.17536413293921488, + -0.9741459864532858, + 0.14243250315652203, + 0.14591209612499695, + -0.11735959056213234, + -0.9823117563724354 + ], + [ + 0.9750634762270933, + 0.19715780270883324, + 0.10188237413292665, + 0.18151146471572652, + -0.9726338502348348, + 0.14504130981934985, + 0.1276902717699685, + -0.12293166479140291, + -0.9841661446559345 + ], + [ + 0.9817995061178985, + 0.18519533739813138, + 0.04210008067263678, + 0.17919356360839006, + -0.976744457581446, + 0.1177282096409029, + 0.06292373596645469, + -0.1080414345976524, + -0.9921530385288878 + ], + [ + 0.9812531417178285, + 0.18136070347619224, + 0.06519637339232809, + 0.17477586720394214, + -0.9799639136168101, + 0.09552028188785389, + 0.08121371874259406, + -0.08233482400203304, + -0.9932901432333621 + ], + [ + 0.9835156321242035, + 0.17440494327537165, + 0.047748477760482896, + 0.17216275628367061, + -0.983915608295035, + 0.04764515822432533, + 0.05529002365832704, + -0.03863924836906073, + -0.9977224171929465 + ], + [ + 0.9887692831674626, + 0.14804413627996826, + 0.02045087718460142, + 0.14850535277366483, + -0.988638320904583, + -0.023247164053608275, + 0.01677691455753504, + 0.02602314646779279, + -0.999520550557038 + ], + [ + 0.9889292882961203, + 0.14434338004575015, + 0.03440714151302693, + 0.14480088263560353, + -0.9893975956432558, + -0.01118490604765444, + 0.0324278759415335, + 0.01604326563742029, + -0.9993453089346084 + ], + [ + 0.98822682254982, + 0.14615352848987354, + 0.04524260495424621, + 0.14631951493330883, + -0.9892373168412203, + -0.00036127339245684877, + 0.04470287175078875, + 0.006976896067924047, + -0.9989759637641387 + ], + [ + 0.9889675284722848, + 0.14102832772773055, + 0.045323706884365884, + 0.14139438289166334, + -0.9899409281856075, + -0.00495854713631266, + 0.04416849685132828, + 0.011312359671490007, + -0.9989600464505858 + ], + [ + 0.9886826231073104, + 0.1373307965459414, + 0.06038975977519306, + 0.1372059920228992, + -0.9905229547471608, + 0.00622831212819146, + 0.060672782354696746, + 0.0021280129255485296, + -0.9981554413228074 + ], + [ + 0.9889296551193242, + 0.14018004542545873, + 0.048658936384705004, + 0.14082759053372465, + -0.9899823309347027, + -0.010127891269084963, + 0.04675175900476923, + 0.016868292788814, + -0.9987641031436556 + ], + [ + 0.9863637917562059, + 0.15119374211337966, + 0.06501478799529356, + 0.1498935393586463, + -0.9883995313313616, + 0.02446003521017213, + 0.06795879023980694, + -0.014381196393129108, + -0.9975844746283116 + ], + [ + 0.986645088240584, + 0.1528247743524335, + 0.056356527526615845, + 0.15037744356590424, + -0.987585815609442, + 0.045396930222389865, + 0.06259468281981878, + -0.03631590768741747, + -0.997378093067782 + ], + [ + 0.9860243929121961, + 0.15640683621891383, + 0.05738290831009873, + 0.15342934015071846, + -0.9867322939179819, + 0.05309253921477791, + 0.06492560483392096, + -0.04354631698947073, + -0.9969395087534662 + ], + [ + 0.9866854701102474, + 0.1528871776285393, + 0.05547336288796347, + 0.1498670022292735, + -0.9871718912174028, + 0.0550594118481797, + 0.06317962263365573, + -0.0460126950638192, + -0.9969409045559486 + ], + [ + 0.9820981308238577, + 0.18005770421602846, + 0.055339719774662566, + 0.17602447004024396, + -0.9818407875504916, + 0.07073933735398999, + 0.06707195672810079, + -0.05973182614556127, + -0.9959585641812516 + ], + [ + 0.9678319629725002, + 0.24694968385873625, + 0.048136733279976196, + 0.2414964808242104, + -0.9654823305446681, + 0.0975874948728487, + 0.07057436643937452, + -0.08282344503887004, + -0.9940621387788464 + ], + [ + 0.944580004131618, + 0.3205047073679021, + 0.07103061558038344, + 0.31435205431658003, + -0.9454330730450894, + 0.0856684909372445, + 0.09461184778693764, + -0.05859212359638707, + -0.9937884892223331 + ], + [ + 0.9312313648433905, + 0.35674890366413153, + 0.07442019125449881, + 0.35406717667648185, + -0.9340377450880128, + 0.04700984100425326, + 0.08628197686806321, + -0.017427291394257357, + -0.9961183212763424 + ], + [ + 0.9130609506510896, + 0.40136103129801914, + 0.07231198345723083, + 0.4004549156801368, + -0.9159108984681337, + 0.027259614357330982, + 0.07717228066956977, + 0.004067999838542103, + -0.9970094736127488 + ], + [ + 0.8998390706567577, + 0.42356568848133236, + 0.10431564820733971, + 0.4200324998369679, + -0.9058482967746065, + 0.05487770322500681, + 0.11773846440433197, + -0.005565138981124866, + -0.9930290445036493 + ], + [ + 0.8990484646826922, + 0.41659575605579663, + 0.13475842900536225, + 0.40794240286142475, + -0.9087758981116141, + 0.08780297807635075, + 0.15904356038312614, + -0.023965455299833016, + -0.986980649685155 + ], + [ + 0.9041697471286522, + 0.39262873533356696, + 0.16828471281632632, + 0.3808288636603642, + -0.9193501182907384, + 0.09881668179999452, + 0.19351083943920386, + -0.025259378241941244, + -0.9807729190951214 + ], + [ + 0.9106189487265451, + 0.3990453869743582, + 0.10740535067977942, + 0.3931769138475666, + -0.9166319813114071, + 0.07209525126128066, + 0.12722045683562405, + -0.02342199760073222, + -0.9915978849266099 + ], + [ + 0.9119002671179717, + 0.405951285513006, + 0.060344482933486175, + 0.4026703030475139, + -0.9133986971238254, + 0.05966110237099046, + 0.07933807329268382, + -0.030106043958586452, + -0.9963930430524736 + ], + [ + 0.9057956131099963, + 0.42295265478702904, + 0.02540391858139617, + 0.4207498454114843, + -0.9049194638194636, + 0.06395570019088644, + 0.05003873356608905, + -0.04724209785031472, + -0.9976293446635396 + ], + [ + 0.905344713749321, + 0.42442055586923105, + 0.01476959856641722, + 0.4219027733356256, + -0.9028544988619233, + 0.0827756228396583, + 0.04846647437010399, + -0.0687091379689669, + -0.996458757411311 + ], + [ + 0.9129263903695164, + 0.40810389817343945, + 0.004076035148081877, + 0.40669887369778296, + -0.9105265804410984, + 0.0744135232548139, + 0.03407978726225016, + -0.06627635027581785, + -0.9972191401564036 + ], + [ + 0.9091782527072172, + 0.41488020596289515, + 0.03562751050013384, + 0.41347068833354444, + -0.9095994943382036, + 0.04087480628295531, + 0.04936491358481672, + -0.022431553665982373, + -0.9985288832612172 + ], + [ + 0.9121766103790896, + 0.40883876888994264, + 0.028012363875088563, + 0.4087524031998576, + -0.9126008918985138, + 0.009004720116579473, + 0.029245586943252383, + 0.003236225979897463, + -0.9995670175059557 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005865.json b/json/chunk-0005/episode_0005865.json new file mode 100644 index 0000000000000000000000000000000000000000..1b2ab2c8cec0be98c827df79190c1d19de5c9731 --- /dev/null +++ b/json/chunk-0005/episode_0005865.json @@ -0,0 +1,1942 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 31, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the red figure from edge of the cloth to the left side of the table." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005865.mp4", + "start": 0, + "end": 31, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.4601520299911499, + -0.12063522636890411, + 0.11223424971103668, + -0.35233333706855774, + -0.13197100162506104, + 0.30738964676856995, + 0.0, + 1.0001531839370728 + ], + [ + 0.45662838220596313, + -0.11926107108592987, + 0.08991986513137817, + -0.3273395895957947, + -0.08431290090084076, + 0.30663254857063293, + 0.0, + 1.0001531839370728 + ], + [ + 0.4408412277698517, + -0.10436567664146423, + 0.06731195002794266, + -0.28670141100883484, + -0.03427053242921829, + 0.31159359216690063, + 0.0, + 1.0001531839370728 + ], + [ + 0.4433467388153076, + -0.09330838173627853, + 0.06794862449169159, + -0.2858373522758484, + -0.03803294524550438, + 0.3298202455043793, + 0.0, + 1.0001531839370728 + ], + [ + 0.44223374128341675, + -0.093932144343853, + 0.0664304792881012, + -0.27661776542663574, + -0.037482548505067825, + 0.3287036418914795, + 0.0, + 1.0001531839370728 + ], + [ + 0.42347368597984314, + -0.07254666090011597, + 0.05040856450796127, + -0.15816569328308105, + -0.026260852813720703, + 0.36332041025161743, + 0.0, + 1.0001531839370728 + ], + [ + 0.3904927670955658, + -0.03645959869027138, + 0.053609348833560944, + -0.027318041771650314, + -0.11155717819929123, + 0.4466262459754944, + 0.0, + 1.0001531839370728 + ], + [ + 0.3678496181964874, + -0.011016269214451313, + 0.07599908113479614, + 0.007691076956689358, + -0.19382132589817047, + 0.4605124890804291, + 0.0, + 1.0001531839370728 + ], + [ + 0.3547617197036743, + 0.010673893615603447, + 0.07008500397205353, + 0.07909122109413147, + -0.22866037487983704, + 0.4273058772087097, + 0.0, + 1.0001531839370728 + ], + [ + 0.3556504249572754, + 0.03017675317823887, + 0.05260547623038292, + 0.06401265412569046, + -0.18362563848495483, + 0.35170742869377136, + 0.0, + 1.0001531839370728 + ], + [ + 0.35440686345100403, + 0.04785491153597832, + 0.021883195266127586, + -0.04569030925631523, + -0.11004669219255447, + 0.29158884286880493, + 0.0, + 1.0001531839370728 + ], + [ + 0.3528246581554413, + 0.05913391709327698, + 0.006598842795938253, + -0.08878985047340393, + -0.09745403379201889, + 0.267764151096344, + 0.0, + 1.0001531839370728 + ], + [ + 0.3430148661136627, + 0.060989461839199066, + -0.0007257674587890506, + -0.09006325155496597, + -0.07912802696228027, + 0.23349566757678986, + 0.0, + 1.0001531839370728 + ], + [ + 0.33570438623428345, + 0.06144340708851814, + -0.008692972362041473, + -0.03771451860666275, + -0.07828163355588913, + 0.21602801978588104, + 0.0, + 1.0001531839370728 + ], + [ + 0.3361588716506958, + 0.05728317052125931, + -0.012872335501015186, + 0.05525586009025574, + -0.0787564069032669, + 0.1961999088525772, + 0.0, + 1.0001531839370728 + ], + [ + 0.33583521842956543, + 0.06001803278923035, + -0.015219361521303654, + 0.07205848395824432, + -0.07572127133607864, + 0.20733322203159332, + 0.0, + 1.0001531839370728 + ], + [ + 0.335144579410553, + 0.06414585560560226, + -0.03060503490269184, + 0.10645809769630432, + -0.04922875761985779, + 0.21758469939231873, + 0.0, + 0.9568231701850891 + ], + [ + 0.33661770820617676, + 0.0643351748585701, + -0.030501849949359894, + 0.10914801806211472, + -0.05221431702375412, + 0.22343036532402039, + 0.0, + 0.6791892647743225 + ], + [ + 0.33553704619407654, + 0.06261292845010757, + -0.03128473833203316, + 0.09647803008556366, + -0.04624040424823761, + 0.22322379052639008, + 0.0, + 0.49661046266555786 + ], + [ + 0.32631227374076843, + 0.06363411992788315, + -0.024898670613765717, + 0.023811832070350647, + -0.014902936294674873, + 0.21370011568069458, + 0.0, + 0.49661046266555786 + ], + [ + 0.32699453830718994, + 0.06357073783874512, + 0.0065205832943320274, + -0.07281700521707535, + -0.06338970363140106, + 0.21446271240711212, + 0.0, + 0.49661046266555786 + ], + [ + 0.3204782009124756, + 0.07850442081689835, + 0.030381128191947937, + -0.16107293963432312, + -0.09565022587776184, + 0.24482446908950806, + 0.0, + 0.49661046266555786 + ], + [ + 0.30576854944229126, + 0.11272070556879044, + 0.029881486669182777, + -0.1447981595993042, + -0.09870143234729767, + 0.28670427203178406, + 0.0, + 0.49661046266555786 + ], + [ + 0.2855730652809143, + 0.14310693740844727, + 0.0250721238553524, + -0.12192695587873459, + -0.0825352668762207, + 0.31585782766342163, + 0.0, + 0.49661046266555786 + ], + [ + 0.25686660408973694, + 0.16739869117736816, + 0.01423726323992014, + -0.152304008603096, + -0.028934624046087265, + 0.31548506021499634, + 0.0, + 0.49661046266555786 + ], + [ + 0.23939883708953857, + 0.1829850971698761, + 0.011727136559784412, + -0.17113149166107178, + -0.02085855044424534, + 0.3349146246910095, + 0.0, + 0.49661046266555786 + ], + [ + 0.23116643726825714, + 0.18496425449848175, + -0.006750253029167652, + -0.16446727514266968, + 0.012688648886978626, + 0.39736437797546387, + 0.0, + 0.49661046266555786 + ], + [ + 0.23068344593048096, + 0.18274688720703125, + -0.033541999757289886, + -0.12746965885162354, + -0.016109921038150787, + 0.4253435730934143, + 0.0, + 0.49661046266555786 + ], + [ + 0.24420464038848877, + 0.1837734580039978, + -0.03659454360604286, + -0.11349847167730331, + -0.07236652821302414, + 0.4408503770828247, + 0.0, + 0.549187958240509 + ], + [ + 0.24194706976413727, + 0.17322546243667603, + -0.03881121054291725, + -0.12346620857715607, + -0.0657678171992302, + 0.45732343196868896, + 0.0, + 0.8490449786186218 + ], + [ + 0.24979166686534882, + 0.1655655950307846, + -0.004716960713267326, + -0.12260495871305466, + -0.11730930954217911, + 0.45889270305633545, + 0.0, + 1.0118417739868164 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9568231701850891 + ], + [ + 0.6791892647743225 + ], + [ + 0.49661046266555786 + ], + [ + 0.49661046266555786 + ], + [ + 0.49661046266555786 + ], + [ + 0.49661046266555786 + ], + [ + 0.49661046266555786 + ], + [ + 0.49661046266555786 + ], + [ + 0.49661046266555786 + ], + [ + 0.49661046266555786 + ], + [ + 0.49661046266555786 + ], + [ + 0.49661046266555786 + ], + [ + 0.549187958240509 + ], + [ + 0.8490449786186218 + ], + [ + 1.0118417739868164 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.4601520299911499, + -0.12063522636890411, + 0.11223424971103668 + ], + [ + 0.45662838220596313, + -0.11926107108592987, + 0.08991986513137817 + ], + [ + 0.4408412277698517, + -0.10436567664146423, + 0.06731195002794266 + ], + [ + 0.4433467388153076, + -0.09330838173627853, + 0.06794862449169159 + ], + [ + 0.44223374128341675, + -0.093932144343853, + 0.0664304792881012 + ], + [ + 0.42347368597984314, + -0.07254666090011597, + 0.05040856450796127 + ], + [ + 0.3904927670955658, + -0.03645959869027138, + 0.053609348833560944 + ], + [ + 0.3678496181964874, + -0.011016269214451313, + 0.07599908113479614 + ], + [ + 0.3547617197036743, + 0.010673893615603447, + 0.07008500397205353 + ], + [ + 0.3556504249572754, + 0.03017675317823887, + 0.05260547623038292 + ], + [ + 0.35440686345100403, + 0.04785491153597832, + 0.021883195266127586 + ], + [ + 0.3528246581554413, + 0.05913391709327698, + 0.006598842795938253 + ], + [ + 0.3430148661136627, + 0.060989461839199066, + -0.0007257674587890506 + ], + [ + 0.33570438623428345, + 0.06144340708851814, + -0.008692972362041473 + ], + [ + 0.3361588716506958, + 0.05728317052125931, + -0.012872335501015186 + ], + [ + 0.33583521842956543, + 0.06001803278923035, + -0.015219361521303654 + ], + [ + 0.335144579410553, + 0.06414585560560226, + -0.03060503490269184 + ], + [ + 0.33661770820617676, + 0.0643351748585701, + -0.030501849949359894 + ], + [ + 0.33553704619407654, + 0.06261292845010757, + -0.03128473833203316 + ], + [ + 0.32631227374076843, + 0.06363411992788315, + -0.024898670613765717 + ], + [ + 0.32699453830718994, + 0.06357073783874512, + 0.0065205832943320274 + ], + [ + 0.3204782009124756, + 0.07850442081689835, + 0.030381128191947937 + ], + [ + 0.30576854944229126, + 0.11272070556879044, + 0.029881486669182777 + ], + [ + 0.2855730652809143, + 0.14310693740844727, + 0.0250721238553524 + ], + [ + 0.25686660408973694, + 0.16739869117736816, + 0.01423726323992014 + ], + [ + 0.23939883708953857, + 0.1829850971698761, + 0.011727136559784412 + ], + [ + 0.23116643726825714, + 0.18496425449848175, + -0.006750253029167652 + ], + [ + 0.23068344593048096, + 0.18274688720703125, + -0.033541999757289886 + ], + [ + 0.24420464038848877, + 0.1837734580039978, + -0.03659454360604286 + ], + [ + 0.24194706976413727, + 0.17322546243667603, + -0.03881121054291725 + ], + [ + 0.24979166686534882, + 0.1655655950307846, + -0.004716960713267326 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9448386832260586, + 0.24070358790688404, + 0.22212979414837772, + 0.29994064846387797, + -0.9083157903348952, + -0.29154422036350336, + 0.1315882596538008, + 0.34208801177043247, + -0.930408685537832 + ], + [ + 0.9499689030049366, + 0.2600084438111763, + 0.17307423976573666, + 0.3007777360142136, + -0.9109063676342648, + -0.2824576834173812, + 0.08421304436820581, + 0.3203828936604447, + -0.9435374738758385 + ], + [ + 0.9512873193727582, + 0.2848391579813351, + 0.11797919342441497, + 0.3063958653905088, + -0.9159642220330945, + -0.2590967341108507, + 0.03426382454123765, + 0.2826237747178954, + -0.9586186897260115 + ], + [ + 0.9454163893431632, + 0.3005887580407269, + 0.12583421355446048, + 0.3236387541096049, + -0.9111856992107896, + -0.2549481876619775, + 0.03802377676821294, + 0.28175702314809753, + -0.9587320649206448 + ], + [ + 0.9457968405426567, + 0.3008580698341999, + 0.12228147134855702, + 0.32258960430760936, + -0.9137853178228907, + -0.24684476928624313, + 0.03747377232396438, + 0.2729117343518931, + -0.9613089522317231 + ], + [ + 0.9343996829155675, + 0.34707812845889013, + 0.08021225163752259, + 0.3552573133563213, + -0.9245244198892743, + -0.13801028344021915, + 0.026257834528680843, + 0.1574527541006358, + -0.9871773682332823 + ], + [ + 0.8963031262823795, + 0.42902146813795916, + 0.11216633047926067, + 0.4292403082907026, + -0.9028863365512267, + 0.02343119731484508, + 0.11132593388305892, + 0.027144854868919738, + -0.9934131533753767 + ], + [ + 0.8790508772700663, + 0.44572116479843976, + 0.16912184489724977, + 0.4360859066431883, + -0.8951400371965746, + 0.09248457079374857, + 0.19261006515215082, + -0.007546990025004391, + -0.981246353238394 + ], + [ + 0.8863968662244341, + 0.42942378045864427, + 0.17290405525640143, + 0.4036334470582126, + -0.899818629492188, + 0.16554900916256032, + 0.2266729714002261, + -0.07695226309476864, + -0.9709262141075323 + ], + [ + 0.9230031254753448, + 0.35476107294958936, + 0.14902956579954538, + 0.3387095095051522, + -0.9328392078220208, + 0.12282866327028112, + 0.18259545047323636, + -0.06289350896269834, + -0.9811744533959468 + ], + [ + 0.9519946437222974, + 0.28236991032970027, + 0.11820927232858197, + 0.28573542174917343, + -0.9582307883427506, + -0.012207580835393854, + 0.10982471070700728, + 0.045398127851572184, + -0.9929136633694262 + ], + [ + 0.9597890555660923, + 0.2552132644066913, + 0.11692372935563254, + 0.26332054274272415, + -0.9628487358498043, + -0.05987155954300093, + 0.09729984884482658, + 0.08825248746247445, + -0.9913345741330017 + ], + [ + 0.9698194346167444, + 0.2235254199097609, + 0.09739943990508315, + 0.23065575304427235, + -0.9705655309213792, + -0.06928545139408078, + 0.07904547948642274, + 0.08966011845557063, + -0.9928307385104952 + ], + [ + 0.9737652916417024, + 0.21131913523308476, + 0.08441196525547594, + 0.21369522675466107, + -0.9766940190852454, + -0.02007842487309338, + 0.07820170622323032, + 0.03759010730832928, + -0.9962286268604834 + ], + [ + 0.9777742471192804, + 0.19890771872820803, + 0.06628152910626108, + 0.1943392996954085, + -0.9784704874759975, + 0.06948195256598308, + 0.07867501677293907, + -0.05505655790933005, + -0.9953788309819301 + ], + [ + 0.9757792357853783, + 0.21064655552256714, + 0.05901619825591546, + 0.2052611073326702, + -0.9749226882275952, + 0.0859862186379051, + 0.07564893143111488, + -0.07178983650599587, + -0.9945468609109241 + ], + [ + 0.9752387667321705, + 0.21975529215957498, + 0.02483866805154794, + 0.21561037635042804, + -0.9697651135217867, + 0.11431443568553733, + 0.04920887595487157, + -0.10612839471100984, + -0.9931340545783949 + ], + [ + 0.9738141202241135, + 0.22580135710784188, + 0.02645385379095296, + 0.22127404069028583, + -0.9680805816030816, + 0.11771909972316869, + 0.05219059463859348, + -0.10878297041033796, + -0.9926945185604552 + ], + [ + 0.9741464763426831, + 0.22468729539955984, + 0.023542767788957017, + 0.22113794595332992, + -0.9696681283866843, + 0.10412362676456519, + 0.046223927663883654, + -0.09622546480581573, + -0.9942856774761609 + ], + [ + 0.9771443749984037, + 0.21236391912105831, + 0.009509798342976376, + 0.2120537416333985, + -0.9769006067978838, + 0.026427544290051876, + 0.014902384649959893, + -0.023806937927238134, + -0.9996054965026321 + ], + [ + 0.9751284394467548, + 0.20775540187996966, + 0.07721541019660084, + 0.21239503594968678, + -0.9754824353061703, + -0.05763997842708435, + 0.0633472594992734, + 0.07260655203792421, + -0.9953468808988634 + ], + [ + 0.9657451975188088, + 0.22438853076983628, + 0.13033035229105636, + 0.24127808631682196, + -0.9613342268336625, + -0.1327455814007235, + 0.09550444247598548, + 0.15964426571937418, + -0.9825439480706564 + ], + [ + 0.9545127241697495, + 0.2661947680737378, + 0.13433467477986452, + 0.2814162058792375, + -0.953164274767071, + -0.11082772386139476, + 0.09854125261319568, + 0.14359042711104347, + -0.9847189501454158 + ], + [ + 0.9472945579552171, + 0.2987949456341552, + 0.1155621085473608, + 0.30957455361854613, + -0.946588326496469, + -0.09018944446271031, + 0.08244159278123937, + 0.12121105809329695, + -0.9891972822322126 + ], + [ + 0.9502480688485364, + 0.30251329696625306, + 0.07425841910676181, + 0.31014775317005383, + -0.9410033289063444, + -0.13535548083009508, + 0.028930586810420815, + 0.15165236610678523, + -0.9880104154314462 + ], + [ + 0.9442329296974351, + 0.32053273929920606, + 0.0753852605775545, + 0.328617039184903, + -0.9318101562381894, + -0.15408009050071703, + 0.020857037957163264, + 0.17026037639071634, + -0.9851783534969417 + ], + [ + 0.9220099256863408, + 0.3836828317065854, + 0.05181873782219142, + 0.38695827134929434, + -0.9088373503202716, + -0.15581388544412325, + -0.01268830840714543, + 0.16371363815041354, + -0.9864263031333467 + ], + [ + 0.910778817067014, + 0.4074205511644866, + 0.0670107519047218, + 0.4125802216263418, + -0.9043516952347882, + -0.10920426753897142, + 0.016109224213751196, + 0.12710824448001207, + -0.9917580284930595 + ], + [ + 0.9020220560314952, + 0.4165574446068682, + 0.11329653911443896, + 0.42559186012388855, + -0.9020644471944079, + -0.07177256930147803, + 0.07230338186421295, + 0.11295852535529517, + -0.9909654850299049 + ], + [ + 0.8952977848616763, + 0.43092506074481063, + 0.11289583005521872, + 0.4405935807810538, + -0.8939812616352635, + -0.08169945177020102, + 0.06572041536923312, + 0.12288651621355248, + -0.9902422588117473 + ], + [ + 0.8903817213525955, + 0.42679760051174964, + 0.15831676625866745, + 0.43991127118834783, + -0.8961539415022913, + -0.058190949565712295, + 0.11704043644245557, + 0.12145748773673992, + -0.985672164012984 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0035236477851867676, + 0.0013741552829742432, + -0.02231438457965851, + 0.02499374747276306, + 0.047658100724220276, + -0.0007570981979370117, + 1.0 + ], + [ + -0.01578715443611145, + 0.014895394444465637, + -0.022607915103435516, + 0.04063817858695984, + 0.05004236847162247, + 0.0049610435962677, + 1.0 + ], + [ + 0.0025055110454559326, + 0.0110572949051857, + 0.0006366744637489319, + 0.0008640587329864502, + -0.003762412816286087, + 0.018226653337478638, + 1.0 + ], + [ + -0.0011129975318908691, + -0.0006237626075744629, + -0.001518145203590393, + 0.009219586849212646, + 0.000550396740436554, + -0.0011166036128997803, + 1.0 + ], + [ + -0.01876005530357361, + 0.02138548344373703, + -0.016021914780139923, + 0.11845207214355469, + 0.011221695691347122, + 0.03461676836013794, + 1.0 + ], + [ + -0.032980918884277344, + 0.03608706220984459, + 0.0032007843255996704, + 0.13084764778614044, + -0.08529632538557053, + 0.08330583572387695, + 1.0 + ], + [ + -0.02264314889907837, + 0.02544333040714264, + 0.0223897323012352, + 0.03500911965966225, + -0.08226414769887924, + 0.013886243104934692, + 1.0 + ], + [ + -0.01308789849281311, + 0.021690163761377335, + -0.005914077162742615, + 0.07140014320611954, + -0.034839048981666565, + -0.03320661187171936, + 1.0 + ], + [ + 0.0008887052536010742, + 0.019502859562635422, + -0.01747952774167061, + -0.01507856696844101, + 0.0450347363948822, + -0.07559844851493835, + 1.0 + ], + [ + -0.0012435615062713623, + 0.01767815835773945, + -0.030722280964255333, + -0.1097029596567154, + 0.07357894629240036, + -0.06011858582496643, + 1.0 + ], + [ + -0.0015822052955627441, + 0.01127900555729866, + -0.015284352004528046, + -0.0430995412170887, + 0.012592658400535583, + -0.023824691772460938, + 1.0 + ], + [ + -0.009809792041778564, + 0.0018555447459220886, + -0.007324610371142626, + -0.0012734010815620422, + 0.018326006829738617, + -0.03426848351955414, + 1.0 + ], + [ + -0.0073104798793792725, + 0.00045394524931907654, + -0.007967204786837101, + 0.05234873294830322, + 0.0008463934063911438, + -0.017467647790908813, + 1.0 + ], + [ + 0.0004544854164123535, + -0.004160236567258835, + -0.004179363138973713, + 0.09297037869691849, + -0.0004747733473777771, + -0.019828110933303833, + 1.0 + ], + [ + -0.0003236532211303711, + 0.002734862267971039, + -0.0023470260202884674, + 0.016802623867988586, + 0.003035135567188263, + 0.011133313179016113, + 1.0 + ], + [ + -0.0006906390190124512, + 0.004127822816371918, + -0.015385673381388187, + 0.03439961373806, + 0.026492513716220856, + 0.010251477360725403, + 0.0 + ], + [ + 0.0014731287956237793, + 0.00018931925296783447, + 0.00010318495333194733, + 0.0026899203658103943, + -0.002985559403896332, + 0.00584566593170166, + 0.0 + ], + [ + -0.0010806620121002197, + -0.0017222464084625244, + -0.0007828883826732635, + -0.012669987976551056, + 0.00597391277551651, + -0.00020657479763031006, + 0.0 + ], + [ + -0.009224772453308105, + 0.0010211914777755737, + 0.006386067718267441, + -0.07266619801521301, + 0.031337469816207886, + -0.009523674845695496, + 0.0 + ], + [ + 0.0006822645664215088, + -6.3382089138031e-05, + 0.03141925483942032, + -0.096628837287426, + -0.04848676919937134, + 0.0007625967264175415, + 0.0 + ], + [ + -0.0065163373947143555, + 0.014933682978153229, + 0.023860543966293335, + -0.08825593441724777, + -0.03226052224636078, + 0.030361756682395935, + 0.0 + ], + [ + -0.014709651470184326, + 0.03421628475189209, + -0.0004996415227651596, + 0.01627478003501892, + -0.0030512064695358276, + 0.041879802942276, + 0.0 + ], + [ + -0.020195484161376953, + 0.03038623183965683, + -0.004809362813830376, + 0.02287120372056961, + 0.016166165471076965, + 0.029153555631637573, + 0.0 + ], + [ + -0.028706461191177368, + 0.0242917537689209, + -0.010834860615432262, + -0.03037705272436142, + 0.05360064283013344, + -0.00037276744842529297, + 0.0 + ], + [ + -0.017467767000198364, + 0.015586405992507935, + -0.002510126680135727, + -0.01882748305797577, + 0.008076073601841927, + 0.019429564476013184, + 0.0 + ], + [ + -0.008232399821281433, + 0.001979157328605652, + -0.018477389588952065, + 0.0066642165184021, + 0.03354720026254654, + 0.062449753284454346, + 0.0 + ], + [ + -0.0004829913377761841, + -0.0022173672914505005, + -0.02679174765944481, + 0.03699761629104614, + -0.02879856899380684, + 0.02797919511795044, + 0.0 + ], + [ + 0.013521194458007812, + 0.0010265707969665527, + -0.0030525438487529755, + 0.013971187174320221, + -0.05625660717487335, + 0.0155068039894104, + 1.0 + ], + [ + -0.0022575706243515015, + -0.010547995567321777, + -0.0022166669368743896, + -0.009967736899852753, + 0.006598711013793945, + 0.016473054885864258, + 1.0 + ], + [ + 0.007844597101211548, + -0.0076598674058914185, + 0.034094251692295074, + 0.0008612498641014099, + -0.051541492342948914, + 0.0015692710876464844, + 1.0 + ], + [ + 0.01117725670337677, + -0.01710948348045349, + 0.04637646675109863, + 0.06066346913576126, + -0.07543275505304337, + 0.070273756980896, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9568231701850891 + ], + [ + 0.6791892647743225 + ], + [ + 0.49661046266555786 + ], + [ + 0.49661046266555786 + ], + [ + 0.49661046266555786 + ], + [ + 0.49661046266555786 + ], + [ + 0.49661046266555786 + ], + [ + 0.49661046266555786 + ], + [ + 0.49661046266555786 + ], + [ + 0.49661046266555786 + ], + [ + 0.49661046266555786 + ], + [ + 0.49661046266555786 + ], + [ + 0.549187958240509 + ], + [ + 0.8490449786186218 + ], + [ + 1.0118417739868164 + ], + [ + 1.0073583126068115 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.45662838220596313, + -0.11926107108592987, + 0.08991986513137817 + ], + [ + 0.4408412277698517, + -0.10436567664146423, + 0.06731195002794266 + ], + [ + 0.4433467388153076, + -0.09330838173627853, + 0.06794862449169159 + ], + [ + 0.44223374128341675, + -0.093932144343853, + 0.0664304792881012 + ], + [ + 0.42347368597984314, + -0.07254666090011597, + 0.05040856450796127 + ], + [ + 0.3904927670955658, + -0.03645959869027138, + 0.053609348833560944 + ], + [ + 0.3678496181964874, + -0.011016269214451313, + 0.07599908113479614 + ], + [ + 0.3547617197036743, + 0.010673893615603447, + 0.07008500397205353 + ], + [ + 0.3556504249572754, + 0.03017675317823887, + 0.05260547623038292 + ], + [ + 0.35440686345100403, + 0.04785491153597832, + 0.021883195266127586 + ], + [ + 0.3528246581554413, + 0.05913391709327698, + 0.006598842795938253 + ], + [ + 0.3430148661136627, + 0.060989461839199066, + -0.0007257674587890506 + ], + [ + 0.33570438623428345, + 0.06144340708851814, + -0.008692972362041473 + ], + [ + 0.3361588716506958, + 0.05728317052125931, + -0.012872335501015186 + ], + [ + 0.33583521842956543, + 0.06001803278923035, + -0.015219361521303654 + ], + [ + 0.335144579410553, + 0.06414585560560226, + -0.03060503490269184 + ], + [ + 0.33661770820617676, + 0.0643351748585701, + -0.030501849949359894 + ], + [ + 0.33553704619407654, + 0.06261292845010757, + -0.03128473833203316 + ], + [ + 0.32631227374076843, + 0.06363411992788315, + -0.024898670613765717 + ], + [ + 0.32699453830718994, + 0.06357073783874512, + 0.0065205832943320274 + ], + [ + 0.3204782009124756, + 0.07850442081689835, + 0.030381128191947937 + ], + [ + 0.30576854944229126, + 0.11272070556879044, + 0.029881486669182777 + ], + [ + 0.2855730652809143, + 0.14310693740844727, + 0.0250721238553524 + ], + [ + 0.25686660408973694, + 0.16739869117736816, + 0.01423726323992014 + ], + [ + 0.23939883708953857, + 0.1829850971698761, + 0.011727136559784412 + ], + [ + 0.23116643726825714, + 0.18496425449848175, + -0.006750253029167652 + ], + [ + 0.23068344593048096, + 0.18274688720703125, + -0.033541999757289886 + ], + [ + 0.24420464038848877, + 0.1837734580039978, + -0.03659454360604286 + ], + [ + 0.24194706976413727, + 0.17322546243667603, + -0.03881121054291725 + ], + [ + 0.24979166686534882, + 0.1655655950307846, + -0.004716960713267326 + ], + [ + 0.2609689235687256, + 0.14845611155033112, + 0.04165950417518616 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9499689030049366, + 0.2600084438111763, + 0.17307423976573666, + 0.3007777360142136, + -0.9109063676342648, + -0.2824576834173812, + 0.08421304436820581, + 0.3203828936604447, + -0.9435374738758385 + ], + [ + 0.9512873193727582, + 0.2848391579813351, + 0.11797919342441497, + 0.3063958653905088, + -0.9159642220330945, + -0.2590967341108507, + 0.03426382454123765, + 0.2826237747178954, + -0.9586186897260115 + ], + [ + 0.9454163893431632, + 0.3005887580407269, + 0.12583421355446048, + 0.3236387541096049, + -0.9111856992107896, + -0.2549481876619775, + 0.03802377676821294, + 0.28175702314809753, + -0.9587320649206448 + ], + [ + 0.9457968405426567, + 0.3008580698341999, + 0.12228147134855702, + 0.32258960430760936, + -0.9137853178228907, + -0.24684476928624313, + 0.03747377232396438, + 0.2729117343518931, + -0.9613089522317231 + ], + [ + 0.9343996829155675, + 0.34707812845889013, + 0.08021225163752259, + 0.3552573133563213, + -0.9245244198892743, + -0.13801028344021915, + 0.026257834528680843, + 0.1574527541006358, + -0.9871773682332823 + ], + [ + 0.8963031262823795, + 0.42902146813795916, + 0.11216633047926067, + 0.4292403082907026, + -0.9028863365512267, + 0.02343119731484508, + 0.11132593388305892, + 0.027144854868919738, + -0.9934131533753767 + ], + [ + 0.8790508772700663, + 0.44572116479843976, + 0.16912184489724977, + 0.4360859066431883, + -0.8951400371965746, + 0.09248457079374857, + 0.19261006515215082, + -0.007546990025004391, + -0.981246353238394 + ], + [ + 0.8863968662244341, + 0.42942378045864427, + 0.17290405525640143, + 0.4036334470582126, + -0.899818629492188, + 0.16554900916256032, + 0.2266729714002261, + -0.07695226309476864, + -0.9709262141075323 + ], + [ + 0.9230031254753448, + 0.35476107294958936, + 0.14902956579954538, + 0.3387095095051522, + -0.9328392078220208, + 0.12282866327028112, + 0.18259545047323636, + -0.06289350896269834, + -0.9811744533959468 + ], + [ + 0.9519946437222974, + 0.28236991032970027, + 0.11820927232858197, + 0.28573542174917343, + -0.9582307883427506, + -0.012207580835393854, + 0.10982471070700728, + 0.045398127851572184, + -0.9929136633694262 + ], + [ + 0.9597890555660923, + 0.2552132644066913, + 0.11692372935563254, + 0.26332054274272415, + -0.9628487358498043, + -0.05987155954300093, + 0.09729984884482658, + 0.08825248746247445, + -0.9913345741330017 + ], + [ + 0.9698194346167444, + 0.2235254199097609, + 0.09739943990508315, + 0.23065575304427235, + -0.9705655309213792, + -0.06928545139408078, + 0.07904547948642274, + 0.08966011845557063, + -0.9928307385104952 + ], + [ + 0.9737652916417024, + 0.21131913523308476, + 0.08441196525547594, + 0.21369522675466107, + -0.9766940190852454, + -0.02007842487309338, + 0.07820170622323032, + 0.03759010730832928, + -0.9962286268604834 + ], + [ + 0.9777742471192804, + 0.19890771872820803, + 0.06628152910626108, + 0.1943392996954085, + -0.9784704874759975, + 0.06948195256598308, + 0.07867501677293907, + -0.05505655790933005, + -0.9953788309819301 + ], + [ + 0.9757792357853783, + 0.21064655552256714, + 0.05901619825591546, + 0.2052611073326702, + -0.9749226882275952, + 0.0859862186379051, + 0.07564893143111488, + -0.07178983650599587, + -0.9945468609109241 + ], + [ + 0.9752387667321705, + 0.21975529215957498, + 0.02483866805154794, + 0.21561037635042804, + -0.9697651135217867, + 0.11431443568553733, + 0.04920887595487157, + -0.10612839471100984, + -0.9931340545783949 + ], + [ + 0.9738141202241135, + 0.22580135710784188, + 0.02645385379095296, + 0.22127404069028583, + -0.9680805816030816, + 0.11771909972316869, + 0.05219059463859348, + -0.10878297041033796, + -0.9926945185604552 + ], + [ + 0.9741464763426831, + 0.22468729539955984, + 0.023542767788957017, + 0.22113794595332992, + -0.9696681283866843, + 0.10412362676456519, + 0.046223927663883654, + -0.09622546480581573, + -0.9942856774761609 + ], + [ + 0.9771443749984037, + 0.21236391912105831, + 0.009509798342976376, + 0.2120537416333985, + -0.9769006067978838, + 0.026427544290051876, + 0.014902384649959893, + -0.023806937927238134, + -0.9996054965026321 + ], + [ + 0.9751284394467548, + 0.20775540187996966, + 0.07721541019660084, + 0.21239503594968678, + -0.9754824353061703, + -0.05763997842708435, + 0.0633472594992734, + 0.07260655203792421, + -0.9953468808988634 + ], + [ + 0.9657451975188088, + 0.22438853076983628, + 0.13033035229105636, + 0.24127808631682196, + -0.9613342268336625, + -0.1327455814007235, + 0.09550444247598548, + 0.15964426571937418, + -0.9825439480706564 + ], + [ + 0.9545127241697495, + 0.2661947680737378, + 0.13433467477986452, + 0.2814162058792375, + -0.953164274767071, + -0.11082772386139476, + 0.09854125261319568, + 0.14359042711104347, + -0.9847189501454158 + ], + [ + 0.9472945579552171, + 0.2987949456341552, + 0.1155621085473608, + 0.30957455361854613, + -0.946588326496469, + -0.09018944446271031, + 0.08244159278123937, + 0.12121105809329695, + -0.9891972822322126 + ], + [ + 0.9502480688485364, + 0.30251329696625306, + 0.07425841910676181, + 0.31014775317005383, + -0.9410033289063444, + -0.13535548083009508, + 0.028930586810420815, + 0.15165236610678523, + -0.9880104154314462 + ], + [ + 0.9442329296974351, + 0.32053273929920606, + 0.0753852605775545, + 0.328617039184903, + -0.9318101562381894, + -0.15408009050071703, + 0.020857037957163264, + 0.17026037639071634, + -0.9851783534969417 + ], + [ + 0.9220099256863408, + 0.3836828317065854, + 0.05181873782219142, + 0.38695827134929434, + -0.9088373503202716, + -0.15581388544412325, + -0.01268830840714543, + 0.16371363815041354, + -0.9864263031333467 + ], + [ + 0.910778817067014, + 0.4074205511644866, + 0.0670107519047218, + 0.4125802216263418, + -0.9043516952347882, + -0.10920426753897142, + 0.016109224213751196, + 0.12710824448001207, + -0.9917580284930595 + ], + [ + 0.9020220560314952, + 0.4165574446068682, + 0.11329653911443896, + 0.42559186012388855, + -0.9020644471944079, + -0.07177256930147803, + 0.07230338186421295, + 0.11295852535529517, + -0.9909654850299049 + ], + [ + 0.8952977848616763, + 0.43092506074481063, + 0.11289583005521872, + 0.4405935807810538, + -0.8939812616352635, + -0.08169945177020102, + 0.06572041536923312, + 0.12288651621355248, + -0.9902422588117473 + ], + [ + 0.8903817213525955, + 0.42679760051174964, + 0.15831676625866745, + 0.43991127118834783, + -0.8961539415022913, + -0.058190949565712295, + 0.11704043644245557, + 0.12145748773673992, + -0.985672164012984 + ], + [ + 0.8472434816145102, + 0.4936102599646212, + 0.19628396297044218, + 0.4954661797998385, + -0.867558450215169, + 0.04307667738821165, + 0.19155090064073574, + 0.06075563116216447, + -0.9796004316790646 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005866.json b/json/chunk-0005/episode_0005866.json new file mode 100644 index 0000000000000000000000000000000000000000..2664162924d919a0f0c2b3e79f4d9887a7c4a5ca --- /dev/null +++ b/json/chunk-0005/episode_0005866.json @@ -0,0 +1,2782 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 45, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut the yellow bar on top of the red arch." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005866.mp4", + "start": 0, + "end": 45, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.27011650800704956, + -0.09104274958372116, + 0.07179518043994904, + -0.03931621089577675, + 0.0791260302066803, + 0.09439033269882202, + 0.0, + 0.9994885921478271 + ], + [ + 0.265871524810791, + -0.09023236483335495, + 0.0640934556722641, + -0.027626683935523033, + 0.10762201249599457, + 0.09547301381826401, + 0.0, + 0.9994885921478271 + ], + [ + 0.2672072649002075, + -0.08366654068231583, + 0.06562673300504684, + -0.006734941620379686, + 0.10199609398841858, + 0.11892883479595184, + 0.0, + 0.9994885921478271 + ], + [ + 0.2742196321487427, + -0.06917136162519455, + 0.08072016388177872, + -0.005855257157236338, + 0.04377014562487602, + 0.15668801963329315, + 0.0, + 0.9994885921478271 + ], + [ + 0.27575090527534485, + -0.05993809551000595, + 0.09008242934942245, + 0.0031681617256253958, + 0.01860283501446247, + 0.17995166778564453, + 0.0, + 0.9994885921478271 + ], + [ + 0.2721192240715027, + -0.04510954022407532, + 0.1032724678516388, + -0.011672649532556534, + -0.013412021100521088, + 0.23574289679527283, + 0.0, + 0.9994885921478271 + ], + [ + 0.2599112391471863, + -0.02353014051914215, + 0.10178986191749573, + -0.020694674924016, + 0.008470945060253143, + 0.31682685017585754, + 0.0, + 0.9994885921478271 + ], + [ + 0.244047611951828, + -0.005065549165010452, + 0.10366549342870712, + -0.02106206864118576, + 0.026650402694940567, + 0.3869985342025757, + 0.0, + 0.9994885921478271 + ], + [ + 0.23405876755714417, + 0.0034872207324951887, + 0.1000649705529213, + -0.037750277668237686, + 0.04121372476220131, + 0.43486592173576355, + 0.0, + 0.9994885921478271 + ], + [ + 0.23169785737991333, + 0.011170348152518272, + 0.09843754023313522, + -0.042261186987161636, + 0.04911041632294655, + 0.46721214056015015, + 0.0, + 0.9994885921478271 + ], + [ + 0.23352189362049103, + 0.013338848948478699, + 0.09322267770767212, + -0.05771750956773758, + 0.06240873411297798, + 0.48309221863746643, + 0.0, + 0.9994885921478271 + ], + [ + 0.23738808929920197, + 0.015474634245038033, + 0.08456704020500183, + -0.07147664576768875, + 0.07631465792655945, + 0.4800422489643097, + 0.0, + 0.9994885921478271 + ], + [ + 0.24015411734580994, + 0.01607881858944893, + 0.07550398260354996, + -0.07057777792215347, + 0.10366768389940262, + 0.4749934673309326, + 0.0, + 0.9994885921478271 + ], + [ + 0.24323780834674835, + 0.020039169117808342, + 0.06874483823776245, + -0.07329542189836502, + 0.11746089160442352, + 0.48166006803512573, + 0.0, + 0.9994885921478271 + ], + [ + 0.245326429605484, + 0.021197590976953506, + 0.06340913474559784, + -0.07513901591300964, + 0.13590511679649353, + 0.4798159599304199, + 0.0, + 0.9994885921478271 + ], + [ + 0.2442893385887146, + 0.021861357614398003, + 0.05329759791493416, + -0.07358646392822266, + 0.1712697297334671, + 0.48552247881889343, + 0.0, + 0.9499720335006714 + ], + [ + 0.2471059262752533, + 0.02349696308374405, + 0.05212704464793205, + -0.07870557904243469, + 0.15517617762088776, + 0.490939199924469, + 0.0, + 0.6661520600318909 + ], + [ + 0.24873852729797363, + 0.023267727345228195, + 0.051895372569561005, + -0.08076048642396927, + 0.14864666759967804, + 0.49692443013191223, + 0.0, + 0.5472165942192078 + ], + [ + 0.2461281567811966, + 0.023477355018258095, + 0.05278407409787178, + -0.07270058244466782, + 0.14784452319145203, + 0.5069823265075684, + 0.0, + 0.5472165942192078 + ], + [ + 0.2439824938774109, + 0.02154426835477352, + 0.06611504405736923, + -0.054685190320014954, + 0.1218385174870491, + 0.5338550209999084, + 0.0, + 0.5462315082550049 + ], + [ + 0.2382785677909851, + 0.00408977409824729, + 0.08695819228887558, + -0.022350704297423363, + 0.05295184254646301, + 0.637843906879425, + 0.0, + 0.5472165942192078 + ], + [ + 0.2365906685590744, + -0.011113468557596207, + 0.09709180891513824, + -0.006349785253405571, + -0.00451670354232192, + 0.7293334007263184, + 0.0, + 0.5462315082550049 + ], + [ + 0.2363111674785614, + -0.04819158464670181, + 0.09120321273803711, + -0.03081352822482586, + -0.01402695570141077, + 0.8653103709220886, + 0.0, + 0.5462315082550049 + ], + [ + 0.23409822583198547, + -0.08661773055791855, + 0.06081153079867363, + -0.06073619797825813, + 0.05016275867819786, + 1.0688928365707397, + 0.0, + 0.5472165942192078 + ], + [ + 0.23640108108520508, + -0.1091851219534874, + 0.0406755767762661, + -0.11340665817260742, + 0.1174878254532814, + 1.126736044883728, + 0.0, + 0.5462315082550049 + ], + [ + 0.23927822709083557, + -0.11940109729766846, + 0.03269832953810692, + -0.15295040607452393, + 0.14593786001205444, + 1.1916464567184448, + 0.0, + 0.5462315082550049 + ], + [ + 0.24152472615242004, + -0.1233556792140007, + 0.02770766243338585, + -0.16744869947433472, + 0.15925884246826172, + 1.2160722017288208, + 0.0, + 0.5462315082550049 + ], + [ + 0.23993641138076782, + -0.12369976937770844, + 0.02588547393679619, + -0.16081015765666962, + 0.1439603716135025, + 1.22097647190094, + 0.0, + 0.5462315082550049 + ], + [ + 0.23800449073314667, + -0.12508292496204376, + 0.02231198363006115, + -0.14283113181591034, + 0.12862275540828705, + 1.233032464981079, + 0.0, + 0.5462315082550049 + ], + [ + 0.23863284289836884, + -0.12742887437343597, + 0.02243191748857498, + -0.14873220026493073, + 0.12788109481334686, + 1.2685855627059937, + 0.0, + 0.5462315082550049 + ], + [ + 0.23836015164852142, + -0.1294119954109192, + 0.02069740556180477, + -0.1603023260831833, + 0.14612902700901031, + 1.3167212009429932, + 0.0, + 0.5462315082550049 + ], + [ + 0.23855601251125336, + -0.13056398928165436, + 0.01955069974064827, + -0.16982696950435638, + 0.1543288379907608, + 1.3519291877746582, + 0.0, + 0.5462315082550049 + ], + [ + 0.2369067668914795, + -0.1312287151813507, + 0.01774250715970993, + -0.17202144861221313, + 0.1632886528968811, + 1.373626947402954, + 0.0, + 0.5462315082550049 + ], + [ + 0.2376573234796524, + -0.13341061770915985, + 0.016939738765358925, + -0.1797013282775879, + 0.181594118475914, + 1.3955237865447998, + 0.0, + 0.5462315082550049 + ], + [ + 0.23680157959461212, + -0.13380354642868042, + 0.016180183738470078, + -0.1794651597738266, + 0.1910039186477661, + 1.4047027826309204, + 0.0, + 0.5462315082550049 + ], + [ + 0.23531055450439453, + -0.1357424408197403, + 0.015227087773382664, + -0.18608877062797546, + 0.2035645693540573, + 1.3912798166275024, + 0.0, + 0.5918992757797241 + ], + [ + 0.23034843802452087, + -0.1346626877784729, + 0.009270546026527882, + -0.15405303239822388, + 0.20188574492931366, + 1.3821356296539307, + 0.0, + 0.8844947218894958 + ], + [ + 0.22746746242046356, + -0.13373859226703644, + 0.009449033997952938, + -0.12972697615623474, + 0.20102337002754211, + 1.3753095865249634, + 0.0, + 1.0105689764022827 + ], + [ + 0.22832733392715454, + -0.13198411464691162, + 0.009256661869585514, + -0.1330622434616089, + 0.19255395233631134, + 1.3689676523208618, + 0.0, + 1.003452181816101 + ], + [ + 0.22988849878311157, + -0.12819227576255798, + 0.014451785013079643, + -0.13559965789318085, + 0.17702318727970123, + 1.3501025438308716, + 0.0, + 0.9994885921478271 + ], + [ + 0.2442435622215271, + -0.1228431835770607, + 0.04464641585946083, + -0.1829475611448288, + 0.10265833139419556, + 1.2800766229629517, + 0.0, + 0.9994885921478271 + ], + [ + 0.2584995627403259, + -0.11581700295209885, + 0.07569795101881027, + -0.20053483545780182, + 0.013077227398753166, + 1.218794822692871, + 0.0, + 0.9994885921478271 + ], + [ + 0.2618379294872284, + -0.11076357215642929, + 0.09091862291097641, + -0.16993583738803864, + -0.01105139683932066, + 1.0932550430297852, + 0.0, + 0.9994885921478271 + ], + [ + 0.2603762149810791, + -0.08644363284111023, + 0.09305840730667114, + -0.11360403895378113, + 0.026313576847314835, + 0.855945885181427, + 0.0, + 0.9994885921478271 + ], + [ + 0.25501835346221924, + -0.060864124447107315, + 0.08880763500928879, + -0.0792168453335762, + 0.07830566167831421, + 0.681519091129303, + 0.0, + 0.9994885921478271 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9499720335006714 + ], + [ + 0.6661520600318909 + ], + [ + 0.5472165942192078 + ], + [ + 0.5472165942192078 + ], + [ + 0.5462315082550049 + ], + [ + 0.5472165942192078 + ], + [ + 0.5462315082550049 + ], + [ + 0.5462315082550049 + ], + [ + 0.5472165942192078 + ], + [ + 0.5462315082550049 + ], + [ + 0.5462315082550049 + ], + [ + 0.5462315082550049 + ], + [ + 0.5462315082550049 + ], + [ + 0.5462315082550049 + ], + [ + 0.5462315082550049 + ], + [ + 0.5462315082550049 + ], + [ + 0.5462315082550049 + ], + [ + 0.5462315082550049 + ], + [ + 0.5462315082550049 + ], + [ + 0.5462315082550049 + ], + [ + 0.5918992757797241 + ], + [ + 0.8844947218894958 + ], + [ + 1.0105689764022827 + ], + [ + 1.003452181816101 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.27011650800704956, + -0.09104274958372116, + 0.07179518043994904 + ], + [ + 0.265871524810791, + -0.09023236483335495, + 0.0640934556722641 + ], + [ + 0.2672072649002075, + -0.08366654068231583, + 0.06562673300504684 + ], + [ + 0.2742196321487427, + -0.06917136162519455, + 0.08072016388177872 + ], + [ + 0.27575090527534485, + -0.05993809551000595, + 0.09008242934942245 + ], + [ + 0.2721192240715027, + -0.04510954022407532, + 0.1032724678516388 + ], + [ + 0.2599112391471863, + -0.02353014051914215, + 0.10178986191749573 + ], + [ + 0.244047611951828, + -0.005065549165010452, + 0.10366549342870712 + ], + [ + 0.23405876755714417, + 0.0034872207324951887, + 0.1000649705529213 + ], + [ + 0.23169785737991333, + 0.011170348152518272, + 0.09843754023313522 + ], + [ + 0.23352189362049103, + 0.013338848948478699, + 0.09322267770767212 + ], + [ + 0.23738808929920197, + 0.015474634245038033, + 0.08456704020500183 + ], + [ + 0.24015411734580994, + 0.01607881858944893, + 0.07550398260354996 + ], + [ + 0.24323780834674835, + 0.020039169117808342, + 0.06874483823776245 + ], + [ + 0.245326429605484, + 0.021197590976953506, + 0.06340913474559784 + ], + [ + 0.2442893385887146, + 0.021861357614398003, + 0.05329759791493416 + ], + [ + 0.2471059262752533, + 0.02349696308374405, + 0.05212704464793205 + ], + [ + 0.24873852729797363, + 0.023267727345228195, + 0.051895372569561005 + ], + [ + 0.2461281567811966, + 0.023477355018258095, + 0.05278407409787178 + ], + [ + 0.2439824938774109, + 0.02154426835477352, + 0.06611504405736923 + ], + [ + 0.2382785677909851, + 0.00408977409824729, + 0.08695819228887558 + ], + [ + 0.2365906685590744, + -0.011113468557596207, + 0.09709180891513824 + ], + [ + 0.2363111674785614, + -0.04819158464670181, + 0.09120321273803711 + ], + [ + 0.23409822583198547, + -0.08661773055791855, + 0.06081153079867363 + ], + [ + 0.23640108108520508, + -0.1091851219534874, + 0.0406755767762661 + ], + [ + 0.23927822709083557, + -0.11940109729766846, + 0.03269832953810692 + ], + [ + 0.24152472615242004, + -0.1233556792140007, + 0.02770766243338585 + ], + [ + 0.23993641138076782, + -0.12369976937770844, + 0.02588547393679619 + ], + [ + 0.23800449073314667, + -0.12508292496204376, + 0.02231198363006115 + ], + [ + 0.23863284289836884, + -0.12742887437343597, + 0.02243191748857498 + ], + [ + 0.23836015164852142, + -0.1294119954109192, + 0.02069740556180477 + ], + [ + 0.23855601251125336, + -0.13056398928165436, + 0.01955069974064827 + ], + [ + 0.2369067668914795, + -0.1312287151813507, + 0.01774250715970993 + ], + [ + 0.2376573234796524, + -0.13341061770915985, + 0.016939738765358925 + ], + [ + 0.23680157959461212, + -0.13380354642868042, + 0.016180183738470078 + ], + [ + 0.23531055450439453, + -0.1357424408197403, + 0.015227087773382664 + ], + [ + 0.23034843802452087, + -0.1346626877784729, + 0.009270546026527882 + ], + [ + 0.22746746242046356, + -0.13373859226703644, + 0.009449033997952938 + ], + [ + 0.22832733392715454, + -0.13198411464691162, + 0.009256661869585514 + ], + [ + 0.22988849878311157, + -0.12819227576255798, + 0.014451785013079643 + ], + [ + 0.2442435622215271, + -0.1228431835770607, + 0.04464641585946083 + ], + [ + 0.2584995627403259, + -0.11581700295209885, + 0.07569795101881027 + ], + [ + 0.2618379294872284, + -0.11076357215642929, + 0.09091862291097641 + ], + [ + 0.2603762149810791, + -0.08644363284111023, + 0.09305840730667114 + ], + [ + 0.25501835346221924, + -0.060864124447107315, + 0.08880763500928879 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9924336355593844, + 0.09727045757016108, + -0.07492621099771621, + 0.0939553397124923, + -0.9944863713034418, + -0.04657522336202909, + -0.07904348897849187, + 0.03918310064050861, + -0.9961008038719287 + ], + [ + 0.9896865998611796, + 0.09824527552234068, + -0.10425113856815245, + 0.09477650321872898, + -0.994783207619617, + -0.03773306607811737, + -0.10741437749597123, + 0.02746335149912854, + -0.993834954019825 + ], + [ + 0.9877759148161077, + 0.11932688407702838, + -0.1002987380063636, + 0.11803204845651091, + -0.992832415982631, + -0.018767773209736327, + -0.10181933827304906, + 0.0066998888468145345, + -0.9947803445198738 + ], + [ + 0.9868034997458404, + 0.1562980500221425, + -0.04230570231820971, + 0.1558982052221687, + -0.9876926149132869, + -0.01261142554432073, + -0.043756170968992425, + 0.005849615801847549, + -0.9990251145477289 + ], + [ + 0.9836821107818323, + 0.17892314197217482, + -0.01886833841662196, + 0.17895105301679162, + -0.9838579549532547, + -0.00021236614889593537, + -0.0186017620665526, + -0.0031676082467271198, + -0.9998219545029079 + ], + [ + 0.9722536425074376, + 0.2333972717374208, + 0.015766045050921367, + 0.23354439215412864, + -0.9723114179587273, + -0.00821726234503228, + 0.013411619006581358, + 0.011671334654488885, + -0.9998419417202925 + ], + [ + 0.9501947118315813, + 0.3116527683799341, + -0.0016004900564892516, + 0.3115417378352681, + -0.949970722839328, + -0.022301823573543423, + -0.008470843752475934, + 0.020692455370195133, + -0.9997500022990115 + ], + [ + 0.9257171746804306, + 0.37784661660725316, + -0.01672264393367243, + 0.3772766049873555, + -0.9256288155230687, + -0.02955772661378929, + -0.02664724809236169, + 0.021053032841185267, + -0.9994231806283522 + ], + [ + 0.9061564055362905, + 0.42239894447892334, + -0.021440625192409146, + 0.42093106216291554, + -0.905625277447102, + -0.051574196603139805, + -0.04120205834602958, + 0.03770926347664538, + -0.9984389825302793 + ], + [ + 0.8917509462457879, + 0.45184854885825426, + -0.024761638968999217, + 0.4498559271970998, + -0.8910960921920115, + -0.05981136385138744, + -0.049090677683027106, + 0.042197670253406885, + -0.9979025313074444 + ], + [ + 0.8838387548119088, + 0.46693225570292224, + -0.028342972263248827, + 0.4636154218668686, + -0.8824169076910129, + -0.08000713485830879, + -0.062368229891026215, + 0.05757316740644905, + -0.9963912556295589 + ], + [ + 0.8843938255426729, + 0.4654668511620424, + -0.03446986816467068, + 0.46047250905319886, + -0.882196145790885, + -0.09846333712585473, + -0.07624060432767062, + 0.07120794071591363, + -0.9945435130906797 + ], + [ + 0.8845213619024492, + 0.462683685436026, + -0.05954634807923066, + 0.4548773634552016, + -0.8837443651866663, + -0.10992034032361936, + -0.1034820977477784, + 0.07014060330616237, + -0.992155104413401 + ], + [ + 0.8801204772512958, + 0.4696127133037319, + -0.06965518664434477, + 0.46005893189614333, + -0.879872117149412, + -0.11904132326881905, + -0.11719097535873384, + 0.07272521547935504, + -0.990442990953013 + ], + [ + 0.8789002234091136, + 0.46933573223657743, + -0.08519605470540378, + 0.45735941331376595, + -0.8798819017713593, + -0.12895815595961369, + -0.13548713719279148, + 0.07437613448662078, + -0.9879835151833911 + ], + [ + 0.8714912693602793, + 0.47648976962312395, + -0.1160192521666622, + 0.4598427364332358, + -0.8761902230231029, + -0.14434455593585474, + -0.1704336386351089, + 0.07244440988252829, + -0.9827024892094095 + ], + [ + 0.8712939416524728, + 0.4807113788702514, + -0.09881010810822405, + 0.46578952126449724, + -0.8734314207096601, + -0.14197772782128606, + -0.15455416241527692, + 0.07767962114844737, + -0.9849258283436098 + ], + [ + 0.8693590822263564, + 0.48567298456669244, + -0.091304645076953, + 0.47146709067519815, + -0.8704920500023549, + -0.14128826311113749, + -0.14809986009720452, + 0.07978309936809189, + -0.9857489987285858 + ], + [ + 0.8646767988851927, + 0.49361274613633493, + -0.0931691489786304, + 0.4802445465054656, + -0.866709221058673, + -0.1348343490495949, + -0.1473065138458439, + 0.07184415761642993, + -0.9864781842468539 + ], + [ + 0.8544702118215879, + 0.5138136666041943, + -0.07665620079501069, + 0.5050834998532138, + -0.8561846500101156, + -0.10880488620960438, + -0.12153729997659031, + 0.05425275198374971, + -0.9911030842533941 + ], + [ + 0.8022554649046696, + 0.5962662217071035, + -0.029202086941313914, + 0.5946300455207174, + -0.8024764926178848, + -0.04946299384113169, + -0.05292710075776143, + 0.022317518832380465, + -0.9983489622163908 + ], + [ + 0.7456111660391692, + 0.6663379360052647, + 0.0075989550567013035, + 0.6663659569677526, + -0.745622851468423, + -0.0017247499960189368, + 0.004516688185085673, + 0.00634967781397144, + -0.9999696400988867 + ], + [ + 0.648340075147068, + 0.7606549595606321, + 0.03254503731919571, + 0.7612216525926908, + -0.6484250505485272, + -0.009303195429155394, + 0.014026495725854326, + 0.03080562151545542, + -0.9994269713694441 + ], + [ + 0.4804899753754498, + 0.8765161580111007, + 0.02913431497664844, + 0.8755656406518133, + -0.47753987885791216, + -0.07307854001244118, + -0.0501417238802085, + 0.060622511048532605, + -0.996900556063889 + ], + [ + 0.42664786636347685, + 0.9029128101063112, + 0.052154151066021864, + 0.8967896093329103, + -0.4148715261919962, + -0.1537856083892452, + -0.11721772357463367, + 0.112383602456268, + -0.9867268777016933 + ], + [ + 0.3661963430432726, + 0.9263350324458559, + 0.08833824769186346, + 0.9191045371690933, + -0.3452278989158108, + -0.18990668120253545, + -0.14542038404886898, + 0.15073521643501198, + -0.9778199253591479 + ], + [ + 0.3429362284438629, + 0.9338067087871481, + 0.1019792814487967, + 0.9258753016057303, + -0.3176879853450217, + -0.20452205221911646, + -0.1585864719867252, + 0.1645581191905629, + -0.973535287655906 + ], + [ + 0.3391832534012789, + 0.9351866329816084, + 0.10188563247409468, + 0.9297165732141225, + -0.31672680777209344, + -0.18791280618810627, + -0.1434636333818199, + 0.15846163804221466, + -0.9768869408308543 + ], + [ + 0.32864077845164263, + 0.9399408207162825, + 0.09223064723777898, + 0.935704257288611, + -0.31077684434681985, + -0.1669589647482326, + -0.1282683968507729, + 0.14117013341721338, + -0.9816405715944603 + ], + [ + 0.29520115166895966, + 0.9497656597027613, + 0.10393012894583789, + 0.9468852401178871, + -0.27630365462171325, + -0.16451332009772365, + -0.12753282753946513, + 0.14697442666009494, + -0.9808842417980448 + ], + [ + 0.24867147728582079, + 0.9613286604247924, + 0.11836259134693633, + 0.9575804745058816, + -0.22563223199939414, + -0.1792476798401091, + -0.14560951627410273, + 0.15791549173164082, + -0.9766578552602625 + ], + [ + 0.21454339239596332, + 0.9677421391058666, + 0.1320843858222236, + 0.9645424990332682, + -0.18864018533373283, + -0.18458777867430298, + -0.1537169487658736, + 0.1670030918158621, + -0.9738999265766751 + ], + [ + 0.19328855608543027, + 0.9716028369012587, + 0.13648245825686173, + 0.9675807378125384, + -0.16571545545634025, + -0.1905935561267535, + -0.16256398709601616, + 0.16889735092157082, + -0.9721350908958706 + ], + [ + 0.17150924426178332, + 0.9744516271381701, + 0.14501243222746335, + 0.9684880209622683, + -0.13978383232239272, + -0.20613450335607106, + -0.18059770869349595, + 0.17579677638977884, + -0.967718947332138 + ], + [ + 0.1623242397721441, + 0.9760011964510107, + 0.14516372035943043, + 0.9683025608186557, + -0.12925404915576783, + -0.21373708496391464, + -0.1898446520037601, + 0.17525711198988136, + -0.966045523152267 + ], + [ + 0.17486712625495687, + 0.9736214644861849, + 0.14656988792760023, + 0.9636141266774274, + -0.13866902581036883, + -0.2285141486834062, + -0.20216157652489647, + 0.18119642704142813, + -0.9624440512592868 + ], + [ + 0.18373455264007932, + 0.9763940910895864, + 0.11356140652303615, + 0.9623068605823352, + -0.15510020801686375, + -0.22340418874608334, + -0.2005171320419279, + 0.1503279892716787, + -0.9680879998219242 + ], + [ + 0.19033248732976138, + 0.9777279117070642, + 0.08844023369377302, + 0.9611995411321798, + -0.1672735486315723, + -0.21935132107075994, + -0.19967219734893693, + 0.12675839458254423, + -0.9716292106604776 + ], + [ + 0.19675643567283974, + 0.9761307634581554, + 0.09195454122510052, + 0.9615954743899983, + -0.17381599387437896, + -0.21241973520870558, + -0.19136626832854955, + 0.13021802065789848, + -0.9728423399718709 + ], + [ + 0.21548561788395237, + 0.9720001887539274, + 0.09371009309301212, + 0.960497118789569, + -0.19366856384380648, + -0.19984436988720516, + -0.17610006610478005, + 0.13307186194311393, + -0.9753361709056448 + ], + [ + 0.2851327080903657, + 0.9473938894985527, + 0.14541030540459624, + 0.9529940059733804, + -0.2639968617636611, + -0.14868786620886923, + -0.10247811159395215, + 0.18097092340965173, + -0.9781348381099587 + ], + [ + 0.3447477972816906, + 0.9207715378499973, + 0.18256158236270126, + 0.9386042574702841, + -0.33542289580384765, + -0.08070643610777126, + -0.013076854670715177, + 0.19917644453075298, + -0.9798763900696907 + ], + [ + 0.4595688473543762, + 0.8744757265340943, + 0.15520527775832282, + 0.8880733900649067, + -0.454636583455726, + -0.06805314718900887, + 0.011051171883300667, + 0.16910878358728973, + -0.985535433616485 + ], + [ + 0.6552775548638499, + 0.7522784019917063, + 0.06847285585149054, + 0.7549298520778728, + -0.6490266935915071, + -0.09404929264676591, + -0.02631054034669859, + 0.11332059346156269, + -0.9932100475549892 + ], + [ + 0.7742368245903422, + 0.6328053946945753, + -0.010708496332644868, + 0.6280430601880058, + -0.7702814156734749, + -0.11058234586837014, + -0.07822566073832991, + 0.07889152751411153, + -0.9938092738994447 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.004244983196258545, + 0.0008103847503662109, + -0.0077017247676849365, + 0.011689526960253716, + 0.02849598228931427, + 0.001082681119441986, + 1.0 + ], + [ + 0.001335740089416504, + 0.0065658241510391235, + 0.0015332773327827454, + 0.020891742780804634, + -0.005625918507575989, + 0.023455820977687836, + 1.0 + ], + [ + 0.007012367248535156, + 0.014495179057121277, + 0.015093430876731873, + 0.0008796844631433487, + -0.05822594836354256, + 0.03775918483734131, + 1.0 + ], + [ + 0.0015312731266021729, + 0.009233266115188599, + 0.009362265467643738, + 0.00902341865003109, + -0.02516731061041355, + 0.02326364815235138, + 1.0 + ], + [ + -0.003631681203842163, + 0.014828555285930634, + 0.013190038502216339, + -0.014840811491012573, + -0.03201485425233841, + 0.055791229009628296, + 1.0 + ], + [ + -0.012207984924316406, + 0.021579399704933167, + -0.0014826059341430664, + -0.009022025391459465, + 0.02188296616077423, + 0.08108395338058472, + 1.0 + ], + [ + -0.015863627195358276, + 0.0184645913541317, + 0.0018756315112113953, + -0.00036739371716976166, + 0.018179457634687424, + 0.07017168402671814, + 1.0 + ], + [ + -0.009988844394683838, + 0.008552770130336285, + -0.0036005228757858276, + -0.016688209027051926, + 0.014563322067260742, + 0.047867387533187866, + 1.0 + ], + [ + -0.002360910177230835, + 0.00768312718719244, + -0.0016274303197860718, + -0.00451090931892395, + 0.00789669156074524, + 0.0323462188243866, + 1.0 + ], + [ + 0.0018240362405776978, + 0.0021685007959604263, + -0.005214862525463104, + -0.015456322580575943, + 0.013298317790031433, + 0.015880078077316284, + 1.0 + ], + [ + 0.0038661956787109375, + 0.002135785296559334, + -0.008655637502670288, + -0.013759136199951172, + 0.013905923813581467, + -0.0030499696731567383, + 1.0 + ], + [ + 0.002766028046607971, + 0.0006041843444108963, + -0.009063057601451874, + 0.0008988678455352783, + 0.02735302597284317, + -0.005048781633377075, + 1.0 + ], + [ + 0.0030836910009384155, + 0.003960350528359413, + -0.006759144365787506, + -0.002717643976211548, + 0.013793207705020905, + 0.006666600704193115, + 1.0 + ], + [ + 0.0020886212587356567, + 0.0011584218591451645, + -0.005335703492164612, + -0.0018435940146446228, + 0.018444225192070007, + -0.0018441081047058105, + 1.0 + ], + [ + -0.0010370910167694092, + 0.0006637666374444962, + -0.010111536830663681, + 0.0015525519847869873, + 0.03536461293697357, + 0.005706518888473511, + 0.0 + ], + [ + 0.0028165876865386963, + 0.0016356054693460464, + -0.0011705532670021057, + -0.005119115114212036, + -0.016093552112579346, + 0.0054167211055755615, + 0.0 + ], + [ + 0.001632601022720337, + -0.00022923573851585388, + -0.00023167207837104797, + -0.0020549073815345764, + -0.006529510021209717, + 0.005985230207443237, + 0.0 + ], + [ + -0.0026103705167770386, + 0.0002096276730298996, + 0.0008887015283107758, + 0.008059903979301453, + -0.0008021444082260132, + 0.010057896375656128, + 0.0 + ], + [ + -0.0021456629037857056, + -0.0019330866634845734, + 0.013330969959497452, + 0.018015392124652863, + -0.026006005704402924, + 0.026872694492340088, + 0.0 + ], + [ + -0.005703926086425781, + -0.017454493790864944, + 0.020843148231506348, + 0.03233448415994644, + -0.06888667494058609, + 0.1039888858795166, + 0.0 + ], + [ + -0.0016878992319107056, + -0.015203243121504784, + 0.010133616626262665, + 0.016000919044017792, + -0.05746854469180107, + 0.09148949384689331, + 0.0 + ], + [ + -0.0002795010805130005, + -0.037078116089105606, + -0.005888596177101135, + -0.024463742971420288, + -0.009510252624750137, + 0.13597697019577026, + 0.0 + ], + [ + -0.0022129416465759277, + -0.038426145911216736, + -0.03039168193936348, + -0.029922669753432274, + 0.06418971717357635, + 0.20358246564865112, + 0.0 + ], + [ + 0.0023028552532196045, + -0.022567391395568848, + -0.020135954022407532, + -0.05267046019434929, + 0.06732507050037384, + 0.05784320831298828, + 0.0 + ], + [ + 0.002877146005630493, + -0.01021597534418106, + -0.00797724723815918, + -0.039543747901916504, + 0.02845003455877304, + 0.0649104118347168, + 0.0 + ], + [ + 0.0022464990615844727, + -0.003954581916332245, + -0.004990667104721069, + -0.014498293399810791, + 0.013320982456207275, + 0.024425745010375977, + 0.0 + ], + [ + -0.0015883147716522217, + -0.00034409016370773315, + -0.0018221884965896606, + 0.0066385418176651, + -0.015298470854759216, + 0.004904270172119141, + 0.0 + ], + [ + -0.0019319206476211548, + -0.0013831555843353271, + -0.0035734903067350388, + 0.017979025840759277, + -0.015337616205215454, + 0.01205599308013916, + 0.0 + ], + [ + 0.000628352165222168, + -0.002345949411392212, + 0.00011993385851383209, + -0.005901068449020386, + -0.0007416605949401855, + 0.03555309772491455, + 0.0 + ], + [ + -0.0002726912498474121, + -0.0019831210374832153, + -0.0017345119267702103, + -0.011570125818252563, + 0.018247932195663452, + 0.04813563823699951, + 0.0 + ], + [ + 0.0001958608627319336, + -0.0011519938707351685, + -0.0011467058211565018, + -0.009524643421173096, + 0.008199810981750488, + 0.03520798683166504, + 0.0 + ], + [ + -0.0016492456197738647, + -0.0006647258996963501, + -0.0018081925809383392, + -0.0021944791078567505, + 0.0089598149061203, + 0.0216977596282959, + 0.0 + ], + [ + 0.0007505565881729126, + -0.002181902527809143, + -0.0008027683943510056, + -0.007679879665374756, + 0.018305465579032898, + 0.021896839141845703, + 0.0 + ], + [ + -0.0008557438850402832, + -0.00039292871952056885, + -0.0007595550268888474, + 0.0002361685037612915, + 0.009409800171852112, + 0.009178996086120605, + 0.0 + ], + [ + -0.0014910250902175903, + -0.0019388943910598755, + -0.0009530959650874138, + -0.006623610854148865, + 0.012560650706291199, + -0.013422966003417969, + 1.0 + ], + [ + -0.004962116479873657, + 0.001079753041267395, + -0.005956541746854782, + 0.03203573822975159, + -0.0016788244247436523, + -0.009144186973571777, + 1.0 + ], + [ + -0.002880975604057312, + 0.0009240955114364624, + 0.00017848797142505646, + 0.024326056241989136, + -0.0008623749017715454, + -0.006826043128967285, + 1.0 + ], + [ + 0.000859871506690979, + 0.001754477620124817, + -0.000192372128367424, + -0.0033352673053741455, + -0.008469417691230774, + -0.0063419342041015625, + 1.0 + ], + [ + 0.0015611648559570312, + 0.0037918388843536377, + 0.005195123143494129, + -0.0025374144315719604, + -0.015530765056610107, + -0.018865108489990234, + 1.0 + ], + [ + 0.014355063438415527, + 0.005349092185497284, + 0.030194630846381187, + -0.04734790325164795, + -0.07436485588550568, + -0.07002592086791992, + 1.0 + ], + [ + 0.014256000518798828, + 0.007026180624961853, + 0.03105153515934944, + -0.017587274312973022, + -0.08958110213279724, + -0.061281800270080566, + 1.0 + ], + [ + 0.003338366746902466, + 0.005053430795669556, + 0.015220671892166138, + 0.030598998069763184, + -0.02412862330675125, + -0.12553977966308594, + 1.0 + ], + [ + -0.001461714506149292, + 0.02431993931531906, + 0.0021397843956947327, + 0.05633179843425751, + 0.03736497461795807, + -0.23730915784835815, + 1.0 + ], + [ + -0.005357861518859863, + 0.025579508394002914, + -0.004250772297382355, + 0.034387193620204926, + 0.051992084830999374, + -0.17442679405212402, + 1.0 + ], + [ + -0.01197272539138794, + 0.01610540971159935, + -0.01037856936454773, + 0.0376976914703846, + 0.01838775724172592, + -0.08063948154449463, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9499720335006714 + ], + [ + 0.6661520600318909 + ], + [ + 0.5472165942192078 + ], + [ + 0.5472165942192078 + ], + [ + 0.5462315082550049 + ], + [ + 0.5472165942192078 + ], + [ + 0.5462315082550049 + ], + [ + 0.5462315082550049 + ], + [ + 0.5472165942192078 + ], + [ + 0.5462315082550049 + ], + [ + 0.5462315082550049 + ], + [ + 0.5462315082550049 + ], + [ + 0.5462315082550049 + ], + [ + 0.5462315082550049 + ], + [ + 0.5462315082550049 + ], + [ + 0.5462315082550049 + ], + [ + 0.5462315082550049 + ], + [ + 0.5462315082550049 + ], + [ + 0.5462315082550049 + ], + [ + 0.5462315082550049 + ], + [ + 0.5918992757797241 + ], + [ + 0.8844947218894958 + ], + [ + 1.0105689764022827 + ], + [ + 1.003452181816101 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.265871524810791, + -0.09023236483335495, + 0.0640934556722641 + ], + [ + 0.2672072649002075, + -0.08366654068231583, + 0.06562673300504684 + ], + [ + 0.2742196321487427, + -0.06917136162519455, + 0.08072016388177872 + ], + [ + 0.27575090527534485, + -0.05993809551000595, + 0.09008242934942245 + ], + [ + 0.2721192240715027, + -0.04510954022407532, + 0.1032724678516388 + ], + [ + 0.2599112391471863, + -0.02353014051914215, + 0.10178986191749573 + ], + [ + 0.244047611951828, + -0.005065549165010452, + 0.10366549342870712 + ], + [ + 0.23405876755714417, + 0.0034872207324951887, + 0.1000649705529213 + ], + [ + 0.23169785737991333, + 0.011170348152518272, + 0.09843754023313522 + ], + [ + 0.23352189362049103, + 0.013338848948478699, + 0.09322267770767212 + ], + [ + 0.23738808929920197, + 0.015474634245038033, + 0.08456704020500183 + ], + [ + 0.24015411734580994, + 0.01607881858944893, + 0.07550398260354996 + ], + [ + 0.24323780834674835, + 0.020039169117808342, + 0.06874483823776245 + ], + [ + 0.245326429605484, + 0.021197590976953506, + 0.06340913474559784 + ], + [ + 0.2442893385887146, + 0.021861357614398003, + 0.05329759791493416 + ], + [ + 0.2471059262752533, + 0.02349696308374405, + 0.05212704464793205 + ], + [ + 0.24873852729797363, + 0.023267727345228195, + 0.051895372569561005 + ], + [ + 0.2461281567811966, + 0.023477355018258095, + 0.05278407409787178 + ], + [ + 0.2439824938774109, + 0.02154426835477352, + 0.06611504405736923 + ], + [ + 0.2382785677909851, + 0.00408977409824729, + 0.08695819228887558 + ], + [ + 0.2365906685590744, + -0.011113468557596207, + 0.09709180891513824 + ], + [ + 0.2363111674785614, + -0.04819158464670181, + 0.09120321273803711 + ], + [ + 0.23409822583198547, + -0.08661773055791855, + 0.06081153079867363 + ], + [ + 0.23640108108520508, + -0.1091851219534874, + 0.0406755767762661 + ], + [ + 0.23927822709083557, + -0.11940109729766846, + 0.03269832953810692 + ], + [ + 0.24152472615242004, + -0.1233556792140007, + 0.02770766243338585 + ], + [ + 0.23993641138076782, + -0.12369976937770844, + 0.02588547393679619 + ], + [ + 0.23800449073314667, + -0.12508292496204376, + 0.02231198363006115 + ], + [ + 0.23863284289836884, + -0.12742887437343597, + 0.02243191748857498 + ], + [ + 0.23836015164852142, + -0.1294119954109192, + 0.02069740556180477 + ], + [ + 0.23855601251125336, + -0.13056398928165436, + 0.01955069974064827 + ], + [ + 0.2369067668914795, + -0.1312287151813507, + 0.01774250715970993 + ], + [ + 0.2376573234796524, + -0.13341061770915985, + 0.016939738765358925 + ], + [ + 0.23680157959461212, + -0.13380354642868042, + 0.016180183738470078 + ], + [ + 0.23531055450439453, + -0.1357424408197403, + 0.015227087773382664 + ], + [ + 0.23034843802452087, + -0.1346626877784729, + 0.009270546026527882 + ], + [ + 0.22746746242046356, + -0.13373859226703644, + 0.009449033997952938 + ], + [ + 0.22832733392715454, + -0.13198411464691162, + 0.009256661869585514 + ], + [ + 0.22988849878311157, + -0.12819227576255798, + 0.014451785013079643 + ], + [ + 0.2442435622215271, + -0.1228431835770607, + 0.04464641585946083 + ], + [ + 0.2584995627403259, + -0.11581700295209885, + 0.07569795101881027 + ], + [ + 0.2618379294872284, + -0.11076357215642929, + 0.09091862291097641 + ], + [ + 0.2603762149810791, + -0.08644363284111023, + 0.09305840730667114 + ], + [ + 0.25501835346221924, + -0.060864124447107315, + 0.08880763500928879 + ], + [ + 0.2430456280708313, + -0.044758714735507965, + 0.07842906564474106 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9896865998611796, + 0.09824527552234068, + -0.10425113856815245, + 0.09477650321872898, + -0.994783207619617, + -0.03773306607811737, + -0.10741437749597123, + 0.02746335149912854, + -0.993834954019825 + ], + [ + 0.9877759148161077, + 0.11932688407702838, + -0.1002987380063636, + 0.11803204845651091, + -0.992832415982631, + -0.018767773209736327, + -0.10181933827304906, + 0.0066998888468145345, + -0.9947803445198738 + ], + [ + 0.9868034997458404, + 0.1562980500221425, + -0.04230570231820971, + 0.1558982052221687, + -0.9876926149132869, + -0.01261142554432073, + -0.043756170968992425, + 0.005849615801847549, + -0.9990251145477289 + ], + [ + 0.9836821107818323, + 0.17892314197217482, + -0.01886833841662196, + 0.17895105301679162, + -0.9838579549532547, + -0.00021236614889593537, + -0.0186017620665526, + -0.0031676082467271198, + -0.9998219545029079 + ], + [ + 0.9722536425074376, + 0.2333972717374208, + 0.015766045050921367, + 0.23354439215412864, + -0.9723114179587273, + -0.00821726234503228, + 0.013411619006581358, + 0.011671334654488885, + -0.9998419417202925 + ], + [ + 0.9501947118315813, + 0.3116527683799341, + -0.0016004900564892516, + 0.3115417378352681, + -0.949970722839328, + -0.022301823573543423, + -0.008470843752475934, + 0.020692455370195133, + -0.9997500022990115 + ], + [ + 0.9257171746804306, + 0.37784661660725316, + -0.01672264393367243, + 0.3772766049873555, + -0.9256288155230687, + -0.02955772661378929, + -0.02664724809236169, + 0.021053032841185267, + -0.9994231806283522 + ], + [ + 0.9061564055362905, + 0.42239894447892334, + -0.021440625192409146, + 0.42093106216291554, + -0.905625277447102, + -0.051574196603139805, + -0.04120205834602958, + 0.03770926347664538, + -0.9984389825302793 + ], + [ + 0.8917509462457879, + 0.45184854885825426, + -0.024761638968999217, + 0.4498559271970998, + -0.8910960921920115, + -0.05981136385138744, + -0.049090677683027106, + 0.042197670253406885, + -0.9979025313074444 + ], + [ + 0.8838387548119088, + 0.46693225570292224, + -0.028342972263248827, + 0.4636154218668686, + -0.8824169076910129, + -0.08000713485830879, + -0.062368229891026215, + 0.05757316740644905, + -0.9963912556295589 + ], + [ + 0.8843938255426729, + 0.4654668511620424, + -0.03446986816467068, + 0.46047250905319886, + -0.882196145790885, + -0.09846333712585473, + -0.07624060432767062, + 0.07120794071591363, + -0.9945435130906797 + ], + [ + 0.8845213619024492, + 0.462683685436026, + -0.05954634807923066, + 0.4548773634552016, + -0.8837443651866663, + -0.10992034032361936, + -0.1034820977477784, + 0.07014060330616237, + -0.992155104413401 + ], + [ + 0.8801204772512958, + 0.4696127133037319, + -0.06965518664434477, + 0.46005893189614333, + -0.879872117149412, + -0.11904132326881905, + -0.11719097535873384, + 0.07272521547935504, + -0.990442990953013 + ], + [ + 0.8789002234091136, + 0.46933573223657743, + -0.08519605470540378, + 0.45735941331376595, + -0.8798819017713593, + -0.12895815595961369, + -0.13548713719279148, + 0.07437613448662078, + -0.9879835151833911 + ], + [ + 0.8714912693602793, + 0.47648976962312395, + -0.1160192521666622, + 0.4598427364332358, + -0.8761902230231029, + -0.14434455593585474, + -0.1704336386351089, + 0.07244440988252829, + -0.9827024892094095 + ], + [ + 0.8712939416524728, + 0.4807113788702514, + -0.09881010810822405, + 0.46578952126449724, + -0.8734314207096601, + -0.14197772782128606, + -0.15455416241527692, + 0.07767962114844737, + -0.9849258283436098 + ], + [ + 0.8693590822263564, + 0.48567298456669244, + -0.091304645076953, + 0.47146709067519815, + -0.8704920500023549, + -0.14128826311113749, + -0.14809986009720452, + 0.07978309936809189, + -0.9857489987285858 + ], + [ + 0.8646767988851927, + 0.49361274613633493, + -0.0931691489786304, + 0.4802445465054656, + -0.866709221058673, + -0.1348343490495949, + -0.1473065138458439, + 0.07184415761642993, + -0.9864781842468539 + ], + [ + 0.8544702118215879, + 0.5138136666041943, + -0.07665620079501069, + 0.5050834998532138, + -0.8561846500101156, + -0.10880488620960438, + -0.12153729997659031, + 0.05425275198374971, + -0.9911030842533941 + ], + [ + 0.8022554649046696, + 0.5962662217071035, + -0.029202086941313914, + 0.5946300455207174, + -0.8024764926178848, + -0.04946299384113169, + -0.05292710075776143, + 0.022317518832380465, + -0.9983489622163908 + ], + [ + 0.7456111660391692, + 0.6663379360052647, + 0.0075989550567013035, + 0.6663659569677526, + -0.745622851468423, + -0.0017247499960189368, + 0.004516688185085673, + 0.00634967781397144, + -0.9999696400988867 + ], + [ + 0.648340075147068, + 0.7606549595606321, + 0.03254503731919571, + 0.7612216525926908, + -0.6484250505485272, + -0.009303195429155394, + 0.014026495725854326, + 0.03080562151545542, + -0.9994269713694441 + ], + [ + 0.4804899753754498, + 0.8765161580111007, + 0.02913431497664844, + 0.8755656406518133, + -0.47753987885791216, + -0.07307854001244118, + -0.0501417238802085, + 0.060622511048532605, + -0.996900556063889 + ], + [ + 0.42664786636347685, + 0.9029128101063112, + 0.052154151066021864, + 0.8967896093329103, + -0.4148715261919962, + -0.1537856083892452, + -0.11721772357463367, + 0.112383602456268, + -0.9867268777016933 + ], + [ + 0.3661963430432726, + 0.9263350324458559, + 0.08833824769186346, + 0.9191045371690933, + -0.3452278989158108, + -0.18990668120253545, + -0.14542038404886898, + 0.15073521643501198, + -0.9778199253591479 + ], + [ + 0.3429362284438629, + 0.9338067087871481, + 0.1019792814487967, + 0.9258753016057303, + -0.3176879853450217, + -0.20452205221911646, + -0.1585864719867252, + 0.1645581191905629, + -0.973535287655906 + ], + [ + 0.3391832534012789, + 0.9351866329816084, + 0.10188563247409468, + 0.9297165732141225, + -0.31672680777209344, + -0.18791280618810627, + -0.1434636333818199, + 0.15846163804221466, + -0.9768869408308543 + ], + [ + 0.32864077845164263, + 0.9399408207162825, + 0.09223064723777898, + 0.935704257288611, + -0.31077684434681985, + -0.1669589647482326, + -0.1282683968507729, + 0.14117013341721338, + -0.9816405715944603 + ], + [ + 0.29520115166895966, + 0.9497656597027613, + 0.10393012894583789, + 0.9468852401178871, + -0.27630365462171325, + -0.16451332009772365, + -0.12753282753946513, + 0.14697442666009494, + -0.9808842417980448 + ], + [ + 0.24867147728582079, + 0.9613286604247924, + 0.11836259134693633, + 0.9575804745058816, + -0.22563223199939414, + -0.1792476798401091, + -0.14560951627410273, + 0.15791549173164082, + -0.9766578552602625 + ], + [ + 0.21454339239596332, + 0.9677421391058666, + 0.1320843858222236, + 0.9645424990332682, + -0.18864018533373283, + -0.18458777867430298, + -0.1537169487658736, + 0.1670030918158621, + -0.9738999265766751 + ], + [ + 0.19328855608543027, + 0.9716028369012587, + 0.13648245825686173, + 0.9675807378125384, + -0.16571545545634025, + -0.1905935561267535, + -0.16256398709601616, + 0.16889735092157082, + -0.9721350908958706 + ], + [ + 0.17150924426178332, + 0.9744516271381701, + 0.14501243222746335, + 0.9684880209622683, + -0.13978383232239272, + -0.20613450335607106, + -0.18059770869349595, + 0.17579677638977884, + -0.967718947332138 + ], + [ + 0.1623242397721441, + 0.9760011964510107, + 0.14516372035943043, + 0.9683025608186557, + -0.12925404915576783, + -0.21373708496391464, + -0.1898446520037601, + 0.17525711198988136, + -0.966045523152267 + ], + [ + 0.17486712625495687, + 0.9736214644861849, + 0.14656988792760023, + 0.9636141266774274, + -0.13866902581036883, + -0.2285141486834062, + -0.20216157652489647, + 0.18119642704142813, + -0.9624440512592868 + ], + [ + 0.18373455264007932, + 0.9763940910895864, + 0.11356140652303615, + 0.9623068605823352, + -0.15510020801686375, + -0.22340418874608334, + -0.2005171320419279, + 0.1503279892716787, + -0.9680879998219242 + ], + [ + 0.19033248732976138, + 0.9777279117070642, + 0.08844023369377302, + 0.9611995411321798, + -0.1672735486315723, + -0.21935132107075994, + -0.19967219734893693, + 0.12675839458254423, + -0.9716292106604776 + ], + [ + 0.19675643567283974, + 0.9761307634581554, + 0.09195454122510052, + 0.9615954743899983, + -0.17381599387437896, + -0.21241973520870558, + -0.19136626832854955, + 0.13021802065789848, + -0.9728423399718709 + ], + [ + 0.21548561788395237, + 0.9720001887539274, + 0.09371009309301212, + 0.960497118789569, + -0.19366856384380648, + -0.19984436988720516, + -0.17610006610478005, + 0.13307186194311393, + -0.9753361709056448 + ], + [ + 0.2851327080903657, + 0.9473938894985527, + 0.14541030540459624, + 0.9529940059733804, + -0.2639968617636611, + -0.14868786620886923, + -0.10247811159395215, + 0.18097092340965173, + -0.9781348381099587 + ], + [ + 0.3447477972816906, + 0.9207715378499973, + 0.18256158236270126, + 0.9386042574702841, + -0.33542289580384765, + -0.08070643610777126, + -0.013076854670715177, + 0.19917644453075298, + -0.9798763900696907 + ], + [ + 0.4595688473543762, + 0.8744757265340943, + 0.15520527775832282, + 0.8880733900649067, + -0.454636583455726, + -0.06805314718900887, + 0.011051171883300667, + 0.16910878358728973, + -0.985535433616485 + ], + [ + 0.6552775548638499, + 0.7522784019917063, + 0.06847285585149054, + 0.7549298520778728, + -0.6490266935915071, + -0.09404929264676591, + -0.02631054034669859, + 0.11332059346156269, + -0.9932100475549892 + ], + [ + 0.7742368245903422, + 0.6328053946945753, + -0.010708496332644868, + 0.6280430601880058, + -0.7702814156734749, + -0.11058234586837014, + -0.07822566073832991, + 0.07889152751411153, + -0.9938092738994447 + ], + [ + 0.8209856713837853, + 0.5681863092914219, + -0.05609674960555299, + 0.5627272983137788, + -0.8218622305216745, + -0.08877196502507811, + -0.09654281493198194, + 0.04131333895645428, + -0.9944710618762511 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005868.json b/json/chunk-0005/episode_0005868.json new file mode 100644 index 0000000000000000000000000000000000000000..39456f8d2686426cf0bfe34ac8bcd89422db7cfc --- /dev/null +++ b/json/chunk-0005/episode_0005868.json @@ -0,0 +1,1582 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 25, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nFold the cloth from right to left." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005868.mp4", + "start": 0, + "end": 25, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3541853129863739, + 0.015458622947335243, + 0.04534479230642319, + 0.07813318818807602, + -0.13856001198291779, + -0.23926803469657898, + 0.0, + 1.0008161067962646 + ], + [ + 0.35095787048339844, + 0.015236284583806992, + 0.033864330500364304, + 0.06957565248012543, + -0.10159572958946228, + -0.23055531084537506, + 0.0, + 1.0008161067962646 + ], + [ + 0.3600582480430603, + -0.010764428414404392, + 0.03911423683166504, + 0.09737517684698105, + -0.10141195356845856, + -0.26546135544776917, + 0.0, + 1.0008161067962646 + ], + [ + 0.366098016500473, + -0.03336130827665329, + 0.038671866059303284, + 0.09968531876802444, + -0.08776284754276276, + -0.2861955463886261, + 0.0, + 1.0008161067962646 + ], + [ + 0.3704233765602112, + -0.060190971940755844, + 0.0456882119178772, + 0.09928012639284134, + -0.09440767019987106, + -0.2853914201259613, + 0.0, + 1.0008161067962646 + ], + [ + 0.37100961804389954, + -0.07379927486181259, + 0.03765660896897316, + 0.07510329782962799, + -0.10339726507663727, + -0.24502083659172058, + 0.0, + 1.0008161067962646 + ], + [ + 0.37352457642555237, + -0.07705570757389069, + 0.02667410299181938, + 0.051206305623054504, + -0.11241738498210907, + -0.20884954929351807, + 0.0, + 1.0008161067962646 + ], + [ + 0.3705604672431946, + -0.07635269314050674, + 0.01790069229900837, + 0.04863329604268074, + -0.10615900903940201, + -0.1818707138299942, + 0.0, + 1.0008161067962646 + ], + [ + 0.3681258261203766, + -0.07880961894989014, + 0.011800508014857769, + 0.029168307781219482, + -0.10799761116504669, + -0.1742098331451416, + 0.0, + 0.9643021821975708 + ], + [ + 0.3700830340385437, + -0.07883857190608978, + 0.006690653506666422, + 0.02554115653038025, + -0.10281991958618164, + -0.1795721799135208, + 0.0, + 0.8261235952377319 + ], + [ + 0.3735400438308716, + -0.07491052150726318, + 0.006192490458488464, + 0.02204422652721405, + -0.0932634249329567, + -0.16895394027233124, + 0.0, + 0.5285724997520447 + ], + [ + 0.3738616108894348, + -0.07344891130924225, + 0.006533155683428049, + 0.03211434558033943, + -0.09214359521865845, + -0.17530229687690735, + 0.0, + 0.2752157151699066 + ], + [ + 0.3731599450111389, + -0.06920621544122696, + 0.008297326043248177, + 0.05583636090159416, + -0.0859784185886383, + -0.15389929711818695, + 0.0, + 0.12046794593334198 + ], + [ + 0.37435609102249146, + -0.06501095741987228, + 0.038535866886377335, + 0.06884292513132095, + -0.1460893601179123, + -0.0980428159236908, + 0.0, + 0.06561893224716187 + ], + [ + 0.364458292722702, + -0.03854644298553467, + 0.062442731112241745, + 0.056158170104026794, + -0.2159448266029358, + 0.016827287152409554, + 0.0, + 0.06238236278295517 + ], + [ + 0.3366170823574066, + 0.007262755185365677, + 0.06754481047391891, + 0.02948954328894615, + -0.2676961123943329, + 0.17256760597229004, + 0.0, + 0.062092870473861694 + ], + [ + 0.3061470687389374, + 0.03529772534966469, + 0.04994355887174606, + -0.02128126285970211, + -0.2754803001880646, + 0.2759956121444702, + 0.0, + 0.062092870473861694 + ], + [ + 0.28940659761428833, + 0.05741365626454353, + 0.03218818083405495, + -0.09743618965148926, + -0.276978462934494, + 0.35965704917907715, + 0.0, + 0.062092870473861694 + ], + [ + 0.28674060106277466, + 0.06650912016630173, + 0.012707551009953022, + -0.13869871199131012, + -0.26233118772506714, + 0.36015987396240234, + 0.0, + 0.08712529391050339 + ], + [ + 0.28690478205680847, + 0.07273715734481812, + 0.009999822825193405, + -0.11669546365737915, + -0.2612653970718384, + 0.3064088225364685, + 0.0, + 0.2352597415447235 + ], + [ + 0.28477227687835693, + 0.08300280570983887, + 0.013489947654306889, + -0.038593895733356476, + -0.2280067503452301, + 0.26311591267585754, + 0.0, + 0.4937349259853363 + ], + [ + 0.28435268998146057, + 0.09484118223190308, + 0.029607512056827545, + 0.043289732187986374, + -0.21979080140590668, + 0.21662819385528564, + 0.0, + 0.7960459589958191 + ], + [ + 0.2803141176700592, + 0.10482873767614365, + 0.03655306622385979, + 0.11487362533807755, + -0.15531527996063232, + 0.16098102927207947, + 0.0, + 1.0014774799346924 + ], + [ + 0.28436368703842163, + 0.11101049929857254, + 0.04668022692203522, + 0.13960011303424835, + -0.12924407422542572, + 0.09707413613796234, + 0.0, + 1.0054124593734741 + ], + [ + 0.29261595010757446, + 0.11368277668952942, + 0.054965537041425705, + 0.15005633234977722, + -0.14216195046901703, + 0.05311054736375809, + 0.0, + 1.0008161067962646 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9643021821975708 + ], + [ + 0.8261235952377319 + ], + [ + 0.5285724997520447 + ], + [ + 0.2752157151699066 + ], + [ + 0.12046794593334198 + ], + [ + 0.06561893224716187 + ], + [ + 0.06238236278295517 + ], + [ + 0.062092870473861694 + ], + [ + 0.062092870473861694 + ], + [ + 0.062092870473861694 + ], + [ + 0.08712529391050339 + ], + [ + 0.2352597415447235 + ], + [ + 0.4937349259853363 + ], + [ + 0.7960459589958191 + ], + [ + 1.0014774799346924 + ], + [ + 1.0054124593734741 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3541853129863739, + 0.015458622947335243, + 0.04534479230642319 + ], + [ + 0.35095787048339844, + 0.015236284583806992, + 0.033864330500364304 + ], + [ + 0.3600582480430603, + -0.010764428414404392, + 0.03911423683166504 + ], + [ + 0.366098016500473, + -0.03336130827665329, + 0.038671866059303284 + ], + [ + 0.3704233765602112, + -0.060190971940755844, + 0.0456882119178772 + ], + [ + 0.37100961804389954, + -0.07379927486181259, + 0.03765660896897316 + ], + [ + 0.37352457642555237, + -0.07705570757389069, + 0.02667410299181938 + ], + [ + 0.3705604672431946, + -0.07635269314050674, + 0.01790069229900837 + ], + [ + 0.3681258261203766, + -0.07880961894989014, + 0.011800508014857769 + ], + [ + 0.3700830340385437, + -0.07883857190608978, + 0.006690653506666422 + ], + [ + 0.3735400438308716, + -0.07491052150726318, + 0.006192490458488464 + ], + [ + 0.3738616108894348, + -0.07344891130924225, + 0.006533155683428049 + ], + [ + 0.3731599450111389, + -0.06920621544122696, + 0.008297326043248177 + ], + [ + 0.37435609102249146, + -0.06501095741987228, + 0.038535866886377335 + ], + [ + 0.364458292722702, + -0.03854644298553467, + 0.062442731112241745 + ], + [ + 0.3366170823574066, + 0.007262755185365677, + 0.06754481047391891 + ], + [ + 0.3061470687389374, + 0.03529772534966469, + 0.04994355887174606 + ], + [ + 0.28940659761428833, + 0.05741365626454353, + 0.03218818083405495 + ], + [ + 0.28674060106277466, + 0.06650912016630173, + 0.012707551009953022 + ], + [ + 0.28690478205680847, + 0.07273715734481812, + 0.009999822825193405 + ], + [ + 0.28477227687835693, + 0.08300280570983887, + 0.013489947654306889 + ], + [ + 0.28435268998146057, + 0.09484118223190308, + 0.029607512056827545 + ], + [ + 0.2803141176700592, + 0.10482873767614365, + 0.03655306622385979 + ], + [ + 0.28436368703842163, + 0.11101049929857254, + 0.04668022692203522 + ], + [ + 0.29261595010757446, + 0.11368277668952942, + 0.054965537041425705 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9622006490090406, + -0.22579512158863144, + 0.15227105474566252, + -0.23472022849389076, + -0.9711026727242904, + 0.04319737681289841, + 0.13811707129228126, + -0.07730564076776658, + -0.9873943044818154 + ], + [ + 0.9685196782833582, + -0.2211011182333344, + 0.11438500030104225, + -0.2273398427767191, + -0.9727954785402699, + 0.04455954238840369, + 0.10142104645563958, + -0.0691610616429243, + -0.9924366573682507 + ], + [ + 0.9600137468843022, + -0.2516139109623871, + 0.12273567371947965, + -0.26100656954182483, + -0.962982513342257, + 0.067381374674594, + 0.10123821634724318, + -0.09672186312949811, + -0.9901493345670577 + ], + [ + 0.9556326887050176, + -0.27253490939174313, + 0.11176263884345905, + -0.281218068059733, + -0.9570248287637101, + 0.07085107851361776, + 0.08765022803832567, + -0.09913728003443405, + -0.9912059509669037 + ], + [ + 0.9552785541965978, + -0.2711811378218892, + 0.11791384304517935, + -0.28027936712392115, + -0.9574569910343901, + 0.06869924805982935, + 0.09426749310696603, + -0.09867573566483945, + -0.9906446077854211 + ], + [ + 0.9649510498680515, + -0.234379678879648, + 0.11804930108568397, + -0.2412810017101898, + -0.9692761386928735, + 0.04782515211016839, + 0.10321312693777261, + -0.07463198435594787, + -0.9918553913443334 + ], + [ + 0.9720950710196298, + -0.20144573872078556, + 0.12021142728783035, + -0.20602585205896448, + -0.9781783009528975, + 0.026843245487079975, + 0.1121807522827245, + -0.05086084836235988, + -0.9923853348982654 + ], + [ + 0.9779703290330186, + -0.1755897128619179, + 0.11288174461850994, + -0.1798515287979678, + -0.983275878694734, + 0.028670088352363822, + 0.10595972404684256, + -0.04834045008238775, + -0.9931947129167317 + ], + [ + 0.9791259145639376, + -0.17016029601006774, + 0.11116616882441897, + -0.1723201513814179, + -0.984989749485719, + 0.010047827424175922, + 0.10778779549289573, + -0.028994259256392995, + -0.99375103726887 + ], + [ + 0.978723805010497, + -0.1759713133952878, + 0.10551687243143679, + -0.17766536084153675, + -0.9840674564644818, + 0.006801520754352206, + 0.10263884772746254, + -0.025403503487959077, + -0.9943942522700521 + ], + [ + 0.9814772008357825, + -0.1660868758007781, + 0.09548640702368971, + -0.16742051059158317, + -0.98586687456139, + 0.006072748620667978, + 0.09312828180961152, + -0.021946647336054434, + -0.9954122099903618 + ], + [ + 0.9804966601205977, + -0.17140672441329735, + 0.09615630150051262, + -0.17366594188017187, + -0.9846814138773756, + 0.015577348790011764, + 0.09201326058360461, + -0.03197261312994047, + -0.9952443478294248 + ], + [ + 0.9845306493161197, + -0.14831792366512597, + 0.09328019123504412, + -0.15272625661463046, + -0.9873754601498566, + 0.04200465729347015, + 0.0858725281895356, + -0.05560120694306639, + -0.9947534441703695 + ], + [ + 0.9845967213217826, + -0.0876884737840351, + 0.15126145552592832, + -0.09684313224351249, + -0.9938204753409011, + 0.054242700250361195, + 0.14557027203265563, + -0.06805581796298953, + -0.987004408066006 + ], + [ + 0.9766360945606084, + 0.028824974202223082, + 0.21295788237030097, + 0.01643568733241834, + -0.9980798247199707, + 0.05972044598680615, + 0.21427040622380114, + -0.054825033964359934, + -0.9752345403376018 + ], + [ + 0.9500589992399595, + 0.17932104179826183, + 0.2554052895528052, + 0.16559647752939646, + -0.983379585777863, + 0.07444727600936203, + 0.26451031093895433, + -0.02843508824927544, + -0.9639635580058165 + ], + [ + 0.9258760102524435, + 0.2668740980259736, + 0.2674543502017499, + 0.26223011128707596, + -0.9635138276076233, + 0.053632758117358584, + 0.2720091586204131, + 0.02047729991308314, + -0.962076762953396 + ], + [ + 0.9003422716875407, + 0.32538408990751627, + 0.28897921698208084, + 0.33853892418214465, + -0.9409405119036588, + 0.004727565131996972, + 0.2734505268345909, + 0.09357428649761922, + -0.957323697753454 + ], + [ + 0.903823563886236, + 0.31548591026248335, + 0.2890875400113876, + 0.3403667469388714, + -0.9394891441098878, + -0.038866768297877684, + 0.25933268776271445, + 0.13352448661396518, + -0.9565133394429185 + ], + [ + 0.9210674856230877, + 0.27091152145755154, + 0.2797170614558891, + 0.29140030403097145, + -0.9560100897025187, + -0.033623967607044745, + 0.25830321279190555, + 0.11247958005138886, + -0.959493509270825 + ], + [ + 0.940593842536598, + 0.25147550802585916, + 0.2281299897983028, + 0.2533590518625024, + -0.9671335912145255, + 0.02148970878883774, + 0.22603631173236638, + 0.03758571015201496, + -0.9733934970867626 + ], + [ + 0.9531330745427712, + 0.22395127782409954, + 0.2034285313656795, + 0.20976710934197676, + -0.9736847640662504, + 0.08908277085700415, + 0.21802546193267303, + -0.04223512029346331, + -0.9750287649925213 + ], + [ + 0.9751889559461779, + 0.17673189992466434, + 0.13331292416574597, + 0.1583572278476967, + -0.9777229739980484, + 0.13777073166969922, + 0.1546915918497065, + -0.11324143086975726, + -0.9814514199620753 + ], + [ + 0.9869908756312447, + 0.1138283482110449, + 0.11354346552846441, + 0.0961133810200484, + -0.9838713376149839, + 0.1508622186254627, + 0.12888455846052108, + -0.1379865868961437, + -0.982012460423588 + ], + [ + 0.9885161877901634, + 0.07363999798395339, + 0.13195793713803586, + 0.052550054948481736, + -0.9862440732913428, + 0.15671987628444603, + 0.14168358479977147, + -0.14798573780815452, + -0.9787880175010635 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.003227442502975464, + -0.00022233836352825165, + -0.011480461806058884, + -0.008557535707950592, + 0.036964282393455505, + 0.008712723851203918, + 1.0 + ], + [ + 0.009100377559661865, + -0.02600071206688881, + 0.0052499063313007355, + 0.02779952436685562, + 0.00018377602100372314, + -0.034906044602394104, + 1.0 + ], + [ + 0.00603976845741272, + -0.022596880793571472, + -0.00044237077236175537, + 0.002310141921043396, + 0.0136491060256958, + -0.020734190940856934, + 1.0 + ], + [ + 0.004325360059738159, + -0.026829663664102554, + 0.007016345858573914, + -0.00040519237518310547, + -0.006644822657108307, + 0.0008041262626647949, + 1.0 + ], + [ + 0.0005862414836883545, + -0.013608302921056747, + -0.008031602948904037, + -0.02417682856321335, + -0.008989594876766205, + 0.04037058353424072, + 1.0 + ], + [ + 0.002514958381652832, + -0.0032564327120780945, + -0.010982505977153778, + -0.023896992206573486, + -0.009020119905471802, + 0.036171287298202515, + 1.0 + ], + [ + -0.002964109182357788, + 0.0007030144333839417, + -0.008773410692811012, + -0.002573009580373764, + 0.006258375942707062, + 0.026978835463523865, + 1.0 + ], + [ + -0.002434641122817993, + -0.0024569258093833923, + -0.0061001842841506, + -0.019464988261461258, + -0.0018386021256446838, + 0.0076608806848526, + 0.0 + ], + [ + 0.0019572079181671143, + -2.8952956199645996e-05, + -0.005109854508191347, + -0.0036271512508392334, + 0.005177691578865051, + -0.005362346768379211, + 0.0 + ], + [ + 0.003457009792327881, + 0.003928050398826599, + -0.0004981630481779575, + -0.0034969300031661987, + 0.009556494653224945, + 0.010618239641189575, + 0.0 + ], + [ + 0.0003215670585632324, + 0.001461610198020935, + 0.00034066522493958473, + 0.010070119053125381, + 0.0011198297142982483, + -0.006348356604576111, + 0.0 + ], + [ + -0.0007016658782958984, + 0.004242695868015289, + 0.0017641703598201275, + 0.02372201532125473, + 0.006165176630020142, + 0.021402999758720398, + 0.0 + ], + [ + 0.001196146011352539, + 0.004195258021354675, + 0.030238540843129158, + 0.013006564229726791, + -0.06011094152927399, + 0.055856481194496155, + 0.0 + ], + [ + -0.009897798299789429, + 0.026464514434337616, + 0.02390686422586441, + -0.012684755027294159, + -0.0698554664850235, + 0.1148701012134552, + 0.0 + ], + [ + -0.02784121036529541, + 0.045809198170900345, + 0.00510207936167717, + -0.026668626815080643, + -0.051751285791397095, + 0.15574032068252563, + 0.0 + ], + [ + -0.03047001361846924, + 0.02803497016429901, + -0.01760125160217285, + -0.05077080428600311, + -0.0077841877937316895, + 0.10342800617218018, + 0.0 + ], + [ + -0.016740471124649048, + 0.022115930914878845, + -0.017755378037691116, + -0.076154924929142, + -0.0014981627464294434, + 0.08366143703460693, + 0.0 + ], + [ + -0.002665996551513672, + 0.009095463901758194, + -0.0194806307554245, + -0.04126252233982086, + 0.01464727520942688, + 0.0005028247833251953, + 1.0 + ], + [ + 0.00016418099403381348, + 0.006228037178516388, + -0.002707728184759617, + 0.02200324833393097, + 0.0010657906532287598, + -0.05375105142593384, + 1.0 + ], + [ + -0.002132505178451538, + 0.010265648365020752, + 0.0034901248291134834, + 0.07810156792402267, + 0.033258646726608276, + -0.04329290986061096, + 1.0 + ], + [ + -0.0004195868968963623, + 0.011838376522064209, + 0.01611756533384323, + 0.08188362419605255, + 0.008215948939323425, + -0.0464877188205719, + 1.0 + ], + [ + -0.004038572311401367, + 0.00998755544424057, + 0.006945554167032242, + 0.07158389687538147, + 0.06447552144527435, + -0.05564716458320618, + 1.0 + ], + [ + 0.004049569368362427, + 0.006181761622428894, + 0.01012716069817543, + 0.024726487696170807, + 0.026071205735206604, + -0.06390689313411713, + 1.0 + ], + [ + 0.008252263069152832, + 0.0026722773909568787, + 0.008285310119390488, + 0.01045621931552887, + -0.012917876243591309, + -0.043963588774204254, + 1.0 + ], + [ + -3.018975257873535e-05, + -0.003383427858352661, + -0.002663206309080124, + -0.011430412530899048, + 0.022257760167121887, + -0.02485518902540207, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9643021821975708 + ], + [ + 0.8261235952377319 + ], + [ + 0.5285724997520447 + ], + [ + 0.2752157151699066 + ], + [ + 0.12046794593334198 + ], + [ + 0.06561893224716187 + ], + [ + 0.06238236278295517 + ], + [ + 0.062092870473861694 + ], + [ + 0.062092870473861694 + ], + [ + 0.062092870473861694 + ], + [ + 0.08712529391050339 + ], + [ + 0.2352597415447235 + ], + [ + 0.4937349259853363 + ], + [ + 0.7960459589958191 + ], + [ + 1.0014774799346924 + ], + [ + 1.0054124593734741 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.35095787048339844, + 0.015236284583806992, + 0.033864330500364304 + ], + [ + 0.3600582480430603, + -0.010764428414404392, + 0.03911423683166504 + ], + [ + 0.366098016500473, + -0.03336130827665329, + 0.038671866059303284 + ], + [ + 0.3704233765602112, + -0.060190971940755844, + 0.0456882119178772 + ], + [ + 0.37100961804389954, + -0.07379927486181259, + 0.03765660896897316 + ], + [ + 0.37352457642555237, + -0.07705570757389069, + 0.02667410299181938 + ], + [ + 0.3705604672431946, + -0.07635269314050674, + 0.01790069229900837 + ], + [ + 0.3681258261203766, + -0.07880961894989014, + 0.011800508014857769 + ], + [ + 0.3700830340385437, + -0.07883857190608978, + 0.006690653506666422 + ], + [ + 0.3735400438308716, + -0.07491052150726318, + 0.006192490458488464 + ], + [ + 0.3738616108894348, + -0.07344891130924225, + 0.006533155683428049 + ], + [ + 0.3731599450111389, + -0.06920621544122696, + 0.008297326043248177 + ], + [ + 0.37435609102249146, + -0.06501095741987228, + 0.038535866886377335 + ], + [ + 0.364458292722702, + -0.03854644298553467, + 0.062442731112241745 + ], + [ + 0.3366170823574066, + 0.007262755185365677, + 0.06754481047391891 + ], + [ + 0.3061470687389374, + 0.03529772534966469, + 0.04994355887174606 + ], + [ + 0.28940659761428833, + 0.05741365626454353, + 0.03218818083405495 + ], + [ + 0.28674060106277466, + 0.06650912016630173, + 0.012707551009953022 + ], + [ + 0.28690478205680847, + 0.07273715734481812, + 0.009999822825193405 + ], + [ + 0.28477227687835693, + 0.08300280570983887, + 0.013489947654306889 + ], + [ + 0.28435268998146057, + 0.09484118223190308, + 0.029607512056827545 + ], + [ + 0.2803141176700592, + 0.10482873767614365, + 0.03655306622385979 + ], + [ + 0.28436368703842163, + 0.11101049929857254, + 0.04668022692203522 + ], + [ + 0.29261595010757446, + 0.11368277668952942, + 0.054965537041425705 + ], + [ + 0.2925857603549957, + 0.11029934883117676, + 0.05230233073234558 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9685196782833582, + -0.2211011182333344, + 0.11438500030104225, + -0.2273398427767191, + -0.9727954785402699, + 0.04455954238840369, + 0.10142104645563958, + -0.0691610616429243, + -0.9924366573682507 + ], + [ + 0.9600137468843022, + -0.2516139109623871, + 0.12273567371947965, + -0.26100656954182483, + -0.962982513342257, + 0.067381374674594, + 0.10123821634724318, + -0.09672186312949811, + -0.9901493345670577 + ], + [ + 0.9556326887050176, + -0.27253490939174313, + 0.11176263884345905, + -0.281218068059733, + -0.9570248287637101, + 0.07085107851361776, + 0.08765022803832567, + -0.09913728003443405, + -0.9912059509669037 + ], + [ + 0.9552785541965978, + -0.2711811378218892, + 0.11791384304517935, + -0.28027936712392115, + -0.9574569910343901, + 0.06869924805982935, + 0.09426749310696603, + -0.09867573566483945, + -0.9906446077854211 + ], + [ + 0.9649510498680515, + -0.234379678879648, + 0.11804930108568397, + -0.2412810017101898, + -0.9692761386928735, + 0.04782515211016839, + 0.10321312693777261, + -0.07463198435594787, + -0.9918553913443334 + ], + [ + 0.9720950710196298, + -0.20144573872078556, + 0.12021142728783035, + -0.20602585205896448, + -0.9781783009528975, + 0.026843245487079975, + 0.1121807522827245, + -0.05086084836235988, + -0.9923853348982654 + ], + [ + 0.9779703290330186, + -0.1755897128619179, + 0.11288174461850994, + -0.1798515287979678, + -0.983275878694734, + 0.028670088352363822, + 0.10595972404684256, + -0.04834045008238775, + -0.9931947129167317 + ], + [ + 0.9791259145639376, + -0.17016029601006774, + 0.11116616882441897, + -0.1723201513814179, + -0.984989749485719, + 0.010047827424175922, + 0.10778779549289573, + -0.028994259256392995, + -0.99375103726887 + ], + [ + 0.978723805010497, + -0.1759713133952878, + 0.10551687243143679, + -0.17766536084153675, + -0.9840674564644818, + 0.006801520754352206, + 0.10263884772746254, + -0.025403503487959077, + -0.9943942522700521 + ], + [ + 0.9814772008357825, + -0.1660868758007781, + 0.09548640702368971, + -0.16742051059158317, + -0.98586687456139, + 0.006072748620667978, + 0.09312828180961152, + -0.021946647336054434, + -0.9954122099903618 + ], + [ + 0.9804966601205977, + -0.17140672441329735, + 0.09615630150051262, + -0.17366594188017187, + -0.9846814138773756, + 0.015577348790011764, + 0.09201326058360461, + -0.03197261312994047, + -0.9952443478294248 + ], + [ + 0.9845306493161197, + -0.14831792366512597, + 0.09328019123504412, + -0.15272625661463046, + -0.9873754601498566, + 0.04200465729347015, + 0.0858725281895356, + -0.05560120694306639, + -0.9947534441703695 + ], + [ + 0.9845967213217826, + -0.0876884737840351, + 0.15126145552592832, + -0.09684313224351249, + -0.9938204753409011, + 0.054242700250361195, + 0.14557027203265563, + -0.06805581796298953, + -0.987004408066006 + ], + [ + 0.9766360945606084, + 0.028824974202223082, + 0.21295788237030097, + 0.01643568733241834, + -0.9980798247199707, + 0.05972044598680615, + 0.21427040622380114, + -0.054825033964359934, + -0.9752345403376018 + ], + [ + 0.9500589992399595, + 0.17932104179826183, + 0.2554052895528052, + 0.16559647752939646, + -0.983379585777863, + 0.07444727600936203, + 0.26451031093895433, + -0.02843508824927544, + -0.9639635580058165 + ], + [ + 0.9258760102524435, + 0.2668740980259736, + 0.2674543502017499, + 0.26223011128707596, + -0.9635138276076233, + 0.053632758117358584, + 0.2720091586204131, + 0.02047729991308314, + -0.962076762953396 + ], + [ + 0.9003422716875407, + 0.32538408990751627, + 0.28897921698208084, + 0.33853892418214465, + -0.9409405119036588, + 0.004727565131996972, + 0.2734505268345909, + 0.09357428649761922, + -0.957323697753454 + ], + [ + 0.903823563886236, + 0.31548591026248335, + 0.2890875400113876, + 0.3403667469388714, + -0.9394891441098878, + -0.038866768297877684, + 0.25933268776271445, + 0.13352448661396518, + -0.9565133394429185 + ], + [ + 0.9210674856230877, + 0.27091152145755154, + 0.2797170614558891, + 0.29140030403097145, + -0.9560100897025187, + -0.033623967607044745, + 0.25830321279190555, + 0.11247958005138886, + -0.959493509270825 + ], + [ + 0.940593842536598, + 0.25147550802585916, + 0.2281299897983028, + 0.2533590518625024, + -0.9671335912145255, + 0.02148970878883774, + 0.22603631173236638, + 0.03758571015201496, + -0.9733934970867626 + ], + [ + 0.9531330745427712, + 0.22395127782409954, + 0.2034285313656795, + 0.20976710934197676, + -0.9736847640662504, + 0.08908277085700415, + 0.21802546193267303, + -0.04223512029346331, + -0.9750287649925213 + ], + [ + 0.9751889559461779, + 0.17673189992466434, + 0.13331292416574597, + 0.1583572278476967, + -0.9777229739980484, + 0.13777073166969922, + 0.1546915918497065, + -0.11324143086975726, + -0.9814514199620753 + ], + [ + 0.9869908756312447, + 0.1138283482110449, + 0.11354346552846441, + 0.0961133810200484, + -0.9838713376149839, + 0.1508622186254627, + 0.12888455846052108, + -0.1379865868961437, + -0.982012460423588 + ], + [ + 0.9885161877901634, + 0.07363999798395339, + 0.13195793713803586, + 0.052550054948481736, + -0.9862440732913428, + 0.15671987628444603, + 0.14168358479977147, + -0.14798573780815452, + -0.9787880175010635 + ], + [ + 0.992423810707608, + 0.04450294777410329, + 0.11451841589895219, + 0.02804875517642249, + -0.9895445080500486, + 0.14147414576890185, + 0.11961708604393882, + -0.13719021184983574, + -0.9832957838305594 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005869.json b/json/chunk-0005/episode_0005869.json new file mode 100644 index 0000000000000000000000000000000000000000..0594aa9830be863b24bac1a586e0a3832e15b6d6 --- /dev/null +++ b/json/chunk-0005/episode_0005869.json @@ -0,0 +1,2242 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 36, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nFold the cloth from right to left." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005869.mp4", + "start": 0, + "end": 36, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3317633271217346, + 0.012446651235222816, + 0.12420644611120224, + -0.02940349280834198, + -0.138138085603714, + -0.023334302008152008, + 0.0, + 1.0008161067962646 + ], + [ + 0.331645667552948, + 0.012439967133104801, + 0.11464828997850418, + -0.03208461403846741, + -0.10898762196302414, + -0.01996036432683468, + 0.0, + 1.0001531839370728 + ], + [ + 0.34046271443367004, + -0.0018065291224047542, + 0.10497727990150452, + -0.04042447730898857, + -0.09427834302186966, + -0.02662934735417366, + 0.0, + 1.0001531839370728 + ], + [ + 0.3542279899120331, + -0.016270672902464867, + 0.10128399729728699, + -0.042318008840084076, + -0.0995233803987503, + -0.0465068444609642, + 0.0, + 1.0008161067962646 + ], + [ + 0.3611460328102112, + -0.0375969335436821, + 0.09639347344636917, + -0.05190744251012802, + -0.09236348420381546, + -0.07556125521659851, + 0.0, + 1.0001531839370728 + ], + [ + 0.36428913474082947, + -0.06097753345966339, + 0.09250535815954208, + -0.05687004700303078, + -0.09258817881345749, + -0.11228582262992859, + 0.0, + 1.0001531839370728 + ], + [ + 0.36236482858657837, + -0.08655861020088196, + 0.08441753685474396, + -0.06967709958553314, + -0.09079896658658981, + -0.14996586740016937, + 0.0, + 1.0008161067962646 + ], + [ + 0.35831212997436523, + -0.10969896614551544, + 0.07407267391681671, + -0.07539235055446625, + -0.08059529215097427, + -0.17713283002376556, + 0.0, + 1.0008161067962646 + ], + [ + 0.3527028560638428, + -0.13094337284564972, + 0.07017891108989716, + -0.0761815682053566, + -0.07884852588176727, + -0.18999795615673065, + 0.0, + 1.0008161067962646 + ], + [ + 0.347700834274292, + -0.14589673280715942, + 0.05814569070935249, + -0.0674280971288681, + -0.05955711379647255, + -0.18060411512851715, + 0.0, + 1.0008161067962646 + ], + [ + 0.3425983190536499, + -0.15076729655265808, + 0.05393315479159355, + -0.06513688713312149, + -0.0536448210477829, + -0.16916297376155853, + 0.0, + 1.0001531839370728 + ], + [ + 0.3369225263595581, + -0.15168149769306183, + 0.04828733205795288, + -0.05393863841891289, + -0.04242299497127533, + -0.16029240190982819, + 0.0, + 1.0008161067962646 + ], + [ + 0.33116814494132996, + -0.15337006747722626, + 0.04345162212848663, + -0.047373779118061066, + -0.030733812600374222, + -0.15778549015522003, + 0.0, + 1.0008161067962646 + ], + [ + 0.3243922293186188, + -0.15241821110248566, + 0.03669301047921181, + -0.03795848786830902, + -0.015081951394677162, + -0.14833053946495056, + 0.0, + 1.0001531839370728 + ], + [ + 0.3198373019695282, + -0.15654371678829193, + 0.03369239717721939, + -0.02838381938636303, + -0.014133226126432419, + -0.15529759228229523, + 0.0, + 1.0008161067962646 + ], + [ + 0.3170607089996338, + -0.15555547177791595, + 0.026643941178917885, + -0.02392924576997757, + -0.003901934716850519, + -0.14201384782791138, + 0.0, + 0.9461179971694946 + ], + [ + 0.3168924152851105, + -0.15521372854709625, + 0.02473350614309311, + -0.02455352060496807, + -0.009673836641013622, + -0.12106313556432724, + 0.0, + 0.6661520600318909 + ], + [ + 0.31690892577171326, + -0.15519504249095917, + 0.024015460163354874, + -0.02639908343553543, + -0.015491154044866562, + -0.11928776651620865, + 0.0, + 0.3788849711418152 + ], + [ + 0.317095011472702, + -0.15599209070205688, + 0.024056026712059975, + -0.03449021279811859, + -0.016097091138362885, + -0.11700258404016495, + 0.0, + 0.18066829442977905 + ], + [ + 0.3191658556461334, + -0.15739122033119202, + 0.029183609411120415, + -0.05202146992087364, + -0.008392314426600933, + -0.12963558733463287, + 0.0, + 0.08191495388746262 + ], + [ + 0.3299352526664734, + -0.1484684944152832, + 0.05854456126689911, + -0.06747977435588837, + -0.050342757254838943, + -0.12569649517536163, + 0.0, + 0.06561893224716187 + ], + [ + 0.3424173891544342, + -0.12457776814699173, + 0.0855221077799797, + -0.07479710131883621, + -0.07743412256240845, + -0.08809829503297806, + 0.0, + 0.06325549632310867 + ], + [ + 0.35049718618392944, + -0.08883444219827652, + 0.10264379531145096, + -0.0684477910399437, + -0.08116337656974792, + -0.03481408581137657, + 0.0, + 0.06325549632310867 + ], + [ + 0.35154879093170166, + -0.06081577017903328, + 0.10855314880609512, + -0.07284944504499435, + -0.07001004368066788, + 0.012907945550978184, + 0.0, + 0.06296365708112717 + ], + [ + 0.3447186052799225, + -0.02559613436460495, + 0.11829378455877304, + -0.07308372855186462, + -0.07696273177862167, + 0.09821785241365433, + 0.0, + 0.06296365708112717 + ], + [ + 0.3318343162536621, + -0.003790054237470031, + 0.11895076185464859, + -0.07408250868320465, + -0.060885652899742126, + 0.14851520955562592, + 0.0, + 0.06296365708112717 + ], + [ + 0.320351779460907, + 0.02142753079533577, + 0.11881064623594284, + -0.05999425798654556, + -0.05300532653927803, + 0.1961999088525772, + 0.0, + 0.06296365708112717 + ], + [ + 0.3173481225967407, + 0.03758076950907707, + 0.1182439923286438, + -0.053274765610694885, + -0.052562415599823, + 0.2037317007780075, + 0.0, + 0.06296365708112717 + ], + [ + 0.3148467540740967, + 0.05362299457192421, + 0.1180148497223854, + -0.03823824226856232, + -0.05164738744497299, + 0.2077694833278656, + 0.0, + 0.06296365708112717 + ], + [ + 0.3192598819732666, + 0.06909281760454178, + 0.10945352166891098, + -0.010714362375438213, + -0.039026763290166855, + 0.16458404064178467, + 0.0, + 0.06267260015010834 + ], + [ + 0.3253019452095032, + 0.07664132863283157, + 0.09682080149650574, + 0.01778889261186123, + -0.012842971831560135, + 0.07190103828907013, + 0.0, + 0.08783477544784546 + ], + [ + 0.3265765905380249, + 0.0799994245171547, + 0.08741261810064316, + 0.00862167403101921, + 4.705061292042956e-05, + 0.050121720880270004, + 0.0, + 0.25133779644966125 + ], + [ + 0.32842448353767395, + 0.07943865656852722, + 0.08690173178911209, + -0.0022392894607037306, + -0.011322010308504105, + 0.06011386215686798, + 0.0, + 0.5275958180427551 + ], + [ + 0.32839563488960266, + 0.07691404223442078, + 0.08500191569328308, + -0.017915017902851105, + -0.012301404029130936, + 0.07925590872764587, + 0.0, + 0.8353572487831116 + ], + [ + 0.325543075799942, + 0.07326720654964447, + 0.08103000372648239, + -0.03732224553823471, + -0.005560241639614105, + 0.10001475363969803, + 0.0, + 1.003452181816101 + ], + [ + 0.32805928587913513, + 0.06669934093952179, + 0.09090878069400787, + -0.05163286626338959, + -0.03794349357485771, + 0.10527689009904861, + 0.0, + 1.0001531839370728 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 0.9461179971694946 + ], + [ + 0.6661520600318909 + ], + [ + 0.3788849711418152 + ], + [ + 0.18066829442977905 + ], + [ + 0.08191495388746262 + ], + [ + 0.06561893224716187 + ], + [ + 0.06325549632310867 + ], + [ + 0.06325549632310867 + ], + [ + 0.06296365708112717 + ], + [ + 0.06296365708112717 + ], + [ + 0.06296365708112717 + ], + [ + 0.06296365708112717 + ], + [ + 0.06296365708112717 + ], + [ + 0.06296365708112717 + ], + [ + 0.06267260015010834 + ], + [ + 0.08783477544784546 + ], + [ + 0.25133779644966125 + ], + [ + 0.5275958180427551 + ], + [ + 0.8353572487831116 + ], + [ + 1.003452181816101 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3317633271217346, + 0.012446651235222816, + 0.12420644611120224 + ], + [ + 0.331645667552948, + 0.012439967133104801, + 0.11464828997850418 + ], + [ + 0.34046271443367004, + -0.0018065291224047542, + 0.10497727990150452 + ], + [ + 0.3542279899120331, + -0.016270672902464867, + 0.10128399729728699 + ], + [ + 0.3611460328102112, + -0.0375969335436821, + 0.09639347344636917 + ], + [ + 0.36428913474082947, + -0.06097753345966339, + 0.09250535815954208 + ], + [ + 0.36236482858657837, + -0.08655861020088196, + 0.08441753685474396 + ], + [ + 0.35831212997436523, + -0.10969896614551544, + 0.07407267391681671 + ], + [ + 0.3527028560638428, + -0.13094337284564972, + 0.07017891108989716 + ], + [ + 0.347700834274292, + -0.14589673280715942, + 0.05814569070935249 + ], + [ + 0.3425983190536499, + -0.15076729655265808, + 0.05393315479159355 + ], + [ + 0.3369225263595581, + -0.15168149769306183, + 0.04828733205795288 + ], + [ + 0.33116814494132996, + -0.15337006747722626, + 0.04345162212848663 + ], + [ + 0.3243922293186188, + -0.15241821110248566, + 0.03669301047921181 + ], + [ + 0.3198373019695282, + -0.15654371678829193, + 0.03369239717721939 + ], + [ + 0.3170607089996338, + -0.15555547177791595, + 0.026643941178917885 + ], + [ + 0.3168924152851105, + -0.15521372854709625, + 0.02473350614309311 + ], + [ + 0.31690892577171326, + -0.15519504249095917, + 0.024015460163354874 + ], + [ + 0.317095011472702, + -0.15599209070205688, + 0.024056026712059975 + ], + [ + 0.3191658556461334, + -0.15739122033119202, + 0.029183609411120415 + ], + [ + 0.3299352526664734, + -0.1484684944152832, + 0.05854456126689911 + ], + [ + 0.3424173891544342, + -0.12457776814699173, + 0.0855221077799797 + ], + [ + 0.35049718618392944, + -0.08883444219827652, + 0.10264379531145096 + ], + [ + 0.35154879093170166, + -0.06081577017903328, + 0.10855314880609512 + ], + [ + 0.3447186052799225, + -0.02559613436460495, + 0.11829378455877304 + ], + [ + 0.3318343162536621, + -0.003790054237470031, + 0.11895076185464859 + ], + [ + 0.320351779460907, + 0.02142753079533577, + 0.11881064623594284 + ], + [ + 0.3173481225967407, + 0.03758076950907707, + 0.1182439923286438 + ], + [ + 0.3148467540740967, + 0.05362299457192421, + 0.1180148497223854 + ], + [ + 0.3192598819732666, + 0.06909281760454178, + 0.10945352166891098 + ], + [ + 0.3253019452095032, + 0.07664132863283157, + 0.09682080149650574 + ], + [ + 0.3265765905380249, + 0.0799994245171547, + 0.08741261810064316 + ], + [ + 0.32842448353767395, + 0.07943865656852722, + 0.08690173178911209 + ], + [ + 0.32839563488960266, + 0.07691404223442078, + 0.08500191569328308 + ], + [ + 0.325543075799942, + 0.07326720654964447, + 0.08103000372648239 + ], + [ + 0.32805928587913513, + 0.06669934093952179, + 0.09090878069400787 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9902044577813632, + -0.027369250433726018, + 0.1369162368771962, + -0.023109924391498844, + -0.9992011790553688, + -0.03260268653010106, + 0.13769917641197318, + 0.029119201655553924, + -0.9900459630291957 + ], + [ + 0.9938687061797868, + -0.023437380032521268, + 0.10805407948674225, + -0.01984061647901565, + -0.9992165907454524, + -0.03424258630371082, + 0.10877198542937724, + 0.031888775395829246, + -0.9935551123060588 + ], + [ + 0.9952061222297579, + -0.03040757193016341, + 0.09295242786350799, + -0.026507955606830735, + -0.9987274929432924, + -0.042903649364041896, + 0.09413874104721717, + 0.04023399568174034, + -0.9947457579831779 + ], + [ + 0.9939757368506565, + -0.05064734240292281, + 0.09719609693663195, + -0.04626003153557046, + -0.9978290286344136, + -0.04687471703200296, + 0.09935916683689575, + 0.042096036892128215, + -0.9941607916446183 + ], + [ + 0.9928962938386732, + -0.0801594312292308, + 0.08792846675811693, + -0.07516760129974817, + -0.9954423147388154, + -0.058689264284629845, + 0.09223221452545284, + 0.05166298106415509, + -0.9943963772014133 + ], + [ + 0.9894463168013428, + -0.11709091853408758, + 0.08535632937926194, + -0.1115700840439192, + -0.991507244671567, + -0.06682439756728564, + 0.09245594904975124, + 0.05659594120289466, + -0.9941070349437574 + ], + [ + 0.9847030186059202, + -0.15528381247489456, + 0.0790373502317113, + -0.1487889274173649, + -0.9854337839334136, + -0.08235358256119799, + 0.09067425338197455, + 0.0693339387741366, + -0.9934641335789056 + ], + [ + 0.9811577044519356, + -0.1816765090815792, + 0.0657510839647476, + -0.17563601561331924, + -0.9804882314925517, + -0.08828826606116268, + 0.08050806800617133, + 0.07507645404878703, + -0.9939225206389954 + ], + [ + 0.9789535967409612, + -0.19419602633689004, + 0.06275156398765754, + -0.18827012186816966, + -0.9780242471933727, + -0.08957082735791227, + 0.0787668498778497, + 0.07587143900571738, + -0.9940016640345838 + ], + [ + 0.981991195280237, + -0.1831608967388813, + 0.046318228570401535, + -0.17930542228134033, + -0.980779540565924, + -0.07694841354963104, + 0.05952191136549059, + 0.0672575550633807, + -0.9959586152819276 + ], + [ + 0.9843080269713586, + -0.17144059542820103, + 0.04178313390561506, + -0.16811514110713274, + -0.9830480589222171, + -0.07316975590904559, + 0.053619095201984886, + 0.0649972006203679, + -0.9964438551876547 + ], + [ + 0.9862924697461728, + -0.1616318774985075, + 0.03320090809454501, + -0.15946326540382644, + -0.9853800321100042, + -0.05998049104197163, + 0.042410271264680346, + 0.05386398142724591, + -0.9976472524876023 + ], + [ + 0.9871112940722505, + -0.15839242912117366, + 0.022872068382662092, + -0.15705738837450775, + -0.9862410250473944, + -0.0515908642149375, + 0.03072897447013534, + 0.04733369741060865, + -0.9984063557577421 + ], + [ + 0.9889066993645289, + -0.14824679837939436, + 0.009296597345956843, + -0.1477704027888322, + -0.9882221710777498, + -0.039759887449605215, + 0.015081379631186154, + 0.03794505713051661, + -0.9991660145480241 + ], + [ + 0.9878668742308594, + -0.15500807616924958, + 0.009567398792755885, + -0.15465866938526815, + -0.9875055606527263, + -0.030223561403700232, + 0.014132755616999374, + 0.028377173965231945, + -0.9994973742919074 + ], + [ + 0.9899254339513586, + -0.1415888752772839, + 0.000474988345669655, + -0.14153589720967572, + -0.9896363471478697, + -0.0242381972282077, + 0.003901924815637234, + 0.02392678000766362, + -0.9997060989016714 + ], + [ + 0.9926343557893883, + -0.12096698839483627, + 0.006635015091897145, + -0.12076197874521272, + -0.9923529059228937, + -0.025539275556080054, + 0.009673685757091249, + 0.024549904787435347, + -0.9996518003679087 + ], + [ + 0.9927745142070357, + -0.11936958254371285, + 0.01223383440808424, + -0.11899078654612502, + -0.9924990278217198, + -0.02805124756719128, + 0.015490534468481474, + 0.02639285009772662, + -0.9995316207132219 + ], + [ + 0.9930343330505219, + -0.11721765054048396, + 0.011951392583060513, + -0.11672068976596185, + -0.9925075452275424, + -0.03612552071536655, + 0.016096395977470895, + 0.03447890758372821, + -0.9992757932464739 + ], + [ + 0.9915741484240075, + -0.12953063147648897, + 0.001588611502674103, + -0.12926824393198738, + -0.9902111961369836, + -0.05264511521218609, + 0.008392215913846871, + 0.05199617826596634, + -0.9986120208358146 + ], + [ + 0.9908536575510999, + -0.1284467815882122, + 0.041357630701451285, + -0.12520693445596998, + -0.9894272711246682, + -0.07319083767064437, + 0.0503214952256583, + 0.06734314704869597, + -0.9964600582380769 + ], + [ + 0.9931369514808798, + -0.09349662502852196, + 0.07026646932599036, + -0.08772073225813004, + -0.9928280899996846, + -0.08122473046846783, + 0.07735676269959756, + 0.07450345505984098, + -0.9942158550580372 + ], + [ + 0.9961041065506036, + -0.04026721246305075, + 0.07845483103977242, + -0.034692470971317085, + -0.9968608282743384, + -0.07116826195787025, + 0.08107429537731443, + 0.06816920604389677, + -0.9943741338029748 + ], + [ + 0.997467195422663, + 0.007782254638639154, + 0.07070099411172416, + 0.012875967365363932, + -0.9973302863381913, + -0.07187843499261175, + 0.06995286641770128, + 0.07260672465633201, + -0.9949044476805934 + ], + [ + 0.9922346000495383, + 0.09221113681099115, + 0.08347217927284119, + 0.09776974051564448, + -0.9930744667967438, + -0.06514738088263086, + 0.07688677587229294, + 0.07280253872213321, + -0.9943783053001388 + ], + [ + 0.9871593110109442, + 0.14310991403913892, + 0.0709651124716103, + 0.14769566839676668, + -0.9869456166073804, + -0.06422101989465759, + 0.06084804204927525, + 0.07387761747097651, + -0.9954092693036276 + ], + [ + 0.9794369529246332, + 0.19147716214032956, + 0.06355904046157498, + 0.19466977381329797, + -0.9796691240293132, + -0.04849831530185261, + 0.05298050971054917, + 0.059874066191669684, + -0.9967989575578851 + ], + [ + 0.9779658584096559, + 0.19929842465295128, + 0.062152374982108426, + 0.2020458256999399, + -0.9784949913853511, + -0.04153355451933903, + 0.05253821563675557, + 0.05317602622078202, + -0.9972021089694266 + ], + [ + 0.9771887022693403, + 0.2041959790038527, + 0.058363021818790044, + 0.20600281175686028, + -0.978185282231222, + -0.02676555948400609, + 0.05162442934725763, + 0.03817794893498648, + -0.9979365523467347 + ], + [ + 0.9857354345794586, + 0.1634202189039203, + 0.0402428262904133, + 0.16371724976453886, + -0.9864984610410805, + -0.004177139345891706, + 0.03901685717713846, + 0.010705999111440063, + -0.9991811980011656 + ], + [ + 0.9973339770086614, + 0.07205558987721121, + 0.011529539085911747, + 0.07183317789875142, + -0.997242013170017, + 0.01866445074406407, + 0.012842618777054721, + -0.017786487457010784, + -0.9997593250412264 + ], + [ + 0.998744168382284, + 0.050098470456281685, + -0.0004789366562453916, + 0.05010073760554279, + -0.9987070700845174, + 0.00860838280857666, + -4.7050612903069746e-05, + -0.008621567209012476, + -0.9999628324918381 + ], + [ + 0.9981297283307398, + 0.06005220582870091, + 0.011435820806179685, + 0.060073812782816996, + -0.9981927262853397, + -0.0015550590908090672, + 0.011321768419234053, + 0.002239144065975783, + -0.9999333996790551 + ], + [ + 0.9967854703654124, + 0.07894058482177599, + 0.01367882072401632, + 0.07916697013401974, + -0.9967183750165116, + -0.016884067763551815, + 0.01230109378075845, + 0.017912704219100302, + -0.9997638811836305 + ], + [ + 0.994987311408657, + 0.09957212827558463, + 0.009254264230210934, + 0.09984655310668182, + -0.9943304938263046, + -0.03657232396022895, + 0.005560212989320589, + 0.03731300467407963, + -0.9992881584976905 + ], + [ + 0.9937477215593438, + 0.1029955367332641, + 0.04309739329286427, + 0.10500689491036401, + -0.993343932251094, + -0.04734326014564251, + 0.03793438963390272, + 0.05157278034933796, + -0.9979485109013101 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0001176595687866211, + -6.684102118015289e-06, + -0.009558156132698059, + -0.0026811212301254272, + 0.02915046364068985, + 0.0033739376813173294, + 1.0 + ], + [ + 0.008817046880722046, + -0.014246496371924877, + -0.009671010076999664, + -0.008339863270521164, + 0.01470927894115448, + -0.006668983027338982, + 1.0 + ], + [ + 0.013765275478363037, + -0.01446414366364479, + -0.0036932826042175293, + -0.0018935315310955048, + -0.005245037376880646, + -0.019877497106790543, + 1.0 + ], + [ + 0.006918042898178101, + -0.021326260641217232, + -0.004890523850917816, + -0.009589433670043945, + 0.007159896194934845, + -0.029054410755634308, + 1.0 + ], + [ + 0.003143101930618286, + -0.023380599915981293, + -0.0038881152868270874, + -0.004962604492902756, + -0.0002246946096420288, + -0.03672456741333008, + 1.0 + ], + [ + -0.0019243061542510986, + -0.025581076741218567, + -0.008087821304798126, + -0.012807052582502365, + 0.0017892122268676758, + -0.037680044770240784, + 1.0 + ], + [ + -0.004052698612213135, + -0.023140355944633484, + -0.010344862937927246, + -0.0057152509689331055, + 0.01020367443561554, + -0.02716696262359619, + 1.0 + ], + [ + -0.005609273910522461, + -0.021244406700134277, + -0.0038937628269195557, + -0.0007892176508903503, + 0.0017467662692070007, + -0.012865126132965088, + 1.0 + ], + [ + -0.005002021789550781, + -0.014953359961509705, + -0.012033220380544662, + 0.008753471076488495, + 0.019291412085294724, + 0.009393841028213501, + 1.0 + ], + [ + -0.00510251522064209, + -0.004870563745498657, + -0.004212535917758942, + 0.0022912099957466125, + 0.0059122927486896515, + 0.011441141366958618, + 1.0 + ], + [ + -0.005675792694091797, + -0.0009142011404037476, + -0.005645822733640671, + 0.011198248714208603, + 0.011221826076507568, + 0.008870571851730347, + 1.0 + ], + [ + -0.005754381418228149, + -0.0016885697841644287, + -0.0048357099294662476, + 0.006564859300851822, + 0.011689182370901108, + 0.0025069117546081543, + 1.0 + ], + [ + -0.006775915622711182, + 0.0009518563747406006, + -0.006758611649274826, + 0.009415291249752045, + 0.01565186120569706, + 0.00945495069026947, + 1.0 + ], + [ + -0.004554927349090576, + -0.004125505685806274, + -0.0030006133019924164, + 0.009574668481945992, + 0.0009487252682447433, + -0.0069670528173446655, + 1.0 + ], + [ + -0.002776592969894409, + 0.0009882450103759766, + -0.007048455998301506, + 0.00445457361638546, + 0.010231291875243187, + 0.01328374445438385, + 0.0 + ], + [ + -0.00016829371452331543, + 0.00034174323081970215, + -0.0019104350358247757, + -0.0006242748349905014, + -0.005771901924163103, + 0.020950712263584137, + 0.0 + ], + [ + 1.6510486602783203e-05, + 1.868605613708496e-05, + -0.0007180459797382355, + -0.00184556283056736, + -0.00581731740385294, + 0.0017753690481185913, + 0.0 + ], + [ + 0.00018608570098876953, + -0.0007970482110977173, + 4.056654870510101e-05, + -0.00809112936258316, + -0.0006059370934963226, + 0.002285182476043701, + 0.0 + ], + [ + 0.0020708441734313965, + -0.0013991296291351318, + 0.00512758269906044, + -0.01753125712275505, + 0.0077047767117619514, + -0.012633003294467926, + 0.0 + ], + [ + 0.010769397020339966, + 0.008922725915908813, + 0.029360951855778694, + -0.015458304435014725, + -0.041950441896915436, + 0.00393909215927124, + 0.0 + ], + [ + 0.012482136487960815, + 0.023890726268291473, + 0.026977546513080597, + -0.0073173269629478455, + -0.027091365307569504, + 0.037598200142383575, + 0.0 + ], + [ + 0.00807979702949524, + 0.03574332594871521, + 0.017121687531471252, + 0.006349310278892517, + -0.0037292540073394775, + 0.053284209221601486, + 0.0 + ], + [ + 0.0010516047477722168, + 0.02801867201924324, + 0.005909353494644165, + -0.004401654005050659, + 0.011153332889080048, + 0.04772203043103218, + 0.0 + ], + [ + -0.006830185651779175, + 0.03521963581442833, + 0.009740635752677917, + -0.00023428350687026978, + -0.006952688097953796, + 0.08530990779399872, + 0.0 + ], + [ + -0.012884289026260376, + 0.021806079894304276, + 0.0006569772958755493, + -0.0009987801313400269, + 0.016077078878879547, + 0.05029735714197159, + 0.0 + ], + [ + -0.011482536792755127, + 0.025217585265636444, + -0.0001401156187057495, + 0.014088250696659088, + 0.007880326360464096, + 0.047684699296951294, + 0.0 + ], + [ + -0.0030036568641662598, + 0.016153238713741302, + -0.0005666539072990417, + 0.0067194923758506775, + 0.00044291093945503235, + 0.007531791925430298, + 0.0 + ], + [ + -0.002501368522644043, + 0.016042225062847137, + -0.00022914260625839233, + 0.015036523342132568, + 0.0009150281548500061, + 0.004037782549858093, + 0.0 + ], + [ + 0.004413127899169922, + 0.015469823032617569, + -0.008561328053474426, + 0.02752387896180153, + 0.012620624154806137, + -0.04318544268608093, + 0.0 + ], + [ + 0.006042063236236572, + 0.007548511028289795, + -0.012632720172405243, + 0.028503254055976868, + 0.02618379145860672, + -0.09268300235271454, + 1.0 + ], + [ + 0.0012746453285217285, + 0.00335809588432312, + -0.00940818339586258, + -0.009167218580842018, + 0.012890022248029709, + -0.021779317408800125, + 1.0 + ], + [ + 0.0018478929996490479, + -0.0005607679486274719, + -0.0005108863115310669, + -0.010860963724553585, + -0.011369060724973679, + 0.009992141276597977, + 1.0 + ], + [ + -2.8848648071289062e-05, + -0.0025246143341064453, + -0.00189981609582901, + -0.015675729140639305, + -0.000979393720626831, + 0.019142046570777893, + 1.0 + ], + [ + -0.0028525590896606445, + -0.003646835684776306, + -0.00397191196680069, + -0.019407227635383606, + 0.0067411623895168304, + 0.020758844912052155, + 1.0 + ], + [ + 0.0025162100791931152, + -0.006567865610122681, + 0.009878776967525482, + -0.014310620725154877, + -0.03238325193524361, + 0.005262136459350586, + 1.0 + ], + [ + 0.012175321578979492, + -0.023270629346370697, + 0.011106826364994049, + -0.003230001777410507, + -0.026445332914590836, + -0.04227747023105621, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 0.9461179971694946 + ], + [ + 0.6661520600318909 + ], + [ + 0.3788849711418152 + ], + [ + 0.18066829442977905 + ], + [ + 0.08191495388746262 + ], + [ + 0.06561893224716187 + ], + [ + 0.06325549632310867 + ], + [ + 0.06325549632310867 + ], + [ + 0.06296365708112717 + ], + [ + 0.06296365708112717 + ], + [ + 0.06296365708112717 + ], + [ + 0.06296365708112717 + ], + [ + 0.06296365708112717 + ], + [ + 0.06296365708112717 + ], + [ + 0.06267260015010834 + ], + [ + 0.08783477544784546 + ], + [ + 0.25133779644966125 + ], + [ + 0.5275958180427551 + ], + [ + 0.8353572487831116 + ], + [ + 1.003452181816101 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.331645667552948, + 0.012439967133104801, + 0.11464828997850418 + ], + [ + 0.34046271443367004, + -0.0018065291224047542, + 0.10497727990150452 + ], + [ + 0.3542279899120331, + -0.016270672902464867, + 0.10128399729728699 + ], + [ + 0.3611460328102112, + -0.0375969335436821, + 0.09639347344636917 + ], + [ + 0.36428913474082947, + -0.06097753345966339, + 0.09250535815954208 + ], + [ + 0.36236482858657837, + -0.08655861020088196, + 0.08441753685474396 + ], + [ + 0.35831212997436523, + -0.10969896614551544, + 0.07407267391681671 + ], + [ + 0.3527028560638428, + -0.13094337284564972, + 0.07017891108989716 + ], + [ + 0.347700834274292, + -0.14589673280715942, + 0.05814569070935249 + ], + [ + 0.3425983190536499, + -0.15076729655265808, + 0.05393315479159355 + ], + [ + 0.3369225263595581, + -0.15168149769306183, + 0.04828733205795288 + ], + [ + 0.33116814494132996, + -0.15337006747722626, + 0.04345162212848663 + ], + [ + 0.3243922293186188, + -0.15241821110248566, + 0.03669301047921181 + ], + [ + 0.3198373019695282, + -0.15654371678829193, + 0.03369239717721939 + ], + [ + 0.3170607089996338, + -0.15555547177791595, + 0.026643941178917885 + ], + [ + 0.3168924152851105, + -0.15521372854709625, + 0.02473350614309311 + ], + [ + 0.31690892577171326, + -0.15519504249095917, + 0.024015460163354874 + ], + [ + 0.317095011472702, + -0.15599209070205688, + 0.024056026712059975 + ], + [ + 0.3191658556461334, + -0.15739122033119202, + 0.029183609411120415 + ], + [ + 0.3299352526664734, + -0.1484684944152832, + 0.05854456126689911 + ], + [ + 0.3424173891544342, + -0.12457776814699173, + 0.0855221077799797 + ], + [ + 0.35049718618392944, + -0.08883444219827652, + 0.10264379531145096 + ], + [ + 0.35154879093170166, + -0.06081577017903328, + 0.10855314880609512 + ], + [ + 0.3447186052799225, + -0.02559613436460495, + 0.11829378455877304 + ], + [ + 0.3318343162536621, + -0.003790054237470031, + 0.11895076185464859 + ], + [ + 0.320351779460907, + 0.02142753079533577, + 0.11881064623594284 + ], + [ + 0.3173481225967407, + 0.03758076950907707, + 0.1182439923286438 + ], + [ + 0.3148467540740967, + 0.05362299457192421, + 0.1180148497223854 + ], + [ + 0.3192598819732666, + 0.06909281760454178, + 0.10945352166891098 + ], + [ + 0.3253019452095032, + 0.07664132863283157, + 0.09682080149650574 + ], + [ + 0.3265765905380249, + 0.0799994245171547, + 0.08741261810064316 + ], + [ + 0.32842448353767395, + 0.07943865656852722, + 0.08690173178911209 + ], + [ + 0.32839563488960266, + 0.07691404223442078, + 0.08500191569328308 + ], + [ + 0.325543075799942, + 0.07326720654964447, + 0.08103000372648239 + ], + [ + 0.32805928587913513, + 0.06669934093952179, + 0.09090878069400787 + ], + [ + 0.3402346074581146, + 0.04342871159315109, + 0.10201560705900192 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9938687061797868, + -0.023437380032521268, + 0.10805407948674225, + -0.01984061647901565, + -0.9992165907454524, + -0.03424258630371082, + 0.10877198542937724, + 0.031888775395829246, + -0.9935551123060588 + ], + [ + 0.9952061222297579, + -0.03040757193016341, + 0.09295242786350799, + -0.026507955606830735, + -0.9987274929432924, + -0.042903649364041896, + 0.09413874104721717, + 0.04023399568174034, + -0.9947457579831779 + ], + [ + 0.9939757368506565, + -0.05064734240292281, + 0.09719609693663195, + -0.04626003153557046, + -0.9978290286344136, + -0.04687471703200296, + 0.09935916683689575, + 0.042096036892128215, + -0.9941607916446183 + ], + [ + 0.9928962938386732, + -0.0801594312292308, + 0.08792846675811693, + -0.07516760129974817, + -0.9954423147388154, + -0.058689264284629845, + 0.09223221452545284, + 0.05166298106415509, + -0.9943963772014133 + ], + [ + 0.9894463168013428, + -0.11709091853408758, + 0.08535632937926194, + -0.1115700840439192, + -0.991507244671567, + -0.06682439756728564, + 0.09245594904975124, + 0.05659594120289466, + -0.9941070349437574 + ], + [ + 0.9847030186059202, + -0.15528381247489456, + 0.0790373502317113, + -0.1487889274173649, + -0.9854337839334136, + -0.08235358256119799, + 0.09067425338197455, + 0.0693339387741366, + -0.9934641335789056 + ], + [ + 0.9811577044519356, + -0.1816765090815792, + 0.0657510839647476, + -0.17563601561331924, + -0.9804882314925517, + -0.08828826606116268, + 0.08050806800617133, + 0.07507645404878703, + -0.9939225206389954 + ], + [ + 0.9789535967409612, + -0.19419602633689004, + 0.06275156398765754, + -0.18827012186816966, + -0.9780242471933727, + -0.08957082735791227, + 0.0787668498778497, + 0.07587143900571738, + -0.9940016640345838 + ], + [ + 0.981991195280237, + -0.1831608967388813, + 0.046318228570401535, + -0.17930542228134033, + -0.980779540565924, + -0.07694841354963104, + 0.05952191136549059, + 0.0672575550633807, + -0.9959586152819276 + ], + [ + 0.9843080269713586, + -0.17144059542820103, + 0.04178313390561506, + -0.16811514110713274, + -0.9830480589222171, + -0.07316975590904559, + 0.053619095201984886, + 0.0649972006203679, + -0.9964438551876547 + ], + [ + 0.9862924697461728, + -0.1616318774985075, + 0.03320090809454501, + -0.15946326540382644, + -0.9853800321100042, + -0.05998049104197163, + 0.042410271264680346, + 0.05386398142724591, + -0.9976472524876023 + ], + [ + 0.9871112940722505, + -0.15839242912117366, + 0.022872068382662092, + -0.15705738837450775, + -0.9862410250473944, + -0.0515908642149375, + 0.03072897447013534, + 0.04733369741060865, + -0.9984063557577421 + ], + [ + 0.9889066993645289, + -0.14824679837939436, + 0.009296597345956843, + -0.1477704027888322, + -0.9882221710777498, + -0.039759887449605215, + 0.015081379631186154, + 0.03794505713051661, + -0.9991660145480241 + ], + [ + 0.9878668742308594, + -0.15500807616924958, + 0.009567398792755885, + -0.15465866938526815, + -0.9875055606527263, + -0.030223561403700232, + 0.014132755616999374, + 0.028377173965231945, + -0.9994973742919074 + ], + [ + 0.9899254339513586, + -0.1415888752772839, + 0.000474988345669655, + -0.14153589720967572, + -0.9896363471478697, + -0.0242381972282077, + 0.003901924815637234, + 0.02392678000766362, + -0.9997060989016714 + ], + [ + 0.9926343557893883, + -0.12096698839483627, + 0.006635015091897145, + -0.12076197874521272, + -0.9923529059228937, + -0.025539275556080054, + 0.009673685757091249, + 0.024549904787435347, + -0.9996518003679087 + ], + [ + 0.9927745142070357, + -0.11936958254371285, + 0.01223383440808424, + -0.11899078654612502, + -0.9924990278217198, + -0.02805124756719128, + 0.015490534468481474, + 0.02639285009772662, + -0.9995316207132219 + ], + [ + 0.9930343330505219, + -0.11721765054048396, + 0.011951392583060513, + -0.11672068976596185, + -0.9925075452275424, + -0.03612552071536655, + 0.016096395977470895, + 0.03447890758372821, + -0.9992757932464739 + ], + [ + 0.9915741484240075, + -0.12953063147648897, + 0.001588611502674103, + -0.12926824393198738, + -0.9902111961369836, + -0.05264511521218609, + 0.008392215913846871, + 0.05199617826596634, + -0.9986120208358146 + ], + [ + 0.9908536575510999, + -0.1284467815882122, + 0.041357630701451285, + -0.12520693445596998, + -0.9894272711246682, + -0.07319083767064437, + 0.0503214952256583, + 0.06734314704869597, + -0.9964600582380769 + ], + [ + 0.9931369514808798, + -0.09349662502852196, + 0.07026646932599036, + -0.08772073225813004, + -0.9928280899996846, + -0.08122473046846783, + 0.07735676269959756, + 0.07450345505984098, + -0.9942158550580372 + ], + [ + 0.9961041065506036, + -0.04026721246305075, + 0.07845483103977242, + -0.034692470971317085, + -0.9968608282743384, + -0.07116826195787025, + 0.08107429537731443, + 0.06816920604389677, + -0.9943741338029748 + ], + [ + 0.997467195422663, + 0.007782254638639154, + 0.07070099411172416, + 0.012875967365363932, + -0.9973302863381913, + -0.07187843499261175, + 0.06995286641770128, + 0.07260672465633201, + -0.9949044476805934 + ], + [ + 0.9922346000495383, + 0.09221113681099115, + 0.08347217927284119, + 0.09776974051564448, + -0.9930744667967438, + -0.06514738088263086, + 0.07688677587229294, + 0.07280253872213321, + -0.9943783053001388 + ], + [ + 0.9871593110109442, + 0.14310991403913892, + 0.0709651124716103, + 0.14769566839676668, + -0.9869456166073804, + -0.06422101989465759, + 0.06084804204927525, + 0.07387761747097651, + -0.9954092693036276 + ], + [ + 0.9794369529246332, + 0.19147716214032956, + 0.06355904046157498, + 0.19466977381329797, + -0.9796691240293132, + -0.04849831530185261, + 0.05298050971054917, + 0.059874066191669684, + -0.9967989575578851 + ], + [ + 0.9779658584096559, + 0.19929842465295128, + 0.062152374982108426, + 0.2020458256999399, + -0.9784949913853511, + -0.04153355451933903, + 0.05253821563675557, + 0.05317602622078202, + -0.9972021089694266 + ], + [ + 0.9771887022693403, + 0.2041959790038527, + 0.058363021818790044, + 0.20600281175686028, + -0.978185282231222, + -0.02676555948400609, + 0.05162442934725763, + 0.03817794893498648, + -0.9979365523467347 + ], + [ + 0.9857354345794586, + 0.1634202189039203, + 0.0402428262904133, + 0.16371724976453886, + -0.9864984610410805, + -0.004177139345891706, + 0.03901685717713846, + 0.010705999111440063, + -0.9991811980011656 + ], + [ + 0.9973339770086614, + 0.07205558987721121, + 0.011529539085911747, + 0.07183317789875142, + -0.997242013170017, + 0.01866445074406407, + 0.012842618777054721, + -0.017786487457010784, + -0.9997593250412264 + ], + [ + 0.998744168382284, + 0.050098470456281685, + -0.0004789366562453916, + 0.05010073760554279, + -0.9987070700845174, + 0.00860838280857666, + -4.7050612903069746e-05, + -0.008621567209012476, + -0.9999628324918381 + ], + [ + 0.9981297283307398, + 0.06005220582870091, + 0.011435820806179685, + 0.060073812782816996, + -0.9981927262853397, + -0.0015550590908090672, + 0.011321768419234053, + 0.002239144065975783, + -0.9999333996790551 + ], + [ + 0.9967854703654124, + 0.07894058482177599, + 0.01367882072401632, + 0.07916697013401974, + -0.9967183750165116, + -0.016884067763551815, + 0.01230109378075845, + 0.017912704219100302, + -0.9997638811836305 + ], + [ + 0.994987311408657, + 0.09957212827558463, + 0.009254264230210934, + 0.09984655310668182, + -0.9943304938263046, + -0.03657232396022895, + 0.005560212989320589, + 0.03731300467407963, + -0.9992881584976905 + ], + [ + 0.9937477215593438, + 0.1029955367332641, + 0.04309739329286427, + 0.10500689491036401, + -0.993343932251094, + -0.04734326014564251, + 0.03793438963390272, + 0.05157278034933796, + -0.9979485109013101 + ], + [ + 0.9959480593507298, + 0.059341684143234555, + 0.06757238784118791, + 0.06282729093403269, + -0.9967367245862148, + -0.05068168678166436, + 0.06434434388045113, + 0.05472171766482575, + -0.9964262837894259 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005870.json b/json/chunk-0005/episode_0005870.json new file mode 100644 index 0000000000000000000000000000000000000000..3d209d3448e0c11e90912e0102ab4b69827fcdfd --- /dev/null +++ b/json/chunk-0005/episode_0005870.json @@ -0,0 +1,1822 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 29, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the blue thing." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005870.mp4", + "start": 0, + "end": 29, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2745306193828583, + -0.10165295749902725, + 0.2310784012079239, + -0.04486657306551933, + -0.13731512427330017, + 0.16025951504707336, + 0.0, + 1.0008161067962646 + ], + [ + 0.2751307785511017, + -0.10192491859197617, + 0.22277888655662537, + -0.03266187757253647, + -0.11062892526388168, + 0.16004203259944916, + 0.0, + 1.0008161067962646 + ], + [ + 0.2903551161289215, + -0.07170578837394714, + 0.2020181268453598, + -0.03475954756140709, + -0.07910757511854172, + 0.2739158570766449, + 0.0, + 1.0008161067962646 + ], + [ + 0.3043264150619507, + -0.039918579161167145, + 0.18512223660945892, + -0.033175982534885406, + -0.05171653628349304, + 0.3923335075378418, + 0.0, + 1.0008161067962646 + ], + [ + 0.31071799993515015, + -0.021252287551760674, + 0.17662858963012695, + -0.030037444084882736, + -0.03764905035495758, + 0.45095524191856384, + 0.0, + 1.0008161067962646 + ], + [ + 0.3118327856063843, + -0.005028140265494585, + 0.16975460946559906, + -0.0229253601282835, + -0.02787502110004425, + 0.46465495228767395, + 0.0, + 1.0008161067962646 + ], + [ + 0.312732458114624, + -0.0016784705221652985, + 0.15412743389606476, + 0.009080268442630768, + 0.019520794972777367, + 0.3587917983531952, + 0.0, + 1.0008161067962646 + ], + [ + 0.3050265610218048, + 0.00246996758505702, + 0.14131104946136475, + 0.050679001957178116, + 0.06135643273591995, + 0.29190143942832947, + 0.0, + 1.0008161067962646 + ], + [ + 0.3033338189125061, + 0.004201012663543224, + 0.11605880409479141, + 0.09404875338077545, + 0.11338458210229874, + 0.28906485438346863, + 0.0, + 1.0008161067962646 + ], + [ + 0.2958877980709076, + 0.003626783611252904, + 0.0997399091720581, + 0.079666368663311, + 0.1319722682237625, + 0.3135971426963806, + 0.0, + 1.0008161067962646 + ], + [ + 0.29374176263809204, + -0.0018714074976742268, + 0.09515870362520218, + -0.0012519456213340163, + 0.07651469856500626, + 0.33842483162879944, + 0.0, + 1.0008161067962646 + ], + [ + 0.29335638880729675, + 0.0023589152842760086, + 0.08796313405036926, + -0.04439100623130798, + 0.05089876055717468, + 0.38330790400505066, + 0.0, + 1.0008161067962646 + ], + [ + 0.28823453187942505, + 0.003796552773565054, + 0.08077965676784515, + -0.03643467277288437, + 0.05823246017098427, + 0.3921423852443695, + 0.0, + 1.0008161067962646 + ], + [ + 0.2772643566131592, + 0.00339431781321764, + 0.0707666426897049, + -0.024880951270461082, + 0.08706719428300858, + 0.3999814987182617, + 0.0, + 1.0008161067962646 + ], + [ + 0.2644404470920563, + 0.00017310766270384192, + 0.07162639498710632, + -0.029977228492498398, + 0.09082704037427902, + 0.40085914731025696, + 0.0, + 1.0008161067962646 + ], + [ + 0.2560543119907379, + -0.0022937655448913574, + 0.06635906547307968, + -0.021920016035437584, + 0.11290965229272842, + 0.4027104675769806, + 0.0, + 0.9620732665061951 + ], + [ + 0.2505480647087097, + -0.002423739992082119, + 0.06335954368114471, + -0.016990559175610542, + 0.12294125556945801, + 0.40973761677742004, + 0.0, + 0.6831957101821899 + ], + [ + 0.24932695925235748, + -0.0022509931586682796, + 0.06678513437509537, + -0.01916084811091423, + 0.11263041198253632, + 0.41464897990226746, + 0.0, + 0.5472165942192078 + ], + [ + 0.24871976673603058, + -0.0010571066522970796, + 0.07428403198719025, + -0.03125734254717827, + 0.09554140269756317, + 0.4168514609336853, + 0.0, + 0.5472165942192078 + ], + [ + 0.2615891098976135, + -0.002154180547222495, + 0.08733506500720978, + -0.0647113174200058, + 0.06643835455179214, + 0.417055606842041, + 0.0, + 0.5472165942192078 + ], + [ + 0.2887859642505646, + 0.003323077457025647, + 0.0846795067191124, + -0.04310949891805649, + 0.0583144910633564, + 0.3846050202846527, + 0.0, + 0.5472165942192078 + ], + [ + 0.3220492899417877, + 0.011837775819003582, + 0.07655457407236099, + -0.001093391329050064, + 0.03598006069660187, + 0.3708755373954773, + 0.0, + 0.5472165942192078 + ], + [ + 0.3608781099319458, + 0.01731828600168228, + 0.06960373371839523, + 0.018541615456342697, + 0.019676944240927696, + 0.3636411726474762, + 0.0, + 0.5472165942192078 + ], + [ + 0.3878251910209656, + 0.022552382200956345, + 0.06513597071170807, + 0.022603601217269897, + 0.02146168239414692, + 0.3786137104034424, + 0.0, + 0.5472165942192078 + ], + [ + 0.40133869647979736, + 0.032352644950151443, + 0.056152451783418655, + 0.0501595064997673, + 0.032831136137247086, + 0.3970800042152405, + 0.0, + 0.5472165942192078 + ], + [ + 0.4084455370903015, + 0.03953384608030319, + 0.04486289992928505, + 0.0787748247385025, + 0.04698712378740311, + 0.40541866421699524, + 0.0, + 0.5472165942192078 + ], + [ + 0.4069916009902954, + 0.05023130029439926, + 0.04008065536618233, + 0.09883949160575867, + 0.04304961487650871, + 0.4212108552455902, + 0.0, + 0.6109193563461304 + ], + [ + 0.4033057391643524, + 0.05463610962033272, + 0.03586859256029129, + 0.10045425593852997, + 0.05187784135341644, + 0.43797099590301514, + 0.0, + 0.9165752530097961 + ], + [ + 0.39334917068481445, + 0.05066784471273422, + 0.0411546491086483, + 0.08033504337072372, + 0.06282494217157364, + 0.43547356128692627, + 0.0, + 1.0014774799346924 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9620732665061951 + ], + [ + 0.6831957101821899 + ], + [ + 0.5472165942192078 + ], + [ + 0.5472165942192078 + ], + [ + 0.5472165942192078 + ], + [ + 0.5472165942192078 + ], + [ + 0.5472165942192078 + ], + [ + 0.5472165942192078 + ], + [ + 0.5472165942192078 + ], + [ + 0.5472165942192078 + ], + [ + 0.5472165942192078 + ], + [ + 0.6109193563461304 + ], + [ + 0.9165752530097961 + ], + [ + 1.0014774799346924 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2745306193828583, + -0.10165295749902725, + 0.2310784012079239 + ], + [ + 0.2751307785511017, + -0.10192491859197617, + 0.22277888655662537 + ], + [ + 0.2903551161289215, + -0.07170578837394714, + 0.2020181268453598 + ], + [ + 0.3043264150619507, + -0.039918579161167145, + 0.18512223660945892 + ], + [ + 0.31071799993515015, + -0.021252287551760674, + 0.17662858963012695 + ], + [ + 0.3118327856063843, + -0.005028140265494585, + 0.16975460946559906 + ], + [ + 0.312732458114624, + -0.0016784705221652985, + 0.15412743389606476 + ], + [ + 0.3050265610218048, + 0.00246996758505702, + 0.14131104946136475 + ], + [ + 0.3033338189125061, + 0.004201012663543224, + 0.11605880409479141 + ], + [ + 0.2958877980709076, + 0.003626783611252904, + 0.0997399091720581 + ], + [ + 0.29374176263809204, + -0.0018714074976742268, + 0.09515870362520218 + ], + [ + 0.29335638880729675, + 0.0023589152842760086, + 0.08796313405036926 + ], + [ + 0.28823453187942505, + 0.003796552773565054, + 0.08077965676784515 + ], + [ + 0.2772643566131592, + 0.00339431781321764, + 0.0707666426897049 + ], + [ + 0.2644404470920563, + 0.00017310766270384192, + 0.07162639498710632 + ], + [ + 0.2560543119907379, + -0.0022937655448913574, + 0.06635906547307968 + ], + [ + 0.2505480647087097, + -0.002423739992082119, + 0.06335954368114471 + ], + [ + 0.24932695925235748, + -0.0022509931586682796, + 0.06678513437509537 + ], + [ + 0.24871976673603058, + -0.0010571066522970796, + 0.07428403198719025 + ], + [ + 0.2615891098976135, + -0.002154180547222495, + 0.08733506500720978 + ], + [ + 0.2887859642505646, + 0.003323077457025647, + 0.0846795067191124 + ], + [ + 0.3220492899417877, + 0.011837775819003582, + 0.07655457407236099 + ], + [ + 0.3608781099319458, + 0.01731828600168228, + 0.06960373371839523 + ], + [ + 0.3878251910209656, + 0.022552382200956345, + 0.06513597071170807 + ], + [ + 0.40133869647979736, + 0.032352644950151443, + 0.056152451783418655 + ], + [ + 0.4084455370903015, + 0.03953384608030319, + 0.04486289992928505 + ], + [ + 0.4069916009902954, + 0.05023130029439926, + 0.04008065536618233 + ], + [ + 0.4033057391643524, + 0.05463610962033272, + 0.03586859256029129 + ], + [ + 0.39334917068481445, + 0.05066784471273422, + 0.0411546491086483 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9778936053517943, + 0.15335303164910624, + 0.14215113188468653, + 0.15807234093156136, + -0.9871721641128565, + -0.022455588016255898, + 0.1368840079939419, + 0.044429338108594535, + -0.9895902193689804 + ], + [ + 0.9811855673409922, + 0.15571544025309017, + 0.11413844272865263, + 0.15838551387896135, + -0.9872685962822919, + -0.014654275420177427, + 0.11040340318592066, + 0.032456439447039985, + -0.9933567677845598 + ], + [ + 0.9597082463750178, + 0.2676960352207487, + 0.08543368520015855, + 0.2696574062292335, + -0.9628803847816725, + -0.012093298492161408, + 0.07902509161975228, + 0.03464386424448149, + -0.996270464063198 + ], + [ + 0.9227839541763163, + 0.38055087996020287, + 0.06042186422345104, + 0.38183446339304694, + -0.9241665032758795, + -0.010895723389359046, + 0.05169348585717316, + 0.03312554881581309, + -0.9981134612535716 + ], + [ + 0.8993933945693506, + 0.43461144883752767, + 0.0469511484882436, + 0.4355166362014985, + -0.9001178754551619, + -0.01063343208080452, + 0.03764015670466377, + 0.03001164483047434, + -0.9988405877705498 + ], + [ + 0.8936289448667716, + 0.44742544367802756, + 0.035182115425612094, + 0.4479402787491064, + -0.8940276284782888, + -0.00800663422795183, + 0.027871411347000365, + 0.022914446687790684, + -0.9993488442793733 + ], + [ + 0.9361433664027982, + 0.3509627943354983, + -0.021464261744934307, + 0.35107632290402896, + -0.9363453953522822, + 0.0016480590900349668, + -0.01951955522603669, + -0.009078413671837218, + -0.9997682578322742 + ], + [ + 0.9558963068057343, + 0.28442947052988304, + -0.07322654524998415, + 0.28723224144797416, + -0.9573627116301618, + 0.030891388005662643, + -0.06131794278944976, + -0.05056198843236033, + -0.9968367946749537 + ], + [ + 0.9523561232611925, + 0.2736119116876055, + -0.13473802829775508, + 0.28322561583909484, + -0.957303659325284, + 0.0579047008021489, + -0.1131417916575398, + -0.09330715741611084, + -0.9891879039674147 + ], + [ + 0.9429584526088777, + 0.29754247956828905, + -0.14932457770181506, + 0.30579986287232386, + -0.9514435477775722, + 0.035236618164839036, + -0.13158951523863543, + -0.0788901023245692, + -0.9881601850077142 + ], + [ + 0.9405189285103188, + 0.3320916921480566, + -0.0716885843076992, + 0.3310303039841895, + -0.9432462826841544, + -0.026559142430791924, + -0.07644006121096983, + 0.0012482823255875047, + -0.9970733969138373 + ], + [ + 0.9262315047152867, + 0.37571583537927367, + -0.03054195013601362, + 0.37350602711091985, + -0.9256745869833733, + -0.0601648296347498, + -0.05087678630449288, + 0.04431895822801091, + -0.9977210945734841 + ], + [ + 0.9225260628730337, + 0.38387450637189097, + -0.039824950442109625, + 0.3815212643798837, + -0.9226689328968234, + -0.05588886376561981, + -0.05819955451680334, + 0.03636486800160472, + -0.9976424250347774 + ], + [ + 0.9175792343323704, + 0.3912733737911621, + -0.07038107475807863, + 0.3879262670955165, + -0.919940700843169, + -0.056765466874825435, + -0.08695723097798573, + 0.024784146026449943, + -0.9959037032195336 + ], + [ + 0.9169309079847044, + 0.3925372910197877, + -0.07177872345752366, + 0.388601105008373, + -0.9192515982207476, + -0.06297364809880646, + -0.09070221148691258, + 0.029849193078663742, + -0.9954306276702238 + ], + [ + 0.9141439690761678, + 0.39409123501218707, + -0.09504158189045112, + 0.3894178960044498, + -0.9188132491993076, + -0.06431108277177702, + -0.11266989870030805, + 0.021778695607864107, + -0.9933937700350662 + ], + [ + 0.910302380580202, + 0.4002222011345591, + -0.10569657340247914, + 0.39536188509895387, + -0.9162629967942583, + -0.06442903473284933, + -0.12263178919439575, + 0.016861507186893172, + -0.9923089911183752 + ], + [ + 0.9094586247075569, + 0.4047656478350108, + -0.09513033311064935, + 0.40031606407717046, + -0.9142222455742571, + -0.0628071217213888, + -0.11239243207085527, + 0.0190382780173691, + -0.9934814971519759 + ], + [ + 0.9101981858631963, + 0.407411812557347, + -0.07453105017429855, + 0.4030370249403557, + -0.9127145227747111, + -0.06718151861456109, + -0.09539611616084641, + 0.03110972363857838, + -0.994953147699206 + ], + [ + 0.9122684763977785, + 0.4081475340806287, + -0.03437757110061598, + 0.40417652433216517, + -0.9106329166740854, + -0.08595945700397987, + -0.0663894882466089, + 0.06452349567057221, + -0.9957053551913855 + ], + [ + 0.9253710670558286, + 0.3771726774753208, + -0.037804227568553395, + 0.3745552846890269, + -0.9251431251987904, + -0.0617943088717522, + -0.058281446168393494, + 0.04302289231924251, + -0.9973727005332599 + ], + [ + 0.9314071716457069, + 0.3624680217087968, + -0.03313025574087927, + 0.3621970104452047, + -0.9319955682734651, + -0.014056540939267063, + -0.03597229811259085, + 0.001092683454733268, + -0.9993521900768351 + ], + [ + 0.9344270051825924, + 0.3552775713441913, + -0.0249803780048417, + 0.3556107982306687, + -0.9345770317471256, + 0.010331113806319705, + -0.019675674505296427, + -0.01853696389664545, + -0.9996345576270642 + ], + [ + 0.9289639630085303, + 0.369087610667743, + -0.02828941644967009, + 0.36954759143387705, + -0.9291198712375468, + 0.013070674693566129, + -0.021460034876639153, + -0.02259647147457598, + -0.9995143152451557 + ], + [ + 0.9216972013559777, + 0.38472304155406994, + -0.049623082430899676, + 0.38651878703945924, + -0.9216707781115085, + 0.0335589636441831, + -0.03282523843178625, + -0.050111456501601, + -0.9982040601245743 + ], + [ + 0.917923131424271, + 0.38978383352342894, + -0.07406542999295308, + 0.3939682211737865, + -0.9175454089396414, + 0.05384666413947283, + -0.04696983608044224, + -0.07860652426845122, + -0.9957985985333633 + ], + [ + 0.9117490210359684, + 0.402994667916697, + -0.07942934137121223, + 0.40848696170766396, + -0.9098768371892111, + 0.07254338881937927, + -0.04303631902004315, + -0.09858721406586798, + -0.9941973830522468 + ], + [ + 0.9043956622248097, + 0.41725539528398514, + -0.08925481082470546, + 0.42353227650696934, + -0.9032540161811542, + 0.06893905286149499, + -0.051854574588677704, + -0.10015047358360929, + -0.9936201415708151 + ], + [ + 0.9048816635055759, + 0.4159112478688089, + -0.09059254355404933, + 0.4210075911746827, + -0.905871608310017, + 0.046359868756444926, + -0.06278362226467471, + -0.08009034370030987, + -0.994808400457743 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + 0.0006001591682434082, + -0.0002719610929489136, + -0.008299514651298523, + 0.012204695492982864, + 0.026686199009418488, + -0.00021748244762420654, + 1.0 + ], + [ + 0.015224337577819824, + 0.030219130218029022, + -0.020760759711265564, + -0.0020976699888706207, + 0.031521350145339966, + 0.11387382447719574, + 1.0 + ], + [ + 0.013971298933029175, + 0.03178720921278, + -0.01689589023590088, + 0.0015835650265216827, + 0.027391038835048676, + 0.1184176504611969, + 1.0 + ], + [ + 0.006391584873199463, + 0.01866629160940647, + -0.00849364697933197, + 0.0031385384500026703, + 0.014067485928535461, + 0.058621734380722046, + 1.0 + ], + [ + 0.0011147856712341309, + 0.016224147751927376, + -0.006873980164527893, + 0.0071120839565992355, + 0.00977402925491333, + 0.013699710369110107, + 1.0 + ], + [ + 0.0008996725082397461, + 0.0033496697433292866, + -0.015627175569534302, + 0.03200563043355942, + 0.047395817935466766, + -0.10586315393447876, + 1.0 + ], + [ + -0.007705897092819214, + 0.004148438107222319, + -0.012816384434700012, + 0.04159873351454735, + 0.041835635900497437, + -0.06689035892486572, + 1.0 + ], + [ + -0.001692742109298706, + 0.0017310450784862041, + -0.025252245366573334, + 0.043369751423597336, + 0.052028149366378784, + -0.00283658504486084, + 1.0 + ], + [ + -0.007446020841598511, + -0.0005742290522903204, + -0.016318894922733307, + -0.014382384717464447, + 0.018587686121463776, + 0.024532288312911987, + 1.0 + ], + [ + -0.0021460354328155518, + -0.005498191341757774, + -0.0045812055468559265, + -0.0809183120727539, + -0.055457569658756256, + 0.024827688932418823, + 1.0 + ], + [ + -0.0003853738307952881, + 0.004230322781950235, + -0.007195569574832916, + -0.04313905909657478, + -0.025615938007831573, + 0.04488307237625122, + 1.0 + ], + [ + -0.005121856927871704, + 0.0014376374892890453, + -0.007183477282524109, + 0.007956333458423615, + 0.007333699613809586, + 0.008834481239318848, + 1.0 + ], + [ + -0.01097017526626587, + -0.000402234960347414, + -0.010013014078140259, + 0.011553721502423286, + 0.028834734112024307, + 0.007839113473892212, + 1.0 + ], + [ + -0.012823909521102905, + -0.003221210092306137, + 0.0008597522974014282, + -0.005096277222037315, + 0.0037598460912704468, + 0.0008776485919952393, + 1.0 + ], + [ + -0.00838613510131836, + -0.0024668732658028603, + -0.005267329514026642, + 0.008057212457060814, + 0.022082611918449402, + 0.0018513202667236328, + 0.0 + ], + [ + -0.005506247282028198, + -0.00012997444719076157, + -0.002999521791934967, + 0.004929456859827042, + 0.010031603276729584, + 0.007027149200439453, + 0.0 + ], + [ + -0.0012211054563522339, + 0.00017274683341383934, + 0.003425590693950653, + -0.002170288935303688, + -0.010310843586921692, + 0.004911363124847412, + 0.0 + ], + [ + -0.0006071925163269043, + 0.0011938865063712, + 0.007498897612094879, + -0.012096494436264038, + -0.017089009284973145, + 0.0022024810314178467, + 0.0 + ], + [ + 0.012869343161582947, + -0.0010970738949254155, + 0.013051033020019531, + -0.03345397487282753, + -0.029103048145771027, + 0.0002041459083557129, + 0.0 + ], + [ + 0.02719685435295105, + 0.005477258004248142, + -0.0026555582880973816, + 0.02160181850194931, + -0.008123863488435745, + -0.032450586557388306, + 0.0 + ], + [ + 0.033263325691223145, + 0.008514698594808578, + -0.008124932646751404, + 0.042016107589006424, + -0.022334430366754532, + -0.013729482889175415, + 0.0 + ], + [ + 0.03882881999015808, + 0.0054805101826786995, + -0.006950840353965759, + 0.01963500678539276, + -0.01630311645567417, + -0.007234364748001099, + 0.0 + ], + [ + 0.026947081089019775, + 0.005234096199274063, + -0.004467763006687164, + 0.0040619857609272, + 0.001784738153219223, + 0.014972537755966187, + 0.0 + ], + [ + 0.013513505458831787, + 0.009800262749195099, + -0.008983518928289413, + 0.027555905282497406, + 0.011369453743100166, + 0.018466293811798096, + 0.0 + ], + [ + 0.00710684061050415, + 0.007181201130151749, + -0.011289551854133606, + 0.0286153182387352, + 0.014155987650156021, + 0.00833866000175476, + 0.0 + ], + [ + -0.0014539361000061035, + 0.01069745421409607, + -0.004782244563102722, + 0.020064666867256165, + -0.003937508910894394, + 0.01579219102859497, + 1.0 + ], + [ + -0.003685861825942993, + 0.004404809325933456, + -0.004212062805891037, + 0.0016147643327713013, + 0.00882822647690773, + 0.016760140657424927, + 1.0 + ], + [ + -0.009956568479537964, + -0.0039682649075984955, + 0.00528605654835701, + -0.020119212567806244, + 0.010947100818157196, + -0.002497434616088867, + 1.0 + ], + [ + -0.00591510534286499, + 0.0036117732524871826, + 0.04838854447007179, + -0.053733907639980316, + -0.11100509762763977, + 0.014046460390090942, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9620732665061951 + ], + [ + 0.6831957101821899 + ], + [ + 0.5472165942192078 + ], + [ + 0.5472165942192078 + ], + [ + 0.5472165942192078 + ], + [ + 0.5472165942192078 + ], + [ + 0.5472165942192078 + ], + [ + 0.5472165942192078 + ], + [ + 0.5472165942192078 + ], + [ + 0.5472165942192078 + ], + [ + 0.5472165942192078 + ], + [ + 0.6109193563461304 + ], + [ + 0.9165752530097961 + ], + [ + 1.0014774799346924 + ], + [ + 0.9988223910331726 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2751307785511017, + -0.10192491859197617, + 0.22277888655662537 + ], + [ + 0.2903551161289215, + -0.07170578837394714, + 0.2020181268453598 + ], + [ + 0.3043264150619507, + -0.039918579161167145, + 0.18512223660945892 + ], + [ + 0.31071799993515015, + -0.021252287551760674, + 0.17662858963012695 + ], + [ + 0.3118327856063843, + -0.005028140265494585, + 0.16975460946559906 + ], + [ + 0.312732458114624, + -0.0016784705221652985, + 0.15412743389606476 + ], + [ + 0.3050265610218048, + 0.00246996758505702, + 0.14131104946136475 + ], + [ + 0.3033338189125061, + 0.004201012663543224, + 0.11605880409479141 + ], + [ + 0.2958877980709076, + 0.003626783611252904, + 0.0997399091720581 + ], + [ + 0.29374176263809204, + -0.0018714074976742268, + 0.09515870362520218 + ], + [ + 0.29335638880729675, + 0.0023589152842760086, + 0.08796313405036926 + ], + [ + 0.28823453187942505, + 0.003796552773565054, + 0.08077965676784515 + ], + [ + 0.2772643566131592, + 0.00339431781321764, + 0.0707666426897049 + ], + [ + 0.2644404470920563, + 0.00017310766270384192, + 0.07162639498710632 + ], + [ + 0.2560543119907379, + -0.0022937655448913574, + 0.06635906547307968 + ], + [ + 0.2505480647087097, + -0.002423739992082119, + 0.06335954368114471 + ], + [ + 0.24932695925235748, + -0.0022509931586682796, + 0.06678513437509537 + ], + [ + 0.24871976673603058, + -0.0010571066522970796, + 0.07428403198719025 + ], + [ + 0.2615891098976135, + -0.002154180547222495, + 0.08733506500720978 + ], + [ + 0.2887859642505646, + 0.003323077457025647, + 0.0846795067191124 + ], + [ + 0.3220492899417877, + 0.011837775819003582, + 0.07655457407236099 + ], + [ + 0.3608781099319458, + 0.01731828600168228, + 0.06960373371839523 + ], + [ + 0.3878251910209656, + 0.022552382200956345, + 0.06513597071170807 + ], + [ + 0.40133869647979736, + 0.032352644950151443, + 0.056152451783418655 + ], + [ + 0.4084455370903015, + 0.03953384608030319, + 0.04486289992928505 + ], + [ + 0.4069916009902954, + 0.05023130029439926, + 0.04008065536618233 + ], + [ + 0.4033057391643524, + 0.05463610962033272, + 0.03586859256029129 + ], + [ + 0.39334917068481445, + 0.05066784471273422, + 0.0411546491086483 + ], + [ + 0.38743406534194946, + 0.054279617965221405, + 0.08954319357872009 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9811855673409922, + 0.15571544025309017, + 0.11413844272865263, + 0.15838551387896135, + -0.9872685962822919, + -0.014654275420177427, + 0.11040340318592066, + 0.032456439447039985, + -0.9933567677845598 + ], + [ + 0.9597082463750178, + 0.2676960352207487, + 0.08543368520015855, + 0.2696574062292335, + -0.9628803847816725, + -0.012093298492161408, + 0.07902509161975228, + 0.03464386424448149, + -0.996270464063198 + ], + [ + 0.9227839541763163, + 0.38055087996020287, + 0.06042186422345104, + 0.38183446339304694, + -0.9241665032758795, + -0.010895723389359046, + 0.05169348585717316, + 0.03312554881581309, + -0.9981134612535716 + ], + [ + 0.8993933945693506, + 0.43461144883752767, + 0.0469511484882436, + 0.4355166362014985, + -0.9001178754551619, + -0.01063343208080452, + 0.03764015670466377, + 0.03001164483047434, + -0.9988405877705498 + ], + [ + 0.8936289448667716, + 0.44742544367802756, + 0.035182115425612094, + 0.4479402787491064, + -0.8940276284782888, + -0.00800663422795183, + 0.027871411347000365, + 0.022914446687790684, + -0.9993488442793733 + ], + [ + 0.9361433664027982, + 0.3509627943354983, + -0.021464261744934307, + 0.35107632290402896, + -0.9363453953522822, + 0.0016480590900349668, + -0.01951955522603669, + -0.009078413671837218, + -0.9997682578322742 + ], + [ + 0.9558963068057343, + 0.28442947052988304, + -0.07322654524998415, + 0.28723224144797416, + -0.9573627116301618, + 0.030891388005662643, + -0.06131794278944976, + -0.05056198843236033, + -0.9968367946749537 + ], + [ + 0.9523561232611925, + 0.2736119116876055, + -0.13473802829775508, + 0.28322561583909484, + -0.957303659325284, + 0.0579047008021489, + -0.1131417916575398, + -0.09330715741611084, + -0.9891879039674147 + ], + [ + 0.9429584526088777, + 0.29754247956828905, + -0.14932457770181506, + 0.30579986287232386, + -0.9514435477775722, + 0.035236618164839036, + -0.13158951523863543, + -0.0788901023245692, + -0.9881601850077142 + ], + [ + 0.9405189285103188, + 0.3320916921480566, + -0.0716885843076992, + 0.3310303039841895, + -0.9432462826841544, + -0.026559142430791924, + -0.07644006121096983, + 0.0012482823255875047, + -0.9970733969138373 + ], + [ + 0.9262315047152867, + 0.37571583537927367, + -0.03054195013601362, + 0.37350602711091985, + -0.9256745869833733, + -0.0601648296347498, + -0.05087678630449288, + 0.04431895822801091, + -0.9977210945734841 + ], + [ + 0.9225260628730337, + 0.38387450637189097, + -0.039824950442109625, + 0.3815212643798837, + -0.9226689328968234, + -0.05588886376561981, + -0.05819955451680334, + 0.03636486800160472, + -0.9976424250347774 + ], + [ + 0.9175792343323704, + 0.3912733737911621, + -0.07038107475807863, + 0.3879262670955165, + -0.919940700843169, + -0.056765466874825435, + -0.08695723097798573, + 0.024784146026449943, + -0.9959037032195336 + ], + [ + 0.9169309079847044, + 0.3925372910197877, + -0.07177872345752366, + 0.388601105008373, + -0.9192515982207476, + -0.06297364809880646, + -0.09070221148691258, + 0.029849193078663742, + -0.9954306276702238 + ], + [ + 0.9141439690761678, + 0.39409123501218707, + -0.09504158189045112, + 0.3894178960044498, + -0.9188132491993076, + -0.06431108277177702, + -0.11266989870030805, + 0.021778695607864107, + -0.9933937700350662 + ], + [ + 0.910302380580202, + 0.4002222011345591, + -0.10569657340247914, + 0.39536188509895387, + -0.9162629967942583, + -0.06442903473284933, + -0.12263178919439575, + 0.016861507186893172, + -0.9923089911183752 + ], + [ + 0.9094586247075569, + 0.4047656478350108, + -0.09513033311064935, + 0.40031606407717046, + -0.9142222455742571, + -0.0628071217213888, + -0.11239243207085527, + 0.0190382780173691, + -0.9934814971519759 + ], + [ + 0.9101981858631963, + 0.407411812557347, + -0.07453105017429855, + 0.4030370249403557, + -0.9127145227747111, + -0.06718151861456109, + -0.09539611616084641, + 0.03110972363857838, + -0.994953147699206 + ], + [ + 0.9122684763977785, + 0.4081475340806287, + -0.03437757110061598, + 0.40417652433216517, + -0.9106329166740854, + -0.08595945700397987, + -0.0663894882466089, + 0.06452349567057221, + -0.9957053551913855 + ], + [ + 0.9253710670558286, + 0.3771726774753208, + -0.037804227568553395, + 0.3745552846890269, + -0.9251431251987904, + -0.0617943088717522, + -0.058281446168393494, + 0.04302289231924251, + -0.9973727005332599 + ], + [ + 0.9314071716457069, + 0.3624680217087968, + -0.03313025574087927, + 0.3621970104452047, + -0.9319955682734651, + -0.014056540939267063, + -0.03597229811259085, + 0.001092683454733268, + -0.9993521900768351 + ], + [ + 0.9344270051825924, + 0.3552775713441913, + -0.0249803780048417, + 0.3556107982306687, + -0.9345770317471256, + 0.010331113806319705, + -0.019675674505296427, + -0.01853696389664545, + -0.9996345576270642 + ], + [ + 0.9289639630085303, + 0.369087610667743, + -0.02828941644967009, + 0.36954759143387705, + -0.9291198712375468, + 0.013070674693566129, + -0.021460034876639153, + -0.02259647147457598, + -0.9995143152451557 + ], + [ + 0.9216972013559777, + 0.38472304155406994, + -0.049623082430899676, + 0.38651878703945924, + -0.9216707781115085, + 0.0335589636441831, + -0.03282523843178625, + -0.050111456501601, + -0.9982040601245743 + ], + [ + 0.917923131424271, + 0.38978383352342894, + -0.07406542999295308, + 0.3939682211737865, + -0.9175454089396414, + 0.05384666413947283, + -0.04696983608044224, + -0.07860652426845122, + -0.9957985985333633 + ], + [ + 0.9117490210359684, + 0.402994667916697, + -0.07942934137121223, + 0.40848696170766396, + -0.9098768371892111, + 0.07254338881937927, + -0.04303631902004315, + -0.09858721406586798, + -0.9941973830522468 + ], + [ + 0.9043956622248097, + 0.41725539528398514, + -0.08925481082470546, + 0.42353227650696934, + -0.9032540161811542, + 0.06893905286149499, + -0.051854574588677704, + -0.10015047358360929, + -0.9936201415708151 + ], + [ + 0.9048816635055759, + 0.4159112478688089, + -0.09059254355404933, + 0.4210075911746827, + -0.905871608310017, + 0.046359868756444926, + -0.06278362226467471, + -0.08009034370030987, + -0.994808400457743 + ], + [ + 0.899610616400363, + 0.43553329570233484, + 0.03180388646725608, + 0.4340290394790161, + -0.8997804931018228, + 0.044876019457656034, + 0.048161517300457084, + -0.026567133230813784, + -0.9984861820191677 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005871.json b/json/chunk-0005/episode_0005871.json new file mode 100644 index 0000000000000000000000000000000000000000..493239d8586ca67282921e79488c1fee6928eb73 --- /dev/null +++ b/json/chunk-0005/episode_0005871.json @@ -0,0 +1,2782 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 45, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut the pan on the yellow cloth." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005871.mp4", + "start": 0, + "end": 45, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.28393033146858215, + -0.08527494221925735, + 0.0691627562046051, + -0.01751961000263691, + -0.1096222773194313, + -0.30945074558258057, + 0.0, + 1.0008161067962646 + ], + [ + 0.2808048129081726, + -0.08464904129505157, + 0.061841756105422974, + -0.016987433657050133, + -0.0804794654250145, + -0.31344375014305115, + 0.0, + 1.0008161067962646 + ], + [ + 0.28161776065826416, + -0.0686132088303566, + 0.0615781769156456, + 0.011434385553002357, + -0.057507846504449844, + -0.3329514265060425, + 0.0, + 1.0008161067962646 + ], + [ + 0.284572035074234, + -0.05067366734147072, + 0.05998340621590614, + 0.007343917153775692, + -0.05942638963460922, + -0.3390004634857178, + 0.0, + 1.0008161067962646 + ], + [ + 0.28743305802345276, + -0.030429644510149956, + 0.05983322113752365, + 0.05615187808871269, + -0.0508192777633667, + -0.32248204946517944, + 0.0, + 1.0008161067962646 + ], + [ + 0.2952004373073578, + 0.0037442154716700315, + 0.06477826088666916, + 0.06610211730003357, + -0.06392703205347061, + -0.24992798268795013, + 0.0, + 1.0008161067962646 + ], + [ + 0.3062753677368164, + 0.025710834190249443, + 0.06531590968370438, + 0.06481511145830154, + -0.07014302164316177, + -0.21304143965244293, + 0.0, + 1.0008161067962646 + ], + [ + 0.3169699013233185, + 0.04807795211672783, + 0.0634363442659378, + 0.07587610185146332, + -0.09422639012336731, + -0.17889419198036194, + 0.0, + 1.0008161067962646 + ], + [ + 0.33039963245391846, + 0.05608648434281349, + 0.05995232239365578, + 0.08111710846424103, + -0.11083933711051941, + -0.18143710494041443, + 0.0, + 1.0008161067962646 + ], + [ + 0.3489190638065338, + 0.06302347779273987, + 0.05990004539489746, + 0.107716865837574, + -0.1404990255832672, + -0.214609295129776, + 0.0, + 1.0008161067962646 + ], + [ + 0.3660609722137451, + 0.07084667682647705, + 0.055934496223926544, + 0.09601009637117386, + -0.14928805828094482, + -0.23855271935462952, + 0.0, + 1.0008161067962646 + ], + [ + 0.37761807441711426, + 0.07847970724105835, + 0.05132496356964111, + 0.08862239122390747, + -0.13645659387111664, + -0.25323936343193054, + 0.0, + 1.0008161067962646 + ], + [ + 0.3812061548233032, + 0.0837429016828537, + 0.03943757712841034, + 0.06595678627490997, + -0.11282513290643692, + -0.26023948192596436, + 0.0, + 1.0008161067962646 + ], + [ + 0.3779759705066681, + 0.08792788535356522, + 0.031585630029439926, + 0.05004018917679787, + -0.09330780059099197, + -0.2646474838256836, + 0.0, + 1.0008161067962646 + ], + [ + 0.37963905930519104, + 0.08831476420164108, + 0.018620222806930542, + 0.03659864887595177, + -0.06566771864891052, + -0.280386745929718, + 0.0, + 1.0008161067962646 + ], + [ + 0.38154882192611694, + 0.08958069980144501, + 0.012235685251653194, + 0.03116765059530735, + -0.05287792161107063, + -0.28238561749458313, + 0.0, + 0.9961419701576233 + ], + [ + 0.3823704123497009, + 0.09080702811479568, + 0.011819137260317802, + 0.02860049344599247, + -0.05079939216375351, + -0.2799111604690552, + 0.0, + 0.9255412817001343 + ], + [ + 0.38200098276138306, + 0.09216435253620148, + 0.012132850475609303, + 0.028764788061380386, + -0.04895193129777908, + -0.27305275201797485, + 0.0, + 0.6440550088882446 + ], + [ + 0.38029876351356506, + 0.09361586719751358, + 0.011165203526616096, + 0.03495647758245468, + -0.036797817796468735, + -0.2712823450565338, + 0.0, + 0.36275482177734375 + ], + [ + 0.37674573063850403, + 0.09460842609405518, + 0.011106655932962894, + 0.04339485988020897, + -0.02879945933818817, + -0.269705593585968, + 0.0, + 0.15923498570919037 + ], + [ + 0.37056964635849, + 0.09457474946975708, + 0.020816385746002197, + 0.054885879158973694, + -0.031522247940301895, + -0.26639923453330994, + 0.0, + 0.09326785057783127 + ], + [ + 0.36107367277145386, + 0.09390662610530853, + 0.03333646059036255, + 0.05630776658654213, + -0.013407448306679726, + -0.2673459053039551, + 0.0, + 0.07755524665117264 + ], + [ + 0.3511272668838501, + 0.09160833805799484, + 0.03866209834814072, + 0.05815637856721878, + 0.020410358905792236, + -0.25091224908828735, + 0.0, + 0.07429859787225723 + ], + [ + 0.33435824513435364, + 0.07381678372621536, + 0.04099951311945915, + 0.06771639734506607, + 0.0649736300110817, + -0.2450331449508667, + 0.0, + 0.07365728914737701 + ], + [ + 0.3187204599380493, + 0.05947937071323395, + 0.05310949683189392, + 0.09496067464351654, + 0.06147746369242668, + -0.242184117436409, + 0.0, + 0.07365728914737701 + ], + [ + 0.30202990770339966, + 0.04936365783214569, + 0.06290112435817719, + 0.10615446418523788, + 0.05336222052574158, + -0.21519003808498383, + 0.0, + 0.07365728914737701 + ], + [ + 0.2844284474849701, + 0.04270109534263611, + 0.065536729991436, + 0.12144006043672562, + 0.055212344974279404, + -0.17874477803707123, + 0.0, + 0.07365728914737701 + ], + [ + 0.2655397951602936, + 0.03743205964565277, + 0.05639808997511864, + 0.12988731265068054, + 0.05481797829270363, + -0.15533261001110077, + 0.0, + 0.07365728914737701 + ], + [ + 0.25170063972473145, + 0.03169591352343559, + 0.0462443046271801, + 0.15067312121391296, + 0.04664185270667076, + -0.1551685631275177, + 0.0, + 0.07365728914737701 + ], + [ + 0.24862167239189148, + 0.028611499816179276, + 0.040662284940481186, + 0.1551530957221985, + 0.03849878907203674, + -0.15885721147060394, + 0.0, + 0.07365728914737701 + ], + [ + 0.2505834996700287, + 0.024105889722704887, + 0.03917711600661278, + 0.16077809035778046, + 0.02343551628291607, + -0.17185252904891968, + 0.0, + 0.07365728914737701 + ], + [ + 0.2541813552379608, + 0.022910503670573235, + 0.03594742715358734, + 0.1559714376926422, + 0.00881517305970192, + -0.19018305838108063, + 0.0, + 0.07365728914737701 + ], + [ + 0.25410836935043335, + 0.023691333830356598, + 0.029084524139761925, + 0.15823563933372498, + 0.023900631815195084, + -0.19066877663135529, + 0.0, + 0.07365728914737701 + ], + [ + 0.2553767263889313, + 0.023388225585222244, + 0.027552373707294464, + 0.15979249775409698, + 0.018774965777993202, + -0.18991434574127197, + 0.0, + 0.07365728914737701 + ], + [ + 0.2556003928184509, + 0.020878130570054054, + 0.026289058849215508, + 0.14269894361495972, + 0.010674738325178623, + -0.2022107094526291, + 0.0, + 0.07365728914737701 + ], + [ + 0.2549145519733429, + 0.02119993045926094, + 0.024773163720965385, + 0.10876472294330597, + 0.0023633851669728756, + -0.198370561003685, + 0.0, + 0.0936371386051178 + ], + [ + 0.24981151521205902, + 0.022695258259773254, + 0.02359648048877716, + 0.044066086411476135, + 0.005475360434502363, + -0.22061264514923096, + 0.0, + 0.27449509501457214 + ], + [ + 0.24619925022125244, + 0.026980793103575706, + 0.03481239452958107, + -0.03229571878910065, + -0.035827551037073135, + -0.21950975060462952, + 0.0, + 0.5149424076080322 + ], + [ + 0.24326911568641663, + 0.025568757206201553, + 0.043108802288770676, + -0.09774544835090637, + -0.05922818183898926, + -0.22324630618095398, + 0.0, + 0.8307508826255798 + ], + [ + 0.24600735306739807, + 0.027913790196180344, + 0.05720745027065277, + -0.10203705728054047, + -0.08137135952711105, + -0.2046574354171753, + 0.0, + 1.0001531839370728 + ], + [ + 0.2534269690513611, + 0.034851156175136566, + 0.0675431564450264, + -0.04985541105270386, + -0.07811910659074783, + -0.17551247775554657, + 0.0, + 1.0001531839370728 + ], + [ + 0.2648162543773651, + 0.04122878983616829, + 0.07842495292425156, + 0.014431961812078953, + -0.08586329221725464, + -0.16328072547912598, + 0.0, + 1.0001531839370728 + ], + [ + 0.27642205357551575, + 0.04659334942698479, + 0.08631889522075653, + 0.03959488496184349, + -0.10654135793447495, + -0.1479797065258026, + 0.0, + 1.0001531839370728 + ], + [ + 0.285593181848526, + 0.06468236446380615, + 0.09926005452871323, + 0.037670671939849854, + -0.14408175647258759, + -0.06566780805587769, + 0.0, + 1.0001531839370728 + ], + [ + 0.2982139587402344, + 0.07454824447631836, + 0.10365856438875198, + 0.0174612607806921, + -0.13486015796661377, + 0.007217146921902895, + 0.0, + 1.0001531839370728 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9961419701576233 + ], + [ + 0.9255412817001343 + ], + [ + 0.6440550088882446 + ], + [ + 0.36275482177734375 + ], + [ + 0.15923498570919037 + ], + [ + 0.09326785057783127 + ], + [ + 0.07755524665117264 + ], + [ + 0.07429859787225723 + ], + [ + 0.07365728914737701 + ], + [ + 0.07365728914737701 + ], + [ + 0.07365728914737701 + ], + [ + 0.07365728914737701 + ], + [ + 0.07365728914737701 + ], + [ + 0.07365728914737701 + ], + [ + 0.07365728914737701 + ], + [ + 0.07365728914737701 + ], + [ + 0.07365728914737701 + ], + [ + 0.07365728914737701 + ], + [ + 0.07365728914737701 + ], + [ + 0.07365728914737701 + ], + [ + 0.0936371386051178 + ], + [ + 0.27449509501457214 + ], + [ + 0.5149424076080322 + ], + [ + 0.8307508826255798 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.28393033146858215, + -0.08527494221925735, + 0.0691627562046051 + ], + [ + 0.2808048129081726, + -0.08464904129505157, + 0.061841756105422974 + ], + [ + 0.28161776065826416, + -0.0686132088303566, + 0.0615781769156456 + ], + [ + 0.284572035074234, + -0.05067366734147072, + 0.05998340621590614 + ], + [ + 0.28743305802345276, + -0.030429644510149956, + 0.05983322113752365 + ], + [ + 0.2952004373073578, + 0.0037442154716700315, + 0.06477826088666916 + ], + [ + 0.3062753677368164, + 0.025710834190249443, + 0.06531590968370438 + ], + [ + 0.3169699013233185, + 0.04807795211672783, + 0.0634363442659378 + ], + [ + 0.33039963245391846, + 0.05608648434281349, + 0.05995232239365578 + ], + [ + 0.3489190638065338, + 0.06302347779273987, + 0.05990004539489746 + ], + [ + 0.3660609722137451, + 0.07084667682647705, + 0.055934496223926544 + ], + [ + 0.37761807441711426, + 0.07847970724105835, + 0.05132496356964111 + ], + [ + 0.3812061548233032, + 0.0837429016828537, + 0.03943757712841034 + ], + [ + 0.3779759705066681, + 0.08792788535356522, + 0.031585630029439926 + ], + [ + 0.37963905930519104, + 0.08831476420164108, + 0.018620222806930542 + ], + [ + 0.38154882192611694, + 0.08958069980144501, + 0.012235685251653194 + ], + [ + 0.3823704123497009, + 0.09080702811479568, + 0.011819137260317802 + ], + [ + 0.38200098276138306, + 0.09216435253620148, + 0.012132850475609303 + ], + [ + 0.38029876351356506, + 0.09361586719751358, + 0.011165203526616096 + ], + [ + 0.37674573063850403, + 0.09460842609405518, + 0.011106655932962894 + ], + [ + 0.37056964635849, + 0.09457474946975708, + 0.020816385746002197 + ], + [ + 0.36107367277145386, + 0.09390662610530853, + 0.03333646059036255 + ], + [ + 0.3511272668838501, + 0.09160833805799484, + 0.03866209834814072 + ], + [ + 0.33435824513435364, + 0.07381678372621536, + 0.04099951311945915 + ], + [ + 0.3187204599380493, + 0.05947937071323395, + 0.05310949683189392 + ], + [ + 0.30202990770339966, + 0.04936365783214569, + 0.06290112435817719 + ], + [ + 0.2844284474849701, + 0.04270109534263611, + 0.065536729991436 + ], + [ + 0.2655397951602936, + 0.03743205964565277, + 0.05639808997511864 + ], + [ + 0.25170063972473145, + 0.03169591352343559, + 0.0462443046271801 + ], + [ + 0.24862167239189148, + 0.028611499816179276, + 0.040662284940481186 + ], + [ + 0.2505834996700287, + 0.024105889722704887, + 0.03917711600661278 + ], + [ + 0.2541813552379608, + 0.022910503670573235, + 0.03594742715358734 + ], + [ + 0.25410836935043335, + 0.023691333830356598, + 0.029084524139761925 + ], + [ + 0.2553767263889313, + 0.023388225585222244, + 0.027552373707294464 + ], + [ + 0.2556003928184509, + 0.020878130570054054, + 0.026289058849215508 + ], + [ + 0.2549145519733429, + 0.02119993045926094, + 0.024773163720965385 + ], + [ + 0.24981151521205902, + 0.022695258259773254, + 0.02359648048877716 + ], + [ + 0.24619925022125244, + 0.026980793103575706, + 0.03481239452958107 + ], + [ + 0.24326911568641663, + 0.025568757206201553, + 0.043108802288770676 + ], + [ + 0.24600735306739807, + 0.027913790196180344, + 0.05720745027065277 + ], + [ + 0.2534269690513611, + 0.034851156175136566, + 0.0675431564450264 + ], + [ + 0.2648162543773651, + 0.04122878983616829, + 0.07842495292425156 + ], + [ + 0.27642205357551575, + 0.04659334942698479, + 0.08631889522075653 + ], + [ + 0.285593181848526, + 0.06468236446380615, + 0.09926005452871323 + ], + [ + 0.2982139587402344, + 0.07454824447631836, + 0.10365856438875198 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9467835870376323, + -0.3063143424440973, + 0.09885526252655412, + -0.3027075404019963, + -0.9517711340577646, + -0.04999853356019518, + 0.1094028532531368, + 0.01741355757553621, + -0.9938449495331934 + ], + [ + 0.9481983562863895, + -0.30959099524476485, + 0.07122705103501957, + -0.3073384198450777, + -0.9507190622773762, + -0.04094337931286468, + 0.08039261671895033, + 0.01693163564994083, + -0.9966194594183367 + ], + [ + 0.9435195010978442, + -0.32619132319337385, + 0.05805318011470812, + -0.3262934917886361, + -0.9452348454735033, + -0.007977726434344409, + 0.05747615387666515, + -0.011415234383835009, + -0.9982816156573794 + ], + [ + 0.9414227622570333, + -0.33212430175958124, + 0.05845195364611805, + -0.3319575908403413, + -0.9432071385799601, + -0.012823868966908705, + 0.05939141846945439, + -0.007330887566627216, + -0.9982078528541396 + ], + [ + 0.9472272535323779, + -0.3137182239329567, + 0.06588934768124417, + -0.31651248582038893, + -0.9478603707855248, + 0.037155939150101264, + 0.05079740628522967, + -0.05604991941724104, + -0.9971349106555314 + ], + [ + 0.9669510638723798, + -0.2427053617364321, + 0.07810088002359623, + -0.24682896621182476, + -0.9678578326840717, + 0.0482356419143894, + 0.06388349955093568, + -0.06591906474214401, + -0.9957778745225495 + ], + [ + 0.974988953095892, + -0.20655279729423615, + 0.0820517109565818, + -0.21091363518502554, + -0.976299866383172, + 0.04851813468424038, + 0.07008551800489311, + -0.06461046997295668, + -0.9954463859675513 + ], + [ + 0.9796758350661506, + -0.17041125942149732, + 0.1058076596935207, + -0.17715216931234284, + -0.982478868324382, + 0.05789975996472558, + 0.09408701873995025, + -0.07546705213814153, + -0.9926995300423022 + ], + [ + 0.9775497259760596, + -0.17103433118630426, + 0.12306011051427262, + -0.17933600382382472, + -0.9819684425894093, + 0.05980447718216075, + 0.11061252630978341, + -0.08053095873131061, + -0.9905955954420471 + ], + [ + 0.9674319613653789, + -0.19702153694424004, + 0.15892738627708486, + -0.21086718910257093, + -0.9746030253338528, + 0.07539211875310536, + 0.14003724036382925, + -0.10644931653247566, + -0.9844074940394614 + ], + [ + 0.960873184704401, + -0.22135405475368813, + 0.16650857443424225, + -0.23366830411705558, + -0.9705750998971714, + 0.05816441447014867, + 0.14873414727990877, + -0.0947964023773964, + -0.9843230138167153 + ], + [ + 0.9591066247495266, + -0.23790225160491557, + 0.15335253842986316, + -0.24821234240046858, + -0.9673231559759904, + 0.05173533601633, + 0.13603350852508275, + -0.08768369628363908, + -0.9868163223033936 + ], + [ + 0.9601844621417316, + -0.24958192372320653, + 0.1255175765071061, + -0.2556759862293685, + -0.9661366016605779, + 0.034782998683116385, + 0.11258591709105312, + -0.06548992504479922, + -0.9914814577138562 + ], + [ + 0.960986199572285, + -0.2567434538353328, + 0.10289957795987462, + -0.2604312118123189, + -0.9651956212380108, + 0.02393734857784354, + 0.09317246452457448, + -0.049801723420725245, + -0.9944036807045428 + ], + [ + 0.9588773067580932, + -0.2742346794555963, + 0.07314130958789215, + -0.27613086797185693, + -0.9609694285704659, + 0.017014732030249537, + 0.06562053289523391, + -0.0365116137254793, + -0.99717643761057 + ], + [ + 0.9590510722941388, + -0.2769304272431249, + 0.05941867718489442, + -0.2782581017279603, + -0.9603859345580099, + 0.01520807436494319, + 0.0528532832869866, + -0.031119048347882962, + -0.998117295349453 + ], + [ + 0.959840181425297, + -0.27476173203418996, + 0.05668171425623275, + -0.2759138758893763, + -0.961088098920844, + 0.013461025385165148, + 0.05077754634831305, + -0.028559704520358737, + -0.9983015496655081 + ], + [ + 0.9617986151926774, + -0.2682055885119721, + 0.05485604893167425, + -0.2693493005287409, + -0.9629333092332909, + 0.0145050430437442, + 0.048932383123301525, + -0.0287263687223002, + -0.9983889110070807 + ], + [ + 0.9627758568599373, + -0.26656465182138256, + 0.0447876751680462, + -0.26778569999105606, + -0.9631840332576689, + 0.023818836197211715, + 0.03678951383089281, + -0.034925699375024294, + -0.9987125348143238 + ], + [ + 0.9634496970616838, + -0.26499282365530763, + 0.039287207115506886, + -0.2663371954019418, + -0.9632748474601479, + 0.03414771728910725, + 0.028795478415501435, + -0.04336325243585772, + -0.9986443054266151 + ], + [ + 0.9642458228786104, + -0.26119499035482485, + 0.04480145170297543, + -0.2631286187726126, + -0.9637275187422273, + 0.044638543902850714, + 0.03151702784159973, + -0.05483107360331911, + -0.9979981113827515 + ], + [ + 0.964388745927534, + -0.2630261656406142, + 0.027777381386923632, + -0.2641488175804383, + -0.9631461936405286, + 0.05074260386123312, + 0.013407046623875988, + -0.05627295855166899, + -0.9983254004765518 + ], + [ + 0.9684845625395813, + -0.24901708463893485, + -0.0053050617755121985, + -0.2482360312599743, + -0.9667541288512438, + 0.06136226147535837, + -0.02040894183473309, + -0.0581114954806597, + -0.9981014623705289 + ], + [ + 0.9680822696073239, + -0.24629459025655273, + -0.04642945274595989, + -0.24207660748350016, + -0.9668400955363845, + 0.08135813279859679, + -0.06492792451027452, + -0.06752188144262218, + -0.9956029128850701 + ], + [ + 0.9689824756954211, + -0.24439856987664513, + -0.03663742400091536, + -0.23937051267924578, + -0.9650455007296822, + 0.10671897291986863, + -0.06143874555072936, + -0.09463889561722093, + -0.9936139894252219 + ], + [ + 0.9755452370810328, + -0.21785206793274112, + -0.02918847214123179, + -0.21322913873494995, + -0.9702298225261464, + 0.11483651803861701, + -0.05333689907430494, + -0.10580438543987901, + -0.9929554910562842 + ], + [ + 0.9825681031184393, + -0.18306368669507497, + -0.03236679390732888, + -0.17752356470324718, + -0.9756316133251901, + 0.1289509172341897, + -0.05518429766957345, + -0.12095718950973626, + -0.9911226218771428 + ], + [ + 0.9864760840442041, + -0.16041668249764057, + -0.03363664051690622, + -0.154476320802919, + -0.9785401352231425, + 0.1363681416925065, + -0.05479052764854572, + -0.12932784593398688, + -0.9900870195826571 + ], + [ + 0.9869110260967221, + -0.1597101570598178, + -0.022344849532807305, + -0.15437856468071035, + -0.9757102728919818, + 0.15542432930586705, + -0.04662494327974256, + -0.14994041851676684, + -0.9875950514047638 + ], + [ + 0.9866770488445084, + -0.16216262542064036, + -0.013102831761739854, + -0.1580726941684431, + -0.9746069560080657, + 0.15860108656318136, + -0.038489279570046823, + -0.15441685211587816, + -0.9872557982310367 + ], + [ + 0.9849991064719248, + -0.17249850007938103, + 0.0045855991837274335, + -0.17096092351028622, + -0.9719211456844539, + 0.16168379388154216, + -0.02343337111941176, + -0.16004235077560794, + -0.9868319629380665 + ], + [ + 0.9819314936140912, + -0.1880885735807786, + 0.020814185959304718, + -0.189031311124676, + -0.9697907529538997, + 0.15418514487328042, + -0.008815058892964403, + -0.15533378246040544, + -0.9878227122127013 + ], + [ + 0.9815972804436457, + -0.1908455113151728, + 0.006691026564670051, + -0.1894614672907876, + -0.9688972773000314, + 0.15919302262538976, + -0.02389835637989938, + -0.15753112978531036, + -0.9872248030265969 + ], + [ + 0.9818473323949296, + -0.18930331540637907, + 0.011835144490576653, + -0.1887415109233878, + -0.9689458805370903, + 0.1597514401955697, + -0.018773862770259754, + -0.15908530845541635, + -0.9870863218130053 + ], + [ + 0.9795691695017781, + -0.2002812978273567, + 0.018211092833396173, + -0.20082404350929667, + -0.9693629661678047, + 0.1414395396306561, + -0.010674535595193498, + -0.14220703767024143, + -0.989779375783756 + ], + [ + 0.9803862581559162, + -0.19615911441736075, + 0.019088914323179072, + -0.1970715586785496, + -0.9745452667547845, + 0.10688462848254884, + -0.0023633829668236166, + -0.10855010307154153, + -0.9940881699045158 + ], + [ + 0.9757489424247027, + -0.2188503861716307, + 0.0043023051498457315, + -0.21882418075883878, + -0.9747635627373828, + 0.044181157462739186, + -0.00547533307638308, + -0.04405116606915655, + -0.9990142719178993 + ], + [ + 0.9753779798760649, + -0.21876648874138543, + 0.02791092575770301, + -0.21761142453169718, + -0.9752435133416806, + -0.03931103659611103, + 0.0358198867414764, + 0.032269383147816647, + -0.9988371351852549 + ], + [ + 0.9734739065733142, + -0.22597307799195018, + 0.03584300829637393, + -0.2210083160145168, + -0.9692500988868625, + -0.10821076684061666, + 0.05919355939050649, + 0.09741875502515322, + -0.9934816096415834 + ], + [ + 0.9758908921651777, + -0.21028125964174255, + 0.05847014992742647, + -0.2025592984911666, + -0.9723553166589578, + -0.11616741694564978, + 0.08128159191243825, + 0.10152305161164149, + -0.9915071219147343 + ], + [ + 0.981634289752632, + -0.17822514587653318, + 0.068043504900426, + -0.17408024057488777, + -0.9827346635959427, + -0.06267895028124366, + 0.07803967595547164, + 0.04968277713914444, + -0.9957115197849763 + ], + [ + 0.9830643035388981, + -0.16131808707891207, + 0.08695429770161753, + -0.1619573101150493, + -0.9867977195959317, + 0.0003005005264441621, + 0.08575782651092978, + -0.014378295499439094, + -0.9962122564045535 + ], + [ + 0.983462774238266, + -0.14316124946077746, + 0.110931638139905, + -0.1466042108852143, + -0.9889163968905836, + 0.02348542764502276, + 0.10633991272470275, + -0.039360089097651055, + -0.993550505182262 + ], + [ + 0.987505145563229, + -0.06017810492322983, + 0.14564402896787293, + -0.06494067224291537, + -0.9974915686995551, + 0.028165217235785307, + 0.14358376152888636, + -0.03727151809558444, + -0.9889360633347671 + ], + [ + 0.9908943358777031, + 0.009563500525237955, + 0.13430172963588108, + 0.007151554174709261, + -0.9998045738723539, + 0.01843012036875752, + 0.134451740034749, + -0.01730183578769795, + -0.9907690831268423 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.003125518560409546, + 0.00062590092420578, + -0.007321000099182129, + 0.0005321763455867767, + 0.02914281189441681, + -0.003993004560470581, + 1.0 + ], + [ + 0.0008129477500915527, + 0.016035832464694977, + -0.00026357918977737427, + 0.02842181921005249, + 0.02297161892056465, + -0.019507676362991333, + 1.0 + ], + [ + 0.0029542744159698486, + 0.01793954148888588, + -0.0015947706997394562, + -0.0040904683992266655, + -0.001918543130159378, + -0.006049036979675293, + 1.0 + ], + [ + 0.00286102294921875, + 0.020244022831320763, + -0.00015018507838249207, + 0.048807960003614426, + 0.008607111871242523, + 0.01651841402053833, + 1.0 + ], + [ + 0.007767379283905029, + 0.034173861145973206, + 0.004945039749145508, + 0.009950239211320877, + -0.013107754290103912, + 0.07255406677722931, + 1.0 + ], + [ + 0.011074930429458618, + 0.021966619417071342, + 0.0005376487970352173, + -0.0012870058417320251, + -0.006215989589691162, + 0.0368865430355072, + 1.0 + ], + [ + 0.010694533586502075, + 0.022367117926478386, + -0.001879565417766571, + 0.011060990393161774, + -0.024083368480205536, + 0.034147247672080994, + 1.0 + ], + [ + 0.013429731130599976, + 0.008008532226085663, + -0.003484021872282028, + 0.00524100661277771, + -0.0166129469871521, + -0.0025429129600524902, + 1.0 + ], + [ + 0.018519431352615356, + 0.006936993449926376, + -5.227699875831604e-05, + 0.026599757373332977, + -0.029659688472747803, + -0.03317219018936157, + 1.0 + ], + [ + 0.017141908407211304, + 0.007823199033737183, + -0.003965549170970917, + -0.011706769466400146, + -0.008789032697677612, + -0.023943424224853516, + 1.0 + ], + [ + 0.01155710220336914, + 0.007633030414581299, + -0.004609532654285431, + -0.007387705147266388, + 0.012831464409828186, + -0.014686644077301025, + 1.0 + ], + [ + 0.003588080406188965, + 0.005263194441795349, + -0.011887386441230774, + -0.022665604948997498, + 0.023631460964679718, + -0.0070001184940338135, + 1.0 + ], + [ + -0.003230184316635132, + 0.004184983670711517, + -0.007851947098970413, + -0.015916597098112106, + 0.019517332315444946, + -0.004408001899719238, + 1.0 + ], + [ + 0.0016630887985229492, + 0.0003868788480758667, + -0.012965407222509384, + -0.0134415403008461, + 0.02764008194208145, + -0.015739262104034424, + 1.0 + ], + [ + 0.0019097626209259033, + 0.0012659355998039246, + -0.0063845375552773476, + -0.005430998280644417, + 0.01278979703783989, + -0.0019988715648651123, + 1.0 + ], + [ + 0.0008215904235839844, + 0.0012263283133506775, + -0.000416547991335392, + -0.0025671571493148804, + 0.0020785294473171234, + 0.002474457025527954, + 0.0 + ], + [ + -0.0003694295883178711, + 0.0013573244214057922, + 0.0003137132152915001, + 0.00016429461538791656, + 0.0018474608659744263, + 0.006858408451080322, + 0.0 + ], + [ + -0.0017022192478179932, + 0.0014515146613121033, + -0.000967646948993206, + 0.006191689521074295, + 0.012154113501310349, + 0.00177040696144104, + 0.0 + ], + [ + -0.003553032875061035, + 0.0009925588965415955, + -5.854759365320206e-05, + 0.008438382297754288, + 0.007998358458280563, + 0.001576751470565796, + 0.0 + ], + [ + -0.006176084280014038, + -3.36766242980957e-05, + 0.009709729813039303, + 0.011491019278764725, + -0.0027227886021137238, + 0.003306359052658081, + 0.0 + ], + [ + -0.009495973587036133, + -0.0006681233644485474, + 0.012520074844360352, + 0.0014218874275684357, + 0.01811479963362217, + -0.0009466707706451416, + 0.0 + ], + [ + -0.00994640588760376, + -0.00229828804731369, + 0.005325637757778168, + 0.001848611980676651, + 0.03381780534982681, + 0.016433656215667725, + 0.0 + ], + [ + -0.01676902174949646, + -0.01779155433177948, + 0.0023374147713184357, + 0.00956001877784729, + 0.04456327110528946, + 0.005879104137420654, + 0.0 + ], + [ + -0.01563778519630432, + -0.014337413012981415, + 0.012109983712434769, + 0.02724427729845047, + -0.003496166318655014, + 0.0028490275144577026, + 0.0 + ], + [ + -0.016690552234649658, + -0.010115712881088257, + 0.009791627526283264, + 0.011193789541721344, + -0.008115243166685104, + 0.02699407935142517, + 0.0 + ], + [ + -0.017601460218429565, + -0.0066625624895095825, + 0.0026356056332588196, + 0.015285596251487732, + 0.0018501244485378265, + 0.0364452600479126, + 0.0 + ], + [ + -0.018888652324676514, + -0.005269035696983337, + -0.009138640016317368, + 0.008447252213954926, + -0.00039436668157577515, + 0.02341216802597046, + 0.0 + ], + [ + -0.013839155435562134, + -0.005736146122217178, + -0.010153785347938538, + 0.020785808563232422, + -0.008176125586032867, + 0.00016404688358306885, + 0.0 + ], + [ + -0.003078967332839966, + -0.003084413707256317, + -0.005582019686698914, + 0.0044799745082855225, + -0.008143063634634018, + -0.0036886483430862427, + 0.0 + ], + [ + 0.001961827278137207, + -0.004505610093474388, + -0.0014851689338684082, + 0.00562499463558197, + -0.015063272789120674, + -0.012995317578315735, + 0.0 + ], + [ + 0.003597855567932129, + -0.0011953860521316528, + -0.0032296888530254364, + -0.004806652665138245, + -0.01462034322321415, + -0.01833052933216095, + 0.0 + ], + [ + -7.298588752746582e-05, + 0.0007808301597833633, + -0.0068629030138254166, + 0.0022642016410827637, + 0.015085458755493164, + -0.0004857182502746582, + 0.0 + ], + [ + 0.0012683570384979248, + -0.00030310824513435364, + -0.0015321504324674606, + 0.0015568584203720093, + -0.005125666037201881, + 0.000754430890083313, + 0.0 + ], + [ + 0.00022366642951965332, + -0.00251009501516819, + -0.0012633148580789566, + -0.017093554139137268, + -0.008100227452814579, + -0.012296363711357117, + 0.0 + ], + [ + -0.0006858408451080322, + 0.0003217998892068863, + -0.001515895128250122, + -0.03393422067165375, + -0.008311353623867035, + 0.003840148448944092, + 1.0 + ], + [ + -0.0051030367612838745, + 0.0014953278005123138, + -0.0011766832321882248, + -0.06469863653182983, + 0.0031119752675294876, + -0.02224208414554596, + 1.0 + ], + [ + -0.0036122649908065796, + 0.004285534843802452, + 0.01121591404080391, + -0.07636180520057678, + -0.041302911937236786, + 0.0011028945446014404, + 1.0 + ], + [ + -0.0029301345348358154, + -0.0014120358973741531, + 0.008296407759189606, + -0.06544972956180573, + -0.023400630801916122, + -0.003736555576324463, + 1.0 + ], + [ + 0.0027382373809814453, + 0.0023450329899787903, + 0.014098647981882095, + -0.004291608929634094, + -0.022143177688121796, + 0.018588870763778687, + 1.0 + ], + [ + 0.007419615983963013, + 0.0069373659789562225, + 0.010335706174373627, + 0.05218164622783661, + 0.00325225293636322, + 0.029144957661628723, + 1.0 + ], + [ + 0.011389285326004028, + 0.006377633661031723, + 0.010881796479225159, + 0.06428737193346024, + -0.007744185626506805, + 0.012231752276420593, + 1.0 + ], + [ + 0.011605799198150635, + 0.005364559590816498, + 0.007893942296504974, + 0.025162924081087112, + -0.020678065717220306, + 0.015301018953323364, + 1.0 + ], + [ + 0.009171128273010254, + 0.018089015036821365, + 0.012941159307956696, + -0.001924213021993637, + -0.03754039853811264, + 0.08231189846992493, + 1.0 + ], + [ + 0.012620776891708374, + 0.009865880012512207, + 0.004398509860038757, + -0.020209411159157753, + 0.009221598505973816, + 0.0728849545121193, + 1.0 + ], + [ + 0.0038706958293914795, + 0.018828295171260834, + 0.0024186372756958008, + 0.014711609110236168, + -0.0010043829679489136, + 0.06814698874950409, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9961419701576233 + ], + [ + 0.9255412817001343 + ], + [ + 0.6440550088882446 + ], + [ + 0.36275482177734375 + ], + [ + 0.15923498570919037 + ], + [ + 0.09326785057783127 + ], + [ + 0.07755524665117264 + ], + [ + 0.07429859787225723 + ], + [ + 0.07365728914737701 + ], + [ + 0.07365728914737701 + ], + [ + 0.07365728914737701 + ], + [ + 0.07365728914737701 + ], + [ + 0.07365728914737701 + ], + [ + 0.07365728914737701 + ], + [ + 0.07365728914737701 + ], + [ + 0.07365728914737701 + ], + [ + 0.07365728914737701 + ], + [ + 0.07365728914737701 + ], + [ + 0.07365728914737701 + ], + [ + 0.07365728914737701 + ], + [ + 0.0936371386051178 + ], + [ + 0.27449509501457214 + ], + [ + 0.5149424076080322 + ], + [ + 0.8307508826255798 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2808048129081726, + -0.08464904129505157, + 0.061841756105422974 + ], + [ + 0.28161776065826416, + -0.0686132088303566, + 0.0615781769156456 + ], + [ + 0.284572035074234, + -0.05067366734147072, + 0.05998340621590614 + ], + [ + 0.28743305802345276, + -0.030429644510149956, + 0.05983322113752365 + ], + [ + 0.2952004373073578, + 0.0037442154716700315, + 0.06477826088666916 + ], + [ + 0.3062753677368164, + 0.025710834190249443, + 0.06531590968370438 + ], + [ + 0.3169699013233185, + 0.04807795211672783, + 0.0634363442659378 + ], + [ + 0.33039963245391846, + 0.05608648434281349, + 0.05995232239365578 + ], + [ + 0.3489190638065338, + 0.06302347779273987, + 0.05990004539489746 + ], + [ + 0.3660609722137451, + 0.07084667682647705, + 0.055934496223926544 + ], + [ + 0.37761807441711426, + 0.07847970724105835, + 0.05132496356964111 + ], + [ + 0.3812061548233032, + 0.0837429016828537, + 0.03943757712841034 + ], + [ + 0.3779759705066681, + 0.08792788535356522, + 0.031585630029439926 + ], + [ + 0.37963905930519104, + 0.08831476420164108, + 0.018620222806930542 + ], + [ + 0.38154882192611694, + 0.08958069980144501, + 0.012235685251653194 + ], + [ + 0.3823704123497009, + 0.09080702811479568, + 0.011819137260317802 + ], + [ + 0.38200098276138306, + 0.09216435253620148, + 0.012132850475609303 + ], + [ + 0.38029876351356506, + 0.09361586719751358, + 0.011165203526616096 + ], + [ + 0.37674573063850403, + 0.09460842609405518, + 0.011106655932962894 + ], + [ + 0.37056964635849, + 0.09457474946975708, + 0.020816385746002197 + ], + [ + 0.36107367277145386, + 0.09390662610530853, + 0.03333646059036255 + ], + [ + 0.3511272668838501, + 0.09160833805799484, + 0.03866209834814072 + ], + [ + 0.33435824513435364, + 0.07381678372621536, + 0.04099951311945915 + ], + [ + 0.3187204599380493, + 0.05947937071323395, + 0.05310949683189392 + ], + [ + 0.30202990770339966, + 0.04936365783214569, + 0.06290112435817719 + ], + [ + 0.2844284474849701, + 0.04270109534263611, + 0.065536729991436 + ], + [ + 0.2655397951602936, + 0.03743205964565277, + 0.05639808997511864 + ], + [ + 0.25170063972473145, + 0.03169591352343559, + 0.0462443046271801 + ], + [ + 0.24862167239189148, + 0.028611499816179276, + 0.040662284940481186 + ], + [ + 0.2505834996700287, + 0.024105889722704887, + 0.03917711600661278 + ], + [ + 0.2541813552379608, + 0.022910503670573235, + 0.03594742715358734 + ], + [ + 0.25410836935043335, + 0.023691333830356598, + 0.029084524139761925 + ], + [ + 0.2553767263889313, + 0.023388225585222244, + 0.027552373707294464 + ], + [ + 0.2556003928184509, + 0.020878130570054054, + 0.026289058849215508 + ], + [ + 0.2549145519733429, + 0.02119993045926094, + 0.024773163720965385 + ], + [ + 0.24981151521205902, + 0.022695258259773254, + 0.02359648048877716 + ], + [ + 0.24619925022125244, + 0.026980793103575706, + 0.03481239452958107 + ], + [ + 0.24326911568641663, + 0.025568757206201553, + 0.043108802288770676 + ], + [ + 0.24600735306739807, + 0.027913790196180344, + 0.05720745027065277 + ], + [ + 0.2534269690513611, + 0.034851156175136566, + 0.0675431564450264 + ], + [ + 0.2648162543773651, + 0.04122878983616829, + 0.07842495292425156 + ], + [ + 0.27642205357551575, + 0.04659334942698479, + 0.08631889522075653 + ], + [ + 0.285593181848526, + 0.06468236446380615, + 0.09926005452871323 + ], + [ + 0.2982139587402344, + 0.07454824447631836, + 0.10365856438875198 + ], + [ + 0.30208465456962585, + 0.0933765396475792, + 0.10607720166444778 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9481983562863895, + -0.30959099524476485, + 0.07122705103501957, + -0.3073384198450777, + -0.9507190622773762, + -0.04094337931286468, + 0.08039261671895033, + 0.01693163564994083, + -0.9966194594183367 + ], + [ + 0.9435195010978442, + -0.32619132319337385, + 0.05805318011470812, + -0.3262934917886361, + -0.9452348454735033, + -0.007977726434344409, + 0.05747615387666515, + -0.011415234383835009, + -0.9982816156573794 + ], + [ + 0.9414227622570333, + -0.33212430175958124, + 0.05845195364611805, + -0.3319575908403413, + -0.9432071385799601, + -0.012823868966908705, + 0.05939141846945439, + -0.007330887566627216, + -0.9982078528541396 + ], + [ + 0.9472272535323779, + -0.3137182239329567, + 0.06588934768124417, + -0.31651248582038893, + -0.9478603707855248, + 0.037155939150101264, + 0.05079740628522967, + -0.05604991941724104, + -0.9971349106555314 + ], + [ + 0.9669510638723798, + -0.2427053617364321, + 0.07810088002359623, + -0.24682896621182476, + -0.9678578326840717, + 0.0482356419143894, + 0.06388349955093568, + -0.06591906474214401, + -0.9957778745225495 + ], + [ + 0.974988953095892, + -0.20655279729423615, + 0.0820517109565818, + -0.21091363518502554, + -0.976299866383172, + 0.04851813468424038, + 0.07008551800489311, + -0.06461046997295668, + -0.9954463859675513 + ], + [ + 0.9796758350661506, + -0.17041125942149732, + 0.1058076596935207, + -0.17715216931234284, + -0.982478868324382, + 0.05789975996472558, + 0.09408701873995025, + -0.07546705213814153, + -0.9926995300423022 + ], + [ + 0.9775497259760596, + -0.17103433118630426, + 0.12306011051427262, + -0.17933600382382472, + -0.9819684425894093, + 0.05980447718216075, + 0.11061252630978341, + -0.08053095873131061, + -0.9905955954420471 + ], + [ + 0.9674319613653789, + -0.19702153694424004, + 0.15892738627708486, + -0.21086718910257093, + -0.9746030253338528, + 0.07539211875310536, + 0.14003724036382925, + -0.10644931653247566, + -0.9844074940394614 + ], + [ + 0.960873184704401, + -0.22135405475368813, + 0.16650857443424225, + -0.23366830411705558, + -0.9705750998971714, + 0.05816441447014867, + 0.14873414727990877, + -0.0947964023773964, + -0.9843230138167153 + ], + [ + 0.9591066247495266, + -0.23790225160491557, + 0.15335253842986316, + -0.24821234240046858, + -0.9673231559759904, + 0.05173533601633, + 0.13603350852508275, + -0.08768369628363908, + -0.9868163223033936 + ], + [ + 0.9601844621417316, + -0.24958192372320653, + 0.1255175765071061, + -0.2556759862293685, + -0.9661366016605779, + 0.034782998683116385, + 0.11258591709105312, + -0.06548992504479922, + -0.9914814577138562 + ], + [ + 0.960986199572285, + -0.2567434538353328, + 0.10289957795987462, + -0.2604312118123189, + -0.9651956212380108, + 0.02393734857784354, + 0.09317246452457448, + -0.049801723420725245, + -0.9944036807045428 + ], + [ + 0.9588773067580932, + -0.2742346794555963, + 0.07314130958789215, + -0.27613086797185693, + -0.9609694285704659, + 0.017014732030249537, + 0.06562053289523391, + -0.0365116137254793, + -0.99717643761057 + ], + [ + 0.9590510722941388, + -0.2769304272431249, + 0.05941867718489442, + -0.2782581017279603, + -0.9603859345580099, + 0.01520807436494319, + 0.0528532832869866, + -0.031119048347882962, + -0.998117295349453 + ], + [ + 0.959840181425297, + -0.27476173203418996, + 0.05668171425623275, + -0.2759138758893763, + -0.961088098920844, + 0.013461025385165148, + 0.05077754634831305, + -0.028559704520358737, + -0.9983015496655081 + ], + [ + 0.9617986151926774, + -0.2682055885119721, + 0.05485604893167425, + -0.2693493005287409, + -0.9629333092332909, + 0.0145050430437442, + 0.048932383123301525, + -0.0287263687223002, + -0.9983889110070807 + ], + [ + 0.9627758568599373, + -0.26656465182138256, + 0.0447876751680462, + -0.26778569999105606, + -0.9631840332576689, + 0.023818836197211715, + 0.03678951383089281, + -0.034925699375024294, + -0.9987125348143238 + ], + [ + 0.9634496970616838, + -0.26499282365530763, + 0.039287207115506886, + -0.2663371954019418, + -0.9632748474601479, + 0.03414771728910725, + 0.028795478415501435, + -0.04336325243585772, + -0.9986443054266151 + ], + [ + 0.9642458228786104, + -0.26119499035482485, + 0.04480145170297543, + -0.2631286187726126, + -0.9637275187422273, + 0.044638543902850714, + 0.03151702784159973, + -0.05483107360331911, + -0.9979981113827515 + ], + [ + 0.964388745927534, + -0.2630261656406142, + 0.027777381386923632, + -0.2641488175804383, + -0.9631461936405286, + 0.05074260386123312, + 0.013407046623875988, + -0.05627295855166899, + -0.9983254004765518 + ], + [ + 0.9684845625395813, + -0.24901708463893485, + -0.0053050617755121985, + -0.2482360312599743, + -0.9667541288512438, + 0.06136226147535837, + -0.02040894183473309, + -0.0581114954806597, + -0.9981014623705289 + ], + [ + 0.9680822696073239, + -0.24629459025655273, + -0.04642945274595989, + -0.24207660748350016, + -0.9668400955363845, + 0.08135813279859679, + -0.06492792451027452, + -0.06752188144262218, + -0.9956029128850701 + ], + [ + 0.9689824756954211, + -0.24439856987664513, + -0.03663742400091536, + -0.23937051267924578, + -0.9650455007296822, + 0.10671897291986863, + -0.06143874555072936, + -0.09463889561722093, + -0.9936139894252219 + ], + [ + 0.9755452370810328, + -0.21785206793274112, + -0.02918847214123179, + -0.21322913873494995, + -0.9702298225261464, + 0.11483651803861701, + -0.05333689907430494, + -0.10580438543987901, + -0.9929554910562842 + ], + [ + 0.9825681031184393, + -0.18306368669507497, + -0.03236679390732888, + -0.17752356470324718, + -0.9756316133251901, + 0.1289509172341897, + -0.05518429766957345, + -0.12095718950973626, + -0.9911226218771428 + ], + [ + 0.9864760840442041, + -0.16041668249764057, + -0.03363664051690622, + -0.154476320802919, + -0.9785401352231425, + 0.1363681416925065, + -0.05479052764854572, + -0.12932784593398688, + -0.9900870195826571 + ], + [ + 0.9869110260967221, + -0.1597101570598178, + -0.022344849532807305, + -0.15437856468071035, + -0.9757102728919818, + 0.15542432930586705, + -0.04662494327974256, + -0.14994041851676684, + -0.9875950514047638 + ], + [ + 0.9866770488445084, + -0.16216262542064036, + -0.013102831761739854, + -0.1580726941684431, + -0.9746069560080657, + 0.15860108656318136, + -0.038489279570046823, + -0.15441685211587816, + -0.9872557982310367 + ], + [ + 0.9849991064719248, + -0.17249850007938103, + 0.0045855991837274335, + -0.17096092351028622, + -0.9719211456844539, + 0.16168379388154216, + -0.02343337111941176, + -0.16004235077560794, + -0.9868319629380665 + ], + [ + 0.9819314936140912, + -0.1880885735807786, + 0.020814185959304718, + -0.189031311124676, + -0.9697907529538997, + 0.15418514487328042, + -0.008815058892964403, + -0.15533378246040544, + -0.9878227122127013 + ], + [ + 0.9815972804436457, + -0.1908455113151728, + 0.006691026564670051, + -0.1894614672907876, + -0.9688972773000314, + 0.15919302262538976, + -0.02389835637989938, + -0.15753112978531036, + -0.9872248030265969 + ], + [ + 0.9818473323949296, + -0.18930331540637907, + 0.011835144490576653, + -0.1887415109233878, + -0.9689458805370903, + 0.1597514401955697, + -0.018773862770259754, + -0.15908530845541635, + -0.9870863218130053 + ], + [ + 0.9795691695017781, + -0.2002812978273567, + 0.018211092833396173, + -0.20082404350929667, + -0.9693629661678047, + 0.1414395396306561, + -0.010674535595193498, + -0.14220703767024143, + -0.989779375783756 + ], + [ + 0.9803862581559162, + -0.19615911441736075, + 0.019088914323179072, + -0.1970715586785496, + -0.9745452667547845, + 0.10688462848254884, + -0.0023633829668236166, + -0.10855010307154153, + -0.9940881699045158 + ], + [ + 0.9757489424247027, + -0.2188503861716307, + 0.0043023051498457315, + -0.21882418075883878, + -0.9747635627373828, + 0.044181157462739186, + -0.00547533307638308, + -0.04405116606915655, + -0.9990142719178993 + ], + [ + 0.9753779798760649, + -0.21876648874138543, + 0.02791092575770301, + -0.21761142453169718, + -0.9752435133416806, + -0.03931103659611103, + 0.0358198867414764, + 0.032269383147816647, + -0.9988371351852549 + ], + [ + 0.9734739065733142, + -0.22597307799195018, + 0.03584300829637393, + -0.2210083160145168, + -0.9692500988868625, + -0.10821076684061666, + 0.05919355939050649, + 0.09741875502515322, + -0.9934816096415834 + ], + [ + 0.9758908921651777, + -0.21028125964174255, + 0.05847014992742647, + -0.2025592984911666, + -0.9723553166589578, + -0.11616741694564978, + 0.08128159191243825, + 0.10152305161164149, + -0.9915071219147343 + ], + [ + 0.981634289752632, + -0.17822514587653318, + 0.068043504900426, + -0.17408024057488777, + -0.9827346635959427, + -0.06267895028124366, + 0.07803967595547164, + 0.04968277713914444, + -0.9957115197849763 + ], + [ + 0.9830643035388981, + -0.16131808707891207, + 0.08695429770161753, + -0.1619573101150493, + -0.9867977195959317, + 0.0003005005264441621, + 0.08575782651092978, + -0.014378295499439094, + -0.9962122564045535 + ], + [ + 0.983462774238266, + -0.14316124946077746, + 0.110931638139905, + -0.1466042108852143, + -0.9889163968905836, + 0.02348542764502276, + 0.10633991272470275, + -0.039360089097651055, + -0.993550505182262 + ], + [ + 0.987505145563229, + -0.06017810492322983, + 0.14564402896787293, + -0.06494067224291537, + -0.9974915686995551, + 0.028165217235785307, + 0.14358376152888636, + -0.03727151809558444, + -0.9889360633347671 + ], + [ + 0.9908943358777031, + 0.009563500525237955, + 0.13430172963588108, + 0.007151554174709261, + -0.9998045738723539, + 0.01843012036875752, + 0.134451740034749, + -0.01730183578769795, + -0.9907690831268423 + ], + [ + 0.9879722277351053, + 0.0795984471672509, + 0.13257060169093435, + 0.07459896061166196, + -0.9963173861199545, + 0.04226891518316811, + 0.1354469353650857, + -0.031870885203654456, + -0.9902718689211274 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005872.json b/json/chunk-0005/episode_0005872.json new file mode 100644 index 0000000000000000000000000000000000000000..f35fda706fec8a6e27274a74561ed971b58abe6a --- /dev/null +++ b/json/chunk-0005/episode_0005872.json @@ -0,0 +1,2782 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 45, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nTake the red object out of the pot and put it on the left burner." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005872.mp4", + "start": 0, + "end": 45, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3767244219779968, + -0.04772672802209854, + 0.011101530864834785, + 0.025567956268787384, + -0.07843675464391708, + -0.0020194894168525934, + 0.0, + 0.9994885921478271 + ], + [ + 0.3768520951271057, + -0.04773550480604172, + 0.010251492261886597, + 0.02211054228246212, + -0.07634948939085007, + 0.0008242072653956711, + 0.0, + 0.9994885921478271 + ], + [ + 0.37198594212532043, + -0.04054214805364609, + 0.011492399498820305, + 0.0019364538602530956, + -0.09281381219625473, + -0.007947785779833794, + 0.0, + 0.9994885921478271 + ], + [ + 0.3673940896987915, + -0.01446397416293621, + 0.017665578052401543, + -0.00947433803230524, + -0.102369025349617, + 0.03152286633849144, + 0.0, + 0.9988223910331726 + ], + [ + 0.37013816833496094, + 0.0027006845921278, + 0.04358864948153496, + -0.02599412389099598, + -0.15457777678966522, + 0.0404505617916584, + 0.0, + 0.9988223910331726 + ], + [ + 0.37158793210983276, + 0.029721394181251526, + 0.06943591684103012, + 0.008102458901703358, + -0.19020280241966248, + 0.07258579879999161, + 0.0, + 0.9988223910331726 + ], + [ + 0.3733122944831848, + 0.054438259452581406, + 0.0911596342921257, + 0.009484580717980862, + -0.22856158018112183, + 0.13788661360740662, + 0.0, + 0.9988223910331726 + ], + [ + 0.3765060305595398, + 0.08089745789766312, + 0.10300406068563461, + 0.046127334237098694, + -0.2536206841468811, + 0.2139391154050827, + 0.0, + 0.9988223910331726 + ], + [ + 0.3775440454483032, + 0.10665486007928848, + 0.09562940150499344, + 0.022715460509061813, + -0.22638578712940216, + 0.2891988754272461, + 0.0, + 0.9988223910331726 + ], + [ + 0.37426814436912537, + 0.1305963695049286, + 0.08790941536426544, + 0.04644929990172386, + -0.2106914520263672, + 0.36372944712638855, + 0.0, + 0.9988223910331726 + ], + [ + 0.37229233980178833, + 0.1384125053882599, + 0.06998974829912186, + 0.027101071551442146, + -0.1750742495059967, + 0.3861449658870697, + 0.0, + 0.9988223910331726 + ], + [ + 0.3764500021934509, + 0.14319975674152374, + 0.06304032355546951, + 0.0013839489547535777, + -0.17811807990074158, + 0.3957898020744324, + 0.0, + 0.9988223910331726 + ], + [ + 0.38142842054367065, + 0.1453123539686203, + 0.058229975402355194, + 0.0023883869871497154, + -0.1780063509941101, + 0.37722715735435486, + 0.0, + 0.9994885921478271 + ], + [ + 0.3877955377101898, + 0.15048928558826447, + 0.0569315105676651, + -0.0011803251691162586, + -0.18714675307273865, + 0.3828672170639038, + 0.0, + 0.9994885921478271 + ], + [ + 0.3876793384552002, + 0.15218810737133026, + 0.0577375590801239, + 0.008962838910520077, + -0.18272964656352997, + 0.3837992548942566, + 0.0, + 0.9988223910331726 + ], + [ + 0.3892175257205963, + 0.15676742792129517, + 0.05705365911126137, + 0.030733074992895126, + -0.17604376375675201, + 0.3938467502593994, + 0.0, + 0.9383087754249573 + ], + [ + 0.3907220959663391, + 0.16051939129829407, + 0.056916944682598114, + 0.026304397732019424, + -0.19621147215366364, + 0.41260793805122375, + 0.0, + 0.6500836610794067 + ], + [ + 0.3904496431350708, + 0.16105704009532928, + 0.057234179228544235, + 0.02901822328567505, + -0.19811491668224335, + 0.4177674651145935, + 0.0, + 0.36865687370300293 + ], + [ + 0.3889835774898529, + 0.16026414930820465, + 0.05692910775542259, + 0.03165595605969429, + -0.18766453862190247, + 0.4195201098918915, + 0.0, + 0.2802911400794983 + ], + [ + 0.3883039057254791, + 0.1601772904396057, + 0.05681433901190758, + 0.03892434015870094, + -0.18607661128044128, + 0.4067429006099701, + 0.0, + 0.2802911400794983 + ], + [ + 0.3849014639854431, + 0.147593155503273, + 0.058216165751218796, + 0.055173248052597046, + -0.18171054124832153, + 0.3629406988620758, + 0.0, + 0.2802911400794983 + ], + [ + 0.381788969039917, + 0.12781009078025818, + 0.06703609973192215, + 0.055198438465595245, + -0.194864422082901, + 0.3091799020767212, + 0.0, + 0.2802911400794983 + ], + [ + 0.3778306245803833, + 0.10036544501781464, + 0.09260371327400208, + 0.04476909339427948, + -0.24723504483699799, + 0.23346677422523499, + 0.0, + 0.2802911400794983 + ], + [ + 0.37607425451278687, + 0.06177967041730881, + 0.09853356331586838, + 0.03636651858687401, + -0.25315308570861816, + 0.13820526003837585, + 0.0, + 0.2802911400794983 + ], + [ + 0.38067618012428284, + 0.02279944345355034, + 0.09601131081581116, + -0.00198498391546309, + -0.2592661678791046, + 0.054667454212903976, + 0.0, + 0.2802911400794983 + ], + [ + 0.38837623596191406, + -0.011062059551477432, + 0.07447768747806549, + -0.017297370359301567, + -0.2209927886724472, + -0.02080509439110756, + 0.0, + 0.2802911400794983 + ], + [ + 0.4001621603965759, + -0.03519750013947487, + 0.05158169940114021, + 0.009235482662916183, + -0.196480393409729, + -0.0834612026810646, + 0.0, + 0.2795628309249878 + ], + [ + 0.40638384222984314, + -0.04114408418536186, + 0.04052146151661873, + 0.04109188914299011, + -0.19324813783168793, + -0.10108105093240738, + 0.0, + 0.2802911400794983 + ], + [ + 0.414634108543396, + -0.04831906780600548, + 0.037584420293569565, + 0.008320625871419907, + -0.20257708430290222, + -0.11338526010513306, + 0.0, + 0.2802911400794983 + ], + [ + 0.4164336323738098, + -0.04941772297024727, + 0.03422627970576286, + 0.0024605300277471542, + -0.19786836206912994, + -0.13063259422779083, + 0.0, + 0.3437051773071289 + ], + [ + 0.41366612911224365, + -0.048894815146923065, + 0.033380940556526184, + 0.006901562213897705, + -0.17781393229961395, + -0.15023529529571533, + 0.0, + 0.648074209690094 + ], + [ + 0.4116729199886322, + -0.04462052881717682, + 0.03327104076743126, + 0.008494718931615353, + -0.16086675226688385, + -0.1464996188879013, + 0.0, + 0.9383087754249573 + ], + [ + 0.40990307927131653, + -0.0398990623652935, + 0.03690795972943306, + 0.0008560821879655123, + -0.15348541736602783, + -0.1334182173013687, + 0.0, + 1.00800359249115 + ], + [ + 0.4117441773414612, + -0.03854256123304367, + 0.06683357805013657, + -0.005191931035369635, + -0.21044020354747772, + -0.11862826347351074, + 0.0, + 1.0027955770492554 + ], + [ + 0.412169486284256, + -0.03603174537420273, + 0.06873712688684464, + -0.005052252672612667, + -0.21504013240337372, + -0.11252184212207794, + 0.0, + 1.0001531839370728 + ], + [ + 0.41163063049316406, + -0.03599080815911293, + 0.06800031661987305, + -0.005208366550505161, + -0.2104409635066986, + -0.11252809315919876, + 0.0, + 0.9994885921478271 + ], + [ + 0.41163063049316406, + -0.03599080815911293, + 0.06800031661987305, + -0.005208366550505161, + -0.2104409635066986, + -0.11252809315919876, + 0.0, + 0.9994885921478271 + ], + [ + 0.41186782717704773, + -0.036008600145578384, + 0.06805123388767242, + -0.005153607577085495, + -0.2119738906621933, + -0.11251997202634811, + 0.0, + 0.9994885921478271 + ], + [ + 0.41186782717704773, + -0.036008600145578384, + 0.06805123388767242, + -0.005153607577085495, + -0.2119738906621933, + -0.11251997202634811, + 0.0, + 0.9994885921478271 + ], + [ + 0.41186782717704773, + -0.036008600145578384, + 0.06805123388767242, + -0.005153607577085495, + -0.2119738906621933, + -0.11251997202634811, + 0.0, + 0.9994885921478271 + ], + [ + 0.41163063049316406, + -0.03599080815911293, + 0.06800031661987305, + -0.005208366550505161, + -0.2104409635066986, + -0.11252809315919876, + 0.0, + 0.9994885921478271 + ], + [ + 0.41163063049316406, + -0.03599080815911293, + 0.06800031661987305, + -0.005208366550505161, + -0.2104409635066986, + -0.11252809315919876, + 0.0, + 0.9994885921478271 + ], + [ + 0.41163063049316406, + -0.03599080815911293, + 0.06800031661987305, + -0.005208366550505161, + -0.2104409635066986, + -0.11252809315919876, + 0.0, + 1.0001531839370728 + ], + [ + 0.41163063049316406, + -0.03599080815911293, + 0.06800031661987305, + -0.005208366550505161, + -0.2104409635066986, + -0.11252809315919876, + 0.0, + 0.9994885921478271 + ], + [ + 0.41163063049316406, + -0.03599080815911293, + 0.06800031661987305, + -0.005208366550505161, + -0.2104409635066986, + -0.11252809315919876, + 0.0, + 0.9994885921478271 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9383087754249573 + ], + [ + 0.6500836610794067 + ], + [ + 0.36865687370300293 + ], + [ + 0.2802911400794983 + ], + [ + 0.2802911400794983 + ], + [ + 0.2802911400794983 + ], + [ + 0.2802911400794983 + ], + [ + 0.2802911400794983 + ], + [ + 0.2802911400794983 + ], + [ + 0.2802911400794983 + ], + [ + 0.2802911400794983 + ], + [ + 0.2795628309249878 + ], + [ + 0.2802911400794983 + ], + [ + 0.2802911400794983 + ], + [ + 0.3437051773071289 + ], + [ + 0.648074209690094 + ], + [ + 0.9383087754249573 + ], + [ + 1.00800359249115 + ], + [ + 1.0027955770492554 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3767244219779968, + -0.04772672802209854, + 0.011101530864834785 + ], + [ + 0.3768520951271057, + -0.04773550480604172, + 0.010251492261886597 + ], + [ + 0.37198594212532043, + -0.04054214805364609, + 0.011492399498820305 + ], + [ + 0.3673940896987915, + -0.01446397416293621, + 0.017665578052401543 + ], + [ + 0.37013816833496094, + 0.0027006845921278, + 0.04358864948153496 + ], + [ + 0.37158793210983276, + 0.029721394181251526, + 0.06943591684103012 + ], + [ + 0.3733122944831848, + 0.054438259452581406, + 0.0911596342921257 + ], + [ + 0.3765060305595398, + 0.08089745789766312, + 0.10300406068563461 + ], + [ + 0.3775440454483032, + 0.10665486007928848, + 0.09562940150499344 + ], + [ + 0.37426814436912537, + 0.1305963695049286, + 0.08790941536426544 + ], + [ + 0.37229233980178833, + 0.1384125053882599, + 0.06998974829912186 + ], + [ + 0.3764500021934509, + 0.14319975674152374, + 0.06304032355546951 + ], + [ + 0.38142842054367065, + 0.1453123539686203, + 0.058229975402355194 + ], + [ + 0.3877955377101898, + 0.15048928558826447, + 0.0569315105676651 + ], + [ + 0.3876793384552002, + 0.15218810737133026, + 0.0577375590801239 + ], + [ + 0.3892175257205963, + 0.15676742792129517, + 0.05705365911126137 + ], + [ + 0.3907220959663391, + 0.16051939129829407, + 0.056916944682598114 + ], + [ + 0.3904496431350708, + 0.16105704009532928, + 0.057234179228544235 + ], + [ + 0.3889835774898529, + 0.16026414930820465, + 0.05692910775542259 + ], + [ + 0.3883039057254791, + 0.1601772904396057, + 0.05681433901190758 + ], + [ + 0.3849014639854431, + 0.147593155503273, + 0.058216165751218796 + ], + [ + 0.381788969039917, + 0.12781009078025818, + 0.06703609973192215 + ], + [ + 0.3778306245803833, + 0.10036544501781464, + 0.09260371327400208 + ], + [ + 0.37607425451278687, + 0.06177967041730881, + 0.09853356331586838 + ], + [ + 0.38067618012428284, + 0.02279944345355034, + 0.09601131081581116 + ], + [ + 0.38837623596191406, + -0.011062059551477432, + 0.07447768747806549 + ], + [ + 0.4001621603965759, + -0.03519750013947487, + 0.05158169940114021 + ], + [ + 0.40638384222984314, + -0.04114408418536186, + 0.04052146151661873 + ], + [ + 0.414634108543396, + -0.04831906780600548, + 0.037584420293569565 + ], + [ + 0.4164336323738098, + -0.04941772297024727, + 0.03422627970576286 + ], + [ + 0.41366612911224365, + -0.048894815146923065, + 0.033380940556526184 + ], + [ + 0.4116729199886322, + -0.04462052881717682, + 0.03327104076743126 + ], + [ + 0.40990307927131653, + -0.0398990623652935, + 0.03690795972943306 + ], + [ + 0.4117441773414612, + -0.03854256123304367, + 0.06683357805013657 + ], + [ + 0.412169486284256, + -0.03603174537420273, + 0.06873712688684464 + ], + [ + 0.41163063049316406, + -0.03599080815911293, + 0.06800031661987305 + ], + [ + 0.41163063049316406, + -0.03599080815911293, + 0.06800031661987305 + ], + [ + 0.41186782717704773, + -0.036008600145578384, + 0.06805123388767242 + ], + [ + 0.41186782717704773, + -0.036008600145578384, + 0.06805123388767242 + ], + [ + 0.41186782717704773, + -0.036008600145578384, + 0.06805123388767242 + ], + [ + 0.41163063049316406, + -0.03599080815911293, + 0.06800031661987305 + ], + [ + 0.41163063049316406, + -0.03599080815911293, + 0.06800031661987305 + ], + [ + 0.41163063049316406, + -0.03599080815911293, + 0.06800031661987305 + ], + [ + 0.41163063049316406, + -0.03599080815911293, + 0.06800031661987305 + ], + [ + 0.41163063049316406, + -0.03599080815911293, + 0.06800031661987305 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9969233816676244, + -1.5638582157705182e-05, + 0.07838220997026363, + -0.0020132789556351017, + -0.9996751645357305, + 0.02540693051721697, + 0.0783563513203272, + -0.025486568342847616, + -0.9965995770829278 + ], + [ + 0.9970864546276635, + 0.002510356734883332, + 0.07623844244933037, + 0.000821806086220857, + -0.9997538424393053, + 0.022171584575787155, + 0.07627533436696873, + -0.022044333442140143, + -0.9968430772846341 + ], + [ + 0.9956644416987283, + -0.007768221253836245, + 0.09269290304716239, + -0.007913494316607683, + -0.9999679680368504, + 0.0011997949628933019, + 0.09268061363877679, + -0.0019281179433356928, + -0.9956940223867651 + ], + [ + 0.9942706619122791, + 0.030548541181992656, + 0.10243357600010816, + 0.031352646816495314, + -0.9994888511592964, + -0.006248835561063798, + 0.10219032438600997, + 0.009424597599961915, + -0.9947202192385355 + ], + [ + 0.9872683666080346, + 0.03642746267537974, + 0.154836081899981, + 0.03995735582659981, + -0.9990062617962208, + -0.019745850381474514, + 0.15396292414230867, + 0.025681293872679062, + -0.9877428254027336 + ], + [ + 0.9793802084412867, + 0.07404748099037252, + 0.18796642751428305, + 0.07121420743249747, + -0.9972229783867602, + 0.02179146707315399, + 0.1890580439263641, + -0.00795625140499934, + -0.9819336811059683 + ], + [ + 0.9647488455869988, + 0.13957247014396107, + 0.22311250640980693, + 0.13387547422337642, + -0.9901687679400397, + 0.04053601358754643, + 0.22657674713001577, + -0.009237779712505306, + -0.9739495064355052 + ], + [ + 0.9459417779079482, + 0.22339098112638703, + 0.23513958058936033, + 0.20551908910586628, + -0.9737063755629304, + 0.09827409730542722, + 0.250910455783423, + -0.044635901911933756, + -0.9669806510158635 + ], + [ + 0.9340162566933262, + 0.2899973781926382, + 0.20860285921813904, + 0.2779076920829037, + -0.9567714507343991, + 0.0857654110976428, + 0.22445700459941265, + -0.02213394905997669, + -0.9742325910095956 + ], + [ + 0.9139098101555116, + 0.36445386030582105, + 0.1787239284754626, + 0.34789502123895566, + -0.9301138079804057, + 0.11771728165964518, + 0.20913611141709543, + -0.04540581364070855, + -0.9768318171461052 + ], + [ + 0.9122070018909505, + 0.38085412642703037, + 0.15109109862803824, + 0.3708628816063217, + -0.9242500331366856, + 0.09067854924672954, + 0.17418125257265618, + -0.026683527321920822, + -0.9843520105236141 + ], + [ + 0.9080943182867396, + 0.38576293276360557, + 0.16294682814023462, + 0.37943742137410524, + -0.9225969350250219, + 0.06958547796347042, + 0.17717774227117508, + -0.0013620528832745046, + -0.9841779272345178 + ], + [ + 0.9149992268123497, + 0.36873612655713006, + 0.16373785116595935, + 0.3625236768007998, + -0.9295311417266005, + 0.06744212570249697, + 0.1770677799364722, + -0.002350645036220303, + -0.9841958523466161 + ], + [ + 0.9114006247408925, + 0.37337765729180733, + 0.17302608548190718, + 0.36705855214236877, + -0.9276787052075572, + 0.06841227377874332, + 0.1860562294605007, + 0.001159715357958939, + -0.9825384137728304 + ], + [ + 0.9118112672366215, + 0.37594114634966613, + 0.16513166692565318, + 0.3682119933996464, + -0.9266016278152452, + 0.0763501882564554, + 0.1817144486742998, + -0.008813501655772014, + -0.983311843380094 + ], + [ + 0.9091672996854763, + 0.38853187318676585, + 0.1498592829977596, + 0.3778124536990721, + -0.9209384999829368, + 0.09555118564970963, + 0.17513586443817322, + -0.030253310019924935, + -0.9840793495548682 + ], + [ + 0.8985006386215042, + 0.40555830589869235, + 0.1679853056470467, + 0.3933054635295703, + -0.9137050896341534, + 0.10224393152864106, + 0.19495490441263305, + -0.025796699269989093, + -0.9804729040377581 + ], + [ + 0.8961186229738342, + 0.41076960601229, + 0.1680468516098632, + 0.39778476821036807, + -0.9112952983875796, + 0.1063398199947512, + 0.1968214717435654, + -0.028446615144870284, + -0.9800265804290701 + ], + [ + 0.8972496405460528, + 0.41251101086160874, + 0.15740949290913936, + 0.40017071648042085, + -0.9104217533443434, + 0.10486004343389224, + 0.1865649490432898, + -0.03109496672043327, + -0.981950417706072 + ], + [ + 0.9025602702350329, + 0.40193240096603505, + 0.154386863582827, + 0.3887907300737434, + -0.9148703933879252, + 0.1088757618156963, + 0.1850046669735379, + -0.038242755600257215, + -0.9819932610981141 + ], + [ + 0.9194653780192255, + 0.36380091367452144, + 0.14910504295142468, + 0.349179772675464, + -0.9298963410602645, + 0.11561263441788386, + 0.18071221590770797, + -0.05423734960629434, + -0.9820394110876662 + ], + [ + 0.9345547678790089, + 0.3139903958601238, + 0.16738404088268163, + 0.29851874968746583, + -0.9478820496294013, + 0.11138301520159193, + 0.19363352478236975, + -0.05412625331545405, + -0.9795797092541205 + ], + [ + 0.9432879188963752, + 0.24177509747506992, + 0.22749220713041135, + 0.2243168680462062, + -0.9693615551196867, + 0.10010054028767107, + 0.24472401756690426, + -0.043393290919947314, + -0.9686212766241771 + ], + [ + 0.9588962746084396, + 0.14669406206453603, + 0.24289665847240918, + 0.13337477587540228, + -0.9885554286734146, + 0.07049350041321392, + 0.2504577882642948, + -0.035199667545697616, + -0.9674874054489961 + ], + [ + 0.9651344070472007, + 0.054131989038845064, + 0.25609627895841536, + 0.05281406363929011, + -0.9985319456974868, + 0.012026142502733156, + 0.2563713147283704, + 0.0019186412612546382, + -0.9665764676424505 + ], + [ + 0.9754691575843918, + -0.024591027263320284, + 0.21875832322390024, + -0.020297656610437545, + -0.999555144379178, + -0.021852196256811326, + 0.21919837530812705, + 0.016875862148526703, + -0.9755343548737903 + ], + [ + 0.9773458517738858, + -0.08156414870275473, + 0.19530073135237644, + -0.08176038986349225, + -0.9966269354308721, + -0.00707037644248826, + 0.19521865861066648, + -0.009057660849449752, + -0.980717917706304 + ], + [ + 0.9763762892497766, + -0.09297471862611228, + 0.19505138678623146, + -0.09903064927374794, + -0.9948519240535136, + 0.021507666341146744, + 0.19204757820721602, + -0.04031564092777661, + -0.980557176711958 + ], + [ + 0.9732614169812014, + -0.11147525428829937, + 0.20083695351479444, + -0.11082885308430186, + -0.9937337867291473, + -0.014495738579617876, + 0.20119438247566193, + -0.008150386144801947, + -0.9795174279541576 + ], + [ + 0.9721337811054568, + -0.12978140999320092, + 0.19522473525090112, + -0.12771969247291753, + -0.9915396943038881, + -0.023167105437996383, + 0.1965797339204403, + -0.002412517342643623, + -0.9804848739128208 + ], + [ + 0.9731462053654609, + -0.1484602398369627, + 0.17591480941170415, + -0.1473108792609594, + -0.9888950483032238, + -0.019649129566684347, + 0.17687839843849704, + -0.006792689372909077, + -0.984209272226652 + ], + [ + 0.9765152360022825, + -0.1446248410983005, + 0.15969235796586417, + -0.14409142456004084, + -0.989451033703642, + -0.014977091541827477, + 0.16017382814824782, + -0.008384941269057904, + -0.987053209070438 + ], + [ + 0.9794616767921968, + -0.13289298627641324, + 0.15163864248256442, + -0.13145896633857115, + -0.9911300310513212, + -0.01948850218464733, + 0.15288349768569648, + -0.0008460181697989982, + -0.9882438567421725 + ], + [ + 0.9710660167116812, + -0.11942554559308258, + 0.2068050537281506, + -0.11573930547352584, + -0.9928301765058217, + -0.029877312260720428, + 0.20889041231280714, + 0.005077369320157512, + -0.9779258744734041 + ], + [ + 0.97078957862661, + -0.1133543773656358, + 0.21146720587840176, + -0.10969839276964316, + -0.9935423606196505, + -0.028979997896648638, + 0.21338663653970094, + 0.00493586733833966, + -0.9769553626240516 + ], + [ + 0.971753816427794, + -0.11337033366658436, + 0.20698233669167024, + -0.109813502854409, + -0.9935397447012302, + -0.028631630932561596, + 0.20889115550654921, + 0.005093441208165834, + -0.9779256321458176 + ], + [ + 0.971753816427794, + -0.11337033366658436, + 0.20698233669167024, + -0.109813502854409, + -0.9935397447012302, + -0.028631630932561596, + 0.20889115550654921, + 0.005093441208165834, + -0.9779256321458176 + ], + [ + 0.9714353766011243, + -0.11335860634200784, + 0.20847814143461108, + -0.10976952751531827, + -0.9935413642914341, + -0.028743838835127704, + 0.2103900185771554, + 0.005038234821215348, + -0.9776045500472013 + ], + [ + 0.9714353766011243, + -0.11335860634200784, + 0.20847814143461108, + -0.10976952751531827, + -0.9935413642914341, + -0.028743838835127704, + 0.2103900185771554, + 0.005038234821215348, + -0.9776045500472013 + ], + [ + 0.9714353766011243, + -0.11335860634200784, + 0.20847814143461108, + -0.10976952751531827, + -0.9935413642914341, + -0.028743838835127704, + 0.2103900185771554, + 0.005038234821215348, + -0.9776045500472013 + ], + [ + 0.971753816427794, + -0.11337033366658436, + 0.20698233669167024, + -0.109813502854409, + -0.9935397447012302, + -0.028631630932561596, + 0.20889115550654921, + 0.005093441208165834, + -0.9779256321458176 + ], + [ + 0.971753816427794, + -0.11337033366658436, + 0.20698233669167024, + -0.109813502854409, + -0.9935397447012302, + -0.028631630932561596, + 0.20889115550654921, + 0.005093441208165834, + -0.9779256321458176 + ], + [ + 0.971753816427794, + -0.11337033366658436, + 0.20698233669167024, + -0.109813502854409, + -0.9935397447012302, + -0.028631630932561596, + 0.20889115550654921, + 0.005093441208165834, + -0.9779256321458176 + ], + [ + 0.971753816427794, + -0.11337033366658436, + 0.20698233669167024, + -0.109813502854409, + -0.9935397447012302, + -0.028631630932561596, + 0.20889115550654921, + 0.005093441208165834, + -0.9779256321458176 + ], + [ + 0.971753816427794, + -0.11337033366658436, + 0.20698233669167024, + -0.109813502854409, + -0.9935397447012302, + -0.028631630932561596, + 0.20889115550654921, + 0.005093441208165834, + -0.9779256321458176 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + 0.00012767314910888672, + -8.77678394317627e-06, + -0.0008500386029481888, + -0.003457413986325264, + 0.0020872652530670166, + 0.0028436966240406036, + 1.0 + ], + [ + -0.004866153001785278, + 0.00719335675239563, + 0.0012409072369337082, + -0.020174087956547737, + -0.016464322805404663, + -0.008771993219852448, + 1.0 + ], + [ + -0.004591852426528931, + 0.026078173890709877, + 0.006173178553581238, + -0.011410791426897049, + -0.009555213153362274, + 0.039470650255680084, + 1.0 + ], + [ + 0.0027440786361694336, + 0.01716465875506401, + 0.025923071429133415, + -0.016519784927368164, + -0.05220875144004822, + 0.008927695453166962, + 1.0 + ], + [ + 0.0014497637748718262, + 0.027020709589123726, + 0.025847267359495163, + 0.03409658372402191, + -0.03562502562999725, + 0.032135237008333206, + 1.0 + ], + [ + 0.0017243623733520508, + 0.02471686527132988, + 0.02172371745109558, + 0.001382121816277504, + -0.03835877776145935, + 0.06530081480741501, + 1.0 + ], + [ + 0.0031937360763549805, + 0.02645919844508171, + 0.011844426393508911, + 0.03664275258779526, + -0.025059103965759277, + 0.07605250179767609, + 1.0 + ], + [ + 0.0010380148887634277, + 0.025757402181625366, + -0.007374659180641174, + -0.02341187372803688, + 0.027234897017478943, + 0.07525976002216339, + 1.0 + ], + [ + -0.0032759010791778564, + 0.023941509425640106, + -0.007719986140727997, + 0.02373383939266205, + 0.015694335103034973, + 0.07453057169914246, + 1.0 + ], + [ + -0.001975804567337036, + 0.007816135883331299, + -0.017919667065143585, + -0.019348228350281715, + 0.03561720252037048, + 0.022415518760681152, + 1.0 + ], + [ + 0.004157662391662598, + 0.004787251353263855, + -0.006949424743652344, + -0.025717122480273247, + -0.003043830394744873, + 0.009644836187362671, + 1.0 + ], + [ + 0.0049784183502197266, + 0.0021125972270965576, + -0.004810348153114319, + 0.0010044380323961377, + 0.00011172890663146973, + -0.018562644720077515, + 1.0 + ], + [ + 0.006367117166519165, + 0.005176931619644165, + -0.001298464834690094, + -0.003568712156265974, + -0.00914040207862854, + 0.00564005970954895, + 1.0 + ], + [ + -0.00011619925498962402, + 0.001698821783065796, + 0.0008060485124588013, + 0.010143164545297623, + 0.004417106509208679, + 0.0009320378303527832, + 1.0 + ], + [ + 0.0015381872653961182, + 0.004579320549964905, + -0.0006838999688625336, + 0.021770235151052475, + 0.006685882806777954, + 0.010047495365142822, + 0.0 + ], + [ + 0.0015045702457427979, + 0.0037519633769989014, + -0.00013671442866325378, + -0.004428677260875702, + -0.02016770839691162, + 0.01876118779182434, + 0.0 + ], + [ + -0.00027245283126831055, + 0.0005376487970352173, + 0.0003172345459461212, + 0.0027138255536556244, + -0.001903444528579712, + 0.005159527063369751, + 0.0 + ], + [ + -0.0014660656452178955, + -0.0007928907871246338, + -0.00030507147312164307, + 0.0026377327740192413, + 0.010450378060340881, + 0.0017526447772979736, + 0.0 + ], + [ + -0.0006796717643737793, + -8.685886859893799e-05, + -0.00011476874351501465, + 0.007268384099006653, + 0.0015879273414611816, + -0.012777209281921387, + 0.0 + ], + [ + -0.0034024417400360107, + -0.012584134936332703, + 0.0014018267393112183, + 0.016248907893896103, + 0.004366070032119751, + -0.04380220174789429, + 0.0 + ], + [ + -0.003112494945526123, + -0.01978306472301483, + 0.008819933980703354, + 2.5190412998199463e-05, + -0.013153880834579468, + -0.053760796785354614, + 0.0 + ], + [ + -0.003958344459533691, + -0.027444645762443542, + 0.025567613542079926, + -0.010429345071315765, + -0.052370622754096985, + -0.0757131278514862, + 0.0 + ], + [ + -0.0017563700675964355, + -0.03858577460050583, + 0.0059298500418663025, + -0.008402574807405472, + -0.005918040871620178, + -0.09526151418685913, + 0.0 + ], + [ + 0.004601925611495972, + -0.03898022696375847, + -0.0025222525000572205, + -0.038351502269506454, + -0.00611308217048645, + -0.08353780210018158, + 0.0 + ], + [ + 0.007700055837631226, + -0.03386150300502777, + -0.021533623337745667, + -0.01531238667666912, + 0.03827337920665741, + -0.07547254860401154, + 0.0 + ], + [ + 0.011785924434661865, + -0.024135440587997437, + -0.022895988076925278, + 0.02653285302221775, + 0.0245123952627182, + -0.06265610456466675, + 0.0 + ], + [ + 0.006221681833267212, + -0.005946584045886993, + -0.011060237884521484, + 0.03185640648007393, + 0.0032322555780410767, + -0.017619848251342773, + 0.0 + ], + [ + 0.008250266313552856, + -0.007174983620643616, + -0.002937041223049164, + -0.032771263271570206, + -0.009328946471214294, + -0.012304209172725677, + 0.0 + ], + [ + 0.0017995238304138184, + -0.0010986551642417908, + -0.0033581405878067017, + -0.005860095843672752, + 0.004708722233772278, + -0.017247334122657776, + 1.0 + ], + [ + -0.002767503261566162, + 0.0005229078233242035, + -0.0008453391492366791, + 0.004441032186150551, + 0.02005442976951599, + -0.0196027010679245, + 1.0 + ], + [ + -0.00199320912361145, + 0.004274286329746246, + -0.00010989978909492493, + 0.0015931567177176476, + 0.016947180032730103, + 0.003735676407814026, + 1.0 + ], + [ + -0.0017698407173156738, + 0.004721466451883316, + 0.0036369189620018005, + -0.007638636976480484, + 0.007381334900856018, + 0.013081401586532593, + 1.0 + ], + [ + 0.0018410980701446533, + 0.0013565011322498322, + 0.029925618320703506, + -0.0060480134561657906, + -0.05695478618144989, + 0.014789953827857971, + 1.0 + ], + [ + 0.0004253089427947998, + 0.0025108158588409424, + 0.0019035488367080688, + 0.00013967836275696754, + -0.004599928855895996, + 0.0061064213514328, + 1.0 + ], + [ + -0.0005388557910919189, + 4.0937215089797974e-05, + -0.0007368102669715881, + -0.0001561138778924942, + 0.00459916889667511, + -6.251037120819092e-06, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.000237196683883667, + -1.77919864654541e-05, + 5.091726779937744e-05, + 5.475897341966629e-05, + -0.00153292715549469, + 8.121132850646973e-06, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + -0.000237196683883667, + 1.77919864654541e-05, + -5.091726779937744e-05, + -5.475897341966629e-05, + 0.00153292715549469, + -8.121132850646973e-06, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.000237196683883667, + -1.77919864654541e-05, + 5.091726779937744e-05, + 5.475897341966629e-05, + -0.00153292715549469, + 8.121132850646973e-06, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9383087754249573 + ], + [ + 0.6500836610794067 + ], + [ + 0.36865687370300293 + ], + [ + 0.2802911400794983 + ], + [ + 0.2802911400794983 + ], + [ + 0.2802911400794983 + ], + [ + 0.2802911400794983 + ], + [ + 0.2802911400794983 + ], + [ + 0.2802911400794983 + ], + [ + 0.2802911400794983 + ], + [ + 0.2802911400794983 + ], + [ + 0.2795628309249878 + ], + [ + 0.2802911400794983 + ], + [ + 0.2802911400794983 + ], + [ + 0.3437051773071289 + ], + [ + 0.648074209690094 + ], + [ + 0.9383087754249573 + ], + [ + 1.00800359249115 + ], + [ + 1.0027955770492554 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3768520951271057, + -0.04773550480604172, + 0.010251492261886597 + ], + [ + 0.37198594212532043, + -0.04054214805364609, + 0.011492399498820305 + ], + [ + 0.3673940896987915, + -0.01446397416293621, + 0.017665578052401543 + ], + [ + 0.37013816833496094, + 0.0027006845921278, + 0.04358864948153496 + ], + [ + 0.37158793210983276, + 0.029721394181251526, + 0.06943591684103012 + ], + [ + 0.3733122944831848, + 0.054438259452581406, + 0.0911596342921257 + ], + [ + 0.3765060305595398, + 0.08089745789766312, + 0.10300406068563461 + ], + [ + 0.3775440454483032, + 0.10665486007928848, + 0.09562940150499344 + ], + [ + 0.37426814436912537, + 0.1305963695049286, + 0.08790941536426544 + ], + [ + 0.37229233980178833, + 0.1384125053882599, + 0.06998974829912186 + ], + [ + 0.3764500021934509, + 0.14319975674152374, + 0.06304032355546951 + ], + [ + 0.38142842054367065, + 0.1453123539686203, + 0.058229975402355194 + ], + [ + 0.3877955377101898, + 0.15048928558826447, + 0.0569315105676651 + ], + [ + 0.3876793384552002, + 0.15218810737133026, + 0.0577375590801239 + ], + [ + 0.3892175257205963, + 0.15676742792129517, + 0.05705365911126137 + ], + [ + 0.3907220959663391, + 0.16051939129829407, + 0.056916944682598114 + ], + [ + 0.3904496431350708, + 0.16105704009532928, + 0.057234179228544235 + ], + [ + 0.3889835774898529, + 0.16026414930820465, + 0.05692910775542259 + ], + [ + 0.3883039057254791, + 0.1601772904396057, + 0.05681433901190758 + ], + [ + 0.3849014639854431, + 0.147593155503273, + 0.058216165751218796 + ], + [ + 0.381788969039917, + 0.12781009078025818, + 0.06703609973192215 + ], + [ + 0.3778306245803833, + 0.10036544501781464, + 0.09260371327400208 + ], + [ + 0.37607425451278687, + 0.06177967041730881, + 0.09853356331586838 + ], + [ + 0.38067618012428284, + 0.02279944345355034, + 0.09601131081581116 + ], + [ + 0.38837623596191406, + -0.011062059551477432, + 0.07447768747806549 + ], + [ + 0.4001621603965759, + -0.03519750013947487, + 0.05158169940114021 + ], + [ + 0.40638384222984314, + -0.04114408418536186, + 0.04052146151661873 + ], + [ + 0.414634108543396, + -0.04831906780600548, + 0.037584420293569565 + ], + [ + 0.4164336323738098, + -0.04941772297024727, + 0.03422627970576286 + ], + [ + 0.41366612911224365, + -0.048894815146923065, + 0.033380940556526184 + ], + [ + 0.4116729199886322, + -0.04462052881717682, + 0.03327104076743126 + ], + [ + 0.40990307927131653, + -0.0398990623652935, + 0.03690795972943306 + ], + [ + 0.4117441773414612, + -0.03854256123304367, + 0.06683357805013657 + ], + [ + 0.412169486284256, + -0.03603174537420273, + 0.06873712688684464 + ], + [ + 0.41163063049316406, + -0.03599080815911293, + 0.06800031661987305 + ], + [ + 0.41163063049316406, + -0.03599080815911293, + 0.06800031661987305 + ], + [ + 0.41186782717704773, + -0.036008600145578384, + 0.06805123388767242 + ], + [ + 0.41186782717704773, + -0.036008600145578384, + 0.06805123388767242 + ], + [ + 0.41186782717704773, + -0.036008600145578384, + 0.06805123388767242 + ], + [ + 0.41163063049316406, + -0.03599080815911293, + 0.06800031661987305 + ], + [ + 0.41163063049316406, + -0.03599080815911293, + 0.06800031661987305 + ], + [ + 0.41163063049316406, + -0.03599080815911293, + 0.06800031661987305 + ], + [ + 0.41163063049316406, + -0.03599080815911293, + 0.06800031661987305 + ], + [ + 0.41163063049316406, + -0.03599080815911293, + 0.06800031661987305 + ], + [ + 0.41186782717704773, + -0.036008600145578384, + 0.06805123388767242 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9970864546276635, + 0.002510356734883332, + 0.07623844244933037, + 0.000821806086220857, + -0.9997538424393053, + 0.022171584575787155, + 0.07627533436696873, + -0.022044333442140143, + -0.9968430772846341 + ], + [ + 0.9956644416987283, + -0.007768221253836245, + 0.09269290304716239, + -0.007913494316607683, + -0.9999679680368504, + 0.0011997949628933019, + 0.09268061363877679, + -0.0019281179433356928, + -0.9956940223867651 + ], + [ + 0.9942706619122791, + 0.030548541181992656, + 0.10243357600010816, + 0.031352646816495314, + -0.9994888511592964, + -0.006248835561063798, + 0.10219032438600997, + 0.009424597599961915, + -0.9947202192385355 + ], + [ + 0.9872683666080346, + 0.03642746267537974, + 0.154836081899981, + 0.03995735582659981, + -0.9990062617962208, + -0.019745850381474514, + 0.15396292414230867, + 0.025681293872679062, + -0.9877428254027336 + ], + [ + 0.9793802084412867, + 0.07404748099037252, + 0.18796642751428305, + 0.07121420743249747, + -0.9972229783867602, + 0.02179146707315399, + 0.1890580439263641, + -0.00795625140499934, + -0.9819336811059683 + ], + [ + 0.9647488455869988, + 0.13957247014396107, + 0.22311250640980693, + 0.13387547422337642, + -0.9901687679400397, + 0.04053601358754643, + 0.22657674713001577, + -0.009237779712505306, + -0.9739495064355052 + ], + [ + 0.9459417779079482, + 0.22339098112638703, + 0.23513958058936033, + 0.20551908910586628, + -0.9737063755629304, + 0.09827409730542722, + 0.250910455783423, + -0.044635901911933756, + -0.9669806510158635 + ], + [ + 0.9340162566933262, + 0.2899973781926382, + 0.20860285921813904, + 0.2779076920829037, + -0.9567714507343991, + 0.0857654110976428, + 0.22445700459941265, + -0.02213394905997669, + -0.9742325910095956 + ], + [ + 0.9139098101555116, + 0.36445386030582105, + 0.1787239284754626, + 0.34789502123895566, + -0.9301138079804057, + 0.11771728165964518, + 0.20913611141709543, + -0.04540581364070855, + -0.9768318171461052 + ], + [ + 0.9122070018909505, + 0.38085412642703037, + 0.15109109862803824, + 0.3708628816063217, + -0.9242500331366856, + 0.09067854924672954, + 0.17418125257265618, + -0.026683527321920822, + -0.9843520105236141 + ], + [ + 0.9080943182867396, + 0.38576293276360557, + 0.16294682814023462, + 0.37943742137410524, + -0.9225969350250219, + 0.06958547796347042, + 0.17717774227117508, + -0.0013620528832745046, + -0.9841779272345178 + ], + [ + 0.9149992268123497, + 0.36873612655713006, + 0.16373785116595935, + 0.3625236768007998, + -0.9295311417266005, + 0.06744212570249697, + 0.1770677799364722, + -0.002350645036220303, + -0.9841958523466161 + ], + [ + 0.9114006247408925, + 0.37337765729180733, + 0.17302608548190718, + 0.36705855214236877, + -0.9276787052075572, + 0.06841227377874332, + 0.1860562294605007, + 0.001159715357958939, + -0.9825384137728304 + ], + [ + 0.9118112672366215, + 0.37594114634966613, + 0.16513166692565318, + 0.3682119933996464, + -0.9266016278152452, + 0.0763501882564554, + 0.1817144486742998, + -0.008813501655772014, + -0.983311843380094 + ], + [ + 0.9091672996854763, + 0.38853187318676585, + 0.1498592829977596, + 0.3778124536990721, + -0.9209384999829368, + 0.09555118564970963, + 0.17513586443817322, + -0.030253310019924935, + -0.9840793495548682 + ], + [ + 0.8985006386215042, + 0.40555830589869235, + 0.1679853056470467, + 0.3933054635295703, + -0.9137050896341534, + 0.10224393152864106, + 0.19495490441263305, + -0.025796699269989093, + -0.9804729040377581 + ], + [ + 0.8961186229738342, + 0.41076960601229, + 0.1680468516098632, + 0.39778476821036807, + -0.9112952983875796, + 0.1063398199947512, + 0.1968214717435654, + -0.028446615144870284, + -0.9800265804290701 + ], + [ + 0.8972496405460528, + 0.41251101086160874, + 0.15740949290913936, + 0.40017071648042085, + -0.9104217533443434, + 0.10486004343389224, + 0.1865649490432898, + -0.03109496672043327, + -0.981950417706072 + ], + [ + 0.9025602702350329, + 0.40193240096603505, + 0.154386863582827, + 0.3887907300737434, + -0.9148703933879252, + 0.1088757618156963, + 0.1850046669735379, + -0.038242755600257215, + -0.9819932610981141 + ], + [ + 0.9194653780192255, + 0.36380091367452144, + 0.14910504295142468, + 0.349179772675464, + -0.9298963410602645, + 0.11561263441788386, + 0.18071221590770797, + -0.05423734960629434, + -0.9820394110876662 + ], + [ + 0.9345547678790089, + 0.3139903958601238, + 0.16738404088268163, + 0.29851874968746583, + -0.9478820496294013, + 0.11138301520159193, + 0.19363352478236975, + -0.05412625331545405, + -0.9795797092541205 + ], + [ + 0.9432879188963752, + 0.24177509747506992, + 0.22749220713041135, + 0.2243168680462062, + -0.9693615551196867, + 0.10010054028767107, + 0.24472401756690426, + -0.043393290919947314, + -0.9686212766241771 + ], + [ + 0.9588962746084396, + 0.14669406206453603, + 0.24289665847240918, + 0.13337477587540228, + -0.9885554286734146, + 0.07049350041321392, + 0.2504577882642948, + -0.035199667545697616, + -0.9674874054489961 + ], + [ + 0.9651344070472007, + 0.054131989038845064, + 0.25609627895841536, + 0.05281406363929011, + -0.9985319456974868, + 0.012026142502733156, + 0.2563713147283704, + 0.0019186412612546382, + -0.9665764676424505 + ], + [ + 0.9754691575843918, + -0.024591027263320284, + 0.21875832322390024, + -0.020297656610437545, + -0.999555144379178, + -0.021852196256811326, + 0.21919837530812705, + 0.016875862148526703, + -0.9755343548737903 + ], + [ + 0.9773458517738858, + -0.08156414870275473, + 0.19530073135237644, + -0.08176038986349225, + -0.9966269354308721, + -0.00707037644248826, + 0.19521865861066648, + -0.009057660849449752, + -0.980717917706304 + ], + [ + 0.9763762892497766, + -0.09297471862611228, + 0.19505138678623146, + -0.09903064927374794, + -0.9948519240535136, + 0.021507666341146744, + 0.19204757820721602, + -0.04031564092777661, + -0.980557176711958 + ], + [ + 0.9732614169812014, + -0.11147525428829937, + 0.20083695351479444, + -0.11082885308430186, + -0.9937337867291473, + -0.014495738579617876, + 0.20119438247566193, + -0.008150386144801947, + -0.9795174279541576 + ], + [ + 0.9721337811054568, + -0.12978140999320092, + 0.19522473525090112, + -0.12771969247291753, + -0.9915396943038881, + -0.023167105437996383, + 0.1965797339204403, + -0.002412517342643623, + -0.9804848739128208 + ], + [ + 0.9731462053654609, + -0.1484602398369627, + 0.17591480941170415, + -0.1473108792609594, + -0.9888950483032238, + -0.019649129566684347, + 0.17687839843849704, + -0.006792689372909077, + -0.984209272226652 + ], + [ + 0.9765152360022825, + -0.1446248410983005, + 0.15969235796586417, + -0.14409142456004084, + -0.989451033703642, + -0.014977091541827477, + 0.16017382814824782, + -0.008384941269057904, + -0.987053209070438 + ], + [ + 0.9794616767921968, + -0.13289298627641324, + 0.15163864248256442, + -0.13145896633857115, + -0.9911300310513212, + -0.01948850218464733, + 0.15288349768569648, + -0.0008460181697989982, + -0.9882438567421725 + ], + [ + 0.9710660167116812, + -0.11942554559308258, + 0.2068050537281506, + -0.11573930547352584, + -0.9928301765058217, + -0.029877312260720428, + 0.20889041231280714, + 0.005077369320157512, + -0.9779258744734041 + ], + [ + 0.97078957862661, + -0.1133543773656358, + 0.21146720587840176, + -0.10969839276964316, + -0.9935423606196505, + -0.028979997896648638, + 0.21338663653970094, + 0.00493586733833966, + -0.9769553626240516 + ], + [ + 0.971753816427794, + -0.11337033366658436, + 0.20698233669167024, + -0.109813502854409, + -0.9935397447012302, + -0.028631630932561596, + 0.20889115550654921, + 0.005093441208165834, + -0.9779256321458176 + ], + [ + 0.971753816427794, + -0.11337033366658436, + 0.20698233669167024, + -0.109813502854409, + -0.9935397447012302, + -0.028631630932561596, + 0.20889115550654921, + 0.005093441208165834, + -0.9779256321458176 + ], + [ + 0.9714353766011243, + -0.11335860634200784, + 0.20847814143461108, + -0.10976952751531827, + -0.9935413642914341, + -0.028743838835127704, + 0.2103900185771554, + 0.005038234821215348, + -0.9776045500472013 + ], + [ + 0.9714353766011243, + -0.11335860634200784, + 0.20847814143461108, + -0.10976952751531827, + -0.9935413642914341, + -0.028743838835127704, + 0.2103900185771554, + 0.005038234821215348, + -0.9776045500472013 + ], + [ + 0.9714353766011243, + -0.11335860634200784, + 0.20847814143461108, + -0.10976952751531827, + -0.9935413642914341, + -0.028743838835127704, + 0.2103900185771554, + 0.005038234821215348, + -0.9776045500472013 + ], + [ + 0.971753816427794, + -0.11337033366658436, + 0.20698233669167024, + -0.109813502854409, + -0.9935397447012302, + -0.028631630932561596, + 0.20889115550654921, + 0.005093441208165834, + -0.9779256321458176 + ], + [ + 0.971753816427794, + -0.11337033366658436, + 0.20698233669167024, + -0.109813502854409, + -0.9935397447012302, + -0.028631630932561596, + 0.20889115550654921, + 0.005093441208165834, + -0.9779256321458176 + ], + [ + 0.971753816427794, + -0.11337033366658436, + 0.20698233669167024, + -0.109813502854409, + -0.9935397447012302, + -0.028631630932561596, + 0.20889115550654921, + 0.005093441208165834, + -0.9779256321458176 + ], + [ + 0.971753816427794, + -0.11337033366658436, + 0.20698233669167024, + -0.109813502854409, + -0.9935397447012302, + -0.028631630932561596, + 0.20889115550654921, + 0.005093441208165834, + -0.9779256321458176 + ], + [ + 0.971753816427794, + -0.11337033366658436, + 0.20698233669167024, + -0.109813502854409, + -0.9935397447012302, + -0.028631630932561596, + 0.20889115550654921, + 0.005093441208165834, + -0.9779256321458176 + ], + [ + 0.9714353766011243, + -0.11335860634200784, + 0.20847814143461108, + -0.10976952751531827, + -0.9935413642914341, + -0.028743838835127704, + 0.2103900185771554, + 0.005038234821215348, + -0.9776045500472013 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005874.json b/json/chunk-0005/episode_0005874.json new file mode 100644 index 0000000000000000000000000000000000000000..5c706a63e2c91ad53416ea4194b8df4baf3a407c --- /dev/null +++ b/json/chunk-0005/episode_0005874.json @@ -0,0 +1,1402 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 22, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the blue fork to the left upper side of the burner." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005874.mp4", + "start": 0, + "end": 22, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.32248586416244507, + 0.10680759698152542, + 0.03963044285774231, + 0.22170761227607727, + 0.1430317759513855, + 0.1240982785820961, + 0.0, + 0.9994885921478271 + ], + [ + 0.31565067172050476, + 0.10492097586393356, + 0.026432756334543228, + 0.215107262134552, + 0.19014865159988403, + 0.1249736025929451, + 0.0, + 0.9994885921478271 + ], + [ + 0.31133192777633667, + 0.09085683524608612, + 0.016209321096539497, + 0.1894872635602951, + 0.20241934061050415, + 0.10196936875581741, + 0.0, + 0.9994885921478271 + ], + [ + 0.31193307042121887, + 0.06262120604515076, + 0.005791180767118931, + 0.15070867538452148, + 0.18533438444137573, + 0.04134444147348404, + 0.0, + 0.9994885921478271 + ], + [ + 0.3154546618461609, + 0.04079630598425865, + -0.0022605406120419502, + 0.07436503469944, + 0.1420404613018036, + 0.027877427637577057, + 0.0, + 0.9994885921478271 + ], + [ + 0.3182624280452728, + 0.03506648913025856, + -0.025183917954564095, + 0.04330265894532204, + 0.15337851643562317, + 0.03199925646185875, + 0.0, + 0.9994885921478271 + ], + [ + 0.32869279384613037, + 0.039589159190654755, + -0.04410585016012192, + 0.030338257551193237, + 0.1555880904197693, + 0.06814410537481308, + 0.0, + 0.9994885921478271 + ], + [ + 0.33612576127052307, + 0.046686477959156036, + -0.04657912999391556, + 0.014343945309519768, + 0.13855479657649994, + 0.09071291983127594, + 0.0, + 0.9484345316886902 + ], + [ + 0.3354158103466034, + 0.051282111555337906, + -0.04690483585000038, + 0.022914737462997437, + 0.13435281813144684, + 0.09071934223175049, + 0.0, + 0.672171950340271 + ], + [ + 0.3258531093597412, + 0.04796746373176575, + -0.04820618778467178, + 0.030754249542951584, + 0.15240825712680817, + 0.048959750682115555, + 0.0, + 0.37717074155807495 + ], + [ + 0.3296958804130554, + 0.04633201286196709, + -0.041973453015089035, + 0.02375929243862629, + 0.14308181405067444, + 0.0398593470454216, + 0.0, + 0.22553777694702148 + ], + [ + 0.36737027764320374, + 0.04831366986036301, + -0.01687791384756565, + 0.011809902265667915, + 0.04993652552366257, + 0.055515266954898834, + 0.0, + 0.22362354397773743 + ], + [ + 0.4069894850254059, + 0.06933490186929703, + 0.0007279113051481545, + 0.008660739287734032, + -0.01656019501388073, + 0.12582296133041382, + 0.0, + 0.22362354397773743 + ], + [ + 0.4252682030200958, + 0.1053740531206131, + -0.0064467028714716434, + -0.0027970722876489162, + 6.126957941887667e-06, + 0.24669738113880157, + 0.0, + 0.21731513738632202 + ], + [ + 0.43962299823760986, + 0.1349962204694748, + -0.020322756841778755, + 0.024061894044280052, + 0.020446501672267914, + 0.3295588791370392, + 0.0, + 0.21606682240962982 + ], + [ + 0.4444824159145355, + 0.15816834568977356, + -0.026032330468297005, + 0.028380906209349632, + 0.03709079697728157, + 0.3752645254135132, + 0.0, + 0.21606682240962982 + ], + [ + 0.4495293200016022, + 0.17589332163333893, + -0.02678830735385418, + 0.024845445528626442, + 0.018807055428624153, + 0.4090120494365692, + 0.0, + 0.21606682240962982 + ], + [ + 0.45729896426200867, + 0.17815133929252625, + -0.02119291014969349, + 0.014754118397831917, + -0.006845860742032528, + 0.412757933139801, + 0.0, + 0.26876991987228394 + ], + [ + 0.4598183035850525, + 0.1768173724412918, + -0.018932323902845383, + 0.0007790013332851231, + -0.015393959358334541, + 0.4138857126235962, + 0.0, + 0.5541232228279114 + ], + [ + 0.4460505545139313, + 0.16321951150894165, + -0.03971822187304497, + -0.00037778462865389884, + 0.0322449654340744, + 0.3854537904262543, + 0.0, + 0.8562611937522888 + ], + [ + 0.43001994490623474, + 0.14845143258571625, + -0.009327097795903683, + -0.009976747445762157, + 0.013900701887905598, + 0.3471677005290985, + 0.0, + 1.0027955770492554 + ], + [ + 0.4002058506011963, + 0.11713912338018417, + 0.00964768510311842, + -0.005820560269057751, + 0.009028336964547634, + 0.25725501775741577, + 0.0, + 0.9981546401977539 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9484345316886902 + ], + [ + 0.672171950340271 + ], + [ + 0.37717074155807495 + ], + [ + 0.22553777694702148 + ], + [ + 0.22362354397773743 + ], + [ + 0.22362354397773743 + ], + [ + 0.21731513738632202 + ], + [ + 0.21606682240962982 + ], + [ + 0.21606682240962982 + ], + [ + 0.21606682240962982 + ], + [ + 0.26876991987228394 + ], + [ + 0.5541232228279114 + ], + [ + 0.8562611937522888 + ], + [ + 1.0027955770492554 + ], + [ + 0.9981546401977539 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.32248586416244507, + 0.10680759698152542, + 0.03963044285774231 + ], + [ + 0.31565067172050476, + 0.10492097586393356, + 0.026432756334543228 + ], + [ + 0.31133192777633667, + 0.09085683524608612, + 0.016209321096539497 + ], + [ + 0.31193307042121887, + 0.06262120604515076, + 0.005791180767118931 + ], + [ + 0.3154546618461609, + 0.04079630598425865, + -0.0022605406120419502 + ], + [ + 0.3182624280452728, + 0.03506648913025856, + -0.025183917954564095 + ], + [ + 0.32869279384613037, + 0.039589159190654755, + -0.04410585016012192 + ], + [ + 0.33612576127052307, + 0.046686477959156036, + -0.04657912999391556 + ], + [ + 0.3354158103466034, + 0.051282111555337906, + -0.04690483585000038 + ], + [ + 0.3258531093597412, + 0.04796746373176575, + -0.04820618778467178 + ], + [ + 0.3296958804130554, + 0.04633201286196709, + -0.041973453015089035 + ], + [ + 0.36737027764320374, + 0.04831366986036301, + -0.01687791384756565 + ], + [ + 0.4069894850254059, + 0.06933490186929703, + 0.0007279113051481545 + ], + [ + 0.4252682030200958, + 0.1053740531206131, + -0.0064467028714716434 + ], + [ + 0.43962299823760986, + 0.1349962204694748, + -0.020322756841778755 + ], + [ + 0.4444824159145355, + 0.15816834568977356, + -0.026032330468297005 + ], + [ + 0.4495293200016022, + 0.17589332163333893, + -0.02678830735385418 + ], + [ + 0.45729896426200867, + 0.17815133929252625, + -0.02119291014969349 + ], + [ + 0.4598183035850525, + 0.1768173724412918, + -0.018932323902845383 + ], + [ + 0.4460505545139313, + 0.16321951150894165, + -0.03971822187304497 + ], + [ + 0.43001994490623474, + 0.14845143258571625, + -0.009327097795903683 + ], + [ + 0.4002058506011963, + 0.11713912338018417, + 0.00964768510311842 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9821765987984439, + 0.08964638394803771, + -0.16520488678535383, + 0.12251600295441224, + -0.9719011714339796, + 0.20099239285438822, + -0.14254458177284407, + -0.21765026719556144, + -0.9655617035678795 + ], + [ + 0.9743176768269107, + 0.08174696166053129, + -0.20981539238550503, + 0.12240189528553898, + -0.9743629626053849, + 0.18877127200229793, + -0.18900486938997038, + -0.20960498887700463, + -0.9593450411529478 + ], + [ + 0.9744947415335088, + 0.062300516665452534, + -0.21558906360657, + 0.09971445551838792, + -0.9808541219244236, + 0.16727886556448035, + -0.20103986192845302, + -0.18450972095552504, + -0.9620494461246276 + ], + [ + 0.9820347617415872, + 0.013220937911577543, + -0.18823637674977264, + 0.04062482889432391, + -0.988963598364397, + 0.14248025964129443, + -0.18427520182718846, + -0.14756763842686507, + -0.9717337300313635 + ], + [ + 0.989544565402346, + 0.01728320488780516, + -0.14318814165805666, + 0.027593105389415874, + -0.9971418857601513, + 0.07033263963237506, + -0.1415633201703398, + -0.07354828680190377, + -0.987193231282941 + ], + [ + 0.9877546338950376, + 0.025353570191395995, + -0.15394148140585856, + 0.03161820643442716, + -0.9987627285333622, + 0.03838360476118987, + -0.1527778525858715, + -0.042780937006372886, + -0.9873341476866413 + ], + [ + 0.9856276945324304, + 0.06337042533198849, + -0.1565957756899248, + 0.06726887339991851, + -0.9975400526520275, + 0.019716541950761418, + -0.1549611126773169, + -0.029967191196928512, + -0.9874659594181334 + ], + [ + 0.986344436906605, + 0.08860638505697288, + -0.13882924875734134, + 0.08972041707799669, + -0.995965410161547, + 0.0017744072508307758, + -0.1381119058689099, + -0.014205994821797296, + -0.9903147434873322 + ], + [ + 0.9869131080037166, + 0.08751465627069883, + -0.13543892419930853, + 0.08977853565762729, + -0.995904418730576, + 0.010686593848641573, + -0.13394898949083844, + -0.022706247834794552, + -0.9907280628525913 + ], + [ + 0.9872239265263173, + 0.04425430387082141, + -0.15307016522781122, + 0.04837289435279937, + -0.9985578722766322, + 0.023286021693238134, + -0.1518189118189606, + -0.030392964700306013, + -0.9879409322985016 + ], + [ + 0.9889950865697759, + 0.0364526207957515, + -0.14338732572289076, + 0.039441588433097696, + -0.9990586992856388, + 0.018057587977397246, + -0.14259410872373152, + -0.023514289672632117, + -0.989501894055022 + ], + [ + 0.9972147745128856, + 0.05489430752770169, + -0.050490677300554926, + 0.05541758743550894, + -0.998422503346305, + 0.00902196289758087, + -0.04991577402026719, + -0.011794906220556298, + -0.9986837816302044 + ], + [ + 0.9919586958163483, + 0.12562880641465943, + 0.015341081877028793, + 0.1254740244182778, + -0.9920395239289282, + 0.010670152723704246, + 0.01655943811278344, + -0.00865944349792581, + -0.9998253842785226 + ], + [ + 0.9697242170890251, + 0.2442017287262166, + 0.0006771101865923892, + 0.2442026673759684, + -0.9697204195509902, + -0.0027138814111733246, + -6.1269579418492324e-06, + 0.002797068640395812, + -0.9999960881770895 + ], + [ + 0.9459874196886019, + 0.323066568523409, + -0.027125524758251404, + 0.32355803283942053, + -0.9460704895786356, + 0.016150174411601614, + -0.020445077059905607, + -0.024054543249668717, + -0.9995015646676418 + ], + [ + 0.9297707786702186, + 0.3653919982948314, + -0.044888603376417625, + 0.36626657323592005, + -0.9304216975624643, + 0.012816475139392804, + -0.03708229309241589, + -0.02835757900618758, + -0.998909781337592 + ], + [ + 0.9173519214393637, + 0.3971516624222805, + -0.02712949072000252, + 0.39763273079329564, + -0.917416811569158, + 0.015316829049998835, + -0.01880594675559485, + -0.024838496039400665, + -0.9995145749218101 + ], + [ + 0.9159965335583772, + 0.4011860249464627, + 0.0003519896197462244, + 0.4011277669669192, + -0.9158777840814681, + 0.016260356519833513, + 0.006845807269357157, + -0.01475323739642652, + -0.9998677297068622 + ], + [ + 0.9154565413271342, + 0.402180834641186, + 0.013780318888921093, + 0.4021223267550978, + -0.9155599213312907, + 0.006903968200042857, + 0.015393351370890138, + -0.0007789089548035795, + -0.9998812119619073 + ], + [ + 0.9261462288185319, + 0.37599092939288814, + -0.029731866061244717, + 0.37578422711840354, + -0.9266232667278512, + -0.012471415622517131, + -0.03223937800634071, + 0.00037758823821002624, + -0.9994801048209447 + ], + [ + 0.940249283773487, + 0.3403493217683226, + -0.009675925551960588, + 0.3402029795519563, + -0.9402461519282902, + -0.014110509842438557, + -0.013900254221254767, + 0.009975618070331694, + -0.9998536242754232 + ], + [ + 0.9670526039738774, + 0.2544733731996095, + -0.007250067569049767, + 0.2544164941462088, + -0.9670622661207255, + -0.007925966931508698, + -0.009028214313783223, + 0.005820290186885559, + -0.9999423061199307 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.006835192441940308, + -0.001886621117591858, + -0.013197686523199081, + -0.0066003501415252686, + 0.047116875648498535, + 0.000875324010848999, + 1.0 + ], + [ + -0.004318743944168091, + -0.014064140617847443, + -0.01022343523800373, + -0.025619998574256897, + 0.012270689010620117, + -0.023004233837127686, + 1.0 + ], + [ + 0.0006011426448822021, + -0.028235629200935364, + -0.010418140329420567, + -0.03877858817577362, + -0.017084956169128418, + -0.060624927282333374, + 1.0 + ], + [ + 0.0035215914249420166, + -0.021824900060892105, + -0.008051721379160881, + -0.07634364068508148, + -0.043293923139572144, + -0.013467013835906982, + 1.0 + ], + [ + 0.0028077661991119385, + -0.0057298168540000916, + -0.02292337641119957, + -0.031062375754117966, + 0.01133805513381958, + 0.0041218288242816925, + 1.0 + ], + [ + 0.010430365800857544, + 0.0045226700603961945, + -0.018921932205557823, + -0.0129644013941288, + 0.002209573984146118, + 0.03614484891295433, + 1.0 + ], + [ + 0.0074329674243927, + 0.007097318768501282, + -0.00247327983379364, + -0.01599431224167347, + -0.017033293843269348, + 0.02256881445646286, + 0.0 + ], + [ + -0.0007099509239196777, + 0.0045956335961818695, + -0.0003257058560848236, + 0.008570792153477669, + -0.004201978445053101, + 6.42240047454834e-06, + 0.0 + ], + [ + -0.009562700986862183, + -0.003314647823572159, + -0.001301351934671402, + 0.007839512079954147, + 0.018055438995361328, + -0.041759591549634933, + 0.0 + ], + [ + 0.003842771053314209, + -0.0016354508697986603, + 0.006232734769582748, + -0.0069949571043252945, + -0.009326443076133728, + -0.009100403636693954, + 0.0 + ], + [ + 0.037674397230148315, + 0.00198165699839592, + 0.025095539167523384, + -0.011949390172958374, + -0.09314528852701187, + 0.015655919909477234, + 0.0 + ], + [ + 0.03961920738220215, + 0.02102123200893402, + 0.017605824396014214, + -0.0031491629779338837, + -0.06649672240018845, + 0.07030769437551498, + 0.0 + ], + [ + 0.01827871799468994, + 0.03603915125131607, + -0.007174614351242781, + -0.011457812041044235, + 0.01656632125377655, + 0.12087441980838776, + 0.0 + ], + [ + 0.014354795217514038, + 0.029622167348861694, + -0.013876054435968399, + 0.026858966797590256, + 0.020440375432372093, + 0.08286149799823761, + 0.0 + ], + [ + 0.004859417676925659, + 0.023172125220298767, + -0.0057095736265182495, + 0.00431901216506958, + 0.016644295305013657, + 0.045705646276474, + 0.0 + ], + [ + 0.00504690408706665, + 0.01772497594356537, + -0.0007559768855571747, + -0.0035354606807231903, + -0.018283741548657417, + 0.03374752402305603, + 0.0 + ], + [ + 0.007769644260406494, + 0.002258017659187317, + 0.00559539720416069, + -0.010091327130794525, + -0.025652915239334106, + 0.0037458837032318115, + 1.0 + ], + [ + 0.0025193393230438232, + -0.001333966851234436, + 0.0022605862468481064, + -0.013975117355585098, + -0.008548098616302013, + 0.001127779483795166, + 1.0 + ], + [ + -0.013767749071121216, + -0.013597860932350159, + -0.020785897970199585, + -0.0011567859910428524, + 0.047638922929763794, + -0.02843192219734192, + 1.0 + ], + [ + -0.016030609607696533, + -0.014768078923225403, + 0.03039112314581871, + -0.009598962962627411, + -0.01834426447749138, + -0.03828608989715576, + 1.0 + ], + [ + -0.029814094305038452, + -0.031312309205532074, + 0.018974782899022102, + 0.004156187176704407, + -0.0048723649233579636, + -0.08991268277168274, + 1.0 + ], + [ + -0.02410334348678589, + -0.018704965710639954, + 0.004920824430882931, + 0.01570161059498787, + 0.012857086025178432, + -0.048323750495910645, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9484345316886902 + ], + [ + 0.672171950340271 + ], + [ + 0.37717074155807495 + ], + [ + 0.22553777694702148 + ], + [ + 0.22362354397773743 + ], + [ + 0.22362354397773743 + ], + [ + 0.21731513738632202 + ], + [ + 0.21606682240962982 + ], + [ + 0.21606682240962982 + ], + [ + 0.21606682240962982 + ], + [ + 0.26876991987228394 + ], + [ + 0.5541232228279114 + ], + [ + 0.8562611937522888 + ], + [ + 1.0027955770492554 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.31565067172050476, + 0.10492097586393356, + 0.026432756334543228 + ], + [ + 0.31133192777633667, + 0.09085683524608612, + 0.016209321096539497 + ], + [ + 0.31193307042121887, + 0.06262120604515076, + 0.005791180767118931 + ], + [ + 0.3154546618461609, + 0.04079630598425865, + -0.0022605406120419502 + ], + [ + 0.3182624280452728, + 0.03506648913025856, + -0.025183917954564095 + ], + [ + 0.32869279384613037, + 0.039589159190654755, + -0.04410585016012192 + ], + [ + 0.33612576127052307, + 0.046686477959156036, + -0.04657912999391556 + ], + [ + 0.3354158103466034, + 0.051282111555337906, + -0.04690483585000038 + ], + [ + 0.3258531093597412, + 0.04796746373176575, + -0.04820618778467178 + ], + [ + 0.3296958804130554, + 0.04633201286196709, + -0.041973453015089035 + ], + [ + 0.36737027764320374, + 0.04831366986036301, + -0.01687791384756565 + ], + [ + 0.4069894850254059, + 0.06933490186929703, + 0.0007279113051481545 + ], + [ + 0.4252682030200958, + 0.1053740531206131, + -0.0064467028714716434 + ], + [ + 0.43962299823760986, + 0.1349962204694748, + -0.020322756841778755 + ], + [ + 0.4444824159145355, + 0.15816834568977356, + -0.026032330468297005 + ], + [ + 0.4495293200016022, + 0.17589332163333893, + -0.02678830735385418 + ], + [ + 0.45729896426200867, + 0.17815133929252625, + -0.02119291014969349 + ], + [ + 0.4598183035850525, + 0.1768173724412918, + -0.018932323902845383 + ], + [ + 0.4460505545139313, + 0.16321951150894165, + -0.03971822187304497 + ], + [ + 0.43001994490623474, + 0.14845143258571625, + -0.009327097795903683 + ], + [ + 0.4002058506011963, + 0.11713912338018417, + 0.00964768510311842 + ], + [ + 0.3761025071144104, + 0.09843415766954422, + 0.01456850953400135 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9743176768269107, + 0.08174696166053129, + -0.20981539238550503, + 0.12240189528553898, + -0.9743629626053849, + 0.18877127200229793, + -0.18900486938997038, + -0.20960498887700463, + -0.9593450411529478 + ], + [ + 0.9744947415335088, + 0.062300516665452534, + -0.21558906360657, + 0.09971445551838792, + -0.9808541219244236, + 0.16727886556448035, + -0.20103986192845302, + -0.18450972095552504, + -0.9620494461246276 + ], + [ + 0.9820347617415872, + 0.013220937911577543, + -0.18823637674977264, + 0.04062482889432391, + -0.988963598364397, + 0.14248025964129443, + -0.18427520182718846, + -0.14756763842686507, + -0.9717337300313635 + ], + [ + 0.989544565402346, + 0.01728320488780516, + -0.14318814165805666, + 0.027593105389415874, + -0.9971418857601513, + 0.07033263963237506, + -0.1415633201703398, + -0.07354828680190377, + -0.987193231282941 + ], + [ + 0.9877546338950376, + 0.025353570191395995, + -0.15394148140585856, + 0.03161820643442716, + -0.9987627285333622, + 0.03838360476118987, + -0.1527778525858715, + -0.042780937006372886, + -0.9873341476866413 + ], + [ + 0.9856276945324304, + 0.06337042533198849, + -0.1565957756899248, + 0.06726887339991851, + -0.9975400526520275, + 0.019716541950761418, + -0.1549611126773169, + -0.029967191196928512, + -0.9874659594181334 + ], + [ + 0.986344436906605, + 0.08860638505697288, + -0.13882924875734134, + 0.08972041707799669, + -0.995965410161547, + 0.0017744072508307758, + -0.1381119058689099, + -0.014205994821797296, + -0.9903147434873322 + ], + [ + 0.9869131080037166, + 0.08751465627069883, + -0.13543892419930853, + 0.08977853565762729, + -0.995904418730576, + 0.010686593848641573, + -0.13394898949083844, + -0.022706247834794552, + -0.9907280628525913 + ], + [ + 0.9872239265263173, + 0.04425430387082141, + -0.15307016522781122, + 0.04837289435279937, + -0.9985578722766322, + 0.023286021693238134, + -0.1518189118189606, + -0.030392964700306013, + -0.9879409322985016 + ], + [ + 0.9889950865697759, + 0.0364526207957515, + -0.14338732572289076, + 0.039441588433097696, + -0.9990586992856388, + 0.018057587977397246, + -0.14259410872373152, + -0.023514289672632117, + -0.989501894055022 + ], + [ + 0.9972147745128856, + 0.05489430752770169, + -0.050490677300554926, + 0.05541758743550894, + -0.998422503346305, + 0.00902196289758087, + -0.04991577402026719, + -0.011794906220556298, + -0.9986837816302044 + ], + [ + 0.9919586958163483, + 0.12562880641465943, + 0.015341081877028793, + 0.1254740244182778, + -0.9920395239289282, + 0.010670152723704246, + 0.01655943811278344, + -0.00865944349792581, + -0.9998253842785226 + ], + [ + 0.9697242170890251, + 0.2442017287262166, + 0.0006771101865923892, + 0.2442026673759684, + -0.9697204195509902, + -0.0027138814111733246, + -6.1269579418492324e-06, + 0.002797068640395812, + -0.9999960881770895 + ], + [ + 0.9459874196886019, + 0.323066568523409, + -0.027125524758251404, + 0.32355803283942053, + -0.9460704895786356, + 0.016150174411601614, + -0.020445077059905607, + -0.024054543249668717, + -0.9995015646676418 + ], + [ + 0.9297707786702186, + 0.3653919982948314, + -0.044888603376417625, + 0.36626657323592005, + -0.9304216975624643, + 0.012816475139392804, + -0.03708229309241589, + -0.02835757900618758, + -0.998909781337592 + ], + [ + 0.9173519214393637, + 0.3971516624222805, + -0.02712949072000252, + 0.39763273079329564, + -0.917416811569158, + 0.015316829049998835, + -0.01880594675559485, + -0.024838496039400665, + -0.9995145749218101 + ], + [ + 0.9159965335583772, + 0.4011860249464627, + 0.0003519896197462244, + 0.4011277669669192, + -0.9158777840814681, + 0.016260356519833513, + 0.006845807269357157, + -0.01475323739642652, + -0.9998677297068622 + ], + [ + 0.9154565413271342, + 0.402180834641186, + 0.013780318888921093, + 0.4021223267550978, + -0.9155599213312907, + 0.006903968200042857, + 0.015393351370890138, + -0.0007789089548035795, + -0.9998812119619073 + ], + [ + 0.9261462288185319, + 0.37599092939288814, + -0.029731866061244717, + 0.37578422711840354, + -0.9266232667278512, + -0.012471415622517131, + -0.03223937800634071, + 0.00037758823821002624, + -0.9994801048209447 + ], + [ + 0.940249283773487, + 0.3403493217683226, + -0.009675925551960588, + 0.3402029795519563, + -0.9402461519282902, + -0.014110509842438557, + -0.013900254221254767, + 0.009975618070331694, + -0.9998536242754232 + ], + [ + 0.9670526039738774, + 0.2544733731996095, + -0.007250067569049767, + 0.2544164941462088, + -0.9670622661207255, + -0.007925966931508698, + -0.009028214313783223, + 0.005820290186885559, + -0.9999423061199307 + ], + [ + 0.9780188755988956, + 0.20719287410826967, + -0.023456169572766875, + 0.20736485647104716, + -0.9782502377789634, + 0.005127239622190338, + -0.02188367594837947, + -0.00987852236703805, + -0.9997117182082192 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005875.json b/json/chunk-0005/episode_0005875.json new file mode 100644 index 0000000000000000000000000000000000000000..de9193185396ab793b9f09f6a4fc37ad38a630f9 --- /dev/null +++ b/json/chunk-0005/episode_0005875.json @@ -0,0 +1,2062 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 33, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nUnfold the cloth from the center to bottom left." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005875.mp4", + "start": 0, + "end": 33, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3771291971206665, + 0.05082987621426582, + 0.08682772517204285, + 0.14248789846897125, + -0.22568869590759277, + 0.1974146068096161, + 0.0, + 1.0008161067962646 + ], + [ + 0.3746369481086731, + 0.050672926008701324, + 0.07363948971033096, + 0.14664073288440704, + -0.18987751007080078, + 0.20101451873779297, + 0.0, + 1.0008161067962646 + ], + [ + 0.36183348298072815, + 0.048323556780815125, + 0.062388673424720764, + 0.14020287990570068, + -0.1623525321483612, + 0.2271522581577301, + 0.0, + 1.0008161067962646 + ], + [ + 0.3431500494480133, + 0.04590575397014618, + 0.06974093616008759, + 0.12532328069210052, + -0.18348263204097748, + 0.2672020196914673, + 0.0, + 1.0008161067962646 + ], + [ + 0.2986893057823181, + 0.03342822566628456, + 0.08450882881879807, + 0.12204078584909439, + -0.1723826825618744, + 0.39746010303497314, + 0.0, + 1.0008161067962646 + ], + [ + 0.2508370280265808, + 0.024668408557772636, + 0.07541508227586746, + 0.09688448905944824, + -0.1043415367603302, + 0.5490716099739075, + 0.0, + 1.0008161067962646 + ], + [ + 0.21525081992149353, + 0.01909516751766205, + 0.05303141474723816, + 0.03871527314186096, + -0.03112957999110222, + 0.6479188203811646, + 0.0, + 1.0001531839370728 + ], + [ + 0.2190788984298706, + 0.019147055223584175, + 0.03804817423224449, + -0.014883020892739296, + -0.010459807701408863, + 0.6704988479614258, + 0.0, + 1.0008161067962646 + ], + [ + 0.22908331453800201, + 0.02517971582710743, + 0.014721905812621117, + -0.05404520407319069, + 0.015857096761465073, + 0.6549130082130432, + 0.0, + 1.0001531839370728 + ], + [ + 0.24414657056331635, + 0.03079935722053051, + 0.016662543639540672, + -0.04986074939370155, + 0.007226429879665375, + 0.6033555269241333, + 0.0, + 1.0008161067962646 + ], + [ + 0.2528262436389923, + 0.03629910200834274, + 0.01841718703508377, + -0.023937677964568138, + 0.013360314071178436, + 0.5698631405830383, + 0.0, + 1.0008161067962646 + ], + [ + 0.2590353190898895, + 0.04188649728894234, + 0.026313763111829758, + 0.014164903201162815, + 0.0037375835236161947, + 0.5696043372154236, + 0.0, + 1.0008161067962646 + ], + [ + 0.26476219296455383, + 0.03941744938492775, + 0.010176516138017178, + -0.02537466399371624, + 0.017297212034463882, + 0.5780636668205261, + 0.0, + 0.9752515554428101 + ], + [ + 0.2690987288951874, + 0.0410194993019104, + 0.0054442668333649635, + -0.06017696112394333, + 0.010175734758377075, + 0.6129859685897827, + 0.0, + 0.850854754447937 + ], + [ + 0.26917925477027893, + 0.04264300689101219, + 0.0052739158272743225, + -0.058277323842048645, + 0.009217355400323868, + 0.6138401627540588, + 0.0, + 0.5729578137397766 + ], + [ + 0.268185019493103, + 0.04268096759915352, + 0.006245758850127459, + -0.028678227216005325, + 0.013844667002558708, + 0.5944976210594177, + 0.0, + 0.32837530970573425 + ], + [ + 0.2656448483467102, + 0.03772979974746704, + 0.016151810064911842, + 0.017249049618840218, + 0.00016461410268675536, + 0.575668215751648, + 0.0, + 0.15014003217220306 + ], + [ + 0.2627464830875397, + 0.04146309196949005, + 0.027753451839089394, + 0.051512010395526886, + -0.017838269472122192, + 0.5745250582695007, + 0.0, + 0.06472665071487427 + ], + [ + 0.2667089104652405, + 0.04137369990348816, + 0.060002610087394714, + 0.11668384075164795, + -0.06138787418603897, + 0.5138899683952332, + 0.0, + 0.05701649188995361 + ], + [ + 0.255522221326828, + 0.04824471473693848, + 0.08410054445266724, + 0.1639290452003479, + -0.09517861902713776, + 0.4991765320301056, + 0.0, + 0.05592256039381027 + ], + [ + 0.22677409648895264, + 0.06520210206508636, + 0.07909892499446869, + 0.16209514439105988, + -0.09398923069238663, + 0.5047320127487183, + 0.0, + 0.05592256039381027 + ], + [ + 0.20856229960918427, + 0.08723089098930359, + 0.059841737151145935, + 0.1406499147415161, + -0.10001196712255478, + 0.41148608922958374, + 0.0, + 0.05592256039381027 + ], + [ + 0.20111432671546936, + 0.10776764154434204, + 0.03829413279891014, + 0.12712955474853516, + -0.1324094533920288, + 0.2912292778491974, + 0.0, + 0.05565106123685837 + ], + [ + 0.19995975494384766, + 0.12272920459508896, + 0.022033367305994034, + 0.12576834857463837, + -0.15157049894332886, + 0.16164135932922363, + 0.0, + 0.05565106123685837 + ], + [ + 0.1923796385526657, + 0.1242566928267479, + 0.01803061179816723, + 0.13096937537193298, + -0.1485050469636917, + 0.031417060643434525, + 0.0, + 0.05538023263216019 + ], + [ + 0.17830149829387665, + 0.12277715653181076, + 0.025238407775759697, + 0.1341572254896164, + -0.12434930354356766, + -0.02146266959607601, + 0.0, + 0.05538023263216019 + ], + [ + 0.15627288818359375, + 0.1204022467136383, + 0.029493477195501328, + 0.13482043147087097, + -0.08333136141300201, + 0.030750418081879616, + 0.0, + 0.05538023263216019 + ], + [ + 0.14076757431030273, + 0.11792004108428955, + 0.023459890857338905, + 0.12072278559207916, + -0.09108622372150421, + 0.10310348123311996, + 0.0, + 0.07050029188394547 + ], + [ + 0.1358979344367981, + 0.11987744271755219, + 0.018351243808865547, + 0.11108394712209702, + -0.11249339580535889, + 0.1270330548286438, + 0.0, + 0.23329517245292664 + ], + [ + 0.13288627564907074, + 0.12129273265600204, + 0.014001966454088688, + 0.09022733569145203, + -0.10355327278375626, + 0.10249513387680054, + 0.0, + 0.472818523645401 + ], + [ + 0.13119235634803772, + 0.12158173322677612, + 0.019772185012698174, + 0.09608913213014603, + -0.09344308823347092, + 0.08610053360462189, + 0.0, + 0.7836189270019531 + ], + [ + 0.13523559272289276, + 0.12160225212574005, + 0.0398382805287838, + 0.09248806536197662, + -0.08581549674272537, + 0.10140392929315567, + 0.0, + 1.0041072368621826 + ], + [ + 0.1385536938905716, + 0.11115866154432297, + 0.06583580374717712, + 0.0854647159576416, + -0.07242865860462189, + 0.1294284164905548, + 0.0, + 1.0073583126068115 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9752515554428101 + ], + [ + 0.850854754447937 + ], + [ + 0.5729578137397766 + ], + [ + 0.32837530970573425 + ], + [ + 0.15014003217220306 + ], + [ + 0.06472665071487427 + ], + [ + 0.05701649188995361 + ], + [ + 0.05592256039381027 + ], + [ + 0.05592256039381027 + ], + [ + 0.05592256039381027 + ], + [ + 0.05565106123685837 + ], + [ + 0.05565106123685837 + ], + [ + 0.05538023263216019 + ], + [ + 0.05538023263216019 + ], + [ + 0.05538023263216019 + ], + [ + 0.07050029188394547 + ], + [ + 0.23329517245292664 + ], + [ + 0.472818523645401 + ], + [ + 0.7836189270019531 + ], + [ + 1.0041072368621826 + ], + [ + 1.0073583126068115 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3771291971206665, + 0.05082987621426582, + 0.08682772517204285 + ], + [ + 0.3746369481086731, + 0.050672926008701324, + 0.07363948971033096 + ], + [ + 0.36183348298072815, + 0.048323556780815125, + 0.062388673424720764 + ], + [ + 0.3431500494480133, + 0.04590575397014618, + 0.06974093616008759 + ], + [ + 0.2986893057823181, + 0.03342822566628456, + 0.08450882881879807 + ], + [ + 0.2508370280265808, + 0.024668408557772636, + 0.07541508227586746 + ], + [ + 0.21525081992149353, + 0.01909516751766205, + 0.05303141474723816 + ], + [ + 0.2190788984298706, + 0.019147055223584175, + 0.03804817423224449 + ], + [ + 0.22908331453800201, + 0.02517971582710743, + 0.014721905812621117 + ], + [ + 0.24414657056331635, + 0.03079935722053051, + 0.016662543639540672 + ], + [ + 0.2528262436389923, + 0.03629910200834274, + 0.01841718703508377 + ], + [ + 0.2590353190898895, + 0.04188649728894234, + 0.026313763111829758 + ], + [ + 0.26476219296455383, + 0.03941744938492775, + 0.010176516138017178 + ], + [ + 0.2690987288951874, + 0.0410194993019104, + 0.0054442668333649635 + ], + [ + 0.26917925477027893, + 0.04264300689101219, + 0.0052739158272743225 + ], + [ + 0.268185019493103, + 0.04268096759915352, + 0.006245758850127459 + ], + [ + 0.2656448483467102, + 0.03772979974746704, + 0.016151810064911842 + ], + [ + 0.2627464830875397, + 0.04146309196949005, + 0.027753451839089394 + ], + [ + 0.2667089104652405, + 0.04137369990348816, + 0.060002610087394714 + ], + [ + 0.255522221326828, + 0.04824471473693848, + 0.08410054445266724 + ], + [ + 0.22677409648895264, + 0.06520210206508636, + 0.07909892499446869 + ], + [ + 0.20856229960918427, + 0.08723089098930359, + 0.059841737151145935 + ], + [ + 0.20111432671546936, + 0.10776764154434204, + 0.03829413279891014 + ], + [ + 0.19995975494384766, + 0.12272920459508896, + 0.022033367305994034 + ], + [ + 0.1923796385526657, + 0.1242566928267479, + 0.01803061179816723 + ], + [ + 0.17830149829387665, + 0.12277715653181076, + 0.025238407775759697 + ], + [ + 0.15627288818359375, + 0.1204022467136383, + 0.029493477195501328 + ], + [ + 0.14076757431030273, + 0.11792004108428955, + 0.023459890857338905 + ], + [ + 0.1358979344367981, + 0.11987744271755219, + 0.018351243808865547 + ], + [ + 0.13288627564907074, + 0.12129273265600204, + 0.014001966454088688 + ], + [ + 0.13119235634803772, + 0.12158173322677612, + 0.019772185012698174 + ], + [ + 0.13523559272289276, + 0.12160225212574005, + 0.0398382805287838 + ], + [ + 0.1385536938905716, + 0.11115866154432297, + 0.06583580374717712 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9557097280247259, + 0.2253077344091689, + 0.18935506482350112, + 0.19116087717636193, + -0.9644068038823777, + 0.1826938303899215, + 0.2237776458810593, + -0.13840499066429993, + -0.9647629883878976 + ], + [ + 0.9622537685305609, + 0.2245430288810844, + 0.15377943012523637, + 0.19607504386099012, + -0.963841866995189, + 0.18045340839712426, + 0.18873860793076963, + -0.14348966376759337, + -0.9714877530201904 + ], + [ + 0.9614992258663524, + 0.2450020779777627, + 0.12447176565383605, + 0.22224236553243054, + -0.9596644328513427, + 0.17219903391906813, + 0.16164024752812872, + -0.1379063381672109, + -0.9771664506481771 + ], + [ + 0.9483233349491111, + 0.2839597733864916, + 0.14159696144087353, + 0.2596017747007082, + -0.9509274898079818, + 0.16835625233335777, + 0.18245484636818676, + -0.1228973401900254, + -0.9755031895442364 + ], + [ + 0.9083813169177224, + 0.4034526680094989, + 0.10986049222009447, + 0.38134075679514495, + -0.9071062978291891, + 0.17814991340309067, + 0.17153020224360044, + -0.11993376970077974, + -0.9778513591562011 + ], + [ + 0.8483702000836276, + 0.5280420699603892, + 0.037941744319589264, + 0.5190571260130254, + -0.8437510330379343, + 0.1366158635829567, + 0.1041523093606852, + -0.09620689476002349, + -0.9898972319667684 + ], + [ + 0.7969552741824262, + 0.6040366065270235, + 0.0014383769087998113, + 0.6032359017679034, + -0.7960170259567242, + 0.04963205824138568, + 0.031124552544225845, + -0.03868684999233969, + -0.9987665342143739 + ], + [ + 0.7834689301006873, + 0.6211861347073121, + 0.017441949841505367, + 0.6213429262329152, + -0.7835217433628178, + -0.005161947114114837, + 0.01045961697208255, + 0.014881657336460557, + -0.9998345526574473 + ], + [ + 0.7930012074128965, + 0.6088802560627306, + 0.020344994929281074, + 0.609013676856739, + -0.7914212065099867, + -0.05248633429487013, + -0.015856432231883412, + 0.05401210663602209, + -0.9984143758448268 + ], + [ + 0.823414798630429, + 0.5670001266894629, + 0.022336645463074116, + 0.5673939099220391, + -0.8222085813588574, + -0.04513534893225066, + -0.007226366984249305, + 0.04983879085599932, + -0.9987311322604402 + ], + [ + 0.8418996767152915, + 0.5396314964272854, + 0.0016680558552936604, + 0.5394686709855036, + -0.8415610776008163, + -0.027358832074624622, + -0.01335991660985321, + 0.023933255754319278, + -0.9996242853678456 + ], + [ + 0.8421085396116119, + 0.5392002127940168, + -0.01078601112949992, + 0.5392951307472114, + -0.842058490998067, + 0.009912602605115277, + -0.003737574821574376, + -0.014164330585868419, + -0.9998926953796131 + ], + [ + 0.837396950574219, + 0.5465948820812704, + -0.0006181031963358816, + 0.5463215019222375, + -0.8370128386537633, + -0.03069730389138686, + -0.017296349511671583, + 0.025368145602932306, + -0.99952853560178 + ], + [ + 0.8178914558051086, + 0.5747715270952262, + 0.026291788863095196, + 0.5752825605882498, + -0.8161011999574735, + -0.055034597400165586, + -0.010175559150563613, + 0.060137534606876514, + -0.9981382343780745 + ], + [ + 0.8174073508167714, + 0.575471794382338, + 0.0260276142026155, + 0.5759863415013864, + -0.8157451187072997, + -0.0529115838835157, + -0.009217224883677993, + 0.05824186789231796, + -0.9982599499077672 + ], + [ + 0.8283505888068141, + 0.5601911983769959, + 0.004596007435795005, + 0.5600389624526941, + -0.827866996308845, + -0.031505506780260685, + -0.013844224727824069, + 0.02867154832785351, + -0.9994930113603444 + ], + [ + 0.8388287047542297, + 0.5443120641594825, + -0.009527900649405452, + 0.5443954233666362, + -0.838705476679721, + 0.014378678830238396, + -0.0001646141019433084, + -0.017248194047074263, + -0.9998512252851981 + ], + [ + 0.8393169429475386, + 0.54348629747784, + -0.013027422424507922, + 0.5433497024690799, + -0.8378379001457259, + 0.0529032504309766, + 0.017837323452813365, + -0.051481040522010746, + -0.9985146630665023 + ], + [ + 0.869198564850677, + 0.49444564902013305, + -0.004165936459285258, + 0.4906425533705758, + -0.8614064496605995, + 0.13133473761774817, + 0.06134932504539181, + -0.11619995115395024, + -0.9913293255363197 + ], + [ + 0.8740032734062256, + 0.4859019014730983, + 0.0041976445811812285, + 0.47653607472243076, + -0.858782279039145, + 0.18816579576657946, + 0.09503498073520276, + -0.16245719237128178, + -0.9821283078516269 + ], + [ + 0.8714407350827544, + 0.49049145665284066, + 0.003029222507964738, + 0.481438523773038, + -0.8565057043083482, + 0.18605087023311076, + 0.0938509087098582, + -0.16067392270631362, + -0.9825354433792701 + ], + [ + 0.9119475266201673, + 0.4088507442684941, + 0.03453661249250456, + 0.3979731397612071, + -0.9018784230890897, + 0.16802586108972484, + 0.09984532397646759, + -0.13948612431864021, + -0.9851774116384312 + ], + [ + 0.9495068936745626, + 0.300846785755899, + 0.0890385891893348, + 0.2846166129872835, + -0.9453551493062882, + 0.15905038601566665, + 0.13202288618315317, + -0.12567757628324108, + -0.9832472244270208 + ], + [ + 0.9756490718155438, + 0.1783601779759174, + 0.12765788490283822, + 0.15909325414738024, + -0.9761208485486288, + 0.14791019408242756, + 0.15099081147627594, + -0.12399893524181317, + -0.9807273009907657 + ], + [ + 0.9885053321868533, + 0.05045618947003183, + 0.14251800301128023, + 0.031066153733143934, + -0.990339547367361, + 0.13513872506590935, + 0.14795979971055548, + -0.12915786412129543, + -0.9805234029870157 + ], + [ + 0.992050046680369, + -0.004682472616582481, + 0.1257568261832038, + -0.02129531234323198, + -0.9911421920966503, + 0.1310864780137556, + 0.12402908753063441, + -0.13272237752557628, + -0.9833623726532741 + ], + [ + 0.9960588344731389, + 0.04164908918103352, + 0.07830805602492179, + 0.030638883458717334, + -0.9901130410623095, + 0.1368847133128768, + 0.08323495112280123, + -0.13394595659718753, + -0.9874869232667586 + ], + [ + 0.9905660745791955, + 0.11306799165125488, + 0.07742403474835742, + 0.10249425082072473, + -0.9863226138654485, + 0.12908380969868874, + 0.09096032344633274, + -0.11993052422790737, + -0.9886065389814885 + ], + [ + 0.9856723654424602, + 0.1382547723848439, + 0.09662093932414326, + 0.12589088502692136, + -0.984251749253513, + 0.12409665248723584, + 0.11225628298764942, + -0.11015494543693588, + -0.9875547655323131 + ], + [ + 0.9894232327463902, + 0.11116469612863765, + 0.09318839432198636, + 0.10176768159421394, + -0.9897526239461407, + 0.10016527529372571, + 0.10336830019218202, + -0.08962228364841426, + -0.9905972142041497 + ], + [ + 0.9919491695409084, + 0.09451635156209298, + 0.08428228956603351, + 0.08561903068434562, + -0.990929895807002, + 0.10357279170031679, + 0.09330716281065973, + -0.09552277677766162, + -0.9910444856235818 + ], + [ + 0.991202038593554, + 0.10867278885261732, + 0.07555622840625068, + 0.10085771711268833, + -0.9898096819805956, + 0.10052121346407214, + 0.0857102070164342, + -0.09201640299678679, + -0.9920618639947477 + ], + [ + 0.9890359488873309, + 0.13472177077837466, + 0.06048087538120031, + 0.1287289710984778, + -0.9872192009057973, + 0.09395265490046942, + 0.07236534950143245, + -0.08513691233101253, + -0.9937378740645227 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.002492249011993408, + -0.0001569502055644989, + -0.013188235461711884, + 0.004152834415435791, + 0.03581118583679199, + 0.00359991192817688, + 1.0 + ], + [ + -0.012803465127944946, + -0.0023493692278862, + -0.011250816285610199, + -0.00643785297870636, + 0.027524977922439575, + 0.026137739419937134, + 1.0 + ], + [ + -0.018683433532714844, + -0.0024178028106689453, + 0.007352262735366821, + -0.014879599213600159, + -0.021130099892616272, + 0.04004976153373718, + 1.0 + ], + [ + -0.04446074366569519, + -0.012477528303861618, + 0.01476789265871048, + -0.003282494843006134, + 0.011099949479103088, + 0.13025808334350586, + 1.0 + ], + [ + -0.047852277755737305, + -0.008759817108511925, + -0.009093746542930603, + -0.02515629678964615, + 0.06804114580154419, + 0.15161150693893433, + 1.0 + ], + [ + -0.03558620810508728, + -0.005573241040110588, + -0.022383667528629303, + -0.05816921591758728, + 0.07321195304393768, + 0.09884721040725708, + 1.0 + ], + [ + 0.003828078508377075, + 5.188770592212677e-05, + -0.014983240514993668, + -0.05359829217195511, + 0.02066977322101593, + 0.02258002758026123, + 1.0 + ], + [ + 0.010004416108131409, + 0.006032660603523254, + -0.023326268419623375, + -0.039162181317806244, + 0.02631690353155136, + -0.015585839748382568, + 1.0 + ], + [ + 0.015063256025314331, + 0.0056196413934230804, + 0.0019406378269195557, + 0.004184454679489136, + -0.008630666881799698, + -0.05155748128890991, + 1.0 + ], + [ + 0.008679673075675964, + 0.005499744787812233, + 0.0017546433955430984, + 0.025923071429133415, + 0.0061338841915130615, + -0.03349238634109497, + 1.0 + ], + [ + 0.006209075450897217, + 0.005587395280599594, + 0.007896576076745987, + 0.03810258209705353, + -0.009622730314731598, + -0.0002588033676147461, + 1.0 + ], + [ + 0.005726873874664307, + -0.0024690479040145874, + -0.016137246042490005, + -0.03953956812620163, + 0.013559628278017044, + 0.008459329605102539, + 0.0 + ], + [ + 0.004336535930633545, + 0.0016020499169826508, + -0.004732249304652214, + -0.03480229526758194, + -0.007121477276086807, + 0.03492230176925659, + 0.0 + ], + [ + 8.052587509155273e-05, + 0.0016235075891017914, + -0.00017035100609064102, + 0.0018996372818946838, + -0.0009583793580532074, + 0.000854194164276123, + 0.0 + ], + [ + -0.0009942352771759033, + 3.7960708141326904e-05, + 0.0009718430228531361, + 0.02959909662604332, + 0.00462731160223484, + -0.019342541694641113, + 0.0 + ], + [ + -0.0025401711463928223, + -0.004951167851686478, + 0.009906051680445671, + 0.04592727869749069, + -0.013680052943527699, + -0.018829405307769775, + 0.0 + ], + [ + -0.0028983652591705322, + 0.0037332922220230103, + 0.011601641774177551, + 0.03426296263933182, + -0.018002884462475777, + -0.0011431574821472168, + 0.0 + ], + [ + 0.003962427377700806, + -8.939206600189209e-05, + 0.03224916011095047, + 0.06517183035612106, + -0.04354960471391678, + -0.06063508987426758, + 0.0 + ], + [ + -0.011186689138412476, + 0.006871014833450317, + 0.024097934365272522, + 0.04724520444869995, + -0.033790744841098785, + -0.014713436365127563, + 0.0 + ], + [ + -0.028748124837875366, + 0.016957387328147888, + -0.005001619458198547, + -0.001833900809288025, + 0.0011893883347511292, + 0.005555480718612671, + 0.0 + ], + [ + -0.01821179687976837, + 0.022028788924217224, + -0.019257187843322754, + -0.021445229649543762, + -0.006022736430168152, + -0.09324592351913452, + 0.0 + ], + [ + -0.007447972893714905, + 0.020536750555038452, + -0.021547604352235794, + -0.013520359992980957, + -0.03239748626947403, + -0.12025681138038635, + 0.0 + ], + [ + -0.001154571771621704, + 0.014961563050746918, + -0.016260765492916107, + -0.0013612061738967896, + -0.01916104555130005, + -0.12958791851997375, + 0.0 + ], + [ + -0.007580116391181946, + 0.0015274882316589355, + -0.004002755507826805, + 0.005201026797294617, + 0.003065451979637146, + -0.1302243024110794, + 0.0 + ], + [ + -0.014078140258789062, + -0.0014795362949371338, + 0.007207795977592468, + 0.0031878501176834106, + 0.024155743420124054, + -0.05287972837686539, + 0.0 + ], + [ + -0.022028610110282898, + -0.002374909818172455, + 0.0042550694197416306, + 0.0006632059812545776, + 0.04101794213056564, + 0.05221308767795563, + 0.0 + ], + [ + -0.015505313873291016, + -0.002482205629348755, + -0.006033586338162422, + -0.014097645878791809, + -0.007754862308502197, + 0.0723530650138855, + 1.0 + ], + [ + -0.004869639873504639, + 0.0019574016332626343, + -0.005108647048473358, + -0.009638838469982147, + -0.021407172083854675, + 0.023929573595523834, + 1.0 + ], + [ + -0.003011658787727356, + 0.0014152899384498596, + -0.004349277354776859, + -0.02085661143064499, + 0.00894012302160263, + -0.02453792095184326, + 1.0 + ], + [ + -0.00169391930103302, + 0.00028900057077407837, + 0.005770218558609486, + 0.005861796438694, + 0.01011018455028534, + -0.01639460027217865, + 1.0 + ], + [ + 0.0040432363748550415, + 2.0518898963928223e-05, + 0.020066095516085625, + -0.003601066768169403, + 0.007627591490745544, + 0.015303395688533783, + 1.0 + ], + [ + 0.003318101167678833, + -0.010443590581417084, + 0.025997523218393326, + -0.007023349404335022, + 0.013386838138103485, + 0.02802448719739914, + 1.0 + ], + [ + 0.009194999933242798, + -0.01639728993177414, + 0.018166199326515198, + -0.0048096999526023865, + 0.0647038146853447, + 0.05998443067073822, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9752515554428101 + ], + [ + 0.850854754447937 + ], + [ + 0.5729578137397766 + ], + [ + 0.32837530970573425 + ], + [ + 0.15014003217220306 + ], + [ + 0.06472665071487427 + ], + [ + 0.05701649188995361 + ], + [ + 0.05592256039381027 + ], + [ + 0.05592256039381027 + ], + [ + 0.05592256039381027 + ], + [ + 0.05565106123685837 + ], + [ + 0.05565106123685837 + ], + [ + 0.05538023263216019 + ], + [ + 0.05538023263216019 + ], + [ + 0.05538023263216019 + ], + [ + 0.07050029188394547 + ], + [ + 0.23329517245292664 + ], + [ + 0.472818523645401 + ], + [ + 0.7836189270019531 + ], + [ + 1.0041072368621826 + ], + [ + 1.0073583126068115 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3746369481086731, + 0.050672926008701324, + 0.07363948971033096 + ], + [ + 0.36183348298072815, + 0.048323556780815125, + 0.062388673424720764 + ], + [ + 0.3431500494480133, + 0.04590575397014618, + 0.06974093616008759 + ], + [ + 0.2986893057823181, + 0.03342822566628456, + 0.08450882881879807 + ], + [ + 0.2508370280265808, + 0.024668408557772636, + 0.07541508227586746 + ], + [ + 0.21525081992149353, + 0.01909516751766205, + 0.05303141474723816 + ], + [ + 0.2190788984298706, + 0.019147055223584175, + 0.03804817423224449 + ], + [ + 0.22908331453800201, + 0.02517971582710743, + 0.014721905812621117 + ], + [ + 0.24414657056331635, + 0.03079935722053051, + 0.016662543639540672 + ], + [ + 0.2528262436389923, + 0.03629910200834274, + 0.01841718703508377 + ], + [ + 0.2590353190898895, + 0.04188649728894234, + 0.026313763111829758 + ], + [ + 0.26476219296455383, + 0.03941744938492775, + 0.010176516138017178 + ], + [ + 0.2690987288951874, + 0.0410194993019104, + 0.0054442668333649635 + ], + [ + 0.26917925477027893, + 0.04264300689101219, + 0.0052739158272743225 + ], + [ + 0.268185019493103, + 0.04268096759915352, + 0.006245758850127459 + ], + [ + 0.2656448483467102, + 0.03772979974746704, + 0.016151810064911842 + ], + [ + 0.2627464830875397, + 0.04146309196949005, + 0.027753451839089394 + ], + [ + 0.2667089104652405, + 0.04137369990348816, + 0.060002610087394714 + ], + [ + 0.255522221326828, + 0.04824471473693848, + 0.08410054445266724 + ], + [ + 0.22677409648895264, + 0.06520210206508636, + 0.07909892499446869 + ], + [ + 0.20856229960918427, + 0.08723089098930359, + 0.059841737151145935 + ], + [ + 0.20111432671546936, + 0.10776764154434204, + 0.03829413279891014 + ], + [ + 0.19995975494384766, + 0.12272920459508896, + 0.022033367305994034 + ], + [ + 0.1923796385526657, + 0.1242566928267479, + 0.01803061179816723 + ], + [ + 0.17830149829387665, + 0.12277715653181076, + 0.025238407775759697 + ], + [ + 0.15627288818359375, + 0.1204022467136383, + 0.029493477195501328 + ], + [ + 0.14076757431030273, + 0.11792004108428955, + 0.023459890857338905 + ], + [ + 0.1358979344367981, + 0.11987744271755219, + 0.018351243808865547 + ], + [ + 0.13288627564907074, + 0.12129273265600204, + 0.014001966454088688 + ], + [ + 0.13119235634803772, + 0.12158173322677612, + 0.019772185012698174 + ], + [ + 0.13523559272289276, + 0.12160225212574005, + 0.0398382805287838 + ], + [ + 0.1385536938905716, + 0.11115866154432297, + 0.06583580374717712 + ], + [ + 0.1477486938238144, + 0.09476137161254883, + 0.08400200307369232 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9622537685305609, + 0.2245430288810844, + 0.15377943012523637, + 0.19607504386099012, + -0.963841866995189, + 0.18045340839712426, + 0.18873860793076963, + -0.14348966376759337, + -0.9714877530201904 + ], + [ + 0.9614992258663524, + 0.2450020779777627, + 0.12447176565383605, + 0.22224236553243054, + -0.9596644328513427, + 0.17219903391906813, + 0.16164024752812872, + -0.1379063381672109, + -0.9771664506481771 + ], + [ + 0.9483233349491111, + 0.2839597733864916, + 0.14159696144087353, + 0.2596017747007082, + -0.9509274898079818, + 0.16835625233335777, + 0.18245484636818676, + -0.1228973401900254, + -0.9755031895442364 + ], + [ + 0.9083813169177224, + 0.4034526680094989, + 0.10986049222009447, + 0.38134075679514495, + -0.9071062978291891, + 0.17814991340309067, + 0.17153020224360044, + -0.11993376970077974, + -0.9778513591562011 + ], + [ + 0.8483702000836276, + 0.5280420699603892, + 0.037941744319589264, + 0.5190571260130254, + -0.8437510330379343, + 0.1366158635829567, + 0.1041523093606852, + -0.09620689476002349, + -0.9898972319667684 + ], + [ + 0.7969552741824262, + 0.6040366065270235, + 0.0014383769087998113, + 0.6032359017679034, + -0.7960170259567242, + 0.04963205824138568, + 0.031124552544225845, + -0.03868684999233969, + -0.9987665342143739 + ], + [ + 0.7834689301006873, + 0.6211861347073121, + 0.017441949841505367, + 0.6213429262329152, + -0.7835217433628178, + -0.005161947114114837, + 0.01045961697208255, + 0.014881657336460557, + -0.9998345526574473 + ], + [ + 0.7930012074128965, + 0.6088802560627306, + 0.020344994929281074, + 0.609013676856739, + -0.7914212065099867, + -0.05248633429487013, + -0.015856432231883412, + 0.05401210663602209, + -0.9984143758448268 + ], + [ + 0.823414798630429, + 0.5670001266894629, + 0.022336645463074116, + 0.5673939099220391, + -0.8222085813588574, + -0.04513534893225066, + -0.007226366984249305, + 0.04983879085599932, + -0.9987311322604402 + ], + [ + 0.8418996767152915, + 0.5396314964272854, + 0.0016680558552936604, + 0.5394686709855036, + -0.8415610776008163, + -0.027358832074624622, + -0.01335991660985321, + 0.023933255754319278, + -0.9996242853678456 + ], + [ + 0.8421085396116119, + 0.5392002127940168, + -0.01078601112949992, + 0.5392951307472114, + -0.842058490998067, + 0.009912602605115277, + -0.003737574821574376, + -0.014164330585868419, + -0.9998926953796131 + ], + [ + 0.837396950574219, + 0.5465948820812704, + -0.0006181031963358816, + 0.5463215019222375, + -0.8370128386537633, + -0.03069730389138686, + -0.017296349511671583, + 0.025368145602932306, + -0.99952853560178 + ], + [ + 0.8178914558051086, + 0.5747715270952262, + 0.026291788863095196, + 0.5752825605882498, + -0.8161011999574735, + -0.055034597400165586, + -0.010175559150563613, + 0.060137534606876514, + -0.9981382343780745 + ], + [ + 0.8174073508167714, + 0.575471794382338, + 0.0260276142026155, + 0.5759863415013864, + -0.8157451187072997, + -0.0529115838835157, + -0.009217224883677993, + 0.05824186789231796, + -0.9982599499077672 + ], + [ + 0.8283505888068141, + 0.5601911983769959, + 0.004596007435795005, + 0.5600389624526941, + -0.827866996308845, + -0.031505506780260685, + -0.013844224727824069, + 0.02867154832785351, + -0.9994930113603444 + ], + [ + 0.8388287047542297, + 0.5443120641594825, + -0.009527900649405452, + 0.5443954233666362, + -0.838705476679721, + 0.014378678830238396, + -0.0001646141019433084, + -0.017248194047074263, + -0.9998512252851981 + ], + [ + 0.8393169429475386, + 0.54348629747784, + -0.013027422424507922, + 0.5433497024690799, + -0.8378379001457259, + 0.0529032504309766, + 0.017837323452813365, + -0.051481040522010746, + -0.9985146630665023 + ], + [ + 0.869198564850677, + 0.49444564902013305, + -0.004165936459285258, + 0.4906425533705758, + -0.8614064496605995, + 0.13133473761774817, + 0.06134932504539181, + -0.11619995115395024, + -0.9913293255363197 + ], + [ + 0.8740032734062256, + 0.4859019014730983, + 0.0041976445811812285, + 0.47653607472243076, + -0.858782279039145, + 0.18816579576657946, + 0.09503498073520276, + -0.16245719237128178, + -0.9821283078516269 + ], + [ + 0.8714407350827544, + 0.49049145665284066, + 0.003029222507964738, + 0.481438523773038, + -0.8565057043083482, + 0.18605087023311076, + 0.0938509087098582, + -0.16067392270631362, + -0.9825354433792701 + ], + [ + 0.9119475266201673, + 0.4088507442684941, + 0.03453661249250456, + 0.3979731397612071, + -0.9018784230890897, + 0.16802586108972484, + 0.09984532397646759, + -0.13948612431864021, + -0.9851774116384312 + ], + [ + 0.9495068936745626, + 0.300846785755899, + 0.0890385891893348, + 0.2846166129872835, + -0.9453551493062882, + 0.15905038601566665, + 0.13202288618315317, + -0.12567757628324108, + -0.9832472244270208 + ], + [ + 0.9756490718155438, + 0.1783601779759174, + 0.12765788490283822, + 0.15909325414738024, + -0.9761208485486288, + 0.14791019408242756, + 0.15099081147627594, + -0.12399893524181317, + -0.9807273009907657 + ], + [ + 0.9885053321868533, + 0.05045618947003183, + 0.14251800301128023, + 0.031066153733143934, + -0.990339547367361, + 0.13513872506590935, + 0.14795979971055548, + -0.12915786412129543, + -0.9805234029870157 + ], + [ + 0.992050046680369, + -0.004682472616582481, + 0.1257568261832038, + -0.02129531234323198, + -0.9911421920966503, + 0.1310864780137556, + 0.12402908753063441, + -0.13272237752557628, + -0.9833623726532741 + ], + [ + 0.9960588344731389, + 0.04164908918103352, + 0.07830805602492179, + 0.030638883458717334, + -0.9901130410623095, + 0.1368847133128768, + 0.08323495112280123, + -0.13394595659718753, + -0.9874869232667586 + ], + [ + 0.9905660745791955, + 0.11306799165125488, + 0.07742403474835742, + 0.10249425082072473, + -0.9863226138654485, + 0.12908380969868874, + 0.09096032344633274, + -0.11993052422790737, + -0.9886065389814885 + ], + [ + 0.9856723654424602, + 0.1382547723848439, + 0.09662093932414326, + 0.12589088502692136, + -0.984251749253513, + 0.12409665248723584, + 0.11225628298764942, + -0.11015494543693588, + -0.9875547655323131 + ], + [ + 0.9894232327463902, + 0.11116469612863765, + 0.09318839432198636, + 0.10176768159421394, + -0.9897526239461407, + 0.10016527529372571, + 0.10336830019218202, + -0.08962228364841426, + -0.9905972142041497 + ], + [ + 0.9919491695409084, + 0.09451635156209298, + 0.08428228956603351, + 0.08561903068434562, + -0.990929895807002, + 0.10357279170031679, + 0.09330716281065973, + -0.09552277677766162, + -0.9910444856235818 + ], + [ + 0.991202038593554, + 0.10867278885261732, + 0.07555622840625068, + 0.10085771711268833, + -0.9898096819805956, + 0.10052121346407214, + 0.0857102070164342, + -0.09201640299678679, + -0.9920618639947477 + ], + [ + 0.9890359488873309, + 0.13472177077837466, + 0.06048087538120031, + 0.1287289710984778, + -0.9872192009057973, + 0.09395265490046942, + 0.07236534950143245, + -0.08513691233101253, + -0.9937378740645227 + ], + [ + 0.9820856520535675, + 0.18828143266725653, + -0.007607505720307887, + 0.18827665820669, + -0.9788050631400445, + 0.08057635103387771, + 0.007724765694854061, + -0.08056519399951077, + -0.9967194076121828 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005876.json b/json/chunk-0005/episode_0005876.json new file mode 100644 index 0000000000000000000000000000000000000000..a2eca4f0d1a1e43184ad25874ac23c33a9a5a238 --- /dev/null +++ b/json/chunk-0005/episode_0005876.json @@ -0,0 +1,1522 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 24, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nTopple hot sauce bottle cardboard fence." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005876.mp4", + "start": 0, + "end": 24, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.22778275609016418, + -0.06386829167604446, + 0.1443243771791458, + -0.07251209765672684, + -0.04591475427150726, + 0.3390187621116638, + 0.0, + 1.0014774799346924 + ], + [ + 0.22741693258285522, + -0.06281056255102158, + 0.13914857804775238, + -0.060932327061891556, + -0.03865925967693329, + 0.3433457612991333, + 0.0, + 1.0008161067962646 + ], + [ + 0.24591407179832458, + -0.056446611881256104, + 0.12944278120994568, + -0.04641173034906387, + -0.11910537630319595, + 0.35886868834495544, + 0.0, + 1.0014774799346924 + ], + [ + 0.26053234934806824, + -0.04618178680539131, + 0.1236676350235939, + -0.07680486887693405, + -0.21744205057621002, + 0.43960824608802795, + 0.0, + 1.0014774799346924 + ], + [ + 0.2755851447582245, + -0.036908261477947235, + 0.1135251447558403, + -0.08420740067958832, + -0.26058369874954224, + 0.5240878462791443, + 0.0, + 1.0014774799346924 + ], + [ + 0.2871089279651642, + -0.0334249772131443, + 0.10324205458164215, + -0.07151284068822861, + -0.2828744053840637, + 0.5799625515937805, + 0.0, + 1.0014774799346924 + ], + [ + 0.29262059926986694, + -0.03198293223977089, + 0.09978020191192627, + -0.04697200655937195, + -0.26757967472076416, + 0.5942307710647583, + 0.0, + 1.0008161067962646 + ], + [ + 0.29378318786621094, + -0.029291022568941116, + 0.09347401559352875, + 0.0010162576800212264, + -0.24774354696273804, + 0.5948376655578613, + 0.0, + 0.9499720335006714 + ], + [ + 0.29460516571998596, + -0.030493928119540215, + 0.09408766776323318, + 0.023351062089204788, + -0.24173730611801147, + 0.5797024369239807, + 0.0, + 0.6651484370231628 + ], + [ + 0.29395440220832825, + -0.03421785682439804, + 0.09196536988019943, + 0.035732246935367584, + -0.2479831725358963, + 0.5791732668876648, + 0.0, + 0.3669656813144684 + ], + [ + 0.2933719754219055, + -0.036813169717788696, + 0.09269821643829346, + 0.04792468994855881, + -0.25593340396881104, + 0.5665896534919739, + 0.0, + 0.2652277648448944 + ], + [ + 0.2870385944843292, + -0.03463491052389145, + 0.09116308391094208, + 0.0413692481815815, + -0.19453825056552887, + 0.6081444621086121, + 0.0, + 0.2898603677749634 + ], + [ + 0.27934497594833374, + -0.017707642167806625, + 0.10894028842449188, + -0.004581019748002291, + 0.06910493969917297, + 0.7538686990737915, + 0.0, + 0.2950899302959442 + ], + [ + 0.2600400745868683, + -0.002105047693476081, + 0.10586880892515182, + 0.07749374955892563, + 0.32894453406333923, + 0.8456548452377319, + 0.0, + 0.2958413064479828 + ], + [ + 0.2527979612350464, + 0.0097233597189188, + 0.09323170781135559, + 0.16538231074810028, + 0.3719463646411896, + 0.8602533936500549, + 0.0, + 0.2950899302959442 + ], + [ + 0.2530274987220764, + 0.019750528037548065, + 0.08093606680631638, + 0.22155192494392395, + 0.3505118787288666, + 0.8832477331161499, + 0.0, + 0.2958413064479828 + ], + [ + 0.25837641954421997, + 0.026651442050933838, + 0.06799675524234772, + 0.30782264471054077, + 0.16332104802131653, + 0.8674690127372742, + 0.0, + 0.2950899302959442 + ], + [ + 0.2669049799442291, + 0.026234058663249016, + 0.054188650101423264, + 0.29318106174468994, + 0.023283343762159348, + 0.8488866686820984, + 0.0, + 0.2958413064479828 + ], + [ + 0.2759104073047638, + 0.03388307988643646, + 0.03983462601900101, + 0.20366913080215454, + -0.19220778346061707, + 0.7772268056869507, + 0.0, + 0.2950899302959442 + ], + [ + 0.28854092955589294, + 0.035548776388168335, + 0.02926609292626381, + 0.11166646331548691, + -0.29594460129737854, + 0.7064736485481262, + 0.0, + 0.2958413064479828 + ], + [ + 0.29971006512641907, + 0.03973297029733658, + 0.028220118954777718, + 0.05193658173084259, + -0.36003872752189636, + 0.7084766626358032, + 0.0, + 0.35856863856315613 + ], + [ + 0.29619431495666504, + 0.04099895432591438, + 0.025466402992606163, + 0.025420960038900375, + -0.3447713255882263, + 0.7929491996765137, + 0.0, + 0.6541022062301636 + ], + [ + 0.29084402322769165, + 0.040577225387096405, + 0.0254324059933424, + -0.0071649812161922455, + -0.23224791884422302, + 0.835588812828064, + 0.0, + 0.927960216999054 + ], + [ + 0.28902435302734375, + 0.044795554131269455, + 0.03298145905137062, + -0.015957092866301537, + -0.2303847223520279, + 0.8592072129249573, + 0.0, + 1.0008161067962646 + ] + ], + "left_gripper_pos": [ + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 0.9499720335006714 + ], + [ + 0.6651484370231628 + ], + [ + 0.3669656813144684 + ], + [ + 0.2652277648448944 + ], + [ + 0.2898603677749634 + ], + [ + 0.2950899302959442 + ], + [ + 0.2958413064479828 + ], + [ + 0.2950899302959442 + ], + [ + 0.2958413064479828 + ], + [ + 0.2950899302959442 + ], + [ + 0.2958413064479828 + ], + [ + 0.2950899302959442 + ], + [ + 0.2958413064479828 + ], + [ + 0.35856863856315613 + ], + [ + 0.6541022062301636 + ], + [ + 0.927960216999054 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.22778275609016418, + -0.06386829167604446, + 0.1443243771791458 + ], + [ + 0.22741693258285522, + -0.06281056255102158, + 0.13914857804775238 + ], + [ + 0.24591407179832458, + -0.056446611881256104, + 0.12944278120994568 + ], + [ + 0.26053234934806824, + -0.04618178680539131, + 0.1236676350235939 + ], + [ + 0.2755851447582245, + -0.036908261477947235, + 0.1135251447558403 + ], + [ + 0.2871089279651642, + -0.0334249772131443, + 0.10324205458164215 + ], + [ + 0.29262059926986694, + -0.03198293223977089, + 0.09978020191192627 + ], + [ + 0.29378318786621094, + -0.029291022568941116, + 0.09347401559352875 + ], + [ + 0.29460516571998596, + -0.030493928119540215, + 0.09408766776323318 + ], + [ + 0.29395440220832825, + -0.03421785682439804, + 0.09196536988019943 + ], + [ + 0.2933719754219055, + -0.036813169717788696, + 0.09269821643829346 + ], + [ + 0.2870385944843292, + -0.03463491052389145, + 0.09116308391094208 + ], + [ + 0.27934497594833374, + -0.017707642167806625, + 0.10894028842449188 + ], + [ + 0.2600400745868683, + -0.002105047693476081, + 0.10586880892515182 + ], + [ + 0.2527979612350464, + 0.0097233597189188, + 0.09323170781135559 + ], + [ + 0.2530274987220764, + 0.019750528037548065, + 0.08093606680631638 + ], + [ + 0.25837641954421997, + 0.026651442050933838, + 0.06799675524234772 + ], + [ + 0.2669049799442291, + 0.026234058663249016, + 0.054188650101423264 + ], + [ + 0.2759104073047638, + 0.03388307988643646, + 0.03983462601900101 + ], + [ + 0.28854092955589294, + 0.035548776388168335, + 0.02926609292626381 + ], + [ + 0.29971006512641907, + 0.03973297029733658, + 0.028220118954777718 + ], + [ + 0.29619431495666504, + 0.04099895432591438, + 0.025466402992606163 + ], + [ + 0.29084402322769165, + 0.040577225387096405, + 0.0254324059933424 + ], + [ + 0.28902435302734375, + 0.044795554131269455, + 0.03298145905137062 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9420875309363514, + 0.3285519233979095, + 0.06726602177759029, + 0.3322113791410879, + -0.9417090293472027, + -0.053100881491043646, + 0.04589862332821551, + 0.07237221619850884, + -0.9963210219096509 + ], + [ + 0.940930056602036, + 0.3337985298287755, + 0.05682578699003522, + 0.3363879228273074, + -0.9406784385663645, + -0.044353586013706814, + 0.0386496307720817, + 0.06084913064698541, + -0.9973984105364753 + ], + [ + 0.9296614227961348, + 0.3456753684852725, + 0.1274291120083537, + 0.34872697525134916, + -0.9372227209054993, + -0.0017516136953771647, + 0.1188239693694475, + 0.046066376469872085, + -0.9918461338646357 + ], + [ + 0.883609868478744, + 0.40935120688492294, + 0.22729977947378893, + 0.41556351971886957, + -0.9092954385477622, + 0.022108064481016772, + 0.2157326155356225, + 0.07492259244105978, + -0.9735738511977761 + ], + [ + 0.8365517949390554, + 0.4798888870078508, + 0.2643629144010388, + 0.48352906872718815, + -0.8735571537783997, + 0.055655536817100656, + 0.25764458868771706, + 0.08126841458369742, + -0.9628160316026055 + ], + [ + 0.8032389141185465, + 0.5299096180337215, + 0.27203500429358923, + 0.5262138026676326, + -0.8452740165638905, + 0.09279477789195459, + 0.2791169660334671, + 0.06861219743823002, + -0.9578027383730792 + ], + [ + 0.799093296084707, + 0.5489674275747793, + 0.24512174039527454, + 0.5399477677391955, + -0.8346161644843214, + 0.10895992884973857, + 0.2643980186497975, + 0.045283787865082324, + -0.9633499189238829 + ], + [ + 0.8029518440018787, + 0.560580421012896, + 0.20252883199926655, + 0.5432650793354354, + -0.8280994027893894, + 0.1382549553344098, + 0.24521702589470776, + -0.0009852293443670807, + -0.9694677093820574 + ], + [ + 0.8122995771491492, + 0.5523019929415288, + 0.18743507024067954, + 0.5318476577236365, + -0.8333358135081581, + 0.15063031201779276, + 0.23938977826380672, + -0.022670035675126765, + -0.9706588502379678 + ], + [ + 0.811313706611424, + 0.554321408410548, + 0.18573595678322188, + 0.5305890092500848, + -0.8315818746109637, + 0.16415507631970805, + 0.24544932822773416, + -0.03463180613629728, + -0.9687906199361614 + ], + [ + 0.8162537425523825, + 0.5463738004166555, + 0.18763128200673243, + 0.5192741615993907, + -0.8362581697657434, + 0.1761437441276278, + 0.2531485193803811, + -0.04634591371750059, + -0.9663166579425252 + ], + [ + 0.805228568604737, + 0.5774182872312549, + 0.1348891169579304, + 0.5605683158990963, + -0.8154395147739062, + 0.14429678082115135, + 0.19331351611518846, + -0.04057732514866389, + -0.980297590107699 + ], + [ + 0.7273062595872848, + 0.684687764590446, + -0.04720455259072688, + 0.6828306591040659, + -0.7288221864639797, + -0.05060149706649476, + -0.0690499511416158, + 0.004570069802710693, + -0.9976027359171277 + ], + [ + 0.6276808766466204, + 0.7295726092585808, + -0.27155206666817416, + 0.7082789537004839, + -0.6799676327586948, + -0.18969697452907575, + -0.32304433261872595, + -0.07326545038531657, + -0.9435436041555043 + ], + [ + 0.6076460111597587, + 0.7086406038642958, + -0.35860119865455103, + 0.7061766068688693, + -0.6886983466206593, + -0.16434472085570864, + -0.36342939483867437, + -0.15337236360184478, + -0.9189102203427595 + ], + [ + 0.5960563794300074, + 0.7060275876377274, + -0.38241579208401116, + 0.7258153515226694, + -0.6774445973272715, + -0.11941898109645048, + -0.3433786074216249, + -0.20638280705170592, + -0.9162408356532923 + ], + [ + 0.6381523945043572, + 0.6949824442421172, + -0.331301861726746, + 0.7525450671134207, + -0.6539318255545878, + 0.07777589273098344, + -0.16259595121531303, + -0.2989524539489464, + -0.940313770465099 + ], + [ + 0.6606400490896518, + 0.7140727852854828, + -0.23163502078367956, + 0.7503417284128345, + -0.6376714680815321, + 0.17424806856084213, + -0.023281240114368856, + -0.28892067442358066, + -0.9570699179001295 + ], + [ + 0.6997337108921353, + 0.7143533349849027, + -0.008488029045060186, + 0.6883905981511924, + -0.6710301586670916, + 0.27538502235281803, + 0.19102648564574984, + -0.19853926300650457, + -0.9612965426062183 + ], + [ + 0.7275878261289904, + 0.6698330613892085, + 0.14812030630150216, + 0.6209347907493792, + -0.7348212087584551, + 0.27290616848247956, + 0.29164351682476086, + -0.10659015446430209, + -0.9505696176847657 + ], + [ + 0.7106665975687003, + 0.663688662182601, + 0.2333888317602106, + 0.6089583846279676, + -0.7464294234944988, + 0.2683520104880268, + 0.35231047797563847, + -0.04858472426533986, + -0.9346212343386158 + ], + [ + 0.6604513967150083, + 0.7182244114934072, + 0.21899234532773948, + 0.6705016625679648, + -0.6954001812436289, + 0.2585461436957111, + 0.33798146853161937, + -0.023922430087204447, + -0.9408486829814522 + ], + [ + 0.6527326629750577, + 0.740566411635971, + 0.15969176760907525, + 0.7217782454634646, + -0.6719470019810948, + 0.16590175075719077, + 0.23016566872835784, + 0.006972552275872235, + -0.9731264812210116 + ], + [ + 0.6357839005037268, + 0.75484920204516, + 0.1611878222200802, + 0.7373155031966403, + -0.6557143824726247, + 0.16249460718568276, + 0.22835209787990146, + 0.015534825082034756, + -0.9734546669483475 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.00036582350730895996, + 0.0010577291250228882, + -0.005175799131393433, + 0.011579770594835281, + 0.007255494594573975, + 0.004326999187469482, + 1.0 + ], + [ + 0.01849713921546936, + 0.006363950669765472, + -0.009705796837806702, + 0.014520596712827682, + -0.08044611662626266, + 0.015522927045822144, + 1.0 + ], + [ + 0.014618277549743652, + 0.010264825075864792, + -0.005775146186351776, + -0.030393138527870178, + -0.09833667427301407, + 0.08073955774307251, + 1.0 + ], + [ + 0.01505279541015625, + 0.009273525327444077, + -0.010142490267753601, + -0.007402531802654266, + -0.043141648173332214, + 0.08447960019111633, + 1.0 + ], + [ + 0.011523783206939697, + 0.0034832842648029327, + -0.01028309017419815, + 0.01269455999135971, + -0.022290706634521484, + 0.05587470531463623, + 1.0 + ], + [ + 0.005511671304702759, + 0.001442044973373413, + -0.0034618526697158813, + 0.02454083412885666, + 0.01529473066329956, + 0.014268219470977783, + 1.0 + ], + [ + 0.0011625885963439941, + 0.002691909670829773, + -0.006306186318397522, + 0.04798826575279236, + 0.019836127758026123, + 0.0006068944931030273, + 0.0 + ], + [ + 0.0008219778537750244, + -0.0012029055505990982, + 0.0006136521697044373, + 0.022334804758429527, + 0.0060062408447265625, + -0.015135228633880615, + 0.0 + ], + [ + -0.0006507635116577148, + -0.0037239287048578262, + -0.0021222978830337524, + 0.012381184846162796, + -0.006245866417884827, + -0.000529170036315918, + 0.0 + ], + [ + -0.0005824267864227295, + -0.0025953128933906555, + 0.0007328465580940247, + 0.012192443013191223, + -0.007950231432914734, + -0.012583613395690918, + 0.0 + ], + [ + -0.006333380937576294, + 0.0021782591938972473, + -0.0015351325273513794, + -0.00655544176697731, + 0.061395153403282166, + 0.041554808616638184, + 0.0 + ], + [ + -0.007693618535995483, + 0.016927268356084824, + 0.017777204513549805, + -0.0459502674639225, + 0.26364320516586304, + 0.14572423696517944, + 0.0 + ], + [ + -0.019304901361465454, + 0.0156025942414999, + -0.0030714794993400574, + 0.08207476884126663, + 0.25983959436416626, + 0.09178614616394043, + 0.0 + ], + [ + -0.007242113351821899, + 0.011828407645225525, + -0.012637101113796234, + 0.08788856118917465, + 0.04300183057785034, + 0.014598548412322998, + 0.0 + ], + [ + 0.0002295374870300293, + 0.010027168318629265, + -0.012295641005039215, + 0.05616961419582367, + -0.021434485912322998, + 0.02299433946609497, + 0.0 + ], + [ + 0.005348920822143555, + 0.006900914013385773, + -0.012939311563968658, + 0.08627071976661682, + -0.18719083070755005, + -0.015778720378875732, + 0.0 + ], + [ + 0.008528560400009155, + -0.0004173833876848221, + -0.013808105140924454, + -0.01464158296585083, + -0.14003770053386688, + -0.01858234405517578, + 0.0 + ], + [ + 0.009005427360534668, + 0.007649021223187447, + -0.014354024082422256, + -0.0895119309425354, + -0.2154911309480667, + -0.0716598629951477, + 0.0 + ], + [ + 0.01263052225112915, + 0.0016656965017318726, + -0.010568533092737198, + -0.09200266748666763, + -0.10373681783676147, + -0.07075315713882446, + 0.0 + ], + [ + 0.011169135570526123, + 0.004184193909168243, + -0.0010459739714860916, + -0.05972988158464432, + -0.06409412622451782, + 0.002003014087677002, + 1.0 + ], + [ + -0.0035157501697540283, + 0.0012659840285778046, + -0.0027537159621715546, + -0.026515621691942215, + 0.015267401933670044, + 0.08447253704071045, + 1.0 + ], + [ + -0.005350291728973389, + -0.0004217289388179779, + -3.399699926376343e-05, + -0.03258594125509262, + 0.1125234067440033, + 0.04263961315155029, + 1.0 + ], + [ + -0.0018196702003479004, + 0.00421832874417305, + 0.007549053058028221, + -0.008792111650109291, + 0.0018631964921951294, + 0.02361840009689331, + 1.0 + ], + [ + -0.001308441162109375, + -0.001877855509519577, + 0.017215922474861145, + -0.0287343617528677, + -0.014377057552337646, + 0.02143990993499756, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 0.9499720335006714 + ], + [ + 0.6651484370231628 + ], + [ + 0.3669656813144684 + ], + [ + 0.2652277648448944 + ], + [ + 0.2898603677749634 + ], + [ + 0.2950899302959442 + ], + [ + 0.2958413064479828 + ], + [ + 0.2950899302959442 + ], + [ + 0.2958413064479828 + ], + [ + 0.2950899302959442 + ], + [ + 0.2958413064479828 + ], + [ + 0.2950899302959442 + ], + [ + 0.2958413064479828 + ], + [ + 0.35856863856315613 + ], + [ + 0.6541022062301636 + ], + [ + 0.927960216999054 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.22741693258285522, + -0.06281056255102158, + 0.13914857804775238 + ], + [ + 0.24591407179832458, + -0.056446611881256104, + 0.12944278120994568 + ], + [ + 0.26053234934806824, + -0.04618178680539131, + 0.1236676350235939 + ], + [ + 0.2755851447582245, + -0.036908261477947235, + 0.1135251447558403 + ], + [ + 0.2871089279651642, + -0.0334249772131443, + 0.10324205458164215 + ], + [ + 0.29262059926986694, + -0.03198293223977089, + 0.09978020191192627 + ], + [ + 0.29378318786621094, + -0.029291022568941116, + 0.09347401559352875 + ], + [ + 0.29460516571998596, + -0.030493928119540215, + 0.09408766776323318 + ], + [ + 0.29395440220832825, + -0.03421785682439804, + 0.09196536988019943 + ], + [ + 0.2933719754219055, + -0.036813169717788696, + 0.09269821643829346 + ], + [ + 0.2870385944843292, + -0.03463491052389145, + 0.09116308391094208 + ], + [ + 0.27934497594833374, + -0.017707642167806625, + 0.10894028842449188 + ], + [ + 0.2600400745868683, + -0.002105047693476081, + 0.10586880892515182 + ], + [ + 0.2527979612350464, + 0.0097233597189188, + 0.09323170781135559 + ], + [ + 0.2530274987220764, + 0.019750528037548065, + 0.08093606680631638 + ], + [ + 0.25837641954421997, + 0.026651442050933838, + 0.06799675524234772 + ], + [ + 0.2669049799442291, + 0.026234058663249016, + 0.054188650101423264 + ], + [ + 0.2759104073047638, + 0.03388307988643646, + 0.03983462601900101 + ], + [ + 0.28854092955589294, + 0.035548776388168335, + 0.02926609292626381 + ], + [ + 0.29971006512641907, + 0.03973297029733658, + 0.028220118954777718 + ], + [ + 0.29619431495666504, + 0.04099895432591438, + 0.025466402992606163 + ], + [ + 0.29084402322769165, + 0.040577225387096405, + 0.0254324059933424 + ], + [ + 0.28902435302734375, + 0.044795554131269455, + 0.03298145905137062 + ], + [ + 0.2877159118652344, + 0.04291769862174988, + 0.050197381526231766 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.940930056602036, + 0.3337985298287755, + 0.05682578699003522, + 0.3363879228273074, + -0.9406784385663645, + -0.044353586013706814, + 0.0386496307720817, + 0.06084913064698541, + -0.9973984105364753 + ], + [ + 0.9296614227961348, + 0.3456753684852725, + 0.1274291120083537, + 0.34872697525134916, + -0.9372227209054993, + -0.0017516136953771647, + 0.1188239693694475, + 0.046066376469872085, + -0.9918461338646357 + ], + [ + 0.883609868478744, + 0.40935120688492294, + 0.22729977947378893, + 0.41556351971886957, + -0.9092954385477622, + 0.022108064481016772, + 0.2157326155356225, + 0.07492259244105978, + -0.9735738511977761 + ], + [ + 0.8365517949390554, + 0.4798888870078508, + 0.2643629144010388, + 0.48352906872718815, + -0.8735571537783997, + 0.055655536817100656, + 0.25764458868771706, + 0.08126841458369742, + -0.9628160316026055 + ], + [ + 0.8032389141185465, + 0.5299096180337215, + 0.27203500429358923, + 0.5262138026676326, + -0.8452740165638905, + 0.09279477789195459, + 0.2791169660334671, + 0.06861219743823002, + -0.9578027383730792 + ], + [ + 0.799093296084707, + 0.5489674275747793, + 0.24512174039527454, + 0.5399477677391955, + -0.8346161644843214, + 0.10895992884973857, + 0.2643980186497975, + 0.045283787865082324, + -0.9633499189238829 + ], + [ + 0.8029518440018787, + 0.560580421012896, + 0.20252883199926655, + 0.5432650793354354, + -0.8280994027893894, + 0.1382549553344098, + 0.24521702589470776, + -0.0009852293443670807, + -0.9694677093820574 + ], + [ + 0.8122995771491492, + 0.5523019929415288, + 0.18743507024067954, + 0.5318476577236365, + -0.8333358135081581, + 0.15063031201779276, + 0.23938977826380672, + -0.022670035675126765, + -0.9706588502379678 + ], + [ + 0.811313706611424, + 0.554321408410548, + 0.18573595678322188, + 0.5305890092500848, + -0.8315818746109637, + 0.16415507631970805, + 0.24544932822773416, + -0.03463180613629728, + -0.9687906199361614 + ], + [ + 0.8162537425523825, + 0.5463738004166555, + 0.18763128200673243, + 0.5192741615993907, + -0.8362581697657434, + 0.1761437441276278, + 0.2531485193803811, + -0.04634591371750059, + -0.9663166579425252 + ], + [ + 0.805228568604737, + 0.5774182872312549, + 0.1348891169579304, + 0.5605683158990963, + -0.8154395147739062, + 0.14429678082115135, + 0.19331351611518846, + -0.04057732514866389, + -0.980297590107699 + ], + [ + 0.7273062595872848, + 0.684687764590446, + -0.04720455259072688, + 0.6828306591040659, + -0.7288221864639797, + -0.05060149706649476, + -0.0690499511416158, + 0.004570069802710693, + -0.9976027359171277 + ], + [ + 0.6276808766466204, + 0.7295726092585808, + -0.27155206666817416, + 0.7082789537004839, + -0.6799676327586948, + -0.18969697452907575, + -0.32304433261872595, + -0.07326545038531657, + -0.9435436041555043 + ], + [ + 0.6076460111597587, + 0.7086406038642958, + -0.35860119865455103, + 0.7061766068688693, + -0.6886983466206593, + -0.16434472085570864, + -0.36342939483867437, + -0.15337236360184478, + -0.9189102203427595 + ], + [ + 0.5960563794300074, + 0.7060275876377274, + -0.38241579208401116, + 0.7258153515226694, + -0.6774445973272715, + -0.11941898109645048, + -0.3433786074216249, + -0.20638280705170592, + -0.9162408356532923 + ], + [ + 0.6381523945043572, + 0.6949824442421172, + -0.331301861726746, + 0.7525450671134207, + -0.6539318255545878, + 0.07777589273098344, + -0.16259595121531303, + -0.2989524539489464, + -0.940313770465099 + ], + [ + 0.6606400490896518, + 0.7140727852854828, + -0.23163502078367956, + 0.7503417284128345, + -0.6376714680815321, + 0.17424806856084213, + -0.023281240114368856, + -0.28892067442358066, + -0.9570699179001295 + ], + [ + 0.6997337108921353, + 0.7143533349849027, + -0.008488029045060186, + 0.6883905981511924, + -0.6710301586670916, + 0.27538502235281803, + 0.19102648564574984, + -0.19853926300650457, + -0.9612965426062183 + ], + [ + 0.7275878261289904, + 0.6698330613892085, + 0.14812030630150216, + 0.6209347907493792, + -0.7348212087584551, + 0.27290616848247956, + 0.29164351682476086, + -0.10659015446430209, + -0.9505696176847657 + ], + [ + 0.7106665975687003, + 0.663688662182601, + 0.2333888317602106, + 0.6089583846279676, + -0.7464294234944988, + 0.2683520104880268, + 0.35231047797563847, + -0.04858472426533986, + -0.9346212343386158 + ], + [ + 0.6604513967150083, + 0.7182244114934072, + 0.21899234532773948, + 0.6705016625679648, + -0.6954001812436289, + 0.2585461436957111, + 0.33798146853161937, + -0.023922430087204447, + -0.9408486829814522 + ], + [ + 0.6527326629750577, + 0.740566411635971, + 0.15969176760907525, + 0.7217782454634646, + -0.6719470019810948, + 0.16590175075719077, + 0.23016566872835784, + 0.006972552275872235, + -0.9731264812210116 + ], + [ + 0.6357839005037268, + 0.75484920204516, + 0.1611878222200802, + 0.7373155031966403, + -0.6557143824726247, + 0.16249460718568276, + 0.22835209787990146, + 0.015534825082034756, + -0.9734546669483475 + ], + [ + 0.6176768782683464, + 0.7634884770058844, + 0.18857523573339555, + 0.7481669371378527, + -0.644365235496396, + 0.15823930440139908, + 0.2423252117020325, + 0.04334499697669228, + -0.969226342507598 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005878.json b/json/chunk-0005/episode_0005878.json new file mode 100644 index 0000000000000000000000000000000000000000..2be99d3b98ea057b37869a1a2d0d62aff1f2d679 --- /dev/null +++ b/json/chunk-0005/episode_0005878.json @@ -0,0 +1,2182 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 35, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the silver pot to the upper right of the ladle." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005878.mp4", + "start": 0, + "end": 35, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3476739823818207, + 0.03749334439635277, + 0.07985763251781464, + -0.17825183272361755, + -0.29236263036727905, + 0.07365338504314423, + 0.0, + 0.9994885921478271 + ], + [ + 0.3435492217540741, + 0.0378761813044548, + 0.06791797280311584, + -0.1801595687866211, + -0.2535286843776703, + 0.08136682957410812, + 0.0, + 0.9994885921478271 + ], + [ + 0.3369124233722687, + 0.06840184330940247, + 0.06549891829490662, + -0.15103153884410858, + -0.2341260313987732, + 0.17343983054161072, + 0.0, + 0.9994885921478271 + ], + [ + 0.3316791355609894, + 0.10888601839542389, + 0.06638108938932419, + -0.12755098938941956, + -0.261511892080307, + 0.3094250559806824, + 0.0, + 0.9994885921478271 + ], + [ + 0.3243523836135864, + 0.14590014517307281, + 0.06677519530057907, + -0.051339469850063324, + -0.29456567764282227, + 0.4916127026081085, + 0.0, + 0.9994885921478271 + ], + [ + 0.3221336901187897, + 0.16663938760757446, + 0.06301708519458771, + -0.04304206743836403, + -0.36740151047706604, + 0.6639121770858765, + 0.0, + 0.9994885921478271 + ], + [ + 0.31818294525146484, + 0.1785820722579956, + 0.04459686949849129, + -0.09313438087701797, + -0.31509700417518616, + 0.9024618268013, + 0.0, + 0.9994885921478271 + ], + [ + 0.3210505247116089, + 0.19223754107952118, + 0.040732309222221375, + -0.10377412289381027, + -0.25521284341812134, + 1.0576047897338867, + 0.0, + 0.9994885921478271 + ], + [ + 0.3189806640148163, + 0.20101682841777802, + 0.039150286465883255, + -0.14590561389923096, + -0.26052460074424744, + 1.1634365320205688, + 0.0, + 0.9994885921478271 + ], + [ + 0.3156425952911377, + 0.2023961842060089, + 0.03074963018298149, + -0.12397130578756332, + -0.2445119023323059, + 1.1973689794540405, + 0.0, + 0.9994885921478271 + ], + [ + 0.3134620487689972, + 0.2040088027715683, + 0.019215216860175133, + -0.09033004194498062, + -0.2085467129945755, + 1.2418029308319092, + 0.0, + 1.0001531839370728 + ], + [ + 0.31606683135032654, + 0.20318230986595154, + 0.011707006953656673, + -0.04732256755232811, + -0.1962280422449112, + 1.2501764297485352, + 0.0, + 0.9530308246612549 + ], + [ + 0.3180072605609894, + 0.20119355618953705, + 0.008294950239360332, + -0.06635867804288864, + -0.207625150680542, + 1.2173506021499634, + 0.0, + 0.6981924772262573 + ], + [ + 0.32028335332870483, + 0.19783471524715424, + 0.008104294538497925, + -0.08075911551713943, + -0.19643589854240417, + 1.1974109411239624, + 0.0, + 0.4220271706581116 + ], + [ + 0.3238738775253296, + 0.19473052024841309, + 0.008516578935086727, + -0.09903665632009506, + -0.19170503318309784, + 1.1769062280654907, + 0.0, + 0.20684583485126495 + ], + [ + 0.3286449909210205, + 0.19072340428829193, + 0.01068912260234356, + -0.10417760163545609, + -0.19083194434642792, + 1.150986671447754, + 0.0, + 0.0853668823838234 + ], + [ + 0.3454456627368927, + 0.18305420875549316, + 0.021131280809640884, + -0.14209137856960297, + -0.1951950192451477, + 1.1036083698272705, + 0.0, + 0.061516307294368744 + ], + [ + 0.36063602566719055, + 0.16389325261116028, + 0.02088397555053234, + -0.2077598124742508, + -0.21316932141780853, + 1.012285590171814, + 0.0, + 0.06122923642396927 + ], + [ + 0.37169599533081055, + 0.1319621056318283, + 0.030701668933033943, + -0.2715536057949066, + -0.19349625706672668, + 0.8865704536437988, + 0.0, + 0.06122923642396927 + ], + [ + 0.3781139552593231, + 0.09449748694896698, + 0.046396952122449875, + -0.3339899480342865, + -0.17847374081611633, + 0.7704229950904846, + 0.0, + 0.06122923642396927 + ], + [ + 0.37814998626708984, + 0.047102030366659164, + 0.05195613577961922, + -0.3340388536453247, + -0.16350579261779785, + 0.6436030268669128, + 0.0, + 0.06122923642396927 + ], + [ + 0.37258803844451904, + -0.0007118386565707624, + 0.05468868464231491, + -0.30769234895706177, + -0.17911720275878906, + 0.5216068029403687, + 0.0, + 0.06122923642396927 + ], + [ + 0.35596829652786255, + -0.030791766941547394, + 0.042722925543785095, + -0.27321043610572815, + -0.18867892026901245, + 0.4298141896724701, + 0.0, + 0.06122923642396927 + ], + [ + 0.3434358239173889, + -0.03749840706586838, + 0.02902192249894142, + -0.2296421080827713, + -0.19136585295200348, + 0.40222224593162537, + 0.0, + 0.06122923642396927 + ], + [ + 0.33775797486305237, + -0.033839449286460876, + 0.02199198491871357, + -0.19754283130168915, + -0.20526918768882751, + 0.3840300142765045, + 0.0, + 0.06122923642396927 + ], + [ + 0.3362325131893158, + -0.03409552201628685, + 0.02180890180170536, + -0.20228715240955353, + -0.19459372758865356, + 0.36451256275177, + 0.0, + 0.06122923642396927 + ], + [ + 0.33553826808929443, + -0.03431110456585884, + 0.021658096462488174, + -0.19854997098445892, + -0.19342418015003204, + 0.34644779562950134, + 0.0, + 0.07050029188394547 + ], + [ + 0.3358359634876251, + -0.03440051153302193, + 0.02285580337047577, + -0.19857661426067352, + -0.1852022409439087, + 0.3572041988372803, + 0.0, + 0.11917631328105927 + ], + [ + 0.3396739363670349, + -0.03283936530351639, + 0.026142209768295288, + -0.17671836912631989, + -0.19566498696804047, + 0.3519955277442932, + 0.0, + 0.2876356244087219 + ], + [ + 0.34066036343574524, + -0.03188985213637352, + 0.02656475082039833, + -0.17530879378318787, + -0.2011016458272934, + 0.3521079421043396, + 0.0, + 0.543278694152832 + ], + [ + 0.3416764736175537, + -0.032221633940935135, + 0.027311809360980988, + -0.17548473179340363, + -0.20984801650047302, + 0.3443683087825775, + 0.0, + 0.8298270106315613 + ], + [ + 0.34005001187324524, + -0.025938715785741806, + 0.027806414291262627, + -0.17269505560398102, + -0.20264200866222382, + 0.3492557108402252, + 0.0, + 1.0047606229782104 + ], + [ + 0.3407914936542511, + -0.01762881688773632, + 0.053090136498212814, + -0.1903529316186905, + -0.24460111558437347, + 0.35743439197540283, + 0.0, + 1.0001531839370728 + ], + [ + 0.339773029088974, + -0.001704825204797089, + 0.0635797455906868, + -0.18794435262680054, + -0.288956880569458, + 0.3472503423690796, + 0.0, + 1.0001531839370728 + ], + [ + 0.3425934910774231, + 0.029189368709921837, + 0.06811200082302094, + -0.17007067799568176, + -0.3116793930530548, + 0.3865399956703186, + 0.0, + 1.0001531839370728 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9530308246612549 + ], + [ + 0.6981924772262573 + ], + [ + 0.4220271706581116 + ], + [ + 0.20684583485126495 + ], + [ + 0.0853668823838234 + ], + [ + 0.061516307294368744 + ], + [ + 0.06122923642396927 + ], + [ + 0.06122923642396927 + ], + [ + 0.06122923642396927 + ], + [ + 0.06122923642396927 + ], + [ + 0.06122923642396927 + ], + [ + 0.06122923642396927 + ], + [ + 0.06122923642396927 + ], + [ + 0.06122923642396927 + ], + [ + 0.06122923642396927 + ], + [ + 0.07050029188394547 + ], + [ + 0.11917631328105927 + ], + [ + 0.2876356244087219 + ], + [ + 0.543278694152832 + ], + [ + 0.8298270106315613 + ], + [ + 1.0047606229782104 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3476739823818207, + 0.03749334439635277, + 0.07985763251781464 + ], + [ + 0.3435492217540741, + 0.0378761813044548, + 0.06791797280311584 + ], + [ + 0.3369124233722687, + 0.06840184330940247, + 0.06549891829490662 + ], + [ + 0.3316791355609894, + 0.10888601839542389, + 0.06638108938932419 + ], + [ + 0.3243523836135864, + 0.14590014517307281, + 0.06677519530057907 + ], + [ + 0.3221336901187897, + 0.16663938760757446, + 0.06301708519458771 + ], + [ + 0.31818294525146484, + 0.1785820722579956, + 0.04459686949849129 + ], + [ + 0.3210505247116089, + 0.19223754107952118, + 0.040732309222221375 + ], + [ + 0.3189806640148163, + 0.20101682841777802, + 0.039150286465883255 + ], + [ + 0.3156425952911377, + 0.2023961842060089, + 0.03074963018298149 + ], + [ + 0.3134620487689972, + 0.2040088027715683, + 0.019215216860175133 + ], + [ + 0.31606683135032654, + 0.20318230986595154, + 0.011707006953656673 + ], + [ + 0.3180072605609894, + 0.20119355618953705, + 0.008294950239360332 + ], + [ + 0.32028335332870483, + 0.19783471524715424, + 0.008104294538497925 + ], + [ + 0.3238738775253296, + 0.19473052024841309, + 0.008516578935086727 + ], + [ + 0.3286449909210205, + 0.19072340428829193, + 0.01068912260234356 + ], + [ + 0.3454456627368927, + 0.18305420875549316, + 0.021131280809640884 + ], + [ + 0.36063602566719055, + 0.16389325261116028, + 0.02088397555053234 + ], + [ + 0.37169599533081055, + 0.1319621056318283, + 0.030701668933033943 + ], + [ + 0.3781139552593231, + 0.09449748694896698, + 0.046396952122449875 + ], + [ + 0.37814998626708984, + 0.047102030366659164, + 0.05195613577961922 + ], + [ + 0.37258803844451904, + -0.0007118386565707624, + 0.05468868464231491 + ], + [ + 0.35596829652786255, + -0.030791766941547394, + 0.042722925543785095 + ], + [ + 0.3434358239173889, + -0.03749840706586838, + 0.02902192249894142 + ], + [ + 0.33775797486305237, + -0.033839449286460876, + 0.02199198491871357 + ], + [ + 0.3362325131893158, + -0.03409552201628685, + 0.02180890180170536 + ], + [ + 0.33553826808929443, + -0.03431110456585884, + 0.021658096462488174 + ], + [ + 0.3358359634876251, + -0.03440051153302193, + 0.02285580337047577 + ], + [ + 0.3396739363670349, + -0.03283936530351639, + 0.026142209768295288 + ], + [ + 0.34066036343574524, + -0.03188985213637352, + 0.02656475082039833 + ], + [ + 0.3416764736175537, + -0.032221633940935135, + 0.027311809360980988 + ], + [ + 0.34005001187324524, + -0.025938715785741806, + 0.027806414291262627 + ], + [ + 0.3407914936542511, + -0.01762881688773632, + 0.053090136498212814 + ], + [ + 0.339773029088974, + -0.001704825204797089, + 0.0635797455906868 + ], + [ + 0.3425934910774231, + 0.029189368709921837, + 0.06811200082302094 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9549694651571082, + 0.02145609650118536, + 0.29592728252136236, + 0.07046419838440354, + -0.9852474649546236, + -0.15595585768585563, + 0.2882154009826502, + 0.16978536074532236, + -0.9423931312955282 + ], + [ + 0.9648306863337883, + 0.03516648726287566, + 0.26050924145269894, + 0.07867892357741575, + -0.9842131077786539, + -0.15853764682681099, + 0.2508213979973992, + 0.17345857329712328, + -0.9523658696406315 + ], + [ + 0.958123766293146, + 0.13622558646474806, + 0.2518758385724449, + 0.16786339611477627, + -0.9798078128105322, + -0.10862103939962398, + 0.23199294969686166, + 0.1463531330302717, + -0.9616444414351767 + ], + [ + 0.920123691213778, + 0.2707113471354502, + 0.28299780811738023, + 0.2941577315498829, + -0.9547857147750561, + -0.04307514168185561, + 0.2585413348703816, + 0.12288045163326308, + -0.9581527919751871 + ], + [ + 0.8436019194192061, + 0.4582921015270884, + 0.2798287891374223, + 0.45171630959884196, + -0.8874440208317984, + 0.09162688214870944, + 0.29032426215291446, + 0.04910661429762027, + -0.9556674961709174 + ], + [ + 0.7350270088913181, + 0.6034594167439928, + 0.30914726028752465, + 0.575079743613151, + -0.7963819004365409, + 0.18724090670287902, + 0.3591915710120645, + 0.04015720358894219, + -0.932399492875131 + ], + [ + 0.5891705613225106, + 0.7635933052365464, + 0.26420316778730124, + 0.7462135396270013, + -0.639614710266228, + 0.1845491145695143, + 0.3099087009883077, + 0.08842107559273546, + -0.9466458210137327 + ], + [ + 0.47505774924804206, + 0.8536562672571716, + 0.21352075367967605, + 0.8429640821851022, + -0.511101146261081, + 0.1678903643346974, + 0.2524513636826167, + 0.10023270755178432, + -0.9624041320108854 + ], + [ + 0.38281723132389806, + 0.8935768669311904, + 0.23445969864124316, + 0.8871863698057288, + -0.42636263209026265, + 0.1763951563620603, + 0.2575874853956175, + 0.14048234352579972, + -0.9559881790718239 + ], + [ + 0.35395769543913613, + 0.9130164320074737, + 0.2027682044201151, + 0.9033880009718912, + -0.3898804403304469, + 0.17855912731570725, + 0.24208277414848386, + 0.1199759856474565, + -0.962809271521881 + ], + [ + 0.3160901171922034, + 0.9364755638276309, + 0.15198867118025788, + 0.9258629334956049, + -0.3394480470564692, + 0.16599051698353948, + 0.20703832058904642, + 0.08825271499093104, + -0.9743441856471446 + ], + [ + 0.3091067826920241, + 0.945071079689389, + 0.10627159182264223, + 0.930827183215941, + -0.3235551970608941, + 0.16991995009757635, + 0.1949711565336335, + 0.04639707738229317, + -0.979710957032899 + ], + [ + 0.3386987707610053, + 0.9313894691479576, + 0.13340464551607417, + 0.9180363985733164, + -0.35819475381219135, + 0.17001673222350233, + 0.20613663812995114, + 0.06488586210962347, + -0.9763695567349344 + ], + [ + 0.3577545481817029, + 0.9223198110257013, + 0.1460748077007795, + 0.9131913244018238, + -0.3782409340621346, + 0.15170827544022228, + 0.19517501964275044, + 0.07911992157047454, + -0.9775718642218245 + ], + [ + 0.37675290885426316, + 0.9116681428035616, + 0.16406840971666775, + 0.9065067198986436, + -0.39929922150787833, + 0.13713387065858157, + 0.19053296945267395, + 0.09706353125817833, + -0.9768704409752806 + ], + [ + 0.40018763210409924, + 0.9001763933424881, + 0.1718497017158429, + 0.8965896213409189, + -0.42338840286483115, + 0.1298819126103207, + 0.1896758023962511, + 0.10210152392828169, + -0.9765236140497888 + ], + [ + 0.4418246415819884, + 0.8714697093040548, + 0.21291202844473975, + 0.8758831753077255, + -0.47036213715269404, + 0.10764814511177842, + 0.1939578544524652, + 0.13892446040441003, + -0.9711232388309632 + ], + [ + 0.5179291710994598, + 0.8066836827387353, + 0.2846239795366827, + 0.8288500208217405, + -0.5555349152581706, + 0.06624651623215777, + 0.21155854203512278, + 0.20159958812499773, + -0.956347525411032 + ], + [ + 0.620277530173546, + 0.7139112851550408, + 0.32494070611433673, + 0.7604471900328046, + -0.6488793934257149, + -0.025992382705089273, + 0.1922910729415624, + 0.26322273783956107, + -0.9453771382634701 + ], + [ + 0.7062173797294835, + 0.6161923713597321, + 0.3486602559026371, + 0.6853764696986844, + -0.7184921917945697, + -0.11844013303607746, + 0.17752776501547857, + 0.3226080157223393, + -0.9297354251830484 + ], + [ + 0.7892698055522964, + 0.524220862623793, + 0.31975875474082993, + 0.5920780526137326, + -0.7877484817519458, + -0.1699879675466296, + 0.16277823459102214, + 0.3234885109049012, + -0.9321257584982615 + ], + [ + 0.8531485324016613, + 0.42808994955563817, + 0.29812174820086934, + 0.490302203428029, + -0.8531858893668176, + -0.17798198644518007, + 0.17816096927921976, + 0.29801482056234, + -0.9377877349116298 + ], + [ + 0.8929102904187551, + 0.3552408521843592, + 0.2766137202013373, + 0.40930663962830505, + -0.8964151265572491, + -0.17002351494877113, + 0.18756142465997172, + 0.26503557840161845, + -0.9458207304562744 + ], + [ + 0.9033955442867536, + 0.3413476460623715, + 0.25953472810111194, + 0.38431816726491447, + -0.9129848107125711, + -0.13696087659718004, + 0.19019999177964592, + 0.2234737567049176, + -0.9559725117341052 + ], + [ + 0.9076975788913288, + 0.33028337993150897, + 0.25883970757176683, + 0.3667944240417809, + -0.9241184997614224, + -0.10708337354863162, + 0.2038307036897961, + 0.19214028036753794, + -0.9599662269546809 + ], + [ + 0.9166639970743875, + 0.3129277678120028, + 0.24860275259900977, + 0.3497655697470624, + -0.9290966195414518, + -0.12018118728053695, + 0.19336794637974514, + 0.1971184509092032, + -0.9611207799356104 + ], + [ + 0.9230446057875497, + 0.2972253607683954, + 0.24422477483376706, + 0.3332266441549587, + -0.9349801417668226, + -0.12154068506848513, + 0.19222034062952745, + 0.19356967587354518, + -0.9620717859029434 + ], + [ + 0.9208565289736891, + 0.30875089419413193, + 0.23810950921971302, + 0.3436768166050118, + -0.9311688711479236, + -0.12169954450755464, + 0.18414531971998027, + 0.1939005382649185, + -0.9635834590142156 + ], + [ + 0.9207751271362894, + 0.3073189428747311, + 0.24026700272302765, + 0.3381929418350776, + -0.9358512804914809, + -0.09903491755633977, + 0.19441887598709512, + 0.17244549328066805, + -0.9656416791476542 + ], + [ + 0.9197313607473043, + 0.30688994231773475, + 0.24477088748895245, + 0.33792691886521004, + -0.9362759618250034, + -0.09587867758229957, + 0.19974889627774603, + 0.17089729843646512, + -0.9648287370424556 + ], + [ + 0.9206394562939344, + 0.29818435533382026, + 0.2520100826335393, + 0.33019602274892257, + -0.9391105643789919, + -0.09508908682159464, + 0.20831125287800054, + 0.17075549216914157, + -0.9630415275669436 + ], + [ + 0.9204012618318755, + 0.30461256980182205, + 0.24509732666233058, + 0.33519657395301294, + -0.937485435532282, + -0.09361792015960153, + 0.20125797879451496, + 0.16832183602722872, + -0.9649678675935116 + ], + [ + 0.9089128242582302, + 0.300628537948241, + 0.2889635964443099, + 0.3394576440876866, + -0.9359077012293292, + -0.09404936283712641, + 0.24216933284246478, + 0.1835735736720701, + -0.9527091672068134 + ], + [ + 0.9013282148662263, + 0.28425810668693824, + 0.326810002706189, + 0.3262047177658825, + -0.941871939680133, + -0.08042220682414146, + 0.28495250690833185, + 0.1790937688082455, + -0.941662089488961 + ], + [ + 0.8815936644452796, + 0.323474114294348, + 0.3437398844932469, + 0.35882274054860896, + -0.9324227125896992, + -0.04282669625423937, + 0.30665754788546995, + 0.16109743147658895, + -0.9380878241915926 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.004124760627746582, + 0.0003828369081020355, + -0.011939659714698792, + -0.00190773606300354, + 0.038833945989608765, + 0.007713444530963898, + 1.0 + ], + [ + -0.00663679838180542, + 0.030525662004947662, + -0.0024190545082092285, + 0.029128029942512512, + 0.019402652978897095, + 0.0920730009675026, + 1.0 + ], + [ + -0.005233287811279297, + 0.04048417508602142, + 0.000882171094417572, + 0.023480549454689026, + -0.027385860681533813, + 0.13598522543907166, + 1.0 + ], + [ + -0.007326751947402954, + 0.037014126777648926, + 0.0003941059112548828, + 0.07621151953935623, + -0.03305378556251526, + 0.18218764662742615, + 1.0 + ], + [ + -0.002218693494796753, + 0.020739242434501648, + -0.0037581101059913635, + 0.008297402411699295, + -0.07283583283424377, + 0.17229947447776794, + 1.0 + ], + [ + -0.003950744867324829, + 0.011942684650421143, + -0.01842021569609642, + -0.050092313438653946, + 0.05230450630187988, + 0.23854964971542358, + 1.0 + ], + [ + 0.002867579460144043, + 0.013655468821525574, + -0.0038645602762699127, + -0.010639742016792297, + 0.05988416075706482, + 0.15514296293258667, + 1.0 + ], + [ + -0.0020698606967926025, + 0.008779287338256836, + -0.0015820227563381195, + -0.042131491005420685, + -0.005311757326126099, + 0.10583174228668213, + 1.0 + ], + [ + -0.003338068723678589, + 0.001379355788230896, + -0.008400656282901764, + 0.021934308111667633, + 0.01601269841194153, + 0.03393244743347168, + 1.0 + ], + [ + -0.002180546522140503, + 0.0016126185655593872, + -0.011534413322806358, + 0.0336412638425827, + 0.03596518933773041, + 0.04443395137786865, + 1.0 + ], + [ + 0.0026047825813293457, + -0.0008264929056167603, + -0.007508209906518459, + 0.04300747439265251, + 0.012318670749664307, + 0.008373498916625977, + 0.0 + ], + [ + 0.0019404292106628418, + -0.0019887536764144897, + -0.003412056714296341, + -0.01903611049056053, + -0.011397108435630798, + -0.03282582759857178, + 0.0 + ], + [ + 0.002276092767715454, + -0.0033588409423828125, + -0.00019065570086240768, + -0.014400437474250793, + 0.011189252138137817, + -0.019939661026000977, + 0.0 + ], + [ + 0.003590524196624756, + -0.00310419499874115, + 0.00041228439658880234, + -0.018277540802955627, + 0.0047308653593063354, + -0.02050471305847168, + 0.0 + ], + [ + 0.004771113395690918, + -0.004007115960121155, + 0.002172543667256832, + -0.005140945315361023, + 0.0008730888366699219, + -0.025919556617736816, + 0.0 + ], + [ + 0.016800671815872192, + -0.007669195532798767, + 0.010442158207297325, + -0.03791377693414688, + -0.004363074898719788, + -0.0473783016204834, + 0.0 + ], + [ + 0.015190362930297852, + -0.019160956144332886, + -0.0002473052591085434, + -0.06566843390464783, + -0.017974302172660828, + -0.09132277965545654, + 0.0 + ], + [ + 0.011059969663619995, + -0.03193114697933197, + 0.009817693382501602, + -0.06379379332065582, + 0.019673064351081848, + -0.12571513652801514, + 0.0 + ], + [ + 0.006417959928512573, + -0.03746461868286133, + 0.01569528318941593, + -0.06243634223937988, + 0.015022516250610352, + -0.11614745855331421, + 0.0 + ], + [ + 3.603100776672363e-05, + -0.047395456582307816, + 0.005559183657169342, + -4.890561103820801e-05, + 0.014967948198318481, + -0.12681996822357178, + 0.0 + ], + [ + -0.005561947822570801, + -0.04781387001276016, + 0.002732548862695694, + 0.02634650468826294, + -0.015611410140991211, + -0.12199622392654419, + 0.0 + ], + [ + -0.016619741916656494, + -0.030079929158091545, + -0.011965759098529816, + 0.03448191285133362, + -0.009561717510223389, + -0.09179261326789856, + 0.0 + ], + [ + -0.012532472610473633, + -0.006706640124320984, + -0.013701003044843674, + 0.04356832802295685, + -0.002686932682991028, + -0.027591943740844727, + 0.0 + ], + [ + -0.005677849054336548, + 0.0036589577794075012, + -0.007029937580227852, + 0.03209927678108215, + -0.013903334736824036, + -0.01819223165512085, + 0.0 + ], + [ + -0.0015254616737365723, + -0.0002560727298259735, + -0.00018308311700820923, + -0.00474432110786438, + 0.01067546010017395, + -0.019517451524734497, + 0.0 + ], + [ + -0.0006942451000213623, + -0.00021558254957199097, + -0.00015080533921718597, + 0.0037371814250946045, + 0.001169547438621521, + -0.018064767122268677, + 1.0 + ], + [ + 0.0002976953983306885, + -8.940696716308594e-05, + 0.0011977069079875946, + -2.664327621459961e-05, + 0.008221939206123352, + 0.01075640320777893, + 1.0 + ], + [ + 0.00383797287940979, + 0.001561146229505539, + 0.003286406397819519, + 0.021858245134353638, + -0.010462746024131775, + -0.0052086710929870605, + 1.0 + ], + [ + 0.0009864270687103271, + 0.000949513167142868, + 0.0004225410521030426, + 0.001409575343132019, + -0.00543665885925293, + 0.00011241436004638672, + 1.0 + ], + [ + 0.0010161101818084717, + -0.000331781804561615, + 0.0007470585405826569, + -0.00017593801021575928, + -0.008746370673179626, + -0.007739633321762085, + 1.0 + ], + [ + -0.0016264617443084717, + 0.006282918155193329, + 0.0004946049302816391, + 0.0027896761894226074, + 0.0072060078382492065, + 0.004887402057647705, + 1.0 + ], + [ + 0.0007414817810058594, + 0.008309898898005486, + 0.025283722206950188, + -0.017657876014709473, + -0.04195910692214966, + 0.008178681135177612, + 1.0 + ], + [ + -0.0010184645652770996, + 0.015923991799354553, + 0.010489609092473984, + 0.0024085789918899536, + -0.044355764985084534, + -0.010184049606323242, + 1.0 + ], + [ + 0.0028204619884490967, + 0.030894193798303604, + 0.004532255232334137, + 0.017873674631118774, + -0.022722512483596802, + 0.039289653301239014, + 1.0 + ], + [ + -0.000734865665435791, + 0.03355840593576431, + 0.004202753305435181, + 0.023598968982696533, + 0.03997579216957092, + 0.058285921812057495, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9530308246612549 + ], + [ + 0.6981924772262573 + ], + [ + 0.4220271706581116 + ], + [ + 0.20684583485126495 + ], + [ + 0.0853668823838234 + ], + [ + 0.061516307294368744 + ], + [ + 0.06122923642396927 + ], + [ + 0.06122923642396927 + ], + [ + 0.06122923642396927 + ], + [ + 0.06122923642396927 + ], + [ + 0.06122923642396927 + ], + [ + 0.06122923642396927 + ], + [ + 0.06122923642396927 + ], + [ + 0.06122923642396927 + ], + [ + 0.06122923642396927 + ], + [ + 0.07050029188394547 + ], + [ + 0.11917631328105927 + ], + [ + 0.2876356244087219 + ], + [ + 0.543278694152832 + ], + [ + 0.8298270106315613 + ], + [ + 1.0047606229782104 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3435492217540741, + 0.0378761813044548, + 0.06791797280311584 + ], + [ + 0.3369124233722687, + 0.06840184330940247, + 0.06549891829490662 + ], + [ + 0.3316791355609894, + 0.10888601839542389, + 0.06638108938932419 + ], + [ + 0.3243523836135864, + 0.14590014517307281, + 0.06677519530057907 + ], + [ + 0.3221336901187897, + 0.16663938760757446, + 0.06301708519458771 + ], + [ + 0.31818294525146484, + 0.1785820722579956, + 0.04459686949849129 + ], + [ + 0.3210505247116089, + 0.19223754107952118, + 0.040732309222221375 + ], + [ + 0.3189806640148163, + 0.20101682841777802, + 0.039150286465883255 + ], + [ + 0.3156425952911377, + 0.2023961842060089, + 0.03074963018298149 + ], + [ + 0.3134620487689972, + 0.2040088027715683, + 0.019215216860175133 + ], + [ + 0.31606683135032654, + 0.20318230986595154, + 0.011707006953656673 + ], + [ + 0.3180072605609894, + 0.20119355618953705, + 0.008294950239360332 + ], + [ + 0.32028335332870483, + 0.19783471524715424, + 0.008104294538497925 + ], + [ + 0.3238738775253296, + 0.19473052024841309, + 0.008516578935086727 + ], + [ + 0.3286449909210205, + 0.19072340428829193, + 0.01068912260234356 + ], + [ + 0.3454456627368927, + 0.18305420875549316, + 0.021131280809640884 + ], + [ + 0.36063602566719055, + 0.16389325261116028, + 0.02088397555053234 + ], + [ + 0.37169599533081055, + 0.1319621056318283, + 0.030701668933033943 + ], + [ + 0.3781139552593231, + 0.09449748694896698, + 0.046396952122449875 + ], + [ + 0.37814998626708984, + 0.047102030366659164, + 0.05195613577961922 + ], + [ + 0.37258803844451904, + -0.0007118386565707624, + 0.05468868464231491 + ], + [ + 0.35596829652786255, + -0.030791766941547394, + 0.042722925543785095 + ], + [ + 0.3434358239173889, + -0.03749840706586838, + 0.02902192249894142 + ], + [ + 0.33775797486305237, + -0.033839449286460876, + 0.02199198491871357 + ], + [ + 0.3362325131893158, + -0.03409552201628685, + 0.02180890180170536 + ], + [ + 0.33553826808929443, + -0.03431110456585884, + 0.021658096462488174 + ], + [ + 0.3358359634876251, + -0.03440051153302193, + 0.02285580337047577 + ], + [ + 0.3396739363670349, + -0.03283936530351639, + 0.026142209768295288 + ], + [ + 0.34066036343574524, + -0.03188985213637352, + 0.02656475082039833 + ], + [ + 0.3416764736175537, + -0.032221633940935135, + 0.027311809360980988 + ], + [ + 0.34005001187324524, + -0.025938715785741806, + 0.027806414291262627 + ], + [ + 0.3407914936542511, + -0.01762881688773632, + 0.053090136498212814 + ], + [ + 0.339773029088974, + -0.001704825204797089, + 0.0635797455906868 + ], + [ + 0.3425934910774231, + 0.029189368709921837, + 0.06811200082302094 + ], + [ + 0.3418586254119873, + 0.0627477765083313, + 0.07231475412845612 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9648306863337883, + 0.03516648726287566, + 0.26050924145269894, + 0.07867892357741575, + -0.9842131077786539, + -0.15853764682681099, + 0.2508213979973992, + 0.17345857329712328, + -0.9523658696406315 + ], + [ + 0.958123766293146, + 0.13622558646474806, + 0.2518758385724449, + 0.16786339611477627, + -0.9798078128105322, + -0.10862103939962398, + 0.23199294969686166, + 0.1463531330302717, + -0.9616444414351767 + ], + [ + 0.920123691213778, + 0.2707113471354502, + 0.28299780811738023, + 0.2941577315498829, + -0.9547857147750561, + -0.04307514168185561, + 0.2585413348703816, + 0.12288045163326308, + -0.9581527919751871 + ], + [ + 0.8436019194192061, + 0.4582921015270884, + 0.2798287891374223, + 0.45171630959884196, + -0.8874440208317984, + 0.09162688214870944, + 0.29032426215291446, + 0.04910661429762027, + -0.9556674961709174 + ], + [ + 0.7350270088913181, + 0.6034594167439928, + 0.30914726028752465, + 0.575079743613151, + -0.7963819004365409, + 0.18724090670287902, + 0.3591915710120645, + 0.04015720358894219, + -0.932399492875131 + ], + [ + 0.5891705613225106, + 0.7635933052365464, + 0.26420316778730124, + 0.7462135396270013, + -0.639614710266228, + 0.1845491145695143, + 0.3099087009883077, + 0.08842107559273546, + -0.9466458210137327 + ], + [ + 0.47505774924804206, + 0.8536562672571716, + 0.21352075367967605, + 0.8429640821851022, + -0.511101146261081, + 0.1678903643346974, + 0.2524513636826167, + 0.10023270755178432, + -0.9624041320108854 + ], + [ + 0.38281723132389806, + 0.8935768669311904, + 0.23445969864124316, + 0.8871863698057288, + -0.42636263209026265, + 0.1763951563620603, + 0.2575874853956175, + 0.14048234352579972, + -0.9559881790718239 + ], + [ + 0.35395769543913613, + 0.9130164320074737, + 0.2027682044201151, + 0.9033880009718912, + -0.3898804403304469, + 0.17855912731570725, + 0.24208277414848386, + 0.1199759856474565, + -0.962809271521881 + ], + [ + 0.3160901171922034, + 0.9364755638276309, + 0.15198867118025788, + 0.9258629334956049, + -0.3394480470564692, + 0.16599051698353948, + 0.20703832058904642, + 0.08825271499093104, + -0.9743441856471446 + ], + [ + 0.3091067826920241, + 0.945071079689389, + 0.10627159182264223, + 0.930827183215941, + -0.3235551970608941, + 0.16991995009757635, + 0.1949711565336335, + 0.04639707738229317, + -0.979710957032899 + ], + [ + 0.3386987707610053, + 0.9313894691479576, + 0.13340464551607417, + 0.9180363985733164, + -0.35819475381219135, + 0.17001673222350233, + 0.20613663812995114, + 0.06488586210962347, + -0.9763695567349344 + ], + [ + 0.3577545481817029, + 0.9223198110257013, + 0.1460748077007795, + 0.9131913244018238, + -0.3782409340621346, + 0.15170827544022228, + 0.19517501964275044, + 0.07911992157047454, + -0.9775718642218245 + ], + [ + 0.37675290885426316, + 0.9116681428035616, + 0.16406840971666775, + 0.9065067198986436, + -0.39929922150787833, + 0.13713387065858157, + 0.19053296945267395, + 0.09706353125817833, + -0.9768704409752806 + ], + [ + 0.40018763210409924, + 0.9001763933424881, + 0.1718497017158429, + 0.8965896213409189, + -0.42338840286483115, + 0.1298819126103207, + 0.1896758023962511, + 0.10210152392828169, + -0.9765236140497888 + ], + [ + 0.4418246415819884, + 0.8714697093040548, + 0.21291202844473975, + 0.8758831753077255, + -0.47036213715269404, + 0.10764814511177842, + 0.1939578544524652, + 0.13892446040441003, + -0.9711232388309632 + ], + [ + 0.5179291710994598, + 0.8066836827387353, + 0.2846239795366827, + 0.8288500208217405, + -0.5555349152581706, + 0.06624651623215777, + 0.21155854203512278, + 0.20159958812499773, + -0.956347525411032 + ], + [ + 0.620277530173546, + 0.7139112851550408, + 0.32494070611433673, + 0.7604471900328046, + -0.6488793934257149, + -0.025992382705089273, + 0.1922910729415624, + 0.26322273783956107, + -0.9453771382634701 + ], + [ + 0.7062173797294835, + 0.6161923713597321, + 0.3486602559026371, + 0.6853764696986844, + -0.7184921917945697, + -0.11844013303607746, + 0.17752776501547857, + 0.3226080157223393, + -0.9297354251830484 + ], + [ + 0.7892698055522964, + 0.524220862623793, + 0.31975875474082993, + 0.5920780526137326, + -0.7877484817519458, + -0.1699879675466296, + 0.16277823459102214, + 0.3234885109049012, + -0.9321257584982615 + ], + [ + 0.8531485324016613, + 0.42808994955563817, + 0.29812174820086934, + 0.490302203428029, + -0.8531858893668176, + -0.17798198644518007, + 0.17816096927921976, + 0.29801482056234, + -0.9377877349116298 + ], + [ + 0.8929102904187551, + 0.3552408521843592, + 0.2766137202013373, + 0.40930663962830505, + -0.8964151265572491, + -0.17002351494877113, + 0.18756142465997172, + 0.26503557840161845, + -0.9458207304562744 + ], + [ + 0.9033955442867536, + 0.3413476460623715, + 0.25953472810111194, + 0.38431816726491447, + -0.9129848107125711, + -0.13696087659718004, + 0.19019999177964592, + 0.2234737567049176, + -0.9559725117341052 + ], + [ + 0.9076975788913288, + 0.33028337993150897, + 0.25883970757176683, + 0.3667944240417809, + -0.9241184997614224, + -0.10708337354863162, + 0.2038307036897961, + 0.19214028036753794, + -0.9599662269546809 + ], + [ + 0.9166639970743875, + 0.3129277678120028, + 0.24860275259900977, + 0.3497655697470624, + -0.9290966195414518, + -0.12018118728053695, + 0.19336794637974514, + 0.1971184509092032, + -0.9611207799356104 + ], + [ + 0.9230446057875497, + 0.2972253607683954, + 0.24422477483376706, + 0.3332266441549587, + -0.9349801417668226, + -0.12154068506848513, + 0.19222034062952745, + 0.19356967587354518, + -0.9620717859029434 + ], + [ + 0.9208565289736891, + 0.30875089419413193, + 0.23810950921971302, + 0.3436768166050118, + -0.9311688711479236, + -0.12169954450755464, + 0.18414531971998027, + 0.1939005382649185, + -0.9635834590142156 + ], + [ + 0.9207751271362894, + 0.3073189428747311, + 0.24026700272302765, + 0.3381929418350776, + -0.9358512804914809, + -0.09903491755633977, + 0.19441887598709512, + 0.17244549328066805, + -0.9656416791476542 + ], + [ + 0.9197313607473043, + 0.30688994231773475, + 0.24477088748895245, + 0.33792691886521004, + -0.9362759618250034, + -0.09587867758229957, + 0.19974889627774603, + 0.17089729843646512, + -0.9648287370424556 + ], + [ + 0.9206394562939344, + 0.29818435533382026, + 0.2520100826335393, + 0.33019602274892257, + -0.9391105643789919, + -0.09508908682159464, + 0.20831125287800054, + 0.17075549216914157, + -0.9630415275669436 + ], + [ + 0.9204012618318755, + 0.30461256980182205, + 0.24509732666233058, + 0.33519657395301294, + -0.937485435532282, + -0.09361792015960153, + 0.20125797879451496, + 0.16832183602722872, + -0.9649678675935116 + ], + [ + 0.9089128242582302, + 0.300628537948241, + 0.2889635964443099, + 0.3394576440876866, + -0.9359077012293292, + -0.09404936283712641, + 0.24216933284246478, + 0.1835735736720701, + -0.9527091672068134 + ], + [ + 0.9013282148662263, + 0.28425810668693824, + 0.326810002706189, + 0.3262047177658825, + -0.941871939680133, + -0.08042220682414146, + 0.28495250690833185, + 0.1790937688082455, + -0.941662089488961 + ], + [ + 0.8815936644452796, + 0.323474114294348, + 0.3437398844932469, + 0.35882274054860896, + -0.9324227125896992, + -0.04282669625423937, + 0.30665754788546995, + 0.16109743147658895, + -0.9380878241915926 + ], + [ + 0.869570651115478, + 0.39033619992619745, + 0.30246410323504386, + 0.414515202710179, + -0.9098740888342274, + -0.017501119684862218, + 0.2683729297838045, + 0.14059442910464226, + -0.9530000928982101 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005879.json b/json/chunk-0005/episode_0005879.json new file mode 100644 index 0000000000000000000000000000000000000000..28e6f9e1eb8c31a3cd4075aa123d7c5b2bb408ad --- /dev/null +++ b/json/chunk-0005/episode_0005879.json @@ -0,0 +1,2782 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 45, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nTake the orange object out of the cabinet and put in the left side of table." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005879.mp4", + "start": 0, + "end": 45, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.35621291399002075, + 0.13463452458381653, + 0.16543830931186676, + 0.25337478518486023, + -0.623577356338501, + -0.7299956679344177, + 0.0, + 1.0008161067962646 + ], + [ + 0.3557013273239136, + 0.1336396187543869, + 0.15248490869998932, + 0.20589853823184967, + -0.6141940951347351, + -0.6991165280342102, + 0.0, + 1.0008161067962646 + ], + [ + 0.35438793897628784, + 0.1342523843050003, + 0.15044161677360535, + 0.17815349996089935, + -0.615363359451294, + -0.6517370343208313, + 0.0, + 1.0008161067962646 + ], + [ + 0.3512555956840515, + 0.13036887347698212, + 0.14029818773269653, + 0.1204807460308075, + -0.6065370440483093, + -0.5567905306816101, + 0.0, + 1.0008161067962646 + ], + [ + 0.3461085557937622, + 0.12157966941595078, + 0.13215138018131256, + 0.07770023494958878, + -0.5944501757621765, + -0.4412650763988495, + 0.0, + 1.0008161067962646 + ], + [ + 0.34380289912223816, + 0.11396567523479462, + 0.13111640512943268, + 0.04678504168987274, + -0.5751662254333496, + -0.31580010056495667, + 0.0, + 1.0008161067962646 + ], + [ + 0.34585198760032654, + 0.11085773259401321, + 0.12833282351493835, + 0.01631605252623558, + -0.5731363296508789, + -0.22623421251773834, + 0.0, + 1.0008161067962646 + ], + [ + 0.3504924774169922, + 0.1091754361987114, + 0.12651047110557556, + 0.019898785278201103, + -0.5818874835968018, + -0.20256002247333527, + 0.0, + 1.0008161067962646 + ], + [ + 0.35545265674591064, + 0.11077635735273361, + 0.11517459154129028, + 0.020532159134745598, + -0.5749657154083252, + -0.18227258324623108, + 0.0, + 1.0008161067962646 + ], + [ + 0.3578757345676422, + 0.11246390640735626, + 0.10559457540512085, + 0.01763543114066124, + -0.5648707151412964, + -0.17389360070228577, + 0.0, + 1.0008161067962646 + ], + [ + 0.36015284061431885, + 0.11476369202136993, + 0.09784036874771118, + 0.014456345699727535, + -0.5519943833351135, + -0.16544580459594727, + 0.0, + 1.0008161067962646 + ], + [ + 0.36462339758872986, + 0.11780887097120285, + 0.09657726436853409, + 0.022853070870041847, + -0.5493161678314209, + -0.17098015546798706, + 0.0, + 1.0008161067962646 + ], + [ + 0.3663637638092041, + 0.11972587555646896, + 0.09050142765045166, + 0.022494733333587646, + -0.538150429725647, + -0.17475828528404236, + 0.0, + 1.0008161067962646 + ], + [ + 0.37045374512672424, + 0.1235724464058876, + 0.08885970711708069, + 0.029668612405657768, + -0.5309543609619141, + -0.17752349376678467, + 0.0, + 1.0008161067962646 + ], + [ + 0.371343731880188, + 0.12774261832237244, + 0.08393474668264389, + 0.024696901440620422, + -0.5180740356445312, + -0.16880793869495392, + 0.0, + 1.0008161067962646 + ], + [ + 0.373313307762146, + 0.12992249429225922, + 0.0834629163146019, + 0.029638003557920456, + -0.5069628953933716, + -0.17462830245494843, + 0.0, + 1.0001531839370728 + ], + [ + 0.3737194538116455, + 0.13098134100437164, + 0.08238280564546585, + 0.023731263354420662, + -0.4929261803627014, + -0.1677357703447342, + 0.0, + 0.9507390260696411 + ], + [ + 0.3732070326805115, + 0.1308232992887497, + 0.08219468593597412, + 0.02391877770423889, + -0.49266231060028076, + -0.1672944575548172, + 0.0, + 0.6601285338401794 + ], + [ + 0.3721606433391571, + 0.13218197226524353, + 0.08091963827610016, + 0.03285335376858711, + -0.48410582542419434, + -0.16223813593387604, + 0.0, + 0.3544071912765503 + ], + [ + 0.3706388771533966, + 0.13356779515743256, + 0.07789590209722519, + 0.047523923218250275, + -0.4851827919483185, + -0.16165941953659058, + 0.0, + 0.21856790781021118 + ], + [ + 0.36961543560028076, + 0.13431136310100555, + 0.07709083706140518, + 0.05171167850494385, + -0.47836363315582275, + -0.16149413585662842, + 0.0, + 0.4709327220916748 + ], + [ + 0.3674408197402954, + 0.13338300585746765, + 0.07556252926588058, + 0.04219465330243111, + -0.46025708317756653, + -0.15497900545597076, + 0.0, + 0.7912794351577759 + ], + [ + 0.3669820725917816, + 0.1329418271780014, + 0.07509795576334, + 0.03887448459863663, + -0.45866429805755615, + -0.15320377051830292, + 0.0, + 1.00800359249115 + ], + [ + 0.36531972885131836, + 0.13124889135360718, + 0.073725126683712, + 0.0314418226480484, + -0.44902968406677246, + -0.15496128797531128, + 0.0, + 1.00800359249115 + ], + [ + 0.3648635447025299, + 0.13281573355197906, + 0.07233669608831406, + 0.05239168182015419, + -0.4463311433792114, + -0.1695839911699295, + 0.0, + 1.0001531839370728 + ], + [ + 0.36631500720977783, + 0.1337699294090271, + 0.07202114909887314, + 0.06156540662050247, + -0.45039570331573486, + -0.17166295647621155, + 0.0, + 0.9499720335006714 + ], + [ + 0.36722493171691895, + 0.13509395718574524, + 0.07147543877363205, + 0.06252212077379227, + -0.44976216554641724, + -0.16131837666034698, + 0.0, + 0.6621366739273071 + ], + [ + 0.368984192609787, + 0.13589975237846375, + 0.07241754978895187, + 0.06388117372989655, + -0.45378050208091736, + -0.15915700793266296, + 0.0, + 0.3610773980617523 + ], + [ + 0.36751362681388855, + 0.13294540345668793, + 0.06993280351161957, + 0.056507408618927, + -0.44749295711517334, + -0.16038088500499725, + 0.0, + 0.2198251634836197 + ], + [ + 0.3635954260826111, + 0.12803436815738678, + 0.06804385781288147, + 0.08977873623371124, + -0.4451805651187897, + -0.19333289563655853, + 0.0, + 0.472818523645401 + ], + [ + 0.35556864738464355, + 0.12054295837879181, + 0.05660487338900566, + 0.09278514981269836, + -0.43403664231300354, + -0.1892952024936676, + 0.0, + 0.7912794351577759 + ], + [ + 0.35320013761520386, + 0.11860295385122299, + 0.058308396488428116, + 0.12518537044525146, + -0.44919565320014954, + -0.20859050750732422, + 0.0, + 1.0001531839370728 + ], + [ + 0.3479333817958832, + 0.11257778108119965, + 0.05870244279503822, + 0.12722890079021454, + -0.4512696862220764, + -0.21672441065311432, + 0.0, + 0.9583302736282349 + ], + [ + 0.34770315885543823, + 0.110428586602211, + 0.05680176243185997, + 0.10030269622802734, + -0.46544119715690613, + -0.20165081322193146, + 0.0, + 0.6711689233779907 + ], + [ + 0.34691229462623596, + 0.11011643707752228, + 0.05795345827937126, + 0.10010053962469101, + -0.4691811203956604, + -0.20362791419029236, + 0.0, + 0.5344430208206177 + ], + [ + 0.34104883670806885, + 0.10854827612638474, + 0.061037931591272354, + 0.078427255153656, + -0.46219348907470703, + -0.22464793920516968, + 0.0, + 0.5344430208206177 + ], + [ + 0.3378925323486328, + 0.11109694838523865, + 0.083978570997715, + 0.03567572683095932, + -0.49001723527908325, + -0.21984164416790009, + 0.0, + 0.5334634184837341 + ], + [ + 0.33892884850502014, + 0.11302530765533447, + 0.11636579781770706, + 0.01002764143049717, + -0.557115375995636, + -0.19966267049312592, + 0.0, + 0.5334634184837341 + ], + [ + 0.33642578125, + 0.11170201748609543, + 0.13878926634788513, + -0.024259081110358238, + -0.6025663614273071, + -0.18508803844451904, + 0.0, + 0.5334634184837341 + ], + [ + 0.3321399688720703, + 0.11304422467947006, + 0.14852946996688843, + -0.036372095346450806, + -0.6242305636405945, + -0.17824460566043854, + 0.0, + 0.5334634184837341 + ], + [ + 0.31680557131767273, + 0.1294143795967102, + 0.1530797779560089, + -0.012828759849071503, + -0.6375410556793213, + -0.1507466733455658, + 0.0, + 0.5334634184837341 + ], + [ + 0.304813414812088, + 0.15757602453231812, + 0.14806051552295685, + 0.025786982849240303, + -0.6400758624076843, + -0.11785342544317245, + 0.0, + 0.5334634184837341 + ], + [ + 0.2998628318309784, + 0.18476244807243347, + 0.12757951021194458, + 0.050878070294857025, + -0.6217612028121948, + -0.09575160592794418, + 0.0, + 0.5334634184837341 + ], + [ + 0.2938734292984009, + 0.21517083048820496, + 0.10431206971406937, + 0.06675642728805542, + -0.6034861207008362, + -0.05953442305326462, + 0.0, + 0.5334634184837341 + ], + [ + 0.2931150794029236, + 0.24359159171581268, + 0.09117696434259415, + 0.07453262805938721, + -0.5937837362289429, + -0.025053372606635094, + 0.0, + 0.5334634184837341 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 0.9507390260696411 + ], + [ + 0.6601285338401794 + ], + [ + 0.3544071912765503 + ], + [ + 0.21856790781021118 + ], + [ + 0.4709327220916748 + ], + [ + 0.7912794351577759 + ], + [ + 1.00800359249115 + ], + [ + 1.00800359249115 + ], + [ + 1.0001531839370728 + ], + [ + 0.9499720335006714 + ], + [ + 0.6621366739273071 + ], + [ + 0.3610773980617523 + ], + [ + 0.2198251634836197 + ], + [ + 0.472818523645401 + ], + [ + 0.7912794351577759 + ], + [ + 1.0001531839370728 + ], + [ + 0.9583302736282349 + ], + [ + 0.6711689233779907 + ], + [ + 0.5344430208206177 + ], + [ + 0.5344430208206177 + ], + [ + 0.5334634184837341 + ], + [ + 0.5334634184837341 + ], + [ + 0.5334634184837341 + ], + [ + 0.5334634184837341 + ], + [ + 0.5334634184837341 + ], + [ + 0.5334634184837341 + ], + [ + 0.5334634184837341 + ], + [ + 0.5334634184837341 + ], + [ + 0.5334634184837341 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.35621291399002075, + 0.13463452458381653, + 0.16543830931186676 + ], + [ + 0.3557013273239136, + 0.1336396187543869, + 0.15248490869998932 + ], + [ + 0.35438793897628784, + 0.1342523843050003, + 0.15044161677360535 + ], + [ + 0.3512555956840515, + 0.13036887347698212, + 0.14029818773269653 + ], + [ + 0.3461085557937622, + 0.12157966941595078, + 0.13215138018131256 + ], + [ + 0.34380289912223816, + 0.11396567523479462, + 0.13111640512943268 + ], + [ + 0.34585198760032654, + 0.11085773259401321, + 0.12833282351493835 + ], + [ + 0.3504924774169922, + 0.1091754361987114, + 0.12651047110557556 + ], + [ + 0.35545265674591064, + 0.11077635735273361, + 0.11517459154129028 + ], + [ + 0.3578757345676422, + 0.11246390640735626, + 0.10559457540512085 + ], + [ + 0.36015284061431885, + 0.11476369202136993, + 0.09784036874771118 + ], + [ + 0.36462339758872986, + 0.11780887097120285, + 0.09657726436853409 + ], + [ + 0.3663637638092041, + 0.11972587555646896, + 0.09050142765045166 + ], + [ + 0.37045374512672424, + 0.1235724464058876, + 0.08885970711708069 + ], + [ + 0.371343731880188, + 0.12774261832237244, + 0.08393474668264389 + ], + [ + 0.373313307762146, + 0.12992249429225922, + 0.0834629163146019 + ], + [ + 0.3737194538116455, + 0.13098134100437164, + 0.08238280564546585 + ], + [ + 0.3732070326805115, + 0.1308232992887497, + 0.08219468593597412 + ], + [ + 0.3721606433391571, + 0.13218197226524353, + 0.08091963827610016 + ], + [ + 0.3706388771533966, + 0.13356779515743256, + 0.07789590209722519 + ], + [ + 0.36961543560028076, + 0.13431136310100555, + 0.07709083706140518 + ], + [ + 0.3674408197402954, + 0.13338300585746765, + 0.07556252926588058 + ], + [ + 0.3669820725917816, + 0.1329418271780014, + 0.07509795576334 + ], + [ + 0.36531972885131836, + 0.13124889135360718, + 0.073725126683712 + ], + [ + 0.3648635447025299, + 0.13281573355197906, + 0.07233669608831406 + ], + [ + 0.36631500720977783, + 0.1337699294090271, + 0.07202114909887314 + ], + [ + 0.36722493171691895, + 0.13509395718574524, + 0.07147543877363205 + ], + [ + 0.368984192609787, + 0.13589975237846375, + 0.07241754978895187 + ], + [ + 0.36751362681388855, + 0.13294540345668793, + 0.06993280351161957 + ], + [ + 0.3635954260826111, + 0.12803436815738678, + 0.06804385781288147 + ], + [ + 0.35556864738464355, + 0.12054295837879181, + 0.05660487338900566 + ], + [ + 0.35320013761520386, + 0.11860295385122299, + 0.058308396488428116 + ], + [ + 0.3479333817958832, + 0.11257778108119965, + 0.05870244279503822 + ], + [ + 0.34770315885543823, + 0.110428586602211, + 0.05680176243185997 + ], + [ + 0.34691229462623596, + 0.11011643707752228, + 0.05795345827937126 + ], + [ + 0.34104883670806885, + 0.10854827612638474, + 0.061037931591272354 + ], + [ + 0.3378925323486328, + 0.11109694838523865, + 0.083978570997715 + ], + [ + 0.33892884850502014, + 0.11302530765533447, + 0.11636579781770706 + ], + [ + 0.33642578125, + 0.11170201748609543, + 0.13878926634788513 + ], + [ + 0.3321399688720703, + 0.11304422467947006, + 0.14852946996688843 + ], + [ + 0.31680557131767273, + 0.1294143795967102, + 0.1530797779560089 + ], + [ + 0.304813414812088, + 0.15757602453231812, + 0.14806051552295685 + ], + [ + 0.2998628318309784, + 0.18476244807243347, + 0.12757951021194458 + ], + [ + 0.2938734292984009, + 0.21517083048820496, + 0.10431206971406937 + ], + [ + 0.2931150794029236, + 0.24359159171581268, + 0.09117696434259415 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.6049309633038598, + -0.5364968208911379, + 0.5884128574478691, + -0.5413586036821129, + -0.8190000828653542, + -0.19018340223556807, + 0.5839429696944876, + -0.203494534177813, + -0.7858756789111987 + ], + [ + 0.6255231039076611, + -0.5397658196940253, + 0.5633593048559352, + -0.5259268475182398, + -0.8250676072097597, + -0.2065536119090828, + 0.5763000932997077, + -0.16708172677824104, + -0.7999761865452931 + ], + [ + 0.6491937953660339, + -0.5156386630456309, + 0.5591638268260546, + -0.4953016992776043, + -0.8444981469783301, + -0.20371329471314292, + 0.5772552665424207, + -0.14470538664016824, + -0.8036396632361781 + ], + [ + 0.6975247453228726, + -0.46647050735628465, + 0.5439342749165864, + -0.43420043242837353, + -0.8790071233327973, + -0.19701893718425786, + 0.5700256258636761, + -0.09875091339816314, + -0.8156709158488816 + ], + [ + 0.7491004358452753, + -0.386486768614303, + 0.538030217276402, + -0.35382029400303383, + -0.9200503516573927, + -0.1682811634340408, + 0.560053333681735, + -0.06430651678626284, + -0.8259569815255471 + ], + [ + 0.7976067845679975, + -0.2860547713808101, + 0.5310330356779815, + -0.2606058360581828, + -0.9574093414490117, + -0.1243058772487666, + 0.5439742782738128, + -0.0392430971820823, + -0.8381837292026386 + ], + [ + 0.8187942887875126, + -0.2156575745944942, + 0.5320410916169648, + -0.18846565060766945, + -0.9763728260691736, + -0.10572040037156008, + 0.5422698693362736, + -0.013708210449043322, + -0.8400925388171862 + ], + [ + 0.8183462808882097, + -0.1904257382510128, + 0.5422613786431707, + -0.16806921150865803, + -0.9815608580422729, + -0.09105504984444843, + 0.5496017691922883, + -0.016622880943860614, + -0.8352613813231359 + ], + [ + 0.8253088243649905, + -0.1702469936981003, + 0.53840626441567, + -0.15211955208377725, + -0.9852507812476587, + -0.07836159725726155, + 0.5438060189986025, + -0.017229602074258058, + -0.8390340604011582 + ], + [ + 0.8319191662071115, + -0.1636941191999922, + 0.530202542653846, + -0.14614145384426988, + -0.986398687328712, + -0.07523499919902284, + 0.5353066190189953, + -0.014895132612117789, + -0.8445264700759354 + ], + [ + 0.8398534518602296, + -0.15719791864659158, + 0.5195526862327213, + -0.14023206306606464, + -0.9874904081499659, + -0.07209481465437757, + 0.5243864489922412, + -0.012308866113227821, + -0.8513914164051187 + ], + [ + 0.8404454308967638, + -0.15834718789775268, + 0.518244773991621, + -0.1451163752156501, + -0.9871911346925089, + -0.06629405123227035, + 0.5221041230722309, + -0.019489270622320268, + -0.8526590485074244 + ], + [ + 0.845579574131232, + -0.16247304465468598, + 0.5085250176468028, + -0.1492949856873017, + -0.9865239441653787, + -0.06694411726965625, + 0.512548720670214, + -0.019313657059747094, + -0.8584409074539178 + ], + [ + 0.8487719662399336, + -0.16173018930458197, + 0.503417813741927, + -0.1522800166692783, + -0.986503420537732, + -0.060181374116576335, + 0.5063565402445216, + -0.025580209828284732, + -0.861944723875458 + ], + [ + 0.8564255577925569, + -0.15590108573536304, + 0.49216878753761184, + -0.14596051017426936, + -0.9875396617023888, + -0.05882980566344428, + 0.4952078285218994, + -0.021453858190698415, + -0.8685096076263974 + ], + [ + 0.8609272291131891, + -0.15949675782834574, + 0.4830787621224226, + -0.15188936620789953, + -0.9868584705364106, + -0.055136009680595795, + 0.4855243831204039, + -0.02590643496859813, + -0.8738391900245541 + ], + [ + 0.8685880574793685, + -0.15583219398028875, + 0.4703946361551193, + -0.14707521563252218, + -0.9875623242270455, + -0.055583601124099574, + 0.47320573469777866, + -0.020904140416806282, + -0.8807038943723197 + ], + [ + 0.8687759702619102, + -0.15531362418640646, + 0.47021908897615006, + -0.14671266906387417, + -0.9876404394151872, + -0.055152109369726796, + 0.4729732616455511, + -0.021072270258798907, + -0.8808247573691996 + ], + [ + 0.8734686541049493, + -0.14635318324032565, + 0.4643632802575066, + -0.1429664832463587, + -0.9888050904319755, + -0.042720929343599404, + 0.46541711932873353, + -0.029072992471292584, + -0.8846138514315198 + ], + [ + 0.8730560350977066, + -0.13890796217192114, + 0.46741602200257965, + -0.14238020862476697, + -0.9894132685632537, + -0.028093774807713925, + 0.46637006311666246, + -0.042023351082735416, + -0.8835909699585761 + ], + [ + 0.876198103068898, + -0.13709405996828639, + 0.4620412350644432, + -0.1427439562015413, + -0.9894946401935258, + -0.02290240153819375, + 0.4603271088545586, + -0.04588655303785736, + -0.886562675226014 + ], + [ + 0.8852003108190115, + -0.1357101319633844, + 0.4449754710188031, + -0.138296464974318, + -0.9900275148476732, + -0.026825503166708328, + 0.44417845231565667, + -0.03779259090113596, + -0.8951408953742683 + ], + [ + 0.886142495380105, + -0.13548402937782622, + 0.44316538184414705, + -0.1368326011069103, + -0.9901665047591478, + -0.029105534308264274, + 0.44275085223615046, + -0.034847821116975215, + -0.895967249517281 + ], + [ + 0.8900740785631946, + -0.14078270220571068, + 0.43353012055627493, + -0.13904174788811088, + -0.989635383379381, + -0.035905435629787555, + 0.434091611315053, + -0.028320288190694636, + -0.9004234749620298 + ], + [ + 0.8890972027016435, + -0.14626001566285662, + 0.4337213067932149, + -0.15223885661554498, + -0.9881177135901157, + -0.02113562456692787, + 0.43165900278403163, + -0.04723761115619132, + -0.9007991526460004 + ], + [ + 0.8870427291181584, + -0.14410729987655857, + 0.43862088737416194, + -0.1537859502635986, + -0.9880106007136145, + -0.013599058020498496, + 0.435321809952283, + -0.05539078443035917, + -0.8985692977061135 + ], + [ + 0.8888581245137751, + -0.13349458854123697, + 0.43830403753109554, + -0.1446460700474796, + -0.9894509315751048, + -0.008022993517192718, + 0.43475136446671886, + -0.05626765354413788, + -0.8987909669433505 + ], + [ + 0.8874366098837012, + -0.13053201936009085, + 0.4420606919416165, + -0.14244656067674516, + -0.9897824297078912, + -0.006302316471767384, + 0.4383665598440308, + -0.05737711881334596, + -0.8969630011584588 + ], + [ + 0.8899649293998173, + -0.1353148255952842, + 0.4354908981970755, + -0.14396988409246544, + -0.9894935218740537, + -0.013237924447714475, + 0.43270671003900535, + -0.05091628564024632, + -0.9000957920931641 + ], + [ + 0.8857181365659793, + -0.15346759329777207, + 0.4381222208077088, + -0.1734043346470535, + -0.9848348790905995, + 0.005585485853247973, + 0.4306208532847682, + -0.08091945831500463, + -0.8988980598389921 + ], + [ + 0.89106901585371, + -0.1490897607382217, + 0.42868199429008, + -0.17071908466993366, + -0.9852441308093146, + 0.012206425982158757, + 0.4205365657287846, + -0.08406096566669755, + -0.9033729855027887 + ], + [ + 0.8812707944727785, + -0.15241715647927492, + 0.44735980733643266, + -0.1865380256157643, + -0.9818956160433453, + 0.03293272224144143, + 0.4342411217384765, + -0.1124722614942533, + -0.8937475250794701 + ], + [ + 0.8788429230222672, + -0.1592522282142587, + 0.44974864587063634, + -0.19350586651200866, + -0.9806124434362187, + 0.030898469274148577, + 0.4361084684790174, + -0.11418390248560645, + -0.8926205465560623 + ], + [ + 0.8755163872009284, + -0.1552488337899714, + 0.45756841603140347, + -0.17898116694785676, + -0.9838143404227551, + 0.008665186467850569, + 0.44881710932251356, + -0.08948264181053792, + -0.8891321944424179 + ], + [ + 0.8735108340000499, + -0.15695935226281252, + 0.46080645028230166, + -0.18037109655315223, + -0.9835745001774179, + 0.006889856961931423, + 0.4521560465290169, + -0.08913452943714215, + -0.8874739124330746 + ], + [ + 0.8725855952424753, + -0.1880204153232506, + 0.45082446960763667, + -0.19939008149459414, + -0.9796584117041043, + -0.022649321821422864, + 0.44591251874881654, + -0.07012645577143921, + -0.8923252242450743 + ], + [ + 0.8610889507101103, + -0.20155344321645685, + 0.4667997734495506, + -0.19241304095265516, + -0.9789718034701854, + -0.06776008915050497, + 0.47064109535431886, + -0.031470899858806675, + -0.881763313948683 + ], + [ + 0.831921525030556, + -0.19313214681534552, + 0.520198567911648, + -0.16834669863039536, + -0.9811358387420696, + -0.09503607207867057, + 0.5287399788658699, + -0.008511157523584001, + -0.8487411825442006 + ], + [ + 0.809811929458494, + -0.19749180695944685, + 0.5524505634811171, + -0.15162186824225915, + -0.9801008100108436, + -0.12811405577381174, + 0.5667587211304633, + 0.019984704150447827, + -0.823641404752445 + ], + [ + 0.798557406288037, + -0.1981020873548571, + 0.5683851087494916, + -0.14386537582622602, + -0.9797371800732653, + -0.13934780809350597, + 0.5844731152935108, + 0.029506286918797302, + -0.8108764126125285 + ], + [ + 0.7944487849142494, + -0.1577131689060113, + 0.5864961078318393, + -0.12067600231165422, + -0.9874311585417944, + -0.1020637526592431, + 0.5952213290989748, + 0.010308418619432921, + -0.8034956788254783 + ], + [ + 0.7964868831796607, + -0.10224879596648966, + 0.5959478405415632, + -0.09430572993815671, + -0.9945438725010545, + -0.04459725295842223, + 0.5972562885592589, + -0.02068016910011173, + -0.8017837965327123 + ], + [ + 0.8091304477393495, + -0.06599528653122569, + 0.5839114151108722, + -0.0777131861521182, + -0.9969632604052999, + -0.004991803293457574, + 0.5824676636854669, + -0.04133859646499588, + -0.8118020332587854 + ], + [ + 0.8219034819687314, + -0.021576577862315767, + 0.5692179877827359, + -0.0489894418208821, + -0.9982573897341024, + 0.03289708849328385, + 0.5675162560823732, + -0.0549239030751454, + -0.8215282490293553 + ], + [ + 0.8285695098749828, + 0.01666820992599937, + 0.5596380420266245, + -0.020762804916672407, + -0.9979544578260185, + 0.060463261880003324, + 0.5595010931513211, + -0.0617176707519044, + -0.8265285572074546 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0005115866661071777, + -0.0009949058294296265, + -0.012953400611877441, + -0.04747624695301056, + 0.00938326120376587, + 0.03087913990020752, + 1.0 + ], + [ + -0.0013133883476257324, + 0.0006127655506134033, + -0.002043291926383972, + -0.027745038270950317, + -0.0011692643165588379, + 0.047379493713378906, + 1.0 + ], + [ + -0.003132343292236328, + -0.0038835108280181885, + -0.010143429040908813, + -0.05767275393009186, + 0.00882631540298462, + 0.09494650363922119, + 1.0 + ], + [ + -0.005147039890289307, + -0.008789204061031342, + -0.008146807551383972, + -0.04278051108121872, + 0.012086868286132812, + 0.11552545428276062, + 1.0 + ], + [ + -0.002305656671524048, + -0.0076139941811561584, + -0.0010349750518798828, + -0.030915193259716034, + 0.019283950328826904, + 0.12546497583389282, + 1.0 + ], + [ + 0.002049088478088379, + -0.0031079426407814026, + -0.0027835816144943237, + -0.03046898916363716, + 0.002029895782470703, + 0.08956588804721832, + 1.0 + ], + [ + 0.004640489816665649, + -0.0016822963953018188, + -0.001822352409362793, + 0.0035827327519655228, + -0.008751153945922852, + 0.023674190044403076, + 1.0 + ], + [ + 0.004960179328918457, + 0.0016009211540222168, + -0.011335879564285278, + 0.0006333738565444946, + 0.0069217681884765625, + 0.020287439227104187, + 1.0 + ], + [ + 0.0024230778217315674, + 0.0016875490546226501, + -0.009580016136169434, + -0.002896727994084358, + 0.010095000267028809, + 0.008378982543945312, + 1.0 + ], + [ + 0.0022771060466766357, + 0.002299785614013672, + -0.007754206657409668, + -0.0031790854409337044, + 0.012876331806182861, + 0.008447796106338501, + 1.0 + ], + [ + 0.004470556974411011, + 0.0030451789498329163, + -0.0012631043791770935, + 0.008396725170314312, + 0.002678215503692627, + -0.005534350872039795, + 1.0 + ], + [ + 0.0017403662204742432, + 0.0019170045852661133, + -0.006075836718082428, + -0.00035833753645420074, + 0.011165738105773926, + -0.003778129816055298, + 1.0 + ], + [ + 0.004089981317520142, + 0.00384657084941864, + -0.0016417205333709717, + 0.007173879072070122, + 0.00719606876373291, + -0.0027652084827423096, + 1.0 + ], + [ + 0.0008899867534637451, + 0.004170171916484833, + -0.004924960434436798, + -0.004971710965037346, + 0.012880325317382812, + 0.00871555507183075, + 1.0 + ], + [ + 0.001969575881958008, + 0.00217987596988678, + -0.0004718303680419922, + 0.004941102117300034, + 0.011111140251159668, + -0.005820363759994507, + 1.0 + ], + [ + 0.0004061460494995117, + 0.0010588467121124268, + -0.0010801106691360474, + -0.005906740203499794, + 0.014036715030670166, + 0.006892532110214233, + 0.0 + ], + [ + -0.0005124211311340332, + -0.00015804171562194824, + -0.00018811970949172974, + 0.00018751434981822968, + 0.0002638697624206543, + 0.0004413127899169922, + 0.0 + ], + [ + -0.0010463893413543701, + 0.0013586729764938354, + -0.0012750476598739624, + 0.00893457606434822, + 0.008556485176086426, + 0.005056321620941162, + 0.0 + ], + [ + -0.001521766185760498, + 0.0013858228921890259, + -0.0030237361788749695, + 0.014670569449663162, + -0.0010769665241241455, + 0.0005787163972854614, + 1.0 + ], + [ + -0.0010234415531158447, + 0.000743567943572998, + -0.0008050650358200073, + 0.004187755286693573, + 0.0068191587924957275, + 0.0001652836799621582, + 1.0 + ], + [ + -0.0021746158599853516, + -0.0009283572435379028, + -0.0015283077955245972, + -0.009517025202512741, + 0.018106549978256226, + 0.006515130400657654, + 1.0 + ], + [ + -0.00045874714851379395, + -0.00044117867946624756, + -0.0004645735025405884, + -0.0033201687037944794, + 0.001592785120010376, + 0.0017752349376678467, + 1.0 + ], + [ + -0.0016623437404632568, + -0.001692935824394226, + -0.0013728290796279907, + -0.007432661950588226, + 0.009634613990783691, + -0.0017575174570083618, + 1.0 + ], + [ + -0.00045618414878845215, + 0.0015668421983718872, + -0.0013884305953979492, + 0.02094985917210579, + 0.002698540687561035, + -0.014622703194618225, + 1.0 + ], + [ + 0.0014514625072479248, + 0.0009541958570480347, + -0.00031554698944091797, + 0.009173724800348282, + -0.0040645599365234375, + -0.0020789653062820435, + 0.0 + ], + [ + 0.0009099245071411133, + 0.0013240277767181396, + -0.0005457103252410889, + 0.0009567141532897949, + 0.000633537769317627, + 0.010344579815864563, + 0.0 + ], + [ + 0.001759260892868042, + 0.0008057951927185059, + 0.0009421110153198242, + 0.0013590529561042786, + -0.004018336534500122, + 0.002161368727684021, + 0.0 + ], + [ + -0.0014705657958984375, + -0.002954348921775818, + -0.002484746277332306, + -0.0073737651109695435, + 0.0062875449657440186, + -0.0012238770723342896, + 1.0 + ], + [ + -0.003918200731277466, + -0.0049110352993011475, + -0.0018889456987380981, + 0.03327132761478424, + 0.002312391996383667, + -0.03295201063156128, + 1.0 + ], + [ + -0.00802677869796753, + -0.007491409778594971, + -0.011438984423875809, + 0.0030064135789871216, + 0.011143922805786133, + 0.00403769314289093, + 1.0 + ], + [ + -0.0023685097694396973, + -0.0019400045275688171, + 0.0017035230994224548, + 0.0324002206325531, + -0.015159010887145996, + -0.019295305013656616, + 1.0 + ], + [ + -0.005266755819320679, + -0.006025172770023346, + 0.0003940463066101074, + 0.0020435303449630737, + -0.00207403302192688, + -0.0081339031457901, + 0.0 + ], + [ + -0.0002302229404449463, + -0.0021491944789886475, + -0.0019006803631782532, + -0.026926204562187195, + -0.014171510934829712, + 0.015073597431182861, + 0.0 + ], + [ + -0.0007908642292022705, + -0.0003121495246887207, + 0.0011516958475112915, + -0.00020215660333633423, + -0.0037399232387542725, + -0.001977100968360901, + 0.0 + ], + [ + -0.005863457918167114, + -0.0015681609511375427, + 0.0030844733119010925, + -0.021673284471035004, + 0.006987631320953369, + -0.02102002501487732, + 0.0 + ], + [ + -0.003156304359436035, + 0.0025486722588539124, + 0.022940639406442642, + -0.042751528322696686, + -0.02782374620437622, + 0.004806295037269592, + 0.0 + ], + [ + 0.001036316156387329, + 0.0019283592700958252, + 0.032387226819992065, + -0.02564808540046215, + -0.06709814071655273, + 0.02017897367477417, + 0.0 + ], + [ + -0.0025030672550201416, + -0.0013232901692390442, + 0.02242346853017807, + -0.03428672254085541, + -0.04545098543167114, + 0.014574632048606873, + 0.0 + ], + [ + -0.0042858123779296875, + 0.0013422071933746338, + 0.009740203619003296, + -0.012113014236092567, + -0.021664202213287354, + 0.006843432784080505, + 0.0 + ], + [ + -0.015334397554397583, + 0.016370154917240143, + 0.004550307989120483, + 0.023543335497379303, + -0.013310492038726807, + 0.02749793231487274, + 0.0 + ], + [ + -0.011992156505584717, + 0.02816164493560791, + -0.005019262433052063, + 0.038615740835666656, + -0.002534806728363037, + 0.03289324790239334, + 0.0 + ], + [ + -0.004950582981109619, + 0.027186423540115356, + -0.020481005311012268, + 0.025091087445616722, + 0.018314659595489502, + 0.02210181951522827, + 0.0 + ], + [ + -0.005989402532577515, + 0.030408382415771484, + -0.023267440497875214, + 0.015878356993198395, + 0.018275082111358643, + 0.036217182874679565, + 0.0 + ], + [ + -0.0007583498954772949, + 0.028420761227607727, + -0.01313510537147522, + 0.007776200771331787, + 0.00970238447189331, + 0.034481048583984375, + 0.0 + ], + [ + 0.00047972798347473145, + 0.020401939749717712, + -0.016602620482444763, + 0.021359287202358246, + 0.01740586757659912, + 0.015689309686422348, + 0.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 0.9507390260696411 + ], + [ + 0.6601285338401794 + ], + [ + 0.3544071912765503 + ], + [ + 0.21856790781021118 + ], + [ + 0.4709327220916748 + ], + [ + 0.7912794351577759 + ], + [ + 1.00800359249115 + ], + [ + 1.00800359249115 + ], + [ + 1.0001531839370728 + ], + [ + 0.9499720335006714 + ], + [ + 0.6621366739273071 + ], + [ + 0.3610773980617523 + ], + [ + 0.2198251634836197 + ], + [ + 0.472818523645401 + ], + [ + 0.7912794351577759 + ], + [ + 1.0001531839370728 + ], + [ + 0.9583302736282349 + ], + [ + 0.6711689233779907 + ], + [ + 0.5344430208206177 + ], + [ + 0.5344430208206177 + ], + [ + 0.5334634184837341 + ], + [ + 0.5334634184837341 + ], + [ + 0.5334634184837341 + ], + [ + 0.5334634184837341 + ], + [ + 0.5334634184837341 + ], + [ + 0.5334634184837341 + ], + [ + 0.5334634184837341 + ], + [ + 0.5334634184837341 + ], + [ + 0.5334634184837341 + ], + [ + 0.5334634184837341 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3557013273239136, + 0.1336396187543869, + 0.15248490869998932 + ], + [ + 0.35438793897628784, + 0.1342523843050003, + 0.15044161677360535 + ], + [ + 0.3512555956840515, + 0.13036887347698212, + 0.14029818773269653 + ], + [ + 0.3461085557937622, + 0.12157966941595078, + 0.13215138018131256 + ], + [ + 0.34380289912223816, + 0.11396567523479462, + 0.13111640512943268 + ], + [ + 0.34585198760032654, + 0.11085773259401321, + 0.12833282351493835 + ], + [ + 0.3504924774169922, + 0.1091754361987114, + 0.12651047110557556 + ], + [ + 0.35545265674591064, + 0.11077635735273361, + 0.11517459154129028 + ], + [ + 0.3578757345676422, + 0.11246390640735626, + 0.10559457540512085 + ], + [ + 0.36015284061431885, + 0.11476369202136993, + 0.09784036874771118 + ], + [ + 0.36462339758872986, + 0.11780887097120285, + 0.09657726436853409 + ], + [ + 0.3663637638092041, + 0.11972587555646896, + 0.09050142765045166 + ], + [ + 0.37045374512672424, + 0.1235724464058876, + 0.08885970711708069 + ], + [ + 0.371343731880188, + 0.12774261832237244, + 0.08393474668264389 + ], + [ + 0.373313307762146, + 0.12992249429225922, + 0.0834629163146019 + ], + [ + 0.3737194538116455, + 0.13098134100437164, + 0.08238280564546585 + ], + [ + 0.3732070326805115, + 0.1308232992887497, + 0.08219468593597412 + ], + [ + 0.3721606433391571, + 0.13218197226524353, + 0.08091963827610016 + ], + [ + 0.3706388771533966, + 0.13356779515743256, + 0.07789590209722519 + ], + [ + 0.36961543560028076, + 0.13431136310100555, + 0.07709083706140518 + ], + [ + 0.3674408197402954, + 0.13338300585746765, + 0.07556252926588058 + ], + [ + 0.3669820725917816, + 0.1329418271780014, + 0.07509795576334 + ], + [ + 0.36531972885131836, + 0.13124889135360718, + 0.073725126683712 + ], + [ + 0.3648635447025299, + 0.13281573355197906, + 0.07233669608831406 + ], + [ + 0.36631500720977783, + 0.1337699294090271, + 0.07202114909887314 + ], + [ + 0.36722493171691895, + 0.13509395718574524, + 0.07147543877363205 + ], + [ + 0.368984192609787, + 0.13589975237846375, + 0.07241754978895187 + ], + [ + 0.36751362681388855, + 0.13294540345668793, + 0.06993280351161957 + ], + [ + 0.3635954260826111, + 0.12803436815738678, + 0.06804385781288147 + ], + [ + 0.35556864738464355, + 0.12054295837879181, + 0.05660487338900566 + ], + [ + 0.35320013761520386, + 0.11860295385122299, + 0.058308396488428116 + ], + [ + 0.3479333817958832, + 0.11257778108119965, + 0.05870244279503822 + ], + [ + 0.34770315885543823, + 0.110428586602211, + 0.05680176243185997 + ], + [ + 0.34691229462623596, + 0.11011643707752228, + 0.05795345827937126 + ], + [ + 0.34104883670806885, + 0.10854827612638474, + 0.061037931591272354 + ], + [ + 0.3378925323486328, + 0.11109694838523865, + 0.083978570997715 + ], + [ + 0.33892884850502014, + 0.11302530765533447, + 0.11636579781770706 + ], + [ + 0.33642578125, + 0.11170201748609543, + 0.13878926634788513 + ], + [ + 0.3321399688720703, + 0.11304422467947006, + 0.14852946996688843 + ], + [ + 0.31680557131767273, + 0.1294143795967102, + 0.1530797779560089 + ], + [ + 0.304813414812088, + 0.15757602453231812, + 0.14806051552295685 + ], + [ + 0.2998628318309784, + 0.18476244807243347, + 0.12757951021194458 + ], + [ + 0.2938734292984009, + 0.21517083048820496, + 0.10431206971406937 + ], + [ + 0.2931150794029236, + 0.24359159171581268, + 0.09117696434259415 + ], + [ + 0.2935948073863983, + 0.2639935314655304, + 0.07457434386014938 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.6255231039076611, + -0.5397658196940253, + 0.5633593048559352, + -0.5259268475182398, + -0.8250676072097597, + -0.2065536119090828, + 0.5763000932997077, + -0.16708172677824104, + -0.7999761865452931 + ], + [ + 0.6491937953660339, + -0.5156386630456309, + 0.5591638268260546, + -0.4953016992776043, + -0.8444981469783301, + -0.20371329471314292, + 0.5772552665424207, + -0.14470538664016824, + -0.8036396632361781 + ], + [ + 0.6975247453228726, + -0.46647050735628465, + 0.5439342749165864, + -0.43420043242837353, + -0.8790071233327973, + -0.19701893718425786, + 0.5700256258636761, + -0.09875091339816314, + -0.8156709158488816 + ], + [ + 0.7491004358452753, + -0.386486768614303, + 0.538030217276402, + -0.35382029400303383, + -0.9200503516573927, + -0.1682811634340408, + 0.560053333681735, + -0.06430651678626284, + -0.8259569815255471 + ], + [ + 0.7976067845679975, + -0.2860547713808101, + 0.5310330356779815, + -0.2606058360581828, + -0.9574093414490117, + -0.1243058772487666, + 0.5439742782738128, + -0.0392430971820823, + -0.8381837292026386 + ], + [ + 0.8187942887875126, + -0.2156575745944942, + 0.5320410916169648, + -0.18846565060766945, + -0.9763728260691736, + -0.10572040037156008, + 0.5422698693362736, + -0.013708210449043322, + -0.8400925388171862 + ], + [ + 0.8183462808882097, + -0.1904257382510128, + 0.5422613786431707, + -0.16806921150865803, + -0.9815608580422729, + -0.09105504984444843, + 0.5496017691922883, + -0.016622880943860614, + -0.8352613813231359 + ], + [ + 0.8253088243649905, + -0.1702469936981003, + 0.53840626441567, + -0.15211955208377725, + -0.9852507812476587, + -0.07836159725726155, + 0.5438060189986025, + -0.017229602074258058, + -0.8390340604011582 + ], + [ + 0.8319191662071115, + -0.1636941191999922, + 0.530202542653846, + -0.14614145384426988, + -0.986398687328712, + -0.07523499919902284, + 0.5353066190189953, + -0.014895132612117789, + -0.8445264700759354 + ], + [ + 0.8398534518602296, + -0.15719791864659158, + 0.5195526862327213, + -0.14023206306606464, + -0.9874904081499659, + -0.07209481465437757, + 0.5243864489922412, + -0.012308866113227821, + -0.8513914164051187 + ], + [ + 0.8404454308967638, + -0.15834718789775268, + 0.518244773991621, + -0.1451163752156501, + -0.9871911346925089, + -0.06629405123227035, + 0.5221041230722309, + -0.019489270622320268, + -0.8526590485074244 + ], + [ + 0.845579574131232, + -0.16247304465468598, + 0.5085250176468028, + -0.1492949856873017, + -0.9865239441653787, + -0.06694411726965625, + 0.512548720670214, + -0.019313657059747094, + -0.8584409074539178 + ], + [ + 0.8487719662399336, + -0.16173018930458197, + 0.503417813741927, + -0.1522800166692783, + -0.986503420537732, + -0.060181374116576335, + 0.5063565402445216, + -0.025580209828284732, + -0.861944723875458 + ], + [ + 0.8564255577925569, + -0.15590108573536304, + 0.49216878753761184, + -0.14596051017426936, + -0.9875396617023888, + -0.05882980566344428, + 0.4952078285218994, + -0.021453858190698415, + -0.8685096076263974 + ], + [ + 0.8609272291131891, + -0.15949675782834574, + 0.4830787621224226, + -0.15188936620789953, + -0.9868584705364106, + -0.055136009680595795, + 0.4855243831204039, + -0.02590643496859813, + -0.8738391900245541 + ], + [ + 0.8685880574793685, + -0.15583219398028875, + 0.4703946361551193, + -0.14707521563252218, + -0.9875623242270455, + -0.055583601124099574, + 0.47320573469777866, + -0.020904140416806282, + -0.8807038943723197 + ], + [ + 0.8687759702619102, + -0.15531362418640646, + 0.47021908897615006, + -0.14671266906387417, + -0.9876404394151872, + -0.055152109369726796, + 0.4729732616455511, + -0.021072270258798907, + -0.8808247573691996 + ], + [ + 0.8734686541049493, + -0.14635318324032565, + 0.4643632802575066, + -0.1429664832463587, + -0.9888050904319755, + -0.042720929343599404, + 0.46541711932873353, + -0.029072992471292584, + -0.8846138514315198 + ], + [ + 0.8730560350977066, + -0.13890796217192114, + 0.46741602200257965, + -0.14238020862476697, + -0.9894132685632537, + -0.028093774807713925, + 0.46637006311666246, + -0.042023351082735416, + -0.8835909699585761 + ], + [ + 0.876198103068898, + -0.13709405996828639, + 0.4620412350644432, + -0.1427439562015413, + -0.9894946401935258, + -0.02290240153819375, + 0.4603271088545586, + -0.04588655303785736, + -0.886562675226014 + ], + [ + 0.8852003108190115, + -0.1357101319633844, + 0.4449754710188031, + -0.138296464974318, + -0.9900275148476732, + -0.026825503166708328, + 0.44417845231565667, + -0.03779259090113596, + -0.8951408953742683 + ], + [ + 0.886142495380105, + -0.13548402937782622, + 0.44316538184414705, + -0.1368326011069103, + -0.9901665047591478, + -0.029105534308264274, + 0.44275085223615046, + -0.034847821116975215, + -0.895967249517281 + ], + [ + 0.8900740785631946, + -0.14078270220571068, + 0.43353012055627493, + -0.13904174788811088, + -0.989635383379381, + -0.035905435629787555, + 0.434091611315053, + -0.028320288190694636, + -0.9004234749620298 + ], + [ + 0.8890972027016435, + -0.14626001566285662, + 0.4337213067932149, + -0.15223885661554498, + -0.9881177135901157, + -0.02113562456692787, + 0.43165900278403163, + -0.04723761115619132, + -0.9007991526460004 + ], + [ + 0.8870427291181584, + -0.14410729987655857, + 0.43862088737416194, + -0.1537859502635986, + -0.9880106007136145, + -0.013599058020498496, + 0.435321809952283, + -0.05539078443035917, + -0.8985692977061135 + ], + [ + 0.8888581245137751, + -0.13349458854123697, + 0.43830403753109554, + -0.1446460700474796, + -0.9894509315751048, + -0.008022993517192718, + 0.43475136446671886, + -0.05626765354413788, + -0.8987909669433505 + ], + [ + 0.8874366098837012, + -0.13053201936009085, + 0.4420606919416165, + -0.14244656067674516, + -0.9897824297078912, + -0.006302316471767384, + 0.4383665598440308, + -0.05737711881334596, + -0.8969630011584588 + ], + [ + 0.8899649293998173, + -0.1353148255952842, + 0.4354908981970755, + -0.14396988409246544, + -0.9894935218740537, + -0.013237924447714475, + 0.43270671003900535, + -0.05091628564024632, + -0.9000957920931641 + ], + [ + 0.8857181365659793, + -0.15346759329777207, + 0.4381222208077088, + -0.1734043346470535, + -0.9848348790905995, + 0.005585485853247973, + 0.4306208532847682, + -0.08091945831500463, + -0.8988980598389921 + ], + [ + 0.89106901585371, + -0.1490897607382217, + 0.42868199429008, + -0.17071908466993366, + -0.9852441308093146, + 0.012206425982158757, + 0.4205365657287846, + -0.08406096566669755, + -0.9033729855027887 + ], + [ + 0.8812707944727785, + -0.15241715647927492, + 0.44735980733643266, + -0.1865380256157643, + -0.9818956160433453, + 0.03293272224144143, + 0.4342411217384765, + -0.1124722614942533, + -0.8937475250794701 + ], + [ + 0.8788429230222672, + -0.1592522282142587, + 0.44974864587063634, + -0.19350586651200866, + -0.9806124434362187, + 0.030898469274148577, + 0.4361084684790174, + -0.11418390248560645, + -0.8926205465560623 + ], + [ + 0.8755163872009284, + -0.1552488337899714, + 0.45756841603140347, + -0.17898116694785676, + -0.9838143404227551, + 0.008665186467850569, + 0.44881710932251356, + -0.08948264181053792, + -0.8891321944424179 + ], + [ + 0.8735108340000499, + -0.15695935226281252, + 0.46080645028230166, + -0.18037109655315223, + -0.9835745001774179, + 0.006889856961931423, + 0.4521560465290169, + -0.08913452943714215, + -0.8874739124330746 + ], + [ + 0.8725855952424753, + -0.1880204153232506, + 0.45082446960763667, + -0.19939008149459414, + -0.9796584117041043, + -0.022649321821422864, + 0.44591251874881654, + -0.07012645577143921, + -0.8923252242450743 + ], + [ + 0.8610889507101103, + -0.20155344321645685, + 0.4667997734495506, + -0.19241304095265516, + -0.9789718034701854, + -0.06776008915050497, + 0.47064109535431886, + -0.031470899858806675, + -0.881763313948683 + ], + [ + 0.831921525030556, + -0.19313214681534552, + 0.520198567911648, + -0.16834669863039536, + -0.9811358387420696, + -0.09503607207867057, + 0.5287399788658699, + -0.008511157523584001, + -0.8487411825442006 + ], + [ + 0.809811929458494, + -0.19749180695944685, + 0.5524505634811171, + -0.15162186824225915, + -0.9801008100108436, + -0.12811405577381174, + 0.5667587211304633, + 0.019984704150447827, + -0.823641404752445 + ], + [ + 0.798557406288037, + -0.1981020873548571, + 0.5683851087494916, + -0.14386537582622602, + -0.9797371800732653, + -0.13934780809350597, + 0.5844731152935108, + 0.029506286918797302, + -0.8108764126125285 + ], + [ + 0.7944487849142494, + -0.1577131689060113, + 0.5864961078318393, + -0.12067600231165422, + -0.9874311585417944, + -0.1020637526592431, + 0.5952213290989748, + 0.010308418619432921, + -0.8034956788254783 + ], + [ + 0.7964868831796607, + -0.10224879596648966, + 0.5959478405415632, + -0.09430572993815671, + -0.9945438725010545, + -0.04459725295842223, + 0.5972562885592589, + -0.02068016910011173, + -0.8017837965327123 + ], + [ + 0.8091304477393495, + -0.06599528653122569, + 0.5839114151108722, + -0.0777131861521182, + -0.9969632604052999, + -0.004991803293457574, + 0.5824676636854669, + -0.04133859646499588, + -0.8118020332587854 + ], + [ + 0.8219034819687314, + -0.021576577862315767, + 0.5692179877827359, + -0.0489894418208821, + -0.9982573897341024, + 0.03289708849328385, + 0.5675162560823732, + -0.0549239030751454, + -0.8215282490293553 + ], + [ + 0.8285695098749828, + 0.01666820992599937, + 0.5596380420266245, + -0.020762804916672407, + -0.9979544578260185, + 0.060463261880003324, + 0.5595010931513211, + -0.0617176707519044, + -0.8265285572074546 + ], + [ + 0.8384054137274455, + 0.0428569414850479, + 0.5433595906939145, + -0.007851109743878225, + -0.9958508620385105, + 0.09066102058186505, + 0.5449905708434787, + -0.08027666624681769, + -0.8345902794473444 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005880.json b/json/chunk-0005/episode_0005880.json new file mode 100644 index 0000000000000000000000000000000000000000..e03d088ad90023b6a494994613ef7cc38b5696e0 --- /dev/null +++ b/json/chunk-0005/episode_0005880.json @@ -0,0 +1,2602 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 42, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut the orange pot with the yellow capsicum on the top right burner." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005880.mp4", + "start": 0, + "end": 42, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.32152408361434937, + 0.17482492327690125, + 0.06060139089822769, + 0.2457275688648224, + -0.19259428977966309, + -0.1694609522819519, + 0.0, + 1.0008161067962646 + ], + [ + 0.3179093897342682, + 0.17192955315113068, + 0.048128291964530945, + 0.22014540433883667, + -0.15821781754493713, + -0.1642732471227646, + 0.0, + 1.0008161067962646 + ], + [ + 0.31575581431388855, + 0.15169328451156616, + 0.045883502811193466, + 0.18538004159927368, + -0.10124810039997101, + -0.1515604704618454, + 0.0, + 1.0008161067962646 + ], + [ + 0.3124069571495056, + 0.12793081998825073, + 0.04464124143123627, + 0.1668587177991867, + -0.04643658921122551, + -0.13171625137329102, + 0.0, + 1.0008161067962646 + ], + [ + 0.3062925636768341, + 0.11445198208093643, + 0.04304429888725281, + 0.15176638960838318, + -0.011882719583809376, + -0.08478863537311554, + 0.0, + 1.0008161067962646 + ], + [ + 0.30119389295578003, + 0.10655111074447632, + 0.03617774322628975, + 0.15288136899471283, + -0.001941531547345221, + -0.04890580475330353, + 0.0, + 1.0008161067962646 + ], + [ + 0.29424959421157837, + 0.1024298295378685, + 0.029477501288056374, + 0.14014825224876404, + 0.009763836860656738, + -0.023572033271193504, + 0.0, + 1.0008161067962646 + ], + [ + 0.2883361279964447, + 0.09536158293485641, + 0.021904803812503815, + 0.10203422605991364, + 0.007233176380395889, + 0.017821716144680977, + 0.0, + 1.0008161067962646 + ], + [ + 0.2840932011604309, + 0.09181404858827591, + 0.013347657397389412, + 0.06905865669250488, + 0.006955623161047697, + 0.03364450857043266, + 0.0, + 1.0008161067962646 + ], + [ + 0.28331586718559265, + 0.09192630648612976, + 0.008813736028969288, + 0.0576152577996254, + 0.0007492066943086684, + 0.05646471679210663, + 0.0, + 1.0008161067962646 + ], + [ + 0.2833513021469116, + 0.09313835948705673, + -0.008060241118073463, + 0.031412363052368164, + -0.00735357915982604, + 0.07419044524431229, + 0.0, + 1.0008161067962646 + ], + [ + 0.2850179076194763, + 0.09650713205337524, + -0.010675321333110332, + 0.045755915343761444, + -0.018526466563344002, + 0.0734996497631073, + 0.0, + 0.9530308246612549 + ], + [ + 0.2870667278766632, + 0.09645093232393265, + -0.011390678584575653, + 0.05055097118020058, + -0.03828153759241104, + 0.04311651736497879, + 0.0, + 0.6701657772064209 + ], + [ + 0.2804083526134491, + 0.09459929913282394, + -0.01548768486827612, + 0.07007911801338196, + -0.03059043362736702, + 0.04566490277647972, + 0.0, + 0.4059307873249054 + ], + [ + 0.276707261800766, + 0.09295638650655746, + -0.011728433892130852, + 0.07120972871780396, + -0.03885515406727791, + 0.054502297192811966, + 0.0, + 0.3849146366119385 + ], + [ + 0.27157989144325256, + 0.09251978248357773, + -0.005052528809756041, + 0.08930801600217819, + -0.05054166167974472, + 0.0912768766283989, + 0.0, + 0.3849146366119385 + ], + [ + 0.2696843445301056, + 0.09300045669078827, + 0.0033841729164123535, + 0.10730483382940292, + -0.06404450535774231, + 0.11316085606813431, + 0.0, + 0.3849146366119385 + ], + [ + 0.2660650312900543, + 0.09088115394115448, + 0.010084683075547218, + 0.11890394240617752, + -0.0441262386739254, + 0.10926996916532516, + 0.0, + 0.3849146366119385 + ], + [ + 0.2674436569213867, + 0.0858263447880745, + 0.01709110476076603, + 0.12541866302490234, + -0.018744170665740967, + 0.08527135848999023, + 0.0, + 0.3849146366119385 + ], + [ + 0.27590516209602356, + 0.07321572303771973, + 0.02310897409915924, + 0.12094072252511978, + -0.03471386805176735, + 0.03231654316186905, + 0.0, + 0.3849146366119385 + ], + [ + 0.28637930750846863, + 0.0626961886882782, + 0.02801481820642948, + 0.14289379119873047, + -0.055573076009750366, + -0.016681918874382973, + 0.0, + 0.3849146366119385 + ], + [ + 0.29361963272094727, + 0.04993528127670288, + 0.028631828725337982, + 0.15441304445266724, + -0.08671816438436508, + -0.04490896314382553, + 0.0, + 0.3849146366119385 + ], + [ + 0.30111390352249146, + 0.031779177486896515, + 0.029239632189273834, + 0.1800987422466278, + -0.11865708231925964, + -0.11018072813749313, + 0.0, + 0.3849146366119385 + ], + [ + 0.31008219718933105, + 0.021539079025387764, + 0.034674953669309616, + 0.21369871497154236, + -0.13493289053440094, + -0.19612234830856323, + 0.0, + 0.3849146366119385 + ], + [ + 0.3209538161754608, + 0.0048326365649700165, + 0.03328681364655495, + 0.21489135921001434, + -0.14255808293819427, + -0.25368309020996094, + 0.0, + 0.3849146366119385 + ], + [ + 0.3400041460990906, + -0.010626601986587048, + 0.027292508631944656, + 0.2242070585489273, + -0.1703868955373764, + -0.3129441738128662, + 0.0, + 0.3849146366119385 + ], + [ + 0.34965381026268005, + -0.02099388837814331, + 0.022839464247226715, + 0.19477640092372894, + -0.1783914417028427, + -0.31410959362983704, + 0.0, + 0.3849146366119385 + ], + [ + 0.3539704978466034, + -0.021718326956033707, + 0.017206242308020592, + 0.19296535849571228, + -0.1701805740594864, + -0.31726884841918945, + 0.0, + 0.3849146366119385 + ], + [ + 0.36463046073913574, + -0.02440631203353405, + 0.008372494950890541, + 0.18875731527805328, + -0.17170350253582, + -0.33520615100860596, + 0.0, + 0.3849146366119385 + ], + [ + 0.36942213773727417, + -0.028232350945472717, + 0.008672932162880898, + 0.17137864232063293, + -0.1782190501689911, + -0.3440086543560028, + 0.0, + 0.3849146366119385 + ], + [ + 0.3706131875514984, + -0.028997961431741714, + 0.0017180572031065822, + 0.15509168803691864, + -0.1622905284166336, + -0.35012468695640564, + 0.0, + 0.443907231092453 + ], + [ + 0.3703629970550537, + -0.019174573943018913, + 0.003188502276316285, + 0.20361748337745667, + -0.1668449491262436, + -0.21871672570705414, + 0.0, + 0.7836189270019531 + ], + [ + 0.36675819754600525, + -0.023528262972831726, + 0.0007289654458872974, + 0.1724032312631607, + -0.16361720860004425, + -0.17950142920017242, + 0.0, + 0.9865638017654419 + ], + [ + 0.36095499992370605, + -0.01693972945213318, + 0.0029248131904751062, + 0.2067929357290268, + -0.12284162640571594, + -0.17402930557727814, + 0.0, + 1.0008161067962646 + ], + [ + 0.3578146696090698, + -0.010238619521260262, + 0.019746573641896248, + 0.24275089800357819, + -0.11695373803377151, + -0.14095397293567657, + 0.0, + 1.0008161067962646 + ], + [ + 0.35262787342071533, + -0.005440457724034786, + 0.039260681718587875, + 0.26643630862236023, + -0.09293796867132187, + -0.11210715770721436, + 0.0, + 1.0008161067962646 + ], + [ + 0.3451136350631714, + 0.002606646390631795, + 0.0547853484749794, + 0.2460927814245224, + -0.07398997992277145, + -0.06613650172948837, + 0.0, + 1.0008161067962646 + ], + [ + 0.3347426652908325, + 0.02094866707921028, + 0.05994151160120964, + 0.21776655316352844, + -0.08624973893165588, + 0.0006749132880941033, + 0.0, + 1.0008161067962646 + ], + [ + 0.3242848813533783, + 0.036164287477731705, + 0.04936893656849861, + 0.21937963366508484, + -0.07866213470697403, + 0.018168089911341667, + 0.0, + 1.0008161067962646 + ], + [ + 0.3229553699493408, + 0.06086451932787895, + 0.043261393904685974, + 0.21214449405670166, + -0.10905605554580688, + 0.03343939781188965, + 0.0, + 1.0008161067962646 + ], + [ + 0.32868894934654236, + 0.07809731364250183, + 0.04621392861008644, + 0.19824892282485962, + -0.1318090707063675, + -0.03093515895307064, + 0.0, + 1.0008161067962646 + ], + [ + 0.33984431624412537, + 0.0942496806383133, + 0.04114324972033501, + 0.19013363122940063, + -0.18137112259864807, + -0.07677168399095535, + 0.0, + 1.0008161067962646 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9530308246612549 + ], + [ + 0.6701657772064209 + ], + [ + 0.4059307873249054 + ], + [ + 0.3849146366119385 + ], + [ + 0.3849146366119385 + ], + [ + 0.3849146366119385 + ], + [ + 0.3849146366119385 + ], + [ + 0.3849146366119385 + ], + [ + 0.3849146366119385 + ], + [ + 0.3849146366119385 + ], + [ + 0.3849146366119385 + ], + [ + 0.3849146366119385 + ], + [ + 0.3849146366119385 + ], + [ + 0.3849146366119385 + ], + [ + 0.3849146366119385 + ], + [ + 0.3849146366119385 + ], + [ + 0.3849146366119385 + ], + [ + 0.3849146366119385 + ], + [ + 0.3849146366119385 + ], + [ + 0.443907231092453 + ], + [ + 0.7836189270019531 + ], + [ + 0.9865638017654419 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.32152408361434937, + 0.17482492327690125, + 0.06060139089822769 + ], + [ + 0.3179093897342682, + 0.17192955315113068, + 0.048128291964530945 + ], + [ + 0.31575581431388855, + 0.15169328451156616, + 0.045883502811193466 + ], + [ + 0.3124069571495056, + 0.12793081998825073, + 0.04464124143123627 + ], + [ + 0.3062925636768341, + 0.11445198208093643, + 0.04304429888725281 + ], + [ + 0.30119389295578003, + 0.10655111074447632, + 0.03617774322628975 + ], + [ + 0.29424959421157837, + 0.1024298295378685, + 0.029477501288056374 + ], + [ + 0.2883361279964447, + 0.09536158293485641, + 0.021904803812503815 + ], + [ + 0.2840932011604309, + 0.09181404858827591, + 0.013347657397389412 + ], + [ + 0.28331586718559265, + 0.09192630648612976, + 0.008813736028969288 + ], + [ + 0.2833513021469116, + 0.09313835948705673, + -0.008060241118073463 + ], + [ + 0.2850179076194763, + 0.09650713205337524, + -0.010675321333110332 + ], + [ + 0.2870667278766632, + 0.09645093232393265, + -0.011390678584575653 + ], + [ + 0.2804083526134491, + 0.09459929913282394, + -0.01548768486827612 + ], + [ + 0.276707261800766, + 0.09295638650655746, + -0.011728433892130852 + ], + [ + 0.27157989144325256, + 0.09251978248357773, + -0.005052528809756041 + ], + [ + 0.2696843445301056, + 0.09300045669078827, + 0.0033841729164123535 + ], + [ + 0.2660650312900543, + 0.09088115394115448, + 0.010084683075547218 + ], + [ + 0.2674436569213867, + 0.0858263447880745, + 0.01709110476076603 + ], + [ + 0.27590516209602356, + 0.07321572303771973, + 0.02310897409915924 + ], + [ + 0.28637930750846863, + 0.0626961886882782, + 0.02801481820642948 + ], + [ + 0.29361963272094727, + 0.04993528127670288, + 0.028631828725337982 + ], + [ + 0.30111390352249146, + 0.031779177486896515, + 0.029239632189273834 + ], + [ + 0.31008219718933105, + 0.021539079025387764, + 0.034674953669309616 + ], + [ + 0.3209538161754608, + 0.0048326365649700165, + 0.03328681364655495 + ], + [ + 0.3400041460990906, + -0.010626601986587048, + 0.027292508631944656 + ], + [ + 0.34965381026268005, + -0.02099388837814331, + 0.022839464247226715 + ], + [ + 0.3539704978466034, + -0.021718326956033707, + 0.017206242308020592 + ], + [ + 0.36463046073913574, + -0.02440631203353405, + 0.008372494950890541 + ], + [ + 0.36942213773727417, + -0.028232350945472717, + 0.008672932162880898 + ], + [ + 0.3706131875514984, + -0.028997961431741714, + 0.0017180572031065822 + ], + [ + 0.3703629970550537, + -0.019174573943018913, + 0.003188502276316285 + ], + [ + 0.36675819754600525, + -0.023528262972831726, + 0.0007289654458872974 + ], + [ + 0.36095499992370605, + -0.01693972945213318, + 0.0029248131904751062 + ], + [ + 0.3578146696090698, + -0.010238619521260262, + 0.019746573641896248 + ], + [ + 0.35262787342071533, + -0.005440457724034786, + 0.039260681718587875 + ], + [ + 0.3451136350631714, + 0.002606646390631795, + 0.0547853484749794 + ], + [ + 0.3347426652908325, + 0.02094866707921028, + 0.05994151160120964 + ], + [ + 0.3242848813533783, + 0.036164287477731705, + 0.04936893656849861 + ], + [ + 0.3229553699493408, + 0.06086451932787895, + 0.043261393904685974 + ], + [ + 0.32868894934654236, + 0.07809731364250183, + 0.04621392861008644 + ], + [ + 0.33984431624412537, + 0.0942496806383133, + 0.04114324972033501 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9674516375120751, + -0.11769003716066603, + 0.22402317788194478, + -0.16553285409245164, + -0.9639193976851411, + 0.2084664696835485, + 0.19140586012766578, + -0.2387644234793697, + -0.9520269674695947 + ], + [ + 0.9742152669988502, + -0.12564549300272004, + 0.18739750167614866, + -0.16149279077356632, + -0.9683547296281338, + 0.1902871412759898, + 0.15755853539089476, + -0.21564398367431167, + -0.9636768027874019 + ], + [ + 0.9834741746617139, + -0.12997740687341156, + 0.12603341412468494, + -0.15020769280541255, + -0.9744121647987998, + 0.167208199901176, + 0.101075203663092, + -0.18337613474653794, + -0.977832805959119 + ], + [ + 0.9902693015976154, + -0.12186875288708483, + 0.0671916466766341, + -0.13119414243202326, + -0.9785821612564485, + 0.15863496040338707, + 0.0464199020345474, + -0.16590648191196403, + -0.9850483399075896 + ], + [ + 0.9963372515496494, + -0.08192366298223842, + 0.02450703201253241, + -0.08468110057964313, + -0.9851065940771779, + 0.14964661543209906, + 0.011882439947714249, + -0.15117377996608672, + -0.9884357823711433 + ], + [ + 0.9988024669518237, + -0.04802080540462948, + 0.009361317174509474, + -0.04888621964253534, + -0.9871691368389268, + 0.1520106338443135, + 0.001941530327563776, + -0.1522862354941472, + -0.9883345248138448 + ], + [ + 0.9996745398530148, + -0.02470226400694259, + -0.006372795508603796, + -0.023568726923877657, + -0.9898880674247472, + 0.13987898012670338, + -0.009763681726216625, + -0.1396832564161872, + -0.9901480992236055 + ], + [ + 0.999815042267993, + 0.016991459133601658, + -0.009009526689134545, + 0.01782030657747391, + -0.9946541756969812, + 0.1017128676325836, + -0.0072331133086605956, + -0.10185460757898866, + -0.9947729997274726 + ], + [ + 0.9994099003483117, + 0.03307829283431138, + -0.00925622109422277, + 0.03363734788066022, + -0.9970679693249941, + 0.06873131290531251, + -0.006955567074871261, + -0.06900210931051368, + -0.9975922659069519 + ], + [ + 0.9984060111686144, + 0.05629800228206904, + -0.003996473623666305, + 0.056434701663167657, + -0.9967520706324416, + 0.05744940502850485, + -0.0007492066242190513, + -0.057583371115175995, + -0.998340419927214 + ], + [ + 0.9972221879727335, + 0.07431615513453783, + 0.0050016898037933645, + 0.0741203997770765, + -0.996740061590713, + 0.031865592055190364, + 0.0073535128857180635, + -0.0314063481825054, + -0.9994796481880353 + ], + [ + 0.9971289697670395, + 0.07420169756492176, + 0.015097209338360916, + 0.07342088909253655, + -0.9961940990312834, + 0.046975420169604036, + 0.018525406775125215, + -0.04573210178565248, + -0.9987819502624599 + ], + [ + 0.9983386592799818, + 0.04498017334265539, + 0.036009795793819195, + 0.043071579958991746, + -0.9977110298732, + 0.052130028478740216, + 0.03827218816430628, + -0.05049242394085234, + -0.9979908590451582 + ], + [ + 0.9984901763847638, + 0.04767641619248001, + 0.027282356975975537, + 0.045627676782646835, + -0.9964077968333855, + 0.07134155535910856, + 0.030585662891973446, + -0.0699890116281111, + -0.9970787609195065 + ], + [ + 0.997761471630723, + 0.05709698662399303, + 0.034813500940773685, + 0.05443420187062772, + -0.9958339784909342, + 0.07315466457872062, + 0.03884537805198245, + -0.07109586064868285, + -0.9967128047750874 + ], + [ + 0.994565515171918, + 0.09527402410199654, + 0.04197971369875957, + 0.09103378940080517, + -0.99145772675569, + 0.0934046318111142, + 0.05052014665603707, + -0.08907545334070514, + -0.9947428202274197 + ], + [ + 0.9915671038478819, + 0.11908060325925639, + 0.05113206913606794, + 0.11268799763709143, + -0.9871152876133165, + 0.11359940206102656, + 0.06400073245883153, + -0.10687945961451839, + -0.9922100016414075 + ], + [ + 0.9930683755320305, + 0.11348418215641624, + 0.03060297237954034, + 0.10894650070467231, + -0.986446692907282, + 0.12269303988610283, + 0.04411192018468941, + -0.11850849105686614, + -0.9919727194056518 + ], + [ + 0.9961915715549974, + 0.08683515050784862, + 0.007874604692550259, + 0.0851530972685707, + -0.9883408398966936, + 0.12621938923108234, + 0.018743073076579332, + -0.12506814473948752, + -0.9919710965461991 + ], + [ + 0.9988757147169333, + 0.03625997174265094, + 0.03053720678054672, + 0.0322914522199064, + -0.9920419664905776, + 0.12169633862625946, + 0.034706896465475215, + -0.12057342647005544, + -0.9920975154524907 + ], + [ + 0.998317288808021, + -0.008602254307567447, + 0.05734624737356669, + -0.016655393041339676, + -0.9898022677109181, + 0.14147108791891905, + 0.05554447541962081, + -0.14218815722538908, + -0.9882799902837288 + ], + [ + 0.995237886288327, + -0.031052593880937823, + 0.09239743562247264, + -0.044725173064339444, + -0.9877037442080645, + 0.14980311269040902, + 0.0866095178990642, + -0.15322222453233098, + -0.9843890193001219 + ], + [ + 0.9869473832033332, + -0.08710324405183169, + 0.13545437484164335, + -0.10918476612220089, + -0.9801919645366632, + 0.16523437749027114, + 0.11837883947282836, + -0.1778671907165686, + -0.9769082417666782 + ], + [ + 0.9719141916226101, + -0.16245253303539559, + 0.17027031048586266, + -0.19309621479749017, + -0.9640782624077494, + 0.18239231284167656, + 0.1345238118455238, + -0.21014822974090974, + -0.9683703142823574 + ], + [ + 0.9581751037758663, + -0.21587166643216862, + 0.18788266055148803, + -0.24842496481721973, + -0.953333860308342, + 0.17157968307803007, + 0.14207570995659427, + -0.21107812397639086, + -0.9670886816724392 + ], + [ + 0.9376538471480134, + -0.26428697013445673, + 0.22573803477854343, + -0.3034030815905728, + -0.939223907460516, + 0.16063941526270778, + 0.16956365474320956, + -0.2191137811086952, + -0.9608523913267722 + ], + [ + 0.9359787338431529, + -0.2704635184861516, + 0.22537367850185852, + -0.30406652677065193, + -0.9436993753183573, + 0.13028828159652034, + 0.1774467725572948, + -0.19047565249089699, + -0.9655214491233047 + ], + [ + 0.9363661819152556, + -0.2753253507055697, + 0.21774830567492817, + -0.3074661872019789, + -0.9425895358967633, + 0.1303438166749862, + 0.16936031735009402, + -0.18899978327178, + -0.967262200662414 + ], + [ + 0.9304560837700131, + -0.2928451395169728, + 0.22021171730099917, + -0.32412648477816985, + -0.9381158748221975, + 0.1219861765608301, + 0.17086104892782691, + -0.1848792299526043, + -0.9677944886655507 + ], + [ + 0.9264992393208518, + -0.3038612026273149, + 0.2219629002238095, + -0.331921653901361, + -0.9378156462911873, + 0.1016357675369633, + 0.17727711417232633, + -0.16783975425781705, + -0.9697435958444931 + ], + [ + 0.9269869400616195, + -0.315452900928672, + 0.20294009029977528, + -0.33850763757448504, + -0.9366169105256843, + 0.09034014733806527, + 0.16157905885026258, + -0.15244090728215856, + -0.9750148601575546 + ], + [ + 0.9626211527016101, + -0.1797127365933121, + 0.20264216905068533, + -0.21396407740462314, + -0.9632968508802793, + 0.16210660277892974, + 0.16607194209682785, + -0.19940538957179693, + -0.9657419948712535 + ], + [ + 0.9707919528086486, + -0.14839769081189103, + 0.18852349912853986, + -0.17615456431791776, + -0.9743353688473901, + 0.14014334976367743, + 0.16288816357223365, + -0.1692593110429032, + -0.9720178659846467 + ], + [ + 0.9774733551735223, + -0.14468437136504103, + 0.1536628537042035, + -0.17184739029090512, + -0.9682676170474344, + 0.18145604489100878, + 0.12253291139943538, + -0.2037750094098522, + -0.9713194279761895 + ], + [ + 0.983318878739143, + -0.1085982546489334, + 0.14591230860485935, + -0.13952797720519539, + -0.9649940877172184, + 0.22207736095297886, + 0.11668730133232479, + -0.23873171083460742, + -0.964049399123178 + ], + [ + 0.9894340369978768, + -0.0836435752955421, + 0.11842313431869245, + -0.11138967812675969, + -0.9613929848819154, + 0.25162644580142624, + 0.09280423501597848, + -0.26215888489925376, + -0.9605519731026941 + ], + [ + 0.9950837501235374, + -0.04612781513825255, + 0.08763877515488444, + -0.06590748010973667, + -0.9689414965225808, + 0.2383455063183828, + 0.07392248849749214, + -0.2429497910827519, + -0.9672181060687323 + ], + [ + 0.9962825695789379, + 0.019270084401011495, + 0.08396252378511536, + 0.0006724044470005578, + -0.9763696358975184, + 0.21610618216424654, + 0.08614284314699523, + -0.21524636569411515, + -0.9727530070012772 + ], + [ + 0.9967432044144948, + 0.03482998363971492, + 0.07273140101209519, + 0.018110912880474124, + -0.9755608862729889, + 0.21898162482020447, + 0.07858103644112163, + -0.21695121436377837, + -0.9730144866845105 + ], + [ + 0.9935035562973061, + 0.05558784216111137, + 0.09930093367374265, + 0.033234549120436094, + -0.9762689254126349, + 0.213996378517069, + 0.10884001272219235, + -0.2093059413335673, + -0.9717740861708046 + ], + [ + 0.9908514503073985, + -0.004451710746119558, + 0.13488360054193985, + -0.030661928730556134, + -0.9807445090115033, + 0.19287315564978788, + 0.13142773508756442, + -0.19524443734769473, + -0.9719086171726923 + ], + [ + 0.9807001121085089, + -0.04132482804348013, + 0.19110088617673754, + -0.07543826568100105, + -0.9817011271120246, + 0.17484840604941984, + 0.18037837503814114, + -0.18589017083793566, + -0.965871878772978 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0036146938800811768, + -0.002895370125770569, + -0.012473098933696747, + -0.025582164525985718, + 0.03437647223472595, + 0.005187705159187317, + 1.0 + ], + [ + -0.0021535754203796387, + -0.020236268639564514, + -0.0022447891533374786, + -0.03476536273956299, + 0.056969717144966125, + 0.01271277666091919, + 1.0 + ], + [ + -0.0033488571643829346, + -0.02376246452331543, + -0.001242261379957199, + -0.018521323800086975, + 0.0548115111887455, + 0.019844219088554382, + 1.0 + ], + [ + -0.006114393472671509, + -0.0134788379073143, + -0.0015969425439834595, + -0.015092328190803528, + 0.03455387055873871, + 0.046927616000175476, + 1.0 + ], + [ + -0.005098670721054077, + -0.007900871336460114, + -0.0068665556609630585, + 0.0011149793863296509, + 0.00994118768721819, + 0.03588283061981201, + 1.0 + ], + [ + -0.00694429874420166, + -0.004121281206607819, + -0.0067002419382333755, + -0.012733116745948792, + 0.011705368757247925, + 0.025333771482110023, + 1.0 + ], + [ + -0.005913466215133667, + -0.007068246603012085, + -0.007572697475552559, + -0.0381140261888504, + -0.002530660480260849, + 0.04139374941587448, + 1.0 + ], + [ + -0.004242926836013794, + -0.0035475343465805054, + -0.008557146415114403, + -0.03297556936740875, + -0.0002775532193481922, + 0.015822792425751686, + 1.0 + ], + [ + -0.0007773339748382568, + 0.00011225789785385132, + -0.004533921368420124, + -0.011443398892879486, + -0.00620641652494669, + 0.022820208221673965, + 1.0 + ], + [ + 3.5434961318969727e-05, + 0.0012120530009269714, + -0.016873978078365326, + -0.026202894747257233, + -0.008102785795927048, + 0.017725728452205658, + 1.0 + ], + [ + 0.0016666054725646973, + 0.003368772566318512, + -0.002615080215036869, + 0.01434355229139328, + -0.011172886937856674, + -0.0006907954812049866, + 0.0 + ], + [ + 0.0020488202571868896, + -5.6199729442596436e-05, + -0.0007153572514653206, + 0.004795055836439133, + -0.01975507102906704, + -0.03038313239812851, + 0.0 + ], + [ + -0.006658375263214111, + -0.0018516331911087036, + -0.004097006283700466, + 0.01952814683318138, + 0.007691103965044022, + 0.002548385411500931, + 0.0 + ], + [ + -0.0037010908126831055, + -0.0016429126262664795, + 0.0037592509761452675, + 0.001130610704421997, + -0.008264720439910889, + 0.008837394416332245, + 0.0 + ], + [ + -0.005127370357513428, + -0.00043660402297973633, + 0.006675905082374811, + 0.018098287284374237, + -0.011686507612466812, + 0.03677457943558693, + 0.0 + ], + [ + -0.0018955469131469727, + 0.00048067420721054077, + 0.008436702191829681, + 0.01799681782722473, + -0.013502843677997589, + 0.021883979439735413, + 0.0 + ], + [ + -0.0036193132400512695, + -0.002119302749633789, + 0.006700510159134865, + 0.011599108576774597, + 0.01991826668381691, + -0.003890886902809143, + 0.0 + ], + [ + 0.0013786256313323975, + -0.005054809153079987, + 0.007006421685218811, + 0.006514720618724823, + 0.025382068008184433, + -0.02399861067533493, + 0.0 + ], + [ + 0.00846150517463684, + -0.012610621750354767, + 0.006017869338393211, + -0.004477940499782562, + -0.015969697386026382, + -0.052954815328121185, + 0.0 + ], + [ + 0.010474145412445068, + -0.010519534349441528, + 0.004905844107270241, + 0.021953068673610687, + -0.020859207957983017, + -0.04899846017360687, + 0.0 + ], + [ + 0.007240325212478638, + -0.012760907411575317, + 0.0006170105189085007, + 0.011519253253936768, + -0.031145088374614716, + -0.02822704426944256, + 0.0 + ], + [ + 0.0074942708015441895, + -0.018156103789806366, + 0.000607803463935852, + 0.02568569779396057, + -0.03193891793489456, + -0.0652717649936676, + 0.0 + ], + [ + 0.0089682936668396, + -0.010240098461508751, + 0.005435321480035782, + 0.03359997272491455, + -0.016275808215141296, + -0.0859416201710701, + 0.0 + ], + [ + 0.01087161898612976, + -0.016706442460417747, + -0.0013881400227546692, + 0.0011926442384719849, + -0.007625192403793335, + -0.057560741901397705, + 0.0 + ], + [ + 0.01905032992362976, + -0.015459238551557064, + -0.0059943050146102905, + 0.009315699338912964, + -0.02782881259918213, + -0.05926108360290527, + 0.0 + ], + [ + 0.009649664163589478, + -0.010367286391556263, + -0.004453044384717941, + -0.029430657625198364, + -0.008004546165466309, + -0.0011654198169708252, + 0.0 + ], + [ + 0.00431668758392334, + -0.0007244385778903961, + -0.005633221939206123, + -0.0018110424280166626, + 0.008210867643356323, + -0.003159254789352417, + 0.0 + ], + [ + 0.010659962892532349, + -0.0026879850775003433, + -0.00883374735713005, + -0.004208043217658997, + -0.0015229284763336182, + -0.017937302589416504, + 0.0 + ], + [ + 0.004791676998138428, + -0.0038260389119386673, + 0.00030043721199035645, + -0.01737867295742035, + -0.0065155476331710815, + -0.00880250334739685, + 0.0 + ], + [ + 0.0011910498142242432, + -0.0007656104862689972, + -0.0069548748433589935, + -0.016286954283714294, + 0.015928521752357483, + -0.006116032600402832, + 1.0 + ], + [ + -0.00025019049644470215, + 0.009823387488722801, + 0.001470445073209703, + 0.048525795340538025, + -0.004554420709609985, + 0.1314079612493515, + 1.0 + ], + [ + -0.003604799509048462, + -0.004353689029812813, + -0.002459536772221327, + -0.03121425211429596, + 0.003227740526199341, + 0.039215296506881714, + 1.0 + ], + [ + -0.005803197622299194, + 0.006588533520698547, + 0.002195847686380148, + 0.03438970446586609, + 0.04077558219432831, + 0.005472123622894287, + 1.0 + ], + [ + -0.0031403303146362305, + 0.006701109930872917, + 0.016821760684251785, + 0.03595796227455139, + 0.0058878883719444275, + 0.03307533264160156, + 1.0 + ], + [ + -0.005186796188354492, + 0.004798161797225475, + 0.019514108076691628, + 0.023685410618782043, + 0.024015769362449646, + 0.02884681522846222, + 1.0 + ], + [ + -0.007514238357543945, + 0.008047103881835938, + 0.015524666756391525, + -0.02034352719783783, + 0.018947988748550415, + 0.04597065597772598, + 1.0 + ], + [ + -0.010370969772338867, + 0.018342019990086555, + 0.00515616312623024, + -0.028326228260993958, + -0.01225975900888443, + 0.06681141257286072, + 1.0 + ], + [ + -0.010457783937454224, + 0.015215620398521423, + -0.010572575032711029, + 0.0016130805015563965, + 0.007587604224681854, + 0.017493177205324173, + 1.0 + ], + [ + -0.0013295114040374756, + 0.024700231850147247, + -0.006107542663812637, + -0.007235139608383179, + -0.030393920838832855, + 0.015271307900547981, + 1.0 + ], + [ + 0.005733579397201538, + 0.01723279431462288, + 0.002952534705400467, + -0.013895571231842041, + -0.022753015160560608, + -0.06437455862760544, + 1.0 + ], + [ + 0.011155366897583008, + 0.016152366995811462, + -0.005070678889751434, + -0.008115291595458984, + -0.04956205189228058, + -0.04583652317523956, + 1.0 + ], + [ + 0.01828634738922119, + 0.004645727574825287, + 0.008409008383750916, + -0.0014522820711135864, + -0.06127914786338806, + 0.0014855936169624329, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9530308246612549 + ], + [ + 0.6701657772064209 + ], + [ + 0.4059307873249054 + ], + [ + 0.3849146366119385 + ], + [ + 0.3849146366119385 + ], + [ + 0.3849146366119385 + ], + [ + 0.3849146366119385 + ], + [ + 0.3849146366119385 + ], + [ + 0.3849146366119385 + ], + [ + 0.3849146366119385 + ], + [ + 0.3849146366119385 + ], + [ + 0.3849146366119385 + ], + [ + 0.3849146366119385 + ], + [ + 0.3849146366119385 + ], + [ + 0.3849146366119385 + ], + [ + 0.3849146366119385 + ], + [ + 0.3849146366119385 + ], + [ + 0.3849146366119385 + ], + [ + 0.3849146366119385 + ], + [ + 0.443907231092453 + ], + [ + 0.7836189270019531 + ], + [ + 0.9865638017654419 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3179093897342682, + 0.17192955315113068, + 0.048128291964530945 + ], + [ + 0.31575581431388855, + 0.15169328451156616, + 0.045883502811193466 + ], + [ + 0.3124069571495056, + 0.12793081998825073, + 0.04464124143123627 + ], + [ + 0.3062925636768341, + 0.11445198208093643, + 0.04304429888725281 + ], + [ + 0.30119389295578003, + 0.10655111074447632, + 0.03617774322628975 + ], + [ + 0.29424959421157837, + 0.1024298295378685, + 0.029477501288056374 + ], + [ + 0.2883361279964447, + 0.09536158293485641, + 0.021904803812503815 + ], + [ + 0.2840932011604309, + 0.09181404858827591, + 0.013347657397389412 + ], + [ + 0.28331586718559265, + 0.09192630648612976, + 0.008813736028969288 + ], + [ + 0.2833513021469116, + 0.09313835948705673, + -0.008060241118073463 + ], + [ + 0.2850179076194763, + 0.09650713205337524, + -0.010675321333110332 + ], + [ + 0.2870667278766632, + 0.09645093232393265, + -0.011390678584575653 + ], + [ + 0.2804083526134491, + 0.09459929913282394, + -0.01548768486827612 + ], + [ + 0.276707261800766, + 0.09295638650655746, + -0.011728433892130852 + ], + [ + 0.27157989144325256, + 0.09251978248357773, + -0.005052528809756041 + ], + [ + 0.2696843445301056, + 0.09300045669078827, + 0.0033841729164123535 + ], + [ + 0.2660650312900543, + 0.09088115394115448, + 0.010084683075547218 + ], + [ + 0.2674436569213867, + 0.0858263447880745, + 0.01709110476076603 + ], + [ + 0.27590516209602356, + 0.07321572303771973, + 0.02310897409915924 + ], + [ + 0.28637930750846863, + 0.0626961886882782, + 0.02801481820642948 + ], + [ + 0.29361963272094727, + 0.04993528127670288, + 0.028631828725337982 + ], + [ + 0.30111390352249146, + 0.031779177486896515, + 0.029239632189273834 + ], + [ + 0.31008219718933105, + 0.021539079025387764, + 0.034674953669309616 + ], + [ + 0.3209538161754608, + 0.0048326365649700165, + 0.03328681364655495 + ], + [ + 0.3400041460990906, + -0.010626601986587048, + 0.027292508631944656 + ], + [ + 0.34965381026268005, + -0.02099388837814331, + 0.022839464247226715 + ], + [ + 0.3539704978466034, + -0.021718326956033707, + 0.017206242308020592 + ], + [ + 0.36463046073913574, + -0.02440631203353405, + 0.008372494950890541 + ], + [ + 0.36942213773727417, + -0.028232350945472717, + 0.008672932162880898 + ], + [ + 0.3706131875514984, + -0.028997961431741714, + 0.0017180572031065822 + ], + [ + 0.3703629970550537, + -0.019174573943018913, + 0.003188502276316285 + ], + [ + 0.36675819754600525, + -0.023528262972831726, + 0.0007289654458872974 + ], + [ + 0.36095499992370605, + -0.01693972945213318, + 0.0029248131904751062 + ], + [ + 0.3578146696090698, + -0.010238619521260262, + 0.019746573641896248 + ], + [ + 0.35262787342071533, + -0.005440457724034786, + 0.039260681718587875 + ], + [ + 0.3451136350631714, + 0.002606646390631795, + 0.0547853484749794 + ], + [ + 0.3347426652908325, + 0.02094866707921028, + 0.05994151160120964 + ], + [ + 0.3242848813533783, + 0.036164287477731705, + 0.04936893656849861 + ], + [ + 0.3229553699493408, + 0.06086451932787895, + 0.043261393904685974 + ], + [ + 0.32868894934654236, + 0.07809731364250183, + 0.04621392861008644 + ], + [ + 0.33984431624412537, + 0.0942496806383133, + 0.04114324972033501 + ], + [ + 0.35813066363334656, + 0.09889540821313858, + 0.04955225810408592 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9742152669988502, + -0.12564549300272004, + 0.18739750167614866, + -0.16149279077356632, + -0.9683547296281338, + 0.1902871412759898, + 0.15755853539089476, + -0.21564398367431167, + -0.9636768027874019 + ], + [ + 0.9834741746617139, + -0.12997740687341156, + 0.12603341412468494, + -0.15020769280541255, + -0.9744121647987998, + 0.167208199901176, + 0.101075203663092, + -0.18337613474653794, + -0.977832805959119 + ], + [ + 0.9902693015976154, + -0.12186875288708483, + 0.0671916466766341, + -0.13119414243202326, + -0.9785821612564485, + 0.15863496040338707, + 0.0464199020345474, + -0.16590648191196403, + -0.9850483399075896 + ], + [ + 0.9963372515496494, + -0.08192366298223842, + 0.02450703201253241, + -0.08468110057964313, + -0.9851065940771779, + 0.14964661543209906, + 0.011882439947714249, + -0.15117377996608672, + -0.9884357823711433 + ], + [ + 0.9988024669518237, + -0.04802080540462948, + 0.009361317174509474, + -0.04888621964253534, + -0.9871691368389268, + 0.1520106338443135, + 0.001941530327563776, + -0.1522862354941472, + -0.9883345248138448 + ], + [ + 0.9996745398530148, + -0.02470226400694259, + -0.006372795508603796, + -0.023568726923877657, + -0.9898880674247472, + 0.13987898012670338, + -0.009763681726216625, + -0.1396832564161872, + -0.9901480992236055 + ], + [ + 0.999815042267993, + 0.016991459133601658, + -0.009009526689134545, + 0.01782030657747391, + -0.9946541756969812, + 0.1017128676325836, + -0.0072331133086605956, + -0.10185460757898866, + -0.9947729997274726 + ], + [ + 0.9994099003483117, + 0.03307829283431138, + -0.00925622109422277, + 0.03363734788066022, + -0.9970679693249941, + 0.06873131290531251, + -0.006955567074871261, + -0.06900210931051368, + -0.9975922659069519 + ], + [ + 0.9984060111686144, + 0.05629800228206904, + -0.003996473623666305, + 0.056434701663167657, + -0.9967520706324416, + 0.05744940502850485, + -0.0007492066242190513, + -0.057583371115175995, + -0.998340419927214 + ], + [ + 0.9972221879727335, + 0.07431615513453783, + 0.0050016898037933645, + 0.0741203997770765, + -0.996740061590713, + 0.031865592055190364, + 0.0073535128857180635, + -0.0314063481825054, + -0.9994796481880353 + ], + [ + 0.9971289697670395, + 0.07420169756492176, + 0.015097209338360916, + 0.07342088909253655, + -0.9961940990312834, + 0.046975420169604036, + 0.018525406775125215, + -0.04573210178565248, + -0.9987819502624599 + ], + [ + 0.9983386592799818, + 0.04498017334265539, + 0.036009795793819195, + 0.043071579958991746, + -0.9977110298732, + 0.052130028478740216, + 0.03827218816430628, + -0.05049242394085234, + -0.9979908590451582 + ], + [ + 0.9984901763847638, + 0.04767641619248001, + 0.027282356975975537, + 0.045627676782646835, + -0.9964077968333855, + 0.07134155535910856, + 0.030585662891973446, + -0.0699890116281111, + -0.9970787609195065 + ], + [ + 0.997761471630723, + 0.05709698662399303, + 0.034813500940773685, + 0.05443420187062772, + -0.9958339784909342, + 0.07315466457872062, + 0.03884537805198245, + -0.07109586064868285, + -0.9967128047750874 + ], + [ + 0.994565515171918, + 0.09527402410199654, + 0.04197971369875957, + 0.09103378940080517, + -0.99145772675569, + 0.0934046318111142, + 0.05052014665603707, + -0.08907545334070514, + -0.9947428202274197 + ], + [ + 0.9915671038478819, + 0.11908060325925639, + 0.05113206913606794, + 0.11268799763709143, + -0.9871152876133165, + 0.11359940206102656, + 0.06400073245883153, + -0.10687945961451839, + -0.9922100016414075 + ], + [ + 0.9930683755320305, + 0.11348418215641624, + 0.03060297237954034, + 0.10894650070467231, + -0.986446692907282, + 0.12269303988610283, + 0.04411192018468941, + -0.11850849105686614, + -0.9919727194056518 + ], + [ + 0.9961915715549974, + 0.08683515050784862, + 0.007874604692550259, + 0.0851530972685707, + -0.9883408398966936, + 0.12621938923108234, + 0.018743073076579332, + -0.12506814473948752, + -0.9919710965461991 + ], + [ + 0.9988757147169333, + 0.03625997174265094, + 0.03053720678054672, + 0.0322914522199064, + -0.9920419664905776, + 0.12169633862625946, + 0.034706896465475215, + -0.12057342647005544, + -0.9920975154524907 + ], + [ + 0.998317288808021, + -0.008602254307567447, + 0.05734624737356669, + -0.016655393041339676, + -0.9898022677109181, + 0.14147108791891905, + 0.05554447541962081, + -0.14218815722538908, + -0.9882799902837288 + ], + [ + 0.995237886288327, + -0.031052593880937823, + 0.09239743562247264, + -0.044725173064339444, + -0.9877037442080645, + 0.14980311269040902, + 0.0866095178990642, + -0.15322222453233098, + -0.9843890193001219 + ], + [ + 0.9869473832033332, + -0.08710324405183169, + 0.13545437484164335, + -0.10918476612220089, + -0.9801919645366632, + 0.16523437749027114, + 0.11837883947282836, + -0.1778671907165686, + -0.9769082417666782 + ], + [ + 0.9719141916226101, + -0.16245253303539559, + 0.17027031048586266, + -0.19309621479749017, + -0.9640782624077494, + 0.18239231284167656, + 0.1345238118455238, + -0.21014822974090974, + -0.9683703142823574 + ], + [ + 0.9581751037758663, + -0.21587166643216862, + 0.18788266055148803, + -0.24842496481721973, + -0.953333860308342, + 0.17157968307803007, + 0.14207570995659427, + -0.21107812397639086, + -0.9670886816724392 + ], + [ + 0.9376538471480134, + -0.26428697013445673, + 0.22573803477854343, + -0.3034030815905728, + -0.939223907460516, + 0.16063941526270778, + 0.16956365474320956, + -0.2191137811086952, + -0.9608523913267722 + ], + [ + 0.9359787338431529, + -0.2704635184861516, + 0.22537367850185852, + -0.30406652677065193, + -0.9436993753183573, + 0.13028828159652034, + 0.1774467725572948, + -0.19047565249089699, + -0.9655214491233047 + ], + [ + 0.9363661819152556, + -0.2753253507055697, + 0.21774830567492817, + -0.3074661872019789, + -0.9425895358967633, + 0.1303438166749862, + 0.16936031735009402, + -0.18899978327178, + -0.967262200662414 + ], + [ + 0.9304560837700131, + -0.2928451395169728, + 0.22021171730099917, + -0.32412648477816985, + -0.9381158748221975, + 0.1219861765608301, + 0.17086104892782691, + -0.1848792299526043, + -0.9677944886655507 + ], + [ + 0.9264992393208518, + -0.3038612026273149, + 0.2219629002238095, + -0.331921653901361, + -0.9378156462911873, + 0.1016357675369633, + 0.17727711417232633, + -0.16783975425781705, + -0.9697435958444931 + ], + [ + 0.9269869400616195, + -0.315452900928672, + 0.20294009029977528, + -0.33850763757448504, + -0.9366169105256843, + 0.09034014733806527, + 0.16157905885026258, + -0.15244090728215856, + -0.9750148601575546 + ], + [ + 0.9626211527016101, + -0.1797127365933121, + 0.20264216905068533, + -0.21396407740462314, + -0.9632968508802793, + 0.16210660277892974, + 0.16607194209682785, + -0.19940538957179693, + -0.9657419948712535 + ], + [ + 0.9707919528086486, + -0.14839769081189103, + 0.18852349912853986, + -0.17615456431791776, + -0.9743353688473901, + 0.14014334976367743, + 0.16288816357223365, + -0.1692593110429032, + -0.9720178659846467 + ], + [ + 0.9774733551735223, + -0.14468437136504103, + 0.1536628537042035, + -0.17184739029090512, + -0.9682676170474344, + 0.18145604489100878, + 0.12253291139943538, + -0.2037750094098522, + -0.9713194279761895 + ], + [ + 0.983318878739143, + -0.1085982546489334, + 0.14591230860485935, + -0.13952797720519539, + -0.9649940877172184, + 0.22207736095297886, + 0.11668730133232479, + -0.23873171083460742, + -0.964049399123178 + ], + [ + 0.9894340369978768, + -0.0836435752955421, + 0.11842313431869245, + -0.11138967812675969, + -0.9613929848819154, + 0.25162644580142624, + 0.09280423501597848, + -0.26215888489925376, + -0.9605519731026941 + ], + [ + 0.9950837501235374, + -0.04612781513825255, + 0.08763877515488444, + -0.06590748010973667, + -0.9689414965225808, + 0.2383455063183828, + 0.07392248849749214, + -0.2429497910827519, + -0.9672181060687323 + ], + [ + 0.9962825695789379, + 0.019270084401011495, + 0.08396252378511536, + 0.0006724044470005578, + -0.9763696358975184, + 0.21610618216424654, + 0.08614284314699523, + -0.21524636569411515, + -0.9727530070012772 + ], + [ + 0.9967432044144948, + 0.03482998363971492, + 0.07273140101209519, + 0.018110912880474124, + -0.9755608862729889, + 0.21898162482020447, + 0.07858103644112163, + -0.21695121436377837, + -0.9730144866845105 + ], + [ + 0.9935035562973061, + 0.05558784216111137, + 0.09930093367374265, + 0.033234549120436094, + -0.9762689254126349, + 0.213996378517069, + 0.10884001272219235, + -0.2093059413335673, + -0.9717740861708046 + ], + [ + 0.9908514503073985, + -0.004451710746119558, + 0.13488360054193985, + -0.030661928730556134, + -0.9807445090115033, + 0.19287315564978788, + 0.13142773508756442, + -0.19524443734769473, + -0.9719086171726923 + ], + [ + 0.9807001121085089, + -0.04132482804348013, + 0.19110088617673754, + -0.07543826568100105, + -0.9817011271120246, + 0.17484840604941984, + 0.18037837503814114, + -0.18589017083793566, + -0.965871878772978 + ], + [ + 0.9679549125940108, + -0.028940665723027965, + 0.24945084696715072, + -0.07301153619687804, + -0.9828597552089356, + 0.16928088247880507, + 0.24027609695367716, + -0.1820690513462928, + -0.9534769309084348 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005882.json b/json/chunk-0005/episode_0005882.json new file mode 100644 index 0000000000000000000000000000000000000000..c9839bfa0b01dacdb630350d6773005ed9d3efa7 --- /dev/null +++ b/json/chunk-0005/episode_0005882.json @@ -0,0 +1,2242 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 36, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the silver pot to the left upper corner of the stove." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005882.mp4", + "start": 0, + "end": 36, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.28098130226135254, + -0.01779159903526306, + 0.14851313829421997, + -0.19464348256587982, + -0.47201403975486755, + 0.01348978839814663, + 0.0, + 1.0008161067962646 + ], + [ + 0.2802804410457611, + -0.018509838730096817, + 0.1425580531358719, + -0.20210899412631989, + -0.4507922828197479, + 0.01876530982553959, + 0.0, + 1.0008161067962646 + ], + [ + 0.2897378206253052, + -0.0021306145936250687, + 0.12596504390239716, + -0.22036735713481903, + -0.41234517097473145, + 0.08648304641246796, + 0.0, + 1.0008161067962646 + ], + [ + 0.29663416743278503, + 0.009633231908082962, + 0.1185646653175354, + -0.19340065121650696, + -0.38111811876296997, + 0.13045397400856018, + 0.0, + 1.0008161067962646 + ], + [ + 0.30370745062828064, + 0.02490769512951374, + 0.10867009311914444, + -0.17052532732486725, + -0.3607166111469269, + 0.21104806661605835, + 0.0, + 1.0008161067962646 + ], + [ + 0.3194364011287689, + 0.03493962436914444, + 0.09405796974897385, + -0.1307196468114853, + -0.3015589118003845, + 0.24377693235874176, + 0.0, + 1.0008161067962646 + ], + [ + 0.330301970243454, + 0.03873341158032417, + 0.08254288136959076, + -0.12706121802330017, + -0.28663283586502075, + 0.27863985300064087, + 0.0, + 1.0008161067962646 + ], + [ + 0.34115728735923767, + 0.0440448634326458, + 0.06847353279590607, + -0.11559584736824036, + -0.26381197571754456, + 0.3273859918117523, + 0.0, + 1.0008161067962646 + ], + [ + 0.3477363884449005, + 0.04570206627249718, + 0.06200025603175163, + -0.07758023589849472, + -0.2418575882911682, + 0.3386814296245575, + 0.0, + 1.0008161067962646 + ], + [ + 0.348157674074173, + 0.04487118870019913, + 0.050167299807071686, + -0.05719348415732384, + -0.21703754365444183, + 0.34075525403022766, + 0.0, + 0.9522681832313538 + ], + [ + 0.3520042598247528, + 0.040642667561769485, + 0.04142984002828598, + -0.027453001588582993, + -0.20766578614711761, + 0.3212644159793854, + 0.0, + 0.6791892647743225 + ], + [ + 0.3548106551170349, + 0.03579938784241676, + 0.04095827043056488, + -0.013602115213871002, + -0.2241291105747223, + 0.3097289502620697, + 0.0, + 0.3866458535194397 + ], + [ + 0.3553345501422882, + 0.03307769447565079, + 0.03997011110186577, + -0.011246739886701107, + -0.22423776984214783, + 0.29093173146247864, + 0.0, + 0.18011163175106049 + ], + [ + 0.3542793393135071, + 0.03181237727403641, + 0.03939099609851837, + -0.018125245347619057, + -0.22399374842643738, + 0.2878984212875366, + 0.0, + 0.0822562649846077 + ], + [ + 0.3491078019142151, + 0.02899779938161373, + 0.04011159390211105, + -0.03565043583512306, + -0.21833980083465576, + 0.28815537691116333, + 0.0, + 0.07333792001008987 + ], + [ + 0.3452748656272888, + 0.031310368329286575, + 0.041009124368429184, + -0.050932902842760086, + -0.2153330296278, + 0.2827310264110565, + 0.0, + 0.07301933318376541 + ], + [ + 0.3452695906162262, + 0.033428531140089035, + 0.041185732930898666, + -0.07879995554685593, + -0.21225585043430328, + 0.2782443165779114, + 0.0, + 0.07270156592130661 + ], + [ + 0.3458903729915619, + 0.03932848572731018, + 0.054568588733673096, + -0.11767002195119858, + -0.237725168466568, + 0.2990207374095917, + 0.0, + 0.07270156592130661 + ], + [ + 0.3430444598197937, + 0.05017036944627762, + 0.06798598915338516, + -0.15751221776008606, + -0.2507317066192627, + 0.31607189774513245, + 0.0, + 0.07270156592130661 + ], + [ + 0.34547263383865356, + 0.07802525907754898, + 0.0781804695725441, + -0.19539426267147064, + -0.27845877408981323, + 0.37972739338874817, + 0.0, + 0.07270156592130661 + ], + [ + 0.34436750411987305, + 0.11192318052053452, + 0.08937761187553406, + -0.2006136029958725, + -0.30097874999046326, + 0.43074801564216614, + 0.0, + 0.07238461822271347 + ], + [ + 0.3508410155773163, + 0.14253786206245422, + 0.09280285239219666, + -0.2049781233072281, + -0.3242667317390442, + 0.473289430141449, + 0.0, + 0.07238461822271347 + ], + [ + 0.35283365845680237, + 0.1741115003824234, + 0.08305174857378006, + -0.19532620906829834, + -0.30271491408348083, + 0.5238330960273743, + 0.0, + 0.07238461822271347 + ], + [ + 0.3511778712272644, + 0.19899001717567444, + 0.0613999143242836, + -0.18669460713863373, + -0.25881052017211914, + 0.583611011505127, + 0.0, + 0.07238461822271347 + ], + [ + 0.3508788049221039, + 0.20810076594352722, + 0.04165169596672058, + -0.17492260038852692, + -0.21842370927333832, + 0.6048347353935242, + 0.0, + 0.07238461822271347 + ], + [ + 0.3541703522205353, + 0.21168102324008942, + 0.03331872820854187, + -0.1695624738931656, + -0.20690062642097473, + 0.6125483512878418, + 0.0, + 0.07238461822271347 + ], + [ + 0.35443827509880066, + 0.20968444645404816, + 0.02983390912413597, + -0.18453150987625122, + -0.2100955992937088, + 0.6460515260696411, + 0.0, + 0.09851961582899094 + ], + [ + 0.34884607791900635, + 0.2027948498725891, + 0.020002491772174835, + -0.17265520989894867, + -0.21306666731834412, + 0.7132324576377869, + 0.0, + 0.2788355052471161 + ], + [ + 0.3507862091064453, + 0.19808076322078705, + 0.02357911504805088, + -0.1800824999809265, + -0.21564655005931854, + 0.6986039876937866, + 0.0, + 0.5600578188896179 + ], + [ + 0.349342405796051, + 0.19430731236934662, + 0.025359656661748886, + -0.19074714183807373, + -0.2151966542005539, + 0.694134533405304, + 0.0, + 0.8616333603858948 + ], + [ + 0.34813258051872253, + 0.19004034996032715, + 0.02597227320075035, + -0.19137205183506012, + -0.19905321300029755, + 0.6684623956680298, + 0.0, + 1.0086473226547241 + ], + [ + 0.35013458132743835, + 0.18731114268302917, + 0.03939150273799896, + -0.1995398849248886, + -0.2227933406829834, + 0.6463497281074524, + 0.0, + 1.0041072368621826 + ], + [ + 0.3478964567184448, + 0.18293306231498718, + 0.045451149344444275, + -0.20375922322273254, + -0.2091943621635437, + 0.6133885383605957, + 0.0, + 1.0008161067962646 + ], + [ + 0.3554077446460724, + 0.17528045177459717, + 0.07042507082223892, + -0.1640886515378952, + -0.2414841204881668, + 0.5284072756767273, + 0.0, + 1.0008161067962646 + ], + [ + 0.35635748505592346, + 0.16677820682525635, + 0.1033288910984993, + -0.15194915235042572, + -0.3022890090942383, + 0.48905232548713684, + 0.0, + 1.0008161067962646 + ], + [ + 0.34088850021362305, + 0.15604643523693085, + 0.131784588098526, + -0.16422174870967865, + -0.3608092963695526, + 0.48934024572372437, + 0.0, + 1.0008161067962646 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9522681832313538 + ], + [ + 0.6791892647743225 + ], + [ + 0.3866458535194397 + ], + [ + 0.18011163175106049 + ], + [ + 0.0822562649846077 + ], + [ + 0.07333792001008987 + ], + [ + 0.07301933318376541 + ], + [ + 0.07270156592130661 + ], + [ + 0.07270156592130661 + ], + [ + 0.07270156592130661 + ], + [ + 0.07270156592130661 + ], + [ + 0.07238461822271347 + ], + [ + 0.07238461822271347 + ], + [ + 0.07238461822271347 + ], + [ + 0.07238461822271347 + ], + [ + 0.07238461822271347 + ], + [ + 0.07238461822271347 + ], + [ + 0.09851961582899094 + ], + [ + 0.2788355052471161 + ], + [ + 0.5600578188896179 + ], + [ + 0.8616333603858948 + ], + [ + 1.0086473226547241 + ], + [ + 1.0041072368621826 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.28098130226135254, + -0.01779159903526306, + 0.14851313829421997 + ], + [ + 0.2802804410457611, + -0.018509838730096817, + 0.1425580531358719 + ], + [ + 0.2897378206253052, + -0.0021306145936250687, + 0.12596504390239716 + ], + [ + 0.29663416743278503, + 0.009633231908082962, + 0.1185646653175354 + ], + [ + 0.30370745062828064, + 0.02490769512951374, + 0.10867009311914444 + ], + [ + 0.3194364011287689, + 0.03493962436914444, + 0.09405796974897385 + ], + [ + 0.330301970243454, + 0.03873341158032417, + 0.08254288136959076 + ], + [ + 0.34115728735923767, + 0.0440448634326458, + 0.06847353279590607 + ], + [ + 0.3477363884449005, + 0.04570206627249718, + 0.06200025603175163 + ], + [ + 0.348157674074173, + 0.04487118870019913, + 0.050167299807071686 + ], + [ + 0.3520042598247528, + 0.040642667561769485, + 0.04142984002828598 + ], + [ + 0.3548106551170349, + 0.03579938784241676, + 0.04095827043056488 + ], + [ + 0.3553345501422882, + 0.03307769447565079, + 0.03997011110186577 + ], + [ + 0.3542793393135071, + 0.03181237727403641, + 0.03939099609851837 + ], + [ + 0.3491078019142151, + 0.02899779938161373, + 0.04011159390211105 + ], + [ + 0.3452748656272888, + 0.031310368329286575, + 0.041009124368429184 + ], + [ + 0.3452695906162262, + 0.033428531140089035, + 0.041185732930898666 + ], + [ + 0.3458903729915619, + 0.03932848572731018, + 0.054568588733673096 + ], + [ + 0.3430444598197937, + 0.05017036944627762, + 0.06798598915338516 + ], + [ + 0.34547263383865356, + 0.07802525907754898, + 0.0781804695725441 + ], + [ + 0.34436750411987305, + 0.11192318052053452, + 0.08937761187553406 + ], + [ + 0.3508410155773163, + 0.14253786206245422, + 0.09280285239219666 + ], + [ + 0.35283365845680237, + 0.1741115003824234, + 0.08305174857378006 + ], + [ + 0.3511778712272644, + 0.19899001717567444, + 0.0613999143242836 + ], + [ + 0.3508788049221039, + 0.20810076594352722, + 0.04165169596672058 + ], + [ + 0.3541703522205353, + 0.21168102324008942, + 0.03331872820854187 + ], + [ + 0.35443827509880066, + 0.20968444645404816, + 0.02983390912413597 + ], + [ + 0.34884607791900635, + 0.2027948498725891, + 0.020002491772174835 + ], + [ + 0.3507862091064453, + 0.19808076322078705, + 0.02357911504805088 + ], + [ + 0.349342405796051, + 0.19430731236934662, + 0.025359656661748886 + ], + [ + 0.34813258051872253, + 0.19004034996032715, + 0.02597227320075035 + ], + [ + 0.35013458132743835, + 0.18731114268302917, + 0.03939150273799896 + ], + [ + 0.3478964567184448, + 0.18293306231498718, + 0.045451149344444275 + ], + [ + 0.3554077446460724, + 0.17528045177459717, + 0.07042507082223892 + ], + [ + 0.35635748505592346, + 0.16677820682525635, + 0.1033288910984993 + ], + [ + 0.34088850021362305, + 0.15604643523693085, + 0.131784588098526 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8905733126576181, + -0.07470027390588758, + 0.4486636199430716, + 0.012014374319112495, + -0.9822137161905332, + -0.18738161739322776, + 0.4546810196079839, + 0.17226748040639336, + -0.8738358459131075 + ], + [ + 0.899943729129928, + -0.06905868353746267, + 0.4305022446257294, + 0.016889705445123786, + -0.9811139757660496, + -0.19269173414163973, + 0.4356788062893302, + 0.1806827739011331, + -0.8817809892290127 + ], + [ + 0.9127594160529434, + -0.002987280015786603, + 0.408486627155403, + 0.07913560682489854, + -0.9797368407426611, + -0.18399260480803245, + 0.40075903500625537, + 0.20026681964243856, + -0.8940276264250216 + ], + [ + 0.9203619327753318, + 0.056777053012658014, + 0.3869241255714779, + 0.12075063782227441, + -0.9823173215600723, + -0.14308026848087305, + 0.3719585946897435, + 0.17840696739265152, + -0.9109433340346631 + ], + [ + 0.9148839719052299, + 0.14788059480530708, + 0.37565762022211013, + 0.1960032504863018, + -0.9761765184382056, + -0.09307056811187772, + 0.3529448168619488, + 0.15877888565515322, + -0.9220733277350524 + ], + [ + 0.926642110357841, + 0.20174052595941988, + 0.3172304517179644, + 0.23047770964625175, + -0.9714983532930885, + -0.05541637758854198, + 0.2970091322969467, + 0.12446569701903576, + -0.9467279786706321 + ], + [ + 0.9222053116873484, + 0.23838607757388225, + 0.30448225090237924, + 0.26382660412675446, + -0.963534001058979, + -0.0446962163747688, + 0.28272404575943877, + 0.12154960642558396, + -0.9514687630853681 + ], + [ + 0.9141267166692733, + 0.29094435733688595, + 0.2823539034709469, + 0.3104436320523837, + -0.9502383688009949, + -0.025918984867252762, + 0.2607625302637988, + 0.11134820785379125, + -0.9589601031420287 + ], + [ + 0.915741683211943, + 0.31373649722719027, + 0.25097127312856043, + 0.3225736764057961, + -0.9465238206504691, + 0.006235401453557804, + 0.239506561326002, + 0.0752467092227397, + -0.9679744520559116 + ], + [ + 0.920391101123949, + 0.32205111927571894, + 0.22172798097015436, + 0.32635859427841774, + -0.945075162810632, + 0.017972328148361884, + 0.2153376161112118, + 0.05582126128737959, + -0.9749429203167878 + ], + [ + 0.9284510032960255, + 0.31027765810331076, + 0.20422171618250842, + 0.30898224264513163, + -0.9502664501497878, + 0.03903392690604079, + 0.2061764007072319, + 0.026859795264411727, + -0.9781461256835633 + ], + [ + 0.9285944229719104, + 0.3018930718867106, + 0.21580771712862964, + 0.2971768371724168, + -0.9532495507534136, + 0.05478340475558783, + 0.22225733975206333, + 0.01326149068623405, + -0.9748978447976564 + ], + [ + 0.9339930032551941, + 0.2844310678135157, + 0.21623144436646208, + 0.2796634434655263, + -0.9586337871598092, + 0.05300585349417698, + 0.22236327992577265, + 0.010964934021917967, + -0.9749022217445951 + ], + [ + 0.9348890114216203, + 0.2800309683036463, + 0.21809445915480621, + 0.27684446936272805, + -0.9598283053572333, + 0.04568111227116669, + 0.2221253612408424, + 0.017671474923832413, + -0.974857960355067 + ], + [ + 0.9360070003749876, + 0.27660131444246766, + 0.21767546507982324, + 0.2774371571623589, + -0.9603545724859284, + 0.027344449730040212, + 0.21660913894544434, + 0.03479666584702089, + -0.9756380850352473 + ], + [ + 0.9381193361971819, + 0.26817113070580384, + 0.2191263464509221, + 0.27253633658698945, + -0.9620866194225962, + 0.010643400196543931, + 0.2136727785486538, + 0.04973511218416301, + -0.9756384383178672 + ], + [ + 0.9399604539125546, + 0.25787012623095606, + 0.22355612959195648, + 0.268503864380376, + -0.9631102800636372, + -0.018007310974918846, + 0.21066565902706952, + 0.07695184489908966, + -0.9745247014177307 + ], + [ + 0.9287495994220023, + 0.26612775934473965, + 0.2580701402324929, + 0.2862997015433223, + -0.957161375260153, + -0.04329645027363197, + 0.23549238303961084, + 0.1140969649738364, + -0.9651555419278719 + ], + [ + 0.9207438189997273, + 0.26999600156107256, + 0.2816611065000466, + 0.3011159779076719, + -0.9507950795911976, + -0.07292382651695228, + 0.2481128525943462, + 0.1519568220456107, + -0.9567388027101726 + ], + [ + 0.892989868338287, + 0.3140478325477916, + 0.32240200668916885, + 0.35638927402186343, + -0.9308740862568827, + -0.08037487727880192, + 0.274874117383463, + 0.18667456818604816, + -0.9431844067759042 + ], + [ + 0.8678067713845368, + 0.35549787726096604, + 0.3471781485089359, + 0.3987803667436469, + -0.9150968767675413, + -0.05976558566678043, + 0.29645510054466606, + 0.19031280932516853, + -0.9358928400024296 + ], + [ + 0.8436871905593787, + 0.3885507670151732, + 0.37043248499280207, + 0.43206152286988453, + -0.9010012639171465, + -0.03898157096706158, + 0.318613817875776, + 0.19293787567925702, + -0.9280410611535443 + ], + [ + 0.8265359422596664, + 0.440590087513418, + 0.35031230486216747, + 0.47745901604510843, + -0.8783840435222721, + -0.0217798090602358, + 0.29811277086056265, + 0.18526156339182212, + -0.9363796927419217 + ], + [ + 0.8066860530931927, + 0.50182454998041, + 0.3121373620409534, + 0.5326884662568551, + -0.8461542031062553, + -0.016311421842899063, + 0.25593086891159816, + 0.17943016915384252, + -0.9498969442711023 + ], + [ + 0.8030513890102491, + 0.5289278572478968, + 0.27448823004977496, + 0.5551157118184187, + -0.8314868275459277, + -0.021822055584638664, + 0.2166910545016567, + 0.16989696125816162, + -0.9613428157812398 + ], + [ + 0.8007354849892896, + 0.53834542015753, + 0.26269162848172245, + 0.5626919014040541, + -0.8263830899911403, + -0.02165208237063468, + 0.2054276202784257, + 0.16515204259138602, + -0.9646368724316086 + ], + [ + 0.780909640630888, + 0.5612625162879549, + 0.2741614870470516, + 0.5888001472230532, + -0.8079490109982732, + -0.023082076531876244, + 0.2085533979580492, + 0.17945134002571728, + -0.9614066240478719 + ], + [ + 0.7391498211804819, + 0.6170806588789047, + 0.2699425907233593, + 0.6394864870494982, + -0.768775919098284, + 0.006373311202294771, + 0.21145821036307477, + 0.16791380721121768, + -0.9628553259020174 + ], + [ + 0.74800488124693, + 0.6034011717727651, + 0.27639776325799104, + 0.6282528668690098, + -0.7780072280250623, + -0.0017573877287141715, + 0.2139790478099118, + 0.17496222176233642, + -0.9610417202464994 + ], + [ + 0.7508792648554965, + 0.5970003039034312, + 0.2824375448648433, + 0.6249649509395881, + -0.7805667060451813, + -0.011594287854551646, + 0.21353955068592756, + 0.1852194767107032, + -0.9592156200458091 + ], + [ + 0.7692795765565231, + 0.5789487904236432, + 0.2702355105459253, + 0.6075420153817026, + -0.7937597739713097, + -0.028950315558802786, + 0.19774132759480353, + 0.18645031319902836, + -0.9623588977450298 + ], + [ + 0.7785571513125877, + 0.5553631815272495, + 0.29226785444855036, + 0.5873906250258099, + -0.8088259509746138, + -0.027799903989032246, + 0.22095478218815784, + 0.19331921175595085, + -0.9559323546121039 + ], + [ + 0.7998750325909514, + 0.5293709820948828, + 0.28278312459113186, + 0.5630917481711645, + -0.8249762837534284, + -0.04839229676223779, + 0.20767189357052188, + 0.1979406339291706, + -0.9579623635929293 + ], + [ + 0.8385527186234607, + 0.46364951958941547, + 0.28610917684287546, + 0.4895298875902292, + -0.8717057389704435, + -0.022126766638869172, + 0.2391439467038652, + 0.15861345349779643, + -0.9579415144592083 + ], + [ + 0.842751114051749, + 0.4245965040233005, + 0.33089026660771886, + 0.4484880997165236, + -0.8937768319100865, + 0.004625921900587096, + 0.297706204465405, + 0.14450184605035354, + -0.9436579000415576 + ], + [ + 0.8258110266395647, + 0.4127776981198542, + 0.38425345829983454, + 0.43977822031083336, + -0.8978966555555821, + 0.01940909277469459, + 0.35303153573122087, + 0.15295805920897115, + -0.9230236004037388 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0007008612155914307, + -0.0007182396948337555, + -0.0059550851583480835, + -0.0074655115604400635, + 0.02122175693511963, + 0.00527552142739296, + 1.0 + ], + [ + 0.009457379579544067, + 0.01637922413647175, + -0.01659300923347473, + -0.018258363008499146, + 0.03844711184501648, + 0.06771773844957352, + 1.0 + ], + [ + 0.006896346807479858, + 0.01176384650170803, + -0.007400378584861755, + 0.026966705918312073, + 0.031227052211761475, + 0.043970927596092224, + 1.0 + ], + [ + 0.0070732831954956055, + 0.015274463221430779, + -0.00989457219839096, + 0.02287532389163971, + 0.02040150761604309, + 0.08059409260749817, + 1.0 + ], + [ + 0.01572895050048828, + 0.0100319292396307, + -0.014612123370170593, + 0.03980568051338196, + 0.05915769934654236, + 0.03272886574268341, + 1.0 + ], + [ + 0.010865569114685059, + 0.0037937872111797333, + -0.011515088379383087, + 0.0036584287881851196, + 0.01492607593536377, + 0.03486292064189911, + 1.0 + ], + [ + 0.010855317115783691, + 0.005311451852321625, + -0.014069348573684692, + 0.011465370655059814, + 0.022820860147476196, + 0.04874613881111145, + 1.0 + ], + [ + 0.006579101085662842, + 0.0016572028398513794, + -0.006473276764154434, + 0.038015611469745636, + 0.021954387426376343, + 0.011295437812805176, + 1.0 + ], + [ + 0.00042128562927246094, + -0.0008308775722980499, + -0.011832956224679947, + 0.020386751741170883, + 0.02482004463672638, + 0.002073824405670166, + 0.0 + ], + [ + 0.003846585750579834, + -0.004228521138429642, + -0.008737459778785706, + 0.029740482568740845, + 0.009371757507324219, + -0.019490838050842285, + 0.0 + ], + [ + 0.0028063952922821045, + -0.004843279719352722, + -0.00047156959772109985, + 0.01385088637471199, + -0.016463324427604675, + -0.011535465717315674, + 0.0 + ], + [ + 0.0005238950252532959, + -0.002721693366765976, + -0.000988159328699112, + 0.002355375327169895, + -0.00010865926742553711, + -0.018797218799591064, + 0.0 + ], + [ + -0.001055210828781128, + -0.0012653172016143799, + -0.0005791150033473969, + -0.00687850546091795, + 0.00024402141571044922, + -0.0030333101749420166, + 0.0 + ], + [ + -0.005171537399291992, + -0.002814577892422676, + 0.0007205978035926819, + -0.017525190487504005, + 0.005653947591781616, + 0.000256955623626709, + 0.0 + ], + [ + -0.0038329362869262695, + 0.002312568947672844, + 0.0008975304663181305, + -0.015282467007637024, + 0.003006771206855774, + -0.0054243505001068115, + 0.0 + ], + [ + -5.27501106262207e-06, + 0.0021181628108024597, + 0.00017660856246948242, + -0.02786705270409584, + 0.003077179193496704, + -0.004486709833145142, + 0.0 + ], + [ + 0.0006207823753356934, + 0.005899954587221146, + 0.01338285580277443, + -0.03887006640434265, + -0.02546931803226471, + 0.020776420831680298, + 0.0 + ], + [ + -0.0028459131717681885, + 0.010841883718967438, + 0.013417400419712067, + -0.03984219580888748, + -0.013006538152694702, + 0.01705116033554077, + 0.0 + ], + [ + 0.0024281740188598633, + 0.027854889631271362, + 0.010194480419158936, + -0.03788204491138458, + -0.027727067470550537, + 0.06365549564361572, + 0.0 + ], + [ + -0.0011051297187805176, + 0.033897921442985535, + 0.01119714230298996, + -0.0052193403244018555, + -0.022519975900650024, + 0.05102062225341797, + 0.0 + ], + [ + 0.006473511457443237, + 0.030614681541919708, + 0.0034252405166625977, + -0.004364520311355591, + -0.023287981748580933, + 0.04254141449928284, + 0.0 + ], + [ + 0.001992642879486084, + 0.03157363831996918, + -0.009751103818416595, + 0.009651914238929749, + 0.021551817655563354, + 0.05054366588592529, + 0.0 + ], + [ + -0.0016557872295379639, + 0.024878516793251038, + -0.02165183424949646, + 0.008631601929664612, + 0.043904393911361694, + 0.059777915477752686, + 0.0 + ], + [ + -0.00029906630516052246, + 0.009110748767852783, + -0.01974821835756302, + 0.011772006750106812, + 0.04038681089878082, + 0.021223723888397217, + 0.0 + ], + [ + 0.0032915472984313965, + 0.003580257296562195, + -0.008332967758178711, + 0.005360126495361328, + 0.011523082852363586, + 0.007713615894317627, + 0.0 + ], + [ + 0.00026792287826538086, + -0.0019965767860412598, + -0.003484819084405899, + -0.014969035983085632, + -0.00319497287273407, + 0.033503174781799316, + 1.0 + ], + [ + -0.0055921971797943115, + -0.006889596581459045, + -0.009831417351961136, + 0.011876299977302551, + -0.002971068024635315, + 0.06718093156814575, + 1.0 + ], + [ + 0.0019401311874389648, + -0.004714086651802063, + 0.0035766232758760452, + -0.007427290081977844, + -0.0025798827409744263, + -0.014628469944000244, + 1.0 + ], + [ + -0.0014438033103942871, + -0.0037734508514404297, + 0.0017805416136980057, + -0.010664641857147217, + 0.00044989585876464844, + -0.004469454288482666, + 1.0 + ], + [ + -0.0012098252773284912, + -0.00426696240901947, + 0.0006126165390014648, + -0.0006249099969863892, + 0.016143441200256348, + -0.02567213773727417, + 1.0 + ], + [ + 0.0020020008087158203, + -0.0027292072772979736, + 0.013419229537248611, + -0.008167833089828491, + -0.023740127682685852, + -0.022112667560577393, + 1.0 + ], + [ + -0.0022381246089935303, + -0.004378080368041992, + 0.0060596466064453125, + -0.004219338297843933, + 0.013598978519439697, + -0.03296118974685669, + 1.0 + ], + [ + 0.0075112879276275635, + -0.007652610540390015, + 0.024973921477794647, + 0.03967057168483734, + -0.03228975832462311, + -0.08498126268386841, + 1.0 + ], + [ + 0.0009497404098510742, + -0.00850224494934082, + 0.032903820276260376, + 0.012139499187469482, + -0.06080488860607147, + -0.039354950189590454, + 1.0 + ], + [ + -0.015468984842300415, + -0.0107317715883255, + 0.028455697000026703, + -0.01227259635925293, + -0.05852028727531433, + 0.0002879202365875244, + 1.0 + ], + [ + -0.016379237174987793, + -0.014330670237541199, + 0.0005608201026916504, + -0.04654741287231445, + -0.019618242979049683, + 0.028603434562683105, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9522681832313538 + ], + [ + 0.6791892647743225 + ], + [ + 0.3866458535194397 + ], + [ + 0.18011163175106049 + ], + [ + 0.0822562649846077 + ], + [ + 0.07333792001008987 + ], + [ + 0.07301933318376541 + ], + [ + 0.07270156592130661 + ], + [ + 0.07270156592130661 + ], + [ + 0.07270156592130661 + ], + [ + 0.07270156592130661 + ], + [ + 0.07238461822271347 + ], + [ + 0.07238461822271347 + ], + [ + 0.07238461822271347 + ], + [ + 0.07238461822271347 + ], + [ + 0.07238461822271347 + ], + [ + 0.07238461822271347 + ], + [ + 0.09851961582899094 + ], + [ + 0.2788355052471161 + ], + [ + 0.5600578188896179 + ], + [ + 0.8616333603858948 + ], + [ + 1.0086473226547241 + ], + [ + 1.0041072368621826 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2802804410457611, + -0.018509838730096817, + 0.1425580531358719 + ], + [ + 0.2897378206253052, + -0.0021306145936250687, + 0.12596504390239716 + ], + [ + 0.29663416743278503, + 0.009633231908082962, + 0.1185646653175354 + ], + [ + 0.30370745062828064, + 0.02490769512951374, + 0.10867009311914444 + ], + [ + 0.3194364011287689, + 0.03493962436914444, + 0.09405796974897385 + ], + [ + 0.330301970243454, + 0.03873341158032417, + 0.08254288136959076 + ], + [ + 0.34115728735923767, + 0.0440448634326458, + 0.06847353279590607 + ], + [ + 0.3477363884449005, + 0.04570206627249718, + 0.06200025603175163 + ], + [ + 0.348157674074173, + 0.04487118870019913, + 0.050167299807071686 + ], + [ + 0.3520042598247528, + 0.040642667561769485, + 0.04142984002828598 + ], + [ + 0.3548106551170349, + 0.03579938784241676, + 0.04095827043056488 + ], + [ + 0.3553345501422882, + 0.03307769447565079, + 0.03997011110186577 + ], + [ + 0.3542793393135071, + 0.03181237727403641, + 0.03939099609851837 + ], + [ + 0.3491078019142151, + 0.02899779938161373, + 0.04011159390211105 + ], + [ + 0.3452748656272888, + 0.031310368329286575, + 0.041009124368429184 + ], + [ + 0.3452695906162262, + 0.033428531140089035, + 0.041185732930898666 + ], + [ + 0.3458903729915619, + 0.03932848572731018, + 0.054568588733673096 + ], + [ + 0.3430444598197937, + 0.05017036944627762, + 0.06798598915338516 + ], + [ + 0.34547263383865356, + 0.07802525907754898, + 0.0781804695725441 + ], + [ + 0.34436750411987305, + 0.11192318052053452, + 0.08937761187553406 + ], + [ + 0.3508410155773163, + 0.14253786206245422, + 0.09280285239219666 + ], + [ + 0.35283365845680237, + 0.1741115003824234, + 0.08305174857378006 + ], + [ + 0.3511778712272644, + 0.19899001717567444, + 0.0613999143242836 + ], + [ + 0.3508788049221039, + 0.20810076594352722, + 0.04165169596672058 + ], + [ + 0.3541703522205353, + 0.21168102324008942, + 0.03331872820854187 + ], + [ + 0.35443827509880066, + 0.20968444645404816, + 0.02983390912413597 + ], + [ + 0.34884607791900635, + 0.2027948498725891, + 0.020002491772174835 + ], + [ + 0.3507862091064453, + 0.19808076322078705, + 0.02357911504805088 + ], + [ + 0.349342405796051, + 0.19430731236934662, + 0.025359656661748886 + ], + [ + 0.34813258051872253, + 0.19004034996032715, + 0.02597227320075035 + ], + [ + 0.35013458132743835, + 0.18731114268302917, + 0.03939150273799896 + ], + [ + 0.3478964567184448, + 0.18293306231498718, + 0.045451149344444275 + ], + [ + 0.3554077446460724, + 0.17528045177459717, + 0.07042507082223892 + ], + [ + 0.35635748505592346, + 0.16677820682525635, + 0.1033288910984993 + ], + [ + 0.34088850021362305, + 0.15604643523693085, + 0.131784588098526 + ], + [ + 0.32450926303863525, + 0.14171576499938965, + 0.13234540820121765 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.899943729129928, + -0.06905868353746267, + 0.4305022446257294, + 0.016889705445123786, + -0.9811139757660496, + -0.19269173414163973, + 0.4356788062893302, + 0.1806827739011331, + -0.8817809892290127 + ], + [ + 0.9127594160529434, + -0.002987280015786603, + 0.408486627155403, + 0.07913560682489854, + -0.9797368407426611, + -0.18399260480803245, + 0.40075903500625537, + 0.20026681964243856, + -0.8940276264250216 + ], + [ + 0.9203619327753318, + 0.056777053012658014, + 0.3869241255714779, + 0.12075063782227441, + -0.9823173215600723, + -0.14308026848087305, + 0.3719585946897435, + 0.17840696739265152, + -0.9109433340346631 + ], + [ + 0.9148839719052299, + 0.14788059480530708, + 0.37565762022211013, + 0.1960032504863018, + -0.9761765184382056, + -0.09307056811187772, + 0.3529448168619488, + 0.15877888565515322, + -0.9220733277350524 + ], + [ + 0.926642110357841, + 0.20174052595941988, + 0.3172304517179644, + 0.23047770964625175, + -0.9714983532930885, + -0.05541637758854198, + 0.2970091322969467, + 0.12446569701903576, + -0.9467279786706321 + ], + [ + 0.9222053116873484, + 0.23838607757388225, + 0.30448225090237924, + 0.26382660412675446, + -0.963534001058979, + -0.0446962163747688, + 0.28272404575943877, + 0.12154960642558396, + -0.9514687630853681 + ], + [ + 0.9141267166692733, + 0.29094435733688595, + 0.2823539034709469, + 0.3104436320523837, + -0.9502383688009949, + -0.025918984867252762, + 0.2607625302637988, + 0.11134820785379125, + -0.9589601031420287 + ], + [ + 0.915741683211943, + 0.31373649722719027, + 0.25097127312856043, + 0.3225736764057961, + -0.9465238206504691, + 0.006235401453557804, + 0.239506561326002, + 0.0752467092227397, + -0.9679744520559116 + ], + [ + 0.920391101123949, + 0.32205111927571894, + 0.22172798097015436, + 0.32635859427841774, + -0.945075162810632, + 0.017972328148361884, + 0.2153376161112118, + 0.05582126128737959, + -0.9749429203167878 + ], + [ + 0.9284510032960255, + 0.31027765810331076, + 0.20422171618250842, + 0.30898224264513163, + -0.9502664501497878, + 0.03903392690604079, + 0.2061764007072319, + 0.026859795264411727, + -0.9781461256835633 + ], + [ + 0.9285944229719104, + 0.3018930718867106, + 0.21580771712862964, + 0.2971768371724168, + -0.9532495507534136, + 0.05478340475558783, + 0.22225733975206333, + 0.01326149068623405, + -0.9748978447976564 + ], + [ + 0.9339930032551941, + 0.2844310678135157, + 0.21623144436646208, + 0.2796634434655263, + -0.9586337871598092, + 0.05300585349417698, + 0.22236327992577265, + 0.010964934021917967, + -0.9749022217445951 + ], + [ + 0.9348890114216203, + 0.2800309683036463, + 0.21809445915480621, + 0.27684446936272805, + -0.9598283053572333, + 0.04568111227116669, + 0.2221253612408424, + 0.017671474923832413, + -0.974857960355067 + ], + [ + 0.9360070003749876, + 0.27660131444246766, + 0.21767546507982324, + 0.2774371571623589, + -0.9603545724859284, + 0.027344449730040212, + 0.21660913894544434, + 0.03479666584702089, + -0.9756380850352473 + ], + [ + 0.9381193361971819, + 0.26817113070580384, + 0.2191263464509221, + 0.27253633658698945, + -0.9620866194225962, + 0.010643400196543931, + 0.2136727785486538, + 0.04973511218416301, + -0.9756384383178672 + ], + [ + 0.9399604539125546, + 0.25787012623095606, + 0.22355612959195648, + 0.268503864380376, + -0.9631102800636372, + -0.018007310974918846, + 0.21066565902706952, + 0.07695184489908966, + -0.9745247014177307 + ], + [ + 0.9287495994220023, + 0.26612775934473965, + 0.2580701402324929, + 0.2862997015433223, + -0.957161375260153, + -0.04329645027363197, + 0.23549238303961084, + 0.1140969649738364, + -0.9651555419278719 + ], + [ + 0.9207438189997273, + 0.26999600156107256, + 0.2816611065000466, + 0.3011159779076719, + -0.9507950795911976, + -0.07292382651695228, + 0.2481128525943462, + 0.1519568220456107, + -0.9567388027101726 + ], + [ + 0.892989868338287, + 0.3140478325477916, + 0.32240200668916885, + 0.35638927402186343, + -0.9308740862568827, + -0.08037487727880192, + 0.274874117383463, + 0.18667456818604816, + -0.9431844067759042 + ], + [ + 0.8678067713845368, + 0.35549787726096604, + 0.3471781485089359, + 0.3987803667436469, + -0.9150968767675413, + -0.05976558566678043, + 0.29645510054466606, + 0.19031280932516853, + -0.9358928400024296 + ], + [ + 0.8436871905593787, + 0.3885507670151732, + 0.37043248499280207, + 0.43206152286988453, + -0.9010012639171465, + -0.03898157096706158, + 0.318613817875776, + 0.19293787567925702, + -0.9280410611535443 + ], + [ + 0.8265359422596664, + 0.440590087513418, + 0.35031230486216747, + 0.47745901604510843, + -0.8783840435222721, + -0.0217798090602358, + 0.29811277086056265, + 0.18526156339182212, + -0.9363796927419217 + ], + [ + 0.8066860530931927, + 0.50182454998041, + 0.3121373620409534, + 0.5326884662568551, + -0.8461542031062553, + -0.016311421842899063, + 0.25593086891159816, + 0.17943016915384252, + -0.9498969442711023 + ], + [ + 0.8030513890102491, + 0.5289278572478968, + 0.27448823004977496, + 0.5551157118184187, + -0.8314868275459277, + -0.021822055584638664, + 0.2166910545016567, + 0.16989696125816162, + -0.9613428157812398 + ], + [ + 0.8007354849892896, + 0.53834542015753, + 0.26269162848172245, + 0.5626919014040541, + -0.8263830899911403, + -0.02165208237063468, + 0.2054276202784257, + 0.16515204259138602, + -0.9646368724316086 + ], + [ + 0.780909640630888, + 0.5612625162879549, + 0.2741614870470516, + 0.5888001472230532, + -0.8079490109982732, + -0.023082076531876244, + 0.2085533979580492, + 0.17945134002571728, + -0.9614066240478719 + ], + [ + 0.7391498211804819, + 0.6170806588789047, + 0.2699425907233593, + 0.6394864870494982, + -0.768775919098284, + 0.006373311202294771, + 0.21145821036307477, + 0.16791380721121768, + -0.9628553259020174 + ], + [ + 0.74800488124693, + 0.6034011717727651, + 0.27639776325799104, + 0.6282528668690098, + -0.7780072280250623, + -0.0017573877287141715, + 0.2139790478099118, + 0.17496222176233642, + -0.9610417202464994 + ], + [ + 0.7508792648554965, + 0.5970003039034312, + 0.2824375448648433, + 0.6249649509395881, + -0.7805667060451813, + -0.011594287854551646, + 0.21353955068592756, + 0.1852194767107032, + -0.9592156200458091 + ], + [ + 0.7692795765565231, + 0.5789487904236432, + 0.2702355105459253, + 0.6075420153817026, + -0.7937597739713097, + -0.028950315558802786, + 0.19774132759480353, + 0.18645031319902836, + -0.9623588977450298 + ], + [ + 0.7785571513125877, + 0.5553631815272495, + 0.29226785444855036, + 0.5873906250258099, + -0.8088259509746138, + -0.027799903989032246, + 0.22095478218815784, + 0.19331921175595085, + -0.9559323546121039 + ], + [ + 0.7998750325909514, + 0.5293709820948828, + 0.28278312459113186, + 0.5630917481711645, + -0.8249762837534284, + -0.04839229676223779, + 0.20767189357052188, + 0.1979406339291706, + -0.9579623635929293 + ], + [ + 0.8385527186234607, + 0.46364951958941547, + 0.28610917684287546, + 0.4895298875902292, + -0.8717057389704435, + -0.022126766638869172, + 0.2391439467038652, + 0.15861345349779643, + -0.9579415144592083 + ], + [ + 0.842751114051749, + 0.4245965040233005, + 0.33089026660771886, + 0.4484880997165236, + -0.8937768319100865, + 0.004625921900587096, + 0.297706204465405, + 0.14450184605035354, + -0.9436579000415576 + ], + [ + 0.8258110266395647, + 0.4127776981198542, + 0.38425345829983454, + 0.43977822031083336, + -0.8978966555555821, + 0.01940909277469459, + 0.35303153573122087, + 0.15295805920897115, + -0.9230236004037388 + ], + [ + 0.8067222786726336, + 0.41664328255226585, + 0.419055533548128, + 0.45969826732434854, + -0.8880729094008185, + -0.0020026500835251815, + 0.37131747617399496, + 0.19425468512352026, + -0.9079583961808693 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005885.json b/json/chunk-0005/episode_0005885.json new file mode 100644 index 0000000000000000000000000000000000000000..f2468131e9ba43825fe402e81183e821c810cf91 --- /dev/null +++ b/json/chunk-0005/episode_0005885.json @@ -0,0 +1,2782 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 45, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPick up the blue spoon and place it on the green cloth." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005885.mp4", + "start": 0, + "end": 45, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2236204296350479, + -0.01184831466525793, + 0.18712927401065826, + 0.07904443889856339, + -0.22431470453739166, + -0.30670469999313354, + 0.0, + 1.0014774799346924 + ], + [ + 0.22342821955680847, + -0.009743517264723778, + 0.18154297769069672, + 0.08941107243299484, + -0.1993895024061203, + -0.31897053122520447, + 0.0, + 1.0014774799346924 + ], + [ + 0.22737669944763184, + 0.014309179037809372, + 0.16728971898555756, + 0.17181073129177094, + -0.09810183197259903, + -0.3886149525642395, + 0.0, + 1.0014774799346924 + ], + [ + 0.2323143184185028, + 0.04556434601545334, + 0.14778122305870056, + 0.19587266445159912, + 0.04134495556354523, + -0.5843382477760315, + 0.0, + 1.0014774799346924 + ], + [ + 0.23815804719924927, + 0.07583307474851608, + 0.13250166177749634, + 0.18755996227264404, + 0.08440335094928741, + -0.8324942588806152, + 0.0, + 1.0014774799346924 + ], + [ + 0.2370501309633255, + 0.09694071114063263, + 0.10876785218715668, + 0.07615797966718674, + 0.10000921785831451, + -1.028139352798462, + 0.0, + 1.0014774799346924 + ], + [ + 0.23886725306510925, + 0.10973813384771347, + 0.09747924655675888, + -0.028193140402436256, + 0.11462946236133575, + -1.1866873502731323, + 0.0, + 1.0014774799346924 + ], + [ + 0.23947592079639435, + 0.11362306028604507, + 0.08465619385242462, + 0.027736667543649673, + 0.1272316724061966, + -1.2609249353408813, + 0.0, + 1.0014774799346924 + ], + [ + 0.24107126891613007, + 0.11599235981702805, + 0.07635309547185898, + 0.08165445923805237, + 0.13677409291267395, + -1.2095341682434082, + 0.0, + 1.0014774799346924 + ], + [ + 0.23982073366641998, + 0.12094510346651077, + 0.06813205033540726, + 0.10820170491933823, + 0.16617503762245178, + -1.1515995264053345, + 0.0, + 1.0014774799346924 + ], + [ + 0.24055278301239014, + 0.12519004940986633, + 0.054294537752866745, + 0.1069025844335556, + 0.1875411719083786, + -1.0973249673843384, + 0.0, + 1.0014774799346924 + ], + [ + 0.24290068447589874, + 0.1214165911078453, + 0.04671354591846466, + 0.10828245431184769, + 0.1879831701517105, + -1.1064989566802979, + 0.0, + 1.0014774799346924 + ], + [ + 0.240757554769516, + 0.12010015547275543, + 0.04212997481226921, + 0.09849049896001816, + 0.18811024725437164, + -1.1052557229995728, + 0.0, + 1.0014774799346924 + ], + [ + 0.2399226725101471, + 0.11942636221647263, + 0.04088424891233444, + 0.09799260646104813, + 0.18591658771038055, + -1.1056232452392578, + 0.0, + 1.0014774799346924 + ], + [ + 0.23826567828655243, + 0.12037189304828644, + 0.0320853628218174, + 0.07458896934986115, + 0.19440694153308868, + -1.0895202159881592, + 0.0, + 1.0014774799346924 + ], + [ + 0.23906154930591583, + 0.12102225422859192, + 0.02817443013191223, + 0.07798883318901062, + 0.20355015993118286, + -1.0818547010421753, + 0.0, + 1.0014774799346924 + ], + [ + 0.23954585194587708, + 0.12126859277486801, + 0.027586253359913826, + 0.0806710496544838, + 0.20884940028190613, + -1.0823700428009033, + 0.0, + 1.0014774799346924 + ], + [ + 0.23933210968971252, + 0.12085399031639099, + 0.02365480177104473, + 0.07405795902013779, + 0.21251347661018372, + -1.0741416215896606, + 0.0, + 0.933559775352478 + ], + [ + 0.23924176394939423, + 0.11943385004997253, + 0.021634811535477638, + 0.06058916077017784, + 0.21150751411914825, + -1.0852131843566895, + 0.0, + 0.6671556830406189 + ], + [ + 0.24179132282733917, + 0.11531642824411392, + 0.022270195186138153, + 0.06987552344799042, + 0.21573279798030853, + -1.081254482269287, + 0.0, + 0.37205085158348083 + ], + [ + 0.24101220071315765, + 0.11442270129919052, + 0.026303306221961975, + 0.07085336744785309, + 0.21670123934745789, + -1.0785369873046875, + 0.0, + 0.33639705181121826 + ], + [ + 0.24453267455101013, + 0.10792573541402817, + 0.049018435180187225, + 0.12637433409690857, + 0.21247075498104095, + -1.0705509185791016, + 0.0, + 0.33639705181121826 + ], + [ + 0.2431844025850296, + 0.09701132774353027, + 0.06783875077962875, + 0.13665777444839478, + 0.32699882984161377, + -1.0567580461502075, + 0.0, + 0.33639705181121826 + ], + [ + 0.24285060167312622, + 0.09075978398323059, + 0.0859021246433258, + 0.16994383931159973, + 0.4479442536830902, + -0.9960820078849792, + 0.0, + 0.33639705181121826 + ], + [ + 0.23941881954669952, + 0.07661428302526474, + 0.09895956516265869, + 0.20965468883514404, + 0.40611085295677185, + -0.8994099497795105, + 0.0, + 0.33639705181121826 + ], + [ + 0.23569181561470032, + 0.04882604628801346, + 0.09194504469633102, + 0.09855639934539795, + 0.25917136669158936, + -0.8549517393112183, + 0.0, + 0.33639705181121826 + ], + [ + 0.2277461588382721, + 0.020273614674806595, + 0.09043969213962555, + 0.02796548418700695, + 0.08569370955228806, + -0.7850378751754761, + 0.0, + 0.33639705181121826 + ], + [ + 0.22835098206996918, + 0.0010740027064457536, + 0.08970087021589279, + 0.02513936161994934, + -0.048290904611349106, + -0.8329665064811707, + 0.0, + 0.33639705181121826 + ], + [ + 0.23159559071063995, + -0.008683454245328903, + 0.0817653089761734, + 0.029286092147231102, + -0.12664881348609924, + -0.8109157085418701, + 0.0, + 0.33559030294418335 + ], + [ + 0.23944425582885742, + -0.017607547342777252, + 0.07098202407360077, + 0.05880771577358246, + -0.18408094346523285, + -0.8262860774993896, + 0.0, + 0.33559030294418335 + ], + [ + 0.24452847242355347, + -0.022126277908682823, + 0.06002059951424599, + 0.03977435082197189, + -0.19884063303470612, + -0.8272915482521057, + 0.0, + 0.33639705181121826 + ], + [ + 0.2471344769001007, + -0.02936018444597721, + 0.04519282653927803, + 0.0472593791782856, + -0.16674858331680298, + -0.86834716796875, + 0.0, + 0.33639705181121826 + ], + [ + 0.2507862448692322, + -0.032639238983392715, + 0.040985360741615295, + 0.049936018884181976, + -0.17311963438987732, + -0.889738142490387, + 0.0, + 0.33639705181121826 + ], + [ + 0.252116858959198, + -0.03174808993935585, + 0.037196092307567596, + 0.056688036769628525, + -0.16296802461147308, + -0.8982518911361694, + 0.0, + 0.33639705181121826 + ], + [ + 0.2527938485145569, + -0.03457701578736305, + 0.03091174177825451, + 0.03872436657547951, + -0.17145420610904694, + -0.9071403741836548, + 0.0, + 0.33639705181121826 + ], + [ + 0.2534494400024414, + -0.0335962176322937, + 0.027781320735812187, + 0.0484309196472168, + -0.15819551050662994, + -0.9125236868858337, + 0.0, + 0.33639705181121826 + ], + [ + 0.2530375123023987, + -0.0343792550265789, + 0.02148321270942688, + 0.0448283776640892, + -0.13939158618450165, + -0.9166471362113953, + 0.0, + 0.4247366487979889 + ], + [ + 0.24969357252120972, + -0.03280920162796974, + 0.023164743557572365, + 0.021365484222769737, + -0.10808168351650238, + -0.9044783711433411, + 0.0, + 0.5729578137397766 + ], + [ + 0.2509790062904358, + -0.032326482236385345, + 0.026234282180666924, + 0.01748437061905861, + -0.09617259353399277, + -0.9324573278427124, + 0.0, + 0.8836284875869751 + ], + [ + 0.24902266263961792, + -0.02968953736126423, + 0.03889228031039238, + 0.033472828567028046, + -0.09162508696317673, + -0.9429396986961365, + 0.0, + 1.0027955770492554 + ], + [ + 0.24785862863063812, + -0.026926422491669655, + 0.057327594608068466, + 0.06556128710508347, + -0.09802936017513275, + -0.939992368221283, + 0.0, + 1.0008161067962646 + ], + [ + 0.24899765849113464, + -0.021037939935922623, + 0.07464943826198578, + 0.06942835450172424, + -0.05119550973176956, + -0.9396270513534546, + 0.0, + 1.0001531839370728 + ], + [ + 0.2500637173652649, + -0.006470926105976105, + 0.09811768680810928, + 0.0882783904671669, + -0.032916802912950516, + -0.8902307748794556, + 0.0, + 1.0001531839370728 + ], + [ + 0.2575688064098358, + 0.005554039031267166, + 0.10829704999923706, + 0.09567925333976746, + -0.08875849097967148, + -0.7849240899085999, + 0.0, + 1.0001531839370728 + ], + [ + 0.26858848333358765, + 0.02633335255086422, + 0.1158847063779831, + 0.07131709158420563, + -0.11942363530397415, + -0.6572006940841675, + 0.0, + 1.0001531839370728 + ] + ], + "left_gripper_pos": [ + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 0.933559775352478 + ], + [ + 0.6671556830406189 + ], + [ + 0.37205085158348083 + ], + [ + 0.33639705181121826 + ], + [ + 0.33639705181121826 + ], + [ + 0.33639705181121826 + ], + [ + 0.33639705181121826 + ], + [ + 0.33639705181121826 + ], + [ + 0.33639705181121826 + ], + [ + 0.33639705181121826 + ], + [ + 0.33639705181121826 + ], + [ + 0.33559030294418335 + ], + [ + 0.33559030294418335 + ], + [ + 0.33639705181121826 + ], + [ + 0.33639705181121826 + ], + [ + 0.33639705181121826 + ], + [ + 0.33639705181121826 + ], + [ + 0.33639705181121826 + ], + [ + 0.33639705181121826 + ], + [ + 0.4247366487979889 + ], + [ + 0.5729578137397766 + ], + [ + 0.8836284875869751 + ], + [ + 1.0027955770492554 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2236204296350479, + -0.01184831466525793, + 0.18712927401065826 + ], + [ + 0.22342821955680847, + -0.009743517264723778, + 0.18154297769069672 + ], + [ + 0.22737669944763184, + 0.014309179037809372, + 0.16728971898555756 + ], + [ + 0.2323143184185028, + 0.04556434601545334, + 0.14778122305870056 + ], + [ + 0.23815804719924927, + 0.07583307474851608, + 0.13250166177749634 + ], + [ + 0.2370501309633255, + 0.09694071114063263, + 0.10876785218715668 + ], + [ + 0.23886725306510925, + 0.10973813384771347, + 0.09747924655675888 + ], + [ + 0.23947592079639435, + 0.11362306028604507, + 0.08465619385242462 + ], + [ + 0.24107126891613007, + 0.11599235981702805, + 0.07635309547185898 + ], + [ + 0.23982073366641998, + 0.12094510346651077, + 0.06813205033540726 + ], + [ + 0.24055278301239014, + 0.12519004940986633, + 0.054294537752866745 + ], + [ + 0.24290068447589874, + 0.1214165911078453, + 0.04671354591846466 + ], + [ + 0.240757554769516, + 0.12010015547275543, + 0.04212997481226921 + ], + [ + 0.2399226725101471, + 0.11942636221647263, + 0.04088424891233444 + ], + [ + 0.23826567828655243, + 0.12037189304828644, + 0.0320853628218174 + ], + [ + 0.23906154930591583, + 0.12102225422859192, + 0.02817443013191223 + ], + [ + 0.23954585194587708, + 0.12126859277486801, + 0.027586253359913826 + ], + [ + 0.23933210968971252, + 0.12085399031639099, + 0.02365480177104473 + ], + [ + 0.23924176394939423, + 0.11943385004997253, + 0.021634811535477638 + ], + [ + 0.24179132282733917, + 0.11531642824411392, + 0.022270195186138153 + ], + [ + 0.24101220071315765, + 0.11442270129919052, + 0.026303306221961975 + ], + [ + 0.24453267455101013, + 0.10792573541402817, + 0.049018435180187225 + ], + [ + 0.2431844025850296, + 0.09701132774353027, + 0.06783875077962875 + ], + [ + 0.24285060167312622, + 0.09075978398323059, + 0.0859021246433258 + ], + [ + 0.23941881954669952, + 0.07661428302526474, + 0.09895956516265869 + ], + [ + 0.23569181561470032, + 0.04882604628801346, + 0.09194504469633102 + ], + [ + 0.2277461588382721, + 0.020273614674806595, + 0.09043969213962555 + ], + [ + 0.22835098206996918, + 0.0010740027064457536, + 0.08970087021589279 + ], + [ + 0.23159559071063995, + -0.008683454245328903, + 0.0817653089761734 + ], + [ + 0.23944425582885742, + -0.017607547342777252, + 0.07098202407360077 + ], + [ + 0.24452847242355347, + -0.022126277908682823, + 0.06002059951424599 + ], + [ + 0.2471344769001007, + -0.02936018444597721, + 0.04519282653927803 + ], + [ + 0.2507862448692322, + -0.032639238983392715, + 0.040985360741615295 + ], + [ + 0.252116858959198, + -0.03174808993935585, + 0.037196092307567596 + ], + [ + 0.2527938485145569, + -0.03457701578736305, + 0.03091174177825451 + ], + [ + 0.2534494400024414, + -0.0335962176322937, + 0.027781320735812187 + ], + [ + 0.2530375123023987, + -0.0343792550265789, + 0.02148321270942688 + ], + [ + 0.24969357252120972, + -0.03280920162796974, + 0.023164743557572365 + ], + [ + 0.2509790062904358, + -0.032326482236385345, + 0.026234282180666924 + ], + [ + 0.24902266263961792, + -0.02968953736126423, + 0.03889228031039238 + ], + [ + 0.24785862863063812, + -0.026926422491669655, + 0.057327594608068466 + ], + [ + 0.24899765849113464, + -0.021037939935922623, + 0.07464943826198578 + ], + [ + 0.2500637173652649, + -0.006470926105976105, + 0.09811768680810928 + ], + [ + 0.2575688064098358, + 0.005554039031267166, + 0.10829704999923706 + ], + [ + 0.26858848333358765, + 0.02633335255086422, + 0.1158847063779831 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.929449571571522, + -0.2842315054652164, + 0.23523593519377636, + -0.2943547214138999, + -0.9556599453137955, + 0.008328679617948642, + 0.2224382878167769, + -0.0769838958731611, + -0.9719026123482386 + ], + [ + 0.9307457918563073, + -0.2955425123616134, + 0.21532973396342941, + -0.307376257311807, + -0.9513119172483352, + 0.02292318787347749, + 0.19807096552185915, + -0.08752290836279672, + -0.9762723150478847 + ], + [ + 0.9209851439357369, + -0.3578316444225044, + 0.1540872444414405, + -0.377085175019575, + -0.9181542928073264, + 0.12165305331118814, + 0.09794455283539939, + -0.17014467035251113, + -0.9805394717809728 + ], + [ + 0.8333645359083038, + -0.5478086845678258, + 0.07354723245919034, + -0.5511761231584975, + -0.8136906081694446, + 0.1846956291762441, + -0.04133317735556712, + -0.1944562657486461, + -0.9800399630427249 + ], + [ + 0.6706371748704738, + -0.7372208121753916, + 0.08216601351656913, + -0.7369794805435042, + -0.6496032768674559, + 0.1867533880305517, + -0.0843031727728904, + -0.18579843050607026, + -0.9789647175878734 + ], + [ + 0.5138326941950963, + -0.8577803206538273, + 0.013743503018747202, + -0.8520606902725956, + -0.5084110489276527, + 0.1245423037384176, + -0.09984258845000456, + -0.07570420614009235, + -0.9921191111475989 + ], + [ + 0.37227390241359415, + -0.9255560150501974, + -0.06897974040363464, + -0.9210481418728165, + -0.37757359056872786, + 0.09543848310650585, + -0.1143785903671922, + 0.028004405179144112, + -0.9930424418705258 + ], + [ + 0.30247134562309175, + -0.9530795534204379, + -0.012265803229073668, + -0.9446747311376962, + -0.3014674491187199, + 0.1292556748145824, + -0.12688868124020056, + -0.02750894352297445, + -0.991535435876788 + ], + [ + 0.35015428307717467, + -0.9362654424705298, + 0.02826657528198387, + -0.9267152677561524, + -0.34187432427015696, + 0.15595114270971405, + -0.13634804930893546, + -0.08080202745157922, + -0.9873602391272203 + ], + [ + 0.4014199993722043, + -0.9153450875460964, + 0.031707330528568625, + -0.9008335513602306, + -0.3883303521399478, + 0.1941608877981828, + -0.1654112960100787, + -0.10650309062225634, + -0.9804571356465173 + ], + [ + 0.44798321211489295, + -0.893981102337313, + 0.010432177480543245, + -0.8743853675028306, + -0.43567056427185963, + 0.21363845282153487, + -0.1864437469055013, + -0.10482818366642677, + -0.9768570935142127 + ], + [ + 0.439905926414347, + -0.8979433242393039, + 0.013437349426264053, + -0.8783845386307995, + -0.4271139575398242, + 0.21450936942014145, + -0.18687797676530155, + -0.10616710285553452, + -0.9766294937546017 + ], + [ + 0.44098695927085046, + -0.8975030802168221, + 0.0043269798203326715, + -0.8778157263554144, + -0.4302990763999272, + 0.21043349403668044, + -0.1870028136584187, + -0.0965967175978869, + -0.9775985995454108 + ], + [ + 0.4408472679658189, + -0.8975686512861708, + 0.004919609272888925, + -0.8783422589037436, + -0.4302623836669231, + 0.20830064192202205, + -0.18484740341952985, + -0.09614986962852282, + -0.9780524730399058 + ], + [ + 0.4541905818959115, + -0.8906044026820417, + -0.023123867332632095, + -0.8697071885663621, + -0.44886283078780304, + 0.20525975078703235, + -0.1931846822940365, + -0.073116052003127, + -0.9784343214883808 + ], + [ + 0.4599950441823665, + -0.8875443238206994, + -0.02587725992682427, + -0.8646045118328772, + -0.45436018300215386, + 0.21451308170011785, + -0.20214746460417168, + -0.07630135880773693, + -0.9763782592818206 + ], + [ + 0.4590403065950321, + -0.8880404090250285, + -0.02581140948881401, + -0.8638833410282676, + -0.4529565847062162, + 0.22030865953275308, + -0.20733444001172857, + -0.07883250795161016, + -0.9750886450344309 + ], + [ + 0.46576797206107956, + -0.8842075823870081, + -0.0351731069345865, + -0.8594032847430937, + -0.461460650433959, + 0.22018188452697168, + -0.2109174966068265, + -0.07232578620651064, + -0.9748244920367561 + ], + [ + 0.45632347891448644, + -0.888713060376071, + -0.0442490554518202, + -0.8646944974702676, + -0.4546252671326555, + 0.2135867330364952, + -0.20993405782774197, + -0.05920272630174747, + -0.9759214766375515 + ], + [ + 0.45932175851701673, + -0.8874224531867897, + -0.03879319183536403, + -0.8620907300913988, + -0.4558838817294414, + 0.22129044143336973, + -0.2140632972821692, + -0.06820026363025762, + -0.9744360568028305 + ], + [ + 0.4615645929698749, + -0.8862500619595414, + -0.038973762883038485, + -0.8606562466922659, + -0.4580182459747399, + 0.22246373049062296, + -0.21500918944578995, + -0.06913836873207407, + -0.9741616572329936 + ], + [ + 0.4688551462783659, + -0.8832155255725892, + 0.010256080919488278, + -0.8577332195007933, + -0.45249432310604876, + 0.24401354823370458, + -0.21087573585667901, + -0.12320398915754999, + -0.9697175883124789 + ], + [ + 0.4656428758943212, + -0.8841635700823692, + -0.037835082503742345, + -0.8246246233117186, + -0.44901023359995607, + 0.3440698195868376, + -0.321202339276774, + -0.129013919643239, + -0.9381814674045826 + ], + [ + 0.4899636035394336, + -0.8670751961443126, + -0.09009035152531658, + -0.7565370719513322, + -0.47428092915031006, + 0.4502324499718159, + -0.43311352549875176, + -0.15244082286454938, + -0.8883549231891619 + ], + [ + 0.5714752918966656, + -0.8169599646711903, + -0.07741063800323567, + -0.7192772626069921, + -0.544078239363279, + 0.43199431587457987, + -0.39503950466784044, + -0.19119436596249778, + -0.8985479977029527 + ], + [ + 0.6343377639974533, + -0.7674265212143068, + -0.09312430243292372, + -0.7293396509009229, + -0.6340429666517631, + 0.25700815174455377, + -0.25627968079898844, + -0.09511073007993787, + -0.9619119888187433 + ], + [ + 0.7047658631124667, + -0.7082684610039557, + -0.040753715639536656, + -0.7042582083130909, + -0.7053932592598211, + 0.08025413269384987, + -0.08558886735420097, + -0.02785923433792226, + -0.9959409665472798 + ], + [ + 0.6718995149267718, + -0.7388801071713726, + 0.051061032770499656, + -0.7390675493949068, + -0.6733689963127378, + -0.01879766571102236, + 0.048272137642494994, + -0.025107409886274672, + -0.998518612093048 + ], + [ + 0.6833178592665314, + -0.7220596668096202, + 0.108196768778853, + -0.719112201084251, + -0.6912207225499404, + -0.07135513274671741, + 0.12631051206913863, + -0.029047379990598643, + -0.9915653807271174 + ], + [ + 0.6661633966682683, + -0.726858705960223, + 0.1670411641159904, + -0.7229948541152351, + -0.6843520999032839, + -0.09455498020123138, + 0.1830430819842287, + -0.0577808352985264, + -0.9814054234667338 + ], + [ + 0.6635350182796595, + -0.7302020119267579, + 0.16286896971101317, + -0.7215968520222783, + -0.6821184301486171, + -0.11837411204788253, + 0.19753294071660626, + -0.03898036723404868, + -0.9795209381642378 + ], + [ + 0.6371274856726219, + -0.7573438950883887, + 0.14317399055984492, + -0.7526753823020172, + -0.6513523776957464, + -0.09602004450431195, + 0.1659769136867994, + -0.04658652855113116, + -0.9850286084579267 + ], + [ + 0.6202041111052661, + -0.770524887569723, + 0.14709948403645903, + -0.7652938437687951, + -0.6355106552471851, + -0.10223277242096304, + 0.17225618496213654, + -0.04916914380949791, + -0.9838242739632577 + ], + [ + 0.6147239422183952, + -0.7752557578685335, + 0.14523424098731327, + -0.7718744626830178, + -0.6291684357767957, + -0.09141604498107964, + 0.16224761545636893, + -0.055906970172474924, + -0.985165022706783 + ], + [ + 0.6069689312338838, + -0.7830859774967577, + 0.13551777877734197, + -0.7761952701102856, + -0.6207424224227769, + -0.11045246789059959, + 0.17061541306464065, + -0.03814704251512278, + -0.9845989965321575 + ], + [ + 0.6041124982539154, + -0.7854569651280094, + 0.1345564765639688, + -0.7811724127462389, + -0.6170670961340353, + -0.09485705262619523, + 0.15753650693611482, + -0.04780747640909433, + -0.9863552575932067 + ], + [ + 0.6025824264564227, + -0.7889800197004293, + 0.12002061422689167, + -0.7858688957345488, + -0.6128140491786883, + -0.08287955022912014, + 0.13894062776182867, + -0.04437870708718947, + -0.9893058335592784 + ], + [ + 0.6144890419617008, + -0.7844989987328751, + 0.08345380935647949, + -0.7815158240193077, + -0.6197662603526654, + -0.07157373356123548, + 0.10787137765141237, + -0.02123919762111367, + -0.9939379570013401 + ], + [ + 0.5931088441955106, + -0.8019634852579924, + 0.07124933157525024, + -0.799375513603195, + -0.5971195146313892, + -0.06668638165325011, + 0.0960244093379094, + -0.017402688275910107, + -0.9952268380887233 + ], + [ + 0.5849475212853318, + -0.8070363677437843, + 0.08080036188697219, + -0.805893732066829, + -0.5895605699763388, + -0.0543472809308136, + 0.09149693960753259, + -0.0333261979243654, + -0.9952475443699229 + ], + [ + 0.5869625678481127, + -0.8020368862624888, + 0.1105069093745761, + -0.803676509262845, + -0.5937051624603075, + -0.040227459863480565, + 0.09787242923437439, + -0.06519979403610943, + -0.9930609117538616 + ], + [ + 0.5893160245850864, + -0.8032982359310268, + 0.08613110539944298, + -0.8062803060947417, + -0.5915335919875517, + -0.0002784853211048183, + 0.051173148925967096, + -0.06928169816340256, + -0.9962837723904749 + ], + [ + 0.6288918201433079, + -0.7723647434553865, + 0.08915033159743091, + -0.7767959538526666, + -0.6290375750214579, + 0.029996254587019485, + 0.03291085892168103, + -0.0881160160142206, + -0.9955663931083745 + ], + [ + 0.7046571128634028, + -0.6975480655537826, + 0.1299424854818056, + -0.7039893108887122, + -0.7101913750862208, + 0.005221197906495022, + 0.08864199594689573, + -0.09515727505198204, + -0.991507785929708 + ], + [ + 0.7860664890163782, + -0.602628920351645, + 0.13761489454733775, + -0.6065518468922119, + -0.794879201970495, + -0.01618367406973959, + 0.11913996758901176, + -0.07074912459217911, + -0.9903535881150375 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.00019221007823944092, + 0.002104797400534153, + -0.005586296319961548, + 0.010366633534431458, + 0.024925202131271362, + -0.012265831232070923, + 1.0 + ], + [ + 0.003948479890823364, + 0.02405269630253315, + -0.01425325870513916, + 0.08239965885877609, + 0.10128767043352127, + -0.06964442133903503, + 1.0 + ], + [ + 0.004937618970870972, + 0.03125516697764397, + -0.019508495926856995, + 0.024061933159828186, + 0.13944679498672485, + -0.195723295211792, + 1.0 + ], + [ + 0.00584372878074646, + 0.030268728733062744, + -0.015279561281204224, + -0.008312702178955078, + 0.04305839538574219, + -0.24815601110458374, + 1.0 + ], + [ + -0.001107916235923767, + 0.021107636392116547, + -0.02373380959033966, + -0.1114019826054573, + 0.0156058669090271, + -0.19564509391784668, + 1.0 + ], + [ + 0.0018171221017837524, + 0.012797422707080841, + -0.011288605630397797, + -0.10435111820697784, + 0.01462024450302124, + -0.1585479974746704, + 1.0 + ], + [ + 0.0006086677312850952, + 0.003884926438331604, + -0.012823052704334259, + 0.05592980980873108, + 0.01260221004486084, + -0.07423758506774902, + 1.0 + ], + [ + 0.0015953481197357178, + 0.002369299530982971, + -0.008303098380565643, + 0.053917791694402695, + 0.009542420506477356, + 0.051390767097473145, + 1.0 + ], + [ + -0.001250535249710083, + 0.004952743649482727, + -0.008221045136451721, + 0.026547245681285858, + 0.029400944709777832, + 0.05793464183807373, + 1.0 + ], + [ + 0.0007320493459701538, + 0.00424494594335556, + -0.013837512582540512, + -0.0012991204857826233, + 0.02136613428592682, + 0.054274559020996094, + 1.0 + ], + [ + 0.002347901463508606, + -0.0037734583020210266, + -0.007580991834402084, + 0.0013798698782920837, + 0.0004419982433319092, + -0.009173989295959473, + 1.0 + ], + [ + -0.0021431297063827515, + -0.0013164356350898743, + -0.00458357110619545, + -0.009791955351829529, + 0.0001270771026611328, + 0.0012432336807250977, + 1.0 + ], + [ + -0.0008348822593688965, + -0.0006737932562828064, + -0.0012457258999347687, + -0.0004978924989700317, + -0.002193659543991089, + -0.0003675222396850586, + 1.0 + ], + [ + -0.0016569942235946655, + 0.0009455308318138123, + -0.008798886090517044, + -0.02340363711118698, + 0.00849035382270813, + 0.016103029251098633, + 1.0 + ], + [ + 0.0007958710193634033, + 0.000650361180305481, + -0.003910932689905167, + 0.003399863839149475, + 0.009143218398094177, + 0.007665514945983887, + 1.0 + ], + [ + 0.0004843026399612427, + 0.00024633854627609253, + -0.0005881767719984055, + 0.002682216465473175, + 0.005299240350723267, + -0.0005153417587280273, + 1.0 + ], + [ + -0.00021374225616455078, + -0.00041460245847702026, + -0.003931451588869095, + -0.006613090634346008, + 0.003664076328277588, + 0.008228421211242676, + 0.0 + ], + [ + -9.034574031829834e-05, + -0.001420140266418457, + -0.002019990235567093, + -0.013468798249959946, + -0.0010059624910354614, + -0.011071562767028809, + 0.0 + ], + [ + 0.0025495588779449463, + -0.004117421805858612, + 0.0006353836506605148, + 0.009286362677812576, + 0.004225283861160278, + 0.003958702087402344, + 0.0 + ], + [ + -0.0007791221141815186, + -0.0008937269449234009, + 0.004033111035823822, + 0.000977843999862671, + 0.000968441367149353, + 0.0027174949645996094, + 0.0 + ], + [ + 0.003520473837852478, + -0.0064969658851623535, + 0.02271512895822525, + 0.05552096664905548, + -0.004230484366416931, + 0.007986068725585938, + 0.0 + ], + [ + -0.0013482719659805298, + -0.010914407670497894, + 0.01882031559944153, + 0.010283440351486206, + 0.11452807486057281, + 0.013792872428894043, + 0.0 + ], + [ + -0.00033380091190338135, + -0.006251543760299683, + 0.018063373863697052, + 0.033286064863204956, + 0.12094542384147644, + 0.06067603826522827, + 0.0 + ], + [ + -0.0034317821264266968, + -0.01414550095796585, + 0.013057440519332886, + 0.03971084952354431, + -0.04183340072631836, + 0.09667205810546875, + 0.0 + ], + [ + -0.0037270039319992065, + -0.027788236737251282, + -0.007014520466327667, + -0.1110982894897461, + -0.1469394862651825, + 0.044458210468292236, + 0.0 + ], + [ + -0.007945656776428223, + -0.028552431613206863, + -0.0015053525567054749, + -0.07059091329574585, + -0.1734776496887207, + 0.06991386413574219, + 0.0 + ], + [ + 0.0006048232316970825, + -0.019199611619114876, + -0.0007388219237327576, + -0.0028261225670576096, + -0.13398461043834686, + -0.04792863130569458, + 0.0 + ], + [ + 0.0032446086406707764, + -0.009757457301020622, + -0.007935561239719391, + 0.004146730527281761, + -0.07835790514945984, + 0.022050797939300537, + 0.0 + ], + [ + 0.007848665118217468, + -0.008924093097448349, + -0.010783284902572632, + 0.029521623626351357, + -0.057432129979133606, + -0.015370368957519531, + 0.0 + ], + [ + 0.005084216594696045, + -0.004518730565905571, + -0.010961424559354782, + -0.019033364951610565, + -0.014759689569473267, + -0.0010054707527160645, + 0.0 + ], + [ + 0.002606004476547241, + -0.007233906537294388, + -0.014827772974967957, + 0.0074850283563137054, + 0.03209204971790314, + -0.04105561971664429, + 0.0 + ], + [ + 0.0036517679691314697, + -0.0032790545374155045, + -0.004207465797662735, + 0.0026766397058963776, + -0.006371051073074341, + -0.021390974521636963, + 0.0 + ], + [ + 0.0013306140899658203, + 0.0008911490440368652, + -0.003789268434047699, + 0.0067520178854465485, + 0.010151609778404236, + -0.00851374864578247, + 0.0 + ], + [ + 0.0006769895553588867, + -0.002828925848007202, + -0.0062843505293130875, + -0.017963670194149017, + -0.008486181497573853, + -0.008888483047485352, + 0.0 + ], + [ + 0.0006555914878845215, + 0.0009807981550693512, + -0.0031304210424423218, + 0.00970655307173729, + 0.013258695602416992, + -0.005383312702178955, + 0.0 + ], + [ + -0.0004119277000427246, + -0.000783037394285202, + -0.006298108026385307, + -0.003602541983127594, + 0.018803924322128296, + -0.0041234493255615234, + 1.0 + ], + [ + -0.003343939781188965, + 0.0015700533986091614, + 0.001681530848145485, + -0.023462893441319466, + 0.03130990266799927, + 0.0121687650680542, + 1.0 + ], + [ + 0.0012854337692260742, + 0.00048271939158439636, + 0.0030695386230945587, + -0.0038811136037111282, + 0.011909089982509613, + -0.027978956699371338, + 1.0 + ], + [ + -0.001956343650817871, + 0.0026369448751211166, + 0.012657998129725456, + 0.015988457947969437, + 0.00454750657081604, + -0.010482370853424072, + 1.0 + ], + [ + -0.0011640340089797974, + 0.002763114869594574, + 0.018435314297676086, + 0.03208845853805542, + -0.006404273211956024, + 0.0029473304748535156, + 1.0 + ], + [ + 0.001139029860496521, + 0.005888482555747032, + 0.017321843653917313, + 0.0038670673966407776, + 0.04683385044336319, + 0.00036531686782836914, + 1.0 + ], + [ + 0.001066058874130249, + 0.014567013829946518, + 0.023468248546123505, + 0.018850035965442657, + 0.018278706818819046, + 0.04939627647399902, + 1.0 + ], + [ + 0.007505089044570923, + 0.012024965137243271, + 0.010179363191127777, + 0.007400862872600555, + -0.05584168806672096, + 0.10530668497085571, + 1.0 + ], + [ + 0.011019676923751831, + 0.020779313519597054, + 0.007587656378746033, + -0.02436216175556183, + -0.030665144324302673, + 0.12772339582443237, + 1.0 + ], + [ + 0.003536403179168701, + 0.02668824978172779, + 0.0028312280774116516, + 0.0007408186793327332, + 0.025240175426006317, + 0.11975783109664917, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 0.933559775352478 + ], + [ + 0.6671556830406189 + ], + [ + 0.37205085158348083 + ], + [ + 0.33639705181121826 + ], + [ + 0.33639705181121826 + ], + [ + 0.33639705181121826 + ], + [ + 0.33639705181121826 + ], + [ + 0.33639705181121826 + ], + [ + 0.33639705181121826 + ], + [ + 0.33639705181121826 + ], + [ + 0.33639705181121826 + ], + [ + 0.33559030294418335 + ], + [ + 0.33559030294418335 + ], + [ + 0.33639705181121826 + ], + [ + 0.33639705181121826 + ], + [ + 0.33639705181121826 + ], + [ + 0.33639705181121826 + ], + [ + 0.33639705181121826 + ], + [ + 0.33639705181121826 + ], + [ + 0.4247366487979889 + ], + [ + 0.5729578137397766 + ], + [ + 0.8836284875869751 + ], + [ + 1.0027955770492554 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.22342821955680847, + -0.009743517264723778, + 0.18154297769069672 + ], + [ + 0.22737669944763184, + 0.014309179037809372, + 0.16728971898555756 + ], + [ + 0.2323143184185028, + 0.04556434601545334, + 0.14778122305870056 + ], + [ + 0.23815804719924927, + 0.07583307474851608, + 0.13250166177749634 + ], + [ + 0.2370501309633255, + 0.09694071114063263, + 0.10876785218715668 + ], + [ + 0.23886725306510925, + 0.10973813384771347, + 0.09747924655675888 + ], + [ + 0.23947592079639435, + 0.11362306028604507, + 0.08465619385242462 + ], + [ + 0.24107126891613007, + 0.11599235981702805, + 0.07635309547185898 + ], + [ + 0.23982073366641998, + 0.12094510346651077, + 0.06813205033540726 + ], + [ + 0.24055278301239014, + 0.12519004940986633, + 0.054294537752866745 + ], + [ + 0.24290068447589874, + 0.1214165911078453, + 0.04671354591846466 + ], + [ + 0.240757554769516, + 0.12010015547275543, + 0.04212997481226921 + ], + [ + 0.2399226725101471, + 0.11942636221647263, + 0.04088424891233444 + ], + [ + 0.23826567828655243, + 0.12037189304828644, + 0.0320853628218174 + ], + [ + 0.23906154930591583, + 0.12102225422859192, + 0.02817443013191223 + ], + [ + 0.23954585194587708, + 0.12126859277486801, + 0.027586253359913826 + ], + [ + 0.23933210968971252, + 0.12085399031639099, + 0.02365480177104473 + ], + [ + 0.23924176394939423, + 0.11943385004997253, + 0.021634811535477638 + ], + [ + 0.24179132282733917, + 0.11531642824411392, + 0.022270195186138153 + ], + [ + 0.24101220071315765, + 0.11442270129919052, + 0.026303306221961975 + ], + [ + 0.24453267455101013, + 0.10792573541402817, + 0.049018435180187225 + ], + [ + 0.2431844025850296, + 0.09701132774353027, + 0.06783875077962875 + ], + [ + 0.24285060167312622, + 0.09075978398323059, + 0.0859021246433258 + ], + [ + 0.23941881954669952, + 0.07661428302526474, + 0.09895956516265869 + ], + [ + 0.23569181561470032, + 0.04882604628801346, + 0.09194504469633102 + ], + [ + 0.2277461588382721, + 0.020273614674806595, + 0.09043969213962555 + ], + [ + 0.22835098206996918, + 0.0010740027064457536, + 0.08970087021589279 + ], + [ + 0.23159559071063995, + -0.008683454245328903, + 0.0817653089761734 + ], + [ + 0.23944425582885742, + -0.017607547342777252, + 0.07098202407360077 + ], + [ + 0.24452847242355347, + -0.022126277908682823, + 0.06002059951424599 + ], + [ + 0.2471344769001007, + -0.02936018444597721, + 0.04519282653927803 + ], + [ + 0.2507862448692322, + -0.032639238983392715, + 0.040985360741615295 + ], + [ + 0.252116858959198, + -0.03174808993935585, + 0.037196092307567596 + ], + [ + 0.2527938485145569, + -0.03457701578736305, + 0.03091174177825451 + ], + [ + 0.2534494400024414, + -0.0335962176322937, + 0.027781320735812187 + ], + [ + 0.2530375123023987, + -0.0343792550265789, + 0.02148321270942688 + ], + [ + 0.24969357252120972, + -0.03280920162796974, + 0.023164743557572365 + ], + [ + 0.2509790062904358, + -0.032326482236385345, + 0.026234282180666924 + ], + [ + 0.24902266263961792, + -0.02968953736126423, + 0.03889228031039238 + ], + [ + 0.24785862863063812, + -0.026926422491669655, + 0.057327594608068466 + ], + [ + 0.24899765849113464, + -0.021037939935922623, + 0.07464943826198578 + ], + [ + 0.2500637173652649, + -0.006470926105976105, + 0.09811768680810928 + ], + [ + 0.2575688064098358, + 0.005554039031267166, + 0.10829704999923706 + ], + [ + 0.26858848333358765, + 0.02633335255086422, + 0.1158847063779831 + ], + [ + 0.27212488651275635, + 0.05302160233259201, + 0.11871593445539474 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9307457918563073, + -0.2955425123616134, + 0.21532973396342941, + -0.307376257311807, + -0.9513119172483352, + 0.02292318787347749, + 0.19807096552185915, + -0.08752290836279672, + -0.9762723150478847 + ], + [ + 0.9209851439357369, + -0.3578316444225044, + 0.1540872444414405, + -0.377085175019575, + -0.9181542928073264, + 0.12165305331118814, + 0.09794455283539939, + -0.17014467035251113, + -0.9805394717809728 + ], + [ + 0.8333645359083038, + -0.5478086845678258, + 0.07354723245919034, + -0.5511761231584975, + -0.8136906081694446, + 0.1846956291762441, + -0.04133317735556712, + -0.1944562657486461, + -0.9800399630427249 + ], + [ + 0.6706371748704738, + -0.7372208121753916, + 0.08216601351656913, + -0.7369794805435042, + -0.6496032768674559, + 0.1867533880305517, + -0.0843031727728904, + -0.18579843050607026, + -0.9789647175878734 + ], + [ + 0.5138326941950963, + -0.8577803206538273, + 0.013743503018747202, + -0.8520606902725956, + -0.5084110489276527, + 0.1245423037384176, + -0.09984258845000456, + -0.07570420614009235, + -0.9921191111475989 + ], + [ + 0.37227390241359415, + -0.9255560150501974, + -0.06897974040363464, + -0.9210481418728165, + -0.37757359056872786, + 0.09543848310650585, + -0.1143785903671922, + 0.028004405179144112, + -0.9930424418705258 + ], + [ + 0.30247134562309175, + -0.9530795534204379, + -0.012265803229073668, + -0.9446747311376962, + -0.3014674491187199, + 0.1292556748145824, + -0.12688868124020056, + -0.02750894352297445, + -0.991535435876788 + ], + [ + 0.35015428307717467, + -0.9362654424705298, + 0.02826657528198387, + -0.9267152677561524, + -0.34187432427015696, + 0.15595114270971405, + -0.13634804930893546, + -0.08080202745157922, + -0.9873602391272203 + ], + [ + 0.4014199993722043, + -0.9153450875460964, + 0.031707330528568625, + -0.9008335513602306, + -0.3883303521399478, + 0.1941608877981828, + -0.1654112960100787, + -0.10650309062225634, + -0.9804571356465173 + ], + [ + 0.44798321211489295, + -0.893981102337313, + 0.010432177480543245, + -0.8743853675028306, + -0.43567056427185963, + 0.21363845282153487, + -0.1864437469055013, + -0.10482818366642677, + -0.9768570935142127 + ], + [ + 0.439905926414347, + -0.8979433242393039, + 0.013437349426264053, + -0.8783845386307995, + -0.4271139575398242, + 0.21450936942014145, + -0.18687797676530155, + -0.10616710285553452, + -0.9766294937546017 + ], + [ + 0.44098695927085046, + -0.8975030802168221, + 0.0043269798203326715, + -0.8778157263554144, + -0.4302990763999272, + 0.21043349403668044, + -0.1870028136584187, + -0.0965967175978869, + -0.9775985995454108 + ], + [ + 0.4408472679658189, + -0.8975686512861708, + 0.004919609272888925, + -0.8783422589037436, + -0.4302623836669231, + 0.20830064192202205, + -0.18484740341952985, + -0.09614986962852282, + -0.9780524730399058 + ], + [ + 0.4541905818959115, + -0.8906044026820417, + -0.023123867332632095, + -0.8697071885663621, + -0.44886283078780304, + 0.20525975078703235, + -0.1931846822940365, + -0.073116052003127, + -0.9784343214883808 + ], + [ + 0.4599950441823665, + -0.8875443238206994, + -0.02587725992682427, + -0.8646045118328772, + -0.45436018300215386, + 0.21451308170011785, + -0.20214746460417168, + -0.07630135880773693, + -0.9763782592818206 + ], + [ + 0.4590403065950321, + -0.8880404090250285, + -0.02581140948881401, + -0.8638833410282676, + -0.4529565847062162, + 0.22030865953275308, + -0.20733444001172857, + -0.07883250795161016, + -0.9750886450344309 + ], + [ + 0.46576797206107956, + -0.8842075823870081, + -0.0351731069345865, + -0.8594032847430937, + -0.461460650433959, + 0.22018188452697168, + -0.2109174966068265, + -0.07232578620651064, + -0.9748244920367561 + ], + [ + 0.45632347891448644, + -0.888713060376071, + -0.0442490554518202, + -0.8646944974702676, + -0.4546252671326555, + 0.2135867330364952, + -0.20993405782774197, + -0.05920272630174747, + -0.9759214766375515 + ], + [ + 0.45932175851701673, + -0.8874224531867897, + -0.03879319183536403, + -0.8620907300913988, + -0.4558838817294414, + 0.22129044143336973, + -0.2140632972821692, + -0.06820026363025762, + -0.9744360568028305 + ], + [ + 0.4615645929698749, + -0.8862500619595414, + -0.038973762883038485, + -0.8606562466922659, + -0.4580182459747399, + 0.22246373049062296, + -0.21500918944578995, + -0.06913836873207407, + -0.9741616572329936 + ], + [ + 0.4688551462783659, + -0.8832155255725892, + 0.010256080919488278, + -0.8577332195007933, + -0.45249432310604876, + 0.24401354823370458, + -0.21087573585667901, + -0.12320398915754999, + -0.9697175883124789 + ], + [ + 0.4656428758943212, + -0.8841635700823692, + -0.037835082503742345, + -0.8246246233117186, + -0.44901023359995607, + 0.3440698195868376, + -0.321202339276774, + -0.129013919643239, + -0.9381814674045826 + ], + [ + 0.4899636035394336, + -0.8670751961443126, + -0.09009035152531658, + -0.7565370719513322, + -0.47428092915031006, + 0.4502324499718159, + -0.43311352549875176, + -0.15244082286454938, + -0.8883549231891619 + ], + [ + 0.5714752918966656, + -0.8169599646711903, + -0.07741063800323567, + -0.7192772626069921, + -0.544078239363279, + 0.43199431587457987, + -0.39503950466784044, + -0.19119436596249778, + -0.8985479977029527 + ], + [ + 0.6343377639974533, + -0.7674265212143068, + -0.09312430243292372, + -0.7293396509009229, + -0.6340429666517631, + 0.25700815174455377, + -0.25627968079898844, + -0.09511073007993787, + -0.9619119888187433 + ], + [ + 0.7047658631124667, + -0.7082684610039557, + -0.040753715639536656, + -0.7042582083130909, + -0.7053932592598211, + 0.08025413269384987, + -0.08558886735420097, + -0.02785923433792226, + -0.9959409665472798 + ], + [ + 0.6718995149267718, + -0.7388801071713726, + 0.051061032770499656, + -0.7390675493949068, + -0.6733689963127378, + -0.01879766571102236, + 0.048272137642494994, + -0.025107409886274672, + -0.998518612093048 + ], + [ + 0.6833178592665314, + -0.7220596668096202, + 0.108196768778853, + -0.719112201084251, + -0.6912207225499404, + -0.07135513274671741, + 0.12631051206913863, + -0.029047379990598643, + -0.9915653807271174 + ], + [ + 0.6661633966682683, + -0.726858705960223, + 0.1670411641159904, + -0.7229948541152351, + -0.6843520999032839, + -0.09455498020123138, + 0.1830430819842287, + -0.0577808352985264, + -0.9814054234667338 + ], + [ + 0.6635350182796595, + -0.7302020119267579, + 0.16286896971101317, + -0.7215968520222783, + -0.6821184301486171, + -0.11837411204788253, + 0.19753294071660626, + -0.03898036723404868, + -0.9795209381642378 + ], + [ + 0.6371274856726219, + -0.7573438950883887, + 0.14317399055984492, + -0.7526753823020172, + -0.6513523776957464, + -0.09602004450431195, + 0.1659769136867994, + -0.04658652855113116, + -0.9850286084579267 + ], + [ + 0.6202041111052661, + -0.770524887569723, + 0.14709948403645903, + -0.7652938437687951, + -0.6355106552471851, + -0.10223277242096304, + 0.17225618496213654, + -0.04916914380949791, + -0.9838242739632577 + ], + [ + 0.6147239422183952, + -0.7752557578685335, + 0.14523424098731327, + -0.7718744626830178, + -0.6291684357767957, + -0.09141604498107964, + 0.16224761545636893, + -0.055906970172474924, + -0.985165022706783 + ], + [ + 0.6069689312338838, + -0.7830859774967577, + 0.13551777877734197, + -0.7761952701102856, + -0.6207424224227769, + -0.11045246789059959, + 0.17061541306464065, + -0.03814704251512278, + -0.9845989965321575 + ], + [ + 0.6041124982539154, + -0.7854569651280094, + 0.1345564765639688, + -0.7811724127462389, + -0.6170670961340353, + -0.09485705262619523, + 0.15753650693611482, + -0.04780747640909433, + -0.9863552575932067 + ], + [ + 0.6025824264564227, + -0.7889800197004293, + 0.12002061422689167, + -0.7858688957345488, + -0.6128140491786883, + -0.08287955022912014, + 0.13894062776182867, + -0.04437870708718947, + -0.9893058335592784 + ], + [ + 0.6144890419617008, + -0.7844989987328751, + 0.08345380935647949, + -0.7815158240193077, + -0.6197662603526654, + -0.07157373356123548, + 0.10787137765141237, + -0.02123919762111367, + -0.9939379570013401 + ], + [ + 0.5931088441955106, + -0.8019634852579924, + 0.07124933157525024, + -0.799375513603195, + -0.5971195146313892, + -0.06668638165325011, + 0.0960244093379094, + -0.017402688275910107, + -0.9952268380887233 + ], + [ + 0.5849475212853318, + -0.8070363677437843, + 0.08080036188697219, + -0.805893732066829, + -0.5895605699763388, + -0.0543472809308136, + 0.09149693960753259, + -0.0333261979243654, + -0.9952475443699229 + ], + [ + 0.5869625678481127, + -0.8020368862624888, + 0.1105069093745761, + -0.803676509262845, + -0.5937051624603075, + -0.040227459863480565, + 0.09787242923437439, + -0.06519979403610943, + -0.9930609117538616 + ], + [ + 0.5893160245850864, + -0.8032982359310268, + 0.08613110539944298, + -0.8062803060947417, + -0.5915335919875517, + -0.0002784853211048183, + 0.051173148925967096, + -0.06928169816340256, + -0.9962837723904749 + ], + [ + 0.6288918201433079, + -0.7723647434553865, + 0.08915033159743091, + -0.7767959538526666, + -0.6290375750214579, + 0.029996254587019485, + 0.03291085892168103, + -0.0881160160142206, + -0.9955663931083745 + ], + [ + 0.7046571128634028, + -0.6975480655537826, + 0.1299424854818056, + -0.7039893108887122, + -0.7101913750862208, + 0.005221197906495022, + 0.08864199594689573, + -0.09515727505198204, + -0.991507785929708 + ], + [ + 0.7860664890163782, + -0.602628920351645, + 0.13761489454733775, + -0.6065518468922119, + -0.794879201970495, + -0.01618367406973959, + 0.11913996758901176, + -0.07074912459217911, + -0.9903535881150375 + ], + [ + 0.8552134259568813, + -0.5047962909222456, + 0.11743381427100849, + -0.5096721197781624, + -0.8602576277899456, + 0.013825489143248038, + 0.09404427884740543, + -0.07167648498886674, + -0.9929844687182737 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005886.json b/json/chunk-0005/episode_0005886.json new file mode 100644 index 0000000000000000000000000000000000000000..a4eac2e8d7d10a91d4d0f52ab74d93e24e56674b --- /dev/null +++ b/json/chunk-0005/episode_0005886.json @@ -0,0 +1,982 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 15, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nUnzip zipper bag." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005886.mp4", + "start": 0, + "end": 15, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.19411781430244446, + 0.050437577068805695, + 0.1907566338777542, + -0.04467928409576416, + -0.13251987099647522, + 0.07744161039590836, + 0.0, + 0.9920742511749268 + ], + [ + 0.1889217346906662, + 0.048364222049713135, + 0.1783742606639862, + -0.03365395590662956, + -0.10527975112199783, + 0.0749514251947403, + 0.0, + 0.9920742511749268 + ], + [ + 0.17962945997714996, + 0.03899088501930237, + 0.15213240683078766, + 0.012581991031765938, + -0.1051393374800682, + 0.06905630975961685, + 0.0, + 0.9913908839225769 + ], + [ + 0.17840951681137085, + 0.037280838936567307, + 0.12128095328807831, + 0.04137061908841133, + -0.07646718621253967, + 0.08232536911964417, + 0.0, + 0.9920742511749268 + ], + [ + 0.17022885382175446, + 0.031613774597644806, + 0.08997218310832977, + 0.0715632364153862, + -0.11049427092075348, + 0.11782554537057877, + 0.0, + 0.9920742511749268 + ], + [ + 0.16753868758678436, + 0.02914503403007984, + 0.06409060955047607, + 0.11443077772855759, + -0.1421627253293991, + 0.12537971138954163, + 0.0, + 0.9920742511749268 + ], + [ + 0.16791635751724243, + 0.027420466765761375, + 0.05117534473538399, + 0.13682103157043457, + -0.18316268920898438, + 0.10006234049797058, + 0.0, + 0.9920742511749268 + ], + [ + 0.17534859478473663, + 0.02845029905438423, + 0.0450783334672451, + 0.14501574635505676, + -0.20194034278392792, + 0.08617691695690155, + 0.0, + 0.9920742511749268 + ], + [ + 0.17844678461551666, + 0.02610217221081257, + 0.0437789186835289, + 0.12796252965927124, + -0.21450452506542206, + 0.08323854953050613, + 0.0, + 0.9920742511749268 + ], + [ + 0.18098104000091553, + 0.02548014186322689, + 0.043805260211229324, + 0.12299053370952606, + -0.21398581564426422, + 0.07948379963636398, + 0.0, + 0.9107924103736877 + ], + [ + 0.18287041783332825, + 0.026075659319758415, + 0.04477943480014801, + 0.12781620025634766, + -0.2263064682483673, + 0.06371800601482391, + 0.0, + 0.6139277815818787 + ], + [ + 0.1871543824672699, + 0.02557757869362831, + 0.04590309038758278, + 0.14436887204647064, + -0.25480130314826965, + 0.04746820032596588, + 0.0, + 0.3299713730812073 + ], + [ + 0.18859434127807617, + 0.025486307218670845, + 0.04760723561048508, + 0.137226402759552, + -0.2578211724758148, + 0.07322298735380173, + 0.0, + 0.18066829442977905 + ], + [ + 0.1923232525587082, + 0.024068452417850494, + 0.057223085314035416, + 0.11379498988389969, + -0.24135826528072357, + 0.12672553956508636, + 0.0, + 0.1546454280614853 + ], + [ + 0.1998831033706665, + 0.023394562304019928, + 0.07878874242305756, + 0.06983019411563873, + -0.2638249099254608, + 0.19718283414840698, + 0.0, + 0.1623418778181076 + ] + ], + "left_gripper_pos": [ + [ + 0.9920742511749268 + ], + [ + 0.9920742511749268 + ], + [ + 0.9913908839225769 + ], + [ + 0.9920742511749268 + ], + [ + 0.9920742511749268 + ], + [ + 0.9920742511749268 + ], + [ + 0.9920742511749268 + ], + [ + 0.9920742511749268 + ], + [ + 0.9920742511749268 + ], + [ + 0.9107924103736877 + ], + [ + 0.6139277815818787 + ], + [ + 0.3299713730812073 + ], + [ + 0.18066829442977905 + ], + [ + 0.1546454280614853 + ], + [ + 0.1623418778181076 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.19411781430244446, + 0.050437577068805695, + 0.1907566338777542 + ], + [ + 0.1889217346906662, + 0.048364222049713135, + 0.1783742606639862 + ], + [ + 0.17962945997714996, + 0.03899088501930237, + 0.15213240683078766 + ], + [ + 0.17840951681137085, + 0.037280838936567307, + 0.12128095328807831 + ], + [ + 0.17022885382175446, + 0.031613774597644806, + 0.08997218310832977 + ], + [ + 0.16753868758678436, + 0.02914503403007984, + 0.06409060955047607 + ], + [ + 0.16791635751724243, + 0.027420466765761375, + 0.05117534473538399 + ], + [ + 0.17534859478473663, + 0.02845029905438423, + 0.0450783334672451 + ], + [ + 0.17844678461551666, + 0.02610217221081257, + 0.0437789186835289 + ], + [ + 0.18098104000091553, + 0.02548014186322689, + 0.043805260211229324 + ], + [ + 0.18287041783332825, + 0.026075659319758415, + 0.04477943480014801 + ], + [ + 0.1871543824672699, + 0.02557757869362831, + 0.04590309038758278 + ], + [ + 0.18859434127807617, + 0.025486307218670845, + 0.04760723561048508 + ], + [ + 0.1923232525587082, + 0.024068452417850494, + 0.057223085314035416 + ], + [ + 0.1998831033706665, + 0.023394562304019928, + 0.07878874242305756 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9882612598001514, + 0.07140309572591237, + 0.13506028394377798, + 0.07668590509126814, + -0.9964645084061762, + -0.034318441794040186, + 0.13213233646065128, + 0.0442728066378686, + -0.9902428814456863 + ], + [ + 0.9916712053378165, + 0.07131292415877924, + 0.10725058205793667, + 0.0744666666147529, + -0.9968925759604181, + -0.025688665949968246, + 0.10508537513436039, + 0.03346130366447211, + -0.9939000981436437 + ], + [ + 0.992107671442065, + 0.07031321999562971, + 0.10381916662952761, + 0.06862040777136778, + -0.997446487979528, + 0.019792505010646926, + 0.10494573789866196, + -0.012512182509516563, + -0.9943992344052532 + ], + [ + 0.9937008862465617, + 0.08531085686737418, + 0.07266778084785756, + 0.08199210892393564, + -0.9955006219529727, + 0.04749532361664688, + 0.07639268778491391, + -0.04123796056789103, + -0.9962246673623364 + ], + [ + 0.9870105954678808, + 0.12508207192979506, + 0.10081944116036598, + 0.11683623643755937, + -0.9895979388731113, + 0.08393576849708413, + 0.11026957100327203, + -0.07106612878044609, + -0.9913577694510267 + ], + [ + 0.982141331607902, + 0.14028432859743084, + 0.12537428722599075, + 0.12378993977781994, + -0.983638488822182, + 0.1308868752679884, + 0.14168435184331718, + -0.113029334500307, + -0.9834378038214501 + ], + [ + 0.9783541696891072, + 0.12368055558528737, + 0.16591033368073468, + 0.09822445027083193, + -0.9832175846087257, + 0.1537372390970275, + 0.18214026468886815, + -0.13411301758702762, + -0.9740834781951551 + ], + [ + 0.9760437224326863, + 0.11404336957071758, + 0.18529101909348533, + 0.08432127846140929, + -0.9833369821618831, + 0.1610537224388008, + 0.20057062072591564, + -0.14157149914342768, + -0.9693961711972582 + ], + [ + 0.973699004019076, + 0.10953288920441927, + 0.19978187043571102, + 0.08123700057582169, + -0.986131437912449, + 0.14472503894685718, + 0.2128633348176777, + -0.12468894635555228, + -0.969093322310622 + ], + [ + 0.974107098837733, + 0.10477015102182613, + 0.20034613909131957, + 0.07758919675546996, + -0.9872443321274883, + 0.1390271384622092, + 0.21235648457434866, + -0.1198826265019793, + -0.9698107440744359 + ], + [ + 0.9725242320769227, + 0.09169877468801586, + 0.21398119717374312, + 0.06205130337949473, + -0.9880086852906397, + 0.14138059817092233, + 0.2243797089134794, + -0.1242182454834168, + -0.9665524164353033 + ], + [ + 0.966623361203966, + 0.08317825306600886, + 0.24232345283037202, + 0.04591836474413534, + -0.9867615542684172, + 0.15554143755604632, + 0.2520531320058751, + -0.13922289048379904, + -0.9576461796568524 + ], + [ + 0.9643567794440059, + 0.10725587299681466, + 0.24189290946217626, + 0.07073955535048368, + -0.9853931086605159, + 0.15490751018972898, + 0.25497434625703286, + -0.13227471078046737, + -0.9578577575186948 + ], + [ + 0.9632277100403833, + 0.15249236849508765, + 0.22122037917225815, + 0.12272320786098148, + -0.9821350212113098, + 0.1426527755165337, + 0.23902174140163399, + -0.11025823171545343, + -0.9647340200678692 + ], + [ + 0.9466924475565786, + 0.21327267734369282, + 0.24142944070263503, + 0.18912905717089912, + -0.974667889211797, + 0.11938469530499388, + 0.2607750169647791, + -0.06735926690569419, + -0.9630467899790466 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.005196079611778259, + -0.00207335501909256, + -0.012382373213768005, + 0.011025328189134598, + 0.027240119874477386, + -0.0024901852011680603, + 1.0 + ], + [ + -0.009292274713516235, + -0.009373337030410767, + -0.026241853833198547, + 0.04623594880104065, + 0.00014041364192962646, + -0.005895115435123444, + 1.0 + ], + [ + -0.0012199431657791138, + -0.0017100460827350616, + -0.03085145354270935, + 0.028788628056645393, + 0.028672151267528534, + 0.013269059360027313, + 1.0 + ], + [ + -0.008180662989616394, + -0.005667064338922501, + -0.031308770179748535, + 0.03019261732697487, + -0.034027084708213806, + 0.0355001762509346, + 1.0 + ], + [ + -0.0026901662349700928, + -0.0024687405675649643, + -0.0258815735578537, + 0.04286754131317139, + -0.03166845440864563, + 0.00755416601896286, + 1.0 + ], + [ + 0.00037766993045806885, + -0.0017245672643184662, + -0.012915264815092087, + 0.022390253841876984, + -0.040999963879585266, + -0.025317370891571045, + 1.0 + ], + [ + 0.007432237267494202, + 0.0010298322886228561, + -0.0060970112681388855, + 0.008194714784622192, + -0.018777653574943542, + -0.01388542354106903, + 1.0 + ], + [ + 0.0030981898307800293, + -0.002348126843571663, + -0.0012994147837162018, + -0.017053216695785522, + -0.01256418228149414, + -0.0029383674263954163, + 1.0 + ], + [ + 0.0025342553853988647, + -0.0006220303475856781, + 2.6341527700424194e-05, + -0.004971995949745178, + 0.0005187094211578369, + -0.003754749894142151, + 0.0 + ], + [ + 0.0018893778324127197, + 0.0005955174565315247, + 0.0009741745889186859, + 0.004825666546821594, + -0.012320652604103088, + -0.01576579362154007, + 0.0 + ], + [ + 0.00428396463394165, + -0.0004980806261301041, + 0.0011236555874347687, + 0.016552671790122986, + -0.028494834899902344, + -0.016249805688858032, + 0.0 + ], + [ + 0.0014399588108062744, + -9.127147495746613e-05, + 0.001704145222902298, + -0.00714246928691864, + -0.003019869327545166, + 0.025754787027835846, + 0.0 + ], + [ + 0.003728911280632019, + -0.0014178548008203506, + 0.009615849703550339, + -0.023431412875652313, + 0.016462907195091248, + 0.05350255221128464, + 0.0 + ], + [ + 0.007559850811958313, + -0.0006738901138305664, + 0.02156565710902214, + -0.043964795768260956, + -0.022466644644737244, + 0.07045729458332062, + 0.0 + ], + [ + 0.025353863835334778, + 0.002169320359826088, + 0.0328654870390892, + -0.06546185910701752, + -0.029712706804275513, + 0.07571247220039368, + 0.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9920742511749268 + ], + [ + 0.9913908839225769 + ], + [ + 0.9920742511749268 + ], + [ + 0.9920742511749268 + ], + [ + 0.9920742511749268 + ], + [ + 0.9920742511749268 + ], + [ + 0.9920742511749268 + ], + [ + 0.9920742511749268 + ], + [ + 0.9107924103736877 + ], + [ + 0.6139277815818787 + ], + [ + 0.3299713730812073 + ], + [ + 0.18066829442977905 + ], + [ + 0.1546454280614853 + ], + [ + 0.1623418778181076 + ], + [ + 0.17460396885871887 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.1889217346906662, + 0.048364222049713135, + 0.1783742606639862 + ], + [ + 0.17962945997714996, + 0.03899088501930237, + 0.15213240683078766 + ], + [ + 0.17840951681137085, + 0.037280838936567307, + 0.12128095328807831 + ], + [ + 0.17022885382175446, + 0.031613774597644806, + 0.08997218310832977 + ], + [ + 0.16753868758678436, + 0.02914503403007984, + 0.06409060955047607 + ], + [ + 0.16791635751724243, + 0.027420466765761375, + 0.05117534473538399 + ], + [ + 0.17534859478473663, + 0.02845029905438423, + 0.0450783334672451 + ], + [ + 0.17844678461551666, + 0.02610217221081257, + 0.0437789186835289 + ], + [ + 0.18098104000091553, + 0.02548014186322689, + 0.043805260211229324 + ], + [ + 0.18287041783332825, + 0.026075659319758415, + 0.04477943480014801 + ], + [ + 0.1871543824672699, + 0.02557757869362831, + 0.04590309038758278 + ], + [ + 0.18859434127807617, + 0.025486307218670845, + 0.04760723561048508 + ], + [ + 0.1923232525587082, + 0.024068452417850494, + 0.057223085314035416 + ], + [ + 0.1998831033706665, + 0.023394562304019928, + 0.07878874242305756 + ], + [ + 0.22523696720600128, + 0.025563882663846016, + 0.11165422946214676 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9916712053378165, + 0.07131292415877924, + 0.10725058205793667, + 0.0744666666147529, + -0.9968925759604181, + -0.025688665949968246, + 0.10508537513436039, + 0.03346130366447211, + -0.9939000981436437 + ], + [ + 0.992107671442065, + 0.07031321999562971, + 0.10381916662952761, + 0.06862040777136778, + -0.997446487979528, + 0.019792505010646926, + 0.10494573789866196, + -0.012512182509516563, + -0.9943992344052532 + ], + [ + 0.9937008862465617, + 0.08531085686737418, + 0.07266778084785756, + 0.08199210892393564, + -0.9955006219529727, + 0.04749532361664688, + 0.07639268778491391, + -0.04123796056789103, + -0.9962246673623364 + ], + [ + 0.9870105954678808, + 0.12508207192979506, + 0.10081944116036598, + 0.11683623643755937, + -0.9895979388731113, + 0.08393576849708413, + 0.11026957100327203, + -0.07106612878044609, + -0.9913577694510267 + ], + [ + 0.982141331607902, + 0.14028432859743084, + 0.12537428722599075, + 0.12378993977781994, + -0.983638488822182, + 0.1308868752679884, + 0.14168435184331718, + -0.113029334500307, + -0.9834378038214501 + ], + [ + 0.9783541696891072, + 0.12368055558528737, + 0.16591033368073468, + 0.09822445027083193, + -0.9832175846087257, + 0.1537372390970275, + 0.18214026468886815, + -0.13411301758702762, + -0.9740834781951551 + ], + [ + 0.9760437224326863, + 0.11404336957071758, + 0.18529101909348533, + 0.08432127846140929, + -0.9833369821618831, + 0.1610537224388008, + 0.20057062072591564, + -0.14157149914342768, + -0.9693961711972582 + ], + [ + 0.973699004019076, + 0.10953288920441927, + 0.19978187043571102, + 0.08123700057582169, + -0.986131437912449, + 0.14472503894685718, + 0.2128633348176777, + -0.12468894635555228, + -0.969093322310622 + ], + [ + 0.974107098837733, + 0.10477015102182613, + 0.20034613909131957, + 0.07758919675546996, + -0.9872443321274883, + 0.1390271384622092, + 0.21235648457434866, + -0.1198826265019793, + -0.9698107440744359 + ], + [ + 0.9725242320769227, + 0.09169877468801586, + 0.21398119717374312, + 0.06205130337949473, + -0.9880086852906397, + 0.14138059817092233, + 0.2243797089134794, + -0.1242182454834168, + -0.9665524164353033 + ], + [ + 0.966623361203966, + 0.08317825306600886, + 0.24232345283037202, + 0.04591836474413534, + -0.9867615542684172, + 0.15554143755604632, + 0.2520531320058751, + -0.13922289048379904, + -0.9576461796568524 + ], + [ + 0.9643567794440059, + 0.10725587299681466, + 0.24189290946217626, + 0.07073955535048368, + -0.9853931086605159, + 0.15490751018972898, + 0.25497434625703286, + -0.13227471078046737, + -0.9578577575186948 + ], + [ + 0.9632277100403833, + 0.15249236849508765, + 0.22122037917225815, + 0.12272320786098148, + -0.9821350212113098, + 0.1426527755165337, + 0.23902174140163399, + -0.11025823171545343, + -0.9647340200678692 + ], + [ + 0.9466924475565786, + 0.21327267734369282, + 0.24142944070263503, + 0.18912905717089912, + -0.974667889211797, + 0.11938469530499388, + 0.2607750169647791, + -0.06735926690569419, + -0.9630467899790466 + ], + [ + 0.9218037394996279, + 0.2707353144295636, + 0.2774531588669098, + 0.25799232598567196, + -0.9626447448639116, + 0.08218914112214964, + 0.28934032829352374, + -0.00418147182451397, + -0.9572171591213647 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005889.json b/json/chunk-0005/episode_0005889.json new file mode 100644 index 0000000000000000000000000000000000000000..140f5a8e1c7e31e686a7a86639c9ecfcaa7d6595 --- /dev/null +++ b/json/chunk-0005/episode_0005889.json @@ -0,0 +1,1282 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 20, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nOpen small4fbox flaps." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005889.mp4", + "start": 0, + "end": 20, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.28256672620773315, + 0.1197279542684555, + 0.041749823838472366, + -0.007920943200588226, + -0.06924819201231003, + 0.14683537185192108, + 0.0, + 0.9872581958770752 + ], + [ + 0.2774792015552521, + 0.11711496859788895, + 0.031335897743701935, + -0.0188412144780159, + -0.03864678367972374, + 0.15562479197978973, + 0.0, + 0.9872581958770752 + ], + [ + 0.27721813321113586, + 0.11242808401584625, + 0.02738451398909092, + -0.017050851136446, + -0.04893738776445389, + 0.15437263250350952, + 0.0, + 0.9872581958770752 + ], + [ + 0.2759590446949005, + 0.10989472270011902, + 0.02220352366566658, + -5.074145155958831e-05, + -0.06009247153997421, + 0.1485702395439148, + 0.0, + 0.9872581958770752 + ], + [ + 0.27467167377471924, + 0.11242242157459259, + 0.01176645141094923, + -0.008870811201632023, + -0.06457582116127014, + 0.14305414259433746, + 0.0, + 0.9872581958770752 + ], + [ + 0.27299830317497253, + 0.12041308730840683, + 0.0042153107933700085, + -0.023524487391114235, + -0.06410305202007294, + 0.1450221985578537, + 0.0, + 0.9872581958770752 + ], + [ + 0.2727750539779663, + 0.12363971769809723, + 0.002739133546128869, + -0.01304058451205492, + -0.060886189341545105, + 0.13822199404239655, + 0.0, + 0.9872581958770752 + ], + [ + 0.2718451917171478, + 0.13000766932964325, + 0.002516636159271002, + 0.0018134589772671461, + -0.02680998295545578, + 0.14149963855743408, + 0.0, + 0.9872581958770752 + ], + [ + 0.2728448212146759, + 0.13751015067100525, + 0.007871342822909355, + 0.04097698628902435, + -0.008499447256326675, + 0.13839539885520935, + 0.0, + 0.9872581958770752 + ], + [ + 0.272937536239624, + 0.1441241353750229, + 0.013274560682475567, + 0.08007118850946426, + 0.012072069570422173, + 0.12701354920864105, + 0.0, + 0.9865638017654419 + ], + [ + 0.27723202109336853, + 0.1496129184961319, + 0.020984502509236336, + 0.09737583249807358, + 0.02286665514111519, + 0.1128893569111824, + 0.0, + 0.9858682155609131 + ], + [ + 0.27728742361068726, + 0.1550341248512268, + 0.026838593184947968, + 0.12317661195993423, + 0.04297785833477974, + 0.09610417485237122, + 0.0, + 0.9858682155609131 + ], + [ + 0.27483507990837097, + 0.15870411694049835, + 0.029932821169495583, + 0.1432034969329834, + 0.06899262219667435, + 0.08608634769916534, + 0.0, + 0.9858682155609131 + ], + [ + 0.2726467251777649, + 0.16370125114917755, + 0.033181704580783844, + 0.1755024492740631, + 0.09143190830945969, + 0.08544302731752396, + 0.0, + 0.9858682155609131 + ], + [ + 0.2771381437778473, + 0.17485426366329193, + 0.045412566512823105, + 0.22598542273044586, + 0.0987255722284317, + 0.10520050674676895, + 0.0, + 0.9858682155609131 + ], + [ + 0.2825019657611847, + 0.17805476486682892, + 0.056687645614147186, + 0.2678827941417694, + 0.11256330460309982, + 0.10347629338502884, + 0.0, + 0.9858682155609131 + ], + [ + 0.28422194719314575, + 0.18193449079990387, + 0.058025531470775604, + 0.28638148307800293, + 0.10531490296125412, + 0.087486132979393, + 0.0, + 0.9865638017654419 + ], + [ + 0.28743261098861694, + 0.20113462209701538, + 0.060546137392520905, + 0.30595970153808594, + 0.08194135874509811, + 0.07286573946475983, + 0.0, + 0.9865638017654419 + ], + [ + 0.28920257091522217, + 0.21414129436016083, + 0.055637773126363754, + 0.31861263513565063, + 0.07738275080919266, + 0.04876704141497612, + 0.0, + 0.9865638017654419 + ], + [ + 0.28850919008255005, + 0.22269843518733978, + 0.05178936570882797, + 0.31966865062713623, + 0.07383175194263458, + 0.04288678616285324, + 0.0, + 0.9865638017654419 + ] + ], + "left_gripper_pos": [ + [ + 0.9872581958770752 + ], + [ + 0.9872581958770752 + ], + [ + 0.9872581958770752 + ], + [ + 0.9872581958770752 + ], + [ + 0.9872581958770752 + ], + [ + 0.9872581958770752 + ], + [ + 0.9872581958770752 + ], + [ + 0.9872581958770752 + ], + [ + 0.9872581958770752 + ], + [ + 0.9865638017654419 + ], + [ + 0.9858682155609131 + ], + [ + 0.9858682155609131 + ], + [ + 0.9858682155609131 + ], + [ + 0.9858682155609131 + ], + [ + 0.9858682155609131 + ], + [ + 0.9858682155609131 + ], + [ + 0.9865638017654419 + ], + [ + 0.9865638017654419 + ], + [ + 0.9865638017654419 + ], + [ + 0.9865638017654419 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.28256672620773315, + 0.1197279542684555, + 0.041749823838472366 + ], + [ + 0.2774792015552521, + 0.11711496859788895, + 0.031335897743701935 + ], + [ + 0.27721813321113586, + 0.11242808401584625, + 0.02738451398909092 + ], + [ + 0.2759590446949005, + 0.10989472270011902, + 0.02220352366566658 + ], + [ + 0.27467167377471924, + 0.11242242157459259, + 0.01176645141094923 + ], + [ + 0.27299830317497253, + 0.12041308730840683, + 0.0042153107933700085 + ], + [ + 0.2727750539779663, + 0.12363971769809723, + 0.002739133546128869 + ], + [ + 0.2718451917171478, + 0.13000766932964325, + 0.002516636159271002 + ], + [ + 0.2728448212146759, + 0.13751015067100525, + 0.007871342822909355 + ], + [ + 0.272937536239624, + 0.1441241353750229, + 0.013274560682475567 + ], + [ + 0.27723202109336853, + 0.1496129184961319, + 0.020984502509236336 + ], + [ + 0.27728742361068726, + 0.1550341248512268, + 0.026838593184947968 + ], + [ + 0.27483507990837097, + 0.15870411694049835, + 0.029932821169495583 + ], + [ + 0.2726467251777649, + 0.16370125114917755, + 0.033181704580783844 + ], + [ + 0.2771381437778473, + 0.17485426366329193, + 0.045412566512823105 + ], + [ + 0.2825019657611847, + 0.17805476486682892, + 0.056687645614147186 + ], + [ + 0.28422194719314575, + 0.18193449079990387, + 0.058025531470775604 + ], + [ + 0.28743261098861694, + 0.20113462209701538, + 0.060546137392520905 + ], + [ + 0.28920257091522217, + 0.21414129436016083, + 0.055637773126363754 + ], + [ + 0.28850919008255005, + 0.22269843518733978, + 0.05178936570882797 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.986868134754989, + 0.14576153758107852, + 0.0696050196983547, + 0.14595763979708637, + -0.9892881958814556, + 0.0022875476997350594, + 0.06919286083168194, + 0.007901876461600954, + -0.997572006603189 + ], + [ + 0.9871772123742523, + 0.15425072931897155, + 0.04108362050216364, + 0.15488163519217574, + -0.9878523639821237, + -0.012624819013647212, + 0.038637164093631694, + 0.018826031963611614, + -0.9990759480996961 + ], + [ + 0.9869252311998412, + 0.15291373939009173, + 0.05095072449807434, + 0.15357614165950978, + -0.988092799586987, + -0.009326742053266836, + 0.04891785700659571, + 0.017029612740432576, + -0.9986576167815439 + ], + [ + 0.9871986031423728, + 0.14802126046149514, + 0.05940222559078139, + 0.14775708923462846, + -0.9889841777733259, + 0.008839609433025131, + 0.060056311364068256, + 5.0649862746064526e-05, + -0.9981949894183668 + ], + [ + 0.9877221908145111, + 0.1419945235778373, + 0.06513393160623362, + 0.14226956903719504, + -0.989827860654425, + 0.0004195214593462485, + 0.06453094992756042, + 0.008852205724397814, + -0.9978764427298901 + ], + [ + 0.9874703613121609, + 0.14298340753489816, + 0.06676848582781629, + 0.1442175775713108, + -0.989446671754345, + -0.014020487641742106, + 0.06405915898209276, + 0.02347400528155583, + -0.9976699831239527 + ], + [ + 0.9886272207368682, + 0.13698465906065307, + 0.06205982275298758, + 0.1375269756617926, + -0.9904876503951738, + -0.004532701177931265, + 0.06084857749706488, + 0.0130160515012942, + -0.9980621388570449 + ], + [ + 0.9896498441744936, + 0.14107581846801762, + 0.02628306239727973, + 0.14097724261530462, + -0.9899971349337032, + 0.005575830668568053, + 0.02680677134579799, + -0.0018128062880372418, + -0.999638990207653 + ], + [ + 0.9904028576545899, + 0.13818308093706363, + 0.002759654392019804, + 0.13794905104969338, + -0.9895591864884462, + 0.04174536801627059, + 0.00849934492249621, + -0.04096404007255265, + -0.9991244710028991 + ], + [ + 0.9918723377365054, + 0.12530867098073217, + -0.02206813562949697, + 0.12666308794916836, + -0.9888887522666672, + 0.07781707904859211, + -0.01207177635232319, + -0.07997982631586667, + -0.9967233816853013 + ], + [ + 0.9933749942466422, + 0.10990728002203418, + -0.033563530857792186, + 0.11262028244348893, + -0.9891780479036828, + 0.09403968060243813, + -0.02286466242551107, + -0.09719660150240834, + -0.9950025265639026 + ], + [ + 0.9944664020323014, + 0.08997477329966828, + -0.054232051395858044, + 0.09586769996595391, + -0.9883503976208667, + 0.11820691868885257, + -0.04296462884940973, + -0.1227519111555843, + -0.9915069384404148 + ], + [ + 0.9939266210723816, + 0.07529794857920079, + -0.08025017671882216, + 0.08577550752026956, + -0.9869445637488229, + 0.1363194424734985, + -0.06893790128280909, + -0.14237502248080355, + -0.9874091951872395 + ], + [ + 0.9921902167033239, + 0.06814431807507179, + -0.10447452221616055, + 0.08498264208117792, + -0.9824074160748989, + 0.1662937743451122, + -0.09130456956316035, + -0.17387357693198854, + -0.980526111239146 + ], + [ + 0.9896290363183062, + 0.08037353699631211, + -0.11905656229877751, + 0.10449524890923709, + -0.9715049681666826, + 0.21274125077861436, + -0.09856527497601186, + -0.2229757641048801, + -0.9698281781793865 + ], + [ + 0.9883563920734215, + 0.070035164439506, + -0.13508041304919413, + 0.10263804468107465, + -0.9622463638249482, + 0.25208603112769185, + -0.11232574963762879, + -0.2630152296875549, + -0.958230616772783 + ], + [ + 0.9906562273218855, + 0.05423487774965642, + -0.12513519610344867, + 0.08689047709436361, + -0.9581981749566342, + 0.27259182397880083, + -0.10512033228011891, + -0.28091784483235577, + -0.9539574834320773 + ], + [ + 0.994000054719545, + 0.044831865282208526, + -0.09976971019733058, + 0.07255700626728258, + -0.952822851939565, + 0.2947271512149557, + -0.08184969186912644, + -0.3001977959230742, + -0.9503588328962157 + ], + [ + 0.9958221299471252, + 0.02210716664332519, + -0.08859773524518372, + 0.04860183385101192, + -0.9497223517695194, + 0.3092981026383648, + -0.07730554478101848, + -0.3123119077659033, + -0.9468289840376309 + ], + [ + 0.9963586818375609, + 0.01754225605534143, + -0.08343648110632781, + 0.04275683882625873, + -0.9494605233783189, + 0.3109607166182797, + -0.07376469250598891, + -0.3133958898879459, + -0.9467532869448297 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.005087524652481079, + -0.002612985670566559, + -0.010413926094770432, + -0.010920271277427673, + 0.03060140833258629, + 0.008789420127868652, + 1.0 + ], + [ + -0.00026106834411621094, + -0.004686884582042694, + -0.003951383754611015, + 0.0017903633415699005, + -0.010290604084730148, + -0.0012521594762802124, + 1.0 + ], + [ + -0.0012590885162353516, + -0.002533361315727234, + -0.005180990323424339, + 0.01700010895729065, + -0.011155083775520325, + -0.0058023929595947266, + 1.0 + ], + [ + -0.0012873709201812744, + 0.0025276988744735718, + -0.01043707225471735, + -0.008820069953799248, + -0.004483349621295929, + -0.0055160969495773315, + 1.0 + ], + [ + -0.001673370599746704, + 0.00799066573381424, + -0.007551140617579222, + -0.014653676189482212, + 0.0004727691411972046, + 0.0019680559635162354, + 1.0 + ], + [ + -0.00022324919700622559, + 0.003226630389690399, + -0.0014761772472411394, + 0.010483902879059315, + 0.003216862678527832, + -0.006800204515457153, + 1.0 + ], + [ + -0.0009298622608184814, + 0.0063679516315460205, + -0.00022249738685786724, + 0.01485404372215271, + 0.034076206386089325, + 0.0032776445150375366, + 1.0 + ], + [ + 0.0009996294975280762, + 0.0075024813413619995, + 0.005354706663638353, + 0.03916352614760399, + 0.018310535699129105, + -0.0031042397022247314, + 1.0 + ], + [ + 9.271502494812012e-05, + 0.006613984704017639, + 0.005403217859566212, + 0.03909420222043991, + 0.020571516826748848, + -0.011381849646568298, + 1.0 + ], + [ + 0.004294484853744507, + 0.005488783121109009, + 0.007709941826760769, + 0.017304643988609314, + 0.010794585570693016, + -0.014124192297458649, + 1.0 + ], + [ + 5.5402517318725586e-05, + 0.00542120635509491, + 0.005854090675711632, + 0.025800779461860657, + 0.02011120319366455, + -0.016785182058811188, + 1.0 + ], + [ + -0.002452343702316284, + 0.0036699920892715454, + 0.003094227984547615, + 0.020026884973049164, + 0.026014763861894608, + -0.010017827153205872, + 1.0 + ], + [ + -0.002188354730606079, + 0.004997134208679199, + 0.0032488834112882614, + 0.03229895234107971, + 0.02243928611278534, + -0.0006433203816413879, + 1.0 + ], + [ + 0.0044914186000823975, + 0.01115301251411438, + 0.01223086193203926, + 0.05048297345638275, + 0.007293663918972015, + 0.019757479429244995, + 1.0 + ], + [ + 0.005363821983337402, + 0.0032005012035369873, + 0.011275079101324081, + 0.04189737141132355, + 0.013837732374668121, + -0.0017242133617401123, + 1.0 + ], + [ + 0.0017199814319610596, + 0.003879725933074951, + 0.001337885856628418, + 0.01849868893623352, + -0.007248401641845703, + -0.015990160405635834, + 1.0 + ], + [ + 0.0032106637954711914, + 0.01920013129711151, + 0.0025206059217453003, + 0.019578218460083008, + -0.023373544216156006, + -0.014620393514633179, + 1.0 + ], + [ + 0.0017699599266052246, + 0.013006672263145447, + -0.00490836426615715, + 0.012652933597564697, + -0.0045586079359054565, + -0.024098698049783707, + 1.0 + ], + [ + -0.0006933808326721191, + 0.008557140827178955, + -0.003848407417535782, + 0.0010560154914855957, + -0.003550998866558075, + -0.005880255252122879, + 1.0 + ], + [ + -0.0005323290824890137, + 0.012716934084892273, + -0.007998749613761902, + -0.04502663016319275, + -0.022654574364423752, + -0.01046769693493843, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9872581958770752 + ], + [ + 0.9872581958770752 + ], + [ + 0.9872581958770752 + ], + [ + 0.9872581958770752 + ], + [ + 0.9872581958770752 + ], + [ + 0.9872581958770752 + ], + [ + 0.9872581958770752 + ], + [ + 0.9872581958770752 + ], + [ + 0.9865638017654419 + ], + [ + 0.9858682155609131 + ], + [ + 0.9858682155609131 + ], + [ + 0.9858682155609131 + ], + [ + 0.9858682155609131 + ], + [ + 0.9858682155609131 + ], + [ + 0.9858682155609131 + ], + [ + 0.9865638017654419 + ], + [ + 0.9865638017654419 + ], + [ + 0.9865638017654419 + ], + [ + 0.9865638017654419 + ], + [ + 0.9865638017654419 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2774792015552521, + 0.11711496859788895, + 0.031335897743701935 + ], + [ + 0.27721813321113586, + 0.11242808401584625, + 0.02738451398909092 + ], + [ + 0.2759590446949005, + 0.10989472270011902, + 0.02220352366566658 + ], + [ + 0.27467167377471924, + 0.11242242157459259, + 0.01176645141094923 + ], + [ + 0.27299830317497253, + 0.12041308730840683, + 0.0042153107933700085 + ], + [ + 0.2727750539779663, + 0.12363971769809723, + 0.002739133546128869 + ], + [ + 0.2718451917171478, + 0.13000766932964325, + 0.002516636159271002 + ], + [ + 0.2728448212146759, + 0.13751015067100525, + 0.007871342822909355 + ], + [ + 0.272937536239624, + 0.1441241353750229, + 0.013274560682475567 + ], + [ + 0.27723202109336853, + 0.1496129184961319, + 0.020984502509236336 + ], + [ + 0.27728742361068726, + 0.1550341248512268, + 0.026838593184947968 + ], + [ + 0.27483507990837097, + 0.15870411694049835, + 0.029932821169495583 + ], + [ + 0.2726467251777649, + 0.16370125114917755, + 0.033181704580783844 + ], + [ + 0.2771381437778473, + 0.17485426366329193, + 0.045412566512823105 + ], + [ + 0.2825019657611847, + 0.17805476486682892, + 0.056687645614147186 + ], + [ + 0.28422194719314575, + 0.18193449079990387, + 0.058025531470775604 + ], + [ + 0.28743261098861694, + 0.20113462209701538, + 0.060546137392520905 + ], + [ + 0.28920257091522217, + 0.21414129436016083, + 0.055637773126363754 + ], + [ + 0.28850919008255005, + 0.22269843518733978, + 0.05178936570882797 + ], + [ + 0.28797686100006104, + 0.23541536927223206, + 0.04379061609506607 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9871772123742523, + 0.15425072931897155, + 0.04108362050216364, + 0.15488163519217574, + -0.9878523639821237, + -0.012624819013647212, + 0.038637164093631694, + 0.018826031963611614, + -0.9990759480996961 + ], + [ + 0.9869252311998412, + 0.15291373939009173, + 0.05095072449807434, + 0.15357614165950978, + -0.988092799586987, + -0.009326742053266836, + 0.04891785700659571, + 0.017029612740432576, + -0.9986576167815439 + ], + [ + 0.9871986031423728, + 0.14802126046149514, + 0.05940222559078139, + 0.14775708923462846, + -0.9889841777733259, + 0.008839609433025131, + 0.060056311364068256, + 5.0649862746064526e-05, + -0.9981949894183668 + ], + [ + 0.9877221908145111, + 0.1419945235778373, + 0.06513393160623362, + 0.14226956903719504, + -0.989827860654425, + 0.0004195214593462485, + 0.06453094992756042, + 0.008852205724397814, + -0.9978764427298901 + ], + [ + 0.9874703613121609, + 0.14298340753489816, + 0.06676848582781629, + 0.1442175775713108, + -0.989446671754345, + -0.014020487641742106, + 0.06405915898209276, + 0.02347400528155583, + -0.9976699831239527 + ], + [ + 0.9886272207368682, + 0.13698465906065307, + 0.06205982275298758, + 0.1375269756617926, + -0.9904876503951738, + -0.004532701177931265, + 0.06084857749706488, + 0.0130160515012942, + -0.9980621388570449 + ], + [ + 0.9896498441744936, + 0.14107581846801762, + 0.02628306239727973, + 0.14097724261530462, + -0.9899971349337032, + 0.005575830668568053, + 0.02680677134579799, + -0.0018128062880372418, + -0.999638990207653 + ], + [ + 0.9904028576545899, + 0.13818308093706363, + 0.002759654392019804, + 0.13794905104969338, + -0.9895591864884462, + 0.04174536801627059, + 0.00849934492249621, + -0.04096404007255265, + -0.9991244710028991 + ], + [ + 0.9918723377365054, + 0.12530867098073217, + -0.02206813562949697, + 0.12666308794916836, + -0.9888887522666672, + 0.07781707904859211, + -0.01207177635232319, + -0.07997982631586667, + -0.9967233816853013 + ], + [ + 0.9933749942466422, + 0.10990728002203418, + -0.033563530857792186, + 0.11262028244348893, + -0.9891780479036828, + 0.09403968060243813, + -0.02286466242551107, + -0.09719660150240834, + -0.9950025265639026 + ], + [ + 0.9944664020323014, + 0.08997477329966828, + -0.054232051395858044, + 0.09586769996595391, + -0.9883503976208667, + 0.11820691868885257, + -0.04296462884940973, + -0.1227519111555843, + -0.9915069384404148 + ], + [ + 0.9939266210723816, + 0.07529794857920079, + -0.08025017671882216, + 0.08577550752026956, + -0.9869445637488229, + 0.1363194424734985, + -0.06893790128280909, + -0.14237502248080355, + -0.9874091951872395 + ], + [ + 0.9921902167033239, + 0.06814431807507179, + -0.10447452221616055, + 0.08498264208117792, + -0.9824074160748989, + 0.1662937743451122, + -0.09130456956316035, + -0.17387357693198854, + -0.980526111239146 + ], + [ + 0.9896290363183062, + 0.08037353699631211, + -0.11905656229877751, + 0.10449524890923709, + -0.9715049681666826, + 0.21274125077861436, + -0.09856527497601186, + -0.2229757641048801, + -0.9698281781793865 + ], + [ + 0.9883563920734215, + 0.070035164439506, + -0.13508041304919413, + 0.10263804468107465, + -0.9622463638249482, + 0.25208603112769185, + -0.11232574963762879, + -0.2630152296875549, + -0.958230616772783 + ], + [ + 0.9906562273218855, + 0.05423487774965642, + -0.12513519610344867, + 0.08689047709436361, + -0.9581981749566342, + 0.27259182397880083, + -0.10512033228011891, + -0.28091784483235577, + -0.9539574834320773 + ], + [ + 0.994000054719545, + 0.044831865282208526, + -0.09976971019733058, + 0.07255700626728258, + -0.952822851939565, + 0.2947271512149557, + -0.08184969186912644, + -0.3001977959230742, + -0.9503588328962157 + ], + [ + 0.9958221299471252, + 0.02210716664332519, + -0.08859773524518372, + 0.04860183385101192, + -0.9497223517695194, + 0.3092981026383648, + -0.07730554478101848, + -0.3123119077659033, + -0.9468289840376309 + ], + [ + 0.9963586818375609, + 0.01754225605534143, + -0.08343648110632781, + 0.04275683882625873, + -0.9494605233783189, + 0.3109607166182797, + -0.07376469250598891, + -0.3133958898879459, + -0.9467532869448297 + ], + [ + 0.9981659693508567, + 0.01733260678064727, + -0.05800239970942109, + 0.03237097302157758, + -0.9624662657516909, + 0.2694639259634418, + -0.0511548407826697, + -0.2708473149805669, + -0.961262146468026 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005892.json b/json/chunk-0005/episode_0005892.json new file mode 100644 index 0000000000000000000000000000000000000000..fc0088d6fdc37e60abbde893599411c96dec911f --- /dev/null +++ b/json/chunk-0005/episode_0005892.json @@ -0,0 +1,1822 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 29, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut the blue cube on the top edge of the cloth." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005892.mp4", + "start": 0, + "end": 29, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2779439389705658, + 0.006636593956500292, + 0.15705855190753937, + 0.30949193239212036, + -0.17957870662212372, + -0.0049657816998660564, + 0.0, + 1.0008161067962646 + ], + [ + 0.27772051095962524, + 0.006238626781851053, + 0.1502668857574463, + 0.31024205684661865, + -0.15534324944019318, + -0.0028819392900913954, + 0.0, + 1.0008161067962646 + ], + [ + 0.27215126156806946, + -0.006398587487637997, + 0.14546747505664825, + 0.290995717048645, + -0.1405007243156433, + -0.030695555731654167, + 0.0, + 1.0008161067962646 + ], + [ + 0.2666356563568115, + -0.015127602964639664, + 0.1502605676651001, + 0.2670736312866211, + -0.18095926940441132, + -0.051033634692430496, + 0.0, + 1.0008161067962646 + ], + [ + 0.2634354531764984, + -0.030170749872922897, + 0.15118266642093658, + 0.21040067076683044, + -0.19584357738494873, + -0.07854854315519333, + 0.0, + 1.0008161067962646 + ], + [ + 0.25284910202026367, + -0.04181669279932976, + 0.1545935869216919, + 0.16681495308876038, + -0.23759634792804718, + -0.11882094293832779, + 0.0, + 1.0008161067962646 + ], + [ + 0.2345757931470871, + -0.047687094658613205, + 0.1533437818288803, + 0.10744543373584747, + -0.24998797476291656, + -0.19177338480949402, + 0.0, + 1.0008161067962646 + ], + [ + 0.2161809653043747, + -0.04546211287379265, + 0.1447058916091919, + 0.054968081414699554, + -0.22846904397010803, + -0.23752957582473755, + 0.0, + 1.0008161067962646 + ], + [ + 0.20372408628463745, + -0.04662580415606499, + 0.13492073118686676, + 0.006084930617362261, + -0.2224176675081253, + -0.27295634150505066, + 0.0, + 1.0008161067962646 + ], + [ + 0.19669656455516815, + -0.047352135181427, + 0.12037600576877594, + 0.00682564452290535, + -0.219294011592865, + -0.2825680375099182, + 0.0, + 1.0008161067962646 + ], + [ + 0.19773760437965393, + -0.04817458242177963, + 0.09426768124103546, + 0.052795253694057465, + -0.18320772051811218, + -0.2856426239013672, + 0.0, + 1.0008161067962646 + ], + [ + 0.2021791934967041, + -0.05070675164461136, + 0.07373616099357605, + 0.09424330294132233, + -0.15263524651527405, + -0.2924904525279999, + 0.0, + 1.0008161067962646 + ], + [ + 0.20459292829036713, + -0.05258255451917648, + 0.0618552640080452, + 0.10755881667137146, + -0.1268317550420761, + -0.2961786091327667, + 0.0, + 1.0008161067962646 + ], + [ + 0.2067643105983734, + -0.05364971607923508, + 0.04987556114792824, + 0.13054808974266052, + -0.10033324360847473, + -0.3028255105018616, + 0.0, + 0.9453431367874146 + ], + [ + 0.2066340148448944, + -0.053732406347990036, + 0.05020885169506073, + 0.1308402717113495, + -0.10183767229318619, + -0.2945482134819031, + 0.0, + 0.6701657772064209 + ], + [ + 0.2045098841190338, + -0.047672562301158905, + 0.05446045473217964, + 0.10769184678792953, + -0.09287401288747787, + -0.27396151423454285, + 0.0, + 0.505268931388855 + ], + [ + 0.2091597467660904, + -0.03050238825380802, + 0.07115539163351059, + 0.065543033182621, + -0.11348511278629303, + -0.21771970391273499, + 0.0, + 0.505268931388855 + ], + [ + 0.21540135145187378, + -0.006768234074115753, + 0.08370240777730942, + 0.025283362716436386, + -0.11469510197639465, + -0.14256972074508667, + 0.0, + 0.505268931388855 + ], + [ + 0.23195144534111023, + 0.021006586030125618, + 0.09754909574985504, + 0.01789066754281521, + -0.1431119740009308, + -0.05034676939249039, + 0.0, + 0.505268931388855 + ], + [ + 0.26337718963623047, + 0.038347404450178146, + 0.09656272083520889, + 0.03666440024971962, + -0.15220977365970612, + 0.03129265829920769, + 0.0, + 0.505268931388855 + ], + [ + 0.29873159527778625, + 0.05582642927765846, + 0.09645044058561325, + 0.050682224333286285, + -0.17178647220134735, + 0.11475516110658646, + 0.0, + 0.505268931388855 + ], + [ + 0.31969279050827026, + 0.06410564482212067, + 0.09605322778224945, + 0.06256449967622757, + -0.18759606778621674, + 0.1549406349658966, + 0.0, + 0.505268931388855 + ], + [ + 0.33606937527656555, + 0.0723489448428154, + 0.09000818431377411, + 0.08532670140266418, + -0.20190761983394623, + 0.2123393565416336, + 0.0, + 0.505268931388855 + ], + [ + 0.3537061810493469, + 0.07857384532690048, + 0.08429568260908127, + 0.09423726797103882, + -0.2095901370048523, + 0.26652345061302185, + 0.0, + 0.505268931388855 + ], + [ + 0.3674716353416443, + 0.08448939025402069, + 0.06899058073759079, + 0.11187919974327087, + -0.1863279938697815, + 0.3076868951320648, + 0.0, + 0.505268931388855 + ], + [ + 0.37724706530570984, + 0.08639904111623764, + 0.05395865812897682, + 0.13390444219112396, + -0.15185900032520294, + 0.3257087171077728, + 0.0, + 0.570969820022583 + ], + [ + 0.37975069880485535, + 0.08451356738805771, + 0.055697325617074966, + 0.17010259628295898, + -0.17309537529945374, + 0.32821857929229736, + 0.0, + 0.8445048928260803 + ], + [ + 0.37290409207344055, + 0.08353744447231293, + 0.05187318101525307, + 0.1832531839609146, + -0.15327392518520355, + 0.30952802300453186, + 0.0, + 1.00800359249115 + ], + [ + 0.36076077818870544, + 0.08588141947984695, + 0.08405714482069016, + 0.1418142020702362, + -0.21181878447532654, + 0.30495485663414, + 0.0, + 1.0041072368621826 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9453431367874146 + ], + [ + 0.6701657772064209 + ], + [ + 0.505268931388855 + ], + [ + 0.505268931388855 + ], + [ + 0.505268931388855 + ], + [ + 0.505268931388855 + ], + [ + 0.505268931388855 + ], + [ + 0.505268931388855 + ], + [ + 0.505268931388855 + ], + [ + 0.505268931388855 + ], + [ + 0.505268931388855 + ], + [ + 0.505268931388855 + ], + [ + 0.570969820022583 + ], + [ + 0.8445048928260803 + ], + [ + 1.00800359249115 + ], + [ + 1.0041072368621826 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2779439389705658, + 0.006636593956500292, + 0.15705855190753937 + ], + [ + 0.27772051095962524, + 0.006238626781851053, + 0.1502668857574463 + ], + [ + 0.27215126156806946, + -0.006398587487637997, + 0.14546747505664825 + ], + [ + 0.2666356563568115, + -0.015127602964639664, + 0.1502605676651001 + ], + [ + 0.2634354531764984, + -0.030170749872922897, + 0.15118266642093658 + ], + [ + 0.25284910202026367, + -0.04181669279932976, + 0.1545935869216919 + ], + [ + 0.2345757931470871, + -0.047687094658613205, + 0.1533437818288803 + ], + [ + 0.2161809653043747, + -0.04546211287379265, + 0.1447058916091919 + ], + [ + 0.20372408628463745, + -0.04662580415606499, + 0.13492073118686676 + ], + [ + 0.19669656455516815, + -0.047352135181427, + 0.12037600576877594 + ], + [ + 0.19773760437965393, + -0.04817458242177963, + 0.09426768124103546 + ], + [ + 0.2021791934967041, + -0.05070675164461136, + 0.07373616099357605 + ], + [ + 0.20459292829036713, + -0.05258255451917648, + 0.0618552640080452 + ], + [ + 0.2067643105983734, + -0.05364971607923508, + 0.04987556114792824 + ], + [ + 0.2066340148448944, + -0.053732406347990036, + 0.05020885169506073 + ], + [ + 0.2045098841190338, + -0.047672562301158905, + 0.05446045473217964 + ], + [ + 0.2091597467660904, + -0.03050238825380802, + 0.07115539163351059 + ], + [ + 0.21540135145187378, + -0.006768234074115753, + 0.08370240777730942 + ], + [ + 0.23195144534111023, + 0.021006586030125618, + 0.09754909574985504 + ], + [ + 0.26337718963623047, + 0.038347404450178146, + 0.09656272083520889 + ], + [ + 0.29873159527778625, + 0.05582642927765846, + 0.09645044058561325 + ], + [ + 0.31969279050827026, + 0.06410564482212067, + 0.09605322778224945 + ], + [ + 0.33606937527656555, + 0.0723489448428154, + 0.09000818431377411 + ], + [ + 0.3537061810493469, + 0.07857384532690048, + 0.08429568260908127 + ], + [ + 0.3674716353416443, + 0.08448939025402069, + 0.06899058073759079 + ], + [ + 0.37724706530570984, + 0.08639904111623764, + 0.05395865812897682 + ], + [ + 0.37975069880485535, + 0.08451356738805771, + 0.055697325617074966 + ], + [ + 0.37290409207344055, + 0.08353744447231293, + 0.05187318101525307 + ], + [ + 0.36076077818870544, + 0.08588141947984695, + 0.08405714482069016 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9839068982505534, + 0.04967113906323706, + 0.17163913749240287, + -0.0048859070302780215, + -0.9527468392584195, + 0.3037261730499746, + 0.17861507071763819, + -0.2996768897116563, + -0.9371714988652191 + ], + [ + 0.98795437891044, + 0.04448955300358405, + 0.14821209419351766, + -0.0028472324240374665, + -0.9523918715467238, + 0.3048632747302508, + 0.15471922459478127, + -0.30161300151895004, + -0.9407930478354523 + ], + [ + 0.9896795698072745, + 0.010758655155074475, + 0.1428936683178884, + -0.030388309119648307, + -0.9587404994720907, + 0.2826538613584732, + 0.14003892235709764, + -0.28407904887770324, + -0.9485189477357859 + ], + [ + 0.9823908278401339, + -0.0017680946566992796, + 0.1868291605099728, + -0.05017854439878931, + -0.965714425760709, + 0.2547111335605152, + 0.17997326206299355, + -0.2596006966842517, + -0.948797714596455 + ], + [ + 0.9778594541901529, + -0.03622137194660024, + 0.20610410006897534, + -0.076967794541003, + -0.9781209915619763, + 0.19327515222943176, + 0.1945940555475169, + -0.2048593128957581, + -0.9592527380547045 + ], + [ + 0.9650537004838904, + -0.0780906588765036, + 0.2501463655114408, + -0.11521130208086591, + -0.9837983032122463, + 0.13735812487631338, + 0.23536718347123345, + -0.16137765518478386, + -0.9584151195342653 + ], + [ + 0.951153018425465, + -0.1634572294969516, + 0.2618962956311295, + -0.1846753409748428, + -0.9810634097315447, + 0.05839181896242517, + 0.24739230783505098, + -0.10390534255319106, + -0.9633279430250902 + ], + [ + 0.9466661348896419, + -0.22285300717622253, + 0.23272250910820952, + -0.22918778674996698, + -0.9733822085923485, + 0.0001854738075407654, + 0.22648661650913904, + -0.05351273856191745, + -0.9725431606637548 + ], + [ + 0.9392570875944443, + -0.2682819482186582, + 0.21405821559473917, + -0.26293894852792116, + -0.9633221537935278, + -0.053605385528229195, + 0.22058837854844907, + -0.005935003841621857, + -0.9753489339609523 + ], + [ + 0.9373435968623772, + -0.27739030774232826, + 0.21081176103746585, + -0.2721453110191801, + -0.9607342157071662, + -0.05409895063501574, + 0.21754059646736035, + -0.006662127299336362, + -0.9760285369539522 + ], + [ + 0.9434232466787998, + -0.27215702682936455, + 0.18942843074214774, + -0.2770584235863673, + -0.9608528669577929, + -0.0006308556306724722, + 0.18218454255471075, + -0.051887578536584184, + -0.9818943281472505 + ], + [ + 0.9463963704791298, + -0.2733580796992033, + 0.17207344422395215, + -0.28498553502831486, + -0.9574051071742673, + 0.046461872339100214, + 0.15204326610723223, + -0.09300978991371703, + -0.9839878171052991 + ], + [ + 0.9487761774030131, + -0.2771928189812559, + 0.15161763188280988, + -0.28952295694443886, + -0.954894852160804, + 0.06597180245335976, + 0.1264919862863856, + -0.10648925965570993, + -0.9862351722501606 + ], + [ + 0.9496973608923026, + -0.2832347842411151, + 0.13361504297826632, + -0.2967185493314562, + -0.9502641076395564, + 0.09463735105460937, + 0.1001649898758603, + -0.12952290425977228, + -0.9865043294761976 + ], + [ + 0.9519755482361676, + -0.27513386484574587, + 0.13432762923349426, + -0.28880347376465054, + -0.9526046225899666, + 0.09558758581373505, + 0.10166173863317043, + -0.1297913303548053, + -0.9863159237601362 + ], + [ + 0.9585577069820532, + -0.2593836365055798, + 0.11784418313370364, + -0.2693813501971393, + -0.9598264027507035, + 0.07853002450407696, + 0.09274055505157809, + -0.10702058538330848, + -0.9899221099424639 + ], + [ + 0.9701118681535474, + -0.20829812855481353, + 0.12447832304540611, + -0.21461427265760327, + -0.9758981292789605, + 0.03954181636537568, + 0.1132416762472281, + -0.06507481010642713, + -0.9914341086780958 + ], + [ + 0.9833505256185505, + -0.13917795594960577, + 0.11683852251466782, + -0.1411536774076275, + -0.9899488648644442, + 0.00876836974027431, + 0.11444379895837244, + -0.025114568108735774, + -0.993112216896302 + ], + [ + 0.9885227706029919, + -0.04776917984708855, + 0.14332075026360314, + -0.04981102203081275, + -0.9987014437662723, + 0.010690570771012353, + 0.14262396041209724, + -0.017706825686741437, + -0.9896185498668003 + ], + [ + 0.9879545245980165, + 0.03682171407333949, + 0.1502997628042328, + 0.030925818513651282, + -0.9986647964927445, + 0.04137895594823633, + 0.15162272611837618, + -0.03623238356507355, + -0.9877741458985578 + ], + [ + 0.9788006131429742, + 0.12295952707896647, + 0.16379961664013482, + 0.11281808162195651, + -0.9911556194570543, + 0.06987573597354726, + 0.17094279794738293, + -0.04991485469497272, + -0.9840157860068609 + ], + [ + 0.9706862671494664, + 0.16554035110605492, + 0.17425430532161645, + 0.15161393783262272, + -0.9842881427552522, + 0.09049898279153215, + 0.18649767993817157, + -0.06142673837263771, + -0.9805332075919607 + ], + [ + 0.9576826312404157, + 0.22668726196049596, + 0.1773608273697627, + 0.2064661297194099, + -0.9703823874684336, + 0.12541833745409764, + 0.200538562623554, + -0.08349195982797136, + -0.9761215997738001 + ], + [ + 0.9435813102664039, + 0.2810972656518275, + 0.17503896183136736, + 0.2576155150341081, + -0.9552555765889166, + 0.14533076002515186, + 0.20805902366792023, + -0.09203863666332177, + -0.9737763254626338 + ], + [ + 0.9365406419263217, + 0.32067281796785474, + 0.14163534105860945, + 0.29761288965625077, + -0.9408144855148073, + 0.16215631889003007, + 0.1852517042585299, + -0.10971347985577672, + -0.9765473661872457 + ], + [ + 0.936520818219821, + 0.33625014249484025, + 0.09932068622938503, + 0.31629784884271356, + -0.9324806876915404, + 0.17445755328957097, + 0.1512759989500921, + -0.13196821115144047, + -0.9796427733552369 + ], + [ + 0.9324721820760001, + 0.3453044360703473, + 0.10611539042270182, + 0.317540026567756, + -0.92355727037249, + 0.21496581093156253, + 0.17223228844142965, + -0.16675375489701844, + -0.9708394429801323 + ], + [ + 0.9413111041357431, + 0.32600836534691396, + 0.08747543057671567, + 0.3010380471633672, + -0.9280544693911201, + 0.21929659368816826, + 0.1526744883430597, + -0.18009288594222786, + -0.9717288989436227 + ], + [ + 0.9325418720529836, + 0.32557988678154504, + 0.15608777719998843, + 0.29353957110424833, + -0.9353629818889782, + 0.19730841925192422, + 0.21023838151929072, + -0.13818042348710424, + -0.967835726505833 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.00022342801094055176, + -0.0003979671746492386, + -0.006791666150093079, + 0.000750124454498291, + 0.024235457181930542, + 0.002083842409774661, + 1.0 + ], + [ + -0.005569249391555786, + -0.012637214735150337, + -0.004799410700798035, + -0.019246339797973633, + 0.014842525124549866, + -0.027813617140054703, + 1.0 + ], + [ + -0.005515605211257935, + -0.008729015477001667, + 0.004793092608451843, + -0.023922085762023926, + -0.040458545088768005, + -0.02033807896077633, + 1.0 + ], + [ + -0.0032002031803131104, + -0.015043146908283234, + 0.0009220987558364868, + -0.05667296051979065, + -0.014884307980537415, + -0.027514908462762833, + 1.0 + ], + [ + -0.010586351156234741, + -0.01164594292640686, + 0.00341092050075531, + -0.04358571767807007, + -0.04175277054309845, + -0.04027239978313446, + 1.0 + ], + [ + -0.018273308873176575, + -0.005870401859283447, + -0.0012498050928115845, + -0.0593695193529129, + -0.012391626834869385, + -0.07295244187116623, + 1.0 + ], + [ + -0.018394827842712402, + 0.0022249817848205566, + -0.008637890219688416, + -0.05247735232114792, + 0.021518930792808533, + -0.04575619101524353, + 1.0 + ], + [ + -0.012456879019737244, + -0.0011636912822723389, + -0.009785160422325134, + -0.04888315126299858, + 0.006051376461982727, + -0.03542676568031311, + 1.0 + ], + [ + -0.007027521729469299, + -0.0007263310253620148, + -0.01454472541809082, + 0.0007407139055430889, + 0.003123655915260315, + -0.009611696004867554, + 1.0 + ], + [ + 0.0010410398244857788, + -0.0008224472403526306, + -0.02610832452774048, + 0.045969609171152115, + 0.03608629107475281, + -0.0030745863914489746, + 1.0 + ], + [ + 0.004441589117050171, + -0.002532169222831726, + -0.02053152024745941, + 0.04144804924726486, + 0.030572474002838135, + -0.00684782862663269, + 1.0 + ], + [ + 0.002413734793663025, + -0.0018758028745651245, + -0.011880896985530853, + 0.013315513730049133, + 0.025803491473197937, + -0.0036881566047668457, + 1.0 + ], + [ + 0.0021713823080062866, + -0.0010671615600585938, + -0.011979702860116959, + 0.022989273071289062, + 0.02649851143360138, + -0.006646901369094849, + 0.0 + ], + [ + -0.0001302957534790039, + -8.26902687549591e-05, + 0.00033329054713249207, + 0.00029218196868896484, + -0.0015044286847114563, + 0.008277297019958496, + 0.0 + ], + [ + -0.0021241307258605957, + 0.006059844046831131, + 0.004251603037118912, + -0.023148424923419952, + 0.008963659405708313, + 0.02058669924736023, + 0.0 + ], + [ + 0.00464986264705658, + 0.017170174047350883, + 0.016694936901330948, + -0.04214881360530853, + -0.020611099898815155, + 0.05624181032180786, + 0.0 + ], + [ + 0.006241604685783386, + 0.02373415417969227, + 0.012547016143798828, + -0.040259670466184616, + -0.0012099891901016235, + 0.07514998316764832, + 0.0 + ], + [ + 0.01655009388923645, + 0.02777482010424137, + 0.013846687972545624, + -0.007392695173621178, + -0.028416872024536133, + 0.09222295135259628, + 0.0 + ], + [ + 0.03142574429512024, + 0.01734081842005253, + -0.0009863749146461487, + 0.01877373270690441, + -0.00909779965877533, + 0.08163942396640778, + 0.0 + ], + [ + 0.035354405641555786, + 0.017479024827480316, + -0.00011228024959564209, + 0.014017824083566666, + -0.019576698541641235, + 0.08346250653266907, + 0.0 + ], + [ + 0.02096119523048401, + 0.008279215544462204, + -0.00039721280336380005, + 0.011882275342941284, + -0.015809595584869385, + 0.04018547385931015, + 0.0 + ], + [ + 0.016376584768295288, + 0.008243300020694733, + -0.006045043468475342, + 0.022762201726436615, + -0.014311552047729492, + 0.057398721575737, + 0.0 + ], + [ + 0.017636805772781372, + 0.006224900484085083, + -0.005712501704692841, + 0.008910566568374634, + -0.007682517170906067, + 0.054184094071388245, + 0.0 + ], + [ + 0.013765454292297363, + 0.005915544927120209, + -0.015305101871490479, + 0.017641931772232056, + 0.0232621431350708, + 0.04116344451904297, + 0.0 + ], + [ + 0.009775429964065552, + 0.0019096508622169495, + -0.015031922608613968, + 0.02202524244785309, + 0.03446899354457855, + 0.018021821975708008, + 1.0 + ], + [ + 0.002503633499145508, + -0.0018854737281799316, + 0.0017386674880981445, + 0.03619815409183502, + -0.021236374974250793, + 0.002509862184524536, + 1.0 + ], + [ + -0.006846606731414795, + -0.0009761229157447815, + -0.0038241446018218994, + 0.013150587677955627, + 0.019821450114250183, + -0.018690556287765503, + 1.0 + ], + [ + -0.012143313884735107, + 0.002343975007534027, + 0.03218396380543709, + -0.041438981890678406, + -0.058544859290122986, + -0.004573166370391846, + 1.0 + ], + [ + -0.022433727979660034, + 0.014483630657196045, + 0.036817215383052826, + 0.08260014653205872, + -0.07722607254981995, + 0.018102914094924927, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9453431367874146 + ], + [ + 0.6701657772064209 + ], + [ + 0.505268931388855 + ], + [ + 0.505268931388855 + ], + [ + 0.505268931388855 + ], + [ + 0.505268931388855 + ], + [ + 0.505268931388855 + ], + [ + 0.505268931388855 + ], + [ + 0.505268931388855 + ], + [ + 0.505268931388855 + ], + [ + 0.505268931388855 + ], + [ + 0.505268931388855 + ], + [ + 0.570969820022583 + ], + [ + 0.8445048928260803 + ], + [ + 1.00800359249115 + ], + [ + 1.0041072368621826 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.27772051095962524, + 0.006238626781851053, + 0.1502668857574463 + ], + [ + 0.27215126156806946, + -0.006398587487637997, + 0.14546747505664825 + ], + [ + 0.2666356563568115, + -0.015127602964639664, + 0.1502605676651001 + ], + [ + 0.2634354531764984, + -0.030170749872922897, + 0.15118266642093658 + ], + [ + 0.25284910202026367, + -0.04181669279932976, + 0.1545935869216919 + ], + [ + 0.2345757931470871, + -0.047687094658613205, + 0.1533437818288803 + ], + [ + 0.2161809653043747, + -0.04546211287379265, + 0.1447058916091919 + ], + [ + 0.20372408628463745, + -0.04662580415606499, + 0.13492073118686676 + ], + [ + 0.19669656455516815, + -0.047352135181427, + 0.12037600576877594 + ], + [ + 0.19773760437965393, + -0.04817458242177963, + 0.09426768124103546 + ], + [ + 0.2021791934967041, + -0.05070675164461136, + 0.07373616099357605 + ], + [ + 0.20459292829036713, + -0.05258255451917648, + 0.0618552640080452 + ], + [ + 0.2067643105983734, + -0.05364971607923508, + 0.04987556114792824 + ], + [ + 0.2066340148448944, + -0.053732406347990036, + 0.05020885169506073 + ], + [ + 0.2045098841190338, + -0.047672562301158905, + 0.05446045473217964 + ], + [ + 0.2091597467660904, + -0.03050238825380802, + 0.07115539163351059 + ], + [ + 0.21540135145187378, + -0.006768234074115753, + 0.08370240777730942 + ], + [ + 0.23195144534111023, + 0.021006586030125618, + 0.09754909574985504 + ], + [ + 0.26337718963623047, + 0.038347404450178146, + 0.09656272083520889 + ], + [ + 0.29873159527778625, + 0.05582642927765846, + 0.09645044058561325 + ], + [ + 0.31969279050827026, + 0.06410564482212067, + 0.09605322778224945 + ], + [ + 0.33606937527656555, + 0.0723489448428154, + 0.09000818431377411 + ], + [ + 0.3537061810493469, + 0.07857384532690048, + 0.08429568260908127 + ], + [ + 0.3674716353416443, + 0.08448939025402069, + 0.06899058073759079 + ], + [ + 0.37724706530570984, + 0.08639904111623764, + 0.05395865812897682 + ], + [ + 0.37975069880485535, + 0.08451356738805771, + 0.055697325617074966 + ], + [ + 0.37290409207344055, + 0.08353744447231293, + 0.05187318101525307 + ], + [ + 0.36076077818870544, + 0.08588141947984695, + 0.08405714482069016 + ], + [ + 0.3383270502090454, + 0.100365050137043, + 0.12087436020374298 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.98795437891044, + 0.04448955300358405, + 0.14821209419351766, + -0.0028472324240374665, + -0.9523918715467238, + 0.3048632747302508, + 0.15471922459478127, + -0.30161300151895004, + -0.9407930478354523 + ], + [ + 0.9896795698072745, + 0.010758655155074475, + 0.1428936683178884, + -0.030388309119648307, + -0.9587404994720907, + 0.2826538613584732, + 0.14003892235709764, + -0.28407904887770324, + -0.9485189477357859 + ], + [ + 0.9823908278401339, + -0.0017680946566992796, + 0.1868291605099728, + -0.05017854439878931, + -0.965714425760709, + 0.2547111335605152, + 0.17997326206299355, + -0.2596006966842517, + -0.948797714596455 + ], + [ + 0.9778594541901529, + -0.03622137194660024, + 0.20610410006897534, + -0.076967794541003, + -0.9781209915619763, + 0.19327515222943176, + 0.1945940555475169, + -0.2048593128957581, + -0.9592527380547045 + ], + [ + 0.9650537004838904, + -0.0780906588765036, + 0.2501463655114408, + -0.11521130208086591, + -0.9837983032122463, + 0.13735812487631338, + 0.23536718347123345, + -0.16137765518478386, + -0.9584151195342653 + ], + [ + 0.951153018425465, + -0.1634572294969516, + 0.2618962956311295, + -0.1846753409748428, + -0.9810634097315447, + 0.05839181896242517, + 0.24739230783505098, + -0.10390534255319106, + -0.9633279430250902 + ], + [ + 0.9466661348896419, + -0.22285300717622253, + 0.23272250910820952, + -0.22918778674996698, + -0.9733822085923485, + 0.0001854738075407654, + 0.22648661650913904, + -0.05351273856191745, + -0.9725431606637548 + ], + [ + 0.9392570875944443, + -0.2682819482186582, + 0.21405821559473917, + -0.26293894852792116, + -0.9633221537935278, + -0.053605385528229195, + 0.22058837854844907, + -0.005935003841621857, + -0.9753489339609523 + ], + [ + 0.9373435968623772, + -0.27739030774232826, + 0.21081176103746585, + -0.2721453110191801, + -0.9607342157071662, + -0.05409895063501574, + 0.21754059646736035, + -0.006662127299336362, + -0.9760285369539522 + ], + [ + 0.9434232466787998, + -0.27215702682936455, + 0.18942843074214774, + -0.2770584235863673, + -0.9608528669577929, + -0.0006308556306724722, + 0.18218454255471075, + -0.051887578536584184, + -0.9818943281472505 + ], + [ + 0.9463963704791298, + -0.2733580796992033, + 0.17207344422395215, + -0.28498553502831486, + -0.9574051071742673, + 0.046461872339100214, + 0.15204326610723223, + -0.09300978991371703, + -0.9839878171052991 + ], + [ + 0.9487761774030131, + -0.2771928189812559, + 0.15161763188280988, + -0.28952295694443886, + -0.954894852160804, + 0.06597180245335976, + 0.1264919862863856, + -0.10648925965570993, + -0.9862351722501606 + ], + [ + 0.9496973608923026, + -0.2832347842411151, + 0.13361504297826632, + -0.2967185493314562, + -0.9502641076395564, + 0.09463735105460937, + 0.1001649898758603, + -0.12952290425977228, + -0.9865043294761976 + ], + [ + 0.9519755482361676, + -0.27513386484574587, + 0.13432762923349426, + -0.28880347376465054, + -0.9526046225899666, + 0.09558758581373505, + 0.10166173863317043, + -0.1297913303548053, + -0.9863159237601362 + ], + [ + 0.9585577069820532, + -0.2593836365055798, + 0.11784418313370364, + -0.2693813501971393, + -0.9598264027507035, + 0.07853002450407696, + 0.09274055505157809, + -0.10702058538330848, + -0.9899221099424639 + ], + [ + 0.9701118681535474, + -0.20829812855481353, + 0.12447832304540611, + -0.21461427265760327, + -0.9758981292789605, + 0.03954181636537568, + 0.1132416762472281, + -0.06507481010642713, + -0.9914341086780958 + ], + [ + 0.9833505256185505, + -0.13917795594960577, + 0.11683852251466782, + -0.1411536774076275, + -0.9899488648644442, + 0.00876836974027431, + 0.11444379895837244, + -0.025114568108735774, + -0.993112216896302 + ], + [ + 0.9885227706029919, + -0.04776917984708855, + 0.14332075026360314, + -0.04981102203081275, + -0.9987014437662723, + 0.010690570771012353, + 0.14262396041209724, + -0.017706825686741437, + -0.9896185498668003 + ], + [ + 0.9879545245980165, + 0.03682171407333949, + 0.1502997628042328, + 0.030925818513651282, + -0.9986647964927445, + 0.04137895594823633, + 0.15162272611837618, + -0.03623238356507355, + -0.9877741458985578 + ], + [ + 0.9788006131429742, + 0.12295952707896647, + 0.16379961664013482, + 0.11281808162195651, + -0.9911556194570543, + 0.06987573597354726, + 0.17094279794738293, + -0.04991485469497272, + -0.9840157860068609 + ], + [ + 0.9706862671494664, + 0.16554035110605492, + 0.17425430532161645, + 0.15161393783262272, + -0.9842881427552522, + 0.09049898279153215, + 0.18649767993817157, + -0.06142673837263771, + -0.9805332075919607 + ], + [ + 0.9576826312404157, + 0.22668726196049596, + 0.1773608273697627, + 0.2064661297194099, + -0.9703823874684336, + 0.12541833745409764, + 0.200538562623554, + -0.08349195982797136, + -0.9761215997738001 + ], + [ + 0.9435813102664039, + 0.2810972656518275, + 0.17503896183136736, + 0.2576155150341081, + -0.9552555765889166, + 0.14533076002515186, + 0.20805902366792023, + -0.09203863666332177, + -0.9737763254626338 + ], + [ + 0.9365406419263217, + 0.32067281796785474, + 0.14163534105860945, + 0.29761288965625077, + -0.9408144855148073, + 0.16215631889003007, + 0.1852517042585299, + -0.10971347985577672, + -0.9765473661872457 + ], + [ + 0.936520818219821, + 0.33625014249484025, + 0.09932068622938503, + 0.31629784884271356, + -0.9324806876915404, + 0.17445755328957097, + 0.1512759989500921, + -0.13196821115144047, + -0.9796427733552369 + ], + [ + 0.9324721820760001, + 0.3453044360703473, + 0.10611539042270182, + 0.317540026567756, + -0.92355727037249, + 0.21496581093156253, + 0.17223228844142965, + -0.16675375489701844, + -0.9708394429801323 + ], + [ + 0.9413111041357431, + 0.32600836534691396, + 0.08747543057671567, + 0.3010380471633672, + -0.9280544693911201, + 0.21929659368816826, + 0.1526744883430597, + -0.18009288594222786, + -0.9717288989436227 + ], + [ + 0.9325418720529836, + 0.32557988678154504, + 0.15608777719998843, + 0.29353957110424833, + -0.9353629818889782, + 0.19730841925192422, + 0.21023838151929072, + -0.13818042348710424, + -0.967835726505833 + ], + [ + 0.9089316482383413, + 0.369656467061559, + 0.19286615874823365, + 0.3042979815578665, + -0.9043536601755021, + 0.2992443746287987, + 0.2850368349012819, + -0.21330389983949913, + -0.9344813797303403 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005893.json b/json/chunk-0005/episode_0005893.json new file mode 100644 index 0000000000000000000000000000000000000000..a5cd97f694cf28c3bd7ecfd627770ff72dfe094f --- /dev/null +++ b/json/chunk-0005/episode_0005893.json @@ -0,0 +1,1102 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 17, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nOpen drawer of box." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005893.mp4", + "start": 0, + "end": 17, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3743458688259125, + -0.11883867532014847, + 0.09560289978981018, + -0.15365241467952728, + -0.03486911952495575, + 0.19041487574577332, + 0.0, + 0.9968144297599792 + ], + [ + 0.3636717200279236, + -0.11720309406518936, + 0.07858433574438095, + -0.142998605966568, + -0.007271629758179188, + 0.1713162064552307, + 0.0, + 0.9968144297599792 + ], + [ + 0.3115249574184418, + -0.11654909700155258, + 0.06962990015745163, + -0.14890192449092865, + 0.04818177968263626, + 0.08725877106189728, + 0.0, + 0.9968144297599792 + ], + [ + 0.28492119908332825, + -0.10341843217611313, + 0.08289653807878494, + -0.17713472247123718, + 0.0449015274643898, + 0.03975848853588104, + 0.0, + 0.9968144297599792 + ], + [ + 0.2731451392173767, + -0.07590603083372116, + 0.09177400171756744, + -0.18853335082530975, + -0.017281830310821533, + -0.014901967719197273, + 0.0, + 0.9968144297599792 + ], + [ + 0.2849698066711426, + -0.03700471296906471, + 0.08907012641429901, + -0.16462442278862, + -0.09021215885877609, + -0.07378485053777695, + 0.0, + 0.9968144297599792 + ], + [ + 0.29614657163619995, + -0.006371913943439722, + 0.08684419840574265, + -0.13659344613552094, + -0.16039137542247772, + -0.12089860439300537, + 0.0, + 0.9968144297599792 + ], + [ + 0.30440253019332886, + 0.010329307056963444, + 0.07597018778324127, + -0.11086548864841461, + -0.18512995541095734, + -0.12029702216386795, + 0.0, + 0.9968144297599792 + ], + [ + 0.3103232979774475, + 0.01598326675593853, + 0.06419150531291962, + -0.08473249524831772, + -0.18411898612976074, + -0.0839184820652008, + 0.0, + 0.9968144297599792 + ], + [ + 0.31397199630737305, + 0.0079716257750988, + 0.05164719745516777, + -0.05848709121346474, + -0.19400854408740997, + -0.08018244802951813, + 0.0, + 0.9968144297599792 + ], + [ + 0.31212761998176575, + 0.0035398807376623154, + 0.03448940068483353, + -0.034579042345285416, + -0.2006186991930008, + -0.05588940531015396, + 0.0, + 0.9974852800369263 + ], + [ + 0.3058956563472748, + 0.005056481342762709, + 0.027355274185538292, + -0.020945096388459206, + -0.1972208172082901, + -0.029165729880332947, + 0.0, + 0.9974852800369263 + ], + [ + 0.2856113612651825, + 0.005751484073698521, + 0.024168407544493675, + -0.02509695291519165, + -0.17229101061820984, + -0.006844787392765284, + 0.0, + 0.9974852800369263 + ], + [ + 0.2681655287742615, + 0.007418700959533453, + 0.023576917126774788, + -0.010461809113621712, + -0.1460324376821518, + 0.01852862536907196, + 0.0, + 0.9974852800369263 + ], + [ + 0.24777860939502716, + 0.004427451640367508, + 0.02464294619858265, + -0.004485532641410828, + -0.11971959471702576, + 0.011806144379079342, + 0.0, + 0.9974852800369263 + ], + [ + 0.22935862839221954, + 0.004254331812262535, + 0.025594161823391914, + -8.600776345701888e-05, + -0.0613945871591568, + -0.011554373428225517, + 0.0, + 0.9974852800369263 + ], + [ + 0.2233196347951889, + 0.006695636082440615, + 0.03189481794834137, + -0.0037916244473308325, + 0.04433842748403549, + -0.08240759372711182, + 0.0, + 0.9981546401977539 + ] + ], + "left_gripper_pos": [ + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9981546401977539 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3743458688259125, + -0.11883867532014847, + 0.09560289978981018 + ], + [ + 0.3636717200279236, + -0.11720309406518936, + 0.07858433574438095 + ], + [ + 0.3115249574184418, + -0.11654909700155258, + 0.06962990015745163 + ], + [ + 0.28492119908332825, + -0.10341843217611313, + 0.08289653807878494 + ], + [ + 0.2731451392173767, + -0.07590603083372116, + 0.09177400171756744 + ], + [ + 0.2849698066711426, + -0.03700471296906471, + 0.08907012641429901 + ], + [ + 0.29614657163619995, + -0.006371913943439722, + 0.08684419840574265 + ], + [ + 0.30440253019332886, + 0.010329307056963444, + 0.07597018778324127 + ], + [ + 0.3103232979774475, + 0.01598326675593853, + 0.06419150531291962 + ], + [ + 0.31397199630737305, + 0.0079716257750988, + 0.05164719745516777 + ], + [ + 0.31212761998176575, + 0.0035398807376623154, + 0.03448940068483353 + ], + [ + 0.3058956563472748, + 0.005056481342762709, + 0.027355274185538292 + ], + [ + 0.2856113612651825, + 0.005751484073698521, + 0.024168407544493675 + ], + [ + 0.2681655287742615, + 0.007418700959533453, + 0.023576917126774788 + ], + [ + 0.24777860939502716, + 0.004427451640367508, + 0.02464294619858265 + ], + [ + 0.22935862839221954, + 0.004254331812262535, + 0.025594161823391914 + ], + [ + 0.2233196347951889, + 0.006695636082440615, + 0.03189481794834137 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9813289181736081, + 0.18179733095680112, + 0.06279557956735234, + 0.18915123987986193, + -0.9713672562414327, + -0.143761823701225, + 0.034862053986064706, + 0.15295549666152727, + -0.9876179692739995 + ], + [ + 0.9853351831999745, + 0.1677182567296079, + 0.03138730806956734, + 0.17047492801260908, + -0.975480425858407, + -0.1391985548998144, + 0.007271565675173069, + 0.14250798267704942, + -0.9897669418635628 + ], + [ + 0.9950392663547295, + 0.09330167791741742, + -0.03452036080396885, + 0.08704694361120718, + -0.9845493615949545, + -0.1519387514458207, + -0.04816313964214752, + 0.1481801318691614, + -0.9877869003479692 + ], + [ + 0.9982026276870204, + 0.047029245373649976, + -0.03714517678397392, + 0.039707952549955565, + -0.9832603396128434, + -0.17782683444499112, + -0.04488644097072223, + 0.17603225449905716, + -0.9833604897457295 + ], + [ + 0.9997396572010637, + -0.017875778389030966, + 0.014180069339953874, + -0.014899190996576326, + -0.9821228414971114, + -0.1876505750518432, + 0.01728097008698254, + 0.18739045001447155, + -0.9821334875240875 + ], + [ + 0.9932238387523391, + -0.0874451698107774, + 0.07654899353245832, + -0.07341815535084179, + -0.9827075160595554, + -0.1699873887820474, + 0.09008984736887783, + 0.16321544092647478, + -0.9824685945332956 + ], + [ + 0.9799592037256315, + -0.1410690338678032, + 0.1406395631286973, + -0.11905632729005587, + -0.9808315001850918, + -0.1542567962096496, + 0.159704570897734, + 0.1344213373250946, + -0.9779700169770563 + ], + [ + 0.9758088643054657, + -0.1394888523777046, + 0.16834464768809346, + -0.11795644755090273, + -0.9842340882412248, + -0.1317935355969174, + 0.18407426985879508, + 0.10874796368813414, + -0.9768779573568214 + ], + [ + 0.979638318616703, + -0.09895908727235281, + 0.17468790382868948, + -0.08240328809295497, + -0.9916071513947391, + -0.09962407045629004, + 0.18308048178139602, + 0.08320069921000203, + -0.9795709166985606 + ], + [ + 0.9780866838327029, + -0.09119291320435463, + 0.18716380924326448, + -0.07859388953082302, + -0.9941800709733567, + -0.07368165991498837, + 0.1927937743744928, + 0.05735711865770682, + -0.9795614944972687 + ], + [ + 0.9784133837899125, + -0.06270555172370235, + 0.19691435753595973, + -0.054739949743188056, + -0.9974568881827026, + -0.04564311688516648, + 0.1992756591329883, + 0.03387875440310362, + -0.9793576679013687 + ], + [ + 0.9801978850915213, + -0.03325723581481168, + 0.19520774146551448, + -0.02859629558809243, + -0.9992357901818382, + -0.02664746701500991, + 0.19594478288729092, + 0.02053757253512701, + -0.980399841989796 + ], + [ + 0.9851715035156787, + -0.011144644821415554, + 0.17121012105731748, + -0.006743394799158512, + -0.999632222728531, + -0.026266821455954083, + 0.1714398882618613, + 0.02472278654643896, + -0.984884332568114 + ], + [ + 0.9891863760398791, + 0.017004501150312712, + 0.14567484476641587, + 0.018330361495056464, + -0.9998018398242109, + -0.0077639507715544145, + 0.14551395570374306, + 0.010350266892770575, + -0.9893020573468434 + ], + [ + 0.9927729718866979, + 0.011270066209047615, + 0.11947724427227828, + 0.011721365641162159, + -0.999926573673324, + -0.0030751990883334046, + 0.11943381379977848, + 0.004453411003981839, + -0.9928321767809853 + ], + [ + 0.9980493189748421, + -0.011559393037829588, + 0.061350935823760146, + -0.011532347738892171, + -0.9999331842993858, + -0.0007949166748294554, + 0.06135602537227642, + 8.584571992922477e-05, + -0.9981159405505099 + ], + [ + 0.9956269635054257, + -0.08214627301839789, + -0.04448527138450393, + -0.08223345609183491, + -0.9966130852673073, + -0.00013028112482809783, + -0.04432390145461464, + 0.003787889011845634, + -0.9990100318098292 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.010674148797988892, + 0.0016355812549591064, + -0.01701856404542923, + 0.01065380871295929, + 0.027597490698099136, + -0.019098669290542603, + 1.0 + ], + [ + -0.05214676260948181, + 0.0006539970636367798, + -0.008954435586929321, + -0.005903318524360657, + 0.055453408509492874, + -0.08405743539333344, + 1.0 + ], + [ + -0.026603758335113525, + 0.013130664825439453, + 0.013266637921333313, + -0.028232797980308533, + -0.00328025221824646, + -0.047500282526016235, + 1.0 + ], + [ + -0.011776059865951538, + 0.027512401342391968, + 0.008877463638782501, + -0.01139862835407257, + -0.062183357775211334, + -0.054660454392433167, + 1.0 + ], + [ + 0.01182466745376587, + 0.03890131786465645, + -0.0027038753032684326, + 0.02390892803668976, + -0.07293032854795456, + -0.05888288468122482, + 1.0 + ], + [ + 0.011176764965057373, + 0.030632799491286278, + -0.002225928008556366, + 0.02803097665309906, + -0.07017921656370163, + -0.047113753855228424, + 1.0 + ], + [ + 0.008255958557128906, + 0.016701221466064453, + -0.010874010622501373, + 0.025727957487106323, + -0.024738579988479614, + 0.0006015822291374207, + 1.0 + ], + [ + 0.005920767784118652, + 0.005653959698975086, + -0.011778682470321655, + 0.026132993400096893, + 0.0010109692811965942, + 0.036378540098667145, + 1.0 + ], + [ + 0.003648698329925537, + -0.00801164098083973, + -0.012544307857751846, + 0.02624540403485298, + -0.009889557957649231, + 0.0037360340356826782, + 1.0 + ], + [ + -0.0018443763256072998, + -0.004431745037436485, + -0.017157796770334244, + 0.02390804886817932, + -0.00661015510559082, + 0.024293042719364166, + 1.0 + ], + [ + -0.006231963634490967, + 0.0015166006051003933, + -0.007134126499295235, + 0.01363394595682621, + 0.0033978819847106934, + 0.026723675429821014, + 1.0 + ], + [ + -0.020284295082092285, + 0.000695002730935812, + -0.0031868666410446167, + -0.004151856526732445, + 0.02492980659008026, + 0.02232094295322895, + 1.0 + ], + [ + -0.01744583249092102, + 0.0016672168858349323, + -0.0005914904177188873, + 0.014635143801569939, + 0.026258572936058044, + 0.025373412296175957, + 1.0 + ], + [ + -0.020386919379234314, + -0.002991249319165945, + 0.0010660290718078613, + 0.005976276472210884, + 0.026312842965126038, + -0.0067224809899926186, + 1.0 + ], + [ + -0.018419981002807617, + -0.00017311982810497284, + 0.0009512156248092651, + 0.004399525001645088, + 0.05832500755786896, + -0.023360516875982285, + 1.0 + ], + [ + -0.00603899359703064, + 0.0024413042701780796, + 0.006300656124949455, + -0.0037056165747344494, + 0.10573301464319229, + -0.07085321843624115, + 1.0 + ], + [ + -0.017321497201919556, + 0.006753158289939165, + 0.008383981883525848, + 0.020454419776797295, + -0.0005685500800609589, + -0.07000856101512909, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3636717200279236, + -0.11720309406518936, + 0.07858433574438095 + ], + [ + 0.3115249574184418, + -0.11654909700155258, + 0.06962990015745163 + ], + [ + 0.28492119908332825, + -0.10341843217611313, + 0.08289653807878494 + ], + [ + 0.2731451392173767, + -0.07590603083372116, + 0.09177400171756744 + ], + [ + 0.2849698066711426, + -0.03700471296906471, + 0.08907012641429901 + ], + [ + 0.29614657163619995, + -0.006371913943439722, + 0.08684419840574265 + ], + [ + 0.30440253019332886, + 0.010329307056963444, + 0.07597018778324127 + ], + [ + 0.3103232979774475, + 0.01598326675593853, + 0.06419150531291962 + ], + [ + 0.31397199630737305, + 0.0079716257750988, + 0.05164719745516777 + ], + [ + 0.31212761998176575, + 0.0035398807376623154, + 0.03448940068483353 + ], + [ + 0.3058956563472748, + 0.005056481342762709, + 0.027355274185538292 + ], + [ + 0.2856113612651825, + 0.005751484073698521, + 0.024168407544493675 + ], + [ + 0.2681655287742615, + 0.007418700959533453, + 0.023576917126774788 + ], + [ + 0.24777860939502716, + 0.004427451640367508, + 0.02464294619858265 + ], + [ + 0.22935862839221954, + 0.004254331812262535, + 0.025594161823391914 + ], + [ + 0.2233196347951889, + 0.006695636082440615, + 0.03189481794834137 + ], + [ + 0.20599813759326935, + 0.01344879437237978, + 0.04027879983186722 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9853351831999745, + 0.1677182567296079, + 0.03138730806956734, + 0.17047492801260908, + -0.975480425858407, + -0.1391985548998144, + 0.007271565675173069, + 0.14250798267704942, + -0.9897669418635628 + ], + [ + 0.9950392663547295, + 0.09330167791741742, + -0.03452036080396885, + 0.08704694361120718, + -0.9845493615949545, + -0.1519387514458207, + -0.04816313964214752, + 0.1481801318691614, + -0.9877869003479692 + ], + [ + 0.9982026276870204, + 0.047029245373649976, + -0.03714517678397392, + 0.039707952549955565, + -0.9832603396128434, + -0.17782683444499112, + -0.04488644097072223, + 0.17603225449905716, + -0.9833604897457295 + ], + [ + 0.9997396572010637, + -0.017875778389030966, + 0.014180069339953874, + -0.014899190996576326, + -0.9821228414971114, + -0.1876505750518432, + 0.01728097008698254, + 0.18739045001447155, + -0.9821334875240875 + ], + [ + 0.9932238387523391, + -0.0874451698107774, + 0.07654899353245832, + -0.07341815535084179, + -0.9827075160595554, + -0.1699873887820474, + 0.09008984736887783, + 0.16321544092647478, + -0.9824685945332956 + ], + [ + 0.9799592037256315, + -0.1410690338678032, + 0.1406395631286973, + -0.11905632729005587, + -0.9808315001850918, + -0.1542567962096496, + 0.159704570897734, + 0.1344213373250946, + -0.9779700169770563 + ], + [ + 0.9758088643054657, + -0.1394888523777046, + 0.16834464768809346, + -0.11795644755090273, + -0.9842340882412248, + -0.1317935355969174, + 0.18407426985879508, + 0.10874796368813414, + -0.9768779573568214 + ], + [ + 0.979638318616703, + -0.09895908727235281, + 0.17468790382868948, + -0.08240328809295497, + -0.9916071513947391, + -0.09962407045629004, + 0.18308048178139602, + 0.08320069921000203, + -0.9795709166985606 + ], + [ + 0.9780866838327029, + -0.09119291320435463, + 0.18716380924326448, + -0.07859388953082302, + -0.9941800709733567, + -0.07368165991498837, + 0.1927937743744928, + 0.05735711865770682, + -0.9795614944972687 + ], + [ + 0.9784133837899125, + -0.06270555172370235, + 0.19691435753595973, + -0.054739949743188056, + -0.9974568881827026, + -0.04564311688516648, + 0.1992756591329883, + 0.03387875440310362, + -0.9793576679013687 + ], + [ + 0.9801978850915213, + -0.03325723581481168, + 0.19520774146551448, + -0.02859629558809243, + -0.9992357901818382, + -0.02664746701500991, + 0.19594478288729092, + 0.02053757253512701, + -0.980399841989796 + ], + [ + 0.9851715035156787, + -0.011144644821415554, + 0.17121012105731748, + -0.006743394799158512, + -0.999632222728531, + -0.026266821455954083, + 0.1714398882618613, + 0.02472278654643896, + -0.984884332568114 + ], + [ + 0.9891863760398791, + 0.017004501150312712, + 0.14567484476641587, + 0.018330361495056464, + -0.9998018398242109, + -0.0077639507715544145, + 0.14551395570374306, + 0.010350266892770575, + -0.9893020573468434 + ], + [ + 0.9927729718866979, + 0.011270066209047615, + 0.11947724427227828, + 0.011721365641162159, + -0.999926573673324, + -0.0030751990883334046, + 0.11943381379977848, + 0.004453411003981839, + -0.9928321767809853 + ], + [ + 0.9980493189748421, + -0.011559393037829588, + 0.061350935823760146, + -0.011532347738892171, + -0.9999331842993858, + -0.0007949166748294554, + 0.06135602537227642, + 8.584571992922477e-05, + -0.9981159405505099 + ], + [ + 0.9956269635054257, + -0.08214627301839789, + -0.04448527138450393, + -0.08223345609183491, + -0.9966130852673073, + -0.00013028112482809783, + -0.04432390145461464, + 0.003787889011845634, + -0.9990100318098292 + ], + [ + 0.9874604813991995, + -0.1525262511075456, + -0.040712902106567826, + -0.15168130612267208, + -0.9881592236118802, + 0.02311125621177515, + -0.04375590300498059, + -0.016646066017051035, + -0.9989035636328337 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005894.json b/json/chunk-0005/episode_0005894.json new file mode 100644 index 0000000000000000000000000000000000000000..7bd1ba382290dcf90843310def0392c7ab00dd5b --- /dev/null +++ b/json/chunk-0005/episode_0005894.json @@ -0,0 +1,1822 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 29, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the blue fork to the upper left side of the stove next to the red object." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005894.mp4", + "start": 0, + "end": 29, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2873229682445526, + 0.05269959196448326, + 0.0832006111741066, + 0.11437378823757172, + -0.22175903618335724, + 0.06179685890674591, + 0.0, + 1.002137303352356 + ], + [ + 0.28478869795799255, + 0.05014919862151146, + 0.07575724273920059, + 0.0981246829032898, + -0.19712290167808533, + 0.07748716324567795, + 0.0, + 1.002137303352356 + ], + [ + 0.2840104401111603, + 0.024383988231420517, + 0.07263044267892838, + 0.032945871353149414, + -0.18879538774490356, + 0.0922217071056366, + 0.0, + 1.002137303352356 + ], + [ + 0.26364898681640625, + -0.0028308697510510683, + 0.0721728652715683, + 0.055152107030153275, + -0.1826315075159073, + 0.05044806748628616, + 0.0, + 1.002137303352356 + ], + [ + 0.24885664880275726, + -0.0185761246830225, + 0.061583004891872406, + 0.06665947288274765, + -0.14670825004577637, + 0.07168225944042206, + 0.0, + 1.002137303352356 + ], + [ + 0.24536781013011932, + -0.01638634502887726, + 0.04877976328134537, + 0.0985008180141449, + -0.10343720018863678, + 0.12794463336467743, + 0.0, + 1.002137303352356 + ], + [ + 0.24252645671367645, + -0.012424957938492298, + 0.03294321149587631, + 0.12594391405582428, + -0.05216408148407936, + 0.15428665280342102, + 0.0, + 1.002137303352356 + ], + [ + 0.2415430098772049, + 0.0020255274139344692, + 0.017850838601589203, + 0.14501513540744781, + -0.010444066487252712, + 0.2162424921989441, + 0.0, + 1.002137303352356 + ], + [ + 0.24343746900558472, + 0.002685031620785594, + 0.013315560296177864, + 0.14859135448932648, + -0.0008991049253381789, + 0.2221089005470276, + 0.0, + 0.9461179971694946 + ], + [ + 0.24371355772018433, + 0.002801221562549472, + 0.013323972932994366, + 0.14892570674419403, + -0.002807888900861144, + 0.22229668498039246, + 0.0, + 0.6781873106956482 + ], + [ + 0.24353472888469696, + 0.0026145251467823982, + 0.013840219005942345, + 0.1494736522436142, + -0.004355860874056816, + 0.21812231838703156, + 0.0, + 0.4211256504058838 + ], + [ + 0.24356865882873535, + 0.002066388726234436, + 0.015051105991005898, + 0.14712919294834137, + -0.007988622412085533, + 0.2146868258714676, + 0.0, + 0.4094836115837097 + ], + [ + 0.24348558485507965, + 0.0016182448016479611, + 0.016922568902373314, + 0.14059612154960632, + -0.0106485765427351, + 0.20990145206451416, + 0.0, + 0.4094836115837097 + ], + [ + 0.24689295887947083, + 0.001095562125556171, + 0.05041729286313057, + 0.11861316114664078, + -0.08229663968086243, + 0.18477529287338257, + 0.0, + 0.4094836115837097 + ], + [ + 0.26081714034080505, + 0.01591162383556366, + 0.0897168219089508, + 0.10684452950954437, + -0.17166465520858765, + 0.16063034534454346, + 0.0, + 0.4094836115837097 + ], + [ + 0.2774338722229004, + 0.04009268060326576, + 0.10477495938539505, + 0.14016841351985931, + -0.16640713810920715, + 0.11009057611227036, + 0.0, + 0.4094836115837097 + ], + [ + 0.30155646800994873, + 0.0859767273068428, + 0.09974385797977448, + 0.17326751351356506, + -0.15325422585010529, + 0.04063976928591728, + 0.0, + 0.4094836115837097 + ], + [ + 0.3158963620662689, + 0.1329924315214157, + 0.08547700196504593, + 0.1949874460697174, + -0.12405196577310562, + 0.04217429831624031, + 0.0, + 0.4094836115837097 + ], + [ + 0.3191884458065033, + 0.1773674041032791, + 0.06474073976278305, + 0.1825941801071167, + -0.09366016834974289, + 0.10246148705482483, + 0.0, + 0.4094836115837097 + ], + [ + 0.3248803913593292, + 0.1917676329612732, + 0.056938935071229935, + 0.1948094666004181, + -0.06597290188074112, + 0.08506288379430771, + 0.0, + 0.4094836115837097 + ], + [ + 0.32815632224082947, + 0.19282865524291992, + 0.046746645122766495, + 0.18811355531215668, + -0.04141996055841446, + 0.060338445007801056, + 0.0, + 0.4094836115837097 + ], + [ + 0.33943212032318115, + 0.17522890865802765, + 0.04273930937051773, + 0.18929781019687653, + -0.03506387025117874, + -0.010984726250171661, + 0.0, + 0.4094836115837097 + ], + [ + 0.3499312400817871, + 0.15919984877109528, + 0.042944904416799545, + 0.2010865956544876, + -0.04569743201136589, + -0.05591658502817154, + 0.0, + 0.4094836115837097 + ], + [ + 0.35037484765052795, + 0.15771235525608063, + 0.04247437044978142, + 0.20413735508918762, + -0.04443075507879257, + -0.04688887670636177, + 0.0, + 0.4085940718650818 + ], + [ + 0.3493836224079132, + 0.15602229535579681, + 0.03398839011788368, + 0.18704572319984436, + -0.012075621634721756, + -0.016670318320393562, + 0.0, + 0.472818523645401 + ], + [ + 0.34855467081069946, + 0.15606197714805603, + 0.03570983558893204, + 0.17754659056663513, + -0.009695494547486305, + 0.02318079024553299, + 0.0, + 0.778810441493988 + ], + [ + 0.34310024976730347, + 0.156185120344162, + 0.0328705832362175, + 0.17652979493141174, + -0.026158304885029793, + 0.03852909058332443, + 0.0, + 0.9968144297599792 + ], + [ + 0.3387640714645386, + 0.15245477855205536, + 0.06938636302947998, + 0.20701827108860016, + -0.15041270852088928, + 0.026323780417442322, + 0.0, + 1.0041072368621826 + ], + [ + 0.3332669138908386, + 0.1435682475566864, + 0.08572416007518768, + 0.18022555112838745, + -0.19413024187088013, + 0.021190201863646507, + 0.0, + 1.0001531839370728 + ] + ], + "left_gripper_pos": [ + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 0.9461179971694946 + ], + [ + 0.6781873106956482 + ], + [ + 0.4211256504058838 + ], + [ + 0.4094836115837097 + ], + [ + 0.4094836115837097 + ], + [ + 0.4094836115837097 + ], + [ + 0.4094836115837097 + ], + [ + 0.4094836115837097 + ], + [ + 0.4094836115837097 + ], + [ + 0.4094836115837097 + ], + [ + 0.4094836115837097 + ], + [ + 0.4094836115837097 + ], + [ + 0.4094836115837097 + ], + [ + 0.4094836115837097 + ], + [ + 0.4094836115837097 + ], + [ + 0.4085940718650818 + ], + [ + 0.472818523645401 + ], + [ + 0.778810441493988 + ], + [ + 0.9968144297599792 + ], + [ + 1.0041072368621826 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2873229682445526, + 0.05269959196448326, + 0.0832006111741066 + ], + [ + 0.28478869795799255, + 0.05014919862151146, + 0.07575724273920059 + ], + [ + 0.2840104401111603, + 0.024383988231420517, + 0.07263044267892838 + ], + [ + 0.26364898681640625, + -0.0028308697510510683, + 0.0721728652715683 + ], + [ + 0.24885664880275726, + -0.0185761246830225, + 0.061583004891872406 + ], + [ + 0.24536781013011932, + -0.01638634502887726, + 0.04877976328134537 + ], + [ + 0.24252645671367645, + -0.012424957938492298, + 0.03294321149587631 + ], + [ + 0.2415430098772049, + 0.0020255274139344692, + 0.017850838601589203 + ], + [ + 0.24343746900558472, + 0.002685031620785594, + 0.013315560296177864 + ], + [ + 0.24371355772018433, + 0.002801221562549472, + 0.013323972932994366 + ], + [ + 0.24353472888469696, + 0.0026145251467823982, + 0.013840219005942345 + ], + [ + 0.24356865882873535, + 0.002066388726234436, + 0.015051105991005898 + ], + [ + 0.24348558485507965, + 0.0016182448016479611, + 0.016922568902373314 + ], + [ + 0.24689295887947083, + 0.001095562125556171, + 0.05041729286313057 + ], + [ + 0.26081714034080505, + 0.01591162383556366, + 0.0897168219089508 + ], + [ + 0.2774338722229004, + 0.04009268060326576, + 0.10477495938539505 + ], + [ + 0.30155646800994873, + 0.0859767273068428, + 0.09974385797977448 + ], + [ + 0.3158963620662689, + 0.1329924315214157, + 0.08547700196504593 + ], + [ + 0.3191884458065033, + 0.1773674041032791, + 0.06474073976278305 + ], + [ + 0.3248803913593292, + 0.1917676329612732, + 0.056938935071229935 + ], + [ + 0.32815632224082947, + 0.19282865524291992, + 0.046746645122766495 + ], + [ + 0.33943212032318115, + 0.17522890865802765, + 0.04273930937051773 + ], + [ + 0.3499312400817871, + 0.15919984877109528, + 0.042944904416799545 + ], + [ + 0.35037484765052795, + 0.15771235525608063, + 0.04247437044978142 + ], + [ + 0.3493836224079132, + 0.15602229535579681, + 0.03398839011788368 + ], + [ + 0.34855467081069946, + 0.15606197714805603, + 0.03570983558893204 + ], + [ + 0.34310024976730347, + 0.156185120344162, + 0.0328705832362175 + ], + [ + 0.3387640714645386, + 0.15245477855205536, + 0.06938636302947998 + ], + [ + 0.3332669138908386, + 0.1435682475566864, + 0.08572416007518768 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9736499906161751, + 0.08640736274544189, + 0.21104374768398038, + 0.06024521981419745, + -0.9900199077250962, + 0.12740131787988274, + 0.21994592349634712, + -0.11132991498860276, + -0.9691385044285308 + ], + [ + 0.9776915933380467, + 0.09616647677186335, + 0.18673820461115698, + 0.07591053782686977, + -0.9907181992641023, + 0.1127609856897764, + 0.19584876451728522, + -0.09607007022054918, + -0.9759169037601879 + ], + [ + 0.978057123315127, + 0.09819682123162284, + 0.18374342935882965, + 0.09045467735677297, + -0.9946409221208463, + 0.05007381937574458, + 0.18767582390073745, + -0.03235460311296208, + -0.9816980008029873 + ], + [ + 0.9821180935946974, + 0.060348796362809404, + 0.17833135734210495, + 0.0495880343109663, + -0.9967043601492819, + 0.06419848372496814, + 0.1816179426353349, + -0.05420739098103443, + -0.9818739642519999 + ], + [ + 0.9867171469914245, + 0.0811740531761611, + 0.14071263242529833, + 0.0708515093129687, + -0.9945193206557539, + 0.07688552835541919, + 0.14618254157449054, + -0.06589456679705415, + -0.9870605708898775 + ], + [ + 0.9865250732069478, + 0.137048408553488, + 0.08936449880675272, + 0.12691386517064152, + -0.9857229659952655, + 0.1106485659055036, + 0.10325284868454766, + -0.09781599062756859, + -0.9898337644352576 + ], + [ + 0.9867773264872649, + 0.15892971162749933, + 0.03180966351041983, + 0.15346623000216777, + -0.9792885485640992, + 0.13206837206591962, + 0.052140427496981306, + -0.12544036596415184, + -0.9907300794904796 + ], + [ + 0.9766572890489946, + 0.2137831233908711, + -0.020912099385584262, + 0.21454944695492148, + -0.9661349095360169, + 0.14335923893202757, + 0.010443876617727374, + -0.14449952501332458, + -0.9894497524948489 + ], + [ + 0.975434660702097, + 0.2179896128955948, + -0.03174509994650407, + 0.22028711789738378, + -0.9646570260750881, + 0.14460431436312896, + 0.0008991048042003257, + -0.14804509689143783, + -0.9889802024797845 + ], + [ + 0.9753898261449991, + 0.21843636922892298, + -0.03000399391603807, + 0.2204695054502296, + -0.9645052323842265, + 0.1453370354382537, + 0.0028078852111842276, + -0.1483752314287485, + -0.9889271492274372 + ], + [ + 0.9762962325227119, + 0.21461719602862672, + -0.02802009155533252, + 0.2163947618543549, + -0.9652789266297863, + 0.1463212248665408, + 0.0043558470997314466, + -0.14891626161456573, + -0.9888402164266916 + ], + [ + 0.9770119848433014, + 0.21188398275119394, + -0.023510834226889654, + 0.21303465619959797, + -0.9662377022937617, + 0.14491700357097875, + 0.00798853744258859, + -0.14659427178291695, + -0.9891644467680613 + ], + [ + 0.9779960020973014, + 0.20776695851811092, + -0.018886789823281104, + 0.20835170262124794, + -0.9680897446533459, + 0.13925449476353294, + 0.010648375299653824, + -0.1401254339695451, + -0.9900764994980562 + ], + [ + 0.9796507140040929, + 0.19199675991665452, + 0.05849549326894796, + 0.18310384440592456, + -0.9742836570924645, + 0.13131769753656233, + 0.08220377555223346, + -0.11793472645510156, + -0.9896130251673724 + ], + [ + 0.9726176482289826, + 0.1770106788896606, + 0.1506058760890306, + 0.1575896274346849, + -0.9785840232856323, + 0.13243420515524706, + 0.17082277271640384, + -0.10507392126082636, + -0.97968313826071 + ], + [ + 0.9802160300666942, + 0.13179226925166448, + 0.14767305836132003, + 0.1083506357797264, + -0.9816554792624868, + 0.15688422406368988, + 0.1656401947789791, + -0.1377799615308182, + -0.9765142129401638 + ], + [ + 0.987463533427702, + 0.06631651737708391, + 0.14324067045868183, + 0.04015239772191038, + -0.9831441189333712, + 0.17836879313351578, + 0.15265501992289437, + -0.17038122235064623, + -0.9734817327318682 + ], + [ + 0.9914330465015658, + 0.06531550984298519, + 0.11311232681973606, + 0.041837801239629484, + -0.9791669618215225, + 0.19869992265887296, + 0.1237340401508701, + -0.1922652986140758, + -0.9735111413110704 + ], + [ + 0.9903954909126205, + 0.11747496655986889, + 0.07291367369504398, + 0.10183400766914219, + -0.9764815809249974, + 0.1900356729571034, + 0.09352329368660384, + -0.18078538200301417, + -0.9790659013529343 + ], + [ + 0.9942167767565948, + 0.0960688823260959, + 0.0479976110274483, + 0.0847755147478308, + -0.9764530541515029, + 0.19837475932548188, + 0.06592505528983506, + -0.1931584916249277, + -0.9789502971030833 + ], + [ + 0.9973240651361444, + 0.06696751710588669, + 0.029326792408793073, + 0.060250119109666274, + -0.9801040999725705, + 0.18911868327647716, + 0.0414081181362628, + -0.18684567126275695, + -0.9815162061233544 + ], + [ + 0.9993250310681192, + -0.004192090965134479, + 0.036495323728429875, + -0.010977753445431417, + -0.9821498143226813, + 0.18777974106706521, + 0.035056685667561004, + -0.18805363224161023, + -0.981532913452597 + ], + [ + 0.9973947607023013, + -0.04565142479883279, + 0.055853726262764476, + -0.055829107371356004, + -0.9788286199855518, + 0.19692039880951417, + 0.04568152902122382, + -0.1995256377286313, + -0.9788272154958025 + ], + [ + 0.9979151190433803, + -0.03690420953525375, + 0.052948035876834956, + -0.046825440296569584, + -0.978582005307992, + 0.20046106112764558, + 0.044416138121958715, + -0.20252243877152812, + -0.9782698341809196 + ], + [ + 0.9997881541589199, + -0.01413361482234089, + 0.01496287858512748, + -0.016668330851736066, + -0.9824587987202186, + 0.18573334532022429, + 0.012075328157719948, + -0.1859434046942196, + -0.9824862526776671 + ], + [ + 0.9996843492008952, + 0.024526229528374438, + 0.005446652908340541, + 0.023177624850755633, + -0.9839758351375227, + 0.1767890086280598, + 0.009695342647894165, + -0.17660696455841163, + -0.984233702125874 + ], + [ + 0.9989159913546011, + 0.04251076885736159, + 0.018965145588953326, + 0.038506380724925085, + -0.983551487216702, + 0.17647586417774108, + 0.02615532182025941, + -0.17555428369871634, + -0.9841222447518951 + ], + [ + 0.9883667803023457, + 0.05654787238212662, + 0.14118585525409239, + 0.026023561308743018, + -0.9774984101647136, + 0.20933139368538967, + 0.1498461939843148, + -0.2032220368328992, + -0.967598533428975 + ], + [ + 0.9809955416698013, + 0.05541764041638912, + 0.18594792914859945, + 0.02079060547996137, + -0.982849717954707, + 0.1832325916427782, + 0.19291318759418538, + -0.17588438545542437, + -0.9653233577435169 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0025342702865600586, + -0.0025503933429718018, + -0.007443368434906006, + -0.01624910533428192, + 0.02463613450527191, + 0.015690304338932037, + 1.0 + ], + [ + -0.0007782578468322754, + -0.025765210390090942, + -0.003126800060272217, + -0.06517881155014038, + 0.008327513933181763, + 0.014734543859958649, + 1.0 + ], + [ + -0.02036145329475403, + -0.027214858680963516, + -0.0004575774073600769, + 0.02220623567700386, + 0.006163880228996277, + -0.04177363961935043, + 1.0 + ], + [ + -0.014792338013648987, + -0.0157452542334795, + -0.010589860379695892, + 0.011507365852594376, + 0.03592325747013092, + 0.021234191954135895, + 1.0 + ], + [ + -0.0034888386726379395, + 0.002189779654145241, + -0.012803241610527039, + 0.03184134513139725, + 0.04327104985713959, + 0.05626237392425537, + 1.0 + ], + [ + -0.002841353416442871, + 0.00396138709038496, + -0.015836551785469055, + 0.027443096041679382, + 0.05127311870455742, + 0.02634201943874359, + 1.0 + ], + [ + -0.0009834468364715576, + 0.01445048488676548, + -0.01509237289428711, + 0.019071221351623535, + 0.041720014065504074, + 0.06195583939552307, + 1.0 + ], + [ + 0.0018944591283798218, + 0.0006595042068511248, + -0.004535278305411339, + 0.003576219081878662, + 0.009544961154460907, + 0.005866408348083496, + 0.0 + ], + [ + 0.0002760887145996094, + 0.00011618994176387787, + 8.412636816501617e-06, + 0.0003343522548675537, + -0.001908784033730626, + 0.00018778443336486816, + 0.0 + ], + [ + -0.00017882883548736572, + -0.00018669641576707363, + 0.000516246072947979, + 0.000547945499420166, + -0.001547971973195672, + -0.004174366593360901, + 0.0 + ], + [ + 3.392994403839111e-05, + -0.0005481364205479622, + 0.0012108869850635529, + -0.002344459295272827, + -0.003632761538028717, + -0.003435492515563965, + 0.0 + ], + [ + -8.307397365570068e-05, + -0.0004481439245864749, + 0.0018714629113674164, + -0.006533071398735046, + -0.0026599541306495667, + -0.00478537380695343, + 0.0 + ], + [ + 0.0034073740243911743, + -0.0005226826760917902, + 0.033494725823402405, + -0.021982960402965546, + -0.07164806127548218, + -0.025126159191131592, + 0.0 + ], + [ + 0.013924181461334229, + 0.014816061593592167, + 0.039299529045820236, + -0.011768631637096405, + -0.08936801552772522, + -0.02414494752883911, + 0.0 + ], + [ + 0.016616731882095337, + 0.024181056767702103, + 0.015058137476444244, + 0.03332388401031494, + 0.005257517099380493, + -0.0505397692322731, + 0.0 + ], + [ + 0.02412259578704834, + 0.04588404670357704, + -0.005031101405620575, + 0.03309909999370575, + 0.013152912259101868, + -0.06945081055164337, + 0.0 + ], + [ + 0.01433989405632019, + 0.047015704214572906, + -0.014266856014728546, + 0.021719932556152344, + 0.029202260076999664, + 0.0015345290303230286, + 0.0 + ], + [ + 0.003292083740234375, + 0.0443749725818634, + -0.02073626220226288, + -0.012393265962600708, + 0.030391797423362732, + 0.06028718873858452, + 0.0 + ], + [ + 0.005691945552825928, + 0.01440022885799408, + -0.007801804691553116, + 0.012215286493301392, + 0.02768726646900177, + -0.01739860326051712, + 0.0 + ], + [ + 0.003275930881500244, + 0.0010610222816467285, + -0.01019228994846344, + -0.006695911288261414, + 0.02455294132232666, + -0.024724438786506653, + 0.0 + ], + [ + 0.011275798082351685, + -0.017599746584892273, + -0.004007335752248764, + 0.0011842548847198486, + 0.006356090307235718, + -0.07132317125797272, + 0.0 + ], + [ + 0.010499119758605957, + -0.016029059886932373, + 0.00020559504628181458, + 0.011788785457611084, + -0.010633561760187149, + -0.04493185877799988, + 0.0 + ], + [ + 0.0004436075687408447, + -0.0014874935150146484, + -0.00047053396701812744, + 0.003050759434700012, + 0.0012666769325733185, + 0.009027708321809769, + 1.0 + ], + [ + -0.000991225242614746, + -0.0016900599002838135, + -0.008485980331897736, + -0.01709163188934326, + 0.032355133444070816, + 0.03021855838596821, + 1.0 + ], + [ + -0.0008289515972137451, + 3.968179225921631e-05, + 0.001721445471048355, + -0.009499132633209229, + 0.0023801270872354507, + 0.0398511067032814, + 1.0 + ], + [ + -0.005454421043395996, + 0.00012314319610595703, + -0.0028392523527145386, + -0.0010167956352233887, + -0.016462810337543488, + 0.015348300337791443, + 1.0 + ], + [ + -0.004336178302764893, + -0.0037303417921066284, + 0.03651577979326248, + 0.030488476157188416, + -0.12425440549850464, + -0.01220531016588211, + 1.0 + ], + [ + -0.005497157573699951, + -0.008886530995368958, + 0.016337797045707703, + -0.026792719960212708, + -0.043717533349990845, + -0.0051335785537958145, + 1.0 + ], + [ + -0.002737194299697876, + -0.007822096347808838, + 0.008583292365074158, + -0.032642826437950134, + -0.009302705526351929, + -0.013733991421759129, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 0.9461179971694946 + ], + [ + 0.6781873106956482 + ], + [ + 0.4211256504058838 + ], + [ + 0.4094836115837097 + ], + [ + 0.4094836115837097 + ], + [ + 0.4094836115837097 + ], + [ + 0.4094836115837097 + ], + [ + 0.4094836115837097 + ], + [ + 0.4094836115837097 + ], + [ + 0.4094836115837097 + ], + [ + 0.4094836115837097 + ], + [ + 0.4094836115837097 + ], + [ + 0.4094836115837097 + ], + [ + 0.4094836115837097 + ], + [ + 0.4094836115837097 + ], + [ + 0.4085940718650818 + ], + [ + 0.472818523645401 + ], + [ + 0.778810441493988 + ], + [ + 0.9968144297599792 + ], + [ + 1.0041072368621826 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.28478869795799255, + 0.05014919862151146, + 0.07575724273920059 + ], + [ + 0.2840104401111603, + 0.024383988231420517, + 0.07263044267892838 + ], + [ + 0.26364898681640625, + -0.0028308697510510683, + 0.0721728652715683 + ], + [ + 0.24885664880275726, + -0.0185761246830225, + 0.061583004891872406 + ], + [ + 0.24536781013011932, + -0.01638634502887726, + 0.04877976328134537 + ], + [ + 0.24252645671367645, + -0.012424957938492298, + 0.03294321149587631 + ], + [ + 0.2415430098772049, + 0.0020255274139344692, + 0.017850838601589203 + ], + [ + 0.24343746900558472, + 0.002685031620785594, + 0.013315560296177864 + ], + [ + 0.24371355772018433, + 0.002801221562549472, + 0.013323972932994366 + ], + [ + 0.24353472888469696, + 0.0026145251467823982, + 0.013840219005942345 + ], + [ + 0.24356865882873535, + 0.002066388726234436, + 0.015051105991005898 + ], + [ + 0.24348558485507965, + 0.0016182448016479611, + 0.016922568902373314 + ], + [ + 0.24689295887947083, + 0.001095562125556171, + 0.05041729286313057 + ], + [ + 0.26081714034080505, + 0.01591162383556366, + 0.0897168219089508 + ], + [ + 0.2774338722229004, + 0.04009268060326576, + 0.10477495938539505 + ], + [ + 0.30155646800994873, + 0.0859767273068428, + 0.09974385797977448 + ], + [ + 0.3158963620662689, + 0.1329924315214157, + 0.08547700196504593 + ], + [ + 0.3191884458065033, + 0.1773674041032791, + 0.06474073976278305 + ], + [ + 0.3248803913593292, + 0.1917676329612732, + 0.056938935071229935 + ], + [ + 0.32815632224082947, + 0.19282865524291992, + 0.046746645122766495 + ], + [ + 0.33943212032318115, + 0.17522890865802765, + 0.04273930937051773 + ], + [ + 0.3499312400817871, + 0.15919984877109528, + 0.042944904416799545 + ], + [ + 0.35037484765052795, + 0.15771235525608063, + 0.04247437044978142 + ], + [ + 0.3493836224079132, + 0.15602229535579681, + 0.03398839011788368 + ], + [ + 0.34855467081069946, + 0.15606197714805603, + 0.03570983558893204 + ], + [ + 0.34310024976730347, + 0.156185120344162, + 0.0328705832362175 + ], + [ + 0.3387640714645386, + 0.15245477855205536, + 0.06938636302947998 + ], + [ + 0.3332669138908386, + 0.1435682475566864, + 0.08572416007518768 + ], + [ + 0.33052971959114075, + 0.13574615120887756, + 0.09430745244026184 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9776915933380467, + 0.09616647677186335, + 0.18673820461115698, + 0.07591053782686977, + -0.9907181992641023, + 0.1127609856897764, + 0.19584876451728522, + -0.09607007022054918, + -0.9759169037601879 + ], + [ + 0.978057123315127, + 0.09819682123162284, + 0.18374342935882965, + 0.09045467735677297, + -0.9946409221208463, + 0.05007381937574458, + 0.18767582390073745, + -0.03235460311296208, + -0.9816980008029873 + ], + [ + 0.9821180935946974, + 0.060348796362809404, + 0.17833135734210495, + 0.0495880343109663, + -0.9967043601492819, + 0.06419848372496814, + 0.1816179426353349, + -0.05420739098103443, + -0.9818739642519999 + ], + [ + 0.9867171469914245, + 0.0811740531761611, + 0.14071263242529833, + 0.0708515093129687, + -0.9945193206557539, + 0.07688552835541919, + 0.14618254157449054, + -0.06589456679705415, + -0.9870605708898775 + ], + [ + 0.9865250732069478, + 0.137048408553488, + 0.08936449880675272, + 0.12691386517064152, + -0.9857229659952655, + 0.1106485659055036, + 0.10325284868454766, + -0.09781599062756859, + -0.9898337644352576 + ], + [ + 0.9867773264872649, + 0.15892971162749933, + 0.03180966351041983, + 0.15346623000216777, + -0.9792885485640992, + 0.13206837206591962, + 0.052140427496981306, + -0.12544036596415184, + -0.9907300794904796 + ], + [ + 0.9766572890489946, + 0.2137831233908711, + -0.020912099385584262, + 0.21454944695492148, + -0.9661349095360169, + 0.14335923893202757, + 0.010443876617727374, + -0.14449952501332458, + -0.9894497524948489 + ], + [ + 0.975434660702097, + 0.2179896128955948, + -0.03174509994650407, + 0.22028711789738378, + -0.9646570260750881, + 0.14460431436312896, + 0.0008991048042003257, + -0.14804509689143783, + -0.9889802024797845 + ], + [ + 0.9753898261449991, + 0.21843636922892298, + -0.03000399391603807, + 0.2204695054502296, + -0.9645052323842265, + 0.1453370354382537, + 0.0028078852111842276, + -0.1483752314287485, + -0.9889271492274372 + ], + [ + 0.9762962325227119, + 0.21461719602862672, + -0.02802009155533252, + 0.2163947618543549, + -0.9652789266297863, + 0.1463212248665408, + 0.0043558470997314466, + -0.14891626161456573, + -0.9888402164266916 + ], + [ + 0.9770119848433014, + 0.21188398275119394, + -0.023510834226889654, + 0.21303465619959797, + -0.9662377022937617, + 0.14491700357097875, + 0.00798853744258859, + -0.14659427178291695, + -0.9891644467680613 + ], + [ + 0.9779960020973014, + 0.20776695851811092, + -0.018886789823281104, + 0.20835170262124794, + -0.9680897446533459, + 0.13925449476353294, + 0.010648375299653824, + -0.1401254339695451, + -0.9900764994980562 + ], + [ + 0.9796507140040929, + 0.19199675991665452, + 0.05849549326894796, + 0.18310384440592456, + -0.9742836570924645, + 0.13131769753656233, + 0.08220377555223346, + -0.11793472645510156, + -0.9896130251673724 + ], + [ + 0.9726176482289826, + 0.1770106788896606, + 0.1506058760890306, + 0.1575896274346849, + -0.9785840232856323, + 0.13243420515524706, + 0.17082277271640384, + -0.10507392126082636, + -0.97968313826071 + ], + [ + 0.9802160300666942, + 0.13179226925166448, + 0.14767305836132003, + 0.1083506357797264, + -0.9816554792624868, + 0.15688422406368988, + 0.1656401947789791, + -0.1377799615308182, + -0.9765142129401638 + ], + [ + 0.987463533427702, + 0.06631651737708391, + 0.14324067045868183, + 0.04015239772191038, + -0.9831441189333712, + 0.17836879313351578, + 0.15265501992289437, + -0.17038122235064623, + -0.9734817327318682 + ], + [ + 0.9914330465015658, + 0.06531550984298519, + 0.11311232681973606, + 0.041837801239629484, + -0.9791669618215225, + 0.19869992265887296, + 0.1237340401508701, + -0.1922652986140758, + -0.9735111413110704 + ], + [ + 0.9903954909126205, + 0.11747496655986889, + 0.07291367369504398, + 0.10183400766914219, + -0.9764815809249974, + 0.1900356729571034, + 0.09352329368660384, + -0.18078538200301417, + -0.9790659013529343 + ], + [ + 0.9942167767565948, + 0.0960688823260959, + 0.0479976110274483, + 0.0847755147478308, + -0.9764530541515029, + 0.19837475932548188, + 0.06592505528983506, + -0.1931584916249277, + -0.9789502971030833 + ], + [ + 0.9973240651361444, + 0.06696751710588669, + 0.029326792408793073, + 0.060250119109666274, + -0.9801040999725705, + 0.18911868327647716, + 0.0414081181362628, + -0.18684567126275695, + -0.9815162061233544 + ], + [ + 0.9993250310681192, + -0.004192090965134479, + 0.036495323728429875, + -0.010977753445431417, + -0.9821498143226813, + 0.18777974106706521, + 0.035056685667561004, + -0.18805363224161023, + -0.981532913452597 + ], + [ + 0.9973947607023013, + -0.04565142479883279, + 0.055853726262764476, + -0.055829107371356004, + -0.9788286199855518, + 0.19692039880951417, + 0.04568152902122382, + -0.1995256377286313, + -0.9788272154958025 + ], + [ + 0.9979151190433803, + -0.03690420953525375, + 0.052948035876834956, + -0.046825440296569584, + -0.978582005307992, + 0.20046106112764558, + 0.044416138121958715, + -0.20252243877152812, + -0.9782698341809196 + ], + [ + 0.9997881541589199, + -0.01413361482234089, + 0.01496287858512748, + -0.016668330851736066, + -0.9824587987202186, + 0.18573334532022429, + 0.012075328157719948, + -0.1859434046942196, + -0.9824862526776671 + ], + [ + 0.9996843492008952, + 0.024526229528374438, + 0.005446652908340541, + 0.023177624850755633, + -0.9839758351375227, + 0.1767890086280598, + 0.009695342647894165, + -0.17660696455841163, + -0.984233702125874 + ], + [ + 0.9989159913546011, + 0.04251076885736159, + 0.018965145588953326, + 0.038506380724925085, + -0.983551487216702, + 0.17647586417774108, + 0.02615532182025941, + -0.17555428369871634, + -0.9841222447518951 + ], + [ + 0.9883667803023457, + 0.05654787238212662, + 0.14118585525409239, + 0.026023561308743018, + -0.9774984101647136, + 0.20933139368538967, + 0.1498461939843148, + -0.2032220368328992, + -0.967598533428975 + ], + [ + 0.9809955416698013, + 0.05541764041638912, + 0.18594792914859945, + 0.02079060547996137, + -0.982849717954707, + 0.1832325916427782, + 0.19291318759418538, + -0.17588438545542437, + -0.9653233577435169 + ], + [ + 0.979351558527619, + 0.03708267548127437, + 0.198734496222156, + 0.007302386643049519, + -0.9888804165326792, + 0.14853348762979404, + 0.2020326705234553, + -0.14401526647305576, + -0.9687323691628434 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005895.json b/json/chunk-0005/episode_0005895.json new file mode 100644 index 0000000000000000000000000000000000000000..0c0410f5b777fa7e3402e2f6e3d731e3b5c174d4 --- /dev/null +++ b/json/chunk-0005/episode_0005895.json @@ -0,0 +1,1162 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 18, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nGrabs the handle of the drawer and closes it." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005895.mp4", + "start": 0, + "end": 18, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3104359209537506, + 0.03968464583158493, + 0.1364404559135437, + 0.018168190494179726, + -0.034136343747377396, + -0.05880710110068321, + 0.0, + 0.9994885921478271 + ], + [ + 0.3074680268764496, + 0.03932321071624756, + 0.12553508579730988, + 0.011309894733130932, + 0.0035768088418990374, + -0.057168371975421906, + 0.0, + 0.9988223910331726 + ], + [ + 0.3146834373474121, + 0.008419218473136425, + 0.1148453876376152, + 0.0030694622546434402, + 0.009715148247778416, + -0.11340925097465515, + 0.0, + 0.9988223910331726 + ], + [ + 0.3277619183063507, + -0.028104370459914207, + 0.10413166135549545, + -0.02021014876663685, + -0.014399220235645771, + -0.1728467494249344, + 0.0, + 0.9988223910331726 + ], + [ + 0.3405434489250183, + -0.048262763768434525, + 0.08676596730947495, + -0.06893373280763626, + -0.04028813913464546, + -0.20431427657604218, + 0.0, + 0.9988223910331726 + ], + [ + 0.3521839380264282, + -0.05066554620862007, + 0.07158178091049194, + -0.07025757431983948, + -0.037309128791093826, + -0.1845761239528656, + 0.0, + 0.9988223910331726 + ], + [ + 0.36048340797424316, + -0.04833608865737915, + 0.048939049243927, + -0.04885132983326912, + -0.0042400117963552475, + -0.12310467660427094, + 0.0, + 0.9988223910331726 + ], + [ + 0.3642450273036957, + -0.04801267385482788, + 0.026883440092206, + -0.01067074853926897, + 0.041802916675806046, + -0.08864360302686691, + 0.0, + 0.9988223910331726 + ], + [ + 0.36186739802360535, + -0.05488363653421402, + 0.011858386918902397, + 0.01994997449219227, + 0.09240119904279709, + -0.08941009640693665, + 0.0, + 0.9635607004165649 + ], + [ + 0.36157554388046265, + -0.05444956570863724, + 0.009188197553157806, + 0.05608459934592247, + 0.0947958305478096, + -0.08669745922088623, + 0.0, + 0.6892001032829285 + ], + [ + 0.3595792055130005, + -0.047676414251327515, + 0.007575489580631256, + 0.08380590379238129, + 0.10007020086050034, + -0.06930891424417496, + 0.0, + 0.3875128924846649 + ], + [ + 0.3553631007671356, + -0.0340927429497242, + 0.005964116659015417, + 0.11257195472717285, + 0.1179632693529129, + -0.030274635180830956, + 0.0, + 0.18011163175106049 + ], + [ + 0.3475438952445984, + -0.007594005670398474, + 0.005918101407587528, + 0.11758687347173691, + 0.14348062872886658, + 0.025468099862337112, + 0.0, + 0.13248759508132935 + ], + [ + 0.34146440029144287, + 0.02200205996632576, + 0.005716301035135984, + 0.11522053927183151, + 0.16262440383434296, + 0.09303039312362671, + 0.0, + 0.12395496666431427 + ], + [ + 0.33982887864112854, + 0.03034149296581745, + 0.006879936903715134, + 0.10609420388936996, + 0.16993191838264465, + 0.10318417847156525, + 0.0, + 0.12395496666431427 + ], + [ + 0.3362218141555786, + 0.04136867821216583, + 0.010668308474123478, + 0.07389524579048157, + 0.16992875933647156, + 0.12377548217773438, + 0.0, + 0.1623418778181076 + ], + [ + 0.33386969566345215, + 0.03518194705247879, + 0.034803345799446106, + 0.05790267139673233, + 0.11981595307588577, + 0.05975247547030449, + 0.0, + 0.3644362688064575 + ], + [ + 0.34009554982185364, + 0.02038649469614029, + 0.07261323928833008, + 0.03571471944451332, + 0.016516944393515587, + 0.002036171965301037, + 0.0, + 0.7031799554824829 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9635607004165649 + ], + [ + 0.6892001032829285 + ], + [ + 0.3875128924846649 + ], + [ + 0.18011163175106049 + ], + [ + 0.13248759508132935 + ], + [ + 0.12395496666431427 + ], + [ + 0.12395496666431427 + ], + [ + 0.1623418778181076 + ], + [ + 0.3644362688064575 + ], + [ + 0.7031799554824829 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3104359209537506, + 0.03968464583158493, + 0.1364404559135437 + ], + [ + 0.3074680268764496, + 0.03932321071624756, + 0.12553508579730988 + ], + [ + 0.3146834373474121, + 0.008419218473136425, + 0.1148453876376152 + ], + [ + 0.3277619183063507, + -0.028104370459914207, + 0.10413166135549545 + ], + [ + 0.3405434489250183, + -0.048262763768434525, + 0.08676596730947495 + ], + [ + 0.3521839380264282, + -0.05066554620862007, + 0.07158178091049194 + ], + [ + 0.36048340797424316, + -0.04833608865737915, + 0.048939049243927 + ], + [ + 0.3642450273036957, + -0.04801267385482788, + 0.026883440092206 + ], + [ + 0.36186739802360535, + -0.05488363653421402, + 0.011858386918902397 + ], + [ + 0.36157554388046265, + -0.05444956570863724, + 0.009188197553157806 + ], + [ + 0.3595792055130005, + -0.047676414251327515, + 0.007575489580631256 + ], + [ + 0.3553631007671356, + -0.0340927429497242, + 0.005964116659015417 + ], + [ + 0.3475438952445984, + -0.007594005670398474, + 0.005918101407587528 + ], + [ + 0.34146440029144287, + 0.02200205996632576, + 0.005716301035135984 + ], + [ + 0.33982887864112854, + 0.03034149296581745, + 0.006879936903715134 + ], + [ + 0.3362218141555786, + 0.04136867821216583, + 0.010668308474123478 + ], + [ + 0.33386969566345215, + 0.03518194705247879, + 0.034803345799446106 + ], + [ + 0.34009554982185364, + 0.02038649469614029, + 0.07261323928833008 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9976897793720788, + -0.05814454280311219, + 0.03513283761255544, + -0.05873897118013193, + -0.9981430507517304, + 0.016130204609013373, + 0.03412971434384948, + -0.018156607013593184, + -0.9992524707102612 + ], + [ + 0.9983599473039589, + -0.0571739692524164, + -0.0029245271686300974, + -0.05713687174061191, + -0.9983001705956603, + 0.011495532887700593, + -0.003576801215216605, + -0.011309581274259739, + -0.9999296474574937 + ], + [ + 0.9935291720111298, + -0.11319539719423445, + -0.009305182261395801, + -0.11316096158489349, + -0.9935680054099535, + 0.004149144353750736, + -0.009714995422570141, + -0.003069312581914381, + -0.9999480977451847 + ], + [ + 0.9849970319722818, + -0.172238894347244, + 0.010705619077592732, + -0.17196954320932467, + -0.9848479341695351, + -0.02238353793249512, + 0.01439872265764572, + 0.02020667800600003, + -0.9996921360847999 + ], + [ + 0.9784057658152314, + -0.205130430380786, + 0.025370533130077266, + -0.20273110580941034, + -0.9763118689740541, + -0.07559916162024219, + 0.040277241176680766, + 0.06882325938360764, + -0.9968154808243161 + ], + [ + 0.9823300485849791, + -0.18565110494843445, + 0.023692675628936004, + -0.1834021545598568, + -0.9801084192000119, + -0.07583624671656736, + 0.03730047385536793, + 0.0701509361639534, + -0.9968387636952557 + ], + [ + 0.9924232631053221, + -0.12285296359889458, + -0.0017933717832769494, + -0.12279287135287392, + -0.9912227991517099, + -0.04898237628744988, + 0.004239999092089965, + 0.048831462980515564, + -0.9987980329530497 + ], + [ + 0.9952035431414339, + -0.08807834041636382, + -0.04256892843653777, + -0.08845022068327128, + -0.9960564965153261, + -0.006929228722904393, + -0.041790742752630644, + 0.010661224090733995, + -0.9990695031483396 + ], + [ + 0.9917566651385703, + -0.09110655417455765, + -0.09010168111450817, + -0.08891010610019084, + -0.9956430259500054, + 0.028106189894221305, + -0.09226976854026964, + -0.01986355113154782, + -0.9955359004827349 + ], + [ + 0.9917712306419797, + -0.09173866069705348, + -0.08929638404999396, + -0.08620012709142107, + -0.9942182780817892, + 0.0640277566177742, + -0.09465391782866664, + -0.05580352732214126, + -0.9939449693912089 + ], + [ + 0.9926082643137458, + -0.07735298980109706, + -0.09351656850464368, + -0.06890697315088251, + -0.9935187202291821, + 0.09040122568500539, + -0.09990326654937715, + -0.08328906004391629, + -0.9915050528412674 + ], + [ + 0.9925953408195178, + -0.04329297257535464, + -0.11349100364775618, + -0.03005964614502789, + -0.992814936492242, + 0.11582279374778356, + -0.11768987661231158, + -0.11155366602445432, + -0.9867648516944063 + ], + [ + 0.9894033391298455, + 0.008520048025864778, + -0.1449428897888729, + 0.02520367251729378, + -0.993199748891014, + 0.11366192719846015, + -0.14298883666340326, + -0.11611058343003881, + -0.9828898844759686 + ], + [ + 0.9825386164072556, + 0.07374685835307002, + -0.17081940215200497, + 0.09167056546620478, + -0.9908030842581259, + 0.0995276627460503, + -0.16190853805659056, + -0.11344888323662553, + -0.9802627077456024 + ], + [ + 0.9803541270646652, + 0.08460877395462188, + -0.17817727385156115, + 0.10151757622310117, + -0.9909330244430263, + 0.08801092424229918, + -0.1691152484699868, + -0.10436999778716381, + -0.9800545578164729 + ], + [ + 0.9780565970815198, + 0.11073305767815825, + -0.17647516211230233, + 0.12168146418593895, + -0.9911828766389101, + 0.05244164691713225, + -0.16911213492497743, + -0.07276465484739682, + -0.9829071120029886 + ], + [ + 0.9910587983846034, + 0.05271198167493304, + -0.12257204058172172, + 0.059288794087474776, + -0.9969555259165319, + 0.05064107265988606, + -0.11952948188676601, + -0.057455429094145374, + -0.9911667753851965 + ], + [ + 0.9998615256603044, + 0.0014451274881820313, + -0.01657833256969288, + 0.002035892821334762, + -0.9993614263441196, + 0.035673444967747034, + -0.01651619340733441, + -0.0357022568192788, + -0.9992259825551685 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0029678940773010254, + -0.0003614351153373718, + -0.010905370116233826, + -0.006858295761048794, + 0.037713151425123215, + 0.0016387291252613068, + 1.0 + ], + [ + 0.007215410470962524, + -0.03090399131178856, + -0.010689698159694672, + -0.008240432478487492, + 0.006138339638710022, + -0.056240878999233246, + 1.0 + ], + [ + 0.013078480958938599, + -0.03652358800172806, + -0.010713726282119751, + -0.02327961102128029, + -0.024114368483424187, + -0.059437498450279236, + 1.0 + ], + [ + 0.012781530618667603, + -0.020158393308520317, + -0.017365694046020508, + -0.04872358590364456, + -0.025888919830322266, + -0.03146752715110779, + 1.0 + ], + [ + 0.011640489101409912, + -0.002402782440185547, + -0.015184186398983002, + -0.0013238415122032166, + 0.0029790103435516357, + 0.019738152623176575, + 1.0 + ], + [ + 0.008299469947814941, + 0.002329457551240921, + -0.02264273166656494, + 0.02140624448657036, + 0.03306911885738373, + 0.061471447348594666, + 1.0 + ], + [ + 0.0037616193294525146, + 0.00032341480255126953, + -0.022055609151721, + 0.03818058222532272, + 0.046042926609516144, + 0.03446107357740402, + 1.0 + ], + [ + -0.002377629280090332, + -0.006870962679386139, + -0.015025053173303604, + 0.030620723962783813, + 0.05059828236699104, + -0.0007664933800697327, + 0.0 + ], + [ + -0.0002918541431427002, + 0.0004340708255767822, + -0.0026701893657445908, + 0.03613462299108505, + 0.002394631505012512, + 0.002712637186050415, + 0.0 + ], + [ + -0.001996338367462158, + 0.006773151457309723, + -0.0016127079725265503, + 0.027721304446458817, + 0.005274370312690735, + 0.017388544976711273, + 0.0 + ], + [ + -0.004216104745864868, + 0.013583671301603317, + -0.001611372921615839, + 0.028766050934791565, + 0.017893068492412567, + 0.03903427720069885, + 0.0 + ], + [ + -0.007819205522537231, + 0.026498736813664436, + -4.601525142788887e-05, + 0.005014918744564056, + 0.025517359375953674, + 0.05574273318052292, + 0.0 + ], + [ + -0.006079494953155518, + 0.02959606610238552, + -0.0002018003724515438, + -0.0023663341999053955, + 0.01914377510547638, + 0.0675622969865799, + 0.0 + ], + [ + -0.001635521650314331, + 0.008339432999491692, + 0.0011636358685791492, + -0.009126335382461548, + 0.007307514548301697, + 0.010153785347938538, + 0.0 + ], + [ + -0.0036070644855499268, + 0.011027185246348381, + 0.0037883715704083443, + -0.0321989580988884, + -3.159046173095703e-06, + 0.02059130370616913, + 1.0 + ], + [ + -0.002352118492126465, + -0.006186731159687042, + 0.024135038256645203, + -0.015992574393749237, + -0.050112806260585785, + -0.06402300298213959, + 1.0 + ], + [ + 0.006225854158401489, + -0.014795452356338501, + 0.03780989348888397, + -0.02218795195221901, + -0.10329900681972504, + -0.05771630257368088, + 1.0 + ], + [ + 0.0013702213764190674, + -0.013464422896504402, + 0.03773953765630722, + -0.015508517622947693, + -0.059788018465042114, + -0.05767073109745979, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9635607004165649 + ], + [ + 0.6892001032829285 + ], + [ + 0.3875128924846649 + ], + [ + 0.18011163175106049 + ], + [ + 0.13248759508132935 + ], + [ + 0.12395496666431427 + ], + [ + 0.12395496666431427 + ], + [ + 0.1623418778181076 + ], + [ + 0.3644362688064575 + ], + [ + 0.7031799554824829 + ], + [ + 0.9545519351959229 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3074680268764496, + 0.03932321071624756, + 0.12553508579730988 + ], + [ + 0.3146834373474121, + 0.008419218473136425, + 0.1148453876376152 + ], + [ + 0.3277619183063507, + -0.028104370459914207, + 0.10413166135549545 + ], + [ + 0.3405434489250183, + -0.048262763768434525, + 0.08676596730947495 + ], + [ + 0.3521839380264282, + -0.05066554620862007, + 0.07158178091049194 + ], + [ + 0.36048340797424316, + -0.04833608865737915, + 0.048939049243927 + ], + [ + 0.3642450273036957, + -0.04801267385482788, + 0.026883440092206 + ], + [ + 0.36186739802360535, + -0.05488363653421402, + 0.011858386918902397 + ], + [ + 0.36157554388046265, + -0.05444956570863724, + 0.009188197553157806 + ], + [ + 0.3595792055130005, + -0.047676414251327515, + 0.007575489580631256 + ], + [ + 0.3553631007671356, + -0.0340927429497242, + 0.005964116659015417 + ], + [ + 0.3475438952445984, + -0.007594005670398474, + 0.005918101407587528 + ], + [ + 0.34146440029144287, + 0.02200205996632576, + 0.005716301035135984 + ], + [ + 0.33982887864112854, + 0.03034149296581745, + 0.006879936903715134 + ], + [ + 0.3362218141555786, + 0.04136867821216583, + 0.010668308474123478 + ], + [ + 0.33386969566345215, + 0.03518194705247879, + 0.034803345799446106 + ], + [ + 0.34009554982185364, + 0.02038649469614029, + 0.07261323928833008 + ], + [ + 0.3414657711982727, + 0.006922071799635887, + 0.1103527769446373 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9983599473039589, + -0.0571739692524164, + -0.0029245271686300974, + -0.05713687174061191, + -0.9983001705956603, + 0.011495532887700593, + -0.003576801215216605, + -0.011309581274259739, + -0.9999296474574937 + ], + [ + 0.9935291720111298, + -0.11319539719423445, + -0.009305182261395801, + -0.11316096158489349, + -0.9935680054099535, + 0.004149144353750736, + -0.009714995422570141, + -0.003069312581914381, + -0.9999480977451847 + ], + [ + 0.9849970319722818, + -0.172238894347244, + 0.010705619077592732, + -0.17196954320932467, + -0.9848479341695351, + -0.02238353793249512, + 0.01439872265764572, + 0.02020667800600003, + -0.9996921360847999 + ], + [ + 0.9784057658152314, + -0.205130430380786, + 0.025370533130077266, + -0.20273110580941034, + -0.9763118689740541, + -0.07559916162024219, + 0.040277241176680766, + 0.06882325938360764, + -0.9968154808243161 + ], + [ + 0.9823300485849791, + -0.18565110494843445, + 0.023692675628936004, + -0.1834021545598568, + -0.9801084192000119, + -0.07583624671656736, + 0.03730047385536793, + 0.0701509361639534, + -0.9968387636952557 + ], + [ + 0.9924232631053221, + -0.12285296359889458, + -0.0017933717832769494, + -0.12279287135287392, + -0.9912227991517099, + -0.04898237628744988, + 0.004239999092089965, + 0.048831462980515564, + -0.9987980329530497 + ], + [ + 0.9952035431414339, + -0.08807834041636382, + -0.04256892843653777, + -0.08845022068327128, + -0.9960564965153261, + -0.006929228722904393, + -0.041790742752630644, + 0.010661224090733995, + -0.9990695031483396 + ], + [ + 0.9917566651385703, + -0.09110655417455765, + -0.09010168111450817, + -0.08891010610019084, + -0.9956430259500054, + 0.028106189894221305, + -0.09226976854026964, + -0.01986355113154782, + -0.9955359004827349 + ], + [ + 0.9917712306419797, + -0.09173866069705348, + -0.08929638404999396, + -0.08620012709142107, + -0.9942182780817892, + 0.0640277566177742, + -0.09465391782866664, + -0.05580352732214126, + -0.9939449693912089 + ], + [ + 0.9926082643137458, + -0.07735298980109706, + -0.09351656850464368, + -0.06890697315088251, + -0.9935187202291821, + 0.09040122568500539, + -0.09990326654937715, + -0.08328906004391629, + -0.9915050528412674 + ], + [ + 0.9925953408195178, + -0.04329297257535464, + -0.11349100364775618, + -0.03005964614502789, + -0.992814936492242, + 0.11582279374778356, + -0.11768987661231158, + -0.11155366602445432, + -0.9867648516944063 + ], + [ + 0.9894033391298455, + 0.008520048025864778, + -0.1449428897888729, + 0.02520367251729378, + -0.993199748891014, + 0.11366192719846015, + -0.14298883666340326, + -0.11611058343003881, + -0.9828898844759686 + ], + [ + 0.9825386164072556, + 0.07374685835307002, + -0.17081940215200497, + 0.09167056546620478, + -0.9908030842581259, + 0.0995276627460503, + -0.16190853805659056, + -0.11344888323662553, + -0.9802627077456024 + ], + [ + 0.9803541270646652, + 0.08460877395462188, + -0.17817727385156115, + 0.10151757622310117, + -0.9909330244430263, + 0.08801092424229918, + -0.1691152484699868, + -0.10436999778716381, + -0.9800545578164729 + ], + [ + 0.9780565970815198, + 0.11073305767815825, + -0.17647516211230233, + 0.12168146418593895, + -0.9911828766389101, + 0.05244164691713225, + -0.16911213492497743, + -0.07276465484739682, + -0.9829071120029886 + ], + [ + 0.9910587983846034, + 0.05271198167493304, + -0.12257204058172172, + 0.059288794087474776, + -0.9969555259165319, + 0.05064107265988606, + -0.11952948188676601, + -0.057455429094145374, + -0.9911667753851965 + ], + [ + 0.9998615256603044, + 0.0014451274881820313, + -0.01657833256969288, + 0.002035892821334762, + -0.9993614263441196, + 0.035673444967747034, + -0.01651619340733441, + -0.0357022568192788, + -0.9992259825551685 + ], + [ + 0.9975181985806814, + -0.05472185186060936, + 0.04430533183825511, + -0.05555381290182525, + -0.9982975747728793, + 0.017768682411945975, + 0.043257570116932986, + -0.02018591418621229, + -0.9988600059548113 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005896.json b/json/chunk-0005/episode_0005896.json new file mode 100644 index 0000000000000000000000000000000000000000..e6d6db0777598b4d885ab98657192b6afa57f854 --- /dev/null +++ b/json/chunk-0005/episode_0005896.json @@ -0,0 +1,1282 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 20, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nZip zipper bag." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005896.mp4", + "start": 0, + "end": 20, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.19745191931724548, + -0.105829618871212, + 0.09494394809007645, + -0.21419012546539307, + -0.008360026404261589, + 0.1146104633808136, + 0.0, + 0.9907060265541077 + ], + [ + 0.19391877949237823, + -0.10042212903499603, + 0.09347592294216156, + -0.19396695494651794, + 0.029393672943115234, + 0.10325349867343903, + 0.0, + 0.9907060265541077 + ], + [ + 0.20310132205486298, + -0.07401951402425766, + 0.10938034951686859, + -0.15776126086711884, + 0.042157839983701706, + 0.07369493693113327, + 0.0, + 0.9907060265541077 + ], + [ + 0.20520392060279846, + -0.04722364619374275, + 0.12744681537151337, + -0.11889847368001938, + -0.004368033725768328, + 0.0006649061106145382, + 0.0, + 0.9907060265541077 + ], + [ + 0.2135094255208969, + -0.018612170591950417, + 0.13957390189170837, + -0.10825072228908539, + 0.027039099484682083, + -0.0423966720700264, + 0.0, + 0.9907060265541077 + ], + [ + 0.22091363370418549, + 0.01799873448908329, + 0.14546237885951996, + -0.08259464055299759, + 0.06246250122785568, + -0.09729649871587753, + 0.0, + 0.9907060265541077 + ], + [ + 0.22190649807453156, + 0.04275478422641754, + 0.1432296484708786, + -0.04445851594209671, + 0.08371653407812119, + -0.12745553255081177, + 0.0, + 0.9907060265541077 + ], + [ + 0.22587573528289795, + 0.0657433569431305, + 0.13700447976589203, + -0.026668820530176163, + 0.07704194635152817, + -0.12830187380313873, + 0.0, + 0.9907060265541077 + ], + [ + 0.23037101328372955, + 0.08522932976484299, + 0.13465195894241333, + -0.005651927087455988, + 0.010893002152442932, + -0.12428322434425354, + 0.0, + 0.9907060265541077 + ], + [ + 0.2290194183588028, + 0.08944017440080643, + 0.12843210995197296, + -0.00808477122336626, + -0.0063948300667107105, + -0.1392582356929779, + 0.0, + 0.9907060265541077 + ], + [ + 0.22715070843696594, + 0.08732970058917999, + 0.12119904160499573, + -0.012989446520805359, + -0.009207822382450104, + -0.13987410068511963, + 0.0, + 0.9907060265541077 + ], + [ + 0.2284041941165924, + 0.08608172833919525, + 0.11728328466415405, + -0.011029885150492191, + -0.023923451080918312, + -0.13871696591377258, + 0.0, + 0.9907060265541077 + ], + [ + 0.23607027530670166, + 0.08362261950969696, + 0.1106533408164978, + -0.0023461501114070415, + -0.037682462483644485, + -0.12944555282592773, + 0.0, + 0.9907060265541077 + ], + [ + 0.24208705127239227, + 0.08029209077358246, + 0.10463257879018784, + 0.011927255429327488, + -0.038462284952402115, + -0.1142050102353096, + 0.0, + 0.9907060265541077 + ], + [ + 0.24524714052677155, + 0.08136216551065445, + 0.10242636501789093, + 0.01688069850206375, + -0.049657318741083145, + -0.10817358642816544, + 0.0, + 0.8844947218894958 + ], + [ + 0.24444326758384705, + 0.08383447676897049, + 0.10245346277952194, + 0.004423127509653568, + -0.05543433129787445, + -0.0873403251171112, + 0.0, + 0.5958979725837708 + ], + [ + 0.24070820212364197, + 0.0862451046705246, + 0.10233872383832932, + -0.0033322060480713844, + -0.07556899636983871, + -0.09177186340093613, + 0.0, + 0.3299713730812073 + ], + [ + 0.23401033878326416, + 0.08863481879234314, + 0.10298053920269012, + -0.015892719849944115, + -0.0934973880648613, + -0.12307494133710861, + 0.0, + 0.20024193823337555 + ], + [ + 0.22668461501598358, + 0.0912214070558548, + 0.10069305449724197, + -0.015248695388436317, + -0.09292545169591904, + -0.14567959308624268, + 0.0, + 0.1778956800699234 + ], + [ + 0.22193902730941772, + 0.09415161609649658, + 0.09518340229988098, + 0.020329521968960762, + -0.08797020465135574, + -0.16089433431625366, + 0.0, + 0.19029754400253296 + ] + ], + "left_gripper_pos": [ + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.8844947218894958 + ], + [ + 0.5958979725837708 + ], + [ + 0.3299713730812073 + ], + [ + 0.20024193823337555 + ], + [ + 0.1778956800699234 + ], + [ + 0.19029754400253296 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.19745191931724548, + -0.105829618871212, + 0.09494394809007645 + ], + [ + 0.19391877949237823, + -0.10042212903499603, + 0.09347592294216156 + ], + [ + 0.20310132205486298, + -0.07401951402425766, + 0.10938034951686859 + ], + [ + 0.20520392060279846, + -0.04722364619374275, + 0.12744681537151337 + ], + [ + 0.2135094255208969, + -0.018612170591950417, + 0.13957390189170837 + ], + [ + 0.22091363370418549, + 0.01799873448908329, + 0.14546237885951996 + ], + [ + 0.22190649807453156, + 0.04275478422641754, + 0.1432296484708786 + ], + [ + 0.22587573528289795, + 0.0657433569431305, + 0.13700447976589203 + ], + [ + 0.23037101328372955, + 0.08522932976484299, + 0.13465195894241333 + ], + [ + 0.2290194183588028, + 0.08944017440080643, + 0.12843210995197296 + ], + [ + 0.22715070843696594, + 0.08732970058917999, + 0.12119904160499573 + ], + [ + 0.2284041941165924, + 0.08608172833919525, + 0.11728328466415405 + ], + [ + 0.23607027530670166, + 0.08362261950969696, + 0.1106533408164978 + ], + [ + 0.24208705127239227, + 0.08029209077358246, + 0.10463257879018784 + ], + [ + 0.24524714052677155, + 0.08136216551065445, + 0.10242636501789093 + ], + [ + 0.24444326758384705, + 0.08383447676897049, + 0.10245346277952194 + ], + [ + 0.24070820212364197, + 0.0862451046705246, + 0.10233872383832932 + ], + [ + 0.23401033878326416, + 0.08863481879234314, + 0.10298053920269012 + ], + [ + 0.22668461501598358, + 0.0912214070558548, + 0.10069305449724197 + ], + [ + 0.22193902730941772, + 0.09415161609649658, + 0.09518340229988098 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9934046914234002, + 0.10998116970318304, + 0.032423160991781094, + 0.11435571977251573, + -0.9709413944343783, + -0.21022744333015816, + 0.008359929024169861, + 0.21254870238264137, + -0.9771147121511201 + ], + [ + 0.994244429473823, + 0.10677201677567685, + -0.008817646734042875, + 0.1030256048155786, + -0.9754374003035494, + -0.19469874894676892, + -0.02938944049579758, + 0.1926697031780225, + -0.980823453157925 + ], + [ + 0.9963996583801622, + 0.0793172817932177, + -0.029941435984794217, + 0.0735628300876657, + -0.9844134257685735, + -0.15974578929059285, + -0.04214535335466365, + 0.15696807310888594, + -0.9867040048642217 + ], + [ + 0.9999902391079024, + 0.00014208378055170377, + 0.004416050398210123, + 0.0006648997185218257, + -0.9929400246742378, + -0.11861562000128152, + 0.004368019835639171, + 0.11861739843768034, + -0.9929304271652633 + ], + [ + 0.9987361900040491, + -0.039217573966993304, + -0.03143254155073962, + -0.04236847924156672, + -0.9933770661873152, + -0.10680316633807684, + -0.027035804832711993, + 0.10799993641306178, + -0.9937832152898447 + ], + [ + 0.993329504028838, + -0.09168640227342702, + -0.06992925041768008, + -0.09695361671807919, + -0.9923778254974731, + -0.07606738897971518, + -0.062421892242282194, + 0.08233987551036748, + -0.9946475015148989 + ], + [ + 0.988414758301231, + -0.12329893107756482, + -0.08850784805568894, + -0.12666556371154095, + -0.991380818391929, + -0.03346502493928057, + -0.08361878103606006, + 0.044288221003772936, + -0.9955131606053054 + ], + [ + 0.988838716863826, + -0.12586918765108052, + -0.0797178752298337, + -0.1275706254522207, + -0.9916905274933243, + -0.0166022047253222, + -0.07696575571532754, + 0.02658656202049013, + -0.9966791997263208 + ], + [ + 0.9922279056061762, + -0.12390044828359258, + -0.011509224626615263, + -0.12395616375805664, + -0.9922785590577401, + -0.004258016049848884, + -0.010892786730994643, + 0.005651561679724021, + -0.9999247006889136 + ], + [ + 0.9902989829745582, + -0.13885523228453098, + 0.005210449766062845, + -0.1388057312412073, + -0.9902796903089874, + -0.008894039359568454, + 0.006394786481927889, + 0.0080845178424424, + -0.9999468722272727 + ], + [ + 0.9901915790664458, + -0.13952511585124294, + 0.007306079153401704, + -0.1394125358386153, + -0.9901333446152871, + -0.014145837974190995, + 0.009207692270343563, + 0.0129885306190689, + -0.9998732502049509 + ], + [ + 0.9901108163077593, + -0.13852541632764725, + 0.022164847430874733, + -0.13823295228785137, + -0.9902974932873129, + -0.01423115211950678, + 0.02392116912206775, + 0.011026505344665146, + -0.9996530367321039 + ], + [ + 0.990929655901208, + -0.1291716469908907, + 0.03705540000019851, + -0.1289927170520386, + -0.9916194779328423, + -0.007189571039376734, + 0.03767354513510379, + 0.002344482428651159, + -0.9992873497643685 + ], + [ + 0.9927509281977424, + -0.11349317000893475, + 0.039558752809511384, + -0.11387263299154973, + -0.9934672908668928, + 0.007467625671422505, + 0.03845280247384852, + -0.011918151657018908, + -0.9991893412376792 + ], + [ + 0.992929474326064, + -0.10711439318507568, + 0.05116215190117405, + -0.10782966126266633, + -0.9941037560919159, + 0.011423058956465806, + 0.04963691334626311, + -0.01685908943381191, + -0.9986250286954148 + ], + [ + 0.9946580238869843, + -0.08698433805337759, + 0.05558003643985064, + -0.08709533194254736, + -0.9961998901132988, + -0.00042672247297571115, + 0.055405944365716636, + -0.004416318791389481, + -0.9984541438930864 + ], + [ + 0.9929499489227767, + -0.09189310336844811, + 0.07487360340982371, + -0.09138155199132367, + -0.9957633339732066, + -0.01023692679576475, + 0.07549709193017212, + 0.003322689856208257, + -0.9971404860109769 + ], + [ + 0.9881011751599308, + -0.12422143970994608, + 0.09069234567454819, + -0.12222826677711517, + -0.9921283576263838, + -0.027231834206243543, + 0.09336122561441591, + 0.015822639159198622, + -0.9955065673524267 + ], + [ + 0.9851387185827107, + -0.14654789222062628, + 0.08958471094392621, + -0.1445385491441182, + -0.9890870601390428, + -0.028555126979569058, + 0.09279177205188206, + 0.015182317056288952, + -0.9955697787138149 + ], + [ + 0.9832674642028222, + -0.15840505381764577, + 0.08996072901650173, + -0.15958157516768037, + -0.9871665493014842, + 0.005993730658151903, + 0.08785678520839288, + -0.02024951518504193, + -0.9959272776802617 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0035331398248672485, + 0.005407489836215973, + -0.0014680251479148865, + 0.020223170518875122, + 0.03775370121002197, + -0.011356964707374573, + 1.0 + ], + [ + 0.009182542562484741, + 0.026402615010738373, + 0.01590442657470703, + 0.03620569407939911, + 0.012764167040586472, + -0.029558561742305756, + 1.0 + ], + [ + 0.002102598547935486, + 0.026795867830514908, + 0.018066465854644775, + 0.03886278718709946, + -0.046525873243808746, + -0.0730300322175026, + 1.0 + ], + [ + 0.00830550491809845, + 0.028611475601792336, + 0.012127086520195007, + 0.01064775139093399, + 0.031407132744789124, + -0.043061576783657074, + 1.0 + ], + [ + 0.007404208183288574, + 0.03661090508103371, + 0.0058884769678115845, + 0.0256560817360878, + 0.0354234017431736, + -0.054899826645851135, + 1.0 + ], + [ + 0.0009928643703460693, + 0.02475604973733425, + -0.0022327303886413574, + 0.03813612461090088, + 0.021254032850265503, + -0.030159033834934235, + 1.0 + ], + [ + 0.003969237208366394, + 0.02298857271671295, + -0.006225168704986572, + 0.017789695411920547, + -0.006674587726593018, + -0.0008463412523269653, + 1.0 + ], + [ + 0.004495278000831604, + 0.019485972821712494, + -0.0023525208234786987, + 0.021016893908381462, + -0.06614894419908524, + 0.004018649458885193, + 1.0 + ], + [ + -0.0013515949249267578, + 0.00421084463596344, + -0.006219848990440369, + -0.0024328441359102726, + -0.017287831753492355, + -0.014975011348724365, + 1.0 + ], + [ + -0.001868709921836853, + -0.0021104738116264343, + -0.007233068346977234, + -0.004904675297439098, + -0.0028129923157393932, + -0.0006158649921417236, + 1.0 + ], + [ + 0.0012534856796264648, + -0.0012479722499847412, + -0.003915756940841675, + 0.0019595613703131676, + -0.014715628698468208, + 0.001157134771347046, + 1.0 + ], + [ + 0.007666081190109253, + -0.002459108829498291, + -0.00662994384765625, + 0.008683735504746437, + -0.013759011402726173, + 0.009271413087844849, + 1.0 + ], + [ + 0.006016775965690613, + -0.003330528736114502, + -0.006020762026309967, + 0.014273405075073242, + -0.0007798224687576294, + 0.015240542590618134, + 1.0 + ], + [ + 0.0031600892543792725, + 0.001070074737071991, + -0.0022062137722969055, + 0.004953443072736263, + -0.01119503378868103, + 0.006031423807144165, + 0.0 + ], + [ + -0.0008038729429244995, + 0.00247231125831604, + 2.7097761631011963e-05, + -0.012457570992410183, + -0.0057770125567913055, + 0.02083326131105423, + 0.0 + ], + [ + -0.003735065460205078, + 0.0024106279015541077, + -0.00011473894119262695, + -0.007755333557724953, + -0.020134665071964264, + -0.004431538283824921, + 0.0 + ], + [ + -0.006697863340377808, + 0.0023897141218185425, + 0.0006418153643608093, + -0.01256051380187273, + -0.017928391695022583, + -0.031303077936172485, + 0.0 + ], + [ + -0.007325723767280579, + 0.0025865882635116577, + -0.0022874847054481506, + 0.0006440244615077972, + 0.0005719363689422607, + -0.022604651749134064, + 0.0 + ], + [ + -0.004745587706565857, + 0.0029302090406417847, + -0.005509652197360992, + 0.03557821735739708, + 0.0049552470445632935, + -0.015214741230010986, + 0.0 + ], + [ + -0.007938235998153687, + 0.005447834730148315, + -0.017208002507686615, + 0.057290203869342804, + 0.06802187860012054, + 0.030768603086471558, + 0.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.8844947218894958 + ], + [ + 0.5958979725837708 + ], + [ + 0.3299713730812073 + ], + [ + 0.20024193823337555 + ], + [ + 0.1778956800699234 + ], + [ + 0.19029754400253296 + ], + [ + 0.19905558228492737 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.19391877949237823, + -0.10042212903499603, + 0.09347592294216156 + ], + [ + 0.20310132205486298, + -0.07401951402425766, + 0.10938034951686859 + ], + [ + 0.20520392060279846, + -0.04722364619374275, + 0.12744681537151337 + ], + [ + 0.2135094255208969, + -0.018612170591950417, + 0.13957390189170837 + ], + [ + 0.22091363370418549, + 0.01799873448908329, + 0.14546237885951996 + ], + [ + 0.22190649807453156, + 0.04275478422641754, + 0.1432296484708786 + ], + [ + 0.22587573528289795, + 0.0657433569431305, + 0.13700447976589203 + ], + [ + 0.23037101328372955, + 0.08522932976484299, + 0.13465195894241333 + ], + [ + 0.2290194183588028, + 0.08944017440080643, + 0.12843210995197296 + ], + [ + 0.22715070843696594, + 0.08732970058917999, + 0.12119904160499573 + ], + [ + 0.2284041941165924, + 0.08608172833919525, + 0.11728328466415405 + ], + [ + 0.23607027530670166, + 0.08362261950969696, + 0.1106533408164978 + ], + [ + 0.24208705127239227, + 0.08029209077358246, + 0.10463257879018784 + ], + [ + 0.24524714052677155, + 0.08136216551065445, + 0.10242636501789093 + ], + [ + 0.24444326758384705, + 0.08383447676897049, + 0.10245346277952194 + ], + [ + 0.24070820212364197, + 0.0862451046705246, + 0.10233872383832932 + ], + [ + 0.23401033878326416, + 0.08863481879234314, + 0.10298053920269012 + ], + [ + 0.22668461501598358, + 0.0912214070558548, + 0.10069305449724197 + ], + [ + 0.22193902730941772, + 0.09415161609649658, + 0.09518340229988098 + ], + [ + 0.21400079131126404, + 0.0995994508266449, + 0.07797539979219437 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.994244429473823, + 0.10677201677567685, + -0.008817646734042875, + 0.1030256048155786, + -0.9754374003035494, + -0.19469874894676892, + -0.02938944049579758, + 0.1926697031780225, + -0.980823453157925 + ], + [ + 0.9963996583801622, + 0.0793172817932177, + -0.029941435984794217, + 0.0735628300876657, + -0.9844134257685735, + -0.15974578929059285, + -0.04214535335466365, + 0.15696807310888594, + -0.9867040048642217 + ], + [ + 0.9999902391079024, + 0.00014208378055170377, + 0.004416050398210123, + 0.0006648997185218257, + -0.9929400246742378, + -0.11861562000128152, + 0.004368019835639171, + 0.11861739843768034, + -0.9929304271652633 + ], + [ + 0.9987361900040491, + -0.039217573966993304, + -0.03143254155073962, + -0.04236847924156672, + -0.9933770661873152, + -0.10680316633807684, + -0.027035804832711993, + 0.10799993641306178, + -0.9937832152898447 + ], + [ + 0.993329504028838, + -0.09168640227342702, + -0.06992925041768008, + -0.09695361671807919, + -0.9923778254974731, + -0.07606738897971518, + -0.062421892242282194, + 0.08233987551036748, + -0.9946475015148989 + ], + [ + 0.988414758301231, + -0.12329893107756482, + -0.08850784805568894, + -0.12666556371154095, + -0.991380818391929, + -0.03346502493928057, + -0.08361878103606006, + 0.044288221003772936, + -0.9955131606053054 + ], + [ + 0.988838716863826, + -0.12586918765108052, + -0.0797178752298337, + -0.1275706254522207, + -0.9916905274933243, + -0.0166022047253222, + -0.07696575571532754, + 0.02658656202049013, + -0.9966791997263208 + ], + [ + 0.9922279056061762, + -0.12390044828359258, + -0.011509224626615263, + -0.12395616375805664, + -0.9922785590577401, + -0.004258016049848884, + -0.010892786730994643, + 0.005651561679724021, + -0.9999247006889136 + ], + [ + 0.9902989829745582, + -0.13885523228453098, + 0.005210449766062845, + -0.1388057312412073, + -0.9902796903089874, + -0.008894039359568454, + 0.006394786481927889, + 0.0080845178424424, + -0.9999468722272727 + ], + [ + 0.9901915790664458, + -0.13952511585124294, + 0.007306079153401704, + -0.1394125358386153, + -0.9901333446152871, + -0.014145837974190995, + 0.009207692270343563, + 0.0129885306190689, + -0.9998732502049509 + ], + [ + 0.9901108163077593, + -0.13852541632764725, + 0.022164847430874733, + -0.13823295228785137, + -0.9902974932873129, + -0.01423115211950678, + 0.02392116912206775, + 0.011026505344665146, + -0.9996530367321039 + ], + [ + 0.990929655901208, + -0.1291716469908907, + 0.03705540000019851, + -0.1289927170520386, + -0.9916194779328423, + -0.007189571039376734, + 0.03767354513510379, + 0.002344482428651159, + -0.9992873497643685 + ], + [ + 0.9927509281977424, + -0.11349317000893475, + 0.039558752809511384, + -0.11387263299154973, + -0.9934672908668928, + 0.007467625671422505, + 0.03845280247384852, + -0.011918151657018908, + -0.9991893412376792 + ], + [ + 0.992929474326064, + -0.10711439318507568, + 0.05116215190117405, + -0.10782966126266633, + -0.9941037560919159, + 0.011423058956465806, + 0.04963691334626311, + -0.01685908943381191, + -0.9986250286954148 + ], + [ + 0.9946580238869843, + -0.08698433805337759, + 0.05558003643985064, + -0.08709533194254736, + -0.9961998901132988, + -0.00042672247297571115, + 0.055405944365716636, + -0.004416318791389481, + -0.9984541438930864 + ], + [ + 0.9929499489227767, + -0.09189310336844811, + 0.07487360340982371, + -0.09138155199132367, + -0.9957633339732066, + -0.01023692679576475, + 0.07549709193017212, + 0.003322689856208257, + -0.9971404860109769 + ], + [ + 0.9881011751599308, + -0.12422143970994608, + 0.09069234567454819, + -0.12222826677711517, + -0.9921283576263838, + -0.027231834206243543, + 0.09336122561441591, + 0.015822639159198622, + -0.9955065673524267 + ], + [ + 0.9851387185827107, + -0.14654789222062628, + 0.08958471094392621, + -0.1445385491441182, + -0.9890870601390428, + -0.028555126979569058, + 0.09279177205188206, + 0.015182317056288952, + -0.9955697787138149 + ], + [ + 0.9832674642028222, + -0.15840505381764577, + 0.08996072901650173, + -0.15958157516768037, + -0.9871665493014842, + 0.005993730658151903, + 0.08785678520839288, + -0.02024951518504193, + -0.9959272776802617 + ], + [ + 0.9913483076965308, + -0.1278344714165225, + 0.029780543058896006, + -0.12973299491936557, + -0.9887608449501877, + 0.07430573007946865, + 0.01994700119006179, + -0.07752637880779216, + -0.9967907391887599 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005897.json b/json/chunk-0005/episode_0005897.json new file mode 100644 index 0000000000000000000000000000000000000000..fc3ccaf5d1c26feba71f736577c5bb43dea1a851 --- /dev/null +++ b/json/chunk-0005/episode_0005897.json @@ -0,0 +1,2782 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 45, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut blue cube on top of yellow object." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005897.mp4", + "start": 0, + "end": 45, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.30959439277648926, + 0.01694341190159321, + 0.12316255271434784, + -0.17265698313713074, + -0.18121856451034546, + 1.0232789516448975, + 0.0, + 0.9988223910331726 + ], + [ + 0.30690327286720276, + 0.016680926084518433, + 0.11358126997947693, + -0.14470113813877106, + -0.1616773009300232, + 1.0191553831100464, + 0.0, + 0.9988223910331726 + ], + [ + 0.3107500970363617, + 0.020826641470193863, + 0.11673246324062347, + -0.16032101213932037, + -0.14555524289608002, + 1.0783041715621948, + 0.0, + 0.9988223910331726 + ], + [ + 0.31509411334991455, + 0.03613445535302162, + 0.12395967543125153, + -0.1803617775440216, + -0.1549900472164154, + 1.1381093263626099, + 0.0, + 0.9988223910331726 + ], + [ + 0.3199496269226074, + 0.05095954239368439, + 0.12810498476028442, + -0.19399480521678925, + -0.15656587481498718, + 1.1924793720245361, + 0.0, + 0.9988223910331726 + ], + [ + 0.32235923409461975, + 0.0658549815416336, + 0.1159370020031929, + -0.1518392711877823, + -0.1362566202878952, + 1.2523568868637085, + 0.0, + 0.9988223910331726 + ], + [ + 0.324908584356308, + 0.07437513768672943, + 0.11016344279050827, + -0.10957545787096024, + -0.14460843801498413, + 1.296805500984192, + 0.0, + 0.9988223910331726 + ], + [ + 0.3276817798614502, + 0.08091270178556442, + 0.10775294154882431, + -0.09073328971862793, + -0.15041427314281464, + 1.3543694019317627, + 0.0, + 0.9988223910331726 + ], + [ + 0.3224734961986542, + 0.08957943320274353, + 0.09908537566661835, + -0.06058645248413086, + -0.138172447681427, + 1.5063083171844482, + 0.0, + 0.9988223910331726 + ], + [ + 0.32245945930480957, + 0.09824240952730179, + 0.09180864691734314, + -0.034563954919576645, + -0.13483847677707672, + 1.6342055797576904, + 0.0, + 0.9988223910331726 + ], + [ + 0.31929922103881836, + 0.10445842146873474, + 0.08898185193538666, + -0.02775488793849945, + -0.13826175034046173, + 1.7054636478424072, + 0.0, + 0.9988223910331726 + ], + [ + 0.3149276375770569, + 0.10469169914722443, + 0.07404868304729462, + 0.006179129704833031, + -0.12621399760246277, + 1.726810097694397, + 0.0, + 0.9988223910331726 + ], + [ + 0.3129422962665558, + 0.10432799160480499, + 0.055617623031139374, + 0.051822129637002945, + -0.103395015001297, + 1.740770936012268, + 0.0, + 0.9988223910331726 + ], + [ + 0.3129529058933258, + 0.10362610220909119, + 0.04259270057082176, + 0.07496269047260284, + -0.08304432034492493, + 1.7328393459320068, + 0.0, + 0.9988223910331726 + ], + [ + 0.312681645154953, + 0.10012462735176086, + 0.028041575103998184, + 0.10295915603637695, + -0.0581035241484642, + 1.724036455154419, + 0.0, + 0.9988223910331726 + ], + [ + 0.31326091289520264, + 0.09891828149557114, + 0.021369438618421555, + 0.11307346075773239, + -0.048107463866472244, + 1.7206532955169678, + 0.0, + 0.9988223910331726 + ], + [ + 0.3132820725440979, + 0.0989852100610733, + 0.01431034505367279, + 0.1208173930644989, + -0.03547097370028496, + 1.7339906692504883, + 0.0, + 0.9988223910331726 + ], + [ + 0.3139306306838989, + 0.10268009454011917, + 0.013560349121689796, + 0.10968393832445145, + -0.03265966475009918, + 1.7488371133804321, + 0.0, + 0.9522681832313538 + ], + [ + 0.3162977397441864, + 0.10234401375055313, + 0.009951415471732616, + 0.07835559546947479, + -0.009839505888521671, + 1.751966953277588, + 0.0, + 0.676182746887207 + ], + [ + 0.31514909863471985, + 0.10380794107913971, + 0.008310223929584026, + 0.047828465700149536, + -0.01115031074732542, + 1.746280550956726, + 0.0, + 0.5869058966636658 + ], + [ + 0.30902618169784546, + 0.10380497574806213, + 0.010370942763984203, + 0.04903017356991768, + -0.019222477450966835, + 1.7379194498062134, + 0.0, + 0.5859079360961914 + ], + [ + 0.3129948079586029, + 0.10555080324411392, + 0.030163269490003586, + -0.023909103125333786, + -0.02938205376267433, + 1.7407143115997314, + 0.0, + 0.5859079360961914 + ], + [ + 0.31958553194999695, + 0.10262103378772736, + 0.06869149208068848, + -0.13393829762935638, + -0.05341990664601326, + 1.7288119792938232, + 0.0, + 0.5859079360961914 + ], + [ + 0.3213970363140106, + 0.08993915468454361, + 0.10718874633312225, + -0.21438677608966827, + -0.08618045598268509, + 1.6947681903839111, + 0.0, + 0.5859079360961914 + ], + [ + 0.3160210847854614, + 0.07629276812076569, + 0.1266029179096222, + -0.21815337240695953, + -0.09847158938646317, + 1.6582541465759277, + 0.0, + 0.5859079360961914 + ], + [ + 0.30729401111602783, + 0.06551654636859894, + 0.134388729929924, + -0.1993035227060318, + -0.07195840775966644, + 1.6470133066177368, + 0.0, + 0.5859079360961914 + ], + [ + 0.2922091782093048, + 0.059005528688430786, + 0.12914486229419708, + -0.13231061398983002, + -0.05722897872328758, + 1.6255241632461548, + 0.0, + 0.5859079360961914 + ], + [ + 0.272173672914505, + 0.05190974846482277, + 0.11963006108999252, + -0.06497105956077576, + -0.0015888018533587456, + 1.6095620393753052, + 0.0, + 0.5859079360961914 + ], + [ + 0.2570142447948456, + 0.04620272293686867, + 0.10306485742330551, + -0.012092671357095242, + 0.026352141052484512, + 1.6093416213989258, + 0.0, + 0.5859079360961914 + ], + [ + 0.24719709157943726, + 0.03766991198062897, + 0.08907760679721832, + 0.010548495687544346, + 0.051984358578920364, + 1.5809061527252197, + 0.0, + 0.5859079360961914 + ], + [ + 0.24649664759635925, + 0.03190336003899574, + 0.08087007701396942, + 0.01542608067393303, + 0.04944681003689766, + 1.5504533052444458, + 0.0, + 0.5859079360961914 + ], + [ + 0.250994473695755, + 0.0279097743332386, + 0.08070316165685654, + -0.006094310898333788, + 0.023235207423567772, + 1.5107969045639038, + 0.0, + 0.5859079360961914 + ], + [ + 0.25494185090065, + 0.025030503049492836, + 0.08202868700027466, + -0.02104201354086399, + 0.004304557107388973, + 1.4971100091934204, + 0.0, + 0.5859079360961914 + ], + [ + 0.2655448019504547, + 0.025142556056380272, + 0.08742924779653549, + -0.05626634508371353, + -0.016633884981274605, + 1.4861711263656616, + 0.0, + 0.5859079360961914 + ], + [ + 0.2685888707637787, + 0.02707391232252121, + 0.08517474681138992, + -0.056504830718040466, + -0.024492282420396805, + 1.48939049243927, + 0.0, + 0.5859079360961914 + ], + [ + 0.2698419690132141, + 0.028640085831284523, + 0.08236736059188843, + -0.05682014301419258, + -0.022910691797733307, + 1.4991809129714966, + 0.0, + 0.5859079360961914 + ], + [ + 0.2674482464790344, + 0.030464544892311096, + 0.07933187484741211, + -0.05394371598958969, + -0.021981636062264442, + 1.5127677917480469, + 0.0, + 0.5859079360961914 + ], + [ + 0.2671380341053009, + 0.030009938403964043, + 0.07082823663949966, + -0.0412118099629879, + -0.01435777172446251, + 1.5185304880142212, + 0.0, + 0.5859079360961914 + ], + [ + 0.26724153757095337, + 0.030669089406728745, + 0.06786739826202393, + -0.03313322365283966, + -0.006537940818816423, + 1.5271106958389282, + 0.0, + 0.5859079360961914 + ], + [ + 0.2675502598285675, + 0.03341591730713844, + 0.06675183027982712, + -0.03633936494588852, + -0.005902884062379599, + 1.534088134765625, + 0.0, + 0.6370214223861694 + ], + [ + 0.2644333839416504, + 0.03447826951742172, + 0.06308858841657639, + -0.011216443963348866, + 0.0020366276148706675, + 1.5411251783370972, + 0.0, + 0.8749077320098877 + ], + [ + 0.26298707723617554, + 0.03428259119391441, + 0.06307964026927948, + -0.0021362602710723877, + 0.0035405070520937443, + 1.541115164756775, + 0.0, + 1.0047606229782104 + ], + [ + 0.26279598474502563, + 0.035692956298589706, + 0.06786958128213882, + -0.011688269674777985, + -0.004544036462903023, + 1.5400201082229614, + 0.0, + 0.9994885921478271 + ], + [ + 0.26946118474006653, + 0.038654740899801254, + 0.08367107063531876, + -0.06581026315689087, + -0.026177220046520233, + 1.5469096899032593, + 0.0, + 0.9994885921478271 + ], + [ + 0.2723545432090759, + 0.04007219523191452, + 0.0887947753071785, + -0.08650168031454086, + -0.03491409495472908, + 1.559179663658142, + 0.0, + 0.9994885921478271 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9522681832313538 + ], + [ + 0.676182746887207 + ], + [ + 0.5869058966636658 + ], + [ + 0.5859079360961914 + ], + [ + 0.5859079360961914 + ], + [ + 0.5859079360961914 + ], + [ + 0.5859079360961914 + ], + [ + 0.5859079360961914 + ], + [ + 0.5859079360961914 + ], + [ + 0.5859079360961914 + ], + [ + 0.5859079360961914 + ], + [ + 0.5859079360961914 + ], + [ + 0.5859079360961914 + ], + [ + 0.5859079360961914 + ], + [ + 0.5859079360961914 + ], + [ + 0.5859079360961914 + ], + [ + 0.5859079360961914 + ], + [ + 0.5859079360961914 + ], + [ + 0.5859079360961914 + ], + [ + 0.5859079360961914 + ], + [ + 0.5859079360961914 + ], + [ + 0.5859079360961914 + ], + [ + 0.6370214223861694 + ], + [ + 0.8749077320098877 + ], + [ + 1.0047606229782104 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.30959439277648926, + 0.01694341190159321, + 0.12316255271434784 + ], + [ + 0.30690327286720276, + 0.016680926084518433, + 0.11358126997947693 + ], + [ + 0.3107500970363617, + 0.020826641470193863, + 0.11673246324062347 + ], + [ + 0.31509411334991455, + 0.03613445535302162, + 0.12395967543125153 + ], + [ + 0.3199496269226074, + 0.05095954239368439, + 0.12810498476028442 + ], + [ + 0.32235923409461975, + 0.0658549815416336, + 0.1159370020031929 + ], + [ + 0.324908584356308, + 0.07437513768672943, + 0.11016344279050827 + ], + [ + 0.3276817798614502, + 0.08091270178556442, + 0.10775294154882431 + ], + [ + 0.3224734961986542, + 0.08957943320274353, + 0.09908537566661835 + ], + [ + 0.32245945930480957, + 0.09824240952730179, + 0.09180864691734314 + ], + [ + 0.31929922103881836, + 0.10445842146873474, + 0.08898185193538666 + ], + [ + 0.3149276375770569, + 0.10469169914722443, + 0.07404868304729462 + ], + [ + 0.3129422962665558, + 0.10432799160480499, + 0.055617623031139374 + ], + [ + 0.3129529058933258, + 0.10362610220909119, + 0.04259270057082176 + ], + [ + 0.312681645154953, + 0.10012462735176086, + 0.028041575103998184 + ], + [ + 0.31326091289520264, + 0.09891828149557114, + 0.021369438618421555 + ], + [ + 0.3132820725440979, + 0.0989852100610733, + 0.01431034505367279 + ], + [ + 0.3139306306838989, + 0.10268009454011917, + 0.013560349121689796 + ], + [ + 0.3162977397441864, + 0.10234401375055313, + 0.009951415471732616 + ], + [ + 0.31514909863471985, + 0.10380794107913971, + 0.008310223929584026 + ], + [ + 0.30902618169784546, + 0.10380497574806213, + 0.010370942763984203 + ], + [ + 0.3129948079586029, + 0.10555080324411392, + 0.030163269490003586 + ], + [ + 0.31958553194999695, + 0.10262103378772736, + 0.06869149208068848 + ], + [ + 0.3213970363140106, + 0.08993915468454361, + 0.10718874633312225 + ], + [ + 0.3160210847854614, + 0.07629276812076569, + 0.1266029179096222 + ], + [ + 0.30729401111602783, + 0.06551654636859894, + 0.134388729929924 + ], + [ + 0.2922091782093048, + 0.059005528688430786, + 0.12914486229419708 + ], + [ + 0.272173672914505, + 0.05190974846482277, + 0.11963006108999252 + ], + [ + 0.2570142447948456, + 0.04620272293686867, + 0.10306485742330551 + ], + [ + 0.24719709157943726, + 0.03766991198062897, + 0.08907760679721832 + ], + [ + 0.24649664759635925, + 0.03190336003899574, + 0.08087007701396942 + ], + [ + 0.250994473695755, + 0.0279097743332386, + 0.08070316165685654 + ], + [ + 0.25494185090065, + 0.025030503049492836, + 0.08202868700027466 + ], + [ + 0.2655448019504547, + 0.025142556056380272, + 0.08742924779653549 + ], + [ + 0.2685888707637787, + 0.02707391232252121, + 0.08517474681138992 + ], + [ + 0.2698419690132141, + 0.028640085831284523, + 0.08236736059188843 + ], + [ + 0.2674482464790344, + 0.030464544892311096, + 0.07933187484741211 + ], + [ + 0.2671380341053009, + 0.030009938403964043, + 0.07082823663949966 + ], + [ + 0.26724153757095337, + 0.030669089406728745, + 0.06786739826202393 + ], + [ + 0.2675502598285675, + 0.03341591730713844, + 0.06675183027982712 + ], + [ + 0.2644333839416504, + 0.03447826951742172, + 0.06308858841657639 + ], + [ + 0.26298707723617554, + 0.03428259119391441, + 0.06307964026927948 + ], + [ + 0.26279598474502563, + 0.035692956298589706, + 0.06786958128213882 + ], + [ + 0.26946118474006653, + 0.038654740899801254, + 0.08367107063531876 + ], + [ + 0.2723545432090759, + 0.04007219523191452, + 0.0887947753071785 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.5120447000066235, + 0.8250062087519573, + 0.23911290370000765, + 0.8398380670512965, + -0.5392662547975602, + 0.062160498454847606, + 0.1802283172164385, + 0.1689871650668626, + -0.9690000473250742 + ], + [ + 0.517250697877983, + 0.8305999357520814, + 0.20628975319530077, + 0.8405588214235303, + -0.5383770531465674, + 0.06009173297804002, + 0.16097385897040997, + 0.14231618099800433, + -0.9766440095317832 + ], + [ + 0.46782347629910737, + 0.8589097237443903, + 0.20836334005950513, + 0.8718394717201894, + -0.48716200072766613, + 0.050686493246997616, + 0.14504182353403827, + 0.15794705285111152, + -0.9767372205058884 + ], + [ + 0.4142854249695259, + 0.8815046099017422, + 0.22653302050649604, + 0.8969600925843516, + -0.4376497483239057, + 0.06265213566266692, + 0.1543702658185524, + 0.17723521239866316, + -0.9719863684831747 + ], + [ + 0.3648391999950652, + 0.9007532271240813, + 0.2356607348976785, + 0.917921088737533, + -0.39036260736269957, + 0.0709782334515088, + 0.15592701176468068, + 0.19042231644045274, + -0.9692399643037781 + ], + [ + 0.3101829873996012, + 0.93236550858834, + 0.18569079870221172, + 0.9409225583672276, + -0.32899569613673557, + 0.08016589723302653, + 0.13583539113033194, + 0.14985456388882934, + -0.9793326075436062 + ], + [ + 0.26775138697542294, + 0.9526611269440501, + 0.14403462077719356, + 0.9526504886997249, + -0.28412376359540265, + 0.10830851000987618, + 0.14410496574689238, + 0.10821489809668713, + -0.9836276199238261 + ], + [ + 0.21231665694272944, + 0.969737833363057, + 0.12054116196962304, + 0.9656434599373201, + -0.22711873714439462, + 0.126292468176912, + 0.14984774094041023, + 0.08958579006884371, + -0.9846420876403753 + ], + [ + 0.06382913536680401, + 0.9955529493957865, + 0.0692832333806416, + 0.9884105442802161, + -0.07264740798073599, + 0.13329272324237001, + 0.13773321107856584, + 0.05997231914000602, + -0.9886520538101138 + ], + [ + -0.06279159304610704, + 0.9976886044921042, + 0.025974300940160504, + 0.9889316064327675, + 0.058692742097413375, + 0.13626973186805869, + 0.13443025567571523, + 0.03424340070268233, + -0.9903312051365833 + ], + [ + -0.13297941032572502, + 0.9910779078503703, + 0.009003166129508938, + 0.981489513897983, + 0.13041883736121773, + 0.1402471424651838, + 0.13782166207720672, + 0.027486495452882592, + -0.9900755940987512 + ], + [ + -0.15414566652621625, + 0.9877147993983963, + -0.0256629799628618, + 0.979996708594129, + 0.15614704253820016, + 0.12338781240968415, + 0.1258791668063561, + -0.006129939311219149, + -0.9920266423882871 + ], + [ + -0.16825393882898443, + 0.983361591051953, + -0.06848790632150945, + 0.9803255196542072, + 0.17419940671793321, + 0.09282479309876539, + 0.1032108888792306, + -0.0515223052948096, + -0.9933241990779584 + ], + [ + -0.16077880523844212, + 0.983125884540708, + -0.08725635181549321, + 0.9834986808994186, + 0.16701257517064583, + 0.06954958234218593, + 0.08294890267629976, + -0.07463440815682389, + -0.9937550928995926 + ], + [ + -0.15238350048114963, + 0.982137114085702, + -0.11039002634532115, + 0.9866139299250611, + 0.15773118685825277, + 0.04139838124992186, + 0.058070836561379166, + -0.10260390746797203, + -0.9930257882418592 + ], + [ + -0.14912397829165197, + 0.981667934330323, + -0.11870175148711179, + 0.9876484677452098, + 0.1537084852306298, + 0.03040075210657031, + 0.0480889099378517, + -0.11270212187772852, + -0.9924644519907235 + ], + [ + -0.16236873151723247, + 0.9788262040813287, + -0.12464211659476065, + 0.9860926592579395, + 0.16550399695370294, + 0.015155670554411659, + 0.03546353596428428, + -0.1204478692052528, + -0.9920860085803167 + ], + [ + -0.17700722661320678, + 0.9776452604629754, + -0.11348209735893311, + 0.9836677117915477, + 0.17955534638217285, + 0.012558278718011906, + 0.03265385896769606, + -0.1094057689514564, + -0.9934606701901485 + ], + [ + -0.18017244184809128, + 0.9804766571451289, + -0.07876176732406237, + 0.9835858266805007, + 0.18038590089105294, + -0.004455144549810081, + 0.009839347119226356, + -0.0782716522965806, + -0.9968835115975341 + ], + [ + -0.1745740926351459, + 0.983423046637895, + -0.04902037864048089, + 0.9845809067330986, + 0.1749101974571029, + 0.002619336203454812, + 0.011150079696798931, + -0.047807260609219984, + -0.9987943439746729 + ], + [ + -0.1663155149046679, + 0.9847257038491133, + -0.051521235242022775, + 0.9858852323528231, + 0.16707526276937024, + 0.010777996064480037, + 0.01922129367694157, + -0.049001477012581604, + -0.9986137376984008 + ], + [ + -0.16902852772320576, + 0.9854357113282333, + 0.0185961193463681, + 0.9851732335664156, + 0.1683609687925287, + 0.03298915051246388, + 0.029377826332427973, + 0.023896506570209444, + -0.9992826928821101 + ], + [ + -0.1571344191602871, + 0.97981873359398, + 0.12354765725601165, + 0.9861327503765368, + 0.14890816002889, + 0.073270447737254, + 0.05339450299390745, + 0.13334770029925602, + -0.9896299398638533 + ], + [ + -0.12319564168557834, + 0.9718724309082527, + 0.20071574903370712, + 0.9886425702980144, + 0.10265221660593665, + 0.10976516123262099, + 0.08607381753015272, + 0.21195872349674916, + -0.9734807637901299 + ], + [ + -0.08692322848647127, + 0.9744258742603576, + 0.2072162346956109, + 0.9913521067910344, + 0.06407997859573855, + 0.11451967823979947, + 0.09831252570484716, + 0.21537867098463453, + -0.9715691819805867 + ], + [ + -0.07594615996185156, + 0.978442930099119, + 0.19204586255918024, + 0.994516515419772, + 0.06044274245323894, + 0.08534386587239852, + 0.07189632358030115, + 0.19747432092244838, + -0.9776680475661739 + ], + [ + -0.054610969064771586, + 0.9901883637876686, + 0.12862599378549433, + 0.9968681257016986, + 0.04668791283477991, + 0.06382929386350922, + 0.05719774486628636, + 0.13170893293407038, + -0.9896368904641638 + ], + [ + -0.03875595500158391, + 0.9971444098742429, + 0.06481513564332936, + 0.99924744266008, + 0.03857115752899021, + 0.0041005053546889075, + 0.0015888011849257075, + 0.06492527753827314, + -0.9978888635751844 + ], + [ + -0.038522371081210094, + 0.9991718825709474, + 0.013098702451386446, + 0.998910282417876, + 0.038851319509657756, + -0.025861605754421067, + -0.0263490911820533, + 0.012088178191394395, + -0.9995797123500918 + ], + [ + -0.010095996758312131, + 0.9998988052214028, + -0.01002248303898762, + 0.9985980826688474, + 0.009561019600027143, + -0.05206204178006364, + -0.0519609482164957, + -0.010534050551356717, + -0.9985935577798524 + ], + [ + 0.020316756028211203, + 0.9996586238191961, + -0.016427575852860535, + 0.9985710963201492, + -0.021101469916557203, + -0.049096777504603506, + -0.049426663031870294, + -0.015406615178940958, + -0.9986589213491575 + ], + [ + 0.05994724410406349, + 0.998190527900667, + 0.004690195487968805, + 0.9979311350029493, + -0.059820982032244396, + -0.02355631338777956, + -0.02323311679592774, + 0.006092628175543463, + -0.9997115094695375 + ], + [ + 0.07361897153975394, + 0.9970722848945377, + 0.020666536347795608, + 0.9972771520154173, + -0.07351303223011674, + -0.005840904069754452, + -0.004304543814059498, + 0.02104026586143039, + -0.9997693624606794 + ], + [ + 0.08451253735437947, + 0.9947654909262046, + 0.05743909028067905, + 0.9962835793175645, + -0.08532251166756122, + 0.01179400631342712, + 0.016633117931010424, + 0.05622888105845835, + -0.9982793458360275 + ], + [ + 0.08129156426331735, + 0.9949852218620596, + 0.058275980092406705, + 0.9963894467629779, + -0.08256465203590119, + 0.019777477431583777, + 0.024489833788516928, + 0.05645782948624755, + -0.9981045844653316 + ], + [ + 0.07153543447736571, + 0.995733928507586, + 0.05828057337556422, + 0.9971749463604617, + -0.07273637653917736, + 0.018749556767072184, + 0.02290868754741697, + 0.05677466994004465, + -0.9981241550468829 + ], + [ + 0.05798196280277684, + 0.9967959247994514, + 0.05509969412568587, + 0.9980756371565688, + -0.059094718297913296, + 0.018783950164962968, + 0.021979865878729656, + 0.05390453202187187, + -0.9983041555174738 + ], + [ + 0.0522366614676954, + 0.9977556226444533, + 0.04189330113619717, + 0.9985315216630695, + -0.05278840229964693, + 0.012173119069696533, + 0.014357278430947966, + 0.04119589863116649, + -0.9990479300273969 + ], + [ + 0.043670803725003315, + 0.9984881446656415, + 0.03338092066102239, + 0.9990245827009936, + -0.04386414288178031, + 0.005081351036164659, + 0.006537894241895345, + 0.03312645364979468, + -0.9994297844308373 + ], + [ + 0.03669930920402359, + 0.9986587020446102, + 0.036523383393685105, + 0.9993089197382329, + -0.036890033337886485, + 0.004561619442209987, + 0.005902849782384338, + 0.03633073452194803, + -0.9993223874673989 + ], + [ + 0.029666733489691566, + 0.9994976454925694, + 0.01115085552153134, + 0.9995577707555202, + -0.02964209569662385, + -0.0023683506850428904, + -0.0020366262069326244, + 0.011216185515702044, + -0.9999350225570514 + ], + [ + 0.029676618185705383, + 0.9995574903071704, + 0.0020302472487012135, + 0.9995532818190589, + -0.029669176379413853, + -0.0036023294847061225, + -0.0035404996552768383, + 0.002136245257040145, + -0.9999914506226506 + ], + [ + 0.030771042700893203, + 0.9994565405821162, + 0.011822284835351471, + 0.999516130337995, + -0.030822343868234625, + 0.004181902991234367, + 0.004544020825172523, + 0.011687882874869798, + -0.9999213695429474 + ], + [ + 0.023876182575246097, + 0.9975095195497502, + 0.06636781082166487, + 0.9993722217287467, + -0.025553461484311202, + 0.024539418149556246, + 0.026174230506023737, + 0.06574023892409127, + -0.9974934238598373 + ], + [ + 0.01160932242342827, + 0.9961588093584631, + 0.08679199369986668, + 0.9993231333464375, + -0.014588515511888223, + 0.03377055483431288, + 0.03490700204152203, + 0.08634119383404544, + -0.9956539054590128 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.002691119909286499, + -0.0002624858170747757, + -0.00958128273487091, + 0.02795584499835968, + 0.019541263580322266, + -0.004123568534851074, + 1.0 + ], + [ + 0.0038468241691589355, + 0.00414571538567543, + 0.0031511932611465454, + -0.015619874000549316, + 0.016122058033943176, + 0.05914878845214844, + 1.0 + ], + [ + 0.0043440163135528564, + 0.015307813882827759, + 0.007227212190628052, + -0.020040765404701233, + -0.009434804320335388, + 0.05980515480041504, + 1.0 + ], + [ + 0.004855513572692871, + 0.014825087040662766, + 0.004145309329032898, + -0.01363302767276764, + -0.0015758275985717773, + 0.05437004566192627, + 1.0 + ], + [ + 0.002409607172012329, + 0.014895439147949219, + -0.012167982757091522, + 0.04215553402900696, + 0.02030925452709198, + 0.05987751483917236, + 1.0 + ], + [ + 0.0025493502616882324, + 0.008520156145095825, + -0.005773559212684631, + 0.04226381331682205, + -0.008351817727088928, + 0.0444486141204834, + 1.0 + ], + [ + 0.002773195505142212, + 0.0065375640988349915, + -0.00241050124168396, + 0.018842168152332306, + -0.005805835127830505, + 0.0575639009475708, + 1.0 + ], + [ + -0.0052082836627960205, + 0.008666731417179108, + -0.008667565882205963, + 0.03014683723449707, + 0.012241825461387634, + 0.15193891525268555, + 1.0 + ], + [ + -1.4036893844604492e-05, + 0.008662976324558258, + -0.0072767287492752075, + 0.026022497564554214, + 0.0033339709043502808, + 0.1278972625732422, + 1.0 + ], + [ + -0.003160238265991211, + 0.006216011941432953, + -0.002826794981956482, + 0.006809066981077194, + -0.0034232735633850098, + 0.0712580680847168, + 1.0 + ], + [ + -0.004371583461761475, + 0.00023327767848968506, + -0.014933168888092041, + 0.03393401950597763, + 0.012047752737998962, + 0.021346449851989746, + 1.0 + ], + [ + -0.0019853413105010986, + -0.0003637075424194336, + -0.018431060016155243, + 0.045643001794815063, + 0.02281898260116577, + 0.013960838317871094, + 1.0 + ], + [ + 1.0609626770019531e-05, + -0.0007018893957138062, + -0.013024922460317612, + 0.0231405608355999, + 0.02035069465637207, + -0.00793159008026123, + 1.0 + ], + [ + -0.00027126073837280273, + -0.0035014748573303223, + -0.014551125466823578, + 0.02799646556377411, + 0.024940796196460724, + -0.00880289077758789, + 1.0 + ], + [ + 0.0005792677402496338, + -0.0012063458561897278, + -0.00667213648557663, + 0.010114304721355438, + 0.009996060281991959, + -0.003383159637451172, + 1.0 + ], + [ + 2.1159648895263672e-05, + 6.692856550216675e-05, + -0.007059093564748764, + 0.00774393230676651, + 0.012636490166187286, + 0.013337373733520508, + 1.0 + ], + [ + 0.0006485581398010254, + 0.003694884479045868, + -0.0007499959319829941, + -0.011133454740047455, + 0.0028113089501857758, + 0.014846444129943848, + 0.0 + ], + [ + 0.0023671090602874756, + -0.00033608078956604004, + -0.00360893364995718, + -0.031328342854976654, + 0.022820159792900085, + 0.0031298398971557617, + 0.0 + ], + [ + -0.0011486411094665527, + 0.0014639273285865784, + -0.00164119154214859, + -0.030527129769325256, + -0.001310804858803749, + -0.005686402320861816, + 0.0 + ], + [ + -0.00612291693687439, + -2.9653310775756836e-06, + 0.002060718834400177, + 0.0012017078697681427, + -0.008072166703641415, + -0.008361101150512695, + 0.0 + ], + [ + 0.003968626260757446, + 0.0017458274960517883, + 0.019792325794696808, + -0.07293927669525146, + -0.010159576311707497, + 0.0027948617935180664, + 0.0 + ], + [ + 0.006590723991394043, + -0.002929769456386566, + 0.03852822259068489, + -0.1100291907787323, + -0.024037852883338928, + -0.011902332305908203, + 0.0 + ], + [ + 0.0018115043640136719, + -0.012681879103183746, + 0.03849725425243378, + -0.08044847846031189, + -0.03276054933667183, + -0.03404378890991211, + 0.0 + ], + [ + -0.005375951528549194, + -0.013646386563777924, + 0.01941417157649994, + -0.0037665963172912598, + -0.012291133403778076, + -0.0365140438079834, + 0.0 + ], + [ + -0.008727073669433594, + -0.010776221752166748, + 0.007785812020301819, + 0.018849849700927734, + 0.026513181626796722, + -0.011240839958190918, + 0.0 + ], + [ + -0.015084832906723022, + -0.006511017680168152, + -0.005243867635726929, + 0.06699290871620178, + 0.01472942903637886, + -0.02148914337158203, + 0.0 + ], + [ + -0.020035505294799805, + -0.007095780223608017, + -0.00951480120420456, + 0.06733955442905426, + 0.05564017593860626, + -0.01596212387084961, + 0.0 + ], + [ + -0.015159428119659424, + -0.0057070255279541016, + -0.01656520366668701, + 0.05287838727235794, + 0.027940943837165833, + -0.00022041797637939453, + 0.0 + ], + [ + -0.009817153215408325, + -0.0085328109562397, + -0.013987250626087189, + 0.022641167044639587, + 0.025632217526435852, + -0.028435468673706055, + 0.0 + ], + [ + -0.0007004439830780029, + -0.0057665519416332245, + -0.008207529783248901, + 0.004877584986388683, + -0.002537548542022705, + -0.030452847480773926, + 0.0 + ], + [ + 0.004497826099395752, + -0.003993585705757141, + -0.00016691535711288452, + -0.02152039110660553, + -0.026211602613329887, + -0.03965640068054199, + 0.0 + ], + [ + 0.0039473772048950195, + -0.0028792712837457657, + 0.0013255253434181213, + -0.01494770310819149, + -0.018930651247501373, + -0.013686895370483398, + 0.0 + ], + [ + 0.010602951049804688, + 0.00011205300688743591, + 0.005400560796260834, + -0.03522433340549469, + -0.020938441157341003, + -0.010938882827758789, + 0.0 + ], + [ + 0.0030440688133239746, + 0.0019313562661409378, + -0.002254500985145569, + -0.00023848563432693481, + -0.0078583974391222, + 0.0032193660736083984, + 0.0 + ], + [ + 0.0012530982494354248, + 0.0015661735087633133, + -0.0028073862195014954, + -0.00031531229615211487, + 0.001581590622663498, + 0.009790420532226562, + 0.0 + ], + [ + -0.0023937225341796875, + 0.0018244590610265732, + -0.0030354857444763184, + 0.00287642702460289, + 0.0009290557354688644, + 0.013586878776550293, + 0.0 + ], + [ + -0.0003102123737335205, + -0.00045460648834705353, + -0.008503638207912445, + 0.012731906026601791, + 0.007623864337801933, + 0.005762696266174316, + 0.0 + ], + [ + 0.00010350346565246582, + 0.0006591510027647018, + -0.0029608383774757385, + 0.00807858631014824, + 0.007819831371307373, + 0.008580207824707031, + 0.0 + ], + [ + 0.00030872225761413574, + 0.0027468279004096985, + -0.0011155679821968079, + -0.0032061412930488586, + 0.0006350567564368248, + 0.006977438926696777, + 1.0 + ], + [ + -0.0031168758869171143, + 0.0010623522102832794, + -0.0036632418632507324, + 0.02512292191386223, + 0.00793951191008091, + 0.007037043571472168, + 1.0 + ], + [ + -0.0014463067054748535, + -0.00019567832350730896, + -8.948147296905518e-06, + 0.009080183692276478, + 0.0015038794372230768, + -1.0013580322265625e-05, + 1.0 + ], + [ + -0.00019109249114990234, + 0.001410365104675293, + 0.0047899410128593445, + -0.009552009403705597, + -0.00808454304933548, + -0.0010950565338134766, + 1.0 + ], + [ + 0.0066651999950408936, + 0.002961784601211548, + 0.01580148935317993, + -0.054121993482112885, + -0.02163318358361721, + 0.0068895816802978516, + 1.0 + ], + [ + 0.0028933584690093994, + 0.001417454332113266, + 0.005123704671859741, + -0.020691417157649994, + -0.008736874908208847, + 0.012269973754882812, + 1.0 + ], + [ + 0.012095749378204346, + 0.0032353661954402924, + 0.019680507481098175, + -0.0739331766963005, + -0.024902645498514175, + -0.00467371940612793, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9522681832313538 + ], + [ + 0.676182746887207 + ], + [ + 0.5869058966636658 + ], + [ + 0.5859079360961914 + ], + [ + 0.5859079360961914 + ], + [ + 0.5859079360961914 + ], + [ + 0.5859079360961914 + ], + [ + 0.5859079360961914 + ], + [ + 0.5859079360961914 + ], + [ + 0.5859079360961914 + ], + [ + 0.5859079360961914 + ], + [ + 0.5859079360961914 + ], + [ + 0.5859079360961914 + ], + [ + 0.5859079360961914 + ], + [ + 0.5859079360961914 + ], + [ + 0.5859079360961914 + ], + [ + 0.5859079360961914 + ], + [ + 0.5859079360961914 + ], + [ + 0.5859079360961914 + ], + [ + 0.5859079360961914 + ], + [ + 0.5859079360961914 + ], + [ + 0.5859079360961914 + ], + [ + 0.6370214223861694 + ], + [ + 0.8749077320098877 + ], + [ + 1.0047606229782104 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.30690327286720276, + 0.016680926084518433, + 0.11358126997947693 + ], + [ + 0.3107500970363617, + 0.020826641470193863, + 0.11673246324062347 + ], + [ + 0.31509411334991455, + 0.03613445535302162, + 0.12395967543125153 + ], + [ + 0.3199496269226074, + 0.05095954239368439, + 0.12810498476028442 + ], + [ + 0.32235923409461975, + 0.0658549815416336, + 0.1159370020031929 + ], + [ + 0.324908584356308, + 0.07437513768672943, + 0.11016344279050827 + ], + [ + 0.3276817798614502, + 0.08091270178556442, + 0.10775294154882431 + ], + [ + 0.3224734961986542, + 0.08957943320274353, + 0.09908537566661835 + ], + [ + 0.32245945930480957, + 0.09824240952730179, + 0.09180864691734314 + ], + [ + 0.31929922103881836, + 0.10445842146873474, + 0.08898185193538666 + ], + [ + 0.3149276375770569, + 0.10469169914722443, + 0.07404868304729462 + ], + [ + 0.3129422962665558, + 0.10432799160480499, + 0.055617623031139374 + ], + [ + 0.3129529058933258, + 0.10362610220909119, + 0.04259270057082176 + ], + [ + 0.312681645154953, + 0.10012462735176086, + 0.028041575103998184 + ], + [ + 0.31326091289520264, + 0.09891828149557114, + 0.021369438618421555 + ], + [ + 0.3132820725440979, + 0.0989852100610733, + 0.01431034505367279 + ], + [ + 0.3139306306838989, + 0.10268009454011917, + 0.013560349121689796 + ], + [ + 0.3162977397441864, + 0.10234401375055313, + 0.009951415471732616 + ], + [ + 0.31514909863471985, + 0.10380794107913971, + 0.008310223929584026 + ], + [ + 0.30902618169784546, + 0.10380497574806213, + 0.010370942763984203 + ], + [ + 0.3129948079586029, + 0.10555080324411392, + 0.030163269490003586 + ], + [ + 0.31958553194999695, + 0.10262103378772736, + 0.06869149208068848 + ], + [ + 0.3213970363140106, + 0.08993915468454361, + 0.10718874633312225 + ], + [ + 0.3160210847854614, + 0.07629276812076569, + 0.1266029179096222 + ], + [ + 0.30729401111602783, + 0.06551654636859894, + 0.134388729929924 + ], + [ + 0.2922091782093048, + 0.059005528688430786, + 0.12914486229419708 + ], + [ + 0.272173672914505, + 0.05190974846482277, + 0.11963006108999252 + ], + [ + 0.2570142447948456, + 0.04620272293686867, + 0.10306485742330551 + ], + [ + 0.24719709157943726, + 0.03766991198062897, + 0.08907760679721832 + ], + [ + 0.24649664759635925, + 0.03190336003899574, + 0.08087007701396942 + ], + [ + 0.250994473695755, + 0.0279097743332386, + 0.08070316165685654 + ], + [ + 0.25494185090065, + 0.025030503049492836, + 0.08202868700027466 + ], + [ + 0.2655448019504547, + 0.025142556056380272, + 0.08742924779653549 + ], + [ + 0.2685888707637787, + 0.02707391232252121, + 0.08517474681138992 + ], + [ + 0.2698419690132141, + 0.028640085831284523, + 0.08236736059188843 + ], + [ + 0.2674482464790344, + 0.030464544892311096, + 0.07933187484741211 + ], + [ + 0.2671380341053009, + 0.030009938403964043, + 0.07082823663949966 + ], + [ + 0.26724153757095337, + 0.030669089406728745, + 0.06786739826202393 + ], + [ + 0.2675502598285675, + 0.03341591730713844, + 0.06675183027982712 + ], + [ + 0.2644333839416504, + 0.03447826951742172, + 0.06308858841657639 + ], + [ + 0.26298707723617554, + 0.03428259119391441, + 0.06307964026927948 + ], + [ + 0.26279598474502563, + 0.035692956298589706, + 0.06786958128213882 + ], + [ + 0.26946118474006653, + 0.038654740899801254, + 0.08367107063531876 + ], + [ + 0.2723545432090759, + 0.04007219523191452, + 0.0887947753071785 + ], + [ + 0.2844502925872803, + 0.04330756142735481, + 0.10847528278827667 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.517250697877983, + 0.8305999357520814, + 0.20628975319530077, + 0.8405588214235303, + -0.5383770531465674, + 0.06009173297804002, + 0.16097385897040997, + 0.14231618099800433, + -0.9766440095317832 + ], + [ + 0.46782347629910737, + 0.8589097237443903, + 0.20836334005950513, + 0.8718394717201894, + -0.48716200072766613, + 0.050686493246997616, + 0.14504182353403827, + 0.15794705285111152, + -0.9767372205058884 + ], + [ + 0.4142854249695259, + 0.8815046099017422, + 0.22653302050649604, + 0.8969600925843516, + -0.4376497483239057, + 0.06265213566266692, + 0.1543702658185524, + 0.17723521239866316, + -0.9719863684831747 + ], + [ + 0.3648391999950652, + 0.9007532271240813, + 0.2356607348976785, + 0.917921088737533, + -0.39036260736269957, + 0.0709782334515088, + 0.15592701176468068, + 0.19042231644045274, + -0.9692399643037781 + ], + [ + 0.3101829873996012, + 0.93236550858834, + 0.18569079870221172, + 0.9409225583672276, + -0.32899569613673557, + 0.08016589723302653, + 0.13583539113033194, + 0.14985456388882934, + -0.9793326075436062 + ], + [ + 0.26775138697542294, + 0.9526611269440501, + 0.14403462077719356, + 0.9526504886997249, + -0.28412376359540265, + 0.10830851000987618, + 0.14410496574689238, + 0.10821489809668713, + -0.9836276199238261 + ], + [ + 0.21231665694272944, + 0.969737833363057, + 0.12054116196962304, + 0.9656434599373201, + -0.22711873714439462, + 0.126292468176912, + 0.14984774094041023, + 0.08958579006884371, + -0.9846420876403753 + ], + [ + 0.06382913536680401, + 0.9955529493957865, + 0.0692832333806416, + 0.9884105442802161, + -0.07264740798073599, + 0.13329272324237001, + 0.13773321107856584, + 0.05997231914000602, + -0.9886520538101138 + ], + [ + -0.06279159304610704, + 0.9976886044921042, + 0.025974300940160504, + 0.9889316064327675, + 0.058692742097413375, + 0.13626973186805869, + 0.13443025567571523, + 0.03424340070268233, + -0.9903312051365833 + ], + [ + -0.13297941032572502, + 0.9910779078503703, + 0.009003166129508938, + 0.981489513897983, + 0.13041883736121773, + 0.1402471424651838, + 0.13782166207720672, + 0.027486495452882592, + -0.9900755940987512 + ], + [ + -0.15414566652621625, + 0.9877147993983963, + -0.0256629799628618, + 0.979996708594129, + 0.15614704253820016, + 0.12338781240968415, + 0.1258791668063561, + -0.006129939311219149, + -0.9920266423882871 + ], + [ + -0.16825393882898443, + 0.983361591051953, + -0.06848790632150945, + 0.9803255196542072, + 0.17419940671793321, + 0.09282479309876539, + 0.1032108888792306, + -0.0515223052948096, + -0.9933241990779584 + ], + [ + -0.16077880523844212, + 0.983125884540708, + -0.08725635181549321, + 0.9834986808994186, + 0.16701257517064583, + 0.06954958234218593, + 0.08294890267629976, + -0.07463440815682389, + -0.9937550928995926 + ], + [ + -0.15238350048114963, + 0.982137114085702, + -0.11039002634532115, + 0.9866139299250611, + 0.15773118685825277, + 0.04139838124992186, + 0.058070836561379166, + -0.10260390746797203, + -0.9930257882418592 + ], + [ + -0.14912397829165197, + 0.981667934330323, + -0.11870175148711179, + 0.9876484677452098, + 0.1537084852306298, + 0.03040075210657031, + 0.0480889099378517, + -0.11270212187772852, + -0.9924644519907235 + ], + [ + -0.16236873151723247, + 0.9788262040813287, + -0.12464211659476065, + 0.9860926592579395, + 0.16550399695370294, + 0.015155670554411659, + 0.03546353596428428, + -0.1204478692052528, + -0.9920860085803167 + ], + [ + -0.17700722661320678, + 0.9776452604629754, + -0.11348209735893311, + 0.9836677117915477, + 0.17955534638217285, + 0.012558278718011906, + 0.03265385896769606, + -0.1094057689514564, + -0.9934606701901485 + ], + [ + -0.18017244184809128, + 0.9804766571451289, + -0.07876176732406237, + 0.9835858266805007, + 0.18038590089105294, + -0.004455144549810081, + 0.009839347119226356, + -0.0782716522965806, + -0.9968835115975341 + ], + [ + -0.1745740926351459, + 0.983423046637895, + -0.04902037864048089, + 0.9845809067330986, + 0.1749101974571029, + 0.002619336203454812, + 0.011150079696798931, + -0.047807260609219984, + -0.9987943439746729 + ], + [ + -0.1663155149046679, + 0.9847257038491133, + -0.051521235242022775, + 0.9858852323528231, + 0.16707526276937024, + 0.010777996064480037, + 0.01922129367694157, + -0.049001477012581604, + -0.9986137376984008 + ], + [ + -0.16902852772320576, + 0.9854357113282333, + 0.0185961193463681, + 0.9851732335664156, + 0.1683609687925287, + 0.03298915051246388, + 0.029377826332427973, + 0.023896506570209444, + -0.9992826928821101 + ], + [ + -0.1571344191602871, + 0.97981873359398, + 0.12354765725601165, + 0.9861327503765368, + 0.14890816002889, + 0.073270447737254, + 0.05339450299390745, + 0.13334770029925602, + -0.9896299398638533 + ], + [ + -0.12319564168557834, + 0.9718724309082527, + 0.20071574903370712, + 0.9886425702980144, + 0.10265221660593665, + 0.10976516123262099, + 0.08607381753015272, + 0.21195872349674916, + -0.9734807637901299 + ], + [ + -0.08692322848647127, + 0.9744258742603576, + 0.2072162346956109, + 0.9913521067910344, + 0.06407997859573855, + 0.11451967823979947, + 0.09831252570484716, + 0.21537867098463453, + -0.9715691819805867 + ], + [ + -0.07594615996185156, + 0.978442930099119, + 0.19204586255918024, + 0.994516515419772, + 0.06044274245323894, + 0.08534386587239852, + 0.07189632358030115, + 0.19747432092244838, + -0.9776680475661739 + ], + [ + -0.054610969064771586, + 0.9901883637876686, + 0.12862599378549433, + 0.9968681257016986, + 0.04668791283477991, + 0.06382929386350922, + 0.05719774486628636, + 0.13170893293407038, + -0.9896368904641638 + ], + [ + -0.03875595500158391, + 0.9971444098742429, + 0.06481513564332936, + 0.99924744266008, + 0.03857115752899021, + 0.0041005053546889075, + 0.0015888011849257075, + 0.06492527753827314, + -0.9978888635751844 + ], + [ + -0.038522371081210094, + 0.9991718825709474, + 0.013098702451386446, + 0.998910282417876, + 0.038851319509657756, + -0.025861605754421067, + -0.0263490911820533, + 0.012088178191394395, + -0.9995797123500918 + ], + [ + -0.010095996758312131, + 0.9998988052214028, + -0.01002248303898762, + 0.9985980826688474, + 0.009561019600027143, + -0.05206204178006364, + -0.0519609482164957, + -0.010534050551356717, + -0.9985935577798524 + ], + [ + 0.020316756028211203, + 0.9996586238191961, + -0.016427575852860535, + 0.9985710963201492, + -0.021101469916557203, + -0.049096777504603506, + -0.049426663031870294, + -0.015406615178940958, + -0.9986589213491575 + ], + [ + 0.05994724410406349, + 0.998190527900667, + 0.004690195487968805, + 0.9979311350029493, + -0.059820982032244396, + -0.02355631338777956, + -0.02323311679592774, + 0.006092628175543463, + -0.9997115094695375 + ], + [ + 0.07361897153975394, + 0.9970722848945377, + 0.020666536347795608, + 0.9972771520154173, + -0.07351303223011674, + -0.005840904069754452, + -0.004304543814059498, + 0.02104026586143039, + -0.9997693624606794 + ], + [ + 0.08451253735437947, + 0.9947654909262046, + 0.05743909028067905, + 0.9962835793175645, + -0.08532251166756122, + 0.01179400631342712, + 0.016633117931010424, + 0.05622888105845835, + -0.9982793458360275 + ], + [ + 0.08129156426331735, + 0.9949852218620596, + 0.058275980092406705, + 0.9963894467629779, + -0.08256465203590119, + 0.019777477431583777, + 0.024489833788516928, + 0.05645782948624755, + -0.9981045844653316 + ], + [ + 0.07153543447736571, + 0.995733928507586, + 0.05828057337556422, + 0.9971749463604617, + -0.07273637653917736, + 0.018749556767072184, + 0.02290868754741697, + 0.05677466994004465, + -0.9981241550468829 + ], + [ + 0.05798196280277684, + 0.9967959247994514, + 0.05509969412568587, + 0.9980756371565688, + -0.059094718297913296, + 0.018783950164962968, + 0.021979865878729656, + 0.05390453202187187, + -0.9983041555174738 + ], + [ + 0.0522366614676954, + 0.9977556226444533, + 0.04189330113619717, + 0.9985315216630695, + -0.05278840229964693, + 0.012173119069696533, + 0.014357278430947966, + 0.04119589863116649, + -0.9990479300273969 + ], + [ + 0.043670803725003315, + 0.9984881446656415, + 0.03338092066102239, + 0.9990245827009936, + -0.04386414288178031, + 0.005081351036164659, + 0.006537894241895345, + 0.03312645364979468, + -0.9994297844308373 + ], + [ + 0.03669930920402359, + 0.9986587020446102, + 0.036523383393685105, + 0.9993089197382329, + -0.036890033337886485, + 0.004561619442209987, + 0.005902849782384338, + 0.03633073452194803, + -0.9993223874673989 + ], + [ + 0.029666733489691566, + 0.9994976454925694, + 0.01115085552153134, + 0.9995577707555202, + -0.02964209569662385, + -0.0023683506850428904, + -0.0020366262069326244, + 0.011216185515702044, + -0.9999350225570514 + ], + [ + 0.029676618185705383, + 0.9995574903071704, + 0.0020302472487012135, + 0.9995532818190589, + -0.029669176379413853, + -0.0036023294847061225, + -0.0035404996552768383, + 0.002136245257040145, + -0.9999914506226506 + ], + [ + 0.030771042700893203, + 0.9994565405821162, + 0.011822284835351471, + 0.999516130337995, + -0.030822343868234625, + 0.004181902991234367, + 0.004544020825172523, + 0.011687882874869798, + -0.9999213695429474 + ], + [ + 0.023876182575246097, + 0.9975095195497502, + 0.06636781082166487, + 0.9993722217287467, + -0.025553461484311202, + 0.024539418149556246, + 0.026174230506023737, + 0.06574023892409127, + -0.9974934238598373 + ], + [ + 0.01160932242342827, + 0.9961588093584631, + 0.08679199369986668, + 0.9993231333464375, + -0.014588515511888223, + 0.03377055483431288, + 0.03490700204152203, + 0.08634119383404544, + -0.9956539054590128 + ], + [ + 0.016260528175517208, + 0.9868713637363834, + 0.1606876058087391, + 0.9980790641087504, + -0.025629078639007263, + 0.05640329880350355, + 0.059781075695030224, + 0.15946178779007555, + -0.9853923894690575 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005898.json b/json/chunk-0005/episode_0005898.json new file mode 100644 index 0000000000000000000000000000000000000000..5f3ee0f1df52713a49f9bb209a4b216c2f9d26fc --- /dev/null +++ b/json/chunk-0005/episode_0005898.json @@ -0,0 +1,862 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 13, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut corn in pan which is on stove." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005898.mp4", + "start": 0, + "end": 13, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.4099366366863251, + 0.19788041710853577, + 0.047882262617349625, + 0.16536572575569153, + -0.29616236686706543, + -0.11471106857061386, + 0.0, + 1.0008161067962646 + ], + [ + 0.4078407287597656, + 0.19479972124099731, + 0.02050800248980522, + 0.11802554130554199, + -0.2454180270433426, + -0.10475465655326843, + 0.0, + 1.0008161067962646 + ], + [ + 0.41911372542381287, + 0.19695977866649628, + 0.012356704100966454, + 0.08533751964569092, + -0.2508828938007355, + -0.10684819519519806, + 0.0, + 1.0008161067962646 + ], + [ + 0.4196869432926178, + 0.20275956392288208, + 0.004263075068593025, + 0.0636766254901886, + -0.26030153036117554, + -0.08689163625240326, + 0.0, + 0.8381108045578003 + ], + [ + 0.4194883108139038, + 0.20417967438697815, + 0.003976454492658377, + 0.07203797250986099, + -0.259588360786438, + -0.08282642066478729, + 0.0, + 0.7319586873054504 + ], + [ + 0.41383999586105347, + 0.20406989753246307, + 0.00763285718858242, + 0.10205649584531784, + -0.2206903100013733, + -0.0879005566239357, + 0.0, + 0.7319586873054504 + ], + [ + 0.4124754071235657, + 0.2044687420129776, + 0.03641650453209877, + 0.1775456964969635, + -0.20510375499725342, + -0.1250716596841812, + 0.0, + 0.7319586873054504 + ], + [ + 0.40425193309783936, + 0.1986590176820755, + 0.06139926612377167, + 0.23110659420490265, + -0.17015402019023895, + -0.12078489363193512, + 0.0, + 0.7319586873054504 + ], + [ + 0.39315229654312134, + 0.17322944104671478, + 0.07561232149600983, + 0.2395024299621582, + -0.13171611726284027, + -0.08479629456996918, + 0.0, + 0.7319586873054504 + ], + [ + 0.3711181879043579, + 0.1532396376132965, + 0.08521344512701035, + 0.23060224950313568, + -0.12061059474945068, + -0.002275691134855151, + 0.0, + 0.7319586873054504 + ], + [ + 0.35478484630584717, + 0.13740451633930206, + 0.08022899925708771, + 0.21398666501045227, + -0.14425811171531677, + 0.05493135750293732, + 0.0, + 0.7319586873054504 + ], + [ + 0.345296174287796, + 0.12948088347911835, + 0.06149038299918175, + 0.17909879982471466, + -0.15734969079494476, + 0.10551184415817261, + 0.0, + 0.7319586873054504 + ], + [ + 0.34472909569740295, + 0.1230391189455986, + 0.05309067666530609, + 0.14033125340938568, + -0.17841288447380066, + 0.10859037935733795, + 0.0, + 0.9149291515350342 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.8381108045578003 + ], + [ + 0.7319586873054504 + ], + [ + 0.7319586873054504 + ], + [ + 0.7319586873054504 + ], + [ + 0.7319586873054504 + ], + [ + 0.7319586873054504 + ], + [ + 0.7319586873054504 + ], + [ + 0.7319586873054504 + ], + [ + 0.7319586873054504 + ], + [ + 0.9149291515350342 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.4099366366863251, + 0.19788041710853577, + 0.047882262617349625 + ], + [ + 0.4078407287597656, + 0.19479972124099731, + 0.02050800248980522 + ], + [ + 0.41911372542381287, + 0.19695977866649628, + 0.012356704100966454 + ], + [ + 0.4196869432926178, + 0.20275956392288208, + 0.004263075068593025 + ], + [ + 0.4194883108139038, + 0.20417967438697815, + 0.003976454492658377 + ], + [ + 0.41383999586105347, + 0.20406989753246307, + 0.00763285718858242 + ], + [ + 0.4124754071235657, + 0.2044687420129776, + 0.03641650453209877 + ], + [ + 0.40425193309783936, + 0.1986590176820755, + 0.06139926612377167 + ], + [ + 0.39315229654312134, + 0.17322944104671478, + 0.07561232149600983 + ], + [ + 0.3711181879043579, + 0.1532396376132965, + 0.08521344512701035 + ], + [ + 0.35478484630584717, + 0.13740451633930206, + 0.08022899925708771 + ], + [ + 0.345296174287796, + 0.12948088347911835, + 0.06149038299918175 + ], + [ + 0.34472909569740295, + 0.1230391189455986, + 0.05309067666530609 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9501775724815487, + -0.06517134328878588, + 0.30482007277573825, + -0.10947649330225828, + -0.9853747125623922, + 0.1305816727447749, + 0.29185180857296694, + -0.15744640947483723, + -0.9434156824942916 + ], + [ + 0.9647183477864001, + -0.07538338859242401, + 0.2522614797558318, + -0.10143002631883462, + -0.9905909161001231, + 0.09187810784337767, + 0.2429618472214081, + -0.11422338492726618, + -0.9632873710012597 + ], + [ + 0.9631693082398257, + -0.08521746408927161, + 0.25503503186623133, + -0.10330633532028285, + -0.9929354982473022, + 0.05836863372630206, + 0.24825930948810196, + -0.08256561108945802, + -0.9651685008939711 + ], + [ + 0.9626668062590784, + -0.07029074133090955, + 0.26140358033144306, + -0.08385884941271941, + -0.9956295490486944, + 0.04110346014958262, + 0.25737193611992915, + -0.06148994018735618, + -0.9643540188922503 + ], + [ + 0.9631824308145163, + -0.06410559823180577, + 0.2610940007843573, + -0.07995988422906024, + -0.9955155930002347, + 0.05054820478974921, + 0.25668272611205245, + -0.06956418883832, + -0.9639890049927705 + ], + [ + 0.9719794404592845, + -0.06511499193176448, + 0.22586722903108727, + -0.08565826063954218, + -0.9929138874236795, + 0.08236913587870402, + 0.21890324280070325, + -0.0994085005767736, + -0.9706695216727541 + ], + [ + 0.9713923139855816, + -0.08709499259589434, + 0.22093309981634215, + -0.12213114326701863, + -0.981078855973046, + 0.15022736836844863, + 0.20366874127864507, + -0.17291252304948795, + -0.9636494711245537 + ], + [ + 0.9783782804263342, + -0.07878375769835656, + 0.1912303843873541, + -0.11875136649903341, + -0.9709950655403229, + 0.2075251687168464, + 0.1693341470130015, + -0.22574698717650687, + -0.9593561614104058 + ], + [ + 0.9877760374164286, + -0.05123380425641799, + 0.1472195544325332, + -0.08396108261645224, + -0.9706043279363272, + 0.22556102322241806, + 0.13133558737741968, + -0.23516448688670233, + -0.9630413426201092 + ], + [ + 0.9927327845677895, + 0.02528491639189133, + 0.11765326789910252, + -0.0022591570970074398, + -0.9735889806929281, + 0.2282967211383387, + 0.12031838867560504, + -0.2269034368985195, + -0.9664565772294923 + ], + [ + 0.9881201505743235, + 0.08413357323334256, + 0.12860835853071845, + 0.05433344179815063, + -0.9740420315098066, + 0.2197498531390078, + 0.14375828717448957, + -0.21015152320941743, + -0.9670418254457345 + ], + [ + 0.9821535486201753, + 0.13139156589068687, + 0.13457586464737992, + 0.1040151103225801, + -0.9755924537947497, + 0.19339136724094128, + 0.15670119258441567, + -0.1759420942001442, + -0.9718482987231543 + ], + [ + 0.9783299469630392, + 0.13198813527726583, + 0.15952945502736252, + 0.10665677764938133, + -0.9816472712123184, + 0.15809164020548205, + 0.17746787499924468, + -0.13765088836414874, + -0.9744523519781834 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0020959079265594482, + -0.003080695867538452, + -0.027374260127544403, + -0.047340184450149536, + 0.05074433982372284, + 0.009956412017345428, + 1.0 + ], + [ + 0.011272996664047241, + 0.0021600574254989624, + -0.008151298388838768, + -0.032688021659851074, + -0.005464866757392883, + -0.0020935386419296265, + 1.0 + ], + [ + 0.0005732178688049316, + 0.005799785256385803, + -0.008093629032373428, + -0.02166089415550232, + -0.009418636560440063, + 0.0199565589427948, + 0.0 + ], + [ + -0.00019863247871398926, + 0.0014201104640960693, + -0.0002866205759346485, + 0.008361347019672394, + 0.0007131695747375488, + 0.004065215587615967, + 0.0 + ], + [ + -0.005648314952850342, + -0.00010977685451507568, + 0.0036564026959240437, + 0.030018523335456848, + 0.0388980507850647, + -0.005074135959148407, + 0.0 + ], + [ + -0.001364588737487793, + 0.00039884448051452637, + 0.02878364734351635, + 0.07548920065164566, + 0.015586555004119873, + -0.037171103060245514, + 0.0 + ], + [ + -0.008223474025726318, + -0.0058097243309021, + 0.024982761591672897, + 0.05356089770793915, + 0.034949734807014465, + 0.004286766052246094, + 0.0 + ], + [ + -0.011099636554718018, + -0.025429576635360718, + 0.01421305537223816, + 0.008395835757255554, + 0.03843790292739868, + 0.03598859906196594, + 0.0 + ], + [ + -0.022034108638763428, + -0.019989803433418274, + 0.009601123631000519, + -0.008900180459022522, + 0.011105522513389587, + 0.08252060413360596, + 0.0 + ], + [ + -0.016333341598510742, + -0.015835121273994446, + -0.004984445869922638, + -0.01661558449268341, + -0.02364751696586609, + 0.05720704793930054, + 0.0 + ], + [ + -0.009488672018051147, + -0.007923632860183716, + -0.01873861625790596, + -0.03488786518573761, + -0.01309157907962799, + 0.05058048665523529, + 0.0 + ], + [ + -0.0005670785903930664, + -0.006441764533519745, + -0.008399706333875656, + -0.03876754641532898, + -0.021063193678855896, + 0.0030785351991653442, + 1.0 + ], + [ + -0.0007608532905578613, + 0.006486095488071442, + -0.0007724463939666748, + -0.009038910269737244, + -0.013971507549285889, + 0.0013732090592384338, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.8381108045578003 + ], + [ + 0.7319586873054504 + ], + [ + 0.7319586873054504 + ], + [ + 0.7319586873054504 + ], + [ + 0.7319586873054504 + ], + [ + 0.7319586873054504 + ], + [ + 0.7319586873054504 + ], + [ + 0.7319586873054504 + ], + [ + 0.7319586873054504 + ], + [ + 0.9149291515350342 + ], + [ + 1.002137303352356 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.4078407287597656, + 0.19479972124099731, + 0.02050800248980522 + ], + [ + 0.41911372542381287, + 0.19695977866649628, + 0.012356704100966454 + ], + [ + 0.4196869432926178, + 0.20275956392288208, + 0.004263075068593025 + ], + [ + 0.4194883108139038, + 0.20417967438697815, + 0.003976454492658377 + ], + [ + 0.41383999586105347, + 0.20406989753246307, + 0.00763285718858242 + ], + [ + 0.4124754071235657, + 0.2044687420129776, + 0.03641650453209877 + ], + [ + 0.40425193309783936, + 0.1986590176820755, + 0.06139926612377167 + ], + [ + 0.39315229654312134, + 0.17322944104671478, + 0.07561232149600983 + ], + [ + 0.3711181879043579, + 0.1532396376132965, + 0.08521344512701035 + ], + [ + 0.35478484630584717, + 0.13740451633930206, + 0.08022899925708771 + ], + [ + 0.345296174287796, + 0.12948088347911835, + 0.06149038299918175 + ], + [ + 0.34472909569740295, + 0.1230391189455986, + 0.05309067666530609 + ], + [ + 0.3439682424068451, + 0.12952521443367004, + 0.052318230271339417 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9647183477864001, + -0.07538338859242401, + 0.2522614797558318, + -0.10143002631883462, + -0.9905909161001231, + 0.09187810784337767, + 0.2429618472214081, + -0.11422338492726618, + -0.9632873710012597 + ], + [ + 0.9631693082398257, + -0.08521746408927161, + 0.25503503186623133, + -0.10330633532028285, + -0.9929354982473022, + 0.05836863372630206, + 0.24825930948810196, + -0.08256561108945802, + -0.9651685008939711 + ], + [ + 0.9626668062590784, + -0.07029074133090955, + 0.26140358033144306, + -0.08385884941271941, + -0.9956295490486944, + 0.04110346014958262, + 0.25737193611992915, + -0.06148994018735618, + -0.9643540188922503 + ], + [ + 0.9631824308145163, + -0.06410559823180577, + 0.2610940007843573, + -0.07995988422906024, + -0.9955155930002347, + 0.05054820478974921, + 0.25668272611205245, + -0.06956418883832, + -0.9639890049927705 + ], + [ + 0.9719794404592845, + -0.06511499193176448, + 0.22586722903108727, + -0.08565826063954218, + -0.9929138874236795, + 0.08236913587870402, + 0.21890324280070325, + -0.0994085005767736, + -0.9706695216727541 + ], + [ + 0.9713923139855816, + -0.08709499259589434, + 0.22093309981634215, + -0.12213114326701863, + -0.981078855973046, + 0.15022736836844863, + 0.20366874127864507, + -0.17291252304948795, + -0.9636494711245537 + ], + [ + 0.9783782804263342, + -0.07878375769835656, + 0.1912303843873541, + -0.11875136649903341, + -0.9709950655403229, + 0.2075251687168464, + 0.1693341470130015, + -0.22574698717650687, + -0.9593561614104058 + ], + [ + 0.9877760374164286, + -0.05123380425641799, + 0.1472195544325332, + -0.08396108261645224, + -0.9706043279363272, + 0.22556102322241806, + 0.13133558737741968, + -0.23516448688670233, + -0.9630413426201092 + ], + [ + 0.9927327845677895, + 0.02528491639189133, + 0.11765326789910252, + -0.0022591570970074398, + -0.9735889806929281, + 0.2282967211383387, + 0.12031838867560504, + -0.2269034368985195, + -0.9664565772294923 + ], + [ + 0.9881201505743235, + 0.08413357323334256, + 0.12860835853071845, + 0.05433344179815063, + -0.9740420315098066, + 0.2197498531390078, + 0.14375828717448957, + -0.21015152320941743, + -0.9670418254457345 + ], + [ + 0.9821535486201753, + 0.13139156589068687, + 0.13457586464737992, + 0.1040151103225801, + -0.9755924537947497, + 0.19339136724094128, + 0.15670119258441567, + -0.1759420942001442, + -0.9718482987231543 + ], + [ + 0.9783299469630392, + 0.13198813527726583, + 0.15952945502736252, + 0.10665677764938133, + -0.9816472712123184, + 0.15809164020548205, + 0.17746787499924468, + -0.13765088836414874, + -0.9744523519781834 + ], + [ + 0.9756226543244061, + 0.13367744973753742, + 0.17404245401817406, + 0.10771749138541038, + -0.9826586540541662, + 0.1509268420861188, + 0.19119983896079548, + -0.1285002297434614, + -0.9731034439037008 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005899.json b/json/chunk-0005/episode_0005899.json new file mode 100644 index 0000000000000000000000000000000000000000..61456ef46f2653b5ff130128ae36c8bd2177236d --- /dev/null +++ b/json/chunk-0005/episode_0005899.json @@ -0,0 +1,1822 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 29, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nOpen the drawer." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005899.mp4", + "start": 0, + "end": 29, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.13415226340293884, + 0.1692686676979065, + 0.16726607084274292, + 0.0784890279173851, + -0.17313307523727417, + -0.40474143624305725, + 0.0, + 0.9988223910331726 + ], + [ + 0.1344798356294632, + 0.16798605024814606, + 0.16222156584262848, + 0.05913594737648964, + -0.1712999939918518, + -0.39171484112739563, + 0.0, + 0.9994885921478271 + ], + [ + 0.1538572609424591, + 0.1523606777191162, + 0.13950318098068237, + -0.006387270987033844, + -0.16888412833213806, + -0.3071522116661072, + 0.0, + 0.9994885921478271 + ], + [ + 0.17101041972637177, + 0.13879512250423431, + 0.11973487585783005, + -0.05776666849851608, + -0.1681554913520813, + -0.23208338022232056, + 0.0, + 0.9988223910331726 + ], + [ + 0.1872105598449707, + 0.12364325672388077, + 0.10769372433423996, + -0.07389874756336212, + -0.17194773256778717, + -0.1699022650718689, + 0.0, + 0.9988223910331726 + ], + [ + 0.2072761505842209, + 0.09490911662578583, + 0.09465137869119644, + -0.11540625244379044, + -0.17758260667324066, + -0.1513281613588333, + 0.0, + 0.9988223910331726 + ], + [ + 0.22919267416000366, + 0.061621569097042084, + 0.08770907670259476, + -0.14060494303703308, + -0.19888515770435333, + -0.18324218690395355, + 0.0, + 0.9988223910331726 + ], + [ + 0.24147014319896698, + 0.032046426087617874, + 0.07659909129142761, + -0.1560184210538864, + -0.18414565920829773, + -0.22171828150749207, + 0.0, + 0.9988223910331726 + ], + [ + 0.2508304715156555, + 0.019566887989640236, + 0.06514479964971542, + -0.1500968337059021, + -0.18414433300495148, + -0.2214362770318985, + 0.0, + 0.9988223910331726 + ], + [ + 0.25736039876937866, + 0.015005719847977161, + 0.05026603862643242, + -0.13419941067695618, + -0.17012493312358856, + -0.2087283432483673, + 0.0, + 0.9988223910331726 + ], + [ + 0.2632422149181366, + 0.012656928040087223, + 0.04239142686128616, + -0.11821169406175613, + -0.1773533821105957, + -0.1903839409351349, + 0.0, + 0.9988223910331726 + ], + [ + 0.2707982659339905, + 0.009529086761176586, + 0.04013789817690849, + -0.12013452500104904, + -0.19603537023067474, + -0.15593411028385162, + 0.0, + 0.9988223910331726 + ], + [ + 0.2738950848579407, + 0.008389958180487156, + 0.03625040873885155, + -0.12378283590078354, + -0.19331173598766327, + -0.13870899379253387, + 0.0, + 0.9453431367874146 + ], + [ + 0.27383407950401306, + 0.009186803363263607, + 0.031956542283296585, + -0.12584805488586426, + -0.17934857308864594, + -0.11436229944229126, + 0.0, + 0.651088297367096 + ], + [ + 0.2719821631908417, + 0.011126385070383549, + 0.030833596363663673, + -0.11460809409618378, + -0.16353102028369904, + -0.12111496180295944, + 0.0, + 0.3437051773071289 + ], + [ + 0.27078983187675476, + 0.01645558886229992, + 0.02709703892469406, + -0.09758534282445908, + -0.11302632838487625, + -0.14302539825439453, + 0.0, + 0.18011163175106049 + ], + [ + 0.2666543126106262, + 0.036659061908721924, + 0.028510918840765953, + -0.05356432497501373, + -0.04445073753595352, + -0.1504712849855423, + 0.0, + 0.15975023806095123 + ], + [ + 0.2599291503429413, + 0.05951472744345665, + 0.024908125400543213, + -0.040839098393917084, + 0.0185520201921463, + -0.11734656989574432, + 0.0, + 0.15872089564800262 + ], + [ + 0.25181758403778076, + 0.08465391397476196, + 0.02462579682469368, + -0.04172026738524437, + 0.053697582334280014, + -0.07478605210781097, + 0.0, + 0.15769577026367188 + ], + [ + 0.24533618986606598, + 0.1006772369146347, + 0.025553220883011818, + -0.024221250787377357, + 0.0699026882648468, + -0.048107296228408813, + 0.0, + 0.15769577026367188 + ], + [ + 0.24362598359584808, + 0.10491955280303955, + 0.03091301955282688, + -0.004448631778359413, + 0.08086729794740677, + -0.060677383095026016, + 0.0, + 0.15667486190795898 + ], + [ + 0.24385255575180054, + 0.1065557450056076, + 0.038611166179180145, + 0.012259199284017086, + 0.07189162075519562, + -0.06922056525945663, + 0.0, + 0.152132049202919 + ], + [ + 0.25193318724632263, + 0.10402799397706985, + 0.04430822283029556, + 0.021404629573225975, + 0.06365258991718292, + -0.11299420893192291, + 0.0, + 0.152132049202919 + ], + [ + 0.25679129362106323, + 0.10204179584980011, + 0.04768221452832222, + 0.028171855956315994, + 0.05885304883122444, + -0.13632680475711823, + 0.0, + 0.152132049202919 + ], + [ + 0.25910311937332153, + 0.10312356054782867, + 0.04984087124466896, + 0.031042709946632385, + 0.054804783314466476, + -0.15978224575519562, + 0.0, + 0.20262791216373444 + ], + [ + 0.2556806206703186, + 0.10397616028785706, + 0.053989242762327194, + 0.013486074283719063, + 0.09194184839725494, + -0.25811970233917236, + 0.0, + 0.4559463858604431 + ], + [ + 0.25469791889190674, + 0.10716699063777924, + 0.05845595896244049, + -0.029179921373724937, + 0.1277603954076767, + -0.29431840777397156, + 0.0, + 0.7730204463005066 + ], + [ + 0.25204703211784363, + 0.10790108144283295, + 0.07826345413923264, + -0.04596584662795067, + 0.144689679145813, + -0.3278225362300873, + 0.0, + 1.0001531839370728 + ], + [ + 0.25503554940223694, + 0.09950224310159683, + 0.13245889544487, + -0.0017333473078906536, + 0.09275820851325989, + -0.34134238958358765, + 0.0, + 1.0060625076293945 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9453431367874146 + ], + [ + 0.651088297367096 + ], + [ + 0.3437051773071289 + ], + [ + 0.18011163175106049 + ], + [ + 0.15975023806095123 + ], + [ + 0.15872089564800262 + ], + [ + 0.15769577026367188 + ], + [ + 0.15769577026367188 + ], + [ + 0.15667486190795898 + ], + [ + 0.152132049202919 + ], + [ + 0.152132049202919 + ], + [ + 0.152132049202919 + ], + [ + 0.20262791216373444 + ], + [ + 0.4559463858604431 + ], + [ + 0.7730204463005066 + ], + [ + 1.0001531839370728 + ], + [ + 1.0060625076293945 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.13415226340293884, + 0.1692686676979065, + 0.16726607084274292 + ], + [ + 0.1344798356294632, + 0.16798605024814606, + 0.16222156584262848 + ], + [ + 0.1538572609424591, + 0.1523606777191162, + 0.13950318098068237 + ], + [ + 0.17101041972637177, + 0.13879512250423431, + 0.11973487585783005 + ], + [ + 0.1872105598449707, + 0.12364325672388077, + 0.10769372433423996 + ], + [ + 0.2072761505842209, + 0.09490911662578583, + 0.09465137869119644 + ], + [ + 0.22919267416000366, + 0.061621569097042084, + 0.08770907670259476 + ], + [ + 0.24147014319896698, + 0.032046426087617874, + 0.07659909129142761 + ], + [ + 0.2508304715156555, + 0.019566887989640236, + 0.06514479964971542 + ], + [ + 0.25736039876937866, + 0.015005719847977161, + 0.05026603862643242 + ], + [ + 0.2632422149181366, + 0.012656928040087223, + 0.04239142686128616 + ], + [ + 0.2707982659339905, + 0.009529086761176586, + 0.04013789817690849 + ], + [ + 0.2738950848579407, + 0.008389958180487156, + 0.03625040873885155 + ], + [ + 0.27383407950401306, + 0.009186803363263607, + 0.031956542283296585 + ], + [ + 0.2719821631908417, + 0.011126385070383549, + 0.030833596363663673 + ], + [ + 0.27078983187675476, + 0.01645558886229992, + 0.02709703892469406 + ], + [ + 0.2666543126106262, + 0.036659061908721924, + 0.028510918840765953 + ], + [ + 0.2599291503429413, + 0.05951472744345665, + 0.024908125400543213 + ], + [ + 0.25181758403778076, + 0.08465391397476196, + 0.02462579682469368 + ], + [ + 0.24533618986606598, + 0.1006772369146347, + 0.025553220883011818 + ], + [ + 0.24362598359584808, + 0.10491955280303955, + 0.03091301955282688 + ], + [ + 0.24385255575180054, + 0.1065557450056076, + 0.038611166179180145 + ], + [ + 0.25193318724632263, + 0.10402799397706985, + 0.04430822283029556 + ], + [ + 0.25679129362106323, + 0.10204179584980011, + 0.04768221452832222 + ], + [ + 0.25910311937332153, + 0.10312356054782867, + 0.04984087124466896 + ], + [ + 0.2556806206703186, + 0.10397616028785706, + 0.053989242762327194 + ], + [ + 0.25469791889190674, + 0.10716699063777924, + 0.05845595896244049 + ], + [ + 0.25204703211784363, + 0.10790108144283295, + 0.07826345413923264 + ], + [ + 0.25503554940223694, + 0.09950224310159683, + 0.13245889544487 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.905462021916538, + -0.3801527316339054, + 0.18873904603471542, + -0.3878940217603367, + -0.9216932585091361, + 0.004445795924465992, + 0.1722694248826701, + -0.07723624699641041, + -0.9820172133931784 + ], + [ + 0.910728328806719, + -0.37179503133510194, + 0.1798398336950177, + -0.37618628351606753, + -0.9264863557700128, + -0.010339858140722281, + 0.17046346002381244, + -0.05823647694127781, + -0.9836415615203429 + ], + [ + 0.939637237038091, + -0.303362526932251, + 0.1582815214252804, + -0.2980438728366365, + -0.9528544134091954, + -0.05690620977676157, + 0.1680824578472157, + 0.006296356080880621, + -0.9857528307157639 + ], + [ + 0.959462627538225, + -0.2390255178760573, + 0.14932604649399817, + -0.226761350551899, + -0.9693435364335226, + -0.09461711404619495, + 0.16736414267495853, + 0.05692020887729142, + -0.9842506457036446 + ], + [ + 0.971067005147347, + -0.1810753411701185, + 0.1556939058996447, + -0.16659257415211212, + -0.9807753130060317, + -0.1016203701788832, + 0.17110168249183072, + 0.07274273996795436, + -0.9825643531242212 + ], + [ + 0.973025056063304, + -0.16985737045450325, + 0.15611122309201841, + -0.14838047378518596, + -0.9789293465709169, + -0.14028745282997246, + 0.1766507154593155, + 0.11333934940928349, + -0.9777262994331248 + ], + [ + 0.9638755551794628, + -0.20764542785220852, + 0.16681513846037926, + -0.17862644274078493, + -0.9685092844346463, + -0.17344267040628206, + 0.1975765878874704, + 0.13737955545117467, + -0.9706133883595374 + ], + [ + 0.9590279387063456, + -0.24499091964175262, + 0.14228444072963967, + -0.21618822295376272, + -0.957415322470636, + -0.19135974643206025, + 0.18310670396452508, + 0.1527591227767969, + -0.9711521947520437 + ], + [ + 0.9590891035244388, + -0.24387356937862623, + 0.1437837739775129, + -0.21591781752436026, + -0.9586005377994078, + -0.18564618230979874, + 0.1831054001830782, + 0.14700575189159892, + -0.9720399792881876 + ], + [ + 0.9641721745274987, + -0.2275137742571188, + 0.13641664264376085, + -0.20422456348989956, + -0.9648051583937849, + -0.16566029700596252, + 0.16930547992984385, + 0.13186541950043046, + -0.976702188799483 + ], + [ + 0.9665291403306501, + -0.20834628263815172, + 0.14971054539529888, + -0.1862675712784241, + -0.9711414529771791, + -0.14895861908399408, + 0.17642509113425914, + 0.116086626362543, + -0.9774446697373881 + ], + [ + 0.9689458065550863, + -0.17724418694567184, + 0.17241961069808895, + -0.15232835227858887, + -0.9771214995993409, + -0.14842387986043526, + 0.19478217847483623, + 0.11755030078524907, + -0.9737770944799914 + ], + [ + 0.9719476248407221, + -0.1606981408244756, + 0.171737946016704, + -0.13568922392234323, + -0.979537960569312, + -0.14863989476269643, + 0.19210999213427582, + 0.12116720405815382, + -0.9738646002309039 + ], + [ + 0.9775326415379809, + -0.13545511078020991, + 0.1614987544574204, + -0.11228281374824738, + -0.983055927281476, + -0.14489173052156487, + 0.1783886332268777, + 0.12350286150643815, + -0.9761785383500131 + ], + [ + 0.9794308505723558, + -0.13850781693705527, + 0.1467337506998417, + -0.11920717762701538, + -0.9839129018504172, + -0.13306032607239776, + 0.16280312573569747, + 0.1128316720589693, + -0.9801857762848145 + ], + [ + 0.9834737644948714, + -0.15273669932208309, + 0.09721550920754293, + -0.14162877834762358, + -0.983513876411827, + -0.11243551062338532, + 0.11278583108726908, + 0.0968088610901774, + -0.9888920066015181 + ], + [ + 0.9877239300902558, + -0.15204128225846586, + 0.03584531233314485, + -0.14975603783593344, + -0.9869258910369109, + -0.059585356696772854, + 0.044436100849890775, + 0.05348583074236295, + -0.997579419821328 + ], + [ + 0.992951888094001, + -0.11622763646461154, + -0.023188023900475304, + -0.1170572935001356, + -0.9923833962861741, + -0.03837687863729865, + -0.01855095601261619, + 0.040820721421466116, + -0.9989942596099587 + ], + [ + 0.9957674864347685, + -0.0724190492527811, + -0.05659146812644341, + -0.07460866528605013, + -0.9965043508920909, + -0.037584913427687626, + -0.053671780514690716, + 0.041648048675248885, + -0.9976897213151626 + ], + [ + 0.9964036944250914, + -0.046385007561460544, + -0.07090915885520117, + -0.04797130025289139, + -0.9986314326451275, + -0.020833052709262587, + -0.06984577358778303, + 0.02415973523578473, + -0.9972651979815904 + ], + [ + 0.994897727970047, + -0.06028086244663014, + -0.08089949630701125, + -0.06044198611667792, + -0.9981716067716236, + 0.00045798387064662025, + -0.08077918787849371, + 0.004434079120281362, + -0.9967221587524004 + ], + [ + 0.9950283093249357, + -0.07003854690212942, + -0.07080441786921195, + -0.06898664008779522, + -0.9974693463372295, + 0.01719728487223665, + -0.07182970925290434, + -0.01222722639923175, + -0.9973419613167918 + ], + [ + 0.9916107159784018, + -0.11408084228122319, + -0.06077622381497687, + -0.11252557380562604, + -0.9932418269139625, + 0.028437097396342013, + -0.06360961559792737, + -0.02135965105101482, + -0.9977462513637738 + ], + [ + 0.9890066067193612, + -0.1374924488855798, + -0.0544220393305946, + -0.13566962700562732, + -0.9901035945976389, + 0.035897413179618046, + -0.05881908001327897, + -0.02811936102190957, + -0.9978725456500499 + ], + [ + 0.9857796708874004, + -0.16070508376060025, + -0.049115338934264584, + -0.15886435131816926, + -0.9865158013291704, + 0.039353419268503956, + -0.054777352486100765, + -0.030991124235235732, + -0.9980175308446492 + ], + [ + 0.9627879056711398, + -0.25643691815923303, + -0.08532031234340125, + -0.2541848497106503, + -0.966467680188436, + 0.03647307676571062, + -0.09181236774506372, + -0.013428706422368044, + -0.995685773210036 + ], + [ + 0.9492002826723875, + -0.2864066122282738, + -0.13034598515712845, + -0.2877233429229342, + -0.9576710527059146, + 0.009024009441290304, + -0.12741311279421266, + 0.028937990273481116, + -0.9914275018411688 + ], + [ + 0.9368528597950928, + -0.31536975281596025, + -0.15115765975482842, + -0.31861779847523286, + -0.9478789172533132, + 0.0028734511450061485, + -0.1441853584402808, + 0.04546951985107124, + -0.9885054907161421 + ], + [ + 0.938255211230017, + -0.3346005436470474, + -0.08786145224623143, + -0.3333132487946361, + -0.9423584761002847, + 0.02937312887512157, + -0.09262524913694703, + 0.0017258948547924733, + -0.9956995452993183 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + 0.00032757222652435303, + -0.001282617449760437, + -0.005044505000114441, + -0.019353080540895462, + 0.0018330812454223633, + 0.013026595115661621, + 1.0 + ], + [ + 0.01937742531299591, + -0.015625372529029846, + -0.022718384861946106, + -0.06552322208881378, + 0.002415865659713745, + 0.08456262946128845, + 1.0 + ], + [ + 0.01715315878391266, + -0.013565555214881897, + -0.019768305122852325, + -0.05137939751148224, + 0.0007286369800567627, + 0.07506883144378662, + 1.0 + ], + [ + 0.016200140118598938, + -0.015151865780353546, + -0.012041151523590088, + -0.01613207906484604, + -0.0037922412157058716, + 0.06218111515045166, + 1.0 + ], + [ + 0.020065590739250183, + -0.02873414009809494, + -0.013042345643043518, + -0.041507504880428314, + -0.005634874105453491, + 0.018574103713035583, + 1.0 + ], + [ + 0.021916523575782776, + -0.033287547528743744, + -0.006942301988601685, + -0.025198690593242645, + -0.02130255103111267, + -0.03191402554512024, + 1.0 + ], + [ + 0.012277469038963318, + -0.02957514300942421, + -0.011109985411167145, + -0.015413478016853333, + 0.014739498496055603, + -0.03847609460353851, + 1.0 + ], + [ + 0.009360328316688538, + -0.012479538097977638, + -0.011454291641712189, + 0.005921587347984314, + 1.3262033462524414e-06, + 0.0002820044755935669, + 1.0 + ], + [ + 0.0065299272537231445, + -0.0045611681416630745, + -0.014878761023283005, + 0.015897423028945923, + 0.014019399881362915, + 0.012707933783531189, + 1.0 + ], + [ + 0.005881816148757935, + -0.0023487918078899384, + -0.007874611765146255, + 0.015987716615200043, + -0.007228448987007141, + 0.018344402313232422, + 1.0 + ], + [ + 0.007556051015853882, + -0.003127841278910637, + -0.0022535286843776703, + -0.0019228309392929077, + -0.01868198812007904, + 0.034449830651283264, + 1.0 + ], + [ + 0.0030968189239501953, + -0.0011391285806894302, + -0.003887489438056946, + -0.003648310899734497, + 0.0027236342430114746, + 0.01722511649131775, + 0.0 + ], + [ + -6.1005353927612305e-05, + 0.0007968451827764511, + -0.004293866455554962, + -0.002065218985080719, + 0.013963162899017334, + 0.024346694350242615, + 0.0 + ], + [ + -0.0018519163131713867, + 0.0019395817071199417, + -0.0011229459196329117, + 0.011239960789680481, + 0.0158175528049469, + -0.006752662360668182, + 0.0 + ], + [ + -0.001192331314086914, + 0.00532920379191637, + -0.003736557438969612, + 0.0170227512717247, + 0.050504691898822784, + -0.02191043645143509, + 0.0 + ], + [ + -0.00413551926612854, + 0.020203473046422005, + 0.0014138799160718918, + 0.04402101784944534, + 0.06857559084892273, + -0.007445886731147766, + 0.0 + ], + [ + -0.0067251622676849365, + 0.022855665534734726, + -0.00360279344022274, + 0.01272522658109665, + 0.06300275772809982, + 0.033124715089797974, + 0.0 + ], + [ + -0.008111566305160522, + 0.025139186531305313, + -0.0002823285758495331, + -0.0008811689913272858, + 0.03514556214213371, + 0.04256051778793335, + 0.0 + ], + [ + -0.006481394171714783, + 0.01602332293987274, + 0.0009274240583181381, + 0.017499016597867012, + 0.016205105930566788, + 0.02667875587940216, + 0.0 + ], + [ + -0.0017102062702178955, + 0.004242315888404846, + 0.0053597986698150635, + 0.019772619009017944, + 0.010964609682559967, + -0.012570086866617203, + 0.0 + ], + [ + 0.0002265721559524536, + 0.0016361922025680542, + 0.007698146626353264, + 0.016707830131053925, + -0.008975677192211151, + -0.008543182164430618, + 0.0 + ], + [ + 0.008080631494522095, + -0.0025277510285377502, + 0.0056970566511154175, + 0.009145430289208889, + -0.008239030838012695, + -0.04377364367246628, + 0.0 + ], + [ + 0.004858106374740601, + -0.001986198127269745, + 0.003373991698026657, + 0.006767226383090019, + -0.004799541085958481, + -0.023332595825195312, + 0.0 + ], + [ + 0.0023118257522583008, + 0.0010817646980285645, + 0.0021586567163467407, + 0.002870853990316391, + -0.004048265516757965, + -0.023455440998077393, + 1.0 + ], + [ + -0.0034224987030029297, + 0.0008525997400283813, + 0.004148371517658234, + -0.017556635662913322, + 0.03713706508278847, + -0.09833745658397675, + 1.0 + ], + [ + -0.0009827017784118652, + 0.00319083034992218, + 0.0044667162001132965, + -0.042665995657444, + 0.03581854701042175, + -0.036198705434799194, + 1.0 + ], + [ + -0.0026508867740631104, + 0.0007340908050537109, + 0.019807495176792145, + -0.01678592525422573, + 0.01692928373813629, + -0.03350412845611572, + 1.0 + ], + [ + 0.0029885172843933105, + -0.008398838341236115, + 0.05419544130563736, + 0.04423249885439873, + -0.0519314706325531, + -0.013519853353500366, + 1.0 + ], + [ + 0.002771049737930298, + -0.029383130371570587, + 0.048360675573349, + 0.037704210728406906, + -0.06698022782802582, + -0.043185919523239136, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9453431367874146 + ], + [ + 0.651088297367096 + ], + [ + 0.3437051773071289 + ], + [ + 0.18011163175106049 + ], + [ + 0.15975023806095123 + ], + [ + 0.15872089564800262 + ], + [ + 0.15769577026367188 + ], + [ + 0.15769577026367188 + ], + [ + 0.15667486190795898 + ], + [ + 0.152132049202919 + ], + [ + 0.152132049202919 + ], + [ + 0.152132049202919 + ], + [ + 0.20262791216373444 + ], + [ + 0.4559463858604431 + ], + [ + 0.7730204463005066 + ], + [ + 1.0001531839370728 + ], + [ + 1.0060625076293945 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.1344798356294632, + 0.16798605024814606, + 0.16222156584262848 + ], + [ + 0.1538572609424591, + 0.1523606777191162, + 0.13950318098068237 + ], + [ + 0.17101041972637177, + 0.13879512250423431, + 0.11973487585783005 + ], + [ + 0.1872105598449707, + 0.12364325672388077, + 0.10769372433423996 + ], + [ + 0.2072761505842209, + 0.09490911662578583, + 0.09465137869119644 + ], + [ + 0.22919267416000366, + 0.061621569097042084, + 0.08770907670259476 + ], + [ + 0.24147014319896698, + 0.032046426087617874, + 0.07659909129142761 + ], + [ + 0.2508304715156555, + 0.019566887989640236, + 0.06514479964971542 + ], + [ + 0.25736039876937866, + 0.015005719847977161, + 0.05026603862643242 + ], + [ + 0.2632422149181366, + 0.012656928040087223, + 0.04239142686128616 + ], + [ + 0.2707982659339905, + 0.009529086761176586, + 0.04013789817690849 + ], + [ + 0.2738950848579407, + 0.008389958180487156, + 0.03625040873885155 + ], + [ + 0.27383407950401306, + 0.009186803363263607, + 0.031956542283296585 + ], + [ + 0.2719821631908417, + 0.011126385070383549, + 0.030833596363663673 + ], + [ + 0.27078983187675476, + 0.01645558886229992, + 0.02709703892469406 + ], + [ + 0.2666543126106262, + 0.036659061908721924, + 0.028510918840765953 + ], + [ + 0.2599291503429413, + 0.05951472744345665, + 0.024908125400543213 + ], + [ + 0.25181758403778076, + 0.08465391397476196, + 0.02462579682469368 + ], + [ + 0.24533618986606598, + 0.1006772369146347, + 0.025553220883011818 + ], + [ + 0.24362598359584808, + 0.10491955280303955, + 0.03091301955282688 + ], + [ + 0.24385255575180054, + 0.1065557450056076, + 0.038611166179180145 + ], + [ + 0.25193318724632263, + 0.10402799397706985, + 0.04430822283029556 + ], + [ + 0.25679129362106323, + 0.10204179584980011, + 0.04768221452832222 + ], + [ + 0.25910311937332153, + 0.10312356054782867, + 0.04984087124466896 + ], + [ + 0.2556806206703186, + 0.10397616028785706, + 0.053989242762327194 + ], + [ + 0.25469791889190674, + 0.10716699063777924, + 0.05845595896244049 + ], + [ + 0.25204703211784363, + 0.10790108144283295, + 0.07826345413923264 + ], + [ + 0.25503554940223694, + 0.09950224310159683, + 0.13245889544487 + ], + [ + 0.25780659914016724, + 0.07011911273002625, + 0.180819571018219 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.910728328806719, + -0.37179503133510194, + 0.1798398336950177, + -0.37618628351606753, + -0.9264863557700128, + -0.010339858140722281, + 0.17046346002381244, + -0.05823647694127781, + -0.9836415615203429 + ], + [ + 0.939637237038091, + -0.303362526932251, + 0.1582815214252804, + -0.2980438728366365, + -0.9528544134091954, + -0.05690620977676157, + 0.1680824578472157, + 0.006296356080880621, + -0.9857528307157639 + ], + [ + 0.959462627538225, + -0.2390255178760573, + 0.14932604649399817, + -0.226761350551899, + -0.9693435364335226, + -0.09461711404619495, + 0.16736414267495853, + 0.05692020887729142, + -0.9842506457036446 + ], + [ + 0.971067005147347, + -0.1810753411701185, + 0.1556939058996447, + -0.16659257415211212, + -0.9807753130060317, + -0.1016203701788832, + 0.17110168249183072, + 0.07274273996795436, + -0.9825643531242212 + ], + [ + 0.973025056063304, + -0.16985737045450325, + 0.15611122309201841, + -0.14838047378518596, + -0.9789293465709169, + -0.14028745282997246, + 0.1766507154593155, + 0.11333934940928349, + -0.9777262994331248 + ], + [ + 0.9638755551794628, + -0.20764542785220852, + 0.16681513846037926, + -0.17862644274078493, + -0.9685092844346463, + -0.17344267040628206, + 0.1975765878874704, + 0.13737955545117467, + -0.9706133883595374 + ], + [ + 0.9590279387063456, + -0.24499091964175262, + 0.14228444072963967, + -0.21618822295376272, + -0.957415322470636, + -0.19135974643206025, + 0.18310670396452508, + 0.1527591227767969, + -0.9711521947520437 + ], + [ + 0.9590891035244388, + -0.24387356937862623, + 0.1437837739775129, + -0.21591781752436026, + -0.9586005377994078, + -0.18564618230979874, + 0.1831054001830782, + 0.14700575189159892, + -0.9720399792881876 + ], + [ + 0.9641721745274987, + -0.2275137742571188, + 0.13641664264376085, + -0.20422456348989956, + -0.9648051583937849, + -0.16566029700596252, + 0.16930547992984385, + 0.13186541950043046, + -0.976702188799483 + ], + [ + 0.9665291403306501, + -0.20834628263815172, + 0.14971054539529888, + -0.1862675712784241, + -0.9711414529771791, + -0.14895861908399408, + 0.17642509113425914, + 0.116086626362543, + -0.9774446697373881 + ], + [ + 0.9689458065550863, + -0.17724418694567184, + 0.17241961069808895, + -0.15232835227858887, + -0.9771214995993409, + -0.14842387986043526, + 0.19478217847483623, + 0.11755030078524907, + -0.9737770944799914 + ], + [ + 0.9719476248407221, + -0.1606981408244756, + 0.171737946016704, + -0.13568922392234323, + -0.979537960569312, + -0.14863989476269643, + 0.19210999213427582, + 0.12116720405815382, + -0.9738646002309039 + ], + [ + 0.9775326415379809, + -0.13545511078020991, + 0.1614987544574204, + -0.11228281374824738, + -0.983055927281476, + -0.14489173052156487, + 0.1783886332268777, + 0.12350286150643815, + -0.9761785383500131 + ], + [ + 0.9794308505723558, + -0.13850781693705527, + 0.1467337506998417, + -0.11920717762701538, + -0.9839129018504172, + -0.13306032607239776, + 0.16280312573569747, + 0.1128316720589693, + -0.9801857762848145 + ], + [ + 0.9834737644948714, + -0.15273669932208309, + 0.09721550920754293, + -0.14162877834762358, + -0.983513876411827, + -0.11243551062338532, + 0.11278583108726908, + 0.0968088610901774, + -0.9888920066015181 + ], + [ + 0.9877239300902558, + -0.15204128225846586, + 0.03584531233314485, + -0.14975603783593344, + -0.9869258910369109, + -0.059585356696772854, + 0.044436100849890775, + 0.05348583074236295, + -0.997579419821328 + ], + [ + 0.992951888094001, + -0.11622763646461154, + -0.023188023900475304, + -0.1170572935001356, + -0.9923833962861741, + -0.03837687863729865, + -0.01855095601261619, + 0.040820721421466116, + -0.9989942596099587 + ], + [ + 0.9957674864347685, + -0.0724190492527811, + -0.05659146812644341, + -0.07460866528605013, + -0.9965043508920909, + -0.037584913427687626, + -0.053671780514690716, + 0.041648048675248885, + -0.9976897213151626 + ], + [ + 0.9964036944250914, + -0.046385007561460544, + -0.07090915885520117, + -0.04797130025289139, + -0.9986314326451275, + -0.020833052709262587, + -0.06984577358778303, + 0.02415973523578473, + -0.9972651979815904 + ], + [ + 0.994897727970047, + -0.06028086244663014, + -0.08089949630701125, + -0.06044198611667792, + -0.9981716067716236, + 0.00045798387064662025, + -0.08077918787849371, + 0.004434079120281362, + -0.9967221587524004 + ], + [ + 0.9950283093249357, + -0.07003854690212942, + -0.07080441786921195, + -0.06898664008779522, + -0.9974693463372295, + 0.01719728487223665, + -0.07182970925290434, + -0.01222722639923175, + -0.9973419613167918 + ], + [ + 0.9916107159784018, + -0.11408084228122319, + -0.06077622381497687, + -0.11252557380562604, + -0.9932418269139625, + 0.028437097396342013, + -0.06360961559792737, + -0.02135965105101482, + -0.9977462513637738 + ], + [ + 0.9890066067193612, + -0.1374924488855798, + -0.0544220393305946, + -0.13566962700562732, + -0.9901035945976389, + 0.035897413179618046, + -0.05881908001327897, + -0.02811936102190957, + -0.9978725456500499 + ], + [ + 0.9857796708874004, + -0.16070508376060025, + -0.049115338934264584, + -0.15886435131816926, + -0.9865158013291704, + 0.039353419268503956, + -0.054777352486100765, + -0.030991124235235732, + -0.9980175308446492 + ], + [ + 0.9627879056711398, + -0.25643691815923303, + -0.08532031234340125, + -0.2541848497106503, + -0.966467680188436, + 0.03647307676571062, + -0.09181236774506372, + -0.013428706422368044, + -0.995685773210036 + ], + [ + 0.9492002826723875, + -0.2864066122282738, + -0.13034598515712845, + -0.2877233429229342, + -0.9576710527059146, + 0.009024009441290304, + -0.12741311279421266, + 0.028937990273481116, + -0.9914275018411688 + ], + [ + 0.9368528597950928, + -0.31536975281596025, + -0.15115765975482842, + -0.31861779847523286, + -0.9478789172533132, + 0.0028734511450061485, + -0.1441853584402808, + 0.04546951985107124, + -0.9885054907161421 + ], + [ + 0.938255211230017, + -0.3346005436470474, + -0.08786145224623143, + -0.3333132487946361, + -0.9423584761002847, + 0.02937312887512157, + -0.09262524913694703, + 0.0017258948547924733, + -0.9956995452993183 + ], + [ + 0.9266675047642661, + -0.3757385364487456, + -0.010386907206846877, + -0.37499730440283713, + -0.926028113209432, + 0.042999479489702154, + -0.025775129574356407, + -0.035951158161234543, + -0.9990210993378924 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005900.json b/json/chunk-0005/episode_0005900.json new file mode 100644 index 0000000000000000000000000000000000000000..248a8a0fe5c6c2a3c2800c045639a5c02fa7ae99 --- /dev/null +++ b/json/chunk-0005/episode_0005900.json @@ -0,0 +1,1882 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 30, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the brown rabbit to the top of the table." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005900.mp4", + "start": 0, + "end": 30, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2540968358516693, + -0.0702446922659874, + 0.08098631352186203, + 0.036907751113176346, + -0.0978706032037735, + -0.2745298147201538, + 0.0, + 1.0008161067962646 + ], + [ + 0.24972298741340637, + -0.06934037804603577, + 0.07383247464895248, + 0.03744696080684662, + -0.0687299370765686, + -0.27610865235328674, + 0.0, + 1.0008161067962646 + ], + [ + 0.22178703546524048, + -0.06306757032871246, + 0.06899739056825638, + 0.042396459728479385, + -0.050515491515398026, + -0.2895066440105438, + 0.0, + 1.0008161067962646 + ], + [ + 0.19307838380336761, + -0.05480927973985672, + 0.07564457505941391, + 0.04792420193552971, + -0.07278215885162354, + -0.28881314396858215, + 0.0, + 1.0008161067962646 + ], + [ + 0.1744067668914795, + -0.048687782138586044, + 0.07331077009439468, + 0.05004607141017914, + -0.09243201464414597, + -0.2991362512111664, + 0.0, + 1.0008161067962646 + ], + [ + 0.17186056077480316, + -0.047293782234191895, + 0.05804820731282234, + 0.050339408218860626, + -0.07259669899940491, + -0.29657769203186035, + 0.0, + 1.0008161067962646 + ], + [ + 0.17474433779716492, + -0.046265117824077606, + 0.03600340336561203, + 0.06113158538937569, + -0.03512353077530861, + -0.2967206835746765, + 0.0, + 1.0008161067962646 + ], + [ + 0.17573781311511993, + -0.04214731976389885, + 0.015634557232260704, + 0.07794513553380966, + 0.00509271677583456, + -0.2964797616004944, + 0.0, + 1.0008161067962646 + ], + [ + 0.17225466668605804, + -0.039789360016584396, + 0.0017990157939493656, + 0.08266383409500122, + 0.04540862515568733, + -0.2889949083328247, + 0.0, + 1.0008161067962646 + ], + [ + 0.17010603845119476, + -0.03947201371192932, + -0.0017780400812625885, + 0.09150049090385437, + 0.060332924127578735, + -0.2880323827266693, + 0.0, + 0.9537920951843262 + ], + [ + 0.1684636026620865, + -0.040557682514190674, + -0.0021697040647268295, + 0.08913146704435349, + 0.06140272691845894, + -0.2845378518104553, + 0.0, + 0.6881998181343079 + ], + [ + 0.16254501044750214, + -0.03814857825636864, + 0.00362026528455317, + 0.10092446208000183, + 0.06851866841316223, + -0.28342702984809875, + 0.0, + 0.38577979803085327 + ], + [ + 0.1611897349357605, + -0.037870027124881744, + 0.015188800171017647, + 0.10769331455230713, + 0.053485579788684845, + -0.28399693965911865, + 0.0, + 0.18066829442977905 + ], + [ + 0.15833409130573273, + -0.03573247417807579, + 0.02423885092139244, + 0.11246905475854874, + 0.05111820250749588, + -0.29098349809646606, + 0.0, + 0.10121192038059235 + ], + [ + 0.1592201441526413, + -0.035431310534477234, + 0.029620198532938957, + 0.11043020337820053, + 0.042215242981910706, + -0.29918813705444336, + 0.0, + 0.08571679890155792 + ], + [ + 0.17814230918884277, + -0.03780636191368103, + 0.04477977380156517, + 0.0927504375576973, + -0.007740906905382872, + -0.2798483371734619, + 0.0, + 0.08571679890155792 + ], + [ + 0.2205096036195755, + -0.04532664641737938, + 0.06734142452478409, + 0.08947520703077316, + -0.08472274243831635, + -0.2947743833065033, + 0.0, + 0.0853668823838234 + ], + [ + 0.2687796354293823, + -0.05806564539670944, + 0.08390060812234879, + 0.07839152216911316, + -0.12590257823467255, + -0.29968419671058655, + 0.0, + 0.08501782268285751 + ], + [ + 0.3191581666469574, + -0.07023964822292328, + 0.09222999960184097, + 0.08017222583293915, + -0.1606196016073227, + -0.3016407787799835, + 0.0, + 0.08501782268285751 + ], + [ + 0.3675778806209564, + -0.0810975506901741, + 0.08859946578741074, + 0.06529296189546585, + -0.16802947223186493, + -0.2943803668022156, + 0.0, + 0.08501782268285751 + ], + [ + 0.41671398282051086, + -0.08620846271514893, + 0.07638952136039734, + 0.0753956139087677, + -0.15328259766101837, + -0.28950750827789307, + 0.0, + 0.08501782268285751 + ], + [ + 0.46299228072166443, + -0.09379790723323822, + 0.05978941544890404, + 0.09513044357299805, + -0.13779278099536896, + -0.2969587743282318, + 0.0, + 0.08501782268285751 + ], + [ + 0.48083794116973877, + -0.09488828480243683, + 0.03845775127410889, + 0.10788625478744507, + -0.10045910626649857, + -0.30593404173851013, + 0.0, + 0.08501782268285751 + ], + [ + 0.4801151156425476, + -0.09174547344446182, + 0.02839374542236328, + 0.11112984269857407, + -0.08628199249505997, + -0.30360639095306396, + 0.0, + 0.10160017013549805 + ], + [ + 0.4663180112838745, + -0.08503136783838272, + 0.008330896496772766, + 0.1069469079375267, + -0.05269922688603401, + -0.2853173613548279, + 0.0, + 0.2759375274181366 + ], + [ + 0.46459367871284485, + -0.0822458267211914, + 0.03357648849487305, + 0.1114608645439148, + -0.11351565271615982, + -0.27294614911079407, + 0.0, + 0.5650128126144409 + ], + [ + 0.45414990186691284, + -0.0787058174610138, + 0.05961330607533455, + 0.11633086204528809, + -0.16252556443214417, + -0.2604585289955139, + 0.0, + 0.8731510639190674 + ], + [ + 0.4360416829586029, + -0.07506880164146423, + 0.09351698309183121, + 0.11230867356061935, + -0.21305310726165771, + -0.23555868864059448, + 0.0, + 1.0054124593734741 + ], + [ + 0.4096399247646332, + -0.07093998789787292, + 0.1105373352766037, + 0.097099669277668, + -0.20397846400737762, + -0.18804259598255157, + 0.0, + 0.9988223910331726 + ], + [ + 0.38251441717147827, + -0.0716569647192955, + 0.1094651073217392, + 0.0523284412920475, + -0.16052061319351196, + -0.1533980518579483, + 0.0, + 0.9988223910331726 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9537920951843262 + ], + [ + 0.6881998181343079 + ], + [ + 0.38577979803085327 + ], + [ + 0.18066829442977905 + ], + [ + 0.10121192038059235 + ], + [ + 0.08571679890155792 + ], + [ + 0.08571679890155792 + ], + [ + 0.0853668823838234 + ], + [ + 0.08501782268285751 + ], + [ + 0.08501782268285751 + ], + [ + 0.08501782268285751 + ], + [ + 0.08501782268285751 + ], + [ + 0.08501782268285751 + ], + [ + 0.08501782268285751 + ], + [ + 0.10160017013549805 + ], + [ + 0.2759375274181366 + ], + [ + 0.5650128126144409 + ], + [ + 0.8731510639190674 + ], + [ + 1.0054124593734741 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2540968358516693, + -0.0702446922659874, + 0.08098631352186203 + ], + [ + 0.24972298741340637, + -0.06934037804603577, + 0.07383247464895248 + ], + [ + 0.22178703546524048, + -0.06306757032871246, + 0.06899739056825638 + ], + [ + 0.19307838380336761, + -0.05480927973985672, + 0.07564457505941391 + ], + [ + 0.1744067668914795, + -0.048687782138586044, + 0.07331077009439468 + ], + [ + 0.17186056077480316, + -0.047293782234191895, + 0.05804820731282234 + ], + [ + 0.17474433779716492, + -0.046265117824077606, + 0.03600340336561203 + ], + [ + 0.17573781311511993, + -0.04214731976389885, + 0.015634557232260704 + ], + [ + 0.17225466668605804, + -0.039789360016584396, + 0.0017990157939493656 + ], + [ + 0.17010603845119476, + -0.03947201371192932, + -0.0017780400812625885 + ], + [ + 0.1684636026620865, + -0.040557682514190674, + -0.0021697040647268295 + ], + [ + 0.16254501044750214, + -0.03814857825636864, + 0.00362026528455317 + ], + [ + 0.1611897349357605, + -0.037870027124881744, + 0.015188800171017647 + ], + [ + 0.15833409130573273, + -0.03573247417807579, + 0.02423885092139244 + ], + [ + 0.1592201441526413, + -0.035431310534477234, + 0.029620198532938957 + ], + [ + 0.17814230918884277, + -0.03780636191368103, + 0.04477977380156517 + ], + [ + 0.2205096036195755, + -0.04532664641737938, + 0.06734142452478409 + ], + [ + 0.2687796354293823, + -0.05806564539670944, + 0.08390060812234879 + ], + [ + 0.3191581666469574, + -0.07023964822292328, + 0.09222999960184097 + ], + [ + 0.3675778806209564, + -0.0810975506901741, + 0.08859946578741074 + ], + [ + 0.41671398282051086, + -0.08620846271514893, + 0.07638952136039734 + ], + [ + 0.46299228072166443, + -0.09379790723323822, + 0.05978941544890404 + ], + [ + 0.48083794116973877, + -0.09488828480243683, + 0.03845775127410889 + ], + [ + 0.4801151156425476, + -0.09174547344446182, + 0.02839374542236328 + ], + [ + 0.4663180112838745, + -0.08503136783838272, + 0.008330896496772766 + ], + [ + 0.46459367871284485, + -0.0822458267211914, + 0.03357648849487305 + ], + [ + 0.45414990186691284, + -0.0787058174610138, + 0.05961330607533455 + ], + [ + 0.4360416829586029, + -0.07506880164146423, + 0.09351698309183121 + ], + [ + 0.4096399247646332, + -0.07093998789787292, + 0.1105373352766037 + ], + [ + 0.38251441717147827, + -0.0716569647192955, + 0.1094651073217392 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9579464667908245, + -0.2674391883078962, + 0.10399445812248906, + -0.26979706503594786, + -0.9628747152285858, + 0.009045798552869294, + 0.09771443322746659, + -0.03672279034447402, + -0.9945367394965113 + ], + [ + 0.9598520078131617, + -0.2699489311355066, + 0.07623449137915916, + -0.2719701312131831, + -0.9621499704299528, + 0.017311329513488488, + 0.06867583872749972, + -0.03734981901479737, + -0.9969396271563469 + ], + [ + 0.9571622847986206, + -0.2831718401985161, + 0.06044889972258116, + -0.28511526708342266, + -0.9581345969936431, + 0.026217904564973096, + 0.05049400989259192, + -0.04232969362534458, + -0.9978269148517451 + ], + [ + 0.9560447829539193, + -0.2811483858442754, + 0.0832703916392388, + -0.2840606930372045, + -0.958474177721148, + 0.025234367695516402, + 0.072717918409542, + -0.04777903074496098, + -0.9962074425355673 + ], + [ + 0.9515121612456471, + -0.28991365792452123, + 0.10283325313565495, + -0.2934369326518314, + -0.9557556549156604, + 0.020637215234184932, + 0.09230045263985756, + -0.049811635644306795, + -0.9944845033467925 + ], + [ + 0.95382326431546, + -0.28838843216777355, + 0.08398388323013854, + -0.2914792477363365, + -0.9561974254371964, + 0.02695054222713301, + 0.07253294830392236, + -0.050185613268052764, + -0.9961025929246695 + ], + [ + 0.9557106395326439, + -0.2897879828313691, + 0.05138188874137155, + -0.29220543850892366, + -0.9551414082942337, + 0.048175428047040544, + 0.03511630945746161, + -0.0610558364796852, + -0.9975164307628489 + ], + [ + 0.9563584671822735, + -0.29164758065136376, + 0.017893321351243885, + -0.29215158173255584, + -0.9533512970093498, + 0.07595233888272648, + -0.005092694761946236, + -0.0778652245280077, + -0.9969508870898631 + ], + [ + 0.9575427513914196, + -0.2876084622812489, + -0.019830574423487596, + -0.28469519285186096, + -0.9541895313098223, + 0.09203795687532132, + -0.04539302176317124, + -0.08248460924898202, + -0.9955580157942837 + ], + [ + 0.9570601399512778, + -0.2881603802868642, + -0.03161461290875843, + -0.2835493631147069, + -0.9532286969601557, + 0.10466522807928136, + -0.060296328194052604, + -0.09120661447819298, + -0.9940048824234927 + ], + [ + 0.9579827065266368, + -0.2848422081491288, + -0.03367566558553463, + -0.2801848945178634, + -0.9544481912262022, + 0.10259178889679907, + -0.0613641497937855, + -0.08884574678486304, + -0.9941533455148287 + ], + [ + 0.9578498502233944, + -0.28484744499168363, + -0.037223614933674806, + -0.2789913958927321, + -0.9532881545996441, + 0.11578210275267029, + -0.06846506733251333, + -0.10051680148967543, + -0.9925769023977132 + ], + [ + 0.9585704568060116, + -0.28408745103289723, + -0.020904533105168523, + -0.2797940294843446, + -0.9527718804000104, + 0.11807220241844293, + -0.053460082338391425, + -0.10733156145635475, + -0.9927849492773915 + ], + [ + 0.9567108397557659, + -0.2905754582913528, + -0.016439955370602787, + -0.2865197614814846, + -0.9502645660086694, + 0.12208063265296545, + -0.05109594283708148, + -0.1120854924917824, + -0.9923840219383141 + ], + [ + 0.9547247437528787, + -0.297393524991767, + -0.007599668346140405, + -0.2944819100267921, + -0.9483846181341291, + 0.11767336467338185, + -0.04220270528025909, + -0.11010770808419196, + -0.9930232747964541 + ], + [ + 0.961068545016002, + -0.2743336271989176, + 0.03298958576142327, + -0.27620161356872136, + -0.9571643388328575, + 0.08688554038902943, + 0.00774082959764205, + -0.09261473670288242, + -0.9956719289517989 + ], + [ + 0.9534355964358798, + -0.28212652826377876, + 0.10660762401810235, + -0.2894819134648782, + -0.9552367905461031, + 0.06101553706960859, + 0.08462142297119919, + -0.0890353639685224, + -0.9924272863728213 + ], + [ + 0.9478672873632222, + -0.28491658744576, + 0.14272401250297392, + -0.292881760737418, + -0.9553986518889211, + 0.03786410168195796, + 0.12557021849959613, + -0.07769140343110299, + -0.989038000310842 + ], + [ + 0.9425598496859842, + -0.2839031225742547, + 0.1760112120079928, + -0.29326330913907633, + -0.9555884264276902, + 0.029109977503420315, + 0.15992986360506106, + -0.07905552649902972, + -0.9839576527763925 + ], + [ + 0.9435041963864356, + -0.27908624728045167, + 0.17863565707915313, + -0.28606056587223055, + -0.958108980510998, + 0.014019062630392938, + 0.16723989970711373, + -0.06432766157020028, + -0.9838154135318596 + ], + [ + 0.9471477268473755, + -0.2736471193241203, + 0.16741695736531623, + -0.2821330660858525, + -0.9589451419598227, + 0.0287253848129409, + 0.15268305914162664, + -0.0744410424246342, + -0.985467612179055 + ], + [ + 0.9471672619731143, + -0.27881431802046586, + 0.15854574706732683, + -0.28983993924708706, + -0.9557249968134801, + 0.05081869816434377, + 0.13735715293933232, + -0.09408669689523765, + -0.986042953427357 + ], + [ + 0.9487583859030138, + -0.2891353490933847, + 0.1275079412560441, + -0.29966547548959555, + -0.9512744148248945, + 0.07264702677432361, + 0.10029021875687985, + -0.10713420370825213, + -0.9891734602270201 + ], + [ + 0.950714670209621, + -0.2879995946523369, + 0.11488189295228853, + -0.297851454967851, + -0.9512352400974636, + 0.08022486379081485, + 0.08617497677252768, + -0.11048869388679634, + -0.9901343958783797 + ], + [ + 0.958240217884888, + -0.27445853282732907, + 0.08030067612537573, + -0.2810712477719662, + -0.9556725523161967, + 0.08768652362453591, + 0.05267483748273505, + -0.10659496473903557, + -0.9929062770415198 + ], + [ + 0.9567831525916066, + -0.2557640602643729, + 0.138386214609506, + -0.2678347409794588, + -0.9604016480792349, + 0.07676734912158409, + 0.1132720196753473, + -0.11051434225371459, + -0.9873986174361883 + ], + [ + 0.9535382400432619, + -0.23763535603828856, + 0.18518710088922125, + -0.25412993608682405, + -0.9645777507168949, + 0.07076537575992008, + 0.1618110019736158, + -0.11453907797119632, + -0.980152028645456 + ], + [ + 0.9503984077788268, + -0.20887315691383518, + 0.2304666370916184, + -0.2281093963092764, + -0.9717886942189774, + 0.05994027947543038, + 0.21144495691997206, + -0.10953875163166507, + -0.9712323574120088 + ], + [ + 0.9620059072742551, + -0.16676369408068187, + 0.21618164747730628, + -0.18306087026430934, + -0.9814157023726265, + 0.05754943018412963, + 0.20256690782926834, + -0.09493729231976784, + -0.9746556101410794 + ], + [ + 0.9755527365089676, + -0.1443262221942932, + 0.1657311071494687, + -0.1508328299145923, + -0.9881822013417897, + 0.027301911494445386, + 0.15983214854909772, + -0.0516321463665647, + -0.9857929832128859 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0043738484382629395, + 0.0009043142199516296, + -0.007153838872909546, + 0.0005392096936702728, + 0.029140666127204895, + -0.0015788376331329346, + 1.0 + ], + [ + -0.027935951948165894, + 0.006272807717323303, + -0.004835084080696106, + 0.004949498921632767, + 0.018214445561170578, + -0.01339799165725708, + 1.0 + ], + [ + -0.028708651661872864, + 0.008258290588855743, + 0.006647184491157532, + 0.0055277422070503235, + -0.02226666733622551, + 0.0006935000419616699, + 1.0 + ], + [ + -0.018671616911888123, + 0.006121497601270676, + -0.002333804965019226, + 0.0021218694746494293, + -0.01964985579252243, + -0.010323107242584229, + 1.0 + ], + [ + -0.0025462061166763306, + 0.0013939999043941498, + -0.015262562781572342, + 0.00029333680868148804, + 0.01983531564474106, + 0.0025585591793060303, + 1.0 + ], + [ + 0.0028837770223617554, + 0.0010286644101142883, + -0.022044803947210312, + 0.01079217717051506, + 0.0374731682240963, + -0.0001429915428161621, + 1.0 + ], + [ + 0.000993475317955017, + 0.004117798060178757, + -0.020368846133351326, + 0.016813550144433975, + 0.040216248482465744, + 0.0002409219741821289, + 1.0 + ], + [ + -0.0034831464290618896, + 0.002357959747314453, + -0.013835541903972626, + 0.004718698561191559, + 0.0403159074485302, + 0.007484853267669678, + 1.0 + ], + [ + -0.0021486282348632812, + 0.0003173463046550751, + -0.003577055875211954, + 0.00883665680885315, + 0.014924298971891403, + 0.0009625256061553955, + 0.0 + ], + [ + -0.0016424357891082764, + -0.0010856688022613525, + -0.00039166398346424103, + -0.002369023859500885, + 0.0010698027908802032, + 0.0034945309162139893, + 0.0 + ], + [ + -0.005918592214584351, + 0.0024091042578220367, + 0.005789969116449356, + 0.011792995035648346, + 0.007115941494703293, + 0.0011108219623565674, + 0.0 + ], + [ + -0.0013552755117416382, + 0.0002785511314868927, + 0.01156853511929512, + 0.006768852472305298, + -0.015033088624477386, + -0.0005699098110198975, + 0.0 + ], + [ + -0.002855643630027771, + 0.002137552946805954, + 0.009050050750374794, + 0.004775740206241608, + -0.002367377281188965, + -0.006986558437347412, + 0.0 + ], + [ + 0.0008860528469085693, + 0.0003011636435985565, + 0.005381347611546516, + -0.0020388513803482056, + -0.008902959525585175, + -0.008204638957977295, + 0.0 + ], + [ + 0.018922165036201477, + -0.0023750513792037964, + 0.015159575268626213, + -0.017679765820503235, + -0.049956150352954865, + 0.019339799880981445, + 0.0 + ], + [ + 0.04236729443073273, + -0.007520284503698349, + 0.022561650723218918, + -0.0032752305269241333, + -0.07698183506727219, + -0.014926046133041382, + 0.0 + ], + [ + 0.048270031809806824, + -0.012738998979330063, + 0.016559183597564697, + -0.011083684861660004, + -0.0411798357963562, + -0.004909813404083252, + 0.0 + ], + [ + 0.05037853121757507, + -0.012174002826213837, + 0.008329391479492188, + 0.0017807036638259888, + -0.034717023372650146, + -0.0019565820693969727, + 0.0 + ], + [ + 0.04841971397399902, + -0.010857902467250824, + -0.003630533814430237, + -0.014879263937473297, + -0.007409870624542236, + 0.007260411977767944, + 0.0 + ], + [ + 0.04913610219955444, + -0.005110912024974823, + -0.012209944427013397, + 0.01010265201330185, + 0.014746874570846558, + 0.00487285852432251, + 0.0 + ], + [ + 0.046278297901153564, + -0.007589444518089294, + -0.0166001059114933, + 0.019734829664230347, + 0.015489816665649414, + -0.007451266050338745, + 0.0 + ], + [ + 0.01784566044807434, + -0.0010903775691986084, + -0.02133166417479515, + 0.012755811214447021, + 0.03733367472887039, + -0.00897526741027832, + 0.0 + ], + [ + -0.0007228255271911621, + 0.003142811357975006, + -0.010064005851745605, + 0.003243587911128998, + 0.014177113771438599, + 0.002327650785446167, + 1.0 + ], + [ + -0.013797104358673096, + 0.0067141056060791016, + -0.020062848925590515, + -0.004182934761047363, + 0.033582765609025955, + 0.018289029598236084, + 1.0 + ], + [ + -0.001724332571029663, + 0.0027855411171913147, + 0.02524559199810028, + 0.004513956606388092, + -0.06081642583012581, + 0.012371212244033813, + 1.0 + ], + [ + -0.010443776845932007, + 0.0035400092601776123, + 0.026036817580461502, + 0.004869997501373291, + -0.049009911715984344, + 0.012487620115280151, + 1.0 + ], + [ + -0.018108218908309937, + 0.0036370158195495605, + 0.03390367701649666, + -0.004022188484668732, + -0.05052754282951355, + 0.024899840354919434, + 1.0 + ], + [ + -0.026401758193969727, + 0.004128813743591309, + 0.01702035218477249, + -0.015209004282951355, + 0.00907464325428009, + 0.04751609265804291, + 1.0 + ], + [ + -0.027125507593154907, + -0.0007169768214225769, + -0.001072227954864502, + -0.0447712279856205, + 0.04345785081386566, + 0.03464454412460327, + 1.0 + ], + [ + -0.022952944040298462, + -3.7729740142822266e-05, + -0.0011452510952949524, + -0.032296814024448395, + 0.04440968483686447, + 0.03753312677145004, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9537920951843262 + ], + [ + 0.6881998181343079 + ], + [ + 0.38577979803085327 + ], + [ + 0.18066829442977905 + ], + [ + 0.10121192038059235 + ], + [ + 0.08571679890155792 + ], + [ + 0.08571679890155792 + ], + [ + 0.0853668823838234 + ], + [ + 0.08501782268285751 + ], + [ + 0.08501782268285751 + ], + [ + 0.08501782268285751 + ], + [ + 0.08501782268285751 + ], + [ + 0.08501782268285751 + ], + [ + 0.08501782268285751 + ], + [ + 0.10160017013549805 + ], + [ + 0.2759375274181366 + ], + [ + 0.5650128126144409 + ], + [ + 0.8731510639190674 + ], + [ + 1.0054124593734741 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.24972298741340637, + -0.06934037804603577, + 0.07383247464895248 + ], + [ + 0.22178703546524048, + -0.06306757032871246, + 0.06899739056825638 + ], + [ + 0.19307838380336761, + -0.05480927973985672, + 0.07564457505941391 + ], + [ + 0.1744067668914795, + -0.048687782138586044, + 0.07331077009439468 + ], + [ + 0.17186056077480316, + -0.047293782234191895, + 0.05804820731282234 + ], + [ + 0.17474433779716492, + -0.046265117824077606, + 0.03600340336561203 + ], + [ + 0.17573781311511993, + -0.04214731976389885, + 0.015634557232260704 + ], + [ + 0.17225466668605804, + -0.039789360016584396, + 0.0017990157939493656 + ], + [ + 0.17010603845119476, + -0.03947201371192932, + -0.0017780400812625885 + ], + [ + 0.1684636026620865, + -0.040557682514190674, + -0.0021697040647268295 + ], + [ + 0.16254501044750214, + -0.03814857825636864, + 0.00362026528455317 + ], + [ + 0.1611897349357605, + -0.037870027124881744, + 0.015188800171017647 + ], + [ + 0.15833409130573273, + -0.03573247417807579, + 0.02423885092139244 + ], + [ + 0.1592201441526413, + -0.035431310534477234, + 0.029620198532938957 + ], + [ + 0.17814230918884277, + -0.03780636191368103, + 0.04477977380156517 + ], + [ + 0.2205096036195755, + -0.04532664641737938, + 0.06734142452478409 + ], + [ + 0.2687796354293823, + -0.05806564539670944, + 0.08390060812234879 + ], + [ + 0.3191581666469574, + -0.07023964822292328, + 0.09222999960184097 + ], + [ + 0.3675778806209564, + -0.0810975506901741, + 0.08859946578741074 + ], + [ + 0.41671398282051086, + -0.08620846271514893, + 0.07638952136039734 + ], + [ + 0.46299228072166443, + -0.09379790723323822, + 0.05978941544890404 + ], + [ + 0.48083794116973877, + -0.09488828480243683, + 0.03845775127410889 + ], + [ + 0.4801151156425476, + -0.09174547344446182, + 0.02839374542236328 + ], + [ + 0.4663180112838745, + -0.08503136783838272, + 0.008330896496772766 + ], + [ + 0.46459367871284485, + -0.0822458267211914, + 0.03357648849487305 + ], + [ + 0.45414990186691284, + -0.0787058174610138, + 0.05961330607533455 + ], + [ + 0.4360416829586029, + -0.07506880164146423, + 0.09351698309183121 + ], + [ + 0.4096399247646332, + -0.07093998789787292, + 0.1105373352766037 + ], + [ + 0.38251441717147827, + -0.0716569647192955, + 0.1094651073217392 + ], + [ + 0.3595614731311798, + -0.07169469445943832, + 0.10831985622644424 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9598520078131617, + -0.2699489311355066, + 0.07623449137915916, + -0.2719701312131831, + -0.9621499704299528, + 0.017311329513488488, + 0.06867583872749972, + -0.03734981901479737, + -0.9969396271563469 + ], + [ + 0.9571622847986206, + -0.2831718401985161, + 0.06044889972258116, + -0.28511526708342266, + -0.9581345969936431, + 0.026217904564973096, + 0.05049400989259192, + -0.04232969362534458, + -0.9978269148517451 + ], + [ + 0.9560447829539193, + -0.2811483858442754, + 0.0832703916392388, + -0.2840606930372045, + -0.958474177721148, + 0.025234367695516402, + 0.072717918409542, + -0.04777903074496098, + -0.9962074425355673 + ], + [ + 0.9515121612456471, + -0.28991365792452123, + 0.10283325313565495, + -0.2934369326518314, + -0.9557556549156604, + 0.020637215234184932, + 0.09230045263985756, + -0.049811635644306795, + -0.9944845033467925 + ], + [ + 0.95382326431546, + -0.28838843216777355, + 0.08398388323013854, + -0.2914792477363365, + -0.9561974254371964, + 0.02695054222713301, + 0.07253294830392236, + -0.050185613268052764, + -0.9961025929246695 + ], + [ + 0.9557106395326439, + -0.2897879828313691, + 0.05138188874137155, + -0.29220543850892366, + -0.9551414082942337, + 0.048175428047040544, + 0.03511630945746161, + -0.0610558364796852, + -0.9975164307628489 + ], + [ + 0.9563584671822735, + -0.29164758065136376, + 0.017893321351243885, + -0.29215158173255584, + -0.9533512970093498, + 0.07595233888272648, + -0.005092694761946236, + -0.0778652245280077, + -0.9969508870898631 + ], + [ + 0.9575427513914196, + -0.2876084622812489, + -0.019830574423487596, + -0.28469519285186096, + -0.9541895313098223, + 0.09203795687532132, + -0.04539302176317124, + -0.08248460924898202, + -0.9955580157942837 + ], + [ + 0.9570601399512778, + -0.2881603802868642, + -0.03161461290875843, + -0.2835493631147069, + -0.9532286969601557, + 0.10466522807928136, + -0.060296328194052604, + -0.09120661447819298, + -0.9940048824234927 + ], + [ + 0.9579827065266368, + -0.2848422081491288, + -0.03367566558553463, + -0.2801848945178634, + -0.9544481912262022, + 0.10259178889679907, + -0.0613641497937855, + -0.08884574678486304, + -0.9941533455148287 + ], + [ + 0.9578498502233944, + -0.28484744499168363, + -0.037223614933674806, + -0.2789913958927321, + -0.9532881545996441, + 0.11578210275267029, + -0.06846506733251333, + -0.10051680148967543, + -0.9925769023977132 + ], + [ + 0.9585704568060116, + -0.28408745103289723, + -0.020904533105168523, + -0.2797940294843446, + -0.9527718804000104, + 0.11807220241844293, + -0.053460082338391425, + -0.10733156145635475, + -0.9927849492773915 + ], + [ + 0.9567108397557659, + -0.2905754582913528, + -0.016439955370602787, + -0.2865197614814846, + -0.9502645660086694, + 0.12208063265296545, + -0.05109594283708148, + -0.1120854924917824, + -0.9923840219383141 + ], + [ + 0.9547247437528787, + -0.297393524991767, + -0.007599668346140405, + -0.2944819100267921, + -0.9483846181341291, + 0.11767336467338185, + -0.04220270528025909, + -0.11010770808419196, + -0.9930232747964541 + ], + [ + 0.961068545016002, + -0.2743336271989176, + 0.03298958576142327, + -0.27620161356872136, + -0.9571643388328575, + 0.08688554038902943, + 0.00774082959764205, + -0.09261473670288242, + -0.9956719289517989 + ], + [ + 0.9534355964358798, + -0.28212652826377876, + 0.10660762401810235, + -0.2894819134648782, + -0.9552367905461031, + 0.06101553706960859, + 0.08462142297119919, + -0.0890353639685224, + -0.9924272863728213 + ], + [ + 0.9478672873632222, + -0.28491658744576, + 0.14272401250297392, + -0.292881760737418, + -0.9553986518889211, + 0.03786410168195796, + 0.12557021849959613, + -0.07769140343110299, + -0.989038000310842 + ], + [ + 0.9425598496859842, + -0.2839031225742547, + 0.1760112120079928, + -0.29326330913907633, + -0.9555884264276902, + 0.029109977503420315, + 0.15992986360506106, + -0.07905552649902972, + -0.9839576527763925 + ], + [ + 0.9435041963864356, + -0.27908624728045167, + 0.17863565707915313, + -0.28606056587223055, + -0.958108980510998, + 0.014019062630392938, + 0.16723989970711373, + -0.06432766157020028, + -0.9838154135318596 + ], + [ + 0.9471477268473755, + -0.2736471193241203, + 0.16741695736531623, + -0.2821330660858525, + -0.9589451419598227, + 0.0287253848129409, + 0.15268305914162664, + -0.0744410424246342, + -0.985467612179055 + ], + [ + 0.9471672619731143, + -0.27881431802046586, + 0.15854574706732683, + -0.28983993924708706, + -0.9557249968134801, + 0.05081869816434377, + 0.13735715293933232, + -0.09408669689523765, + -0.986042953427357 + ], + [ + 0.9487583859030138, + -0.2891353490933847, + 0.1275079412560441, + -0.29966547548959555, + -0.9512744148248945, + 0.07264702677432361, + 0.10029021875687985, + -0.10713420370825213, + -0.9891734602270201 + ], + [ + 0.950714670209621, + -0.2879995946523369, + 0.11488189295228853, + -0.297851454967851, + -0.9512352400974636, + 0.08022486379081485, + 0.08617497677252768, + -0.11048869388679634, + -0.9901343958783797 + ], + [ + 0.958240217884888, + -0.27445853282732907, + 0.08030067612537573, + -0.2810712477719662, + -0.9556725523161967, + 0.08768652362453591, + 0.05267483748273505, + -0.10659496473903557, + -0.9929062770415198 + ], + [ + 0.9567831525916066, + -0.2557640602643729, + 0.138386214609506, + -0.2678347409794588, + -0.9604016480792349, + 0.07676734912158409, + 0.1132720196753473, + -0.11051434225371459, + -0.9873986174361883 + ], + [ + 0.9535382400432619, + -0.23763535603828856, + 0.18518710088922125, + -0.25412993608682405, + -0.9645777507168949, + 0.07076537575992008, + 0.1618110019736158, + -0.11453907797119632, + -0.980152028645456 + ], + [ + 0.9503984077788268, + -0.20887315691383518, + 0.2304666370916184, + -0.2281093963092764, + -0.9717886942189774, + 0.05994027947543038, + 0.21144495691997206, + -0.10953875163166507, + -0.9712323574120088 + ], + [ + 0.9620059072742551, + -0.16676369408068187, + 0.21618164747730628, + -0.18306087026430934, + -0.9814157023726265, + 0.05754943018412963, + 0.20256690782926834, + -0.09493729231976784, + -0.9746556101410794 + ], + [ + 0.9755527365089676, + -0.1443262221942932, + 0.1657311071494687, + -0.1508328299145923, + -0.9881822013417897, + 0.027301911494445386, + 0.15983214854909772, + -0.0516321463665647, + -0.9857929832128859 + ], + [ + 0.9866070071350926, + -0.11327770952787551, + 0.11736598312992305, + -0.11482744805159088, + -0.9933641491830968, + 0.006505712236288648, + 0.11585020779391944, + -0.019895417609602024, + -0.9930674205270482 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005901.json b/json/chunk-0005/episode_0005901.json new file mode 100644 index 0000000000000000000000000000000000000000..f2d3af9014ae6525d7bdf9c0d2a59ba0f191fe51 --- /dev/null +++ b/json/chunk-0005/episode_0005901.json @@ -0,0 +1,1582 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 25, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut the silver lid on top of the silver pot." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005901.mp4", + "start": 0, + "end": 25, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3048366606235504, + 0.10149522125720978, + 0.05127313360571861, + 0.013708539307117462, + -0.09169900417327881, + 0.06115642935037613, + 0.0, + 1.0008161067962646 + ], + [ + 0.30229586362838745, + 0.09951576590538025, + 0.0419328399002552, + 0.0017034555785357952, + -0.06308308243751526, + 0.0677197128534317, + 0.0, + 1.0008161067962646 + ], + [ + 0.3012007176876068, + 0.06834600120782852, + 0.03440697863698006, + -0.030683549121022224, + -0.044584497809410095, + 0.0021962265018373728, + 0.0, + 1.0008161067962646 + ], + [ + 0.30389952659606934, + 0.03440871834754944, + 0.03091529943048954, + -0.06226124241948128, + -0.05285821482539177, + -0.07620947808027267, + 0.0, + 1.0008161067962646 + ], + [ + 0.30829381942749023, + -0.004052527714520693, + 0.030360348522663116, + -0.07502812147140503, + -0.07370444387197495, + -0.1696804165840149, + 0.0, + 1.0008161067962646 + ], + [ + 0.3083578050136566, + -0.03256075456738472, + 0.014699559658765793, + -0.08001600205898285, + -0.04175218939781189, + -0.22730930149555206, + 0.0, + 1.0008161067962646 + ], + [ + 0.3053692579269409, + -0.03525363653898239, + 0.0021987920626997948, + -0.0678308978676796, + -0.007635913789272308, + -0.22701480984687805, + 0.0, + 1.0008161067962646 + ], + [ + 0.30470898747444153, + -0.03163044899702072, + -0.005859114229679108, + -0.0486387275159359, + 0.016753673553466797, + -0.22359395027160645, + 0.0, + 1.0008161067962646 + ], + [ + 0.30448514223098755, + -0.02859874814748764, + -0.00690431846305728, + -0.030542461201548576, + 0.0229782797396183, + -0.22935768961906433, + 0.0, + 0.9468915462493896 + ], + [ + 0.30516859889030457, + -0.025930823758244514, + -0.008070463314652443, + -0.02839306928217411, + 0.023230155929923058, + -0.22679679095745087, + 0.0, + 0.6641445755958557 + ], + [ + 0.30530214309692383, + -0.02560228481888771, + -0.007999036461114883, + -0.026748841628432274, + 0.02666090801358223, + -0.2259657084941864, + 0.0, + 0.3644362688064575 + ], + [ + 0.3054637908935547, + -0.025037575513124466, + -0.007657631766051054, + -0.02106882445514202, + 0.03226611763238907, + -0.23090635240077972, + 0.0, + 0.2781093716621399 + ], + [ + 0.29879453778266907, + -0.024367695674300194, + 0.0028068956453353167, + -0.025577057152986526, + 0.04693513736128807, + -0.2368336170911789, + 0.0, + 0.2781093716621399 + ], + [ + 0.2969929575920105, + -0.008220634423196316, + 0.04881652072072029, + -0.028957221657037735, + -0.0550445020198822, + -0.17028076946735382, + 0.0, + 0.2781093716621399 + ], + [ + 0.2865624725818634, + 0.037351224571466446, + 0.06111316382884979, + -0.028855813667178154, + -0.06960506737232208, + -0.023676833137869835, + 0.0, + 0.2781093716621399 + ], + [ + 0.2785024344921112, + 0.08140765130519867, + 0.05899512767791748, + -0.03225858509540558, + -0.05172356218099594, + 0.1262206733226776, + 0.0, + 0.2781093716621399 + ], + [ + 0.27527526021003723, + 0.13158094882965088, + 0.046919867396354675, + -0.0413275770843029, + -0.021680200472474098, + 0.2343553900718689, + 0.0, + 0.2781093716621399 + ], + [ + 0.27336984872817993, + 0.17420285940170288, + 0.04242284968495369, + -0.05652814358472824, + -0.020726822316646576, + 0.31649330258369446, + 0.0, + 0.2781093716621399 + ], + [ + 0.27405962347984314, + 0.19043318927288055, + 0.03583770617842674, + -0.06155739724636078, + -0.00943355355411768, + 0.35664570331573486, + 0.0, + 0.2781093716621399 + ], + [ + 0.2718510627746582, + 0.19167493283748627, + 0.034023117274045944, + -0.05372397601604462, + 0.004265753552317619, + 0.35476934909820557, + 0.0, + 0.2781093716621399 + ], + [ + 0.27130281925201416, + 0.19144372642040253, + 0.02977338805794716, + -0.05165812745690346, + 0.010830830782651901, + 0.3418419361114502, + 0.0, + 0.2781093716621399 + ], + [ + 0.27146273851394653, + 0.1865781843662262, + 0.02774575725197792, + -0.046788111329078674, + 0.017204483970999718, + 0.32397836446762085, + 0.0, + 0.2781093716621399 + ], + [ + 0.27176541090011597, + 0.18495838344097137, + 0.02680589258670807, + -0.046589020639657974, + 0.017461027950048447, + 0.32415467500686646, + 0.0, + 0.3315716087818146 + ], + [ + 0.27044183015823364, + 0.18449454009532928, + 0.028002141043543816, + -0.03923224285244942, + 0.025141896679997444, + 0.3346887528896332, + 0.0, + 0.6109193563461304 + ], + [ + 0.27129295468330383, + 0.18315191566944122, + 0.053565219044685364, + -0.006049766205251217, + -0.032508570700883865, + 0.29822850227355957, + 0.0, + 0.9082958698272705 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9468915462493896 + ], + [ + 0.6641445755958557 + ], + [ + 0.3644362688064575 + ], + [ + 0.2781093716621399 + ], + [ + 0.2781093716621399 + ], + [ + 0.2781093716621399 + ], + [ + 0.2781093716621399 + ], + [ + 0.2781093716621399 + ], + [ + 0.2781093716621399 + ], + [ + 0.2781093716621399 + ], + [ + 0.2781093716621399 + ], + [ + 0.2781093716621399 + ], + [ + 0.2781093716621399 + ], + [ + 0.2781093716621399 + ], + [ + 0.3315716087818146 + ], + [ + 0.6109193563461304 + ], + [ + 0.9082958698272705 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3048366606235504, + 0.10149522125720978, + 0.05127313360571861 + ], + [ + 0.30229586362838745, + 0.09951576590538025, + 0.0419328399002552 + ], + [ + 0.3012007176876068, + 0.06834600120782852, + 0.03440697863698006 + ], + [ + 0.30389952659606934, + 0.03440871834754944, + 0.03091529943048954 + ], + [ + 0.30829381942749023, + -0.004052527714520693, + 0.030360348522663116 + ], + [ + 0.3083578050136566, + -0.03256075456738472, + 0.014699559658765793 + ], + [ + 0.3053692579269409, + -0.03525363653898239, + 0.0021987920626997948 + ], + [ + 0.30470898747444153, + -0.03163044899702072, + -0.005859114229679108 + ], + [ + 0.30448514223098755, + -0.02859874814748764, + -0.00690431846305728 + ], + [ + 0.30516859889030457, + -0.025930823758244514, + -0.008070463314652443 + ], + [ + 0.30530214309692383, + -0.02560228481888771, + -0.007999036461114883 + ], + [ + 0.3054637908935547, + -0.025037575513124466, + -0.007657631766051054 + ], + [ + 0.29879453778266907, + -0.024367695674300194, + 0.0028068956453353167 + ], + [ + 0.2969929575920105, + -0.008220634423196316, + 0.04881652072072029 + ], + [ + 0.2865624725818634, + 0.037351224571466446, + 0.06111316382884979 + ], + [ + 0.2785024344921112, + 0.08140765130519867, + 0.05899512767791748 + ], + [ + 0.27527526021003723, + 0.13158094882965088, + 0.046919867396354675 + ], + [ + 0.27336984872817993, + 0.17420285940170288, + 0.04242284968495369 + ], + [ + 0.27405962347984314, + 0.19043318927288055, + 0.03583770617842674 + ], + [ + 0.2718510627746582, + 0.19167493283748627, + 0.034023117274045944 + ], + [ + 0.27130281925201416, + 0.19144372642040253, + 0.02977338805794716 + ], + [ + 0.27146273851394653, + 0.1865781843662262, + 0.02774575725197792 + ], + [ + 0.27176541090011597, + 0.18495838344097137, + 0.02680589258670807 + ], + [ + 0.27044183015823364, + 0.18449454009532928, + 0.028002141043543816 + ], + [ + 0.27129295468330383, + 0.18315191566944122, + 0.053565219044685364 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9939369743558838, + 0.06236548426610642, + 0.09055295346108445, + 0.06086153152760788, + -0.997960024133882, + 0.01927859462760912, + 0.09157054651133893, + -0.013650516582009603, + -0.9957050258026515 + ], + [ + 0.9957233776870749, + 0.06777500834044685, + 0.06278139351666873, + 0.06753336789122487, + -0.9976991821278174, + 0.0059654172320356795, + 0.06304125116708054, + -0.0017000664505102993, + -0.9980094741160288 + ], + [ + 0.9990038665945463, + 0.000827851385092157, + 0.044616019446269944, + 0.0021940422948432195, + -0.9995298892612119, + -0.030580821635097965, + 0.04456972860085841, + 0.03064824849079369, + -0.9985360404897222 + ], + [ + 0.9957048466189377, + -0.07926602850337493, + 0.047840935869396486, + -0.07602939368548849, + -0.9949151961641407, + -0.06605515678193542, + 0.052833604035448484, + 0.06213412240445034, + -0.9966684308824344 + ], + [ + 0.9829628311877691, + -0.17383273983125133, + 0.05971809663816845, + -0.1684088985938719, + -0.9819337969648915, + -0.0862812914397429, + 0.07363773066658229, + 0.07475424363119036, + -0.994479405358102 + ], + [ + 0.9734272105123213, + -0.22788630070269014, + 0.022523316501880934, + -0.22516046111019092, + -0.970407160387539, + -0.0872508442437039, + 0.041740059736984365, + 0.07986098559769943, + -0.9959317197441383 + ], + [ + 0.9743142064634892, + -0.22505662419866262, + -0.007832176435897545, + -0.22506337115856384, + -0.9719854964054134, + -0.06775451084809282, + 0.007635839584722778, + 0.0677769185034532, + -0.9976712801679781 + ], + [ + 0.974969996020798, + -0.22067905994764692, + -0.02709722051849268, + -0.22170441480076686, + -0.9741342592735096, + -0.04369894011872868, + -0.016752889812043256, + 0.04861272889144975, + -0.9986771967320931 + ], + [ + 0.9735555506020401, + -0.22656277879322076, + -0.029306947255763646, + -0.22729206205693922, + -0.9735179750060421, + -0.024516746644675173, + -0.022976257699252933, + 0.030529651252983944, + -0.999269749355252 + ], + [ + 0.9741287596454775, + -0.22412433143905197, + -0.029007648794094437, + -0.2247968339424425, + -0.9741472009556974, + -0.022441352892237258, + -0.023228066665512494, + 0.028381594866708267, + -0.9993272446960527 + ], + [ + 0.9742318503183584, + -0.2232726228976811, + -0.031963067588359505, + -0.2239680026417065, + -0.9743893032589973, + -0.020095260315072354, + -0.02665774967908397, + 0.026736147045448758, + -0.9992870172393974 + ], + [ + 0.9729526756829131, + -0.2281475187702825, + -0.0362187873958215, + -0.22874079168848732, + -0.9733988606444853, + -0.013126626137050306, + -0.03226051920202433, + 0.021056300125649574, + -0.9992576700360295 + ], + [ + 0.9710152510429433, + -0.2333826746391857, + -0.051593695547711045, + -0.23436743000631263, + -0.9720493422172726, + -0.013855830801649798, + -0.0469179069678737, + 0.025546104854317696, + -0.9985720337224182 + ], + [ + 0.9840445655225716, + -0.17095789255207444, + 0.04929190643144644, + -0.16920240754570026, + -0.9848541262498772, + -0.03785360338632845, + 0.05501670970016167, + 0.0289093234570452, + -0.9980668377774226 + ], + [ + 0.9972989407434237, + -0.025670813780564003, + 0.06881738233824758, + -0.02361729399889069, + -0.9992560277054253, + -0.030489580491442483, + 0.06954887645544611, + 0.028781945976910483, + -0.9971632531183483 + ], + [ + 0.9907180147793472, + 0.12416606524444987, + 0.05532272076986836, + 0.12571743414267633, + -0.99173853075412, + -0.025491437194513262, + 0.051700502359760946, + 0.03220985655620018, + -0.9981430674990324 + ], + [ + 0.9724356499096336, + 0.23114658287866297, + 0.03066209399806605, + 0.23216147253746267, + -0.9720416981671971, + -0.03515661663853632, + 0.021678502117669526, + 0.041306104243192004, + -0.9989113315495951 + ], + [ + 0.9501285445315177, + 0.30962603430492874, + 0.03724872812623614, + 0.3111691006809686, + -0.9491791512194936, + -0.04725176897893246, + 0.020725338304026994, + 0.05648590771904344, + -0.9981882600899186 + ], + [ + 0.9370314930609548, + 0.3479278921123671, + 0.030301202982756036, + 0.34911744688445767, + -0.9355009296615172, + -0.05436008538729774, + 0.009433413636379819, + 0.06151579059624811, + -0.9980615302748037 + ], + [ + 0.9377181041781775, + 0.34708769844781595, + 0.014659013700884769, + 0.3473709264654832, + -0.936294126987562, + -0.05183384237263534, + -0.004265740615256267, + 0.053697647572284644, + -0.9985481290865285 + ], + [ + 0.9420835455541076, + 0.3353027193940094, + 0.007118958012475918, + 0.335203357512505, + -0.9406945359050563, + -0.05227331279643552, + -0.010830619028704885, + 0.05163212648489736, + -0.9986074409927567 + ], + [ + 0.9478361546721454, + 0.31875485752368005, + -0.0014016780582026024, + 0.3182933534189205, + -0.9466828707840378, + -0.04980846648342738, + -0.017203635245452126, + 0.04676412053220923, + -0.9987578044577125 + ], + [ + 0.9477758066428965, + 0.31893280297267684, + -0.0016992734913979356, + 0.3184590457649726, + -0.9466327490231686, + -0.049701857584015116, + -0.017460140688722967, + 0.04656506914877599, + -0.998762653397843 + ], + [ + 0.9442140877910691, + 0.3291537566059046, + -0.010842551779912597, + 0.32837139739442045, + -0.9434619215310001, + -0.04529710801219645, + -0.025139248002173584, + 0.03920978364201833, + -0.9989147166183063 + ], + [ + 0.9553534686259002, + 0.2936340367293774, + 0.03284512838263917, + 0.2936721216654008, + -0.9558987874843666, + 0.003767365453475869, + 0.03250284512167205, + 0.006046532884942558, + -0.9994533528379742 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.002540796995162964, + -0.001979455351829529, + -0.00934029370546341, + -0.01200508326292038, + 0.02861592173576355, + 0.0065632835030555725, + 1.0 + ], + [ + -0.0010951459407806396, + -0.031169764697551727, + -0.0075258612632751465, + -0.03238700330257416, + 0.018498584628105164, + -0.06552348285913467, + 1.0 + ], + [ + 0.0026988089084625244, + -0.03393728286027908, + -0.0034916792064905167, + -0.031577691435813904, + -0.008273717015981674, + -0.0784057080745697, + 1.0 + ], + [ + 0.0043942928314208984, + -0.038461245596408844, + -0.0005549509078264236, + -0.012766879051923752, + -0.020846229046583176, + -0.09347093850374222, + 1.0 + ], + [ + 6.398558616638184e-05, + -0.028508227318525314, + -0.015660788863897324, + -0.00498788058757782, + 0.031952254474163055, + -0.05762888491153717, + 1.0 + ], + [ + -0.0029885470867156982, + -0.0026928819715976715, + -0.012500767596065998, + 0.012185104191303253, + 0.03411627560853958, + 0.00029449164867401123, + 1.0 + ], + [ + -0.0006602704524993896, + 0.00362318754196167, + -0.008057906292378902, + 0.019192170351743698, + 0.024389587342739105, + 0.0034208595752716064, + 1.0 + ], + [ + -0.0002238452434539795, + 0.003031700849533081, + -0.001045204233378172, + 0.01809626631438732, + 0.0062246061861515045, + -0.005763739347457886, + 0.0 + ], + [ + 0.0006834566593170166, + 0.002667924389243126, + -0.0011661448515951633, + 0.002149391919374466, + 0.00025187619030475616, + 0.0025608986616134644, + 0.0 + ], + [ + 0.0001335442066192627, + 0.0003285389393568039, + 7.142685353755951e-05, + 0.0016442276537418365, + 0.003430752083659172, + 0.0008310824632644653, + 0.0 + ], + [ + 0.00016164779663085938, + 0.0005647093057632446, + 0.0003414046950638294, + 0.005680017173290253, + 0.005605209618806839, + -0.004940643906593323, + 0.0 + ], + [ + -0.00666925311088562, + 0.0006698798388242722, + 0.010464527644217014, + -0.004508232697844505, + 0.014669019728899002, + -0.00592726469039917, + 0.0 + ], + [ + -0.0018015801906585693, + 0.016147062182426453, + 0.04600962623953819, + -0.0033801645040512085, + -0.10197964310646057, + 0.06655284762382507, + 0.0 + ], + [ + -0.010430485010147095, + 0.045571859925985336, + 0.012296643108129501, + 0.000101407989859581, + -0.01456056535243988, + 0.14660394191741943, + 0.0 + ], + [ + -0.008060038089752197, + 0.044056426733732224, + -0.002118036150932312, + -0.0034027714282274246, + 0.01788150519132614, + 0.149897500872612, + 0.0 + ], + [ + -0.0032271742820739746, + 0.05017329752445221, + -0.012075260281562805, + -0.009068991988897324, + 0.030043361708521843, + 0.10813471674919128, + 0.0 + ], + [ + -0.0019054114818572998, + 0.042621910572052, + -0.004497017711400986, + -0.015200566500425339, + 0.0009533781558275223, + 0.08213791251182556, + 0.0 + ], + [ + 0.000689774751663208, + 0.016230329871177673, + -0.006585143506526947, + -0.005029253661632538, + 0.011293268762528896, + 0.040152400732040405, + 0.0 + ], + [ + -0.0022085607051849365, + 0.0012417435646057129, + -0.0018145889043807983, + 0.007833421230316162, + 0.013699307106435299, + -0.0018763542175292969, + 0.0 + ], + [ + -0.000548243522644043, + -0.00023120641708374023, + -0.004249729216098785, + 0.002065848559141159, + 0.006565077230334282, + -0.012927412986755371, + 0.0 + ], + [ + 0.00015991926193237305, + -0.004865542054176331, + -0.0020276308059692383, + 0.004870016127824783, + 0.0063736531883478165, + -0.017863571643829346, + 0.0 + ], + [ + 0.0003026723861694336, + -0.0016198009252548218, + -0.0009398646652698517, + 0.00019909068942070007, + 0.00025654397904872894, + 0.00017631053924560547, + 1.0 + ], + [ + -0.0013235807418823242, + -0.00046384334564208984, + 0.0011962484568357468, + 0.007356777787208557, + 0.0076808687299489975, + 0.010534077882766724, + 1.0 + ], + [ + 0.0008511245250701904, + -0.0013426244258880615, + 0.025563078001141548, + 0.033182475715875626, + -0.05765046924352646, + -0.03646025061607361, + 1.0 + ], + [ + 0.0010626912117004395, + -0.006539449095726013, + 0.012035384774208069, + 0.007941106334328651, + -0.020498253405094147, + -0.04959583282470703, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9468915462493896 + ], + [ + 0.6641445755958557 + ], + [ + 0.3644362688064575 + ], + [ + 0.2781093716621399 + ], + [ + 0.2781093716621399 + ], + [ + 0.2781093716621399 + ], + [ + 0.2781093716621399 + ], + [ + 0.2781093716621399 + ], + [ + 0.2781093716621399 + ], + [ + 0.2781093716621399 + ], + [ + 0.2781093716621399 + ], + [ + 0.2781093716621399 + ], + [ + 0.2781093716621399 + ], + [ + 0.2781093716621399 + ], + [ + 0.3315716087818146 + ], + [ + 0.6109193563461304 + ], + [ + 0.9082958698272705 + ], + [ + 1.0156210660934448 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.30229586362838745, + 0.09951576590538025, + 0.0419328399002552 + ], + [ + 0.3012007176876068, + 0.06834600120782852, + 0.03440697863698006 + ], + [ + 0.30389952659606934, + 0.03440871834754944, + 0.03091529943048954 + ], + [ + 0.30829381942749023, + -0.004052527714520693, + 0.030360348522663116 + ], + [ + 0.3083578050136566, + -0.03256075456738472, + 0.014699559658765793 + ], + [ + 0.3053692579269409, + -0.03525363653898239, + 0.0021987920626997948 + ], + [ + 0.30470898747444153, + -0.03163044899702072, + -0.005859114229679108 + ], + [ + 0.30448514223098755, + -0.02859874814748764, + -0.00690431846305728 + ], + [ + 0.30516859889030457, + -0.025930823758244514, + -0.008070463314652443 + ], + [ + 0.30530214309692383, + -0.02560228481888771, + -0.007999036461114883 + ], + [ + 0.3054637908935547, + -0.025037575513124466, + -0.007657631766051054 + ], + [ + 0.29879453778266907, + -0.024367695674300194, + 0.0028068956453353167 + ], + [ + 0.2969929575920105, + -0.008220634423196316, + 0.04881652072072029 + ], + [ + 0.2865624725818634, + 0.037351224571466446, + 0.06111316382884979 + ], + [ + 0.2785024344921112, + 0.08140765130519867, + 0.05899512767791748 + ], + [ + 0.27527526021003723, + 0.13158094882965088, + 0.046919867396354675 + ], + [ + 0.27336984872817993, + 0.17420285940170288, + 0.04242284968495369 + ], + [ + 0.27405962347984314, + 0.19043318927288055, + 0.03583770617842674 + ], + [ + 0.2718510627746582, + 0.19167493283748627, + 0.034023117274045944 + ], + [ + 0.27130281925201416, + 0.19144372642040253, + 0.02977338805794716 + ], + [ + 0.27146273851394653, + 0.1865781843662262, + 0.02774575725197792 + ], + [ + 0.27176541090011597, + 0.18495838344097137, + 0.02680589258670807 + ], + [ + 0.27044183015823364, + 0.18449454009532928, + 0.028002141043543816 + ], + [ + 0.27129295468330383, + 0.18315191566944122, + 0.053565219044685364 + ], + [ + 0.2723556458950043, + 0.1766124665737152, + 0.06560060381889343 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9957233776870749, + 0.06777500834044685, + 0.06278139351666873, + 0.06753336789122487, + -0.9976991821278174, + 0.0059654172320356795, + 0.06304125116708054, + -0.0017000664505102993, + -0.9980094741160288 + ], + [ + 0.9990038665945463, + 0.000827851385092157, + 0.044616019446269944, + 0.0021940422948432195, + -0.9995298892612119, + -0.030580821635097965, + 0.04456972860085841, + 0.03064824849079369, + -0.9985360404897222 + ], + [ + 0.9957048466189377, + -0.07926602850337493, + 0.047840935869396486, + -0.07602939368548849, + -0.9949151961641407, + -0.06605515678193542, + 0.052833604035448484, + 0.06213412240445034, + -0.9966684308824344 + ], + [ + 0.9829628311877691, + -0.17383273983125133, + 0.05971809663816845, + -0.1684088985938719, + -0.9819337969648915, + -0.0862812914397429, + 0.07363773066658229, + 0.07475424363119036, + -0.994479405358102 + ], + [ + 0.9734272105123213, + -0.22788630070269014, + 0.022523316501880934, + -0.22516046111019092, + -0.970407160387539, + -0.0872508442437039, + 0.041740059736984365, + 0.07986098559769943, + -0.9959317197441383 + ], + [ + 0.9743142064634892, + -0.22505662419866262, + -0.007832176435897545, + -0.22506337115856384, + -0.9719854964054134, + -0.06775451084809282, + 0.007635839584722778, + 0.0677769185034532, + -0.9976712801679781 + ], + [ + 0.974969996020798, + -0.22067905994764692, + -0.02709722051849268, + -0.22170441480076686, + -0.9741342592735096, + -0.04369894011872868, + -0.016752889812043256, + 0.04861272889144975, + -0.9986771967320931 + ], + [ + 0.9735555506020401, + -0.22656277879322076, + -0.029306947255763646, + -0.22729206205693922, + -0.9735179750060421, + -0.024516746644675173, + -0.022976257699252933, + 0.030529651252983944, + -0.999269749355252 + ], + [ + 0.9741287596454775, + -0.22412433143905197, + -0.029007648794094437, + -0.2247968339424425, + -0.9741472009556974, + -0.022441352892237258, + -0.023228066665512494, + 0.028381594866708267, + -0.9993272446960527 + ], + [ + 0.9742318503183584, + -0.2232726228976811, + -0.031963067588359505, + -0.2239680026417065, + -0.9743893032589973, + -0.020095260315072354, + -0.02665774967908397, + 0.026736147045448758, + -0.9992870172393974 + ], + [ + 0.9729526756829131, + -0.2281475187702825, + -0.0362187873958215, + -0.22874079168848732, + -0.9733988606444853, + -0.013126626137050306, + -0.03226051920202433, + 0.021056300125649574, + -0.9992576700360295 + ], + [ + 0.9710152510429433, + -0.2333826746391857, + -0.051593695547711045, + -0.23436743000631263, + -0.9720493422172726, + -0.013855830801649798, + -0.0469179069678737, + 0.025546104854317696, + -0.9985720337224182 + ], + [ + 0.9840445655225716, + -0.17095789255207444, + 0.04929190643144644, + -0.16920240754570026, + -0.9848541262498772, + -0.03785360338632845, + 0.05501670970016167, + 0.0289093234570452, + -0.9980668377774226 + ], + [ + 0.9972989407434237, + -0.025670813780564003, + 0.06881738233824758, + -0.02361729399889069, + -0.9992560277054253, + -0.030489580491442483, + 0.06954887645544611, + 0.028781945976910483, + -0.9971632531183483 + ], + [ + 0.9907180147793472, + 0.12416606524444987, + 0.05532272076986836, + 0.12571743414267633, + -0.99173853075412, + -0.025491437194513262, + 0.051700502359760946, + 0.03220985655620018, + -0.9981430674990324 + ], + [ + 0.9724356499096336, + 0.23114658287866297, + 0.03066209399806605, + 0.23216147253746267, + -0.9720416981671971, + -0.03515661663853632, + 0.021678502117669526, + 0.041306104243192004, + -0.9989113315495951 + ], + [ + 0.9501285445315177, + 0.30962603430492874, + 0.03724872812623614, + 0.3111691006809686, + -0.9491791512194936, + -0.04725176897893246, + 0.020725338304026994, + 0.05648590771904344, + -0.9981882600899186 + ], + [ + 0.9370314930609548, + 0.3479278921123671, + 0.030301202982756036, + 0.34911744688445767, + -0.9355009296615172, + -0.05436008538729774, + 0.009433413636379819, + 0.06151579059624811, + -0.9980615302748037 + ], + [ + 0.9377181041781775, + 0.34708769844781595, + 0.014659013700884769, + 0.3473709264654832, + -0.936294126987562, + -0.05183384237263534, + -0.004265740615256267, + 0.053697647572284644, + -0.9985481290865285 + ], + [ + 0.9420835455541076, + 0.3353027193940094, + 0.007118958012475918, + 0.335203357512505, + -0.9406945359050563, + -0.05227331279643552, + -0.010830619028704885, + 0.05163212648489736, + -0.9986074409927567 + ], + [ + 0.9478361546721454, + 0.31875485752368005, + -0.0014016780582026024, + 0.3182933534189205, + -0.9466828707840378, + -0.04980846648342738, + -0.017203635245452126, + 0.04676412053220923, + -0.9987578044577125 + ], + [ + 0.9477758066428965, + 0.31893280297267684, + -0.0016992734913979356, + 0.3184590457649726, + -0.9466327490231686, + -0.049701857584015116, + -0.017460140688722967, + 0.04656506914877599, + -0.998762653397843 + ], + [ + 0.9442140877910691, + 0.3291537566059046, + -0.010842551779912597, + 0.32837139739442045, + -0.9434619215310001, + -0.04529710801219645, + -0.025139248002173584, + 0.03920978364201833, + -0.9989147166183063 + ], + [ + 0.9553534686259002, + 0.2936340367293774, + 0.03284512838263917, + 0.2936721216654008, + -0.9558987874843666, + 0.003767365453475869, + 0.03250284512167205, + 0.006046532884942558, + -0.9994533528379742 + ], + [ + 0.9678884557350413, + 0.2461755902385005, + 0.05088728746516839, + 0.24573327894810415, + -0.9692234064704867, + 0.01487091009854747, + 0.05298200517392701, + -0.0018886822050671534, + -0.9985936811372672 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005902.json b/json/chunk-0005/episode_0005902.json new file mode 100644 index 0000000000000000000000000000000000000000..d0c44cfc7154fd4cceef0889be8d2cc9f89c3c97 --- /dev/null +++ b/json/chunk-0005/episode_0005902.json @@ -0,0 +1,1642 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 26, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPick up scissors and put into drawer." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005902.mp4", + "start": 0, + "end": 26, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.24657680094242096, + -0.005559129174798727, + 0.16348405182361603, + 0.03832318261265755, + -0.13252049684524536, + 0.07556099444627762, + 0.0, + 0.9947922229766846 + ], + [ + 0.24619567394256592, + 0.0034770744387060404, + 0.15669739246368408, + 0.03706914186477661, + -0.12404327839612961, + 0.12972794473171234, + 0.0, + 0.9947922229766846 + ], + [ + 0.24559327960014343, + 0.05336332321166992, + 0.15168644487857819, + 0.06398887187242508, + -0.1737155169248581, + 0.33304888010025024, + 0.0, + 0.9947922229766846 + ], + [ + 0.2409699261188507, + 0.09027405083179474, + 0.15036867558956146, + 0.1429232805967331, + -0.23852750658988953, + 0.37874099612236023, + 0.0, + 0.9947922229766846 + ], + [ + 0.23676744103431702, + 0.12792277336120605, + 0.14506609737873077, + 0.14758388698101044, + -0.29806846380233765, + 0.4565206468105316, + 0.0, + 0.9947922229766846 + ], + [ + 0.23208428919315338, + 0.16322793066501617, + 0.126572847366333, + 0.11594606935977936, + -0.3303997814655304, + 0.4488305151462555, + 0.0, + 0.9947922229766846 + ], + [ + 0.23010824620723724, + 0.18775172531604767, + 0.10307572036981583, + 0.06454173475503922, + -0.3271735608577728, + 0.45070794224739075, + 0.0, + 0.9947922229766846 + ], + [ + 0.23501834273338318, + 0.1946427971124649, + 0.08931177109479904, + 0.033371053636074066, + -0.32917913794517517, + 0.4361081123352051, + 0.0, + 0.9947922229766846 + ], + [ + 0.23905916512012482, + 0.20245583355426788, + 0.07417094707489014, + -0.002619677921757102, + -0.3319757580757141, + 0.4337575137615204, + 0.0, + 0.9947922229766846 + ], + [ + 0.24056771397590637, + 0.20431406795978546, + 0.06268592923879623, + -0.029875900596380234, + -0.3236098289489746, + 0.4402141869068146, + 0.0, + 0.9947922229766846 + ], + [ + 0.23982852697372437, + 0.21232548356056213, + 0.059255316853523254, + -0.031411223113536835, + -0.33341220021247864, + 0.45506197214126587, + 0.0, + 0.8939508199691772 + ], + [ + 0.24030597507953644, + 0.21299225091934204, + 0.05756238102912903, + -0.025393687188625336, + -0.35228684544563293, + 0.46655386686325073, + 0.0, + 0.710151195526123 + ], + [ + 0.24334155023097992, + 0.20771674811840057, + 0.05943624675273895, + -0.02031165175139904, + -0.32354649901390076, + 0.4562217891216278, + 0.0, + 0.49086472392082214 + ], + [ + 0.24079105257987976, + 0.2068478763103485, + 0.06344343721866608, + -0.019025972113013268, + -0.2747490406036377, + 0.46623557806015015, + 0.0, + 0.4220271706581116 + ], + [ + 0.23480530083179474, + 0.2066417634487152, + 0.0809602364897728, + 0.03265979513525963, + -0.2392105609178543, + 0.4445793330669403, + 0.0, + 0.4068177044391632 + ], + [ + 0.23040154576301575, + 0.20813661813735962, + 0.09142927825450897, + 0.06787730008363724, + -0.23306764662265778, + 0.4147380590438843, + 0.0, + 0.4068177044391632 + ], + [ + 0.22841507196426392, + 0.21204720437526703, + 0.10156205296516418, + 0.12276194244623184, + -0.23838134109973907, + 0.32390087842941284, + 0.0, + 0.4068177044391632 + ], + [ + 0.2168308049440384, + 0.21395541727542877, + 0.1312929093837738, + 0.3065634071826935, + -0.23901963233947754, + 0.03200945258140564, + 0.0, + 0.2795628309249878 + ], + [ + 0.21421606838703156, + 0.1916447877883911, + 0.16402122378349304, + 0.4501790702342987, + -0.11846697330474854, + -0.25575965642929077, + 0.0, + 0.22426052391529083 + ], + [ + 0.2137748897075653, + 0.1593320071697235, + 0.18968583643436432, + 0.5149040818214417, + 0.03887142241001129, + -0.4269958436489105, + 0.0, + 0.22108687460422516 + ], + [ + 0.21691249310970306, + 0.11755207180976868, + 0.20638896524906158, + 0.5971825122833252, + 0.10421784967184067, + -0.4247756004333496, + 0.0, + 0.22045548260211945 + ], + [ + 0.22251483798027039, + 0.07978150993585587, + 0.2192164659500122, + 0.6904832720756531, + 0.1264028549194336, + -0.362415075302124, + 0.0, + 0.22045548260211945 + ], + [ + 0.24237079918384552, + 0.02646341733634472, + 0.21576349437236786, + 0.8154577016830444, + 0.17807026207447052, + -0.3247499167919159, + 0.0, + 0.22045548260211945 + ], + [ + 0.2574270963668823, + -0.008493144065141678, + 0.2066064327955246, + 0.8846912384033203, + 0.17042511701583862, + -0.3090111315250397, + 0.0, + 0.22045548260211945 + ], + [ + 0.26310279965400696, + -0.026017872616648674, + 0.19127200543880463, + 0.8313249945640564, + 0.12068203836679459, + -0.269800066947937, + 0.0, + 0.31575894355773926 + ], + [ + 0.25883612036705017, + -0.019540993496775627, + 0.18086077272891998, + 0.7704386711120605, + 0.10174067318439484, + -0.23534540832042694, + 0.0, + 0.5178548097610474 + ] + ], + "left_gripper_pos": [ + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.8939508199691772 + ], + [ + 0.710151195526123 + ], + [ + 0.49086472392082214 + ], + [ + 0.4220271706581116 + ], + [ + 0.4068177044391632 + ], + [ + 0.4068177044391632 + ], + [ + 0.4068177044391632 + ], + [ + 0.2795628309249878 + ], + [ + 0.22426052391529083 + ], + [ + 0.22108687460422516 + ], + [ + 0.22045548260211945 + ], + [ + 0.22045548260211945 + ], + [ + 0.22045548260211945 + ], + [ + 0.22045548260211945 + ], + [ + 0.31575894355773926 + ], + [ + 0.5178548097610474 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.24657680094242096, + -0.005559129174798727, + 0.16348405182361603 + ], + [ + 0.24619567394256592, + 0.0034770744387060404, + 0.15669739246368408 + ], + [ + 0.24559327960014343, + 0.05336332321166992, + 0.15168644487857819 + ], + [ + 0.2409699261188507, + 0.09027405083179474, + 0.15036867558956146 + ], + [ + 0.23676744103431702, + 0.12792277336120605, + 0.14506609737873077 + ], + [ + 0.23208428919315338, + 0.16322793066501617, + 0.126572847366333 + ], + [ + 0.23010824620723724, + 0.18775172531604767, + 0.10307572036981583 + ], + [ + 0.23501834273338318, + 0.1946427971124649, + 0.08931177109479904 + ], + [ + 0.23905916512012482, + 0.20245583355426788, + 0.07417094707489014 + ], + [ + 0.24056771397590637, + 0.20431406795978546, + 0.06268592923879623 + ], + [ + 0.23982852697372437, + 0.21232548356056213, + 0.059255316853523254 + ], + [ + 0.24030597507953644, + 0.21299225091934204, + 0.05756238102912903 + ], + [ + 0.24334155023097992, + 0.20771674811840057, + 0.05943624675273895 + ], + [ + 0.24079105257987976, + 0.2068478763103485, + 0.06344343721866608 + ], + [ + 0.23480530083179474, + 0.2066417634487152, + 0.0809602364897728 + ], + [ + 0.23040154576301575, + 0.20813661813735962, + 0.09142927825450897 + ], + [ + 0.22841507196426392, + 0.21204720437526703, + 0.10156205296516418 + ], + [ + 0.2168308049440384, + 0.21395541727542877, + 0.1312929093837738 + ], + [ + 0.21421606838703156, + 0.1916447877883911, + 0.16402122378349304 + ], + [ + 0.2137748897075653, + 0.1593320071697235, + 0.18968583643436432 + ], + [ + 0.21691249310970306, + 0.11755207180976868, + 0.20638896524906158 + ], + [ + 0.22251483798027039, + 0.07978150993585587, + 0.2192164659500122 + ], + [ + 0.24237079918384552, + 0.02646341733634472, + 0.21576349437236786 + ], + [ + 0.2574270963668823, + -0.008493144065141678, + 0.2066064327955246 + ], + [ + 0.26310279965400696, + -0.026017872616648674, + 0.19127200543880463 + ], + [ + 0.25883612036705017, + -0.019540993496775627, + 0.18086077272891998 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9884036463929118, + 0.08048175624529139, + 0.12876691620470476, + 0.0748272244485235, + -0.996032312983608, + 0.0481717549384972, + 0.13213295682200654, + -0.03797786729396272, + -0.9905041965167417 + ], + [ + 0.9839781803644594, + 0.1338223219364218, + 0.11780715902775941, + 0.12837040597133226, + -0.990322735045448, + 0.05274390318186922, + 0.12372541952809234, + -0.03677589704749212, + -0.9916347885985795 + ], + [ + 0.9308263777982493, + 0.33670196059482244, + 0.1421057498013127, + 0.3220054454465741, + -0.9395025050664867, + 0.11682266936065608, + 0.17284312973833826, + -0.06298279690041092, + -0.98293357852749 + ], + [ + 0.9028243485517427, + 0.3972498518009028, + 0.1646230570311533, + 0.35928220057234694, + -0.9072137500590315, + 0.21881387537293182, + 0.23627208047929274, + -0.13840436029254963, + -0.9617794638262956 + ], + [ + 0.8580128778373914, + 0.4747976127880094, + 0.19591102152764597, + 0.42138967049364867, + -0.8687973285243901, + 0.26004220340194384, + 0.29367438953107994, + -0.14056467849246923, + -0.9455141057085594 + ], + [ + 0.8522249587954583, + 0.4648126718355288, + 0.24012871487432808, + 0.41044304887107025, + -0.8786207431151635, + 0.24405346422695623, + 0.32442121268421953, + -0.10942929164019549, + -0.9395616567802378 + ], + [ + 0.8523905819991888, + 0.4533533175856485, + 0.2605783282492433, + 0.41249609533604287, + -0.8892359266701974, + 0.19775347797577114, + 0.32136780649530305, + -0.06107565925212481, + -0.9449828023807184 + ], + [ + 0.8577359692679671, + 0.43195609041179345, + 0.27875247618648885, + 0.39973475530330144, + -0.9013418076263, + 0.1667185389438237, + 0.3232663490475775, + -0.03157343473732449, + -0.9457811511086153 + ], + [ + 0.85784952644192, + 0.41950714465364836, + 0.29682982594058216, + 0.3973359466338984, + -0.9077486556487153, + 0.1345976362366504, + 0.3259115455087733, + 0.002476641373464164, + -0.9453970228171812 + ], + [ + 0.8577028410570599, + 0.41734983901549066, + 0.300274788013233, + 0.40401424326857166, + -0.9083044843248984, + 0.10842257602272581, + 0.3179910811308572, + 0.0283209397623801, + -0.9476706161384367 + ], + [ + 0.8487690797911112, + 0.4300689104289228, + 0.30762279088687344, + 0.4153142253697719, + -0.9023081701631439, + 0.11555976922071362, + 0.3272692215837844, + 0.02967656212093093, + -0.9444650116677832 + ], + [ + 0.8382734906704816, + 0.441841439207353, + 0.3194897454352816, + 0.4221864842393768, + -0.8967765593610012, + 0.1324778287346193, + 0.34504510917374337, + 0.02383160044603949, + -0.9382835005772295 + ], + [ + 0.8511440069554155, + 0.43467176086638815, + 0.2943031425744437, + 0.41770053224733983, + -0.9003830574008734, + 0.12180564562344662, + 0.3179310377804735, + 0.019256434009678136, + -0.9479182691377259 + ], + [ + 0.8597633443987417, + 0.4448348558352192, + 0.25085641841968215, + 0.43266658321561446, + -0.8954254008934431, + 0.10494274249962522, + 0.2713053987609105, + 0.018311266173496668, + -0.9623191145011653 + ], + [ + 0.8770849646793684, + 0.4368335963350529, + 0.1997457730375675, + 0.4178318079233204, + -0.8989827504874462, + 0.13132629064111906, + 0.23693574027765604, + -0.03172417751511031, + -0.9710072252769641 + ], + [ + 0.890476552573886, + 0.4163593750237261, + 0.18356573794142308, + 0.392055427810721, + -0.9068020791506356, + 0.15492750166525246, + 0.23096331059343497, + -0.06599136366174368, + -0.9707219422068216 + ], + [ + 0.9211930272968455, + 0.3432832787984773, + 0.18319387805557316, + 0.3092668840035435, + -0.9316639573896295, + 0.19067318888567825, + 0.2361300508584455, + -0.11899101225916896, + -0.9644084912956368 + ], + [ + 0.9710728484481377, + 0.10192269259404925, + 0.21593815721451093, + 0.031094130755477276, + -0.9506013279215536, + 0.3088531534343464, + 0.23675024401123895, + -0.29320450216215566, + -0.926272336773835 + ], + [ + 0.9606903810773418, + -0.17802099337289345, + 0.21303172914849908, + -0.25120728537203013, + -0.884091637749552, + 0.3940518694757453, + 0.11819006507099764, + -0.4320769630283969, + -0.8940585028613454 + ], + [ + 0.9095264167857038, + -0.377860257014415, + 0.17315693268812235, + -0.4138254107267931, + -0.7842700536418298, + 0.462243455764863, + -0.03886163411077406, + -0.49207937279431063, + -0.8696825077375068 + ], + [ + 0.9061876492964398, + -0.39408720510266565, + 0.15335976994297498, + -0.40988028766704226, + -0.7293279062660729, + 0.5477946284179219, + -0.10402929416551557, + -0.5592638732440315, + -0.822436517938928 + ], + [ + 0.9275833547128813, + -0.34840086733164866, + 0.1349294471275714, + -0.35170492275299525, + -0.6923941589999101, + 0.6299952189454432, + -0.12606651962716667, + -0.6318284294215972, + -0.7647875969206948 + ], + [ + 0.9327444104026738, + -0.3409525049185943, + 0.11721456501776906, + -0.3140264109767842, + -0.6085557925125912, + 0.7287298955088999, + -0.17713068077441774, + -0.7165272058959857, + -0.6746951053174192 + ], + [ + 0.9388337143444536, + -0.3176749976696256, + 0.13294304293869716, + -0.29971094103349927, + -0.5636138378595386, + 0.7697485262071349, + -0.16960132262164482, + -0.7625103524732273, + -0.6243503453479813 + ], + [ + 0.9568140775169509, + -0.2653486793251272, + 0.11873036446417955, + -0.2646001405653421, + -0.6258109168976311, + 0.7337216515168045, + -0.12038931297331719, + -0.7334512762768614, + -0.6689959929997008 + ], + [ + 0.9674052858421058, + -0.23611561535382108, + 0.09152283382216833, + -0.2319730903019519, + -0.681329681068553, + 0.6942466068125841, + -0.10156524159630742, + -0.6928486717033602, + -0.7138944038290072 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0003811269998550415, + 0.009036203846335411, + -0.006786659359931946, + -0.0012540407478809357, + 0.008477218449115753, + 0.05416695028543472, + 1.0 + ], + [ + -0.0006023943424224854, + 0.049886249005794525, + -0.005010947585105896, + 0.026919730007648468, + -0.049672238528728485, + 0.2033209353685379, + 1.0 + ], + [ + -0.004623353481292725, + 0.03691072762012482, + -0.0013177692890167236, + 0.07893440872430801, + -0.06481198966503143, + 0.045692116022109985, + 1.0 + ], + [ + -0.004202485084533691, + 0.037648722529411316, + -0.0053025782108306885, + 0.004660606384277344, + -0.05954095721244812, + 0.07777965068817139, + 1.0 + ], + [ + -0.004683151841163635, + 0.03530515730381012, + -0.018493250012397766, + -0.03163781762123108, + -0.03233131766319275, + -0.007690131664276123, + 1.0 + ], + [ + -0.0019760429859161377, + 0.024523794651031494, + -0.02349712699651718, + -0.05140433460474014, + 0.0032262206077575684, + 0.001877427101135254, + 1.0 + ], + [ + 0.004910096526145935, + 0.006891071796417236, + -0.013763949275016785, + -0.03117068111896515, + -0.0020055770874023438, + -0.014599829912185669, + 1.0 + ], + [ + 0.004040822386741638, + 0.007813036441802979, + -0.015140824019908905, + -0.03599072992801666, + -0.0027966201305389404, + -0.0023505985736846924, + 1.0 + ], + [ + 0.0015085488557815552, + 0.0018582344055175781, + -0.011485017836093903, + -0.027256222441792488, + 0.008365929126739502, + 0.0064566731452941895, + 1.0 + ], + [ + -0.0007391870021820068, + 0.008011415600776672, + -0.0034306123852729797, + -0.001535322517156601, + -0.009802371263504028, + 0.014847785234451294, + 0.0 + ], + [ + 0.00047744810581207275, + 0.0006667673587799072, + -0.001692935824394226, + 0.006017535924911499, + -0.018874645233154297, + 0.011491894721984863, + 0.0 + ], + [ + 0.0030355751514434814, + -0.005275502800941467, + 0.0018738657236099243, + 0.0050820354372262955, + 0.028740346431732178, + -0.010332077741622925, + 0.0 + ], + [ + -0.0025504976511001587, + -0.000868871808052063, + 0.004007190465927124, + 0.0012856796383857727, + 0.04879745841026306, + 0.010013788938522339, + 0.0 + ], + [ + -0.005985751748085022, + -0.00020611286163330078, + 0.01751679927110672, + 0.05168576538562775, + 0.035538479685783386, + -0.02165624499320984, + 0.0 + ], + [ + -0.004403755068778992, + 0.0014948546886444092, + 0.010469041764736176, + 0.03521750494837761, + 0.006142914295196533, + -0.02984127402305603, + 0.0 + ], + [ + -0.001986473798751831, + 0.00391058623790741, + 0.010132774710655212, + 0.054884642362594604, + -0.005313694477081299, + -0.09083718061447144, + 0.0 + ], + [ + -0.011584267020225525, + 0.0019082129001617432, + 0.02973085641860962, + 0.18380147218704224, + -0.0006382912397384644, + -0.2918914258480072, + 0.0 + ], + [ + -0.002614736557006836, + -0.02231062948703766, + 0.03272831439971924, + 0.14361566305160522, + 0.120552659034729, + -0.2877691090106964, + 0.0 + ], + [ + -0.00044117867946624756, + -0.0323127806186676, + 0.025664612650871277, + 0.06472501158714294, + 0.15733839571475983, + -0.17123618721961975, + 0.0 + ], + [ + 0.0031376034021377563, + -0.041779935359954834, + 0.016703128814697266, + 0.08227843046188354, + 0.06534642726182938, + 0.002220243215560913, + 0.0 + ], + [ + 0.005602344870567322, + -0.03777056187391281, + 0.012827500700950623, + 0.09330075979232788, + 0.022185005247592926, + 0.062360525131225586, + 0.0 + ], + [ + 0.019855961203575134, + -0.053318090736866, + -0.003452971577644348, + 0.12497442960739136, + 0.051667407155036926, + 0.03766515851020813, + 0.0 + ], + [ + 0.015056297183036804, + -0.03495655953884125, + -0.009157061576843262, + 0.06923353672027588, + -0.007645145058631897, + 0.01573878526687622, + 0.0 + ], + [ + 0.005675703287124634, + -0.017524728551506996, + -0.01533442735671997, + -0.053366243839263916, + -0.04974307864904404, + 0.03921106457710266, + 1.0 + ], + [ + -0.004266679286956787, + 0.006476879119873047, + -0.010411232709884644, + -0.06088632345199585, + -0.01894136518239975, + 0.03445465862751007, + 1.0 + ], + [ + 0.00023737549781799316, + 0.00029406696557998657, + -7.361173629760742e-05, + -0.0004494190216064453, + -0.0021189674735069275, + 0.001615956425666809, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.8939508199691772 + ], + [ + 0.710151195526123 + ], + [ + 0.49086472392082214 + ], + [ + 0.4220271706581116 + ], + [ + 0.4068177044391632 + ], + [ + 0.4068177044391632 + ], + [ + 0.4068177044391632 + ], + [ + 0.2795628309249878 + ], + [ + 0.22426052391529083 + ], + [ + 0.22108687460422516 + ], + [ + 0.22045548260211945 + ], + [ + 0.22045548260211945 + ], + [ + 0.22045548260211945 + ], + [ + 0.22045548260211945 + ], + [ + 0.31575894355773926 + ], + [ + 0.5178548097610474 + ], + [ + 0.8362758755683899 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.24619567394256592, + 0.0034770744387060404, + 0.15669739246368408 + ], + [ + 0.24559327960014343, + 0.05336332321166992, + 0.15168644487857819 + ], + [ + 0.2409699261188507, + 0.09027405083179474, + 0.15036867558956146 + ], + [ + 0.23676744103431702, + 0.12792277336120605, + 0.14506609737873077 + ], + [ + 0.23208428919315338, + 0.16322793066501617, + 0.126572847366333 + ], + [ + 0.23010824620723724, + 0.18775172531604767, + 0.10307572036981583 + ], + [ + 0.23501834273338318, + 0.1946427971124649, + 0.08931177109479904 + ], + [ + 0.23905916512012482, + 0.20245583355426788, + 0.07417094707489014 + ], + [ + 0.24056771397590637, + 0.20431406795978546, + 0.06268592923879623 + ], + [ + 0.23982852697372437, + 0.21232548356056213, + 0.059255316853523254 + ], + [ + 0.24030597507953644, + 0.21299225091934204, + 0.05756238102912903 + ], + [ + 0.24334155023097992, + 0.20771674811840057, + 0.05943624675273895 + ], + [ + 0.24079105257987976, + 0.2068478763103485, + 0.06344343721866608 + ], + [ + 0.23480530083179474, + 0.2066417634487152, + 0.0809602364897728 + ], + [ + 0.23040154576301575, + 0.20813661813735962, + 0.09142927825450897 + ], + [ + 0.22841507196426392, + 0.21204720437526703, + 0.10156205296516418 + ], + [ + 0.2168308049440384, + 0.21395541727542877, + 0.1312929093837738 + ], + [ + 0.21421606838703156, + 0.1916447877883911, + 0.16402122378349304 + ], + [ + 0.2137748897075653, + 0.1593320071697235, + 0.18968583643436432 + ], + [ + 0.21691249310970306, + 0.11755207180976868, + 0.20638896524906158 + ], + [ + 0.22251483798027039, + 0.07978150993585587, + 0.2192164659500122 + ], + [ + 0.24237079918384552, + 0.02646341733634472, + 0.21576349437236786 + ], + [ + 0.2574270963668823, + -0.008493144065141678, + 0.2066064327955246 + ], + [ + 0.26310279965400696, + -0.026017872616648674, + 0.19127200543880463 + ], + [ + 0.25883612036705017, + -0.019540993496775627, + 0.18086077272891998 + ], + [ + 0.25907349586486816, + -0.01924692653119564, + 0.18078716099262238 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9839781803644594, + 0.1338223219364218, + 0.11780715902775941, + 0.12837040597133226, + -0.990322735045448, + 0.05274390318186922, + 0.12372541952809234, + -0.03677589704749212, + -0.9916347885985795 + ], + [ + 0.9308263777982493, + 0.33670196059482244, + 0.1421057498013127, + 0.3220054454465741, + -0.9395025050664867, + 0.11682266936065608, + 0.17284312973833826, + -0.06298279690041092, + -0.98293357852749 + ], + [ + 0.9028243485517427, + 0.3972498518009028, + 0.1646230570311533, + 0.35928220057234694, + -0.9072137500590315, + 0.21881387537293182, + 0.23627208047929274, + -0.13840436029254963, + -0.9617794638262956 + ], + [ + 0.8580128778373914, + 0.4747976127880094, + 0.19591102152764597, + 0.42138967049364867, + -0.8687973285243901, + 0.26004220340194384, + 0.29367438953107994, + -0.14056467849246923, + -0.9455141057085594 + ], + [ + 0.8522249587954583, + 0.4648126718355288, + 0.24012871487432808, + 0.41044304887107025, + -0.8786207431151635, + 0.24405346422695623, + 0.32442121268421953, + -0.10942929164019549, + -0.9395616567802378 + ], + [ + 0.8523905819991888, + 0.4533533175856485, + 0.2605783282492433, + 0.41249609533604287, + -0.8892359266701974, + 0.19775347797577114, + 0.32136780649530305, + -0.06107565925212481, + -0.9449828023807184 + ], + [ + 0.8577359692679671, + 0.43195609041179345, + 0.27875247618648885, + 0.39973475530330144, + -0.9013418076263, + 0.1667185389438237, + 0.3232663490475775, + -0.03157343473732449, + -0.9457811511086153 + ], + [ + 0.85784952644192, + 0.41950714465364836, + 0.29682982594058216, + 0.3973359466338984, + -0.9077486556487153, + 0.1345976362366504, + 0.3259115455087733, + 0.002476641373464164, + -0.9453970228171812 + ], + [ + 0.8577028410570599, + 0.41734983901549066, + 0.300274788013233, + 0.40401424326857166, + -0.9083044843248984, + 0.10842257602272581, + 0.3179910811308572, + 0.0283209397623801, + -0.9476706161384367 + ], + [ + 0.8487690797911112, + 0.4300689104289228, + 0.30762279088687344, + 0.4153142253697719, + -0.9023081701631439, + 0.11555976922071362, + 0.3272692215837844, + 0.02967656212093093, + -0.9444650116677832 + ], + [ + 0.8382734906704816, + 0.441841439207353, + 0.3194897454352816, + 0.4221864842393768, + -0.8967765593610012, + 0.1324778287346193, + 0.34504510917374337, + 0.02383160044603949, + -0.9382835005772295 + ], + [ + 0.8511440069554155, + 0.43467176086638815, + 0.2943031425744437, + 0.41770053224733983, + -0.9003830574008734, + 0.12180564562344662, + 0.3179310377804735, + 0.019256434009678136, + -0.9479182691377259 + ], + [ + 0.8597633443987417, + 0.4448348558352192, + 0.25085641841968215, + 0.43266658321561446, + -0.8954254008934431, + 0.10494274249962522, + 0.2713053987609105, + 0.018311266173496668, + -0.9623191145011653 + ], + [ + 0.8770849646793684, + 0.4368335963350529, + 0.1997457730375675, + 0.4178318079233204, + -0.8989827504874462, + 0.13132629064111906, + 0.23693574027765604, + -0.03172417751511031, + -0.9710072252769641 + ], + [ + 0.890476552573886, + 0.4163593750237261, + 0.18356573794142308, + 0.392055427810721, + -0.9068020791506356, + 0.15492750166525246, + 0.23096331059343497, + -0.06599136366174368, + -0.9707219422068216 + ], + [ + 0.9211930272968455, + 0.3432832787984773, + 0.18319387805557316, + 0.3092668840035435, + -0.9316639573896295, + 0.19067318888567825, + 0.2361300508584455, + -0.11899101225916896, + -0.9644084912956368 + ], + [ + 0.9710728484481377, + 0.10192269259404925, + 0.21593815721451093, + 0.031094130755477276, + -0.9506013279215536, + 0.3088531534343464, + 0.23675024401123895, + -0.29320450216215566, + -0.926272336773835 + ], + [ + 0.9606903810773418, + -0.17802099337289345, + 0.21303172914849908, + -0.25120728537203013, + -0.884091637749552, + 0.3940518694757453, + 0.11819006507099764, + -0.4320769630283969, + -0.8940585028613454 + ], + [ + 0.9095264167857038, + -0.377860257014415, + 0.17315693268812235, + -0.4138254107267931, + -0.7842700536418298, + 0.462243455764863, + -0.03886163411077406, + -0.49207937279431063, + -0.8696825077375068 + ], + [ + 0.9061876492964398, + -0.39408720510266565, + 0.15335976994297498, + -0.40988028766704226, + -0.7293279062660729, + 0.5477946284179219, + -0.10402929416551557, + -0.5592638732440315, + -0.822436517938928 + ], + [ + 0.9275833547128813, + -0.34840086733164866, + 0.1349294471275714, + -0.35170492275299525, + -0.6923941589999101, + 0.6299952189454432, + -0.12606651962716667, + -0.6318284294215972, + -0.7647875969206948 + ], + [ + 0.9327444104026738, + -0.3409525049185943, + 0.11721456501776906, + -0.3140264109767842, + -0.6085557925125912, + 0.7287298955088999, + -0.17713068077441774, + -0.7165272058959857, + -0.6746951053174192 + ], + [ + 0.9388337143444536, + -0.3176749976696256, + 0.13294304293869716, + -0.29971094103349927, + -0.5636138378595386, + 0.7697485262071349, + -0.16960132262164482, + -0.7625103524732273, + -0.6243503453479813 + ], + [ + 0.9568140775169509, + -0.2653486793251272, + 0.11873036446417955, + -0.2646001405653421, + -0.6258109168976311, + 0.7337216515168045, + -0.12038931297331719, + -0.7334512762768614, + -0.6689959929997008 + ], + [ + 0.9674052858421058, + -0.23611561535382108, + 0.09152283382216833, + -0.2319730903019519, + -0.681329681068553, + 0.6942466068125841, + -0.10156524159630742, + -0.6928486717033602, + -0.7138944038290072 + ], + [ + 0.9679860698139349, + -0.23362721612963863, + 0.09176760065342951, + -0.23045883098489742, + -0.6823622557184328, + 0.6937366064955249, + -0.09945700511902958, + -0.6926760251765377, + -0.7143586132177494 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005905.json b/json/chunk-0005/episode_0005905.json new file mode 100644 index 0000000000000000000000000000000000000000..6541bc4ea1501b7ab85b61077f82d5d7d0acd8df --- /dev/null +++ b/json/chunk-0005/episode_0005905.json @@ -0,0 +1,3382 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 55, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMoved the utensils to the left lower gas burner." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005905.mp4", + "start": 0, + "end": 55, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.40400606393814087, + -5.871809844393283e-05, + -0.0006916852435097098, + -0.2852920889854431, + -0.3615308701992035, + 1.0404123067855835, + 0.0, + 0.9994885921478271 + ], + [ + 0.3977763056755066, + 0.001445408328436315, + -0.014222081750631332, + -0.2515246868133545, + -0.34927332401275635, + 1.0299363136291504, + 0.0, + 0.9994885921478271 + ], + [ + 0.3721919059753418, + 0.007871575653553009, + -0.0247794222086668, + -0.2175469994544983, + -0.3836701810359955, + 0.985741138458252, + 0.0, + 0.9994885921478271 + ], + [ + 0.36482998728752136, + 0.011996154673397541, + 0.000984476413577795, + -0.17914631962776184, + -0.3818510174751282, + 0.995154082775116, + 0.0, + 0.9994885921478271 + ], + [ + 0.3538247048854828, + 0.016677817329764366, + 0.008087706752121449, + -0.1414487659931183, + -0.3750721514225006, + 1.0294084548950195, + 0.0, + 0.9994885921478271 + ], + [ + 0.3467218279838562, + 0.022457368671894073, + 0.011594223789870739, + -0.08374538272619247, + -0.34670430421829224, + 1.0243277549743652, + 0.0, + 0.9994885921478271 + ], + [ + 0.3477795124053955, + 0.04813723638653755, + 0.009370955638587475, + -0.08024486154317856, + -0.38138896226882935, + 0.9654255509376526, + 0.0, + 0.9994885921478271 + ], + [ + 0.3535076677799225, + 0.06868724524974823, + 0.005410074256360531, + -0.11528094112873077, + -0.4285942316055298, + 0.9365249276161194, + 0.0, + 0.9988223910331726 + ], + [ + 0.35331520438194275, + 0.08679302036762238, + -0.018638476729393005, + -0.12796543538570404, + -0.4117822051048279, + 0.9262549877166748, + 0.0, + 0.9994885921478271 + ], + [ + 0.36412569880485535, + 0.09567582607269287, + -0.030794400721788406, + -0.12667390704154968, + -0.4094226062297821, + 0.8679596185684204, + 0.0, + 0.9988223910331726 + ], + [ + 0.3713100254535675, + 0.1036810502409935, + -0.04238394647836685, + -0.1267959177494049, + -0.381165087223053, + 0.8515007495880127, + 0.0, + 0.9994885921478271 + ], + [ + 0.37717941403388977, + 0.10569524765014648, + -0.05408334732055664, + -0.12934939563274384, + -0.33191850781440735, + 0.8333290219306946, + 0.0, + 0.9492040276527405 + ], + [ + 0.380341112613678, + 0.10423072427511215, + -0.05265042930841446, + -0.14090415835380554, + -0.3229326605796814, + 0.806361734867096, + 0.0, + 0.6741776466369629 + ], + [ + 0.37929511070251465, + 0.10087070614099503, + -0.05383969470858574, + -0.15741169452667236, + -0.3057859241962433, + 0.8179143667221069, + 0.0, + 0.39886748790740967 + ], + [ + 0.37738141417503357, + 0.09601014107465744, + -0.05657937750220299, + -0.18462985754013062, + -0.29339295625686646, + 0.8360046744346619, + 0.0, + 0.36865687370300293 + ], + [ + 0.366567999124527, + 0.08474703133106232, + -0.05962127074599266, + -0.1715807318687439, + -0.3202724754810333, + 0.971088707447052, + 0.0, + 0.36865687370300293 + ], + [ + 0.3603413701057434, + 0.06616679579019547, + -0.05568486452102661, + -0.17547541856765747, + -0.3584170639514923, + 1.086799144744873, + 0.0, + 0.36781078577041626 + ], + [ + 0.3544202148914337, + 0.05269448831677437, + -0.04616395756602287, + -0.16423171758651733, + -0.368103951215744, + 1.181872844696045, + 0.0, + 0.36781078577041626 + ], + [ + 0.3530125617980957, + 0.04751597344875336, + -0.034696921706199646, + -0.15470437705516815, + -0.3859850764274597, + 1.2320895195007324, + 0.0, + 0.36781078577041626 + ], + [ + 0.3507809638977051, + 0.048150237649679184, + -0.030785923823714256, + -0.14709728956222534, + -0.35758987069129944, + 1.3687222003936768, + 0.0, + 0.36781078577041626 + ], + [ + 0.3513069748878479, + 0.049293503165245056, + -0.028302498161792755, + -0.176244854927063, + -0.34060320258140564, + 1.5070760250091553, + 0.0, + 0.36781078577041626 + ], + [ + 0.3540205657482147, + 0.052768491208553314, + -0.025347471237182617, + -0.19950281083583832, + -0.33083420991897583, + 1.666893720626831, + 0.0, + 0.36781078577041626 + ], + [ + 0.3506043255329132, + 0.06329818069934845, + -0.025215450674295425, + -0.31071287393569946, + -0.4066115617752075, + 1.8301997184753418, + 0.0, + 0.36781078577041626 + ], + [ + 0.34813743829727173, + 0.06064792722463608, + -0.025447744876146317, + -0.35135674476623535, + -0.42704299092292786, + 1.90700364112854, + 0.0, + 0.36781078577041626 + ], + [ + 0.33817601203918457, + 0.05918176844716072, + -0.035884518176317215, + -0.3507069945335388, + -0.425597608089447, + 1.9951672554016113, + 0.0, + 0.36781078577041626 + ], + [ + 0.3332865238189697, + 0.050757233053445816, + -0.04209237918257713, + -0.3102911710739136, + -0.35434678196907043, + 2.0374834537506104, + 0.0, + 0.36781078577041626 + ], + [ + 0.32592740654945374, + 0.061766963452100754, + -0.04758336767554283, + -0.28221261501312256, + -0.30845901370048523, + 2.1025705337524414, + 0.0, + 0.36781078577041626 + ], + [ + 0.31988775730133057, + 0.06682749837636948, + -0.05107545107603073, + -0.2945935130119324, + -0.31439319252967834, + 2.117434501647949, + 0.0, + 0.36781078577041626 + ], + [ + 0.3158516585826874, + 0.07309368997812271, + -0.052213072776794434, + -0.24803905189037323, + -0.291716992855072, + 2.1234002113342285, + 0.0, + 0.36781078577041626 + ], + [ + 0.31374818086624146, + 0.08561806380748749, + -0.05009559914469719, + -0.24046863615512848, + -0.3112265467643738, + 2.1416778564453125, + 0.0, + 0.36781078577041626 + ], + [ + 0.31643450260162354, + 0.09322464466094971, + -0.049497779458761215, + -0.26079487800598145, + -0.3077295422554016, + 2.1372604370117188, + 0.0, + 0.36781078577041626 + ], + [ + 0.3167247772216797, + 0.09532299637794495, + -0.05030444636940956, + -0.26250582933425903, + -0.29806265234947205, + 2.1324007511138916, + 0.0, + 0.43656274676322937 + ], + [ + 0.31727537512779236, + 0.09860798716545105, + -0.0436464287340641, + -0.28473153710365295, + -0.2914731204509735, + 2.1343860626220703, + 0.0, + 0.7329457402229309 + ], + [ + 0.317884624004364, + 0.10227841883897781, + -0.037614382803440094, + -0.2775336802005768, + -0.26297107338905334, + 2.105778455734253, + 0.0, + 0.9766865372657776 + ], + [ + 0.31693264842033386, + 0.10248735547065735, + -0.03348805010318756, + -0.2473706603050232, + -0.2562352418899536, + 2.0795562267303467, + 0.0, + 0.9994885921478271 + ], + [ + 0.3202247619628906, + 0.10236754268407822, + -0.028437970206141472, + -0.2376188039779663, + -0.2670406103134155, + 2.0650477409362793, + 0.0, + 0.9994885921478271 + ], + [ + 0.33172914385795593, + 0.09435900300741196, + -0.013301415368914604, + -0.2375195026397705, + -0.24615944921970367, + 2.0260584354400635, + 0.0, + 0.9994885921478271 + ], + [ + 0.3402825891971588, + 0.08512160927057266, + -0.006144615821540356, + -0.17549456655979156, + -0.21405886113643646, + 1.9077718257904053, + 0.0, + 0.9994885921478271 + ], + [ + 0.35078418254852295, + 0.07736261934041977, + 0.016836725175380707, + -0.16775615513324738, + -0.18979378044605255, + 1.7234547138214111, + 0.0, + 0.9994885921478271 + ], + [ + 0.35375094413757324, + 0.0708598718047142, + 0.018603794276714325, + -0.1271423101425171, + -0.2477559745311737, + 1.4689875841140747, + 0.0, + 0.9994885921478271 + ], + [ + 0.3514987826347351, + 0.05978040769696236, + 0.02250155434012413, + -0.09130305051803589, + -0.33614057302474976, + 1.2233357429504395, + 0.0, + 0.9994885921478271 + ], + [ + 0.3482699692249298, + 0.05117134749889374, + 0.0189682450145483, + -0.028859157115221024, + -0.320132851600647, + 1.0145463943481445, + 0.0, + 0.9994885921478271 + ], + [ + 0.3457872271537781, + 0.039744310081005096, + 0.009067519567906857, + -0.040337320417165756, + -0.29940277338027954, + 0.8320074677467346, + 0.0, + 0.9994885921478271 + ], + [ + 0.3435390293598175, + 0.01803104393184185, + 0.011371173895895481, + -0.05292598903179169, + -0.2952318489551544, + 0.7085089683532715, + 0.0, + 0.9994885921478271 + ], + [ + 0.3360700309276581, + -0.0030230891425162554, + 0.015811018645763397, + -0.10706157237291336, + -0.2811656594276428, + 0.6416361331939697, + 0.0, + 0.9994885921478271 + ], + [ + 0.32386648654937744, + -0.030772680416703224, + 0.00925311166793108, + -0.13511529564857483, + -0.2664729654788971, + 0.5600088238716125, + 0.0, + 0.9994885921478271 + ], + [ + 0.3240860402584076, + -0.03038436733186245, + 0.009123272262513638, + -0.13578052818775177, + -0.26937347650527954, + 0.5554342269897461, + 0.0, + 0.9994885921478271 + ], + [ + 0.3240390717983246, + -0.030881471931934357, + 0.009123272262513638, + -0.136199951171875, + -0.2691655158996582, + 0.5554769039154053, + 0.0, + 0.9994885921478271 + ], + [ + 0.3242652416229248, + -0.03093884326517582, + 0.009192018769681454, + -0.13688986003398895, + -0.2704644799232483, + 0.5540555715560913, + 0.0, + 0.9994885921478271 + ], + [ + 0.3242652416229248, + -0.03093884326517582, + 0.009192018769681454, + -0.1364683359861374, + -0.2706734836101532, + 0.5524784922599792, + 0.0, + 0.9994885921478271 + ], + [ + 0.3240390717983246, + -0.030881471931934357, + 0.009123272262513638, + -0.1353607326745987, + -0.26958081126213074, + 0.5523234605789185, + 0.0, + 0.9994885921478271 + ], + [ + 0.3242652416229248, + -0.03093884326517582, + 0.009192018769681454, + -0.1364683359861374, + -0.2706734836101532, + 0.5524784922599792, + 0.0, + 0.9994885921478271 + ], + [ + 0.32454535365104675, + -0.0309447031468153, + 0.009458278305828571, + -0.13635751605033875, + -0.27077677845954895, + 0.552589476108551, + 0.0, + 0.9994885921478271 + ], + [ + 0.3240860402584076, + -0.03038436733186245, + 0.009123272262513638, + -0.1353607326745987, + -0.26958081126213074, + 0.5538574457168579, + 0.0, + 0.9994885921478271 + ], + [ + 0.3240390717983246, + -0.030881471931934357, + 0.009123272262513638, + -0.1353607326745987, + -0.26958081126213074, + 0.5523234605789185, + 0.0, + 0.9994885921478271 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9492040276527405 + ], + [ + 0.6741776466369629 + ], + [ + 0.39886748790740967 + ], + [ + 0.36865687370300293 + ], + [ + 0.36865687370300293 + ], + [ + 0.36781078577041626 + ], + [ + 0.36781078577041626 + ], + [ + 0.36781078577041626 + ], + [ + 0.36781078577041626 + ], + [ + 0.36781078577041626 + ], + [ + 0.36781078577041626 + ], + [ + 0.36781078577041626 + ], + [ + 0.36781078577041626 + ], + [ + 0.36781078577041626 + ], + [ + 0.36781078577041626 + ], + [ + 0.36781078577041626 + ], + [ + 0.36781078577041626 + ], + [ + 0.36781078577041626 + ], + [ + 0.36781078577041626 + ], + [ + 0.36781078577041626 + ], + [ + 0.43656274676322937 + ], + [ + 0.7329457402229309 + ], + [ + 0.9766865372657776 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.40400606393814087, + -5.871809844393283e-05, + -0.0006916852435097098 + ], + [ + 0.3977763056755066, + 0.001445408328436315, + -0.014222081750631332 + ], + [ + 0.3721919059753418, + 0.007871575653553009, + -0.0247794222086668 + ], + [ + 0.36482998728752136, + 0.011996154673397541, + 0.000984476413577795 + ], + [ + 0.3538247048854828, + 0.016677817329764366, + 0.008087706752121449 + ], + [ + 0.3467218279838562, + 0.022457368671894073, + 0.011594223789870739 + ], + [ + 0.3477795124053955, + 0.04813723638653755, + 0.009370955638587475 + ], + [ + 0.3535076677799225, + 0.06868724524974823, + 0.005410074256360531 + ], + [ + 0.35331520438194275, + 0.08679302036762238, + -0.018638476729393005 + ], + [ + 0.36412569880485535, + 0.09567582607269287, + -0.030794400721788406 + ], + [ + 0.3713100254535675, + 0.1036810502409935, + -0.04238394647836685 + ], + [ + 0.37717941403388977, + 0.10569524765014648, + -0.05408334732055664 + ], + [ + 0.380341112613678, + 0.10423072427511215, + -0.05265042930841446 + ], + [ + 0.37929511070251465, + 0.10087070614099503, + -0.05383969470858574 + ], + [ + 0.37738141417503357, + 0.09601014107465744, + -0.05657937750220299 + ], + [ + 0.366567999124527, + 0.08474703133106232, + -0.05962127074599266 + ], + [ + 0.3603413701057434, + 0.06616679579019547, + -0.05568486452102661 + ], + [ + 0.3544202148914337, + 0.05269448831677437, + -0.04616395756602287 + ], + [ + 0.3530125617980957, + 0.04751597344875336, + -0.034696921706199646 + ], + [ + 0.3507809638977051, + 0.048150237649679184, + -0.030785923823714256 + ], + [ + 0.3513069748878479, + 0.049293503165245056, + -0.028302498161792755 + ], + [ + 0.3540205657482147, + 0.052768491208553314, + -0.025347471237182617 + ], + [ + 0.3506043255329132, + 0.06329818069934845, + -0.025215450674295425 + ], + [ + 0.34813743829727173, + 0.06064792722463608, + -0.025447744876146317 + ], + [ + 0.33817601203918457, + 0.05918176844716072, + -0.035884518176317215 + ], + [ + 0.3332865238189697, + 0.050757233053445816, + -0.04209237918257713 + ], + [ + 0.32592740654945374, + 0.061766963452100754, + -0.04758336767554283 + ], + [ + 0.31988775730133057, + 0.06682749837636948, + -0.05107545107603073 + ], + [ + 0.3158516585826874, + 0.07309368997812271, + -0.052213072776794434 + ], + [ + 0.31374818086624146, + 0.08561806380748749, + -0.05009559914469719 + ], + [ + 0.31643450260162354, + 0.09322464466094971, + -0.049497779458761215 + ], + [ + 0.3167247772216797, + 0.09532299637794495, + -0.05030444636940956 + ], + [ + 0.31727537512779236, + 0.09860798716545105, + -0.0436464287340641 + ], + [ + 0.317884624004364, + 0.10227841883897781, + -0.037614382803440094 + ], + [ + 0.31693264842033386, + 0.10248735547065735, + -0.03348805010318756 + ], + [ + 0.3202247619628906, + 0.10236754268407822, + -0.028437970206141472 + ], + [ + 0.33172914385795593, + 0.09435900300741196, + -0.013301415368914604 + ], + [ + 0.3402825891971588, + 0.08512160927057266, + -0.006144615821540356 + ], + [ + 0.35078418254852295, + 0.07736261934041977, + 0.016836725175380707 + ], + [ + 0.35375094413757324, + 0.0708598718047142, + 0.018603794276714325 + ], + [ + 0.3514987826347351, + 0.05978040769696236, + 0.02250155434012413 + ], + [ + 0.3482699692249298, + 0.05117134749889374, + 0.0189682450145483 + ], + [ + 0.3457872271537781, + 0.039744310081005096, + 0.009067519567906857 + ], + [ + 0.3435390293598175, + 0.01803104393184185, + 0.011371173895895481 + ], + [ + 0.3360700309276581, + -0.0030230891425162554, + 0.015811018645763397 + ], + [ + 0.32386648654937744, + -0.030772680416703224, + 0.00925311166793108 + ], + [ + 0.3240860402584076, + -0.03038436733186245, + 0.009123272262513638 + ], + [ + 0.3240390717983246, + -0.030881471931934357, + 0.009123272262513638 + ], + [ + 0.3242652416229248, + -0.03093884326517582, + 0.009192018769681454 + ], + [ + 0.3242652416229248, + -0.03093884326517582, + 0.009192018769681454 + ], + [ + 0.3240390717983246, + -0.030881471931934357, + 0.009123272262513638 + ], + [ + 0.3242652416229248, + -0.03093884326517582, + 0.009192018769681454 + ], + [ + 0.32454535365104675, + -0.0309447031468153, + 0.009458278305828571 + ], + [ + 0.3240860402584076, + -0.03038436733186245, + 0.009123272262513638 + ], + [ + 0.3240390717983246, + -0.030881471931934357, + 0.009123272262513638 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.47316374850513115, + 0.7773886271134594, + 0.4144671151433174, + 0.8068505059804201, + -0.5712873170195488, + 0.15040964866572112, + 0.35370655648392096, + 0.26324460839161823, + -0.8975488555243277 + ], + [ + 0.4837862283497508, + 0.7864393385027495, + 0.3840104843809349, + 0.8055058735847183, + -0.5716865434052332, + 0.1559961015855717, + 0.3422150973870707, + 0.23385393506360747, + -0.9100555830143692 + ], + [ + 0.5120955172634567, + 0.769414164068261, + 0.3817853131405296, + 0.7730704878527241, + -0.6065843115110955, + 0.1855195241470868, + 0.3743263309063684, + 0.20014324160398153, + -0.9054404899442186 + ], + [ + 0.50516593034669, + 0.7892715447468172, + 0.34908138230208785, + 0.7784264268306921, + -0.5913610544387689, + 0.21058110386420892, + 0.37263880746449973, + 0.16535577385153694, + -0.9131252856127657 + ], + [ + 0.47950104477777916, + 0.82182096853736, + 0.30771584900575605, + 0.7974170787479319, + -0.5544392653469319, + 0.2381661259765304, + 0.366339665581182, + 0.1311769671621872, + -0.921188282984536 + ], + [ + 0.4887515854519485, + 0.8365999288687764, + 0.2474317011519848, + 0.8035283468011349, + -0.5421360914604054, + 0.2458264717703733, + 0.3398000641630927, + 0.07867030794901818, + -0.9372016320098706 + ], + [ + 0.5281787092894235, + 0.8026664906952607, + 0.277044681898631, + 0.7632083420643374, + -0.5917695978556041, + 0.259464389959821, + 0.3722099913446228, + 0.07439924575405002, + -0.925161863986224 + ], + [ + 0.5389914635136523, + 0.7718290226570439, + 0.3372953632110632, + 0.7326465701309475, + -0.6271636477195222, + 0.2643761756560172, + 0.4155925956207223, + 0.10462178914267851, + -0.9035137385241108 + ], + [ + 0.5506077013253088, + 0.7621503426035053, + 0.34052608491952396, + 0.7325548081255883, + -0.6367494118794272, + 0.2406525286866646, + 0.4002431914890522, + 0.11694888516169231, + -0.908916027983936 + ], + [ + 0.5929615617541394, + 0.7243903895315578, + 0.3516463419920784, + 0.6999493706247351, + -0.6795786712201961, + 0.21964450410749992, + 0.398079721719317, + 0.11589388757354901, + -0.9100006274607509 + ], + [ + 0.6115701210940496, + 0.7152370256318261, + 0.3382572750885757, + 0.6982810004547, + -0.6889540792246194, + 0.19428309531130275, + 0.37200219272067914, + 0.11738089233387108, + -0.9207801554800752 + ], + [ + 0.6357142771610864, + 0.7057275779090787, + 0.31275540537637786, + 0.6997744631507968, + -0.6979091018403043, + 0.15244207519734662, + 0.32585742056238526, + 0.12194864225174748, + -0.9375209171625899 + ], + [ + 0.6563520474634144, + 0.683773824522513, + 0.31883435619211253, + 0.6844644686482976, + -0.7174376109587435, + 0.12958265910149375, + 0.3173489892036637, + 0.1331789445808373, + -0.9389105323574481 + ], + [ + 0.6520261560045557, + 0.6884319439086904, + 0.31768435670020717, + 0.6958700771828258, + -0.7097281888034297, + 0.10977583385869338, + 0.3010427337895584, + 0.14949032284367086, + -0.9418205326964391 + ], + [ + 0.641783749983149, + 0.6937652109314956, + 0.32680797168787645, + 0.7102646737605303, + -0.6984311241605803, + 0.0878524786880546, + 0.28920185245847563, + 0.17573786417549583, + -0.940998667177388 + ], + [ + 0.5357011536859138, + 0.7830406920351731, + 0.31602460118898684, + 0.7835236896384954, + -0.6004868973949922, + 0.15970633623064204, + 0.31482519231290845, + 0.16205789297042358, + -0.9352124558682519 + ], + [ + 0.4357513359778881, + 0.8430532147758624, + 0.31524918754783443, + 0.8288941524703562, + -0.5123814409179234, + 0.2244988708286142, + 0.3507923277295783, + 0.16348252524033463, + -0.9220727773593079 + ], + [ + 0.3537909040342916, + 0.8905579352899458, + 0.2858995629844638, + 0.8633319758391658, + -0.42852940893973934, + 0.26649661380100065, + 0.3598470448902433, + 0.15254215668419763, + -0.9204569488671879 + ], + [ + 0.3078220641181827, + 0.9126460153356594, + 0.2689290381010663, + 0.8737931500272075, + -0.38301341081246065, + 0.29964355174663015, + 0.37647192167219, + 0.1427514547377664, + -0.9153638153011621 + ], + [ + 0.1880059238592553, + 0.9587766022603985, + 0.21307557239588415, + 0.9176826610058417, + -0.24879155186182134, + 0.3097762053667523, + 0.3500175799628721, + 0.13729599659200714, + -0.9266269492286214 + ], + [ + 0.06001914790183355, + 0.9787813691995232, + 0.19592022150111216, + 0.9406404673704724, + -0.12114317223228793, + 0.3170486444799251, + 0.3340557034840111, + 0.16526149923501612, + -0.9279522745488571 + ], + [ + -0.09074637497898291, + 0.9818197821419046, + 0.1667183577864094, + 0.9414080908375404, + 0.029967550437920987, + 0.3359356373271049, + 0.3248321134583084, + 0.1874349522249627, + -0.9270125332219813 + ], + [ + -0.23559021283217801, + 0.9512772918061724, + 0.1989189928377992, + 0.8877372617354741, + 0.12734805251016484, + 0.442385609675848, + 0.39549943836128576, + 0.280809521946432, + -0.8744862529737816 + ], + [ + -0.3002814640554789, + 0.9333681694000185, + 0.1966085010765216, + 0.8592351283950374, + 0.17518528139471717, + 0.4806507165443714, + 0.4141811638361431, + 0.3132634315292997, + -0.8545876116524425 + ], + [ + -0.3750164801715476, + 0.9142314939832765, + 0.15343863597167795, + 0.8300030154753892, + 0.25742173993867085, + 0.49480202314532595, + 0.4128651522004535, + 0.31291344364864404, + -0.8553522916801257 + ], + [ + -0.42197749582773203, + 0.8980829786555087, + 0.12402401567521458, + 0.8375806808142294, + 0.3338281589216421, + 0.43245504210005353, + 0.34697780352888363, + 0.2863664152100179, + -0.8930849232284884 + ], + [ + -0.4831312362049682, + 0.870682430484151, + 0.0921754514459846, + 0.8212288780072157, + 0.4141351932624641, + 0.3925241032452289, + 0.30359074183852996, + 0.26533779781190847, + -0.9151112033639726 + ], + [ + -0.49433893674106033, + 0.8641482631536095, + 0.09421674432030597, + 0.8124038217550413, + 0.4207208244295949, + 0.403725176684691, + 0.3092394638779484, + 0.276119117737041, + -0.9100160365623218 + ], + [ + -0.5027288593575414, + 0.8621729606822753, + 0.06262172017299533, + 0.815200344485154, + 0.448743845599177, + 0.3661657539805547, + 0.287597100681407, + 0.23513133969171712, + -0.9284401761957669 + ], + [ + -0.5144137220722922, + 0.8566237813827251, + 0.039676437759605, + 0.8010017855046732, + 0.46346022002381276, + 0.3789469145854136, + 0.30622648834164584, + 0.2267163902876022, + -0.9245674752082207 + ], + [ + -0.5114419160388739, + 0.8571839989189926, + 0.060520727984133826, + 0.8041650393902772, + 0.452602999709272, + 0.3853169008447493, + 0.30289561888696737, + 0.2457358676534887, + -0.9207975496316592 + ], + [ + -0.5090634872453669, + 0.8579902627040898, + 0.06860812676756017, + 0.8090815667774365, + 0.4497992162914072, + 0.37824288932457795, + 0.29366883432627844, + 0.24805921496409555, + -0.9231604636339459 + ], + [ + -0.5116914660374353, + 0.8544296506624146, + 0.09012111657854556, + 0.8096876244875567, + 0.4444783981201502, + 0.38320347644070507, + 0.28736352297422335, + 0.26905190144923496, + -0.9192569172926542 + ], + [ + -0.4922988322011965, + 0.8636694699437213, + 0.10824466037855934, + 0.8307030338977031, + 0.4290456341506721, + 0.3547566959049531, + 0.25995062855567364, + 0.26456547488925913, + -0.928671513620468 + ], + [ + -0.47119141734357056, + 0.8769913986929468, + 0.09415272083347283, + 0.8448352229993764, + 0.4180703915962583, + 0.33387212170252434, + 0.25344051412777546, + 0.23686121313786257, + -0.9379044042489133 + ], + [ + -0.4575591346852635, + 0.8850532412253276, + 0.08555932715148609, + 0.8491218917421046, + 0.4063630450009397, + 0.3374330876216403, + 0.26387809918669325, + 0.22704588931338593, + -0.9374532057204303 + ], + [ + -0.4264432462925263, + 0.8981406585278333, + 0.10718915612449688, + 0.8710716012632935, + 0.3758566892268005, + 0.31617402587194, + 0.2436809864640524, + 0.22819970784963392, + -0.9426263682781466 + ], + [ + -0.3230880618971391, + 0.9415259882961452, + 0.09561860500194046, + 0.9222193378309423, + 0.290552815431144, + 0.2551285056117669, + 0.21242786349772524, + 0.17061030100202718, + -0.9621676194935003 + ], + [ + -0.1493355103375104, + 0.9792855720261989, + 0.1367430940616607, + 0.9706223131059858, + 0.11879771741105766, + 0.2092353403197187, + 0.18865638248684122, + 0.16397216458668634, + -0.9682571448678992 + ], + [ + 0.09852961297629548, + 0.9836317764056851, + 0.15086564821634407, + 0.9644452377547282, + -0.13174665325989188, + 0.22910303954125824, + 0.2452290740082973, + 0.12292822214534008, + -0.9616399292153059 + ], + [ + 0.3214544355843395, + 0.9260835464270549, + 0.19757608883729405, + 0.8876196143922095, + -0.3673698545799362, + 0.27779634643411255, + 0.329846124714811, + 0.0860735440365106, + -0.9401025896292468 + ], + [ + 0.5011791727638502, + 0.8440929582504542, + 0.19059515896197207, + 0.8060942644653359, + -0.535496884801776, + 0.25190300348285277, + 0.31469266528445106, + 0.0273891255718392, + -0.9487983780638425 + ], + [ + 0.6434356650763325, + 0.7306738060055492, + 0.22826811894161358, + 0.7063959777757768, + -0.6816385004425126, + 0.19071884358050967, + 0.2949496016101426, + 0.03853237511298416, + -0.9547355595023004 + ], + [ + 0.7264801768274469, + 0.6381033178562314, + 0.2550504036805877, + 0.6225494806385126, + -0.7682854490283494, + 0.14889463713655277, + 0.29096167588443606, + 0.05061249403237144, + -0.9553950379891782 + ], + [ + 0.7696598276381617, + 0.5713268027437937, + 0.2849726902468895, + 0.575005193342373, + -0.8142765928133685, + 0.07951514337251667, + 0.2774757238918309, + 0.10266116530999395, + -0.9552318607479017 + ], + [ + 0.8173472884572811, + 0.4962987556168273, + 0.29262767337474926, + 0.5124455495538157, + -0.8583708276515339, + 0.02447613080755167, + 0.26333053145052887, + 0.12995024974969982, + -0.9559131570367534 + ], + [ + 0.8190305394787539, + 0.49185032971215187, + 0.29541873427930826, + 0.5082962695114112, + -0.8608470550437776, + 0.024026032199221052, + 0.26612755926796444, + 0.13048218646429327, + -0.9550657156518462 + ], + [ + 0.8190558515180864, + 0.4917862461304177, + 0.29545524231418685, + 0.5083603973659838, + -0.860821716215528, + 0.023572850520294356, + 0.26592709242174206, + 0.13089026323109476, + -0.9550657152821543 + ], + [ + 0.819483128857877, + 0.4902129713550688, + 0.29688153231977643, + 0.5070135613020539, + -0.8616254960008398, + 0.023211059801632197, + 0.2671790601321751, + 0.13150189107591187, + -0.9546321817696837 + ], + [ + 0.8202341584178614, + 0.48895530194789805, + 0.29688152192681594, + 0.5056912249068578, + -0.8624022448447519, + 0.023211056394191833, + 0.2673804600503643, + 0.13109187916790427, + -0.9546321850846445 + ], + [ + 0.8205607744021483, + 0.4892711038495508, + 0.29545524610402235, + 0.5057170409139606, + -0.8623772927807157, + 0.023572853569956614, + 0.26632741136010346, + 0.13007379380200018, + -0.9550657140344745 + ], + [ + 0.8202341584178614, + 0.48895530194789805, + 0.29688152192681594, + 0.5056912249068578, + -0.8624022448447519, + 0.023211056394191833, + 0.2673804600503643, + 0.13109187916790427, + -0.9546321850846445 + ], + [ + 0.8201545169978588, + 0.4890723924584905, + 0.29690867818731276, + 0.5057677548032489, + -0.8623524939980358, + 0.02339132951861326, + 0.26747999261494243, + 0.13098233098512152, + -0.9546193390668422 + ], + [ + 0.819784046846768, + 0.49059340162681236, + 0.2954187380918303, + 0.5069751734491172, + -0.8616257438390453, + 0.02402604961390075, + 0.2663274113601035, + 0.1300737938020002, + -0.9550657140344747 + ], + [ + 0.8205607744021483, + 0.4892711038495508, + 0.29545524610402235, + 0.5057170409139606, + -0.8623772927807157, + 0.023572853569956614, + 0.26632741136010346, + 0.13007379380200018, + -0.9550657140344745 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.006229758262634277, + 0.0015041264705359936, + -0.013530396856367588, + 0.03376740217208862, + 0.012257546186447144, + -0.010475993156433105, + 1.0 + ], + [ + -0.025584399700164795, + 0.006426167208701372, + -0.010557340458035469, + 0.0339776873588562, + -0.034396857023239136, + -0.04419517517089844, + 1.0 + ], + [ + -0.007361918687820435, + 0.004124579019844532, + 0.025763899087905884, + 0.03840067982673645, + 0.0018191635608673096, + 0.009412944316864014, + 1.0 + ], + [ + -0.011005282402038574, + 0.004681662656366825, + 0.0071032303385436535, + 0.037697553634643555, + 0.0067788660526275635, + 0.034254372119903564, + 1.0 + ], + [ + -0.007102876901626587, + 0.005779551342129707, + 0.0035065170377492905, + 0.05770338326692581, + 0.028367847204208374, + -0.005080699920654297, + 1.0 + ], + [ + 0.0010576844215393066, + 0.02567986771464348, + -0.002223268151283264, + 0.003500521183013916, + -0.03468465805053711, + -0.058902204036712646, + 1.0 + ], + [ + 0.0057281553745269775, + 0.020550008863210678, + -0.003960881382226944, + -0.035036079585552216, + -0.04720526933670044, + -0.028900623321533203, + 1.0 + ], + [ + -0.00019246339797973633, + 0.018105775117874146, + -0.02404855191707611, + -0.012684494256973267, + 0.016812026500701904, + -0.01026993989944458, + 1.0 + ], + [ + 0.010810494422912598, + 0.008882805705070496, + -0.012155923992395401, + 0.001291528344154358, + 0.0023595988750457764, + -0.058295369148254395, + 1.0 + ], + [ + 0.007184326648712158, + 0.008005224168300629, + -0.011589545756578445, + -0.00012201070785522461, + 0.028257519006729126, + -0.016458868980407715, + 1.0 + ], + [ + 0.005869388580322266, + 0.0020141974091529846, + -0.011699400842189789, + -0.0025534778833389282, + 0.04924657940864563, + -0.018171727657318115, + 0.0 + ], + [ + 0.003161698579788208, + -0.0014645233750343323, + 0.0014329180121421814, + -0.011554762721061707, + 0.008985847234725952, + -0.026967287063598633, + 0.0 + ], + [ + -0.00104600191116333, + -0.0033600181341171265, + -0.00118926540017128, + -0.01650753617286682, + 0.01714673638343811, + 0.011552631855010986, + 0.0 + ], + [ + -0.001913696527481079, + -0.0048605650663375854, + -0.0027396827936172485, + -0.027218163013458252, + 0.012392967939376831, + 0.01809030771255493, + 0.0 + ], + [ + -0.010813415050506592, + -0.011263109743595123, + -0.003041893243789673, + 0.013049125671386719, + -0.02687951922416687, + 0.13508403301239014, + 0.0 + ], + [ + -0.006226629018783569, + -0.018580235540866852, + 0.003936406224966049, + -0.0038946866989135742, + -0.038144588470458984, + 0.11571043729782104, + 0.0 + ], + [ + -0.005921155214309692, + -0.013472307473421097, + 0.009520906955003738, + 0.011243700981140137, + -0.009686887264251709, + 0.09507369995117188, + 0.0 + ], + [ + -0.0014076530933380127, + -0.005178514868021011, + 0.011467035859823227, + 0.009527340531349182, + -0.017881125211715698, + 0.0502166748046875, + 0.0 + ], + [ + -0.002231597900390625, + 0.000634264200925827, + 0.00391099788248539, + 0.00760708749294281, + 0.02839520573616028, + 0.13663268089294434, + 0.0 + ], + [ + 0.0005260109901428223, + 0.0011432655155658722, + 0.002483425661921501, + -0.029147565364837646, + 0.0169866681098938, + 0.13835382461547852, + 0.0 + ], + [ + 0.0027135908603668213, + 0.003474988043308258, + 0.002955026924610138, + -0.02325795590877533, + 0.00976899266242981, + 0.15981769561767578, + 0.0 + ], + [ + -0.0034162402153015137, + 0.010529689490795135, + 0.00013202056288719177, + -0.11121006309986115, + -0.07577735185623169, + 0.16330599784851074, + 0.0 + ], + [ + -0.0024668872356414795, + -0.002650253474712372, + -0.0002322942018508911, + -0.04064387083053589, + -0.020431429147720337, + 0.07680392265319824, + 0.0 + ], + [ + -0.009961426258087158, + -0.001466158777475357, + -0.010436773300170898, + 0.0006497502326965332, + 0.001445382833480835, + 0.08816361427307129, + 0.0 + ], + [ + -0.004889488220214844, + -0.008424535393714905, + -0.006207861006259918, + 0.040415823459625244, + 0.07125082612037659, + 0.04231619834899902, + 0.0 + ], + [ + -0.007359117269515991, + 0.011009730398654938, + -0.005490988492965698, + 0.028078556060791016, + 0.045887768268585205, + 0.06508708000183105, + 0.0 + ], + [ + -0.006039649248123169, + 0.0050605349242687225, + -0.0034920834004878998, + -0.012380897998809814, + -0.005934178829193115, + 0.014863967895507812, + 0.0 + ], + [ + -0.0040360987186431885, + 0.006266191601753235, + -0.0011376217007637024, + 0.04655446112155914, + 0.022676199674606323, + 0.005965709686279297, + 0.0 + ], + [ + -0.002103477716445923, + 0.012524373829364777, + 0.0021174736320972443, + 0.007570415735244751, + -0.019509553909301758, + 0.018277645111083984, + 0.0 + ], + [ + 0.00268632173538208, + 0.007606580853462219, + 0.0005978196859359741, + -0.020326241850852966, + 0.003497004508972168, + -0.00441741943359375, + 0.0 + ], + [ + 0.00029027462005615234, + 0.0020983517169952393, + -0.000806666910648346, + -0.0017109513282775879, + 0.009666889905929565, + -0.0048596858978271484, + 1.0 + ], + [ + 0.0005505979061126709, + 0.0032849907875061035, + 0.006658017635345459, + -0.02222570776939392, + 0.006589531898498535, + 0.001985311508178711, + 1.0 + ], + [ + 0.0006092488765716553, + 0.003670431673526764, + 0.006032045930624008, + 0.007197856903076172, + 0.028502047061920166, + -0.028607606887817383, + 1.0 + ], + [ + -0.0009519755840301514, + 0.0002089366316795349, + 0.004126332700252533, + 0.03016301989555359, + 0.0067358314990997314, + -0.02622222900390625, + 1.0 + ], + [ + 0.0032921135425567627, + -0.00011981278657913208, + 0.005050079897046089, + 0.009751856327056885, + -0.010805368423461914, + -0.014508485794067383, + 1.0 + ], + [ + 0.011504381895065308, + -0.00800853967666626, + 0.015136554837226868, + 9.930133819580078e-05, + 0.020881161093711853, + -0.03898930549621582, + 1.0 + ], + [ + 0.00855344533920288, + -0.009237393736839294, + 0.0071567995473742485, + 0.06202493607997894, + 0.03210058808326721, + -0.1182866096496582, + 1.0 + ], + [ + 0.010501593351364136, + -0.007758989930152893, + 0.022981341928243637, + 0.0077384114265441895, + 0.02426508069038391, + -0.18431711196899414, + 1.0 + ], + [ + 0.002966761589050293, + -0.006502747535705566, + 0.0017670691013336182, + 0.040613844990730286, + -0.057962194085121155, + -0.2544671297073364, + 1.0 + ], + [ + -0.0022521615028381348, + -0.011079464107751846, + 0.0038977600634098053, + 0.0358392596244812, + -0.08838459849357605, + -0.24565184116363525, + 1.0 + ], + [ + -0.003228813409805298, + -0.008609060198068619, + -0.0035333093255758286, + 0.062443893402814865, + 0.016007721424102783, + -0.20878934860229492, + 1.0 + ], + [ + -0.0024827420711517334, + -0.011427037417888641, + -0.009900725446641445, + -0.011478163301944733, + 0.02073007822036743, + -0.1825389266014099, + 1.0 + ], + [ + -0.0022481977939605713, + -0.021713266149163246, + 0.0023036543279886246, + -0.01258866861462593, + 0.004170924425125122, + -0.12349849939346313, + 1.0 + ], + [ + -0.007468998432159424, + -0.021054133772850037, + 0.004439844749867916, + -0.054135583341121674, + 0.014066189527511597, + -0.06687283515930176, + 1.0 + ], + [ + -0.01220354437828064, + -0.027749590575695038, + -0.006557906977832317, + -0.02805372327566147, + 0.014692693948745728, + -0.08162730932235718, + 1.0 + ], + [ + 0.00021955370903015137, + 0.00038831308484077454, + -0.00012983940541744232, + -0.0006652325391769409, + -0.0029005110263824463, + -0.004574596881866455, + 1.0 + ], + [ + -4.696846008300781e-05, + -0.000497104600071907, + 0.0, + -0.00041942298412323, + 0.0002079606056213379, + 4.267692565917969e-05, + 1.0 + ], + [ + 0.00022616982460021973, + -5.737133324146271e-05, + 6.874650716781616e-05, + -0.0006899088621139526, + -0.0012989640235900879, + -0.0014213323593139648, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0004215240478515625, + -0.00020900368690490723, + -0.0015770792961120605, + 1.0 + ], + [ + -0.00022616982460021973, + 5.737133324146271e-05, + -6.874650716781616e-05, + 0.0011076033115386963, + 0.001092672348022461, + -0.00015503168106079102, + 1.0 + ], + [ + 0.00022616982460021973, + -5.737133324146271e-05, + 6.874650716781616e-05, + -0.0011076033115386963, + -0.001092672348022461, + 0.00015503168106079102, + 1.0 + ], + [ + 0.00028011202812194824, + -5.859881639480591e-06, + 0.0002662595361471176, + 0.00011081993579864502, + -0.00010329484939575195, + 0.00011098384857177734, + 1.0 + ], + [ + -0.00045931339263916016, + 0.0005603358149528503, + -0.0003350060433149338, + 0.0009967833757400513, + 0.0011959671974182129, + 0.0012679696083068848, + 1.0 + ], + [ + -4.696846008300781e-05, + -0.000497104600071907, + 0.0, + 0.0, + 0.0, + -0.0015339851379394531, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9492040276527405 + ], + [ + 0.6741776466369629 + ], + [ + 0.39886748790740967 + ], + [ + 0.36865687370300293 + ], + [ + 0.36865687370300293 + ], + [ + 0.36781078577041626 + ], + [ + 0.36781078577041626 + ], + [ + 0.36781078577041626 + ], + [ + 0.36781078577041626 + ], + [ + 0.36781078577041626 + ], + [ + 0.36781078577041626 + ], + [ + 0.36781078577041626 + ], + [ + 0.36781078577041626 + ], + [ + 0.36781078577041626 + ], + [ + 0.36781078577041626 + ], + [ + 0.36781078577041626 + ], + [ + 0.36781078577041626 + ], + [ + 0.36781078577041626 + ], + [ + 0.36781078577041626 + ], + [ + 0.36781078577041626 + ], + [ + 0.43656274676322937 + ], + [ + 0.7329457402229309 + ], + [ + 0.9766865372657776 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3977763056755066, + 0.001445408328436315, + -0.014222081750631332 + ], + [ + 0.3721919059753418, + 0.007871575653553009, + -0.0247794222086668 + ], + [ + 0.36482998728752136, + 0.011996154673397541, + 0.000984476413577795 + ], + [ + 0.3538247048854828, + 0.016677817329764366, + 0.008087706752121449 + ], + [ + 0.3467218279838562, + 0.022457368671894073, + 0.011594223789870739 + ], + [ + 0.3477795124053955, + 0.04813723638653755, + 0.009370955638587475 + ], + [ + 0.3535076677799225, + 0.06868724524974823, + 0.005410074256360531 + ], + [ + 0.35331520438194275, + 0.08679302036762238, + -0.018638476729393005 + ], + [ + 0.36412569880485535, + 0.09567582607269287, + -0.030794400721788406 + ], + [ + 0.3713100254535675, + 0.1036810502409935, + -0.04238394647836685 + ], + [ + 0.37717941403388977, + 0.10569524765014648, + -0.05408334732055664 + ], + [ + 0.380341112613678, + 0.10423072427511215, + -0.05265042930841446 + ], + [ + 0.37929511070251465, + 0.10087070614099503, + -0.05383969470858574 + ], + [ + 0.37738141417503357, + 0.09601014107465744, + -0.05657937750220299 + ], + [ + 0.366567999124527, + 0.08474703133106232, + -0.05962127074599266 + ], + [ + 0.3603413701057434, + 0.06616679579019547, + -0.05568486452102661 + ], + [ + 0.3544202148914337, + 0.05269448831677437, + -0.04616395756602287 + ], + [ + 0.3530125617980957, + 0.04751597344875336, + -0.034696921706199646 + ], + [ + 0.3507809638977051, + 0.048150237649679184, + -0.030785923823714256 + ], + [ + 0.3513069748878479, + 0.049293503165245056, + -0.028302498161792755 + ], + [ + 0.3540205657482147, + 0.052768491208553314, + -0.025347471237182617 + ], + [ + 0.3506043255329132, + 0.06329818069934845, + -0.025215450674295425 + ], + [ + 0.34813743829727173, + 0.06064792722463608, + -0.025447744876146317 + ], + [ + 0.33817601203918457, + 0.05918176844716072, + -0.035884518176317215 + ], + [ + 0.3332865238189697, + 0.050757233053445816, + -0.04209237918257713 + ], + [ + 0.32592740654945374, + 0.061766963452100754, + -0.04758336767554283 + ], + [ + 0.31988775730133057, + 0.06682749837636948, + -0.05107545107603073 + ], + [ + 0.3158516585826874, + 0.07309368997812271, + -0.052213072776794434 + ], + [ + 0.31374818086624146, + 0.08561806380748749, + -0.05009559914469719 + ], + [ + 0.31643450260162354, + 0.09322464466094971, + -0.049497779458761215 + ], + [ + 0.3167247772216797, + 0.09532299637794495, + -0.05030444636940956 + ], + [ + 0.31727537512779236, + 0.09860798716545105, + -0.0436464287340641 + ], + [ + 0.317884624004364, + 0.10227841883897781, + -0.037614382803440094 + ], + [ + 0.31693264842033386, + 0.10248735547065735, + -0.03348805010318756 + ], + [ + 0.3202247619628906, + 0.10236754268407822, + -0.028437970206141472 + ], + [ + 0.33172914385795593, + 0.09435900300741196, + -0.013301415368914604 + ], + [ + 0.3402825891971588, + 0.08512160927057266, + -0.006144615821540356 + ], + [ + 0.35078418254852295, + 0.07736261934041977, + 0.016836725175380707 + ], + [ + 0.35375094413757324, + 0.0708598718047142, + 0.018603794276714325 + ], + [ + 0.3514987826347351, + 0.05978040769696236, + 0.02250155434012413 + ], + [ + 0.3482699692249298, + 0.05117134749889374, + 0.0189682450145483 + ], + [ + 0.3457872271537781, + 0.039744310081005096, + 0.009067519567906857 + ], + [ + 0.3435390293598175, + 0.01803104393184185, + 0.011371173895895481 + ], + [ + 0.3360700309276581, + -0.0030230891425162554, + 0.015811018645763397 + ], + [ + 0.32386648654937744, + -0.030772680416703224, + 0.00925311166793108 + ], + [ + 0.3240860402584076, + -0.03038436733186245, + 0.009123272262513638 + ], + [ + 0.3240390717983246, + -0.030881471931934357, + 0.009123272262513638 + ], + [ + 0.3242652416229248, + -0.03093884326517582, + 0.009192018769681454 + ], + [ + 0.3242652416229248, + -0.03093884326517582, + 0.009192018769681454 + ], + [ + 0.3240390717983246, + -0.030881471931934357, + 0.009123272262513638 + ], + [ + 0.3242652416229248, + -0.03093884326517582, + 0.009192018769681454 + ], + [ + 0.32454535365104675, + -0.0309447031468153, + 0.009458278305828571 + ], + [ + 0.3240860402584076, + -0.03038436733186245, + 0.009123272262513638 + ], + [ + 0.3240390717983246, + -0.030881471931934357, + 0.009123272262513638 + ], + [ + 0.3240390717983246, + -0.030881471931934357, + 0.009123272262513638 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.4837862283497508, + 0.7864393385027495, + 0.3840104843809349, + 0.8055058735847183, + -0.5716865434052332, + 0.1559961015855717, + 0.3422150973870707, + 0.23385393506360747, + -0.9100555830143692 + ], + [ + 0.5120955172634567, + 0.769414164068261, + 0.3817853131405296, + 0.7730704878527241, + -0.6065843115110955, + 0.1855195241470868, + 0.3743263309063684, + 0.20014324160398153, + -0.9054404899442186 + ], + [ + 0.50516593034669, + 0.7892715447468172, + 0.34908138230208785, + 0.7784264268306921, + -0.5913610544387689, + 0.21058110386420892, + 0.37263880746449973, + 0.16535577385153694, + -0.9131252856127657 + ], + [ + 0.47950104477777916, + 0.82182096853736, + 0.30771584900575605, + 0.7974170787479319, + -0.5544392653469319, + 0.2381661259765304, + 0.366339665581182, + 0.1311769671621872, + -0.921188282984536 + ], + [ + 0.4887515854519485, + 0.8365999288687764, + 0.2474317011519848, + 0.8035283468011349, + -0.5421360914604054, + 0.2458264717703733, + 0.3398000641630927, + 0.07867030794901818, + -0.9372016320098706 + ], + [ + 0.5281787092894235, + 0.8026664906952607, + 0.277044681898631, + 0.7632083420643374, + -0.5917695978556041, + 0.259464389959821, + 0.3722099913446228, + 0.07439924575405002, + -0.925161863986224 + ], + [ + 0.5389914635136523, + 0.7718290226570439, + 0.3372953632110632, + 0.7326465701309475, + -0.6271636477195222, + 0.2643761756560172, + 0.4155925956207223, + 0.10462178914267851, + -0.9035137385241108 + ], + [ + 0.5506077013253088, + 0.7621503426035053, + 0.34052608491952396, + 0.7325548081255883, + -0.6367494118794272, + 0.2406525286866646, + 0.4002431914890522, + 0.11694888516169231, + -0.908916027983936 + ], + [ + 0.5929615617541394, + 0.7243903895315578, + 0.3516463419920784, + 0.6999493706247351, + -0.6795786712201961, + 0.21964450410749992, + 0.398079721719317, + 0.11589388757354901, + -0.9100006274607509 + ], + [ + 0.6115701210940496, + 0.7152370256318261, + 0.3382572750885757, + 0.6982810004547, + -0.6889540792246194, + 0.19428309531130275, + 0.37200219272067914, + 0.11738089233387108, + -0.9207801554800752 + ], + [ + 0.6357142771610864, + 0.7057275779090787, + 0.31275540537637786, + 0.6997744631507968, + -0.6979091018403043, + 0.15244207519734662, + 0.32585742056238526, + 0.12194864225174748, + -0.9375209171625899 + ], + [ + 0.6563520474634144, + 0.683773824522513, + 0.31883435619211253, + 0.6844644686482976, + -0.7174376109587435, + 0.12958265910149375, + 0.3173489892036637, + 0.1331789445808373, + -0.9389105323574481 + ], + [ + 0.6520261560045557, + 0.6884319439086904, + 0.31768435670020717, + 0.6958700771828258, + -0.7097281888034297, + 0.10977583385869338, + 0.3010427337895584, + 0.14949032284367086, + -0.9418205326964391 + ], + [ + 0.641783749983149, + 0.6937652109314956, + 0.32680797168787645, + 0.7102646737605303, + -0.6984311241605803, + 0.0878524786880546, + 0.28920185245847563, + 0.17573786417549583, + -0.940998667177388 + ], + [ + 0.5357011536859138, + 0.7830406920351731, + 0.31602460118898684, + 0.7835236896384954, + -0.6004868973949922, + 0.15970633623064204, + 0.31482519231290845, + 0.16205789297042358, + -0.9352124558682519 + ], + [ + 0.4357513359778881, + 0.8430532147758624, + 0.31524918754783443, + 0.8288941524703562, + -0.5123814409179234, + 0.2244988708286142, + 0.3507923277295783, + 0.16348252524033463, + -0.9220727773593079 + ], + [ + 0.3537909040342916, + 0.8905579352899458, + 0.2858995629844638, + 0.8633319758391658, + -0.42852940893973934, + 0.26649661380100065, + 0.3598470448902433, + 0.15254215668419763, + -0.9204569488671879 + ], + [ + 0.3078220641181827, + 0.9126460153356594, + 0.2689290381010663, + 0.8737931500272075, + -0.38301341081246065, + 0.29964355174663015, + 0.37647192167219, + 0.1427514547377664, + -0.9153638153011621 + ], + [ + 0.1880059238592553, + 0.9587766022603985, + 0.21307557239588415, + 0.9176826610058417, + -0.24879155186182134, + 0.3097762053667523, + 0.3500175799628721, + 0.13729599659200714, + -0.9266269492286214 + ], + [ + 0.06001914790183355, + 0.9787813691995232, + 0.19592022150111216, + 0.9406404673704724, + -0.12114317223228793, + 0.3170486444799251, + 0.3340557034840111, + 0.16526149923501612, + -0.9279522745488571 + ], + [ + -0.09074637497898291, + 0.9818197821419046, + 0.1667183577864094, + 0.9414080908375404, + 0.029967550437920987, + 0.3359356373271049, + 0.3248321134583084, + 0.1874349522249627, + -0.9270125332219813 + ], + [ + -0.23559021283217801, + 0.9512772918061724, + 0.1989189928377992, + 0.8877372617354741, + 0.12734805251016484, + 0.442385609675848, + 0.39549943836128576, + 0.280809521946432, + -0.8744862529737816 + ], + [ + -0.3002814640554789, + 0.9333681694000185, + 0.1966085010765216, + 0.8592351283950374, + 0.17518528139471717, + 0.4806507165443714, + 0.4141811638361431, + 0.3132634315292997, + -0.8545876116524425 + ], + [ + -0.3750164801715476, + 0.9142314939832765, + 0.15343863597167795, + 0.8300030154753892, + 0.25742173993867085, + 0.49480202314532595, + 0.4128651522004535, + 0.31291344364864404, + -0.8553522916801257 + ], + [ + -0.42197749582773203, + 0.8980829786555087, + 0.12402401567521458, + 0.8375806808142294, + 0.3338281589216421, + 0.43245504210005353, + 0.34697780352888363, + 0.2863664152100179, + -0.8930849232284884 + ], + [ + -0.4831312362049682, + 0.870682430484151, + 0.0921754514459846, + 0.8212288780072157, + 0.4141351932624641, + 0.3925241032452289, + 0.30359074183852996, + 0.26533779781190847, + -0.9151112033639726 + ], + [ + -0.49433893674106033, + 0.8641482631536095, + 0.09421674432030597, + 0.8124038217550413, + 0.4207208244295949, + 0.403725176684691, + 0.3092394638779484, + 0.276119117737041, + -0.9100160365623218 + ], + [ + -0.5027288593575414, + 0.8621729606822753, + 0.06262172017299533, + 0.815200344485154, + 0.448743845599177, + 0.3661657539805547, + 0.287597100681407, + 0.23513133969171712, + -0.9284401761957669 + ], + [ + -0.5144137220722922, + 0.8566237813827251, + 0.039676437759605, + 0.8010017855046732, + 0.46346022002381276, + 0.3789469145854136, + 0.30622648834164584, + 0.2267163902876022, + -0.9245674752082207 + ], + [ + -0.5114419160388739, + 0.8571839989189926, + 0.060520727984133826, + 0.8041650393902772, + 0.452602999709272, + 0.3853169008447493, + 0.30289561888696737, + 0.2457358676534887, + -0.9207975496316592 + ], + [ + -0.5090634872453669, + 0.8579902627040898, + 0.06860812676756017, + 0.8090815667774365, + 0.4497992162914072, + 0.37824288932457795, + 0.29366883432627844, + 0.24805921496409555, + -0.9231604636339459 + ], + [ + -0.5116914660374353, + 0.8544296506624146, + 0.09012111657854556, + 0.8096876244875567, + 0.4444783981201502, + 0.38320347644070507, + 0.28736352297422335, + 0.26905190144923496, + -0.9192569172926542 + ], + [ + -0.4922988322011965, + 0.8636694699437213, + 0.10824466037855934, + 0.8307030338977031, + 0.4290456341506721, + 0.3547566959049531, + 0.25995062855567364, + 0.26456547488925913, + -0.928671513620468 + ], + [ + -0.47119141734357056, + 0.8769913986929468, + 0.09415272083347283, + 0.8448352229993764, + 0.4180703915962583, + 0.33387212170252434, + 0.25344051412777546, + 0.23686121313786257, + -0.9379044042489133 + ], + [ + -0.4575591346852635, + 0.8850532412253276, + 0.08555932715148609, + 0.8491218917421046, + 0.4063630450009397, + 0.3374330876216403, + 0.26387809918669325, + 0.22704588931338593, + -0.9374532057204303 + ], + [ + -0.4264432462925263, + 0.8981406585278333, + 0.10718915612449688, + 0.8710716012632935, + 0.3758566892268005, + 0.31617402587194, + 0.2436809864640524, + 0.22819970784963392, + -0.9426263682781466 + ], + [ + -0.3230880618971391, + 0.9415259882961452, + 0.09561860500194046, + 0.9222193378309423, + 0.290552815431144, + 0.2551285056117669, + 0.21242786349772524, + 0.17061030100202718, + -0.9621676194935003 + ], + [ + -0.1493355103375104, + 0.9792855720261989, + 0.1367430940616607, + 0.9706223131059858, + 0.11879771741105766, + 0.2092353403197187, + 0.18865638248684122, + 0.16397216458668634, + -0.9682571448678992 + ], + [ + 0.09852961297629548, + 0.9836317764056851, + 0.15086564821634407, + 0.9644452377547282, + -0.13174665325989188, + 0.22910303954125824, + 0.2452290740082973, + 0.12292822214534008, + -0.9616399292153059 + ], + [ + 0.3214544355843395, + 0.9260835464270549, + 0.19757608883729405, + 0.8876196143922095, + -0.3673698545799362, + 0.27779634643411255, + 0.329846124714811, + 0.0860735440365106, + -0.9401025896292468 + ], + [ + 0.5011791727638502, + 0.8440929582504542, + 0.19059515896197207, + 0.8060942644653359, + -0.535496884801776, + 0.25190300348285277, + 0.31469266528445106, + 0.0273891255718392, + -0.9487983780638425 + ], + [ + 0.6434356650763325, + 0.7306738060055492, + 0.22826811894161358, + 0.7063959777757768, + -0.6816385004425126, + 0.19071884358050967, + 0.2949496016101426, + 0.03853237511298416, + -0.9547355595023004 + ], + [ + 0.7264801768274469, + 0.6381033178562314, + 0.2550504036805877, + 0.6225494806385126, + -0.7682854490283494, + 0.14889463713655277, + 0.29096167588443606, + 0.05061249403237144, + -0.9553950379891782 + ], + [ + 0.7696598276381617, + 0.5713268027437937, + 0.2849726902468895, + 0.575005193342373, + -0.8142765928133685, + 0.07951514337251667, + 0.2774757238918309, + 0.10266116530999395, + -0.9552318607479017 + ], + [ + 0.8173472884572811, + 0.4962987556168273, + 0.29262767337474926, + 0.5124455495538157, + -0.8583708276515339, + 0.02447613080755167, + 0.26333053145052887, + 0.12995024974969982, + -0.9559131570367534 + ], + [ + 0.8190305394787539, + 0.49185032971215187, + 0.29541873427930826, + 0.5082962695114112, + -0.8608470550437776, + 0.024026032199221052, + 0.26612755926796444, + 0.13048218646429327, + -0.9550657156518462 + ], + [ + 0.8190558515180864, + 0.4917862461304177, + 0.29545524231418685, + 0.5083603973659838, + -0.860821716215528, + 0.023572850520294356, + 0.26592709242174206, + 0.13089026323109476, + -0.9550657152821543 + ], + [ + 0.819483128857877, + 0.4902129713550688, + 0.29688153231977643, + 0.5070135613020539, + -0.8616254960008398, + 0.023211059801632197, + 0.2671790601321751, + 0.13150189107591187, + -0.9546321817696837 + ], + [ + 0.8202341584178614, + 0.48895530194789805, + 0.29688152192681594, + 0.5056912249068578, + -0.8624022448447519, + 0.023211056394191833, + 0.2673804600503643, + 0.13109187916790427, + -0.9546321850846445 + ], + [ + 0.8205607744021483, + 0.4892711038495508, + 0.29545524610402235, + 0.5057170409139606, + -0.8623772927807157, + 0.023572853569956614, + 0.26632741136010346, + 0.13007379380200018, + -0.9550657140344745 + ], + [ + 0.8202341584178614, + 0.48895530194789805, + 0.29688152192681594, + 0.5056912249068578, + -0.8624022448447519, + 0.023211056394191833, + 0.2673804600503643, + 0.13109187916790427, + -0.9546321850846445 + ], + [ + 0.8201545169978588, + 0.4890723924584905, + 0.29690867818731276, + 0.5057677548032489, + -0.8623524939980358, + 0.02339132951861326, + 0.26747999261494243, + 0.13098233098512152, + -0.9546193390668422 + ], + [ + 0.819784046846768, + 0.49059340162681236, + 0.2954187380918303, + 0.5069751734491172, + -0.8616257438390453, + 0.02402604961390075, + 0.2663274113601035, + 0.1300737938020002, + -0.9550657140344747 + ], + [ + 0.8205607744021483, + 0.4892711038495508, + 0.29545524610402235, + 0.5057170409139606, + -0.8623772927807157, + 0.023572853569956614, + 0.26632741136010346, + 0.13007379380200018, + -0.9550657140344745 + ], + [ + 0.8205607744021483, + 0.4892711038495508, + 0.29545524610402235, + 0.5057170409139606, + -0.8623772927807157, + 0.023572853569956614, + 0.26632741136010346, + 0.13007379380200018, + -0.9550657140344745 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005906.json b/json/chunk-0005/episode_0005906.json new file mode 100644 index 0000000000000000000000000000000000000000..0790fd24873ca46da2e92512e97c64345fe25a41 --- /dev/null +++ b/json/chunk-0005/episode_0005906.json @@ -0,0 +1,1822 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 29, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPick up the green bell pepper and place it on the blue cloth." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005906.mp4", + "start": 0, + "end": 29, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.29249832034111023, + 0.11539850383996964, + 0.13036078214645386, + 0.05362573638558388, + -0.0470864363014698, + -0.05102236568927765, + 0.0, + 1.0001531839370728 + ], + [ + 0.29210761189460754, + 0.11451725661754608, + 0.12101364135742188, + 0.037397198379039764, + -0.020599011331796646, + -0.0522005669772625, + 0.0, + 1.0001531839370728 + ], + [ + 0.3051045835018158, + 0.12372171878814697, + 0.1097436398267746, + 0.024863451719284058, + -0.030889248475432396, + -0.04245241358876228, + 0.0, + 1.0001531839370728 + ], + [ + 0.32746297121047974, + 0.13810764253139496, + 0.10083086043596268, + 0.029032140970230103, + -0.06940033286809921, + -0.03363080695271492, + 0.0, + 1.0001531839370728 + ], + [ + 0.3563600778579712, + 0.14801935851573944, + 0.08256402611732483, + 0.011625469662249088, + -0.08401353657245636, + -0.01827874593436718, + 0.0, + 1.0001531839370728 + ], + [ + 0.37568727135658264, + 0.15395218133926392, + 0.06282927840948105, + -0.0014463532716035843, + -0.07515779882669449, + 0.018503310158848763, + 0.0, + 1.0001531839370728 + ], + [ + 0.3870827257633209, + 0.15361571311950684, + 0.050590284168720245, + -0.0160922072827816, + -0.069953054189682, + 0.04158356785774231, + 0.0, + 1.0001531839370728 + ], + [ + 0.3884521424770355, + 0.15323977172374725, + 0.05104786902666092, + -0.02074693888425827, + -0.07728433609008789, + 0.06265634298324585, + 0.0, + 1.0001531839370728 + ], + [ + 0.39056724309921265, + 0.14993132650852203, + 0.049186479300260544, + -0.039565324783325195, + -0.09198843687772751, + 0.09033685177564621, + 0.0, + 1.0001531839370728 + ], + [ + 0.39014026522636414, + 0.14707209169864655, + 0.04561888426542282, + -0.04129164293408394, + -0.09090383350849152, + 0.10828004777431488, + 0.0, + 1.0001531839370728 + ], + [ + 0.39249154925346375, + 0.14116723835468292, + 0.03930899500846863, + -0.04485088959336281, + -0.0825703963637352, + 0.11360718309879303, + 0.0, + 1.0001531839370728 + ], + [ + 0.39054083824157715, + 0.14045298099517822, + 0.026793818920850754, + -0.041421469300985336, + -0.0501006543636322, + 0.12919162213802338, + 0.0, + 1.0001531839370728 + ], + [ + 0.3928079605102539, + 0.1424780637025833, + 0.027088720351457596, + -0.03040166385471821, + -0.051444023847579956, + 0.13870954513549805, + 0.0, + 0.9445669651031494 + ], + [ + 0.39359229803085327, + 0.14326393604278564, + 0.026192085817456245, + -0.01942608505487442, + -0.05028858408331871, + 0.13622361421585083, + 0.0, + 0.8214757442474365 + ], + [ + 0.3928013741970062, + 0.14275895059108734, + 0.025064144283533096, + -0.01646825298666954, + -0.04969519004225731, + 0.13038909435272217, + 0.0, + 0.8205437660217285 + ], + [ + 0.3883156478404999, + 0.13969005644321442, + 0.03166743740439415, + -0.020603172481060028, + -0.049327343702316284, + 0.1231231540441513, + 0.0, + 0.6921995282173157 + ], + [ + 0.3782990574836731, + 0.13366468250751495, + 0.08290745317935944, + -0.023749543353915215, + -0.12489095330238342, + 0.11985313147306442, + 0.0, + 0.48323801159858704 + ], + [ + 0.3521333932876587, + 0.12534242868423462, + 0.12257977575063705, + -0.025008495897054672, + -0.1931065171957016, + 0.09920147806406021, + 0.0, + 0.47944000363349915 + ], + [ + 0.32153406739234924, + 0.11427934467792511, + 0.13125601410865784, + -0.015888703987002373, + -0.19310174882411957, + 0.04762306809425354, + 0.0, + 0.47944000363349915 + ], + [ + 0.2909068167209625, + 0.09060034155845642, + 0.12209347635507584, + 0.012075641192495823, + -0.15537431836128235, + -0.0450422577559948, + 0.0, + 0.47944000363349915 + ], + [ + 0.2710132300853729, + 0.07132527977228165, + 0.10215804725885391, + 0.017531808465719223, + -0.11206373572349548, + -0.10711054503917694, + 0.0, + 0.47944000363349915 + ], + [ + 0.2698584794998169, + 0.06211316958069801, + 0.091865673661232, + 0.03927210718393326, + -0.1032637432217598, + -0.12705375254154205, + 0.0, + 0.47944000363349915 + ], + [ + 0.2733704745769501, + 0.057927876710891724, + 0.075621597468853, + 0.037298284471035004, + -0.06852425634860992, + -0.11929100006818771, + 0.0, + 0.47944000363349915 + ], + [ + 0.2838008403778076, + 0.05645269900560379, + 0.0683038979768753, + 0.042739979922771454, + -0.06422564387321472, + -0.1087280660867691, + 0.0, + 0.561048150062561 + ], + [ + 0.29068633913993835, + 0.057040415704250336, + 0.07006832957267761, + 0.05522514134645462, + -0.07020335644483566, + -0.11891929805278778, + 0.0, + 0.842682421207428 + ], + [ + 0.2905530035495758, + 0.054846879094839096, + 0.07661686837673187, + 0.044597476720809937, + -0.079444020986557, + -0.12595641613006592, + 0.0, + 1.013738751411438 + ], + [ + 0.29287585616111755, + 0.056415997445583344, + 0.10793913155794144, + 0.058952201157808304, + -0.14883141219615936, + -0.1212402954697609, + 0.0, + 1.0092895030975342 + ], + [ + 0.2952675521373749, + 0.06481416523456573, + 0.13422389328479767, + 0.046056993305683136, + -0.19765469431877136, + -0.06816822290420532, + 0.0, + 1.003452181816101 + ], + [ + 0.2988516092300415, + 0.07847205549478531, + 0.15643984079360962, + 0.019600095227360725, + -0.21895591914653778, + 0.012479799799621105, + 0.0, + 1.0014774799346924 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9445669651031494 + ], + [ + 0.8214757442474365 + ], + [ + 0.8205437660217285 + ], + [ + 0.6921995282173157 + ], + [ + 0.48323801159858704 + ], + [ + 0.47944000363349915 + ], + [ + 0.47944000363349915 + ], + [ + 0.47944000363349915 + ], + [ + 0.47944000363349915 + ], + [ + 0.47944000363349915 + ], + [ + 0.47944000363349915 + ], + [ + 0.561048150062561 + ], + [ + 0.842682421207428 + ], + [ + 1.013738751411438 + ], + [ + 1.0092895030975342 + ], + [ + 1.003452181816101 + ], + [ + 1.0014774799346924 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.29249832034111023, + 0.11539850383996964, + 0.13036078214645386 + ], + [ + 0.29210761189460754, + 0.11451725661754608, + 0.12101364135742188 + ], + [ + 0.3051045835018158, + 0.12372171878814697, + 0.1097436398267746 + ], + [ + 0.32746297121047974, + 0.13810764253139496, + 0.10083086043596268 + ], + [ + 0.3563600778579712, + 0.14801935851573944, + 0.08256402611732483 + ], + [ + 0.37568727135658264, + 0.15395218133926392, + 0.06282927840948105 + ], + [ + 0.3870827257633209, + 0.15361571311950684, + 0.050590284168720245 + ], + [ + 0.3884521424770355, + 0.15323977172374725, + 0.05104786902666092 + ], + [ + 0.39056724309921265, + 0.14993132650852203, + 0.049186479300260544 + ], + [ + 0.39014026522636414, + 0.14707209169864655, + 0.04561888426542282 + ], + [ + 0.39249154925346375, + 0.14116723835468292, + 0.03930899500846863 + ], + [ + 0.39054083824157715, + 0.14045298099517822, + 0.026793818920850754 + ], + [ + 0.3928079605102539, + 0.1424780637025833, + 0.027088720351457596 + ], + [ + 0.39359229803085327, + 0.14326393604278564, + 0.026192085817456245 + ], + [ + 0.3928013741970062, + 0.14275895059108734, + 0.025064144283533096 + ], + [ + 0.3883156478404999, + 0.13969005644321442, + 0.03166743740439415 + ], + [ + 0.3782990574836731, + 0.13366468250751495, + 0.08290745317935944 + ], + [ + 0.3521333932876587, + 0.12534242868423462, + 0.12257977575063705 + ], + [ + 0.32153406739234924, + 0.11427934467792511, + 0.13125601410865784 + ], + [ + 0.2909068167209625, + 0.09060034155845642, + 0.12209347635507584 + ], + [ + 0.2710132300853729, + 0.07132527977228165, + 0.10215804725885391 + ], + [ + 0.2698584794998169, + 0.06211316958069801, + 0.091865673661232 + ], + [ + 0.2733704745769501, + 0.057927876710891724, + 0.075621597468853 + ], + [ + 0.2838008403778076, + 0.05645269900560379, + 0.0683038979768753 + ], + [ + 0.29068633913993835, + 0.057040415704250336, + 0.07006832957267761 + ], + [ + 0.2905530035495758, + 0.054846879094839096, + 0.07661686837673187 + ], + [ + 0.29287585616111755, + 0.056415997445583344, + 0.10793913155794144 + ], + [ + 0.2952675521373749, + 0.06481416523456573, + 0.13422389328479767 + ], + [ + 0.2988516092300415, + 0.07847205549478531, + 0.15643984079360962 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9975917223919626, + -0.04840729829637576, + 0.04967382496529589, + -0.05094370428199277, + -0.9973916655133997, + 0.05113320406971517, + 0.04706903875230542, + -0.053540629768914376, + -0.9974557165884016 + ], + [ + 0.9984259966025564, + -0.05137131929072162, + 0.02250592949697077, + -0.052165793893726504, + -0.9979798004161685, + 0.036263589297552135, + 0.02059755460313511, + -0.03738054996432001, + -0.9990888024739021 + ], + [ + 0.998622426502985, + -0.04165942583523975, + 0.03190206144386522, + -0.0424194181945379, + -0.9988228160787058, + 0.023528175463485217, + 0.030884336569317796, + -0.02484903055818877, + -0.9992140328453114 + ], + [ + 0.9970286622301501, + -0.031598496065119594, + 0.07025227211969289, + -0.033543525677210514, + -0.9990810570454343, + 0.02668095459535732, + 0.06934463625039124, + -0.028958185360961793, + -0.9971723747296154 + ], + [ + 0.9963064757256861, + -0.017301129651145202, + 0.0841075343822272, + -0.018213261414160308, + -0.9997832150561433, + 0.010089598637275926, + 0.0839147396809567, + -0.011584204970395041, + -0.9964056014793783 + ], + [ + 0.9970062837658578, + 0.018393651198176993, + 0.07510089032091256, + 0.018450022140222996, + -0.9998297822398317, + -5.6826721155602846e-05, + 0.07508706156468782, + 0.0014422696872492418, + -0.9971759388612073 + ], + [ + 0.9966919249545534, + 0.04044244166281523, + 0.07049550086875689, + 0.04146991221284774, + -0.9990529200963956, + -0.013172290154865967, + 0.06989601642043572, + 0.01605215746294135, + -0.9974251225677742 + ], + [ + 0.9950586425569146, + 0.06100331951939849, + 0.07833832319117633, + 0.0624284512171955, + -0.9979232368980576, + -0.01587141258760772, + 0.0772074241987988, + 0.020683526452662908, + -0.996800484240487 + ], + [ + 0.9917116870285251, + 0.08652477290962167, + 0.0949810164399944, + 0.08983261179260528, + -0.995470776842882, + -0.03111324975549297, + 0.09185875935127341, + 0.03938776618148086, + -0.9949927498256845 + ], + [ + 0.9900387132917163, + 0.10425107734777614, + 0.09463117380393601, + 0.10762237695727059, + -0.9937010236540837, + -0.031236190018844402, + 0.09077868781685436, + 0.04110946923342846, + -0.9950222315996744 + ], + [ + 0.9901686057502467, + 0.10957488813628098, + 0.0869452475787729, + 0.11297673302342269, + -0.9929736978436027, + -0.03520643671484133, + 0.08247660263351586, + 0.04468309837873115, + -0.9955907948235108 + ], + [ + 0.9904220446499109, + 0.12666553863089441, + 0.05495466126576381, + 0.12867088777521435, + -0.9910829353803317, + -0.034618172063860676, + 0.05007969758921913, + 0.04135766580998334, + -0.9978885545831867 + ], + [ + 0.9890850004007279, + 0.13665323749878258, + 0.05510675696676277, + 0.13808225157924972, + -0.99015370492141, + -0.022998531022885123, + 0.05142133585485042, + 0.030356767145187587, + -0.9982155643484006 + ], + [ + 0.9894834101497583, + 0.13480967620962828, + 0.05243026071516871, + 0.13563100854626262, + -0.9906815731187112, + -0.01241975055141976, + 0.05026739061388624, + 0.01940030626796999, + -0.9985473536881364 + ], + [ + 0.9902873065345895, + 0.12919123808588903, + 0.05138749379278259, + 0.129859427567492, + -0.9914832899837362, + -0.009869891330195116, + 0.04967473792896581, + 0.016447178629226813, + -0.9986300169366166 + ], + [ + 0.9912227759217239, + 0.12177812129554236, + 0.05145384016534131, + 0.12266293035484024, + -0.9923440383253804, + -0.014391494600633015, + 0.04930734236192341, + 0.0205766560403923, + -0.9985716735494754 + ], + [ + 0.9850933386311603, + 0.11659577575715936, + 0.12647742589134425, + 0.11863512170871914, + -0.9928999147854384, + -0.008687181143886193, + 0.12456653676518292, + 0.023562349090349637, + -0.9919314460302552 + ], + [ + 0.9765877541842467, + 0.09423263140725564, + 0.19338192665146933, + 0.09719799771843714, + -0.9952476805291626, + -0.0058824859412720636, + 0.19190859182667316, + 0.024541099799863776, + -0.9811059202775799 + ], + [ + 0.9803010277995449, + 0.04455354077117348, + 0.19241849417326673, + 0.04672026778796711, + -0.9988853030198785, + -0.0067355763455094, + 0.19190391208356528, + 0.015592735989457578, + -0.981289842559978 + ], + [ + 0.9869516610081875, + -0.04315698223634598, + 0.15512541286788362, + -0.044484618716250576, + -0.9989970734434663, + 0.005095679450222262, + 0.15474991932420978, + -0.011929884141990903, + -0.9878816428770753 + ], + [ + 0.9880325229973802, + -0.10494019131974294, + 0.11304552067732239, + -0.10623528052419487, + -0.9943259359333326, + 0.005477070589958374, + 0.11182932831496754, + -0.01742094647479034, + -0.9935747138250578 + ], + [ + 0.9866554975543734, + -0.12259997716591238, + 0.10714557734526417, + -0.12603720616389785, + -0.9916875109006745, + 0.025894080134733898, + 0.10308031726829003, + -0.039052865740463606, + -0.9939060930839122 + ], + [ + 0.9905630725242237, + -0.11639040555225073, + 0.07237453175497648, + -0.11872897925219301, + -0.9925065619550834, + 0.028881723664501445, + 0.06847064215488134, + -0.03720212321202792, + -0.9969592635566487 + ], + [ + 0.9920453416776517, + -0.1056887819280749, + 0.06838070948909301, + -0.10829023639249921, + -0.9934846791013806, + 0.03551643412399278, + 0.06418149856250278, + -0.04263887622096891, + -0.9970269111096676 + ], + [ + 0.9904915824165179, + -0.11461384690697661, + 0.0760926491798443, + -0.11834697008454155, + -0.9918830274717769, + 0.046497897643132, + 0.07014570431488558, + -0.05506111069172763, + -0.9960159909637808 + ], + [ + 0.9889489418634625, + -0.12198864704095459, + 0.08425414162078608, + -0.1252274110233511, + -0.9915360162469238, + 0.034269870346545106, + 0.07936048081713439, + -0.044442080040179646, + -0.9958548165300882 + ], + [ + 0.9816855782423682, + -0.11206100084898367, + 0.15406413456632645, + -0.11960646480922464, + -0.9919915932357641, + 0.04058290927730371, + 0.1482825648779612, + -0.05826672325001844, + -0.9872270609717498 + ], + [ + 0.9782524891438947, + -0.0590231809144026, + 0.19884247936122612, + -0.06678922022334619, + -0.9972353067813955, + 0.03257211952841411, + 0.19637023080327454, + -0.04514429114917667, + -0.9794900333494502 + ], + [ + 0.9760487542590641, + 0.016733822984271975, + 0.21690737303664842, + 0.012181525459919872, + -0.9996769414764931, + 0.022307467755734847, + 0.2172105884776293, + -0.019130913426568974, + -0.9759372768803674 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.00039070844650268555, + -0.0008812472224235535, + -0.009347140789031982, + -0.016228538006544113, + 0.026487424969673157, + -0.001178201287984848, + 1.0 + ], + [ + 0.012996971607208252, + 0.009204462170600891, + -0.011270001530647278, + -0.012533746659755707, + -0.01029023714363575, + 0.009748153388500214, + 1.0 + ], + [ + 0.02235838770866394, + 0.014385923743247986, + -0.00891277939081192, + 0.004168689250946045, + -0.03851108253002167, + 0.008821606636047363, + 1.0 + ], + [ + 0.028897106647491455, + 0.009911715984344482, + -0.018266834318637848, + -0.01740667223930359, + -0.014613203704357147, + 0.01535206101834774, + 1.0 + ], + [ + 0.01932719349861145, + 0.005932822823524475, + -0.01973474770784378, + -0.013071822933852673, + 0.008855737745761871, + 0.03678205609321594, + 1.0 + ], + [ + 0.011395454406738281, + -0.0003364682197570801, + -0.012238994240760803, + -0.014645854011178017, + 0.005204744637012482, + 0.023080257698893547, + 1.0 + ], + [ + 0.0013694167137145996, + -0.0003759413957595825, + 0.00045758485794067383, + -0.004654731601476669, + -0.007331281900405884, + 0.02107277512550354, + 1.0 + ], + [ + 0.002115100622177124, + -0.0033084452152252197, + -0.0018613897264003754, + -0.018818385899066925, + -0.014704100787639618, + 0.02768050879240036, + 1.0 + ], + [ + -0.00042697787284851074, + -0.0028592348098754883, + -0.0035675950348377228, + -0.0017263181507587433, + 0.0010846033692359924, + 0.01794319599866867, + 1.0 + ], + [ + 0.0023512840270996094, + -0.005904853343963623, + -0.006309889256954193, + -0.0035592466592788696, + 0.008333437144756317, + 0.005327135324478149, + 1.0 + ], + [ + -0.0019507110118865967, + -0.0007142573595046997, + -0.012515176087617874, + 0.003429420292377472, + 0.032469742000103, + 0.015584439039230347, + 1.0 + ], + [ + 0.002267122268676758, + 0.0020250827074050903, + 0.00029490143060684204, + 0.011019805446267128, + -0.001343369483947754, + 0.00951792299747467, + 0.0 + ], + [ + 0.0007843375205993652, + 0.0007858723402023315, + -0.0008966345340013504, + 0.010975578799843788, + 0.0011554397642612457, + -0.002485930919647217, + 0.0 + ], + [ + -0.0007909238338470459, + -0.0005049854516983032, + -0.0011279415339231491, + 0.0029578320682048798, + 0.0005933940410614014, + -0.005834519863128662, + 0.0 + ], + [ + -0.004485726356506348, + -0.003068894147872925, + 0.0066032931208610535, + -0.004134919494390488, + 0.0003678463399410248, + -0.007265940308570862, + 0.0 + ], + [ + -0.010016590356826782, + -0.006025373935699463, + 0.051240015774965286, + -0.0031463708728551865, + -0.07556360960006714, + -0.0032700225710868835, + 0.0 + ], + [ + -0.026165664196014404, + -0.008322253823280334, + 0.03967232257127762, + -0.0012589525431394577, + -0.06821556389331818, + -0.02065165340900421, + 0.0 + ], + [ + -0.030599325895309448, + -0.01106308400630951, + 0.008676238358020782, + 0.0091197919100523, + 4.76837158203125e-06, + -0.05157840996980667, + 0.0 + ], + [ + -0.03062725067138672, + -0.02367900311946869, + -0.009162537753582, + 0.02796434611082077, + 0.03772743046283722, + -0.09266532957553864, + 0.0 + ], + [ + -0.0198935866355896, + -0.019275061786174774, + -0.019935429096221924, + 0.0054561672732234, + 0.043310582637786865, + -0.062068287283182144, + 0.0 + ], + [ + -0.0011547505855560303, + -0.009212110191583633, + -0.010292373597621918, + 0.021740298718214035, + 0.008799992501735687, + -0.019943207502365112, + 0.0 + ], + [ + 0.0035119950771331787, + -0.00418529286980629, + -0.016244076192378998, + -0.0019738227128982544, + 0.03473948687314987, + 0.00776275247335434, + 0.0 + ], + [ + 0.010430365800857544, + -0.0014751777052879333, + -0.007317699491977692, + 0.00544169545173645, + 0.004298612475395203, + 0.01056293398141861, + 1.0 + ], + [ + 0.006885498762130737, + 0.0005877166986465454, + 0.0017644315958023071, + 0.012485161423683167, + -0.005977712571620941, + -0.010191231966018677, + 1.0 + ], + [ + -0.00013333559036254883, + -0.0021935366094112396, + 0.00654853880405426, + -0.010627664625644684, + -0.009240664541721344, + -0.007037118077278137, + 1.0 + ], + [ + 0.002322852611541748, + 0.0015691183507442474, + 0.031322263181209564, + 0.014354724436998367, + -0.06938739120960236, + 0.004716120660305023, + 1.0 + ], + [ + 0.0023916959762573242, + 0.008398167788982391, + 0.02628476172685623, + -0.012895207852125168, + -0.048823282122612, + 0.05307207256555557, + 1.0 + ], + [ + 0.003584057092666626, + 0.013657890260219574, + 0.02221594750881195, + -0.02645689807832241, + -0.02130122482776642, + 0.0806480199098587, + 1.0 + ], + [ + -0.000553131103515625, + 0.006228655576705933, + -0.0046094805002212524, + -0.030444292351603508, + 0.05319604277610779, + 0.048662442713975906, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9445669651031494 + ], + [ + 0.8214757442474365 + ], + [ + 0.8205437660217285 + ], + [ + 0.6921995282173157 + ], + [ + 0.48323801159858704 + ], + [ + 0.47944000363349915 + ], + [ + 0.47944000363349915 + ], + [ + 0.47944000363349915 + ], + [ + 0.47944000363349915 + ], + [ + 0.47944000363349915 + ], + [ + 0.47944000363349915 + ], + [ + 0.561048150062561 + ], + [ + 0.842682421207428 + ], + [ + 1.013738751411438 + ], + [ + 1.0092895030975342 + ], + [ + 1.003452181816101 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.29210761189460754, + 0.11451725661754608, + 0.12101364135742188 + ], + [ + 0.3051045835018158, + 0.12372171878814697, + 0.1097436398267746 + ], + [ + 0.32746297121047974, + 0.13810764253139496, + 0.10083086043596268 + ], + [ + 0.3563600778579712, + 0.14801935851573944, + 0.08256402611732483 + ], + [ + 0.37568727135658264, + 0.15395218133926392, + 0.06282927840948105 + ], + [ + 0.3870827257633209, + 0.15361571311950684, + 0.050590284168720245 + ], + [ + 0.3884521424770355, + 0.15323977172374725, + 0.05104786902666092 + ], + [ + 0.39056724309921265, + 0.14993132650852203, + 0.049186479300260544 + ], + [ + 0.39014026522636414, + 0.14707209169864655, + 0.04561888426542282 + ], + [ + 0.39249154925346375, + 0.14116723835468292, + 0.03930899500846863 + ], + [ + 0.39054083824157715, + 0.14045298099517822, + 0.026793818920850754 + ], + [ + 0.3928079605102539, + 0.1424780637025833, + 0.027088720351457596 + ], + [ + 0.39359229803085327, + 0.14326393604278564, + 0.026192085817456245 + ], + [ + 0.3928013741970062, + 0.14275895059108734, + 0.025064144283533096 + ], + [ + 0.3883156478404999, + 0.13969005644321442, + 0.03166743740439415 + ], + [ + 0.3782990574836731, + 0.13366468250751495, + 0.08290745317935944 + ], + [ + 0.3521333932876587, + 0.12534242868423462, + 0.12257977575063705 + ], + [ + 0.32153406739234924, + 0.11427934467792511, + 0.13125601410865784 + ], + [ + 0.2909068167209625, + 0.09060034155845642, + 0.12209347635507584 + ], + [ + 0.2710132300853729, + 0.07132527977228165, + 0.10215804725885391 + ], + [ + 0.2698584794998169, + 0.06211316958069801, + 0.091865673661232 + ], + [ + 0.2733704745769501, + 0.057927876710891724, + 0.075621597468853 + ], + [ + 0.2838008403778076, + 0.05645269900560379, + 0.0683038979768753 + ], + [ + 0.29068633913993835, + 0.057040415704250336, + 0.07006832957267761 + ], + [ + 0.2905530035495758, + 0.054846879094839096, + 0.07661686837673187 + ], + [ + 0.29287585616111755, + 0.056415997445583344, + 0.10793913155794144 + ], + [ + 0.2952675521373749, + 0.06481416523456573, + 0.13422389328479767 + ], + [ + 0.2988516092300415, + 0.07847205549478531, + 0.15643984079360962 + ], + [ + 0.2982984781265259, + 0.08470071107149124, + 0.15183036029338837 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9984259966025564, + -0.05137131929072162, + 0.02250592949697077, + -0.052165793893726504, + -0.9979798004161685, + 0.036263589297552135, + 0.02059755460313511, + -0.03738054996432001, + -0.9990888024739021 + ], + [ + 0.998622426502985, + -0.04165942583523975, + 0.03190206144386522, + -0.0424194181945379, + -0.9988228160787058, + 0.023528175463485217, + 0.030884336569317796, + -0.02484903055818877, + -0.9992140328453114 + ], + [ + 0.9970286622301501, + -0.031598496065119594, + 0.07025227211969289, + -0.033543525677210514, + -0.9990810570454343, + 0.02668095459535732, + 0.06934463625039124, + -0.028958185360961793, + -0.9971723747296154 + ], + [ + 0.9963064757256861, + -0.017301129651145202, + 0.0841075343822272, + -0.018213261414160308, + -0.9997832150561433, + 0.010089598637275926, + 0.0839147396809567, + -0.011584204970395041, + -0.9964056014793783 + ], + [ + 0.9970062837658578, + 0.018393651198176993, + 0.07510089032091256, + 0.018450022140222996, + -0.9998297822398317, + -5.6826721155602846e-05, + 0.07508706156468782, + 0.0014422696872492418, + -0.9971759388612073 + ], + [ + 0.9966919249545534, + 0.04044244166281523, + 0.07049550086875689, + 0.04146991221284774, + -0.9990529200963956, + -0.013172290154865967, + 0.06989601642043572, + 0.01605215746294135, + -0.9974251225677742 + ], + [ + 0.9950586425569146, + 0.06100331951939849, + 0.07833832319117633, + 0.0624284512171955, + -0.9979232368980576, + -0.01587141258760772, + 0.0772074241987988, + 0.020683526452662908, + -0.996800484240487 + ], + [ + 0.9917116870285251, + 0.08652477290962167, + 0.0949810164399944, + 0.08983261179260528, + -0.995470776842882, + -0.03111324975549297, + 0.09185875935127341, + 0.03938776618148086, + -0.9949927498256845 + ], + [ + 0.9900387132917163, + 0.10425107734777614, + 0.09463117380393601, + 0.10762237695727059, + -0.9937010236540837, + -0.031236190018844402, + 0.09077868781685436, + 0.04110946923342846, + -0.9950222315996744 + ], + [ + 0.9901686057502467, + 0.10957488813628098, + 0.0869452475787729, + 0.11297673302342269, + -0.9929736978436027, + -0.03520643671484133, + 0.08247660263351586, + 0.04468309837873115, + -0.9955907948235108 + ], + [ + 0.9904220446499109, + 0.12666553863089441, + 0.05495466126576381, + 0.12867088777521435, + -0.9910829353803317, + -0.034618172063860676, + 0.05007969758921913, + 0.04135766580998334, + -0.9978885545831867 + ], + [ + 0.9890850004007279, + 0.13665323749878258, + 0.05510675696676277, + 0.13808225157924972, + -0.99015370492141, + -0.022998531022885123, + 0.05142133585485042, + 0.030356767145187587, + -0.9982155643484006 + ], + [ + 0.9894834101497583, + 0.13480967620962828, + 0.05243026071516871, + 0.13563100854626262, + -0.9906815731187112, + -0.01241975055141976, + 0.05026739061388624, + 0.01940030626796999, + -0.9985473536881364 + ], + [ + 0.9902873065345895, + 0.12919123808588903, + 0.05138749379278259, + 0.129859427567492, + -0.9914832899837362, + -0.009869891330195116, + 0.04967473792896581, + 0.016447178629226813, + -0.9986300169366166 + ], + [ + 0.9912227759217239, + 0.12177812129554236, + 0.05145384016534131, + 0.12266293035484024, + -0.9923440383253804, + -0.014391494600633015, + 0.04930734236192341, + 0.0205766560403923, + -0.9985716735494754 + ], + [ + 0.9850933386311603, + 0.11659577575715936, + 0.12647742589134425, + 0.11863512170871914, + -0.9928999147854384, + -0.008687181143886193, + 0.12456653676518292, + 0.023562349090349637, + -0.9919314460302552 + ], + [ + 0.9765877541842467, + 0.09423263140725564, + 0.19338192665146933, + 0.09719799771843714, + -0.9952476805291626, + -0.0058824859412720636, + 0.19190859182667316, + 0.024541099799863776, + -0.9811059202775799 + ], + [ + 0.9803010277995449, + 0.04455354077117348, + 0.19241849417326673, + 0.04672026778796711, + -0.9988853030198785, + -0.0067355763455094, + 0.19190391208356528, + 0.015592735989457578, + -0.981289842559978 + ], + [ + 0.9869516610081875, + -0.04315698223634598, + 0.15512541286788362, + -0.044484618716250576, + -0.9989970734434663, + 0.005095679450222262, + 0.15474991932420978, + -0.011929884141990903, + -0.9878816428770753 + ], + [ + 0.9880325229973802, + -0.10494019131974294, + 0.11304552067732239, + -0.10623528052419487, + -0.9943259359333326, + 0.005477070589958374, + 0.11182932831496754, + -0.01742094647479034, + -0.9935747138250578 + ], + [ + 0.9866554975543734, + -0.12259997716591238, + 0.10714557734526417, + -0.12603720616389785, + -0.9916875109006745, + 0.025894080134733898, + 0.10308031726829003, + -0.039052865740463606, + -0.9939060930839122 + ], + [ + 0.9905630725242237, + -0.11639040555225073, + 0.07237453175497648, + -0.11872897925219301, + -0.9925065619550834, + 0.028881723664501445, + 0.06847064215488134, + -0.03720212321202792, + -0.9969592635566487 + ], + [ + 0.9920453416776517, + -0.1056887819280749, + 0.06838070948909301, + -0.10829023639249921, + -0.9934846791013806, + 0.03551643412399278, + 0.06418149856250278, + -0.04263887622096891, + -0.9970269111096676 + ], + [ + 0.9904915824165179, + -0.11461384690697661, + 0.0760926491798443, + -0.11834697008454155, + -0.9918830274717769, + 0.046497897643132, + 0.07014570431488558, + -0.05506111069172763, + -0.9960159909637808 + ], + [ + 0.9889489418634625, + -0.12198864704095459, + 0.08425414162078608, + -0.1252274110233511, + -0.9915360162469238, + 0.034269870346545106, + 0.07936048081713439, + -0.044442080040179646, + -0.9958548165300882 + ], + [ + 0.9816855782423682, + -0.11206100084898367, + 0.15406413456632645, + -0.11960646480922464, + -0.9919915932357641, + 0.04058290927730371, + 0.1482825648779612, + -0.05826672325001844, + -0.9872270609717498 + ], + [ + 0.9782524891438947, + -0.0590231809144026, + 0.19884247936122612, + -0.06678922022334619, + -0.9972353067813955, + 0.03257211952841411, + 0.19637023080327454, + -0.04514429114917667, + -0.9794900333494502 + ], + [ + 0.9760487542590641, + 0.016733822984271975, + 0.21690737303664842, + 0.012181525459919872, + -0.9996769414764931, + 0.022307467755734847, + 0.2172105884776293, + -0.019130913426568974, + -0.9759372768803674 + ], + [ + 0.9844502668598611, + 0.05931462839942031, + 0.16534644519126024, + 0.06026661631497962, + -0.9981820396950547, + -0.0007420162821949756, + 0.16500183949729402, + 0.010695348898408695, + -0.9862352673041307 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005909.json b/json/chunk-0005/episode_0005909.json new file mode 100644 index 0000000000000000000000000000000000000000..1d06e622753cba46c1086a9f6dac8abd92e083bf --- /dev/null +++ b/json/chunk-0005/episode_0005909.json @@ -0,0 +1,1582 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 25, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMoves a duck too the bottom right side of the table." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005909.mp4", + "start": 0, + "end": 25, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.338544100522995, + 0.05008383095264435, + 0.18934513628482819, + -0.026916010305285454, + -0.17383608222007751, + -0.19845949113368988, + 0.0, + 1.0008161067962646 + ], + [ + 0.33869603276252747, + 0.05011283978819847, + 0.17699848115444183, + -0.04174433648586273, + -0.13824377954006195, + -0.1946399211883545, + 0.0, + 1.0008161067962646 + ], + [ + 0.36900198459625244, + 0.020942455157637596, + 0.1719077080488205, + -0.06287764757871628, + -0.13199810683727264, + -0.28020307421684265, + 0.0, + 1.0008161067962646 + ], + [ + 0.40235796570777893, + -0.014708935283124447, + 0.17578069865703583, + -0.026477688923478127, + -0.13004709780216217, + -0.3933137357234955, + 0.0, + 1.0008161067962646 + ], + [ + 0.44210317730903625, + -0.0517423078417778, + 0.17730163037776947, + -0.00448492169380188, + -0.15215612947940826, + -0.5024081468582153, + 0.0, + 1.0008161067962646 + ], + [ + 0.46244558691978455, + -0.08129150420427322, + 0.15541933476924896, + 0.0007895243470557034, + -0.13169577717781067, + -0.5691179633140564, + 0.0, + 1.0008161067962646 + ], + [ + 0.4681631624698639, + -0.0955650582909584, + 0.1092032715678215, + -0.02118932269513607, + -0.07083014398813248, + -0.5924165844917297, + 0.0, + 1.0008161067962646 + ], + [ + 0.4667585492134094, + -0.09904959052801132, + 0.07678426802158356, + -0.02027016691863537, + -0.015125551261007786, + -0.5972052216529846, + 0.0, + 1.0008161067962646 + ], + [ + 0.4579864740371704, + -0.10581532120704651, + 0.04438839852809906, + -0.021570703014731407, + 0.029390539973974228, + -0.6024450063705444, + 0.0, + 1.0008161067962646 + ], + [ + 0.45972493290901184, + -0.11166062206029892, + 0.03668900579214096, + -0.017994055524468422, + 0.004831656347960234, + -0.5841580033302307, + 0.0, + 1.0008161067962646 + ], + [ + 0.45798179507255554, + -0.11321751773357391, + 0.021234437823295593, + -0.029421040788292885, + 0.015911594033241272, + -0.5611181855201721, + 0.0, + 1.0008161067962646 + ], + [ + 0.45830008387565613, + -0.10825908184051514, + 0.007065279874950647, + -0.04459771141409874, + 0.0022308321204036474, + -0.5138534903526306, + 0.0, + 0.9492040276527405 + ], + [ + 0.4585419297218323, + -0.09908270090818405, + 0.0043233525939285755, + -0.06021130830049515, + -0.01622065156698227, + -0.4710352420806885, + 0.0, + 0.6741776466369629 + ], + [ + 0.4549165368080139, + -0.09355898946523666, + 0.004922681953758001, + -0.06640803813934326, + -0.00035866533289663494, + -0.45880237221717834, + 0.0, + 0.4356481730937958 + ], + [ + 0.4468212127685547, + -0.0902046486735344, + 0.02551891840994358, + -0.06670878827571869, + -0.005038702394813299, + -0.45123958587646484, + 0.0, + 0.3445223569869995 + ], + [ + 0.4271054267883301, + -0.08878540247678757, + 0.08853813260793686, + -0.04651729390025139, + -0.1348550021648407, + -0.46301937103271484, + 0.0, + 0.329172819852829 + ], + [ + 0.3863012492656708, + -0.08622331917285919, + 0.14337654411792755, + -0.02603211998939514, + -0.22497859597206116, + -0.4737872779369354, + 0.0, + 0.329172819852829 + ], + [ + 0.3344394862651825, + -0.07388575375080109, + 0.16117990016937256, + -0.029023921117186546, + -0.23176944255828857, + -0.4715671241283417, + 0.0, + 0.32837530970573425 + ], + [ + 0.28574496507644653, + -0.05563109368085861, + 0.14284533262252808, + -0.05386437848210335, + -0.1784459799528122, + -0.4778137505054474, + 0.0, + 0.3275788426399231 + ], + [ + 0.23446343839168549, + -0.042979978024959564, + 0.12232951074838638, + -0.0551036037504673, + -0.11214758455753326, + -0.4741765558719635, + 0.0, + 0.3275788426399231 + ], + [ + 0.20403826236724854, + -0.02074779011309147, + 0.09739531576633453, + -0.04008818790316582, + -0.05185053125023842, + -0.4155258238315582, + 0.0, + 0.3275788426399231 + ], + [ + 0.18944384157657623, + -0.00028711784398183227, + 0.08011700958013535, + -0.03548049181699753, + -0.014865854755043983, + -0.3547516465187073, + 0.0, + 0.3275788426399231 + ], + [ + 0.18647155165672302, + 0.005428626202046871, + 0.07343853265047073, + -0.005448298063129187, + -0.010575534775853157, + -0.3547467291355133, + 0.0, + 0.36865687370300293 + ], + [ + 0.18512120842933655, + 0.003696345491334796, + 0.07213203608989716, + -0.01924743317067623, + -0.014502642676234245, + -0.3409353196620941, + 0.0, + 0.6751802563667297 + ], + [ + 0.18073436617851257, + 0.004742494784295559, + 0.08271866291761398, + -0.016497228294610977, + -0.03338383138179779, + -0.33354896306991577, + 0.0, + 0.9613274931907654 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9492040276527405 + ], + [ + 0.6741776466369629 + ], + [ + 0.4356481730937958 + ], + [ + 0.3445223569869995 + ], + [ + 0.329172819852829 + ], + [ + 0.329172819852829 + ], + [ + 0.32837530970573425 + ], + [ + 0.3275788426399231 + ], + [ + 0.3275788426399231 + ], + [ + 0.3275788426399231 + ], + [ + 0.3275788426399231 + ], + [ + 0.36865687370300293 + ], + [ + 0.6751802563667297 + ], + [ + 0.9613274931907654 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.338544100522995, + 0.05008383095264435, + 0.18934513628482819 + ], + [ + 0.33869603276252747, + 0.05011283978819847, + 0.17699848115444183 + ], + [ + 0.36900198459625244, + 0.020942455157637596, + 0.1719077080488205 + ], + [ + 0.40235796570777893, + -0.014708935283124447, + 0.17578069865703583 + ], + [ + 0.44210317730903625, + -0.0517423078417778, + 0.17730163037776947 + ], + [ + 0.46244558691978455, + -0.08129150420427322, + 0.15541933476924896 + ], + [ + 0.4681631624698639, + -0.0955650582909584, + 0.1092032715678215 + ], + [ + 0.4667585492134094, + -0.09904959052801132, + 0.07678426802158356 + ], + [ + 0.4579864740371704, + -0.10581532120704651, + 0.04438839852809906 + ], + [ + 0.45972493290901184, + -0.11166062206029892, + 0.03668900579214096 + ], + [ + 0.45798179507255554, + -0.11321751773357391, + 0.021234437823295593 + ], + [ + 0.45830008387565613, + -0.10825908184051514, + 0.007065279874950647 + ], + [ + 0.4585419297218323, + -0.09908270090818405, + 0.0043233525939285755 + ], + [ + 0.4549165368080139, + -0.09355898946523666, + 0.004922681953758001 + ], + [ + 0.4468212127685547, + -0.0902046486735344, + 0.02551891840994358 + ], + [ + 0.4271054267883301, + -0.08878540247678757, + 0.08853813260793686 + ], + [ + 0.3863012492656708, + -0.08622331917285919, + 0.14337654411792755 + ], + [ + 0.3344394862651825, + -0.07388575375080109, + 0.16117990016937256 + ], + [ + 0.28574496507644653, + -0.05563109368085861, + 0.14284533262252808 + ], + [ + 0.23446343839168549, + -0.042979978024959564, + 0.12232951074838638 + ], + [ + 0.20403826236724854, + -0.02074779011309147, + 0.09739531576633453 + ], + [ + 0.18944384157657623, + -0.00028711784398183227, + 0.08011700958013535 + ], + [ + 0.18647155165672302, + 0.005428626202046871, + 0.07343853265047073 + ], + [ + 0.18512120842933655, + 0.003696345491334796, + 0.07213203608989716 + ], + [ + 0.18073436617851257, + 0.004742494784295559, + 0.08271866291761398 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9655958171236408, + -0.2016513936787679, + 0.16419937082930325, + -0.19418781192290796, + -0.9790986092706369, + -0.060473192613738416, + 0.17296187919284928, + 0.026507145295477513, + -0.9845717645729857 + ], + [ + 0.9717570636204412, + -0.19888704134195304, + 0.12701241707023, + -0.19156801589849412, + -0.9791503661451612, + -0.06757407611289466, + 0.13780386274880715, + 0.041334069047714736, + -0.9895966805459013 + ], + [ + 0.9526394607718816, + -0.28395195726237776, + 0.10885469097436085, + -0.2741450629979456, + -0.9568130910160054, + -0.09671190875093783, + 0.13161512912317955, + 0.06228960448792476, + -0.9893419342970491 + ], + [ + 0.9158446923601676, + -0.38628799081158344, + 0.10959054535159499, + -0.38001497137660595, + -0.9220045938884843, + -0.07413602618274384, + 0.12968084286180193, + 0.026251038137207354, + -0.9912082334158507 + ], + [ + 0.8662997723591095, + -0.4821284241602527, + 0.1306785637635595, + -0.4759740852896235, + -0.8760893392368039, + -0.07691644692994382, + 0.15156970193037086, + 0.0044330906117598795, + -0.9884366308288897 + ], + [ + 0.8350821783328173, + -0.5388017485729508, + 0.11104247460160196, + -0.5342228139967544, + -0.8424322305889219, + -0.07009937139777078, + 0.13131542345172484, + -0.0007826874882193371, + -0.9913403285269847 + ], + [ + 0.8275136322369784, + -0.5594860453861574, + 0.04686740317237235, + -0.5569673808648488, + -0.8285702705519509, + -0.05708452863970741, + 0.07077093410796265, + 0.021134610846326965, + -0.9972686714771807 + ], + [ + 0.8268158507227849, + -0.5624716209725547, + 0.0011066137828533553, + -0.5622693163771164, + -0.8265681739496764, + -0.025263999570687343, + 0.015124974524535078, + 0.020266460322519473, + -0.9996802017303473 + ], + [ + 0.8235967537986978, + -0.5660046584764445, + -0.03642957198774579, + -0.5664140111108354, + -0.8241200793951455, + -0.0011237237529908503, + -0.029386308879838778, + 0.02155971522775978, + -0.9993355910452286 + ], + [ + 0.8341670034708685, + -0.5513354026915004, + -0.013952922970939138, + -0.5514907665582697, + -0.834089641589531, + -0.012345209355029918, + -0.004831637548890663, + 0.017992874479877557, + -0.9998264408118778 + ], + [ + 0.846553440735552, + -0.5315066858823555, + -0.029118977337008037, + -0.5320658930244485, + -0.8465432735630456, + -0.0164429761679149, + -0.015910922628627915, + 0.0294130727316549, + -0.9994407004387945 + ], + [ + 0.8708546791800139, + -0.49096137236210335, + -0.02385494914258158, + -0.4915355034446456, + -0.87003982849951, + -0.03772990429304271, + -0.0022308302700731458, + 0.04458281813505559, + -0.9990032010576557 + ], + [ + 0.8909817378325177, + -0.45385640275866596, + -0.01288054827679782, + -0.4537493321057599, + -0.8890412227402664, + -0.06096923717801644, + 0.01621994027498509, + 0.06016701707294502, + -0.9980565332655362 + ], + [ + 0.8965834817073519, + -0.4419198049709529, + -0.029067960092814517, + -0.4428746229901946, + -0.8945967460155627, + -0.05965509475023802, + 0.0003586653252068018, + 0.06635923441994963, + -0.9977957322851119 + ], + [ + 0.8998958099235449, + -0.4354137026449724, + -0.024544629372682623, + -0.4360758454387053, + -0.897759185433923, + -0.062179594674918404, + 0.005038681073972744, + 0.0666584767153757, + -0.9977631277888657 + ], + [ + 0.8865847707152905, + -0.4517620053114903, + 0.09939081895556069, + -0.4425963711287409, + -0.890947741294157, + -0.10159022859758786, + 0.13444663104513227, + 0.046078333734861546, + -0.9898489230992945 + ], + [ + 0.8674215606832348, + -0.46127215968688917, + 0.18656856852014095, + -0.4447613931538097, + -0.8868958194935469, + -0.12491240340635706, + 0.2230854975603386, + 0.025373215457706162, + -0.9744686042739362 + ], + [ + 0.8670372526129971, + -0.460029929374487, + 0.19136056715271915, + -0.4421360727621955, + -0.8874540812191647, + -0.13015739275919297, + 0.22970001250267352, + 0.028243898582751857, + -0.972851574727162 + ], + [ + 0.8739015286796009, + -0.4676580032530804, + 0.13263525234566495, + -0.452536971065306, + -0.8823200944320114, + -0.1293117967570039, + 0.1775004450430894, + 0.05298342150926184, + -0.9826934155954627 + ], + [ + 0.8840801545600054, + -0.4613965900815054, + 0.0742661899811507, + -0.45373763223066993, + -0.8855042870337816, + -0.10002159138155864, + 0.11191265080795107, + 0.054729738771105645, + -0.9922097632472603 + ], + [ + 0.9136746129279149, + -0.4052470987627781, + 0.031200811453804767, + -0.40312855584854024, + -0.9133306636723135, + -0.05757140136701049, + 0.05182730120790667, + 0.04002358979704603, + -0.9978537182920463 + ], + [ + 0.9376291705975269, + -0.34763335469066553, + 0.0016090839342768363, + -0.34731910555843576, + -0.936959439692871, + -0.03842456615902586, + 0.014865307217874407, + 0.035469128505435744, + -0.9992602081361907 + ], + [ + 0.9376820547257458, + -0.34740174989874495, + 0.008024239066295237, + -0.3473334514252626, + -0.9377005619220723, + -0.008782351168359008, + 0.010575337645575297, + 0.005447966438912178, + -0.9999292384440823 + ], + [ + 0.942343227537822, + -0.33456983590740325, + 0.007229551472540981, + -0.3343335604069065, + -0.9421744450291859, + -0.022986637848694612, + 0.014502134299551892, + 0.019244220816622318, + -0.9997096318761358 + ], + [ + 0.9443598917641765, + -0.32787416598863156, + 0.026132854884457435, + -0.32721602740382977, + -0.9445775249285715, + -0.026513596698109085, + 0.03337763079082979, + 0.01648728834809239, + -0.9993068112875634 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + 0.0001519322395324707, + 2.9008835554122925e-05, + -0.012346655130386353, + -0.014828326180577278, + 0.035592302680015564, + 0.003819569945335388, + 1.0 + ], + [ + 0.030305951833724976, + -0.029170384630560875, + -0.005090773105621338, + -0.021133311092853546, + 0.006245672702789307, + -0.08556315302848816, + 1.0 + ], + [ + 0.03335598111152649, + -0.03565138950943947, + 0.003872990608215332, + 0.0363999605178833, + 0.0019510090351104736, + -0.11311066150665283, + 1.0 + ], + [ + 0.039745211601257324, + -0.03703337162733078, + 0.0015209317207336426, + 0.021992767229676247, + -0.022109031677246094, + -0.10909441113471985, + 1.0 + ], + [ + 0.02034240961074829, + -0.029549196362495422, + -0.021882295608520508, + 0.005274446215480566, + 0.020460352301597595, + -0.06670981645584106, + 1.0 + ], + [ + 0.005717575550079346, + -0.01427355408668518, + -0.04621606320142746, + -0.021978847682476044, + 0.06086563318967819, + -0.02329862117767334, + 1.0 + ], + [ + -0.0014046132564544678, + -0.0034845322370529175, + -0.032419003546237946, + 0.0009191557765007019, + 0.055704593658447266, + -0.004788637161254883, + 1.0 + ], + [ + -0.008772075176239014, + -0.006765730679035187, + -0.0323958694934845, + -0.0013005360960960388, + 0.04451609030365944, + -0.0052397847175598145, + 1.0 + ], + [ + 0.0017384588718414307, + -0.005845300853252411, + -0.007699392735958099, + 0.0035766474902629852, + -0.024558883160352707, + 0.01828700304031372, + 1.0 + ], + [ + -0.0017431378364562988, + -0.001556895673274994, + -0.015454567968845367, + -0.011426985263824463, + 0.011079937219619751, + 0.023039817810058594, + 1.0 + ], + [ + 0.00031828880310058594, + 0.004958435893058777, + -0.014169158414006233, + -0.015176670625805855, + -0.013680761680006981, + 0.047264695167541504, + 0.0 + ], + [ + 0.00024184584617614746, + 0.009176380932331085, + -0.002741927281022072, + -0.015613596886396408, + -0.01845148392021656, + 0.04281824827194214, + 0.0 + ], + [ + -0.0036253929138183594, + 0.005523711442947388, + 0.0005993293598294258, + -0.006196729838848114, + 0.015861986204981804, + 0.012232869863510132, + 0.0 + ], + [ + -0.008095324039459229, + 0.0033543407917022705, + 0.020596235990524292, + -0.00030075013637542725, + -0.004680037032812834, + 0.007562786340713501, + 0.0 + ], + [ + -0.01971578598022461, + 0.0014192461967468262, + 0.06301921606063843, + 0.0201914943754673, + -0.12981629371643066, + -0.01177978515625, + 0.0 + ], + [ + -0.0408041775226593, + 0.0025620833039283752, + 0.05483841150999069, + 0.020485173910856247, + -0.09012359380722046, + -0.010767906904220581, + 0.0 + ], + [ + -0.05186176300048828, + 0.012337565422058105, + 0.017803356051445007, + -0.0029918011277914047, + -0.006790846586227417, + 0.00222015380859375, + 0.0 + ], + [ + -0.04869452118873596, + 0.018254660069942474, + -0.018334567546844482, + -0.0248404573649168, + 0.05332346260547638, + -0.006246626377105713, + 0.0 + ], + [ + -0.05128152668476105, + 0.012651115655899048, + -0.020515821874141693, + -0.0012392252683639526, + 0.06629839539527893, + 0.0036371946334838867, + 0.0 + ], + [ + -0.03042517602443695, + 0.022232187911868095, + -0.02493419498205185, + 0.015015415847301483, + 0.060297053307294846, + 0.05865073204040527, + 0.0 + ], + [ + -0.014594420790672302, + 0.020460672676563263, + -0.017278306186199188, + 0.004607696086168289, + 0.036984674632549286, + 0.06077417731285095, + 0.0 + ], + [ + -0.0029722899198532104, + 0.005715744104236364, + -0.006678476929664612, + 0.030032193288207054, + 0.004290319979190826, + 4.9173831939697266e-06, + 1.0 + ], + [ + -0.0013503432273864746, + -0.0017322807107120752, + -0.0013064965605735779, + -0.013799134641885757, + -0.003927107900381088, + 0.01381140947341919, + 1.0 + ], + [ + -0.004386842250823975, + 0.001046149292960763, + 0.010586626827716827, + 0.002750204876065254, + -0.018881188705563545, + 0.007386356592178345, + 1.0 + ], + [ + -0.0055321455001831055, + 0.004468993283808231, + 0.008591137826442719, + -0.0034076832234859467, + -0.010248515754938126, + 0.020770758390426636, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9492040276527405 + ], + [ + 0.6741776466369629 + ], + [ + 0.4356481730937958 + ], + [ + 0.3445223569869995 + ], + [ + 0.329172819852829 + ], + [ + 0.329172819852829 + ], + [ + 0.32837530970573425 + ], + [ + 0.3275788426399231 + ], + [ + 0.3275788426399231 + ], + [ + 0.3275788426399231 + ], + [ + 0.3275788426399231 + ], + [ + 0.36865687370300293 + ], + [ + 0.6751802563667297 + ], + [ + 0.9613274931907654 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.33869603276252747, + 0.05011283978819847, + 0.17699848115444183 + ], + [ + 0.36900198459625244, + 0.020942455157637596, + 0.1719077080488205 + ], + [ + 0.40235796570777893, + -0.014708935283124447, + 0.17578069865703583 + ], + [ + 0.44210317730903625, + -0.0517423078417778, + 0.17730163037776947 + ], + [ + 0.46244558691978455, + -0.08129150420427322, + 0.15541933476924896 + ], + [ + 0.4681631624698639, + -0.0955650582909584, + 0.1092032715678215 + ], + [ + 0.4667585492134094, + -0.09904959052801132, + 0.07678426802158356 + ], + [ + 0.4579864740371704, + -0.10581532120704651, + 0.04438839852809906 + ], + [ + 0.45972493290901184, + -0.11166062206029892, + 0.03668900579214096 + ], + [ + 0.45798179507255554, + -0.11321751773357391, + 0.021234437823295593 + ], + [ + 0.45830008387565613, + -0.10825908184051514, + 0.007065279874950647 + ], + [ + 0.4585419297218323, + -0.09908270090818405, + 0.0043233525939285755 + ], + [ + 0.4549165368080139, + -0.09355898946523666, + 0.004922681953758001 + ], + [ + 0.4468212127685547, + -0.0902046486735344, + 0.02551891840994358 + ], + [ + 0.4271054267883301, + -0.08878540247678757, + 0.08853813260793686 + ], + [ + 0.3863012492656708, + -0.08622331917285919, + 0.14337654411792755 + ], + [ + 0.3344394862651825, + -0.07388575375080109, + 0.16117990016937256 + ], + [ + 0.28574496507644653, + -0.05563109368085861, + 0.14284533262252808 + ], + [ + 0.23446343839168549, + -0.042979978024959564, + 0.12232951074838638 + ], + [ + 0.20403826236724854, + -0.02074779011309147, + 0.09739531576633453 + ], + [ + 0.18944384157657623, + -0.00028711784398183227, + 0.08011700958013535 + ], + [ + 0.18647155165672302, + 0.005428626202046871, + 0.07343853265047073 + ], + [ + 0.18512120842933655, + 0.003696345491334796, + 0.07213203608989716 + ], + [ + 0.18073436617851257, + 0.004742494784295559, + 0.08271866291761398 + ], + [ + 0.17520222067832947, + 0.00921148806810379, + 0.0913098007440567 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9717570636204412, + -0.19888704134195304, + 0.12701241707023, + -0.19156801589849412, + -0.9791503661451612, + -0.06757407611289466, + 0.13780386274880715, + 0.041334069047714736, + -0.9895966805459013 + ], + [ + 0.9526394607718816, + -0.28395195726237776, + 0.10885469097436085, + -0.2741450629979456, + -0.9568130910160054, + -0.09671190875093783, + 0.13161512912317955, + 0.06228960448792476, + -0.9893419342970491 + ], + [ + 0.9158446923601676, + -0.38628799081158344, + 0.10959054535159499, + -0.38001497137660595, + -0.9220045938884843, + -0.07413602618274384, + 0.12968084286180193, + 0.026251038137207354, + -0.9912082334158507 + ], + [ + 0.8662997723591095, + -0.4821284241602527, + 0.1306785637635595, + -0.4759740852896235, + -0.8760893392368039, + -0.07691644692994382, + 0.15156970193037086, + 0.0044330906117598795, + -0.9884366308288897 + ], + [ + 0.8350821783328173, + -0.5388017485729508, + 0.11104247460160196, + -0.5342228139967544, + -0.8424322305889219, + -0.07009937139777078, + 0.13131542345172484, + -0.0007826874882193371, + -0.9913403285269847 + ], + [ + 0.8275136322369784, + -0.5594860453861574, + 0.04686740317237235, + -0.5569673808648488, + -0.8285702705519509, + -0.05708452863970741, + 0.07077093410796265, + 0.021134610846326965, + -0.9972686714771807 + ], + [ + 0.8268158507227849, + -0.5624716209725547, + 0.0011066137828533553, + -0.5622693163771164, + -0.8265681739496764, + -0.025263999570687343, + 0.015124974524535078, + 0.020266460322519473, + -0.9996802017303473 + ], + [ + 0.8235967537986978, + -0.5660046584764445, + -0.03642957198774579, + -0.5664140111108354, + -0.8241200793951455, + -0.0011237237529908503, + -0.029386308879838778, + 0.02155971522775978, + -0.9993355910452286 + ], + [ + 0.8341670034708685, + -0.5513354026915004, + -0.013952922970939138, + -0.5514907665582697, + -0.834089641589531, + -0.012345209355029918, + -0.004831637548890663, + 0.017992874479877557, + -0.9998264408118778 + ], + [ + 0.846553440735552, + -0.5315066858823555, + -0.029118977337008037, + -0.5320658930244485, + -0.8465432735630456, + -0.0164429761679149, + -0.015910922628627915, + 0.0294130727316549, + -0.9994407004387945 + ], + [ + 0.8708546791800139, + -0.49096137236210335, + -0.02385494914258158, + -0.4915355034446456, + -0.87003982849951, + -0.03772990429304271, + -0.0022308302700731458, + 0.04458281813505559, + -0.9990032010576557 + ], + [ + 0.8909817378325177, + -0.45385640275866596, + -0.01288054827679782, + -0.4537493321057599, + -0.8890412227402664, + -0.06096923717801644, + 0.01621994027498509, + 0.06016701707294502, + -0.9980565332655362 + ], + [ + 0.8965834817073519, + -0.4419198049709529, + -0.029067960092814517, + -0.4428746229901946, + -0.8945967460155627, + -0.05965509475023802, + 0.0003586653252068018, + 0.06635923441994963, + -0.9977957322851119 + ], + [ + 0.8998958099235449, + -0.4354137026449724, + -0.024544629372682623, + -0.4360758454387053, + -0.897759185433923, + -0.062179594674918404, + 0.005038681073972744, + 0.0666584767153757, + -0.9977631277888657 + ], + [ + 0.8865847707152905, + -0.4517620053114903, + 0.09939081895556069, + -0.4425963711287409, + -0.890947741294157, + -0.10159022859758786, + 0.13444663104513227, + 0.046078333734861546, + -0.9898489230992945 + ], + [ + 0.8674215606832348, + -0.46127215968688917, + 0.18656856852014095, + -0.4447613931538097, + -0.8868958194935469, + -0.12491240340635706, + 0.2230854975603386, + 0.025373215457706162, + -0.9744686042739362 + ], + [ + 0.8670372526129971, + -0.460029929374487, + 0.19136056715271915, + -0.4421360727621955, + -0.8874540812191647, + -0.13015739275919297, + 0.22970001250267352, + 0.028243898582751857, + -0.972851574727162 + ], + [ + 0.8739015286796009, + -0.4676580032530804, + 0.13263525234566495, + -0.452536971065306, + -0.8823200944320114, + -0.1293117967570039, + 0.1775004450430894, + 0.05298342150926184, + -0.9826934155954627 + ], + [ + 0.8840801545600054, + -0.4613965900815054, + 0.0742661899811507, + -0.45373763223066993, + -0.8855042870337816, + -0.10002159138155864, + 0.11191265080795107, + 0.054729738771105645, + -0.9922097632472603 + ], + [ + 0.9136746129279149, + -0.4052470987627781, + 0.031200811453804767, + -0.40312855584854024, + -0.9133306636723135, + -0.05757140136701049, + 0.05182730120790667, + 0.04002358979704603, + -0.9978537182920463 + ], + [ + 0.9376291705975269, + -0.34763335469066553, + 0.0016090839342768363, + -0.34731910555843576, + -0.936959439692871, + -0.03842456615902586, + 0.014865307217874407, + 0.035469128505435744, + -0.9992602081361907 + ], + [ + 0.9376820547257458, + -0.34740174989874495, + 0.008024239066295237, + -0.3473334514252626, + -0.9377005619220723, + -0.008782351168359008, + 0.010575337645575297, + 0.005447966438912178, + -0.9999292384440823 + ], + [ + 0.942343227537822, + -0.33456983590740325, + 0.007229551472540981, + -0.3343335604069065, + -0.9421744450291859, + -0.022986637848694612, + 0.014502134299551892, + 0.019244220816622318, + -0.9997096318761358 + ], + [ + 0.9443598917641765, + -0.32787416598863156, + 0.026132854884457435, + -0.32721602740382977, + -0.9445775249285715, + -0.026513596698109085, + 0.03337763079082979, + 0.01648728834809239, + -0.9993068112875634 + ], + [ + 0.950576816691432, + -0.30846832231753435, + 0.03536961542609967, + -0.3074103799057086, + -0.951026758118962, + -0.03235681795180134, + 0.04361850404372402, + 0.019884654091631385, + -0.9988503524736048 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005911.json b/json/chunk-0005/episode_0005911.json new file mode 100644 index 0000000000000000000000000000000000000000..52900133ecf2c78e3327cb33cf3754c3cb5aebf6 --- /dev/null +++ b/json/chunk-0005/episode_0005911.json @@ -0,0 +1,5482 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 90, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nSweep into pile." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005911.mp4", + "start": 0, + "end": 90, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.350842148065567, + 0.011481598019599915, + 0.0993664339184761, + -0.032999783754348755, + -0.08128340542316437, + 0.8980987668037415, + 0.0, + 1.0008161067962646 + ], + [ + 0.35074639320373535, + 0.011029349640011787, + 0.08753402531147003, + -0.011248393915593624, + -0.05954230949282646, + 0.9006052017211914, + 0.0, + 1.0008161067962646 + ], + [ + 0.3558984696865082, + 0.007955729030072689, + 0.08178660273551941, + -0.038927819579839706, + -0.05492178723216057, + 0.9200899600982666, + 0.0, + 1.0008161067962646 + ], + [ + 0.3615967631340027, + 0.004733947105705738, + 0.07507380843162537, + -0.06465248018503189, + -0.054519616067409515, + 0.94548100233078, + 0.0, + 1.0008161067962646 + ], + [ + 0.36767280101776123, + -0.0011858675861731172, + 0.06678692251443863, + -0.08653520792722702, + -0.05845692753791809, + 0.9389293193817139, + 0.0, + 1.0008161067962646 + ], + [ + 0.3721102178096771, + -0.002557393629103899, + 0.053039126098155975, + -0.0900152176618576, + -0.05357900634407997, + 0.9467095732688904, + 0.0, + 1.0008161067962646 + ], + [ + 0.3802874684333801, + -0.0044523621909320354, + 0.03842668980360031, + -0.0766499787569046, + -0.059144068509340286, + 0.9531378746032715, + 0.0, + 1.0008161067962646 + ], + [ + 0.3886193037033081, + -0.007368400692939758, + 0.02688584104180336, + -0.061926573514938354, + -0.0728418305516243, + 0.9412572383880615, + 0.0, + 1.0008161067962646 + ], + [ + 0.39343467354774475, + -0.005876942537724972, + 0.01986238732933998, + -0.04344787821173668, + -0.07284209877252579, + 0.9386901259422302, + 0.0, + 0.9687211513519287 + ], + [ + 0.39239346981048584, + -0.005453742574900389, + 0.011543327011168003, + -0.02777300961315632, + -0.06409832835197449, + 0.9512746334075928, + 0.0, + 0.6941980719566345 + ], + [ + 0.3938824236392975, + -0.0033487589098513126, + 0.012323443777859211, + -0.02893293835222721, + -0.0804649069905281, + 0.9605365991592407, + 0.0, + 0.4077054560184479 + ], + [ + 0.3918030560016632, + -0.007435373030602932, + 0.0114120002835989, + -0.035679496824741364, + -0.05275360494852066, + 0.9719684720039368, + 0.0, + 0.3918617069721222 + ], + [ + 0.3855646848678589, + -0.01740398444235325, + 0.022072654217481613, + -0.047727081924676895, + 0.010978098027408123, + 0.9660227298736572, + 0.0, + 0.3918617069721222 + ], + [ + 0.38607844710350037, + -0.028062015771865845, + 0.038062289357185364, + -0.09840783476829529, + 0.04990740120410919, + 0.9688458442687988, + 0.0, + 0.3918617069721222 + ], + [ + 0.3835711181163788, + -0.0350627638399601, + 0.03960004076361656, + -0.09319211542606354, + 0.07575452327728271, + 0.9650313854217529, + 0.0, + 0.3918617069721222 + ], + [ + 0.38502374291419983, + -0.043912481516599655, + 0.040026724338531494, + -0.10349064320325851, + 0.0692782774567604, + 0.9563968777656555, + 0.0, + 0.3918617069721222 + ], + [ + 0.3890575170516968, + -0.05324037745594978, + 0.04019853472709656, + -0.12567082047462463, + 0.043385762721300125, + 0.937014102935791, + 0.0, + 0.3918617069721222 + ], + [ + 0.39024460315704346, + -0.06608099490404129, + 0.03968215733766556, + -0.13879404962062836, + 0.022184863686561584, + 0.9043571352958679, + 0.0, + 0.3918617069721222 + ], + [ + 0.38702723383903503, + -0.07630560547113419, + 0.03356949985027313, + -0.13917359709739685, + -0.0018959383014589548, + 0.8753624558448792, + 0.0, + 0.3918617069721222 + ], + [ + 0.3857189416885376, + -0.08662457019090652, + 0.029746679589152336, + -0.1272227019071579, + -0.044907357543706894, + 0.822303831577301, + 0.0, + 0.3918617069721222 + ], + [ + 0.38066378235816956, + -0.09241844713687897, + 0.017679322510957718, + -0.09059471637010574, + -0.07583153247833252, + 0.7831484079360962, + 0.0, + 0.3918617069721222 + ], + [ + 0.38185814023017883, + -0.09082122147083282, + 0.011211341246962547, + -0.07168473303318024, + -0.09991459548473358, + 0.777801513671875, + 0.0, + 0.3918617069721222 + ], + [ + 0.3829893469810486, + -0.09069180488586426, + 0.010160502046346664, + -0.044744379818439484, + -0.10838038474321365, + 0.7747564315795898, + 0.0, + 0.3918617069721222 + ], + [ + 0.38301002979278564, + -0.09028732776641846, + 0.00930668693035841, + -0.04056283086538315, + -0.10916329175233841, + 0.7712404727935791, + 0.0, + 0.3918617069721222 + ], + [ + 0.3781048655509949, + -0.08504810184240341, + 0.007523060776293278, + -0.02922162227332592, + -0.1133774071931839, + 0.7715600728988647, + 0.0, + 0.3918617069721222 + ], + [ + 0.37215834856033325, + -0.07478735595941544, + 0.006991303060203791, + -0.034155599772930145, + -0.1126987412571907, + 0.7692655324935913, + 0.0, + 0.3918617069721222 + ], + [ + 0.3623065650463104, + -0.05704645812511444, + 0.007087349891662598, + -0.02106974832713604, + -0.105994813144207, + 0.7791807651519775, + 0.0, + 0.3918617069721222 + ], + [ + 0.35661283135414124, + -0.048638585954904556, + 0.008065913803875446, + -0.02062017284333706, + -0.10736171156167984, + 0.7831979990005493, + 0.0, + 0.3918617069721222 + ], + [ + 0.35126158595085144, + -0.04075712338089943, + 0.007230116054415703, + -0.015902290120720863, + -0.10886481404304504, + 0.7802451252937317, + 0.0, + 0.3918617069721222 + ], + [ + 0.34339216351509094, + -0.02934422716498375, + 0.00619793264195323, + -0.018182601779699326, + -0.11826522648334503, + 0.7808678150177002, + 0.0, + 0.3918617069721222 + ], + [ + 0.33815282583236694, + -0.023158065974712372, + 0.005210575647652149, + -0.02117650955915451, + -0.14312124252319336, + 0.7667562365531921, + 0.0, + 0.3918617069721222 + ], + [ + 0.33029815554618835, + -0.01252111978828907, + 0.005453889258205891, + -0.011326104402542114, + -0.15461310744285583, + 0.7723451852798462, + 0.0, + 0.3918617069721222 + ], + [ + 0.32089465856552124, + -0.0012360698310658336, + 0.005025485064834356, + -0.001150959637016058, + -0.17059460282325745, + 0.7736603617668152, + 0.0, + 0.3918617069721222 + ], + [ + 0.3148292005062103, + 0.008153255097568035, + 0.004382922779768705, + 0.002241435693576932, + -0.1666383296251297, + 0.7981396317481995, + 0.0, + 0.3918617069721222 + ], + [ + 0.3111574351787567, + 0.017269659787416458, + 0.004737172741442919, + 0.012601026333868504, + -0.16600461304187775, + 0.8147375583648682, + 0.0, + 0.3918617069721222 + ], + [ + 0.3092558681964874, + 0.022131534293293953, + 0.0046521625481545925, + 0.022984037175774574, + -0.16159872710704803, + 0.8262477517127991, + 0.0, + 0.3918617069721222 + ], + [ + 0.3049270212650299, + 0.0431797131896019, + 0.004943336360156536, + 0.053850747644901276, + -0.1584351509809494, + 0.8683441281318665, + 0.0, + 0.3918617069721222 + ], + [ + 0.3021596372127533, + 0.053976766765117645, + 0.004527772776782513, + 0.07227154821157455, + -0.15995261073112488, + 0.8845040798187256, + 0.0, + 0.39099013805389404 + ], + [ + 0.30019649863243103, + 0.06017482280731201, + 0.004862284287810326, + 0.08153746277093887, + -0.15795502066612244, + 0.8967903852462769, + 0.0, + 0.39099013805389404 + ], + [ + 0.29924476146698, + 0.06325855106115341, + 0.00444841431453824, + 0.0861821174621582, + -0.15715675055980682, + 0.8988524079322815, + 0.0, + 0.3918617069721222 + ], + [ + 0.30475473403930664, + 0.059137970209121704, + 0.005226759240031242, + 0.060160014778375626, + -0.12312274426221848, + 0.9041444063186646, + 0.0, + 0.39099013805389404 + ], + [ + 0.3171568214893341, + 0.04819267988204956, + 0.006877016741782427, + -0.003988469950854778, + -0.018057405948638916, + 0.95114666223526, + 0.0, + 0.39099013805389404 + ], + [ + 0.33629775047302246, + 0.02676883526146412, + 0.01715545542538166, + -0.09104535728693008, + 0.09959615767002106, + 0.976138174533844, + 0.0, + 0.39099013805389404 + ], + [ + 0.3457971513271332, + 0.012570900842547417, + 0.03236331418156624, + -0.13587252795696259, + 0.17382054030895233, + 0.9984919428825378, + 0.0, + 0.39099013805389404 + ], + [ + 0.3510240614414215, + 0.012935828417539597, + 0.03999430686235428, + -0.13634507358074188, + 0.1805935800075531, + 1.0296522378921509, + 0.0, + 0.39099013805389404 + ], + [ + 0.3541812598705292, + 0.019121864810585976, + 0.04004731401801109, + -0.11690355092287064, + 0.13148556649684906, + 1.0517927408218384, + 0.0, + 0.39099013805389404 + ], + [ + 0.3630114495754242, + 0.004945729393512011, + 0.03375961259007454, + -0.14655785262584686, + 0.10935232043266296, + 1.0464963912963867, + 0.0, + 0.39099013805389404 + ], + [ + 0.3673044741153717, + -0.0060779014602303505, + 0.026212753728032112, + -0.14318600296974182, + 0.12018925696611404, + 1.0635632276535034, + 0.0, + 0.39099013805389404 + ], + [ + 0.37295523285865784, + -0.009156678803265095, + 0.024811383336782455, + -0.1501874178647995, + 0.1316905915737152, + 1.098994255065918, + 0.0, + 0.39099013805389404 + ], + [ + 0.3740326762199402, + -0.015201881527900696, + 0.0227213017642498, + -0.15021462738513947, + 0.11412078887224197, + 1.0868020057678223, + 0.0, + 0.39099013805389404 + ], + [ + 0.36201611161231995, + -0.0212013591080904, + 0.012334349565207958, + -0.09519045054912567, + 0.08453391492366791, + 1.0562269687652588, + 0.0, + 0.39099013805389404 + ], + [ + 0.34898123145103455, + -0.02450784295797348, + 0.008584682829678059, + -0.0659942552447319, + 0.07442228496074677, + 1.026577115058899, + 0.0, + 0.39099013805389404 + ], + [ + 0.33889248967170715, + -0.024621635675430298, + 0.010148106142878532, + -0.04106840118765831, + 0.08748551458120346, + 1.0293594598770142, + 0.0, + 0.39099013805389404 + ], + [ + 0.3255111277103424, + -0.027002375572919846, + 0.012107103131711483, + -0.032368529587984085, + 0.11245831102132797, + 1.0278288125991821, + 0.0, + 0.39099013805389404 + ], + [ + 0.31579622626304626, + -0.02375391125679016, + 0.0198996439576149, + -0.02973199263215065, + 0.10713046044111252, + 1.0107543468475342, + 0.0, + 0.39099013805389404 + ], + [ + 0.3074897527694702, + -0.016793331131339073, + 0.017476407811045647, + -0.016134630888700485, + 0.10143349319696426, + 0.9960180521011353, + 0.0, + 0.39099013805389404 + ], + [ + 0.3061075508594513, + -0.013059326447546482, + 0.013665895909070969, + -0.016133802011609077, + 0.08109796047210693, + 0.9825185537338257, + 0.0, + 0.39099013805389404 + ], + [ + 0.30574098229408264, + -0.014823727309703827, + 0.014122570864856243, + -0.019869012758135796, + 0.09238938242197037, + 0.973892331123352, + 0.0, + 0.39099013805389404 + ], + [ + 0.31040480732917786, + -0.020004935562610626, + 0.032279711216688156, + -0.05745131894946098, + 0.10654179751873016, + 0.9764662384986877, + 0.0, + 0.39099013805389404 + ], + [ + 0.3144432306289673, + -0.021127136424183846, + 0.05085395649075508, + -0.06296686828136444, + 0.07863343507051468, + 1.0016223192214966, + 0.0, + 0.39099013805389404 + ], + [ + 0.3223859369754791, + -0.03443719446659088, + 0.04691014066338539, + -0.06956698000431061, + -0.00450140330940485, + 0.9785945415496826, + 0.0, + 0.39099013805389404 + ], + [ + 0.3277357518672943, + -0.03623494878411293, + 0.013650529086589813, + -0.0072757103480398655, + -0.08294032514095306, + 0.9631162881851196, + 0.0, + 0.39099013805389404 + ], + [ + 0.33947452902793884, + -0.04028471186757088, + 0.009918180294334888, + -0.015858743339776993, + -0.12753000855445862, + 0.9278296828269958, + 0.0, + 0.39099013805389404 + ], + [ + 0.3425941467285156, + -0.04109864681959152, + 0.010612592101097107, + -0.0227151308208704, + -0.13723425567150116, + 0.9185861945152283, + 0.0, + 0.39099013805389404 + ], + [ + 0.3390370011329651, + -0.036847151815891266, + 0.008795762434601784, + -0.019511641934514046, + -0.11937213689088821, + 0.900496244430542, + 0.0, + 0.39099013805389404 + ], + [ + 0.3321378231048584, + -0.02763492241501808, + 0.010371390730142593, + -0.01760893501341343, + -0.11176775395870209, + 0.9073142409324646, + 0.0, + 0.39099013805389404 + ], + [ + 0.3260314464569092, + -0.018288813531398773, + 0.009308615699410439, + -0.0041462937369942665, + -0.11126736551523209, + 0.9287815093994141, + 0.0, + 0.39099013805389404 + ], + [ + 0.32114720344543457, + -0.014819680713117123, + 0.009179415181279182, + 0.004621479194611311, + -0.11375566571950912, + 0.9275472164154053, + 0.0, + 0.39099013805389404 + ], + [ + 0.31380778551101685, + -0.008383214473724365, + 0.009115171618759632, + 0.014063054695725441, + -0.11559025943279266, + 0.927213191986084, + 0.0, + 0.39099013805389404 + ], + [ + 0.3117842674255371, + -0.005739409476518631, + 0.007922339253127575, + 0.004591001197695732, + -0.13791809976100922, + 0.9134919047355652, + 0.0, + 0.39099013805389404 + ], + [ + 0.31059372425079346, + -0.0042731440626084805, + 0.007630441803485155, + 0.00924699380993843, + -0.1458050012588501, + 0.9072937965393066, + 0.0, + 0.39099013805389404 + ], + [ + 0.30819782614707947, + -0.0015537228900939226, + 0.007607214152812958, + 0.006239197216928005, + -0.14220009744167328, + 0.9143024682998657, + 0.0, + 0.39099013805389404 + ], + [ + 0.3061819076538086, + 0.00259021925739944, + 0.007475904189050198, + 0.004529871977865696, + -0.14625683426856995, + 0.9161419868469238, + 0.0, + 0.39099013805389404 + ], + [ + 0.3042057454586029, + 0.007826021872460842, + 0.007797594182193279, + 0.011868276633322239, + -0.15329225361347198, + 0.914433479309082, + 0.0, + 0.39099013805389404 + ], + [ + 0.3016597032546997, + 0.01223762333393097, + 0.0065764328464865685, + 0.01654571108520031, + -0.1558021605014801, + 0.9149471521377563, + 0.0, + 0.39099013805389404 + ], + [ + 0.29936182498931885, + 0.022395633161067963, + 0.007367045618593693, + 0.02303031086921692, + -0.16338200867176056, + 0.9285343289375305, + 0.0, + 0.39099013805389404 + ], + [ + 0.29856228828430176, + 0.02884211204946041, + 0.007733353413641453, + 0.030782734975218773, + -0.16578085720539093, + 0.9397075176239014, + 0.0, + 0.39099013805389404 + ], + [ + 0.2964566946029663, + 0.034860387444496155, + 0.008174129761755466, + 0.04995957389473915, + -0.1636563390493393, + 0.9486828446388245, + 0.0, + 0.39099013805389404 + ], + [ + 0.2970905900001526, + 0.04569721221923828, + 0.008745910599827766, + 0.0726485624909401, + -0.1669091433286667, + 0.9761152267456055, + 0.0, + 0.39099013805389404 + ], + [ + 0.2975417971611023, + 0.04936850443482399, + 0.008430659770965576, + 0.08577173203229904, + -0.1715105026960373, + 0.9799507856369019, + 0.0, + 0.39099013805389404 + ], + [ + 0.2992461919784546, + 0.049481090158224106, + 0.008646502159535885, + 0.08330510556697845, + -0.17338325083255768, + 0.9803740382194519, + 0.0, + 0.39099013805389404 + ], + [ + 0.3024851083755493, + 0.046692222356796265, + 0.00978847686201334, + 0.07078097760677338, + -0.15419317781925201, + 0.9986702799797058, + 0.0, + 0.39099013805389404 + ], + [ + 0.30924445390701294, + 0.037504300475120544, + 0.013287492096424103, + 0.053628262132406235, + -0.10851660370826721, + 1.0283830165863037, + 0.0, + 0.39099013805389404 + ], + [ + 0.3204840421676636, + 0.024261008948087692, + 0.020095860585570335, + 0.04025780037045479, + -0.0858975276350975, + 1.0422227382659912, + 0.0, + 0.39099013805389404 + ], + [ + 0.33030906319618225, + 0.014695808291435242, + 0.02650979347527027, + 0.027690084651112556, + -0.09489672631025314, + 1.0455708503723145, + 0.0, + 0.39099013805389404 + ], + [ + 0.33917108178138733, + 0.006036738399416208, + 0.014672383666038513, + 0.06028583273291588, + -0.10063012689352036, + 1.0538642406463623, + 0.0, + 0.39099013805389404 + ], + [ + 0.35251492261886597, + 0.00067532790126279, + 0.010784223675727844, + 0.06436040997505188, + -0.16358955204486847, + 1.0688802003860474, + 0.0, + 0.4606100916862488 + ], + [ + 0.36664751172065735, + -0.0025898718740791082, + 0.010699206031858921, + 0.055391933768987656, + -0.19457301497459412, + 1.09535551071167, + 0.0, + 0.7398436665534973 + ], + [ + 0.3648802638053894, + -0.0026231843512505293, + 0.011392938904464245, + 0.07098113745450974, + -0.18698222935199738, + 1.1116355657577515, + 0.0, + 0.9694526195526123 + ], + [ + 0.355427622795105, + -0.008002294227480888, + 0.01611078903079033, + 0.10591325163841248, + -0.13781270384788513, + 1.0947917699813843, + 0.0, + 0.9981546401977539 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9687211513519287 + ], + [ + 0.6941980719566345 + ], + [ + 0.4077054560184479 + ], + [ + 0.3918617069721222 + ], + [ + 0.3918617069721222 + ], + [ + 0.3918617069721222 + ], + [ + 0.3918617069721222 + ], + [ + 0.3918617069721222 + ], + [ + 0.3918617069721222 + ], + [ + 0.3918617069721222 + ], + [ + 0.3918617069721222 + ], + [ + 0.3918617069721222 + ], + [ + 0.3918617069721222 + ], + [ + 0.3918617069721222 + ], + [ + 0.3918617069721222 + ], + [ + 0.3918617069721222 + ], + [ + 0.3918617069721222 + ], + [ + 0.3918617069721222 + ], + [ + 0.3918617069721222 + ], + [ + 0.3918617069721222 + ], + [ + 0.3918617069721222 + ], + [ + 0.3918617069721222 + ], + [ + 0.3918617069721222 + ], + [ + 0.3918617069721222 + ], + [ + 0.3918617069721222 + ], + [ + 0.3918617069721222 + ], + [ + 0.3918617069721222 + ], + [ + 0.3918617069721222 + ], + [ + 0.3918617069721222 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.3918617069721222 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.4606100916862488 + ], + [ + 0.7398436665534973 + ], + [ + 0.9694526195526123 + ], + [ + 0.9981546401977539 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.350842148065567, + 0.011481598019599915, + 0.0993664339184761 + ], + [ + 0.35074639320373535, + 0.011029349640011787, + 0.08753402531147003 + ], + [ + 0.3558984696865082, + 0.007955729030072689, + 0.08178660273551941 + ], + [ + 0.3615967631340027, + 0.004733947105705738, + 0.07507380843162537 + ], + [ + 0.36767280101776123, + -0.0011858675861731172, + 0.06678692251443863 + ], + [ + 0.3721102178096771, + -0.002557393629103899, + 0.053039126098155975 + ], + [ + 0.3802874684333801, + -0.0044523621909320354, + 0.03842668980360031 + ], + [ + 0.3886193037033081, + -0.007368400692939758, + 0.02688584104180336 + ], + [ + 0.39343467354774475, + -0.005876942537724972, + 0.01986238732933998 + ], + [ + 0.39239346981048584, + -0.005453742574900389, + 0.011543327011168003 + ], + [ + 0.3938824236392975, + -0.0033487589098513126, + 0.012323443777859211 + ], + [ + 0.3918030560016632, + -0.007435373030602932, + 0.0114120002835989 + ], + [ + 0.3855646848678589, + -0.01740398444235325, + 0.022072654217481613 + ], + [ + 0.38607844710350037, + -0.028062015771865845, + 0.038062289357185364 + ], + [ + 0.3835711181163788, + -0.0350627638399601, + 0.03960004076361656 + ], + [ + 0.38502374291419983, + -0.043912481516599655, + 0.040026724338531494 + ], + [ + 0.3890575170516968, + -0.05324037745594978, + 0.04019853472709656 + ], + [ + 0.39024460315704346, + -0.06608099490404129, + 0.03968215733766556 + ], + [ + 0.38702723383903503, + -0.07630560547113419, + 0.03356949985027313 + ], + [ + 0.3857189416885376, + -0.08662457019090652, + 0.029746679589152336 + ], + [ + 0.38066378235816956, + -0.09241844713687897, + 0.017679322510957718 + ], + [ + 0.38185814023017883, + -0.09082122147083282, + 0.011211341246962547 + ], + [ + 0.3829893469810486, + -0.09069180488586426, + 0.010160502046346664 + ], + [ + 0.38301002979278564, + -0.09028732776641846, + 0.00930668693035841 + ], + [ + 0.3781048655509949, + -0.08504810184240341, + 0.007523060776293278 + ], + [ + 0.37215834856033325, + -0.07478735595941544, + 0.006991303060203791 + ], + [ + 0.3623065650463104, + -0.05704645812511444, + 0.007087349891662598 + ], + [ + 0.35661283135414124, + -0.048638585954904556, + 0.008065913803875446 + ], + [ + 0.35126158595085144, + -0.04075712338089943, + 0.007230116054415703 + ], + [ + 0.34339216351509094, + -0.02934422716498375, + 0.00619793264195323 + ], + [ + 0.33815282583236694, + -0.023158065974712372, + 0.005210575647652149 + ], + [ + 0.33029815554618835, + -0.01252111978828907, + 0.005453889258205891 + ], + [ + 0.32089465856552124, + -0.0012360698310658336, + 0.005025485064834356 + ], + [ + 0.3148292005062103, + 0.008153255097568035, + 0.004382922779768705 + ], + [ + 0.3111574351787567, + 0.017269659787416458, + 0.004737172741442919 + ], + [ + 0.3092558681964874, + 0.022131534293293953, + 0.0046521625481545925 + ], + [ + 0.3049270212650299, + 0.0431797131896019, + 0.004943336360156536 + ], + [ + 0.3021596372127533, + 0.053976766765117645, + 0.004527772776782513 + ], + [ + 0.30019649863243103, + 0.06017482280731201, + 0.004862284287810326 + ], + [ + 0.29924476146698, + 0.06325855106115341, + 0.00444841431453824 + ], + [ + 0.30475473403930664, + 0.059137970209121704, + 0.005226759240031242 + ], + [ + 0.3171568214893341, + 0.04819267988204956, + 0.006877016741782427 + ], + [ + 0.33629775047302246, + 0.02676883526146412, + 0.01715545542538166 + ], + [ + 0.3457971513271332, + 0.012570900842547417, + 0.03236331418156624 + ], + [ + 0.3510240614414215, + 0.012935828417539597, + 0.03999430686235428 + ], + [ + 0.3541812598705292, + 0.019121864810585976, + 0.04004731401801109 + ], + [ + 0.3630114495754242, + 0.004945729393512011, + 0.03375961259007454 + ], + [ + 0.3673044741153717, + -0.0060779014602303505, + 0.026212753728032112 + ], + [ + 0.37295523285865784, + -0.009156678803265095, + 0.024811383336782455 + ], + [ + 0.3740326762199402, + -0.015201881527900696, + 0.0227213017642498 + ], + [ + 0.36201611161231995, + -0.0212013591080904, + 0.012334349565207958 + ], + [ + 0.34898123145103455, + -0.02450784295797348, + 0.008584682829678059 + ], + [ + 0.33889248967170715, + -0.024621635675430298, + 0.010148106142878532 + ], + [ + 0.3255111277103424, + -0.027002375572919846, + 0.012107103131711483 + ], + [ + 0.31579622626304626, + -0.02375391125679016, + 0.0198996439576149 + ], + [ + 0.3074897527694702, + -0.016793331131339073, + 0.017476407811045647 + ], + [ + 0.3061075508594513, + -0.013059326447546482, + 0.013665895909070969 + ], + [ + 0.30574098229408264, + -0.014823727309703827, + 0.014122570864856243 + ], + [ + 0.31040480732917786, + -0.020004935562610626, + 0.032279711216688156 + ], + [ + 0.3144432306289673, + -0.021127136424183846, + 0.05085395649075508 + ], + [ + 0.3223859369754791, + -0.03443719446659088, + 0.04691014066338539 + ], + [ + 0.3277357518672943, + -0.03623494878411293, + 0.013650529086589813 + ], + [ + 0.33947452902793884, + -0.04028471186757088, + 0.009918180294334888 + ], + [ + 0.3425941467285156, + -0.04109864681959152, + 0.010612592101097107 + ], + [ + 0.3390370011329651, + -0.036847151815891266, + 0.008795762434601784 + ], + [ + 0.3321378231048584, + -0.02763492241501808, + 0.010371390730142593 + ], + [ + 0.3260314464569092, + -0.018288813531398773, + 0.009308615699410439 + ], + [ + 0.32114720344543457, + -0.014819680713117123, + 0.009179415181279182 + ], + [ + 0.31380778551101685, + -0.008383214473724365, + 0.009115171618759632 + ], + [ + 0.3117842674255371, + -0.005739409476518631, + 0.007922339253127575 + ], + [ + 0.31059372425079346, + -0.0042731440626084805, + 0.007630441803485155 + ], + [ + 0.30819782614707947, + -0.0015537228900939226, + 0.007607214152812958 + ], + [ + 0.3061819076538086, + 0.00259021925739944, + 0.007475904189050198 + ], + [ + 0.3042057454586029, + 0.007826021872460842, + 0.007797594182193279 + ], + [ + 0.3016597032546997, + 0.01223762333393097, + 0.0065764328464865685 + ], + [ + 0.29936182498931885, + 0.022395633161067963, + 0.007367045618593693 + ], + [ + 0.29856228828430176, + 0.02884211204946041, + 0.007733353413641453 + ], + [ + 0.2964566946029663, + 0.034860387444496155, + 0.008174129761755466 + ], + [ + 0.2970905900001526, + 0.04569721221923828, + 0.008745910599827766 + ], + [ + 0.2975417971611023, + 0.04936850443482399, + 0.008430659770965576 + ], + [ + 0.2992461919784546, + 0.049481090158224106, + 0.008646502159535885 + ], + [ + 0.3024851083755493, + 0.046692222356796265, + 0.00978847686201334 + ], + [ + 0.30924445390701294, + 0.037504300475120544, + 0.013287492096424103 + ], + [ + 0.3204840421676636, + 0.024261008948087692, + 0.020095860585570335 + ], + [ + 0.33030906319618225, + 0.014695808291435242, + 0.02650979347527027 + ], + [ + 0.33917108178138733, + 0.006036738399416208, + 0.014672383666038513 + ], + [ + 0.35251492261886597, + 0.00067532790126279, + 0.010784223675727844 + ], + [ + 0.36664751172065735, + -0.0025898718740791082, + 0.010699206031858921 + ], + [ + 0.3648802638053894, + -0.0026231843512505293, + 0.011392938904464245 + ], + [ + 0.355427622795105, + -0.008002294227480888, + 0.01611078903079033 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.6210408619233411, + 0.7800486211202198, + 0.07637012838772889, + 0.7795612828977632, + -0.6248541707331472, + 0.04291237029325257, + 0.08119392851875024, + 0.03288485982690965, + -0.9961556765716176 + ], + [ + 0.6200350567329649, + 0.7832376320721787, + 0.04577488534246272, + 0.7823141501392933, + -0.6216210571561932, + 0.039646333901786776, + 0.05950713330336362, + 0.01122822363436389, + -0.9981647299319047 + ], + [ + 0.6048352205829545, + 0.7937592300796665, + 0.06419221608344391, + 0.7944564084360917, + -0.6069894883000897, + 0.02006928469131017, + 0.05489418035816242, + 0.03885930720599569, + -0.9977357281396089 + ], + [ + 0.584483227608841, + 0.8070238592870761, + 0.0842131057813807, + 0.8095739076650726, + -0.5869844656404302, + 0.0062709747825900365, + 0.0544926111675425, + 0.0645114535428626, + -0.996428034375755 + ], + [ + 0.589643418755539, + 0.8009243417795796, + 0.10411934240681334, + 0.8055478365775931, + -0.5925166883905073, + -0.00408129439097548, + 0.058423639936581624, + 0.08627961939933271, + -0.9945564365951621 + ], + [ + 0.5835178615905618, + 0.80539850690787, + 0.10411604235348111, + 0.8103326114778726, + -0.5858972115422846, + -0.009247501415340663, + 0.05355337505917919, + 0.0897647067479724, + -0.9945221633740606 + ], + [ + 0.5781152287113904, + 0.8102217564865906, + 0.09655820859854641, + 0.8138113038701835, + -0.5811174327507811, + 0.0037001413828571944, + 0.05910959334226897, + 0.07644105355713726, + -0.9953204616132365 + ], + [ + 0.5872109637750451, + 0.8040977715654218, + 0.09279039705651514, + 0.8061555243335918, + -0.5912842452771834, + 0.022275813642238622, + 0.07277743200206242, + 0.06172288919448488, + -0.9954364521860102 + ], + [ + 0.5892785069697165, + 0.8041558015880244, + 0.07800184610548407, + 0.8046454173593032, + -0.5928380119093442, + 0.032997635643316904, + 0.07277769951169487, + 0.043319030548918884, + -0.9964069791235343 + ], + [ + 0.5794533995460444, + 0.8128094737843801, + 0.059787265206657156, + 0.8124843295893931, + -0.5818700727291451, + 0.036006008302134435, + 0.06405444501520821, + 0.027712412174659196, + -0.9975615521286169 + ], + [ + 0.5712260934931752, + 0.8178236619016073, + 0.06975104405219587, + 0.8168476665114617, + -0.5747460164822902, + 0.049263640268646124, + 0.080378105397588, + 0.028835300788862574, + -0.9963472715881294 + ], + [ + 0.5628905172263354, + 0.8244109446662087, + 0.05916806513008613, + 0.824847806212847, + -0.5648695830907253, + 0.023419023992556458, + 0.052729139975180694, + 0.03562230219230433, + -0.9979732909171458 + ], + [ + 0.5685415830277787, + 0.8219918867364134, + 0.03301221755317737, + 0.8225812753603564, + -0.5674975481380312, + -0.03614662202546961, + -0.010977877517836328, + 0.04770608972483346, + -0.9988010889102841 + ], + [ + 0.565546152651635, + 0.8230203421493006, + 0.052868380241704586, + 0.8232064551389066, + -0.5594717666567641, + -0.09655296231392635, + -0.04988668598502818, + 0.0981267482514688, + -0.9939227635178821 + ], + [ + 0.5677580609686559, + 0.8225097295770374, + 0.03359358504566799, + 0.819709098250031, + -0.5611307224031092, + -0.11493174766567096, + -0.07568208804752136, + 0.09279039350317045, + -0.9928051996350008 + ], + [ + 0.575085084376012, + 0.8168702941611771, + 0.04472212254876768, + 0.8151597017911024, + -0.5675402456607226, + -0.11581334176685908, + -0.06922287413908657, + 0.10305819750218069, + -0.9922636754530145 + ], + [ + 0.5916394119507989, + 0.8026581621208284, + 0.07551609767014265, + 0.8050351933745623, + -0.5831459844291156, + -0.10889948701705865, + -0.04337215298891273, + 0.12522234475129188, + -0.9911802160657237 + ], + [ + 0.6180388965024358, + 0.7803663401685601, + 0.09516458134189701, + 0.7858344831904065, + -0.6098339005333084, + -0.10279483833927541, + -0.022183043950690796, + 0.1383148180501931, + -0.9901398505609315 + ], + [ + 0.6407174638781253, + 0.7601836254878808, + 0.10771252026428868, + 0.7677744049548979, + -0.6347254276716376, + -0.0874419496763971, + 0.001895937165608201, + 0.1387245003853264, + -0.9903291969921446 + ], + [ + 0.6798488692700669, + 0.7229176044719489, + 0.12327064572212904, + 0.7319769118488905, + -0.6792084372730278, + -0.053718704910797756, + 0.04489226517311487, + 0.1267518673695609, + -0.9909180837213318 + ], + [ + 0.7066591342309727, + 0.6977635565482138, + 0.11729828285665525, + 0.7034866457088379, + -0.7106250929126643, + -0.010886534443760247, + 0.07575887616154384, + 0.09021084455903816, + -0.9930370568144398 + ], + [ + 0.7089047186435019, + 0.6948225817676278, + 0.12114321999495409, + 0.6982151165041276, + -0.7156414718599037, + 0.018786560071456057, + 0.09974843843441877, + 0.07126614638072723, + -0.9924572461370494 + ], + [ + 0.7103986426610926, + 0.6953844836292201, + 0.10850893250327406, + 0.6954375461915011, + -0.7172608349624439, + 0.04362927888610611, + 0.10816833109751195, + 0.044467005258964076, + -0.993137602546031 + ], + [ + 0.7127784343340469, + 0.6932840160229174, + 0.10632110174109458, + 0.6928762800436317, + -0.7195362051598774, + 0.04679861127236636, + 0.10894661124240593, + 0.040310328592785126, + -0.9932299397961873 + ], + [ + 0.7122215249775702, + 0.6945872446672836, + 0.10143499841837407, + 0.6927777763669845, + -0.7188225272918884, + 0.05790618990849549, + 0.11313466281666669, + 0.029029877767800326, + -0.9931554834295311 + ], + [ + 0.7138642517843261, + 0.6924430293393279, + 0.10450110594524244, + 0.6911949830681959, + -0.7206741624375532, + 0.05364929613971931, + 0.11246032814179556, + 0.033932325506893145, + -0.993076669688667 + ], + [ + 0.7074964343615566, + 0.7009549412282174, + 0.09006090013668522, + 0.6987531082614771, + -0.7128977976778336, + 0.059336529735225504, + 0.10579645107756755, + 0.02094995068827477, + -0.9941670938557315 + ], + [ + 0.7045805385772959, + 0.7038336060536196, + 0.09046833505534636, + 0.7014869539488721, + -0.7100690144015072, + 0.06097580033427827, + 0.10715557893857568, + 0.020499994547093434, + -0.9940309009914673 + ], + [ + 0.706533591840889, + 0.7021367629663143, + 0.08839824484455436, + 0.6992892689506033, + -0.7118666234317087, + 0.06511857472694565, + 0.10864990534254002, + 0.015807483516476588, + -0.9939543860429076 + ], + [ + 0.7053413567094812, + 0.7022559706872877, + 0.0965925574218001, + 0.6989792515915565, + -0.7116955691320149, + 0.0701243375894903, + 0.11798972989093544, + 0.018054598082279542, + -0.9928506711124042 + ], + [ + 0.7128017503136478, + 0.6914722121646198, + 0.11738758262255615, + 0.6867091478821533, + -0.7220989711696202, + 0.08368764574740598, + 0.14263313417564438, + 0.020958426466301923, + -0.9895537041491429 + ], + [ + 0.7077318055671074, + 0.6965228996381404, + 0.11820127608616987, + 0.6894928271453445, + -0.7174472922883945, + 0.09934296202132786, + 0.15399783343879248, + 0.011190758139101718, + -0.9880078108134722 + ], + [ + 0.7049736233042887, + 0.6986181408245704, + 0.12224926893868712, + 0.688615202835648, + -0.715493820227053, + 0.11780363169493843, + 0.16976835061000597, + 0.0011342520523390381, + -0.9854833436458679 + ], + [ + 0.6883707513229304, + 0.7163164396006882, + 0.11417734924624094, + 0.7061398252834867, + -0.6977720777979838, + 0.12033567465257977, + 0.1658681882450983, + -0.0022103853234758247, + -0.9861454549532794 + ], + [ + 0.6766279927971517, + 0.7289163103019943, + 0.10419007601026317, + 0.7175438932244133, + -0.6844900076587475, + 0.12885724935633153, + 0.16524321668271172, + -0.012427469213584875, + -0.9861745471007127 + ], + [ + 0.6688111478772627, + 0.737705371033501, + 0.0921001304202257, + 0.725812665989067, + -0.6747416436980798, + 0.13386443945072313, + 0.16089630935773797, + -0.022682588210739665, + -0.9867106353065831 + ], + [ + 0.637999247728286, + 0.7676403862501647, + 0.06070582588054339, + 0.7537005989575104, + -0.6386730400904796, + 0.15502307890335093, + 0.15777315053338808, + -0.053150590394484734, + -0.9860439380227872 + ], + [ + 0.6255842786540332, + 0.7788691160463317, + 0.04480190141186745, + 0.7637256865456945, + -0.6231220416001668, + 0.16864755255368333, + 0.15927142245619685, + -0.07128689459673315, + -0.9846577032895918 + ], + [ + 0.616351271497011, + 0.7867278753169867, + 0.03421052942059622, + 0.7716010172666318, + -0.6120373753468801, + 0.1733266319167398, + 0.15729901549951508, + -0.08043321066401492, + -0.9842700434053457 + ], + [ + 0.6148368741860136, + 0.7880947287744076, + 0.029703814892454564, + 0.7729683304619686, + -0.6096549834735788, + 0.1756153786792818, + 0.15651063300622509, + -0.08501470228039076, + -0.9840106311174526 + ], + [ + 0.6136772209311014, + 0.7890405408418086, + 0.028553343382984195, + 0.7799471163141851, + -0.6114365738342273, + 0.133520829577444, + 0.12281190603303742, + -0.0596685937988138, + -0.9906345918907764 + ], + [ + 0.580655314442613, + 0.8140336647099856, + 0.013733117940978555, + 0.8139492437117587, + -0.5808040031689943, + 0.012382994949800587, + 0.0180564246351837, + 0.003987809135546127, + -0.9998290168362249 + ], + [ + 0.5574493675902081, + 0.8299738659650184, + 0.019838961372989315, + 0.8242351380115471, + -0.5504168693513933, + -0.1329575390886024, + -0.09943158371645835, + 0.09046906514656337, + -0.9909231596905705 + ], + [ + 0.5334098611192429, + 0.8455944189854077, + 0.02107127526944888, + 0.8279875623866526, + -0.5168857331766814, + -0.21740684297283222, + -0.17294657150044707, + 0.1334137077632406, + -0.9758536088917771 + ], + [ + 0.5067397323239898, + 0.8617411833462716, + 0.024839013852789693, + 0.8431807771047652, + -0.48941096128394723, + -0.22253783520140388, + -0.17961353179873624, + 0.13371254204483077, + -0.9746075801545431 + ], + [ + 0.4917336899298024, + 0.8699722812850934, + 0.03669070704730526, + 0.8608187526014177, + -0.47935141432500655, + -0.17091897716273316, + -0.1311070301614675, + 0.11563066799178376, + -0.9846016937127489 + ], + [ + 0.49761696843836023, + 0.864372576293625, + 0.0723698975661706, + 0.8605039284267297, + -0.48144385872596407, + -0.16656770412423894, + -0.10913451280132269, + 0.14516149712157134, + -0.9833706309774777 + ], + [ + 0.4822562883049378, + 0.8734578627853302, + 0.06708378588621718, + 0.8677861707517249, + -0.4658342987186466, + -0.17304787773724503, + -0.11990010109421335, + 0.1416678088903395, + -0.9826261739246556 + ], + [ + 0.4505569157530294, + 0.8896530266182503, + 0.07426949505755638, + 0.8830379806731201, + -0.4318753591911369, + -0.18365075227797162, + -0.13131028274988946, + 0.14832790146332336, + -0.9801818419515997 + ], + [ + 0.4622916619976657, + 0.8831053123244167, + 0.08007138435065762, + 0.8793857540161679, + -0.44499458720640117, + -0.1692941611232374, + -0.11387324040727069, + 0.14867691381448342, + -0.9823075182537029 + ], + [ + 0.49040258222125993, + 0.8705134442764131, + 0.04137210031816567, + 0.8673962935465969, + -0.48294602117127056, + -0.11994503147885793, + -0.08443327124034665, + 0.09470735963405713, + -0.9919181109037173 + ], + [ + 0.5163170952705503, + 0.8562081675711678, + 0.01800641318542785, + 0.8531636412376212, + -0.5124282329624197, + -0.09761714671703677, + -0.07435360382351988, + 0.0657638186804483, + -0.9950611346801863 + ], + [ + 0.5133968918316498, + 0.8580952442450492, + -0.009807306543087091, + 0.8536916438227174, + -0.5118591163193972, + -0.09597302906541935, + -0.08737395907744624, + 0.040899839177613584, + -0.9953356189900859 + ], + [ + 0.5134152422531781, + 0.8576072005139309, + -0.030243654686047138, + 0.8507709103741031, + -0.5132988640205168, + -0.11275253547688868, + -0.11222141989535894, + 0.03215844868623854, + -0.9931627193439977 + ], + [ + 0.5281762806038516, + 0.8485469305536845, + -0.031589923320618725, + 0.8423756410312989, + -0.5282939328557892, + -0.1063428413428546, + -0.10692565643749918, + 0.02955718450197866, + -0.9938275890916525 + ], + [ + 0.5408543704527025, + 0.8400917861388036, + -0.04150109425455706, + 0.834998822872652, + -0.542206746698795, + -0.09374865138013663, + -0.10125964528624642, + 0.016051002972511552, + -0.9947305411718694 + ], + [ + 0.5531052791047583, + 0.8325146097212698, + -0.03152736632022977, + 0.829163480166912, + -0.5537696774639881, + -0.07633523091552201, + -0.08100909445206142, + 0.016080078422477165, + -0.9965836430997573 + ], + [ + 0.5596873146377843, + 0.8279468167406834, + -0.035414382424594035, + 0.8235524092861786, + -0.5604575832758617, + -0.08745699804767695, + -0.0922580023221654, + 0.019782972414429743, + -0.9955385954396612 + ], + [ + 0.5567787861581115, + 0.8305759418659755, + -0.011873840059026537, + 0.823825899863083, + -0.5539709958342827, + -0.1201125409320548, + -0.1063403498164329, + 0.05709413777105811, + -0.9926892713397772 + ], + [ + 0.5372711386773774, + 0.8433410193504809, + 0.010754005077475981, + 0.839743556086822, + -0.5337047576525473, + -0.09994994582136785, + -0.0785524255193491, + 0.0627308276681239, + -0.9949343494447759 + ], + [ + 0.5581835706004756, + 0.8275321066488144, + 0.0601806777718443, + 0.8297052723809866, + -0.5570986876262269, + -0.03507439562313154, + 0.00450138810770731, + 0.06951017702833373, + -0.9975710865871128 + ], + [ + 0.5690016341533557, + 0.8206089614370001, + 0.053273565115346186, + 0.8181526766622563, + -0.5714441011098701, + 0.0638579437276066, + 0.08284526541207078, + 0.0072506355597803, + -0.9965360456515273 + ], + [ + 0.5947032537987911, + 0.7990106470320176, + 0.0889383261063944, + 0.7938212124741614, + -0.6011111171586915, + 0.09226758615181418, + 0.12718460027528225, + 0.01572929616055619, + -0.9917543378756204 + ], + [ + 0.6012379761677886, + 0.7926533584949765, + 0.10106210605511946, + 0.7872722457424043, + -0.6092572690143834, + 0.0949104379762669, + 0.13680390015410115, + 0.02249963154742181, + -0.9903425970253209 + ], + [ + 0.6168003136848204, + 0.7820427322170587, + 0.08925546495752876, + 0.7780586238980034, + -0.6229236772219937, + 0.08118417416081986, + 0.11908883581701574, + 0.01937156015159454, + -0.9926946115704671 + ], + [ + 0.6120212572301187, + 0.7865208734497969, + 0.08255238534550881, + 0.7829367025857393, + -0.6173157458248475, + 0.07701551597491282, + 0.1115351982229582, + 0.017498159459807525, + -0.9936064180413111 + ], + [ + 0.5951073637790009, + 0.8006083175631347, + 0.06981079733633679, + 0.7959383181743132, + -0.5991738830745148, + 0.08644565635851098, + 0.11103791801836928, + 0.004120641956632823, + -0.9938076277992696 + ], + [ + 0.5959217643835838, + 0.8004572737382941, + 0.06438480918209376, + 0.7949796353357838, + -0.5993722300794722, + 0.09359652349817849, + 0.11351048469344692, + -0.004591593298459172, + -0.9935261884498268 + ], + [ + 0.5960613094821443, + 0.800844915233511, + 0.0579511611882165, + 0.7946126148994089, + -0.5987088572697443, + 0.10069010114942357, + 0.1153330290123156, + -0.013968749814789128, + -0.9932286576853573 + ], + [ + 0.6051834494678632, + 0.7920193590921982, + 0.08036371888707883, + 0.7841249194924476, + -0.6104790381827537, + 0.11163984311356825, + 0.137481282802935, + -0.004547390751075915, + -0.9904939263398923 + ], + [ + 0.6093451194296672, + 0.7886336616128847, + 0.08219168570055393, + 0.7794803720518332, + -0.614795289683121, + 0.12015448959311884, + 0.14528893630686465, + -0.00914874606169458, + -0.9893469691833692 + ], + [ + 0.604182820660657, + 0.792661306658386, + 0.08155471871788282, + 0.784141683031622, + -0.6096309602520469, + 0.11606857126071085, + 0.14172134684255552, + -0.006176182379737584, + -0.9898873242042978 + ], + [ + 0.6023843333807846, + 0.7936522674144701, + 0.08514219474067097, + 0.7847892359125919, + -0.6083551550231605, + 0.11836325676694123, + 0.14573596019211704, + -0.004481493569880257, + -0.9893133710418883 + ], + [ + 0.6030836489549198, + 0.7932670559590689, + 0.08377046193766938, + 0.7829272518545383, + -0.6087608828273002, + 0.12819947676502652, + 0.152692601872912, + -0.011728830690118965, + -0.9882041306652806 + ], + [ + 0.6024457881011893, + 0.7939875177, + 0.08150395165713786, + 0.7829307368269229, + -0.6077143056677586, + 0.13305180952698736, + 0.15517259336232203, + -0.016344553323546382, + -0.9877521560826203 + ], + [ + 0.5910311519293348, + 0.8027742053761211, + 0.07896678182515085, + 0.7900792178445841, + -0.5958500683222483, + 0.14400529716111882, + 0.16265610034417355, + -0.022721603444943117, + -0.9864211685470445 + ], + [ + 0.581934844815206, + 0.8099998216349003, + 0.07247154849547577, + 0.7963161433033656, + -0.5856439260472963, + 0.15133337965684485, + 0.1650225327170684, + -0.03035590280882655, + -0.9858225412620191 + ], + [ + 0.5749673162267575, + 0.8163761743991566, + 0.05424506562257301, + 0.8017901548831138, + -0.5754148583595016, + 0.16133904769654034, + 0.16292677129161942, + -0.04927151968949313, + -0.9854071161423463 + ], + [ + 0.5524588967793086, + 0.8328982045512398, + 0.032707005743580944, + 0.8168159204455351, + -0.5487781539103451, + 0.17791652508259853, + 0.16613524453318934, + -0.07157596416448009, + -0.9835018870738493 + ], + [ + 0.5488902354028864, + 0.8355617417591589, + 0.02358145855889053, + 0.8182853773917945, + -0.5428734442166752, + 0.18893772707189244, + 0.1706708839437247, + -0.08440971077266667, + -0.981705887779605 + ], + [ + 0.5483649447900322, + 0.8358163927638577, + 0.026586555110395593, + 0.8182506749917019, + -0.5428566263256263, + 0.18913623695628476, + 0.1725158549265818, + -0.08196121547154225, + -0.9815908714721109 + ], + [ + 0.5349972064839547, + 0.8445273437219448, + 0.023485203007865996, + 0.8307769147201062, + -0.5309330991681501, + 0.16709207693916683, + 0.15358289951197687, + -0.06988282989160602, + -0.9856615458989129 + ], + [ + 0.5131680173164334, + 0.8582308687320237, + 0.009917759777117584, + 0.8514275563906668, + -0.5104901994071164, + 0.12029493974353297, + 0.10830374980645138, + -0.05328726174948776, + -0.9926886548727668 + ], + [ + 0.5024427854600233, + 0.8645689158173216, + 0.008475679420196738, + 0.8603435308633841, + -0.500911865424402, + 0.09432026282072704, + 0.08579193575563078, + -0.040098539618129383, + -0.9955058266428153 + ], + [ + 0.4991521084296755, + 0.8661946373909909, + 0.023537689039061095, + 0.8613180503682191, + -0.4989460768945848, + 0.09583333690002314, + 0.0947543601112884, + -0.027561975738200475, + -0.9951190625916616 + ], + [ + 0.49171520310782757, + 0.8707515239934374, + -0.002818243377422626, + 0.8649415425062246, + -0.48805577285855783, + 0.11695165935714129, + 0.10046037566912061, + -0.059944524708620064, + -0.993133609781623 + ], + [ + 0.4746829883952744, + 0.8798866304019863, + 0.02180775476682427, + 0.8649580310582408, + -0.470927476283083, + 0.17342121147511752, + 0.16286087632081236, + -0.06345730628922436, + -0.9846062691464708 + ], + [ + 0.44909318871771237, + 0.8926271377045116, + 0.039142060252467734, + 0.8723141658201288, + -0.4475111710091902, + 0.19698159287485723, + 0.19334762464765337, + -0.05431891802525124, + -0.9796255157904352 + ], + [ + 0.43547090823367857, + 0.9000105350804841, + 0.018604430286247878, + 0.8807998039921849, + -0.43026153301201003, + 0.1976530255206927, + 0.1858945759549313, + -0.06968536398911711, + -0.9800954834485467 + ], + [ + 0.45388699887260237, + 0.890507041926732, + -0.03136559473888524, + 0.8804056923898884, + -0.4427554479968348, + 0.16986297441350603, + 0.13737688692754513, + -0.10471304382942878, + -0.9849684103513537 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -9.575486183166504e-05, + -0.00045224837958812714, + -0.011832408607006073, + 0.021751388907432556, + 0.021741095930337906, + 0.002506434917449951, + 1.0 + ], + [ + 0.005152076482772827, + -0.0030736206099390984, + -0.0057474225759506226, + -0.027679424732923508, + 0.0046205222606658936, + 0.019484758377075195, + 1.0 + ], + [ + 0.005698293447494507, + -0.003221781924366951, + -0.006712794303894043, + -0.025724660605192184, + 0.00040217116475105286, + 0.025391042232513428, + 1.0 + ], + [ + 0.006076037883758545, + -0.005919814575463533, + -0.008286885917186737, + -0.02188272774219513, + -0.0039373114705085754, + -0.006551682949066162, + 1.0 + ], + [ + 0.0044374167919158936, + -0.0013715260429307818, + -0.013747796416282654, + -0.0034800097346305847, + 0.0048779211938381195, + 0.007780253887176514, + 1.0 + ], + [ + 0.008177250623703003, + -0.0018949685618281364, + -0.014612436294555664, + 0.013365238904953003, + -0.005565062165260315, + 0.0064283013343811035, + 1.0 + ], + [ + 0.008331835269927979, + -0.002916038502007723, + -0.011540848761796951, + 0.014723405241966248, + -0.013697762042284012, + -0.011880636215209961, + 1.0 + ], + [ + 0.0048153698444366455, + 0.0014914581552147865, + -0.007023453712463379, + 0.018478695303201675, + -2.682209014892578e-07, + -0.002567112445831299, + 0.0 + ], + [ + -0.0010412037372589111, + 0.00042319996282458305, + -0.008319060318171978, + 0.01567486859858036, + 0.0087437704205513, + 0.012584507465362549, + 0.0 + ], + [ + 0.0014889538288116455, + 0.002104983665049076, + 0.0007801167666912079, + -0.0011599287390708923, + -0.01636657863855362, + 0.00926196575164795, + 0.0 + ], + [ + -0.0020793676376342773, + -0.004086614120751619, + -0.0009114434942603111, + -0.0067465584725141525, + 0.027711302042007446, + 0.011431872844696045, + 0.0 + ], + [ + -0.006238371133804321, + -0.009968611411750317, + 0.010660653933882713, + -0.012047585099935532, + 0.06373170018196106, + -0.005945742130279541, + 0.0 + ], + [ + 0.0005137622356414795, + -0.010658031329512596, + 0.01598963513970375, + -0.05068075284361839, + 0.038929302245378494, + 0.0028231143951416016, + 0.0 + ], + [ + -0.002507328987121582, + -0.0070007480680942535, + 0.0015377514064311981, + 0.0052157193422317505, + 0.025847122073173523, + -0.0038144588470458984, + 0.0 + ], + [ + 0.001452624797821045, + -0.008849717676639557, + 0.00042668357491493225, + -0.010298527777194977, + -0.006476245820522308, + -0.008634507656097412, + 0.0 + ], + [ + 0.004033774137496948, + -0.009327895939350128, + 0.00017181038856506348, + -0.02218017727136612, + -0.02589251473546028, + -0.019382774829864502, + 0.0 + ], + [ + 0.0011870861053466797, + -0.012840617448091507, + -0.0005163773894309998, + -0.013123229146003723, + -0.02120089903473854, + -0.032656967639923096, + 0.0 + ], + [ + -0.003217369318008423, + -0.010224610567092896, + -0.0061126574873924255, + -0.00037954747676849365, + -0.024080801755189896, + -0.02899467945098877, + 0.0 + ], + [ + -0.0013082921504974365, + -0.010318964719772339, + -0.003822820261120796, + 0.011950895190238953, + -0.04301141947507858, + -0.053058624267578125, + 0.0 + ], + [ + -0.005055159330368042, + -0.005793876945972443, + -0.012067357078194618, + 0.036627985537052155, + -0.030924174934625626, + -0.039155423641204834, + 0.0 + ], + [ + 0.0011943578720092773, + 0.0015972256660461426, + -0.006467981263995171, + 0.018909983336925507, + -0.024083063006401062, + -0.005346894264221191, + 0.0 + ], + [ + 0.001131206750869751, + 0.0001294165849685669, + -0.0010508392006158829, + 0.026940353214740753, + -0.008465789258480072, + -0.0030450820922851562, + 0.0 + ], + [ + 2.0682811737060547e-05, + 0.0004044771194458008, + -0.0008538151159882545, + 0.0041815489530563354, + -0.0007829070091247559, + -0.003515958786010742, + 0.0 + ], + [ + -0.0049051642417907715, + 0.005239225924015045, + -0.0017836261540651321, + 0.011341208592057228, + -0.0042141154408454895, + 0.00031960010528564453, + 0.0 + ], + [ + -0.005946516990661621, + 0.010260745882987976, + -0.0005317577160894871, + -0.004933977499604225, + 0.0006786659359931946, + -0.0022945404052734375, + 0.0 + ], + [ + -0.009851783514022827, + 0.017740897834300995, + 9.604683145880699e-05, + 0.013085851445794106, + 0.006703928112983704, + 0.00991523265838623, + 0.0 + ], + [ + -0.0056937336921691895, + 0.008407872170209885, + 0.0009785639122128487, + 0.0004495754837989807, + -0.0013668984174728394, + 0.004017233848571777, + 0.0 + ], + [ + -0.005351245403289795, + 0.007881462574005127, + -0.0008357977494597435, + 0.004717882722616196, + -0.0015031024813652039, + -0.002952873706817627, + 0.0 + ], + [ + -0.007869422435760498, + 0.01141289621591568, + -0.001032183412462473, + -0.0022803116589784622, + -0.009400412440299988, + 0.0006226897239685059, + 0.0 + ], + [ + -0.005239337682723999, + 0.0061861611902713776, + -0.0009873569943010807, + -0.002993907779455185, + -0.024856016039848328, + -0.014111578464508057, + 0.0 + ], + [ + -0.007854670286178589, + 0.010636946186423302, + 0.00024331361055374146, + 0.009850405156612396, + -0.011491864919662476, + 0.005588948726654053, + 0.0 + ], + [ + -0.009403496980667114, + 0.011285049840807915, + -0.00042840419337153435, + 0.010175144299864769, + -0.01598149538040161, + 0.0013151764869689941, + 0.0 + ], + [ + -0.006065458059310913, + 0.00938932504504919, + -0.0006425622850656509, + 0.00339239533059299, + 0.003956273198127747, + 0.024479269981384277, + 0.0 + ], + [ + -0.0036717653274536133, + 0.009116404689848423, + 0.0003542499616742134, + 0.010359590873122215, + 0.0006337165832519531, + 0.0165979266166687, + 0.0 + ], + [ + -0.0019015669822692871, + 0.004861874505877495, + -8.501019328832626e-05, + 0.01038301084190607, + 0.004405885934829712, + 0.011510193347930908, + 0.0 + ], + [ + -0.0043288469314575195, + 0.021048178896307945, + 0.0002911738120019436, + 0.0308667104691267, + 0.003163576126098633, + 0.04209637641906738, + 0.0 + ], + [ + -0.0027673840522766113, + 0.010797053575515747, + -0.00041556358337402344, + 0.01842080056667328, + -0.001517459750175476, + 0.01615995168685913, + 0.0 + ], + [ + -0.0019631385803222656, + 0.0061980560421943665, + 0.00033451151102781296, + 0.009265914559364319, + 0.0019975900650024414, + 0.01228630542755127, + 0.0 + ], + [ + -0.0009517371654510498, + 0.0030837282538414, + -0.0004138699732720852, + 0.00464465469121933, + 0.0007982701063156128, + 0.0020620226860046387, + 0.0 + ], + [ + 0.00550997257232666, + -0.004120580852031708, + 0.0007783449254930019, + -0.026022102683782578, + 0.03403400629758835, + 0.005291998386383057, + 0.0 + ], + [ + 0.012402087450027466, + -0.010945290327072144, + 0.0016502575017511845, + -0.06414848566055298, + 0.10506533831357956, + 0.04700225591659546, + 0.0 + ], + [ + 0.019140928983688354, + -0.02142384462058544, + 0.010278439149260521, + -0.08705689013004303, + 0.11765356361865997, + 0.024991512298583984, + 0.0 + ], + [ + 0.009499400854110718, + -0.014197934418916702, + 0.015207858756184578, + -0.0448271706700325, + 0.07422438263893127, + 0.022353768348693848, + 0.0 + ], + [ + 0.00522691011428833, + 0.00036492757499217987, + 0.00763099268078804, + -0.0004725456237792969, + 0.006773039698600769, + 0.031160295009613037, + 0.0 + ], + [ + 0.003157198429107666, + 0.006186036393046379, + 5.3007155656814575e-05, + 0.019441522657871246, + -0.04910801351070404, + 0.0221405029296875, + 0.0 + ], + [ + 0.00883018970489502, + -0.014176135882735252, + -0.006287701427936554, + -0.029654301702976227, + -0.022133246064186096, + -0.00529634952545166, + 0.0 + ], + [ + 0.00429302453994751, + -0.011023631319403648, + -0.007546858862042427, + 0.0033718496561050415, + 0.01083693653345108, + 0.0170668363571167, + 0.0 + ], + [ + 0.005650758743286133, + -0.0030787773430347443, + -0.0014013703912496567, + -0.007001414895057678, + 0.011501334607601166, + 0.03543102741241455, + 0.0 + ], + [ + 0.0010774433612823486, + -0.006045202724635601, + -0.002090081572532654, + -2.720952033996582e-05, + -0.017569802701473236, + -0.012192249298095703, + 0.0 + ], + [ + -0.01201656460762024, + -0.005999477580189705, + -0.010386952199041843, + 0.055024176836013794, + -0.029586873948574066, + -0.030575037002563477, + 0.0 + ], + [ + -0.0130348801612854, + -0.0033064838498830795, + -0.0037496667355298996, + 0.02919619530439377, + -0.010111629962921143, + -0.029649853706359863, + 0.0 + ], + [ + -0.010088741779327393, + -0.00011379271745681763, + 0.0015634233132004738, + 0.024925854057073593, + 0.013063229620456696, + 0.0027823448181152344, + 0.0 + ], + [ + -0.013381361961364746, + -0.0023807398974895477, + 0.0019589969888329506, + 0.008699871599674225, + 0.02497279644012451, + -0.0015306472778320312, + 0.0 + ], + [ + -0.009714901447296143, + 0.0032484643161296844, + 0.007792540825903416, + 0.002636536955833435, + -0.005327850580215454, + -0.01707446575164795, + 0.0 + ], + [ + -0.00830647349357605, + 0.006960580125451088, + -0.002423236146569252, + 0.013597361743450165, + -0.005696967244148254, + -0.014736294746398926, + 0.0 + ], + [ + -0.001382201910018921, + 0.003734004683792591, + -0.003810511901974678, + 8.288770914077759e-07, + -0.02033553272485733, + -0.01349949836730957, + 0.0 + ], + [ + -0.00036656856536865234, + -0.0017644008621573448, + 0.0004566749557852745, + -0.003735210746526718, + 0.011291421949863434, + -0.008626222610473633, + 0.0 + ], + [ + 0.004663825035095215, + -0.005181208252906799, + 0.01815713942050934, + -0.03758230805397034, + 0.014152415096759796, + 0.0025739073753356934, + 0.0 + ], + [ + 0.004038423299789429, + -0.0011222008615732193, + 0.018574245274066925, + -0.005515549331903458, + -0.027908362448215485, + 0.025156080722808838, + 0.0 + ], + [ + 0.00794270634651184, + -0.013310058042407036, + -0.00394381582736969, + -0.006600111722946167, + -0.08313483744859695, + -0.023027777671813965, + 0.0 + ], + [ + 0.0053498148918151855, + -0.001797754317522049, + -0.03325961157679558, + 0.06229126825928688, + -0.07843892276287079, + -0.015478253364562988, + 0.0 + ], + [ + 0.011738777160644531, + -0.004049763083457947, + -0.0037323487922549248, + -0.008583033457398415, + -0.044589683413505554, + -0.03528660535812378, + 0.0 + ], + [ + 0.0031196177005767822, + -0.0008139349520206451, + 0.0006944118067622185, + -0.006856387481093407, + -0.009704247117042542, + -0.009243488311767578, + 0.0 + ], + [ + -0.003557145595550537, + 0.004251495003700256, + -0.0018168296664953232, + 0.0032034888863563538, + 0.017862118780612946, + -0.01808995008468628, + 0.0 + ], + [ + -0.0068991780281066895, + 0.009212229400873184, + 0.0015756282955408096, + 0.0019027069211006165, + 0.007604382932186127, + 0.006817996501922607, + 0.0 + ], + [ + -0.006106376647949219, + 0.009346108883619308, + -0.0010627750307321548, + 0.013462641276419163, + 0.0005003884434700012, + 0.021467268466949463, + 0.0 + ], + [ + -0.004884243011474609, + 0.0034691328182816505, + -0.0001292005181312561, + 0.00876777246594429, + -0.0024883002042770386, + -0.001234292984008789, + 0.0 + ], + [ + -0.007339417934417725, + 0.006436466239392757, + -6.424356251955032e-05, + 0.009441575035452843, + -0.0018345937132835388, + -0.00033402442932128906, + 0.0 + ], + [ + -0.0020235180854797363, + 0.0026438049972057343, + -0.0011928323656320572, + -0.009472053498029709, + -0.022327840328216553, + -0.013721287250518799, + 0.0 + ], + [ + -0.0011905431747436523, + 0.0014662654139101505, + -0.0002918974496424198, + 0.004655992612242699, + -0.007886901497840881, + -0.006198108196258545, + 0.0 + ], + [ + -0.0023958981037139893, + 0.002719421172514558, + -2.3227650672197342e-05, + -0.0030077965930104256, + 0.003604903817176819, + 0.007008671760559082, + 0.0 + ], + [ + -0.002015918493270874, + 0.004143942147493362, + -0.00013130996376276016, + -0.0017093252390623093, + -0.0040567368268966675, + 0.0018395185470581055, + 0.0 + ], + [ + -0.0019761621952056885, + 0.005235802382230759, + 0.00032168999314308167, + 0.007338404655456543, + -0.007035419344902039, + -0.0017085075378417969, + 0.0 + ], + [ + -0.0025460422039031982, + 0.004411601461470127, + -0.0012211613357067108, + 0.004677434451878071, + -0.0025099068880081177, + 0.0005136728286743164, + 0.0 + ], + [ + -0.0022978782653808594, + 0.010158009827136993, + 0.0007906127721071243, + 0.006484599784016609, + -0.0075798481702804565, + 0.01358717679977417, + 0.0 + ], + [ + -0.0007995367050170898, + 0.006446478888392448, + 0.00036630779504776, + 0.007752424106001854, + -0.002398848533630371, + 0.01117318868637085, + 0.0 + ], + [ + -0.0021055936813354492, + 0.006018275395035744, + 0.00044077634811401367, + 0.019176838919520378, + 0.0021245181560516357, + 0.008975327014923096, + 0.0 + ], + [ + 0.0006338953971862793, + 0.010836824774742126, + 0.0005717808380723, + 0.022688988596200943, + -0.0032528042793273926, + 0.027432382106781006, + 0.0 + ], + [ + 0.00045120716094970703, + 0.0036712922155857086, + -0.00031525082886219025, + 0.013123169541358948, + -0.0046013593673706055, + 0.0038355588912963867, + 0.0 + ], + [ + 0.001704394817352295, + 0.00011258572340011597, + 0.00021584238857030869, + -0.002466626465320587, + -0.0018727481365203857, + 0.00042325258255004883, + 0.0 + ], + [ + 0.0032389163970947266, + -0.002788867801427841, + 0.0011419747024774551, + -0.012524127960205078, + 0.019190073013305664, + 0.018296241760253906, + 0.0 + ], + [ + 0.006759345531463623, + -0.00918792188167572, + 0.003499015234410763, + -0.01715271547436714, + 0.0456765741109848, + 0.0297127366065979, + 0.0 + ], + [ + 0.011239588260650635, + -0.013243291527032852, + 0.006808368489146233, + -0.013370461761951447, + 0.022619076073169708, + 0.0138397216796875, + 0.0 + ], + [ + 0.009825021028518677, + -0.00956520065665245, + 0.006413932889699936, + -0.012567715719342232, + -0.00899919867515564, + 0.003348112106323242, + 0.0 + ], + [ + 0.008862018585205078, + -0.00865907035768032, + -0.011837409809231758, + 0.03259574621915817, + -0.005733400583267212, + 0.008293390274047852, + 0.0 + ], + [ + 0.013343840837478638, + -0.0053614103235304356, + -0.003888159990310669, + 0.004074577242136002, + -0.06295942515134811, + 0.015015959739685059, + 1.0 + ], + [ + 0.014132589101791382, + -0.0032651997171342373, + -8.501764386892319e-05, + -0.008968476206064224, + -0.030983462929725647, + 0.02647531032562256, + 1.0 + ], + [ + -0.0017672479152679443, + -3.331247717142105e-05, + 0.0006937328726053238, + 0.01558920368552208, + 0.007590785622596741, + 0.016280055046081543, + 1.0 + ], + [ + -0.009452641010284424, + -0.005379109643399715, + 0.004717850126326084, + 0.03493211418390274, + 0.049169525504112244, + -0.016843795776367188, + 1.0 + ], + [ + -0.005165547132492065, + 0.005940533243119717, + 0.03426218777894974, + -0.01703597605228424, + 0.019132383167743683, + 0.01711738109588623, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9687211513519287 + ], + [ + 0.6941980719566345 + ], + [ + 0.4077054560184479 + ], + [ + 0.3918617069721222 + ], + [ + 0.3918617069721222 + ], + [ + 0.3918617069721222 + ], + [ + 0.3918617069721222 + ], + [ + 0.3918617069721222 + ], + [ + 0.3918617069721222 + ], + [ + 0.3918617069721222 + ], + [ + 0.3918617069721222 + ], + [ + 0.3918617069721222 + ], + [ + 0.3918617069721222 + ], + [ + 0.3918617069721222 + ], + [ + 0.3918617069721222 + ], + [ + 0.3918617069721222 + ], + [ + 0.3918617069721222 + ], + [ + 0.3918617069721222 + ], + [ + 0.3918617069721222 + ], + [ + 0.3918617069721222 + ], + [ + 0.3918617069721222 + ], + [ + 0.3918617069721222 + ], + [ + 0.3918617069721222 + ], + [ + 0.3918617069721222 + ], + [ + 0.3918617069721222 + ], + [ + 0.3918617069721222 + ], + [ + 0.3918617069721222 + ], + [ + 0.3918617069721222 + ], + [ + 0.3918617069721222 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.3918617069721222 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.4606100916862488 + ], + [ + 0.7398436665534973 + ], + [ + 0.9694526195526123 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.35074639320373535, + 0.011029349640011787, + 0.08753402531147003 + ], + [ + 0.3558984696865082, + 0.007955729030072689, + 0.08178660273551941 + ], + [ + 0.3615967631340027, + 0.004733947105705738, + 0.07507380843162537 + ], + [ + 0.36767280101776123, + -0.0011858675861731172, + 0.06678692251443863 + ], + [ + 0.3721102178096771, + -0.002557393629103899, + 0.053039126098155975 + ], + [ + 0.3802874684333801, + -0.0044523621909320354, + 0.03842668980360031 + ], + [ + 0.3886193037033081, + -0.007368400692939758, + 0.02688584104180336 + ], + [ + 0.39343467354774475, + -0.005876942537724972, + 0.01986238732933998 + ], + [ + 0.39239346981048584, + -0.005453742574900389, + 0.011543327011168003 + ], + [ + 0.3938824236392975, + -0.0033487589098513126, + 0.012323443777859211 + ], + [ + 0.3918030560016632, + -0.007435373030602932, + 0.0114120002835989 + ], + [ + 0.3855646848678589, + -0.01740398444235325, + 0.022072654217481613 + ], + [ + 0.38607844710350037, + -0.028062015771865845, + 0.038062289357185364 + ], + [ + 0.3835711181163788, + -0.0350627638399601, + 0.03960004076361656 + ], + [ + 0.38502374291419983, + -0.043912481516599655, + 0.040026724338531494 + ], + [ + 0.3890575170516968, + -0.05324037745594978, + 0.04019853472709656 + ], + [ + 0.39024460315704346, + -0.06608099490404129, + 0.03968215733766556 + ], + [ + 0.38702723383903503, + -0.07630560547113419, + 0.03356949985027313 + ], + [ + 0.3857189416885376, + -0.08662457019090652, + 0.029746679589152336 + ], + [ + 0.38066378235816956, + -0.09241844713687897, + 0.017679322510957718 + ], + [ + 0.38185814023017883, + -0.09082122147083282, + 0.011211341246962547 + ], + [ + 0.3829893469810486, + -0.09069180488586426, + 0.010160502046346664 + ], + [ + 0.38301002979278564, + -0.09028732776641846, + 0.00930668693035841 + ], + [ + 0.3781048655509949, + -0.08504810184240341, + 0.007523060776293278 + ], + [ + 0.37215834856033325, + -0.07478735595941544, + 0.006991303060203791 + ], + [ + 0.3623065650463104, + -0.05704645812511444, + 0.007087349891662598 + ], + [ + 0.35661283135414124, + -0.048638585954904556, + 0.008065913803875446 + ], + [ + 0.35126158595085144, + -0.04075712338089943, + 0.007230116054415703 + ], + [ + 0.34339216351509094, + -0.02934422716498375, + 0.00619793264195323 + ], + [ + 0.33815282583236694, + -0.023158065974712372, + 0.005210575647652149 + ], + [ + 0.33029815554618835, + -0.01252111978828907, + 0.005453889258205891 + ], + [ + 0.32089465856552124, + -0.0012360698310658336, + 0.005025485064834356 + ], + [ + 0.3148292005062103, + 0.008153255097568035, + 0.004382922779768705 + ], + [ + 0.3111574351787567, + 0.017269659787416458, + 0.004737172741442919 + ], + [ + 0.3092558681964874, + 0.022131534293293953, + 0.0046521625481545925 + ], + [ + 0.3049270212650299, + 0.0431797131896019, + 0.004943336360156536 + ], + [ + 0.3021596372127533, + 0.053976766765117645, + 0.004527772776782513 + ], + [ + 0.30019649863243103, + 0.06017482280731201, + 0.004862284287810326 + ], + [ + 0.29924476146698, + 0.06325855106115341, + 0.00444841431453824 + ], + [ + 0.30475473403930664, + 0.059137970209121704, + 0.005226759240031242 + ], + [ + 0.3171568214893341, + 0.04819267988204956, + 0.006877016741782427 + ], + [ + 0.33629775047302246, + 0.02676883526146412, + 0.01715545542538166 + ], + [ + 0.3457971513271332, + 0.012570900842547417, + 0.03236331418156624 + ], + [ + 0.3510240614414215, + 0.012935828417539597, + 0.03999430686235428 + ], + [ + 0.3541812598705292, + 0.019121864810585976, + 0.04004731401801109 + ], + [ + 0.3630114495754242, + 0.004945729393512011, + 0.03375961259007454 + ], + [ + 0.3673044741153717, + -0.0060779014602303505, + 0.026212753728032112 + ], + [ + 0.37295523285865784, + -0.009156678803265095, + 0.024811383336782455 + ], + [ + 0.3740326762199402, + -0.015201881527900696, + 0.0227213017642498 + ], + [ + 0.36201611161231995, + -0.0212013591080904, + 0.012334349565207958 + ], + [ + 0.34898123145103455, + -0.02450784295797348, + 0.008584682829678059 + ], + [ + 0.33889248967170715, + -0.024621635675430298, + 0.010148106142878532 + ], + [ + 0.3255111277103424, + -0.027002375572919846, + 0.012107103131711483 + ], + [ + 0.31579622626304626, + -0.02375391125679016, + 0.0198996439576149 + ], + [ + 0.3074897527694702, + -0.016793331131339073, + 0.017476407811045647 + ], + [ + 0.3061075508594513, + -0.013059326447546482, + 0.013665895909070969 + ], + [ + 0.30574098229408264, + -0.014823727309703827, + 0.014122570864856243 + ], + [ + 0.31040480732917786, + -0.020004935562610626, + 0.032279711216688156 + ], + [ + 0.3144432306289673, + -0.021127136424183846, + 0.05085395649075508 + ], + [ + 0.3223859369754791, + -0.03443719446659088, + 0.04691014066338539 + ], + [ + 0.3277357518672943, + -0.03623494878411293, + 0.013650529086589813 + ], + [ + 0.33947452902793884, + -0.04028471186757088, + 0.009918180294334888 + ], + [ + 0.3425941467285156, + -0.04109864681959152, + 0.010612592101097107 + ], + [ + 0.3390370011329651, + -0.036847151815891266, + 0.008795762434601784 + ], + [ + 0.3321378231048584, + -0.02763492241501808, + 0.010371390730142593 + ], + [ + 0.3260314464569092, + -0.018288813531398773, + 0.009308615699410439 + ], + [ + 0.32114720344543457, + -0.014819680713117123, + 0.009179415181279182 + ], + [ + 0.31380778551101685, + -0.008383214473724365, + 0.009115171618759632 + ], + [ + 0.3117842674255371, + -0.005739409476518631, + 0.007922339253127575 + ], + [ + 0.31059372425079346, + -0.0042731440626084805, + 0.007630441803485155 + ], + [ + 0.30819782614707947, + -0.0015537228900939226, + 0.007607214152812958 + ], + [ + 0.3061819076538086, + 0.00259021925739944, + 0.007475904189050198 + ], + [ + 0.3042057454586029, + 0.007826021872460842, + 0.007797594182193279 + ], + [ + 0.3016597032546997, + 0.01223762333393097, + 0.0065764328464865685 + ], + [ + 0.29936182498931885, + 0.022395633161067963, + 0.007367045618593693 + ], + [ + 0.29856228828430176, + 0.02884211204946041, + 0.007733353413641453 + ], + [ + 0.2964566946029663, + 0.034860387444496155, + 0.008174129761755466 + ], + [ + 0.2970905900001526, + 0.04569721221923828, + 0.008745910599827766 + ], + [ + 0.2975417971611023, + 0.04936850443482399, + 0.008430659770965576 + ], + [ + 0.2992461919784546, + 0.049481090158224106, + 0.008646502159535885 + ], + [ + 0.3024851083755493, + 0.046692222356796265, + 0.00978847686201334 + ], + [ + 0.30924445390701294, + 0.037504300475120544, + 0.013287492096424103 + ], + [ + 0.3204840421676636, + 0.024261008948087692, + 0.020095860585570335 + ], + [ + 0.33030906319618225, + 0.014695808291435242, + 0.02650979347527027 + ], + [ + 0.33917108178138733, + 0.006036738399416208, + 0.014672383666038513 + ], + [ + 0.35251492261886597, + 0.00067532790126279, + 0.010784223675727844 + ], + [ + 0.36664751172065735, + -0.0025898718740791082, + 0.010699206031858921 + ], + [ + 0.3648802638053894, + -0.0026231843512505293, + 0.011392938904464245 + ], + [ + 0.355427622795105, + -0.008002294227480888, + 0.01611078903079033 + ], + [ + 0.3502620756626129, + -0.0020617609843611717, + 0.050372976809740067 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.6200350567329649, + 0.7832376320721787, + 0.04577488534246272, + 0.7823141501392933, + -0.6216210571561932, + 0.039646333901786776, + 0.05950713330336362, + 0.01122822363436389, + -0.9981647299319047 + ], + [ + 0.6048352205829545, + 0.7937592300796665, + 0.06419221608344391, + 0.7944564084360917, + -0.6069894883000897, + 0.02006928469131017, + 0.05489418035816242, + 0.03885930720599569, + -0.9977357281396089 + ], + [ + 0.584483227608841, + 0.8070238592870761, + 0.0842131057813807, + 0.8095739076650726, + -0.5869844656404302, + 0.0062709747825900365, + 0.0544926111675425, + 0.0645114535428626, + -0.996428034375755 + ], + [ + 0.589643418755539, + 0.8009243417795796, + 0.10411934240681334, + 0.8055478365775931, + -0.5925166883905073, + -0.00408129439097548, + 0.058423639936581624, + 0.08627961939933271, + -0.9945564365951621 + ], + [ + 0.5835178615905618, + 0.80539850690787, + 0.10411604235348111, + 0.8103326114778726, + -0.5858972115422846, + -0.009247501415340663, + 0.05355337505917919, + 0.0897647067479724, + -0.9945221633740606 + ], + [ + 0.5781152287113904, + 0.8102217564865906, + 0.09655820859854641, + 0.8138113038701835, + -0.5811174327507811, + 0.0037001413828571944, + 0.05910959334226897, + 0.07644105355713726, + -0.9953204616132365 + ], + [ + 0.5872109637750451, + 0.8040977715654218, + 0.09279039705651514, + 0.8061555243335918, + -0.5912842452771834, + 0.022275813642238622, + 0.07277743200206242, + 0.06172288919448488, + -0.9954364521860102 + ], + [ + 0.5892785069697165, + 0.8041558015880244, + 0.07800184610548407, + 0.8046454173593032, + -0.5928380119093442, + 0.032997635643316904, + 0.07277769951169487, + 0.043319030548918884, + -0.9964069791235343 + ], + [ + 0.5794533995460444, + 0.8128094737843801, + 0.059787265206657156, + 0.8124843295893931, + -0.5818700727291451, + 0.036006008302134435, + 0.06405444501520821, + 0.027712412174659196, + -0.9975615521286169 + ], + [ + 0.5712260934931752, + 0.8178236619016073, + 0.06975104405219587, + 0.8168476665114617, + -0.5747460164822902, + 0.049263640268646124, + 0.080378105397588, + 0.028835300788862574, + -0.9963472715881294 + ], + [ + 0.5628905172263354, + 0.8244109446662087, + 0.05916806513008613, + 0.824847806212847, + -0.5648695830907253, + 0.023419023992556458, + 0.052729139975180694, + 0.03562230219230433, + -0.9979732909171458 + ], + [ + 0.5685415830277787, + 0.8219918867364134, + 0.03301221755317737, + 0.8225812753603564, + -0.5674975481380312, + -0.03614662202546961, + -0.010977877517836328, + 0.04770608972483346, + -0.9988010889102841 + ], + [ + 0.565546152651635, + 0.8230203421493006, + 0.052868380241704586, + 0.8232064551389066, + -0.5594717666567641, + -0.09655296231392635, + -0.04988668598502818, + 0.0981267482514688, + -0.9939227635178821 + ], + [ + 0.5677580609686559, + 0.8225097295770374, + 0.03359358504566799, + 0.819709098250031, + -0.5611307224031092, + -0.11493174766567096, + -0.07568208804752136, + 0.09279039350317045, + -0.9928051996350008 + ], + [ + 0.575085084376012, + 0.8168702941611771, + 0.04472212254876768, + 0.8151597017911024, + -0.5675402456607226, + -0.11581334176685908, + -0.06922287413908657, + 0.10305819750218069, + -0.9922636754530145 + ], + [ + 0.5916394119507989, + 0.8026581621208284, + 0.07551609767014265, + 0.8050351933745623, + -0.5831459844291156, + -0.10889948701705865, + -0.04337215298891273, + 0.12522234475129188, + -0.9911802160657237 + ], + [ + 0.6180388965024358, + 0.7803663401685601, + 0.09516458134189701, + 0.7858344831904065, + -0.6098339005333084, + -0.10279483833927541, + -0.022183043950690796, + 0.1383148180501931, + -0.9901398505609315 + ], + [ + 0.6407174638781253, + 0.7601836254878808, + 0.10771252026428868, + 0.7677744049548979, + -0.6347254276716376, + -0.0874419496763971, + 0.001895937165608201, + 0.1387245003853264, + -0.9903291969921446 + ], + [ + 0.6798488692700669, + 0.7229176044719489, + 0.12327064572212904, + 0.7319769118488905, + -0.6792084372730278, + -0.053718704910797756, + 0.04489226517311487, + 0.1267518673695609, + -0.9909180837213318 + ], + [ + 0.7066591342309727, + 0.6977635565482138, + 0.11729828285665525, + 0.7034866457088379, + -0.7106250929126643, + -0.010886534443760247, + 0.07575887616154384, + 0.09021084455903816, + -0.9930370568144398 + ], + [ + 0.7089047186435019, + 0.6948225817676278, + 0.12114321999495409, + 0.6982151165041276, + -0.7156414718599037, + 0.018786560071456057, + 0.09974843843441877, + 0.07126614638072723, + -0.9924572461370494 + ], + [ + 0.7103986426610926, + 0.6953844836292201, + 0.10850893250327406, + 0.6954375461915011, + -0.7172608349624439, + 0.04362927888610611, + 0.10816833109751195, + 0.044467005258964076, + -0.993137602546031 + ], + [ + 0.7127784343340469, + 0.6932840160229174, + 0.10632110174109458, + 0.6928762800436317, + -0.7195362051598774, + 0.04679861127236636, + 0.10894661124240593, + 0.040310328592785126, + -0.9932299397961873 + ], + [ + 0.7122215249775702, + 0.6945872446672836, + 0.10143499841837407, + 0.6927777763669845, + -0.7188225272918884, + 0.05790618990849549, + 0.11313466281666669, + 0.029029877767800326, + -0.9931554834295311 + ], + [ + 0.7138642517843261, + 0.6924430293393279, + 0.10450110594524244, + 0.6911949830681959, + -0.7206741624375532, + 0.05364929613971931, + 0.11246032814179556, + 0.033932325506893145, + -0.993076669688667 + ], + [ + 0.7074964343615566, + 0.7009549412282174, + 0.09006090013668522, + 0.6987531082614771, + -0.7128977976778336, + 0.059336529735225504, + 0.10579645107756755, + 0.02094995068827477, + -0.9941670938557315 + ], + [ + 0.7045805385772959, + 0.7038336060536196, + 0.09046833505534636, + 0.7014869539488721, + -0.7100690144015072, + 0.06097580033427827, + 0.10715557893857568, + 0.020499994547093434, + -0.9940309009914673 + ], + [ + 0.706533591840889, + 0.7021367629663143, + 0.08839824484455436, + 0.6992892689506033, + -0.7118666234317087, + 0.06511857472694565, + 0.10864990534254002, + 0.015807483516476588, + -0.9939543860429076 + ], + [ + 0.7053413567094812, + 0.7022559706872877, + 0.0965925574218001, + 0.6989792515915565, + -0.7116955691320149, + 0.0701243375894903, + 0.11798972989093544, + 0.018054598082279542, + -0.9928506711124042 + ], + [ + 0.7128017503136478, + 0.6914722121646198, + 0.11738758262255615, + 0.6867091478821533, + -0.7220989711696202, + 0.08368764574740598, + 0.14263313417564438, + 0.020958426466301923, + -0.9895537041491429 + ], + [ + 0.7077318055671074, + 0.6965228996381404, + 0.11820127608616987, + 0.6894928271453445, + -0.7174472922883945, + 0.09934296202132786, + 0.15399783343879248, + 0.011190758139101718, + -0.9880078108134722 + ], + [ + 0.7049736233042887, + 0.6986181408245704, + 0.12224926893868712, + 0.688615202835648, + -0.715493820227053, + 0.11780363169493843, + 0.16976835061000597, + 0.0011342520523390381, + -0.9854833436458679 + ], + [ + 0.6883707513229304, + 0.7163164396006882, + 0.11417734924624094, + 0.7061398252834867, + -0.6977720777979838, + 0.12033567465257977, + 0.1658681882450983, + -0.0022103853234758247, + -0.9861454549532794 + ], + [ + 0.6766279927971517, + 0.7289163103019943, + 0.10419007601026317, + 0.7175438932244133, + -0.6844900076587475, + 0.12885724935633153, + 0.16524321668271172, + -0.012427469213584875, + -0.9861745471007127 + ], + [ + 0.6688111478772627, + 0.737705371033501, + 0.0921001304202257, + 0.725812665989067, + -0.6747416436980798, + 0.13386443945072313, + 0.16089630935773797, + -0.022682588210739665, + -0.9867106353065831 + ], + [ + 0.637999247728286, + 0.7676403862501647, + 0.06070582588054339, + 0.7537005989575104, + -0.6386730400904796, + 0.15502307890335093, + 0.15777315053338808, + -0.053150590394484734, + -0.9860439380227872 + ], + [ + 0.6255842786540332, + 0.7788691160463317, + 0.04480190141186745, + 0.7637256865456945, + -0.6231220416001668, + 0.16864755255368333, + 0.15927142245619685, + -0.07128689459673315, + -0.9846577032895918 + ], + [ + 0.616351271497011, + 0.7867278753169867, + 0.03421052942059622, + 0.7716010172666318, + -0.6120373753468801, + 0.1733266319167398, + 0.15729901549951508, + -0.08043321066401492, + -0.9842700434053457 + ], + [ + 0.6148368741860136, + 0.7880947287744076, + 0.029703814892454564, + 0.7729683304619686, + -0.6096549834735788, + 0.1756153786792818, + 0.15651063300622509, + -0.08501470228039076, + -0.9840106311174526 + ], + [ + 0.6136772209311014, + 0.7890405408418086, + 0.028553343382984195, + 0.7799471163141851, + -0.6114365738342273, + 0.133520829577444, + 0.12281190603303742, + -0.0596685937988138, + -0.9906345918907764 + ], + [ + 0.580655314442613, + 0.8140336647099856, + 0.013733117940978555, + 0.8139492437117587, + -0.5808040031689943, + 0.012382994949800587, + 0.0180564246351837, + 0.003987809135546127, + -0.9998290168362249 + ], + [ + 0.5574493675902081, + 0.8299738659650184, + 0.019838961372989315, + 0.8242351380115471, + -0.5504168693513933, + -0.1329575390886024, + -0.09943158371645835, + 0.09046906514656337, + -0.9909231596905705 + ], + [ + 0.5334098611192429, + 0.8455944189854077, + 0.02107127526944888, + 0.8279875623866526, + -0.5168857331766814, + -0.21740684297283222, + -0.17294657150044707, + 0.1334137077632406, + -0.9758536088917771 + ], + [ + 0.5067397323239898, + 0.8617411833462716, + 0.024839013852789693, + 0.8431807771047652, + -0.48941096128394723, + -0.22253783520140388, + -0.17961353179873624, + 0.13371254204483077, + -0.9746075801545431 + ], + [ + 0.4917336899298024, + 0.8699722812850934, + 0.03669070704730526, + 0.8608187526014177, + -0.47935141432500655, + -0.17091897716273316, + -0.1311070301614675, + 0.11563066799178376, + -0.9846016937127489 + ], + [ + 0.49761696843836023, + 0.864372576293625, + 0.0723698975661706, + 0.8605039284267297, + -0.48144385872596407, + -0.16656770412423894, + -0.10913451280132269, + 0.14516149712157134, + -0.9833706309774777 + ], + [ + 0.4822562883049378, + 0.8734578627853302, + 0.06708378588621718, + 0.8677861707517249, + -0.4658342987186466, + -0.17304787773724503, + -0.11990010109421335, + 0.1416678088903395, + -0.9826261739246556 + ], + [ + 0.4505569157530294, + 0.8896530266182503, + 0.07426949505755638, + 0.8830379806731201, + -0.4318753591911369, + -0.18365075227797162, + -0.13131028274988946, + 0.14832790146332336, + -0.9801818419515997 + ], + [ + 0.4622916619976657, + 0.8831053123244167, + 0.08007138435065762, + 0.8793857540161679, + -0.44499458720640117, + -0.1692941611232374, + -0.11387324040727069, + 0.14867691381448342, + -0.9823075182537029 + ], + [ + 0.49040258222125993, + 0.8705134442764131, + 0.04137210031816567, + 0.8673962935465969, + -0.48294602117127056, + -0.11994503147885793, + -0.08443327124034665, + 0.09470735963405713, + -0.9919181109037173 + ], + [ + 0.5163170952705503, + 0.8562081675711678, + 0.01800641318542785, + 0.8531636412376212, + -0.5124282329624197, + -0.09761714671703677, + -0.07435360382351988, + 0.0657638186804483, + -0.9950611346801863 + ], + [ + 0.5133968918316498, + 0.8580952442450492, + -0.009807306543087091, + 0.8536916438227174, + -0.5118591163193972, + -0.09597302906541935, + -0.08737395907744624, + 0.040899839177613584, + -0.9953356189900859 + ], + [ + 0.5134152422531781, + 0.8576072005139309, + -0.030243654686047138, + 0.8507709103741031, + -0.5132988640205168, + -0.11275253547688868, + -0.11222141989535894, + 0.03215844868623854, + -0.9931627193439977 + ], + [ + 0.5281762806038516, + 0.8485469305536845, + -0.031589923320618725, + 0.8423756410312989, + -0.5282939328557892, + -0.1063428413428546, + -0.10692565643749918, + 0.02955718450197866, + -0.9938275890916525 + ], + [ + 0.5408543704527025, + 0.8400917861388036, + -0.04150109425455706, + 0.834998822872652, + -0.542206746698795, + -0.09374865138013663, + -0.10125964528624642, + 0.016051002972511552, + -0.9947305411718694 + ], + [ + 0.5531052791047583, + 0.8325146097212698, + -0.03152736632022977, + 0.829163480166912, + -0.5537696774639881, + -0.07633523091552201, + -0.08100909445206142, + 0.016080078422477165, + -0.9965836430997573 + ], + [ + 0.5596873146377843, + 0.8279468167406834, + -0.035414382424594035, + 0.8235524092861786, + -0.5604575832758617, + -0.08745699804767695, + -0.0922580023221654, + 0.019782972414429743, + -0.9955385954396612 + ], + [ + 0.5567787861581115, + 0.8305759418659755, + -0.011873840059026537, + 0.823825899863083, + -0.5539709958342827, + -0.1201125409320548, + -0.1063403498164329, + 0.05709413777105811, + -0.9926892713397772 + ], + [ + 0.5372711386773774, + 0.8433410193504809, + 0.010754005077475981, + 0.839743556086822, + -0.5337047576525473, + -0.09994994582136785, + -0.0785524255193491, + 0.0627308276681239, + -0.9949343494447759 + ], + [ + 0.5581835706004756, + 0.8275321066488144, + 0.0601806777718443, + 0.8297052723809866, + -0.5570986876262269, + -0.03507439562313154, + 0.00450138810770731, + 0.06951017702833373, + -0.9975710865871128 + ], + [ + 0.5690016341533557, + 0.8206089614370001, + 0.053273565115346186, + 0.8181526766622563, + -0.5714441011098701, + 0.0638579437276066, + 0.08284526541207078, + 0.0072506355597803, + -0.9965360456515273 + ], + [ + 0.5947032537987911, + 0.7990106470320176, + 0.0889383261063944, + 0.7938212124741614, + -0.6011111171586915, + 0.09226758615181418, + 0.12718460027528225, + 0.01572929616055619, + -0.9917543378756204 + ], + [ + 0.6012379761677886, + 0.7926533584949765, + 0.10106210605511946, + 0.7872722457424043, + -0.6092572690143834, + 0.0949104379762669, + 0.13680390015410115, + 0.02249963154742181, + -0.9903425970253209 + ], + [ + 0.6168003136848204, + 0.7820427322170587, + 0.08925546495752876, + 0.7780586238980034, + -0.6229236772219937, + 0.08118417416081986, + 0.11908883581701574, + 0.01937156015159454, + -0.9926946115704671 + ], + [ + 0.6120212572301187, + 0.7865208734497969, + 0.08255238534550881, + 0.7829367025857393, + -0.6173157458248475, + 0.07701551597491282, + 0.1115351982229582, + 0.017498159459807525, + -0.9936064180413111 + ], + [ + 0.5951073637790009, + 0.8006083175631347, + 0.06981079733633679, + 0.7959383181743132, + -0.5991738830745148, + 0.08644565635851098, + 0.11103791801836928, + 0.004120641956632823, + -0.9938076277992696 + ], + [ + 0.5959217643835838, + 0.8004572737382941, + 0.06438480918209376, + 0.7949796353357838, + -0.5993722300794722, + 0.09359652349817849, + 0.11351048469344692, + -0.004591593298459172, + -0.9935261884498268 + ], + [ + 0.5960613094821443, + 0.800844915233511, + 0.0579511611882165, + 0.7946126148994089, + -0.5987088572697443, + 0.10069010114942357, + 0.1153330290123156, + -0.013968749814789128, + -0.9932286576853573 + ], + [ + 0.6051834494678632, + 0.7920193590921982, + 0.08036371888707883, + 0.7841249194924476, + -0.6104790381827537, + 0.11163984311356825, + 0.137481282802935, + -0.004547390751075915, + -0.9904939263398923 + ], + [ + 0.6093451194296672, + 0.7886336616128847, + 0.08219168570055393, + 0.7794803720518332, + -0.614795289683121, + 0.12015448959311884, + 0.14528893630686465, + -0.00914874606169458, + -0.9893469691833692 + ], + [ + 0.604182820660657, + 0.792661306658386, + 0.08155471871788282, + 0.784141683031622, + -0.6096309602520469, + 0.11606857126071085, + 0.14172134684255552, + -0.006176182379737584, + -0.9898873242042978 + ], + [ + 0.6023843333807846, + 0.7936522674144701, + 0.08514219474067097, + 0.7847892359125919, + -0.6083551550231605, + 0.11836325676694123, + 0.14573596019211704, + -0.004481493569880257, + -0.9893133710418883 + ], + [ + 0.6030836489549198, + 0.7932670559590689, + 0.08377046193766938, + 0.7829272518545383, + -0.6087608828273002, + 0.12819947676502652, + 0.152692601872912, + -0.011728830690118965, + -0.9882041306652806 + ], + [ + 0.6024457881011893, + 0.7939875177, + 0.08150395165713786, + 0.7829307368269229, + -0.6077143056677586, + 0.13305180952698736, + 0.15517259336232203, + -0.016344553323546382, + -0.9877521560826203 + ], + [ + 0.5910311519293348, + 0.8027742053761211, + 0.07896678182515085, + 0.7900792178445841, + -0.5958500683222483, + 0.14400529716111882, + 0.16265610034417355, + -0.022721603444943117, + -0.9864211685470445 + ], + [ + 0.581934844815206, + 0.8099998216349003, + 0.07247154849547577, + 0.7963161433033656, + -0.5856439260472963, + 0.15133337965684485, + 0.1650225327170684, + -0.03035590280882655, + -0.9858225412620191 + ], + [ + 0.5749673162267575, + 0.8163761743991566, + 0.05424506562257301, + 0.8017901548831138, + -0.5754148583595016, + 0.16133904769654034, + 0.16292677129161942, + -0.04927151968949313, + -0.9854071161423463 + ], + [ + 0.5524588967793086, + 0.8328982045512398, + 0.032707005743580944, + 0.8168159204455351, + -0.5487781539103451, + 0.17791652508259853, + 0.16613524453318934, + -0.07157596416448009, + -0.9835018870738493 + ], + [ + 0.5488902354028864, + 0.8355617417591589, + 0.02358145855889053, + 0.8182853773917945, + -0.5428734442166752, + 0.18893772707189244, + 0.1706708839437247, + -0.08440971077266667, + -0.981705887779605 + ], + [ + 0.5483649447900322, + 0.8358163927638577, + 0.026586555110395593, + 0.8182506749917019, + -0.5428566263256263, + 0.18913623695628476, + 0.1725158549265818, + -0.08196121547154225, + -0.9815908714721109 + ], + [ + 0.5349972064839547, + 0.8445273437219448, + 0.023485203007865996, + 0.8307769147201062, + -0.5309330991681501, + 0.16709207693916683, + 0.15358289951197687, + -0.06988282989160602, + -0.9856615458989129 + ], + [ + 0.5131680173164334, + 0.8582308687320237, + 0.009917759777117584, + 0.8514275563906668, + -0.5104901994071164, + 0.12029493974353297, + 0.10830374980645138, + -0.05328726174948776, + -0.9926886548727668 + ], + [ + 0.5024427854600233, + 0.8645689158173216, + 0.008475679420196738, + 0.8603435308633841, + -0.500911865424402, + 0.09432026282072704, + 0.08579193575563078, + -0.040098539618129383, + -0.9955058266428153 + ], + [ + 0.4991521084296755, + 0.8661946373909909, + 0.023537689039061095, + 0.8613180503682191, + -0.4989460768945848, + 0.09583333690002314, + 0.0947543601112884, + -0.027561975738200475, + -0.9951190625916616 + ], + [ + 0.49171520310782757, + 0.8707515239934374, + -0.002818243377422626, + 0.8649415425062246, + -0.48805577285855783, + 0.11695165935714129, + 0.10046037566912061, + -0.059944524708620064, + -0.993133609781623 + ], + [ + 0.4746829883952744, + 0.8798866304019863, + 0.02180775476682427, + 0.8649580310582408, + -0.470927476283083, + 0.17342121147511752, + 0.16286087632081236, + -0.06345730628922436, + -0.9846062691464708 + ], + [ + 0.44909318871771237, + 0.8926271377045116, + 0.039142060252467734, + 0.8723141658201288, + -0.4475111710091902, + 0.19698159287485723, + 0.19334762464765337, + -0.05431891802525124, + -0.9796255157904352 + ], + [ + 0.43547090823367857, + 0.9000105350804841, + 0.018604430286247878, + 0.8807998039921849, + -0.43026153301201003, + 0.1976530255206927, + 0.1858945759549313, + -0.06968536398911711, + -0.9800954834485467 + ], + [ + 0.45388699887260237, + 0.890507041926732, + -0.03136559473888524, + 0.8804056923898884, + -0.4427554479968348, + 0.16986297441350603, + 0.13737688692754513, + -0.10471304382942878, + -0.9849684103513537 + ], + [ + 0.4398348587987377, + 0.8976624664013125, + -0.027338496663257494, + 0.8902394529853189, + -0.4317802110624351, + 0.14505021779810998, + 0.11840191440130796, + -0.08813595037889715, + -0.989046531219292 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005912.json b/json/chunk-0005/episode_0005912.json new file mode 100644 index 0000000000000000000000000000000000000000..a9d6b7cc17ef14fb731d84febab966766af3dda7 --- /dev/null +++ b/json/chunk-0005/episode_0005912.json @@ -0,0 +1,2482 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 40, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nTook a yellow object and placed it inside the silver pot." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005912.mp4", + "start": 0, + "end": 40, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.37237587571144104, + 0.17269791662693024, + 0.0860375389456749, + -0.04978474974632263, + -0.14614827930927277, + 1.98491632938385, + 0.0, + 1.0008161067962646 + ], + [ + 0.3696729838848114, + 0.17107312381267548, + 0.06546938419342041, + -0.0024431354831904173, + -0.14444084465503693, + 1.9838906526565552, + 0.0, + 1.0008161067962646 + ], + [ + 0.365215003490448, + 0.1608964055776596, + 0.05533723160624504, + 0.03310798481106758, + -0.14304213225841522, + 1.9731227159500122, + 0.0, + 1.0008161067962646 + ], + [ + 0.37324029207229614, + 0.14201942086219788, + 0.05270542576909065, + 0.030580027028918266, + -0.14659513533115387, + 1.8481132984161377, + 0.0, + 1.0008161067962646 + ], + [ + 0.3759150803089142, + 0.11758871376514435, + 0.066290482878685, + -0.00500471331179142, + -0.15636643767356873, + 1.7252869606018066, + 0.0, + 1.0008161067962646 + ], + [ + 0.37498581409454346, + 0.0823204517364502, + 0.07868648320436478, + -0.041637059301137924, + -0.17559804022312164, + 1.5705267190933228, + 0.0, + 1.0008161067962646 + ], + [ + 0.37275442481040955, + 0.04213946312665939, + 0.08936989307403564, + -0.0754331573843956, + -0.17596177756786346, + 1.3965134620666504, + 0.0, + 1.0008161067962646 + ], + [ + 0.3688437044620514, + 0.004875551909208298, + 0.08233629912137985, + -0.049683790653944016, + -0.1733865737915039, + 1.1717991828918457, + 0.0, + 1.0008161067962646 + ], + [ + 0.369661808013916, + -0.027719460427761078, + 0.07774078845977783, + -0.028644569218158722, + -0.15530972182750702, + 0.9159926176071167, + 0.0, + 1.0008161067962646 + ], + [ + 0.3768725097179413, + -0.04800083860754967, + 0.06001688912510872, + 0.01319143921136856, + -0.12713772058486938, + 0.6857002377510071, + 0.0, + 1.0008161067962646 + ], + [ + 0.3799985349178314, + -0.0582304373383522, + 0.05429646000266075, + 0.028009220957756042, + -0.1046457290649414, + 0.5126566290855408, + 0.0, + 1.0008161067962646 + ], + [ + 0.3797750174999237, + -0.06642407923936844, + 0.046886146068573, + 0.04856179654598236, + -0.10166020691394806, + 0.38853153586387634, + 0.0, + 1.0008161067962646 + ], + [ + 0.37579867243766785, + -0.07561485469341278, + 0.039954036474227905, + 0.023816317319869995, + -0.09561395645141602, + 0.30318862199783325, + 0.0, + 1.0008161067962646 + ], + [ + 0.3705989718437195, + -0.08191037178039551, + 0.0386945940554142, + 0.02187611348927021, + -0.12258017808198929, + 0.2500082850456238, + 0.0, + 1.0008161067962646 + ], + [ + 0.3636551797389984, + -0.08727575838565826, + 0.033503662794828415, + 0.0277800764888525, + -0.10317923873662949, + 0.2361815869808197, + 0.0, + 1.0001531839370728 + ], + [ + 0.36423787474632263, + -0.088101826608181, + 0.0310074370354414, + 0.025935914367437363, + -0.10065685957670212, + 0.21996578574180603, + 0.0, + 1.0001531839370728 + ], + [ + 0.3646436333656311, + -0.09155603498220444, + 0.020113307982683182, + 0.03926153481006622, + -0.0784422978758812, + 0.2121564894914627, + 0.0, + 1.0001531839370728 + ], + [ + 0.3733619749546051, + -0.09390705823898315, + 0.014052094891667366, + 0.04872388020157814, + -0.07750868052244186, + 0.21510104835033417, + 0.0, + 0.9484345316886902 + ], + [ + 0.37833911180496216, + -0.09314604103565216, + 0.007926322519779205, + 0.05560740828514099, + -0.08424662798643112, + 0.22248056530952454, + 0.0, + 0.7071652412414551 + ], + [ + 0.3791535794734955, + -0.09173937141895294, + 0.007156858686357737, + 0.04267323762178421, + -0.09555648267269135, + 0.24088098108768463, + 0.0, + 0.6902000904083252 + ], + [ + 0.38121140003204346, + -0.0848875343799591, + 0.007822031155228615, + 0.04169505089521408, + -0.10126227885484695, + 0.282672643661499, + 0.0, + 0.6902000904083252 + ], + [ + 0.3820416033267975, + -0.07209216058254242, + 0.01210225559771061, + 0.04248521849513054, + -0.11759299784898758, + 0.3470160663127899, + 0.0, + 0.6902000904083252 + ], + [ + 0.38142848014831543, + -0.03688424825668335, + 0.03726797550916672, + 0.03454701602458954, + -0.18108297884464264, + 0.47825396060943604, + 0.0, + 0.6902000904083252 + ], + [ + 0.3746393024921417, + -0.018288487568497658, + 0.07293479144573212, + -0.0023349891416728497, + -0.27174362540245056, + 0.5948565602302551, + 0.0, + 0.6902000904083252 + ], + [ + 0.3698229193687439, + 0.015987692400813103, + 0.08899465948343277, + -0.026254136115312576, + -0.29828763008117676, + 0.7514270544052124, + 0.0, + 0.6902000904083252 + ], + [ + 0.3601017892360687, + 0.06197298318147659, + 0.0996880903840065, + -0.07701371610164642, + -0.28769344091415405, + 0.9411951899528503, + 0.0, + 0.6902000904083252 + ], + [ + 0.352507084608078, + 0.09482573717832565, + 0.09994310885667801, + -0.1133374497294426, + -0.26139310002326965, + 1.1216803789138794, + 0.0, + 0.6902000904083252 + ], + [ + 0.3508778214454651, + 0.12725837528705597, + 0.08205242455005646, + -0.09957221895456314, + -0.22727833688259125, + 1.265376329421997, + 0.0, + 0.6902000904083252 + ], + [ + 0.3470500409603119, + 0.1423749476671219, + 0.06724165380001068, + -0.06121331825852394, + -0.2254737764596939, + 1.3261882066726685, + 0.0, + 0.6902000904083252 + ], + [ + 0.34393182396888733, + 0.14812691509723663, + 0.0572257824242115, + -0.03932419791817665, + -0.219145730137825, + 1.349112629890442, + 0.0, + 0.6902000904083252 + ], + [ + 0.3381786346435547, + 0.1542518138885498, + 0.04798034206032753, + 0.0027689302805811167, + -0.22015050053596497, + 1.3605878353118896, + 0.0, + 0.6902000904083252 + ], + [ + 0.3354965150356293, + 0.15626566112041473, + 0.045917950570583344, + 0.01952984556555748, + -0.23254790902137756, + 1.347665786743164, + 0.0, + 0.6892001032829285 + ], + [ + 0.3333794176578522, + 0.15699884295463562, + 0.043256647884845734, + 0.026587137952446938, + -0.2401125431060791, + 1.3377243280410767, + 0.0, + 0.6892001032829285 + ], + [ + 0.3303532898426056, + 0.15613572299480438, + 0.03724173456430435, + 0.04347348213195801, + -0.23253144323825836, + 1.3203319311141968, + 0.0, + 0.7457395792007446 + ], + [ + 0.32497668266296387, + 0.15501844882965088, + 0.032508596777915955, + 0.06125105917453766, + -0.23108531534671783, + 1.3155643939971924, + 0.0, + 0.8998980522155762 + ], + [ + 0.32474783062934875, + 0.15583381056785583, + 0.03186877444386482, + 0.06074540317058563, + -0.2369205206632614, + 1.3270803689956665, + 0.0, + 1.013738751411438 + ], + [ + 0.32444196939468384, + 0.15536530315876007, + 0.03163113817572594, + 0.05887015908956528, + -0.23091500997543335, + 1.332191824913025, + 0.0, + 1.0092895030975342 + ], + [ + 0.32383787631988525, + 0.15527723729610443, + 0.032151952385902405, + 0.06281889230012894, + -0.22962911427021027, + 1.3278892040252686, + 0.0, + 1.003452181816101 + ], + [ + 0.3292515277862549, + 0.15318073332309723, + 0.057079218327999115, + -0.01812727563083172, + -0.25090450048446655, + 1.3511468172073364, + 0.0, + 1.002137303352356 + ], + [ + 0.33225297927856445, + 0.15105043351650238, + 0.07427667826414108, + -0.07074368000030518, + -0.2600604295730591, + 1.3624467849731445, + 0.0, + 1.0008161067962646 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9484345316886902 + ], + [ + 0.7071652412414551 + ], + [ + 0.6902000904083252 + ], + [ + 0.6902000904083252 + ], + [ + 0.6902000904083252 + ], + [ + 0.6902000904083252 + ], + [ + 0.6902000904083252 + ], + [ + 0.6902000904083252 + ], + [ + 0.6902000904083252 + ], + [ + 0.6902000904083252 + ], + [ + 0.6902000904083252 + ], + [ + 0.6902000904083252 + ], + [ + 0.6902000904083252 + ], + [ + 0.6902000904083252 + ], + [ + 0.6892001032829285 + ], + [ + 0.6892001032829285 + ], + [ + 0.7457395792007446 + ], + [ + 0.8998980522155762 + ], + [ + 1.013738751411438 + ], + [ + 1.0092895030975342 + ], + [ + 1.003452181816101 + ], + [ + 1.002137303352356 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.37237587571144104, + 0.17269791662693024, + 0.0860375389456749 + ], + [ + 0.3696729838848114, + 0.17107312381267548, + 0.06546938419342041 + ], + [ + 0.365215003490448, + 0.1608964055776596, + 0.05533723160624504 + ], + [ + 0.37324029207229614, + 0.14201942086219788, + 0.05270542576909065 + ], + [ + 0.3759150803089142, + 0.11758871376514435, + 0.066290482878685 + ], + [ + 0.37498581409454346, + 0.0823204517364502, + 0.07868648320436478 + ], + [ + 0.37275442481040955, + 0.04213946312665939, + 0.08936989307403564 + ], + [ + 0.3688437044620514, + 0.004875551909208298, + 0.08233629912137985 + ], + [ + 0.369661808013916, + -0.027719460427761078, + 0.07774078845977783 + ], + [ + 0.3768725097179413, + -0.04800083860754967, + 0.06001688912510872 + ], + [ + 0.3799985349178314, + -0.0582304373383522, + 0.05429646000266075 + ], + [ + 0.3797750174999237, + -0.06642407923936844, + 0.046886146068573 + ], + [ + 0.37579867243766785, + -0.07561485469341278, + 0.039954036474227905 + ], + [ + 0.3705989718437195, + -0.08191037178039551, + 0.0386945940554142 + ], + [ + 0.3636551797389984, + -0.08727575838565826, + 0.033503662794828415 + ], + [ + 0.36423787474632263, + -0.088101826608181, + 0.0310074370354414 + ], + [ + 0.3646436333656311, + -0.09155603498220444, + 0.020113307982683182 + ], + [ + 0.3733619749546051, + -0.09390705823898315, + 0.014052094891667366 + ], + [ + 0.37833911180496216, + -0.09314604103565216, + 0.007926322519779205 + ], + [ + 0.3791535794734955, + -0.09173937141895294, + 0.007156858686357737 + ], + [ + 0.38121140003204346, + -0.0848875343799591, + 0.007822031155228615 + ], + [ + 0.3820416033267975, + -0.07209216058254242, + 0.01210225559771061 + ], + [ + 0.38142848014831543, + -0.03688424825668335, + 0.03726797550916672 + ], + [ + 0.3746393024921417, + -0.018288487568497658, + 0.07293479144573212 + ], + [ + 0.3698229193687439, + 0.015987692400813103, + 0.08899465948343277 + ], + [ + 0.3601017892360687, + 0.06197298318147659, + 0.0996880903840065 + ], + [ + 0.352507084608078, + 0.09482573717832565, + 0.09994310885667801 + ], + [ + 0.3508778214454651, + 0.12725837528705597, + 0.08205242455005646 + ], + [ + 0.3470500409603119, + 0.1423749476671219, + 0.06724165380001068 + ], + [ + 0.34393182396888733, + 0.14812691509723663, + 0.0572257824242115 + ], + [ + 0.3381786346435547, + 0.1542518138885498, + 0.04798034206032753 + ], + [ + 0.3354965150356293, + 0.15626566112041473, + 0.045917950570583344 + ], + [ + 0.3333794176578522, + 0.15699884295463562, + 0.043256647884845734 + ], + [ + 0.3303532898426056, + 0.15613572299480438, + 0.03724173456430435 + ], + [ + 0.32497668266296387, + 0.15501844882965088, + 0.032508596777915955 + ], + [ + 0.32474783062934875, + 0.15583381056785583, + 0.03186877444386482 + ], + [ + 0.32444196939468384, + 0.15536530315876007, + 0.03163113817572594 + ], + [ + 0.32383787631988525, + 0.15527723729610443, + 0.032151952385902405 + ], + [ + 0.3292515277862549, + 0.15318073332309723, + 0.057079218327999115 + ], + [ + 0.33225297927856445, + 0.15105043351650238, + 0.07427667826414108 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + -0.3980947886569634, + 0.9172526149203368, + -0.012968410310127604, + 0.9057112458052776, + 0.39525142175301603, + 0.15317784704085513, + 0.14562856335904617, + 0.04923366758655822, + -0.988113539786778 + ], + [ + -0.3972648533640312, + 0.9160214467981241, + -0.0555458845237502, + 0.906345500413792, + 0.4011220060944251, + 0.1328117845164974, + 0.14393911963509862, + 0.002417691596356561, + -0.9895835915201996 + ], + [ + -0.3875609935761318, + 0.9178005928993285, + -0.0862470169450667, + 0.9107549593832509, + 0.3956875041294193, + 0.1181389141419696, + 0.14255483231758373, + -0.03276386346986372, + -0.9892444839540091 + ], + [ + -0.27083963969281444, + 0.9601210538804706, + -0.06937904198330229, + 0.9514774077170002, + 0.27794363057705385, + 0.1320533256899792, + 0.14607064104468076, + -0.03024731586604954, + -0.9888116442011065 + ], + [ + -0.15199946973793377, + 0.9881975928456295, + -0.019017851968368138, + 0.9760350018812289, + 0.15310479411935252, + 0.15464345159230058, + 0.15573001092306035, + 0.004943633458750388, + -0.9877872869125869 + ], + [ + 0.000265461735598993, + 0.9991313060319255, + 0.04167208702483334, + 0.9846222033616655, + -0.0075411420996069345, + 0.17453437433082353, + 0.17469701250246217, + 0.04098492994713894, + -0.9837688698774434 + ], + [ + 0.17072434771923112, + 0.9797628974687427, + 0.10448857276993148, + 0.9696436940283897, + -0.18590139460884153, + 0.1588451387782031, + 0.1750551448167745, + 0.07419795297811108, + -0.9817588095082399 + ], + [ + 0.3826694343081365, + 0.9169854307320457, + 0.11270236852637806, + 0.907634978666432, + -0.39590993896468374, + 0.13947783239700295, + 0.17251912806259145, + 0.04891870863120931, + -0.9837906842404935 + ], + [ + 0.6016733947969888, + 0.7901440309062406, + 0.11688257533398622, + 0.7836206583985068, + -0.6122677119690197, + 0.10519939453871613, + 0.1546861006185034, + 0.028295923795834198, + -0.9875583785133832 + ], + [ + 0.7677289843509473, + 0.6344545664706074, + 0.08977532886075727, + 0.6281043788579816, + -0.7728494009754485, + 0.09049139556510236, + 0.12679548827498738, + -0.013084590038838842, + -0.9918425770537498 + ], + [ + 0.866677399959333, + 0.49285094295161486, + 0.07725433600409436, + 0.4878108960331538, + -0.869667864291887, + 0.07561967686600385, + 0.10445484244907503, + -0.027852358063389558, + -0.9941395435446911 + ], + [ + 0.9206882189283332, + 0.3829423967125176, + 0.07542098067942928, + 0.3768739305316978, + -0.9225090758347385, + 0.08332493917265152, + 0.10148519109782987, + -0.048292088405968464, + -0.993664244191783 + ], + [ + 0.9500301270935781, + 0.30065002852673134, + 0.08397808024380564, + 0.2972012010511494, + -0.9534398876524692, + 0.05122330257803384, + 0.09546833877424336, + -0.02370529434793346, + -0.9951501672167693 + ], + [ + 0.96164010708341, + 0.24994428787949896, + 0.11303166549696397, + 0.24555551917552304, + -0.9680167967167688, + 0.05143897624024957, + 0.12227342904755206, + -0.021710233315553537, + -0.99225897542846 + ], + [ + 0.9670679238771359, + 0.23668310313331023, + 0.09359882103505514, + 0.23274750375691758, + -0.97119398636758, + 0.05109638283060524, + 0.10299626256757617, + -0.0276287809111252, + -0.9942979535141744 + ], + [ + 0.9709652497213739, + 0.22066598951064043, + 0.0923742653924759, + 0.2170918056382113, + -0.9750080979676611, + 0.04722665372673043, + 0.10048697307736323, + -0.025801743560723747, + -0.9946037594293395 + ], + [ + 0.9745730242663161, + 0.21341311003136662, + 0.06828077942691008, + 0.20992102449691888, + -0.9761780723214694, + 0.0548592252306241, + 0.07836187750794721, + -0.039130749871171225, + -0.9961567148636551 + ], + [ + 0.9740217249138992, + 0.21687717864234324, + 0.06516109867006098, + 0.21280532091211368, + -0.9749904477853018, + 0.06408995333832648, + 0.07743109702984066, + -0.048558378386779844, + -0.9958144953259123 + ], + [ + 0.9718938797256316, + 0.2248701873233893, + 0.0696827482595483, + 0.21986715947987748, + -0.9728135860530094, + 0.07274722656524057, + 0.08414700668538296, + -0.055381636341192926, + -0.9949131397373653 + ], + [ + 0.9666978532607772, + 0.24229383964937562, + 0.08239511981281071, + 0.23746995026438023, + -0.9692731102274953, + 0.06416899961313485, + 0.09541112735125591, + -0.042465669167933304, + -0.9945317409312193 + ], + [ + 0.9553940619344036, + 0.282727276755425, + 0.08536669959031015, + 0.27749439260264946, + -0.9583034864807212, + 0.06820036563670878, + 0.10108930949693751, + -0.04146944389976077, + -0.9940126944501648 + ], + [ + 0.933897281111399, + 0.3444723052907414, + 0.09578465023384075, + 0.3377445435406638, + -0.9378484700173721, + 0.07980520405702507, + 0.11732217028867808, + -0.04217912011596542, + -0.9921977777565307 + ], + [ + 0.87328364426277, + 0.46547769438088726, + 0.14389646519977187, + 0.452704633948533, + -0.8844072529910304, + 0.1135003315342494, + 0.18009495013647833, + -0.03397538654251137, + -0.9830622981503393 + ], + [ + 0.7978364936479863, + 0.5598693496644938, + 0.22361404407984686, + 0.5398260865300699, + -0.8285778490531601, + 0.1484807878483545, + 0.26841148579208796, + 0.002249303157764629, + -0.9633017258004827 + ], + [ + 0.6984478213820302, + 0.6768096501281231, + 0.2325926445529673, + 0.6525357485243408, + -0.7357303133846012, + 0.18137806610716356, + 0.2938838847308128, + 0.025091900295592176, + -0.9555117261630452 + ], + [ + 0.5646223422694463, + 0.7930124570353932, + 0.22876375061808407, + 0.7750435668541452, + -0.6047217644374321, + 0.1833550029142461, + 0.2837412202838505, + 0.07377554203370922, + -0.956058622318456 + ], + [ + 0.4194209816394185, + 0.8823623586792696, + 0.213360512153919, + 0.8702308561317712, + -0.4577121368024147, + 0.18220279048338434, + 0.2584265798960916, + 0.10925322791443577, + -0.9598330245378544 + ], + [ + 0.2929609004552197, + 0.9422614520102118, + 0.16222597467752853, + 0.9291941634240816, + -0.32056696298041, + 0.1839430044990502, + 0.22532669052530818, + 0.0968513205956621, + -0.9694574277583252 + ], + [ + 0.2360462381759612, + 0.965102911029773, + 0.11339552268425425, + 0.9456740696990954, + -0.2549922226543118, + 0.20169164654135768, + 0.2235681715757578, + 0.05962665098487173, + -0.972862752473647 + ], + [ + 0.21461385400281668, + 0.9728952688613809, + 0.08611439773463589, + 0.9521974228511315, + -0.22804001088617382, + 0.20326785616692336, + 0.21739586377325806, + 0.038373809586424, + -0.9753289133169917 + ], + [ + 0.20362762086990982, + 0.9781098546873973, + 0.042859120175980286, + 0.9543833082252812, + -0.20807164831400082, + 0.21414642221821734, + 0.21837649369799064, + -0.0027020975729218216, + -0.9758608536409676 + ], + [ + 0.2153272036047611, + 0.9760194083955619, + 0.03194228894320375, + 0.9489591627894219, + -0.21685249063283007, + 0.22902293479985314, + 0.23045759424621523, + -0.019002940338687477, + -0.9728968010599742 + ], + [ + 0.22434136725038423, + 0.974077769307952, + 0.029042215484914938, + 0.945048374969735, + -0.22473486063891857, + 0.23744012167422063, + 0.23781194231428138, + -0.025821342986952545, + -0.9709679388831841 + ], + [ + 0.24118319225606533, + 0.9703643242170565, + 0.01495814359969623, + 0.9427233686654088, + -0.23791726300367866, + 0.23381194609553715, + 0.23044157165172646, + -0.04229012002363816, + -0.9721667695426894 + ], + [ + 0.2457587810564642, + 0.969329835173917, + -0.0015139931796167433, + 0.941884277134343, + -0.23843075078510656, + 0.23665330246410438, + 0.22903412414039387, + -0.05958563351813467, + -0.9715929817868619 + ], + [ + 0.23456950998487386, + 0.9720964347915723, + -0.0023804308372563504, + 0.943338870871213, + -0.22703762322855908, + 0.24200349654943426, + 0.2347102888432489, + -0.05901219453843133, + -0.970272457203067 + ], + [ + 0.23007363062745967, + 0.9731680592344591, + -0.003170642795324835, + 0.9458781138810899, + -0.22285322679810415, + 0.23590471166643673, + 0.22886834243872858, + -0.05727449512225369, + -0.9717710193444955 + ], + [ + 0.2342118366075353, + 0.9721652059432773, + -0.006295073168011131, + 0.9451643217455028, + -0.22618127397583143, + 0.23559803946984315, + 0.2276163888921206, + -0.061129728086548096, + -0.9718301990840662 + ], + [ + 0.2110651256093658, + 0.9748329488378845, + 0.07177906805982759, + 0.9454144251769335, + -0.22224403998710468, + 0.2383257253373604, + 0.24828023968667218, + 0.0175587172152447, + -0.9685290981849146 + ], + [ + 0.19989012476352241, + 0.9721668618943728, + 0.12221100873681873, + 0.9454752764812446, + -0.22411074696968736, + 0.23632789648156838, + 0.257138949956512, + 0.06830787456169396, + -0.9639572577081033 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0027028918266296387, + -0.0016247928142547607, + -0.020568154752254486, + 0.047341614961624146, + 0.0017074346542358398, + -0.0010256767272949219, + 1.0 + ], + [ + -0.004457980394363403, + -0.01017671823501587, + -0.01013215258717537, + 0.03555111959576607, + 0.001398712396621704, + -0.010767936706542969, + 1.0 + ], + [ + 0.008025288581848145, + -0.01887698471546173, + -0.0026318058371543884, + -0.002527957782149315, + -0.0035530030727386475, + -0.1250094175338745, + 1.0 + ], + [ + 0.002674788236618042, + -0.024430707097053528, + 0.013585057109594345, + -0.035584740340709686, + -0.009771302342414856, + -0.12282633781433105, + 1.0 + ], + [ + -0.0009292662143707275, + -0.03526826202869415, + 0.012396000325679779, + -0.036632344126701355, + -0.019231602549552917, + -0.1547602415084839, + 1.0 + ], + [ + -0.002231389284133911, + -0.0401809886097908, + 0.010683409869670868, + -0.033796098083257675, + -0.0003637373447418213, + -0.17401325702667236, + 1.0 + ], + [ + -0.003910720348358154, + -0.037263911217451096, + -0.007033593952655792, + 0.025749366730451584, + 0.002575203776359558, + -0.2247142791748047, + 1.0 + ], + [ + 0.000818103551864624, + -0.032595012336969376, + -0.00459551066160202, + 0.021039221435785294, + 0.018076851963996887, + -0.255806565284729, + 1.0 + ], + [ + 0.0072107017040252686, + -0.02028137817978859, + -0.017723899334669113, + 0.04183600842952728, + 0.028172001242637634, + -0.23029237985610962, + 1.0 + ], + [ + 0.0031260251998901367, + -0.010229598730802536, + -0.0057204291224479675, + 0.014817781746387482, + 0.02249199151992798, + -0.1730436086654663, + 1.0 + ], + [ + -0.00022351741790771484, + -0.008193641901016235, + -0.007410313934087753, + 0.02055257558822632, + 0.002985522150993347, + -0.12412509322166443, + 1.0 + ], + [ + -0.003976345062255859, + -0.009190775454044342, + -0.006932109594345093, + -0.024745479226112366, + 0.0060462504625320435, + -0.08534291386604309, + 1.0 + ], + [ + -0.005199700593948364, + -0.006295517086982727, + -0.0012594424188137054, + -0.0019402038305997849, + -0.026966221630573273, + -0.05318033695220947, + 1.0 + ], + [ + -0.006943792104721069, + -0.005365386605262756, + -0.005190931260585785, + 0.005903962999582291, + 0.019400939345359802, + -0.013826698064804077, + 1.0 + ], + [ + 0.0005826950073242188, + -0.0008260682225227356, + -0.0024962257593870163, + -0.0018441621214151382, + 0.002522379159927368, + -0.016215801239013672, + 1.0 + ], + [ + 0.0004057586193084717, + -0.0034542083740234375, + -0.010894129052758217, + 0.01332562044262886, + 0.022214561700820923, + -0.007809296250343323, + 1.0 + ], + [ + 0.008718341588973999, + -0.002351023256778717, + -0.006061213091015816, + 0.009462345391511917, + 0.0009336173534393311, + 0.00294455885887146, + 0.0 + ], + [ + 0.004977136850357056, + 0.0007610172033309937, + -0.006125772371888161, + 0.006883528083562851, + -0.006737947463989258, + 0.007379516959190369, + 0.0 + ], + [ + 0.0008144676685333252, + 0.0014066696166992188, + -0.0007694638334214687, + -0.012934170663356781, + -0.011309854686260223, + 0.018400415778160095, + 0.0 + ], + [ + 0.0020578205585479736, + 0.0068518370389938354, + 0.0006651724688708782, + -0.0009781867265701294, + -0.005705796182155609, + 0.04179166257381439, + 0.0 + ], + [ + 0.0008302032947540283, + 0.012795373797416687, + 0.004280224442481995, + 0.0007901675999164581, + -0.016330718994140625, + 0.0643434226512909, + 0.0 + ], + [ + -0.0006131231784820557, + 0.03520791232585907, + 0.025165719911456108, + -0.007938202470541, + -0.06348998099565506, + 0.13123789429664612, + 0.0 + ], + [ + -0.006789177656173706, + 0.018595760688185692, + 0.0356668159365654, + -0.036882005631923676, + -0.09066064655780792, + 0.11660259962081909, + 0.0 + ], + [ + -0.004816383123397827, + 0.03427617996931076, + 0.016059868037700653, + -0.02391914650797844, + -0.026544004678726196, + 0.15657049417495728, + 0.0 + ], + [ + -0.009721130132675171, + 0.04598528891801834, + 0.01069343090057373, + -0.05075957998633385, + 0.010594189167022705, + 0.18976813554763794, + 0.0 + ], + [ + -0.007594704627990723, + 0.03285275399684906, + 0.0002550184726715088, + -0.03632373362779617, + 0.0263003408908844, + 0.18048518896102905, + 0.0 + ], + [ + -0.001629263162612915, + 0.032432638108730316, + -0.01789068430662155, + 0.013765230774879456, + 0.034114763140678406, + 0.14369595050811768, + 0.0 + ], + [ + -0.0038277804851531982, + 0.015116572380065918, + -0.014810770750045776, + 0.0383589006960392, + 0.0018045604228973389, + 0.06081187725067139, + 0.0 + ], + [ + -0.0031182169914245605, + 0.005751967430114746, + -0.010015871375799179, + 0.02188912034034729, + 0.0063280463218688965, + 0.022924423217773438, + 0.0 + ], + [ + -0.005753189325332642, + 0.006124898791313171, + -0.009245440363883972, + 0.042093127965927124, + -0.0010047703981399536, + 0.011475205421447754, + 0.0 + ], + [ + -0.002682119607925415, + 0.002013847231864929, + -0.0020623914897441864, + 0.016760915517807007, + -0.012397408485412598, + -0.012922048568725586, + 0.0 + ], + [ + -0.0021170973777770996, + 0.0007331818342208862, + -0.00266130268573761, + 0.007057292386889458, + -0.007564634084701538, + -0.009941458702087402, + 0.0 + ], + [ + -0.003026127815246582, + -0.0008631199598312378, + -0.006014913320541382, + 0.01688634417951107, + 0.00758109986782074, + -0.017392396926879883, + 1.0 + ], + [ + -0.005376607179641724, + -0.0011172741651535034, + -0.004733137786388397, + 0.01777757704257965, + 0.0014461278915405273, + -0.0047675371170043945, + 1.0 + ], + [ + -0.0002288520336151123, + 0.0008153617382049561, + -0.0006398223340511322, + -0.0005056560039520264, + -0.005835205316543579, + 0.011515974998474121, + 1.0 + ], + [ + -0.000305861234664917, + -0.00046850740909576416, + -0.0002376362681388855, + -0.0018752440810203552, + 0.006005510687828064, + 0.0051114559173583984, + 1.0 + ], + [ + -0.000604093074798584, + -8.806586265563965e-05, + 0.0005208142101764679, + 0.00394873321056366, + 0.0012858957052230835, + -0.004302620887756348, + 1.0 + ], + [ + 0.005413651466369629, + -0.002096503973007202, + 0.02492726594209671, + -0.0809461697936058, + -0.021275386214256287, + 0.02325761318206787, + 1.0 + ], + [ + 0.0030014514923095703, + -0.0021302998065948486, + 0.017197459936141968, + -0.05261640250682831, + -0.00915592908859253, + 0.011299967765808105, + 1.0 + ], + [ + -0.004585921764373779, + 0.0031757652759552, + 0.011777319014072418, + -0.04937923699617386, + -0.0370524525642395, + 0.02780592441558838, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9484345316886902 + ], + [ + 0.7071652412414551 + ], + [ + 0.6902000904083252 + ], + [ + 0.6902000904083252 + ], + [ + 0.6902000904083252 + ], + [ + 0.6902000904083252 + ], + [ + 0.6902000904083252 + ], + [ + 0.6902000904083252 + ], + [ + 0.6902000904083252 + ], + [ + 0.6902000904083252 + ], + [ + 0.6902000904083252 + ], + [ + 0.6902000904083252 + ], + [ + 0.6902000904083252 + ], + [ + 0.6902000904083252 + ], + [ + 0.6892001032829285 + ], + [ + 0.6892001032829285 + ], + [ + 0.7457395792007446 + ], + [ + 0.8998980522155762 + ], + [ + 1.013738751411438 + ], + [ + 1.0092895030975342 + ], + [ + 1.003452181816101 + ], + [ + 1.002137303352356 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3696729838848114, + 0.17107312381267548, + 0.06546938419342041 + ], + [ + 0.365215003490448, + 0.1608964055776596, + 0.05533723160624504 + ], + [ + 0.37324029207229614, + 0.14201942086219788, + 0.05270542576909065 + ], + [ + 0.3759150803089142, + 0.11758871376514435, + 0.066290482878685 + ], + [ + 0.37498581409454346, + 0.0823204517364502, + 0.07868648320436478 + ], + [ + 0.37275442481040955, + 0.04213946312665939, + 0.08936989307403564 + ], + [ + 0.3688437044620514, + 0.004875551909208298, + 0.08233629912137985 + ], + [ + 0.369661808013916, + -0.027719460427761078, + 0.07774078845977783 + ], + [ + 0.3768725097179413, + -0.04800083860754967, + 0.06001688912510872 + ], + [ + 0.3799985349178314, + -0.0582304373383522, + 0.05429646000266075 + ], + [ + 0.3797750174999237, + -0.06642407923936844, + 0.046886146068573 + ], + [ + 0.37579867243766785, + -0.07561485469341278, + 0.039954036474227905 + ], + [ + 0.3705989718437195, + -0.08191037178039551, + 0.0386945940554142 + ], + [ + 0.3636551797389984, + -0.08727575838565826, + 0.033503662794828415 + ], + [ + 0.36423787474632263, + -0.088101826608181, + 0.0310074370354414 + ], + [ + 0.3646436333656311, + -0.09155603498220444, + 0.020113307982683182 + ], + [ + 0.3733619749546051, + -0.09390705823898315, + 0.014052094891667366 + ], + [ + 0.37833911180496216, + -0.09314604103565216, + 0.007926322519779205 + ], + [ + 0.3791535794734955, + -0.09173937141895294, + 0.007156858686357737 + ], + [ + 0.38121140003204346, + -0.0848875343799591, + 0.007822031155228615 + ], + [ + 0.3820416033267975, + -0.07209216058254242, + 0.01210225559771061 + ], + [ + 0.38142848014831543, + -0.03688424825668335, + 0.03726797550916672 + ], + [ + 0.3746393024921417, + -0.018288487568497658, + 0.07293479144573212 + ], + [ + 0.3698229193687439, + 0.015987692400813103, + 0.08899465948343277 + ], + [ + 0.3601017892360687, + 0.06197298318147659, + 0.0996880903840065 + ], + [ + 0.352507084608078, + 0.09482573717832565, + 0.09994310885667801 + ], + [ + 0.3508778214454651, + 0.12725837528705597, + 0.08205242455005646 + ], + [ + 0.3470500409603119, + 0.1423749476671219, + 0.06724165380001068 + ], + [ + 0.34393182396888733, + 0.14812691509723663, + 0.0572257824242115 + ], + [ + 0.3381786346435547, + 0.1542518138885498, + 0.04798034206032753 + ], + [ + 0.3354965150356293, + 0.15626566112041473, + 0.045917950570583344 + ], + [ + 0.3333794176578522, + 0.15699884295463562, + 0.043256647884845734 + ], + [ + 0.3303532898426056, + 0.15613572299480438, + 0.03724173456430435 + ], + [ + 0.32497668266296387, + 0.15501844882965088, + 0.032508596777915955 + ], + [ + 0.32474783062934875, + 0.15583381056785583, + 0.03186877444386482 + ], + [ + 0.32444196939468384, + 0.15536530315876007, + 0.03163113817572594 + ], + [ + 0.32383787631988525, + 0.15527723729610443, + 0.032151952385902405 + ], + [ + 0.3292515277862549, + 0.15318073332309723, + 0.057079218327999115 + ], + [ + 0.33225297927856445, + 0.15105043351650238, + 0.07427667826414108 + ], + [ + 0.3276670575141907, + 0.15422619879245758, + 0.0860539972782135 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + -0.3972648533640312, + 0.9160214467981241, + -0.0555458845237502, + 0.906345500413792, + 0.4011220060944251, + 0.1328117845164974, + 0.14393911963509862, + 0.002417691596356561, + -0.9895835915201996 + ], + [ + -0.3875609935761318, + 0.9178005928993285, + -0.0862470169450667, + 0.9107549593832509, + 0.3956875041294193, + 0.1181389141419696, + 0.14255483231758373, + -0.03276386346986372, + -0.9892444839540091 + ], + [ + -0.27083963969281444, + 0.9601210538804706, + -0.06937904198330229, + 0.9514774077170002, + 0.27794363057705385, + 0.1320533256899792, + 0.14607064104468076, + -0.03024731586604954, + -0.9888116442011065 + ], + [ + -0.15199946973793377, + 0.9881975928456295, + -0.019017851968368138, + 0.9760350018812289, + 0.15310479411935252, + 0.15464345159230058, + 0.15573001092306035, + 0.004943633458750388, + -0.9877872869125869 + ], + [ + 0.000265461735598993, + 0.9991313060319255, + 0.04167208702483334, + 0.9846222033616655, + -0.0075411420996069345, + 0.17453437433082353, + 0.17469701250246217, + 0.04098492994713894, + -0.9837688698774434 + ], + [ + 0.17072434771923112, + 0.9797628974687427, + 0.10448857276993148, + 0.9696436940283897, + -0.18590139460884153, + 0.1588451387782031, + 0.1750551448167745, + 0.07419795297811108, + -0.9817588095082399 + ], + [ + 0.3826694343081365, + 0.9169854307320457, + 0.11270236852637806, + 0.907634978666432, + -0.39590993896468374, + 0.13947783239700295, + 0.17251912806259145, + 0.04891870863120931, + -0.9837906842404935 + ], + [ + 0.6016733947969888, + 0.7901440309062406, + 0.11688257533398622, + 0.7836206583985068, + -0.6122677119690197, + 0.10519939453871613, + 0.1546861006185034, + 0.028295923795834198, + -0.9875583785133832 + ], + [ + 0.7677289843509473, + 0.6344545664706074, + 0.08977532886075727, + 0.6281043788579816, + -0.7728494009754485, + 0.09049139556510236, + 0.12679548827498738, + -0.013084590038838842, + -0.9918425770537498 + ], + [ + 0.866677399959333, + 0.49285094295161486, + 0.07725433600409436, + 0.4878108960331538, + -0.869667864291887, + 0.07561967686600385, + 0.10445484244907503, + -0.027852358063389558, + -0.9941395435446911 + ], + [ + 0.9206882189283332, + 0.3829423967125176, + 0.07542098067942928, + 0.3768739305316978, + -0.9225090758347385, + 0.08332493917265152, + 0.10148519109782987, + -0.048292088405968464, + -0.993664244191783 + ], + [ + 0.9500301270935781, + 0.30065002852673134, + 0.08397808024380564, + 0.2972012010511494, + -0.9534398876524692, + 0.05122330257803384, + 0.09546833877424336, + -0.02370529434793346, + -0.9951501672167693 + ], + [ + 0.96164010708341, + 0.24994428787949896, + 0.11303166549696397, + 0.24555551917552304, + -0.9680167967167688, + 0.05143897624024957, + 0.12227342904755206, + -0.021710233315553537, + -0.99225897542846 + ], + [ + 0.9670679238771359, + 0.23668310313331023, + 0.09359882103505514, + 0.23274750375691758, + -0.97119398636758, + 0.05109638283060524, + 0.10299626256757617, + -0.0276287809111252, + -0.9942979535141744 + ], + [ + 0.9709652497213739, + 0.22066598951064043, + 0.0923742653924759, + 0.2170918056382113, + -0.9750080979676611, + 0.04722665372673043, + 0.10048697307736323, + -0.025801743560723747, + -0.9946037594293395 + ], + [ + 0.9745730242663161, + 0.21341311003136662, + 0.06828077942691008, + 0.20992102449691888, + -0.9761780723214694, + 0.0548592252306241, + 0.07836187750794721, + -0.039130749871171225, + -0.9961567148636551 + ], + [ + 0.9740217249138992, + 0.21687717864234324, + 0.06516109867006098, + 0.21280532091211368, + -0.9749904477853018, + 0.06408995333832648, + 0.07743109702984066, + -0.048558378386779844, + -0.9958144953259123 + ], + [ + 0.9718938797256316, + 0.2248701873233893, + 0.0696827482595483, + 0.21986715947987748, + -0.9728135860530094, + 0.07274722656524057, + 0.08414700668538296, + -0.055381636341192926, + -0.9949131397373653 + ], + [ + 0.9666978532607772, + 0.24229383964937562, + 0.08239511981281071, + 0.23746995026438023, + -0.9692731102274953, + 0.06416899961313485, + 0.09541112735125591, + -0.042465669167933304, + -0.9945317409312193 + ], + [ + 0.9553940619344036, + 0.282727276755425, + 0.08536669959031015, + 0.27749439260264946, + -0.9583034864807212, + 0.06820036563670878, + 0.10108930949693751, + -0.04146944389976077, + -0.9940126944501648 + ], + [ + 0.933897281111399, + 0.3444723052907414, + 0.09578465023384075, + 0.3377445435406638, + -0.9378484700173721, + 0.07980520405702507, + 0.11732217028867808, + -0.04217912011596542, + -0.9921977777565307 + ], + [ + 0.87328364426277, + 0.46547769438088726, + 0.14389646519977187, + 0.452704633948533, + -0.8844072529910304, + 0.1135003315342494, + 0.18009495013647833, + -0.03397538654251137, + -0.9830622981503393 + ], + [ + 0.7978364936479863, + 0.5598693496644938, + 0.22361404407984686, + 0.5398260865300699, + -0.8285778490531601, + 0.1484807878483545, + 0.26841148579208796, + 0.002249303157764629, + -0.9633017258004827 + ], + [ + 0.6984478213820302, + 0.6768096501281231, + 0.2325926445529673, + 0.6525357485243408, + -0.7357303133846012, + 0.18137806610716356, + 0.2938838847308128, + 0.025091900295592176, + -0.9555117261630452 + ], + [ + 0.5646223422694463, + 0.7930124570353932, + 0.22876375061808407, + 0.7750435668541452, + -0.6047217644374321, + 0.1833550029142461, + 0.2837412202838505, + 0.07377554203370922, + -0.956058622318456 + ], + [ + 0.4194209816394185, + 0.8823623586792696, + 0.213360512153919, + 0.8702308561317712, + -0.4577121368024147, + 0.18220279048338434, + 0.2584265798960916, + 0.10925322791443577, + -0.9598330245378544 + ], + [ + 0.2929609004552197, + 0.9422614520102118, + 0.16222597467752853, + 0.9291941634240816, + -0.32056696298041, + 0.1839430044990502, + 0.22532669052530818, + 0.0968513205956621, + -0.9694574277583252 + ], + [ + 0.2360462381759612, + 0.965102911029773, + 0.11339552268425425, + 0.9456740696990954, + -0.2549922226543118, + 0.20169164654135768, + 0.2235681715757578, + 0.05962665098487173, + -0.972862752473647 + ], + [ + 0.21461385400281668, + 0.9728952688613809, + 0.08611439773463589, + 0.9521974228511315, + -0.22804001088617382, + 0.20326785616692336, + 0.21739586377325806, + 0.038373809586424, + -0.9753289133169917 + ], + [ + 0.20362762086990982, + 0.9781098546873973, + 0.042859120175980286, + 0.9543833082252812, + -0.20807164831400082, + 0.21414642221821734, + 0.21837649369799064, + -0.0027020975729218216, + -0.9758608536409676 + ], + [ + 0.2153272036047611, + 0.9760194083955619, + 0.03194228894320375, + 0.9489591627894219, + -0.21685249063283007, + 0.22902293479985314, + 0.23045759424621523, + -0.019002940338687477, + -0.9728968010599742 + ], + [ + 0.22434136725038423, + 0.974077769307952, + 0.029042215484914938, + 0.945048374969735, + -0.22473486063891857, + 0.23744012167422063, + 0.23781194231428138, + -0.025821342986952545, + -0.9709679388831841 + ], + [ + 0.24118319225606533, + 0.9703643242170565, + 0.01495814359969623, + 0.9427233686654088, + -0.23791726300367866, + 0.23381194609553715, + 0.23044157165172646, + -0.04229012002363816, + -0.9721667695426894 + ], + [ + 0.2457587810564642, + 0.969329835173917, + -0.0015139931796167433, + 0.941884277134343, + -0.23843075078510656, + 0.23665330246410438, + 0.22903412414039387, + -0.05958563351813467, + -0.9715929817868619 + ], + [ + 0.23456950998487386, + 0.9720964347915723, + -0.0023804308372563504, + 0.943338870871213, + -0.22703762322855908, + 0.24200349654943426, + 0.2347102888432489, + -0.05901219453843133, + -0.970272457203067 + ], + [ + 0.23007363062745967, + 0.9731680592344591, + -0.003170642795324835, + 0.9458781138810899, + -0.22285322679810415, + 0.23590471166643673, + 0.22886834243872858, + -0.05727449512225369, + -0.9717710193444955 + ], + [ + 0.2342118366075353, + 0.9721652059432773, + -0.006295073168011131, + 0.9451643217455028, + -0.22618127397583143, + 0.23559803946984315, + 0.2276163888921206, + -0.061129728086548096, + -0.9718301990840662 + ], + [ + 0.2110651256093658, + 0.9748329488378845, + 0.07177906805982759, + 0.9454144251769335, + -0.22224403998710468, + 0.2383257253373604, + 0.24828023968667218, + 0.0175587172152447, + -0.9685290981849146 + ], + [ + 0.19989012476352241, + 0.9721668618943728, + 0.12221100873681873, + 0.9454752764812446, + -0.22411074696968736, + 0.23632789648156838, + 0.257138949956512, + 0.06830787456169396, + -0.9639572577081033 + ], + [ + 0.1716968952640388, + 0.9703576479174342, + 0.1700770745422046, + 0.9406440795536574, + -0.21278296657713774, + 0.2644090103141067, + 0.2927608098044244, + 0.11458378708516154, + -0.949295351289513 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005913.json b/json/chunk-0005/episode_0005913.json new file mode 100644 index 0000000000000000000000000000000000000000..4cb2d252385e707dcb7ffd4daf1f3a65688564e3 --- /dev/null +++ b/json/chunk-0005/episode_0005913.json @@ -0,0 +1,2182 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 35, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nFold the cloth from the bottom left to the right." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005913.mp4", + "start": 0, + "end": 35, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.23110312223434448, + -0.13683634996414185, + 0.039596885442733765, + -0.06949090212583542, + -0.05566598102450371, + 0.06608536094427109, + 0.0, + 1.0001531839370728 + ], + [ + 0.22841128706932068, + -0.1355704516172409, + 0.03333863615989685, + -0.054975658655166626, + -0.03582894057035446, + 0.06289085000753403, + 0.0, + 1.0001531839370728 + ], + [ + 0.23566916584968567, + -0.13620050251483917, + 0.015225570648908615, + -0.017491165548563004, + -0.019818179309368134, + 0.039817292243242264, + 0.0, + 1.0001531839370728 + ], + [ + 0.23941925168037415, + -0.1433584988117218, + 0.007309812121093273, + -0.018224159255623817, + -0.0158824659883976, + 0.010984436608850956, + 0.0, + 1.0001531839370728 + ], + [ + 0.23926399648189545, + -0.14404869079589844, + 0.0009381399140693247, + -0.013890175148844719, + -0.011421426199376583, + -0.005405947100371122, + 0.0, + 1.0001531839370728 + ], + [ + 0.2375117987394333, + -0.14775598049163818, + -0.005842635873705149, + -0.02451217547059059, + -0.000555790145881474, + -0.0309847854077816, + 0.0, + 1.0001531839370728 + ], + [ + 0.23699668049812317, + -0.14975039660930634, + -0.010101867839694023, + -0.02592606469988823, + 9.456053521716967e-05, + -0.04060324653983116, + 0.0, + 0.9515043497085571 + ], + [ + 0.2361646294593811, + -0.15029186010360718, + -0.010984990745782852, + -0.017458569258451462, + -0.0009812703356146812, + -0.051459331065416336, + 0.0, + 0.6661520600318909 + ], + [ + 0.23789340257644653, + -0.15061232447624207, + -0.010541284456849098, + -0.019110344350337982, + -0.012258513830602169, + -0.049855735152959824, + 0.0, + 0.4356481730937958 + ], + [ + 0.237371563911438, + -0.1508188247680664, + -0.011028898879885674, + -0.022428425028920174, + -0.01213434524834156, + -0.04472597688436508, + 0.0, + 0.2965938150882721 + ], + [ + 0.2369769960641861, + -0.15147840976715088, + -0.011016283184289932, + -0.026663484051823616, + -0.009923389181494713, + -0.048041488975286484, + 0.0, + 0.2062399983406067 + ], + [ + 0.23568414151668549, + -0.14962753653526306, + -0.010208413936197758, + -0.015716897323727608, + -0.002080657985061407, + -0.06301677972078323, + 0.0, + 0.12885156273841858 + ], + [ + 0.2324666529893875, + -0.14777524769306183, + -0.00550044747069478, + -0.02184532955288887, + 0.01074403990060091, + -0.08141140639781952, + 0.0, + 0.07429859787225723 + ], + [ + 0.2374563068151474, + -0.1440054476261139, + 0.01607760600745678, + -0.04976145923137665, + -0.02148398384451866, + -0.08665751665830612, + 0.0, + 0.06122923642396927 + ], + [ + 0.245896577835083, + -0.1293162852525711, + 0.028195509687066078, + -0.050951942801475525, + -0.022628765553236008, + -0.02657516486942768, + 0.0, + 0.05729193985462189 + ], + [ + 0.2613842785358429, + -0.10525599122047424, + 0.04372062161564827, + -0.030081795528531075, + -0.04686493054032326, + 0.0663386657834053, + 0.0, + 0.054572440683841705 + ], + [ + 0.27731284499168396, + -0.07687343657016754, + 0.050861090421676636, + -0.014149397611618042, + -0.059661366045475006, + 0.17122027277946472, + 0.0, + 0.054572440683841705 + ], + [ + 0.29149267077445984, + -0.06746857613325119, + 0.05965453013777733, + 0.012823973782360554, + -0.11028926074504852, + 0.1966688185930252, + 0.0, + 0.054572440683841705 + ], + [ + 0.30147039890289307, + -0.04687859117984772, + 0.05355357006192207, + 0.05142080783843994, + -0.11507181078195572, + 0.24019792675971985, + 0.0, + 0.054572440683841705 + ], + [ + 0.30964887142181396, + -0.03261968120932579, + 0.04137800261378288, + 0.09683921188116074, + -0.11557138711214066, + 0.2781526744365692, + 0.0, + 0.054572440683841705 + ], + [ + 0.3171110153198242, + -0.009843890555202961, + 0.022179171442985535, + 0.14630907773971558, + -0.09165170788764954, + 0.35115963220596313, + 0.0, + 0.054572440683841705 + ], + [ + 0.3175869584083557, + 0.000718373921699822, + 0.019887279719114304, + 0.17398199439048767, + -0.09762955456972122, + 0.3660268187522888, + 0.0, + 0.05430474132299423 + ], + [ + 0.3163033723831177, + 0.008990638889372349, + 0.014760577119886875, + 0.1936192810535431, + -0.09197894483804703, + 0.3844399154186249, + 0.0, + 0.07954961806535721 + ], + [ + 0.3126273453235626, + 0.01572294346988201, + 0.011612791568040848, + 0.1808880716562271, + -0.07933327555656433, + 0.4151028096675873, + 0.0, + 0.2432183027267456 + ], + [ + 0.30831649899482727, + 0.016406474635004997, + 0.009549151174724102, + 0.186600461602211, + -0.06778997927904129, + 0.4132087230682373, + 0.0, + 0.5149424076080322 + ], + [ + 0.30536264181137085, + 0.015435854904353619, + 0.009131460450589657, + 0.18776461482048035, + -0.049420371651649475, + 0.4133906066417694, + 0.0, + 0.8083573579788208 + ], + [ + 0.30363669991493225, + 0.013584769330918789, + 0.01454790960997343, + 0.17567338049411774, + -0.045812178403139114, + 0.41328638792037964, + 0.0, + 1.0168675184249878 + ], + [ + 0.3025806248188019, + 0.01341903768479824, + 0.020094260573387146, + 0.17797556519508362, + -0.04459226131439209, + 0.4100063741207123, + 0.0, + 1.00800359249115 + ], + [ + 0.30047810077667236, + 0.013598146848380566, + 0.04299521446228027, + 0.16409511864185333, + -0.0670938789844513, + 0.4135231077671051, + 0.0, + 0.9994885921478271 + ], + [ + 0.2955388128757477, + 0.008658274076879025, + 0.06704636663198471, + 0.11648731678724289, + -0.09554143995046616, + 0.4042879641056061, + 0.0, + 0.9994885921478271 + ], + [ + 0.28502991795539856, + 0.005893268622457981, + 0.09179659932851791, + 0.06904466450214386, + -0.1435575932264328, + 0.38599422574043274, + 0.0, + 0.9994885921478271 + ], + [ + 0.2748298645019531, + 0.005630676634609699, + 0.09740004688501358, + 0.06782693415880203, + -0.15007904171943665, + 0.37350398302078247, + 0.0, + 0.9994885921478271 + ], + [ + 0.2688676416873932, + 0.004825214389711618, + 0.09893594682216644, + 0.07426592707633972, + -0.1616096794605255, + 0.36869606375694275, + 0.0, + 0.9994885921478271 + ], + [ + 0.26846814155578613, + 0.004438376985490322, + 0.09856341034173965, + 0.07491377741098404, + -0.1602153331041336, + 0.36705827713012695, + 0.0, + 0.9994885921478271 + ], + [ + 0.2684765160083771, + 0.004641326609998941, + 0.0981823280453682, + 0.07682980597019196, + -0.15939444303512573, + 0.36607950925827026, + 0.0, + 0.9994885921478271 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9515043497085571 + ], + [ + 0.6661520600318909 + ], + [ + 0.4356481730937958 + ], + [ + 0.2965938150882721 + ], + [ + 0.2062399983406067 + ], + [ + 0.12885156273841858 + ], + [ + 0.07429859787225723 + ], + [ + 0.06122923642396927 + ], + [ + 0.05729193985462189 + ], + [ + 0.054572440683841705 + ], + [ + 0.054572440683841705 + ], + [ + 0.054572440683841705 + ], + [ + 0.054572440683841705 + ], + [ + 0.054572440683841705 + ], + [ + 0.054572440683841705 + ], + [ + 0.05430474132299423 + ], + [ + 0.07954961806535721 + ], + [ + 0.2432183027267456 + ], + [ + 0.5149424076080322 + ], + [ + 0.8083573579788208 + ], + [ + 1.0168675184249878 + ], + [ + 1.00800359249115 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.23110312223434448, + -0.13683634996414185, + 0.039596885442733765 + ], + [ + 0.22841128706932068, + -0.1355704516172409, + 0.03333863615989685 + ], + [ + 0.23566916584968567, + -0.13620050251483917, + 0.015225570648908615 + ], + [ + 0.23941925168037415, + -0.1433584988117218, + 0.007309812121093273 + ], + [ + 0.23926399648189545, + -0.14404869079589844, + 0.0009381399140693247 + ], + [ + 0.2375117987394333, + -0.14775598049163818, + -0.005842635873705149 + ], + [ + 0.23699668049812317, + -0.14975039660930634, + -0.010101867839694023 + ], + [ + 0.2361646294593811, + -0.15029186010360718, + -0.010984990745782852 + ], + [ + 0.23789340257644653, + -0.15061232447624207, + -0.010541284456849098 + ], + [ + 0.237371563911438, + -0.1508188247680664, + -0.011028898879885674 + ], + [ + 0.2369769960641861, + -0.15147840976715088, + -0.011016283184289932 + ], + [ + 0.23568414151668549, + -0.14962753653526306, + -0.010208413936197758 + ], + [ + 0.2324666529893875, + -0.14777524769306183, + -0.00550044747069478 + ], + [ + 0.2374563068151474, + -0.1440054476261139, + 0.01607760600745678 + ], + [ + 0.245896577835083, + -0.1293162852525711, + 0.028195509687066078 + ], + [ + 0.2613842785358429, + -0.10525599122047424, + 0.04372062161564827 + ], + [ + 0.27731284499168396, + -0.07687343657016754, + 0.050861090421676636 + ], + [ + 0.29149267077445984, + -0.06746857613325119, + 0.05965453013777733 + ], + [ + 0.30147039890289307, + -0.04687859117984772, + 0.05355357006192207 + ], + [ + 0.30964887142181396, + -0.03261968120932579, + 0.04137800261378288 + ], + [ + 0.3171110153198242, + -0.009843890555202961, + 0.022179171442985535 + ], + [ + 0.3175869584083557, + 0.000718373921699822, + 0.019887279719114304 + ], + [ + 0.3163033723831177, + 0.008990638889372349, + 0.014760577119886875 + ], + [ + 0.3126273453235626, + 0.01572294346988201, + 0.011612791568040848 + ], + [ + 0.30831649899482727, + 0.016406474635004997, + 0.009549151174724102 + ], + [ + 0.30536264181137085, + 0.015435854904353619, + 0.009131460450589657 + ], + [ + 0.30363669991493225, + 0.013584769330918789, + 0.01454790960997343 + ], + [ + 0.3025806248188019, + 0.01341903768479824, + 0.020094260573387146 + ], + [ + 0.30047810077667236, + 0.013598146848380566, + 0.04299521446228027 + ], + [ + 0.2955388128757477, + 0.008658274076879025, + 0.06704636663198471 + ], + [ + 0.28502991795539856, + 0.005893268622457981, + 0.09179659932851791 + ], + [ + 0.2748298645019531, + 0.005630676634609699, + 0.09740004688501358 + ], + [ + 0.2688676416873932, + 0.004825214389711618, + 0.09893594682216644 + ], + [ + 0.26846814155578613, + 0.004438376985490322, + 0.09856341034173965 + ], + [ + 0.2684765160083771, + 0.004641326609998941, + 0.0981823280453682 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9962715875650423, + 0.062023148808321, + 0.059967097833156555, + 0.06593498081696318, + -0.9956640174541678, + -0.06561815794194208, + 0.055637236769066775, + 0.06932743583119046, + -0.9960412664773359 + ], + [ + 0.9973825032125668, + 0.0607900331779342, + 0.039149893379932674, + 0.06280906395870926, + -0.9966389349394006, + -0.052591395184842515, + 0.035821275383006765, + 0.05491270553417639, + -0.9978484008108907 + ], + [ + 0.9990111783031445, + 0.03945435483429265, + 0.020494377520988618, + 0.03979895490753282, + -0.9990683481846745, + -0.016687685394154234, + 0.01981688203606322, + 0.017486839055581977, + -0.9996506898143036 + ], + [ + 0.99981355557997, + 0.01069299278878435, + 0.016078370059113244, + 0.010982830347048044, + -0.9997768053184488, + -0.018047631002571635, + 0.015881798264262892, + 0.018220852133092737, + -0.9997078418375229 + ], + [ + 0.9999201650774378, + -0.0055640340189099195, + 0.011344822473087891, + -0.0054055681750228134, + -0.9998880648019519, + -0.013951261567060112, + 0.01142117788210338, + 0.013888822557861455, + -0.9998383155809449 + ], + [ + 0.999519855562738, + -0.030984136909847946, + -0.00020395047186677756, + -0.030979823001249126, + -0.9992193237865818, + -0.02451516955473263, + 0.0005557901172672963, + 0.024509717081961847, + -0.9996994372639746 + ], + [ + 0.9991757969601552, + -0.04057600015064261, + -0.0011467261286431617, + -0.040592090699350145, + -0.9988401163216895, + -0.02589795743162146, + -9.456053507624789e-05, + 0.02592316026740174, + -0.9996639339398298 + ], + [ + 0.9986757799654872, + -0.051445892058054714, + 8.185766428330643e-05, + -0.05143659805200685, + -0.9985231844128682, + -0.017485038484991063, + 0.0009812701781385493, + 0.01745767396694979, + -0.9998471216783601 + ], + [ + 0.9986824189569811, + -0.05005993769405314, + 0.011288432322546968, + -0.04983133985643944, + -0.9985634164655736, + -0.019696214476742704, + 0.012258206816057356, + 0.019107745410417654, + -0.9997422820062106 + ], + [ + 0.9989264135794917, + -0.044971674132950994, + 0.011116149463459407, + -0.04470777499758675, + -0.9987365381673223, + -0.022946507017800356, + 0.012134047468979977, + 0.022424893650416063, + -0.9996748916706812 + ], + [ + 0.9987970499863068, + -0.04827019270875001, + 0.008627944976117644, + -0.04802064678983786, + -0.9984784852801951, + -0.02710593873033634, + 0.009923226316899719, + 0.026659012142749215, + -0.9995953314471993 + ], + [ + 0.9980129394511883, + -0.0629999374854704, + 0.001086538000013251, + -0.06297494387925244, + -0.9978897776927763, + -0.015816068401037466, + 0.0020806564838192617, + 0.01571621624590695, + -0.9998743278110045 + ], + [ + 0.9966303959020555, + -0.08106819630280264, + -0.012482047601339226, + -0.08131681260574285, + -0.9964691967688302, + -0.020897748168752044, + -0.01074383319650588, + 0.02184233135661887, + -0.9997036974069632 + ], + [ + 0.9960176805694206, + -0.08750650484042267, + 0.017070196358723623, + -0.08652912480740675, + -0.9949219033534941, + -0.05141125156544563, + 0.02148233118580304, + 0.049729446388175204, + -0.998531667804657 + ], + [ + 0.9993909718979364, + -0.027689528029629578, + 0.021236179656286318, + -0.026565233946523967, + -0.9983189687415436, + -0.05151237711644631, + 0.0226268343845126, + 0.05091686055047864, + -0.9984465432247329 + ], + [ + 0.9967048527556297, + 0.06485407457915843, + 0.0487174045271263, + 0.06621723530209608, + -0.9974423757499046, + -0.02690696577715663, + 0.046847777346695436, + 0.03004423520190179, + -0.9984501137707419 + ], + [ + 0.9836243894644997, + 0.16953654194069728, + 0.061158984600631204, + 0.17008175429565453, + -0.9854226913303763, + -0.0037836843037566273, + 0.05962597845153284, + 0.0141237515550253, + -0.9981208655947982 + ], + [ + 0.9747643658213516, + 0.19677162163194123, + 0.10542940787671186, + 0.19421624256298642, + -0.9803665007542696, + 0.03408189143143065, + 0.11006580872193301, + -0.012745709833695157, + -0.9938425753766146 + ], + [ + 0.9648673162009762, + 0.24331244528011406, + 0.09914694195454003, + 0.2363215677094331, + -0.968603175204832, + 0.07720107265105529, + 0.11481802455399263, + -0.05105823102036723, + -0.9920735246354423 + ], + [ + 0.9551497766319249, + 0.28401428005726786, + 0.08381403774747796, + 0.2727480896844214, + -0.9539977175252058, + 0.12448628249809789, + 0.11531428260836836, + -0.09604292623743431, + -0.9886750591302826 + ], + [ + 0.935033496454317, + 0.3528404400702162, + 0.03487096728614375, + 0.3425431634435092, + -0.9243525418086169, + 0.16803737569381094, + 0.09152344883432059, + -0.1451757634834609, + -0.9851636696561978 + ], + [ + 0.9293102149016188, + 0.3682606767641159, + 0.027687513950195523, + 0.3562039295799947, + -0.9136209496868, + 0.19599877766241205, + 0.09747453529654351, + -0.1722812649205502, + -0.9802131812652276 + ], + [ + 0.9230900909083073, + 0.38441501895156266, + 0.011391982766946689, + 0.37345466765030916, + -0.9030587597949445, + 0.21217089236701042, + 0.09184930743935854, + -0.19159845918505225, + -0.9771661758170018 + ], + [ + 0.9121967391045991, + 0.40975069447012863, + -0.001215544397841481, + 0.40201558840700863, + -0.8943950298489853, + 0.19606375814820812, + 0.07925008419366142, + -0.17933738863572132, + -0.9805903962371942 + ], + [ + 0.9137335264538504, + 0.4060884633054186, + -0.013535235663040653, + 0.40062775305067067, + -0.8948925168436296, + 0.19663363593964472, + 0.06773806994431736, + -0.18509333663726946, + -0.9803836038065411 + ], + [ + 0.9146459351345463, + 0.4031004921502479, + -0.030541882228818713, + 0.4012261556226927, + -0.8959642005516695, + 0.1904356147731885, + 0.049400256943520494, + -0.1864353629492952, + -0.9812244748557175 + ], + [ + 0.9148450293470992, + 0.4027698349081378, + -0.02889692660087611, + 0.40119980612724493, + -0.8984962724078376, + 0.17816611359257348, + 0.045796155322975284, + -0.17458782476820126, + -0.9835760283782549 + ], + [ + 0.9162066021104311, + 0.3995564849423369, + -0.030332780778924064, + 0.3982189223715303, + -0.8994857573592608, + 0.1798528903662495, + 0.0445774843897152, + -0.17686149283651634, + -0.9832257422571501 + ], + [ + 0.913650486758727, + 0.40646896433682034, + -0.005076325097405757, + 0.40093384761330275, + -0.8990086481591302, + 0.1761689540557213, + 0.0670435521398949, + -0.1629921211778244, + -0.9843468547978498 + ], + [ + 0.9151897712179057, + 0.4008919029579545, + 0.04139281098049583, + 0.3915702447893511, + -0.9087907241631162, + 0.1441255115192521, + 0.0953961532438534, + -0.1156940007858159, + -0.9886933155071124 + ], + [ + 0.916894726141528, + 0.3847272197828249, + 0.10624983544472202, + 0.37260765440846016, + -0.9205013789317529, + 0.11764670527034402, + 0.1430650098734073, + -0.06828014164396237, + -0.9873551666988949 + ], + [ + 0.9205887912534568, + 0.37347587349967765, + 0.11415800161246804, + 0.360778543690701, + -0.9252161998109223, + 0.11753223396095452, + 0.1495162861728328, + -0.06701309962304669, + -0.9864857447768799 + ], + [ + 0.9206433006882615, + 0.37054262286575784, + 0.12293932461823678, + 0.3557032639023047, + -0.9259240829581753, + 0.12704243640339158, + 0.16090711900680724, + -0.07323084894924517, + -0.9842490242896369 + ], + [ + 0.921433151108269, + 0.369009215899486, + 0.12162708012581894, + 0.35427514233088764, + -0.9264843095489851, + 0.12694860253649762, + 0.15953078563435694, + -0.07388519974113142, + -0.9844241492842899 + ], + [ + 0.9219014319650016, + 0.3682767470948904, + 0.1202912602398238, + 0.3534198616707434, + -0.9266225963677179, + 0.12831588084637557, + 0.15872035508248916, + -0.07578127374196625, + -0.9844110154973547 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0026918351650238037, + 0.00126589834690094, + -0.006258249282836914, + 0.014515243470668793, + 0.019837040454149246, + -0.0031945109367370605, + 1.0 + ], + [ + 0.00725787878036499, + -0.0006300508975982666, + -0.018113065510988235, + 0.03748449310660362, + 0.016010761260986328, + -0.023073557764291763, + 1.0 + ], + [ + 0.0037500858306884766, + -0.007157996296882629, + -0.007915758527815342, + -0.0007329937070608139, + 0.003935713320970535, + -0.028832856565713882, + 1.0 + ], + [ + -0.00015525519847869873, + -0.0006901919841766357, + -0.006371672265231609, + 0.0043339841067790985, + 0.004461039789021015, + -0.01639038324356079, + 1.0 + ], + [ + -0.0017521977424621582, + -0.003707289695739746, + -0.0067807757295668125, + -0.010622000321745872, + 0.010865636169910431, + -0.02557883784174919, + 1.0 + ], + [ + -0.0005151182413101196, + -0.001994416117668152, + -0.0042592319659888744, + -0.001413889229297638, + 0.0006503507029265165, + -0.00961846113204956, + 0.0 + ], + [ + -0.0008320510387420654, + -0.0005414634943008423, + -0.000883122906088829, + 0.008467495441436768, + -0.0010758308926597238, + -0.010856084525585175, + 0.0 + ], + [ + 0.0017287731170654297, + -0.0003204643726348877, + 0.00044370628893375397, + -0.0016517750918865204, + -0.011277243494987488, + 0.0016035959124565125, + 0.0 + ], + [ + -0.0005218386650085449, + -0.00020650029182434082, + -0.0004876144230365753, + -0.0033180806785821915, + 0.00012416858226060867, + 0.005129758268594742, + 0.0 + ], + [ + -0.0003945678472518921, + -0.0006595849990844727, + 1.2615695595741272e-05, + -0.004235059022903442, + 0.0022109560668468475, + -0.003315512090921402, + 0.0 + ], + [ + -0.0012928545475006104, + 0.0018508732318878174, + 0.0008078692480921745, + 0.010946586728096008, + 0.007842730730772018, + -0.01497529074549675, + 0.0 + ], + [ + -0.0032174885272979736, + 0.001852288842201233, + 0.004707966465502977, + -0.0061284322291612625, + 0.01282469742000103, + -0.018394626677036285, + 0.0 + ], + [ + 0.004989653825759888, + 0.003769800066947937, + 0.021578053012490273, + -0.027916129678487778, + -0.032228022813797, + -0.005246110260486603, + 0.0 + ], + [ + 0.008440271019935608, + 0.014689162373542786, + 0.012117903679609299, + -0.001190483570098877, + -0.0011447817087173462, + 0.06008235365152359, + 0.0 + ], + [ + 0.015487700700759888, + 0.024060294032096863, + 0.015525111928582191, + 0.02087014727294445, + -0.02423616498708725, + 0.09291382879018784, + 0.0 + ], + [ + 0.015928566455841064, + 0.0283825546503067, + 0.007140468806028366, + 0.015932397916913033, + -0.012796435505151749, + 0.10488160699605942, + 0.0 + ], + [ + 0.014179825782775879, + 0.009404860436916351, + 0.008793439716100693, + 0.02697337046265602, + -0.05062789469957352, + 0.025448545813560486, + 0.0 + ], + [ + 0.009977728128433228, + 0.020589984953403473, + -0.006100960075855255, + 0.03859683498740196, + -0.004782550036907196, + 0.04352910816669464, + 0.0 + ], + [ + 0.008178472518920898, + 0.014258909970521927, + -0.01217556744813919, + 0.045418404042720795, + -0.0004995763301849365, + 0.037954747676849365, + 0.0 + ], + [ + 0.007462143898010254, + 0.022775791585445404, + -0.019198831170797348, + 0.04946986585855484, + 0.02391967922449112, + 0.07300695776939392, + 0.0 + ], + [ + 0.00047594308853149414, + 0.010562264360487461, + -0.002291891723871231, + 0.027672916650772095, + -0.005977846682071686, + 0.014867186546325684, + 0.0 + ], + [ + -0.0012835860252380371, + 0.008272265084087849, + -0.0051267025992274284, + 0.01963728666305542, + 0.005650609731674194, + 0.01841309666633606, + 1.0 + ], + [ + -0.0036760270595550537, + 0.006732304580509663, + -0.0031477855518460274, + -0.012731209397315979, + 0.012645669281482697, + 0.030662894248962402, + 1.0 + ], + [ + -0.0043108463287353516, + 0.0006835311651229858, + -0.0020636403933167458, + 0.005712389945983887, + 0.01154329627752304, + -0.0018940865993499756, + 1.0 + ], + [ + -0.002953857183456421, + -0.0009706197306513786, + -0.0004176907241344452, + 0.0011641532182693481, + 0.018369607627391815, + 0.0001818835735321045, + 1.0 + ], + [ + -0.0017259418964385986, + -0.0018510855734348297, + 0.005416449159383774, + -0.01209123432636261, + 0.0036081932485103607, + -0.00010421872138977051, + 1.0 + ], + [ + -0.001056075096130371, + -0.00016573164612054825, + 0.005546350963413715, + 0.0023021847009658813, + 0.0012199170887470245, + -0.0032800137996673584, + 1.0 + ], + [ + -0.0021025240421295166, + 0.00017910916358232498, + 0.022900953888893127, + -0.013880446553230286, + -0.022501617670059204, + 0.0035167336463928223, + 1.0 + ], + [ + -0.004939287900924683, + -0.004939872771501541, + 0.024051152169704437, + -0.04760780185461044, + -0.028447560966014862, + -0.009235143661499023, + 1.0 + ], + [ + -0.010508894920349121, + -0.0027650054544210434, + 0.024750232696533203, + -0.04744265228509903, + -0.048016153275966644, + -0.01829373836517334, + 1.0 + ], + [ + -0.010200053453445435, + -0.00026259198784828186, + 0.0056034475564956665, + -0.0012177303433418274, + -0.006521448493003845, + -0.012490242719650269, + 1.0 + ], + [ + -0.0059622228145599365, + -0.0008054622448980808, + 0.0015358999371528625, + 0.006438992917537689, + -0.011530637741088867, + -0.004807919263839722, + 1.0 + ], + [ + -0.00039950013160705566, + -0.0003868374042212963, + -0.00037253648042678833, + 0.0006478503346443176, + 0.0013943463563919067, + -0.001637786626815796, + 1.0 + ], + [ + 8.374452590942383e-06, + 0.0002029496245086193, + -0.00038108229637145996, + 0.0019160285592079163, + 0.0008208900690078735, + -0.0009787678718566895, + 1.0 + ], + [ + 1.8775463104248047e-05, + -1.18231400847435e-06, + 0.00041059404611587524, + -0.0006463751196861267, + -0.0013949573040008545, + 0.0001030266284942627, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9515043497085571 + ], + [ + 0.6661520600318909 + ], + [ + 0.4356481730937958 + ], + [ + 0.2965938150882721 + ], + [ + 0.2062399983406067 + ], + [ + 0.12885156273841858 + ], + [ + 0.07429859787225723 + ], + [ + 0.06122923642396927 + ], + [ + 0.05729193985462189 + ], + [ + 0.054572440683841705 + ], + [ + 0.054572440683841705 + ], + [ + 0.054572440683841705 + ], + [ + 0.054572440683841705 + ], + [ + 0.054572440683841705 + ], + [ + 0.054572440683841705 + ], + [ + 0.05430474132299423 + ], + [ + 0.07954961806535721 + ], + [ + 0.2432183027267456 + ], + [ + 0.5149424076080322 + ], + [ + 0.8083573579788208 + ], + [ + 1.0168675184249878 + ], + [ + 1.00800359249115 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.22841128706932068, + -0.1355704516172409, + 0.03333863615989685 + ], + [ + 0.23566916584968567, + -0.13620050251483917, + 0.015225570648908615 + ], + [ + 0.23941925168037415, + -0.1433584988117218, + 0.007309812121093273 + ], + [ + 0.23926399648189545, + -0.14404869079589844, + 0.0009381399140693247 + ], + [ + 0.2375117987394333, + -0.14775598049163818, + -0.005842635873705149 + ], + [ + 0.23699668049812317, + -0.14975039660930634, + -0.010101867839694023 + ], + [ + 0.2361646294593811, + -0.15029186010360718, + -0.010984990745782852 + ], + [ + 0.23789340257644653, + -0.15061232447624207, + -0.010541284456849098 + ], + [ + 0.237371563911438, + -0.1508188247680664, + -0.011028898879885674 + ], + [ + 0.2369769960641861, + -0.15147840976715088, + -0.011016283184289932 + ], + [ + 0.23568414151668549, + -0.14962753653526306, + -0.010208413936197758 + ], + [ + 0.2324666529893875, + -0.14777524769306183, + -0.00550044747069478 + ], + [ + 0.2374563068151474, + -0.1440054476261139, + 0.01607760600745678 + ], + [ + 0.245896577835083, + -0.1293162852525711, + 0.028195509687066078 + ], + [ + 0.2613842785358429, + -0.10525599122047424, + 0.04372062161564827 + ], + [ + 0.27731284499168396, + -0.07687343657016754, + 0.050861090421676636 + ], + [ + 0.29149267077445984, + -0.06746857613325119, + 0.05965453013777733 + ], + [ + 0.30147039890289307, + -0.04687859117984772, + 0.05355357006192207 + ], + [ + 0.30964887142181396, + -0.03261968120932579, + 0.04137800261378288 + ], + [ + 0.3171110153198242, + -0.009843890555202961, + 0.022179171442985535 + ], + [ + 0.3175869584083557, + 0.000718373921699822, + 0.019887279719114304 + ], + [ + 0.3163033723831177, + 0.008990638889372349, + 0.014760577119886875 + ], + [ + 0.3126273453235626, + 0.01572294346988201, + 0.011612791568040848 + ], + [ + 0.30831649899482727, + 0.016406474635004997, + 0.009549151174724102 + ], + [ + 0.30536264181137085, + 0.015435854904353619, + 0.009131460450589657 + ], + [ + 0.30363669991493225, + 0.013584769330918789, + 0.01454790960997343 + ], + [ + 0.3025806248188019, + 0.01341903768479824, + 0.020094260573387146 + ], + [ + 0.30047810077667236, + 0.013598146848380566, + 0.04299521446228027 + ], + [ + 0.2955388128757477, + 0.008658274076879025, + 0.06704636663198471 + ], + [ + 0.28502991795539856, + 0.005893268622457981, + 0.09179659932851791 + ], + [ + 0.2748298645019531, + 0.005630676634609699, + 0.09740004688501358 + ], + [ + 0.2688676416873932, + 0.004825214389711618, + 0.09893594682216644 + ], + [ + 0.26846814155578613, + 0.004438376985490322, + 0.09856341034173965 + ], + [ + 0.2684765160083771, + 0.004641326609998941, + 0.0981823280453682 + ], + [ + 0.2684952914714813, + 0.004640144295990467, + 0.09859292209148407 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9973825032125668, + 0.0607900331779342, + 0.039149893379932674, + 0.06280906395870926, + -0.9966389349394006, + -0.052591395184842515, + 0.035821275383006765, + 0.05491270553417639, + -0.9978484008108907 + ], + [ + 0.9990111783031445, + 0.03945435483429265, + 0.020494377520988618, + 0.03979895490753282, + -0.9990683481846745, + -0.016687685394154234, + 0.01981688203606322, + 0.017486839055581977, + -0.9996506898143036 + ], + [ + 0.99981355557997, + 0.01069299278878435, + 0.016078370059113244, + 0.010982830347048044, + -0.9997768053184488, + -0.018047631002571635, + 0.015881798264262892, + 0.018220852133092737, + -0.9997078418375229 + ], + [ + 0.9999201650774378, + -0.0055640340189099195, + 0.011344822473087891, + -0.0054055681750228134, + -0.9998880648019519, + -0.013951261567060112, + 0.01142117788210338, + 0.013888822557861455, + -0.9998383155809449 + ], + [ + 0.999519855562738, + -0.030984136909847946, + -0.00020395047186677756, + -0.030979823001249126, + -0.9992193237865818, + -0.02451516955473263, + 0.0005557901172672963, + 0.024509717081961847, + -0.9996994372639746 + ], + [ + 0.9991757969601552, + -0.04057600015064261, + -0.0011467261286431617, + -0.040592090699350145, + -0.9988401163216895, + -0.02589795743162146, + -9.456053507624789e-05, + 0.02592316026740174, + -0.9996639339398298 + ], + [ + 0.9986757799654872, + -0.051445892058054714, + 8.185766428330643e-05, + -0.05143659805200685, + -0.9985231844128682, + -0.017485038484991063, + 0.0009812701781385493, + 0.01745767396694979, + -0.9998471216783601 + ], + [ + 0.9986824189569811, + -0.05005993769405314, + 0.011288432322546968, + -0.04983133985643944, + -0.9985634164655736, + -0.019696214476742704, + 0.012258206816057356, + 0.019107745410417654, + -0.9997422820062106 + ], + [ + 0.9989264135794917, + -0.044971674132950994, + 0.011116149463459407, + -0.04470777499758675, + -0.9987365381673223, + -0.022946507017800356, + 0.012134047468979977, + 0.022424893650416063, + -0.9996748916706812 + ], + [ + 0.9987970499863068, + -0.04827019270875001, + 0.008627944976117644, + -0.04802064678983786, + -0.9984784852801951, + -0.02710593873033634, + 0.009923226316899719, + 0.026659012142749215, + -0.9995953314471993 + ], + [ + 0.9980129394511883, + -0.0629999374854704, + 0.001086538000013251, + -0.06297494387925244, + -0.9978897776927763, + -0.015816068401037466, + 0.0020806564838192617, + 0.01571621624590695, + -0.9998743278110045 + ], + [ + 0.9966303959020555, + -0.08106819630280264, + -0.012482047601339226, + -0.08131681260574285, + -0.9964691967688302, + -0.020897748168752044, + -0.01074383319650588, + 0.02184233135661887, + -0.9997036974069632 + ], + [ + 0.9960176805694206, + -0.08750650484042267, + 0.017070196358723623, + -0.08652912480740675, + -0.9949219033534941, + -0.05141125156544563, + 0.02148233118580304, + 0.049729446388175204, + -0.998531667804657 + ], + [ + 0.9993909718979364, + -0.027689528029629578, + 0.021236179656286318, + -0.026565233946523967, + -0.9983189687415436, + -0.05151237711644631, + 0.0226268343845126, + 0.05091686055047864, + -0.9984465432247329 + ], + [ + 0.9967048527556297, + 0.06485407457915843, + 0.0487174045271263, + 0.06621723530209608, + -0.9974423757499046, + -0.02690696577715663, + 0.046847777346695436, + 0.03004423520190179, + -0.9984501137707419 + ], + [ + 0.9836243894644997, + 0.16953654194069728, + 0.061158984600631204, + 0.17008175429565453, + -0.9854226913303763, + -0.0037836843037566273, + 0.05962597845153284, + 0.0141237515550253, + -0.9981208655947982 + ], + [ + 0.9747643658213516, + 0.19677162163194123, + 0.10542940787671186, + 0.19421624256298642, + -0.9803665007542696, + 0.03408189143143065, + 0.11006580872193301, + -0.012745709833695157, + -0.9938425753766146 + ], + [ + 0.9648673162009762, + 0.24331244528011406, + 0.09914694195454003, + 0.2363215677094331, + -0.968603175204832, + 0.07720107265105529, + 0.11481802455399263, + -0.05105823102036723, + -0.9920735246354423 + ], + [ + 0.9551497766319249, + 0.28401428005726786, + 0.08381403774747796, + 0.2727480896844214, + -0.9539977175252058, + 0.12448628249809789, + 0.11531428260836836, + -0.09604292623743431, + -0.9886750591302826 + ], + [ + 0.935033496454317, + 0.3528404400702162, + 0.03487096728614375, + 0.3425431634435092, + -0.9243525418086169, + 0.16803737569381094, + 0.09152344883432059, + -0.1451757634834609, + -0.9851636696561978 + ], + [ + 0.9293102149016188, + 0.3682606767641159, + 0.027687513950195523, + 0.3562039295799947, + -0.9136209496868, + 0.19599877766241205, + 0.09747453529654351, + -0.1722812649205502, + -0.9802131812652276 + ], + [ + 0.9230900909083073, + 0.38441501895156266, + 0.011391982766946689, + 0.37345466765030916, + -0.9030587597949445, + 0.21217089236701042, + 0.09184930743935854, + -0.19159845918505225, + -0.9771661758170018 + ], + [ + 0.9121967391045991, + 0.40975069447012863, + -0.001215544397841481, + 0.40201558840700863, + -0.8943950298489853, + 0.19606375814820812, + 0.07925008419366142, + -0.17933738863572132, + -0.9805903962371942 + ], + [ + 0.9137335264538504, + 0.4060884633054186, + -0.013535235663040653, + 0.40062775305067067, + -0.8948925168436296, + 0.19663363593964472, + 0.06773806994431736, + -0.18509333663726946, + -0.9803836038065411 + ], + [ + 0.9146459351345463, + 0.4031004921502479, + -0.030541882228818713, + 0.4012261556226927, + -0.8959642005516695, + 0.1904356147731885, + 0.049400256943520494, + -0.1864353629492952, + -0.9812244748557175 + ], + [ + 0.9148450293470992, + 0.4027698349081378, + -0.02889692660087611, + 0.40119980612724493, + -0.8984962724078376, + 0.17816611359257348, + 0.045796155322975284, + -0.17458782476820126, + -0.9835760283782549 + ], + [ + 0.9162066021104311, + 0.3995564849423369, + -0.030332780778924064, + 0.3982189223715303, + -0.8994857573592608, + 0.1798528903662495, + 0.0445774843897152, + -0.17686149283651634, + -0.9832257422571501 + ], + [ + 0.913650486758727, + 0.40646896433682034, + -0.005076325097405757, + 0.40093384761330275, + -0.8990086481591302, + 0.1761689540557213, + 0.0670435521398949, + -0.1629921211778244, + -0.9843468547978498 + ], + [ + 0.9151897712179057, + 0.4008919029579545, + 0.04139281098049583, + 0.3915702447893511, + -0.9087907241631162, + 0.1441255115192521, + 0.0953961532438534, + -0.1156940007858159, + -0.9886933155071124 + ], + [ + 0.916894726141528, + 0.3847272197828249, + 0.10624983544472202, + 0.37260765440846016, + -0.9205013789317529, + 0.11764670527034402, + 0.1430650098734073, + -0.06828014164396237, + -0.9873551666988949 + ], + [ + 0.9205887912534568, + 0.37347587349967765, + 0.11415800161246804, + 0.360778543690701, + -0.9252161998109223, + 0.11753223396095452, + 0.1495162861728328, + -0.06701309962304669, + -0.9864857447768799 + ], + [ + 0.9206433006882615, + 0.37054262286575784, + 0.12293932461823678, + 0.3557032639023047, + -0.9259240829581753, + 0.12704243640339158, + 0.16090711900680724, + -0.07323084894924517, + -0.9842490242896369 + ], + [ + 0.921433151108269, + 0.369009215899486, + 0.12162708012581894, + 0.35427514233088764, + -0.9264843095489851, + 0.12694860253649762, + 0.15953078563435694, + -0.07388519974113142, + -0.9844241492842899 + ], + [ + 0.9219014319650016, + 0.3682767470948904, + 0.1202912602398238, + 0.3534198616707434, + -0.9266225963677179, + 0.12831588084637557, + 0.15872035508248916, + -0.07578127374196625, + -0.9844110154973547 + ], + [ + 0.9216573895690602, + 0.36839225353920946, + 0.12179820928506657, + 0.3534352202721488, + -0.9266298753699309, + 0.12822097778087788, + 0.16009747444580047, + -0.07512803474209558, + -0.9842380693063377 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005915.json b/json/chunk-0005/episode_0005915.json new file mode 100644 index 0000000000000000000000000000000000000000..86bd52837b8c49e739a91ca905906c4278ec1b71 --- /dev/null +++ b/json/chunk-0005/episode_0005915.json @@ -0,0 +1,2242 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 36, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut the yellow spoon into the red bowl." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005915.mp4", + "start": 0, + "end": 36, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.30764269828796387, + -0.003485544351860881, + 0.07399218529462814, + -0.010124529711902142, + -0.1884150505065918, + 0.037147510796785355, + 0.0, + 0.9988223910331726 + ], + [ + 0.3063413202762604, + -0.003471569623798132, + 0.0670284777879715, + -0.009776169434189796, + -0.16538837552070618, + 0.04161640256643295, + 0.0, + 0.9988223910331726 + ], + [ + 0.3199285566806793, + -0.012380924075841904, + 0.05397864431142807, + -0.026770172640681267, + -0.13341733813285828, + 0.04859618842601776, + 0.0, + 0.9988223910331726 + ], + [ + 0.34213322401046753, + -0.022517453879117966, + 0.03827691450715065, + -0.03053867258131504, + -0.0868120789527893, + 0.03393830731511116, + 0.0, + 0.9988223910331726 + ], + [ + 0.3573111593723297, + -0.021180223673582077, + 0.020668087527155876, + -0.0186485406011343, + -0.12918797135353088, + 0.044508978724479675, + 0.0, + 0.9988223910331726 + ], + [ + 0.361335813999176, + -0.02286108024418354, + 0.008335459977388382, + -0.05255208909511566, + -0.12930293381214142, + 0.030830567702651024, + 0.0, + 0.9988223910331726 + ], + [ + 0.3646501302719116, + -0.018819212913513184, + -0.0025245666038244963, + -0.06363500654697418, + -0.16023997962474823, + 0.06503661721944809, + 0.0, + 0.9988223910331726 + ], + [ + 0.3666055500507355, + -0.01945936493575573, + -0.014786968007683754, + -0.06368428468704224, + -0.1740066260099411, + 0.09259189665317535, + 0.0, + 0.9988223910331726 + ], + [ + 0.36653995513916016, + -0.024674803018569946, + -0.01729380339384079, + -0.09550489485263824, + -0.15826305747032166, + 0.09618277102708817, + 0.0, + 0.9988223910331726 + ], + [ + 0.367323100566864, + -0.025942455977201462, + -0.026964770630002022, + -0.11731463670730591, + -0.15426138043403625, + 0.12206664681434631, + 0.0, + 0.9988223910331726 + ], + [ + 0.3681700825691223, + -0.02916709892451763, + -0.03380970284342766, + -0.14705634117126465, + -0.16035564243793488, + 0.14913122355937958, + 0.0, + 0.9605803489685059 + ], + [ + 0.36621442437171936, + -0.02662629634141922, + -0.03778165578842163, + -0.12878000736236572, + -0.1413072794675827, + 0.15586714446544647, + 0.0, + 0.8251956701278687 + ], + [ + 0.36699599027633667, + -0.025872601196169853, + -0.03686455264687538, + -0.1238820031285286, + -0.139553502202034, + 0.15851329267024994, + 0.0, + 0.6239634156227112 + ], + [ + 0.3672237694263458, + -0.02483280561864376, + -0.035741232335567474, + -0.11662683635950089, + -0.13676413893699646, + 0.15857292711734772, + 0.0, + 0.5889025926589966 + ], + [ + 0.3597285747528076, + -0.021943816915154457, + -0.023431209847331047, + -0.09651701897382736, + -0.12102241069078445, + 0.15882644057273865, + 0.0, + 0.570969820022583 + ], + [ + 0.3482922911643982, + -0.01933894120156765, + -0.006412853952497244, + -0.0936860665678978, + -0.15467801690101624, + 0.20864325761795044, + 0.0, + 0.4985305666923523 + ], + [ + 0.3394251763820648, + -0.017336875200271606, + 0.008452528156340122, + -0.08503025025129318, + -0.22412413358688354, + 0.2872089445590973, + 0.0, + 0.4813377559185028 + ], + [ + 0.3377537429332733, + -0.008401761762797832, + 0.026863424107432365, + -0.08914470672607422, + -0.34996095299720764, + 0.36831945180892944, + 0.0, + 0.4813377559185028 + ], + [ + 0.3416045010089874, + 0.006178304087370634, + 0.03854157775640488, + -0.09185861796140671, + -0.4506256878376007, + 0.39861583709716797, + 0.0, + 0.48038846254348755 + ], + [ + 0.34621813893318176, + 0.022916359826922417, + 0.05427828058600426, + -0.08099140226840973, + -0.5494077205657959, + 0.4220047891139984, + 0.0, + 0.48038846254348755 + ], + [ + 0.3466554582118988, + 0.040005624294281006, + 0.05417598783969879, + -0.07048630714416504, + -0.6258949041366577, + 0.470537394285202, + 0.0, + 0.48038846254348755 + ], + [ + 0.3471667766571045, + 0.05349274352192879, + 0.05472052842378616, + -0.09833566099405289, + -0.625497043132782, + 0.48893511295318604, + 0.0, + 0.48038846254348755 + ], + [ + 0.34730973839759827, + 0.06978879123926163, + 0.05440274626016617, + -0.11791878938674927, + -0.6052709817886353, + 0.5109297037124634, + 0.0, + 0.48038846254348755 + ], + [ + 0.3512140214443207, + 0.08561959862709045, + 0.04679716378450394, + -0.14233489334583282, + -0.5999162197113037, + 0.5098128318786621, + 0.0, + 0.48038846254348755 + ], + [ + 0.3586950898170471, + 0.0959966704249382, + 0.0449301078915596, + -0.14429084956645966, + -0.6032184958457947, + 0.4724336862564087, + 0.0, + 0.5521479845046997 + ], + [ + 0.3606286346912384, + 0.101614810526371, + 0.03993427753448486, + -0.13778911530971527, + -0.5998086333274841, + 0.4346163868904114, + 0.0, + 0.8544629216194153 + ], + [ + 0.35933154821395874, + 0.10466538369655609, + 0.04041537642478943, + -0.1112867072224617, + -0.5817421674728394, + 0.4183184504508972, + 0.0, + 1.0092895030975342 + ], + [ + 0.352743923664093, + 0.10555113106966019, + 0.04592712223529816, + -0.06994650512933731, + -0.5546593070030212, + 0.38428664207458496, + 0.0, + 1.0060625076293945 + ], + [ + 0.3493579030036926, + 0.10068847239017487, + 0.06278617680072784, + -0.03419043868780136, + -0.5575326681137085, + 0.35499322414398193, + 0.0, + 1.0008161067962646 + ], + [ + 0.3384380340576172, + 0.08232216536998749, + 0.06815531849861145, + -0.03701690211892128, + -0.38426411151885986, + 0.2891949713230133, + 0.0, + 1.0008161067962646 + ], + [ + 0.3263038098812103, + 0.06084081530570984, + 0.07035128027200699, + -0.04651084169745445, + -0.2438189536333084, + 0.22594985365867615, + 0.0, + 1.0008161067962646 + ], + [ + 0.3190787732601166, + 0.03679720684885979, + 0.07570037245750427, + -0.02616526372730732, + -0.1679459661245346, + 0.1663115918636322, + 0.0, + 1.0008161067962646 + ], + [ + 0.3090327978134155, + 0.004255934618413448, + 0.08840689063072205, + 0.02002039924263954, + -0.1891028881072998, + 0.12384616583585739, + 0.0, + 1.0008161067962646 + ], + [ + 0.2852582633495331, + -0.0004901240463368595, + 0.07409437745809555, + 0.05128181725740433, + -0.20084312558174133, + 0.1795748919248581, + 0.0, + 1.0008161067962646 + ], + [ + 0.27228718996047974, + 0.015552076511085033, + 0.06842035055160522, + 0.0768352597951889, + -0.2191072553396225, + 0.20396721363067627, + 0.0, + 1.0008161067962646 + ], + [ + 0.2688843011856079, + 0.04846402630209923, + 0.06671814620494843, + 0.08879482746124268, + -0.22185677289962769, + 0.2543250024318695, + 0.0, + 1.0008161067962646 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9605803489685059 + ], + [ + 0.8251956701278687 + ], + [ + 0.6239634156227112 + ], + [ + 0.5889025926589966 + ], + [ + 0.570969820022583 + ], + [ + 0.4985305666923523 + ], + [ + 0.4813377559185028 + ], + [ + 0.4813377559185028 + ], + [ + 0.48038846254348755 + ], + [ + 0.48038846254348755 + ], + [ + 0.48038846254348755 + ], + [ + 0.48038846254348755 + ], + [ + 0.48038846254348755 + ], + [ + 0.48038846254348755 + ], + [ + 0.5521479845046997 + ], + [ + 0.8544629216194153 + ], + [ + 1.0092895030975342 + ], + [ + 1.0060625076293945 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.30764269828796387, + -0.003485544351860881, + 0.07399218529462814 + ], + [ + 0.3063413202762604, + -0.003471569623798132, + 0.0670284777879715 + ], + [ + 0.3199285566806793, + -0.012380924075841904, + 0.05397864431142807 + ], + [ + 0.34213322401046753, + -0.022517453879117966, + 0.03827691450715065 + ], + [ + 0.3573111593723297, + -0.021180223673582077, + 0.020668087527155876 + ], + [ + 0.361335813999176, + -0.02286108024418354, + 0.008335459977388382 + ], + [ + 0.3646501302719116, + -0.018819212913513184, + -0.0025245666038244963 + ], + [ + 0.3666055500507355, + -0.01945936493575573, + -0.014786968007683754 + ], + [ + 0.36653995513916016, + -0.024674803018569946, + -0.01729380339384079 + ], + [ + 0.367323100566864, + -0.025942455977201462, + -0.026964770630002022 + ], + [ + 0.3681700825691223, + -0.02916709892451763, + -0.03380970284342766 + ], + [ + 0.36621442437171936, + -0.02662629634141922, + -0.03778165578842163 + ], + [ + 0.36699599027633667, + -0.025872601196169853, + -0.03686455264687538 + ], + [ + 0.3672237694263458, + -0.02483280561864376, + -0.035741232335567474 + ], + [ + 0.3597285747528076, + -0.021943816915154457, + -0.023431209847331047 + ], + [ + 0.3482922911643982, + -0.01933894120156765, + -0.006412853952497244 + ], + [ + 0.3394251763820648, + -0.017336875200271606, + 0.008452528156340122 + ], + [ + 0.3377537429332733, + -0.008401761762797832, + 0.026863424107432365 + ], + [ + 0.3416045010089874, + 0.006178304087370634, + 0.03854157775640488 + ], + [ + 0.34621813893318176, + 0.022916359826922417, + 0.05427828058600426 + ], + [ + 0.3466554582118988, + 0.040005624294281006, + 0.05417598783969879 + ], + [ + 0.3471667766571045, + 0.05349274352192879, + 0.05472052842378616 + ], + [ + 0.34730973839759827, + 0.06978879123926163, + 0.05440274626016617 + ], + [ + 0.3512140214443207, + 0.08561959862709045, + 0.04679716378450394 + ], + [ + 0.3586950898170471, + 0.0959966704249382, + 0.0449301078915596 + ], + [ + 0.3606286346912384, + 0.101614810526371, + 0.03993427753448486 + ], + [ + 0.35933154821395874, + 0.10466538369655609, + 0.04041537642478943 + ], + [ + 0.352743923664093, + 0.10555113106966019, + 0.04592712223529816 + ], + [ + 0.3493579030036926, + 0.10068847239017487, + 0.06278617680072784 + ], + [ + 0.3384380340576172, + 0.08232216536998749, + 0.06815531849861145 + ], + [ + 0.3263038098812103, + 0.06084081530570984, + 0.07035128027200699 + ], + [ + 0.3190787732601166, + 0.03679720684885979, + 0.07570037245750427 + ], + [ + 0.3090327978134155, + 0.004255934618413448, + 0.08840689063072205 + ], + [ + 0.2852582633495331, + -0.0004901240463368595, + 0.07409437745809555 + ], + [ + 0.27228718996047974, + 0.015552076511085033, + 0.06842035055160522 + ], + [ + 0.2688843011856079, + 0.04846402630209923, + 0.06671814620494843 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9816246533662304, + 0.03524205801540901, + 0.18753942852228875, + 0.03648169477355192, + -0.9993293204727345, + -0.0031615170333671094, + 0.18730223130031712, + 0.009945179251346914, + -0.9822519878114685 + ], + [ + 0.9855004666581384, + 0.0399943181660991, + 0.16489173639397564, + 0.0410366777011821, + -0.999153378861402, + -0.0029183202519558814, + 0.1646354193356971, + 0.009642615012148274, + -0.9863073550754281 + ], + [ + 0.9899430301898627, + 0.04500326825170567, + 0.13411749634248793, + 0.04814536385679312, + -0.9986345240900433, + -0.020275878144969197, + 0.13302188134893161, + 0.026529099911562427, + -0.9907579855546322 + ], + [ + 0.9956605168529638, + 0.03127011036231859, + 0.08764881846332688, + 0.03380401218432554, + -0.9990479809344158, + -0.02757572394532621, + 0.0867030791859827, + 0.030418941283274187, + -0.9957696842497635 + ], + [ + 0.9906847251900198, + 0.04208659483007555, + 0.12950866307233744, + 0.04412350615032087, + -0.9989428221781258, + -0.012897837950769299, + 0.12882892330597878, + 0.018492067337395404, + -0.9914944033959101 + ], + [ + 0.9911807592412641, + 0.024013244680783908, + 0.13032293194143532, + 0.030568351433406662, + -0.998353673980635, + -0.04853367428921568, + 0.12894292691169582, + 0.05208940131417075, + -0.9902829978698899 + ], + [ + 0.9851019705269237, + 0.0547342469559943, + 0.16302843271691175, + 0.06415818323674963, + -0.9965255447604202, + -0.05310900266158146, + 0.1595551164573924, + 0.06277739123369525, + -0.9851909276694341 + ], + [ + 0.9806801256344021, + 0.08130121836933643, + 0.1779230257087439, + 0.09106341846981184, + -0.9947166955462186, + -0.04739355882610164, + 0.17312985011916576, + 0.06268020016937323, + -0.9829024608293756 + ], + [ + 0.9829382860624679, + 0.08063735562101511, + 0.1653177022312727, + 0.09483435011173329, + -0.9922852418925839, + -0.07985264404552461, + 0.1576032100925073, + 0.09416801792873208, + -0.9830023461660257 + ], + [ + 0.9807727608175785, + 0.10307650272124812, + 0.16571067022078403, + 0.12031782587334518, + -0.9879265967667277, + -0.09759436550345948, + 0.1536502925977569, + 0.11565584286004743, + -0.9813334365020666 + ], + [ + 0.9762134936659964, + 0.12383923194987388, + 0.17796364632838552, + 0.1466728691879205, + -0.9817031538542497, + -0.12143305627712045, + 0.15966929644929395, + 0.14464702673295596, + -0.9765157210351008 + ], + [ + 0.9780308481161891, + 0.13608362280592048, + 0.15791424171728, + 0.1536895026076673, + -0.9825047443050294, + -0.10518538019285907, + 0.14083748407769645, + 0.12714430786364148, + -0.981834572652919 + ], + [ + 0.9778631366625326, + 0.13966803783277015, + 0.15580925891761838, + 0.1563157243778332, + -0.9826087040079096, + -0.10022738707623782, + 0.13910097148743011, + 0.12236410427834055, + -0.9826891399193404 + ], + [ + 0.9782331436202735, + 0.1411708643490744, + 0.15208781601999777, + 0.15643469927574377, + -0.9832508397841426, + -0.09351989588470458, + 0.13633818828671979, + 0.11527607350492824, + -0.98393258168026 + ], + [ + 0.9801913554500811, + 0.14593571400861202, + 0.1338942645438165, + 0.1570027045233592, + -0.984658050438995, + -0.0761490280832812, + 0.12072720270628193, + 0.09566238070670299, + -0.9880656109005324 + ], + [ + 0.966632947134538, + 0.19212463461130658, + 0.16943692127003795, + 0.20465985303379253, + -0.9770078867099907, + -0.0597489235272403, + 0.15406196827959695, + 0.09243221344287668, + -0.9837282123878864 + ], + [ + 0.9350518835415975, + 0.2641509047868076, + 0.23643661853786765, + 0.2761916128313997, + -0.9609203118509304, + -0.018717565918151727, + 0.22225248724570082, + 0.08280370627345789, + -0.9714666119535339 + ], + [ + 0.8763849896205966, + 0.3301417637346546, + 0.35065048952750427, + 0.33822418188773434, + -0.9402193185454767, + 0.03990032356074723, + 0.3428611275051164, + 0.08363043029932979, + -0.9356560256706892 + ], + [ + 0.8296002880063554, + 0.3496879877076874, + 0.43529492690901067, + 0.349396601202254, + -0.9332202750044063, + 0.08379697720690064, + 0.4355288477335178, + 0.08257257155768512, + -0.896379603303347 + ], + [ + 0.7780145133608444, + 0.3697077558829456, + 0.5079464462321641, + 0.34931241355126397, + -0.9265827684530081, + 0.1393743554064009, + 0.5221822045405982, + 0.06899672779165222, + -0.8500383502026043 + ], + [ + 0.7223645325095396, + 0.4154650327164819, + 0.5527913609691876, + 0.3674250413824787, + -0.9078165877712225, + 0.2021580617548987, + 0.5858227728053577, + 0.057077574907368436, + -0.808426761868591 + ], + [ + 0.7156885939027757, + 0.41666920485199144, + 0.560514594177063, + 0.38076141301824284, + -0.9055673767696667, + 0.1869985895317295, + 0.5855002842986666, + 0.07958957129243965, + -0.8067557977651395 + ], + [ + 0.7173261097447772, + 0.4272027942582741, + 0.5504007856610909, + 0.4021186293624194, + -0.8989649833676083, + 0.17367373606439326, + 0.5689849384633241, + 0.09674570407412428, + -0.8166372564027977 + ], + [ + 0.7204238119461159, + 0.4131756607112828, + 0.5570237019883642, + 0.4027983271803129, + -0.9030930684122445, + 0.14891748522755283, + 0.5645733245573763, + 0.11708451298763524, + -0.817036215853789 + ], + [ + 0.7333091696986634, + 0.37768910267211564, + 0.5653393700765841, + 0.37474396875162275, + -0.918329543027672, + 0.12742765903393954, + 0.5672958835741184, + 0.11841364839121894, + -0.8149561879969629 + ], + [ + 0.7487035059538669, + 0.3467459569615984, + 0.5649869923309498, + 0.34756335444768816, + -0.9310815016584476, + 0.11084652414271019, + 0.5644845213267218, + 0.11337759302540813, + -0.817620172563218 + ], + [ + 0.7634636672916326, + 0.3479497326813426, + 0.5441086401194102, + 0.33940324107523084, + -0.9329100649411399, + 0.12035053252539912, + 0.549480362409104, + 0.09278897703122205, + -0.8303382064365455 + ], + [ + 0.7880802773722109, + 0.33985814195314373, + 0.513250348041865, + 0.3186931775566724, + -0.9385982631787188, + 0.13216640623366974, + 0.5266537144991669, + 0.059411646215611257, + -0.8480012507645143 + ], + [ + 0.7956542504869573, + 0.3304221454936001, + 0.5076962866216815, + 0.2949469817081202, + -0.9433874041306414, + 0.15174479796329035, + 0.5290941236333174, + 0.029007093874709095, + -0.8480672124552604 + ], + [ + 0.8885766354081449, + 0.2716878586609059, + 0.36961773559042377, + 0.26438378686913316, + -0.9617736528971279, + 0.07136283229841586, + 0.37487701482950053, + 0.03430959121246814, + -0.926439461434667 + ], + [ + 0.9457566601275463, + 0.21285104325483373, + 0.2454358841117527, + 0.21740600007439786, + -0.9760423740934586, + 0.008712927502043864, + 0.2414103787247759, + 0.045118924625193166, + -0.9693736697912867 + ], + [ + 0.9723264028879166, + 0.161176421298473, + 0.16912577409863389, + 0.16321676795133264, + -0.9865884762607748, + 0.001861496431232998, + 0.16715756909744123, + 0.025794180096676757, + -0.9855927188076089 + ], + [ + 0.9746506656110835, + 0.1272393813395793, + 0.18402776926375308, + 0.12132768603989433, + -0.9916771340629503, + 0.04308194954848505, + 0.18797785141892875, + -0.01966218739139932, + -0.981976438496825 + ], + [ + 0.9641416714191419, + 0.1884380857195535, + 0.18687408938494784, + 0.17502100239054924, + -0.9807997445533319, + 0.0860204034303857, + 0.19949557928763897, + -0.050228965094546274, + -0.9786105276923093 + ], + [ + 0.9558581858828888, + 0.21829677395854322, + 0.19667650332453396, + 0.19771316089506794, + -0.9730019720400861, + 0.11906581547608254, + 0.2173583089958921, + -0.0749245012355521, + -0.9732120450472497 + ], + [ + 0.9441122914012247, + 0.2694861878633309, + 0.1898135289593941, + 0.24542579850928778, + -0.9591111119328194, + 0.14096826732662007, + 0.22004126579168667, + -0.08650473696787055, + -0.9716474524388524 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0013013780117034912, + 1.3974728062748909e-05, + -0.006963707506656647, + 0.0003483602777123451, + 0.02302667498588562, + 0.004468891769647598, + 1.0 + ], + [ + 0.013587236404418945, + -0.008909353986382484, + -0.013049833476543427, + -0.01699400320649147, + 0.0319710373878479, + 0.006979785859584808, + 1.0 + ], + [ + 0.022204667329788208, + -0.010136529803276062, + -0.01570172980427742, + -0.003768499940633774, + 0.04660525918006897, + -0.014657881110906601, + 1.0 + ], + [ + 0.015177935361862183, + 0.0013372302055358887, + -0.017608826979994774, + 0.01189013198018074, + -0.04237589240074158, + 0.010570671409368515, + 1.0 + ], + [ + 0.0040246546268463135, + -0.0016808565706014633, + -0.012332627549767494, + -0.03390354663133621, + -0.00011496245861053467, + -0.013678411021828651, + 1.0 + ], + [ + 0.0033143162727355957, + 0.004041867330670357, + -0.010860026814043522, + -0.01108291745185852, + -0.03093704581260681, + 0.034206047654151917, + 1.0 + ], + [ + 0.0019554197788238525, + -0.0006401520222425461, + -0.012262401171028614, + -4.92781400680542e-05, + -0.013766646385192871, + 0.027555279433727264, + 1.0 + ], + [ + -6.559491157531738e-05, + -0.005215438082814217, + -0.002506835386157036, + -0.03182061016559601, + 0.015743568539619446, + 0.0035908743739128113, + 1.0 + ], + [ + 0.0007831454277038574, + -0.0012676529586315155, + -0.009670967236161232, + -0.021809741854667664, + 0.0040016770362854, + 0.025883875787258148, + 1.0 + ], + [ + 0.0008469820022583008, + -0.0032246429473161697, + -0.006844932213425636, + -0.02974170446395874, + -0.006094262003898621, + 0.027064576745033264, + 0.0 + ], + [ + -0.001955658197402954, + 0.0025408025830984116, + -0.003971952944993973, + 0.018276333808898926, + 0.019048362970352173, + 0.0067359209060668945, + 0.0 + ], + [ + 0.0007815659046173096, + 0.0007536951452493668, + 0.0009171031415462494, + 0.004898004233837128, + 0.001753777265548706, + 0.002646148204803467, + 0.0 + ], + [ + 0.00022777915000915527, + 0.0010397955775260925, + 0.001123320311307907, + 0.00725516676902771, + 0.0027893632650375366, + 5.963444709777832e-05, + 0.0 + ], + [ + -0.007495194673538208, + 0.0028889887034893036, + 0.012310022488236427, + 0.020109817385673523, + 0.015741728246212006, + 0.0002535134553909302, + 0.0 + ], + [ + -0.011436283588409424, + 0.0026048757135868073, + 0.017018355429172516, + 0.0028309524059295654, + -0.03365560621023178, + 0.04981681704521179, + 0.0 + ], + [ + -0.008867114782333374, + 0.0020020660012960434, + 0.014865381643176079, + 0.008655816316604614, + -0.06944611668586731, + 0.07856568694114685, + 0.0 + ], + [ + -0.001671433448791504, + 0.008935113437473774, + 0.01841089501976967, + -0.004114456474781036, + -0.1258368194103241, + 0.08111050724983215, + 0.0 + ], + [ + 0.0038507580757141113, + 0.01458006538450718, + 0.011678153648972511, + -0.002713911235332489, + -0.10066473484039307, + 0.030296385288238525, + 0.0 + ], + [ + 0.004613637924194336, + 0.016738055273890495, + 0.01573670282959938, + 0.010867215692996979, + -0.09878203272819519, + 0.023388952016830444, + 0.0 + ], + [ + 0.000437319278717041, + 0.01708926446735859, + -0.0001022927463054657, + 0.01050509512424469, + -0.07648718357086182, + 0.04853260517120361, + 0.0 + ], + [ + 0.0005113184452056885, + 0.013487119227647781, + 0.0005445405840873718, + -0.027849353849887848, + 0.0003978610038757324, + 0.01839771866798401, + 0.0 + ], + [ + 0.00014296174049377441, + 0.01629604771733284, + -0.0003177821636199951, + -0.01958312839269638, + 0.02022606134414673, + 0.021994590759277344, + 0.0 + ], + [ + 0.003904283046722412, + 0.015830807387828827, + -0.0076055824756622314, + -0.024416103959083557, + 0.005354762077331543, + -0.0011168718338012695, + 0.0 + ], + [ + 0.00748106837272644, + 0.010377071797847748, + -0.001867055892944336, + -0.001955956220626831, + -0.003302276134490967, + -0.03737914562225342, + 1.0 + ], + [ + 0.0019335448741912842, + 0.0056181401014328, + -0.0049958303570747375, + 0.006501734256744385, + 0.003409862518310547, + -0.037817299365997314, + 1.0 + ], + [ + -0.001297086477279663, + 0.003050573170185089, + 0.00048109889030456543, + 0.02650240808725357, + 0.018066465854644775, + -0.01629793643951416, + 1.0 + ], + [ + -0.006587624549865723, + 0.0008857473731040955, + 0.005511745810508728, + 0.04134020209312439, + 0.027082860469818115, + -0.034031808376312256, + 1.0 + ], + [ + -0.0033860206604003906, + -0.004862658679485321, + 0.016859054565429688, + 0.03575606644153595, + -0.002873361110687256, + -0.029293417930603027, + 1.0 + ], + [ + -0.01091986894607544, + -0.018366307020187378, + 0.005369141697883606, + -0.002826463431119919, + 0.17326855659484863, + -0.06579825282096863, + 1.0 + ], + [ + -0.01213422417640686, + -0.02148135006427765, + 0.0021959617733955383, + -0.009493939578533173, + 0.14044515788555145, + -0.06324511766433716, + 1.0 + ], + [ + -0.00722503662109375, + -0.024043608456850052, + 0.005349092185497284, + 0.020345577970147133, + 0.0758729875087738, + -0.059638261795043945, + 1.0 + ], + [ + -0.01004597544670105, + -0.032541271299123764, + 0.012706518173217773, + 0.04618566483259201, + -0.021156921982765198, + -0.04246542602777481, + 1.0 + ], + [ + -0.023774534463882446, + -0.004746058490127325, + -0.014312513172626495, + 0.031261418014764786, + -0.011740237474441528, + 0.0557287260890007, + 1.0 + ], + [ + -0.012971073389053345, + 0.016042200848460197, + -0.005674026906490326, + 0.025553442537784576, + -0.018264129757881165, + 0.024392321705818176, + 1.0 + ], + [ + -0.003402888774871826, + 0.03291194885969162, + -0.0017022043466567993, + 0.011959567666053772, + -0.002749517560005188, + 0.05035778880119324, + 1.0 + ], + [ + 0.004084914922714233, + 0.03708260878920555, + -0.012322541326284409, + 0.009068436920642853, + -0.004273220896720886, + 0.013224363327026367, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9605803489685059 + ], + [ + 0.8251956701278687 + ], + [ + 0.6239634156227112 + ], + [ + 0.5889025926589966 + ], + [ + 0.570969820022583 + ], + [ + 0.4985305666923523 + ], + [ + 0.4813377559185028 + ], + [ + 0.4813377559185028 + ], + [ + 0.48038846254348755 + ], + [ + 0.48038846254348755 + ], + [ + 0.48038846254348755 + ], + [ + 0.48038846254348755 + ], + [ + 0.48038846254348755 + ], + [ + 0.48038846254348755 + ], + [ + 0.5521479845046997 + ], + [ + 0.8544629216194153 + ], + [ + 1.0092895030975342 + ], + [ + 1.0060625076293945 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3063413202762604, + -0.003471569623798132, + 0.0670284777879715 + ], + [ + 0.3199285566806793, + -0.012380924075841904, + 0.05397864431142807 + ], + [ + 0.34213322401046753, + -0.022517453879117966, + 0.03827691450715065 + ], + [ + 0.3573111593723297, + -0.021180223673582077, + 0.020668087527155876 + ], + [ + 0.361335813999176, + -0.02286108024418354, + 0.008335459977388382 + ], + [ + 0.3646501302719116, + -0.018819212913513184, + -0.0025245666038244963 + ], + [ + 0.3666055500507355, + -0.01945936493575573, + -0.014786968007683754 + ], + [ + 0.36653995513916016, + -0.024674803018569946, + -0.01729380339384079 + ], + [ + 0.367323100566864, + -0.025942455977201462, + -0.026964770630002022 + ], + [ + 0.3681700825691223, + -0.02916709892451763, + -0.03380970284342766 + ], + [ + 0.36621442437171936, + -0.02662629634141922, + -0.03778165578842163 + ], + [ + 0.36699599027633667, + -0.025872601196169853, + -0.03686455264687538 + ], + [ + 0.3672237694263458, + -0.02483280561864376, + -0.035741232335567474 + ], + [ + 0.3597285747528076, + -0.021943816915154457, + -0.023431209847331047 + ], + [ + 0.3482922911643982, + -0.01933894120156765, + -0.006412853952497244 + ], + [ + 0.3394251763820648, + -0.017336875200271606, + 0.008452528156340122 + ], + [ + 0.3377537429332733, + -0.008401761762797832, + 0.026863424107432365 + ], + [ + 0.3416045010089874, + 0.006178304087370634, + 0.03854157775640488 + ], + [ + 0.34621813893318176, + 0.022916359826922417, + 0.05427828058600426 + ], + [ + 0.3466554582118988, + 0.040005624294281006, + 0.05417598783969879 + ], + [ + 0.3471667766571045, + 0.05349274352192879, + 0.05472052842378616 + ], + [ + 0.34730973839759827, + 0.06978879123926163, + 0.05440274626016617 + ], + [ + 0.3512140214443207, + 0.08561959862709045, + 0.04679716378450394 + ], + [ + 0.3586950898170471, + 0.0959966704249382, + 0.0449301078915596 + ], + [ + 0.3606286346912384, + 0.101614810526371, + 0.03993427753448486 + ], + [ + 0.35933154821395874, + 0.10466538369655609, + 0.04041537642478943 + ], + [ + 0.352743923664093, + 0.10555113106966019, + 0.04592712223529816 + ], + [ + 0.3493579030036926, + 0.10068847239017487, + 0.06278617680072784 + ], + [ + 0.3384380340576172, + 0.08232216536998749, + 0.06815531849861145 + ], + [ + 0.3263038098812103, + 0.06084081530570984, + 0.07035128027200699 + ], + [ + 0.3190787732601166, + 0.03679720684885979, + 0.07570037245750427 + ], + [ + 0.3090327978134155, + 0.004255934618413448, + 0.08840689063072205 + ], + [ + 0.2852582633495331, + -0.0004901240463368595, + 0.07409437745809555 + ], + [ + 0.27228718996047974, + 0.015552076511085033, + 0.06842035055160522 + ], + [ + 0.2688843011856079, + 0.04846402630209923, + 0.06671814620494843 + ], + [ + 0.27296921610832214, + 0.08554663509130478, + 0.05439560487866402 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9855004666581384, + 0.0399943181660991, + 0.16489173639397564, + 0.0410366777011821, + -0.999153378861402, + -0.0029183202519558814, + 0.1646354193356971, + 0.009642615012148274, + -0.9863073550754281 + ], + [ + 0.9899430301898627, + 0.04500326825170567, + 0.13411749634248793, + 0.04814536385679312, + -0.9986345240900433, + -0.020275878144969197, + 0.13302188134893161, + 0.026529099911562427, + -0.9907579855546322 + ], + [ + 0.9956605168529638, + 0.03127011036231859, + 0.08764881846332688, + 0.03380401218432554, + -0.9990479809344158, + -0.02757572394532621, + 0.0867030791859827, + 0.030418941283274187, + -0.9957696842497635 + ], + [ + 0.9906847251900198, + 0.04208659483007555, + 0.12950866307233744, + 0.04412350615032087, + -0.9989428221781258, + -0.012897837950769299, + 0.12882892330597878, + 0.018492067337395404, + -0.9914944033959101 + ], + [ + 0.9911807592412641, + 0.024013244680783908, + 0.13032293194143532, + 0.030568351433406662, + -0.998353673980635, + -0.04853367428921568, + 0.12894292691169582, + 0.05208940131417075, + -0.9902829978698899 + ], + [ + 0.9851019705269237, + 0.0547342469559943, + 0.16302843271691175, + 0.06415818323674963, + -0.9965255447604202, + -0.05310900266158146, + 0.1595551164573924, + 0.06277739123369525, + -0.9851909276694341 + ], + [ + 0.9806801256344021, + 0.08130121836933643, + 0.1779230257087439, + 0.09106341846981184, + -0.9947166955462186, + -0.04739355882610164, + 0.17312985011916576, + 0.06268020016937323, + -0.9829024608293756 + ], + [ + 0.9829382860624679, + 0.08063735562101511, + 0.1653177022312727, + 0.09483435011173329, + -0.9922852418925839, + -0.07985264404552461, + 0.1576032100925073, + 0.09416801792873208, + -0.9830023461660257 + ], + [ + 0.9807727608175785, + 0.10307650272124812, + 0.16571067022078403, + 0.12031782587334518, + -0.9879265967667277, + -0.09759436550345948, + 0.1536502925977569, + 0.11565584286004743, + -0.9813334365020666 + ], + [ + 0.9762134936659964, + 0.12383923194987388, + 0.17796364632838552, + 0.1466728691879205, + -0.9817031538542497, + -0.12143305627712045, + 0.15966929644929395, + 0.14464702673295596, + -0.9765157210351008 + ], + [ + 0.9780308481161891, + 0.13608362280592048, + 0.15791424171728, + 0.1536895026076673, + -0.9825047443050294, + -0.10518538019285907, + 0.14083748407769645, + 0.12714430786364148, + -0.981834572652919 + ], + [ + 0.9778631366625326, + 0.13966803783277015, + 0.15580925891761838, + 0.1563157243778332, + -0.9826087040079096, + -0.10022738707623782, + 0.13910097148743011, + 0.12236410427834055, + -0.9826891399193404 + ], + [ + 0.9782331436202735, + 0.1411708643490744, + 0.15208781601999777, + 0.15643469927574377, + -0.9832508397841426, + -0.09351989588470458, + 0.13633818828671979, + 0.11527607350492824, + -0.98393258168026 + ], + [ + 0.9801913554500811, + 0.14593571400861202, + 0.1338942645438165, + 0.1570027045233592, + -0.984658050438995, + -0.0761490280832812, + 0.12072720270628193, + 0.09566238070670299, + -0.9880656109005324 + ], + [ + 0.966632947134538, + 0.19212463461130658, + 0.16943692127003795, + 0.20465985303379253, + -0.9770078867099907, + -0.0597489235272403, + 0.15406196827959695, + 0.09243221344287668, + -0.9837282123878864 + ], + [ + 0.9350518835415975, + 0.2641509047868076, + 0.23643661853786765, + 0.2761916128313997, + -0.9609203118509304, + -0.018717565918151727, + 0.22225248724570082, + 0.08280370627345789, + -0.9714666119535339 + ], + [ + 0.8763849896205966, + 0.3301417637346546, + 0.35065048952750427, + 0.33822418188773434, + -0.9402193185454767, + 0.03990032356074723, + 0.3428611275051164, + 0.08363043029932979, + -0.9356560256706892 + ], + [ + 0.8296002880063554, + 0.3496879877076874, + 0.43529492690901067, + 0.349396601202254, + -0.9332202750044063, + 0.08379697720690064, + 0.4355288477335178, + 0.08257257155768512, + -0.896379603303347 + ], + [ + 0.7780145133608444, + 0.3697077558829456, + 0.5079464462321641, + 0.34931241355126397, + -0.9265827684530081, + 0.1393743554064009, + 0.5221822045405982, + 0.06899672779165222, + -0.8500383502026043 + ], + [ + 0.7223645325095396, + 0.4154650327164819, + 0.5527913609691876, + 0.3674250413824787, + -0.9078165877712225, + 0.2021580617548987, + 0.5858227728053577, + 0.057077574907368436, + -0.808426761868591 + ], + [ + 0.7156885939027757, + 0.41666920485199144, + 0.560514594177063, + 0.38076141301824284, + -0.9055673767696667, + 0.1869985895317295, + 0.5855002842986666, + 0.07958957129243965, + -0.8067557977651395 + ], + [ + 0.7173261097447772, + 0.4272027942582741, + 0.5504007856610909, + 0.4021186293624194, + -0.8989649833676083, + 0.17367373606439326, + 0.5689849384633241, + 0.09674570407412428, + -0.8166372564027977 + ], + [ + 0.7204238119461159, + 0.4131756607112828, + 0.5570237019883642, + 0.4027983271803129, + -0.9030930684122445, + 0.14891748522755283, + 0.5645733245573763, + 0.11708451298763524, + -0.817036215853789 + ], + [ + 0.7333091696986634, + 0.37768910267211564, + 0.5653393700765841, + 0.37474396875162275, + -0.918329543027672, + 0.12742765903393954, + 0.5672958835741184, + 0.11841364839121894, + -0.8149561879969629 + ], + [ + 0.7487035059538669, + 0.3467459569615984, + 0.5649869923309498, + 0.34756335444768816, + -0.9310815016584476, + 0.11084652414271019, + 0.5644845213267218, + 0.11337759302540813, + -0.817620172563218 + ], + [ + 0.7634636672916326, + 0.3479497326813426, + 0.5441086401194102, + 0.33940324107523084, + -0.9329100649411399, + 0.12035053252539912, + 0.549480362409104, + 0.09278897703122205, + -0.8303382064365455 + ], + [ + 0.7880802773722109, + 0.33985814195314373, + 0.513250348041865, + 0.3186931775566724, + -0.9385982631787188, + 0.13216640623366974, + 0.5266537144991669, + 0.059411646215611257, + -0.8480012507645143 + ], + [ + 0.7956542504869573, + 0.3304221454936001, + 0.5076962866216815, + 0.2949469817081202, + -0.9433874041306414, + 0.15174479796329035, + 0.5290941236333174, + 0.029007093874709095, + -0.8480672124552604 + ], + [ + 0.8885766354081449, + 0.2716878586609059, + 0.36961773559042377, + 0.26438378686913316, + -0.9617736528971279, + 0.07136283229841586, + 0.37487701482950053, + 0.03430959121246814, + -0.926439461434667 + ], + [ + 0.9457566601275463, + 0.21285104325483373, + 0.2454358841117527, + 0.21740600007439786, + -0.9760423740934586, + 0.008712927502043864, + 0.2414103787247759, + 0.045118924625193166, + -0.9693736697912867 + ], + [ + 0.9723264028879166, + 0.161176421298473, + 0.16912577409863389, + 0.16321676795133264, + -0.9865884762607748, + 0.001861496431232998, + 0.16715756909744123, + 0.025794180096676757, + -0.9855927188076089 + ], + [ + 0.9746506656110835, + 0.1272393813395793, + 0.18402776926375308, + 0.12132768603989433, + -0.9916771340629503, + 0.04308194954848505, + 0.18797785141892875, + -0.01966218739139932, + -0.981976438496825 + ], + [ + 0.9641416714191419, + 0.1884380857195535, + 0.18687408938494784, + 0.17502100239054924, + -0.9807997445533319, + 0.0860204034303857, + 0.19949557928763897, + -0.050228965094546274, + -0.9786105276923093 + ], + [ + 0.9558581858828888, + 0.21829677395854322, + 0.19667650332453396, + 0.19771316089506794, + -0.9730019720400861, + 0.11906581547608254, + 0.2173583089958921, + -0.0749245012355521, + -0.9732120450472497 + ], + [ + 0.9441122914012247, + 0.2694861878633309, + 0.1898135289593941, + 0.24542579850928778, + -0.9591111119328194, + 0.14096826732662007, + 0.22004126579168667, + -0.08650473696787055, + -0.9716474524388524 + ], + [ + 0.9398688143650726, + 0.2842311294185125, + 0.18936545844865524, + 0.25763832256822494, + -0.9540156629440678, + 0.15322078710678222, + 0.22420773075035536, + -0.09521964044706016, + -0.9698784014220074 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005917.json b/json/chunk-0005/episode_0005917.json new file mode 100644 index 0000000000000000000000000000000000000000..f9c86691eec597755a9721e7ec5db3424088e460 --- /dev/null +++ b/json/chunk-0005/episode_0005917.json @@ -0,0 +1,2002 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 32, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the grey tin to the right side of the blue cloth." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005917.mp4", + "start": 0, + "end": 32, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.37865349650382996, + 0.11432524025440216, + 0.06588177382946014, + 0.24677486717700958, + -0.337634801864624, + 0.18696987628936768, + 0.0, + 1.0001531839370728 + ], + [ + 0.3718052804470062, + 0.11188200116157532, + 0.05050625279545784, + 0.24624277651309967, + -0.2883078157901764, + 0.17520049214363098, + 0.0, + 1.0001531839370728 + ], + [ + 0.3462330400943756, + 0.10057702660560608, + 0.039089079946279526, + 0.2657770812511444, + -0.17560139298439026, + -0.030427778139710426, + 0.0, + 1.0001531839370728 + ], + [ + 0.32166600227355957, + 0.0888531282544136, + 0.05668840557336807, + 0.24334974586963654, + -0.12289439141750336, + -0.2249535173177719, + 0.0, + 1.0001531839370728 + ], + [ + 0.2942200303077698, + 0.07715339213609695, + 0.054433465003967285, + 0.1757095456123352, + -0.017088070511817932, + -0.45352354645729065, + 0.0, + 1.0001531839370728 + ], + [ + 0.26008549332618713, + 0.061834972351789474, + 0.050926048308610916, + 0.11561647057533264, + 0.04555528238415718, + -0.6571308374404907, + 0.0, + 1.0001531839370728 + ], + [ + 0.2302999347448349, + 0.047440074384212494, + 0.04666091129183769, + 0.10165783762931824, + 0.030263088643550873, + -0.7795317769050598, + 0.0, + 1.0001531839370728 + ], + [ + 0.19996660947799683, + 0.02939385548233986, + 0.04044957831501961, + 0.11680064350366592, + 0.005514024291187525, + -0.8769540786743164, + 0.0, + 1.0001531839370728 + ], + [ + 0.1870507299900055, + 0.011420409195125103, + 0.03825485706329346, + 0.12455899268388748, + -0.01752077415585518, + -0.9282301068305969, + 0.0, + 1.0001531839370728 + ], + [ + 0.17877544462680817, + -0.009504513815045357, + 0.0346016027033329, + 0.12046033143997192, + -0.01626422628760338, + -0.9380753636360168, + 0.0, + 1.0001531839370728 + ], + [ + 0.1759299337863922, + -0.0299084335565567, + 0.028107743710279465, + 0.11121605336666107, + -0.007612817920744419, + -0.9220235347747803, + 0.0, + 1.0001531839370728 + ], + [ + 0.1720075160264969, + -0.04457303509116173, + 0.02397013083100319, + 0.09258890151977539, + -0.008648481220006943, + -0.9412660598754883, + 0.0, + 1.0001531839370728 + ], + [ + 0.1701519787311554, + -0.059093259274959564, + 0.019885415211319923, + 0.09525278210639954, + -0.017577271908521652, + -0.9276086091995239, + 0.0, + 1.0001531839370728 + ], + [ + 0.1730974316596985, + -0.07094918191432953, + 0.020274896174669266, + 0.10779847949743271, + -0.03623969107866287, + -0.829788863658905, + 0.0, + 1.0001531839370728 + ], + [ + 0.17595136165618896, + -0.0808628723025322, + 0.02362111769616604, + 0.10590453445911407, + -0.07186874002218246, + -0.7155075669288635, + 0.0, + 1.0001531839370728 + ], + [ + 0.18068933486938477, + -0.06966844946146011, + 0.025013523176312447, + 0.022542456164956093, + -0.10997644811868668, + -0.6299297213554382, + 0.0, + 1.0001531839370728 + ], + [ + 0.17753306031227112, + -0.06932990998029709, + 0.024954376742243767, + 0.005597294773906469, + -0.09228499978780746, + -0.6131319403648376, + 0.0, + 1.0001531839370728 + ], + [ + 0.18248777091503143, + -0.0989566221833229, + 0.024507449939846992, + 0.05436066538095474, + -0.054282303899526596, + -0.6389695405960083, + 0.0, + 1.0001531839370728 + ], + [ + 0.18269440531730652, + -0.10575252771377563, + 0.01952839456498623, + 0.07180839031934738, + -0.05232687294483185, + -0.6573898792266846, + 0.0, + 1.0001531839370728 + ], + [ + 0.18198877573013306, + -0.11304865032434464, + 0.0143886748701334, + 0.061134111136198044, + -0.05985775962471962, + -0.6604050993919373, + 0.0, + 1.0001531839370728 + ], + [ + 0.19334293901920319, + -0.11561108380556107, + 0.01317191869020462, + 0.06026161462068558, + -0.12671703100204468, + -0.627353847026825, + 0.0, + 1.0001531839370728 + ], + [ + 0.20163793861865997, + -0.12148377299308777, + 0.016768258064985275, + 0.04819365590810776, + -0.17727048695087433, + -0.5477808713912964, + 0.0, + 1.0001531839370728 + ], + [ + 0.21027468144893646, + -0.12609462440013885, + 0.020319821313023567, + 0.04787348955869675, + -0.20209060609340668, + -0.4909663200378418, + 0.0, + 1.0001531839370728 + ], + [ + 0.21853822469711304, + -0.1321205496788025, + 0.022072020918130875, + 0.036518387496471405, + -0.19955775141716003, + -0.4355761706829071, + 0.0, + 1.0001531839370728 + ], + [ + 0.22214703261852264, + -0.13607892394065857, + 0.02518155612051487, + 0.039983246475458145, + -0.2157129943370819, + -0.4070538580417633, + 0.0, + 1.0001531839370728 + ], + [ + 0.22514085471630096, + -0.14006635546684265, + 0.024466244503855705, + 0.0274804700165987, + -0.2115025371313095, + -0.3926408886909485, + 0.0, + 1.0001531839370728 + ], + [ + 0.22322294116020203, + -0.1349579095840454, + 0.023304659873247147, + 0.022601570934057236, + -0.19806352257728577, + -0.40186160802841187, + 0.0, + 1.0001531839370728 + ], + [ + 0.22756819427013397, + -0.12179191410541534, + 0.03585311025381088, + 0.012413784861564636, + -0.2053559273481369, + -0.38368722796440125, + 0.0, + 1.0001531839370728 + ], + [ + 0.23338377475738525, + -0.09601009637117386, + 0.05131179094314575, + 0.01524388138204813, + -0.23222260177135468, + -0.34219998121261597, + 0.0, + 1.0001531839370728 + ], + [ + 0.2432529181241989, + -0.06047897785902023, + 0.05770017206668854, + 0.06560111790895462, + -0.2755174934864044, + -0.2621714472770691, + 0.0, + 1.0001531839370728 + ], + [ + 0.27229446172714233, + -0.029584385454654694, + 0.06523891538381577, + 0.11780152469873428, + -0.36848604679107666, + -0.09205704182386398, + 0.0, + 1.0001531839370728 + ], + [ + 0.31315743923187256, + 0.0004018350155092776, + 0.0647980347275734, + 0.11875882744789124, + -0.3819878101348877, + 0.04143418371677399, + 0.0, + 1.0001531839370728 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.37865349650382996, + 0.11432524025440216, + 0.06588177382946014 + ], + [ + 0.3718052804470062, + 0.11188200116157532, + 0.05050625279545784 + ], + [ + 0.3462330400943756, + 0.10057702660560608, + 0.039089079946279526 + ], + [ + 0.32166600227355957, + 0.0888531282544136, + 0.05668840557336807 + ], + [ + 0.2942200303077698, + 0.07715339213609695, + 0.054433465003967285 + ], + [ + 0.26008549332618713, + 0.061834972351789474, + 0.050926048308610916 + ], + [ + 0.2302999347448349, + 0.047440074384212494, + 0.04666091129183769 + ], + [ + 0.19996660947799683, + 0.02939385548233986, + 0.04044957831501961 + ], + [ + 0.1870507299900055, + 0.011420409195125103, + 0.03825485706329346 + ], + [ + 0.17877544462680817, + -0.009504513815045357, + 0.0346016027033329 + ], + [ + 0.1759299337863922, + -0.0299084335565567, + 0.028107743710279465 + ], + [ + 0.1720075160264969, + -0.04457303509116173, + 0.02397013083100319 + ], + [ + 0.1701519787311554, + -0.059093259274959564, + 0.019885415211319923 + ], + [ + 0.1730974316596985, + -0.07094918191432953, + 0.020274896174669266 + ], + [ + 0.17595136165618896, + -0.0808628723025322, + 0.02362111769616604 + ], + [ + 0.18068933486938477, + -0.06966844946146011, + 0.025013523176312447 + ], + [ + 0.17753306031227112, + -0.06932990998029709, + 0.024954376742243767 + ], + [ + 0.18248777091503143, + -0.0989566221833229, + 0.024507449939846992 + ], + [ + 0.18269440531730652, + -0.10575252771377563, + 0.01952839456498623 + ], + [ + 0.18198877573013306, + -0.11304865032434464, + 0.0143886748701334 + ], + [ + 0.19334293901920319, + -0.11561108380556107, + 0.01317191869020462 + ], + [ + 0.20163793861865997, + -0.12148377299308777, + 0.016768258064985275 + ], + [ + 0.21027468144893646, + -0.12609462440013885, + 0.020319821313023567 + ], + [ + 0.21853822469711304, + -0.1321205496788025, + 0.022072020918130875 + ], + [ + 0.22214703261852264, + -0.13607892394065857, + 0.02518155612051487 + ], + [ + 0.22514085471630096, + -0.14006635546684265, + 0.024466244503855705 + ], + [ + 0.22322294116020203, + -0.1349579095840454, + 0.023304659873247147 + ], + [ + 0.22756819427013397, + -0.12179191410541534, + 0.03585311025381088 + ], + [ + 0.23338377475738525, + -0.09601009637117386, + 0.05131179094314575 + ], + [ + 0.2432529181241989, + -0.06047897785902023, + 0.05770017206668854 + ], + [ + 0.27229446172714233, + -0.029584385454654694, + 0.06523891538381577 + ], + [ + 0.31315743923187256, + 0.0004018350155092776, + 0.0647980347275734 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9270967542891781, + 0.2597595114211311, + 0.27021584781934266, + 0.17538766274619133, + -0.9377639177719743, + 0.29972988219626273, + 0.33125635985275687, + -0.2304860749616179, + -0.9149564980401461 + ], + [ + 0.9440498314501468, + 0.23729551670327784, + 0.22904312583326736, + 0.1671113436625373, + -0.9429075992473456, + 0.2880955711233838, + 0.2843302913132031, + -0.2337008708458993, + -0.9298065327838999 + ], + [ + 0.9841658827676277, + 0.01651050584278383, + 0.17647922935300772, + -0.0299552263831337, + -0.9658380611590004, + 0.25740925396915765, + 0.17470031370478792, + -0.25861988093230287, + -0.950050292130901 + ], + [ + 0.9674524853726915, + -0.18769551847240123, + 0.16972354253779431, + -0.22137872077071202, + -0.952671788103892, + 0.20834568903832887, + 0.12258527862726866, + -0.23913773540850766, + -0.9632164829193722 + ], + [ + 0.898777656093624, + -0.4287045028710744, + 0.091712453488697, + -0.43807162790310983, + -0.8863768685611647, + 0.14976413357684545, + 0.017087238898393996, + -0.1747812807418713, + -0.9844590038031348 + ], + [ + 0.7909267004327633, + -0.6109289763834028, + 0.034651700646144715, + -0.6102139837738473, + -0.7832532604932704, + 0.11896732296522647, + -0.045539527329489876, + -0.1152393845080282, + -0.9922933214069406 + ], + [ + 0.710917079146006, + -0.701501391423824, + 0.049926990786053234, + -0.7026246021928304, + -0.7054122635144502, + 0.09333920332200603, + -0.030258469423923524, + -0.10143636583523145, + -0.9943817620583468 + ], + [ + 0.6394860731913985, + -0.7639673794641649, + 0.08608951915826951, + -0.7687829069630153, + -0.6346446180570531, + 0.0787340506560743, + -0.005513996349404596, + -0.11653347967804825, + -0.9931714574827374 + ], + [ + 0.5991598507716279, + -0.7930539397159911, + 0.10987684890032998, + -0.8004377096981056, + -0.5963516711894877, + 0.0605322819886769, + 0.01751987775562705, + -0.12421808632582666, + -0.9921002574906317 + ], + [ + 0.591262976847643, + -0.7994219815650286, + 0.10645462695396157, + -0.8063148209453977, + -0.5886320366602746, + 0.05804080410339442, + 0.01626350924785696, + -0.1201533220839965, + -0.9926221221890658 + ], + [ + 0.6041914814933442, + -0.7913924867165362, + 0.09300852466035188, + -0.7968027985730025, + -0.6011493564552888, + 0.061030741594899435, + 0.007612744387484591, + -0.11098370692137424, + -0.993793068460875 + ], + [ + 0.5887431171401476, + -0.8043711814580153, + 0.07980316071396344, + -0.8082739310762755, + -0.5868896030940269, + 0.04747468928428362, + 0.008648373408115445, + -0.09245321097707615, + -0.9956794712242599 + ], + [ + 0.5996566105553807, + -0.7955580682103559, + 0.08659855381378495, + -0.8000643853759749, + -0.5983681719806367, + 0.04304079475932611, + 0.017576366808753414, + -0.09509411583246143, + -0.9953131067477441 + ], + [ + 0.6745883330671543, + -0.730874884458628, + 0.1036941857447439, + -0.7373044422162497, + -0.6739892649149654, + 0.046050301492713205, + 0.03623175924328406, + -0.10751917990280586, + -0.9935425937397777 + ], + [ + 0.7528120007256317, + -0.6465962694802675, + 0.12323699062243015, + -0.6543071621616922, + -0.7555110704595754, + 0.03294176614785033, + 0.07180688760407747, + -0.10543380248870846, + -0.9918303706710072 + ], + [ + 0.8031871102994225, + -0.5869391893984099, + 0.10194534710912892, + -0.5855291023433629, + -0.8093209697299796, + -0.046424543770521895, + 0.10975489127068072, + -0.022404372422876254, + -0.9937061476807407 + ], + [ + 0.8143696673887532, + -0.5750008652024138, + 0.07858784800213964, + -0.5729831352303941, + -0.8181338164968014, + -0.048449819875063416, + 0.09215406436332357, + -0.005573447842575251, + -0.9957291625238596 + ], + [ + 0.8015283868794556, + -0.5931213276030398, + 0.07589028771078406, + -0.595490192582274, + -0.8032830190716294, + 0.011305830774202993, + 0.05425565007208259, + -0.054253866346798005, + -0.9970520760831301 + ], + [ + 0.7905063682414596, + -0.6065075434962931, + 0.08513683956895557, + -0.610216419225328, + -0.791842846406424, + 0.024916426364772044, + 0.05230299683112469, + -0.071648491101101, + -0.99605767415618 + ], + [ + 0.7883294089906319, + -0.6094044353743201, + 0.08463437284334803, + -0.6123381979508126, + -0.7905105100465311, + 0.011621739814874812, + 0.059822021453912286, + -0.06098661863129608, + -0.9963442969662085 + ], + [ + 0.8030925118016816, + -0.5797771551823033, + 0.13748042703156318, + -0.5822980099312128, + -0.8125818797934239, + -0.025292612785841103, + 0.12637818292021277, + -0.059742271132764105, + -0.9901815065540682 + ], + [ + 0.8403040123670906, + -0.5129370646803473, + 0.17545579066214242, + -0.5126325568470296, + -0.8571154576798716, + -0.050605867907794914, + 0.17634349565619165, + -0.0474200367285122, + -0.983185797118948 + ], + [ + 0.863930664620384, + -0.4624673222506077, + 0.1993684593383166, + -0.46188327543695806, + -0.8853960236950752, + -0.05232323667909823, + 0.20071782830682616, + -0.046881308378738676, + -0.9785266967868016 + ], + [ + 0.888634477465964, + -0.41508968568840304, + 0.19501107223410682, + -0.4135593089306446, + -0.9090764194734199, + -0.05048526076187731, + 0.19823587832579895, + -0.03578570095009744, + -0.9795008525529263 + ], + [ + 0.8970089116315484, + -0.3877324163851832, + 0.21222296232427842, + -0.38673013690135705, + -0.9209446065300805, + -0.04796699819055934, + 0.21404395264954992, + -0.03904619043213364, + -0.9760433296462279 + ], + [ + 0.9033141197608752, + -0.37715592594711456, + 0.20439424787309834, + -0.3741033754100459, + -0.9257600627640289, + -0.054908748828863034, + 0.2099291917467534, + -0.026864729928208285, + -0.9773474411581784 + ], + [ + 0.9023414173266145, + -0.3869397363721647, + 0.18988840668465237, + -0.38348547247257525, + -0.9218387450148451, + -0.05614463992173243, + 0.1967710826810737, + -0.022157811392259967, + -0.9801990473443764 + ], + [ + 0.9078068595636761, + -0.37196604483304185, + 0.19372136490433575, + -0.36647663636797423, + -0.9281667817963553, + -0.06481743720799166, + 0.2039156215829255, + -0.012152640086001233, + -0.9789130362873857 + ], + [ + 0.9167323814582168, + -0.3322166364883871, + 0.22188701455085086, + -0.3265529765510678, + -0.943086451674724, + -0.06285776143974703, + 0.230141031308162, + -0.014834119721818674, + -0.9730442202698161 + ], + [ + 0.9294027656889366, + -0.24139665140813493, + 0.2791740600748851, + -0.2494033774145289, + -0.9683740801587165, + -0.007042457737638022, + 0.2720449493447401, + -0.06308167377059468, + -0.9602146884787374 + ], + [ + 0.9289237177038472, + -0.04913477018763439, + 0.3669965954145505, + -0.08575635388102772, + -0.9927561908327007, + 0.084148638327533, + 0.36020351810649326, + -0.10963995586443095, + -0.9264083903018963 + ], + [ + 0.927129068458936, + 0.08525789960355429, + 0.36491475850348415, + 0.0384368346809895, + -0.9902747999445732, + 0.13371024767923287, + 0.3727657443464624, + -0.10994048912900914, + -0.9213895965832815 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0068482160568237305, + -0.0024432390928268433, + -0.015375521034002304, + -0.0005320906639099121, + 0.04932698607444763, + -0.011769384145736694, + 1.0 + ], + [ + -0.025572240352630615, + -0.011304974555969238, + -0.011417172849178314, + 0.01953430473804474, + 0.11270642280578613, + -0.20562827587127686, + 1.0 + ], + [ + -0.02456703782081604, + -0.011723898351192474, + 0.017599325627088547, + -0.022427335381507874, + 0.0527070015668869, + -0.19452573359012604, + 1.0 + ], + [ + -0.027445971965789795, + -0.01169973611831665, + -0.0022549405694007874, + -0.06764020025730133, + 0.10580632090568542, + -0.22857002913951874, + 1.0 + ], + [ + -0.03413453698158264, + -0.01531841978430748, + -0.003507416695356369, + -0.060093075037002563, + 0.06264334917068481, + -0.20360729098320007, + 1.0 + ], + [ + -0.029785558581352234, + -0.01439489796757698, + -0.004265137016773224, + -0.013958632946014404, + -0.015292193740606308, + -0.12240093946456909, + 1.0 + ], + [ + -0.030333325266838074, + -0.018046218901872635, + -0.006211332976818085, + 0.015142805874347687, + -0.024749064818024635, + -0.09742230176925659, + 1.0 + ], + [ + -0.012915879487991333, + -0.01797344535589218, + -0.0021947212517261505, + 0.007758349180221558, + -0.023034797981381416, + -0.05127602815628052, + 1.0 + ], + [ + -0.008275285363197327, + -0.020924922078847885, + -0.003653254359960556, + -0.004098661243915558, + 0.0012565478682518005, + -0.009845256805419922, + 1.0 + ], + [ + -0.0028455108404159546, + -0.020403919741511345, + -0.006493858993053436, + -0.009244278073310852, + 0.00865140836685896, + 0.016051828861236572, + 1.0 + ], + [ + -0.003922417759895325, + -0.014664601534605026, + -0.004137612879276276, + -0.01862715184688568, + -0.0010356632992625237, + -0.019242525100708008, + 1.0 + ], + [ + -0.0018555372953414917, + -0.014520224183797836, + -0.004084715619683266, + 0.0026638805866241455, + -0.00892879068851471, + 0.013657450675964355, + 1.0 + ], + [ + 0.002945452928543091, + -0.011855922639369965, + 0.00038948096334934235, + 0.012545697391033173, + -0.01866241917014122, + 0.0978197455406189, + 1.0 + ], + [ + 0.0028539299964904785, + -0.009913690388202667, + 0.0033462215214967728, + -0.001893945038318634, + -0.03562904894351959, + 0.1142812967300415, + 1.0 + ], + [ + 0.004737973213195801, + 0.011194422841072083, + 0.001392405480146408, + -0.08336208015680313, + -0.03810770809650421, + 0.08557784557342529, + 1.0 + ], + [ + -0.0031562745571136475, + 0.0003385394811630249, + -5.914643406867981e-05, + -0.016945160925388336, + 0.01769144833087921, + 0.016797780990600586, + 1.0 + ], + [ + 0.004954710602760315, + -0.029626712203025818, + -0.0004469268023967743, + 0.048763372004032135, + 0.03800269588828087, + -0.025837600231170654, + 1.0 + ], + [ + 0.00020663440227508545, + -0.006795905530452728, + -0.0049790553748607635, + 0.01744772493839264, + 0.001955430954694748, + -0.01842033863067627, + 1.0 + ], + [ + -0.0007056295871734619, + -0.007296122610569, + -0.005139719694852829, + -0.010674279183149338, + -0.007530886679887772, + -0.0030152201652526855, + 1.0 + ], + [ + 0.01135416328907013, + -0.0025624334812164307, + -0.0012167561799287796, + -0.0008724965155124664, + -0.06685927510261536, + 0.033051252365112305, + 1.0 + ], + [ + 0.008294999599456787, + -0.005872689187526703, + 0.003596339374780655, + -0.01206795871257782, + -0.05055345594882965, + 0.07957297563552856, + 1.0 + ], + [ + 0.00863674283027649, + -0.004610851407051086, + 0.003551563248038292, + -0.00032016634941101074, + -0.02482011914253235, + 0.05681455135345459, + 1.0 + ], + [ + 0.008263543248176575, + -0.006025925278663635, + 0.0017521996051073074, + -0.011355102062225342, + 0.002532854676246643, + 0.05539014935493469, + 1.0 + ], + [ + 0.003608807921409607, + -0.003958374261856079, + 0.003109535202383995, + 0.00346485897898674, + -0.016155242919921875, + 0.0285223126411438, + 1.0 + ], + [ + 0.0029938220977783203, + -0.003987431526184082, + -0.0007153116166591644, + -0.012502776458859444, + 0.0042104572057724, + 0.01441296935081482, + 1.0 + ], + [ + -0.001917913556098938, + 0.005108445882797241, + -0.0011615846306085587, + -0.004878899082541466, + 0.013439014554023743, + -0.009220719337463379, + 1.0 + ], + [ + 0.004345253109931946, + 0.013165995478630066, + 0.012548450380563736, + -0.0101877860724926, + -0.007292404770851135, + 0.01817438006401062, + 1.0 + ], + [ + 0.005815580487251282, + 0.025781817734241486, + 0.01545868068933487, + 0.002830096520483494, + -0.026866674423217773, + 0.04148724675178528, + 1.0 + ], + [ + 0.00986914336681366, + 0.035531118512153625, + 0.006388381123542786, + 0.050357237458229065, + -0.043294891715049744, + 0.08002853393554688, + 1.0 + ], + [ + 0.02904154360294342, + 0.03089459240436554, + 0.007538743317127228, + 0.05220040678977966, + -0.09296855330467224, + 0.1701143980026245, + 1.0 + ], + [ + 0.040862977504730225, + 0.029986221343278885, + -0.0004408806562423706, + 0.0009573027491569519, + -0.013501763343811035, + 0.13349121809005737, + 1.0 + ], + [ + 0.030737996101379395, + 0.022381771355867386, + 0.001455932855606079, + -0.009423263370990753, + -0.023478180170059204, + 0.07697901129722595, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3718052804470062, + 0.11188200116157532, + 0.05050625279545784 + ], + [ + 0.3462330400943756, + 0.10057702660560608, + 0.039089079946279526 + ], + [ + 0.32166600227355957, + 0.0888531282544136, + 0.05668840557336807 + ], + [ + 0.2942200303077698, + 0.07715339213609695, + 0.054433465003967285 + ], + [ + 0.26008549332618713, + 0.061834972351789474, + 0.050926048308610916 + ], + [ + 0.2302999347448349, + 0.047440074384212494, + 0.04666091129183769 + ], + [ + 0.19996660947799683, + 0.02939385548233986, + 0.04044957831501961 + ], + [ + 0.1870507299900055, + 0.011420409195125103, + 0.03825485706329346 + ], + [ + 0.17877544462680817, + -0.009504513815045357, + 0.0346016027033329 + ], + [ + 0.1759299337863922, + -0.0299084335565567, + 0.028107743710279465 + ], + [ + 0.1720075160264969, + -0.04457303509116173, + 0.02397013083100319 + ], + [ + 0.1701519787311554, + -0.059093259274959564, + 0.019885415211319923 + ], + [ + 0.1730974316596985, + -0.07094918191432953, + 0.020274896174669266 + ], + [ + 0.17595136165618896, + -0.0808628723025322, + 0.02362111769616604 + ], + [ + 0.18068933486938477, + -0.06966844946146011, + 0.025013523176312447 + ], + [ + 0.17753306031227112, + -0.06932990998029709, + 0.024954376742243767 + ], + [ + 0.18248777091503143, + -0.0989566221833229, + 0.024507449939846992 + ], + [ + 0.18269440531730652, + -0.10575252771377563, + 0.01952839456498623 + ], + [ + 0.18198877573013306, + -0.11304865032434464, + 0.0143886748701334 + ], + [ + 0.19334293901920319, + -0.11561108380556107, + 0.01317191869020462 + ], + [ + 0.20163793861865997, + -0.12148377299308777, + 0.016768258064985275 + ], + [ + 0.21027468144893646, + -0.12609462440013885, + 0.020319821313023567 + ], + [ + 0.21853822469711304, + -0.1321205496788025, + 0.022072020918130875 + ], + [ + 0.22214703261852264, + -0.13607892394065857, + 0.02518155612051487 + ], + [ + 0.22514085471630096, + -0.14006635546684265, + 0.024466244503855705 + ], + [ + 0.22322294116020203, + -0.1349579095840454, + 0.023304659873247147 + ], + [ + 0.22756819427013397, + -0.12179191410541534, + 0.03585311025381088 + ], + [ + 0.23338377475738525, + -0.09601009637117386, + 0.05131179094314575 + ], + [ + 0.2432529181241989, + -0.06047897785902023, + 0.05770017206668854 + ], + [ + 0.27229446172714233, + -0.029584385454654694, + 0.06523891538381577 + ], + [ + 0.31315743923187256, + 0.0004018350155092776, + 0.0647980347275734 + ], + [ + 0.34389543533325195, + 0.022783607244491577, + 0.06625396758317947 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9440498314501468, + 0.23729551670327784, + 0.22904312583326736, + 0.1671113436625373, + -0.9429075992473456, + 0.2880955711233838, + 0.2843302913132031, + -0.2337008708458993, + -0.9298065327838999 + ], + [ + 0.9841658827676277, + 0.01651050584278383, + 0.17647922935300772, + -0.0299552263831337, + -0.9658380611590004, + 0.25740925396915765, + 0.17470031370478792, + -0.25861988093230287, + -0.950050292130901 + ], + [ + 0.9674524853726915, + -0.18769551847240123, + 0.16972354253779431, + -0.22137872077071202, + -0.952671788103892, + 0.20834568903832887, + 0.12258527862726866, + -0.23913773540850766, + -0.9632164829193722 + ], + [ + 0.898777656093624, + -0.4287045028710744, + 0.091712453488697, + -0.43807162790310983, + -0.8863768685611647, + 0.14976413357684545, + 0.017087238898393996, + -0.1747812807418713, + -0.9844590038031348 + ], + [ + 0.7909267004327633, + -0.6109289763834028, + 0.034651700646144715, + -0.6102139837738473, + -0.7832532604932704, + 0.11896732296522647, + -0.045539527329489876, + -0.1152393845080282, + -0.9922933214069406 + ], + [ + 0.710917079146006, + -0.701501391423824, + 0.049926990786053234, + -0.7026246021928304, + -0.7054122635144502, + 0.09333920332200603, + -0.030258469423923524, + -0.10143636583523145, + -0.9943817620583468 + ], + [ + 0.6394860731913985, + -0.7639673794641649, + 0.08608951915826951, + -0.7687829069630153, + -0.6346446180570531, + 0.0787340506560743, + -0.005513996349404596, + -0.11653347967804825, + -0.9931714574827374 + ], + [ + 0.5991598507716279, + -0.7930539397159911, + 0.10987684890032998, + -0.8004377096981056, + -0.5963516711894877, + 0.0605322819886769, + 0.01751987775562705, + -0.12421808632582666, + -0.9921002574906317 + ], + [ + 0.591262976847643, + -0.7994219815650286, + 0.10645462695396157, + -0.8063148209453977, + -0.5886320366602746, + 0.05804080410339442, + 0.01626350924785696, + -0.1201533220839965, + -0.9926221221890658 + ], + [ + 0.6041914814933442, + -0.7913924867165362, + 0.09300852466035188, + -0.7968027985730025, + -0.6011493564552888, + 0.061030741594899435, + 0.007612744387484591, + -0.11098370692137424, + -0.993793068460875 + ], + [ + 0.5887431171401476, + -0.8043711814580153, + 0.07980316071396344, + -0.8082739310762755, + -0.5868896030940269, + 0.04747468928428362, + 0.008648373408115445, + -0.09245321097707615, + -0.9956794712242599 + ], + [ + 0.5996566105553807, + -0.7955580682103559, + 0.08659855381378495, + -0.8000643853759749, + -0.5983681719806367, + 0.04304079475932611, + 0.017576366808753414, + -0.09509411583246143, + -0.9953131067477441 + ], + [ + 0.6745883330671543, + -0.730874884458628, + 0.1036941857447439, + -0.7373044422162497, + -0.6739892649149654, + 0.046050301492713205, + 0.03623175924328406, + -0.10751917990280586, + -0.9935425937397777 + ], + [ + 0.7528120007256317, + -0.6465962694802675, + 0.12323699062243015, + -0.6543071621616922, + -0.7555110704595754, + 0.03294176614785033, + 0.07180688760407747, + -0.10543380248870846, + -0.9918303706710072 + ], + [ + 0.8031871102994225, + -0.5869391893984099, + 0.10194534710912892, + -0.5855291023433629, + -0.8093209697299796, + -0.046424543770521895, + 0.10975489127068072, + -0.022404372422876254, + -0.9937061476807407 + ], + [ + 0.8143696673887532, + -0.5750008652024138, + 0.07858784800213964, + -0.5729831352303941, + -0.8181338164968014, + -0.048449819875063416, + 0.09215406436332357, + -0.005573447842575251, + -0.9957291625238596 + ], + [ + 0.8015283868794556, + -0.5931213276030398, + 0.07589028771078406, + -0.595490192582274, + -0.8032830190716294, + 0.011305830774202993, + 0.05425565007208259, + -0.054253866346798005, + -0.9970520760831301 + ], + [ + 0.7905063682414596, + -0.6065075434962931, + 0.08513683956895557, + -0.610216419225328, + -0.791842846406424, + 0.024916426364772044, + 0.05230299683112469, + -0.071648491101101, + -0.99605767415618 + ], + [ + 0.7883294089906319, + -0.6094044353743201, + 0.08463437284334803, + -0.6123381979508126, + -0.7905105100465311, + 0.011621739814874812, + 0.059822021453912286, + -0.06098661863129608, + -0.9963442969662085 + ], + [ + 0.8030925118016816, + -0.5797771551823033, + 0.13748042703156318, + -0.5822980099312128, + -0.8125818797934239, + -0.025292612785841103, + 0.12637818292021277, + -0.059742271132764105, + -0.9901815065540682 + ], + [ + 0.8403040123670906, + -0.5129370646803473, + 0.17545579066214242, + -0.5126325568470296, + -0.8571154576798716, + -0.050605867907794914, + 0.17634349565619165, + -0.0474200367285122, + -0.983185797118948 + ], + [ + 0.863930664620384, + -0.4624673222506077, + 0.1993684593383166, + -0.46188327543695806, + -0.8853960236950752, + -0.05232323667909823, + 0.20071782830682616, + -0.046881308378738676, + -0.9785266967868016 + ], + [ + 0.888634477465964, + -0.41508968568840304, + 0.19501107223410682, + -0.4135593089306446, + -0.9090764194734199, + -0.05048526076187731, + 0.19823587832579895, + -0.03578570095009744, + -0.9795008525529263 + ], + [ + 0.8970089116315484, + -0.3877324163851832, + 0.21222296232427842, + -0.38673013690135705, + -0.9209446065300805, + -0.04796699819055934, + 0.21404395264954992, + -0.03904619043213364, + -0.9760433296462279 + ], + [ + 0.9033141197608752, + -0.37715592594711456, + 0.20439424787309834, + -0.3741033754100459, + -0.9257600627640289, + -0.054908748828863034, + 0.2099291917467534, + -0.026864729928208285, + -0.9773474411581784 + ], + [ + 0.9023414173266145, + -0.3869397363721647, + 0.18988840668465237, + -0.38348547247257525, + -0.9218387450148451, + -0.05614463992173243, + 0.1967710826810737, + -0.022157811392259967, + -0.9801990473443764 + ], + [ + 0.9078068595636761, + -0.37196604483304185, + 0.19372136490433575, + -0.36647663636797423, + -0.9281667817963553, + -0.06481743720799166, + 0.2039156215829255, + -0.012152640086001233, + -0.9789130362873857 + ], + [ + 0.9167323814582168, + -0.3322166364883871, + 0.22188701455085086, + -0.3265529765510678, + -0.943086451674724, + -0.06285776143974703, + 0.230141031308162, + -0.014834119721818674, + -0.9730442202698161 + ], + [ + 0.9294027656889366, + -0.24139665140813493, + 0.2791740600748851, + -0.2494033774145289, + -0.9683740801587165, + -0.007042457737638022, + 0.2720449493447401, + -0.06308167377059468, + -0.9602146884787374 + ], + [ + 0.9289237177038472, + -0.04913477018763439, + 0.3669965954145505, + -0.08575635388102772, + -0.9927561908327007, + 0.084148638327533, + 0.36020351810649326, + -0.10963995586443095, + -0.9264083903018963 + ], + [ + 0.927129068458936, + 0.08525789960355429, + 0.36491475850348415, + 0.0384368346809895, + -0.9902747999445732, + 0.13371024767923287, + 0.3727657443464624, + -0.10994048912900914, + -0.9213895965832815 + ], + [ + 0.9124838186288866, + 0.16017105771935408, + 0.3764551938936537, + 0.10855798792094268, + -0.9819832338757621, + 0.15467414666147863, + 0.39444701038162466, + -0.10027043759734709, + -0.9134316588256808 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005918.json b/json/chunk-0005/episode_0005918.json new file mode 100644 index 0000000000000000000000000000000000000000..3808305a89d2ca89ddd008c5a65318958eded662 --- /dev/null +++ b/json/chunk-0005/episode_0005918.json @@ -0,0 +1,2302 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 37, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nFold the cloth from top right to bottom left." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005918.mp4", + "start": 0, + "end": 37, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.44151678681373596, + -0.03325724974274635, + 0.09566543251276016, + -0.2520015239715576, + -0.7065679430961609, + 0.2687172591686249, + 0.0, + 1.0001531839370728 + ], + [ + 0.4396404027938843, + -0.03262080252170563, + 0.0795784741640091, + -0.23196236789226532, + -0.6677474975585938, + 0.25846067070961, + 0.0, + 1.0001531839370728 + ], + [ + 0.44477859139442444, + -0.04543694108724594, + 0.07501998543739319, + -0.18541528284549713, + -0.6215345859527588, + 0.2700834274291992, + 0.0, + 1.0008161067962646 + ], + [ + 0.45618799328804016, + -0.065574049949646, + 0.08326471596956253, + -0.07821136713027954, + -0.6215618848800659, + 0.23194335401058197, + 0.0, + 1.0008161067962646 + ], + [ + 0.468437522649765, + -0.08009237051010132, + 0.09126719832420349, + 0.02328754961490631, + -0.6252843737602234, + 0.20034357905387878, + 0.0, + 1.0001531839370728 + ], + [ + 0.4795224070549011, + -0.09162597358226776, + 0.0916159525513649, + 0.09831376373767853, + -0.6159034967422485, + 0.17734234035015106, + 0.0, + 1.0001531839370728 + ], + [ + 0.4920475482940674, + -0.09759888052940369, + 0.08712626248598099, + 0.12061833590269089, + -0.6075878739356995, + 0.19803784787654877, + 0.0, + 1.0001531839370728 + ], + [ + 0.5007869005203247, + -0.10019300878047943, + 0.07436902076005936, + 0.13268230855464935, + -0.5943025946617126, + 0.21149010956287384, + 0.0, + 1.0008161067962646 + ], + [ + 0.5052080750465393, + -0.10844011604785919, + 0.06268898397684097, + 0.15701021254062653, + -0.5935074687004089, + 0.19200623035430908, + 0.0, + 1.0008161067962646 + ], + [ + 0.5045831799507141, + -0.11667189747095108, + 0.04630852863192558, + 0.19948218762874603, + -0.5828083753585815, + 0.14317406713962555, + 0.0, + 1.0008161067962646 + ], + [ + 0.5054314136505127, + -0.11496619135141373, + 0.04632144793868065, + 0.21900460124015808, + -0.5929177403450012, + 0.13445106148719788, + 0.0, + 1.0008161067962646 + ], + [ + 0.5060696005821228, + -0.11292344331741333, + 0.038720324635505676, + 0.24016143381595612, + -0.5947733521461487, + 0.12338051199913025, + 0.0, + 1.0008161067962646 + ], + [ + 0.5039872527122498, + -0.11076941341161728, + 0.03011464513838291, + 0.2572387158870697, + -0.5922707915306091, + 0.11079828441143036, + 0.0, + 1.0008161067962646 + ], + [ + 0.49953216314315796, + -0.10650058835744858, + 0.021627526730298996, + 0.2794213593006134, + -0.5885102152824402, + 0.10807294398546219, + 0.0, + 1.0008161067962646 + ], + [ + 0.49724218249320984, + -0.10547185689210892, + 0.016588304191827774, + 0.28731149435043335, + -0.583961009979248, + 0.09765427559614182, + 0.0, + 1.0001531839370728 + ], + [ + 0.4964047372341156, + -0.10435120016336441, + 0.014550869353115559, + 0.286237508058548, + -0.5894160270690918, + 0.10809227079153061, + 0.0, + 0.9590815901756287 + ], + [ + 0.4941197633743286, + -0.1038217842578888, + 0.009021840989589691, + 0.2769169807434082, + -0.5897040367126465, + 0.1231025829911232, + 0.0, + 0.680191159248352 + ], + [ + 0.49222567677497864, + -0.10736019164323807, + 0.005757047329097986, + 0.2434631735086441, + -0.5769608020782471, + 0.1403808444738388, + 0.0, + 0.36865687370300293 + ], + [ + 0.4894322454929352, + -0.10784923285245895, + 0.007387212011963129, + 0.1936008781194687, + -0.5712380409240723, + 0.16083887219429016, + 0.0, + 0.1628633439540863 + ], + [ + 0.4918025732040405, + -0.10396520793437958, + 0.03179691359400749, + 0.07400087267160416, + -0.6184727549552917, + 0.23450160026550293, + 0.0, + 0.06926051527261734 + ], + [ + 0.487727552652359, + -0.09136556833982468, + 0.06392960250377655, + -0.08397126197814941, + -0.6698682904243469, + 0.331134170293808, + 0.0, + 0.05511022359132767 + ], + [ + 0.4751642942428589, + -0.0777738094329834, + 0.06670008599758148, + -0.19095264375209808, + -0.6627170443534851, + 0.39308005571365356, + 0.0, + 0.054840996861457825 + ], + [ + 0.4589182138442993, + -0.06252289563417435, + 0.06721533834934235, + -0.2562004327774048, + -0.650829017162323, + 0.4371725022792816, + 0.0, + 0.054840996861457825 + ], + [ + 0.4385824203491211, + -0.044514670968055725, + 0.056529633700847626, + -0.22160527110099792, + -0.6116703748703003, + 0.42414161562919617, + 0.0, + 0.054840996861457825 + ], + [ + 0.41918888688087463, + -0.013322313316166401, + 0.06644170731306076, + -0.18320591747760773, + -0.5848547220230103, + 0.4390130639076233, + 0.0, + 0.054840996861457825 + ], + [ + 0.40519484877586365, + 0.008324899710714817, + 0.07795184850692749, + -0.1381576657295227, + -0.5613393783569336, + 0.45560193061828613, + 0.0, + 0.054840996861457825 + ], + [ + 0.39220115542411804, + 0.033186499029397964, + 0.09232896566390991, + -0.09860027581453323, + -0.5481376647949219, + 0.47361430525779724, + 0.0, + 0.054840996861457825 + ], + [ + 0.37681177258491516, + 0.05046509951353073, + 0.08929896354675293, + 0.0008724692743271589, + -0.48556241393089294, + 0.4506623446941376, + 0.0, + 0.054840996861457825 + ], + [ + 0.3652834892272949, + 0.06607896834611893, + 0.08113297075033188, + 0.10195682942867279, + -0.4753221273422241, + 0.416948139667511, + 0.0, + 0.054840996861457825 + ], + [ + 0.3524172008037567, + 0.0801476389169693, + 0.07814785093069077, + 0.2100665420293808, + -0.4550175070762634, + 0.4155348837375641, + 0.0, + 0.054840996861457825 + ], + [ + 0.34362706542015076, + 0.09400176256895065, + 0.08236171305179596, + 0.30578017234802246, + -0.4541761577129364, + 0.4326085150241852, + 0.0, + 0.054840996861457825 + ], + [ + 0.3363048732280731, + 0.10144810378551483, + 0.08347513526678085, + 0.38292965292930603, + -0.45145779848098755, + 0.4278089702129364, + 0.0, + 0.054840996861457825 + ], + [ + 0.33074644207954407, + 0.1066194698214531, + 0.08872787654399872, + 0.47000476717948914, + -0.44574740529060364, + 0.40027451515197754, + 0.0, + 0.07494325935840607 + ], + [ + 0.32493677735328674, + 0.10688195377588272, + 0.08436308056116104, + 0.5171679854393005, + -0.3469303846359253, + 0.35676127672195435, + 0.0, + 0.228750541806221 + ], + [ + 0.32549089193344116, + 0.10608009248971939, + 0.08423091471195221, + 0.5507607460021973, + -0.33546164631843567, + 0.34618136286735535, + 0.0, + 0.4918208718299866 + ], + [ + 0.3306450843811035, + 0.10783594101667404, + 0.08877947926521301, + 0.5799517631530762, + -0.3396903872489929, + 0.33704674243927, + 0.0, + 0.7988975048065186 + ], + [ + 0.3356057107448578, + 0.1026194840669632, + 0.09925386309623718, + 0.6358576416969299, + -0.3680081069469452, + 0.304482638835907, + 0.0, + 0.9994885921478271 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 0.9590815901756287 + ], + [ + 0.680191159248352 + ], + [ + 0.36865687370300293 + ], + [ + 0.1628633439540863 + ], + [ + 0.06926051527261734 + ], + [ + 0.05511022359132767 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.07494325935840607 + ], + [ + 0.228750541806221 + ], + [ + 0.4918208718299866 + ], + [ + 0.7988975048065186 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.44151678681373596, + -0.03325724974274635, + 0.09566543251276016 + ], + [ + 0.4396404027938843, + -0.03262080252170563, + 0.0795784741640091 + ], + [ + 0.44477859139442444, + -0.04543694108724594, + 0.07501998543739319 + ], + [ + 0.45618799328804016, + -0.065574049949646, + 0.08326471596956253 + ], + [ + 0.468437522649765, + -0.08009237051010132, + 0.09126719832420349 + ], + [ + 0.4795224070549011, + -0.09162597358226776, + 0.0916159525513649 + ], + [ + 0.4920475482940674, + -0.09759888052940369, + 0.08712626248598099 + ], + [ + 0.5007869005203247, + -0.10019300878047943, + 0.07436902076005936 + ], + [ + 0.5052080750465393, + -0.10844011604785919, + 0.06268898397684097 + ], + [ + 0.5045831799507141, + -0.11667189747095108, + 0.04630852863192558 + ], + [ + 0.5054314136505127, + -0.11496619135141373, + 0.04632144793868065 + ], + [ + 0.5060696005821228, + -0.11292344331741333, + 0.038720324635505676 + ], + [ + 0.5039872527122498, + -0.11076941341161728, + 0.03011464513838291 + ], + [ + 0.49953216314315796, + -0.10650058835744858, + 0.021627526730298996 + ], + [ + 0.49724218249320984, + -0.10547185689210892, + 0.016588304191827774 + ], + [ + 0.4964047372341156, + -0.10435120016336441, + 0.014550869353115559 + ], + [ + 0.4941197633743286, + -0.1038217842578888, + 0.009021840989589691 + ], + [ + 0.49222567677497864, + -0.10736019164323807, + 0.005757047329097986 + ], + [ + 0.4894322454929352, + -0.10784923285245895, + 0.007387212011963129 + ], + [ + 0.4918025732040405, + -0.10396520793437958, + 0.03179691359400749 + ], + [ + 0.487727552652359, + -0.09136556833982468, + 0.06392960250377655 + ], + [ + 0.4751642942428589, + -0.0777738094329834, + 0.06670008599758148 + ], + [ + 0.4589182138442993, + -0.06252289563417435, + 0.06721533834934235 + ], + [ + 0.4385824203491211, + -0.044514670968055725, + 0.056529633700847626 + ], + [ + 0.41918888688087463, + -0.013322313316166401, + 0.06644170731306076 + ], + [ + 0.40519484877586365, + 0.008324899710714817, + 0.07795184850692749 + ], + [ + 0.39220115542411804, + 0.033186499029397964, + 0.09232896566390991 + ], + [ + 0.37681177258491516, + 0.05046509951353073, + 0.08929896354675293 + ], + [ + 0.3652834892272949, + 0.06607896834611893, + 0.08113297075033188 + ], + [ + 0.3524172008037567, + 0.0801476389169693, + 0.07814785093069077 + ], + [ + 0.34362706542015076, + 0.09400176256895065, + 0.08236171305179596 + ], + [ + 0.3363048732280731, + 0.10144810378551483, + 0.08347513526678085 + ], + [ + 0.33074644207954407, + 0.1066194698214531, + 0.08872787654399872 + ], + [ + 0.32493677735328674, + 0.10688195377588272, + 0.08436308056116104 + ], + [ + 0.32549089193344116, + 0.10608009248971939, + 0.08423091471195221 + ], + [ + 0.3306450843811035, + 0.10783594101667404, + 0.08877947926521301 + ], + [ + 0.3356057107448578, + 0.1026194840669632, + 0.09925386309623718 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.7332985097768225, + 0.1010387791522721, + 0.6723573905792289, + 0.20193400772812642, + -0.9766394007580073, + -0.07347201787005517, + 0.6492271960430712, + 0.18964874371969645, + -0.736571382775351 + ], + [ + 0.7591370760720982, + 0.11112455532399344, + 0.6413752668576722, + 0.20069606844716747, + -0.9772751439528162, + -0.06822302486589349, + 0.6192188529450273, + 0.1805121220750761, + -0.764188056659745 + ], + [ + 0.7835140077990872, + 0.158783392124696, + 0.600744233403856, + 0.21691425117084512, + -0.975871142732481, + -0.02497439530785127, + 0.5822834423385257, + 0.1498777740940141, + -0.7990510907388965 + ], + [ + 0.791199851091365, + 0.1848883959044917, + 0.5829400283844525, + 0.18687681020243324, + -0.9807046738733548, + 0.05740557857491657, + 0.5823056357631841, + 0.06351868782351469, + -0.8104847456032799 + ], + [ + 0.7945793567257861, + 0.21230909400243045, + 0.5688308135721054, + 0.16135344822219908, + -0.9770201651946551, + 0.13927189791847927, + 0.5853278659110996, + -0.01887976183314652, + -0.8105768587747133 + ], + [ + 0.8034497538910065, + 0.2313770315691676, + 0.5485737527759794, + 0.14399843261536288, + -0.9695594477125863, + 0.1980376952895162, + 0.5776962388459871, + -0.08011957696783534, + -0.8123102295365332 + ], + [ + 0.8049800768409315, + 0.2626665989831832, + 0.531989975157216, + 0.16153379475165253, + -0.9598159167237967, + 0.2294781888476295, + 0.5708887010988207, + -0.09879101063490014, + -0.8150622228857354 + ], + [ + 0.8100786837880315, + 0.2804966993540671, + 0.5148729238595915, + 0.17392449712589597, + -0.9535760065696098, + 0.245851721560496, + 0.5599310630530823, + -0.10961022464272903, + -0.8212568436743866 + ], + [ + 0.8137502134949558, + 0.27432532200811555, + 0.5124023885015154, + 0.15819391873016334, + -0.9528604385315027, + 0.2589047484275773, + 0.5592720930939685, + -0.12962485250404854, + -0.818786982981285 + ], + [ + 0.8263774668442053, + 0.2478024424524248, + 0.5056621716193206, + 0.1191309519072348, + -0.9545786882071925, + 0.2731068368208895, + 0.5503708736750434, + -0.1654493201413912, + -0.8183632591184192 + ], + [ + 0.8218293229605342, + 0.2511490762492135, + 0.5113909516420847, + 0.11116648896021368, + -0.9510315745050127, + 0.2884110885988528, + 0.5587831204094205, + -0.18017515309743284, + -0.8095049960017714 + ], + [ + 0.8219791931761216, + 0.25180012805036417, + 0.5108296208124117, + 0.10193397790096037, + -0.9475138612896898, + 0.30302961375612897, + 0.5603210420239619, + -0.19701314214468632, + -0.8045036679142357 + ], + [ + 0.8245877117754903, + 0.24808672062544326, + 0.5084369033008654, + 0.09173861375985262, + -0.9454622241264099, + 0.3125463317579686, + 0.5582464799121271, + -0.211078567834953, + -0.8023756638049683 + ], + [ + 0.8269159113785491, + 0.25588852596292133, + 0.5007306040072915, + 0.089716799514416, + -0.9390932200386262, + 0.3317451129442221, + 0.5551224832357934, + -0.22940136520519652, + -0.7995086254995116 + ], + [ + 0.8303105039819215, + 0.24899213469222942, + 0.4985853826965792, + 0.08134210445327743, + -0.9392074281496641, + 0.33357588184940135, + 0.5513328658989955, + -0.2364155742964079, + -0.8000873372386917 + ], + [ + 0.8264139363218483, + 0.2595251354641756, + 0.4996866117031046, + 0.08967849737855273, + -0.9367822446482154, + 0.33822594995029, + 0.555875681210244, + -0.23470349416690084, + -0.797443726456541 + ], + [ + 0.8248158667077965, + 0.26900040086394617, + 0.49731033607004627, + 0.10205299732313702, + -0.9359547021516285, + 0.33700739050890255, + 0.5561150706143737, + -0.2272170324938085, + -0.7994425860437242 + ], + [ + 0.8298795241307598, + 0.26599628234645967, + 0.4904548431877963, + 0.11727054403830148, + -0.9425628853672138, + 0.312766409048659, + 0.5454792341872091, + -0.20204253241853504, + -0.8134071675147944 + ], + [ + 0.8303747016222052, + 0.25983412122687166, + 0.49291387112972684, + 0.13472023795860183, + -0.951993441818806, + 0.27487987234128514, + 0.5406739427697725, + -0.1618478179656521, + -0.8255161848380356 + ], + [ + 0.792464994681924, + 0.2734150332961461, + 0.545200377633257, + 0.18931734871424244, + -0.9600081077288194, + 0.2062604532399313, + 0.5797914915550146, + -0.06023829896834139, + -0.8125350291881652 + ], + [ + 0.7413172787861391, + 0.2747242019831438, + 0.6123522719953266, + 0.2548593913189839, + -0.9592725416700691, + 0.12183136482188195, + 0.6208827448316073, + 0.0657480314729669, + -0.7811413531031365 + ], + [ + 0.7282009177333079, + 0.26820608823428876, + 0.6307050956242778, + 0.3019557719116824, + -0.9516719801384456, + 0.05606383886776173, + 0.6152610301502838, + 0.14961930508270385, + -0.7739947857220877 + ], + [ + 0.720759245149469, + 0.27047353578509653, + 0.6382399054990806, + 0.3368330967905587, + -0.9413815048558697, + 0.018556056202220672, + 0.6058461648290343, + 0.2016058748033052, + -0.769613861495974 + ], + [ + 0.7461477581250342, + 0.28644369879314013, + 0.6010104245906972, + 0.3369225316482932, + -0.9410472392206429, + 0.030220873960079095, + 0.5742357797217884, + 0.17994471644622112, + -0.7986696240063215 + ], + [ + 0.7547251077610112, + 0.3268916549096783, + 0.5687986090573198, + 0.35440035329707764, + -0.9327740610456368, + 0.0658250759463074, + 0.5520782564981495, + 0.1519025904678469, + -0.8198385217292007 + ], + [ + 0.7601924183392369, + 0.36997782431577664, + 0.5340635698248913, + 0.37248134858425097, + -0.9216964916475221, + 0.10831999926840238, + 0.5323205162835639, + 0.11658467651974364, + -0.8384765239077278 + ], + [ + 0.7595483502187089, + 0.4082396412824226, + 0.5063859190041088, + 0.3892846184923242, + -0.9090001399504266, + 0.14891686061487408, + 0.5210986370019811, + 0.08401869348962243, + -0.8493509696579935 + ], + [ + 0.7961117979910919, + 0.4359282117152628, + 0.419729197614514, + 0.38521638691944043, + -0.8999811102623759, + 0.20406453983882844, + 0.466705839205085, + -0.0007716227276556298, + -0.8844122705222057 + ], + [ + 0.8129714841170048, + 0.44545575946395893, + 0.3750287087317217, + 0.36007891777920215, + -0.8907184605139227, + 0.2774234976902037, + 0.45762488894678094, + -0.09049746106988533, + -0.8845279365607123 + ], + [ + 0.821812451537084, + 0.47864873782212475, + 0.3090625831120533, + 0.3626063253071074, + -0.8577942656618082, + 0.3642878678257013, + 0.4394780396628302, + -0.18730825817087265, + -0.878507068312549 + ], + [ + 0.8158373680609854, + 0.5196974994280035, + 0.2536215644688071, + 0.3767389989541074, + -0.8103912755074448, + 0.44870224787544166, + 0.4387221393346613, + -0.2705189266385951, + -0.8569378010030373 + ], + [ + 0.8187182411202951, + 0.5331498541749692, + 0.21319398361609299, + 0.3733124342976223, + -0.776348625550242, + 0.5078588760719196, + 0.43627774187514234, + -0.3362053607536009, + -0.8346422511141329 + ], + [ + 0.8309664276749616, + 0.5272392154447757, + 0.17752071928169463, + 0.35159589082673737, + -0.7450058987659223, + 0.5668743602931194, + 0.4311323759947353, + -0.408638006677252, + -0.8044500319273886 + ], + [ + 0.8812052122730751, + 0.4610923769951568, + 0.10426501685474956, + 0.3284337815469479, + -0.7557796838043784, + 0.5665053580393798, + 0.3400126835892108, + -0.4649633205162643, + -0.817435309717505 + ], + [ + 0.888240550684811, + 0.4511975713194916, + 0.08631034558229957, + 0.3203946225510342, + -0.7431168207003795, + 0.5874731284344334, + 0.3292051183677497, + -0.4941640845180397, + -0.8046277696009029 + ], + [ + 0.8898083758162529, + 0.44894054755664925, + 0.08181344074648358, + 0.31180446034347165, + -0.7290430953728263, + 0.609322692503016, + 0.33319518729591346, + -0.5166706396232947, + -0.7886903177509517 + ], + [ + 0.8901277269088402, + 0.4450286965754297, + 0.09809224746367781, + 0.27972680428444613, + -0.7035028106464175, + 0.6533274143776626, + 0.3597576194508081, + -0.5541058153791252, + -0.7506938128225932 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0018763840198516846, + 0.0006364472210407257, + -0.016086958348751068, + 0.020039156079292297, + 0.03882044553756714, + -0.010256588459014893, + 1.0 + ], + [ + 0.005138188600540161, + -0.012816138565540314, + -0.004558488726615906, + 0.04654708504676819, + 0.04621291160583496, + 0.011622756719589233, + 1.0 + ], + [ + 0.011409401893615723, + -0.020137108862400055, + 0.008244730532169342, + 0.10720391571521759, + -2.7298927307128906e-05, + -0.03814007341861725, + 1.0 + ], + [ + 0.012249529361724854, + -0.014518320560455322, + 0.00800248235464096, + 0.10149891674518585, + -0.0037224888801574707, + -0.031599774956703186, + 1.0 + ], + [ + 0.011084884405136108, + -0.011533603072166443, + 0.00034875422716140747, + 0.07502621412277222, + 0.009380877017974854, + -0.023001238703727722, + 1.0 + ], + [ + 0.01252514123916626, + -0.005972906947135925, + -0.004489690065383911, + 0.02230457216501236, + 0.008315622806549072, + 0.020695507526397705, + 1.0 + ], + [ + 0.008739352226257324, + -0.0025941282510757446, + -0.01275724172592163, + 0.012063972651958466, + 0.013285279273986816, + 0.013452261686325073, + 1.0 + ], + [ + 0.0044211745262146, + -0.00824710726737976, + -0.011680036783218384, + 0.024327903985977173, + 0.0007951259613037109, + -0.01948387920856476, + 1.0 + ], + [ + -0.0006248950958251953, + -0.008231781423091888, + -0.01638045534491539, + 0.04247197508811951, + 0.010699093341827393, + -0.04883216321468353, + 1.0 + ], + [ + 0.000848233699798584, + 0.0017057061195373535, + 1.2919306755065918e-05, + 0.01952241361141205, + -0.010109364986419678, + -0.008723005652427673, + 1.0 + ], + [ + 0.0006381869316101074, + 0.0020427480340003967, + -0.0076011233031749725, + 0.021156832575798035, + -0.001855611801147461, + -0.011070549488067627, + 1.0 + ], + [ + -0.002082347869873047, + 0.002154029905796051, + -0.008605679497122765, + 0.017077282071113586, + 0.0025025606155395508, + -0.01258222758769989, + 1.0 + ], + [ + -0.004455089569091797, + 0.004268825054168701, + -0.008487118408083916, + 0.0221826434135437, + 0.0037605762481689453, + -0.00272534042596817, + 1.0 + ], + [ + -0.00228998064994812, + 0.0010287314653396606, + -0.005039222538471222, + 0.007890135049819946, + 0.004549205303192139, + -0.010418668389320374, + 1.0 + ], + [ + -0.0008374452590942383, + 0.0011206567287445068, + -0.0020374348387122154, + -0.001073986291885376, + -0.00545501708984375, + 0.010437995195388794, + 0.0 + ], + [ + -0.0022849738597869873, + 0.0005294159054756165, + -0.0055290283635258675, + -0.00932052731513977, + -0.0002880096435546875, + 0.01501031219959259, + 0.0 + ], + [ + -0.0018940865993499756, + -0.0035384073853492737, + -0.003264793660491705, + -0.0334538072347641, + 0.012743234634399414, + 0.017278261482715607, + 0.0 + ], + [ + -0.002793431282043457, + -0.0004890412092208862, + 0.0016301646828651428, + -0.049862295389175415, + 0.005722761154174805, + 0.020458027720451355, + 0.0 + ], + [ + 0.0023703277111053467, + 0.0038840249180793762, + 0.02440970204770565, + -0.11960000544786453, + -0.04723471403121948, + 0.07366272807121277, + 0.0 + ], + [ + -0.0040750205516815186, + 0.012599639594554901, + 0.03213268890976906, + -0.15797212719917297, + -0.051395535469055176, + 0.09663257002830505, + 0.0 + ], + [ + -0.012563258409500122, + 0.013591758906841278, + 0.0027704834938049316, + -0.10698138177394867, + 0.007151246070861816, + 0.06194588541984558, + 0.0 + ], + [ + -0.01624608039855957, + 0.015250913798809052, + 0.0005152523517608643, + -0.0652477890253067, + 0.01188802719116211, + 0.04409244656562805, + 0.0 + ], + [ + -0.020335793495178223, + 0.018008224666118622, + -0.01068570464849472, + 0.03459516167640686, + 0.039158642292022705, + -0.01303088665008545, + 0.0 + ], + [ + -0.01939353346824646, + 0.0311923585832119, + 0.009912073612213135, + 0.0383993536233902, + 0.02681565284729004, + 0.014871448278427124, + 0.0 + ], + [ + -0.013994038105010986, + 0.021647213026881218, + 0.01151014119386673, + 0.04504825174808502, + 0.02351534366607666, + 0.016588866710662842, + 0.0 + ], + [ + -0.012993693351745605, + 0.024861600250005722, + 0.014377117156982422, + 0.03955738991498947, + 0.013201713562011719, + 0.01801237463951111, + 0.0 + ], + [ + -0.01538938283920288, + 0.017278600484132767, + -0.0030300021171569824, + 0.09947274625301361, + 0.06257525086402893, + -0.022951960563659668, + 0.0 + ], + [ + -0.01152828335762024, + 0.015613868832588196, + -0.008165992796421051, + 0.10108435899019241, + 0.010240286588668823, + -0.03371420502662659, + 0.0 + ], + [ + -0.012866288423538208, + 0.014068670570850372, + -0.0029851198196411133, + 0.10810971260070801, + 0.020304620265960693, + -0.0014132559299468994, + 0.0 + ], + [ + -0.008790135383605957, + 0.013854123651981354, + 0.004213862121105194, + 0.09571363031864166, + 0.0008413493633270264, + 0.017073631286621094, + 0.0 + ], + [ + -0.007322192192077637, + 0.0074463412165641785, + 0.0011134222149848938, + 0.07714948058128357, + 0.0027183592319488525, + -0.004799544811248779, + 0.0 + ], + [ + -0.005558431148529053, + 0.005171366035938263, + 0.005252741277217865, + 0.0870751142501831, + 0.005710393190383911, + -0.027534455060958862, + 1.0 + ], + [ + -0.005809664726257324, + 0.00026248395442962646, + -0.004364795982837677, + 0.0471632182598114, + 0.09881702065467834, + -0.04351323843002319, + 1.0 + ], + [ + 0.0005541145801544189, + -0.0008018612861633301, + -0.0001321658492088318, + 0.03359276056289673, + 0.011468738317489624, + -0.010579913854598999, + 1.0 + ], + [ + 0.0051541924476623535, + 0.0017558485269546509, + 0.004548564553260803, + 0.029191017150878906, + -0.004228740930557251, + -0.009134620428085327, + 1.0 + ], + [ + 0.0049606263637542725, + -0.005216456949710846, + 0.01047438383102417, + 0.05590587854385376, + -0.02831771969795227, + -0.03256410360336304, + 1.0 + ], + [ + 0.01626652479171753, + -0.025919824838638306, + 0.03356018662452698, + -0.039307236671447754, + -0.1447373926639557, + -0.08725754916667938, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 0.9590815901756287 + ], + [ + 0.680191159248352 + ], + [ + 0.36865687370300293 + ], + [ + 0.1628633439540863 + ], + [ + 0.06926051527261734 + ], + [ + 0.05511022359132767 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.07494325935840607 + ], + [ + 0.228750541806221 + ], + [ + 0.4918208718299866 + ], + [ + 0.7988975048065186 + ], + [ + 0.9994885921478271 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.4396404027938843, + -0.03262080252170563, + 0.0795784741640091 + ], + [ + 0.44477859139442444, + -0.04543694108724594, + 0.07501998543739319 + ], + [ + 0.45618799328804016, + -0.065574049949646, + 0.08326471596956253 + ], + [ + 0.468437522649765, + -0.08009237051010132, + 0.09126719832420349 + ], + [ + 0.4795224070549011, + -0.09162597358226776, + 0.0916159525513649 + ], + [ + 0.4920475482940674, + -0.09759888052940369, + 0.08712626248598099 + ], + [ + 0.5007869005203247, + -0.10019300878047943, + 0.07436902076005936 + ], + [ + 0.5052080750465393, + -0.10844011604785919, + 0.06268898397684097 + ], + [ + 0.5045831799507141, + -0.11667189747095108, + 0.04630852863192558 + ], + [ + 0.5054314136505127, + -0.11496619135141373, + 0.04632144793868065 + ], + [ + 0.5060696005821228, + -0.11292344331741333, + 0.038720324635505676 + ], + [ + 0.5039872527122498, + -0.11076941341161728, + 0.03011464513838291 + ], + [ + 0.49953216314315796, + -0.10650058835744858, + 0.021627526730298996 + ], + [ + 0.49724218249320984, + -0.10547185689210892, + 0.016588304191827774 + ], + [ + 0.4964047372341156, + -0.10435120016336441, + 0.014550869353115559 + ], + [ + 0.4941197633743286, + -0.1038217842578888, + 0.009021840989589691 + ], + [ + 0.49222567677497864, + -0.10736019164323807, + 0.005757047329097986 + ], + [ + 0.4894322454929352, + -0.10784923285245895, + 0.007387212011963129 + ], + [ + 0.4918025732040405, + -0.10396520793437958, + 0.03179691359400749 + ], + [ + 0.487727552652359, + -0.09136556833982468, + 0.06392960250377655 + ], + [ + 0.4751642942428589, + -0.0777738094329834, + 0.06670008599758148 + ], + [ + 0.4589182138442993, + -0.06252289563417435, + 0.06721533834934235 + ], + [ + 0.4385824203491211, + -0.044514670968055725, + 0.056529633700847626 + ], + [ + 0.41918888688087463, + -0.013322313316166401, + 0.06644170731306076 + ], + [ + 0.40519484877586365, + 0.008324899710714817, + 0.07795184850692749 + ], + [ + 0.39220115542411804, + 0.033186499029397964, + 0.09232896566390991 + ], + [ + 0.37681177258491516, + 0.05046509951353073, + 0.08929896354675293 + ], + [ + 0.3652834892272949, + 0.06607896834611893, + 0.08113297075033188 + ], + [ + 0.3524172008037567, + 0.0801476389169693, + 0.07814785093069077 + ], + [ + 0.34362706542015076, + 0.09400176256895065, + 0.08236171305179596 + ], + [ + 0.3363048732280731, + 0.10144810378551483, + 0.08347513526678085 + ], + [ + 0.33074644207954407, + 0.1066194698214531, + 0.08872787654399872 + ], + [ + 0.32493677735328674, + 0.10688195377588272, + 0.08436308056116104 + ], + [ + 0.32549089193344116, + 0.10608009248971939, + 0.08423091471195221 + ], + [ + 0.3306450843811035, + 0.10783594101667404, + 0.08877947926521301 + ], + [ + 0.3356057107448578, + 0.1026194840669632, + 0.09925386309623718 + ], + [ + 0.3518722355365753, + 0.07669965922832489, + 0.13281404972076416 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.7591370760720982, + 0.11112455532399344, + 0.6413752668576722, + 0.20069606844716747, + -0.9772751439528162, + -0.06822302486589349, + 0.6192188529450273, + 0.1805121220750761, + -0.764188056659745 + ], + [ + 0.7835140077990872, + 0.158783392124696, + 0.600744233403856, + 0.21691425117084512, + -0.975871142732481, + -0.02497439530785127, + 0.5822834423385257, + 0.1498777740940141, + -0.7990510907388965 + ], + [ + 0.791199851091365, + 0.1848883959044917, + 0.5829400283844525, + 0.18687681020243324, + -0.9807046738733548, + 0.05740557857491657, + 0.5823056357631841, + 0.06351868782351469, + -0.8104847456032799 + ], + [ + 0.7945793567257861, + 0.21230909400243045, + 0.5688308135721054, + 0.16135344822219908, + -0.9770201651946551, + 0.13927189791847927, + 0.5853278659110996, + -0.01887976183314652, + -0.8105768587747133 + ], + [ + 0.8034497538910065, + 0.2313770315691676, + 0.5485737527759794, + 0.14399843261536288, + -0.9695594477125863, + 0.1980376952895162, + 0.5776962388459871, + -0.08011957696783534, + -0.8123102295365332 + ], + [ + 0.8049800768409315, + 0.2626665989831832, + 0.531989975157216, + 0.16153379475165253, + -0.9598159167237967, + 0.2294781888476295, + 0.5708887010988207, + -0.09879101063490014, + -0.8150622228857354 + ], + [ + 0.8100786837880315, + 0.2804966993540671, + 0.5148729238595915, + 0.17392449712589597, + -0.9535760065696098, + 0.245851721560496, + 0.5599310630530823, + -0.10961022464272903, + -0.8212568436743866 + ], + [ + 0.8137502134949558, + 0.27432532200811555, + 0.5124023885015154, + 0.15819391873016334, + -0.9528604385315027, + 0.2589047484275773, + 0.5592720930939685, + -0.12962485250404854, + -0.818786982981285 + ], + [ + 0.8263774668442053, + 0.2478024424524248, + 0.5056621716193206, + 0.1191309519072348, + -0.9545786882071925, + 0.2731068368208895, + 0.5503708736750434, + -0.1654493201413912, + -0.8183632591184192 + ], + [ + 0.8218293229605342, + 0.2511490762492135, + 0.5113909516420847, + 0.11116648896021368, + -0.9510315745050127, + 0.2884110885988528, + 0.5587831204094205, + -0.18017515309743284, + -0.8095049960017714 + ], + [ + 0.8219791931761216, + 0.25180012805036417, + 0.5108296208124117, + 0.10193397790096037, + -0.9475138612896898, + 0.30302961375612897, + 0.5603210420239619, + -0.19701314214468632, + -0.8045036679142357 + ], + [ + 0.8245877117754903, + 0.24808672062544326, + 0.5084369033008654, + 0.09173861375985262, + -0.9454622241264099, + 0.3125463317579686, + 0.5582464799121271, + -0.211078567834953, + -0.8023756638049683 + ], + [ + 0.8269159113785491, + 0.25588852596292133, + 0.5007306040072915, + 0.089716799514416, + -0.9390932200386262, + 0.3317451129442221, + 0.5551224832357934, + -0.22940136520519652, + -0.7995086254995116 + ], + [ + 0.8303105039819215, + 0.24899213469222942, + 0.4985853826965792, + 0.08134210445327743, + -0.9392074281496641, + 0.33357588184940135, + 0.5513328658989955, + -0.2364155742964079, + -0.8000873372386917 + ], + [ + 0.8264139363218483, + 0.2595251354641756, + 0.4996866117031046, + 0.08967849737855273, + -0.9367822446482154, + 0.33822594995029, + 0.555875681210244, + -0.23470349416690084, + -0.797443726456541 + ], + [ + 0.8248158667077965, + 0.26900040086394617, + 0.49731033607004627, + 0.10205299732313702, + -0.9359547021516285, + 0.33700739050890255, + 0.5561150706143737, + -0.2272170324938085, + -0.7994425860437242 + ], + [ + 0.8298795241307598, + 0.26599628234645967, + 0.4904548431877963, + 0.11727054403830148, + -0.9425628853672138, + 0.312766409048659, + 0.5454792341872091, + -0.20204253241853504, + -0.8134071675147944 + ], + [ + 0.8303747016222052, + 0.25983412122687166, + 0.49291387112972684, + 0.13472023795860183, + -0.951993441818806, + 0.27487987234128514, + 0.5406739427697725, + -0.1618478179656521, + -0.8255161848380356 + ], + [ + 0.792464994681924, + 0.2734150332961461, + 0.545200377633257, + 0.18931734871424244, + -0.9600081077288194, + 0.2062604532399313, + 0.5797914915550146, + -0.06023829896834139, + -0.8125350291881652 + ], + [ + 0.7413172787861391, + 0.2747242019831438, + 0.6123522719953266, + 0.2548593913189839, + -0.9592725416700691, + 0.12183136482188195, + 0.6208827448316073, + 0.0657480314729669, + -0.7811413531031365 + ], + [ + 0.7282009177333079, + 0.26820608823428876, + 0.6307050956242778, + 0.3019557719116824, + -0.9516719801384456, + 0.05606383886776173, + 0.6152610301502838, + 0.14961930508270385, + -0.7739947857220877 + ], + [ + 0.720759245149469, + 0.27047353578509653, + 0.6382399054990806, + 0.3368330967905587, + -0.9413815048558697, + 0.018556056202220672, + 0.6058461648290343, + 0.2016058748033052, + -0.769613861495974 + ], + [ + 0.7461477581250342, + 0.28644369879314013, + 0.6010104245906972, + 0.3369225316482932, + -0.9410472392206429, + 0.030220873960079095, + 0.5742357797217884, + 0.17994471644622112, + -0.7986696240063215 + ], + [ + 0.7547251077610112, + 0.3268916549096783, + 0.5687986090573198, + 0.35440035329707764, + -0.9327740610456368, + 0.0658250759463074, + 0.5520782564981495, + 0.1519025904678469, + -0.8198385217292007 + ], + [ + 0.7601924183392369, + 0.36997782431577664, + 0.5340635698248913, + 0.37248134858425097, + -0.9216964916475221, + 0.10831999926840238, + 0.5323205162835639, + 0.11658467651974364, + -0.8384765239077278 + ], + [ + 0.7595483502187089, + 0.4082396412824226, + 0.5063859190041088, + 0.3892846184923242, + -0.9090001399504266, + 0.14891686061487408, + 0.5210986370019811, + 0.08401869348962243, + -0.8493509696579935 + ], + [ + 0.7961117979910919, + 0.4359282117152628, + 0.419729197614514, + 0.38521638691944043, + -0.8999811102623759, + 0.20406453983882844, + 0.466705839205085, + -0.0007716227276556298, + -0.8844122705222057 + ], + [ + 0.8129714841170048, + 0.44545575946395893, + 0.3750287087317217, + 0.36007891777920215, + -0.8907184605139227, + 0.2774234976902037, + 0.45762488894678094, + -0.09049746106988533, + -0.8845279365607123 + ], + [ + 0.821812451537084, + 0.47864873782212475, + 0.3090625831120533, + 0.3626063253071074, + -0.8577942656618082, + 0.3642878678257013, + 0.4394780396628302, + -0.18730825817087265, + -0.878507068312549 + ], + [ + 0.8158373680609854, + 0.5196974994280035, + 0.2536215644688071, + 0.3767389989541074, + -0.8103912755074448, + 0.44870224787544166, + 0.4387221393346613, + -0.2705189266385951, + -0.8569378010030373 + ], + [ + 0.8187182411202951, + 0.5331498541749692, + 0.21319398361609299, + 0.3733124342976223, + -0.776348625550242, + 0.5078588760719196, + 0.43627774187514234, + -0.3362053607536009, + -0.8346422511141329 + ], + [ + 0.8309664276749616, + 0.5272392154447757, + 0.17752071928169463, + 0.35159589082673737, + -0.7450058987659223, + 0.5668743602931194, + 0.4311323759947353, + -0.408638006677252, + -0.8044500319273886 + ], + [ + 0.8812052122730751, + 0.4610923769951568, + 0.10426501685474956, + 0.3284337815469479, + -0.7557796838043784, + 0.5665053580393798, + 0.3400126835892108, + -0.4649633205162643, + -0.817435309717505 + ], + [ + 0.888240550684811, + 0.4511975713194916, + 0.08631034558229957, + 0.3203946225510342, + -0.7431168207003795, + 0.5874731284344334, + 0.3292051183677497, + -0.4941640845180397, + -0.8046277696009029 + ], + [ + 0.8898083758162529, + 0.44894054755664925, + 0.08181344074648358, + 0.31180446034347165, + -0.7290430953728263, + 0.609322692503016, + 0.33319518729591346, + -0.5166706396232947, + -0.7886903177509517 + ], + [ + 0.8901277269088402, + 0.4450286965754297, + 0.09809224746367781, + 0.27972680428444613, + -0.7035028106464175, + 0.6533274143776626, + 0.3597576194508081, + -0.5541058153791252, + -0.7506938128225932 + ], + [ + 0.8509223619971596, + 0.44741808223242624, + 0.27522389711766077, + 0.18780498926073147, + -0.7484394864214503, + 0.6360563034621796, + 0.4905715236965466, + -0.48954611106274104, + -0.7208912437263995 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005920.json b/json/chunk-0005/episode_0005920.json new file mode 100644 index 0000000000000000000000000000000000000000..890e474c90d4a566d3cf98e14825782c0fca3375 --- /dev/null +++ b/json/chunk-0005/episode_0005920.json @@ -0,0 +1,2422 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 39, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut the silver pot on top of the purple cloth." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005920.mp4", + "start": 0, + "end": 39, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2622239589691162, + -0.06577716022729874, + 0.09186062216758728, + 0.058317631483078, + -0.13480545580387115, + -0.410848468542099, + 0.0, + 1.0008161067962646 + ], + [ + 0.26061660051345825, + -0.06492520123720169, + 0.08457279205322266, + 0.056551139801740646, + -0.10735196620225906, + -0.4075285792350769, + 0.0, + 1.0008161067962646 + ], + [ + 0.2743972837924957, + -0.06999927759170532, + 0.07751982659101486, + 0.04839437082409859, + -0.09486187994480133, + -0.3961929976940155, + 0.0, + 1.0008161067962646 + ], + [ + 0.29519250988960266, + -0.07643759995698929, + 0.07874000817537308, + 0.04712703078985214, + -0.1158493235707283, + -0.3754478394985199, + 0.0, + 1.0008161067962646 + ], + [ + 0.3224678337574005, + -0.08542776852846146, + 0.07763504236936569, + 0.036947399377822876, + -0.13275346159934998, + -0.3504810035228729, + 0.0, + 1.0008161067962646 + ], + [ + 0.3502396047115326, + -0.09163597226142883, + 0.0729578360915184, + 0.030517226085066795, + -0.14119763672351837, + -0.32809922099113464, + 0.0, + 1.0008161067962646 + ], + [ + 0.37638840079307556, + -0.08948033303022385, + 0.0693935826420784, + 0.027013210579752922, + -0.15582437813282013, + -0.27535828948020935, + 0.0, + 1.0008161067962646 + ], + [ + 0.388581782579422, + -0.07964080572128296, + 0.06040633097290993, + 0.04687177762389183, + -0.1342974752187729, + -0.24776092171669006, + 0.0, + 1.0008161067962646 + ], + [ + 0.39493733644485474, + -0.06526919454336166, + 0.05277734622359276, + 0.04623280465602875, + -0.11145088076591492, + -0.20551234483718872, + 0.0, + 0.9974852800369263 + ], + [ + 0.3953426778316498, + -0.05806700512766838, + 0.045809417963027954, + 0.048747699707746506, + -0.09443750232458115, + -0.1917095184326172, + 0.0, + 0.9430103898048401 + ], + [ + 0.39536112546920776, + -0.057656850665807724, + 0.043111030012369156, + 0.055349256843328476, + -0.09124643355607986, + -0.19587482511997223, + 0.0, + 0.6470694541931152 + ], + [ + 0.3933833837509155, + -0.056912511587142944, + 0.035950470715761185, + 0.057491302490234375, + -0.07276056706905365, + -0.19749721884727478, + 0.0, + 0.3380139172077179 + ], + [ + 0.3918793797492981, + -0.05643395707011223, + 0.03310072422027588, + 0.06236010789871216, + -0.06366697698831558, + -0.1975807547569275, + 0.0, + 0.14137907326221466 + ], + [ + 0.3908810615539551, + -0.058469049632549286, + 0.0322219580411911, + 0.07233485579490662, + -0.05809233710169792, + -0.22141434252262115, + 0.0, + 0.08055824041366577 + ], + [ + 0.39027637243270874, + -0.05981230363249779, + 0.03243658319115639, + 0.06376633793115616, + -0.05436665564775467, + -0.23246446251869202, + 0.0, + 0.07888144999742508 + ], + [ + 0.3888355791568756, + -0.0639737993478775, + 0.03611287102103233, + 0.036646768450737, + -0.054904866963624954, + -0.23868565261363983, + 0.0, + 0.07888144999742508 + ], + [ + 0.39056310057640076, + -0.07131091505289078, + 0.07683533430099487, + 0.00652871560305357, + -0.1534157246351242, + -0.2640934884548187, + 0.0, + 0.07559127360582352 + ], + [ + 0.3733459413051605, + -0.07688672840595245, + 0.10791225731372833, + -0.014142299070954323, + -0.2067646086215973, + -0.2891645133495331, + 0.0, + 0.06803370267152786 + ], + [ + 0.3530259430408478, + -0.07476503401994705, + 0.13341107964515686, + -0.01567661575973034, + -0.24812400341033936, + -0.31114229559898376, + 0.0, + 0.06803370267152786 + ], + [ + 0.32463937997817993, + -0.058174386620521545, + 0.1512185037136078, + -0.011237232014536858, + -0.27335280179977417, + -0.29694664478302, + 0.0, + 0.06803370267152786 + ], + [ + 0.29696398973464966, + -0.0317017138004303, + 0.15815117955207825, + 0.0022128119599074125, + -0.28060537576675415, + -0.26045116782188416, + 0.0, + 0.06772904843091965 + ], + [ + 0.2693633735179901, + -0.0003757188096642494, + 0.1555294692516327, + 0.00886731967329979, + -0.2563890814781189, + -0.2206476926803589, + 0.0, + 0.06772904843091965 + ], + [ + 0.248244047164917, + 0.02124936692416668, + 0.15456737577915192, + 0.023043489083647728, + -0.2469133883714676, + -0.20398367941379547, + 0.0, + 0.06772904843091965 + ], + [ + 0.2302514761686325, + 0.04299032688140869, + 0.15566135942935944, + 0.03697247803211212, + -0.23492734134197235, + -0.15803323686122894, + 0.0, + 0.06772904843091965 + ], + [ + 0.2231602966785431, + 0.06852522492408752, + 0.14768609404563904, + 0.06498520076274872, + -0.20292380452156067, + -0.1041121557354927, + 0.0, + 0.06772904843091965 + ], + [ + 0.22270101308822632, + 0.09459390491247177, + 0.1265535056591034, + 0.06581831723451614, + -0.14545617997646332, + -0.040378306061029434, + 0.0, + 0.06772904843091965 + ], + [ + 0.23057647049427032, + 0.10705923289060593, + 0.11481062322854996, + 0.07448580861091614, + -0.12789396941661835, + -0.013116045854985714, + 0.0, + 0.06772904843091965 + ], + [ + 0.23883001506328583, + 0.11525891721248627, + 0.10629157721996307, + 0.08608797192573547, + -0.11957289278507233, + 0.001856640912592411, + 0.0, + 0.06772904843091965 + ], + [ + 0.24649107456207275, + 0.1202528327703476, + 0.10052980482578278, + 0.09828943014144897, + -0.11170776188373566, + 0.011061085388064384, + 0.0, + 0.06772904843091965 + ], + [ + 0.25477105379104614, + 0.11930955201387405, + 0.09668522328138351, + 0.10566487908363342, + -0.11491352319717407, + 0.010424847714602947, + 0.0, + 0.06772904843091965 + ], + [ + 0.2610456049442291, + 0.1163691058754921, + 0.0891314148902893, + 0.11351877450942993, + -0.10372748225927353, + 0.004270617850124836, + 0.0, + 0.06772904843091965 + ], + [ + 0.26682305335998535, + 0.10896729677915573, + 0.08744136989116669, + 0.12655943632125854, + -0.10917738825082779, + -0.015824181959033012, + 0.0, + 0.06772904843091965 + ], + [ + 0.2694159746170044, + 0.10495040565729141, + 0.07828594744205475, + 0.13776089251041412, + -0.09105225652456284, + -0.03119521215558052, + 0.0, + 0.06772904843091965 + ], + [ + 0.2689990997314453, + 0.10266280174255371, + 0.07176882028579712, + 0.14773398637771606, + -0.06616774946451187, + -0.024398814886808395, + 0.0, + 0.09326785057783127 + ], + [ + 0.2636830508708954, + 0.10202235728502274, + 0.06106114014983177, + 0.13155581057071686, + -0.012495885603129864, + 0.008715874515473843, + 0.0, + 0.2624140679836273 + ], + [ + 0.2599741816520691, + 0.10089213401079178, + 0.057554956525564194, + 0.11797303706407547, + 0.023539969697594643, + 0.013954266905784607, + 0.0, + 0.5482020378112793 + ], + [ + 0.25884413719177246, + 0.09879688918590546, + 0.059096772223711014, + 0.10811266303062439, + 0.029244257137179375, + -0.0002058613463304937, + 0.0, + 0.8598465323448181 + ], + [ + 0.2595992386341095, + 0.09431298077106476, + 0.08113979548215866, + 0.12638142704963684, + -0.03550201654434204, + -0.015822667628526688, + 0.0, + 1.0118417739868164 + ], + [ + 0.2578766345977783, + 0.08974001556634903, + 0.10560749471187592, + 0.13974204659461975, + -0.10133456438779831, + -0.04075632244348526, + 0.0, + 1.0086473226547241 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9974852800369263 + ], + [ + 0.9430103898048401 + ], + [ + 0.6470694541931152 + ], + [ + 0.3380139172077179 + ], + [ + 0.14137907326221466 + ], + [ + 0.08055824041366577 + ], + [ + 0.07888144999742508 + ], + [ + 0.07888144999742508 + ], + [ + 0.07559127360582352 + ], + [ + 0.06803370267152786 + ], + [ + 0.06803370267152786 + ], + [ + 0.06803370267152786 + ], + [ + 0.06772904843091965 + ], + [ + 0.06772904843091965 + ], + [ + 0.06772904843091965 + ], + [ + 0.06772904843091965 + ], + [ + 0.06772904843091965 + ], + [ + 0.06772904843091965 + ], + [ + 0.06772904843091965 + ], + [ + 0.06772904843091965 + ], + [ + 0.06772904843091965 + ], + [ + 0.06772904843091965 + ], + [ + 0.06772904843091965 + ], + [ + 0.06772904843091965 + ], + [ + 0.06772904843091965 + ], + [ + 0.09326785057783127 + ], + [ + 0.2624140679836273 + ], + [ + 0.5482020378112793 + ], + [ + 0.8598465323448181 + ], + [ + 1.0118417739868164 + ], + [ + 1.0086473226547241 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2622239589691162, + -0.06577716022729874, + 0.09186062216758728 + ], + [ + 0.26061660051345825, + -0.06492520123720169, + 0.08457279205322266 + ], + [ + 0.2743972837924957, + -0.06999927759170532, + 0.07751982659101486 + ], + [ + 0.29519250988960266, + -0.07643759995698929, + 0.07874000817537308 + ], + [ + 0.3224678337574005, + -0.08542776852846146, + 0.07763504236936569 + ], + [ + 0.3502396047115326, + -0.09163597226142883, + 0.0729578360915184 + ], + [ + 0.37638840079307556, + -0.08948033303022385, + 0.0693935826420784 + ], + [ + 0.388581782579422, + -0.07964080572128296, + 0.06040633097290993 + ], + [ + 0.39493733644485474, + -0.06526919454336166, + 0.05277734622359276 + ], + [ + 0.3953426778316498, + -0.05806700512766838, + 0.045809417963027954 + ], + [ + 0.39536112546920776, + -0.057656850665807724, + 0.043111030012369156 + ], + [ + 0.3933833837509155, + -0.056912511587142944, + 0.035950470715761185 + ], + [ + 0.3918793797492981, + -0.05643395707011223, + 0.03310072422027588 + ], + [ + 0.3908810615539551, + -0.058469049632549286, + 0.0322219580411911 + ], + [ + 0.39027637243270874, + -0.05981230363249779, + 0.03243658319115639 + ], + [ + 0.3888355791568756, + -0.0639737993478775, + 0.03611287102103233 + ], + [ + 0.39056310057640076, + -0.07131091505289078, + 0.07683533430099487 + ], + [ + 0.3733459413051605, + -0.07688672840595245, + 0.10791225731372833 + ], + [ + 0.3530259430408478, + -0.07476503401994705, + 0.13341107964515686 + ], + [ + 0.32463937997817993, + -0.058174386620521545, + 0.1512185037136078 + ], + [ + 0.29696398973464966, + -0.0317017138004303, + 0.15815117955207825 + ], + [ + 0.2693633735179901, + -0.0003757188096642494, + 0.1555294692516327 + ], + [ + 0.248244047164917, + 0.02124936692416668, + 0.15456737577915192 + ], + [ + 0.2302514761686325, + 0.04299032688140869, + 0.15566135942935944 + ], + [ + 0.2231602966785431, + 0.06852522492408752, + 0.14768609404563904 + ], + [ + 0.22270101308822632, + 0.09459390491247177, + 0.1265535056591034 + ], + [ + 0.23057647049427032, + 0.10705923289060593, + 0.11481062322854996 + ], + [ + 0.23883001506328583, + 0.11525891721248627, + 0.10629157721996307 + ], + [ + 0.24649107456207275, + 0.1202528327703476, + 0.10052980482578278 + ], + [ + 0.25477105379104614, + 0.11930955201387405, + 0.09668522328138351 + ], + [ + 0.2610456049442291, + 0.1163691058754921, + 0.0891314148902893 + ], + [ + 0.26682305335998535, + 0.10896729677915573, + 0.08744136989116669 + ], + [ + 0.2694159746170044, + 0.10495040565729141, + 0.07828594744205475 + ], + [ + 0.2689990997314453, + 0.10266280174255371, + 0.07176882028579712 + ], + [ + 0.2636830508708954, + 0.10202235728502274, + 0.06106114014983177 + ], + [ + 0.2599741816520691, + 0.10089213401079178, + 0.057554956525564194 + ], + [ + 0.25884413719177246, + 0.09879688918590546, + 0.059096772223711014 + ], + [ + 0.2595992386341095, + 0.09431298077106476, + 0.08113979548215866 + ], + [ + 0.2578766345977783, + 0.08974001556634903, + 0.10560749471187592 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.908464774513178, + -0.39152694327978527, + 0.14628194063078556, + -0.3957638894935021, + -0.9183522858501869, + -0.000151151288116963, + 0.13439753435869248, + -0.0577557941658207, + -0.9892429282024612 + ], + [ + 0.9128179165650268, + -0.39014790771045393, + 0.12061534440956811, + -0.3940599060059743, + -0.9190357236965351, + 0.009493631978776024, + 0.10714588968526176, + -0.05619562864441409, + -0.9926539223943118 + ], + [ + 0.9183890928712929, + -0.38123006819195604, + 0.10594861585410355, + -0.38417399459164925, + -0.923225023211183, + 0.008117782714882942, + 0.09471967047313516, + -0.0481579860777747, + -0.9943384697387473 + ], + [ + 0.9241073759658787, + -0.36121597950823475, + 0.12469392059505131, + -0.3642312812517992, + -0.9313073366958193, + 0.0014894207642041947, + 0.11559036051129527, + -0.04679381117676348, + -0.9921941381566525 + ], + [ + 0.9309437618795987, + -0.33852312991832545, + 0.13691531224724712, + -0.3403285423216116, + -0.9402454505980996, + -0.010722682072275879, + 0.13236387535391836, + -0.03661397465281047, + -0.9905247202172267 + ], + [ + 0.9372355975572505, + -0.3180292511826102, + 0.14299241260896367, + -0.3190373050229977, + -0.9475995049210651, + -0.016443122483738686, + 0.14072893332632996, + -0.030208834230746384, + -0.9895871834554311 + ], + [ + 0.9506682095108364, + -0.2677586717173149, + 0.15663731721923602, + -0.2685974862281058, + -0.9631164668821467, + -0.016188317157545384, + 0.15519454184153159, + -0.026682671167443956, + -0.9875235132603005 + ], + [ + 0.9607345465769161, + -0.23888254534556644, + 0.1411533228190916, + -0.24302569600497878, + -0.9699376948775026, + 0.01262454502199328, + 0.13389414511076625, + -0.04643272105896977, + -0.9899072483420439 + ], + [ + 0.9728828942675952, + -0.1988186659699743, + 0.1181948057379293, + -0.20280266189601723, + -0.9789594526493306, + 0.022571450915101966, + 0.11122029657124989, + -0.04592959972003808, + -0.9927338603574275 + ], + [ + 0.9773056672695561, + -0.18580025565322564, + 0.1017442761142038, + -0.1896883555697714, + -0.9813892816192822, + 0.029889892673359328, + 0.09429719234443472, + -0.04851126592849295, + -0.9943614516834266 + ], + [ + 0.9767972638094852, + -0.18938221147530013, + 0.10000741668010475, + -0.1938150537915029, + -0.9803567590336077, + 0.03655612043034559, + 0.0911198679657748, + -0.05509086125525532, + -0.9943149232854017 + ], + [ + 0.9779662852142591, + -0.19179572919944907, + 0.08243993719717155, + -0.19569665498039582, + -0.9797602954718783, + 0.042102050381677504, + 0.07269638377323812, + -0.05730760575795312, + -0.995706319206916 + ], + [ + 0.9785576999948127, + -0.19202828973473732, + 0.07449807864914687, + -0.19590001984060065, + -0.9794167205980787, + 0.048642261865148445, + 0.06362397352661148, + -0.06219343497875954, + -0.9960341192139094 + ], + [ + 0.9739421171300549, + -0.2149417318981219, + 0.07236576793528311, + -0.2192392013001492, + -0.9739581341011098, + 0.05779035933058552, + 0.05805966838951139, + -0.07214987807974046, + -0.9957025007498873 + ], + [ + 0.9716638365135019, + -0.22653861387006582, + 0.06745105809171631, + -0.2300360113934299, + -0.9719216064619987, + 0.049515900017365486, + 0.05433987738359976, + -0.06362898174697727, + -0.9964931160864977 + ], + [ + 0.9701853870863735, + -0.23431338256399128, + 0.06194798976144873, + -0.23606947750575583, + -0.9714725404366984, + 0.022634154890940665, + 0.054877285594527564, + -0.03658335589975731, + -0.9978227004818485 + ], + [ + 0.9539916085799667, + -0.2600656437722922, + 0.14921753143753264, + -0.2579684118039017, + -0.9655693826779843, + -0.03358669001597428, + 0.15281462387605588, + -0.006451989163023048, + -0.988233809665233 + ], + [ + 0.9380670080032574, + -0.28790571416347216, + 0.19271893588290137, + -0.27907786752023583, + -0.9575587382829105, + -0.07208887985256983, + 0.20529450152445503, + 0.013840610176637305, + -0.9786023733640564 + ], + [ + 0.9228298096229937, + -0.30977361299158157, + 0.22896604806243906, + -0.29677050637391367, + -0.9506889046807376, + -0.09009924008286802, + 0.24558584856982327, + 0.015195894546925583, + -0.9692557329060059 + ], + [ + 0.920730512321966, + -0.29548416607961936, + 0.2548419731432838, + -0.28173789147766537, + -0.9552863654291774, + -0.08973137985583192, + 0.2699612642307216, + 0.010819779172620461, + -0.9628103905721035 + ], + [ + 0.9284809532407513, + -0.2569237571110975, + 0.26816655738750045, + -0.2474445337862644, + -0.9664293362885336, + -0.06917760230163192, + 0.27693739756205554, + -0.002126262641888761, + -0.9608856106939752 + ], + [ + 0.9438603635496654, + -0.21665894227737553, + 0.24937224555098744, + -0.21170750303808356, + -0.9762096761262608, + -0.04684657292524948, + 0.25358932800351236, + -0.008577352080317503, + -0.9672739434896491 + ], + [ + 0.9495676040423029, + -0.19700338266998146, + 0.24394883186837524, + -0.19642829859588823, + -0.9801481897333456, + -0.026934172962424514, + 0.24441212912636828, + -0.02234263590156893, + -0.9694140074069928 + ], + [ + 0.9604122676375377, + -0.14877171638228007, + 0.23553185044913305, + -0.15305332950238834, + -0.9882179250731508, + -0.00010436641990098014, + 0.2327723233109033, + -0.035948699125096115, + -0.9718666248676602 + ], + [ + 0.9741778454795257, + -0.09068816507175306, + 0.20676842624730615, + -0.10179180697533888, + -0.9938459663328684, + 0.04368779276391087, + 0.2015340006290863, + -0.0636070115616631, + -0.9774140344146025 + ], + [ + 0.9886334027902325, + -0.0307546289379368, + 0.14716707405631368, + -0.03994105121092889, + -0.9974062528889516, + 0.05987887044849383, + 0.1449438074412724, + -0.06507625908817571, + -0.9872975099672422 + ], + [ + 0.991747396419324, + -0.0035885647618353342, + 0.12815702828344028, + -0.013008550293046466, + -0.997265926993067, + 0.07274234308799815, + 0.12754559700266282, + -0.07380916651479588, + -0.989082568658262 + ], + [ + 0.9928579639949155, + 0.012106342527922566, + 0.11868656117045398, + 0.0018433828344644838, + -0.9962759585411263, + 0.08620218310858435, + 0.11928816065141126, + -0.08536773924356272, + -0.9891828363982295 + ], + [ + 0.9937063815389418, + 0.021946042940886742, + 0.10984533894535545, + 0.010991919418879746, + -0.9949916062097879, + 0.0993523088788348, + 0.11147558026882892, + -0.09751961223929932, + -0.9889707378039174 + ], + [ + 0.9933507236704627, + 0.022458944901796105, + 0.11291561263733914, + 0.010355905175295124, + -0.9942425573883975, + 0.1066512649047303, + 0.11466078235982795, + -0.10477276779620144, + -0.9878641465894766 + ], + [ + 0.994616056442023, + 0.015971695312422964, + 0.10239045471412572, + 0.004247650907829584, + -0.9935045112455524, + 0.11371342751188637, + 0.1035415748841185, + -0.11266628192845873, + -0.9882233812185043 + ], + [ + 0.9939216122427365, + -0.0019454759999711626, + 0.11007290238715994, + -0.01572930936490813, + -0.9920954643943944, + 0.12449569613032437, + 0.10896062382210703, + -0.12547033374947475, + -0.9860957244634483 + ], + [ + 0.9953730905885855, + -0.01841419862980673, + 0.09430444221217739, + -0.031060950952921062, + -0.9904335008147525, + 0.1344496105971831, + 0.09092649700735266, + -0.136756710082745, + -0.9864228172489301 + ], + [ + 0.9975147280269016, + -0.0144009443322929, + 0.06897086465859777, + -0.024343007869496502, + -0.9890502140612935, + 0.1455578648963188, + 0.06611947774507933, + -0.1468750723153782, + -0.9869427175855092 + ], + [ + 0.9998839474090043, + 0.01027951502605144, + 0.011243810947236017, + 0.008715083701481876, + -0.9913070665476412, + 0.13127965237913697, + 0.012495560406166938, + -0.13116642628180453, + -0.9912816096279585 + ], + [ + 0.9996256154782539, + 0.01108670568445431, + -0.02501427266159981, + 0.013949948107905565, + -0.9929912233835396, + 0.11736195819365146, + -0.023537795723247174, + -0.11766696749864823, + -0.9927741218082606 + ], + [ + 0.9995723960065126, + -0.003359728589178964, + -0.02904715761665505, + -0.00020577332210351337, + -0.9941608456511929, + 0.10790815831736332, + -0.02924008890444177, + -0.10785603922781649, + -0.9937364298459367 + ], + [ + 0.9992447726823674, + -0.01122245784379319, + 0.037201353562847955, + -0.015812037490146758, + -0.9919711004682935, + 0.1254723686957929, + 0.03549455926439894, + -0.12596583773256573, + -0.9913993867190755 + ], + [ + 0.9940438812003218, + -0.026269044611032088, + 0.10576719502484831, + -0.040536019925561814, + -0.990003748435588, + 0.13509037409112376, + 0.10116122447259694, + -0.13857314089934206, + -0.9851720110135571 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.001607358455657959, + 0.0008519589900970459, + -0.007287830114364624, + -0.0017664916813373566, + 0.02745348960161209, + 0.0033198893070220947, + 1.0 + ], + [ + 0.013780683279037476, + -0.005074076354503632, + -0.007052965462207794, + -0.00815676897764206, + 0.012490086257457733, + 0.011335581541061401, + 1.0 + ], + [ + 0.020795226097106934, + -0.006438322365283966, + 0.0012201815843582153, + -0.0012673400342464447, + -0.02098744362592697, + 0.020745158195495605, + 1.0 + ], + [ + 0.02727532386779785, + -0.008990168571472168, + -0.0011049658060073853, + -0.010179631412029266, + -0.016904138028621674, + 0.024966835975646973, + 1.0 + ], + [ + 0.02777177095413208, + -0.006208203732967377, + -0.00467720627784729, + -0.006430173292756081, + -0.008444175124168396, + 0.02238178253173828, + 1.0 + ], + [ + 0.02614879608154297, + 0.0021556392312049866, + -0.0035642534494400024, + -0.0035040155053138733, + -0.014626741409301758, + 0.05274093151092529, + 1.0 + ], + [ + 0.012193381786346436, + 0.009839527308940887, + -0.008987251669168472, + 0.01985856704413891, + 0.02152690291404724, + 0.027597367763519287, + 1.0 + ], + [ + 0.006355553865432739, + 0.014371611177921295, + -0.007628984749317169, + -0.0006389729678630829, + 0.02284659445285797, + 0.04224857687950134, + 1.0 + ], + [ + 0.00040534138679504395, + 0.007202189415693283, + -0.006967928260564804, + 0.002514895051717758, + 0.01701337844133377, + 0.013802826404571533, + 0.0 + ], + [ + 1.84476375579834e-05, + 0.00041015446186065674, + -0.0026983879506587982, + 0.00660155713558197, + 0.0031910687685012817, + -0.0041653066873550415, + 0.0 + ], + [ + -0.0019777417182922363, + 0.0007443390786647797, + -0.007160559296607971, + 0.002142045646905899, + 0.018485866487026215, + -0.0016223937273025513, + 0.0 + ], + [ + -0.0015040040016174316, + 0.00047855451703071594, + -0.002849746495485306, + 0.004868805408477783, + 0.009093590080738068, + -8.353590965270996e-05, + 0.0 + ], + [ + -0.0009983181953430176, + -0.0020350925624370575, + -0.0008787661790847778, + 0.009974747896194458, + 0.0055746398866176605, + -0.023833587765693665, + 0.0 + ], + [ + -0.0006046891212463379, + -0.0013432539999485016, + 0.00021462514996528625, + -0.008568517863750458, + 0.0037256814539432526, + -0.011050119996070862, + 0.0 + ], + [ + -0.0014407932758331299, + -0.004161495715379715, + 0.003676287829875946, + -0.02711956948041916, + -0.000538211315870285, + -0.006221190094947815, + 0.0 + ], + [ + 0.0017275214195251465, + -0.007337115705013275, + 0.04072246327996254, + -0.030118051916360855, + -0.09851086139678955, + -0.025407835841178894, + 0.0 + ], + [ + -0.017217159271240234, + -0.005575813353061676, + 0.03107692301273346, + -0.020671013742685318, + -0.053348883986473083, + -0.025071024894714355, + 0.0 + ], + [ + -0.020319998264312744, + 0.0021216943860054016, + 0.025498822331428528, + -0.0015343166887760162, + -0.041359394788742065, + -0.021977782249450684, + 0.0 + ], + [ + -0.028386563062667847, + 0.016590647399425507, + 0.017807424068450928, + 0.0044393837451934814, + -0.025228798389434814, + 0.014195650815963745, + 0.0 + ], + [ + -0.027675390243530273, + 0.026472672820091248, + 0.006932675838470459, + 0.013450044207274914, + -0.0072525739669799805, + 0.036495476961135864, + 0.0 + ], + [ + -0.027600616216659546, + 0.03132599592208862, + -0.0026217103004455566, + 0.006654507480561733, + 0.024216294288635254, + 0.03980347514152527, + 0.0 + ], + [ + -0.02111932635307312, + 0.021625086665153503, + -0.0009620934724807739, + 0.014176169410347939, + 0.009475693106651306, + 0.016664013266563416, + 0.0 + ], + [ + -0.017992570996284485, + 0.021740959957242012, + 0.0010939836502075195, + 0.013928988948464394, + 0.01198604702949524, + 0.04595044255256653, + 0.0 + ], + [ + -0.0070911794900894165, + 0.025534898042678833, + -0.007975265383720398, + 0.028012722730636597, + 0.03200353682041168, + 0.05392108112573624, + 0.0 + ], + [ + -0.00045928359031677246, + 0.026068679988384247, + -0.021132588386535645, + 0.0008331164717674255, + 0.05746762454509735, + 0.06373384594917297, + 0.0 + ], + [ + 0.007875457406044006, + 0.012465327978134155, + -0.011742882430553436, + 0.008667491376399994, + 0.01756221055984497, + 0.027262259274721146, + 0.0 + ], + [ + 0.008253544569015503, + 0.00819968432188034, + -0.008519046008586884, + 0.011602163314819336, + 0.00832107663154602, + 0.014972686767578125, + 0.0 + ], + [ + 0.007661059498786926, + 0.004993915557861328, + -0.005761772394180298, + 0.012201458215713501, + 0.00786513090133667, + 0.009204444475471973, + 0.0 + ], + [ + 0.008279979228973389, + -0.0009432807564735413, + -0.0038445815443992615, + 0.007375448942184448, + -0.0032057613134384155, + -0.0006362376734614372, + 0.0 + ], + [ + 0.006274551153182983, + -0.002940446138381958, + -0.007553808391094208, + 0.007853895425796509, + 0.011186040937900543, + -0.006154229864478111, + 0.0 + ], + [ + 0.005777448415756226, + -0.007401809096336365, + -0.0016900449991226196, + 0.013040661811828613, + -0.00544990599155426, + -0.020094800740480423, + 0.0 + ], + [ + 0.002592921257019043, + -0.004016891121864319, + -0.009155422449111938, + 0.011201456189155579, + 0.018125131726264954, + -0.015371030196547508, + 0.0 + ], + [ + -0.00041687488555908203, + -0.0022876039147377014, + -0.006517127156257629, + 0.009973093867301941, + 0.024884507060050964, + 0.006796397268772125, + 1.0 + ], + [ + -0.005316048860549927, + -0.0006404444575309753, + -0.010707680135965347, + -0.016178175806999207, + 0.05367186293005943, + 0.03311469033360481, + 1.0 + ], + [ + -0.003708869218826294, + -0.001130223274230957, + -0.003506183624267578, + -0.013582773506641388, + 0.03603585436940193, + 0.005238392390310764, + 1.0 + ], + [ + -0.0011300444602966309, + -0.002095244824886322, + 0.00154181569814682, + -0.00986037403345108, + 0.005704287439584732, + -0.014160128310322762, + 1.0 + ], + [ + 0.0007551014423370361, + -0.004483908414840698, + 0.022043023258447647, + 0.01826876401901245, + -0.06474627554416656, + -0.015616806223988533, + 1.0 + ], + [ + -0.0017226040363311768, + -0.004572965204715729, + 0.024467699229717255, + 0.01336061954498291, + -0.06583254784345627, + -0.024933654814958572, + 1.0 + ], + [ + -0.0018847882747650146, + -0.005062505602836609, + 0.012582212686538696, + -0.0015646964311599731, + -0.02781345695257187, + -0.0345388725399971, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9974852800369263 + ], + [ + 0.9430103898048401 + ], + [ + 0.6470694541931152 + ], + [ + 0.3380139172077179 + ], + [ + 0.14137907326221466 + ], + [ + 0.08055824041366577 + ], + [ + 0.07888144999742508 + ], + [ + 0.07888144999742508 + ], + [ + 0.07559127360582352 + ], + [ + 0.06803370267152786 + ], + [ + 0.06803370267152786 + ], + [ + 0.06803370267152786 + ], + [ + 0.06772904843091965 + ], + [ + 0.06772904843091965 + ], + [ + 0.06772904843091965 + ], + [ + 0.06772904843091965 + ], + [ + 0.06772904843091965 + ], + [ + 0.06772904843091965 + ], + [ + 0.06772904843091965 + ], + [ + 0.06772904843091965 + ], + [ + 0.06772904843091965 + ], + [ + 0.06772904843091965 + ], + [ + 0.06772904843091965 + ], + [ + 0.06772904843091965 + ], + [ + 0.06772904843091965 + ], + [ + 0.09326785057783127 + ], + [ + 0.2624140679836273 + ], + [ + 0.5482020378112793 + ], + [ + 0.8598465323448181 + ], + [ + 1.0118417739868164 + ], + [ + 1.0086473226547241 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.26061660051345825, + -0.06492520123720169, + 0.08457279205322266 + ], + [ + 0.2743972837924957, + -0.06999927759170532, + 0.07751982659101486 + ], + [ + 0.29519250988960266, + -0.07643759995698929, + 0.07874000817537308 + ], + [ + 0.3224678337574005, + -0.08542776852846146, + 0.07763504236936569 + ], + [ + 0.3502396047115326, + -0.09163597226142883, + 0.0729578360915184 + ], + [ + 0.37638840079307556, + -0.08948033303022385, + 0.0693935826420784 + ], + [ + 0.388581782579422, + -0.07964080572128296, + 0.06040633097290993 + ], + [ + 0.39493733644485474, + -0.06526919454336166, + 0.05277734622359276 + ], + [ + 0.3953426778316498, + -0.05806700512766838, + 0.045809417963027954 + ], + [ + 0.39536112546920776, + -0.057656850665807724, + 0.043111030012369156 + ], + [ + 0.3933833837509155, + -0.056912511587142944, + 0.035950470715761185 + ], + [ + 0.3918793797492981, + -0.05643395707011223, + 0.03310072422027588 + ], + [ + 0.3908810615539551, + -0.058469049632549286, + 0.0322219580411911 + ], + [ + 0.39027637243270874, + -0.05981230363249779, + 0.03243658319115639 + ], + [ + 0.3888355791568756, + -0.0639737993478775, + 0.03611287102103233 + ], + [ + 0.39056310057640076, + -0.07131091505289078, + 0.07683533430099487 + ], + [ + 0.3733459413051605, + -0.07688672840595245, + 0.10791225731372833 + ], + [ + 0.3530259430408478, + -0.07476503401994705, + 0.13341107964515686 + ], + [ + 0.32463937997817993, + -0.058174386620521545, + 0.1512185037136078 + ], + [ + 0.29696398973464966, + -0.0317017138004303, + 0.15815117955207825 + ], + [ + 0.2693633735179901, + -0.0003757188096642494, + 0.1555294692516327 + ], + [ + 0.248244047164917, + 0.02124936692416668, + 0.15456737577915192 + ], + [ + 0.2302514761686325, + 0.04299032688140869, + 0.15566135942935944 + ], + [ + 0.2231602966785431, + 0.06852522492408752, + 0.14768609404563904 + ], + [ + 0.22270101308822632, + 0.09459390491247177, + 0.1265535056591034 + ], + [ + 0.23057647049427032, + 0.10705923289060593, + 0.11481062322854996 + ], + [ + 0.23883001506328583, + 0.11525891721248627, + 0.10629157721996307 + ], + [ + 0.24649107456207275, + 0.1202528327703476, + 0.10052980482578278 + ], + [ + 0.25477105379104614, + 0.11930955201387405, + 0.09668522328138351 + ], + [ + 0.2610456049442291, + 0.1163691058754921, + 0.0891314148902893 + ], + [ + 0.26682305335998535, + 0.10896729677915573, + 0.08744136989116669 + ], + [ + 0.2694159746170044, + 0.10495040565729141, + 0.07828594744205475 + ], + [ + 0.2689990997314453, + 0.10266280174255371, + 0.07176882028579712 + ], + [ + 0.2636830508708954, + 0.10202235728502274, + 0.06106114014983177 + ], + [ + 0.2599741816520691, + 0.10089213401079178, + 0.057554956525564194 + ], + [ + 0.25884413719177246, + 0.09879688918590546, + 0.059096772223711014 + ], + [ + 0.2595992386341095, + 0.09431298077106476, + 0.08113979548215866 + ], + [ + 0.2578766345977783, + 0.08974001556634903, + 0.10560749471187592 + ], + [ + 0.2559918463230133, + 0.08467750996351242, + 0.11818970739841461 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9128179165650268, + -0.39014790771045393, + 0.12061534440956811, + -0.3940599060059743, + -0.9190357236965351, + 0.009493631978776024, + 0.10714588968526176, + -0.05619562864441409, + -0.9926539223943118 + ], + [ + 0.9183890928712929, + -0.38123006819195604, + 0.10594861585410355, + -0.38417399459164925, + -0.923225023211183, + 0.008117782714882942, + 0.09471967047313516, + -0.0481579860777747, + -0.9943384697387473 + ], + [ + 0.9241073759658787, + -0.36121597950823475, + 0.12469392059505131, + -0.3642312812517992, + -0.9313073366958193, + 0.0014894207642041947, + 0.11559036051129527, + -0.04679381117676348, + -0.9921941381566525 + ], + [ + 0.9309437618795987, + -0.33852312991832545, + 0.13691531224724712, + -0.3403285423216116, + -0.9402454505980996, + -0.010722682072275879, + 0.13236387535391836, + -0.03661397465281047, + -0.9905247202172267 + ], + [ + 0.9372355975572505, + -0.3180292511826102, + 0.14299241260896367, + -0.3190373050229977, + -0.9475995049210651, + -0.016443122483738686, + 0.14072893332632996, + -0.030208834230746384, + -0.9895871834554311 + ], + [ + 0.9506682095108364, + -0.2677586717173149, + 0.15663731721923602, + -0.2685974862281058, + -0.9631164668821467, + -0.016188317157545384, + 0.15519454184153159, + -0.026682671167443956, + -0.9875235132603005 + ], + [ + 0.9607345465769161, + -0.23888254534556644, + 0.1411533228190916, + -0.24302569600497878, + -0.9699376948775026, + 0.01262454502199328, + 0.13389414511076625, + -0.04643272105896977, + -0.9899072483420439 + ], + [ + 0.9728828942675952, + -0.1988186659699743, + 0.1181948057379293, + -0.20280266189601723, + -0.9789594526493306, + 0.022571450915101966, + 0.11122029657124989, + -0.04592959972003808, + -0.9927338603574275 + ], + [ + 0.9773056672695561, + -0.18580025565322564, + 0.1017442761142038, + -0.1896883555697714, + -0.9813892816192822, + 0.029889892673359328, + 0.09429719234443472, + -0.04851126592849295, + -0.9943614516834266 + ], + [ + 0.9767972638094852, + -0.18938221147530013, + 0.10000741668010475, + -0.1938150537915029, + -0.9803567590336077, + 0.03655612043034559, + 0.0911198679657748, + -0.05509086125525532, + -0.9943149232854017 + ], + [ + 0.9779662852142591, + -0.19179572919944907, + 0.08243993719717155, + -0.19569665498039582, + -0.9797602954718783, + 0.042102050381677504, + 0.07269638377323812, + -0.05730760575795312, + -0.995706319206916 + ], + [ + 0.9785576999948127, + -0.19202828973473732, + 0.07449807864914687, + -0.19590001984060065, + -0.9794167205980787, + 0.048642261865148445, + 0.06362397352661148, + -0.06219343497875954, + -0.9960341192139094 + ], + [ + 0.9739421171300549, + -0.2149417318981219, + 0.07236576793528311, + -0.2192392013001492, + -0.9739581341011098, + 0.05779035933058552, + 0.05805966838951139, + -0.07214987807974046, + -0.9957025007498873 + ], + [ + 0.9716638365135019, + -0.22653861387006582, + 0.06745105809171631, + -0.2300360113934299, + -0.9719216064619987, + 0.049515900017365486, + 0.05433987738359976, + -0.06362898174697727, + -0.9964931160864977 + ], + [ + 0.9701853870863735, + -0.23431338256399128, + 0.06194798976144873, + -0.23606947750575583, + -0.9714725404366984, + 0.022634154890940665, + 0.054877285594527564, + -0.03658335589975731, + -0.9978227004818485 + ], + [ + 0.9539916085799667, + -0.2600656437722922, + 0.14921753143753264, + -0.2579684118039017, + -0.9655693826779843, + -0.03358669001597428, + 0.15281462387605588, + -0.006451989163023048, + -0.988233809665233 + ], + [ + 0.9380670080032574, + -0.28790571416347216, + 0.19271893588290137, + -0.27907786752023583, + -0.9575587382829105, + -0.07208887985256983, + 0.20529450152445503, + 0.013840610176637305, + -0.9786023733640564 + ], + [ + 0.9228298096229937, + -0.30977361299158157, + 0.22896604806243906, + -0.29677050637391367, + -0.9506889046807376, + -0.09009924008286802, + 0.24558584856982327, + 0.015195894546925583, + -0.9692557329060059 + ], + [ + 0.920730512321966, + -0.29548416607961936, + 0.2548419731432838, + -0.28173789147766537, + -0.9552863654291774, + -0.08973137985583192, + 0.2699612642307216, + 0.010819779172620461, + -0.9628103905721035 + ], + [ + 0.9284809532407513, + -0.2569237571110975, + 0.26816655738750045, + -0.2474445337862644, + -0.9664293362885336, + -0.06917760230163192, + 0.27693739756205554, + -0.002126262641888761, + -0.9608856106939752 + ], + [ + 0.9438603635496654, + -0.21665894227737553, + 0.24937224555098744, + -0.21170750303808356, + -0.9762096761262608, + -0.04684657292524948, + 0.25358932800351236, + -0.008577352080317503, + -0.9672739434896491 + ], + [ + 0.9495676040423029, + -0.19700338266998146, + 0.24394883186837524, + -0.19642829859588823, + -0.9801481897333456, + -0.026934172962424514, + 0.24441212912636828, + -0.02234263590156893, + -0.9694140074069928 + ], + [ + 0.9604122676375377, + -0.14877171638228007, + 0.23553185044913305, + -0.15305332950238834, + -0.9882179250731508, + -0.00010436641990098014, + 0.2327723233109033, + -0.035948699125096115, + -0.9718666248676602 + ], + [ + 0.9741778454795257, + -0.09068816507175306, + 0.20676842624730615, + -0.10179180697533888, + -0.9938459663328684, + 0.04368779276391087, + 0.2015340006290863, + -0.0636070115616631, + -0.9774140344146025 + ], + [ + 0.9886334027902325, + -0.0307546289379368, + 0.14716707405631368, + -0.03994105121092889, + -0.9974062528889516, + 0.05987887044849383, + 0.1449438074412724, + -0.06507625908817571, + -0.9872975099672422 + ], + [ + 0.991747396419324, + -0.0035885647618353342, + 0.12815702828344028, + -0.013008550293046466, + -0.997265926993067, + 0.07274234308799815, + 0.12754559700266282, + -0.07380916651479588, + -0.989082568658262 + ], + [ + 0.9928579639949155, + 0.012106342527922566, + 0.11868656117045398, + 0.0018433828344644838, + -0.9962759585411263, + 0.08620218310858435, + 0.11928816065141126, + -0.08536773924356272, + -0.9891828363982295 + ], + [ + 0.9937063815389418, + 0.021946042940886742, + 0.10984533894535545, + 0.010991919418879746, + -0.9949916062097879, + 0.0993523088788348, + 0.11147558026882892, + -0.09751961223929932, + -0.9889707378039174 + ], + [ + 0.9933507236704627, + 0.022458944901796105, + 0.11291561263733914, + 0.010355905175295124, + -0.9942425573883975, + 0.1066512649047303, + 0.11466078235982795, + -0.10477276779620144, + -0.9878641465894766 + ], + [ + 0.994616056442023, + 0.015971695312422964, + 0.10239045471412572, + 0.004247650907829584, + -0.9935045112455524, + 0.11371342751188637, + 0.1035415748841185, + -0.11266628192845873, + -0.9882233812185043 + ], + [ + 0.9939216122427365, + -0.0019454759999711626, + 0.11007290238715994, + -0.01572930936490813, + -0.9920954643943944, + 0.12449569613032437, + 0.10896062382210703, + -0.12547033374947475, + -0.9860957244634483 + ], + [ + 0.9953730905885855, + -0.01841419862980673, + 0.09430444221217739, + -0.031060950952921062, + -0.9904335008147525, + 0.1344496105971831, + 0.09092649700735266, + -0.136756710082745, + -0.9864228172489301 + ], + [ + 0.9975147280269016, + -0.0144009443322929, + 0.06897086465859777, + -0.024343007869496502, + -0.9890502140612935, + 0.1455578648963188, + 0.06611947774507933, + -0.1468750723153782, + -0.9869427175855092 + ], + [ + 0.9998839474090043, + 0.01027951502605144, + 0.011243810947236017, + 0.008715083701481876, + -0.9913070665476412, + 0.13127965237913697, + 0.012495560406166938, + -0.13116642628180453, + -0.9912816096279585 + ], + [ + 0.9996256154782539, + 0.01108670568445431, + -0.02501427266159981, + 0.013949948107905565, + -0.9929912233835396, + 0.11736195819365146, + -0.023537795723247174, + -0.11766696749864823, + -0.9927741218082606 + ], + [ + 0.9995723960065126, + -0.003359728589178964, + -0.02904715761665505, + -0.00020577332210351337, + -0.9941608456511929, + 0.10790815831736332, + -0.02924008890444177, + -0.10785603922781649, + -0.9937364298459367 + ], + [ + 0.9992447726823674, + -0.01122245784379319, + 0.037201353562847955, + -0.015812037490146758, + -0.9919711004682935, + 0.1254723686957929, + 0.03549455926439894, + -0.12596583773256573, + -0.9913993867190755 + ], + [ + 0.9940438812003218, + -0.026269044611032088, + 0.10576719502484831, + -0.040536019925561814, + -0.990003748435588, + 0.13509037409112376, + 0.10116122447259694, + -0.13857314089934206, + -0.9851720110135571 + ], + [ + 0.9888622312935177, + -0.05681815636299526, + 0.1375615666845768, + -0.07459760153952838, + -0.9889967648661414, + 0.12775209168094073, + 0.12878930610013706, + -0.13659098137071843, + -0.9822200458361806 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005921.json b/json/chunk-0005/episode_0005921.json new file mode 100644 index 0000000000000000000000000000000000000000..62231ee4cf7e8a4a6402c93398055b0f0c4d0eeb --- /dev/null +++ b/json/chunk-0005/episode_0005921.json @@ -0,0 +1,742 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 11, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nTurn faucet front to left." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005921.mp4", + "start": 0, + "end": 11, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.31752610206604004, + 0.0035316715948283672, + 0.1105344220995903, + 0.11542350798845291, + -0.20838767290115356, + 0.032652322202920914, + 0.0, + 1.0067112445831299 + ], + [ + 0.3187562823295593, + 0.0055547659285366535, + 0.10306618362665176, + 0.1296282410621643, + -0.21894359588623047, + 0.03769122064113617, + 0.0, + 1.0067112445831299 + ], + [ + 0.32738468050956726, + 0.008884052745997906, + 0.10532855242490768, + 0.14730998873710632, + -0.27699002623558044, + 0.03242069110274315, + 0.0, + 1.0067112445831299 + ], + [ + 0.3363518714904785, + 0.014230048283934593, + 0.11158005893230438, + 0.1463233083486557, + -0.3215485215187073, + 0.025421971455216408, + 0.0, + 1.0067112445831299 + ], + [ + 0.34966567158699036, + 0.021636949852108955, + 0.12438230961561203, + 0.15340439975261688, + -0.37976476550102234, + 0.009306184016168118, + 0.0, + 1.0067112445831299 + ], + [ + 0.3639613091945648, + 0.028576161712408066, + 0.12494045495986938, + 0.14965085685253143, + -0.40256568789482117, + -0.010257204994559288, + 0.0, + 1.0067112445831299 + ], + [ + 0.37160882353782654, + 0.031674712896347046, + 0.12671443819999695, + 0.14835506677627563, + -0.4253087043762207, + -0.018028240650892258, + 0.0, + 0.8186774849891663 + ], + [ + 0.3738993704319, + 0.035029083490371704, + 0.12380882352590561, + 0.15536509454250336, + -0.42905059456825256, + -0.02751881442964077, + 0.0, + 0.5139726996421814 + ], + [ + 0.38518935441970825, + 0.058127954602241516, + 0.12052104622125626, + 0.18567675352096558, + -0.46869227290153503, + -0.0357951745390892, + 0.0, + 0.3849146366119385 + ], + [ + 0.39266452193260193, + 0.0708678811788559, + 0.12078115344047546, + 0.22834286093711853, + -0.5027446746826172, + -0.08434763550758362, + 0.0, + 0.3840504586696625 + ], + [ + 0.4053479731082916, + 0.09269077330827713, + 0.12076627463102341, + 0.2773587703704834, + -0.5491435527801514, + -0.11619263142347336, + 0.0, + 0.3840504586696625 + ] + ], + "left_gripper_pos": [ + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 0.8186774849891663 + ], + [ + 0.5139726996421814 + ], + [ + 0.3849146366119385 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.31752610206604004, + 0.0035316715948283672, + 0.1105344220995903 + ], + [ + 0.3187562823295593, + 0.0055547659285366535, + 0.10306618362665176 + ], + [ + 0.32738468050956726, + 0.008884052745997906, + 0.10532855242490768 + ], + [ + 0.3363518714904785, + 0.014230048283934593, + 0.11158005893230438 + ], + [ + 0.34966567158699036, + 0.021636949852108955, + 0.12438230961561203 + ], + [ + 0.3639613091945648, + 0.028576161712408066, + 0.12494045495986938 + ], + [ + 0.37160882353782654, + 0.031674712896347046, + 0.12671443819999695 + ], + [ + 0.3738993704319, + 0.035029083490371704, + 0.12380882352590561 + ], + [ + 0.38518935441970825, + 0.058127954602241516, + 0.12052104622125626 + ], + [ + 0.39266452193260193, + 0.0708678811788559, + 0.12078115344047546 + ], + [ + 0.4053479731082916, + 0.09269077330827713, + 0.12076627463102341 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9778442410847008, + 0.056242736417275285, + 0.20163678924685888, + 0.03194023731615318, + -0.99203876550771, + 0.12181506052260695, + 0.2068827238260196, + -0.11267582850920367, + -0.9718558001329678 + ], + [ + 0.9754341684490769, + 0.06542248557461118, + 0.21035227929189912, + 0.03678272430453706, + -0.9898477678590164, + 0.13728957592351596, + 0.2171985594215435, + -0.12617961343165632, + -0.9679377515829433 + ], + [ + 0.9613774328898771, + 0.07218094443200831, + 0.2655999676034861, + 0.031179445801533222, + -0.9873486002971238, + 0.1554689153844567, + 0.2734616493945335, + -0.14118304697170067, + -0.9514652245658837 + ], + [ + 0.9484406070429404, + 0.07121131757944851, + 0.3088516847300943, + 0.024116425557167705, + -0.9878228806441295, + 0.15370216164478379, + 0.31603609434740865, + -0.13832897283119172, + -0.9386086950082569 + ], + [ + 0.9287116461569301, + 0.06583885085026195, + 0.36491084392108947, + 0.00864301098803319, + -0.9876866712914802, + 0.15620607451125526, + 0.3707020051922372, + -0.14191647216539752, + -0.9178451602937079 + ], + [ + 0.920010438226895, + 0.04826619133911669, + 0.3889102317080027, + -0.009437066623075384, + -0.9893703060010144, + 0.14511147224465296, + 0.39178021303673344, + -0.1371742409385772, + -0.9097755175293611 + ], + [ + 0.9107633772695098, + 0.04314815282309926, + 0.41066812334607944, + -0.01642124044327533, + -0.9899542708637173, + 0.14043106658068827, + 0.4126020037359736, + -0.13464315246844166, + -0.9009055488820231 + ], + [ + 0.9090168182559974, + 0.03716506264711004, + 0.41509900294529667, + -0.025021381560781455, + -0.9893522982393828, + 0.14337349975934005, + 0.4160076376612968, + -0.1407152731116565, + -0.8984079570665986 + ], + [ + 0.8915882786451791, + 0.04816697219587404, + 0.4502780076486177, + -0.03192819569013518, + -0.9851663928592518, + 0.16860536379564892, + 0.4517199704490594, + -0.16470313042007603, + -0.8768249238743893 + ], + [ + 0.8731481402104686, + 0.026620787161251692, + 0.48672749967298423, + -0.07382313631680085, + -0.9797688156296613, + 0.1860193873336902, + 0.48183240840706276, + -0.1983542326509968, + -0.8535180892037868 + ], + [ + 0.8472204680158408, + 0.03045594066025592, + 0.5303677160739696, + -0.09888618845365829, + -0.9718658732426207, + 0.2137714811649725, + 0.5219568950671382, + -0.23355761624245439, + -0.8203729880895734 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + 0.0012301802635192871, + 0.0020230943337082863, + -0.007468238472938538, + 0.014204733073711395, + -0.010555922985076904, + 0.005038898438215256, + 1.0 + ], + [ + 0.008628398180007935, + 0.003329286817461252, + 0.0022623687982559204, + 0.017681747674942017, + -0.058046430349349976, + -0.005270529538393021, + 1.0 + ], + [ + 0.008967190980911255, + 0.0053459955379366875, + 0.006251506507396698, + -0.0009866803884506226, + -0.04455849528312683, + -0.006998719647526741, + 1.0 + ], + [ + 0.01331380009651184, + 0.007406901568174362, + 0.012802250683307648, + 0.007081091403961182, + -0.058216243982315063, + -0.016115788370370865, + 1.0 + ], + [ + 0.014295637607574463, + 0.00693921186029911, + 0.0005581453442573547, + -0.0037535429000854492, + -0.022800922393798828, + -0.01956338807940483, + 1.0 + ], + [ + 0.007647514343261719, + 0.00309855118393898, + 0.0017739832401275635, + -0.0012957900762557983, + -0.022743016481399536, + -0.00777103565633297, + 0.0 + ], + [ + 0.0022905468940734863, + 0.003354370594024658, + -0.002905614674091339, + 0.007010027766227722, + -0.0037418901920318604, + -0.009490573778748512, + 0.0 + ], + [ + 0.011289983987808228, + 0.023098871111869812, + -0.003287777304649353, + 0.03031165897846222, + -0.03964167833328247, + -0.008276360109448433, + 0.0 + ], + [ + 0.007475167512893677, + 0.01273992657661438, + 0.00026010721921920776, + 0.042666107416152954, + -0.03405240178108215, + -0.048552460968494415, + 0.0 + ], + [ + 0.012683451175689697, + 0.021822892129421234, + -1.4878809452056885e-05, + 0.04901590943336487, + -0.04639887809753418, + -0.03184499591588974, + 0.0 + ], + [ + 0.012285083532333374, + 0.009575143456459045, + 0.00020249933004379272, + 0.0359463095664978, + -0.030633509159088135, + -0.035079650580883026, + 0.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 0.8186774849891663 + ], + [ + 0.5139726996421814 + ], + [ + 0.3849146366119385 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3187562823295593, + 0.0055547659285366535, + 0.10306618362665176 + ], + [ + 0.32738468050956726, + 0.008884052745997906, + 0.10532855242490768 + ], + [ + 0.3363518714904785, + 0.014230048283934593, + 0.11158005893230438 + ], + [ + 0.34966567158699036, + 0.021636949852108955, + 0.12438230961561203 + ], + [ + 0.3639613091945648, + 0.028576161712408066, + 0.12494045495986938 + ], + [ + 0.37160882353782654, + 0.031674712896347046, + 0.12671443819999695 + ], + [ + 0.3738993704319, + 0.035029083490371704, + 0.12380882352590561 + ], + [ + 0.38518935441970825, + 0.058127954602241516, + 0.12052104622125626 + ], + [ + 0.39266452193260193, + 0.0708678811788559, + 0.12078115344047546 + ], + [ + 0.4053479731082916, + 0.09269077330827713, + 0.12076627463102341 + ], + [ + 0.417633056640625, + 0.10226591676473618, + 0.1209687739610672 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9754341684490769, + 0.06542248557461118, + 0.21035227929189912, + 0.03678272430453706, + -0.9898477678590164, + 0.13728957592351596, + 0.2171985594215435, + -0.12617961343165632, + -0.9679377515829433 + ], + [ + 0.9613774328898771, + 0.07218094443200831, + 0.2655999676034861, + 0.031179445801533222, + -0.9873486002971238, + 0.1554689153844567, + 0.2734616493945335, + -0.14118304697170067, + -0.9514652245658837 + ], + [ + 0.9484406070429404, + 0.07121131757944851, + 0.3088516847300943, + 0.024116425557167705, + -0.9878228806441295, + 0.15370216164478379, + 0.31603609434740865, + -0.13832897283119172, + -0.9386086950082569 + ], + [ + 0.9287116461569301, + 0.06583885085026195, + 0.36491084392108947, + 0.00864301098803319, + -0.9876866712914802, + 0.15620607451125526, + 0.3707020051922372, + -0.14191647216539752, + -0.9178451602937079 + ], + [ + 0.920010438226895, + 0.04826619133911669, + 0.3889102317080027, + -0.009437066623075384, + -0.9893703060010144, + 0.14511147224465296, + 0.39178021303673344, + -0.1371742409385772, + -0.9097755175293611 + ], + [ + 0.9107633772695098, + 0.04314815282309926, + 0.41066812334607944, + -0.01642124044327533, + -0.9899542708637173, + 0.14043106658068827, + 0.4126020037359736, + -0.13464315246844166, + -0.9009055488820231 + ], + [ + 0.9090168182559974, + 0.03716506264711004, + 0.41509900294529667, + -0.025021381560781455, + -0.9893522982393828, + 0.14337349975934005, + 0.4160076376612968, + -0.1407152731116565, + -0.8984079570665986 + ], + [ + 0.8915882786451791, + 0.04816697219587404, + 0.4502780076486177, + -0.03192819569013518, + -0.9851663928592518, + 0.16860536379564892, + 0.4517199704490594, + -0.16470313042007603, + -0.8768249238743893 + ], + [ + 0.8731481402104686, + 0.026620787161251692, + 0.48672749967298423, + -0.07382313631680085, + -0.9797688156296613, + 0.1860193873336902, + 0.48183240840706276, + -0.1983542326509968, + -0.8535180892037868 + ], + [ + 0.8472204680158408, + 0.03045594066025592, + 0.5303677160739696, + -0.09888618845365829, + -0.9718658732426207, + 0.2137714811649725, + 0.5219568950671382, + -0.23355761624245439, + -0.8203729880895734 + ], + [ + 0.8270311317739794, + 0.023557627216010603, + 0.5616623053727233, + -0.12606998942039657, + -0.965900607246835, + 0.22614679897742684, + 0.547837443813575, + -0.2578392040015387, + -0.7958599625786318 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005922.json b/json/chunk-0005/episode_0005922.json new file mode 100644 index 0000000000000000000000000000000000000000..822fcdd56b488586e88ba7a7dd7d1b6865433856 --- /dev/null +++ b/json/chunk-0005/episode_0005922.json @@ -0,0 +1,1042 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 16, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nOpen drawer of box." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005922.mp4", + "start": 0, + "end": 16, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.26814359426498413, + 0.023540956899523735, + 0.18434883654117584, + -0.029730157926678658, + -0.04847831651568413, + 0.1816771924495697, + 0.0, + 0.9981546401977539 + ], + [ + 0.2675122022628784, + 0.023738641291856766, + 0.17309291660785675, + -0.027087895199656487, + -0.03801651671528816, + 0.17764316499233246, + 0.0, + 0.9981546401977539 + ], + [ + 0.2716413140296936, + 0.028720568865537643, + 0.15542103350162506, + -0.011771632358431816, + -0.08863939344882965, + 0.14395536482334137, + 0.0, + 0.9981546401977539 + ], + [ + 0.2739769518375397, + 0.0381661057472229, + 0.13601772487163544, + 0.013979477807879448, + -0.10709327459335327, + 0.10710880160331726, + 0.0, + 0.9981546401977539 + ], + [ + 0.2758999466896057, + 0.04487805441021919, + 0.10946613550186157, + 0.0524466335773468, + -0.1286911964416504, + 0.08750993758440018, + 0.0, + 0.9981546401977539 + ], + [ + 0.26314109563827515, + 0.042138658463954926, + 0.08357012271881104, + 0.07945861667394638, + -0.1258285492658615, + 0.068630151450634, + 0.0, + 0.9981546401977539 + ], + [ + 0.2525594234466553, + 0.035511720925569534, + 0.06390804797410965, + 0.08268683403730392, + -0.1311146765947342, + 0.06374958902597427, + 0.0, + 0.9981546401977539 + ], + [ + 0.2567733824253082, + 0.03411036357283592, + 0.057147830724716187, + 0.10377183556556702, + -0.18800151348114014, + 0.05353455990552902, + 0.0, + 0.9981546401977539 + ], + [ + 0.25850239396095276, + 0.03366576507687569, + 0.046015672385692596, + 0.10403794050216675, + -0.1958169937133789, + 0.06875678151845932, + 0.0, + 0.9988223910331726 + ], + [ + 0.2593739330768585, + 0.03128216043114662, + 0.05364935100078583, + 0.08481702953577042, + -0.15680454671382904, + 0.07904142141342163, + 0.0, + 0.9988223910331726 + ], + [ + 0.2692737877368927, + 0.03572137653827667, + 0.05124370753765106, + 0.10621050000190735, + -0.15972092747688293, + 0.09439680725336075, + 0.0, + 0.9988223910331726 + ], + [ + 0.2593069076538086, + 0.03739055246114731, + 0.03733304888010025, + 0.15155406296253204, + -0.14632318913936615, + 0.06299643963575363, + 0.0, + 0.9988223910331726 + ], + [ + 0.24994856119155884, + 0.038783617317676544, + 0.032753877341747284, + 0.16637703776359558, + -0.1352882832288742, + 0.04236279055476189, + 0.0, + 0.9988223910331726 + ], + [ + 0.23675695061683655, + 0.037919484078884125, + 0.031809624284505844, + 0.16596154868602753, + -0.12640716135501862, + 0.0352758951485157, + 0.0, + 0.9994885921478271 + ], + [ + 0.21822573244571686, + 0.03445930778980255, + 0.03553839027881622, + 0.15463650226593018, + -0.11516090482473373, + 0.026902146637439728, + 0.0, + 0.9994885921478271 + ], + [ + 0.20456373691558838, + 0.03118949756026268, + 0.03359464183449745, + 0.1708940863609314, + -0.10086920857429504, + -0.007532966788858175, + 0.0, + 0.9994885921478271 + ] + ], + "left_gripper_pos": [ + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.26814359426498413, + 0.023540956899523735, + 0.18434883654117584 + ], + [ + 0.2675122022628784, + 0.023738641291856766, + 0.17309291660785675 + ], + [ + 0.2716413140296936, + 0.028720568865537643, + 0.15542103350162506 + ], + [ + 0.2739769518375397, + 0.0381661057472229, + 0.13601772487163544 + ], + [ + 0.2758999466896057, + 0.04487805441021919, + 0.10946613550186157 + ], + [ + 0.26314109563827515, + 0.042138658463954926, + 0.08357012271881104 + ], + [ + 0.2525594234466553, + 0.035511720925569534, + 0.06390804797410965 + ], + [ + 0.2567733824253082, + 0.03411036357283592, + 0.057147830724716187 + ], + [ + 0.25850239396095276, + 0.03366576507687569, + 0.046015672385692596 + ], + [ + 0.2593739330768585, + 0.03128216043114662, + 0.05364935100078583 + ], + [ + 0.2692737877368927, + 0.03572137653827667, + 0.05124370753765106 + ], + [ + 0.2593069076538086, + 0.03739055246114731, + 0.03733304888010025 + ], + [ + 0.24994856119155884, + 0.038783617317676544, + 0.032753877341747284 + ], + [ + 0.23675695061683655, + 0.037919484078884125, + 0.031809624284505844 + ], + [ + 0.21822573244571686, + 0.03445930778980255, + 0.03553839027881622 + ], + [ + 0.20456373691558838, + 0.03118949756026268, + 0.03359464183449745 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9823865341700351, + 0.1791827885068354, + 0.05301156274154692, + 0.18046714603022834, + -0.9833676735652211, + -0.020484818540291008, + 0.0484593302171059, + 0.02969085532346792, + -0.9983837671081548 + ], + [ + 0.9835517330504219, + 0.17563228058839556, + 0.042181636156395516, + 0.17658264068339527, + -0.9840837297143736, + -0.019944521070364665, + 0.038007360113408925, + 0.02706501296446033, + -0.9989108697228412 + ], + [ + 0.9857710165494363, + 0.14241747695257354, + 0.0892903420844268, + 0.14289547401958666, + -0.989737229358861, + 0.0010489641380196776, + 0.08852336660909599, + 0.011725147312865655, + -0.9960050875797186 + ], + [ + 0.9885731590239275, + 0.10837931255877273, + 0.10477134086543036, + 0.10629166737798298, + -0.9940124466882578, + 0.025324637703853282, + 0.10688868370159949, + -0.013898936582021102, + -0.994173842372866 + ], + [ + 0.9879358012243015, + 0.09398009139543337, + 0.12308775357688319, + 0.08667556685972819, + -0.9942157091727349, + 0.06342294335412497, + 0.12833627222590782, + -0.05198909554379405, + -0.9903670709265813 + ], + [ + 0.9897585145446135, + 0.07829777832412688, + 0.11936306294640174, + 0.06803412610201481, + -0.9938150180756506, + 0.0877671210239345, + 0.12549677514572208, + -0.07874749365408848, + -0.9889637969466951 + ], + [ + 0.9894028958660672, + 0.07426493071121125, + 0.12476630041120436, + 0.06315961161597126, + -0.993871105575027, + 0.09072534906845488, + 0.13073933269050889, + -0.08188373202005582, + -0.9880294941539488 + ], + [ + 0.9809723168398216, + 0.07255315783255693, + 0.18008151732600605, + 0.052566148160574075, + -0.9921596868083642, + 0.11338410796883686, + 0.1868959969113119, + -0.10176047936626656, + -0.9770950266876166 + ], + [ + 0.9785713753794831, + 0.08848935181238902, + 0.18592390352972288, + 0.0673896464803045, + -0.9908546906887656, + 0.11690003202450389, + 0.19456797998428732, + -0.10186567898901813, + -0.975585303604426 + ], + [ + 0.9846474935624457, + 0.09186338376298522, + 0.14842652102911932, + 0.0779904214257327, + -0.9922496869310955, + 0.0967370298850411, + 0.15616275992383624, + -0.08367602708516475, + -0.9841806312380937 + ], + [ + 0.9828763023428799, + 0.11051073869868047, + 0.14745016420831694, + 0.09305695183788631, + -0.9883487890820349, + 0.12044531885763153, + 0.15904269240499222, + -0.10466158680407624, + -0.9817083957266658 + ], + [ + 0.9873514265797765, + 0.08420184043282754, + 0.13433990657509243, + 0.0622820361706868, + -0.9851909834974486, + 0.15974878405096865, + 0.14580160630566857, + -0.14936122690663195, + -0.9779739850812148 + ], + [ + 0.9899735189616455, + 0.06408215574796253, + 0.1258805349106451, + 0.0419631462806733, + -0.9843604890159697, + 0.17109506719501702, + 0.13487596564593368, + -0.1640972424476854, + -0.9771799061135785 + ], + [ + 0.9914040814430963, + 0.05559801937144981, + 0.11843482401701932, + 0.03498718018236074, + -0.9849118426625485, + 0.1694832127555722, + 0.126070791703937, + -0.1638826483342133, + -0.9783908385988226 + ], + [ + 0.9930168639583365, + 0.04426954164428419, + 0.10935134007846055, + 0.026720731756956714, + -0.9872340019256188, + 0.15701919607582887, + 0.11490652892121887, + -0.15300076184297845, + -0.9815229271324969 + ], + [ + 0.9948887849103888, + 0.009701443328470765, + 0.10050963962165153, + -0.00749460593781558, + -0.9855341515502001, + 0.1693111544171378, + 0.10069824497659656, + -0.16919904883175757, + -0.9804241660286948 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0006313920021057129, + 0.0001976843923330307, + -0.011255919933319092, + 0.002642262727022171, + 0.010461799800395966, + -0.004034027457237244, + 1.0 + ], + [ + 0.0041291117668151855, + 0.004981927573680878, + -0.01767188310623169, + 0.01531626284122467, + -0.05062287673354149, + -0.03368780016899109, + 1.0 + ], + [ + 0.0023356378078460693, + 0.009445536881685257, + -0.019403308629989624, + 0.025751110166311264, + -0.01845388114452362, + -0.03684656322002411, + 1.0 + ], + [ + 0.00192299485206604, + 0.006711948662996292, + -0.026551589369773865, + 0.038467153906822205, + -0.02159792184829712, + -0.019598864018917084, + 1.0 + ], + [ + -0.012758851051330566, + -0.002739395946264267, + -0.025896012783050537, + 0.02701198309659958, + 0.0028626471757888794, + -0.018879786133766174, + 1.0 + ], + [ + -0.010581672191619873, + -0.006626937538385391, + -0.019662074744701385, + 0.003228217363357544, + -0.005286127328872681, + -0.004880562424659729, + 1.0 + ], + [ + 0.004213958978652954, + -0.001401357352733612, + -0.006760217249393463, + 0.021085001528263092, + -0.056886836886405945, + -0.010215029120445251, + 1.0 + ], + [ + 0.0017290115356445312, + -0.0004445984959602356, + -0.01113215833902359, + 0.00026610493659973145, + -0.00781548023223877, + 0.015222221612930298, + 1.0 + ], + [ + 0.0008715391159057617, + -0.002383604645729065, + 0.007633678615093231, + -0.019220910966396332, + 0.039012446999549866, + 0.01028463989496231, + 1.0 + ], + [ + 0.00989985466003418, + 0.004439216107130051, + -0.0024056434631347656, + 0.021393470466136932, + -0.002916380763053894, + 0.015355385839939117, + 1.0 + ], + [ + -0.009966880083084106, + 0.001669175922870636, + -0.013910658657550812, + 0.045343562960624695, + 0.013397738337516785, + -0.03140036761760712, + 1.0 + ], + [ + -0.009358346462249756, + 0.0013930648565292358, + -0.004579171538352966, + 0.014822974801063538, + 0.011034905910491943, + -0.020633649080991745, + 1.0 + ], + [ + -0.01319161057472229, + -0.0008641332387924194, + -0.0009442530572414398, + -0.0004154890775680542, + 0.00888112187385559, + -0.007086895406246185, + 1.0 + ], + [ + -0.01853121817111969, + -0.0034601762890815735, + 0.003728765994310379, + -0.011325046420097351, + 0.011246256530284882, + -0.008373748511075974, + 1.0 + ], + [ + -0.013661995530128479, + -0.003269810229539871, + -0.0019437484443187714, + 0.01625758409500122, + 0.01429169625043869, + -0.03443511202931404, + 1.0 + ], + [ + -0.014782682061195374, + -0.0016691852360963821, + -0.0012248605489730835, + 0.00566469132900238, + 0.01933220773935318, + 0.010471496731042862, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2675122022628784, + 0.023738641291856766, + 0.17309291660785675 + ], + [ + 0.2716413140296936, + 0.028720568865537643, + 0.15542103350162506 + ], + [ + 0.2739769518375397, + 0.0381661057472229, + 0.13601772487163544 + ], + [ + 0.2758999466896057, + 0.04487805441021919, + 0.10946613550186157 + ], + [ + 0.26314109563827515, + 0.042138658463954926, + 0.08357012271881104 + ], + [ + 0.2525594234466553, + 0.035511720925569534, + 0.06390804797410965 + ], + [ + 0.2567733824253082, + 0.03411036357283592, + 0.057147830724716187 + ], + [ + 0.25850239396095276, + 0.03366576507687569, + 0.046015672385692596 + ], + [ + 0.2593739330768585, + 0.03128216043114662, + 0.05364935100078583 + ], + [ + 0.2692737877368927, + 0.03572137653827667, + 0.05124370753765106 + ], + [ + 0.2593069076538086, + 0.03739055246114731, + 0.03733304888010025 + ], + [ + 0.24994856119155884, + 0.038783617317676544, + 0.032753877341747284 + ], + [ + 0.23675695061683655, + 0.037919484078884125, + 0.031809624284505844 + ], + [ + 0.21822573244571686, + 0.03445930778980255, + 0.03553839027881622 + ], + [ + 0.20456373691558838, + 0.03118949756026268, + 0.03359464183449745 + ], + [ + 0.189781054854393, + 0.029520312324166298, + 0.03236978128552437 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9835517330504219, + 0.17563228058839556, + 0.042181636156395516, + 0.17658264068339527, + -0.9840837297143736, + -0.019944521070364665, + 0.038007360113408925, + 0.02706501296446033, + -0.9989108697228412 + ], + [ + 0.9857710165494363, + 0.14241747695257354, + 0.0892903420844268, + 0.14289547401958666, + -0.989737229358861, + 0.0010489641380196776, + 0.08852336660909599, + 0.011725147312865655, + -0.9960050875797186 + ], + [ + 0.9885731590239275, + 0.10837931255877273, + 0.10477134086543036, + 0.10629166737798298, + -0.9940124466882578, + 0.025324637703853282, + 0.10688868370159949, + -0.013898936582021102, + -0.994173842372866 + ], + [ + 0.9879358012243015, + 0.09398009139543337, + 0.12308775357688319, + 0.08667556685972819, + -0.9942157091727349, + 0.06342294335412497, + 0.12833627222590782, + -0.05198909554379405, + -0.9903670709265813 + ], + [ + 0.9897585145446135, + 0.07829777832412688, + 0.11936306294640174, + 0.06803412610201481, + -0.9938150180756506, + 0.0877671210239345, + 0.12549677514572208, + -0.07874749365408848, + -0.9889637969466951 + ], + [ + 0.9894028958660672, + 0.07426493071121125, + 0.12476630041120436, + 0.06315961161597126, + -0.993871105575027, + 0.09072534906845488, + 0.13073933269050889, + -0.08188373202005582, + -0.9880294941539488 + ], + [ + 0.9809723168398216, + 0.07255315783255693, + 0.18008151732600605, + 0.052566148160574075, + -0.9921596868083642, + 0.11338410796883686, + 0.1868959969113119, + -0.10176047936626656, + -0.9770950266876166 + ], + [ + 0.9785713753794831, + 0.08848935181238902, + 0.18592390352972288, + 0.0673896464803045, + -0.9908546906887656, + 0.11690003202450389, + 0.19456797998428732, + -0.10186567898901813, + -0.975585303604426 + ], + [ + 0.9846474935624457, + 0.09186338376298522, + 0.14842652102911932, + 0.0779904214257327, + -0.9922496869310955, + 0.0967370298850411, + 0.15616275992383624, + -0.08367602708516475, + -0.9841806312380937 + ], + [ + 0.9828763023428799, + 0.11051073869868047, + 0.14745016420831694, + 0.09305695183788631, + -0.9883487890820349, + 0.12044531885763153, + 0.15904269240499222, + -0.10466158680407624, + -0.9817083957266658 + ], + [ + 0.9873514265797765, + 0.08420184043282754, + 0.13433990657509243, + 0.0622820361706868, + -0.9851909834974486, + 0.15974878405096865, + 0.14580160630566857, + -0.14936122690663195, + -0.9779739850812148 + ], + [ + 0.9899735189616455, + 0.06408215574796253, + 0.1258805349106451, + 0.0419631462806733, + -0.9843604890159697, + 0.17109506719501702, + 0.13487596564593368, + -0.1640972424476854, + -0.9771799061135785 + ], + [ + 0.9914040814430963, + 0.05559801937144981, + 0.11843482401701932, + 0.03498718018236074, + -0.9849118426625485, + 0.1694832127555722, + 0.126070791703937, + -0.1638826483342133, + -0.9783908385988226 + ], + [ + 0.9930168639583365, + 0.04426954164428419, + 0.10935134007846055, + 0.026720731756956714, + -0.9872340019256188, + 0.15701919607582887, + 0.11490652892121887, + -0.15300076184297845, + -0.9815229271324969 + ], + [ + 0.9948887849103888, + 0.009701443328470765, + 0.10050963962165153, + -0.00749460593781558, + -0.9855341515502001, + 0.1693111544171378, + 0.10069824497659656, + -0.16919904883175757, + -0.9804241660286948 + ], + [ + 0.9966733968611636, + 0.017198312401503064, + 0.07966403228414277, + 0.002928762585059603, + -0.9844076592761497, + 0.1758777493265465, + 0.08144668402672382, + -0.17505935681645665, + -0.9811832954407952 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005923.json b/json/chunk-0005/episode_0005923.json new file mode 100644 index 0000000000000000000000000000000000000000..6fae809a985dc7ecc52db535b348bb9bf69244a4 --- /dev/null +++ b/json/chunk-0005/episode_0005923.json @@ -0,0 +1,1282 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 20, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut pot or pan on stove." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005923.mp4", + "start": 0, + "end": 20, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2920489013195038, + 0.0763382613658905, + 0.08004152774810791, + 0.09382961690425873, + -0.14843623340129852, + 0.07651303708553314, + 0.0, + 1.0014774799346924 + ], + [ + 0.2927859425544739, + 0.07668159902095795, + 0.07169496268033981, + 0.10431623458862305, + -0.131550133228302, + -0.0022936866153031588, + 0.0, + 1.0014774799346924 + ], + [ + 0.3037099838256836, + 0.07595312595367432, + 0.06991519033908844, + 0.11012686043977737, + -0.14657941460609436, + -0.14630472660064697, + 0.0, + 1.0014774799346924 + ], + [ + 0.31806662678718567, + 0.07934770733118057, + 0.06775614619255066, + 0.14560338854789734, + -0.20680229365825653, + -0.23683567345142365, + 0.0, + 1.0014774799346924 + ], + [ + 0.3247658312320709, + 0.08054056763648987, + 0.06181162968277931, + 0.1810770034790039, + -0.25971919298171997, + -0.28284764289855957, + 0.0, + 1.0014774799346924 + ], + [ + 0.3307352364063263, + 0.08072181791067123, + 0.04727282002568245, + 0.15327057242393494, + -0.2848893702030182, + -0.29813045263290405, + 0.0, + 1.0014774799346924 + ], + [ + 0.3322630226612091, + 0.08595961332321167, + 0.03376226872205734, + 0.11609820276498795, + -0.30012914538383484, + -0.2850807309150696, + 0.0, + 1.0014774799346924 + ], + [ + 0.3310333788394928, + 0.08856979012489319, + 0.019102297723293304, + 0.0800839364528656, + -0.2924611270427704, + -0.2790713608264923, + 0.0, + 1.0014774799346924 + ], + [ + 0.3339160084724426, + 0.09124522656202316, + 0.007666924502700567, + 0.05509573593735695, + -0.30074700713157654, + -0.27527788281440735, + 0.0, + 0.8261235952377319 + ], + [ + 0.33717527985572815, + 0.09538349509239197, + 0.008021228946745396, + 0.05535755679011345, + -0.3073531985282898, + -0.2827140688896179, + 0.0, + 0.5227190852165222 + ], + [ + 0.3327193260192871, + 0.09677333384752274, + 0.007916148751974106, + 0.046878520399332047, + -0.2607516050338745, + -0.2634514570236206, + 0.0, + 0.25133779644966125 + ], + [ + 0.3272855579853058, + 0.08607247471809387, + 0.01627310924232006, + 0.04692292958498001, + -0.20252138376235962, + -0.2244863510131836, + 0.0, + 0.10082460194826126 + ], + [ + 0.321012407541275, + 0.06802690774202347, + 0.04175436124205589, + 0.0899401605129242, + -0.18905280530452728, + -0.18171362578868866, + 0.0, + 0.06803370267152786 + ], + [ + 0.3139835596084595, + 0.038882240653038025, + 0.059304799884557724, + 0.13839885592460632, + -0.20661455392837524, + -0.09639688581228256, + 0.0, + 0.06772904843091965 + ], + [ + 0.31171178817749023, + 0.012687760405242443, + 0.0653291568160057, + 0.13830117881298065, + -0.22031447291374207, + -0.019503707066178322, + 0.0, + 0.06772904843091965 + ], + [ + 0.31331631541252136, + -0.010100683197379112, + 0.06940284371376038, + 0.0889906957745552, + -0.22320465743541718, + 0.04504382982850075, + 0.0, + 0.06772904843091965 + ], + [ + 0.31062784790992737, + -0.03191618248820305, + 0.06937531381845474, + 0.04674554243683815, + -0.222798153758049, + 0.11263841390609741, + 0.0, + 0.06772904843091965 + ], + [ + 0.3081742823123932, + -0.053843799978494644, + 0.069598488509655, + 0.028656361624598503, + -0.22585634887218475, + 0.1239963099360466, + 0.0, + 0.06772904843091965 + ], + [ + 0.31546837091445923, + -0.06715916842222214, + 0.07081052660942078, + -0.04081682488322258, + -0.24479669332504272, + 0.151778906583786, + 0.0, + 0.06772904843091965 + ], + [ + 0.3204624652862549, + -0.0689752846956253, + 0.06775180250406265, + -0.07509342581033707, + -0.2767016887664795, + 0.16162525117397308, + 0.0, + 0.17135097086429596 + ] + ], + "left_gripper_pos": [ + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 0.8261235952377319 + ], + [ + 0.5227190852165222 + ], + [ + 0.25133779644966125 + ], + [ + 0.10082460194826126 + ], + [ + 0.06803370267152786 + ], + [ + 0.06772904843091965 + ], + [ + 0.06772904843091965 + ], + [ + 0.06772904843091965 + ], + [ + 0.06772904843091965 + ], + [ + 0.06772904843091965 + ], + [ + 0.06772904843091965 + ], + [ + 0.17135097086429596 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2920489013195038, + 0.0763382613658905, + 0.08004152774810791 + ], + [ + 0.2927859425544739, + 0.07668159902095795, + 0.07169496268033981 + ], + [ + 0.3037099838256836, + 0.07595312595367432, + 0.06991519033908844 + ], + [ + 0.31806662678718567, + 0.07934770733118057, + 0.06775614619255066 + ], + [ + 0.3247658312320709, + 0.08054056763648987, + 0.06181162968277931 + ], + [ + 0.3307352364063263, + 0.08072181791067123, + 0.04727282002568245 + ], + [ + 0.3322630226612091, + 0.08595961332321167, + 0.03376226872205734 + ], + [ + 0.3310333788394928, + 0.08856979012489319, + 0.019102297723293304 + ], + [ + 0.3339160084724426, + 0.09124522656202316, + 0.007666924502700567 + ], + [ + 0.33717527985572815, + 0.09538349509239197, + 0.008021228946745396 + ], + [ + 0.3327193260192871, + 0.09677333384752274, + 0.007916148751974106 + ], + [ + 0.3272855579853058, + 0.08607247471809387, + 0.01627310924232006 + ], + [ + 0.321012407541275, + 0.06802690774202347, + 0.04175436124205589 + ], + [ + 0.3139835596084595, + 0.038882240653038025, + 0.059304799884557724 + ], + [ + 0.31171178817749023, + 0.012687760405242443, + 0.0653291568160057 + ], + [ + 0.31331631541252136, + -0.010100683197379112, + 0.06940284371376038 + ], + [ + 0.31062784790992737, + -0.03191618248820305, + 0.06937531381845474 + ], + [ + 0.3081742823123932, + -0.053843799978494644, + 0.069598488509655 + ], + [ + 0.31546837091445923, + -0.06715916842222214, + 0.07081052660942078 + ], + [ + 0.3204624652862549, + -0.0689752846956253, + 0.06775180250406265 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9861100327946123, + 0.08991790335956365, + 0.13964875179259106, + 0.07559785389952042, + -0.9916292535140037, + 0.10467276656822616, + 0.14789174320290938, + -0.09266171933802961, + -0.9846531562239187 + ], + [ + 0.9913571445151746, + 0.011377213748609524, + 0.13069648436754935, + -0.0022738666009637816, + -0.9945927057938507, + 0.10382764136946976, + 0.1311710392937391, + -0.10322746044044995, + -0.9859707145050584 + ], + [ + 0.9787075634353136, + -0.12901960530887646, + 0.1596416196374026, + -0.14422002730280703, + -0.9856635508557392, + 0.08756682156634983, + 0.1460550889195203, + -0.10872582931574766, + -0.9832835832252635 + ], + [ + 0.951372578861354, + -0.2031853059114453, + 0.23152958267221216, + -0.22962848047419399, + -0.9687890940584625, + 0.09337265225158609, + 0.20533138373324486, + -0.14199796722156025, + -0.968336511838284 + ], + [ + 0.9280593519294627, + -0.23011738932244158, + 0.2928341278397884, + -0.2697311404490136, + -0.9574721088568009, + 0.10243179503154623, + 0.25680917267173337, + -0.1740492685785667, + -0.9506607706952704 + ], + [ + 0.9173581206969159, + -0.24927459418078737, + 0.31034860252210966, + -0.281894049337833, + -0.9572851311786613, + 0.06435000056078169, + 0.28105128240116967, + -0.1465174198525793, + -0.9484423136598246 + ], + [ + 0.9167414743556399, + -0.2464772956825313, + 0.3143787714036587, + -0.2686632500316276, + -0.9628101746881416, + 0.02857666179653813, + 0.2956435814941549, + -0.1106594335337779, + -0.9488674103852933 + ], + [ + 0.9204916828634994, + -0.2524082100614305, + 0.29830380029880277, + -0.26376612573597075, + -0.9645840138554733, + -0.0022607805511211804, + 0.2883097166128109, + -0.0766014080030453, + -0.9544682978489081 + ], + [ + 0.9191550851754472, + -0.255703146996765, + 0.2996161377697599, + -0.25961410689722153, + -0.9653235434117897, + -0.027403868976206825, + 0.2962337673123626, + -0.05259617049612893, + -0.9536661879049019 + ], + [ + 0.9152998621261166, + -0.26246103238618873, + 0.3055165607142886, + -0.2658901400941314, + -0.9635004284648468, + -0.031134510575556065, + 0.3025369329398227, + -0.05273642789222885, + -0.9516776100027428 + ], + [ + 0.9328597289276132, + -0.24846403848543658, + 0.2608416142501187, + -0.25161154240611766, + -0.9675823427821508, + -0.021818379046552164, + 0.2578068227823203, + -0.045277273722167374, + -0.9651350219586756 + ], + [ + 0.9549839231729365, + -0.21316273452587325, + 0.20631857669797585, + -0.2180561373598684, + -0.9759357122956996, + 0.0010032076450370922, + 0.20113982062466065, + -0.04594707907296098, + -0.9784843578125008 + ], + [ + 0.9660114934164759, + -0.16338317720172515, + 0.20031907546397024, + -0.17749538836099074, + -0.9826105091567249, + 0.054515817937027436, + 0.18792866119315385, + -0.08821861879576058, + -0.9782128058862842 + ], + [ + 0.9741871982453975, + -0.06715710328522162, + 0.2155208255670919, + -0.09420057489728173, + -0.9885639314131436, + 0.11776079652418832, + 0.2051476406488858, + -0.13502324609980218, + -0.9693725643677296 + ], + [ + 0.9756431796620215, + 0.010805615040312001, + 0.21909729496865224, + -0.019031071944039406, + -0.9908508133797147, + 0.13361318769275082, + 0.2185365055995012, + -0.13452845166862676, + -0.9665111956992536 + ], + [ + 0.9742039481042063, + 0.06450309171256886, + 0.21625452286067212, + 0.04391157895751521, + -0.9941468215288908, + 0.09871104536707963, + 0.22135591415554032, + -0.08666861256258622, + -0.9713341911334334 + ], + [ + 0.9691026194782054, + 0.12253727911019599, + 0.2140671113196759, + 0.10962218184878303, + -0.9914170003231318, + 0.07124120097945814, + 0.22095947630095644, + -0.045573530679036994, + -0.9742176159022449 + ], + [ + 0.9671199878677108, + 0.12999522722110463, + 0.2185867561552904, + 0.12053770303460665, + -0.9911213091848106, + 0.056117845886386006, + 0.22394104405825208, + -0.02792474493205932, + -0.9742025546089373 + ], + [ + 0.9590330396172495, + 0.14129500808991227, + 0.2455429689715641, + 0.1466891377689549, + -0.9891756347165422, + -0.003722975117573777, + 0.24235908438327505, + 0.03958894254709415, + -0.9693785585852944 + ], + [ + 0.9494245146937031, + 0.14024101986870197, + 0.2809369097231845, + 0.1548012725033583, + -0.9874837078063269, + -0.03020749655979323, + 0.2731842911478759, + 0.07216912887970345, + -0.9592507283848042 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + 0.0007370412349700928, + 0.00034333765506744385, + -0.008346565067768097, + 0.010486617684364319, + 0.01688610017299652, + -0.07880672067403793, + 1.0 + ], + [ + 0.010924041271209717, + -0.0007284730672836304, + -0.0017797723412513733, + 0.005810625851154327, + -0.015029281377792358, + -0.14401103556156158, + 1.0 + ], + [ + 0.014356642961502075, + 0.003394581377506256, + -0.0021590441465377808, + 0.035476528108119965, + -0.06022287905216217, + -0.09053094685077667, + 1.0 + ], + [ + 0.006699204444885254, + 0.0011928603053092957, + -0.005944516509771347, + 0.03547361493110657, + -0.05291689932346344, + -0.046011969447135925, + 1.0 + ], + [ + 0.005969405174255371, + 0.00018125027418136597, + -0.014538809657096863, + -0.02780643105506897, + -0.025170177221298218, + -0.015282809734344482, + 1.0 + ], + [ + 0.0015277862548828125, + 0.005237795412540436, + -0.013510551303625107, + -0.03717236965894699, + -0.01523977518081665, + 0.013049721717834473, + 1.0 + ], + [ + -0.0012296438217163086, + 0.0026101768016815186, + -0.014659970998764038, + -0.036014266312122345, + 0.007668018341064453, + 0.0060093700885772705, + 1.0 + ], + [ + 0.002882629632949829, + 0.0026754364371299744, + -0.01143537275493145, + -0.02498820051550865, + -0.008285880088806152, + 0.003793478012084961, + 0.0 + ], + [ + 0.0032592713832855225, + 0.004138268530368805, + 0.0003543044440448284, + 0.00026182085275650024, + -0.006606191396713257, + -0.007436186075210571, + 0.0 + ], + [ + -0.00445595383644104, + 0.0013898387551307678, + -0.00010508019477128983, + -0.008479036390781403, + 0.04660159349441528, + 0.019262611865997314, + 0.0 + ], + [ + -0.005433768033981323, + -0.010700859129428864, + 0.008356960490345955, + 4.440918564796448e-05, + 0.05823022127151489, + 0.03896510601043701, + 0.0 + ], + [ + -0.006273150444030762, + -0.018045566976070404, + 0.025481251999735832, + 0.04301723092794418, + 0.013468578457832336, + 0.042772725224494934, + 0.0 + ], + [ + -0.007028847932815552, + -0.029144667088985443, + 0.01755043864250183, + 0.04845869541168213, + -0.01756174862384796, + 0.0853167399764061, + 0.0 + ], + [ + -0.0022717714309692383, + -0.026194479316473007, + 0.006024356931447983, + -9.767711162567139e-05, + -0.013699918985366821, + 0.07689318060874939, + 0.0 + ], + [ + 0.001604527235031128, + -0.02278844267129898, + 0.004073686897754669, + -0.049310483038425446, + -0.00289018452167511, + 0.06454753875732422, + 0.0 + ], + [ + -0.002688467502593994, + -0.021815499290823936, + -2.7529895305633545e-05, + -0.042245153337717056, + 0.00040650367736816406, + 0.06759458780288696, + 0.0 + ], + [ + -0.0024535655975341797, + -0.021927617490291595, + 0.00022317469120025635, + -0.018089180812239647, + -0.003058195114135742, + 0.011357896029949188, + 0.0 + ], + [ + 0.00729408860206604, + -0.013315368443727493, + 0.0012120380997657776, + -0.06947318464517593, + -0.01894034445285797, + 0.02778259664773941, + 0.0 + ], + [ + 0.004994094371795654, + -0.0018161162734031677, + -0.0030587241053581238, + -0.03427660092711449, + -0.03190499544143677, + 0.009846344590187073, + 1.0 + ], + [ + -0.0019240081310272217, + 0.0009727105498313904, + -0.00898110494017601, + -0.020077355206012726, + -0.02724471688270569, + -0.021419063210487366, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 0.8261235952377319 + ], + [ + 0.5227190852165222 + ], + [ + 0.25133779644966125 + ], + [ + 0.10082460194826126 + ], + [ + 0.06803370267152786 + ], + [ + 0.06772904843091965 + ], + [ + 0.06772904843091965 + ], + [ + 0.06772904843091965 + ], + [ + 0.06772904843091965 + ], + [ + 0.06772904843091965 + ], + [ + 0.06772904843091965 + ], + [ + 0.17135097086429596 + ], + [ + 0.4166308641433716 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2927859425544739, + 0.07668159902095795, + 0.07169496268033981 + ], + [ + 0.3037099838256836, + 0.07595312595367432, + 0.06991519033908844 + ], + [ + 0.31806662678718567, + 0.07934770733118057, + 0.06775614619255066 + ], + [ + 0.3247658312320709, + 0.08054056763648987, + 0.06181162968277931 + ], + [ + 0.3307352364063263, + 0.08072181791067123, + 0.04727282002568245 + ], + [ + 0.3322630226612091, + 0.08595961332321167, + 0.03376226872205734 + ], + [ + 0.3310333788394928, + 0.08856979012489319, + 0.019102297723293304 + ], + [ + 0.3339160084724426, + 0.09124522656202316, + 0.007666924502700567 + ], + [ + 0.33717527985572815, + 0.09538349509239197, + 0.008021228946745396 + ], + [ + 0.3327193260192871, + 0.09677333384752274, + 0.007916148751974106 + ], + [ + 0.3272855579853058, + 0.08607247471809387, + 0.01627310924232006 + ], + [ + 0.321012407541275, + 0.06802690774202347, + 0.04175436124205589 + ], + [ + 0.3139835596084595, + 0.038882240653038025, + 0.059304799884557724 + ], + [ + 0.31171178817749023, + 0.012687760405242443, + 0.0653291568160057 + ], + [ + 0.31331631541252136, + -0.010100683197379112, + 0.06940284371376038 + ], + [ + 0.31062784790992737, + -0.03191618248820305, + 0.06937531381845474 + ], + [ + 0.3081742823123932, + -0.053843799978494644, + 0.069598488509655 + ], + [ + 0.31546837091445923, + -0.06715916842222214, + 0.07081052660942078 + ], + [ + 0.3204624652862549, + -0.0689752846956253, + 0.06775180250406265 + ], + [ + 0.31853845715522766, + -0.06800257414579391, + 0.05877069756388664 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9913571445151746, + 0.011377213748609524, + 0.13069648436754935, + -0.0022738666009637816, + -0.9945927057938507, + 0.10382764136946976, + 0.1311710392937391, + -0.10322746044044995, + -0.9859707145050584 + ], + [ + 0.9787075634353136, + -0.12901960530887646, + 0.1596416196374026, + -0.14422002730280703, + -0.9856635508557392, + 0.08756682156634983, + 0.1460550889195203, + -0.10872582931574766, + -0.9832835832252635 + ], + [ + 0.951372578861354, + -0.2031853059114453, + 0.23152958267221216, + -0.22962848047419399, + -0.9687890940584625, + 0.09337265225158609, + 0.20533138373324486, + -0.14199796722156025, + -0.968336511838284 + ], + [ + 0.9280593519294627, + -0.23011738932244158, + 0.2928341278397884, + -0.2697311404490136, + -0.9574721088568009, + 0.10243179503154623, + 0.25680917267173337, + -0.1740492685785667, + -0.9506607706952704 + ], + [ + 0.9173581206969159, + -0.24927459418078737, + 0.31034860252210966, + -0.281894049337833, + -0.9572851311786613, + 0.06435000056078169, + 0.28105128240116967, + -0.1465174198525793, + -0.9484423136598246 + ], + [ + 0.9167414743556399, + -0.2464772956825313, + 0.3143787714036587, + -0.2686632500316276, + -0.9628101746881416, + 0.02857666179653813, + 0.2956435814941549, + -0.1106594335337779, + -0.9488674103852933 + ], + [ + 0.9204916828634994, + -0.2524082100614305, + 0.29830380029880277, + -0.26376612573597075, + -0.9645840138554733, + -0.0022607805511211804, + 0.2883097166128109, + -0.0766014080030453, + -0.9544682978489081 + ], + [ + 0.9191550851754472, + -0.255703146996765, + 0.2996161377697599, + -0.25961410689722153, + -0.9653235434117897, + -0.027403868976206825, + 0.2962337673123626, + -0.05259617049612893, + -0.9536661879049019 + ], + [ + 0.9152998621261166, + -0.26246103238618873, + 0.3055165607142886, + -0.2658901400941314, + -0.9635004284648468, + -0.031134510575556065, + 0.3025369329398227, + -0.05273642789222885, + -0.9516776100027428 + ], + [ + 0.9328597289276132, + -0.24846403848543658, + 0.2608416142501187, + -0.25161154240611766, + -0.9675823427821508, + -0.021818379046552164, + 0.2578068227823203, + -0.045277273722167374, + -0.9651350219586756 + ], + [ + 0.9549839231729365, + -0.21316273452587325, + 0.20631857669797585, + -0.2180561373598684, + -0.9759357122956996, + 0.0010032076450370922, + 0.20113982062466065, + -0.04594707907296098, + -0.9784843578125008 + ], + [ + 0.9660114934164759, + -0.16338317720172515, + 0.20031907546397024, + -0.17749538836099074, + -0.9826105091567249, + 0.054515817937027436, + 0.18792866119315385, + -0.08821861879576058, + -0.9782128058862842 + ], + [ + 0.9741871982453975, + -0.06715710328522162, + 0.2155208255670919, + -0.09420057489728173, + -0.9885639314131436, + 0.11776079652418832, + 0.2051476406488858, + -0.13502324609980218, + -0.9693725643677296 + ], + [ + 0.9756431796620215, + 0.010805615040312001, + 0.21909729496865224, + -0.019031071944039406, + -0.9908508133797147, + 0.13361318769275082, + 0.2185365055995012, + -0.13452845166862676, + -0.9665111956992536 + ], + [ + 0.9742039481042063, + 0.06450309171256886, + 0.21625452286067212, + 0.04391157895751521, + -0.9941468215288908, + 0.09871104536707963, + 0.22135591415554032, + -0.08666861256258622, + -0.9713341911334334 + ], + [ + 0.9691026194782054, + 0.12253727911019599, + 0.2140671113196759, + 0.10962218184878303, + -0.9914170003231318, + 0.07124120097945814, + 0.22095947630095644, + -0.045573530679036994, + -0.9742176159022449 + ], + [ + 0.9671199878677108, + 0.12999522722110463, + 0.2185867561552904, + 0.12053770303460665, + -0.9911213091848106, + 0.056117845886386006, + 0.22394104405825208, + -0.02792474493205932, + -0.9742025546089373 + ], + [ + 0.9590330396172495, + 0.14129500808991227, + 0.2455429689715641, + 0.1466891377689549, + -0.9891756347165422, + -0.003722975117573777, + 0.24235908438327505, + 0.03958894254709415, + -0.9693785585852944 + ], + [ + 0.9494245146937031, + 0.14024101986870197, + 0.2809369097231845, + 0.1548012725033583, + -0.9874837078063269, + -0.03020749655979323, + 0.2731842911478759, + 0.07216912887970345, + -0.9592507283848042 + ], + [ + 0.9447998043767478, + 0.11095346373711402, + 0.3082898936624355, + 0.13334165960588706, + -0.9896807698521832, + -0.05245927561773431, + 0.2992880409625593, + 0.09067139940205288, + -0.9498449167455004 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005925.json b/json/chunk-0005/episode_0005925.json new file mode 100644 index 0000000000000000000000000000000000000000..e91465f79eec7e14e5516ce474b707660c4926fd --- /dev/null +++ b/json/chunk-0005/episode_0005925.json @@ -0,0 +1,1582 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 25, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the pot behind the red tomato." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005925.mp4", + "start": 0, + "end": 25, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3086191415786743, + -0.008567574433982372, + 0.09693029522895813, + -0.029987767338752747, + -0.14570146799087524, + -0.10991211980581284, + 0.0, + 1.0014774799346924 + ], + [ + 0.30840063095092773, + -0.008545237593352795, + 0.08765269070863724, + -0.03319215029478073, + -0.11959821730852127, + -0.10470603406429291, + 0.0, + 1.0014774799346924 + ], + [ + 0.32646676898002625, + -0.008459864184260368, + 0.07794862240552902, + -0.032664138823747635, + -0.13428805768489838, + -0.08939994871616364, + 0.0, + 1.0014774799346924 + ], + [ + 0.34712687134742737, + -0.005109913647174835, + 0.06462378799915314, + -0.013408386148512363, + -0.13783232867717743, + -0.06847503781318665, + 0.0, + 1.0014774799346924 + ], + [ + 0.36017927527427673, + -0.002823115326464176, + 0.05037356913089752, + -0.0007305752369575202, + -0.12142423540353775, + -0.059289395809173584, + 0.0, + 1.0014774799346924 + ], + [ + 0.3619750738143921, + -0.0010877540335059166, + 0.036978404968976974, + 0.009803039021790028, + -0.09775856137275696, + -0.0675366148352623, + 0.0, + 1.0014774799346924 + ], + [ + 0.3603499233722687, + -0.001248834771104157, + 0.030008768662810326, + 0.011209797114133835, + -0.07922366261482239, + -0.07085420936346054, + 0.0, + 0.939095675945282 + ], + [ + 0.36120185256004333, + -0.0007034107693471014, + 0.03062255121767521, + 0.01237573754042387, + -0.0852375477552414, + -0.07861775904893875, + 0.0, + 0.6460646390914917 + ], + [ + 0.35910239815711975, + -0.001070458791218698, + 0.030218496918678284, + 0.00980878435075283, + -0.06998050957918167, + -0.09195995330810547, + 0.0, + 0.3445223569869995 + ], + [ + 0.3570038974285126, + -0.001446434180252254, + 0.030933765694499016, + 0.007112791296094656, + -0.056324418634176254, + -0.10844816267490387, + 0.0, + 0.15014003217220306 + ], + [ + 0.3563312292098999, + 0.0009408945916220546, + 0.04196731373667717, + 0.011909574270248413, + -0.07891612499952316, + -0.11721672862768173, + 0.0, + 0.08432227373123169 + ], + [ + 0.34988629817962646, + 0.004231235012412071, + 0.07540155947208405, + 0.03329283371567726, + -0.13197295367717743, + -0.12115100771188736, + 0.0, + 0.06591799855232239 + ], + [ + 0.3449123799800873, + -0.010956279002130032, + 0.09369022399187088, + 0.03637023642659187, + -0.14666086435317993, + -0.18687310814857483, + 0.0, + 0.059241458773612976 + ], + [ + 0.3428262174129486, + -0.03931637480854988, + 0.0936749055981636, + 0.026720723137259483, + -0.14805379509925842, + -0.2609904408454895, + 0.0, + 0.05896064639091492 + ], + [ + 0.3432736098766327, + -0.06908214092254639, + 0.08420568704605103, + 0.02083069644868374, + -0.13038882613182068, + -0.32025882601737976, + 0.0, + 0.05896064639091492 + ], + [ + 0.34699270129203796, + -0.09481358528137207, + 0.06780348718166351, + 0.015026052482426167, + -0.10485328733921051, + -0.37426793575286865, + 0.0, + 0.05896064639091492 + ], + [ + 0.35406219959259033, + -0.11115820705890656, + 0.05793451890349388, + 0.025517167523503304, + -0.09638068079948425, + -0.40072983503341675, + 0.0, + 0.05896064639091492 + ], + [ + 0.3537622094154358, + -0.116679847240448, + 0.04827634245157242, + 0.02281993068754673, + -0.0749376192688942, + -0.42123836278915405, + 0.0, + 0.07854863256216049 + ], + [ + 0.3476482331752777, + -0.11876064538955688, + 0.042912669479846954, + -0.016360817477107048, + -0.029937734827399254, + -0.4425012171268463, + 0.0, + 0.22939643263816833 + ], + [ + 0.34895753860473633, + -0.11581055074930191, + 0.04823211953043938, + -0.060338396579027176, + -0.02353673428297043, + -0.481246680021286, + 0.0, + 0.4860933721065521 + ], + [ + 0.34542128443717957, + -0.11705868691205978, + 0.0720420703291893, + -0.07898145914077759, + -0.0683169737458229, + -0.5040833353996277, + 0.0, + 0.7979477047920227 + ], + [ + 0.335039883852005, + -0.09096772223711014, + 0.10602054744958878, + -0.05337408185005188, + -0.11557353287935257, + -0.4136078953742981, + 0.0, + 1.0047606229782104 + ], + [ + 0.3193108141422272, + -0.04772992059588432, + 0.12132662534713745, + 0.014541592448949814, + -0.08031657338142395, + -0.24404409527778625, + 0.0, + 1.0054124593734741 + ], + [ + 0.31076598167419434, + -0.0187532939016819, + 0.11217352747917175, + 0.017359036952257156, + -0.04181157425045967, + -0.14243130385875702, + 0.0, + 1.0001531839370728 + ], + [ + 0.3069016635417938, + -0.007039790507405996, + 0.10775034129619598, + -6.098858648329042e-05, + -0.03386709839105606, + -0.10315721482038498, + 0.0, + 1.0001531839370728 + ] + ], + "left_gripper_pos": [ + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 0.939095675945282 + ], + [ + 0.6460646390914917 + ], + [ + 0.3445223569869995 + ], + [ + 0.15014003217220306 + ], + [ + 0.08432227373123169 + ], + [ + 0.06591799855232239 + ], + [ + 0.059241458773612976 + ], + [ + 0.05896064639091492 + ], + [ + 0.05896064639091492 + ], + [ + 0.05896064639091492 + ], + [ + 0.05896064639091492 + ], + [ + 0.07854863256216049 + ], + [ + 0.22939643263816833 + ], + [ + 0.4860933721065521 + ], + [ + 0.7979477047920227 + ], + [ + 1.0047606229782104 + ], + [ + 1.0054124593734741 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3086191415786743, + -0.008567574433982372, + 0.09693029522895813 + ], + [ + 0.30840063095092773, + -0.008545237593352795, + 0.08765269070863724 + ], + [ + 0.32646676898002625, + -0.008459864184260368, + 0.07794862240552902 + ], + [ + 0.34712687134742737, + -0.005109913647174835, + 0.06462378799915314 + ], + [ + 0.36017927527427673, + -0.002823115326464176, + 0.05037356913089752 + ], + [ + 0.3619750738143921, + -0.0010877540335059166, + 0.036978404968976974 + ], + [ + 0.3603499233722687, + -0.001248834771104157, + 0.030008768662810326 + ], + [ + 0.36120185256004333, + -0.0007034107693471014, + 0.03062255121767521 + ], + [ + 0.35910239815711975, + -0.001070458791218698, + 0.030218496918678284 + ], + [ + 0.3570038974285126, + -0.001446434180252254, + 0.030933765694499016 + ], + [ + 0.3563312292098999, + 0.0009408945916220546, + 0.04196731373667717 + ], + [ + 0.34988629817962646, + 0.004231235012412071, + 0.07540155947208405 + ], + [ + 0.3449123799800873, + -0.010956279002130032, + 0.09369022399187088 + ], + [ + 0.3428262174129486, + -0.03931637480854988, + 0.0936749055981636 + ], + [ + 0.3432736098766327, + -0.06908214092254639, + 0.08420568704605103 + ], + [ + 0.34699270129203796, + -0.09481358528137207, + 0.06780348718166351 + ], + [ + 0.35406219959259033, + -0.11115820705890656, + 0.05793451890349388 + ], + [ + 0.3537622094154358, + -0.116679847240448, + 0.04827634245157242 + ], + [ + 0.3476482331752777, + -0.11876064538955688, + 0.042912669479846954 + ], + [ + 0.34895753860473633, + -0.11581055074930191, + 0.04823211953043938 + ], + [ + 0.34542128443717957, + -0.11705868691205978, + 0.0720420703291893 + ], + [ + 0.335039883852005, + -0.09096772223711014, + 0.10602054744958878 + ], + [ + 0.3193108141422272, + -0.04772992059588432, + 0.12132662534713745 + ], + [ + 0.31076598167419434, + -0.0187532939016819, + 0.11217352747917175 + ], + [ + 0.3069016635417938, + -0.007039790507405996, + 0.10775034129619598 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9834339842358168, + -0.11396853273674162, + 0.14095663232321426, + -0.10852869956158265, + -0.9930413520805624, + -0.045720831460948505, + 0.14518650082407553, + 0.029665579445596276, + -0.9889594700363701 + ], + [ + 0.9874191052788286, + -0.10839510258264663, + 0.11512607118483495, + -0.10376823186641014, + -0.9935617068764984, + -0.045467446420253785, + 0.11931330431128423, + 0.032948996415023274, + -0.9923097797812769 + ], + [ + 0.9870393400629404, + -0.09358827862950149, + 0.13036324355922502, + -0.08847710542740674, + -0.9950848134204943, + -0.04447489083839774, + 0.13388481236982253, + 0.032364304458255166, + -0.9904682775402908 + ], + [ + 0.9881948790642472, + -0.07025327913664757, + 0.1361446207594904, + -0.06777263964989179, + -0.9974407734070789, + -0.022776585783947555, + 0.13739632566441906, + 0.013280825111260393, + -0.9904271146219091 + ], + [ + 0.9908929665075652, + -0.059342986316023985, + 0.12086992554367533, + -0.05881838154714242, + -0.9982373886334835, + -0.007906574882874572, + 0.1211260786041231, + 0.0007251960424031973, + -0.9926368657130804 + ], + [ + 0.9929565903632969, + -0.06652743389062557, + 0.09803728981374157, + -0.06716307246470499, + -0.9977368989324097, + 0.0031940892032792235, + 0.09760292696018855, + -0.009756077524607968, + -0.9951776161068622 + ], + [ + 0.9943622071128263, + -0.06990558314784669, + 0.07973086297330609, + -0.07057288701942517, + -0.9974910236003826, + 0.005579019125648021, + 0.07914081553441352, + -0.011174402955880437, + -0.9968008146240288 + ], + [ + 0.9932919084233534, + -0.077480464231467, + 0.08583683546804995, + -0.0782516684438032, + -0.996917617769627, + 0.005651527783995183, + 0.08513437053537078, + -0.012330492407383311, + -0.9962931786931685 + ], + [ + 0.993337367801422, + -0.0911430239621268, + 0.07052533525182117, + -0.0916056287218608, + -0.9957897420700552, + 0.0033463972456674296, + 0.06992340463546651, + -0.009784619108192304, + -0.9975043752851878 + ], + [ + 0.9925487745371886, + -0.10783491682283816, + 0.05673236182759365, + -0.10806407082677538, + -0.9941434504607777, + 0.00097800934812407, + 0.05629464238336634, + -0.007101451946673788, + -0.9983889435581597 + ], + [ + 0.9900470762481619, + -0.11600777999921986, + 0.07968049819195709, + -0.11658451701208412, + -0.9931773483041081, + 0.0026086794894992988, + 0.07883423878953193, + -0.011872227898438888, + -0.9968170408852379 + ], + [ + 0.9840381289980942, + -0.1164397906464914, + 0.13457613396190046, + -0.11980392868538, + -0.9926494638116775, + 0.01714819716289458, + 0.13159019473151676, + -0.03299722940779087, + -0.9907548654949574 + ], + [ + 0.9720414379452263, + -0.18044318670228626, + 0.1502521190868885, + -0.18379284644616295, + -0.9829274042799222, + 0.008596947757867159, + 0.14613566475229045, + -0.035971854112044274, + -0.9886103343578541 + ], + [ + 0.9555654064490948, + -0.2541377350045846, + 0.14936119189573882, + -0.2552146575852804, + -0.9668069701654725, + -0.012237687407644046, + 0.1475134995564958, + -0.026425254704517988, + -0.9887069704226814 + ], + [ + 0.9410969928294178, + -0.31217343491245264, + 0.12993920356223204, + -0.31213992603286567, + -0.9498006242103734, + -0.021152797114850255, + 0.13001967798615582, + -0.020652379633968224, + -0.991296304114885 + ], + [ + 0.9256636220138664, + -0.36408624345488355, + 0.10289832946690942, + -0.363583386442024, + -0.9312453570858158, + -0.024273566063949367, + 0.10466126305142327, + -0.014942966004857786, + -0.9943956595759347 + ], + [ + 0.9165031920092812, + -0.3877026958911313, + 0.09853181534685732, + -0.38828004211314265, + -0.9214345682234157, + -0.01403372293951784, + 0.0962315329474411, + -0.025395985542520188, + -0.9950349420924419 + ], + [ + 0.9100221111362142, + -0.40722542834727643, + 0.0776350935503104, + -0.40774331928737234, + -0.9130441993819277, + -0.009781388016585797, + 0.07486750175946927, + -0.022753911364693354, + -0.9969338577347567 + ], + [ + 0.9032785261188649, + -0.4285863458864779, + 0.02004116693726333, + -0.4280092335678769, + -0.9033528277868614, + -0.0276000817049447, + 0.029933262989015864, + 0.01635275662257875, + -0.9994181242691534 + ], + [ + 0.8861730259779836, + -0.46330023782672386, + -0.007089263623593033, + -0.46275640725755224, + -0.8841485156525524, + -0.06432658712749136, + 0.023534561204878804, + 0.060285088530161, + -0.9979037190680292 + ], + [ + 0.8735750453089042, + -0.48621532284827645, + 0.021477896570468686, + -0.48187829141924193, + -0.8702864804481588, + -0.10195466741659315, + 0.06826384454759028, + 0.07871532110524798, + -0.9945571606252099 + ], + [ + 0.909568062742364, + -0.4069764813996115, + 0.08400049301459182, + -0.3992343470785161, + -0.911900160150557, + -0.09513166681068505, + 0.11531641406102484, + 0.05299284390349282, + -0.9919142519104794 + ], + [ + 0.9672406205108555, + -0.2404712428989427, + 0.08135824096188961, + -0.2408499302115962, + -0.9705480407316903, + -0.005273684570241458, + 0.08023025084620165, + -0.014494204721710466, + -0.9966709712230213 + ], + [ + 0.989008671661476, + -0.14121061539123622, + 0.043833885057463204, + -0.14182615465104706, + -0.9898276529992232, + 0.011249853996681543, + 0.04179939276233356, + -0.017342994518759557, + -0.9989754908434052 + ], + [ + 0.9941136241720726, + -0.10297640969720924, + 0.03367434158731433, + -0.10291530661806166, + -0.9946837966562686, + -0.003547440370299781, + 0.03386062461291832, + 6.0953613433234856e-05, + -0.9994265627776158 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.00021851062774658203, + 2.2336840629577637e-05, + -0.009277604520320892, + -0.0032043829560279846, + 0.026103250682353973, + 0.005206085741519928, + 1.0 + ], + [ + 0.01806613802909851, + 8.53734090924263e-05, + -0.009704068303108215, + 0.0005280114710330963, + -0.014689840376377106, + 0.015306085348129272, + 1.0 + ], + [ + 0.020660102367401123, + 0.003349950537085533, + -0.013324834406375885, + 0.019255753606557846, + -0.0035442709922790527, + 0.02092491090297699, + 1.0 + ], + [ + 0.013052403926849365, + 0.002286798320710659, + -0.014250218868255615, + 0.012677811086177826, + 0.01640809327363968, + 0.009185642004013062, + 1.0 + ], + [ + 0.0017957985401153564, + 0.0017353612929582596, + -0.013395164161920547, + 0.010533614084124565, + 0.023665674030780792, + -0.008247219026088715, + 1.0 + ], + [ + -0.001625150442123413, + -0.00016108073759824038, + -0.006969636306166649, + 0.0014067580923438072, + 0.01853489875793457, + -0.003317594528198242, + 0.0 + ], + [ + 0.0008519291877746582, + 0.0005454240017570555, + 0.0006137825548648834, + 0.0011659404262900352, + -0.006013885140419006, + -0.0077635496854782104, + 0.0 + ], + [ + -0.002099454402923584, + -0.0003670480218715966, + -0.00040405429899692535, + -0.0025669531896710396, + 0.015257038176059723, + -0.013342194259166718, + 0.0 + ], + [ + -0.0020985007286071777, + -0.000375975389033556, + 0.0007152687758207321, + -0.0026959930546581745, + 0.013656090945005417, + -0.0164882093667984, + 0.0 + ], + [ + -0.0006726682186126709, + 0.0023873287718743086, + 0.011033548042178154, + 0.004796782974153757, + -0.02259170636534691, + -0.008768565952777863, + 0.0 + ], + [ + -0.0064449310302734375, + 0.003290340304374695, + 0.033434245735406876, + 0.02138325944542885, + -0.053056828677654266, + -0.0039342790842056274, + 0.0 + ], + [ + -0.004973918199539185, + -0.015187514014542103, + 0.018288664519786835, + 0.003077402710914612, + -0.014687910676002502, + -0.06572210043668747, + 0.0 + ], + [ + -0.002086162567138672, + -0.028360094875097275, + -1.531839370727539e-05, + -0.00964951328933239, + -0.0013929307460784912, + -0.07411733269691467, + 0.0 + ], + [ + 0.00044739246368408203, + -0.029765766113996506, + -0.00946921855211258, + -0.005890026688575745, + 0.017664968967437744, + -0.05926838517189026, + 0.0 + ], + [ + 0.0037190914154052734, + -0.025731444358825684, + -0.016402199864387512, + -0.005804643966257572, + 0.02553553879261017, + -0.05400910973548889, + 0.0 + ], + [ + 0.007069498300552368, + -0.016344621777534485, + -0.009868968278169632, + 0.010491115041077137, + 0.008472606539726257, + -0.026461899280548096, + 0.0 + ], + [ + -0.000299990177154541, + -0.005521640181541443, + -0.009658176451921463, + -0.0026972368359565735, + 0.021443061530590057, + -0.020508527755737305, + 1.0 + ], + [ + -0.006113976240158081, + -0.0020807981491088867, + -0.005363672971725464, + -0.03918074816465378, + 0.04499988257884979, + -0.02126285433769226, + 1.0 + ], + [ + 0.0013093054294586182, + 0.0029500946402549744, + 0.0053194500505924225, + -0.04397758096456528, + 0.006401000544428825, + -0.0387454628944397, + 1.0 + ], + [ + -0.0035362541675567627, + -0.0012481361627578735, + 0.023809950798749924, + -0.018643062561750412, + -0.04478023946285248, + -0.022836655378341675, + 1.0 + ], + [ + -0.01038140058517456, + 0.026090964674949646, + 0.033978477120399475, + 0.025607377290725708, + -0.04725655913352966, + 0.09047544002532959, + 1.0 + ], + [ + -0.015729069709777832, + 0.043237801641225815, + 0.015306077897548676, + 0.06791567802429199, + 0.03525695949792862, + 0.16956380009651184, + 1.0 + ], + [ + -0.008544832468032837, + 0.028976626694202423, + -0.009153097867965698, + 0.0028174445033073425, + 0.03850499913096428, + 0.10161279141902924, + 1.0 + ], + [ + -0.0038643181324005127, + 0.011713502928614616, + -0.004423186182975769, + -0.017420025542378426, + 0.00794447585940361, + 0.03927408903837204, + 1.0 + ], + [ + -0.0015290379524230957, + 0.009378249756991863, + 0.0017625316977500916, + -0.02494737319648266, + -0.012065980583429337, + 0.023841314017772675, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 0.939095675945282 + ], + [ + 0.6460646390914917 + ], + [ + 0.3445223569869995 + ], + [ + 0.15014003217220306 + ], + [ + 0.08432227373123169 + ], + [ + 0.06591799855232239 + ], + [ + 0.059241458773612976 + ], + [ + 0.05896064639091492 + ], + [ + 0.05896064639091492 + ], + [ + 0.05896064639091492 + ], + [ + 0.05896064639091492 + ], + [ + 0.07854863256216049 + ], + [ + 0.22939643263816833 + ], + [ + 0.4860933721065521 + ], + [ + 0.7979477047920227 + ], + [ + 1.0047606229782104 + ], + [ + 1.0054124593734741 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.30840063095092773, + -0.008545237593352795, + 0.08765269070863724 + ], + [ + 0.32646676898002625, + -0.008459864184260368, + 0.07794862240552902 + ], + [ + 0.34712687134742737, + -0.005109913647174835, + 0.06462378799915314 + ], + [ + 0.36017927527427673, + -0.002823115326464176, + 0.05037356913089752 + ], + [ + 0.3619750738143921, + -0.0010877540335059166, + 0.036978404968976974 + ], + [ + 0.3603499233722687, + -0.001248834771104157, + 0.030008768662810326 + ], + [ + 0.36120185256004333, + -0.0007034107693471014, + 0.03062255121767521 + ], + [ + 0.35910239815711975, + -0.001070458791218698, + 0.030218496918678284 + ], + [ + 0.3570038974285126, + -0.001446434180252254, + 0.030933765694499016 + ], + [ + 0.3563312292098999, + 0.0009408945916220546, + 0.04196731373667717 + ], + [ + 0.34988629817962646, + 0.004231235012412071, + 0.07540155947208405 + ], + [ + 0.3449123799800873, + -0.010956279002130032, + 0.09369022399187088 + ], + [ + 0.3428262174129486, + -0.03931637480854988, + 0.0936749055981636 + ], + [ + 0.3432736098766327, + -0.06908214092254639, + 0.08420568704605103 + ], + [ + 0.34699270129203796, + -0.09481358528137207, + 0.06780348718166351 + ], + [ + 0.35406219959259033, + -0.11115820705890656, + 0.05793451890349388 + ], + [ + 0.3537622094154358, + -0.116679847240448, + 0.04827634245157242 + ], + [ + 0.3476482331752777, + -0.11876064538955688, + 0.042912669479846954 + ], + [ + 0.34895753860473633, + -0.11581055074930191, + 0.04823211953043938 + ], + [ + 0.34542128443717957, + -0.11705868691205978, + 0.0720420703291893 + ], + [ + 0.335039883852005, + -0.09096772223711014, + 0.10602054744958878 + ], + [ + 0.3193108141422272, + -0.04772992059588432, + 0.12132662534713745 + ], + [ + 0.31076598167419434, + -0.0187532939016819, + 0.11217352747917175 + ], + [ + 0.3069016635417938, + -0.007039790507405996, + 0.10775034129619598 + ], + [ + 0.3053726255893707, + 0.0023384594824165106, + 0.10951287299394608 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9874191052788286, + -0.10839510258264663, + 0.11512607118483495, + -0.10376823186641014, + -0.9935617068764984, + -0.045467446420253785, + 0.11931330431128423, + 0.032948996415023274, + -0.9923097797812769 + ], + [ + 0.9870393400629404, + -0.09358827862950149, + 0.13036324355922502, + -0.08847710542740674, + -0.9950848134204943, + -0.04447489083839774, + 0.13388481236982253, + 0.032364304458255166, + -0.9904682775402908 + ], + [ + 0.9881948790642472, + -0.07025327913664757, + 0.1361446207594904, + -0.06777263964989179, + -0.9974407734070789, + -0.022776585783947555, + 0.13739632566441906, + 0.013280825111260393, + -0.9904271146219091 + ], + [ + 0.9908929665075652, + -0.059342986316023985, + 0.12086992554367533, + -0.05881838154714242, + -0.9982373886334835, + -0.007906574882874572, + 0.1211260786041231, + 0.0007251960424031973, + -0.9926368657130804 + ], + [ + 0.9929565903632969, + -0.06652743389062557, + 0.09803728981374157, + -0.06716307246470499, + -0.9977368989324097, + 0.0031940892032792235, + 0.09760292696018855, + -0.009756077524607968, + -0.9951776161068622 + ], + [ + 0.9943622071128263, + -0.06990558314784669, + 0.07973086297330609, + -0.07057288701942517, + -0.9974910236003826, + 0.005579019125648021, + 0.07914081553441352, + -0.011174402955880437, + -0.9968008146240288 + ], + [ + 0.9932919084233534, + -0.077480464231467, + 0.08583683546804995, + -0.0782516684438032, + -0.996917617769627, + 0.005651527783995183, + 0.08513437053537078, + -0.012330492407383311, + -0.9962931786931685 + ], + [ + 0.993337367801422, + -0.0911430239621268, + 0.07052533525182117, + -0.0916056287218608, + -0.9957897420700552, + 0.0033463972456674296, + 0.06992340463546651, + -0.009784619108192304, + -0.9975043752851878 + ], + [ + 0.9925487745371886, + -0.10783491682283816, + 0.05673236182759365, + -0.10806407082677538, + -0.9941434504607777, + 0.00097800934812407, + 0.05629464238336634, + -0.007101451946673788, + -0.9983889435581597 + ], + [ + 0.9900470762481619, + -0.11600777999921986, + 0.07968049819195709, + -0.11658451701208412, + -0.9931773483041081, + 0.0026086794894992988, + 0.07883423878953193, + -0.011872227898438888, + -0.9968170408852379 + ], + [ + 0.9840381289980942, + -0.1164397906464914, + 0.13457613396190046, + -0.11980392868538, + -0.9926494638116775, + 0.01714819716289458, + 0.13159019473151676, + -0.03299722940779087, + -0.9907548654949574 + ], + [ + 0.9720414379452263, + -0.18044318670228626, + 0.1502521190868885, + -0.18379284644616295, + -0.9829274042799222, + 0.008596947757867159, + 0.14613566475229045, + -0.035971854112044274, + -0.9886103343578541 + ], + [ + 0.9555654064490948, + -0.2541377350045846, + 0.14936119189573882, + -0.2552146575852804, + -0.9668069701654725, + -0.012237687407644046, + 0.1475134995564958, + -0.026425254704517988, + -0.9887069704226814 + ], + [ + 0.9410969928294178, + -0.31217343491245264, + 0.12993920356223204, + -0.31213992603286567, + -0.9498006242103734, + -0.021152797114850255, + 0.13001967798615582, + -0.020652379633968224, + -0.991296304114885 + ], + [ + 0.9256636220138664, + -0.36408624345488355, + 0.10289832946690942, + -0.363583386442024, + -0.9312453570858158, + -0.024273566063949367, + 0.10466126305142327, + -0.014942966004857786, + -0.9943956595759347 + ], + [ + 0.9165031920092812, + -0.3877026958911313, + 0.09853181534685732, + -0.38828004211314265, + -0.9214345682234157, + -0.01403372293951784, + 0.0962315329474411, + -0.025395985542520188, + -0.9950349420924419 + ], + [ + 0.9100221111362142, + -0.40722542834727643, + 0.0776350935503104, + -0.40774331928737234, + -0.9130441993819277, + -0.009781388016585797, + 0.07486750175946927, + -0.022753911364693354, + -0.9969338577347567 + ], + [ + 0.9032785261188649, + -0.4285863458864779, + 0.02004116693726333, + -0.4280092335678769, + -0.9033528277868614, + -0.0276000817049447, + 0.029933262989015864, + 0.01635275662257875, + -0.9994181242691534 + ], + [ + 0.8861730259779836, + -0.46330023782672386, + -0.007089263623593033, + -0.46275640725755224, + -0.8841485156525524, + -0.06432658712749136, + 0.023534561204878804, + 0.060285088530161, + -0.9979037190680292 + ], + [ + 0.8735750453089042, + -0.48621532284827645, + 0.021477896570468686, + -0.48187829141924193, + -0.8702864804481588, + -0.10195466741659315, + 0.06826384454759028, + 0.07871532110524798, + -0.9945571606252099 + ], + [ + 0.909568062742364, + -0.4069764813996115, + 0.08400049301459182, + -0.3992343470785161, + -0.911900160150557, + -0.09513166681068505, + 0.11531641406102484, + 0.05299284390349282, + -0.9919142519104794 + ], + [ + 0.9672406205108555, + -0.2404712428989427, + 0.08135824096188961, + -0.2408499302115962, + -0.9705480407316903, + -0.005273684570241458, + 0.08023025084620165, + -0.014494204721710466, + -0.9966709712230213 + ], + [ + 0.989008671661476, + -0.14121061539123622, + 0.043833885057463204, + -0.14182615465104706, + -0.9898276529992232, + 0.011249853996681543, + 0.04179939276233356, + -0.017342994518759557, + -0.9989754908434052 + ], + [ + 0.9941136241720726, + -0.10297640969720924, + 0.03367434158731433, + -0.10291530661806166, + -0.9946837966562686, + -0.003547440370299781, + 0.03386062461291832, + 6.0953613433234856e-05, + -0.9994265627776158 + ], + [ + 0.9958047201683314, + -0.08035256629805199, + 0.0437769845899493, + -0.07914919423600056, + -0.9964534588410515, + -0.02856412812422109, + 0.04591692871113391, + 0.024979380557216043, + -0.9986328986192647 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005927.json b/json/chunk-0005/episode_0005927.json new file mode 100644 index 0000000000000000000000000000000000000000..4fb930771672efe04e55608062e4515302312607 --- /dev/null +++ b/json/chunk-0005/episode_0005927.json @@ -0,0 +1,1282 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 20, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nLever vertical to front." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005927.mp4", + "start": 0, + "end": 20, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3693656325340271, + -0.07174748182296753, + 0.07141859829425812, + 0.203284353017807, + 0.003408822463825345, + 0.0741351917386055, + 0.0, + 1.0041072368621826 + ], + [ + 0.3681550621986389, + -0.0682419165968895, + 0.05940794572234154, + 0.23429067432880402, + 0.04988449811935425, + 0.05548836663365364, + 0.0, + 1.0041072368621826 + ], + [ + 0.3779941201210022, + -0.06276170909404755, + 0.07614606618881226, + 0.27337023615837097, + 0.023225534707307816, + 0.03827377408742905, + 0.0, + 1.0041072368621826 + ], + [ + 0.38100364804267883, + -0.059339240193367004, + 0.08272040635347366, + 0.2987242639064789, + 0.011215009726583958, + 0.04685073345899582, + 0.0, + 1.0041072368621826 + ], + [ + 0.38680025935173035, + -0.05862894654273987, + 0.0832769125699997, + 0.30252310633659363, + -0.016835685819387436, + 0.015762070193886757, + 0.0, + 1.0041072368621826 + ], + [ + 0.39467188715934753, + -0.06045220419764519, + 0.08196914941072464, + 0.2936325967311859, + -0.06705920398235321, + -0.03296571224927902, + 0.0, + 1.0041072368621826 + ], + [ + 0.3980298340320587, + -0.06124669685959816, + 0.08054497092962265, + 0.2804058790206909, + -0.11358846724033356, + -0.05887118726968765, + 0.0, + 1.0041072368621826 + ], + [ + 0.4026045799255371, + -0.0596582368016243, + 0.08724217116832733, + 0.286732017993927, + -0.1812494546175003, + -0.07606007158756256, + 0.0, + 1.0041072368621826 + ], + [ + 0.40602773427963257, + -0.058631204068660736, + 0.08876776695251465, + 0.31032317876815796, + -0.20579589903354645, + -0.09907354414463043, + 0.0, + 1.0041072368621826 + ], + [ + 0.41185319423675537, + -0.06136050447821617, + 0.09563349932432175, + 0.30372536182403564, + -0.22489787638187408, + -0.12151984870433807, + 0.0, + 1.0041072368621826 + ], + [ + 0.4206668734550476, + -0.06017386540770531, + 0.10051348060369492, + 0.278031587600708, + -0.2430204451084137, + -0.13049888610839844, + 0.0, + 1.0041072368621826 + ], + [ + 0.42398184537887573, + -0.05922820791602135, + 0.09428681433200836, + 0.25351303815841675, + -0.240704745054245, + -0.12901559472084045, + 0.0, + 0.852660596370697 + ], + [ + 0.42728784680366516, + -0.05910565331578255, + 0.08728533238172531, + 0.21809500455856323, + -0.22919468581676483, + -0.11668901145458221, + 0.0, + 0.5452468395233154 + ], + [ + 0.4267251789569855, + -0.05890629440546036, + 0.08588321506977081, + 0.20634140074253082, + -0.22801822423934937, + -0.0951540470123291, + 0.0, + 0.39273425936698914 + ], + [ + 0.4182729125022888, + -0.05909997224807739, + 0.08437678217887878, + 0.1920756995677948, + -0.2115126997232437, + -0.034771744161844254, + 0.0, + 0.39099013805389404 + ], + [ + 0.39859911799430847, + -0.05934448912739754, + 0.08190388232469559, + 0.17369146645069122, + -0.12478233128786087, + 0.07022186368703842, + 0.0, + 0.39099013805389404 + ], + [ + 0.3902537226676941, + -0.06077786535024643, + 0.08032863587141037, + 0.16487698256969452, + -0.07793788611888885, + 0.12150178104639053, + 0.0, + 0.36950385570526123 + ], + [ + 0.38946136832237244, + -0.059907153248786926, + 0.07379196584224701, + 0.10605283081531525, + -0.07367315888404846, + 0.12717625498771667, + 0.0, + 0.3437051773071289 + ], + [ + 0.38713061809539795, + -0.057466913014650345, + 0.06643280386924744, + 0.03331656754016876, + -0.08342090249061584, + 0.13105617463588715, + 0.0, + 0.34288913011550903 + ], + [ + 0.38385504484176636, + -0.056531693786382675, + 0.05800602585077286, + -0.0041525051929056644, + -0.0756588727235794, + 0.13554345071315765, + 0.0, + 0.34288913011550903 + ] + ], + "left_gripper_pos": [ + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 0.852660596370697 + ], + [ + 0.5452468395233154 + ], + [ + 0.39273425936698914 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.36950385570526123 + ], + [ + 0.3437051773071289 + ], + [ + 0.34288913011550903 + ], + [ + 0.34288913011550903 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3693656325340271, + -0.07174748182296753, + 0.07141859829425812 + ], + [ + 0.3681550621986389, + -0.0682419165968895, + 0.05940794572234154 + ], + [ + 0.3779941201210022, + -0.06276170909404755, + 0.07614606618881226 + ], + [ + 0.38100364804267883, + -0.059339240193367004, + 0.08272040635347366 + ], + [ + 0.38680025935173035, + -0.05862894654273987, + 0.0832769125699997 + ], + [ + 0.39467188715934753, + -0.06045220419764519, + 0.08196914941072464 + ], + [ + 0.3980298340320587, + -0.06124669685959816, + 0.08054497092962265 + ], + [ + 0.4026045799255371, + -0.0596582368016243, + 0.08724217116832733 + ], + [ + 0.40602773427963257, + -0.058631204068660736, + 0.08876776695251465 + ], + [ + 0.41185319423675537, + -0.06136050447821617, + 0.09563349932432175 + ], + [ + 0.4206668734550476, + -0.06017386540770531, + 0.10051348060369492 + ], + [ + 0.42398184537887573, + -0.05922820791602135, + 0.09428681433200836 + ], + [ + 0.42728784680366516, + -0.05910565331578255, + 0.08728533238172531 + ], + [ + 0.4267251789569855, + -0.05890629440546036, + 0.08588321506977081 + ], + [ + 0.4182729125022888, + -0.05909997224807739, + 0.08437678217887878 + ], + [ + 0.39859911799430847, + -0.05934448912739754, + 0.08190388232469559 + ], + [ + 0.3902537226676941, + -0.06077786535024643, + 0.08032863587141037 + ], + [ + 0.38946136832237244, + -0.059907153248786926, + 0.07379196584224701 + ], + [ + 0.38713061809539795, + -0.057466913014650345, + 0.06643280386924744 + ], + [ + 0.38385504484176636, + -0.056531693786382675, + 0.05800602585077286 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9972474509676535, + 0.07185586129463899, + -0.018282689521058076, + 0.07406687189922721, + -0.9767695696922413, + 0.20108532072306437, + -0.003408815862036239, + -0.20188596514081855, + -0.979403102432078 + ], + [ + 0.9972188565444974, + 0.042386469324701234, + -0.06130203398151852, + 0.05539090597140382, + -0.9718242285271692, + 0.2291059064782909, + -0.0498638114041856, + -0.2318643052859979, + -0.9714692708709263 + ], + [ + 0.998998145424158, + 0.030578308060828653, + -0.03267525845697982, + 0.038254110405990395, + -0.9624012310795415, + 0.26892469848199096, + -0.023223446689491795, + -0.2699052379868173, + -0.9626067909749756 + ], + [ + 0.9988398865656947, + 0.04146256306454712, + -0.02448952571097837, + 0.04683065059779009, + -0.9548185940424762, + 0.2934763067699618, + -0.011214774630723524, + -0.29428270138570406, + -0.9556526149679676 + ], + [ + 0.9997340819362055, + 0.020060647704126557, + 0.011372591123556049, + 0.015759183881870663, + -0.9543901891584066, + 0.29814596251091285, + 0.016834890511971016, + -0.29788745735910427, + -0.9544525390031597 + ], + [ + 0.997210275350403, + -0.01216507758303834, + 0.07364562188597253, + -0.03288566055339176, + -0.957317978387563, + 0.28715992336312507, + 0.06700895511452236, + -0.2887807111691281, + -0.9550473814377546 + ], + [ + 0.9918345194768445, + -0.025225970267340997, + 0.12501174504104898, + -0.058458026280454226, + -0.9611240259248927, + 0.2698578625004655, + 0.11334436526590429, + -0.27496228325717265, + -0.9547506468437043 + ], + [ + 0.9807754221632007, + -0.022051239386276057, + 0.19388995363897674, + -0.07474203534832549, + -0.9602739597075601, + 0.268863442028761, + 0.1802587014060211, + -0.2781863856285789, + -0.943461252738194 + ], + [ + 0.9740983611876067, + -0.032092525735160124, + 0.22383577132254032, + -0.0968243798848996, + -0.9537375202431292, + 0.28462217401388634, + 0.20434632903852992, + -0.2989227530189438, + -0.9321414943752113 + ], + [ + 0.9676281429739239, + -0.04946818768099814, + 0.24748469716811428, + -0.11816826546918535, + -0.9552770076774886, + 0.27107581898566224, + 0.22300681146736262, + -0.29154542872475453, + -0.9301984868988228 + ], + [ + 0.9623625279374027, + -0.059647514840381916, + 0.2651424877217874, + -0.12630504318532235, + -0.9620156231685205, + 0.24201854649104243, + 0.24063541071065497, + -0.26639841357081956, + -0.9333415689655449 + ], + [ + 0.9630988432994064, + -0.06525365174898486, + 0.2611179407255796, + -0.12494879912524733, + -0.9676843012399516, + 0.2190317117015365, + 0.23838711297489149, + -0.2435755613093576, + -0.9401289966277646 + ], + [ + 0.9672270655275486, + -0.06484288709346209, + 0.2454937956534775, + -0.1133798434849766, + -0.9753952296115055, + 0.1890744751214196, + 0.22719334233706995, + -0.2107119978655763, + -0.9507805420564769 + ], + [ + 0.9697096425009853, + -0.04689189660860799, + 0.239717248593126, + -0.09255129450028401, + -0.9787594601666152, + 0.18293216507951113, + 0.22604748865433705, + -0.19957722607252418, + -0.953452391945326 + ], + [ + 0.9771234535085487, + 0.005927071299494385, + 0.2125902783039185, + -0.033989986649471005, + -0.982410002107661, + 0.18361717938797018, + 0.2099391278706654, + -0.18664259316842968, + -0.9597343929464381 + ], + [ + 0.9897794017898222, + 0.09056432617591842, + 0.11015824352667973, + 0.06961862423693463, + -0.9810169091636776, + 0.18099467145278303, + 0.1244587600449961, + -0.17147573227499635, + -0.9772952932910377 + ], + [ + 0.989614494259006, + 0.132244228850672, + 0.05634373690289462, + 0.12083512651633889, + -0.9776174042487229, + 0.17222973933026017, + 0.07785900687956332, + -0.16363274380661127, + -0.9834441012086288 + ], + [ + 0.989233261284189, + 0.1338497491439681, + 0.059176003778088834, + 0.12648965738384996, + -0.9853628029409253, + 0.11428260215500688, + 0.07360653057958798, + -0.10556699879460507, + -0.9916842680115159 + ], + [ + 0.9879767399104633, + 0.13336057174903979, + 0.0782107364666857, + 0.13022688751096648, + -0.9905115237138792, + 0.04390762074190346, + 0.08332418115468178, + -0.03319456721781391, + -0.9959694782181445 + ], + [ + 0.9879935130509402, + 0.13481663763265694, + 0.07545390902191049, + 0.13474222507383937, + -0.9908619124447224, + 0.006099446576385249, + 0.07558671147372859, + 0.004140613941461869, + -0.997130635556232 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0012105703353881836, + 0.0035055652260780334, + -0.01201065257191658, + 0.03100632131099701, + 0.04647567495703697, + -0.01864682510495186, + 1.0 + ], + [ + 0.009839057922363281, + 0.0054802075028419495, + 0.01673812046647072, + 0.039079561829566956, + -0.026658963412046432, + -0.017214592546224594, + 1.0 + ], + [ + 0.0030095279216766357, + 0.003422468900680542, + 0.0065743401646614075, + 0.02535402774810791, + -0.012010524980723858, + 0.008576959371566772, + 1.0 + ], + [ + 0.005796611309051514, + 0.0007102936506271362, + 0.0005565062165260315, + 0.003798842430114746, + -0.02805069461464882, + -0.031088663265109062, + 1.0 + ], + [ + 0.007871627807617188, + -0.0018232576549053192, + -0.001307763159275055, + -0.008890509605407715, + -0.050223518162965775, + -0.04872778058052063, + 1.0 + ], + [ + 0.0033579468727111816, + -0.0007944926619529724, + -0.0014241784811019897, + -0.013226717710494995, + -0.04652926325798035, + -0.02590547502040863, + 1.0 + ], + [ + 0.0045747458934783936, + 0.0015884600579738617, + 0.006697200238704681, + 0.006326138973236084, + -0.06766098737716675, + -0.01718888431787491, + 1.0 + ], + [ + 0.003423154354095459, + 0.001027032732963562, + 0.001525595784187317, + 0.023591160774230957, + -0.024546444416046143, + -0.02301347255706787, + 1.0 + ], + [ + 0.005825459957122803, + -0.002729300409555435, + 0.006865732371807098, + -0.0065978169441223145, + -0.019101977348327637, + -0.02244630455970764, + 1.0 + ], + [ + 0.008813679218292236, + 0.0011866390705108643, + 0.004879981279373169, + -0.025693774223327637, + -0.018122568726539612, + -0.008979037404060364, + 1.0 + ], + [ + 0.003314971923828125, + 0.00094565749168396, + -0.006226666271686554, + -0.02451854944229126, + 0.002315700054168701, + 0.0014832913875579834, + 0.0 + ], + [ + 0.0033060014247894287, + 0.00012255460023880005, + -0.0070014819502830505, + -0.035418033599853516, + 0.011510059237480164, + 0.01232658326625824, + 0.0 + ], + [ + -0.0005626678466796875, + 0.00019935891032218933, + -0.0014021173119544983, + -0.01175360381603241, + 0.0011764615774154663, + 0.021534964442253113, + 0.0 + ], + [ + -0.008452266454696655, + -0.0001936778426170349, + -0.0015064328908920288, + -0.014265701174736023, + 0.016505524516105652, + 0.06038230285048485, + 0.0 + ], + [ + -0.019673794507980347, + -0.00024451687932014465, + -0.002472899854183197, + -0.018384233117103577, + 0.08673036843538284, + 0.10499361157417297, + 0.0 + ], + [ + -0.00834539532661438, + -0.0014333762228488922, + -0.0015752464532852173, + -0.008814483880996704, + 0.046844445168972015, + 0.05127991735935211, + 0.0 + ], + [ + -0.0007923543453216553, + 0.0008707121014595032, + -0.006536670029163361, + -0.05882415175437927, + 0.004264727234840393, + 0.005674473941326141, + 0.0 + ], + [ + -0.0023307502269744873, + 0.0024402402341365814, + -0.007359161972999573, + -0.07273626327514648, + -0.009747743606567383, + 0.003879919648170471, + 0.0 + ], + [ + -0.003275573253631592, + 0.0009352192282676697, + -0.008426778018474579, + -0.03746907413005829, + 0.007762029767036438, + 0.004487276077270508, + 0.0 + ], + [ + -0.002087533473968506, + 0.0013085566461086273, + -0.009137697517871857, + -0.018323425203561783, + -0.005679070949554443, + 0.005758106708526611, + 0.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 0.852660596370697 + ], + [ + 0.5452468395233154 + ], + [ + 0.39273425936698914 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.36950385570526123 + ], + [ + 0.3437051773071289 + ], + [ + 0.34288913011550903 + ], + [ + 0.34288913011550903 + ], + [ + 0.34288913011550903 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3681550621986389, + -0.0682419165968895, + 0.05940794572234154 + ], + [ + 0.3779941201210022, + -0.06276170909404755, + 0.07614606618881226 + ], + [ + 0.38100364804267883, + -0.059339240193367004, + 0.08272040635347366 + ], + [ + 0.38680025935173035, + -0.05862894654273987, + 0.0832769125699997 + ], + [ + 0.39467188715934753, + -0.06045220419764519, + 0.08196914941072464 + ], + [ + 0.3980298340320587, + -0.06124669685959816, + 0.08054497092962265 + ], + [ + 0.4026045799255371, + -0.0596582368016243, + 0.08724217116832733 + ], + [ + 0.40602773427963257, + -0.058631204068660736, + 0.08876776695251465 + ], + [ + 0.41185319423675537, + -0.06136050447821617, + 0.09563349932432175 + ], + [ + 0.4206668734550476, + -0.06017386540770531, + 0.10051348060369492 + ], + [ + 0.42398184537887573, + -0.05922820791602135, + 0.09428681433200836 + ], + [ + 0.42728784680366516, + -0.05910565331578255, + 0.08728533238172531 + ], + [ + 0.4267251789569855, + -0.05890629440546036, + 0.08588321506977081 + ], + [ + 0.4182729125022888, + -0.05909997224807739, + 0.08437678217887878 + ], + [ + 0.39859911799430847, + -0.05934448912739754, + 0.08190388232469559 + ], + [ + 0.3902537226676941, + -0.06077786535024643, + 0.08032863587141037 + ], + [ + 0.38946136832237244, + -0.059907153248786926, + 0.07379196584224701 + ], + [ + 0.38713061809539795, + -0.057466913014650345, + 0.06643280386924744 + ], + [ + 0.38385504484176636, + -0.056531693786382675, + 0.05800602585077286 + ], + [ + 0.38176751136779785, + -0.05522313714027405, + 0.048868328332901 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9972188565444974, + 0.042386469324701234, + -0.06130203398151852, + 0.05539090597140382, + -0.9718242285271692, + 0.2291059064782909, + -0.0498638114041856, + -0.2318643052859979, + -0.9714692708709263 + ], + [ + 0.998998145424158, + 0.030578308060828653, + -0.03267525845697982, + 0.038254110405990395, + -0.9624012310795415, + 0.26892469848199096, + -0.023223446689491795, + -0.2699052379868173, + -0.9626067909749756 + ], + [ + 0.9988398865656947, + 0.04146256306454712, + -0.02448952571097837, + 0.04683065059779009, + -0.9548185940424762, + 0.2934763067699618, + -0.011214774630723524, + -0.29428270138570406, + -0.9556526149679676 + ], + [ + 0.9997340819362055, + 0.020060647704126557, + 0.011372591123556049, + 0.015759183881870663, + -0.9543901891584066, + 0.29814596251091285, + 0.016834890511971016, + -0.29788745735910427, + -0.9544525390031597 + ], + [ + 0.997210275350403, + -0.01216507758303834, + 0.07364562188597253, + -0.03288566055339176, + -0.957317978387563, + 0.28715992336312507, + 0.06700895511452236, + -0.2887807111691281, + -0.9550473814377546 + ], + [ + 0.9918345194768445, + -0.025225970267340997, + 0.12501174504104898, + -0.058458026280454226, + -0.9611240259248927, + 0.2698578625004655, + 0.11334436526590429, + -0.27496228325717265, + -0.9547506468437043 + ], + [ + 0.9807754221632007, + -0.022051239386276057, + 0.19388995363897674, + -0.07474203534832549, + -0.9602739597075601, + 0.268863442028761, + 0.1802587014060211, + -0.2781863856285789, + -0.943461252738194 + ], + [ + 0.9740983611876067, + -0.032092525735160124, + 0.22383577132254032, + -0.0968243798848996, + -0.9537375202431292, + 0.28462217401388634, + 0.20434632903852992, + -0.2989227530189438, + -0.9321414943752113 + ], + [ + 0.9676281429739239, + -0.04946818768099814, + 0.24748469716811428, + -0.11816826546918535, + -0.9552770076774886, + 0.27107581898566224, + 0.22300681146736262, + -0.29154542872475453, + -0.9301984868988228 + ], + [ + 0.9623625279374027, + -0.059647514840381916, + 0.2651424877217874, + -0.12630504318532235, + -0.9620156231685205, + 0.24201854649104243, + 0.24063541071065497, + -0.26639841357081956, + -0.9333415689655449 + ], + [ + 0.9630988432994064, + -0.06525365174898486, + 0.2611179407255796, + -0.12494879912524733, + -0.9676843012399516, + 0.2190317117015365, + 0.23838711297489149, + -0.2435755613093576, + -0.9401289966277646 + ], + [ + 0.9672270655275486, + -0.06484288709346209, + 0.2454937956534775, + -0.1133798434849766, + -0.9753952296115055, + 0.1890744751214196, + 0.22719334233706995, + -0.2107119978655763, + -0.9507805420564769 + ], + [ + 0.9697096425009853, + -0.04689189660860799, + 0.239717248593126, + -0.09255129450028401, + -0.9787594601666152, + 0.18293216507951113, + 0.22604748865433705, + -0.19957722607252418, + -0.953452391945326 + ], + [ + 0.9771234535085487, + 0.005927071299494385, + 0.2125902783039185, + -0.033989986649471005, + -0.982410002107661, + 0.18361717938797018, + 0.2099391278706654, + -0.18664259316842968, + -0.9597343929464381 + ], + [ + 0.9897794017898222, + 0.09056432617591842, + 0.11015824352667973, + 0.06961862423693463, + -0.9810169091636776, + 0.18099467145278303, + 0.1244587600449961, + -0.17147573227499635, + -0.9772952932910377 + ], + [ + 0.989614494259006, + 0.132244228850672, + 0.05634373690289462, + 0.12083512651633889, + -0.9776174042487229, + 0.17222973933026017, + 0.07785900687956332, + -0.16363274380661127, + -0.9834441012086288 + ], + [ + 0.989233261284189, + 0.1338497491439681, + 0.059176003778088834, + 0.12648965738384996, + -0.9853628029409253, + 0.11428260215500688, + 0.07360653057958798, + -0.10556699879460507, + -0.9916842680115159 + ], + [ + 0.9879767399104633, + 0.13336057174903979, + 0.0782107364666857, + 0.13022688751096648, + -0.9905115237138792, + 0.04390762074190346, + 0.08332418115468178, + -0.03319456721781391, + -0.9959694782181445 + ], + [ + 0.9879935130509402, + 0.13481663763265694, + 0.07545390902191049, + 0.13474222507383937, + -0.9908619124447224, + 0.006099446576385249, + 0.07558671147372859, + 0.004140613941461869, + -0.997130635556232 + ], + [ + 0.9867603771450143, + 0.13898847022449695, + 0.08358327130044463, + 0.14036621397048255, + -0.9900406339992144, + -0.010810596932025296, + 0.08124828658022468, + 0.022399736049519114, + -0.9964421547449154 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005928.json b/json/chunk-0005/episode_0005928.json new file mode 100644 index 0000000000000000000000000000000000000000..49ea8d0adce0bb86839e0e58ca7d1d748736b88b --- /dev/null +++ b/json/chunk-0005/episode_0005928.json @@ -0,0 +1,1822 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 29, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nClose the red drawer." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005928.mp4", + "start": 0, + "end": 29, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.11723444610834122, + -0.01819818653166294, + 0.2387847602367401, + -0.036816228181123734, + -0.09822064638137817, + 0.030508214607834816, + 0.0, + 0.9994885921478271 + ], + [ + 0.11569027602672577, + -0.01921132206916809, + 0.2356850951910019, + -0.042727015912532806, + -0.09285715222358704, + 0.021407384425401688, + 0.0, + 0.9994885921478271 + ], + [ + 0.11170289665460587, + -0.005547609645873308, + 0.22544978559017181, + -0.07300792634487152, + -0.1432247757911682, + 0.07901232689619064, + 0.0, + 0.9994885921478271 + ], + [ + 0.10830479860305786, + -0.00023647453053854406, + 0.19784456491470337, + -0.07441753894090652, + -0.13906729221343994, + 0.14636538922786713, + 0.0, + 0.9994885921478271 + ], + [ + 0.10190413147211075, + 0.0010591187747195363, + 0.15956662595272064, + -0.08355087786912918, + -0.0978100374341011, + 0.21152564883232117, + 0.0, + 0.9994885921478271 + ], + [ + 0.10026583075523376, + 0.001104461494833231, + 0.12067988514900208, + -0.07281649857759476, + -0.09265945851802826, + 0.26264697313308716, + 0.0, + 0.9994885921478271 + ], + [ + 0.11272093653678894, + 0.004937253892421722, + 0.09745968133211136, + -0.0696035847067833, + -0.11755967885255814, + 0.3118992745876312, + 0.0, + 0.9994885921478271 + ], + [ + 0.1350955218076706, + 0.0085128303617239, + 0.08290419727563858, + -0.07843836396932602, + -0.14028438925743103, + 0.36619997024536133, + 0.0, + 0.9994885921478271 + ], + [ + 0.15138421952724457, + 0.015614432282745838, + 0.07053910195827484, + -0.06054815649986267, + -0.13938361406326294, + 0.3990844488143921, + 0.0, + 0.9994885921478271 + ], + [ + 0.16793246567249298, + 0.02297201380133629, + 0.06450054794549942, + -0.05028718709945679, + -0.16436870396137238, + 0.42327284812927246, + 0.0, + 0.9994885921478271 + ], + [ + 0.17676189541816711, + 0.027779294177889824, + 0.05431357026100159, + -0.04615053907036781, + -0.17046041786670685, + 0.45181265473365784, + 0.0, + 0.9994885921478271 + ], + [ + 0.18432238698005676, + 0.02991439215838909, + 0.044697634875774384, + -0.046699751168489456, + -0.18181265890598297, + 0.4699723720550537, + 0.0, + 0.9994885921478271 + ], + [ + 0.19444620609283447, + 0.031623587012290955, + 0.03776979446411133, + -0.04385068267583847, + -0.19320116937160492, + 0.48479798436164856, + 0.0, + 0.9994885921478271 + ], + [ + 0.20727595686912537, + 0.03275773301720619, + 0.03322545439004898, + -0.04504542052745819, + -0.21585266292095184, + 0.5058642029762268, + 0.0, + 0.9994885921478271 + ], + [ + 0.2226172834634781, + 0.03609311580657959, + 0.029914313927292824, + -0.045129816979169846, + -0.22880801558494568, + 0.5228703618049622, + 0.0, + 0.9994885921478271 + ], + [ + 0.23755106329917908, + 0.03937409445643425, + 0.028130976483225822, + -0.04906860738992691, + -0.22777341306209564, + 0.5428547263145447, + 0.0, + 0.9994885921478271 + ], + [ + 0.25348833203315735, + 0.05036802217364311, + 0.029486918821930885, + -0.062134064733982086, + -0.24062393605709076, + 0.5892314314842224, + 0.0, + 0.9988223910331726 + ], + [ + 0.2659335732460022, + 0.060827236622571945, + 0.031233573332428932, + -0.06179413944482803, + -0.2557147741317749, + 0.6085412502288818, + 0.0, + 0.9988223910331726 + ], + [ + 0.27435097098350525, + 0.07120567560195923, + 0.03111186809837818, + -0.05975165590643883, + -0.25653815269470215, + 0.6352835893630981, + 0.0, + 0.9988223910331726 + ], + [ + 0.28436902165412903, + 0.08417176455259323, + 0.03395329788327217, + -0.05608036741614342, + -0.2756178379058838, + 0.6472252607345581, + 0.0, + 0.9988223910331726 + ], + [ + 0.2930305302143097, + 0.09753738343715668, + 0.03428398817777634, + -0.05082550644874573, + -0.2816041111946106, + 0.6615957617759705, + 0.0, + 0.9994885921478271 + ], + [ + 0.29951590299606323, + 0.10448987036943436, + 0.03582841530442238, + -0.047906115651130676, + -0.28114303946495056, + 0.6750580668449402, + 0.0, + 0.9994885921478271 + ], + [ + 0.3067783713340759, + 0.11210581660270691, + 0.038547735661268234, + -0.04927413910627365, + -0.28856438398361206, + 0.6869321465492249, + 0.0, + 0.9994885921478271 + ], + [ + 0.31248754262924194, + 0.11726241558790207, + 0.0407644547522068, + -0.04040559008717537, + -0.29714956879615784, + 0.6861816644668579, + 0.0, + 0.9994885921478271 + ], + [ + 0.3141215741634369, + 0.12089613080024719, + 0.040225014090538025, + -0.0200311578810215, + -0.302715539932251, + 0.6672149300575256, + 0.0, + 0.9994885921478271 + ], + [ + 0.3126869201660156, + 0.12287361919879913, + 0.04022369161248207, + -0.0007577067008242011, + -0.30332842469215393, + 0.654232382774353, + 0.0, + 0.9994885921478271 + ], + [ + 0.29970499873161316, + 0.12106441706418991, + 0.04752533510327339, + -0.0042985230684280396, + -0.3018800914287567, + 0.666187584400177, + 0.0, + 0.9994885921478271 + ], + [ + 0.27729037404060364, + 0.10484637320041656, + 0.07508911192417145, + -0.0564204566180706, + -0.29252803325653076, + 0.6346297860145569, + 0.0, + 0.9994885921478271 + ], + [ + 0.2577948272228241, + 0.09391910582780838, + 0.10559629648923874, + -0.08678381890058517, + -0.3058541715145111, + 0.6219815015792847, + 0.0, + 0.9994885921478271 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.11723444610834122, + -0.01819818653166294, + 0.2387847602367401 + ], + [ + 0.11569027602672577, + -0.01921132206916809, + 0.2356850951910019 + ], + [ + 0.11170289665460587, + -0.005547609645873308, + 0.22544978559017181 + ], + [ + 0.10830479860305786, + -0.00023647453053854406, + 0.19784456491470337 + ], + [ + 0.10190413147211075, + 0.0010591187747195363, + 0.15956662595272064 + ], + [ + 0.10026583075523376, + 0.001104461494833231, + 0.12067988514900208 + ], + [ + 0.11272093653678894, + 0.004937253892421722, + 0.09745968133211136 + ], + [ + 0.1350955218076706, + 0.0085128303617239, + 0.08290419727563858 + ], + [ + 0.15138421952724457, + 0.015614432282745838, + 0.07053910195827484 + ], + [ + 0.16793246567249298, + 0.02297201380133629, + 0.06450054794549942 + ], + [ + 0.17676189541816711, + 0.027779294177889824, + 0.05431357026100159 + ], + [ + 0.18432238698005676, + 0.02991439215838909, + 0.044697634875774384 + ], + [ + 0.19444620609283447, + 0.031623587012290955, + 0.03776979446411133 + ], + [ + 0.20727595686912537, + 0.03275773301720619, + 0.03322545439004898 + ], + [ + 0.2226172834634781, + 0.03609311580657959, + 0.029914313927292824 + ], + [ + 0.23755106329917908, + 0.03937409445643425, + 0.028130976483225822 + ], + [ + 0.25348833203315735, + 0.05036802217364311, + 0.029486918821930885 + ], + [ + 0.2659335732460022, + 0.060827236622571945, + 0.031233573332428932 + ], + [ + 0.27435097098350525, + 0.07120567560195923, + 0.03111186809837818 + ], + [ + 0.28436902165412903, + 0.08417176455259323, + 0.03395329788327217 + ], + [ + 0.2930305302143097, + 0.09753738343715668, + 0.03428398817777634 + ], + [ + 0.29951590299606323, + 0.10448987036943436, + 0.03582841530442238 + ], + [ + 0.3067783713340759, + 0.11210581660270691, + 0.038547735661268234 + ], + [ + 0.31248754262924194, + 0.11726241558790207, + 0.0407644547522068 + ], + [ + 0.3141215741634369, + 0.12089613080024719, + 0.040225014090538025 + ], + [ + 0.3126869201660156, + 0.12287361919879913, + 0.04022369161248207 + ], + [ + 0.29970499873161316, + 0.12106441706418991, + 0.04752533510327339 + ], + [ + 0.27729037404060364, + 0.10484637320041656, + 0.07508911192417145 + ], + [ + 0.2577948272228241, + 0.09391910582780838, + 0.10559629648923874 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9947171323399739, + 0.026875004754353102, + 0.09907351184243174, + 0.03035646243615791, + -0.9989674369801453, + -0.0338015538353162, + 0.09806279527782746, + 0.036630506040364, + -0.9945058542862008 + ], + [ + 0.9954637293426838, + 0.017426516163746773, + 0.09353224095225397, + 0.02131353066235116, + -0.998943199435977, + -0.04072121942327927, + 0.09272376703877404, + 0.0425299992359336, + -0.994783143298644 + ], + [ + 0.9866729473228204, + 0.06834078607231366, + 0.14766865605238447, + 0.07812196360198105, + -0.9950463527015836, + -0.061479384985919386, + 0.14273560811608962, + 0.07219621135692926, + -0.9871242339449661 + ], + [ + 0.9797566401137227, + 0.1352436993913646, + 0.14760104311287042, + 0.14443534249015244, + -0.988072671896454, + -0.05339313524372327, + 0.138619471910773, + 0.0736310860054391, + -0.9876047312466855 + ], + [ + 0.9730386793038387, + 0.20125144351519236, + 0.11266581141452321, + 0.20894830503384526, + -0.9760121678528545, + -0.0611625214216575, + 0.09765415711645221, + 0.08305482939734983, + -0.991748738800132 + ], + [ + 0.9615634056241554, + 0.2524489461034595, + 0.10800623396697363, + 0.2585238585610962, + -0.9648947949566257, + -0.04629739971417231, + 0.09252692321242693, + 0.07244007369449687, + -0.9930716007438626 + ], + [ + 0.9451832914941886, + 0.2983602076438767, + 0.132701665305732, + 0.30474877666807987, + -0.9519510938667808, + -0.030286927958251962, + 0.11728908133121581, + 0.06906736842056677, + -0.9906931765284028 + ], + [ + 0.9245223964735686, + 0.34673908254976143, + 0.15820981970573045, + 0.3545523759237729, + -0.9347470682755397, + -0.023249324228710556, + 0.13982471578936817, + 0.07758818842345695, + -0.9871317652023913 + ], + [ + 0.912481071536732, + 0.38011650790984736, + 0.15129353754077046, + 0.384806431598309, + -0.9229954043004008, + -0.001869181884050615, + 0.13893273296006764, + 0.05992431939340424, + -0.9884871125399076 + ], + [ + 0.8994608182233277, + 0.40272828342076145, + 0.16964718156806743, + 0.40521056037620024, + -0.9139753334323985, + 0.021295343076408464, + 0.16362957630155925, + 0.049588502801586755, + -0.9852747546493157 + ], + [ + 0.886618240780978, + 0.4290914184926902, + 0.17259388659617844, + 0.43026931639998484, + -0.9021160904152161, + 0.03247883585744925, + 0.16963611195477582, + 0.0454655252900084, + -0.9844574523721024 + ], + [ + 0.8768853705357689, + 0.44484223908603904, + 0.18217417288207094, + 0.4453973866657712, + -0.8944312987743311, + 0.040172375137210205, + 0.18081265135949115, + 0.04591333246217832, + -0.9824452916119902 + ], + [ + 0.8683076604292983, + 0.4581348089227561, + 0.19014285075465862, + 0.4573589805055554, + -0.8878410260098096, + 0.050607069513731034, + 0.19200148382426, + 0.04302103424091998, + -0.9804512332707447 + ], + [ + 0.8544565610816504, + 0.475635402304777, + 0.2089855241371834, + 0.4733188662089128, + -0.8785421243034759, + 0.06428830931861315, + 0.2141803821904089, + 0.04398522364055141, + -0.9758032916454328 + ], + [ + 0.843809063377734, + 0.48999507216281357, + 0.21884033864383998, + 0.486354211365401, + -0.8706171488513316, + 0.07406322443100413, + 0.22681676668344034, + 0.04393870027820156, + -0.9729458078275133 + ], + [ + 0.8341222208208263, + 0.5064772277855472, + 0.2184512267477559, + 0.5032399158871179, + -0.8609283896626562, + 0.07451103898612449, + 0.22580900732889048, + 0.04778206365920511, + -0.9729990578626521 + ], + [ + 0.807415885272302, + 0.5423476295613187, + 0.23224693091441012, + 0.539711574540159, + -0.8379870763155922, + 0.08055480268381063, + 0.2383086329055804, + 0.06030512944405125, + -0.9693153701687645 + ], + [ + 0.793802970916805, + 0.5577640626608937, + 0.24243781422803862, + 0.5530820146693389, + -0.8278463501692146, + 0.09365204515020308, + 0.25293700483116255, + 0.059746723052608544, + -0.9656361637135985 + ], + [ + 0.778562303246051, + 0.5801509292124667, + 0.23930240136303524, + 0.573986096510261, + -0.8124582871113363, + 0.10223254235822678, + 0.2537335235579193, + 0.05776184759877985, + -0.965547962550208 + ], + [ + 0.7676503049005096, + 0.5898583528410501, + 0.2505596395467509, + 0.5802172085403703, + -0.8057034751986132, + 0.11912137073799148, + 0.27214150785900887, + 0.0539354580635114, + -0.9607444853152706 + ], + [ + 0.7579343295726527, + 0.6024439231929297, + 0.25019366791181036, + 0.5901769625843449, + -0.7966678314588173, + 0.13042821456043374, + 0.27789693213486627, + 0.04880251762580805, + -0.9593704234462372 + ], + [ + 0.7500206946192999, + 0.6138531602682561, + 0.2462788161240382, + 0.6004067287425584, + -0.7880784175226839, + 0.1358093071759162, + 0.27745399208417054, + 0.04600766744377729, + -0.959636690009787 + ], + [ + 0.7412261975513628, + 0.6225608655076044, + 0.25100138007981354, + 0.6079474285975716, + -0.7811456053175043, + 0.14216704032493196, + 0.28457626064931896, + 0.04721770887678378, + -0.9574898640942778 + ], + [ + 0.7397647466581683, + 0.6239200487197759, + 0.25193628640449706, + 0.6058206723650014, + -0.780533110187656, + 0.15410832824997564, + 0.29279588886627816, + 0.038624302016956914, + -0.9553945419337024 + ], + [ + 0.7498296102771256, + 0.6139858106401616, + 0.24652987625072412, + 0.5906640121260961, + -0.7890854740909419, + 0.16870133181980573, + 0.2981133682523422, + 0.019119071923525743, + -0.9543389758141633 + ], + [ + 0.7572894038849358, + 0.6083705390712751, + 0.2374827276955627, + 0.5807685139319064, + -0.793652798328158, + 0.1811716559818591, + 0.2986983294043065, + 0.0007231154888988067, + -0.9543473084339192 + ], + [ + 0.7506315742224162, + 0.6169827639273278, + 0.23639904567695016, + 0.5900470768640298, + -0.7869659618763201, + 0.18035803816933765, + 0.2973158032540336, + 0.004104127760414161, + -0.9547703751534895 + ], + [ + 0.7710807948522238, + 0.5788407445730275, + 0.2652881456684515, + 0.5676926722721234, + -0.8136509932365981, + 0.1252880323639601, + 0.2883737811566751, + 0.05399494075596603, + -0.9559943037038251 + ], + [ + 0.7750070288572759, + 0.5592430997863218, + 0.2942979112450575, + 0.5556061458390782, + -0.8248731685498334, + 0.10433631444709499, + 0.301107814457982, + 0.08265235113379596, + -0.9500014068012705 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.001544170081615448, + -0.0010131355375051498, + -0.00309966504573822, + -0.005910787731409073, + 0.005363494157791138, + -0.009100830182433128, + 1.0 + ], + [ + -0.0039873793721199036, + 0.01366371288895607, + -0.010235309600830078, + -0.030280910432338715, + -0.05036762356758118, + 0.057604942470788956, + 1.0 + ], + [ + -0.003398098051548004, + 0.0053111352026462555, + -0.027605220675468445, + -0.0014096125960350037, + 0.0041574835777282715, + 0.06735306233167648, + 1.0 + ], + [ + -0.006400667130947113, + 0.0012955933343619108, + -0.03827793896198273, + -0.009133338928222656, + 0.04125725477933884, + 0.06516025960445404, + 1.0 + ], + [ + -0.0016383007168769836, + 4.534272011369467e-05, + -0.03888674080371857, + 0.010734379291534424, + 0.0051505789160728455, + 0.05112132430076599, + 1.0 + ], + [ + 0.012455105781555176, + 0.0038327923975884914, + -0.023220203816890717, + 0.0032129138708114624, + -0.024900220334529877, + 0.04925230145454407, + 1.0 + ], + [ + 0.022374585270881653, + 0.0035755764693021774, + -0.014555484056472778, + -0.008834779262542725, + -0.022724710404872894, + 0.0543006956577301, + 1.0 + ], + [ + 0.016288697719573975, + 0.007101601921021938, + -0.012365095317363739, + 0.01789020746946335, + 0.0009007751941680908, + 0.03288447856903076, + 1.0 + ], + [ + 0.016548246145248413, + 0.00735758151859045, + -0.006038554012775421, + 0.010260969400405884, + -0.024985089898109436, + 0.02418839931488037, + 1.0 + ], + [ + 0.008829429745674133, + 0.0048072803765535355, + -0.010186977684497833, + 0.004136648029088974, + -0.006091713905334473, + 0.028539806604385376, + 1.0 + ], + [ + 0.0075604915618896484, + 0.0021350979804992676, + -0.009615935385227203, + -0.0005492120981216431, + -0.011352241039276123, + 0.018159717321395874, + 1.0 + ], + [ + 0.01012381911277771, + 0.001709194853901863, + -0.006927840411663055, + 0.0028490684926509857, + -0.011388510465621948, + 0.014825612306594849, + 1.0 + ], + [ + 0.012829750776290894, + 0.0011341460049152374, + -0.004544340074062347, + -0.0011947378516197205, + -0.022651493549346924, + 0.021066218614578247, + 1.0 + ], + [ + 0.015341326594352722, + 0.003335382789373398, + -0.003311140462756157, + -8.439645171165466e-05, + -0.012955352663993835, + 0.01700615882873535, + 1.0 + ], + [ + 0.014933779835700989, + 0.00328097864985466, + -0.0017833374440670013, + -0.003938790410757065, + 0.0010346025228500366, + 0.01998436450958252, + 1.0 + ], + [ + 0.01593726873397827, + 0.010993927717208862, + 0.0013559423387050629, + -0.013065457344055176, + -0.012850522994995117, + 0.046376705169677734, + 1.0 + ], + [ + 0.012445241212844849, + 0.010459214448928833, + 0.0017466545104980469, + 0.00033992528915405273, + -0.015090838074684143, + 0.019309818744659424, + 1.0 + ], + [ + 0.008417397737503052, + 0.010378438979387283, + -0.00012170523405075073, + 0.002042483538389206, + -0.0008233785629272461, + 0.02674233913421631, + 1.0 + ], + [ + 0.01001805067062378, + 0.012966088950634003, + 0.0028414297848939896, + 0.00367128849029541, + -0.01907968521118164, + 0.011941671371459961, + 1.0 + ], + [ + 0.008661508560180664, + 0.013365618884563446, + 0.00033069029450416565, + 0.00525486096739769, + -0.005986273288726807, + 0.014370501041412354, + 1.0 + ], + [ + 0.00648537278175354, + 0.0069524869322776794, + 0.0015444271266460419, + 0.0029193907976150513, + 0.0004610717296600342, + 0.013462305068969727, + 1.0 + ], + [ + 0.007262468338012695, + 0.0076159462332725525, + 0.0027193203568458557, + -0.0013680234551429749, + -0.007421344518661499, + 0.011874079704284668, + 1.0 + ], + [ + 0.005709171295166016, + 0.00515659898519516, + 0.002216719090938568, + 0.008868549019098282, + -0.008585184812545776, + -0.0007504820823669434, + 1.0 + ], + [ + 0.0016340315341949463, + 0.0036337152123451233, + -0.0005394406616687775, + 0.02037443220615387, + -0.00556597113609314, + -0.018966734409332275, + 1.0 + ], + [ + -0.0014346539974212646, + 0.001977488398551941, + -1.3224780559539795e-06, + 0.01927345059812069, + -0.0006128847599029541, + -0.012982547283172607, + 1.0 + ], + [ + -0.012981921434402466, + -0.0018092021346092224, + 0.007301643490791321, + -0.0035408162511885166, + 0.0014483332633972168, + 0.011955201625823975, + 1.0 + ], + [ + -0.02241462469100952, + -0.016218043863773346, + 0.027563776820898056, + -0.05212193354964256, + 0.009352058172225952, + -0.03155779838562012, + 1.0 + ], + [ + -0.01949554681777954, + -0.010927267372608185, + 0.03050718456506729, + -0.030363362282514572, + -0.013326138257980347, + -0.012648284435272217, + 1.0 + ], + [ + -0.024401038885116577, + -0.001934640109539032, + 0.02324271947145462, + 0.004664234817028046, + 0.034408390522003174, + -0.015003561973571777, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.11569027602672577, + -0.01921132206916809, + 0.2356850951910019 + ], + [ + 0.11170289665460587, + -0.005547609645873308, + 0.22544978559017181 + ], + [ + 0.10830479860305786, + -0.00023647453053854406, + 0.19784456491470337 + ], + [ + 0.10190413147211075, + 0.0010591187747195363, + 0.15956662595272064 + ], + [ + 0.10026583075523376, + 0.001104461494833231, + 0.12067988514900208 + ], + [ + 0.11272093653678894, + 0.004937253892421722, + 0.09745968133211136 + ], + [ + 0.1350955218076706, + 0.0085128303617239, + 0.08290419727563858 + ], + [ + 0.15138421952724457, + 0.015614432282745838, + 0.07053910195827484 + ], + [ + 0.16793246567249298, + 0.02297201380133629, + 0.06450054794549942 + ], + [ + 0.17676189541816711, + 0.027779294177889824, + 0.05431357026100159 + ], + [ + 0.18432238698005676, + 0.02991439215838909, + 0.044697634875774384 + ], + [ + 0.19444620609283447, + 0.031623587012290955, + 0.03776979446411133 + ], + [ + 0.20727595686912537, + 0.03275773301720619, + 0.03322545439004898 + ], + [ + 0.2226172834634781, + 0.03609311580657959, + 0.029914313927292824 + ], + [ + 0.23755106329917908, + 0.03937409445643425, + 0.028130976483225822 + ], + [ + 0.25348833203315735, + 0.05036802217364311, + 0.029486918821930885 + ], + [ + 0.2659335732460022, + 0.060827236622571945, + 0.031233573332428932 + ], + [ + 0.27435097098350525, + 0.07120567560195923, + 0.03111186809837818 + ], + [ + 0.28436902165412903, + 0.08417176455259323, + 0.03395329788327217 + ], + [ + 0.2930305302143097, + 0.09753738343715668, + 0.03428398817777634 + ], + [ + 0.29951590299606323, + 0.10448987036943436, + 0.03582841530442238 + ], + [ + 0.3067783713340759, + 0.11210581660270691, + 0.038547735661268234 + ], + [ + 0.31248754262924194, + 0.11726241558790207, + 0.0407644547522068 + ], + [ + 0.3141215741634369, + 0.12089613080024719, + 0.040225014090538025 + ], + [ + 0.3126869201660156, + 0.12287361919879913, + 0.04022369161248207 + ], + [ + 0.29970499873161316, + 0.12106441706418991, + 0.04752533510327339 + ], + [ + 0.27729037404060364, + 0.10484637320041656, + 0.07508911192417145 + ], + [ + 0.2577948272228241, + 0.09391910582780838, + 0.10559629648923874 + ], + [ + 0.23339378833770752, + 0.09198446571826935, + 0.12883901596069336 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9954637293426838, + 0.017426516163746773, + 0.09353224095225397, + 0.02131353066235116, + -0.998943199435977, + -0.04072121942327927, + 0.09272376703877404, + 0.0425299992359336, + -0.994783143298644 + ], + [ + 0.9866729473228204, + 0.06834078607231366, + 0.14766865605238447, + 0.07812196360198105, + -0.9950463527015836, + -0.061479384985919386, + 0.14273560811608962, + 0.07219621135692926, + -0.9871242339449661 + ], + [ + 0.9797566401137227, + 0.1352436993913646, + 0.14760104311287042, + 0.14443534249015244, + -0.988072671896454, + -0.05339313524372327, + 0.138619471910773, + 0.0736310860054391, + -0.9876047312466855 + ], + [ + 0.9730386793038387, + 0.20125144351519236, + 0.11266581141452321, + 0.20894830503384526, + -0.9760121678528545, + -0.0611625214216575, + 0.09765415711645221, + 0.08305482939734983, + -0.991748738800132 + ], + [ + 0.9615634056241554, + 0.2524489461034595, + 0.10800623396697363, + 0.2585238585610962, + -0.9648947949566257, + -0.04629739971417231, + 0.09252692321242693, + 0.07244007369449687, + -0.9930716007438626 + ], + [ + 0.9451832914941886, + 0.2983602076438767, + 0.132701665305732, + 0.30474877666807987, + -0.9519510938667808, + -0.030286927958251962, + 0.11728908133121581, + 0.06906736842056677, + -0.9906931765284028 + ], + [ + 0.9245223964735686, + 0.34673908254976143, + 0.15820981970573045, + 0.3545523759237729, + -0.9347470682755397, + -0.023249324228710556, + 0.13982471578936817, + 0.07758818842345695, + -0.9871317652023913 + ], + [ + 0.912481071536732, + 0.38011650790984736, + 0.15129353754077046, + 0.384806431598309, + -0.9229954043004008, + -0.001869181884050615, + 0.13893273296006764, + 0.05992431939340424, + -0.9884871125399076 + ], + [ + 0.8994608182233277, + 0.40272828342076145, + 0.16964718156806743, + 0.40521056037620024, + -0.9139753334323985, + 0.021295343076408464, + 0.16362957630155925, + 0.049588502801586755, + -0.9852747546493157 + ], + [ + 0.886618240780978, + 0.4290914184926902, + 0.17259388659617844, + 0.43026931639998484, + -0.9021160904152161, + 0.03247883585744925, + 0.16963611195477582, + 0.0454655252900084, + -0.9844574523721024 + ], + [ + 0.8768853705357689, + 0.44484223908603904, + 0.18217417288207094, + 0.4453973866657712, + -0.8944312987743311, + 0.040172375137210205, + 0.18081265135949115, + 0.04591333246217832, + -0.9824452916119902 + ], + [ + 0.8683076604292983, + 0.4581348089227561, + 0.19014285075465862, + 0.4573589805055554, + -0.8878410260098096, + 0.050607069513731034, + 0.19200148382426, + 0.04302103424091998, + -0.9804512332707447 + ], + [ + 0.8544565610816504, + 0.475635402304777, + 0.2089855241371834, + 0.4733188662089128, + -0.8785421243034759, + 0.06428830931861315, + 0.2141803821904089, + 0.04398522364055141, + -0.9758032916454328 + ], + [ + 0.843809063377734, + 0.48999507216281357, + 0.21884033864383998, + 0.486354211365401, + -0.8706171488513316, + 0.07406322443100413, + 0.22681676668344034, + 0.04393870027820156, + -0.9729458078275133 + ], + [ + 0.8341222208208263, + 0.5064772277855472, + 0.2184512267477559, + 0.5032399158871179, + -0.8609283896626562, + 0.07451103898612449, + 0.22580900732889048, + 0.04778206365920511, + -0.9729990578626521 + ], + [ + 0.807415885272302, + 0.5423476295613187, + 0.23224693091441012, + 0.539711574540159, + -0.8379870763155922, + 0.08055480268381063, + 0.2383086329055804, + 0.06030512944405125, + -0.9693153701687645 + ], + [ + 0.793802970916805, + 0.5577640626608937, + 0.24243781422803862, + 0.5530820146693389, + -0.8278463501692146, + 0.09365204515020308, + 0.25293700483116255, + 0.059746723052608544, + -0.9656361637135985 + ], + [ + 0.778562303246051, + 0.5801509292124667, + 0.23930240136303524, + 0.573986096510261, + -0.8124582871113363, + 0.10223254235822678, + 0.2537335235579193, + 0.05776184759877985, + -0.965547962550208 + ], + [ + 0.7676503049005096, + 0.5898583528410501, + 0.2505596395467509, + 0.5802172085403703, + -0.8057034751986132, + 0.11912137073799148, + 0.27214150785900887, + 0.0539354580635114, + -0.9607444853152706 + ], + [ + 0.7579343295726527, + 0.6024439231929297, + 0.25019366791181036, + 0.5901769625843449, + -0.7966678314588173, + 0.13042821456043374, + 0.27789693213486627, + 0.04880251762580805, + -0.9593704234462372 + ], + [ + 0.7500206946192999, + 0.6138531602682561, + 0.2462788161240382, + 0.6004067287425584, + -0.7880784175226839, + 0.1358093071759162, + 0.27745399208417054, + 0.04600766744377729, + -0.959636690009787 + ], + [ + 0.7412261975513628, + 0.6225608655076044, + 0.25100138007981354, + 0.6079474285975716, + -0.7811456053175043, + 0.14216704032493196, + 0.28457626064931896, + 0.04721770887678378, + -0.9574898640942778 + ], + [ + 0.7397647466581683, + 0.6239200487197759, + 0.25193628640449706, + 0.6058206723650014, + -0.780533110187656, + 0.15410832824997564, + 0.29279588886627816, + 0.038624302016956914, + -0.9553945419337024 + ], + [ + 0.7498296102771256, + 0.6139858106401616, + 0.24652987625072412, + 0.5906640121260961, + -0.7890854740909419, + 0.16870133181980573, + 0.2981133682523422, + 0.019119071923525743, + -0.9543389758141633 + ], + [ + 0.7572894038849358, + 0.6083705390712751, + 0.2374827276955627, + 0.5807685139319064, + -0.793652798328158, + 0.1811716559818591, + 0.2986983294043065, + 0.0007231154888988067, + -0.9543473084339192 + ], + [ + 0.7506315742224162, + 0.6169827639273278, + 0.23639904567695016, + 0.5900470768640298, + -0.7869659618763201, + 0.18035803816933765, + 0.2973158032540336, + 0.004104127760414161, + -0.9547703751534895 + ], + [ + 0.7710807948522238, + 0.5788407445730275, + 0.2652881456684515, + 0.5676926722721234, + -0.8136509932365981, + 0.1252880323639601, + 0.2883737811566751, + 0.05399494075596603, + -0.9559943037038251 + ], + [ + 0.7750070288572759, + 0.5592430997863218, + 0.2942979112450575, + 0.5556061458390782, + -0.8248731685498334, + 0.10433631444709499, + 0.301107814457982, + 0.08265235113379596, + -0.9500014068012705 + ], + [ + 0.7913002352669796, + 0.5504007076539558, + 0.26627616994475356, + 0.5495026464790967, + -0.8311523902779532, + 0.08504437458005916, + 0.26812455907449306, + 0.07902382646562588, + -0.9601377274494732 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005929.json b/json/chunk-0005/episode_0005929.json new file mode 100644 index 0000000000000000000000000000000000000000..09e7e69c2d46fe5decef7d96189705dafa71fa7a --- /dev/null +++ b/json/chunk-0005/episode_0005929.json @@ -0,0 +1,2182 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 35, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the spoon to the right of the pot." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005929.mp4", + "start": 0, + "end": 35, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.28525540232658386, + 0.16945448517799377, + 0.1343180537223816, + -0.4331154525279999, + -0.5198461413383484, + 1.2578139305114746, + 0.0, + 1.0001531839370728 + ], + [ + 0.28143543004989624, + 0.1670670211315155, + 0.12274075299501419, + -0.40814337134361267, + -0.4851886034011841, + 1.2609318494796753, + 0.0, + 1.0001531839370728 + ], + [ + 0.2728630006313324, + 0.1454574018716812, + 0.10949516296386719, + -0.3794015944004059, + -0.4158936142921448, + 1.3111209869384766, + 0.0, + 1.0008161067962646 + ], + [ + 0.2600255012512207, + 0.12644675374031067, + 0.10513893514871597, + -0.363380491733551, + -0.35839805006980896, + 1.3810166120529175, + 0.0, + 1.0001531839370728 + ], + [ + 0.24856942892074585, + 0.10333559662103653, + 0.10029654949903488, + -0.34217551350593567, + -0.29820483922958374, + 1.4133803844451904, + 0.0, + 1.0001531839370728 + ], + [ + 0.2357553094625473, + 0.0776958093047142, + 0.09205279499292374, + -0.3130721151828766, + -0.25187399983406067, + 1.4383654594421387, + 0.0, + 1.0008161067962646 + ], + [ + 0.23309047520160675, + 0.060770951211452484, + 0.08568020164966583, + -0.29741039872169495, + -0.25254809856414795, + 1.4293718338012695, + 0.0, + 1.0001531839370728 + ], + [ + 0.2298387885093689, + 0.043148577213287354, + 0.07444040477275848, + -0.27133896946907043, + -0.25142091512680054, + 1.412940502166748, + 0.0, + 1.0008161067962646 + ], + [ + 0.2310156226158142, + 0.029419440776109695, + 0.05945964902639389, + -0.24200904369354248, + -0.2582271993160248, + 1.3805636167526245, + 0.0, + 1.0001531839370728 + ], + [ + 0.22961890697479248, + 0.01487524714320898, + 0.04275170713663101, + -0.20645111799240112, + -0.2603197693824768, + 1.347051978111267, + 0.0, + 1.0008161067962646 + ], + [ + 0.23117469251155853, + 0.00463953847065568, + 0.03161751478910446, + -0.18796657025814056, + -0.26819080114364624, + 1.317550539970398, + 0.0, + 1.0008161067962646 + ], + [ + 0.2338649481534958, + 0.0020684502087533474, + 0.022890707477927208, + -0.1724836528301239, + -0.27831336855888367, + 1.3151919841766357, + 0.0, + 1.0008161067962646 + ], + [ + 0.23598702251911163, + 0.0030439216643571854, + 0.0162460058927536, + -0.1569661796092987, + -0.28536149859428406, + 1.3124483823776245, + 0.0, + 1.0008161067962646 + ], + [ + 0.23622821271419525, + 0.005206636153161526, + 0.011914064176380634, + -0.14792925119400024, + -0.29807624220848083, + 1.3152568340301514, + 0.0, + 0.927960216999054 + ], + [ + 0.23481407761573792, + 0.009964769706130028, + 0.012215073220431805, + -0.15019641816616058, + -0.31967517733573914, + 1.3633712530136108, + 0.0, + 0.6450598835945129 + ], + [ + 0.2336803376674652, + 0.01121973991394043, + 0.011948991566896439, + -0.14044618606567383, + -0.32327213883399963, + 1.3534233570098877, + 0.0, + 0.36191558837890625 + ], + [ + 0.23214556276798248, + 0.015489064157009125, + 0.01695680432021618, + -0.13476043939590454, + -0.33211833238601685, + 1.356632947921753, + 0.0, + 0.33077090978622437 + ], + [ + 0.23748324811458588, + 0.023609213531017303, + 0.03668168559670448, + -0.19269081950187683, + -0.34669312834739685, + 1.3882114887237549, + 0.0, + 0.33077090978622437 + ], + [ + 0.251581609249115, + 0.02417975664138794, + 0.060023289173841476, + -0.26574185490608215, + -0.35621941089630127, + 1.4017707109451294, + 0.0, + 0.33077090978622437 + ], + [ + 0.26632219552993774, + 0.017392339184880257, + 0.07312538474798203, + -0.311845988035202, + -0.31379348039627075, + 1.4219890832901, + 0.0, + 0.33077090978622437 + ], + [ + 0.2873774468898773, + 0.008470642380416393, + 0.08454810082912445, + -0.3609146475791931, + -0.284242182970047, + 1.41547429561615, + 0.0, + 0.33077090978622437 + ], + [ + 0.3057287931442261, + -0.006894794292747974, + 0.07967210561037064, + -0.36840590834617615, + -0.26027482748031616, + 1.371350884437561, + 0.0, + 0.33077090978622437 + ], + [ + 0.32450515031814575, + -0.02647479437291622, + 0.06641403585672379, + -0.35945990681648254, + -0.24412831664085388, + 1.3141382932662964, + 0.0, + 0.33077090978622437 + ], + [ + 0.34291085600852966, + -0.04204936698079109, + 0.05656597390770912, + -0.3623771369457245, + -0.24412409961223602, + 1.2667460441589355, + 0.0, + 0.33077090978622437 + ], + [ + 0.35998037457466125, + -0.05258197337388992, + 0.04408615082502365, + -0.3604007959365845, + -0.23831304907798767, + 1.2290679216384888, + 0.0, + 0.33077090978622437 + ], + [ + 0.372096985578537, + -0.06038675084710121, + 0.029311001300811768, + -0.357753187417984, + -0.21635623276233673, + 1.1894863843917847, + 0.0, + 0.33077090978622437 + ], + [ + 0.3818058967590332, + -0.06496092677116394, + 0.01991969719529152, + -0.34411412477493286, + -0.23066449165344238, + 1.1408004760742188, + 0.0, + 0.33077090978622437 + ], + [ + 0.3867565393447876, + -0.06995576620101929, + 0.015983132645487785, + -0.34442171454429626, + -0.22073782980442047, + 1.1102299690246582, + 0.0, + 0.33077090978622437 + ], + [ + 0.3854855000972748, + -0.06735941767692566, + 0.015686044469475746, + -0.3295215666294098, + -0.2258998602628708, + 1.1157070398330688, + 0.0, + 0.400628000497818 + ], + [ + 0.38019630312919617, + -0.06330033391714096, + 0.01494673267006874, + -0.28818976879119873, + -0.22015774250030518, + 1.139865756034851, + 0.0, + 0.6941980719566345 + ], + [ + 0.3799992799758911, + -0.06259540468454361, + 0.01606127806007862, + -0.2848898470401764, + -0.21830517053604126, + 1.1349856853485107, + 0.0, + 0.9515043497085571 + ], + [ + 0.3758585453033447, + -0.05770687386393547, + 0.018237276002764702, + -0.27422264218330383, + -0.20887894928455353, + 1.1394942998886108, + 0.0, + 1.002137303352356 + ], + [ + 0.3726441264152527, + -0.05450700968503952, + 0.04006978124380112, + -0.3194793462753296, + -0.21375346183776855, + 1.1530992984771729, + 0.0, + 1.0014774799346924 + ], + [ + 0.36374571919441223, + -0.050300393253564835, + 0.07009117305278778, + -0.3722326159477234, + -0.2198912650346756, + 1.1468241214752197, + 0.0, + 1.0014774799346924 + ], + [ + 0.35159313678741455, + -0.0453212708234787, + 0.10178448259830475, + -0.42660823464393616, + -0.23923559486865997, + 1.152815818786621, + 0.0, + 1.0014774799346924 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.927960216999054 + ], + [ + 0.6450598835945129 + ], + [ + 0.36191558837890625 + ], + [ + 0.33077090978622437 + ], + [ + 0.33077090978622437 + ], + [ + 0.33077090978622437 + ], + [ + 0.33077090978622437 + ], + [ + 0.33077090978622437 + ], + [ + 0.33077090978622437 + ], + [ + 0.33077090978622437 + ], + [ + 0.33077090978622437 + ], + [ + 0.33077090978622437 + ], + [ + 0.33077090978622437 + ], + [ + 0.33077090978622437 + ], + [ + 0.33077090978622437 + ], + [ + 0.400628000497818 + ], + [ + 0.6941980719566345 + ], + [ + 0.9515043497085571 + ], + [ + 1.002137303352356 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.28525540232658386, + 0.16945448517799377, + 0.1343180537223816 + ], + [ + 0.28143543004989624, + 0.1670670211315155, + 0.12274075299501419 + ], + [ + 0.2728630006313324, + 0.1454574018716812, + 0.10949516296386719 + ], + [ + 0.2600255012512207, + 0.12644675374031067, + 0.10513893514871597 + ], + [ + 0.24856942892074585, + 0.10333559662103653, + 0.10029654949903488 + ], + [ + 0.2357553094625473, + 0.0776958093047142, + 0.09205279499292374 + ], + [ + 0.23309047520160675, + 0.060770951211452484, + 0.08568020164966583 + ], + [ + 0.2298387885093689, + 0.043148577213287354, + 0.07444040477275848 + ], + [ + 0.2310156226158142, + 0.029419440776109695, + 0.05945964902639389 + ], + [ + 0.22961890697479248, + 0.01487524714320898, + 0.04275170713663101 + ], + [ + 0.23117469251155853, + 0.00463953847065568, + 0.03161751478910446 + ], + [ + 0.2338649481534958, + 0.0020684502087533474, + 0.022890707477927208 + ], + [ + 0.23598702251911163, + 0.0030439216643571854, + 0.0162460058927536 + ], + [ + 0.23622821271419525, + 0.005206636153161526, + 0.011914064176380634 + ], + [ + 0.23481407761573792, + 0.009964769706130028, + 0.012215073220431805 + ], + [ + 0.2336803376674652, + 0.01121973991394043, + 0.011948991566896439 + ], + [ + 0.23214556276798248, + 0.015489064157009125, + 0.01695680432021618 + ], + [ + 0.23748324811458588, + 0.023609213531017303, + 0.03668168559670448 + ], + [ + 0.251581609249115, + 0.02417975664138794, + 0.060023289173841476 + ], + [ + 0.26632219552993774, + 0.017392339184880257, + 0.07312538474798203 + ], + [ + 0.2873774468898773, + 0.008470642380416393, + 0.08454810082912445 + ], + [ + 0.3057287931442261, + -0.006894794292747974, + 0.07967210561037064 + ], + [ + 0.32450515031814575, + -0.02647479437291622, + 0.06641403585672379 + ], + [ + 0.34291085600852966, + -0.04204936698079109, + 0.05656597390770912 + ], + [ + 0.35998037457466125, + -0.05258197337388992, + 0.04408615082502365 + ], + [ + 0.372096985578537, + -0.06038675084710121, + 0.029311001300811768 + ], + [ + 0.3818058967590332, + -0.06496092677116394, + 0.01991969719529152 + ], + [ + 0.3867565393447876, + -0.06995576620101929, + 0.015983132645487785 + ], + [ + 0.3854855000972748, + -0.06735941767692566, + 0.015686044469475746 + ], + [ + 0.38019630312919617, + -0.06330033391714096, + 0.01494673267006874 + ], + [ + 0.3799992799758911, + -0.06259540468454361, + 0.01606127806007862 + ], + [ + 0.3758585453033447, + -0.05770687386393547, + 0.018237276002764702 + ], + [ + 0.3726441264152527, + -0.05450700968503952, + 0.04006978124380112 + ], + [ + 0.36374571919441223, + -0.050300393253564835, + 0.07009117305278778 + ], + [ + 0.35159313678741455, + -0.0453212708234787, + 0.10178448259830475 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.2672229013604087, + 0.7993759549278002, + 0.5381356740374986, + 0.8257328417711954, + -0.47782362101908127, + 0.2997496642478177, + 0.49674661046552837, + 0.3642563244193312, + -0.7877563932533508 + ], + [ + 0.2697367357726532, + 0.8177015550599918, + 0.5085334406183974, + 0.8424584634265655, + -0.45617376898939077, + 0.2866517571670617, + 0.46637520386022235, + 0.3510977917026612, + -0.8119264190096604 + ], + [ + 0.23487887420067816, + 0.8593239720027341, + 0.45430631252016096, + 0.884087003581395, + -0.38312071807573805, + 0.26759799229366626, + 0.404007530316815, + 0.33879319137576386, + -0.8497041184581446 + ], + [ + 0.17665621072171472, + 0.894399271122921, + 0.4109045230077569, + 0.9196465722716534, + -0.29876373116709515, + 0.25493217734941526, + 0.35077452205432935, + 0.33285158367341866, + -0.8753096925795197 + ], + [ + 0.14984780177093132, + 0.9149249644342298, + 0.37477719482306104, + 0.9440468239836591, + -0.24504192258669238, + 0.2207488398641845, + 0.2938047488227268, + 0.32072849207708454, + -0.9004510002988356 + ], + [ + 0.12787773609314862, + 0.9329262824770251, + 0.3365944682779102, + 0.9599672089835073, + -0.20170888302792683, + 0.19436173539058993, + 0.24921926548344253, + 0.2982651135671488, + -0.9213727148883178 + ], + [ + 0.13648232275168382, + 0.9362319246126899, + 0.32379369807382585, + 0.9586117776876867, + -0.20725823586543768, + 0.1952113811856267, + 0.249872037760848, + 0.28374954978284156, + -0.9257700350212661 + ], + [ + 0.15225863731171702, + 0.9409524705425166, + 0.30236692203995114, + 0.956517430258483, + -0.21729902997115697, + 0.19456499475831393, + 0.24878045135357305, + 0.2595950302943588, + -0.9331230933112651 + ], + [ + 0.18281806993547667, + 0.9417723497911435, + 0.28220984120674203, + 0.9494025928698121, + -0.24367269474134257, + 0.19813716079920382, + 0.25536693199618515, + 0.2317077016552533, + -0.9386688825333964 + ], + [ + 0.21440646885861314, + 0.9426604831753819, + 0.2557754475533887, + 0.9422210357287467, + -0.26861694111819245, + 0.2001610820678022, + 0.25738956066986957, + 0.19808117629866112, + -0.9457877466188228 + ], + [ + 0.24159093264578457, + 0.9386462318848035, + 0.24612410006295657, + 0.9334963988758473, + -0.2940710798681293, + 0.20519910640891587, + 0.26498734790394274, + 0.18018171758991708, + -0.9472677837323418 + ], + [ + 0.24310130386837464, + 0.9412327157628293, + 0.23448396711763728, + 0.930281040869684, + -0.2946991573401648, + 0.21847103162985718, + 0.2747343099358241, + 0.16502539635076116, + -0.9472526999187496 + ], + [ + 0.24515189986677305, + 0.94368477563112, + 0.22217018304388714, + 0.9277153913470122, + -0.29488782209341996, + 0.22887840666795, + 0.281504349255161, + 0.15000072207506926, + -0.9477632007666188 + ], + [ + 0.24162119257323095, + 0.9460188786259224, + 0.21602657378860127, + 0.9248622519042128, + -0.29188703495478024, + 0.24378632822202184, + 0.293681824943523, + 0.14089088014722334, + -0.9454632439123072 + ], + [ + 0.19550738513846377, + 0.9578634786659785, + 0.21041487255950206, + 0.9289879650836386, + -0.24963753525347132, + 0.2732443260569789, + 0.314258210849106, + 0.14205160059106317, + -0.9386496256236596 + ], + [ + 0.204493928311622, + 0.9572622798584607, + 0.2045266751400987, + 0.9258873753629306, + -0.25696430380320984, + 0.2769511052775843, + 0.3176709011339016, + 0.13273384696871393, + -0.9388646997526646 + ], + [ + 0.20091603604835306, + 0.9589852801815847, + 0.1999499408693708, + 0.9237567514538342, + -0.25340762825772023, + 0.28715507671684426, + 0.32604633198684596, + 0.12701104808576713, + -0.9367827832865412 + ], + [ + 0.17076878341933488, + 0.9533629019398318, + 0.24887185420280564, + 0.9248681430907546, + -0.24219989325788982, + 0.2931861688445172, + 0.3397895532610431, + 0.180106604295148, + -0.9230951579246482 + ], + [ + 0.15766128365115983, + 0.9357405137465232, + 0.31548789290694057, + 0.9238657248552221, + -0.2525979975208881, + 0.2875176065672714, + 0.34873348287080685, + 0.24613805593981214, + -0.9043235125456852 + ], + [ + 0.14101911665696143, + 0.9272096672173405, + 0.3469810394762217, + 0.9406577489537887, + -0.23476600530188307, + 0.24504677530583371, + 0.308669091537332, + 0.2918341237300828, + -0.9052934530616099 + ], + [ + 0.14849090787409447, + 0.9089920538493519, + 0.3894661683862459, + 0.9483192482320153, + -0.24256789794606248, + 0.20457619196449423, + 0.2804301226890439, + 0.33896055954161547, + -0.8980337885424146 + ], + [ + 0.19145277912542535, + 0.8960474563180194, + 0.4005556008735347, + 0.947163555753727, + -0.2756726280033093, + 0.16396890199579178, + 0.2573461327028398, + 0.3479993652232089, + -0.9014817856103007 + ], + [ + 0.24632243327305103, + 0.8838403739792138, + 0.39768260232341945, + 0.9385633991874685, + -0.31986626208799684, + 0.12955431325709554, + 0.24171058018239103, + 0.3413382013518799, + -0.908330461740525 + ], + [ + 0.2905101485188688, + 0.8665144983138341, + 0.40590205446569155, + 0.9258411457549284, + -0.36169825294698055, + 0.10951048644903176, + 0.24170648819331747, + 0.34398691548811344, + -0.9073317891147799 + ], + [ + 0.3256448662715651, + 0.8537495910073732, + 0.40628445321685314, + 0.9155486636863496, + -0.392020764788063, + 0.08994645294352396, + 0.23606368948466827, + 0.34268258757883363, + -0.9093088466946535 + ], + [ + 0.3634607089069922, + 0.8414370353323997, + 0.3998500076926951, + 0.9065385501184064, + -0.41834807040269184, + 0.05632716165014487, + 0.21467223907632724, + 0.3420067361344892, + -0.9148481962645987 + ], + [ + 0.40582617870414067, + 0.8235262666370199, + 0.39637053477432804, + 0.8848931947219326, + -0.46253619089605275, + 0.05499369096707418, + 0.22862446634865374, + 0.3284277093520919, + -0.9164420838855727 + ], + [ + 0.43367132764277977, + 0.8103332195438985, + 0.39406757400751546, + 0.8740653567852711, + -0.4845785796574701, + 0.03454493023564287, + 0.2189496098383947, + 0.3294596689137668, + -0.9184320306429027 + ], + [ + 0.4283750354621022, + 0.8180374477072865, + 0.38380927964471007, + 0.8754006185999206, + -0.48099604345793756, + 0.04813068805539922, + 0.223983450164781, + 0.3153688956228221, + -0.9221571849342836 + ], + [ + 0.40763406158404475, + 0.8451806743644587, + 0.34569364980764916, + 0.8866471069025895, + -0.4568837258975614, + 0.0715134171413268, + 0.21838356086885902, + 0.277356969789476, + -0.9356183685945014 + ], + [ + 0.4121261719363109, + 0.8442928396423457, + 0.34252243624876083, + 0.8850125109507354, + -0.4603091788428817, + 0.06977331390772605, + 0.21657533069534124, + 0.27438123259737734, + -0.9369151857732627 + ], + [ + 0.4089671236041071, + 0.8510046247194095, + 0.32944957203972774, + 0.8886767321154728, + -0.4534450687303359, + 0.06812661330717211, + 0.20736334682760843, + 0.26491262399198284, + -0.9417121343819114 + ], + [ + 0.3964244536897873, + 0.8407485819524231, + 0.36876750732913394, + 0.8932238016182871, + -0.44602597402051847, + 0.05667513318574757, + 0.2121294245014777, + 0.30692450609887273, + -0.9277922476592668 + ], + [ + 0.40147855419959316, + 0.8164076126663126, + 0.41508261888242953, + 0.8895150959614128, + -0.4555185408417399, + 0.03557742270275499, + 0.21812350761566884, + 0.354938683338269, + -0.9090878211127531 + ], + [ + 0.39435492265644356, + 0.7922005287082099, + 0.4657279434294907, + 0.8878818188900928, + -0.45914472510041804, + 0.02918898930901273, + 0.23696006132057473, + 0.40200055189874306, + -0.8844464289102281 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.003819972276687622, + -0.0023874640464782715, + -0.011577300727367401, + 0.024972081184387207, + 0.03465753793716431, + 0.0031179189682006836, + 1.0 + ], + [ + -0.008572429418563843, + -0.02160961925983429, + -0.013245590031147003, + 0.028741776943206787, + 0.0692949891090393, + 0.05018913745880127, + 1.0 + ], + [ + -0.012837499380111694, + -0.019010648131370544, + -0.004356227815151215, + 0.01602110266685486, + 0.057495564222335815, + 0.06989562511444092, + 1.0 + ], + [ + -0.011456072330474854, + -0.02311115711927414, + -0.004842385649681091, + 0.021204978227615356, + 0.06019321084022522, + 0.03236377239227295, + 1.0 + ], + [ + -0.012814119458198547, + -0.025639787316322327, + -0.008243754506111145, + 0.029103398323059082, + 0.04633083939552307, + 0.024985074996948242, + 1.0 + ], + [ + -0.0026648342609405518, + -0.01692485809326172, + -0.006372593343257904, + 0.01566171646118164, + -0.0006740987300872803, + -0.00899362564086914, + 1.0 + ], + [ + -0.003251686692237854, + -0.01762237399816513, + -0.011239796876907349, + 0.02607142925262451, + 0.0011271834373474121, + -0.016431331634521484, + 1.0 + ], + [ + 0.0011768341064453125, + -0.013729136437177658, + -0.014980755746364594, + 0.029329925775527954, + -0.006806284189224243, + -0.032376885414123535, + 1.0 + ], + [ + -0.0013967156410217285, + -0.014544193632900715, + -0.01670794188976288, + 0.03555792570114136, + -0.0020925700664520264, + -0.03351163864135742, + 1.0 + ], + [ + 0.0015557855367660522, + -0.010235708206892014, + -0.01113419234752655, + 0.01848454773426056, + -0.007871031761169434, + -0.02950143814086914, + 1.0 + ], + [ + 0.002690255641937256, + -0.0025710882619023323, + -0.008726807311177254, + 0.015482917428016663, + -0.010122567415237427, + -0.002358555793762207, + 1.0 + ], + [ + 0.0021220743656158447, + 0.000975471455603838, + -0.006644701585173607, + 0.015517473220825195, + -0.007048130035400391, + -0.0027436017990112305, + 1.0 + ], + [ + 0.00024119019508361816, + 0.0021627144888043404, + -0.004331941716372967, + 0.009036928415298462, + -0.012714743614196777, + 0.0028084516525268555, + 0.0 + ], + [ + -0.0014141350984573364, + 0.004758133552968502, + 0.00030100904405117035, + -0.0022671669721603394, + -0.0215989351272583, + 0.04811441898345947, + 0.0 + ], + [ + -0.001133739948272705, + 0.001254970207810402, + -0.00026608165353536606, + 0.009750232100486755, + -0.003596961498260498, + -0.009947896003723145, + 0.0 + ], + [ + -0.001534774899482727, + 0.004269324243068695, + 0.00500781275331974, + 0.005685746669769287, + -0.008846193552017212, + 0.0032095909118652344, + 0.0 + ], + [ + 0.0053376853466033936, + 0.008120149374008179, + 0.019724881276488304, + -0.05793038010597229, + -0.014574795961380005, + 0.03157854080200195, + 0.0 + ], + [ + 0.014098361134529114, + 0.000570543110370636, + 0.023341603577136993, + -0.07305103540420532, + -0.009526282548904419, + 0.013559222221374512, + 0.0 + ], + [ + 0.014740586280822754, + -0.006787417456507683, + 0.013102095574140549, + -0.04610413312911987, + 0.04242593050003052, + 0.020218372344970703, + 0.0 + ], + [ + 0.021055251359939575, + -0.008921696804463863, + 0.011422716081142426, + -0.04906865954399109, + 0.029551297426223755, + -0.006514787673950195, + 0.0 + ], + [ + 0.018351346254348755, + -0.015365436673164368, + -0.004875995218753815, + -0.007491260766983032, + 0.023967355489730835, + -0.04412341117858887, + 0.0 + ], + [ + 0.018776357173919678, + -0.019579999148845673, + -0.01325806975364685, + 0.008946001529693604, + 0.01614651083946228, + -0.05721259117126465, + 0.0 + ], + [ + 0.01840570569038391, + -0.01557457260787487, + -0.009848061949014664, + -0.0029172301292419434, + 4.217028617858887e-06, + -0.04739224910736084, + 0.0 + ], + [ + 0.017069518566131592, + -0.010532606393098831, + -0.01247982308268547, + 0.0019763410091400146, + 0.005811050534248352, + -0.03767812252044678, + 0.0 + ], + [ + 0.012116611003875732, + -0.0078047774732112885, + -0.014775149524211884, + 0.002647608518600464, + 0.02195681631565094, + -0.0395815372467041, + 0.0 + ], + [ + 0.009708911180496216, + -0.004574175924062729, + -0.009391304105520248, + 0.013639062643051147, + -0.014308258891105652, + -0.04868590831756592, + 0.0 + ], + [ + 0.0049506425857543945, + -0.004994839429855347, + -0.003936564549803734, + -0.0003075897693634033, + 0.009926661849021912, + -0.030570507049560547, + 0.0 + ], + [ + -0.0012710392475128174, + 0.002596348524093628, + -0.0002970881760120392, + 0.014900147914886475, + -0.005162030458450317, + 0.0054770708084106445, + 1.0 + ], + [ + -0.005289196968078613, + 0.0040590837597846985, + -0.0007393117994070053, + 0.04133179783821106, + 0.005742117762565613, + 0.024158716201782227, + 1.0 + ], + [ + -0.0001970231533050537, + 0.0007049292325973511, + 0.00111454539000988, + 0.003299921751022339, + 0.001852571964263916, + -0.004880070686340332, + 1.0 + ], + [ + -0.004140734672546387, + 0.004888530820608139, + 0.002175997942686081, + 0.010667204856872559, + 0.009426221251487732, + 0.004508614540100098, + 1.0 + ], + [ + -0.003214418888092041, + 0.0031998641788959503, + 0.021832505241036415, + -0.04525670409202576, + -0.004874512553215027, + 0.013604998588562012, + 1.0 + ], + [ + -0.008898407220840454, + 0.004206616431474686, + 0.030021391808986664, + -0.0527532696723938, + -0.0061378031969070435, + -0.006275177001953125, + 1.0 + ], + [ + -0.01215258240699768, + 0.004979122430086136, + 0.03169330954551697, + -0.05437561869621277, + -0.019344329833984375, + 0.005991697311401367, + 1.0 + ], + [ + -0.00043201446533203125, + 0.001075930893421173, + 0.0021323636174201965, + -0.0039051473140716553, + -0.0018274039030075073, + 0.0008980035781860352, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.927960216999054 + ], + [ + 0.6450598835945129 + ], + [ + 0.36191558837890625 + ], + [ + 0.33077090978622437 + ], + [ + 0.33077090978622437 + ], + [ + 0.33077090978622437 + ], + [ + 0.33077090978622437 + ], + [ + 0.33077090978622437 + ], + [ + 0.33077090978622437 + ], + [ + 0.33077090978622437 + ], + [ + 0.33077090978622437 + ], + [ + 0.33077090978622437 + ], + [ + 0.33077090978622437 + ], + [ + 0.33077090978622437 + ], + [ + 0.33077090978622437 + ], + [ + 0.400628000497818 + ], + [ + 0.6941980719566345 + ], + [ + 0.9515043497085571 + ], + [ + 1.002137303352356 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.28143543004989624, + 0.1670670211315155, + 0.12274075299501419 + ], + [ + 0.2728630006313324, + 0.1454574018716812, + 0.10949516296386719 + ], + [ + 0.2600255012512207, + 0.12644675374031067, + 0.10513893514871597 + ], + [ + 0.24856942892074585, + 0.10333559662103653, + 0.10029654949903488 + ], + [ + 0.2357553094625473, + 0.0776958093047142, + 0.09205279499292374 + ], + [ + 0.23309047520160675, + 0.060770951211452484, + 0.08568020164966583 + ], + [ + 0.2298387885093689, + 0.043148577213287354, + 0.07444040477275848 + ], + [ + 0.2310156226158142, + 0.029419440776109695, + 0.05945964902639389 + ], + [ + 0.22961890697479248, + 0.01487524714320898, + 0.04275170713663101 + ], + [ + 0.23117469251155853, + 0.00463953847065568, + 0.03161751478910446 + ], + [ + 0.2338649481534958, + 0.0020684502087533474, + 0.022890707477927208 + ], + [ + 0.23598702251911163, + 0.0030439216643571854, + 0.0162460058927536 + ], + [ + 0.23622821271419525, + 0.005206636153161526, + 0.011914064176380634 + ], + [ + 0.23481407761573792, + 0.009964769706130028, + 0.012215073220431805 + ], + [ + 0.2336803376674652, + 0.01121973991394043, + 0.011948991566896439 + ], + [ + 0.23214556276798248, + 0.015489064157009125, + 0.01695680432021618 + ], + [ + 0.23748324811458588, + 0.023609213531017303, + 0.03668168559670448 + ], + [ + 0.251581609249115, + 0.02417975664138794, + 0.060023289173841476 + ], + [ + 0.26632219552993774, + 0.017392339184880257, + 0.07312538474798203 + ], + [ + 0.2873774468898773, + 0.008470642380416393, + 0.08454810082912445 + ], + [ + 0.3057287931442261, + -0.006894794292747974, + 0.07967210561037064 + ], + [ + 0.32450515031814575, + -0.02647479437291622, + 0.06641403585672379 + ], + [ + 0.34291085600852966, + -0.04204936698079109, + 0.05656597390770912 + ], + [ + 0.35998037457466125, + -0.05258197337388992, + 0.04408615082502365 + ], + [ + 0.372096985578537, + -0.06038675084710121, + 0.029311001300811768 + ], + [ + 0.3818058967590332, + -0.06496092677116394, + 0.01991969719529152 + ], + [ + 0.3867565393447876, + -0.06995576620101929, + 0.015983132645487785 + ], + [ + 0.3854855000972748, + -0.06735941767692566, + 0.015686044469475746 + ], + [ + 0.38019630312919617, + -0.06330033391714096, + 0.01494673267006874 + ], + [ + 0.3799992799758911, + -0.06259540468454361, + 0.01606127806007862 + ], + [ + 0.3758585453033447, + -0.05770687386393547, + 0.018237276002764702 + ], + [ + 0.3726441264152527, + -0.05450700968503952, + 0.04006978124380112 + ], + [ + 0.36374571919441223, + -0.050300393253564835, + 0.07009117305278778 + ], + [ + 0.35159313678741455, + -0.0453212708234787, + 0.10178448259830475 + ], + [ + 0.3511611223220825, + -0.044245339930057526, + 0.10391684621572495 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.2697367357726532, + 0.8177015550599918, + 0.5085334406183974, + 0.8424584634265655, + -0.45617376898939077, + 0.2866517571670617, + 0.46637520386022235, + 0.3510977917026612, + -0.8119264190096604 + ], + [ + 0.23487887420067816, + 0.8593239720027341, + 0.45430631252016096, + 0.884087003581395, + -0.38312071807573805, + 0.26759799229366626, + 0.404007530316815, + 0.33879319137576386, + -0.8497041184581446 + ], + [ + 0.17665621072171472, + 0.894399271122921, + 0.4109045230077569, + 0.9196465722716534, + -0.29876373116709515, + 0.25493217734941526, + 0.35077452205432935, + 0.33285158367341866, + -0.8753096925795197 + ], + [ + 0.14984780177093132, + 0.9149249644342298, + 0.37477719482306104, + 0.9440468239836591, + -0.24504192258669238, + 0.2207488398641845, + 0.2938047488227268, + 0.32072849207708454, + -0.9004510002988356 + ], + [ + 0.12787773609314862, + 0.9329262824770251, + 0.3365944682779102, + 0.9599672089835073, + -0.20170888302792683, + 0.19436173539058993, + 0.24921926548344253, + 0.2982651135671488, + -0.9213727148883178 + ], + [ + 0.13648232275168382, + 0.9362319246126899, + 0.32379369807382585, + 0.9586117776876867, + -0.20725823586543768, + 0.1952113811856267, + 0.249872037760848, + 0.28374954978284156, + -0.9257700350212661 + ], + [ + 0.15225863731171702, + 0.9409524705425166, + 0.30236692203995114, + 0.956517430258483, + -0.21729902997115697, + 0.19456499475831393, + 0.24878045135357305, + 0.2595950302943588, + -0.9331230933112651 + ], + [ + 0.18281806993547667, + 0.9417723497911435, + 0.28220984120674203, + 0.9494025928698121, + -0.24367269474134257, + 0.19813716079920382, + 0.25536693199618515, + 0.2317077016552533, + -0.9386688825333964 + ], + [ + 0.21440646885861314, + 0.9426604831753819, + 0.2557754475533887, + 0.9422210357287467, + -0.26861694111819245, + 0.2001610820678022, + 0.25738956066986957, + 0.19808117629866112, + -0.9457877466188228 + ], + [ + 0.24159093264578457, + 0.9386462318848035, + 0.24612410006295657, + 0.9334963988758473, + -0.2940710798681293, + 0.20519910640891587, + 0.26498734790394274, + 0.18018171758991708, + -0.9472677837323418 + ], + [ + 0.24310130386837464, + 0.9412327157628293, + 0.23448396711763728, + 0.930281040869684, + -0.2946991573401648, + 0.21847103162985718, + 0.2747343099358241, + 0.16502539635076116, + -0.9472526999187496 + ], + [ + 0.24515189986677305, + 0.94368477563112, + 0.22217018304388714, + 0.9277153913470122, + -0.29488782209341996, + 0.22887840666795, + 0.281504349255161, + 0.15000072207506926, + -0.9477632007666188 + ], + [ + 0.24162119257323095, + 0.9460188786259224, + 0.21602657378860127, + 0.9248622519042128, + -0.29188703495478024, + 0.24378632822202184, + 0.293681824943523, + 0.14089088014722334, + -0.9454632439123072 + ], + [ + 0.19550738513846377, + 0.9578634786659785, + 0.21041487255950206, + 0.9289879650836386, + -0.24963753525347132, + 0.2732443260569789, + 0.314258210849106, + 0.14205160059106317, + -0.9386496256236596 + ], + [ + 0.204493928311622, + 0.9572622798584607, + 0.2045266751400987, + 0.9258873753629306, + -0.25696430380320984, + 0.2769511052775843, + 0.3176709011339016, + 0.13273384696871393, + -0.9388646997526646 + ], + [ + 0.20091603604835306, + 0.9589852801815847, + 0.1999499408693708, + 0.9237567514538342, + -0.25340762825772023, + 0.28715507671684426, + 0.32604633198684596, + 0.12701104808576713, + -0.9367827832865412 + ], + [ + 0.17076878341933488, + 0.9533629019398318, + 0.24887185420280564, + 0.9248681430907546, + -0.24219989325788982, + 0.2931861688445172, + 0.3397895532610431, + 0.180106604295148, + -0.9230951579246482 + ], + [ + 0.15766128365115983, + 0.9357405137465232, + 0.31548789290694057, + 0.9238657248552221, + -0.2525979975208881, + 0.2875176065672714, + 0.34873348287080685, + 0.24613805593981214, + -0.9043235125456852 + ], + [ + 0.14101911665696143, + 0.9272096672173405, + 0.3469810394762217, + 0.9406577489537887, + -0.23476600530188307, + 0.24504677530583371, + 0.308669091537332, + 0.2918341237300828, + -0.9052934530616099 + ], + [ + 0.14849090787409447, + 0.9089920538493519, + 0.3894661683862459, + 0.9483192482320153, + -0.24256789794606248, + 0.20457619196449423, + 0.2804301226890439, + 0.33896055954161547, + -0.8980337885424146 + ], + [ + 0.19145277912542535, + 0.8960474563180194, + 0.4005556008735347, + 0.947163555753727, + -0.2756726280033093, + 0.16396890199579178, + 0.2573461327028398, + 0.3479993652232089, + -0.9014817856103007 + ], + [ + 0.24632243327305103, + 0.8838403739792138, + 0.39768260232341945, + 0.9385633991874685, + -0.31986626208799684, + 0.12955431325709554, + 0.24171058018239103, + 0.3413382013518799, + -0.908330461740525 + ], + [ + 0.2905101485188688, + 0.8665144983138341, + 0.40590205446569155, + 0.9258411457549284, + -0.36169825294698055, + 0.10951048644903176, + 0.24170648819331747, + 0.34398691548811344, + -0.9073317891147799 + ], + [ + 0.3256448662715651, + 0.8537495910073732, + 0.40628445321685314, + 0.9155486636863496, + -0.392020764788063, + 0.08994645294352396, + 0.23606368948466827, + 0.34268258757883363, + -0.9093088466946535 + ], + [ + 0.3634607089069922, + 0.8414370353323997, + 0.3998500076926951, + 0.9065385501184064, + -0.41834807040269184, + 0.05632716165014487, + 0.21467223907632724, + 0.3420067361344892, + -0.9148481962645987 + ], + [ + 0.40582617870414067, + 0.8235262666370199, + 0.39637053477432804, + 0.8848931947219326, + -0.46253619089605275, + 0.05499369096707418, + 0.22862446634865374, + 0.3284277093520919, + -0.9164420838855727 + ], + [ + 0.43367132764277977, + 0.8103332195438985, + 0.39406757400751546, + 0.8740653567852711, + -0.4845785796574701, + 0.03454493023564287, + 0.2189496098383947, + 0.3294596689137668, + -0.9184320306429027 + ], + [ + 0.4283750354621022, + 0.8180374477072865, + 0.38380927964471007, + 0.8754006185999206, + -0.48099604345793756, + 0.04813068805539922, + 0.223983450164781, + 0.3153688956228221, + -0.9221571849342836 + ], + [ + 0.40763406158404475, + 0.8451806743644587, + 0.34569364980764916, + 0.8866471069025895, + -0.4568837258975614, + 0.0715134171413268, + 0.21838356086885902, + 0.277356969789476, + -0.9356183685945014 + ], + [ + 0.4121261719363109, + 0.8442928396423457, + 0.34252243624876083, + 0.8850125109507354, + -0.4603091788428817, + 0.06977331390772605, + 0.21657533069534124, + 0.27438123259737734, + -0.9369151857732627 + ], + [ + 0.4089671236041071, + 0.8510046247194095, + 0.32944957203972774, + 0.8886767321154728, + -0.4534450687303359, + 0.06812661330717211, + 0.20736334682760843, + 0.26491262399198284, + -0.9417121343819114 + ], + [ + 0.3964244536897873, + 0.8407485819524231, + 0.36876750732913394, + 0.8932238016182871, + -0.44602597402051847, + 0.05667513318574757, + 0.2121294245014777, + 0.30692450609887273, + -0.9277922476592668 + ], + [ + 0.40147855419959316, + 0.8164076126663126, + 0.41508261888242953, + 0.8895150959614128, + -0.4555185408417399, + 0.03557742270275499, + 0.21812350761566884, + 0.354938683338269, + -0.9090878211127531 + ], + [ + 0.39435492265644356, + 0.7922005287082099, + 0.4657279434294907, + 0.8878818188900928, + -0.45914472510041804, + 0.02918898930901273, + 0.23696006132057473, + 0.40200055189874306, + -0.8844464289102281 + ], + [ + 0.39338137083068836, + 0.7904877734374495, + 0.469446671230367, + 0.8878382092883449, + -0.4592225219510174, + 0.0292914571268299, + 0.2387350230088455, + 0.40526997838336265, + -0.882474834434453 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005930.json b/json/chunk-0005/episode_0005930.json new file mode 100644 index 0000000000000000000000000000000000000000..f16b661c9c86b57a2ee5d9109bd7cbbeef902424 --- /dev/null +++ b/json/chunk-0005/episode_0005930.json @@ -0,0 +1,2362 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 38, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the can behind the blue fork." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005930.mp4", + "start": 0, + "end": 38, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3000527024269104, + 0.11304165422916412, + 0.09754538536071777, + 0.08815824240446091, + -0.18963363766670227, + 0.4167858958244324, + 0.0, + 1.0008161067962646 + ], + [ + 0.29524683952331543, + 0.11248939484357834, + 0.08933119475841522, + 0.0992756113409996, + -0.15181848406791687, + 0.4090445637702942, + 0.0, + 1.0001531839370728 + ], + [ + 0.27731868624687195, + 0.11636015772819519, + 0.0911385715007782, + 0.17910774052143097, + -0.07934258878231049, + 0.29123592376708984, + 0.0, + 1.0001531839370728 + ], + [ + 0.2561410367488861, + 0.11288707703351974, + 0.09048621356487274, + 0.1800607591867447, + 0.009692263789474964, + 0.1123686283826828, + 0.0, + 1.0008161067962646 + ], + [ + 0.2325499802827835, + 0.11340698599815369, + 0.0957869216799736, + 0.14802305400371552, + 0.04687672108411789, + 0.005985028110444546, + 0.0, + 1.0008161067962646 + ], + [ + 0.21299311518669128, + 0.10918761789798737, + 0.09325698018074036, + 0.1492146998643875, + 0.10923067480325699, + -0.06629753112792969, + 0.0, + 1.0001531839370728 + ], + [ + 0.19578826427459717, + 0.0993175059556961, + 0.08916203677654266, + 0.11814296990633011, + 0.13450834155082703, + -0.15421319007873535, + 0.0, + 1.0001531839370728 + ], + [ + 0.19410842657089233, + 0.08776796609163284, + 0.07821325212717056, + 0.12573839724063873, + 0.1897917538881302, + -0.25754955410957336, + 0.0, + 1.0008161067962646 + ], + [ + 0.2011946737766266, + 0.07994113862514496, + 0.06220671534538269, + 0.13277171552181244, + 0.22178152203559875, + -0.29667866230010986, + 0.0, + 1.0001531839370728 + ], + [ + 0.21025830507278442, + 0.07866629213094711, + 0.05220172554254532, + 0.14122305810451508, + 0.19968686997890472, + -0.31323447823524475, + 0.0, + 1.0001531839370728 + ], + [ + 0.21698643267154694, + 0.07548487186431885, + 0.04068443551659584, + 0.11255040764808655, + 0.17763158679008484, + -0.3614637553691864, + 0.0, + 1.0008161067962646 + ], + [ + 0.2281445860862732, + 0.0730411559343338, + 0.03933368995785713, + 0.12203484773635864, + 0.11007902771234512, + -0.3896608054637909, + 0.0, + 1.0001531839370728 + ], + [ + 0.2374172955751419, + 0.06621567904949188, + 0.03979635238647461, + 0.14353181421756744, + 0.07003802061080933, + -0.3982326090335846, + 0.0, + 1.0001531839370728 + ], + [ + 0.24913077056407928, + 0.0631486251950264, + 0.0392279326915741, + 0.12457957118749619, + 0.040215447545051575, + -0.39641666412353516, + 0.0, + 1.0001531839370728 + ], + [ + 0.2612625062465668, + 0.06080618500709534, + 0.04146306961774826, + 0.11290474236011505, + 0.0073667261749506, + -0.40108922123908997, + 0.0, + 1.0001531839370728 + ], + [ + 0.2718181014060974, + 0.06147197261452675, + 0.040444277226924896, + 0.11807410418987274, + -0.009583257138729095, + -0.39792707562446594, + 0.0, + 1.0001531839370728 + ], + [ + 0.28158798813819885, + 0.05675807222723961, + 0.04423213005065918, + 0.12250503897666931, + -0.04190261289477348, + -0.3971186876296997, + 0.0, + 1.0008161067962646 + ], + [ + 0.29349756240844727, + 0.04954634606838226, + 0.04610704630613327, + 0.12149452418088913, + -0.06959101557731628, + -0.42602264881134033, + 0.0, + 1.0001531839370728 + ], + [ + 0.30207329988479614, + 0.047657862305641174, + 0.04694414138793945, + 0.12121182680130005, + -0.07915093004703522, + -0.4251324236392975, + 0.0, + 1.0001531839370728 + ], + [ + 0.3110060691833496, + 0.04385159909725189, + 0.04681778326630592, + 0.10241621732711792, + -0.10181231051683426, + -0.4268297851085663, + 0.0, + 1.0001531839370728 + ], + [ + 0.3222008943557739, + 0.0394364558160305, + 0.04665055125951767, + 0.10715840756893158, + -0.126571923494339, + -0.418485164642334, + 0.0, + 1.0001531839370728 + ], + [ + 0.33638691902160645, + 0.027631625533103943, + 0.04883314296603203, + 0.12991102039813995, + -0.13632158935070038, + -0.4511190950870514, + 0.0, + 1.0001531839370728 + ], + [ + 0.3448949158191681, + 0.023755893111228943, + 0.04585046321153641, + 0.12040899693965912, + -0.1420896053314209, + -0.44079914689064026, + 0.0, + 1.0008161067962646 + ], + [ + 0.35378822684288025, + 0.017638375982642174, + 0.04394340515136719, + 0.12232360243797302, + -0.15695691108703613, + -0.4498507082462311, + 0.0, + 1.0008161067962646 + ], + [ + 0.3596400022506714, + 0.010534164495766163, + 0.046746671199798584, + 0.12283343076705933, + -0.18422088027000427, + -0.4618391990661621, + 0.0, + 1.0008161067962646 + ], + [ + 0.3661232888698578, + 0.003252549795433879, + 0.04940852150321007, + 0.1211676225066185, + -0.197396919131279, + -0.4659970700740814, + 0.0, + 1.0001531839370728 + ], + [ + 0.37459710240364075, + -0.00488526513800025, + 0.05211056396365166, + 0.11272366344928741, + -0.21683640778064728, + -0.4772259294986725, + 0.0, + 1.0001531839370728 + ], + [ + 0.377767950296402, + -0.01374084409326315, + 0.04965154826641083, + 0.10714540630578995, + -0.2143893986940384, + -0.5002932548522949, + 0.0, + 1.0001531839370728 + ], + [ + 0.37702488899230957, + -0.01689974032342434, + 0.05006078630685806, + 0.1007075086236, + -0.21410958468914032, + -0.5056038498878479, + 0.0, + 1.0001531839370728 + ], + [ + 0.36959996819496155, + -0.0163838192820549, + 0.06058122217655182, + 0.09383503347635269, + -0.2172427773475647, + -0.48182129859924316, + 0.0, + 1.0001531839370728 + ], + [ + 0.36277976632118225, + -0.00983498990535736, + 0.08000171184539795, + 0.0991637110710144, + -0.22824177145957947, + -0.43714284896850586, + 0.0, + 1.0001531839370728 + ], + [ + 0.35255926847457886, + 0.002677623648196459, + 0.0935579463839531, + 0.08985178917646408, + -0.20927660167217255, + -0.34786778688430786, + 0.0, + 1.0001531839370728 + ], + [ + 0.3430470824241638, + 0.018633363768458366, + 0.10573714971542358, + 0.0950629860162735, + -0.19208014011383057, + -0.18965625762939453, + 0.0, + 1.0001531839370728 + ], + [ + 0.3397027850151062, + 0.04466569051146507, + 0.10840897262096405, + 0.09918015450239182, + -0.1995907574892044, + -0.013913214206695557, + 0.0, + 1.0001531839370728 + ], + [ + 0.3360578715801239, + 0.07108208537101746, + 0.1147066056728363, + 0.08882752805948257, + -0.19902180135250092, + 0.17023929953575134, + 0.0, + 1.0001531839370728 + ], + [ + 0.3268510699272156, + 0.10618102550506592, + 0.11441060155630112, + 0.05292220786213875, + -0.20216625928878784, + 0.31767964363098145, + 0.0, + 1.0001531839370728 + ], + [ + 0.3168310225009918, + 0.13750384747982025, + 0.11459016054868698, + 0.03716816380620003, + -0.20728261768817902, + 0.41908490657806396, + 0.0, + 1.0008161067962646 + ], + [ + 0.32206347584724426, + 0.1605118215084076, + 0.1127127856016159, + 0.04773655906319618, + -0.20533840358257294, + 0.45222142338752747, + 0.0, + 1.0001531839370728 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3000527024269104, + 0.11304165422916412, + 0.09754538536071777 + ], + [ + 0.29524683952331543, + 0.11248939484357834, + 0.08933119475841522 + ], + [ + 0.27731868624687195, + 0.11636015772819519, + 0.0911385715007782 + ], + [ + 0.2561410367488861, + 0.11288707703351974, + 0.09048621356487274 + ], + [ + 0.2325499802827835, + 0.11340698599815369, + 0.0957869216799736 + ], + [ + 0.21299311518669128, + 0.10918761789798737, + 0.09325698018074036 + ], + [ + 0.19578826427459717, + 0.0993175059556961, + 0.08916203677654266 + ], + [ + 0.19410842657089233, + 0.08776796609163284, + 0.07821325212717056 + ], + [ + 0.2011946737766266, + 0.07994113862514496, + 0.06220671534538269 + ], + [ + 0.21025830507278442, + 0.07866629213094711, + 0.05220172554254532 + ], + [ + 0.21698643267154694, + 0.07548487186431885, + 0.04068443551659584 + ], + [ + 0.2281445860862732, + 0.0730411559343338, + 0.03933368995785713 + ], + [ + 0.2374172955751419, + 0.06621567904949188, + 0.03979635238647461 + ], + [ + 0.24913077056407928, + 0.0631486251950264, + 0.0392279326915741 + ], + [ + 0.2612625062465668, + 0.06080618500709534, + 0.04146306961774826 + ], + [ + 0.2718181014060974, + 0.06147197261452675, + 0.040444277226924896 + ], + [ + 0.28158798813819885, + 0.05675807222723961, + 0.04423213005065918 + ], + [ + 0.29349756240844727, + 0.04954634606838226, + 0.04610704630613327 + ], + [ + 0.30207329988479614, + 0.047657862305641174, + 0.04694414138793945 + ], + [ + 0.3110060691833496, + 0.04385159909725189, + 0.04681778326630592 + ], + [ + 0.3222008943557739, + 0.0394364558160305, + 0.04665055125951767 + ], + [ + 0.33638691902160645, + 0.027631625533103943, + 0.04883314296603203 + ], + [ + 0.3448949158191681, + 0.023755893111228943, + 0.04585046321153641 + ], + [ + 0.35378822684288025, + 0.017638375982642174, + 0.04394340515136719 + ], + [ + 0.3596400022506714, + 0.010534164495766163, + 0.046746671199798584 + ], + [ + 0.3661232888698578, + 0.003252549795433879, + 0.04940852150321007 + ], + [ + 0.37459710240364075, + -0.00488526513800025, + 0.05211056396365166 + ], + [ + 0.377767950296402, + -0.01374084409326315, + 0.04965154826641083 + ], + [ + 0.37702488899230957, + -0.01689974032342434, + 0.05006078630685806 + ], + [ + 0.36959996819496155, + -0.0163838192820549, + 0.06058122217655182 + ], + [ + 0.36277976632118225, + -0.00983498990535736, + 0.08000171184539795 + ], + [ + 0.35255926847457886, + 0.002677623648196459, + 0.0935579463839531 + ], + [ + 0.3430470824241638, + 0.018633363768458366, + 0.10573714971542358 + ], + [ + 0.3397027850151062, + 0.04466569051146507, + 0.10840897262096405 + ], + [ + 0.3360578715801239, + 0.07108208537101746, + 0.1147066056728363 + ], + [ + 0.3268510699272156, + 0.10618102550506592, + 0.11441060155630112 + ], + [ + 0.3168310225009918, + 0.13750384747982025, + 0.11459016054868698 + ], + [ + 0.32206347584724426, + 0.1605118215084076, + 0.1127127856016159 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8980027798053283, + 0.41842699810527917, + 0.13605092692998216, + 0.3975664622173455, + -0.9041252787583812, + 0.15651961036899836, + 0.18849911294721422, + -0.08646575950446383, + -0.9782595549502336 + ], + [ + 0.9069478683028857, + 0.40952733260516294, + 0.09865560313611942, + 0.3931580495895719, + -0.9070219038703823, + 0.1507912926606519, + 0.15123594884740515, + -0.09797259692713524, + -0.983630549559934 + ], + [ + 0.9548762340475401, + 0.29606859801421215, + 0.02355340572159391, + 0.28623299987216677, + -0.9385119879782498, + 0.19304382457176258, + 0.07925936812369466, + -0.1775911982363206, + -0.980907395666696 + ], + [ + 0.9936466125591034, + 0.10859463227825651, + -0.029556982088313578, + 0.11212703649874166, + -0.977822695160295, + 0.17689065694791878, + -0.009692112041680887, + -0.17908093887906296, + -0.9837866030264716 + ], + [ + 0.9988835971380133, + -0.000991324447609273, + -0.047228980980568235, + 0.005978417791530799, + -0.9890882245114306, + 0.14720306604665528, + -0.04685955494168945, + -0.1473210827025977, + -0.9879780770351139 + ], + [ + 0.9918564753663675, + -0.08168335739871516, + -0.09771674062247496, + -0.06585414812141735, + -0.9856420218971895, + 0.15547680163169822, + -0.10901359295523061, + -0.14777561975675754, + -0.9829946097291161 + ], + [ + 0.9792072694632531, + -0.1681508742729541, + -0.11348306883214346, + -0.1522152403217812, + -0.9788167279114098, + 0.13692455504613912, + -0.1341031097480675, + -0.11680366707446285, + -0.984059581180863 + ], + [ + 0.949652838147634, + -0.27557914560125724, + -0.14904905738656796, + -0.2501379764387088, + -0.9533566311808037, + 0.16894415209392882, + -0.1886543923191065, + -0.12315546391967197, + -0.9742906403971243 + ], + [ + 0.9328898872341309, + -0.3176202033984152, + -0.16980537296988066, + -0.28518520202216396, + -0.9393829795414902, + 0.1903392190152364, + -0.21996785866091537, + -0.12913955296849208, + -0.9669214637266204 + ], + [ + 0.9324375217359815, + -0.3316314784524979, + -0.14346020548665023, + -0.3020142601197335, + -0.9332675875479636, + 0.19441964076896798, + -0.19836243279207755, + -0.13795714019874064, + -0.9703711520469855 + ], + [ + 0.9206619231617923, + -0.36996939221844155, + -0.12451615180990429, + -0.3480791765020999, + -0.9224436570597614, + 0.1671483964500804, + -0.1766989250834599, + -0.11054568454593877, + -0.9780373926914143 + ], + [ + 0.9194390975736859, + -0.38942017265583767, + -0.05462302611155719, + -0.377575447077181, + -0.9130783358893086, + 0.1540283554871575, + -0.10985685057088249, + -0.12099537866509123, + -0.9865554169555496 + ], + [ + 0.919487997566784, + -0.3930289187640129, + -0.008372057442265317, + -0.38683913128207814, + -0.9083876771484682, + 0.1587051181081986, + -0.0699807747853132, + -0.1426888118248979, + -0.9872905317789926 + ], + [ + 0.9217046635260993, + -0.387731293709789, + 0.011178421729984445, + -0.3858031916564022, + -0.9133725726657242, + 0.13002476998529736, + -0.04020460846685876, + -0.12415710765046624, + -0.9914477303811315 + ], + [ + 0.9206113042494768, + -0.38869964403967705, + 0.03724799607368532, + -0.390410756531155, + -0.9144505830424127, + 0.10658129459789084, + -0.007366659544745092, + -0.112661962954759, + -0.9936060660192911 + ], + [ + 0.9218239180637706, + -0.3837694468179951, + 0.05442128053040316, + -0.3874904232101659, + -0.9158850692674159, + 0.10490811128519727, + 0.009583110453568945, + -0.11779453120595569, + -0.9929917484108334 + ], + [ + 0.921369729005233, + -0.37914373196300655, + 0.08560287954261418, + -0.38642337003600435, + -0.9172478805745018, + 0.09660902996926171, + 0.0418903516676654, + -0.1220915889598802, + -0.9916344297887256 + ], + [ + 0.9084124701692885, + -0.4025319247573, + 0.11293729938384002, + -0.41225197084959214, + -0.9073867067565113, + 0.08183933609334922, + 0.06953485867936134, + -0.12090249771099244, + -0.9902259789945349 + ], + [ + 0.9081320149917556, + -0.4007057498359521, + 0.12137193001440272, + -0.411150149653992, + -0.908243256664758, + 0.07778008204221873, + 0.07906831088693911, + -0.12053666982043967, + -0.9895550077899078 + ], + [ + 0.9055689436260385, + -0.40235903699976083, + 0.13435808008692812, + -0.4118433058048676, + -0.9098146623489158, + 0.051209097225456184, + 0.10163650822287545, + -0.1017078439430951, + -0.9896087785972333 + ], + [ + 0.9063963601629952, + -0.39170973172672985, + 0.15814273411651478, + -0.4031259797597182, + -0.9139511633941301, + 0.046719539523447026, + 0.1262342375349915, + -0.10609786520514423, + -0.986310377250929 + ], + [ + 0.8916104775396688, + -0.4164551643709254, + 0.1777522219559291, + -0.43192824888970754, + -0.9000516082577588, + 0.057836755473432755, + 0.1358997577354546, + -0.12834406313269148, + -0.982374194136856 + ], + [ + 0.8952965533861484, + -0.4081889526573653, + 0.17839803929238307, + -0.42236255953840574, + -0.9051202851209604, + 0.04865324000226515, + 0.14161196910943002, + -0.11890773057726106, + -0.9827548024883498 + ], + [ + 0.889442512923375, + -0.41440634922281694, + 0.1927677201410253, + -0.42948595214037144, + -0.9020768157307651, + 0.04241739543066746, + 0.1563132531765319, + -0.12051886261021426, + -0.9803271753024648 + ], + [ + 0.8800864515074303, + -0.422145222017259, + 0.21735052197098392, + -0.43805557447828714, + -0.898490306643594, + 0.028678956326875484, + 0.1831806527490224, + -0.12045156867181134, + -0.9756722134318178 + ], + [ + 0.8760250545987412, + -0.4248420774871589, + 0.2282308325175789, + -0.4405882913236467, + -0.8974749310748218, + 0.0205111101784684, + 0.1961174680230748, + -0.11852407894026704, + -0.9733909704982779 + ], + [ + 0.8674717979909188, + -0.4349053688392835, + 0.2415574462631408, + -0.4485609725300576, + -0.8937505651803201, + 0.0017266043982127263, + 0.21514119459855258, + -0.10985102363940813, + -0.9703849849374642 + ], + [ + 0.8573541979227705, + -0.45696881094879793, + 0.2369035354827879, + -0.4687012449754159, + -0.8833237633582093, + -0.0076336128527217245, + 0.212750845504073, + -0.10449227199526212, + -0.9715031872467378 + ], + [ + 0.8549050862665215, + -0.46319266991597735, + 0.23364469609160743, + -0.47327648958966834, + -0.8807957313227449, + -0.014430664756388267, + 0.21247742910086176, + -0.09824169287903751, + -0.972214951491155 + ], + [ + 0.8653237976946061, + -0.443459133975688, + 0.23357808466745672, + -0.4525020249543496, + -0.8916123864248113, + -0.016409441979126208, + 0.2155380304159753, + -0.0914950756455559, + -0.9721995724011693 + ], + [ + 0.882469399390772, + -0.40097880592446855, + 0.2458937907680418, + -0.4123733726858606, + -0.9109975466812371, + -0.005627738484986093, + 0.22626524399160042, + -0.09643374482075473, + -0.9692804404408804 + ], + [ + 0.9195900598713881, + -0.3219937351925802, + 0.22510920967936496, + -0.3334562748619809, + -0.9426642618445239, + 0.01382035441986415, + 0.2077523394354653, + -0.08777313904521225, + -0.9742355164544361 + ], + [ + 0.9640081164175245, + -0.1698747350591285, + 0.204526100705332, + -0.18505428024617723, + -0.981051037635934, + 0.0573914184876678, + 0.19090119131033734, + -0.0931742235924089, + -0.9771772097292517 + ], + [ + 0.9800529339397311, + 0.005785757195686855, + 0.19865238908655927, + -0.013636566326099907, + -0.9952625034081918, + 0.09626314647097822, + 0.19826822926268103, + -0.09705191560876936, + -0.9753310386436542 + ], + [ + 0.9660900503902894, + 0.1860357628871382, + 0.17905504590457064, + 0.1660739547711989, + -0.9786872402098679, + 0.1207920833376322, + 0.1977105360964387, + -0.08695965028329053, + -0.9763957000822289 + ], + [ + 0.9306157407023036, + 0.3220157544123693, + 0.17395458334673336, + 0.3060015350603503, + -0.9453150382786036, + 0.1128828549649204, + 0.2007919413169067, + -0.05182019215088604, + -0.9782623697084709 + ], + [ + 0.8939079241299981, + 0.41362937463784755, + 0.17274074103783743, + 0.39821399590852946, + -0.909718851263513, + 0.11763173516681841, + 0.20580144955796537, + -0.0363641594499026, + -0.9779178959745766 + ], + [ + 0.8805824280892953, + 0.4452186256825683, + 0.1623421161796444, + 0.4277849961235395, + -0.8942024345999222, + 0.1319166518948772, + 0.20389846598722455, + -0.04671596409040496, + -0.9778767991251043 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.004805862903594971, + -0.0005522593855857849, + -0.008214190602302551, + 0.011117368936538696, + 0.0378151535987854, + -0.007741332054138184, + 1.0 + ], + [ + -0.01792815327644348, + 0.003870762884616852, + 0.001807376742362976, + 0.07983212918043137, + 0.07247589528560638, + -0.11780864000320435, + 1.0 + ], + [ + -0.02117764949798584, + -0.0034730806946754456, + -0.0006523579359054565, + 0.0009530186653137207, + 0.08903485536575317, + -0.17886729538440704, + 1.0 + ], + [ + -0.0235910564661026, + 0.0005199089646339417, + 0.005300708115100861, + -0.032037705183029175, + 0.0371844582259655, + -0.10638359934091568, + 1.0 + ], + [ + -0.019556865096092224, + -0.004219368100166321, + -0.002529941499233246, + 0.001191645860671997, + 0.0623539537191391, + -0.07228256016969681, + 1.0 + ], + [ + -0.017204850912094116, + -0.00987011194229126, + -0.004094943404197693, + -0.031071729958057404, + 0.025277666747570038, + -0.08791565895080566, + 1.0 + ], + [ + -0.001679837703704834, + -0.011549539864063263, + -0.0109487846493721, + 0.007595427334308624, + 0.05528341233730316, + -0.10333636403083801, + 1.0 + ], + [ + 0.007086247205734253, + -0.007826827466487885, + -0.016006536781787872, + 0.007033318281173706, + 0.03198976814746857, + -0.0391291081905365, + 1.0 + ], + [ + 0.009063631296157837, + -0.0012748464941978455, + -0.010004989802837372, + 0.008451342582702637, + -0.02209465205669403, + -0.016555815935134888, + 1.0 + ], + [ + 0.006728127598762512, + -0.0031814202666282654, + -0.011517290025949478, + -0.028672650456428528, + -0.022055283188819885, + -0.04822927713394165, + 1.0 + ], + [ + 0.011158153414726257, + -0.0024437159299850464, + -0.0013507455587387085, + 0.009484440088272095, + -0.06755255907773972, + -0.028197050094604492, + 1.0 + ], + [ + 0.009272709488868713, + -0.006825476884841919, + 0.0004626624286174774, + 0.0214969664812088, + -0.0400410071015358, + -0.008571803569793701, + 1.0 + ], + [ + 0.011713474988937378, + -0.0030670538544654846, + -0.0005684196949005127, + -0.01895224303007126, + -0.02982257306575775, + 0.0018159449100494385, + 1.0 + ], + [ + 0.012131735682487488, + -0.002342440187931061, + 0.002235136926174164, + -0.011674828827381134, + -0.032848723232746124, + -0.00467255711555481, + 1.0 + ], + [ + 0.01055559515953064, + 0.0006657876074314117, + -0.0010187923908233643, + 0.00516936182975769, + -0.016949983313679695, + 0.0031621456146240234, + 1.0 + ], + [ + 0.00976988673210144, + -0.00471390038728714, + 0.0037878528237342834, + 0.00443093478679657, + -0.03231935575604439, + 0.0008083879947662354, + 1.0 + ], + [ + 0.011909574270248413, + -0.007211726158857346, + 0.0018749162554740906, + -0.0010105147957801819, + -0.0276884026825428, + -0.028903961181640625, + 1.0 + ], + [ + 0.008575737476348877, + -0.0018884837627410889, + 0.0008370950818061829, + -0.0002826973795890808, + -0.009559914469718933, + 0.0008902251720428467, + 1.0 + ], + [ + 0.008932769298553467, + -0.0038062632083892822, + -0.00012635812163352966, + -0.01879560947418213, + -0.022661380469799042, + -0.0016973614692687988, + 1.0 + ], + [ + 0.011194825172424316, + -0.00441514328122139, + -0.00016723200678825378, + 0.00474219024181366, + -0.02475961297750473, + 0.0083446204662323, + 1.0 + ], + [ + 0.01418602466583252, + -0.01180483028292656, + 0.0021825917065143585, + 0.022752612829208374, + -0.00974966585636139, + -0.03263393044471741, + 1.0 + ], + [ + 0.008507996797561646, + -0.003875732421875, + -0.0029826797544956207, + -0.009502023458480835, + -0.00576801598072052, + 0.010319948196411133, + 1.0 + ], + [ + 0.008893311023712158, + -0.006117517128586769, + -0.00190705806016922, + 0.0019146054983139038, + -0.014867305755615234, + -0.00905156135559082, + 1.0 + ], + [ + 0.005851775407791138, + -0.007104211486876011, + 0.0028032660484313965, + 0.0005098283290863037, + -0.02726396918296814, + -0.01198849081993103, + 1.0 + ], + [ + 0.006483286619186401, + -0.00728161446750164, + 0.0026618503034114838, + -0.0016658082604408264, + -0.01317603886127472, + -0.0041578710079193115, + 1.0 + ], + [ + 0.008473813533782959, + -0.008137814700603485, + 0.0027020424604415894, + -0.008443959057331085, + -0.019439488649368286, + -0.011228859424591064, + 1.0 + ], + [ + 0.0031708478927612305, + -0.008855579420924187, + -0.0024590156972408295, + -0.005578257143497467, + 0.0024470090866088867, + -0.023067325353622437, + 1.0 + ], + [ + -0.0007430613040924072, + -0.00315889623016119, + 0.0004092380404472351, + -0.006437897682189941, + 0.0002798140048980713, + -0.0053105950355529785, + 1.0 + ], + [ + -0.0074249207973480225, + 0.0005159210413694382, + 0.010520435869693756, + -0.0068724751472473145, + -0.0031331926584243774, + 0.023782551288604736, + 1.0 + ], + [ + -0.006820201873779297, + 0.00654882937669754, + 0.01942048966884613, + 0.005328677594661713, + -0.01099899411201477, + 0.044678449630737305, + 1.0 + ], + [ + -0.010220497846603394, + 0.012512613087892532, + 0.013556234538555145, + -0.009311921894550323, + 0.01896516978740692, + 0.089275062084198, + 1.0 + ], + [ + -0.009512186050415039, + 0.015955740585923195, + 0.01217920333147049, + 0.005211196839809418, + 0.01719646155834198, + 0.15821152925491333, + 1.0 + ], + [ + -0.003344297409057617, + 0.026032326743006706, + 0.0026718229055404663, + 0.004117168486118317, + -0.00751061737537384, + 0.17574304342269897, + 1.0 + ], + [ + -0.0036449134349823, + 0.026416394859552383, + 0.006297633051872253, + -0.01035262644290924, + 0.0005689561367034912, + 0.1841525137424469, + 1.0 + ], + [ + -0.009206801652908325, + 0.03509894013404846, + -0.00029600411653518677, + -0.035905320197343826, + -0.0031444579362869263, + 0.1474403440952301, + 1.0 + ], + [ + -0.010020047426223755, + 0.031322821974754333, + 0.00017955899238586426, + -0.01575404405593872, + -0.005116358399391174, + 0.10140526294708252, + 1.0 + ], + [ + 0.005232453346252441, + 0.02300797402858734, + -0.0018773749470710754, + 0.010568395256996155, + 0.001944214105606079, + 0.0331365168094635, + 1.0 + ], + [ + 0.0020020604133605957, + 0.01636672019958496, + -0.0067005455493927, + 0.015085835009813309, + 0.015086501836776733, + 0.0052078962326049805, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.29524683952331543, + 0.11248939484357834, + 0.08933119475841522 + ], + [ + 0.27731868624687195, + 0.11636015772819519, + 0.0911385715007782 + ], + [ + 0.2561410367488861, + 0.11288707703351974, + 0.09048621356487274 + ], + [ + 0.2325499802827835, + 0.11340698599815369, + 0.0957869216799736 + ], + [ + 0.21299311518669128, + 0.10918761789798737, + 0.09325698018074036 + ], + [ + 0.19578826427459717, + 0.0993175059556961, + 0.08916203677654266 + ], + [ + 0.19410842657089233, + 0.08776796609163284, + 0.07821325212717056 + ], + [ + 0.2011946737766266, + 0.07994113862514496, + 0.06220671534538269 + ], + [ + 0.21025830507278442, + 0.07866629213094711, + 0.05220172554254532 + ], + [ + 0.21698643267154694, + 0.07548487186431885, + 0.04068443551659584 + ], + [ + 0.2281445860862732, + 0.0730411559343338, + 0.03933368995785713 + ], + [ + 0.2374172955751419, + 0.06621567904949188, + 0.03979635238647461 + ], + [ + 0.24913077056407928, + 0.0631486251950264, + 0.0392279326915741 + ], + [ + 0.2612625062465668, + 0.06080618500709534, + 0.04146306961774826 + ], + [ + 0.2718181014060974, + 0.06147197261452675, + 0.040444277226924896 + ], + [ + 0.28158798813819885, + 0.05675807222723961, + 0.04423213005065918 + ], + [ + 0.29349756240844727, + 0.04954634606838226, + 0.04610704630613327 + ], + [ + 0.30207329988479614, + 0.047657862305641174, + 0.04694414138793945 + ], + [ + 0.3110060691833496, + 0.04385159909725189, + 0.04681778326630592 + ], + [ + 0.3222008943557739, + 0.0394364558160305, + 0.04665055125951767 + ], + [ + 0.33638691902160645, + 0.027631625533103943, + 0.04883314296603203 + ], + [ + 0.3448949158191681, + 0.023755893111228943, + 0.04585046321153641 + ], + [ + 0.35378822684288025, + 0.017638375982642174, + 0.04394340515136719 + ], + [ + 0.3596400022506714, + 0.010534164495766163, + 0.046746671199798584 + ], + [ + 0.3661232888698578, + 0.003252549795433879, + 0.04940852150321007 + ], + [ + 0.37459710240364075, + -0.00488526513800025, + 0.05211056396365166 + ], + [ + 0.377767950296402, + -0.01374084409326315, + 0.04965154826641083 + ], + [ + 0.37702488899230957, + -0.01689974032342434, + 0.05006078630685806 + ], + [ + 0.36959996819496155, + -0.0163838192820549, + 0.06058122217655182 + ], + [ + 0.36277976632118225, + -0.00983498990535736, + 0.08000171184539795 + ], + [ + 0.35255926847457886, + 0.002677623648196459, + 0.0935579463839531 + ], + [ + 0.3430470824241638, + 0.018633363768458366, + 0.10573714971542358 + ], + [ + 0.3397027850151062, + 0.04466569051146507, + 0.10840897262096405 + ], + [ + 0.3360578715801239, + 0.07108208537101746, + 0.1147066056728363 + ], + [ + 0.3268510699272156, + 0.10618102550506592, + 0.11441060155630112 + ], + [ + 0.3168310225009918, + 0.13750384747982025, + 0.11459016054868698 + ], + [ + 0.32206347584724426, + 0.1605118215084076, + 0.1127127856016159 + ], + [ + 0.32406553626060486, + 0.17687854170799255, + 0.1060122400522232 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9069478683028857, + 0.40952733260516294, + 0.09865560313611942, + 0.3931580495895719, + -0.9070219038703823, + 0.1507912926606519, + 0.15123594884740515, + -0.09797259692713524, + -0.983630549559934 + ], + [ + 0.9548762340475401, + 0.29606859801421215, + 0.02355340572159391, + 0.28623299987216677, + -0.9385119879782498, + 0.19304382457176258, + 0.07925936812369466, + -0.1775911982363206, + -0.980907395666696 + ], + [ + 0.9936466125591034, + 0.10859463227825651, + -0.029556982088313578, + 0.11212703649874166, + -0.977822695160295, + 0.17689065694791878, + -0.009692112041680887, + -0.17908093887906296, + -0.9837866030264716 + ], + [ + 0.9988835971380133, + -0.000991324447609273, + -0.047228980980568235, + 0.005978417791530799, + -0.9890882245114306, + 0.14720306604665528, + -0.04685955494168945, + -0.1473210827025977, + -0.9879780770351139 + ], + [ + 0.9918564753663675, + -0.08168335739871516, + -0.09771674062247496, + -0.06585414812141735, + -0.9856420218971895, + 0.15547680163169822, + -0.10901359295523061, + -0.14777561975675754, + -0.9829946097291161 + ], + [ + 0.9792072694632531, + -0.1681508742729541, + -0.11348306883214346, + -0.1522152403217812, + -0.9788167279114098, + 0.13692455504613912, + -0.1341031097480675, + -0.11680366707446285, + -0.984059581180863 + ], + [ + 0.949652838147634, + -0.27557914560125724, + -0.14904905738656796, + -0.2501379764387088, + -0.9533566311808037, + 0.16894415209392882, + -0.1886543923191065, + -0.12315546391967197, + -0.9742906403971243 + ], + [ + 0.9328898872341309, + -0.3176202033984152, + -0.16980537296988066, + -0.28518520202216396, + -0.9393829795414902, + 0.1903392190152364, + -0.21996785866091537, + -0.12913955296849208, + -0.9669214637266204 + ], + [ + 0.9324375217359815, + -0.3316314784524979, + -0.14346020548665023, + -0.3020142601197335, + -0.9332675875479636, + 0.19441964076896798, + -0.19836243279207755, + -0.13795714019874064, + -0.9703711520469855 + ], + [ + 0.9206619231617923, + -0.36996939221844155, + -0.12451615180990429, + -0.3480791765020999, + -0.9224436570597614, + 0.1671483964500804, + -0.1766989250834599, + -0.11054568454593877, + -0.9780373926914143 + ], + [ + 0.9194390975736859, + -0.38942017265583767, + -0.05462302611155719, + -0.377575447077181, + -0.9130783358893086, + 0.1540283554871575, + -0.10985685057088249, + -0.12099537866509123, + -0.9865554169555496 + ], + [ + 0.919487997566784, + -0.3930289187640129, + -0.008372057442265317, + -0.38683913128207814, + -0.9083876771484682, + 0.1587051181081986, + -0.0699807747853132, + -0.1426888118248979, + -0.9872905317789926 + ], + [ + 0.9217046635260993, + -0.387731293709789, + 0.011178421729984445, + -0.3858031916564022, + -0.9133725726657242, + 0.13002476998529736, + -0.04020460846685876, + -0.12415710765046624, + -0.9914477303811315 + ], + [ + 0.9206113042494768, + -0.38869964403967705, + 0.03724799607368532, + -0.390410756531155, + -0.9144505830424127, + 0.10658129459789084, + -0.007366659544745092, + -0.112661962954759, + -0.9936060660192911 + ], + [ + 0.9218239180637706, + -0.3837694468179951, + 0.05442128053040316, + -0.3874904232101659, + -0.9158850692674159, + 0.10490811128519727, + 0.009583110453568945, + -0.11779453120595569, + -0.9929917484108334 + ], + [ + 0.921369729005233, + -0.37914373196300655, + 0.08560287954261418, + -0.38642337003600435, + -0.9172478805745018, + 0.09660902996926171, + 0.0418903516676654, + -0.1220915889598802, + -0.9916344297887256 + ], + [ + 0.9084124701692885, + -0.4025319247573, + 0.11293729938384002, + -0.41225197084959214, + -0.9073867067565113, + 0.08183933609334922, + 0.06953485867936134, + -0.12090249771099244, + -0.9902259789945349 + ], + [ + 0.9081320149917556, + -0.4007057498359521, + 0.12137193001440272, + -0.411150149653992, + -0.908243256664758, + 0.07778008204221873, + 0.07906831088693911, + -0.12053666982043967, + -0.9895550077899078 + ], + [ + 0.9055689436260385, + -0.40235903699976083, + 0.13435808008692812, + -0.4118433058048676, + -0.9098146623489158, + 0.051209097225456184, + 0.10163650822287545, + -0.1017078439430951, + -0.9896087785972333 + ], + [ + 0.9063963601629952, + -0.39170973172672985, + 0.15814273411651478, + -0.4031259797597182, + -0.9139511633941301, + 0.046719539523447026, + 0.1262342375349915, + -0.10609786520514423, + -0.986310377250929 + ], + [ + 0.8916104775396688, + -0.4164551643709254, + 0.1777522219559291, + -0.43192824888970754, + -0.9000516082577588, + 0.057836755473432755, + 0.1358997577354546, + -0.12834406313269148, + -0.982374194136856 + ], + [ + 0.8952965533861484, + -0.4081889526573653, + 0.17839803929238307, + -0.42236255953840574, + -0.9051202851209604, + 0.04865324000226515, + 0.14161196910943002, + -0.11890773057726106, + -0.9827548024883498 + ], + [ + 0.889442512923375, + -0.41440634922281694, + 0.1927677201410253, + -0.42948595214037144, + -0.9020768157307651, + 0.04241739543066746, + 0.1563132531765319, + -0.12051886261021426, + -0.9803271753024648 + ], + [ + 0.8800864515074303, + -0.422145222017259, + 0.21735052197098392, + -0.43805557447828714, + -0.898490306643594, + 0.028678956326875484, + 0.1831806527490224, + -0.12045156867181134, + -0.9756722134318178 + ], + [ + 0.8760250545987412, + -0.4248420774871589, + 0.2282308325175789, + -0.4405882913236467, + -0.8974749310748218, + 0.0205111101784684, + 0.1961174680230748, + -0.11852407894026704, + -0.9733909704982779 + ], + [ + 0.8674717979909188, + -0.4349053688392835, + 0.2415574462631408, + -0.4485609725300576, + -0.8937505651803201, + 0.0017266043982127263, + 0.21514119459855258, + -0.10985102363940813, + -0.9703849849374642 + ], + [ + 0.8573541979227705, + -0.45696881094879793, + 0.2369035354827879, + -0.4687012449754159, + -0.8833237633582093, + -0.0076336128527217245, + 0.212750845504073, + -0.10449227199526212, + -0.9715031872467378 + ], + [ + 0.8549050862665215, + -0.46319266991597735, + 0.23364469609160743, + -0.47327648958966834, + -0.8807957313227449, + -0.014430664756388267, + 0.21247742910086176, + -0.09824169287903751, + -0.972214951491155 + ], + [ + 0.8653237976946061, + -0.443459133975688, + 0.23357808466745672, + -0.4525020249543496, + -0.8916123864248113, + -0.016409441979126208, + 0.2155380304159753, + -0.0914950756455559, + -0.9721995724011693 + ], + [ + 0.882469399390772, + -0.40097880592446855, + 0.2458937907680418, + -0.4123733726858606, + -0.9109975466812371, + -0.005627738484986093, + 0.22626524399160042, + -0.09643374482075473, + -0.9692804404408804 + ], + [ + 0.9195900598713881, + -0.3219937351925802, + 0.22510920967936496, + -0.3334562748619809, + -0.9426642618445239, + 0.01382035441986415, + 0.2077523394354653, + -0.08777313904521225, + -0.9742355164544361 + ], + [ + 0.9640081164175245, + -0.1698747350591285, + 0.204526100705332, + -0.18505428024617723, + -0.981051037635934, + 0.0573914184876678, + 0.19090119131033734, + -0.0931742235924089, + -0.9771772097292517 + ], + [ + 0.9800529339397311, + 0.005785757195686855, + 0.19865238908655927, + -0.013636566326099907, + -0.9952625034081918, + 0.09626314647097822, + 0.19826822926268103, + -0.09705191560876936, + -0.9753310386436542 + ], + [ + 0.9660900503902894, + 0.1860357628871382, + 0.17905504590457064, + 0.1660739547711989, + -0.9786872402098679, + 0.1207920833376322, + 0.1977105360964387, + -0.08695965028329053, + -0.9763957000822289 + ], + [ + 0.9306157407023036, + 0.3220157544123693, + 0.17395458334673336, + 0.3060015350603503, + -0.9453150382786036, + 0.1128828549649204, + 0.2007919413169067, + -0.05182019215088604, + -0.9782623697084709 + ], + [ + 0.8939079241299981, + 0.41362937463784755, + 0.17274074103783743, + 0.39821399590852946, + -0.909718851263513, + 0.11763173516681841, + 0.20580144955796537, + -0.0363641594499026, + -0.9779178959745766 + ], + [ + 0.8805824280892953, + 0.4452186256825683, + 0.1623421161796444, + 0.4277849961235395, + -0.8942024345999222, + 0.1319166518948772, + 0.20389846598722455, + -0.04671596409040496, + -0.9778767991251043 + ], + [ + 0.8810024390108283, + 0.4514236719961037, + 0.1416028630308242, + 0.43367444680018225, + -0.8901775979229547, + 0.13967934116638317, + 0.18910625756311744, + -0.061648296956794496, + -0.9800195461483404 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005933.json b/json/chunk-0005/episode_0005933.json new file mode 100644 index 0000000000000000000000000000000000000000..ce00a1033c77281752680f601fa0b81143224a3b --- /dev/null +++ b/json/chunk-0005/episode_0005933.json @@ -0,0 +1,2062 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 33, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nOpen fridge." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005933.mp4", + "start": 0, + "end": 33, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2459626942873001, + 0.12499380856752396, + 0.13077601790428162, + 0.04643738642334938, + -0.20189118385314941, + 0.23676952719688416, + 0.0, + 0.9994885921478271 + ], + [ + 0.24533917009830475, + 0.12396542727947235, + 0.12141898274421692, + 0.04388510435819626, + -0.1851414442062378, + 0.2336922585964203, + 0.0, + 0.9994885921478271 + ], + [ + 0.26243284344673157, + 0.11779524385929108, + 0.0936766043305397, + 0.08346272259950638, + -0.2239210158586502, + 0.13373585045337677, + 0.0, + 0.9994885921478271 + ], + [ + 0.27797630429267883, + 0.11382891237735748, + 0.07526342570781708, + 0.07681700587272644, + -0.25792279839515686, + 0.052017636597156525, + 0.0, + 0.9994885921478271 + ], + [ + 0.2894676625728607, + 0.11276174336671829, + 0.06394950300455093, + 0.06255076825618744, + -0.29613959789276123, + 0.04983576387166977, + 0.0, + 0.9994885921478271 + ], + [ + 0.296733021736145, + 0.10850576311349869, + 0.055918723344802856, + 0.05331851914525032, + -0.2981261610984802, + 0.035321302711963654, + 0.0, + 0.9994885921478271 + ], + [ + 0.31953519582748413, + 0.11156268417835236, + 0.05039836838841438, + 0.042939960956573486, + -0.2993738055229187, + 0.038746755570173264, + 0.0, + 0.9994885921478271 + ], + [ + 0.329777330160141, + 0.10743876546621323, + 0.04761141166090965, + 0.05157371982932091, + -0.3320070803165436, + 0.021582018584012985, + 0.0, + 0.9468915462493896 + ], + [ + 0.3375755250453949, + 0.10631822049617767, + 0.04603910073637962, + 0.05591591075062752, + -0.3744617998600006, + 0.020391058176755905, + 0.0, + 0.6631406545639038 + ], + [ + 0.3331511914730072, + 0.1040830910205841, + 0.04177785664796829, + 0.04430887848138809, + -0.3673741817474365, + 0.026021497324109077, + 0.0, + 0.3577343225479126 + ], + [ + 0.33164188265800476, + 0.10448396950960159, + 0.03944413736462593, + 0.0463189072906971, + -0.37563955783843994, + 0.049920644611120224, + 0.0, + 0.20928038656711578 + ], + [ + 0.32927966117858887, + 0.10419753193855286, + 0.03840189054608345, + 0.055812448263168335, + -0.39384451508522034, + 0.0464245080947876, + 0.0, + 0.20806095004081726 + ], + [ + 0.31712889671325684, + 0.10098195821046829, + 0.038433708250522614, + 0.06272328644990921, + -0.40576279163360596, + 0.025450637564063072, + 0.0, + 0.23199117183685303 + ], + [ + 0.29266542196273804, + 0.09999681264162064, + 0.03891311213374138, + 0.04729722440242767, + -0.3869190812110901, + -0.003562764497473836, + 0.0, + 0.23591680824756622 + ], + [ + 0.26780980825424194, + 0.09500632435083389, + 0.04069424420595169, + 0.03607254475355148, + -0.3726781904697418, + -0.03860829025506973, + 0.0, + 0.2950899302959442 + ], + [ + 0.24797001481056213, + 0.10012050718069077, + 0.05662735551595688, + 0.009584943763911724, + -0.3535187840461731, + -0.0631423220038414, + 0.0, + 0.570969820022583 + ], + [ + 0.21838204562664032, + 0.1263926774263382, + 0.05937664583325386, + -0.056382808834314346, + -0.19628804922103882, + -0.04552644491195679, + 0.0, + 0.8687413334846497 + ], + [ + 0.20137284696102142, + 0.1674550473690033, + 0.05576547235250473, + -0.041026584804058075, + -0.08961857110261917, + 0.00803564116358757, + 0.0, + 1.003452181816101 + ], + [ + 0.2233605533838272, + 0.21430791914463043, + 0.05335256829857826, + 0.04759066551923752, + -0.108696348965168, + 0.26815447211265564, + 0.0, + 1.0001531839370728 + ], + [ + 0.2543471157550812, + 0.2407872974872589, + 0.0582113116979599, + 0.027508994564414024, + -0.1403677761554718, + 0.5004319548606873, + 0.0, + 1.0001531839370728 + ], + [ + 0.2739907205104828, + 0.22826819121837616, + 0.05722130835056305, + -0.048569630831480026, + -0.1489068865776062, + 0.5561011433601379, + 0.0, + 1.0001531839370728 + ], + [ + 0.28604069352149963, + 0.19878123700618744, + 0.046014368534088135, + -0.1087949126958847, + -0.15543049573898315, + 0.507887601852417, + 0.0, + 1.0001531839370728 + ], + [ + 0.2945471405982971, + 0.16973741352558136, + 0.053240157663822174, + -0.1389993578195572, + -0.204584002494812, + 0.4449693560600281, + 0.0, + 0.9994885921478271 + ], + [ + 0.30482351779937744, + 0.15791334211826324, + 0.05263984203338623, + -0.13522537052631378, + -0.2273542582988739, + 0.4609104096889496, + 0.0, + 0.9994885921478271 + ], + [ + 0.3044074475765228, + 0.1511991173028946, + 0.05577801913022995, + -0.12078768014907837, + -0.260028600692749, + 0.4261823296546936, + 0.0, + 0.9994885921478271 + ], + [ + 0.2868863046169281, + 0.14264170825481415, + 0.06021251156926155, + -0.11803470551967621, + -0.2465294599533081, + 0.3757569491863251, + 0.0, + 0.9994885921478271 + ], + [ + 0.2718157172203064, + 0.14075720310211182, + 0.07299881428480148, + -0.11036137491464615, + -0.24811094999313354, + 0.33922046422958374, + 0.0, + 0.9994885921478271 + ], + [ + 0.2534954845905304, + 0.14879202842712402, + 0.08382442593574524, + -0.09890150278806686, + -0.2062809318304062, + 0.39536207914352417, + 0.0, + 0.9994885921478271 + ], + [ + 0.22575180232524872, + 0.14313971996307373, + 0.09972812235355377, + -0.09143514186143875, + -0.20125193893909454, + 0.4329310357570648, + 0.0, + 0.9994885921478271 + ], + [ + 0.18972130119800568, + 0.13027097284793854, + 0.11424388736486435, + -0.106245256960392, + -0.18454185128211975, + 0.4510965049266815, + 0.0, + 0.9994885921478271 + ], + [ + 0.1651298850774765, + 0.11846775561571121, + 0.12425744533538818, + -0.11553823202848434, + -0.17770922183990479, + 0.39928144216537476, + 0.0, + 0.9994885921478271 + ], + [ + 0.14881569147109985, + 0.10403776913881302, + 0.13241204619407654, + -0.14006401598453522, + -0.14115460216999054, + 0.35431107878685, + 0.0, + 0.9994885921478271 + ], + [ + 0.13687826693058014, + 0.08700256794691086, + 0.13350337743759155, + -0.1460203379392624, + -0.12922759354114532, + 0.3167576193809509, + 0.0, + 0.9994885921478271 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9468915462493896 + ], + [ + 0.6631406545639038 + ], + [ + 0.3577343225479126 + ], + [ + 0.20928038656711578 + ], + [ + 0.20806095004081726 + ], + [ + 0.23199117183685303 + ], + [ + 0.23591680824756622 + ], + [ + 0.2950899302959442 + ], + [ + 0.570969820022583 + ], + [ + 0.8687413334846497 + ], + [ + 1.003452181816101 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2459626942873001, + 0.12499380856752396, + 0.13077601790428162 + ], + [ + 0.24533917009830475, + 0.12396542727947235, + 0.12141898274421692 + ], + [ + 0.26243284344673157, + 0.11779524385929108, + 0.0936766043305397 + ], + [ + 0.27797630429267883, + 0.11382891237735748, + 0.07526342570781708 + ], + [ + 0.2894676625728607, + 0.11276174336671829, + 0.06394950300455093 + ], + [ + 0.296733021736145, + 0.10850576311349869, + 0.055918723344802856 + ], + [ + 0.31953519582748413, + 0.11156268417835236, + 0.05039836838841438 + ], + [ + 0.329777330160141, + 0.10743876546621323, + 0.04761141166090965 + ], + [ + 0.3375755250453949, + 0.10631822049617767, + 0.04603910073637962 + ], + [ + 0.3331511914730072, + 0.1040830910205841, + 0.04177785664796829 + ], + [ + 0.33164188265800476, + 0.10448396950960159, + 0.03944413736462593 + ], + [ + 0.32927966117858887, + 0.10419753193855286, + 0.03840189054608345 + ], + [ + 0.31712889671325684, + 0.10098195821046829, + 0.038433708250522614 + ], + [ + 0.29266542196273804, + 0.09999681264162064, + 0.03891311213374138 + ], + [ + 0.26780980825424194, + 0.09500632435083389, + 0.04069424420595169 + ], + [ + 0.24797001481056213, + 0.10012050718069077, + 0.05662735551595688 + ], + [ + 0.21838204562664032, + 0.1263926774263382, + 0.05937664583325386 + ], + [ + 0.20137284696102142, + 0.1674550473690033, + 0.05576547235250473 + ], + [ + 0.2233605533838272, + 0.21430791914463043, + 0.05335256829857826 + ], + [ + 0.2543471157550812, + 0.2407872974872589, + 0.0582113116979599 + ], + [ + 0.2739907205104828, + 0.22826819121837616, + 0.05722130835056305 + ], + [ + 0.28604069352149963, + 0.19878123700618744, + 0.046014368534088135 + ], + [ + 0.2945471405982971, + 0.16973741352558136, + 0.053240157663822174 + ], + [ + 0.30482351779937744, + 0.15791334211826324, + 0.05263984203338623 + ], + [ + 0.3044074475765228, + 0.1511991173028946, + 0.05577801913022995 + ], + [ + 0.2868863046169281, + 0.14264170825481415, + 0.06021251156926155 + ], + [ + 0.2718157172203064, + 0.14075720310211182, + 0.07299881428480148 + ], + [ + 0.2534954845905304, + 0.14879202842712402, + 0.08382442593574524 + ], + [ + 0.22575180232524872, + 0.14313971996307373, + 0.09972812235355377 + ], + [ + 0.18972130119800568, + 0.13027097284793854, + 0.11424388736486435 + ], + [ + 0.1651298850774765, + 0.11846775561571121, + 0.12425744533538818 + ], + [ + 0.14881569147109985, + 0.10403776913881302, + 0.13241204619407654 + ], + [ + 0.13687826693058014, + 0.08700256794691086, + 0.13350337743759155 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9523565599428854, + 0.24335934201983783, + 0.18382930502350675, + 0.2297993158585392, + -0.9688694419718266, + 0.0921101451749439, + 0.2005224604993197, + -0.04547785246549676, + -0.9786329790940145 + ], + [ + 0.9561927648847339, + 0.2392045326429749, + 0.16875007539300202, + 0.22761349284582585, + -0.970011209907976, + 0.08526635049882084, + 0.18408556232527057, + -0.04312127335690066, + -0.9819638799505145 + ], + [ + 0.9663278764609396, + 0.15121987086794442, + 0.20818978320074447, + 0.13000868660862258, + -0.9851524602635167, + 0.11212658669129742, + 0.22205444508226294, + -0.08128456613295225, + -0.9716401817173813 + ], + [ + 0.9656140306317138, + 0.071389024644789, + 0.24998630163959287, + 0.050274312577066084, + -0.9946846330597086, + 0.08986086049986647, + 0.255072611901159, + -0.0742030182346966, + -0.9640704718757763 + ], + [ + 0.9552826940897959, + 0.06793735895328554, + 0.287783754981051, + 0.04764669446947598, + -0.9958964795562659, + 0.07694150059342648, + 0.2918300308033318, + -0.05978893932733941, + -0.9545996626101635 + ], + [ + 0.9552923502038398, + 0.05090781525117209, + 0.2912471802239067, + 0.03375620946727864, + -0.9974032606756137, + 0.06361803137519323, + 0.2937295422057943, + -0.050942417885357506, + -0.9545301598669201 + ], + [ + 0.9548041772714906, + 0.05135189648601776, + 0.2927660598365205, + 0.03701408914888571, + -0.9978379388341898, + 0.054308425015035966, + 0.29492192232757153, + -0.04101744202683488, + -0.9546405759133565 + ], + [ + 0.9451698930652702, + 0.03835028322934381, + 0.32431948603069555, + 0.020401841909505013, + -0.9980751926636955, + 0.05856342404629848, + 0.3259411574037329, + -0.04873567036120585, + -0.9441330395366739 + ], + [ + 0.9305111304876921, + 0.04079532911007286, + 0.3639845836863393, + 0.018976736814501682, + -0.9978127461659853, + 0.06332145804202259, + 0.36577167673070315, + -0.05201408185765978, + -0.9292500286737225 + ], + [ + 0.9329577162349851, + 0.041896677070185476, + 0.3575396036358458, + 0.024282437658425235, + -0.9982663841550337, + 0.053615198287422595, + 0.3591660659624818, + -0.041338779814014175, + -0.9323576794044883 + ], + [ + 0.929114266567369, + 0.06681206129831174, + 0.3637070636185812, + 0.046420550611340226, + -0.9968353893842677, + 0.06453168951805939, + 0.3668675675798012, + -0.04307383122251663, + -0.9292754343691079 + ], + [ + 0.9224456511512624, + 0.06771893871304074, + 0.3801422970569084, + 0.04285487746665087, + -0.9963737172165542, + 0.07350425237620188, + 0.3837414235516433, + -0.05151272638528727, + -0.9220026891885472 + ], + [ + 0.9185040217051145, + 0.05013172307599581, + 0.3922208210344804, + 0.023381561527111964, + -0.9970806975001337, + 0.07268689877275346, + 0.39471972929166355, + -0.057592473588814544, + -0.9169947885859752 + ], + [ + 0.926070120523009, + 0.014281455689794996, + 0.3770811211104056, + -0.0032993837075948624, + -0.998938916038586, + 0.045936435329758385, + 0.3773370455463524, + -0.04378449550966003, + -0.9250403623687535 + ], + [ + 0.9306614750167722, + -0.025451809964389796, + 0.3649951017330813, + -0.03594911204829796, + -0.9991115949607359, + 0.021992775130783637, + 0.36411108231217665, + -0.03358907835220974, + -0.9307496406407603 + ], + [ + 0.936290737247942, + -0.059785819422907546, + 0.34610014611328466, + -0.05919826570394067, + -0.9981707260593088, + -0.012278720449546395, + 0.34620112749867116, + -0.008992076187619736, + -0.9381172218249088 + ], + [ + 0.979781022257181, + -0.056417525849837835, + 0.19195366941440792, + -0.04463678991878085, + -0.9968762211788723, + -0.06515640132694846, + 0.19503001156339902, + 0.05527080988292669, + -0.979238700299608 + ], + [ + 0.9959547868106894, + 0.004358117210215079, + 0.08975003868108548, + 0.008003307544644442, + -0.9991557661537214, + -0.04029518619036246, + 0.08949865751630105, + 0.04085048073342794, + -0.9951488474226495 + ], + [ + 0.9585707964587725, + 0.26962869599888073, + 0.09188250361378675, + 0.2633886657596949, + -0.9618023903581814, + 0.0745826565001278, + 0.10848243602409624, + -0.04729194640984292, + -0.9929728258512648 + ], + [ + 0.8687460594831605, + 0.4829993729756173, + 0.1095074875871128, + 0.47508550418569834, + -0.8751970410222001, + 0.09123542677384952, + 0.13990728303094857, + -0.027234997542613618, + -0.9897899812908556 + ], + [ + 0.839920977479618, + 0.5211388312149984, + 0.15148290395139855, + 0.522037251038122, + -0.852120322839463, + 0.03698734827654396, + 0.1483572044703053, + 0.04801326903924612, + -0.987767617346267 + ], + [ + 0.8632404232973176, + 0.46877009464080277, + 0.187271380504125, + 0.4804698259086697, + -0.876782429284594, + -0.02003292512586479, + 0.15480541972670253, + 0.10727147835402817, + -0.9821039211585406 + ], + [ + 0.8838001618226405, + 0.4008715023082833, + 0.24124533694845704, + 0.42145384934306196, + -0.9060340236707989, + -0.03845777976974248, + 0.2031598553754904, + 0.1356627678768291, + -0.9697018544768322 + ], + [ + 0.8725994870365754, + 0.41348731172048986, + 0.25999688126911763, + 0.4333182181923945, + -0.9009866278333748, + -0.02141070405222551, + 0.22540065884125893, + 0.13134435470017755, + -0.9653720544341027 + ], + [ + 0.8799402763775415, + 0.3821767439399531, + 0.2822163113643004, + 0.3995002978990349, + -0.9167234319079332, + -0.00420254322090801, + 0.2571081912098458, + 0.11644348750529915, + -0.9593415930889293 + ], + [ + 0.902104793991961, + 0.3376900834008256, + 0.2686491173063201, + 0.3558813055525992, + -0.9343038527926241, + -0.020610847023741295, + 0.2440398266982236, + 0.11420034251087852, + -0.9630175724022375 + ], + [ + 0.914137407112824, + 0.30522220317758963, + 0.26681867926451686, + 0.322562562716591, + -0.9462772698041937, + -0.0226433607405434, + 0.24557319489461427, + 0.10676486003989935, + -0.9634807058835752 + ], + [ + 0.9032920708021347, + 0.3645962978150781, + 0.22612601452625847, + 0.37697712214163226, + -0.9261365438887319, + -0.012623448643188297, + 0.20482110293571704, + 0.09664699526303583, + -0.9740162596686067 + ], + [ + 0.8894191475218859, + 0.40121257139459054, + 0.2190024031292405, + 0.4110658170180952, + -0.9116054510606251, + 0.0006290276625680047, + 0.19989615829396937, + 0.08946493252383858, + -0.9757241166168936 + ], + [ + 0.8846885152376505, + 0.41598194574384084, + 0.21044061352735483, + 0.4285503257929325, + -0.9033781191330144, + -0.015893147405995067, + 0.1834961832555999, + 0.1042448784682754, + -0.9774774452864688 + ], + [ + 0.9068305931579294, + 0.36738861377950244, + 0.2066007787449339, + 0.382633970243832, + -0.9231203153767131, + -0.037949020464823374, + 0.17677533800923653, + 0.11346580896451977, + -0.9776891070620286 + ], + [ + 0.9285577230138686, + 0.3251259569047894, + 0.17909122585443568, + 0.3434936861870631, + -0.9355153095021641, + -0.08260262245651455, + 0.14068632691531505, + 0.1382180083556954, + -0.9803586790482665 + ], + [ + 0.9423269252422487, + 0.29035452474257434, + 0.16647587190041363, + 0.30888986560100024, + -0.9459783330975047, + -0.09854970440880194, + 0.12886821521416814, + 0.14428874963620691, + -0.9811084240979355 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0006235241889953613, + -0.0010283812880516052, + -0.009357035160064697, + -0.002552282065153122, + 0.01674973964691162, + -0.003077268600463867, + 1.0 + ], + [ + 0.01709367334842682, + -0.006170183420181274, + -0.027742378413677216, + 0.03957761824131012, + -0.038779571652412415, + -0.09995640814304352, + 1.0 + ], + [ + 0.015543460845947266, + -0.003966331481933594, + -0.018413178622722626, + -0.006645716726779938, + -0.03400178253650665, + -0.08171821385622025, + 1.0 + ], + [ + 0.011491358280181885, + -0.0010671690106391907, + -0.011313922703266144, + -0.014266237616539001, + -0.03821679949760437, + -0.0021818727254867554, + 1.0 + ], + [ + 0.007265359163284302, + -0.0042559802532196045, + -0.008030779659748077, + -0.009232249110937119, + -0.001986563205718994, + -0.014514461159706116, + 1.0 + ], + [ + 0.02280217409133911, + 0.003056921064853668, + -0.0055203549563884735, + -0.010378558188676834, + -0.0012476444244384766, + 0.00342545285820961, + 1.0 + ], + [ + 0.01024213433265686, + -0.00412391871213913, + -0.0027869567275047302, + 0.008633758872747421, + -0.03263327479362488, + -0.01716473698616028, + 0.0 + ], + [ + 0.007798194885253906, + -0.001120544970035553, + -0.0015723109245300293, + 0.00434219092130661, + -0.04245471954345703, + -0.00119096040725708, + 0.0 + ], + [ + -0.004424333572387695, + -0.002235129475593567, + -0.004261244088411331, + -0.011607032269239426, + 0.007087618112564087, + 0.005630439147353172, + 0.0 + ], + [ + -0.0015093088150024414, + 0.00040087848901748657, + -0.0023337192833423615, + 0.0020100288093090057, + -0.008265376091003418, + 0.023899147287011147, + 0.0 + ], + [ + -0.0023622214794158936, + -0.00028643757104873657, + -0.0010422468185424805, + 0.009493540972471237, + -0.018204957246780396, + -0.0034961365163326263, + 0.0 + ], + [ + -0.012150764465332031, + -0.003215573728084564, + 3.181770443916321e-05, + 0.006910838186740875, + -0.01191827654838562, + -0.020973870530724525, + 0.0 + ], + [ + -0.0244634747505188, + -0.0009851455688476562, + 0.00047940388321876526, + -0.015426062047481537, + 0.01884371042251587, + -0.02901340276002884, + 0.0 + ], + [ + -0.024855613708496094, + -0.004990488290786743, + 0.0017811320722103119, + -0.01122467964887619, + 0.014240890741348267, + -0.035045526921749115, + 1.0 + ], + [ + -0.01983979344367981, + 0.0051141828298568726, + 0.015933111310005188, + -0.026487600058317184, + 0.019159406423568726, + -0.024534031748771667, + 1.0 + ], + [ + -0.029587969183921814, + 0.02627217024564743, + 0.002749290317296982, + -0.06596775352954865, + 0.15723073482513428, + 0.017615877091884613, + 1.0 + ], + [ + -0.017009198665618896, + 0.0410623699426651, + -0.0036111734807491302, + 0.015356224030256271, + 0.10666947811841965, + 0.05356208607554436, + 1.0 + ], + [ + 0.021987706422805786, + 0.046852871775627136, + -0.002412904053926468, + 0.0886172503232956, + -0.019077777862548828, + 0.26011884212493896, + 1.0 + ], + [ + 0.030986562371253967, + 0.02647937834262848, + 0.004858743399381638, + -0.020081670954823494, + -0.0316714271903038, + 0.23227748274803162, + 1.0 + ], + [ + 0.01964360475540161, + -0.012519106268882751, + -0.0009900033473968506, + -0.0760786235332489, + -0.0085391104221344, + 0.055669188499450684, + 1.0 + ], + [ + 0.012049973011016846, + -0.02948695421218872, + -0.011206939816474915, + -0.06022528186440468, + -0.006523609161376953, + -0.04821354150772095, + 1.0 + ], + [ + 0.008506447076797485, + -0.02904382348060608, + 0.007225789129734039, + -0.030204445123672485, + -0.04915350675582886, + -0.06291824579238892, + 1.0 + ], + [ + 0.010276377201080322, + -0.011824071407318115, + -0.0006003156304359436, + 0.003773987293243408, + -0.02277025580406189, + 0.01594105362892151, + 1.0 + ], + [ + -0.00041607022285461426, + -0.006714224815368652, + 0.0031381770968437195, + 0.014437690377235413, + -0.03267434239387512, + -0.03472808003425598, + 1.0 + ], + [ + -0.017521142959594727, + -0.008557409048080444, + 0.004434492439031601, + 0.0027529746294021606, + 0.013499140739440918, + -0.05042538046836853, + 1.0 + ], + [ + -0.015070587396621704, + -0.0018845051527023315, + 0.012786302715539932, + 0.00767333060503006, + -0.0015814900398254395, + -0.03653648495674133, + 1.0 + ], + [ + -0.018320232629776, + 0.008034825325012207, + 0.010825611650943756, + 0.011459872126579285, + 0.041830018162727356, + 0.05614161491394043, + 1.0 + ], + [ + -0.027743682265281677, + -0.005652308464050293, + 0.015903696417808533, + 0.007466360926628113, + 0.0050289928913116455, + 0.03756895661354065, + 1.0 + ], + [ + -0.03603050112724304, + -0.012868747115135193, + 0.014515765011310577, + -0.014810115098953247, + 0.016710087656974792, + 0.0181654691696167, + 1.0 + ], + [ + -0.024591416120529175, + -0.011803217232227325, + 0.010013557970523834, + -0.009292975068092346, + 0.006832629442214966, + -0.05181506276130676, + 1.0 + ], + [ + -0.016314193606376648, + -0.014429986476898193, + 0.008154600858688354, + -0.024525783956050873, + 0.036554619669914246, + -0.04497036337852478, + 1.0 + ], + [ + -0.011937424540519714, + -0.01703520119190216, + 0.0010913312435150146, + -0.005956321954727173, + 0.011927008628845215, + -0.03755345940589905, + 1.0 + ], + [ + -0.008129194378852844, + -0.012186534702777863, + -0.0009851157665252686, + 0.016846686601638794, + -0.018640980124473572, + -0.055339157581329346, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9468915462493896 + ], + [ + 0.6631406545639038 + ], + [ + 0.3577343225479126 + ], + [ + 0.20928038656711578 + ], + [ + 0.20806095004081726 + ], + [ + 0.23199117183685303 + ], + [ + 0.23591680824756622 + ], + [ + 0.2950899302959442 + ], + [ + 0.570969820022583 + ], + [ + 0.8687413334846497 + ], + [ + 1.003452181816101 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.24533917009830475, + 0.12396542727947235, + 0.12141898274421692 + ], + [ + 0.26243284344673157, + 0.11779524385929108, + 0.0936766043305397 + ], + [ + 0.27797630429267883, + 0.11382891237735748, + 0.07526342570781708 + ], + [ + 0.2894676625728607, + 0.11276174336671829, + 0.06394950300455093 + ], + [ + 0.296733021736145, + 0.10850576311349869, + 0.055918723344802856 + ], + [ + 0.31953519582748413, + 0.11156268417835236, + 0.05039836838841438 + ], + [ + 0.329777330160141, + 0.10743876546621323, + 0.04761141166090965 + ], + [ + 0.3375755250453949, + 0.10631822049617767, + 0.04603910073637962 + ], + [ + 0.3331511914730072, + 0.1040830910205841, + 0.04177785664796829 + ], + [ + 0.33164188265800476, + 0.10448396950960159, + 0.03944413736462593 + ], + [ + 0.32927966117858887, + 0.10419753193855286, + 0.03840189054608345 + ], + [ + 0.31712889671325684, + 0.10098195821046829, + 0.038433708250522614 + ], + [ + 0.29266542196273804, + 0.09999681264162064, + 0.03891311213374138 + ], + [ + 0.26780980825424194, + 0.09500632435083389, + 0.04069424420595169 + ], + [ + 0.24797001481056213, + 0.10012050718069077, + 0.05662735551595688 + ], + [ + 0.21838204562664032, + 0.1263926774263382, + 0.05937664583325386 + ], + [ + 0.20137284696102142, + 0.1674550473690033, + 0.05576547235250473 + ], + [ + 0.2233605533838272, + 0.21430791914463043, + 0.05335256829857826 + ], + [ + 0.2543471157550812, + 0.2407872974872589, + 0.0582113116979599 + ], + [ + 0.2739907205104828, + 0.22826819121837616, + 0.05722130835056305 + ], + [ + 0.28604069352149963, + 0.19878123700618744, + 0.046014368534088135 + ], + [ + 0.2945471405982971, + 0.16973741352558136, + 0.053240157663822174 + ], + [ + 0.30482351779937744, + 0.15791334211826324, + 0.05263984203338623 + ], + [ + 0.3044074475765228, + 0.1511991173028946, + 0.05577801913022995 + ], + [ + 0.2868863046169281, + 0.14264170825481415, + 0.06021251156926155 + ], + [ + 0.2718157172203064, + 0.14075720310211182, + 0.07299881428480148 + ], + [ + 0.2534954845905304, + 0.14879202842712402, + 0.08382442593574524 + ], + [ + 0.22575180232524872, + 0.14313971996307373, + 0.09972812235355377 + ], + [ + 0.18972130119800568, + 0.13027097284793854, + 0.11424388736486435 + ], + [ + 0.1651298850774765, + 0.11846775561571121, + 0.12425744533538818 + ], + [ + 0.14881569147109985, + 0.10403776913881302, + 0.13241204619407654 + ], + [ + 0.13687826693058014, + 0.08700256794691086, + 0.13350337743759155 + ], + [ + 0.1287490725517273, + 0.074816033244133, + 0.13251826167106628 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9561927648847339, + 0.2392045326429749, + 0.16875007539300202, + 0.22761349284582585, + -0.970011209907976, + 0.08526635049882084, + 0.18408556232527057, + -0.04312127335690066, + -0.9819638799505145 + ], + [ + 0.9663278764609396, + 0.15121987086794442, + 0.20818978320074447, + 0.13000868660862258, + -0.9851524602635167, + 0.11212658669129742, + 0.22205444508226294, + -0.08128456613295225, + -0.9716401817173813 + ], + [ + 0.9656140306317138, + 0.071389024644789, + 0.24998630163959287, + 0.050274312577066084, + -0.9946846330597086, + 0.08986086049986647, + 0.255072611901159, + -0.0742030182346966, + -0.9640704718757763 + ], + [ + 0.9552826940897959, + 0.06793735895328554, + 0.287783754981051, + 0.04764669446947598, + -0.9958964795562659, + 0.07694150059342648, + 0.2918300308033318, + -0.05978893932733941, + -0.9545996626101635 + ], + [ + 0.9552923502038398, + 0.05090781525117209, + 0.2912471802239067, + 0.03375620946727864, + -0.9974032606756137, + 0.06361803137519323, + 0.2937295422057943, + -0.050942417885357506, + -0.9545301598669201 + ], + [ + 0.9548041772714906, + 0.05135189648601776, + 0.2927660598365205, + 0.03701408914888571, + -0.9978379388341898, + 0.054308425015035966, + 0.29492192232757153, + -0.04101744202683488, + -0.9546405759133565 + ], + [ + 0.9451698930652702, + 0.03835028322934381, + 0.32431948603069555, + 0.020401841909505013, + -0.9980751926636955, + 0.05856342404629848, + 0.3259411574037329, + -0.04873567036120585, + -0.9441330395366739 + ], + [ + 0.9305111304876921, + 0.04079532911007286, + 0.3639845836863393, + 0.018976736814501682, + -0.9978127461659853, + 0.06332145804202259, + 0.36577167673070315, + -0.05201408185765978, + -0.9292500286737225 + ], + [ + 0.9329577162349851, + 0.041896677070185476, + 0.3575396036358458, + 0.024282437658425235, + -0.9982663841550337, + 0.053615198287422595, + 0.3591660659624818, + -0.041338779814014175, + -0.9323576794044883 + ], + [ + 0.929114266567369, + 0.06681206129831174, + 0.3637070636185812, + 0.046420550611340226, + -0.9968353893842677, + 0.06453168951805939, + 0.3668675675798012, + -0.04307383122251663, + -0.9292754343691079 + ], + [ + 0.9224456511512624, + 0.06771893871304074, + 0.3801422970569084, + 0.04285487746665087, + -0.9963737172165542, + 0.07350425237620188, + 0.3837414235516433, + -0.05151272638528727, + -0.9220026891885472 + ], + [ + 0.9185040217051145, + 0.05013172307599581, + 0.3922208210344804, + 0.023381561527111964, + -0.9970806975001337, + 0.07268689877275346, + 0.39471972929166355, + -0.057592473588814544, + -0.9169947885859752 + ], + [ + 0.926070120523009, + 0.014281455689794996, + 0.3770811211104056, + -0.0032993837075948624, + -0.998938916038586, + 0.045936435329758385, + 0.3773370455463524, + -0.04378449550966003, + -0.9250403623687535 + ], + [ + 0.9306614750167722, + -0.025451809964389796, + 0.3649951017330813, + -0.03594911204829796, + -0.9991115949607359, + 0.021992775130783637, + 0.36411108231217665, + -0.03358907835220974, + -0.9307496406407603 + ], + [ + 0.936290737247942, + -0.059785819422907546, + 0.34610014611328466, + -0.05919826570394067, + -0.9981707260593088, + -0.012278720449546395, + 0.34620112749867116, + -0.008992076187619736, + -0.9381172218249088 + ], + [ + 0.979781022257181, + -0.056417525849837835, + 0.19195366941440792, + -0.04463678991878085, + -0.9968762211788723, + -0.06515640132694846, + 0.19503001156339902, + 0.05527080988292669, + -0.979238700299608 + ], + [ + 0.9959547868106894, + 0.004358117210215079, + 0.08975003868108548, + 0.008003307544644442, + -0.9991557661537214, + -0.04029518619036246, + 0.08949865751630105, + 0.04085048073342794, + -0.9951488474226495 + ], + [ + 0.9585707964587725, + 0.26962869599888073, + 0.09188250361378675, + 0.2633886657596949, + -0.9618023903581814, + 0.0745826565001278, + 0.10848243602409624, + -0.04729194640984292, + -0.9929728258512648 + ], + [ + 0.8687460594831605, + 0.4829993729756173, + 0.1095074875871128, + 0.47508550418569834, + -0.8751970410222001, + 0.09123542677384952, + 0.13990728303094857, + -0.027234997542613618, + -0.9897899812908556 + ], + [ + 0.839920977479618, + 0.5211388312149984, + 0.15148290395139855, + 0.522037251038122, + -0.852120322839463, + 0.03698734827654396, + 0.1483572044703053, + 0.04801326903924612, + -0.987767617346267 + ], + [ + 0.8632404232973176, + 0.46877009464080277, + 0.187271380504125, + 0.4804698259086697, + -0.876782429284594, + -0.02003292512586479, + 0.15480541972670253, + 0.10727147835402817, + -0.9821039211585406 + ], + [ + 0.8838001618226405, + 0.4008715023082833, + 0.24124533694845704, + 0.42145384934306196, + -0.9060340236707989, + -0.03845777976974248, + 0.2031598553754904, + 0.1356627678768291, + -0.9697018544768322 + ], + [ + 0.8725994870365754, + 0.41348731172048986, + 0.25999688126911763, + 0.4333182181923945, + -0.9009866278333748, + -0.02141070405222551, + 0.22540065884125893, + 0.13134435470017755, + -0.9653720544341027 + ], + [ + 0.8799402763775415, + 0.3821767439399531, + 0.2822163113643004, + 0.3995002978990349, + -0.9167234319079332, + -0.00420254322090801, + 0.2571081912098458, + 0.11644348750529915, + -0.9593415930889293 + ], + [ + 0.902104793991961, + 0.3376900834008256, + 0.2686491173063201, + 0.3558813055525992, + -0.9343038527926241, + -0.020610847023741295, + 0.2440398266982236, + 0.11420034251087852, + -0.9630175724022375 + ], + [ + 0.914137407112824, + 0.30522220317758963, + 0.26681867926451686, + 0.322562562716591, + -0.9462772698041937, + -0.0226433607405434, + 0.24557319489461427, + 0.10676486003989935, + -0.9634807058835752 + ], + [ + 0.9032920708021347, + 0.3645962978150781, + 0.22612601452625847, + 0.37697712214163226, + -0.9261365438887319, + -0.012623448643188297, + 0.20482110293571704, + 0.09664699526303583, + -0.9740162596686067 + ], + [ + 0.8894191475218859, + 0.40121257139459054, + 0.2190024031292405, + 0.4110658170180952, + -0.9116054510606251, + 0.0006290276625680047, + 0.19989615829396937, + 0.08946493252383858, + -0.9757241166168936 + ], + [ + 0.8846885152376505, + 0.41598194574384084, + 0.21044061352735483, + 0.4285503257929325, + -0.9033781191330144, + -0.015893147405995067, + 0.1834961832555999, + 0.1042448784682754, + -0.9774774452864688 + ], + [ + 0.9068305931579294, + 0.36738861377950244, + 0.2066007787449339, + 0.382633970243832, + -0.9231203153767131, + -0.037949020464823374, + 0.17677533800923653, + 0.11346580896451977, + -0.9776891070620286 + ], + [ + 0.9285577230138686, + 0.3251259569047894, + 0.17909122585443568, + 0.3434936861870631, + -0.9355153095021641, + -0.08260262245651455, + 0.14068632691531505, + 0.1382180083556954, + -0.9803586790482665 + ], + [ + 0.9423269252422487, + 0.29035452474257434, + 0.16647587190041363, + 0.30888986560100024, + -0.9459783330975047, + -0.09854970440880194, + 0.12886821521416814, + 0.14428874963620691, + -0.9811084240979355 + ], + [ + 0.955482459667503, + 0.23796432951208404, + 0.1744312103598513, + 0.2556306933984792, + -0.9628810525940428, + -0.08667772002078102, + 0.14733030190816523, + 0.1274090123784518, + -0.9808469430570687 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005935.json b/json/chunk-0005/episode_0005935.json new file mode 100644 index 0000000000000000000000000000000000000000..14bf5d042363f04353c95cc23a8034e41fbd2aad --- /dev/null +++ b/json/chunk-0005/episode_0005935.json @@ -0,0 +1,1282 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 20, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nClose brown1fbox flap." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005935.mp4", + "start": 0, + "end": 20, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.21168899536132812, + -0.12276001274585724, + 0.07801918685436249, + 0.15784518420696259, + -0.18641433119773865, + 0.04626113176345825, + 0.0, + 1.00800359249115 + ], + [ + 0.2102440595626831, + -0.12294987589120865, + 0.06670957803726196, + 0.17337951064109802, + -0.16247108578681946, + 0.039638862013816833, + 0.0, + 1.00800359249115 + ], + [ + 0.2157861888408661, + -0.13502953946590424, + 0.045015785843133926, + 0.15745948255062103, + -0.16082356870174408, + 0.01890990138053894, + 0.0, + 1.00800359249115 + ], + [ + 0.2187231034040451, + -0.13864471018314362, + 0.02973310649394989, + 0.14788860082626343, + -0.18537379801273346, + 0.024804972112178802, + 0.0, + 1.0073583126068115 + ], + [ + 0.2182205766439438, + -0.13690808415412903, + 0.023157689720392227, + 0.17774581909179688, + -0.1957673728466034, + 0.029182342812418938, + 0.0, + 1.00800359249115 + ], + [ + 0.2173454314470291, + -0.12894031405448914, + 0.018929097801446915, + 0.2067451775074005, + -0.21008799970149994, + 0.01859494484961033, + 0.0, + 1.00800359249115 + ], + [ + 0.2181660383939743, + -0.12417430430650711, + 0.018204528838396072, + 0.2186862975358963, + -0.20857399702072144, + -0.005500628612935543, + 0.0, + 1.00800359249115 + ], + [ + 0.2156774401664734, + -0.10755858570337296, + 0.01441891398280859, + 0.2511617839336395, + -0.17044159770011902, + -0.020907606929540634, + 0.0, + 1.00800359249115 + ], + [ + 0.21631206572055817, + -0.1017301082611084, + 0.013964894227683544, + 0.25578001141548157, + -0.15010888874530792, + -0.033842965960502625, + 0.0, + 1.00800359249115 + ], + [ + 0.2155025452375412, + -0.09675367176532745, + 0.018707146868109703, + 0.2544824182987213, + -0.1381407231092453, + -0.03615359216928482, + 0.0, + 1.0073583126068115 + ], + [ + 0.21442724764347076, + -0.09712482243776321, + 0.028210986405611038, + 0.31981024146080017, + -0.1114245280623436, + -0.05585461109876633, + 0.0, + 1.0073583126068115 + ], + [ + 0.2128603756427765, + -0.09608953446149826, + 0.04021428897976875, + 0.3976268470287323, + -0.08564804494380951, + -0.06926137953996658, + 0.0, + 1.00800359249115 + ], + [ + 0.21622420847415924, + -0.08924172818660736, + 0.061757102608680725, + 0.41868820786476135, + -0.04990765079855919, + -0.10027886927127838, + 0.0, + 1.00800359249115 + ], + [ + 0.21583890914916992, + -0.07217244058847427, + 0.08999995142221451, + 0.47944554686546326, + -0.00015088022337295115, + -0.13348005712032318, + 0.0, + 1.0073583126068115 + ], + [ + 0.2010793387889862, + -0.046658121049404144, + 0.10361298173666, + 0.5409349799156189, + 0.003814560826867819, + -0.209918811917305, + 0.0, + 1.00800359249115 + ], + [ + 0.1915714293718338, + -0.02548346295952797, + 0.11028935760259628, + 0.6082638502120972, + 0.009891395457088947, + -0.3106350004673004, + 0.0, + 1.00800359249115 + ], + [ + 0.1914287805557251, + -0.005273282062262297, + 0.119761623442173, + 0.6366613507270813, + 0.031550582498311996, + -0.3818890452384949, + 0.0, + 1.00800359249115 + ], + [ + 0.1949719935655594, + 0.019450319930911064, + 0.12247420847415924, + 0.6438668966293335, + 0.11535967141389847, + -0.41003212332725525, + 0.0, + 1.00800359249115 + ], + [ + 0.20358751714229584, + 0.033068764954805374, + 0.12906967103481293, + 0.6600275635719299, + 0.13198478519916534, + -0.4968750774860382, + 0.0, + 1.00800359249115 + ], + [ + 0.20812790095806122, + 0.053264833986759186, + 0.13383637368679047, + 0.6739402413368225, + 0.13875874876976013, + -0.5304744243621826, + 0.0, + 1.00800359249115 + ] + ], + "left_gripper_pos": [ + [ + 1.00800359249115 + ], + [ + 1.00800359249115 + ], + [ + 1.00800359249115 + ], + [ + 1.0073583126068115 + ], + [ + 1.00800359249115 + ], + [ + 1.00800359249115 + ], + [ + 1.00800359249115 + ], + [ + 1.00800359249115 + ], + [ + 1.00800359249115 + ], + [ + 1.0073583126068115 + ], + [ + 1.0073583126068115 + ], + [ + 1.00800359249115 + ], + [ + 1.00800359249115 + ], + [ + 1.0073583126068115 + ], + [ + 1.00800359249115 + ], + [ + 1.00800359249115 + ], + [ + 1.00800359249115 + ], + [ + 1.00800359249115 + ], + [ + 1.00800359249115 + ], + [ + 1.00800359249115 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.21168899536132812, + -0.12276001274585724, + 0.07801918685436249 + ], + [ + 0.2102440595626831, + -0.12294987589120865, + 0.06670957803726196 + ], + [ + 0.2157861888408661, + -0.13502953946590424, + 0.045015785843133926 + ], + [ + 0.2187231034040451, + -0.13864471018314362, + 0.02973310649394989 + ], + [ + 0.2182205766439438, + -0.13690808415412903, + 0.023157689720392227 + ], + [ + 0.2173454314470291, + -0.12894031405448914, + 0.018929097801446915 + ], + [ + 0.2181660383939743, + -0.12417430430650711, + 0.018204528838396072 + ], + [ + 0.2156774401664734, + -0.10755858570337296, + 0.01441891398280859 + ], + [ + 0.21631206572055817, + -0.1017301082611084, + 0.013964894227683544 + ], + [ + 0.2155025452375412, + -0.09675367176532745, + 0.018707146868109703 + ], + [ + 0.21442724764347076, + -0.09712482243776321, + 0.028210986405611038 + ], + [ + 0.2128603756427765, + -0.09608953446149826, + 0.04021428897976875 + ], + [ + 0.21622420847415924, + -0.08924172818660736, + 0.061757102608680725 + ], + [ + 0.21583890914916992, + -0.07217244058847427, + 0.08999995142221451 + ], + [ + 0.2010793387889862, + -0.046658121049404144, + 0.10361298173666 + ], + [ + 0.1915714293718338, + -0.02548346295952797, + 0.11028935760259628 + ], + [ + 0.1914287805557251, + -0.005273282062262297, + 0.119761623442173 + ], + [ + 0.1949719935655594, + 0.019450319930911064, + 0.12247420847415924 + ], + [ + 0.20358751714229584, + 0.033068764954805374, + 0.12906967103481293 + ], + [ + 0.20812790095806122, + 0.053264833986759186, + 0.13383637368679047 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.981623786089747, + 0.07477171783888362, + 0.1755674593831462, + 0.04544344966226535, + -0.9851644853671063, + 0.16548664494199314, + 0.1853365464921138, + -0.1544672359524392, + -0.9704587768429886 + ], + [ + 0.9860554086568204, + 0.06691752081323656, + 0.15237052361543224, + 0.039106598369997296, + -0.9831278098669931, + 0.17869074802590462, + 0.1617572410204831, + -0.1702402856974214, + -0.9720354109306418 + ], + [ + 0.9869192593556888, + 0.04378047579362124, + 0.15515684146083633, + 0.01866477066142875, + -0.9869774711900434, + 0.15977201788631026, + 0.16013120198442035, + -0.154786114695703, + -0.9748842274077644 + ], + [ + 0.9825650660183939, + 0.05168201974772948, + 0.17859132082792917, + 0.024377498982575595, + -0.9881065264655233, + 0.15182631491145482, + 0.1843139402856538, + -0.14482562339252342, + -0.9721388327936207 + ], + [ + 0.9804810480356825, + 0.06309707063532617, + 0.18621405457185622, + 0.02862085912115775, + -0.9828221593311808, + 0.18232237808552706, + 0.1945193071805892, + -0.17343403012337485, + -0.9654443931833401 + ], + [ + 0.9778434867324631, + 0.060999875594403494, + 0.2002526669794102, + 0.018185041714914113, + -0.9777390414881271, + 0.20903509515797936, + 0.20854596546739068, + -0.20076200319618737, + -0.9571850387254954 + ], + [ + 0.9783123841124759, + 0.03955194121281885, + 0.2033236903030759, + -0.0053813873672747155, + -0.9764156270005787, + 0.21583225898616284, + 0.20706501337059996, + -0.21224553539559896, + -0.9550266556188203 + ], + [ + 0.9852945711107304, + 0.02189560678496019, + 0.16945557100089806, + -0.02060315376207134, + -0.9692939343843551, + 0.24504036161570217, + 0.16961756452318974, + -0.24492825718813263, + -0.9545889328061611 + ], + [ + 0.9881886206377857, + 0.005077762216795812, + 0.1531583049424988, + -0.033456007731591665, + -0.9681924657027078, + 0.2479597646860758, + 0.1495457976295337, + -0.250155083273117, + -0.9565868955426715 + ], + [ + 0.989826489005936, + -0.00033857865717779045, + 0.14227932747477678, + -0.03580138301175123, + -0.9684143151433887, + 0.24676299398371587, + 0.1377017887924037, + -0.24934634464907324, + -0.9585742630456536 + ], + [ + 0.9922489146194614, + -0.018091540349501556, + 0.1229422124588743, + -0.05547938294740784, + -0.9497662476719468, + 0.30800342993370183, + 0.11119410732712187, + -0.3124368271361944, + -0.9434082358898463 + ], + [ + 0.9939456256907107, + -0.03076107925482019, + 0.10547914093971583, + -0.0689523384777174, + -0.9220644485633245, + 0.3808447553978742, + 0.08554337022093564, + -0.3858120121233799, + -0.9186029736031519 + ], + [ + 0.9937374129573983, + -0.07128335934159774, + 0.08605019912652155, + -0.09998623794419728, + -0.9110637345616726, + 0.39995702742707845, + 0.049886935268702595, + -0.40605609741452603, + -0.9124854735512129 + ], + [ + 0.9911047448265324, + -0.11800994615983054, + 0.06152265753109096, + -0.1330840411826015, + -0.8793677714226604, + 0.4571662285926765, + 0.00015088022280047853, + -0.46128730222118364, + -0.8872508112392239 + ], + [ + 0.9780407202434366, + -0.1805506480644516, + 0.10410481751199933, + -0.20837897864701732, + -0.8380002860913881, + 0.5043151016663866, + -0.0038145515760086846, + -0.5149339608088191, + -0.8572213630107545 + ], + [ + 0.9520930873676134, + -0.2562217158599514, + 0.1669406640354248, + -0.3056483542791378, + -0.7796375002675755, + 0.5465752022393452, + -0.009891234162677245, + -0.5714156110033298, + -0.8206012204404953 + ], + [ + 0.9275004667454531, + -0.31706484259348866, + 0.1980221446660288, + -0.37248862423827034, + -0.7391714741104625, + 0.5611396944384235, + -0.03154534831077327, + -0.5942183247363992, + -0.8036849342543505 + ], + [ + 0.9110124124339657, + -0.38219207388550064, + 0.15487286092258412, + -0.3959892156938943, + -0.705940713519082, + 0.5872310022898176, + -0.11510397667057598, + -0.5963027147810661, + -0.7944646920407162 + ], + [ + 0.8714308022700987, + -0.4474989663213313, + 0.20088064116841123, + -0.4725349623286111, + -0.6559852220503407, + 0.5885525446624653, + -0.1316019233597673, + -0.6078059423803828, + -0.7831046355214 + ], + [ + 0.854276521529804, + -0.4697823947551453, + 0.22252219291805336, + -0.5010797238493717, + -0.6303113045992894, + 0.5929812557251533, + -0.13831390063900278, + -0.6180713234509938, + -0.7738585814071983 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0014449357986450195, + -0.0001898631453514099, + -0.011309608817100525, + 0.015534326434135437, + 0.02394324541091919, + -0.0066222697496414185, + 1.0 + ], + [ + 0.005542129278182983, + -0.012079663574695587, + -0.021693792194128036, + -0.01592002809047699, + 0.0016475170850753784, + -0.020728960633277893, + 1.0 + ], + [ + 0.002936914563179016, + -0.00361517071723938, + -0.015282679349184036, + -0.009570881724357605, + -0.02455022931098938, + 0.005895070731639862, + 1.0 + ], + [ + -0.0005025267601013184, + 0.0017366260290145874, + -0.006575416773557663, + 0.029857218265533447, + -0.010393574833869934, + 0.004377370700240135, + 1.0 + ], + [ + -0.0008751451969146729, + 0.007967770099639893, + -0.0042285919189453125, + 0.028999358415603638, + -0.014320626854896545, + -0.010587397962808609, + 1.0 + ], + [ + 0.0008206069469451904, + 0.004766009747982025, + -0.0007245689630508423, + 0.011941120028495789, + 0.0015140026807785034, + -0.024095572531223297, + 1.0 + ], + [ + -0.0024885982275009155, + 0.016615718603134155, + -0.0037856148555874825, + 0.032475486397743225, + 0.03813239932060242, + -0.015406978316605091, + 1.0 + ], + [ + 0.0006346255540847778, + 0.005828477442264557, + -0.0004540197551250458, + 0.004618227481842041, + 0.020332708954811096, + -0.01293535903096199, + 1.0 + ], + [ + -0.0008095204830169678, + 0.004976436495780945, + 0.004742252640426159, + -0.001297593116760254, + 0.011968165636062622, + -0.002310626208782196, + 1.0 + ], + [ + -0.0010752975940704346, + -0.0003711506724357605, + 0.009503839537501335, + 0.06532782316207886, + 0.026716195046901703, + -0.019701018929481506, + 1.0 + ], + [ + -0.001566872000694275, + 0.0010352879762649536, + 0.012003302574157715, + 0.07781660556793213, + 0.025776483118534088, + -0.013406768441200256, + 1.0 + ], + [ + 0.0033638328313827515, + 0.0068478062748909, + 0.021542813628911972, + 0.021061360836029053, + 0.03574039414525032, + -0.031017489731311798, + 1.0 + ], + [ + -0.00038529932498931885, + 0.017069287598133087, + 0.028242848813533783, + 0.060757339000701904, + 0.049756769090890884, + -0.0332011878490448, + 1.0 + ], + [ + -0.014759570360183716, + 0.02551431953907013, + 0.013613030314445496, + 0.06148943305015564, + 0.003965441137552261, + -0.07643875479698181, + 1.0 + ], + [ + -0.009507909417152405, + 0.021174658089876175, + 0.006676375865936279, + 0.06732887029647827, + 0.0060768346302211285, + -0.10071618854999542, + 1.0 + ], + [ + -0.0001426488161087036, + 0.020210180431604385, + 0.009472265839576721, + 0.02839750051498413, + 0.021659187972545624, + -0.07125404477119446, + 1.0 + ], + [ + 0.0035432130098342896, + 0.024723602458834648, + 0.0027125850319862366, + 0.007205545902252197, + 0.08380909264087677, + -0.028143078088760376, + 1.0 + ], + [ + 0.00861552357673645, + 0.01361844502389431, + 0.0065954625606536865, + 0.016160666942596436, + 0.016625113785266876, + -0.08684295415878296, + 1.0 + ], + [ + 0.004540383815765381, + 0.02019606903195381, + 0.004766702651977539, + 0.013912677764892578, + 0.006773963570594788, + -0.03359934687614441, + 1.0 + ], + [ + 0.01274465024471283, + 0.01344802975654602, + 0.012229040265083313, + 0.024216055870056152, + 0.027605652809143066, + -0.05081146955490112, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.00800359249115 + ], + [ + 1.00800359249115 + ], + [ + 1.0073583126068115 + ], + [ + 1.00800359249115 + ], + [ + 1.00800359249115 + ], + [ + 1.00800359249115 + ], + [ + 1.00800359249115 + ], + [ + 1.00800359249115 + ], + [ + 1.0073583126068115 + ], + [ + 1.0073583126068115 + ], + [ + 1.00800359249115 + ], + [ + 1.00800359249115 + ], + [ + 1.0073583126068115 + ], + [ + 1.00800359249115 + ], + [ + 1.00800359249115 + ], + [ + 1.00800359249115 + ], + [ + 1.00800359249115 + ], + [ + 1.00800359249115 + ], + [ + 1.00800359249115 + ], + [ + 1.00800359249115 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2102440595626831, + -0.12294987589120865, + 0.06670957803726196 + ], + [ + 0.2157861888408661, + -0.13502953946590424, + 0.045015785843133926 + ], + [ + 0.2187231034040451, + -0.13864471018314362, + 0.02973310649394989 + ], + [ + 0.2182205766439438, + -0.13690808415412903, + 0.023157689720392227 + ], + [ + 0.2173454314470291, + -0.12894031405448914, + 0.018929097801446915 + ], + [ + 0.2181660383939743, + -0.12417430430650711, + 0.018204528838396072 + ], + [ + 0.2156774401664734, + -0.10755858570337296, + 0.01441891398280859 + ], + [ + 0.21631206572055817, + -0.1017301082611084, + 0.013964894227683544 + ], + [ + 0.2155025452375412, + -0.09675367176532745, + 0.018707146868109703 + ], + [ + 0.21442724764347076, + -0.09712482243776321, + 0.028210986405611038 + ], + [ + 0.2128603756427765, + -0.09608953446149826, + 0.04021428897976875 + ], + [ + 0.21622420847415924, + -0.08924172818660736, + 0.061757102608680725 + ], + [ + 0.21583890914916992, + -0.07217244058847427, + 0.08999995142221451 + ], + [ + 0.2010793387889862, + -0.046658121049404144, + 0.10361298173666 + ], + [ + 0.1915714293718338, + -0.02548346295952797, + 0.11028935760259628 + ], + [ + 0.1914287805557251, + -0.005273282062262297, + 0.119761623442173 + ], + [ + 0.1949719935655594, + 0.019450319930911064, + 0.12247420847415924 + ], + [ + 0.20358751714229584, + 0.033068764954805374, + 0.12906967103481293 + ], + [ + 0.20812790095806122, + 0.053264833986759186, + 0.13383637368679047 + ], + [ + 0.22087255120277405, + 0.0667128637433052, + 0.14606541395187378 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9860554086568204, + 0.06691752081323656, + 0.15237052361543224, + 0.039106598369997296, + -0.9831278098669931, + 0.17869074802590462, + 0.1617572410204831, + -0.1702402856974214, + -0.9720354109306418 + ], + [ + 0.9869192593556888, + 0.04378047579362124, + 0.15515684146083633, + 0.01866477066142875, + -0.9869774711900434, + 0.15977201788631026, + 0.16013120198442035, + -0.154786114695703, + -0.9748842274077644 + ], + [ + 0.9825650660183939, + 0.05168201974772948, + 0.17859132082792917, + 0.024377498982575595, + -0.9881065264655233, + 0.15182631491145482, + 0.1843139402856538, + -0.14482562339252342, + -0.9721388327936207 + ], + [ + 0.9804810480356825, + 0.06309707063532617, + 0.18621405457185622, + 0.02862085912115775, + -0.9828221593311808, + 0.18232237808552706, + 0.1945193071805892, + -0.17343403012337485, + -0.9654443931833401 + ], + [ + 0.9778434867324631, + 0.060999875594403494, + 0.2002526669794102, + 0.018185041714914113, + -0.9777390414881271, + 0.20903509515797936, + 0.20854596546739068, + -0.20076200319618737, + -0.9571850387254954 + ], + [ + 0.9783123841124759, + 0.03955194121281885, + 0.2033236903030759, + -0.0053813873672747155, + -0.9764156270005787, + 0.21583225898616284, + 0.20706501337059996, + -0.21224553539559896, + -0.9550266556188203 + ], + [ + 0.9852945711107304, + 0.02189560678496019, + 0.16945557100089806, + -0.02060315376207134, + -0.9692939343843551, + 0.24504036161570217, + 0.16961756452318974, + -0.24492825718813263, + -0.9545889328061611 + ], + [ + 0.9881886206377857, + 0.005077762216795812, + 0.1531583049424988, + -0.033456007731591665, + -0.9681924657027078, + 0.2479597646860758, + 0.1495457976295337, + -0.250155083273117, + -0.9565868955426715 + ], + [ + 0.989826489005936, + -0.00033857865717779045, + 0.14227932747477678, + -0.03580138301175123, + -0.9684143151433887, + 0.24676299398371587, + 0.1377017887924037, + -0.24934634464907324, + -0.9585742630456536 + ], + [ + 0.9922489146194614, + -0.018091540349501556, + 0.1229422124588743, + -0.05547938294740784, + -0.9497662476719468, + 0.30800342993370183, + 0.11119410732712187, + -0.3124368271361944, + -0.9434082358898463 + ], + [ + 0.9939456256907107, + -0.03076107925482019, + 0.10547914093971583, + -0.0689523384777174, + -0.9220644485633245, + 0.3808447553978742, + 0.08554337022093564, + -0.3858120121233799, + -0.9186029736031519 + ], + [ + 0.9937374129573983, + -0.07128335934159774, + 0.08605019912652155, + -0.09998623794419728, + -0.9110637345616726, + 0.39995702742707845, + 0.049886935268702595, + -0.40605609741452603, + -0.9124854735512129 + ], + [ + 0.9911047448265324, + -0.11800994615983054, + 0.06152265753109096, + -0.1330840411826015, + -0.8793677714226604, + 0.4571662285926765, + 0.00015088022280047853, + -0.46128730222118364, + -0.8872508112392239 + ], + [ + 0.9780407202434366, + -0.1805506480644516, + 0.10410481751199933, + -0.20837897864701732, + -0.8380002860913881, + 0.5043151016663866, + -0.0038145515760086846, + -0.5149339608088191, + -0.8572213630107545 + ], + [ + 0.9520930873676134, + -0.2562217158599514, + 0.1669406640354248, + -0.3056483542791378, + -0.7796375002675755, + 0.5465752022393452, + -0.009891234162677245, + -0.5714156110033298, + -0.8206012204404953 + ], + [ + 0.9275004667454531, + -0.31706484259348866, + 0.1980221446660288, + -0.37248862423827034, + -0.7391714741104625, + 0.5611396944384235, + -0.03154534831077327, + -0.5942183247363992, + -0.8036849342543505 + ], + [ + 0.9110124124339657, + -0.38219207388550064, + 0.15487286092258412, + -0.3959892156938943, + -0.705940713519082, + 0.5872310022898176, + -0.11510397667057598, + -0.5963027147810661, + -0.7944646920407162 + ], + [ + 0.8714308022700987, + -0.4474989663213313, + 0.20088064116841123, + -0.4725349623286111, + -0.6559852220503407, + 0.5885525446624653, + -0.1316019233597673, + -0.6078059423803828, + -0.7831046355214 + ], + [ + 0.854276521529804, + -0.4697823947551453, + 0.22252219291805336, + -0.5010797238493717, + -0.6303113045992894, + 0.5929812557251533, + -0.13831390063900278, + -0.6180713234509938, + -0.7738585814071983 + ], + [ + 0.8242182341854063, + -0.5095898873516981, + 0.24694624748145966, + -0.5415178563871753, + -0.5817637679143675, + 0.6068849393055628, + -0.16559804844903603, + -0.6339314356071654, + -0.7554523289387022 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005936.json b/json/chunk-0005/episode_0005936.json new file mode 100644 index 0000000000000000000000000000000000000000..56b088315da958216fe945068dc5d97332b8078d --- /dev/null +++ b/json/chunk-0005/episode_0005936.json @@ -0,0 +1,2542 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 41, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut the pink toy inside the pot." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005936.mp4", + "start": 0, + "end": 41, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.33193856477737427, + 0.15580244362354279, + 0.09967756271362305, + 0.09733611345291138, + -0.08762383460998535, + -0.32205671072006226, + 0.0, + 1.0008161067962646 + ], + [ + 0.32808977365493774, + 0.15343473851680756, + 0.08615181595087051, + 0.06471540778875351, + -0.06345206499099731, + -0.31536781787872314, + 0.0, + 1.0008161067962646 + ], + [ + 0.31236013770103455, + 0.15141291916370392, + 0.06971125304698944, + 0.022554809227585793, + -0.05695647373795509, + -0.29522863030433655, + 0.0, + 1.0008161067962646 + ], + [ + 0.30334949493408203, + 0.15715567767620087, + 0.07127423584461212, + 0.052954841405153275, + -0.03866807743906975, + -0.2852608561515808, + 0.0, + 1.0008161067962646 + ], + [ + 0.29803356528282166, + 0.15975713729858398, + 0.07499964535236359, + 0.045400433242321014, + -0.06088746339082718, + -0.28390756249427795, + 0.0, + 1.0008161067962646 + ], + [ + 0.31106752157211304, + 0.15386322140693665, + 0.08731357753276825, + -0.0644240751862526, + -0.2525479197502136, + -0.16457286477088928, + 0.0, + 1.0008161067962646 + ], + [ + 0.32103875279426575, + 0.15112586319446564, + 0.088536337018013, + -0.09343808144330978, + -0.33635076880455017, + -0.10930046439170837, + 0.0, + 1.0008161067962646 + ], + [ + 0.31147217750549316, + 0.15144386887550354, + 0.076198510825634, + -0.0811864584684372, + -0.3109372556209564, + -0.12284335494041443, + 0.0, + 1.0008161067962646 + ], + [ + 0.2966902256011963, + 0.15096701681613922, + 0.06707502901554108, + -0.06037653982639313, + -0.2802996039390564, + -0.1300865113735199, + 0.0, + 1.0008161067962646 + ], + [ + 0.28548672795295715, + 0.15189072489738464, + 0.058471355587244034, + -0.027298903092741966, + -0.24695155024528503, + -0.1437446027994156, + 0.0, + 1.0008161067962646 + ], + [ + 0.26968926191329956, + 0.15758255124092102, + 0.05409453436732292, + -0.0008829826838336885, + -0.20065028965473175, + -0.17247776687145233, + 0.0, + 1.0008161067962646 + ], + [ + 0.2592794597148895, + 0.16274602711200714, + 0.05213584378361702, + 0.02453817054629326, + -0.17564882338047028, + -0.18391647934913635, + 0.0, + 1.0008161067962646 + ], + [ + 0.2530328333377838, + 0.16273938119411469, + 0.04449979588389397, + 0.03974183276295662, + -0.16433289647102356, + -0.19289390742778778, + 0.0, + 1.0008161067962646 + ], + [ + 0.25009286403656006, + 0.16331569850444794, + 0.03948614001274109, + 0.04651401564478874, + -0.17778708040714264, + -0.1921595185995102, + 0.0, + 1.0008161067962646 + ], + [ + 0.24865052103996277, + 0.16040340065956116, + 0.033201947808265686, + 0.050188615918159485, + -0.2022012323141098, + -0.19000369310379028, + 0.0, + 1.0008161067962646 + ], + [ + 0.25000956654548645, + 0.1591668277978897, + 0.03039594553411007, + 0.05999697372317314, + -0.22689320147037506, + -0.1921849399805069, + 0.0, + 1.0008161067962646 + ], + [ + 0.2510450482368469, + 0.1579015552997589, + 0.027702003717422485, + 0.070343017578125, + -0.2498416304588318, + -0.19702377915382385, + 0.0, + 1.0008161067962646 + ], + [ + 0.25320300459861755, + 0.1574840247631073, + 0.02615896426141262, + 0.08045153319835663, + -0.2731611132621765, + -0.1992613524198532, + 0.0, + 0.9657809734344482 + ], + [ + 0.25406351685523987, + 0.15522491931915283, + 0.021804794669151306, + 0.0472857803106308, + -0.2512652277946472, + -0.17406676709651947, + 0.0, + 0.7071652412414551 + ], + [ + 0.2575506567955017, + 0.15544575452804565, + 0.027971800416707993, + 0.01699274778366089, + -0.25644904375076294, + -0.17373433709144592, + 0.0, + 0.4559463858604431 + ], + [ + 0.2594795823097229, + 0.15586580336093903, + 0.03248903155326843, + -0.0004312771197874099, + -0.2558053731918335, + -0.18173688650131226, + 0.0, + 0.3110979497432709 + ], + [ + 0.2612908184528351, + 0.15578395128250122, + 0.037881821393966675, + -0.023328572511672974, + -0.24316710233688354, + -0.16759979724884033, + 0.0, + 0.23199117183685303 + ], + [ + 0.2692732512950897, + 0.15427926182746887, + 0.050595883280038834, + -0.042175229638814926, + -0.21325798332691193, + -0.15040399134159088, + 0.0, + 0.1897224336862564 + ], + [ + 0.2801918387413025, + 0.14745758473873138, + 0.06694674491882324, + -0.06944447755813599, + -0.17303961515426636, + -0.0907602608203888, + 0.0, + 0.11619604378938675 + ], + [ + 0.2902643382549286, + 0.13755647838115692, + 0.07801468670368195, + -0.08255030959844589, + -0.15520164370536804, + -0.06473087519407272, + 0.0, + 0.08926420658826828 + ], + [ + 0.3031931221485138, + 0.1322694569826126, + 0.08886292576789856, + -0.08731848001480103, + -0.1678890883922577, + -0.04123705253005028, + 0.0, + 0.08819076418876648 + ], + [ + 0.31964582204818726, + 0.13596417009830475, + 0.08724141120910645, + -0.09214038401842117, + -0.18099194765090942, + -0.026480743661522865, + 0.0, + 0.08819076418876648 + ], + [ + 0.33218780159950256, + 0.1425839364528656, + 0.08207914978265762, + -0.08071275800466537, + -0.21590864658355713, + -0.06684684753417969, + 0.0, + 0.08819076418876648 + ], + [ + 0.34371429681777954, + 0.1520954966545105, + 0.07612353563308716, + -0.05596351996064186, + -0.2403917759656906, + -0.10223677009344101, + 0.0, + 0.08819076418876648 + ], + [ + 0.35072752833366394, + 0.16248832643032074, + 0.06753785163164139, + -0.0389166884124279, + -0.25308957695961, + -0.12852570414543152, + 0.0, + 0.10713252425193787 + ], + [ + 0.3548476994037628, + 0.16634131968021393, + 0.06615637242794037, + -0.009443080984055996, + -0.27535367012023926, + -0.1555035561323166, + 0.0, + 0.28321579098701477 + ], + [ + 0.3525429964065552, + 0.1690177023410797, + 0.06597813963890076, + -0.006085075903683901, + -0.2712826132774353, + -0.17500938475131989, + 0.0, + 0.5819184184074402 + ], + [ + 0.3451630175113678, + 0.16868671774864197, + 0.06505144387483597, + -0.03242340683937073, + -0.23745125532150269, + -0.17680470645427704, + 0.0, + 0.8544629216194153 + ], + [ + 0.3405041992664337, + 0.17332591116428375, + 0.06963436305522919, + -0.041661325842142105, + -0.20818854868412018, + -0.17166171967983246, + 0.0, + 1.0054124593734741 + ], + [ + 0.3256838023662567, + 0.17557279765605927, + 0.06874299049377441, + -0.05846777558326721, + -0.12776874005794525, + -0.1680983304977417, + 0.0, + 0.9994885921478271 + ], + [ + 0.31432345509529114, + 0.17972496151924133, + 0.09082809835672379, + -0.017417557537555695, + -0.11338253319263458, + -0.1786612570285797, + 0.0, + 0.9994885921478271 + ], + [ + 0.3042778968811035, + 0.17352718114852905, + 0.1063707023859024, + 0.02685844525694847, + -0.0844472125172615, + -0.13312365114688873, + 0.0, + 0.9994885921478271 + ], + [ + 0.29522573947906494, + 0.1565893441438675, + 0.11459726840257645, + 0.059684593230485916, + -0.06726721674203873, + -0.10360340774059296, + 0.0, + 0.9994885921478271 + ], + [ + 0.28564581274986267, + 0.12611767649650574, + 0.12097013741731644, + 0.07159473747015, + -0.05115184187889099, + -0.05329453945159912, + 0.0, + 0.9994885921478271 + ], + [ + 0.28245827555656433, + 0.09699820727109909, + 0.12180735170841217, + 0.0677073746919632, + -0.05060460790991783, + -0.01870381459593773, + 0.0, + 0.9994885921478271 + ], + [ + 0.280749648809433, + 0.06675881892442703, + 0.12170399725437164, + 0.062216274440288544, + -0.05778363347053528, + 0.024251414462924004, + 0.0, + 0.9994885921478271 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9657809734344482 + ], + [ + 0.7071652412414551 + ], + [ + 0.4559463858604431 + ], + [ + 0.3110979497432709 + ], + [ + 0.23199117183685303 + ], + [ + 0.1897224336862564 + ], + [ + 0.11619604378938675 + ], + [ + 0.08926420658826828 + ], + [ + 0.08819076418876648 + ], + [ + 0.08819076418876648 + ], + [ + 0.08819076418876648 + ], + [ + 0.08819076418876648 + ], + [ + 0.10713252425193787 + ], + [ + 0.28321579098701477 + ], + [ + 0.5819184184074402 + ], + [ + 0.8544629216194153 + ], + [ + 1.0054124593734741 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.33193856477737427, + 0.15580244362354279, + 0.09967756271362305 + ], + [ + 0.32808977365493774, + 0.15343473851680756, + 0.08615181595087051 + ], + [ + 0.31236013770103455, + 0.15141291916370392, + 0.06971125304698944 + ], + [ + 0.30334949493408203, + 0.15715567767620087, + 0.07127423584461212 + ], + [ + 0.29803356528282166, + 0.15975713729858398, + 0.07499964535236359 + ], + [ + 0.31106752157211304, + 0.15386322140693665, + 0.08731357753276825 + ], + [ + 0.32103875279426575, + 0.15112586319446564, + 0.088536337018013 + ], + [ + 0.31147217750549316, + 0.15144386887550354, + 0.076198510825634 + ], + [ + 0.2966902256011963, + 0.15096701681613922, + 0.06707502901554108 + ], + [ + 0.28548672795295715, + 0.15189072489738464, + 0.058471355587244034 + ], + [ + 0.26968926191329956, + 0.15758255124092102, + 0.05409453436732292 + ], + [ + 0.2592794597148895, + 0.16274602711200714, + 0.05213584378361702 + ], + [ + 0.2530328333377838, + 0.16273938119411469, + 0.04449979588389397 + ], + [ + 0.25009286403656006, + 0.16331569850444794, + 0.03948614001274109 + ], + [ + 0.24865052103996277, + 0.16040340065956116, + 0.033201947808265686 + ], + [ + 0.25000956654548645, + 0.1591668277978897, + 0.03039594553411007 + ], + [ + 0.2510450482368469, + 0.1579015552997589, + 0.027702003717422485 + ], + [ + 0.25320300459861755, + 0.1574840247631073, + 0.02615896426141262 + ], + [ + 0.25406351685523987, + 0.15522491931915283, + 0.021804794669151306 + ], + [ + 0.2575506567955017, + 0.15544575452804565, + 0.027971800416707993 + ], + [ + 0.2594795823097229, + 0.15586580336093903, + 0.03248903155326843 + ], + [ + 0.2612908184528351, + 0.15578395128250122, + 0.037881821393966675 + ], + [ + 0.2692732512950897, + 0.15427926182746887, + 0.050595883280038834 + ], + [ + 0.2801918387413025, + 0.14745758473873138, + 0.06694674491882324 + ], + [ + 0.2902643382549286, + 0.13755647838115692, + 0.07801468670368195 + ], + [ + 0.3031931221485138, + 0.1322694569826126, + 0.08886292576789856 + ], + [ + 0.31964582204818726, + 0.13596417009830475, + 0.08724141120910645 + ], + [ + 0.33218780159950256, + 0.1425839364528656, + 0.08207914978265762 + ], + [ + 0.34371429681777954, + 0.1520954966545105, + 0.07612353563308716 + ], + [ + 0.35072752833366394, + 0.16248832643032074, + 0.06753785163164139 + ], + [ + 0.3548476994037628, + 0.16634131968021393, + 0.06615637242794037 + ], + [ + 0.3525429964065552, + 0.1690177023410797, + 0.06597813963890076 + ], + [ + 0.3451630175113678, + 0.16868671774864197, + 0.06505144387483597 + ], + [ + 0.3405041992664337, + 0.17332591116428375, + 0.06963436305522919 + ], + [ + 0.3256838023662567, + 0.17557279765605927, + 0.06874299049377441 + ], + [ + 0.31432345509529114, + 0.17972496151924133, + 0.09082809835672379 + ], + [ + 0.3042778968811035, + 0.17352718114852905, + 0.1063707023859024 + ], + [ + 0.29522573947906494, + 0.1565893441438675, + 0.11459726840257645 + ], + [ + 0.28564581274986267, + 0.12611767649650574, + 0.12097013741731644 + ], + [ + 0.28245827555656433, + 0.09699820727109909, + 0.12180735170841217 + ], + [ + 0.280749648809433, + 0.06675881892442703, + 0.12170399725437164 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9449471746898354, + -0.30695262563905157, + 0.11337955132646152, + -0.31530387055074127, + -0.9467882435625662, + 0.06461803979874328, + 0.08751174927641936, + -0.09680964551635757, + -0.9914482267237044 + ], + [ + 0.9487691987773983, + -0.3056184254498971, + 0.08021462134062313, + -0.30954198961295004, + -0.9499641852416395, + 0.041854550823589104, + 0.06340949548569369, + -0.06454010213591041, + -0.9958984943750724 + ], + [ + 0.955184220545335, + -0.2896562968691032, + 0.06101093758727662, + -0.2904867834088144, + -0.9568658447070155, + 0.0050183560983881, + 0.056925683886986864, + -0.02251632557074168, + -0.9981244820145386 + ], + [ + 0.9588709698465965, + -0.27904979882553715, + 0.051939127455850415, + -0.28119741828809075, + -0.9588189618948231, + 0.03992756264846128, + 0.03865844194429424, + -0.05289052926906202, + -0.9978517509029478 + ], + [ + 0.9581893395342497, + -0.27716917638471, + 0.0710664285379535, + -0.2795898522068014, + -0.9597526196288643, + 0.026540980737564585, + 0.06084984918549511, + -0.045300737055309875, + -0.9971184177801292 + ], + [ + 0.9551959371533991, + -0.1793603873131061, + 0.23543698330664237, + -0.15863408497992687, + -0.9818064517083215, + -0.10436147980216051, + 0.24987186461909028, + 0.062337331085056714, + -0.9662702046658436 + ], + [ + 0.9383323840454348, + -0.1392172461213324, + 0.3164662627105819, + -0.10297054127944445, + -0.9863374294542027, + -0.12859060185835525, + 0.3300445495387387, + 0.08807402363959632, + -0.9398476268415551 + ], + [ + 0.9448728330712179, + -0.14675585228155952, + 0.2927081296190521, + -0.11665875258290571, + -0.9861549438699759, + -0.11785228944150952, + 0.3059510823150837, + 0.07720846133629417, + -0.9489113703230199 + ], + [ + 0.9528530283113169, + -0.1460351537409908, + 0.2659790223115313, + -0.1246572919052999, + -0.9875785936884626, + -0.09565082782263587, + 0.2766435721515859, + 0.057984956326308124, + -0.9592216004798092 + ], + [ + 0.9596615275908064, + -0.14980026850889416, + 0.23792778739933515, + -0.13890418866441706, + -0.9883619554573176, + -0.062018314843821656, + 0.24444913342771343, + 0.02646742449220491, + -0.9693008287457456 + ], + [ + 0.9653974066901572, + -0.17179718272547626, + 0.19619779602102816, + -0.1681806172371493, + -0.9851319603585272, + -0.0350756420596543, + 0.1993066159003537, + 0.0008652674469976362, + -0.9799367960080866 + ], + [ + 0.9680078455117417, + -0.1786111060751754, + 0.17623530808075583, + -0.18006746499550877, + -0.9836231264196528, + -0.007826443797748195, + 0.17474701450327473, + -0.024158186170127237, + -0.9843169524920121 + ], + [ + 0.9682311555990146, + -0.18516928712594816, + 0.16804988673803026, + -0.1891172923367998, + -0.9819246411447681, + 0.00765825384246396, + 0.16359425132502067, + -0.039196099525161635, + -0.9857487442119414 + ], + [ + 0.9661216865940313, + -0.18270077457438738, + 0.18228909364694007, + -0.1879687938143113, + -0.9821028729446859, + 0.011902920052942547, + 0.17685196986377316, + -0.04576433025526214, + -0.9831729282438517 + ], + [ + 0.9619970680324532, + -0.17873106427298452, + 0.2064384842048831, + -0.18501480401590442, + -0.9826697962780345, + 0.011383926292912749, + 0.20082620195562123, + -0.04914547941298644, + -0.9783933556915376 + ], + [ + 0.9564310892468297, + -0.17742041298345182, + 0.2318654104839792, + -0.18610862389506802, + -0.9823994155993309, + 0.01596772814075818, + 0.22495144283601934, + -0.05842418409250105, + -0.9726168120483619 + ], + [ + 0.9502057883493507, + -0.1782256532654446, + 0.25562585218536643, + -0.18967378607311214, + -0.9816300869024074, + 0.020645274632801976, + 0.2472505099369475, + -0.06810278266031461, + -0.9665553250227541 + ], + [ + 0.9438696134522899, + -0.17605355155604233, + 0.2794911443783659, + -0.19060611602334018, + -0.9813341407900894, + 0.025546284549302595, + 0.2697766879030166, + -0.07738508321557139, + -0.9598083598092889 + ], + [ + 0.9539617363820014, + -0.16142082484943177, + 0.25278513173042066, + -0.16775070718194618, + -0.9858230845550036, + 0.0035420613229464985, + 0.24862965583170887, + -0.04578387558286906, + -0.9675159590299369 + ], + [ + 0.9527351884306641, + -0.16859163395978013, + 0.2527301360834499, + -0.16720853095941393, + -0.9855489389210851, + -0.02710343457789999, + 0.25364732977183563, + -0.016436238933992705, + -0.9671571134770828 + ], + [ + 0.9515269808356791, + -0.18084543715227505, + 0.2487796868776467, + -0.17485687799593183, + -0.9835114405888989, + -0.0461553729078724, + 0.25302465682073993, + 0.0004172432761419369, + -0.9674597402211605 + ], + [ + 0.956980504733909, + -0.17230866381857904, + 0.23344814827342056, + -0.16190857240068454, + -0.9847827911663279, + -0.06315432214685768, + 0.240777755912803, + 0.02264019866769489, + -0.9703161823147557 + ], + [ + 0.9663129350518871, + -0.15852713075929367, + 0.20275221420402134, + -0.14644323966404424, + -0.9864943399545455, + -0.07337093971283878, + 0.2116451962793081, + 0.04120759700433318, + -0.9764774676565874 + ], + [ + 0.981011546269261, + -0.10231523360517934, + 0.16476631651739804, + -0.08928215021122175, + -0.9924008965203687, + -0.08467088188527147, + 0.1721773612878727, + 0.06835242174119607, + -0.9826916620700815 + ], + [ + 0.9859112420717534, + -0.07718479178297499, + 0.14839653187979587, + -0.06390818277178634, + -0.9936829888124287, + -0.0922489128369911, + 0.1545793224572434, + 0.0814654875528136, + -0.9846159695061024 + ], + [ + 0.9851015260393251, + -0.05562842957363225, + 0.1627281820035017, + -0.04064572526645693, + -0.9947425179866104, + -0.093995999527757, + 0.16710149135347968, + 0.08598139759756077, + -0.9821834303502648 + ], + [ + 0.9833207531584863, + -0.042921834931901104, + 0.17674278625705217, + -0.026045152965068135, + -0.9949704389904033, + -0.09672370724011023, + 0.18000540662672773, + 0.09050713574808886, + -0.9794929871948158 + ], + [ + 0.9746005700659036, + -0.08381377367200983, + 0.2076751794752387, + -0.06524618889809412, + -0.9933645773703546, + -0.09470877076644371, + 0.21423506636750603, + 0.07875320798973001, + -0.9736022126976891 + ], + [ + 0.9661732952183947, + -0.11514646365888734, + 0.2307606021696111, + -0.0991240378975686, + -0.9918618792775018, + -0.07990267546824692, + 0.2380831550482108, + 0.05432590857919583, + -0.9697242427305479 + ], + [ + 0.9601581152067953, + -0.1377368816345939, + 0.24315621571350438, + -0.1240890210717804, + -0.9897523510590278, + -0.0706554910999432, + 0.25039630319152406, + 0.03766742638812452, + -0.967410386721847 + ], + [ + 0.9507173155195802, + -0.1574071300092679, + 0.2671321421946237, + -0.1490432203267483, + -0.9874919837230935, + -0.05143637387357394, + 0.27188730100149144, + 0.009087216563676132, + -0.9622861934212968 + ], + [ + 0.9487115362535607, + -0.1757198396208194, + 0.26280973905668303, + -0.16774955654842852, + -0.984422759337227, + -0.05264899976908596, + 0.26796736229849694, + 0.005862496269776116, + -0.9634101535069436 + ], + [ + 0.9567888087633469, + -0.18329917296363768, + 0.22573566093123737, + -0.17094977899763059, + -0.9825521118155215, + -0.07326336483892158, + 0.23522616454356726, + 0.03150810622214714, + -0.9714298177204657 + ], + [ + 0.9640265666222403, + -0.1791535360718931, + 0.19635882806605134, + -0.16713135381983207, + -0.9829768323631461, + -0.07631289280106107, + 0.20668790341209212, + 0.04074993926686317, + -0.9775579537975544 + ], + [ + 0.9778682815046775, + -0.17436275060523176, + 0.1156341438696484, + -0.1659440072527078, + -0.9829743048210562, + -0.0788929814272126, + 0.1274213894289419, + 0.05795815096204324, + -0.9901538477696579 + ], + [ + 0.9777637744221961, + -0.1796244966480793, + 0.10822680643715225, + -0.17657122376436687, + -0.983583032851625, + -0.037242723111408534, + 0.11313975590399054, + 0.017304845862454336, + -0.9934283758498456 + ], + [ + 0.9876201075689282, + -0.1304378152115868, + 0.08713494986724006, + -0.13225780611019353, + -0.9910953055315729, + 0.015426213929419577, + 0.08434687811921056, + -0.02675951636531753, + -0.9960770715338432 + ], + [ + 0.9923885061732902, + -0.09924611100915569, + 0.0729058452025833, + -0.10318427735061202, + -0.993281562297888, + 0.05239029401232718, + 0.06721649888812022, + -0.059514262564737, + -0.9959618440626117 + ], + [ + 0.9972740689862577, + -0.04948056197222652, + 0.05473669075223315, + -0.05319963953967461, + -0.9962168422033555, + 0.0687153670093055, + 0.05112953823810309, + -0.0714400258768676, + -0.9961335718779238 + ], + [ + 0.9985451727186758, + -0.015238242870006925, + 0.05172363090951919, + -0.018678781976455002, + -0.9975982257184055, + 0.06669994863090263, + 0.050583012406395345, + -0.06756904615076102, + -0.9964315244201031 + ], + [ + 0.9980374299583761, + 0.027791828752904618, + 0.05611508403851263, + 0.024208565486302173, + -0.9976846370438839, + 0.0635555691006657, + 0.0577514827443896, + -0.062072371158054675, + -0.9963994113705816 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0038487911224365234, + -0.0023677051067352295, + -0.013525746762752533, + -0.03262070566415787, + 0.024171769618988037, + 0.006688892841339111, + 1.0 + ], + [ + -0.015729635953903198, + -0.0020218193531036377, + -0.016440562903881073, + -0.042160600423812866, + 0.006495591253042221, + 0.020139187574386597, + 1.0 + ], + [ + -0.009010642766952515, + 0.005742758512496948, + 0.0015629827976226807, + 0.030400032177567482, + 0.018288396298885345, + 0.009967774152755737, + 1.0 + ], + [ + -0.005315929651260376, + 0.0026014596223831177, + 0.003725409507751465, + -0.00755440816283226, + -0.02221938595175743, + 0.0013532936573028564, + 1.0 + ], + [ + 0.013033956289291382, + -0.005893915891647339, + 0.012313932180404663, + -0.10982450842857361, + -0.19166046380996704, + 0.11933469772338867, + 1.0 + ], + [ + 0.00997123122215271, + -0.0027373582124710083, + 0.001222759485244751, + -0.02901400625705719, + -0.08380284905433655, + 0.05527240037918091, + 1.0 + ], + [ + -0.009566575288772583, + 0.00031800568103790283, + -0.012337826192378998, + 0.012251622974872589, + 0.02541351318359375, + -0.013542890548706055, + 1.0 + ], + [ + -0.014781951904296875, + -0.00047685205936431885, + -0.009123481810092926, + 0.020809918642044067, + 0.030637651681900024, + -0.007243156433105469, + 1.0 + ], + [ + -0.011203497648239136, + 0.0009237080812454224, + -0.008603673428297043, + 0.03307763487100601, + 0.03334805369377136, + -0.013658091425895691, + 1.0 + ], + [ + -0.015797466039657593, + 0.005691826343536377, + -0.004376821219921112, + 0.02641591988503933, + 0.046301260590553284, + -0.028733164072036743, + 1.0 + ], + [ + -0.010409802198410034, + 0.005163475871086121, + -0.001958690583705902, + 0.025421153753995895, + 0.025001466274261475, + -0.011438712477684021, + 1.0 + ], + [ + -0.006246626377105713, + -6.645917892456055e-06, + -0.007636047899723053, + 0.01520366221666336, + 0.011315926909446716, + -0.008977428078651428, + 1.0 + ], + [ + -0.002939969301223755, + 0.000576317310333252, + -0.005013655871152878, + 0.006772182881832123, + -0.01345418393611908, + 0.0007343888282775879, + 1.0 + ], + [ + -0.00144234299659729, + -0.00291229784488678, + -0.006284192204475403, + 0.003674600273370743, + -0.024414151906967163, + 0.0021558254957199097, + 1.0 + ], + [ + 0.0013590455055236816, + -0.0012365728616714478, + -0.0028060022741556168, + 0.009808357805013657, + -0.02469196915626526, + -0.0021812468767166138, + 1.0 + ], + [ + 0.0010354816913604736, + -0.0012652724981307983, + -0.002693941816687584, + 0.010346043854951859, + -0.022948428988456726, + -0.004838839173316956, + 1.0 + ], + [ + 0.00215795636177063, + -0.00041753053665161133, + -0.0015430394560098648, + 0.010108515620231628, + -0.023319482803344727, + -0.002237573266029358, + 0.0 + ], + [ + 0.0008605122566223145, + -0.0022591054439544678, + -0.004354169592261314, + -0.03316575288772583, + 0.021895885467529297, + 0.02519458532333374, + 0.0 + ], + [ + 0.003487139940261841, + 0.00022083520889282227, + 0.006167005747556686, + -0.03029303252696991, + -0.005183815956115723, + 0.00033243000507354736, + 0.0 + ], + [ + 0.0019289255142211914, + 0.0004200488328933716, + 0.00451723113656044, + -0.017424024641513824, + 0.0006436705589294434, + -0.008002549409866333, + 0.0 + ], + [ + 0.0018112361431121826, + -8.185207843780518e-05, + 0.005392789840698242, + -0.022897295653820038, + 0.012638270854949951, + 0.014137089252471924, + 0.0 + ], + [ + 0.007982432842254639, + -0.0015046894550323486, + 0.012714061886072159, + -0.018846657127141953, + 0.02990911900997162, + 0.01719580590724945, + 0.0 + ], + [ + 0.010918587446212769, + -0.006821677088737488, + 0.01635086163878441, + -0.02726924791932106, + 0.04021836817264557, + 0.05964373052120209, + 0.0 + ], + [ + 0.010072499513626099, + -0.009901106357574463, + 0.011067941784858704, + -0.013105832040309906, + 0.017837971448898315, + 0.02602938562631607, + 0.0 + ], + [ + 0.012928783893585205, + -0.0052870213985443115, + 0.010848239064216614, + -0.004768170416355133, + -0.012687444686889648, + 0.023493822664022446, + 0.0 + ], + [ + 0.016452699899673462, + 0.0036947131156921387, + -0.0016215145587921143, + -0.004821904003620148, + -0.013102859258651733, + 0.014756308868527412, + 0.0 + ], + [ + 0.012541979551315308, + 0.006619766354560852, + -0.005162261426448822, + 0.011427626013755798, + -0.034916698932647705, + -0.04036610573530197, + 0.0 + ], + [ + 0.011526495218276978, + 0.009511560201644897, + -0.005955614149570465, + 0.024749238044023514, + -0.024483129382133484, + -0.03538992255926132, + 0.0 + ], + [ + 0.007013231515884399, + 0.010392829775810242, + -0.00858568400144577, + 0.01704683154821396, + -0.012697800993919373, + -0.02628893405199051, + 1.0 + ], + [ + 0.004120171070098877, + 0.0038529932498931885, + -0.0013814792037010193, + 0.02947360649704933, + -0.022264093160629272, + -0.02697785198688507, + 1.0 + ], + [ + -0.0023047029972076416, + 0.0026763826608657837, + -0.00017823278903961182, + 0.003358005080372095, + 0.004071056842803955, + -0.019505828619003296, + 1.0 + ], + [ + -0.007379978895187378, + -0.00033098459243774414, + -0.0009266957640647888, + -0.026338331401348114, + 0.03383135795593262, + -0.0017953217029571533, + 1.0 + ], + [ + -0.004658818244934082, + 0.004639193415641785, + 0.004582919180393219, + -0.009237919002771378, + 0.029262706637382507, + 0.00514298677444458, + 1.0 + ], + [ + -0.014820396900177002, + 0.0022468864917755127, + -0.000891372561454773, + -0.016806449741125107, + 0.08041980862617493, + 0.0035633891820907593, + 1.0 + ], + [ + -0.011360347270965576, + 0.004152163863182068, + 0.02208510786294937, + 0.04105021804571152, + 0.014386206865310669, + -0.010562926530838013, + 1.0 + ], + [ + -0.010045558214187622, + -0.00619778037071228, + 0.01554260402917862, + 0.044276002794504166, + 0.028935320675373077, + 0.04553760588169098, + 1.0 + ], + [ + -0.009052157402038574, + -0.01693783700466156, + 0.008226566016674042, + 0.032826147973537445, + 0.01717999577522278, + 0.029520243406295776, + 1.0 + ], + [ + -0.00957992672920227, + -0.030471667647361755, + 0.00637286901473999, + 0.011910144239664078, + 0.016115374863147736, + 0.050308868288993835, + 1.0 + ], + [ + -0.00318753719329834, + -0.029119469225406647, + 0.0008372142910957336, + -0.003887362778186798, + 0.0005472339689731598, + 0.03459072485566139, + 1.0 + ], + [ + -0.0017086267471313477, + -0.030239388346672058, + -0.00010335445404052734, + -0.005491100251674652, + -0.007179025560617447, + 0.04295522719621658, + 1.0 + ], + [ + 0.0007384717464447021, + -0.020917821675539017, + -0.003913499414920807, + -0.016704536974430084, + -0.0011348426342010498, + 0.013519009575247765, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9657809734344482 + ], + [ + 0.7071652412414551 + ], + [ + 0.4559463858604431 + ], + [ + 0.3110979497432709 + ], + [ + 0.23199117183685303 + ], + [ + 0.1897224336862564 + ], + [ + 0.11619604378938675 + ], + [ + 0.08926420658826828 + ], + [ + 0.08819076418876648 + ], + [ + 0.08819076418876648 + ], + [ + 0.08819076418876648 + ], + [ + 0.08819076418876648 + ], + [ + 0.10713252425193787 + ], + [ + 0.28321579098701477 + ], + [ + 0.5819184184074402 + ], + [ + 0.8544629216194153 + ], + [ + 1.0054124593734741 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.32808977365493774, + 0.15343473851680756, + 0.08615181595087051 + ], + [ + 0.31236013770103455, + 0.15141291916370392, + 0.06971125304698944 + ], + [ + 0.30334949493408203, + 0.15715567767620087, + 0.07127423584461212 + ], + [ + 0.29803356528282166, + 0.15975713729858398, + 0.07499964535236359 + ], + [ + 0.31106752157211304, + 0.15386322140693665, + 0.08731357753276825 + ], + [ + 0.32103875279426575, + 0.15112586319446564, + 0.088536337018013 + ], + [ + 0.31147217750549316, + 0.15144386887550354, + 0.076198510825634 + ], + [ + 0.2966902256011963, + 0.15096701681613922, + 0.06707502901554108 + ], + [ + 0.28548672795295715, + 0.15189072489738464, + 0.058471355587244034 + ], + [ + 0.26968926191329956, + 0.15758255124092102, + 0.05409453436732292 + ], + [ + 0.2592794597148895, + 0.16274602711200714, + 0.05213584378361702 + ], + [ + 0.2530328333377838, + 0.16273938119411469, + 0.04449979588389397 + ], + [ + 0.25009286403656006, + 0.16331569850444794, + 0.03948614001274109 + ], + [ + 0.24865052103996277, + 0.16040340065956116, + 0.033201947808265686 + ], + [ + 0.25000956654548645, + 0.1591668277978897, + 0.03039594553411007 + ], + [ + 0.2510450482368469, + 0.1579015552997589, + 0.027702003717422485 + ], + [ + 0.25320300459861755, + 0.1574840247631073, + 0.02615896426141262 + ], + [ + 0.25406351685523987, + 0.15522491931915283, + 0.021804794669151306 + ], + [ + 0.2575506567955017, + 0.15544575452804565, + 0.027971800416707993 + ], + [ + 0.2594795823097229, + 0.15586580336093903, + 0.03248903155326843 + ], + [ + 0.2612908184528351, + 0.15578395128250122, + 0.037881821393966675 + ], + [ + 0.2692732512950897, + 0.15427926182746887, + 0.050595883280038834 + ], + [ + 0.2801918387413025, + 0.14745758473873138, + 0.06694674491882324 + ], + [ + 0.2902643382549286, + 0.13755647838115692, + 0.07801468670368195 + ], + [ + 0.3031931221485138, + 0.1322694569826126, + 0.08886292576789856 + ], + [ + 0.31964582204818726, + 0.13596417009830475, + 0.08724141120910645 + ], + [ + 0.33218780159950256, + 0.1425839364528656, + 0.08207914978265762 + ], + [ + 0.34371429681777954, + 0.1520954966545105, + 0.07612353563308716 + ], + [ + 0.35072752833366394, + 0.16248832643032074, + 0.06753785163164139 + ], + [ + 0.3548476994037628, + 0.16634131968021393, + 0.06615637242794037 + ], + [ + 0.3525429964065552, + 0.1690177023410797, + 0.06597813963890076 + ], + [ + 0.3451630175113678, + 0.16868671774864197, + 0.06505144387483597 + ], + [ + 0.3405041992664337, + 0.17332591116428375, + 0.06963436305522919 + ], + [ + 0.3256838023662567, + 0.17557279765605927, + 0.06874299049377441 + ], + [ + 0.31432345509529114, + 0.17972496151924133, + 0.09082809835672379 + ], + [ + 0.3042778968811035, + 0.17352718114852905, + 0.1063707023859024 + ], + [ + 0.29522573947906494, + 0.1565893441438675, + 0.11459726840257645 + ], + [ + 0.28564581274986267, + 0.12611767649650574, + 0.12097013741731644 + ], + [ + 0.28245827555656433, + 0.09699820727109909, + 0.12180735170841217 + ], + [ + 0.280749648809433, + 0.06675881892442703, + 0.12170399725437164 + ], + [ + 0.2814881205558777, + 0.045840997248888016, + 0.11779049783945084 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9487691987773983, + -0.3056184254498971, + 0.08021462134062313, + -0.30954198961295004, + -0.9499641852416395, + 0.041854550823589104, + 0.06340949548569369, + -0.06454010213591041, + -0.9958984943750724 + ], + [ + 0.955184220545335, + -0.2896562968691032, + 0.06101093758727662, + -0.2904867834088144, + -0.9568658447070155, + 0.0050183560983881, + 0.056925683886986864, + -0.02251632557074168, + -0.9981244820145386 + ], + [ + 0.9588709698465965, + -0.27904979882553715, + 0.051939127455850415, + -0.28119741828809075, + -0.9588189618948231, + 0.03992756264846128, + 0.03865844194429424, + -0.05289052926906202, + -0.9978517509029478 + ], + [ + 0.9581893395342497, + -0.27716917638471, + 0.0710664285379535, + -0.2795898522068014, + -0.9597526196288643, + 0.026540980737564585, + 0.06084984918549511, + -0.045300737055309875, + -0.9971184177801292 + ], + [ + 0.9551959371533991, + -0.1793603873131061, + 0.23543698330664237, + -0.15863408497992687, + -0.9818064517083215, + -0.10436147980216051, + 0.24987186461909028, + 0.062337331085056714, + -0.9662702046658436 + ], + [ + 0.9383323840454348, + -0.1392172461213324, + 0.3164662627105819, + -0.10297054127944445, + -0.9863374294542027, + -0.12859060185835525, + 0.3300445495387387, + 0.08807402363959632, + -0.9398476268415551 + ], + [ + 0.9448728330712179, + -0.14675585228155952, + 0.2927081296190521, + -0.11665875258290571, + -0.9861549438699759, + -0.11785228944150952, + 0.3059510823150837, + 0.07720846133629417, + -0.9489113703230199 + ], + [ + 0.9528530283113169, + -0.1460351537409908, + 0.2659790223115313, + -0.1246572919052999, + -0.9875785936884626, + -0.09565082782263587, + 0.2766435721515859, + 0.057984956326308124, + -0.9592216004798092 + ], + [ + 0.9596615275908064, + -0.14980026850889416, + 0.23792778739933515, + -0.13890418866441706, + -0.9883619554573176, + -0.062018314843821656, + 0.24444913342771343, + 0.02646742449220491, + -0.9693008287457456 + ], + [ + 0.9653974066901572, + -0.17179718272547626, + 0.19619779602102816, + -0.1681806172371493, + -0.9851319603585272, + -0.0350756420596543, + 0.1993066159003537, + 0.0008652674469976362, + -0.9799367960080866 + ], + [ + 0.9680078455117417, + -0.1786111060751754, + 0.17623530808075583, + -0.18006746499550877, + -0.9836231264196528, + -0.007826443797748195, + 0.17474701450327473, + -0.024158186170127237, + -0.9843169524920121 + ], + [ + 0.9682311555990146, + -0.18516928712594816, + 0.16804988673803026, + -0.1891172923367998, + -0.9819246411447681, + 0.00765825384246396, + 0.16359425132502067, + -0.039196099525161635, + -0.9857487442119414 + ], + [ + 0.9661216865940313, + -0.18270077457438738, + 0.18228909364694007, + -0.1879687938143113, + -0.9821028729446859, + 0.011902920052942547, + 0.17685196986377316, + -0.04576433025526214, + -0.9831729282438517 + ], + [ + 0.9619970680324532, + -0.17873106427298452, + 0.2064384842048831, + -0.18501480401590442, + -0.9826697962780345, + 0.011383926292912749, + 0.20082620195562123, + -0.04914547941298644, + -0.9783933556915376 + ], + [ + 0.9564310892468297, + -0.17742041298345182, + 0.2318654104839792, + -0.18610862389506802, + -0.9823994155993309, + 0.01596772814075818, + 0.22495144283601934, + -0.05842418409250105, + -0.9726168120483619 + ], + [ + 0.9502057883493507, + -0.1782256532654446, + 0.25562585218536643, + -0.18967378607311214, + -0.9816300869024074, + 0.020645274632801976, + 0.2472505099369475, + -0.06810278266031461, + -0.9665553250227541 + ], + [ + 0.9438696134522899, + -0.17605355155604233, + 0.2794911443783659, + -0.19060611602334018, + -0.9813341407900894, + 0.025546284549302595, + 0.2697766879030166, + -0.07738508321557139, + -0.9598083598092889 + ], + [ + 0.9539617363820014, + -0.16142082484943177, + 0.25278513173042066, + -0.16775070718194618, + -0.9858230845550036, + 0.0035420613229464985, + 0.24862965583170887, + -0.04578387558286906, + -0.9675159590299369 + ], + [ + 0.9527351884306641, + -0.16859163395978013, + 0.2527301360834499, + -0.16720853095941393, + -0.9855489389210851, + -0.02710343457789999, + 0.25364732977183563, + -0.016436238933992705, + -0.9671571134770828 + ], + [ + 0.9515269808356791, + -0.18084543715227505, + 0.2487796868776467, + -0.17485687799593183, + -0.9835114405888989, + -0.0461553729078724, + 0.25302465682073993, + 0.0004172432761419369, + -0.9674597402211605 + ], + [ + 0.956980504733909, + -0.17230866381857904, + 0.23344814827342056, + -0.16190857240068454, + -0.9847827911663279, + -0.06315432214685768, + 0.240777755912803, + 0.02264019866769489, + -0.9703161823147557 + ], + [ + 0.9663129350518871, + -0.15852713075929367, + 0.20275221420402134, + -0.14644323966404424, + -0.9864943399545455, + -0.07337093971283878, + 0.2116451962793081, + 0.04120759700433318, + -0.9764774676565874 + ], + [ + 0.981011546269261, + -0.10231523360517934, + 0.16476631651739804, + -0.08928215021122175, + -0.9924008965203687, + -0.08467088188527147, + 0.1721773612878727, + 0.06835242174119607, + -0.9826916620700815 + ], + [ + 0.9859112420717534, + -0.07718479178297499, + 0.14839653187979587, + -0.06390818277178634, + -0.9936829888124287, + -0.0922489128369911, + 0.1545793224572434, + 0.0814654875528136, + -0.9846159695061024 + ], + [ + 0.9851015260393251, + -0.05562842957363225, + 0.1627281820035017, + -0.04064572526645693, + -0.9947425179866104, + -0.093995999527757, + 0.16710149135347968, + 0.08598139759756077, + -0.9821834303502648 + ], + [ + 0.9833207531584863, + -0.042921834931901104, + 0.17674278625705217, + -0.026045152965068135, + -0.9949704389904033, + -0.09672370724011023, + 0.18000540662672773, + 0.09050713574808886, + -0.9794929871948158 + ], + [ + 0.9746005700659036, + -0.08381377367200983, + 0.2076751794752387, + -0.06524618889809412, + -0.9933645773703546, + -0.09470877076644371, + 0.21423506636750603, + 0.07875320798973001, + -0.9736022126976891 + ], + [ + 0.9661732952183947, + -0.11514646365888734, + 0.2307606021696111, + -0.0991240378975686, + -0.9918618792775018, + -0.07990267546824692, + 0.2380831550482108, + 0.05432590857919583, + -0.9697242427305479 + ], + [ + 0.9601581152067953, + -0.1377368816345939, + 0.24315621571350438, + -0.1240890210717804, + -0.9897523510590278, + -0.0706554910999432, + 0.25039630319152406, + 0.03766742638812452, + -0.967410386721847 + ], + [ + 0.9507173155195802, + -0.1574071300092679, + 0.2671321421946237, + -0.1490432203267483, + -0.9874919837230935, + -0.05143637387357394, + 0.27188730100149144, + 0.009087216563676132, + -0.9622861934212968 + ], + [ + 0.9487115362535607, + -0.1757198396208194, + 0.26280973905668303, + -0.16774955654842852, + -0.984422759337227, + -0.05264899976908596, + 0.26796736229849694, + 0.005862496269776116, + -0.9634101535069436 + ], + [ + 0.9567888087633469, + -0.18329917296363768, + 0.22573566093123737, + -0.17094977899763059, + -0.9825521118155215, + -0.07326336483892158, + 0.23522616454356726, + 0.03150810622214714, + -0.9714298177204657 + ], + [ + 0.9640265666222403, + -0.1791535360718931, + 0.19635882806605134, + -0.16713135381983207, + -0.9829768323631461, + -0.07631289280106107, + 0.20668790341209212, + 0.04074993926686317, + -0.9775579537975544 + ], + [ + 0.9778682815046775, + -0.17436275060523176, + 0.1156341438696484, + -0.1659440072527078, + -0.9829743048210562, + -0.0788929814272126, + 0.1274213894289419, + 0.05795815096204324, + -0.9901538477696579 + ], + [ + 0.9777637744221961, + -0.1796244966480793, + 0.10822680643715225, + -0.17657122376436687, + -0.983583032851625, + -0.037242723111408534, + 0.11313975590399054, + 0.017304845862454336, + -0.9934283758498456 + ], + [ + 0.9876201075689282, + -0.1304378152115868, + 0.08713494986724006, + -0.13225780611019353, + -0.9910953055315729, + 0.015426213929419577, + 0.08434687811921056, + -0.02675951636531753, + -0.9960770715338432 + ], + [ + 0.9923885061732902, + -0.09924611100915569, + 0.0729058452025833, + -0.10318427735061202, + -0.993281562297888, + 0.05239029401232718, + 0.06721649888812022, + -0.059514262564737, + -0.9959618440626117 + ], + [ + 0.9972740689862577, + -0.04948056197222652, + 0.05473669075223315, + -0.05319963953967461, + -0.9962168422033555, + 0.0687153670093055, + 0.05112953823810309, + -0.0714400258768676, + -0.9961335718779238 + ], + [ + 0.9985451727186758, + -0.015238242870006925, + 0.05172363090951919, + -0.018678781976455002, + -0.9975982257184055, + 0.06669994863090263, + 0.050583012406395345, + -0.06756904615076102, + -0.9964315244201031 + ], + [ + 0.9980374299583761, + 0.027791828752904618, + 0.05611508403851263, + 0.024208565486302173, + -0.9976846370438839, + 0.0635555691006657, + 0.0577514827443896, + -0.062072371158054675, + -0.9963994113705816 + ], + [ + 0.9975528285330894, + 0.040399438157371535, + 0.05706347064630715, + 0.037695920768094617, + -0.9981508773464274, + 0.04768483626901885, + 0.058884393883938194, + -0.04541708323006131, + -0.997231125019569 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005937.json b/json/chunk-0005/episode_0005937.json new file mode 100644 index 0000000000000000000000000000000000000000..2c204ab0f509e3185a042772700df3c77a0bd27f --- /dev/null +++ b/json/chunk-0005/episode_0005937.json @@ -0,0 +1,1282 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 20, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nSlide towel and place it in front of the canned goods." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005937.mp4", + "start": 0, + "end": 20, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.39579886198043823, + 0.10074757039546967, + 0.08716779202222824, + 0.10329647362232208, + -0.14793722331523895, + 0.2188749462366104, + 0.0, + 1.0001531839370728 + ], + [ + 0.39186930656433105, + 0.09899741411209106, + 0.06949887424707413, + 0.10133896768093109, + -0.1055416539311409, + 0.22330957651138306, + 0.0, + 1.0001531839370728 + ], + [ + 0.36715883016586304, + 0.06421900540590286, + 0.0588759146630764, + 0.09943593293428421, + -0.07668960839509964, + 0.14661581814289093, + 0.0, + 1.0001531839370728 + ], + [ + 0.347915917634964, + 0.017820468172430992, + 0.07274621725082397, + 0.11464661359786987, + -0.13035954535007477, + 0.034052956849336624, + 0.0, + 1.0001531839370728 + ], + [ + 0.31483176350593567, + -0.031043551862239838, + 0.06874359399080276, + 0.12051986157894135, + -0.15009024739265442, + -0.08723951131105423, + 0.0, + 1.0001531839370728 + ], + [ + 0.29229632019996643, + -0.06051498278975487, + 0.05724360793828964, + 0.12192903459072113, + -0.1373574286699295, + -0.1475442796945572, + 0.0, + 1.0001531839370728 + ], + [ + 0.27155017852783203, + -0.08092787861824036, + 0.0523090697824955, + 0.11493214964866638, + -0.14028920233249664, + -0.1890011429786682, + 0.0, + 1.0001531839370728 + ], + [ + 0.2548459470272064, + -0.08143077790737152, + 0.04215977340936661, + 0.08727322518825531, + -0.10949607193470001, + -0.17300283908843994, + 0.0, + 1.0001531839370728 + ], + [ + 0.2444838583469391, + -0.08196511119604111, + 0.03503575921058655, + 0.06549979746341705, + -0.07943755388259888, + -0.1694226861000061, + 0.0, + 1.0001531839370728 + ], + [ + 0.24265025556087494, + -0.07760308682918549, + 0.023768223822116852, + 0.09136050194501877, + -0.05942494422197342, + -0.16419127583503723, + 0.0, + 1.0001531839370728 + ], + [ + 0.2606185972690582, + -0.06562288850545883, + 0.008190881460905075, + 0.11995130032300949, + -0.04111846163868904, + -0.13231149315834045, + 0.0, + 0.9988223910331726 + ], + [ + 0.283150315284729, + -0.062446966767311096, + 0.005631620995700359, + 0.12149462103843689, + -0.061697326600551605, + -0.10571207851171494, + 0.0, + 0.9994885921478271 + ], + [ + 0.3132254183292389, + -0.05518471077084541, + 0.009313586167991161, + 0.11635139584541321, + -0.084813691675663, + -0.045934781432151794, + 0.0, + 0.9994885921478271 + ], + [ + 0.35364413261413574, + -0.036831505596637726, + 0.012006310746073723, + 0.0932043269276619, + -0.10776753723621368, + 0.07053781300783157, + 0.0, + 0.9988223910331726 + ], + [ + 0.3907557725906372, + -0.013739547692239285, + 0.014978738501667976, + 0.09410799294710159, + -0.12205992639064789, + 0.1686033457517624, + 0.0, + 0.9994885921478271 + ], + [ + 0.4219425916671753, + -0.010066380724310875, + 0.015211033634841442, + 0.07322704046964645, + -0.125722274184227, + 0.2072698026895523, + 0.0, + 1.0001531839370728 + ], + [ + 0.43604403734207153, + -0.01575707457959652, + 0.014552989043295383, + 0.06168891116976738, + -0.12572461366653442, + 0.17942528426647186, + 0.0, + 1.0001531839370728 + ], + [ + 0.432116836309433, + -0.022498872131109238, + 0.014049587771296501, + 0.059044595807790756, + -0.11422151327133179, + 0.15414918959140778, + 0.0, + 1.0001531839370728 + ], + [ + 0.4284341037273407, + -0.028524335473775864, + 0.027319123968482018, + 0.028241991996765137, + -0.09786241501569748, + 0.1307559609413147, + 0.0, + 0.9994885921478271 + ], + [ + 0.43837934732437134, + -0.03247246518731117, + 0.05472917482256889, + -0.0067541878670454025, + -0.14475654065608978, + 0.13556504249572754, + 0.0, + 0.9988223910331726 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.39579886198043823, + 0.10074757039546967, + 0.08716779202222824 + ], + [ + 0.39186930656433105, + 0.09899741411209106, + 0.06949887424707413 + ], + [ + 0.36715883016586304, + 0.06421900540590286, + 0.0588759146630764 + ], + [ + 0.347915917634964, + 0.017820468172430992, + 0.07274621725082397 + ], + [ + 0.31483176350593567, + -0.031043551862239838, + 0.06874359399080276 + ], + [ + 0.29229632019996643, + -0.06051498278975487, + 0.05724360793828964 + ], + [ + 0.27155017852783203, + -0.08092787861824036, + 0.0523090697824955 + ], + [ + 0.2548459470272064, + -0.08143077790737152, + 0.04215977340936661 + ], + [ + 0.2444838583469391, + -0.08196511119604111, + 0.03503575921058655 + ], + [ + 0.24265025556087494, + -0.07760308682918549, + 0.023768223822116852 + ], + [ + 0.2606185972690582, + -0.06562288850545883, + 0.008190881460905075 + ], + [ + 0.283150315284729, + -0.062446966767311096, + 0.005631620995700359 + ], + [ + 0.3132254183292389, + -0.05518471077084541, + 0.009313586167991161 + ], + [ + 0.35364413261413574, + -0.036831505596637726, + 0.012006310746073723 + ], + [ + 0.3907557725906372, + -0.013739547692239285, + 0.014978738501667976 + ], + [ + 0.4219425916671753, + -0.010066380724310875, + 0.015211033634841442 + ], + [ + 0.43604403734207153, + -0.01575707457959652, + 0.014552989043295383 + ], + [ + 0.432116836309433, + -0.022498872131109238, + 0.014049587771296501 + ], + [ + 0.4284341037273407, + -0.028524335473775864, + 0.027319123968482018 + ], + [ + 0.43837934732437134, + -0.03247246518731117, + 0.05472917482256889 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9654801748653423, + 0.2308102114680962, + 0.12072563200928225, + 0.2147598704861348, + -0.9676390756251171, + 0.13248704597864458, + 0.14739820206083426, + -0.10198659522418418, + -0.983805115062842 + ], + [ + 0.9697436696788118, + 0.23071480987411055, + 0.07979907031178152, + 0.22022595767603856, + -0.9678066834115171, + 0.12186365787088116, + 0.10534582423401173, + -0.1006026841031219, + -0.9893337946657357 + ], + [ + 0.9863634680236729, + 0.15289354046682427, + 0.06091530375720146, + 0.14566170998555913, + -0.9832733351300748, + 0.10934447707251806, + 0.07661445811591584, + -0.0989803703049202, + -0.9921356314042477 + ], + [ + 0.9909403933790417, + 0.048684611368523284, + 0.12516766909104754, + 0.033757499907360974, + -0.99235305024568, + 0.11872596543342703, + 0.12999064570112207, + -0.11342500731316107, + -0.9850061927451089 + ], + [ + 0.9849973885670016, + -0.06858782851352403, + 0.15835357367608455, + -0.08614935501895453, + -0.9905372532103189, + 0.10683744021818872, + 0.14952736587663762, + -0.1188766578532402, + -0.9815854048790854 + ], + [ + 0.9798186989645548, + -0.1294451550650124, + 0.1523130624391821, + -0.14562489903228568, + -0.9842398802862348, + 0.10032570376516133, + 0.13692591406028257, + -0.12048157487488782, + -0.9832270766076486 + ], + [ + 0.9725429359737593, + -0.17088841689564555, + 0.15797907031768582, + -0.1860321310109539, + -0.9787251652291747, + 0.08653957001654047, + 0.13982948158047198, + -0.1135526306081214, + -0.9836429820635696 + ], + [ + 0.9791729865463678, + -0.16210327904991634, + 0.12224070246498252, + -0.1711102313525249, + -0.9829628439529093, + 0.06712180073935972, + 0.10927740454619529, + -0.08664048897180734, + -0.9902281931587152 + ], + [ + 0.9825739213264829, + -0.16313217221288365, + 0.08908638233874157, + -0.1680816063694847, + -0.9844444016529057, + 0.05116437876595338, + 0.07935403410887172, + -0.06524656652543803, + -0.9947089136160837 + ], + [ + 0.9848094647545679, + -0.15742737409502536, + 0.07325940223184248, + -0.16316601645892634, + -0.9833221425287277, + 0.08033937444141728, + 0.05938997560823987, + -0.09107242117270087, + -0.9940717503777056 + ], + [ + 0.9904217395282795, + -0.12610181217247485, + 0.05624154013355786, + -0.13181427320690553, + -0.984785809586826, + 0.11323385807855632, + 0.04110687592984897, + -0.11956271242840402, + -0.9919752933153378 + ], + [ + 0.9925256246538328, + -0.09730649607250566, + 0.07365005246169377, + -0.1053145375137978, + -0.987875918400173, + 0.11406146603156306, + 0.061658191619392136, + -0.12096534903477929, + -0.9907399516215747 + ], + [ + 0.995354449338975, + -0.03578439682910892, + 0.08938118999366311, + -0.045753573682197825, + -0.9926426945773502, + 0.11210303919843491, + 0.08471204563941385, + -0.11567176771276126, + -0.9896685866883881 + ], + [ + 0.9917263631035986, + 0.08015899386027729, + 0.10026642722575317, + 0.07007046112245631, + -0.9924781228276662, + 0.10038578677561043, + 0.10755905914145757, + -0.09252951643545972, + -0.9898834968746698 + ], + [ + 0.9784855255891766, + 0.17834231106669393, + 0.10373088400213137, + 0.1665571776925541, + -0.9795380163446973, + 0.11297779027130328, + 0.12175706456532215, + -0.09327000921457124, + -0.9881679627520567 + ], + [ + 0.9708726955431117, + 0.21421489468908203, + 0.10732282116212656, + 0.20416469090255365, + -0.9740859901426498, + 0.09733068784550086, + 0.12539133956345247, + -0.072584176658271, + -0.9894486087014949 + ], + [ + 0.9761801969920919, + 0.18573103762068582, + 0.11214367866636114, + 0.17705550792519026, + -0.9806951847083262, + 0.08299579388893646, + 0.12539366058072296, + -0.06116319444114515, + -0.9902199218011729 + ], + [ + 0.9817035989730514, + 0.15991772111251967, + 0.1033652080612053, + 0.15253894122039308, + -0.9853879141327264, + 0.07577948332177803, + 0.11397330904522934, + -0.058625772108625934, + -0.9917525415495276 + ], + [ + 0.9867197504599057, + 0.1330671942904454, + 0.09315178933338207, + 0.12975983999727597, + -0.990708502085679, + 0.04073141071743256, + 0.09770628422073617, + -0.028103126139625366, + -0.9948184237965024 + ], + [ + 0.9804621378879359, + 0.13418175271917812, + 0.14383759385302322, + 0.13373666238345464, + -0.9909341996958554, + 0.012803007758657552, + 0.14425152097205698, + 0.006683495368721027, + -0.9895184837014942 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.003929555416107178, + -0.001750156283378601, + -0.017668917775154114, + -0.001957505941390991, + 0.04239556938409805, + 0.004434630274772644, + 1.0 + ], + [ + -0.024710476398468018, + -0.0347784087061882, + -0.010622959583997726, + -0.001903034746646881, + 0.02885204553604126, + -0.07669375836849213, + 1.0 + ], + [ + -0.019242912530899048, + -0.04639853537082672, + 0.013870302587747574, + 0.015210680663585663, + -0.05366993695497513, + -0.1125628650188446, + 1.0 + ], + [ + -0.03308415412902832, + -0.04886402189731598, + -0.00400262326002121, + 0.005873247981071472, + -0.01973070204257965, + -0.12129247188568115, + 1.0 + ], + [ + -0.02253544330596924, + -0.02947143092751503, + -0.011499986052513123, + 0.0014091730117797852, + 0.012732818722724915, + -0.06030476838350296, + 1.0 + ], + [ + -0.0207461416721344, + -0.02041289582848549, + -0.004934538155794144, + -0.0069968849420547485, + -0.0029317736625671387, + -0.04145686328411102, + 1.0 + ], + [ + -0.01670423150062561, + -0.0005028992891311646, + -0.010149296373128891, + -0.027658924460411072, + 0.03079313039779663, + 0.01599830389022827, + 1.0 + ], + [ + -0.010362088680267334, + -0.0005343332886695862, + -0.00712401419878006, + -0.021773427724838257, + 0.030058518052101135, + 0.003580152988433838, + 1.0 + ], + [ + -0.001833602786064148, + 0.004362024366855621, + -0.011267535388469696, + 0.025860704481601715, + 0.020012609660625458, + 0.005231410264968872, + 1.0 + ], + [ + 0.01796834170818329, + 0.011980198323726654, + -0.015577342361211777, + 0.028590798377990723, + 0.018306482583284378, + 0.03187978267669678, + 1.0 + ], + [ + 0.022531718015670776, + 0.0031759217381477356, + -0.0025592604652047157, + 0.0015433207154273987, + -0.020578864961862564, + 0.02659941464662552, + 1.0 + ], + [ + 0.030075103044509888, + 0.007262255996465683, + 0.003681965172290802, + -0.005143225193023682, + -0.02311636507511139, + 0.05977729707956314, + 1.0 + ], + [ + 0.04041871428489685, + 0.018353205174207687, + 0.0026927245780825615, + -0.023147068917751312, + -0.02295384556055069, + 0.11647259443998337, + 1.0 + ], + [ + 0.037111639976501465, + 0.023091956973075867, + 0.0029724277555942535, + 0.0009036660194396973, + -0.014292389154434204, + 0.09806553274393082, + 1.0 + ], + [ + 0.031186819076538086, + 0.0036731669679284096, + 0.00023229513317346573, + -0.02088095247745514, + -0.0036623477935791016, + 0.03866645693778992, + 1.0 + ], + [ + 0.01410144567489624, + -0.0056906938552856445, + -0.0006580445915460587, + -0.011538129299879074, + -2.339482307434082e-06, + -0.027844518423080444, + 1.0 + ], + [ + -0.00392720103263855, + -0.006741797551512718, + -0.0005034012719988823, + -0.0026443153619766235, + 0.011503100395202637, + -0.025276094675064087, + 1.0 + ], + [ + -0.003682732582092285, + -0.006025463342666626, + 0.013269536197185516, + -0.03080260381102562, + 0.016359098255634308, + -0.02339322865009308, + 1.0 + ], + [ + 0.00994524359703064, + -0.003948129713535309, + 0.027410050854086876, + -0.03499618172645569, + -0.0468941256403923, + 0.004809081554412842, + 1.0 + ], + [ + -0.002346903085708618, + 0.007703859359025955, + 0.013862010091543198, + -0.02595963142812252, + 0.007382288575172424, + 0.01402793824672699, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.39186930656433105, + 0.09899741411209106, + 0.06949887424707413 + ], + [ + 0.36715883016586304, + 0.06421900540590286, + 0.0588759146630764 + ], + [ + 0.347915917634964, + 0.017820468172430992, + 0.07274621725082397 + ], + [ + 0.31483176350593567, + -0.031043551862239838, + 0.06874359399080276 + ], + [ + 0.29229632019996643, + -0.06051498278975487, + 0.05724360793828964 + ], + [ + 0.27155017852783203, + -0.08092787861824036, + 0.0523090697824955 + ], + [ + 0.2548459470272064, + -0.08143077790737152, + 0.04215977340936661 + ], + [ + 0.2444838583469391, + -0.08196511119604111, + 0.03503575921058655 + ], + [ + 0.24265025556087494, + -0.07760308682918549, + 0.023768223822116852 + ], + [ + 0.2606185972690582, + -0.06562288850545883, + 0.008190881460905075 + ], + [ + 0.283150315284729, + -0.062446966767311096, + 0.005631620995700359 + ], + [ + 0.3132254183292389, + -0.05518471077084541, + 0.009313586167991161 + ], + [ + 0.35364413261413574, + -0.036831505596637726, + 0.012006310746073723 + ], + [ + 0.3907557725906372, + -0.013739547692239285, + 0.014978738501667976 + ], + [ + 0.4219425916671753, + -0.010066380724310875, + 0.015211033634841442 + ], + [ + 0.43604403734207153, + -0.01575707457959652, + 0.014552989043295383 + ], + [ + 0.432116836309433, + -0.022498872131109238, + 0.014049587771296501 + ], + [ + 0.4284341037273407, + -0.028524335473775864, + 0.027319123968482018 + ], + [ + 0.43837934732437134, + -0.03247246518731117, + 0.05472917482256889 + ], + [ + 0.4360324442386627, + -0.024768605828285217, + 0.06859118491411209 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9697436696788118, + 0.23071480987411055, + 0.07979907031178152, + 0.22022595767603856, + -0.9678066834115171, + 0.12186365787088116, + 0.10534582423401173, + -0.1006026841031219, + -0.9893337946657357 + ], + [ + 0.9863634680236729, + 0.15289354046682427, + 0.06091530375720146, + 0.14566170998555913, + -0.9832733351300748, + 0.10934447707251806, + 0.07661445811591584, + -0.0989803703049202, + -0.9921356314042477 + ], + [ + 0.9909403933790417, + 0.048684611368523284, + 0.12516766909104754, + 0.033757499907360974, + -0.99235305024568, + 0.11872596543342703, + 0.12999064570112207, + -0.11342500731316107, + -0.9850061927451089 + ], + [ + 0.9849973885670016, + -0.06858782851352403, + 0.15835357367608455, + -0.08614935501895453, + -0.9905372532103189, + 0.10683744021818872, + 0.14952736587663762, + -0.1188766578532402, + -0.9815854048790854 + ], + [ + 0.9798186989645548, + -0.1294451550650124, + 0.1523130624391821, + -0.14562489903228568, + -0.9842398802862348, + 0.10032570376516133, + 0.13692591406028257, + -0.12048157487488782, + -0.9832270766076486 + ], + [ + 0.9725429359737593, + -0.17088841689564555, + 0.15797907031768582, + -0.1860321310109539, + -0.9787251652291747, + 0.08653957001654047, + 0.13982948158047198, + -0.1135526306081214, + -0.9836429820635696 + ], + [ + 0.9791729865463678, + -0.16210327904991634, + 0.12224070246498252, + -0.1711102313525249, + -0.9829628439529093, + 0.06712180073935972, + 0.10927740454619529, + -0.08664048897180734, + -0.9902281931587152 + ], + [ + 0.9825739213264829, + -0.16313217221288365, + 0.08908638233874157, + -0.1680816063694847, + -0.9844444016529057, + 0.05116437876595338, + 0.07935403410887172, + -0.06524656652543803, + -0.9947089136160837 + ], + [ + 0.9848094647545679, + -0.15742737409502536, + 0.07325940223184248, + -0.16316601645892634, + -0.9833221425287277, + 0.08033937444141728, + 0.05938997560823987, + -0.09107242117270087, + -0.9940717503777056 + ], + [ + 0.9904217395282795, + -0.12610181217247485, + 0.05624154013355786, + -0.13181427320690553, + -0.984785809586826, + 0.11323385807855632, + 0.04110687592984897, + -0.11956271242840402, + -0.9919752933153378 + ], + [ + 0.9925256246538328, + -0.09730649607250566, + 0.07365005246169377, + -0.1053145375137978, + -0.987875918400173, + 0.11406146603156306, + 0.061658191619392136, + -0.12096534903477929, + -0.9907399516215747 + ], + [ + 0.995354449338975, + -0.03578439682910892, + 0.08938118999366311, + -0.045753573682197825, + -0.9926426945773502, + 0.11210303919843491, + 0.08471204563941385, + -0.11567176771276126, + -0.9896685866883881 + ], + [ + 0.9917263631035986, + 0.08015899386027729, + 0.10026642722575317, + 0.07007046112245631, + -0.9924781228276662, + 0.10038578677561043, + 0.10755905914145757, + -0.09252951643545972, + -0.9898834968746698 + ], + [ + 0.9784855255891766, + 0.17834231106669393, + 0.10373088400213137, + 0.1665571776925541, + -0.9795380163446973, + 0.11297779027130328, + 0.12175706456532215, + -0.09327000921457124, + -0.9881679627520567 + ], + [ + 0.9708726955431117, + 0.21421489468908203, + 0.10732282116212656, + 0.20416469090255365, + -0.9740859901426498, + 0.09733068784550086, + 0.12539133956345247, + -0.072584176658271, + -0.9894486087014949 + ], + [ + 0.9761801969920919, + 0.18573103762068582, + 0.11214367866636114, + 0.17705550792519026, + -0.9806951847083262, + 0.08299579388893646, + 0.12539366058072296, + -0.06116319444114515, + -0.9902199218011729 + ], + [ + 0.9817035989730514, + 0.15991772111251967, + 0.1033652080612053, + 0.15253894122039308, + -0.9853879141327264, + 0.07577948332177803, + 0.11397330904522934, + -0.058625772108625934, + -0.9917525415495276 + ], + [ + 0.9867197504599057, + 0.1330671942904454, + 0.09315178933338207, + 0.12975983999727597, + -0.990708502085679, + 0.04073141071743256, + 0.09770628422073617, + -0.028103126139625366, + -0.9948184237965024 + ], + [ + 0.9804621378879359, + 0.13418175271917812, + 0.14383759385302322, + 0.13373666238345464, + -0.9909341996958554, + 0.012803007758657552, + 0.14425152097205698, + 0.006683495368721027, + -0.9895184837014942 + ], + [ + 0.97951602308201, + 0.14452683761691063, + 0.14021538337164896, + 0.14763160428320152, + -0.9889702945138632, + -0.011944286748524102, + 0.13694257899708012, + 0.03239984224680615, + -0.9900489787278257 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005938.json b/json/chunk-0005/episode_0005938.json new file mode 100644 index 0000000000000000000000000000000000000000..a2edbd60be4005378528a7dda24964f9f26230cf --- /dev/null +++ b/json/chunk-0005/episode_0005938.json @@ -0,0 +1,802 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 12, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nTurn faucet front to left." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005938.mp4", + "start": 0, + "end": 12, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.29068174958229065, + 0.024908266961574554, + 0.1145445853471756, + 0.13714979588985443, + -0.07439373433589935, + 0.058731600642204285, + 0.0, + 1.0047606229782104 + ], + [ + 0.29219797253608704, + 0.02585655264556408, + 0.10462771356105804, + 0.17457592487335205, + -0.0981166884303093, + 0.06074238941073418, + 0.0, + 1.0047606229782104 + ], + [ + 0.30095767974853516, + 0.028773054480552673, + 0.10261715948581696, + 0.2097180038690567, + -0.16939625144004822, + 0.050384268164634705, + 0.0, + 1.0047606229782104 + ], + [ + 0.30404946208000183, + 0.03264494985342026, + 0.10346633195877075, + 0.21175166964530945, + -0.18528786301612854, + 0.036304689943790436, + 0.0, + 1.0047606229782104 + ], + [ + 0.3110995590686798, + 0.0340467132627964, + 0.10769745707511902, + 0.21845218539237976, + -0.22169750928878784, + 0.015760954469442368, + 0.0, + 1.0047606229782104 + ], + [ + 0.3187580108642578, + 0.0375036746263504, + 0.11750064790248871, + 0.23722481727600098, + -0.3008999824523926, + 0.023834798485040665, + 0.0, + 1.0047606229782104 + ], + [ + 0.32860270142555237, + 0.03648873791098595, + 0.1243484690785408, + 0.2813655138015747, + -0.37737399339675903, + 0.015053121373057365, + 0.0, + 1.0047606229782104 + ], + [ + 0.3355182707309723, + 0.03508462756872177, + 0.13005656003952026, + 0.3438723683357239, + -0.42659351229667664, + -0.019287802278995514, + 0.0, + 1.0047606229782104 + ], + [ + 0.3429650068283081, + 0.037648655474185944, + 0.1332785189151764, + 0.38106900453567505, + -0.47241416573524475, + -0.04795202612876892, + 0.0, + 0.8083573579788208 + ], + [ + 0.3476845622062683, + 0.05087963864207268, + 0.12945471704006195, + 0.37634599208831787, + -0.49204161763191223, + -0.03879749774932861, + 0.0, + 0.519798994064331 + ], + [ + 0.3502598702907562, + 0.06663964688777924, + 0.12865707278251648, + 0.3798311650753021, + -0.5022624731063843, + -0.04995042085647583, + 0.0, + 0.4709327220916748 + ], + [ + 0.3573989272117615, + 0.08039727807044983, + 0.12811902165412903, + 0.4038298428058624, + -0.523094892501831, + -0.10063759237527847, + 0.0, + 0.4709327220916748 + ] + ], + "left_gripper_pos": [ + [ + 1.0047606229782104 + ], + [ + 1.0047606229782104 + ], + [ + 1.0047606229782104 + ], + [ + 1.0047606229782104 + ], + [ + 1.0047606229782104 + ], + [ + 1.0047606229782104 + ], + [ + 1.0047606229782104 + ], + [ + 1.0047606229782104 + ], + [ + 0.8083573579788208 + ], + [ + 0.519798994064331 + ], + [ + 0.4709327220916748 + ], + [ + 0.4709327220916748 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.29068174958229065, + 0.024908266961574554, + 0.1145445853471756 + ], + [ + 0.29219797253608704, + 0.02585655264556408, + 0.10462771356105804 + ], + [ + 0.30095767974853516, + 0.028773054480552673, + 0.10261715948581696 + ], + [ + 0.30404946208000183, + 0.03264494985342026, + 0.10346633195877075 + ], + [ + 0.3110995590686798, + 0.0340467132627964, + 0.10769745707511902 + ], + [ + 0.3187580108642578, + 0.0375036746263504, + 0.11750064790248871 + ], + [ + 0.32860270142555237, + 0.03648873791098595, + 0.1243484690785408 + ], + [ + 0.3355182707309723, + 0.03508462756872177, + 0.13005656003952026 + ], + [ + 0.3429650068283081, + 0.037648655474185944, + 0.1332785189151764 + ], + [ + 0.3476845622062683, + 0.05087963864207268, + 0.12945471704006195 + ], + [ + 0.3502598702907562, + 0.06663964688777924, + 0.12865707278251648 + ], + [ + 0.3573989272117615, + 0.08039727807044983, + 0.12811902165412903 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9955146264502253, + 0.06829087984001278, + 0.0654750658979818, + 0.058535487077369074, + -0.9883052132352472, + 0.14080625783198478, + 0.0743251321982227, + -0.13634207429370124, + -0.9878697350870748 + ], + [ + 0.9933550363253966, + 0.07676557354796265, + 0.0857485773924128, + 0.06041307751512473, + -0.9819511930480114, + 0.17922643369977218, + 0.09795933785056839, + -0.17285514510548897, + -0.9800638075852198 + ], + [ + 0.9844358759339858, + 0.08431213320964516, + 0.15419944995921683, + 0.049642094993279276, + -0.9750808485534053, + 0.21622442320202728, + 0.16858727288488953, + -0.2052042957104217, + -0.964090000178005 + ], + [ + 0.9822355945806969, + 0.0741805059126905, + 0.1723673092011425, + 0.035675433860531555, + -0.9756146271635072, + 0.21657184185270628, + 0.18422947689652655, + -0.20657529331250646, + -0.9609298351260014 + ], + [ + 0.9754044351341029, + 0.06303324580030806, + 0.211217891866668, + 0.015374577966967923, + -0.9753617773872492, + 0.2200750453011968, + 0.2198859028520454, + -0.2114147893026033, + -0.9523413130758723 + ], + [ + 0.9547988655719197, + 0.09279637233003961, + 0.282396812278326, + 0.0227617490163778, + -0.9700578590957498, + 0.2418049891716178, + 0.29637987294060786, + -0.2244472839865866, + -0.9283223511403537 + ], + [ + 0.9295301480005381, + 0.1167641980452433, + 0.34977110517158105, + 0.013993387104409921, + -0.9590282298553893, + 0.28296473182675114, + 0.3684805138341024, + -0.25812976658124936, + -0.893079579057357 + ], + [ + 0.9102112039814012, + 0.12131369798580265, + 0.39597796760392845, + -0.017558151112315498, + -0.9439715274153536, + 0.32955950412428053, + 0.41377200905359157, + -0.3069213940248123, + -0.8570834162516626 + ], + [ + 0.88944877010722, + 0.12454452420522867, + 0.4397380434363696, + -0.04268359118501107, + -0.9353125845280295, + 0.3512384948536368, + 0.4550373571458767, + -0.3311782461364131, + -0.8265966204187535 + ], + [ + 0.88070692610262, + 0.1374244927572373, + 0.4532877883919777, + -0.034186379673327306, + -0.9360485714332494, + 0.3502061726506319, + 0.47242629240941436, + -0.32392527025255247, + -0.8196864141439124 + ], + [ + 0.8754024088634376, + 0.13189562064892707, + 0.46505286560747605, + -0.04376312177648117, + -0.9364807868623273, + 0.3479777651087682, + 0.4814098168177169, + -0.3249727389972127, + -0.8140253725653652 + ], + [ + 0.8618941411249238, + 0.10292032770256293, + 0.4965338816638067, + -0.08703297095738358, + -0.9346319589128499, + 0.3448019189985176, + 0.4995635609818448, + -0.3403975727356558, + -0.7965963476032342 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + 0.0015162229537963867, + 0.0009482856839895248, + -0.009916871786117554, + 0.03742612898349762, + -0.023722954094409943, + 0.002010788768529892, + 1.0 + ], + [ + 0.00875970721244812, + 0.002916501834988594, + -0.002010554075241089, + 0.03514207899570465, + -0.07127956300973892, + -0.010358121246099472, + 1.0 + ], + [ + 0.003091782331466675, + 0.0038718953728675842, + 0.0008491724729537964, + 0.0020336657762527466, + -0.015891611576080322, + -0.014079578220844269, + 1.0 + ], + [ + 0.0070500969886779785, + 0.0014017634093761444, + 0.004231125116348267, + 0.0067005157470703125, + -0.0364096462726593, + -0.020543735474348068, + 1.0 + ], + [ + 0.007658451795578003, + 0.003456961363554001, + 0.00980319082736969, + 0.018772631883621216, + -0.07920247316360474, + 0.008073844015598297, + 1.0 + ], + [ + 0.009844690561294556, + -0.0010149367153644562, + 0.0068478211760520935, + 0.04414069652557373, + -0.07647401094436646, + -0.0087816771119833, + 1.0 + ], + [ + 0.006915569305419922, + -0.0014041103422641754, + 0.005708090960979462, + 0.06250685453414917, + -0.0492195188999176, + -0.03434092551469803, + 1.0 + ], + [ + 0.007446736097335815, + 0.0025640279054641724, + 0.003221958875656128, + 0.03719663619995117, + -0.045820653438568115, + -0.028664223849773407, + 0.0 + ], + [ + 0.004719555377960205, + 0.013230983167886734, + -0.003823801875114441, + -0.004723012447357178, + -0.01962745189666748, + 0.009154528379440308, + 0.0 + ], + [ + 0.002575308084487915, + 0.015760008245706558, + -0.0007976442575454712, + 0.003485172986984253, + -0.010220855474472046, + -0.011152923107147217, + 0.0 + ], + [ + 0.007139056921005249, + 0.013757631182670593, + -0.0005380511283874512, + 0.023998677730560303, + -0.020832419395446777, + -0.05068717151880264, + 0.0 + ], + [ + 0.012534409761428833, + 0.01358698308467865, + -0.0008903294801712036, + 0.016275912523269653, + -0.013372361660003662, + -0.05096074193716049, + 0.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0047606229782104 + ], + [ + 1.0047606229782104 + ], + [ + 1.0047606229782104 + ], + [ + 1.0047606229782104 + ], + [ + 1.0047606229782104 + ], + [ + 1.0047606229782104 + ], + [ + 1.0047606229782104 + ], + [ + 0.8083573579788208 + ], + [ + 0.519798994064331 + ], + [ + 0.4709327220916748 + ], + [ + 0.4709327220916748 + ], + [ + 0.4709327220916748 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.29219797253608704, + 0.02585655264556408, + 0.10462771356105804 + ], + [ + 0.30095767974853516, + 0.028773054480552673, + 0.10261715948581696 + ], + [ + 0.30404946208000183, + 0.03264494985342026, + 0.10346633195877075 + ], + [ + 0.3110995590686798, + 0.0340467132627964, + 0.10769745707511902 + ], + [ + 0.3187580108642578, + 0.0375036746263504, + 0.11750064790248871 + ], + [ + 0.32860270142555237, + 0.03648873791098595, + 0.1243484690785408 + ], + [ + 0.3355182707309723, + 0.03508462756872177, + 0.13005656003952026 + ], + [ + 0.3429650068283081, + 0.037648655474185944, + 0.1332785189151764 + ], + [ + 0.3476845622062683, + 0.05087963864207268, + 0.12945471704006195 + ], + [ + 0.3502598702907562, + 0.06663964688777924, + 0.12865707278251648 + ], + [ + 0.3573989272117615, + 0.08039727807044983, + 0.12811902165412903 + ], + [ + 0.3699333369731903, + 0.09398426115512848, + 0.12722869217395782 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9933550363253966, + 0.07676557354796265, + 0.0857485773924128, + 0.06041307751512473, + -0.9819511930480114, + 0.17922643369977218, + 0.09795933785056839, + -0.17285514510548897, + -0.9800638075852198 + ], + [ + 0.9844358759339858, + 0.08431213320964516, + 0.15419944995921683, + 0.049642094993279276, + -0.9750808485534053, + 0.21622442320202728, + 0.16858727288488953, + -0.2052042957104217, + -0.964090000178005 + ], + [ + 0.9822355945806969, + 0.0741805059126905, + 0.1723673092011425, + 0.035675433860531555, + -0.9756146271635072, + 0.21657184185270628, + 0.18422947689652655, + -0.20657529331250646, + -0.9609298351260014 + ], + [ + 0.9754044351341029, + 0.06303324580030806, + 0.211217891866668, + 0.015374577966967923, + -0.9753617773872492, + 0.2200750453011968, + 0.2198859028520454, + -0.2114147893026033, + -0.9523413130758723 + ], + [ + 0.9547988655719197, + 0.09279637233003961, + 0.282396812278326, + 0.0227617490163778, + -0.9700578590957498, + 0.2418049891716178, + 0.29637987294060786, + -0.2244472839865866, + -0.9283223511403537 + ], + [ + 0.9295301480005381, + 0.1167641980452433, + 0.34977110517158105, + 0.013993387104409921, + -0.9590282298553893, + 0.28296473182675114, + 0.3684805138341024, + -0.25812976658124936, + -0.893079579057357 + ], + [ + 0.9102112039814012, + 0.12131369798580265, + 0.39597796760392845, + -0.017558151112315498, + -0.9439715274153536, + 0.32955950412428053, + 0.41377200905359157, + -0.3069213940248123, + -0.8570834162516626 + ], + [ + 0.88944877010722, + 0.12454452420522867, + 0.4397380434363696, + -0.04268359118501107, + -0.9353125845280295, + 0.3512384948536368, + 0.4550373571458767, + -0.3311782461364131, + -0.8265966204187535 + ], + [ + 0.88070692610262, + 0.1374244927572373, + 0.4532877883919777, + -0.034186379673327306, + -0.9360485714332494, + 0.3502061726506319, + 0.47242629240941436, + -0.32392527025255247, + -0.8196864141439124 + ], + [ + 0.8754024088634376, + 0.13189562064892707, + 0.46505286560747605, + -0.04376312177648117, + -0.9364807868623273, + 0.3479777651087682, + 0.4814098168177169, + -0.3249727389972127, + -0.8140253725653652 + ], + [ + 0.8618941411249238, + 0.10292032770256293, + 0.4965338816638067, + -0.08703297095738358, + -0.9346319589128499, + 0.3448019189985176, + 0.4995635609818448, + -0.3403975727356558, + -0.7965963476032342 + ], + [ + 0.8496617745846867, + 0.0681793800432913, + 0.5229019419991798, + -0.12980321819220544, + -0.9340548580944672, + 0.33270504447193405, + 0.5111027229007372, + -0.35056111336974805, + -0.7847808053440241 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005939.json b/json/chunk-0005/episode_0005939.json new file mode 100644 index 0000000000000000000000000000000000000000..1be87d87ee8f1bd53b1a50c8f9c369d31683909c --- /dev/null +++ b/json/chunk-0005/episode_0005939.json @@ -0,0 +1,1522 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 24, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nTake spatula off plate sink." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005939.mp4", + "start": 0, + "end": 24, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3366284966468811, + -0.0431218259036541, + 0.07209427654743195, + 0.0178909283131361, + -0.2350153625011444, + 0.18436335027217865, + 0.0, + 1.0086473226547241 + ], + [ + 0.33172327280044556, + -0.04251004382967949, + 0.06134624406695366, + 0.026916850358247757, + -0.2043507993221283, + 0.1871519237756729, + 0.0, + 1.0086473226547241 + ], + [ + 0.32105109095573425, + -0.04460035264492035, + 0.04677823930978775, + 0.015678830444812775, + -0.19876089692115784, + 0.21530291438102722, + 0.0, + 1.0086473226547241 + ], + [ + 0.31624799966812134, + -0.04591318964958191, + 0.03581080585718155, + -0.015440428629517555, + -0.20795075595378876, + 0.30414700508117676, + 0.0, + 1.0086473226547241 + ], + [ + 0.3106798827648163, + -0.04923161119222641, + 0.016251511871814728, + -0.036933258175849915, + -0.17977240681648254, + 0.4140075147151947, + 0.0, + 1.0086473226547241 + ], + [ + 0.3123752176761627, + -0.054752252995967865, + 0.005866881925612688, + -0.05518209934234619, + -0.17774678766727448, + 0.4509504437446594, + 0.0, + 1.0086473226547241 + ], + [ + 0.31174078583717346, + -0.05758099630475044, + -0.000965125800576061, + -0.05916321277618408, + -0.17669473588466644, + 0.4642088711261749, + 0.0, + 1.0086473226547241 + ], + [ + 0.3089449405670166, + -0.05800013616681099, + -0.0069231609813869, + -0.057054031640291214, + -0.17432425916194916, + 0.4748314619064331, + 0.0, + 1.0086473226547241 + ], + [ + 0.307330846786499, + -0.056872233748435974, + -0.014133005402982235, + -0.04034838452935219, + -0.16420236229896545, + 0.48132315278053284, + 0.0, + 0.9499720335006714 + ], + [ + 0.3081052899360657, + -0.05684477463364601, + -0.01654537208378315, + -0.0385521724820137, + -0.16255152225494385, + 0.48748448491096497, + 0.0, + 0.6520930528640747 + ], + [ + 0.30759742856025696, + -0.058664143085479736, + -0.016940897330641747, + -0.04473748430609703, + -0.15296272933483124, + 0.48043879866600037, + 0.0, + 0.35274967551231384 + ], + [ + 0.3099127411842346, + -0.06040051952004433, + -0.013275454752147198, + -0.05997899919748306, + -0.11588335037231445, + 0.47493791580200195, + 0.0, + 0.2898603677749634 + ], + [ + 0.31049901247024536, + -0.058885734528303146, + -0.011284616775810719, + -0.07355956733226776, + -0.08662045747041702, + 0.4880821108818054, + 0.0, + 0.3149794638156891 + ], + [ + 0.31539449095726013, + -0.053519587963819504, + 0.009732200764119625, + -0.11317665129899979, + -0.10689139366149902, + 0.5086011290550232, + 0.0, + 0.3220333158969879 + ], + [ + 0.3179680407047272, + -0.036250654608011246, + 0.016259564086794853, + -0.09961351007223129, + -0.1294437050819397, + 0.47513705492019653, + 0.0, + 0.3228223919868469 + ], + [ + 0.31832003593444824, + -0.011879131197929382, + 0.02067473530769348, + -0.07259628921747208, + -0.14218845963478088, + 0.43119117617607117, + 0.0, + 0.3220333158969879 + ], + [ + 0.3248896598815918, + 0.01042723935097456, + 0.020734595134854317, + -0.048749398440122604, + -0.18077832460403442, + 0.40357425808906555, + 0.0, + 0.3228223919868469 + ], + [ + 0.33104100823402405, + 0.03085402585566044, + 0.008560449816286564, + -0.006519542075693607, + -0.21119029819965363, + 0.35570889711380005, + 0.0, + 0.3236125409603119 + ], + [ + 0.3395629823207855, + 0.039661262184381485, + -0.0033754142932593822, + 0.01447299588471651, + -0.22026704251766205, + 0.29498210549354553, + 0.0, + 0.3236125409603119 + ], + [ + 0.3408340513706207, + 0.043057989329099655, + -0.016445903107523918, + 0.04780254140496254, + -0.22034932672977448, + 0.2514963746070862, + 0.0, + 0.3236125409603119 + ], + [ + 0.3455289602279663, + 0.04140704870223999, + -0.016264040023088455, + 0.05518171936273575, + -0.249528706073761, + 0.2352457195520401, + 0.0, + 0.3918617069721222 + ], + [ + 0.344763845205307, + 0.040362272411584854, + -0.017028668895363808, + 0.08018618077039719, + -0.2389148324728012, + 0.2399604767560959, + 0.0, + 0.6981924772262573 + ], + [ + 0.34247204661369324, + 0.03979549929499626, + -0.016551854088902473, + 0.07415702193975449, + -0.21917688846588135, + 0.25800278782844543, + 0.0, + 0.9672539830207825 + ], + [ + 0.33746984601020813, + 0.034987203776836395, + -0.00811153557151556, + 0.05845751613378525, + -0.18852472305297852, + 0.2690942585468292, + 0.0, + 1.0054124593734741 + ] + ], + "left_gripper_pos": [ + [ + 1.0086473226547241 + ], + [ + 1.0086473226547241 + ], + [ + 1.0086473226547241 + ], + [ + 1.0086473226547241 + ], + [ + 1.0086473226547241 + ], + [ + 1.0086473226547241 + ], + [ + 1.0086473226547241 + ], + [ + 1.0086473226547241 + ], + [ + 0.9499720335006714 + ], + [ + 0.6520930528640747 + ], + [ + 0.35274967551231384 + ], + [ + 0.2898603677749634 + ], + [ + 0.3149794638156891 + ], + [ + 0.3220333158969879 + ], + [ + 0.3228223919868469 + ], + [ + 0.3220333158969879 + ], + [ + 0.3228223919868469 + ], + [ + 0.3236125409603119 + ], + [ + 0.3236125409603119 + ], + [ + 0.3236125409603119 + ], + [ + 0.3918617069721222 + ], + [ + 0.6981924772262573 + ], + [ + 0.9672539830207825 + ], + [ + 1.0054124593734741 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3366284966468811, + -0.0431218259036541, + 0.07209427654743195 + ], + [ + 0.33172327280044556, + -0.04251004382967949, + 0.06134624406695366 + ], + [ + 0.32105109095573425, + -0.04460035264492035, + 0.04677823930978775 + ], + [ + 0.31624799966812134, + -0.04591318964958191, + 0.03581080585718155 + ], + [ + 0.3106798827648163, + -0.04923161119222641, + 0.016251511871814728 + ], + [ + 0.3123752176761627, + -0.054752252995967865, + 0.005866881925612688 + ], + [ + 0.31174078583717346, + -0.05758099630475044, + -0.000965125800576061 + ], + [ + 0.3089449405670166, + -0.05800013616681099, + -0.0069231609813869 + ], + [ + 0.307330846786499, + -0.056872233748435974, + -0.014133005402982235 + ], + [ + 0.3081052899360657, + -0.05684477463364601, + -0.01654537208378315 + ], + [ + 0.30759742856025696, + -0.058664143085479736, + -0.016940897330641747 + ], + [ + 0.3099127411842346, + -0.06040051952004433, + -0.013275454752147198 + ], + [ + 0.31049901247024536, + -0.058885734528303146, + -0.011284616775810719 + ], + [ + 0.31539449095726013, + -0.053519587963819504, + 0.009732200764119625 + ], + [ + 0.3179680407047272, + -0.036250654608011246, + 0.016259564086794853 + ], + [ + 0.31832003593444824, + -0.011879131197929382, + 0.02067473530769348 + ], + [ + 0.3248896598815918, + 0.01042723935097456, + 0.020734595134854317 + ], + [ + 0.33104100823402405, + 0.03085402585566044, + 0.008560449816286564 + ], + [ + 0.3395629823207855, + 0.039661262184381485, + -0.0033754142932593822 + ], + [ + 0.3408340513706207, + 0.043057989329099655, + -0.016445903107523918 + ], + [ + 0.3455289602279663, + 0.04140704870223999, + -0.016264040023088455 + ], + [ + 0.344763845205307, + 0.040362272411584854, + -0.017028668895363808 + ], + [ + 0.34247204661369324, + 0.03979549929499626, + -0.016551854088902473 + ], + [ + 0.33746984601020813, + 0.034987203776836395, + -0.00811153557151556 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9560297807526361, + 0.1873865965370568, + 0.22559548256187328, + 0.1782813639594405, + -0.9821321531989122, + 0.06026764403583132, + 0.2328579257376216, + -0.01739819217983479, + -0.9723551251112145 + ], + [ + 0.9620944004206312, + 0.19136015917417606, + 0.1943081422897666, + 0.182189919945398, + -0.9811660292079044, + 0.06418766391358391, + 0.20293150999673668, + -0.02635360713882892, + -0.9788382346645521 + ], + [ + 0.9576782826089844, + 0.21664135768716875, + 0.1895226349504638, + 0.20943714765753868, + -0.9761302680080868, + 0.0574959221122269, + 0.1974547750756635, + -0.015369515864891308, + -0.9801915066872893 + ], + [ + 0.9335476082940211, + 0.2964024139365991, + 0.20157993962959225, + 0.29302746820843445, + -0.9549436538934082, + 0.04709055918187513, + 0.20645523951662753, + 0.015107180453800904, + -0.9783394130744546 + ], + [ + 0.9007619517657199, + 0.39596257519101385, + 0.17844199421467752, + 0.39579849017326163, + -0.9175477017268922, + 0.03807584841161441, + 0.1788056526728863, + 0.03632979636329376, + -0.9832134480713861 + ], + [ + 0.8858528889698402, + 0.42638072267179883, + 0.18293205962231585, + 0.42895461927222334, + -0.9029133982894256, + 0.027300728826587878, + 0.1768123120962164, + 0.0542851224859591, + -0.9827464229229605 + ], + [ + 0.8802537765540179, + 0.4376386208324212, + 0.18337318892980267, + 0.4407446280807181, + -0.8972648760108681, + 0.025688812646568766, + 0.17577673816628372, + 0.058208073607510374, + -0.9827076668503834 + ], + [ + 0.8758904692416097, + 0.4476485739373593, + 0.18007398519375648, + 0.45025939563212075, + -0.892444361847903, + 0.028452375136118247, + 0.17344267795646487, + 0.056158839533395344, + -0.9832414872276048 + ], + [ + 0.8744604515655288, + 0.4567309964667148, + 0.16344942800246812, + 0.4567252536723422, + -0.8887143331277397, + 0.03986071689335652, + 0.1634654743539042, + 0.03979486097273621, + -0.9857461172809225 + ], + [ + 0.871867068442007, + 0.46254582152879153, + 0.16093221539702787, + 0.4622301636084851, + -0.8857791693877202, + 0.041695790306372334, + 0.16183661766365828, + 0.03803453779205467, + -0.9860843184627424 + ], + [ + 0.8764380183699652, + 0.45566310402617693, + 0.15565196942203507, + 0.4567720630270683, + -0.8890542513767631, + 0.03068909491821716, + 0.152366933400015, + 0.044200381651439094, + -0.9873351223713975 + ], + [ + 0.8833564680148577, + 0.45029718441793226, + 0.1300530511814261, + 0.4542162527190183, + -0.8908913032028782, + -0.0005307008294731519, + 0.11562415916325129, + 0.05954100757259801, + -0.9915068946986859 + ], + [ + 0.8799224173210574, + 0.4620490245091033, + 0.11066724197364634, + 0.4671746810366834, + -0.8838268306512814, + -0.024453032924050044, + 0.08651217772163998, + 0.07321770531160919, + -0.9935566469682351 + ], + [ + 0.8684415142260329, + 0.4733167784427538, + 0.1475823960144579, + 0.48417663735839384, + -0.8737059250602005, + -0.047020637501184924, + 0.10668795717002741, + 0.11229062186697747, + -0.9879314227392577 + ], + [ + 0.8817906054825057, + 0.44377740329808607, + 0.15970893652142323, + 0.4536331454624823, + -0.8906942987828969, + -0.029675502581388076, + 0.1290825217471772, + 0.098616846621921, + -0.9867180043668697 + ], + [ + 0.8993004925693946, + 0.4075146146190171, + 0.15871503689429733, + 0.41373536123985905, + -0.9103716376547452, + -0.006821452450946473, + 0.1417098264912054, + 0.07180055867283455, + -0.9873008684540399 + ], + [ + 0.9046764473886839, + 0.3841838397576124, + 0.18429135305078068, + 0.3863084089567562, + -0.9220113438808389, + 0.025707876698580115, + 0.17979526887404415, + 0.04793598881995713, + -0.9825353949178439 + ], + [ + 0.9165727843299695, + 0.34696648141914016, + 0.1987676829799768, + 0.34051747596016463, + -0.9378558656082153, + 0.06688963978063935, + 0.20962390033420766, + 0.006374646334222581, + -0.9777613125363407 + ], + [ + 0.933690054544473, + 0.2937177988939417, + 0.2048236721124718, + 0.2836986168341721, + -0.9557878428238701, + 0.07736080607433497, + 0.21849022140845778, + -0.014122822769945975, + -0.9757369363849521 + ], + [ + 0.9451229235760501, + 0.25868494953513665, + 0.19956140963388527, + 0.24283654689244738, + -0.9648356524448559, + 0.10061100965928697, + 0.21857051682331666, + -0.04662896798464165, + -0.9747064524872477 + ], + [ + 0.9423390455704078, + 0.24597208977662616, + 0.22692477662073798, + 0.22586314334740454, + -0.9678023064836104, + 0.11110596762655561, + 0.24694728925558637, + -0.05344554813941757, + -0.9675539311652838 + ], + [ + 0.9437565868839949, + 0.2553130520188726, + 0.21009224207923824, + 0.2309134663909499, + -0.9637211764239304, + 0.13386734161621117, + 0.23664842224783253, + -0.07782505753858573, + -0.9684734300262076 + ], + [ + 0.9437700647899455, + 0.2700244378974117, + 0.19074817887615272, + 0.24904593745738832, + -0.9601339017555716, + 0.12696067003443628, + 0.21742627679825763, + -0.07231662075767377, + -0.9733941239394442 + ], + [ + 0.9469315177754674, + 0.2759595135084595, + 0.1648242929535093, + 0.2611478640006686, + -0.959454450885385, + 0.10606106639155062, + 0.1874099617718818, + -0.057389054534806236, + -0.9806038969167229 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.004905223846435547, + 0.0006117820739746094, + -0.010748032480478287, + 0.009025922045111656, + 0.030664563179016113, + 0.0027885735034942627, + 1.0 + ], + [ + -0.010672181844711304, + -0.00209030881524086, + -0.014568004757165909, + -0.011238019913434982, + 0.005589902400970459, + 0.02815099060535431, + 1.0 + ], + [ + -0.004803091287612915, + -0.00131283700466156, + -0.010967433452606201, + -0.03111925907433033, + -0.00918985903263092, + 0.08884409070014954, + 1.0 + ], + [ + -0.005568116903305054, + -0.0033184215426445007, + -0.01955929398536682, + -0.02149282954633236, + 0.028178349137306213, + 0.10986050963401794, + 1.0 + ], + [ + 0.0016953349113464355, + -0.005520641803741455, + -0.010384630411863327, + -0.018248841166496277, + 0.002025619149208069, + 0.03694292902946472, + 1.0 + ], + [ + -0.0006344318389892578, + -0.0028287433087825775, + -0.00683200778439641, + -0.003981113433837891, + 0.0010520517826080322, + 0.013258427381515503, + 1.0 + ], + [ + -0.0027958452701568604, + -0.0004191398620605469, + -0.005958035122603178, + 0.002109181135892868, + 0.002370476722717285, + 0.010622590780258179, + 1.0 + ], + [ + -0.0016140937805175781, + 0.0011279024183750153, + -0.007209844421595335, + 0.016705647110939026, + 0.010121896862983704, + 0.0064916908740997314, + 0.0 + ], + [ + 0.0007744431495666504, + 2.745911478996277e-05, + -0.0024123666808009148, + 0.0017962120473384857, + 0.0016508400440216064, + 0.006161332130432129, + 0.0 + ], + [ + -0.0005078613758087158, + -0.001819368451833725, + -0.0003955252468585968, + -0.006185311824083328, + 0.00958879292011261, + -0.0070456862449646, + 0.0 + ], + [ + 0.002315312623977661, + -0.0017363764345645905, + 0.003665442578494549, + -0.015241514891386032, + 0.037079378962516785, + -0.005500882863998413, + 0.0 + ], + [ + 0.0005862712860107422, + 0.0015147849917411804, + 0.001990837976336479, + -0.013580568134784698, + 0.02926289290189743, + 0.013144195079803467, + 0.0 + ], + [ + 0.0048954784870147705, + 0.005366146564483643, + 0.021016817539930344, + -0.039617083966732025, + -0.020270936191082, + 0.020519018173217773, + 0.0 + ], + [ + 0.002573549747467041, + 0.017268933355808258, + 0.006527363322675228, + 0.013563141226768494, + -0.022552311420440674, + -0.03346407413482666, + 0.0 + ], + [ + 0.00035199522972106934, + 0.024371523410081863, + 0.004415171220898628, + 0.027017220854759216, + -0.012744754552841187, + -0.043945878744125366, + 0.0 + ], + [ + 0.006569623947143555, + 0.022306371480226517, + 5.9859827160835266e-05, + 0.023846890777349472, + -0.03858986496925354, + -0.027616918087005615, + 0.0 + ], + [ + 0.006151348352432251, + 0.020426787436008453, + -0.012174145318567753, + 0.04222985729575157, + -0.0304119735956192, + -0.0478653609752655, + 0.0 + ], + [ + 0.008521974086761475, + 0.008807236328721046, + -0.011935863643884659, + 0.020992537960410118, + -0.009076744318008423, + -0.06072679162025452, + 0.0 + ], + [ + 0.001271069049835205, + 0.00339672714471817, + -0.013070488348603249, + 0.033329546451568604, + -8.228421211242676e-05, + -0.04348573088645935, + 0.0 + ], + [ + 0.004694908857345581, + -0.001650940626859665, + 0.00018186308443546295, + 0.007379177957773209, + -0.02917937934398651, + -0.01625065505504608, + 1.0 + ], + [ + -0.0007651150226593018, + -0.001044776290655136, + -0.0007646288722753525, + 0.025004461407661438, + 0.010613873600959778, + 0.004714757204055786, + 1.0 + ], + [ + -0.0022917985916137695, + -0.0005667731165885925, + 0.00047681480646133423, + -0.0060291588306427, + 0.01973794400691986, + 0.01804231107234955, + 1.0 + ], + [ + -0.005002200603485107, + -0.004808295518159866, + 0.008440318517386913, + -0.01569950580596924, + 0.030652165412902832, + 0.011091470718383789, + 1.0 + ], + [ + -0.0013401508331298828, + -0.01486988365650177, + 0.03021026775240898, + -0.01876060664653778, + -0.014072954654693604, + -0.018655747175216675, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0086473226547241 + ], + [ + 1.0086473226547241 + ], + [ + 1.0086473226547241 + ], + [ + 1.0086473226547241 + ], + [ + 1.0086473226547241 + ], + [ + 1.0086473226547241 + ], + [ + 1.0086473226547241 + ], + [ + 0.9499720335006714 + ], + [ + 0.6520930528640747 + ], + [ + 0.35274967551231384 + ], + [ + 0.2898603677749634 + ], + [ + 0.3149794638156891 + ], + [ + 0.3220333158969879 + ], + [ + 0.3228223919868469 + ], + [ + 0.3220333158969879 + ], + [ + 0.3228223919868469 + ], + [ + 0.3236125409603119 + ], + [ + 0.3236125409603119 + ], + [ + 0.3236125409603119 + ], + [ + 0.3918617069721222 + ], + [ + 0.6981924772262573 + ], + [ + 0.9672539830207825 + ], + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.33172327280044556, + -0.04251004382967949, + 0.06134624406695366 + ], + [ + 0.32105109095573425, + -0.04460035264492035, + 0.04677823930978775 + ], + [ + 0.31624799966812134, + -0.04591318964958191, + 0.03581080585718155 + ], + [ + 0.3106798827648163, + -0.04923161119222641, + 0.016251511871814728 + ], + [ + 0.3123752176761627, + -0.054752252995967865, + 0.005866881925612688 + ], + [ + 0.31174078583717346, + -0.05758099630475044, + -0.000965125800576061 + ], + [ + 0.3089449405670166, + -0.05800013616681099, + -0.0069231609813869 + ], + [ + 0.307330846786499, + -0.056872233748435974, + -0.014133005402982235 + ], + [ + 0.3081052899360657, + -0.05684477463364601, + -0.01654537208378315 + ], + [ + 0.30759742856025696, + -0.058664143085479736, + -0.016940897330641747 + ], + [ + 0.3099127411842346, + -0.06040051952004433, + -0.013275454752147198 + ], + [ + 0.31049901247024536, + -0.058885734528303146, + -0.011284616775810719 + ], + [ + 0.31539449095726013, + -0.053519587963819504, + 0.009732200764119625 + ], + [ + 0.3179680407047272, + -0.036250654608011246, + 0.016259564086794853 + ], + [ + 0.31832003593444824, + -0.011879131197929382, + 0.02067473530769348 + ], + [ + 0.3248896598815918, + 0.01042723935097456, + 0.020734595134854317 + ], + [ + 0.33104100823402405, + 0.03085402585566044, + 0.008560449816286564 + ], + [ + 0.3395629823207855, + 0.039661262184381485, + -0.0033754142932593822 + ], + [ + 0.3408340513706207, + 0.043057989329099655, + -0.016445903107523918 + ], + [ + 0.3455289602279663, + 0.04140704870223999, + -0.016264040023088455 + ], + [ + 0.344763845205307, + 0.040362272411584854, + -0.017028668895363808 + ], + [ + 0.34247204661369324, + 0.03979549929499626, + -0.016551854088902473 + ], + [ + 0.33746984601020813, + 0.034987203776836395, + -0.00811153557151556 + ], + [ + 0.33612969517707825, + 0.020117320120334625, + 0.022098733112215996 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9620944004206312, + 0.19136015917417606, + 0.1943081422897666, + 0.182189919945398, + -0.9811660292079044, + 0.06418766391358391, + 0.20293150999673668, + -0.02635360713882892, + -0.9788382346645521 + ], + [ + 0.9576782826089844, + 0.21664135768716875, + 0.1895226349504638, + 0.20943714765753868, + -0.9761302680080868, + 0.0574959221122269, + 0.1974547750756635, + -0.015369515864891308, + -0.9801915066872893 + ], + [ + 0.9335476082940211, + 0.2964024139365991, + 0.20157993962959225, + 0.29302746820843445, + -0.9549436538934082, + 0.04709055918187513, + 0.20645523951662753, + 0.015107180453800904, + -0.9783394130744546 + ], + [ + 0.9007619517657199, + 0.39596257519101385, + 0.17844199421467752, + 0.39579849017326163, + -0.9175477017268922, + 0.03807584841161441, + 0.1788056526728863, + 0.03632979636329376, + -0.9832134480713861 + ], + [ + 0.8858528889698402, + 0.42638072267179883, + 0.18293205962231585, + 0.42895461927222334, + -0.9029133982894256, + 0.027300728826587878, + 0.1768123120962164, + 0.0542851224859591, + -0.9827464229229605 + ], + [ + 0.8802537765540179, + 0.4376386208324212, + 0.18337318892980267, + 0.4407446280807181, + -0.8972648760108681, + 0.025688812646568766, + 0.17577673816628372, + 0.058208073607510374, + -0.9827076668503834 + ], + [ + 0.8758904692416097, + 0.4476485739373593, + 0.18007398519375648, + 0.45025939563212075, + -0.892444361847903, + 0.028452375136118247, + 0.17344267795646487, + 0.056158839533395344, + -0.9832414872276048 + ], + [ + 0.8744604515655288, + 0.4567309964667148, + 0.16344942800246812, + 0.4567252536723422, + -0.8887143331277397, + 0.03986071689335652, + 0.1634654743539042, + 0.03979486097273621, + -0.9857461172809225 + ], + [ + 0.871867068442007, + 0.46254582152879153, + 0.16093221539702787, + 0.4622301636084851, + -0.8857791693877202, + 0.041695790306372334, + 0.16183661766365828, + 0.03803453779205467, + -0.9860843184627424 + ], + [ + 0.8764380183699652, + 0.45566310402617693, + 0.15565196942203507, + 0.4567720630270683, + -0.8890542513767631, + 0.03068909491821716, + 0.152366933400015, + 0.044200381651439094, + -0.9873351223713975 + ], + [ + 0.8833564680148577, + 0.45029718441793226, + 0.1300530511814261, + 0.4542162527190183, + -0.8908913032028782, + -0.0005307008294731519, + 0.11562415916325129, + 0.05954100757259801, + -0.9915068946986859 + ], + [ + 0.8799224173210574, + 0.4620490245091033, + 0.11066724197364634, + 0.4671746810366834, + -0.8838268306512814, + -0.024453032924050044, + 0.08651217772163998, + 0.07321770531160919, + -0.9935566469682351 + ], + [ + 0.8684415142260329, + 0.4733167784427538, + 0.1475823960144579, + 0.48417663735839384, + -0.8737059250602005, + -0.047020637501184924, + 0.10668795717002741, + 0.11229062186697747, + -0.9879314227392577 + ], + [ + 0.8817906054825057, + 0.44377740329808607, + 0.15970893652142323, + 0.4536331454624823, + -0.8906942987828969, + -0.029675502581388076, + 0.1290825217471772, + 0.098616846621921, + -0.9867180043668697 + ], + [ + 0.8993004925693946, + 0.4075146146190171, + 0.15871503689429733, + 0.41373536123985905, + -0.9103716376547452, + -0.006821452450946473, + 0.1417098264912054, + 0.07180055867283455, + -0.9873008684540399 + ], + [ + 0.9046764473886839, + 0.3841838397576124, + 0.18429135305078068, + 0.3863084089567562, + -0.9220113438808389, + 0.025707876698580115, + 0.17979526887404415, + 0.04793598881995713, + -0.9825353949178439 + ], + [ + 0.9165727843299695, + 0.34696648141914016, + 0.1987676829799768, + 0.34051747596016463, + -0.9378558656082153, + 0.06688963978063935, + 0.20962390033420766, + 0.006374646334222581, + -0.9777613125363407 + ], + [ + 0.933690054544473, + 0.2937177988939417, + 0.2048236721124718, + 0.2836986168341721, + -0.9557878428238701, + 0.07736080607433497, + 0.21849022140845778, + -0.014122822769945975, + -0.9757369363849521 + ], + [ + 0.9451229235760501, + 0.25868494953513665, + 0.19956140963388527, + 0.24283654689244738, + -0.9648356524448559, + 0.10061100965928697, + 0.21857051682331666, + -0.04662896798464165, + -0.9747064524872477 + ], + [ + 0.9423390455704078, + 0.24597208977662616, + 0.22692477662073798, + 0.22586314334740454, + -0.9678023064836104, + 0.11110596762655561, + 0.24694728925558637, + -0.05344554813941757, + -0.9675539311652838 + ], + [ + 0.9437565868839949, + 0.2553130520188726, + 0.21009224207923824, + 0.2309134663909499, + -0.9637211764239304, + 0.13386734161621117, + 0.23664842224783253, + -0.07782505753858573, + -0.9684734300262076 + ], + [ + 0.9437700647899455, + 0.2700244378974117, + 0.19074817887615272, + 0.24904593745738832, + -0.9601339017555716, + 0.12696067003443628, + 0.21742627679825763, + -0.07231662075767377, + -0.9733941239394442 + ], + [ + 0.9469315177754674, + 0.2759595135084595, + 0.1648242929535093, + 0.2611478640006686, + -0.959454450885385, + 0.10606106639155062, + 0.1874099617718818, + -0.057389054534806236, + -0.9806038969167229 + ], + [ + 0.9489890809925212, + 0.2553699517330814, + 0.1849484033691933, + 0.24276001961137195, + -0.9660615606159426, + 0.0882758969287527, + 0.20121455473015978, + -0.038874784271210244, + -0.9787754870820021 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005941.json b/json/chunk-0005/episode_0005941.json new file mode 100644 index 0000000000000000000000000000000000000000..85bf1b807c807deb13831f37cf5dd01bc50a3bcd --- /dev/null +++ b/json/chunk-0005/episode_0005941.json @@ -0,0 +1,5002 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 82, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nSweep into pile." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005941.mp4", + "start": 0, + "end": 82, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3844470977783203, + 0.1315755397081375, + 0.03713510185480118, + 0.06894157826900482, + -0.2358969748020172, + 0.07121873646974564, + 0.0, + 1.0001531839370728 + ], + [ + 0.38030657172203064, + 0.12886974215507507, + 0.01954963617026806, + 0.056582603603601456, + -0.19310618937015533, + 0.0752568393945694, + 0.0, + 1.0001531839370728 + ], + [ + 0.3821520209312439, + 0.131967693567276, + 0.01934024505317211, + 0.07281201332807541, + -0.21181708574295044, + 0.09140028059482574, + 0.0, + 1.0001531839370728 + ], + [ + 0.3843502700328827, + 0.13234621286392212, + 0.018637821078300476, + 0.09770675003528595, + -0.22851188480854034, + 0.10083477199077606, + 0.0, + 1.0008161067962646 + ], + [ + 0.38668039441108704, + 0.13281095027923584, + 0.018173273652791977, + 0.13856740295886993, + -0.23519904911518097, + 0.08261256664991379, + 0.0, + 1.0008161067962646 + ], + [ + 0.3843989968299866, + 0.12887804210186005, + 0.0055327219888567924, + 0.17819179594516754, + -0.19099527597427368, + 0.07067863643169403, + 0.0, + 0.9507390260696411 + ], + [ + 0.3836807608604431, + 0.12874576449394226, + 0.003789092181250453, + 0.18993839621543884, + -0.16773474216461182, + 0.08385708928108215, + 0.0, + 0.6661520600318909 + ], + [ + 0.3838580846786499, + 0.1274247169494629, + 0.003546671709045768, + 0.1842518448829651, + -0.16474805772304535, + 0.06661012768745422, + 0.0, + 0.38924968242645264 + ], + [ + 0.38222822546958923, + 0.12273028492927551, + 0.002284748712554574, + 0.16123217344284058, + -0.15361987054347992, + 0.05515303835272789, + 0.0, + 0.347801148891449 + ], + [ + 0.3769584596157074, + 0.11223113536834717, + 0.0028156167827546597, + 0.1366969645023346, + -0.11816052347421646, + 0.060844745486974716, + 0.0, + 0.347801148891449 + ], + [ + 0.3738560378551483, + 0.09563238173723221, + 0.0013548998394981027, + 0.12933501601219177, + -0.09798962622880936, + 0.0529026985168457, + 0.0, + 0.347801148891449 + ], + [ + 0.36846721172332764, + 0.07876510918140411, + 0.0002985021856147796, + 0.13697035610675812, + -0.09886811673641205, + 0.04737912118434906, + 0.0, + 0.347801148891449 + ], + [ + 0.3621509075164795, + 0.06163466349244118, + -0.00013694203516934067, + 0.13601133227348328, + -0.10249938070774078, + 0.037394799292087555, + 0.0, + 0.347801148891449 + ], + [ + 0.3555474579334259, + 0.04556639865040779, + 3.35158511006739e-05, + 0.13469542562961578, + -0.09948331862688065, + 0.04627731442451477, + 0.0, + 0.347801148891449 + ], + [ + 0.352009654045105, + 0.03252203017473221, + -0.0007330585503950715, + 0.1318328082561493, + -0.09337851405143738, + 0.05458969622850418, + 0.0, + 0.347801148891449 + ], + [ + 0.34827136993408203, + 0.016439607366919518, + -0.0007416203152388334, + 0.12564420700073242, + -0.08320801705121994, + 0.055558327585458755, + 0.0, + 0.347801148891449 + ], + [ + 0.3436415493488312, + -0.000363828701665625, + -0.0002504242002032697, + 0.12805142998695374, + -0.06318973749876022, + 0.04935827478766441, + 0.0, + 0.347801148891449 + ], + [ + 0.3369162380695343, + -0.02077108435332775, + 0.001865746104158461, + 0.12721066176891327, + -0.06250135600566864, + -0.0049926345236599445, + 0.0, + 0.34697994589805603 + ], + [ + 0.33367791771888733, + -0.03435749188065529, + 0.00020398033666424453, + 0.1310240775346756, + -0.06830347329378128, + -0.00802986416965723, + 0.0, + 0.34697994589805603 + ], + [ + 0.33098819851875305, + -0.05522067844867706, + 0.0005663164774887264, + 0.13228175044059753, + -0.0727725401520729, + -0.035712774842977524, + 0.0, + 0.34697994589805603 + ], + [ + 0.3277509808540344, + -0.07370663434267044, + 0.0029894323088228703, + 0.12632054090499878, + -0.06796784698963165, + -0.029793577268719673, + 0.0, + 0.34697994589805603 + ], + [ + 0.3271177411079407, + -0.09490665793418884, + 0.009153378196060658, + 0.10981126874685287, + -0.06715460866689682, + -0.025422316044569016, + 0.0, + 0.34697994589805603 + ], + [ + 0.329568088054657, + -0.11150913685560226, + 0.01795887015759945, + 0.09864585101604462, + -0.06612596660852432, + -0.015373362228274345, + 0.0, + 0.34697994589805603 + ], + [ + 0.3339332044124603, + -0.12174460291862488, + 0.02135521173477173, + 0.09350594133138657, + -0.05389109253883362, + 0.0018742413958534598, + 0.0, + 0.34697994589805603 + ], + [ + 0.3359239101409912, + -0.1173144280910492, + 0.021612530574202538, + 0.09028726816177368, + -0.05230451002717018, + 0.00318901427090168, + 0.0, + 0.34697994589805603 + ], + [ + 0.3506127595901489, + -0.07859168946743011, + 0.027569541707634926, + 0.07924754172563553, + -0.06862381100654602, + 0.011247396469116211, + 0.0, + 0.34697994589805603 + ], + [ + 0.37179476022720337, + -0.022416112944483757, + 0.03954667970538139, + 0.0740463137626648, + -0.11268088221549988, + 0.0441054068505764, + 0.0, + 0.34697994589805603 + ], + [ + 0.39550063014030457, + 0.010136466473340988, + 0.058876484632492065, + 0.05129823461174965, + -0.17651088535785675, + -0.008989214897155762, + 0.0, + 0.34697994589805603 + ], + [ + 0.41007405519485474, + 0.043110061436891556, + 0.053716182708740234, + 0.03266807273030281, + -0.16566184163093567, + -0.062430597841739655, + 0.0, + 0.34697994589805603 + ], + [ + 0.4241775572299957, + 0.061924610286951065, + 0.03772703558206558, + 0.08537085354328156, + -0.13873839378356934, + -0.12807565927505493, + 0.0, + 0.34697994589805603 + ], + [ + 0.4217086136341095, + 0.06484843045473099, + 0.02347921021282673, + 0.09011507034301758, + -0.0976511538028717, + -0.18227194249629974, + 0.0, + 0.34697994589805603 + ], + [ + 0.42106893658638, + 0.06850043684244156, + 0.021407587453722954, + 0.07406080514192581, + -0.09844247996807098, + -0.22109484672546387, + 0.0, + 0.3461596965789795 + ], + [ + 0.42489710450172424, + 0.06898791342973709, + 0.02191207930445671, + 0.0833447203040123, + -0.12094655632972717, + -0.22907207906246185, + 0.0, + 0.34697994589805603 + ], + [ + 0.42711785435676575, + 0.06772071868181229, + 0.005093644838780165, + 0.10440061241388321, + -0.11601991206407547, + -0.22674758732318878, + 0.0, + 0.34697994589805603 + ], + [ + 0.4309876263141632, + 0.059011414647102356, + 0.00477834977209568, + 0.12822987139225006, + -0.13169291615486145, + -0.2468830943107605, + 0.0, + 0.34697994589805603 + ], + [ + 0.4316754639148712, + 0.05066421255469322, + 0.0036241691559553146, + 0.13660494983196259, + -0.13234999775886536, + -0.2542549669742584, + 0.0, + 0.34697994589805603 + ], + [ + 0.4273696839809418, + 0.03799372538924217, + 0.001014126231893897, + 0.12854337692260742, + -0.12104327231645584, + -0.2735818028450012, + 0.0, + 0.34697994589805603 + ], + [ + 0.419224351644516, + 0.013030869886279106, + 0.00233627250418067, + 0.08274469524621964, + -0.10638891160488129, + -0.2714172899723053, + 0.0, + 0.34697994589805603 + ], + [ + 0.41491249203681946, + -0.020326431840658188, + 0.004221105482429266, + 0.05115128681063652, + -0.1045292541384697, + -0.3020411729812622, + 0.0, + 0.34697994589805603 + ], + [ + 0.412545770406723, + -0.02906697802245617, + 0.0034029269590973854, + 0.04664994776248932, + -0.09675024449825287, + -0.29851219058036804, + 0.0, + 0.34697994589805603 + ], + [ + 0.40396302938461304, + -0.051450036466121674, + 0.003614510875195265, + 0.031925007700920105, + -0.09228742867708206, + -0.32699963450431824, + 0.0, + 0.34697994589805603 + ], + [ + 0.3934730589389801, + -0.07147731631994247, + 0.004582270514219999, + 0.026956986635923386, + -0.10105515271425247, + -0.3749062418937683, + 0.0, + 0.34697994589805603 + ], + [ + 0.3795498311519623, + -0.0805806815624237, + 0.0037983909714967012, + 0.020802199840545654, + -0.09755194187164307, + -0.3971179127693176, + 0.0, + 0.34697994589805603 + ], + [ + 0.36107751727104187, + -0.09984686225652695, + 0.005287697073072195, + 0.013422167859971523, + -0.10523251444101334, + -0.4581056237220764, + 0.0, + 0.34697994589805603 + ], + [ + 0.34735721349716187, + -0.11290280520915985, + 0.010030290111899376, + 0.015959372743964195, + -0.12033554911613464, + -0.4980897009372711, + 0.0, + 0.34697994589805603 + ], + [ + 0.343254029750824, + -0.11727351695299149, + 0.007774536497890949, + 0.02073933742940426, + -0.12098363041877747, + -0.5161680579185486, + 0.0, + 0.34697994589805603 + ], + [ + 0.35911279916763306, + -0.09436725825071335, + 0.014766586013138294, + -0.002355328993871808, + -0.14931656420230865, + -0.4351799786090851, + 0.0, + 0.3461596965789795 + ], + [ + 0.3864852786064148, + -0.03762810677289963, + 0.03272275626659393, + -0.016751008108258247, + -0.18921028077602386, + -0.2741636335849762, + 0.0, + 0.34697994589805603 + ], + [ + 0.40974628925323486, + 0.0023257907014340162, + 0.054978109896183014, + 0.02218385599553585, + -0.24401246011257172, + -0.20921921730041504, + 0.0, + 0.34697994589805603 + ], + [ + 0.4184056520462036, + 0.012616968713700771, + 0.0403020903468132, + 0.06189676746726036, + -0.20449930429458618, + -0.21943354606628418, + 0.0, + 0.34697994589805603 + ], + [ + 0.4243582785129547, + 0.021138958632946014, + 0.026149360463023186, + 0.10989799350500107, + -0.1697711944580078, + -0.23042725026607513, + 0.0, + 0.34697994589805603 + ], + [ + 0.42517906427383423, + 0.02432740107178688, + 0.01901474967598915, + 0.12876345217227936, + -0.15104012191295624, + -0.22507616877555847, + 0.0, + 0.34697994589805603 + ], + [ + 0.42902061343193054, + 0.020729204639792442, + 0.006976899690926075, + 0.13427145779132843, + -0.1272210031747818, + -0.21935595571994781, + 0.0, + 0.3461596965789795 + ], + [ + 0.43440911173820496, + 0.011637007817626, + 0.006618697661906481, + 0.13779310882091522, + -0.1225363165140152, + -0.23651008307933807, + 0.0, + 0.3461596965789795 + ], + [ + 0.43416786193847656, + 0.0014029099838808179, + 0.006779395043849945, + 0.1307464987039566, + -0.12100778520107269, + -0.2529946565628052, + 0.0, + 0.3461596965789795 + ], + [ + 0.43281251192092896, + -0.013780411332845688, + 0.0063079241663217545, + 0.12861989438533783, + -0.11618015915155411, + -0.27845269441604614, + 0.0, + 0.34697994589805603 + ], + [ + 0.43270206451416016, + -0.026470229029655457, + 0.0063728829845786095, + 0.12834776937961578, + -0.11998261511325836, + -0.3018627166748047, + 0.0, + 0.34697994589805603 + ], + [ + 0.4293982684612274, + -0.0334114246070385, + 0.002645662985742092, + 0.12968850135803223, + -0.12636801600456238, + -0.31758296489715576, + 0.0, + 0.34697994589805603 + ], + [ + 0.4281894862651825, + -0.039877504110336304, + 0.0029477886855602264, + 0.12933693826198578, + -0.138034388422966, + -0.33956390619277954, + 0.0, + 0.3461596965789795 + ], + [ + 0.4258745014667511, + -0.04822549596428871, + 0.0027920538559556007, + 0.12308986485004425, + -0.15250588953495026, + -0.3754764497280121, + 0.0, + 0.3461596965789795 + ], + [ + 0.4208962023258209, + -0.0697670727968216, + 0.004110479727387428, + 0.11024799197912216, + -0.16747398674488068, + -0.41779693961143494, + 0.0, + 0.3461596965789795 + ], + [ + 0.42159706354141235, + -0.07626231014728546, + 0.0046899584122002125, + 0.10850521922111511, + -0.17782922089099884, + -0.441550076007843, + 0.0, + 0.34697994589805603 + ], + [ + 0.42072632908821106, + -0.07846042513847351, + 0.0042875297367572784, + 0.10717293620109558, + -0.1759815663099289, + -0.45334592461586, + 0.0, + 0.34697994589805603 + ], + [ + 0.41861408948898315, + -0.09427180886268616, + 0.004169642459601164, + 0.10607708245515823, + -0.18574340641498566, + -0.5331360697746277, + 0.0, + 0.3461596965789795 + ], + [ + 0.4150989353656769, + -0.1035497635602951, + 0.00439041992649436, + 0.10420282185077667, + -0.19138884544372559, + -0.5762414336204529, + 0.0, + 0.3461596965789795 + ], + [ + 0.4115963578224182, + -0.1049012690782547, + 0.0033506066538393497, + 0.10009673237800598, + -0.18710491061210632, + -0.5941779613494873, + 0.0, + 0.3461596965789795 + ], + [ + 0.39890533685684204, + -0.11511318385601044, + 0.006261296104639769, + 0.07918785512447357, + -0.17897243797779083, + -0.6263982653617859, + 0.0, + 0.34697994589805603 + ], + [ + 0.38562771677970886, + -0.12088409066200256, + 0.009249734692275524, + 0.07195041328668594, + -0.16978494822978973, + -0.6678991913795471, + 0.0, + 0.3461596965789795 + ], + [ + 0.37885749340057373, + -0.12221521884202957, + 0.010411924682557583, + 0.06402844935655594, + -0.15955603122711182, + -0.6835377216339111, + 0.0, + 0.34697994589805603 + ], + [ + 0.37715885043144226, + -0.12441092729568481, + 0.009970437735319138, + 0.0621066652238369, + -0.15534608066082, + -0.6945573091506958, + 0.0, + 0.3461596965789795 + ], + [ + 0.3826051354408264, + -0.1131393238902092, + 0.012348828837275505, + 0.06796171516180038, + -0.16956833004951477, + -0.6596579551696777, + 0.0, + 0.34697994589805603 + ], + [ + 0.3951001465320587, + -0.07875228673219681, + 0.029175378382205963, + 0.11506757140159607, + -0.2111949622631073, + -0.5852608680725098, + 0.0, + 0.3461596965789795 + ], + [ + 0.3993318974971771, + -0.040516797453165054, + 0.028280826285481453, + 0.1226377785205841, + -0.1963411420583725, + -0.5082902312278748, + 0.0, + 0.3461596965789795 + ], + [ + 0.40251076221466064, + -0.007268529385328293, + 0.03593487665057182, + 0.09124545753002167, + -0.18289999663829803, + -0.37377968430519104, + 0.0, + 0.3461596965789795 + ], + [ + 0.4051267206668854, + 0.03961993008852005, + 0.03992680460214615, + 0.08769150078296661, + -0.1601075679063797, + -0.21224606037139893, + 0.0, + 0.3461596965789795 + ], + [ + 0.4042046368122101, + 0.05537824705243111, + 0.037929050624370575, + 0.09330268949270248, + -0.13823387026786804, + -0.12413057684898376, + 0.0, + 0.3461596965789795 + ], + [ + 0.4004002809524536, + 0.0730658695101738, + 0.03741855546832085, + 0.08439464867115021, + -0.1316756308078766, + -0.08516289293766022, + 0.0, + 0.34697994589805603 + ], + [ + 0.3940836489200592, + 0.0900723859667778, + 0.028967296704649925, + 0.09656320512294769, + -0.13892695307731628, + -0.08756152540445328, + 0.0, + 0.34697994589805603 + ], + [ + 0.3924640417098999, + 0.09292039275169373, + 0.022122008726000786, + 0.12280115485191345, + -0.1523580402135849, + -0.116731658577919, + 0.0, + 0.3461596965789795 + ], + [ + 0.3889327049255371, + 0.0963020995259285, + 0.00986089650541544, + 0.1149238720536232, + -0.12479572743177414, + -0.10065855830907822, + 0.0, + 0.4112652540206909 + ], + [ + 0.39038652181625366, + 0.09983491152524948, + 0.009542529471218586, + 0.1326572597026825, + -0.11724268645048141, + -0.07157091051340103, + 0.0, + 0.7171077728271484 + ], + [ + 0.3928133547306061, + 0.0959910899400711, + 0.010128071531653404, + 0.11970781534910202, + -0.083608478307724, + 0.019143491983413696, + 0.0, + 0.9774019718170166 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9507390260696411 + ], + [ + 0.6661520600318909 + ], + [ + 0.38924968242645264 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.34697994589805603 + ], + [ + 0.34697994589805603 + ], + [ + 0.34697994589805603 + ], + [ + 0.34697994589805603 + ], + [ + 0.34697994589805603 + ], + [ + 0.34697994589805603 + ], + [ + 0.34697994589805603 + ], + [ + 0.34697994589805603 + ], + [ + 0.34697994589805603 + ], + [ + 0.34697994589805603 + ], + [ + 0.34697994589805603 + ], + [ + 0.34697994589805603 + ], + [ + 0.34697994589805603 + ], + [ + 0.34697994589805603 + ], + [ + 0.3461596965789795 + ], + [ + 0.34697994589805603 + ], + [ + 0.34697994589805603 + ], + [ + 0.34697994589805603 + ], + [ + 0.34697994589805603 + ], + [ + 0.34697994589805603 + ], + [ + 0.34697994589805603 + ], + [ + 0.34697994589805603 + ], + [ + 0.34697994589805603 + ], + [ + 0.34697994589805603 + ], + [ + 0.34697994589805603 + ], + [ + 0.34697994589805603 + ], + [ + 0.34697994589805603 + ], + [ + 0.34697994589805603 + ], + [ + 0.34697994589805603 + ], + [ + 0.3461596965789795 + ], + [ + 0.34697994589805603 + ], + [ + 0.34697994589805603 + ], + [ + 0.34697994589805603 + ], + [ + 0.34697994589805603 + ], + [ + 0.34697994589805603 + ], + [ + 0.3461596965789795 + ], + [ + 0.3461596965789795 + ], + [ + 0.3461596965789795 + ], + [ + 0.34697994589805603 + ], + [ + 0.34697994589805603 + ], + [ + 0.34697994589805603 + ], + [ + 0.3461596965789795 + ], + [ + 0.3461596965789795 + ], + [ + 0.3461596965789795 + ], + [ + 0.34697994589805603 + ], + [ + 0.34697994589805603 + ], + [ + 0.3461596965789795 + ], + [ + 0.3461596965789795 + ], + [ + 0.3461596965789795 + ], + [ + 0.34697994589805603 + ], + [ + 0.3461596965789795 + ], + [ + 0.34697994589805603 + ], + [ + 0.3461596965789795 + ], + [ + 0.34697994589805603 + ], + [ + 0.3461596965789795 + ], + [ + 0.3461596965789795 + ], + [ + 0.3461596965789795 + ], + [ + 0.3461596965789795 + ], + [ + 0.3461596965789795 + ], + [ + 0.34697994589805603 + ], + [ + 0.34697994589805603 + ], + [ + 0.3461596965789795 + ], + [ + 0.4112652540206909 + ], + [ + 0.7171077728271484 + ], + [ + 0.9774019718170166 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3844470977783203, + 0.1315755397081375, + 0.03713510185480118 + ], + [ + 0.38030657172203064, + 0.12886974215507507, + 0.01954963617026806 + ], + [ + 0.3821520209312439, + 0.131967693567276, + 0.01934024505317211 + ], + [ + 0.3843502700328827, + 0.13234621286392212, + 0.018637821078300476 + ], + [ + 0.38668039441108704, + 0.13281095027923584, + 0.018173273652791977 + ], + [ + 0.3843989968299866, + 0.12887804210186005, + 0.0055327219888567924 + ], + [ + 0.3836807608604431, + 0.12874576449394226, + 0.003789092181250453 + ], + [ + 0.3838580846786499, + 0.1274247169494629, + 0.003546671709045768 + ], + [ + 0.38222822546958923, + 0.12273028492927551, + 0.002284748712554574 + ], + [ + 0.3769584596157074, + 0.11223113536834717, + 0.0028156167827546597 + ], + [ + 0.3738560378551483, + 0.09563238173723221, + 0.0013548998394981027 + ], + [ + 0.36846721172332764, + 0.07876510918140411, + 0.0002985021856147796 + ], + [ + 0.3621509075164795, + 0.06163466349244118, + -0.00013694203516934067 + ], + [ + 0.3555474579334259, + 0.04556639865040779, + 3.35158511006739e-05 + ], + [ + 0.352009654045105, + 0.03252203017473221, + -0.0007330585503950715 + ], + [ + 0.34827136993408203, + 0.016439607366919518, + -0.0007416203152388334 + ], + [ + 0.3436415493488312, + -0.000363828701665625, + -0.0002504242002032697 + ], + [ + 0.3369162380695343, + -0.02077108435332775, + 0.001865746104158461 + ], + [ + 0.33367791771888733, + -0.03435749188065529, + 0.00020398033666424453 + ], + [ + 0.33098819851875305, + -0.05522067844867706, + 0.0005663164774887264 + ], + [ + 0.3277509808540344, + -0.07370663434267044, + 0.0029894323088228703 + ], + [ + 0.3271177411079407, + -0.09490665793418884, + 0.009153378196060658 + ], + [ + 0.329568088054657, + -0.11150913685560226, + 0.01795887015759945 + ], + [ + 0.3339332044124603, + -0.12174460291862488, + 0.02135521173477173 + ], + [ + 0.3359239101409912, + -0.1173144280910492, + 0.021612530574202538 + ], + [ + 0.3506127595901489, + -0.07859168946743011, + 0.027569541707634926 + ], + [ + 0.37179476022720337, + -0.022416112944483757, + 0.03954667970538139 + ], + [ + 0.39550063014030457, + 0.010136466473340988, + 0.058876484632492065 + ], + [ + 0.41007405519485474, + 0.043110061436891556, + 0.053716182708740234 + ], + [ + 0.4241775572299957, + 0.061924610286951065, + 0.03772703558206558 + ], + [ + 0.4217086136341095, + 0.06484843045473099, + 0.02347921021282673 + ], + [ + 0.42106893658638, + 0.06850043684244156, + 0.021407587453722954 + ], + [ + 0.42489710450172424, + 0.06898791342973709, + 0.02191207930445671 + ], + [ + 0.42711785435676575, + 0.06772071868181229, + 0.005093644838780165 + ], + [ + 0.4309876263141632, + 0.059011414647102356, + 0.00477834977209568 + ], + [ + 0.4316754639148712, + 0.05066421255469322, + 0.0036241691559553146 + ], + [ + 0.4273696839809418, + 0.03799372538924217, + 0.001014126231893897 + ], + [ + 0.419224351644516, + 0.013030869886279106, + 0.00233627250418067 + ], + [ + 0.41491249203681946, + -0.020326431840658188, + 0.004221105482429266 + ], + [ + 0.412545770406723, + -0.02906697802245617, + 0.0034029269590973854 + ], + [ + 0.40396302938461304, + -0.051450036466121674, + 0.003614510875195265 + ], + [ + 0.3934730589389801, + -0.07147731631994247, + 0.004582270514219999 + ], + [ + 0.3795498311519623, + -0.0805806815624237, + 0.0037983909714967012 + ], + [ + 0.36107751727104187, + -0.09984686225652695, + 0.005287697073072195 + ], + [ + 0.34735721349716187, + -0.11290280520915985, + 0.010030290111899376 + ], + [ + 0.343254029750824, + -0.11727351695299149, + 0.007774536497890949 + ], + [ + 0.35911279916763306, + -0.09436725825071335, + 0.014766586013138294 + ], + [ + 0.3864852786064148, + -0.03762810677289963, + 0.03272275626659393 + ], + [ + 0.40974628925323486, + 0.0023257907014340162, + 0.054978109896183014 + ], + [ + 0.4184056520462036, + 0.012616968713700771, + 0.0403020903468132 + ], + [ + 0.4243582785129547, + 0.021138958632946014, + 0.026149360463023186 + ], + [ + 0.42517906427383423, + 0.02432740107178688, + 0.01901474967598915 + ], + [ + 0.42902061343193054, + 0.020729204639792442, + 0.006976899690926075 + ], + [ + 0.43440911173820496, + 0.011637007817626, + 0.006618697661906481 + ], + [ + 0.43416786193847656, + 0.0014029099838808179, + 0.006779395043849945 + ], + [ + 0.43281251192092896, + -0.013780411332845688, + 0.0063079241663217545 + ], + [ + 0.43270206451416016, + -0.026470229029655457, + 0.0063728829845786095 + ], + [ + 0.4293982684612274, + -0.0334114246070385, + 0.002645662985742092 + ], + [ + 0.4281894862651825, + -0.039877504110336304, + 0.0029477886855602264 + ], + [ + 0.4258745014667511, + -0.04822549596428871, + 0.0027920538559556007 + ], + [ + 0.4208962023258209, + -0.0697670727968216, + 0.004110479727387428 + ], + [ + 0.42159706354141235, + -0.07626231014728546, + 0.0046899584122002125 + ], + [ + 0.42072632908821106, + -0.07846042513847351, + 0.0042875297367572784 + ], + [ + 0.41861408948898315, + -0.09427180886268616, + 0.004169642459601164 + ], + [ + 0.4150989353656769, + -0.1035497635602951, + 0.00439041992649436 + ], + [ + 0.4115963578224182, + -0.1049012690782547, + 0.0033506066538393497 + ], + [ + 0.39890533685684204, + -0.11511318385601044, + 0.006261296104639769 + ], + [ + 0.38562771677970886, + -0.12088409066200256, + 0.009249734692275524 + ], + [ + 0.37885749340057373, + -0.12221521884202957, + 0.010411924682557583 + ], + [ + 0.37715885043144226, + -0.12441092729568481, + 0.009970437735319138 + ], + [ + 0.3826051354408264, + -0.1131393238902092, + 0.012348828837275505 + ], + [ + 0.3951001465320587, + -0.07875228673219681, + 0.029175378382205963 + ], + [ + 0.3993318974971771, + -0.040516797453165054, + 0.028280826285481453 + ], + [ + 0.40251076221466064, + -0.007268529385328293, + 0.03593487665057182 + ], + [ + 0.4051267206668854, + 0.03961993008852005, + 0.03992680460214615 + ], + [ + 0.4042046368122101, + 0.05537824705243111, + 0.037929050624370575 + ], + [ + 0.4004002809524536, + 0.0730658695101738, + 0.03741855546832085 + ], + [ + 0.3940836489200592, + 0.0900723859667778, + 0.028967296704649925 + ], + [ + 0.3924640417098999, + 0.09292039275169373, + 0.022122008726000786 + ], + [ + 0.3889327049255371, + 0.0963020995259285, + 0.00986089650541544 + ], + [ + 0.39038652181625366, + 0.09983491152524948, + 0.009542529471218586 + ], + [ + 0.3928133547306061, + 0.0959910899400711, + 0.010128071531653404 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9698403194764356, + 0.08704862946988477, + 0.22766706135332804, + 0.06918781774172937, + -0.993949862002956, + 0.08530367929018079, + 0.23371521258570777, + -0.06697916042859517, + -0.9699953564189356 + ], + [ + 0.9786350176327052, + 0.08588765485539401, + 0.1868068869353466, + 0.07378833330805784, + -0.9947577191998812, + 0.07079803641252566, + 0.19190827009447411, + -0.05550126877550693, + -0.9798422449729626 + ], + [ + 0.9735697012002439, + 0.10626163154791507, + 0.2021645432949185, + 0.08923316733079117, + -0.9917913855132069, + 0.09158214602152852, + 0.2102367207530189, + -0.07112182001726818, + -0.9750601047958267 + ], + [ + 0.9690570983531609, + 0.12216976636637888, + 0.21448283921408884, + 0.09804718020422065, + -0.9879507113026317, + 0.11975033398961864, + 0.2265283438895746, + -0.09501547359566508, + -0.9693590507093015 + ], + [ + 0.9691513944767804, + 0.11380593528249178, + 0.21861789423144082, + 0.0802467242007405, + -0.9843809887683629, + 0.15669885834450398, + 0.23303655901759798, + -0.13432154721375839, + -0.9631467614623122 + ], + [ + 0.9793644872863874, + 0.1030661037163347, + 0.17384642448726298, + 0.06933563969389211, + -0.9793323925129853, + 0.1900016685269662, + 0.18983616649761623, + -0.17402713363015004, + -0.9662695207083599 + ], + [ + 0.9825008502462316, + 0.1136615174411658, + 0.14755723878686422, + 0.08258332796224581, + -0.9759250582343705, + 0.2018669726649726, + 0.16694931329032847, + -0.18614870443602932, + -0.9682337458634023 + ], + [ + 0.9842720991476676, + 0.09541492758292558, + 0.14867557443571425, + 0.0656596275395783, + -0.9788935223519536, + 0.1935362632912745, + 0.16400380529368333, + -0.18073036128921655, + -0.9697624906942222 + ], + [ + 0.9867210173905936, + 0.07893717966903235, + 0.14195265233721666, + 0.054475909307131594, + -0.9841752890468511, + 0.16861606013279978, + 0.15301636887873454, + -0.1586440105880007, + -0.9754066171396015 + ], + [ + 0.9911895963448055, + 0.07627472966441104, + 0.10828365394851783, + 0.06038321167090658, + -0.98786146459287, + 0.1431209087475904, + 0.11788575760509765, + -0.13532144097315332, + -0.9837637194808626 + ], + [ + 0.9938105468027334, + 0.0650367002231288, + 0.090060117075977, + 0.05262436209124137, + -0.9895933290732877, + 0.13392430536738784, + 0.0978328859747157, + -0.12835603093635414, + -0.9868908023404229 + ], + [ + 0.9939998271680905, + 0.06038041147369008, + 0.0912060825826539, + 0.04713010914044337, + -0.988884223102421, + 0.14102037480992216, + 0.09870712437416006, + -0.13587567556184924, + -0.9857964822357579 + ], + [ + 0.9940561011644226, + 0.05090492506430575, + 0.09623490189107674, + 0.03718986508084087, + -0.9895533738797164, + 0.13928759520696535, + 0.10231999644769639, + -0.13488072081460714, + -0.9855647160280626 + ], + [ + 0.993990304179044, + 0.05916494220196254, + 0.09210203478908217, + 0.046032067136248175, + -0.9892643707642388, + 0.13869770557438119, + 0.09931930322558054, + -0.13362452750401857, + -0.9860426774009896 + ], + [ + 0.9941602359027686, + 0.06632776246534072, + 0.08512375271387311, + 0.05432487935036652, + -0.9891771448260576, + 0.13629887614113573, + 0.09324287014737052, + -0.13087858526172214, + -0.98700383134341 + ], + [ + 0.9950025812308515, + 0.06549103880073694, + 0.07537099694672769, + 0.055337628474599845, + -0.9900079936126689, + 0.12969934254970372, + 0.08311203413916918, + -0.12488032839410136, + -0.9886846278573524 + ], + [ + 0.9967887510413503, + 0.05698853578363583, + 0.056253822862649225, + 0.049239766192800294, + -0.9902068440474912, + 0.1306363327209785, + 0.06314769372434292, + -0.12744690184835836, + -0.989833145528352 + ], + [ + 0.9980349871654066, + 0.0029718800917446723, + 0.06258859578602607, + -0.004982865334441956, + -0.991946829595829, + 0.1265569370198319, + 0.06246067120040486, + -0.12662012155855473, + -0.989982832866152 + ], + [ + 0.997636060516527, + 0.0009556391168416556, + 0.06871228064140071, + -0.008011054238277051, + -0.9914682560815452, + 0.13010196075621067, + 0.06825037558179171, + -0.13034486540135581, + -0.9891168294475867 + ], + [ + 0.9967173013635775, + -0.02580940215163479, + 0.07673653577718145, + -0.03561068116783595, + -0.9909738685387236, + 0.12923881483578878, + 0.07270832517167614, + -0.1315472030640399, + -0.9886398903628955 + ], + [ + 0.9972483038554116, + -0.020999283341064746, + 0.07109747222417394, + -0.029720388756936833, + -0.9918467902988882, + 0.12392192326594471, + 0.06791552804507998, + -0.12569397230160176, + -0.9897416361745135 + ], + [ + 0.997423575215982, + -0.017914856026205822, + 0.0694641600894181, + -0.0253622814262734, + -0.9938425507934624, + 0.10785981139051949, + 0.06710414505991784, + -0.10934368827648099, + -0.9917363518344343 + ], + [ + 0.9976965652740118, + -0.008791057136476259, + 0.06726277540261254, + -0.015339159131220324, + -0.9951208907471296, + 0.09746344440756188, + 0.06607778626426726, + -0.09827069814070732, + -0.9929635421551747 + ], + [ + 0.9985464726429214, + 0.00689540598815736, + 0.05345461017197436, + 0.001871519326123722, + -0.995620328854495, + 0.0934700924738975, + 0.053865010793568084, + -0.09323418980141078, + -0.9941860723548098 + ], + [ + 0.9986273529889114, + 0.007889863526257614, + 0.051779918075420414, + 0.0031846476757577983, + -0.9959067759155613, + 0.0903302369345575, + 0.05228066450937201, + -0.09004134460906854, + -0.9945648738918188 + ], + [ + 0.997583207747792, + 0.016639832441562603, + 0.06746005926429882, + 0.011220687006120458, + -0.9967374506680639, + 0.07992840933510381, + 0.06856996283167047, + -0.07897829076427237, + -0.9945152536714646 + ], + [ + 0.9926919052643237, + 0.0522805542353348, + 0.10876361924620316, + 0.04381149268496304, + -0.995923237656625, + 0.07885085798049932, + 0.11244258237608325, + -0.07350951193139335, + -0.9909354254058163 + ], + [ + 0.9844225826579588, + 2.6168928588053697e-05, + 0.1758185942049973, + -0.008849424508562683, + -0.9987251205190303, + 0.04969729701015616, + 0.17559574721188886, + -0.05047903485047633, + -0.9831673309267669 + ], + [ + 0.9843879447667894, + -0.056981080475916546, + 0.1665338724272431, + -0.06153589569718579, + -0.99785537226697, + 0.02231568010820123, + 0.16490514770182657, + -0.032215097481516616, + -0.9857831809052612 + ], + [ + 0.9822794747303625, + -0.11556530154489497, + 0.14755234529576441, + -0.12649851639341664, + -0.9897036003107722, + 0.06696946231051533, + 0.13829374126730212, + -0.08444788103163113, + -0.986784371844001 + ], + [ + 0.9787492426313299, + -0.1719002154202888, + 0.11180445423620905, + -0.18040078675201235, + -0.9810344188426088, + 0.07090151751126408, + 0.09749603165182272, + -0.08956441807215315, + -0.9911976285421307 + ], + [ + 0.9709342406741975, + -0.21160151604595315, + 0.11185481077483367, + -0.21823620840317434, + -0.9745782180439635, + 0.05069767505575822, + 0.09828355726277857, + -0.07363487842936405, + -0.9924304746683603 + ], + [ + 0.9667632256004085, + -0.21650404420488994, + 0.13599582519188103, + -0.22541513696538434, + -0.9727777796659661, + 0.05377180873868772, + 0.12065190281786115, + -0.0826401248249303, + -0.9892490728402779 + ], + [ + 0.9678520414682358, + -0.21183085554249886, + 0.13561015620484104, + -0.22329821682136608, + -0.9718092764305963, + 0.07566132835100779, + 0.11575980386199082, + -0.10351047716812932, + -0.9878690444215061 + ], + [ + 0.9612824123764704, + -0.22609339088580557, + 0.1575369869377729, + -0.2422666466886467, + -0.9658212974338362, + 0.09217425522053349, + 0.13131258720287303, + -0.12677144797224627, + -0.98320191437014 + ], + [ + 0.9593866333021585, + -0.2317880404712541, + 0.16078430313823042, + -0.24932469501273294, + -0.9633546251882674, + 0.09891947525730593, + 0.13196395075155107, + -0.134989519677897, + -0.9820200330335289 + ], + [ + 0.9557646564155614, + -0.2530496922793908, + 0.14993256745667186, + -0.2682048906388509, + -0.9590478866855826, + 0.0910674897058215, + 0.12074791171794999, + -0.127251735867231, + -0.984493238948105 + ], + [ + 0.9579449093427845, + -0.2587246395191322, + 0.124109272699261, + -0.26658129966374794, + -0.9624487075528144, + 0.051253253550425155, + 0.10618832955570712, + -0.08218300454237629, + -0.9909439905618058 + ], + [ + 0.9495201677429834, + -0.2919872736399711, + 0.11469473868331369, + -0.2958459452127019, + -0.9550694836326508, + 0.017817354878465686, + 0.10433900397521516, + -0.05084991116962578, + -0.9932409872651761 + ], + [ + 0.9513052787502617, + -0.28947306763007624, + 0.1059415392502896, + -0.29272312410945983, + -0.956060142558757, + 0.016191862836852196, + 0.09659937491249695, + -0.046414942931807396, + -0.994240521121098 + ], + [ + 0.9429803637937766, + -0.31825370666844904, + 0.09748134022031835, + -0.319836233337873, + -0.9474726229709569, + 0.0006423120553346456, + 0.09215648291682119, + -0.031783752332402916, + -0.9952371454804497 + ], + [ + 0.9257945867856425, + -0.3635219332796925, + 0.1037120393348634, + -0.3643171070879898, + -0.9311995998890651, + -0.011846967944731834, + 0.10088324222307522, + -0.026816211347617476, + -0.9945368078897434 + ], + [ + 0.9177950774398764, + -0.38481019865740246, + 0.09784327690945997, + -0.38492332140132063, + -0.9227635375902057, + -0.018479457118225334, + 0.09739729189513664, + -0.02070180434790998, + -0.9950302522176068 + ], + [ + 0.8919304375126418, + -0.44094557590076305, + 0.10013537702556533, + -0.4398033983383847, + -0.897434589738888, + -0.03441116025655051, + 0.1050383998760252, + -0.013347517886796324, + -0.9943785890282162 + ], + [ + 0.8721438780761412, + -0.476004384243788, + 0.11307025300670796, + -0.4742933407650314, + -0.8793001855958326, + -0.04332447942076243, + 0.12004533660352874, + -0.015843288542045135, + -0.9926419834804081 + ], + [ + 0.8633595400640841, + -0.4912681773467451, + 0.11517761287133793, + -0.48994340573786743, + -0.8707650564896681, + -0.04151717199574399, + 0.1206887059931962, + -0.02058626539593395, + -0.9924769226146951 + ], + [ + 0.8967042642754401, + -0.42189016849420524, + 0.13390350315870084, + -0.41688275305598765, + -0.9066439548865975, + -0.06484989801109285, + 0.14876233607570657, + 0.002329119043733993, + -0.9888702354554809 + ], + [ + 0.9454715955593883, + -0.2737366936479221, + 0.17649839812612494, + -0.2659099913777976, + -0.9616639630253243, + -0.06703953090443936, + 0.1880833285430797, + 0.01645128472586023, + -0.9820152833612238 + ], + [ + 0.9492157553403743, + -0.20240282834438836, + 0.2408786933122039, + -0.20154349449061718, + -0.9790657652614363, + -0.028468352982719197, + 0.24159815736489648, + -0.021524924418687027, + -0.9701376232198484 + ], + [ + 0.955683354189359, + -0.2049993772588455, + 0.21129264504204034, + -0.21314100956950013, + -0.9768862441708644, + 0.0162534916075434, + 0.20307692277821812, + -0.06056831905565618, + -0.9772876967207261 + ], + [ + 0.959572341619008, + -0.20897479226455085, + 0.18854828929959055, + -0.22510999156216976, + -0.9719279279102959, + 0.06842217949523946, + 0.16895683738367656, + -0.10810013481021535, + -0.9796774713931721 + ], + [ + 0.9636793795796412, + -0.2024992377464618, + 0.17411522645966213, + -0.2206397234882708, + -0.9710194471552933, + 0.09186591133411547, + 0.1504664939181374, + -0.12694601986013623, + -0.9804307942173444 + ], + [ + 0.9681497686851868, + -0.1990644903070161, + 0.15185306744885735, + -0.21584247399776893, + -0.9709485461922304, + 0.10330027621316834, + 0.12687809824135038, + -0.13278648028320628, + -0.9829901824741974 + ], + [ + 0.9648721725154439, + -0.21576858049760955, + 0.14988532408269487, + -0.23255438742793266, + -0.9668809233363069, + 0.1051652840834373, + 0.12222989647932646, + -0.13632754585327822, + -0.9830944271270567 + ], + [ + 0.9610874536955996, + -0.23293116580761605, + 0.1485058192274406, + -0.2484740514164734, + -0.9638429808191761, + 0.09626709769328627, + 0.12071268417855724, + -0.12942094235907065, + -0.9842147466672594 + ], + [ + 0.9550002306621855, + -0.25830211221967325, + 0.14578949982089817, + -0.27301529504542044, + -0.9576267721555176, + 0.0917257538658918, + 0.11591897215915244, + -0.1274008794077163, + -0.9850542156753129 + ], + [ + 0.9479201465680028, + -0.28022613397235324, + 0.1513958703842499, + -0.29516184593571176, + -0.9514857519352956, + 0.08691575557945747, + 0.11969494740513924, + -0.127075480337607, + -0.9846445764145798 + ], + [ + 0.9424178918578774, + -0.2941648788729462, + 0.1591085828728902, + -0.30978131402755227, + -0.9471048837240309, + 0.08383243230071077, + 0.12603195858796096, + -0.12829404999357966, + -0.9836953706055181 + ], + [ + 0.9339314921808564, + -0.31356056523211, + 0.17161509212233791, + -0.3299078361823132, + -0.9409355678314953, + 0.07616480036818268, + 0.13759646630034825, + -0.12774986935782273, + -0.9822154464987385 + ], + [ + 0.9195350943289855, + -0.3465886256603201, + 0.18528770833564148, + -0.36245953975721257, + -0.9301341159105345, + 0.05893732652841871, + 0.15191541178028276, + -0.12135423759481301, + -0.9809153157543256 + ], + [ + 0.9011974606453392, + -0.3865217784350274, + 0.19607154745606303, + -0.40007104801513454, + -0.9158776260842219, + 0.03333662518014787, + 0.1666922117750662, + -0.10848543143553108, + -0.9800227638681576 + ], + [ + 0.8898328406627367, + -0.4075092721845566, + 0.2052649720768193, + -0.42060221642088763, + -0.9069597030837634, + 0.02275681269528751, + 0.17689344594959214, + -0.10658466149415932, + -0.9784418320545447 + ], + [ + 0.8851020023286174, + -0.41862737382246634, + 0.20333609458327162, + -0.43121145638629804, + -0.9020308790909409, + 0.019924182483406952, + 0.17507462795927897, + -0.10531578729197887, + -0.9789062567947917 + ], + [ + 0.8464038410337018, + -0.4885402828499235, + 0.21196445436986247, + -0.499494612883941, + -0.8663143297994396, + -0.002147948805397773, + 0.1846772037456674, + -0.10405707096139777, + -0.977275015745116 + ], + [ + 0.8232060415179691, + -0.525329869858524, + 0.21531451656296197, + -0.5349272746483995, + -0.8447490894700831, + -0.015867787391482674, + 0.19022256450156355, + -0.10211514909107174, + -0.9764158295933945 + ], + [ + 0.814147168872758, + -0.5416230403533632, + 0.20930568452589252, + -0.5500570547668028, + -0.8348676983948152, + -0.020812560587648625, + 0.186015117444104, + -0.09818558109683512, + -0.9776287474020664 + ], + [ + 0.7972038836082382, + -0.5729849659079009, + 0.19014256967723944, + -0.5768668606964311, + -0.8158608438179551, + -0.039946320918182454, + 0.17801851867203775, + -0.07784158508262548, + -0.9809434716851106 + ], + [ + 0.7738353024540615, + -0.608198626961701, + 0.1768427404156944, + -0.6104325768071992, + -0.7906162438260009, + -0.047937711365774405, + 0.16897039340770317, + -0.07085467634790943, + -0.9830710152330192 + ], + [ + 0.765494888192582, + -0.6223637670965428, + 0.1633429446178379, + -0.6235180476952235, + -0.7801747519405197, + -0.05052326823242153, + 0.15887989284161472, + -0.06317197036620195, + -0.9852748255236649 + ], + [ + 0.7590848372372658, + -0.6314329471712837, + 0.1583750078233952, + -0.6323379680760496, + -0.773002180866378, + -0.051150000051577396, + 0.15472202172259297, + -0.061319341177236406, + -0.9860532614375671 + ], + [ + 0.7788685907930211, + -0.6023759852019314, + 0.1746622189487359, + -0.6040569772025116, + -0.7954010436092028, + -0.04952118857979459, + 0.168756885990048, + -0.0669354336461166, + -0.9833823067116615 + ], + [ + 0.8150470544828146, + -0.5287012181938333, + 0.23700911556149956, + -0.5401427657705271, + -0.8413513478296497, + -0.01933137581749044, + 0.20962846076965092, + -0.11226277827306896, + -0.9713150760951662 + ], + [ + 0.8567937787184271, + -0.46218154850565907, + 0.2286758338135231, + -0.4773336370066912, + -0.8786312969481267, + 0.012634991302615362, + 0.1950820845986718, + -0.11998024939198895, + -0.9734206285180486 + ], + [ + 0.9154259317392583, + -0.3481891919043826, + 0.20189019327417593, + -0.3590463982854609, + -0.9331325167932231, + 0.01869197639051695, + 0.18188196001129212, + -0.08959906664758563, + -0.9792297788968289 + ], + [ + 0.9650573762126103, + -0.1961977114345995, + 0.17369720390800097, + -0.20796182680796518, + -0.9767452554629997, + 0.052159222781910736, + 0.15942439966431088, + -0.08645903051934331, + -0.9834168479507197 + ], + [ + 0.9828399870917008, + -0.11053439045973963, + 0.14767433189040977, + -0.12263099162491299, + -0.9895791027338493, + 0.07546415921190686, + 0.13779404800888753, + -0.09227864302298408, + -0.9861528544678867 + ], + [ + 0.987750488277492, + -0.07372987402345847, + 0.13752410182968028, + -0.08432364627076107, + -0.9937710158353339, + 0.07286076286459861, + 0.13129545150986338, + -0.08356478781216795, + -0.9878149779441125 + ], + [ + 0.9865710123776742, + -0.07374208729774763, + 0.145738608807215, + -0.08660711549724993, + -0.9926957521155887, + 0.08399018559874616, + 0.13848048628358106, + -0.09548428296131875, + -0.9857514426192973 + ], + [ + 0.9816893752772938, + -0.09712555427874983, + 0.1638676208825958, + -0.11511757938518405, + -0.9878804411045855, + 0.10411617069171057, + 0.15176927681244443, + -0.1210737824182229, + -0.980972591781632 + ], + [ + 0.9872006825612241, + -0.0856246976824215, + 0.13454821997130803, + -0.0997071743488644, + -0.9898094194206072, + 0.10166510025375472, + 0.12447205201979569, + -0.1137792791901705, + -0.9856779311179422 + ], + [ + 0.9905924162207904, + -0.05544912919566939, + 0.12510818916960792, + -0.07101890490698504, + -0.989782711546967, + 0.12363858244312871, + 0.11697427098156694, + -0.13136048871017375, + -0.984409184198398 + ], + [ + 0.9963242557679909, + 0.02897657758537155, + 0.08061225291354757, + 0.019075455675077974, + -0.9924707439971319, + 0.12098739314725034, + 0.08351110320877667, + -0.11900495897742298, + -0.989375416805792 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.004140526056289673, + -0.002705797553062439, + -0.01758546568453312, + -0.012358974665403366, + 0.04279078543186188, + 0.004038102924823761, + 1.0 + ], + [ + 0.0018454492092132568, + 0.0030979514122009277, + -0.00020939111709594727, + 0.016229409724473953, + -0.018710896372795105, + 0.016143441200256348, + 1.0 + ], + [ + 0.002198249101638794, + 0.00037851929664611816, + -0.0007024239748716354, + 0.02489473670721054, + -0.016694799065589905, + 0.009434491395950317, + 1.0 + ], + [ + 0.0023301243782043457, + 0.0004647374153137207, + -0.00046454742550849915, + 0.040860652923583984, + -0.006687164306640625, + -0.018222205340862274, + 1.0 + ], + [ + -0.002281397581100464, + -0.0039329081773757935, + -0.012640551663935184, + 0.03962439298629761, + 0.04420377314090729, + -0.011933930218219757, + 0.0 + ], + [ + -0.000718235969543457, + -0.00013227760791778564, + -0.0017436298076063395, + 0.011746600270271301, + 0.023260533809661865, + 0.013178452849388123, + 0.0 + ], + [ + 0.0001773238182067871, + -0.0013210475444793701, + -0.0002424204722046852, + -0.005686551332473755, + 0.0029866844415664673, + -0.01724696159362793, + 0.0 + ], + [ + -0.001629859209060669, + -0.004694432020187378, + -0.0012619229964911938, + -0.02301967144012451, + 0.01112818717956543, + -0.011457089334726334, + 0.0 + ], + [ + -0.005269765853881836, + -0.010499149560928345, + 0.0005308680702000856, + -0.02453520894050598, + 0.03545934706926346, + 0.005691707134246826, + 0.0 + ], + [ + -0.003102421760559082, + -0.01659875363111496, + -0.001460716943256557, + -0.007361948490142822, + 0.020170897245407104, + -0.007942046970129013, + 0.0 + ], + [ + -0.005388826131820679, + -0.016867272555828094, + -0.0010563976829871535, + 0.007635340094566345, + -0.0008784905076026917, + -0.005523577332496643, + 0.0 + ], + [ + -0.0063163042068481445, + -0.017130445688962936, + -0.0004354442353360355, + -0.0009590238332748413, + -0.0036312639713287354, + -0.009984321892261505, + 0.0 + ], + [ + -0.006603449583053589, + -0.016068264842033386, + 0.00017045788990799338, + -0.0013159066438674927, + 0.003016062080860138, + 0.008882515132427216, + 0.0 + ], + [ + -0.003537803888320923, + -0.013044368475675583, + -0.0007665744051337242, + -0.0028626173734664917, + 0.006104804575443268, + 0.00831238180398941, + 0.0 + ], + [ + -0.0037382841110229492, + -0.01608242280781269, + -8.561764843761921e-06, + -0.00618860125541687, + 0.010170497000217438, + 0.0009686313569545746, + 0.0 + ], + [ + -0.0046298205852508545, + -0.01680343598127365, + 0.0004911961150355637, + 0.0024072229862213135, + 0.020018279552459717, + -0.006200052797794342, + 0.0 + ], + [ + -0.006725311279296875, + -0.020407255738973618, + 0.00211617024615407, + -0.0008407682180404663, + 0.0006883814930915833, + -0.05435090884566307, + 0.0 + ], + [ + -0.0032383203506469727, + -0.013586407527327538, + -0.001661765738390386, + 0.003813415765762329, + -0.00580211728811264, + -0.003037229645997286, + 0.0 + ], + [ + -0.0026897192001342773, + -0.020863186568021774, + 0.00036233614082448184, + 0.001257672905921936, + -0.004469066858291626, + -0.027682911604642868, + 0.0 + ], + [ + -0.003237217664718628, + -0.018485955893993378, + 0.002423115773126483, + -0.005961209535598755, + 0.004804693162441254, + 0.005919197574257851, + 0.0 + ], + [ + -0.00063323974609375, + -0.021200023591518402, + 0.006163945887237787, + -0.016509272158145905, + 0.0008132383227348328, + 0.004371261224150658, + 0.0 + ], + [ + 0.0024503469467163086, + -0.01660247892141342, + 0.008805491961538792, + -0.011165417730808258, + 0.0010286420583724976, + 0.01004895381629467, + 0.0 + ], + [ + 0.004365116357803345, + -0.010235466063022614, + 0.0033963415771722794, + -0.0051399096846580505, + 0.012234874069690704, + 0.017247604206204414, + 0.0 + ], + [ + 0.001990705728530884, + 0.004430174827575684, + 0.000257318839430809, + -0.0032186731696128845, + 0.0015865825116634369, + 0.0013147728750482202, + 0.0 + ], + [ + 0.014688849449157715, + 0.03872273862361908, + 0.005957011133432388, + -0.011039726436138153, + -0.01631930097937584, + 0.008058382198214531, + 0.0 + ], + [ + 0.021182000637054443, + 0.05617557466030121, + 0.011977137997746468, + -0.005201227962970734, + -0.04405707120895386, + 0.03285801038146019, + 0.0 + ], + [ + 0.023705869913101196, + 0.032552577555179596, + 0.019329804927110672, + -0.022748079150915146, + -0.06383000314235687, + -0.05309462174773216, + 0.0 + ], + [ + 0.014573425054550171, + 0.03297359496355057, + -0.005160301923751831, + -0.01863016188144684, + 0.010849043726921082, + -0.05344138294458389, + 0.0 + ], + [ + 0.014103502035140991, + 0.01881454885005951, + -0.015989147126674652, + 0.052702780812978745, + 0.026923447847366333, + -0.06564506143331528, + 0.0 + ], + [ + -0.0024689435958862305, + 0.0029238201677799225, + -0.014247825369238853, + 0.004744216799736023, + 0.04108723998069763, + -0.05419628322124481, + 0.0 + ], + [ + -0.0006396770477294922, + 0.0036520063877105713, + -0.002071622759103775, + -0.016054265201091766, + -0.0007913261651992798, + -0.038822904229164124, + 0.0 + ], + [ + 0.0038281679153442383, + 0.0004874765872955322, + 0.000504491850733757, + 0.009283915162086487, + -0.02250407636165619, + -0.007977232336997986, + 0.0 + ], + [ + 0.002220749855041504, + -0.0012671947479248047, + -0.01681843400001526, + 0.02105589210987091, + 0.004926644265651703, + 0.0023244917392730713, + 0.0 + ], + [ + 0.003869771957397461, + -0.00870930403470993, + -0.0003152950666844845, + 0.023829258978366852, + -0.01567300409078598, + -0.020135506987571716, + 0.0 + ], + [ + 0.0006878376007080078, + -0.008347202092409134, + -0.0011541806161403656, + 0.008375078439712524, + -0.0006570816040039062, + -0.007371872663497925, + 0.0 + ], + [ + -0.004305779933929443, + -0.01267048716545105, + -0.0026100429240614176, + -0.008061572909355164, + 0.011306725442409515, + -0.019326835870742798, + 0.0 + ], + [ + -0.008145332336425781, + -0.024962855502963066, + 0.0013221462722867727, + -0.04579868167638779, + 0.014654360711574554, + 0.002164512872695923, + 0.0 + ], + [ + -0.004311859607696533, + -0.033357299864292145, + 0.0018848329782485962, + -0.031593408435583115, + 0.0018596574664115906, + -0.03062388300895691, + 0.0 + ], + [ + -0.0023667216300964355, + -0.008740546181797981, + -0.0008181785233318806, + -0.0045013390481472015, + 0.007779009640216827, + 0.003528982400894165, + 0.0 + ], + [ + -0.008582741022109985, + -0.022383058443665504, + 0.0002115839160978794, + -0.014724940061569214, + 0.004462815821170807, + -0.028487443923950195, + 0.0 + ], + [ + -0.010489970445632935, + -0.0200272798538208, + 0.0009677596390247345, + -0.004968021064996719, + -0.00876772403717041, + -0.04790660738945007, + 0.0 + ], + [ + -0.013923227787017822, + -0.009103365242481232, + -0.0007838795427232981, + -0.006154786795377731, + 0.0035032108426094055, + -0.022211670875549316, + 0.0 + ], + [ + -0.01847231388092041, + -0.01926618069410324, + 0.0014893061015754938, + -0.007380031980574131, + -0.00768057256937027, + -0.06098771095275879, + 0.0 + ], + [ + -0.013720303773880005, + -0.013055942952632904, + 0.004742593038827181, + 0.002537204883992672, + -0.015103034675121307, + -0.0399840772151947, + 0.0 + ], + [ + -0.004103183746337891, + -0.0043707117438316345, + -0.0022557536140084267, + 0.0047799646854400635, + -0.0006480813026428223, + -0.018078356981277466, + 0.0 + ], + [ + 0.015858769416809082, + 0.022906258702278137, + 0.006992049515247345, + -0.023094667121767998, + -0.02833293378353119, + 0.0809880793094635, + 0.0 + ], + [ + 0.02737247943878174, + 0.05673915147781372, + 0.017956171184778214, + -0.014395679347217083, + -0.03989371657371521, + 0.1610163450241089, + 0.0 + ], + [ + 0.02326101064682007, + 0.03995389863848686, + 0.02225535362958908, + 0.0389348641037941, + -0.05480217933654785, + 0.06494441628456116, + 0.0 + ], + [ + 0.00865936279296875, + 0.010291177779436111, + -0.014676019549369812, + 0.03971291333436966, + 0.039513155817985535, + -0.01021432876586914, + 0.0 + ], + [ + 0.005952626466751099, + 0.008521989919245243, + -0.014152729883790016, + 0.04800122603774071, + 0.03472810983657837, + -0.010993704199790955, + 0.0 + ], + [ + 0.0008207857608795166, + 0.003188442438840866, + -0.007134610787034035, + 0.01886545866727829, + 0.018731072545051575, + 0.005351081490516663, + 0.0 + ], + [ + 0.0038415491580963135, + -0.003598196431994438, + -0.012037849985063076, + 0.005508005619049072, + 0.02381911873817444, + 0.005720213055610657, + 0.0 + ], + [ + 0.005388498306274414, + -0.009092196822166443, + -0.0003582020290195942, + 0.003521651029586792, + 0.0046846866607666016, + -0.01715412735939026, + 0.0 + ], + [ + -0.00024124979972839355, + -0.010234097950160503, + 0.00016069738194346428, + -0.007046610116958618, + 0.0015285313129425049, + -0.016484573483467102, + 0.0 + ], + [ + -0.0013553500175476074, + -0.015183321200311184, + -0.0004714708775281906, + -0.0021266043186187744, + 0.004827626049518585, + -0.025458037853240967, + 0.0 + ], + [ + -0.00011044740676879883, + -0.012689817696809769, + 6.495881825685501e-05, + -0.0002721250057220459, + -0.003802455961704254, + -0.023410022258758545, + 0.0 + ], + [ + -0.0033037960529327393, + -0.006941195577383041, + -0.0037272199988365173, + 0.0013407319784164429, + -0.006385400891304016, + -0.015720248222351074, + 0.0 + ], + [ + -0.0012087821960449219, + -0.006466079503297806, + 0.0003021256998181343, + -0.00035156309604644775, + -0.011666372418403625, + -0.02198094129562378, + 0.0 + ], + [ + -0.0023149847984313965, + -0.008347991853952408, + -0.0001557348296046257, + -0.006247073411941528, + -0.014471501111984253, + -0.035912543535232544, + 0.0 + ], + [ + -0.004978299140930176, + -0.021541576832532883, + 0.0013184258714318275, + -0.012841872870922089, + -0.01496809720993042, + -0.04232048988342285, + 0.0 + ], + [ + 0.0007008612155914307, + -0.006495237350463867, + 0.0005794786848127842, + -0.0017427727580070496, + -0.010355234146118164, + -0.02375313639640808, + 0.0 + ], + [ + -0.0008707344532012939, + -0.0021981149911880493, + -0.00040242867544293404, + -0.0013322830200195312, + 0.0018476545810699463, + -0.011795848608016968, + 0.0 + ], + [ + -0.0021122395992279053, + -0.015811383724212646, + -0.00011788727715611458, + -0.0010958537459373474, + -0.009761840105056763, + -0.0797901451587677, + 0.0 + ], + [ + -0.0035151541233062744, + -0.009277954697608948, + 0.0002207774668931961, + -0.0018742606043815613, + -0.005645439028739929, + -0.043105363845825195, + 0.0 + ], + [ + -0.003502577543258667, + -0.0013515055179595947, + -0.0010398132726550102, + -0.004106089472770691, + 0.004283934831619263, + -0.017936527729034424, + 0.0 + ], + [ + -0.012691020965576172, + -0.010211914777755737, + 0.002910689450800419, + -0.02090887725353241, + 0.00813247263431549, + -0.032220304012298584, + 0.0 + ], + [ + -0.013277620077133179, + -0.0057709068059921265, + 0.0029884385876357555, + -0.007237441837787628, + 0.009187489748001099, + -0.04150092601776123, + 0.0 + ], + [ + -0.006770223379135132, + -0.001331128180027008, + 0.0011621899902820587, + -0.007921963930130005, + 0.010228917002677917, + -0.015638530254364014, + 0.0 + ], + [ + -0.0016986429691314697, + -0.002195708453655243, + -0.0004414869472384453, + -0.00192178413271904, + 0.004209950566291809, + -0.011019587516784668, + 0.0 + ], + [ + 0.005446285009384155, + 0.011271603405475616, + 0.0023783911019563675, + 0.005855049937963486, + -0.014222249388694763, + 0.034899353981018066, + 0.0 + ], + [ + 0.0124950110912323, + 0.03438703715801239, + 0.016826549544930458, + 0.047105856239795685, + -0.04162663221359253, + 0.07439708709716797, + 0.0 + ], + [ + 0.004231750965118408, + 0.038235489279031754, + -0.0008945520967245102, + 0.007570207118988037, + 0.014853820204734802, + 0.07697063684463501, + 0.0 + ], + [ + 0.0031788647174835205, + 0.03324826806783676, + 0.00765405036509037, + -0.03139232099056244, + 0.013441145420074463, + 0.13451054692268372, + 0.0 + ], + [ + 0.0026159584522247314, + 0.04688845947384834, + 0.0039919279515743256, + -0.0035539567470550537, + 0.022792428731918335, + 0.16153362393379211, + 0.0 + ], + [ + -0.000922083854675293, + 0.015758316963911057, + -0.0019977539777755737, + 0.00561118870973587, + 0.021873697638511658, + 0.08811548352241516, + 0.0 + ], + [ + -0.0038043558597564697, + 0.01768762245774269, + -0.0005104951560497284, + -0.008908040821552277, + 0.006558239459991455, + 0.03896768391132355, + 0.0 + ], + [ + -0.006316632032394409, + 0.017006516456604004, + -0.008451258763670921, + 0.012168556451797485, + -0.007251322269439697, + -0.0023986324667930603, + 0.0 + ], + [ + -0.0016196072101593018, + 0.002848006784915924, + -0.006845287978649139, + 0.02623794972896576, + -0.013431087136268616, + -0.02917013317346573, + 0.0 + ], + [ + -0.003531336784362793, + 0.0033817067742347717, + -0.012261112220585346, + -0.007877282798290253, + 0.02756231278181076, + 0.01607310026884079, + 1.0 + ], + [ + 0.0014538168907165527, + 0.003532811999320984, + -0.00031836703419685364, + 0.017733387649059296, + 0.007553040981292725, + 0.029087647795677185, + 1.0 + ], + [ + 0.002426832914352417, + -0.0038438215851783752, + 0.0005855420604348183, + -0.012949444353580475, + 0.033634208142757416, + 0.09071440249681473, + 1.0 + ], + [ + -8.910894393920898e-05, + -0.009824320673942566, + 0.013884581625461578, + -0.0799453854560852, + 0.03790641576051712, + -0.006581492722034454, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9507390260696411 + ], + [ + 0.6661520600318909 + ], + [ + 0.38924968242645264 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.34697994589805603 + ], + [ + 0.34697994589805603 + ], + [ + 0.34697994589805603 + ], + [ + 0.34697994589805603 + ], + [ + 0.34697994589805603 + ], + [ + 0.34697994589805603 + ], + [ + 0.34697994589805603 + ], + [ + 0.34697994589805603 + ], + [ + 0.34697994589805603 + ], + [ + 0.34697994589805603 + ], + [ + 0.34697994589805603 + ], + [ + 0.34697994589805603 + ], + [ + 0.34697994589805603 + ], + [ + 0.34697994589805603 + ], + [ + 0.3461596965789795 + ], + [ + 0.34697994589805603 + ], + [ + 0.34697994589805603 + ], + [ + 0.34697994589805603 + ], + [ + 0.34697994589805603 + ], + [ + 0.34697994589805603 + ], + [ + 0.34697994589805603 + ], + [ + 0.34697994589805603 + ], + [ + 0.34697994589805603 + ], + [ + 0.34697994589805603 + ], + [ + 0.34697994589805603 + ], + [ + 0.34697994589805603 + ], + [ + 0.34697994589805603 + ], + [ + 0.34697994589805603 + ], + [ + 0.34697994589805603 + ], + [ + 0.3461596965789795 + ], + [ + 0.34697994589805603 + ], + [ + 0.34697994589805603 + ], + [ + 0.34697994589805603 + ], + [ + 0.34697994589805603 + ], + [ + 0.34697994589805603 + ], + [ + 0.3461596965789795 + ], + [ + 0.3461596965789795 + ], + [ + 0.3461596965789795 + ], + [ + 0.34697994589805603 + ], + [ + 0.34697994589805603 + ], + [ + 0.34697994589805603 + ], + [ + 0.3461596965789795 + ], + [ + 0.3461596965789795 + ], + [ + 0.3461596965789795 + ], + [ + 0.34697994589805603 + ], + [ + 0.34697994589805603 + ], + [ + 0.3461596965789795 + ], + [ + 0.3461596965789795 + ], + [ + 0.3461596965789795 + ], + [ + 0.34697994589805603 + ], + [ + 0.3461596965789795 + ], + [ + 0.34697994589805603 + ], + [ + 0.3461596965789795 + ], + [ + 0.34697994589805603 + ], + [ + 0.3461596965789795 + ], + [ + 0.3461596965789795 + ], + [ + 0.3461596965789795 + ], + [ + 0.3461596965789795 + ], + [ + 0.3461596965789795 + ], + [ + 0.34697994589805603 + ], + [ + 0.34697994589805603 + ], + [ + 0.3461596965789795 + ], + [ + 0.4112652540206909 + ], + [ + 0.7171077728271484 + ], + [ + 0.9774019718170166 + ], + [ + 1.0047606229782104 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.38030657172203064, + 0.12886974215507507, + 0.01954963617026806 + ], + [ + 0.3821520209312439, + 0.131967693567276, + 0.01934024505317211 + ], + [ + 0.3843502700328827, + 0.13234621286392212, + 0.018637821078300476 + ], + [ + 0.38668039441108704, + 0.13281095027923584, + 0.018173273652791977 + ], + [ + 0.3843989968299866, + 0.12887804210186005, + 0.0055327219888567924 + ], + [ + 0.3836807608604431, + 0.12874576449394226, + 0.003789092181250453 + ], + [ + 0.3838580846786499, + 0.1274247169494629, + 0.003546671709045768 + ], + [ + 0.38222822546958923, + 0.12273028492927551, + 0.002284748712554574 + ], + [ + 0.3769584596157074, + 0.11223113536834717, + 0.0028156167827546597 + ], + [ + 0.3738560378551483, + 0.09563238173723221, + 0.0013548998394981027 + ], + [ + 0.36846721172332764, + 0.07876510918140411, + 0.0002985021856147796 + ], + [ + 0.3621509075164795, + 0.06163466349244118, + -0.00013694203516934067 + ], + [ + 0.3555474579334259, + 0.04556639865040779, + 3.35158511006739e-05 + ], + [ + 0.352009654045105, + 0.03252203017473221, + -0.0007330585503950715 + ], + [ + 0.34827136993408203, + 0.016439607366919518, + -0.0007416203152388334 + ], + [ + 0.3436415493488312, + -0.000363828701665625, + -0.0002504242002032697 + ], + [ + 0.3369162380695343, + -0.02077108435332775, + 0.001865746104158461 + ], + [ + 0.33367791771888733, + -0.03435749188065529, + 0.00020398033666424453 + ], + [ + 0.33098819851875305, + -0.05522067844867706, + 0.0005663164774887264 + ], + [ + 0.3277509808540344, + -0.07370663434267044, + 0.0029894323088228703 + ], + [ + 0.3271177411079407, + -0.09490665793418884, + 0.009153378196060658 + ], + [ + 0.329568088054657, + -0.11150913685560226, + 0.01795887015759945 + ], + [ + 0.3339332044124603, + -0.12174460291862488, + 0.02135521173477173 + ], + [ + 0.3359239101409912, + -0.1173144280910492, + 0.021612530574202538 + ], + [ + 0.3506127595901489, + -0.07859168946743011, + 0.027569541707634926 + ], + [ + 0.37179476022720337, + -0.022416112944483757, + 0.03954667970538139 + ], + [ + 0.39550063014030457, + 0.010136466473340988, + 0.058876484632492065 + ], + [ + 0.41007405519485474, + 0.043110061436891556, + 0.053716182708740234 + ], + [ + 0.4241775572299957, + 0.061924610286951065, + 0.03772703558206558 + ], + [ + 0.4217086136341095, + 0.06484843045473099, + 0.02347921021282673 + ], + [ + 0.42106893658638, + 0.06850043684244156, + 0.021407587453722954 + ], + [ + 0.42489710450172424, + 0.06898791342973709, + 0.02191207930445671 + ], + [ + 0.42711785435676575, + 0.06772071868181229, + 0.005093644838780165 + ], + [ + 0.4309876263141632, + 0.059011414647102356, + 0.00477834977209568 + ], + [ + 0.4316754639148712, + 0.05066421255469322, + 0.0036241691559553146 + ], + [ + 0.4273696839809418, + 0.03799372538924217, + 0.001014126231893897 + ], + [ + 0.419224351644516, + 0.013030869886279106, + 0.00233627250418067 + ], + [ + 0.41491249203681946, + -0.020326431840658188, + 0.004221105482429266 + ], + [ + 0.412545770406723, + -0.02906697802245617, + 0.0034029269590973854 + ], + [ + 0.40396302938461304, + -0.051450036466121674, + 0.003614510875195265 + ], + [ + 0.3934730589389801, + -0.07147731631994247, + 0.004582270514219999 + ], + [ + 0.3795498311519623, + -0.0805806815624237, + 0.0037983909714967012 + ], + [ + 0.36107751727104187, + -0.09984686225652695, + 0.005287697073072195 + ], + [ + 0.34735721349716187, + -0.11290280520915985, + 0.010030290111899376 + ], + [ + 0.343254029750824, + -0.11727351695299149, + 0.007774536497890949 + ], + [ + 0.35911279916763306, + -0.09436725825071335, + 0.014766586013138294 + ], + [ + 0.3864852786064148, + -0.03762810677289963, + 0.03272275626659393 + ], + [ + 0.40974628925323486, + 0.0023257907014340162, + 0.054978109896183014 + ], + [ + 0.4184056520462036, + 0.012616968713700771, + 0.0403020903468132 + ], + [ + 0.4243582785129547, + 0.021138958632946014, + 0.026149360463023186 + ], + [ + 0.42517906427383423, + 0.02432740107178688, + 0.01901474967598915 + ], + [ + 0.42902061343193054, + 0.020729204639792442, + 0.006976899690926075 + ], + [ + 0.43440911173820496, + 0.011637007817626, + 0.006618697661906481 + ], + [ + 0.43416786193847656, + 0.0014029099838808179, + 0.006779395043849945 + ], + [ + 0.43281251192092896, + -0.013780411332845688, + 0.0063079241663217545 + ], + [ + 0.43270206451416016, + -0.026470229029655457, + 0.0063728829845786095 + ], + [ + 0.4293982684612274, + -0.0334114246070385, + 0.002645662985742092 + ], + [ + 0.4281894862651825, + -0.039877504110336304, + 0.0029477886855602264 + ], + [ + 0.4258745014667511, + -0.04822549596428871, + 0.0027920538559556007 + ], + [ + 0.4208962023258209, + -0.0697670727968216, + 0.004110479727387428 + ], + [ + 0.42159706354141235, + -0.07626231014728546, + 0.0046899584122002125 + ], + [ + 0.42072632908821106, + -0.07846042513847351, + 0.0042875297367572784 + ], + [ + 0.41861408948898315, + -0.09427180886268616, + 0.004169642459601164 + ], + [ + 0.4150989353656769, + -0.1035497635602951, + 0.00439041992649436 + ], + [ + 0.4115963578224182, + -0.1049012690782547, + 0.0033506066538393497 + ], + [ + 0.39890533685684204, + -0.11511318385601044, + 0.006261296104639769 + ], + [ + 0.38562771677970886, + -0.12088409066200256, + 0.009249734692275524 + ], + [ + 0.37885749340057373, + -0.12221521884202957, + 0.010411924682557583 + ], + [ + 0.37715885043144226, + -0.12441092729568481, + 0.009970437735319138 + ], + [ + 0.3826051354408264, + -0.1131393238902092, + 0.012348828837275505 + ], + [ + 0.3951001465320587, + -0.07875228673219681, + 0.029175378382205963 + ], + [ + 0.3993318974971771, + -0.040516797453165054, + 0.028280826285481453 + ], + [ + 0.40251076221466064, + -0.007268529385328293, + 0.03593487665057182 + ], + [ + 0.4051267206668854, + 0.03961993008852005, + 0.03992680460214615 + ], + [ + 0.4042046368122101, + 0.05537824705243111, + 0.037929050624370575 + ], + [ + 0.4004002809524536, + 0.0730658695101738, + 0.03741855546832085 + ], + [ + 0.3940836489200592, + 0.0900723859667778, + 0.028967296704649925 + ], + [ + 0.3924640417098999, + 0.09292039275169373, + 0.022122008726000786 + ], + [ + 0.3889327049255371, + 0.0963020995259285, + 0.00986089650541544 + ], + [ + 0.39038652181625366, + 0.09983491152524948, + 0.009542529471218586 + ], + [ + 0.3928133547306061, + 0.0959910899400711, + 0.010128071531653404 + ], + [ + 0.39272424578666687, + 0.08616676926612854, + 0.024012653157114983 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9786350176327052, + 0.08588765485539401, + 0.1868068869353466, + 0.07378833330805784, + -0.9947577191998812, + 0.07079803641252566, + 0.19190827009447411, + -0.05550126877550693, + -0.9798422449729626 + ], + [ + 0.9735697012002439, + 0.10626163154791507, + 0.2021645432949185, + 0.08923316733079117, + -0.9917913855132069, + 0.09158214602152852, + 0.2102367207530189, + -0.07112182001726818, + -0.9750601047958267 + ], + [ + 0.9690570983531609, + 0.12216976636637888, + 0.21448283921408884, + 0.09804718020422065, + -0.9879507113026317, + 0.11975033398961864, + 0.2265283438895746, + -0.09501547359566508, + -0.9693590507093015 + ], + [ + 0.9691513944767804, + 0.11380593528249178, + 0.21861789423144082, + 0.0802467242007405, + -0.9843809887683629, + 0.15669885834450398, + 0.23303655901759798, + -0.13432154721375839, + -0.9631467614623122 + ], + [ + 0.9793644872863874, + 0.1030661037163347, + 0.17384642448726298, + 0.06933563969389211, + -0.9793323925129853, + 0.1900016685269662, + 0.18983616649761623, + -0.17402713363015004, + -0.9662695207083599 + ], + [ + 0.9825008502462316, + 0.1136615174411658, + 0.14755723878686422, + 0.08258332796224581, + -0.9759250582343705, + 0.2018669726649726, + 0.16694931329032847, + -0.18614870443602932, + -0.9682337458634023 + ], + [ + 0.9842720991476676, + 0.09541492758292558, + 0.14867557443571425, + 0.0656596275395783, + -0.9788935223519536, + 0.1935362632912745, + 0.16400380529368333, + -0.18073036128921655, + -0.9697624906942222 + ], + [ + 0.9867210173905936, + 0.07893717966903235, + 0.14195265233721666, + 0.054475909307131594, + -0.9841752890468511, + 0.16861606013279978, + 0.15301636887873454, + -0.1586440105880007, + -0.9754066171396015 + ], + [ + 0.9911895963448055, + 0.07627472966441104, + 0.10828365394851783, + 0.06038321167090658, + -0.98786146459287, + 0.1431209087475904, + 0.11788575760509765, + -0.13532144097315332, + -0.9837637194808626 + ], + [ + 0.9938105468027334, + 0.0650367002231288, + 0.090060117075977, + 0.05262436209124137, + -0.9895933290732877, + 0.13392430536738784, + 0.0978328859747157, + -0.12835603093635414, + -0.9868908023404229 + ], + [ + 0.9939998271680905, + 0.06038041147369008, + 0.0912060825826539, + 0.04713010914044337, + -0.988884223102421, + 0.14102037480992216, + 0.09870712437416006, + -0.13587567556184924, + -0.9857964822357579 + ], + [ + 0.9940561011644226, + 0.05090492506430575, + 0.09623490189107674, + 0.03718986508084087, + -0.9895533738797164, + 0.13928759520696535, + 0.10231999644769639, + -0.13488072081460714, + -0.9855647160280626 + ], + [ + 0.993990304179044, + 0.05916494220196254, + 0.09210203478908217, + 0.046032067136248175, + -0.9892643707642388, + 0.13869770557438119, + 0.09931930322558054, + -0.13362452750401857, + -0.9860426774009896 + ], + [ + 0.9941602359027686, + 0.06632776246534072, + 0.08512375271387311, + 0.05432487935036652, + -0.9891771448260576, + 0.13629887614113573, + 0.09324287014737052, + -0.13087858526172214, + -0.98700383134341 + ], + [ + 0.9950025812308515, + 0.06549103880073694, + 0.07537099694672769, + 0.055337628474599845, + -0.9900079936126689, + 0.12969934254970372, + 0.08311203413916918, + -0.12488032839410136, + -0.9886846278573524 + ], + [ + 0.9967887510413503, + 0.05698853578363583, + 0.056253822862649225, + 0.049239766192800294, + -0.9902068440474912, + 0.1306363327209785, + 0.06314769372434292, + -0.12744690184835836, + -0.989833145528352 + ], + [ + 0.9980349871654066, + 0.0029718800917446723, + 0.06258859578602607, + -0.004982865334441956, + -0.991946829595829, + 0.1265569370198319, + 0.06246067120040486, + -0.12662012155855473, + -0.989982832866152 + ], + [ + 0.997636060516527, + 0.0009556391168416556, + 0.06871228064140071, + -0.008011054238277051, + -0.9914682560815452, + 0.13010196075621067, + 0.06825037558179171, + -0.13034486540135581, + -0.9891168294475867 + ], + [ + 0.9967173013635775, + -0.02580940215163479, + 0.07673653577718145, + -0.03561068116783595, + -0.9909738685387236, + 0.12923881483578878, + 0.07270832517167614, + -0.1315472030640399, + -0.9886398903628955 + ], + [ + 0.9972483038554116, + -0.020999283341064746, + 0.07109747222417394, + -0.029720388756936833, + -0.9918467902988882, + 0.12392192326594471, + 0.06791552804507998, + -0.12569397230160176, + -0.9897416361745135 + ], + [ + 0.997423575215982, + -0.017914856026205822, + 0.0694641600894181, + -0.0253622814262734, + -0.9938425507934624, + 0.10785981139051949, + 0.06710414505991784, + -0.10934368827648099, + -0.9917363518344343 + ], + [ + 0.9976965652740118, + -0.008791057136476259, + 0.06726277540261254, + -0.015339159131220324, + -0.9951208907471296, + 0.09746344440756188, + 0.06607778626426726, + -0.09827069814070732, + -0.9929635421551747 + ], + [ + 0.9985464726429214, + 0.00689540598815736, + 0.05345461017197436, + 0.001871519326123722, + -0.995620328854495, + 0.0934700924738975, + 0.053865010793568084, + -0.09323418980141078, + -0.9941860723548098 + ], + [ + 0.9986273529889114, + 0.007889863526257614, + 0.051779918075420414, + 0.0031846476757577983, + -0.9959067759155613, + 0.0903302369345575, + 0.05228066450937201, + -0.09004134460906854, + -0.9945648738918188 + ], + [ + 0.997583207747792, + 0.016639832441562603, + 0.06746005926429882, + 0.011220687006120458, + -0.9967374506680639, + 0.07992840933510381, + 0.06856996283167047, + -0.07897829076427237, + -0.9945152536714646 + ], + [ + 0.9926919052643237, + 0.0522805542353348, + 0.10876361924620316, + 0.04381149268496304, + -0.995923237656625, + 0.07885085798049932, + 0.11244258237608325, + -0.07350951193139335, + -0.9909354254058163 + ], + [ + 0.9844225826579588, + 2.6168928588053697e-05, + 0.1758185942049973, + -0.008849424508562683, + -0.9987251205190303, + 0.04969729701015616, + 0.17559574721188886, + -0.05047903485047633, + -0.9831673309267669 + ], + [ + 0.9843879447667894, + -0.056981080475916546, + 0.1665338724272431, + -0.06153589569718579, + -0.99785537226697, + 0.02231568010820123, + 0.16490514770182657, + -0.032215097481516616, + -0.9857831809052612 + ], + [ + 0.9822794747303625, + -0.11556530154489497, + 0.14755234529576441, + -0.12649851639341664, + -0.9897036003107722, + 0.06696946231051533, + 0.13829374126730212, + -0.08444788103163113, + -0.986784371844001 + ], + [ + 0.9787492426313299, + -0.1719002154202888, + 0.11180445423620905, + -0.18040078675201235, + -0.9810344188426088, + 0.07090151751126408, + 0.09749603165182272, + -0.08956441807215315, + -0.9911976285421307 + ], + [ + 0.9709342406741975, + -0.21160151604595315, + 0.11185481077483367, + -0.21823620840317434, + -0.9745782180439635, + 0.05069767505575822, + 0.09828355726277857, + -0.07363487842936405, + -0.9924304746683603 + ], + [ + 0.9667632256004085, + -0.21650404420488994, + 0.13599582519188103, + -0.22541513696538434, + -0.9727777796659661, + 0.05377180873868772, + 0.12065190281786115, + -0.0826401248249303, + -0.9892490728402779 + ], + [ + 0.9678520414682358, + -0.21183085554249886, + 0.13561015620484104, + -0.22329821682136608, + -0.9718092764305963, + 0.07566132835100779, + 0.11575980386199082, + -0.10351047716812932, + -0.9878690444215061 + ], + [ + 0.9612824123764704, + -0.22609339088580557, + 0.1575369869377729, + -0.2422666466886467, + -0.9658212974338362, + 0.09217425522053349, + 0.13131258720287303, + -0.12677144797224627, + -0.98320191437014 + ], + [ + 0.9593866333021585, + -0.2317880404712541, + 0.16078430313823042, + -0.24932469501273294, + -0.9633546251882674, + 0.09891947525730593, + 0.13196395075155107, + -0.134989519677897, + -0.9820200330335289 + ], + [ + 0.9557646564155614, + -0.2530496922793908, + 0.14993256745667186, + -0.2682048906388509, + -0.9590478866855826, + 0.0910674897058215, + 0.12074791171794999, + -0.127251735867231, + -0.984493238948105 + ], + [ + 0.9579449093427845, + -0.2587246395191322, + 0.124109272699261, + -0.26658129966374794, + -0.9624487075528144, + 0.051253253550425155, + 0.10618832955570712, + -0.08218300454237629, + -0.9909439905618058 + ], + [ + 0.9495201677429834, + -0.2919872736399711, + 0.11469473868331369, + -0.2958459452127019, + -0.9550694836326508, + 0.017817354878465686, + 0.10433900397521516, + -0.05084991116962578, + -0.9932409872651761 + ], + [ + 0.9513052787502617, + -0.28947306763007624, + 0.1059415392502896, + -0.29272312410945983, + -0.956060142558757, + 0.016191862836852196, + 0.09659937491249695, + -0.046414942931807396, + -0.994240521121098 + ], + [ + 0.9429803637937766, + -0.31825370666844904, + 0.09748134022031835, + -0.319836233337873, + -0.9474726229709569, + 0.0006423120553346456, + 0.09215648291682119, + -0.031783752332402916, + -0.9952371454804497 + ], + [ + 0.9257945867856425, + -0.3635219332796925, + 0.1037120393348634, + -0.3643171070879898, + -0.9311995998890651, + -0.011846967944731834, + 0.10088324222307522, + -0.026816211347617476, + -0.9945368078897434 + ], + [ + 0.9177950774398764, + -0.38481019865740246, + 0.09784327690945997, + -0.38492332140132063, + -0.9227635375902057, + -0.018479457118225334, + 0.09739729189513664, + -0.02070180434790998, + -0.9950302522176068 + ], + [ + 0.8919304375126418, + -0.44094557590076305, + 0.10013537702556533, + -0.4398033983383847, + -0.897434589738888, + -0.03441116025655051, + 0.1050383998760252, + -0.013347517886796324, + -0.9943785890282162 + ], + [ + 0.8721438780761412, + -0.476004384243788, + 0.11307025300670796, + -0.4742933407650314, + -0.8793001855958326, + -0.04332447942076243, + 0.12004533660352874, + -0.015843288542045135, + -0.9926419834804081 + ], + [ + 0.8633595400640841, + -0.4912681773467451, + 0.11517761287133793, + -0.48994340573786743, + -0.8707650564896681, + -0.04151717199574399, + 0.1206887059931962, + -0.02058626539593395, + -0.9924769226146951 + ], + [ + 0.8967042642754401, + -0.42189016849420524, + 0.13390350315870084, + -0.41688275305598765, + -0.9066439548865975, + -0.06484989801109285, + 0.14876233607570657, + 0.002329119043733993, + -0.9888702354554809 + ], + [ + 0.9454715955593883, + -0.2737366936479221, + 0.17649839812612494, + -0.2659099913777976, + -0.9616639630253243, + -0.06703953090443936, + 0.1880833285430797, + 0.01645128472586023, + -0.9820152833612238 + ], + [ + 0.9492157553403743, + -0.20240282834438836, + 0.2408786933122039, + -0.20154349449061718, + -0.9790657652614363, + -0.028468352982719197, + 0.24159815736489648, + -0.021524924418687027, + -0.9701376232198484 + ], + [ + 0.955683354189359, + -0.2049993772588455, + 0.21129264504204034, + -0.21314100956950013, + -0.9768862441708644, + 0.0162534916075434, + 0.20307692277821812, + -0.06056831905565618, + -0.9772876967207261 + ], + [ + 0.959572341619008, + -0.20897479226455085, + 0.18854828929959055, + -0.22510999156216976, + -0.9719279279102959, + 0.06842217949523946, + 0.16895683738367656, + -0.10810013481021535, + -0.9796774713931721 + ], + [ + 0.9636793795796412, + -0.2024992377464618, + 0.17411522645966213, + -0.2206397234882708, + -0.9710194471552933, + 0.09186591133411547, + 0.1504664939181374, + -0.12694601986013623, + -0.9804307942173444 + ], + [ + 0.9681497686851868, + -0.1990644903070161, + 0.15185306744885735, + -0.21584247399776893, + -0.9709485461922304, + 0.10330027621316834, + 0.12687809824135038, + -0.13278648028320628, + -0.9829901824741974 + ], + [ + 0.9648721725154439, + -0.21576858049760955, + 0.14988532408269487, + -0.23255438742793266, + -0.9668809233363069, + 0.1051652840834373, + 0.12222989647932646, + -0.13632754585327822, + -0.9830944271270567 + ], + [ + 0.9610874536955996, + -0.23293116580761605, + 0.1485058192274406, + -0.2484740514164734, + -0.9638429808191761, + 0.09626709769328627, + 0.12071268417855724, + -0.12942094235907065, + -0.9842147466672594 + ], + [ + 0.9550002306621855, + -0.25830211221967325, + 0.14578949982089817, + -0.27301529504542044, + -0.9576267721555176, + 0.0917257538658918, + 0.11591897215915244, + -0.1274008794077163, + -0.9850542156753129 + ], + [ + 0.9479201465680028, + -0.28022613397235324, + 0.1513958703842499, + -0.29516184593571176, + -0.9514857519352956, + 0.08691575557945747, + 0.11969494740513924, + -0.127075480337607, + -0.9846445764145798 + ], + [ + 0.9424178918578774, + -0.2941648788729462, + 0.1591085828728902, + -0.30978131402755227, + -0.9471048837240309, + 0.08383243230071077, + 0.12603195858796096, + -0.12829404999357966, + -0.9836953706055181 + ], + [ + 0.9339314921808564, + -0.31356056523211, + 0.17161509212233791, + -0.3299078361823132, + -0.9409355678314953, + 0.07616480036818268, + 0.13759646630034825, + -0.12774986935782273, + -0.9822154464987385 + ], + [ + 0.9195350943289855, + -0.3465886256603201, + 0.18528770833564148, + -0.36245953975721257, + -0.9301341159105345, + 0.05893732652841871, + 0.15191541178028276, + -0.12135423759481301, + -0.9809153157543256 + ], + [ + 0.9011974606453392, + -0.3865217784350274, + 0.19607154745606303, + -0.40007104801513454, + -0.9158776260842219, + 0.03333662518014787, + 0.1666922117750662, + -0.10848543143553108, + -0.9800227638681576 + ], + [ + 0.8898328406627367, + -0.4075092721845566, + 0.2052649720768193, + -0.42060221642088763, + -0.9069597030837634, + 0.02275681269528751, + 0.17689344594959214, + -0.10658466149415932, + -0.9784418320545447 + ], + [ + 0.8851020023286174, + -0.41862737382246634, + 0.20333609458327162, + -0.43121145638629804, + -0.9020308790909409, + 0.019924182483406952, + 0.17507462795927897, + -0.10531578729197887, + -0.9789062567947917 + ], + [ + 0.8464038410337018, + -0.4885402828499235, + 0.21196445436986247, + -0.499494612883941, + -0.8663143297994396, + -0.002147948805397773, + 0.1846772037456674, + -0.10405707096139777, + -0.977275015745116 + ], + [ + 0.8232060415179691, + -0.525329869858524, + 0.21531451656296197, + -0.5349272746483995, + -0.8447490894700831, + -0.015867787391482674, + 0.19022256450156355, + -0.10211514909107174, + -0.9764158295933945 + ], + [ + 0.814147168872758, + -0.5416230403533632, + 0.20930568452589252, + -0.5500570547668028, + -0.8348676983948152, + -0.020812560587648625, + 0.186015117444104, + -0.09818558109683512, + -0.9776287474020664 + ], + [ + 0.7972038836082382, + -0.5729849659079009, + 0.19014256967723944, + -0.5768668606964311, + -0.8158608438179551, + -0.039946320918182454, + 0.17801851867203775, + -0.07784158508262548, + -0.9809434716851106 + ], + [ + 0.7738353024540615, + -0.608198626961701, + 0.1768427404156944, + -0.6104325768071992, + -0.7906162438260009, + -0.047937711365774405, + 0.16897039340770317, + -0.07085467634790943, + -0.9830710152330192 + ], + [ + 0.765494888192582, + -0.6223637670965428, + 0.1633429446178379, + -0.6235180476952235, + -0.7801747519405197, + -0.05052326823242153, + 0.15887989284161472, + -0.06317197036620195, + -0.9852748255236649 + ], + [ + 0.7590848372372658, + -0.6314329471712837, + 0.1583750078233952, + -0.6323379680760496, + -0.773002180866378, + -0.051150000051577396, + 0.15472202172259297, + -0.061319341177236406, + -0.9860532614375671 + ], + [ + 0.7788685907930211, + -0.6023759852019314, + 0.1746622189487359, + -0.6040569772025116, + -0.7954010436092028, + -0.04952118857979459, + 0.168756885990048, + -0.0669354336461166, + -0.9833823067116615 + ], + [ + 0.8150470544828146, + -0.5287012181938333, + 0.23700911556149956, + -0.5401427657705271, + -0.8413513478296497, + -0.01933137581749044, + 0.20962846076965092, + -0.11226277827306896, + -0.9713150760951662 + ], + [ + 0.8567937787184271, + -0.46218154850565907, + 0.2286758338135231, + -0.4773336370066912, + -0.8786312969481267, + 0.012634991302615362, + 0.1950820845986718, + -0.11998024939198895, + -0.9734206285180486 + ], + [ + 0.9154259317392583, + -0.3481891919043826, + 0.20189019327417593, + -0.3590463982854609, + -0.9331325167932231, + 0.01869197639051695, + 0.18188196001129212, + -0.08959906664758563, + -0.9792297788968289 + ], + [ + 0.9650573762126103, + -0.1961977114345995, + 0.17369720390800097, + -0.20796182680796518, + -0.9767452554629997, + 0.052159222781910736, + 0.15942439966431088, + -0.08645903051934331, + -0.9834168479507197 + ], + [ + 0.9828399870917008, + -0.11053439045973963, + 0.14767433189040977, + -0.12263099162491299, + -0.9895791027338493, + 0.07546415921190686, + 0.13779404800888753, + -0.09227864302298408, + -0.9861528544678867 + ], + [ + 0.987750488277492, + -0.07372987402345847, + 0.13752410182968028, + -0.08432364627076107, + -0.9937710158353339, + 0.07286076286459861, + 0.13129545150986338, + -0.08356478781216795, + -0.9878149779441125 + ], + [ + 0.9865710123776742, + -0.07374208729774763, + 0.145738608807215, + -0.08660711549724993, + -0.9926957521155887, + 0.08399018559874616, + 0.13848048628358106, + -0.09548428296131875, + -0.9857514426192973 + ], + [ + 0.9816893752772938, + -0.09712555427874983, + 0.1638676208825958, + -0.11511757938518405, + -0.9878804411045855, + 0.10411617069171057, + 0.15176927681244443, + -0.1210737824182229, + -0.980972591781632 + ], + [ + 0.9872006825612241, + -0.0856246976824215, + 0.13454821997130803, + -0.0997071743488644, + -0.9898094194206072, + 0.10166510025375472, + 0.12447205201979569, + -0.1137792791901705, + -0.9856779311179422 + ], + [ + 0.9905924162207904, + -0.05544912919566939, + 0.12510818916960792, + -0.07101890490698504, + -0.989782711546967, + 0.12363858244312871, + 0.11697427098156694, + -0.13136048871017375, + -0.984409184198398 + ], + [ + 0.9963242557679909, + 0.02897657758537155, + 0.08061225291354757, + 0.019075455675077974, + -0.9924707439971319, + 0.12098739314725034, + 0.08351110320877667, + -0.11900495897742298, + -0.989375416805792 + ], + [ + 0.9988770240106912, + 0.014367710446764508, + 0.045147090715382525, + 0.01254855251463873, + -0.9991079268027404, + 0.04032225724977872, + 0.045686154722545856, + -0.03971044568432735, + -0.9981662465592691 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005942.json b/json/chunk-0005/episode_0005942.json new file mode 100644 index 0000000000000000000000000000000000000000..cc7e710b9c4ab3c1157f9e237dece9f86070953e --- /dev/null +++ b/json/chunk-0005/episode_0005942.json @@ -0,0 +1,2722 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 44, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut the green cloth to the center of the table." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005942.mp4", + "start": 0, + "end": 44, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.29439088702201843, + -0.005916507914662361, + 0.13516853749752045, + -0.23003874719142914, + -0.05879101902246475, + 1.1224291324615479, + 0.0, + 1.0008161067962646 + ], + [ + 0.29213473200798035, + -0.005526664666831493, + 0.12714721262454987, + -0.2012685388326645, + -0.04754667729139328, + 1.1212689876556396, + 0.0, + 1.0008161067962646 + ], + [ + 0.29528769850730896, + -0.022530125454068184, + 0.12030160427093506, + -0.1256415843963623, + -0.09757766872644424, + 0.9934823513031006, + 0.0, + 1.0008161067962646 + ], + [ + 0.2979488968849182, + -0.05476517602801323, + 0.1108594611287117, + 0.004527490586042404, + -0.15598101913928986, + 0.7152174711227417, + 0.0, + 1.0008161067962646 + ], + [ + 0.29674264788627625, + -0.08436892926692963, + 0.1059790626168251, + 0.06588993966579437, + -0.17430347204208374, + 0.4505799114704132, + 0.0, + 1.0008161067962646 + ], + [ + 0.2951497435569763, + -0.11225944757461548, + 0.1007227748632431, + 0.07025483250617981, + -0.121733658015728, + 0.2649337649345398, + 0.0, + 1.0008161067962646 + ], + [ + 0.2930000126361847, + -0.13331153988838196, + 0.09587061405181885, + 0.07065144926309586, + -0.09784892946481705, + 0.22876854240894318, + 0.0, + 0.9672539830207825 + ], + [ + 0.29085594415664673, + -0.15307067334651947, + 0.0866023600101471, + 0.05568855628371239, + -0.08807867020368576, + 0.16695377230644226, + 0.0, + 0.7071652412414551 + ], + [ + 0.2898806631565094, + -0.1717175543308258, + 0.07160508632659912, + 0.051402684301137924, + -0.10250834375619888, + 0.12279564887285233, + 0.0, + 0.4130503535270691 + ], + [ + 0.2894322872161865, + -0.17761540412902832, + 0.05796106159687042, + 0.0667523667216301, + -0.09982500225305557, + 0.10997579991817474, + 0.0, + 0.18516062200069427 + ], + [ + 0.29000234603881836, + -0.18000949919223785, + 0.051103293895721436, + 0.05024317651987076, + -0.10298531502485275, + 0.10887784510850906, + 0.0, + 0.06065736711025238 + ], + [ + 0.29084837436676025, + -0.18271395564079285, + 0.04633861780166626, + 0.031126676127314568, + -0.1072426587343216, + 0.11922454088926315, + 0.0, + 0.052190229296684265 + ], + [ + 0.29129600524902344, + -0.18376153707504272, + 0.045504409819841385, + 0.0071992427110672, + -0.0913439393043518, + 0.09902921319007874, + 0.0, + 0.052190229296684265 + ], + [ + 0.29303738474845886, + -0.1773616224527359, + 0.04002324864268303, + 0.010108542628586292, + -0.08061498403549194, + 0.0823189988732338, + 0.0, + 0.052190229296684265 + ], + [ + 0.2961561679840088, + -0.1718255877494812, + 0.038325730711221695, + 0.016353121027350426, + -0.08703650534152985, + 0.06545140594244003, + 0.0, + 0.052190229296684265 + ], + [ + 0.2992551922798157, + -0.16504131257534027, + 0.03764897212386131, + 0.02337237447500229, + -0.0921049416065216, + 0.057869553565979004, + 0.0, + 0.052190229296684265 + ], + [ + 0.3010975122451782, + -0.15528951585292816, + 0.03550126403570175, + 0.04162643477320671, + -0.10404525697231293, + 0.041693054139614105, + 0.0, + 0.052190229296684265 + ], + [ + 0.3064524233341217, + -0.1387232095003128, + 0.036657776683568954, + 0.0738319605588913, + -0.13562002778053284, + 0.05723726376891136, + 0.0, + 0.052190229296684265 + ], + [ + 0.30878767371177673, + -0.123213991522789, + 0.03647306188941002, + 0.09513868391513824, + -0.13658645749092102, + 0.06366446614265442, + 0.0, + 0.052190229296684265 + ], + [ + 0.3109886944293976, + -0.10938981920480728, + 0.03627460077404976, + 0.12118331342935562, + -0.12034951895475388, + 0.038291361182928085, + 0.0, + 0.052190229296684265 + ], + [ + 0.3085716962814331, + -0.09704025089740753, + 0.035359978675842285, + 0.15333230793476105, + -0.12113572657108307, + -0.02670295350253582, + 0.0, + 0.052190229296684265 + ], + [ + 0.3102192282676697, + -0.08453348278999329, + 0.036279503256082535, + 0.16520370543003082, + -0.15962110459804535, + -0.034825198352336884, + 0.0, + 0.052190229296684265 + ], + [ + 0.31311094760894775, + -0.06602395325899124, + 0.03583840653300285, + 0.16860535740852356, + -0.15543019771575928, + -0.00829512532800436, + 0.0, + 0.052190229296684265 + ], + [ + 0.31585121154785156, + -0.05180538073182106, + 0.03647319972515106, + 0.17473500967025757, + -0.15567195415496826, + 0.022839650511741638, + 0.0, + 0.052190229296684265 + ], + [ + 0.3151904344558716, + -0.034818775951862335, + 0.036658309400081635, + 0.18319979310035706, + -0.1448986828327179, + 0.00817788764834404, + 0.0, + 0.052190229296684265 + ], + [ + 0.31397780776023865, + -0.019847678020596504, + 0.035892877727746964, + 0.2006913125514984, + -0.13347241282463074, + -0.0067713637836277485, + 0.0, + 0.052190229296684265 + ], + [ + 0.31177017092704773, + -0.005520240403711796, + 0.03626298904418945, + 0.1953352838754654, + -0.10477065294981003, + -0.024184919893741608, + 0.0, + 0.052190229296684265 + ], + [ + 0.3123716711997986, + 0.0032383324578404427, + 0.03720236197113991, + 0.18983948230743408, + -0.09808036684989929, + -0.01404373999685049, + 0.0, + 0.052190229296684265 + ], + [ + 0.310404896736145, + 0.004527201410382986, + 0.03754548355937004, + 0.16834355890750885, + -0.07856521010398865, + -0.004837927408516407, + 0.0, + 0.052190229296684265 + ], + [ + 0.30971667170524597, + 0.005119300913065672, + 0.04013534262776375, + 0.16855353116989136, + -0.077585868537426, + 0.0010467611718922853, + 0.0, + 0.052190229296684265 + ], + [ + 0.30992135405540466, + 0.00430501950904727, + 0.05343644693493843, + 0.1624559462070465, + -0.10608696937561035, + 0.020527271553874016, + 0.0, + 0.052190229296684265 + ], + [ + 0.31204789876937866, + -0.00043774404912255704, + 0.07107517123222351, + 0.12937980890274048, + -0.13096827268600464, + 0.032478488981723785, + 0.0, + 0.052190229296684265 + ], + [ + 0.3088688850402832, + -0.0023639597930014133, + 0.08549562096595764, + 0.100581593811512, + -0.14759103953838348, + 0.047164831310510635, + 0.0, + 0.05538023263216019 + ], + [ + 0.3073207139968872, + -0.005170328076928854, + 0.09712430089712143, + 0.0723172053694725, + -0.15049371123313904, + 0.1148822158575058, + 0.0, + 0.08998419344425201 + ], + [ + 0.3040049374103546, + -0.00809428934007883, + 0.10165902227163315, + 0.07731008529663086, + -0.13139192759990692, + 0.14721448719501495, + 0.0, + 0.2372342199087143 + ], + [ + 0.3011954128742218, + -0.013111514039337635, + 0.10518397390842438, + 0.0654321014881134, + -0.12582431733608246, + 0.19094738364219666, + 0.0, + 0.49661046266555786 + ], + [ + 0.2995668649673462, + -0.019450997933745384, + 0.12468911707401276, + 0.008738298900425434, + -0.20352014899253845, + 0.2871200144290924, + 0.0, + 0.7691487669944763 + ], + [ + 0.29134273529052734, + -0.03057704120874405, + 0.12133102118968964, + -0.03030138835310936, + -0.20443543791770935, + 0.36873385310173035, + 0.0, + 0.9920742511749268 + ], + [ + 0.28807178139686584, + -0.04859553277492523, + 0.12045613676309586, + -0.05162239074707031, + -0.19513361155986786, + 0.4024227559566498, + 0.0, + 1.0008161067962646 + ], + [ + 0.28467893600463867, + -0.07055200636386871, + 0.1213001012802124, + -0.06415917724370956, + -0.20691224932670593, + 0.4554896056652069, + 0.0, + 1.0008161067962646 + ], + [ + 0.2857070863246918, + -0.08533002436161041, + 0.12201836705207825, + -0.05207357555627823, + -0.2191966027021408, + 0.46468207240104675, + 0.0, + 1.0008161067962646 + ], + [ + 0.2941156327724457, + -0.09137146174907684, + 0.11712372303009033, + -0.031701814383268356, + -0.22093544900417328, + 0.5139738321304321, + 0.0, + 1.0008161067962646 + ], + [ + 0.3080519437789917, + -0.09585534781217575, + 0.121893011033535, + -0.05139472335577011, + -0.2181202471256256, + 0.585997998714447, + 0.0, + 1.0008161067962646 + ], + [ + 0.3174595832824707, + -0.09821873903274536, + 0.12350641936063766, + -0.05453898385167122, + -0.22544977068901062, + 0.5909680128097534, + 0.0, + 1.0008161067962646 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9672539830207825 + ], + [ + 0.7071652412414551 + ], + [ + 0.4130503535270691 + ], + [ + 0.18516062200069427 + ], + [ + 0.06065736711025238 + ], + [ + 0.052190229296684265 + ], + [ + 0.052190229296684265 + ], + [ + 0.052190229296684265 + ], + [ + 0.052190229296684265 + ], + [ + 0.052190229296684265 + ], + [ + 0.052190229296684265 + ], + [ + 0.052190229296684265 + ], + [ + 0.052190229296684265 + ], + [ + 0.052190229296684265 + ], + [ + 0.052190229296684265 + ], + [ + 0.052190229296684265 + ], + [ + 0.052190229296684265 + ], + [ + 0.052190229296684265 + ], + [ + 0.052190229296684265 + ], + [ + 0.052190229296684265 + ], + [ + 0.052190229296684265 + ], + [ + 0.052190229296684265 + ], + [ + 0.052190229296684265 + ], + [ + 0.052190229296684265 + ], + [ + 0.052190229296684265 + ], + [ + 0.052190229296684265 + ], + [ + 0.05538023263216019 + ], + [ + 0.08998419344425201 + ], + [ + 0.2372342199087143 + ], + [ + 0.49661046266555786 + ], + [ + 0.7691487669944763 + ], + [ + 0.9920742511749268 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.29439088702201843, + -0.005916507914662361, + 0.13516853749752045 + ], + [ + 0.29213473200798035, + -0.005526664666831493, + 0.12714721262454987 + ], + [ + 0.29528769850730896, + -0.022530125454068184, + 0.12030160427093506 + ], + [ + 0.2979488968849182, + -0.05476517602801323, + 0.1108594611287117 + ], + [ + 0.29674264788627625, + -0.08436892926692963, + 0.1059790626168251 + ], + [ + 0.2951497435569763, + -0.11225944757461548, + 0.1007227748632431 + ], + [ + 0.2930000126361847, + -0.13331153988838196, + 0.09587061405181885 + ], + [ + 0.29085594415664673, + -0.15307067334651947, + 0.0866023600101471 + ], + [ + 0.2898806631565094, + -0.1717175543308258, + 0.07160508632659912 + ], + [ + 0.2894322872161865, + -0.17761540412902832, + 0.05796106159687042 + ], + [ + 0.29000234603881836, + -0.18000949919223785, + 0.051103293895721436 + ], + [ + 0.29084837436676025, + -0.18271395564079285, + 0.04633861780166626 + ], + [ + 0.29129600524902344, + -0.18376153707504272, + 0.045504409819841385 + ], + [ + 0.29303738474845886, + -0.1773616224527359, + 0.04002324864268303 + ], + [ + 0.2961561679840088, + -0.1718255877494812, + 0.038325730711221695 + ], + [ + 0.2992551922798157, + -0.16504131257534027, + 0.03764897212386131 + ], + [ + 0.3010975122451782, + -0.15528951585292816, + 0.03550126403570175 + ], + [ + 0.3064524233341217, + -0.1387232095003128, + 0.036657776683568954 + ], + [ + 0.30878767371177673, + -0.123213991522789, + 0.03647306188941002 + ], + [ + 0.3109886944293976, + -0.10938981920480728, + 0.03627460077404976 + ], + [ + 0.3085716962814331, + -0.09704025089740753, + 0.035359978675842285 + ], + [ + 0.3102192282676697, + -0.08453348278999329, + 0.036279503256082535 + ], + [ + 0.31311094760894775, + -0.06602395325899124, + 0.03583840653300285 + ], + [ + 0.31585121154785156, + -0.05180538073182106, + 0.03647319972515106 + ], + [ + 0.3151904344558716, + -0.034818775951862335, + 0.036658309400081635 + ], + [ + 0.31397780776023865, + -0.019847678020596504, + 0.035892877727746964 + ], + [ + 0.31177017092704773, + -0.005520240403711796, + 0.03626298904418945 + ], + [ + 0.3123716711997986, + 0.0032383324578404427, + 0.03720236197113991 + ], + [ + 0.310404896736145, + 0.004527201410382986, + 0.03754548355937004 + ], + [ + 0.30971667170524597, + 0.005119300913065672, + 0.04013534262776375 + ], + [ + 0.30992135405540466, + 0.00430501950904727, + 0.05343644693493843 + ], + [ + 0.31204789876937866, + -0.00043774404912255704, + 0.07107517123222351 + ], + [ + 0.3088688850402832, + -0.0023639597930014133, + 0.08549562096595764 + ], + [ + 0.3073207139968872, + -0.005170328076928854, + 0.09712430089712143 + ], + [ + 0.3040049374103546, + -0.00809428934007883, + 0.10165902227163315 + ], + [ + 0.3011954128742218, + -0.013111514039337635, + 0.10518397390842438 + ], + [ + 0.2995668649673462, + -0.019450997933745384, + 0.12468911707401276 + ], + [ + 0.29134273529052734, + -0.03057704120874405, + 0.12133102118968964 + ], + [ + 0.28807178139686584, + -0.04859553277492523, + 0.12045613676309586 + ], + [ + 0.28467893600463867, + -0.07055200636386871, + 0.1213001012802124 + ], + [ + 0.2857070863246918, + -0.08533002436161041, + 0.12201836705207825 + ], + [ + 0.2941156327724457, + -0.09137146174907684, + 0.11712372303009033 + ], + [ + 0.3080519437789917, + -0.09585534781217575, + 0.121893011033535 + ], + [ + 0.3174595832824707, + -0.09821873903274536, + 0.12350641936063766 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.43274575351589883, + 0.8716097083364057, + 0.23027728752024837, + 0.8995991936735527, + -0.4341486562970338, + -0.04728884622587409, + 0.05875715748614227, + 0.22762130956746157, + -0.9719753782246456 + ], + [ + 0.43404879273948366, + 0.8783429921929281, + 0.20028787678481885, + 0.8996347381323043, + -0.43432578943422745, + -0.0449271251913099, + 0.04752876462751028, + 0.1996864960329294, + -0.9787064523313789 + ], + [ + 0.5431789919382912, + 0.8246636917158401, + 0.15775417041239603, + 0.8339456588853078, + -0.5517027433102981, + 0.012598454279820016, + 0.09742289640146878, + 0.12471518989077748, + -0.9873980457076343 + ], + [ + 0.7457852468641732, + 0.6563058780145776, + 0.11431080457795269, + 0.6478201647135573, + -0.7544816705127706, + 0.1052921794377861, + 0.15534928306961726, + -0.004472509784647562, + -0.9878494808957399 + ], + [ + 0.8865545732232643, + 0.4448215355070264, + 0.12710149584519972, + 0.42888894508396525, + -0.8932687048223994, + 0.1346302112071317, + 0.17342220584942272, + -0.06484460296805485, + -0.9827104944917583 + ], + [ + 0.9579676512495691, + 0.2694262513980798, + 0.09852651529899356, + 0.2599075853567752, + -0.9604970232366835, + 0.09946615216987414, + 0.12143321717468705, + -0.06967756748802778, + -0.9901510038148508 + ], + [ + 0.9692876376255287, + 0.23292928663536722, + 0.07890134963269575, + 0.22569355336156094, + -0.9699526691659481, + 0.09085284557395637, + 0.09769286318536378, + -0.07025501409431115, + -0.9927337696871473 + ], + [ + 0.9822730415929786, + 0.17074966620916437, + 0.07735776140205883, + 0.1655350727141649, + -0.9837532782827008, + 0.06948112815402202, + 0.08796483082002177, + -0.05544401642646791, + -0.9945793832476656 + ], + [ + 0.9872602295114166, + 0.1275435706408656, + 0.09513084049478303, + 0.12184429778165683, + -0.9905152048255209, + 0.06351059838760395, + 0.10232891244980698, + -0.05111033748308764, + -0.9934367252518929 + ], + [ + 0.9890104505875192, + 0.11611720670204577, + 0.09151569775938181, + 0.10920784871104024, + -0.9910154994628261, + 0.07721350661867353, + 0.0996592916319331, + -0.06637073249678486, + -0.9928055960052107 + ], + [ + 0.9888117311589574, + 0.11365815817363921, + 0.09660840234162876, + 0.10808713058245202, + -0.9922631839662358, + 0.061081469756713545, + 0.10280336825648259, + -0.04995594885260773, + -0.9934464608872277 + ], + [ + 0.9871969672587574, + 0.12219220089365793, + 0.10252421116924448, + 0.11825896724371093, + -0.9920239944986081, + 0.043625806645567235, + 0.10703721082671575, + -0.030942856684369933, + -0.9937734022998642 + ], + [ + 0.9909520810053266, + 0.0995183407937892, + 0.09005594370647656, + 0.09845525869104564, + -0.9950099008973802, + 0.016182062670291614, + 0.0912169676501698, + -0.007169167443796694, + -0.9958052359025187 + ], + [ + 0.9933770730843372, + 0.08303310537509391, + 0.07941973358154622, + 0.08195901936135365, + -0.9964958539102098, + 0.01669527732884167, + 0.0805276959543764, + -0.010075542244972535, + -0.9967014465890722 + ], + [ + 0.9940816400962216, + 0.0668143548778421, + 0.08565941165957014, + 0.06515710943680003, + -0.9976324282008081, + 0.022002029270047893, + 0.08692665824387125, + -0.01629049368241977, + -0.9960815106717602 + ], + [ + 0.9940944576737797, + 0.059967337537231415, + 0.0904440581297072, + 0.05759210661091233, + -0.9979290406821993, + 0.02864924116312411, + 0.09197477087979837, + -0.023271188018691533, + -0.9954893737905028 + ], + [ + 0.9937278434669131, + 0.045963088383125995, + 0.10194296260597578, + 0.041455572451153076, + -0.9980853242522719, + 0.04590338794669398, + 0.10385763636510138, + -0.04138937083989608, + -0.9937306030057302 + ], + [ + 0.9891951229769381, + 0.06700719435449771, + 0.1303957230256392, + 0.056680733028050406, + -0.99507197892596, + 0.08135755195295162, + 0.1352046714505217, + -0.07308756844438673, + -0.988118365458736 + ], + [ + 0.988679532874019, + 0.0762423052597721, + 0.12922806260517655, + 0.06302893320501629, + -0.9926380638334851, + 0.10342643669752784, + 0.13616216381597823, + -0.09411049419478078, + -0.9862064084294753 + ], + [ + 0.9920390110899887, + 0.05250420477820393, + 0.11446357043271779, + 0.03800510061565185, + -0.9913830256821878, + 0.12536071440616786, + 0.12005920540629736, + -0.12001251963790707, + -0.9854860639944989 + ], + [ + 0.9923181450095766, + -0.007936997858351356, + 0.12345729281718876, + -0.026504125154114655, + -0.9884080692204197, + 0.1494891971005824, + 0.12083968898738356, + -0.15161297030583587, + -0.98102562494589 + ], + [ + 0.9866889495083712, + -0.008221071978396142, + 0.16241099375840698, + -0.03437553632219452, + -0.9866969029840444, + 0.15889475807671277, + 0.15894413930884263, + -0.1623626669441643, + -0.9738455344468906 + ], + [ + 0.9879110357733311, + 0.017799185345037893, + 0.15399667008840565, + -0.008195033819832657, + -0.9860013247673776, + 0.16653596902071383, + 0.15480512529614796, + -0.16578472956828488, + -0.9739357250989485 + ], + [ + 0.9876499117669341, + 0.049436834607654315, + 0.1486729671821433, + 0.022561502015581335, + -0.9839002338872607, + 0.1772887711712011, + 0.15504396284140876, + -0.17174495375576257, + -0.9728643484298635 + ], + [ + 0.989487452040378, + 0.03434496486270959, + 0.14048133556889378, + 0.008092097607056963, + -0.9830178042881876, + 0.18333170595603068, + 0.14439217503368648, + -0.18026763392525538, + -0.9729617052834256 + ], + [ + 0.9910830517218198, + 0.019892356586892524, + 0.13175233864787533, + -0.00671108645414036, + -0.9800861674701935, + 0.19845922919378858, + 0.13307646639571385, + -0.19757377984694116, + -0.9712132904818708 + ], + [ + 0.994225736465904, + -0.0034302856688243673, + 0.10725398868602316, + -0.024049958998892187, + -0.9811866336390027, + 0.1915577966053943, + 0.10457908213874766, + -0.19303114543615046, + -0.975603501669928 + ], + [ + 0.995095837640499, + 0.0046854232982162245, + 0.09880445697978496, + -0.013975786026926656, + -0.9821971924944637, + 0.18733219814255966, + 0.097923190897168, + -0.1877943605769625, + -0.9773148555199633 + ], + [ + 0.996903674390928, + 0.008380356052959314, + 0.07818461241377575, + -0.00482298523823919, + -0.9859157365740041, + 0.16717326098730795, + 0.07848441118628868, + -0.16703272136968994, + -0.9828226020969283 + ], + [ + 0.9969911797918563, + 0.014034403597558268, + 0.07623400116026288, + 0.0010436120368902393, + -0.9858143021798453, + 0.16783644565939915, + 0.07750805307294575, + -0.16725189724880501, + -0.9828628106584947 + ], + [ + 0.9941685604647406, + 0.037378542065613876, + 0.10115195488231574, + 0.020410434865527433, + -0.9862735891111716, + 0.16385304870635542, + 0.10588808966104246, + -0.16083299417351016, + -0.9812851066092454 + ], + [ + 0.9909130444816545, + 0.049041641072324484, + 0.1252447831928802, + 0.032194679403165345, + -0.9905719901892219, + 0.1331564300763994, + 0.13059418399846787, + -0.12791422787749976, + -0.9831495864883822 + ], + [ + 0.9880282347284008, + 0.061658819152992594, + 0.1414156900776506, + 0.046634770163716796, + -0.9931433142540197, + 0.1071986733328278, + 0.14705579074370678, + -0.09932042777394574, + -0.9841290804744788 + ], + [ + 0.9821799758038604, + 0.1250914632363706, + 0.14026625023615608, + 0.11333404257677802, + -0.9895700115361561, + 0.08891899156837532, + 0.14992628162911692, + -0.07143751181078103, + -0.98611297120723 + ], + [ + 0.9806572280108724, + 0.15625437213938503, + 0.11788117889365472, + 0.14541898370167644, + -0.9847446403552529, + 0.0955579011425773, + 0.13101419896027613, + -0.07656738521674607, + -0.988419301304799 + ], + [ + 0.9740631136269507, + 0.1974392630800438, + 0.11053862703045694, + 0.18828877786927764, + -0.9781665565538967, + 0.08796319553077492, + 0.12549257667233962, + -0.0648685211323703, + -0.989971559271394 + ], + [ + 0.9392694831759119, + 0.28487434835243897, + 0.19136207467842023, + 0.2773465746707723, + -0.9585266657725698, + 0.06561637388114702, + 0.20211807314746935, + -0.008557841649269985, + -0.9793237706976488 + ], + [ + 0.9133599241679418, + 0.35453196542426046, + 0.20020173429903815, + 0.3529288989052025, + -0.9345731769942709, + 0.04487949599089149, + 0.20301438678451594, + 0.029665844590135347, + -0.9787262622527613 + ], + [ + 0.9026526765614132, + 0.3819212114047106, + 0.1983792675046333, + 0.384215904599312, + -0.9228075550631568, + 0.028361152502869524, + 0.1938976125419003, + 0.050620199500959986, + -0.9797149132543782 + ], + [ + 0.8788903726075836, + 0.42716811945934663, + 0.21231841807829185, + 0.43051891033474343, + -0.901992315929662, + 0.03260873882918643, + 0.20543899528056522, + 0.06274758737521564, + -0.9766563159559773 + ], + [ + 0.8725737244935682, + 0.43741321708213843, + 0.21745062162540868, + 0.4374157535253206, + -0.8978243528803882, + 0.05078277210617922, + 0.21744551936358364, + 0.050804614916030624, + -0.9747493714857862 + ], + [ + 0.8496311032741429, + 0.4853458895972293, + 0.20631615496668282, + 0.4796911337798679, + -0.8737751121691557, + 0.08008414029484136, + 0.21914242976235132, + 0.030926053819603696, + -0.9752026326220615 + ], + [ + 0.8134196220740801, + 0.5430389597213435, + 0.20846392169779057, + 0.5399275990099571, + -0.8382083127312951, + 0.07671383379481818, + 0.2163947925718279, + 0.050154887029252936, + -0.9750168106524519 + ], + [ + 0.8093872983471029, + 0.5462175242273593, + 0.21572811013243492, + 0.5430653142803248, + -0.8359565531400587, + 0.07909934062812621, + 0.22354477336764095, + 0.053132452316134976, + -0.9732444075415403 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.002256155014038086, + 0.00038984324783086777, + -0.008021324872970581, + 0.02877020835876465, + 0.011244341731071472, + -0.0011601448059082031, + 1.0 + ], + [ + 0.0031529664993286133, + -0.017003461718559265, + -0.006845608353614807, + 0.07562695443630219, + -0.050030991435050964, + -0.12778663635253906, + 1.0 + ], + [ + 0.002661198377609253, + -0.032235048711299896, + -0.009442143142223358, + 0.130169078707695, + -0.05840335041284561, + -0.2782648801803589, + 1.0 + ], + [ + -0.0012062489986419678, + -0.029603753238916397, + -0.004880398511886597, + 0.06136244907975197, + -0.018322452902793884, + -0.2646375596523285, + 1.0 + ], + [ + -0.0015929043292999268, + -0.027890518307685852, + -0.005256287753582001, + 0.004364892840385437, + 0.05256981402635574, + -0.1856461465358734, + 1.0 + ], + [ + -0.002149730920791626, + -0.02105209231376648, + -0.004852160811424255, + 0.00039661675691604614, + 0.02388472855091095, + -0.03616522252559662, + 0.0 + ], + [ + -0.002144068479537964, + -0.019759133458137512, + -0.009268254041671753, + -0.014962892979383469, + 0.009770259261131287, + -0.061814770102500916, + 0.0 + ], + [ + -0.0009752810001373291, + -0.018646880984306335, + -0.014997273683547974, + -0.004285871982574463, + -0.014429673552513123, + -0.044158123433589935, + 0.0 + ], + [ + -0.000448375940322876, + -0.005897849798202515, + -0.013644024729728699, + 0.015349682420492172, + 0.0026833415031433105, + -0.012819848954677582, + 0.0 + ], + [ + 0.0005700588226318359, + -0.0023940950632095337, + -0.006857767701148987, + -0.01650919020175934, + -0.00316031277179718, + -0.00109795480966568, + 0.0 + ], + [ + 0.0008460283279418945, + -0.0027044564485549927, + -0.004764676094055176, + -0.01911650039255619, + -0.0042573437094688416, + 0.01034669578075409, + 0.0 + ], + [ + 0.0004476308822631836, + -0.001047581434249878, + -0.0008342079818248749, + -0.023927433416247368, + 0.015898719429969788, + -0.020195327699184418, + 0.0 + ], + [ + 0.0017413794994354248, + 0.006399914622306824, + -0.005481161177158356, + 0.0029092999175190926, + 0.010728955268859863, + -0.01671021431684494, + 0.0 + ], + [ + 0.0031187832355499268, + 0.0055360347032547, + -0.0016975179314613342, + 0.0062445783987641335, + -0.006421521306037903, + -0.016867592930793762, + 0.0 + ], + [ + 0.0030990242958068848, + 0.00678427517414093, + -0.0006767585873603821, + 0.007019253447651863, + -0.00506843626499176, + -0.007581852376461029, + 0.0 + ], + [ + 0.0018423199653625488, + 0.00975179672241211, + -0.002147708088159561, + 0.018254060298204422, + -0.01194031536579132, + -0.0161764994263649, + 0.0 + ], + [ + 0.0053549110889434814, + 0.016566306352615356, + 0.0011565126478672028, + 0.032205525785684586, + -0.03157477080821991, + 0.015544209629297256, + 0.0 + ], + [ + 0.0023352503776550293, + 0.015509217977523804, + -0.00018471479415893555, + 0.021306723356246948, + -0.0009664297103881836, + 0.006427202373743057, + 0.0 + ], + [ + 0.0022010207176208496, + 0.01382417231798172, + -0.00019846111536026, + 0.026044629514217377, + 0.016236938536167145, + -0.025373104959726334, + 0.0 + ], + [ + -0.0024169981479644775, + 0.01234956830739975, + -0.0009146220982074738, + 0.032148994505405426, + -0.0007862076163291931, + -0.06499431282281876, + 0.0 + ], + [ + 0.0016475319862365723, + 0.012506768107414246, + 0.0009195245802402496, + 0.011871397495269775, + -0.03848537802696228, + -0.008122244849801064, + 0.0 + ], + [ + 0.002891719341278076, + 0.018509529531002045, + -0.0004410967230796814, + 0.003401651978492737, + 0.004190906882286072, + 0.02653007209300995, + 0.0 + ], + [ + 0.0027402639389038086, + 0.014218572527170181, + 0.0006347931921482086, + 0.006129652261734009, + -0.00024175643920898438, + 0.031134776771068573, + 0.0 + ], + [ + -0.0006607770919799805, + 0.016986604779958725, + 0.0001851096749305725, + 0.008464783430099487, + 0.010773271322250366, + -0.014661762863397598, + 0.0 + ], + [ + -0.0012126266956329346, + 0.014971097931265831, + -0.000765431672334671, + 0.017491519451141357, + 0.011426270008087158, + -0.014949250966310501, + 0.0 + ], + [ + -0.002207636833190918, + 0.014327437616884708, + 0.0003701113164424896, + -0.00535602867603302, + 0.02870175987482071, + -0.017413556575775146, + 0.0 + ], + [ + 0.0006015002727508545, + 0.008758572861552238, + 0.0009393729269504547, + -0.005495801568031311, + 0.006690286099910736, + 0.010141179896891117, + 0.0 + ], + [ + -0.0019667744636535645, + 0.0012888689525425434, + 0.00034312158823013306, + -0.021495923399925232, + 0.019515156745910645, + 0.009205812588334084, + 0.0 + ], + [ + -0.0006882250308990479, + 0.0005920995026826859, + 0.0025898590683937073, + 0.00020997226238250732, + 0.0009793415665626526, + 0.005884688347578049, + 0.0 + ], + [ + 0.0002046823501586914, + -0.0008142814040184021, + 0.013301104307174683, + -0.006097584962844849, + -0.028501100838184357, + 0.0194805096834898, + 0.0 + ], + [ + 0.002126544713973999, + -0.0047427634708583355, + 0.01763872429728508, + -0.03307613730430603, + -0.024881303310394287, + 0.01195121742784977, + 0.0 + ], + [ + -0.003179013729095459, + -0.0019262157147750258, + 0.01442044973373413, + -0.028798215091228485, + -0.016622766852378845, + 0.01468634232878685, + 1.0 + ], + [ + -0.001548171043395996, + -0.0028063682839274406, + 0.011628679931163788, + -0.02826438844203949, + -0.002902671694755554, + 0.06771738827228546, + 1.0 + ], + [ + -0.0033157765865325928, + -0.0029239612631499767, + 0.004534721374511719, + 0.004992879927158356, + 0.019101783633232117, + 0.032332271337509155, + 1.0 + ], + [ + -0.0028095245361328125, + -0.005017224699258804, + 0.0035249516367912292, + -0.011877983808517456, + 0.005567610263824463, + 0.0437328964471817, + 1.0 + ], + [ + -0.0016285479068756104, + -0.006339483894407749, + 0.01950514316558838, + -0.056693803519010544, + -0.077695831656456, + 0.09617263078689575, + 1.0 + ], + [ + -0.008224129676818848, + -0.011126043274998665, + -0.00335809588432312, + -0.03903968632221222, + -0.0009152889251708984, + 0.08161383867263794, + 1.0 + ], + [ + -0.003270953893661499, + -0.018018491566181183, + -0.0008748844265937805, + -0.021321002393960953, + 0.009301826357841492, + 0.033688902854919434, + 1.0 + ], + [ + -0.003392845392227173, + -0.02195647358894348, + 0.0008439645171165466, + -0.012536786496639252, + -0.011778637766838074, + 0.05306684970855713, + 1.0 + ], + [ + 0.0010281503200531006, + -0.0147780179977417, + 0.0007182657718658447, + 0.012085601687431335, + -0.012284353375434875, + 0.009192466735839844, + 1.0 + ], + [ + 0.008408546447753906, + -0.006041437387466431, + -0.004894644021987915, + 0.020371761173009872, + -0.0017388463020324707, + 0.049291759729385376, + 1.0 + ], + [ + 0.01393631100654602, + -0.0044838860630989075, + 0.004769288003444672, + -0.019692908972501755, + 0.0028152018785476685, + 0.07202416658401489, + 1.0 + ], + [ + 0.009407639503479004, + -0.0023633912205696106, + 0.0016134083271026611, + -0.003144260495901108, + -0.00732952356338501, + 0.0049700140953063965, + 1.0 + ], + [ + 0.008267968893051147, + -0.0012614428997039795, + -0.0023142099380493164, + 0.013725180178880692, + -0.004686787724494934, + -0.000660240650177002, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9672539830207825 + ], + [ + 0.7071652412414551 + ], + [ + 0.4130503535270691 + ], + [ + 0.18516062200069427 + ], + [ + 0.06065736711025238 + ], + [ + 0.052190229296684265 + ], + [ + 0.052190229296684265 + ], + [ + 0.052190229296684265 + ], + [ + 0.052190229296684265 + ], + [ + 0.052190229296684265 + ], + [ + 0.052190229296684265 + ], + [ + 0.052190229296684265 + ], + [ + 0.052190229296684265 + ], + [ + 0.052190229296684265 + ], + [ + 0.052190229296684265 + ], + [ + 0.052190229296684265 + ], + [ + 0.052190229296684265 + ], + [ + 0.052190229296684265 + ], + [ + 0.052190229296684265 + ], + [ + 0.052190229296684265 + ], + [ + 0.052190229296684265 + ], + [ + 0.052190229296684265 + ], + [ + 0.052190229296684265 + ], + [ + 0.052190229296684265 + ], + [ + 0.052190229296684265 + ], + [ + 0.052190229296684265 + ], + [ + 0.05538023263216019 + ], + [ + 0.08998419344425201 + ], + [ + 0.2372342199087143 + ], + [ + 0.49661046266555786 + ], + [ + 0.7691487669944763 + ], + [ + 0.9920742511749268 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.29213473200798035, + -0.005526664666831493, + 0.12714721262454987 + ], + [ + 0.29528769850730896, + -0.022530125454068184, + 0.12030160427093506 + ], + [ + 0.2979488968849182, + -0.05476517602801323, + 0.1108594611287117 + ], + [ + 0.29674264788627625, + -0.08436892926692963, + 0.1059790626168251 + ], + [ + 0.2951497435569763, + -0.11225944757461548, + 0.1007227748632431 + ], + [ + 0.2930000126361847, + -0.13331153988838196, + 0.09587061405181885 + ], + [ + 0.29085594415664673, + -0.15307067334651947, + 0.0866023600101471 + ], + [ + 0.2898806631565094, + -0.1717175543308258, + 0.07160508632659912 + ], + [ + 0.2894322872161865, + -0.17761540412902832, + 0.05796106159687042 + ], + [ + 0.29000234603881836, + -0.18000949919223785, + 0.051103293895721436 + ], + [ + 0.29084837436676025, + -0.18271395564079285, + 0.04633861780166626 + ], + [ + 0.29129600524902344, + -0.18376153707504272, + 0.045504409819841385 + ], + [ + 0.29303738474845886, + -0.1773616224527359, + 0.04002324864268303 + ], + [ + 0.2961561679840088, + -0.1718255877494812, + 0.038325730711221695 + ], + [ + 0.2992551922798157, + -0.16504131257534027, + 0.03764897212386131 + ], + [ + 0.3010975122451782, + -0.15528951585292816, + 0.03550126403570175 + ], + [ + 0.3064524233341217, + -0.1387232095003128, + 0.036657776683568954 + ], + [ + 0.30878767371177673, + -0.123213991522789, + 0.03647306188941002 + ], + [ + 0.3109886944293976, + -0.10938981920480728, + 0.03627460077404976 + ], + [ + 0.3085716962814331, + -0.09704025089740753, + 0.035359978675842285 + ], + [ + 0.3102192282676697, + -0.08453348278999329, + 0.036279503256082535 + ], + [ + 0.31311094760894775, + -0.06602395325899124, + 0.03583840653300285 + ], + [ + 0.31585121154785156, + -0.05180538073182106, + 0.03647319972515106 + ], + [ + 0.3151904344558716, + -0.034818775951862335, + 0.036658309400081635 + ], + [ + 0.31397780776023865, + -0.019847678020596504, + 0.035892877727746964 + ], + [ + 0.31177017092704773, + -0.005520240403711796, + 0.03626298904418945 + ], + [ + 0.3123716711997986, + 0.0032383324578404427, + 0.03720236197113991 + ], + [ + 0.310404896736145, + 0.004527201410382986, + 0.03754548355937004 + ], + [ + 0.30971667170524597, + 0.005119300913065672, + 0.04013534262776375 + ], + [ + 0.30992135405540466, + 0.00430501950904727, + 0.05343644693493843 + ], + [ + 0.31204789876937866, + -0.00043774404912255704, + 0.07107517123222351 + ], + [ + 0.3088688850402832, + -0.0023639597930014133, + 0.08549562096595764 + ], + [ + 0.3073207139968872, + -0.005170328076928854, + 0.09712430089712143 + ], + [ + 0.3040049374103546, + -0.00809428934007883, + 0.10165902227163315 + ], + [ + 0.3011954128742218, + -0.013111514039337635, + 0.10518397390842438 + ], + [ + 0.2995668649673462, + -0.019450997933745384, + 0.12468911707401276 + ], + [ + 0.29134273529052734, + -0.03057704120874405, + 0.12133102118968964 + ], + [ + 0.28807178139686584, + -0.04859553277492523, + 0.12045613676309586 + ], + [ + 0.28467893600463867, + -0.07055200636386871, + 0.1213001012802124 + ], + [ + 0.2857070863246918, + -0.08533002436161041, + 0.12201836705207825 + ], + [ + 0.2941156327724457, + -0.09137146174907684, + 0.11712372303009033 + ], + [ + 0.3080519437789917, + -0.09585534781217575, + 0.121893011033535 + ], + [ + 0.3174595832824707, + -0.09821873903274536, + 0.12350641936063766 + ], + [ + 0.32572755217552185, + -0.09948018193244934, + 0.12119220942258835 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.43404879273948366, + 0.8783429921929281, + 0.20028787678481885, + 0.8996347381323043, + -0.43432578943422745, + -0.0449271251913099, + 0.04752876462751028, + 0.1996864960329294, + -0.9787064523313789 + ], + [ + 0.5431789919382912, + 0.8246636917158401, + 0.15775417041239603, + 0.8339456588853078, + -0.5517027433102981, + 0.012598454279820016, + 0.09742289640146878, + 0.12471518989077748, + -0.9873980457076343 + ], + [ + 0.7457852468641732, + 0.6563058780145776, + 0.11431080457795269, + 0.6478201647135573, + -0.7544816705127706, + 0.1052921794377861, + 0.15534928306961726, + -0.004472509784647562, + -0.9878494808957399 + ], + [ + 0.8865545732232643, + 0.4448215355070264, + 0.12710149584519972, + 0.42888894508396525, + -0.8932687048223994, + 0.1346302112071317, + 0.17342220584942272, + -0.06484460296805485, + -0.9827104944917583 + ], + [ + 0.9579676512495691, + 0.2694262513980798, + 0.09852651529899356, + 0.2599075853567752, + -0.9604970232366835, + 0.09946615216987414, + 0.12143321717468705, + -0.06967756748802778, + -0.9901510038148508 + ], + [ + 0.9692876376255287, + 0.23292928663536722, + 0.07890134963269575, + 0.22569355336156094, + -0.9699526691659481, + 0.09085284557395637, + 0.09769286318536378, + -0.07025501409431115, + -0.9927337696871473 + ], + [ + 0.9822730415929786, + 0.17074966620916437, + 0.07735776140205883, + 0.1655350727141649, + -0.9837532782827008, + 0.06948112815402202, + 0.08796483082002177, + -0.05544401642646791, + -0.9945793832476656 + ], + [ + 0.9872602295114166, + 0.1275435706408656, + 0.09513084049478303, + 0.12184429778165683, + -0.9905152048255209, + 0.06351059838760395, + 0.10232891244980698, + -0.05111033748308764, + -0.9934367252518929 + ], + [ + 0.9890104505875192, + 0.11611720670204577, + 0.09151569775938181, + 0.10920784871104024, + -0.9910154994628261, + 0.07721350661867353, + 0.0996592916319331, + -0.06637073249678486, + -0.9928055960052107 + ], + [ + 0.9888117311589574, + 0.11365815817363921, + 0.09660840234162876, + 0.10808713058245202, + -0.9922631839662358, + 0.061081469756713545, + 0.10280336825648259, + -0.04995594885260773, + -0.9934464608872277 + ], + [ + 0.9871969672587574, + 0.12219220089365793, + 0.10252421116924448, + 0.11825896724371093, + -0.9920239944986081, + 0.043625806645567235, + 0.10703721082671575, + -0.030942856684369933, + -0.9937734022998642 + ], + [ + 0.9909520810053266, + 0.0995183407937892, + 0.09005594370647656, + 0.09845525869104564, + -0.9950099008973802, + 0.016182062670291614, + 0.0912169676501698, + -0.007169167443796694, + -0.9958052359025187 + ], + [ + 0.9933770730843372, + 0.08303310537509391, + 0.07941973358154622, + 0.08195901936135365, + -0.9964958539102098, + 0.01669527732884167, + 0.0805276959543764, + -0.010075542244972535, + -0.9967014465890722 + ], + [ + 0.9940816400962216, + 0.0668143548778421, + 0.08565941165957014, + 0.06515710943680003, + -0.9976324282008081, + 0.022002029270047893, + 0.08692665824387125, + -0.01629049368241977, + -0.9960815106717602 + ], + [ + 0.9940944576737797, + 0.059967337537231415, + 0.0904440581297072, + 0.05759210661091233, + -0.9979290406821993, + 0.02864924116312411, + 0.09197477087979837, + -0.023271188018691533, + -0.9954893737905028 + ], + [ + 0.9937278434669131, + 0.045963088383125995, + 0.10194296260597578, + 0.041455572451153076, + -0.9980853242522719, + 0.04590338794669398, + 0.10385763636510138, + -0.04138937083989608, + -0.9937306030057302 + ], + [ + 0.9891951229769381, + 0.06700719435449771, + 0.1303957230256392, + 0.056680733028050406, + -0.99507197892596, + 0.08135755195295162, + 0.1352046714505217, + -0.07308756844438673, + -0.988118365458736 + ], + [ + 0.988679532874019, + 0.0762423052597721, + 0.12922806260517655, + 0.06302893320501629, + -0.9926380638334851, + 0.10342643669752784, + 0.13616216381597823, + -0.09411049419478078, + -0.9862064084294753 + ], + [ + 0.9920390110899887, + 0.05250420477820393, + 0.11446357043271779, + 0.03800510061565185, + -0.9913830256821878, + 0.12536071440616786, + 0.12005920540629736, + -0.12001251963790707, + -0.9854860639944989 + ], + [ + 0.9923181450095766, + -0.007936997858351356, + 0.12345729281718876, + -0.026504125154114655, + -0.9884080692204197, + 0.1494891971005824, + 0.12083968898738356, + -0.15161297030583587, + -0.98102562494589 + ], + [ + 0.9866889495083712, + -0.008221071978396142, + 0.16241099375840698, + -0.03437553632219452, + -0.9866969029840444, + 0.15889475807671277, + 0.15894413930884263, + -0.1623626669441643, + -0.9738455344468906 + ], + [ + 0.9879110357733311, + 0.017799185345037893, + 0.15399667008840565, + -0.008195033819832657, + -0.9860013247673776, + 0.16653596902071383, + 0.15480512529614796, + -0.16578472956828488, + -0.9739357250989485 + ], + [ + 0.9876499117669341, + 0.049436834607654315, + 0.1486729671821433, + 0.022561502015581335, + -0.9839002338872607, + 0.1772887711712011, + 0.15504396284140876, + -0.17174495375576257, + -0.9728643484298635 + ], + [ + 0.989487452040378, + 0.03434496486270959, + 0.14048133556889378, + 0.008092097607056963, + -0.9830178042881876, + 0.18333170595603068, + 0.14439217503368648, + -0.18026763392525538, + -0.9729617052834256 + ], + [ + 0.9910830517218198, + 0.019892356586892524, + 0.13175233864787533, + -0.00671108645414036, + -0.9800861674701935, + 0.19845922919378858, + 0.13307646639571385, + -0.19757377984694116, + -0.9712132904818708 + ], + [ + 0.994225736465904, + -0.0034302856688243673, + 0.10725398868602316, + -0.024049958998892187, + -0.9811866336390027, + 0.1915577966053943, + 0.10457908213874766, + -0.19303114543615046, + -0.975603501669928 + ], + [ + 0.995095837640499, + 0.0046854232982162245, + 0.09880445697978496, + -0.013975786026926656, + -0.9821971924944637, + 0.18733219814255966, + 0.097923190897168, + -0.1877943605769625, + -0.9773148555199633 + ], + [ + 0.996903674390928, + 0.008380356052959314, + 0.07818461241377575, + -0.00482298523823919, + -0.9859157365740041, + 0.16717326098730795, + 0.07848441118628868, + -0.16703272136968994, + -0.9828226020969283 + ], + [ + 0.9969911797918563, + 0.014034403597558268, + 0.07623400116026288, + 0.0010436120368902393, + -0.9858143021798453, + 0.16783644565939915, + 0.07750805307294575, + -0.16725189724880501, + -0.9828628106584947 + ], + [ + 0.9941685604647406, + 0.037378542065613876, + 0.10115195488231574, + 0.020410434865527433, + -0.9862735891111716, + 0.16385304870635542, + 0.10588808966104246, + -0.16083299417351016, + -0.9812851066092454 + ], + [ + 0.9909130444816545, + 0.049041641072324484, + 0.1252447831928802, + 0.032194679403165345, + -0.9905719901892219, + 0.1331564300763994, + 0.13059418399846787, + -0.12791422787749976, + -0.9831495864883822 + ], + [ + 0.9880282347284008, + 0.061658819152992594, + 0.1414156900776506, + 0.046634770163716796, + -0.9931433142540197, + 0.1071986733328278, + 0.14705579074370678, + -0.09932042777394574, + -0.9841290804744788 + ], + [ + 0.9821799758038604, + 0.1250914632363706, + 0.14026625023615608, + 0.11333404257677802, + -0.9895700115361561, + 0.08891899156837532, + 0.14992628162911692, + -0.07143751181078103, + -0.98611297120723 + ], + [ + 0.9806572280108724, + 0.15625437213938503, + 0.11788117889365472, + 0.14541898370167644, + -0.9847446403552529, + 0.0955579011425773, + 0.13101419896027613, + -0.07656738521674607, + -0.988419301304799 + ], + [ + 0.9740631136269507, + 0.1974392630800438, + 0.11053862703045694, + 0.18828877786927764, + -0.9781665565538967, + 0.08796319553077492, + 0.12549257667233962, + -0.0648685211323703, + -0.989971559271394 + ], + [ + 0.9392694831759119, + 0.28487434835243897, + 0.19136207467842023, + 0.2773465746707723, + -0.9585266657725698, + 0.06561637388114702, + 0.20211807314746935, + -0.008557841649269985, + -0.9793237706976488 + ], + [ + 0.9133599241679418, + 0.35453196542426046, + 0.20020173429903815, + 0.3529288989052025, + -0.9345731769942709, + 0.04487949599089149, + 0.20301438678451594, + 0.029665844590135347, + -0.9787262622527613 + ], + [ + 0.9026526765614132, + 0.3819212114047106, + 0.1983792675046333, + 0.384215904599312, + -0.9228075550631568, + 0.028361152502869524, + 0.1938976125419003, + 0.050620199500959986, + -0.9797149132543782 + ], + [ + 0.8788903726075836, + 0.42716811945934663, + 0.21231841807829185, + 0.43051891033474343, + -0.901992315929662, + 0.03260873882918643, + 0.20543899528056522, + 0.06274758737521564, + -0.9766563159559773 + ], + [ + 0.8725737244935682, + 0.43741321708213843, + 0.21745062162540868, + 0.4374157535253206, + -0.8978243528803882, + 0.05078277210617922, + 0.21744551936358364, + 0.050804614916030624, + -0.9747493714857862 + ], + [ + 0.8496311032741429, + 0.4853458895972293, + 0.20631615496668282, + 0.4796911337798679, + -0.8737751121691557, + 0.08008414029484136, + 0.21914242976235132, + 0.030926053819603696, + -0.9752026326220615 + ], + [ + 0.8134196220740801, + 0.5430389597213435, + 0.20846392169779057, + 0.5399275990099571, + -0.8382083127312951, + 0.07671383379481818, + 0.2163947925718279, + 0.050154887029252936, + -0.9750168106524519 + ], + [ + 0.8093872983471029, + 0.5462175242273593, + 0.21572811013243492, + 0.5430653142803248, + -0.8359565531400587, + 0.07909934062812621, + 0.22354477336764095, + 0.053132452316134976, + -0.9732444075415403 + ], + [ + 0.8088663826385118, + 0.5484208415552532, + 0.2120607356044884, + 0.5419416778970527, + -0.8352582640914212, + 0.09296692973909161, + 0.2281104837472755, + 0.03972672670651199, + -0.9728244417107181 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005943.json b/json/chunk-0005/episode_0005943.json new file mode 100644 index 0000000000000000000000000000000000000000..bfd5a9f1d4c20ccce5404a1c09c82c99f16d9518 --- /dev/null +++ b/json/chunk-0005/episode_0005943.json @@ -0,0 +1,2182 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 35, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the yellow cloth to the bottom-left of the stove." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005943.mp4", + "start": 0, + "end": 35, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.38014158606529236, + 0.051389358937740326, + 0.09857264906167984, + -0.010210476815700531, + -0.16397224366664886, + 0.017878985032439232, + 0.0, + 1.0014774799346924 + ], + [ + 0.3787921071052551, + 0.05053285136818886, + 0.08719561249017715, + -0.018328305333852768, + -0.13263626396656036, + 0.017527183517813683, + 0.0, + 1.0014774799346924 + ], + [ + 0.36933621764183044, + 0.04890041798353195, + 0.08464377373456955, + -0.050845853984355927, + -0.0787176787853241, + -0.042325496673583984, + 0.0, + 1.0014774799346924 + ], + [ + 0.3523077368736267, + 0.05493948236107826, + 0.1013113334774971, + -0.10086503624916077, + -0.12544800341129303, + -0.10790903866291046, + 0.0, + 1.0014774799346924 + ], + [ + 0.31175220012664795, + 0.06729075312614441, + 0.11633848398923874, + -0.08565708994865417, + -0.15877380967140198, + -0.1429464966058731, + 0.0, + 1.0014774799346924 + ], + [ + 0.29451441764831543, + 0.09247904270887375, + 0.09722535312175751, + -0.0027953083626925945, + -0.13283146917819977, + -0.12721794843673706, + 0.0, + 1.0014774799346924 + ], + [ + 0.2907256484031677, + 0.11484638601541519, + 0.061390507966279984, + 0.0796370878815651, + -0.07305439561605453, + -0.09317288547754288, + 0.0, + 1.0014774799346924 + ], + [ + 0.29214200377464294, + 0.1307586282491684, + 0.03897138684988022, + 0.07786080986261368, + -0.027156561613082886, + -0.030376797541975975, + 0.0, + 1.0014774799346924 + ], + [ + 0.28695788979530334, + 0.14508230984210968, + 0.01982581615447998, + 0.06763403862714767, + 0.0252082496881485, + 0.026538262143731117, + 0.0, + 1.0014774799346924 + ], + [ + 0.2850184440612793, + 0.14581549167633057, + 0.01720975898206234, + 0.04836026951670647, + 0.030497709289193153, + 0.02180878259241581, + 0.0, + 1.0008161067962646 + ], + [ + 0.28083211183547974, + 0.13388295471668243, + 0.011780447326600552, + 0.005308481398969889, + 0.04348405450582504, + -0.028519190847873688, + 0.0, + 1.0008161067962646 + ], + [ + 0.27689269185066223, + 0.09465007483959198, + 0.019781803712248802, + -0.04004655033349991, + 0.03266262635588646, + -0.13604697585105896, + 0.0, + 1.0008161067962646 + ], + [ + 0.2830132842063904, + 0.05205899104475975, + 0.04341927170753479, + -0.016419384628534317, + -0.033395275473594666, + -0.23813989758491516, + 0.0, + 1.0008161067962646 + ], + [ + 0.2852843701839447, + 0.015542027540504932, + 0.051205649971961975, + -0.024670779705047607, + -0.05020672082901001, + -0.2669016420841217, + 0.0, + 1.0008161067962646 + ], + [ + 0.28352993726730347, + -0.0016330427024513483, + 0.05151045322418213, + -0.02125535160303116, + -0.033400069922208786, + -0.2633269131183624, + 0.0, + 1.0008161067962646 + ], + [ + 0.2780928611755371, + 0.026646271347999573, + 0.07553905248641968, + -0.005004920531064272, + -0.11992230266332626, + -0.2240704894065857, + 0.0, + 1.0008161067962646 + ], + [ + 0.26888054609298706, + 0.07085847854614258, + 0.07317499816417694, + 0.0003672862076200545, + -0.13503502309322357, + -0.12586171925067902, + 0.0, + 1.0008161067962646 + ], + [ + 0.2735142707824707, + 0.09210056066513062, + 0.04277772828936577, + -0.04367554560303688, + -0.05475205183029175, + -0.060249876230955124, + 0.0, + 1.0008161067962646 + ], + [ + 0.27529916167259216, + 0.09446529299020767, + 0.028195030987262726, + -0.05105737969279289, + -0.027234502136707306, + -0.0770820900797844, + 0.0, + 1.0008161067962646 + ], + [ + 0.2748042345046997, + 0.09352812170982361, + 0.012913236394524574, + -0.02458157017827034, + 0.012215862050652504, + -0.09212755411863327, + 0.0, + 1.0014774799346924 + ], + [ + 0.27650392055511475, + 0.08900357037782669, + 0.007939939387142658, + 0.019315751269459724, + 0.026285141706466675, + -0.11041175574064255, + 0.0, + 1.0014774799346924 + ], + [ + 0.27693378925323486, + 0.07724765688180923, + 0.005435703322291374, + 0.04254209250211716, + 0.023624183610081673, + -0.12666955590248108, + 0.0, + 1.0008161067962646 + ], + [ + 0.28116559982299805, + 0.043992314487695694, + 0.0034289746545255184, + 0.0010823920601978898, + 0.0068510486744344234, + -0.17661011219024658, + 0.0, + 1.0014774799346924 + ], + [ + 0.28235989809036255, + 0.020482774823904037, + 0.002909017726778984, + -0.03861910104751587, + -0.002794551430270076, + -0.1993962526321411, + 0.0, + 1.0001531839370728 + ], + [ + 0.2824728786945343, + 0.008664852008223534, + 0.0030635278671979904, + -0.058607421815395355, + -0.0037369721103459597, + -0.20890209078788757, + 0.0, + 0.9974852800369263 + ], + [ + 0.283111572265625, + 0.004569272976368666, + 0.004221656825393438, + -0.08319328725337982, + -0.011702023446559906, + -0.1809372454881668, + 0.0, + 0.9954678416252136 + ], + [ + 0.2766280174255371, + -0.05512961000204086, + 0.009138848632574081, + -0.1398071050643921, + -0.031863678246736526, + -0.2559206187725067, + 0.0, + 1.0054124593734741 + ], + [ + 0.25280827283859253, + -0.09581982344388962, + 0.008041664958000183, + -0.11704645305871964, + -0.03434811532497406, + -0.4479529857635498, + 0.0, + 1.003452181816101 + ], + [ + 0.2503495216369629, + -0.09378963708877563, + 0.008334742859005928, + -0.10211116075515747, + -0.04203544929623604, + -0.47141969203948975, + 0.0, + 1.0001531839370728 + ], + [ + 0.24954882264137268, + -0.09036949276924133, + 0.008369320072233677, + -0.08773825317621231, + -0.03399093821644783, + -0.41479021310806274, + 0.0, + 1.0001531839370728 + ], + [ + 0.25363487005233765, + -0.08068478852510452, + 0.01264976616948843, + -0.1256210207939148, + -0.04050213471055031, + -0.3096746504306793, + 0.0, + 1.0001531839370728 + ], + [ + 0.27133050560951233, + -0.0638970360159874, + 0.03022138774394989, + -0.16101789474487305, + -0.0683922991156578, + -0.14900191128253937, + 0.0, + 1.0001531839370728 + ], + [ + 0.28425654768943787, + -0.05714354291558266, + 0.04467722773551941, + -0.1806916743516922, + -0.09594525396823883, + -0.10416298359632492, + 0.0, + 1.0001531839370728 + ], + [ + 0.2857207953929901, + -0.05863143131136894, + 0.059250880032777786, + -0.20085810124874115, + -0.13724133372306824, + -0.11528696119785309, + 0.0, + 1.0001531839370728 + ], + [ + 0.2848980724811554, + -0.05921343341469765, + 0.07056194543838501, + -0.20143991708755493, + -0.16437207162380219, + -0.13449148833751678, + 0.0, + 1.0001531839370728 + ] + ], + "left_gripper_pos": [ + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 1.0001531839370728 + ], + [ + 0.9974852800369263 + ], + [ + 0.9954678416252136 + ], + [ + 1.0054124593734741 + ], + [ + 1.003452181816101 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.38014158606529236, + 0.051389358937740326, + 0.09857264906167984 + ], + [ + 0.3787921071052551, + 0.05053285136818886, + 0.08719561249017715 + ], + [ + 0.36933621764183044, + 0.04890041798353195, + 0.08464377373456955 + ], + [ + 0.3523077368736267, + 0.05493948236107826, + 0.1013113334774971 + ], + [ + 0.31175220012664795, + 0.06729075312614441, + 0.11633848398923874 + ], + [ + 0.29451441764831543, + 0.09247904270887375, + 0.09722535312175751 + ], + [ + 0.2907256484031677, + 0.11484638601541519, + 0.061390507966279984 + ], + [ + 0.29214200377464294, + 0.1307586282491684, + 0.03897138684988022 + ], + [ + 0.28695788979530334, + 0.14508230984210968, + 0.01982581615447998 + ], + [ + 0.2850184440612793, + 0.14581549167633057, + 0.01720975898206234 + ], + [ + 0.28083211183547974, + 0.13388295471668243, + 0.011780447326600552 + ], + [ + 0.27689269185066223, + 0.09465007483959198, + 0.019781803712248802 + ], + [ + 0.2830132842063904, + 0.05205899104475975, + 0.04341927170753479 + ], + [ + 0.2852843701839447, + 0.015542027540504932, + 0.051205649971961975 + ], + [ + 0.28352993726730347, + -0.0016330427024513483, + 0.05151045322418213 + ], + [ + 0.2780928611755371, + 0.026646271347999573, + 0.07553905248641968 + ], + [ + 0.26888054609298706, + 0.07085847854614258, + 0.07317499816417694 + ], + [ + 0.2735142707824707, + 0.09210056066513062, + 0.04277772828936577 + ], + [ + 0.27529916167259216, + 0.09446529299020767, + 0.028195030987262726 + ], + [ + 0.2748042345046997, + 0.09352812170982361, + 0.012913236394524574 + ], + [ + 0.27650392055511475, + 0.08900357037782669, + 0.007939939387142658 + ], + [ + 0.27693378925323486, + 0.07724765688180923, + 0.005435703322291374 + ], + [ + 0.28116559982299805, + 0.043992314487695694, + 0.0034289746545255184 + ], + [ + 0.28235989809036255, + 0.020482774823904037, + 0.002909017726778984 + ], + [ + 0.2824728786945343, + 0.008664852008223534, + 0.0030635278671979904 + ], + [ + 0.283111572265625, + 0.004569272976368666, + 0.004221656825393438 + ], + [ + 0.2766280174255371, + -0.05512961000204086, + 0.009138848632574081 + ], + [ + 0.25280827283859253, + -0.09581982344388962, + 0.008041664958000183 + ], + [ + 0.2503495216369629, + -0.09378963708877563, + 0.008334742859005928 + ], + [ + 0.24954882264137268, + -0.09036949276924133, + 0.008369320072233677 + ], + [ + 0.25363487005233765, + -0.08068478852510452, + 0.01264976616948843 + ], + [ + 0.27133050560951233, + -0.0638970360159874, + 0.03022138774394989 + ], + [ + 0.28425654768943787, + -0.05714354291558266, + 0.04467722773551941 + ], + [ + 0.2857207953929901, + -0.05863143131136894, + 0.059250880032777786 + ], + [ + 0.2848980724811554, + -0.05921343341469765, + 0.07056194543838501 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9864289647128253, + 0.016210653569082387, + 0.1633863895385631, + 0.01763822813658261, + -0.9998178546268169, + -0.00729043741013787, + 0.16323844670844473, + 0.010073345039879679, + -0.9865352184468236 + ], + [ + 0.9910644506128911, + 0.01509997405422206, + 0.13252639554039936, + 0.0173723474812095, + -0.9997209491352507, + -0.016007042297245033, + 0.13224770801174845, + 0.01816630517401649, + -0.9910502152171523 + ], + [ + 0.996010546233148, + -0.04625120996278281, + 0.07631393954792352, + -0.042181832919006915, + -0.9976440872285731, + -0.0541014619900385, + 0.07863640864089948, + 0.05066656486130845, + -0.9956149930777538 + ], + [ + 0.9863708880653385, + -0.11967783373720148, + 0.11291451319102355, + -0.10685340313760475, + -0.9877735795784327, + -0.11351522243611971, + 0.1251192287984049, + 0.09990281076516304, + -0.9870990867112136 + ], + [ + 0.977350720584149, + -0.15532638273224883, + 0.14373337747704948, + -0.1406682938237148, + -0.9842446191694753, + -0.10712124321841975, + 0.15810755859973954, + 0.0844762952741759, + -0.9838016850211125 + ], + [ + 0.9831807584403016, + -0.12724179420199286, + 0.13101573203631303, + -0.12575740850319364, + -0.9918678587079042, + -0.019576135184398036, + 0.13244119615630992, + 0.002770680503890767, + -0.9911869918891345 + ], + [ + 0.993006829372241, + -0.08696192619313993, + 0.07984397418006806, + -0.09278997615073704, + -0.9930471636723703, + 0.0724386019205627, + 0.07298943174209635, + -0.07934074687724449, + -0.9941718104728813 + ], + [ + 0.9991701139074198, + -0.02816904784938681, + 0.029420880637610607, + -0.0303609273481887, + -0.9965745834346823, + 0.07692407778158585, + 0.027153223837908858, + -0.07775348477880857, + -0.9966027784628939 + ], + [ + 0.9993302817585343, + 0.02477162367297915, + -0.026932408377505112, + 0.02652671668421381, + -0.9974075776337703, + 0.06689138495120331, + -0.025205579984675246, + -0.06756101493715821, + -0.9973967054278339 + ], + [ + 0.999297289417976, + 0.020307835010280648, + -0.03150427271150418, + 0.021796913144079617, + -0.9986254912090143, + 0.04766574120837684, + -0.030492981803606163, + -0.04831894188358976, + -0.9983663946247264 + ], + [ + 0.9986484572995779, + -0.028745589872901864, + -0.04330069047985131, + -0.0284883699797639, + -0.999572691005108, + 0.006545851564347806, + -0.043470352069761874, + -0.00530343847567872, + -0.9990406408306247 + ], + [ + 0.9902314276362381, + -0.13422358403642587, + -0.03775909440008222, + -0.13555534624164567, + -0.9901428532451064, + -0.03524029331528226, + -0.03265681899397665, + 0.04001449307508586, + -0.9986652955405723 + ], + [ + 0.9712366105346115, + -0.23639636276792217, + 0.028569319686265023, + -0.23576389982709225, + -0.9715181358224357, + -0.023830554051888043, + 0.03338906850392612, + 0.016409492319876835, + -0.9993077097001923 + ], + [ + 0.9633772222923375, + -0.2648579535563467, + 0.04188785034164747, + -0.26341171204264596, + -0.9639726516698104, + -0.03702697383579147, + 0.05018563068311822, + 0.024637192831536345, + -0.9984359825258299 + ], + [ + 0.9649908417351827, + -0.2609207012137014, + 0.02670324035344106, + -0.26014904470878936, + -0.9651265043910142, + -0.029211385778247313, + 0.03339386027891388, + 0.021241897281825135, + -0.9992165090187113 + ], + [ + 0.9679985438287569, + -0.2227811945769213, + 0.11553076857827019, + -0.22060432808196012, + -0.9748558092548134, + -0.03146238378841377, + 0.11963506834082055, + 0.004968954117564291, + -0.9928054995406022 + ], + [ + 0.9830584900661972, + -0.12548061956721715, + 0.1336062095181047, + -0.12438693801830898, + -0.9920960042550181, + -0.01653505342163261, + 0.13462501535449395, + -0.00036394265235563557, + -0.9908965499922522 + ], + [ + 0.9966897250376119, + -0.06254104602732238, + 0.0519442929132586, + -0.06012320021193426, + -0.9970897582388448, + -0.04687445798596682, + 0.05472470009717488, + 0.043596233518629145, + -0.9975492848086575 + ], + [ + 0.9966609113818087, + -0.07829105039928563, + 0.023184890574666037, + -0.07697722377905197, + -0.995624352477878, + -0.05297788002814313, + 0.02723113554100299, + 0.05101627368186634, + -0.9983265022410076 + ], + [ + 0.9956849612946127, + -0.09167051998497223, + -0.014421290421808928, + -0.09199042335419856, + -0.9954860491334856, + -0.023351402350147373, + -0.012215558229596836, + 0.024577260756397473, + -0.9996232982433189 + ], + [ + 0.9935674808207688, + -0.11067154008746756, + -0.023988982265587717, + -0.11014949607033918, + -0.9936694702220792, + 0.022092362119574424, + -0.026282115038956735, + -0.019307878268730955, + -0.9994680866670224 + ], + [ + 0.9917113306231518, + -0.12721336339244754, + -0.01803876071238018, + -0.12629583714697545, + -0.9909636882231871, + 0.04517001375295507, + -0.023621986220512325, + -0.04251739405794512, + -0.9988164360729748 + ], + [ + 0.9844218256684243, + -0.17570062862303928, + -0.006554254276058571, + -0.17568930819506026, + -0.9844430494367581, + 0.0022692292959716957, + -0.0068509950800990545, + -0.001082366446905484, + -0.9999759458853432 + ], + [ + 0.9801825179082206, + -0.1980356487301586, + -0.004910541632649726, + -0.19807680856105753, + -0.9794341222460369, + -0.038397631312379846, + 0.002794547792921689, + 0.03860935135638148, + -0.9992504733501368 + ], + [ + 0.9782523645935367, + -0.20724404903987956, + -0.008497958855523381, + -0.20738453720469915, + -0.9765342047479328, + -0.05807409651225847, + 0.0037369634125740156, + 0.0585734674991874, + -0.9982761060996976 + ], + [ + 0.9836081158457392, + -0.1802857345057236, + -0.003482581819050699, + -0.179939276813456, + -0.9800983772098708, + -0.08383929657641377, + 0.011701756374369767, + 0.08309166579332215, + -0.9964732028376103 + ], + [ + 0.9669395920773786, + -0.254961201692705, + -0.004755092495884046, + -0.2530076576758217, + -0.9568675383576705, + -0.1427992968985707, + 0.03185828668693335, + 0.13928136870645594, + -0.9897402436501354 + ], + [ + 0.9008039533620917, + -0.43377261069390394, + -0.019838342143986908, + -0.43286592436734794, + -0.8934315760304214, + -0.1200296233160765, + 0.03434136177888743, + 0.11671050151375698, + -0.992572077839982 + ], + [ + 0.8901374243847107, + -0.45560232736797346, + -0.009049033464371081, + -0.4537504018789539, + -0.8843383783399403, + -0.10980075313845604, + 0.04202307109721112, + 0.10184376216524117, + -0.993912425520271 + ], + [ + 0.9146722310469816, + -0.4041731809165312, + -0.004330078446189482, + -0.40276515585735273, + -0.9104804443252932, + -0.09383810381939364, + 0.03398439316421005, + 0.08757511249795713, + -0.9955780535408717 + ], + [ + 0.9516516806906338, + -0.3071792187252162, + 7.888001889577723e-05, + -0.30449885471408683, + -0.9433816082372095, + -0.1315735106987161, + 0.040491062180449164, + 0.12518813371538667, + -0.99130641330537 + ], + [ + 0.9866078000241769, + -0.1573658169047804, + 0.04290744226057953, + -0.1481041215794579, + -0.9745011906519372, + -0.16856037075521044, + 0.06833899401243035, + 0.15994820751683334, + -0.984757001909365 + ], + [ + 0.9900056516328705, + -0.11940454984572228, + 0.07504240941704546, + -0.1034965233934897, + -0.9765977909098965, + -0.1885344118068914, + 0.09579811783347253, + 0.17888350473436643, + -0.979195288159371 + ], + [ + 0.9840214139354886, + -0.13983311035024648, + 0.11022049794016775, + -0.1139501266713025, + -0.9702511977182107, + -0.2136070737545284, + 0.13681091165545547, + 0.19763429504049698, + -0.9706819560885274 + ], + [ + 0.9776126608639677, + -0.163819188213904, + 0.1320483202900002, + -0.13227909820906902, + -0.966541784497478, + -0.21977083290879698, + 0.16363289857320396, + 0.1973835160122759, + -0.966573340265064 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0013494789600372314, + -0.0008565075695514679, + -0.011377036571502686, + -0.008117828518152237, + 0.0313359797000885, + -0.0003518015146255493, + 1.0 + ], + [ + -0.009455889463424683, + -0.0016324333846569061, + -0.002551838755607605, + -0.03251754865050316, + 0.05391858518123627, + -0.059852682054042816, + 1.0 + ], + [ + -0.017028480768203735, + 0.00603906437754631, + 0.01666755974292755, + -0.05001918226480484, + -0.04673032462596893, + -0.06558354198932648, + 1.0 + ], + [ + -0.04055553674697876, + 0.012351270765066147, + 0.015027150511741638, + 0.015207946300506592, + -0.03332580626010895, + -0.035037457942962646, + 1.0 + ], + [ + -0.01723778247833252, + 0.02518828958272934, + -0.01911313086748123, + 0.08286178112030029, + 0.02594234049320221, + 0.015728548169136047, + 1.0 + ], + [ + -0.003788769245147705, + 0.022367343306541443, + -0.035834845155477524, + 0.08243239670991898, + 0.05977707356214523, + 0.03404506295919418, + 1.0 + ], + [ + 0.0014163553714752197, + 0.015912242233753204, + -0.022419121116399765, + -0.001776278018951416, + 0.04589783400297165, + 0.06279608607292175, + 1.0 + ], + [ + -0.0051841139793396, + 0.014323681592941284, + -0.019145570695400238, + -0.010226771235466003, + 0.052364811301231384, + 0.05691505968570709, + 1.0 + ], + [ + -0.0019394457340240479, + 0.0007331818342208862, + -0.0026160571724176407, + -0.019273769110441208, + 0.005289459601044655, + -0.004729479551315308, + 1.0 + ], + [ + -0.0041863322257995605, + -0.011932536959648132, + -0.005429311655461788, + -0.043051786720752716, + 0.01298634521663189, + -0.05032797157764435, + 1.0 + ], + [ + -0.003939419984817505, + -0.039232879877090454, + 0.00800135638564825, + -0.04535503312945366, + -0.010821428149938583, + -0.10752778500318527, + 1.0 + ], + [ + 0.006120592355728149, + -0.04259108379483223, + 0.023637467995285988, + 0.02362716570496559, + -0.06605790555477142, + -0.1020929217338562, + 1.0 + ], + [ + 0.0022710859775543213, + -0.03651696443557739, + 0.007786378264427185, + -0.00825139507651329, + -0.016811445355415344, + -0.028761744499206543, + 1.0 + ], + [ + -0.0017544329166412354, + -0.01717507094144821, + 0.0003048032522201538, + 0.003415428102016449, + 0.016806650906801224, + 0.0035747289657592773, + 1.0 + ], + [ + -0.005437076091766357, + 0.028279313817620277, + 0.02402859926223755, + 0.016250431537628174, + -0.08652223646640778, + 0.03925642371177673, + 1.0 + ], + [ + -0.009212315082550049, + 0.044212207198143005, + -0.002364054322242737, + 0.0053722066804766655, + -0.015112720429897308, + 0.09820877015590668, + 1.0 + ], + [ + 0.004633724689483643, + 0.021242082118988037, + -0.030397269874811172, + -0.044042833149433136, + 0.08028297126293182, + 0.0656118392944336, + 1.0 + ], + [ + 0.00178489089012146, + 0.002364732325077057, + -0.014582697302103043, + -0.007381834089756012, + 0.027517549693584442, + -0.01683221384882927, + 1.0 + ], + [ + -0.0004949271678924561, + -0.0009371712803840637, + -0.015281794592738152, + 0.026475809514522552, + 0.03945036232471466, + -0.015045464038848877, + 1.0 + ], + [ + 0.001699686050415039, + -0.004524551331996918, + -0.004973297007381916, + 0.043897323310375214, + 0.01406927965581417, + -0.018284201622009277, + 1.0 + ], + [ + 0.0004298686981201172, + -0.011755913496017456, + -0.002504236064851284, + 0.023226341232657433, + -0.002660958096385002, + -0.01625780016183853, + 1.0 + ], + [ + 0.004231810569763184, + -0.03325534239411354, + -0.002006728667765856, + -0.04145970195531845, + -0.016773134469985962, + -0.0499405562877655, + 1.0 + ], + [ + 0.001194298267364502, + -0.023509539663791656, + -0.0005199569277465343, + -0.039701491594314575, + -0.009645599871873856, + -0.02278614044189453, + 1.0 + ], + [ + 0.00011298060417175293, + -0.011817922815680504, + 0.00015451014041900635, + -0.019988320767879486, + -0.0009424206800758839, + -0.00950583815574646, + 1.0 + ], + [ + 0.0006386935710906982, + -0.004095579031854868, + 0.001158128958195448, + -0.024585865437984467, + -0.00796505156904459, + 0.027964845299720764, + 1.0 + ], + [ + -0.006483554840087891, + -0.059698883444070816, + 0.004917191807180643, + -0.05661381781101227, + -0.02016165480017662, + -0.0749833732843399, + 1.0 + ], + [ + -0.02381974458694458, + -0.040690213441848755, + -0.0010971836745738983, + 0.022760652005672455, + -0.0024844370782375336, + -0.1920323669910431, + 1.0 + ], + [ + -0.0024587512016296387, + 0.002030186355113983, + 0.00029307790100574493, + 0.014935292303562164, + -0.007687333971261978, + -0.02346670627593994, + 1.0 + ], + [ + -0.00080069899559021, + 0.0034201443195343018, + 3.457721322774887e-05, + 0.01437290757894516, + 0.008044511079788208, + 0.056629478931427, + 1.0 + ], + [ + 0.004086047410964966, + 0.00968470424413681, + 0.004280446097254753, + -0.037882767617702484, + -0.006511196494102478, + 0.10511556267738342, + 1.0 + ], + [ + 0.017695635557174683, + 0.016787752509117126, + 0.017571620643138885, + -0.03539687395095825, + -0.027890164405107498, + 0.16067273914813995, + 1.0 + ], + [ + 0.012926042079925537, + 0.006753493100404739, + 0.014455839991569519, + -0.019673779606819153, + -0.027552954852581024, + 0.04483892768621445, + 1.0 + ], + [ + 0.001464247703552246, + -0.0014878883957862854, + 0.014573652297258377, + -0.02016642689704895, + -0.04129607975482941, + -0.011123977601528168, + 1.0 + ], + [ + -0.0008227229118347168, + -0.0005820021033287048, + 0.011311065405607224, + -0.0005818158388137817, + -0.027130737900733948, + -0.019204527139663696, + 1.0 + ], + [ + -0.001959502696990967, + 0.0036394819617271423, + 0.010462336242198944, + -0.0009829849004745483, + -0.020130619406700134, + 0.005271747708320618, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 1.0001531839370728 + ], + [ + 0.9974852800369263 + ], + [ + 0.9954678416252136 + ], + [ + 1.0054124593734741 + ], + [ + 1.003452181816101 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3787921071052551, + 0.05053285136818886, + 0.08719561249017715 + ], + [ + 0.36933621764183044, + 0.04890041798353195, + 0.08464377373456955 + ], + [ + 0.3523077368736267, + 0.05493948236107826, + 0.1013113334774971 + ], + [ + 0.31175220012664795, + 0.06729075312614441, + 0.11633848398923874 + ], + [ + 0.29451441764831543, + 0.09247904270887375, + 0.09722535312175751 + ], + [ + 0.2907256484031677, + 0.11484638601541519, + 0.061390507966279984 + ], + [ + 0.29214200377464294, + 0.1307586282491684, + 0.03897138684988022 + ], + [ + 0.28695788979530334, + 0.14508230984210968, + 0.01982581615447998 + ], + [ + 0.2850184440612793, + 0.14581549167633057, + 0.01720975898206234 + ], + [ + 0.28083211183547974, + 0.13388295471668243, + 0.011780447326600552 + ], + [ + 0.27689269185066223, + 0.09465007483959198, + 0.019781803712248802 + ], + [ + 0.2830132842063904, + 0.05205899104475975, + 0.04341927170753479 + ], + [ + 0.2852843701839447, + 0.015542027540504932, + 0.051205649971961975 + ], + [ + 0.28352993726730347, + -0.0016330427024513483, + 0.05151045322418213 + ], + [ + 0.2780928611755371, + 0.026646271347999573, + 0.07553905248641968 + ], + [ + 0.26888054609298706, + 0.07085847854614258, + 0.07317499816417694 + ], + [ + 0.2735142707824707, + 0.09210056066513062, + 0.04277772828936577 + ], + [ + 0.27529916167259216, + 0.09446529299020767, + 0.028195030987262726 + ], + [ + 0.2748042345046997, + 0.09352812170982361, + 0.012913236394524574 + ], + [ + 0.27650392055511475, + 0.08900357037782669, + 0.007939939387142658 + ], + [ + 0.27693378925323486, + 0.07724765688180923, + 0.005435703322291374 + ], + [ + 0.28116559982299805, + 0.043992314487695694, + 0.0034289746545255184 + ], + [ + 0.28235989809036255, + 0.020482774823904037, + 0.002909017726778984 + ], + [ + 0.2824728786945343, + 0.008664852008223534, + 0.0030635278671979904 + ], + [ + 0.283111572265625, + 0.004569272976368666, + 0.004221656825393438 + ], + [ + 0.2766280174255371, + -0.05512961000204086, + 0.009138848632574081 + ], + [ + 0.25280827283859253, + -0.09581982344388962, + 0.008041664958000183 + ], + [ + 0.2503495216369629, + -0.09378963708877563, + 0.008334742859005928 + ], + [ + 0.24954882264137268, + -0.09036949276924133, + 0.008369320072233677 + ], + [ + 0.25363487005233765, + -0.08068478852510452, + 0.01264976616948843 + ], + [ + 0.27133050560951233, + -0.0638970360159874, + 0.03022138774394989 + ], + [ + 0.28425654768943787, + -0.05714354291558266, + 0.04467722773551941 + ], + [ + 0.2857207953929901, + -0.05863143131136894, + 0.059250880032777786 + ], + [ + 0.2848980724811554, + -0.05921343341469765, + 0.07056194543838501 + ], + [ + 0.28293856978416443, + -0.055573951452970505, + 0.08102428168058395 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9910644506128911, + 0.01509997405422206, + 0.13252639554039936, + 0.0173723474812095, + -0.9997209491352507, + -0.016007042297245033, + 0.13224770801174845, + 0.01816630517401649, + -0.9910502152171523 + ], + [ + 0.996010546233148, + -0.04625120996278281, + 0.07631393954792352, + -0.042181832919006915, + -0.9976440872285731, + -0.0541014619900385, + 0.07863640864089948, + 0.05066656486130845, + -0.9956149930777538 + ], + [ + 0.9863708880653385, + -0.11967783373720148, + 0.11291451319102355, + -0.10685340313760475, + -0.9877735795784327, + -0.11351522243611971, + 0.1251192287984049, + 0.09990281076516304, + -0.9870990867112136 + ], + [ + 0.977350720584149, + -0.15532638273224883, + 0.14373337747704948, + -0.1406682938237148, + -0.9842446191694753, + -0.10712124321841975, + 0.15810755859973954, + 0.0844762952741759, + -0.9838016850211125 + ], + [ + 0.9831807584403016, + -0.12724179420199286, + 0.13101573203631303, + -0.12575740850319364, + -0.9918678587079042, + -0.019576135184398036, + 0.13244119615630992, + 0.002770680503890767, + -0.9911869918891345 + ], + [ + 0.993006829372241, + -0.08696192619313993, + 0.07984397418006806, + -0.09278997615073704, + -0.9930471636723703, + 0.0724386019205627, + 0.07298943174209635, + -0.07934074687724449, + -0.9941718104728813 + ], + [ + 0.9991701139074198, + -0.02816904784938681, + 0.029420880637610607, + -0.0303609273481887, + -0.9965745834346823, + 0.07692407778158585, + 0.027153223837908858, + -0.07775348477880857, + -0.9966027784628939 + ], + [ + 0.9993302817585343, + 0.02477162367297915, + -0.026932408377505112, + 0.02652671668421381, + -0.9974075776337703, + 0.06689138495120331, + -0.025205579984675246, + -0.06756101493715821, + -0.9973967054278339 + ], + [ + 0.999297289417976, + 0.020307835010280648, + -0.03150427271150418, + 0.021796913144079617, + -0.9986254912090143, + 0.04766574120837684, + -0.030492981803606163, + -0.04831894188358976, + -0.9983663946247264 + ], + [ + 0.9986484572995779, + -0.028745589872901864, + -0.04330069047985131, + -0.0284883699797639, + -0.999572691005108, + 0.006545851564347806, + -0.043470352069761874, + -0.00530343847567872, + -0.9990406408306247 + ], + [ + 0.9902314276362381, + -0.13422358403642587, + -0.03775909440008222, + -0.13555534624164567, + -0.9901428532451064, + -0.03524029331528226, + -0.03265681899397665, + 0.04001449307508586, + -0.9986652955405723 + ], + [ + 0.9712366105346115, + -0.23639636276792217, + 0.028569319686265023, + -0.23576389982709225, + -0.9715181358224357, + -0.023830554051888043, + 0.03338906850392612, + 0.016409492319876835, + -0.9993077097001923 + ], + [ + 0.9633772222923375, + -0.2648579535563467, + 0.04188785034164747, + -0.26341171204264596, + -0.9639726516698104, + -0.03702697383579147, + 0.05018563068311822, + 0.024637192831536345, + -0.9984359825258299 + ], + [ + 0.9649908417351827, + -0.2609207012137014, + 0.02670324035344106, + -0.26014904470878936, + -0.9651265043910142, + -0.029211385778247313, + 0.03339386027891388, + 0.021241897281825135, + -0.9992165090187113 + ], + [ + 0.9679985438287569, + -0.2227811945769213, + 0.11553076857827019, + -0.22060432808196012, + -0.9748558092548134, + -0.03146238378841377, + 0.11963506834082055, + 0.004968954117564291, + -0.9928054995406022 + ], + [ + 0.9830584900661972, + -0.12548061956721715, + 0.1336062095181047, + -0.12438693801830898, + -0.9920960042550181, + -0.01653505342163261, + 0.13462501535449395, + -0.00036394265235563557, + -0.9908965499922522 + ], + [ + 0.9966897250376119, + -0.06254104602732238, + 0.0519442929132586, + -0.06012320021193426, + -0.9970897582388448, + -0.04687445798596682, + 0.05472470009717488, + 0.043596233518629145, + -0.9975492848086575 + ], + [ + 0.9966609113818087, + -0.07829105039928563, + 0.023184890574666037, + -0.07697722377905197, + -0.995624352477878, + -0.05297788002814313, + 0.02723113554100299, + 0.05101627368186634, + -0.9983265022410076 + ], + [ + 0.9956849612946127, + -0.09167051998497223, + -0.014421290421808928, + -0.09199042335419856, + -0.9954860491334856, + -0.023351402350147373, + -0.012215558229596836, + 0.024577260756397473, + -0.9996232982433189 + ], + [ + 0.9935674808207688, + -0.11067154008746756, + -0.023988982265587717, + -0.11014949607033918, + -0.9936694702220792, + 0.022092362119574424, + -0.026282115038956735, + -0.019307878268730955, + -0.9994680866670224 + ], + [ + 0.9917113306231518, + -0.12721336339244754, + -0.01803876071238018, + -0.12629583714697545, + -0.9909636882231871, + 0.04517001375295507, + -0.023621986220512325, + -0.04251739405794512, + -0.9988164360729748 + ], + [ + 0.9844218256684243, + -0.17570062862303928, + -0.006554254276058571, + -0.17568930819506026, + -0.9844430494367581, + 0.0022692292959716957, + -0.0068509950800990545, + -0.001082366446905484, + -0.9999759458853432 + ], + [ + 0.9801825179082206, + -0.1980356487301586, + -0.004910541632649726, + -0.19807680856105753, + -0.9794341222460369, + -0.038397631312379846, + 0.002794547792921689, + 0.03860935135638148, + -0.9992504733501368 + ], + [ + 0.9782523645935367, + -0.20724404903987956, + -0.008497958855523381, + -0.20738453720469915, + -0.9765342047479328, + -0.05807409651225847, + 0.0037369634125740156, + 0.0585734674991874, + -0.9982761060996976 + ], + [ + 0.9836081158457392, + -0.1802857345057236, + -0.003482581819050699, + -0.179939276813456, + -0.9800983772098708, + -0.08383929657641377, + 0.011701756374369767, + 0.08309166579332215, + -0.9964732028376103 + ], + [ + 0.9669395920773786, + -0.254961201692705, + -0.004755092495884046, + -0.2530076576758217, + -0.9568675383576705, + -0.1427992968985707, + 0.03185828668693335, + 0.13928136870645594, + -0.9897402436501354 + ], + [ + 0.9008039533620917, + -0.43377261069390394, + -0.019838342143986908, + -0.43286592436734794, + -0.8934315760304214, + -0.1200296233160765, + 0.03434136177888743, + 0.11671050151375698, + -0.992572077839982 + ], + [ + 0.8901374243847107, + -0.45560232736797346, + -0.009049033464371081, + -0.4537504018789539, + -0.8843383783399403, + -0.10980075313845604, + 0.04202307109721112, + 0.10184376216524117, + -0.993912425520271 + ], + [ + 0.9146722310469816, + -0.4041731809165312, + -0.004330078446189482, + -0.40276515585735273, + -0.9104804443252932, + -0.09383810381939364, + 0.03398439316421005, + 0.08757511249795713, + -0.9955780535408717 + ], + [ + 0.9516516806906338, + -0.3071792187252162, + 7.888001889577723e-05, + -0.30449885471408683, + -0.9433816082372095, + -0.1315735106987161, + 0.040491062180449164, + 0.12518813371538667, + -0.99130641330537 + ], + [ + 0.9866078000241769, + -0.1573658169047804, + 0.04290744226057953, + -0.1481041215794579, + -0.9745011906519372, + -0.16856037075521044, + 0.06833899401243035, + 0.15994820751683334, + -0.984757001909365 + ], + [ + 0.9900056516328705, + -0.11940454984572228, + 0.07504240941704546, + -0.1034965233934897, + -0.9765977909098965, + -0.1885344118068914, + 0.09579811783347253, + 0.17888350473436643, + -0.979195288159371 + ], + [ + 0.9840214139354886, + -0.13983311035024648, + 0.11022049794016775, + -0.1139501266713025, + -0.9702511977182107, + -0.2136070737545284, + 0.13681091165545547, + 0.19763429504049698, + -0.9706819560885274 + ], + [ + 0.9776126608639677, + -0.163819188213904, + 0.1320483202900002, + -0.13227909820906902, + -0.966541784497478, + -0.21977083290879698, + 0.16363289857320396, + 0.1973835160122759, + -0.966573340265064 + ], + [ + 0.9748318507130974, + -0.16280484557672667, + 0.15230707499001808, + -0.12667335799930732, + -0.9666625602094019, + -0.22252495379750856, + 0.18345768778782792, + 0.19763116390423388, + -0.962956489071755 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005944.json b/json/chunk-0005/episode_0005944.json new file mode 100644 index 0000000000000000000000000000000000000000..c59c81efaa6af348533989165780752e5b25202a --- /dev/null +++ b/json/chunk-0005/episode_0005944.json @@ -0,0 +1,982 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 15, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut corn in pan which is on stove." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005944.mp4", + "start": 0, + "end": 15, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3234544098377228, + 0.13334138691425323, + 0.05545845255255699, + 0.14468614757061005, + -0.3477044701576233, + -0.06772955507040024, + 0.0, + 1.0073583126068115 + ], + [ + 0.32226917147636414, + 0.13126924633979797, + 0.04750063642859459, + 0.1318349391222, + -0.341823935508728, + -0.05970032885670662, + 0.0, + 1.0073583126068115 + ], + [ + 0.3245810270309448, + 0.13013730943202972, + 0.0389728844165802, + 0.11639402061700821, + -0.370913565158844, + -0.06040171906352043, + 0.0, + 1.0073583126068115 + ], + [ + 0.3244747519493103, + 0.13257358968257904, + 0.02931344322860241, + 0.09951253980398178, + -0.3938438296318054, + -0.06036928668618202, + 0.0, + 1.0073583126068115 + ], + [ + 0.32326483726501465, + 0.13294917345046997, + 0.017478052526712418, + 0.058700669556856155, + -0.3901825249195099, + -0.05059818923473358, + 0.0, + 1.0073583126068115 + ], + [ + 0.3222505450248718, + 0.13239863514900208, + 0.006567474454641342, + 0.017112672328948975, + -0.3872981667518616, + -0.03920438140630722, + 0.0, + 1.0073583126068115 + ], + [ + 0.32490718364715576, + 0.13372762501239777, + 0.005498997401446104, + 0.019650496542453766, + -0.4118192791938782, + -0.03090227022767067, + 0.0, + 0.803636372089386 + ], + [ + 0.3218053877353668, + 0.13472677767276764, + 0.0038744464982300997, + 0.0399940088391304, + -0.40451177954673767, + -0.026205729693174362, + 0.0, + 0.6340072751045227 + ], + [ + 0.31637054681777954, + 0.13173823058605194, + 0.009129127487540245, + 0.05688463896512985, + -0.3622119128704071, + -0.014364968053996563, + 0.0, + 0.6340072751045227 + ], + [ + 0.3178533613681793, + 0.12845639884471893, + 0.034598976373672485, + 0.1146368756890297, + -0.345059335231781, + -0.04289703443646431, + 0.0, + 0.6350118517875671 + ], + [ + 0.33334481716156006, + 0.12690074741840363, + 0.05818350613117218, + 0.16065411269664764, + -0.3723047971725464, + -0.0906490683555603, + 0.0, + 0.6340072751045227 + ], + [ + 0.3524048924446106, + 0.12257803231477737, + 0.07369508594274521, + 0.16184456646442413, + -0.4423459470272064, + -0.13173890113830566, + 0.0, + 0.6350118517875671 + ], + [ + 0.37128371000289917, + 0.11405663192272186, + 0.07597395032644272, + 0.14995385706424713, + -0.4958016574382782, + -0.14832285046577454, + 0.0, + 0.6340072751045227 + ], + [ + 0.38901573419570923, + 0.10766244679689407, + 0.07403840869665146, + 0.16672007739543915, + -0.5362969636917114, + -0.18288284540176392, + 0.0, + 0.6350118517875671 + ], + [ + 0.4007999300956726, + 0.10355124622583389, + 0.06725115329027176, + 0.1561228483915329, + -0.5615031719207764, + -0.19260439276695251, + 0.0, + 0.6350118517875671 + ] + ], + "left_gripper_pos": [ + [ + 1.0073583126068115 + ], + [ + 1.0073583126068115 + ], + [ + 1.0073583126068115 + ], + [ + 1.0073583126068115 + ], + [ + 1.0073583126068115 + ], + [ + 1.0073583126068115 + ], + [ + 0.803636372089386 + ], + [ + 0.6340072751045227 + ], + [ + 0.6340072751045227 + ], + [ + 0.6350118517875671 + ], + [ + 0.6340072751045227 + ], + [ + 0.6350118517875671 + ], + [ + 0.6340072751045227 + ], + [ + 0.6350118517875671 + ], + [ + 0.6350118517875671 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3234544098377228, + 0.13334138691425323, + 0.05545845255255699 + ], + [ + 0.32226917147636414, + 0.13126924633979797, + 0.04750063642859459 + ], + [ + 0.3245810270309448, + 0.13013730943202972, + 0.0389728844165802 + ], + [ + 0.3244747519493103, + 0.13257358968257904, + 0.02931344322860241 + ], + [ + 0.32326483726501465, + 0.13294917345046997, + 0.017478052526712418 + ], + [ + 0.3222505450248718, + 0.13239863514900208, + 0.006567474454641342 + ], + [ + 0.32490718364715576, + 0.13372762501239777, + 0.005498997401446104 + ], + [ + 0.3218053877353668, + 0.13472677767276764, + 0.0038744464982300997 + ], + [ + 0.31637054681777954, + 0.13173823058605194, + 0.009129127487540245 + ], + [ + 0.3178533613681793, + 0.12845639884471893, + 0.034598976373672485 + ], + [ + 0.33334481716156006, + 0.12690074741840363, + 0.05818350613117218 + ], + [ + 0.3524048924446106, + 0.12257803231477737, + 0.07369508594274521 + ], + [ + 0.37128371000289917, + 0.11405663192272186, + 0.07597395032644272 + ], + [ + 0.38901573419570923, + 0.10766244679689407, + 0.07403840869665146 + ], + [ + 0.4007999300956726, + 0.10355124622583389, + 0.06725115329027176 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9380018050352732, + -0.01795466653520809, + 0.34616505268466746, + -0.06362776774073414, + -0.9906073087556672, + 0.1210316777219307, + 0.3407405478115282, + -0.1355536417417975, + -0.9303338590461147 + ], + [ + 0.940466374381514, + -0.015161653470214247, + 0.33954841027714916, + -0.05621295111100597, + -0.9921853490075132, + 0.11139271673781417, + 0.3352060601854951, + -0.12384812262964826, + -0.9339692391808362 + ], + [ + 0.9302969810361843, + -0.017939524357373872, + 0.3663682580966763, + -0.05625997256274896, + -0.993963561606066, + 0.09418733294144747, + 0.36246702272372355, + -0.10823405963565967, + -0.9256905777702311 + ], + [ + 0.9217586448142535, + -0.021979565309449625, + 0.3871406713573222, + -0.0557136101707644, + -0.9955401747142982, + 0.07612985072600834, + 0.3837407905760484, + -0.09174235248036675, + -0.9188723232361704 + ], + [ + 0.9236560266599645, + -0.02820364390679788, + 0.38218333151133815, + -0.04677524687271722, + -0.9981285861221019, + 0.03938783880704888, + 0.38035722774087416, + -0.0542575343733223, + -0.9232467163597196 + ], + [ + 0.9252214077760815, + -0.03273062982869236, + 0.3780132966760069, + -0.03629132791882207, + -0.9993386115101338, + 0.002297621136334735, + 0.37768808044566915, + -0.015844412769639646, + -0.9257973150065034 + ], + [ + 0.9159566032226343, + -0.023030003154024994, + 0.40061592575380567, + -0.028314151912783934, + -0.9995726021901347, + 0.007274733830323197, + 0.40027716624148435, + -0.018006440669045446, + -0.9162172003843405 + ], + [ + 0.918979015372412, + -0.010450934555597039, + 0.3941679176088112, + -0.024088029996412363, + -0.9992696029073793, + 0.02966525773055537, + 0.3935699888406684, + -0.03675647796297905, + -0.9185595381964704 + ], + [ + 0.935018854994414, + 0.005802514566370692, + 0.35455052056038866, + -0.013432439932913695, + -0.9985688819557443, + 0.05176637467607612, + 0.3543434920559205, + -0.05316501494744721, + -0.9336027907109393 + ], + [ + 0.9401896725873733, + -0.003946662759643633, + 0.3406285416889043, + -0.04035610563648369, + -0.9941817221738682, + 0.09987035612862502, + 0.33825251558252295, + -0.10764351884095513, + -0.9348786598022398 + ], + [ + 0.9276668892125111, + -0.03140917574126307, + 0.3720854825682361, + -0.0843232343457688, + -0.988337475319522, + 0.12680152612844106, + 0.3637632950261079, + -0.14900502863422968, + -0.919496474508446 + ], + [ + 0.8959189260904189, + -0.06126197728782275, + 0.43997300827638974, + -0.11871494215278942, + -0.9874406689009267, + 0.10424820339051141, + 0.42806079052238555, + -0.14562930865480295, + -0.891939495749613 + ], + [ + 0.8699300215402611, + -0.07583002900023322, + 0.487310541979942, + -0.12998511121871956, + -0.9884244271721382, + 0.07823696460681338, + 0.47573693201644346, + -0.13140379930296708, + -0.8697168579740924 + ], + [ + 0.845271422104239, + -0.09596487081896268, + 0.5256490906893855, + -0.15633244684308875, + -0.9851099037013081, + 0.07154469717353511, + 0.5109563474876605, + -0.1426506964522074, + -0.8476876722966837 + ], + [ + 0.8308039137813744, + -0.10782684208406841, + 0.5460203558217654, + -0.16202497300247043, + -0.9854191473818519, + 0.05193276515623143, + 0.5324591674195297, + -0.13161487795610693, + -0.8361607255375606 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0011852383613586426, + -0.0020721405744552612, + -0.007957816123962402, + -0.012851208448410034, + 0.005880534648895264, + 0.008029226213693619, + 1.0 + ], + [ + 0.0023118555545806885, + -0.0011319369077682495, + -0.008527752012014389, + -0.015440918505191803, + -0.029089629650115967, + -0.0007013902068138123, + 1.0 + ], + [ + -0.00010627508163452148, + 0.0024362802505493164, + -0.00965944118797779, + -0.016881480813026428, + -0.022930264472961426, + 3.2432377338409424e-05, + 1.0 + ], + [ + -0.0012099146842956543, + 0.0003755837678909302, + -0.011835390701889992, + -0.040811870247125626, + 0.0036613047122955322, + 0.00977109745144844, + 1.0 + ], + [ + -0.0010142922401428223, + -0.0005505383014678955, + -0.010910578072071075, + -0.04158799722790718, + 0.0028843581676483154, + 0.011393807828426361, + 1.0 + ], + [ + 0.0026566386222839355, + 0.001328989863395691, + -0.0010684770531952381, + 0.0025378242135047913, + -0.0245211124420166, + 0.008302111178636551, + 0.0 + ], + [ + -0.0031017959117889404, + 0.000999152660369873, + -0.0016245509032160044, + 0.020343512296676636, + 0.007307499647140503, + 0.004696540534496307, + 0.0 + ], + [ + -0.00543484091758728, + -0.0029885470867156982, + 0.005254681222140789, + 0.01689063012599945, + 0.042299866676330566, + 0.0118407616391778, + 0.0 + ], + [ + 0.0014828145503997803, + -0.003281831741333008, + 0.02546984888613224, + 0.05775223672389984, + 0.0171525776386261, + -0.028532065451145172, + 0.0 + ], + [ + 0.015491455793380737, + -0.0015556514263153076, + 0.023584529757499695, + 0.04601723700761795, + -0.02724546194076538, + -0.04775203391909599, + 0.0 + ], + [ + 0.019060075283050537, + -0.004322715103626251, + 0.015511579811573029, + 0.0011904537677764893, + -0.07004114985466003, + -0.04108983278274536, + 0.0 + ], + [ + 0.018878817558288574, + -0.008521400392055511, + 0.0022788643836975098, + -0.011890709400177002, + -0.05345571041107178, + -0.016583949327468872, + 0.0 + ], + [ + 0.01773202419281006, + -0.006394185125827789, + -0.0019355416297912598, + 0.016766220331192017, + -0.04049530625343323, + -0.03455999493598938, + 0.0 + ], + [ + 0.011784195899963379, + -0.004111200571060181, + -0.0067872554063797, + -0.01059722900390625, + -0.02520620822906494, + -0.009721547365188599, + 0.0 + ], + [ + 0.006083369255065918, + -0.004007764160633087, + -0.006386607885360718, + -0.030100569128990173, + -0.011882364749908447, + -0.006141602993011475, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0073583126068115 + ], + [ + 1.0073583126068115 + ], + [ + 1.0073583126068115 + ], + [ + 1.0073583126068115 + ], + [ + 1.0073583126068115 + ], + [ + 0.803636372089386 + ], + [ + 0.6340072751045227 + ], + [ + 0.6340072751045227 + ], + [ + 0.6350118517875671 + ], + [ + 0.6340072751045227 + ], + [ + 0.6350118517875671 + ], + [ + 0.6340072751045227 + ], + [ + 0.6350118517875671 + ], + [ + 0.6350118517875671 + ], + [ + 0.8713903427124023 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.32226917147636414, + 0.13126924633979797, + 0.04750063642859459 + ], + [ + 0.3245810270309448, + 0.13013730943202972, + 0.0389728844165802 + ], + [ + 0.3244747519493103, + 0.13257358968257904, + 0.02931344322860241 + ], + [ + 0.32326483726501465, + 0.13294917345046997, + 0.017478052526712418 + ], + [ + 0.3222505450248718, + 0.13239863514900208, + 0.006567474454641342 + ], + [ + 0.32490718364715576, + 0.13372762501239777, + 0.005498997401446104 + ], + [ + 0.3218053877353668, + 0.13472677767276764, + 0.0038744464982300997 + ], + [ + 0.31637054681777954, + 0.13173823058605194, + 0.009129127487540245 + ], + [ + 0.3178533613681793, + 0.12845639884471893, + 0.034598976373672485 + ], + [ + 0.33334481716156006, + 0.12690074741840363, + 0.05818350613117218 + ], + [ + 0.3524048924446106, + 0.12257803231477737, + 0.07369508594274521 + ], + [ + 0.37128371000289917, + 0.11405663192272186, + 0.07597395032644272 + ], + [ + 0.38901573419570923, + 0.10766244679689407, + 0.07403840869665146 + ], + [ + 0.4007999300956726, + 0.10355124622583389, + 0.06725115329027176 + ], + [ + 0.4068832993507385, + 0.0995434820652008, + 0.06086454540491104 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.940466374381514, + -0.015161653470214247, + 0.33954841027714916, + -0.05621295111100597, + -0.9921853490075132, + 0.11139271673781417, + 0.3352060601854951, + -0.12384812262964826, + -0.9339692391808362 + ], + [ + 0.9302969810361843, + -0.017939524357373872, + 0.3663682580966763, + -0.05625997256274896, + -0.993963561606066, + 0.09418733294144747, + 0.36246702272372355, + -0.10823405963565967, + -0.9256905777702311 + ], + [ + 0.9217586448142535, + -0.021979565309449625, + 0.3871406713573222, + -0.0557136101707644, + -0.9955401747142982, + 0.07612985072600834, + 0.3837407905760484, + -0.09174235248036675, + -0.9188723232361704 + ], + [ + 0.9236560266599645, + -0.02820364390679788, + 0.38218333151133815, + -0.04677524687271722, + -0.9981285861221019, + 0.03938783880704888, + 0.38035722774087416, + -0.0542575343733223, + -0.9232467163597196 + ], + [ + 0.9252214077760815, + -0.03273062982869236, + 0.3780132966760069, + -0.03629132791882207, + -0.9993386115101338, + 0.002297621136334735, + 0.37768808044566915, + -0.015844412769639646, + -0.9257973150065034 + ], + [ + 0.9159566032226343, + -0.023030003154024994, + 0.40061592575380567, + -0.028314151912783934, + -0.9995726021901347, + 0.007274733830323197, + 0.40027716624148435, + -0.018006440669045446, + -0.9162172003843405 + ], + [ + 0.918979015372412, + -0.010450934555597039, + 0.3941679176088112, + -0.024088029996412363, + -0.9992696029073793, + 0.02966525773055537, + 0.3935699888406684, + -0.03675647796297905, + -0.9185595381964704 + ], + [ + 0.935018854994414, + 0.005802514566370692, + 0.35455052056038866, + -0.013432439932913695, + -0.9985688819557443, + 0.05176637467607612, + 0.3543434920559205, + -0.05316501494744721, + -0.9336027907109393 + ], + [ + 0.9401896725873733, + -0.003946662759643633, + 0.3406285416889043, + -0.04035610563648369, + -0.9941817221738682, + 0.09987035612862502, + 0.33825251558252295, + -0.10764351884095513, + -0.9348786598022398 + ], + [ + 0.9276668892125111, + -0.03140917574126307, + 0.3720854825682361, + -0.0843232343457688, + -0.988337475319522, + 0.12680152612844106, + 0.3637632950261079, + -0.14900502863422968, + -0.919496474508446 + ], + [ + 0.8959189260904189, + -0.06126197728782275, + 0.43997300827638974, + -0.11871494215278942, + -0.9874406689009267, + 0.10424820339051141, + 0.42806079052238555, + -0.14562930865480295, + -0.891939495749613 + ], + [ + 0.8699300215402611, + -0.07583002900023322, + 0.487310541979942, + -0.12998511121871956, + -0.9884244271721382, + 0.07823696460681338, + 0.47573693201644346, + -0.13140379930296708, + -0.8697168579740924 + ], + [ + 0.845271422104239, + -0.09596487081896268, + 0.5256490906893855, + -0.15633244684308875, + -0.9851099037013081, + 0.07154469717353511, + 0.5109563474876605, + -0.1426506964522074, + -0.8476876722966837 + ], + [ + 0.8308039137813744, + -0.10782684208406841, + 0.5460203558217654, + -0.16202497300247043, + -0.9854191473818519, + 0.05193276515623143, + 0.5324591674195297, + -0.13161487795610693, + -0.8361607255375606 + ], + [ + 0.8235323963651238, + -0.12903294900903595, + 0.5523992127140915, + -0.16586340527721072, + -0.9860029369680303, + 0.016956977332829144, + 0.5424792373233878, + -0.10558743467122339, + -0.8334072058199314 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005945.json b/json/chunk-0005/episode_0005945.json new file mode 100644 index 0000000000000000000000000000000000000000..289271e9082be333e5d58d26a6f2b071cbf93f24 --- /dev/null +++ b/json/chunk-0005/episode_0005945.json @@ -0,0 +1,1222 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 19, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut the light green spatula to the lower left side of the stove burner." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005945.mp4", + "start": 0, + "end": 19, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.40514111518859863, + 0.05160225182771683, + 0.00869691651314497, + 0.09945400059223175, + -0.12322571128606796, + 0.07130782306194305, + 0.0, + 0.9994885921478271 + ], + [ + 0.39813682436943054, + 0.0509774275124073, + -0.008009480312466621, + 0.09863905608654022, + -0.07721345126628876, + 0.07138937711715698, + 0.0, + 0.9994885921478271 + ], + [ + 0.3851308226585388, + 0.045487288385629654, + -0.022494425997138023, + 0.09617221355438232, + -0.03334125503897667, + 0.08242528140544891, + 0.0, + 0.9974852800369263 + ], + [ + 0.37877151370048523, + 0.04192677140235901, + -0.027225349098443985, + 0.10575786978006363, + -0.019211238250136375, + 0.11582713574171066, + 0.0, + 0.9994885921478271 + ], + [ + 0.37695467472076416, + 0.03766760975122452, + -0.029406430199742317, + 0.09831514954566956, + -0.009908775798976421, + 0.14922675490379333, + 0.0, + 0.9507390260696411 + ], + [ + 0.3790922164916992, + 0.03789350390434265, + -0.03901959955692291, + 0.09431596845388412, + 0.018051093444228172, + 0.16111040115356445, + 0.0, + 0.6691625118255615 + ], + [ + 0.38077983260154724, + 0.036776103079319, + -0.03893648087978363, + 0.09844685345888138, + 0.023120366036891937, + 0.16201362013816833, + 0.0, + 0.3875128924846649 + ], + [ + 0.38275501132011414, + 0.03821168094873428, + -0.03295659273862839, + 0.1262824535369873, + 0.03766749054193497, + 0.13569611310958862, + 0.0, + 0.3181038796901703 + ], + [ + 0.3993893563747406, + 0.049289483577013016, + -0.013124631717801094, + 0.1335008144378662, + 0.012005366384983063, + 0.11298884451389313, + 0.0, + 0.3181038796901703 + ], + [ + 0.42219969630241394, + 0.08243023604154587, + 0.02292618900537491, + 0.11139355599880219, + -0.03939833119511604, + 0.14913561940193176, + 0.0, + 0.3181038796901703 + ], + [ + 0.427973210811615, + 0.1347789168357849, + 0.03364608809351921, + 0.10492447763681412, + -0.043957117944955826, + 0.24469536542892456, + 0.0, + 0.3181038796901703 + ], + [ + 0.40892764925956726, + 0.17513741552829742, + 0.011656142771244049, + 0.115190789103508, + 0.009398046880960464, + 0.3146820068359375, + 0.0, + 0.3181038796901703 + ], + [ + 0.3859943151473999, + 0.20647132396697998, + -0.00432297307997942, + 0.13127481937408447, + 0.02035747841000557, + 0.36537253856658936, + 0.0, + 0.3181038796901703 + ], + [ + 0.3629221022129059, + 0.22770237922668457, + -0.02221718430519104, + 0.14496879279613495, + 0.025749918073415756, + 0.41757288575172424, + 0.0, + 0.3181038796901703 + ], + [ + 0.36230573058128357, + 0.23413580656051636, + -0.028391601517796516, + 0.1326490193605423, + 0.02129419893026352, + 0.44431349635124207, + 0.0, + 0.36275482177734375 + ], + [ + 0.3732553720474243, + 0.224680095911026, + -0.034965142607688904, + 0.07605618983507156, + 0.012887610122561455, + 0.4249330461025238, + 0.0, + 0.5442624688148499 + ], + [ + 0.3761305809020996, + 0.21122081577777863, + -0.03621001914143562, + 0.05724252387881279, + -0.0018061272567138076, + 0.37130337953567505, + 0.0, + 0.84995037317276 + ], + [ + 0.3772357702255249, + 0.18409006297588348, + -0.020652318373322487, + 0.04600779339671135, + -0.005592744797468185, + 0.2767127454280853, + 0.0, + 1.0067112445831299 + ], + [ + 0.38723382353782654, + 0.16200357675552368, + 0.0167701318860054, + 0.052454687654972076, + -0.08151787519454956, + 0.16677947342395782, + 0.0, + 1.0001531839370728 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9974852800369263 + ], + [ + 0.9994885921478271 + ], + [ + 0.9507390260696411 + ], + [ + 0.6691625118255615 + ], + [ + 0.3875128924846649 + ], + [ + 0.3181038796901703 + ], + [ + 0.3181038796901703 + ], + [ + 0.3181038796901703 + ], + [ + 0.3181038796901703 + ], + [ + 0.3181038796901703 + ], + [ + 0.3181038796901703 + ], + [ + 0.3181038796901703 + ], + [ + 0.36275482177734375 + ], + [ + 0.5442624688148499 + ], + [ + 0.84995037317276 + ], + [ + 1.0067112445831299 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.40514111518859863, + 0.05160225182771683, + 0.00869691651314497 + ], + [ + 0.39813682436943054, + 0.0509774275124073, + -0.008009480312466621 + ], + [ + 0.3851308226585388, + 0.045487288385629654, + -0.022494425997138023 + ], + [ + 0.37877151370048523, + 0.04192677140235901, + -0.027225349098443985 + ], + [ + 0.37695467472076416, + 0.03766760975122452, + -0.029406430199742317 + ], + [ + 0.3790922164916992, + 0.03789350390434265, + -0.03901959955692291 + ], + [ + 0.38077983260154724, + 0.036776103079319, + -0.03893648087978363 + ], + [ + 0.38275501132011414, + 0.03821168094873428, + -0.03295659273862839 + ], + [ + 0.3993893563747406, + 0.049289483577013016, + -0.013124631717801094 + ], + [ + 0.42219969630241394, + 0.08243023604154587, + 0.02292618900537491 + ], + [ + 0.427973210811615, + 0.1347789168357849, + 0.03364608809351921 + ], + [ + 0.40892764925956726, + 0.17513741552829742, + 0.011656142771244049 + ], + [ + 0.3859943151473999, + 0.20647132396697998, + -0.00432297307997942 + ], + [ + 0.3629221022129059, + 0.22770237922668457, + -0.02221718430519104 + ], + [ + 0.36230573058128357, + 0.23413580656051636, + -0.028391601517796516 + ], + [ + 0.3732553720474243, + 0.224680095911026, + -0.034965142607688904 + ], + [ + 0.3761305809020996, + 0.21122081577777863, + -0.03621001914143562 + ], + [ + 0.3772357702255249, + 0.18409006297588348, + -0.020652318373322487 + ], + [ + 0.38723382353782654, + 0.16200357675552368, + 0.0167701318860054 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9898952586955587, + 0.08306848168373702, + 0.11492173059439947, + 0.07070716065838008, + -0.9916602436542596, + 0.10775183797599334, + 0.12291409294170916, + -0.09853724425989056, + -0.9875133099102937 + ], + [ + 0.9944809718145734, + 0.07855904773956897, + 0.06954187743362704, + 0.07111623147779057, + -0.9920625141187237, + 0.10370366290943771, + 0.07713675076861086, + -0.09818576321793858, + -0.9921741165653194 + ], + [ + 0.9960510779830427, + 0.0851416276060225, + 0.02516253757901301, + 0.08228622372040094, + -0.9917361216054564, + 0.0984298861566085, + 0.03333507814081107, + -0.09597066401543844, + -0.9948258160169454 + ], + [ + 0.9931162396967085, + 0.11693686567860684, + 0.006775241392958766, + 0.1155469955384622, + -0.9875154640582017, + 0.10706119777000796, + 0.0192100565512962, + -0.10554135535977176, + -0.9942293478046793 + ], + [ + 0.9888377887000509, + 0.14891736378406525, + -0.004842148531080706, + 0.14866622687843925, + -0.9839663606939675, + 0.09853199484632742, + 0.009908613652833064, + -0.09815202385214801, + -0.9951221028543209 + ], + [ + 0.9868889609145021, + 0.15802349518259326, + -0.032844387577953695, + 0.16038819233354293, + -0.9829355564233393, + 0.09007396781933401, + -0.01805011315954414, + -0.09416085645859913, + -0.9953933526631119 + ], + [ + 0.9866407120073925, + 0.158282250120397, + -0.03855949567058744, + 0.16126267182907192, + -0.9824924321579352, + 0.09328971769136392, + -0.023118306254893133, + -0.09826164078219639, + -0.9948920513637125 + ], + [ + 0.9901045856453672, + 0.12950342928220404, + -0.0540534114387354, + 0.13518409872783582, + -0.9835591956301644, + 0.1197354088918029, + -0.03765858381775352, + -0.12585773911640744, + -0.9913332742167731 + ], + [ + 0.9935519445404358, + 0.11015760648924709, + -0.02682974529284697, + 0.1127404612467084, + -0.9849624442032575, + 0.1309143686041539, + -0.012005078000508764, + -0.13309502335438778, + -0.9910305711028781 + ], + [ + 0.9881324799438428, + 0.15199241925357573, + 0.022192489032917952, + 0.1484680994376971, + -0.9821202525994814, + 0.11574555232616295, + 0.039388139450715454, + -0.11107706299401195, + -0.9930309464197151 + ], + [ + 0.9692739872159758, + 0.24539359894368368, + 0.01702701688231876, + 0.2420267623007884, + -0.9637605290488164, + 0.11219932699327188, + 0.04394296344856484, + -0.10463089527004922, + -0.9935398289542026 + ], + [ + 0.9508528575908168, + 0.3064358011470112, + -0.0444515802505058, + 0.3095004402686765, + -0.9449274749712696, + 0.10640274675926394, + -0.009397908537175616, + -0.11493113946972809, + -0.9933290051615914 + ], + [ + 0.933797190199977, + 0.35173433490993244, + -0.06561832990937592, + 0.35722323257893474, + -0.9269065460969222, + 0.11504702042439316, + -0.020356072324604655, + -0.13087097633983594, + -0.991190404448799 + ], + [ + 0.9137729050336557, + 0.3978892335225404, + -0.08187329157423004, + 0.4054086411034819, + -0.9059960556409558, + 0.12171680607729754, + -0.025747072551686706, + -0.14441365936044806, + -0.9891823811841488 + ], + [ + 0.9027012631661838, + 0.4235192779076544, + -0.07590685554516718, + 0.4297406835555302, + -0.8961844405512154, + 0.11034669642146318, + -0.02129258968283434, + -0.13223036623440126, + -0.9909902905024419 + ], + [ + 0.9109906787132107, + 0.41017586455011046, + -0.04303188862010335, + 0.41222554748355855, + -0.9088362448938767, + 0.06392791228467998, + -0.012887253373934027, + -0.07597657604661284, + -0.9970263179037498 + ], + [ + 0.9318537117677274, + 0.36233230826102636, + -0.019077689979287556, + 0.3628297090545217, + -0.9302914489016163, + 0.05396686323979279, + 0.0018061262747539834, + -0.057211174527079495, + -0.9983604656721496 + ], + [ + 0.9619436510306248, + 0.2731532728761733, + -0.0071903935154358275, + 0.2731906546235102, + -0.9608705072486877, + 0.04576826986055019, + 0.005592715641794704, + -0.0459908449224951, + -0.998926205340047 + ], + [ + 0.9828498455385709, + 0.16998910681541454, + 0.07148345744929431, + 0.16545610751638637, + -0.9840594285381146, + 0.06520212872878924, + 0.08142762191255175, + -0.05225652752850304, + -0.9953083932733259 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.007004290819168091, + -0.0006248243153095245, + -0.016706395894289017, + -0.0008149445056915283, + 0.046012260019779205, + 8.155405521392822e-05, + 1.0 + ], + [ + -0.013006001710891724, + -0.005490139126777649, + -0.014484945684671402, + -0.002466842532157898, + 0.04387219622731209, + 0.011035904288291931, + 1.0 + ], + [ + -0.006359308958053589, + -0.003560516983270645, + -0.004730923101305962, + 0.009585656225681305, + 0.014130016788840294, + 0.03340185433626175, + 1.0 + ], + [ + -0.0018168389797210693, + -0.004259161651134491, + -0.002181081101298332, + -0.0074427202343940735, + 0.009302462451159954, + 0.03339961916208267, + 0.0 + ], + [ + 0.0021375417709350586, + 0.00022589415311813354, + -0.009613169357180595, + -0.003999181091785431, + 0.02795986831188202, + 0.011883646249771118, + 0.0 + ], + [ + 0.0016876161098480225, + -0.0011174008250236511, + 8.311867713928223e-05, + 0.004130885004997253, + 0.005069272592663765, + 0.0009032189846038818, + 0.0 + ], + [ + 0.0019751787185668945, + 0.0014355778694152832, + 0.005979888141155243, + 0.027835600078105927, + 0.01454712450504303, + -0.026317507028579712, + 0.0 + ], + [ + 0.016634345054626465, + 0.011077802628278732, + 0.019831961020827293, + 0.007218360900878906, + -0.025662124156951904, + -0.022707268595695496, + 0.0 + ], + [ + 0.02281033992767334, + 0.03314075246453285, + 0.03605081886053085, + -0.022107258439064026, + -0.051403697580099106, + 0.036146774888038635, + 0.0 + ], + [ + 0.00577351450920105, + 0.052348680794239044, + 0.010719899088144302, + -0.006469078361988068, + -0.004558786749839783, + 0.0955597460269928, + 0.0 + ], + [ + -0.01904556155204773, + 0.04035849869251251, + -0.021989945322275162, + 0.010266311466693878, + 0.05335516482591629, + 0.06998664140701294, + 0.0 + ], + [ + -0.02293333411216736, + 0.031333908438682556, + -0.015979114919900894, + 0.016084030270576477, + 0.010959431529045105, + 0.050690531730651855, + 0.0 + ], + [ + -0.02307221293449402, + 0.02123105525970459, + -0.017894212156534195, + 0.013693973422050476, + 0.005392439663410187, + 0.05220034718513489, + 0.0 + ], + [ + -0.0006163716316223145, + 0.006433427333831787, + -0.006174417212605476, + -0.012319773435592651, + -0.004455719143152237, + 0.026740610599517822, + 1.0 + ], + [ + 0.010949641466140747, + -0.009455710649490356, + -0.006573541089892387, + -0.056592829525470734, + -0.008406588807702065, + -0.01938045024871826, + 1.0 + ], + [ + 0.002875208854675293, + -0.013459280133247375, + -0.0012448765337467194, + -0.018813665956258774, + -0.014693737030029297, + -0.053629666566848755, + 1.0 + ], + [ + 0.001105189323425293, + -0.02713075280189514, + 0.015557700768113136, + -0.01123473048210144, + -0.003786617424339056, + -0.09459063410758972, + 1.0 + ], + [ + 0.009998053312301636, + -0.022086486220359802, + 0.03742244839668274, + 0.006446894258260727, + -0.07592512667179108, + -0.1099332720041275, + 1.0 + ], + [ + -0.0013401508331298828, + -0.003170579671859741, + 0.010537361726164818, + 0.014146246016025543, + -0.022226810455322266, + -0.044351302087306976, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9974852800369263 + ], + [ + 0.9994885921478271 + ], + [ + 0.9507390260696411 + ], + [ + 0.6691625118255615 + ], + [ + 0.3875128924846649 + ], + [ + 0.3181038796901703 + ], + [ + 0.3181038796901703 + ], + [ + 0.3181038796901703 + ], + [ + 0.3181038796901703 + ], + [ + 0.3181038796901703 + ], + [ + 0.3181038796901703 + ], + [ + 0.3181038796901703 + ], + [ + 0.36275482177734375 + ], + [ + 0.5442624688148499 + ], + [ + 0.84995037317276 + ], + [ + 1.0067112445831299 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.39813682436943054, + 0.0509774275124073, + -0.008009480312466621 + ], + [ + 0.3851308226585388, + 0.045487288385629654, + -0.022494425997138023 + ], + [ + 0.37877151370048523, + 0.04192677140235901, + -0.027225349098443985 + ], + [ + 0.37695467472076416, + 0.03766760975122452, + -0.029406430199742317 + ], + [ + 0.3790922164916992, + 0.03789350390434265, + -0.03901959955692291 + ], + [ + 0.38077983260154724, + 0.036776103079319, + -0.03893648087978363 + ], + [ + 0.38275501132011414, + 0.03821168094873428, + -0.03295659273862839 + ], + [ + 0.3993893563747406, + 0.049289483577013016, + -0.013124631717801094 + ], + [ + 0.42219969630241394, + 0.08243023604154587, + 0.02292618900537491 + ], + [ + 0.427973210811615, + 0.1347789168357849, + 0.03364608809351921 + ], + [ + 0.40892764925956726, + 0.17513741552829742, + 0.011656142771244049 + ], + [ + 0.3859943151473999, + 0.20647132396697998, + -0.00432297307997942 + ], + [ + 0.3629221022129059, + 0.22770237922668457, + -0.02221718430519104 + ], + [ + 0.36230573058128357, + 0.23413580656051636, + -0.028391601517796516 + ], + [ + 0.3732553720474243, + 0.224680095911026, + -0.034965142607688904 + ], + [ + 0.3761305809020996, + 0.21122081577777863, + -0.03621001914143562 + ], + [ + 0.3772357702255249, + 0.18409006297588348, + -0.020652318373322487 + ], + [ + 0.38723382353782654, + 0.16200357675552368, + 0.0167701318860054 + ], + [ + 0.38589367270469666, + 0.15883299708366394, + 0.02730749361217022 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9944809718145734, + 0.07855904773956897, + 0.06954187743362704, + 0.07111623147779057, + -0.9920625141187237, + 0.10370366290943771, + 0.07713675076861086, + -0.09818576321793858, + -0.9921741165653194 + ], + [ + 0.9960510779830427, + 0.0851416276060225, + 0.02516253757901301, + 0.08228622372040094, + -0.9917361216054564, + 0.0984298861566085, + 0.03333507814081107, + -0.09597066401543844, + -0.9948258160169454 + ], + [ + 0.9931162396967085, + 0.11693686567860684, + 0.006775241392958766, + 0.1155469955384622, + -0.9875154640582017, + 0.10706119777000796, + 0.0192100565512962, + -0.10554135535977176, + -0.9942293478046793 + ], + [ + 0.9888377887000509, + 0.14891736378406525, + -0.004842148531080706, + 0.14866622687843925, + -0.9839663606939675, + 0.09853199484632742, + 0.009908613652833064, + -0.09815202385214801, + -0.9951221028543209 + ], + [ + 0.9868889609145021, + 0.15802349518259326, + -0.032844387577953695, + 0.16038819233354293, + -0.9829355564233393, + 0.09007396781933401, + -0.01805011315954414, + -0.09416085645859913, + -0.9953933526631119 + ], + [ + 0.9866407120073925, + 0.158282250120397, + -0.03855949567058744, + 0.16126267182907192, + -0.9824924321579352, + 0.09328971769136392, + -0.023118306254893133, + -0.09826164078219639, + -0.9948920513637125 + ], + [ + 0.9901045856453672, + 0.12950342928220404, + -0.0540534114387354, + 0.13518409872783582, + -0.9835591956301644, + 0.1197354088918029, + -0.03765858381775352, + -0.12585773911640744, + -0.9913332742167731 + ], + [ + 0.9935519445404358, + 0.11015760648924709, + -0.02682974529284697, + 0.1127404612467084, + -0.9849624442032575, + 0.1309143686041539, + -0.012005078000508764, + -0.13309502335438778, + -0.9910305711028781 + ], + [ + 0.9881324799438428, + 0.15199241925357573, + 0.022192489032917952, + 0.1484680994376971, + -0.9821202525994814, + 0.11574555232616295, + 0.039388139450715454, + -0.11107706299401195, + -0.9930309464197151 + ], + [ + 0.9692739872159758, + 0.24539359894368368, + 0.01702701688231876, + 0.2420267623007884, + -0.9637605290488164, + 0.11219932699327188, + 0.04394296344856484, + -0.10463089527004922, + -0.9935398289542026 + ], + [ + 0.9508528575908168, + 0.3064358011470112, + -0.0444515802505058, + 0.3095004402686765, + -0.9449274749712696, + 0.10640274675926394, + -0.009397908537175616, + -0.11493113946972809, + -0.9933290051615914 + ], + [ + 0.933797190199977, + 0.35173433490993244, + -0.06561832990937592, + 0.35722323257893474, + -0.9269065460969222, + 0.11504702042439316, + -0.020356072324604655, + -0.13087097633983594, + -0.991190404448799 + ], + [ + 0.9137729050336557, + 0.3978892335225404, + -0.08187329157423004, + 0.4054086411034819, + -0.9059960556409558, + 0.12171680607729754, + -0.025747072551686706, + -0.14441365936044806, + -0.9891823811841488 + ], + [ + 0.9027012631661838, + 0.4235192779076544, + -0.07590685554516718, + 0.4297406835555302, + -0.8961844405512154, + 0.11034669642146318, + -0.02129258968283434, + -0.13223036623440126, + -0.9909902905024419 + ], + [ + 0.9109906787132107, + 0.41017586455011046, + -0.04303188862010335, + 0.41222554748355855, + -0.9088362448938767, + 0.06392791228467998, + -0.012887253373934027, + -0.07597657604661284, + -0.9970263179037498 + ], + [ + 0.9318537117677274, + 0.36233230826102636, + -0.019077689979287556, + 0.3628297090545217, + -0.9302914489016163, + 0.05396686323979279, + 0.0018061262747539834, + -0.057211174527079495, + -0.9983604656721496 + ], + [ + 0.9619436510306248, + 0.2731532728761733, + -0.0071903935154358275, + 0.2731906546235102, + -0.9608705072486877, + 0.04576826986055019, + 0.005592715641794704, + -0.0459908449224951, + -0.998926205340047 + ], + [ + 0.9828498455385709, + 0.16998910681541454, + 0.07148345744929431, + 0.16545610751638637, + -0.9840594285381146, + 0.06520212872878924, + 0.08142762191255175, + -0.05225652752850304, + -0.9953083932733259 + ], + [ + 0.9871786167858079, + 0.12869223392552118, + 0.09442821341165938, + 0.12146595061009495, + -0.9894729298377585, + 0.07867238372305749, + 0.10355868579334582, + -0.06619388223651007, + -0.9924182427541394 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005947.json b/json/chunk-0005/episode_0005947.json new file mode 100644 index 0000000000000000000000000000000000000000..040446ac6f4e0738f7a9cc63685c464567865c91 --- /dev/null +++ b/json/chunk-0005/episode_0005947.json @@ -0,0 +1,1942 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 31, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nTake clothes out of laundry machine." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005947.mp4", + "start": 0, + "end": 31, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2042360007762909, + 0.05579966679215431, + 0.11263413727283478, + 0.10517389327287674, + -0.15613475441932678, + 0.23023167252540588, + 0.0, + 0.9941151142120361 + ], + [ + 0.20462888479232788, + 0.054673925042152405, + 0.10827823728322983, + 0.09695615619421005, + -0.14996379613876343, + 0.23732878267765045, + 0.0, + 0.9941151142120361 + ], + [ + 0.2314826101064682, + 0.04579431563615799, + 0.10129610449075699, + 0.03003692999482155, + -0.22455857694149017, + 0.28256168961524963, + 0.0, + 0.9941151142120361 + ], + [ + 0.2669060230255127, + 0.0348595455288887, + 0.10026221722364426, + -0.014077317900955677, + -0.3134426474571228, + 0.3472239673137665, + 0.0, + 0.9941151142120361 + ], + [ + 0.29429763555526733, + 0.027359941974282265, + 0.10415912419557571, + -0.053724780678749084, + -0.37726911902427673, + 0.3516005277633667, + 0.0, + 0.9941151142120361 + ], + [ + 0.31791770458221436, + 0.019222930073738098, + 0.09557786583900452, + -0.040372077375650406, + -0.4607483744621277, + 0.32671740651130676, + 0.0, + 0.9941151142120361 + ], + [ + 0.33741721510887146, + 0.01827157847583294, + 0.09171858429908752, + -0.03263650834560394, + -0.5317952632904053, + 0.3084086775779724, + 0.0, + 0.9941151142120361 + ], + [ + 0.36141324043273926, + 0.021290579810738564, + 0.09410147368907928, + -0.05565933510661125, + -0.586726188659668, + 0.36926600337028503, + 0.0, + 0.9941151142120361 + ], + [ + 0.3824000060558319, + 0.02234383299946785, + 0.09319201111793518, + -0.049185387790203094, + -0.5982639789581299, + 0.3923071026802063, + 0.0, + 0.993436336517334 + ], + [ + 0.3969539403915405, + 0.02244449593126774, + 0.0766853466629982, + -0.019111914560198784, + -0.587620735168457, + 0.3904185891151428, + 0.0, + 0.9941151142120361 + ], + [ + 0.4001885652542114, + 0.025693995878100395, + 0.06383717805147171, + 0.005748622119426727, + -0.5211901068687439, + 0.40199166536331177, + 0.0, + 0.9941151142120361 + ], + [ + 0.3954302966594696, + 0.03255714103579521, + 0.04733333736658096, + 0.06122514605522156, + -0.4787299931049347, + 0.39701205492019653, + 0.0, + 0.9941151142120361 + ], + [ + 0.4019467830657959, + 0.03602689877152443, + 0.040784530341625214, + 0.06074117124080658, + -0.4695432484149933, + 0.41349807381629944, + 0.0, + 0.9941151142120361 + ], + [ + 0.4030948877334595, + 0.03700641915202141, + 0.03885199874639511, + 0.06288155168294907, + -0.46864718198776245, + 0.4168657064437866, + 0.0, + 0.9453431367874146 + ], + [ + 0.40382230281829834, + 0.03907927870750427, + 0.037740807980298996, + 0.057263124734163284, + -0.4656672775745392, + 0.43236035108566284, + 0.0, + 0.6601285338401794 + ], + [ + 0.4027235805988312, + 0.04201449453830719, + 0.03526756539940834, + 0.07766011357307434, + -0.423551082611084, + 0.47011280059814453, + 0.0, + 0.3729017674922943 + ], + [ + 0.4006686508655548, + 0.04209623113274574, + 0.03262132778763771, + 0.06544755399227142, + -0.42495518922805786, + 0.49204179644584656, + 0.0, + 0.1628633439540863 + ], + [ + 0.39751094579696655, + 0.045075397938489914, + 0.03519450128078461, + 0.046087127178907394, + -0.49613893032073975, + 0.5322102308273315, + 0.0, + 0.07112513482570648 + ], + [ + 0.39145025610923767, + 0.04096250236034393, + 0.05333462357521057, + -0.021060224622488022, + -0.4918387830257416, + 0.60688316822052, + 0.0, + 0.06267260015010834 + ], + [ + 0.3713677227497101, + 0.03381052240729332, + 0.0838376134634018, + -0.08949225395917892, + -0.4964815080165863, + 0.623492956161499, + 0.0, + 0.06803370267152786 + ], + [ + 0.34393808245658875, + 0.024952957406640053, + 0.10330979526042938, + -0.13614951074123383, + -0.4741019308567047, + 0.5959290862083435, + 0.0, + 0.07112513482570648 + ], + [ + 0.3096974492073059, + 0.021526072174310684, + 0.09688553959131241, + -0.09514161199331284, + -0.41486382484436035, + 0.5072422027587891, + 0.0, + 0.07206849008798599 + ], + [ + 0.2699832618236542, + 0.015579807572066784, + 0.0801001563668251, + -0.04524073377251625, + -0.35238292813301086, + 0.42317017912864685, + 0.0, + 0.07206849008798599 + ], + [ + 0.25061845779418945, + 0.010112402960658073, + 0.060908541083335876, + -0.03300211578607559, + -0.2636374533176422, + 0.3793715238571167, + 0.0, + 0.07206849008798599 + ], + [ + 0.24095577001571655, + 0.005563502199947834, + 0.041039396077394485, + -0.015563691034913063, + -0.2140219658613205, + 0.3553394377231598, + 0.0, + 0.07206849008798599 + ], + [ + 0.244043231010437, + 0.003279805416241288, + 0.031633563339710236, + -0.028147760778665543, + -0.20470798015594482, + 0.412475049495697, + 0.0, + 0.100052610039711 + ], + [ + 0.25521934032440186, + 0.004928436130285263, + 0.03277380391955376, + -0.039622366428375244, + -0.2261391282081604, + 0.46582528948783875, + 0.0, + 0.2666412889957428 + ], + [ + 0.263477087020874, + 0.004132152069360018, + 0.0374043770134449, + -0.07431123405694962, + -0.24018466472625732, + 0.4968329668045044, + 0.0, + 0.5315056443214417 + ], + [ + 0.26432284712791443, + 0.0018897976260632277, + 0.03807917609810829, + -0.09664087742567062, + -0.23359844088554382, + 0.5055122375488281, + 0.0, + 0.832595944404602 + ], + [ + 0.26748478412628174, + 0.0010305820032954216, + 0.0465354323387146, + -0.08082985877990723, + -0.20151999592781067, + 0.4989986717700958, + 0.0, + 0.9968144297599792 + ], + [ + 0.2665073573589325, + 0.0003078178851865232, + 0.05517243593931198, + -0.05837798863649368, + -0.17955386638641357, + 0.49894171953201294, + 0.0, + 0.9961419701576233 + ] + ], + "left_gripper_pos": [ + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.993436336517334 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9453431367874146 + ], + [ + 0.6601285338401794 + ], + [ + 0.3729017674922943 + ], + [ + 0.1628633439540863 + ], + [ + 0.07112513482570648 + ], + [ + 0.06267260015010834 + ], + [ + 0.06803370267152786 + ], + [ + 0.07112513482570648 + ], + [ + 0.07206849008798599 + ], + [ + 0.07206849008798599 + ], + [ + 0.07206849008798599 + ], + [ + 0.07206849008798599 + ], + [ + 0.100052610039711 + ], + [ + 0.2666412889957428 + ], + [ + 0.5315056443214417 + ], + [ + 0.832595944404602 + ], + [ + 0.9968144297599792 + ], + [ + 0.9961419701576233 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2042360007762909, + 0.05579966679215431, + 0.11263413727283478 + ], + [ + 0.20462888479232788, + 0.054673925042152405, + 0.10827823728322983 + ], + [ + 0.2314826101064682, + 0.04579431563615799, + 0.10129610449075699 + ], + [ + 0.2669060230255127, + 0.0348595455288887, + 0.10026221722364426 + ], + [ + 0.29429763555526733, + 0.027359941974282265, + 0.10415912419557571 + ], + [ + 0.31791770458221436, + 0.019222930073738098, + 0.09557786583900452 + ], + [ + 0.33741721510887146, + 0.01827157847583294, + 0.09171858429908752 + ], + [ + 0.36141324043273926, + 0.021290579810738564, + 0.09410147368907928 + ], + [ + 0.3824000060558319, + 0.02234383299946785, + 0.09319201111793518 + ], + [ + 0.3969539403915405, + 0.02244449593126774, + 0.0766853466629982 + ], + [ + 0.4001885652542114, + 0.025693995878100395, + 0.06383717805147171 + ], + [ + 0.3954302966594696, + 0.03255714103579521, + 0.04733333736658096 + ], + [ + 0.4019467830657959, + 0.03602689877152443, + 0.040784530341625214 + ], + [ + 0.4030948877334595, + 0.03700641915202141, + 0.03885199874639511 + ], + [ + 0.40382230281829834, + 0.03907927870750427, + 0.037740807980298996 + ], + [ + 0.4027235805988312, + 0.04201449453830719, + 0.03526756539940834 + ], + [ + 0.4006686508655548, + 0.04209623113274574, + 0.03262132778763771 + ], + [ + 0.39751094579696655, + 0.045075397938489914, + 0.03519450128078461 + ], + [ + 0.39145025610923767, + 0.04096250236034393, + 0.05333462357521057 + ], + [ + 0.3713677227497101, + 0.03381052240729332, + 0.0838376134634018 + ], + [ + 0.34393808245658875, + 0.024952957406640053, + 0.10330979526042938 + ], + [ + 0.3096974492073059, + 0.021526072174310684, + 0.09688553959131241 + ], + [ + 0.2699832618236542, + 0.015579807572066784, + 0.0801001563668251 + ], + [ + 0.25061845779418945, + 0.010112402960658073, + 0.060908541083335876 + ], + [ + 0.24095577001571655, + 0.005563502199947834, + 0.041039396077394485 + ], + [ + 0.244043231010437, + 0.003279805416241288, + 0.031633563339710236 + ], + [ + 0.25521934032440186, + 0.004928436130285263, + 0.03277380391955376 + ], + [ + 0.263477087020874, + 0.004132152069360018, + 0.0374043770134449 + ], + [ + 0.26432284712791443, + 0.0018897976260632277, + 0.03807917609810829 + ], + [ + 0.26748478412628174, + 0.0010305820032954216, + 0.0465354323387146 + ], + [ + 0.2665073573589325, + 0.0003078178851865232, + 0.05517243593931198 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9617702363094751, + 0.24283589294319008, + 0.1266046667690395, + 0.2254271608853537, + -0.9645083707699448, + 0.1374998103630519, + 0.15550115010630908, + -0.10370309452079961, + -0.9823772495851198 + ], + [ + 0.961060552624397, + 0.24806032209929857, + 0.12177311193067518, + 0.23246839886844511, + -0.9640042387181618, + 0.12905142874435324, + 0.14940233504477096, + -0.0957178370702641, + -0.9841326322959524 + ], + [ + 0.9362324991511586, + 0.2851131996213327, + 0.2053756824330996, + 0.2718162744299765, + -0.9580465751626319, + 0.0908992451792569, + 0.22267604381294134, + -0.0292783746276505, + -0.9744527470796003 + ], + [ + 0.8945064043627856, + 0.33617368171063955, + 0.29469568758140063, + 0.3237091156701728, + -0.9417048035005244, + 0.09167590466460379, + 0.3083353709615483, + 0.013390996570548479, + -0.9511834629685549 + ], + [ + 0.8727991520818459, + 0.3253323666890223, + 0.36384129962076944, + 0.320180563129843, + -0.9442809930221995, + 0.07627459086003456, + 0.3683830168711197, + 0.049922513974444006, + -0.9283327504076349 + ], + [ + 0.848337266316791, + 0.3036782938366377, + 0.4337088613697247, + 0.28746863114004984, + -0.9520884981589862, + 0.1043517023523449, + 0.4446185653890538, + 0.03615225478217266, + -0.8949901372560174 + ], + [ + 0.8212318749783272, + 0.28761540266997127, + 0.49280380240677024, + 0.2616229508715137, + -0.9573329624483135, + 0.12274783333003186, + 0.5070814915739503, + 0.028124351671212335, + -0.8614391340926016 + ], + [ + 0.776623548824475, + 0.3316489767274002, + 0.535597628492646, + 0.30056805708196715, + -0.9422647096568786, + 0.14763488746637649, + 0.5536377032620245, + 0.04632680833930458, + -0.8314680513139658 + ], + [ + 0.7635390398958033, + 0.3562720824351694, + 0.5385892106534466, + 0.31591764108070197, + -0.9334986414596169, + 0.16963587606121017, + 0.5632088232698415, + 0.04062621900149421, + -0.8253152923099407 + ], + [ + 0.7696341999995499, + 0.3707086210283056, + 0.5198445118363225, + 0.3167385803260214, + -0.9286130218790395, + 0.193273193510467, + 0.5543824220915637, + 0.015905153000523947, + -0.8321100625421619 + ], + [ + 0.7980949722271367, + 0.39387967281205705, + 0.4559640541218493, + 0.3393043983061069, + -0.9191484916970121, + 0.20009641551321836, + 0.4979125832873645, + -0.004985334148744358, + -0.8672128953420427 + ], + [ + 0.8185450372639123, + 0.41193364751267364, + 0.40036819556194203, + 0.3431959612063374, + -0.9095940178406287, + 0.2342119871402845, + 0.46065231377067806, + -0.05430831202907152, + -0.8859176333397334 + ], + [ + 0.8166170080357362, + 0.4262263155865015, + 0.389188630471547, + 0.3583286271714847, + -0.9029953603110809, + 0.2370653374200044, + 0.4524790129234299, + -0.054134158885286596, + -0.8901304599358575 + ], + [ + 0.8157760625486793, + 0.43004923885566165, + 0.3867390178560202, + 0.3612406769996814, + -0.9010629282953148, + 0.23998077533978426, + 0.4516797416902654, + -0.056064707361567795, + -0.8904168459407519 + ], + [ + 0.8112995726532097, + 0.44166173843477785, + 0.38305079586849716, + 0.3743992862094636, + -0.8957230725911688, + 0.23980273500041632, + 0.4490191286555211, + -0.05113791187177637, + -0.8920575856248468 + ], + [ + 0.8127384536152289, + 0.4800486828934508, + 0.3301658190476262, + 0.4129587571837863, + -0.8743860801864136, + 0.25478235347343325, + 0.4110003295380058, + -0.07072654967197217, + -0.9088874981487802 + ], + [ + 0.8029785809323529, + 0.4951798034065675, + 0.3316961875905388, + 0.4304075227455492, + -0.8667448991657275, + 0.2519973097757839, + 0.41227995698057435, + -0.059583907797542676, + -0.9091067016602999 + ], + [ + 0.7577914532366825, + 0.5257981866620051, + 0.38637854534689714, + 0.4462557085799723, + -0.8496438824029836, + 0.2810002057916898, + 0.4760335660026756, + -0.04051592277281295, + -0.8784933147387315 + ], + [ + 0.7240622236995398, + 0.5620144679351605, + 0.39984201135302927, + 0.5027088473551947, + -0.8269190839768871, + 0.25196952860541993, + 0.4722475103185713, + 0.018562499464898838, + -0.881270516136519 + ], + [ + 0.7138251571995913, + 0.5469765941396727, + 0.43734454428098474, + 0.5133797751790616, + -0.8334515124936897, + 0.20444995172187502, + 0.47633481017670193, + 0.07858232489144483, + -0.8757453778516793 + ], + [ + 0.7363426332720728, + 0.5047992624921318, + 0.4505299446355916, + 0.4993707089797705, + -0.8547485174476351, + 0.1415410432846632, + 0.456539616505502, + 0.12075875334098682, + -0.8814697397259531 + ], + [ + 0.799939703280763, + 0.450102420971985, + 0.3968680911212725, + 0.44456138671066886, + -0.8887346751310246, + 0.11187426274903119, + 0.4030653105403289, + 0.0869395643818749, + -0.9110323087487721 + ], + [ + 0.8557647676561693, + 0.39600086192842887, + 0.3329414059415326, + 0.38541963417877934, + -0.9172685677997583, + 0.1003497888192918, + 0.34513528945600286, + 0.04244634116766707, + -0.9375926301404035 + ], + [ + 0.8968027332949953, + 0.362147883948276, + 0.2541530399314789, + 0.357541050660123, + -0.9315761384181132, + 0.06580498022833949, + 0.2605940418495429, + 0.03185605879236718, + -0.9649227621269675 + ], + [ + 0.9161383516645198, + 0.34476751254862625, + 0.2045137719090093, + 0.3399709393337007, + -0.9385649042460928, + 0.05929317773643672, + 0.21239181014808137, + 0.015207985026173557, + -0.9770662393990829 + ], + [ + 0.8970029683719769, + 0.3954778963761793, + 0.19744089801693543, + 0.3925078467487338, + -0.918062022901125, + 0.05567506037146647, + 0.20328124599316683, + 0.027556407323269236, + -0.9787325372352241 + ], + [ + 0.8707033150525479, + 0.4408724428992782, + 0.21796152469765256, + 0.43772438682412773, + -0.8967392389144132, + 0.06523878118603606, + 0.2242166326032573, + 0.038603451700862546, + -0.9737744477962206 + ], + [ + 0.8538612256596105, + 0.45980260142554213, + 0.2439314966079033, + 0.4629612987433592, + -0.885088401122116, + 0.047805418782377374, + 0.2378819942343886, + 0.07211164899931453, + -0.9686134765207791 + ], + [ + 0.8511632936947096, + 0.46245408275923416, + 0.24830881741510702, + 0.47110315883811227, + -0.8816601840206078, + 0.027150205257060717, + 0.23147972092502167, + 0.09386981012052577, + -0.9683003653559212 + ], + [ + 0.8602932517590194, + 0.4627935824159174, + 0.213816793195796, + 0.4688624282134707, + -0.8829292353254337, + 0.024576183947327027, + 0.2001587979271966, + 0.07910793564672462, + -0.9765645857443599 + ], + [ + 0.8639728023495851, + 0.4685318654708123, + 0.18446920566491729, + 0.4708039758950457, + -0.8815794599877352, + 0.0340774413527564, + 0.1785906298819234, + 0.057406852954799366, + -0.9822473416366185 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + 0.0003928840160369873, + -0.0011257417500019073, + -0.00435589998960495, + -0.008217737078666687, + 0.0061709582805633545, + 0.007097110152244568, + 1.0 + ], + [ + 0.02685372531414032, + -0.008879609405994415, + -0.006982132792472839, + -0.0669192224740982, + -0.07459478080272675, + 0.04523290693759918, + 1.0 + ], + [ + 0.035423412919044495, + -0.010934770107269287, + -0.001033887267112732, + -0.04411424696445465, + -0.08888407051563263, + 0.06466227769851685, + 1.0 + ], + [ + 0.02739161252975464, + -0.007499603554606438, + 0.0038969069719314575, + -0.03964746370911598, + -0.06382647156715393, + 0.00437656044960022, + 1.0 + ], + [ + 0.02362006902694702, + -0.008137011900544167, + -0.008581258356571198, + 0.013352703303098679, + -0.08347925543785095, + -0.024883121252059937, + 1.0 + ], + [ + 0.019499510526657104, + -0.000951351597905159, + -0.003859281539916992, + 0.007735569030046463, + -0.07104688882827759, + -0.01830872893333435, + 1.0 + ], + [ + 0.023996025323867798, + 0.0030190013349056244, + 0.0023828893899917603, + -0.02302282676100731, + -0.054930925369262695, + 0.06085732579231262, + 1.0 + ], + [ + 0.02098676562309265, + 0.0010532531887292862, + -0.000909462571144104, + 0.006473947316408157, + -0.011537790298461914, + 0.023041099309921265, + 1.0 + ], + [ + 0.014553934335708618, + 0.00010066293179988861, + -0.01650666445493698, + 0.03007347323000431, + 0.010643243789672852, + -0.0018885135650634766, + 1.0 + ], + [ + 0.0032346248626708984, + 0.003249499946832657, + -0.01284816861152649, + 0.02486053667962551, + 0.06643062829971313, + 0.011573076248168945, + 1.0 + ], + [ + -0.004758268594741821, + 0.006863145157694817, + -0.016503840684890747, + 0.05547652393579483, + 0.042460113763809204, + -0.004979610443115234, + 1.0 + ], + [ + 0.006516486406326294, + 0.0034697577357292175, + -0.0065488070249557495, + -0.00048397481441497803, + 0.009186744689941406, + 0.016486018896102905, + 1.0 + ], + [ + 0.0011481046676635742, + 0.0009795203804969788, + -0.0019325315952301025, + 0.0021403804421424866, + 0.000896066427230835, + 0.0033676326274871826, + 0.0 + ], + [ + 0.0007274150848388672, + 0.0020728595554828644, + -0.0011111907660961151, + -0.005618426948785782, + 0.0029799044132232666, + 0.01549464464187622, + 0.0 + ], + [ + -0.001098722219467163, + 0.0029352158308029175, + -0.0024732425808906555, + 0.020396988838911057, + 0.0421161949634552, + 0.03775244951248169, + 0.0 + ], + [ + -0.002054929733276367, + 8.173659443855286e-05, + -0.00264623761177063, + -0.012212559580802917, + -0.001404106616973877, + 0.021928995847702026, + 0.0 + ], + [ + -0.003157705068588257, + 0.002979166805744171, + 0.0025731734931468964, + -0.01936042681336403, + -0.07118374109268188, + 0.040168434381484985, + 0.0 + ], + [ + -0.006060689687728882, + -0.004112895578145981, + 0.018140122294425964, + -0.06714735180139542, + 0.004300147294998169, + 0.07467293739318848, + 0.0 + ], + [ + -0.020082533359527588, + -0.007151979953050613, + 0.030502989888191223, + -0.0684320330619812, + -0.0046427249908447266, + 0.016609787940979004, + 0.0 + ], + [ + -0.027429640293121338, + -0.008857565000653267, + 0.019472181797027588, + -0.0466572567820549, + 0.022379577159881592, + -0.027563869953155518, + 0.0 + ], + [ + -0.03424063324928284, + -0.0034268852323293686, + -0.006424255669116974, + 0.04100789874792099, + 0.05923810601234436, + -0.08868688344955444, + 0.0 + ], + [ + -0.03971418738365173, + -0.0059462646022439, + -0.016785383224487305, + 0.049900878220796585, + 0.06248089671134949, + -0.08407202363014221, + 0.0 + ], + [ + -0.01936480402946472, + -0.0054674046114087105, + -0.019191615283489227, + 0.012238617986440659, + 0.08874547481536865, + -0.04379865527153015, + 0.0 + ], + [ + -0.0096626877784729, + -0.004548900760710239, + -0.01986914500594139, + 0.01743842475116253, + 0.049615487456321716, + -0.02403208613395691, + 0.0 + ], + [ + 0.003087460994720459, + -0.002283696783706546, + -0.00940583273768425, + -0.01258406974375248, + 0.009313985705375671, + 0.05713561177253723, + 1.0 + ], + [ + 0.011176109313964844, + 0.0016486307140439749, + 0.0011402405798435211, + -0.011474605649709702, + -0.021431148052215576, + 0.053350239992141724, + 1.0 + ], + [ + 0.008257746696472168, + -0.0007962840609252453, + 0.004630573093891144, + -0.03468886762857437, + -0.014045536518096924, + 0.03100767731666565, + 1.0 + ], + [ + 0.0008457601070404053, + -0.00224235444329679, + 0.0006747990846633911, + -0.02232964336872101, + 0.006586223840713501, + 0.00867927074432373, + 1.0 + ], + [ + 0.0031619369983673096, + -0.000859215622767806, + 0.008456256240606308, + 0.015811018645763397, + 0.032078444957733154, + -0.0065135657787323, + 1.0 + ], + [ + -0.0009774267673492432, + -0.0007227641181088984, + 0.008637003600597382, + 0.022451870143413544, + 0.021966129541397095, + -5.695223808288574e-05, + 1.0 + ], + [ + 0.009863287210464478, + 0.0038674254901707172, + 0.028169356286525726, + 0.051100511103868484, + -0.049227625131607056, + -0.036159127950668335, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.993436336517334 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9453431367874146 + ], + [ + 0.6601285338401794 + ], + [ + 0.3729017674922943 + ], + [ + 0.1628633439540863 + ], + [ + 0.07112513482570648 + ], + [ + 0.06267260015010834 + ], + [ + 0.06803370267152786 + ], + [ + 0.07112513482570648 + ], + [ + 0.07206849008798599 + ], + [ + 0.07206849008798599 + ], + [ + 0.07206849008798599 + ], + [ + 0.07206849008798599 + ], + [ + 0.100052610039711 + ], + [ + 0.2666412889957428 + ], + [ + 0.5315056443214417 + ], + [ + 0.832595944404602 + ], + [ + 0.9968144297599792 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.20462888479232788, + 0.054673925042152405, + 0.10827823728322983 + ], + [ + 0.2314826101064682, + 0.04579431563615799, + 0.10129610449075699 + ], + [ + 0.2669060230255127, + 0.0348595455288887, + 0.10026221722364426 + ], + [ + 0.29429763555526733, + 0.027359941974282265, + 0.10415912419557571 + ], + [ + 0.31791770458221436, + 0.019222930073738098, + 0.09557786583900452 + ], + [ + 0.33741721510887146, + 0.01827157847583294, + 0.09171858429908752 + ], + [ + 0.36141324043273926, + 0.021290579810738564, + 0.09410147368907928 + ], + [ + 0.3824000060558319, + 0.02234383299946785, + 0.09319201111793518 + ], + [ + 0.3969539403915405, + 0.02244449593126774, + 0.0766853466629982 + ], + [ + 0.4001885652542114, + 0.025693995878100395, + 0.06383717805147171 + ], + [ + 0.3954302966594696, + 0.03255714103579521, + 0.04733333736658096 + ], + [ + 0.4019467830657959, + 0.03602689877152443, + 0.040784530341625214 + ], + [ + 0.4030948877334595, + 0.03700641915202141, + 0.03885199874639511 + ], + [ + 0.40382230281829834, + 0.03907927870750427, + 0.037740807980298996 + ], + [ + 0.4027235805988312, + 0.04201449453830719, + 0.03526756539940834 + ], + [ + 0.4006686508655548, + 0.04209623113274574, + 0.03262132778763771 + ], + [ + 0.39751094579696655, + 0.045075397938489914, + 0.03519450128078461 + ], + [ + 0.39145025610923767, + 0.04096250236034393, + 0.05333462357521057 + ], + [ + 0.3713677227497101, + 0.03381052240729332, + 0.0838376134634018 + ], + [ + 0.34393808245658875, + 0.024952957406640053, + 0.10330979526042938 + ], + [ + 0.3096974492073059, + 0.021526072174310684, + 0.09688553959131241 + ], + [ + 0.2699832618236542, + 0.015579807572066784, + 0.0801001563668251 + ], + [ + 0.25061845779418945, + 0.010112402960658073, + 0.060908541083335876 + ], + [ + 0.24095577001571655, + 0.005563502199947834, + 0.041039396077394485 + ], + [ + 0.244043231010437, + 0.003279805416241288, + 0.031633563339710236 + ], + [ + 0.25521934032440186, + 0.004928436130285263, + 0.03277380391955376 + ], + [ + 0.263477087020874, + 0.004132152069360018, + 0.0374043770134449 + ], + [ + 0.26432284712791443, + 0.0018897976260632277, + 0.03807917609810829 + ], + [ + 0.26748478412628174, + 0.0010305820032954216, + 0.0465354323387146 + ], + [ + 0.2665073573589325, + 0.0003078178851865232, + 0.05517243593931198 + ], + [ + 0.276370644569397, + 0.004175243433564901, + 0.08334179222583771 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.961060552624397, + 0.24806032209929857, + 0.12177311193067518, + 0.23246839886844511, + -0.9640042387181618, + 0.12905142874435324, + 0.14940233504477096, + -0.0957178370702641, + -0.9841326322959524 + ], + [ + 0.9362324991511586, + 0.2851131996213327, + 0.2053756824330996, + 0.2718162744299765, + -0.9580465751626319, + 0.0908992451792569, + 0.22267604381294134, + -0.0292783746276505, + -0.9744527470796003 + ], + [ + 0.8945064043627856, + 0.33617368171063955, + 0.29469568758140063, + 0.3237091156701728, + -0.9417048035005244, + 0.09167590466460379, + 0.3083353709615483, + 0.013390996570548479, + -0.9511834629685549 + ], + [ + 0.8727991520818459, + 0.3253323666890223, + 0.36384129962076944, + 0.320180563129843, + -0.9442809930221995, + 0.07627459086003456, + 0.3683830168711197, + 0.049922513974444006, + -0.9283327504076349 + ], + [ + 0.848337266316791, + 0.3036782938366377, + 0.4337088613697247, + 0.28746863114004984, + -0.9520884981589862, + 0.1043517023523449, + 0.4446185653890538, + 0.03615225478217266, + -0.8949901372560174 + ], + [ + 0.8212318749783272, + 0.28761540266997127, + 0.49280380240677024, + 0.2616229508715137, + -0.9573329624483135, + 0.12274783333003186, + 0.5070814915739503, + 0.028124351671212335, + -0.8614391340926016 + ], + [ + 0.776623548824475, + 0.3316489767274002, + 0.535597628492646, + 0.30056805708196715, + -0.9422647096568786, + 0.14763488746637649, + 0.5536377032620245, + 0.04632680833930458, + -0.8314680513139658 + ], + [ + 0.7635390398958033, + 0.3562720824351694, + 0.5385892106534466, + 0.31591764108070197, + -0.9334986414596169, + 0.16963587606121017, + 0.5632088232698415, + 0.04062621900149421, + -0.8253152923099407 + ], + [ + 0.7696341999995499, + 0.3707086210283056, + 0.5198445118363225, + 0.3167385803260214, + -0.9286130218790395, + 0.193273193510467, + 0.5543824220915637, + 0.015905153000523947, + -0.8321100625421619 + ], + [ + 0.7980949722271367, + 0.39387967281205705, + 0.4559640541218493, + 0.3393043983061069, + -0.9191484916970121, + 0.20009641551321836, + 0.4979125832873645, + -0.004985334148744358, + -0.8672128953420427 + ], + [ + 0.8185450372639123, + 0.41193364751267364, + 0.40036819556194203, + 0.3431959612063374, + -0.9095940178406287, + 0.2342119871402845, + 0.46065231377067806, + -0.05430831202907152, + -0.8859176333397334 + ], + [ + 0.8166170080357362, + 0.4262263155865015, + 0.389188630471547, + 0.3583286271714847, + -0.9029953603110809, + 0.2370653374200044, + 0.4524790129234299, + -0.054134158885286596, + -0.8901304599358575 + ], + [ + 0.8157760625486793, + 0.43004923885566165, + 0.3867390178560202, + 0.3612406769996814, + -0.9010629282953148, + 0.23998077533978426, + 0.4516797416902654, + -0.056064707361567795, + -0.8904168459407519 + ], + [ + 0.8112995726532097, + 0.44166173843477785, + 0.38305079586849716, + 0.3743992862094636, + -0.8957230725911688, + 0.23980273500041632, + 0.4490191286555211, + -0.05113791187177637, + -0.8920575856248468 + ], + [ + 0.8127384536152289, + 0.4800486828934508, + 0.3301658190476262, + 0.4129587571837863, + -0.8743860801864136, + 0.25478235347343325, + 0.4110003295380058, + -0.07072654967197217, + -0.9088874981487802 + ], + [ + 0.8029785809323529, + 0.4951798034065675, + 0.3316961875905388, + 0.4304075227455492, + -0.8667448991657275, + 0.2519973097757839, + 0.41227995698057435, + -0.059583907797542676, + -0.9091067016602999 + ], + [ + 0.7577914532366825, + 0.5257981866620051, + 0.38637854534689714, + 0.4462557085799723, + -0.8496438824029836, + 0.2810002057916898, + 0.4760335660026756, + -0.04051592277281295, + -0.8784933147387315 + ], + [ + 0.7240622236995398, + 0.5620144679351605, + 0.39984201135302927, + 0.5027088473551947, + -0.8269190839768871, + 0.25196952860541993, + 0.4722475103185713, + 0.018562499464898838, + -0.881270516136519 + ], + [ + 0.7138251571995913, + 0.5469765941396727, + 0.43734454428098474, + 0.5133797751790616, + -0.8334515124936897, + 0.20444995172187502, + 0.47633481017670193, + 0.07858232489144483, + -0.8757453778516793 + ], + [ + 0.7363426332720728, + 0.5047992624921318, + 0.4505299446355916, + 0.4993707089797705, + -0.8547485174476351, + 0.1415410432846632, + 0.456539616505502, + 0.12075875334098682, + -0.8814697397259531 + ], + [ + 0.799939703280763, + 0.450102420971985, + 0.3968680911212725, + 0.44456138671066886, + -0.8887346751310246, + 0.11187426274903119, + 0.4030653105403289, + 0.0869395643818749, + -0.9110323087487721 + ], + [ + 0.8557647676561693, + 0.39600086192842887, + 0.3329414059415326, + 0.38541963417877934, + -0.9172685677997583, + 0.1003497888192918, + 0.34513528945600286, + 0.04244634116766707, + -0.9375926301404035 + ], + [ + 0.8968027332949953, + 0.362147883948276, + 0.2541530399314789, + 0.357541050660123, + -0.9315761384181132, + 0.06580498022833949, + 0.2605940418495429, + 0.03185605879236718, + -0.9649227621269675 + ], + [ + 0.9161383516645198, + 0.34476751254862625, + 0.2045137719090093, + 0.3399709393337007, + -0.9385649042460928, + 0.05929317773643672, + 0.21239181014808137, + 0.015207985026173557, + -0.9770662393990829 + ], + [ + 0.8970029683719769, + 0.3954778963761793, + 0.19744089801693543, + 0.3925078467487338, + -0.918062022901125, + 0.05567506037146647, + 0.20328124599316683, + 0.027556407323269236, + -0.9787325372352241 + ], + [ + 0.8707033150525479, + 0.4408724428992782, + 0.21796152469765256, + 0.43772438682412773, + -0.8967392389144132, + 0.06523878118603606, + 0.2242166326032573, + 0.038603451700862546, + -0.9737744477962206 + ], + [ + 0.8538612256596105, + 0.45980260142554213, + 0.2439314966079033, + 0.4629612987433592, + -0.885088401122116, + 0.047805418782377374, + 0.2378819942343886, + 0.07211164899931453, + -0.9686134765207791 + ], + [ + 0.8511632936947096, + 0.46245408275923416, + 0.24830881741510702, + 0.47110315883811227, + -0.8816601840206078, + 0.027150205257060717, + 0.23147972092502167, + 0.09386981012052577, + -0.9683003653559212 + ], + [ + 0.8602932517590194, + 0.4627935824159174, + 0.213816793195796, + 0.4688624282134707, + -0.8829292353254337, + 0.024576183947327027, + 0.2001587979271966, + 0.07910793564672462, + -0.9765645857443599 + ], + [ + 0.8639728023495851, + 0.4685318654708123, + 0.18446920566491729, + 0.4708039758950457, + -0.8815794599877352, + 0.0340774413527564, + 0.1785906298819234, + 0.057406852954799366, + -0.9822473416366185 + ], + [ + 0.8714979589664095, + 0.44495106435426224, + 0.20617918868642204, + 0.43480706049202644, + -0.8955268357543169, + 0.09473387245406799, + 0.22679093382158233, + 0.007087790478669642, + -0.9739176739142096 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005948.json b/json/chunk-0005/episode_0005948.json new file mode 100644 index 0000000000000000000000000000000000000000..7e0dfff15a7f83cf8464d969449c7c7a6f8e7dec --- /dev/null +++ b/json/chunk-0005/episode_0005948.json @@ -0,0 +1,2602 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 42, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMoved the can to the right side of the orange cloth." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005948.mp4", + "start": 0, + "end": 42, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3641405403614044, + 0.04912499338388443, + 0.08966393023729324, + 0.023903580382466316, + -0.21423983573913574, + 0.7386568784713745, + 0.0, + 0.9974852800369263 + ], + [ + 0.36202767491340637, + 0.047608502209186554, + 0.07711254060268402, + 0.04424619674682617, + -0.18663033843040466, + 0.7301547527313232, + 0.0, + 0.9974852800369263 + ], + [ + 0.37683191895484924, + 0.04156031459569931, + 0.06777183711528778, + 0.06311503052711487, + -0.2205013483762741, + 0.6076108813285828, + 0.0, + 0.9974852800369263 + ], + [ + 0.39110326766967773, + 0.02974046766757965, + 0.06378484517335892, + 0.02344839833676815, + -0.2903958857059479, + 0.4139390289783478, + 0.0, + 0.9974852800369263 + ], + [ + 0.4070777893066406, + 0.013280589133501053, + 0.06738201528787613, + -0.061512552201747894, + -0.35698437690734863, + 0.20956474542617798, + 0.0, + 0.9974852800369263 + ], + [ + 0.4279983341693878, + -0.004603979177772999, + 0.08111449331045151, + -0.12513019144535065, + -0.4193808138370514, + 0.0454062819480896, + 0.0, + 0.9974852800369263 + ], + [ + 0.43964946269989014, + -0.021225865930318832, + 0.08339635282754898, + -0.10683674365282059, + -0.4919716417789459, + -0.0660463497042656, + 0.0, + 0.9974852800369263 + ], + [ + 0.4559429883956909, + -0.03487469628453255, + 0.08549454063177109, + -0.043152935802936554, + -0.5175250768661499, + -0.11358964443206787, + 0.0, + 0.9974852800369263 + ], + [ + 0.46834900975227356, + -0.048542995005846024, + 0.08748243749141693, + -0.03354562819004059, + -0.5545849204063416, + -0.11310529708862305, + 0.0, + 0.9974852800369263 + ], + [ + 0.4727245271205902, + -0.06113734468817711, + 0.08342399448156357, + -0.020433345809578896, + -0.5667844414710999, + -0.13179318606853485, + 0.0, + 0.9974852800369263 + ], + [ + 0.4743621051311493, + -0.07027100771665573, + 0.08244828134775162, + -0.0240470077842474, + -0.5832333564758301, + -0.13698256015777588, + 0.0, + 0.9974852800369263 + ], + [ + 0.4785813093185425, + -0.07562995702028275, + 0.07941792160272598, + 0.0004213969805277884, + -0.6105251908302307, + -0.15862564742565155, + 0.0, + 0.9974852800369263 + ], + [ + 0.4833809733390808, + -0.08077526092529297, + 0.07753059267997742, + 0.010158282704651356, + -0.6458857655525208, + -0.16937386989593506, + 0.0, + 0.9974852800369263 + ], + [ + 0.4871268570423126, + -0.0834680125117302, + 0.06108434498310089, + 0.03312746435403824, + -0.6252320408821106, + -0.16408292949199677, + 0.0, + 0.9974852800369263 + ], + [ + 0.48808255791664124, + -0.08430071175098419, + 0.060576774179935455, + 0.0645061656832695, + -0.6346117258071899, + -0.17161358892917633, + 0.0, + 0.9974852800369263 + ], + [ + 0.4883665442466736, + -0.08260829001665115, + 0.05715952813625336, + 0.07101517915725708, + -0.6105808615684509, + -0.12166795879602432, + 0.0, + 0.9974852800369263 + ], + [ + 0.48900938034057617, + -0.08177736401557922, + 0.051555220037698746, + 0.09678986668586731, + -0.5705410242080688, + -0.0774575024843216, + 0.0, + 0.9974852800369263 + ], + [ + 0.48814666271209717, + -0.08110178261995316, + 0.04554801806807518, + 0.1451900750398636, + -0.5490249991416931, + -0.07180487364530563, + 0.0, + 0.9974852800369263 + ], + [ + 0.48264843225479126, + -0.08044585585594177, + 0.039588261395692825, + 0.16155412793159485, + -0.509789228439331, + -0.06783489137887955, + 0.0, + 0.9974852800369263 + ], + [ + 0.47616732120513916, + -0.07896730303764343, + 0.039909254759550095, + 0.2077593058347702, + -0.4693847894668579, + -0.06348422914743423, + 0.0, + 0.9974852800369263 + ], + [ + 0.4680604934692383, + -0.07876647263765335, + 0.033499833196401596, + 0.23725180327892303, + -0.432840496301651, + -0.07794198393821716, + 0.0, + 0.9974852800369263 + ], + [ + 0.455204576253891, + -0.07311782985925674, + 0.030789507552981377, + 0.27496039867401123, + -0.3638152778148651, + -0.02911929041147232, + 0.0, + 0.9974852800369263 + ], + [ + 0.4391646981239319, + -0.07234936952590942, + 0.02030971087515354, + 0.3096913695335388, + -0.33092114329338074, + -0.011038445867598057, + 0.0, + 0.9974852800369263 + ], + [ + 0.42526301741600037, + -0.07396344840526581, + 0.01964491978287697, + 0.29216742515563965, + -0.30021968483924866, + 0.007148971315473318, + 0.0, + 0.9974852800369263 + ], + [ + 0.41217994689941406, + -0.07771942764520645, + 0.01899876445531845, + 0.30444085597991943, + -0.2747781276702881, + 0.02128392457962036, + 0.0, + 0.9974852800369263 + ], + [ + 0.40165144205093384, + -0.08185241371393204, + 0.018237601965665817, + 0.30068910121917725, + -0.2665729522705078, + 0.027801774442195892, + 0.0, + 0.9974852800369263 + ], + [ + 0.39230045676231384, + -0.0850505605340004, + 0.01842249557375908, + 0.2926616370677948, + -0.2669350504875183, + 0.03425555303692818, + 0.0, + 0.9974852800369263 + ], + [ + 0.3815516531467438, + -0.09384975582361221, + 0.017115266993641853, + 0.2871837913990021, + -0.25904667377471924, + 0.0348978154361248, + 0.0, + 0.9974852800369263 + ], + [ + 0.36815959215164185, + -0.09820295125246048, + 0.016496790573000908, + 0.26665571331977844, + -0.2450440675020218, + 0.006275451276451349, + 0.0, + 0.9974852800369263 + ], + [ + 0.3553808927536011, + -0.10092303156852722, + 0.015867186710238457, + 0.25766468048095703, + -0.2469804883003235, + -0.020796939730644226, + 0.0, + 0.9974852800369263 + ], + [ + 0.34010255336761475, + -0.10043656080961227, + 0.015879230573773384, + 0.24263887107372284, + -0.24417804181575775, + -0.04387799650430679, + 0.0, + 0.9974852800369263 + ], + [ + 0.32476070523262024, + -0.09733255207538605, + 0.015396148897707462, + 0.18939046561717987, + -0.22259025275707245, + -0.027096806094050407, + 0.0, + 0.9974852800369263 + ], + [ + 0.31305763125419617, + -0.09610919654369354, + 0.015343987382948399, + 0.16999158263206482, + -0.21290940046310425, + -0.03870440647006035, + 0.0, + 0.9974852800369263 + ], + [ + 0.3044481575489044, + -0.09525071829557419, + 0.018494440242648125, + 0.1538640707731247, + -0.2230384796857834, + -0.05757748708128929, + 0.0, + 0.9974852800369263 + ], + [ + 0.29385507106781006, + -0.09285250306129456, + 0.01952650398015976, + 0.14029185473918915, + -0.22188343107700348, + -0.07555343955755234, + 0.0, + 0.9974852800369263 + ], + [ + 0.28639310598373413, + -0.09185928851366043, + 0.02430018223822117, + 0.11694753170013428, + -0.22306768596172333, + -0.08920644968748093, + 0.0, + 0.9974852800369263 + ], + [ + 0.2863699495792389, + -0.09370334446430206, + 0.03160007297992706, + 0.09777341037988663, + -0.23476314544677734, + -0.09712086617946625, + 0.0, + 0.9974852800369263 + ], + [ + 0.29895466566085815, + -0.09851042926311493, + 0.04244913160800934, + 0.0835205540060997, + -0.2741805613040924, + -0.07461519539356232, + 0.0, + 0.9974852800369263 + ], + [ + 0.31985658407211304, + -0.102877676486969, + 0.04426104202866554, + 0.09094677120447159, + -0.3113051652908325, + -0.05505890026688576, + 0.0, + 0.9974852800369263 + ], + [ + 0.34311267733573914, + -0.10175206512212753, + 0.04943633824586868, + 0.09312012046575546, + -0.34890100359916687, + -0.04915601387619972, + 0.0, + 0.9974852800369263 + ], + [ + 0.362851619720459, + -0.08429905027151108, + 0.061932649463415146, + 0.15806952118873596, + -0.36208826303482056, + -0.0072852931916713715, + 0.0, + 0.9974852800369263 + ], + [ + 0.3668183982372284, + -0.056365966796875, + 0.06733813881874084, + 0.18654945492744446, + -0.3256295621395111, + 0.034563999623060226, + 0.0, + 0.9974852800369263 + ] + ], + "left_gripper_pos": [ + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3641405403614044, + 0.04912499338388443, + 0.08966393023729324 + ], + [ + 0.36202767491340637, + 0.047608502209186554, + 0.07711254060268402 + ], + [ + 0.37683191895484924, + 0.04156031459569931, + 0.06777183711528778 + ], + [ + 0.39110326766967773, + 0.02974046766757965, + 0.06378484517335892 + ], + [ + 0.4070777893066406, + 0.013280589133501053, + 0.06738201528787613 + ], + [ + 0.4279983341693878, + -0.004603979177772999, + 0.08111449331045151 + ], + [ + 0.43964946269989014, + -0.021225865930318832, + 0.08339635282754898 + ], + [ + 0.4559429883956909, + -0.03487469628453255, + 0.08549454063177109 + ], + [ + 0.46834900975227356, + -0.048542995005846024, + 0.08748243749141693 + ], + [ + 0.4727245271205902, + -0.06113734468817711, + 0.08342399448156357 + ], + [ + 0.4743621051311493, + -0.07027100771665573, + 0.08244828134775162 + ], + [ + 0.4785813093185425, + -0.07562995702028275, + 0.07941792160272598 + ], + [ + 0.4833809733390808, + -0.08077526092529297, + 0.07753059267997742 + ], + [ + 0.4871268570423126, + -0.0834680125117302, + 0.06108434498310089 + ], + [ + 0.48808255791664124, + -0.08430071175098419, + 0.060576774179935455 + ], + [ + 0.4883665442466736, + -0.08260829001665115, + 0.05715952813625336 + ], + [ + 0.48900938034057617, + -0.08177736401557922, + 0.051555220037698746 + ], + [ + 0.48814666271209717, + -0.08110178261995316, + 0.04554801806807518 + ], + [ + 0.48264843225479126, + -0.08044585585594177, + 0.039588261395692825 + ], + [ + 0.47616732120513916, + -0.07896730303764343, + 0.039909254759550095 + ], + [ + 0.4680604934692383, + -0.07876647263765335, + 0.033499833196401596 + ], + [ + 0.455204576253891, + -0.07311782985925674, + 0.030789507552981377 + ], + [ + 0.4391646981239319, + -0.07234936952590942, + 0.02030971087515354 + ], + [ + 0.42526301741600037, + -0.07396344840526581, + 0.01964491978287697 + ], + [ + 0.41217994689941406, + -0.07771942764520645, + 0.01899876445531845 + ], + [ + 0.40165144205093384, + -0.08185241371393204, + 0.018237601965665817 + ], + [ + 0.39230045676231384, + -0.0850505605340004, + 0.01842249557375908 + ], + [ + 0.3815516531467438, + -0.09384975582361221, + 0.017115266993641853 + ], + [ + 0.36815959215164185, + -0.09820295125246048, + 0.016496790573000908 + ], + [ + 0.3553808927536011, + -0.10092303156852722, + 0.015867186710238457 + ], + [ + 0.34010255336761475, + -0.10043656080961227, + 0.015879230573773384 + ], + [ + 0.32476070523262024, + -0.09733255207538605, + 0.015396148897707462 + ], + [ + 0.31305763125419617, + -0.09610919654369354, + 0.015343987382948399 + ], + [ + 0.3044481575489044, + -0.09525071829557419, + 0.018494440242648125 + ], + [ + 0.29385507106781006, + -0.09285250306129456, + 0.01952650398015976 + ], + [ + 0.28639310598373413, + -0.09185928851366043, + 0.02430018223822117 + ], + [ + 0.2863699495792389, + -0.09370334446430206, + 0.03160007297992706 + ], + [ + 0.29895466566085815, + -0.09851042926311493, + 0.04244913160800934 + ], + [ + 0.31985658407211304, + -0.102877676486969, + 0.04426104202866554 + ], + [ + 0.34311267733573914, + -0.10175206512212753, + 0.04943633824586868 + ], + [ + 0.362851619720459, + -0.08429905027151108, + 0.061932649463415146 + ], + [ + 0.3668183982372284, + -0.056365966796875, + 0.06733813881874084 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.7224702002029362, + 0.6768602543101402, + 0.14105674728258083, + 0.657902766048306, + -0.7357409501592775, + 0.1607768785762167, + 0.21260470419235167, + -0.02335487944597564, + -0.9768591450978726 + ], + [ + 0.7321330690087349, + 0.6724470758744104, + 0.10860984951562389, + 0.6554027841325861, + -0.7388679440679782, + 0.15659294933046675, + 0.18554880709696356, + -0.0434636788216828, + -0.9816733411925679 + ], + [ + 0.8011358591737932, + 0.5810969869329118, + 0.1432048425276187, + 0.5570847290340527, + -0.8115037776890133, + 0.17640358123778824, + 0.21871886023597667, + -0.06154600372040683, + -0.9738450336696919 + ], + [ + 0.8772103142614527, + 0.40825463269518814, + 0.25264643167129996, + 0.38537813066581594, + -0.9125916381473349, + 0.1366023366860369, + 0.2863315577400527, + -0.022464569136332845, + -0.9578672048753283 + ], + [ + 0.916455776969002, + 0.1866286978379627, + 0.353947083620489, + 0.1949186500351029, + -0.9807406296020414, + 0.012431303885134696, + 0.34945032369227547, + 0.0575981474623785, + -0.9351828295473918 + ], + [ + 0.9123998749219999, + -0.005731357957289469, + 0.4092598438379756, + 0.04145718106434478, + -0.9934655305959439, + -0.10633692517614783, + 0.4071950028923696, + 0.11398855667866377, + -0.9062002199104777 + ], + [ + 0.8794815437946683, + -0.11588217433568955, + 0.4616097223800422, + -0.058171153397486006, + -0.988806211905124, + -0.13739866160281525, + 0.47236461662253343, + 0.09398721705142479, + -0.876377813499392 + ], + [ + 0.863445805038929, + -0.13444494037334256, + 0.4861953308791484, + -0.09850251325492101, + -0.9902116129688668, + -0.09888486448420462, + 0.49473083251717836, + 0.03749025939632543, + -0.8682372278399817 + ], + [ + 0.8446871796997315, + -0.13034944375096633, + 0.519146020850326, + -0.09594809229136339, + -0.9910580526946393, + -0.09272486060791618, + 0.5265904784902224, + 0.028512430673710322, + -0.8496408119084884 + ], + [ + 0.8363157290543566, + -0.14225977001567536, + 0.5294696961785136, + -0.11086333716571596, + -0.9896792626518273, + -0.09079800410480666, + 0.5369220816922705, + 0.017237021553124093, + -0.8434557269230059 + ], + [ + 0.8268674419201606, + -0.14963307033744302, + 0.5421256106787424, + -0.11398022929123267, + -0.9885378841639058, + -0.09900181262717536, + 0.550725649323806, + 0.020069774142678937, + -0.8344450031863898 + ], + [ + 0.8090603922659456, + -0.15772269125435662, + 0.5661667902040503, + -0.12942508936970593, + -0.9874833838864644, + -0.0901427356462027, + 0.5732978526979827, + -0.0003452703584765418, + -0.819346967334512 + ], + [ + 0.7871398422344589, + -0.16252977971055033, + 0.5949747385178227, + -0.13461060402290242, + -0.9866702931135433, + -0.09144242982239814, + 0.6019060176237657, + -0.008111929146314485, + -0.7985257306773681 + ], + [ + 0.7999367618587921, + -0.14413292229220748, + 0.5825177059441015, + -0.1324467365635396, + -0.9891938484925784, + -0.06287600558329261, + 0.585285433784695, + -0.026855740837861426, + -0.8103824592027589 + ], + [ + 0.7934724628090437, + -0.13276174811803404, + 0.5939492983415287, + -0.13752339268838742, + -0.9897876410173087, + -0.03751989009667774, + 0.5928648810877788, + -0.05191092299347869, + -0.8036270831963908 + ], + [ + 0.8132584012972337, + -0.08068095651037671, + 0.5762823578559718, + -0.09943864102565644, + -0.9950431722372861, + 0.0010208109175158034, + 0.5733434654641477, + -0.058134917567064535, + -0.8172500241474652 + ], + [ + 0.8390854743848968, + -0.024980979387992777, + 0.5434257238529377, + -0.06512375757598683, + -0.9963739472746751, + 0.0547526564786328, + 0.5400874585430185, + -0.08133208383596079, + -0.8376697614593973 + ], + [ + 0.8508355866317949, + 0.004319463684566725, + 0.5254142620393998, + -0.06119935803248288, + -0.9923454534411819, + 0.10726201383074524, + 0.5218557684814276, + -0.12341735399891182, + -0.8440584776154824 + ], + [ + 0.8708399168579695, + 0.01141406413087213, + 0.4914341851629986, + -0.05916410833102641, + -0.9900291405840888, + 0.1278354766085085, + 0.48799328631877575, + -0.14039950118980585, + -0.861481591546479 + ], + [ + 0.8900501618979044, + 0.031037479595487943, + 0.45480477588287627, + -0.05658017956753936, + -0.9824437019646369, + 0.17777248310726917, + 0.4523376975066512, + -0.18395936325824508, + -0.8726680698203653 + ], + [ + 0.905022005785367, + 0.02260328869460883, + 0.42476377009394173, + -0.07068239938782737, + -0.976712761903041, + 0.20257388566276957, + 0.4194510310644265, + -0.2133571467655146, + -0.8823488881746652 + ], + [ + 0.9341498030301433, + 0.06855189256650504, + 0.3502353259228642, + -0.027209470440335386, + -0.964840882211136, + 0.26142248704423543, + 0.35584236709124606, + -0.2537374825278821, + -0.8994406593785449 + ], + [ + 0.9456858345954867, + 0.08850327904405109, + 0.31280260843523655, + -0.010439325897561018, + -0.953462681563439, + 0.30133027617658986, + 0.3249143313555769, + -0.2882292220860096, + -0.9007522371970282 + ], + [ + 0.9552471339588801, + 0.09202245755054383, + 0.2811312511438452, + 0.006829150701191819, + -0.9569884395390896, + 0.290045667592603, + 0.2957300724715798, + -0.2751454050041481, + -0.914788899332003 + ], + [ + 0.9622674253512938, + 0.10162006381597383, + 0.252417837598356, + 0.020483920509198138, + -0.9520676378786626, + 0.30520095331554425, + 0.2713333947533283, + -0.2885144286412407, + -0.9182252519711345 + ], + [ + 0.964306541403141, + 0.10454220962517907, + 0.24327725050607732, + 0.0268163424425562, + -0.9525946593625428, + 0.3030582431348204, + 0.2634269879589317, + -0.28571724022299644, + -0.9213967010220075 + ], + [ + 0.964017999961371, + 0.10884783315270671, + 0.24253132780826156, + 0.03303589264859543, + -0.9543113277651336, + 0.29698235552985003, + 0.2637762793493539, + -0.2782840974923078, + -0.9235691828636896 + ], + [ + 0.9660460686997279, + 0.10597533222121569, + 0.2356357827461767, + 0.03372658991375881, + -0.9559298527817425, + 0.2916515621310213, + 0.25615915030033487, + -0.2738016536131197, + -0.9270464628033114 + ], + [ + 0.9701075328234601, + 0.0699788751237169, + 0.23236680441835622, + 0.006087942472368615, + -0.9642373718241024, + 0.26497023933679964, + 0.24259907608157233, + -0.25563498941687735, + -0.9358399652024915 + ], + [ + 0.9694453562191074, + 0.04217601024138657, + 0.2416544753678816, + -0.02016440384953505, + -0.9680741209594023, + 0.24985174233147409, + 0.24447719346106805, + -0.24709042977986603, + -0.9376445069367176 + ], + [ + 0.9694024343300276, + 0.015451259092814225, + 0.2449901608380698, + -0.04256275518496344, + -0.9723209239004885, + 0.22973992429781434, + 0.24175883062689035, + -0.23313789811557303, + -0.9419126224210881 + ], + [ + 0.9749708669053516, + 0.014935430527942394, + 0.22183043434292798, + -0.02642506426357265, + -0.9828846346254176, + 0.18231706172469284, + 0.2207567092173942, + -0.18361570720448836, + -0.9578892145771882 + ], + [ + 0.9766882713349581, + -0.002416538830546471, + 0.2146489715251645, + -0.0378210274261713, + -0.9862312939470977, + 0.16098883415896, + 0.21130449716264726, + -0.16535415077799767, + -0.9633319336030167 + ], + [ + 0.9736137807659547, + -0.02302236629340714, + 0.22703783066457345, + -0.05612026461154781, + -0.9884994883021833, + 0.14042534502806656, + 0.22119385570705435, + -0.1494614742218672, + -0.9637087453794703 + ], + [ + 0.9727018318893896, + -0.04405530767178924, + 0.2278382674288263, + -0.07363112580659575, + -0.989673206865768, + 0.12298536874148853, + 0.22006727051399227, + -0.1364040816030467, + -0.9659007831918093 + ], + [ + 0.9713456592098505, + -0.06276982208613509, + 0.2292325451794666, + -0.08688087998559214, + -0.9915199168091481, + 0.09664350606072511, + 0.22122233844508196, + -0.11379017534943525, + -0.9685620645920604 + ], + [ + 0.9679862057212757, + -0.07390503128317029, + 0.23987653466807024, + -0.0943083654227674, + -0.9927358374336186, + 0.07470936545211723, + 0.23261263453349662, + -0.0949399990836626, + -0.9679244592577358 + ], + [ + 0.9599688988636075, + -0.05176138104283077, + 0.2752825324046766, + -0.07176149204835854, + -0.9954252763535085, + 0.0630777889239521, + 0.27075819742638696, + -0.08030740083628757, + -0.9592917803761969 + ], + [ + 0.9504920848454648, + -0.027027078313270676, + 0.30957120939126437, + -0.05238599534800197, + -0.9958889914787925, + 0.07389738928238743, + 0.306301328984255, + -0.08645607953869944, + -0.9480004441841139 + ], + [ + 0.9386138533634459, + -0.017173189514568997, + 0.34454189271570473, + -0.04617571326234598, + -0.9960267423168695, + 0.07614809317611282, + 0.34186523335802527, + -0.08738312280721633, + -0.9356774829339016 + ], + [ + 0.9351343253962446, + 0.04856386445968432, + 0.3509492050631427, + -0.006812848266302938, + -0.9879130197660747, + 0.1548594539418746, + 0.3542278624899667, + -0.14720535467644055, + -0.923500517049326 + ], + [ + 0.9468836254580886, + 0.09325474185252959, + 0.30775794540736806, + 0.03274112459249866, + -0.9800127765362682, + 0.19622175360059632, + 0.3199053275576463, + -0.17572282420816235, + -0.9310113159637441 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.002112865447998047, + -0.001516491174697876, + -0.012551389634609222, + 0.020342616364359856, + 0.02760949730873108, + -0.00850212574005127, + 1.0 + ], + [ + 0.014804244041442871, + -0.006048187613487244, + -0.00934070348739624, + 0.018868833780288696, + -0.033871009945869446, + -0.12254387140274048, + 1.0 + ], + [ + 0.014271348714828491, + -0.01181984692811966, + -0.0039869919419288635, + -0.03966663032770157, + -0.06989453732967377, + -0.19367185235023499, + 1.0 + ], + [ + 0.01597452163696289, + -0.016459878534078598, + 0.003597170114517212, + -0.0849609524011612, + -0.06658849120140076, + -0.2043742835521698, + 1.0 + ], + [ + 0.020920544862747192, + -0.017884567379951477, + 0.013732478022575378, + -0.06361763924360275, + -0.06239643692970276, + -0.16415846347808838, + 1.0 + ], + [ + 0.01165112853050232, + -0.016621887683868408, + 0.002281859517097473, + 0.01829344779253006, + -0.07259082794189453, + -0.1114526316523552, + 1.0 + ], + [ + 0.01629352569580078, + -0.013648830354213715, + 0.002098187804222107, + 0.06368380784988403, + -0.02555343508720398, + -0.04754329472780228, + 1.0 + ], + [ + 0.012406021356582642, + -0.013668298721313477, + 0.0019878968596458435, + 0.009607307612895966, + -0.03705984354019165, + 0.0004843473434448242, + 1.0 + ], + [ + 0.00437551736831665, + -0.012594349682331085, + -0.004058443009853363, + 0.013112282380461693, + -0.0121995210647583, + -0.018687888979911804, + 1.0 + ], + [ + 0.001637578010559082, + -0.009133663028478622, + -0.0009757131338119507, + -0.003613661974668503, + -0.016448915004730225, + -0.005189374089241028, + 1.0 + ], + [ + 0.0042192041873931885, + -0.005358949303627014, + -0.0030303597450256348, + 0.024468405172228813, + -0.027291834354400635, + -0.02164308726787567, + 1.0 + ], + [ + 0.00479966402053833, + -0.005145303905010223, + -0.0018873289227485657, + 0.009736885316669941, + -0.03536057472229004, + -0.010748222470283508, + 1.0 + ], + [ + 0.0037458837032318115, + -0.0026927515864372253, + -0.016446247696876526, + 0.022969182580709457, + 0.020653724670410156, + 0.0052909404039382935, + 1.0 + ], + [ + 0.0009557008743286133, + -0.0008326992392539978, + -0.0005075708031654358, + 0.03137870132923126, + -0.009379684925079346, + -0.007530659437179565, + 1.0 + ], + [ + 0.00028398633003234863, + 0.0016924217343330383, + -0.0034172460436820984, + 0.006509013473987579, + 0.024030864238739014, + 0.04994563013315201, + 1.0 + ], + [ + 0.0006428360939025879, + 0.0008309260010719299, + -0.005604308098554611, + 0.02577468752861023, + 0.04003983736038208, + 0.04421045631170273, + 1.0 + ], + [ + -0.0008627176284790039, + 0.0006755813956260681, + -0.006007201969623566, + 0.04840020835399628, + 0.021516025066375732, + 0.005652628839015961, + 1.0 + ], + [ + -0.005498230457305908, + 0.0006559267640113831, + -0.005959756672382355, + 0.016364052891731262, + 0.03923577070236206, + 0.003969982266426086, + 1.0 + ], + [ + -0.0064811110496521, + 0.0014785528182983398, + 0.0003209933638572693, + 0.046205177903175354, + 0.040404438972473145, + 0.0043506622314453125, + 1.0 + ], + [ + -0.008106827735900879, + 0.0002008303999900818, + -0.0064094215631484985, + 0.029492497444152832, + 0.03654429316520691, + -0.014457754790782928, + 1.0 + ], + [ + -0.01285591721534729, + 0.0056486427783966064, + -0.0027103256434202194, + 0.037708595395088196, + 0.06902521848678589, + 0.04882269352674484, + 1.0 + ], + [ + -0.016039878129959106, + 0.0007684603333473206, + -0.010479796677827835, + 0.03473097085952759, + 0.032894134521484375, + 0.01808084547519684, + 1.0 + ], + [ + -0.013901680707931519, + -0.0016140788793563843, + -0.0006647910922765732, + -0.01752394437789917, + 0.03070145845413208, + 0.018187416717410088, + 1.0 + ], + [ + -0.013083070516586304, + -0.0037559792399406433, + -0.0006461553275585175, + 0.012273430824279785, + 0.02544155716896057, + 0.014134952798485756, + 1.0 + ], + [ + -0.010528504848480225, + -0.004132986068725586, + -0.0007611624896526337, + -0.0037517547607421875, + 0.008205175399780273, + 0.006517849862575531, + 1.0 + ], + [ + -0.009350985288619995, + -0.0031981468200683594, + 0.00018489360809326172, + -0.008027464151382446, + -0.00036209821701049805, + 0.0064537785947322845, + 1.0 + ], + [ + -0.010748803615570068, + -0.008799195289611816, + -0.0013072285801172256, + -0.005477845668792725, + 0.007888376712799072, + 0.0006422623991966248, + 1.0 + ], + [ + -0.013392060995101929, + -0.004353195428848267, + -0.0006184764206409454, + -0.020528078079223633, + 0.014002606272697449, + -0.02862236462533474, + 1.0 + ], + [ + -0.012778699398040771, + -0.002720080316066742, + -0.0006296038627624512, + -0.008991032838821411, + -0.0019364207983016968, + -0.027072390541434288, + 1.0 + ], + [ + -0.015278339385986328, + 0.0004864707589149475, + 1.2043863534927368e-05, + -0.015025809407234192, + 0.002802446484565735, + -0.023081056773662567, + 1.0 + ], + [ + -0.015341848134994507, + 0.003104008734226227, + -0.0004830816760659218, + -0.05324840545654297, + 0.021587789058685303, + 0.016781190410256386, + 1.0 + ], + [ + -0.011703073978424072, + 0.0012233555316925049, + -5.216151475906372e-05, + -0.01939888298511505, + 0.0096808522939682, + -0.011607600376009941, + 1.0 + ], + [ + -0.008609473705291748, + 0.0008584782481193542, + 0.003150452859699726, + -0.016127511858940125, + -0.010129079222679138, + -0.018873080611228943, + 1.0 + ], + [ + -0.01059308648109436, + 0.0023982152342796326, + 0.0010320637375116348, + -0.013572216033935547, + 0.0011550486087799072, + -0.017975952476263046, + 1.0 + ], + [ + -0.007461965084075928, + 0.0009932145476341248, + 0.004773678258061409, + -0.02334432303905487, + -0.0011842548847198486, + -0.013653010129928589, + 1.0 + ], + [ + -2.3156404495239258e-05, + -0.001844055950641632, + 0.0072998907417058945, + -0.01917412132024765, + -0.011695459485054016, + -0.007914416491985321, + 1.0 + ], + [ + 0.012584716081619263, + -0.004807084798812866, + 0.010849058628082275, + -0.014252856373786926, + -0.039417415857315063, + 0.02250567078590393, + 1.0 + ], + [ + 0.020901918411254883, + -0.004367247223854065, + 0.0018119104206562042, + 0.007426217198371887, + -0.03712460398674011, + 0.01955629512667656, + 1.0 + ], + [ + 0.0232560932636261, + 0.0011256113648414612, + 0.00517529621720314, + 0.0021733492612838745, + -0.03759583830833435, + 0.005902886390686035, + 1.0 + ], + [ + 0.01973894238471985, + 0.017453014850616455, + 0.012496311217546463, + 0.0649494007229805, + -0.013187259435653687, + 0.04187072068452835, + 1.0 + ], + [ + 0.003966778516769409, + 0.027933083474636078, + 0.005405489355325699, + 0.028479933738708496, + 0.03645870089530945, + 0.0418492928147316, + 1.0 + ], + [ + 0.0023125410079956055, + 0.02896621823310852, + 0.002960793673992157, + 0.0036998987197875977, + 0.028041332960128784, + 0.025147538632154465, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.36202767491340637, + 0.047608502209186554, + 0.07711254060268402 + ], + [ + 0.37683191895484924, + 0.04156031459569931, + 0.06777183711528778 + ], + [ + 0.39110326766967773, + 0.02974046766757965, + 0.06378484517335892 + ], + [ + 0.4070777893066406, + 0.013280589133501053, + 0.06738201528787613 + ], + [ + 0.4279983341693878, + -0.004603979177772999, + 0.08111449331045151 + ], + [ + 0.43964946269989014, + -0.021225865930318832, + 0.08339635282754898 + ], + [ + 0.4559429883956909, + -0.03487469628453255, + 0.08549454063177109 + ], + [ + 0.46834900975227356, + -0.048542995005846024, + 0.08748243749141693 + ], + [ + 0.4727245271205902, + -0.06113734468817711, + 0.08342399448156357 + ], + [ + 0.4743621051311493, + -0.07027100771665573, + 0.08244828134775162 + ], + [ + 0.4785813093185425, + -0.07562995702028275, + 0.07941792160272598 + ], + [ + 0.4833809733390808, + -0.08077526092529297, + 0.07753059267997742 + ], + [ + 0.4871268570423126, + -0.0834680125117302, + 0.06108434498310089 + ], + [ + 0.48808255791664124, + -0.08430071175098419, + 0.060576774179935455 + ], + [ + 0.4883665442466736, + -0.08260829001665115, + 0.05715952813625336 + ], + [ + 0.48900938034057617, + -0.08177736401557922, + 0.051555220037698746 + ], + [ + 0.48814666271209717, + -0.08110178261995316, + 0.04554801806807518 + ], + [ + 0.48264843225479126, + -0.08044585585594177, + 0.039588261395692825 + ], + [ + 0.47616732120513916, + -0.07896730303764343, + 0.039909254759550095 + ], + [ + 0.4680604934692383, + -0.07876647263765335, + 0.033499833196401596 + ], + [ + 0.455204576253891, + -0.07311782985925674, + 0.030789507552981377 + ], + [ + 0.4391646981239319, + -0.07234936952590942, + 0.02030971087515354 + ], + [ + 0.42526301741600037, + -0.07396344840526581, + 0.01964491978287697 + ], + [ + 0.41217994689941406, + -0.07771942764520645, + 0.01899876445531845 + ], + [ + 0.40165144205093384, + -0.08185241371393204, + 0.018237601965665817 + ], + [ + 0.39230045676231384, + -0.0850505605340004, + 0.01842249557375908 + ], + [ + 0.3815516531467438, + -0.09384975582361221, + 0.017115266993641853 + ], + [ + 0.36815959215164185, + -0.09820295125246048, + 0.016496790573000908 + ], + [ + 0.3553808927536011, + -0.10092303156852722, + 0.015867186710238457 + ], + [ + 0.34010255336761475, + -0.10043656080961227, + 0.015879230573773384 + ], + [ + 0.32476070523262024, + -0.09733255207538605, + 0.015396148897707462 + ], + [ + 0.31305763125419617, + -0.09610919654369354, + 0.015343987382948399 + ], + [ + 0.3044481575489044, + -0.09525071829557419, + 0.018494440242648125 + ], + [ + 0.29385507106781006, + -0.09285250306129456, + 0.01952650398015976 + ], + [ + 0.28639310598373413, + -0.09185928851366043, + 0.02430018223822117 + ], + [ + 0.2863699495792389, + -0.09370334446430206, + 0.03160007297992706 + ], + [ + 0.29895466566085815, + -0.09851042926311493, + 0.04244913160800934 + ], + [ + 0.31985658407211304, + -0.102877676486969, + 0.04426104202866554 + ], + [ + 0.34311267733573914, + -0.10175206512212753, + 0.04943633824586868 + ], + [ + 0.362851619720459, + -0.08429905027151108, + 0.061932649463415146 + ], + [ + 0.3668183982372284, + -0.056365966796875, + 0.06733813881874084 + ], + [ + 0.369130939245224, + -0.02739974856376648, + 0.070298932492733 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.7321330690087349, + 0.6724470758744104, + 0.10860984951562389, + 0.6554027841325861, + -0.7388679440679782, + 0.15659294933046675, + 0.18554880709696356, + -0.0434636788216828, + -0.9816733411925679 + ], + [ + 0.8011358591737932, + 0.5810969869329118, + 0.1432048425276187, + 0.5570847290340527, + -0.8115037776890133, + 0.17640358123778824, + 0.21871886023597667, + -0.06154600372040683, + -0.9738450336696919 + ], + [ + 0.8772103142614527, + 0.40825463269518814, + 0.25264643167129996, + 0.38537813066581594, + -0.9125916381473349, + 0.1366023366860369, + 0.2863315577400527, + -0.022464569136332845, + -0.9578672048753283 + ], + [ + 0.916455776969002, + 0.1866286978379627, + 0.353947083620489, + 0.1949186500351029, + -0.9807406296020414, + 0.012431303885134696, + 0.34945032369227547, + 0.0575981474623785, + -0.9351828295473918 + ], + [ + 0.9123998749219999, + -0.005731357957289469, + 0.4092598438379756, + 0.04145718106434478, + -0.9934655305959439, + -0.10633692517614783, + 0.4071950028923696, + 0.11398855667866377, + -0.9062002199104777 + ], + [ + 0.8794815437946683, + -0.11588217433568955, + 0.4616097223800422, + -0.058171153397486006, + -0.988806211905124, + -0.13739866160281525, + 0.47236461662253343, + 0.09398721705142479, + -0.876377813499392 + ], + [ + 0.863445805038929, + -0.13444494037334256, + 0.4861953308791484, + -0.09850251325492101, + -0.9902116129688668, + -0.09888486448420462, + 0.49473083251717836, + 0.03749025939632543, + -0.8682372278399817 + ], + [ + 0.8446871796997315, + -0.13034944375096633, + 0.519146020850326, + -0.09594809229136339, + -0.9910580526946393, + -0.09272486060791618, + 0.5265904784902224, + 0.028512430673710322, + -0.8496408119084884 + ], + [ + 0.8363157290543566, + -0.14225977001567536, + 0.5294696961785136, + -0.11086333716571596, + -0.9896792626518273, + -0.09079800410480666, + 0.5369220816922705, + 0.017237021553124093, + -0.8434557269230059 + ], + [ + 0.8268674419201606, + -0.14963307033744302, + 0.5421256106787424, + -0.11398022929123267, + -0.9885378841639058, + -0.09900181262717536, + 0.550725649323806, + 0.020069774142678937, + -0.8344450031863898 + ], + [ + 0.8090603922659456, + -0.15772269125435662, + 0.5661667902040503, + -0.12942508936970593, + -0.9874833838864644, + -0.0901427356462027, + 0.5732978526979827, + -0.0003452703584765418, + -0.819346967334512 + ], + [ + 0.7871398422344589, + -0.16252977971055033, + 0.5949747385178227, + -0.13461060402290242, + -0.9866702931135433, + -0.09144242982239814, + 0.6019060176237657, + -0.008111929146314485, + -0.7985257306773681 + ], + [ + 0.7999367618587921, + -0.14413292229220748, + 0.5825177059441015, + -0.1324467365635396, + -0.9891938484925784, + -0.06287600558329261, + 0.585285433784695, + -0.026855740837861426, + -0.8103824592027589 + ], + [ + 0.7934724628090437, + -0.13276174811803404, + 0.5939492983415287, + -0.13752339268838742, + -0.9897876410173087, + -0.03751989009667774, + 0.5928648810877788, + -0.05191092299347869, + -0.8036270831963908 + ], + [ + 0.8132584012972337, + -0.08068095651037671, + 0.5762823578559718, + -0.09943864102565644, + -0.9950431722372861, + 0.0010208109175158034, + 0.5733434654641477, + -0.058134917567064535, + -0.8172500241474652 + ], + [ + 0.8390854743848968, + -0.024980979387992777, + 0.5434257238529377, + -0.06512375757598683, + -0.9963739472746751, + 0.0547526564786328, + 0.5400874585430185, + -0.08133208383596079, + -0.8376697614593973 + ], + [ + 0.8508355866317949, + 0.004319463684566725, + 0.5254142620393998, + -0.06119935803248288, + -0.9923454534411819, + 0.10726201383074524, + 0.5218557684814276, + -0.12341735399891182, + -0.8440584776154824 + ], + [ + 0.8708399168579695, + 0.01141406413087213, + 0.4914341851629986, + -0.05916410833102641, + -0.9900291405840888, + 0.1278354766085085, + 0.48799328631877575, + -0.14039950118980585, + -0.861481591546479 + ], + [ + 0.8900501618979044, + 0.031037479595487943, + 0.45480477588287627, + -0.05658017956753936, + -0.9824437019646369, + 0.17777248310726917, + 0.4523376975066512, + -0.18395936325824508, + -0.8726680698203653 + ], + [ + 0.905022005785367, + 0.02260328869460883, + 0.42476377009394173, + -0.07068239938782737, + -0.976712761903041, + 0.20257388566276957, + 0.4194510310644265, + -0.2133571467655146, + -0.8823488881746652 + ], + [ + 0.9341498030301433, + 0.06855189256650504, + 0.3502353259228642, + -0.027209470440335386, + -0.964840882211136, + 0.26142248704423543, + 0.35584236709124606, + -0.2537374825278821, + -0.8994406593785449 + ], + [ + 0.9456858345954867, + 0.08850327904405109, + 0.31280260843523655, + -0.010439325897561018, + -0.953462681563439, + 0.30133027617658986, + 0.3249143313555769, + -0.2882292220860096, + -0.9007522371970282 + ], + [ + 0.9552471339588801, + 0.09202245755054383, + 0.2811312511438452, + 0.006829150701191819, + -0.9569884395390896, + 0.290045667592603, + 0.2957300724715798, + -0.2751454050041481, + -0.914788899332003 + ], + [ + 0.9622674253512938, + 0.10162006381597383, + 0.252417837598356, + 0.020483920509198138, + -0.9520676378786626, + 0.30520095331554425, + 0.2713333947533283, + -0.2885144286412407, + -0.9182252519711345 + ], + [ + 0.964306541403141, + 0.10454220962517907, + 0.24327725050607732, + 0.0268163424425562, + -0.9525946593625428, + 0.3030582431348204, + 0.2634269879589317, + -0.28571724022299644, + -0.9213967010220075 + ], + [ + 0.964017999961371, + 0.10884783315270671, + 0.24253132780826156, + 0.03303589264859543, + -0.9543113277651336, + 0.29698235552985003, + 0.2637762793493539, + -0.2782840974923078, + -0.9235691828636896 + ], + [ + 0.9660460686997279, + 0.10597533222121569, + 0.2356357827461767, + 0.03372658991375881, + -0.9559298527817425, + 0.2916515621310213, + 0.25615915030033487, + -0.2738016536131197, + -0.9270464628033114 + ], + [ + 0.9701075328234601, + 0.0699788751237169, + 0.23236680441835622, + 0.006087942472368615, + -0.9642373718241024, + 0.26497023933679964, + 0.24259907608157233, + -0.25563498941687735, + -0.9358399652024915 + ], + [ + 0.9694453562191074, + 0.04217601024138657, + 0.2416544753678816, + -0.02016440384953505, + -0.9680741209594023, + 0.24985174233147409, + 0.24447719346106805, + -0.24709042977986603, + -0.9376445069367176 + ], + [ + 0.9694024343300276, + 0.015451259092814225, + 0.2449901608380698, + -0.04256275518496344, + -0.9723209239004885, + 0.22973992429781434, + 0.24175883062689035, + -0.23313789811557303, + -0.9419126224210881 + ], + [ + 0.9749708669053516, + 0.014935430527942394, + 0.22183043434292798, + -0.02642506426357265, + -0.9828846346254176, + 0.18231706172469284, + 0.2207567092173942, + -0.18361570720448836, + -0.9578892145771882 + ], + [ + 0.9766882713349581, + -0.002416538830546471, + 0.2146489715251645, + -0.0378210274261713, + -0.9862312939470977, + 0.16098883415896, + 0.21130449716264726, + -0.16535415077799767, + -0.9633319336030167 + ], + [ + 0.9736137807659547, + -0.02302236629340714, + 0.22703783066457345, + -0.05612026461154781, + -0.9884994883021833, + 0.14042534502806656, + 0.22119385570705435, + -0.1494614742218672, + -0.9637087453794703 + ], + [ + 0.9727018318893896, + -0.04405530767178924, + 0.2278382674288263, + -0.07363112580659575, + -0.989673206865768, + 0.12298536874148853, + 0.22006727051399227, + -0.1364040816030467, + -0.9659007831918093 + ], + [ + 0.9713456592098505, + -0.06276982208613509, + 0.2292325451794666, + -0.08688087998559214, + -0.9915199168091481, + 0.09664350606072511, + 0.22122233844508196, + -0.11379017534943525, + -0.9685620645920604 + ], + [ + 0.9679862057212757, + -0.07390503128317029, + 0.23987653466807024, + -0.0943083654227674, + -0.9927358374336186, + 0.07470936545211723, + 0.23261263453349662, + -0.0949399990836626, + -0.9679244592577358 + ], + [ + 0.9599688988636075, + -0.05176138104283077, + 0.2752825324046766, + -0.07176149204835854, + -0.9954252763535085, + 0.0630777889239521, + 0.27075819742638696, + -0.08030740083628757, + -0.9592917803761969 + ], + [ + 0.9504920848454648, + -0.027027078313270676, + 0.30957120939126437, + -0.05238599534800197, + -0.9958889914787925, + 0.07389738928238743, + 0.306301328984255, + -0.08645607953869944, + -0.9480004441841139 + ], + [ + 0.9386138533634459, + -0.017173189514568997, + 0.34454189271570473, + -0.04617571326234598, + -0.9960267423168695, + 0.07614809317611282, + 0.34186523335802527, + -0.08738312280721633, + -0.9356774829339016 + ], + [ + 0.9351343253962446, + 0.04856386445968432, + 0.3509492050631427, + -0.006812848266302938, + -0.9879130197660747, + 0.1548594539418746, + 0.3542278624899667, + -0.14720535467644055, + -0.923500517049326 + ], + [ + 0.9468836254580886, + 0.09325474185252959, + 0.30775794540736806, + 0.03274112459249866, + -0.9800127765362682, + 0.19622175360059632, + 0.3199053275576463, + -0.17572282420816235, + -0.9310113159637441 + ], + [ + 0.9543425669782778, + 0.11394862672916894, + 0.2761267377851112, + 0.05705308579987046, + -0.9768981387358519, + 0.20594895468329216, + 0.29321529675994673, + -0.18079197161645377, + -0.9387965981750315 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005949.json b/json/chunk-0005/episode_0005949.json new file mode 100644 index 0000000000000000000000000000000000000000..5a8def5bdb029b2829ddeb93b9fa7be27b56e191 --- /dev/null +++ b/json/chunk-0005/episode_0005949.json @@ -0,0 +1,2482 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 40, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nFold the cloth from bottom right to top left." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005949.mp4", + "start": 0, + "end": 40, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.43141666054725647, + 0.025660285726189613, + 0.07898802310228348, + -0.02902689017355442, + -0.0632777139544487, + 0.17554153501987457, + 0.0, + 1.0014774799346924 + ], + [ + 0.4268541932106018, + 0.024699389934539795, + 0.05833703279495239, + -0.023501014336943626, + -0.013024929910898209, + 0.17083360254764557, + 0.0, + 1.0014774799346924 + ], + [ + 0.41711774468421936, + -0.010553856380283833, + 0.04893467202782631, + -0.010941576212644577, + -0.014739339239895344, + 0.03752326965332031, + 0.0, + 1.0008161067962646 + ], + [ + 0.4102592468261719, + -0.05078905075788498, + 0.059610962867736816, + 0.0010082126827910542, + -0.061417270451784134, + -0.09472601115703583, + 0.0, + 1.0008161067962646 + ], + [ + 0.40545737743377686, + -0.058650996536016464, + 0.06873054057359695, + 7.10844251443632e-05, + -0.09971880912780762, + -0.13097858428955078, + 0.0, + 1.0008161067962646 + ], + [ + 0.3944246768951416, + -0.07538551837205887, + 0.07360943406820297, + 0.015770267695188522, + -0.11041095852851868, + -0.20083533227443695, + 0.0, + 1.0008161067962646 + ], + [ + 0.3826097548007965, + -0.09159953892230988, + 0.06396613270044327, + 0.08413991332054138, + -0.08359108865261078, + -0.2808331847190857, + 0.0, + 1.0008161067962646 + ], + [ + 0.3844246566295624, + -0.08174606412649155, + 0.06066622957587242, + 0.09279368817806244, + -0.0914609432220459, + -0.24557127058506012, + 0.0, + 1.0008161067962646 + ], + [ + 0.39088767766952515, + -0.06513388454914093, + 0.06112125515937805, + 0.09996183216571808, + -0.11295969784259796, + -0.1944827139377594, + 0.0, + 1.0008161067962646 + ], + [ + 0.390622079372406, + -0.06880412250757217, + 0.06048033758997917, + 0.03965051472187042, + -0.11417409032583237, + -0.22190093994140625, + 0.0, + 1.0008161067962646 + ], + [ + 0.3735717236995697, + -0.07933449745178223, + 0.058563750237226486, + -0.01634841226041317, + -0.10982545465230942, + -0.29963186383247375, + 0.0, + 1.0008161067962646 + ], + [ + 0.356456995010376, + -0.10203280299901962, + 0.06515961140394211, + -0.021985985338687897, + -0.12866896390914917, + -0.39306578040122986, + 0.0, + 1.0008161067962646 + ], + [ + 0.3544839918613434, + -0.10407859832048416, + 0.06323114782571793, + -0.043994154781103134, + -0.12967485189437866, + -0.3974155783653259, + 0.0, + 1.0008161067962646 + ], + [ + 0.3395482301712036, + -0.11320707201957703, + 0.05294165760278702, + -0.05338125675916672, + -0.09749258309602737, + -0.45549440383911133, + 0.0, + 1.0008161067962646 + ], + [ + 0.3106761872768402, + -0.1451408416032791, + 0.05165881663560867, + -0.0416264683008194, + -0.09060072898864746, + -0.5784002542495728, + 0.0, + 1.0008161067962646 + ], + [ + 0.2831212878227234, + -0.16497014462947845, + 0.05032549053430557, + -0.03751213103532791, + -0.08951698243618011, + -0.6912931203842163, + 0.0, + 1.0008161067962646 + ], + [ + 0.2649368941783905, + -0.17543989419937134, + 0.0462426133453846, + -0.019416071474552155, + -0.08093273639678955, + -0.7627198696136475, + 0.0, + 1.0008161067962646 + ], + [ + 0.25940850377082825, + -0.176762193441391, + 0.04241999611258507, + 0.0012830051127821207, + -0.06556262075901031, + -0.7945734262466431, + 0.0, + 1.0008161067962646 + ], + [ + 0.2588881552219391, + -0.17532388865947723, + 0.034219834953546524, + 0.016042480245232582, + -0.04999037832021713, + -0.7967110872268677, + 0.0, + 0.9545519351959229 + ], + [ + 0.25900185108184814, + -0.1727331429719925, + 0.021660450845956802, + 0.02982940711081028, + -0.03694190829992294, + -0.7783997058868408, + 0.0, + 0.672171950340271 + ], + [ + 0.25845208764076233, + -0.17085683345794678, + 0.01767631061375141, + 0.03587505593895912, + -0.048965632915496826, + -0.7584612369537354, + 0.0, + 0.36781078577041626 + ], + [ + 0.2576141655445099, + -0.16911374032497406, + 0.016203226521611214, + 0.04623699560761452, + -0.05872510001063347, + -0.7535973787307739, + 0.0, + 0.15820781886577606 + ], + [ + 0.25611811876296997, + -0.16626951098442078, + 0.021758873015642166, + 0.01190963201224804, + -0.07267186790704727, + -0.752572774887085, + 0.0, + 0.06803370267152786 + ], + [ + 0.2678844630718231, + -0.14686927199363708, + 0.04508914053440094, + -0.08349917829036713, + -0.11770736426115036, + -0.6875187754631042, + 0.0, + 0.05430474132299423 + ], + [ + 0.2901546359062195, + -0.114554762840271, + 0.07277736812829971, + -0.17776033282279968, + -0.17625047266483307, + -0.5663628578186035, + 0.0, + 0.05403778702020645 + ], + [ + 0.3103621304035187, + -0.08190285414457321, + 0.09325765818357468, + -0.19184522330760956, + -0.18002183735370636, + -0.4872468411922455, + 0.0, + 0.05403778702020645 + ], + [ + 0.3303281366825104, + -0.05347691476345062, + 0.10142272710800171, + -0.17950619757175446, + -0.15094543993473053, + -0.40766116976737976, + 0.0, + 0.05403778702020645 + ], + [ + 0.3565022945404053, + -0.025798292830586433, + 0.10546202957630157, + -0.18811479210853577, + -0.15026289224624634, + -0.30397340655326843, + 0.0, + 0.05377154052257538 + ], + [ + 0.3743978440761566, + -0.009796174243092537, + 0.10774952918291092, + -0.20155395567417145, + -0.14882706105709076, + -0.24064581096172333, + 0.0, + 0.05377154052257538 + ], + [ + 0.3936483561992645, + 0.006022397894412279, + 0.1091093122959137, + -0.18226821720600128, + -0.15061314404010773, + -0.24349857866764069, + 0.0, + 0.05377154052257538 + ], + [ + 0.4067128896713257, + 0.019960571080446243, + 0.10677783191204071, + -0.11060712486505508, + -0.14082764089107513, + -0.30854833126068115, + 0.0, + 0.05403778702020645 + ], + [ + 0.4133974611759186, + 0.034378696233034134, + 0.10380532592535019, + 0.006492652930319309, + -0.12616753578186035, + -0.3393990397453308, + 0.0, + 0.05403778702020645 + ], + [ + 0.4210473597049713, + 0.038554247468709946, + 0.0989316776394844, + 0.08621757477521896, + -0.07011524587869644, + -0.33709144592285156, + 0.0, + 0.05403778702020645 + ], + [ + 0.4306136667728424, + 0.04727523401379585, + 0.09898780286312103, + 0.09721098840236664, + -0.05442366376519203, + -0.3165675103664398, + 0.0, + 0.05377154052257538 + ], + [ + 0.43248462677001953, + 0.05899817869067192, + 0.09388091415166855, + 0.11792724579572678, + -0.042681507766246796, + -0.31576478481292725, + 0.0, + 0.05403778702020645 + ], + [ + 0.437496542930603, + 0.06412332504987717, + 0.0875302404165268, + 0.13901208341121674, + -0.03410465270280838, + -0.33801475167274475, + 0.0, + 0.07559127360582352 + ], + [ + 0.4420149028301239, + 0.07446716725826263, + 0.0781746581196785, + 0.14010602235794067, + -0.029529782012104988, + -0.33594754338264465, + 0.0, + 0.22426052391529083 + ], + [ + 0.43957948684692383, + 0.08084941655397415, + 0.0629432275891304, + 0.15611383318901062, + -0.03345661982893944, + -0.3334349989891052, + 0.0, + 0.4841892421245575 + ], + [ + 0.43436190485954285, + 0.08256902545690536, + 0.0528847873210907, + 0.17240837216377258, + -0.015634803101420403, + -0.3201639950275421, + 0.0, + 0.8017430305480957 + ], + [ + 0.4296342134475708, + 0.07411209493875504, + 0.047465745359659195, + 0.17074817419052124, + -0.02056036703288555, + -0.3248934745788574, + 0.0, + 0.9961419701576233 + ] + ], + "left_gripper_pos": [ + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9545519351959229 + ], + [ + 0.672171950340271 + ], + [ + 0.36781078577041626 + ], + [ + 0.15820781886577606 + ], + [ + 0.06803370267152786 + ], + [ + 0.05430474132299423 + ], + [ + 0.05403778702020645 + ], + [ + 0.05403778702020645 + ], + [ + 0.05403778702020645 + ], + [ + 0.05377154052257538 + ], + [ + 0.05377154052257538 + ], + [ + 0.05377154052257538 + ], + [ + 0.05403778702020645 + ], + [ + 0.05403778702020645 + ], + [ + 0.05403778702020645 + ], + [ + 0.05377154052257538 + ], + [ + 0.05403778702020645 + ], + [ + 0.07559127360582352 + ], + [ + 0.22426052391529083 + ], + [ + 0.4841892421245575 + ], + [ + 0.8017430305480957 + ], + [ + 0.9961419701576233 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.43141666054725647, + 0.025660285726189613, + 0.07898802310228348 + ], + [ + 0.4268541932106018, + 0.024699389934539795, + 0.05833703279495239 + ], + [ + 0.41711774468421936, + -0.010553856380283833, + 0.04893467202782631 + ], + [ + 0.4102592468261719, + -0.05078905075788498, + 0.059610962867736816 + ], + [ + 0.40545737743377686, + -0.058650996536016464, + 0.06873054057359695 + ], + [ + 0.3944246768951416, + -0.07538551837205887, + 0.07360943406820297 + ], + [ + 0.3826097548007965, + -0.09159953892230988, + 0.06396613270044327 + ], + [ + 0.3844246566295624, + -0.08174606412649155, + 0.06066622957587242 + ], + [ + 0.39088767766952515, + -0.06513388454914093, + 0.06112125515937805 + ], + [ + 0.390622079372406, + -0.06880412250757217, + 0.06048033758997917 + ], + [ + 0.3735717236995697, + -0.07933449745178223, + 0.058563750237226486 + ], + [ + 0.356456995010376, + -0.10203280299901962, + 0.06515961140394211 + ], + [ + 0.3544839918613434, + -0.10407859832048416, + 0.06323114782571793 + ], + [ + 0.3395482301712036, + -0.11320707201957703, + 0.05294165760278702 + ], + [ + 0.3106761872768402, + -0.1451408416032791, + 0.05165881663560867 + ], + [ + 0.2831212878227234, + -0.16497014462947845, + 0.05032549053430557 + ], + [ + 0.2649368941783905, + -0.17543989419937134, + 0.0462426133453846 + ], + [ + 0.25940850377082825, + -0.176762193441391, + 0.04241999611258507 + ], + [ + 0.2588881552219391, + -0.17532388865947723, + 0.034219834953546524 + ], + [ + 0.25900185108184814, + -0.1727331429719925, + 0.021660450845956802 + ], + [ + 0.25845208764076233, + -0.17085683345794678, + 0.01767631061375141 + ], + [ + 0.2576141655445099, + -0.16911374032497406, + 0.016203226521611214 + ], + [ + 0.25611811876296997, + -0.16626951098442078, + 0.021758873015642166 + ], + [ + 0.2678844630718231, + -0.14686927199363708, + 0.04508914053440094 + ], + [ + 0.2901546359062195, + -0.114554762840271, + 0.07277736812829971 + ], + [ + 0.3103621304035187, + -0.08190285414457321, + 0.09325765818357468 + ], + [ + 0.3303281366825104, + -0.05347691476345062, + 0.10142272710800171 + ], + [ + 0.3565022945404053, + -0.025798292830586433, + 0.10546202957630157 + ], + [ + 0.3743978440761566, + -0.009796174243092537, + 0.10774952918291092 + ], + [ + 0.3936483561992645, + 0.006022397894412279, + 0.1091093122959137 + ], + [ + 0.4067128896713257, + 0.019960571080446243, + 0.10677783191204071 + ], + [ + 0.4133974611759186, + 0.034378696233034134, + 0.10380532592535019 + ], + [ + 0.4210473597049713, + 0.038554247468709946, + 0.0989316776394844 + ], + [ + 0.4306136667728424, + 0.04727523401379585, + 0.09898780286312103 + ], + [ + 0.43248462677001953, + 0.05899817869067192, + 0.09388091415166855 + ], + [ + 0.437496542930603, + 0.06412332504987717, + 0.0875302404165268 + ], + [ + 0.4420149028301239, + 0.07446716725826263, + 0.0781746581196785 + ], + [ + 0.43957948684692383, + 0.08084941655397415, + 0.0629432275891304 + ], + [ + 0.43436190485954285, + 0.08256902545690536, + 0.0528847873210907 + ], + [ + 0.4296342134475708, + 0.07411209493875504, + 0.047465745359659195 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9826614990423049, + 0.17276074041712985, + 0.0673060537429977, + 0.17429185452582785, + -0.9845378464285176, + -0.017537913098329343, + 0.06323549435149436, + 0.028964728902960094, + -0.9975782258718864 + ], + [ + 0.9853598051881706, + 0.16965532494296948, + 0.01682631980041948, + 0.169989455889774, + -0.9852233088938815, + -0.020943173075968602, + 0.013024561636735613, + 0.023496857889659196, + -0.9996390640943781 + ], + [ + 0.9991875390822099, + 0.03735107024996919, + 0.015138008257989223, + 0.03751038993934069, + -0.9992423180811404, + -0.010380770801220473, + 0.014738805563399385, + 0.010940169423310081, + -0.9998315259600257 + ], + [ + 0.9936398501780921, + -0.09452275829839728, + 0.06119882598318973, + -0.09440607771142774, + -0.9955221923697463, + -0.0048017695151934825, + 0.061378665912528906, + -0.0010063115799505717, + -0.9981140449406578 + ], + [ + 0.9865093106161664, + -0.1305973908584092, + 0.0987101897910848, + -0.12995559047418354, + -0.9914354827713502, + -0.012931666808499189, + 0.09955362661461604, + -7.073129174865137e-05, + -0.9950321956725631 + ], + [ + 0.9739335699220258, + -0.19776045923685837, + 0.11110446499293193, + -0.1982732405375497, + -0.9801250630911451, + -0.006525548813555601, + 0.11018676629104661, + -0.015673591260652712, + -0.9937873087694955 + ], + [ + 0.9574699362111173, + -0.2694338147796611, + 0.10323149085990017, + -0.27618854231737366, + -0.9593705341205903, + 0.057689404172490286, + 0.08349377428576753, + -0.08374722511493678, + -0.9929829766622713 + ], + [ + 0.9659443590910538, + -0.23385546402740762, + 0.1107389592, + -0.24209438240952139, + -0.9678828762570135, + 0.06777202855310757, + 0.09133348315883837, + -0.09227328862122927, + -0.9915360987180939 + ], + [ + 0.9748947537936012, + -0.18125743524954913, + 0.12932888769516748, + -0.1920273549934044, + -0.9784238091396519, + 0.07623873453101848, + 0.11271962544273637, + -0.09915942655849502, + -0.9886666243808576 + ], + [ + 0.9691296997538934, + -0.21550604947545926, + 0.11976964429440981, + -0.2186514284206496, + -0.9757080494412008, + 0.013614518179385676, + 0.1139261949884138, + -0.039382037721887767, + -0.9927083545535083 + ], + [ + 0.9496888918682144, + -0.29684100087900595, + 0.09988207476456197, + -0.2933901746144914, + -0.9547886592941691, + -0.04796687943697922, + 0.10960480875309157, + 0.01624919322284851, + -0.9938424168940493 + ], + [ + 0.9161031094977999, + -0.38553538653778907, + 0.11007978241084526, + -0.379855963246277, + -0.9224354272592132, + -0.06944299621527833, + 0.12831422350894886, + 0.02180248298404822, + -0.9914938788419349 + ], + [ + 0.9143226781493761, + -0.391906038442711, + 0.10209650950885897, + -0.38378707165505865, + -0.918971034990411, + -0.09055230797217441, + 0.12931173130148366, + 0.04361070832711779, + -0.9906445287119996 + ], + [ + 0.8937791615989902, + -0.4439437946531376, + 0.06381784609636267, + -0.4378174073286829, + -0.8944797523737541, + -0.0906746405197044, + 0.09733821516442755, + 0.053102540262780815, + -0.9938336843185802 + ], + [ + 0.833903986016803, + -0.549364237757746, + 0.05294408728213581, + -0.5444429127335372, + -0.8345545807826447, + -0.08426485903937792, + 0.09047683062259435, + 0.041443768742176645, + -0.9950358572196961 + ], + [ + 0.7673375034216622, + -0.6396684574578315, + 0.04491570300160552, + -0.6349812966655335, + -0.7677427987862189, + -0.08584723523131317, + 0.08939747606933693, + 0.03735317182544455, + -0.9952953490431926 + ], + [ + 0.7205931160984533, + -0.691894875249621, + 0.0450226902220633, + -0.6886288855623419, + -0.7217388784942811, + -0.06988024927677254, + 0.08084441230343238, + 0.019351301587448216, + -0.9965388643330394 + ], + [ + 0.6990840306785079, + -0.7135053402322236, + 0.04681503508905803, + -0.7120317522360169, + -0.700648621224966, + -0.04585077298434016, + 0.06551566116584899, + -0.0012802482778348466, + -0.9978507198505939 + ], + [ + 0.6981889489318007, + -0.7144084259593606, + 0.04639819509179574, + -0.7141675116536546, + -0.6995454984402201, + -0.024512464389600856, + 0.04996955961317645, + -0.016021751786024954, + -0.9986222241577505 + ], + [ + 0.7115522755764639, + -0.7010441520786297, + 0.0472277032927864, + -0.7016617954729829, + -0.7124947582827365, + -0.0046844629633844455, + 0.03693350640795223, + -0.02980463480703194, + -0.9988731650457097 + ], + [ + 0.7250251976465062, + -0.686088359864699, + 0.06017661701866926, + -0.6869808914179112, + -0.7266356562113607, + -0.0076077558410362, + 0.0489460683231681, + -0.03582437131970603, + -0.9981587533129443 + ], + [ + 0.7279749598647646, + -0.6815569826028068, + 0.07438102765659799, + -0.6830869512607959, + -0.7303089084319738, + -0.006412119940387873, + 0.05869135223459659, + -0.04614084665733854, + -0.9972092796613048 + ], + [ + 0.7280061337153791, + -0.6828393159404934, + 0.061135406097485405, + -0.6817148666190264, + -0.730472028010722, + -0.0409323457000238, + 0.07260791901293327, + -0.011877916476471627, + -0.9972898300879185 + ], + [ + 0.7674754688037666, + -0.6399798848388722, + 0.03751202188715553, + -0.6302303152978559, + -0.7639147549633467, + -0.13872273364108387, + 0.11743574610826052, + 0.08282508165352878, + -0.9896205592978969 + ], + [ + 0.8307851141907507, + -0.5542746597644184, + 0.05075131113675615, + -0.5282539140369484, + -0.8139247951219617, + -0.2418144540558262, + 0.17533937476706682, + 0.1740862700752452, + -0.9689943623301341 + ], + [ + 0.8693456454986379, + -0.48977219977881953, + 0.06604044954702364, + -0.46062877386046125, + -0.8514302335242889, + -0.2507741815510186, + 0.17905105792584675, + 0.1875893114348237, + -0.9657903338152873 + ], + [ + 0.9076117623197808, + -0.41474081690121417, + 0.06504570466138393, + -0.3919552054630006, + -0.8926550367759152, + -0.22257156653320992, + 0.15037288920958938, + 0.17651356920844252, + -0.9727440331742249 + ], + [ + 0.9434030821603919, + -0.3207446749326979, + 0.08434143745865008, + -0.29594106362616096, + -0.9289428564549741, + -0.22245012092846922, + 0.14969806755629814, + 0.18490003500159746, + -0.9712890741825106 + ], + [ + 0.9604484792842017, + -0.26233404950453687, + 0.09337861163679778, + -0.23569530268254332, + -0.9444496435242471, + -0.22904714610819132, + 0.1482782618391819, + 0.19797908303018796, + -0.9689261270852785 + ], + [ + 0.9595136326167565, + -0.2635005138298911, + 0.0995041106386019, + -0.23837004388733166, + -0.9478669363024043, + -0.21148993650253275, + 0.1500443634387755, + 0.17920867801553894, + -0.9723018763348014 + ], + [ + 0.9433430914864841, + -0.3165819560897459, + 0.09939656343713674, + -0.30066950203944004, + -0.9422482608090386, + -0.14753326928424254, + 0.1403626100073581, + 0.1092889751106298, + -0.9840499263915373 + ], + [ + 0.9354597635401058, + -0.3321430770710242, + 0.12081393608057192, + -0.3302742317799242, + -0.9432070238649168, + -0.035769287860768426, + 0.12583307442667743, + -0.006441000363087349, + -0.992030519134695 + ], + [ + 0.9414018568581676, + -0.3238218917092385, + 0.09435002042312558, + -0.32993097322004583, + -0.9422105426654704, + 0.058179431074158655, + 0.07005781051437009, + -0.08589921850569776, + -0.993837626298201 + ], + [ + 0.9489025401598775, + -0.3048194172371295, + 0.08166450975392543, + -0.31084555216245685, + -0.947466490753104, + 0.0753809763853972, + 0.05439680118306176, + -0.09691424959837044, + -0.9938051198528992 + ], + [ + 0.9496934672915033, + -0.30361476704573415, + 0.07681400533501082, + -0.31026071781718473, + -0.9455161484115404, + 0.09867877214766756, + 0.04266855005044977, + -0.11754695370264014, + -0.9921502449285702 + ], + [ + 0.942866259358494, + -0.3239584330442623, + 0.07780842256997253, + -0.3314219976291234, + -0.9358808976683737, + 0.1195257498071467, + 0.034098041744982266, + -0.1384842194581949, + -0.989777472217979 + ], + [ + 0.943686761900606, + -0.3225408938307393, + 0.07363876167085334, + -0.3295201675533645, + -0.9362065909209968, + 0.12220342995058633, + 0.029525490498069126, + -0.13958721618741823, + -0.989769495634158 + ], + [ + 0.9443948783058582, + -0.31839613445603654, + 0.0821109943498212, + -0.3271076061507493, + -0.9351346266871026, + 0.1361023290362773, + 0.03345037859261259, + -0.1553934732677867, + -0.9872861493193268 + ], + [ + 0.9490678077289247, + -0.30751046583364355, + 0.06861202325677254, + -0.31468376059476916, + -0.9359557755801493, + 0.15799024329399225, + 0.015634166128909544, + -0.17153454334604568, + -0.9850540458718582 + ], + [ + 0.9474844358324216, + -0.3112552783552227, + 0.07343974095359233, + -0.31914036837408943, + -0.9350185313655536, + 0.1545631627427896, + 0.020558918487324034, + -0.16988377703305393, + -0.9852496298764163 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.004562467336654663, + -0.0009608957916498184, + -0.020650990307331085, + 0.005525875836610794, + 0.05025278404355049, + -0.004707932472229004, + 1.0 + ], + [ + -0.009736448526382446, + -0.03525324538350105, + -0.009402360767126083, + 0.01255943812429905, + -0.0017144093289971352, + -0.13331033289432526, + 1.0 + ], + [ + -0.006858497858047485, + -0.04023519530892372, + 0.010676290839910507, + 0.01194978877902031, + -0.046677932143211365, + -0.13224928081035614, + 1.0 + ], + [ + -0.0048018693923950195, + -0.007861945778131485, + 0.009119577705860138, + -0.0009371282649226487, + -0.03830153867602348, + -0.036252573132514954, + 1.0 + ], + [ + -0.011032700538635254, + -0.016734521836042404, + 0.004878893494606018, + 0.01569918356835842, + -0.01069214940071106, + -0.06985674798488617, + 1.0 + ], + [ + -0.011814922094345093, + -0.016214020550251007, + -0.009643301367759705, + 0.06836964190006256, + 0.026819869875907898, + -0.07999785244464874, + 1.0 + ], + [ + 0.0018149018287658691, + 0.009853474795818329, + -0.0032999031245708466, + 0.008653774857521057, + -0.00786985456943512, + 0.035261914134025574, + 1.0 + ], + [ + 0.0064630210399627686, + 0.016612179577350616, + 0.0004550255835056305, + 0.00716814398765564, + -0.021498754620552063, + 0.05108855664730072, + 1.0 + ], + [ + -0.0002655982971191406, + -0.003670237958431244, + -0.00064091756939888, + -0.060311317443847656, + -0.0012143924832344055, + -0.02741822600364685, + 1.0 + ], + [ + -0.017050355672836304, + -0.010530374944210052, + -0.0019165873527526855, + -0.05599892884492874, + 0.004348635673522949, + -0.0777309238910675, + 1.0 + ], + [ + -0.017114728689193726, + -0.022698305547237396, + 0.006595861166715622, + -0.005637573078274727, + -0.018843509256839752, + -0.0934339165687561, + 1.0 + ], + [ + -0.0019730031490325928, + -0.0020457953214645386, + -0.0019284635782241821, + -0.022008169442415237, + -0.0010058879852294922, + -0.004349797964096069, + 1.0 + ], + [ + -0.01493576169013977, + -0.009128473699092865, + -0.010289490222930908, + -0.009387101978063583, + 0.03218226879835129, + -0.0580788254737854, + 1.0 + ], + [ + -0.028872042894363403, + -0.03193376958370209, + -0.0012828409671783447, + 0.01175478845834732, + 0.006891854107379913, + -0.12290585041046143, + 1.0 + ], + [ + -0.02755489945411682, + -0.01982930302619934, + -0.0013333261013031006, + 0.004114337265491486, + 0.0010837465524673462, + -0.11289286613464355, + 1.0 + ], + [ + -0.018184393644332886, + -0.010469749569892883, + -0.004082877188920975, + 0.018096059560775757, + 0.008584246039390564, + -0.07142674922943115, + 1.0 + ], + [ + -0.005528390407562256, + -0.0013222992420196533, + -0.00382261723279953, + 0.02069907635450363, + 0.015370115637779236, + -0.031853556632995605, + 1.0 + ], + [ + -0.0005203485488891602, + 0.0014383047819137573, + -0.008200161159038544, + 0.014759475365281105, + 0.015572242438793182, + -0.0021376609802246094, + 0.0 + ], + [ + 0.00011369585990905762, + 0.002590745687484741, + -0.012559384107589722, + 0.013786926865577698, + 0.01304847002029419, + 0.018311381340026855, + 0.0 + ], + [ + -0.0005497634410858154, + 0.0018763095140457153, + -0.003984140232205391, + 0.006045648828148842, + -0.012023724615573883, + 0.01993846893310547, + 0.0 + ], + [ + -0.0008379220962524414, + 0.0017430931329727173, + -0.0014730840921401978, + 0.010361939668655396, + -0.009759467095136642, + 0.004863858222961426, + 0.0 + ], + [ + -0.001496046781539917, + 0.0028442293405532837, + 0.0055556464940309525, + -0.03432736545801163, + -0.013946767896413803, + 0.0010246038436889648, + 0.0 + ], + [ + 0.01176634430885315, + 0.01940023899078369, + 0.023330267518758774, + -0.09540881216526031, + -0.04503549635410309, + 0.06505399942398071, + 0.0 + ], + [ + 0.022270172834396362, + 0.03231450915336609, + 0.027688227593898773, + -0.09426115453243256, + -0.05854310840368271, + 0.12115591764450073, + 0.0 + ], + [ + 0.020207494497299194, + 0.032651908695697784, + 0.020480290055274963, + -0.014084890484809875, + -0.003771364688873291, + 0.07911601662635803, + 0.0 + ], + [ + 0.0199660062789917, + 0.02842593938112259, + 0.008165068924427032, + 0.012339025735855103, + 0.02907639741897583, + 0.07958567142486572, + 0.0 + ], + [ + 0.026174157857894897, + 0.02767862193286419, + 0.004039302468299866, + -0.008608594536781311, + 0.0006825476884841919, + 0.10368776321411133, + 0.0 + ], + [ + 0.017895549535751343, + 0.016002118587493896, + 0.0022874996066093445, + -0.013439163565635681, + 0.0014358311891555786, + 0.0633275955915451, + 0.0 + ], + [ + 0.01925051212310791, + 0.01581857167184353, + 0.001359783113002777, + 0.019285738468170166, + -0.0017860829830169678, + -0.0028527677059173584, + 0.0 + ], + [ + 0.013064533472061157, + 0.013938173651695251, + -0.002331480383872986, + 0.0716610923409462, + 0.009785503149032593, + -0.06504975259304047, + 0.0 + ], + [ + 0.0066845715045928955, + 0.01441812515258789, + -0.0029725059866905212, + 0.11709977686405182, + 0.014660105109214783, + -0.030850708484649658, + 0.0 + ], + [ + 0.007649898529052734, + 0.004175551235675812, + -0.004873648285865784, + 0.07972492277622223, + 0.05605228990316391, + 0.002307593822479248, + 0.0 + ], + [ + 0.009566307067871094, + 0.008720986545085907, + 5.61252236366272e-05, + 0.010993413627147675, + 0.01569158211350441, + 0.020523935556411743, + 0.0 + ], + [ + 0.001870959997177124, + 0.011722944676876068, + -0.005106888711452484, + 0.020716257393360138, + 0.011742155998945236, + 0.0008027255535125732, + 0.0 + ], + [ + 0.005011916160583496, + 0.005125146359205246, + -0.006350673735141754, + 0.02108483761548996, + 0.008576855063438416, + -0.022249966859817505, + 1.0 + ], + [ + 0.004518359899520874, + 0.010343842208385468, + -0.009355582296848297, + 0.001093938946723938, + 0.004574870690703392, + 0.0020672082901000977, + 1.0 + ], + [ + -0.0024354159832000732, + 0.006382249295711517, + -0.015231430530548096, + 0.016007810831069946, + -0.00392683781683445, + 0.0025125443935394287, + 1.0 + ], + [ + -0.0052175819873809814, + 0.0017196089029312134, + -0.010058440268039703, + 0.016294538974761963, + 0.017821816727519035, + 0.01327100396156311, + 1.0 + ], + [ + -0.004727691411972046, + -0.00845693051815033, + -0.005419041961431503, + -0.0016601979732513428, + -0.004925563931465149, + -0.004729479551315308, + 1.0 + ], + [ + -0.0009421706199645996, + -0.017770860344171524, + 0.037537042051553726, + -0.01541784405708313, + -0.10199983417987823, + -0.016468048095703125, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9545519351959229 + ], + [ + 0.672171950340271 + ], + [ + 0.36781078577041626 + ], + [ + 0.15820781886577606 + ], + [ + 0.06803370267152786 + ], + [ + 0.05430474132299423 + ], + [ + 0.05403778702020645 + ], + [ + 0.05403778702020645 + ], + [ + 0.05403778702020645 + ], + [ + 0.05377154052257538 + ], + [ + 0.05377154052257538 + ], + [ + 0.05377154052257538 + ], + [ + 0.05403778702020645 + ], + [ + 0.05403778702020645 + ], + [ + 0.05403778702020645 + ], + [ + 0.05377154052257538 + ], + [ + 0.05403778702020645 + ], + [ + 0.07559127360582352 + ], + [ + 0.22426052391529083 + ], + [ + 0.4841892421245575 + ], + [ + 0.8017430305480957 + ], + [ + 0.9961419701576233 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.4268541932106018, + 0.024699389934539795, + 0.05833703279495239 + ], + [ + 0.41711774468421936, + -0.010553856380283833, + 0.04893467202782631 + ], + [ + 0.4102592468261719, + -0.05078905075788498, + 0.059610962867736816 + ], + [ + 0.40545737743377686, + -0.058650996536016464, + 0.06873054057359695 + ], + [ + 0.3944246768951416, + -0.07538551837205887, + 0.07360943406820297 + ], + [ + 0.3826097548007965, + -0.09159953892230988, + 0.06396613270044327 + ], + [ + 0.3844246566295624, + -0.08174606412649155, + 0.06066622957587242 + ], + [ + 0.39088767766952515, + -0.06513388454914093, + 0.06112125515937805 + ], + [ + 0.390622079372406, + -0.06880412250757217, + 0.06048033758997917 + ], + [ + 0.3735717236995697, + -0.07933449745178223, + 0.058563750237226486 + ], + [ + 0.356456995010376, + -0.10203280299901962, + 0.06515961140394211 + ], + [ + 0.3544839918613434, + -0.10407859832048416, + 0.06323114782571793 + ], + [ + 0.3395482301712036, + -0.11320707201957703, + 0.05294165760278702 + ], + [ + 0.3106761872768402, + -0.1451408416032791, + 0.05165881663560867 + ], + [ + 0.2831212878227234, + -0.16497014462947845, + 0.05032549053430557 + ], + [ + 0.2649368941783905, + -0.17543989419937134, + 0.0462426133453846 + ], + [ + 0.25940850377082825, + -0.176762193441391, + 0.04241999611258507 + ], + [ + 0.2588881552219391, + -0.17532388865947723, + 0.034219834953546524 + ], + [ + 0.25900185108184814, + -0.1727331429719925, + 0.021660450845956802 + ], + [ + 0.25845208764076233, + -0.17085683345794678, + 0.01767631061375141 + ], + [ + 0.2576141655445099, + -0.16911374032497406, + 0.016203226521611214 + ], + [ + 0.25611811876296997, + -0.16626951098442078, + 0.021758873015642166 + ], + [ + 0.2678844630718231, + -0.14686927199363708, + 0.04508914053440094 + ], + [ + 0.2901546359062195, + -0.114554762840271, + 0.07277736812829971 + ], + [ + 0.3103621304035187, + -0.08190285414457321, + 0.09325765818357468 + ], + [ + 0.3303281366825104, + -0.05347691476345062, + 0.10142272710800171 + ], + [ + 0.3565022945404053, + -0.025798292830586433, + 0.10546202957630157 + ], + [ + 0.3743978440761566, + -0.009796174243092537, + 0.10774952918291092 + ], + [ + 0.3936483561992645, + 0.006022397894412279, + 0.1091093122959137 + ], + [ + 0.4067128896713257, + 0.019960571080446243, + 0.10677783191204071 + ], + [ + 0.4133974611759186, + 0.034378696233034134, + 0.10380532592535019 + ], + [ + 0.4210473597049713, + 0.038554247468709946, + 0.0989316776394844 + ], + [ + 0.4306136667728424, + 0.04727523401379585, + 0.09898780286312103 + ], + [ + 0.43248462677001953, + 0.05899817869067192, + 0.09388091415166855 + ], + [ + 0.437496542930603, + 0.06412332504987717, + 0.0875302404165268 + ], + [ + 0.4420149028301239, + 0.07446716725826263, + 0.0781746581196785 + ], + [ + 0.43957948684692383, + 0.08084941655397415, + 0.0629432275891304 + ], + [ + 0.43436190485954285, + 0.08256902545690536, + 0.0528847873210907 + ], + [ + 0.4296342134475708, + 0.07411209493875504, + 0.047465745359659195 + ], + [ + 0.4286920428276062, + 0.05634123459458351, + 0.08500278741121292 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9853598051881706, + 0.16965532494296948, + 0.01682631980041948, + 0.169989455889774, + -0.9852233088938815, + -0.020943173075968602, + 0.013024561636735613, + 0.023496857889659196, + -0.9996390640943781 + ], + [ + 0.9991875390822099, + 0.03735107024996919, + 0.015138008257989223, + 0.03751038993934069, + -0.9992423180811404, + -0.010380770801220473, + 0.014738805563399385, + 0.010940169423310081, + -0.9998315259600257 + ], + [ + 0.9936398501780921, + -0.09452275829839728, + 0.06119882598318973, + -0.09440607771142774, + -0.9955221923697463, + -0.0048017695151934825, + 0.061378665912528906, + -0.0010063115799505717, + -0.9981140449406578 + ], + [ + 0.9865093106161664, + -0.1305973908584092, + 0.0987101897910848, + -0.12995559047418354, + -0.9914354827713502, + -0.012931666808499189, + 0.09955362661461604, + -7.073129174865137e-05, + -0.9950321956725631 + ], + [ + 0.9739335699220258, + -0.19776045923685837, + 0.11110446499293193, + -0.1982732405375497, + -0.9801250630911451, + -0.006525548813555601, + 0.11018676629104661, + -0.015673591260652712, + -0.9937873087694955 + ], + [ + 0.9574699362111173, + -0.2694338147796611, + 0.10323149085990017, + -0.27618854231737366, + -0.9593705341205903, + 0.057689404172490286, + 0.08349377428576753, + -0.08374722511493678, + -0.9929829766622713 + ], + [ + 0.9659443590910538, + -0.23385546402740762, + 0.1107389592, + -0.24209438240952139, + -0.9678828762570135, + 0.06777202855310757, + 0.09133348315883837, + -0.09227328862122927, + -0.9915360987180939 + ], + [ + 0.9748947537936012, + -0.18125743524954913, + 0.12932888769516748, + -0.1920273549934044, + -0.9784238091396519, + 0.07623873453101848, + 0.11271962544273637, + -0.09915942655849502, + -0.9886666243808576 + ], + [ + 0.9691296997538934, + -0.21550604947545926, + 0.11976964429440981, + -0.2186514284206496, + -0.9757080494412008, + 0.013614518179385676, + 0.1139261949884138, + -0.039382037721887767, + -0.9927083545535083 + ], + [ + 0.9496888918682144, + -0.29684100087900595, + 0.09988207476456197, + -0.2933901746144914, + -0.9547886592941691, + -0.04796687943697922, + 0.10960480875309157, + 0.01624919322284851, + -0.9938424168940493 + ], + [ + 0.9161031094977999, + -0.38553538653778907, + 0.11007978241084526, + -0.379855963246277, + -0.9224354272592132, + -0.06944299621527833, + 0.12831422350894886, + 0.02180248298404822, + -0.9914938788419349 + ], + [ + 0.9143226781493761, + -0.391906038442711, + 0.10209650950885897, + -0.38378707165505865, + -0.918971034990411, + -0.09055230797217441, + 0.12931173130148366, + 0.04361070832711779, + -0.9906445287119996 + ], + [ + 0.8937791615989902, + -0.4439437946531376, + 0.06381784609636267, + -0.4378174073286829, + -0.8944797523737541, + -0.0906746405197044, + 0.09733821516442755, + 0.053102540262780815, + -0.9938336843185802 + ], + [ + 0.833903986016803, + -0.549364237757746, + 0.05294408728213581, + -0.5444429127335372, + -0.8345545807826447, + -0.08426485903937792, + 0.09047683062259435, + 0.041443768742176645, + -0.9950358572196961 + ], + [ + 0.7673375034216622, + -0.6396684574578315, + 0.04491570300160552, + -0.6349812966655335, + -0.7677427987862189, + -0.08584723523131317, + 0.08939747606933693, + 0.03735317182544455, + -0.9952953490431926 + ], + [ + 0.7205931160984533, + -0.691894875249621, + 0.0450226902220633, + -0.6886288855623419, + -0.7217388784942811, + -0.06988024927677254, + 0.08084441230343238, + 0.019351301587448216, + -0.9965388643330394 + ], + [ + 0.6990840306785079, + -0.7135053402322236, + 0.04681503508905803, + -0.7120317522360169, + -0.700648621224966, + -0.04585077298434016, + 0.06551566116584899, + -0.0012802482778348466, + -0.9978507198505939 + ], + [ + 0.6981889489318007, + -0.7144084259593606, + 0.04639819509179574, + -0.7141675116536546, + -0.6995454984402201, + -0.024512464389600856, + 0.04996955961317645, + -0.016021751786024954, + -0.9986222241577505 + ], + [ + 0.7115522755764639, + -0.7010441520786297, + 0.0472277032927864, + -0.7016617954729829, + -0.7124947582827365, + -0.0046844629633844455, + 0.03693350640795223, + -0.02980463480703194, + -0.9988731650457097 + ], + [ + 0.7250251976465062, + -0.686088359864699, + 0.06017661701866926, + -0.6869808914179112, + -0.7266356562113607, + -0.0076077558410362, + 0.0489460683231681, + -0.03582437131970603, + -0.9981587533129443 + ], + [ + 0.7279749598647646, + -0.6815569826028068, + 0.07438102765659799, + -0.6830869512607959, + -0.7303089084319738, + -0.006412119940387873, + 0.05869135223459659, + -0.04614084665733854, + -0.9972092796613048 + ], + [ + 0.7280061337153791, + -0.6828393159404934, + 0.061135406097485405, + -0.6817148666190264, + -0.730472028010722, + -0.0409323457000238, + 0.07260791901293327, + -0.011877916476471627, + -0.9972898300879185 + ], + [ + 0.7674754688037666, + -0.6399798848388722, + 0.03751202188715553, + -0.6302303152978559, + -0.7639147549633467, + -0.13872273364108387, + 0.11743574610826052, + 0.08282508165352878, + -0.9896205592978969 + ], + [ + 0.8307851141907507, + -0.5542746597644184, + 0.05075131113675615, + -0.5282539140369484, + -0.8139247951219617, + -0.2418144540558262, + 0.17533937476706682, + 0.1740862700752452, + -0.9689943623301341 + ], + [ + 0.8693456454986379, + -0.48977219977881953, + 0.06604044954702364, + -0.46062877386046125, + -0.8514302335242889, + -0.2507741815510186, + 0.17905105792584675, + 0.1875893114348237, + -0.9657903338152873 + ], + [ + 0.9076117623197808, + -0.41474081690121417, + 0.06504570466138393, + -0.3919552054630006, + -0.8926550367759152, + -0.22257156653320992, + 0.15037288920958938, + 0.17651356920844252, + -0.9727440331742249 + ], + [ + 0.9434030821603919, + -0.3207446749326979, + 0.08434143745865008, + -0.29594106362616096, + -0.9289428564549741, + -0.22245012092846922, + 0.14969806755629814, + 0.18490003500159746, + -0.9712890741825106 + ], + [ + 0.9604484792842017, + -0.26233404950453687, + 0.09337861163679778, + -0.23569530268254332, + -0.9444496435242471, + -0.22904714610819132, + 0.1482782618391819, + 0.19797908303018796, + -0.9689261270852785 + ], + [ + 0.9595136326167565, + -0.2635005138298911, + 0.0995041106386019, + -0.23837004388733166, + -0.9478669363024043, + -0.21148993650253275, + 0.1500443634387755, + 0.17920867801553894, + -0.9723018763348014 + ], + [ + 0.9433430914864841, + -0.3165819560897459, + 0.09939656343713674, + -0.30066950203944004, + -0.9422482608090386, + -0.14753326928424254, + 0.1403626100073581, + 0.1092889751106298, + -0.9840499263915373 + ], + [ + 0.9354597635401058, + -0.3321430770710242, + 0.12081393608057192, + -0.3302742317799242, + -0.9432070238649168, + -0.035769287860768426, + 0.12583307442667743, + -0.006441000363087349, + -0.992030519134695 + ], + [ + 0.9414018568581676, + -0.3238218917092385, + 0.09435002042312558, + -0.32993097322004583, + -0.9422105426654704, + 0.058179431074158655, + 0.07005781051437009, + -0.08589921850569776, + -0.993837626298201 + ], + [ + 0.9489025401598775, + -0.3048194172371295, + 0.08166450975392543, + -0.31084555216245685, + -0.947466490753104, + 0.0753809763853972, + 0.05439680118306176, + -0.09691424959837044, + -0.9938051198528992 + ], + [ + 0.9496934672915033, + -0.30361476704573415, + 0.07681400533501082, + -0.31026071781718473, + -0.9455161484115404, + 0.09867877214766756, + 0.04266855005044977, + -0.11754695370264014, + -0.9921502449285702 + ], + [ + 0.942866259358494, + -0.3239584330442623, + 0.07780842256997253, + -0.3314219976291234, + -0.9358808976683737, + 0.1195257498071467, + 0.034098041744982266, + -0.1384842194581949, + -0.989777472217979 + ], + [ + 0.943686761900606, + -0.3225408938307393, + 0.07363876167085334, + -0.3295201675533645, + -0.9362065909209968, + 0.12220342995058633, + 0.029525490498069126, + -0.13958721618741823, + -0.989769495634158 + ], + [ + 0.9443948783058582, + -0.31839613445603654, + 0.0821109943498212, + -0.3271076061507493, + -0.9351346266871026, + 0.1361023290362773, + 0.03345037859261259, + -0.1553934732677867, + -0.9872861493193268 + ], + [ + 0.9490678077289247, + -0.30751046583364355, + 0.06861202325677254, + -0.31468376059476916, + -0.9359557755801493, + 0.15799024329399225, + 0.015634166128909544, + -0.17153454334604568, + -0.9850540458718582 + ], + [ + 0.9474844358324216, + -0.3112552783552227, + 0.07343974095359233, + -0.31914036837408943, + -0.9350185313655536, + 0.1545631627427896, + 0.020558918487324034, + -0.16988377703305393, + -0.9852496298764163 + ], + [ + 0.935231452199651, + -0.3129177771309414, + 0.16560373054965385, + -0.3322592168021784, + -0.9372865587829097, + 0.1053457145540066, + 0.12225360389998688, + -0.15354599141730046, + -0.9805496850507593 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005954.json b/json/chunk-0005/episode_0005954.json new file mode 100644 index 0000000000000000000000000000000000000000..f9ba70e3f6a4db4b0a8a819e76686c3a68b71cc8 --- /dev/null +++ b/json/chunk-0005/episode_0005954.json @@ -0,0 +1,2182 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 35, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut broccoli in pot." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005954.mp4", + "start": 0, + "end": 35, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.23740705847740173, + -0.02053072489798069, + 0.07358285784721375, + -0.14266422390937805, + -0.25241905450820923, + -0.03460441902279854, + 0.0, + 1.0073583126068115 + ], + [ + 0.2341786026954651, + -0.020391255617141724, + 0.06887070089578629, + -0.1453549712896347, + -0.23277780413627625, + -0.038884714245796204, + 0.0, + 1.0073583126068115 + ], + [ + 0.23570534586906433, + -0.003156759310513735, + 0.07012993097305298, + -0.1418856680393219, + -0.2518080472946167, + -0.05349571630358696, + 0.0, + 1.0073583126068115 + ], + [ + 0.24179300665855408, + 0.018902624025940895, + 0.08134660869836807, + -0.11608760058879852, + -0.25689932703971863, + -0.05318177491426468, + 0.0, + 1.0073583126068115 + ], + [ + 0.2504371404647827, + 0.03386976569890976, + 0.09430231899023056, + -0.09125857800245285, + -0.274575799703598, + -0.06058547645807266, + 0.0, + 1.0073583126068115 + ], + [ + 0.26135003566741943, + 0.047049786895513535, + 0.09069924056529999, + -0.09547656029462814, + -0.26548418402671814, + -0.07554008811712265, + 0.0, + 1.0073583126068115 + ], + [ + 0.2740175127983093, + 0.05620910972356796, + 0.08490784466266632, + -0.08674154430627823, + -0.2663062810897827, + -0.08039303869009018, + 0.0, + 1.0073583126068115 + ], + [ + 0.2837357819080353, + 0.06145552173256874, + 0.07331742346286774, + -0.052794449031353, + -0.23025387525558472, + -0.03457190468907356, + 0.0, + 1.0073583126068115 + ], + [ + 0.2872096002101898, + 0.06850101798772812, + 0.06253641098737717, + -0.03534658998250961, + -0.18381614983081818, + 0.04901500046253204, + 0.0, + 1.0073583126068115 + ], + [ + 0.28790345788002014, + 0.07196959108114243, + 0.05511350929737091, + -0.022880544885993004, + -0.17166724801063538, + 0.08022339642047882, + 0.0, + 1.0073583126068115 + ], + [ + 0.2884565591812134, + 0.07430141419172287, + 0.047813449054956436, + -0.018619677051901817, + -0.1568080186843872, + 0.10387169569730759, + 0.0, + 1.0073583126068115 + ], + [ + 0.2925756871700287, + 0.08141674846410751, + 0.04504140466451645, + -0.010940708220005035, + -0.18404138088226318, + 0.11036799848079681, + 0.0, + 1.0073583126068115 + ], + [ + 0.2955036461353302, + 0.08587943017482758, + 0.037089407444000244, + -0.011087211780250072, + -0.16002614796161652, + 0.09871000796556473, + 0.0, + 1.0073583126068115 + ], + [ + 0.29669663310050964, + 0.08549162745475769, + 0.025844337418675423, + -0.023050582036376, + -0.13948482275009155, + 0.09991439431905746, + 0.0, + 1.0073583126068115 + ], + [ + 0.2987954616546631, + 0.08224578201770782, + 0.01804419979453087, + -0.04553478956222534, + -0.1561334729194641, + 0.1127530187368393, + 0.0, + 1.0060625076293945 + ], + [ + 0.29788434505462646, + 0.07499227672815323, + 0.015715455636382103, + -0.040112871676683426, + -0.20869508385658264, + 0.11333242803812027, + 0.0, + 1.0060625076293945 + ], + [ + 0.2910039722919464, + 0.059992168098688126, + 0.00222379295155406, + -0.056021466851234436, + -0.22427085041999817, + 0.10484819114208221, + 0.0, + 1.0041072368621826 + ], + [ + 0.29177457094192505, + 0.05942578613758087, + 4.8543039156356826e-05, + -0.05555614084005356, + -0.25258976221084595, + 0.1105472594499588, + 0.0, + 0.9461179971694946 + ], + [ + 0.29558438062667847, + 0.05740072578191757, + -0.0006128808599896729, + -0.04568666219711304, + -0.25039952993392944, + 0.07705032080411911, + 0.0, + 0.6430501937866211 + ], + [ + 0.2967011630535126, + 0.059392791241407394, + -0.00044595933286473155, + -0.02182224951684475, + -0.24688002467155457, + 0.06337189674377441, + 0.0, + 0.5521479845046997 + ], + [ + 0.29513147473335266, + 0.060099538415670395, + 0.00022494822042062879, + -0.012762671336531639, + -0.23971325159072876, + 0.05937574803829193, + 0.0, + 0.5899012684822083 + ], + [ + 0.29009249806404114, + 0.05994012951850891, + 0.015783295035362244, + 0.008259017951786518, + -0.22436442971229553, + 0.06240535527467728, + 0.0, + 0.590900182723999 + ], + [ + 0.2922941744327545, + 0.06472306698560715, + 0.04293610155582428, + 0.05339859798550606, + -0.235548198223114, + 0.04632456600666046, + 0.0, + 0.590900182723999 + ], + [ + 0.2913833558559418, + 0.06847426295280457, + 0.06309963017702103, + 0.09675196558237076, + -0.23718702793121338, + 0.04403654858469963, + 0.0, + 0.590900182723999 + ], + [ + 0.2849947512149811, + 0.05677035078406334, + 0.08360669016838074, + 0.09973688423633575, + -0.2534462511539459, + 0.08233173936605453, + 0.0, + 0.590900182723999 + ], + [ + 0.2693670094013214, + 0.035281822085380554, + 0.09025269746780396, + 0.05201369524002075, + -0.2797298729419708, + 0.10882069915533066, + 0.0, + 0.590900182723999 + ], + [ + 0.2550770342350006, + 0.01245021726936102, + 0.09530632942914963, + -0.008217993192374706, + -0.2923643887042999, + 0.13920345902442932, + 0.0, + 0.590900182723999 + ], + [ + 0.24912816286087036, + -0.004603473469614983, + 0.09185846149921417, + -0.09879752993583679, + -0.2491297870874405, + 0.14047543704509735, + 0.0, + 0.590900182723999 + ], + [ + 0.24215386807918549, + -0.01904851756989956, + 0.08127179741859436, + -0.16357707977294922, + -0.24098582565784454, + 0.13419891893863678, + 0.0, + 0.590900182723999 + ], + [ + 0.2441897988319397, + -0.02522297017276287, + 0.07680068910121918, + -0.22834810614585876, + -0.27282407879829407, + 0.13239024579524994, + 0.0, + 0.672171950340271 + ], + [ + 0.24412879347801208, + -0.024723438546061516, + 0.07383991032838821, + -0.22568359971046448, + -0.28674060106277466, + 0.12956009805202484, + 0.0, + 0.9628177285194397 + ], + [ + 0.2450430691242218, + -0.02325175516307354, + 0.07209573686122894, + -0.1904277503490448, + -0.3071591258049011, + 0.1023467630147934, + 0.0, + 1.0092895030975342 + ], + [ + 0.24206361174583435, + -0.02328561246395111, + 0.07118429243564606, + -0.190102219581604, + -0.2873801589012146, + 0.10057743638753891, + 0.0, + 1.0092895030975342 + ], + [ + 0.2422965168952942, + -0.022816678509116173, + 0.07147322595119476, + -0.18905071914196014, + -0.2875244915485382, + 0.10059626400470734, + 0.0, + 1.0092895030975342 + ], + [ + 0.24206753075122833, + -0.022869516164064407, + 0.07141038775444031, + -0.1891564428806305, + -0.28602948784828186, + 0.1002979502081871, + 0.0, + 1.0092895030975342 + ] + ], + "left_gripper_pos": [ + [ + 1.0073583126068115 + ], + [ + 1.0073583126068115 + ], + [ + 1.0073583126068115 + ], + [ + 1.0073583126068115 + ], + [ + 1.0073583126068115 + ], + [ + 1.0073583126068115 + ], + [ + 1.0073583126068115 + ], + [ + 1.0073583126068115 + ], + [ + 1.0073583126068115 + ], + [ + 1.0073583126068115 + ], + [ + 1.0073583126068115 + ], + [ + 1.0073583126068115 + ], + [ + 1.0073583126068115 + ], + [ + 1.0073583126068115 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0041072368621826 + ], + [ + 0.9461179971694946 + ], + [ + 0.6430501937866211 + ], + [ + 0.5521479845046997 + ], + [ + 0.5899012684822083 + ], + [ + 0.590900182723999 + ], + [ + 0.590900182723999 + ], + [ + 0.590900182723999 + ], + [ + 0.590900182723999 + ], + [ + 0.590900182723999 + ], + [ + 0.590900182723999 + ], + [ + 0.590900182723999 + ], + [ + 0.590900182723999 + ], + [ + 0.672171950340271 + ], + [ + 0.9628177285194397 + ], + [ + 1.0092895030975342 + ], + [ + 1.0092895030975342 + ], + [ + 1.0092895030975342 + ], + [ + 1.0092895030975342 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.23740705847740173, + -0.02053072489798069, + 0.07358285784721375 + ], + [ + 0.2341786026954651, + -0.020391255617141724, + 0.06887070089578629 + ], + [ + 0.23570534586906433, + -0.003156759310513735, + 0.07012993097305298 + ], + [ + 0.24179300665855408, + 0.018902624025940895, + 0.08134660869836807 + ], + [ + 0.2504371404647827, + 0.03386976569890976, + 0.09430231899023056 + ], + [ + 0.26135003566741943, + 0.047049786895513535, + 0.09069924056529999 + ], + [ + 0.2740175127983093, + 0.05620910972356796, + 0.08490784466266632 + ], + [ + 0.2837357819080353, + 0.06145552173256874, + 0.07331742346286774 + ], + [ + 0.2872096002101898, + 0.06850101798772812, + 0.06253641098737717 + ], + [ + 0.28790345788002014, + 0.07196959108114243, + 0.05511350929737091 + ], + [ + 0.2884565591812134, + 0.07430141419172287, + 0.047813449054956436 + ], + [ + 0.2925756871700287, + 0.08141674846410751, + 0.04504140466451645 + ], + [ + 0.2955036461353302, + 0.08587943017482758, + 0.037089407444000244 + ], + [ + 0.29669663310050964, + 0.08549162745475769, + 0.025844337418675423 + ], + [ + 0.2987954616546631, + 0.08224578201770782, + 0.01804419979453087 + ], + [ + 0.29788434505462646, + 0.07499227672815323, + 0.015715455636382103 + ], + [ + 0.2910039722919464, + 0.059992168098688126, + 0.00222379295155406 + ], + [ + 0.29177457094192505, + 0.05942578613758087, + 4.8543039156356826e-05 + ], + [ + 0.29558438062667847, + 0.05740072578191757, + -0.0006128808599896729 + ], + [ + 0.2967011630535126, + 0.059392791241407394, + -0.00044595933286473155 + ], + [ + 0.29513147473335266, + 0.060099538415670395, + 0.00022494822042062879 + ], + [ + 0.29009249806404114, + 0.05994012951850891, + 0.015783295035362244 + ], + [ + 0.2922941744327545, + 0.06472306698560715, + 0.04293610155582428 + ], + [ + 0.2913833558559418, + 0.06847426295280457, + 0.06309963017702103 + ], + [ + 0.2849947512149811, + 0.05677035078406334, + 0.08360669016838074 + ], + [ + 0.2693670094013214, + 0.035281822085380554, + 0.09025269746780396 + ], + [ + 0.2550770342350006, + 0.01245021726936102, + 0.09530632942914963 + ], + [ + 0.24912816286087036, + -0.004603473469614983, + 0.09185846149921417 + ], + [ + 0.24215386807918549, + -0.01904851756989956, + 0.08127179741859436 + ], + [ + 0.2441897988319397, + -0.02522297017276287, + 0.07680068910121918 + ], + [ + 0.24412879347801208, + -0.024723438546061516, + 0.07383991032838821 + ], + [ + 0.2450430691242218, + -0.02325175516307354, + 0.07209573686122894 + ], + [ + 0.24206361174583435, + -0.02328561246395111, + 0.07118429243564606 + ], + [ + 0.2422965168952942, + -0.022816678509116173, + 0.07147322595119476 + ], + [ + 0.24206753075122833, + -0.022869516164064407, + 0.07141038775444031 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9677314018082386, + -0.0697340022215462, + 0.24214273247080173, + -0.03350115616042662, + -0.988019585982452, + -0.1506484990000837, + 0.24974708504840568, + 0.13767522162404133, + -0.9584737486549096 + ], + [ + 0.9722938346831006, + -0.07185242997653232, + 0.2224453356303506, + -0.03782643463450163, + -0.9874076922251721, + -0.15360732462158785, + 0.2306812950372734, + 0.14093714074376426, + -0.9627683327150406 + ], + [ + 0.9670780802280058, + -0.08811557010971638, + 0.2387375819739203, + -0.051783942335185434, + -0.9866510045127777, + -0.15439630374511154, + 0.24915539339685355, + 0.13695050784194346, + -0.9587315309006441 + ], + [ + 0.9658150347522418, + -0.08218698966431061, + 0.24585893796330469, + -0.05141223669189413, + -0.9903007126110065, + -0.1290785827334233, + 0.2540828616118416, + 0.11202587795706422, + -0.960672734131185 + ], + [ + 0.9607742914212055, + -0.08496052848765002, + 0.26399710139162474, + -0.058280293551050286, + -0.9925156061417314, + -0.10731346117200352, + 0.27113865148238087, + 0.08771818605175846, + -0.9585350027558228 + ], + [ + 0.9622136905395409, + -0.10006598562897452, + 0.2532422007848982, + -0.07282427887512873, + -0.9907190968436698, + -0.11477062148294279, + 0.2623765198042582, + 0.09199168260970833, + -0.9605707117053073 + ], + [ + 0.9616336214020239, + -0.10273003873492946, + 0.2543763301306726, + -0.07747563027462999, + -0.9911917553346773, + -0.10740777844323078, + 0.2631697264177205, + 0.08357896444728903, + -0.9611223916854403 + ], + [ + 0.9730267072166193, + -0.04655306332846279, + 0.22594654088504956, + -0.03365279510997363, + -0.9975937001551316, + -0.060615994523554186, + 0.22822470599054206, + 0.05137724890970271, + -0.9722519539039256 + ], + [ + 0.9819725650253918, + 0.04251312869564629, + 0.18418065975004036, + 0.048169967547100734, + -0.9984916106653516, + -0.02634687187168725, + 0.18278275565261617, + 0.03474388175519912, + -0.9825392241109852 + ], + [ + 0.982132430500872, + 0.07622073209938518, + 0.17206478127927172, + 0.07895946095499848, + -0.9968361180856891, + -0.00911905727311077, + 0.17082532740827966, + 0.022542264262667942, + -0.9850434273867148 + ], + [ + 0.9824071067872575, + 0.10077511464352258, + 0.15722802804358713, + 0.10241287933819394, + -0.9947392512979977, + -0.0023289638811636384, + 0.1561661892970135, + 0.01839016573291605, + -0.9875595795316683 + ], + [ + 0.9771305180263187, + 0.10814750209556472, + 0.183084867021028, + 0.10828396943265252, + -0.994076673147786, + 0.009281695283604183, + 0.18300418767210236, + 0.010755728423455657, + -0.9830532954019098 + ], + [ + 0.9824174351743865, + 0.09678568447833373, + 0.15965122719678984, + 0.09729062741726248, + -0.995245060819391, + 0.004669339499613881, + 0.15934402054089133, + 0.010945327526742476, + -0.9871624399880685 + ], + [ + 0.985348899988004, + 0.09653321483049457, + 0.14060186245892947, + 0.09877945886799938, + -0.9950680238372349, + -0.009068982434926615, + 0.13903295939515692, + 0.0228246877557914, + -0.9900246814250011 + ], + [ + 0.9815632610708466, + 0.10536437473249904, + 0.15947386322904017, + 0.11114562758539961, + -0.9934165617338702, + -0.02775219525557015, + 0.15549988419485317, + 0.04496535788899216, + -0.9868119894920725 + ], + [ + 0.9720260534024577, + 0.10474380672470296, + 0.21022389602435843, + 0.11063615794230261, + -0.9937251060521174, + -0.016433324601971833, + 0.20718347439554163, + 0.03923198382093332, + -0.9775151453470508 + ], + [ + 0.969602514972625, + 0.09210798581313494, + 0.22668718955469971, + 0.10203524012996461, + -0.9942515066571243, + -0.03244612891639453, + 0.22239553217270683, + 0.054589930019062725, + -0.9734270218203995 + ], + [ + 0.9623580211362306, + 0.09635970697109837, + 0.254129585108075, + 0.10682154132534107, + -0.9938933886997834, + -0.027660264057665005, + 0.24991237957259485, + 0.053765590960254114, + -0.9667745671898169 + ], + [ + 0.9659391188490871, + 0.06561055419048509, + 0.2503135510831695, + 0.07457355231901822, + -0.9968638352611383, + -0.026481677495520668, + 0.2477910490142284, + 0.044246458923528915, + -0.9678025867402694 + ], + [ + 0.967733135118164, + 0.05799262071548577, + 0.24521304030764582, + 0.06140931287691576, + -0.9980927594366547, + -0.006303955275005165, + 0.24437977716323908, + 0.021158910715677416, + -0.9694487222184429 + ], + [ + 0.9696942626585798, + 0.05631128971508162, + 0.23774371835583272, + 0.05764407914602157, + -0.9983362875903565, + 0.0013479687356691902, + 0.23742408703929044, + 0.012397400168151529, + -0.9713269827213853 + ], + [ + 0.9730379173293353, + 0.06419665511063918, + 0.2215310382587403, + 0.06080172674971713, + -0.9979047830615239, + 0.022117729702340994, + 0.22248676694051386, + -0.008051919990830003, + -0.9749024592854502 + ], + [ + 0.9713433837129206, + 0.05868466473524839, + 0.23032182059467426, + 0.04502927572584832, + -0.9969265578725726, + 0.06410774162259707, + 0.23337608113244884, + -0.051899405904650114, + -0.971000543986462 + ], + [ + 0.9710604716513704, + 0.06649272196417769, + 0.2293911034064159, + 0.042789814802563844, + -0.993359028897027, + 0.10680295622274724, + 0.23496934299048614, + -0.09389652621130529, + -0.9674568983784597 + ], + [ + 0.964774921830336, + 0.10671223679848721, + 0.24046174066726783, + 0.07961156148211815, + -0.9896066546784134, + 0.11975252938697464, + 0.25074159903304377, + -0.09639070252707416, + -0.9632432107109238 + ], + [ + 0.9554448436256505, + 0.1227285646914119, + 0.26844524618242477, + 0.1043845401903639, + -0.9911814968761274, + 0.08162786301040952, + 0.27609603140647104, + -0.04996938722043527, + -0.9598302150809859 + ], + [ + 0.9483024092368421, + 0.13640400934981192, + 0.28655974397828043, + 0.132866296402083, + -0.9906220380752241, + 0.031851608437934484, + 0.2882170847052531, + 0.007869174860561413, + -0.9575327608865501 + ], + [ + 0.9595809990777386, + 0.11525068922139517, + 0.25675199092307466, + 0.13569128443126774, + -0.9887262035194319, + -0.06331168773176063, + 0.24656070558457208, + 0.09559169999557784, + -0.9644013922395558 + ], + [ + 0.9623718168260146, + 0.09349442932097624, + 0.25514560130431535, + 0.12993018154518554, + -0.9829799887029554, + -0.12987875012169042, + 0.2386600806641756, + 0.15814276301962843, + -0.9581399858068166 + ], + [ + 0.9545866463837535, + 0.06811544419292936, + 0.2900424465629457, + 0.1271215238445288, + -0.9735696699640982, + -0.18974249893327055, + 0.26945213437875043, + 0.21799629351986055, + -0.9380155453351181 + ], + [ + 0.9511318368629631, + 0.06316304537719065, + 0.30225594883205353, + 0.12392289364085658, + -0.9746495377513635, + -0.18628310442101456, + 0.2828274126342122, + 0.21463622308392546, + -0.9348475524934023 + ], + [ + 0.9482084161182179, + 0.043391938302954805, + 0.3146711605674924, + 0.09738633582018603, + -0.9826320613009188, + -0.1579561132056138, + 0.302351949221595, + 0.18041998723483854, + -0.9359657723485845 + ], + [ + 0.9541433389566748, + 0.045310994159143254, + 0.29590100123676183, + 0.09629019493592136, + -0.9824000448728479, + -0.16005733408072503, + 0.2834407999632556, + 0.18121000425510908, + -0.9417134634664905 + ], + [ + 0.954100812994341, + 0.045614728957323075, + 0.2959914443792048, + 0.09630404972959256, + -0.9825695551739475, + -0.15900502901151128, + 0.2835792105377581, + 0.18021200222910053, + -0.9418632945408592 + ], + [ + 0.9545502542992698, + 0.045558595244201236, + 0.294547494330837, + 0.09606176695089981, + -0.982539295910912, + -0.15933822178360108, + 0.2821452621389741, + 0.18039109287951022, + -0.9422595739297455 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0032284557819366455, + 0.00013946928083896637, + -0.00471215695142746, + -0.002690747380256653, + 0.019641250371932983, + -0.004280295222997665, + 1.0 + ], + [ + 0.0015267431735992432, + 0.017234496772289276, + 0.0012592300772666931, + 0.003469303250312805, + -0.019030243158340454, + -0.014611002057790756, + 1.0 + ], + [ + 0.006087660789489746, + 0.022059382870793343, + 0.011216677725315094, + 0.025798067450523376, + -0.005091279745101929, + 0.0003139413893222809, + 1.0 + ], + [ + 0.008644133806228638, + 0.014967141672968864, + 0.012955710291862488, + 0.024829022586345673, + -0.017676472663879395, + -0.007403701543807983, + 1.0 + ], + [ + 0.010912895202636719, + 0.013180021196603775, + -0.0036030784249305725, + -0.004217982292175293, + 0.009091615676879883, + -0.014954611659049988, + 1.0 + ], + [ + 0.012667477130889893, + 0.009159322828054428, + -0.005791395902633667, + 0.008735015988349915, + -0.0008220970630645752, + -0.004852950572967529, + 1.0 + ], + [ + 0.009718269109725952, + 0.005246412009000778, + -0.011590421199798584, + 0.03394709527492523, + 0.036052405834198, + 0.04582113400101662, + 1.0 + ], + [ + 0.003473818302154541, + 0.007045496255159378, + -0.01078101247549057, + 0.017447859048843384, + 0.04643772542476654, + 0.08358690142631531, + 1.0 + ], + [ + 0.0006938576698303223, + 0.0034685730934143066, + -0.007422901690006256, + 0.01246604509651661, + 0.0121489018201828, + 0.031208395957946777, + 1.0 + ], + [ + 0.0005531013011932373, + 0.0023318231105804443, + -0.0073000602424144745, + 0.0042608678340911865, + 0.014859229326248169, + 0.023648299276828766, + 1.0 + ], + [ + 0.004119127988815308, + 0.0071153342723846436, + -0.002772044390439987, + 0.007678968831896782, + -0.027233362197875977, + 0.006496302783489227, + 1.0 + ], + [ + 0.0029279589653015137, + 0.004462681710720062, + -0.007951997220516205, + -0.00014650356024503708, + 0.024015232920646667, + -0.011657990515232086, + 1.0 + ], + [ + 0.0011929869651794434, + -0.00038780272006988525, + -0.011245070025324821, + -0.011963370256125927, + 0.020541325211524963, + 0.0012043863534927368, + 1.0 + ], + [ + 0.0020988285541534424, + -0.0032458454370498657, + -0.007800137624144554, + -0.022484207525849342, + -0.01664865016937256, + 0.01283862441778183, + 1.0 + ], + [ + -0.0009111166000366211, + -0.007253505289554596, + -0.0023287441581487656, + 0.005421917885541916, + -0.05256161093711853, + 0.0005794093012809753, + 1.0 + ], + [ + -0.006880372762680054, + -0.015000108629465103, + -0.013491662219166756, + -0.01590859517455101, + -0.015575766563415527, + -0.008484236896038055, + 1.0 + ], + [ + 0.0007705986499786377, + -0.000566381961107254, + -0.002175249857828021, + 0.0004653260111808777, + -0.02831891179084778, + 0.005699068307876587, + 0.0 + ], + [ + 0.003809809684753418, + -0.0020250603556632996, + -0.0006614238955080509, + 0.009869478642940521, + 0.002190232276916504, + -0.03349693864583969, + 0.0 + ], + [ + 0.0011167824268341064, + 0.0019920654594898224, + 0.00016692152712494135, + 0.023864412680268288, + 0.003519505262374878, + -0.013678424060344696, + 0.0 + ], + [ + -0.0015696883201599121, + 0.0007067471742630005, + 0.0006709075532853603, + 0.00905957818031311, + 0.007166773080825806, + -0.003996148705482483, + 0.0 + ], + [ + -0.0050389766693115234, + -0.00015940889716148376, + 0.01555834710597992, + 0.021021690219640732, + 0.015348821878433228, + 0.0030296072363853455, + 0.0 + ], + [ + 0.002201676368713379, + 0.004782937467098236, + 0.027152806520462036, + 0.045139580965042114, + -0.011183768510818481, + -0.016080789268016815, + 0.0 + ], + [ + -0.0009108185768127441, + 0.003751195967197418, + 0.020163528621196747, + 0.0433533675968647, + -0.0016388297080993652, + -0.0022880174219608307, + 0.0 + ], + [ + -0.006388604640960693, + -0.011703912168741226, + 0.02050705999135971, + 0.0029849186539649963, + -0.016259223222732544, + 0.038295190781354904, + 0.0 + ], + [ + -0.015627741813659668, + -0.021488528698682785, + 0.006646007299423218, + -0.047723188996315, + -0.026283621788024902, + 0.026488959789276123, + 0.0 + ], + [ + -0.0142899751663208, + -0.02283160388469696, + 0.005053631961345673, + -0.06023168936371803, + -0.012634515762329102, + 0.030382759869098663, + 0.0 + ], + [ + -0.005948871374130249, + -0.017053689807653427, + -0.0034478679299354553, + -0.09057953953742981, + 0.043234601616859436, + 0.0012719780206680298, + 0.0 + ], + [ + -0.0069742947816848755, + -0.014445044100284576, + -0.010586664080619812, + -0.06477954983711243, + 0.008143961429595947, + -0.006276518106460571, + 0.0 + ], + [ + 0.0020359307527542114, + -0.006174452602863312, + -0.004471108317375183, + -0.06477102637290955, + -0.031838253140449524, + -0.0018086731433868408, + 1.0 + ], + [ + -6.1005353927612305e-05, + 0.000499531626701355, + -0.002960778772830963, + 0.002664506435394287, + -0.01391652226448059, + -0.0028301477432250977, + 1.0 + ], + [ + 0.0009142756462097168, + 0.001471683382987976, + -0.0017441734671592712, + 0.03525584936141968, + -0.020418524742126465, + -0.027213335037231445, + 1.0 + ], + [ + -0.002979457378387451, + -3.3857300877571106e-05, + -0.0009114444255828857, + 0.0003255307674407959, + 0.019778966903686523, + -0.001769326627254486, + 1.0 + ], + [ + 0.00023290514945983887, + 0.00046893395483493805, + 0.00028893351554870605, + 0.0010515004396438599, + -0.0001443326473236084, + 1.8827617168426514e-05, + 1.0 + ], + [ + -0.00022898614406585693, + -5.283765494823456e-05, + -6.283819675445557e-05, + -0.00010572373867034912, + 0.0014950037002563477, + -0.00029831379652023315, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0073583126068115 + ], + [ + 1.0073583126068115 + ], + [ + 1.0073583126068115 + ], + [ + 1.0073583126068115 + ], + [ + 1.0073583126068115 + ], + [ + 1.0073583126068115 + ], + [ + 1.0073583126068115 + ], + [ + 1.0073583126068115 + ], + [ + 1.0073583126068115 + ], + [ + 1.0073583126068115 + ], + [ + 1.0073583126068115 + ], + [ + 1.0073583126068115 + ], + [ + 1.0073583126068115 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0041072368621826 + ], + [ + 0.9461179971694946 + ], + [ + 0.6430501937866211 + ], + [ + 0.5521479845046997 + ], + [ + 0.5899012684822083 + ], + [ + 0.590900182723999 + ], + [ + 0.590900182723999 + ], + [ + 0.590900182723999 + ], + [ + 0.590900182723999 + ], + [ + 0.590900182723999 + ], + [ + 0.590900182723999 + ], + [ + 0.590900182723999 + ], + [ + 0.590900182723999 + ], + [ + 0.672171950340271 + ], + [ + 0.9628177285194397 + ], + [ + 1.0092895030975342 + ], + [ + 1.0092895030975342 + ], + [ + 1.0092895030975342 + ], + [ + 1.0092895030975342 + ], + [ + 1.0092895030975342 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2341786026954651, + -0.020391255617141724, + 0.06887070089578629 + ], + [ + 0.23570534586906433, + -0.003156759310513735, + 0.07012993097305298 + ], + [ + 0.24179300665855408, + 0.018902624025940895, + 0.08134660869836807 + ], + [ + 0.2504371404647827, + 0.03386976569890976, + 0.09430231899023056 + ], + [ + 0.26135003566741943, + 0.047049786895513535, + 0.09069924056529999 + ], + [ + 0.2740175127983093, + 0.05620910972356796, + 0.08490784466266632 + ], + [ + 0.2837357819080353, + 0.06145552173256874, + 0.07331742346286774 + ], + [ + 0.2872096002101898, + 0.06850101798772812, + 0.06253641098737717 + ], + [ + 0.28790345788002014, + 0.07196959108114243, + 0.05511350929737091 + ], + [ + 0.2884565591812134, + 0.07430141419172287, + 0.047813449054956436 + ], + [ + 0.2925756871700287, + 0.08141674846410751, + 0.04504140466451645 + ], + [ + 0.2955036461353302, + 0.08587943017482758, + 0.037089407444000244 + ], + [ + 0.29669663310050964, + 0.08549162745475769, + 0.025844337418675423 + ], + [ + 0.2987954616546631, + 0.08224578201770782, + 0.01804419979453087 + ], + [ + 0.29788434505462646, + 0.07499227672815323, + 0.015715455636382103 + ], + [ + 0.2910039722919464, + 0.059992168098688126, + 0.00222379295155406 + ], + [ + 0.29177457094192505, + 0.05942578613758087, + 4.8543039156356826e-05 + ], + [ + 0.29558438062667847, + 0.05740072578191757, + -0.0006128808599896729 + ], + [ + 0.2967011630535126, + 0.059392791241407394, + -0.00044595933286473155 + ], + [ + 0.29513147473335266, + 0.060099538415670395, + 0.00022494822042062879 + ], + [ + 0.29009249806404114, + 0.05994012951850891, + 0.015783295035362244 + ], + [ + 0.2922941744327545, + 0.06472306698560715, + 0.04293610155582428 + ], + [ + 0.2913833558559418, + 0.06847426295280457, + 0.06309963017702103 + ], + [ + 0.2849947512149811, + 0.05677035078406334, + 0.08360669016838074 + ], + [ + 0.2693670094013214, + 0.035281822085380554, + 0.09025269746780396 + ], + [ + 0.2550770342350006, + 0.01245021726936102, + 0.09530632942914963 + ], + [ + 0.24912816286087036, + -0.004603473469614983, + 0.09185846149921417 + ], + [ + 0.24215386807918549, + -0.01904851756989956, + 0.08127179741859436 + ], + [ + 0.2441897988319397, + -0.02522297017276287, + 0.07680068910121918 + ], + [ + 0.24412879347801208, + -0.024723438546061516, + 0.07383991032838821 + ], + [ + 0.2450430691242218, + -0.02325175516307354, + 0.07209573686122894 + ], + [ + 0.24206361174583435, + -0.02328561246395111, + 0.07118429243564606 + ], + [ + 0.2422965168952942, + -0.022816678509116173, + 0.07147322595119476 + ], + [ + 0.24206753075122833, + -0.022869516164064407, + 0.07141038775444031 + ], + [ + 0.24206753075122833, + -0.022869516164064407, + 0.07141038775444031 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9722938346831006, + -0.07185242997653232, + 0.2224453356303506, + -0.03782643463450163, + -0.9874076922251721, + -0.15360732462158785, + 0.2306812950372734, + 0.14093714074376426, + -0.9627683327150406 + ], + [ + 0.9670780802280058, + -0.08811557010971638, + 0.2387375819739203, + -0.051783942335185434, + -0.9866510045127777, + -0.15439630374511154, + 0.24915539339685355, + 0.13695050784194346, + -0.9587315309006441 + ], + [ + 0.9658150347522418, + -0.08218698966431061, + 0.24585893796330469, + -0.05141223669189413, + -0.9903007126110065, + -0.1290785827334233, + 0.2540828616118416, + 0.11202587795706422, + -0.960672734131185 + ], + [ + 0.9607742914212055, + -0.08496052848765002, + 0.26399710139162474, + -0.058280293551050286, + -0.9925156061417314, + -0.10731346117200352, + 0.27113865148238087, + 0.08771818605175846, + -0.9585350027558228 + ], + [ + 0.9622136905395409, + -0.10006598562897452, + 0.2532422007848982, + -0.07282427887512873, + -0.9907190968436698, + -0.11477062148294279, + 0.2623765198042582, + 0.09199168260970833, + -0.9605707117053073 + ], + [ + 0.9616336214020239, + -0.10273003873492946, + 0.2543763301306726, + -0.07747563027462999, + -0.9911917553346773, + -0.10740777844323078, + 0.2631697264177205, + 0.08357896444728903, + -0.9611223916854403 + ], + [ + 0.9730267072166193, + -0.04655306332846279, + 0.22594654088504956, + -0.03365279510997363, + -0.9975937001551316, + -0.060615994523554186, + 0.22822470599054206, + 0.05137724890970271, + -0.9722519539039256 + ], + [ + 0.9819725650253918, + 0.04251312869564629, + 0.18418065975004036, + 0.048169967547100734, + -0.9984916106653516, + -0.02634687187168725, + 0.18278275565261617, + 0.03474388175519912, + -0.9825392241109852 + ], + [ + 0.982132430500872, + 0.07622073209938518, + 0.17206478127927172, + 0.07895946095499848, + -0.9968361180856891, + -0.00911905727311077, + 0.17082532740827966, + 0.022542264262667942, + -0.9850434273867148 + ], + [ + 0.9824071067872575, + 0.10077511464352258, + 0.15722802804358713, + 0.10241287933819394, + -0.9947392512979977, + -0.0023289638811636384, + 0.1561661892970135, + 0.01839016573291605, + -0.9875595795316683 + ], + [ + 0.9771305180263187, + 0.10814750209556472, + 0.183084867021028, + 0.10828396943265252, + -0.994076673147786, + 0.009281695283604183, + 0.18300418767210236, + 0.010755728423455657, + -0.9830532954019098 + ], + [ + 0.9824174351743865, + 0.09678568447833373, + 0.15965122719678984, + 0.09729062741726248, + -0.995245060819391, + 0.004669339499613881, + 0.15934402054089133, + 0.010945327526742476, + -0.9871624399880685 + ], + [ + 0.985348899988004, + 0.09653321483049457, + 0.14060186245892947, + 0.09877945886799938, + -0.9950680238372349, + -0.009068982434926615, + 0.13903295939515692, + 0.0228246877557914, + -0.9900246814250011 + ], + [ + 0.9815632610708466, + 0.10536437473249904, + 0.15947386322904017, + 0.11114562758539961, + -0.9934165617338702, + -0.02775219525557015, + 0.15549988419485317, + 0.04496535788899216, + -0.9868119894920725 + ], + [ + 0.9720260534024577, + 0.10474380672470296, + 0.21022389602435843, + 0.11063615794230261, + -0.9937251060521174, + -0.016433324601971833, + 0.20718347439554163, + 0.03923198382093332, + -0.9775151453470508 + ], + [ + 0.969602514972625, + 0.09210798581313494, + 0.22668718955469971, + 0.10203524012996461, + -0.9942515066571243, + -0.03244612891639453, + 0.22239553217270683, + 0.054589930019062725, + -0.9734270218203995 + ], + [ + 0.9623580211362306, + 0.09635970697109837, + 0.254129585108075, + 0.10682154132534107, + -0.9938933886997834, + -0.027660264057665005, + 0.24991237957259485, + 0.053765590960254114, + -0.9667745671898169 + ], + [ + 0.9659391188490871, + 0.06561055419048509, + 0.2503135510831695, + 0.07457355231901822, + -0.9968638352611383, + -0.026481677495520668, + 0.2477910490142284, + 0.044246458923528915, + -0.9678025867402694 + ], + [ + 0.967733135118164, + 0.05799262071548577, + 0.24521304030764582, + 0.06140931287691576, + -0.9980927594366547, + -0.006303955275005165, + 0.24437977716323908, + 0.021158910715677416, + -0.9694487222184429 + ], + [ + 0.9696942626585798, + 0.05631128971508162, + 0.23774371835583272, + 0.05764407914602157, + -0.9983362875903565, + 0.0013479687356691902, + 0.23742408703929044, + 0.012397400168151529, + -0.9713269827213853 + ], + [ + 0.9730379173293353, + 0.06419665511063918, + 0.2215310382587403, + 0.06080172674971713, + -0.9979047830615239, + 0.022117729702340994, + 0.22248676694051386, + -0.008051919990830003, + -0.9749024592854502 + ], + [ + 0.9713433837129206, + 0.05868466473524839, + 0.23032182059467426, + 0.04502927572584832, + -0.9969265578725726, + 0.06410774162259707, + 0.23337608113244884, + -0.051899405904650114, + -0.971000543986462 + ], + [ + 0.9710604716513704, + 0.06649272196417769, + 0.2293911034064159, + 0.042789814802563844, + -0.993359028897027, + 0.10680295622274724, + 0.23496934299048614, + -0.09389652621130529, + -0.9674568983784597 + ], + [ + 0.964774921830336, + 0.10671223679848721, + 0.24046174066726783, + 0.07961156148211815, + -0.9896066546784134, + 0.11975252938697464, + 0.25074159903304377, + -0.09639070252707416, + -0.9632432107109238 + ], + [ + 0.9554448436256505, + 0.1227285646914119, + 0.26844524618242477, + 0.1043845401903639, + -0.9911814968761274, + 0.08162786301040952, + 0.27609603140647104, + -0.04996938722043527, + -0.9598302150809859 + ], + [ + 0.9483024092368421, + 0.13640400934981192, + 0.28655974397828043, + 0.132866296402083, + -0.9906220380752241, + 0.031851608437934484, + 0.2882170847052531, + 0.007869174860561413, + -0.9575327608865501 + ], + [ + 0.9595809990777386, + 0.11525068922139517, + 0.25675199092307466, + 0.13569128443126774, + -0.9887262035194319, + -0.06331168773176063, + 0.24656070558457208, + 0.09559169999557784, + -0.9644013922395558 + ], + [ + 0.9623718168260146, + 0.09349442932097624, + 0.25514560130431535, + 0.12993018154518554, + -0.9829799887029554, + -0.12987875012169042, + 0.2386600806641756, + 0.15814276301962843, + -0.9581399858068166 + ], + [ + 0.9545866463837535, + 0.06811544419292936, + 0.2900424465629457, + 0.1271215238445288, + -0.9735696699640982, + -0.18974249893327055, + 0.26945213437875043, + 0.21799629351986055, + -0.9380155453351181 + ], + [ + 0.9511318368629631, + 0.06316304537719065, + 0.30225594883205353, + 0.12392289364085658, + -0.9746495377513635, + -0.18628310442101456, + 0.2828274126342122, + 0.21463622308392546, + -0.9348475524934023 + ], + [ + 0.9482084161182179, + 0.043391938302954805, + 0.3146711605674924, + 0.09738633582018603, + -0.9826320613009188, + -0.1579561132056138, + 0.302351949221595, + 0.18041998723483854, + -0.9359657723485845 + ], + [ + 0.9541433389566748, + 0.045310994159143254, + 0.29590100123676183, + 0.09629019493592136, + -0.9824000448728479, + -0.16005733408072503, + 0.2834407999632556, + 0.18121000425510908, + -0.9417134634664905 + ], + [ + 0.954100812994341, + 0.045614728957323075, + 0.2959914443792048, + 0.09630404972959256, + -0.9825695551739475, + -0.15900502901151128, + 0.2835792105377581, + 0.18021200222910053, + -0.9418632945408592 + ], + [ + 0.9545502542992698, + 0.045558595244201236, + 0.294547494330837, + 0.09606176695089981, + -0.982539295910912, + -0.15933822178360108, + 0.2821452621389741, + 0.18039109287951022, + -0.9422595739297455 + ], + [ + 0.9545502542992698, + 0.045558595244201236, + 0.294547494330837, + 0.09606176695089981, + -0.982539295910912, + -0.15933822178360108, + 0.2821452621389741, + 0.18039109287951022, + -0.9422595739297455 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005955.json b/json/chunk-0005/episode_0005955.json new file mode 100644 index 0000000000000000000000000000000000000000..da5a7de56d92e6db2f29c8be8dffeb8a6fe71d36 --- /dev/null +++ b/json/chunk-0005/episode_0005955.json @@ -0,0 +1,1282 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 20, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut cup from counter to sink." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005955.mp4", + "start": 0, + "end": 20, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.29097962379455566, + 0.07136188447475433, + 0.20439215004444122, + 0.13327914476394653, + -0.03160795941948891, + 0.024951236322522163, + 0.0, + 0.9968144297599792 + ], + [ + 0.2866951525211334, + 0.0665455088019371, + 0.19025039672851562, + 0.1089034155011177, + 0.017489610239863396, + 0.021013332530856133, + 0.0, + 0.9968144297599792 + ], + [ + 0.2792518436908722, + 0.0620499923825264, + 0.173873633146286, + 0.09624315053224564, + 0.05915791168808937, + 0.010941914282739162, + 0.0, + 0.9968144297599792 + ], + [ + 0.2730085849761963, + 0.060521360486745834, + 0.15951699018478394, + 0.1029408648610115, + 0.0870729386806488, + 0.00931619480252266, + 0.0, + 0.9968144297599792 + ], + [ + 0.2683660387992859, + 0.06104075908660889, + 0.14958304166793823, + 0.11583346873521805, + 0.09367553889751434, + 0.01391651201993227, + 0.0, + 0.9968144297599792 + ], + [ + 0.2655327618122101, + 0.06120124086737633, + 0.1449381560087204, + 0.12178000807762146, + 0.07719161361455917, + 0.013029198162257671, + 0.0, + 0.8598465323448181 + ], + [ + 0.2657567858695984, + 0.060731351375579834, + 0.1476736068725586, + 0.1253054291009903, + 0.048030104488134384, + 0.012177654542028904, + 0.0, + 0.6430501937866211 + ], + [ + 0.26477280259132385, + 0.06058385223150253, + 0.14657938480377197, + 0.12499593943357468, + 0.051825135946273804, + 0.018242567777633667, + 0.0, + 0.45408597588539124 + ], + [ + 0.26465752720832825, + 0.06079854443669319, + 0.14623701572418213, + 0.12673868238925934, + 0.05125204846262932, + 0.023845314979553223, + 0.0, + 0.2810206115245819 + ], + [ + 0.2644750475883484, + 0.06321734189987183, + 0.1463877111673355, + 0.1348821222782135, + 0.04902592673897743, + 0.03896030783653259, + 0.0, + 0.13066163659095764 + ], + [ + 0.2665960490703583, + 0.06388542056083679, + 0.1469385176897049, + 0.14684349298477173, + 0.03587837517261505, + 0.04593375325202942, + 0.0, + 0.07624256610870361 + ], + [ + 0.2810009717941284, + 0.05692949518561363, + 0.15543417632579803, + 0.15894706547260284, + -0.01700478419661522, + 0.018623026087880135, + 0.0, + 0.07624256610870361 + ], + [ + 0.3014591932296753, + 0.04055999219417572, + 0.16525162756443024, + 0.15638750791549683, + -0.05327804386615753, + -0.03377404436469078, + 0.0, + 0.07624256610870361 + ], + [ + 0.323835551738739, + 0.010469993576407433, + 0.17893624305725098, + 0.14269506931304932, + -0.0959818959236145, + -0.10694848001003265, + 0.0, + 0.07624256610870361 + ], + [ + 0.3305632770061493, + -0.015985948964953423, + 0.17541810870170593, + 0.12592948973178864, + -0.09403406828641891, + -0.16385632753372192, + 0.0, + 0.07624256610870361 + ], + [ + 0.3279551565647125, + -0.0422045961022377, + 0.16109466552734375, + 0.11071839928627014, + -0.0767027884721756, + -0.21998731791973114, + 0.0, + 0.07624256610870361 + ], + [ + 0.31989479064941406, + -0.04586175084114075, + 0.13349942862987518, + 0.11063136905431747, + -0.037176139652729034, + -0.2096986174583435, + 0.0, + 0.07624256610870361 + ], + [ + 0.3161671757698059, + -0.0466010607779026, + 0.11252231150865555, + 0.1226012334227562, + -0.012507929466664791, + -0.20237275958061218, + 0.0, + 0.07624256610870361 + ], + [ + 0.31357476115226746, + -0.047253143042325974, + 0.10067104548215866, + 0.12144626677036285, + 0.0029317422304302454, + -0.19509388506412506, + 0.0, + 0.18178488314151764 + ], + [ + 0.3092188835144043, + -0.04445772245526314, + 0.10037645697593689, + 0.100443996489048, + 0.030798587948083878, + -0.16643895208835602, + 0.0, + 0.2920950949192047 + ] + ], + "left_gripper_pos": [ + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.8598465323448181 + ], + [ + 0.6430501937866211 + ], + [ + 0.45408597588539124 + ], + [ + 0.2810206115245819 + ], + [ + 0.13066163659095764 + ], + [ + 0.07624256610870361 + ], + [ + 0.07624256610870361 + ], + [ + 0.07624256610870361 + ], + [ + 0.07624256610870361 + ], + [ + 0.07624256610870361 + ], + [ + 0.07624256610870361 + ], + [ + 0.07624256610870361 + ], + [ + 0.07624256610870361 + ], + [ + 0.18178488314151764 + ], + [ + 0.2920950949192047 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.29097962379455566, + 0.07136188447475433, + 0.20439215004444122 + ], + [ + 0.2866951525211334, + 0.0665455088019371, + 0.19025039672851562 + ], + [ + 0.2792518436908722, + 0.0620499923825264, + 0.173873633146286 + ], + [ + 0.2730085849761963, + 0.060521360486745834, + 0.15951699018478394 + ], + [ + 0.2683660387992859, + 0.06104075908660889, + 0.14958304166793823 + ], + [ + 0.2655327618122101, + 0.06120124086737633, + 0.1449381560087204 + ], + [ + 0.2657567858695984, + 0.060731351375579834, + 0.1476736068725586 + ], + [ + 0.26477280259132385, + 0.06058385223150253, + 0.14657938480377197 + ], + [ + 0.26465752720832825, + 0.06079854443669319, + 0.14623701572418213 + ], + [ + 0.2644750475883484, + 0.06321734189987183, + 0.1463877111673355 + ], + [ + 0.2665960490703583, + 0.06388542056083679, + 0.1469385176897049 + ], + [ + 0.2810009717941284, + 0.05692949518561363, + 0.15543417632579803 + ], + [ + 0.3014591932296753, + 0.04055999219417572, + 0.16525162756443024 + ], + [ + 0.323835551738739, + 0.010469993576407433, + 0.17893624305725098 + ], + [ + 0.3305632770061493, + -0.015985948964953423, + 0.17541810870170593 + ], + [ + 0.3279551565647125, + -0.0422045961022377, + 0.16109466552734375 + ], + [ + 0.31989479064941406, + -0.04586175084114075, + 0.13349942862987518 + ], + [ + 0.3161671757698059, + -0.0466010607779026, + 0.11252231150865555 + ], + [ + 0.31357476115226746, + -0.047253143042325974, + 0.10067104548215866 + ], + [ + 0.3092188835144043, + -0.04445772245526314, + 0.10037645697593689 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9991893995642055, + 0.02892560420615569, + 0.027997378802874187, + 0.024936185846422092, + -0.9907181964698467, + 0.13362500446760342, + 0.03160269662474231, + -0.13281854013970776, + -0.9906364141102434 + ], + [ + 0.999626322481937, + 0.018986910745734196, + -0.019665010083191884, + 0.021008572594719662, + -0.99389635702804, + 0.10829899059512607, + -0.01748871861432132, + -0.10867165548902039, + -0.9939238481968851 + ], + [ + 0.9981909235710573, + 0.005209957064536627, + -0.05989771654867035, + 0.010922555429762334, + -0.995374781323875, + 0.09544497099025916, + -0.05912341231054702, + -0.09592653987209863, + -0.9936309783138423 + ], + [ + 0.9961683151306938, + 0.0003308915942857411, + -0.0874561515299364, + 0.009280766578584839, + -0.99474635121663, + 0.1019488308560449, + -0.08696295361467542, + -0.10236985519162105, + -0.9909378676015254 + ], + [ + 0.9955192456642833, + 0.003013168324396959, + -0.09451112277750483, + 0.013855049992551978, + -0.9933530595143126, + 0.1142704543758259, + -0.09353859685562761, + -0.11506789287287168, + -0.9889438360837672 + ], + [ + 0.9969375803941424, + 0.003565265101390533, + -0.07812009781502895, + 0.012990032361327845, + -0.9926317766135492, + 0.12047163614843372, + -0.07711497816328901, + -0.12111748404663032, + -0.9896382345084944 + ], + [ + 0.9987727150427793, + 0.0060819345746845705, + -0.04915357319569845, + 0.012163310349537576, + -0.992159045128675, + 0.12438843616147377, + -0.04801163991592519, + -0.12483364627048854, + -0.9910153597151754 + ], + [ + 0.9984912105637688, + 0.011642128738846126, + -0.053663425769584015, + 0.01821706445564404, + -0.9921508879314507, + 0.12371238474563825, + -0.05180194001693789, + -0.12450331889255825, + -0.9908660265622288 + ], + [ + 0.9984029884794626, + 0.017178254750835825, + -0.05381802819681861, + 0.023811747020122894, + -0.9918517854112671, + 0.1251520534403322, + -0.0512296134977402, + -0.12623368544171354, + -0.9906768309396737 + ], + [ + 0.99804052493582, + 0.032011626016885536, + -0.05376212780003787, + 0.03890365210064385, + -0.9904219106075196, + 0.13247997902242495, + -0.04900628979084846, + -0.13431193092315044, + -0.9897265727324037 + ], + [ + 0.9983023495761144, + 0.040180500248249616, + -0.04216569969311814, + 0.04588805155167542, + -0.9884354330298988, + 0.14453263111072046, + -0.035870678214951414, + -0.14622216702948027, + -0.9886012200647956 + ], + [ + 0.9996820436728142, + 0.021078108018022488, + 0.013839252889020494, + 0.018619257320954093, + -0.9871731515817406, + 0.15856384219925432, + 0.017003964683619623, + -0.15825574921169375, + -0.9872517323491936 + ], + [ + 0.9980115810946889, + -0.025066092464902635, + 0.057832300744650705, + -0.03371970959250727, + -0.987513121499711, + 0.15388572399964096, + 0.053252842045056606, + -0.15552982310295876, + -0.9863947530982139 + ], + [ + 0.9897100312523772, + -0.09210890476326487, + 0.109498875344589, + -0.10625340073568164, + -0.9856356514694885, + 0.1312729118455873, + 0.09583459120025865, + -0.14155674556738188, + -0.9852803757884607 + ], + [ + 0.982246790852418, + -0.15019733167005375, + 0.1123921857573839, + -0.1624034108879234, + -0.980716702549823, + 0.10871927828941055, + 0.09389554830818524, + -0.1250420365277127, + -0.9876983927844104 + ], + [ + 0.9730308585119314, + -0.20861838253233078, + 0.09843433777462013, + -0.21757564060911938, + -0.9717723506993732, + 0.09121041075308199, + 0.07662759944736122, + -0.11016745837954468, + -0.9909547629014789 + ], + [ + 0.9774178796121915, + -0.20287890563739455, + 0.059113773875310735, + -0.20802129660004712, + -0.972968417140819, + 0.10029755434368874, + 0.037167576935326685, + -0.1103295467853609, + -0.9931998602148986 + ], + [ + 0.979515798059755, + -0.1979871511702066, + 0.036740839985859704, + -0.20097850932459838, + -0.9725469271003396, + 0.11730350965486296, + 0.012507603328500006, + -0.12228476012648497, + -0.9924162419568638 + ], + [ + 0.9810252574160399, + -0.1927792028224503, + 0.020630639130511004, + -0.1938578067138706, + -0.973734809827175, + 0.11941386396446216, + -0.002931738030656333, + -0.12114742708772666, + -0.9926301959048716 + ], + [ + 0.9857132974586305, + -0.16788171656783799, + -0.013602369479966297, + -0.16559300128120977, + -0.9806988076254614, + 0.1039654108282145, + -0.030793719163405057, + -0.10022763074239699, + -0.9944878927849503 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.004284471273422241, + -0.00481637567281723, + -0.014141753315925598, + -0.024375729262828827, + 0.04909756779670715, + -0.003937903791666031, + 1.0 + ], + [ + -0.0074433088302612305, + -0.004495516419410706, + -0.016376763582229614, + -0.01266026496887207, + 0.041668303310871124, + -0.01007141824811697, + 1.0 + ], + [ + -0.006243258714675903, + -0.0015286318957805634, + -0.014356642961502075, + 0.006697714328765869, + 0.027915026992559433, + -0.0016257194802165031, + 1.0 + ], + [ + -0.0046425461769104, + 0.0005193985998630524, + -0.009933948516845703, + 0.012892603874206543, + 0.0066026002168655396, + 0.004600317217409611, + 1.0 + ], + [ + -0.0028332769870758057, + 0.0001604817807674408, + -0.0046448856592178345, + 0.005946539342403412, + -0.01648392528295517, + -0.0008873138576745987, + 0.0 + ], + [ + 0.00022402405738830566, + -0.00046988949179649353, + 0.002735450863838196, + 0.0035254210233688354, + -0.02916150912642479, + -0.0008515436202287674, + 0.0 + ], + [ + -0.0009839832782745361, + -0.00014749914407730103, + -0.001094222068786621, + -0.0003094896674156189, + 0.0037950314581394196, + 0.006064913235604763, + 0.0 + ], + [ + -0.00011527538299560547, + 0.00021469220519065857, + -0.00034236907958984375, + 0.0017427429556846619, + -0.0005730874836444855, + 0.005602747201919556, + 0.0 + ], + [ + -0.0001824796199798584, + 0.0024187974631786346, + 0.00015069544315338135, + 0.008143439888954163, + -0.002226121723651886, + 0.01511499285697937, + 0.0 + ], + [ + 0.0021210014820098877, + 0.0006680786609649658, + 0.0005508065223693848, + 0.011961370706558228, + -0.013147551566362381, + 0.006973445415496826, + 0.0 + ], + [ + 0.014404922723770142, + -0.00695592537522316, + 0.00849565863609314, + 0.012103572487831116, + -0.05288315936923027, + -0.027310727164149284, + 0.0 + ], + [ + 0.020458221435546875, + -0.016369502991437912, + 0.009817451238632202, + -0.002559557557106018, + -0.03627325966954231, + -0.052397072315216064, + 0.0 + ], + [ + 0.02237635850906372, + -0.030089998617768288, + 0.01368461549282074, + -0.01369243860244751, + -0.04270385205745697, + -0.07317443192005157, + 0.0 + ], + [ + 0.006727725267410278, + -0.026455942541360855, + -0.003518134355545044, + -0.01676557958126068, + 0.0019478276371955872, + -0.05690784752368927, + 0.0 + ], + [ + -0.0026081204414367676, + -0.02621864713728428, + -0.014323443174362183, + -0.015211090445518494, + 0.017331279814243317, + -0.056130990386009216, + 0.0 + ], + [ + -0.008060365915298462, + -0.0036571547389030457, + -0.027595236897468567, + -8.703023195266724e-05, + 0.039526648819446564, + 0.010288700461387634, + 0.0 + ], + [ + -0.0037276148796081543, + -0.0007393099367618561, + -0.020977117121219635, + 0.01196986436843872, + 0.02466820925474167, + 0.007325857877731323, + 0.0 + ], + [ + -0.002592414617538452, + -0.0006520822644233704, + -0.011851266026496887, + -0.001154966652393341, + 0.015439671464264393, + 0.007278874516487122, + 1.0 + ], + [ + -0.004355877637863159, + 0.0027954205870628357, + -0.00029458850622177124, + -0.02100227028131485, + 0.027866845950484276, + 0.028654932975769043, + 1.0 + ], + [ + -0.0017220377922058105, + 0.007179494947195053, + 0.007361389696598053, + -0.0073669105768203735, + 0.022846940904855728, + 0.036017805337905884, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.8598465323448181 + ], + [ + 0.6430501937866211 + ], + [ + 0.45408597588539124 + ], + [ + 0.2810206115245819 + ], + [ + 0.13066163659095764 + ], + [ + 0.07624256610870361 + ], + [ + 0.07624256610870361 + ], + [ + 0.07624256610870361 + ], + [ + 0.07624256610870361 + ], + [ + 0.07624256610870361 + ], + [ + 0.07624256610870361 + ], + [ + 0.07624256610870361 + ], + [ + 0.07624256610870361 + ], + [ + 0.18178488314151764 + ], + [ + 0.2920950949192047 + ], + [ + 0.35357794165611267 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2866951525211334, + 0.0665455088019371, + 0.19025039672851562 + ], + [ + 0.2792518436908722, + 0.0620499923825264, + 0.173873633146286 + ], + [ + 0.2730085849761963, + 0.060521360486745834, + 0.15951699018478394 + ], + [ + 0.2683660387992859, + 0.06104075908660889, + 0.14958304166793823 + ], + [ + 0.2655327618122101, + 0.06120124086737633, + 0.1449381560087204 + ], + [ + 0.2657567858695984, + 0.060731351375579834, + 0.1476736068725586 + ], + [ + 0.26477280259132385, + 0.06058385223150253, + 0.14657938480377197 + ], + [ + 0.26465752720832825, + 0.06079854443669319, + 0.14623701572418213 + ], + [ + 0.2644750475883484, + 0.06321734189987183, + 0.1463877111673355 + ], + [ + 0.2665960490703583, + 0.06388542056083679, + 0.1469385176897049 + ], + [ + 0.2810009717941284, + 0.05692949518561363, + 0.15543417632579803 + ], + [ + 0.3014591932296753, + 0.04055999219417572, + 0.16525162756443024 + ], + [ + 0.323835551738739, + 0.010469993576407433, + 0.17893624305725098 + ], + [ + 0.3305632770061493, + -0.015985948964953423, + 0.17541810870170593 + ], + [ + 0.3279551565647125, + -0.0422045961022377, + 0.16109466552734375 + ], + [ + 0.31989479064941406, + -0.04586175084114075, + 0.13349942862987518 + ], + [ + 0.3161671757698059, + -0.0466010607779026, + 0.11252231150865555 + ], + [ + 0.31357476115226746, + -0.047253143042325974, + 0.10067104548215866 + ], + [ + 0.3092188835144043, + -0.04445772245526314, + 0.10037645697593689 + ], + [ + 0.3074968457221985, + -0.037278227508068085, + 0.10773784667253494 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.999626322481937, + 0.018986910745734196, + -0.019665010083191884, + 0.021008572594719662, + -0.99389635702804, + 0.10829899059512607, + -0.01748871861432132, + -0.10867165548902039, + -0.9939238481968851 + ], + [ + 0.9981909235710573, + 0.005209957064536627, + -0.05989771654867035, + 0.010922555429762334, + -0.995374781323875, + 0.09544497099025916, + -0.05912341231054702, + -0.09592653987209863, + -0.9936309783138423 + ], + [ + 0.9961683151306938, + 0.0003308915942857411, + -0.0874561515299364, + 0.009280766578584839, + -0.99474635121663, + 0.1019488308560449, + -0.08696295361467542, + -0.10236985519162105, + -0.9909378676015254 + ], + [ + 0.9955192456642833, + 0.003013168324396959, + -0.09451112277750483, + 0.013855049992551978, + -0.9933530595143126, + 0.1142704543758259, + -0.09353859685562761, + -0.11506789287287168, + -0.9889438360837672 + ], + [ + 0.9969375803941424, + 0.003565265101390533, + -0.07812009781502895, + 0.012990032361327845, + -0.9926317766135492, + 0.12047163614843372, + -0.07711497816328901, + -0.12111748404663032, + -0.9896382345084944 + ], + [ + 0.9987727150427793, + 0.0060819345746845705, + -0.04915357319569845, + 0.012163310349537576, + -0.992159045128675, + 0.12438843616147377, + -0.04801163991592519, + -0.12483364627048854, + -0.9910153597151754 + ], + [ + 0.9984912105637688, + 0.011642128738846126, + -0.053663425769584015, + 0.01821706445564404, + -0.9921508879314507, + 0.12371238474563825, + -0.05180194001693789, + -0.12450331889255825, + -0.9908660265622288 + ], + [ + 0.9984029884794626, + 0.017178254750835825, + -0.05381802819681861, + 0.023811747020122894, + -0.9918517854112671, + 0.1251520534403322, + -0.0512296134977402, + -0.12623368544171354, + -0.9906768309396737 + ], + [ + 0.99804052493582, + 0.032011626016885536, + -0.05376212780003787, + 0.03890365210064385, + -0.9904219106075196, + 0.13247997902242495, + -0.04900628979084846, + -0.13431193092315044, + -0.9897265727324037 + ], + [ + 0.9983023495761144, + 0.040180500248249616, + -0.04216569969311814, + 0.04588805155167542, + -0.9884354330298988, + 0.14453263111072046, + -0.035870678214951414, + -0.14622216702948027, + -0.9886012200647956 + ], + [ + 0.9996820436728142, + 0.021078108018022488, + 0.013839252889020494, + 0.018619257320954093, + -0.9871731515817406, + 0.15856384219925432, + 0.017003964683619623, + -0.15825574921169375, + -0.9872517323491936 + ], + [ + 0.9980115810946889, + -0.025066092464902635, + 0.057832300744650705, + -0.03371970959250727, + -0.987513121499711, + 0.15388572399964096, + 0.053252842045056606, + -0.15552982310295876, + -0.9863947530982139 + ], + [ + 0.9897100312523772, + -0.09210890476326487, + 0.109498875344589, + -0.10625340073568164, + -0.9856356514694885, + 0.1312729118455873, + 0.09583459120025865, + -0.14155674556738188, + -0.9852803757884607 + ], + [ + 0.982246790852418, + -0.15019733167005375, + 0.1123921857573839, + -0.1624034108879234, + -0.980716702549823, + 0.10871927828941055, + 0.09389554830818524, + -0.1250420365277127, + -0.9876983927844104 + ], + [ + 0.9730308585119314, + -0.20861838253233078, + 0.09843433777462013, + -0.21757564060911938, + -0.9717723506993732, + 0.09121041075308199, + 0.07662759944736122, + -0.11016745837954468, + -0.9909547629014789 + ], + [ + 0.9774178796121915, + -0.20287890563739455, + 0.059113773875310735, + -0.20802129660004712, + -0.972968417140819, + 0.10029755434368874, + 0.037167576935326685, + -0.1103295467853609, + -0.9931998602148986 + ], + [ + 0.979515798059755, + -0.1979871511702066, + 0.036740839985859704, + -0.20097850932459838, + -0.9725469271003396, + 0.11730350965486296, + 0.012507603328500006, + -0.12228476012648497, + -0.9924162419568638 + ], + [ + 0.9810252574160399, + -0.1927792028224503, + 0.020630639130511004, + -0.1938578067138706, + -0.973734809827175, + 0.11941386396446216, + -0.002931738030656333, + -0.12114742708772666, + -0.9926301959048716 + ], + [ + 0.9857132974586305, + -0.16788171656783799, + -0.013602369479966297, + -0.16559300128120977, + -0.9806988076254614, + 0.1039654108282145, + -0.030793719163405057, + -0.10022763074239699, + -0.9944878927849503 + ], + [ + 0.9900808519764819, + -0.13443003683582738, + -0.040846930678355445, + -0.12986463484795596, + -0.9865673044579454, + 0.0990965710324588, + -0.0536198019889233, + -0.09280904573856034, + -0.9942391049761455 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005957.json b/json/chunk-0005/episode_0005957.json new file mode 100644 index 0000000000000000000000000000000000000000..bdeb68f9cc24cd4bcdb4d1e41c53da088de62481 --- /dev/null +++ b/json/chunk-0005/episode_0005957.json @@ -0,0 +1,2002 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 32, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPick up the bottle from the pot and put it on the table." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005957.mp4", + "start": 0, + "end": 32, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2916010916233063, + 0.02488725632429123, + 0.10583912581205368, + -0.0018841961864382029, + -0.014321860857307911, + -0.07952309399843216, + 0.0, + 0.9994885921478271 + ], + [ + 0.2900329828262329, + 0.024750234559178352, + 0.0968170240521431, + -0.007126087322831154, + 0.015866756439208984, + -0.0887255147099495, + 0.0, + 0.9994885921478271 + ], + [ + 0.29696983098983765, + 0.0517786405980587, + 0.09583365172147751, + 0.010135950520634651, + -0.04805019870400429, + -0.06247222051024437, + 0.0, + 0.9994885921478271 + ], + [ + 0.3014969825744629, + 0.07490601390600204, + 0.08954694122076035, + 0.031477898359298706, + -0.08992330729961395, + -0.04115254431962967, + 0.0, + 0.9994885921478271 + ], + [ + 0.3038426637649536, + 0.09606266766786575, + 0.0865764394402504, + 0.0720750242471695, + -0.12960997223854065, + 0.004064706154167652, + 0.0, + 0.9994885921478271 + ], + [ + 0.3036124110221863, + 0.10825811326503754, + 0.0749422237277031, + 0.11943400651216507, + -0.10542243719100952, + 0.016258489340543747, + 0.0, + 0.9994885921478271 + ], + [ + 0.30288389325141907, + 0.1293872743844986, + 0.05914683640003204, + 0.13187474012374878, + -0.08358535915613174, + 0.06575581431388855, + 0.0, + 0.9994885921478271 + ], + [ + 0.3055226504802704, + 0.14391304552555084, + 0.05293791741132736, + 0.11678355932235718, + -0.0795869380235672, + 0.09988807141780853, + 0.0, + 0.9994885921478271 + ], + [ + 0.3056948482990265, + 0.15035808086395264, + 0.051214877516031265, + 0.10178636759519577, + -0.08293268829584122, + 0.12096413969993591, + 0.0, + 0.9994885921478271 + ], + [ + 0.30829426646232605, + 0.1541581153869629, + 0.04506181925535202, + 0.05875458940863609, + -0.09264365583658218, + 0.13933341205120087, + 0.0, + 0.9499720335006714 + ], + [ + 0.3102721869945526, + 0.15502667427062988, + 0.0452917218208313, + 0.05953891947865486, + -0.10676981508731842, + 0.13830818235874176, + 0.0, + 0.6621366739273071 + ], + [ + 0.3110443353652954, + 0.15134768187999725, + 0.04388561099767685, + 0.05235947296023369, + -0.11201850324869156, + 0.12262430042028427, + 0.0, + 0.508165180683136 + ], + [ + 0.3078768849372864, + 0.14043956995010376, + 0.046203307807445526, + 0.023759640753269196, + -0.12008090317249298, + 0.10500114411115646, + 0.0, + 0.508165180683136 + ], + [ + 0.3143872022628784, + 0.11113877594470978, + 0.08466551452875137, + -0.0019326512701809406, + -0.19760958850383759, + 0.06944659352302551, + 0.0, + 0.508165180683136 + ], + [ + 0.3113466501235962, + 0.07145283371210098, + 0.11810195446014404, + -0.0579138919711113, + -0.23989653587341309, + 0.0354255810379982, + 0.0, + 0.508165180683136 + ], + [ + 0.2984754741191864, + 0.02135273814201355, + 0.12440510094165802, + -0.12299618870019913, + -0.2276890128850937, + -0.07427249848842621, + 0.0, + 0.508165180683136 + ], + [ + 0.27855411171913147, + -0.027128150686621666, + 0.10331233590841293, + -0.15785366296768188, + -0.15917527675628662, + -0.20797015726566315, + 0.0, + 0.508165180683136 + ], + [ + 0.25919109582901, + -0.043650295585393906, + 0.08057933300733566, + -0.13451829552650452, + -0.10605479031801224, + -0.2379463165998459, + 0.0, + 0.508165180683136 + ], + [ + 0.24723520874977112, + -0.05840539559721947, + 0.05626838654279709, + -0.016461797058582306, + -0.05880088731646538, + -0.24311767518520355, + 0.0, + 0.508165180683136 + ], + [ + 0.24569493532180786, + -0.06921803206205368, + 0.046875663101673126, + 0.06233200058341026, + -0.041512250900268555, + -0.2680688500404358, + 0.0, + 0.508165180683136 + ], + [ + 0.24673785269260406, + -0.07926561683416367, + 0.04502204433083534, + 0.04141360893845558, + -0.05467548966407776, + -0.2979924976825714, + 0.0, + 0.508165180683136 + ], + [ + 0.245894193649292, + -0.08981652557849884, + 0.042461030185222626, + 0.02816259302198887, + -0.051841042935848236, + -0.3396073877811432, + 0.0, + 0.508165180683136 + ], + [ + 0.2478903830051422, + -0.09440858662128448, + 0.041449837386608124, + 0.013828642666339874, + -0.04947896674275398, + -0.3523118793964386, + 0.0, + 0.508165180683136 + ], + [ + 0.24845191836357117, + -0.09774448722600937, + 0.039414726197719574, + -0.003958776127547026, + -0.032162003219127655, + -0.3574504852294922, + 0.0, + 0.508165180683136 + ], + [ + 0.24709507822990417, + -0.0993739664554596, + 0.03750291094183922, + -0.016522105783224106, + -0.025960730388760567, + -0.35860151052474976, + 0.0, + 0.508165180683136 + ], + [ + 0.24642711877822876, + -0.09813214093446732, + 0.0356019102036953, + -0.04635396599769592, + -0.014650361612439156, + -0.3493836224079132, + 0.0, + 0.5819184184074402 + ], + [ + 0.2422095537185669, + -0.09697075188159943, + 0.024883344769477844, + -0.04596184939146042, + 0.02231721207499504, + -0.3475686311721802, + 0.0, + 0.8905277252197266 + ], + [ + 0.2406294047832489, + -0.09604889154434204, + 0.025338998064398766, + -0.0466698482632637, + 0.03267749771475792, + -0.35426706075668335, + 0.0, + 1.0199549198150635 + ], + [ + 0.24712078273296356, + -0.08723030239343643, + 0.04426324740052223, + -0.06112160161137581, + -0.02377183921635151, + -0.3141173720359802, + 0.0, + 1.0105689764022827 + ], + [ + 0.259254515171051, + -0.07074597477912903, + 0.07855156064033508, + -0.053306713700294495, + -0.11463160067796707, + -0.25981423258781433, + 0.0, + 1.0067112445831299 + ], + [ + 0.2673783302307129, + -0.04652009159326553, + 0.11751940846443176, + -0.04593028128147125, + -0.18473756313323975, + -0.1944296807050705, + 0.0, + 1.003452181816101 + ], + [ + 0.27074891328811646, + -0.00797326024621725, + 0.1466398537158966, + -0.047203462570905685, + -0.21352805197238922, + -0.10305090993642807, + 0.0, + 1.0014774799346924 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9499720335006714 + ], + [ + 0.6621366739273071 + ], + [ + 0.508165180683136 + ], + [ + 0.508165180683136 + ], + [ + 0.508165180683136 + ], + [ + 0.508165180683136 + ], + [ + 0.508165180683136 + ], + [ + 0.508165180683136 + ], + [ + 0.508165180683136 + ], + [ + 0.508165180683136 + ], + [ + 0.508165180683136 + ], + [ + 0.508165180683136 + ], + [ + 0.508165180683136 + ], + [ + 0.508165180683136 + ], + [ + 0.508165180683136 + ], + [ + 0.508165180683136 + ], + [ + 0.5819184184074402 + ], + [ + 0.8905277252197266 + ], + [ + 1.0199549198150635 + ], + [ + 1.0105689764022827 + ], + [ + 1.0067112445831299 + ], + [ + 1.003452181816101 + ], + [ + 1.0014774799346924 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2916010916233063, + 0.02488725632429123, + 0.10583912581205368 + ], + [ + 0.2900329828262329, + 0.024750234559178352, + 0.0968170240521431 + ], + [ + 0.29696983098983765, + 0.0517786405980587, + 0.09583365172147751 + ], + [ + 0.3014969825744629, + 0.07490601390600204, + 0.08954694122076035 + ], + [ + 0.3038426637649536, + 0.09606266766786575, + 0.0865764394402504 + ], + [ + 0.3036124110221863, + 0.10825811326503754, + 0.0749422237277031 + ], + [ + 0.30288389325141907, + 0.1293872743844986, + 0.05914683640003204 + ], + [ + 0.3055226504802704, + 0.14391304552555084, + 0.05293791741132736 + ], + [ + 0.3056948482990265, + 0.15035808086395264, + 0.051214877516031265 + ], + [ + 0.30829426646232605, + 0.1541581153869629, + 0.04506181925535202 + ], + [ + 0.3102721869945526, + 0.15502667427062988, + 0.0452917218208313 + ], + [ + 0.3110443353652954, + 0.15134768187999725, + 0.04388561099767685 + ], + [ + 0.3078768849372864, + 0.14043956995010376, + 0.046203307807445526 + ], + [ + 0.3143872022628784, + 0.11113877594470978, + 0.08466551452875137 + ], + [ + 0.3113466501235962, + 0.07145283371210098, + 0.11810195446014404 + ], + [ + 0.2984754741191864, + 0.02135273814201355, + 0.12440510094165802 + ], + [ + 0.27855411171913147, + -0.027128150686621666, + 0.10331233590841293 + ], + [ + 0.25919109582901, + -0.043650295585393906, + 0.08057933300733566 + ], + [ + 0.24723520874977112, + -0.05840539559721947, + 0.05626838654279709 + ], + [ + 0.24569493532180786, + -0.06921803206205368, + 0.046875663101673126 + ], + [ + 0.24673785269260406, + -0.07926561683416367, + 0.04502204433083534 + ], + [ + 0.245894193649292, + -0.08981652557849884, + 0.042461030185222626 + ], + [ + 0.2478903830051422, + -0.09440858662128448, + 0.041449837386608124 + ], + [ + 0.24845191836357117, + -0.09774448722600937, + 0.039414726197719574 + ], + [ + 0.24709507822990417, + -0.0993739664554596, + 0.03750291094183922 + ], + [ + 0.24642711877822876, + -0.09813214093446732, + 0.0356019102036953 + ], + [ + 0.2422095537185669, + -0.09697075188159943, + 0.024883344769477844 + ], + [ + 0.2406294047832489, + -0.09604889154434204, + 0.025338998064398766 + ], + [ + 0.24712078273296356, + -0.08723030239343643, + 0.04426324740052223 + ], + [ + 0.259254515171051, + -0.07074597477912903, + 0.07855156064033508 + ], + [ + 0.2673783302307129, + -0.04652009159326553, + 0.11751940846443176 + ], + [ + 0.27074891328811646, + -0.00797326024621725, + 0.1466398537158966 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9967374727537288, + -0.079466062149651, + 0.014126407007336705, + -0.07943115719828973, + -0.9968357916444963, + -0.003015918206839102, + 0.01432137125591379, + 0.001884001835869981, + -0.9998956689887362 + ], + [ + 0.9959410937915482, + -0.08849428215430652, + -0.01643471092806069, + -0.08859799582027825, + -0.9960512007663506, + -0.005692151486155171, + -0.01586609069446184, + 0.00712513002726037, + -0.9998487384040498 + ], + [ + 0.9968973082377777, + -0.061942496555938795, + 0.04856834307129516, + -0.062359534728762545, + -0.998028371419206, + 0.007117462380645497, + 0.048031710948973814, + -0.010124078365222024, + -0.9987945022779057 + ], + [ + 0.9951163974257865, + -0.038296625268011385, + 0.09097650283125593, + -0.040974704916854114, + -0.9987746621221667, + 0.027753339613970845, + 0.08980216662921188, + -0.03134553869106709, + -0.9954662365308359 + ], + [ + 0.9916041875916105, + 0.013361510906567908, + 0.12861805929602624, + 0.004030601841474178, + -0.9973576482760125, + 0.0725360301790594, + 0.12924739610366606, + -0.07140862309018133, + -0.9890378754874793 + ], + [ + 0.9943167670033128, + 0.028678156502645272, + 0.10252672917678472, + 0.016167513147812517, + -0.9925411707176989, + 0.12083309128279111, + 0.10522727010948867, + -0.11848876642935315, + -0.987363982458017 + ], + [ + 0.9943551875109672, + 0.07609225718999733, + 0.07394409689596766, + 0.06547903563009559, + -0.9884533985668629, + 0.13664689807884675, + 0.08348806479360764, + -0.13103376380669737, + -0.9878562120975242 + ], + [ + 0.9918657425535914, + 0.1082601657066472, + 0.06694837764862008, + 0.09940638953982478, + -0.9873140530943098, + 0.123811672636886, + 0.079502946280434, + -0.11614946010918906, + -0.9900447386098643 + ], + [ + 0.9892809249146703, + 0.12840048749456698, + 0.06954542696059922, + 0.12025462379646307, + -0.9865391171454571, + 0.11081243521118632, + 0.08283765481678985, + -0.10126146924185812, + -0.9914050825931017 + ], + [ + 0.986061998324418, + 0.1440230517407445, + 0.08330123665191336, + 0.13828743796136914, + -0.9878455038663686, + 0.07097777816387807, + 0.09251118831004027, + -0.05846897517729407, + -0.9939934904108684 + ], + [ + 0.9848105550824795, + 0.14390394730205036, + 0.09715875950745442, + 0.1370825657225741, + -0.9878214250719112, + 0.07360164633902398, + 0.10656707171098778, + -0.05916490615041416, + -0.9925436882612059 + ], + [ + 0.9862706045050954, + 0.12795595895912024, + 0.10439141370823997, + 0.12155059522763258, + -0.9904153111299455, + 0.06559698376587601, + 0.1117843794497299, + -0.05200753835959087, + -0.9923706305936375 + ], + [ + 0.9873310505524278, + 0.10760901017647968, + 0.11660916577987038, + 0.10405357652108248, + -0.9939134701302055, + 0.036178268434298125, + 0.11979252826537318, + -0.02358632702586797, + -0.9925187329966213 + ], + [ + 0.9781751435388386, + 0.06901214100984611, + 0.19598651217879737, + 0.06804034910357597, + -0.9976140201619428, + 0.011695198595611864, + 0.19632600300682607, + 0.0018950381432597582, + -0.9805368475349612 + ], + [ + 0.9707531107804179, + 0.02161464754383842, + 0.23910500814850602, + 0.03440388616697567, + -0.9981841889311583, + -0.04944388318543752, + 0.23760212651984255, + 0.05622394489362206, + -0.969734034410388 + ], + [ + 0.9715048680319076, + -0.10126089177034542, + 0.2143000774339113, + -0.07228906798808168, + -0.9876544114447899, + -0.1389714150574146, + 0.22572678626986317, + 0.11951985337808982, + -0.9668311241415222 + ], + [ + 0.9660827833809416, + -0.22828686912141014, + 0.12070277975952848, + -0.20386404610164746, + -0.9611422604621276, + -0.18613168956633172, + 0.15850396323751165, + 0.15521166367414554, + -0.97508247502327 + ], + [ + 0.9663638595041054, + -0.2473746086393058, + 0.070332738073245, + -0.23438297494838187, + -0.95969842077843, + -0.15505986653461745, + 0.10585609145758018, + 0.13335945469271193, + -0.9853982665630109 + ], + [ + 0.9689147264816359, + -0.2416360842868154, + 0.053068404701398536, + -0.24031373554624966, + -0.9702277940177735, + -0.030122022229789207, + 0.058767008727887024, + 0.01643260435657673, + -0.9981364677233451 + ], + [ + 0.9634534570881234, + -0.261862580550288, + 0.05643956885455312, + -0.2646415664738683, + -0.9630962686386674, + 0.04909601438541852, + 0.0415003291456955, + -0.06223798070165839, + -0.9971981530463137 + ], + [ + 0.9544993474068021, + -0.2911872122779084, + 0.06435062708170958, + -0.29316303364958635, + -0.9557724727917424, + 0.023546039049691287, + 0.05464825250051845, + -0.041339903959472624, + -0.9976495280604613 + ], + [ + 0.9416188082328905, + -0.33160904147943954, + 0.058219099882759126, + -0.33266940485670565, + -0.9429976938952062, + 0.009296041125588309, + 0.05181782564288673, + -0.028121040475250977, + -0.9982605471660357 + ], + [ + 0.9374288014496216, + -0.34439369460718694, + 0.0511881365898134, + -0.34464629876613906, + -0.9387237249058399, + -0.004086201868003003, + 0.049458780408810896, + -0.013811278496811501, + -0.9986806684955689 + ], + [ + 0.9363074449772995, + -0.3500035200002942, + 0.028738553677674847, + -0.3497060631975387, + -0.9367400281647552, + -0.014959578763196993, + 0.03215645880628006, + 0.003956718501094828, + -0.9994750154634896 + ], + [ + 0.9360730338526028, + -0.35131872318668217, + 0.018504865102537543, + -0.3508467858841046, + -0.9361102411130926, + -0.02457944909839832, + 0.02595781440678302, + 0.01651578704351911, + -0.9995265982701791 + ], + [ + 0.9394830578192969, + -0.34258885380691423, + -0.0021121831758016095, + -0.34228199825652134, + -0.9383422544125493, + -0.04854737123158379, + 0.014649837542653116, + 0.0463323950518341, + -0.9988186479179963 + ], + [ + 0.9399695182561255, + -0.3392891418291756, + -0.03660850975072745, + -0.34052801569958746, + -0.93955996348647, + -0.03560541443383052, + -0.022315359576961062, + 0.04593422743581158, + -0.9986951844666251 + ], + [ + 0.9374002899353732, + -0.34509573631713597, + -0.04679347395536832, + -0.34671783570665504, + -0.9374085353730444, + -0.032434244444052795, + -0.032671682417208144, + 0.04662800216069091, + -0.9983778796540573 + ], + [ + 0.950800749025984, + -0.30978107248820774, + 0.0036909049952607038, + -0.30888985375051004, + -0.948844874004931, + -0.0654252499005972, + 0.023769600367208314, + 0.061066293506506886, + -0.9978506470889121 + ], + [ + 0.9600949777576766, + -0.26242593610522247, + 0.09669675146448402, + -0.25521497957717, + -0.9634992756965549, + -0.08083600640580224, + 0.11438071465029055, + 0.05293178432201114, + -0.9920258455930354 + ], + [ + 0.9644631158184506, + -0.20127822517522173, + 0.17116651043962694, + -0.1899194777611858, + -0.9784937910213999, + -0.0805015086783324, + 0.18368856848667703, + 0.045132881615092005, + -0.9819478259074835 + ], + [ + 0.9721048052290768, + -0.11270011746292115, + 0.20569621088970602, + -0.10053240455259431, + -0.9925583880462153, + -0.06871012992253904, + 0.2119091392210637, + 0.046114312777514696, + -0.9762007922920598 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0015681087970733643, + -0.0001370217651128769, + -0.009022101759910583, + -0.005241891369223595, + 0.03018861636519432, + -0.009202420711517334, + 1.0 + ], + [ + 0.006936848163604736, + 0.027028406038880348, + -0.0009833723306655884, + 0.017262037843465805, + -0.06391695141792297, + 0.026253294199705124, + 1.0 + ], + [ + 0.004527151584625244, + 0.023127373307943344, + -0.006286710500717163, + 0.021341947838664055, + -0.041873108595609665, + 0.0213196761906147, + 1.0 + ], + [ + 0.0023456811904907227, + 0.02115665376186371, + -0.0029705017805099487, + 0.04059712588787079, + -0.0396866649389267, + 0.04521724954247475, + 1.0 + ], + [ + -0.00023025274276733398, + 0.012195445597171783, + -0.011634215712547302, + 0.047358982264995575, + 0.024187535047531128, + 0.012193783186376095, + 1.0 + ], + [ + -0.0007285177707672119, + 0.02112916111946106, + -0.01579538732767105, + 0.01244073361158371, + 0.021837078034877777, + 0.0494973249733448, + 1.0 + ], + [ + 0.0026387572288513184, + 0.014525771141052246, + -0.006208918988704681, + -0.015091180801391602, + 0.003998421132564545, + 0.03413225710391998, + 1.0 + ], + [ + 0.00017219781875610352, + 0.006445035338401794, + -0.0017230398952960968, + -0.014997191727161407, + -0.0033457502722740173, + 0.02107606828212738, + 1.0 + ], + [ + 0.0025994181632995605, + 0.003800034523010254, + -0.006153058260679245, + -0.04303177818655968, + -0.009710967540740967, + 0.018369272351264954, + 0.0 + ], + [ + 0.0019779205322265625, + 0.0008685588836669922, + 0.00022990256547927856, + 0.0007843300700187683, + -0.014126159250736237, + -0.0010252296924591064, + 0.0 + ], + [ + 0.0007721483707427979, + -0.0036789923906326294, + -0.0014061108231544495, + -0.007179446518421173, + -0.005248688161373138, + -0.01568388193845749, + 0.0 + ], + [ + -0.003167450428009033, + -0.010908111929893494, + 0.0023176968097686768, + -0.028599832206964493, + -0.008062399923801422, + -0.017623156309127808, + 0.0 + ], + [ + 0.006510317325592041, + -0.029300794005393982, + 0.03846220672130585, + -0.02569229155778885, + -0.0775286853313446, + -0.03555455058813095, + 0.0 + ], + [ + -0.0030405521392822266, + -0.039685942232608795, + 0.03343643993139267, + -0.055981241166591644, + -0.0422869473695755, + -0.03402101248502731, + 0.0 + ], + [ + -0.01287117600440979, + -0.05010009557008743, + 0.006303146481513977, + -0.06508229672908783, + 0.012207522988319397, + -0.10969807952642441, + 0.0 + ], + [ + -0.01992136240005493, + -0.048480890691280365, + -0.021092765033245087, + -0.03485747426748276, + 0.06851373612880707, + -0.13369765877723694, + 0.0 + ], + [ + -0.01936301589012146, + -0.01652214489877224, + -0.02273300290107727, + 0.023335367441177368, + 0.053120486438274384, + -0.02997615933418274, + 0.0 + ], + [ + -0.011955887079238892, + -0.014755100011825562, + -0.024310946464538574, + 0.11805649846792221, + 0.04725390300154686, + -0.005171358585357666, + 0.0 + ], + [ + -0.0015402734279632568, + -0.010812636464834213, + -0.009392723441123962, + 0.07879379391670227, + 0.017288636416196823, + -0.02495117485523224, + 0.0 + ], + [ + 0.0010429173707962036, + -0.010047584772109985, + -0.0018536187708377838, + -0.02091839164495468, + -0.013163238763809204, + -0.02992364764213562, + 0.0 + ], + [ + -0.0008436590433120728, + -0.010550908744335175, + -0.0025610141456127167, + -0.013251015916466713, + 0.0028344467282295227, + -0.04161489009857178, + 0.0 + ], + [ + 0.0019961893558502197, + -0.0045920610427856445, + -0.001011192798614502, + -0.014333950355648994, + 0.0023620761930942535, + -0.01270449161529541, + 0.0 + ], + [ + 0.0005615353584289551, + -0.003335900604724884, + -0.00203511118888855, + -0.017787419259548187, + 0.017316963523626328, + -0.005138605833053589, + 0.0 + ], + [ + -0.0013568401336669922, + -0.0016294792294502258, + -0.0019118152558803558, + -0.012563329190015793, + 0.006201272830367088, + -0.0011510252952575684, + 0.0 + ], + [ + -0.000667959451675415, + 0.001241825520992279, + -0.001901000738143921, + -0.029831860214471817, + 0.011310368776321411, + 0.009217888116836548, + 1.0 + ], + [ + -0.004217565059661865, + 0.0011613890528678894, + -0.010718565434217453, + 0.00039211660623550415, + 0.036967575550079346, + 0.0018149912357330322, + 1.0 + ], + [ + -0.0015801489353179932, + 0.0009218603372573853, + 0.0004556532949209213, + -0.0007079988718032837, + 0.010360285639762878, + -0.006698429584503174, + 1.0 + ], + [ + 0.006491377949714661, + 0.008818589150905609, + 0.018924249336123466, + -0.014451753348112106, + -0.05644933879375458, + 0.040149688720703125, + 1.0 + ], + [ + 0.012133732438087463, + 0.016484327614307404, + 0.03428831323981285, + 0.007814887911081314, + -0.09085976332426071, + 0.054303139448165894, + 1.0 + ], + [ + 0.008123815059661865, + 0.024225883185863495, + 0.03896784782409668, + 0.007376432418823242, + -0.07010596245527267, + 0.06538455188274384, + 1.0 + ], + [ + 0.0033705830574035645, + 0.03854683041572571, + 0.029120445251464844, + -0.001273181289434433, + -0.028790488839149475, + 0.09137877076864243, + 1.0 + ], + [ + 0.009645819664001465, + 0.020568761974573135, + 0.0025081485509872437, + 0.025105474516749382, + -0.0021218210458755493, + 0.040840547531843185, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9499720335006714 + ], + [ + 0.6621366739273071 + ], + [ + 0.508165180683136 + ], + [ + 0.508165180683136 + ], + [ + 0.508165180683136 + ], + [ + 0.508165180683136 + ], + [ + 0.508165180683136 + ], + [ + 0.508165180683136 + ], + [ + 0.508165180683136 + ], + [ + 0.508165180683136 + ], + [ + 0.508165180683136 + ], + [ + 0.508165180683136 + ], + [ + 0.508165180683136 + ], + [ + 0.508165180683136 + ], + [ + 0.508165180683136 + ], + [ + 0.508165180683136 + ], + [ + 0.5819184184074402 + ], + [ + 0.8905277252197266 + ], + [ + 1.0199549198150635 + ], + [ + 1.0105689764022827 + ], + [ + 1.0067112445831299 + ], + [ + 1.003452181816101 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2900329828262329, + 0.024750234559178352, + 0.0968170240521431 + ], + [ + 0.29696983098983765, + 0.0517786405980587, + 0.09583365172147751 + ], + [ + 0.3014969825744629, + 0.07490601390600204, + 0.08954694122076035 + ], + [ + 0.3038426637649536, + 0.09606266766786575, + 0.0865764394402504 + ], + [ + 0.3036124110221863, + 0.10825811326503754, + 0.0749422237277031 + ], + [ + 0.30288389325141907, + 0.1293872743844986, + 0.05914683640003204 + ], + [ + 0.3055226504802704, + 0.14391304552555084, + 0.05293791741132736 + ], + [ + 0.3056948482990265, + 0.15035808086395264, + 0.051214877516031265 + ], + [ + 0.30829426646232605, + 0.1541581153869629, + 0.04506181925535202 + ], + [ + 0.3102721869945526, + 0.15502667427062988, + 0.0452917218208313 + ], + [ + 0.3110443353652954, + 0.15134768187999725, + 0.04388561099767685 + ], + [ + 0.3078768849372864, + 0.14043956995010376, + 0.046203307807445526 + ], + [ + 0.3143872022628784, + 0.11113877594470978, + 0.08466551452875137 + ], + [ + 0.3113466501235962, + 0.07145283371210098, + 0.11810195446014404 + ], + [ + 0.2984754741191864, + 0.02135273814201355, + 0.12440510094165802 + ], + [ + 0.27855411171913147, + -0.027128150686621666, + 0.10331233590841293 + ], + [ + 0.25919109582901, + -0.043650295585393906, + 0.08057933300733566 + ], + [ + 0.24723520874977112, + -0.05840539559721947, + 0.05626838654279709 + ], + [ + 0.24569493532180786, + -0.06921803206205368, + 0.046875663101673126 + ], + [ + 0.24673785269260406, + -0.07926561683416367, + 0.04502204433083534 + ], + [ + 0.245894193649292, + -0.08981652557849884, + 0.042461030185222626 + ], + [ + 0.2478903830051422, + -0.09440858662128448, + 0.041449837386608124 + ], + [ + 0.24845191836357117, + -0.09774448722600937, + 0.039414726197719574 + ], + [ + 0.24709507822990417, + -0.0993739664554596, + 0.03750291094183922 + ], + [ + 0.24642711877822876, + -0.09813214093446732, + 0.0356019102036953 + ], + [ + 0.2422095537185669, + -0.09697075188159943, + 0.024883344769477844 + ], + [ + 0.2406294047832489, + -0.09604889154434204, + 0.025338998064398766 + ], + [ + 0.24712078273296356, + -0.08723030239343643, + 0.04426324740052223 + ], + [ + 0.259254515171051, + -0.07074597477912903, + 0.07855156064033508 + ], + [ + 0.2673783302307129, + -0.04652009159326553, + 0.11751940846443176 + ], + [ + 0.27074891328811646, + -0.00797326024621725, + 0.1466398537158966 + ], + [ + 0.2803947329521179, + 0.01259550079703331, + 0.14914800226688385 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9959410937915482, + -0.08849428215430652, + -0.01643471092806069, + -0.08859799582027825, + -0.9960512007663506, + -0.005692151486155171, + -0.01586609069446184, + 0.00712513002726037, + -0.9998487384040498 + ], + [ + 0.9968973082377777, + -0.061942496555938795, + 0.04856834307129516, + -0.062359534728762545, + -0.998028371419206, + 0.007117462380645497, + 0.048031710948973814, + -0.010124078365222024, + -0.9987945022779057 + ], + [ + 0.9951163974257865, + -0.038296625268011385, + 0.09097650283125593, + -0.040974704916854114, + -0.9987746621221667, + 0.027753339613970845, + 0.08980216662921188, + -0.03134553869106709, + -0.9954662365308359 + ], + [ + 0.9916041875916105, + 0.013361510906567908, + 0.12861805929602624, + 0.004030601841474178, + -0.9973576482760125, + 0.0725360301790594, + 0.12924739610366606, + -0.07140862309018133, + -0.9890378754874793 + ], + [ + 0.9943167670033128, + 0.028678156502645272, + 0.10252672917678472, + 0.016167513147812517, + -0.9925411707176989, + 0.12083309128279111, + 0.10522727010948867, + -0.11848876642935315, + -0.987363982458017 + ], + [ + 0.9943551875109672, + 0.07609225718999733, + 0.07394409689596766, + 0.06547903563009559, + -0.9884533985668629, + 0.13664689807884675, + 0.08348806479360764, + -0.13103376380669737, + -0.9878562120975242 + ], + [ + 0.9918657425535914, + 0.1082601657066472, + 0.06694837764862008, + 0.09940638953982478, + -0.9873140530943098, + 0.123811672636886, + 0.079502946280434, + -0.11614946010918906, + -0.9900447386098643 + ], + [ + 0.9892809249146703, + 0.12840048749456698, + 0.06954542696059922, + 0.12025462379646307, + -0.9865391171454571, + 0.11081243521118632, + 0.08283765481678985, + -0.10126146924185812, + -0.9914050825931017 + ], + [ + 0.986061998324418, + 0.1440230517407445, + 0.08330123665191336, + 0.13828743796136914, + -0.9878455038663686, + 0.07097777816387807, + 0.09251118831004027, + -0.05846897517729407, + -0.9939934904108684 + ], + [ + 0.9848105550824795, + 0.14390394730205036, + 0.09715875950745442, + 0.1370825657225741, + -0.9878214250719112, + 0.07360164633902398, + 0.10656707171098778, + -0.05916490615041416, + -0.9925436882612059 + ], + [ + 0.9862706045050954, + 0.12795595895912024, + 0.10439141370823997, + 0.12155059522763258, + -0.9904153111299455, + 0.06559698376587601, + 0.1117843794497299, + -0.05200753835959087, + -0.9923706305936375 + ], + [ + 0.9873310505524278, + 0.10760901017647968, + 0.11660916577987038, + 0.10405357652108248, + -0.9939134701302055, + 0.036178268434298125, + 0.11979252826537318, + -0.02358632702586797, + -0.9925187329966213 + ], + [ + 0.9781751435388386, + 0.06901214100984611, + 0.19598651217879737, + 0.06804034910357597, + -0.9976140201619428, + 0.011695198595611864, + 0.19632600300682607, + 0.0018950381432597582, + -0.9805368475349612 + ], + [ + 0.9707531107804179, + 0.02161464754383842, + 0.23910500814850602, + 0.03440388616697567, + -0.9981841889311583, + -0.04944388318543752, + 0.23760212651984255, + 0.05622394489362206, + -0.969734034410388 + ], + [ + 0.9715048680319076, + -0.10126089177034542, + 0.2143000774339113, + -0.07228906798808168, + -0.9876544114447899, + -0.1389714150574146, + 0.22572678626986317, + 0.11951985337808982, + -0.9668311241415222 + ], + [ + 0.9660827833809416, + -0.22828686912141014, + 0.12070277975952848, + -0.20386404610164746, + -0.9611422604621276, + -0.18613168956633172, + 0.15850396323751165, + 0.15521166367414554, + -0.97508247502327 + ], + [ + 0.9663638595041054, + -0.2473746086393058, + 0.070332738073245, + -0.23438297494838187, + -0.95969842077843, + -0.15505986653461745, + 0.10585609145758018, + 0.13335945469271193, + -0.9853982665630109 + ], + [ + 0.9689147264816359, + -0.2416360842868154, + 0.053068404701398536, + -0.24031373554624966, + -0.9702277940177735, + -0.030122022229789207, + 0.058767008727887024, + 0.01643260435657673, + -0.9981364677233451 + ], + [ + 0.9634534570881234, + -0.261862580550288, + 0.05643956885455312, + -0.2646415664738683, + -0.9630962686386674, + 0.04909601438541852, + 0.0415003291456955, + -0.06223798070165839, + -0.9971981530463137 + ], + [ + 0.9544993474068021, + -0.2911872122779084, + 0.06435062708170958, + -0.29316303364958635, + -0.9557724727917424, + 0.023546039049691287, + 0.05464825250051845, + -0.041339903959472624, + -0.9976495280604613 + ], + [ + 0.9416188082328905, + -0.33160904147943954, + 0.058219099882759126, + -0.33266940485670565, + -0.9429976938952062, + 0.009296041125588309, + 0.05181782564288673, + -0.028121040475250977, + -0.9982605471660357 + ], + [ + 0.9374288014496216, + -0.34439369460718694, + 0.0511881365898134, + -0.34464629876613906, + -0.9387237249058399, + -0.004086201868003003, + 0.049458780408810896, + -0.013811278496811501, + -0.9986806684955689 + ], + [ + 0.9363074449772995, + -0.3500035200002942, + 0.028738553677674847, + -0.3497060631975387, + -0.9367400281647552, + -0.014959578763196993, + 0.03215645880628006, + 0.003956718501094828, + -0.9994750154634896 + ], + [ + 0.9360730338526028, + -0.35131872318668217, + 0.018504865102537543, + -0.3508467858841046, + -0.9361102411130926, + -0.02457944909839832, + 0.02595781440678302, + 0.01651578704351911, + -0.9995265982701791 + ], + [ + 0.9394830578192969, + -0.34258885380691423, + -0.0021121831758016095, + -0.34228199825652134, + -0.9383422544125493, + -0.04854737123158379, + 0.014649837542653116, + 0.0463323950518341, + -0.9988186479179963 + ], + [ + 0.9399695182561255, + -0.3392891418291756, + -0.03660850975072745, + -0.34052801569958746, + -0.93955996348647, + -0.03560541443383052, + -0.022315359576961062, + 0.04593422743581158, + -0.9986951844666251 + ], + [ + 0.9374002899353732, + -0.34509573631713597, + -0.04679347395536832, + -0.34671783570665504, + -0.9374085353730444, + -0.032434244444052795, + -0.032671682417208144, + 0.04662800216069091, + -0.9983778796540573 + ], + [ + 0.950800749025984, + -0.30978107248820774, + 0.0036909049952607038, + -0.30888985375051004, + -0.948844874004931, + -0.0654252499005972, + 0.023769600367208314, + 0.061066293506506886, + -0.9978506470889121 + ], + [ + 0.9600949777576766, + -0.26242593610522247, + 0.09669675146448402, + -0.25521497957717, + -0.9634992756965549, + -0.08083600640580224, + 0.11438071465029055, + 0.05293178432201114, + -0.9920258455930354 + ], + [ + 0.9644631158184506, + -0.20127822517522173, + 0.17116651043962694, + -0.1899194777611858, + -0.9784937910213999, + -0.0805015086783324, + 0.18368856848667703, + 0.045132881615092005, + -0.9819478259074835 + ], + [ + 0.9721048052290768, + -0.11270011746292115, + 0.20569621088970602, + -0.10053240455259431, + -0.9925583880462153, + -0.06871012992253904, + 0.2119091392210637, + 0.046114312777514696, + -0.9762007922920598 + ], + [ + 0.9749479049817721, + -0.06687411117157235, + 0.2121424894420378, + -0.06073022732404823, + -0.997527928166353, + -0.03535352906446641, + 0.213982293802133, + 0.02158438748620927, + -0.9765990437001371 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005958.json b/json/chunk-0005/episode_0005958.json new file mode 100644 index 0000000000000000000000000000000000000000..1a080e3515fb9a71726022bebda4ecd81659d24f --- /dev/null +++ b/json/chunk-0005/episode_0005958.json @@ -0,0 +1,1882 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 30, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut the blue figure on the top edge of the cloth." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005958.mp4", + "start": 0, + "end": 30, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.30690985918045044, + -0.01909535937011242, + 0.08586440980434418, + 0.09724216163158417, + -0.20953626930713654, + -0.1647753268480301, + 0.0, + 1.0008161067962646 + ], + [ + 0.30354851484298706, + -0.018471505492925644, + 0.07665879279375076, + 0.09425178170204163, + -0.17883780598640442, + -0.16355571150779724, + 0.0, + 1.0008161067962646 + ], + [ + 0.2839745581150055, + 0.01572585664689541, + 0.07531377673149109, + 0.09953848272562027, + -0.17893047630786896, + -0.08279834687709808, + 0.0, + 1.0008161067962646 + ], + [ + 0.2633647918701172, + 0.0529891662299633, + 0.08049511164426804, + 0.09754866361618042, + -0.18399235606193542, + -0.0176016204059124, + 0.0, + 1.0008161067962646 + ], + [ + 0.2353760451078415, + 0.09638113528490067, + 0.08224309235811234, + 0.11430429667234421, + -0.1796966940164566, + 0.06821344792842865, + 0.0, + 1.0008161067962646 + ], + [ + 0.19513669610023499, + 0.1438133865594864, + 0.07466977834701538, + 0.13019226491451263, + -0.1852169632911682, + 0.206731915473938, + 0.0, + 1.0008161067962646 + ], + [ + 0.17536674439907074, + 0.18253986537456512, + 0.06980416178703308, + 0.15345852077007294, + -0.20119978487491608, + 0.2802703380584717, + 0.0, + 1.0008161067962646 + ], + [ + 0.16239316761493683, + 0.21887536346912384, + 0.059962738305330276, + 0.16375569999217987, + -0.2134484350681305, + 0.3448129892349243, + 0.0, + 1.0008161067962646 + ], + [ + 0.1565842181444168, + 0.24057964980602264, + 0.05204899236559868, + 0.16644202172756195, + -0.20883969962596893, + 0.37480780482292175, + 0.0, + 1.0008161067962646 + ], + [ + 0.15757879614830017, + 0.253765732049942, + 0.042862582951784134, + 0.1811186671257019, + -0.19560366868972778, + 0.3805790841579437, + 0.0, + 1.0008161067962646 + ], + [ + 0.16452956199645996, + 0.2658493220806122, + 0.02830379642546177, + 0.18715357780456543, + -0.1977224498987198, + 0.3839241862297058, + 0.0, + 1.0008161067962646 + ], + [ + 0.17622724175453186, + 0.2739558219909668, + 0.019374562427401543, + 0.18790845572948456, + -0.20807062089443207, + 0.36780980229377747, + 0.0, + 1.0008161067962646 + ], + [ + 0.1883467435836792, + 0.2804262936115265, + 0.011869633570313454, + 0.18548469245433807, + -0.2246781885623932, + 0.3629356324672699, + 0.0, + 0.9590815901756287 + ], + [ + 0.1992647647857666, + 0.2811657190322876, + 0.009829020127654076, + 0.17898356914520264, + -0.2399543672800064, + 0.35337620973587036, + 0.0, + 0.6981924772262573 + ], + [ + 0.20230181515216827, + 0.2769640386104584, + 0.009333407506346703, + 0.1704588234424591, + -0.232646644115448, + 0.34690532088279724, + 0.0, + 0.4130503535270691 + ], + [ + 0.19883832335472107, + 0.2706190049648285, + 0.010143570601940155, + 0.1711682230234146, + -0.21996060013771057, + 0.348814457654953, + 0.0, + 0.2062399983406067 + ], + [ + 0.19781741499900818, + 0.26052117347717285, + 0.029001809656620026, + 0.20148196816444397, + -0.190796360373497, + 0.33997035026550293, + 0.0, + 0.0885477215051651 + ], + [ + 0.21275082230567932, + 0.24024315178394318, + 0.07754911482334137, + 0.297334223985672, + -0.18341292440891266, + 0.28339338302612305, + 0.0, + 0.06354815512895584 + ], + [ + 0.2402464747428894, + 0.20886318385601044, + 0.11420681327581406, + 0.36365604400634766, + -0.16419468820095062, + 0.2122591882944107, + 0.0, + 0.062092870473861694 + ], + [ + 0.28616049885749817, + 0.15649643540382385, + 0.13962127268314362, + 0.38056907057762146, + -0.19347234070301056, + 0.11472966521978378, + 0.0, + 0.062092870473861694 + ], + [ + 0.3181859254837036, + 0.1078452616930008, + 0.12967166304588318, + 0.3378756642341614, + -0.16072657704353333, + 0.04400981217622757, + 0.0, + 0.061804234981536865 + ], + [ + 0.3408220708370209, + 0.05629943311214447, + 0.11550331115722656, + 0.29429951310157776, + -0.13586263358592987, + -0.02258002944290638, + 0.0, + 0.06122923642396927 + ], + [ + 0.35730478167533875, + 0.007491246797144413, + 0.10384588688611984, + 0.2611647844314575, + -0.12704183161258698, + -0.07168851792812347, + 0.0, + 0.06122923642396927 + ], + [ + 0.37723085284233093, + -0.02820589579641819, + 0.09033719450235367, + 0.2294919341802597, + -0.12483172118663788, + -0.1380467712879181, + 0.0, + 0.06122923642396927 + ], + [ + 0.393714040517807, + -0.05429397523403168, + 0.08059236407279968, + 0.20025017857551575, + -0.1435880959033966, + -0.16614988446235657, + 0.0, + 0.06122923642396927 + ], + [ + 0.3981785178184509, + -0.06716354191303253, + 0.07257349044084549, + 0.15685002505779266, + -0.17218691110610962, + -0.16039296984672546, + 0.0, + 0.08055824041366577 + ], + [ + 0.39299923181533813, + -0.06795690953731537, + 0.06454645097255707, + 0.14268329739570618, + -0.1618935763835907, + -0.14507731795310974, + 0.0, + 0.2352597415447235 + ], + [ + 0.38510236144065857, + -0.0673699900507927, + 0.053272806107997894, + 0.13801968097686768, + -0.1453116238117218, + -0.13205130398273468, + 0.0, + 0.49949145317077637 + ], + [ + 0.38401171565055847, + -0.06836724281311035, + 0.0585734099149704, + 0.13495658338069916, + -0.17455781996250153, + -0.1357685774564743, + 0.0, + 0.8045819997787476 + ], + [ + 0.38048791885375977, + -0.0733579471707344, + 0.06931458413600922, + 0.14317214488983154, + -0.21970625221729279, + -0.1369156688451767, + 0.0, + 1.0027955770492554 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9590815901756287 + ], + [ + 0.6981924772262573 + ], + [ + 0.4130503535270691 + ], + [ + 0.2062399983406067 + ], + [ + 0.0885477215051651 + ], + [ + 0.06354815512895584 + ], + [ + 0.062092870473861694 + ], + [ + 0.062092870473861694 + ], + [ + 0.061804234981536865 + ], + [ + 0.06122923642396927 + ], + [ + 0.06122923642396927 + ], + [ + 0.06122923642396927 + ], + [ + 0.06122923642396927 + ], + [ + 0.08055824041366577 + ], + [ + 0.2352597415447235 + ], + [ + 0.49949145317077637 + ], + [ + 0.8045819997787476 + ], + [ + 1.0027955770492554 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.30690985918045044, + -0.01909535937011242, + 0.08586440980434418 + ], + [ + 0.30354851484298706, + -0.018471505492925644, + 0.07665879279375076 + ], + [ + 0.2839745581150055, + 0.01572585664689541, + 0.07531377673149109 + ], + [ + 0.2633647918701172, + 0.0529891662299633, + 0.08049511164426804 + ], + [ + 0.2353760451078415, + 0.09638113528490067, + 0.08224309235811234 + ], + [ + 0.19513669610023499, + 0.1438133865594864, + 0.07466977834701538 + ], + [ + 0.17536674439907074, + 0.18253986537456512, + 0.06980416178703308 + ], + [ + 0.16239316761493683, + 0.21887536346912384, + 0.059962738305330276 + ], + [ + 0.1565842181444168, + 0.24057964980602264, + 0.05204899236559868 + ], + [ + 0.15757879614830017, + 0.253765732049942, + 0.042862582951784134 + ], + [ + 0.16452956199645996, + 0.2658493220806122, + 0.02830379642546177 + ], + [ + 0.17622724175453186, + 0.2739558219909668, + 0.019374562427401543 + ], + [ + 0.1883467435836792, + 0.2804262936115265, + 0.011869633570313454 + ], + [ + 0.1992647647857666, + 0.2811657190322876, + 0.009829020127654076 + ], + [ + 0.20230181515216827, + 0.2769640386104584, + 0.009333407506346703 + ], + [ + 0.19883832335472107, + 0.2706190049648285, + 0.010143570601940155 + ], + [ + 0.19781741499900818, + 0.26052117347717285, + 0.029001809656620026 + ], + [ + 0.21275082230567932, + 0.24024315178394318, + 0.07754911482334137 + ], + [ + 0.2402464747428894, + 0.20886318385601044, + 0.11420681327581406 + ], + [ + 0.28616049885749817, + 0.15649643540382385, + 0.13962127268314362 + ], + [ + 0.3181859254837036, + 0.1078452616930008, + 0.12967166304588318 + ], + [ + 0.3408220708370209, + 0.05629943311214447, + 0.11550331115722656 + ], + [ + 0.35730478167533875, + 0.007491246797144413, + 0.10384588688611984 + ], + [ + 0.37723085284233093, + -0.02820589579641819, + 0.09033719450235367 + ], + [ + 0.393714040517807, + -0.05429397523403168, + 0.08059236407279968 + ], + [ + 0.3981785178184509, + -0.06716354191303253, + 0.07257349044084549 + ], + [ + 0.39299923181533813, + -0.06795690953731537, + 0.06454645097255707 + ], + [ + 0.38510236144065857, + -0.0673699900507927, + 0.053272806107997894 + ], + [ + 0.38401171565055847, + -0.06836724281311035, + 0.0585734099149704 + ], + [ + 0.38048791885375977, + -0.0733579471707344, + 0.06931458413600922 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9648789705437043, + -0.14333419118272672, + 0.220145138125998, + -0.1604429400526366, + -0.9851075487592528, + 0.06181569675092524, + 0.20800633449437844, + -0.09496539904370346, + -0.9735065165650832 + ], + [ + 0.9709184948417686, + -0.1455869481155873, + 0.19005714117755199, + -0.16023056743030567, + -0.9850013126253477, + 0.06402014829180278, + 0.17788603552599883, + -0.09261130959408484, + -0.979683471178376 + ], + [ + 0.9806634757836825, + -0.0646686485424238, + 0.184708183791525, + -0.08138337606670118, + -0.9931039936118193, + 0.0843872263570852, + 0.17797722709339306, + -0.09778764629518658, + -0.9791637671340759 + ], + [ + 0.9829688142942133, + 0.00029902486414136453, + 0.18377219786779353, + -0.017303630963547617, + -0.9954053566464587, + 0.09417409577486938, + 0.18295599055648926, + -0.09575012555431736, + -0.9784472489489797 + ], + [ + 0.9816097605233158, + 0.08805364194841675, + 0.16937778539400905, + 0.06706303499840957, + -0.989774442357326, + 0.12589321901137854, + 0.17873115951663565, + -0.11221902421543707, + -0.9774773978061971 + ], + [ + 0.9619674625401464, + 0.2269247779565992, + 0.15206494061228978, + 0.20175175998683303, + -0.9655165910146226, + 0.16454160512683802, + 0.1841597902808493, + -0.12760430096532444, + -0.9745780184361145 + ], + [ + 0.9415953222747628, + 0.30272050425138475, + 0.1475077807306223, + 0.27103542652444246, + -0.9412376007645703, + 0.20152314129069515, + 0.19984505657883947, + -0.1497734129034365, + -0.9683129030165083 + ], + [ + 0.9197807076495417, + 0.36599968788929227, + 0.1415898241423056, + 0.33034972007393537, + -0.9168749764623133, + 0.22407440724970137, + 0.21183132979514835, + -0.15932515809555356, + -0.9642318091180387 + ], + [ + 0.9103585249612853, + 0.39299837968016893, + 0.12961338510769202, + 0.3581392481699154, + -0.9051430934230562, + 0.22902458241164558, + 0.20732495014011423, + -0.16207484072891348, + -0.9647528756381588 + ], + [ + 0.9107446330105373, + 0.39788704997340124, + 0.11058982279561536, + 0.36437466779812505, + -0.9002581564767418, + 0.23825690580569586, + 0.19435872738188908, + -0.1766950682972288, + -0.9648852459903872 + ], + [ + 0.9091368030002253, + 0.4019100372611701, + 0.10926387957259533, + 0.3672640867261096, + -0.8973208891803051, + 0.24481076863958295, + 0.19643666671924148, + -0.18243778059763738, + -0.9633945672354822 + ], + [ + 0.9129909877112692, + 0.3892508320992794, + 0.12219347800934377, + 0.35181706906744276, + -0.9028161089171245, + 0.24728085933314242, + 0.20657252060909648, + -0.18277544471225277, + -0.9612080578831218 + ], + [ + 0.9113617717935131, + 0.3873420331579984, + 0.139233150730767, + 0.34609703221967003, + -0.9042358988254727, + 0.25014852300988283, + 0.222792650691456, + -0.17978762088730477, + -0.958143959002799 + ], + [ + 0.9113288530575192, + 0.3802348157901852, + 0.15780116110431797, + 0.3361521283098868, + -0.9085797397274256, + 0.24796089044358882, + 0.237658301385835, + -0.17292871773608914, + -0.9558316747024823 + ], + [ + 0.9150938377929831, + 0.3718417305236263, + 0.156003190590784, + 0.3308296737769531, + -0.9135028361647892, + 0.23677900090067364, + 0.2305536705019991, + -0.16506451999167274, + -0.9589570945866006 + ], + [ + 0.9171355915210883, + 0.3717163696306912, + 0.14383757267780659, + 0.3335489753049843, + -0.9133425746336398, + 0.2335603186215274, + 0.2181911726863828, + -0.16622960599776973, + -0.9616445966424226 + ], + [ + 0.9256566985887512, + 0.3624926879242263, + 0.10843766669955454, + 0.327408031297036, + -0.9110382625511264, + 0.2506257473006798, + 0.1896408642671016, + -0.19649003885514055, + -0.9619916877139493 + ], + [ + 0.9440081172108667, + 0.31864879701676746, + 0.08550800430229773, + 0.27492527921647364, + -0.9030422467969773, + 0.33004665025964336, + 0.18238630838892167, + -0.2880584049453067, + -0.9400838206525135 + ], + [ + 0.9644096239596205, + 0.2537278236974584, + 0.07440610657610554, + 0.20783549024562528, + -0.9013793074517517, + 0.37989439728977437, + 0.16345790347494332, + -0.3509095831970849, + -0.9220325255716438 + ], + [ + 0.9748909604720869, + 0.17723568524068734, + 0.13481515889200274, + 0.11234226312264978, + -0.9141737851017404, + 0.3894425587288043, + 0.19226760285158095, + -0.3645185900746639, + -0.9111308173822713 + ], + [ + 0.9861554702099629, + 0.09450590488708197, + 0.13625719253103852, + 0.04342855903953963, + -0.940213517395417, + 0.3378054202742858, + 0.16003546117881468, + -0.32721120953966637, + -0.9313009586148144 + ], + [ + 0.9905322914850405, + 0.017671090626517137, + 0.13613784220951852, + -0.022370050282797836, + -0.9576486687737535, + 0.28706899527152435, + 0.1354450455931831, + -0.2873965200762299, + -0.9481866271321977 + ], + [ + 0.9893932124505275, + -0.03656747552633693, + 0.1405841061089623, + -0.07104988899958811, + -0.965951723675784, + 0.24877536212601112, + 0.12670037265127296, + -0.25612513984654556, + -0.9583041940368496 + ], + [ + 0.9827793268017556, + -0.10594699259061184, + 0.15139362460847972, + -0.1365379473731793, + -0.9684157271955361, + 0.20863453272998717, + 0.12450776577469917, + -0.22571268037340309, + -0.9662047413361451 + ], + [ + 0.9760794810955381, + -0.13400981166885345, + 0.17120226914601339, + -0.16368448518390138, + -0.9712283812373953, + 0.172982140086977, + 0.14309519871172038, + -0.19686747282237305, + -0.9699314214160638 + ], + [ + 0.9725668279870124, + -0.13132495205760983, + 0.19200917182871172, + -0.15734447804299032, + -0.9793208056555935, + 0.1271749772536187, + 0.1713373290577981, + -0.15389774714772786, + -0.9731181855736714 + ], + [ + 0.9765559321590344, + -0.1204198351381598, + 0.17843086804221303, + -0.142678528221556, + -0.9827531145209903, + 0.11763993150212129, + 0.16118731013801885, + -0.14034022660873666, + -0.9768947086794352 + ], + [ + 0.9808464744266204, + -0.11066723095835328, + 0.1602902292620464, + -0.1302801933915669, + -0.9844901573162061, + 0.11749979300989183, + 0.1448007762918584, + -0.13613189978664808, + -0.9800514481626733 + ], + [ + 0.9757408702310377, + -0.11096896880868513, + 0.18872106963006188, + -0.13329497162657242, + -0.984951237617379, + 0.11001595363884697, + 0.17367269416879802, + -0.1325026319645415, + -0.9758487832767025 + ], + [ + 0.9668281541932668, + -0.10428595160862107, + 0.23316895281388844, + -0.13320732925204926, + -0.984750155951413, + 0.11190593276142305, + 0.21794294595782893, + -0.13925361988383764, + -0.965975828712329 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.003361344337463379, + 0.0006238538771867752, + -0.009205617010593414, + -0.0029903799295425415, + 0.030698463320732117, + 0.0012196153402328491, + 1.0 + ], + [ + -0.019573956727981567, + 0.0341973602771759, + -0.001345016062259674, + 0.005286701023578644, + -9.267032146453857e-05, + 0.08075736463069916, + 1.0 + ], + [ + -0.020609766244888306, + 0.03726331144571304, + 0.005181334912776947, + -0.00198981910943985, + -0.005061879754066467, + 0.06519672274589539, + 1.0 + ], + [ + -0.027988746762275696, + 0.04339196905493736, + 0.0017479807138442993, + 0.016755633056163788, + 0.004295662045478821, + 0.08581507205963135, + 1.0 + ], + [ + -0.040239349007606506, + 0.047432251274585724, + -0.007573314011096954, + 0.015887968242168427, + -0.005520269274711609, + 0.13851846754550934, + 1.0 + ], + [ + -0.019769951701164246, + 0.038726478815078735, + -0.0048656165599823, + 0.023266255855560303, + -0.015982821583747864, + 0.07353842258453369, + 1.0 + ], + [ + -0.012973576784133911, + 0.036335498094558716, + -0.009841423481702805, + 0.010297179222106934, + -0.012248650193214417, + 0.06454265117645264, + 1.0 + ], + [ + -0.0058089494705200195, + 0.021704286336898804, + -0.007913745939731598, + 0.00268632173538208, + 0.00460873544216156, + 0.029994815587997437, + 1.0 + ], + [ + 0.0009945780038833618, + 0.013186082243919373, + -0.009186409413814545, + 0.014676645398139954, + 0.01323603093624115, + 0.005771279335021973, + 1.0 + ], + [ + 0.00695076584815979, + 0.012083590030670166, + -0.014558786526322365, + 0.006034910678863525, + -0.0021187812089920044, + 0.003345102071762085, + 1.0 + ], + [ + 0.0116976797580719, + 0.008106499910354614, + -0.008929233998060226, + 0.0007548779249191284, + -0.01034817099571228, + -0.016114383935928345, + 1.0 + ], + [ + 0.012119501829147339, + 0.006470471620559692, + -0.007504928857088089, + -0.0024237632751464844, + -0.01660756766796112, + -0.004874169826507568, + 0.0 + ], + [ + 0.010918021202087402, + 0.0007394254207611084, + -0.002040613442659378, + -0.006501123309135437, + -0.01527617871761322, + -0.009559422731399536, + 0.0 + ], + [ + 0.0030370503664016724, + -0.004201680421829224, + -0.000495612621307373, + -0.00852474570274353, + 0.007307723164558411, + -0.00647088885307312, + 0.0 + ], + [ + -0.0034634917974472046, + -0.006345033645629883, + 0.0008101630955934525, + 0.0007093995809555054, + 0.012686043977737427, + 0.0019091367721557617, + 0.0 + ], + [ + -0.0010209083557128906, + -0.01009783148765564, + 0.01885823905467987, + 0.030313745141029358, + 0.029164239764213562, + -0.008844107389450073, + 0.0 + ], + [ + 0.014933407306671143, + -0.020278021693229675, + 0.048547305166721344, + 0.09585225582122803, + 0.007383435964584351, + -0.05657696723937988, + 0.0 + ], + [ + 0.027495652437210083, + -0.03137996792793274, + 0.03665769845247269, + 0.06632182002067566, + 0.019218236207962036, + -0.07113419473171234, + 0.0 + ], + [ + 0.045914024114608765, + -0.052366748452186584, + 0.02541445940732956, + 0.016913026571273804, + -0.029277652502059937, + -0.09752952307462692, + 0.0 + ], + [ + 0.032025426626205444, + -0.04865117371082306, + -0.009949609637260437, + -0.04269340634346008, + 0.032745763659477234, + -0.07071985304355621, + 0.0 + ], + [ + 0.02263614535331726, + -0.05154582858085632, + -0.014168351888656616, + -0.04357615113258362, + 0.024863943457603455, + -0.0665898397564888, + 0.0 + ], + [ + 0.01648271083831787, + -0.04880818724632263, + -0.01165742427110672, + -0.03313472867012024, + 0.008820801973342896, + -0.049108490347862244, + 0.0 + ], + [ + 0.019926071166992188, + -0.03569714352488518, + -0.013508692383766174, + -0.031672850251197815, + 0.0022101104259490967, + -0.06635825335979462, + 0.0 + ], + [ + 0.016483187675476074, + -0.026088079437613487, + -0.009744830429553986, + -0.029241755604743958, + -0.018756374716758728, + -0.028103113174438477, + 0.0 + ], + [ + 0.004464477300643921, + -0.012869566679000854, + -0.008018873631954193, + -0.043400153517723083, + -0.028598815202713013, + 0.0057569146156311035, + 1.0 + ], + [ + -0.005179286003112793, + -0.0007933676242828369, + -0.008027039468288422, + -0.014166727662086487, + 0.010293334722518921, + 0.015315651893615723, + 1.0 + ], + [ + -0.007896870374679565, + 0.0005869194865226746, + -0.011273644864559174, + -0.004663616418838501, + 0.016581952571868896, + 0.013026013970375061, + 1.0 + ], + [ + -0.0010906457901000977, + -0.0009972527623176575, + 0.005300603806972504, + -0.003063097596168518, + -0.029246196150779724, + -0.003717273473739624, + 1.0 + ], + [ + -0.003523796796798706, + -0.004990704357624054, + 0.010741174221038818, + 0.008215561509132385, + -0.04514843225479126, + -0.0011470913887023926, + 1.0 + ], + [ + -0.0016775429248809814, + -0.007028885185718536, + 0.008242294192314148, + -0.006129533052444458, + -0.03301076591014862, + 0.0028324127197265625, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9590815901756287 + ], + [ + 0.6981924772262573 + ], + [ + 0.4130503535270691 + ], + [ + 0.2062399983406067 + ], + [ + 0.0885477215051651 + ], + [ + 0.06354815512895584 + ], + [ + 0.062092870473861694 + ], + [ + 0.062092870473861694 + ], + [ + 0.061804234981536865 + ], + [ + 0.06122923642396927 + ], + [ + 0.06122923642396927 + ], + [ + 0.06122923642396927 + ], + [ + 0.06122923642396927 + ], + [ + 0.08055824041366577 + ], + [ + 0.2352597415447235 + ], + [ + 0.49949145317077637 + ], + [ + 0.8045819997787476 + ], + [ + 1.0027955770492554 + ], + [ + 1.0047606229782104 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.30354851484298706, + -0.018471505492925644, + 0.07665879279375076 + ], + [ + 0.2839745581150055, + 0.01572585664689541, + 0.07531377673149109 + ], + [ + 0.2633647918701172, + 0.0529891662299633, + 0.08049511164426804 + ], + [ + 0.2353760451078415, + 0.09638113528490067, + 0.08224309235811234 + ], + [ + 0.19513669610023499, + 0.1438133865594864, + 0.07466977834701538 + ], + [ + 0.17536674439907074, + 0.18253986537456512, + 0.06980416178703308 + ], + [ + 0.16239316761493683, + 0.21887536346912384, + 0.059962738305330276 + ], + [ + 0.1565842181444168, + 0.24057964980602264, + 0.05204899236559868 + ], + [ + 0.15757879614830017, + 0.253765732049942, + 0.042862582951784134 + ], + [ + 0.16452956199645996, + 0.2658493220806122, + 0.02830379642546177 + ], + [ + 0.17622724175453186, + 0.2739558219909668, + 0.019374562427401543 + ], + [ + 0.1883467435836792, + 0.2804262936115265, + 0.011869633570313454 + ], + [ + 0.1992647647857666, + 0.2811657190322876, + 0.009829020127654076 + ], + [ + 0.20230181515216827, + 0.2769640386104584, + 0.009333407506346703 + ], + [ + 0.19883832335472107, + 0.2706190049648285, + 0.010143570601940155 + ], + [ + 0.19781741499900818, + 0.26052117347717285, + 0.029001809656620026 + ], + [ + 0.21275082230567932, + 0.24024315178394318, + 0.07754911482334137 + ], + [ + 0.2402464747428894, + 0.20886318385601044, + 0.11420681327581406 + ], + [ + 0.28616049885749817, + 0.15649643540382385, + 0.13962127268314362 + ], + [ + 0.3181859254837036, + 0.1078452616930008, + 0.12967166304588318 + ], + [ + 0.3408220708370209, + 0.05629943311214447, + 0.11550331115722656 + ], + [ + 0.35730478167533875, + 0.007491246797144413, + 0.10384588688611984 + ], + [ + 0.37723085284233093, + -0.02820589579641819, + 0.09033719450235367 + ], + [ + 0.393714040517807, + -0.05429397523403168, + 0.08059236407279968 + ], + [ + 0.3981785178184509, + -0.06716354191303253, + 0.07257349044084549 + ], + [ + 0.39299923181533813, + -0.06795690953731537, + 0.06454645097255707 + ], + [ + 0.38510236144065857, + -0.0673699900507927, + 0.053272806107997894 + ], + [ + 0.38401171565055847, + -0.06836724281311035, + 0.0585734099149704 + ], + [ + 0.38048791885375977, + -0.0733579471707344, + 0.06931458413600922 + ], + [ + 0.3788103759288788, + -0.08038683235645294, + 0.07755687832832336 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9709184948417686, + -0.1455869481155873, + 0.19005714117755199, + -0.16023056743030567, + -0.9850013126253477, + 0.06402014829180278, + 0.17788603552599883, + -0.09261130959408484, + -0.979683471178376 + ], + [ + 0.9806634757836825, + -0.0646686485424238, + 0.184708183791525, + -0.08138337606670118, + -0.9931039936118193, + 0.0843872263570852, + 0.17797722709339306, + -0.09778764629518658, + -0.9791637671340759 + ], + [ + 0.9829688142942133, + 0.00029902486414136453, + 0.18377219786779353, + -0.017303630963547617, + -0.9954053566464587, + 0.09417409577486938, + 0.18295599055648926, + -0.09575012555431736, + -0.9784472489489797 + ], + [ + 0.9816097605233158, + 0.08805364194841675, + 0.16937778539400905, + 0.06706303499840957, + -0.989774442357326, + 0.12589321901137854, + 0.17873115951663565, + -0.11221902421543707, + -0.9774773978061971 + ], + [ + 0.9619674625401464, + 0.2269247779565992, + 0.15206494061228978, + 0.20175175998683303, + -0.9655165910146226, + 0.16454160512683802, + 0.1841597902808493, + -0.12760430096532444, + -0.9745780184361145 + ], + [ + 0.9415953222747628, + 0.30272050425138475, + 0.1475077807306223, + 0.27103542652444246, + -0.9412376007645703, + 0.20152314129069515, + 0.19984505657883947, + -0.1497734129034365, + -0.9683129030165083 + ], + [ + 0.9197807076495417, + 0.36599968788929227, + 0.1415898241423056, + 0.33034972007393537, + -0.9168749764623133, + 0.22407440724970137, + 0.21183132979514835, + -0.15932515809555356, + -0.9642318091180387 + ], + [ + 0.9103585249612853, + 0.39299837968016893, + 0.12961338510769202, + 0.3581392481699154, + -0.9051430934230562, + 0.22902458241164558, + 0.20732495014011423, + -0.16207484072891348, + -0.9647528756381588 + ], + [ + 0.9107446330105373, + 0.39788704997340124, + 0.11058982279561536, + 0.36437466779812505, + -0.9002581564767418, + 0.23825690580569586, + 0.19435872738188908, + -0.1766950682972288, + -0.9648852459903872 + ], + [ + 0.9091368030002253, + 0.4019100372611701, + 0.10926387957259533, + 0.3672640867261096, + -0.8973208891803051, + 0.24481076863958295, + 0.19643666671924148, + -0.18243778059763738, + -0.9633945672354822 + ], + [ + 0.9129909877112692, + 0.3892508320992794, + 0.12219347800934377, + 0.35181706906744276, + -0.9028161089171245, + 0.24728085933314242, + 0.20657252060909648, + -0.18277544471225277, + -0.9612080578831218 + ], + [ + 0.9113617717935131, + 0.3873420331579984, + 0.139233150730767, + 0.34609703221967003, + -0.9042358988254727, + 0.25014852300988283, + 0.222792650691456, + -0.17978762088730477, + -0.958143959002799 + ], + [ + 0.9113288530575192, + 0.3802348157901852, + 0.15780116110431797, + 0.3361521283098868, + -0.9085797397274256, + 0.24796089044358882, + 0.237658301385835, + -0.17292871773608914, + -0.9558316747024823 + ], + [ + 0.9150938377929831, + 0.3718417305236263, + 0.156003190590784, + 0.3308296737769531, + -0.9135028361647892, + 0.23677900090067364, + 0.2305536705019991, + -0.16506451999167274, + -0.9589570945866006 + ], + [ + 0.9171355915210883, + 0.3717163696306912, + 0.14383757267780659, + 0.3335489753049843, + -0.9133425746336398, + 0.2335603186215274, + 0.2181911726863828, + -0.16622960599776973, + -0.9616445966424226 + ], + [ + 0.9256566985887512, + 0.3624926879242263, + 0.10843766669955454, + 0.327408031297036, + -0.9110382625511264, + 0.2506257473006798, + 0.1896408642671016, + -0.19649003885514055, + -0.9619916877139493 + ], + [ + 0.9440081172108667, + 0.31864879701676746, + 0.08550800430229773, + 0.27492527921647364, + -0.9030422467969773, + 0.33004665025964336, + 0.18238630838892167, + -0.2880584049453067, + -0.9400838206525135 + ], + [ + 0.9644096239596205, + 0.2537278236974584, + 0.07440610657610554, + 0.20783549024562528, + -0.9013793074517517, + 0.37989439728977437, + 0.16345790347494332, + -0.3509095831970849, + -0.9220325255716438 + ], + [ + 0.9748909604720869, + 0.17723568524068734, + 0.13481515889200274, + 0.11234226312264978, + -0.9141737851017404, + 0.3894425587288043, + 0.19226760285158095, + -0.3645185900746639, + -0.9111308173822713 + ], + [ + 0.9861554702099629, + 0.09450590488708197, + 0.13625719253103852, + 0.04342855903953963, + -0.940213517395417, + 0.3378054202742858, + 0.16003546117881468, + -0.32721120953966637, + -0.9313009586148144 + ], + [ + 0.9905322914850405, + 0.017671090626517137, + 0.13613784220951852, + -0.022370050282797836, + -0.9576486687737535, + 0.28706899527152435, + 0.1354450455931831, + -0.2873965200762299, + -0.9481866271321977 + ], + [ + 0.9893932124505275, + -0.03656747552633693, + 0.1405841061089623, + -0.07104988899958811, + -0.965951723675784, + 0.24877536212601112, + 0.12670037265127296, + -0.25612513984654556, + -0.9583041940368496 + ], + [ + 0.9827793268017556, + -0.10594699259061184, + 0.15139362460847972, + -0.1365379473731793, + -0.9684157271955361, + 0.20863453272998717, + 0.12450776577469917, + -0.22571268037340309, + -0.9662047413361451 + ], + [ + 0.9760794810955381, + -0.13400981166885345, + 0.17120226914601339, + -0.16368448518390138, + -0.9712283812373953, + 0.172982140086977, + 0.14309519871172038, + -0.19686747282237305, + -0.9699314214160638 + ], + [ + 0.9725668279870124, + -0.13132495205760983, + 0.19200917182871172, + -0.15734447804299032, + -0.9793208056555935, + 0.1271749772536187, + 0.1713373290577981, + -0.15389774714772786, + -0.9731181855736714 + ], + [ + 0.9765559321590344, + -0.1204198351381598, + 0.17843086804221303, + -0.142678528221556, + -0.9827531145209903, + 0.11763993150212129, + 0.16118731013801885, + -0.14034022660873666, + -0.9768947086794352 + ], + [ + 0.9808464744266204, + -0.11066723095835328, + 0.1602902292620464, + -0.1302801933915669, + -0.9844901573162061, + 0.11749979300989183, + 0.1448007762918584, + -0.13613189978664808, + -0.9800514481626733 + ], + [ + 0.9757408702310377, + -0.11096896880868513, + 0.18872106963006188, + -0.13329497162657242, + -0.984951237617379, + 0.11001595363884697, + 0.17367269416879802, + -0.1325026319645415, + -0.9758487832767025 + ], + [ + 0.9668281541932668, + -0.10428595160862107, + 0.23316895281388844, + -0.13320732925204926, + -0.984750155951413, + 0.11190593276142305, + 0.21794294595782893, + -0.13925361988383764, + -0.965975828712329 + ], + [ + 0.9595460431508009, + -0.09857671600884031, + 0.2637309654450032, + -0.12943566775553497, + -0.9862991562252984, + 0.10227601058871526, + 0.250035595438569, + -0.13227473488983707, + -0.9591587957807108 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005961.json b/json/chunk-0005/episode_0005961.json new file mode 100644 index 0000000000000000000000000000000000000000..6b5e8abec1d72b8bedcf381229cf97dd2fbcddad --- /dev/null +++ b/json/chunk-0005/episode_0005961.json @@ -0,0 +1,1282 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 20, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nTurn lever vertical to front." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005961.mp4", + "start": 0, + "end": 20, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.4584023952484131, + -0.10480784624814987, + 0.08742155879735947, + 0.012816266156733036, + -0.18695107102394104, + 0.04528101161122322, + 0.0, + 1.0001531839370728 + ], + [ + 0.4611359238624573, + -0.10241024196147919, + 0.06589577347040176, + 0.04428397864103317, + -0.17965863645076752, + 0.042225178331136703, + 0.0, + 1.0001531839370728 + ], + [ + 0.46864500641822815, + -0.10846149921417236, + 0.07063087821006775, + 0.08235020190477371, + -0.23184795677661896, + 0.008652794174849987, + 0.0, + 1.0001531839370728 + ], + [ + 0.47761061787605286, + -0.11362344026565552, + 0.0797572210431099, + 0.09741460531949997, + -0.2801414132118225, + -0.007773828227072954, + 0.0, + 1.0001531839370728 + ], + [ + 0.48580360412597656, + -0.11568892747163773, + 0.08336404711008072, + 0.08845366537570953, + -0.31510764360427856, + -0.018424097448587418, + 0.0, + 1.0001531839370728 + ], + [ + 0.4957479238510132, + -0.10660822689533234, + 0.07338695973157883, + 0.10664115101099014, + -0.3122484087944031, + -0.02658427320420742, + 0.0, + 1.0001531839370728 + ], + [ + 0.5031653642654419, + -0.10349301248788834, + 0.07800308614969254, + 0.12647627294063568, + -0.32333067059516907, + -0.04013299569487572, + 0.0, + 1.0001531839370728 + ], + [ + 0.5074225068092346, + -0.10489344596862793, + 0.07771734893321991, + 0.13580861687660217, + -0.32765811681747437, + -0.04815520718693733, + 0.0, + 1.0001531839370728 + ], + [ + 0.51075279712677, + -0.10452049225568771, + 0.0784883126616478, + 0.14293339848518372, + -0.3439081609249115, + -0.055980484932661057, + 0.0, + 0.8205437660217285 + ], + [ + 0.5119791030883789, + -0.1044623851776123, + 0.07933060824871063, + 0.13714911043643951, + -0.3546871542930603, + -0.036895930767059326, + 0.0, + 0.6019018292427063 + ], + [ + 0.5093104243278503, + -0.10784834623336792, + 0.07481317222118378, + 0.12524601817131042, + -0.3478211760520935, + -0.016527490690350533, + 0.0, + 0.5413121581077576 + ], + [ + 0.4962257146835327, + -0.10739583522081375, + 0.07198647409677505, + 0.10046009719371796, + -0.32691362500190735, + 0.06540265679359436, + 0.0, + 0.508165180683136 + ], + [ + 0.4741794168949127, + -0.10878139734268188, + 0.06386596709489822, + 0.06325434893369675, + -0.28423672914505005, + 0.20592918992042542, + 0.0, + 0.44944798946380615 + ], + [ + 0.46325957775115967, + -0.10911492258310318, + 0.05515224486589432, + 0.060886114835739136, + -0.260744571685791, + 0.2495659738779068, + 0.0, + 0.44944798946380615 + ], + [ + 0.46008411049842834, + -0.11443353444337845, + 0.05312184989452362, + 0.023229990154504776, + -0.24069729447364807, + 0.27128124237060547, + 0.0, + 0.44944798946380615 + ], + [ + 0.4592340588569641, + -0.11742285639047623, + 0.04953008517622948, + 0.001286999206058681, + -0.2385362684726715, + 0.2714420258998871, + 0.0, + 0.44944798946380615 + ], + [ + 0.46026936173439026, + -0.11852564662694931, + 0.04836488515138626, + -0.012755820527672768, + -0.2529126703739166, + 0.26980867981910706, + 0.0, + 0.44944798946380615 + ], + [ + 0.4589768946170807, + -0.11792068928480148, + 0.043916005641222, + -0.016244826838374138, + -0.2566133737564087, + 0.2613600194454193, + 0.0, + 0.44944798946380615 + ], + [ + 0.45482364296913147, + -0.11708473414182663, + 0.03578711673617363, + -0.00488131120800972, + -0.24376006424427032, + 0.2345256358385086, + 0.0, + 0.44944798946380615 + ], + [ + 0.4542939066886902, + -0.11593253910541534, + 0.03626418858766556, + 0.008787604048848152, + -0.23231790959835052, + 0.21175616979599, + 0.0, + 0.44944798946380615 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.8205437660217285 + ], + [ + 0.6019018292427063 + ], + [ + 0.5413121581077576 + ], + [ + 0.508165180683136 + ], + [ + 0.44944798946380615 + ], + [ + 0.44944798946380615 + ], + [ + 0.44944798946380615 + ], + [ + 0.44944798946380615 + ], + [ + 0.44944798946380615 + ], + [ + 0.44944798946380615 + ], + [ + 0.44944798946380615 + ], + [ + 0.44944798946380615 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.4584023952484131, + -0.10480784624814987, + 0.08742155879735947 + ], + [ + 0.4611359238624573, + -0.10241024196147919, + 0.06589577347040176 + ], + [ + 0.46864500641822815, + -0.10846149921417236, + 0.07063087821006775 + ], + [ + 0.47761061787605286, + -0.11362344026565552, + 0.0797572210431099 + ], + [ + 0.48580360412597656, + -0.11568892747163773, + 0.08336404711008072 + ], + [ + 0.4957479238510132, + -0.10660822689533234, + 0.07338695973157883 + ], + [ + 0.5031653642654419, + -0.10349301248788834, + 0.07800308614969254 + ], + [ + 0.5074225068092346, + -0.10489344596862793, + 0.07771734893321991 + ], + [ + 0.51075279712677, + -0.10452049225568771, + 0.0784883126616478 + ], + [ + 0.5119791030883789, + -0.1044623851776123, + 0.07933060824871063 + ], + [ + 0.5093104243278503, + -0.10784834623336792, + 0.07481317222118378 + ], + [ + 0.4962257146835327, + -0.10739583522081375, + 0.07198647409677505 + ], + [ + 0.4741794168949127, + -0.10878139734268188, + 0.06386596709489822 + ], + [ + 0.46325957775115967, + -0.10911492258310318, + 0.05515224486589432 + ], + [ + 0.46008411049842834, + -0.11443353444337845, + 0.05312184989452362 + ], + [ + 0.4592340588569641, + -0.11742285639047623, + 0.04953008517622948 + ], + [ + 0.46026936173439026, + -0.11852564662694931, + 0.04836488515138626 + ], + [ + 0.4589768946170807, + -0.11792068928480148, + 0.043916005641222 + ], + [ + 0.45482364296913147, + -0.11708473414182663, + 0.03578711673617363 + ], + [ + 0.4542939066886902, + -0.11593253910541534, + 0.03626418858766556 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9815683376923956, + 0.04764139704627174, + 0.18507808008315577, + 0.04447680942430832, + -0.9987851238411727, + 0.021215320337141116, + 0.18586396063578678, + -0.012592604220463884, + -0.982494791057808 + ], + [ + 0.9830277457486103, + 0.050074878852597086, + 0.1764906728308994, + 0.04153320889866779, + -0.9977952175865802, + 0.05176578329291575, + 0.17869371462641173, + -0.04355697727399386, + -0.9829401538668403 + ], + [ + 0.973207006574821, + 0.027523411347952057, + 0.2282774281032777, + 0.008421170085175258, + -0.9964102872858882, + 0.08423552270419872, + 0.2297764266587681, + -0.08005623784955455, + -0.9699452523381423 + ], + [ + 0.9609873102430884, + 0.01915402951659749, + 0.2759284557725634, + -0.007470700769638546, + -0.9954379251787747, + 0.09511848267180588, + 0.2764915517366936, + -0.09346903374408781, + -0.95646012020846 + ], + [ + 0.9506016612061527, + 0.0090220447337097, + 0.31028226572094886, + -0.01751595960115759, + -0.9964258504421628, + 0.08263604376942985, + 0.30991881658162224, + -0.08398885211404816, + -0.9470460389279981 + ], + [ + 0.951309011485881, + 0.006256313771612608, + 0.30817531245014795, + -0.025295817994109904, + -0.9948370358221345, + 0.09828221481345073, + 0.30719909872550744, + -0.10129230323484376, + -0.9462391785630183 + ], + [ + 0.947418941305504, + 0.00024378247979288045, + 0.319995765949584, + -0.038043187332504266, + -0.992821753780915, + 0.11339171538067769, + 0.31772640046609657, + -0.11960311780840488, + -0.9406088606096408 + ], + [ + 0.9457010546201655, + -0.004171278123001769, + 0.32501094709121325, + -0.04557566450330325, + -0.9917410479831604, + 0.11988558107773081, + 0.3218266211726264, + -0.12818851034349135, + -0.9380806637600668 + ], + [ + 0.9399693773931658, + -0.007427140454436331, + 0.34117796990394145, + -0.0526749776071318, + -0.9909391475056365, + 0.12355141713024154, + 0.3371689729159444, + -0.13410609056069323, + -0.9318436779725098 + ], + [ + 0.9371169698736799, + 0.01090879878967871, + 0.34884492669915496, + -0.034591500847770906, + -0.9916871127089317, + 0.1239358646886402, + 0.3472970095521572, + -0.1282094715533473, + -0.9289494704019913 + ], + [ + 0.9399891991077309, + 0.026175517061259066, + 0.34019868880902876, + -0.015537077455113912, + -0.9927351445341823, + 0.11931274881943647, + 0.3408502673975194, + -0.11743838858427803, + -0.9327536224007751 + ], + [ + 0.945013195296662, + 0.09716334466669199, + 0.3122648638069525, + 0.0618946504649719, + -0.9907260793697416, + 0.12095820724729439, + 0.32112164822542244, + -0.09497957733029816, + -0.9422631091850863 + ], + [ + 0.9395951458751001, + 0.22141961083058284, + 0.26102551175619393, + 0.19627237250238358, + -0.9732891642726548, + 0.11910230267179112, + 0.2804248876976423, + -0.06067584897692488, + -0.9579563266196921 + ], + [ + 0.9362651922064613, + 0.2617265114739725, + 0.2343218364861942, + 0.23863494263981802, + -0.9633497635081162, + 0.12251774279730875, + 0.2578000271797677, + -0.058791719999684286, + -0.9644079425458865 + ], + [ + 0.9356546354502664, + 0.27322830783709595, + 0.22337568121195947, + 0.2602411138023032, + -0.9616846757093961, + 0.08623889605422269, + 0.23837987718632306, + -0.022558286774298594, + -0.9709099638228268 + ], + [ + 0.9361068790236184, + 0.2684136779949764, + 0.2272839820794017, + 0.26052906135907705, + -0.9633029292863334, + 0.06459159864663225, + 0.23628059427726805, + -0.0012505573071452739, + -0.9716840622725077 + ], + [ + 0.9331605244465266, + 0.26344909024296326, + 0.24455267830231925, + 0.2580675702480093, + -0.9645942472954105, + 0.05439730940854074, + 0.25022502832644744, + 0.012349693710968744, + -0.9681089402873383 + ], + [ + 0.9344065561136897, + 0.2543776859481508, + 0.24935192155549502, + 0.2499335091433953, + -0.9669773108307244, + 0.04988107201984348, + 0.2538062822292272, + 0.01571220004469264, + -0.9671274465502121 + ], + [ + 0.9438713050010951, + 0.2312330006198131, + 0.2358776356925076, + 0.22551181262865438, + -0.9728868692560021, + 0.05133772486382174, + 0.2413532306816474, + 0.0047369878205761815, + -0.9704257720124293 + ], + [ + 0.9513987315595805, + 0.2121470369441062, + 0.22323549964702555, + 0.2045308295588607, + -0.9772003417748331, + 0.05697922248603883, + 0.23023377976914117, + -0.008551418068675574, + -0.9730977750987971 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + 0.0027335286140441895, + 0.002397604286670685, + -0.021525785326957703, + 0.03146771341562271, + 0.007292434573173523, + -0.0030558332800865173, + 1.0 + ], + [ + 0.007509082555770874, + -0.006051257252693176, + 0.004735104739665985, + 0.03806622326374054, + -0.05218932032585144, + -0.03357238322496414, + 1.0 + ], + [ + 0.008965611457824707, + -0.005161941051483154, + 0.009126342833042145, + 0.015064403414726257, + -0.04829345643520355, + -0.01642662286758423, + 1.0 + ], + [ + 0.008192986249923706, + -0.0020654872059822083, + 0.003606826066970825, + -0.008960939943790436, + -0.034966230392456055, + -0.01065026968717575, + 1.0 + ], + [ + 0.009944319725036621, + 0.00908070057630539, + -0.009977087378501892, + 0.01818748563528061, + 0.0028592348098754883, + -0.008160175755620003, + 1.0 + ], + [ + 0.007417440414428711, + 0.0031152144074440002, + 0.0046161264181137085, + 0.01983512192964554, + -0.011082261800765991, + -0.013548722490668297, + 1.0 + ], + [ + 0.004257142543792725, + -0.0014004334807395935, + -0.00028573721647262573, + 0.009332343935966492, + -0.004327446222305298, + -0.008022211492061615, + 1.0 + ], + [ + 0.0033302903175354004, + 0.00037295371294021606, + 0.000770963728427887, + 0.007124781608581543, + -0.016250044107437134, + -0.007825277745723724, + 0.0 + ], + [ + 0.0012263059616088867, + 5.8107078075408936e-05, + 0.0008422955870628357, + -0.005784288048744202, + -0.010778993368148804, + 0.01908455416560173, + 0.0 + ], + [ + -0.0026686787605285645, + -0.0033859610557556152, + -0.0045174360275268555, + -0.01190309226512909, + 0.006865978240966797, + 0.020368440076708794, + 0.0 + ], + [ + -0.013084709644317627, + 0.0004525110125541687, + -0.002826698124408722, + -0.024785920977592468, + 0.020907551050186157, + 0.08193014562129974, + 0.0 + ], + [ + -0.022046297788619995, + -0.0013855621218681335, + -0.008120507001876831, + -0.03720574826002121, + 0.0426768958568573, + 0.14052653312683105, + 0.0 + ], + [ + -0.010919839143753052, + -0.00033352524042129517, + -0.008713722229003906, + -0.002368234097957611, + 0.023492157459259033, + 0.043636783957481384, + 0.0 + ], + [ + -0.0031754672527313232, + -0.0053186118602752686, + -0.002030394971370697, + -0.03765612468123436, + 0.020047277212142944, + 0.02171526849269867, + 0.0 + ], + [ + -0.0008500516414642334, + -0.0029893219470977783, + -0.0035917647182941437, + -0.021942991763353348, + 0.0021610260009765625, + 0.0001607835292816162, + 0.0 + ], + [ + 0.0010353028774261475, + -0.0011027902364730835, + -0.001165200024843216, + -0.01404281985014677, + -0.014376401901245117, + -0.0016333460807800293, + 0.0 + ], + [ + -0.0012924671173095703, + 0.0006049573421478271, + -0.004448879510164261, + -0.0034890063107013702, + -0.0037007033824920654, + -0.008448660373687744, + 0.0 + ], + [ + -0.004153251647949219, + 0.0008359551429748535, + -0.00812888890504837, + 0.011363515630364418, + 0.012853309512138367, + -0.026834383606910706, + 0.0 + ], + [ + -0.0005297362804412842, + 0.0011521950364112854, + 0.0004770718514919281, + 0.013668915256857872, + 0.0114421546459198, + -0.022769466042518616, + 0.0 + ], + [ + -4.360079765319824e-05, + 0.00076255202293396, + -0.0014369189739227295, + 0.00688985176384449, + 0.0029890835285186768, + -0.02244006097316742, + 0.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.8205437660217285 + ], + [ + 0.6019018292427063 + ], + [ + 0.5413121581077576 + ], + [ + 0.508165180683136 + ], + [ + 0.44944798946380615 + ], + [ + 0.44944798946380615 + ], + [ + 0.44944798946380615 + ], + [ + 0.44944798946380615 + ], + [ + 0.44944798946380615 + ], + [ + 0.44944798946380615 + ], + [ + 0.44944798946380615 + ], + [ + 0.44944798946380615 + ], + [ + 0.44944798946380615 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.4611359238624573, + -0.10241024196147919, + 0.06589577347040176 + ], + [ + 0.46864500641822815, + -0.10846149921417236, + 0.07063087821006775 + ], + [ + 0.47761061787605286, + -0.11362344026565552, + 0.0797572210431099 + ], + [ + 0.48580360412597656, + -0.11568892747163773, + 0.08336404711008072 + ], + [ + 0.4957479238510132, + -0.10660822689533234, + 0.07338695973157883 + ], + [ + 0.5031653642654419, + -0.10349301248788834, + 0.07800308614969254 + ], + [ + 0.5074225068092346, + -0.10489344596862793, + 0.07771734893321991 + ], + [ + 0.51075279712677, + -0.10452049225568771, + 0.0784883126616478 + ], + [ + 0.5119791030883789, + -0.1044623851776123, + 0.07933060824871063 + ], + [ + 0.5093104243278503, + -0.10784834623336792, + 0.07481317222118378 + ], + [ + 0.4962257146835327, + -0.10739583522081375, + 0.07198647409677505 + ], + [ + 0.4741794168949127, + -0.10878139734268188, + 0.06386596709489822 + ], + [ + 0.46325957775115967, + -0.10911492258310318, + 0.05515224486589432 + ], + [ + 0.46008411049842834, + -0.11443353444337845, + 0.05312184989452362 + ], + [ + 0.4592340588569641, + -0.11742285639047623, + 0.04953008517622948 + ], + [ + 0.46026936173439026, + -0.11852564662694931, + 0.04836488515138626 + ], + [ + 0.4589768946170807, + -0.11792068928480148, + 0.043916005641222 + ], + [ + 0.45482364296913147, + -0.11708473414182663, + 0.03578711673617363 + ], + [ + 0.4542939066886902, + -0.11593253910541534, + 0.03626418858766556 + ], + [ + 0.454250305891037, + -0.11516998708248138, + 0.03482726961374283 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9830277457486103, + 0.050074878852597086, + 0.1764906728308994, + 0.04153320889866779, + -0.9977952175865802, + 0.05176578329291575, + 0.17869371462641173, + -0.04355697727399386, + -0.9829401538668403 + ], + [ + 0.973207006574821, + 0.027523411347952057, + 0.2282774281032777, + 0.008421170085175258, + -0.9964102872858882, + 0.08423552270419872, + 0.2297764266587681, + -0.08005623784955455, + -0.9699452523381423 + ], + [ + 0.9609873102430884, + 0.01915402951659749, + 0.2759284557725634, + -0.007470700769638546, + -0.9954379251787747, + 0.09511848267180588, + 0.2764915517366936, + -0.09346903374408781, + -0.95646012020846 + ], + [ + 0.9506016612061527, + 0.0090220447337097, + 0.31028226572094886, + -0.01751595960115759, + -0.9964258504421628, + 0.08263604376942985, + 0.30991881658162224, + -0.08398885211404816, + -0.9470460389279981 + ], + [ + 0.951309011485881, + 0.006256313771612608, + 0.30817531245014795, + -0.025295817994109904, + -0.9948370358221345, + 0.09828221481345073, + 0.30719909872550744, + -0.10129230323484376, + -0.9462391785630183 + ], + [ + 0.947418941305504, + 0.00024378247979288045, + 0.319995765949584, + -0.038043187332504266, + -0.992821753780915, + 0.11339171538067769, + 0.31772640046609657, + -0.11960311780840488, + -0.9406088606096408 + ], + [ + 0.9457010546201655, + -0.004171278123001769, + 0.32501094709121325, + -0.04557566450330325, + -0.9917410479831604, + 0.11988558107773081, + 0.3218266211726264, + -0.12818851034349135, + -0.9380806637600668 + ], + [ + 0.9399693773931658, + -0.007427140454436331, + 0.34117796990394145, + -0.0526749776071318, + -0.9909391475056365, + 0.12355141713024154, + 0.3371689729159444, + -0.13410609056069323, + -0.9318436779725098 + ], + [ + 0.9371169698736799, + 0.01090879878967871, + 0.34884492669915496, + -0.034591500847770906, + -0.9916871127089317, + 0.1239358646886402, + 0.3472970095521572, + -0.1282094715533473, + -0.9289494704019913 + ], + [ + 0.9399891991077309, + 0.026175517061259066, + 0.34019868880902876, + -0.015537077455113912, + -0.9927351445341823, + 0.11931274881943647, + 0.3408502673975194, + -0.11743838858427803, + -0.9327536224007751 + ], + [ + 0.945013195296662, + 0.09716334466669199, + 0.3122648638069525, + 0.0618946504649719, + -0.9907260793697416, + 0.12095820724729439, + 0.32112164822542244, + -0.09497957733029816, + -0.9422631091850863 + ], + [ + 0.9395951458751001, + 0.22141961083058284, + 0.26102551175619393, + 0.19627237250238358, + -0.9732891642726548, + 0.11910230267179112, + 0.2804248876976423, + -0.06067584897692488, + -0.9579563266196921 + ], + [ + 0.9362651922064613, + 0.2617265114739725, + 0.2343218364861942, + 0.23863494263981802, + -0.9633497635081162, + 0.12251774279730875, + 0.2578000271797677, + -0.058791719999684286, + -0.9644079425458865 + ], + [ + 0.9356546354502664, + 0.27322830783709595, + 0.22337568121195947, + 0.2602411138023032, + -0.9616846757093961, + 0.08623889605422269, + 0.23837987718632306, + -0.022558286774298594, + -0.9709099638228268 + ], + [ + 0.9361068790236184, + 0.2684136779949764, + 0.2272839820794017, + 0.26052906135907705, + -0.9633029292863334, + 0.06459159864663225, + 0.23628059427726805, + -0.0012505573071452739, + -0.9716840622725077 + ], + [ + 0.9331605244465266, + 0.26344909024296326, + 0.24455267830231925, + 0.2580675702480093, + -0.9645942472954105, + 0.05439730940854074, + 0.25022502832644744, + 0.012349693710968744, + -0.9681089402873383 + ], + [ + 0.9344065561136897, + 0.2543776859481508, + 0.24935192155549502, + 0.2499335091433953, + -0.9669773108307244, + 0.04988107201984348, + 0.2538062822292272, + 0.01571220004469264, + -0.9671274465502121 + ], + [ + 0.9438713050010951, + 0.2312330006198131, + 0.2358776356925076, + 0.22551181262865438, + -0.9728868692560021, + 0.05133772486382174, + 0.2413532306816474, + 0.0047369878205761815, + -0.9704257720124293 + ], + [ + 0.9513987315595805, + 0.2121470369441062, + 0.22323549964702555, + 0.2045308295588607, + -0.9772003417748331, + 0.05697922248603883, + 0.23023377976914117, + -0.008551418068675574, + -0.9730977750987971 + ], + [ + 0.9564201209118796, + 0.19166418395544516, + 0.2202847995291538, + 0.18326037142611307, + -0.9813418253453605, + 0.0581709385569773, + 0.22732397273422195, + -0.015266381906982162, + -0.9736995167934518 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005964.json b/json/chunk-0005/episode_0005964.json new file mode 100644 index 0000000000000000000000000000000000000000..835cffbdf84b9cbe0727560df0743636e74b05d2 --- /dev/null +++ b/json/chunk-0005/episode_0005964.json @@ -0,0 +1,5302 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 87, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nSweep into pile." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005964.mp4", + "start": 0, + "end": 87, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2379351705312729, + 0.006009924691170454, + 0.07308690994977951, + 0.05867960304021835, + -0.002880863379687071, + 0.09530029445886612, + 0.0, + 0.9994885921478271 + ], + [ + 0.23504704236984253, + 0.005637301132082939, + 0.06784263998270035, + 0.05854526162147522, + 0.020542560145258904, + 0.09236424416303635, + 0.0, + 0.9994885921478271 + ], + [ + 0.24383461475372314, + 0.01247810572385788, + 0.05176689848303795, + 0.034730199724435806, + 0.028056418523192406, + -0.12593236565589905, + 0.0, + 0.9994885921478271 + ], + [ + 0.2714826762676239, + 0.028597209602594376, + 0.03575872629880905, + -0.0070245894603431225, + -0.007059031631797552, + -0.36033082008361816, + 0.0, + 0.9994885921478271 + ], + [ + 0.30818527936935425, + 0.03902954235672951, + 0.013839514926075935, + -0.008055947721004486, + -0.1346462219953537, + -0.620399534702301, + 0.0, + 0.9994885921478271 + ], + [ + 0.3353818655014038, + 0.04318871349096298, + 0.002401524456217885, + 0.06486748158931732, + -0.18972596526145935, + -0.8492250442504883, + 0.0, + 0.9994885921478271 + ], + [ + 0.3566494882106781, + 0.042726363986730576, + -0.0010086849797517061, + 0.1049417033791542, + -0.1993616223335266, + -0.9671103954315186, + 0.0, + 0.9994885921478271 + ], + [ + 0.36053475737571716, + 0.04080386087298393, + -0.0012436325196176767, + 0.14765414595603943, + -0.1561581790447235, + -1.0291386842727661, + 0.0, + 0.9994885921478271 + ], + [ + 0.37409985065460205, + 0.03696947172284126, + -0.005812023766338825, + 0.13072648644447327, + -0.12415453046560287, + -1.0590269565582275, + 0.0, + 0.9994885921478271 + ], + [ + 0.37902775406837463, + 0.03716973587870598, + -0.018484560772776604, + 0.082665354013443, + -0.09255960583686829, + -1.0818732976913452, + 0.0, + 0.9994885921478271 + ], + [ + 0.3827640116214752, + 0.033500853925943375, + -0.027273809537291527, + 0.08456800878047943, + -0.06843947619199753, + -1.1072418689727783, + 0.0, + 0.9650423526763916 + ], + [ + 0.38340210914611816, + 0.0322754941880703, + -0.02817237749695778, + 0.08702008426189423, + -0.057298265397548676, + -1.1220473051071167, + 0.0, + 0.6671556830406189 + ], + [ + 0.3824406862258911, + 0.0327686183154583, + -0.029989879578351974, + 0.08368341624736786, + -0.048215627670288086, + -1.1228142976760864, + 0.0, + 0.37120094895362854 + ], + [ + 0.38473519682884216, + 0.03349295258522034, + -0.031020261347293854, + 0.08886955678462982, + -0.047189246863126755, + -1.118389368057251, + 0.0, + 0.347801148891449 + ], + [ + 0.37960708141326904, + 0.029677925631403923, + -0.02704385668039322, + 0.11206354945898056, + -0.029221095144748688, + -1.0597519874572754, + 0.0, + 0.347801148891449 + ], + [ + 0.3687532842159271, + 0.025639260187745094, + 0.00839515682309866, + 0.165936678647995, + 0.013352305628359318, + -0.9688336849212646, + 0.0, + 0.347801148891449 + ], + [ + 0.35106396675109863, + 0.01075777504593134, + 0.051965031772851944, + 0.2328556925058365, + 0.043701764196157455, + -0.8170817494392395, + 0.0, + 0.347801148891449 + ], + [ + 0.3240449130535126, + -0.013368191197514534, + 0.06161729618906975, + 0.1926465779542923, + 0.030010884627699852, + -0.5815236568450928, + 0.0, + 0.347801148891449 + ], + [ + 0.29993587732315063, + -0.04478416591882706, + 0.041501544415950775, + 0.09445228427648544, + -0.01984192058444023, + -0.3794541358947754, + 0.0, + 0.347801148891449 + ], + [ + 0.29059669375419617, + -0.07428207248449326, + 0.031868670135736465, + 0.031107664108276367, + -0.009786330163478851, + -0.4618334174156189, + 0.0, + 0.347801148891449 + ], + [ + 0.28191471099853516, + -0.08564333617687225, + 0.014582947827875614, + 0.06318890303373337, + 0.065904900431633, + -0.6894072890281677, + 0.0, + 0.347801148891449 + ], + [ + 0.2727438509464264, + -0.0974322259426117, + -0.0015920796431601048, + 0.008911271579563618, + 0.08407430350780487, + -0.7945384979248047, + 0.0, + 0.347801148891449 + ], + [ + 0.2668735384941101, + -0.10558035969734192, + -0.01924644224345684, + -0.05345027521252632, + 0.10366282612085342, + -0.8644199371337891, + 0.0, + 0.347801148891449 + ], + [ + 0.27741798758506775, + -0.11943943053483963, + -0.035025566816329956, + -0.11210957914590836, + 0.12117761373519897, + -0.9023570418357849, + 0.0, + 0.347801148891449 + ], + [ + 0.2919284701347351, + -0.13230422139167786, + -0.04296909272670746, + -0.1765095740556717, + 0.13580074906349182, + -0.9429770112037659, + 0.0, + 0.347801148891449 + ], + [ + 0.3081967830657959, + -0.14071321487426758, + -0.05071365833282471, + -0.20234788954257965, + 0.1447485387325287, + -0.9573072195053101, + 0.0, + 0.347801148891449 + ], + [ + 0.3344544768333435, + -0.14617373049259186, + -0.05264943093061447, + -0.18920904397964478, + 0.10685902088880539, + -0.9021009206771851, + 0.0, + 0.347801148891449 + ], + [ + 0.36456143856048584, + -0.14982321858406067, + -0.05093911662697792, + -0.18734298646450043, + 0.07810614258050919, + -0.8402543663978577, + 0.0, + 0.347801148891449 + ], + [ + 0.3852660357952118, + -0.15260301530361176, + -0.0498945452272892, + -0.1672837734222412, + 0.058921921998262405, + -0.7190961837768555, + 0.0, + 0.347801148891449 + ], + [ + 0.3888484537601471, + -0.14474891126155853, + -0.04248944669961929, + -0.18694961071014404, + 0.030915701761841774, + -0.5780350565910339, + 0.0, + 0.347801148891449 + ], + [ + 0.38859477639198303, + -0.12715551257133484, + -0.04042216017842293, + -0.17373204231262207, + -0.024820320308208466, + -0.36041855812072754, + 0.0, + 0.347801148891449 + ], + [ + 0.38085654377937317, + -0.09267602115869522, + -0.04414914548397064, + -0.16305024921894073, + -0.053322259336709976, + -0.09556575119495392, + 0.0, + 0.347801148891449 + ], + [ + 0.37386783957481384, + -0.04476206749677658, + -0.04603659734129906, + -0.16815705597400665, + -0.06794525682926178, + 0.16954971849918365, + 0.0, + 0.347801148891449 + ], + [ + 0.37194448709487915, + -0.0007271830691024661, + -0.04750543460249901, + -0.16387131810188293, + -0.06127649545669556, + 0.2924486994743347, + 0.0, + 0.347801148891449 + ], + [ + 0.368821918964386, + 0.04082192853093147, + -0.047873396426439285, + -0.11620268225669861, + -0.07430675625801086, + 0.3322213888168335, + 0.0, + 0.347801148891449 + ], + [ + 0.35594168305397034, + 0.09925222396850586, + -0.045509301126003265, + -0.020449144765734673, + -0.10016362369060516, + 0.34853941202163696, + 0.0, + 0.347801148891449 + ], + [ + 0.3238224685192108, + 0.1567712426185608, + -0.044851843267679214, + 0.06693417578935623, + -0.07888776808977127, + 0.327064573764801, + 0.0, + 0.347801148891449 + ], + [ + 0.3083479404449463, + 0.1821039617061615, + -0.04376590996980667, + 0.10950630158185959, + -0.04906436800956726, + 0.2727857828140259, + 0.0, + 0.347801148891449 + ], + [ + 0.3081710636615753, + 0.17739510536193848, + -0.038713131099939346, + 0.06971259415149689, + -0.05518698692321777, + 0.1942567229270935, + 0.0, + 0.347801148891449 + ], + [ + 0.31581422686576843, + 0.16046205163002014, + -0.008949614129960537, + 0.029605098068714142, + -0.1359068751335144, + 0.1493377387523651, + 0.0, + 0.347801148891449 + ], + [ + 0.33625274896621704, + 0.1259079873561859, + 0.03025670535862446, + 0.033852435648441315, + -0.21895916759967804, + 0.05390950292348862, + 0.0, + 0.347801148891449 + ], + [ + 0.34815800189971924, + 0.07336629927158356, + 0.052397534251213074, + 0.09358373284339905, + -0.2487218976020813, + -0.07076960802078247, + 0.0, + 0.347801148891449 + ], + [ + 0.34604355692863464, + 0.02504861354827881, + 0.0438004732131958, + 0.04951085150241852, + -0.25481536984443665, + -0.15527097880840302, + 0.0, + 0.347801148891449 + ], + [ + 0.33728015422821045, + -0.019656414166092873, + 0.0064408243633806705, + -0.12656916677951813, + -0.2081180214881897, + -0.244162917137146, + 0.0, + 0.347801148891449 + ], + [ + 0.31409966945648193, + -0.07124623656272888, + -0.01855173520743847, + -0.26429983973503113, + -0.1770893782377243, + -0.2816905677318573, + 0.0, + 0.347801148891449 + ], + [ + 0.29315125942230225, + -0.08065944910049438, + -0.038499973714351654, + -0.3269397020339966, + -0.11649049073457718, + -0.23879575729370117, + 0.0, + 0.347801148891449 + ], + [ + 0.28341174125671387, + -0.04791710898280144, + -0.04570803791284561, + -0.27240297198295593, + -0.06200680881738663, + -0.3128359615802765, + 0.0, + 0.347801148891449 + ], + [ + 0.2803589403629303, + -0.00566378328949213, + -0.04855993390083313, + -0.1894468516111374, + 0.007042447105050087, + -0.417074590921402, + 0.0, + 0.347801148891449 + ], + [ + 0.2754501402378082, + 0.03750060126185417, + -0.049367330968379974, + -0.1548246443271637, + 0.06586882472038269, + -0.45171546936035156, + 0.0, + 0.347801148891449 + ], + [ + 0.26946622133255005, + 0.07689206302165985, + -0.052883367985486984, + -0.12576209008693695, + 0.11069361120462418, + -0.5248925089836121, + 0.0, + 0.347801148891449 + ], + [ + 0.27314525842666626, + 0.0978054404258728, + -0.05355735123157501, + -0.12692777812480927, + 0.12522248923778534, + -0.6824342608451843, + 0.0, + 0.347801148891449 + ], + [ + 0.2777751684188843, + 0.11348500102758408, + -0.054267898201942444, + -0.12580549716949463, + 0.13600470125675201, + -0.8223317861557007, + 0.0, + 0.347801148891449 + ], + [ + 0.2856009304523468, + 0.12972711026668549, + -0.05311688780784607, + -0.11032667756080627, + 0.14022940397262573, + -0.9156285524368286, + 0.0, + 0.347801148891449 + ], + [ + 0.29972898960113525, + 0.14731109142303467, + -0.050066594034433365, + -0.09897620230913162, + 0.10684439539909363, + -0.9160767197608948, + 0.0, + 0.347801148891449 + ], + [ + 0.319597065448761, + 0.1559009552001953, + -0.04716084524989128, + -0.09076490253210068, + 0.053609658032655716, + -0.8924144506454468, + 0.0, + 0.347801148891449 + ], + [ + 0.34229525923728943, + 0.1577797681093216, + -0.042597733438014984, + -0.07288823276758194, + 0.005804880056530237, + -0.8821318745613098, + 0.0, + 0.347801148891449 + ], + [ + 0.36358842253685, + 0.14977695047855377, + -0.035476069897413254, + -0.04314686730504036, + -0.04203428700566292, + -0.9374433159828186, + 0.0, + 0.347801148891449 + ], + [ + 0.37728938460350037, + 0.14051242172718048, + -0.028302468359470367, + -0.042124971747398376, + -0.06870901584625244, + -0.9582958817481995, + 0.0, + 0.347801148891449 + ], + [ + 0.36780092120170593, + 0.13644376397132874, + -0.028264472261071205, + -0.04298799857497215, + -0.01678529568016529, + -0.9193388819694519, + 0.0, + 0.347801148891449 + ], + [ + 0.348237007856369, + 0.13263438642024994, + 0.019651377573609352, + 0.02090606652200222, + -0.019149871543049812, + -0.6893765330314636, + 0.0, + 0.347801148891449 + ], + [ + 0.3238584101200104, + 0.11527272313833237, + 0.04986078664660454, + -0.025362549349665642, + -0.013790363445878029, + -0.5171779990196228, + 0.0, + 0.347801148891449 + ], + [ + 0.30017513036727905, + 0.09897207468748093, + 0.049132462590932846, + -0.0585063174366951, + 0.003955450374633074, + -0.5320208668708801, + 0.0, + 0.347801148891449 + ], + [ + 0.27800723910331726, + 0.08386416733264923, + 0.01958167552947998, + -0.09798327088356018, + -0.005430887453258038, + -0.40634971857070923, + 0.0, + 0.347801148891449 + ], + [ + 0.2706793546676636, + 0.06978722661733627, + -0.017886463552713394, + -0.17622110247612, + -0.016134578734636307, + -0.3913757801055908, + 0.0, + 0.347801148891449 + ], + [ + 0.27539628744125366, + 0.06954196840524673, + -0.038811128586530685, + -0.12701603770256042, + -0.016617005690932274, + -0.4479387700557709, + 0.0, + 0.347801148891449 + ], + [ + 0.2702651619911194, + 0.07678451389074326, + -0.04313049837946892, + -0.10250411182641983, + -0.046152692288160324, + -0.5161172747612, + 0.0, + 0.347801148891449 + ], + [ + 0.25450754165649414, + 0.09835775941610336, + -0.043762899935245514, + -0.0974193885922432, + -0.01712099276483059, + -0.5831301212310791, + 0.0, + 0.347801148891449 + ], + [ + 0.24467197060585022, + 0.13054317235946655, + -0.04073416441679001, + -0.08131291717290878, + 0.0012923561735078692, + -0.5824047923088074, + 0.0, + 0.347801148891449 + ], + [ + 0.24172848463058472, + 0.15648594498634338, + -0.042438775300979614, + -0.07812626659870148, + 0.04504818469285965, + -0.6546112895011902, + 0.0, + 0.347801148891449 + ], + [ + 0.23703743517398834, + 0.17249709367752075, + -0.043896112591028214, + -0.08282699435949326, + 0.03123997524380684, + -0.7541068196296692, + 0.0, + 0.347801148891449 + ], + [ + 0.24582043290138245, + 0.17452697455883026, + -0.043115001171827316, + -0.09633523970842361, + 0.0193804744631052, + -0.8016537427902222, + 0.0, + 0.347801148891449 + ], + [ + 0.2713039219379425, + 0.16095465421676636, + -0.044316332787275314, + -0.10425874590873718, + -0.030856622382998466, + -0.8655276894569397, + 0.0, + 0.347801148891449 + ], + [ + 0.3075835108757019, + 0.14498648047447205, + -0.04360136389732361, + -0.08687462657690048, + -0.07864593714475632, + -0.9209296703338623, + 0.0, + 0.347801148891449 + ], + [ + 0.34411585330963135, + 0.1353202760219574, + -0.03867986425757408, + -0.047504667192697525, + -0.1371249556541443, + -0.9846737384796143, + 0.0, + 0.347801148891449 + ], + [ + 0.35777032375335693, + 0.1317787766456604, + -0.03379443287849426, + -0.032883405685424805, + -0.19356107711791992, + -0.9800673723220825, + 0.0, + 0.347801148891449 + ], + [ + 0.3594529926776886, + 0.1310325562953949, + -0.03321773186326027, + -0.03296029567718506, + -0.20260049402713776, + -0.9565516114234924, + 0.0, + 0.347801148891449 + ], + [ + 0.34589114785194397, + 0.13125689327716827, + -0.014938506297767162, + -0.005873276386409998, + -0.1668533831834793, + -0.9048219919204712, + 0.0, + 0.347801148891449 + ], + [ + 0.3371792733669281, + 0.1349138468503952, + 0.03372785076498985, + 0.12225642800331116, + -0.15172353386878967, + -0.8706272840499878, + 0.0, + 0.347801148891449 + ], + [ + 0.33279988169670105, + 0.12004008144140244, + 0.0531669445335865, + 0.16885383427143097, + -0.13996441662311554, + -0.8794564008712769, + 0.0, + 0.347801148891449 + ], + [ + 0.3128679692745209, + 0.08603411912918091, + 0.029714126139879227, + 0.12483105063438416, + -0.11236252635717392, + -0.9290603399276733, + 0.0, + 0.347801148891449 + ], + [ + 0.2962847352027893, + 0.06715226918458939, + 0.0012844700831919909, + 0.11191549152135849, + -0.14484138786792755, + -0.9453338384628296, + 0.0, + 0.347801148891449 + ], + [ + 0.288021057844162, + 0.06042049825191498, + -0.028043244034051895, + 0.12672209739685059, + -0.17697110772132874, + -0.917255163192749, + 0.0, + 0.347801148891449 + ], + [ + 0.2883702516555786, + 0.05964824929833412, + -0.038848064839839935, + 0.1552879959344864, + -0.21969686448574066, + -0.9431584477424622, + 0.0, + 0.347801148891449 + ], + [ + 0.2856740355491638, + 0.05768316611647606, + -0.04076700285077095, + 0.16474929451942444, + -0.22968627512454987, + -0.971393883228302, + 0.0, + 0.400628000497818 + ], + [ + 0.27409183979034424, + 0.05351061373949051, + -0.029937777668237686, + 0.13119752705097198, + -0.21541091799736023, + -0.9422355890274048, + 0.0, + 0.7190925478935242 + ], + [ + 0.2694414258003235, + 0.05540241673588753, + 0.010878119617700577, + 0.1547088474035263, + -0.1583472043275833, + -0.8448619246482849, + 0.0, + 0.9907060265541077 + ], + [ + 0.26766088604927063, + 0.039085205644369125, + 0.0423014871776104, + 0.18895003199577332, + -0.05235634371638298, + -0.8091952800750732, + 0.0, + 1.0118417739868164 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9650423526763916 + ], + [ + 0.6671556830406189 + ], + [ + 0.37120094895362854 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.400628000497818 + ], + [ + 0.7190925478935242 + ], + [ + 0.9907060265541077 + ], + [ + 1.0118417739868164 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2379351705312729, + 0.006009924691170454, + 0.07308690994977951 + ], + [ + 0.23504704236984253, + 0.005637301132082939, + 0.06784263998270035 + ], + [ + 0.24383461475372314, + 0.01247810572385788, + 0.05176689848303795 + ], + [ + 0.2714826762676239, + 0.028597209602594376, + 0.03575872629880905 + ], + [ + 0.30818527936935425, + 0.03902954235672951, + 0.013839514926075935 + ], + [ + 0.3353818655014038, + 0.04318871349096298, + 0.002401524456217885 + ], + [ + 0.3566494882106781, + 0.042726363986730576, + -0.0010086849797517061 + ], + [ + 0.36053475737571716, + 0.04080386087298393, + -0.0012436325196176767 + ], + [ + 0.37409985065460205, + 0.03696947172284126, + -0.005812023766338825 + ], + [ + 0.37902775406837463, + 0.03716973587870598, + -0.018484560772776604 + ], + [ + 0.3827640116214752, + 0.033500853925943375, + -0.027273809537291527 + ], + [ + 0.38340210914611816, + 0.0322754941880703, + -0.02817237749695778 + ], + [ + 0.3824406862258911, + 0.0327686183154583, + -0.029989879578351974 + ], + [ + 0.38473519682884216, + 0.03349295258522034, + -0.031020261347293854 + ], + [ + 0.37960708141326904, + 0.029677925631403923, + -0.02704385668039322 + ], + [ + 0.3687532842159271, + 0.025639260187745094, + 0.00839515682309866 + ], + [ + 0.35106396675109863, + 0.01075777504593134, + 0.051965031772851944 + ], + [ + 0.3240449130535126, + -0.013368191197514534, + 0.06161729618906975 + ], + [ + 0.29993587732315063, + -0.04478416591882706, + 0.041501544415950775 + ], + [ + 0.29059669375419617, + -0.07428207248449326, + 0.031868670135736465 + ], + [ + 0.28191471099853516, + -0.08564333617687225, + 0.014582947827875614 + ], + [ + 0.2727438509464264, + -0.0974322259426117, + -0.0015920796431601048 + ], + [ + 0.2668735384941101, + -0.10558035969734192, + -0.01924644224345684 + ], + [ + 0.27741798758506775, + -0.11943943053483963, + -0.035025566816329956 + ], + [ + 0.2919284701347351, + -0.13230422139167786, + -0.04296909272670746 + ], + [ + 0.3081967830657959, + -0.14071321487426758, + -0.05071365833282471 + ], + [ + 0.3344544768333435, + -0.14617373049259186, + -0.05264943093061447 + ], + [ + 0.36456143856048584, + -0.14982321858406067, + -0.05093911662697792 + ], + [ + 0.3852660357952118, + -0.15260301530361176, + -0.0498945452272892 + ], + [ + 0.3888484537601471, + -0.14474891126155853, + -0.04248944669961929 + ], + [ + 0.38859477639198303, + -0.12715551257133484, + -0.04042216017842293 + ], + [ + 0.38085654377937317, + -0.09267602115869522, + -0.04414914548397064 + ], + [ + 0.37386783957481384, + -0.04476206749677658, + -0.04603659734129906 + ], + [ + 0.37194448709487915, + -0.0007271830691024661, + -0.04750543460249901 + ], + [ + 0.368821918964386, + 0.04082192853093147, + -0.047873396426439285 + ], + [ + 0.35594168305397034, + 0.09925222396850586, + -0.045509301126003265 + ], + [ + 0.3238224685192108, + 0.1567712426185608, + -0.044851843267679214 + ], + [ + 0.3083479404449463, + 0.1821039617061615, + -0.04376590996980667 + ], + [ + 0.3081710636615753, + 0.17739510536193848, + -0.038713131099939346 + ], + [ + 0.31581422686576843, + 0.16046205163002014, + -0.008949614129960537 + ], + [ + 0.33625274896621704, + 0.1259079873561859, + 0.03025670535862446 + ], + [ + 0.34815800189971924, + 0.07336629927158356, + 0.052397534251213074 + ], + [ + 0.34604355692863464, + 0.02504861354827881, + 0.0438004732131958 + ], + [ + 0.33728015422821045, + -0.019656414166092873, + 0.0064408243633806705 + ], + [ + 0.31409966945648193, + -0.07124623656272888, + -0.01855173520743847 + ], + [ + 0.29315125942230225, + -0.08065944910049438, + -0.038499973714351654 + ], + [ + 0.28341174125671387, + -0.04791710898280144, + -0.04570803791284561 + ], + [ + 0.2803589403629303, + -0.00566378328949213, + -0.04855993390083313 + ], + [ + 0.2754501402378082, + 0.03750060126185417, + -0.049367330968379974 + ], + [ + 0.26946622133255005, + 0.07689206302165985, + -0.052883367985486984 + ], + [ + 0.27314525842666626, + 0.0978054404258728, + -0.05355735123157501 + ], + [ + 0.2777751684188843, + 0.11348500102758408, + -0.054267898201942444 + ], + [ + 0.2856009304523468, + 0.12972711026668549, + -0.05311688780784607 + ], + [ + 0.29972898960113525, + 0.14731109142303467, + -0.050066594034433365 + ], + [ + 0.319597065448761, + 0.1559009552001953, + -0.04716084524989128 + ], + [ + 0.34229525923728943, + 0.1577797681093216, + -0.042597733438014984 + ], + [ + 0.36358842253685, + 0.14977695047855377, + -0.035476069897413254 + ], + [ + 0.37728938460350037, + 0.14051242172718048, + -0.028302468359470367 + ], + [ + 0.36780092120170593, + 0.13644376397132874, + -0.028264472261071205 + ], + [ + 0.348237007856369, + 0.13263438642024994, + 0.019651377573609352 + ], + [ + 0.3238584101200104, + 0.11527272313833237, + 0.04986078664660454 + ], + [ + 0.30017513036727905, + 0.09897207468748093, + 0.049132462590932846 + ], + [ + 0.27800723910331726, + 0.08386416733264923, + 0.01958167552947998 + ], + [ + 0.2706793546676636, + 0.06978722661733627, + -0.017886463552713394 + ], + [ + 0.27539628744125366, + 0.06954196840524673, + -0.038811128586530685 + ], + [ + 0.2702651619911194, + 0.07678451389074326, + -0.04313049837946892 + ], + [ + 0.25450754165649414, + 0.09835775941610336, + -0.043762899935245514 + ], + [ + 0.24467197060585022, + 0.13054317235946655, + -0.04073416441679001 + ], + [ + 0.24172848463058472, + 0.15648594498634338, + -0.042438775300979614 + ], + [ + 0.23703743517398834, + 0.17249709367752075, + -0.043896112591028214 + ], + [ + 0.24582043290138245, + 0.17452697455883026, + -0.043115001171827316 + ], + [ + 0.2713039219379425, + 0.16095465421676636, + -0.044316332787275314 + ], + [ + 0.3075835108757019, + 0.14498648047447205, + -0.04360136389732361 + ], + [ + 0.34411585330963135, + 0.1353202760219574, + -0.03867986425757408 + ], + [ + 0.35777032375335693, + 0.1317787766456604, + -0.03379443287849426 + ], + [ + 0.3594529926776886, + 0.1310325562953949, + -0.03321773186326027 + ], + [ + 0.34589114785194397, + 0.13125689327716827, + -0.014938506297767162 + ], + [ + 0.3371792733669281, + 0.1349138468503952, + 0.03372785076498985 + ], + [ + 0.33279988169670105, + 0.12004008144140244, + 0.0531669445335865 + ], + [ + 0.3128679692745209, + 0.08603411912918091, + 0.029714126139879227 + ], + [ + 0.2962847352027893, + 0.06715226918458939, + 0.0012844700831919909 + ], + [ + 0.288021057844162, + 0.06042049825191498, + -0.028043244034051895 + ], + [ + 0.2883702516555786, + 0.05964824929833412, + -0.038848064839839935 + ], + [ + 0.2856740355491638, + 0.05768316611647606, + -0.04076700285077095 + ], + [ + 0.27409183979034424, + 0.05351061373949051, + -0.029937777668237686 + ], + [ + 0.2694414258003235, + 0.05540241673588753, + 0.010878119617700577 + ], + [ + 0.26766088604927063, + 0.039085205644369125, + 0.0423014871776104 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9954582319342006, + 0.09516051049831213, + -0.0027176674070807363, + 0.09515570988428547, + -0.9937329421199866, + 0.058653479197507845, + 0.0028808593947950425, + -0.058645690270090735, + -0.9982747035069512 + ], + [ + 0.9955273632519179, + 0.09087817497689715, + -0.02581523444697904, + 0.09221351092138969, + -0.9941423280657722, + 0.05637109145224748, + -0.02054111536004744, + -0.05849947744070339, + -0.9980760861371892 + ], + [ + 0.9916905546204302, + -0.12649039689604208, + -0.02345257703761671, + -0.1255503396103026, + -0.9913603918045288, + 0.03796953759145388, + -0.028052737840739785, + -0.0347095527809406, + -0.9990036490651002 + ], + [ + 0.9357569182417693, + -0.3526215299741354, + 0.0041287481597574146, + -0.3525750428813083, + -0.9357396619851144, + -0.009062236215617471, + 0.007058973006771117, + 0.007024356674032566, + -0.9999504134272887 + ], + [ + 0.8062818416583561, + -0.5822213129043008, + 0.10453676201223223, + -0.576098327612615, + -0.8129911533173138, + -0.08459374415246344, + 0.13423974349631998, + 0.007982946058739074, + -0.9909167290132234 + ], + [ + 0.6487119439326186, + -0.7411144819240668, + 0.1729801678851797, + -0.737296891989977, + -0.6683538568486685, + -0.09847037675072265, + 0.18858978461486955, + -0.06365883063590885, + -0.9799905338425394 + ], + [ + 0.5564368243761226, + -0.8069433302560373, + 0.1980417184168843, + -0.8069428592090467, + -0.58163598551333, + -0.10267814922108115, + 0.1980436377411434, + -0.10267444721659746, + -0.9748008388583902 + ], + [ + 0.5092837959722878, + -0.8357355564094782, + 0.20536819352810565, + -0.8464290935803953, + -0.5295524780788984, + -0.05596393929280357, + 0.15552428974513255, + -0.14532808645763595, + -0.9770833856871348 + ], + [ + 0.4859511734281667, + -0.8565346838619115, + 0.17378087462480893, + -0.865168277107456, + -0.49961648377898404, + -0.04321135757229228, + 0.12383581602551089, + -0.12935108997569322, + -0.9838358532760412 + ], + [ + 0.4676648842494144, + -0.8762399536474204, + 0.11615980230677435, + -0.8790601308077981, + -0.4748092035021754, + -0.04253829679015038, + 0.09242749841989124, + -0.0822177833658681, + -0.9923191994687216 + ], + [ + 0.4460835147008523, + -0.8886894481498899, + 0.10602151979281496, + -0.8923748341427566, + -0.45069914149584633, + -0.0231827358953627, + 0.06838606072016112, + -0.08426949983209125, + -0.9940935560083001 + ], + [ + 0.43312678297867874, + -0.8954220567390493, + 0.10305595650786745, + -0.8995119176378646, + -0.4366814760827354, + -0.013696659215118867, + 0.05726691797182931, + -0.0867676711189965, + -0.994581254274679 + ], + [ + 0.4326441920009189, + -0.8964239441602043, + 0.09614112264860716, + -0.9002755452084724, + -0.4352628623185482, + -0.007084023281441636, + 0.04819694832102398, + -0.08348864008071441, + -0.9953425044425729 + ], + [ + 0.4366449935711779, + -0.8940181557910035, + 0.10036277549609317, + -0.8983963362545416, + -0.4391719897677824, + -0.003462139197592057, + 0.04717173511375945, + -0.08865382405435208, + -0.9949448863564743 + ], + [ + 0.48887962722929035, + -0.8651650744223301, + 0.11174123715063267, + -0.8718618472462921, + -0.4888704450146112, + 0.029370177178545454, + 0.02921693680783971, + -0.1117814027064421, + -0.9933032208809891 + ], + [ + 0.5662107461755085, + -0.8141531700926629, + 0.1286856889612872, + -0.8241523630037094, + -0.5566653368278626, + 0.10438671050341586, + -0.0133519088813406, + -0.16516149188715112, + -0.9861761547141741 + ], + [ + 0.6836985672136852, + -0.7163721791769478, + 0.1391659803659822, + -0.7284556544646218, + -0.658531474000762, + 0.1889144177369827, + -0.043687854931015145, + -0.23053676203949497, + -0.972082389862028 + ], + [ + 0.8352504022021929, + -0.5439369268383197, + 0.08055672065545014, + -0.5490504373775965, + -0.8170127120534725, + 0.17616425732395427, + -0.030006379930703337, + -0.19137096949306312, + -0.9810590039333721 + ], + [ + 0.9286841270748062, + -0.3670243427600619, + 0.053281553476314185, + -0.37034057564781153, + -0.925419849131235, + 0.08028674151296254, + 0.019840618643386453, + -0.0942933436434741, + -0.995346731142661 + ], + [ + 0.8951941806921309, + -0.4451021310703308, + 0.022615741676866266, + -0.44556886073229895, + -0.894939557117703, + 0.023485728681284207, + 0.009786173954403884, + -0.03110115789837717, + -0.9994683330534861 + ], + [ + 0.7699480129465487, + -0.6380194154058485, + -0.010549072226520462, + -0.6346990517988906, + -0.7674379415320016, + 0.09053242260490389, + -0.06585720162024929, + -0.06300977275235241, + -0.995837636129729 + ], + [ + 0.6981394576913024, + -0.7140362961323988, + -0.05247347348917831, + -0.7110200052922137, + -0.7000523688441385, + 0.06616066013856647, + -0.08397529213259583, + -0.008879677991660975, + -0.9964282721952492 + ], + [ + 0.645597102731226, + -0.75604419312238, + -0.10771053333344874, + -0.7566352069235887, + -0.6523599676415472, + 0.04392762527632598, + -0.10347726604788457, + 0.05313803406834506, + -0.9932113595537488 + ], + [ + 0.615217177992218, + -0.7714818193367535, + -0.16224557416504187, + -0.7790350073549922, + -0.6264843971796786, + 0.024935063782186635, + -0.12088126909781644, + 0.11105450248984552, + -0.9864353076902884 + ], + [ + 0.5819734271114321, + -0.7827721367846671, + -0.22039671506113953, + -0.8018591992946297, + -0.5974943571775039, + 0.004724155757051873, + -0.13538373108594012, + 0.1739778003499523, + -0.9753988775586334 + ], + [ + 0.5697030078255509, + -0.7842727499569825, + -0.24567201010581768, + -0.8090934840575511, + -0.5876799344342776, + -0.00016946662468114715, + -0.14424360273555947, + 0.1988681682377448, + -0.9693529980000218 + ], + [ + 0.6164266251270869, + -0.7581915802813161, + -0.21251763085671402, + -0.7801556016273626, + -0.6246383364451592, + -0.034412002157271804, + -0.10665576910733829, + 0.1870092945111146, + -0.9765511101230582 + ], + [ + 0.6652390527418086, + -0.7220834754491233, + -0.18987484612369454, + -0.7425421393842536, + -0.6664217456659345, + -0.06718056372362924, + -0.07802675147561368, + 0.18568120903011187, + -0.9795071794873578 + ], + [ + 0.7510956714946098, + -0.6421324584093278, + -0.15336622222397706, + -0.6575617957976729, + -0.7483570305051448, + -0.0870301074391007, + -0.05888783379782996, + 0.1662157054875227, + -0.9843294988365859 + ], + [ + 0.8371376511007995, + -0.5320472487237753, + -0.1269892839372575, + -0.5461181895530807, + -0.8260834421826929, + -0.1390721740351356, + -0.030910777225777078, + 0.1857737109417122, + -0.9821062326318084 + ], + [ + 0.93546107587658, + -0.35137142697594254, + -0.03808800105967167, + -0.35255730557514814, + -0.9201500692296188, + -0.17037369627474624, + 0.024817771967348728, + 0.17280616424658501, + -0.9846431372801819 + ], + [ + 0.9940222582951243, + -0.10276692551124723, + 0.03686067056941135, + -0.09528473312761367, + -0.9814087765603987, + -0.1666062211414098, + 0.05329699472447154, + 0.16209803302688983, + -0.9853342874589073 + ], + [ + 0.9833865416339429, + 0.15515844346270027, + 0.0942165970276259, + 0.16834919553865782, + -0.9736753574049275, + -0.15367122939533556, + 0.06789299002636985, + 0.166979507139706, + -0.9836200415306007 + ], + [ + 0.9557436633598531, + 0.2748693816726787, + 0.10488504643831431, + 0.28775673446477923, + -0.9475929175323871, + -0.13879381979261715, + 0.06123815573361627, + 0.1628326922375792, + -0.9847514420507377 + ], + [ + 0.9427115951386768, + 0.31580760816267484, + 0.10751931462608107, + 0.32524376886534845, + -0.9417522206591923, + -0.08555259024567215, + 0.0742383944152591, + 0.11562140593354896, + -0.9905151948781977 + ], + [ + 0.93516172976796, + 0.33953224836170587, + 0.1009474690115715, + 0.33981361781194624, + -0.9403743530435024, + 0.014925859692867955, + 0.09999622156338636, + 0.020345231885125173, + -0.9947797883012033 + ], + [ + 0.9440443082391647, + 0.32553666816320337, + 0.05297378372777479, + 0.32026545732795775, + -0.9431755735818161, + 0.08859951603212014, + 0.07880597010221178, + -0.06667619575089954, + -0.9946576818164311 + ], + [ + 0.9618651844428686, + 0.2729632888726393, + 0.017504567533035, + 0.269091036353755, + -0.9558116962348469, + 0.1183808071214558, + 0.04904468483687774, + -0.10915605465798603, + -0.9928139677808498 + ], + [ + 0.9796976399186117, + 0.19633831151163764, + 0.04054382530869526, + 0.19274340833665557, + -0.9780664862146714, + 0.0789678864251527, + 0.055158978241734276, + -0.06955009688307917, + -0.9960523435758196 + ], + [ + 0.9797513281186464, + 0.15268401556462846, + 0.12951805449746814, + 0.14741132463755685, + -0.987839799921161, + 0.04942095770340546, + 0.13548887931616252, + -0.02932782096885589, + -0.9903447089265784 + ], + [ + 0.9747059819166393, + 0.06119365253168095, + 0.21495019354667325, + 0.05259687781021609, + -0.9975789875006286, + 0.045494308895051204, + 0.21721375937204715, + -0.0330378659579131, + -0.9755648016161764 + ], + [ + 0.9668017406258383, + -0.047455253216157685, + 0.25108244316367273, + -0.06853463329416301, + -0.9947586543771361, + 0.07588295975397644, + 0.24616538822930245, + -0.09057162074280972, + -0.9649867269314832 + ], + [ + 0.956067973511917, + -0.1421334532926191, + 0.25638274411498846, + -0.14965422258094582, + -0.9886882135104128, + 0.009961432089889439, + 0.25206674451126926, + -0.04789256644515533, + -0.9665240081812697 + ], + [ + 0.9494015421182799, + -0.2651186253610028, + 0.16837109701526493, + -0.2365276782202255, + -0.9562729647938788, + -0.17203683977588655, + 0.20661889860121935, + 0.12350761632796921, + -0.9705949203709041 + ], + [ + 0.9455638765137879, + -0.3125337584438048, + 0.09072819443374353, + -0.2736325453914229, + -0.9144383960784549, + -0.2982073940734425, + 0.17616522226259246, + 0.25714795276348595, + -0.950179322472721 + ], + [ + 0.9650384914411481, + -0.2602702533341483, + 0.030985565451853506, + -0.23492966308480348, + -0.911327409276956, + -0.3380686417037404, + 0.11622720610878313, + 0.3189698235412396, + -0.9406112311843914 + ], + [ + 0.9496360761457406, + -0.31227311884216363, + -0.02601580540957665, + -0.30716673587273763, + -0.9112504564053923, + -0.27435597692460056, + 0.061967082034003085, + 0.26852952342256897, + -0.961276222422379 + ], + [ + 0.9142552254314307, + -0.3966274422220244, + -0.08260783768952454, + -0.4050775080524891, + -0.8984573660014191, + -0.16937111308537156, + -0.007042388892254815, + 0.18831100221231578, + -0.982084197614687 + ], + [ + 0.8977485490383882, + -0.42215628824568224, + -0.125823729852905, + -0.43556298256300446, + -0.893368536406805, + -0.11035192059580357, + -0.06582120418442827, + 0.15387243565041514, + -0.9858959593317747 + ], + [ + 0.8600814540276042, + -0.4851716016688032, + -0.15769720787601288, + -0.49805299029228617, + -0.8654869215137095, + -0.053624691604091314, + -0.1104676934613653, + 0.1246631686700212, + -0.9860304169134316 + ], + [ + 0.7699633042336474, + -0.6133410991943103, + -0.1759806982959186, + -0.6257456578433794, + -0.7797681251196978, + -0.02010081434837592, + -0.12489548360032995, + 0.12559604725637946, + -0.9841883717509637 + ], + [ + 0.6742303409946511, + -0.7153665352038058, + -0.18347797577022268, + -0.7259682757408389, + -0.6876019516329154, + 0.01317644597298398, + -0.1355858027232556, + 0.12431523004486542, + -0.9829355084026532 + ], + [ + 0.6033114494258178, + -0.7787482749667671, + -0.17194888550962892, + -0.7851621275182676, + -0.6177906435301052, + 0.043071501920020905, + -0.13977027045372206, + 0.10902222251882054, + -0.9841638209639441 + ], + [ + 0.605464431780161, + -0.7829197665901546, + -0.14300161163967512, + -0.7886954231810133, + -0.614315343544728, + 0.024003919239263864, + -0.10664122702993019, + 0.09825119728502271, + -0.9894313270407453 + ], + [ + 0.6266324434508912, + -0.7723364026251127, + -0.10405893519955564, + -0.7774706024080908, + -0.6287323763058784, + -0.015331711449266261, + -0.053583982737063475, + 0.09051011084328074, + -0.994452953451882 + ], + [ + 0.6354958717580184, + -0.7697767589132678, + -0.05990607995438449, + -0.772082444253547, + -0.6341455883636555, + -0.04180995137980354, + -0.005804847455766867, + 0.07282248413709821, + -0.997328025049992 + ], + [ + 0.5913279780184972, + -0.8063701472258246, + -0.009920084453155373, + -0.8053355707445905, + -0.5898389388720318, + -0.05936871805758099, + 0.04202190983332994, + 0.04309538088145603, + -0.9981868298272834 + ], + [ + 0.5735586189783934, + -0.819149389655656, + 0.004978757110394069, + -0.8162824303626596, + -0.5720394853469459, + -0.08033567753639041, + 0.06865496687660508, + 0.04201314830820779, + -0.9967554318349133 + ], + [ + 0.6062605949643625, + -0.7949036513158498, + -0.024005751773002026, + -0.7950889077969145, + -0.6052122565181404, + -0.039392299482642064, + 0.016784507492526735, + 0.04296870587940096, + -0.9989354186449106 + ], + [ + 0.7715012418301993, + -0.6356083340557831, + 0.02806919188883695, + -0.635939589190211, + -0.7717287126759907, + 0.003953850280889659, + 0.019148701132085236, + -0.020900710760405228, + -0.9995981630308571 + ], + [ + 0.8691352684654408, + -0.4945741359236949, + -0.0005560439165776714, + -0.49438216294748205, + -0.8687654605119541, + -0.028859168054915986, + 0.013789926354986298, + 0.02535741896927013, + -0.9995833328113976 + ], + [ + 0.8617769522718286, + -0.5062086548884952, + -0.033064818902553826, + -0.5072719576588152, + -0.8604265023030866, + -0.04838796448983666, + -0.003955440060416879, + 0.05847248797902159, + -0.9982811841577861 + ], + [ + 0.918556199344308, + -0.39385108274119396, + -0.03370212559660342, + -0.39525310169255456, + -0.9139538121945914, + -0.09199681938735073, + 0.005430860756377536, + 0.09782511844389917, + -0.9951888021641331 + ], + [ + 0.9242648115454598, + -0.37816748961083196, + -0.052191071461282046, + -0.38141087569279525, + -0.9089904249493704, + -0.16811350705287703, + 0.016133878705705682, + 0.17528764118386658, + -0.9843850571834709 + ], + [ + 0.9012173142739033, + -0.43151678807799304, + -0.04000767501098822, + -0.4330487882315884, + -0.8931691835729879, + -0.12131593682082724, + 0.016616240973378337, + 0.12665729794376013, + -0.9918073549906251 + ], + [ + 0.8688157408924025, + -0.4950224560598377, + -0.010581888965199734, + -0.4929813884352012, + -0.8628468635591435, + -0.11164515530308551, + 0.046136309281161705, + 0.10221574263602888, + -0.9936917947348052 + ], + [ + 0.8346208331979481, + -0.5494186238761154, + -0.03933497845478801, + -0.5505587752810852, + -0.8298683008865386, + -0.0905739374471538, + 0.01712015633557306, + 0.0972511127019383, + -0.9951126174083416 + ], + [ + 0.8351416513748948, + -0.5481288520473412, + -0.045751324484408294, + -0.5500334098536782, + -0.8324407132985997, + -0.0671245624764456, + -0.001292355813762365, + 0.08122327496587725, + -0.9966950935066693 + ], + [ + 0.7924798691664204, + -0.6042056100182253, + -0.08313385464705438, + -0.6082332532748612, + -0.7930048099417505, + -0.03457862085056167, + -0.045032949899509914, + 0.07796763579686569, + -0.9959382918592877 + ], + [ + 0.7285276961517279, + -0.6804073120758025, + -0.07933023139785322, + -0.6843038633012668, + -0.7281537818672265, + -0.03899093001476763, + -0.03123489412206525, + 0.08269195623660633, + -0.9960855494198008 + ], + [ + 0.6953888192934363, + -0.713879353354792, + -0.08252671601017955, + -0.7183723506892017, + -0.6936338649495709, + -0.053039863879833254, + -0.019379261259174912, + 0.09616823929377469, + -0.995176423547194 + ], + [ + 0.6479298239485183, + -0.7593841401375715, + -0.059352093017544176, + -0.7610749728110676, + -0.6422736785978841, + -0.0908262491847719, + 0.03085172602423692, + 0.1040204282238009, + -0.9940965353090525 + ], + [ + 0.6032099458757851, + -0.7972866302352417, + -0.021720737663944886, + -0.7937035463067359, + -0.597371127303715, + -0.11481470656671292, + 0.07856488895584357, + 0.08649719944612236, + -0.993149431209289 + ], + [ + 0.5479427248568454, + -0.8357423593425349, + 0.03596497013801942, + -0.8252715164425074, + -0.5471031425725439, + -0.14001812574067352, + 0.13669562694226833, + 0.04704104790308026, + -0.9894955509687955 + ], + [ + 0.5465655030178674, + -0.8336082337979412, + 0.0797713197527907, + -0.8150250467760848, + -0.55141307436412, + -0.1779825681013446, + 0.1923546829127533, + 0.032263508249814984, + -0.9807949541045508 + ], + [ + 0.564553333966282, + -0.8205868312798118, + 0.08897631953341778, + -0.8004943009645048, + -0.5706095289283891, + -0.18334022913553472, + 0.20121731344718846, + 0.03228030090131054, + -0.9790145938354629 + ], + [ + 0.609245346350408, + -0.7869042727632561, + 0.09798863942979545, + -0.7753950319101656, + -0.6170479089917369, + -0.13421781736400923, + 0.16608025902979773, + 0.005791676428831619, + -0.9860952307179764 + ], + [ + 0.6369447418585741, + -0.7471486317619436, + 0.1899218730819871, + -0.7559480566910421, + -0.6536331915224933, + -0.036141202596993806, + 0.15114209011308422, + -0.12055112192085024, + -0.9811337806843026 + ], + [ + 0.6313352009021689, + -0.7444882997508229, + 0.2171474974204099, + -0.7628587128082933, + -0.6465641105732053, + 0.001198002985691976, + 0.1395078793269105, + -0.16640920182732935, + -0.9761380686936143 + ], + [ + 0.5948122612179284, + -0.7864679873727808, + 0.1663324344276314, + -0.7960063317968041, + -0.6051123719615246, + -0.014592362334238974, + 0.11212623976666208, + -0.1237219549510313, + -0.9859617559616012 + ], + [ + 0.5793416809221913, + -0.7961831125128984, + 0.17451552393848344, + -0.8022035189941621, + -0.5948776541110707, + -0.05089293421185628, + 0.14433548025219936, + -0.11051256936920203, + -0.9833383146973296 + ], + [ + 0.5985055579774254, + -0.7740417677014909, + 0.20651982695054272, + -0.7815356146848215, + -0.6207911659002731, + -0.0618094759676733, + 0.17604880019287067, + -0.12440928499807075, + -0.9764881718469097 + ], + [ + 0.5731194302266268, + -0.7798834880576536, + 0.25162643690942854, + -0.7899613816756524, + -0.6074510133180777, + -0.08345227306631664, + 0.2179337838835485, + -0.15094704857620928, + -0.9642198164154949 + ], + [ + 0.549333428303597, + -0.7934278827539866, + 0.2621163470994197, + -0.8039889443729725, + -0.5873404245816006, + -0.09291395470185812, + 0.22767204895254645, + -0.15969790393374525, + -0.9605529749081609 + ], + [ + 0.5743921418524998, + -0.7854814065434593, + 0.23041837459848305, + -0.7901804154985116, + -0.605546553652818, + -0.09448958843065602, + 0.21374886746061963, + -0.1277980098972753, + -0.9684932061329076 + ], + [ + 0.6555294879092941, + -0.7228170861910104, + 0.21866995767986994, + -0.7385229311063843, + -0.6740781768182865, + -0.014229960202667452, + 0.15768630476808473, + -0.15216461956602234, + -0.975695115208083 + ], + [ + 0.6891354534764659, + -0.7040679573413532, + 0.17140781256104085, + -0.7227403709636874, + -0.6849128984527231, + 0.0924157871381403, + 0.05233242724217979, + -0.18757034141426765, + -0.9808560975396328 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.002888128161430359, + -0.0003726235590875149, + -0.005244269967079163, + -0.00013434141874313354, + 0.02342342399060726, + -0.002936050295829773, + 1.0 + ], + [ + 0.008787572383880615, + 0.0068408045917749405, + -0.0160757414996624, + -0.023815061897039413, + 0.007513858377933502, + -0.218296617269516, + 1.0 + ], + [ + 0.027648061513900757, + 0.016119103878736496, + -0.016008172184228897, + -0.041754789650440216, + -0.035115450620651245, + -0.23439845442771912, + 1.0 + ], + [ + 0.03670260310173035, + 0.010432332754135132, + -0.021919211372733116, + -0.0010313582606613636, + -0.1275871843099594, + -0.26006871461868286, + 1.0 + ], + [ + 0.02719658613204956, + 0.004159171134233475, + -0.011437990702688694, + 0.07292342931032181, + -0.05507974326610565, + -0.22882550954818726, + 1.0 + ], + [ + 0.021267622709274292, + -0.0004623495042324066, + -0.003410209435969591, + 0.040074221789836884, + -0.00963565707206726, + -0.11788535118103027, + 1.0 + ], + [ + 0.0038852691650390625, + -0.001922503113746643, + -0.0002349475398659706, + 0.04271244257688522, + 0.0432034432888031, + -0.06202828884124756, + 1.0 + ], + [ + 0.013565093278884888, + -0.0038343891501426697, + -0.004568391479551792, + -0.016927659511566162, + 0.032003648579120636, + -0.029888272285461426, + 1.0 + ], + [ + 0.004927903413772583, + 0.00020026415586471558, + -0.012672537006437778, + -0.04806113243103027, + 0.03159492462873459, + -0.022846341133117676, + 1.0 + ], + [ + 0.003736257553100586, + -0.0036688819527626038, + -0.008789248764514923, + 0.001902654767036438, + 0.024120129644870758, + -0.025368571281433105, + 0.0 + ], + [ + 0.0006380975246429443, + -0.0012253597378730774, + -0.0008985679596662521, + 0.002452075481414795, + 0.011141210794448853, + -0.014805436134338379, + 0.0 + ], + [ + -0.0009614229202270508, + 0.0004931241273880005, + -0.0018175020813941956, + -0.003336668014526367, + 0.00908263772726059, + -0.0007669925689697266, + 0.0 + ], + [ + 0.00229451060295105, + 0.0007243342697620392, + -0.0010303817689418793, + 0.005186140537261963, + 0.0010263808071613312, + 0.004424929618835449, + 0.0 + ], + [ + -0.00512811541557312, + -0.003815026953816414, + 0.003976404666900635, + 0.02319399267435074, + 0.017968151718378067, + 0.058637380599975586, + 0.0 + ], + [ + -0.010853797197341919, + -0.004038665443658829, + 0.03543901443481445, + 0.053873129189014435, + 0.04257339984178543, + 0.09091830253601074, + 0.0 + ], + [ + -0.01768931746482849, + -0.014881485141813755, + 0.04356987401843071, + 0.06691901385784149, + 0.030349459499120712, + 0.15175193548202515, + 0.0 + ], + [ + -0.02701905369758606, + -0.024125967174768448, + 0.009652264416217804, + -0.04020911455154419, + -0.013690879568457603, + 0.23555809259414673, + 0.0 + ], + [ + -0.02410903573036194, + -0.03141597658395767, + -0.020115751773118973, + -0.09819429367780685, + -0.049852803349494934, + 0.20206952095031738, + 0.0 + ], + [ + -0.009339183568954468, + -0.0294979065656662, + -0.00963287428021431, + -0.06334462016820908, + 0.01005559042096138, + -0.0823792815208435, + 0.0 + ], + [ + -0.00868198275566101, + -0.011361263692378998, + -0.017285723239183426, + 0.032081238925457, + 0.07569123059511185, + -0.22757387161254883, + 0.0 + ], + [ + -0.009170860052108765, + -0.011788889765739441, + -0.016175027936697006, + -0.054277632385492325, + 0.018169403076171875, + -0.10513120889663696, + 0.0 + ], + [ + -0.005870312452316284, + -0.008148133754730225, + -0.017654363065958023, + -0.062361545860767365, + 0.019588522613048553, + -0.06988143920898438, + 0.0 + ], + [ + 0.010544449090957642, + -0.013859070837497711, + -0.015779124572873116, + -0.058659303933382034, + 0.01751478761434555, + -0.03793710470199585, + 0.0 + ], + [ + 0.014510482549667358, + -0.012864790856838226, + -0.007943525910377502, + -0.06439999490976334, + 0.014623135328292847, + -0.04061996936798096, + 0.0 + ], + [ + 0.01626831293106079, + -0.008408993482589722, + -0.0077445656061172485, + -0.02583831548690796, + 0.008947789669036865, + -0.01433020830154419, + 0.0 + ], + [ + 0.026257693767547607, + -0.00546051561832428, + -0.0019357725977897644, + 0.013138845562934875, + -0.0378895178437233, + 0.055206298828125, + 0.0 + ], + [ + 0.030106961727142334, + -0.003649488091468811, + 0.001710314303636551, + 0.0018660575151443481, + -0.028752878308296204, + 0.06184655427932739, + 0.0 + ], + [ + 0.020704597234725952, + -0.0027797967195510864, + 0.0010445713996887207, + 0.020059213042259216, + -0.01918422058224678, + 0.1211581826210022, + 0.0 + ], + [ + 0.0035824179649353027, + 0.007854104042053223, + 0.007405098527669907, + -0.019665837287902832, + -0.02800622023642063, + 0.14106112718582153, + 0.0 + ], + [ + -0.0002536773681640625, + 0.017593398690223694, + 0.0020672865211963654, + 0.013217568397521973, + -0.05573602020740509, + 0.2176164984703064, + 0.0 + ], + [ + -0.007738232612609863, + 0.03447949141263962, + -0.0037269853055477142, + 0.010681793093681335, + -0.02850193902850151, + 0.2648528218269348, + 0.0 + ], + [ + -0.006988704204559326, + 0.04791395366191864, + -0.001887451857328415, + -0.005106806755065918, + -0.014622997492551804, + 0.2651154696941376, + 0.0 + ], + [ + -0.0019233524799346924, + 0.04403488337993622, + -0.0014688372611999512, + 0.004285737872123718, + 0.006668761372566223, + 0.12289898097515106, + 0.0 + ], + [ + -0.003122568130493164, + 0.041549112647771835, + -0.0003679618239402771, + 0.047668635845184326, + -0.013030260801315308, + 0.03977268934249878, + 0.0 + ], + [ + -0.01288023591041565, + 0.05843029543757439, + 0.00236409530043602, + 0.09575353562831879, + -0.0258568674325943, + 0.016318023204803467, + 0.0 + ], + [ + -0.03211921453475952, + 0.05751901865005493, + 0.0006574578583240509, + 0.08738332241773605, + 0.021275855600833893, + -0.021474838256835938, + 0.0 + ], + [ + -0.015474528074264526, + 0.025332719087600708, + 0.0010859332978725433, + 0.04257212579250336, + 0.02982340008020401, + -0.054278790950775146, + 0.0 + ], + [ + -0.00017687678337097168, + -0.0047088563442230225, + 0.005052778869867325, + -0.0397937074303627, + -0.006122618913650513, + -0.07852905988693237, + 0.0 + ], + [ + 0.007643163204193115, + -0.016933053731918335, + 0.029763516038656235, + -0.040107496082782745, + -0.08071988821029663, + -0.044918984174728394, + 0.0 + ], + [ + 0.02043852210044861, + -0.03455406427383423, + 0.03920631855726242, + 0.004247337579727173, + -0.08305229246616364, + -0.0954282358288765, + 0.0 + ], + [ + 0.011905252933502197, + -0.052541688084602356, + 0.022140828892588615, + 0.05973129719495773, + -0.02976273000240326, + -0.12467911094427109, + 0.0 + ], + [ + -0.0021144449710845947, + -0.04831768572330475, + -0.008597061038017273, + -0.04407288134098053, + -0.006093472242355347, + -0.08450137078762054, + 0.0 + ], + [ + -0.008763402700424194, + -0.04470502585172653, + -0.03735964745283127, + -0.17608001828193665, + 0.04669734835624695, + -0.08889193832874298, + 0.0 + ], + [ + -0.023180484771728516, + -0.05158982425928116, + -0.024992559105157852, + -0.137730672955513, + 0.031028643250465393, + -0.037527650594711304, + 0.0 + ], + [ + -0.020948410034179688, + -0.009413212537765503, + -0.019948238506913185, + -0.06263986229896545, + 0.060598887503147125, + 0.04289481043815613, + 0.0 + ], + [ + -0.009739518165588379, + 0.03274234011769295, + -0.0072080641984939575, + 0.05453673005104065, + 0.05448368191719055, + -0.07404020428657532, + 0.0 + ], + [ + -0.0030528008937835693, + 0.04225332662463188, + -0.0028518959879875183, + 0.08295612037181854, + 0.06904925405979156, + -0.10423862934112549, + 0.0 + ], + [ + -0.00490880012512207, + 0.04316438362002373, + -0.0008073970675468445, + 0.034622207283973694, + 0.05882637947797775, + -0.034640878438949585, + 0.0 + ], + [ + -0.005983918905258179, + 0.03939146175980568, + -0.00351603701710701, + 0.029062554240226746, + 0.044824786484241486, + -0.0731770396232605, + 0.0 + ], + [ + 0.003679037094116211, + 0.02091337740421295, + -0.000673983246088028, + -0.0011656880378723145, + 0.014528878033161163, + -0.15754175186157227, + 0.0 + ], + [ + 0.004629909992218018, + 0.015679560601711273, + -0.0007105469703674316, + 0.0011222809553146362, + 0.010782212018966675, + -0.13989752531051636, + 0.0 + ], + [ + 0.007825762033462524, + 0.01624210923910141, + 0.0011510103940963745, + 0.015478819608688354, + 0.004224702715873718, + -0.09329676628112793, + 0.0 + ], + [ + 0.014128059148788452, + 0.017583981156349182, + 0.0030502937734127045, + 0.011350475251674652, + -0.033385008573532104, + -0.0004481673240661621, + 0.0 + ], + [ + 0.019868075847625732, + 0.008589863777160645, + 0.0029057487845420837, + 0.008211299777030945, + -0.05323473736643791, + 0.023662269115447998, + 0.0 + ], + [ + 0.022698193788528442, + 0.0018788129091262817, + 0.004563111811876297, + 0.017876669764518738, + -0.04780477657914162, + 0.010282576084136963, + 0.0 + ], + [ + 0.021293163299560547, + -0.008002817630767822, + 0.00712166354060173, + 0.02974136546254158, + -0.04783916845917702, + -0.05531144142150879, + 0.0 + ], + [ + 0.01370096206665039, + -0.009264528751373291, + 0.007173601537942886, + 0.001021895557641983, + -0.026674728840589523, + -0.02085256576538086, + 0.0 + ], + [ + -0.009488463401794434, + -0.004068657755851746, + 3.799609839916229e-05, + -0.0008630268275737762, + 0.0519237220287323, + 0.03895699977874756, + 0.0 + ], + [ + -0.019563913345336914, + -0.0038093775510787964, + 0.04791584983468056, + 0.06389406323432922, + -0.0023645758628845215, + 0.22996234893798828, + 0.0 + ], + [ + -0.024378597736358643, + -0.017361663281917572, + 0.030209409072995186, + -0.04626861587166786, + 0.0053595080971717834, + 0.17219853401184082, + 0.0 + ], + [ + -0.023683279752731323, + -0.01630064845085144, + -0.0007283240556716919, + -0.03314376622438431, + 0.017745813354849815, + -0.014842867851257324, + 0.0 + ], + [ + -0.022167891263961792, + -0.015107907354831696, + -0.029550787061452866, + -0.03947695344686508, + -0.009386338293552399, + 0.1256711483001709, + 0.0 + ], + [ + -0.0073278844356536865, + -0.014076940715312958, + -0.037468139082193375, + -0.07823783159255981, + -0.01070369128137827, + 0.014973938465118408, + 0.0 + ], + [ + 0.004716932773590088, + -0.0002452582120895386, + -0.02092466503381729, + 0.04920506477355957, + -0.0004824269562959671, + -0.056562989950180054, + 0.0 + ], + [ + -0.005131125450134277, + 0.007242545485496521, + -0.004319369792938232, + 0.024511925876140594, + -0.02953568659722805, + -0.06817850470542908, + 0.0 + ], + [ + -0.015757620334625244, + 0.021573245525360107, + -0.0006324015557765961, + 0.005084723234176636, + 0.029031699523329735, + -0.06701284646987915, + 0.0 + ], + [ + -0.009835571050643921, + 0.03218541294336319, + 0.0030287355184555054, + 0.01610647141933441, + 0.018413348123431206, + 0.0007253289222717285, + 0.0 + ], + [ + -0.002943485975265503, + 0.02594277262687683, + -0.0017046108841896057, + 0.003186650574207306, + 0.04375582933425903, + -0.07220649719238281, + 0.0 + ], + [ + -0.0046910494565963745, + 0.016011148691177368, + -0.0014573372900485992, + -0.0047007277607917786, + -0.01380820944905281, + -0.099495530128479, + 0.0 + ], + [ + 0.008782997727394104, + 0.0020298808813095093, + 0.0007811114192008972, + -0.013508245348930359, + -0.011859500780701637, + -0.04754692316055298, + 0.0 + ], + [ + 0.02548348903656006, + -0.013572320342063904, + -0.001201331615447998, + -0.007923506200313568, + -0.05023709684610367, + -0.06387394666671753, + 0.0 + ], + [ + 0.0362795889377594, + -0.01596817374229431, + 0.0007149688899517059, + 0.0173841193318367, + -0.0477893128991127, + -0.05540198087692261, + 0.0 + ], + [ + 0.03653234243392944, + -0.009666204452514648, + 0.004921499639749527, + 0.03936995938420296, + -0.05847901850938797, + -0.06374406814575195, + 0.0 + ], + [ + 0.013654470443725586, + -0.003541499376296997, + 0.004885431379079819, + 0.01462126150727272, + -0.056436121463775635, + 0.004606366157531738, + 0.0 + ], + [ + 0.001682668924331665, + -0.0007462203502655029, + 0.0005767010152339935, + -7.68899917602539e-05, + -0.009039416909217834, + 0.023515760898590088, + 0.0 + ], + [ + -0.013561844825744629, + 0.00022433698177337646, + 0.018279224634170532, + 0.027087019756436348, + 0.03574711084365845, + 0.05172961950302124, + 0.0 + ], + [ + -0.00871187448501587, + 0.0036569535732269287, + 0.04866635799407959, + 0.12812970578670502, + 0.015129849314689636, + 0.0341947078704834, + 0.0 + ], + [ + -0.004379391670227051, + -0.014873765408992767, + 0.01943909376859665, + 0.04659740626811981, + 0.011759117245674133, + -0.008829116821289062, + 0.0 + ], + [ + -0.019931912422180176, + -0.03400596231222153, + -0.023452818393707275, + -0.044022783637046814, + 0.02760189026594162, + -0.049603939056396484, + 0.0 + ], + [ + -0.016583234071731567, + -0.018881849944591522, + -0.028429655358195305, + -0.012915559113025665, + -0.03247886151075363, + -0.01627349853515625, + 0.0 + ], + [ + -0.00826367735862732, + -0.006731770932674408, + -0.029327714815735817, + 0.014806605875492096, + -0.032129719853401184, + 0.028078675270080566, + 0.0 + ], + [ + 0.000349193811416626, + -0.0007722489535808563, + -0.01080482080578804, + 0.028565898537635803, + -0.042725756764411926, + -0.025903284549713135, + 0.0 + ], + [ + -0.002696216106414795, + -0.0019650831818580627, + -0.001918938010931015, + 0.00946129858493805, + -0.009989410638809204, + -0.028235435485839844, + 1.0 + ], + [ + -0.01158219575881958, + -0.00417255237698555, + 0.010829225182533264, + -0.033551767468452454, + 0.014275357127189636, + 0.029158294200897217, + 1.0 + ], + [ + -0.004650413990020752, + 0.0018918029963970184, + 0.04081589728593826, + 0.02351132035255432, + 0.057063713669776917, + 0.09737366437911987, + 1.0 + ], + [ + -0.0017805397510528564, + -0.016317211091518402, + 0.03142336755990982, + 0.03424118459224701, + 0.10599085688591003, + 0.03566664457321167, + 1.0 + ], + [ + 0.005528807640075684, + -0.03692645579576492, + 0.010113336145877838, + 0.02503068745136261, + 0.04679886996746063, + -0.05766868591308594, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9650423526763916 + ], + [ + 0.6671556830406189 + ], + [ + 0.37120094895362854 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.347801148891449 + ], + [ + 0.400628000497818 + ], + [ + 0.7190925478935242 + ], + [ + 0.9907060265541077 + ], + [ + 1.0118417739868164 + ], + [ + 1.0027955770492554 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.23504704236984253, + 0.005637301132082939, + 0.06784263998270035 + ], + [ + 0.24383461475372314, + 0.01247810572385788, + 0.05176689848303795 + ], + [ + 0.2714826762676239, + 0.028597209602594376, + 0.03575872629880905 + ], + [ + 0.30818527936935425, + 0.03902954235672951, + 0.013839514926075935 + ], + [ + 0.3353818655014038, + 0.04318871349096298, + 0.002401524456217885 + ], + [ + 0.3566494882106781, + 0.042726363986730576, + -0.0010086849797517061 + ], + [ + 0.36053475737571716, + 0.04080386087298393, + -0.0012436325196176767 + ], + [ + 0.37409985065460205, + 0.03696947172284126, + -0.005812023766338825 + ], + [ + 0.37902775406837463, + 0.03716973587870598, + -0.018484560772776604 + ], + [ + 0.3827640116214752, + 0.033500853925943375, + -0.027273809537291527 + ], + [ + 0.38340210914611816, + 0.0322754941880703, + -0.02817237749695778 + ], + [ + 0.3824406862258911, + 0.0327686183154583, + -0.029989879578351974 + ], + [ + 0.38473519682884216, + 0.03349295258522034, + -0.031020261347293854 + ], + [ + 0.37960708141326904, + 0.029677925631403923, + -0.02704385668039322 + ], + [ + 0.3687532842159271, + 0.025639260187745094, + 0.00839515682309866 + ], + [ + 0.35106396675109863, + 0.01075777504593134, + 0.051965031772851944 + ], + [ + 0.3240449130535126, + -0.013368191197514534, + 0.06161729618906975 + ], + [ + 0.29993587732315063, + -0.04478416591882706, + 0.041501544415950775 + ], + [ + 0.29059669375419617, + -0.07428207248449326, + 0.031868670135736465 + ], + [ + 0.28191471099853516, + -0.08564333617687225, + 0.014582947827875614 + ], + [ + 0.2727438509464264, + -0.0974322259426117, + -0.0015920796431601048 + ], + [ + 0.2668735384941101, + -0.10558035969734192, + -0.01924644224345684 + ], + [ + 0.27741798758506775, + -0.11943943053483963, + -0.035025566816329956 + ], + [ + 0.2919284701347351, + -0.13230422139167786, + -0.04296909272670746 + ], + [ + 0.3081967830657959, + -0.14071321487426758, + -0.05071365833282471 + ], + [ + 0.3344544768333435, + -0.14617373049259186, + -0.05264943093061447 + ], + [ + 0.36456143856048584, + -0.14982321858406067, + -0.05093911662697792 + ], + [ + 0.3852660357952118, + -0.15260301530361176, + -0.0498945452272892 + ], + [ + 0.3888484537601471, + -0.14474891126155853, + -0.04248944669961929 + ], + [ + 0.38859477639198303, + -0.12715551257133484, + -0.04042216017842293 + ], + [ + 0.38085654377937317, + -0.09267602115869522, + -0.04414914548397064 + ], + [ + 0.37386783957481384, + -0.04476206749677658, + -0.04603659734129906 + ], + [ + 0.37194448709487915, + -0.0007271830691024661, + -0.04750543460249901 + ], + [ + 0.368821918964386, + 0.04082192853093147, + -0.047873396426439285 + ], + [ + 0.35594168305397034, + 0.09925222396850586, + -0.045509301126003265 + ], + [ + 0.3238224685192108, + 0.1567712426185608, + -0.044851843267679214 + ], + [ + 0.3083479404449463, + 0.1821039617061615, + -0.04376590996980667 + ], + [ + 0.3081710636615753, + 0.17739510536193848, + -0.038713131099939346 + ], + [ + 0.31581422686576843, + 0.16046205163002014, + -0.008949614129960537 + ], + [ + 0.33625274896621704, + 0.1259079873561859, + 0.03025670535862446 + ], + [ + 0.34815800189971924, + 0.07336629927158356, + 0.052397534251213074 + ], + [ + 0.34604355692863464, + 0.02504861354827881, + 0.0438004732131958 + ], + [ + 0.33728015422821045, + -0.019656414166092873, + 0.0064408243633806705 + ], + [ + 0.31409966945648193, + -0.07124623656272888, + -0.01855173520743847 + ], + [ + 0.29315125942230225, + -0.08065944910049438, + -0.038499973714351654 + ], + [ + 0.28341174125671387, + -0.04791710898280144, + -0.04570803791284561 + ], + [ + 0.2803589403629303, + -0.00566378328949213, + -0.04855993390083313 + ], + [ + 0.2754501402378082, + 0.03750060126185417, + -0.049367330968379974 + ], + [ + 0.26946622133255005, + 0.07689206302165985, + -0.052883367985486984 + ], + [ + 0.27314525842666626, + 0.0978054404258728, + -0.05355735123157501 + ], + [ + 0.2777751684188843, + 0.11348500102758408, + -0.054267898201942444 + ], + [ + 0.2856009304523468, + 0.12972711026668549, + -0.05311688780784607 + ], + [ + 0.29972898960113525, + 0.14731109142303467, + -0.050066594034433365 + ], + [ + 0.319597065448761, + 0.1559009552001953, + -0.04716084524989128 + ], + [ + 0.34229525923728943, + 0.1577797681093216, + -0.042597733438014984 + ], + [ + 0.36358842253685, + 0.14977695047855377, + -0.035476069897413254 + ], + [ + 0.37728938460350037, + 0.14051242172718048, + -0.028302468359470367 + ], + [ + 0.36780092120170593, + 0.13644376397132874, + -0.028264472261071205 + ], + [ + 0.348237007856369, + 0.13263438642024994, + 0.019651377573609352 + ], + [ + 0.3238584101200104, + 0.11527272313833237, + 0.04986078664660454 + ], + [ + 0.30017513036727905, + 0.09897207468748093, + 0.049132462590932846 + ], + [ + 0.27800723910331726, + 0.08386416733264923, + 0.01958167552947998 + ], + [ + 0.2706793546676636, + 0.06978722661733627, + -0.017886463552713394 + ], + [ + 0.27539628744125366, + 0.06954196840524673, + -0.038811128586530685 + ], + [ + 0.2702651619911194, + 0.07678451389074326, + -0.04313049837946892 + ], + [ + 0.25450754165649414, + 0.09835775941610336, + -0.043762899935245514 + ], + [ + 0.24467197060585022, + 0.13054317235946655, + -0.04073416441679001 + ], + [ + 0.24172848463058472, + 0.15648594498634338, + -0.042438775300979614 + ], + [ + 0.23703743517398834, + 0.17249709367752075, + -0.043896112591028214 + ], + [ + 0.24582043290138245, + 0.17452697455883026, + -0.043115001171827316 + ], + [ + 0.2713039219379425, + 0.16095465421676636, + -0.044316332787275314 + ], + [ + 0.3075835108757019, + 0.14498648047447205, + -0.04360136389732361 + ], + [ + 0.34411585330963135, + 0.1353202760219574, + -0.03867986425757408 + ], + [ + 0.35777032375335693, + 0.1317787766456604, + -0.03379443287849426 + ], + [ + 0.3594529926776886, + 0.1310325562953949, + -0.03321773186326027 + ], + [ + 0.34589114785194397, + 0.13125689327716827, + -0.014938506297767162 + ], + [ + 0.3371792733669281, + 0.1349138468503952, + 0.03372785076498985 + ], + [ + 0.33279988169670105, + 0.12004008144140244, + 0.0531669445335865 + ], + [ + 0.3128679692745209, + 0.08603411912918091, + 0.029714126139879227 + ], + [ + 0.2962847352027893, + 0.06715226918458939, + 0.0012844700831919909 + ], + [ + 0.288021057844162, + 0.06042049825191498, + -0.028043244034051895 + ], + [ + 0.2883702516555786, + 0.05964824929833412, + -0.038848064839839935 + ], + [ + 0.2856740355491638, + 0.05768316611647606, + -0.04076700285077095 + ], + [ + 0.27409183979034424, + 0.05351061373949051, + -0.029937777668237686 + ], + [ + 0.2694414258003235, + 0.05540241673588753, + 0.010878119617700577 + ], + [ + 0.26766088604927063, + 0.039085205644369125, + 0.0423014871776104 + ], + [ + 0.2731896936893463, + 0.0021587498486042023, + 0.052414823323488235 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9955273632519179, + 0.09087817497689715, + -0.02581523444697904, + 0.09221351092138969, + -0.9941423280657722, + 0.05637109145224748, + -0.02054111536004744, + -0.05849947744070339, + -0.9980760861371892 + ], + [ + 0.9916905546204302, + -0.12649039689604208, + -0.02345257703761671, + -0.1255503396103026, + -0.9913603918045288, + 0.03796953759145388, + -0.028052737840739785, + -0.0347095527809406, + -0.9990036490651002 + ], + [ + 0.9357569182417693, + -0.3526215299741354, + 0.0041287481597574146, + -0.3525750428813083, + -0.9357396619851144, + -0.009062236215617471, + 0.007058973006771117, + 0.007024356674032566, + -0.9999504134272887 + ], + [ + 0.8062818416583561, + -0.5822213129043008, + 0.10453676201223223, + -0.576098327612615, + -0.8129911533173138, + -0.08459374415246344, + 0.13423974349631998, + 0.007982946058739074, + -0.9909167290132234 + ], + [ + 0.6487119439326186, + -0.7411144819240668, + 0.1729801678851797, + -0.737296891989977, + -0.6683538568486685, + -0.09847037675072265, + 0.18858978461486955, + -0.06365883063590885, + -0.9799905338425394 + ], + [ + 0.5564368243761226, + -0.8069433302560373, + 0.1980417184168843, + -0.8069428592090467, + -0.58163598551333, + -0.10267814922108115, + 0.1980436377411434, + -0.10267444721659746, + -0.9748008388583902 + ], + [ + 0.5092837959722878, + -0.8357355564094782, + 0.20536819352810565, + -0.8464290935803953, + -0.5295524780788984, + -0.05596393929280357, + 0.15552428974513255, + -0.14532808645763595, + -0.9770833856871348 + ], + [ + 0.4859511734281667, + -0.8565346838619115, + 0.17378087462480893, + -0.865168277107456, + -0.49961648377898404, + -0.04321135757229228, + 0.12383581602551089, + -0.12935108997569322, + -0.9838358532760412 + ], + [ + 0.4676648842494144, + -0.8762399536474204, + 0.11615980230677435, + -0.8790601308077981, + -0.4748092035021754, + -0.04253829679015038, + 0.09242749841989124, + -0.0822177833658681, + -0.9923191994687216 + ], + [ + 0.4460835147008523, + -0.8886894481498899, + 0.10602151979281496, + -0.8923748341427566, + -0.45069914149584633, + -0.0231827358953627, + 0.06838606072016112, + -0.08426949983209125, + -0.9940935560083001 + ], + [ + 0.43312678297867874, + -0.8954220567390493, + 0.10305595650786745, + -0.8995119176378646, + -0.4366814760827354, + -0.013696659215118867, + 0.05726691797182931, + -0.0867676711189965, + -0.994581254274679 + ], + [ + 0.4326441920009189, + -0.8964239441602043, + 0.09614112264860716, + -0.9002755452084724, + -0.4352628623185482, + -0.007084023281441636, + 0.04819694832102398, + -0.08348864008071441, + -0.9953425044425729 + ], + [ + 0.4366449935711779, + -0.8940181557910035, + 0.10036277549609317, + -0.8983963362545416, + -0.4391719897677824, + -0.003462139197592057, + 0.04717173511375945, + -0.08865382405435208, + -0.9949448863564743 + ], + [ + 0.48887962722929035, + -0.8651650744223301, + 0.11174123715063267, + -0.8718618472462921, + -0.4888704450146112, + 0.029370177178545454, + 0.02921693680783971, + -0.1117814027064421, + -0.9933032208809891 + ], + [ + 0.5662107461755085, + -0.8141531700926629, + 0.1286856889612872, + -0.8241523630037094, + -0.5566653368278626, + 0.10438671050341586, + -0.0133519088813406, + -0.16516149188715112, + -0.9861761547141741 + ], + [ + 0.6836985672136852, + -0.7163721791769478, + 0.1391659803659822, + -0.7284556544646218, + -0.658531474000762, + 0.1889144177369827, + -0.043687854931015145, + -0.23053676203949497, + -0.972082389862028 + ], + [ + 0.8352504022021929, + -0.5439369268383197, + 0.08055672065545014, + -0.5490504373775965, + -0.8170127120534725, + 0.17616425732395427, + -0.030006379930703337, + -0.19137096949306312, + -0.9810590039333721 + ], + [ + 0.9286841270748062, + -0.3670243427600619, + 0.053281553476314185, + -0.37034057564781153, + -0.925419849131235, + 0.08028674151296254, + 0.019840618643386453, + -0.0942933436434741, + -0.995346731142661 + ], + [ + 0.8951941806921309, + -0.4451021310703308, + 0.022615741676866266, + -0.44556886073229895, + -0.894939557117703, + 0.023485728681284207, + 0.009786173954403884, + -0.03110115789837717, + -0.9994683330534861 + ], + [ + 0.7699480129465487, + -0.6380194154058485, + -0.010549072226520462, + -0.6346990517988906, + -0.7674379415320016, + 0.09053242260490389, + -0.06585720162024929, + -0.06300977275235241, + -0.995837636129729 + ], + [ + 0.6981394576913024, + -0.7140362961323988, + -0.05247347348917831, + -0.7110200052922137, + -0.7000523688441385, + 0.06616066013856647, + -0.08397529213259583, + -0.008879677991660975, + -0.9964282721952492 + ], + [ + 0.645597102731226, + -0.75604419312238, + -0.10771053333344874, + -0.7566352069235887, + -0.6523599676415472, + 0.04392762527632598, + -0.10347726604788457, + 0.05313803406834506, + -0.9932113595537488 + ], + [ + 0.615217177992218, + -0.7714818193367535, + -0.16224557416504187, + -0.7790350073549922, + -0.6264843971796786, + 0.024935063782186635, + -0.12088126909781644, + 0.11105450248984552, + -0.9864353076902884 + ], + [ + 0.5819734271114321, + -0.7827721367846671, + -0.22039671506113953, + -0.8018591992946297, + -0.5974943571775039, + 0.004724155757051873, + -0.13538373108594012, + 0.1739778003499523, + -0.9753988775586334 + ], + [ + 0.5697030078255509, + -0.7842727499569825, + -0.24567201010581768, + -0.8090934840575511, + -0.5876799344342776, + -0.00016946662468114715, + -0.14424360273555947, + 0.1988681682377448, + -0.9693529980000218 + ], + [ + 0.6164266251270869, + -0.7581915802813161, + -0.21251763085671402, + -0.7801556016273626, + -0.6246383364451592, + -0.034412002157271804, + -0.10665576910733829, + 0.1870092945111146, + -0.9765511101230582 + ], + [ + 0.6652390527418086, + -0.7220834754491233, + -0.18987484612369454, + -0.7425421393842536, + -0.6664217456659345, + -0.06718056372362924, + -0.07802675147561368, + 0.18568120903011187, + -0.9795071794873578 + ], + [ + 0.7510956714946098, + -0.6421324584093278, + -0.15336622222397706, + -0.6575617957976729, + -0.7483570305051448, + -0.0870301074391007, + -0.05888783379782996, + 0.1662157054875227, + -0.9843294988365859 + ], + [ + 0.8371376511007995, + -0.5320472487237753, + -0.1269892839372575, + -0.5461181895530807, + -0.8260834421826929, + -0.1390721740351356, + -0.030910777225777078, + 0.1857737109417122, + -0.9821062326318084 + ], + [ + 0.93546107587658, + -0.35137142697594254, + -0.03808800105967167, + -0.35255730557514814, + -0.9201500692296188, + -0.17037369627474624, + 0.024817771967348728, + 0.17280616424658501, + -0.9846431372801819 + ], + [ + 0.9940222582951243, + -0.10276692551124723, + 0.03686067056941135, + -0.09528473312761367, + -0.9814087765603987, + -0.1666062211414098, + 0.05329699472447154, + 0.16209803302688983, + -0.9853342874589073 + ], + [ + 0.9833865416339429, + 0.15515844346270027, + 0.0942165970276259, + 0.16834919553865782, + -0.9736753574049275, + -0.15367122939533556, + 0.06789299002636985, + 0.166979507139706, + -0.9836200415306007 + ], + [ + 0.9557436633598531, + 0.2748693816726787, + 0.10488504643831431, + 0.28775673446477923, + -0.9475929175323871, + -0.13879381979261715, + 0.06123815573361627, + 0.1628326922375792, + -0.9847514420507377 + ], + [ + 0.9427115951386768, + 0.31580760816267484, + 0.10751931462608107, + 0.32524376886534845, + -0.9417522206591923, + -0.08555259024567215, + 0.0742383944152591, + 0.11562140593354896, + -0.9905151948781977 + ], + [ + 0.93516172976796, + 0.33953224836170587, + 0.1009474690115715, + 0.33981361781194624, + -0.9403743530435024, + 0.014925859692867955, + 0.09999622156338636, + 0.020345231885125173, + -0.9947797883012033 + ], + [ + 0.9440443082391647, + 0.32553666816320337, + 0.05297378372777479, + 0.32026545732795775, + -0.9431755735818161, + 0.08859951603212014, + 0.07880597010221178, + -0.06667619575089954, + -0.9946576818164311 + ], + [ + 0.9618651844428686, + 0.2729632888726393, + 0.017504567533035, + 0.269091036353755, + -0.9558116962348469, + 0.1183808071214558, + 0.04904468483687774, + -0.10915605465798603, + -0.9928139677808498 + ], + [ + 0.9796976399186117, + 0.19633831151163764, + 0.04054382530869526, + 0.19274340833665557, + -0.9780664862146714, + 0.0789678864251527, + 0.055158978241734276, + -0.06955009688307917, + -0.9960523435758196 + ], + [ + 0.9797513281186464, + 0.15268401556462846, + 0.12951805449746814, + 0.14741132463755685, + -0.987839799921161, + 0.04942095770340546, + 0.13548887931616252, + -0.02932782096885589, + -0.9903447089265784 + ], + [ + 0.9747059819166393, + 0.06119365253168095, + 0.21495019354667325, + 0.05259687781021609, + -0.9975789875006286, + 0.045494308895051204, + 0.21721375937204715, + -0.0330378659579131, + -0.9755648016161764 + ], + [ + 0.9668017406258383, + -0.047455253216157685, + 0.25108244316367273, + -0.06853463329416301, + -0.9947586543771361, + 0.07588295975397644, + 0.24616538822930245, + -0.09057162074280972, + -0.9649867269314832 + ], + [ + 0.956067973511917, + -0.1421334532926191, + 0.25638274411498846, + -0.14965422258094582, + -0.9886882135104128, + 0.009961432089889439, + 0.25206674451126926, + -0.04789256644515533, + -0.9665240081812697 + ], + [ + 0.9494015421182799, + -0.2651186253610028, + 0.16837109701526493, + -0.2365276782202255, + -0.9562729647938788, + -0.17203683977588655, + 0.20661889860121935, + 0.12350761632796921, + -0.9705949203709041 + ], + [ + 0.9455638765137879, + -0.3125337584438048, + 0.09072819443374353, + -0.2736325453914229, + -0.9144383960784549, + -0.2982073940734425, + 0.17616522226259246, + 0.25714795276348595, + -0.950179322472721 + ], + [ + 0.9650384914411481, + -0.2602702533341483, + 0.030985565451853506, + -0.23492966308480348, + -0.911327409276956, + -0.3380686417037404, + 0.11622720610878313, + 0.3189698235412396, + -0.9406112311843914 + ], + [ + 0.9496360761457406, + -0.31227311884216363, + -0.02601580540957665, + -0.30716673587273763, + -0.9112504564053923, + -0.27435597692460056, + 0.061967082034003085, + 0.26852952342256897, + -0.961276222422379 + ], + [ + 0.9142552254314307, + -0.3966274422220244, + -0.08260783768952454, + -0.4050775080524891, + -0.8984573660014191, + -0.16937111308537156, + -0.007042388892254815, + 0.18831100221231578, + -0.982084197614687 + ], + [ + 0.8977485490383882, + -0.42215628824568224, + -0.125823729852905, + -0.43556298256300446, + -0.893368536406805, + -0.11035192059580357, + -0.06582120418442827, + 0.15387243565041514, + -0.9858959593317747 + ], + [ + 0.8600814540276042, + -0.4851716016688032, + -0.15769720787601288, + -0.49805299029228617, + -0.8654869215137095, + -0.053624691604091314, + -0.1104676934613653, + 0.1246631686700212, + -0.9860304169134316 + ], + [ + 0.7699633042336474, + -0.6133410991943103, + -0.1759806982959186, + -0.6257456578433794, + -0.7797681251196978, + -0.02010081434837592, + -0.12489548360032995, + 0.12559604725637946, + -0.9841883717509637 + ], + [ + 0.6742303409946511, + -0.7153665352038058, + -0.18347797577022268, + -0.7259682757408389, + -0.6876019516329154, + 0.01317644597298398, + -0.1355858027232556, + 0.12431523004486542, + -0.9829355084026532 + ], + [ + 0.6033114494258178, + -0.7787482749667671, + -0.17194888550962892, + -0.7851621275182676, + -0.6177906435301052, + 0.043071501920020905, + -0.13977027045372206, + 0.10902222251882054, + -0.9841638209639441 + ], + [ + 0.605464431780161, + -0.7829197665901546, + -0.14300161163967512, + -0.7886954231810133, + -0.614315343544728, + 0.024003919239263864, + -0.10664122702993019, + 0.09825119728502271, + -0.9894313270407453 + ], + [ + 0.6266324434508912, + -0.7723364026251127, + -0.10405893519955564, + -0.7774706024080908, + -0.6287323763058784, + -0.015331711449266261, + -0.053583982737063475, + 0.09051011084328074, + -0.994452953451882 + ], + [ + 0.6354958717580184, + -0.7697767589132678, + -0.05990607995438449, + -0.772082444253547, + -0.6341455883636555, + -0.04180995137980354, + -0.005804847455766867, + 0.07282248413709821, + -0.997328025049992 + ], + [ + 0.5913279780184972, + -0.8063701472258246, + -0.009920084453155373, + -0.8053355707445905, + -0.5898389388720318, + -0.05936871805758099, + 0.04202190983332994, + 0.04309538088145603, + -0.9981868298272834 + ], + [ + 0.5735586189783934, + -0.819149389655656, + 0.004978757110394069, + -0.8162824303626596, + -0.5720394853469459, + -0.08033567753639041, + 0.06865496687660508, + 0.04201314830820779, + -0.9967554318349133 + ], + [ + 0.6062605949643625, + -0.7949036513158498, + -0.024005751773002026, + -0.7950889077969145, + -0.6052122565181404, + -0.039392299482642064, + 0.016784507492526735, + 0.04296870587940096, + -0.9989354186449106 + ], + [ + 0.7715012418301993, + -0.6356083340557831, + 0.02806919188883695, + -0.635939589190211, + -0.7717287126759907, + 0.003953850280889659, + 0.019148701132085236, + -0.020900710760405228, + -0.9995981630308571 + ], + [ + 0.8691352684654408, + -0.4945741359236949, + -0.0005560439165776714, + -0.49438216294748205, + -0.8687654605119541, + -0.028859168054915986, + 0.013789926354986298, + 0.02535741896927013, + -0.9995833328113976 + ], + [ + 0.8617769522718286, + -0.5062086548884952, + -0.033064818902553826, + -0.5072719576588152, + -0.8604265023030866, + -0.04838796448983666, + -0.003955440060416879, + 0.05847248797902159, + -0.9982811841577861 + ], + [ + 0.918556199344308, + -0.39385108274119396, + -0.03370212559660342, + -0.39525310169255456, + -0.9139538121945914, + -0.09199681938735073, + 0.005430860756377536, + 0.09782511844389917, + -0.9951888021641331 + ], + [ + 0.9242648115454598, + -0.37816748961083196, + -0.052191071461282046, + -0.38141087569279525, + -0.9089904249493704, + -0.16811350705287703, + 0.016133878705705682, + 0.17528764118386658, + -0.9843850571834709 + ], + [ + 0.9012173142739033, + -0.43151678807799304, + -0.04000767501098822, + -0.4330487882315884, + -0.8931691835729879, + -0.12131593682082724, + 0.016616240973378337, + 0.12665729794376013, + -0.9918073549906251 + ], + [ + 0.8688157408924025, + -0.4950224560598377, + -0.010581888965199734, + -0.4929813884352012, + -0.8628468635591435, + -0.11164515530308551, + 0.046136309281161705, + 0.10221574263602888, + -0.9936917947348052 + ], + [ + 0.8346208331979481, + -0.5494186238761154, + -0.03933497845478801, + -0.5505587752810852, + -0.8298683008865386, + -0.0905739374471538, + 0.01712015633557306, + 0.0972511127019383, + -0.9951126174083416 + ], + [ + 0.8351416513748948, + -0.5481288520473412, + -0.045751324484408294, + -0.5500334098536782, + -0.8324407132985997, + -0.0671245624764456, + -0.001292355813762365, + 0.08122327496587725, + -0.9966950935066693 + ], + [ + 0.7924798691664204, + -0.6042056100182253, + -0.08313385464705438, + -0.6082332532748612, + -0.7930048099417505, + -0.03457862085056167, + -0.045032949899509914, + 0.07796763579686569, + -0.9959382918592877 + ], + [ + 0.7285276961517279, + -0.6804073120758025, + -0.07933023139785322, + -0.6843038633012668, + -0.7281537818672265, + -0.03899093001476763, + -0.03123489412206525, + 0.08269195623660633, + -0.9960855494198008 + ], + [ + 0.6953888192934363, + -0.713879353354792, + -0.08252671601017955, + -0.7183723506892017, + -0.6936338649495709, + -0.053039863879833254, + -0.019379261259174912, + 0.09616823929377469, + -0.995176423547194 + ], + [ + 0.6479298239485183, + -0.7593841401375715, + -0.059352093017544176, + -0.7610749728110676, + -0.6422736785978841, + -0.0908262491847719, + 0.03085172602423692, + 0.1040204282238009, + -0.9940965353090525 + ], + [ + 0.6032099458757851, + -0.7972866302352417, + -0.021720737663944886, + -0.7937035463067359, + -0.597371127303715, + -0.11481470656671292, + 0.07856488895584357, + 0.08649719944612236, + -0.993149431209289 + ], + [ + 0.5479427248568454, + -0.8357423593425349, + 0.03596497013801942, + -0.8252715164425074, + -0.5471031425725439, + -0.14001812574067352, + 0.13669562694226833, + 0.04704104790308026, + -0.9894955509687955 + ], + [ + 0.5465655030178674, + -0.8336082337979412, + 0.0797713197527907, + -0.8150250467760848, + -0.55141307436412, + -0.1779825681013446, + 0.1923546829127533, + 0.032263508249814984, + -0.9807949541045508 + ], + [ + 0.564553333966282, + -0.8205868312798118, + 0.08897631953341778, + -0.8004943009645048, + -0.5706095289283891, + -0.18334022913553472, + 0.20121731344718846, + 0.03228030090131054, + -0.9790145938354629 + ], + [ + 0.609245346350408, + -0.7869042727632561, + 0.09798863942979545, + -0.7753950319101656, + -0.6170479089917369, + -0.13421781736400923, + 0.16608025902979773, + 0.005791676428831619, + -0.9860952307179764 + ], + [ + 0.6369447418585741, + -0.7471486317619436, + 0.1899218730819871, + -0.7559480566910421, + -0.6536331915224933, + -0.036141202596993806, + 0.15114209011308422, + -0.12055112192085024, + -0.9811337806843026 + ], + [ + 0.6313352009021689, + -0.7444882997508229, + 0.2171474974204099, + -0.7628587128082933, + -0.6465641105732053, + 0.001198002985691976, + 0.1395078793269105, + -0.16640920182732935, + -0.9761380686936143 + ], + [ + 0.5948122612179284, + -0.7864679873727808, + 0.1663324344276314, + -0.7960063317968041, + -0.6051123719615246, + -0.014592362334238974, + 0.11212623976666208, + -0.1237219549510313, + -0.9859617559616012 + ], + [ + 0.5793416809221913, + -0.7961831125128984, + 0.17451552393848344, + -0.8022035189941621, + -0.5948776541110707, + -0.05089293421185628, + 0.14433548025219936, + -0.11051256936920203, + -0.9833383146973296 + ], + [ + 0.5985055579774254, + -0.7740417677014909, + 0.20651982695054272, + -0.7815356146848215, + -0.6207911659002731, + -0.0618094759676733, + 0.17604880019287067, + -0.12440928499807075, + -0.9764881718469097 + ], + [ + 0.5731194302266268, + -0.7798834880576536, + 0.25162643690942854, + -0.7899613816756524, + -0.6074510133180777, + -0.08345227306631664, + 0.2179337838835485, + -0.15094704857620928, + -0.9642198164154949 + ], + [ + 0.549333428303597, + -0.7934278827539866, + 0.2621163470994197, + -0.8039889443729725, + -0.5873404245816006, + -0.09291395470185812, + 0.22767204895254645, + -0.15969790393374525, + -0.9605529749081609 + ], + [ + 0.5743921418524998, + -0.7854814065434593, + 0.23041837459848305, + -0.7901804154985116, + -0.605546553652818, + -0.09448958843065602, + 0.21374886746061963, + -0.1277980098972753, + -0.9684932061329076 + ], + [ + 0.6555294879092941, + -0.7228170861910104, + 0.21866995767986994, + -0.7385229311063843, + -0.6740781768182865, + -0.014229960202667452, + 0.15768630476808473, + -0.15216461956602234, + -0.975695115208083 + ], + [ + 0.6891354534764659, + -0.7040679573413532, + 0.17140781256104085, + -0.7227403709636874, + -0.6849128984527231, + 0.0924157871381403, + 0.05233242724217979, + -0.18757034141426765, + -0.9808560975396328 + ], + [ + 0.647210339181545, + -0.7441535995998482, + 0.16539104286235598, + -0.7622912118611312, + -0.6333590225171485, + 0.1332983755167692, + 0.005557443278777496, + -0.21234822532507885, + -0.977178257036807 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005966.json b/json/chunk-0005/episode_0005966.json new file mode 100644 index 0000000000000000000000000000000000000000..60ee52cf131377f056886762395aeec25497fe9d --- /dev/null +++ b/json/chunk-0005/episode_0005966.json @@ -0,0 +1,2122 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 34, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the green arch to the table." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005966.mp4", + "start": 0, + "end": 34, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.29891449213027954, + 0.007113257888704538, + 0.13983727991580963, + -0.06958308815956116, + 0.14028103649616241, + 0.6350003480911255, + 0.0, + 1.0008161067962646 + ], + [ + 0.29704761505126953, + 0.006013467442244291, + 0.1289827972650528, + -0.052776239812374115, + 0.17329689860343933, + 0.6372812390327454, + 0.0, + 1.0008161067962646 + ], + [ + 0.28838813304901123, + 0.004525282420217991, + 0.11988828331232071, + -0.07967983186244965, + 0.19968563318252563, + 0.6913747787475586, + 0.0, + 1.0008161067962646 + ], + [ + 0.28568553924560547, + 0.014552389271557331, + 0.12381073832511902, + -0.11713743209838867, + 0.17941036820411682, + 0.7480466365814209, + 0.0, + 1.0008161067962646 + ], + [ + 0.284969687461853, + 0.020386546850204468, + 0.1243840828537941, + -0.1175742819905281, + 0.18002933263778687, + 0.7789244055747986, + 0.0, + 1.0008161067962646 + ], + [ + 0.28464561700820923, + 0.02496781386435032, + 0.12442971765995026, + -0.11373630166053772, + 0.18405187129974365, + 0.8239526748657227, + 0.0, + 1.0008161067962646 + ], + [ + 0.2868307828903198, + 0.02803119085729122, + 0.11863827705383301, + -0.10525085777044296, + 0.17984840273857117, + 0.9709078669548035, + 0.0, + 1.0008161067962646 + ], + [ + 0.28655630350112915, + 0.02809489704668522, + 0.10819698125123978, + -0.12357495725154877, + 0.20529495179653168, + 1.097342848777771, + 0.0, + 1.0008161067962646 + ], + [ + 0.2829696238040924, + 0.0341189019382, + 0.10142165422439575, + -0.12248171120882034, + 0.22408509254455566, + 1.1788665056228638, + 0.0, + 1.0008161067962646 + ], + [ + 0.27776551246643066, + 0.034284401684999466, + 0.09769647568464279, + -0.08285853266716003, + 0.24823778867721558, + 1.1880393028259277, + 0.0, + 1.0008161067962646 + ], + [ + 0.2801148593425751, + 0.03351748362183571, + 0.09111905097961426, + -0.08391325920820236, + 0.2624827027320862, + 1.185352087020874, + 0.0, + 1.0008161067962646 + ], + [ + 0.2794915735721588, + 0.033349111676216125, + 0.08341933786869049, + -0.06278958916664124, + 0.27873098850250244, + 1.185101866722107, + 0.0, + 0.9665181636810303 + ], + [ + 0.2799237072467804, + 0.03421897068619728, + 0.07960588485002518, + -0.05381146818399429, + 0.2796907126903534, + 1.1850025653839111, + 0.0, + 0.6961957812309265 + ], + [ + 0.2828638255596161, + 0.035746730864048004, + 0.07826852798461914, + -0.0517808273434639, + 0.27224379777908325, + 1.1810276508331299, + 0.0, + 0.5630297660827637 + ], + [ + 0.2858325242996216, + 0.037811700254678726, + 0.08155975490808487, + -0.045271728187799454, + 0.24644066393375397, + 1.1661077737808228, + 0.0, + 0.5630297660827637 + ], + [ + 0.2929498553276062, + 0.04086746275424957, + 0.09164467453956604, + -0.04892781376838684, + 0.22093039751052856, + 1.145721197128296, + 0.0, + 0.5630297660827637 + ], + [ + 0.30601561069488525, + 0.04460127651691437, + 0.09839063137769699, + -0.041311949491500854, + 0.20093077421188354, + 1.1301968097686768, + 0.0, + 0.5630297660827637 + ], + [ + 0.3206373453140259, + 0.04319973662495613, + 0.09730808436870575, + -0.06033043935894966, + 0.20162323117256165, + 1.1124893426895142, + 0.0, + 0.5630297660827637 + ], + [ + 0.3295961320400238, + 0.04260838031768799, + 0.08782945573329926, + -0.06324189156293869, + 0.22434237599372864, + 1.1214967966079712, + 0.0, + 0.5630297660827637 + ], + [ + 0.33595046401023865, + 0.04097302630543709, + 0.0836637020111084, + -0.0857451781630516, + 0.22428962588310242, + 1.15116548538208, + 0.0, + 0.5630297660827637 + ], + [ + 0.3398253619670868, + 0.04017571359872818, + 0.07138005644083023, + -0.08364692330360413, + 0.2396867275238037, + 1.195624828338623, + 0.0, + 0.5630297660827637 + ], + [ + 0.34377729892730713, + 0.03892119228839874, + 0.057197488844394684, + -0.07567343860864639, + 0.25844117999076843, + 1.232491135597229, + 0.0, + 0.5630297660827637 + ], + [ + 0.349506139755249, + 0.039476264268159866, + 0.05113546922802925, + -0.0529831238090992, + 0.24882353842258453, + 1.2754770517349243, + 0.0, + 0.5630297660827637 + ], + [ + 0.35592254996299744, + 0.03703906759619713, + 0.04286454990506172, + -0.016317348927259445, + 0.22743414342403412, + 1.301771640777588, + 0.0, + 0.5630297660827637 + ], + [ + 0.36017370223999023, + 0.035042572766542435, + 0.03781406953930855, + -0.0032238878775388002, + 0.21689115464687347, + 1.3014709949493408, + 0.0, + 0.5630297660827637 + ], + [ + 0.3606107831001282, + 0.03390039876103401, + 0.028495168313384056, + 0.01681637391448021, + 0.22300919890403748, + 1.3015198707580566, + 0.0, + 0.5630297660827637 + ], + [ + 0.36099010705947876, + 0.030940569937229156, + 0.02843659371137619, + 0.012737585231661797, + 0.2376885563135147, + 1.3056913614273071, + 0.0, + 0.6350118517875671 + ], + [ + 0.3604229688644409, + 0.02908172830939293, + 0.028791217133402824, + 0.012375401332974434, + 0.2470260113477707, + 1.2962623834609985, + 0.0, + 0.9124506115913391 + ], + [ + 0.3565809428691864, + 0.031039506196975708, + 0.02869313210248947, + 0.03718343377113342, + 0.2420056164264679, + 1.2884563207626343, + 0.0, + 1.0054124593734741 + ], + [ + 0.35705044865608215, + 0.035103071480989456, + 0.04676908999681473, + 0.06458192318677902, + 0.18971799314022064, + 1.2387738227844238, + 0.0, + 1.0001531839370728 + ], + [ + 0.35954299569129944, + 0.0318119116127491, + 0.08453794568777084, + 0.06809400022029877, + 0.11565493792295456, + 1.1535041332244873, + 0.0, + 1.0001531839370728 + ], + [ + 0.35509032011032104, + 0.029280250892043114, + 0.10849900543689728, + 0.028755618259310722, + 0.0973762720823288, + 1.072638988494873, + 0.0, + 1.0001531839370728 + ], + [ + 0.3382982015609741, + 0.023167911916971207, + 0.11268392205238342, + 0.024299079552292824, + 0.16252829134464264, + 0.9471032023429871, + 0.0, + 1.0001531839370728 + ], + [ + 0.31384456157684326, + 0.020412858575582504, + 0.11610596626996994, + -0.004531892016530037, + 0.19994981586933136, + 0.9087974429130554, + 0.0, + 1.0001531839370728 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9665181636810303 + ], + [ + 0.6961957812309265 + ], + [ + 0.5630297660827637 + ], + [ + 0.5630297660827637 + ], + [ + 0.5630297660827637 + ], + [ + 0.5630297660827637 + ], + [ + 0.5630297660827637 + ], + [ + 0.5630297660827637 + ], + [ + 0.5630297660827637 + ], + [ + 0.5630297660827637 + ], + [ + 0.5630297660827637 + ], + [ + 0.5630297660827637 + ], + [ + 0.5630297660827637 + ], + [ + 0.5630297660827637 + ], + [ + 0.5630297660827637 + ], + [ + 0.6350118517875671 + ], + [ + 0.9124506115913391 + ], + [ + 1.0054124593734741 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.29891449213027954, + 0.007113257888704538, + 0.13983727991580963 + ], + [ + 0.29704761505126953, + 0.006013467442244291, + 0.1289827972650528 + ], + [ + 0.28838813304901123, + 0.004525282420217991, + 0.11988828331232071 + ], + [ + 0.28568553924560547, + 0.014552389271557331, + 0.12381073832511902 + ], + [ + 0.284969687461853, + 0.020386546850204468, + 0.1243840828537941 + ], + [ + 0.28464561700820923, + 0.02496781386435032, + 0.12442971765995026 + ], + [ + 0.2868307828903198, + 0.02803119085729122, + 0.11863827705383301 + ], + [ + 0.28655630350112915, + 0.02809489704668522, + 0.10819698125123978 + ], + [ + 0.2829696238040924, + 0.0341189019382, + 0.10142165422439575 + ], + [ + 0.27776551246643066, + 0.034284401684999466, + 0.09769647568464279 + ], + [ + 0.2801148593425751, + 0.03351748362183571, + 0.09111905097961426 + ], + [ + 0.2794915735721588, + 0.033349111676216125, + 0.08341933786869049 + ], + [ + 0.2799237072467804, + 0.03421897068619728, + 0.07960588485002518 + ], + [ + 0.2828638255596161, + 0.035746730864048004, + 0.07826852798461914 + ], + [ + 0.2858325242996216, + 0.037811700254678726, + 0.08155975490808487 + ], + [ + 0.2929498553276062, + 0.04086746275424957, + 0.09164467453956604 + ], + [ + 0.30601561069488525, + 0.04460127651691437, + 0.09839063137769699 + ], + [ + 0.3206373453140259, + 0.04319973662495613, + 0.09730808436870575 + ], + [ + 0.3295961320400238, + 0.04260838031768799, + 0.08782945573329926 + ], + [ + 0.33595046401023865, + 0.04097302630543709, + 0.0836637020111084 + ], + [ + 0.3398253619670868, + 0.04017571359872818, + 0.07138005644083023 + ], + [ + 0.34377729892730713, + 0.03892119228839874, + 0.057197488844394684 + ], + [ + 0.349506139755249, + 0.039476264268159866, + 0.05113546922802925 + ], + [ + 0.35592254996299744, + 0.03703906759619713, + 0.04286454990506172 + ], + [ + 0.36017370223999023, + 0.035042572766542435, + 0.03781406953930855 + ], + [ + 0.3606107831001282, + 0.03390039876103401, + 0.028495168313384056 + ], + [ + 0.36099010705947876, + 0.030940569937229156, + 0.02843659371137619 + ], + [ + 0.3604229688644409, + 0.02908172830939293, + 0.028791217133402824 + ], + [ + 0.3565809428691864, + 0.031039506196975708, + 0.02869313210248947 + ], + [ + 0.35705044865608215, + 0.035103071480989456, + 0.04676908999681473 + ], + [ + 0.35954299569129944, + 0.0318119116127491, + 0.08453794568777084 + ], + [ + 0.35509032011032104, + 0.029280250892043114, + 0.10849900543689728 + ], + [ + 0.3382982015609741, + 0.023167911916971207, + 0.11268392205238342 + ], + [ + 0.31384456157684326, + 0.020412858575582504, + 0.11610596626996994 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.7971630637514411, + 0.5995687339355071, + -0.07105197447917025, + 0.5873508551292945, + -0.7973567841290972, + -0.13871240673490792, + -0.13982139596392973, + 0.06884396916416978, + -0.9877805855251562 + ], + [ + 0.7916780647456684, + 0.601494693817168, + -0.10700455649337778, + 0.5861002150918778, + -0.7971851256502016, + -0.14485307491153437, + -0.17243079675570613, + 0.051961608441843186, + -0.9836501469416495 + ], + [ + 0.755062150656486, + 0.6477370523734827, + -0.10157686561670762, + 0.6249271756125585, + -0.7578591836019752, + -0.18739125649575672, + -0.19836122057225022, + 0.07801390140648178, + -0.9770192717446403 + ], + [ + 0.7212533340380816, + 0.6908342697462824, + -0.05041467924198684, + 0.6692902409563741, + -0.7138097933758529, + -0.20621870002810336, + -0.17844943681477496, + 0.11499387211866088, + -0.977206328200778 + ], + [ + 0.7001678802830964, + 0.7126123179113096, + -0.044143218969011425, + 0.6911606306215029, + -0.6920005273558102, + -0.20840406142435663, + -0.17905843207948063, + 0.11540777486959497, + -0.9770461214297341 + ], + [ + 0.6678522344049257, + 0.7432053564135948, + -0.04023917492307441, + 0.7214423646098218, + -0.6596945890471583, + -0.2105325716560027, + -0.18301450091874444, + 0.11157440288902548, + -0.9767583350416931 + ], + [ + 0.5554446776640968, + 0.8314403890196164, + -0.013714574785123015, + 0.8120855892042943, + -0.5459149590106774, + -0.20614037288965173, + -0.17888042335969012, + 0.10336216442818633, + -0.9784263166449372 + ], + [ + 0.4463877857855184, + 0.894669264397697, + 0.01746001270291231, + 0.8713097645458037, + -0.43012219031386056, + -0.23625028170722534, + -0.20385592684206752, + 0.12067231969963454, + -0.9715353582601463 + ], + [ + 0.37242246735280504, + 0.9276204361643993, + 0.028667616242351007, + 0.9010672873048985, + -0.35402048505973605, + -0.25049399175840714, + -0.22221442248387155, + 0.11912104166871226, + -0.9676936126026257 + ], + [ + 0.3620311036756473, + 0.9320505293128236, + -0.014672790432560576, + 0.8992034714389692, + -0.3533347892955645, + -0.25804581691158185, + -0.2456961475552666, + 0.08022678780272903, + -0.9660212552502954 + ], + [ + 0.3630933482907336, + 0.9315476923169544, + -0.019547822538100487, + 0.8948932118388294, + -0.354495355706833, + -0.27110732595610587, + -0.2594790161685687, + 0.08094405303197359, + -0.9623506120156774 + ], + [ + 0.3616832650825921, + 0.9312064285165285, + -0.045164181036379786, + 0.8907780237096719, + -0.35946528354973273, + -0.2780273770663625, + -0.2751358359703193, + 0.06032658959365875, + -0.9595107994978022 + ], + [ + 0.36167218984703203, + 0.9307461394297243, + -0.05389666991491082, + 0.8904970469857219, + -0.36199337704552687, + -0.27563708800682885, + -0.2760583931000137, + 0.051695443820896594, + -0.9597496260417083 + ], + [ + 0.3659799843679513, + 0.9290453993594335, + -0.0541599203387962, + 0.8909293238873915, + -0.3665917053891966, + -0.2680586901732449, + -0.26889327042451133, + 0.049851454030059014, + -0.9618790161197506 + ], + [ + 0.3818366011336583, + 0.9226302176202221, + -0.05435339519071132, + 0.8914524077273311, + -0.3831804315893121, + -0.2418374693966447, + -0.24395371444567127, + 0.04388893233026514, + -0.9687932425585296 + ], + [ + 0.40236568857841315, + 0.9143373654087582, + -0.045705961013745494, + 0.8888647862790994, + -0.40213185497698034, + -0.2195663064447353, + -0.2191375010531744, + 0.04771952881309109, + -0.9745263476181781 + ], + [ + 0.41790151622388194, + 0.9072397957121974, + -0.04768936793323032, + 0.8862987991899662, + -0.418662381399309, + -0.19798042568770174, + -0.19958146530227844, + 0.040469290544189615, + -0.9790451854897431 + ], + [ + 0.4334680386540441, + 0.9005133457127927, + -0.03436820708981765, + 0.8786361105157685, + -0.4307971196003159, + -0.20594277613403583, + -0.20025994298196187, + 0.05907246344299154, + -0.9779603260355902 + ], + [ + 0.42345053178473413, + 0.905057503608465, + -0.03950395288119167, + 0.8781792827131168, + -0.42080207232924527, + -0.22743518491405057, + -0.22246526592864252, + 0.061615996992876385, + -0.972991610636943 + ], + [ + 0.3972183532050235, + 0.9176447052899781, + -0.01207372065099499, + 0.8903649054252194, + -0.3885315551919176, + -0.2372626515220842, + -0.22241383739378562, + 0.08349506256910598, + -0.9713705057609849 + ], + [ + 0.3559566872843746, + 0.934459612982783, + -0.008948099328982106, + 0.9038456028626382, + -0.3466960255998862, + -0.2507289213854624, + -0.23739832131548091, + 0.08116093603027497, + -0.9680159810144053 + ], + [ + 0.3208666465441765, + 0.947031509544452, + -0.01326329768387409, + 0.9119904723687297, + -0.31271248940508256, + -0.2654887516990836, + -0.2555738121251003, + 0.0730904843330011, + -0.964022721545406 + ], + [ + 0.28208194108534823, + 0.9591624726510269, + -0.020907643853156604, + 0.9272453127601669, + -0.2781597600637741, + -0.25068561555375324, + -0.24626390007027557, + 0.05132737027387971, + -0.9678427519917404 + ], + [ + 0.258946711431114, + 0.9648801073151555, + -0.04419252364942709, + 0.9392050108020206, + -0.2622092325886823, + -0.22167603846521255, + -0.2254784874957863, + 0.01589644151211521, + -0.974118450099301 + ], + [ + 0.25984718163225723, + 0.9641302198896144, + -0.05415128154879677, + 0.9413664009718192, + -0.2654110151908288, + -0.2082937640370887, + -0.21519465913246427, + 0.0031483505170094295, + -0.9765660994371478 + ], + [ + 0.25944605868804693, + 0.9628379526360014, + -0.07503878726999531, + 0.9400923638953012, + -0.2695814242870952, + -0.20869164579610233, + -0.22116530011957847, + -0.016399165925565853, + -0.9750984449684875 + ], + [ + 0.2546440926089553, + 0.9642009281902227, + -0.07397943076608754, + 0.9379320237863228, + -0.2648836106568974, + -0.22387539293423375, + -0.23545680040180228, + -0.012379130925785367, + -0.9718059745968162 + ], + [ + 0.26286887714487955, + 0.9616576064724297, + -0.07819591640429824, + 0.9333323471447629, + -0.2739902583721167, + -0.23199152590219463, + -0.24452133486024924, + -0.011999426273722205, + -0.9695696625654412 + ], + [ + 0.2704850514615712, + 0.9572602060891071, + -0.10242428800861249, + 0.9324192088215362, + -0.28696741429648887, + -0.21964544646454107, + -0.23965027844017095, + -0.03609156369883845, + -0.9701881998217259 + ], + [ + 0.3201072634474284, + 0.9394471470387298, + -0.12235357701755192, + 0.9284224178319898, + -0.33678205128944366, + -0.1568746760834171, + -0.18858195553976312, + -0.06337908053976372, + -0.9800101724955375 + ], + [ + 0.4025789439637842, + 0.9088888676555021, + -0.10886330937879395, + 0.9080824096130563, + -0.4115252679899795, + -0.07767426315788642, + -0.11539727565393111, + -0.06758683346387986, + -0.99101740081291 + ], + [ + 0.4755441081962311, + 0.8767657019892918, + -0.07169173575158697, + 0.8743029196141441, + -0.4800656828608097, + -0.07163340626808097, + -0.09722245581158048, + -0.028615449579005314, + -0.994851220098441 + ], + [ + 0.5763401130090167, + 0.8091912848709372, + -0.11419955615358604, + 0.8010295892854139, + -0.5870558682131086, + -0.11711961699815496, + -0.16181369294962414, + -0.023976490265994223, + -0.9865300080020525 + ], + [ + 0.602447887044429, + 0.7893103051006556, + -0.11851491744760623, + 0.7730501799355878, + -0.6139784316870064, + -0.15944875265965353, + -0.19862014675570638, + 0.004441585873754719, + -0.9800664822437648 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0018668770790100098, + -0.001099790446460247, + -0.010854482650756836, + 0.016806848347187042, + 0.033015862107276917, + 0.002280890941619873, + 1.0 + ], + [ + -0.0086594820022583, + -0.0014881850220263004, + -0.009094513952732086, + -0.02690359205007553, + 0.026388734579086304, + 0.05409353971481323, + 1.0 + ], + [ + -0.0027025938034057617, + 0.01002710685133934, + 0.003922455012798309, + -0.037457600235939026, + -0.020275264978408813, + 0.056671857833862305, + 1.0 + ], + [ + -0.0007158517837524414, + 0.005834157578647137, + 0.0005733445286750793, + -0.0004368498921394348, + 0.0006189644336700439, + 0.030877768993377686, + 1.0 + ], + [ + -0.00032407045364379883, + 0.004581267014145851, + 4.563480615615845e-05, + 0.003837980329990387, + 0.004022538661956787, + 0.04502826929092407, + 1.0 + ], + [ + 0.0021851658821105957, + 0.0030633769929409027, + -0.0057914406061172485, + 0.008485443890094757, + -0.004203468561172485, + 0.1469551920890808, + 1.0 + ], + [ + -0.00027447938919067383, + 6.370618939399719e-05, + -0.010441295802593231, + -0.018324099481105804, + 0.02544654905796051, + 0.12643498182296753, + 1.0 + ], + [ + -0.003586679697036743, + 0.006024004891514778, + -0.006775327026844025, + 0.001093246042728424, + 0.018790140748023987, + 0.08152365684509277, + 1.0 + ], + [ + -0.005204111337661743, + 0.000165499746799469, + -0.00372517853975296, + 0.03962317854166031, + 0.024152696132659912, + 0.009172797203063965, + 1.0 + ], + [ + 0.002349346876144409, + -0.0007669180631637573, + -0.006577424705028534, + -0.0010547265410423279, + 0.014244914054870605, + -0.002687215805053711, + 1.0 + ], + [ + -0.0006232857704162598, + -0.00016837194561958313, + -0.007699713110923767, + 0.021123670041561127, + 0.01624828577041626, + -0.00025022029876708984, + 0.0 + ], + [ + 0.00043213367462158203, + 0.0008698590099811554, + -0.0038134530186653137, + 0.008978120982646942, + 0.0009597241878509521, + -9.930133819580078e-05, + 0.0 + ], + [ + 0.0029401183128356934, + 0.0015277601778507233, + -0.0013373568654060364, + 0.0020306408405303955, + -0.007446914911270142, + -0.00397491455078125, + 0.0 + ], + [ + 0.002968698740005493, + 0.002064969390630722, + 0.0032912269234657288, + 0.006509099155664444, + -0.025803133845329285, + -0.014919877052307129, + 0.0 + ], + [ + 0.007117331027984619, + 0.0030557624995708466, + 0.01008491963148117, + -0.003656085580587387, + -0.025510266423225403, + -0.020386576652526855, + 0.0 + ], + [ + 0.013065755367279053, + 0.003733813762664795, + 0.006745956838130951, + 0.007615864276885986, + -0.01999962329864502, + -0.01552438735961914, + 0.0 + ], + [ + 0.014621734619140625, + -0.0014015398919582367, + -0.0010825470089912415, + -0.019018489867448807, + 0.0006924569606781006, + -0.017707467079162598, + 0.0 + ], + [ + 0.008958786725997925, + -0.0005913563072681427, + -0.009478628635406494, + -0.002911452203989029, + 0.022719144821166992, + 0.009007453918457031, + 0.0 + ], + [ + 0.006354331970214844, + -0.0016353540122509003, + -0.004165753722190857, + -0.022503286600112915, + -5.27501106262207e-05, + 0.029668688774108887, + 0.0 + ], + [ + 0.0038748979568481445, + -0.0007973127067089081, + -0.012283645570278168, + 0.0020982548594474792, + 0.015397101640701294, + 0.04445934295654297, + 0.0 + ], + [ + 0.003951936960220337, + -0.0012545213103294373, + -0.014182567596435547, + 0.007973484694957733, + 0.01875445246696472, + 0.03686630725860596, + 0.0 + ], + [ + 0.0057288408279418945, + 0.0005550719797611237, + -0.006062019616365433, + 0.022690314799547195, + -0.009617641568183899, + 0.04298591613769531, + 0.0 + ], + [ + 0.006416410207748413, + -0.002437196671962738, + -0.00827091932296753, + 0.03666577488183975, + -0.021389394998550415, + 0.026294589042663574, + 0.0 + ], + [ + 0.004251152276992798, + -0.0019964948296546936, + -0.005050480365753174, + 0.013093461282551289, + -0.010542988777160645, + -0.0003006458282470703, + 0.0 + ], + [ + 0.00043708086013793945, + -0.0011421740055084229, + -0.009318901225924492, + 0.02004026249051094, + 0.0061180442571640015, + 4.887580871582031e-05, + 0.0 + ], + [ + 0.00037932395935058594, + -0.0029598288238048553, + -5.8574602007865906e-05, + -0.004078788682818413, + 0.014679357409477234, + 0.004171490669250488, + 1.0 + ], + [ + -0.0005671381950378418, + -0.0018588416278362274, + 0.0003546234220266342, + -0.00036218389868736267, + 0.009337455034255981, + -0.009428977966308594, + 1.0 + ], + [ + -0.0038420259952545166, + 0.001957777887582779, + -9.808503091335297e-05, + 0.02480803243815899, + -0.005020394921302795, + -0.007806062698364258, + 1.0 + ], + [ + 0.00046950578689575195, + 0.004063565284013748, + 0.018075957894325256, + 0.0273984894156456, + -0.05228762328624725, + -0.04968249797821045, + 1.0 + ], + [ + 0.002492547035217285, + -0.0032911598682403564, + 0.037768855690956116, + 0.003512077033519745, + -0.07406305521726608, + -0.08526968955993652, + 1.0 + ], + [ + -0.0044526755809783936, + -0.002531660720705986, + 0.023961059749126434, + -0.039338380098342896, + -0.018278665840625763, + -0.08086514472961426, + 1.0 + ], + [ + -0.016792118549346924, + -0.006112338975071907, + 0.004184916615486145, + -0.0044565387070178986, + 0.06515201926231384, + -0.125535786151886, + 1.0 + ], + [ + -0.02445363998413086, + -0.0027550533413887024, + 0.0034220442175865173, + -0.02883097156882286, + 0.03742152452468872, + -0.03830575942993164, + 1.0 + ], + [ + -0.021848827600479126, + 0.006568441167473793, + 0.0038887932896614075, + -0.008308948948979378, + -0.0019226372241973877, + 0.017757654190063477, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9665181636810303 + ], + [ + 0.6961957812309265 + ], + [ + 0.5630297660827637 + ], + [ + 0.5630297660827637 + ], + [ + 0.5630297660827637 + ], + [ + 0.5630297660827637 + ], + [ + 0.5630297660827637 + ], + [ + 0.5630297660827637 + ], + [ + 0.5630297660827637 + ], + [ + 0.5630297660827637 + ], + [ + 0.5630297660827637 + ], + [ + 0.5630297660827637 + ], + [ + 0.5630297660827637 + ], + [ + 0.5630297660827637 + ], + [ + 0.5630297660827637 + ], + [ + 0.6350118517875671 + ], + [ + 0.9124506115913391 + ], + [ + 1.0054124593734741 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.29704761505126953, + 0.006013467442244291, + 0.1289827972650528 + ], + [ + 0.28838813304901123, + 0.004525282420217991, + 0.11988828331232071 + ], + [ + 0.28568553924560547, + 0.014552389271557331, + 0.12381073832511902 + ], + [ + 0.284969687461853, + 0.020386546850204468, + 0.1243840828537941 + ], + [ + 0.28464561700820923, + 0.02496781386435032, + 0.12442971765995026 + ], + [ + 0.2868307828903198, + 0.02803119085729122, + 0.11863827705383301 + ], + [ + 0.28655630350112915, + 0.02809489704668522, + 0.10819698125123978 + ], + [ + 0.2829696238040924, + 0.0341189019382, + 0.10142165422439575 + ], + [ + 0.27776551246643066, + 0.034284401684999466, + 0.09769647568464279 + ], + [ + 0.2801148593425751, + 0.03351748362183571, + 0.09111905097961426 + ], + [ + 0.2794915735721588, + 0.033349111676216125, + 0.08341933786869049 + ], + [ + 0.2799237072467804, + 0.03421897068619728, + 0.07960588485002518 + ], + [ + 0.2828638255596161, + 0.035746730864048004, + 0.07826852798461914 + ], + [ + 0.2858325242996216, + 0.037811700254678726, + 0.08155975490808487 + ], + [ + 0.2929498553276062, + 0.04086746275424957, + 0.09164467453956604 + ], + [ + 0.30601561069488525, + 0.04460127651691437, + 0.09839063137769699 + ], + [ + 0.3206373453140259, + 0.04319973662495613, + 0.09730808436870575 + ], + [ + 0.3295961320400238, + 0.04260838031768799, + 0.08782945573329926 + ], + [ + 0.33595046401023865, + 0.04097302630543709, + 0.0836637020111084 + ], + [ + 0.3398253619670868, + 0.04017571359872818, + 0.07138005644083023 + ], + [ + 0.34377729892730713, + 0.03892119228839874, + 0.057197488844394684 + ], + [ + 0.349506139755249, + 0.039476264268159866, + 0.05113546922802925 + ], + [ + 0.35592254996299744, + 0.03703906759619713, + 0.04286454990506172 + ], + [ + 0.36017370223999023, + 0.035042572766542435, + 0.03781406953930855 + ], + [ + 0.3606107831001282, + 0.03390039876103401, + 0.028495168313384056 + ], + [ + 0.36099010705947876, + 0.030940569937229156, + 0.02843659371137619 + ], + [ + 0.3604229688644409, + 0.02908172830939293, + 0.028791217133402824 + ], + [ + 0.3565809428691864, + 0.031039506196975708, + 0.02869313210248947 + ], + [ + 0.35705044865608215, + 0.035103071480989456, + 0.04676908999681473 + ], + [ + 0.35954299569129944, + 0.0318119116127491, + 0.08453794568777084 + ], + [ + 0.35509032011032104, + 0.029280250892043114, + 0.10849900543689728 + ], + [ + 0.3382982015609741, + 0.023167911916971207, + 0.11268392205238342 + ], + [ + 0.31384456157684326, + 0.020412858575582504, + 0.11610596626996994 + ], + [ + 0.29199573397636414, + 0.026981299743056297, + 0.11999475955963135 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.7916780647456684, + 0.601494693817168, + -0.10700455649337778, + 0.5861002150918778, + -0.7971851256502016, + -0.14485307491153437, + -0.17243079675570613, + 0.051961608441843186, + -0.9836501469416495 + ], + [ + 0.755062150656486, + 0.6477370523734827, + -0.10157686561670762, + 0.6249271756125585, + -0.7578591836019752, + -0.18739125649575672, + -0.19836122057225022, + 0.07801390140648178, + -0.9770192717446403 + ], + [ + 0.7212533340380816, + 0.6908342697462824, + -0.05041467924198684, + 0.6692902409563741, + -0.7138097933758529, + -0.20621870002810336, + -0.17844943681477496, + 0.11499387211866088, + -0.977206328200778 + ], + [ + 0.7001678802830964, + 0.7126123179113096, + -0.044143218969011425, + 0.6911606306215029, + -0.6920005273558102, + -0.20840406142435663, + -0.17905843207948063, + 0.11540777486959497, + -0.9770461214297341 + ], + [ + 0.6678522344049257, + 0.7432053564135948, + -0.04023917492307441, + 0.7214423646098218, + -0.6596945890471583, + -0.2105325716560027, + -0.18301450091874444, + 0.11157440288902548, + -0.9767583350416931 + ], + [ + 0.5554446776640968, + 0.8314403890196164, + -0.013714574785123015, + 0.8120855892042943, + -0.5459149590106774, + -0.20614037288965173, + -0.17888042335969012, + 0.10336216442818633, + -0.9784263166449372 + ], + [ + 0.4463877857855184, + 0.894669264397697, + 0.01746001270291231, + 0.8713097645458037, + -0.43012219031386056, + -0.23625028170722534, + -0.20385592684206752, + 0.12067231969963454, + -0.9715353582601463 + ], + [ + 0.37242246735280504, + 0.9276204361643993, + 0.028667616242351007, + 0.9010672873048985, + -0.35402048505973605, + -0.25049399175840714, + -0.22221442248387155, + 0.11912104166871226, + -0.9676936126026257 + ], + [ + 0.3620311036756473, + 0.9320505293128236, + -0.014672790432560576, + 0.8992034714389692, + -0.3533347892955645, + -0.25804581691158185, + -0.2456961475552666, + 0.08022678780272903, + -0.9660212552502954 + ], + [ + 0.3630933482907336, + 0.9315476923169544, + -0.019547822538100487, + 0.8948932118388294, + -0.354495355706833, + -0.27110732595610587, + -0.2594790161685687, + 0.08094405303197359, + -0.9623506120156774 + ], + [ + 0.3616832650825921, + 0.9312064285165285, + -0.045164181036379786, + 0.8907780237096719, + -0.35946528354973273, + -0.2780273770663625, + -0.2751358359703193, + 0.06032658959365875, + -0.9595107994978022 + ], + [ + 0.36167218984703203, + 0.9307461394297243, + -0.05389666991491082, + 0.8904970469857219, + -0.36199337704552687, + -0.27563708800682885, + -0.2760583931000137, + 0.051695443820896594, + -0.9597496260417083 + ], + [ + 0.3659799843679513, + 0.9290453993594335, + -0.0541599203387962, + 0.8909293238873915, + -0.3665917053891966, + -0.2680586901732449, + -0.26889327042451133, + 0.049851454030059014, + -0.9618790161197506 + ], + [ + 0.3818366011336583, + 0.9226302176202221, + -0.05435339519071132, + 0.8914524077273311, + -0.3831804315893121, + -0.2418374693966447, + -0.24395371444567127, + 0.04388893233026514, + -0.9687932425585296 + ], + [ + 0.40236568857841315, + 0.9143373654087582, + -0.045705961013745494, + 0.8888647862790994, + -0.40213185497698034, + -0.2195663064447353, + -0.2191375010531744, + 0.04771952881309109, + -0.9745263476181781 + ], + [ + 0.41790151622388194, + 0.9072397957121974, + -0.04768936793323032, + 0.8862987991899662, + -0.418662381399309, + -0.19798042568770174, + -0.19958146530227844, + 0.040469290544189615, + -0.9790451854897431 + ], + [ + 0.4334680386540441, + 0.9005133457127927, + -0.03436820708981765, + 0.8786361105157685, + -0.4307971196003159, + -0.20594277613403583, + -0.20025994298196187, + 0.05907246344299154, + -0.9779603260355902 + ], + [ + 0.42345053178473413, + 0.905057503608465, + -0.03950395288119167, + 0.8781792827131168, + -0.42080207232924527, + -0.22743518491405057, + -0.22246526592864252, + 0.061615996992876385, + -0.972991610636943 + ], + [ + 0.3972183532050235, + 0.9176447052899781, + -0.01207372065099499, + 0.8903649054252194, + -0.3885315551919176, + -0.2372626515220842, + -0.22241383739378562, + 0.08349506256910598, + -0.9713705057609849 + ], + [ + 0.3559566872843746, + 0.934459612982783, + -0.008948099328982106, + 0.9038456028626382, + -0.3466960255998862, + -0.2507289213854624, + -0.23739832131548091, + 0.08116093603027497, + -0.9680159810144053 + ], + [ + 0.3208666465441765, + 0.947031509544452, + -0.01326329768387409, + 0.9119904723687297, + -0.31271248940508256, + -0.2654887516990836, + -0.2555738121251003, + 0.0730904843330011, + -0.964022721545406 + ], + [ + 0.28208194108534823, + 0.9591624726510269, + -0.020907643853156604, + 0.9272453127601669, + -0.2781597600637741, + -0.25068561555375324, + -0.24626390007027557, + 0.05132737027387971, + -0.9678427519917404 + ], + [ + 0.258946711431114, + 0.9648801073151555, + -0.04419252364942709, + 0.9392050108020206, + -0.2622092325886823, + -0.22167603846521255, + -0.2254784874957863, + 0.01589644151211521, + -0.974118450099301 + ], + [ + 0.25984718163225723, + 0.9641302198896144, + -0.05415128154879677, + 0.9413664009718192, + -0.2654110151908288, + -0.2082937640370887, + -0.21519465913246427, + 0.0031483505170094295, + -0.9765660994371478 + ], + [ + 0.25944605868804693, + 0.9628379526360014, + -0.07503878726999531, + 0.9400923638953012, + -0.2695814242870952, + -0.20869164579610233, + -0.22116530011957847, + -0.016399165925565853, + -0.9750984449684875 + ], + [ + 0.2546440926089553, + 0.9642009281902227, + -0.07397943076608754, + 0.9379320237863228, + -0.2648836106568974, + -0.22387539293423375, + -0.23545680040180228, + -0.012379130925785367, + -0.9718059745968162 + ], + [ + 0.26286887714487955, + 0.9616576064724297, + -0.07819591640429824, + 0.9333323471447629, + -0.2739902583721167, + -0.23199152590219463, + -0.24452133486024924, + -0.011999426273722205, + -0.9695696625654412 + ], + [ + 0.2704850514615712, + 0.9572602060891071, + -0.10242428800861249, + 0.9324192088215362, + -0.28696741429648887, + -0.21964544646454107, + -0.23965027844017095, + -0.03609156369883845, + -0.9701881998217259 + ], + [ + 0.3201072634474284, + 0.9394471470387298, + -0.12235357701755192, + 0.9284224178319898, + -0.33678205128944366, + -0.1568746760834171, + -0.18858195553976312, + -0.06337908053976372, + -0.9800101724955375 + ], + [ + 0.4025789439637842, + 0.9088888676555021, + -0.10886330937879395, + 0.9080824096130563, + -0.4115252679899795, + -0.07767426315788642, + -0.11539727565393111, + -0.06758683346387986, + -0.99101740081291 + ], + [ + 0.4755441081962311, + 0.8767657019892918, + -0.07169173575158697, + 0.8743029196141441, + -0.4800656828608097, + -0.07163340626808097, + -0.09722245581158048, + -0.028615449579005314, + -0.994851220098441 + ], + [ + 0.5763401130090167, + 0.8091912848709372, + -0.11419955615358604, + 0.8010295892854139, + -0.5870558682131086, + -0.11711961699815496, + -0.16181369294962414, + -0.023976490265994223, + -0.9865300080020525 + ], + [ + 0.602447887044429, + 0.7893103051006556, + -0.11851491744760623, + 0.7730501799355878, + -0.6139784316870064, + -0.15944875265965353, + -0.19862014675570638, + 0.004441585873754719, + -0.9800664822437648 + ], + [ + 0.5888543296451068, + 0.8010069938878083, + -0.10788129680824662, + 0.7839296789260076, + -0.5985225970586392, + -0.16499987669434446, + -0.19673544916252153, + 0.012589541413363353, + -0.9803757782043693 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005967.json b/json/chunk-0005/episode_0005967.json new file mode 100644 index 0000000000000000000000000000000000000000..6f5937840cada5cd0954775218b4d8f87eb91d3c --- /dev/null +++ b/json/chunk-0005/episode_0005967.json @@ -0,0 +1,1402 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 22, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the sushi to the upper middle corner of the table." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005967.mp4", + "start": 0, + "end": 22, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3473844528198242, + -0.1520167887210846, + -0.005864959675818682, + -0.015241894870996475, + -0.16216973960399628, + -0.18944373726844788, + 0.0, + 1.0014774799346924 + ], + [ + 0.3476172387599945, + -0.15148372948169708, + -0.005864959675818682, + -0.015241894870996475, + -0.16216973960399628, + -0.18790975213050842, + 0.0, + 1.0014774799346924 + ], + [ + 0.3322625756263733, + -0.14059479534626007, + 0.0023847820702940226, + 0.008742702193558216, + -0.15792009234428406, + -0.18257860839366913, + 0.0, + 1.0008161067962646 + ], + [ + 0.3390139937400818, + -0.1355842798948288, + 0.046739790588617325, + 0.03784988448023796, + -0.25168535113334656, + -0.19812051951885223, + 0.0, + 1.0008161067962646 + ], + [ + 0.33537301421165466, + -0.12801121175289154, + 0.08645529299974442, + 0.05306701734662056, + -0.3270343542098999, + -0.1862930953502655, + 0.0, + 1.0008161067962646 + ], + [ + 0.33048945665359497, + -0.11464229971170425, + 0.09721925109624863, + 0.0676882266998291, + -0.34793561697006226, + -0.16048301756381989, + 0.0, + 1.0008161067962646 + ], + [ + 0.3362632095813751, + -0.09326814860105515, + 0.09036431461572647, + 0.06166226789355278, + -0.32364270091056824, + -0.09695061296224594, + 0.0, + 1.0008161067962646 + ], + [ + 0.3472502827644348, + -0.0826207846403122, + 0.06750119477510452, + 0.0538049042224884, + -0.2717401683330536, + -0.055848486721515656, + 0.0, + 1.0008161067962646 + ], + [ + 0.36321717500686646, + -0.07510791718959808, + 0.04217486456036568, + 0.05672460049390793, + -0.2090631127357483, + -0.02624821662902832, + 0.0, + 1.0008161067962646 + ], + [ + 0.37069961428642273, + -0.07391390204429626, + 0.019882407039403915, + 0.048596933484077454, + -0.16339170932769775, + -0.010786513797938824, + 0.0, + 1.0008161067962646 + ], + [ + 0.3748214840888977, + -0.0767693817615509, + -0.00014619354624301195, + 0.047419916838407516, + -0.10704576224088669, + 0.008562605828046799, + 0.0, + 1.0001531839370728 + ], + [ + 0.37781819701194763, + -0.07998992502689362, + -0.0007157179061323404, + 0.037884436547756195, + -0.10943523794412613, + 0.012926444411277771, + 0.0, + 0.9788280129432678 + ], + [ + 0.3745322823524475, + -0.08227209746837616, + 0.0016542293597012758, + 0.043318137526512146, + -0.09758087247610092, + 0.01649297960102558, + 0.0, + 0.729983389377594 + ], + [ + 0.386688768863678, + -0.08161220699548721, + 0.031736310571432114, + 0.020742099732160568, + -0.14129842817783356, + 0.04869304597377777, + 0.0, + 0.5988990664482117 + ], + [ + 0.41969382762908936, + -0.0864548459649086, + 0.06443518400192261, + -0.03065325878560543, + -0.2053106427192688, + 0.06849689781665802, + 0.0, + 0.5938982367515564 + ], + [ + 0.44969671964645386, + -0.08410507440567017, + 0.06273258477449417, + -0.02534942515194416, + -0.20159772038459778, + 0.07353758066892624, + 0.0, + 0.5918992757797241 + ], + [ + 0.4723915457725525, + -0.0886278972029686, + 0.0488201342523098, + -0.019679391756653786, + -0.17926260828971863, + 0.07390202581882477, + 0.0, + 0.5918992757797241 + ], + [ + 0.4728592038154602, + -0.08636321872472763, + 0.02338854782283306, + 0.017706839367747307, + -0.11930745095014572, + 0.06260447204113007, + 0.0, + 0.5918992757797241 + ], + [ + 0.4689990282058716, + -0.08636967092752457, + 0.0064968024380505085, + 0.031955230981111526, + -0.0820542648434639, + 0.06184397265315056, + 0.0, + 0.5918992757797241 + ], + [ + 0.4688229560852051, + -0.0857284665107727, + 0.006402831058949232, + 0.022230252623558044, + -0.07792273908853531, + 0.07168914377689362, + 0.0, + 0.641040563583374 + ], + [ + 0.4659082591533661, + -0.08709676563739777, + 0.008980057202279568, + 0.011773538775742054, + -0.0820569321513176, + 0.09076253324747086, + 0.0, + 0.9476637244224548 + ], + [ + 0.46738162636756897, + -0.08962142467498779, + 0.051927100867033005, + -0.021324660629034042, + -0.16715775430202484, + 0.10735618323087692, + 0.0, + 1.0001531839370728 + ] + ], + "left_gripper_pos": [ + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 0.9788280129432678 + ], + [ + 0.729983389377594 + ], + [ + 0.5988990664482117 + ], + [ + 0.5938982367515564 + ], + [ + 0.5918992757797241 + ], + [ + 0.5918992757797241 + ], + [ + 0.5918992757797241 + ], + [ + 0.5918992757797241 + ], + [ + 0.641040563583374 + ], + [ + 0.9476637244224548 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3473844528198242, + -0.1520167887210846, + -0.005864959675818682 + ], + [ + 0.3476172387599945, + -0.15148372948169708, + -0.005864959675818682 + ], + [ + 0.3322625756263733, + -0.14059479534626007, + 0.0023847820702940226 + ], + [ + 0.3390139937400818, + -0.1355842798948288, + 0.046739790588617325 + ], + [ + 0.33537301421165466, + -0.12801121175289154, + 0.08645529299974442 + ], + [ + 0.33048945665359497, + -0.11464229971170425, + 0.09721925109624863 + ], + [ + 0.3362632095813751, + -0.09326814860105515, + 0.09036431461572647 + ], + [ + 0.3472502827644348, + -0.0826207846403122, + 0.06750119477510452 + ], + [ + 0.36321717500686646, + -0.07510791718959808, + 0.04217486456036568 + ], + [ + 0.37069961428642273, + -0.07391390204429626, + 0.019882407039403915 + ], + [ + 0.3748214840888977, + -0.0767693817615509, + -0.00014619354624301195 + ], + [ + 0.37781819701194763, + -0.07998992502689362, + -0.0007157179061323404 + ], + [ + 0.3745322823524475, + -0.08227209746837616, + 0.0016542293597012758 + ], + [ + 0.386688768863678, + -0.08161220699548721, + 0.031736310571432114 + ], + [ + 0.41969382762908936, + -0.0864548459649086, + 0.06443518400192261 + ], + [ + 0.44969671964645386, + -0.08410507440567017, + 0.06273258477449417 + ], + [ + 0.4723915457725525, + -0.0886278972029686, + 0.0488201342523098 + ], + [ + 0.4728592038154602, + -0.08636321872472763, + 0.02338854782283306 + ], + [ + 0.4689990282058716, + -0.08636967092752457, + 0.0064968024380505085 + ], + [ + 0.4688229560852051, + -0.0857284665107727, + 0.006402831058949232 + ], + [ + 0.4659082591533661, + -0.08709676563739777, + 0.008980057202279568 + ], + [ + 0.46738162636756897, + -0.08962142467498779, + 0.051927100867033005 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9692231601244055, + -0.19070757187572304, + 0.15568265127408104, + -0.18584181650580253, + -0.9815316502721418, + -0.04537002040852085, + 0.16145985605185215, + 0.015041327844040733, + -0.9867646494176833 + ], + [ + 0.9695070982528025, + -0.18920169312434199, + 0.15575206501460362, + -0.18435482451280238, + -0.9818230379124187, + -0.045131152248567966, + 0.16145985605185217, + 0.01504132784404073, + -0.9867646494176833 + ], + [ + 0.9711421161206161, + -0.1802069372242181, + 0.15623203920143444, + -0.17930661016031507, + -0.9835908281548252, + -0.019955508575874317, + 0.15726452190366594, + -0.008633802521004983, + -0.9875187732921535 + ], + [ + 0.9495486361726937, + -0.18744658378477744, + 0.25143819473181434, + -0.19062575102120174, + -0.9815908799607977, + -0.011881389876163868, + 0.24903656476545805, + -0.03664863715341983, + -0.9678004271566616 + ], + [ + 0.9306137903055419, + -0.16821245602201315, + 0.3250577532257844, + -0.1754007348523319, + -0.9844701278020158, + -0.007290382619885499, + 0.32123598102705525, + -0.050230838182581256, + -0.945666065473992 + ], + [ + 0.9279987751724348, + -0.13666422824328436, + 0.34661385142133017, + -0.15021989115106169, + -0.9885747342894056, + 0.012408828598779773, + 0.34095785308601356, + -0.0635836727729548, + -0.9379258280779338 + ], + [ + 0.9436310229229238, + -0.07710931907945079, + 0.32189228864410496, + -0.09177332514119738, + -0.9953093981707489, + 0.030608147698110988, + 0.3180222466588845, + -0.058423923388324014, + -0.9462814041319584 + ], + [ + 0.9618033698639578, + -0.04132647795185924, + 0.270603769261312, + -0.053771179419971026, + -0.9978017377383646, + 0.038734383047689565, + 0.26840815558048936, + -0.051805543973539626, + -0.961911247273617 + ], + [ + 0.9778888246697093, + -0.01444053300743332, + 0.20862626295017547, + -0.025673734114451344, + -0.9983564950126304, + 0.05123639568428136, + 0.2075435037834598, + -0.05545971396028848, + -0.9766524019141755 + ], + [ + 0.986623845917954, + -0.0028720883332098673, + 0.16298815225246266, + -0.010642644483826074, + -0.9988465289576485, + 0.046822491472034204, + 0.1626656718071044, + -0.04793081157109765, + -0.9855163704970505 + ], + [ + 0.994239622250892, + 0.013617204124796462, + 0.10631154828252004, + 0.008513490049618946, + -0.998795903829775, + 0.04831421095327312, + 0.10684144342706159, + -0.047130820539069376, + -0.9931583920612741 + ], + [ + 0.9939348925121017, + 0.01705309634779017, + 0.10863986999214573, + 0.012848759790249593, + -0.9991455147260703, + 0.03928294508598985, + 0.10921693467045213, + -0.03764880220842908, + -0.9933047009218576 + ], + [ + 0.9951074042473941, + 0.020695183765870758, + 0.09660726360326424, + 0.016413774428827212, + -0.9988564569909222, + 0.04490396793761001, + 0.09742608491063018, + -0.04309858114183308, + -0.9943091422100814 + ], + [ + 0.9888605151491752, + 0.05158074796968053, + 0.1396220183846263, + 0.0481887219048619, + -0.9984577031297585, + 0.027569224545202043, + 0.14082872100564042, + -0.0205339109702995, + -0.9898210089911105 + ], + [ + 0.9767019554902309, + 0.06217750646847572, + 0.20539534520266442, + 0.06700588012338715, + -0.9976139891946957, + -0.016629509672144542, + 0.2038712882444443, + 0.03000477049417874, + -0.9785377926156671 + ], + [ + 0.9770999741312184, + 0.06838613423744724, + 0.20149187873666263, + 0.07198337161734888, + -0.9973498080217326, + -0.010571407172727192, + 0.2002349489059559, + 0.024833386459981302, + -0.9794331361320987 + ], + [ + 0.9812896673491022, + 0.07032136620975893, + 0.17923586194810895, + 0.07265160498910345, + -0.997336446683453, + -0.006461919941580665, + 0.17830404663494284, + 0.019362788312045708, + -0.9837849101213065 + ], + [ + 0.9909462104132585, + 0.06465708897423605, + 0.11766507091307964, + 0.06211884007246312, + -0.9977526761439514, + 0.02511666688944718, + 0.11902460995800022, + -0.017580048150145217, + -0.9927356567240772 + ], + [ + 0.994730140303257, + 0.06438667492419639, + 0.07978912246959848, + 0.06159661267299352, + -0.9974168758822777, + 0.03695176602613872, + 0.0819622186100153, + -0.0318422957313562, + -0.996126629963822 + ], + [ + 0.9944047870851479, + 0.0733359585525546, + 0.07603260225271556, + 0.07141040364461952, + -0.9970610455500726, + 0.02774573296758604, + 0.07784390582090651, + -0.022160970867136538, + -0.996719227113018 + ], + [ + 0.992532976431254, + 0.09159271054947798, + 0.08055473959187692, + 0.0903329931098987, + -0.9957274209228725, + 0.019153422098713586, + 0.08196487694325266, + -0.011733652307957651, + -0.9965661444937778 + ], + [ + 0.9803847457922746, + 0.10359840883913758, + 0.1676696749678244, + 0.1056565863474347, + -0.9943969448341453, + -0.0033766649115340042, + 0.1663803954173209, + 0.02102583626200421, + -0.9858374502068074 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + 0.00023278594017028809, + 0.0005330592393875122, + 0.0, + 0.0, + 0.0, + 0.0015339851379394531, + 1.0 + ], + [ + -0.015354663133621216, + 0.010888934135437012, + 0.008249741978943348, + 0.023984596133232117, + 0.004249647259712219, + 0.005331143736839294, + 1.0 + ], + [ + 0.006751418113708496, + 0.005010515451431274, + 0.044355008751153946, + 0.02910718321800232, + -0.0937652587890625, + -0.015541911125183105, + 1.0 + ], + [ + -0.003640979528427124, + 0.007573068141937256, + 0.03971550241112709, + 0.015217132866382599, + -0.07534900307655334, + 0.011827424168586731, + 1.0 + ], + [ + -0.004883557558059692, + 0.013368912041187286, + 0.010763958096504211, + 0.014621209353208542, + -0.020901262760162354, + 0.025810077786445618, + 1.0 + ], + [ + 0.005773752927780151, + 0.02137415111064911, + -0.006854936480522156, + -0.006025958806276321, + 0.02429291605949402, + 0.06353240460157394, + 1.0 + ], + [ + 0.010987073183059692, + 0.01064736396074295, + -0.022863119840621948, + -0.007857363671064377, + 0.05190253257751465, + 0.041102126240730286, + 1.0 + ], + [ + 0.01596689224243164, + 0.007512867450714111, + -0.025326330214738846, + 0.002919696271419525, + 0.0626770555973053, + 0.029600270092487335, + 1.0 + ], + [ + 0.007482439279556274, + 0.0011940151453018188, + -0.02229245752096176, + -0.008127667009830475, + 0.04567140340805054, + 0.015461702831089497, + 1.0 + ], + [ + 0.004121869802474976, + -0.0028554797172546387, + -0.020028600469231606, + -0.0011770166456699371, + 0.056345947086811066, + 0.019349120557308197, + 1.0 + ], + [ + 0.0029967129230499268, + -0.0032205432653427124, + -0.0005695243598893285, + -0.009535480290651321, + -0.002389475703239441, + 0.004363838583230972, + 0.0 + ], + [ + -0.003285914659500122, + -0.002282172441482544, + 0.0023699472658336163, + 0.005433700978755951, + 0.011854365468025208, + 0.0035665351897478104, + 0.0 + ], + [ + 0.012156486511230469, + 0.0006598904728889465, + 0.030082080513238907, + -0.022576037794351578, + -0.043717555701732635, + 0.03220006823539734, + 0.0 + ], + [ + 0.03300505876541138, + -0.004842638969421387, + 0.032698873430490494, + -0.05139535665512085, + -0.06401221454143524, + 0.01980385184288025, + 0.0 + ], + [ + 0.030002892017364502, + 0.002349771559238434, + -0.0017025992274284363, + 0.00530383363366127, + 0.0037129223346710205, + 0.005040682852268219, + 0.0 + ], + [ + 0.022694826126098633, + -0.004522822797298431, + -0.013912450522184372, + 0.005670033395290375, + 0.02233511209487915, + 0.00036444514989852905, + 0.0 + ], + [ + 0.00046765804290771484, + 0.002264678478240967, + -0.025431586429476738, + 0.03738623112440109, + 0.059955157339572906, + -0.011297553777694702, + 0.0 + ], + [ + -0.003860175609588623, + -6.452202796936035e-06, + -0.01689174585044384, + 0.01424839161336422, + 0.037253186106681824, + -0.0007604993879795074, + 1.0 + ], + [ + -0.0001760721206665039, + 0.0006412044167518616, + -9.39713791012764e-05, + -0.009724978357553482, + 0.004131525754928589, + 0.009845171123743057, + 1.0 + ], + [ + -0.0029146969318389893, + -0.001368299126625061, + 0.0025772261433303356, + -0.01045671384781599, + -0.004134193062782288, + 0.01907338947057724, + 1.0 + ], + [ + 0.0014733672142028809, + -0.002524659037590027, + 0.04294704273343086, + -0.03309819847345352, + -0.08510082215070724, + 0.016593649983406067, + 1.0 + ], + [ + -0.00705796480178833, + -0.003718934953212738, + 0.019368167966604233, + -0.009798737242817879, + -0.01997128129005432, + 0.007593944668769836, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 0.9788280129432678 + ], + [ + 0.729983389377594 + ], + [ + 0.5988990664482117 + ], + [ + 0.5938982367515564 + ], + [ + 0.5918992757797241 + ], + [ + 0.5918992757797241 + ], + [ + 0.5918992757797241 + ], + [ + 0.5918992757797241 + ], + [ + 0.641040563583374 + ], + [ + 0.9476637244224548 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3476172387599945, + -0.15148372948169708, + -0.005864959675818682 + ], + [ + 0.3322625756263733, + -0.14059479534626007, + 0.0023847820702940226 + ], + [ + 0.3390139937400818, + -0.1355842798948288, + 0.046739790588617325 + ], + [ + 0.33537301421165466, + -0.12801121175289154, + 0.08645529299974442 + ], + [ + 0.33048945665359497, + -0.11464229971170425, + 0.09721925109624863 + ], + [ + 0.3362632095813751, + -0.09326814860105515, + 0.09036431461572647 + ], + [ + 0.3472502827644348, + -0.0826207846403122, + 0.06750119477510452 + ], + [ + 0.36321717500686646, + -0.07510791718959808, + 0.04217486456036568 + ], + [ + 0.37069961428642273, + -0.07391390204429626, + 0.019882407039403915 + ], + [ + 0.3748214840888977, + -0.0767693817615509, + -0.00014619354624301195 + ], + [ + 0.37781819701194763, + -0.07998992502689362, + -0.0007157179061323404 + ], + [ + 0.3745322823524475, + -0.08227209746837616, + 0.0016542293597012758 + ], + [ + 0.386688768863678, + -0.08161220699548721, + 0.031736310571432114 + ], + [ + 0.41969382762908936, + -0.0864548459649086, + 0.06443518400192261 + ], + [ + 0.44969671964645386, + -0.08410507440567017, + 0.06273258477449417 + ], + [ + 0.4723915457725525, + -0.0886278972029686, + 0.0488201342523098 + ], + [ + 0.4728592038154602, + -0.08636321872472763, + 0.02338854782283306 + ], + [ + 0.4689990282058716, + -0.08636967092752457, + 0.0064968024380505085 + ], + [ + 0.4688229560852051, + -0.0857284665107727, + 0.006402831058949232 + ], + [ + 0.4659082591533661, + -0.08709676563739777, + 0.008980057202279568 + ], + [ + 0.46738162636756897, + -0.08962142467498779, + 0.051927100867033005 + ], + [ + 0.46032366156578064, + -0.09334035962820053, + 0.07129526883363724 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9695070982528025, + -0.18920169312434199, + 0.15575206501460362, + -0.18435482451280238, + -0.9818230379124187, + -0.045131152248567966, + 0.16145985605185217, + 0.01504132784404073, + -0.9867646494176833 + ], + [ + 0.9711421161206161, + -0.1802069372242181, + 0.15623203920143444, + -0.17930661016031507, + -0.9835908281548252, + -0.019955508575874317, + 0.15726452190366594, + -0.008633802521004983, + -0.9875187732921535 + ], + [ + 0.9495486361726937, + -0.18744658378477744, + 0.25143819473181434, + -0.19062575102120174, + -0.9815908799607977, + -0.011881389876163868, + 0.24903656476545805, + -0.03664863715341983, + -0.9678004271566616 + ], + [ + 0.9306137903055419, + -0.16821245602201315, + 0.3250577532257844, + -0.1754007348523319, + -0.9844701278020158, + -0.007290382619885499, + 0.32123598102705525, + -0.050230838182581256, + -0.945666065473992 + ], + [ + 0.9279987751724348, + -0.13666422824328436, + 0.34661385142133017, + -0.15021989115106169, + -0.9885747342894056, + 0.012408828598779773, + 0.34095785308601356, + -0.0635836727729548, + -0.9379258280779338 + ], + [ + 0.9436310229229238, + -0.07710931907945079, + 0.32189228864410496, + -0.09177332514119738, + -0.9953093981707489, + 0.030608147698110988, + 0.3180222466588845, + -0.058423923388324014, + -0.9462814041319584 + ], + [ + 0.9618033698639578, + -0.04132647795185924, + 0.270603769261312, + -0.053771179419971026, + -0.9978017377383646, + 0.038734383047689565, + 0.26840815558048936, + -0.051805543973539626, + -0.961911247273617 + ], + [ + 0.9778888246697093, + -0.01444053300743332, + 0.20862626295017547, + -0.025673734114451344, + -0.9983564950126304, + 0.05123639568428136, + 0.2075435037834598, + -0.05545971396028848, + -0.9766524019141755 + ], + [ + 0.986623845917954, + -0.0028720883332098673, + 0.16298815225246266, + -0.010642644483826074, + -0.9988465289576485, + 0.046822491472034204, + 0.1626656718071044, + -0.04793081157109765, + -0.9855163704970505 + ], + [ + 0.994239622250892, + 0.013617204124796462, + 0.10631154828252004, + 0.008513490049618946, + -0.998795903829775, + 0.04831421095327312, + 0.10684144342706159, + -0.047130820539069376, + -0.9931583920612741 + ], + [ + 0.9939348925121017, + 0.01705309634779017, + 0.10863986999214573, + 0.012848759790249593, + -0.9991455147260703, + 0.03928294508598985, + 0.10921693467045213, + -0.03764880220842908, + -0.9933047009218576 + ], + [ + 0.9951074042473941, + 0.020695183765870758, + 0.09660726360326424, + 0.016413774428827212, + -0.9988564569909222, + 0.04490396793761001, + 0.09742608491063018, + -0.04309858114183308, + -0.9943091422100814 + ], + [ + 0.9888605151491752, + 0.05158074796968053, + 0.1396220183846263, + 0.0481887219048619, + -0.9984577031297585, + 0.027569224545202043, + 0.14082872100564042, + -0.0205339109702995, + -0.9898210089911105 + ], + [ + 0.9767019554902309, + 0.06217750646847572, + 0.20539534520266442, + 0.06700588012338715, + -0.9976139891946957, + -0.016629509672144542, + 0.2038712882444443, + 0.03000477049417874, + -0.9785377926156671 + ], + [ + 0.9770999741312184, + 0.06838613423744724, + 0.20149187873666263, + 0.07198337161734888, + -0.9973498080217326, + -0.010571407172727192, + 0.2002349489059559, + 0.024833386459981302, + -0.9794331361320987 + ], + [ + 0.9812896673491022, + 0.07032136620975893, + 0.17923586194810895, + 0.07265160498910345, + -0.997336446683453, + -0.006461919941580665, + 0.17830404663494284, + 0.019362788312045708, + -0.9837849101213065 + ], + [ + 0.9909462104132585, + 0.06465708897423605, + 0.11766507091307964, + 0.06211884007246312, + -0.9977526761439514, + 0.02511666688944718, + 0.11902460995800022, + -0.017580048150145217, + -0.9927356567240772 + ], + [ + 0.994730140303257, + 0.06438667492419639, + 0.07978912246959848, + 0.06159661267299352, + -0.9974168758822777, + 0.03695176602613872, + 0.0819622186100153, + -0.0318422957313562, + -0.996126629963822 + ], + [ + 0.9944047870851479, + 0.0733359585525546, + 0.07603260225271556, + 0.07141040364461952, + -0.9970610455500726, + 0.02774573296758604, + 0.07784390582090651, + -0.022160970867136538, + -0.996719227113018 + ], + [ + 0.992532976431254, + 0.09159271054947798, + 0.08055473959187692, + 0.0903329931098987, + -0.9957274209228725, + 0.019153422098713586, + 0.08196487694325266, + -0.011733652307957651, + -0.9965661444937778 + ], + [ + 0.9803847457922746, + 0.10359840883913758, + 0.1676696749678244, + 0.1056565863474347, + -0.9943969448341453, + -0.0033766649115340042, + 0.1663803954173209, + 0.02102583626200421, + -0.9858374502068074 + ], + [ + 0.9760581115915554, + 0.10889057889250402, + 0.18829074492598485, + 0.11269480804583608, + -0.9935834156205552, + -0.009585220044603722, + 0.18603882131382982, + 0.03057512113216678, + -0.9820665552455772 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005968.json b/json/chunk-0005/episode_0005968.json new file mode 100644 index 0000000000000000000000000000000000000000..f4b1ea276322c72d09b3180c90e2d043e39c4aff --- /dev/null +++ b/json/chunk-0005/episode_0005968.json @@ -0,0 +1,1462 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 23, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMoved the yellow towel closer to the silver pot." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005968.mp4", + "start": 0, + "end": 23, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.330862432718277, + -0.009225722402334213, + 0.0739087387919426, + -0.13204850256443024, + -0.40345144271850586, + 0.8126153945922852, + 0.0, + 1.0008161067962646 + ], + [ + 0.325676292181015, + -0.008472687564790249, + 0.06347614526748657, + -0.10403037816286087, + -0.3821667432785034, + 0.8089266419410706, + 0.0, + 1.0008161067962646 + ], + [ + 0.30754169821739197, + -0.0047440724447369576, + 0.05178537592291832, + -0.07100235670804977, + -0.36414796113967896, + 0.8207526803016663, + 0.0, + 1.0008161067962646 + ], + [ + 0.2926173508167267, + -0.01715494878590107, + 0.06278128921985626, + -0.1043345034122467, + -0.3798161745071411, + 0.811551570892334, + 0.0, + 1.0008161067962646 + ], + [ + 0.2722705602645874, + -0.033609144389629364, + 0.0641830787062645, + -0.11894657462835312, + -0.3732914924621582, + 0.7599042654037476, + 0.0, + 1.0008161067962646 + ], + [ + 0.2525523602962494, + -0.055497899651527405, + 0.05106019973754883, + -0.08446398377418518, + -0.34279391169548035, + 0.6483772993087769, + 0.0, + 1.0008161067962646 + ], + [ + 0.23797200620174408, + -0.06362263113260269, + 0.027170537039637566, + -0.048466458916664124, + -0.27483484148979187, + 0.5728743076324463, + 0.0, + 1.0008161067962646 + ], + [ + 0.22567211091518402, + -0.0684196725487709, + 0.0061448076739907265, + -0.016037357971072197, + -0.1897459626197815, + 0.5068768858909607, + 0.0, + 1.0008161067962646 + ], + [ + 0.21367356181144714, + -0.0546080581843853, + -0.013063767924904823, + 0.01467930804938078, + -0.14605414867401123, + 0.5148887634277344, + 0.0, + 1.0008161067962646 + ], + [ + 0.21803592145442963, + -0.05009195953607559, + -0.022539649158716202, + 0.007890048436820507, + -0.11876225471496582, + 0.5085136294364929, + 0.0, + 1.0008161067962646 + ], + [ + 0.22338566184043884, + -0.040947508066892624, + -0.024734243750572205, + 0.02889251336455345, + -0.1318264752626419, + 0.5016893744468689, + 0.0, + 1.0008161067962646 + ], + [ + 0.23327286541461945, + -0.02479592151939869, + -0.02447613514959812, + 0.02785874903202057, + -0.1353258639574051, + 0.5796909332275391, + 0.0, + 1.0008161067962646 + ], + [ + 0.2494245171546936, + 0.004668690729886293, + -0.02230314165353775, + 0.035867203027009964, + -0.15470203757286072, + 0.6793385148048401, + 0.0, + 1.0001531839370728 + ], + [ + 0.2608255445957184, + 0.039172157645225525, + -0.01979207806289196, + 0.05014631897211075, + -0.15750427544116974, + 0.8091660737991333, + 0.0, + 0.9994885921478271 + ], + [ + 0.2694356441497803, + 0.07183533906936646, + -0.018413284793496132, + 0.06494845449924469, + -0.16490291059017181, + 0.9123023748397827, + 0.0, + 0.9988223910331726 + ], + [ + 0.2778187692165375, + 0.09956718236207962, + -0.016770564019680023, + 0.0651756078004837, + -0.17093855142593384, + 1.007664680480957, + 0.0, + 0.9988223910331726 + ], + [ + 0.28440314531326294, + 0.11386484652757645, + -0.01639317162334919, + 0.06458549201488495, + -0.16606475412845612, + 1.0599651336669922, + 0.0, + 0.9994885921478271 + ], + [ + 0.28817838430404663, + 0.11618024855852127, + -0.01587061770260334, + 0.060672204941511154, + -0.16664578020572662, + 1.0696595907211304, + 0.0, + 0.9994885921478271 + ], + [ + 0.2882871627807617, + 0.11436179280281067, + -0.016728319227695465, + 0.05619923770427704, + -0.16431768238544464, + 1.0615980625152588, + 0.0, + 0.9994885921478271 + ], + [ + 0.287884384393692, + 0.1030510887503624, + -0.016314558684825897, + 0.03792281448841095, + -0.15801838040351868, + 1.0376245975494385, + 0.0, + 0.9994885921478271 + ], + [ + 0.2846696078777313, + 0.08478908985853195, + -0.0045868526212871075, + 0.007734883110970259, + -0.1585598737001419, + 0.9854474067687988, + 0.0, + 0.9981546401977539 + ], + [ + 0.28899383544921875, + 0.07274887710809708, + 0.020317019894719124, + -0.06479452550411224, + -0.19149117171764374, + 0.9711911678314209, + 0.0, + 0.9981546401977539 + ], + [ + 0.2908463478088379, + 0.06612863391637802, + 0.04403899610042572, + -0.10458635538816452, + -0.23200123012065887, + 0.9651755690574646, + 0.0, + 0.9981546401977539 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.330862432718277, + -0.009225722402334213, + 0.0739087387919426 + ], + [ + 0.325676292181015, + -0.008472687564790249, + 0.06347614526748657 + ], + [ + 0.30754169821739197, + -0.0047440724447369576, + 0.05178537592291832 + ], + [ + 0.2926173508167267, + -0.01715494878590107, + 0.06278128921985626 + ], + [ + 0.2722705602645874, + -0.033609144389629364, + 0.0641830787062645 + ], + [ + 0.2525523602962494, + -0.055497899651527405, + 0.05106019973754883 + ], + [ + 0.23797200620174408, + -0.06362263113260269, + 0.027170537039637566 + ], + [ + 0.22567211091518402, + -0.0684196725487709, + 0.0061448076739907265 + ], + [ + 0.21367356181144714, + -0.0546080581843853, + -0.013063767924904823 + ], + [ + 0.21803592145442963, + -0.05009195953607559, + -0.022539649158716202 + ], + [ + 0.22338566184043884, + -0.040947508066892624, + -0.024734243750572205 + ], + [ + 0.23327286541461945, + -0.02479592151939869, + -0.02447613514959812 + ], + [ + 0.2494245171546936, + 0.004668690729886293, + -0.02230314165353775 + ], + [ + 0.2608255445957184, + 0.039172157645225525, + -0.01979207806289196 + ], + [ + 0.2694356441497803, + 0.07183533906936646, + -0.018413284793496132 + ], + [ + 0.2778187692165375, + 0.09956718236207962, + -0.016770564019680023 + ], + [ + 0.28440314531326294, + 0.11386484652757645, + -0.01639317162334919 + ], + [ + 0.28817838430404663, + 0.11618024855852127, + -0.01587061770260334 + ], + [ + 0.2882871627807617, + 0.11436179280281067, + -0.016728319227695465 + ], + [ + 0.287884384393692, + 0.1030510887503624, + -0.016314558684825897 + ], + [ + 0.2846696078777313, + 0.08478908985853195, + -0.0045868526212871075 + ], + [ + 0.28899383544921875, + 0.07274887710809708, + 0.020317019894719124 + ], + [ + 0.2908463478088379, + 0.06612863391637802, + 0.04403899610042572 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.632395234061227, + 0.6842240087973427, + 0.3631993580968172, + 0.6677914564898463, + -0.7191479514245879, + 0.19204373095987437, + 0.3925950057958149, + 0.12109388814928969, + -0.9117046844659029 + ], + [ + 0.6404781325399889, + 0.6929031714618764, + 0.3311690757244136, + 0.6713491289427641, + -0.7145639130351024, + 0.1966945887810716, + 0.37293177500164915, + 0.09635148761714363, + -0.9228425012037986 + ], + [ + 0.6369718820453683, + 0.7125922044990778, + 0.29407341187316877, + 0.683682441086882, + -0.6984396010811124, + 0.21156664054415364, + 0.35615325526108005, + 0.06629082688277065, + -0.9320731650670644 + ], + [ + 0.6393153489345806, + 0.6948323013239511, + 0.3293690295906973, + 0.6736620122991365, + -0.7126378473405458, + 0.19577229559595802, + 0.3707497509125714, + 0.09672316979242926, + -0.9236824403568422 + ], + [ + 0.6749794438886187, + 0.6526142696177052, + 0.3442344628580351, + 0.641412216645236, + -0.7495903508617887, + 0.16341564867889866, + 0.3646822159991569, + 0.11049398619947358, + -0.9245528434587688 + ], + [ + 0.7506909622965675, + 0.5791391613619001, + 0.3179007878305558, + 0.5687588116134581, + -0.8113474561174595, + 0.13501377582963026, + 0.33611976041033337, + 0.07945525299665084, + -0.938461703764697 + ], + [ + 0.808808257038271, + 0.5303642566102276, + 0.2540530626798167, + 0.5217065912601995, + -0.8464865432982619, + 0.10622035892719921, + 0.27138798054147023, + 0.04662925396401339, + -0.9613398341337895 + ], + [ + 0.8585737339430495, + 0.48274240287377074, + 0.1726583790342884, + 0.4767364354653922, + -0.8756207776645119, + 0.07752821952004156, + 0.18860942310192766, + 0.01574884725476074, + -0.9819258929915763 + ], + [ + 0.8610809493957888, + 0.4942442911509885, + 0.11942436624200164, + 0.4871950693305323, + -0.8692017474447313, + 0.084435103239371, + 0.14553543557383086, + -0.01452249646866216, + -0.9892464475997136 + ], + [ + 0.867316481256808, + 0.4876808759517456, + 0.09964679910186296, + 0.4834499308810638, + -0.8729868186655267, + 0.06457692132130059, + 0.11848327169437704, + -0.007834390032473285, + -0.9929251415194479 + ], + [ + 0.8691640443392048, + 0.48403602611058644, + 0.1013064136912804, + 0.4767348099164291, + -0.8745793271324342, + 0.08851509230930674, + 0.13144498865252857, + -0.0286378417421874, + -0.990909727966421 + ], + [ + 0.828983011477014, + 0.5506969240044268, + 0.09757081825301843, + 0.5427573991847847, + -0.8342488306986707, + 0.09717661296870175, + 0.1349132028849259, + -0.027600477712591026, + -0.9904729382054654 + ], + [ + 0.7686973477927354, + 0.6321731779043486, + 0.09727003975906776, + 0.620775308703497, + -0.7740166011885338, + 0.12464476398400269, + 0.1540857021286917, + -0.03543126053171765, + -0.9874220081488162 + ], + [ + 0.6815599879137577, + 0.7282280036443747, + 0.07183284473781303, + 0.714753697236012, + -0.683544618174684, + 0.14796589894930706, + 0.15685386562800896, + -0.049504844940205746, + -0.9863803197372687 + ], + [ + 0.6036251796874027, + 0.7957667453260373, + 0.04890735609860931, + 0.780185405169824, + -0.6022096194278121, + 0.16927583356346795, + 0.1641565594405169, + -0.06402235001790488, + -0.9843544903594622 + ], + [ + 0.5260565112465687, + 0.849706517285783, + 0.03554407766638282, + 0.8332634965512855, + -0.5233351987124705, + 0.17830371589987826, + 0.17010729640498717, + -0.06418024829060871, + -0.9833333124831789 + ], + [ + 0.48217662070568845, + 0.8757356486329155, + 0.02434707699764399, + 0.8603375964052982, + -0.4785764372280146, + 0.175453167374358, + 0.16530253070173154, + -0.06365270963302976, + -0.9841866722832494 + ], + [ + 0.4737673653415603, + 0.8802552980400511, + 0.026364631795982182, + 0.8648871546171246, + -0.47071771694639764, + 0.17434173548254397, + 0.16587553561514362, + -0.05979499331208485, + -0.9843321926357977 + ], + [ + 0.48091115582296506, + 0.8762361782430158, + 0.0305715577472465, + 0.8613746523608997, + -0.4786852328291068, + 0.16998281131185733, + 0.16357924218909475, + -0.05541306533135666, + -0.9849727020153521 + ], + [ + 0.5019349077957181, + 0.8636125366956808, + 0.04727298169309416, + 0.850469681727821, + -0.5027638919006395, + 0.1546925643419916, + 0.15736158615711487, + -0.03744136032482986, + -0.9868310269438956 + ], + [ + 0.5455596429801647, + 0.8341691826304718, + 0.08078645122151319, + 0.8230634430374861, + -0.5514557453623616, + 0.13587909935718961, + 0.15789630992089115, + -0.007637778240616108, + -0.9874261590908523 + ], + [ + 0.5540017055408399, + 0.8168718959126208, + 0.16063130431507225, + 0.8104685421296723, + -0.5733059479693169, + 0.12025403212037006, + 0.19032302140320415, + 0.06356568013577638, + -0.9796614475587125 + ], + [ + 0.5540207108615496, + 0.803992115300112, + 0.21600400568441952, + 0.8001220357745961, + -0.5858961969422934, + 0.12857050313533555, + 0.22992559623578102, + 0.10159884322081948, + -0.9678904355616973 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.005186140537261963, + 0.0007530348375439644, + -0.010432593524456024, + 0.028018124401569366, + 0.02128469944000244, + -0.0036887526512145996, + 1.0 + ], + [ + -0.018134593963623047, + 0.0037286151200532913, + -0.011690769344568253, + 0.033028021454811096, + 0.018018782138824463, + 0.011826038360595703, + 1.0 + ], + [ + -0.014924347400665283, + -0.012410876341164112, + 0.010995913296937943, + -0.03333214670419693, + -0.015668213367462158, + -0.009201109409332275, + 1.0 + ], + [ + -0.020346790552139282, + -0.016454195603728294, + 0.0014017894864082336, + -0.014612071216106415, + 0.00652468204498291, + -0.051647305488586426, + 1.0 + ], + [ + -0.019718199968338013, + -0.02188875526189804, + -0.013122878968715668, + 0.03448259085416794, + 0.030497580766677856, + -0.1115269660949707, + 1.0 + ], + [ + -0.01458035409450531, + -0.008124731481075287, + -0.023889662697911263, + 0.03599752485752106, + 0.06795907020568848, + -0.07550299167633057, + 1.0 + ], + [ + -0.012299895286560059, + -0.004797041416168213, + -0.021025728434324265, + 0.03242909908294678, + 0.08508887887001038, + -0.0659974217414856, + 1.0 + ], + [ + -0.011998549103736877, + 0.013811614364385605, + -0.019208576530218124, + 0.0307166650891304, + 0.043691813945770264, + 0.008011877536773682, + 1.0 + ], + [ + 0.004362359642982483, + 0.004516098648309708, + -0.009475881233811378, + -0.006789259612560272, + 0.02729189395904541, + -0.006375133991241455, + 1.0 + ], + [ + 0.005349740386009216, + 0.009144451469182968, + -0.002194594591856003, + 0.02100246399641037, + -0.013064220547676086, + -0.0068242549896240234, + 1.0 + ], + [ + 0.009887203574180603, + 0.016151586547493935, + 0.00025810860097408295, + -0.0010337643325328827, + -0.0034993886947631836, + 0.07800155878067017, + 1.0 + ], + [ + 0.016151651740074158, + 0.029464611783623695, + 0.0021729934960603714, + 0.008008453994989395, + -0.019376173615455627, + 0.09964758157730103, + 1.0 + ], + [ + 0.01140102744102478, + 0.03450346738100052, + 0.00251106359064579, + 0.014279115945100784, + -0.002802237868309021, + 0.1298275589942932, + 1.0 + ], + [ + 0.00861009955406189, + 0.03266318142414093, + 0.0013787932693958282, + 0.014802135527133942, + -0.007398635149002075, + 0.10313630104064941, + 1.0 + ], + [ + 0.008383125066757202, + 0.027731843292713165, + 0.0016427207738161087, + 0.00022715330123901367, + -0.006035640835762024, + 0.09536230564117432, + 1.0 + ], + [ + 0.006584376096725464, + 0.014297664165496826, + 0.00037739239633083344, + -0.0005901157855987549, + 0.004873797297477722, + 0.052300453186035156, + 1.0 + ], + [ + 0.0037752389907836914, + 0.0023154020309448242, + 0.0005225539207458496, + -0.0039132870733737946, + -0.0005810260772705078, + 0.009694457054138184, + 1.0 + ], + [ + 0.00010877847671508789, + -0.0018184557557106018, + -0.0008577015250921249, + -0.004472967237234116, + 0.0023280978202819824, + -0.008061528205871582, + 1.0 + ], + [ + -0.00040277838706970215, + -0.011310704052448273, + 0.00041376054286956787, + -0.01827642321586609, + 0.006299301981925964, + -0.023973464965820312, + 1.0 + ], + [ + -0.0032147765159606934, + -0.018261998891830444, + 0.011727705597877502, + -0.030187930911779404, + -0.00054149329662323, + -0.05217719078063965, + 1.0 + ], + [ + 0.004324227571487427, + -0.012040212750434875, + 0.02490387298166752, + -0.07252940535545349, + -0.03293129801750183, + -0.01425623893737793, + 1.0 + ], + [ + 0.0018525123596191406, + -0.006620243191719055, + 0.023721976205706596, + -0.03979182988405228, + -0.04051005840301514, + -0.006015598773956299, + 1.0 + ], + [ + -0.002211064100265503, + -0.001688644289970398, + 0.014575444161891937, + -0.02811708301305771, + -0.030428394675254822, + -0.004575133323669434, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.325676292181015, + -0.008472687564790249, + 0.06347614526748657 + ], + [ + 0.30754169821739197, + -0.0047440724447369576, + 0.05178537592291832 + ], + [ + 0.2926173508167267, + -0.01715494878590107, + 0.06278128921985626 + ], + [ + 0.2722705602645874, + -0.033609144389629364, + 0.0641830787062645 + ], + [ + 0.2525523602962494, + -0.055497899651527405, + 0.05106019973754883 + ], + [ + 0.23797200620174408, + -0.06362263113260269, + 0.027170537039637566 + ], + [ + 0.22567211091518402, + -0.0684196725487709, + 0.0061448076739907265 + ], + [ + 0.21367356181144714, + -0.0546080581843853, + -0.013063767924904823 + ], + [ + 0.21803592145442963, + -0.05009195953607559, + -0.022539649158716202 + ], + [ + 0.22338566184043884, + -0.040947508066892624, + -0.024734243750572205 + ], + [ + 0.23327286541461945, + -0.02479592151939869, + -0.02447613514959812 + ], + [ + 0.2494245171546936, + 0.004668690729886293, + -0.02230314165353775 + ], + [ + 0.2608255445957184, + 0.039172157645225525, + -0.01979207806289196 + ], + [ + 0.2694356441497803, + 0.07183533906936646, + -0.018413284793496132 + ], + [ + 0.2778187692165375, + 0.09956718236207962, + -0.016770564019680023 + ], + [ + 0.28440314531326294, + 0.11386484652757645, + -0.01639317162334919 + ], + [ + 0.28817838430404663, + 0.11618024855852127, + -0.01587061770260334 + ], + [ + 0.2882871627807617, + 0.11436179280281067, + -0.016728319227695465 + ], + [ + 0.287884384393692, + 0.1030510887503624, + -0.016314558684825897 + ], + [ + 0.2846696078777313, + 0.08478908985853195, + -0.0045868526212871075 + ], + [ + 0.28899383544921875, + 0.07274887710809708, + 0.020317019894719124 + ], + [ + 0.2908463478088379, + 0.06612863391637802, + 0.04403899610042572 + ], + [ + 0.2886352837085724, + 0.06443998962640762, + 0.05861444026231766 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.6404781325399889, + 0.6929031714618764, + 0.3311690757244136, + 0.6713491289427641, + -0.7145639130351024, + 0.1966945887810716, + 0.37293177500164915, + 0.09635148761714363, + -0.9228425012037986 + ], + [ + 0.6369718820453683, + 0.7125922044990778, + 0.29407341187316877, + 0.683682441086882, + -0.6984396010811124, + 0.21156664054415364, + 0.35615325526108005, + 0.06629082688277065, + -0.9320731650670644 + ], + [ + 0.6393153489345806, + 0.6948323013239511, + 0.3293690295906973, + 0.6736620122991365, + -0.7126378473405458, + 0.19577229559595802, + 0.3707497509125714, + 0.09672316979242926, + -0.9236824403568422 + ], + [ + 0.6749794438886187, + 0.6526142696177052, + 0.3442344628580351, + 0.641412216645236, + -0.7495903508617887, + 0.16341564867889866, + 0.3646822159991569, + 0.11049398619947358, + -0.9245528434587688 + ], + [ + 0.7506909622965675, + 0.5791391613619001, + 0.3179007878305558, + 0.5687588116134581, + -0.8113474561174595, + 0.13501377582963026, + 0.33611976041033337, + 0.07945525299665084, + -0.938461703764697 + ], + [ + 0.808808257038271, + 0.5303642566102276, + 0.2540530626798167, + 0.5217065912601995, + -0.8464865432982619, + 0.10622035892719921, + 0.27138798054147023, + 0.04662925396401339, + -0.9613398341337895 + ], + [ + 0.8585737339430495, + 0.48274240287377074, + 0.1726583790342884, + 0.4767364354653922, + -0.8756207776645119, + 0.07752821952004156, + 0.18860942310192766, + 0.01574884725476074, + -0.9819258929915763 + ], + [ + 0.8610809493957888, + 0.4942442911509885, + 0.11942436624200164, + 0.4871950693305323, + -0.8692017474447313, + 0.084435103239371, + 0.14553543557383086, + -0.01452249646866216, + -0.9892464475997136 + ], + [ + 0.867316481256808, + 0.4876808759517456, + 0.09964679910186296, + 0.4834499308810638, + -0.8729868186655267, + 0.06457692132130059, + 0.11848327169437704, + -0.007834390032473285, + -0.9929251415194479 + ], + [ + 0.8691640443392048, + 0.48403602611058644, + 0.1013064136912804, + 0.4767348099164291, + -0.8745793271324342, + 0.08851509230930674, + 0.13144498865252857, + -0.0286378417421874, + -0.990909727966421 + ], + [ + 0.828983011477014, + 0.5506969240044268, + 0.09757081825301843, + 0.5427573991847847, + -0.8342488306986707, + 0.09717661296870175, + 0.1349132028849259, + -0.027600477712591026, + -0.9904729382054654 + ], + [ + 0.7686973477927354, + 0.6321731779043486, + 0.09727003975906776, + 0.620775308703497, + -0.7740166011885338, + 0.12464476398400269, + 0.1540857021286917, + -0.03543126053171765, + -0.9874220081488162 + ], + [ + 0.6815599879137577, + 0.7282280036443747, + 0.07183284473781303, + 0.714753697236012, + -0.683544618174684, + 0.14796589894930706, + 0.15685386562800896, + -0.049504844940205746, + -0.9863803197372687 + ], + [ + 0.6036251796874027, + 0.7957667453260373, + 0.04890735609860931, + 0.780185405169824, + -0.6022096194278121, + 0.16927583356346795, + 0.1641565594405169, + -0.06402235001790488, + -0.9843544903594622 + ], + [ + 0.5260565112465687, + 0.849706517285783, + 0.03554407766638282, + 0.8332634965512855, + -0.5233351987124705, + 0.17830371589987826, + 0.17010729640498717, + -0.06418024829060871, + -0.9833333124831789 + ], + [ + 0.48217662070568845, + 0.8757356486329155, + 0.02434707699764399, + 0.8603375964052982, + -0.4785764372280146, + 0.175453167374358, + 0.16530253070173154, + -0.06365270963302976, + -0.9841866722832494 + ], + [ + 0.4737673653415603, + 0.8802552980400511, + 0.026364631795982182, + 0.8648871546171246, + -0.47071771694639764, + 0.17434173548254397, + 0.16587553561514362, + -0.05979499331208485, + -0.9843321926357977 + ], + [ + 0.48091115582296506, + 0.8762361782430158, + 0.0305715577472465, + 0.8613746523608997, + -0.4786852328291068, + 0.16998281131185733, + 0.16357924218909475, + -0.05541306533135666, + -0.9849727020153521 + ], + [ + 0.5019349077957181, + 0.8636125366956808, + 0.04727298169309416, + 0.850469681727821, + -0.5027638919006395, + 0.1546925643419916, + 0.15736158615711487, + -0.03744136032482986, + -0.9868310269438956 + ], + [ + 0.5455596429801647, + 0.8341691826304718, + 0.08078645122151319, + 0.8230634430374861, + -0.5514557453623616, + 0.13587909935718961, + 0.15789630992089115, + -0.007637778240616108, + -0.9874261590908523 + ], + [ + 0.5540017055408399, + 0.8168718959126208, + 0.16063130431507225, + 0.8104685421296723, + -0.5733059479693169, + 0.12025403212037006, + 0.19032302140320415, + 0.06356568013577638, + -0.9796614475587125 + ], + [ + 0.5540207108615496, + 0.803992115300112, + 0.21600400568441952, + 0.8001220357745961, + -0.5858961969422934, + 0.12857050313533555, + 0.22992559623578102, + 0.10159884322081948, + -0.9678904355616973 + ], + [ + 0.5534089741232103, + 0.792660511035563, + 0.25578862680880765, + 0.7914769401903513, + -0.5961212264373814, + 0.13492122345172702, + 0.25942775585278943, + 0.12778418382425805, + -0.957271352259929 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005969.json b/json/chunk-0005/episode_0005969.json new file mode 100644 index 0000000000000000000000000000000000000000..77d701d908c8928e62e60d6b6c9f6abbec814afe --- /dev/null +++ b/json/chunk-0005/episode_0005969.json @@ -0,0 +1,862 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 13, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPick up pot from sink." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005969.mp4", + "start": 0, + "end": 13, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.35208767652511597, + 0.013340352103114128, + 0.021878933534026146, + -0.014021358452737331, + -0.1527651697397232, + 0.12328200042247772, + 0.0, + 1.0041072368621826 + ], + [ + 0.3450521230697632, + 0.010895795188844204, + 0.005613775458186865, + -0.02176709659397602, + -0.11673295497894287, + 0.12499242275953293, + 0.0, + 1.0041072368621826 + ], + [ + 0.3442756235599518, + 0.009334930218756199, + 0.0017192825907841325, + -0.038714345544576645, + -0.1343083530664444, + 0.12092582136392593, + 0.0, + 1.0041072368621826 + ], + [ + 0.3444671928882599, + 0.010938218794763088, + -0.002490098588168621, + -0.0615503154695034, + -0.16070812940597534, + 0.12011130899190903, + 0.0, + 1.0041072368621826 + ], + [ + 0.3461170792579651, + 0.017523540183901787, + -0.012519900687038898, + -0.08255241066217422, + -0.1753162145614624, + 0.11612477153539658, + 0.0, + 1.0041072368621826 + ], + [ + 0.347555547952652, + 0.022935688495635986, + -0.019021138548851013, + -0.10136198997497559, + -0.18835677206516266, + 0.12842239439487457, + 0.0, + 1.0041072368621826 + ], + [ + 0.3483477830886841, + 0.024997513741254807, + -0.030146142467856407, + -0.10780182480812073, + -0.18863607943058014, + 0.14613492786884308, + 0.0, + 1.0041072368621826 + ], + [ + 0.3486783802509308, + 0.026296021416783333, + -0.03412090986967087, + -0.10777018964290619, + -0.18657658994197845, + 0.18789295852184296, + 0.0, + 0.8055269122123718 + ], + [ + 0.347565621137619, + 0.024893447756767273, + -0.03398721292614937, + -0.10462132841348648, + -0.165981262922287, + 0.2215961068868637, + 0.0, + 0.48990920186042786 + ], + [ + 0.34506720304489136, + 0.023072637617588043, + -0.031646423041820526, + -0.08696872740983963, + -0.12496646493673325, + 0.21622712910175323, + 0.0, + 0.20745283365249634 + ], + [ + 0.35083383321762085, + 0.024574408307671547, + -0.023146502673625946, + -0.05403042584657669, + -0.10475511103868484, + 0.19889777898788452, + 0.0, + 0.07270156592130661 + ], + [ + 0.3625808358192444, + 0.027209017425775528, + -0.003288325620815158, + -0.017715822905302048, + -0.06841254979372025, + 0.12558546662330627, + 0.0, + 0.05511022359132767 + ], + [ + 0.37799200415611267, + 0.03239462152123451, + 0.023281052708625793, + -0.02571403793990612, + -0.05135335773229599, + 0.0778723955154419, + 0.0, + 0.054840996861457825 + ] + ], + "left_gripper_pos": [ + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 0.8055269122123718 + ], + [ + 0.48990920186042786 + ], + [ + 0.20745283365249634 + ], + [ + 0.07270156592130661 + ], + [ + 0.05511022359132767 + ], + [ + 0.054840996861457825 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.35208767652511597, + 0.013340352103114128, + 0.021878933534026146 + ], + [ + 0.3450521230697632, + 0.010895795188844204, + 0.005613775458186865 + ], + [ + 0.3442756235599518, + 0.009334930218756199, + 0.0017192825907841325 + ], + [ + 0.3444671928882599, + 0.010938218794763088, + -0.002490098588168621 + ], + [ + 0.3461170792579651, + 0.017523540183901787, + -0.012519900687038898 + ], + [ + 0.347555547952652, + 0.022935688495635986, + -0.019021138548851013 + ], + [ + 0.3483477830886841, + 0.024997513741254807, + -0.030146142467856407 + ], + [ + 0.3486783802509308, + 0.026296021416783333, + -0.03412090986967087 + ], + [ + 0.347565621137619, + 0.024893447756767273, + -0.03398721292614937 + ], + [ + 0.34506720304489136, + 0.023072637617588043, + -0.031646423041820526 + ], + [ + 0.35083383321762085, + 0.024574408307671547, + -0.023146502673625946 + ], + [ + 0.3625808358192444, + 0.027209017425775528, + -0.003288325620815158 + ], + [ + 0.37799200415611267, + 0.03239462152123451, + 0.023281052708625793 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9808528584977227, + 0.12084047673882213, + 0.15272605919875293, + 0.12153785637238286, + -0.9925752091159172, + 0.004796219021227207, + 0.152171677539721, + 0.013857612710266214, + -0.9882569236411753 + ], + [ + 0.9854461466119933, + 0.12212248811893223, + 0.11824546512748624, + 0.12381878528730514, + -0.9922795938157916, + -0.007079273037847097, + 0.11646802366980621, + 0.02161725219377834, + -0.992959160222635 + ], + [ + 0.9837573274955311, + 0.11539603042300953, + 0.13749646090522621, + 0.11954493573103425, + -0.9925787450504929, + -0.022281005701082393, + 0.1339049250024562, + 0.03835610820456943, + -0.9902516246002762 + ], + [ + 0.9800023607491922, + 0.10982383643860659, + 0.16593401663286686, + 0.11827870568522643, + -0.9920947272670797, + -0.041930894460846135, + 0.16001725128072267, + 0.06071883627644076, + -0.9852449960359084 + ], + [ + 0.978039762778955, + 0.10118384283880184, + 0.18220881529623714, + 0.114087929444656, + -0.991548914497836, + -0.06176321326804824, + 0.17441951375438705, + 0.08119470491685936, + -0.9813181202419261 + ], + [ + 0.9742240660266797, + 0.10862132609158683, + 0.1977090708403355, + 0.1258045514529251, + -0.9891012503545601, + -0.07649791749305425, + 0.18724498393327382, + 0.0993988131978998, + -0.9772712990396664 + ], + [ + 0.9717912663071843, + 0.12480931000541028, + 0.2001108964175943, + 0.14303227039106733, + -0.986536067997212, + -0.07929915615804085, + 0.18751934395111444, + 0.10568454322451386, + -0.9765588937527372 + ], + [ + 0.9653504572016758, + 0.16610457523510555, + 0.20126540901625548, + 0.18354762829037516, + -0.9804273784547685, + -0.07122095004483242, + 0.18549599168039652, + 0.10569496516994267, + -0.976944118876935 + ], + [ + 0.9621406469094147, + 0.20175308366449088, + 0.18325138143163172, + 0.21676638392979639, + -0.9740059805026837, + -0.06576233529160326, + 0.16522018751572864, + 0.10299535512281167, + -0.9808640305671285 + ], + [ + 0.9690972904086095, + 0.2031611405669937, + 0.13991423332244876, + 0.21287308001669275, + -0.9753451948006033, + -0.05819624372396415, + 0.12464145990358559, + 0.08618179589037658, + -0.9884519232265228 + ], + [ + 0.9749112329427372, + 0.19176508052156668, + 0.11302319131324082, + 0.19650581700639755, + -0.9799702004359838, + -0.03230897924890607, + 0.10456362543791503, + 0.05370810134435108, + -0.9930669101753741 + ], + [ + 0.9898037009346542, + 0.12403451630559037, + 0.07002908239367517, + 0.12496260943165455, + -0.9921205005841566, + -0.009014353258816318, + 0.06835919733359713, + 0.017673457089126737, + -0.9975042200684794 + ], + [ + 0.9956551781215467, + 0.0764522204698052, + 0.05315848253089672, + 0.07769115993211918, + -0.9967425614313145, + -0.021641393202483934, + 0.051330789475257724, + 0.025677309371874228, + -0.9983515542309073 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.007035553455352783, + -0.002444556914269924, + -0.016265157610177994, + -0.007745738141238689, + 0.036032214760780334, + 0.0017104223370552063, + 1.0 + ], + [ + -0.0007764995098114014, + -0.001560864970088005, + -0.003894492983818054, + -0.016947248950600624, + -0.017575398087501526, + -0.004066601395606995, + 1.0 + ], + [ + 0.00019156932830810547, + 0.0016032885760068893, + -0.004209381062537432, + -0.022835969924926758, + -0.026399776339530945, + -0.0008145123720169067, + 1.0 + ], + [ + 0.0016498863697052002, + 0.006585321389138699, + -0.010029802098870277, + -0.021002095192670822, + -0.01460808515548706, + -0.003986537456512451, + 1.0 + ], + [ + 0.0014384686946868896, + 0.0054121483117341995, + -0.006501237861812115, + -0.01880957931280136, + -0.013040557503700256, + 0.012297622859477997, + 1.0 + ], + [ + 0.0007922351360321045, + 0.00206182524561882, + -0.011125003919005394, + -0.006439834833145142, + -0.00027930736541748047, + 0.017712533473968506, + 1.0 + ], + [ + 0.0003305971622467041, + 0.0012985076755285263, + -0.003974767401814461, + 3.1635165214538574e-05, + 0.0020594894886016846, + 0.04175803065299988, + 0.0 + ], + [ + -0.0011127591133117676, + -0.0014025736600160599, + 0.00013369694352149963, + 0.0031488612294197083, + 0.020595327019691467, + 0.03370314836502075, + 0.0 + ], + [ + -0.002498418092727661, + -0.0018208101391792297, + 0.002340789884328842, + 0.01765260100364685, + 0.04101479798555374, + -0.005368977785110474, + 0.0 + ], + [ + 0.005766630172729492, + 0.0015017706900835037, + 0.00849992036819458, + 0.03293830156326294, + 0.0202113538980484, + -0.017329350113868713, + 0.0 + ], + [ + 0.011747002601623535, + 0.002634609118103981, + 0.01985817775130272, + 0.03631460294127464, + 0.0363425612449646, + -0.07331231236457825, + 0.0 + ], + [ + 0.015411168336868286, + 0.005185604095458984, + 0.02656937763094902, + -0.007998215034604073, + 0.017059192061424255, + -0.04771307110786438, + 0.0 + ], + [ + 0.008392155170440674, + 0.0016724951565265656, + 0.015706710517406464, + 0.005956804379820824, + 0.001505490392446518, + -0.011984124779701233, + 0.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 0.8055269122123718 + ], + [ + 0.48990920186042786 + ], + [ + 0.20745283365249634 + ], + [ + 0.07270156592130661 + ], + [ + 0.05511022359132767 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3450521230697632, + 0.010895795188844204, + 0.005613775458186865 + ], + [ + 0.3442756235599518, + 0.009334930218756199, + 0.0017192825907841325 + ], + [ + 0.3444671928882599, + 0.010938218794763088, + -0.002490098588168621 + ], + [ + 0.3461170792579651, + 0.017523540183901787, + -0.012519900687038898 + ], + [ + 0.347555547952652, + 0.022935688495635986, + -0.019021138548851013 + ], + [ + 0.3483477830886841, + 0.024997513741254807, + -0.030146142467856407 + ], + [ + 0.3486783802509308, + 0.026296021416783333, + -0.03412090986967087 + ], + [ + 0.347565621137619, + 0.024893447756767273, + -0.03398721292614937 + ], + [ + 0.34506720304489136, + 0.023072637617588043, + -0.031646423041820526 + ], + [ + 0.35083383321762085, + 0.024574408307671547, + -0.023146502673625946 + ], + [ + 0.3625808358192444, + 0.027209017425775528, + -0.003288325620815158 + ], + [ + 0.37799200415611267, + 0.03239462152123451, + 0.023281052708625793 + ], + [ + 0.38638415932655334, + 0.03406711667776108, + 0.03898776322603226 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9854461466119933, + 0.12212248811893223, + 0.11824546512748624, + 0.12381878528730514, + -0.9922795938157916, + -0.007079273037847097, + 0.11646802366980621, + 0.02161725219377834, + -0.992959160222635 + ], + [ + 0.9837573274955311, + 0.11539603042300953, + 0.13749646090522621, + 0.11954493573103425, + -0.9925787450504929, + -0.022281005701082393, + 0.1339049250024562, + 0.03835610820456943, + -0.9902516246002762 + ], + [ + 0.9800023607491922, + 0.10982383643860659, + 0.16593401663286686, + 0.11827870568522643, + -0.9920947272670797, + -0.041930894460846135, + 0.16001725128072267, + 0.06071883627644076, + -0.9852449960359084 + ], + [ + 0.978039762778955, + 0.10118384283880184, + 0.18220881529623714, + 0.114087929444656, + -0.991548914497836, + -0.06176321326804824, + 0.17441951375438705, + 0.08119470491685936, + -0.9813181202419261 + ], + [ + 0.9742240660266797, + 0.10862132609158683, + 0.1977090708403355, + 0.1258045514529251, + -0.9891012503545601, + -0.07649791749305425, + 0.18724498393327382, + 0.0993988131978998, + -0.9772712990396664 + ], + [ + 0.9717912663071843, + 0.12480931000541028, + 0.2001108964175943, + 0.14303227039106733, + -0.986536067997212, + -0.07929915615804085, + 0.18751934395111444, + 0.10568454322451386, + -0.9765588937527372 + ], + [ + 0.9653504572016758, + 0.16610457523510555, + 0.20126540901625548, + 0.18354762829037516, + -0.9804273784547685, + -0.07122095004483242, + 0.18549599168039652, + 0.10569496516994267, + -0.976944118876935 + ], + [ + 0.9621406469094147, + 0.20175308366449088, + 0.18325138143163172, + 0.21676638392979639, + -0.9740059805026837, + -0.06576233529160326, + 0.16522018751572864, + 0.10299535512281167, + -0.9808640305671285 + ], + [ + 0.9690972904086095, + 0.2031611405669937, + 0.13991423332244876, + 0.21287308001669275, + -0.9753451948006033, + -0.05819624372396415, + 0.12464145990358559, + 0.08618179589037658, + -0.9884519232265228 + ], + [ + 0.9749112329427372, + 0.19176508052156668, + 0.11302319131324082, + 0.19650581700639755, + -0.9799702004359838, + -0.03230897924890607, + 0.10456362543791503, + 0.05370810134435108, + -0.9930669101753741 + ], + [ + 0.9898037009346542, + 0.12403451630559037, + 0.07002908239367517, + 0.12496260943165455, + -0.9921205005841566, + -0.009014353258816318, + 0.06835919733359713, + 0.017673457089126737, + -0.9975042200684794 + ], + [ + 0.9956551781215467, + 0.0764522204698052, + 0.05315848253089672, + 0.07769115993211918, + -0.9967425614313145, + -0.021641393202483934, + 0.051330789475257724, + 0.025677309371874228, + -0.9983515542309073 + ], + [ + 0.9965907006216543, + 0.06484550991436827, + 0.05101014877831657, + 0.06575882425762025, + -0.9977002211917182, + -0.016433066246208227, + 0.04982722615895692, + 0.019731408412539096, + -0.9985629269381885 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005970.json b/json/chunk-0005/episode_0005970.json new file mode 100644 index 0000000000000000000000000000000000000000..e0490bf8f001ee4f23e658ec54dd74012f8edce3 --- /dev/null +++ b/json/chunk-0005/episode_0005970.json @@ -0,0 +1,2362 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 38, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the can to the bottom side of the table." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005970.mp4", + "start": 0, + "end": 38, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2769047021865845, + 0.21818742156028748, + 0.10097944736480713, + 0.025626290589571, + -0.27124184370040894, + 0.5055622458457947, + 0.0, + 0.9968144297599792 + ], + [ + 0.27594804763793945, + 0.21697382628917694, + 0.08936857432126999, + 0.01835729368031025, + -0.24598276615142822, + 0.5089563131332397, + 0.0, + 0.9968144297599792 + ], + [ + 0.2814619243144989, + 0.23347912728786469, + 0.08888202905654907, + 0.04456464201211929, + -0.3287067115306854, + 0.4751080274581909, + 0.0, + 0.9968144297599792 + ], + [ + 0.2890639305114746, + 0.2535341680049896, + 0.09584437310695648, + 0.07017825543880463, + -0.46973663568496704, + 0.428927481174469, + 0.0, + 0.9968144297599792 + ], + [ + 0.29662683606147766, + 0.27046337723731995, + 0.09670349955558777, + 0.124686099588871, + -0.5287366509437561, + 0.35058364272117615, + 0.0, + 0.9968144297599792 + ], + [ + 0.31168419122695923, + 0.28088754415512085, + 0.0899038016796112, + 0.21615341305732727, + -0.5011028051376343, + 0.20404481887817383, + 0.0, + 0.9968144297599792 + ], + [ + 0.32128533720970154, + 0.2821369171142578, + 0.08060944080352783, + 0.2468462884426117, + -0.5221298933029175, + 0.11635170876979828, + 0.0, + 0.9968144297599792 + ], + [ + 0.3317033648490906, + 0.2815571427345276, + 0.08530587702989578, + 0.23046478629112244, + -0.5668090581893921, + 0.06497811526060104, + 0.0, + 0.9968144297599792 + ], + [ + 0.33895060420036316, + 0.27739158272743225, + 0.07849512249231339, + 0.19860756397247314, + -0.5925197601318359, + 0.04509710520505905, + 0.0, + 0.9968144297599792 + ], + [ + 0.3504871726036072, + 0.2763718366622925, + 0.07874977588653564, + 0.2096146047115326, + -0.577998161315918, + 0.04746241122484207, + 0.0, + 0.9968144297599792 + ], + [ + 0.3605937659740448, + 0.2721809148788452, + 0.06846629828214645, + 0.21153324842453003, + -0.5431692004203796, + 0.04690615087747574, + 0.0, + 0.9968144297599792 + ], + [ + 0.3724500834941864, + 0.26491767168045044, + 0.061822690069675446, + 0.20162983238697052, + -0.5198069214820862, + 0.04080551862716675, + 0.0, + 0.9968144297599792 + ], + [ + 0.3792513608932495, + 0.26172786951065063, + 0.0551510751247406, + 0.17417815327644348, + -0.5400265455245972, + 0.05933219939470291, + 0.0, + 0.9968144297599792 + ], + [ + 0.3835507929325104, + 0.26176685094833374, + 0.0475485622882843, + 0.18320490419864655, + -0.5166918635368347, + 0.05588463693857193, + 0.0, + 0.9968144297599792 + ], + [ + 0.38522017002105713, + 0.27331605553627014, + 0.04019739851355553, + 0.20950187742710114, + -0.488262802362442, + 0.11809325963258743, + 0.0, + 0.9968144297599792 + ], + [ + 0.38332754373550415, + 0.2813512682914734, + 0.041907839477062225, + 0.22327089309692383, + -0.47691330313682556, + 0.12587332725524902, + 0.0, + 0.9968144297599792 + ], + [ + 0.3797696530818939, + 0.29345637559890747, + 0.04460063576698303, + 0.26760613918304443, + -0.49339261651039124, + 0.19036006927490234, + 0.0, + 0.9968144297599792 + ], + [ + 0.373442143201828, + 0.29892608523368835, + 0.043427471071481705, + 0.25841033458709717, + -0.4864606261253357, + 0.22726792097091675, + 0.0, + 0.9968144297599792 + ], + [ + 0.36716410517692566, + 0.300173282623291, + 0.04094979539513588, + 0.20907087624073029, + -0.4742412269115448, + 0.29538142681121826, + 0.0, + 0.9968144297599792 + ], + [ + 0.3618212640285492, + 0.2964945435523987, + 0.034045591950416565, + 0.15307742357254028, + -0.4634729325771332, + 0.3421267569065094, + 0.0, + 0.9968144297599792 + ], + [ + 0.35570234060287476, + 0.29164919257164, + 0.030228344723582268, + 0.10864484310150146, + -0.41898176074028015, + 0.37666022777557373, + 0.0, + 0.9968144297599792 + ], + [ + 0.3435601592063904, + 0.28488436341285706, + 0.01666390523314476, + 0.09741971641778946, + -0.3668477237224579, + 0.40915998816490173, + 0.0, + 0.9968144297599792 + ], + [ + 0.33401983976364136, + 0.28030839562416077, + 0.015672633424401283, + 0.09385126829147339, + -0.35033220052719116, + 0.4527958631515503, + 0.0, + 0.9968144297599792 + ], + [ + 0.32036715745925903, + 0.2752697169780731, + 0.014757374301552773, + 0.11157795041799545, + -0.36375099420547485, + 0.5068907141685486, + 0.0, + 0.9968144297599792 + ], + [ + 0.3099658489227295, + 0.2686537206172943, + 0.015157591551542282, + 0.1084524542093277, + -0.38491180539131165, + 0.49732890725135803, + 0.0, + 0.9968144297599792 + ], + [ + 0.2969930171966553, + 0.2634991705417633, + 0.01529353391379118, + 0.11276214569807053, + -0.3759309649467468, + 0.49559205770492554, + 0.0, + 0.9968144297599792 + ], + [ + 0.2883017957210541, + 0.26231837272644043, + 0.014641365967690945, + 0.138246551156044, + -0.3811838626861572, + 0.4874412417411804, + 0.0, + 0.9968144297599792 + ], + [ + 0.2804957628250122, + 0.26500949263572693, + 0.01541230920702219, + 0.14524215459823608, + -0.38542476296424866, + 0.4918249547481537, + 0.0, + 0.9968144297599792 + ], + [ + 0.27326399087905884, + 0.2722751200199127, + 0.015753965824842453, + 0.16325445473194122, + -0.3931495249271393, + 0.4895683825016022, + 0.0, + 0.9968144297599792 + ], + [ + 0.2614477276802063, + 0.27338969707489014, + 0.016568893566727638, + 0.16306906938552856, + -0.38444942235946655, + 0.47382864356040955, + 0.0, + 0.9968144297599792 + ], + [ + 0.25719863176345825, + 0.2732440233230591, + 0.015222609043121338, + 0.1503668576478958, + -0.3660929799079895, + 0.4763350188732147, + 0.0, + 0.9968144297599792 + ], + [ + 0.26941174268722534, + 0.28314998745918274, + 0.030932409688830376, + 0.1559862643480301, + -0.3925968408584595, + 0.5069233179092407, + 0.0, + 0.9968144297599792 + ], + [ + 0.2899331748485565, + 0.28745174407958984, + 0.034914109855890274, + 0.13706766068935394, + -0.4289191961288452, + 0.5305396318435669, + 0.0, + 0.9968144297599792 + ], + [ + 0.3081362247467041, + 0.28621140122413635, + 0.03990195691585541, + 0.12266188114881516, + -0.45251980423927307, + 0.5635014772415161, + 0.0, + 0.9968144297599792 + ], + [ + 0.32319507002830505, + 0.2860829830169678, + 0.04919738322496414, + 0.11576537042856216, + -0.4619121253490448, + 0.5862472057342529, + 0.0, + 0.9968144297599792 + ], + [ + 0.32463228702545166, + 0.27988308668136597, + 0.04851114749908447, + 0.12404991686344147, + -0.43535709381103516, + 0.5669008493423462, + 0.0, + 0.9968144297599792 + ], + [ + 0.3188970386981964, + 0.261496901512146, + 0.05906537175178528, + 0.1470641940832138, + -0.454814612865448, + 0.44585877656936646, + 0.0, + 0.9968144297599792 + ], + [ + 0.32298368215560913, + 0.24292545020580292, + 0.07417329400777817, + 0.15745431184768677, + -0.48346278071403503, + 0.337823748588562, + 0.0, + 0.9968144297599792 + ] + ], + "left_gripper_pos": [ + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2769047021865845, + 0.21818742156028748, + 0.10097944736480713 + ], + [ + 0.27594804763793945, + 0.21697382628917694, + 0.08936857432126999 + ], + [ + 0.2814619243144989, + 0.23347912728786469, + 0.08888202905654907 + ], + [ + 0.2890639305114746, + 0.2535341680049896, + 0.09584437310695648 + ], + [ + 0.29662683606147766, + 0.27046337723731995, + 0.09670349955558777 + ], + [ + 0.31168419122695923, + 0.28088754415512085, + 0.0899038016796112 + ], + [ + 0.32128533720970154, + 0.2821369171142578, + 0.08060944080352783 + ], + [ + 0.3317033648490906, + 0.2815571427345276, + 0.08530587702989578 + ], + [ + 0.33895060420036316, + 0.27739158272743225, + 0.07849512249231339 + ], + [ + 0.3504871726036072, + 0.2763718366622925, + 0.07874977588653564 + ], + [ + 0.3605937659740448, + 0.2721809148788452, + 0.06846629828214645 + ], + [ + 0.3724500834941864, + 0.26491767168045044, + 0.061822690069675446 + ], + [ + 0.3792513608932495, + 0.26172786951065063, + 0.0551510751247406 + ], + [ + 0.3835507929325104, + 0.26176685094833374, + 0.0475485622882843 + ], + [ + 0.38522017002105713, + 0.27331605553627014, + 0.04019739851355553 + ], + [ + 0.38332754373550415, + 0.2813512682914734, + 0.041907839477062225 + ], + [ + 0.3797696530818939, + 0.29345637559890747, + 0.04460063576698303 + ], + [ + 0.373442143201828, + 0.29892608523368835, + 0.043427471071481705 + ], + [ + 0.36716410517692566, + 0.300173282623291, + 0.04094979539513588 + ], + [ + 0.3618212640285492, + 0.2964945435523987, + 0.034045591950416565 + ], + [ + 0.35570234060287476, + 0.29164919257164, + 0.030228344723582268 + ], + [ + 0.3435601592063904, + 0.28488436341285706, + 0.01666390523314476 + ], + [ + 0.33401983976364136, + 0.28030839562416077, + 0.015672633424401283 + ], + [ + 0.32036715745925903, + 0.2752697169780731, + 0.014757374301552773 + ], + [ + 0.3099658489227295, + 0.2686537206172943, + 0.015157591551542282 + ], + [ + 0.2969930171966553, + 0.2634991705417633, + 0.01529353391379118 + ], + [ + 0.2883017957210541, + 0.26231837272644043, + 0.014641365967690945 + ], + [ + 0.2804957628250122, + 0.26500949263572693, + 0.01541230920702219 + ], + [ + 0.27326399087905884, + 0.2722751200199127, + 0.015753965824842453 + ], + [ + 0.2614477276802063, + 0.27338969707489014, + 0.016568893566727638 + ], + [ + 0.25719863176345825, + 0.2732440233230591, + 0.015222609043121338 + ], + [ + 0.26941174268722534, + 0.28314998745918274, + 0.030932409688830376 + ], + [ + 0.2899331748485565, + 0.28745174407958984, + 0.034914109855890274 + ], + [ + 0.3081362247467041, + 0.28621140122413635, + 0.03990195691585541 + ], + [ + 0.32319507002830505, + 0.2860829830169678, + 0.04919738322496414 + ], + [ + 0.32463228702545166, + 0.27988308668136597, + 0.04851114749908447 + ], + [ + 0.3188970386981964, + 0.261496901512146, + 0.05906537175178528 + ], + [ + 0.32298368215560913, + 0.24292545020580292, + 0.07417329400777817 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8429149389957876, + 0.4901468387966022, + 0.22192449624911825, + 0.4665929143019731, + -0.8712902186228824, + 0.1521328605373638, + 0.26792808352414055, + -0.024686663399233297, + -0.9631225834281396 + ], + [ + 0.846967277935468, + 0.49108738878535046, + 0.20366542829496, + 0.4725986588363435, + -0.870928357812167, + 0.13466366705496702, + 0.2435096256263248, + -0.01780371125882598, + -0.9697350618043772 + ], + [ + 0.8416337876391092, + 0.46976906226037024, + 0.2664011930289709, + 0.432943758457589, + -0.8817818123395657, + 0.18713774990569848, + 0.3228192520852241, + -0.04216471949584506, + -0.9455209500127287 + ], + [ + 0.8109116342624212, + 0.44373690855330356, + 0.38147067699287995, + 0.3708489921806179, + -0.8939732042846663, + 0.2515609966183669, + 0.452651462403988, + -0.06252572277521577, + -0.8894926574036278 + ], + [ + 0.8109237768468673, + 0.3996979564544931, + 0.42736889422431634, + 0.2965467536714323, + -0.9103355950729256, + 0.2887024891305195, + 0.5044429115681452, + -0.10738085466844177, + -0.8567419103903625 + ], + [ + 0.8588588280295538, + 0.2988110644430844, + 0.41602098658852815, + 0.17771896796009873, + -0.9355898457418954, + 0.3051026203949318, + 0.4803930494323361, + -0.18810525859488167, + -0.8566439924181188 + ], + [ + 0.8608985564141292, + 0.23360907288644756, + 0.451973977823063, + 0.10062149030117427, + -0.9489846148475636, + 0.29883693960451396, + 0.4987273716707746, + -0.21178999468283588, + -0.840485578043196 + ], + [ + 0.8418383025932705, + 0.18561064773553987, + 0.5068105757914628, + 0.05477818196569065, + -0.9635415797134773, + 0.26189115094594156, + 0.5369428489768854, + -0.1927078400336883, + -0.8213136217804595 + ], + [ + 0.8286927551999944, + 0.15426886040479987, + 0.5380236390610048, + 0.037396999837636516, + -0.974378193238653, + 0.22178503318330992, + 0.558453025671977, + -0.1636711802681903, + -0.8132293421092427 + ], + [ + 0.8366148304663544, + 0.15996384781659817, + 0.5239152534861545, + 0.039737600307997584, + -0.971615926490033, + 0.23320251823828286, + 0.5463483765561267, + -0.17428155032195186, + -0.8192248730671341 + ], + [ + 0.8551333868987201, + 0.15424221639627406, + 0.4949305297638132, + 0.04014045882363383, + -0.9715464845140571, + 0.23342273238441213, + 0.5168516558709587, + -0.1797408331724923, + -0.8369931891681712 + ], + [ + 0.8671926221101243, + 0.13935980322961508, + 0.4780751001689693, + 0.03540589821644217, + -0.9748679164943521, + 0.21995219426377127, + 0.4967125713420731, + -0.17381424174607735, + -0.850332423724382 + ], + [ + 0.8561857997257826, + 0.14734648187531268, + 0.4952119653510913, + 0.05085908050700926, + -0.9778527015118728, + 0.20302080700242006, + 0.5141587597988619, + -0.14863750679051532, + -0.8447175038420808 + ], + [ + 0.8681008294785443, + 0.14477929276401474, + 0.4748051244936335, + 0.04856406690422815, + -0.976702910944053, + 0.2090285989024815, + 0.49400655994063963, + -0.15839943225960296, + -0.8549076784047798 + ], + [ + 0.8769980439604399, + 0.21212173099669357, + 0.4311366397425859, + 0.10405171035643845, + -0.9598277827984674, + 0.2605837081248127, + 0.4690923922442804, + -0.18367089755087526, + -0.8638387169671163 + ], + [ + 0.881387281025505, + 0.22326159795865025, + 0.4163060409403367, + 0.11153281830120637, + -0.9547031181880433, + 0.2758666100922995, + 0.4590390955989014, + -0.19671353537308187, + -0.8663641807650901 + ], + [ + 0.8648217526130413, + 0.3054509124942548, + 0.3984759418882575, + 0.16664531466443383, + -0.923289678455375, + 0.3460715370529066, + 0.47361659103931186, + -0.23288604448140848, + -0.8493829613184526 + ], + [ + 0.8612617101612035, + 0.3342302640255433, + 0.3827772161709922, + 0.19917825748641277, + -0.9150189734959573, + 0.350810917571105, + 0.46750004102125503, + -0.2258991118880727, + -0.8546422075309086 + ], + [ + 0.8511102426267487, + 0.3754418986630644, + 0.366953315319688, + 0.2589783046694642, + -0.9082672316694215, + 0.32860443330255873, + 0.4566635442055422, + -0.18464565146203393, + -0.8702668503337317 + ], + [ + 0.8426627092620378, + 0.3957849558659156, + 0.3650668803512282, + 0.3000987858158492, + -0.9081579321180426, + 0.29187307015710423, + 0.447057353335135, + -0.13639442452423078, + -0.8840454082159402 + ], + [ + 0.8494654535556209, + 0.40666893716147795, + 0.3361975888722248, + 0.33600206612259703, + -0.9081899644614033, + 0.24958685865433955, + 0.4068304988283075, + -0.0990523296018282, + -0.9081176031900062 + ], + [ + 0.8564102644555318, + 0.4279594510229087, + 0.2888116466061862, + 0.37136764531049365, + -0.8992258769629627, + 0.2312550414947312, + 0.3586746868009302, + -0.09079389010479198, + -0.9290365647098576 + ], + [ + 0.844607279465351, + 0.4644783167651368, + 0.2662676036042763, + 0.4109081932390373, + -0.8811992670438562, + 0.23375694319185636, + 0.34320984863952947, + -0.08802127593028898, + -0.9351252615454442 + ], + [ + 0.8170544640826999, + 0.5170763642727786, + 0.25505692743577374, + 0.4536969964459061, + -0.8495900968358293, + 0.2689901536756508, + 0.35578229036658954, + -0.10406104395464998, + -0.9287573746638962 + ], + [ + 0.8145551955691185, + 0.5099951197640015, + 0.2764142022188011, + 0.442172543208368, + -0.8543072222763288, + 0.2732080013453971, + 0.37547739666190083, + -0.10032022619294852, + -0.9213862256473105 + ], + [ + 0.8182554298537945, + 0.5088737105679773, + 0.26740530699213966, + 0.44234293299994015, + -0.8544546215688514, + 0.27247023563068534, + 0.3671386402161892, + -0.10466540198369863, + -0.9242588233215836 + ], + [ + 0.8201184021037962, + 0.5091939967895223, + 0.2610120306886792, + 0.43474959274402325, + -0.8510928817306731, + 0.2943360295245628, + 0.3720196206379738, + -0.12791552017206648, + -0.9193688169388211 + ], + [ + 0.8168066595412751, + 0.5152261474590385, + 0.2595551924033516, + 0.43759158329952186, + -0.8464959328898385, + 0.30324617363848116, + 0.37595277250532594, + -0.13411432651092658, + -0.9168821408829377 + ], + [ + 0.8152046492394247, + 0.5189437608969706, + 0.25717455722628274, + 0.4343686401688215, + -0.8415213935949181, + 0.3211940668193547, + 0.3830995488072462, + -0.15013033387085717, + -0.9114250482379281 + ], + [ + 0.8248748955008138, + 0.5044230645536151, + 0.2552229980210646, + 0.4229891255970451, + -0.8502400181892937, + 0.31332429062572853, + 0.37504880535627366, + -0.15049678872257802, + -0.9147071171610195 + ], + [ + 0.829791182920535, + 0.5010061975676638, + 0.2458442245531297, + 0.4281401980650423, + -0.8540656001988556, + 0.29541144418893844, + 0.35797005956946326, + -0.13987401672847916, + -0.9231969973391787 + ], + [ + 0.8077288063808498, + 0.5315576090029699, + 0.2549915364352591, + 0.448553066799551, + -0.8347719714438222, + 0.31930534282487766, + 0.38258897214541593, + -0.14353488775500148, + -0.9127011637934258 + ], + [ + 0.7844021554992975, + 0.5502678494713169, + 0.2862141720569896, + 0.46016335027016825, + -0.8256902340936109, + 0.32632089787595986, + 0.41588814543839847, + -0.1242615433698223, + -0.9008862965564297 + ], + [ + 0.7602999752182954, + 0.5753624301899931, + 0.3014996212417603, + 0.4803864723902665, + -0.8104624743831352, + 0.335230390569235, + 0.43723310124863063, + -0.11003931816687815, + -0.8925909273737178 + ], + [ + 0.7457235948116079, + 0.5924171913045266, + 0.30485765791285063, + 0.49526043364535277, + -0.7989680118069797, + 0.34112639735825034, + 0.44566065902956925, + -0.10340206746510242, + -0.889210092968626 + ], + [ + 0.7648807626773345, + 0.5769127948573389, + 0.2865816568031406, + 0.48692676366230203, + -0.8090642624904277, + 0.32911600688841747, + 0.42173421217100193, + -0.11219022368599788, + -0.8997519702639112 + ], + [ + 0.8105211200380986, + 0.4846570207890848, + 0.32888156861100476, + 0.38739480050176844, + -0.8647421171531328, + 0.31960340950264116, + 0.43929578021690746, + -0.1316383037773069, + -0.8886453592194427 + ], + [ + 0.8353466854784083, + 0.39610503140053854, + 0.3811780675214875, + 0.2934490978755028, + -0.90764868459916, + 0.3001024696690585, + 0.4648478697555695, + -0.13883324329782462, + -0.8744379843871812 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0009566545486450195, + -0.0012135952711105347, + -0.01161087304353714, + -0.00726899690926075, + 0.025259077548980713, + 0.0033940672874450684, + 1.0 + ], + [ + 0.005513876676559448, + 0.016505300998687744, + -0.00048654526472091675, + 0.026207348331809044, + -0.0827239453792572, + -0.03384828567504883, + 1.0 + ], + [ + 0.007602006196975708, + 0.02005504071712494, + 0.00696234405040741, + 0.025613613426685333, + -0.14102992415428162, + -0.046180546283721924, + 1.0 + ], + [ + 0.007562905550003052, + 0.016929209232330322, + 0.0008591264486312866, + 0.054507844150066376, + -0.05900001525878906, + -0.07834383845329285, + 1.0 + ], + [ + 0.015057355165481567, + 0.010424166917800903, + -0.0067996978759765625, + 0.09146731346845627, + 0.027633845806121826, + -0.14653882384300232, + 1.0 + ], + [ + 0.00960114598274231, + 0.0012493729591369629, + -0.009294360876083374, + 0.030692875385284424, + -0.021027088165283203, + -0.08769311010837555, + 1.0 + ], + [ + 0.010418027639389038, + -0.0005797743797302246, + 0.0046964362263679504, + -0.016381502151489258, + -0.04467916488647461, + -0.051373593509197235, + 1.0 + ], + [ + 0.007247239351272583, + -0.004165560007095337, + -0.0068107545375823975, + -0.03185722231864929, + -0.025710701942443848, + -0.019881010055541992, + 1.0 + ], + [ + 0.011536568403244019, + -0.0010197460651397705, + 0.0002546533942222595, + 0.011007040739059448, + 0.014521598815917969, + 0.00236530601978302, + 1.0 + ], + [ + 0.010106593370437622, + -0.004190921783447266, + -0.01028347760438919, + 0.0019186437129974365, + 0.03482896089553833, + -0.000556260347366333, + 1.0 + ], + [ + 0.011856317520141602, + -0.007263243198394775, + -0.006643608212471008, + -0.00990341603755951, + 0.023362278938293457, + -0.0061006322503089905, + 1.0 + ], + [ + 0.00680127739906311, + -0.0031898021697998047, + -0.006671614944934845, + -0.02745167911052704, + -0.020219624042510986, + 0.018526680767536163, + 1.0 + ], + [ + 0.004299432039260864, + 3.898143768310547e-05, + -0.007602512836456299, + 0.009026750922203064, + 0.02333468198776245, + -0.0034475624561309814, + 1.0 + ], + [ + 0.001669377088546753, + 0.011549204587936401, + -0.007351163774728775, + 0.02629697322845459, + 0.0284290611743927, + 0.0622086226940155, + 1.0 + ], + [ + -0.0018926262855529785, + 0.008035212755203247, + 0.0017104409635066986, + 0.013769015669822693, + 0.011349499225616455, + 0.007780067622661591, + 1.0 + ], + [ + -0.0035578906536102295, + 0.012105107307434082, + 0.002692796289920807, + 0.044335246086120605, + -0.016479313373565674, + 0.06448674201965332, + 1.0 + ], + [ + -0.006327509880065918, + 0.005469709634780884, + -0.0011731646955013275, + -0.009195804595947266, + 0.006931990385055542, + 0.036907851696014404, + 1.0 + ], + [ + -0.006278038024902344, + 0.0012471973896026611, + -0.002477675676345825, + -0.04933945834636688, + 0.012219399213790894, + 0.06811350584030151, + 1.0 + ], + [ + -0.005342841148376465, + -0.003678739070892334, + -0.006904203444719315, + -0.05599345266819, + 0.010768294334411621, + 0.04674533009529114, + 1.0 + ], + [ + -0.0061189234256744385, + -0.004845350980758667, + -0.003817247226834297, + -0.04443258047103882, + 0.04449117183685303, + 0.03453347086906433, + 1.0 + ], + [ + -0.012142181396484375, + -0.006764829158782959, + -0.013564439490437508, + -0.011225126683712006, + 0.052134037017822266, + 0.032499760389328, + 1.0 + ], + [ + -0.009540319442749023, + -0.004575967788696289, + -0.0009912718087434769, + -0.0035684481263160706, + 0.016515523195266724, + 0.04363587498664856, + 1.0 + ], + [ + -0.013652682304382324, + -0.0050386786460876465, + -0.0009152591228485107, + 0.017726682126522064, + -0.013418793678283691, + 0.05409485101699829, + 1.0 + ], + [ + -0.010401308536529541, + -0.006615996360778809, + 0.0004002172499895096, + -0.003125496208667755, + -0.021160811185836792, + -0.009561806917190552, + 1.0 + ], + [ + -0.012972831726074219, + -0.005154550075531006, + 0.00013594236224889755, + 0.004309691488742828, + 0.00898084044456482, + -0.0017368495464324951, + 1.0 + ], + [ + -0.008691221475601196, + -0.001180797815322876, + -0.000652167946100235, + 0.02548440545797348, + -0.0052528977394104, + -0.008150815963745117, + 1.0 + ], + [ + -0.00780603289604187, + 0.002691119909286499, + 0.0007709432393312454, + 0.006995603442192078, + -0.004240900278091431, + 0.004383713006973267, + 1.0 + ], + [ + -0.007231771945953369, + 0.007265627384185791, + 0.0003416566178202629, + 0.01801230013370514, + -0.007724761962890625, + -0.0022565722465515137, + 1.0 + ], + [ + -0.011816263198852539, + 0.001114577054977417, + 0.0008149277418851852, + -0.0001853853464126587, + 0.00870010256767273, + -0.015739738941192627, + 1.0 + ], + [ + -0.004249095916748047, + -0.0001456737518310547, + -0.0013462845236063004, + -0.012702211737632751, + 0.01835644245147705, + 0.0025063753128051758, + 1.0 + ], + [ + 0.01221311092376709, + 0.009905964136123657, + 0.015709800645709038, + 0.005619406700134277, + -0.02650386095046997, + 0.030588299036026, + 1.0 + ], + [ + 0.020521432161331177, + 0.0043017566204071045, + 0.003981700167059898, + -0.018918603658676147, + -0.03632235527038574, + 0.023616313934326172, + 1.0 + ], + [ + 0.018203049898147583, + -0.0012403428554534912, + 0.004987847059965134, + -0.014405779540538788, + -0.023600608110427856, + 0.03296184539794922, + 1.0 + ], + [ + 0.015058845281600952, + -0.0001284182071685791, + 0.009295426309108734, + -0.006896510720252991, + -0.009392321109771729, + 0.022745728492736816, + 1.0 + ], + [ + 0.0014372169971466064, + -0.006199896335601807, + -0.0006862357258796692, + 0.008284546434879303, + 0.026555031538009644, + -0.01934635639190674, + 1.0 + ], + [ + -0.005735248327255249, + -0.01838618516921997, + 0.010554224252700806, + 0.02301427721977234, + -0.019457519054412842, + -0.12104207277297974, + 1.0 + ], + [ + 0.00408664345741272, + -0.01857145130634308, + 0.01510792225599289, + 0.010390117764472961, + -0.028648167848587036, + -0.10803502798080444, + 1.0 + ], + [ + 0.007195383310317993, + -0.021343961358070374, + 0.006084322929382324, + -0.0069881826639175415, + -0.012876927852630615, + -0.12188462913036346, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.27594804763793945, + 0.21697382628917694, + 0.08936857432126999 + ], + [ + 0.2814619243144989, + 0.23347912728786469, + 0.08888202905654907 + ], + [ + 0.2890639305114746, + 0.2535341680049896, + 0.09584437310695648 + ], + [ + 0.29662683606147766, + 0.27046337723731995, + 0.09670349955558777 + ], + [ + 0.31168419122695923, + 0.28088754415512085, + 0.0899038016796112 + ], + [ + 0.32128533720970154, + 0.2821369171142578, + 0.08060944080352783 + ], + [ + 0.3317033648490906, + 0.2815571427345276, + 0.08530587702989578 + ], + [ + 0.33895060420036316, + 0.27739158272743225, + 0.07849512249231339 + ], + [ + 0.3504871726036072, + 0.2763718366622925, + 0.07874977588653564 + ], + [ + 0.3605937659740448, + 0.2721809148788452, + 0.06846629828214645 + ], + [ + 0.3724500834941864, + 0.26491767168045044, + 0.061822690069675446 + ], + [ + 0.3792513608932495, + 0.26172786951065063, + 0.0551510751247406 + ], + [ + 0.3835507929325104, + 0.26176685094833374, + 0.0475485622882843 + ], + [ + 0.38522017002105713, + 0.27331605553627014, + 0.04019739851355553 + ], + [ + 0.38332754373550415, + 0.2813512682914734, + 0.041907839477062225 + ], + [ + 0.3797696530818939, + 0.29345637559890747, + 0.04460063576698303 + ], + [ + 0.373442143201828, + 0.29892608523368835, + 0.043427471071481705 + ], + [ + 0.36716410517692566, + 0.300173282623291, + 0.04094979539513588 + ], + [ + 0.3618212640285492, + 0.2964945435523987, + 0.034045591950416565 + ], + [ + 0.35570234060287476, + 0.29164919257164, + 0.030228344723582268 + ], + [ + 0.3435601592063904, + 0.28488436341285706, + 0.01666390523314476 + ], + [ + 0.33401983976364136, + 0.28030839562416077, + 0.015672633424401283 + ], + [ + 0.32036715745925903, + 0.2752697169780731, + 0.014757374301552773 + ], + [ + 0.3099658489227295, + 0.2686537206172943, + 0.015157591551542282 + ], + [ + 0.2969930171966553, + 0.2634991705417633, + 0.01529353391379118 + ], + [ + 0.2883017957210541, + 0.26231837272644043, + 0.014641365967690945 + ], + [ + 0.2804957628250122, + 0.26500949263572693, + 0.01541230920702219 + ], + [ + 0.27326399087905884, + 0.2722751200199127, + 0.015753965824842453 + ], + [ + 0.2614477276802063, + 0.27338969707489014, + 0.016568893566727638 + ], + [ + 0.25719863176345825, + 0.2732440233230591, + 0.015222609043121338 + ], + [ + 0.26941174268722534, + 0.28314998745918274, + 0.030932409688830376 + ], + [ + 0.2899331748485565, + 0.28745174407958984, + 0.034914109855890274 + ], + [ + 0.3081362247467041, + 0.28621140122413635, + 0.03990195691585541 + ], + [ + 0.32319507002830505, + 0.2860829830169678, + 0.04919738322496414 + ], + [ + 0.32463228702545166, + 0.27988308668136597, + 0.04851114749908447 + ], + [ + 0.3188970386981964, + 0.261496901512146, + 0.05906537175178528 + ], + [ + 0.32298368215560913, + 0.24292545020580292, + 0.07417329400777817 + ], + [ + 0.3301790654659271, + 0.22158148884773254, + 0.08025761693716049 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.846967277935468, + 0.49108738878535046, + 0.20366542829496, + 0.4725986588363435, + -0.870928357812167, + 0.13466366705496702, + 0.2435096256263248, + -0.01780371125882598, + -0.9697350618043772 + ], + [ + 0.8416337876391092, + 0.46976906226037024, + 0.2664011930289709, + 0.432943758457589, + -0.8817818123395657, + 0.18713774990569848, + 0.3228192520852241, + -0.04216471949584506, + -0.9455209500127287 + ], + [ + 0.8109116342624212, + 0.44373690855330356, + 0.38147067699287995, + 0.3708489921806179, + -0.8939732042846663, + 0.2515609966183669, + 0.452651462403988, + -0.06252572277521577, + -0.8894926574036278 + ], + [ + 0.8109237768468673, + 0.3996979564544931, + 0.42736889422431634, + 0.2965467536714323, + -0.9103355950729256, + 0.2887024891305195, + 0.5044429115681452, + -0.10738085466844177, + -0.8567419103903625 + ], + [ + 0.8588588280295538, + 0.2988110644430844, + 0.41602098658852815, + 0.17771896796009873, + -0.9355898457418954, + 0.3051026203949318, + 0.4803930494323361, + -0.18810525859488167, + -0.8566439924181188 + ], + [ + 0.8608985564141292, + 0.23360907288644756, + 0.451973977823063, + 0.10062149030117427, + -0.9489846148475636, + 0.29883693960451396, + 0.4987273716707746, + -0.21178999468283588, + -0.840485578043196 + ], + [ + 0.8418383025932705, + 0.18561064773553987, + 0.5068105757914628, + 0.05477818196569065, + -0.9635415797134773, + 0.26189115094594156, + 0.5369428489768854, + -0.1927078400336883, + -0.8213136217804595 + ], + [ + 0.8286927551999944, + 0.15426886040479987, + 0.5380236390610048, + 0.037396999837636516, + -0.974378193238653, + 0.22178503318330992, + 0.558453025671977, + -0.1636711802681903, + -0.8132293421092427 + ], + [ + 0.8366148304663544, + 0.15996384781659817, + 0.5239152534861545, + 0.039737600307997584, + -0.971615926490033, + 0.23320251823828286, + 0.5463483765561267, + -0.17428155032195186, + -0.8192248730671341 + ], + [ + 0.8551333868987201, + 0.15424221639627406, + 0.4949305297638132, + 0.04014045882363383, + -0.9715464845140571, + 0.23342273238441213, + 0.5168516558709587, + -0.1797408331724923, + -0.8369931891681712 + ], + [ + 0.8671926221101243, + 0.13935980322961508, + 0.4780751001689693, + 0.03540589821644217, + -0.9748679164943521, + 0.21995219426377127, + 0.4967125713420731, + -0.17381424174607735, + -0.850332423724382 + ], + [ + 0.8561857997257826, + 0.14734648187531268, + 0.4952119653510913, + 0.05085908050700926, + -0.9778527015118728, + 0.20302080700242006, + 0.5141587597988619, + -0.14863750679051532, + -0.8447175038420808 + ], + [ + 0.8681008294785443, + 0.14477929276401474, + 0.4748051244936335, + 0.04856406690422815, + -0.976702910944053, + 0.2090285989024815, + 0.49400655994063963, + -0.15839943225960296, + -0.8549076784047798 + ], + [ + 0.8769980439604399, + 0.21212173099669357, + 0.4311366397425859, + 0.10405171035643845, + -0.9598277827984674, + 0.2605837081248127, + 0.4690923922442804, + -0.18367089755087526, + -0.8638387169671163 + ], + [ + 0.881387281025505, + 0.22326159795865025, + 0.4163060409403367, + 0.11153281830120637, + -0.9547031181880433, + 0.2758666100922995, + 0.4590390955989014, + -0.19671353537308187, + -0.8663641807650901 + ], + [ + 0.8648217526130413, + 0.3054509124942548, + 0.3984759418882575, + 0.16664531466443383, + -0.923289678455375, + 0.3460715370529066, + 0.47361659103931186, + -0.23288604448140848, + -0.8493829613184526 + ], + [ + 0.8612617101612035, + 0.3342302640255433, + 0.3827772161709922, + 0.19917825748641277, + -0.9150189734959573, + 0.350810917571105, + 0.46750004102125503, + -0.2258991118880727, + -0.8546422075309086 + ], + [ + 0.8511102426267487, + 0.3754418986630644, + 0.366953315319688, + 0.2589783046694642, + -0.9082672316694215, + 0.32860443330255873, + 0.4566635442055422, + -0.18464565146203393, + -0.8702668503337317 + ], + [ + 0.8426627092620378, + 0.3957849558659156, + 0.3650668803512282, + 0.3000987858158492, + -0.9081579321180426, + 0.29187307015710423, + 0.447057353335135, + -0.13639442452423078, + -0.8840454082159402 + ], + [ + 0.8494654535556209, + 0.40666893716147795, + 0.3361975888722248, + 0.33600206612259703, + -0.9081899644614033, + 0.24958685865433955, + 0.4068304988283075, + -0.0990523296018282, + -0.9081176031900062 + ], + [ + 0.8564102644555318, + 0.4279594510229087, + 0.2888116466061862, + 0.37136764531049365, + -0.8992258769629627, + 0.2312550414947312, + 0.3586746868009302, + -0.09079389010479198, + -0.9290365647098576 + ], + [ + 0.844607279465351, + 0.4644783167651368, + 0.2662676036042763, + 0.4109081932390373, + -0.8811992670438562, + 0.23375694319185636, + 0.34320984863952947, + -0.08802127593028898, + -0.9351252615454442 + ], + [ + 0.8170544640826999, + 0.5170763642727786, + 0.25505692743577374, + 0.4536969964459061, + -0.8495900968358293, + 0.2689901536756508, + 0.35578229036658954, + -0.10406104395464998, + -0.9287573746638962 + ], + [ + 0.8145551955691185, + 0.5099951197640015, + 0.2764142022188011, + 0.442172543208368, + -0.8543072222763288, + 0.2732080013453971, + 0.37547739666190083, + -0.10032022619294852, + -0.9213862256473105 + ], + [ + 0.8182554298537945, + 0.5088737105679773, + 0.26740530699213966, + 0.44234293299994015, + -0.8544546215688514, + 0.27247023563068534, + 0.3671386402161892, + -0.10466540198369863, + -0.9242588233215836 + ], + [ + 0.8201184021037962, + 0.5091939967895223, + 0.2610120306886792, + 0.43474959274402325, + -0.8510928817306731, + 0.2943360295245628, + 0.3720196206379738, + -0.12791552017206648, + -0.9193688169388211 + ], + [ + 0.8168066595412751, + 0.5152261474590385, + 0.2595551924033516, + 0.43759158329952186, + -0.8464959328898385, + 0.30324617363848116, + 0.37595277250532594, + -0.13411432651092658, + -0.9168821408829377 + ], + [ + 0.8152046492394247, + 0.5189437608969706, + 0.25717455722628274, + 0.4343686401688215, + -0.8415213935949181, + 0.3211940668193547, + 0.3830995488072462, + -0.15013033387085717, + -0.9114250482379281 + ], + [ + 0.8248748955008138, + 0.5044230645536151, + 0.2552229980210646, + 0.4229891255970451, + -0.8502400181892937, + 0.31332429062572853, + 0.37504880535627366, + -0.15049678872257802, + -0.9147071171610195 + ], + [ + 0.829791182920535, + 0.5010061975676638, + 0.2458442245531297, + 0.4281401980650423, + -0.8540656001988556, + 0.29541144418893844, + 0.35797005956946326, + -0.13987401672847916, + -0.9231969973391787 + ], + [ + 0.8077288063808498, + 0.5315576090029699, + 0.2549915364352591, + 0.448553066799551, + -0.8347719714438222, + 0.31930534282487766, + 0.38258897214541593, + -0.14353488775500148, + -0.9127011637934258 + ], + [ + 0.7844021554992975, + 0.5502678494713169, + 0.2862141720569896, + 0.46016335027016825, + -0.8256902340936109, + 0.32632089787595986, + 0.41588814543839847, + -0.1242615433698223, + -0.9008862965564297 + ], + [ + 0.7602999752182954, + 0.5753624301899931, + 0.3014996212417603, + 0.4803864723902665, + -0.8104624743831352, + 0.335230390569235, + 0.43723310124863063, + -0.11003931816687815, + -0.8925909273737178 + ], + [ + 0.7457235948116079, + 0.5924171913045266, + 0.30485765791285063, + 0.49526043364535277, + -0.7989680118069797, + 0.34112639735825034, + 0.44566065902956925, + -0.10340206746510242, + -0.889210092968626 + ], + [ + 0.7648807626773345, + 0.5769127948573389, + 0.2865816568031406, + 0.48692676366230203, + -0.8090642624904277, + 0.32911600688841747, + 0.42173421217100193, + -0.11219022368599788, + -0.8997519702639112 + ], + [ + 0.8105211200380986, + 0.4846570207890848, + 0.32888156861100476, + 0.38739480050176844, + -0.8647421171531328, + 0.31960340950264116, + 0.43929578021690746, + -0.1316383037773069, + -0.8886453592194427 + ], + [ + 0.8353466854784083, + 0.39610503140053854, + 0.3811780675214875, + 0.2934490978755028, + -0.90764868459916, + 0.3001024696690585, + 0.4648478697555695, + -0.13883324329782462, + -0.8744379843871812 + ], + [ + 0.8589095736217724, + 0.2815695105245427, + 0.42777675846618257, + 0.18840981929803877, + -0.9504443649278747, + 0.2472999174462652, + 0.4762101262394004, + -0.1318109248879569, + -0.8693962248291833 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005971.json b/json/chunk-0005/episode_0005971.json new file mode 100644 index 0000000000000000000000000000000000000000..5e9fa4c7909d17ebdda7b675bf94f0d0b073c399 --- /dev/null +++ b/json/chunk-0005/episode_0005971.json @@ -0,0 +1,1762 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 28, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the cylinder in the top right table." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005971.mp4", + "start": 0, + "end": 28, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3247537612915039, + 0.203764870762825, + 0.07231277227401733, + 0.19051967561244965, + -0.34212595224380493, + 0.05750777944922447, + 0.0, + 1.0001531839370728 + ], + [ + 0.32271087169647217, + 0.20179909467697144, + 0.05792517215013504, + 0.17247603833675385, + -0.30949974060058594, + 0.06028402969241142, + 0.0, + 1.0001531839370728 + ], + [ + 0.3126387894153595, + 0.19794240593910217, + 0.043754756450653076, + 0.16887103021144867, + -0.26188814640045166, + 0.03249884024262428, + 0.0, + 1.0001531839370728 + ], + [ + 0.30149540305137634, + 0.195090651512146, + 0.02668837271630764, + 0.1688750684261322, + -0.2028706669807434, + 0.0072852070443332195, + 0.0, + 1.0001531839370728 + ], + [ + 0.2895217835903168, + 0.18922202289104462, + 0.01442795991897583, + 0.15869487822055817, + -0.15951134264469147, + -0.014694873243570328, + 0.0, + 1.0001531839370728 + ], + [ + 0.28672653436660767, + 0.18312528729438782, + -0.00040651753079146147, + 0.14322499930858612, + -0.10969863086938858, + -0.016422249376773834, + 0.0, + 1.0001531839370728 + ], + [ + 0.2909514605998993, + 0.1735961139202118, + -0.010069092735648155, + 0.12696456909179688, + -0.08438905328512192, + -0.01778233051300049, + 0.0, + 1.0001531839370728 + ], + [ + 0.3004639148712158, + 0.16075240075588226, + -0.009295325726270676, + 0.1325613260269165, + -0.08876362442970276, + -0.04656967520713806, + 0.0, + 1.0001531839370728 + ], + [ + 0.3073638677597046, + 0.15688811242580414, + -0.006983913481235504, + 0.1419345736503601, + -0.10162010788917542, + -0.06497778743505478, + 0.0, + 1.0001531839370728 + ], + [ + 0.3091420829296112, + 0.1612047553062439, + -0.01707042194902897, + 0.15265895426273346, + -0.0752389207482338, + -0.05630549415946007, + 0.0, + 1.0001531839370728 + ], + [ + 0.31051918864250183, + 0.1644648015499115, + -0.01566210575401783, + 0.17572380602359772, + -0.059615615755319595, + -0.054137494415044785, + 0.0, + 1.0001531839370728 + ], + [ + 0.3087797164916992, + 0.16442790627479553, + -0.017106207087635994, + 0.17113077640533447, + -0.04606008157134056, + -0.03568023070693016, + 0.0, + 1.0001531839370728 + ], + [ + 0.3049781322479248, + 0.16285425424575806, + -0.0229540653526783, + 0.15309756994247437, + -0.0097269332036376, + -0.02486313134431839, + 0.0, + 1.0001531839370728 + ], + [ + 0.3047594428062439, + 0.16248002648353577, + -0.02590748481452465, + 0.14129303395748138, + 0.010507997125387192, + -0.02226880006492138, + 0.0, + 0.9583302736282349 + ], + [ + 0.3037417232990265, + 0.16081033647060394, + -0.029690153896808624, + 0.1299470216035843, + 0.024823442101478577, + -0.014054126106202602, + 0.0, + 0.6781873106956482 + ], + [ + 0.3062284290790558, + 0.1568574160337448, + -0.02970907837152481, + 0.1192508339881897, + 0.010114061646163464, + -0.0217294804751873, + 0.0, + 0.506233811378479 + ], + [ + 0.31307098269462585, + 0.1462790071964264, + -0.012652816250920296, + 0.10656366497278214, + -0.05967492237687111, + -0.076480433344841, + 0.0, + 0.506233811378479 + ], + [ + 0.3274053633213043, + 0.1268714964389801, + 0.01977962628006935, + 0.09770077466964722, + -0.15806931257247925, + -0.1872197389602661, + 0.0, + 0.506233811378479 + ], + [ + 0.34171736240386963, + 0.11139091104269028, + 0.03773960843682289, + 0.08320020139217377, + -0.18006038665771484, + -0.2759599983692169, + 0.0, + 0.506233811378479 + ], + [ + 0.3654745817184448, + 0.10639742016792297, + 0.04607054591178894, + 0.08470898121595383, + -0.17869538068771362, + -0.3414129316806793, + 0.0, + 0.506233811378479 + ], + [ + 0.3917090892791748, + 0.09397685527801514, + 0.029692625626921654, + 0.053774144500494, + -0.12470030784606934, + -0.46402114629745483, + 0.0, + 0.506233811378479 + ], + [ + 0.41544991731643677, + 0.07379543036222458, + 0.010379982180893421, + 0.042132120579481125, + -0.09556326270103455, + -0.6028075218200684, + 0.0, + 0.506233811378479 + ], + [ + 0.43172770738601685, + 0.05060200020670891, + 0.0060026743449270725, + 0.07064475864171982, + -0.10490893572568893, + -0.7005113959312439, + 0.0, + 0.506233811378479 + ], + [ + 0.438801646232605, + 0.03135980665683746, + 0.007027504500001669, + 0.10861112922430038, + -0.11603841930627823, + -0.7728101015090942, + 0.0, + 0.506233811378479 + ], + [ + 0.439835786819458, + 0.01689842902123928, + 0.0021186266094446182, + 0.12880130112171173, + -0.1234394833445549, + -0.81653892993927, + 0.0, + 0.506233811378479 + ], + [ + 0.4445495903491974, + 0.01023076381534338, + 0.0018032874213531613, + 0.16089671850204468, + -0.1381659358739853, + -0.844108521938324, + 0.0, + 0.5729578137397766 + ], + [ + 0.4438094198703766, + 0.003193373791873455, + -0.015104883350431919, + 0.16255752742290497, + -0.11194552481174469, + -0.8902963995933533, + 0.0, + 0.8801529407501221 + ], + [ + 0.4390586316585541, + -0.0006284211995080113, + -0.024948783218860626, + 0.172227680683136, + -0.10575875639915466, + -0.9467543959617615, + 0.0, + 1.0067112445831299 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9583302736282349 + ], + [ + 0.6781873106956482 + ], + [ + 0.506233811378479 + ], + [ + 0.506233811378479 + ], + [ + 0.506233811378479 + ], + [ + 0.506233811378479 + ], + [ + 0.506233811378479 + ], + [ + 0.506233811378479 + ], + [ + 0.506233811378479 + ], + [ + 0.506233811378479 + ], + [ + 0.506233811378479 + ], + [ + 0.506233811378479 + ], + [ + 0.5729578137397766 + ], + [ + 0.8801529407501221 + ], + [ + 1.0067112445831299 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3247537612915039, + 0.203764870762825, + 0.07231277227401733 + ], + [ + 0.32271087169647217, + 0.20179909467697144, + 0.05792517215013504 + ], + [ + 0.3126387894153595, + 0.19794240593910217, + 0.043754756450653076 + ], + [ + 0.30149540305137634, + 0.195090651512146, + 0.02668837271630764 + ], + [ + 0.2895217835903168, + 0.18922202289104462, + 0.01442795991897583 + ], + [ + 0.28672653436660767, + 0.18312528729438782, + -0.00040651753079146147 + ], + [ + 0.2909514605998993, + 0.1735961139202118, + -0.010069092735648155 + ], + [ + 0.3004639148712158, + 0.16075240075588226, + -0.009295325726270676 + ], + [ + 0.3073638677597046, + 0.15688811242580414, + -0.006983913481235504 + ], + [ + 0.3091420829296112, + 0.1612047553062439, + -0.01707042194902897 + ], + [ + 0.31051918864250183, + 0.1644648015499115, + -0.01566210575401783 + ], + [ + 0.3087797164916992, + 0.16442790627479553, + -0.017106207087635994 + ], + [ + 0.3049781322479248, + 0.16285425424575806, + -0.0229540653526783 + ], + [ + 0.3047594428062439, + 0.16248002648353577, + -0.02590748481452465 + ], + [ + 0.3037417232990265, + 0.16081033647060394, + -0.029690153896808624 + ], + [ + 0.3062284290790558, + 0.1568574160337448, + -0.02970907837152481 + ], + [ + 0.31307098269462585, + 0.1462790071964264, + -0.012652816250920296 + ], + [ + 0.3274053633213043, + 0.1268714964389801, + 0.01977962628006935 + ], + [ + 0.34171736240386963, + 0.11139091104269028, + 0.03773960843682289 + ], + [ + 0.3654745817184448, + 0.10639742016792297, + 0.04607054591178894 + ], + [ + 0.3917090892791748, + 0.09397685527801514, + 0.029692625626921654 + ], + [ + 0.41544991731643677, + 0.07379543036222458, + 0.010379982180893421 + ], + [ + 0.43172770738601685, + 0.05060200020670891, + 0.0060026743449270725 + ], + [ + 0.438801646232605, + 0.03135980665683746, + 0.007027504500001669 + ], + [ + 0.439835786819458, + 0.01689842902123928, + 0.0021186266094446182 + ], + [ + 0.4445495903491974, + 0.01023076381534338, + 0.0018032874213531613 + ], + [ + 0.4438094198703766, + 0.003193373791873455, + -0.015104883350431919 + ], + [ + 0.4390586316585541, + -0.0006284211995080113, + -0.024948783218860626 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9404862500392669, + 0.11986266905448838, + 0.3179914370768678, + 0.05414497743131348, + -0.976631205309454, + 0.20798992820510664, + 0.33549058840158236, + -0.17839402843967916, + -0.9249981814636301 + ], + [ + 0.9507558378662183, + 0.11153172164142378, + 0.28917816624185994, + 0.057384925422572064, + -0.9802239422838288, + 0.1893884719506299, + 0.30458218447169666, + -0.16346772782799868, + -0.9383538750712336 + ], + [ + 0.9653928139243922, + 0.07552194112985307, + 0.24962602274426987, + 0.03138519702534258, + -0.983840705112585, + 0.17627375406240142, + 0.2589047783082115, + -0.16233885354883643, + -0.9521630177640934 + ], + [ + 0.9794662341191976, + 0.04104439133521348, + 0.19738605361139228, + 0.007135740550277898, + -0.9855015998366974, + 0.1695160108252595, + 0.20148195310537542, + -0.1646267130791119, + -0.9655584228381064 + ], + [ + 0.9871984204592142, + 0.010588345774059742, + 0.15914510855380032, + -0.014507799937987207, + -0.9876966003210821, + 0.15570789785728809, + 0.1588357717385831, + -0.15602343621374729, + -0.974898910127744 + ], + [ + 0.9938551050207614, + -0.0006289356418981429, + 0.11068710251935127, + -0.016322803772557532, + -0.9898839710849605, + 0.14093718411431116, + 0.10947874817138534, + -0.14187786377383543, + -0.9838115040340801 + ], + [ + 0.9962838176590518, + -0.0069669767426065975, + 0.08584879676368744, + -0.017718115725746438, + -0.991983772092158, + 0.12511700236555479, + 0.08428892599763026, + -0.12617312368678668, + -0.9884208212159863 + ], + [ + 0.9949831923234219, + -0.03444032843834403, + 0.09392715672771186, + -0.0463695700483616, + -0.9906973967640297, + 0.1279395600215406, + 0.08864710918819203, + -0.13165307372801555, + -0.987324241680788 + ], + [ + 0.992741691708574, + -0.04995911237034496, + 0.10939844895959852, + -0.06459709629845284, + -0.988786888822151, + 0.13463916088278105, + 0.10144529902073851, + -0.14072873048733947, + -0.9848371823413323 + ], + [ + 0.9955906351899682, + -0.044208845903835135, + 0.08273369969901118, + -0.05611653748093256, + -0.9874471907662957, + 0.14764477528480735, + 0.07516795423041853, + -0.1516364843683773, + -0.9855740232297177 + ], + [ + 0.9967610418271767, + -0.042877137314916075, + 0.06803658274251813, + -0.05401492586010567, + -0.9837213602080036, + 0.171390411793784, + 0.059580309498432224, + -0.174510276391373, + -0.9828511332617357 + ], + [ + 0.9983036250908329, + -0.027315467122245612, + 0.05141728684397079, + -0.03563482692404439, + -0.985045367744326, + 0.16856981519696418, + 0.04604379698281902, + -0.17011610370960994, + -0.984347743441344 + ], + [ + 0.9996436366513115, + -0.023086909254956135, + 0.013401280669933187, + -0.024859393734420997, + -0.9880348599358405, + 0.15221407981760887, + 0.009726779821602534, + -0.15249298401112688, + -0.9882566870918125 + ], + [ + 0.9996968657127515, + -0.02352444099049124, + -0.007264802831826883, + -0.0222657302709482, + -0.9897563163791294, + 0.14102011006632265, + -0.010507803747777433, + -0.14081560589544495, + -0.9899800761614834 + ], + [ + 0.9995931870029616, + -0.017151187285085703, + -0.022788094961473496, + -0.014049333718143995, + -0.9914256339392479, + 0.1299146973603672, + -0.024820892798959538, + -0.12954168882206024, + -0.9912632718595954 + ], + [ + 0.9997127895173705, + -0.022776409904906557, + -0.007454772111956895, + -0.021726659209481552, + -0.992637498710817, + 0.1191585013027938, + -0.01011388921199882, + -0.1189623104389644, + -0.9928472581117554 + ], + [ + 0.9953019804632854, + -0.06964764078506626, + 0.06725454496862038, + -0.07626989218788537, + -0.9919055145337569, + 0.10152021366787632, + 0.05963951065786966, + -0.10617276661459517, + -0.9925575411017199 + ], + [ + 0.9702764067161378, + -0.1701538198611345, + 0.17207955182613857, + -0.1838074902822968, + -0.9806978839185914, + 0.0666818340608649, + 0.15741188356075117, + -0.09632932089588271, + -0.9828235654732719 + ], + [ + 0.9466086475921196, + -0.2572082830255373, + 0.1943604060678852, + -0.26806567118245045, + -0.962891005692378, + 0.031332205320135316, + 0.17908898413168936, + -0.08176068920805318, + -0.9804296637000043 + ], + [ + 0.9272780197525282, + -0.3194475820956869, + 0.19521453935875024, + -0.329487292993595, + -0.9439390547980214, + 0.020425096885218375, + 0.17774587995107674, + -0.08326045351928506, + -0.9805478565782397 + ], + [ + 0.8873161362596691, + -0.4409225587611914, + 0.13511984128430551, + -0.4440724526316549, + -0.8959593265290912, + -0.007519442748219338, + 0.12437737393480723, + -0.05333087643214572, + -0.9908007299513157 + ], + [ + 0.8199886116275147, + -0.5631436462960784, + 0.1024104996449991, + -0.5643705393228846, + -0.8252946869172443, + -0.0193539166724518, + 0.09541787644659305, + -0.04192747765517586, + -0.994553927885209 + ], + [ + 0.7603094251060584, + -0.6373499741511158, + 0.12535784197435354, + -0.6410647475847099, + -0.7673703538618531, + -0.013368972215048198, + 0.10471660565090589, + -0.07019793774397073, + -0.9920215128904445 + ], + [ + 0.711136919246167, + -0.6850508575231888, + 0.15808100673962866, + -0.6934548965705989, + -0.7204948035568991, + -0.0027467198193225142, + 0.11577818666454838, + -0.10766875430805992, + -0.9874223264836683 + ], + [ + 0.6795374290320644, + -0.7119141530242032, + 0.17722054414859365, + -0.7232349626964953, + -0.6906012710232377, + -0.0010359510064198857, + 0.12312624122375856, + -0.12746812615285497, + -0.9841706181029735 + ], + [ + 0.6580662811208955, + -0.7230665112103111, + 0.2100561592000177, + -0.740256785761063, + -0.6723068657970332, + 0.004834184198920247, + 0.13772676132986533, + -0.1586767108567561, + -0.9776773704271094 + ], + [ + 0.6252434009394565, + -0.755635924238599, + 0.1951538869244991, + -0.772393131986288, + -0.6349395386513144, + 0.016144098539981944, + 0.11171185810859396, + -0.1608295130171518, + -0.9806397547012822 + ], + [ + 0.5810553055665395, + -0.7889463015027869, + 0.19984610383504922, + -0.8069891300070071, + -0.5903564754442281, + 0.015740900596937973, + 0.10556171618304364, + -0.17041996727538267, + -0.979700851704411 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0020428895950317383, + -0.0019657760858535767, + -0.014387600123882294, + -0.0180436372756958, + 0.032626211643218994, + 0.0027762502431869507, + 1.0 + ], + [ + -0.010072082281112671, + -0.0038566887378692627, + -0.014170415699481964, + -0.0036050081253051758, + 0.04761159420013428, + -0.02778518944978714, + 1.0 + ], + [ + -0.011143386363983154, + -0.0028517544269561768, + -0.017066383734345436, + 4.038214683532715e-06, + 0.05901747941970825, + -0.025213632732629776, + 1.0 + ], + [ + -0.01197361946105957, + -0.005868628621101379, + -0.01226041279733181, + -0.010180190205574036, + 0.04335932433605194, + -0.021980080753564835, + 1.0 + ], + [ + -0.0027952492237091064, + -0.006096735596656799, + -0.014834477566182613, + -0.015469878911972046, + 0.04981271177530289, + -0.0017273761332035065, + 1.0 + ], + [ + 0.004224926233291626, + -0.009529173374176025, + -0.009662575088441372, + -0.016260430216789246, + 0.025309577584266663, + -0.001360081136226654, + 1.0 + ], + [ + 0.009512454271316528, + -0.012843713164329529, + 0.0007737670093774796, + 0.005596756935119629, + -0.004374571144580841, + -0.028787344694137573, + 1.0 + ], + [ + 0.0068999528884887695, + -0.003864288330078125, + 0.0023114122450351715, + 0.009373247623443604, + -0.012856483459472656, + -0.018408112227916718, + 1.0 + ], + [ + 0.0017782151699066162, + 0.004316642880439758, + -0.010086508467793465, + 0.010724380612373352, + 0.02638118714094162, + 0.008672293275594711, + 1.0 + ], + [ + 0.001377105712890625, + 0.0032600462436676025, + 0.001408316195011139, + 0.023064851760864258, + 0.0156233049929142, + 0.002167999744415283, + 1.0 + ], + [ + -0.0017394721508026123, + -3.68952751159668e-05, + -0.001444101333618164, + -0.004593029618263245, + 0.013555534183979034, + 0.018457263708114624, + 1.0 + ], + [ + -0.003801584243774414, + -0.0015736520290374756, + -0.005847858265042305, + -0.018033206462860107, + 0.036333147436380386, + 0.01081709936261177, + 1.0 + ], + [ + -0.0002186894416809082, + -0.00037422776222229004, + -0.0029534194618463516, + -0.011804535984992981, + 0.020234931260347366, + 0.002594331279397011, + 0.0 + ], + [ + -0.0010177195072174072, + -0.0016696900129318237, + -0.0037826690822839737, + -0.011346012353897095, + 0.014315444976091385, + 0.008214673958718777, + 0.0 + ], + [ + 0.002486705780029297, + -0.003952920436859131, + -1.8924474716186523e-05, + -0.010696187615394592, + -0.014709380455315113, + -0.007675354368984699, + 0.0 + ], + [ + 0.006842553615570068, + -0.01057840883731842, + 0.017056262120604515, + -0.012687169015407562, + -0.06978898495435715, + -0.0547509528696537, + 0.0 + ], + [ + 0.014334380626678467, + -0.01940751075744629, + 0.032432444393634796, + -0.008862890303134918, + -0.09839439392089844, + -0.11073930561542511, + 0.0 + ], + [ + 0.014311999082565308, + -0.015480585396289825, + 0.01795998215675354, + -0.01450057327747345, + -0.021991074085235596, + -0.0887402594089508, + 0.0 + ], + [ + 0.023757219314575195, + -0.0049934908747673035, + 0.00833093747496605, + 0.0015087798237800598, + 0.0013650059700012207, + -0.0654529333114624, + 0.0 + ], + [ + 0.02623450756072998, + -0.012420564889907837, + -0.016377920284867287, + -0.030934836715459824, + 0.05399507284164429, + -0.12260821461677551, + 0.0 + ], + [ + 0.023740828037261963, + -0.020181424915790558, + -0.019312642514705658, + -0.011642023921012878, + 0.02913704514503479, + -0.13878637552261353, + 0.0 + ], + [ + 0.016277790069580078, + -0.02319343015551567, + -0.004377307835966349, + 0.028512638062238693, + -0.009345673024654388, + -0.09770387411117554, + 0.0 + ], + [ + 0.007073938846588135, + -0.019242193549871445, + 0.0010248301550745964, + 0.037966370582580566, + -0.011129483580589294, + -0.07229870557785034, + 0.0 + ], + [ + 0.0010341405868530273, + -0.014461377635598183, + -0.004908877890557051, + 0.020190171897411346, + -0.007401064038276672, + -0.04372882843017578, + 1.0 + ], + [ + 0.00471380352973938, + -0.006667665205895901, + -0.0003153391880914569, + 0.03209541738033295, + -0.01472645252943039, + -0.027569591999053955, + 1.0 + ], + [ + -0.0007401704788208008, + -0.007037390023469925, + -0.01690817065536976, + 0.0016608089208602905, + 0.0262204110622406, + -0.0461878776550293, + 1.0 + ], + [ + -0.00475078821182251, + -0.0038217948749661446, + -0.009843899868428707, + 0.009670153260231018, + 0.006186768412590027, + -0.0564579963684082, + 1.0 + ], + [ + -0.012591511011123657, + -0.005229487549513578, + 0.01759958453476429, + 0.017281100153923035, + -0.04488532245159149, + -0.03604227304458618, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9583302736282349 + ], + [ + 0.6781873106956482 + ], + [ + 0.506233811378479 + ], + [ + 0.506233811378479 + ], + [ + 0.506233811378479 + ], + [ + 0.506233811378479 + ], + [ + 0.506233811378479 + ], + [ + 0.506233811378479 + ], + [ + 0.506233811378479 + ], + [ + 0.506233811378479 + ], + [ + 0.506233811378479 + ], + [ + 0.506233811378479 + ], + [ + 0.5729578137397766 + ], + [ + 0.8801529407501221 + ], + [ + 1.0067112445831299 + ], + [ + 1.0014774799346924 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.32271087169647217, + 0.20179909467697144, + 0.05792517215013504 + ], + [ + 0.3126387894153595, + 0.19794240593910217, + 0.043754756450653076 + ], + [ + 0.30149540305137634, + 0.195090651512146, + 0.02668837271630764 + ], + [ + 0.2895217835903168, + 0.18922202289104462, + 0.01442795991897583 + ], + [ + 0.28672653436660767, + 0.18312528729438782, + -0.00040651753079146147 + ], + [ + 0.2909514605998993, + 0.1735961139202118, + -0.010069092735648155 + ], + [ + 0.3004639148712158, + 0.16075240075588226, + -0.009295325726270676 + ], + [ + 0.3073638677597046, + 0.15688811242580414, + -0.006983913481235504 + ], + [ + 0.3091420829296112, + 0.1612047553062439, + -0.01707042194902897 + ], + [ + 0.31051918864250183, + 0.1644648015499115, + -0.01566210575401783 + ], + [ + 0.3087797164916992, + 0.16442790627479553, + -0.017106207087635994 + ], + [ + 0.3049781322479248, + 0.16285425424575806, + -0.0229540653526783 + ], + [ + 0.3047594428062439, + 0.16248002648353577, + -0.02590748481452465 + ], + [ + 0.3037417232990265, + 0.16081033647060394, + -0.029690153896808624 + ], + [ + 0.3062284290790558, + 0.1568574160337448, + -0.02970907837152481 + ], + [ + 0.31307098269462585, + 0.1462790071964264, + -0.012652816250920296 + ], + [ + 0.3274053633213043, + 0.1268714964389801, + 0.01977962628006935 + ], + [ + 0.34171736240386963, + 0.11139091104269028, + 0.03773960843682289 + ], + [ + 0.3654745817184448, + 0.10639742016792297, + 0.04607054591178894 + ], + [ + 0.3917090892791748, + 0.09397685527801514, + 0.029692625626921654 + ], + [ + 0.41544991731643677, + 0.07379543036222458, + 0.010379982180893421 + ], + [ + 0.43172770738601685, + 0.05060200020670891, + 0.0060026743449270725 + ], + [ + 0.438801646232605, + 0.03135980665683746, + 0.007027504500001669 + ], + [ + 0.439835786819458, + 0.01689842902123928, + 0.0021186266094446182 + ], + [ + 0.4445495903491974, + 0.01023076381534338, + 0.0018032874213531613 + ], + [ + 0.4438094198703766, + 0.003193373791873455, + -0.015104883350431919 + ], + [ + 0.4390586316585541, + -0.0006284211995080113, + -0.024948783218860626 + ], + [ + 0.4264671206474304, + -0.005857908632606268, + -0.007349198218435049 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9507558378662183, + 0.11153172164142378, + 0.28917816624185994, + 0.057384925422572064, + -0.9802239422838288, + 0.1893884719506299, + 0.30458218447169666, + -0.16346772782799868, + -0.9383538750712336 + ], + [ + 0.9653928139243922, + 0.07552194112985307, + 0.24962602274426987, + 0.03138519702534258, + -0.983840705112585, + 0.17627375406240142, + 0.2589047783082115, + -0.16233885354883643, + -0.9521630177640934 + ], + [ + 0.9794662341191976, + 0.04104439133521348, + 0.19738605361139228, + 0.007135740550277898, + -0.9855015998366974, + 0.1695160108252595, + 0.20148195310537542, + -0.1646267130791119, + -0.9655584228381064 + ], + [ + 0.9871984204592142, + 0.010588345774059742, + 0.15914510855380032, + -0.014507799937987207, + -0.9876966003210821, + 0.15570789785728809, + 0.1588357717385831, + -0.15602343621374729, + -0.974898910127744 + ], + [ + 0.9938551050207614, + -0.0006289356418981429, + 0.11068710251935127, + -0.016322803772557532, + -0.9898839710849605, + 0.14093718411431116, + 0.10947874817138534, + -0.14187786377383543, + -0.9838115040340801 + ], + [ + 0.9962838176590518, + -0.0069669767426065975, + 0.08584879676368744, + -0.017718115725746438, + -0.991983772092158, + 0.12511700236555479, + 0.08428892599763026, + -0.12617312368678668, + -0.9884208212159863 + ], + [ + 0.9949831923234219, + -0.03444032843834403, + 0.09392715672771186, + -0.0463695700483616, + -0.9906973967640297, + 0.1279395600215406, + 0.08864710918819203, + -0.13165307372801555, + -0.987324241680788 + ], + [ + 0.992741691708574, + -0.04995911237034496, + 0.10939844895959852, + -0.06459709629845284, + -0.988786888822151, + 0.13463916088278105, + 0.10144529902073851, + -0.14072873048733947, + -0.9848371823413323 + ], + [ + 0.9955906351899682, + -0.044208845903835135, + 0.08273369969901118, + -0.05611653748093256, + -0.9874471907662957, + 0.14764477528480735, + 0.07516795423041853, + -0.1516364843683773, + -0.9855740232297177 + ], + [ + 0.9967610418271767, + -0.042877137314916075, + 0.06803658274251813, + -0.05401492586010567, + -0.9837213602080036, + 0.171390411793784, + 0.059580309498432224, + -0.174510276391373, + -0.9828511332617357 + ], + [ + 0.9983036250908329, + -0.027315467122245612, + 0.05141728684397079, + -0.03563482692404439, + -0.985045367744326, + 0.16856981519696418, + 0.04604379698281902, + -0.17011610370960994, + -0.984347743441344 + ], + [ + 0.9996436366513115, + -0.023086909254956135, + 0.013401280669933187, + -0.024859393734420997, + -0.9880348599358405, + 0.15221407981760887, + 0.009726779821602534, + -0.15249298401112688, + -0.9882566870918125 + ], + [ + 0.9996968657127515, + -0.02352444099049124, + -0.007264802831826883, + -0.0222657302709482, + -0.9897563163791294, + 0.14102011006632265, + -0.010507803747777433, + -0.14081560589544495, + -0.9899800761614834 + ], + [ + 0.9995931870029616, + -0.017151187285085703, + -0.022788094961473496, + -0.014049333718143995, + -0.9914256339392479, + 0.1299146973603672, + -0.024820892798959538, + -0.12954168882206024, + -0.9912632718595954 + ], + [ + 0.9997127895173705, + -0.022776409904906557, + -0.007454772111956895, + -0.021726659209481552, + -0.992637498710817, + 0.1191585013027938, + -0.01011388921199882, + -0.1189623104389644, + -0.9928472581117554 + ], + [ + 0.9953019804632854, + -0.06964764078506626, + 0.06725454496862038, + -0.07626989218788537, + -0.9919055145337569, + 0.10152021366787632, + 0.05963951065786966, + -0.10617276661459517, + -0.9925575411017199 + ], + [ + 0.9702764067161378, + -0.1701538198611345, + 0.17207955182613857, + -0.1838074902822968, + -0.9806978839185914, + 0.0666818340608649, + 0.15741188356075117, + -0.09632932089588271, + -0.9828235654732719 + ], + [ + 0.9466086475921196, + -0.2572082830255373, + 0.1943604060678852, + -0.26806567118245045, + -0.962891005692378, + 0.031332205320135316, + 0.17908898413168936, + -0.08176068920805318, + -0.9804296637000043 + ], + [ + 0.9272780197525282, + -0.3194475820956869, + 0.19521453935875024, + -0.329487292993595, + -0.9439390547980214, + 0.020425096885218375, + 0.17774587995107674, + -0.08326045351928506, + -0.9805478565782397 + ], + [ + 0.8873161362596691, + -0.4409225587611914, + 0.13511984128430551, + -0.4440724526316549, + -0.8959593265290912, + -0.007519442748219338, + 0.12437737393480723, + -0.05333087643214572, + -0.9908007299513157 + ], + [ + 0.8199886116275147, + -0.5631436462960784, + 0.1024104996449991, + -0.5643705393228846, + -0.8252946869172443, + -0.0193539166724518, + 0.09541787644659305, + -0.04192747765517586, + -0.994553927885209 + ], + [ + 0.7603094251060584, + -0.6373499741511158, + 0.12535784197435354, + -0.6410647475847099, + -0.7673703538618531, + -0.013368972215048198, + 0.10471660565090589, + -0.07019793774397073, + -0.9920215128904445 + ], + [ + 0.711136919246167, + -0.6850508575231888, + 0.15808100673962866, + -0.6934548965705989, + -0.7204948035568991, + -0.0027467198193225142, + 0.11577818666454838, + -0.10766875430805992, + -0.9874223264836683 + ], + [ + 0.6795374290320644, + -0.7119141530242032, + 0.17722054414859365, + -0.7232349626964953, + -0.6906012710232377, + -0.0010359510064198857, + 0.12312624122375856, + -0.12746812615285497, + -0.9841706181029735 + ], + [ + 0.6580662811208955, + -0.7230665112103111, + 0.2100561592000177, + -0.740256785761063, + -0.6723068657970332, + 0.004834184198920247, + 0.13772676132986533, + -0.1586767108567561, + -0.9776773704271094 + ], + [ + 0.6252434009394565, + -0.755635924238599, + 0.1951538869244991, + -0.772393131986288, + -0.6349395386513144, + 0.016144098539981944, + 0.11171185810859396, + -0.1608295130171518, + -0.9806397547012822 + ], + [ + 0.5810553055665395, + -0.7889463015027869, + 0.19984610383504922, + -0.8069891300070071, + -0.5903564754442281, + 0.015740900596937973, + 0.10556171618304364, + -0.17041996727538267, + -0.979700851704411 + ], + [ + 0.5484155840690907, + -0.8014739754271342, + 0.23849489274025137, + -0.822628626502332, + -0.5682895301026649, + -0.018142569679607257, + 0.1500749479728215, + -0.18624305809537794, + -0.9709742701545891 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005972.json b/json/chunk-0005/episode_0005972.json new file mode 100644 index 0000000000000000000000000000000000000000..0117fe9b22d6cf7e07091965340e6a5642834e34 --- /dev/null +++ b/json/chunk-0005/episode_0005972.json @@ -0,0 +1,2302 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 37, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nSweep into pile." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005972.mp4", + "start": 0, + "end": 37, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3746711313724518, + 0.007304331753402948, + 0.11936885863542557, + -0.001559747033752501, + -0.11824958771467209, + -0.27325037121772766, + 0.0, + 1.0008161067962646 + ], + [ + 0.3737419843673706, + 0.006588871590793133, + 0.1061624214053154, + -0.017649490386247635, + -0.08436563611030579, + -0.2627773582935333, + 0.0, + 1.0008161067962646 + ], + [ + 0.3741065561771393, + -0.013558673672378063, + 0.09332043677568436, + -0.038791634142398834, + -0.06009757146239281, + -0.27418628334999084, + 0.0, + 1.0008161067962646 + ], + [ + 0.37368661165237427, + -0.03676646947860718, + 0.09339182078838348, + -0.07267214357852936, + -0.07307229936122894, + -0.28438204526901245, + 0.0, + 1.0008161067962646 + ], + [ + 0.3753286600112915, + -0.04564846307039261, + 0.09409340471029282, + -0.10741052031517029, + -0.08930819481611252, + -0.23500403761863708, + 0.0, + 1.0008161067962646 + ], + [ + 0.3729196786880493, + -0.051003746688365936, + 0.0880051925778389, + -0.10123270004987717, + -0.04641105607151985, + -0.16446571052074432, + 0.0, + 1.0008161067962646 + ], + [ + 0.37002021074295044, + -0.044221166521310806, + 0.07544871419668198, + -0.04876061901450157, + 0.00766757782548666, + -0.08905290067195892, + 0.0, + 1.0008161067962646 + ], + [ + 0.3677009046077728, + -0.04022188112139702, + 0.06514685600996017, + -0.02038431353867054, + 0.0404156856238842, + -0.07019751518964767, + 0.0, + 1.0008161067962646 + ], + [ + 0.3652784824371338, + -0.03823811188340187, + 0.05466543883085251, + -0.004908605944365263, + 0.043243926018476486, + -0.05070812255144119, + 0.0, + 1.0008161067962646 + ], + [ + 0.36551299691200256, + -0.04629363864660263, + 0.04021322354674339, + -0.007890958338975906, + 0.048172641545534134, + -0.053088705986738205, + 0.0, + 1.0008161067962646 + ], + [ + 0.3654949367046356, + -0.05077330768108368, + 0.02903428114950657, + -0.02580500766634941, + 0.035649850964546204, + -0.04786045849323273, + 0.0, + 0.939095675945282 + ], + [ + 0.36640816926956177, + -0.04942198470234871, + 0.02561388723552227, + -0.01594589278101921, + -0.001873135450296104, + -0.04723026975989342, + 0.0, + 0.6530976295471191 + ], + [ + 0.3666667342185974, + -0.047189027070999146, + 0.02551213651895523, + 0.0088723823428154, + -0.006567457690834999, + -0.08690695464611053, + 0.0, + 0.4175282120704651 + ], + [ + 0.36469173431396484, + -0.03974468261003494, + 0.02508600614964962, + 0.0537041574716568, + 0.011764680035412312, + -0.1670575737953186, + 0.0, + 0.39711064100265503 + ], + [ + 0.36320823431015015, + -0.02306916005909443, + 0.027226494625210762, + 0.08740756660699844, + 0.0027582379989326, + -0.24771419167518616, + 0.0, + 0.39711064100265503 + ], + [ + 0.3604370355606079, + -0.0033670307602733374, + 0.024250954389572144, + 0.07358165830373764, + -0.00988851860165596, + -0.26672643423080444, + 0.0, + 0.39711064100265503 + ], + [ + 0.3599691390991211, + 0.02661796659231186, + 0.02397805079817772, + 0.06364719569683075, + -0.021056711673736572, + -0.20527778565883636, + 0.0, + 0.39711064100265503 + ], + [ + 0.35880422592163086, + 0.038183197379112244, + 0.023118287324905396, + 0.05651729553937912, + -0.030815962702035904, + -0.19445611536502838, + 0.0, + 0.39711064100265503 + ], + [ + 0.3569042682647705, + 0.055987291038036346, + 0.02236085571348667, + 0.05811087042093277, + -0.029674427583813667, + -0.16011838614940643, + 0.0, + 0.39711064100265503 + ], + [ + 0.3539072275161743, + 0.07267062366008759, + 0.021951286122202873, + 0.07366575300693512, + -0.02273438684642315, + -0.1393854022026062, + 0.0, + 0.39711064100265503 + ], + [ + 0.3482312560081482, + 0.09231455624103546, + 0.021641530096530914, + 0.09419528394937515, + -0.004372164141386747, + -0.12917456030845642, + 0.0, + 0.39711064100265503 + ], + [ + 0.3457528352737427, + 0.1208217442035675, + 0.02301616407930851, + 0.12012350559234619, + 0.013435166329145432, + -0.15876777470111847, + 0.0, + 0.39711064100265503 + ], + [ + 0.3514293134212494, + 0.1339154988527298, + 0.022893954068422318, + 0.12146975100040436, + 0.03579923138022423, + -0.25574809312820435, + 0.0, + 0.39711064100265503 + ], + [ + 0.35780036449432373, + 0.1428237408399582, + 0.02269907109439373, + 0.12566959857940674, + 0.0626746267080307, + -0.3646380603313446, + 0.0, + 0.39711064100265503 + ], + [ + 0.36537304520606995, + 0.14991548657417297, + 0.023195477202534676, + 0.12706074118614197, + 0.10002364218235016, + -0.4586581289768219, + 0.0, + 0.39711064100265503 + ], + [ + 0.36418473720550537, + 0.15611295402050018, + 0.02158251218497753, + 0.09948118031024933, + 0.05823683738708496, + -0.42704734206199646, + 0.0, + 0.3962334990501404 + ], + [ + 0.3651755154132843, + 0.1589989811182022, + 0.021780293434858322, + 0.08423418551683426, + -0.0126816900447011, + -0.36274072527885437, + 0.0, + 0.39711064100265503 + ], + [ + 0.3642776906490326, + 0.15305812656879425, + 0.021168166771531105, + 0.057983674108982086, + -0.05987962335348129, + -0.26981136202812195, + 0.0, + 0.4457511007785797 + ], + [ + 0.35596969723701477, + 0.14541690051555634, + 0.02149530127644539, + -7.746208575554192e-05, + -0.021916601806879044, + -0.17400193214416504, + 0.0, + 0.742793619632721 + ], + [ + 0.34826967120170593, + 0.1308179795742035, + 0.02978871390223503, + -0.023184815421700478, + 0.013152494095265865, + -0.1569221466779709, + 0.0, + 0.9947922229766846 + ], + [ + 0.34701839089393616, + 0.12688058614730835, + 0.05354941636323929, + -0.01317704189568758, + -0.0016535731265321374, + -0.11982489377260208, + 0.0, + 1.002137303352356 + ], + [ + 0.348599910736084, + 0.12658226490020752, + 0.08351346105337143, + -0.00547536788508296, + -0.0383039265871048, + -0.08356923609972, + 0.0, + 1.0001531839370728 + ], + [ + 0.3443320393562317, + 0.1331472247838974, + 0.10304873436689377, + -0.0011169760255143046, + -0.05432074889540672, + -0.03978574648499489, + 0.0, + 1.0001531839370728 + ], + [ + 0.341176301240921, + 0.1306254118680954, + 0.11123683303594589, + -0.009159121662378311, + -0.038842275738716125, + -0.020542403683066368, + 0.0, + 1.0001531839370728 + ], + [ + 0.3484947681427002, + 0.10145686566829681, + 0.11356792598962784, + -0.016615182161331177, + -0.018245602026581764, + -0.08590319752693176, + 0.0, + 1.0001531839370728 + ], + [ + 0.3579336702823639, + 0.06994602829217911, + 0.11252137273550034, + -0.023547880351543427, + -0.029023004695773125, + -0.1624620109796524, + 0.0, + 1.0001531839370728 + ], + [ + 0.3631986975669861, + 0.04174581542611122, + 0.10827073454856873, + -0.02948392927646637, + -0.026074090972542763, + -0.2298527956008911, + 0.0, + 1.0001531839370728 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.939095675945282 + ], + [ + 0.6530976295471191 + ], + [ + 0.4175282120704651 + ], + [ + 0.39711064100265503 + ], + [ + 0.39711064100265503 + ], + [ + 0.39711064100265503 + ], + [ + 0.39711064100265503 + ], + [ + 0.39711064100265503 + ], + [ + 0.39711064100265503 + ], + [ + 0.39711064100265503 + ], + [ + 0.39711064100265503 + ], + [ + 0.39711064100265503 + ], + [ + 0.39711064100265503 + ], + [ + 0.39711064100265503 + ], + [ + 0.39711064100265503 + ], + [ + 0.3962334990501404 + ], + [ + 0.39711064100265503 + ], + [ + 0.4457511007785797 + ], + [ + 0.742793619632721 + ], + [ + 0.9947922229766846 + ], + [ + 1.002137303352356 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3746711313724518, + 0.007304331753402948, + 0.11936885863542557 + ], + [ + 0.3737419843673706, + 0.006588871590793133, + 0.1061624214053154 + ], + [ + 0.3741065561771393, + -0.013558673672378063, + 0.09332043677568436 + ], + [ + 0.37368661165237427, + -0.03676646947860718, + 0.09339182078838348 + ], + [ + 0.3753286600112915, + -0.04564846307039261, + 0.09409340471029282 + ], + [ + 0.3729196786880493, + -0.051003746688365936, + 0.0880051925778389 + ], + [ + 0.37002021074295044, + -0.044221166521310806, + 0.07544871419668198 + ], + [ + 0.3677009046077728, + -0.04022188112139702, + 0.06514685600996017 + ], + [ + 0.3652784824371338, + -0.03823811188340187, + 0.05466543883085251 + ], + [ + 0.36551299691200256, + -0.04629363864660263, + 0.04021322354674339 + ], + [ + 0.3654949367046356, + -0.05077330768108368, + 0.02903428114950657 + ], + [ + 0.36640816926956177, + -0.04942198470234871, + 0.02561388723552227 + ], + [ + 0.3666667342185974, + -0.047189027070999146, + 0.02551213651895523 + ], + [ + 0.36469173431396484, + -0.03974468261003494, + 0.02508600614964962 + ], + [ + 0.36320823431015015, + -0.02306916005909443, + 0.027226494625210762 + ], + [ + 0.3604370355606079, + -0.0033670307602733374, + 0.024250954389572144 + ], + [ + 0.3599691390991211, + 0.02661796659231186, + 0.02397805079817772 + ], + [ + 0.35880422592163086, + 0.038183197379112244, + 0.023118287324905396 + ], + [ + 0.3569042682647705, + 0.055987291038036346, + 0.02236085571348667 + ], + [ + 0.3539072275161743, + 0.07267062366008759, + 0.021951286122202873 + ], + [ + 0.3482312560081482, + 0.09231455624103546, + 0.021641530096530914 + ], + [ + 0.3457528352737427, + 0.1208217442035675, + 0.02301616407930851 + ], + [ + 0.3514293134212494, + 0.1339154988527298, + 0.022893954068422318 + ], + [ + 0.35780036449432373, + 0.1428237408399582, + 0.02269907109439373 + ], + [ + 0.36537304520606995, + 0.14991548657417297, + 0.023195477202534676 + ], + [ + 0.36418473720550537, + 0.15611295402050018, + 0.02158251218497753 + ], + [ + 0.3651755154132843, + 0.1589989811182022, + 0.021780293434858322 + ], + [ + 0.3642776906490326, + 0.15305812656879425, + 0.021168166771531105 + ], + [ + 0.35596969723701477, + 0.14541690051555634, + 0.02149530127644539 + ], + [ + 0.34826967120170593, + 0.1308179795742035, + 0.02978871390223503 + ], + [ + 0.34701839089393616, + 0.12688058614730835, + 0.05354941636323929 + ], + [ + 0.348599910736084, + 0.12658226490020752, + 0.08351346105337143 + ], + [ + 0.3443320393562317, + 0.1331472247838974, + 0.10304873436689377 + ], + [ + 0.341176301240921, + 0.1306254118680954, + 0.11123683303594589 + ], + [ + 0.3484947681427002, + 0.10145686566829681, + 0.11356792598962784 + ], + [ + 0.3579336702823639, + 0.06994602829217911, + 0.11252137273550034 + ], + [ + 0.3631986975669861, + 0.04174581542611122, + 0.10827073454856873 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9561745812065133, + -0.2700394899510299, + 0.11317616410506168, + -0.26797809296080777, + -0.962848001980463, + -0.03333866786958235, + 0.11797420034752049, + 0.0015488541626870987, + -0.9930154526003839 + ], + [ + 0.9622376695499538, + -0.2611592268531779, + 0.07677581343446904, + -0.25883967485981546, + -0.9651355333472815, + -0.038928459883787556, + 0.08426559213308257, + 0.017585803931268778, + -0.9962881357732571 + ], + [ + 0.9609079616932502, + -0.2728022966720121, + 0.047273629911382835, + -0.27027489179476444, + -0.9612909529982915, + -0.05358345405966802, + 0.06006140208029844, + 0.03871189241191478, + -0.9974437414541417 + ], + [ + 0.9572738027287353, + -0.28491184892634897, + 0.0495187333302788, + -0.27981565815526616, + -0.9558145156577278, + -0.09012108027047903, + 0.07300728772116671, + 0.07241443225871601, + -0.9946989926305576 + ], + [ + 0.968637617399068, + -0.2408036937079695, + 0.061275992493433205, + -0.23191894109569117, + -0.964682477604314, + -0.12490525274885626, + 0.08918952248168058, + 0.10677686312961597, + -0.9902746743099559 + ], + [ + 0.9854437034479564, + -0.16751240162062903, + 0.02898797402486232, + -0.16354897528594065, + -0.9806877579555398, + -0.10725322409632404, + 0.0463943964040464, + 0.10095106091283343, + -0.9938090577585205 + ], + [ + 0.9960081309818637, + -0.08845729455708279, + -0.01196286159978867, + -0.08893262854797385, + -0.9948867937958569, + -0.04786705662715953, + -0.007667502693988115, + 0.048739866333845035, + -0.9987820757463542 + ], + [ + 0.9967225745190003, + -0.0693037692789465, + -0.041726454533626126, + -0.07008260103657875, + -0.9973876894835234, + -0.017499311376926525, + -0.04040468383942569, + 0.020366257153670898, + -0.9989758140682821 + ], + [ + 0.997780947415938, + -0.050473856005344105, + -0.043423160107314104, + -0.05063900892873303, + -0.9987133425914331, + -0.002711107626634298, + -0.04323044932069689, + 0.004903997328637827, + -0.9990530912127403 + ], + [ + 0.9974326826663595, + -0.05268267779326051, + -0.04850339173213123, + -0.05300221379236436, + -0.99858019903872, + -0.00532460523407045, + -0.04815401210800178, + 0.007881722420999446, + -0.9988088253362505 + ], + [ + 0.9982202458030115, + -0.046907666062848546, + -0.03682406459792056, + -0.047811790487468975, + -0.9985663553262994, + -0.02406796004511673, + -0.03564230014123542, + 0.025785749453666282, + -0.9990318921664889 + ], + [ + 0.9988831057663758, + -0.04723654423483914, + 0.0011179907286138994, + -0.04721262947779474, + -0.9987564567174705, + -0.016015860356405457, + 0.001873134354937754, + 0.015945189052297203, + -0.9998711128509388 + ], + [ + 0.9962044826135327, + -0.08673613300322065, + 0.007312458707622218, + -0.08679572535722808, + -0.996191813620196, + 0.008268768700156385, + 0.006567410480219342, + -0.008872074602463116, + -0.99993907585004 + ], + [ + 0.9860100666119087, + -0.1666645811546558, + -0.0026581814314784492, + -0.16627010323293093, + -0.9845516499022643, + 0.05488443718978843, + -0.011764408650246772, + -0.05367463146843662, + -0.998489175016854 + ], + [ + 0.969471720181717, + -0.2444859663506044, + 0.01874022479891495, + -0.24518763408935865, + -0.9657152917290077, + 0.08530533049241637, + -0.0027582345015447554, + -0.08729597687390145, + -0.9961786007358651 + ], + [ + 0.9645917315532783, + -0.26216059588495955, + 0.028889676084924744, + -0.2635621592832149, + -0.9622202732899331, + 0.06831642455380882, + 0.009888357447937526, + -0.07351168366382274, + -0.9972453322788192 + ], + [ + 0.978787368742411, + -0.2021153081151865, + 0.033536383463502975, + -0.203793933202244, + -0.9772950922354917, + 0.057985648934726255, + 0.021055155669507723, + -0.06359013223704786, + -0.9977539654152259 + ], + [ + 0.9806870849896439, + -0.19121676869262508, + 0.0410973077617712, + -0.19314118756539342, + -0.9799226353715275, + 0.049478382677181014, + 0.030811085672921863, + -0.0564603937045357, + -0.9979293065855839 + ], + [ + 0.9867737934100989, + -0.15746481795960443, + 0.038500801861678334, + -0.15936488767944923, + -0.9858167814484388, + 0.052612793021827066, + 0.02967007269893545, + -0.05805260131630376, + -0.9978725280648075 + ], + [ + 0.9900456632582847, + -0.13690083923346943, + 0.03267636578070337, + -0.13889860099184756, + -0.987848229904, + 0.0697355957746176, + 0.022732428510172334, + -0.07358012566383051, + -0.9970301910179673 + ], + [ + 0.9916590828052659, + -0.12783677084804088, + 0.016432392064606782, + -0.12881439279965876, + -0.9873253711364615, + 0.09271172373494418, + 0.004372150211816799, + -0.09405515153033817, + -0.9955573879858113 + ], + [ + 0.9873337343625027, + -0.15855199835365077, + 0.0057758815655043405, + -0.15808733078830042, + -0.9800527897878012, + 0.1204363943057846, + -0.013434762149933933, + -0.1198240086427251, + -0.9927042430244583 + ], + [ + 0.966854437809661, + -0.25530111631834973, + -0.0037196900904372006, + -0.2528071567687137, + -0.9592484948186892, + 0.12621753711191697, + -0.035791585244069016, + -0.1210936216102383, + -0.9919956135140079 + ], + [ + 0.9324185711328452, + -0.3611332201801947, + -0.013356851757294341, + -0.3559110001487255, + -0.9240857870361268, + 0.13925809912158177, + -0.06263360264041377, + -0.1250929873338445, + -0.9901660347336589 + ], + [ + 0.892165792862337, + -0.4505221738166179, + -0.03271037978786998, + -0.44053239318191256, + -0.8838168086798611, + 0.15747717057517477, + -0.09985694068883955, + -0.12608576285407866, + -0.986980735273881 + ], + [ + 0.9086496261746001, + -0.4173988259030122, + -0.011579161780796193, + -0.41348296222135345, + -0.9032982534557807, + 0.11438577383744233, + -0.05820392431283106, + -0.09914880452392047, + -0.9933689232888571 + ], + [ + 0.9348526439643559, + -0.352582316738999, + 0.0416682612525803, + -0.3548094100103134, + -0.9319915321313742, + 0.07417591660065116, + 0.01268135012474633, + -0.08412784294378194, + -0.9963742717476398 + ], + [ + 0.9620937872926569, + -0.2627591164708539, + 0.07302870096289686, + -0.2660719048441539, + -0.9631258140326703, + 0.039930036269829564, + 0.059843846011728916, + -0.05784732539506554, + -0.9965301806965818 + ], + [ + 0.984663287490853, + -0.17312689855027555, + 0.021570518446913725, + -0.17308364953408054, + -0.9848995233021842, + -0.0038703052972536255, + 0.021914847288302522, + 7.744348245298225e-05, + -0.9997598378965008 + ], + [ + 0.9876275345217312, + -0.15593575945286942, + -0.01660999633905149, + -0.15626539901184588, + -0.9874951607632986, + -0.020843045380548, + -0.013152114894383077, + 0.023180733226622362, + -0.9996447746479151 + ], + [ + 0.9928282256372243, + -0.11954961297115228, + 6.645666787995035e-05, + -0.11953819505266237, + -0.9927407849632626, + -0.013279826583095589, + 0.0016535723729702817, + 0.013176642553137252, + -0.999911817006597 + ], + [ + 0.9957791772913474, + -0.08367969080569519, + 0.037703307807540457, + -0.08341077082863478, + -0.9964776836220178, + -0.008652707846113973, + 0.038294560746140696, + 0.005471324333329527, + -0.9992515154991256 + ], + [ + 0.9977348096996107, + -0.03983582345806315, + 0.05420661106451727, + -0.03971658227684975, + -0.9992056160832599, + -0.0032756495416215847, + 0.054294038401357145, + 0.0011153282437593344, + -0.9985243679735517 + ], + [ + 0.9990349050325653, + -0.020895689015670776, + 0.03863455327984328, + -0.020525465576674878, + -0.999739770898172, + -0.009954684692684826, + 0.038832509440331155, + 0.009152085283169886, + -0.9992038208221261 + ], + [ + 0.9961467561025009, + -0.08608774768401614, + 0.016749328498717884, + -0.08578330404430942, + -0.9961490614898093, + -0.01811827917364186, + 0.018244589710551377, + 0.0166116522858393, + -0.9996955476316919 + ], + [ + 0.9864164562459721, + -0.16237771672923304, + 0.024820393972267877, + -0.16168016739325722, + -0.9864479427641921, + -0.02792811644169737, + 0.029018930352891378, + 0.023535788197841127, + -0.9993017403943014 + ], + [ + 0.9733689735467589, + -0.22848352669070462, + 0.018657957216870934, + -0.22775675000224518, + -0.9731016486003037, + -0.03464165584647107, + 0.026071136625458423, + 0.029469637295844172, + -0.9992256183228628 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0009291470050811768, + -0.0007154601626098156, + -0.013206437230110168, + -0.01608974300324917, + 0.0338839516043663, + 0.010473012924194336, + 1.0 + ], + [ + 0.00036457180976867676, + -0.020147545263171196, + -0.012841984629631042, + -0.0211421437561512, + 0.02426806464791298, + -0.01140892505645752, + 1.0 + ], + [ + -0.00041994452476501465, + -0.02320779487490654, + 7.13840126991272e-05, + -0.033880509436130524, + -0.012974727898836136, + -0.010195761919021606, + 1.0 + ], + [ + 0.0016420483589172363, + -0.008881993591785431, + 0.0007015839219093323, + -0.03473837673664093, + -0.016235895454883575, + 0.049378007650375366, + 1.0 + ], + [ + -0.0024089813232421875, + -0.005355283617973328, + -0.0060882121324539185, + 0.006177820265293121, + 0.04289713874459267, + 0.07053832709789276, + 1.0 + ], + [ + -0.002899467945098877, + 0.00678258016705513, + -0.012556478381156921, + 0.052472081035375595, + 0.054078634828329086, + 0.0754128098487854, + 1.0 + ], + [ + -0.0023193061351776123, + 0.003999285399913788, + -0.010301858186721802, + 0.028376305475831032, + 0.032748106867074966, + 0.01885538548231125, + 1.0 + ], + [ + -0.002422422170639038, + 0.0019837692379951477, + -0.010481417179107666, + 0.01547570712864399, + 0.002828240394592285, + 0.019489392638206482, + 1.0 + ], + [ + 0.00023451447486877441, + -0.00805552676320076, + -0.014452215284109116, + -0.0029823523946106434, + 0.004928715527057648, + -0.0023805834352970123, + 1.0 + ], + [ + -1.806020736694336e-05, + -0.004479669034481049, + -0.011178942397236824, + -0.017914049327373505, + -0.01252279058098793, + 0.005228247493505478, + 0.0 + ], + [ + 0.0009132325649261475, + 0.00135132297873497, + -0.0034203939139842987, + 0.0098591148853302, + -0.03752298653125763, + 0.0006301887333393097, + 0.0 + ], + [ + 0.00025856494903564453, + 0.0022329576313495636, + -0.00010175071656703949, + 0.02481827512383461, + -0.004694322124123573, + -0.03967668488621712, + 0.0 + ], + [ + -0.0019749999046325684, + 0.007444344460964203, + -0.00042613036930561066, + 0.0448317751288414, + 0.018332138657569885, + -0.08015061914920807, + 0.0 + ], + [ + -0.0014835000038146973, + 0.016675522550940514, + 0.002140488475561142, + 0.033703409135341644, + -0.009006442502140999, + -0.08065661787986755, + 0.0 + ], + [ + -0.0027711987495422363, + 0.019702129065990448, + -0.0029755402356386185, + -0.013825908303260803, + -0.012646757066249847, + -0.019012242555618286, + 0.0 + ], + [ + -0.0004678964614868164, + 0.02998499758541584, + -0.00027290359139442444, + -0.009934462606906891, + -0.011168193072080612, + 0.06144864857196808, + 0.0 + ], + [ + -0.0011649131774902344, + 0.011565230786800385, + -0.0008597634732723236, + -0.00712990015745163, + -0.009759251028299332, + 0.010821670293807983, + 0.0 + ], + [ + -0.0018999576568603516, + 0.017804093658924103, + -0.0007574316114187241, + 0.00159357488155365, + 0.0011415351182222366, + 0.03433772921562195, + 0.0 + ], + [ + -0.0029970407485961914, + 0.01668333262205124, + -0.0004095695912837982, + 0.01555488258600235, + 0.006940040737390518, + 0.020732983946800232, + 0.0 + ], + [ + -0.005675971508026123, + 0.019643932580947876, + -0.0003097560256719589, + 0.020529530942440033, + 0.018362222239375114, + 0.01021084189414978, + 0.0 + ], + [ + -0.0024784207344055176, + 0.028507187962532043, + 0.0013746339827775955, + 0.02592822164297104, + 0.017807330936193466, + -0.02959321439266205, + 0.0 + ], + [ + 0.005676478147506714, + 0.013093754649162292, + -0.00012221001088619232, + 0.0013462454080581665, + 0.022364065051078796, + -0.09698031842708588, + 0.0 + ], + [ + 0.006371051073074341, + 0.008908241987228394, + -0.00019488297402858734, + 0.00419984757900238, + 0.026875395327806473, + -0.10888996720314026, + 0.0 + ], + [ + 0.007572680711746216, + 0.007091745734214783, + 0.0004964061081409454, + 0.0013911426067352295, + 0.03734901547431946, + -0.0940200686454773, + 0.0 + ], + [ + -0.0011883080005645752, + 0.0061974674463272095, + -0.0016129650175571442, + -0.02757956087589264, + -0.0417868047952652, + 0.03161078691482544, + 0.0 + ], + [ + 0.0009907782077789307, + 0.0028860270977020264, + 0.0001977812498807907, + -0.01524699479341507, + -0.07091853022575378, + 0.06430661678314209, + 0.0 + ], + [ + -0.000897824764251709, + -0.005940854549407959, + -0.0006121266633272171, + -0.026250511407852173, + -0.04719793424010277, + 0.09292936325073242, + 1.0 + ], + [ + -0.008307993412017822, + -0.007641226053237915, + 0.00032713450491428375, + -0.0580611377954483, + 0.03796302154660225, + 0.09580942988395691, + 1.0 + ], + [ + -0.007700026035308838, + -0.014598920941352844, + 0.008293412625789642, + -0.02310735359787941, + 0.035069096833467484, + 0.017079785466194153, + 1.0 + ], + [ + -0.0012512803077697754, + -0.003937393426895142, + 0.023760702461004257, + 0.010007773526012897, + -0.014806067571043968, + 0.037097252905368805, + 1.0 + ], + [ + 0.0015815198421478271, + -0.0002983212471008301, + 0.02996404469013214, + 0.00770167401060462, + -0.03665035218000412, + 0.03625565767288208, + 1.0 + ], + [ + -0.004267871379852295, + 0.00656495988368988, + 0.01953527331352234, + 0.004358391743153334, + -0.016016822308301926, + 0.04378348961472511, + 1.0 + ], + [ + -0.003155738115310669, + -0.002521812915802002, + 0.008188098669052124, + -0.008042145520448685, + 0.015478473156690598, + 0.01924334280192852, + 1.0 + ], + [ + 0.007318466901779175, + -0.029168546199798584, + 0.002331092953681946, + -0.007456060498952866, + 0.02059667371213436, + -0.06536079198122025, + 1.0 + ], + [ + 0.009438902139663696, + -0.031510837376117706, + -0.0010465532541275024, + -0.00693269819021225, + -0.01077740266919136, + -0.07655881345272064, + 1.0 + ], + [ + 0.005265027284622192, + -0.028200212866067886, + -0.00425063818693161, + -0.005936048924922943, + 0.002948913723230362, + -0.06739078462123871, + 1.0 + ], + [ + 0.008625239133834839, + -0.02061428688466549, + -0.011301405727863312, + -0.011598128825426102, + 0.0022297780960798264, + -0.04960563778877258, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.939095675945282 + ], + [ + 0.6530976295471191 + ], + [ + 0.4175282120704651 + ], + [ + 0.39711064100265503 + ], + [ + 0.39711064100265503 + ], + [ + 0.39711064100265503 + ], + [ + 0.39711064100265503 + ], + [ + 0.39711064100265503 + ], + [ + 0.39711064100265503 + ], + [ + 0.39711064100265503 + ], + [ + 0.39711064100265503 + ], + [ + 0.39711064100265503 + ], + [ + 0.39711064100265503 + ], + [ + 0.39711064100265503 + ], + [ + 0.39711064100265503 + ], + [ + 0.3962334990501404 + ], + [ + 0.39711064100265503 + ], + [ + 0.4457511007785797 + ], + [ + 0.742793619632721 + ], + [ + 0.9947922229766846 + ], + [ + 1.002137303352356 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3737419843673706, + 0.006588871590793133, + 0.1061624214053154 + ], + [ + 0.3741065561771393, + -0.013558673672378063, + 0.09332043677568436 + ], + [ + 0.37368661165237427, + -0.03676646947860718, + 0.09339182078838348 + ], + [ + 0.3753286600112915, + -0.04564846307039261, + 0.09409340471029282 + ], + [ + 0.3729196786880493, + -0.051003746688365936, + 0.0880051925778389 + ], + [ + 0.37002021074295044, + -0.044221166521310806, + 0.07544871419668198 + ], + [ + 0.3677009046077728, + -0.04022188112139702, + 0.06514685600996017 + ], + [ + 0.3652784824371338, + -0.03823811188340187, + 0.05466543883085251 + ], + [ + 0.36551299691200256, + -0.04629363864660263, + 0.04021322354674339 + ], + [ + 0.3654949367046356, + -0.05077330768108368, + 0.02903428114950657 + ], + [ + 0.36640816926956177, + -0.04942198470234871, + 0.02561388723552227 + ], + [ + 0.3666667342185974, + -0.047189027070999146, + 0.02551213651895523 + ], + [ + 0.36469173431396484, + -0.03974468261003494, + 0.02508600614964962 + ], + [ + 0.36320823431015015, + -0.02306916005909443, + 0.027226494625210762 + ], + [ + 0.3604370355606079, + -0.0033670307602733374, + 0.024250954389572144 + ], + [ + 0.3599691390991211, + 0.02661796659231186, + 0.02397805079817772 + ], + [ + 0.35880422592163086, + 0.038183197379112244, + 0.023118287324905396 + ], + [ + 0.3569042682647705, + 0.055987291038036346, + 0.02236085571348667 + ], + [ + 0.3539072275161743, + 0.07267062366008759, + 0.021951286122202873 + ], + [ + 0.3482312560081482, + 0.09231455624103546, + 0.021641530096530914 + ], + [ + 0.3457528352737427, + 0.1208217442035675, + 0.02301616407930851 + ], + [ + 0.3514293134212494, + 0.1339154988527298, + 0.022893954068422318 + ], + [ + 0.35780036449432373, + 0.1428237408399582, + 0.02269907109439373 + ], + [ + 0.36537304520606995, + 0.14991548657417297, + 0.023195477202534676 + ], + [ + 0.36418473720550537, + 0.15611295402050018, + 0.02158251218497753 + ], + [ + 0.3651755154132843, + 0.1589989811182022, + 0.021780293434858322 + ], + [ + 0.3642776906490326, + 0.15305812656879425, + 0.021168166771531105 + ], + [ + 0.35596969723701477, + 0.14541690051555634, + 0.02149530127644539 + ], + [ + 0.34826967120170593, + 0.1308179795742035, + 0.02978871390223503 + ], + [ + 0.34701839089393616, + 0.12688058614730835, + 0.05354941636323929 + ], + [ + 0.348599910736084, + 0.12658226490020752, + 0.08351346105337143 + ], + [ + 0.3443320393562317, + 0.1331472247838974, + 0.10304873436689377 + ], + [ + 0.341176301240921, + 0.1306254118680954, + 0.11123683303594589 + ], + [ + 0.3484947681427002, + 0.10145686566829681, + 0.11356792598962784 + ], + [ + 0.3579336702823639, + 0.06994602829217911, + 0.11252137273550034 + ], + [ + 0.3631986975669861, + 0.04174581542611122, + 0.10827073454856873 + ], + [ + 0.3718239367008209, + 0.021131528541445732, + 0.09696932882070541 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9622376695499538, + -0.2611592268531779, + 0.07677581343446904, + -0.25883967485981546, + -0.9651355333472815, + -0.038928459883787556, + 0.08426559213308257, + 0.017585803931268778, + -0.9962881357732571 + ], + [ + 0.9609079616932502, + -0.2728022966720121, + 0.047273629911382835, + -0.27027489179476444, + -0.9612909529982915, + -0.05358345405966802, + 0.06006140208029844, + 0.03871189241191478, + -0.9974437414541417 + ], + [ + 0.9572738027287353, + -0.28491184892634897, + 0.0495187333302788, + -0.27981565815526616, + -0.9558145156577278, + -0.09012108027047903, + 0.07300728772116671, + 0.07241443225871601, + -0.9946989926305576 + ], + [ + 0.968637617399068, + -0.2408036937079695, + 0.061275992493433205, + -0.23191894109569117, + -0.964682477604314, + -0.12490525274885626, + 0.08918952248168058, + 0.10677686312961597, + -0.9902746743099559 + ], + [ + 0.9854437034479564, + -0.16751240162062903, + 0.02898797402486232, + -0.16354897528594065, + -0.9806877579555398, + -0.10725322409632404, + 0.0463943964040464, + 0.10095106091283343, + -0.9938090577585205 + ], + [ + 0.9960081309818637, + -0.08845729455708279, + -0.01196286159978867, + -0.08893262854797385, + -0.9948867937958569, + -0.04786705662715953, + -0.007667502693988115, + 0.048739866333845035, + -0.9987820757463542 + ], + [ + 0.9967225745190003, + -0.0693037692789465, + -0.041726454533626126, + -0.07008260103657875, + -0.9973876894835234, + -0.017499311376926525, + -0.04040468383942569, + 0.020366257153670898, + -0.9989758140682821 + ], + [ + 0.997780947415938, + -0.050473856005344105, + -0.043423160107314104, + -0.05063900892873303, + -0.9987133425914331, + -0.002711107626634298, + -0.04323044932069689, + 0.004903997328637827, + -0.9990530912127403 + ], + [ + 0.9974326826663595, + -0.05268267779326051, + -0.04850339173213123, + -0.05300221379236436, + -0.99858019903872, + -0.00532460523407045, + -0.04815401210800178, + 0.007881722420999446, + -0.9988088253362505 + ], + [ + 0.9982202458030115, + -0.046907666062848546, + -0.03682406459792056, + -0.047811790487468975, + -0.9985663553262994, + -0.02406796004511673, + -0.03564230014123542, + 0.025785749453666282, + -0.9990318921664889 + ], + [ + 0.9988831057663758, + -0.04723654423483914, + 0.0011179907286138994, + -0.04721262947779474, + -0.9987564567174705, + -0.016015860356405457, + 0.001873134354937754, + 0.015945189052297203, + -0.9998711128509388 + ], + [ + 0.9962044826135327, + -0.08673613300322065, + 0.007312458707622218, + -0.08679572535722808, + -0.996191813620196, + 0.008268768700156385, + 0.006567410480219342, + -0.008872074602463116, + -0.99993907585004 + ], + [ + 0.9860100666119087, + -0.1666645811546558, + -0.0026581814314784492, + -0.16627010323293093, + -0.9845516499022643, + 0.05488443718978843, + -0.011764408650246772, + -0.05367463146843662, + -0.998489175016854 + ], + [ + 0.969471720181717, + -0.2444859663506044, + 0.01874022479891495, + -0.24518763408935865, + -0.9657152917290077, + 0.08530533049241637, + -0.0027582345015447554, + -0.08729597687390145, + -0.9961786007358651 + ], + [ + 0.9645917315532783, + -0.26216059588495955, + 0.028889676084924744, + -0.2635621592832149, + -0.9622202732899331, + 0.06831642455380882, + 0.009888357447937526, + -0.07351168366382274, + -0.9972453322788192 + ], + [ + 0.978787368742411, + -0.2021153081151865, + 0.033536383463502975, + -0.203793933202244, + -0.9772950922354917, + 0.057985648934726255, + 0.021055155669507723, + -0.06359013223704786, + -0.9977539654152259 + ], + [ + 0.9806870849896439, + -0.19121676869262508, + 0.0410973077617712, + -0.19314118756539342, + -0.9799226353715275, + 0.049478382677181014, + 0.030811085672921863, + -0.0564603937045357, + -0.9979293065855839 + ], + [ + 0.9867737934100989, + -0.15746481795960443, + 0.038500801861678334, + -0.15936488767944923, + -0.9858167814484388, + 0.052612793021827066, + 0.02967007269893545, + -0.05805260131630376, + -0.9978725280648075 + ], + [ + 0.9900456632582847, + -0.13690083923346943, + 0.03267636578070337, + -0.13889860099184756, + -0.987848229904, + 0.0697355957746176, + 0.022732428510172334, + -0.07358012566383051, + -0.9970301910179673 + ], + [ + 0.9916590828052659, + -0.12783677084804088, + 0.016432392064606782, + -0.12881439279965876, + -0.9873253711364615, + 0.09271172373494418, + 0.004372150211816799, + -0.09405515153033817, + -0.9955573879858113 + ], + [ + 0.9873337343625027, + -0.15855199835365077, + 0.0057758815655043405, + -0.15808733078830042, + -0.9800527897878012, + 0.1204363943057846, + -0.013434762149933933, + -0.1198240086427251, + -0.9927042430244583 + ], + [ + 0.966854437809661, + -0.25530111631834973, + -0.0037196900904372006, + -0.2528071567687137, + -0.9592484948186892, + 0.12621753711191697, + -0.035791585244069016, + -0.1210936216102383, + -0.9919956135140079 + ], + [ + 0.9324185711328452, + -0.3611332201801947, + -0.013356851757294341, + -0.3559110001487255, + -0.9240857870361268, + 0.13925809912158177, + -0.06263360264041377, + -0.1250929873338445, + -0.9901660347336589 + ], + [ + 0.892165792862337, + -0.4505221738166179, + -0.03271037978786998, + -0.44053239318191256, + -0.8838168086798611, + 0.15747717057517477, + -0.09985694068883955, + -0.12608576285407866, + -0.986980735273881 + ], + [ + 0.9086496261746001, + -0.4173988259030122, + -0.011579161780796193, + -0.41348296222135345, + -0.9032982534557807, + 0.11438577383744233, + -0.05820392431283106, + -0.09914880452392047, + -0.9933689232888571 + ], + [ + 0.9348526439643559, + -0.352582316738999, + 0.0416682612525803, + -0.3548094100103134, + -0.9319915321313742, + 0.07417591660065116, + 0.01268135012474633, + -0.08412784294378194, + -0.9963742717476398 + ], + [ + 0.9620937872926569, + -0.2627591164708539, + 0.07302870096289686, + -0.2660719048441539, + -0.9631258140326703, + 0.039930036269829564, + 0.059843846011728916, + -0.05784732539506554, + -0.9965301806965818 + ], + [ + 0.984663287490853, + -0.17312689855027555, + 0.021570518446913725, + -0.17308364953408054, + -0.9848995233021842, + -0.0038703052972536255, + 0.021914847288302522, + 7.744348245298225e-05, + -0.9997598378965008 + ], + [ + 0.9876275345217312, + -0.15593575945286942, + -0.01660999633905149, + -0.15626539901184588, + -0.9874951607632986, + -0.020843045380548, + -0.013152114894383077, + 0.023180733226622362, + -0.9996447746479151 + ], + [ + 0.9928282256372243, + -0.11954961297115228, + 6.645666787995035e-05, + -0.11953819505266237, + -0.9927407849632626, + -0.013279826583095589, + 0.0016535723729702817, + 0.013176642553137252, + -0.999911817006597 + ], + [ + 0.9957791772913474, + -0.08367969080569519, + 0.037703307807540457, + -0.08341077082863478, + -0.9964776836220178, + -0.008652707846113973, + 0.038294560746140696, + 0.005471324333329527, + -0.9992515154991256 + ], + [ + 0.9977348096996107, + -0.03983582345806315, + 0.05420661106451727, + -0.03971658227684975, + -0.9992056160832599, + -0.0032756495416215847, + 0.054294038401357145, + 0.0011153282437593344, + -0.9985243679735517 + ], + [ + 0.9990349050325653, + -0.020895689015670776, + 0.03863455327984328, + -0.020525465576674878, + -0.999739770898172, + -0.009954684692684826, + 0.038832509440331155, + 0.009152085283169886, + -0.9992038208221261 + ], + [ + 0.9961467561025009, + -0.08608774768401614, + 0.016749328498717884, + -0.08578330404430942, + -0.9961490614898093, + -0.01811827917364186, + 0.018244589710551377, + 0.0166116522858393, + -0.9996955476316919 + ], + [ + 0.9864164562459721, + -0.16237771672923304, + 0.024820393972267877, + -0.16168016739325722, + -0.9864479427641921, + -0.02792811644169737, + 0.029018930352891378, + 0.023535788197841127, + -0.9993017403943014 + ], + [ + 0.9733689735467589, + -0.22848352669070462, + 0.018657957216870934, + -0.22775675000224518, + -0.9731016486003037, + -0.03464165584647107, + 0.026071136625458423, + 0.029469637295844172, + -0.9992256183228628 + ], + [ + 0.960931728160642, + -0.27654361372269815, + 0.011569076168534417, + -0.2757567230361951, + -0.9601238473884822, + -0.04604809850882002, + 0.023842053488351538, + 0.04105882834580071, + -0.9988722286160172 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005974.json b/json/chunk-0005/episode_0005974.json new file mode 100644 index 0000000000000000000000000000000000000000..aeb9a074bd05d804d151def1ce207292eceedaea --- /dev/null +++ b/json/chunk-0005/episode_0005974.json @@ -0,0 +1,2602 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 42, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the solid block to the right side of the table." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005974.mp4", + "start": 0, + "end": 42, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3505658507347107, + -0.009774332866072655, + 0.11231039464473724, + -0.08064961433410645, + -0.14359045028686523, + 0.34821465611457825, + 0.0, + 1.0001531839370728 + ], + [ + 0.34765470027923584, + -0.009623771533370018, + 0.10148010402917862, + -0.07068793475627899, + -0.10959761589765549, + 0.34949126839637756, + 0.0, + 1.0001531839370728 + ], + [ + 0.3438522219657898, + 0.007452243939042091, + 0.09113646298646927, + -0.0944441705942154, + -0.08448795229196548, + 0.3734004497528076, + 0.0, + 1.0001531839370728 + ], + [ + 0.3424968421459198, + 0.04783983156085014, + 0.0928502306342125, + -0.09206490963697433, + -0.09760911762714386, + 0.4700034260749817, + 0.0, + 1.0001531839370728 + ], + [ + 0.3429594933986664, + 0.06346404552459717, + 0.09639362245798111, + -0.06527628749608994, + -0.11697565764188766, + 0.484778493642807, + 0.0, + 1.0001531839370728 + ], + [ + 0.34335869550704956, + 0.06921356171369553, + 0.09698311984539032, + -0.05725007504224777, + -0.11928894370794296, + 0.4940892457962036, + 0.0, + 1.0001531839370728 + ], + [ + 0.3404201567173004, + 0.06905259937047958, + 0.08872586488723755, + -0.05291176959872246, + -0.04234196990728378, + 0.5048071146011353, + 0.0, + 1.0001531839370728 + ], + [ + 0.30994078516960144, + 0.07194185256958008, + 0.07057668268680573, + -0.06149867922067642, + 0.09656969457864761, + 0.6154930591583252, + 0.0, + 1.0001531839370728 + ], + [ + 0.2875824570655823, + 0.07638748735189438, + 0.06359361857175827, + -0.09774251282215118, + 0.1944343000650406, + 0.7351280450820923, + 0.0, + 1.0001531839370728 + ], + [ + 0.278457909822464, + 0.07808351516723633, + 0.06257139891386032, + -0.1095484271645546, + 0.2500489056110382, + 0.788112223148346, + 0.0, + 1.0001531839370728 + ], + [ + 0.2775477170944214, + 0.07788508385419846, + 0.061891742050647736, + -0.12521272897720337, + 0.26277291774749756, + 0.7960777282714844, + 0.0, + 1.0001531839370728 + ], + [ + 0.2830134630203247, + 0.07794706523418427, + 0.06554862856864929, + -0.12361916899681091, + 0.23906606435775757, + 0.769413948059082, + 0.0, + 0.959831714630127 + ], + [ + 0.288222998380661, + 0.07760418951511383, + 0.0643940418958664, + -0.11415641754865646, + 0.22415614128112793, + 0.7511638402938843, + 0.0, + 0.684196949005127 + ], + [ + 0.2916887700557709, + 0.07290643453598022, + 0.06358830630779266, + -0.10637588798999786, + 0.20908427238464355, + 0.7386886477470398, + 0.0, + 0.4841892421245575 + ], + [ + 0.2938840389251709, + 0.07200898230075836, + 0.06323765218257904, + -0.09888121485710144, + 0.19646355509757996, + 0.7360595464706421, + 0.0, + 0.48323801159858704 + ], + [ + 0.2960115373134613, + 0.06991299241781235, + 0.06355831772089005, + -0.10488144308328629, + 0.1874794065952301, + 0.7302178144454956, + 0.0, + 0.4841892421245575 + ], + [ + 0.30266740918159485, + 0.06173324957489967, + 0.08206675946712494, + -0.1164795309305191, + 0.0614175908267498, + 0.6787244081497192, + 0.0, + 0.4841892421245575 + ], + [ + 0.3118956983089447, + 0.043123237788677216, + 0.11336448043584824, + -0.11899964511394501, + -0.08319241553544998, + 0.5744853019714355, + 0.0, + 0.4841892421245575 + ], + [ + 0.31999942660331726, + 0.02368207834661007, + 0.11884084343910217, + -0.1416965276002884, + -0.12925374507904053, + 0.464590847492218, + 0.0, + 0.4841892421245575 + ], + [ + 0.33458828926086426, + -0.016384901478886604, + 0.1046980693936348, + -0.26367542147636414, + -0.14503780007362366, + 0.2513965368270874, + 0.0, + 0.4841892421245575 + ], + [ + 0.33896172046661377, + -0.0594482347369194, + 0.08436498045921326, + -0.34461045265197754, + -0.14777933061122894, + 0.018910227343440056, + 0.0, + 0.4841892421245575 + ], + [ + 0.33730417490005493, + -0.08935156464576721, + 0.08168467879295349, + -0.36500513553619385, + -0.190689355134964, + -0.12446645647287369, + 0.0, + 0.4841892421245575 + ], + [ + 0.33106759190559387, + -0.1082121729850769, + 0.08092595636844635, + -0.34405389428138733, + -0.19196398556232452, + -0.20521512627601624, + 0.0, + 0.4841892421245575 + ], + [ + 0.3298948407173157, + -0.114506296813488, + 0.08352908492088318, + -0.31080350279808044, + -0.1742675006389618, + -0.213200181722641, + 0.0, + 0.4841892421245575 + ], + [ + 0.3306137025356293, + -0.1168626993894577, + 0.09312344342470169, + -0.1688719093799591, + -0.1262776106595993, + -0.18816673755645752, + 0.0, + 0.4841892421245575 + ], + [ + 0.33317479491233826, + -0.11226359009742737, + 0.10575805604457855, + 0.04609290137887001, + -0.12881092727184296, + -0.09031667560338974, + 0.0, + 0.4841892421245575 + ], + [ + 0.33508893847465515, + -0.11182279884815216, + 0.1064031571149826, + 0.06917352974414825, + -0.11815409362316132, + -0.08402840048074722, + 0.0, + 0.48323801159858704 + ], + [ + 0.3355737328529358, + -0.11366626620292664, + 0.1030762642621994, + -0.0031984534580260515, + -0.09741330146789551, + -0.08672933280467987, + 0.0, + 0.4841892421245575 + ], + [ + 0.33166438341140747, + -0.10785875469446182, + 0.09172602742910385, + -0.04984564334154129, + -0.02223420888185501, + -0.073585145175457, + 0.0, + 0.4841892421245575 + ], + [ + 0.32926565408706665, + -0.10849443078041077, + 0.08466832339763641, + -0.08125070482492447, + 0.02905396744608879, + -0.06195971369743347, + 0.0, + 0.4841892421245575 + ], + [ + 0.3295476734638214, + -0.10718994587659836, + 0.0775025337934494, + -0.10461398959159851, + 0.05630658194422722, + -0.04805457964539528, + 0.0, + 0.4841892421245575 + ], + [ + 0.33180487155914307, + -0.10486503690481186, + 0.07457802444696426, + -0.12312544137239456, + 0.046970587223768234, + -0.04325482249259949, + 0.0, + 0.4841892421245575 + ], + [ + 0.3317023515701294, + -0.10454917699098587, + 0.0718395933508873, + -0.1355268806219101, + 0.045282818377017975, + -0.03902003914117813, + 0.0, + 0.4841892421245575 + ], + [ + 0.3309648036956787, + -0.10448489338159561, + 0.06911547482013702, + -0.13820494711399078, + 0.05299929156899452, + -0.03999876603484154, + 0.0, + 0.5246683359146118 + ], + [ + 0.33047157526016235, + -0.1043805330991745, + 0.06700129061937332, + -0.13697515428066254, + 0.06010055169463158, + -0.04318319261074066, + 0.0, + 0.6099167466163635 + ], + [ + 0.3294491469860077, + -0.10419444739818573, + 0.06651561707258224, + -0.13642342388629913, + 0.06658893078565598, + -0.05160905793309212, + 0.0, + 0.9141042232513428 + ], + [ + 0.33096936345100403, + -0.10387498140335083, + 0.0657467171549797, + -0.13694706559181213, + 0.057292792946100235, + -0.03903435915708542, + 0.0, + 1.0054124593734741 + ], + [ + 0.32690727710723877, + -0.09795872122049332, + 0.0760260596871376, + -0.14908409118652344, + 0.01630863919854164, + 0.03442598134279251, + 0.0, + 1.0001531839370728 + ], + [ + 0.3245986998081207, + -0.0872567892074585, + 0.10868638753890991, + -0.17709366977214813, + -0.07335537672042847, + 0.13281933963298798, + 0.0, + 1.0001531839370728 + ], + [ + 0.32081788778305054, + -0.07426244020462036, + 0.11691299825906754, + -0.18348725140094757, + -0.08048109710216522, + 0.19303429126739502, + 0.0, + 1.0001531839370728 + ], + [ + 0.3194138705730438, + -0.06771890819072723, + 0.11714685708284378, + -0.18665240705013275, + -0.060427092015743256, + 0.2059437334537506, + 0.0, + 1.0001531839370728 + ], + [ + 0.3216645419597626, + -0.05529259145259857, + 0.10279214382171631, + -0.14952611923217773, + -0.020878000184893608, + 0.2055334895849228, + 0.0, + 1.0001531839370728 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.959831714630127 + ], + [ + 0.684196949005127 + ], + [ + 0.4841892421245575 + ], + [ + 0.48323801159858704 + ], + [ + 0.4841892421245575 + ], + [ + 0.4841892421245575 + ], + [ + 0.4841892421245575 + ], + [ + 0.4841892421245575 + ], + [ + 0.4841892421245575 + ], + [ + 0.4841892421245575 + ], + [ + 0.4841892421245575 + ], + [ + 0.4841892421245575 + ], + [ + 0.4841892421245575 + ], + [ + 0.4841892421245575 + ], + [ + 0.4841892421245575 + ], + [ + 0.48323801159858704 + ], + [ + 0.4841892421245575 + ], + [ + 0.4841892421245575 + ], + [ + 0.4841892421245575 + ], + [ + 0.4841892421245575 + ], + [ + 0.4841892421245575 + ], + [ + 0.4841892421245575 + ], + [ + 0.5246683359146118 + ], + [ + 0.6099167466163635 + ], + [ + 0.9141042232513428 + ], + [ + 1.0054124593734741 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3505658507347107, + -0.009774332866072655, + 0.11231039464473724 + ], + [ + 0.34765470027923584, + -0.009623771533370018, + 0.10148010402917862 + ], + [ + 0.3438522219657898, + 0.007452243939042091, + 0.09113646298646927 + ], + [ + 0.3424968421459198, + 0.04783983156085014, + 0.0928502306342125 + ], + [ + 0.3429594933986664, + 0.06346404552459717, + 0.09639362245798111 + ], + [ + 0.34335869550704956, + 0.06921356171369553, + 0.09698311984539032 + ], + [ + 0.3404201567173004, + 0.06905259937047958, + 0.08872586488723755 + ], + [ + 0.30994078516960144, + 0.07194185256958008, + 0.07057668268680573 + ], + [ + 0.2875824570655823, + 0.07638748735189438, + 0.06359361857175827 + ], + [ + 0.278457909822464, + 0.07808351516723633, + 0.06257139891386032 + ], + [ + 0.2775477170944214, + 0.07788508385419846, + 0.061891742050647736 + ], + [ + 0.2830134630203247, + 0.07794706523418427, + 0.06554862856864929 + ], + [ + 0.288222998380661, + 0.07760418951511383, + 0.0643940418958664 + ], + [ + 0.2916887700557709, + 0.07290643453598022, + 0.06358830630779266 + ], + [ + 0.2938840389251709, + 0.07200898230075836, + 0.06323765218257904 + ], + [ + 0.2960115373134613, + 0.06991299241781235, + 0.06355831772089005 + ], + [ + 0.30266740918159485, + 0.06173324957489967, + 0.08206675946712494 + ], + [ + 0.3118956983089447, + 0.043123237788677216, + 0.11336448043584824 + ], + [ + 0.31999942660331726, + 0.02368207834661007, + 0.11884084343910217 + ], + [ + 0.33458828926086426, + -0.016384901478886604, + 0.1046980693936348 + ], + [ + 0.33896172046661377, + -0.0594482347369194, + 0.08436498045921326 + ], + [ + 0.33730417490005493, + -0.08935156464576721, + 0.08168467879295349 + ], + [ + 0.33106759190559387, + -0.1082121729850769, + 0.08092595636844635 + ], + [ + 0.3298948407173157, + -0.114506296813488, + 0.08352908492088318 + ], + [ + 0.3306137025356293, + -0.1168626993894577, + 0.09312344342470169 + ], + [ + 0.33317479491233826, + -0.11226359009742737, + 0.10575805604457855 + ], + [ + 0.33508893847465515, + -0.11182279884815216, + 0.1064031571149826 + ], + [ + 0.3355737328529358, + -0.11366626620292664, + 0.1030762642621994 + ], + [ + 0.33166438341140747, + -0.10785875469446182, + 0.09172602742910385 + ], + [ + 0.32926565408706665, + -0.10849443078041077, + 0.08466832339763641 + ], + [ + 0.3295476734638214, + -0.10718994587659836, + 0.0775025337934494 + ], + [ + 0.33180487155914307, + -0.10486503690481186, + 0.07457802444696426 + ], + [ + 0.3317023515701294, + -0.10454917699098587, + 0.0718395933508873 + ], + [ + 0.3309648036956787, + -0.10448489338159561, + 0.06911547482013702 + ], + [ + 0.33047157526016235, + -0.1043805330991745, + 0.06700129061937332 + ], + [ + 0.3294491469860077, + -0.10419444739818573, + 0.06651561707258224 + ], + [ + 0.33096936345100403, + -0.10387498140335083, + 0.0657467171549797 + ], + [ + 0.32690727710723877, + -0.09795872122049332, + 0.0760260596871376 + ], + [ + 0.3245986998081207, + -0.0872567892074585, + 0.10868638753890991 + ], + [ + 0.32081788778305054, + -0.07426244020462036, + 0.11691299825906754 + ], + [ + 0.3194138705730438, + -0.06771890819072723, + 0.11714685708284378 + ], + [ + 0.3216645419597626, + -0.05529259145259857, + 0.10279214382171631 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9303096532528391, + 0.3292746832898138, + 0.16156154248141782, + 0.3377085226894968, + -0.9408617397340994, + -0.027058093195961534, + 0.14309752886566487, + 0.07973311513365397, + -0.9864916257037479 + ], + [ + 0.9339099310405816, + 0.3343064567844645, + 0.12669425265572412, + 0.3403654205117585, + -0.9398459480343827, + -0.028999560051933333, + 0.10937833982845654, + 0.0702053197098968, + -0.991517822260801 + ], + [ + 0.9277711108238178, + 0.35574830546075736, + 0.11262286216634226, + 0.3634824897862278, + -0.9298458266775306, + -0.05715958562817364, + 0.08438747264579027, + 0.09396745059955303, + -0.9919923753176113 + ], + [ + 0.8873228888227398, + 0.44298342113324235, + 0.12815529474959583, + 0.45073359173763744, + -0.8918486041968088, + -0.03801705500814578, + 0.0974541956539386, + 0.09149729937704185, + -0.9910251883560536 + ], + [ + 0.8787317501285401, + 0.4582841507395362, + 0.13343968111837978, + 0.4628277260730531, + -0.886441565302192, + -0.0034419881822025343, + 0.11670907117306573, + 0.06478416847920163, + -0.9910509594467777 + ], + [ + 0.8741444184639792, + 0.46745807232408365, + 0.13173642733626686, + 0.47085990684709744, + -0.8821878068997421, + 0.00596837342717689, + 0.11900623425776688, + 0.05681218158524862, + -0.9912668118278299 + ], + [ + 0.8744832861543802, + 0.48100233071954246, + 0.06257587457642665, + 0.4832051437980517, + -0.8751255486258152, + -0.025846917600956594, + 0.042329318961459465, + 0.05283968191363709, + -0.997705465942492 + ], + [ + 0.8126846631836289, + 0.5811081668774065, + -0.04309218739507302, + 0.5746711110622773, + -0.8115239326889038, + -0.10574507451216582, + -0.09641966778909632, + 0.061173565054816734, + -0.9934591298095381 + ], + [ + 0.7277682767942507, + 0.6814665173535835, + -0.07717979669515672, + 0.6580445590918261, + -0.7255588743245339, + -0.20134964151584672, + -0.1932115253849308, + 0.09574813635206668, + -0.9764740656277232 + ], + [ + 0.6832540205858055, + 0.7238509913925997, + -0.09593584112979787, + 0.6869729074721043, + -0.6817761495956812, + -0.25149454515319114, + -0.24745134421266496, + 0.10592933541959715, + -0.9630923154842983 + ], + [ + 0.6755030369726925, + 0.7317156896602601, + -0.09103733599836496, + 0.6900875042208847, + -0.6708562111566825, + -0.271534860507249, + -0.2597592800245252, + 0.12059889492657337, + -0.9581132620852453 + ], + [ + 0.6978892159354295, + 0.7113787291354223, + -0.08301172215237741, + 0.6759279560591427, + -0.6925235085387507, + -0.252056716512156, + -0.23679535573727323, + 0.11979772057452143, + -0.9641454587594176 + ], + [ + 0.7126095444593168, + 0.6965539836942997, + -0.08366710790439713, + 0.6654153563000554, + -0.7088571606563593, + -0.2339742066687574, + -0.22228369428627653, + 0.11105887441265366, + -0.9686360955842186 + ], + [ + 0.723250095576698, + 0.6858069461026773, + -0.08110568368256728, + 0.65865499392782, + -0.7203341613883412, + -0.21746791696914414, + -0.20756420265122955, + 0.10386302813934588, + -0.972691920992194 + ], + [ + 0.7268629198608345, + 0.6823749501928629, + -0.07768348010143701, + 0.6584576057832559, + -0.7245620093900107, + -0.20357670774156067, + -0.19520214424428056, + 0.09682108188818311, + -0.9759722337159173 + ], + [ + 0.7319740982951817, + 0.677903812320186, + -0.06826668782586148, + 0.6553436295447915, + -0.7279198508756791, + -0.20163684662329986, + -0.18638306425213325, + 0.10285481001337246, + -0.9770784213240502 + ], + [ + 0.7769065700341036, + 0.6290989532087058, + 0.025508596777454293, + 0.6266169496225872, + -0.7686215954646292, + -0.1287324412535221, + -0.06137898568344116, + 0.11599719848823159, + -0.9913512344569675 + ], + [ + 0.8365687930280221, + 0.5312782838155167, + 0.13377608036445662, + 0.5415234329628104, + -0.8388960055771297, + -0.05482575470441453, + 0.08309648659125593, + 0.11830839772719184, + -0.9894938589720573 + ], + [ + 0.8865474944964685, + 0.42729316002321727, + 0.177353024782235, + 0.4443195229179009, + -0.8932009886962586, + -0.06908078854526614, + 0.12889414864936186, + 0.1400448113619353, + -0.9817197916180345 + ], + [ + 0.9583964549790414, + 0.20367462272410722, + 0.19998220706302555, + 0.24614500290605293, + -0.9444613460659705, + -0.21772781937922855, + 0.14452983300338185, + 0.257894191182057, + -0.9553018965366744 + ], + [ + 0.9889236480862149, + -0.03193651066990551, + 0.14494853411498546, + 0.018703000440832004, + -0.9419794348523199, + -0.33514913410273656, + 0.14724203214558787, + 0.3341478768472648, + -0.9309484305632094 + ], + [ + 0.9742780797241345, + -0.18309907844692297, + 0.13136571409976183, + -0.12189505320948535, + -0.9184964786500271, + -0.37617258633578915, + 0.18953579971105605, + 0.35048387435000133, + -0.9171898573624235 + ], + [ + 0.9610340192148925, + -0.2548387479617945, + 0.10710194418839877, + -0.2000346696185445, + -0.9085280172924597, + -0.3668282605596687, + 0.19078717163968248, + 0.33111033558603603, + -0.9241029167824508 + ], + [ + 0.9625555350024925, + -0.2532763226114492, + 0.09663305045628395, + -0.2083839407666571, + -0.9193120682748026, + -0.33382848044297103, + 0.17338677938823355, + 0.3011916757294694, + -0.9376676379211614 + ], + [ + 0.9745269306989153, + -0.20519094558856166, + 0.0905203689288978, + -0.18556886878472062, + -0.964415398724831, + -0.188327198355375, + 0.12594227360386578, + 0.16673216411627825, + -0.9779258300958165 + ], + [ + 0.9876733243076042, + -0.08420350026478764, + 0.1319514114904546, + -0.08944671224351743, + -0.995400296841228, + 0.034315225734648964, + 0.1284550120469838, + -0.04569485300941926, + -0.9906620464560334 + ], + [ + 0.9895242122087424, + -0.07560994712489484, + 0.12298361414610372, + -0.08334438776198948, + -0.9947724210609311, + 0.05900460427078649, + 0.11787937258590349, + -0.06863647858350239, + -0.9906530610291423 + ], + [ + 0.9915182628738688, + -0.08693011089233142, + 0.09661620054541938, + -0.0862099823817677, + -0.996209326658136, + -0.011611047199916255, + 0.09725930971028447, + 0.0031832844029935237, + -0.9952539843552944 + ], + [ + 0.9970473336844667, + -0.07453217292597059, + 0.018481601435701933, + -0.07350058371655777, + -0.9959737201077743, + -0.051322636799032914, + 0.022232376976387545, + 0.04981268968459121, + -0.9985111002689784 + ], + [ + 0.9976598839615396, + -0.059362598739782446, + -0.03392400042310697, + -0.06189394480032001, + -0.9949344090500782, + -0.07921275961122956, + -0.029049880049706274, + 0.08112708277160643, + -0.9962803324918477 + ], + [ + 0.9972626335389471, + -0.04190364347798837, + -0.060920640264472734, + -0.04795995939622958, + -0.9936671467545813, + -0.10161419071823229, + -0.05627683396989977, + 0.1042577868740696, + -0.9929568126733637 + ], + [ + 0.9979627723830539, + -0.03715282444621791, + -0.0518649455142642, + -0.043193644077596, + -0.9917507242392457, + -0.12068475497025154, + -0.04695331776165596, + 0.1226791286511288, + -0.9913350681503065 + ], + [ + 0.9982145035072594, + -0.032540903091904876, + -0.05008886716346219, + -0.03897014918099203, + -0.990314668327322, + -0.13325984079443326, + -0.04526734430654102, + 0.13497387644173864, + -0.9898145888082897 + ], + [ + 0.9977971453618711, + -0.03231459658026752, + -0.057936375063990186, + -0.039931952566711344, + -0.9899645058108764, + -0.13555705956842373, + -0.05297448321513572, + 0.13757195965196478, + -0.9890741428455236 + ], + [ + 0.9972639393994518, + -0.03457144726081881, + -0.06534103004834739, + -0.043091829820233275, + -0.9900641068124781, + -0.13385125552027544, + -0.06006437693201076, + 0.13630069492083463, + -0.9888449783398139 + ], + [ + 0.9964552751710206, + -0.04206945337469606, + -0.07284947272698404, + -0.05147182445387884, + -0.9898564934593224, + -0.13241893234656194, + -0.06653973152361224, + 0.1356992389410071, + -0.9885131160888038 + ], + [ + 0.9975987228172674, + -0.03084773195680072, + -0.06200972235447022, + -0.03896041660277875, + -0.99018785075724, + -0.13420173676557176, + -0.05726145450034456, + 0.1362954058135463, + -0.9890119757528854 + ], + [ + 0.9992745803116949, + 0.0364582076563843, + -0.01100510051614531, + 0.0344146046012353, + -0.988238219744879, + -0.14899951686369106, + -0.016307916268706268, + 0.14851269349775015, + -0.9887760270845044 + ], + [ + 0.9885268574133758, + 0.11756029008162719, + 0.09483791630122852, + 0.1320730317563617, + -0.9773999223607864, + -0.1650639453418326, + 0.07328960673327582, + 0.17569567429237437, + -0.9817126176126236 + ], + [ + 0.9782499259195864, + 0.17422116523932296, + 0.11257916335173493, + 0.19121675688165485, + -0.9677658433461966, + -0.16390675501664723, + 0.08039424311470444, + 0.1818687934613237, + -0.9800308707581289 + ], + [ + 0.9770818426780187, + 0.18996937952397852, + 0.09603492881343748, + 0.20411781259443862, + -0.9641580868579639, + -0.16951431245783505, + 0.060390324478255875, + 0.18523179637866038, + -0.9808374943484498 + ], + [ + 0.9787388938058033, + 0.19876767254857727, + 0.05061215369270817, + 0.2040449709990784, + -0.9686635925618647, + -0.14162095274050052, + 0.020876483462930605, + 0.14893709005739092, + -0.9886262770346834 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0029111504554748535, + 0.00015056133270263672, + -0.010830290615558624, + 0.009961679577827454, + 0.03399283438920975, + 0.0012766122817993164, + 1.0 + ], + [ + -0.003802478313446045, + 0.01707601547241211, + -0.01034364104270935, + -0.0237562358379364, + 0.025109663605690002, + 0.023909181356430054, + 1.0 + ], + [ + -0.0013553798198699951, + 0.0403875857591629, + 0.001713767647743225, + 0.0023792609572410583, + -0.013121165335178375, + 0.09660297632217407, + 1.0 + ], + [ + 0.00046265125274658203, + 0.015624213963747025, + 0.0035433918237686157, + 0.0267886221408844, + -0.019366540014743805, + 0.014775067567825317, + 1.0 + ], + [ + 0.0003992021083831787, + 0.005749516189098358, + 0.0005894973874092102, + 0.008026212453842163, + -0.002313286066055298, + 0.009310752153396606, + 1.0 + ], + [ + -0.0029385387897491455, + -0.00016096234321594238, + -0.008257254958152771, + 0.004338305443525314, + 0.07694697380065918, + 0.01071786880493164, + 1.0 + ], + [ + -0.030479371547698975, + 0.0028892531991004944, + -0.018149182200431824, + -0.008586909621953964, + 0.1389116644859314, + 0.11068594455718994, + 1.0 + ], + [ + -0.022358328104019165, + 0.0044456347823143005, + -0.006983064115047455, + -0.03624383360147476, + 0.09786460548639297, + 0.11963498592376709, + 1.0 + ], + [ + -0.009124547243118286, + 0.0016960278153419495, + -0.0010222196578979492, + -0.011805914342403412, + 0.05561460554599762, + 0.05298417806625366, + 1.0 + ], + [ + -0.0009101927280426025, + -0.00019843131303787231, + -0.0006796568632125854, + -0.015664301812648773, + 0.01272401213645935, + 0.007965505123138428, + 1.0 + ], + [ + 0.00546574592590332, + 6.198137998580933e-05, + 0.0036568865180015564, + 0.001593559980392456, + -0.02370685338973999, + -0.026663780212402344, + 0.0 + ], + [ + 0.005209535360336304, + -0.00034287571907043457, + -0.001154586672782898, + 0.00946275144815445, + -0.014909923076629639, + -0.018250107765197754, + 0.0 + ], + [ + 0.0034657716751098633, + -0.004697754979133606, + -0.0008057355880737305, + 0.0077805295586586, + -0.015071868896484375, + -0.012475192546844482, + 0.0 + ], + [ + 0.0021952688694000244, + -0.0008974522352218628, + -0.00035065412521362305, + 0.007494673132896423, + -0.012620717287063599, + -0.002629101276397705, + 0.0 + ], + [ + 0.0021274983882904053, + -0.0020959898829460144, + 0.00032066553831100464, + -0.006000228226184845, + -0.008984148502349854, + -0.005841732025146484, + 0.0 + ], + [ + 0.006655871868133545, + -0.008179742842912674, + 0.018508441746234894, + -0.011598087847232819, + -0.12606181204319, + -0.05149340629577637, + 0.0 + ], + [ + 0.009228289127349854, + -0.018610011786222458, + 0.0312977209687233, + -0.0025201141834259033, + -0.14461000263690948, + -0.10423910617828369, + 0.0 + ], + [ + 0.008103728294372559, + -0.019441159442067146, + 0.005476363003253937, + -0.022696882486343384, + -0.046061329543590546, + -0.10989445447921753, + 0.0 + ], + [ + 0.014588862657546997, + -0.040066979825496674, + -0.014142774045467377, + -0.12197889387607574, + -0.01578405499458313, + -0.21319431066513062, + 0.0 + ], + [ + 0.004373431205749512, + -0.04306333512067795, + -0.02033308893442154, + -0.0809350311756134, + -0.0027415305376052856, + -0.2324863076210022, + 0.0 + ], + [ + -0.0016575455665588379, + -0.02990332990884781, + -0.0026803016662597656, + -0.02039468288421631, + -0.042910024523735046, + -0.1433766782283783, + 0.0 + ], + [ + -0.00623658299446106, + -0.018860608339309692, + -0.0007587224245071411, + 0.02095124125480652, + -0.0012746304273605347, + -0.08074866980314255, + 0.0 + ], + [ + -0.0011727511882781982, + -0.006294123828411102, + 0.0026031285524368286, + 0.033250391483306885, + 0.017696484923362732, + -0.007985055446624756, + 0.0 + ], + [ + 0.0007188618183135986, + -0.002356402575969696, + 0.009594358503818512, + 0.14193159341812134, + 0.04798988997936249, + 0.02503344416618347, + 0.0 + ], + [ + 0.0025610923767089844, + 0.0045991092920303345, + 0.012634612619876862, + 0.21496480703353882, + -0.0025333166122436523, + 0.09785006195306778, + 0.0 + ], + [ + 0.0019141435623168945, + 0.0004407912492752075, + 0.0006451010704040527, + 0.023080628365278244, + 0.01065683364868164, + 0.006288275122642517, + 0.0 + ], + [ + 0.00048479437828063965, + -0.001843467354774475, + -0.003326892852783203, + -0.07237198203802109, + 0.020740792155265808, + -0.0027009323239326477, + 0.0 + ], + [ + -0.00390934944152832, + 0.005807511508464813, + -0.01135023683309555, + -0.04664719104766846, + 0.0751790925860405, + 0.01314418762922287, + 0.0 + ], + [ + -0.0023987293243408203, + -0.0006356760859489441, + -0.007057704031467438, + -0.03140506148338318, + 0.0512881763279438, + 0.011625431478023529, + 0.0 + ], + [ + 0.00028201937675476074, + 0.0013044849038124084, + -0.007165789604187012, + -0.023363284766674042, + 0.027252614498138428, + 0.013905134052038193, + 0.0 + ], + [ + 0.0022571980953216553, + 0.002324908971786499, + -0.002924509346485138, + -0.01851145178079605, + -0.009335994720458984, + 0.004799757152795792, + 0.0 + ], + [ + -0.00010251998901367188, + 0.00031585991382598877, + -0.0027384310960769653, + -0.012401439249515533, + -0.0016877688467502594, + 0.004234783351421356, + 0.0 + ], + [ + -0.0007375478744506836, + 6.428360939025879e-05, + -0.0027241185307502747, + -0.0026780664920806885, + 0.007716473191976547, + -0.0009787268936634064, + 1.0 + ], + [ + -0.0004932284355163574, + 0.00010436028242111206, + -0.0021141842007637024, + 0.001229792833328247, + 0.0071012601256370544, + -0.003184426575899124, + 1.0 + ], + [ + -0.001022428274154663, + 0.00018608570098876953, + -0.00048567354679107666, + 0.0005517303943634033, + 0.006488379091024399, + -0.008425865322351456, + 1.0 + ], + [ + 0.0015202164649963379, + 0.0003194659948348999, + -0.0007688999176025391, + -0.0005236417055130005, + -0.00929613783955574, + 0.012574698776006699, + 1.0 + ], + [ + -0.004062086343765259, + 0.005916260182857513, + 0.010279342532157898, + -0.012137025594711304, + -0.040984153747558594, + 0.07346034049987793, + 1.0 + ], + [ + -0.002308577299118042, + 0.01070193201303482, + 0.03266032785177231, + -0.028009578585624695, + -0.08966401219367981, + 0.09839335829019547, + 1.0 + ], + [ + -0.0037808120250701904, + 0.012994349002838135, + 0.008226610720157623, + -0.0063935816287994385, + -0.007125720381736755, + 0.06021495163440704, + 1.0 + ], + [ + -0.0014040172100067139, + 0.0065435320138931274, + 0.00023385882377624512, + -0.0031651556491851807, + 0.020054005086421967, + 0.01290944218635559, + 1.0 + ], + [ + 0.00225067138671875, + 0.012426316738128662, + -0.014354713261127472, + 0.03712628781795502, + 0.0395490899682045, + -0.0004102438688278198, + 1.0 + ], + [ + 0.005072206258773804, + 0.011813633143901825, + -0.00754944235086441, + 0.03710348159074783, + -0.056080467998981476, + -0.017306357622146606, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.959831714630127 + ], + [ + 0.684196949005127 + ], + [ + 0.4841892421245575 + ], + [ + 0.48323801159858704 + ], + [ + 0.4841892421245575 + ], + [ + 0.4841892421245575 + ], + [ + 0.4841892421245575 + ], + [ + 0.4841892421245575 + ], + [ + 0.4841892421245575 + ], + [ + 0.4841892421245575 + ], + [ + 0.4841892421245575 + ], + [ + 0.4841892421245575 + ], + [ + 0.4841892421245575 + ], + [ + 0.4841892421245575 + ], + [ + 0.4841892421245575 + ], + [ + 0.48323801159858704 + ], + [ + 0.4841892421245575 + ], + [ + 0.4841892421245575 + ], + [ + 0.4841892421245575 + ], + [ + 0.4841892421245575 + ], + [ + 0.4841892421245575 + ], + [ + 0.4841892421245575 + ], + [ + 0.5246683359146118 + ], + [ + 0.6099167466163635 + ], + [ + 0.9141042232513428 + ], + [ + 1.0054124593734741 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.34765470027923584, + -0.009623771533370018, + 0.10148010402917862 + ], + [ + 0.3438522219657898, + 0.007452243939042091, + 0.09113646298646927 + ], + [ + 0.3424968421459198, + 0.04783983156085014, + 0.0928502306342125 + ], + [ + 0.3429594933986664, + 0.06346404552459717, + 0.09639362245798111 + ], + [ + 0.34335869550704956, + 0.06921356171369553, + 0.09698311984539032 + ], + [ + 0.3404201567173004, + 0.06905259937047958, + 0.08872586488723755 + ], + [ + 0.30994078516960144, + 0.07194185256958008, + 0.07057668268680573 + ], + [ + 0.2875824570655823, + 0.07638748735189438, + 0.06359361857175827 + ], + [ + 0.278457909822464, + 0.07808351516723633, + 0.06257139891386032 + ], + [ + 0.2775477170944214, + 0.07788508385419846, + 0.061891742050647736 + ], + [ + 0.2830134630203247, + 0.07794706523418427, + 0.06554862856864929 + ], + [ + 0.288222998380661, + 0.07760418951511383, + 0.0643940418958664 + ], + [ + 0.2916887700557709, + 0.07290643453598022, + 0.06358830630779266 + ], + [ + 0.2938840389251709, + 0.07200898230075836, + 0.06323765218257904 + ], + [ + 0.2960115373134613, + 0.06991299241781235, + 0.06355831772089005 + ], + [ + 0.30266740918159485, + 0.06173324957489967, + 0.08206675946712494 + ], + [ + 0.3118956983089447, + 0.043123237788677216, + 0.11336448043584824 + ], + [ + 0.31999942660331726, + 0.02368207834661007, + 0.11884084343910217 + ], + [ + 0.33458828926086426, + -0.016384901478886604, + 0.1046980693936348 + ], + [ + 0.33896172046661377, + -0.0594482347369194, + 0.08436498045921326 + ], + [ + 0.33730417490005493, + -0.08935156464576721, + 0.08168467879295349 + ], + [ + 0.33106759190559387, + -0.1082121729850769, + 0.08092595636844635 + ], + [ + 0.3298948407173157, + -0.114506296813488, + 0.08352908492088318 + ], + [ + 0.3306137025356293, + -0.1168626993894577, + 0.09312344342470169 + ], + [ + 0.33317479491233826, + -0.11226359009742737, + 0.10575805604457855 + ], + [ + 0.33508893847465515, + -0.11182279884815216, + 0.1064031571149826 + ], + [ + 0.3355737328529358, + -0.11366626620292664, + 0.1030762642621994 + ], + [ + 0.33166438341140747, + -0.10785875469446182, + 0.09172602742910385 + ], + [ + 0.32926565408706665, + -0.10849443078041077, + 0.08466832339763641 + ], + [ + 0.3295476734638214, + -0.10718994587659836, + 0.0775025337934494 + ], + [ + 0.33180487155914307, + -0.10486503690481186, + 0.07457802444696426 + ], + [ + 0.3317023515701294, + -0.10454917699098587, + 0.0718395933508873 + ], + [ + 0.3309648036956787, + -0.10448489338159561, + 0.06911547482013702 + ], + [ + 0.33047157526016235, + -0.1043805330991745, + 0.06700129061937332 + ], + [ + 0.3294491469860077, + -0.10419444739818573, + 0.06651561707258224 + ], + [ + 0.33096936345100403, + -0.10387498140335083, + 0.0657467171549797 + ], + [ + 0.32690727710723877, + -0.09795872122049332, + 0.0760260596871376 + ], + [ + 0.3245986998081207, + -0.0872567892074585, + 0.10868638753890991 + ], + [ + 0.32081788778305054, + -0.07426244020462036, + 0.11691299825906754 + ], + [ + 0.3194138705730438, + -0.06771890819072723, + 0.11714685708284378 + ], + [ + 0.3216645419597626, + -0.05529259145259857, + 0.10279214382171631 + ], + [ + 0.3267367482185364, + -0.04347895830869675, + 0.0952427014708519 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9339099310405816, + 0.3343064567844645, + 0.12669425265572412, + 0.3403654205117585, + -0.9398459480343827, + -0.028999560051933333, + 0.10937833982845654, + 0.0702053197098968, + -0.991517822260801 + ], + [ + 0.9277711108238178, + 0.35574830546075736, + 0.11262286216634226, + 0.3634824897862278, + -0.9298458266775306, + -0.05715958562817364, + 0.08438747264579027, + 0.09396745059955303, + -0.9919923753176113 + ], + [ + 0.8873228888227398, + 0.44298342113324235, + 0.12815529474959583, + 0.45073359173763744, + -0.8918486041968088, + -0.03801705500814578, + 0.0974541956539386, + 0.09149729937704185, + -0.9910251883560536 + ], + [ + 0.8787317501285401, + 0.4582841507395362, + 0.13343968111837978, + 0.4628277260730531, + -0.886441565302192, + -0.0034419881822025343, + 0.11670907117306573, + 0.06478416847920163, + -0.9910509594467777 + ], + [ + 0.8741444184639792, + 0.46745807232408365, + 0.13173642733626686, + 0.47085990684709744, + -0.8821878068997421, + 0.00596837342717689, + 0.11900623425776688, + 0.05681218158524862, + -0.9912668118278299 + ], + [ + 0.8744832861543802, + 0.48100233071954246, + 0.06257587457642665, + 0.4832051437980517, + -0.8751255486258152, + -0.025846917600956594, + 0.042329318961459465, + 0.05283968191363709, + -0.997705465942492 + ], + [ + 0.8126846631836289, + 0.5811081668774065, + -0.04309218739507302, + 0.5746711110622773, + -0.8115239326889038, + -0.10574507451216582, + -0.09641966778909632, + 0.061173565054816734, + -0.9934591298095381 + ], + [ + 0.7277682767942507, + 0.6814665173535835, + -0.07717979669515672, + 0.6580445590918261, + -0.7255588743245339, + -0.20134964151584672, + -0.1932115253849308, + 0.09574813635206668, + -0.9764740656277232 + ], + [ + 0.6832540205858055, + 0.7238509913925997, + -0.09593584112979787, + 0.6869729074721043, + -0.6817761495956812, + -0.25149454515319114, + -0.24745134421266496, + 0.10592933541959715, + -0.9630923154842983 + ], + [ + 0.6755030369726925, + 0.7317156896602601, + -0.09103733599836496, + 0.6900875042208847, + -0.6708562111566825, + -0.271534860507249, + -0.2597592800245252, + 0.12059889492657337, + -0.9581132620852453 + ], + [ + 0.6978892159354295, + 0.7113787291354223, + -0.08301172215237741, + 0.6759279560591427, + -0.6925235085387507, + -0.252056716512156, + -0.23679535573727323, + 0.11979772057452143, + -0.9641454587594176 + ], + [ + 0.7126095444593168, + 0.6965539836942997, + -0.08366710790439713, + 0.6654153563000554, + -0.7088571606563593, + -0.2339742066687574, + -0.22228369428627653, + 0.11105887441265366, + -0.9686360955842186 + ], + [ + 0.723250095576698, + 0.6858069461026773, + -0.08110568368256728, + 0.65865499392782, + -0.7203341613883412, + -0.21746791696914414, + -0.20756420265122955, + 0.10386302813934588, + -0.972691920992194 + ], + [ + 0.7268629198608345, + 0.6823749501928629, + -0.07768348010143701, + 0.6584576057832559, + -0.7245620093900107, + -0.20357670774156067, + -0.19520214424428056, + 0.09682108188818311, + -0.9759722337159173 + ], + [ + 0.7319740982951817, + 0.677903812320186, + -0.06826668782586148, + 0.6553436295447915, + -0.7279198508756791, + -0.20163684662329986, + -0.18638306425213325, + 0.10285481001337246, + -0.9770784213240502 + ], + [ + 0.7769065700341036, + 0.6290989532087058, + 0.025508596777454293, + 0.6266169496225872, + -0.7686215954646292, + -0.1287324412535221, + -0.06137898568344116, + 0.11599719848823159, + -0.9913512344569675 + ], + [ + 0.8365687930280221, + 0.5312782838155167, + 0.13377608036445662, + 0.5415234329628104, + -0.8388960055771297, + -0.05482575470441453, + 0.08309648659125593, + 0.11830839772719184, + -0.9894938589720573 + ], + [ + 0.8865474944964685, + 0.42729316002321727, + 0.177353024782235, + 0.4443195229179009, + -0.8932009886962586, + -0.06908078854526614, + 0.12889414864936186, + 0.1400448113619353, + -0.9817197916180345 + ], + [ + 0.9583964549790414, + 0.20367462272410722, + 0.19998220706302555, + 0.24614500290605293, + -0.9444613460659705, + -0.21772781937922855, + 0.14452983300338185, + 0.257894191182057, + -0.9553018965366744 + ], + [ + 0.9889236480862149, + -0.03193651066990551, + 0.14494853411498546, + 0.018703000440832004, + -0.9419794348523199, + -0.33514913410273656, + 0.14724203214558787, + 0.3341478768472648, + -0.9309484305632094 + ], + [ + 0.9742780797241345, + -0.18309907844692297, + 0.13136571409976183, + -0.12189505320948535, + -0.9184964786500271, + -0.37617258633578915, + 0.18953579971105605, + 0.35048387435000133, + -0.9171898573624235 + ], + [ + 0.9610340192148925, + -0.2548387479617945, + 0.10710194418839877, + -0.2000346696185445, + -0.9085280172924597, + -0.3668282605596687, + 0.19078717163968248, + 0.33111033558603603, + -0.9241029167824508 + ], + [ + 0.9625555350024925, + -0.2532763226114492, + 0.09663305045628395, + -0.2083839407666571, + -0.9193120682748026, + -0.33382848044297103, + 0.17338677938823355, + 0.3011916757294694, + -0.9376676379211614 + ], + [ + 0.9745269306989153, + -0.20519094558856166, + 0.0905203689288978, + -0.18556886878472062, + -0.964415398724831, + -0.188327198355375, + 0.12594227360386578, + 0.16673216411627825, + -0.9779258300958165 + ], + [ + 0.9876733243076042, + -0.08420350026478764, + 0.1319514114904546, + -0.08944671224351743, + -0.995400296841228, + 0.034315225734648964, + 0.1284550120469838, + -0.04569485300941926, + -0.9906620464560334 + ], + [ + 0.9895242122087424, + -0.07560994712489484, + 0.12298361414610372, + -0.08334438776198948, + -0.9947724210609311, + 0.05900460427078649, + 0.11787937258590349, + -0.06863647858350239, + -0.9906530610291423 + ], + [ + 0.9915182628738688, + -0.08693011089233142, + 0.09661620054541938, + -0.0862099823817677, + -0.996209326658136, + -0.011611047199916255, + 0.09725930971028447, + 0.0031832844029935237, + -0.9952539843552944 + ], + [ + 0.9970473336844667, + -0.07453217292597059, + 0.018481601435701933, + -0.07350058371655777, + -0.9959737201077743, + -0.051322636799032914, + 0.022232376976387545, + 0.04981268968459121, + -0.9985111002689784 + ], + [ + 0.9976598839615396, + -0.059362598739782446, + -0.03392400042310697, + -0.06189394480032001, + -0.9949344090500782, + -0.07921275961122956, + -0.029049880049706274, + 0.08112708277160643, + -0.9962803324918477 + ], + [ + 0.9972626335389471, + -0.04190364347798837, + -0.060920640264472734, + -0.04795995939622958, + -0.9936671467545813, + -0.10161419071823229, + -0.05627683396989977, + 0.1042577868740696, + -0.9929568126733637 + ], + [ + 0.9979627723830539, + -0.03715282444621791, + -0.0518649455142642, + -0.043193644077596, + -0.9917507242392457, + -0.12068475497025154, + -0.04695331776165596, + 0.1226791286511288, + -0.9913350681503065 + ], + [ + 0.9982145035072594, + -0.032540903091904876, + -0.05008886716346219, + -0.03897014918099203, + -0.990314668327322, + -0.13325984079443326, + -0.04526734430654102, + 0.13497387644173864, + -0.9898145888082897 + ], + [ + 0.9977971453618711, + -0.03231459658026752, + -0.057936375063990186, + -0.039931952566711344, + -0.9899645058108764, + -0.13555705956842373, + -0.05297448321513572, + 0.13757195965196478, + -0.9890741428455236 + ], + [ + 0.9972639393994518, + -0.03457144726081881, + -0.06534103004834739, + -0.043091829820233275, + -0.9900641068124781, + -0.13385125552027544, + -0.06006437693201076, + 0.13630069492083463, + -0.9888449783398139 + ], + [ + 0.9964552751710206, + -0.04206945337469606, + -0.07284947272698404, + -0.05147182445387884, + -0.9898564934593224, + -0.13241893234656194, + -0.06653973152361224, + 0.1356992389410071, + -0.9885131160888038 + ], + [ + 0.9975987228172674, + -0.03084773195680072, + -0.06200972235447022, + -0.03896041660277875, + -0.99018785075724, + -0.13420173676557176, + -0.05726145450034456, + 0.1362954058135463, + -0.9890119757528854 + ], + [ + 0.9992745803116949, + 0.0364582076563843, + -0.01100510051614531, + 0.0344146046012353, + -0.988238219744879, + -0.14899951686369106, + -0.016307916268706268, + 0.14851269349775015, + -0.9887760270845044 + ], + [ + 0.9885268574133758, + 0.11756029008162719, + 0.09483791630122852, + 0.1320730317563617, + -0.9773999223607864, + -0.1650639453418326, + 0.07328960673327582, + 0.17569567429237437, + -0.9817126176126236 + ], + [ + 0.9782499259195864, + 0.17422116523932296, + 0.11257916335173493, + 0.19121675688165485, + -0.9677658433461966, + -0.16390675501664723, + 0.08039424311470444, + 0.1818687934613237, + -0.9800308707581289 + ], + [ + 0.9770818426780187, + 0.18996937952397852, + 0.09603492881343748, + 0.20411781259443862, + -0.9641580868579639, + -0.16951431245783505, + 0.060390324478255875, + 0.18523179637866038, + -0.9808374943484498 + ], + [ + 0.9787388938058033, + 0.19876767254857727, + 0.05061215369270817, + 0.2040449709990784, + -0.9686635925618647, + -0.14162095274050052, + 0.020876483462930605, + 0.14893709005739092, + -0.9886262770346834 + ], + [ + 0.9794299499646771, + 0.17746360472086992, + 0.0960397944170281, + 0.18656379657362715, + -0.977750157141927, + -0.0959092280073781, + 0.07688252675494246, + 0.11185391905700855, + -0.9907460713378398 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005975.json b/json/chunk-0005/episode_0005975.json new file mode 100644 index 0000000000000000000000000000000000000000..1e0c746f451242f36cbef76162f0dd8210fa01f9 --- /dev/null +++ b/json/chunk-0005/episode_0005975.json @@ -0,0 +1,2182 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 35, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut the potato on the blue cloth." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005975.mp4", + "start": 0, + "end": 35, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.25686731934547424, + 0.026930036023259163, + 0.1420743763446808, + -0.06039488688111305, + -0.18878266215324402, + -0.0017576998798176646, + 0.0, + 0.9994885921478271 + ], + [ + 0.255570650100708, + 0.02588396891951561, + 0.13589675724506378, + -0.06909626722335815, + -0.1714816838502884, + 0.0021412777714431286, + 0.0, + 0.9994885921478271 + ], + [ + 0.2601456046104431, + 0.000697449198924005, + 0.12295515835285187, + -0.11120925098657608, + -0.22594307363033295, + -0.03186187520623207, + 0.0, + 0.9994885921478271 + ], + [ + 0.26193976402282715, + -0.027851080521941185, + 0.1181589663028717, + -0.09732948988676071, + -0.2560640871524811, + -0.10741304606199265, + 0.0, + 0.9994885921478271 + ], + [ + 0.25700873136520386, + -0.058583296835422516, + 0.10834500193595886, + -0.05238790065050125, + -0.23115259408950806, + -0.16925548017024994, + 0.0, + 0.9994885921478271 + ], + [ + 0.24820320308208466, + -0.0688985139131546, + 0.08436696976423264, + 0.04642930254340172, + -0.11713171005249023, + -0.17977702617645264, + 0.0, + 0.9994885921478271 + ], + [ + 0.24494142830371857, + -0.0652870461344719, + 0.07910965383052826, + 0.10977518558502197, + -0.08734007179737091, + -0.1261749565601349, + 0.0, + 0.9994885921478271 + ], + [ + 0.24104967713356018, + -0.06253632158041, + 0.06935641914606094, + 0.09633097052574158, + -0.10161219537258148, + -0.06592114269733429, + 0.0, + 0.9994885921478271 + ], + [ + 0.24096933007240295, + -0.05441509187221527, + 0.06065439432859421, + 0.06806936115026474, + -0.1269036829471588, + -0.001419496606104076, + 0.0, + 0.9994885921478271 + ], + [ + 0.24295134842395782, + -0.046133629977703094, + 0.050715938210487366, + 0.022098276764154434, + -0.17144526541233063, + 0.06321510672569275, + 0.0, + 0.9994885921478271 + ], + [ + 0.25039511919021606, + -0.04022311791777611, + 0.04485227167606354, + -0.018126459792256355, + -0.2089683562517166, + 0.08427964150905609, + 0.0, + 0.9994885921478271 + ], + [ + 0.25489115715026855, + -0.03545422852039337, + 0.03247342258691788, + -0.037429068237543106, + -0.19640366733074188, + 0.1053537130355835, + 0.0, + 0.9994885921478271 + ], + [ + 0.26263880729675293, + -0.03429878503084183, + 0.02185795083642006, + -0.036744989454746246, + -0.1694822758436203, + 0.10265637189149857, + 0.0, + 0.9994885921478271 + ], + [ + 0.2649155259132385, + -0.03418755531311035, + 0.014063451439142227, + -0.030529910698533058, + -0.14570246636867523, + 0.10018642991781235, + 0.0, + 0.9994885921478271 + ], + [ + 0.267682284116745, + -0.0349692665040493, + 0.01098120491951704, + -0.02955183945596218, + -0.13963721692562103, + 0.10154245048761368, + 0.0, + 0.9461179971694946 + ], + [ + 0.26763632893562317, + -0.03539101034402847, + 0.01098711509257555, + -0.025203218683600426, + -0.14074791967868805, + 0.10166965425014496, + 0.0, + 0.7051732540130615 + ], + [ + 0.26727598905563354, + -0.037411611527204514, + 0.014507850632071495, + -0.024238180369138718, + -0.1458001285791397, + 0.09664344042539597, + 0.0, + 0.6861988306045532 + ], + [ + 0.268439918756485, + -0.038207463920116425, + 0.032401785254478455, + -0.013752439990639687, + -0.1762073040008545, + 0.05552411451935768, + 0.0, + 0.6861988306045532 + ], + [ + 0.2673492133617401, + -0.01702549308538437, + 0.0739823654294014, + -0.00862505380064249, + -0.23954404890537262, + 0.0718868151307106, + 0.0, + 0.6861988306045532 + ], + [ + 0.26829051971435547, + 0.02125478908419609, + 0.08888509124517441, + -0.018504956737160683, + -0.22267356514930725, + 0.08632264286279678, + 0.0, + 0.6861988306045532 + ], + [ + 0.27126792073249817, + 0.06653259694576263, + 0.08822554349899292, + -0.07949743419885635, + -0.17162178456783295, + 0.12247290462255478, + 0.0, + 0.6861988306045532 + ], + [ + 0.28083929419517517, + 0.11056806147098541, + 0.08387261629104614, + -0.1270427703857422, + -0.14504171907901764, + 0.1191096380352974, + 0.0, + 0.6861988306045532 + ], + [ + 0.286215215921402, + 0.14455971121788025, + 0.08563029021024704, + -0.11823770403862, + -0.14817576110363007, + 0.1289205402135849, + 0.0, + 0.6861988306045532 + ], + [ + 0.290943443775177, + 0.15900851786136627, + 0.08226276934146881, + -0.06603607535362244, + -0.1397077441215515, + 0.08996398746967316, + 0.0, + 0.6861988306045532 + ], + [ + 0.2881338894367218, + 0.1647288203239441, + 0.07598084211349487, + -0.010699654929339886, + -0.13098996877670288, + 0.08128244429826736, + 0.0, + 0.6861988306045532 + ], + [ + 0.2875182330608368, + 0.16577386856079102, + 0.06754129379987717, + 0.037095438688993454, + -0.1411287486553192, + 0.07773389667272568, + 0.0, + 0.6861988306045532 + ], + [ + 0.2881429195404053, + 0.1663268804550171, + 0.0631735771894455, + 0.03237957879900932, + -0.14822539687156677, + 0.09367818385362625, + 0.0, + 0.7594308853149414 + ], + [ + 0.2863997519016266, + 0.16775089502334595, + 0.0569581463932991, + 0.027359111234545708, + -0.13458529114723206, + 0.11655621975660324, + 0.0, + 0.9954678416252136 + ], + [ + 0.2859589457511902, + 0.1650003343820572, + 0.0558139868080616, + 0.01019654143601656, + -0.12784971296787262, + 0.112073615193367, + 0.0, + 1.0054124593734741 + ], + [ + 0.28285208344459534, + 0.15942564606666565, + 0.06549906730651855, + 0.012652833014726639, + -0.11292713135480881, + 0.09732718020677567, + 0.0, + 1.0001531839370728 + ], + [ + 0.28085723519325256, + 0.1370801329612732, + 0.10769587755203247, + -0.00173378421459347, + -0.13102588057518005, + 0.11278232932090759, + 0.0, + 1.0001531839370728 + ], + [ + 0.27727076411247253, + 0.11151345074176788, + 0.13007241487503052, + -0.037961360067129135, + -0.1286495476961136, + 0.12003425508737564, + 0.0, + 1.0001531839370728 + ], + [ + 0.2825947701931, + 0.08326609432697296, + 0.1268729567527771, + -0.039925891906023026, + -0.10608310252428055, + 0.11611448973417282, + 0.0, + 1.0001531839370728 + ], + [ + 0.28642967343330383, + 0.06173809990286827, + 0.11689720302820206, + -0.02354918047785759, + -0.1065271720290184, + 0.11530730128288269, + 0.0, + 1.0001531839370728 + ], + [ + 0.2863054573535919, + 0.05412448197603226, + 0.10710201412439346, + -0.002846828894689679, + -0.11904501169919968, + 0.09510218352079391, + 0.0, + 1.0001531839370728 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9461179971694946 + ], + [ + 0.7051732540130615 + ], + [ + 0.6861988306045532 + ], + [ + 0.6861988306045532 + ], + [ + 0.6861988306045532 + ], + [ + 0.6861988306045532 + ], + [ + 0.6861988306045532 + ], + [ + 0.6861988306045532 + ], + [ + 0.6861988306045532 + ], + [ + 0.6861988306045532 + ], + [ + 0.6861988306045532 + ], + [ + 0.6861988306045532 + ], + [ + 0.7594308853149414 + ], + [ + 0.9954678416252136 + ], + [ + 1.0054124593734741 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.25686731934547424, + 0.026930036023259163, + 0.1420743763446808 + ], + [ + 0.255570650100708, + 0.02588396891951561, + 0.13589675724506378 + ], + [ + 0.2601456046104431, + 0.000697449198924005, + 0.12295515835285187 + ], + [ + 0.26193976402282715, + -0.027851080521941185, + 0.1181589663028717 + ], + [ + 0.25700873136520386, + -0.058583296835422516, + 0.10834500193595886 + ], + [ + 0.24820320308208466, + -0.0688985139131546, + 0.08436696976423264 + ], + [ + 0.24494142830371857, + -0.0652870461344719, + 0.07910965383052826 + ], + [ + 0.24104967713356018, + -0.06253632158041, + 0.06935641914606094 + ], + [ + 0.24096933007240295, + -0.05441509187221527, + 0.06065439432859421 + ], + [ + 0.24295134842395782, + -0.046133629977703094, + 0.050715938210487366 + ], + [ + 0.25039511919021606, + -0.04022311791777611, + 0.04485227167606354 + ], + [ + 0.25489115715026855, + -0.03545422852039337, + 0.03247342258691788 + ], + [ + 0.26263880729675293, + -0.03429878503084183, + 0.02185795083642006 + ], + [ + 0.2649155259132385, + -0.03418755531311035, + 0.014063451439142227 + ], + [ + 0.267682284116745, + -0.0349692665040493, + 0.01098120491951704 + ], + [ + 0.26763632893562317, + -0.03539101034402847, + 0.01098711509257555 + ], + [ + 0.26727598905563354, + -0.037411611527204514, + 0.014507850632071495 + ], + [ + 0.268439918756485, + -0.038207463920116425, + 0.032401785254478455 + ], + [ + 0.2673492133617401, + -0.01702549308538437, + 0.0739823654294014 + ], + [ + 0.26829051971435547, + 0.02125478908419609, + 0.08888509124517441 + ], + [ + 0.27126792073249817, + 0.06653259694576263, + 0.08822554349899292 + ], + [ + 0.28083929419517517, + 0.11056806147098541, + 0.08387261629104614 + ], + [ + 0.286215215921402, + 0.14455971121788025, + 0.08563029021024704 + ], + [ + 0.290943443775177, + 0.15900851786136627, + 0.08226276934146881 + ], + [ + 0.2881338894367218, + 0.1647288203239441, + 0.07598084211349487 + ], + [ + 0.2875182330608368, + 0.16577386856079102, + 0.06754129379987717 + ], + [ + 0.2881429195404053, + 0.1663268804550171, + 0.0631735771894455 + ], + [ + 0.2863997519016266, + 0.16775089502334595, + 0.0569581463932991 + ], + [ + 0.2859589457511902, + 0.1650003343820572, + 0.0558139868080616 + ], + [ + 0.28285208344459534, + 0.15942564606666565, + 0.06549906730651855 + ], + [ + 0.28085723519325256, + 0.1370801329612732, + 0.10769587755203247 + ], + [ + 0.27727076411247253, + 0.11151345074176788, + 0.13007241487503052 + ], + [ + 0.2825947701931, + 0.08326609432697296, + 0.1268729567527771 + ], + [ + 0.28642967343330383, + 0.06173809990286827, + 0.11689720302820206 + ], + [ + 0.2863054573535919, + 0.05412448197603226, + 0.10710201412439346 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9822318952104484, + -0.013081493167162481, + 0.1872147925987907, + -0.0017264706621469882, + -0.9981553316861476, + -0.06068733908789777, + 0.18766332441461087, + 0.05928581924064321, + -0.9804425879706686 + ], + [ + 0.9853307514673117, + -0.009645185451323071, + 0.1703827473967714, + 0.002109870060271614, + -0.9976367426439054, + -0.06867662029531212, + 0.17064248785455277, + 0.0680286713413344, + -0.9829818112327111 + ], + [ + 0.9740886214582802, + -0.05650946987385318, + 0.21899323587746505, + -0.03104679682748328, + -0.9925261819860366, + -0.11801641614188069, + 0.22402556539881768, + 0.10815940960821052, + -0.968562898402031 + ], + [ + 0.9618190140760792, + -0.1311696060441604, + 0.24020557573032886, + -0.10371107485756975, + -0.9868926695430554, + -0.12364008959099401, + 0.25327494371454623, + 0.09400741062491419, + -0.9628158752502952 + ], + [ + 0.9594934954430261, + -0.18004254815632492, + 0.2166954384750648, + -0.16396828679102782, + -0.9823373229015266, + -0.09015422874982931, + 0.22909961398775516, + 0.05097121626995694, + -0.9720675398256143 + ], + [ + 0.9771419389217942, + -0.17328095092210022, + 0.12315576822743342, + -0.17758497594177935, + -0.9837931692563943, + 0.024790652355621445, + 0.11686405572251136, + -0.046094600247668205, + -0.9920776584058798 + ], + [ + 0.9882690762078369, + -0.11560257269230051, + 0.09980119337077177, + -0.12536076770038218, + -0.987281675028053, + 0.09777306416070343, + 0.08722907160390748, + -0.10913725001448217, + -0.9901919761977457 + ], + [ + 0.9926811128900924, + -0.05583273472415589, + 0.1070836768350328, + -0.06553362838913082, + -0.9938445083996329, + 0.08932209510556438, + 0.10143742732070353, + -0.09568593865931513, + -0.990229594327216 + ], + [ + 0.9919575289593442, + 0.007192216566501296, + 0.12636666000861552, + -0.0014080812915047763, + -0.9976953899161325, + 0.06783749882751734, + 0.12656333611259224, + -0.06746985223755457, + -0.9896613264097441 + ], + [ + 0.9833710982662816, + 0.06691986342491454, + 0.168828359506803, + 0.06224684693251248, + -0.9975207711915388, + 0.03282744413441966, + 0.1706066034522928, + -0.021772526739652104, + -0.9850986468054068 + ], + [ + 0.9747732395177119, + 0.08041927753211059, + 0.2082063191196632, + 0.08234860721357184, + -0.9966034045270876, + -0.0006008119530849232, + 0.20745080961550988, + 0.017731155806418295, + -0.9780847446431409 + ], + [ + 0.975336744224964, + 0.09782343307327686, + 0.1978605855303304, + 0.10313721736592936, + -0.9945268316690858, + -0.01670615109062417, + 0.19514340818654394, + 0.03670091323125145, + -0.9800877987248551 + ], + [ + 0.9804831141290069, + 0.09624315169039512, + 0.17143546500238577, + 0.10100790696925972, + -0.9946989821889827, + -0.019270120962024514, + 0.1686720653741277, + 0.03621036571068122, + -0.9850068749899792 + ], + [ + 0.984442829173627, + 0.09556265544014311, + 0.14744522702974827, + 0.09895912911846741, + -0.9949651423462915, + -0.015857373046595673, + 0.1451874886232971, + 0.030201728444790854, + -0.9889430968191282 + ], + [ + 0.9851656855708588, + 0.09723242517257347, + 0.1414016529916096, + 0.1003813816705944, + -0.9948314990319289, + -0.015292702435722984, + 0.13918387186596773, + 0.029259938977123888, + -0.989834180953281 + ], + [ + 0.9849985074594558, + 0.09794538623699257, + 0.14207266316054942, + 0.100490945405273, + -0.9948789531333401, + -0.010836904717861761, + 0.14028367757582857, + 0.02495135120982268, + -0.9897969084002057 + ], + [ + 0.9847731429949477, + 0.09296007959162218, + 0.14690228193657032, + 0.09546927604824755, + -0.9953810563008113, + -0.010107922056716553, + 0.14528411532812466, + 0.023978664679260638, + -0.9890993627909805 + ], + [ + 0.982998414653399, + 0.05308337286911437, + 0.17577335495956925, + 0.0546362746447675, + -0.9984982970633283, + -0.00400353026400186, + 0.17529687470644106, + 0.013539065199333965, + -0.9844225207865179 + ], + [ + 0.9689372571183471, + 0.06978117720967089, + 0.23725762174313136, + 0.0697740456788602, + -0.9975271350481064, + 0.008437854722701326, + 0.2372597191214274, + 0.008378672326185667, + -0.9714101211807874 + ], + [ + 0.9716789557404222, + 0.08212956649183654, + 0.22157333160618767, + 0.08408685981462043, + -0.9964582471624039, + 0.0006013888473670025, + 0.22083796543556314, + 0.0180470487862244, + -0.9751435263859308 + ], + [ + 0.9779286985178477, + 0.10832039453533433, + 0.1786677160062724, + 0.12037221644101566, + -0.9910318303743255, + -0.05802103665043613, + 0.170780532041172, + 0.07824706584034628, + -0.9821972340437081 + ], + [ + 0.9824891015964714, + 0.09968769272459056, + 0.15740879633427649, + 0.11758049017264872, + -0.9870888993351724, + -0.10876733489443026, + 0.1445337108598467, + 0.1253709245739422, + -0.9815254136784013 + ], + [ + 0.980834231563723, + 0.11039534101339471, + 0.1605524178433261, + 0.12715492048900068, + -0.9870162272214663, + -0.09813558680182882, + 0.14763413016046664, + 0.11666977279501173, + -0.9821366135766059 + ], + [ + 0.9862521073984502, + 0.08049493649051669, + 0.14431682456146142, + 0.08896732140866555, + -0.9946107662460738, + -0.05323757497073902, + 0.1392537122430966, + 0.06534515182311187, + -0.9880983831378995 + ], + [ + 0.9881597591419087, + 0.07979542086716918, + 0.1310457218730794, + 0.0804973964045238, + -0.9967548172009097, + -5.965629864415015e-05, + 0.1306156942511048, + 0.010607789374433747, + -0.9913763237135985 + ], + [ + 0.9870681209124139, + 0.08280313311477232, + 0.13725948355145975, + 0.0768835715695891, + -0.9958892580738932, + 0.04789052177345978, + 0.1406607304870127, + -0.0367182080092105, + -0.9893767392148717 + ], + [ + 0.9846981993612116, + 0.09825232030945959, + 0.14393032247790852, + 0.09251552389607844, + -0.9946463037480713, + 0.04603920371306764, + 0.14768322183992846, + -0.03201893180770649, + -0.9885162891894456 + ], + [ + 0.9842334284401488, + 0.11989463384783024, + 0.1300378218651983, + 0.11524086361487305, + -0.992416452722854, + 0.0427683027286033, + 0.13417936389120555, + -0.027108322328796924, + -0.9905862088512384 + ], + [ + 0.9856158785224484, + 0.11312522967322583, + 0.1255548581927537, + 0.11092635404183077, + -0.9935292681634119, + 0.024391336200828218, + 0.1275017018843631, + -0.010113145606354446, + -0.9917867917564419 + ], + [ + 0.988928096282502, + 0.09858484558895651, + 0.11091550208725394, + 0.09655464962296857, + -0.9950492326587663, + 0.023541967236948718, + 0.11268726644679873, + -0.012571905400590288, + -0.9935509685845746 + ], + [ + 0.9851296515961286, + 0.11231813448049059, + 0.13001617673548352, + 0.11157870673015859, + -0.9936708116745281, + 0.012981149044275268, + 0.130651298311633, + 0.001718922018840668, + -0.9914268926938474 + ], + [ + 0.984600051677783, + 0.11482589877840196, + 0.1318246987701444, + 0.11875663972938097, + -0.9926723266814006, + -0.022327390378650842, + 0.12829496777462918, + 0.037638607979929864, + -0.9910215620424411 + ], + [ + 0.9876825997696339, + 0.11156347712320762, + 0.10971177094768245, + 0.11520246902199598, + -0.9929643614098955, + -0.02738919679498473, + 0.10588424454815393, + 0.03969089999002135, + -0.9935860099731925 + ], + [ + 0.9877284629794315, + 0.1125330254799704, + 0.10829959185801875, + 0.11439976457142573, + -0.9933720979902957, + -0.011161039394259274, + 0.10632580724495573, + 0.023413524097883442, + -0.9940556471360271 + ], + [ + 0.9884356834038213, + 0.0946219334977951, + 0.11849721294258196, + 0.09428682000567376, + -0.9955092664562055, + 0.008443694277108813, + 0.11876403221193886, + 0.002826676664644235, + -0.9929184833367718 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0012966692447662354, + -0.0010460671037435532, + -0.006177619099617004, + -0.008701380342245102, + 0.017300978302955627, + 0.003898977767676115, + 1.0 + ], + [ + 0.004574954509735107, + -0.02518652006983757, + -0.012941598892211914, + -0.042112983763217926, + -0.054461389780044556, + -0.03400315344333649, + 1.0 + ], + [ + 0.0017941594123840332, + -0.028548529371619225, + -0.004796192049980164, + 0.013879761099815369, + -0.030121013522148132, + -0.07555116713047028, + 1.0 + ], + [ + -0.004931032657623291, + -0.03073221631348133, + -0.009813964366912842, + 0.04494158923625946, + 0.024911493062973022, + -0.061842434108257294, + 1.0 + ], + [ + -0.008805528283119202, + -0.010315217077732086, + -0.023978032171726227, + 0.09881719946861267, + 0.11402088403701782, + -0.010521546006202698, + 1.0 + ], + [ + -0.003261774778366089, + 0.0036114677786827087, + -0.005257315933704376, + 0.06334587931632996, + 0.029791638255119324, + 0.05360206961631775, + 1.0 + ], + [ + -0.0038917511701583862, + 0.0027507245540618896, + -0.009753234684467316, + -0.013444215059280396, + -0.014272123575210571, + 0.0602538138628006, + 1.0 + ], + [ + -8.034706115722656e-05, + 0.008121229708194733, + -0.008702024817466736, + -0.028261609375476837, + -0.02529148757457733, + 0.06450164318084717, + 1.0 + ], + [ + 0.0019820183515548706, + 0.008281461894512177, + -0.009938456118106842, + -0.045971084386110306, + -0.044541582465171814, + 0.06463460624217987, + 1.0 + ], + [ + 0.00744377076625824, + 0.005910512059926987, + -0.005863666534423828, + -0.04022473841905594, + -0.037523090839385986, + 0.021064534783363342, + 1.0 + ], + [ + 0.00449603796005249, + 0.004768889397382736, + -0.01237884908914566, + -0.01930260844528675, + 0.012564688920974731, + 0.021074071526527405, + 1.0 + ], + [ + 0.007747650146484375, + 0.0011554434895515442, + -0.010615471750497818, + 0.0006840787827968597, + 0.026921391487121582, + -0.0026973411440849304, + 1.0 + ], + [ + 0.0022767186164855957, + 0.00011122971773147583, + -0.007794499397277832, + 0.006215078756213188, + 0.02377980947494507, + -0.0024699419736862183, + 1.0 + ], + [ + 0.0027667582035064697, + -0.0007817111909389496, + -0.003082246519625187, + 0.000978071242570877, + 0.006065249443054199, + 0.0013560205698013306, + 0.0 + ], + [ + -4.595518112182617e-05, + -0.00042174383997917175, + 5.910173058509827e-06, + 0.004348620772361755, + -0.0011107027530670166, + 0.00012720376253128052, + 0.0 + ], + [ + -0.000360339879989624, + -0.0020206011831760406, + 0.003520735539495945, + 0.0009650383144617081, + -0.00505220890045166, + -0.005026213824748993, + 0.0 + ], + [ + 0.0011639297008514404, + -0.000795852392911911, + 0.01789393462240696, + 0.010485740378499031, + -0.030407175421714783, + -0.041119325906038284, + 0.0 + ], + [ + -0.001090705394744873, + 0.021181970834732056, + 0.04158058017492294, + 0.005127386189997196, + -0.06333674490451813, + 0.01636270061135292, + 0.0 + ], + [ + 0.0009413063526153564, + 0.03828028216958046, + 0.01490272581577301, + -0.009879902936518192, + 0.01687048375606537, + 0.014435827732086182, + 0.0 + ], + [ + 0.0029774010181427, + 0.045277807861566544, + -0.000659547746181488, + -0.06099247932434082, + 0.051051780581474304, + 0.036150261759757996, + 0.0 + ], + [ + 0.009571373462677002, + 0.04403546452522278, + -0.004352927207946777, + -0.047545336186885834, + 0.026580065488815308, + -0.0033632665872573853, + 0.0 + ], + [ + 0.005375921726226807, + 0.033991649746894836, + 0.0017576739192008972, + 0.008805066347122192, + -0.0031340420246124268, + 0.009810902178287506, + 0.0 + ], + [ + 0.004728227853775024, + 0.014448806643486023, + -0.0033675208687782288, + 0.05220162868499756, + 0.008468016982078552, + -0.03895655274391174, + 0.0 + ], + [ + -0.0028095543384552, + 0.00572030246257782, + -0.006281927227973938, + 0.055336419492959976, + 0.008717775344848633, + -0.008681543171405792, + 0.0 + ], + [ + -0.0006156563758850098, + 0.0010450482368469238, + -0.008439548313617706, + 0.047795094549655914, + -0.010138779878616333, + -0.003548547625541687, + 0.0 + ], + [ + 0.0006246864795684814, + 0.0005530118942260742, + -0.004367716610431671, + -0.004715859889984131, + -0.007096648216247559, + 0.015944287180900574, + 1.0 + ], + [ + -0.0017431676387786865, + 0.0014240145683288574, + -0.006215430796146393, + -0.005020467564463615, + 0.013640105724334717, + 0.02287803590297699, + 1.0 + ], + [ + -0.00044080615043640137, + -0.0027505606412887573, + -0.001144159585237503, + -0.017162568867206573, + 0.006735578179359436, + -0.004482604563236237, + 1.0 + ], + [ + -0.0031068623065948486, + -0.0055746883153915405, + 0.009685080498456955, + 0.002456291578710079, + 0.014922581613063812, + -0.014746434986591339, + 1.0 + ], + [ + -0.0019948482513427734, + -0.022345513105392456, + 0.042196810245513916, + -0.014386617578566074, + -0.018098749220371246, + 0.015455149114131927, + 1.0 + ], + [ + -0.0035864710807800293, + -0.02556668221950531, + 0.022376537322998047, + -0.036227576434612274, + 0.0023763328790664673, + 0.007251925766468048, + 1.0 + ], + [ + 0.005324006080627441, + -0.028247356414794922, + -0.003199458122253418, + -0.0019645318388938904, + 0.02256644517183304, + -0.00391976535320282, + 1.0 + ], + [ + 0.0038349032402038574, + -0.02152799442410469, + -0.009975753724575043, + 0.016376711428165436, + -0.000444069504737854, + -0.0008071884512901306, + 1.0 + ], + [ + -0.00012421607971191406, + -0.007613617926836014, + -0.009795188903808594, + 0.02070235088467598, + -0.012517839670181274, + -0.020205117762088776, + 1.0 + ], + [ + 0.00016295909881591797, + -0.0010381713509559631, + -0.0005271285772323608, + 0.006560869514942169, + -0.029068775475025177, + -0.03467145562171936, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9461179971694946 + ], + [ + 0.7051732540130615 + ], + [ + 0.6861988306045532 + ], + [ + 0.6861988306045532 + ], + [ + 0.6861988306045532 + ], + [ + 0.6861988306045532 + ], + [ + 0.6861988306045532 + ], + [ + 0.6861988306045532 + ], + [ + 0.6861988306045532 + ], + [ + 0.6861988306045532 + ], + [ + 0.6861988306045532 + ], + [ + 0.6861988306045532 + ], + [ + 0.7594308853149414 + ], + [ + 0.9954678416252136 + ], + [ + 1.0054124593734741 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.255570650100708, + 0.02588396891951561, + 0.13589675724506378 + ], + [ + 0.2601456046104431, + 0.000697449198924005, + 0.12295515835285187 + ], + [ + 0.26193976402282715, + -0.027851080521941185, + 0.1181589663028717 + ], + [ + 0.25700873136520386, + -0.058583296835422516, + 0.10834500193595886 + ], + [ + 0.24820320308208466, + -0.0688985139131546, + 0.08436696976423264 + ], + [ + 0.24494142830371857, + -0.0652870461344719, + 0.07910965383052826 + ], + [ + 0.24104967713356018, + -0.06253632158041, + 0.06935641914606094 + ], + [ + 0.24096933007240295, + -0.05441509187221527, + 0.06065439432859421 + ], + [ + 0.24295134842395782, + -0.046133629977703094, + 0.050715938210487366 + ], + [ + 0.25039511919021606, + -0.04022311791777611, + 0.04485227167606354 + ], + [ + 0.25489115715026855, + -0.03545422852039337, + 0.03247342258691788 + ], + [ + 0.26263880729675293, + -0.03429878503084183, + 0.02185795083642006 + ], + [ + 0.2649155259132385, + -0.03418755531311035, + 0.014063451439142227 + ], + [ + 0.267682284116745, + -0.0349692665040493, + 0.01098120491951704 + ], + [ + 0.26763632893562317, + -0.03539101034402847, + 0.01098711509257555 + ], + [ + 0.26727598905563354, + -0.037411611527204514, + 0.014507850632071495 + ], + [ + 0.268439918756485, + -0.038207463920116425, + 0.032401785254478455 + ], + [ + 0.2673492133617401, + -0.01702549308538437, + 0.0739823654294014 + ], + [ + 0.26829051971435547, + 0.02125478908419609, + 0.08888509124517441 + ], + [ + 0.27126792073249817, + 0.06653259694576263, + 0.08822554349899292 + ], + [ + 0.28083929419517517, + 0.11056806147098541, + 0.08387261629104614 + ], + [ + 0.286215215921402, + 0.14455971121788025, + 0.08563029021024704 + ], + [ + 0.290943443775177, + 0.15900851786136627, + 0.08226276934146881 + ], + [ + 0.2881338894367218, + 0.1647288203239441, + 0.07598084211349487 + ], + [ + 0.2875182330608368, + 0.16577386856079102, + 0.06754129379987717 + ], + [ + 0.2881429195404053, + 0.1663268804550171, + 0.0631735771894455 + ], + [ + 0.2863997519016266, + 0.16775089502334595, + 0.0569581463932991 + ], + [ + 0.2859589457511902, + 0.1650003343820572, + 0.0558139868080616 + ], + [ + 0.28285208344459534, + 0.15942564606666565, + 0.06549906730651855 + ], + [ + 0.28085723519325256, + 0.1370801329612732, + 0.10769587755203247 + ], + [ + 0.27727076411247253, + 0.11151345074176788, + 0.13007241487503052 + ], + [ + 0.2825947701931, + 0.08326609432697296, + 0.1268729567527771 + ], + [ + 0.28642967343330383, + 0.06173809990286827, + 0.11689720302820206 + ], + [ + 0.2863054573535919, + 0.05412448197603226, + 0.10710201412439346 + ], + [ + 0.28646841645240784, + 0.053086310625076294, + 0.1065748855471611 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9853307514673117, + -0.009645185451323071, + 0.1703827473967714, + 0.002109870060271614, + -0.9976367426439054, + -0.06867662029531212, + 0.17064248785455277, + 0.0680286713413344, + -0.9829818112327111 + ], + [ + 0.9740886214582802, + -0.05650946987385318, + 0.21899323587746505, + -0.03104679682748328, + -0.9925261819860366, + -0.11801641614188069, + 0.22402556539881768, + 0.10815940960821052, + -0.968562898402031 + ], + [ + 0.9618190140760792, + -0.1311696060441604, + 0.24020557573032886, + -0.10371107485756975, + -0.9868926695430554, + -0.12364008959099401, + 0.25327494371454623, + 0.09400741062491419, + -0.9628158752502952 + ], + [ + 0.9594934954430261, + -0.18004254815632492, + 0.2166954384750648, + -0.16396828679102782, + -0.9823373229015266, + -0.09015422874982931, + 0.22909961398775516, + 0.05097121626995694, + -0.9720675398256143 + ], + [ + 0.9771419389217942, + -0.17328095092210022, + 0.12315576822743342, + -0.17758497594177935, + -0.9837931692563943, + 0.024790652355621445, + 0.11686405572251136, + -0.046094600247668205, + -0.9920776584058798 + ], + [ + 0.9882690762078369, + -0.11560257269230051, + 0.09980119337077177, + -0.12536076770038218, + -0.987281675028053, + 0.09777306416070343, + 0.08722907160390748, + -0.10913725001448217, + -0.9901919761977457 + ], + [ + 0.9926811128900924, + -0.05583273472415589, + 0.1070836768350328, + -0.06553362838913082, + -0.9938445083996329, + 0.08932209510556438, + 0.10143742732070353, + -0.09568593865931513, + -0.990229594327216 + ], + [ + 0.9919575289593442, + 0.007192216566501296, + 0.12636666000861552, + -0.0014080812915047763, + -0.9976953899161325, + 0.06783749882751734, + 0.12656333611259224, + -0.06746985223755457, + -0.9896613264097441 + ], + [ + 0.9833710982662816, + 0.06691986342491454, + 0.168828359506803, + 0.06224684693251248, + -0.9975207711915388, + 0.03282744413441966, + 0.1706066034522928, + -0.021772526739652104, + -0.9850986468054068 + ], + [ + 0.9747732395177119, + 0.08041927753211059, + 0.2082063191196632, + 0.08234860721357184, + -0.9966034045270876, + -0.0006008119530849232, + 0.20745080961550988, + 0.017731155806418295, + -0.9780847446431409 + ], + [ + 0.975336744224964, + 0.09782343307327686, + 0.1978605855303304, + 0.10313721736592936, + -0.9945268316690858, + -0.01670615109062417, + 0.19514340818654394, + 0.03670091323125145, + -0.9800877987248551 + ], + [ + 0.9804831141290069, + 0.09624315169039512, + 0.17143546500238577, + 0.10100790696925972, + -0.9946989821889827, + -0.019270120962024514, + 0.1686720653741277, + 0.03621036571068122, + -0.9850068749899792 + ], + [ + 0.984442829173627, + 0.09556265544014311, + 0.14744522702974827, + 0.09895912911846741, + -0.9949651423462915, + -0.015857373046595673, + 0.1451874886232971, + 0.030201728444790854, + -0.9889430968191282 + ], + [ + 0.9851656855708588, + 0.09723242517257347, + 0.1414016529916096, + 0.1003813816705944, + -0.9948314990319289, + -0.015292702435722984, + 0.13918387186596773, + 0.029259938977123888, + -0.989834180953281 + ], + [ + 0.9849985074594558, + 0.09794538623699257, + 0.14207266316054942, + 0.100490945405273, + -0.9948789531333401, + -0.010836904717861761, + 0.14028367757582857, + 0.02495135120982268, + -0.9897969084002057 + ], + [ + 0.9847731429949477, + 0.09296007959162218, + 0.14690228193657032, + 0.09546927604824755, + -0.9953810563008113, + -0.010107922056716553, + 0.14528411532812466, + 0.023978664679260638, + -0.9890993627909805 + ], + [ + 0.982998414653399, + 0.05308337286911437, + 0.17577335495956925, + 0.0546362746447675, + -0.9984982970633283, + -0.00400353026400186, + 0.17529687470644106, + 0.013539065199333965, + -0.9844225207865179 + ], + [ + 0.9689372571183471, + 0.06978117720967089, + 0.23725762174313136, + 0.0697740456788602, + -0.9975271350481064, + 0.008437854722701326, + 0.2372597191214274, + 0.008378672326185667, + -0.9714101211807874 + ], + [ + 0.9716789557404222, + 0.08212956649183654, + 0.22157333160618767, + 0.08408685981462043, + -0.9964582471624039, + 0.0006013888473670025, + 0.22083796543556314, + 0.0180470487862244, + -0.9751435263859308 + ], + [ + 0.9779286985178477, + 0.10832039453533433, + 0.1786677160062724, + 0.12037221644101566, + -0.9910318303743255, + -0.05802103665043613, + 0.170780532041172, + 0.07824706584034628, + -0.9821972340437081 + ], + [ + 0.9824891015964714, + 0.09968769272459056, + 0.15740879633427649, + 0.11758049017264872, + -0.9870888993351724, + -0.10876733489443026, + 0.1445337108598467, + 0.1253709245739422, + -0.9815254136784013 + ], + [ + 0.980834231563723, + 0.11039534101339471, + 0.1605524178433261, + 0.12715492048900068, + -0.9870162272214663, + -0.09813558680182882, + 0.14763413016046664, + 0.11666977279501173, + -0.9821366135766059 + ], + [ + 0.9862521073984502, + 0.08049493649051669, + 0.14431682456146142, + 0.08896732140866555, + -0.9946107662460738, + -0.05323757497073902, + 0.1392537122430966, + 0.06534515182311187, + -0.9880983831378995 + ], + [ + 0.9881597591419087, + 0.07979542086716918, + 0.1310457218730794, + 0.0804973964045238, + -0.9967548172009097, + -5.965629864415015e-05, + 0.1306156942511048, + 0.010607789374433747, + -0.9913763237135985 + ], + [ + 0.9870681209124139, + 0.08280313311477232, + 0.13725948355145975, + 0.0768835715695891, + -0.9958892580738932, + 0.04789052177345978, + 0.1406607304870127, + -0.0367182080092105, + -0.9893767392148717 + ], + [ + 0.9846981993612116, + 0.09825232030945959, + 0.14393032247790852, + 0.09251552389607844, + -0.9946463037480713, + 0.04603920371306764, + 0.14768322183992846, + -0.03201893180770649, + -0.9885162891894456 + ], + [ + 0.9842334284401488, + 0.11989463384783024, + 0.1300378218651983, + 0.11524086361487305, + -0.992416452722854, + 0.0427683027286033, + 0.13417936389120555, + -0.027108322328796924, + -0.9905862088512384 + ], + [ + 0.9856158785224484, + 0.11312522967322583, + 0.1255548581927537, + 0.11092635404183077, + -0.9935292681634119, + 0.024391336200828218, + 0.1275017018843631, + -0.010113145606354446, + -0.9917867917564419 + ], + [ + 0.988928096282502, + 0.09858484558895651, + 0.11091550208725394, + 0.09655464962296857, + -0.9950492326587663, + 0.023541967236948718, + 0.11268726644679873, + -0.012571905400590288, + -0.9935509685845746 + ], + [ + 0.9851296515961286, + 0.11231813448049059, + 0.13001617673548352, + 0.11157870673015859, + -0.9936708116745281, + 0.012981149044275268, + 0.130651298311633, + 0.001718922018840668, + -0.9914268926938474 + ], + [ + 0.984600051677783, + 0.11482589877840196, + 0.1318246987701444, + 0.11875663972938097, + -0.9926723266814006, + -0.022327390378650842, + 0.12829496777462918, + 0.037638607979929864, + -0.9910215620424411 + ], + [ + 0.9876825997696339, + 0.11156347712320762, + 0.10971177094768245, + 0.11520246902199598, + -0.9929643614098955, + -0.02738919679498473, + 0.10588424454815393, + 0.03969089999002135, + -0.9935860099731925 + ], + [ + 0.9877284629794315, + 0.1125330254799704, + 0.10829959185801875, + 0.11439976457142573, + -0.9933720979902957, + -0.011161039394259274, + 0.10632580724495573, + 0.023413524097883442, + -0.9940556471360271 + ], + [ + 0.9884356834038213, + 0.0946219334977951, + 0.11849721294258196, + 0.09428682000567376, + -0.9955092664562055, + 0.008443694277108813, + 0.11876403221193886, + 0.002826676664644235, + -0.9929184833367718 + ], + [ + 0.9872457958825299, + 0.060940626921645084, + 0.1470781374054842, + 0.05973271185904654, + -0.9981346333840442, + 0.01261969782773838, + 0.14757283505521518, + -0.0036733676233355684, + -0.9890443694415684 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005976.json b/json/chunk-0005/episode_0005976.json new file mode 100644 index 0000000000000000000000000000000000000000..93fed7ed6b3505ab6adeff6b33563471046fa718 --- /dev/null +++ b/json/chunk-0005/episode_0005976.json @@ -0,0 +1,1702 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 27, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMoves the pot under the green cloth, next to the chicken." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005976.mp4", + "start": 0, + "end": 27, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2714146375656128, + 0.10572080314159393, + 0.08078299462795258, + -0.011966533958911896, + -0.09136233478784561, + -0.014768584631383419, + 0.0, + 1.0008161067962646 + ], + [ + 0.27128884196281433, + 0.10324649512767792, + 0.07407845556735992, + -0.022808188572525978, + -0.06858039647340775, + -0.00788759533315897, + 0.0, + 1.0008161067962646 + ], + [ + 0.29569849371910095, + 0.06933410465717316, + 0.0772242471575737, + -0.02103821188211441, + -0.07985090464353561, + -0.08769451826810837, + 0.0, + 1.0008161067962646 + ], + [ + 0.32539910078048706, + 0.03271004557609558, + 0.09866099804639816, + -0.04217394441366196, + -0.14211496710777283, + -0.12960685789585114, + 0.0, + 1.0008161067962646 + ], + [ + 0.3528251051902771, + 0.0056642103008925915, + 0.10810843855142593, + -0.10602258145809174, + -0.1959477663040161, + -0.08074840158224106, + 0.0, + 1.0008161067962646 + ], + [ + 0.37391936779022217, + -0.015197033993899822, + 0.085130475461483, + -0.14474348723888397, + -0.16293156147003174, + -0.05852479860186577, + 0.0, + 1.0008161067962646 + ], + [ + 0.38593044877052307, + -0.018013950437307358, + 0.0613211989402771, + -0.08377256244421005, + -0.10987312346696854, + -0.08000282943248749, + 0.0, + 1.0008161067962646 + ], + [ + 0.3866737484931946, + -0.014004072174429893, + 0.034608159214258194, + -0.011637631803750992, + -0.022569844499230385, + -0.1138630285859108, + 0.0, + 1.0008161067962646 + ], + [ + 0.3838840425014496, + -0.018734682351350784, + 0.019915752112865448, + 0.03515913709998131, + 0.028096679598093033, + -0.17191119492053986, + 0.0, + 0.9476637244224548 + ], + [ + 0.3870902955532074, + -0.02627279981970787, + 0.017417021095752716, + 0.042483869940042496, + 0.01739245466887951, + -0.215995192527771, + 0.0, + 0.6651484370231628 + ], + [ + 0.38395535945892334, + -0.027180980890989304, + 0.013106085360050201, + 0.03609624132514, + 0.00903769675642252, + -0.2181289792060852, + 0.0, + 0.3814634680747986 + ], + [ + 0.3817148804664612, + -0.029383137822151184, + 0.01820804923772812, + 0.020595630630850792, + -0.017588960006833076, + -0.21079526841640472, + 0.0, + 0.18178488314151764 + ], + [ + 0.37257105112075806, + -0.028689665719866753, + 0.026911308988928795, + -0.01885475590825081, + -0.028615891933441162, + -0.18398304283618927, + 0.0, + 0.08819076418876648 + ], + [ + 0.3596854507923126, + -0.021918101236224174, + 0.054187383502721786, + -0.06030534580349922, + -0.08779408037662506, + -0.17129996418952942, + 0.0, + 0.08259850740432739 + ], + [ + 0.3360421061515808, + -0.0010033674770966172, + 0.09643617272377014, + -0.09361487627029419, + -0.17872603237628937, + -0.14163143932819366, + 0.0, + 0.08259850740432739 + ], + [ + 0.304777592420578, + 0.04105439782142639, + 0.08719269931316376, + -0.1050473153591156, + -0.12187584489583969, + -0.09573457390069962, + 0.0, + 0.08259850740432739 + ], + [ + 0.27964287996292114, + 0.09037520736455917, + 0.07524143904447556, + -0.08547809720039368, + -0.07563889026641846, + -0.047460608184337616, + 0.0, + 0.08259850740432739 + ], + [ + 0.26876452565193176, + 0.12031310051679611, + 0.06578631699085236, + -0.07988371700048447, + -0.060460180044174194, + -0.0037923972122371197, + 0.0, + 0.08259850740432739 + ], + [ + 0.26386013627052307, + 0.13434654474258423, + 0.04925242066383362, + -0.07501612603664398, + -0.029746348038315773, + 0.030846484005451202, + 0.0, + 0.08259850740432739 + ], + [ + 0.2660245895385742, + 0.13313183188438416, + 0.03618071228265762, + -0.060698021203279495, + -0.004401714075356722, + 0.027121039107441902, + 0.0, + 0.08259850740432739 + ], + [ + 0.26741066575050354, + 0.12689921259880066, + 0.025562485679984093, + -0.060916703194379807, + 0.025812538340687752, + 0.011960270814597607, + 0.0, + 0.11409598588943481 + ], + [ + 0.26824745535850525, + 0.12438994646072388, + 0.024385804310441017, + -0.04199688881635666, + 0.040809810161590576, + -0.008909523487091064, + 0.0, + 0.2920950949192047 + ], + [ + 0.2676796615123749, + 0.12389706075191498, + 0.02411988563835621, + -0.04482792690396309, + 0.042625024914741516, + -0.017276324331760406, + 0.0, + 0.5859079360961914 + ], + [ + 0.2670958936214447, + 0.12556864321231842, + 0.03340486064553261, + -0.02737434208393097, + 0.030649028718471527, + -0.03763861209154129, + 0.0, + 0.8973560333251953 + ], + [ + 0.2637808322906494, + 0.12496534734964371, + 0.06629350781440735, + 0.040823228657245636, + -0.008380983956158161, + -0.05886678025126457, + 0.0, + 1.0124757289886475 + ], + [ + 0.26644912362098694, + 0.10677222907543182, + 0.08710090816020966, + 0.07878448069095612, + -0.01898709498345852, + -0.10892359912395477, + 0.0, + 1.0086473226547241 + ], + [ + 0.26831984519958496, + 0.09520301222801208, + 0.08922149986028671, + 0.04178641363978386, + -0.016479728743433952, + -0.10865919291973114, + 0.0, + 1.0027955770492554 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9476637244224548 + ], + [ + 0.6651484370231628 + ], + [ + 0.3814634680747986 + ], + [ + 0.18178488314151764 + ], + [ + 0.08819076418876648 + ], + [ + 0.08259850740432739 + ], + [ + 0.08259850740432739 + ], + [ + 0.08259850740432739 + ], + [ + 0.08259850740432739 + ], + [ + 0.08259850740432739 + ], + [ + 0.08259850740432739 + ], + [ + 0.08259850740432739 + ], + [ + 0.11409598588943481 + ], + [ + 0.2920950949192047 + ], + [ + 0.5859079360961914 + ], + [ + 0.8973560333251953 + ], + [ + 1.0124757289886475 + ], + [ + 1.0086473226547241 + ], + [ + 1.0027955770492554 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2714146375656128, + 0.10572080314159393, + 0.08078299462795258 + ], + [ + 0.27128884196281433, + 0.10324649512767792, + 0.07407845556735992 + ], + [ + 0.29569849371910095, + 0.06933410465717316, + 0.0772242471575737 + ], + [ + 0.32539910078048706, + 0.03271004557609558, + 0.09866099804639816 + ], + [ + 0.3528251051902771, + 0.0056642103008925915, + 0.10810843855142593 + ], + [ + 0.37391936779022217, + -0.015197033993899822, + 0.085130475461483 + ], + [ + 0.38593044877052307, + -0.018013950437307358, + 0.0613211989402771 + ], + [ + 0.3866737484931946, + -0.014004072174429893, + 0.034608159214258194 + ], + [ + 0.3838840425014496, + -0.018734682351350784, + 0.019915752112865448 + ], + [ + 0.3870902955532074, + -0.02627279981970787, + 0.017417021095752716 + ], + [ + 0.38395535945892334, + -0.027180980890989304, + 0.013106085360050201 + ], + [ + 0.3817148804664612, + -0.029383137822151184, + 0.01820804923772812 + ], + [ + 0.37257105112075806, + -0.028689665719866753, + 0.026911308988928795 + ], + [ + 0.3596854507923126, + -0.021918101236224174, + 0.054187383502721786 + ], + [ + 0.3360421061515808, + -0.0010033674770966172, + 0.09643617272377014 + ], + [ + 0.304777592420578, + 0.04105439782142639, + 0.08719269931316376 + ], + [ + 0.27964287996292114, + 0.09037520736455917, + 0.07524143904447556 + ], + [ + 0.26876452565193176, + 0.12031310051679611, + 0.06578631699085236 + ], + [ + 0.26386013627052307, + 0.13434654474258423, + 0.04925242066383362 + ], + [ + 0.2660245895385742, + 0.13313183188438416, + 0.03618071228265762 + ], + [ + 0.26741066575050354, + 0.12689921259880066, + 0.025562485679984093 + ], + [ + 0.26824745535850525, + 0.12438994646072388, + 0.024385804310441017 + ], + [ + 0.2676796615123749, + 0.12389706075191498, + 0.02411988563835621 + ], + [ + 0.2670958936214447, + 0.12556864321231842, + 0.03340486064553261 + ], + [ + 0.2637808322906494, + 0.12496534734964371, + 0.06629350781440735 + ], + [ + 0.26644912362098694, + 0.10677222907543182, + 0.08710090816020966 + ], + [ + 0.26831984519958496, + 0.09520301222801208, + 0.08922149986028671 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.995720765412363, + -0.015858615445888, + 0.0910420872056287, + -0.014706455622464332, + -0.9998032332021178, + -0.013312214001282284, + 0.09123528642823645, + 0.011916341499423866, + -0.9957580646500568 + ], + [ + 0.997618252368125, + -0.009448246680965595, + 0.06832681155025536, + -0.007868972259496633, + -0.9996964788462417, + -0.02334586597248803, + 0.0685266504182698, + 0.02275260022682517, + -0.9973898021161891 + ], + [ + 0.992983153791684, + -0.08923434373256195, + 0.07759953727013953, + -0.08730309062509561, + -0.995789890769765, + -0.027940361630547868, + 0.07976607457576894, + 0.020969628975221102, + -0.9965930202481926 + ], + [ + 0.981615988860646, + -0.1350509234985262, + 0.1348751217805979, + -0.12794135112477456, + -0.9899592522091121, + -0.06009733469915826, + 0.141637075250455, + 0.041736399314875244, + -0.9890384279120433 + ], + [ + 0.9776675561722787, + -0.10074417350032361, + 0.18443633349711896, + -0.07911712314076907, + -0.9894828878253299, + -0.12109539845416738, + 0.1946962517206024, + 0.10379897016147067, + -0.9753559059950196 + ], + [ + 0.9850665784274371, + -0.0812368685912287, + 0.15180384463758756, + -0.05771673436080294, + -0.9864802199247797, + -0.15338042336583269, + 0.16221163534095168, + 0.14232830666683632, + -0.9764374216924321 + ], + [ + 0.9907907854482084, + -0.08878301189364696, + 0.10223109248176265, + -0.0794356131986719, + -0.9925725759229737, + -0.09213937747447369, + 0.10965219025023235, + 0.0831700566593838, + -0.9904842951044714 + ], + [ + 0.993271566985423, + -0.1138703899161994, + 0.021098069074102766, + -0.11358821605751725, + -0.9934274885041158, + -0.01412594270398107, + 0.02256792837620848, + 0.011634405216343971, + -0.9996776126452311 + ], + [ + 0.9848707587332051, + -0.17193292685033912, + -0.021648493179832053, + -0.1709981663520116, + -0.9844817866399778, + 0.03943651706740231, + -0.02809298304792626, + -0.03513801984793219, + -0.9989875393940786 + ], + [ + 0.9766158581350758, + -0.21484769665355613, + -0.007869744706876444, + -0.21428718734452062, + -0.9757239462200789, + 0.04520820846584584, + -0.017391577819858832, + -0.04246466784726544, + -0.998946587664004 + ], + [ + 0.9762641811163211, + -0.21658077606461873, + -0.0010080220861301758, + -0.21639447989832244, + -0.9755975097144551, + 0.03718774137384159, + -0.009037573723802716, + -0.03608692946484485, + -0.9993077883129831 + ], + [ + 0.9777135660275186, + -0.20883906147699846, + 0.02150416720450136, + -0.2092052656935113, + -0.9777332241313481, + 0.016459016854780694, + 0.01758805310033022, + -0.02059098907593007, + -0.9996332685325227 + ], + [ + 0.9827203110043253, + -0.18344465234432436, + 0.024674883299266037, + -0.1828719348605499, + -0.9828493734172468, + -0.023768984279613617, + 0.02861198664757874, + 0.01884591997212376, + -0.9994129204290303 + ], + [ + 0.9815689471682149, + -0.17536066544794227, + 0.07596735462511181, + -0.16980690345641952, + -0.9826719870640219, + -0.07430599826521017, + 0.08768134062401672, + 0.060036679232799595, + -0.9943377593419017 + ], + [ + 0.9742174916310455, + -0.15699210603942032, + 0.16203011337841244, + -0.13890988938053062, + -0.983306396206019, + -0.11752690676019843, + 0.17777604347156156, + 0.09198918317736617, + -0.9797620469001432 + ], + [ + 0.9880372382193117, + -0.10775069556827684, + 0.11032770955887565, + -0.09487936114436309, + -0.9887152675685352, + -0.11593112828622544, + 0.1215743505875833, + 0.10407644921610394, + -0.9871108195120623 + ], + [ + 0.9960179191133565, + -0.05371375515447171, + 0.07115572578721122, + -0.04730714146452308, + -0.9949209647960238, + -0.08884991939109999, + 0.07556678616664159, + 0.08512993783948644, + -0.9935001532520719 + ], + [ + 0.9981656620143798, + -0.008601969414070602, + 0.05992760046583928, + -0.003785458821830184, + -0.9967855382911222, + -0.0800266265388283, + 0.06042335208263519, + 0.0796529771940526, + -0.9949896591157219 + ], + [ + 0.9990821053972798, + 0.028526879526230235, + 0.03195565395097551, + 0.030827948459505598, + -0.9967819794751672, + -0.07399542544877595, + 0.02974196141340743, + 0.07491263270012101, + -0.9967464638478635 + ], + [ + 0.9996225631962922, + 0.026800863279693603, + 0.006036959196338673, + 0.0271174517092757, + -0.9977986057253693, + -0.060519304567258396, + 0.004401699861438444, + 0.06066016930385749, + -0.9981487709246339 + ], + [ + 0.9995953755690317, + 0.013508957241981536, + -0.025031844023974428, + 0.011956001496606543, + -0.9980549684668713, + -0.061182791263602, + -0.025809672009140524, + 0.06085875444688846, + -0.9978126441561831 + ], + [ + 0.9991277387652521, + -0.0071887120754003265, + -0.04113494923457724, + -0.008901987601810735, + -0.9990938666989323, + -0.04161970856833721, + -0.04079848338567821, + 0.04194958811803886, + -0.9982863896749047 + ], + [ + 0.9989425947323441, + -0.015348821685814359, + -0.04333712152726623, + -0.017259773472392072, + -0.9988793034392917, + -0.04407082232404457, + -0.04261211857082065, + 0.044772210504875336, + -0.9980880003874477 + ], + [ + 0.9988224389687755, + -0.036777460878924334, + -0.031641014265755184, + -0.037612053234318515, + -0.9989489248431742, + -0.026198835969656463, + -0.030644230516776286, + 0.027358068754306568, + -0.9991558773334965 + ], + [ + 0.9982327919720202, + -0.05844232364943552, + 0.010760475742294402, + -0.05883072143235538, + -0.9974562653944943, + 0.04024853837119098, + 0.008380885841871154, + -0.04081045738194149, + -0.9991317567372097 + ], + [ + 0.993894506317026, + -0.10688574445300539, + 0.0273705671399392, + -0.10868874761112435, + -0.9911526157253296, + 0.07617905541264136, + 0.018985954165129573, + -0.07868881733489075, + -0.9967184173932354 + ], + [ + 0.9939674091519499, + -0.10766649705918489, + 0.02089772606684434, + -0.10843077362496913, + -0.9933092725801785, + 0.03974237458088589, + 0.01647898282209901, + -0.04176858170014007, + -0.9989914057227459 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.00012579560279846191, + -0.0024743080139160156, + -0.006704539060592651, + -0.010841654613614082, + 0.022781938314437866, + 0.006880989298224449, + 1.0 + ], + [ + 0.02440965175628662, + -0.03391239047050476, + 0.0031457915902137756, + 0.0017699766904115677, + -0.011270508170127869, + -0.07980692386627197, + 1.0 + ], + [ + 0.02970060706138611, + -0.036624059081077576, + 0.021436750888824463, + -0.021135732531547546, + -0.06226406246423721, + -0.04191233962774277, + 1.0 + ], + [ + 0.02742600440979004, + -0.027045834809541702, + 0.009447440505027771, + -0.06384863704442978, + -0.053832799196243286, + 0.04885845631361008, + 1.0 + ], + [ + 0.02109426259994507, + -0.020861243829131126, + -0.022977963089942932, + -0.038720905780792236, + 0.033016204833984375, + 0.02222360298037529, + 1.0 + ], + [ + 0.012011080980300903, + -0.0028169164434075356, + -0.023809276521205902, + 0.06097092479467392, + 0.0530584380030632, + -0.02147803083062172, + 1.0 + ], + [ + 0.0007432997226715088, + 0.004009878262877464, + -0.026713039726018906, + 0.07213492691516876, + 0.0873032808303833, + -0.03386019915342331, + 1.0 + ], + [ + -0.002789705991744995, + -0.004730610176920891, + -0.014692407101392746, + 0.0467967689037323, + 0.05066652595996857, + -0.05804816633462906, + 0.0 + ], + [ + 0.0032062530517578125, + -0.007538117468357086, + -0.002498731017112732, + 0.007324732840061188, + -0.010704224929213524, + -0.04408399760723114, + 0.0 + ], + [ + -0.0031349360942840576, + -0.0009081810712814331, + -0.004310935735702515, + -0.006387628614902496, + -0.00835475791245699, + -0.002133786678314209, + 0.0 + ], + [ + -0.002240478992462158, + -0.0022021569311618805, + 0.0051019638776779175, + -0.015500610694289207, + -0.02662665769457817, + 0.007333710789680481, + 0.0 + ], + [ + -0.009143829345703125, + 0.0006934721022844315, + 0.008703259751200676, + -0.03945038467645645, + -0.011026931926608086, + 0.026812225580215454, + 0.0 + ], + [ + -0.012885600328445435, + 0.006771564483642578, + 0.02727607451379299, + -0.04145058989524841, + -0.0591781884431839, + 0.012683078646659851, + 0.0 + ], + [ + -0.02364334464073181, + 0.020914733409881592, + 0.042248789221048355, + -0.03330953046679497, + -0.0909319519996643, + 0.029668524861335754, + 0.0 + ], + [ + -0.03126451373100281, + 0.042057763785123825, + -0.009243473410606384, + -0.011432439088821411, + 0.056850187480449677, + 0.04589686542749405, + 0.0 + ], + [ + -0.02513471245765686, + 0.04932080954313278, + -0.011951260268688202, + 0.019569218158721924, + 0.046236954629421234, + 0.048273965716362, + 0.0 + ], + [ + -0.01087835431098938, + 0.02993789315223694, + -0.0094551220536232, + 0.00559438019990921, + 0.015178710222244263, + 0.04366821050643921, + 0.0 + ], + [ + -0.004904389381408691, + 0.014033444225788116, + -0.016533896327018738, + 0.004867590963840485, + 0.03071383200585842, + 0.03463888168334961, + 0.0 + ], + [ + 0.0021644532680511475, + -0.0012147128582000732, + -0.013071708381175995, + 0.014318104833364487, + 0.02534463442862034, + -0.0037254448980093002, + 0.0 + ], + [ + 0.0013860762119293213, + -0.006232619285583496, + -0.01061822660267353, + -0.00021868199110031128, + 0.030214251950383186, + -0.015160768292844296, + 1.0 + ], + [ + 0.000836789608001709, + -0.0025092661380767822, + -0.0011766813695430756, + 0.018919814378023148, + 0.014997271820902824, + -0.020869795233011246, + 1.0 + ], + [ + -0.0005677938461303711, + -0.0004928857088088989, + -0.00026591867208480835, + -0.00283103808760643, + 0.00181521475315094, + -0.008366800844669342, + 1.0 + ], + [ + -0.0005837678909301758, + 0.0016715824604034424, + 0.0092849750071764, + 0.01745358482003212, + -0.011975996196269989, + -0.020362287759780884, + 1.0 + ], + [ + -0.003315061330795288, + -0.0006032958626747131, + 0.03288864716887474, + 0.0681975707411766, + -0.039030011743307114, + -0.021228168159723282, + 1.0 + ], + [ + 0.0026682913303375244, + -0.018193118274211884, + 0.020807400345802307, + 0.03796125203371048, + -0.010606111027300358, + -0.0500568188726902, + 1.0 + ], + [ + 0.0018707215785980225, + -0.011569216847419739, + 0.002120591700077057, + -0.036998067051172256, + 0.0025073662400245667, + 0.0002644062042236328, + 1.0 + ], + [ + -0.00018417835235595703, + -0.003239661455154419, + -5.895644426345825e-05, + -0.008125539869070053, + 0.0046160537749528885, + -0.0015263035893440247, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9476637244224548 + ], + [ + 0.6651484370231628 + ], + [ + 0.3814634680747986 + ], + [ + 0.18178488314151764 + ], + [ + 0.08819076418876648 + ], + [ + 0.08259850740432739 + ], + [ + 0.08259850740432739 + ], + [ + 0.08259850740432739 + ], + [ + 0.08259850740432739 + ], + [ + 0.08259850740432739 + ], + [ + 0.08259850740432739 + ], + [ + 0.08259850740432739 + ], + [ + 0.11409598588943481 + ], + [ + 0.2920950949192047 + ], + [ + 0.5859079360961914 + ], + [ + 0.8973560333251953 + ], + [ + 1.0124757289886475 + ], + [ + 1.0086473226547241 + ], + [ + 1.0027955770492554 + ], + [ + 1.0014774799346924 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.27128884196281433, + 0.10324649512767792, + 0.07407845556735992 + ], + [ + 0.29569849371910095, + 0.06933410465717316, + 0.0772242471575737 + ], + [ + 0.32539910078048706, + 0.03271004557609558, + 0.09866099804639816 + ], + [ + 0.3528251051902771, + 0.0056642103008925915, + 0.10810843855142593 + ], + [ + 0.37391936779022217, + -0.015197033993899822, + 0.085130475461483 + ], + [ + 0.38593044877052307, + -0.018013950437307358, + 0.0613211989402771 + ], + [ + 0.3866737484931946, + -0.014004072174429893, + 0.034608159214258194 + ], + [ + 0.3838840425014496, + -0.018734682351350784, + 0.019915752112865448 + ], + [ + 0.3870902955532074, + -0.02627279981970787, + 0.017417021095752716 + ], + [ + 0.38395535945892334, + -0.027180980890989304, + 0.013106085360050201 + ], + [ + 0.3817148804664612, + -0.029383137822151184, + 0.01820804923772812 + ], + [ + 0.37257105112075806, + -0.028689665719866753, + 0.026911308988928795 + ], + [ + 0.3596854507923126, + -0.021918101236224174, + 0.054187383502721786 + ], + [ + 0.3360421061515808, + -0.0010033674770966172, + 0.09643617272377014 + ], + [ + 0.304777592420578, + 0.04105439782142639, + 0.08719269931316376 + ], + [ + 0.27964287996292114, + 0.09037520736455917, + 0.07524143904447556 + ], + [ + 0.26876452565193176, + 0.12031310051679611, + 0.06578631699085236 + ], + [ + 0.26386013627052307, + 0.13434654474258423, + 0.04925242066383362 + ], + [ + 0.2660245895385742, + 0.13313183188438416, + 0.03618071228265762 + ], + [ + 0.26741066575050354, + 0.12689921259880066, + 0.025562485679984093 + ], + [ + 0.26824745535850525, + 0.12438994646072388, + 0.024385804310441017 + ], + [ + 0.2676796615123749, + 0.12389706075191498, + 0.02411988563835621 + ], + [ + 0.2670958936214447, + 0.12556864321231842, + 0.03340486064553261 + ], + [ + 0.2637808322906494, + 0.12496534734964371, + 0.06629350781440735 + ], + [ + 0.26644912362098694, + 0.10677222907543182, + 0.08710090816020966 + ], + [ + 0.26831984519958496, + 0.09520301222801208, + 0.08922149986028671 + ], + [ + 0.268135666847229, + 0.09196335077285767, + 0.08916254341602325 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.997618252368125, + -0.009448246680965595, + 0.06832681155025536, + -0.007868972259496633, + -0.9996964788462417, + -0.02334586597248803, + 0.0685266504182698, + 0.02275260022682517, + -0.9973898021161891 + ], + [ + 0.992983153791684, + -0.08923434373256195, + 0.07759953727013953, + -0.08730309062509561, + -0.995789890769765, + -0.027940361630547868, + 0.07976607457576894, + 0.020969628975221102, + -0.9965930202481926 + ], + [ + 0.981615988860646, + -0.1350509234985262, + 0.1348751217805979, + -0.12794135112477456, + -0.9899592522091121, + -0.06009733469915826, + 0.141637075250455, + 0.041736399314875244, + -0.9890384279120433 + ], + [ + 0.9776675561722787, + -0.10074417350032361, + 0.18443633349711896, + -0.07911712314076907, + -0.9894828878253299, + -0.12109539845416738, + 0.1946962517206024, + 0.10379897016147067, + -0.9753559059950196 + ], + [ + 0.9850665784274371, + -0.0812368685912287, + 0.15180384463758756, + -0.05771673436080294, + -0.9864802199247797, + -0.15338042336583269, + 0.16221163534095168, + 0.14232830666683632, + -0.9764374216924321 + ], + [ + 0.9907907854482084, + -0.08878301189364696, + 0.10223109248176265, + -0.0794356131986719, + -0.9925725759229737, + -0.09213937747447369, + 0.10965219025023235, + 0.0831700566593838, + -0.9904842951044714 + ], + [ + 0.993271566985423, + -0.1138703899161994, + 0.021098069074102766, + -0.11358821605751725, + -0.9934274885041158, + -0.01412594270398107, + 0.02256792837620848, + 0.011634405216343971, + -0.9996776126452311 + ], + [ + 0.9848707587332051, + -0.17193292685033912, + -0.021648493179832053, + -0.1709981663520116, + -0.9844817866399778, + 0.03943651706740231, + -0.02809298304792626, + -0.03513801984793219, + -0.9989875393940786 + ], + [ + 0.9766158581350758, + -0.21484769665355613, + -0.007869744706876444, + -0.21428718734452062, + -0.9757239462200789, + 0.04520820846584584, + -0.017391577819858832, + -0.04246466784726544, + -0.998946587664004 + ], + [ + 0.9762641811163211, + -0.21658077606461873, + -0.0010080220861301758, + -0.21639447989832244, + -0.9755975097144551, + 0.03718774137384159, + -0.009037573723802716, + -0.03608692946484485, + -0.9993077883129831 + ], + [ + 0.9777135660275186, + -0.20883906147699846, + 0.02150416720450136, + -0.2092052656935113, + -0.9777332241313481, + 0.016459016854780694, + 0.01758805310033022, + -0.02059098907593007, + -0.9996332685325227 + ], + [ + 0.9827203110043253, + -0.18344465234432436, + 0.024674883299266037, + -0.1828719348605499, + -0.9828493734172468, + -0.023768984279613617, + 0.02861198664757874, + 0.01884591997212376, + -0.9994129204290303 + ], + [ + 0.9815689471682149, + -0.17536066544794227, + 0.07596735462511181, + -0.16980690345641952, + -0.9826719870640219, + -0.07430599826521017, + 0.08768134062401672, + 0.060036679232799595, + -0.9943377593419017 + ], + [ + 0.9742174916310455, + -0.15699210603942032, + 0.16203011337841244, + -0.13890988938053062, + -0.983306396206019, + -0.11752690676019843, + 0.17777604347156156, + 0.09198918317736617, + -0.9797620469001432 + ], + [ + 0.9880372382193117, + -0.10775069556827684, + 0.11032770955887565, + -0.09487936114436309, + -0.9887152675685352, + -0.11593112828622544, + 0.1215743505875833, + 0.10407644921610394, + -0.9871108195120623 + ], + [ + 0.9960179191133565, + -0.05371375515447171, + 0.07115572578721122, + -0.04730714146452308, + -0.9949209647960238, + -0.08884991939109999, + 0.07556678616664159, + 0.08512993783948644, + -0.9935001532520719 + ], + [ + 0.9981656620143798, + -0.008601969414070602, + 0.05992760046583928, + -0.003785458821830184, + -0.9967855382911222, + -0.0800266265388283, + 0.06042335208263519, + 0.0796529771940526, + -0.9949896591157219 + ], + [ + 0.9990821053972798, + 0.028526879526230235, + 0.03195565395097551, + 0.030827948459505598, + -0.9967819794751672, + -0.07399542544877595, + 0.02974196141340743, + 0.07491263270012101, + -0.9967464638478635 + ], + [ + 0.9996225631962922, + 0.026800863279693603, + 0.006036959196338673, + 0.0271174517092757, + -0.9977986057253693, + -0.060519304567258396, + 0.004401699861438444, + 0.06066016930385749, + -0.9981487709246339 + ], + [ + 0.9995953755690317, + 0.013508957241981536, + -0.025031844023974428, + 0.011956001496606543, + -0.9980549684668713, + -0.061182791263602, + -0.025809672009140524, + 0.06085875444688846, + -0.9978126441561831 + ], + [ + 0.9991277387652521, + -0.0071887120754003265, + -0.04113494923457724, + -0.008901987601810735, + -0.9990938666989323, + -0.04161970856833721, + -0.04079848338567821, + 0.04194958811803886, + -0.9982863896749047 + ], + [ + 0.9989425947323441, + -0.015348821685814359, + -0.04333712152726623, + -0.017259773472392072, + -0.9988793034392917, + -0.04407082232404457, + -0.04261211857082065, + 0.044772210504875336, + -0.9980880003874477 + ], + [ + 0.9988224389687755, + -0.036777460878924334, + -0.031641014265755184, + -0.037612053234318515, + -0.9989489248431742, + -0.026198835969656463, + -0.030644230516776286, + 0.027358068754306568, + -0.9991558773334965 + ], + [ + 0.9982327919720202, + -0.05844232364943552, + 0.010760475742294402, + -0.05883072143235538, + -0.9974562653944943, + 0.04024853837119098, + 0.008380885841871154, + -0.04081045738194149, + -0.9991317567372097 + ], + [ + 0.993894506317026, + -0.10688574445300539, + 0.0273705671399392, + -0.10868874761112435, + -0.9911526157253296, + 0.07617905541264136, + 0.018985954165129573, + -0.07868881733489075, + -0.9967184173932354 + ], + [ + 0.9939674091519499, + -0.10766649705918489, + 0.02089772606684434, + -0.10843077362496913, + -0.9933092725801785, + 0.03974237458088589, + 0.01647898282209901, + -0.04176858170014007, + -0.9989914057227459 + ], + [ + 0.9938657715573936, + -0.10950354768371666, + 0.015485514886725959, + -0.1099549359781742, + -0.9934165822556691, + 0.032146635181638766, + 0.01186339667475696, + -0.033652149175732476, + -0.9993631935763854 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005978.json b/json/chunk-0005/episode_0005978.json new file mode 100644 index 0000000000000000000000000000000000000000..bc43f7cb9c1548135f76729b62054540a72cd7e5 --- /dev/null +++ b/json/chunk-0005/episode_0005978.json @@ -0,0 +1,1582 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 25, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut sushi on plate." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005978.mp4", + "start": 0, + "end": 25, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2011762112379074, + 0.0022835854906588793, + 0.1267392635345459, + 0.11704686284065247, + -0.025591541081666946, + -0.18236146867275238, + 0.0, + 0.9900195002555847 + ], + [ + 0.2221403568983078, + -0.0057410579174757, + 0.1265336126089096, + 0.11213389039039612, + 0.027628017589449883, + -0.0385102741420269, + 0.0, + 0.9900195002555847 + ], + [ + 0.2727087736129761, + -0.029995553195476532, + 0.13186068832874298, + 0.13756120204925537, + 0.02646772190928459, + 0.1556164026260376, + 0.0, + 0.9900195002555847 + ], + [ + 0.31206372380256653, + -0.062195613980293274, + 0.13114401698112488, + 0.1360252946615219, + 0.0049162800423800945, + 0.2967205047607422, + 0.0, + 0.9900195002555847 + ], + [ + 0.33818745613098145, + -0.08801886439323425, + 0.12642081081867218, + 0.10619068145751953, + -0.026283908635377884, + 0.39775606989860535, + 0.0, + 0.9900195002555847 + ], + [ + 0.3683757483959198, + -0.11756373196840286, + 0.11281109601259232, + 0.050885386765003204, + -0.08999630808830261, + 0.4388119876384735, + 0.0, + 0.9900195002555847 + ], + [ + 0.39267873764038086, + -0.13462673127651215, + 0.09342658519744873, + 0.028841331601142883, + -0.12715426087379456, + 0.42917999625205994, + 0.0, + 0.9900195002555847 + ], + [ + 0.40952426195144653, + -0.14346928894519806, + 0.07607699930667877, + 0.02364370785653591, + -0.14359089732170105, + 0.4169737994670868, + 0.0, + 0.9900195002555847 + ], + [ + 0.41754150390625, + -0.1477869600057602, + 0.061681538820266724, + 0.027226153761148453, + -0.14942951500415802, + 0.4089498519897461, + 0.0, + 0.9900195002555847 + ], + [ + 0.42485496401786804, + -0.14929650723934174, + 0.05122905597090721, + 0.0038035735487937927, + -0.17325375974178314, + 0.40699994564056396, + 0.0, + 0.9900195002555847 + ], + [ + 0.42770734429359436, + -0.13835684955120087, + 0.03804636374115944, + 0.00756547087803483, + -0.16571009159088135, + 0.4289543926715851, + 0.0, + 0.9900195002555847 + ], + [ + 0.4234333634376526, + -0.1292579174041748, + 0.030619638040661812, + 0.05414506793022156, + -0.12114757299423218, + 0.4437982738018036, + 0.0, + 0.9900195002555847 + ], + [ + 0.42583227157592773, + -0.12510253489017487, + 0.030007682740688324, + 0.03850393742322922, + -0.11382661759853363, + 0.43689417839050293, + 0.0, + 0.9900195002555847 + ], + [ + 0.42857682704925537, + -0.11946889013051987, + 0.0221794992685318, + 0.014124871231615543, + -0.12368670850992203, + 0.4359773099422455, + 0.0, + 0.7960459589958191 + ], + [ + 0.43112537264823914, + -0.12140651047229767, + 0.018320869654417038, + -0.009113636799156666, + -0.1458985060453415, + 0.43252578377723694, + 0.0, + 0.6169373393058777 + ], + [ + 0.43307989835739136, + -0.1212555542588234, + 0.01522409450262785, + -0.025957901030778885, + -0.16567784547805786, + 0.43114981055259705, + 0.0, + 0.6149309277534485 + ], + [ + 0.4233751893043518, + -0.11381933838129044, + 0.018588000908493996, + 0.01549834106117487, + -0.13329793512821198, + 0.3935242295265198, + 0.0, + 0.6149309277534485 + ], + [ + 0.4026831090450287, + -0.07997097820043564, + 0.028247233480215073, + 0.11106551438570023, + -0.05727927014231682, + 0.3386608064174652, + 0.0, + 0.6149309277534485 + ], + [ + 0.39140409231185913, + -0.026904594153165817, + 0.06810498237609863, + 0.16434326767921448, + -0.09170421212911606, + 0.32478833198547363, + 0.0, + 0.6149309277534485 + ], + [ + 0.3688775897026062, + 0.008746814914047718, + 0.071095772087574, + 0.2263506054878235, + -0.11922627687454224, + 0.27980273962020874, + 0.0, + 0.6149309277534485 + ], + [ + 0.347410649061203, + 0.05587660148739815, + 0.062483031302690506, + 0.24070793390274048, + -0.171115905046463, + 0.2828547954559326, + 0.0, + 0.6149309277534485 + ], + [ + 0.34154683351516724, + 0.07626590877771378, + 0.04526056721806526, + 0.2085605412721634, + -0.19398175179958344, + 0.2305038869380951, + 0.0, + 0.6149309277534485 + ], + [ + 0.34512484073638916, + 0.10679754614830017, + 0.016760919243097305, + 0.19028303027153015, + -0.22426937520503998, + 0.22353239357471466, + 0.0, + 0.6149309277534485 + ], + [ + 0.34771257638931274, + 0.10662604123353958, + -0.011088169179856777, + 0.17358480393886566, + -0.23119103908538818, + 0.19220860302448273, + 0.0, + 0.6149309277534485 + ], + [ + 0.3443460166454315, + 0.11139741539955139, + -0.018985584378242493, + 0.15329132974147797, + -0.23138390481472015, + 0.19584202766418457, + 0.0, + 0.6149309277534485 + ] + ], + "left_gripper_pos": [ + [ + 0.9900195002555847 + ], + [ + 0.9900195002555847 + ], + [ + 0.9900195002555847 + ], + [ + 0.9900195002555847 + ], + [ + 0.9900195002555847 + ], + [ + 0.9900195002555847 + ], + [ + 0.9900195002555847 + ], + [ + 0.9900195002555847 + ], + [ + 0.9900195002555847 + ], + [ + 0.9900195002555847 + ], + [ + 0.9900195002555847 + ], + [ + 0.9900195002555847 + ], + [ + 0.9900195002555847 + ], + [ + 0.7960459589958191 + ], + [ + 0.6169373393058777 + ], + [ + 0.6149309277534485 + ], + [ + 0.6149309277534485 + ], + [ + 0.6149309277534485 + ], + [ + 0.6149309277534485 + ], + [ + 0.6149309277534485 + ], + [ + 0.6149309277534485 + ], + [ + 0.6149309277534485 + ], + [ + 0.6149309277534485 + ], + [ + 0.6149309277534485 + ], + [ + 0.6149309277534485 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2011762112379074, + 0.0022835854906588793, + 0.1267392635345459 + ], + [ + 0.2221403568983078, + -0.0057410579174757, + 0.1265336126089096 + ], + [ + 0.2727087736129761, + -0.029995553195476532, + 0.13186068832874298 + ], + [ + 0.31206372380256653, + -0.062195613980293274, + 0.13114401698112488 + ], + [ + 0.33818745613098145, + -0.08801886439323425, + 0.12642081081867218 + ], + [ + 0.3683757483959198, + -0.11756373196840286, + 0.11281109601259232 + ], + [ + 0.39267873764038086, + -0.13462673127651215, + 0.09342658519744873 + ], + [ + 0.40952426195144653, + -0.14346928894519806, + 0.07607699930667877 + ], + [ + 0.41754150390625, + -0.1477869600057602, + 0.061681538820266724 + ], + [ + 0.42485496401786804, + -0.14929650723934174, + 0.05122905597090721 + ], + [ + 0.42770734429359436, + -0.13835684955120087, + 0.03804636374115944 + ], + [ + 0.4234333634376526, + -0.1292579174041748, + 0.030619638040661812 + ], + [ + 0.42583227157592773, + -0.12510253489017487, + 0.030007682740688324 + ], + [ + 0.42857682704925537, + -0.11946889013051987, + 0.0221794992685318 + ], + [ + 0.43112537264823914, + -0.12140651047229767, + 0.018320869654417038 + ], + [ + 0.43307989835739136, + -0.1212555542588234, + 0.01522409450262785 + ], + [ + 0.4233751893043518, + -0.11381933838129044, + 0.018588000908493996 + ], + [ + 0.4026831090450287, + -0.07997097820043564, + 0.028247233480215073 + ], + [ + 0.39140409231185913, + -0.026904594153165817, + 0.06810498237609863 + ], + [ + 0.3688775897026062, + 0.008746814914047718, + 0.071095772087574 + ], + [ + 0.347410649061203, + 0.05587660148739815, + 0.062483031302690506 + ], + [ + 0.34154683351516724, + 0.07626590877771378, + 0.04526056721806526 + ], + [ + 0.34512484073638916, + 0.10679754614830017, + 0.016760919243097305 + ], + [ + 0.34771257638931274, + 0.10662604123353958, + -0.011088169179856777 + ], + [ + 0.3443460166454315, + 0.11139741539955139, + -0.018985584378242493 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.983096161263509, + -0.17717284680887732, + 0.04617055406415693, + -0.1812930050994284, + -0.9772313916133349, + 0.11023453881376633, + 0.025588747741376126, + -0.11674155043986356, + -0.9928326275812683 + ], + [ + 0.9988772245794616, + -0.041347818780860836, + -0.02312245874679624, + -0.03848606310667536, + -0.9928637959844013, + 0.1128729620856753, + -0.02762450294541432, + -0.11185633869169143, + -0.993340347681251 + ], + [ + 0.9875701654326714, + 0.14993977488061974, + -0.04715116388844731, + 0.15493479794581974, + -0.9791461636496656, + 0.1314077569842452, + -0.026464631733204916, + -0.13707973635403412, + -0.9902064275434362 + ], + [ + 0.9562889503620964, + 0.28904723991825293, + -0.044307296363015794, + 0.2923820681926835, + -0.9476619093666978, + 0.12825611772868292, + -0.0049162602381453875, + -0.13560456714692434, + -0.990750842419105 + ], + [ + 0.9216140645696345, + 0.3877367293049105, + -0.016963040274917133, + 0.3872167754734311, + -0.9156603353208796, + 0.10783932080652611, + 0.0262808823937932, + -0.10595460852641062, + -0.9940236094543323 + ], + [ + 0.9015935294012813, + 0.4284526134809893, + 0.0596444946583613, + 0.4231449102657012, + -0.9021430965738146, + 0.08417967819159868, + 0.08987487222785348, + -0.05065758882457212, + -0.9946639211495046 + ], + [ + 0.9019662448739605, + 0.4192775089996196, + 0.10326307934126502, + 0.4127658372277455, + -0.9074073791285222, + 0.07896968988659125, + 0.1268118950479204, + -0.028604523246857527, + -0.9915142583564671 + ], + [ + 0.9049090369172392, + 0.40797539117997794, + 0.12122588460002465, + 0.4008274011533849, + -0.9126930505208262, + 0.0795536926585566, + 0.1430979712998685, + -0.023398199130116457, + -0.9894319051290641 + ], + [ + 0.9073140174373944, + 0.40121719559453944, + 0.12572205741582837, + 0.3932146960815314, + -0.915587301444135, + 0.08415519128227118, + 0.14887402912235775, + -0.026919424093020058, + -0.988489690416332 + ], + [ + 0.9045645525142876, + 0.3964553908900537, + 0.15679953242545497, + 0.3899297924227895, + -0.9180463418921897, + 0.0717333333917285, + 0.172388303883259, + -0.0037466214891989716, + -0.9850219467157418 + ], + [ + 0.896943679378765, + 0.41704312254327, + 0.14685731157093426, + 0.4102226597977791, + -0.9088560700237813, + 0.07548518642331817, + 0.16495273690035875, + -0.007461763885743183, + -0.9862732464529261 + ], + [ + 0.8965079280627161, + 0.4346503742238405, + 0.08574722798884771, + 0.4262258348504226, + -0.8989955524439778, + 0.10069028946232901, + 0.12085144859188199, + -0.05372195894625158, + -0.9912158586807523 + ], + [ + 0.9002067756016139, + 0.42677535346507517, + 0.08654801462601698, + 0.42038925136508226, + -0.9035486115425787, + 0.08290225519359284, + 0.11358097771040192, + -0.03824531676216089, + -0.9927923535403115 + ], + [ + 0.8995329181603309, + 0.4238339149276729, + 0.10585528660884871, + 0.41907037836887523, + -0.905631464955487, + 0.06489736247603785, + 0.123371581491554, + -0.014016498837463115, + -0.9922615535435262 + ], + [ + 0.8982639995170093, + 0.41794499174858707, + 0.13580784603247154, + 0.41471197433973667, + -0.908427588335942, + 0.05266208398251784, + 0.14538144830391386, + 0.009016685777916127, + -0.9893345914636961 + ], + [ + 0.8960457402163303, + 0.4138860823273916, + 0.16062484955900178, + 0.41219305851492954, + -0.909968665621516, + 0.04532008494150383, + 0.16492093242604525, + 0.02559957895514861, + -0.9859745167117874 + ], + [ + 0.9153704952243467, + 0.38530185395970334, + 0.1167875755718484, + 0.38004408418225594, + -0.9226627468163507, + 0.06526829027466155, + 0.13290353851875095, + -0.01536023998909421, + -0.9910099457001795 + ], + [ + 0.9416535666676139, + 0.3361620879126305, + 0.016840755101337555, + 0.33167941171980236, + -0.9352809216563646, + 0.12344377435426916, + 0.05724795387931484, + -0.11065553865868073, + -0.9922086592752503 + ], + [ + 0.9437360890613151, + 0.329007436906469, + 0.03341108593698812, + 0.3177673353331643, + -0.9301678052887286, + 0.18387978300947025, + 0.09157573258518485, + -0.1629170355260167, + -0.9823807432644946 + ], + [ + 0.95428697843787, + 0.29477720810329433, + 0.04942428923866021, + 0.27420555185238815, + -0.9292219303241903, + 0.24770530785171388, + 0.11894401253214423, + -0.22282953526723562, + -0.9675739352087469 + ], + [ + 0.9462382967446626, + 0.31003207649078107, + 0.09226698933299454, + 0.27502200813507266, + -0.9212480978755425, + 0.2750724217402527, + 0.17028206251720257, + -0.23490860713798867, + -0.9569858752757944 + ], + [ + 0.9552919176096581, + 0.26237442633199587, + 0.13629751485855468, + 0.22418307029674578, + -0.9433356925637644, + 0.24466246571055236, + 0.19276748465959248, + -0.2031684806809337, + -0.9599808671613277 + ], + [ + 0.9507004046249433, + 0.2586908380537904, + 0.1710198554349655, + 0.21612405614246408, + -0.9481959716273677, + 0.23284070036435003, + 0.2223940939020143, + -0.1844002432120402, + -0.9573596070969582 + ], + [ + 0.9554688539459877, + 0.22700299489176098, + 0.1885441843423234, + 0.18594485133612318, + -0.9592734665879188, + 0.21264742782828178, + 0.2291370362921017, + -0.16811917383382657, + -0.9587659578795567 + ], + [ + 0.9547435662337439, + 0.2266573447435637, + 0.19259068204113575, + 0.1894066372854959, + -0.9625683432886365, + 0.19387447034297717, + 0.22932476640666863, + -0.14862244975900057, + -0.9619363382990374 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + 0.02096414566040039, + -0.008024643175303936, + -0.0002056509256362915, + -0.004912972450256348, + 0.05321955680847168, + 0.14385119080543518, + 1.0 + ], + [ + 0.050568416714668274, + -0.02425449527800083, + 0.005327075719833374, + 0.025427311658859253, + -0.0011602956801652908, + 0.1941266804933548, + 1.0 + ], + [ + 0.039354950189590454, + -0.03220006078481674, + -0.000716671347618103, + -0.0015359073877334595, + -0.02155144140124321, + 0.1411041021347046, + 1.0 + ], + [ + 0.026123732328414917, + -0.02582325041294098, + -0.004723206162452698, + -0.02983461320400238, + -0.031200189143419266, + 0.10103556513786316, + 1.0 + ], + [ + 0.030188292264938354, + -0.02954486757516861, + -0.013609714806079865, + -0.05530529469251633, + -0.06371240317821503, + 0.041055917739868164, + 1.0 + ], + [ + 0.02430298924446106, + -0.017062999308109283, + -0.019384510815143585, + -0.02204405516386032, + -0.03715795278549194, + -0.009631991386413574, + 1.0 + ], + [ + 0.016845524311065674, + -0.008842557668685913, + -0.01734958589076996, + -0.005197623744606972, + -0.016436636447906494, + -0.012206196784973145, + 1.0 + ], + [ + 0.008017241954803467, + -0.004317671060562134, + -0.014395460486412048, + 0.003582445904612541, + -0.00583861768245697, + -0.008023947477340698, + 1.0 + ], + [ + 0.007313460111618042, + -0.001509547233581543, + -0.010452482849359512, + -0.02342258021235466, + -0.023824244737625122, + -0.001949906349182129, + 1.0 + ], + [ + 0.0028523802757263184, + 0.01093965768814087, + -0.013182692229747772, + 0.0037618973292410374, + 0.007543668150901794, + 0.021954447031021118, + 1.0 + ], + [ + -0.0042739808559417725, + 0.009098932147026062, + -0.007426725700497627, + 0.046579595655202866, + 0.04456251859664917, + 0.014843881130218506, + 1.0 + ], + [ + 0.0023989081382751465, + 0.004155382513999939, + -0.0006119552999734879, + -0.01564113050699234, + 0.007320955395698547, + -0.006904095411300659, + 1.0 + ], + [ + 0.0027445554733276367, + 0.005633644759654999, + -0.007828183472156525, + -0.02437906712293625, + -0.009860090911388397, + -0.0009168684482574463, + 0.0 + ], + [ + 0.0025485455989837646, + -0.0019376203417778015, + -0.0038586296141147614, + -0.02323850803077221, + -0.022211797535419464, + -0.003451526165008545, + 0.0 + ], + [ + 0.0019545257091522217, + 0.00015095621347427368, + -0.0030967751517891884, + -0.016844265162944794, + -0.01977933943271637, + -0.0013759732246398926, + 0.0 + ], + [ + -0.00970470905303955, + 0.007436215877532959, + 0.003363906405866146, + 0.04145624116063118, + 0.032379910349845886, + -0.03762558102607727, + 0.0 + ], + [ + -0.02069208025932312, + 0.0338483601808548, + 0.009659232571721077, + 0.09556717425584793, + 0.07601866126060486, + -0.054863423109054565, + 0.0 + ], + [ + -0.011279016733169556, + 0.05306638404726982, + 0.03985774889588356, + 0.05327775329351425, + -0.03442494198679924, + -0.013872474431991577, + 0.0 + ], + [ + -0.02252650260925293, + 0.03565140813589096, + 0.0029907897114753723, + 0.06200733780860901, + -0.027522064745426178, + -0.04498559236526489, + 0.0 + ], + [ + -0.021466940641403198, + 0.047129787504673004, + -0.0086127407848835, + 0.014357328414916992, + -0.051889628171920776, + 0.003052055835723877, + 0.0 + ], + [ + -0.005863815546035767, + 0.020389307290315628, + -0.017222464084625244, + -0.03214739263057709, + -0.022865846753120422, + -0.052350908517837524, + 0.0 + ], + [ + 0.003578007221221924, + 0.030531637370586395, + -0.028499647974967957, + -0.01827751100063324, + -0.030287623405456543, + -0.006971493363380432, + 0.0 + ], + [ + 0.002587735652923584, + -0.0001715049147605896, + -0.027849089354276657, + -0.01669822633266449, + -0.006921663880348206, + -0.031323790550231934, + 0.0 + ], + [ + -0.0033665597438812256, + 0.00477137416601181, + -0.007897415198385715, + -0.020293474197387695, + -0.00019286572933197021, + 0.0036334246397018433, + 0.0 + ], + [ + -0.0023109912872314453, + -0.000978626310825348, + -0.0028473250567913055, + -0.00020498037338256836, + -0.0008587390184402466, + -0.02195127308368683, + 0.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9900195002555847 + ], + [ + 0.9900195002555847 + ], + [ + 0.9900195002555847 + ], + [ + 0.9900195002555847 + ], + [ + 0.9900195002555847 + ], + [ + 0.9900195002555847 + ], + [ + 0.9900195002555847 + ], + [ + 0.9900195002555847 + ], + [ + 0.9900195002555847 + ], + [ + 0.9900195002555847 + ], + [ + 0.9900195002555847 + ], + [ + 0.9900195002555847 + ], + [ + 0.7960459589958191 + ], + [ + 0.6169373393058777 + ], + [ + 0.6149309277534485 + ], + [ + 0.6149309277534485 + ], + [ + 0.6149309277534485 + ], + [ + 0.6149309277534485 + ], + [ + 0.6149309277534485 + ], + [ + 0.6149309277534485 + ], + [ + 0.6149309277534485 + ], + [ + 0.6149309277534485 + ], + [ + 0.6149309277534485 + ], + [ + 0.6149309277534485 + ], + [ + 0.6149309277534485 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2221403568983078, + -0.0057410579174757, + 0.1265336126089096 + ], + [ + 0.2727087736129761, + -0.029995553195476532, + 0.13186068832874298 + ], + [ + 0.31206372380256653, + -0.062195613980293274, + 0.13114401698112488 + ], + [ + 0.33818745613098145, + -0.08801886439323425, + 0.12642081081867218 + ], + [ + 0.3683757483959198, + -0.11756373196840286, + 0.11281109601259232 + ], + [ + 0.39267873764038086, + -0.13462673127651215, + 0.09342658519744873 + ], + [ + 0.40952426195144653, + -0.14346928894519806, + 0.07607699930667877 + ], + [ + 0.41754150390625, + -0.1477869600057602, + 0.061681538820266724 + ], + [ + 0.42485496401786804, + -0.14929650723934174, + 0.05122905597090721 + ], + [ + 0.42770734429359436, + -0.13835684955120087, + 0.03804636374115944 + ], + [ + 0.4234333634376526, + -0.1292579174041748, + 0.030619638040661812 + ], + [ + 0.42583227157592773, + -0.12510253489017487, + 0.030007682740688324 + ], + [ + 0.42857682704925537, + -0.11946889013051987, + 0.0221794992685318 + ], + [ + 0.43112537264823914, + -0.12140651047229767, + 0.018320869654417038 + ], + [ + 0.43307989835739136, + -0.1212555542588234, + 0.01522409450262785 + ], + [ + 0.4233751893043518, + -0.11381933838129044, + 0.018588000908493996 + ], + [ + 0.4026831090450287, + -0.07997097820043564, + 0.028247233480215073 + ], + [ + 0.39140409231185913, + -0.026904594153165817, + 0.06810498237609863 + ], + [ + 0.3688775897026062, + 0.008746814914047718, + 0.071095772087574 + ], + [ + 0.347410649061203, + 0.05587660148739815, + 0.062483031302690506 + ], + [ + 0.34154683351516724, + 0.07626590877771378, + 0.04526056721806526 + ], + [ + 0.34512484073638916, + 0.10679754614830017, + 0.016760919243097305 + ], + [ + 0.34771257638931274, + 0.10662604123353958, + -0.011088169179856777 + ], + [ + 0.3443460166454315, + 0.11139741539955139, + -0.018985584378242493 + ], + [ + 0.3420350253582001, + 0.11041878908872604, + -0.021832909435033798 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9988772245794616, + -0.041347818780860836, + -0.02312245874679624, + -0.03848606310667536, + -0.9928637959844013, + 0.1128729620856753, + -0.02762450294541432, + -0.11185633869169143, + -0.993340347681251 + ], + [ + 0.9875701654326714, + 0.14993977488061974, + -0.04715116388844731, + 0.15493479794581974, + -0.9791461636496656, + 0.1314077569842452, + -0.026464631733204916, + -0.13707973635403412, + -0.9902064275434362 + ], + [ + 0.9562889503620964, + 0.28904723991825293, + -0.044307296363015794, + 0.2923820681926835, + -0.9476619093666978, + 0.12825611772868292, + -0.0049162602381453875, + -0.13560456714692434, + -0.990750842419105 + ], + [ + 0.9216140645696345, + 0.3877367293049105, + -0.016963040274917133, + 0.3872167754734311, + -0.9156603353208796, + 0.10783932080652611, + 0.0262808823937932, + -0.10595460852641062, + -0.9940236094543323 + ], + [ + 0.9015935294012813, + 0.4284526134809893, + 0.0596444946583613, + 0.4231449102657012, + -0.9021430965738146, + 0.08417967819159868, + 0.08987487222785348, + -0.05065758882457212, + -0.9946639211495046 + ], + [ + 0.9019662448739605, + 0.4192775089996196, + 0.10326307934126502, + 0.4127658372277455, + -0.9074073791285222, + 0.07896968988659125, + 0.1268118950479204, + -0.028604523246857527, + -0.9915142583564671 + ], + [ + 0.9049090369172392, + 0.40797539117997794, + 0.12122588460002465, + 0.4008274011533849, + -0.9126930505208262, + 0.0795536926585566, + 0.1430979712998685, + -0.023398199130116457, + -0.9894319051290641 + ], + [ + 0.9073140174373944, + 0.40121719559453944, + 0.12572205741582837, + 0.3932146960815314, + -0.915587301444135, + 0.08415519128227118, + 0.14887402912235775, + -0.026919424093020058, + -0.988489690416332 + ], + [ + 0.9045645525142876, + 0.3964553908900537, + 0.15679953242545497, + 0.3899297924227895, + -0.9180463418921897, + 0.0717333333917285, + 0.172388303883259, + -0.0037466214891989716, + -0.9850219467157418 + ], + [ + 0.896943679378765, + 0.41704312254327, + 0.14685731157093426, + 0.4102226597977791, + -0.9088560700237813, + 0.07548518642331817, + 0.16495273690035875, + -0.007461763885743183, + -0.9862732464529261 + ], + [ + 0.8965079280627161, + 0.4346503742238405, + 0.08574722798884771, + 0.4262258348504226, + -0.8989955524439778, + 0.10069028946232901, + 0.12085144859188199, + -0.05372195894625158, + -0.9912158586807523 + ], + [ + 0.9002067756016139, + 0.42677535346507517, + 0.08654801462601698, + 0.42038925136508226, + -0.9035486115425787, + 0.08290225519359284, + 0.11358097771040192, + -0.03824531676216089, + -0.9927923535403115 + ], + [ + 0.8995329181603309, + 0.4238339149276729, + 0.10585528660884871, + 0.41907037836887523, + -0.905631464955487, + 0.06489736247603785, + 0.123371581491554, + -0.014016498837463115, + -0.9922615535435262 + ], + [ + 0.8982639995170093, + 0.41794499174858707, + 0.13580784603247154, + 0.41471197433973667, + -0.908427588335942, + 0.05266208398251784, + 0.14538144830391386, + 0.009016685777916127, + -0.9893345914636961 + ], + [ + 0.8960457402163303, + 0.4138860823273916, + 0.16062484955900178, + 0.41219305851492954, + -0.909968665621516, + 0.04532008494150383, + 0.16492093242604525, + 0.02559957895514861, + -0.9859745167117874 + ], + [ + 0.9153704952243467, + 0.38530185395970334, + 0.1167875755718484, + 0.38004408418225594, + -0.9226627468163507, + 0.06526829027466155, + 0.13290353851875095, + -0.01536023998909421, + -0.9910099457001795 + ], + [ + 0.9416535666676139, + 0.3361620879126305, + 0.016840755101337555, + 0.33167941171980236, + -0.9352809216563646, + 0.12344377435426916, + 0.05724795387931484, + -0.11065553865868073, + -0.9922086592752503 + ], + [ + 0.9437360890613151, + 0.329007436906469, + 0.03341108593698812, + 0.3177673353331643, + -0.9301678052887286, + 0.18387978300947025, + 0.09157573258518485, + -0.1629170355260167, + -0.9823807432644946 + ], + [ + 0.95428697843787, + 0.29477720810329433, + 0.04942428923866021, + 0.27420555185238815, + -0.9292219303241903, + 0.24770530785171388, + 0.11894401253214423, + -0.22282953526723562, + -0.9675739352087469 + ], + [ + 0.9462382967446626, + 0.31003207649078107, + 0.09226698933299454, + 0.27502200813507266, + -0.9212480978755425, + 0.2750724217402527, + 0.17028206251720257, + -0.23490860713798867, + -0.9569858752757944 + ], + [ + 0.9552919176096581, + 0.26237442633199587, + 0.13629751485855468, + 0.22418307029674578, + -0.9433356925637644, + 0.24466246571055236, + 0.19276748465959248, + -0.2031684806809337, + -0.9599808671613277 + ], + [ + 0.9507004046249433, + 0.2586908380537904, + 0.1710198554349655, + 0.21612405614246408, + -0.9481959716273677, + 0.23284070036435003, + 0.2223940939020143, + -0.1844002432120402, + -0.9573596070969582 + ], + [ + 0.9554688539459877, + 0.22700299489176098, + 0.1885441843423234, + 0.18594485133612318, + -0.9592734665879188, + 0.21264742782828178, + 0.2291370362921017, + -0.16811917383382657, + -0.9587659578795567 + ], + [ + 0.9547435662337439, + 0.2266573447435637, + 0.19259068204113575, + 0.1894066372854959, + -0.9625683432886365, + 0.19387447034297717, + 0.22932476640666863, + -0.14862244975900057, + -0.9619363382990374 + ], + [ + 0.9584766191057059, + 0.20556001413179203, + 0.1976553849957881, + 0.1683707177614313, + -0.9673282534447379, + 0.18954511728887485, + 0.23016053534043623, + -0.14839518414588238, + -0.9617718010495596 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005979.json b/json/chunk-0005/episode_0005979.json new file mode 100644 index 0000000000000000000000000000000000000000..c1a58f1113e6abf414a2db63995c87d828a4822a --- /dev/null +++ b/json/chunk-0005/episode_0005979.json @@ -0,0 +1,1342 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 21, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the green towel in front of the left burner." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005979.mp4", + "start": 0, + "end": 21, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.25619810819625854, + -0.015194074250757694, + 0.07941082119941711, + -0.004430138971656561, + -0.20113863050937653, + -0.07646097242832184, + 0.0, + 1.0008161067962646 + ], + [ + 0.254625141620636, + -0.015430481173098087, + 0.07357628643512726, + -0.008544497191905975, + -0.17832708358764648, + -0.07992711663246155, + 0.0, + 1.0008161067962646 + ], + [ + 0.2622836232185364, + 0.02414611540734768, + 0.06600500643253326, + -0.026880858466029167, + -0.171416774392128, + -0.050936635583639145, + 0.0, + 1.0008161067962646 + ], + [ + 0.2816447615623474, + 0.06113959103822708, + 0.06652143597602844, + -0.008442801423370838, + -0.17585600912570953, + -0.07199662178754807, + 0.0, + 1.0008161067962646 + ], + [ + 0.30688515305519104, + 0.1055184081196785, + 0.054692573845386505, + 0.019704537466168404, + -0.14691384136676788, + -0.044378068298101425, + 0.0, + 1.0008161067962646 + ], + [ + 0.32997995615005493, + 0.127946674823761, + 0.036722440272569656, + 0.025844207033514977, + -0.10254434496164322, + -0.028531890362501144, + 0.0, + 1.0008161067962646 + ], + [ + 0.34896332025527954, + 0.14517998695373535, + 0.030948368832468987, + 0.04164807125926018, + -0.1089862510561943, + -0.0011691199615597725, + 0.0, + 1.0008161067962646 + ], + [ + 0.3637070953845978, + 0.15264344215393066, + 0.025171684101223946, + 0.04090529680252075, + -0.1125372052192688, + 0.018670490011572838, + 0.0, + 1.0008161067962646 + ], + [ + 0.36886611580848694, + 0.1523982584476471, + 0.019422421231865883, + 0.03466201201081276, + -0.10508127510547638, + 0.019308671355247498, + 0.0, + 1.0008161067962646 + ], + [ + 0.36737480759620667, + 0.1511276215314865, + 0.015569310635328293, + 0.03326321020722389, + -0.10231074690818787, + 0.02104991301894188, + 0.0, + 1.0008161067962646 + ], + [ + 0.3604260981082916, + 0.1490880697965622, + 0.008154402486979961, + 0.0328327976167202, + -0.08764795958995819, + 0.02094017155468464, + 0.0, + 1.0008161067962646 + ], + [ + 0.35403600335121155, + 0.14664651453495026, + 0.005603186320513487, + 0.031030530110001564, + -0.07846784591674805, + 0.015655605122447014, + 0.0, + 1.0008161067962646 + ], + [ + 0.3395504057407379, + 0.1433393657207489, + 0.0055200932547450066, + 0.022427627816796303, + -0.07397358864545822, + -0.01154912170022726, + 0.0, + 1.0001531839370728 + ], + [ + 0.31610918045043945, + 0.13818588852882385, + 0.005973617546260357, + 0.010430811904370785, + -0.07277054339647293, + -0.059330638498067856, + 0.0, + 1.0001531839370728 + ], + [ + 0.2847851812839508, + 0.13509267568588257, + 0.006753887515515089, + -0.005949325393885374, + -0.0789053738117218, + -0.08732723444700241, + 0.0, + 1.0001531839370728 + ], + [ + 0.2564809322357178, + 0.138852059841156, + 0.006817214656621218, + -0.013644934631884098, + -0.0769287720322609, + -0.08179837465286255, + 0.0, + 1.0001531839370728 + ], + [ + 0.24495258927345276, + 0.1423926055431366, + 0.007362139876931906, + -0.024012835696339607, + -0.07746931165456772, + -0.06822166591882706, + 0.0, + 1.0001531839370728 + ], + [ + 0.24476222693920135, + 0.14265242218971252, + 0.007340420037508011, + -0.022983761504292488, + -0.07599663734436035, + -0.061325374990701675, + 0.0, + 1.0008161067962646 + ], + [ + 0.2494276762008667, + 0.14082211256027222, + 0.009530442766845226, + -0.014511171728372574, + -0.07145699858665466, + -0.060907017439603806, + 0.0, + 1.0001531839370728 + ], + [ + 0.2505570352077484, + 0.12940895557403564, + 0.02544073946774006, + 0.006836745422333479, + -0.07133215665817261, + -0.08393783122301102, + 0.0, + 1.0008161067962646 + ], + [ + 0.25213927030563354, + 0.1204201877117157, + 0.06076116859912872, + 0.036047596484422684, + -0.11560962349176407, + -0.10091221332550049, + 0.0, + 1.0001531839370728 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.25619810819625854, + -0.015194074250757694, + 0.07941082119941711 + ], + [ + 0.254625141620636, + -0.015430481173098087, + 0.07357628643512726 + ], + [ + 0.2622836232185364, + 0.02414611540734768, + 0.06600500643253326 + ], + [ + 0.2816447615623474, + 0.06113959103822708, + 0.06652143597602844 + ], + [ + 0.30688515305519104, + 0.1055184081196785, + 0.054692573845386505 + ], + [ + 0.32997995615005493, + 0.127946674823761, + 0.036722440272569656 + ], + [ + 0.34896332025527954, + 0.14517998695373535, + 0.030948368832468987 + ], + [ + 0.3637070953845978, + 0.15264344215393066, + 0.025171684101223946 + ], + [ + 0.36886611580848694, + 0.1523982584476471, + 0.019422421231865883 + ], + [ + 0.36737480759620667, + 0.1511276215314865, + 0.015569310635328293 + ], + [ + 0.3604260981082916, + 0.1490880697965622, + 0.008154402486979961 + ], + [ + 0.35403600335121155, + 0.14664651453495026, + 0.005603186320513487 + ], + [ + 0.3395504057407379, + 0.1433393657207489, + 0.0055200932547450066 + ], + [ + 0.31610918045043945, + 0.13818588852882385, + 0.005973617546260357 + ], + [ + 0.2847851812839508, + 0.13509267568588257, + 0.006753887515515089 + ], + [ + 0.2564809322357178, + 0.138852059841156, + 0.006817214656621218 + ], + [ + 0.24495258927345276, + 0.1423926055431366, + 0.007362139876931906 + ], + [ + 0.24476222693920135, + 0.14265242218971252, + 0.007340420037508011 + ], + [ + 0.2494276762008667, + 0.14082211256027222, + 0.009530442766845226 + ], + [ + 0.2505570352077484, + 0.12940895557403564, + 0.02544073946774006 + ], + [ + 0.25213927030563354, + 0.1204201877117157, + 0.06076116859912872 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9769769178905391, + -0.07726822965990357, + 0.19886106354519828, + -0.07484651997388808, + -0.9970008916929618, + -0.019677916841921973, + 0.19978513547534354, + 0.00434081198206295, + -0.9798301163948959 + ], + [ + 0.9809999723528926, + -0.08134992414327227, + 0.17612848743320245, + -0.07857589379049726, + -0.9966501293494292, + -0.022679254458435338, + 0.17738343541224025, + 0.008408894674677033, + -0.9841058923366437 + ], + [ + 0.9840661032264802, + -0.05547501716498731, + 0.16892728302792043, + -0.050168411994919, + -0.9981087795579975, + -0.03552456343367597, + 0.17057853006330792, + 0.026483705174872415, + -0.9849881108123346 + ], + [ + 0.98202645759305, + -0.07340510745372703, + 0.17388423386538665, + -0.07082500388451804, + -0.9972675632451843, + -0.02100538320932318, + 0.17495100860527696, + 0.008312490524463721, + -0.9845420494266749 + ], + [ + 0.9882536193535943, + -0.04147345055964071, + 0.14708751385891944, + -0.043885600021705655, + -0.9989494749098016, + 0.013190932043117293, + 0.14638592126722993, + -0.019491010135657596, + -0.9890355213937646 + ], + [ + 0.9943420654898772, + -0.025874328623916792, + 0.10302609337243551, + -0.028378159804526727, + -0.9993346496909574, + 0.02291152489817557, + 0.10236472460488028, + -0.02570558393253372, + -0.9944147455218342 + ], + [ + 0.9940661954705208, + 0.0033606681560105264, + 0.10872490483927807, + -0.001162183161743132, + -0.9991374562901575, + 0.04150894805138699, + 0.10877062265641149, + -0.04138900032109207, + -0.9932048642145072 + ], + [ + 0.993501182877103, + 0.023245364200738017, + 0.11142285521818299, + 0.018551309544488272, + -0.998903615318624, + 0.04298157997988011, + 0.11229981538712208, + -0.040635210674454476, + -0.99284315534603 + ], + [ + 0.9942986628580807, + 0.022930097659881552, + 0.10413635128974413, + 0.01920097236889368, + -0.9991428572219961, + 0.03667251726231387, + 0.104887995970567, + -0.03446391567384678, + -0.9938866871116165 + ], + [ + 0.9945504365284635, + 0.02443258613211255, + 0.10135323347550099, + 0.020938292850977924, + -0.9991539183943106, + 0.03539823794741648, + 0.1021323508665555, + -0.0330831693190379, + -0.9942205423417274 + ], + [ + 0.9959429801347688, + 0.02380025468702445, + 0.08678207301688873, + 0.02085826567092612, + -0.999181765117102, + 0.034651594633923366, + 0.08753578167513501, + -0.03270088889167162, + -0.9956244968823427 + ], + [ + 0.9968008084809281, + 0.018079141731533827, + 0.07785430525037962, + 0.015606794928742396, + -0.9993580312010348, + 0.03224830888657119, + 0.07838734696250638, + -0.03093008419391447, + -0.9964430509205918 + ], + [ + 0.9971986935417357, + -0.009888670589996786, + 0.07414161984079598, + -0.011517281142386412, + -0.9997009787986818, + 0.02157093470492354, + 0.0739061420569482, + -0.022364417786282235, + -0.9970144005897498 + ], + [ + 0.9955985029922831, + -0.05853557241693738, + 0.07319294775691355, + -0.059138903264310275, + -0.9982311175270638, + 0.006101321280161073, + 0.07270633370084996, + -0.010403016989829152, + -0.9972991358049449 + ], + [ + 0.9930898418076215, + -0.0876818967470193, + 0.07800289149357365, + -0.08694491719808546, + -0.9961308703359583, + -0.012801192801612987, + 0.07882352105768456, + 0.005930779592182699, + -0.9968709436940659 + ], + [ + 0.9937087079030436, + -0.0827446948127557, + 0.07547396450437273, + -0.08146553287418773, + -0.9964779186709174, + -0.019877740183452758, + 0.0768529166082071, + 0.013604156777254996, + -0.9969496256718248 + ], + [ + 0.9946815347304969, + -0.07000300258810262, + 0.07555279011944711, + -0.06796430381186057, + -0.9972595084274413, + -0.029228860026129743, + 0.07739184629889793, + 0.023938514567701765, + -0.9967133237028285 + ], + [ + 0.9952392593716756, + -0.06301233077022791, + 0.07435228830521624, + -0.06111004758899226, + -0.9977496331267287, + -0.027590427310016777, + 0.07592350551041298, + 0.022915404565086915, + -0.9968502924434685 + ], + [ + 0.9955985077842416, + -0.06189704352196002, + 0.07037305806224609, + -0.060714030483576244, + -0.9979775899223543, + -0.018829140054951548, + 0.07139620298188865, + 0.014473631749156562, + -0.9973430183160451 + ], + [ + 0.993945181772761, + -0.08335179472723987, + 0.07159227574578902, + -0.08362609276093648, + -0.9964968516662709, + 0.0008373940227834535, + 0.07127167908960944, + -0.006819306046674821, + -0.9974336292830664 + ], + [ + 0.9882712890200638, + -0.09653946319491374, + 0.11832155908649687, + -0.10006854914350813, + -0.9946851504271532, + 0.024243287566351475, + 0.11535226383099194, + -0.035799211803465875, + -0.9926793397987669 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0015729665756225586, + -0.00023640692234039307, + -0.005834534764289856, + -0.0041143582202494144, + 0.02281154692173004, + -0.0034661442041397095, + 1.0 + ], + [ + 0.007658481597900391, + 0.03957659751176834, + -0.007571280002593994, + -0.018336361274123192, + 0.006910309195518494, + 0.028990481048822403, + 1.0 + ], + [ + 0.019361138343811035, + 0.03699347376823425, + 0.0005164295434951782, + 0.018438056111335754, + -0.004439234733581543, + -0.02105998620390892, + 1.0 + ], + [ + 0.025240391492843628, + 0.044378817081451416, + -0.011828862130641937, + 0.028147339820861816, + 0.02894216775894165, + 0.02761855348944664, + 1.0 + ], + [ + 0.02309480309486389, + 0.02242826670408249, + -0.01797013357281685, + 0.006139669567346573, + 0.044369496405124664, + 0.01584617793560028, + 1.0 + ], + [ + 0.01898336410522461, + 0.017233312129974365, + -0.00577407144010067, + 0.0158038642257452, + -0.006441906094551086, + 0.027362771332263947, + 1.0 + ], + [ + 0.014743775129318237, + 0.0074634552001953125, + -0.005776684731245041, + -0.0007427744567394257, + -0.0035509541630744934, + 0.019839610904455185, + 1.0 + ], + [ + 0.00515902042388916, + -0.00024518370628356934, + -0.005749262869358063, + -0.0062432847917079926, + 0.007455930113792419, + 0.0006381813436746597, + 1.0 + ], + [ + -0.0014913082122802734, + -0.0012706369161605835, + -0.00385311059653759, + -0.0013988018035888672, + 0.002770528197288513, + 0.0017412416636943817, + 1.0 + ], + [ + -0.006948709487915039, + -0.0020395517349243164, + -0.0074149081483483315, + -0.0004304125905036926, + 0.014662787318229675, + -0.0001097414642572403, + 1.0 + ], + [ + -0.006390094757080078, + -0.0024415552616119385, + -0.0025512161664664745, + -0.0018022675067186356, + 0.009180113673210144, + -0.005284566432237625, + 1.0 + ], + [ + -0.014485597610473633, + -0.003307148814201355, + -8.30930657684803e-05, + -0.008602902293205261, + 0.0044942572712898254, + -0.0272047258913517, + 1.0 + ], + [ + -0.023441225290298462, + -0.005153477191925049, + 0.00045352429151535034, + -0.011996815912425518, + 0.0012030452489852905, + -0.04778151586651802, + 1.0 + ], + [ + -0.03132399916648865, + -0.003093212842941284, + 0.0007802699692547321, + -0.01638013683259487, + -0.006134830415248871, + -0.027996595948934555, + 1.0 + ], + [ + -0.028304249048233032, + 0.0037593841552734375, + 6.332714110612869e-05, + -0.007695609237998724, + 0.001976601779460907, + 0.005528859794139862, + 1.0 + ], + [ + -0.011528342962265015, + 0.003540545701980591, + 0.000544925220310688, + -0.01036790106445551, + -0.0005405396223068237, + 0.013576708734035492, + 1.0 + ], + [ + -0.0001903623342514038, + 0.00025981664657592773, + -2.1719839423894882e-05, + 0.0010290741920471191, + 0.001472674310207367, + 0.0068962909281253815, + 1.0 + ], + [ + 0.004665449261665344, + -0.0018303096294403076, + 0.0021900227293372154, + 0.008472589775919914, + 0.0045396387577056885, + 0.0004183575510978699, + 1.0 + ], + [ + 0.0011293590068817139, + -0.011413156986236572, + 0.015910297632217407, + 0.02134791761636734, + 0.00012484192848205566, + -0.02303081378340721, + 1.0 + ], + [ + 0.0015822350978851318, + -0.008988767862319946, + 0.035320430994033813, + 0.029210850596427917, + -0.04427746683359146, + -0.01697438210248947, + 1.0 + ], + [ + -0.0037296563386917114, + -0.0036211013793945312, + 0.015687108039855957, + -0.001066099852323532, + -0.014809243381023407, + 0.010063238441944122, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.254625141620636, + -0.015430481173098087, + 0.07357628643512726 + ], + [ + 0.2622836232185364, + 0.02414611540734768, + 0.06600500643253326 + ], + [ + 0.2816447615623474, + 0.06113959103822708, + 0.06652143597602844 + ], + [ + 0.30688515305519104, + 0.1055184081196785, + 0.054692573845386505 + ], + [ + 0.32997995615005493, + 0.127946674823761, + 0.036722440272569656 + ], + [ + 0.34896332025527954, + 0.14517998695373535, + 0.030948368832468987 + ], + [ + 0.3637070953845978, + 0.15264344215393066, + 0.025171684101223946 + ], + [ + 0.36886611580848694, + 0.1523982584476471, + 0.019422421231865883 + ], + [ + 0.36737480759620667, + 0.1511276215314865, + 0.015569310635328293 + ], + [ + 0.3604260981082916, + 0.1490880697965622, + 0.008154402486979961 + ], + [ + 0.35403600335121155, + 0.14664651453495026, + 0.005603186320513487 + ], + [ + 0.3395504057407379, + 0.1433393657207489, + 0.0055200932547450066 + ], + [ + 0.31610918045043945, + 0.13818588852882385, + 0.005973617546260357 + ], + [ + 0.2847851812839508, + 0.13509267568588257, + 0.006753887515515089 + ], + [ + 0.2564809322357178, + 0.138852059841156, + 0.006817214656621218 + ], + [ + 0.24495258927345276, + 0.1423926055431366, + 0.007362139876931906 + ], + [ + 0.24476222693920135, + 0.14265242218971252, + 0.007340420037508011 + ], + [ + 0.2494276762008667, + 0.14082211256027222, + 0.009530442766845226 + ], + [ + 0.2505570352077484, + 0.12940895557403564, + 0.02544073946774006 + ], + [ + 0.25213927030563354, + 0.1204201877117157, + 0.06076116859912872 + ], + [ + 0.24840961396694183, + 0.11679908633232117, + 0.07644827663898468 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9809999723528926, + -0.08134992414327227, + 0.17612848743320245, + -0.07857589379049726, + -0.9966501293494292, + -0.022679254458435338, + 0.17738343541224025, + 0.008408894674677033, + -0.9841058923366437 + ], + [ + 0.9840661032264802, + -0.05547501716498731, + 0.16892728302792043, + -0.050168411994919, + -0.9981087795579975, + -0.03552456343367597, + 0.17057853006330792, + 0.026483705174872415, + -0.9849881108123346 + ], + [ + 0.98202645759305, + -0.07340510745372703, + 0.17388423386538665, + -0.07082500388451804, + -0.9972675632451843, + -0.02100538320932318, + 0.17495100860527696, + 0.008312490524463721, + -0.9845420494266749 + ], + [ + 0.9882536193535943, + -0.04147345055964071, + 0.14708751385891944, + -0.043885600021705655, + -0.9989494749098016, + 0.013190932043117293, + 0.14638592126722993, + -0.019491010135657596, + -0.9890355213937646 + ], + [ + 0.9943420654898772, + -0.025874328623916792, + 0.10302609337243551, + -0.028378159804526727, + -0.9993346496909574, + 0.02291152489817557, + 0.10236472460488028, + -0.02570558393253372, + -0.9944147455218342 + ], + [ + 0.9940661954705208, + 0.0033606681560105264, + 0.10872490483927807, + -0.001162183161743132, + -0.9991374562901575, + 0.04150894805138699, + 0.10877062265641149, + -0.04138900032109207, + -0.9932048642145072 + ], + [ + 0.993501182877103, + 0.023245364200738017, + 0.11142285521818299, + 0.018551309544488272, + -0.998903615318624, + 0.04298157997988011, + 0.11229981538712208, + -0.040635210674454476, + -0.99284315534603 + ], + [ + 0.9942986628580807, + 0.022930097659881552, + 0.10413635128974413, + 0.01920097236889368, + -0.9991428572219961, + 0.03667251726231387, + 0.104887995970567, + -0.03446391567384678, + -0.9938866871116165 + ], + [ + 0.9945504365284635, + 0.02443258613211255, + 0.10135323347550099, + 0.020938292850977924, + -0.9991539183943106, + 0.03539823794741648, + 0.1021323508665555, + -0.0330831693190379, + -0.9942205423417274 + ], + [ + 0.9959429801347688, + 0.02380025468702445, + 0.08678207301688873, + 0.02085826567092612, + -0.999181765117102, + 0.034651594633923366, + 0.08753578167513501, + -0.03270088889167162, + -0.9956244968823427 + ], + [ + 0.9968008084809281, + 0.018079141731533827, + 0.07785430525037962, + 0.015606794928742396, + -0.9993580312010348, + 0.03224830888657119, + 0.07838734696250638, + -0.03093008419391447, + -0.9964430509205918 + ], + [ + 0.9971986935417357, + -0.009888670589996786, + 0.07414161984079598, + -0.011517281142386412, + -0.9997009787986818, + 0.02157093470492354, + 0.0739061420569482, + -0.022364417786282235, + -0.9970144005897498 + ], + [ + 0.9955985029922831, + -0.05853557241693738, + 0.07319294775691355, + -0.059138903264310275, + -0.9982311175270638, + 0.006101321280161073, + 0.07270633370084996, + -0.010403016989829152, + -0.9972991358049449 + ], + [ + 0.9930898418076215, + -0.0876818967470193, + 0.07800289149357365, + -0.08694491719808546, + -0.9961308703359583, + -0.012801192801612987, + 0.07882352105768456, + 0.005930779592182699, + -0.9968709436940659 + ], + [ + 0.9937087079030436, + -0.0827446948127557, + 0.07547396450437273, + -0.08146553287418773, + -0.9964779186709174, + -0.019877740183452758, + 0.0768529166082071, + 0.013604156777254996, + -0.9969496256718248 + ], + [ + 0.9946815347304969, + -0.07000300258810262, + 0.07555279011944711, + -0.06796430381186057, + -0.9972595084274413, + -0.029228860026129743, + 0.07739184629889793, + 0.023938514567701765, + -0.9967133237028285 + ], + [ + 0.9952392593716756, + -0.06301233077022791, + 0.07435228830521624, + -0.06111004758899226, + -0.9977496331267287, + -0.027590427310016777, + 0.07592350551041298, + 0.022915404565086915, + -0.9968502924434685 + ], + [ + 0.9955985077842416, + -0.06189704352196002, + 0.07037305806224609, + -0.060714030483576244, + -0.9979775899223543, + -0.018829140054951548, + 0.07139620298188865, + 0.014473631749156562, + -0.9973430183160451 + ], + [ + 0.993945181772761, + -0.08335179472723987, + 0.07159227574578902, + -0.08362609276093648, + -0.9964968516662709, + 0.0008373940227834535, + 0.07127167908960944, + -0.006819306046674821, + -0.9974336292830664 + ], + [ + 0.9882712890200638, + -0.09653946319491374, + 0.11832155908649687, + -0.10006854914350813, + -0.9946851504271532, + 0.024243287566351475, + 0.11535226383099194, + -0.035799211803465875, + -0.9926793397987669 + ], + [ + 0.98741859920366, + -0.08613891165732168, + 0.1326069298535099, + -0.08995358218059318, + -0.9956794513185204, + 0.023038734230187232, + 0.13004946366502565, + -0.034677343043290745, + -0.9909009127455162 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005980.json b/json/chunk-0005/episode_0005980.json new file mode 100644 index 0000000000000000000000000000000000000000..ce94951400b074f22fc4fe0e85bae38359e5d519 --- /dev/null +++ b/json/chunk-0005/episode_0005980.json @@ -0,0 +1,2482 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 40, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut the red object in the drawer." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005980.mp4", + "start": 0, + "end": 40, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.26297900080680847, + 0.1213374063372612, + 0.20746485888957977, + -0.018380459398031235, + -0.13312169909477234, + 0.007001203950494528, + 0.0, + 1.0001531839370728 + ], + [ + 0.2626594305038452, + 0.12145854532718658, + 0.19741594791412354, + -0.029331283643841743, + -0.10778044164180756, + 0.007464500144124031, + 0.0, + 1.0001531839370728 + ], + [ + 0.2460957020521164, + 0.11173314601182938, + 0.17750024795532227, + -0.014391344040632248, + -0.08585909008979797, + -0.027946200221776962, + 0.0, + 1.0001531839370728 + ], + [ + 0.23322971165180206, + 0.10786107182502747, + 0.16902680695056915, + -0.0032362290658056736, + -0.08971615135669708, + -0.044401634484529495, + 0.0, + 1.0001531839370728 + ], + [ + 0.21901562809944153, + 0.11277920007705688, + 0.14916910231113434, + -0.0015244819223880768, + -0.07241077721118927, + -0.033963579684495926, + 0.0, + 1.0001531839370728 + ], + [ + 0.2093697041273117, + 0.11257891356945038, + 0.12543714046478271, + 0.03085821308195591, + -0.049482040107250214, + -0.04119068384170532, + 0.0, + 1.0001531839370728 + ], + [ + 0.20436280965805054, + 0.10625937581062317, + 0.10696674138307571, + 0.060429323464632034, + -0.03119364194571972, + -0.06618498265743256, + 0.0, + 1.0001531839370728 + ], + [ + 0.2005293220281601, + 0.10025271773338318, + 0.0903392881155014, + 0.08480267226696014, + -0.009655499830842018, + -0.08319058269262314, + 0.0, + 1.0001531839370728 + ], + [ + 0.1964283585548401, + 0.09615474939346313, + 0.06928760558366776, + 0.1067436933517456, + 0.02273782715201378, + -0.09306903183460236, + 0.0, + 1.0001531839370728 + ], + [ + 0.1941901296377182, + 0.09216219931840897, + 0.058721065521240234, + 0.10154493898153305, + 0.047718990594148636, + -0.10527456551790237, + 0.0, + 0.9994885921478271 + ], + [ + 0.19213850796222687, + 0.0889439806342125, + 0.05426786467432976, + 0.09281545132398605, + 0.041871167719364166, + -0.10469839721918106, + 0.0, + 1.0001531839370728 + ], + [ + 0.19343966245651245, + 0.08557025343179703, + 0.05366485193371773, + 0.07515747845172882, + 0.030416090041399002, + -0.0974041074514389, + 0.0, + 1.0001531839370728 + ], + [ + 0.1944628655910492, + 0.0814829170703888, + 0.05337923392653465, + 0.05012066289782524, + 0.021334603428840637, + -0.095592200756073, + 0.0, + 1.0001531839370728 + ], + [ + 0.19534598290920258, + 0.08042530715465546, + 0.053330980241298676, + 0.045910127460956573, + 0.015824193134903908, + -0.09112070500850677, + 0.0, + 1.0001531839370728 + ], + [ + 0.19812527298927307, + 0.07771994173526764, + 0.051342908293008804, + 0.040983591228723526, + 0.007937115617096424, + -0.08612127602100372, + 0.0, + 1.0001531839370728 + ], + [ + 0.19957289099693298, + 0.07714664936065674, + 0.04542924463748932, + 0.031401943415403366, + 0.013248654082417488, + -0.06980109214782715, + 0.0, + 1.0001531839370728 + ], + [ + 0.20154353976249695, + 0.07681363821029663, + 0.04099249094724655, + 0.02285606786608696, + 0.017620326951146126, + -0.05612494423985481, + 0.0, + 1.0001531839370728 + ], + [ + 0.20295178890228271, + 0.07814576476812363, + 0.03465674817562103, + 0.02409585565328598, + 0.02244769223034382, + -0.036891352385282516, + 0.0, + 0.9453431367874146 + ], + [ + 0.20561404526233673, + 0.08572179079055786, + 0.03239930048584938, + 0.02345915138721466, + 0.013899637386202812, + -0.001988765550777316, + 0.0, + 0.7845786809921265 + ], + [ + 0.204946368932724, + 0.09093775600194931, + 0.03223785012960434, + 0.01666652224957943, + 0.006472202483564615, + 0.026190469041466713, + 0.0, + 0.7836189270019531 + ], + [ + 0.19846880435943604, + 0.09301494807004929, + 0.03907376527786255, + -0.01252893265336752, + 0.011248301714658737, + 0.03205113112926483, + 0.0, + 0.7836189270019531 + ], + [ + 0.19700641930103302, + 0.0915704220533371, + 0.07162372767925262, + -0.03513624146580696, + -0.055204495787620544, + 0.03243378549814224, + 0.0, + 0.7836189270019531 + ], + [ + 0.19551074504852295, + 0.08916774392127991, + 0.10619302093982697, + -0.04807385802268982, + -0.1381112039089203, + 0.04625575244426727, + 0.0, + 0.7836189270019531 + ], + [ + 0.20095999538898468, + 0.08607492595911026, + 0.1309879869222641, + -0.0718984603881836, + -0.17208799719810486, + 0.06554467976093292, + 0.0, + 0.7836189270019531 + ], + [ + 0.21852321922779083, + 0.0767127200961113, + 0.15667535364627838, + -0.10130401700735092, + -0.19303493201732635, + 0.06721034646034241, + 0.0, + 0.7836189270019531 + ], + [ + 0.24271772801876068, + 0.06752131879329681, + 0.16760528087615967, + -0.11946915835142136, + -0.17531529068946838, + 0.08758789300918579, + 0.0, + 0.7836189270019531 + ], + [ + 0.265308678150177, + 0.06356076151132584, + 0.16487064957618713, + -0.11481275409460068, + -0.14206020534038544, + 0.12687605619430542, + 0.0, + 0.7836189270019531 + ], + [ + 0.2864059507846832, + 0.06503995507955551, + 0.15858757495880127, + -0.11476833373308182, + -0.11439843475818634, + 0.1556427925825119, + 0.0, + 0.7836189270019531 + ], + [ + 0.30442842841148376, + 0.06669854372739792, + 0.1462578922510147, + -0.1082037016749382, + -0.0824064239859581, + 0.17373304069042206, + 0.0, + 0.7836189270019531 + ], + [ + 0.31493014097213745, + 0.06678611040115356, + 0.13374431431293488, + -0.09774245321750641, + -0.06157570332288742, + 0.18206916749477386, + 0.0, + 0.7836189270019531 + ], + [ + 0.3232751190662384, + 0.0657627210021019, + 0.12643301486968994, + -0.10576548427343369, + -0.05256825312972069, + 0.18228763341903687, + 0.0, + 0.7836189270019531 + ], + [ + 0.32843056321144104, + 0.05710519477725029, + 0.12148897349834442, + -0.12330390512943268, + -0.0387832447886467, + 0.17526574432849884, + 0.0, + 0.7836189270019531 + ], + [ + 0.3318626880645752, + 0.05330909416079521, + 0.11574537307024002, + -0.11914119124412537, + -0.04774564132094383, + 0.17330601811408997, + 0.0, + 0.7836189270019531 + ], + [ + 0.33122503757476807, + 0.047616731375455856, + 0.10231462866067886, + -0.10581209510564804, + -0.03162151947617531, + 0.1628562957048416, + 0.0, + 0.7836189270019531 + ], + [ + 0.3311954140663147, + 0.04748653993010521, + 0.09696800261735916, + -0.09004414081573486, + -0.041398320347070694, + 0.15538689494132996, + 0.0, + 0.8517581820487976 + ], + [ + 0.33067646622657776, + 0.04804183170199394, + 0.09493821859359741, + -0.08239693939685822, + -0.04163641482591629, + 0.14525571465492249, + 0.0, + 1.0124757289886475 + ], + [ + 0.3259214758872986, + 0.0460045225918293, + 0.09410837292671204, + -0.09650569409132004, + -0.01792237162590027, + 0.11825232207775116, + 0.0, + 1.0086473226547241 + ], + [ + 0.3166804313659668, + 0.060112375766038895, + 0.11588840931653976, + -0.10977679491043091, + -0.05263051018118858, + 0.13948415219783783, + 0.0, + 1.002137303352356 + ], + [ + 0.30222567915916443, + 0.07352390140295029, + 0.13625536859035492, + -0.10385233163833618, + -0.08917734026908875, + 0.14995801448822021, + 0.0, + 1.0014774799346924 + ], + [ + 0.2832898795604706, + 0.09442537277936935, + 0.14977289736270905, + -0.08564374595880508, + -0.07202892005443573, + 0.15824772417545319, + 0.0, + 1.0014774799346924 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9453431367874146 + ], + [ + 0.7845786809921265 + ], + [ + 0.7836189270019531 + ], + [ + 0.7836189270019531 + ], + [ + 0.7836189270019531 + ], + [ + 0.7836189270019531 + ], + [ + 0.7836189270019531 + ], + [ + 0.7836189270019531 + ], + [ + 0.7836189270019531 + ], + [ + 0.7836189270019531 + ], + [ + 0.7836189270019531 + ], + [ + 0.7836189270019531 + ], + [ + 0.7836189270019531 + ], + [ + 0.7836189270019531 + ], + [ + 0.7836189270019531 + ], + [ + 0.7836189270019531 + ], + [ + 0.7836189270019531 + ], + [ + 0.8517581820487976 + ], + [ + 1.0124757289886475 + ], + [ + 1.0086473226547241 + ], + [ + 1.002137303352356 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.26297900080680847, + 0.1213374063372612, + 0.20746485888957977 + ], + [ + 0.2626594305038452, + 0.12145854532718658, + 0.19741594791412354 + ], + [ + 0.2460957020521164, + 0.11173314601182938, + 0.17750024795532227 + ], + [ + 0.23322971165180206, + 0.10786107182502747, + 0.16902680695056915 + ], + [ + 0.21901562809944153, + 0.11277920007705688, + 0.14916910231113434 + ], + [ + 0.2093697041273117, + 0.11257891356945038, + 0.12543714046478271 + ], + [ + 0.20436280965805054, + 0.10625937581062317, + 0.10696674138307571 + ], + [ + 0.2005293220281601, + 0.10025271773338318, + 0.0903392881155014 + ], + [ + 0.1964283585548401, + 0.09615474939346313, + 0.06928760558366776 + ], + [ + 0.1941901296377182, + 0.09216219931840897, + 0.058721065521240234 + ], + [ + 0.19213850796222687, + 0.0889439806342125, + 0.05426786467432976 + ], + [ + 0.19343966245651245, + 0.08557025343179703, + 0.05366485193371773 + ], + [ + 0.1944628655910492, + 0.0814829170703888, + 0.05337923392653465 + ], + [ + 0.19534598290920258, + 0.08042530715465546, + 0.053330980241298676 + ], + [ + 0.19812527298927307, + 0.07771994173526764, + 0.051342908293008804 + ], + [ + 0.19957289099693298, + 0.07714664936065674, + 0.04542924463748932 + ], + [ + 0.20154353976249695, + 0.07681363821029663, + 0.04099249094724655 + ], + [ + 0.20295178890228271, + 0.07814576476812363, + 0.03465674817562103 + ], + [ + 0.20561404526233673, + 0.08572179079055786, + 0.03239930048584938 + ], + [ + 0.204946368932724, + 0.09093775600194931, + 0.03223785012960434 + ], + [ + 0.19846880435943604, + 0.09301494807004929, + 0.03907376527786255 + ], + [ + 0.19700641930103302, + 0.0915704220533371, + 0.07162372767925262 + ], + [ + 0.19551074504852295, + 0.08916774392127991, + 0.10619302093982697 + ], + [ + 0.20095999538898468, + 0.08607492595911026, + 0.1309879869222641 + ], + [ + 0.21852321922779083, + 0.0767127200961113, + 0.15667535364627838 + ], + [ + 0.24271772801876068, + 0.06752131879329681, + 0.16760528087615967 + ], + [ + 0.265308678150177, + 0.06356076151132584, + 0.16487064957618713 + ], + [ + 0.2864059507846832, + 0.06503995507955551, + 0.15858757495880127 + ], + [ + 0.30442842841148376, + 0.06669854372739792, + 0.1462578922510147 + ], + [ + 0.31493014097213745, + 0.06678611040115356, + 0.13374431431293488 + ], + [ + 0.3232751190662384, + 0.0657627210021019, + 0.12643301486968994 + ], + [ + 0.32843056321144104, + 0.05710519477725029, + 0.12148897349834442 + ], + [ + 0.3318626880645752, + 0.05330909416079521, + 0.11574537307024002 + ], + [ + 0.33122503757476807, + 0.047616731375455856, + 0.10231462866067886 + ], + [ + 0.3311954140663147, + 0.04748653993010521, + 0.09696800261735916 + ], + [ + 0.33067646622657776, + 0.04804183170199394, + 0.09493821859359741 + ], + [ + 0.3259214758872986, + 0.0460045225918293, + 0.09410837292671204 + ], + [ + 0.3166804313659668, + 0.060112375766038895, + 0.11588840931653976 + ], + [ + 0.30222567915916443, + 0.07352390140295029, + 0.13625536859035492 + ], + [ + 0.2832898795604706, + 0.09442537277936935, + 0.14977289736270905 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9911280927143902, + 0.004560543809736039, + 0.1328318684371136, + 0.006939203297839949, + -0.9998236590817571, + -0.017449876731877274, + 0.13272886381615123, + 0.018216810382883798, + -0.990984962817069 + ], + [ + 0.9941696111774093, + 0.004306538850598115, + 0.10774153300601666, + 0.007421117038248498, + -0.9995655700265247, + -0.028523643516437255, + 0.10757188867572656, + 0.02915690211041743, + -0.9937696734284359 + ], + [ + 0.9959273407729156, + -0.02917325486204287, + 0.08530916188630308, + -0.027839632741540887, + -0.9994715341809574, + -0.016781156419619005, + 0.08575363986330434, + 0.01433783675168216, + -0.9962131999163015 + ], + [ + 0.9949965780058639, + -0.04467648021089825, + 0.08936342581048307, + -0.044208530637694754, + -0.9989963078241203, + -0.007209907948889976, + 0.08959584574898827, + 0.0032232079890507003, + -0.9959729892696803 + ], + [ + 0.9968042893258106, + -0.034067239793554124, + 0.07225394075421415, + -0.033868065462455396, + -0.999418386509843, + -0.003980307512267083, + 0.07234751497802702, + 0.001520486405679476, + -0.997378326011546 + ], + [ + 0.9979288355518172, + -0.03963466493683108, + 0.05066687783492791, + -0.04112863439996658, + -0.9987389524268809, + 0.028791323999607932, + 0.04946185001178444, + -0.030815551927584346, + -0.998300519459351 + ], + [ + 0.9973251563509542, + -0.06413651998322611, + 0.035057656995094, + -0.06610449890274561, + -0.9961138460418272, + 0.05820138270329654, + 0.031188583397796885, + -0.06036317195277198, + -0.9976891097618729 + ], + [ + 0.9964952059008197, + -0.08198106163826435, + 0.016625587187998964, + -0.08309078671464518, + -0.9930284506528629, + 0.08360871579635547, + 0.009655349803295556, + -0.08469711758163613, + -0.996359961305922 + ], + [ + 0.9954148283540624, + -0.09481759620219656, + -0.012607257564179592, + -0.09291070876102757, + -0.9897800186399823, + 0.10818093592939411, + -0.022735867926601722, + -0.10651355853351892, + -0.9940512774289617 + ], + [ + 0.9933317159388997, + -0.10934761566682567, + -0.03654040308837985, + -0.10496060175043044, + -0.9888328973140511, + 0.10579590384172208, + -0.047700882487315015, + -0.101255124006045, + -0.9937162702061649 + ], + [ + 0.9936524578037624, + -0.1079157317359992, + -0.03176457058462068, + -0.10441562497421665, + -0.9898379904382602, + 0.09653046123576738, + -0.04185893407368656, + -0.09260101257022031, + -0.9948230406002789 + ], + [ + 0.9947996281321712, + -0.09924829180764078, + -0.022879607543829485, + -0.09720517781099561, + -0.9922282862704226, + 0.07767999312302679, + -0.030411400408843443, + -0.0750520119525529, + -0.9967157780566369 + ], + [ + 0.9952080086710426, + -0.09639071892393088, + -0.016427074674000373, + -0.09542496124099338, + -0.994082488302604, + 0.0519045587810686, + -0.021332985003799616, + -0.05008827962138698, + -0.9985169342556974 + ], + [ + 0.9957266997200012, + -0.0916219745289504, + -0.011565173934309163, + -0.0909832692122495, + -0.9947359859749539, + 0.04714194448564295, + -0.015823532733425634, + -0.045888255467521025, + -0.9988212471818877 + ], + [ + 0.996262472428047, + -0.0862666213324142, + -0.004376765408965551, + -0.08601214768933962, + -0.995429284906654, + 0.04150239993175074, + -0.00793703228054951, + -0.040970828574946064, + -0.9991288178830897 + ], + [ + 0.9974773442774496, + -0.07012498124756017, + -0.01101973948127471, + -0.06973830430875028, + -0.9970440822994121, + 0.03224386552295933, + -0.013248266503432521, + -0.03139402740573242, + -0.9994192806214525 + ], + [ + 0.9982704191990993, + -0.05648287313735474, + -0.016305066519468038, + -0.056086775273903905, + -0.9981420431543097, + 0.023806203542669036, + -0.017619415184091373, + -0.02285053018837584, + -0.9995836180523773 + ], + [ + 0.9990678237906975, + -0.037412708764327805, + -0.021535382258873293, + -0.03687369268184159, + -0.9990095513993316, + 0.024904758599747032, + -0.022445807049988355, + -0.024087453909082245, + -0.999457843188022 + ], + [ + 0.9999014241929908, + -0.0023142496719055785, + -0.013848687493205886, + -0.0019885721283347028, + -0.9997222212744756, + 0.02348458794440787, + -0.013899189822389022, + -0.023454733818235967, + -0.9996282749021241 + ], + [ + 0.9996361118236159, + 0.02607601158940222, + -0.006905473028884141, + 0.026186926472558308, + -0.9995210383021053, + 0.016490569226141477, + -0.006472157297540756, + -0.016665401617443863, + -0.9998401750124092 + ], + [ + 0.9994231774777106, + 0.03218397889977942, + -0.010839918013298842, + 0.03204361660197837, + -0.9994034447716142, + -0.012882593438292837, + -0.01124806451892519, + 0.012527812291437106, + -0.9998582574364071 + ], + [ + 0.9979514908377326, + 0.03047080910474662, + 0.05625257085013052, + 0.03237869898325618, + -0.9989200364757579, + -0.033322373556247564, + 0.05517646044191807, + 0.03507549742729976, + -0.9978603447844437 + ], + [ + 0.9894183766464758, + 0.03957701283056789, + 0.13958845227905434, + 0.04579895989033898, + -0.9980822181685124, + -0.041645420501962786, + 0.1376725507398475, + 0.04759775027489479, + -0.9893334740832097 + ], + [ + 0.983113799581676, + 0.05305367549824399, + 0.17513584609727187, + 0.06453031531079875, + -0.9960803892047296, + -0.06049542666717213, + 0.17123987700874224, + 0.0707754601389587, + -0.9826839465281548 + ], + [ + 0.9792107088387053, + 0.04745846954497967, + 0.19721582432464305, + 0.06591236802321887, + -0.9939298959414358, + -0.08808474155844725, + 0.19183833672436798, + 0.09925248421220964, + -0.9763948980512613 + ], + [ + 0.9808969868243369, + 0.06614399898587381, + 0.18293734620654403, + 0.08613507881400914, + -0.990884459999916, + -0.10357960768596715, + 0.1744186040439513, + 0.11735824780913846, + -0.9776528996707 + ], + [ + 0.9819694032756678, + 0.10961339652307497, + 0.154016214513615, + 0.125261260059371, + -0.9874835884081394, + -0.09584247155057521, + 0.14158286534311756, + 0.1134066396965333, + -0.9834089822215237 + ], + [ + 0.9814547354790729, + 0.14108141629055848, + 0.12977918239514705, + 0.15400191777476052, + -0.9834393067277608, + -0.09555385551884785, + 0.11414907589375659, + 0.11376802696834945, + -0.9869279733153428 + ], + [ + 0.9816039325442718, + 0.16309404174573133, + 0.09926758363465005, + 0.17227379001923881, + -0.9807226581609905, + -0.09222152157738527, + 0.08231318780139549, + 0.10762621110437072, + -0.9907780466871929 + ], + [ + 0.9816072852756995, + 0.17429477831810078, + 0.07790037063272405, + 0.1807217746319135, + -0.9798643734149202, + -0.08488492142941584, + 0.06153679929573476, + 0.0974019505103996, + -0.9933408691729171 + ], + [ + 0.9820730598041397, + 0.17481170700062545, + 0.07052214051247788, + 0.18102935820214913, + -0.9789417489117659, + -0.09434735664813731, + 0.05254404510362871, + 0.10542257506388433, + -0.9930383698483394 + ], + [ + 0.9839397802014672, + 0.16835018496873508, + 0.05933569042390049, + 0.17423869505742037, + -0.9780357867734669, + -0.11439788868284576, + 0.03877352294769653, + 0.12289920671590268, + -0.9916614336086819 + ], + [ + 0.9838975265426531, + 0.16562947843187412, + 0.06717539086327948, + 0.17224326615001587, + -0.9790155613279512, + -0.10890724467954846, + 0.04772750285971198, + 0.11872407738997845, + -0.9917795515731681 + ], + [ + 0.9862748932138706, + 0.15793559167260043, + 0.04814752225186352, + 0.16205631045376387, + -0.9817907220575667, + -0.09911977766215603, + 0.03161624990541063, + 0.10556195794275304, + -0.9939099988314893 + ], + [ + 0.9871052626774844, + 0.15045862660676887, + 0.054638833022124605, + 0.15462974585726605, + -0.9845252631526931, + -0.08245997762695555, + 0.04138649647568665, + 0.08984546673998416, + -0.9950954476911964 + ], + [ + 0.9886113813547531, + 0.14086461249792243, + 0.05295939578259092, + 0.14462000955628707, + -0.9866078210121342, + -0.07543248871426683, + 0.04162438578269214, + 0.08223240519101163, + -0.9957435623918012 + ], + [ + 0.9928568581055298, + 0.11571318643290425, + 0.029081227593758405, + 0.11795796835696067, + -0.988599498480637, + -0.09357857289428748, + 0.017921412162949013, + 0.09634049039410766, + -0.9951870843699232 + ], + [ + 0.9889166299214512, + 0.13248802573071433, + 0.06701359640235058, + 0.1388397821141702, + -0.9851281770643497, + -0.1012224760434222, + 0.05260621605180615, + 0.1094047430043552, + -0.9926042455283283 + ], + [ + 0.9848482817940766, + 0.1394629219774893, + 0.10307257268912835, + 0.14880296623646702, + -0.9848292959473085, + -0.08926889202380248, + 0.08905918866957958, + 0.10325381948106899, + -0.9906599364444324 + ], + [ + 0.9849443749517743, + 0.15093143638252796, + 0.08428688962327027, + 0.15717944864205355, + -0.9848556554001554, + -0.07317075201820941, + 0.07196665321826831, + 0.08531728745006581, + -0.9937513578791851 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.00031957030296325684, + 0.00012113898992538452, + -0.010048910975456238, + -0.010950824245810509, + 0.025341257452964783, + 0.00046329619362950325, + 1.0 + ], + [ + -0.01656372845172882, + -0.009725399315357208, + -0.01991569995880127, + 0.014939939603209496, + 0.021921351552009583, + -0.03541070222854614, + 1.0 + ], + [ + -0.012865990400314331, + -0.0038720741868019104, + -0.008473441004753113, + 0.011155115440487862, + -0.003857061266899109, + -0.016455434262752533, + 1.0 + ], + [ + -0.014214083552360535, + 0.004918128252029419, + -0.019857704639434814, + 0.0017117471434175968, + 0.017305374145507812, + 0.01043805480003357, + 1.0 + ], + [ + -0.009645923972129822, + -0.00020028650760650635, + -0.023731961846351624, + 0.032382696866989136, + 0.022928737103939056, + -0.007227104157209396, + 1.0 + ], + [ + -0.005006894469261169, + -0.0063195377588272095, + -0.018470399081707, + 0.029571110382676125, + 0.018288398161530495, + -0.024994298815727234, + 1.0 + ], + [ + -0.003833487629890442, + -0.00600665807723999, + -0.01662745326757431, + 0.02437334880232811, + 0.0215381421148777, + -0.017005600035190582, + 1.0 + ], + [ + -0.004100963473320007, + -0.004097968339920044, + -0.02105168253183365, + 0.02194102108478546, + 0.032393328845500946, + -0.009878449141979218, + 1.0 + ], + [ + -0.002238228917121887, + -0.003992550075054169, + -0.01056654006242752, + -0.005198754370212555, + 0.024981163442134857, + -0.012205533683300018, + 1.0 + ], + [ + -0.002051621675491333, + -0.003218218684196472, + -0.004453200846910477, + -0.008729487657546997, + -0.00584782287478447, + 0.0005761682987213135, + 1.0 + ], + [ + 0.0013011544942855835, + -0.0033737272024154663, + -0.00060301274061203, + -0.017657972872257233, + -0.011455077677965164, + 0.007294289767742157, + 1.0 + ], + [ + 0.0010232031345367432, + -0.004087336361408234, + -0.00028561800718307495, + -0.02503681555390358, + -0.009081486612558365, + 0.0018119066953659058, + 1.0 + ], + [ + 0.0008831173181533813, + -0.0010576099157333374, + -4.825368523597717e-05, + -0.004210535436868668, + -0.005510410293936729, + 0.004471495747566223, + 1.0 + ], + [ + 0.0027792900800704956, + -0.0027053654193878174, + -0.001988071948289871, + -0.0049265362322330475, + -0.007887077517807484, + 0.004999428987503052, + 1.0 + ], + [ + 0.0014476180076599121, + -0.0005732923746109009, + -0.0059136636555194855, + -0.00958164781332016, + 0.005311538465321064, + 0.016320183873176575, + 1.0 + ], + [ + 0.001970648765563965, + -0.0003330111503601074, + -0.004436753690242767, + -0.008545875549316406, + 0.004371672868728638, + 0.013676147907972336, + 1.0 + ], + [ + 0.0014082491397857666, + 0.0013321265578269958, + -0.006335742771625519, + 0.0012397877871990204, + 0.004827365279197693, + 0.019233591854572296, + 0.0 + ], + [ + 0.002662256360054016, + 0.007576026022434235, + -0.0022574476897716522, + -0.0006367042660713196, + -0.008548054844141006, + 0.03490258753299713, + 0.0 + ], + [ + -0.0006676763296127319, + 0.005215965211391449, + -0.0001614503562450409, + -0.006792629137635231, + -0.007427434902638197, + 0.028179233893752098, + 0.0 + ], + [ + -0.006477564573287964, + 0.0020771920680999756, + 0.006835915148258209, + -0.029195453971624374, + 0.004776099231094122, + 0.005860662087798119, + 0.0 + ], + [ + -0.0014623850584030151, + -0.0014445260167121887, + 0.032549962401390076, + -0.022607307881116867, + -0.06645280122756958, + 0.0003826543688774109, + 0.0 + ], + [ + -0.0014956742525100708, + -0.00240267813205719, + 0.03456929326057434, + -0.012937616556882858, + -0.08290670812129974, + 0.01382196694612503, + 0.0 + ], + [ + 0.005449250340461731, + -0.003092817962169647, + 0.024794965982437134, + -0.023824602365493774, + -0.03397679328918457, + 0.01928892731666565, + 0.0 + ], + [ + 0.017563223838806152, + -0.009362205862998962, + 0.025687366724014282, + -0.029405556619167328, + -0.020946934819221497, + 0.0016656666994094849, + 0.0 + ], + [ + 0.02419450879096985, + -0.009191401302814484, + 0.010929927229881287, + -0.018165141344070435, + 0.01771964132785797, + 0.020377546548843384, + 0.0 + ], + [ + 0.02259095013141632, + -0.003960557281970978, + -0.002734631299972534, + 0.004656404256820679, + 0.03325508534908295, + 0.03928816318511963, + 0.0 + ], + [ + 0.021097272634506226, + 0.0014791935682296753, + -0.006283074617385864, + 4.442036151885986e-05, + 0.027661770582199097, + 0.028766736388206482, + 0.0 + ], + [ + 0.018022477626800537, + 0.0016585886478424072, + -0.01232968270778656, + 0.006564632058143616, + 0.03199201077222824, + 0.018090248107910156, + 0.0 + ], + [ + 0.010501712560653687, + 8.756667375564575e-05, + -0.012513577938079834, + 0.010461248457431793, + 0.02083072066307068, + 0.008336126804351807, + 0.0 + ], + [ + 0.008344978094100952, + -0.0010233893990516663, + -0.007311299443244934, + -0.008023031055927277, + 0.009007450193166733, + 0.0002184659242630005, + 0.0 + ], + [ + 0.005155444145202637, + -0.008657526224851608, + -0.00494404137134552, + -0.017538420855998993, + 0.01378500834107399, + -0.007021889090538025, + 0.0 + ], + [ + 0.0034321248531341553, + -0.003796100616455078, + -0.005743600428104401, + 0.004162713885307312, + -0.008962396532297134, + -0.0019597262144088745, + 0.0 + ], + [ + -0.0006376504898071289, + -0.0056923627853393555, + -0.013430744409561157, + 0.013329096138477325, + 0.016124121844768524, + -0.010449722409248352, + 0.0 + ], + [ + -2.962350845336914e-05, + -0.00013019144535064697, + -0.005346626043319702, + 0.015767954289913177, + -0.009776800870895386, + -0.007469400763511658, + 1.0 + ], + [ + -0.0005189478397369385, + 0.0005552917718887329, + -0.0020297840237617493, + 0.007647201418876648, + -0.0002380944788455963, + -0.01013118028640747, + 1.0 + ], + [ + -0.004754990339279175, + -0.0020373091101646423, + -0.000829845666885376, + -0.014108754694461823, + 0.02371404320001602, + -0.027003392577171326, + 1.0 + ], + [ + -0.009241044521331787, + 0.014107853174209595, + 0.02178003638982773, + -0.01327110081911087, + -0.034708138555288315, + 0.02123183012008667, + 1.0 + ], + [ + -0.014454752206802368, + 0.013411525636911392, + 0.020366959273815155, + 0.0059244632720947266, + -0.03654683008790016, + 0.010473862290382385, + 1.0 + ], + [ + -0.018935799598693848, + 0.020901471376419067, + 0.013517528772354126, + 0.018208585679531097, + 0.017148420214653015, + 0.008289709687232971, + 1.0 + ], + [ + -0.010154873132705688, + 0.007278047502040863, + 0.0026353299617767334, + 0.013073056936264038, + 0.042337872087955475, + -0.04087204486131668, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9453431367874146 + ], + [ + 0.7845786809921265 + ], + [ + 0.7836189270019531 + ], + [ + 0.7836189270019531 + ], + [ + 0.7836189270019531 + ], + [ + 0.7836189270019531 + ], + [ + 0.7836189270019531 + ], + [ + 0.7836189270019531 + ], + [ + 0.7836189270019531 + ], + [ + 0.7836189270019531 + ], + [ + 0.7836189270019531 + ], + [ + 0.7836189270019531 + ], + [ + 0.7836189270019531 + ], + [ + 0.7836189270019531 + ], + [ + 0.7836189270019531 + ], + [ + 0.7836189270019531 + ], + [ + 0.7836189270019531 + ], + [ + 0.8517581820487976 + ], + [ + 1.0124757289886475 + ], + [ + 1.0086473226547241 + ], + [ + 1.002137303352356 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2626594305038452, + 0.12145854532718658, + 0.19741594791412354 + ], + [ + 0.2460957020521164, + 0.11173314601182938, + 0.17750024795532227 + ], + [ + 0.23322971165180206, + 0.10786107182502747, + 0.16902680695056915 + ], + [ + 0.21901562809944153, + 0.11277920007705688, + 0.14916910231113434 + ], + [ + 0.2093697041273117, + 0.11257891356945038, + 0.12543714046478271 + ], + [ + 0.20436280965805054, + 0.10625937581062317, + 0.10696674138307571 + ], + [ + 0.2005293220281601, + 0.10025271773338318, + 0.0903392881155014 + ], + [ + 0.1964283585548401, + 0.09615474939346313, + 0.06928760558366776 + ], + [ + 0.1941901296377182, + 0.09216219931840897, + 0.058721065521240234 + ], + [ + 0.19213850796222687, + 0.0889439806342125, + 0.05426786467432976 + ], + [ + 0.19343966245651245, + 0.08557025343179703, + 0.05366485193371773 + ], + [ + 0.1944628655910492, + 0.0814829170703888, + 0.05337923392653465 + ], + [ + 0.19534598290920258, + 0.08042530715465546, + 0.053330980241298676 + ], + [ + 0.19812527298927307, + 0.07771994173526764, + 0.051342908293008804 + ], + [ + 0.19957289099693298, + 0.07714664936065674, + 0.04542924463748932 + ], + [ + 0.20154353976249695, + 0.07681363821029663, + 0.04099249094724655 + ], + [ + 0.20295178890228271, + 0.07814576476812363, + 0.03465674817562103 + ], + [ + 0.20561404526233673, + 0.08572179079055786, + 0.03239930048584938 + ], + [ + 0.204946368932724, + 0.09093775600194931, + 0.03223785012960434 + ], + [ + 0.19846880435943604, + 0.09301494807004929, + 0.03907376527786255 + ], + [ + 0.19700641930103302, + 0.0915704220533371, + 0.07162372767925262 + ], + [ + 0.19551074504852295, + 0.08916774392127991, + 0.10619302093982697 + ], + [ + 0.20095999538898468, + 0.08607492595911026, + 0.1309879869222641 + ], + [ + 0.21852321922779083, + 0.0767127200961113, + 0.15667535364627838 + ], + [ + 0.24271772801876068, + 0.06752131879329681, + 0.16760528087615967 + ], + [ + 0.265308678150177, + 0.06356076151132584, + 0.16487064957618713 + ], + [ + 0.2864059507846832, + 0.06503995507955551, + 0.15858757495880127 + ], + [ + 0.30442842841148376, + 0.06669854372739792, + 0.1462578922510147 + ], + [ + 0.31493014097213745, + 0.06678611040115356, + 0.13374431431293488 + ], + [ + 0.3232751190662384, + 0.0657627210021019, + 0.12643301486968994 + ], + [ + 0.32843056321144104, + 0.05710519477725029, + 0.12148897349834442 + ], + [ + 0.3318626880645752, + 0.05330909416079521, + 0.11574537307024002 + ], + [ + 0.33122503757476807, + 0.047616731375455856, + 0.10231462866067886 + ], + [ + 0.3311954140663147, + 0.04748653993010521, + 0.09696800261735916 + ], + [ + 0.33067646622657776, + 0.04804183170199394, + 0.09493821859359741 + ], + [ + 0.3259214758872986, + 0.0460045225918293, + 0.09410837292671204 + ], + [ + 0.3166804313659668, + 0.060112375766038895, + 0.11588840931653976 + ], + [ + 0.30222567915916443, + 0.07352390140295029, + 0.13625536859035492 + ], + [ + 0.2832898795604706, + 0.09442537277936935, + 0.14977289736270905 + ], + [ + 0.2731350064277649, + 0.10170342028141022, + 0.15240822732448578 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9941696111774093, + 0.004306538850598115, + 0.10774153300601666, + 0.007421117038248498, + -0.9995655700265247, + -0.028523643516437255, + 0.10757188867572656, + 0.02915690211041743, + -0.9937696734284359 + ], + [ + 0.9959273407729156, + -0.02917325486204287, + 0.08530916188630308, + -0.027839632741540887, + -0.9994715341809574, + -0.016781156419619005, + 0.08575363986330434, + 0.01433783675168216, + -0.9962131999163015 + ], + [ + 0.9949965780058639, + -0.04467648021089825, + 0.08936342581048307, + -0.044208530637694754, + -0.9989963078241203, + -0.007209907948889976, + 0.08959584574898827, + 0.0032232079890507003, + -0.9959729892696803 + ], + [ + 0.9968042893258106, + -0.034067239793554124, + 0.07225394075421415, + -0.033868065462455396, + -0.999418386509843, + -0.003980307512267083, + 0.07234751497802702, + 0.001520486405679476, + -0.997378326011546 + ], + [ + 0.9979288355518172, + -0.03963466493683108, + 0.05066687783492791, + -0.04112863439996658, + -0.9987389524268809, + 0.028791323999607932, + 0.04946185001178444, + -0.030815551927584346, + -0.998300519459351 + ], + [ + 0.9973251563509542, + -0.06413651998322611, + 0.035057656995094, + -0.06610449890274561, + -0.9961138460418272, + 0.05820138270329654, + 0.031188583397796885, + -0.06036317195277198, + -0.9976891097618729 + ], + [ + 0.9964952059008197, + -0.08198106163826435, + 0.016625587187998964, + -0.08309078671464518, + -0.9930284506528629, + 0.08360871579635547, + 0.009655349803295556, + -0.08469711758163613, + -0.996359961305922 + ], + [ + 0.9954148283540624, + -0.09481759620219656, + -0.012607257564179592, + -0.09291070876102757, + -0.9897800186399823, + 0.10818093592939411, + -0.022735867926601722, + -0.10651355853351892, + -0.9940512774289617 + ], + [ + 0.9933317159388997, + -0.10934761566682567, + -0.03654040308837985, + -0.10496060175043044, + -0.9888328973140511, + 0.10579590384172208, + -0.047700882487315015, + -0.101255124006045, + -0.9937162702061649 + ], + [ + 0.9936524578037624, + -0.1079157317359992, + -0.03176457058462068, + -0.10441562497421665, + -0.9898379904382602, + 0.09653046123576738, + -0.04185893407368656, + -0.09260101257022031, + -0.9948230406002789 + ], + [ + 0.9947996281321712, + -0.09924829180764078, + -0.022879607543829485, + -0.09720517781099561, + -0.9922282862704226, + 0.07767999312302679, + -0.030411400408843443, + -0.0750520119525529, + -0.9967157780566369 + ], + [ + 0.9952080086710426, + -0.09639071892393088, + -0.016427074674000373, + -0.09542496124099338, + -0.994082488302604, + 0.0519045587810686, + -0.021332985003799616, + -0.05008827962138698, + -0.9985169342556974 + ], + [ + 0.9957266997200012, + -0.0916219745289504, + -0.011565173934309163, + -0.0909832692122495, + -0.9947359859749539, + 0.04714194448564295, + -0.015823532733425634, + -0.045888255467521025, + -0.9988212471818877 + ], + [ + 0.996262472428047, + -0.0862666213324142, + -0.004376765408965551, + -0.08601214768933962, + -0.995429284906654, + 0.04150239993175074, + -0.00793703228054951, + -0.040970828574946064, + -0.9991288178830897 + ], + [ + 0.9974773442774496, + -0.07012498124756017, + -0.01101973948127471, + -0.06973830430875028, + -0.9970440822994121, + 0.03224386552295933, + -0.013248266503432521, + -0.03139402740573242, + -0.9994192806214525 + ], + [ + 0.9982704191990993, + -0.05648287313735474, + -0.016305066519468038, + -0.056086775273903905, + -0.9981420431543097, + 0.023806203542669036, + -0.017619415184091373, + -0.02285053018837584, + -0.9995836180523773 + ], + [ + 0.9990678237906975, + -0.037412708764327805, + -0.021535382258873293, + -0.03687369268184159, + -0.9990095513993316, + 0.024904758599747032, + -0.022445807049988355, + -0.024087453909082245, + -0.999457843188022 + ], + [ + 0.9999014241929908, + -0.0023142496719055785, + -0.013848687493205886, + -0.0019885721283347028, + -0.9997222212744756, + 0.02348458794440787, + -0.013899189822389022, + -0.023454733818235967, + -0.9996282749021241 + ], + [ + 0.9996361118236159, + 0.02607601158940222, + -0.006905473028884141, + 0.026186926472558308, + -0.9995210383021053, + 0.016490569226141477, + -0.006472157297540756, + -0.016665401617443863, + -0.9998401750124092 + ], + [ + 0.9994231774777106, + 0.03218397889977942, + -0.010839918013298842, + 0.03204361660197837, + -0.9994034447716142, + -0.012882593438292837, + -0.01124806451892519, + 0.012527812291437106, + -0.9998582574364071 + ], + [ + 0.9979514908377326, + 0.03047080910474662, + 0.05625257085013052, + 0.03237869898325618, + -0.9989200364757579, + -0.033322373556247564, + 0.05517646044191807, + 0.03507549742729976, + -0.9978603447844437 + ], + [ + 0.9894183766464758, + 0.03957701283056789, + 0.13958845227905434, + 0.04579895989033898, + -0.9980822181685124, + -0.041645420501962786, + 0.1376725507398475, + 0.04759775027489479, + -0.9893334740832097 + ], + [ + 0.983113799581676, + 0.05305367549824399, + 0.17513584609727187, + 0.06453031531079875, + -0.9960803892047296, + -0.06049542666717213, + 0.17123987700874224, + 0.0707754601389587, + -0.9826839465281548 + ], + [ + 0.9792107088387053, + 0.04745846954497967, + 0.19721582432464305, + 0.06591236802321887, + -0.9939298959414358, + -0.08808474155844725, + 0.19183833672436798, + 0.09925248421220964, + -0.9763948980512613 + ], + [ + 0.9808969868243369, + 0.06614399898587381, + 0.18293734620654403, + 0.08613507881400914, + -0.990884459999916, + -0.10357960768596715, + 0.1744186040439513, + 0.11735824780913846, + -0.9776528996707 + ], + [ + 0.9819694032756678, + 0.10961339652307497, + 0.154016214513615, + 0.125261260059371, + -0.9874835884081394, + -0.09584247155057521, + 0.14158286534311756, + 0.1134066396965333, + -0.9834089822215237 + ], + [ + 0.9814547354790729, + 0.14108141629055848, + 0.12977918239514705, + 0.15400191777476052, + -0.9834393067277608, + -0.09555385551884785, + 0.11414907589375659, + 0.11376802696834945, + -0.9869279733153428 + ], + [ + 0.9816039325442718, + 0.16309404174573133, + 0.09926758363465005, + 0.17227379001923881, + -0.9807226581609905, + -0.09222152157738527, + 0.08231318780139549, + 0.10762621110437072, + -0.9907780466871929 + ], + [ + 0.9816072852756995, + 0.17429477831810078, + 0.07790037063272405, + 0.1807217746319135, + -0.9798643734149202, + -0.08488492142941584, + 0.06153679929573476, + 0.0974019505103996, + -0.9933408691729171 + ], + [ + 0.9820730598041397, + 0.17481170700062545, + 0.07052214051247788, + 0.18102935820214913, + -0.9789417489117659, + -0.09434735664813731, + 0.05254404510362871, + 0.10542257506388433, + -0.9930383698483394 + ], + [ + 0.9839397802014672, + 0.16835018496873508, + 0.05933569042390049, + 0.17423869505742037, + -0.9780357867734669, + -0.11439788868284576, + 0.03877352294769653, + 0.12289920671590268, + -0.9916614336086819 + ], + [ + 0.9838975265426531, + 0.16562947843187412, + 0.06717539086327948, + 0.17224326615001587, + -0.9790155613279512, + -0.10890724467954846, + 0.04772750285971198, + 0.11872407738997845, + -0.9917795515731681 + ], + [ + 0.9862748932138706, + 0.15793559167260043, + 0.04814752225186352, + 0.16205631045376387, + -0.9817907220575667, + -0.09911977766215603, + 0.03161624990541063, + 0.10556195794275304, + -0.9939099988314893 + ], + [ + 0.9871052626774844, + 0.15045862660676887, + 0.054638833022124605, + 0.15462974585726605, + -0.9845252631526931, + -0.08245997762695555, + 0.04138649647568665, + 0.08984546673998416, + -0.9950954476911964 + ], + [ + 0.9886113813547531, + 0.14086461249792243, + 0.05295939578259092, + 0.14462000955628707, + -0.9866078210121342, + -0.07543248871426683, + 0.04162438578269214, + 0.08223240519101163, + -0.9957435623918012 + ], + [ + 0.9928568581055298, + 0.11571318643290425, + 0.029081227593758405, + 0.11795796835696067, + -0.988599498480637, + -0.09357857289428748, + 0.017921412162949013, + 0.09634049039410766, + -0.9951870843699232 + ], + [ + 0.9889166299214512, + 0.13248802573071433, + 0.06701359640235058, + 0.1388397821141702, + -0.9851281770643497, + -0.1012224760434222, + 0.05260621605180615, + 0.1094047430043552, + -0.9926042455283283 + ], + [ + 0.9848482817940766, + 0.1394629219774893, + 0.10307257268912835, + 0.14880296623646702, + -0.9848292959473085, + -0.08926889202380248, + 0.08905918866957958, + 0.10325381948106899, + -0.9906599364444324 + ], + [ + 0.9849443749517743, + 0.15093143638252796, + 0.08428688962327027, + 0.15717944864205355, + -0.9848556554001554, + -0.07317075201820941, + 0.07196665321826831, + 0.08531728745006581, + -0.9937513578791851 + ], + [ + 0.9926816658327984, + 0.11466043242878511, + 0.03789585141759625, + 0.11705473556644873, + -0.990757463975272, + -0.06854076494143141, + 0.029686683898497136, + 0.07247504958626655, + -0.9969283163731377 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005981.json b/json/chunk-0005/episode_0005981.json new file mode 100644 index 0000000000000000000000000000000000000000..85cf38cb827a8438c9ca946caaec2e8d651469d7 --- /dev/null +++ b/json/chunk-0005/episode_0005981.json @@ -0,0 +1,1282 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 20, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut pan from sink into drying rack." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005981.mp4", + "start": 0, + "end": 20, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.25767701864242554, + 0.044649142771959305, + 0.13667984306812286, + -0.05910342186689377, + -0.27990782260894775, + -0.06724792718887329, + 0.0, + 1.0112061500549316 + ], + [ + 0.25655829906463623, + 0.03964838758111, + 0.12640893459320068, + -0.0939517691731453, + -0.23978586494922638, + -0.053901027888059616, + 0.0, + 1.0112061500549316 + ], + [ + 0.2614787220954895, + 0.035498302429914474, + 0.12053282558917999, + -0.11665201932191849, + -0.24221208691596985, + -0.041417479515075684, + 0.0, + 1.0112061500549316 + ], + [ + 0.2616422772407532, + 0.03092361055314541, + 0.10992053896188736, + -0.11850763112306595, + -0.2415759116411209, + -0.08716877549886703, + 0.0, + 1.0112061500549316 + ], + [ + 0.260347843170166, + 0.03137204051017761, + 0.10133350640535355, + -0.09322962164878845, + -0.23866085708141327, + -0.16952109336853027, + 0.0, + 1.0112061500549316 + ], + [ + 0.25574547052383423, + 0.02925773523747921, + 0.09205813705921173, + -0.0761277824640274, + -0.2350238859653473, + -0.2774019241333008, + 0.0, + 1.0112061500549316 + ], + [ + 0.252021461725235, + 0.028501976281404495, + 0.08276613801717758, + -0.08446184545755386, + -0.23780257999897003, + -0.3452160954475403, + 0.0, + 1.0112061500549316 + ], + [ + 0.2489817589521408, + 0.028050502762198448, + 0.0749344527721405, + -0.07589606195688248, + -0.2420862466096878, + -0.3787379562854767, + 0.0, + 1.0112061500549316 + ], + [ + 0.24699944257736206, + 0.024537699297070503, + 0.06358093023300171, + -0.07290471345186234, + -0.2374802529811859, + -0.406947523355484, + 0.0, + 1.0112061500549316 + ], + [ + 0.2467927634716034, + 0.02445961907505989, + 0.05303458124399185, + -0.0723734200000763, + -0.22938917577266693, + -0.41352543234825134, + 0.0, + 0.8074146509170532 + ], + [ + 0.2470162957906723, + 0.024024812504649162, + 0.05061456561088562, + -0.06665849685668945, + -0.21530015766620636, + -0.433131605386734, + 0.0, + 0.47944000363349915 + ], + [ + 0.24805159866809845, + 0.023365067318081856, + 0.055309999734163284, + -0.07072492688894272, + -0.19184035062789917, + -0.4373704791069031, + 0.0, + 0.22681957483291626 + ], + [ + 0.2525455355644226, + 0.019366813823580742, + 0.06806908547878265, + -0.05911937355995178, + -0.16923975944519043, + -0.4415628910064697, + 0.0, + 0.11619604378938675 + ], + [ + 0.25589388608932495, + 0.013777471147477627, + 0.09195610135793686, + -0.030354401096701622, + -0.142936110496521, + -0.3798128664493561, + 0.0, + 0.06443082541227341 + ], + [ + 0.2602076530456543, + 0.006242295727133751, + 0.11981911957263947, + 0.01743684709072113, + -0.118968166410923, + -0.3453333079814911, + 0.0, + 0.06267260015010834 + ], + [ + 0.26336342096328735, + -0.01876736246049404, + 0.14054568111896515, + 0.047829482704401016, + -0.12257867306470871, + -0.32508382201194763, + 0.0, + 0.06267260015010834 + ], + [ + 0.26273301243782043, + -0.048532940447330475, + 0.14249888062477112, + 0.09149600565433502, + -0.1403008997440338, + -0.31050437688827515, + 0.0, + 0.06267260015010834 + ], + [ + 0.2583014667034149, + -0.0790080577135086, + 0.14402040839195251, + 0.11321702599525452, + -0.17298604547977448, + -0.28931060433387756, + 0.0, + 0.06267260015010834 + ], + [ + 0.2508504092693329, + -0.10073702782392502, + 0.14221104979515076, + 0.10826434195041656, + -0.17904601991176605, + -0.2321394979953766, + 0.0, + 0.06267260015010834 + ], + [ + 0.2498781383037567, + -0.11954078078269958, + 0.14203354716300964, + 0.0898730605840683, + -0.19001765549182892, + -0.20614774525165558, + 0.0, + 0.16443414986133575 + ] + ], + "left_gripper_pos": [ + [ + 1.0112061500549316 + ], + [ + 1.0112061500549316 + ], + [ + 1.0112061500549316 + ], + [ + 1.0112061500549316 + ], + [ + 1.0112061500549316 + ], + [ + 1.0112061500549316 + ], + [ + 1.0112061500549316 + ], + [ + 1.0112061500549316 + ], + [ + 1.0112061500549316 + ], + [ + 0.8074146509170532 + ], + [ + 0.47944000363349915 + ], + [ + 0.22681957483291626 + ], + [ + 0.11619604378938675 + ], + [ + 0.06443082541227341 + ], + [ + 0.06267260015010834 + ], + [ + 0.06267260015010834 + ], + [ + 0.06267260015010834 + ], + [ + 0.06267260015010834 + ], + [ + 0.06267260015010834 + ], + [ + 0.16443414986133575 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.25767701864242554, + 0.044649142771959305, + 0.13667984306812286 + ], + [ + 0.25655829906463623, + 0.03964838758111, + 0.12640893459320068 + ], + [ + 0.2614787220954895, + 0.035498302429914474, + 0.12053282558917999 + ], + [ + 0.2616422772407532, + 0.03092361055314541, + 0.10992053896188736 + ], + [ + 0.260347843170166, + 0.03137204051017761, + 0.10133350640535355 + ], + [ + 0.25574547052383423, + 0.02925773523747921, + 0.09205813705921173 + ], + [ + 0.252021461725235, + 0.028501976281404495, + 0.08276613801717758 + ], + [ + 0.2489817589521408, + 0.028050502762198448, + 0.0749344527721405 + ], + [ + 0.24699944257736206, + 0.024537699297070503, + 0.06358093023300171 + ], + [ + 0.2467927634716034, + 0.02445961907505989, + 0.05303458124399185 + ], + [ + 0.2470162957906723, + 0.024024812504649162, + 0.05061456561088562 + ], + [ + 0.24805159866809845, + 0.023365067318081856, + 0.055309999734163284 + ], + [ + 0.2525455355644226, + 0.019366813823580742, + 0.06806908547878265 + ], + [ + 0.25589388608932495, + 0.013777471147477627, + 0.09195610135793686 + ], + [ + 0.2602076530456543, + 0.006242295727133751, + 0.11981911957263947 + ], + [ + 0.26336342096328735, + -0.01876736246049404, + 0.14054568111896515 + ], + [ + 0.26273301243782043, + -0.048532940447330475, + 0.14249888062477112 + ], + [ + 0.2583014667034149, + -0.0790080577135086, + 0.14402040839195251 + ], + [ + 0.2508504092693329, + -0.10073702782392502, + 0.14221104979515076 + ], + [ + 0.2498781383037567, + -0.11954078078269958, + 0.14203354716300964 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9589085865425322, + -0.08336185848045403, + 0.2711920411916385, + -0.06458199687585041, + -0.9949009778404991, + -0.07746747686316992, + 0.2762670598072275, + 0.0567701051848847, + -0.9594027656947661 + ], + [ + 0.9699780965304088, + -0.07588520210831642, + 0.2310496231380287, + -0.05233350812777935, + -0.9929435285057426, + -0.10641594394452909, + 0.23749462347237418, + 0.09112949741738662, + -0.9671048125835017 + ], + [ + 0.9699772316557876, + -0.06901596067399093, + 0.2331972710852791, + -0.04019699949744089, + -0.9911962463844951, + -0.12615150567746078, + 0.23985072712163652, + 0.11299025765761321, + -0.9642120256321681 + ], + [ + 0.9672756284619761, + -0.11462505539320679, + 0.22636023338827335, + -0.0845304392025935, + -0.9867536068343034, + -0.13846271789803175, + 0.23923307344868924, + 0.11479728252705965, + -0.9641520214637818 + ], + [ + 0.9577273983848212, + -0.189669920005608, + 0.21629505733628848, + -0.16392830352285154, + -0.9776722620889483, + -0.13147037402395528, + 0.2364016533088589, + 0.09045589746912638, + -0.9674357802592858 + ], + [ + 0.9353299504872771, + -0.2900980460678739, + 0.20248705486788304, + -0.2663291378808229, + -0.954134441376779, + -0.13673426086493107, + 0.23286621488984832, + 0.07396344668972024, + -0.9696920823213169 + ], + [ + 0.9145206238616266, + -0.35589408686660245, + 0.19233155608253127, + -0.3288767648618676, + -0.9309229143545381, + -0.15881624936902558, + 0.23556761675946136, + 0.08198735550705324, + -0.9683935003247528 + ], + [ + 0.9020384824715001, + -0.38557258056759625, + 0.19406277658262552, + -0.35896628603941094, + -0.9197363901834509, + -0.15883380641219627, + 0.239728558222806, + 0.07361221153286848, + -0.9680451749198771 + ], + [ + 0.8925592057841842, + -0.4104930962759304, + 0.1866373008798241, + -0.3846991755978089, + -0.9091113088763468, + -0.15975973324809212, + 0.2352543484492315, + 0.07079580483994166, + -0.9693520235460348 + ], + [ + 0.8917232646740936, + -0.4158443462650747, + 0.17861438609011548, + -0.39131407829385234, + -0.9067056023887731, + -0.15734752214714, + 0.2273827420188459, + 0.07041612227455113, + -0.9712562269328348 + ], + [ + 0.8867001457903216, + -0.4316994739759949, + 0.1655246677213769, + -0.4100250205051989, + -0.89966732246144, + -0.14992728722542542, + 0.2136406656400747, + 0.06507129216415831, + -0.9747427316584377 + ], + [ + 0.8892503974072176, + -0.43470534716250336, + 0.14235516098628992, + -0.41578874568712115, + -0.897897053052417, + -0.144570401810727, + 0.19066580624494683, + 0.06936961343493243, + -0.9792009022978133 + ], + [ + 0.891168292769791, + -0.4356036907680723, + 0.12676158152614414, + -0.42124742392144726, + -0.898252433166806, + -0.12527239979124247, + 0.1684330187383702, + 0.05824080098303955, + -0.9839910199282986 + ], + [ + 0.919262814892652, + -0.37459110244827354, + 0.12098505330091129, + -0.36696580939358914, + -0.9267033453720491, + -0.08097533212256779, + 0.14244989256487797, + 0.030040233734763614, + -0.9893460529387152 + ], + [ + 0.9343116047008249, + -0.33651160572651057, + 0.1175660007516413, + -0.33611761031395954, + -0.9415201585461609, + -0.023764323849948567, + 0.1186877304450744, + -0.017312719675935326, + -0.9927806869491468 + ], + [ + 0.9405135911387209, + -0.31348317771862444, + 0.13100565701823913, + -0.316991732882248, + -0.9484073793535229, + 0.006299529513592288, + 0.12227193532310143, + -0.04745250336090209, + -0.9913616059527054 + ], + [ + 0.9428234323094477, + -0.29209486202457163, + 0.1605134482436875, + -0.302536695774471, + -0.9521006566313469, + 0.04445095445570682, + 0.13984106406237637, + -0.0904706097083722, + -0.9860322233988592 + ], + [ + 0.9441362330546177, + -0.2648273776197209, + 0.196145949477673, + -0.28103362517052416, + -0.9578523788617587, + 0.059488837880586995, + 0.1721245913777269, + -0.1112891745495992, + -0.978768534777819 + ], + [ + 0.957619246151573, + -0.20998610712611043, + 0.19715784086389826, + -0.22638242400956748, + -0.9719057020168591, + 0.06442285686515563, + 0.17809092480989863, + -0.1063256375534029, + -0.9782527696353417 + ], + [ + 0.9612086974250391, + -0.18727152171910066, + 0.2025023880043706, + -0.20100648922340753, + -0.9783462093550204, + 0.04934658985931322, + 0.18887623271481352, + -0.08813666543315288, + -0.978037676637145 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0011187195777893066, + -0.005000755190849304, + -0.01027090847492218, + -0.034848347306251526, + 0.040121957659721375, + 0.013346899300813675, + 1.0 + ], + [ + 0.0049204230308532715, + -0.004150085151195526, + -0.005876109004020691, + -0.022700250148773193, + -0.0024262219667434692, + 0.012483548372983932, + 1.0 + ], + [ + 0.00016355514526367188, + -0.004574691876769066, + -0.010612286627292633, + -0.001855611801147461, + 0.000636175274848938, + -0.04575129598379135, + 1.0 + ], + [ + -0.0012944340705871582, + 0.0004484299570322037, + -0.008587032556533813, + 0.025278009474277496, + 0.0029150545597076416, + -0.08235231786966324, + 1.0 + ], + [ + -0.004602372646331787, + -0.0021143052726984024, + -0.009275369346141815, + 0.017101839184761047, + 0.003636971116065979, + -0.10788083076477051, + 1.0 + ], + [ + -0.003724008798599243, + -0.0007557589560747147, + -0.00929199904203415, + -0.008334062993526459, + -0.0027786940336227417, + -0.0678141713142395, + 1.0 + ], + [ + -0.0030397027730941772, + -0.00045147351920604706, + -0.007831685245037079, + 0.008565783500671387, + -0.0042836666107177734, + -0.0335218608379364, + 1.0 + ], + [ + -0.0019823163747787476, + -0.003512803465127945, + -0.011353522539138794, + 0.0029913485050201416, + 0.004605993628501892, + -0.028209567070007324, + 1.0 + ], + [ + -0.000206679105758667, + -7.808022201061249e-05, + -0.010546348989009857, + 0.0005312934517860413, + 0.008091077208518982, + -0.006577908992767334, + 0.0 + ], + [ + 0.0002235323190689087, + -0.00043480657041072845, + -0.0024200156331062317, + 0.005714923143386841, + 0.014089018106460571, + -0.019606173038482666, + 0.0 + ], + [ + 0.0010353028774261475, + -0.0006597451865673065, + 0.004695434123277664, + -0.004066430032253265, + 0.02345980703830719, + -0.004238873720169067, + 0.0 + ], + [ + 0.004493936896324158, + -0.003998253494501114, + 0.01275908574461937, + 0.011605553328990936, + 0.02260059118270874, + -0.00419241189956665, + 0.0 + ], + [ + 0.0033483505249023438, + -0.005589342676103115, + 0.023887015879154205, + 0.02876497246325016, + 0.026303648948669434, + 0.06175002455711365, + 0.0 + ], + [ + 0.004313766956329346, + -0.007535175420343876, + 0.027863018214702606, + 0.0477912500500679, + 0.023967944085597992, + 0.03447955846786499, + 0.0 + ], + [ + 0.0031557679176330566, + -0.025009658187627792, + 0.020726561546325684, + 0.030392635613679886, + -0.0036105066537857056, + 0.020249485969543457, + 0.0 + ], + [ + -0.0006304085254669189, + -0.029765577986836433, + 0.0019531995058059692, + 0.043666522949934006, + -0.017722226679325104, + 0.014579445123672485, + 0.0 + ], + [ + -0.004431545734405518, + -0.03047511726617813, + 0.0015215277671813965, + 0.021721020340919495, + -0.03268514573574066, + 0.021193772554397583, + 0.0 + ], + [ + -0.007451057434082031, + -0.021728970110416412, + -0.0018093585968017578, + -0.004952684044837952, + -0.006059974431991577, + 0.05717110633850098, + 0.0 + ], + [ + -0.0009722709655761719, + -0.018803752958774567, + -0.00017750263214111328, + -0.018391281366348267, + -0.010971635580062866, + 0.02599175274372101, + 1.0 + ], + [ + 0.0032770633697509766, + -0.01111719012260437, + 0.0013495683670043945, + -0.04001504182815552, + -0.02498374879360199, + -0.002320393919944763, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0112061500549316 + ], + [ + 1.0112061500549316 + ], + [ + 1.0112061500549316 + ], + [ + 1.0112061500549316 + ], + [ + 1.0112061500549316 + ], + [ + 1.0112061500549316 + ], + [ + 1.0112061500549316 + ], + [ + 1.0112061500549316 + ], + [ + 0.8074146509170532 + ], + [ + 0.47944000363349915 + ], + [ + 0.22681957483291626 + ], + [ + 0.11619604378938675 + ], + [ + 0.06443082541227341 + ], + [ + 0.06267260015010834 + ], + [ + 0.06267260015010834 + ], + [ + 0.06267260015010834 + ], + [ + 0.06267260015010834 + ], + [ + 0.06267260015010834 + ], + [ + 0.16443414986133575 + ], + [ + 0.4015096127986908 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.25655829906463623, + 0.03964838758111, + 0.12640893459320068 + ], + [ + 0.2614787220954895, + 0.035498302429914474, + 0.12053282558917999 + ], + [ + 0.2616422772407532, + 0.03092361055314541, + 0.10992053896188736 + ], + [ + 0.260347843170166, + 0.03137204051017761, + 0.10133350640535355 + ], + [ + 0.25574547052383423, + 0.02925773523747921, + 0.09205813705921173 + ], + [ + 0.252021461725235, + 0.028501976281404495, + 0.08276613801717758 + ], + [ + 0.2489817589521408, + 0.028050502762198448, + 0.0749344527721405 + ], + [ + 0.24699944257736206, + 0.024537699297070503, + 0.06358093023300171 + ], + [ + 0.2467927634716034, + 0.02445961907505989, + 0.05303458124399185 + ], + [ + 0.2470162957906723, + 0.024024812504649162, + 0.05061456561088562 + ], + [ + 0.24805159866809845, + 0.023365067318081856, + 0.055309999734163284 + ], + [ + 0.2525455355644226, + 0.019366813823580742, + 0.06806908547878265 + ], + [ + 0.25589388608932495, + 0.013777471147477627, + 0.09195610135793686 + ], + [ + 0.2602076530456543, + 0.006242295727133751, + 0.11981911957263947 + ], + [ + 0.26336342096328735, + -0.01876736246049404, + 0.14054568111896515 + ], + [ + 0.26273301243782043, + -0.048532940447330475, + 0.14249888062477112 + ], + [ + 0.2583014667034149, + -0.0790080577135086, + 0.14402040839195251 + ], + [ + 0.2508504092693329, + -0.10073702782392502, + 0.14221104979515076 + ], + [ + 0.2498781383037567, + -0.11954078078269958, + 0.14203354716300964 + ], + [ + 0.2531552016735077, + -0.13065797090530396, + 0.14338311553001404 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9699780965304088, + -0.07588520210831642, + 0.2310496231380287, + -0.05233350812777935, + -0.9929435285057426, + -0.10641594394452909, + 0.23749462347237418, + 0.09112949741738662, + -0.9671048125835017 + ], + [ + 0.9699772316557876, + -0.06901596067399093, + 0.2331972710852791, + -0.04019699949744089, + -0.9911962463844951, + -0.12615150567746078, + 0.23985072712163652, + 0.11299025765761321, + -0.9642120256321681 + ], + [ + 0.9672756284619761, + -0.11462505539320679, + 0.22636023338827335, + -0.0845304392025935, + -0.9867536068343034, + -0.13846271789803175, + 0.23923307344868924, + 0.11479728252705965, + -0.9641520214637818 + ], + [ + 0.9577273983848212, + -0.189669920005608, + 0.21629505733628848, + -0.16392830352285154, + -0.9776722620889483, + -0.13147037402395528, + 0.2364016533088589, + 0.09045589746912638, + -0.9674357802592858 + ], + [ + 0.9353299504872771, + -0.2900980460678739, + 0.20248705486788304, + -0.2663291378808229, + -0.954134441376779, + -0.13673426086493107, + 0.23286621488984832, + 0.07396344668972024, + -0.9696920823213169 + ], + [ + 0.9145206238616266, + -0.35589408686660245, + 0.19233155608253127, + -0.3288767648618676, + -0.9309229143545381, + -0.15881624936902558, + 0.23556761675946136, + 0.08198735550705324, + -0.9683935003247528 + ], + [ + 0.9020384824715001, + -0.38557258056759625, + 0.19406277658262552, + -0.35896628603941094, + -0.9197363901834509, + -0.15883380641219627, + 0.239728558222806, + 0.07361221153286848, + -0.9680451749198771 + ], + [ + 0.8925592057841842, + -0.4104930962759304, + 0.1866373008798241, + -0.3846991755978089, + -0.9091113088763468, + -0.15975973324809212, + 0.2352543484492315, + 0.07079580483994166, + -0.9693520235460348 + ], + [ + 0.8917232646740936, + -0.4158443462650747, + 0.17861438609011548, + -0.39131407829385234, + -0.9067056023887731, + -0.15734752214714, + 0.2273827420188459, + 0.07041612227455113, + -0.9712562269328348 + ], + [ + 0.8867001457903216, + -0.4316994739759949, + 0.1655246677213769, + -0.4100250205051989, + -0.89966732246144, + -0.14992728722542542, + 0.2136406656400747, + 0.06507129216415831, + -0.9747427316584377 + ], + [ + 0.8892503974072176, + -0.43470534716250336, + 0.14235516098628992, + -0.41578874568712115, + -0.897897053052417, + -0.144570401810727, + 0.19066580624494683, + 0.06936961343493243, + -0.9792009022978133 + ], + [ + 0.891168292769791, + -0.4356036907680723, + 0.12676158152614414, + -0.42124742392144726, + -0.898252433166806, + -0.12527239979124247, + 0.1684330187383702, + 0.05824080098303955, + -0.9839910199282986 + ], + [ + 0.919262814892652, + -0.37459110244827354, + 0.12098505330091129, + -0.36696580939358914, + -0.9267033453720491, + -0.08097533212256779, + 0.14244989256487797, + 0.030040233734763614, + -0.9893460529387152 + ], + [ + 0.9343116047008249, + -0.33651160572651057, + 0.1175660007516413, + -0.33611761031395954, + -0.9415201585461609, + -0.023764323849948567, + 0.1186877304450744, + -0.017312719675935326, + -0.9927806869491468 + ], + [ + 0.9405135911387209, + -0.31348317771862444, + 0.13100565701823913, + -0.316991732882248, + -0.9484073793535229, + 0.006299529513592288, + 0.12227193532310143, + -0.04745250336090209, + -0.9913616059527054 + ], + [ + 0.9428234323094477, + -0.29209486202457163, + 0.1605134482436875, + -0.302536695774471, + -0.9521006566313469, + 0.04445095445570682, + 0.13984106406237637, + -0.0904706097083722, + -0.9860322233988592 + ], + [ + 0.9441362330546177, + -0.2648273776197209, + 0.196145949477673, + -0.28103362517052416, + -0.9578523788617587, + 0.059488837880586995, + 0.1721245913777269, + -0.1112891745495992, + -0.978768534777819 + ], + [ + 0.957619246151573, + -0.20998610712611043, + 0.19715784086389826, + -0.22638242400956748, + -0.9719057020168591, + 0.06442285686515563, + 0.17809092480989863, + -0.1063256375534029, + -0.9782527696353417 + ], + [ + 0.9612086974250391, + -0.18727152171910066, + 0.2025023880043706, + -0.20100648922340753, + -0.9783462093550204, + 0.04934658985931322, + 0.18887623271481352, + -0.08813666543315288, + -0.978037676637145 + ], + [ + 0.955823681541877, + -0.19630173364288514, + 0.21878464108005888, + -0.20219638778620172, + -0.9793339173260944, + 0.004658233671499409, + 0.21334880025428862, + -0.04868991418686344, + -0.9757620517762163 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005982.json b/json/chunk-0005/episode_0005982.json new file mode 100644 index 0000000000000000000000000000000000000000..5fdb5c8058e85cc2d439fedc8d4e7608712fe065 --- /dev/null +++ b/json/chunk-0005/episode_0005982.json @@ -0,0 +1,2482 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 40, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPick the stainless steel pot and put it onto the green towel." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005982.mp4", + "start": 0, + "end": 40, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3671512007713318, + 0.11109164357185364, + 0.11222060024738312, + -0.020710710436105728, + -0.2777584195137024, + 0.30384117364883423, + 0.0, + 0.9994885921478271 + ], + [ + 0.3639152944087982, + 0.11050960421562195, + 0.09989211708307266, + -0.019574884325265884, + -0.24386949837207794, + 0.3100000023841858, + 0.0, + 0.9994885921478271 + ], + [ + 0.3418496549129486, + 0.0886913314461708, + 0.0818227007985115, + 0.02566559426486492, + -0.2093779742717743, + 0.2568262815475464, + 0.0, + 0.9994885921478271 + ], + [ + 0.3275957703590393, + 0.0679660364985466, + 0.07978460192680359, + -1.2447750123101287e-05, + -0.2239646464586258, + 0.20927764475345612, + 0.0, + 0.9994885921478271 + ], + [ + 0.3145201504230499, + 0.05186166614294052, + 0.081255704164505, + 0.01052218209952116, + -0.2329842895269394, + 0.10056241601705551, + 0.0, + 0.9994885921478271 + ], + [ + 0.3007234036922455, + 0.03363180533051491, + 0.0708753690123558, + 0.01963753253221512, + -0.20645135641098022, + -0.02723398618400097, + 0.0, + 0.9994885921478271 + ], + [ + 0.2931478023529053, + 0.016203898936510086, + 0.06795455515384674, + 0.021769080311059952, + -0.19884300231933594, + -0.11845476925373077, + 0.0, + 0.9994885921478271 + ], + [ + 0.2863828241825104, + 0.009531643241643906, + 0.06246140971779823, + 0.0251759085804224, + -0.17973460257053375, + -0.16631361842155457, + 0.0, + 0.9994885921478271 + ], + [ + 0.2793773114681244, + 0.006585054565221071, + 0.04757296293973923, + 0.03678417578339577, + -0.13644935190677643, + -0.19890278577804565, + 0.0, + 0.9994885921478271 + ], + [ + 0.27990487217903137, + 0.010288989171385765, + 0.034055378288030624, + 0.07125367969274521, + -0.11474411189556122, + -0.19843876361846924, + 0.0, + 0.9994885921478271 + ], + [ + 0.28243744373321533, + 0.012883540242910385, + 0.02295803651213646, + 0.09338920563459396, + -0.10621777921915054, + -0.19475166499614716, + 0.0, + 0.9994885921478271 + ], + [ + 0.2845807373523712, + 0.01173227559775114, + 0.014426926150918007, + 0.09309817105531693, + -0.10531388968229294, + -0.21204708516597748, + 0.0, + 0.9437892436981201 + ], + [ + 0.2848956882953644, + 0.00669992296025157, + 0.01187664270401001, + 0.0665975958108902, + -0.129929780960083, + -0.23489488661289215, + 0.0, + 0.649078905582428 + ], + [ + 0.28147974610328674, + 0.005953761748969555, + 0.01118373405188322, + 0.060013726353645325, + -0.11087098717689514, + -0.2361600399017334, + 0.0, + 0.3544071912765503 + ], + [ + 0.2820868194103241, + 0.004353227559477091, + 0.011850669048726559, + 0.04885757341980934, + -0.1161615177989006, + -0.2406822293996811, + 0.0, + 0.15014003217220306 + ], + [ + 0.28148362040519714, + 0.003661318449303508, + 0.015484485775232315, + 0.04533716291189194, + -0.11846695840358734, + -0.24366410076618195, + 0.0, + 0.09034547209739685 + ], + [ + 0.2808445990085602, + 0.0037148515693843365, + 0.02201136387884617, + 0.046208180487155914, + -0.12470017373561859, + -0.2358430176973343, + 0.0, + 0.08926420658826828 + ], + [ + 0.2839621901512146, + 0.00952188577502966, + 0.026366684585809708, + 0.047288235276937485, + -0.11832994967699051, + -0.20947156846523285, + 0.0, + 0.08819076418876648 + ], + [ + 0.29073071479797363, + 0.023027898743748665, + 0.03491330146789551, + 0.049052126705646515, + -0.13222621381282806, + -0.15599007904529572, + 0.0, + 0.0853668823838234 + ], + [ + 0.303133487701416, + 0.03832920268177986, + 0.054688774049282074, + 0.0571829117834568, + -0.16200856864452362, + -0.10472677648067474, + 0.0, + 0.08501782268285751 + ], + [ + 0.31854376196861267, + 0.05678385868668556, + 0.07662919163703918, + 0.04884989932179451, + -0.1950012594461441, + -0.07074015587568283, + 0.0, + 0.08501782268285751 + ], + [ + 0.33094456791877747, + 0.07147406786680222, + 0.09195481240749359, + 0.040109287947416306, + -0.22501711547374725, + -0.060309283435344696, + 0.0, + 0.08501782268285751 + ], + [ + 0.34087884426116943, + 0.08447214215993881, + 0.08848151564598083, + 0.026527486741542816, + -0.21198631823062897, + -0.06717483699321747, + 0.0, + 0.08501782268285751 + ], + [ + 0.3583981692790985, + 0.10564259439706802, + 0.08618682622909546, + 0.035151511430740356, + -0.1915995478630066, + -0.1414400339126587, + 0.0, + 0.08501782268285751 + ], + [ + 0.37311407923698425, + 0.12097571790218353, + 0.08511093258857727, + 0.05157098546624184, + -0.20827162265777588, + -0.2233101725578308, + 0.0, + 0.08501782268285751 + ], + [ + 0.3879013955593109, + 0.13531599938869476, + 0.08079838752746582, + 0.08159439265727997, + -0.2134462147951126, + -0.2962839603424072, + 0.0, + 0.08501782268285751 + ], + [ + 0.39625415205955505, + 0.14567123353481293, + 0.07070460170507431, + 0.09083197265863419, + -0.19344653189182281, + -0.3298824727535248, + 0.0, + 0.08501782268285751 + ], + [ + 0.3946942985057831, + 0.14818379282951355, + 0.059747811406850815, + 0.08785814791917801, + -0.16401785612106323, + -0.33990785479545593, + 0.0, + 0.08501782268285751 + ], + [ + 0.3916955888271332, + 0.1494331955909729, + 0.04479365795850754, + 0.07331141084432602, + -0.12719491124153137, + -0.32926300168037415, + 0.0, + 0.08501782268285751 + ], + [ + 0.39038947224617004, + 0.15158189833164215, + 0.03996414318680763, + 0.07980895787477493, + -0.1114087700843811, + -0.32533395290374756, + 0.0, + 0.08501782268285751 + ], + [ + 0.38640081882476807, + 0.15331336855888367, + 0.035317547619342804, + 0.08857296407222748, + -0.09626778215169907, + -0.30254220962524414, + 0.0, + 0.12046794593334198 + ], + [ + 0.38591712713241577, + 0.1534852534532547, + 0.034871894866228104, + 0.11806557327508926, + -0.07213472574949265, + -0.25449928641319275, + 0.0, + 0.3080119788646698 + ], + [ + 0.3852017819881439, + 0.15560801327228546, + 0.035022199153900146, + 0.1285078525543213, + -0.06731592118740082, + -0.23218455910682678, + 0.0, + 0.6019018292427063 + ], + [ + 0.3838263154029846, + 0.15500597655773163, + 0.03322722390294075, + 0.13034914433956146, + -0.06487300246953964, + -0.22885560989379883, + 0.0, + 0.904950737953186 + ], + [ + 0.3820527195930481, + 0.15435917675495148, + 0.03170684725046158, + 0.12625065445899963, + -0.05825547128915787, + -0.2300020307302475, + 0.0, + 1.00800359249115 + ], + [ + 0.3822525441646576, + 0.15098226070404053, + 0.0335000604391098, + 0.10916614532470703, + -0.07087596505880356, + -0.22390945255756378, + 0.0, + 1.0027955770492554 + ], + [ + 0.3865257799625397, + 0.14389804005622864, + 0.0658063292503357, + 0.08978540450334549, + -0.1394248753786087, + -0.21097449958324432, + 0.0, + 0.9994885921478271 + ], + [ + 0.39110666513442993, + 0.1358928680419922, + 0.08844037353992462, + 0.10840969532728195, + -0.1785932332277298, + -0.21526934206485748, + 0.0, + 0.9994885921478271 + ], + [ + 0.3919984698295593, + 0.12640002369880676, + 0.12509964406490326, + 0.15522362291812897, + -0.24424222111701965, + -0.23319564759731293, + 0.0, + 0.9994885921478271 + ], + [ + 0.3833380341529846, + 0.12014807760715485, + 0.14804580807685852, + 0.1663466989994049, + -0.29323163628578186, + -0.2225044071674347, + 0.0, + 0.9994885921478271 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9437892436981201 + ], + [ + 0.649078905582428 + ], + [ + 0.3544071912765503 + ], + [ + 0.15014003217220306 + ], + [ + 0.09034547209739685 + ], + [ + 0.08926420658826828 + ], + [ + 0.08819076418876648 + ], + [ + 0.0853668823838234 + ], + [ + 0.08501782268285751 + ], + [ + 0.08501782268285751 + ], + [ + 0.08501782268285751 + ], + [ + 0.08501782268285751 + ], + [ + 0.08501782268285751 + ], + [ + 0.08501782268285751 + ], + [ + 0.08501782268285751 + ], + [ + 0.08501782268285751 + ], + [ + 0.08501782268285751 + ], + [ + 0.08501782268285751 + ], + [ + 0.08501782268285751 + ], + [ + 0.12046794593334198 + ], + [ + 0.3080119788646698 + ], + [ + 0.6019018292427063 + ], + [ + 0.904950737953186 + ], + [ + 1.00800359249115 + ], + [ + 1.0027955770492554 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3671512007713318, + 0.11109164357185364, + 0.11222060024738312 + ], + [ + 0.3639152944087982, + 0.11050960421562195, + 0.09989211708307266 + ], + [ + 0.3418496549129486, + 0.0886913314461708, + 0.0818227007985115 + ], + [ + 0.3275957703590393, + 0.0679660364985466, + 0.07978460192680359 + ], + [ + 0.3145201504230499, + 0.05186166614294052, + 0.081255704164505 + ], + [ + 0.3007234036922455, + 0.03363180533051491, + 0.0708753690123558 + ], + [ + 0.2931478023529053, + 0.016203898936510086, + 0.06795455515384674 + ], + [ + 0.2863828241825104, + 0.009531643241643906, + 0.06246140971779823 + ], + [ + 0.2793773114681244, + 0.006585054565221071, + 0.04757296293973923 + ], + [ + 0.27990487217903137, + 0.010288989171385765, + 0.034055378288030624 + ], + [ + 0.28243744373321533, + 0.012883540242910385, + 0.02295803651213646 + ], + [ + 0.2845807373523712, + 0.01173227559775114, + 0.014426926150918007 + ], + [ + 0.2848956882953644, + 0.00669992296025157, + 0.01187664270401001 + ], + [ + 0.28147974610328674, + 0.005953761748969555, + 0.01118373405188322 + ], + [ + 0.2820868194103241, + 0.004353227559477091, + 0.011850669048726559 + ], + [ + 0.28148362040519714, + 0.003661318449303508, + 0.015484485775232315 + ], + [ + 0.2808445990085602, + 0.0037148515693843365, + 0.02201136387884617 + ], + [ + 0.2839621901512146, + 0.00952188577502966, + 0.026366684585809708 + ], + [ + 0.29073071479797363, + 0.023027898743748665, + 0.03491330146789551 + ], + [ + 0.303133487701416, + 0.03832920268177986, + 0.054688774049282074 + ], + [ + 0.31854376196861267, + 0.05678385868668556, + 0.07662919163703918 + ], + [ + 0.33094456791877747, + 0.07147406786680222, + 0.09195481240749359 + ], + [ + 0.34087884426116943, + 0.08447214215993881, + 0.08848151564598083 + ], + [ + 0.3583981692790985, + 0.10564259439706802, + 0.08618682622909546 + ], + [ + 0.37311407923698425, + 0.12097571790218353, + 0.08511093258857727 + ], + [ + 0.3879013955593109, + 0.13531599938869476, + 0.08079838752746582 + ], + [ + 0.39625415205955505, + 0.14567123353481293, + 0.07070460170507431 + ], + [ + 0.3946942985057831, + 0.14818379282951355, + 0.059747811406850815 + ], + [ + 0.3916955888271332, + 0.1494331955909729, + 0.04479365795850754 + ], + [ + 0.39038947224617004, + 0.15158189833164215, + 0.03996414318680763 + ], + [ + 0.38640081882476807, + 0.15331336855888367, + 0.035317547619342804 + ], + [ + 0.38591712713241577, + 0.1534852534532547, + 0.034871894866228104 + ], + [ + 0.3852017819881439, + 0.15560801327228546, + 0.035022199153900146 + ], + [ + 0.3838263154029846, + 0.15500597655773163, + 0.03322722390294075 + ], + [ + 0.3820527195930481, + 0.15435917675495148, + 0.03170684725046158 + ], + [ + 0.3822525441646576, + 0.15098226070404053, + 0.0335000604391098 + ], + [ + 0.3865257799625397, + 0.14389804005622864, + 0.0658063292503357 + ], + [ + 0.39110666513442993, + 0.1358928680419922, + 0.08844037353992462 + ], + [ + 0.3919984698295593, + 0.12640002369880676, + 0.12509964406490326 + ], + [ + 0.3833380341529846, + 0.12014807760715485, + 0.14804580807685852 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9176224145357208, + 0.2937050895369279, + 0.26778055329268996, + 0.28772051594268805, + -0.9556885964408601, + 0.062259226935229936, + 0.27420067295195943, + 0.019915496805358163, + -0.9614662573068743 + ], + [ + 0.9241548905180302, + 0.30049923938070294, + 0.2358769710319915, + 0.2960322328146456, + -0.9535928991476103, + 0.055004543721691904, + 0.24145942819940464, + 0.01899446832304152, + -0.9702250021035028 + ], + [ + 0.946077721043236, + 0.25908765065442635, + 0.19444931222302453, + 0.2484646857008906, + -0.9655275569491896, + 0.07760049440105027, + 0.20785149916513712, + -0.02510231164852589, + -0.9778382423717665 + ], + [ + 0.9537507528537799, + 0.20775065545455007, + 0.21725369177312867, + 0.20256463203452652, + -0.9781818159273367, + 0.04612921891616506, + 0.22209698620099652, + 1.2136862316998454e-05, + -0.9750245784456573 + ], + [ + 0.9680660695434316, + 0.10280451601373747, + 0.22864670670252984, + 0.09768055966280603, + -0.9946488933029793, + 0.03364650524376859, + 0.23088220646618157, + -0.010237701809446942, + -0.9729278473756252 + ], + [ + 0.9784015574656135, + -0.02320166401215658, + 0.20540709611872918, + -0.02665236408826369, + -0.999546047909171, + 0.014048117228444281, + 0.20498791144203718, + -0.019219284487838748, + -0.9785757892296372 + ], + [ + 0.973426293865447, + -0.11388025571372812, + 0.19867696839330992, + -0.11584934250010953, + -0.9932653008226622, + -0.0017239559038839426, + 0.19753526331688906, + -0.021338452151974795, + -0.9800635133531321 + ], + [ + 0.9703151853737815, + -0.16105741643871332, + 0.1804132745757115, + -0.16288118253182002, + -0.9866342117442456, + -0.004759474009494698, + 0.17876845753678167, + -0.024767737601525286, + -0.9835793805097898 + ], + [ + 0.971172448586738, + -0.1925563447202012, + 0.14052092091227641, + -0.1957572772544788, + -0.9806093073033515, + 0.009191019092235837, + 0.13602633387676194, + -0.03643405739189333, + -0.9900350478412426 + ], + [ + 0.9739287152937297, + -0.1886475909889242, + 0.12599580921753176, + -0.19584261029808664, + -0.9794947812967566, + 0.047282612068821506, + 0.11449248673138714, + -0.07072524179170027, + -0.9909033306309796 + ], + [ + 0.9755664923405621, + -0.1829799361180179, + 0.12160740931612085, + -0.1924322428691921, + -0.9787338091054447, + 0.07106309040760615, + 0.10601816319227916, + -0.09272795636804158, + -0.9900311485913674 + ], + [ + 0.9721858392749885, + -0.1999967615413373, + 0.12188514793100898, + -0.20929553627738398, + -0.9754253098491412, + 0.06885378275787862, + 0.10511932461516636, + -0.09244868997819475, + -0.9901531029662872 + ], + [ + 0.9643412754565466, + -0.2238392907006091, + 0.1412157087206993, + -0.23077898670065583, + -0.9723896490666077, + 0.03463278339288109, + 0.12956451577596276, + -0.0659874406744792, + -0.9893728791133162 + ], + [ + 0.9662741068385705, + -0.22709779391643772, + 0.1214122829519734, + -0.23253442686536305, + -0.9720459378604751, + 0.032472065092116746, + 0.11064398210350165, + -0.05960945132474146, + -0.9920708757629383 + ], + [ + 0.9646306675595817, + -0.23258360076751539, + 0.1240666911687939, + -0.23675886339766572, + -0.9713659169584086, + 0.01983673295166513, + 0.11590045645380928, + -0.04850900973599874, + -0.9920755818828683 + ], + [ + 0.9636585255709167, + -0.2358138596980291, + 0.12551521688148087, + -0.23956910925795583, + -0.9707556159769536, + 0.015497610736976733, + 0.11819005027427881, + -0.04500397341928252, + -0.9919706419005755 + ], + [ + 0.9647676613434925, + -0.22782717536822555, + 0.13159839584715202, + -0.23184835902036788, + -0.9726222847583603, + 0.015881738286134144, + 0.1243772408657248, + -0.04583305963125804, + -0.9911758837862565 + ], + [ + 0.9713009681976096, + -0.20225209214942103, + 0.12517396054918123, + -0.20648893938682322, + -0.9782079135699767, + 0.021716255201520936, + 0.1180540007339468, + -0.04694005805551215, + -0.9918971135457821 + ], + [ + 0.9792350292656804, + -0.14878535604277937, + 0.13770139899894002, + -0.15400208665400528, + -0.9876743013923871, + 0.027979129280092774, + 0.1318412483453269, + -0.04860444626043242, + -0.9900785287230818 + ], + [ + 0.9814981958386396, + -0.095196467220311, + 0.16612923943203856, + -0.10316658487576777, + -0.9938592922253481, + 0.040004537522648924, + 0.16130079767492267, + -0.056403367684051235, + -0.985292196652004 + ], + [ + 0.9785937850914911, + -0.0611587468026718, + 0.1965039731655188, + -0.06934158118087741, + -0.9969777919855213, + 0.035028950983583954, + 0.19376777053897284, + -0.04790500993843151, + -0.9798771153176068 + ], + [ + 0.9730180672836439, + -0.05129361376884152, + 0.2249551198042293, + -0.0587532723427866, + -0.9979183933905097, + 0.02658821396631173, + 0.2231230461620148, + -0.0390876619847867, + -0.9740062941028392 + ], + [ + 0.9754100237352297, + -0.06153251188624524, + 0.21163420228736085, + -0.06562174418962928, + -0.9977681858300372, + 0.012346417899416222, + 0.2104021679696988, + -0.025930625260592095, + -0.9772709605770782 + ], + [ + 0.9718976474044337, + -0.13425615827852863, + 0.19336557846219085, + -0.13838930843741346, + -0.9903458757684672, + 0.007965278312915694, + 0.1904294154797033, + -0.034501163932227324, + -0.9810944436736864 + ], + [ + 0.9540960658490654, + -0.210770474125848, + 0.2127827633247122, + -0.2166730305204674, + -0.9762336823842217, + 0.004538196075374163, + 0.2067691828498915, + -0.05043416119365092, + -0.9770889930852156 + ], + [ + 0.9347235568763981, + -0.2744841010017322, + 0.22572184324430408, + -0.2853423894780223, + -0.958286842117218, + 0.016311008306755498, + 0.21182915990795023, + -0.07965429380944428, + -0.9740552348252183 + ], + [ + 0.9284336518537373, + -0.30609895961374106, + 0.21050981219154358, + -0.31788970039121395, + -0.9478289505971205, + 0.023799554515701267, + 0.19224227550338097, + -0.08901520843848512, + -0.9773020004972545 + ], + [ + 0.9301324556368813, + -0.3186066810561707, + 0.1826017463149686, + -0.32892572238864576, + -0.9439257608095387, + 0.028496091508144132, + 0.1632834471770244, + -0.08656755088660267, + -0.9827739185649377 + ], + [ + 0.9386364960541016, + -0.3136849149661455, + 0.14339910180318619, + -0.3207336017383675, + -0.946743451405266, + 0.02840411831370744, + 0.12685221713163994, + -0.07265405249486723, + -0.9892572484772908 + ], + [ + 0.9416697016422546, + -0.3102091874025977, + 0.13049303835840131, + -0.31764370908202105, + -0.9473610008586528, + 0.0401199218930939, + 0.1111784470551893, + -0.07923000759252533, + -0.9906371479039563 + ], + [ + 0.9501622553434795, + -0.288663683561135, + 0.11774959156408761, + -0.2965683665748667, + -0.9533734280350669, + 0.055913421141802686, + 0.0961191576518854, + -0.0880476263710842, + -0.9914679636895536 + ], + [ + 0.9652726617926649, + -0.24179214700689836, + 0.09892040255426421, + -0.25110613028374595, + -0.9631893889070531, + 0.09597870821583232, + 0.0720721841602267, + -0.11748514264642965, + -0.9904558756086624 + ], + [ + 0.9709619557309045, + -0.2198176201312764, + 0.09440918600983225, + -0.22958285600817133, + -0.9671251018986012, + 0.10936521158371898, + 0.0672650931044364, + -0.12786419028579593, + -0.9895080374065738 + ], + [ + 0.9718779829386087, + -0.2167319440959093, + 0.09208936251049384, + -0.2263859102508255, + -0.967576033193623, + 0.11200910511738847, + 0.0648275089686985, + -0.12970691730860248, + -0.9894309019245421 + ], + [ + 0.972014234230482, + -0.21902694206749732, + 0.0849442587929897, + -0.22759276317118035, + -0.9675878372414844, + 0.10943176583813868, + 0.058222526615015924, + -0.12570193264587218, + -0.9903580976210857 + ], + [ + 0.9725888592558667, + -0.21319857998997627, + 0.09282928601271154, + -0.22148569777846827, + -0.9709458848090032, + 0.09059897599888812, + 0.07081664021229134, + -0.10867591390331065, + -0.991551586760025 + ], + [ + 0.9683385552888372, + -0.19638462836729315, + 0.15412177030571608, + -0.20738076697839553, + -0.976498118453105, + 0.05869107381023246, + 0.1389735939974935, + -0.08879472055581851, + -0.9863071721187239 + ], + [ + 0.9613805822311019, + -0.19357940247206198, + 0.19563841915009222, + -0.21021299400472063, + -0.975289577927758, + 0.06797599824252243, + 0.1776453581171178, + -0.10647654260002792, + -0.9783173680434104 + ], + [ + 0.9440570681199083, + -0.191935607370854, + 0.26817340426676217, + -0.2242293580250939, + -0.9698747029493243, + 0.09520638412740118, + 0.24182110563905945, + -0.15001261014375217, + -0.9586546665329291 + ], + [ + 0.9337149157669429, + -0.17094609360198618, + 0.3145693709765019, + -0.21125350595406336, + -0.9724459585704787, + 0.09859418787159734, + 0.28904742222764696, + -0.15851274630818904, + -0.9441002578971094 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0032359063625335693, + -0.0005820393562316895, + -0.012328483164310455, + 0.0011358261108398438, + 0.03388892114162445, + 0.0061588287353515625, + 1.0 + ], + [ + -0.02206563949584961, + -0.02181827276945114, + -0.018069416284561157, + 0.04524047672748566, + 0.03449152410030365, + -0.053173720836639404, + 1.0 + ], + [ + -0.014253884553909302, + -0.020725294947624207, + -0.0020380988717079163, + -0.025678042322397232, + -0.014586672186851501, + -0.04754863679409027, + 1.0 + ], + [ + -0.01307561993598938, + -0.01610437035560608, + 0.001471102237701416, + 0.01053463015705347, + -0.009019643068313599, + -0.1087152287364006, + 1.0 + ], + [ + -0.013796746730804443, + -0.018229860812425613, + -0.0103803351521492, + 0.009115350432693958, + 0.026532933115959167, + -0.12779639661312103, + 1.0 + ], + [ + -0.00757560133934021, + -0.017427906394004822, + -0.0029208138585090637, + 0.0021315477788448334, + 0.007608354091644287, + -0.09122078120708466, + 1.0 + ], + [ + -0.0067649781703948975, + -0.00667225569486618, + -0.005493145436048508, + 0.0034068282693624496, + 0.019108399748802185, + -0.04785884916782379, + 1.0 + ], + [ + -0.007005512714385986, + -0.0029465886764228344, + -0.014888446778059006, + 0.011608267202973366, + 0.043285250663757324, + -0.03258916735649109, + 1.0 + ], + [ + 0.0005275607109069824, + 0.003703934606164694, + -0.013517584651708603, + 0.03446950390934944, + 0.02170524001121521, + 0.000464022159576416, + 1.0 + ], + [ + 0.00253257155418396, + 0.00259455107152462, + -0.011097341775894165, + 0.022135525941848755, + 0.008526332676410675, + 0.0036870986223220825, + 1.0 + ], + [ + 0.002143293619155884, + -0.0011512646451592445, + -0.008531110361218452, + -0.0002910345792770386, + 0.000903889536857605, + -0.017295420169830322, + 0.0 + ], + [ + 0.00031495094299316406, + -0.005032352637499571, + -0.002550283446907997, + -0.026500575244426727, + -0.02461589127779007, + -0.022847801446914673, + 0.0 + ], + [ + -0.0034159421920776367, + -0.0007461612112820148, + -0.0006929086521267891, + -0.006583869457244873, + 0.019058793783187866, + -0.0012651532888412476, + 0.0 + ], + [ + 0.0006070733070373535, + -0.001600534189492464, + 0.000666934996843338, + -0.011156152933835983, + -0.005290530622005463, + -0.004522189497947693, + 0.0 + ], + [ + -0.0006031990051269531, + -0.000691909110173583, + 0.0036338167265057564, + -0.003520410507917404, + -0.002305440604686737, + -0.0029818713665008545, + 0.0 + ], + [ + -0.0006390213966369629, + 5.353312008082867e-05, + 0.0065268781036138535, + 0.000871017575263977, + -0.00623321533203125, + 0.007821083068847656, + 0.0 + ], + [ + 0.003117591142654419, + 0.005807034205645323, + 0.004355320706963539, + 0.0010800547897815704, + 0.006370224058628082, + 0.02637144923210144, + 0.0 + ], + [ + 0.006768524646759033, + 0.013506012968719006, + 0.0085466168820858, + 0.0017638914287090302, + -0.013896264135837555, + 0.053481489419937134, + 0.0 + ], + [ + 0.012402772903442383, + 0.015301303938031197, + 0.019775472581386566, + 0.008130785077810287, + -0.029782354831695557, + 0.05126330256462097, + 0.0 + ], + [ + 0.015410274267196655, + 0.0184546560049057, + 0.02194041758775711, + -0.008333012461662292, + -0.03299269080162048, + 0.03398662060499191, + 0.0 + ], + [ + 0.012400805950164795, + 0.014690209180116653, + 0.015325620770454407, + -0.008740611374378204, + -0.03001585602760315, + 0.010430872440338135, + 0.0 + ], + [ + 0.009934276342391968, + 0.012998074293136597, + -0.0034732967615127563, + -0.01358180120587349, + 0.013030797243118286, + -0.006865553557872772, + 0.0 + ], + [ + 0.017519325017929077, + 0.02117045223712921, + -0.002294689416885376, + 0.00862402468919754, + 0.020386770367622375, + -0.07426519691944122, + 0.0 + ], + [ + 0.014715909957885742, + 0.015333123505115509, + -0.0010758936405181885, + 0.01641947403550148, + -0.016672074794769287, + -0.08187013864517212, + 0.0 + ], + [ + 0.01478731632232666, + 0.01434028148651123, + -0.00431254506111145, + 0.03002340719103813, + -0.005174592137336731, + -0.07297378778457642, + 0.0 + ], + [ + 0.00835275650024414, + 0.010355234146118164, + -0.01009378582239151, + 0.009237580001354218, + 0.019999682903289795, + -0.033598512411117554, + 0.0 + ], + [ + -0.0015598535537719727, + 0.0025125592947006226, + -0.010956790298223495, + -0.0029738247394561768, + 0.029428675770759583, + -0.010025382041931152, + 0.0 + ], + [ + -0.0029987096786499023, + 0.0012494027614593506, + -0.014954153448343277, + -0.01454673707485199, + 0.03682294487953186, + 0.010644853115081787, + 0.0 + ], + [ + -0.0013061165809631348, + 0.0021487027406692505, + -0.004829514771699905, + 0.006497547030448914, + 0.01578614115715027, + 0.003929048776626587, + 0.0 + ], + [ + -0.0039886534214019775, + 0.0017314702272415161, + -0.0046465955674648285, + 0.008764006197452545, + 0.015140987932682037, + 0.022791743278503418, + 1.0 + ], + [ + -0.0004836916923522949, + 0.00017188489437103271, + -0.0004456527531147003, + 0.029492609202861786, + 0.02413305640220642, + 0.04804292321205139, + 1.0 + ], + [ + -0.0007153451442718506, + 0.0021227598190307617, + 0.00015030428767204285, + 0.010442279279232025, + 0.004818804562091827, + 0.022314727306365967, + 1.0 + ], + [ + -0.0013754665851593018, + -0.000602036714553833, + -0.0017949752509593964, + 0.0018412917852401733, + 0.0024429187178611755, + 0.003328949213027954, + 1.0 + ], + [ + -0.0017735958099365234, + -0.0006467998027801514, + -0.0015203766524791718, + -0.004098489880561829, + 0.006617531180381775, + -0.0011464208364486694, + 1.0 + ], + [ + 0.00019982457160949707, + -0.0033769160509109497, + 0.0017932131886482239, + -0.017084509134292603, + -0.012620493769645691, + 0.006092578172683716, + 1.0 + ], + [ + 0.00427323579788208, + -0.00708422064781189, + 0.03230626881122589, + -0.019380740821361542, + -0.06854891031980515, + 0.012934952974319458, + 1.0 + ], + [ + 0.004580885171890259, + -0.00800517201423645, + 0.022634044289588928, + 0.018624290823936462, + -0.039168357849121094, + -0.004294842481613159, + 1.0 + ], + [ + 0.0008918046951293945, + -0.009492844343185425, + 0.03665927052497864, + 0.046813927590847015, + -0.06564898788928986, + -0.017926305532455444, + 1.0 + ], + [ + -0.008660435676574707, + -0.0062519460916519165, + 0.02294616401195526, + 0.01112307608127594, + -0.04898941516876221, + 0.010691240429878235, + 1.0 + ], + [ + 0.000151902437210083, + 4.760921001434326e-05, + 0.0032446682453155518, + 0.00564989447593689, + -0.009280622005462646, + -0.0016581863164901733, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9437892436981201 + ], + [ + 0.649078905582428 + ], + [ + 0.3544071912765503 + ], + [ + 0.15014003217220306 + ], + [ + 0.09034547209739685 + ], + [ + 0.08926420658826828 + ], + [ + 0.08819076418876648 + ], + [ + 0.0853668823838234 + ], + [ + 0.08501782268285751 + ], + [ + 0.08501782268285751 + ], + [ + 0.08501782268285751 + ], + [ + 0.08501782268285751 + ], + [ + 0.08501782268285751 + ], + [ + 0.08501782268285751 + ], + [ + 0.08501782268285751 + ], + [ + 0.08501782268285751 + ], + [ + 0.08501782268285751 + ], + [ + 0.08501782268285751 + ], + [ + 0.08501782268285751 + ], + [ + 0.12046794593334198 + ], + [ + 0.3080119788646698 + ], + [ + 0.6019018292427063 + ], + [ + 0.904950737953186 + ], + [ + 1.00800359249115 + ], + [ + 1.0027955770492554 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3639152944087982, + 0.11050960421562195, + 0.09989211708307266 + ], + [ + 0.3418496549129486, + 0.0886913314461708, + 0.0818227007985115 + ], + [ + 0.3275957703590393, + 0.0679660364985466, + 0.07978460192680359 + ], + [ + 0.3145201504230499, + 0.05186166614294052, + 0.081255704164505 + ], + [ + 0.3007234036922455, + 0.03363180533051491, + 0.0708753690123558 + ], + [ + 0.2931478023529053, + 0.016203898936510086, + 0.06795455515384674 + ], + [ + 0.2863828241825104, + 0.009531643241643906, + 0.06246140971779823 + ], + [ + 0.2793773114681244, + 0.006585054565221071, + 0.04757296293973923 + ], + [ + 0.27990487217903137, + 0.010288989171385765, + 0.034055378288030624 + ], + [ + 0.28243744373321533, + 0.012883540242910385, + 0.02295803651213646 + ], + [ + 0.2845807373523712, + 0.01173227559775114, + 0.014426926150918007 + ], + [ + 0.2848956882953644, + 0.00669992296025157, + 0.01187664270401001 + ], + [ + 0.28147974610328674, + 0.005953761748969555, + 0.01118373405188322 + ], + [ + 0.2820868194103241, + 0.004353227559477091, + 0.011850669048726559 + ], + [ + 0.28148362040519714, + 0.003661318449303508, + 0.015484485775232315 + ], + [ + 0.2808445990085602, + 0.0037148515693843365, + 0.02201136387884617 + ], + [ + 0.2839621901512146, + 0.00952188577502966, + 0.026366684585809708 + ], + [ + 0.29073071479797363, + 0.023027898743748665, + 0.03491330146789551 + ], + [ + 0.303133487701416, + 0.03832920268177986, + 0.054688774049282074 + ], + [ + 0.31854376196861267, + 0.05678385868668556, + 0.07662919163703918 + ], + [ + 0.33094456791877747, + 0.07147406786680222, + 0.09195481240749359 + ], + [ + 0.34087884426116943, + 0.08447214215993881, + 0.08848151564598083 + ], + [ + 0.3583981692790985, + 0.10564259439706802, + 0.08618682622909546 + ], + [ + 0.37311407923698425, + 0.12097571790218353, + 0.08511093258857727 + ], + [ + 0.3879013955593109, + 0.13531599938869476, + 0.08079838752746582 + ], + [ + 0.39625415205955505, + 0.14567123353481293, + 0.07070460170507431 + ], + [ + 0.3946942985057831, + 0.14818379282951355, + 0.059747811406850815 + ], + [ + 0.3916955888271332, + 0.1494331955909729, + 0.04479365795850754 + ], + [ + 0.39038947224617004, + 0.15158189833164215, + 0.03996414318680763 + ], + [ + 0.38640081882476807, + 0.15331336855888367, + 0.035317547619342804 + ], + [ + 0.38591712713241577, + 0.1534852534532547, + 0.034871894866228104 + ], + [ + 0.3852017819881439, + 0.15560801327228546, + 0.035022199153900146 + ], + [ + 0.3838263154029846, + 0.15500597655773163, + 0.03322722390294075 + ], + [ + 0.3820527195930481, + 0.15435917675495148, + 0.03170684725046158 + ], + [ + 0.3822525441646576, + 0.15098226070404053, + 0.0335000604391098 + ], + [ + 0.3865257799625397, + 0.14389804005622864, + 0.0658063292503357 + ], + [ + 0.39110666513442993, + 0.1358928680419922, + 0.08844037353992462 + ], + [ + 0.3919984698295593, + 0.12640002369880676, + 0.12509964406490326 + ], + [ + 0.3833380341529846, + 0.12014807760715485, + 0.14804580807685852 + ], + [ + 0.3834899365901947, + 0.12019568681716919, + 0.15129047632217407 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9241548905180302, + 0.30049923938070294, + 0.2358769710319915, + 0.2960322328146456, + -0.9535928991476103, + 0.055004543721691904, + 0.24145942819940464, + 0.01899446832304152, + -0.9702250021035028 + ], + [ + 0.946077721043236, + 0.25908765065442635, + 0.19444931222302453, + 0.2484646857008906, + -0.9655275569491896, + 0.07760049440105027, + 0.20785149916513712, + -0.02510231164852589, + -0.9778382423717665 + ], + [ + 0.9537507528537799, + 0.20775065545455007, + 0.21725369177312867, + 0.20256463203452652, + -0.9781818159273367, + 0.04612921891616506, + 0.22209698620099652, + 1.2136862316998454e-05, + -0.9750245784456573 + ], + [ + 0.9680660695434316, + 0.10280451601373747, + 0.22864670670252984, + 0.09768055966280603, + -0.9946488933029793, + 0.03364650524376859, + 0.23088220646618157, + -0.010237701809446942, + -0.9729278473756252 + ], + [ + 0.9784015574656135, + -0.02320166401215658, + 0.20540709611872918, + -0.02665236408826369, + -0.999546047909171, + 0.014048117228444281, + 0.20498791144203718, + -0.019219284487838748, + -0.9785757892296372 + ], + [ + 0.973426293865447, + -0.11388025571372812, + 0.19867696839330992, + -0.11584934250010953, + -0.9932653008226622, + -0.0017239559038839426, + 0.19753526331688906, + -0.021338452151974795, + -0.9800635133531321 + ], + [ + 0.9703151853737815, + -0.16105741643871332, + 0.1804132745757115, + -0.16288118253182002, + -0.9866342117442456, + -0.004759474009494698, + 0.17876845753678167, + -0.024767737601525286, + -0.9835793805097898 + ], + [ + 0.971172448586738, + -0.1925563447202012, + 0.14052092091227641, + -0.1957572772544788, + -0.9806093073033515, + 0.009191019092235837, + 0.13602633387676194, + -0.03643405739189333, + -0.9900350478412426 + ], + [ + 0.9739287152937297, + -0.1886475909889242, + 0.12599580921753176, + -0.19584261029808664, + -0.9794947812967566, + 0.047282612068821506, + 0.11449248673138714, + -0.07072524179170027, + -0.9909033306309796 + ], + [ + 0.9755664923405621, + -0.1829799361180179, + 0.12160740931612085, + -0.1924322428691921, + -0.9787338091054447, + 0.07106309040760615, + 0.10601816319227916, + -0.09272795636804158, + -0.9900311485913674 + ], + [ + 0.9721858392749885, + -0.1999967615413373, + 0.12188514793100898, + -0.20929553627738398, + -0.9754253098491412, + 0.06885378275787862, + 0.10511932461516636, + -0.09244868997819475, + -0.9901531029662872 + ], + [ + 0.9643412754565466, + -0.2238392907006091, + 0.1412157087206993, + -0.23077898670065583, + -0.9723896490666077, + 0.03463278339288109, + 0.12956451577596276, + -0.0659874406744792, + -0.9893728791133162 + ], + [ + 0.9662741068385705, + -0.22709779391643772, + 0.1214122829519734, + -0.23253442686536305, + -0.9720459378604751, + 0.032472065092116746, + 0.11064398210350165, + -0.05960945132474146, + -0.9920708757629383 + ], + [ + 0.9646306675595817, + -0.23258360076751539, + 0.1240666911687939, + -0.23675886339766572, + -0.9713659169584086, + 0.01983673295166513, + 0.11590045645380928, + -0.04850900973599874, + -0.9920755818828683 + ], + [ + 0.9636585255709167, + -0.2358138596980291, + 0.12551521688148087, + -0.23956910925795583, + -0.9707556159769536, + 0.015497610736976733, + 0.11819005027427881, + -0.04500397341928252, + -0.9919706419005755 + ], + [ + 0.9647676613434925, + -0.22782717536822555, + 0.13159839584715202, + -0.23184835902036788, + -0.9726222847583603, + 0.015881738286134144, + 0.1243772408657248, + -0.04583305963125804, + -0.9911758837862565 + ], + [ + 0.9713009681976096, + -0.20225209214942103, + 0.12517396054918123, + -0.20648893938682322, + -0.9782079135699767, + 0.021716255201520936, + 0.1180540007339468, + -0.04694005805551215, + -0.9918971135457821 + ], + [ + 0.9792350292656804, + -0.14878535604277937, + 0.13770139899894002, + -0.15400208665400528, + -0.9876743013923871, + 0.027979129280092774, + 0.1318412483453269, + -0.04860444626043242, + -0.9900785287230818 + ], + [ + 0.9814981958386396, + -0.095196467220311, + 0.16612923943203856, + -0.10316658487576777, + -0.9938592922253481, + 0.040004537522648924, + 0.16130079767492267, + -0.056403367684051235, + -0.985292196652004 + ], + [ + 0.9785937850914911, + -0.0611587468026718, + 0.1965039731655188, + -0.06934158118087741, + -0.9969777919855213, + 0.035028950983583954, + 0.19376777053897284, + -0.04790500993843151, + -0.9798771153176068 + ], + [ + 0.9730180672836439, + -0.05129361376884152, + 0.2249551198042293, + -0.0587532723427866, + -0.9979183933905097, + 0.02658821396631173, + 0.2231230461620148, + -0.0390876619847867, + -0.9740062941028392 + ], + [ + 0.9754100237352297, + -0.06153251188624524, + 0.21163420228736085, + -0.06562174418962928, + -0.9977681858300372, + 0.012346417899416222, + 0.2104021679696988, + -0.025930625260592095, + -0.9772709605770782 + ], + [ + 0.9718976474044337, + -0.13425615827852863, + 0.19336557846219085, + -0.13838930843741346, + -0.9903458757684672, + 0.007965278312915694, + 0.1904294154797033, + -0.034501163932227324, + -0.9810944436736864 + ], + [ + 0.9540960658490654, + -0.210770474125848, + 0.2127827633247122, + -0.2166730305204674, + -0.9762336823842217, + 0.004538196075374163, + 0.2067691828498915, + -0.05043416119365092, + -0.9770889930852156 + ], + [ + 0.9347235568763981, + -0.2744841010017322, + 0.22572184324430408, + -0.2853423894780223, + -0.958286842117218, + 0.016311008306755498, + 0.21182915990795023, + -0.07965429380944428, + -0.9740552348252183 + ], + [ + 0.9284336518537373, + -0.30609895961374106, + 0.21050981219154358, + -0.31788970039121395, + -0.9478289505971205, + 0.023799554515701267, + 0.19224227550338097, + -0.08901520843848512, + -0.9773020004972545 + ], + [ + 0.9301324556368813, + -0.3186066810561707, + 0.1826017463149686, + -0.32892572238864576, + -0.9439257608095387, + 0.028496091508144132, + 0.1632834471770244, + -0.08656755088660267, + -0.9827739185649377 + ], + [ + 0.9386364960541016, + -0.3136849149661455, + 0.14339910180318619, + -0.3207336017383675, + -0.946743451405266, + 0.02840411831370744, + 0.12685221713163994, + -0.07265405249486723, + -0.9892572484772908 + ], + [ + 0.9416697016422546, + -0.3102091874025977, + 0.13049303835840131, + -0.31764370908202105, + -0.9473610008586528, + 0.0401199218930939, + 0.1111784470551893, + -0.07923000759252533, + -0.9906371479039563 + ], + [ + 0.9501622553434795, + -0.288663683561135, + 0.11774959156408761, + -0.2965683665748667, + -0.9533734280350669, + 0.055913421141802686, + 0.0961191576518854, + -0.0880476263710842, + -0.9914679636895536 + ], + [ + 0.9652726617926649, + -0.24179214700689836, + 0.09892040255426421, + -0.25110613028374595, + -0.9631893889070531, + 0.09597870821583232, + 0.0720721841602267, + -0.11748514264642965, + -0.9904558756086624 + ], + [ + 0.9709619557309045, + -0.2198176201312764, + 0.09440918600983225, + -0.22958285600817133, + -0.9671251018986012, + 0.10936521158371898, + 0.0672650931044364, + -0.12786419028579593, + -0.9895080374065738 + ], + [ + 0.9718779829386087, + -0.2167319440959093, + 0.09208936251049384, + -0.2263859102508255, + -0.967576033193623, + 0.11200910511738847, + 0.0648275089686985, + -0.12970691730860248, + -0.9894309019245421 + ], + [ + 0.972014234230482, + -0.21902694206749732, + 0.0849442587929897, + -0.22759276317118035, + -0.9675878372414844, + 0.10943176583813868, + 0.058222526615015924, + -0.12570193264587218, + -0.9903580976210857 + ], + [ + 0.9725888592558667, + -0.21319857998997627, + 0.09282928601271154, + -0.22148569777846827, + -0.9709458848090032, + 0.09059897599888812, + 0.07081664021229134, + -0.10867591390331065, + -0.991551586760025 + ], + [ + 0.9683385552888372, + -0.19638462836729315, + 0.15412177030571608, + -0.20738076697839553, + -0.976498118453105, + 0.05869107381023246, + 0.1389735939974935, + -0.08879472055581851, + -0.9863071721187239 + ], + [ + 0.9613805822311019, + -0.19357940247206198, + 0.19563841915009222, + -0.21021299400472063, + -0.975289577927758, + 0.06797599824252243, + 0.1776453581171178, + -0.10647654260002792, + -0.9783173680434104 + ], + [ + 0.9440570681199083, + -0.191935607370854, + 0.26817340426676217, + -0.2242293580250939, + -0.9698747029493243, + 0.09520638412740118, + 0.24182110563905945, + -0.15001261014375217, + -0.9586546665329291 + ], + [ + 0.9337149157669429, + -0.17094609360198618, + 0.3145693709765019, + -0.21125350595406336, + -0.9724459585704787, + 0.09859418787159734, + 0.28904742222764696, + -0.15851274630818904, + -0.9441002578971094 + ], + [ + 0.9307077528399569, + -0.16929697048874587, + 0.3242246359962962, + -0.21219603070042398, + -0.9719290795779676, + 0.10162041539823438, + 0.29791932357365275, + -0.1633780892716575, + -0.9405060747211365 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005983.json b/json/chunk-0005/episode_0005983.json new file mode 100644 index 0000000000000000000000000000000000000000..326a39a86be6aaf7d5be4e58e53fddc6dfdf2154 --- /dev/null +++ b/json/chunk-0005/episode_0005983.json @@ -0,0 +1,2542 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 41, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nFold the cloth from left to right." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005983.mp4", + "start": 0, + "end": 41, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.30352476239204407, + 0.10738620162010193, + 0.1004197895526886, + -0.1374969184398651, + -0.30581536889076233, + 0.09244608879089355, + 0.0, + 0.9988223910331726 + ], + [ + 0.3009764850139618, + 0.1052592396736145, + 0.09174149483442307, + -0.14823642373085022, + -0.2773970663547516, + 0.09614256769418716, + 0.0, + 0.9988223910331726 + ], + [ + 0.3006756007671356, + 0.11014297604560852, + 0.08813489228487015, + -0.131167471408844, + -0.26507699489593506, + 0.12619881331920624, + 0.0, + 0.9988223910331726 + ], + [ + 0.3058333098888397, + 0.11836261302232742, + 0.07787016779184341, + -0.11477471143007278, + -0.2326458990573883, + 0.16452331840991974, + 0.0, + 0.9988223910331726 + ], + [ + 0.3113991320133209, + 0.12668900191783905, + 0.06856394559144974, + -0.08940424025058746, + -0.21684448421001434, + 0.1993693858385086, + 0.0, + 0.9988223910331726 + ], + [ + 0.3166705369949341, + 0.13356220722198486, + 0.05748525261878967, + -0.07788266241550446, + -0.19129595160484314, + 0.2239702194929123, + 0.0, + 0.9988223910331726 + ], + [ + 0.31658250093460083, + 0.14058052003383636, + 0.05297473073005676, + -0.03601576015353203, + -0.1938953548669815, + 0.22401465475559235, + 0.0, + 0.9988223910331726 + ], + [ + 0.30782970786094666, + 0.1449262797832489, + 0.04304619878530502, + 0.014042063616216183, + -0.1849154233932495, + 0.21369105577468872, + 0.0, + 0.9988223910331726 + ], + [ + 0.30031904578208923, + 0.1443018764257431, + 0.035203468054533005, + 0.0432867705821991, + -0.171068012714386, + 0.1987733542919159, + 0.0, + 0.9988223910331726 + ], + [ + 0.2931792438030243, + 0.13990840315818787, + 0.023691968992352486, + 0.06577906757593155, + -0.14980970323085785, + 0.17703042924404144, + 0.0, + 0.9988223910331726 + ], + [ + 0.2958546578884125, + 0.1303098499774933, + 0.007825751788914204, + 0.0689094141125679, + -0.11843852698802948, + 0.15663425624370575, + 0.0, + 0.9988223910331726 + ], + [ + 0.2979324758052826, + 0.12132656574249268, + -6.937828584341332e-05, + 0.034698646515607834, + -0.10859207808971405, + 0.15701718628406525, + 0.0, + 0.9988223910331726 + ], + [ + 0.3027355968952179, + 0.10781890898942947, + -7.305249164346606e-05, + 0.005984155461192131, + -0.1090003103017807, + 0.1254909187555313, + 0.0, + 0.9988223910331726 + ], + [ + 0.3067735433578491, + 0.10405813157558441, + 0.0003222305094823241, + -0.012107189744710922, + -0.1294928938150406, + 0.12538528442382812, + 0.0, + 0.9367310404777527 + ], + [ + 0.3064890205860138, + 0.10778030753135681, + -0.009652089327573776, + 0.00719469366595149, + -0.12242233008146286, + 0.1445481926202774, + 0.0, + 0.6249675154685974 + ], + [ + 0.3084432780742645, + 0.11021419614553452, + -0.009097076952457428, + 0.017746414989233017, + -0.13560032844543457, + 0.1631571501493454, + 0.0, + 0.3437051773071289 + ], + [ + 0.30827587842941284, + 0.1112227812409401, + -0.008594493381679058, + 0.01697039231657982, + -0.13724276423454285, + 0.1739281564950943, + 0.0, + 0.18066829442977905 + ], + [ + 0.30609211325645447, + 0.11620999872684479, + -0.007486721966415644, + 0.0171364638954401, + -0.12626659870147705, + 0.1934196650981903, + 0.0, + 0.08783477544784546 + ], + [ + 0.3114667534828186, + 0.13014575839042664, + 0.0027969249058514833, + -0.0033998237922787666, + -0.13110260665416718, + 0.2573111951351166, + 0.0, + 0.06238236278295517 + ], + [ + 0.3182969093322754, + 0.15734928846359253, + 0.01983943022787571, + -0.011524380184710026, + -0.15176662802696228, + 0.35008543729782104, + 0.0, + 0.057568058371543884 + ], + [ + 0.326045423746109, + 0.16005368530750275, + 0.030193567276000977, + -0.03976171836256981, + -0.14577145874500275, + 0.37682172656059265, + 0.0, + 0.05511022359132767 + ], + [ + 0.3310644328594208, + 0.15495282411575317, + 0.039029959589242935, + -0.08064905554056168, + -0.13123860955238342, + 0.3981757164001465, + 0.0, + 0.054840996861457825 + ], + [ + 0.3357795178890228, + 0.1393839567899704, + 0.06252852082252502, + -0.12728363275527954, + -0.16019266843795776, + 0.37630537152290344, + 0.0, + 0.054840996861457825 + ], + [ + 0.33751553297042847, + 0.10892463475465775, + 0.07906670868396759, + -0.16671223938465118, + -0.17647801339626312, + 0.308555006980896, + 0.0, + 0.054840996861457825 + ], + [ + 0.3356955051422119, + 0.07568851113319397, + 0.08291857689619064, + -0.17735134065151215, + -0.1765867918729782, + 0.22179801762104034, + 0.0, + 0.054840996861457825 + ], + [ + 0.328463613986969, + 0.03948873281478882, + 0.08231539279222488, + -0.17208942770957947, + -0.18421363830566406, + 0.1270519495010376, + 0.0, + 0.054840996861457825 + ], + [ + 0.3161739706993103, + 0.014017125591635704, + 0.07240422815084457, + -0.13897119462490082, + -0.18342725932598114, + 0.05308343470096588, + 0.0, + 0.054840996861457825 + ], + [ + 0.30925363302230835, + -0.005464871879667044, + 0.05967690050601959, + -0.11083897203207016, + -0.18036876618862152, + -1.898515984066762e-05, + 0.0, + 0.054840996861457825 + ], + [ + 0.30769118666648865, + -0.019695673137903214, + 0.04175309091806412, + -0.0729542076587677, + -0.17673572897911072, + -0.014517693780362606, + 0.0, + 0.054840996861457825 + ], + [ + 0.30587127804756165, + -0.027468541637063026, + 0.023112619295716286, + -0.048659518361091614, + -0.1674371361732483, + -0.01609976589679718, + 0.0, + 0.054840996861457825 + ], + [ + 0.30632486939430237, + -0.029159925878047943, + 0.009009969420731068, + -0.03711192309856415, + -0.17447298765182495, + -0.004555230960249901, + 0.0, + 0.06296365708112717 + ], + [ + 0.30756404995918274, + -0.028863931074738503, + 0.0034751994535326958, + -0.02004503458738327, + -0.18916715681552887, + 0.012639534659683704, + 0.0, + 0.12176833301782608 + ], + [ + 0.3065676689147949, + -0.029351860284805298, + 0.0033010432962328196, + -0.012476354837417603, + -0.18389643728733063, + 0.013535033911466599, + 0.0, + 0.3149794638156891 + ], + [ + 0.30208829045295715, + -0.03218590095639229, + 0.0019446087535470724, + -0.03153282776474953, + -0.16044259071350098, + 0.0028210673481225967, + 0.0, + 0.5403295159339905 + ], + [ + 0.29875606298446655, + -0.032239459455013275, + 0.0018935527186840773, + -0.03540109470486641, + -0.14372320473194122, + -0.012600688263773918, + 0.0, + 0.7826583981513977 + ], + [ + 0.29679974913597107, + -0.030805794522166252, + 0.011410229839384556, + -0.041179507970809937, + -0.14363199472427368, + -0.010679919272661209, + 0.0, + 0.9994885921478271 + ], + [ + 0.29593655467033386, + -0.03211043402552605, + 0.021373296156525612, + -0.060454901307821274, + -0.13712625205516815, + -0.00802085641771555, + 0.0, + 1.00800359249115 + ], + [ + 0.29923149943351746, + -0.036234062165021896, + 0.04530414566397667, + -0.10921958088874817, + -0.16233943402767181, + -0.00082100072177127, + 0.0, + 0.9994885921478271 + ], + [ + 0.29786378145217896, + -0.03853306174278259, + 0.07294543832540512, + -0.17082789540290833, + -0.18466584384441376, + -0.00024154054699465632, + 0.0, + 0.9994885921478271 + ], + [ + 0.29386410117149353, + -0.03548192232847214, + 0.08794821053743362, + -0.18773332238197327, + -0.19743302464485168, + -0.00743479747325182, + 0.0, + 0.9994885921478271 + ], + [ + 0.2929992079734802, + -0.031673505902290344, + 0.0893513634800911, + -0.17223526537418365, + -0.20238594710826874, + -0.02816637046635151, + 0.0, + 0.9994885921478271 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9367310404777527 + ], + [ + 0.6249675154685974 + ], + [ + 0.3437051773071289 + ], + [ + 0.18066829442977905 + ], + [ + 0.08783477544784546 + ], + [ + 0.06238236278295517 + ], + [ + 0.057568058371543884 + ], + [ + 0.05511022359132767 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.06296365708112717 + ], + [ + 0.12176833301782608 + ], + [ + 0.3149794638156891 + ], + [ + 0.5403295159339905 + ], + [ + 0.7826583981513977 + ], + [ + 0.9994885921478271 + ], + [ + 1.00800359249115 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.30352476239204407, + 0.10738620162010193, + 0.1004197895526886 + ], + [ + 0.3009764850139618, + 0.1052592396736145, + 0.09174149483442307 + ], + [ + 0.3006756007671356, + 0.11014297604560852, + 0.08813489228487015 + ], + [ + 0.3058333098888397, + 0.11836261302232742, + 0.07787016779184341 + ], + [ + 0.3113991320133209, + 0.12668900191783905, + 0.06856394559144974 + ], + [ + 0.3166705369949341, + 0.13356220722198486, + 0.05748525261878967 + ], + [ + 0.31658250093460083, + 0.14058052003383636, + 0.05297473073005676 + ], + [ + 0.30782970786094666, + 0.1449262797832489, + 0.04304619878530502 + ], + [ + 0.30031904578208923, + 0.1443018764257431, + 0.035203468054533005 + ], + [ + 0.2931792438030243, + 0.13990840315818787, + 0.023691968992352486 + ], + [ + 0.2958546578884125, + 0.1303098499774933, + 0.007825751788914204 + ], + [ + 0.2979324758052826, + 0.12132656574249268, + -6.937828584341332e-05 + ], + [ + 0.3027355968952179, + 0.10781890898942947, + -7.305249164346606e-05 + ], + [ + 0.3067735433578491, + 0.10405813157558441, + 0.0003222305094823241 + ], + [ + 0.3064890205860138, + 0.10778030753135681, + -0.009652089327573776 + ], + [ + 0.3084432780742645, + 0.11021419614553452, + -0.009097076952457428 + ], + [ + 0.30827587842941284, + 0.1112227812409401, + -0.008594493381679058 + ], + [ + 0.30609211325645447, + 0.11620999872684479, + -0.007486721966415644 + ], + [ + 0.3114667534828186, + 0.13014575839042664, + 0.0027969249058514833 + ], + [ + 0.3182969093322754, + 0.15734928846359253, + 0.01983943022787571 + ], + [ + 0.326045423746109, + 0.16005368530750275, + 0.030193567276000977 + ], + [ + 0.3310644328594208, + 0.15495282411575317, + 0.039029959589242935 + ], + [ + 0.3357795178890228, + 0.1393839567899704, + 0.06252852082252502 + ], + [ + 0.33751553297042847, + 0.10892463475465775, + 0.07906670868396759 + ], + [ + 0.3356955051422119, + 0.07568851113319397, + 0.08291857689619064 + ], + [ + 0.328463613986969, + 0.03948873281478882, + 0.08231539279222488 + ], + [ + 0.3161739706993103, + 0.014017125591635704, + 0.07240422815084457 + ], + [ + 0.30925363302230835, + -0.005464871879667044, + 0.05967690050601959 + ], + [ + 0.30769118666648865, + -0.019695673137903214, + 0.04175309091806412 + ], + [ + 0.30587127804756165, + -0.027468541637063026, + 0.023112619295716286 + ], + [ + 0.30632486939430237, + -0.029159925878047943, + 0.009009969420731068 + ], + [ + 0.30756404995918274, + -0.028863931074738503, + 0.0034751994535326958 + ], + [ + 0.3065676689147949, + -0.029351860284805298, + 0.0033010432962328196 + ], + [ + 0.30208829045295715, + -0.03218590095639229, + 0.0019446087535470724 + ], + [ + 0.29875606298446655, + -0.032239459455013275, + 0.0018935527186840773 + ], + [ + 0.29679974913597107, + -0.030805794522166252, + 0.011410229839384556 + ], + [ + 0.29593655467033386, + -0.03211043402552605, + 0.021373296156525612 + ], + [ + 0.29923149943351746, + -0.036234062165021896, + 0.04530414566397667 + ], + [ + 0.29786378145217896, + -0.03853306174278259, + 0.07294543832540512 + ], + [ + 0.29386410117149353, + -0.03548192232847214, + 0.08794821053743362 + ], + [ + 0.2929992079734802, + -0.031673505902290344, + 0.0893513634800911 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9495298134509124, + 0.0503534328069203, + 0.30960889065470165, + 0.08803124029912761, + -0.990141833207661, + -0.1089479273027717, + 0.3010708124333431, + 0.1307045597396347, + -0.9446018653189265 + ], + [ + 0.9573299238685808, + 0.05468204365233961, + 0.28377683303571705, + 0.09232479726519427, + -0.9883482373517526, + -0.1210119561598143, + 0.2738531516629275, + 0.1420480053562445, + -0.9512238514138479 + ], + [ + 0.9573975874447703, + 0.0907901392589931, + 0.2741295499727563, + 0.12146796372115942, + -0.9878384469794538, + -0.09706047835579615, + 0.26198357456979693, + 0.12622342604506312, + -0.9567822392650681 + ], + [ + 0.9599201074938907, + 0.13665746992432648, + 0.24470006772128108, + 0.15936977926445234, + -0.9843304293835948, + -0.07546442371546913, + 0.23055294551602998, + 0.11143761350365472, + -0.9666576424000862 + ], + [ + 0.9572367702928084, + 0.178431136188993, + 0.22772811692388445, + 0.1934131281977103, + -0.9800813716923397, + -0.04507623212334906, + 0.2151490818947862, + 0.08719423432754601, + -0.9726808510811055 + ], + [ + 0.9572376070856379, + 0.2070056637103023, + 0.20210101131072936, + 0.21805097396528592, + -0.9753532859695476, + -0.03376004000584787, + 0.19013136599139166, + 0.07638470226598701, + -0.9787826321129653 + ], + [ + 0.9567428045391994, + 0.2152369296918957, + 0.19574542155379546, + 0.21798298149281545, + -0.9759224494289326, + 0.007667625456121612, + 0.19268270742848206, + 0.03533322512081841, + -0.9806247689410009 + ], + [ + 0.9605943860768832, + 0.2145705454845682, + 0.1766858977055912, + 0.20845305413331114, + -0.9766109664466474, + 0.052710003212295936, + 0.1838633994575066, + -0.013802218176809669, + -0.9828548972830776 + ], + [ + 0.9660004647932542, + 0.2045035793322899, + 0.1581815035315399, + 0.19458466343972308, + -0.9779365923148624, + 0.07600546141984987, + 0.17023486944003705, + -0.04264161643132667, + -0.9844804628710806 + ], + [ + 0.9733455453899108, + 0.1853834523900608, + 0.13502379364230152, + 0.1741347058347059, + -0.9805144423909029, + 0.09093147137661906, + 0.14924996982739128, + -0.06499541401359413, + -0.9866610576402233 + ], + [ + 0.9808380314144977, + 0.1636607495697888, + 0.10569728085995381, + 0.15490171360356206, + -0.9841444801724485, + 0.08640081752380233, + 0.11816181808694856, + -0.06837251784420567, + -0.9906376651177922 + ], + [ + 0.981880241668443, + 0.15999224971129514, + 0.10155624576282246, + 0.1554517001596117, + -0.9865156377380755, + 0.051202201278116026, + 0.10837877992765185, + -0.03448733869925471, + -0.9935112800219416 + ], + [ + 0.986248356101917, + 0.1258054267430721, + 0.1071782379415713, + 0.12441901470709998, + -0.9920371004594063, + 0.019552495784641744, + 0.10878459847598368, + -0.0059486060625591605, + -0.9940475467603809 + ], + [ + 0.9838427906362497, + 0.12349673113371994, + 0.1296222230651917, + 0.12400996323788217, + -0.9922723540800883, + 0.004135740090845975, + 0.1291312988040302, + 0.012005529044802864, + -0.9915548269972462 + ], + [ + 0.9821648812194229, + 0.14491104321042295, + 0.1198037380673233, + 0.14296727619633667, + -0.9894189197421377, + 0.02470949601472307, + 0.12211676394433835, + -0.0071407851086677, + -0.9924900529233502 + ], + [ + 0.9776616382882692, + 0.16477572139284874, + 0.13048633131084444, + 0.16094314348470584, + -0.9861743326106178, + 0.039465051187903374, + 0.13518515297457248, + -0.01758258625654192, + -0.9906643362288624 + ], + [ + 0.9756514420484687, + 0.17531426637237915, + 0.1317921531619289, + 0.17142534917584942, + -0.9843690016877065, + 0.04038586604600116, + 0.1368123287159492, + -0.01681001257173663, + -0.9904543453328156 + ], + [ + 0.9735400711600252, + 0.1943053606332532, + 0.12027117973527512, + 0.19068567094611205, + -0.980793787584443, + 0.04101854619064262, + 0.12593134932003436, + -0.016999207774017623, + -0.9918933018190473 + ], + [ + 0.9587786062081072, + 0.25404990402152827, + 0.12728798271750338, + 0.2522973245351655, + -0.9671852382271037, + 0.029979576180756466, + 0.13072736633940327, + 0.003370641219809031, + -0.9914126257354858 + ], + [ + 0.9285461617772724, + 0.3413186971940406, + 0.14595743350188806, + 0.3390357138124658, + -0.9398785969452693, + 0.04102447761841309, + 0.15118468906726984, + 0.011391661422053032, + -0.9884398918708603 + ], + [ + 0.9199770907824395, + 0.3623072331583845, + 0.14958482956702238, + 0.3640644443464109, + -0.9312285690147151, + 0.01644483546725221, + 0.14525574962189333, + 0.03932964596741201, + -0.9886121312981445 + ], + [ + 0.9138431722712347, + 0.3767593911766128, + 0.15146952714481923, + 0.3844030968513941, + -0.9228614871226719, + -0.02368406039489001, + 0.13086220089966685, + 0.0798688721966146, + -0.9881781456952672 + ], + [ + 0.9181211495741414, + 0.34568278963102883, + 0.19379619102956352, + 0.3627817821539855, + -0.9299460048736229, + -0.05991499442348332, + 0.15950841119463077, + 0.12531495111317603, + -0.9792105135187565 + ], + [ + 0.9379750300631735, + 0.2717145374725357, + 0.2153463561430162, + 0.29896545035577693, + -0.9484110459910849, + -0.10552794575686453, + 0.17556338590821338, + 0.1633636984405723, + -0.970819138439422 + ], + [ + 0.9603334618499, + 0.18630025388315788, + 0.20748941528294185, + 0.21656298548408545, + -0.9670199770120528, + -0.13406281131554834, + 0.17567047381277817, + 0.17367953092601165, + -0.9690073813793753 + ], + [ + 0.9751567221396438, + 0.0937247382110172, + 0.2007113367828079, + 0.12456654429348635, + -0.9812624398747481, + -0.14699387787875692, + 0.18317353331921166, + 0.16834398575040418, + -0.9685596311807669 + ], + [ + 0.9818393704605483, + 0.027315675203974134, + 0.18773732847195235, + 0.052168416258304866, + -0.9903046437580029, + -0.12874458783356954, + 0.18240040284696457, + 0.13620046416766154, + -0.9737451035059324 + ], + [ + 0.9837776056631664, + -0.01986184676101091, + 0.1782894546485853, + -1.867717509342927e-05, + -0.9938632703322059, + -0.11061554834532082, + 0.17939236953340842, + 0.10881776935691613, + -0.9777407994071713 + ], + [ + 0.9843191127995564, + -0.027292439823219203, + 0.17427279450903924, + -0.014291047485964692, + -0.9970488813881054, + -0.07542740937140356, + 0.17581709285290711, + 0.07175409989138846, + -0.9818043078992517 + ], + [ + 0.9858873349521169, + -0.024185159224155896, + 0.1656539792891029, + -0.015873926837352618, + -0.9985564119751889, + -0.051313843648659443, + 0.1666558766673851, + 0.04796008941337493, + -0.9848480332496411 + ], + [ + 0.9848079417548469, + -0.01099276030070134, + 0.17329880864435718, + -0.004486058654989997, + -0.999271724719381, + -0.03789321118746292, + 0.17358915039346842, + 0.036540106695588624, + -0.9841400446421987 + ], + [ + 0.9820827314414629, + 0.008867924614557019, + 0.18824151645560597, + 0.012413729793309857, + -0.9997668807986304, + -0.01766588154596175, + 0.18804097403782596, + 0.01968613652314223, + -0.9819638731194229 + ], + [ + 0.9830485958688406, + 0.011252388096463034, + 0.18299956809355514, + 0.01330640865697831, + -0.9998614589733945, + -0.01000011741175021, + 0.18286168994339583, + 0.012265668417247962, + -0.9830621321815441 + ], + [ + 0.987152745825335, + -0.002217014932316224, + 0.15976401739531812, + 0.002784831766482525, + -0.999513113190396, + -0.031077021615252182, + 0.1597551286235719, + 0.031122683130352827, + -0.986665940160718 + ], + [ + 0.9896110174208621, + -0.01766145897188818, + 0.14268183859984057, + -0.012470439947683612, + -0.9992302325482801, + -0.03719449541292021, + 0.14322891581925018, + 0.03502877714815115, + -0.9890694932332853 + ], + [ + 0.9896462037775573, + -0.01656303963134497, + 0.14256948154089696, + -0.010569743431921599, + -0.999032329916747, + -0.04269290696239219, + 0.14313864562882037, + 0.040743950462450516, + -0.9888636198325128 + ], + [ + 0.9905810536459291, + -0.016264817401440437, + 0.1359581989900526, + -0.007945478790642974, + -0.9980748075524536, + -0.06151055109426562, + 0.1366969111739851, + 0.05985093352680991, + -0.9888032262444642 + ], + [ + 0.9868515351696214, + -0.018433895390644557, + 0.16057471480307275, + -0.0008102060046930263, + -0.994026669113741, + -0.10913443387341609, + 0.1616273216371271, + 0.10756938500971289, + -0.9809716796671761 + ], + [ + 0.982997633943125, + -0.03145277465144089, + 0.18090432451697655, + -0.000237433790814515, + -0.9854367954970895, + -0.17004195278113685, + 0.18361806906569098, + 0.1671078844553813, + -0.9686895063256513 + ], + [ + 0.9805462264865016, + -0.04391159325225172, + 0.1913135376839063, + -0.007290296934253322, + -0.9821304676046397, + -0.18806008660346413, + 0.19615287225450728, + 0.18300687577449326, + -0.9633444524808177 + ], + [ + 0.9792012237888229, + -0.062181895409775576, + 0.19312787270023749, + -0.02758784036934955, + -0.9838431683020112, + -0.17689412440557636, + 0.20100715010722056, + 0.16788696217606644, + -0.9650958986220308 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0025482773780822754, + -0.0021269619464874268, + -0.008678294718265533, + -0.010739505290985107, + 0.028418302536010742, + 0.0036964789032936096, + 1.0 + ], + [ + -0.0003008842468261719, + 0.0048837363719940186, + -0.0036066025495529175, + 0.017068952322006226, + 0.012320071458816528, + 0.030056245625019073, + 1.0 + ], + [ + 0.0051577091217041016, + 0.008219636976718903, + -0.010264724493026733, + 0.01639275997877121, + 0.03243109583854675, + 0.0383245050907135, + 1.0 + ], + [ + 0.005565822124481201, + 0.008326388895511627, + -0.009306222200393677, + 0.02537047117948532, + 0.015801414847373962, + 0.03484606742858887, + 1.0 + ], + [ + 0.005271404981613159, + 0.006873205304145813, + -0.011078692972660065, + 0.011521577835083008, + 0.025548532605171204, + 0.024600833654403687, + 1.0 + ], + [ + -8.803606033325195e-05, + 0.0070183128118515015, + -0.00451052188873291, + 0.04186690226197243, + -0.0025994032621383667, + 4.443526268005371e-05, + 1.0 + ], + [ + -0.008752793073654175, + 0.004345759749412537, + -0.00992853194475174, + 0.050057824701070786, + 0.008979931473731995, + -0.010323598980903625, + 1.0 + ], + [ + -0.007510662078857422, + -0.0006244033575057983, + -0.007842730730772018, + 0.02924470603466034, + 0.013847410678863525, + -0.014917701482772827, + 1.0 + ], + [ + -0.007139801979064941, + -0.004393473267555237, + -0.011511499062180519, + 0.022492296993732452, + 0.021258309483528137, + -0.02174292504787445, + 1.0 + ], + [ + 0.0026754140853881836, + -0.00959855318069458, + -0.015866216272115707, + 0.0031303465366363525, + 0.03137117624282837, + -0.020396173000335693, + 1.0 + ], + [ + 0.002077817916870117, + -0.00898328423500061, + -0.007895129732787609, + -0.03421076759696007, + 0.00984644889831543, + 0.00038293004035949707, + 1.0 + ], + [ + 0.004803121089935303, + -0.013507656753063202, + -3.6742058000527322e-06, + -0.028714491054415703, + -0.0004082322120666504, + -0.031526267528533936, + 1.0 + ], + [ + 0.004037946462631226, + -0.0037607774138450623, + 0.00039528298657387495, + -0.018091345205903053, + -0.020492583513259888, + -0.00010563433170318604, + 0.0 + ], + [ + -0.00028452277183532715, + 0.0037221759557724, + -0.009974319487810135, + 0.0193018838763237, + 0.007070563733577728, + 0.01916290819644928, + 0.0 + ], + [ + 0.0019542574882507324, + 0.002433888614177704, + 0.0005550123751163483, + 0.01055172085762024, + -0.01317799836397171, + 0.018608957529067993, + 0.0 + ], + [ + -0.00016739964485168457, + 0.0010085850954055786, + 0.0005025835707783699, + -0.0007760226726531982, + -0.0016424357891082764, + 0.010771006345748901, + 0.0 + ], + [ + -0.002183765172958374, + 0.004987217485904694, + 0.0011077714152634144, + 0.0001660715788602829, + 0.010976165533065796, + 0.01949150860309601, + 0.0 + ], + [ + 0.005374640226364136, + 0.013935759663581848, + 0.01028364710509777, + -0.020536288619041443, + -0.0048360079526901245, + 0.06389153003692627, + 0.0 + ], + [ + 0.006830155849456787, + 0.027203530073165894, + 0.017042504623532295, + -0.00812455639243126, + -0.020664021372795105, + 0.09277424216270447, + 0.0 + ], + [ + 0.007748514413833618, + 0.0027043968439102173, + 0.010354137048125267, + -0.028237339109182358, + 0.005995169281959534, + 0.026736289262771606, + 0.0 + ], + [ + 0.005019009113311768, + -0.005100861191749573, + 0.008836392313241959, + -0.04088733717799187, + 0.014532849192619324, + 0.021353989839553833, + 0.0 + ], + [ + 0.004715085029602051, + -0.015568867325782776, + 0.02349856123328209, + -0.046634577214717865, + -0.02895405888557434, + -0.021870344877243042, + 0.0 + ], + [ + 0.0017360150814056396, + -0.030459322035312653, + 0.016538187861442566, + -0.03942860662937164, + -0.01628534495830536, + -0.06775036454200745, + 0.0 + ], + [ + -0.0018200278282165527, + -0.033236123621463776, + 0.003851868212223053, + -0.010639101266860962, + -0.00010877847671508789, + -0.08675698935985565, + 0.0 + ], + [ + -0.00723189115524292, + -0.03619977831840515, + -0.0006031841039657593, + 0.005261912941932678, + -0.007626846432685852, + -0.09474606812000275, + 0.0 + ], + [ + -0.012289643287658691, + -0.025471607223153114, + -0.00991116464138031, + 0.03311823308467865, + 0.0007863789796829224, + -0.07396851480007172, + 0.0 + ], + [ + -0.006920337677001953, + -0.019481997936964035, + -0.012727327644824982, + 0.028132222592830658, + 0.003058493137359619, + -0.05310241878032684, + 0.0 + ], + [ + -0.0015624463558197021, + -0.014230800792574883, + -0.017923809587955475, + 0.03788476437330246, + 0.0036330372095108032, + -0.01449870876967907, + 0.0 + ], + [ + -0.001819908618927002, + -0.007772868499159813, + -0.01864047162234783, + 0.024294689297676086, + 0.009298592805862427, + -0.0015820721164345741, + 0.0 + ], + [ + 0.00045359134674072266, + -0.0016913842409849167, + -0.014102649874985218, + 0.011547595262527466, + -0.00703585147857666, + 0.01154453493654728, + 1.0 + ], + [ + 0.001239180564880371, + 0.0002959948033094406, + -0.005534769967198372, + 0.017066888511180878, + -0.014694169163703918, + 0.01719476655125618, + 1.0 + ], + [ + -0.0009963810443878174, + -0.00048792921006679535, + -0.0001741561572998762, + 0.007568679749965668, + 0.005270719528198242, + 0.0008954992517828941, + 1.0 + ], + [ + -0.0044793784618377686, + -0.0028340406715869904, + -0.0013564345426857471, + -0.019056472927331924, + 0.02345384657382965, + -0.010713966563344002, + 1.0 + ], + [ + -0.0033322274684906006, + -5.355849862098694e-05, + -5.105603486299515e-05, + -0.0038682669401168823, + 0.016719385981559753, + -0.015421755611896515, + 1.0 + ], + [ + -0.0019563138484954834, + 0.001433664932847023, + 0.009516676887869835, + -0.005778413265943527, + 9.12100076675415e-05, + 0.001920768991112709, + 1.0 + ], + [ + -0.000863194465637207, + -0.0013046395033597946, + 0.009963066317141056, + -0.019275393337011337, + 0.00650574266910553, + 0.0026590628549456596, + 1.0 + ], + [ + 0.0032949447631835938, + -0.00412362813949585, + 0.023930849507451057, + -0.048764679580926895, + -0.025213181972503662, + 0.007199855521321297, + 1.0 + ], + [ + -0.001367717981338501, + -0.0022989995777606964, + 0.02764129266142845, + -0.061608314514160156, + -0.022326409816741943, + 0.0005794601747766137, + 1.0 + ], + [ + -0.003999680280685425, + 0.0030511394143104553, + 0.015002772212028503, + -0.01690542697906494, + -0.012767180800437927, + -0.007193257100880146, + 1.0 + ], + [ + -0.0008648931980133057, + 0.003808416426181793, + 0.0014031529426574707, + 0.015498057007789612, + -0.004952922463417053, + -0.020731572061777115, + 1.0 + ], + [ + 0.00018024444580078125, + -3.7126243114471436e-05, + 0.000342734158039093, + 0.00014269351959228516, + -0.0003046691417694092, + -0.0018124915659427643, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9367310404777527 + ], + [ + 0.6249675154685974 + ], + [ + 0.3437051773071289 + ], + [ + 0.18066829442977905 + ], + [ + 0.08783477544784546 + ], + [ + 0.06238236278295517 + ], + [ + 0.057568058371543884 + ], + [ + 0.05511022359132767 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.06296365708112717 + ], + [ + 0.12176833301782608 + ], + [ + 0.3149794638156891 + ], + [ + 0.5403295159339905 + ], + [ + 0.7826583981513977 + ], + [ + 0.9994885921478271 + ], + [ + 1.00800359249115 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3009764850139618, + 0.1052592396736145, + 0.09174149483442307 + ], + [ + 0.3006756007671356, + 0.11014297604560852, + 0.08813489228487015 + ], + [ + 0.3058333098888397, + 0.11836261302232742, + 0.07787016779184341 + ], + [ + 0.3113991320133209, + 0.12668900191783905, + 0.06856394559144974 + ], + [ + 0.3166705369949341, + 0.13356220722198486, + 0.05748525261878967 + ], + [ + 0.31658250093460083, + 0.14058052003383636, + 0.05297473073005676 + ], + [ + 0.30782970786094666, + 0.1449262797832489, + 0.04304619878530502 + ], + [ + 0.30031904578208923, + 0.1443018764257431, + 0.035203468054533005 + ], + [ + 0.2931792438030243, + 0.13990840315818787, + 0.023691968992352486 + ], + [ + 0.2958546578884125, + 0.1303098499774933, + 0.007825751788914204 + ], + [ + 0.2979324758052826, + 0.12132656574249268, + -6.937828584341332e-05 + ], + [ + 0.3027355968952179, + 0.10781890898942947, + -7.305249164346606e-05 + ], + [ + 0.3067735433578491, + 0.10405813157558441, + 0.0003222305094823241 + ], + [ + 0.3064890205860138, + 0.10778030753135681, + -0.009652089327573776 + ], + [ + 0.3084432780742645, + 0.11021419614553452, + -0.009097076952457428 + ], + [ + 0.30827587842941284, + 0.1112227812409401, + -0.008594493381679058 + ], + [ + 0.30609211325645447, + 0.11620999872684479, + -0.007486721966415644 + ], + [ + 0.3114667534828186, + 0.13014575839042664, + 0.0027969249058514833 + ], + [ + 0.3182969093322754, + 0.15734928846359253, + 0.01983943022787571 + ], + [ + 0.326045423746109, + 0.16005368530750275, + 0.030193567276000977 + ], + [ + 0.3310644328594208, + 0.15495282411575317, + 0.039029959589242935 + ], + [ + 0.3357795178890228, + 0.1393839567899704, + 0.06252852082252502 + ], + [ + 0.33751553297042847, + 0.10892463475465775, + 0.07906670868396759 + ], + [ + 0.3356955051422119, + 0.07568851113319397, + 0.08291857689619064 + ], + [ + 0.328463613986969, + 0.03948873281478882, + 0.08231539279222488 + ], + [ + 0.3161739706993103, + 0.014017125591635704, + 0.07240422815084457 + ], + [ + 0.30925363302230835, + -0.005464871879667044, + 0.05967690050601959 + ], + [ + 0.30769118666648865, + -0.019695673137903214, + 0.04175309091806412 + ], + [ + 0.30587127804756165, + -0.027468541637063026, + 0.023112619295716286 + ], + [ + 0.30632486939430237, + -0.029159925878047943, + 0.009009969420731068 + ], + [ + 0.30756404995918274, + -0.028863931074738503, + 0.0034751994535326958 + ], + [ + 0.3065676689147949, + -0.029351860284805298, + 0.0033010432962328196 + ], + [ + 0.30208829045295715, + -0.03218590095639229, + 0.0019446087535470724 + ], + [ + 0.29875606298446655, + -0.032239459455013275, + 0.0018935527186840773 + ], + [ + 0.29679974913597107, + -0.030805794522166252, + 0.011410229839384556 + ], + [ + 0.29593655467033386, + -0.03211043402552605, + 0.021373296156525612 + ], + [ + 0.29923149943351746, + -0.036234062165021896, + 0.04530414566397667 + ], + [ + 0.29786378145217896, + -0.03853306174278259, + 0.07294543832540512 + ], + [ + 0.29386410117149353, + -0.03548192232847214, + 0.08794821053743362 + ], + [ + 0.2929992079734802, + -0.031673505902290344, + 0.0893513634800911 + ], + [ + 0.293179452419281, + -0.031710632145404816, + 0.08969409763813019 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9573299238685808, + 0.05468204365233961, + 0.28377683303571705, + 0.09232479726519427, + -0.9883482373517526, + -0.1210119561598143, + 0.2738531516629275, + 0.1420480053562445, + -0.9512238514138479 + ], + [ + 0.9573975874447703, + 0.0907901392589931, + 0.2741295499727563, + 0.12146796372115942, + -0.9878384469794538, + -0.09706047835579615, + 0.26198357456979693, + 0.12622342604506312, + -0.9567822392650681 + ], + [ + 0.9599201074938907, + 0.13665746992432648, + 0.24470006772128108, + 0.15936977926445234, + -0.9843304293835948, + -0.07546442371546913, + 0.23055294551602998, + 0.11143761350365472, + -0.9666576424000862 + ], + [ + 0.9572367702928084, + 0.178431136188993, + 0.22772811692388445, + 0.1934131281977103, + -0.9800813716923397, + -0.04507623212334906, + 0.2151490818947862, + 0.08719423432754601, + -0.9726808510811055 + ], + [ + 0.9572376070856379, + 0.2070056637103023, + 0.20210101131072936, + 0.21805097396528592, + -0.9753532859695476, + -0.03376004000584787, + 0.19013136599139166, + 0.07638470226598701, + -0.9787826321129653 + ], + [ + 0.9567428045391994, + 0.2152369296918957, + 0.19574542155379546, + 0.21798298149281545, + -0.9759224494289326, + 0.007667625456121612, + 0.19268270742848206, + 0.03533322512081841, + -0.9806247689410009 + ], + [ + 0.9605943860768832, + 0.2145705454845682, + 0.1766858977055912, + 0.20845305413331114, + -0.9766109664466474, + 0.052710003212295936, + 0.1838633994575066, + -0.013802218176809669, + -0.9828548972830776 + ], + [ + 0.9660004647932542, + 0.2045035793322899, + 0.1581815035315399, + 0.19458466343972308, + -0.9779365923148624, + 0.07600546141984987, + 0.17023486944003705, + -0.04264161643132667, + -0.9844804628710806 + ], + [ + 0.9733455453899108, + 0.1853834523900608, + 0.13502379364230152, + 0.1741347058347059, + -0.9805144423909029, + 0.09093147137661906, + 0.14924996982739128, + -0.06499541401359413, + -0.9866610576402233 + ], + [ + 0.9808380314144977, + 0.1636607495697888, + 0.10569728085995381, + 0.15490171360356206, + -0.9841444801724485, + 0.08640081752380233, + 0.11816181808694856, + -0.06837251784420567, + -0.9906376651177922 + ], + [ + 0.981880241668443, + 0.15999224971129514, + 0.10155624576282246, + 0.1554517001596117, + -0.9865156377380755, + 0.051202201278116026, + 0.10837877992765185, + -0.03448733869925471, + -0.9935112800219416 + ], + [ + 0.986248356101917, + 0.1258054267430721, + 0.1071782379415713, + 0.12441901470709998, + -0.9920371004594063, + 0.019552495784641744, + 0.10878459847598368, + -0.0059486060625591605, + -0.9940475467603809 + ], + [ + 0.9838427906362497, + 0.12349673113371994, + 0.1296222230651917, + 0.12400996323788217, + -0.9922723540800883, + 0.004135740090845975, + 0.1291312988040302, + 0.012005529044802864, + -0.9915548269972462 + ], + [ + 0.9821648812194229, + 0.14491104321042295, + 0.1198037380673233, + 0.14296727619633667, + -0.9894189197421377, + 0.02470949601472307, + 0.12211676394433835, + -0.0071407851086677, + -0.9924900529233502 + ], + [ + 0.9776616382882692, + 0.16477572139284874, + 0.13048633131084444, + 0.16094314348470584, + -0.9861743326106178, + 0.039465051187903374, + 0.13518515297457248, + -0.01758258625654192, + -0.9906643362288624 + ], + [ + 0.9756514420484687, + 0.17531426637237915, + 0.1317921531619289, + 0.17142534917584942, + -0.9843690016877065, + 0.04038586604600116, + 0.1368123287159492, + -0.01681001257173663, + -0.9904543453328156 + ], + [ + 0.9735400711600252, + 0.1943053606332532, + 0.12027117973527512, + 0.19068567094611205, + -0.980793787584443, + 0.04101854619064262, + 0.12593134932003436, + -0.016999207774017623, + -0.9918933018190473 + ], + [ + 0.9587786062081072, + 0.25404990402152827, + 0.12728798271750338, + 0.2522973245351655, + -0.9671852382271037, + 0.029979576180756466, + 0.13072736633940327, + 0.003370641219809031, + -0.9914126257354858 + ], + [ + 0.9285461617772724, + 0.3413186971940406, + 0.14595743350188806, + 0.3390357138124658, + -0.9398785969452693, + 0.04102447761841309, + 0.15118468906726984, + 0.011391661422053032, + -0.9884398918708603 + ], + [ + 0.9199770907824395, + 0.3623072331583845, + 0.14958482956702238, + 0.3640644443464109, + -0.9312285690147151, + 0.01644483546725221, + 0.14525574962189333, + 0.03932964596741201, + -0.9886121312981445 + ], + [ + 0.9138431722712347, + 0.3767593911766128, + 0.15146952714481923, + 0.3844030968513941, + -0.9228614871226719, + -0.02368406039489001, + 0.13086220089966685, + 0.0798688721966146, + -0.9881781456952672 + ], + [ + 0.9181211495741414, + 0.34568278963102883, + 0.19379619102956352, + 0.3627817821539855, + -0.9299460048736229, + -0.05991499442348332, + 0.15950841119463077, + 0.12531495111317603, + -0.9792105135187565 + ], + [ + 0.9379750300631735, + 0.2717145374725357, + 0.2153463561430162, + 0.29896545035577693, + -0.9484110459910849, + -0.10552794575686453, + 0.17556338590821338, + 0.1633636984405723, + -0.970819138439422 + ], + [ + 0.9603334618499, + 0.18630025388315788, + 0.20748941528294185, + 0.21656298548408545, + -0.9670199770120528, + -0.13406281131554834, + 0.17567047381277817, + 0.17367953092601165, + -0.9690073813793753 + ], + [ + 0.9751567221396438, + 0.0937247382110172, + 0.2007113367828079, + 0.12456654429348635, + -0.9812624398747481, + -0.14699387787875692, + 0.18317353331921166, + 0.16834398575040418, + -0.9685596311807669 + ], + [ + 0.9818393704605483, + 0.027315675203974134, + 0.18773732847195235, + 0.052168416258304866, + -0.9903046437580029, + -0.12874458783356954, + 0.18240040284696457, + 0.13620046416766154, + -0.9737451035059324 + ], + [ + 0.9837776056631664, + -0.01986184676101091, + 0.1782894546485853, + -1.867717509342927e-05, + -0.9938632703322059, + -0.11061554834532082, + 0.17939236953340842, + 0.10881776935691613, + -0.9777407994071713 + ], + [ + 0.9843191127995564, + -0.027292439823219203, + 0.17427279450903924, + -0.014291047485964692, + -0.9970488813881054, + -0.07542740937140356, + 0.17581709285290711, + 0.07175409989138846, + -0.9818043078992517 + ], + [ + 0.9858873349521169, + -0.024185159224155896, + 0.1656539792891029, + -0.015873926837352618, + -0.9985564119751889, + -0.051313843648659443, + 0.1666558766673851, + 0.04796008941337493, + -0.9848480332496411 + ], + [ + 0.9848079417548469, + -0.01099276030070134, + 0.17329880864435718, + -0.004486058654989997, + -0.999271724719381, + -0.03789321118746292, + 0.17358915039346842, + 0.036540106695588624, + -0.9841400446421987 + ], + [ + 0.9820827314414629, + 0.008867924614557019, + 0.18824151645560597, + 0.012413729793309857, + -0.9997668807986304, + -0.01766588154596175, + 0.18804097403782596, + 0.01968613652314223, + -0.9819638731194229 + ], + [ + 0.9830485958688406, + 0.011252388096463034, + 0.18299956809355514, + 0.01330640865697831, + -0.9998614589733945, + -0.01000011741175021, + 0.18286168994339583, + 0.012265668417247962, + -0.9830621321815441 + ], + [ + 0.987152745825335, + -0.002217014932316224, + 0.15976401739531812, + 0.002784831766482525, + -0.999513113190396, + -0.031077021615252182, + 0.1597551286235719, + 0.031122683130352827, + -0.986665940160718 + ], + [ + 0.9896110174208621, + -0.01766145897188818, + 0.14268183859984057, + -0.012470439947683612, + -0.9992302325482801, + -0.03719449541292021, + 0.14322891581925018, + 0.03502877714815115, + -0.9890694932332853 + ], + [ + 0.9896462037775573, + -0.01656303963134497, + 0.14256948154089696, + -0.010569743431921599, + -0.999032329916747, + -0.04269290696239219, + 0.14313864562882037, + 0.040743950462450516, + -0.9888636198325128 + ], + [ + 0.9905810536459291, + -0.016264817401440437, + 0.1359581989900526, + -0.007945478790642974, + -0.9980748075524536, + -0.06151055109426562, + 0.1366969111739851, + 0.05985093352680991, + -0.9888032262444642 + ], + [ + 0.9868515351696214, + -0.018433895390644557, + 0.16057471480307275, + -0.0008102060046930263, + -0.994026669113741, + -0.10913443387341609, + 0.1616273216371271, + 0.10756938500971289, + -0.9809716796671761 + ], + [ + 0.982997633943125, + -0.03145277465144089, + 0.18090432451697655, + -0.000237433790814515, + -0.9854367954970895, + -0.17004195278113685, + 0.18361806906569098, + 0.1671078844553813, + -0.9686895063256513 + ], + [ + 0.9805462264865016, + -0.04391159325225172, + 0.1913135376839063, + -0.007290296934253322, + -0.9821304676046397, + -0.18806008660346413, + 0.19615287225450728, + 0.18300687577449326, + -0.9633444524808177 + ], + [ + 0.9792012237888229, + -0.062181895409775576, + 0.19312787270023749, + -0.02758784036934955, + -0.9838431683020112, + -0.17689412440557636, + 0.20100715010722056, + 0.16788696217606644, + -0.9650958986220308 + ], + [ + 0.9790883540876218, + -0.06398857024621932, + 0.19310996289119017, + -0.029360751028819028, + -0.9837525978334715, + -0.17711231621465598, + 0.2013055915493057, + 0.16773875262962115, + -0.9650594643218848 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005984.json b/json/chunk-0005/episode_0005984.json new file mode 100644 index 0000000000000000000000000000000000000000..ce24359767cfc75f7533feecf731b5524fa6afd3 --- /dev/null +++ b/json/chunk-0005/episode_0005984.json @@ -0,0 +1,2182 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 35, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nOpen fridge." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005984.mp4", + "start": 0, + "end": 35, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.21017234027385712, + -0.07898543030023575, + -0.04134764522314072, + 0.03594227880239487, + -0.0706082135438919, + 0.029818188399076462, + 0.0, + 0.9988223910331726 + ], + [ + 0.2064387947320938, + -0.07903040200471878, + -0.04510362446308136, + 0.047696392983198166, + -0.05219626799225807, + 0.03465738520026207, + 0.0, + 0.9988223910331726 + ], + [ + 0.223192498087883, + -0.10402972251176834, + -0.03859683498740196, + 0.03883417323231697, + -0.10733144730329514, + 0.09807097166776657, + 0.0, + 0.9988223910331726 + ], + [ + 0.23374131321907043, + -0.12411543726921082, + -0.0296481940895319, + 0.03127453848719597, + -0.13503512740135193, + 0.13252411782741547, + 0.0, + 0.9988223910331726 + ], + [ + 0.25189438462257385, + -0.12269327789545059, + -0.02005842886865139, + 0.06474809348583221, + -0.1892816424369812, + 0.11480254679918289, + 0.0, + 0.9988223910331726 + ], + [ + 0.2738257348537445, + -0.11352226138114929, + -0.00696061085909605, + 0.06415136158466339, + -0.23862816393375397, + 0.10380314290523529, + 0.0, + 0.9988223910331726 + ], + [ + 0.2982349395751953, + -0.09242931008338928, + 0.006423295941203833, + 0.06938955932855606, + -0.23873944580554962, + 0.11759427934885025, + 0.0, + 0.9988223910331726 + ], + [ + 0.3124902844429016, + -0.08075717091560364, + 0.01560945250093937, + 0.05135774239897728, + -0.2255162000656128, + 0.11369535326957703, + 0.0, + 0.9988223910331726 + ], + [ + 0.32163408398628235, + -0.0830252543091774, + 0.02149510383605957, + 0.012020338326692581, + -0.23619888722896576, + 0.10545460879802704, + 0.0, + 0.9988223910331726 + ], + [ + 0.32401734590530396, + -0.09049341827630997, + 0.03310010954737663, + -0.03466815501451492, + -0.2626807987689972, + 0.07482345402240753, + 0.0, + 0.9988223910331726 + ], + [ + 0.32545024156570435, + -0.09829262644052505, + 0.036047063767910004, + -0.04037114605307579, + -0.28819671273231506, + 0.04637710377573967, + 0.0, + 0.9988223910331726 + ], + [ + 0.33453598618507385, + -0.09879535436630249, + 0.04032425209879875, + 0.004008274991065264, + -0.3736216127872467, + 0.06842829287052155, + 0.0, + 0.9988223910331726 + ], + [ + 0.3402599096298218, + -0.09891766309738159, + 0.04359785094857216, + 0.02836599014699459, + -0.4257562756538391, + 0.06443315744400024, + 0.0, + 0.9492040276527405 + ], + [ + 0.34160780906677246, + -0.10091046988964081, + 0.04482092708349228, + 0.037164121866226196, + -0.44346335530281067, + 0.05557635426521301, + 0.0, + 0.6811928749084473 + ], + [ + 0.3384149372577667, + -0.100701704621315, + 0.041964009404182434, + 0.018117304891347885, + -0.41948646306991577, + 0.0638669803738594, + 0.0, + 0.3883807957172394 + ], + [ + 0.33146509528160095, + -0.09683704376220703, + 0.04533347487449646, + -0.034850411117076874, + -0.4042707681655884, + 0.04894229397177696, + 0.0, + 0.18066829442977905 + ], + [ + 0.32046326994895935, + -0.09314846247434616, + 0.045540016144514084, + -0.057352207601070404, + -0.38192427158355713, + 0.008717210963368416, + 0.0, + 0.1284015029668808 + ], + [ + 0.29820185899734497, + -0.08604544401168823, + 0.0455203503370285, + -0.048299554735422134, + -0.36713907122612, + -0.03932080417871475, + 0.0, + 0.1437794268131256 + ], + [ + 0.28208860754966736, + -0.0796198770403862, + 0.04671245068311691, + -0.042043235152959824, + -0.36785316467285156, + -0.053218863904476166, + 0.0, + 0.15515124797821045 + ], + [ + 0.2629895508289337, + -0.0706118494272232, + 0.04966873675584793, + -0.026240354403853416, + -0.36177316308021545, + -0.051996588706970215, + 0.0, + 0.18234474956989288 + ], + [ + 0.24802087247371674, + -0.08271758258342743, + 0.05031544715166092, + -0.002912396565079689, + -0.25891634821891785, + -0.019039392471313477, + 0.0, + 0.4059307873249054 + ], + [ + 0.22615458071231842, + -0.10584791749715805, + 0.031771253794431686, + 0.05765809491276741, + -0.14973986148834229, + -0.03501201793551445, + 0.0, + 0.7051732540130615 + ], + [ + 0.22097213566303253, + -0.13957932591438293, + 0.019009564071893692, + 0.060608167201280594, + -0.09629732370376587, + -0.10142599046230316, + 0.0, + 0.9643021821975708 + ], + [ + 0.23823392391204834, + -0.16536889970302582, + 0.013837827369570732, + 0.031631115823984146, + -0.09515158087015152, + -0.13456201553344727, + 0.0, + 0.9954678416252136 + ], + [ + 0.25896987318992615, + -0.17911043763160706, + 0.01404709741473198, + 0.04044974967837334, + -0.11151321977376938, + -0.17250901460647583, + 0.0, + 0.9947922229766846 + ], + [ + 0.2820082902908325, + -0.18159760534763336, + 0.018753904849290848, + 0.05332712084054947, + -0.13326714932918549, + -0.18951573967933655, + 0.0, + 0.9947922229766846 + ], + [ + 0.3066338002681732, + -0.17176727950572968, + 0.023267580196261406, + 0.09156730771064758, + -0.139108344912529, + -0.15432079136371613, + 0.0, + 0.9947922229766846 + ], + [ + 0.3197673261165619, + -0.1523570865392685, + 0.029185008257627487, + 0.1519768238067627, + -0.14713233709335327, + -0.13681189715862274, + 0.0, + 0.9941151142120361 + ], + [ + 0.3231011629104614, + -0.13200940191745758, + 0.026756249368190765, + 0.19028818607330322, + -0.13253770768642426, + -0.12528948485851288, + 0.0, + 0.9941151142120361 + ], + [ + 0.3135712444782257, + -0.11798718571662903, + 0.027907248586416245, + 0.20877626538276672, + -0.10773150622844696, + -0.11373114585876465, + 0.0, + 0.9941151142120361 + ], + [ + 0.2923153042793274, + -0.10837259888648987, + 0.031580470502376556, + 0.20615938305854797, + -0.11413972824811935, + -0.12726980447769165, + 0.0, + 0.9941151142120361 + ], + [ + 0.266946017742157, + -0.09972132742404938, + 0.03995562344789505, + 0.2162708342075348, + -0.1457676738500595, + -0.15286225080490112, + 0.0, + 0.9941151142120361 + ], + [ + 0.2422223687171936, + -0.08773953467607498, + 0.05020725354552269, + 0.19010493159294128, + -0.1579979658126831, + -0.14993056654930115, + 0.0, + 0.9941151142120361 + ], + [ + 0.2210167646408081, + -0.06542611122131348, + 0.05074624717235565, + 0.17367777228355408, + -0.1496356576681137, + -0.14188417792320251, + 0.0, + 0.9941151142120361 + ], + [ + 0.20439399778842926, + -0.04348829761147499, + 0.048986878246068954, + 0.14626799523830414, + -0.14150287210941315, + -0.09074719995260239, + 0.0, + 0.9941151142120361 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9492040276527405 + ], + [ + 0.6811928749084473 + ], + [ + 0.3883807957172394 + ], + [ + 0.18066829442977905 + ], + [ + 0.1284015029668808 + ], + [ + 0.1437794268131256 + ], + [ + 0.15515124797821045 + ], + [ + 0.18234474956989288 + ], + [ + 0.4059307873249054 + ], + [ + 0.7051732540130615 + ], + [ + 0.9643021821975708 + ], + [ + 0.9954678416252136 + ], + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.21017234027385712, + -0.07898543030023575, + -0.04134764522314072 + ], + [ + 0.2064387947320938, + -0.07903040200471878, + -0.04510362446308136 + ], + [ + 0.223192498087883, + -0.10402972251176834, + -0.03859683498740196 + ], + [ + 0.23374131321907043, + -0.12411543726921082, + -0.0296481940895319 + ], + [ + 0.25189438462257385, + -0.12269327789545059, + -0.02005842886865139 + ], + [ + 0.2738257348537445, + -0.11352226138114929, + -0.00696061085909605 + ], + [ + 0.2982349395751953, + -0.09242931008338928, + 0.006423295941203833 + ], + [ + 0.3124902844429016, + -0.08075717091560364, + 0.01560945250093937 + ], + [ + 0.32163408398628235, + -0.0830252543091774, + 0.02149510383605957 + ], + [ + 0.32401734590530396, + -0.09049341827630997, + 0.03310010954737663 + ], + [ + 0.32545024156570435, + -0.09829262644052505, + 0.036047063767910004 + ], + [ + 0.33453598618507385, + -0.09879535436630249, + 0.04032425209879875 + ], + [ + 0.3402599096298218, + -0.09891766309738159, + 0.04359785094857216 + ], + [ + 0.34160780906677246, + -0.10091046988964081, + 0.04482092708349228 + ], + [ + 0.3384149372577667, + -0.100701704621315, + 0.041964009404182434 + ], + [ + 0.33146509528160095, + -0.09683704376220703, + 0.04533347487449646 + ], + [ + 0.32046326994895935, + -0.09314846247434616, + 0.045540016144514084 + ], + [ + 0.29820185899734497, + -0.08604544401168823, + 0.0455203503370285 + ], + [ + 0.28208860754966736, + -0.0796198770403862, + 0.04671245068311691 + ], + [ + 0.2629895508289337, + -0.0706118494272232, + 0.04966873675584793 + ], + [ + 0.24802087247371674, + -0.08271758258342743, + 0.05031544715166092 + ], + [ + 0.22615458071231842, + -0.10584791749715805, + 0.031771253794431686 + ], + [ + 0.22097213566303253, + -0.13957932591438293, + 0.019009564071893692 + ], + [ + 0.23823392391204834, + -0.16536889970302582, + 0.013837827369570732 + ], + [ + 0.25896987318992615, + -0.17911043763160706, + 0.01404709741473198 + ], + [ + 0.2820082902908325, + -0.18159760534763336, + 0.018753904849290848 + ], + [ + 0.3066338002681732, + -0.17176727950572968, + 0.023267580196261406 + ], + [ + 0.3197673261165619, + -0.1523570865392685, + 0.029185008257627487 + ], + [ + 0.3231011629104614, + -0.13200940191745758, + 0.026756249368190765 + ], + [ + 0.3135712444782257, + -0.11798718571662903, + 0.027907248586416245 + ], + [ + 0.2923153042793274, + -0.10837259888648987, + 0.031580470502376556 + ], + [ + 0.266946017742157, + -0.09972132742404938, + 0.03995562344789505 + ], + [ + 0.2422223687171936, + -0.08773953467607498, + 0.05020725354552269 + ], + [ + 0.2210167646408081, + -0.06542611122131348, + 0.05074624717235565 + ], + [ + 0.20439399778842926, + -0.04348829761147499, + 0.048986878246068954 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.997064853962926, + 0.032328553586468994, + 0.06940130845233525, + 0.029739482216751482, + -0.9988343208350963, + 0.03802055653685064, + 0.07054955839244423, + -0.03584500167246663, + -0.9968640306810815 + ], + [ + 0.9980383948287703, + 0.03709704735689641, + 0.050429867390376616, + 0.03460325659044926, + -0.9981767255517275, + 0.0494554263975738, + 0.0521725701968603, + -0.047613376736275435, + -0.9975023755735233 + ], + [ + 0.9894680540307697, + 0.10197911794606333, + 0.10272891294813095, + 0.09735039642331512, + -0.9940373345284066, + 0.04911901749713745, + 0.10712548888469613, + -0.03860099825915914, + -0.9934958945887049 + ], + [ + 0.9822079492181888, + 0.13624467005912605, + 0.12924757008578522, + 0.13093365458923578, + -0.9901905539559102, + 0.04877545440479887, + 0.13462511871306473, + -0.03098478234501252, + -0.9904120459054027 + ], + [ + 0.9756746391419171, + 0.12640443288390615, + 0.1791114677584543, + 0.11250462448532063, + -0.9899412441225095, + 0.0857848626191997, + 0.18815341613881673, + -0.06354724645864708, + -0.9800816493858138 + ], + [ + 0.9664329684795705, + 0.11847517659416058, + 0.22797137970970852, + 0.10068065401677385, + -0.9910012576742482, + 0.08820381621456722, + 0.23636988670835443, + -0.06229076832919092, + -0.9696644454853642 + ], + [ + 0.9649264797409252, + 0.13332381120595374, + 0.2261451968543773, + 0.11399577936492528, + -0.9887802587576051, + 0.09653270004628856, + 0.23647801373863306, + -0.06736736047050268, + -0.9692986060866219 + ], + [ + 0.9683859350668924, + 0.12470589480898818, + 0.21604888466388858, + 0.11057785858039422, + -0.9909313338846613, + 0.0763389069697797, + 0.2236095211666869, + -0.050035300793099244, + -0.9733936771513103 + ], + [ + 0.9668335463093101, + 0.10804882979990091, + 0.2314267575494139, + 0.10233668593143888, + -0.9940768987503886, + 0.03658308466189878, + 0.23400875292076828, + -0.011686306075131709, + -0.9721642524834911 + ], + [ + 0.962995334093438, + 0.0657334337101869, + 0.2613792306342184, + 0.07218940606200579, + -0.9972756514274838, + -0.01516458777225138, + 0.2596703220752852, + 0.03347223868455674, + -0.9651170566676155 + ], + [ + 0.95772709053895, + 0.0348637174152503, + 0.28555794728178596, + 0.04444848036403063, + -0.998642662956139, + -0.027150770103253744, + 0.28422377212528527, + 0.038695644869428475, + -0.9579767713400011 + ], + [ + 0.9288327546354843, + 0.06983390520337154, + 0.3638584059772495, + 0.06365782859380023, + -0.9975516526960609, + 0.02895481068976345, + 0.36498958173484997, + -0.0037317405328088256, + -0.931004124232334 + ], + [ + 0.9088367974053102, + 0.07605222968994663, + 0.4101606198079558, + 0.05864039804096897, + -0.9967692105961156, + 0.05488574063628093, + 0.4130096601771629, + -0.025830198736826987, + -0.9103602701313147 + ], + [ + 0.9018764385893971, + 0.07142713151959505, + 0.42604818319080684, + 0.050174673787624, + -0.9968810296743518, + 0.0609156366272991, + 0.4290703807391164, + -0.03356154880642574, + -0.9026473457636172 + ], + [ + 0.9114361853258361, + 0.07117667304971823, + 0.4052381537963343, + 0.05828995325567516, + -0.9973264883824493, + 0.044069909464208155, + 0.40729149442154966, + -0.016545597127508416, + -0.9131483350406739 + ], + [ + 0.9182885746208103, + 0.035203882996550896, + 0.3943434801576481, + 0.0449790686157858, + -0.9988665926952529, + -0.015569630176464172, + 0.39334841693762623, + 0.032034615954317065, + -0.9188312175113134 + ], + [ + 0.9279139078618145, + -0.012660260731256175, + 0.37257951821702856, + 0.008089026186118032, + -0.9985041114708882, + -0.0540750130013165, + 0.37270678455318845, + 0.05319076211099879, + -0.9264234429104623 + ], + [ + 0.9326366332105532, + -0.056581655489768956, + 0.3563529523600454, + -0.03669093397170112, + -0.9973804787464401, + -0.06233743642311554, + 0.3589466335793776, + 0.04506325418296821, + -0.9322696055135944 + ], + [ + 0.9317804499176564, + -0.06824018198468401, + 0.35655079682136015, + -0.049635165494007885, + -0.9968977598806934, + -0.06108360411139486, + 0.35961304689573226, + 0.03921905031425892, + -0.9322769559496874 + ], + [ + 0.9340066777870691, + -0.0612289852777757, + 0.3519695117634706, + -0.048608976114674914, + -0.9978220522341514, + -0.04459057654156495, + 0.3539331763062695, + 0.024539018665792774, + -0.9349487383127884 + ], + [ + 0.9664927939214195, + -0.019783695384328878, + 0.255930234038319, + -0.018403659444012607, + -0.9998003197586689, + -0.007786265441931693, + 0.25603317093110695, + 0.002815316572518692, + -0.9666638967994817 + ], + [ + 0.9882039189339553, + -0.026355241818512024, + 0.1508589269226736, + -0.034613157903615126, + -0.9980273199258258, + 0.05237745680741738, + 0.1491809099835238, + -0.056981311939628264, + -0.9871667469005054 + ], + [ + 0.9902515967656839, + -0.09527237938585972, + 0.10161175536900616, + -0.10078307921136678, + -0.9936237901328914, + 0.050542404242611624, + 0.09614856237973246, + -0.060290442095783395, + -0.9935393885217667 + ], + [ + 0.9864775789919553, + -0.1311116428098643, + 0.09834491987830316, + -0.1335494430775843, + -0.9908675852777579, + 0.018600395143468326, + 0.09500806491997602, + -0.03148278204867938, + -0.9949785435046515 + ], + [ + 0.9790382165792549, + -0.16708093315755085, + 0.11648232592335322, + -0.17058848620092792, + -0.9851238108486251, + 0.02075200411426347, + 0.11128224859782482, + -0.040187548746901794, + -0.992975942343382 + ], + [ + 0.9733874024103558, + -0.18115995799192136, + 0.14034968631666161, + -0.18671294506450586, + -0.9820336768959296, + 0.027352030776519112, + 0.1328730257582736, + -0.05282922545926752, + -0.9897241191176533 + ], + [ + 0.978570983638158, + -0.1405367317524132, + 0.15049337862443848, + -0.1522241729833153, + -0.9859254635668452, + 0.06912873100272882, + 0.138660128158725, + -0.09055610039556805, + -0.9861911384413035 + ], + [ + 0.9799523494511966, + -0.11282642593246676, + 0.1642059390411481, + -0.13491193007897836, + -0.9822642783464525, + 0.13021389559830962, + 0.1466020597653543, + -0.14975675308922873, + -0.9777938182340524 + ], + [ + 0.9834600073877009, + -0.09790718179189722, + 0.15238306212486927, + -0.12386600399168121, + -0.9773762251602782, + 0.17144365706137418, + 0.1321500167389932, + -0.18748306122157718, + -0.9733378009873398 + ], + [ + 0.987779606876699, + -0.08888020099576044, + 0.1280303015284562, + -0.1128281956075507, + -0.9744942532877697, + 0.193986464953245, + 0.10752323709067946, + -0.20606130199546324, + -0.9726137431197834 + ], + [ + 0.9854578811005068, + -0.10111336299543647, + 0.13656080111310426, + -0.12610061073492498, + -0.9738668626058309, + 0.18889671752191717, + 0.11389205656751766, + -0.2033701594188025, + -0.972455231724727 + ], + [ + 0.9778576554542583, + -0.1179144729964989, + 0.17288893176678227, + -0.15065278208959967, + -0.9700615165534344, + 0.19048462759686013, + 0.14525200486796996, + -0.21231304990510785, + -0.9663462236288951 + ], + [ + 0.97646545200869, + -0.11728050350331427, + 0.1809986312972386, + -0.14750897171428715, + -0.9754089574605457, + 0.1637634543160495, + 0.15734142587779693, + -0.1866082774255748, + -0.9697530750139446 + ], + [ + 0.9788890630092659, + -0.1137785681028784, + 0.16979587674999813, + -0.13982843265543105, + -0.9787012808617295, + 0.15030572930110214, + 0.14907787140272521, + -0.17087492583778718, + -0.9739494586363112 + ], + [ + 0.9859315861002032, + -0.06918473470548053, + 0.15215906155622208, + -0.08971694072134467, + -0.9871138669427876, + 0.1325031480262244, + 0.14103112449931268, + -0.1442902844026204, + -0.9794337832388009 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0037335455417633057, + -4.4971704483032227e-05, + -0.0037559792399406433, + 0.011754114180803299, + 0.018411945551633835, + 0.004839196801185608, + 1.0 + ], + [ + 0.016753703355789185, + -0.02499932050704956, + 0.006506789475679398, + -0.008862219750881195, + -0.055135179311037064, + 0.0634135901927948, + 1.0 + ], + [ + 0.010548815131187439, + -0.020085714757442474, + 0.008948640897870064, + -0.007559634745121002, + -0.027703680098056793, + 0.034453146159648895, + 1.0 + ], + [ + 0.018153071403503418, + 0.0014221593737602234, + 0.009589765220880508, + 0.033473554998636246, + -0.05424651503562927, + -0.017721571028232574, + 1.0 + ], + [ + 0.021931350231170654, + 0.0091710165143013, + 0.01309781800955534, + -0.0005967319011688232, + -0.049346521496772766, + -0.010999403893947601, + 1.0 + ], + [ + 0.024409204721450806, + 0.02109295129776001, + 0.013383906334638596, + 0.00523819774389267, + -0.0001112818717956543, + 0.01379113644361496, + 1.0 + ], + [ + 0.014255344867706299, + 0.011672139167785645, + 0.00918615609407425, + -0.01803181692957878, + 0.013223245739936829, + -0.003898926079273224, + 1.0 + ], + [ + 0.009143799543380737, + -0.002268083393573761, + 0.005885651335120201, + -0.0393374040722847, + -0.010682687163352966, + -0.008240744471549988, + 1.0 + ], + [ + 0.0023832619190216064, + -0.007468163967132568, + 0.011605005711317062, + -0.046688493341207504, + -0.026481911540031433, + -0.030631154775619507, + 1.0 + ], + [ + 0.0014328956604003906, + -0.007799208164215088, + 0.002946954220533371, + -0.005702991038560867, + -0.02551591396331787, + -0.028446350246667862, + 1.0 + ], + [ + 0.009085744619369507, + -0.0005027279257774353, + 0.004277188330888748, + 0.04437942057847977, + -0.08542490005493164, + 0.022051189094781876, + 1.0 + ], + [ + 0.005723923444747925, + -0.00012230873107910156, + 0.003273598849773407, + 0.024357715621590614, + -0.05213466286659241, + -0.003995135426521301, + 0.0 + ], + [ + 0.0013478994369506836, + -0.0019928067922592163, + 0.0012230761349201202, + 0.008798131719231606, + -0.017707079648971558, + -0.008856803178787231, + 0.0 + ], + [ + -0.0031928718090057373, + 0.00020876526832580566, + -0.002856917679309845, + -0.01904681697487831, + 0.023976892232894897, + 0.008290626108646393, + 0.0 + ], + [ + -0.0069498419761657715, + 0.003864660859107971, + 0.003369465470314026, + -0.05296771600842476, + 0.015215694904327393, + -0.014924686402082443, + 0.0 + ], + [ + -0.011001825332641602, + 0.0036885812878608704, + 0.0002065412700176239, + -0.02250179648399353, + 0.02234649658203125, + -0.0402250811457634, + 0.0 + ], + [ + -0.02226141095161438, + 0.0071030184626579285, + -1.9665807485580444e-05, + 0.00905265286564827, + 0.014785200357437134, + -0.04803801327943802, + 0.0 + ], + [ + -0.016113251447677612, + 0.0064255669713020325, + 0.0011921003460884094, + 0.006256319582462311, + -0.0007140934467315674, + -0.013898059725761414, + 0.0 + ], + [ + -0.019099056720733643, + 0.009008027613162994, + 0.002956286072731018, + 0.015802880749106407, + 0.006080001592636108, + 0.001222275197505951, + 1.0 + ], + [ + -0.01496867835521698, + -0.012105733156204224, + 0.0006467103958129883, + 0.023327957838773727, + 0.10285681486129761, + 0.03295719623565674, + 1.0 + ], + [ + -0.021866291761398315, + -0.02313033491373062, + -0.018544193357229233, + 0.06057049334049225, + 0.10917648673057556, + -0.015972625464200974, + 1.0 + ], + [ + -0.005182445049285889, + -0.033731408417224884, + -0.012761689722537994, + 0.0029500722885131836, + 0.053442537784576416, + -0.06641396880149841, + 1.0 + ], + [ + 0.017261788249015808, + -0.025789573788642883, + -0.00517173670232296, + -0.028977051377296448, + 0.0011457428336143494, + -0.033136025071144104, + 1.0 + ], + [ + 0.020735949277877808, + -0.013741537928581238, + 0.00020927004516124725, + 0.00881863385438919, + -0.01636163890361786, + -0.037946999073028564, + 1.0 + ], + [ + 0.023038417100906372, + -0.002487167716026306, + 0.004706807434558868, + 0.012877371162176132, + -0.021753929555416107, + -0.017006725072860718, + 1.0 + ], + [ + 0.024625509977340698, + 0.009830325841903687, + 0.004513675346970558, + 0.038240186870098114, + -0.005841195583343506, + 0.03519494831562042, + 1.0 + ], + [ + 0.013133525848388672, + 0.01941019296646118, + 0.005917428061366081, + 0.06040951609611511, + -0.00802399218082428, + 0.017508894205093384, + 1.0 + ], + [ + 0.003333836793899536, + 0.020347684621810913, + -0.002428758889436722, + 0.03831136226654053, + 0.014594629406929016, + 0.011522412300109863, + 1.0 + ], + [ + -0.009529918432235718, + 0.014022216200828552, + 0.0011509992182254791, + 0.0184880793094635, + 0.024806201457977295, + 0.01155833899974823, + 1.0 + ], + [ + -0.021255940198898315, + 0.00961458683013916, + 0.003673221915960312, + -0.00261688232421875, + -0.006408222019672394, + -0.013538658618927002, + 1.0 + ], + [ + -0.02536928653717041, + 0.00865127146244049, + 0.008375152945518494, + 0.010111451148986816, + -0.031627945601940155, + -0.025592446327209473, + 1.0 + ], + [ + -0.02472364902496338, + 0.011981792747974396, + 0.01025163009762764, + -0.026165902614593506, + -0.012230291962623596, + 0.0029316842555999756, + 1.0 + ], + [ + -0.021205604076385498, + 0.022313423454761505, + 0.000538993626832962, + -0.016427159309387207, + 0.008362308144569397, + 0.008046388626098633, + 1.0 + ], + [ + -0.016622766852378845, + 0.021937813609838486, + -0.0017593689262866974, + -0.02740977704524994, + 0.008132785558700562, + 0.05113697797060013, + 1.0 + ], + [ + -0.007678911089897156, + 0.023172413930296898, + -0.010894358158111572, + -0.046302877366542816, + 0.026827938854694366, + 0.06962708383798599, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9492040276527405 + ], + [ + 0.6811928749084473 + ], + [ + 0.3883807957172394 + ], + [ + 0.18066829442977905 + ], + [ + 0.1284015029668808 + ], + [ + 0.1437794268131256 + ], + [ + 0.15515124797821045 + ], + [ + 0.18234474956989288 + ], + [ + 0.4059307873249054 + ], + [ + 0.7051732540130615 + ], + [ + 0.9643021821975708 + ], + [ + 0.9954678416252136 + ], + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2064387947320938, + -0.07903040200471878, + -0.04510362446308136 + ], + [ + 0.223192498087883, + -0.10402972251176834, + -0.03859683498740196 + ], + [ + 0.23374131321907043, + -0.12411543726921082, + -0.0296481940895319 + ], + [ + 0.25189438462257385, + -0.12269327789545059, + -0.02005842886865139 + ], + [ + 0.2738257348537445, + -0.11352226138114929, + -0.00696061085909605 + ], + [ + 0.2982349395751953, + -0.09242931008338928, + 0.006423295941203833 + ], + [ + 0.3124902844429016, + -0.08075717091560364, + 0.01560945250093937 + ], + [ + 0.32163408398628235, + -0.0830252543091774, + 0.02149510383605957 + ], + [ + 0.32401734590530396, + -0.09049341827630997, + 0.03310010954737663 + ], + [ + 0.32545024156570435, + -0.09829262644052505, + 0.036047063767910004 + ], + [ + 0.33453598618507385, + -0.09879535436630249, + 0.04032425209879875 + ], + [ + 0.3402599096298218, + -0.09891766309738159, + 0.04359785094857216 + ], + [ + 0.34160780906677246, + -0.10091046988964081, + 0.04482092708349228 + ], + [ + 0.3384149372577667, + -0.100701704621315, + 0.041964009404182434 + ], + [ + 0.33146509528160095, + -0.09683704376220703, + 0.04533347487449646 + ], + [ + 0.32046326994895935, + -0.09314846247434616, + 0.045540016144514084 + ], + [ + 0.29820185899734497, + -0.08604544401168823, + 0.0455203503370285 + ], + [ + 0.28208860754966736, + -0.0796198770403862, + 0.04671245068311691 + ], + [ + 0.2629895508289337, + -0.0706118494272232, + 0.04966873675584793 + ], + [ + 0.24802087247371674, + -0.08271758258342743, + 0.05031544715166092 + ], + [ + 0.22615458071231842, + -0.10584791749715805, + 0.031771253794431686 + ], + [ + 0.22097213566303253, + -0.13957932591438293, + 0.019009564071893692 + ], + [ + 0.23823392391204834, + -0.16536889970302582, + 0.013837827369570732 + ], + [ + 0.25896987318992615, + -0.17911043763160706, + 0.01404709741473198 + ], + [ + 0.2820082902908325, + -0.18159760534763336, + 0.018753904849290848 + ], + [ + 0.3066338002681732, + -0.17176727950572968, + 0.023267580196261406 + ], + [ + 0.3197673261165619, + -0.1523570865392685, + 0.029185008257627487 + ], + [ + 0.3231011629104614, + -0.13200940191745758, + 0.026756249368190765 + ], + [ + 0.3135712444782257, + -0.11798718571662903, + 0.027907248586416245 + ], + [ + 0.2923153042793274, + -0.10837259888648987, + 0.031580470502376556 + ], + [ + 0.266946017742157, + -0.09972132742404938, + 0.03995562344789505 + ], + [ + 0.2422223687171936, + -0.08773953467607498, + 0.05020725354552269 + ], + [ + 0.2210167646408081, + -0.06542611122131348, + 0.05074624717235565 + ], + [ + 0.20439399778842926, + -0.04348829761147499, + 0.048986878246068954 + ], + [ + 0.1967150866985321, + -0.020315883681178093, + 0.03809252008795738 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9980383948287703, + 0.03709704735689641, + 0.050429867390376616, + 0.03460325659044926, + -0.9981767255517275, + 0.0494554263975738, + 0.0521725701968603, + -0.047613376736275435, + -0.9975023755735233 + ], + [ + 0.9894680540307697, + 0.10197911794606333, + 0.10272891294813095, + 0.09735039642331512, + -0.9940373345284066, + 0.04911901749713745, + 0.10712548888469613, + -0.03860099825915914, + -0.9934958945887049 + ], + [ + 0.9822079492181888, + 0.13624467005912605, + 0.12924757008578522, + 0.13093365458923578, + -0.9901905539559102, + 0.04877545440479887, + 0.13462511871306473, + -0.03098478234501252, + -0.9904120459054027 + ], + [ + 0.9756746391419171, + 0.12640443288390615, + 0.1791114677584543, + 0.11250462448532063, + -0.9899412441225095, + 0.0857848626191997, + 0.18815341613881673, + -0.06354724645864708, + -0.9800816493858138 + ], + [ + 0.9664329684795705, + 0.11847517659416058, + 0.22797137970970852, + 0.10068065401677385, + -0.9910012576742482, + 0.08820381621456722, + 0.23636988670835443, + -0.06229076832919092, + -0.9696644454853642 + ], + [ + 0.9649264797409252, + 0.13332381120595374, + 0.2261451968543773, + 0.11399577936492528, + -0.9887802587576051, + 0.09653270004628856, + 0.23647801373863306, + -0.06736736047050268, + -0.9692986060866219 + ], + [ + 0.9683859350668924, + 0.12470589480898818, + 0.21604888466388858, + 0.11057785858039422, + -0.9909313338846613, + 0.0763389069697797, + 0.2236095211666869, + -0.050035300793099244, + -0.9733936771513103 + ], + [ + 0.9668335463093101, + 0.10804882979990091, + 0.2314267575494139, + 0.10233668593143888, + -0.9940768987503886, + 0.03658308466189878, + 0.23400875292076828, + -0.011686306075131709, + -0.9721642524834911 + ], + [ + 0.962995334093438, + 0.0657334337101869, + 0.2613792306342184, + 0.07218940606200579, + -0.9972756514274838, + -0.01516458777225138, + 0.2596703220752852, + 0.03347223868455674, + -0.9651170566676155 + ], + [ + 0.95772709053895, + 0.0348637174152503, + 0.28555794728178596, + 0.04444848036403063, + -0.998642662956139, + -0.027150770103253744, + 0.28422377212528527, + 0.038695644869428475, + -0.9579767713400011 + ], + [ + 0.9288327546354843, + 0.06983390520337154, + 0.3638584059772495, + 0.06365782859380023, + -0.9975516526960609, + 0.02895481068976345, + 0.36498958173484997, + -0.0037317405328088256, + -0.931004124232334 + ], + [ + 0.9088367974053102, + 0.07605222968994663, + 0.4101606198079558, + 0.05864039804096897, + -0.9967692105961156, + 0.05488574063628093, + 0.4130096601771629, + -0.025830198736826987, + -0.9103602701313147 + ], + [ + 0.9018764385893971, + 0.07142713151959505, + 0.42604818319080684, + 0.050174673787624, + -0.9968810296743518, + 0.0609156366272991, + 0.4290703807391164, + -0.03356154880642574, + -0.9026473457636172 + ], + [ + 0.9114361853258361, + 0.07117667304971823, + 0.4052381537963343, + 0.05828995325567516, + -0.9973264883824493, + 0.044069909464208155, + 0.40729149442154966, + -0.016545597127508416, + -0.9131483350406739 + ], + [ + 0.9182885746208103, + 0.035203882996550896, + 0.3943434801576481, + 0.0449790686157858, + -0.9988665926952529, + -0.015569630176464172, + 0.39334841693762623, + 0.032034615954317065, + -0.9188312175113134 + ], + [ + 0.9279139078618145, + -0.012660260731256175, + 0.37257951821702856, + 0.008089026186118032, + -0.9985041114708882, + -0.0540750130013165, + 0.37270678455318845, + 0.05319076211099879, + -0.9264234429104623 + ], + [ + 0.9326366332105532, + -0.056581655489768956, + 0.3563529523600454, + -0.03669093397170112, + -0.9973804787464401, + -0.06233743642311554, + 0.3589466335793776, + 0.04506325418296821, + -0.9322696055135944 + ], + [ + 0.9317804499176564, + -0.06824018198468401, + 0.35655079682136015, + -0.049635165494007885, + -0.9968977598806934, + -0.06108360411139486, + 0.35961304689573226, + 0.03921905031425892, + -0.9322769559496874 + ], + [ + 0.9340066777870691, + -0.0612289852777757, + 0.3519695117634706, + -0.048608976114674914, + -0.9978220522341514, + -0.04459057654156495, + 0.3539331763062695, + 0.024539018665792774, + -0.9349487383127884 + ], + [ + 0.9664927939214195, + -0.019783695384328878, + 0.255930234038319, + -0.018403659444012607, + -0.9998003197586689, + -0.007786265441931693, + 0.25603317093110695, + 0.002815316572518692, + -0.9666638967994817 + ], + [ + 0.9882039189339553, + -0.026355241818512024, + 0.1508589269226736, + -0.034613157903615126, + -0.9980273199258258, + 0.05237745680741738, + 0.1491809099835238, + -0.056981311939628264, + -0.9871667469005054 + ], + [ + 0.9902515967656839, + -0.09527237938585972, + 0.10161175536900616, + -0.10078307921136678, + -0.9936237901328914, + 0.050542404242611624, + 0.09614856237973246, + -0.060290442095783395, + -0.9935393885217667 + ], + [ + 0.9864775789919553, + -0.1311116428098643, + 0.09834491987830316, + -0.1335494430775843, + -0.9908675852777579, + 0.018600395143468326, + 0.09500806491997602, + -0.03148278204867938, + -0.9949785435046515 + ], + [ + 0.9790382165792549, + -0.16708093315755085, + 0.11648232592335322, + -0.17058848620092792, + -0.9851238108486251, + 0.02075200411426347, + 0.11128224859782482, + -0.040187548746901794, + -0.992975942343382 + ], + [ + 0.9733874024103558, + -0.18115995799192136, + 0.14034968631666161, + -0.18671294506450586, + -0.9820336768959296, + 0.027352030776519112, + 0.1328730257582736, + -0.05282922545926752, + -0.9897241191176533 + ], + [ + 0.978570983638158, + -0.1405367317524132, + 0.15049337862443848, + -0.1522241729833153, + -0.9859254635668452, + 0.06912873100272882, + 0.138660128158725, + -0.09055610039556805, + -0.9861911384413035 + ], + [ + 0.9799523494511966, + -0.11282642593246676, + 0.1642059390411481, + -0.13491193007897836, + -0.9822642783464525, + 0.13021389559830962, + 0.1466020597653543, + -0.14975675308922873, + -0.9777938182340524 + ], + [ + 0.9834600073877009, + -0.09790718179189722, + 0.15238306212486927, + -0.12386600399168121, + -0.9773762251602782, + 0.17144365706137418, + 0.1321500167389932, + -0.18748306122157718, + -0.9733378009873398 + ], + [ + 0.987779606876699, + -0.08888020099576044, + 0.1280303015284562, + -0.1128281956075507, + -0.9744942532877697, + 0.193986464953245, + 0.10752323709067946, + -0.20606130199546324, + -0.9726137431197834 + ], + [ + 0.9854578811005068, + -0.10111336299543647, + 0.13656080111310426, + -0.12610061073492498, + -0.9738668626058309, + 0.18889671752191717, + 0.11389205656751766, + -0.2033701594188025, + -0.972455231724727 + ], + [ + 0.9778576554542583, + -0.1179144729964989, + 0.17288893176678227, + -0.15065278208959967, + -0.9700615165534344, + 0.19048462759686013, + 0.14525200486796996, + -0.21231304990510785, + -0.9663462236288951 + ], + [ + 0.97646545200869, + -0.11728050350331427, + 0.1809986312972386, + -0.14750897171428715, + -0.9754089574605457, + 0.1637634543160495, + 0.15734142587779693, + -0.1866082774255748, + -0.9697530750139446 + ], + [ + 0.9788890630092659, + -0.1137785681028784, + 0.16979587674999813, + -0.13982843265543105, + -0.9787012808617295, + 0.15030572930110214, + 0.14907787140272521, + -0.17087492583778718, + -0.9739494586363112 + ], + [ + 0.9859315861002032, + -0.06918473470548053, + 0.15215906155622208, + -0.08971694072134467, + -0.9871138669427876, + 0.1325031480262244, + 0.14103112449931268, + -0.1442902844026204, + -0.9794337832388009 + ], + [ + 0.9932104755568301, + -0.009596319620817686, + 0.11593473118056773, + -0.020979841931231, + -0.9950268990328829, + 0.0973720516038648, + 0.11442376272748574, + -0.09914323401392683, + -0.9884724688490539 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005985.json b/json/chunk-0005/episode_0005985.json new file mode 100644 index 0000000000000000000000000000000000000000..e595788a104d6f614784ca10d1892985370b376b --- /dev/null +++ b/json/chunk-0005/episode_0005985.json @@ -0,0 +1,2362 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 38, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the Orange cloth towards the edge of the table." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005985.mp4", + "start": 0, + "end": 38, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.25769340991973877, + -0.07908280938863754, + 0.12557543814182281, + -0.3554525673389435, + -0.22046424448490143, + 1.1764543056488037, + 0.0, + 1.0008161067962646 + ], + [ + 0.25599783658981323, + -0.07787290960550308, + 0.11939315497875214, + -0.33097511529922485, + -0.21471714973449707, + 1.1715869903564453, + 0.0, + 1.0008161067962646 + ], + [ + 0.2612864077091217, + -0.05355018004775047, + 0.11843220889568329, + -0.3153965175151825, + -0.20857836306095123, + 1.2165517807006836, + 0.0, + 1.0008161067962646 + ], + [ + 0.2644354999065399, + -0.03642614558339119, + 0.11308977007865906, + -0.2918260991573334, + -0.21053391695022583, + 1.2577624320983887, + 0.0, + 1.0008161067962646 + ], + [ + 0.28458890318870544, + -0.00995992124080658, + 0.10344119369983673, + -0.2705540359020233, + -0.191819429397583, + 1.312329888343811, + 0.0, + 1.0008161067962646 + ], + [ + 0.3003193736076355, + 0.02019203081727028, + 0.0992082804441452, + -0.2989557087421417, + -0.18127009272575378, + 1.3563669919967651, + 0.0, + 1.0008161067962646 + ], + [ + 0.3179071545600891, + 0.0458022877573967, + 0.08875523507595062, + -0.3012820780277252, + -0.16952365636825562, + 1.3263473510742188, + 0.0, + 1.0008161067962646 + ], + [ + 0.3326300382614136, + 0.05678972229361534, + 0.07437628507614136, + -0.2915900945663452, + -0.18134543299674988, + 1.266430377960205, + 0.0, + 1.0008161067962646 + ], + [ + 0.34935325384140015, + 0.06335233151912689, + 0.05696822330355644, + -0.25947609543800354, + -0.18685320019721985, + 1.2336368560791016, + 0.0, + 1.0008161067962646 + ], + [ + 0.36788320541381836, + 0.0674235001206398, + 0.04923374950885773, + -0.2611376941204071, + -0.19934169948101044, + 1.2232530117034912, + 0.0, + 1.0008161067962646 + ], + [ + 0.3763672113418579, + 0.06674042344093323, + 0.037460967898368835, + -0.2685011327266693, + -0.1824042648077011, + 1.228269100189209, + 0.0, + 1.0008161067962646 + ], + [ + 0.3762418329715729, + 0.06754200160503387, + 0.0270640030503273, + -0.2581566274166107, + -0.17242278158664703, + 1.2337498664855957, + 0.0, + 1.0008161067962646 + ], + [ + 0.3741076588630676, + 0.06796538084745407, + 0.01977512799203396, + -0.25687310099601746, + -0.16834001243114471, + 1.2377824783325195, + 0.0, + 1.0008161067962646 + ], + [ + 0.37239518761634827, + 0.07372838258743286, + 0.01539265550673008, + -0.2511845827102661, + -0.1495458334684372, + 1.2561490535736084, + 0.0, + 1.0008161067962646 + ], + [ + 0.3724227249622345, + 0.07674272358417511, + 0.013938477262854576, + -0.23224274814128876, + -0.13601769506931305, + 1.2716643810272217, + 0.0, + 1.0001531839370728 + ], + [ + 0.36831343173980713, + 0.07791930437088013, + 0.011469748802483082, + -0.2020052671432495, + -0.11836443841457367, + 1.3117583990097046, + 0.0, + 1.0001531839370728 + ], + [ + 0.3665241301059723, + 0.0790361538529396, + 0.00913503859192133, + -0.16004499793052673, + -0.09785544127225876, + 1.3550152778625488, + 0.0, + 1.0001531839370728 + ], + [ + 0.36614763736724854, + 0.07715719938278198, + 0.00896442774683237, + -0.16090206801891327, + -0.08435729146003723, + 1.3625154495239258, + 0.0, + 0.9994885921478271 + ], + [ + 0.3576087951660156, + 0.07817091792821884, + 0.006946398410946131, + -0.12620684504508972, + -0.08237901329994202, + 1.3949713706970215, + 0.0, + 0.9994885921478271 + ], + [ + 0.3319321274757385, + 0.07631713896989822, + 0.006224994547665119, + -0.07979600876569748, + -0.0838567316532135, + 1.417327642440796, + 0.0, + 0.9994885921478271 + ], + [ + 0.3116249740123749, + 0.07577821612358093, + 0.006270301528275013, + -0.042660024017095566, + -0.08925111591815948, + 1.4358526468276978, + 0.0, + 0.9994885921478271 + ], + [ + 0.2911052107810974, + 0.07758317142724991, + 0.005523229483515024, + -0.024233736097812653, + -0.0935545265674591, + 1.4675540924072266, + 0.0, + 0.9994885921478271 + ], + [ + 0.2735145688056946, + 0.08082401007413864, + 0.005234785843640566, + -0.04470156133174896, + -0.09218085557222366, + 1.525877594947815, + 0.0, + 0.9994885921478271 + ], + [ + 0.2624785602092743, + 0.08131841570138931, + 0.0034311499912291765, + -0.061162084341049194, + -0.09093427658081055, + 1.5636906623840332, + 0.0, + 0.9994885921478271 + ], + [ + 0.25787705183029175, + 0.08033662289381027, + 0.0028023459017276764, + -0.06422983855009079, + -0.08929768949747086, + 1.5797895193099976, + 0.0, + 0.9994885921478271 + ], + [ + 0.2581220865249634, + 0.08053302764892578, + 0.003608518512919545, + -0.06812255829572678, + -0.0877838060259819, + 1.5885461568832397, + 0.0, + 0.9994885921478271 + ], + [ + 0.2527911365032196, + 0.07984886318445206, + 0.004990303888916969, + -0.05283404886722565, + -0.09061587601900101, + 1.5953350067138672, + 0.0, + 0.9994885921478271 + ], + [ + 0.2423868328332901, + 0.07801849395036697, + 0.006029426585882902, + -0.02066400647163391, + -0.09276004135608673, + 1.6163418292999268, + 0.0, + 0.9994885921478271 + ], + [ + 0.23885397613048553, + 0.07638558000326157, + 0.006780446041375399, + -0.007658128626644611, + -0.0855100154876709, + 1.6173149347305298, + 0.0, + 0.9994885921478271 + ], + [ + 0.24008630216121674, + 0.07655444741249084, + 0.008800994604825974, + -0.007307641673833132, + -0.08457357436418533, + 1.6128299236297607, + 0.0, + 1.0001531839370728 + ], + [ + 0.24179378151893616, + 0.07726284861564636, + 0.010505753569304943, + -0.010152241215109825, + -0.0867864191532135, + 1.6139813661575317, + 0.0, + 1.0001531839370728 + ], + [ + 0.24147601425647736, + 0.07769607752561569, + 0.010542478412389755, + -0.00961213931441307, + -0.08947813510894775, + 1.629010796546936, + 0.0, + 1.0001531839370728 + ], + [ + 0.2425617128610611, + 0.07890749722719193, + 0.012055309489369392, + -0.01088594552129507, + -0.09539274126291275, + 1.6332186460494995, + 0.0, + 1.0001531839370728 + ], + [ + 0.25245651602745056, + 0.08232687413692474, + 0.01949877105653286, + -0.02611444517970085, + -0.10696764290332794, + 1.6147289276123047, + 0.0, + 0.9994885921478271 + ], + [ + 0.2678260803222656, + 0.08483906835317612, + 0.04009518772363663, + -0.09116818010807037, + -0.11345945298671722, + 1.6020303964614868, + 0.0, + 0.9994885921478271 + ], + [ + 0.27768072485923767, + 0.08513935655355453, + 0.05973459407687187, + -0.12488949298858643, + -0.11518477648496628, + 1.6023844480514526, + 0.0, + 0.9994885921478271 + ], + [ + 0.28125712275505066, + 0.07475567609071732, + 0.09159675240516663, + -0.1686919629573822, + -0.15438731014728546, + 1.5990934371948242, + 0.0, + 0.9994885921478271 + ], + [ + 0.27863726019859314, + 0.06883608549833298, + 0.11432555317878723, + -0.222279891371727, + -0.17101523280143738, + 1.6163103580474854, + 0.0, + 0.9994885921478271 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.25769340991973877, + -0.07908280938863754, + 0.12557543814182281 + ], + [ + 0.25599783658981323, + -0.07787290960550308, + 0.11939315497875214 + ], + [ + 0.2612864077091217, + -0.05355018004775047, + 0.11843220889568329 + ], + [ + 0.2644354999065399, + -0.03642614558339119, + 0.11308977007865906 + ], + [ + 0.28458890318870544, + -0.00995992124080658, + 0.10344119369983673 + ], + [ + 0.3003193736076355, + 0.02019203081727028, + 0.0992082804441452 + ], + [ + 0.3179071545600891, + 0.0458022877573967, + 0.08875523507595062 + ], + [ + 0.3326300382614136, + 0.05678972229361534, + 0.07437628507614136 + ], + [ + 0.34935325384140015, + 0.06335233151912689, + 0.05696822330355644 + ], + [ + 0.36788320541381836, + 0.0674235001206398, + 0.04923374950885773 + ], + [ + 0.3763672113418579, + 0.06674042344093323, + 0.037460967898368835 + ], + [ + 0.3762418329715729, + 0.06754200160503387, + 0.0270640030503273 + ], + [ + 0.3741076588630676, + 0.06796538084745407, + 0.01977512799203396 + ], + [ + 0.37239518761634827, + 0.07372838258743286, + 0.01539265550673008 + ], + [ + 0.3724227249622345, + 0.07674272358417511, + 0.013938477262854576 + ], + [ + 0.36831343173980713, + 0.07791930437088013, + 0.011469748802483082 + ], + [ + 0.3665241301059723, + 0.0790361538529396, + 0.00913503859192133 + ], + [ + 0.36614763736724854, + 0.07715719938278198, + 0.00896442774683237 + ], + [ + 0.3576087951660156, + 0.07817091792821884, + 0.006946398410946131 + ], + [ + 0.3319321274757385, + 0.07631713896989822, + 0.006224994547665119 + ], + [ + 0.3116249740123749, + 0.07577821612358093, + 0.006270301528275013 + ], + [ + 0.2911052107810974, + 0.07758317142724991, + 0.005523229483515024 + ], + [ + 0.2735145688056946, + 0.08082401007413864, + 0.005234785843640566 + ], + [ + 0.2624785602092743, + 0.08131841570138931, + 0.0034311499912291765 + ], + [ + 0.25787705183029175, + 0.08033662289381027, + 0.0028023459017276764 + ], + [ + 0.2581220865249634, + 0.08053302764892578, + 0.003608518512919545 + ], + [ + 0.2527911365032196, + 0.07984886318445206, + 0.004990303888916969 + ], + [ + 0.2423868328332901, + 0.07801849395036697, + 0.006029426585882902 + ], + [ + 0.23885397613048553, + 0.07638558000326157, + 0.006780446041375399 + ], + [ + 0.24008630216121674, + 0.07655444741249084, + 0.008800994604825974 + ], + [ + 0.24179378151893616, + 0.07726284861564636, + 0.010505753569304943 + ], + [ + 0.24147601425647736, + 0.07769607752561569, + 0.010542478412389755 + ], + [ + 0.2425617128610611, + 0.07890749722719193, + 0.012055309489369392 + ], + [ + 0.25245651602745056, + 0.08232687413692474, + 0.01949877105653286 + ], + [ + 0.2678260803222656, + 0.08483906835317612, + 0.04009518772363663 + ], + [ + 0.27768072485923767, + 0.08513935655355453, + 0.05973459407687187 + ], + [ + 0.28125712275505066, + 0.07475567609071732, + 0.09159675240516663 + ], + [ + 0.27863726019859314, + 0.06883608549833298, + 0.11432555317878723 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.3749016097285939, + 0.8362968708087011, + 0.40007040242747716, + 0.9009032576359226, + -0.4304477488266728, + 0.05557027902603934, + 0.2186826545565317, + 0.33959134177069944, + -0.9147981292014563 + ], + [ + 0.37976436707351185, + 0.844448991534991, + 0.37773658307978497, + 0.9002109417399978, + -0.43139040772920484, + 0.0593512972968252, + 0.21307108173762257, + 0.3175030973309816, + -0.9240089270739715 + ], + [ + 0.3393636960687739, + 0.8693642514260108, + 0.3592187079385375, + 0.9175808373595143, + -0.3900147555852843, + 0.07703179432132615, + 0.2070692847844725, + 0.30347040838975126, + -0.930068826770688 + ], + [ + 0.3011468872721698, + 0.8926633004482468, + 0.33535471417459795, + 0.9303961801160346, + -0.35212920345793414, + 0.10182323947691016, + 0.2089820573919552, + 0.2813489934315103, + -0.9365731384058062 + ], + [ + 0.25091030308784823, + 0.9185909275622735, + 0.3053436221777792, + 0.9490513164728915, + -0.29556070622608155, + 0.10929532302990705, + 0.19064526877275487, + 0.26236344397690425, + -0.9459491554830747 + ], + [ + 0.20930341480668502, + 0.9224600568613708, + 0.3244372420755315, + 0.9610887379433977, + -0.255231676088045, + 0.1056656487211154, + 0.18027900140789443, + 0.28969679842311613, + -0.9399868332241514 + ], + [ + 0.238552396492603, + 0.9144500177074669, + 0.32691576780946174, + 0.9563622365015797, + -0.2796965695922879, + 0.08450503861902868, + 0.16871285286347623, + 0.2924910153716186, + -0.9412677510706223 + ], + [ + 0.2947740169777018, + 0.8982273459759491, + 0.3260305412930391, + 0.9383927939825711, + -0.33650194568582326, + 0.07864734420970053, + 0.18035310675564606, + 0.28276151699030355, + -0.942082099072543 + ], + [ + 0.32504967895518583, + 0.8963400344517968, + 0.3015248726889422, + 0.9272718225110675, + -0.3647135796961876, + 0.08456341976408184, + 0.18576779427052015, + 0.2521082057850256, + -0.9497008893265928 + ], + [ + 0.3338443986087994, + 0.8909232358524007, + 0.30790210349365393, + 0.9215933862562239, + -0.3771111349366903, + 0.09193923164540793, + 0.19802410945719634, + 0.2530671446969145, + -0.9469654018751874 + ], + [ + 0.3302966590143753, + 0.891997389271929, + 0.3086175214987055, + 0.9262829814230423, + -0.36916036120309714, + 0.07563376258284567, + 0.18139447447477802, + 0.26088557884341046, + -0.9481744351022956 + ], + [ + 0.325797535538459, + 0.8979770147336299, + 0.2957925740229884, + 0.9297417929402243, + -0.3610795321646203, + 0.07212329659739886, + 0.17156970681726982, + 0.2515131258241953, + -0.9525255814101681 + ], + [ + 0.3222719058537241, + 0.9001385054225255, + 0.2930724991416131, + 0.9317022791957161, + -0.3563949386950971, + 0.07009643795533595, + 0.16754605826135294, + 0.250466202766402, + -0.9535171732238824 + ], + [ + 0.3060269145412975, + 0.909604383617096, + 0.2810113750026786, + 0.9402923962541334, + -0.3349825742068254, + 0.06030658773656583, + 0.14898905034596613, + 0.24577742020440224, + -0.9578077691241993 + ], + [ + 0.2919690018818204, + 0.920740380402571, + 0.2588266868703124, + 0.9467666559729752, + -0.3166026920969095, + 0.05827207302593676, + 0.1355986765344121, + 0.22803483780580266, + -0.964164462977659 + ], + [ + 0.2543584364721249, + 0.9409126204255606, + 0.2235737608024715, + 0.9598734038538507, + -0.2738442714260079, + 0.0604347878392992, + 0.11808824822766319, + 0.19923040865054623, + -0.9728116004136967 + ], + [ + 0.21308612001202726, + 0.9609923283297127, + 0.17631803750512223, + 0.9721363812094564, + -0.22658267888072853, + 0.060092811219107735, + 0.09769934384223158, + 0.15860023493888784, + -0.9824972283371223 + ], + [ + 0.20604294090675018, + 0.9629589167791617, + 0.17394375843358426, + 0.9749087227777999, + -0.2173143279469833, + 0.048243809143868714, + 0.08425727715904721, + 0.15963899105310908, + -0.9835731308760366 + ], + [ + 0.1743272385683291, + 0.9749399395364946, + 0.1382104489165608, + 0.9812436239154108, + -0.1837270085276801, + 0.05835526422544909, + 0.08228587010230294, + 0.12544520968951414, + -0.9886822214177118 + ], + [ + 0.15232979972243393, + 0.984081546672231, + 0.09153765135567452, + 0.9847741609155596, + -0.15897856870161192, + 0.07032543413760636, + 0.08375848679136408, + 0.07943125450839059, + -0.9933152529271079 + ], + [ + 0.13399902390247853, + 0.9894959809091376, + 0.05423988714817762, + 0.9869648568051793, + -0.13817879476970696, + 0.08250449749876364, + 0.0891326709165347, + 0.04247734031993139, + -0.9951135827304488 + ], + [ + 0.10260824283752612, + 0.9941499044221441, + 0.033727081688711906, + 0.9903255042679552, + -0.1052802575538968, + 0.09039614464016371, + 0.09341811440087797, + 0.02412539962004609, + -0.9953346276478868 + ], + [ + 0.044712983034572884, + 0.9978086748733233, + 0.048770867284606216, + 0.9947499584595609, + -0.04896804717366171, + 0.08985905909088845, + 0.09205036280673604, + 0.044496951620765224, + -0.9947596453433399 + ], + [ + 0.007076246581060819, + 0.9980655443787406, + 0.06176646224523638, + 0.9958431861080909, + -0.012642784210953828, + 0.0902025980195773, + 0.09080900515042667, + 0.060871414731082464, + -0.9940062351173791 + ], + [ + -0.00895723938806997, + 0.9979490943816096, + 0.06338274911574364, + 0.9959753326734131, + 0.003250739850973683, + 0.08956879700266629, + 0.08917905902524627, + 0.0639299437927626, + -0.9939617989228888 + ], + [ + -0.017680555500017403, + 0.997629318183044, + 0.06650670236033045, + 0.9959925577824691, + 0.011740908786258497, + 0.08866214470002187, + 0.08767110583964173, + 0.06780777656366221, + -0.9938389621253267 + ], + [ + -0.024435549909414267, + 0.9984212224955301, + 0.05057634201042604, + 0.9955973669744803, + 0.01972458810616834, + 0.09163418301880487, + 0.09049191551794195, + 0.052592804589345385, + -0.9945075214051025 + ], + [ + -0.045334019307687934, + 0.9988368511650781, + 0.016424720638155997, + 0.9946683124725685, + 0.043608111823392026, + 0.09345202376712478, + 0.09262707410030227, + 0.020573705009789348, + -0.9954882961671558 + ], + [ + -0.04633192592233293, + 0.9989193272365148, + 0.0036783574699943145, + 0.99526840305802, + 0.045847133579285826, + 0.08566706611588126, + 0.0854058459045229, + 0.007630073126302379, + -0.9963170295992241 + ], + [ + -0.04187102745762511, + 0.999115980656903, + 0.0037515670909627, + 0.9955456619256016, + 0.041403352139408656, + 0.08470299553579044, + 0.0844727889959768, + 0.007281457794652939, + -0.9963991811977897 + ], + [ + -0.04300913788465455, + 0.9990541747056534, + 0.006400786016166338, + 0.995307601840073, + 0.04229025732858516, + 0.08703052254493812, + 0.08667751598760602, + 0.010113858723950778, + -0.9961850822432197 + ], + [ + -0.05794883922119004, + 0.9983098713298376, + 0.0043969123620332395, + 0.9943122948631186, + 0.05732144594406946, + 0.08976253182101955, + 0.0893587842182014, + 0.009573538545588511, + -0.9959534904014147 + ], + [ + -0.06209817362392783, + 0.9980579039320236, + 0.004923132274124796, + 0.9935147760592127, + 0.06134326628471992, + 0.09573606130155399, + 0.09524813165929014, + 0.01083623921561188, + -0.9953945797195589 + ], + [ + -0.04366745022677049, + 0.9988169188848207, + 0.021398979885182183, + 0.9933250480135439, + 0.04111842552731387, + 0.10777116530429469, + 0.10676377091309294, + 0.025962234718695784, + -0.9939454007081214 + ], + [ + -0.03102820081886909, + 0.9956832311685808, + 0.08747659071796182, + 0.9930857702171589, + 0.020796905877813632, + 0.11553415814425116, + 0.11321618146773638, + 0.09045657452945713, + -0.989444139089348 + ], + [ + -0.03137358653599748, + 0.9921686104946076, + 0.12090139129500672, + 0.9928780073316191, + 0.01702772938649938, + 0.11791233603458821, + 0.11493024243018797, + 0.12373966535084942, + -0.985636613866286 + ], + [ + -0.02795681134888295, + 0.9861410355679963, + 0.16353676855093802, + 0.9877103575598225, + 0.0020843486957921042, + 0.15628149301680644, + 0.15377472571346285, + 0.16589609235721753, + -0.9740799865885528 + ], + [ + -0.044834612207399205, + 0.9760942497685917, + 0.21267316031155017, + 0.9843920214099421, + 0.006900302197958119, + 0.17585429768426158, + 0.1701828596911574, + 0.21723812142040594, + -0.9611687639894841 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0016955733299255371, + 0.0012098997831344604, + -0.006182283163070679, + 0.024477452039718628, + 0.005747094750404358, + -0.0048673152923583984, + 1.0 + ], + [ + 0.005288571119308472, + 0.02432272955775261, + -0.0009609460830688477, + 0.015578597784042358, + 0.006138786673545837, + 0.04496479034423828, + 1.0 + ], + [ + 0.003149092197418213, + 0.017124034464359283, + -0.005342438817024231, + 0.02357041835784912, + -0.001955553889274597, + 0.04121065139770508, + 1.0 + ], + [ + 0.020153403282165527, + 0.02646622434258461, + -0.009648576378822327, + 0.02127206325531006, + 0.018714487552642822, + 0.05456745624542236, + 1.0 + ], + [ + 0.015730470418930054, + 0.03015195205807686, + -0.004232913255691528, + -0.028401672840118408, + 0.010549336671829224, + 0.0440371036529541, + 1.0 + ], + [ + 0.017587780952453613, + 0.02561025694012642, + -0.01045304536819458, + -0.002326369285583496, + 0.011746436357498169, + -0.030019640922546387, + 1.0 + ], + [ + 0.014722883701324463, + 0.010987434536218643, + -0.014378949999809265, + 0.009691983461380005, + -0.011821776628494263, + -0.05991697311401367, + 1.0 + ], + [ + 0.016723215579986572, + 0.006562609225511551, + -0.017408061772584915, + 0.032113999128341675, + -0.005507767200469971, + -0.032793521881103516, + 1.0 + ], + [ + 0.018529951572418213, + 0.004071168601512909, + -0.007734473794698715, + -0.0016615986824035645, + -0.012488499283790588, + -0.010383844375610352, + 1.0 + ], + [ + 0.00848400592803955, + -0.0006830766797065735, + -0.011772781610488892, + -0.007363438606262207, + 0.016937434673309326, + 0.0050160884857177734, + 1.0 + ], + [ + -0.00012537837028503418, + 0.000801578164100647, + -0.010396964848041534, + 0.010344505310058594, + 0.009981483221054077, + 0.005480766296386719, + 1.0 + ], + [ + -0.002134174108505249, + 0.00042337924242019653, + -0.007288875058293343, + 0.0012835264205932617, + 0.004082769155502319, + 0.004032611846923828, + 1.0 + ], + [ + -0.0017124712467193604, + 0.00576300173997879, + -0.004382472485303879, + 0.005688518285751343, + 0.01879417896270752, + 0.018366575241088867, + 1.0 + ], + [ + 2.753734588623047e-05, + 0.0030143409967422485, + -0.0014541782438755035, + 0.018941834568977356, + 0.013528138399124146, + 0.015515327453613281, + 1.0 + ], + [ + -0.004109293222427368, + 0.001176580786705017, + -0.0024687284603714943, + 0.030237480998039246, + 0.01765325665473938, + 0.04009401798248291, + 1.0 + ], + [ + -0.0017893016338348389, + 0.0011168494820594788, + -0.0023347102105617523, + 0.04196026921272278, + 0.02050899714231491, + 0.04325687885284424, + 1.0 + ], + [ + -0.0003764927387237549, + -0.0018789544701576233, + -0.00017061084508895874, + -0.0008570700883865356, + 0.013498149812221527, + 0.007500171661376953, + 1.0 + ], + [ + -0.00853884220123291, + 0.0010137185454368591, + -0.00201802933588624, + 0.03469522297382355, + 0.001978278160095215, + 0.0324559211730957, + 1.0 + ], + [ + -0.0256766676902771, + -0.0018537789583206177, + -0.0007214038632810116, + 0.04641083627939224, + -0.0014777183532714844, + 0.022356271743774414, + 1.0 + ], + [ + -0.020307153463363647, + -0.0005389228463172913, + 4.53069806098938e-05, + 0.03713598474860191, + -0.005394384264945984, + 0.018525004386901855, + 1.0 + ], + [ + -0.020519763231277466, + 0.0018049553036689758, + -0.0007470720447599888, + 0.018426287919282913, + -0.004303410649299622, + 0.03170144557952881, + 1.0 + ], + [ + -0.017590641975402832, + 0.003240838646888733, + -0.0002884436398744583, + -0.02046782523393631, + 0.0013736709952354431, + 0.05832350254058838, + 1.0 + ], + [ + -0.011036008596420288, + 0.0004944056272506714, + -0.0018036358524113894, + -0.016460523009300232, + 0.0012465789914131165, + 0.03781306743621826, + 1.0 + ], + [ + -0.004601508378982544, + -0.0009817928075790405, + -0.0006288040895015001, + -0.0030677542090415955, + 0.0016365870833396912, + 0.016098856925964355, + 1.0 + ], + [ + 0.00024503469467163086, + 0.00019640475511550903, + 0.0008061726111918688, + -0.0038927197456359863, + 0.0015138834714889526, + 0.008756637573242188, + 1.0 + ], + [ + -0.005330950021743774, + -0.0006841644644737244, + 0.0013817853759974241, + 0.01528850942850113, + -0.002832069993019104, + 0.006788849830627441, + 1.0 + ], + [ + -0.010404303669929504, + -0.001830369234085083, + 0.0010391226969659328, + 0.032170042395591736, + -0.002144165337085724, + 0.02100682258605957, + 1.0 + ], + [ + -0.0035328567028045654, + -0.0016329139471054077, + 0.0007510194554924965, + 0.0130058778449893, + 0.0072500258684158325, + 0.0009731054306030273, + 1.0 + ], + [ + 0.0012323260307312012, + 0.00016886740922927856, + 0.002020548563450575, + 0.00035048695281147957, + 0.0009364411234855652, + -0.004485011100769043, + 1.0 + ], + [ + 0.0017074793577194214, + 0.0007084012031555176, + 0.0017047589644789696, + -0.0028445995412766933, + -0.0022128447890281677, + 0.001151442527770996, + 1.0 + ], + [ + -0.00031776726245880127, + 0.00043322890996932983, + 3.6724843084812164e-05, + 0.0005401019006967545, + -0.002691715955734253, + 0.015029430389404297, + 1.0 + ], + [ + 0.0010856986045837402, + 0.001211419701576233, + 0.0015128310769796371, + -0.001273806206882, + -0.005914606153964996, + 0.0042078495025634766, + 1.0 + ], + [ + 0.009894803166389465, + 0.0034193769097328186, + 0.007443461567163467, + -0.01522849965840578, + -0.011574901640415192, + -0.018489718437194824, + 1.0 + ], + [ + 0.015369564294815063, + 0.0025121942162513733, + 0.020596416667103767, + -0.06505373120307922, + -0.006491810083389282, + -0.012698531150817871, + 1.0 + ], + [ + 0.009854644536972046, + 0.00030028820037841797, + 0.019639406353235245, + -0.03372131288051605, + -0.001725323498249054, + 0.0003540515899658203, + 1.0 + ], + [ + 0.0035763978958129883, + -0.01038368046283722, + 0.031862158328294754, + -0.043802469968795776, + -0.03920253366231918, + -0.003291010856628418, + 1.0 + ], + [ + -0.0026198625564575195, + -0.005919590592384338, + 0.022728800773620605, + -0.05358792841434479, + -0.016627922654151917, + 0.017216920852661133, + 1.0 + ], + [ + -0.0006038248538970947, + 0.0005893632769584656, + 0.0003603026270866394, + 0.0014358162879943848, + -0.0010933876037597656, + 0.002651214599609375, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.25599783658981323, + -0.07787290960550308, + 0.11939315497875214 + ], + [ + 0.2612864077091217, + -0.05355018004775047, + 0.11843220889568329 + ], + [ + 0.2644354999065399, + -0.03642614558339119, + 0.11308977007865906 + ], + [ + 0.28458890318870544, + -0.00995992124080658, + 0.10344119369983673 + ], + [ + 0.3003193736076355, + 0.02019203081727028, + 0.0992082804441452 + ], + [ + 0.3179071545600891, + 0.0458022877573967, + 0.08875523507595062 + ], + [ + 0.3326300382614136, + 0.05678972229361534, + 0.07437628507614136 + ], + [ + 0.34935325384140015, + 0.06335233151912689, + 0.05696822330355644 + ], + [ + 0.36788320541381836, + 0.0674235001206398, + 0.04923374950885773 + ], + [ + 0.3763672113418579, + 0.06674042344093323, + 0.037460967898368835 + ], + [ + 0.3762418329715729, + 0.06754200160503387, + 0.0270640030503273 + ], + [ + 0.3741076588630676, + 0.06796538084745407, + 0.01977512799203396 + ], + [ + 0.37239518761634827, + 0.07372838258743286, + 0.01539265550673008 + ], + [ + 0.3724227249622345, + 0.07674272358417511, + 0.013938477262854576 + ], + [ + 0.36831343173980713, + 0.07791930437088013, + 0.011469748802483082 + ], + [ + 0.3665241301059723, + 0.0790361538529396, + 0.00913503859192133 + ], + [ + 0.36614763736724854, + 0.07715719938278198, + 0.00896442774683237 + ], + [ + 0.3576087951660156, + 0.07817091792821884, + 0.006946398410946131 + ], + [ + 0.3319321274757385, + 0.07631713896989822, + 0.006224994547665119 + ], + [ + 0.3116249740123749, + 0.07577821612358093, + 0.006270301528275013 + ], + [ + 0.2911052107810974, + 0.07758317142724991, + 0.005523229483515024 + ], + [ + 0.2735145688056946, + 0.08082401007413864, + 0.005234785843640566 + ], + [ + 0.2624785602092743, + 0.08131841570138931, + 0.0034311499912291765 + ], + [ + 0.25787705183029175, + 0.08033662289381027, + 0.0028023459017276764 + ], + [ + 0.2581220865249634, + 0.08053302764892578, + 0.003608518512919545 + ], + [ + 0.2527911365032196, + 0.07984886318445206, + 0.004990303888916969 + ], + [ + 0.2423868328332901, + 0.07801849395036697, + 0.006029426585882902 + ], + [ + 0.23885397613048553, + 0.07638558000326157, + 0.006780446041375399 + ], + [ + 0.24008630216121674, + 0.07655444741249084, + 0.008800994604825974 + ], + [ + 0.24179378151893616, + 0.07726284861564636, + 0.010505753569304943 + ], + [ + 0.24147601425647736, + 0.07769607752561569, + 0.010542478412389755 + ], + [ + 0.2425617128610611, + 0.07890749722719193, + 0.012055309489369392 + ], + [ + 0.25245651602745056, + 0.08232687413692474, + 0.01949877105653286 + ], + [ + 0.2678260803222656, + 0.08483906835317612, + 0.04009518772363663 + ], + [ + 0.27768072485923767, + 0.08513935655355453, + 0.05973459407687187 + ], + [ + 0.28125712275505066, + 0.07475567609071732, + 0.09159675240516663 + ], + [ + 0.27863726019859314, + 0.06883608549833298, + 0.11432555317878723 + ], + [ + 0.27803343534469604, + 0.06942544877529144, + 0.11468585580587387 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.37976436707351185, + 0.844448991534991, + 0.37773658307978497, + 0.9002109417399978, + -0.43139040772920484, + 0.0593512972968252, + 0.21307108173762257, + 0.3175030973309816, + -0.9240089270739715 + ], + [ + 0.3393636960687739, + 0.8693642514260108, + 0.3592187079385375, + 0.9175808373595143, + -0.3900147555852843, + 0.07703179432132615, + 0.2070692847844725, + 0.30347040838975126, + -0.930068826770688 + ], + [ + 0.3011468872721698, + 0.8926633004482468, + 0.33535471417459795, + 0.9303961801160346, + -0.35212920345793414, + 0.10182323947691016, + 0.2089820573919552, + 0.2813489934315103, + -0.9365731384058062 + ], + [ + 0.25091030308784823, + 0.9185909275622735, + 0.3053436221777792, + 0.9490513164728915, + -0.29556070622608155, + 0.10929532302990705, + 0.19064526877275487, + 0.26236344397690425, + -0.9459491554830747 + ], + [ + 0.20930341480668502, + 0.9224600568613708, + 0.3244372420755315, + 0.9610887379433977, + -0.255231676088045, + 0.1056656487211154, + 0.18027900140789443, + 0.28969679842311613, + -0.9399868332241514 + ], + [ + 0.238552396492603, + 0.9144500177074669, + 0.32691576780946174, + 0.9563622365015797, + -0.2796965695922879, + 0.08450503861902868, + 0.16871285286347623, + 0.2924910153716186, + -0.9412677510706223 + ], + [ + 0.2947740169777018, + 0.8982273459759491, + 0.3260305412930391, + 0.9383927939825711, + -0.33650194568582326, + 0.07864734420970053, + 0.18035310675564606, + 0.28276151699030355, + -0.942082099072543 + ], + [ + 0.32504967895518583, + 0.8963400344517968, + 0.3015248726889422, + 0.9272718225110675, + -0.3647135796961876, + 0.08456341976408184, + 0.18576779427052015, + 0.2521082057850256, + -0.9497008893265928 + ], + [ + 0.3338443986087994, + 0.8909232358524007, + 0.30790210349365393, + 0.9215933862562239, + -0.3771111349366903, + 0.09193923164540793, + 0.19802410945719634, + 0.2530671446969145, + -0.9469654018751874 + ], + [ + 0.3302966590143753, + 0.891997389271929, + 0.3086175214987055, + 0.9262829814230423, + -0.36916036120309714, + 0.07563376258284567, + 0.18139447447477802, + 0.26088557884341046, + -0.9481744351022956 + ], + [ + 0.325797535538459, + 0.8979770147336299, + 0.2957925740229884, + 0.9297417929402243, + -0.3610795321646203, + 0.07212329659739886, + 0.17156970681726982, + 0.2515131258241953, + -0.9525255814101681 + ], + [ + 0.3222719058537241, + 0.9001385054225255, + 0.2930724991416131, + 0.9317022791957161, + -0.3563949386950971, + 0.07009643795533595, + 0.16754605826135294, + 0.250466202766402, + -0.9535171732238824 + ], + [ + 0.3060269145412975, + 0.909604383617096, + 0.2810113750026786, + 0.9402923962541334, + -0.3349825742068254, + 0.06030658773656583, + 0.14898905034596613, + 0.24577742020440224, + -0.9578077691241993 + ], + [ + 0.2919690018818204, + 0.920740380402571, + 0.2588266868703124, + 0.9467666559729752, + -0.3166026920969095, + 0.05827207302593676, + 0.1355986765344121, + 0.22803483780580266, + -0.964164462977659 + ], + [ + 0.2543584364721249, + 0.9409126204255606, + 0.2235737608024715, + 0.9598734038538507, + -0.2738442714260079, + 0.0604347878392992, + 0.11808824822766319, + 0.19923040865054623, + -0.9728116004136967 + ], + [ + 0.21308612001202726, + 0.9609923283297127, + 0.17631803750512223, + 0.9721363812094564, + -0.22658267888072853, + 0.060092811219107735, + 0.09769934384223158, + 0.15860023493888784, + -0.9824972283371223 + ], + [ + 0.20604294090675018, + 0.9629589167791617, + 0.17394375843358426, + 0.9749087227777999, + -0.2173143279469833, + 0.048243809143868714, + 0.08425727715904721, + 0.15963899105310908, + -0.9835731308760366 + ], + [ + 0.1743272385683291, + 0.9749399395364946, + 0.1382104489165608, + 0.9812436239154108, + -0.1837270085276801, + 0.05835526422544909, + 0.08228587010230294, + 0.12544520968951414, + -0.9886822214177118 + ], + [ + 0.15232979972243393, + 0.984081546672231, + 0.09153765135567452, + 0.9847741609155596, + -0.15897856870161192, + 0.07032543413760636, + 0.08375848679136408, + 0.07943125450839059, + -0.9933152529271079 + ], + [ + 0.13399902390247853, + 0.9894959809091376, + 0.05423988714817762, + 0.9869648568051793, + -0.13817879476970696, + 0.08250449749876364, + 0.0891326709165347, + 0.04247734031993139, + -0.9951135827304488 + ], + [ + 0.10260824283752612, + 0.9941499044221441, + 0.033727081688711906, + 0.9903255042679552, + -0.1052802575538968, + 0.09039614464016371, + 0.09341811440087797, + 0.02412539962004609, + -0.9953346276478868 + ], + [ + 0.044712983034572884, + 0.9978086748733233, + 0.048770867284606216, + 0.9947499584595609, + -0.04896804717366171, + 0.08985905909088845, + 0.09205036280673604, + 0.044496951620765224, + -0.9947596453433399 + ], + [ + 0.007076246581060819, + 0.9980655443787406, + 0.06176646224523638, + 0.9958431861080909, + -0.012642784210953828, + 0.0902025980195773, + 0.09080900515042667, + 0.060871414731082464, + -0.9940062351173791 + ], + [ + -0.00895723938806997, + 0.9979490943816096, + 0.06338274911574364, + 0.9959753326734131, + 0.003250739850973683, + 0.08956879700266629, + 0.08917905902524627, + 0.0639299437927626, + -0.9939617989228888 + ], + [ + -0.017680555500017403, + 0.997629318183044, + 0.06650670236033045, + 0.9959925577824691, + 0.011740908786258497, + 0.08866214470002187, + 0.08767110583964173, + 0.06780777656366221, + -0.9938389621253267 + ], + [ + -0.024435549909414267, + 0.9984212224955301, + 0.05057634201042604, + 0.9955973669744803, + 0.01972458810616834, + 0.09163418301880487, + 0.09049191551794195, + 0.052592804589345385, + -0.9945075214051025 + ], + [ + -0.045334019307687934, + 0.9988368511650781, + 0.016424720638155997, + 0.9946683124725685, + 0.043608111823392026, + 0.09345202376712478, + 0.09262707410030227, + 0.020573705009789348, + -0.9954882961671558 + ], + [ + -0.04633192592233293, + 0.9989193272365148, + 0.0036783574699943145, + 0.99526840305802, + 0.045847133579285826, + 0.08566706611588126, + 0.0854058459045229, + 0.007630073126302379, + -0.9963170295992241 + ], + [ + -0.04187102745762511, + 0.999115980656903, + 0.0037515670909627, + 0.9955456619256016, + 0.041403352139408656, + 0.08470299553579044, + 0.0844727889959768, + 0.007281457794652939, + -0.9963991811977897 + ], + [ + -0.04300913788465455, + 0.9990541747056534, + 0.006400786016166338, + 0.995307601840073, + 0.04229025732858516, + 0.08703052254493812, + 0.08667751598760602, + 0.010113858723950778, + -0.9961850822432197 + ], + [ + -0.05794883922119004, + 0.9983098713298376, + 0.0043969123620332395, + 0.9943122948631186, + 0.05732144594406946, + 0.08976253182101955, + 0.0893587842182014, + 0.009573538545588511, + -0.9959534904014147 + ], + [ + -0.06209817362392783, + 0.9980579039320236, + 0.004923132274124796, + 0.9935147760592127, + 0.06134326628471992, + 0.09573606130155399, + 0.09524813165929014, + 0.01083623921561188, + -0.9953945797195589 + ], + [ + -0.04366745022677049, + 0.9988169188848207, + 0.021398979885182183, + 0.9933250480135439, + 0.04111842552731387, + 0.10777116530429469, + 0.10676377091309294, + 0.025962234718695784, + -0.9939454007081214 + ], + [ + -0.03102820081886909, + 0.9956832311685808, + 0.08747659071796182, + 0.9930857702171589, + 0.020796905877813632, + 0.11553415814425116, + 0.11321618146773638, + 0.09045657452945713, + -0.989444139089348 + ], + [ + -0.03137358653599748, + 0.9921686104946076, + 0.12090139129500672, + 0.9928780073316191, + 0.01702772938649938, + 0.11791233603458821, + 0.11493024243018797, + 0.12373966535084942, + -0.985636613866286 + ], + [ + -0.02795681134888295, + 0.9861410355679963, + 0.16353676855093802, + 0.9877103575598225, + 0.0020843486957921042, + 0.15628149301680644, + 0.15377472571346285, + 0.16589609235721753, + -0.9740799865885528 + ], + [ + -0.044834612207399205, + 0.9760942497685917, + 0.21267316031155017, + 0.9843920214099421, + 0.006900302197958119, + 0.17585429768426158, + 0.1701828596911574, + 0.21723812142040594, + -0.9611687639894841 + ], + [ + -0.047435298798008396, + 0.9763875703425302, + 0.2107538965441768, + 0.9840832474156602, + 0.00950568325966289, + 0.1774536675913319, + 0.1712601955615829, + 0.21581694666169493, + -0.9612975558846653 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005986.json b/json/chunk-0005/episode_0005986.json new file mode 100644 index 0000000000000000000000000000000000000000..51c7c474c8f9b4c045d78ee92689a330db68d528 --- /dev/null +++ b/json/chunk-0005/episode_0005986.json @@ -0,0 +1,2182 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 35, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nTake sushi out of pot cardboard fence." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005986.mp4", + "start": 0, + "end": 35, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.22352126240730286, + 0.14053957164287567, + 0.08013108372688293, + 0.15454062819480896, + -0.19260209798812866, + 0.48741212487220764, + 0.0, + 0.9893313646316528 + ], + [ + 0.22053518891334534, + 0.137095108628273, + 0.07442264258861542, + 0.14881467819213867, + -0.1653621643781662, + 0.5003897547721863, + 0.0, + 0.9893313646316528 + ], + [ + 0.22780080139636993, + 0.114649698138237, + 0.08916274458169937, + 0.11210980266332626, + -0.18342792987823486, + 0.5876830816268921, + 0.0, + 0.9886419177055359 + ], + [ + 0.24632395803928375, + 0.09139659255743027, + 0.11114759743213654, + 0.09242220968008041, + -0.22157230973243713, + 0.7023571133613586, + 0.0, + 0.9893313646316528 + ], + [ + 0.26835349202156067, + 0.07683742791414261, + 0.12958931922912598, + 0.04006018862128258, + -0.22606976330280304, + 0.8447651863098145, + 0.0, + 0.9893313646316528 + ], + [ + 0.29257431626319885, + 0.06488378345966339, + 0.13368237018585205, + -0.03597045689821243, + -0.23831778764724731, + 1.113344669342041, + 0.0, + 0.9893313646316528 + ], + [ + 0.3085213303565979, + 0.04790705442428589, + 0.13417381048202515, + -0.08521319925785065, + -0.19712072610855103, + 1.2841194868087769, + 0.0, + 0.9893313646316528 + ], + [ + 0.3141419589519501, + 0.033997293561697006, + 0.12735989689826965, + -0.11291500926017761, + -0.18051978945732117, + 1.4088221788406372, + 0.0, + 0.9893313646316528 + ], + [ + 0.3205208480358124, + 0.018068986013531685, + 0.11557318270206451, + -0.1393858641386032, + -0.1445980668067932, + 1.5105246305465698, + 0.0, + 0.9886419177055359 + ], + [ + 0.3243010640144348, + 0.0008111619972623885, + 0.09685424715280533, + -0.1104087084531784, + -0.09605728834867477, + 1.506243348121643, + 0.0, + 0.9893313646316528 + ], + [ + 0.33138221502304077, + -0.013420241884887218, + 0.0836242213845253, + -0.07632549852132797, + -0.0696134865283966, + 1.4968490600585938, + 0.0, + 0.9893313646316528 + ], + [ + 0.33262351155281067, + -0.02695276401937008, + 0.06358890980482101, + -0.03406775742769241, + -0.06854641437530518, + 1.4651848077774048, + 0.0, + 0.9893313646316528 + ], + [ + 0.3363301157951355, + -0.03509696200489998, + 0.043823644518852234, + -0.008087091147899628, + -0.09223279356956482, + 1.4492826461791992, + 0.0, + 0.9886419177055359 + ], + [ + 0.3366203010082245, + -0.03872089460492134, + 0.032737646251916885, + 0.0031678087543696165, + -0.11945107579231262, + 1.4243979454040527, + 0.0, + 0.9893313646316528 + ], + [ + 0.3331702649593353, + -0.03847704455256462, + 0.027247291058301926, + 0.005462965928018093, + -0.12375418841838837, + 1.4091874361038208, + 0.0, + 0.9893313646316528 + ], + [ + 0.32800373435020447, + -0.03763681650161743, + 0.02454889565706253, + 0.00322256563231349, + -0.126492440700531, + 1.3967336416244507, + 0.0, + 0.9893313646316528 + ], + [ + 0.3278488516807556, + -0.03620297089219093, + 0.02663576789200306, + -0.01284378208220005, + -0.1324092149734497, + 1.3757630586624146, + 0.0, + 0.9568231701850891 + ], + [ + 0.329134076833725, + -0.03396933525800705, + 0.02488582953810692, + -0.024774782359600067, + -0.14882878959178925, + 1.35260009765625, + 0.0, + 0.7031799554824829 + ], + [ + 0.33014386892318726, + -0.032284561544656754, + 0.023922588676214218, + -0.03715197369456291, + -0.16145922243595123, + 1.3462969064712524, + 0.0, + 0.5699762105941772 + ], + [ + 0.3308864235877991, + -0.029404709115624428, + 0.02351030707359314, + -0.04155004769563675, + -0.16793349385261536, + 1.3477715253829956, + 0.0, + 0.5988990664482117 + ], + [ + 0.3323547840118408, + -0.0291384756565094, + 0.030534477904438972, + -0.062220558524131775, + -0.16541896760463715, + 1.35881507396698, + 0.0, + 0.5998998284339905 + ], + [ + 0.3341768682003021, + -0.027456849813461304, + 0.06662922352552414, + -0.13679228723049164, + -0.1335023194551468, + 1.4018375873565674, + 0.0, + 0.5998998284339905 + ], + [ + 0.33272045850753784, + -0.02100300043821335, + 0.10662518441677094, + -0.20778921246528625, + -0.09142124652862549, + 1.4400032758712769, + 0.0, + 0.5998998284339905 + ], + [ + 0.32825517654418945, + -0.005878986790776253, + 0.12837517261505127, + -0.22814181447029114, + -0.071388840675354, + 1.462944507598877, + 0.0, + 0.5998998284339905 + ], + [ + 0.3176368176937103, + 0.01609295979142189, + 0.1243133470416069, + -0.17243607342243195, + -0.037408340722322464, + 1.4098941087722778, + 0.0, + 0.5998998284339905 + ], + [ + 0.2879698574542999, + 0.044976212084293365, + 0.11146991699934006, + -0.14587821066379547, + -0.05678080767393112, + 1.3571211099624634, + 0.0, + 0.5998998284339905 + ], + [ + 0.2674081027507782, + 0.04756621643900871, + 0.09002088755369186, + -0.09024066478013992, + -0.06460817158222198, + 1.3003815412521362, + 0.0, + 0.5998998284339905 + ], + [ + 0.25555360317230225, + 0.03966581076383591, + 0.07200261950492859, + -0.057501595467329025, + -0.08916006982326508, + 1.224796175956726, + 0.0, + 0.5998998284339905 + ], + [ + 0.24736689031124115, + 0.032962292432785034, + 0.05228334292769432, + -0.020555801689624786, + -0.08889564126729965, + 1.166356086730957, + 0.0, + 0.5998998284339905 + ], + [ + 0.24045658111572266, + 0.02909766510128975, + 0.03389647230505943, + 0.016567682847380638, + -0.11539522558450699, + 1.1173453330993652, + 0.0, + 0.5998998284339905 + ], + [ + 0.23562553524971008, + 0.03073343262076378, + 0.023717479780316353, + 0.0327020063996315, + -0.13458383083343506, + 1.0792657136917114, + 0.0, + 0.5998998284339905 + ], + [ + 0.2298988550901413, + 0.034692224115133286, + 0.018334398046135902, + 0.04852800443768501, + -0.1410662978887558, + 1.0732417106628418, + 0.0, + 0.5998998284339905 + ], + [ + 0.22560423612594604, + 0.03954589366912842, + 0.01917695440351963, + 0.0469621941447258, + -0.133260577917099, + 1.090579867362976, + 0.0, + 0.5998998284339905 + ], + [ + 0.22426243126392365, + 0.04544292017817497, + 0.01958325318992138, + 0.060861986130476, + -0.1463446021080017, + 1.0933043956756592, + 0.0, + 0.6460646390914917 + ], + [ + 0.22215497493743896, + 0.047457825392484665, + 0.02269628271460533, + 0.11166871339082718, + -0.17028634250164032, + 1.0624419450759888, + 0.0, + 0.9132781028747559 + ] + ], + "left_gripper_pos": [ + [ + 0.9893313646316528 + ], + [ + 0.9893313646316528 + ], + [ + 0.9886419177055359 + ], + [ + 0.9893313646316528 + ], + [ + 0.9893313646316528 + ], + [ + 0.9893313646316528 + ], + [ + 0.9893313646316528 + ], + [ + 0.9893313646316528 + ], + [ + 0.9886419177055359 + ], + [ + 0.9893313646316528 + ], + [ + 0.9893313646316528 + ], + [ + 0.9893313646316528 + ], + [ + 0.9886419177055359 + ], + [ + 0.9893313646316528 + ], + [ + 0.9893313646316528 + ], + [ + 0.9893313646316528 + ], + [ + 0.9568231701850891 + ], + [ + 0.7031799554824829 + ], + [ + 0.5699762105941772 + ], + [ + 0.5988990664482117 + ], + [ + 0.5998998284339905 + ], + [ + 0.5998998284339905 + ], + [ + 0.5998998284339905 + ], + [ + 0.5998998284339905 + ], + [ + 0.5998998284339905 + ], + [ + 0.5998998284339905 + ], + [ + 0.5998998284339905 + ], + [ + 0.5998998284339905 + ], + [ + 0.5998998284339905 + ], + [ + 0.5998998284339905 + ], + [ + 0.5998998284339905 + ], + [ + 0.5998998284339905 + ], + [ + 0.5998998284339905 + ], + [ + 0.6460646390914917 + ], + [ + 0.9132781028747559 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.22352126240730286, + 0.14053957164287567, + 0.08013108372688293 + ], + [ + 0.22053518891334534, + 0.137095108628273, + 0.07442264258861542 + ], + [ + 0.22780080139636993, + 0.114649698138237, + 0.08916274458169937 + ], + [ + 0.24632395803928375, + 0.09139659255743027, + 0.11114759743213654 + ], + [ + 0.26835349202156067, + 0.07683742791414261, + 0.12958931922912598 + ], + [ + 0.29257431626319885, + 0.06488378345966339, + 0.13368237018585205 + ], + [ + 0.3085213303565979, + 0.04790705442428589, + 0.13417381048202515 + ], + [ + 0.3141419589519501, + 0.033997293561697006, + 0.12735989689826965 + ], + [ + 0.3205208480358124, + 0.018068986013531685, + 0.11557318270206451 + ], + [ + 0.3243010640144348, + 0.0008111619972623885, + 0.09685424715280533 + ], + [ + 0.33138221502304077, + -0.013420241884887218, + 0.0836242213845253 + ], + [ + 0.33262351155281067, + -0.02695276401937008, + 0.06358890980482101 + ], + [ + 0.3363301157951355, + -0.03509696200489998, + 0.043823644518852234 + ], + [ + 0.3366203010082245, + -0.03872089460492134, + 0.032737646251916885 + ], + [ + 0.3331702649593353, + -0.03847704455256462, + 0.027247291058301926 + ], + [ + 0.32800373435020447, + -0.03763681650161743, + 0.02454889565706253 + ], + [ + 0.3278488516807556, + -0.03620297089219093, + 0.02663576789200306 + ], + [ + 0.329134076833725, + -0.03396933525800705, + 0.02488582953810692 + ], + [ + 0.33014386892318726, + -0.032284561544656754, + 0.023922588676214218 + ], + [ + 0.3308864235877991, + -0.029404709115624428, + 0.02351030707359314 + ], + [ + 0.3323547840118408, + -0.0291384756565094, + 0.030534477904438972 + ], + [ + 0.3341768682003021, + -0.027456849813461304, + 0.06662922352552414 + ], + [ + 0.33272045850753784, + -0.02100300043821335, + 0.10662518441677094 + ], + [ + 0.32825517654418945, + -0.005878986790776253, + 0.12837517261505127 + ], + [ + 0.3176368176937103, + 0.01609295979142189, + 0.1243133470416069 + ], + [ + 0.2879698574542999, + 0.044976212084293365, + 0.11146991699934006 + ], + [ + 0.2674081027507782, + 0.04756621643900871, + 0.09002088755369186 + ], + [ + 0.25555360317230225, + 0.03966581076383591, + 0.07200261950492859 + ], + [ + 0.24736689031124115, + 0.032962292432785034, + 0.05228334292769432 + ], + [ + 0.24045658111572266, + 0.02909766510128975, + 0.03389647230505943 + ], + [ + 0.23562553524971008, + 0.03073343262076378, + 0.023717479780316353 + ], + [ + 0.2298988550901413, + 0.034692224115133286, + 0.018334398046135902 + ], + [ + 0.22560423612594604, + 0.03954589366912842, + 0.01917695440351963 + ], + [ + 0.22426243126392365, + 0.04544292017817497, + 0.01958325318992138 + ], + [ + 0.22215497493743896, + 0.047457825392484665, + 0.02269628271460533 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8672105666237303, + 0.4887918856477508, + 0.0950175018671048, + 0.45968108072855973, + -0.8592190135129801, + 0.22457958686845314, + 0.19141352396414557, + -0.1510800428339158, + -0.9698121898083825 + ], + [ + 0.8654269112705787, + 0.49587864271264226, + 0.07169820744017047, + 0.4732229412184731, + -0.8559890263908554, + 0.20818942000729346, + 0.16460956580102998, + -0.14624349011119553, + -0.9754570889828487 + ], + [ + 0.8182662194001878, + 0.5679362728844921, + 0.08881882756823331, + 0.5451332375804987, + -0.8156891325963485, + 0.19360008328825806, + 0.18240106215021737, + -0.10999831319746933, + -0.9770518019123572 + ], + [ + 0.7446607379795837, + 0.6587433790070163, + 0.10741296907785597, + 0.6302255727689552, + -0.7469611467997564, + 0.2118130605029709, + 0.2197637657571067, + -0.09003446998795064, + -0.9713895621604365 + ], + [ + 0.647013706253504, + 0.7531751907543814, + 0.1187450881182284, + 0.7287869886459456, + -0.6566610686358265, + 0.19407670163733914, + 0.2241490332356553, + -0.03903041083764916, + -0.9737729909631739 + ], + [ + 0.4291802560723532, + 0.8928509941630911, + 0.13646028733536103, + 0.8718234157816753, + -0.4489942768087024, + 0.19577556305065869, + 0.23606829412786773, + 0.03494626754047252, + -0.9711078822111108 + ], + [ + 0.277290355139572, + 0.9509951831880642, + 0.1368145478363677, + 0.9406137124460431, + -0.2977285181131635, + 0.1631060190814918, + 0.19584663107912353, + 0.08346191380048393, + -0.9770763562996077 + ], + [ + 0.158646322657378, + 0.977363668132343, + 0.13997001293913777, + 0.9708740365696809, + -0.18020488364268583, + 0.1578917509758504, + 0.17954094079675811, + 0.11084430579067807, + -0.9774858517910107 + ], + [ + 0.05960659104817123, + 0.9872974330090473, + 0.14727808077701962, + 0.98776706309431, + -0.07963446110680916, + 0.1340693166622036, + 0.14409470278139372, + 0.13748502237689145, + -0.9799666245604326 + ], + [ + 0.0642107753404132, + 0.9911593029193843, + 0.11610431760509035, + 0.9933168265900375, + -0.07466112185558826, + 0.08801930979258352, + 0.09590963634213595, + 0.10967658419018034, + -0.9893292619432088 + ], + [ + 0.07370095202328353, + 0.9939718786483591, + 0.08116695218568612, + 0.9948517252005398, + -0.07895414580940985, + 0.06353178515527784, + 0.0695572752224495, + 0.07606672936151686, + -0.9946736339864801 + ], + [ + 0.10516774452193578, + 0.9936053404038382, + 0.04108738289476517, + 0.9920929840298621, + -0.10767407759147196, + 0.06448103638705671, + 0.06849274816279524, + 0.03398117914078147, + -0.9970727269930261 + ], + [ + 0.12069964950158407, + 0.9925035488357621, + 0.01919114792327334, + 0.9884072042628234, + -0.12195023863185106, + 0.09043969183375286, + 0.09210208016947473, + 0.008052629760071636, + -0.995717008985185 + ], + [ + 0.14483651135044656, + 0.9893529870507535, + 0.014249631349042259, + 0.9822533076676984, + -0.1455018025317451, + 0.11835398191813724, + 0.11916721258675847, + -0.003145230319814743, + -0.9928692174554197 + ], + [ + 0.1596757639726652, + 0.9870634577837584, + 0.014469993355787934, + 0.9794215516607642, + -0.16023838909202176, + 0.12270730542072421, + 0.12343854560941145, + -0.005421159393034544, + -0.9923374106062255 + ], + [ + 0.17180139912954961, + 0.9849545936821723, + 0.018674250761838568, + 0.9770205201471754, + -0.17278376303505205, + 0.12480654807657286, + 0.126155390168126, + -0.0031968133873943178, + -0.9920053416769963 + ], + [ + 0.19210279014985004, + 0.9806316958092001, + 0.03818370321243985, + 0.9724538744551456, + -0.19544666445359787, + 0.12701993312523435, + 0.1320226498515272, + 0.012731006571977628, + -0.9911649415701937 + ], + [ + 0.21407600074987493, + 0.9751947548614539, + 0.05627304855477426, + 0.9654970305621495, + -0.21998867794588434, + 0.13935733045410031, + 0.14827997126588238, + 0.024498401301521686, + -0.9886419364234244 + ], + [ + 0.21972294225493433, + 0.9729036463262357, + 0.07197446499940155, + 0.9622258022536507, + -0.22828603788794505, + 0.148347532445749, + 0.16075862068378668, + 0.03666033102058712, + -0.9863126715222247 + ], + [ + 0.21806901033985365, + 0.9728555482407771, + 0.07744668480014796, + 0.9615135800803009, + -0.22776056037396314, + 0.1536774624312262, + 0.16714527229496942, + 0.040953747023623366, + -0.9850813410851742 + ], + [ + 0.2075251787356805, + 0.9735699718782895, + 0.09536671352013112, + 0.9642709901147863, + -0.21999986796954868, + 0.1475856216453047, + 0.16466559389797777, + 0.06133162275929162, + -0.9844407926513095 + ], + [ + 0.16665972004717589, + 0.9734997037259503, + 0.15659777954774445, + 0.9769888955361727, + -0.1844778721146797, + 0.10705425119559311, + 0.13310610697036496, + 0.13515266014965033, + -0.9818434308695387 + ], + [ + 0.12987582338527248, + 0.9676755894376149, + 0.21618562419032789, + 0.9873184312932629, + -0.1462878581025976, + 0.061661801793042745, + 0.09129395231124421, + 0.2054356740644585, + -0.9744032009866724 + ], + [ + 0.10736867453013355, + 0.9666920119094893, + 0.23233278253407547, + 0.9916573263615576, + -0.12089206472455394, + 0.044730926215332936, + 0.07132821884142031, + 0.22559180569563697, + -0.9716072366959256 + ], + [ + 0.1600967521329451, + 0.9714163238461023, + 0.17526938044566379, + 0.9863925682189559, + -0.16416713297408964, + 0.008879966975164494, + 0.03739961656079868, + 0.1714627604361719, + -0.9844804672845029 + ], + [ + 0.21171121566604156, + 0.9651290659354022, + 0.15396183698522556, + 0.9756832295404823, + -0.2178623639027557, + 0.024046330035121424, + 0.05675030180238311, + 0.1451271045716877, + -0.987784149884972 + ], + [ + 0.2665738342936023, + 0.958184858844646, + 0.1040200324498762, + 0.9616496138558952, + -0.2716511227341572, + 0.0378904696207359, + 0.06456323288695451, + 0.08993021626871629, + -0.9938531808879252 + ], + [ + 0.33779062736268717, + 0.9374464735299256, + 0.08421164606055642, + 0.9370000088825851, + -0.343391182826408, + 0.06413640862346333, + 0.0890419868374333, + 0.05724163540104913, + -0.994381677102236 + ], + [ + 0.3919504248302533, + 0.9184105287884209, + 0.05382346222565482, + 0.915692756156865, + -0.3950986572806295, + 0.07351072939977635, + 0.08877860551522204, + 0.020473192853490654, + -0.9958409549607585 + ], + [ + 0.4351569249845909, + 0.899652929717134, + 0.035539508850470275, + 0.8929621456199429, + -0.43629552097378843, + 0.11074666978306161, + 0.11513929445581586, + -0.01645674419768612, + -0.9932130277249835 + ], + [ + 0.46770789065468255, + 0.8832107218036893, + 0.034469550480878304, + 0.8736392937976047, + -0.46785577641556464, + 0.13366135121048192, + 0.13417791678279298, + -0.03240051489707379, + -0.9904274295889803 + ], + [ + 0.472537105463261, + 0.880972985615686, + 0.02439841338667153, + 0.870023352090846, + -0.47072284416959487, + 0.14655842109375636, + 0.14059890034068703, + -0.04802710268453924, + -0.988901080306174 + ], + [ + 0.45787529974223024, + 0.8887986284676613, + 0.019677599446249264, + 0.879031682996921, + -0.4559299030452038, + 0.13939592460610736, + 0.1328665126115805, + -0.04652871740329096, + -0.9900411952455521 + ], + [ + 0.45464079260203516, + 0.8905819243767826, + 0.012868009773834482, + 0.8786566243400827, + -0.45082468386007957, + 0.15722481014696724, + 0.14582279041865776, + -0.060174250272069095, + -0.9874789989659072 + ], + [ + 0.4797003067794224, + 0.8772977053608223, + -0.015373738789354052, + 0.8609119464954166, + -0.46721216682779615, + 0.2013539459497829, + 0.16946455693507298, + -0.10982498502941301, + -0.9793978949365207 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0029860734939575195, + -0.003444463014602661, + -0.005708441138267517, + -0.005725950002670288, + 0.027239933609962463, + 0.012977629899978638, + 1.0 + ], + [ + 0.007265612483024597, + -0.02244541049003601, + 0.014740101993083954, + -0.03670487552881241, + -0.018065765500068665, + 0.08729332685470581, + 1.0 + ], + [ + 0.01852315664291382, + -0.023253105580806732, + 0.021984852850437164, + -0.01968759298324585, + -0.03814437985420227, + 0.11467403173446655, + 1.0 + ], + [ + 0.022029533982276917, + -0.014559164643287659, + 0.01844172179698944, + -0.052362021058797836, + -0.004497453570365906, + 0.1424080729484558, + 1.0 + ], + [ + 0.024220824241638184, + -0.011953644454479218, + 0.004093050956726074, + -0.07603064179420471, + -0.012248024344444275, + 0.26857948303222656, + 1.0 + ], + [ + 0.015947014093399048, + -0.016976729035377502, + 0.0004914402961730957, + -0.049242742359638214, + 0.04119706153869629, + 0.17077481746673584, + 1.0 + ], + [ + 0.005620628595352173, + -0.013909760862588882, + -0.006813913583755493, + -0.027701810002326965, + 0.01660093665122986, + 0.12470269203186035, + 1.0 + ], + [ + 0.006378889083862305, + -0.01592830754816532, + -0.01178671419620514, + -0.026470854878425598, + 0.035921722650527954, + 0.10170245170593262, + 1.0 + ], + [ + 0.0037802159786224365, + -0.017257824540138245, + -0.018718935549259186, + 0.028977155685424805, + 0.04854077845811844, + -0.004281282424926758, + 1.0 + ], + [ + 0.007081151008605957, + -0.014231404289603233, + -0.01323002576828003, + 0.03408320993185043, + 0.026443801820278168, + -0.009394288063049316, + 1.0 + ], + [ + 0.0012412965297698975, + -0.01353252213448286, + -0.020035311579704285, + 0.04225774109363556, + 0.0010670721530914307, + -0.031664252281188965, + 1.0 + ], + [ + 0.003706604242324829, + -0.0081441979855299, + -0.01976526528596878, + 0.025980666279792786, + -0.023686379194259644, + -0.015902161598205566, + 1.0 + ], + [ + 0.00029018521308898926, + -0.0036239326000213623, + -0.011085998266935349, + 0.011254900135099888, + -0.027218282222747803, + -0.024884700775146484, + 1.0 + ], + [ + -0.00345003604888916, + 0.00024385005235671997, + -0.00549035519361496, + 0.0022951571736484766, + -0.004303112626075745, + -0.015210509300231934, + 1.0 + ], + [ + -0.005166530609130859, + 0.0008402280509471893, + -0.002698395401239395, + -0.002240400295704603, + -0.002738252282142639, + -0.012453794479370117, + 1.0 + ], + [ + -0.00015488266944885254, + 0.0014338456094264984, + 0.002086872234940529, + -0.016066348180174828, + -0.005916774272918701, + -0.020970582962036133, + 0.0 + ], + [ + 0.0012852251529693604, + 0.0022336356341838837, + -0.001749938353896141, + -0.011931000277400017, + -0.01641957461833954, + -0.02316296100616455, + 0.0 + ], + [ + 0.0010097920894622803, + 0.001684773713350296, + -0.0009632408618927002, + -0.012377191334962845, + -0.012630432844161987, + -0.006303191184997559, + 0.0 + ], + [ + 0.0007425546646118164, + 0.0028798524290323257, + -0.0004122816026210785, + -0.004398074001073837, + -0.0064742714166641235, + 0.001474618911743164, + 0.0 + ], + [ + 0.001468360424041748, + 0.0002662334591150284, + 0.007024170830845833, + -0.020670510828495026, + 0.0025145262479782104, + 0.011043548583984375, + 0.0 + ], + [ + 0.0018220841884613037, + 0.0016816258430480957, + 0.036094747483730316, + -0.07457172870635986, + 0.031916648149490356, + 0.0430225133895874, + 0.0 + ], + [ + -0.0014564096927642822, + 0.006453849375247955, + 0.039995960891246796, + -0.07099692523479462, + 0.0420810729265213, + 0.03816568851470947, + 0.0 + ], + [ + -0.004465281963348389, + 0.015124013647437096, + 0.021749988198280334, + -0.020352602005004883, + 0.020032405853271484, + 0.022941231727600098, + 0.0 + ], + [ + -0.010618358850479126, + 0.021971946582198143, + -0.0040618255734443665, + 0.05570574104785919, + 0.03398049995303154, + -0.05305039882659912, + 0.0 + ], + [ + -0.0296669602394104, + 0.028883252292871475, + -0.012843430042266846, + 0.026557862758636475, + -0.019372466951608658, + -0.05277299880981445, + 0.0 + ], + [ + -0.02056175470352173, + 0.0025900043547153473, + -0.021449029445648193, + 0.05563754588365555, + -0.007827363908290863, + -0.05673956871032715, + 0.0 + ], + [ + -0.011854499578475952, + -0.007900405675172806, + -0.018018268048763275, + 0.0327390693128109, + -0.02455189824104309, + -0.07558536529541016, + 0.0 + ], + [ + -0.008186712861061096, + -0.006703518331050873, + -0.019719276577234268, + 0.03694579377770424, + 0.0002644285559654236, + -0.05844008922576904, + 0.0 + ], + [ + -0.006910309195518494, + -0.003864627331495285, + -0.018386870622634888, + 0.037123486399650574, + -0.026499584317207336, + -0.0490107536315918, + 0.0 + ], + [ + -0.004831045866012573, + 0.0016357675194740295, + -0.01017899252474308, + 0.016134323552250862, + -0.01918860524892807, + -0.03807961940765381, + 0.0 + ], + [ + -0.005726680159568787, + 0.003958791494369507, + -0.0053830817341804504, + 0.015825998038053513, + -0.00648246705532074, + -0.006024003028869629, + 0.0 + ], + [ + -0.0042946189641952515, + 0.0048536695539951324, + 0.000842556357383728, + -0.0015658102929592133, + 0.007805719971656799, + 0.017338156700134277, + 0.0 + ], + [ + -0.0013418048620224, + 0.0058970265090465546, + 0.00040629878640174866, + 0.013899791985750198, + -0.01308402419090271, + 0.0027245283126831055, + 1.0 + ], + [ + -0.00210745632648468, + 0.0020149052143096924, + 0.0031130295246839523, + 0.05080672726035118, + -0.02394174039363861, + -0.03086245059967041, + 1.0 + ], + [ + 0.00027051568031311035, + -0.0016664527356624603, + 0.005388759076595306, + 0.011434890329837799, + 0.014876380562782288, + -0.0004763603210449219, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9893313646316528 + ], + [ + 0.9886419177055359 + ], + [ + 0.9893313646316528 + ], + [ + 0.9893313646316528 + ], + [ + 0.9893313646316528 + ], + [ + 0.9893313646316528 + ], + [ + 0.9893313646316528 + ], + [ + 0.9886419177055359 + ], + [ + 0.9893313646316528 + ], + [ + 0.9893313646316528 + ], + [ + 0.9893313646316528 + ], + [ + 0.9886419177055359 + ], + [ + 0.9893313646316528 + ], + [ + 0.9893313646316528 + ], + [ + 0.9893313646316528 + ], + [ + 0.9568231701850891 + ], + [ + 0.7031799554824829 + ], + [ + 0.5699762105941772 + ], + [ + 0.5988990664482117 + ], + [ + 0.5998998284339905 + ], + [ + 0.5998998284339905 + ], + [ + 0.5998998284339905 + ], + [ + 0.5998998284339905 + ], + [ + 0.5998998284339905 + ], + [ + 0.5998998284339905 + ], + [ + 0.5998998284339905 + ], + [ + 0.5998998284339905 + ], + [ + 0.5998998284339905 + ], + [ + 0.5998998284339905 + ], + [ + 0.5998998284339905 + ], + [ + 0.5998998284339905 + ], + [ + 0.5998998284339905 + ], + [ + 0.6460646390914917 + ], + [ + 0.9132781028747559 + ], + [ + 0.9941151142120361 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.22053518891334534, + 0.137095108628273, + 0.07442264258861542 + ], + [ + 0.22780080139636993, + 0.114649698138237, + 0.08916274458169937 + ], + [ + 0.24632395803928375, + 0.09139659255743027, + 0.11114759743213654 + ], + [ + 0.26835349202156067, + 0.07683742791414261, + 0.12958931922912598 + ], + [ + 0.29257431626319885, + 0.06488378345966339, + 0.13368237018585205 + ], + [ + 0.3085213303565979, + 0.04790705442428589, + 0.13417381048202515 + ], + [ + 0.3141419589519501, + 0.033997293561697006, + 0.12735989689826965 + ], + [ + 0.3205208480358124, + 0.018068986013531685, + 0.11557318270206451 + ], + [ + 0.3243010640144348, + 0.0008111619972623885, + 0.09685424715280533 + ], + [ + 0.33138221502304077, + -0.013420241884887218, + 0.0836242213845253 + ], + [ + 0.33262351155281067, + -0.02695276401937008, + 0.06358890980482101 + ], + [ + 0.3363301157951355, + -0.03509696200489998, + 0.043823644518852234 + ], + [ + 0.3366203010082245, + -0.03872089460492134, + 0.032737646251916885 + ], + [ + 0.3331702649593353, + -0.03847704455256462, + 0.027247291058301926 + ], + [ + 0.32800373435020447, + -0.03763681650161743, + 0.02454889565706253 + ], + [ + 0.3278488516807556, + -0.03620297089219093, + 0.02663576789200306 + ], + [ + 0.329134076833725, + -0.03396933525800705, + 0.02488582953810692 + ], + [ + 0.33014386892318726, + -0.032284561544656754, + 0.023922588676214218 + ], + [ + 0.3308864235877991, + -0.029404709115624428, + 0.02351030707359314 + ], + [ + 0.3323547840118408, + -0.0291384756565094, + 0.030534477904438972 + ], + [ + 0.3341768682003021, + -0.027456849813461304, + 0.06662922352552414 + ], + [ + 0.33272045850753784, + -0.02100300043821335, + 0.10662518441677094 + ], + [ + 0.32825517654418945, + -0.005878986790776253, + 0.12837517261505127 + ], + [ + 0.3176368176937103, + 0.01609295979142189, + 0.1243133470416069 + ], + [ + 0.2879698574542999, + 0.044976212084293365, + 0.11146991699934006 + ], + [ + 0.2674081027507782, + 0.04756621643900871, + 0.09002088755369186 + ], + [ + 0.25555360317230225, + 0.03966581076383591, + 0.07200261950492859 + ], + [ + 0.24736689031124115, + 0.032962292432785034, + 0.05228334292769432 + ], + [ + 0.24045658111572266, + 0.02909766510128975, + 0.03389647230505943 + ], + [ + 0.23562553524971008, + 0.03073343262076378, + 0.023717479780316353 + ], + [ + 0.2298988550901413, + 0.034692224115133286, + 0.018334398046135902 + ], + [ + 0.22560423612594604, + 0.03954589366912842, + 0.01917695440351963 + ], + [ + 0.22426243126392365, + 0.04544292017817497, + 0.01958325318992138 + ], + [ + 0.22215497493743896, + 0.047457825392484665, + 0.02269628271460533 + ], + [ + 0.22242549061775208, + 0.045791372656822205, + 0.028085041791200638 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8654269112705787, + 0.49587864271264226, + 0.07169820744017047, + 0.4732229412184731, + -0.8559890263908554, + 0.20818942000729346, + 0.16460956580102998, + -0.14624349011119553, + -0.9754570889828487 + ], + [ + 0.8182662194001878, + 0.5679362728844921, + 0.08881882756823331, + 0.5451332375804987, + -0.8156891325963485, + 0.19360008328825806, + 0.18240106215021737, + -0.10999831319746933, + -0.9770518019123572 + ], + [ + 0.7446607379795837, + 0.6587433790070163, + 0.10741296907785597, + 0.6302255727689552, + -0.7469611467997564, + 0.2118130605029709, + 0.2197637657571067, + -0.09003446998795064, + -0.9713895621604365 + ], + [ + 0.647013706253504, + 0.7531751907543814, + 0.1187450881182284, + 0.7287869886459456, + -0.6566610686358265, + 0.19407670163733914, + 0.2241490332356553, + -0.03903041083764916, + -0.9737729909631739 + ], + [ + 0.4291802560723532, + 0.8928509941630911, + 0.13646028733536103, + 0.8718234157816753, + -0.4489942768087024, + 0.19577556305065869, + 0.23606829412786773, + 0.03494626754047252, + -0.9711078822111108 + ], + [ + 0.277290355139572, + 0.9509951831880642, + 0.1368145478363677, + 0.9406137124460431, + -0.2977285181131635, + 0.1631060190814918, + 0.19584663107912353, + 0.08346191380048393, + -0.9770763562996077 + ], + [ + 0.158646322657378, + 0.977363668132343, + 0.13997001293913777, + 0.9708740365696809, + -0.18020488364268583, + 0.1578917509758504, + 0.17954094079675811, + 0.11084430579067807, + -0.9774858517910107 + ], + [ + 0.05960659104817123, + 0.9872974330090473, + 0.14727808077701962, + 0.98776706309431, + -0.07963446110680916, + 0.1340693166622036, + 0.14409470278139372, + 0.13748502237689145, + -0.9799666245604326 + ], + [ + 0.0642107753404132, + 0.9911593029193843, + 0.11610431760509035, + 0.9933168265900375, + -0.07466112185558826, + 0.08801930979258352, + 0.09590963634213595, + 0.10967658419018034, + -0.9893292619432088 + ], + [ + 0.07370095202328353, + 0.9939718786483591, + 0.08116695218568612, + 0.9948517252005398, + -0.07895414580940985, + 0.06353178515527784, + 0.0695572752224495, + 0.07606672936151686, + -0.9946736339864801 + ], + [ + 0.10516774452193578, + 0.9936053404038382, + 0.04108738289476517, + 0.9920929840298621, + -0.10767407759147196, + 0.06448103638705671, + 0.06849274816279524, + 0.03398117914078147, + -0.9970727269930261 + ], + [ + 0.12069964950158407, + 0.9925035488357621, + 0.01919114792327334, + 0.9884072042628234, + -0.12195023863185106, + 0.09043969183375286, + 0.09210208016947473, + 0.008052629760071636, + -0.995717008985185 + ], + [ + 0.14483651135044656, + 0.9893529870507535, + 0.014249631349042259, + 0.9822533076676984, + -0.1455018025317451, + 0.11835398191813724, + 0.11916721258675847, + -0.003145230319814743, + -0.9928692174554197 + ], + [ + 0.1596757639726652, + 0.9870634577837584, + 0.014469993355787934, + 0.9794215516607642, + -0.16023838909202176, + 0.12270730542072421, + 0.12343854560941145, + -0.005421159393034544, + -0.9923374106062255 + ], + [ + 0.17180139912954961, + 0.9849545936821723, + 0.018674250761838568, + 0.9770205201471754, + -0.17278376303505205, + 0.12480654807657286, + 0.126155390168126, + -0.0031968133873943178, + -0.9920053416769963 + ], + [ + 0.19210279014985004, + 0.9806316958092001, + 0.03818370321243985, + 0.9724538744551456, + -0.19544666445359787, + 0.12701993312523435, + 0.1320226498515272, + 0.012731006571977628, + -0.9911649415701937 + ], + [ + 0.21407600074987493, + 0.9751947548614539, + 0.05627304855477426, + 0.9654970305621495, + -0.21998867794588434, + 0.13935733045410031, + 0.14827997126588238, + 0.024498401301521686, + -0.9886419364234244 + ], + [ + 0.21972294225493433, + 0.9729036463262357, + 0.07197446499940155, + 0.9622258022536507, + -0.22828603788794505, + 0.148347532445749, + 0.16075862068378668, + 0.03666033102058712, + -0.9863126715222247 + ], + [ + 0.21806901033985365, + 0.9728555482407771, + 0.07744668480014796, + 0.9615135800803009, + -0.22776056037396314, + 0.1536774624312262, + 0.16714527229496942, + 0.040953747023623366, + -0.9850813410851742 + ], + [ + 0.2075251787356805, + 0.9735699718782895, + 0.09536671352013112, + 0.9642709901147863, + -0.21999986796954868, + 0.1475856216453047, + 0.16466559389797777, + 0.06133162275929162, + -0.9844407926513095 + ], + [ + 0.16665972004717589, + 0.9734997037259503, + 0.15659777954774445, + 0.9769888955361727, + -0.1844778721146797, + 0.10705425119559311, + 0.13310610697036496, + 0.13515266014965033, + -0.9818434308695387 + ], + [ + 0.12987582338527248, + 0.9676755894376149, + 0.21618562419032789, + 0.9873184312932629, + -0.1462878581025976, + 0.061661801793042745, + 0.09129395231124421, + 0.2054356740644585, + -0.9744032009866724 + ], + [ + 0.10736867453013355, + 0.9666920119094893, + 0.23233278253407547, + 0.9916573263615576, + -0.12089206472455394, + 0.044730926215332936, + 0.07132821884142031, + 0.22559180569563697, + -0.9716072366959256 + ], + [ + 0.1600967521329451, + 0.9714163238461023, + 0.17526938044566379, + 0.9863925682189559, + -0.16416713297408964, + 0.008879966975164494, + 0.03739961656079868, + 0.1714627604361719, + -0.9844804672845029 + ], + [ + 0.21171121566604156, + 0.9651290659354022, + 0.15396183698522556, + 0.9756832295404823, + -0.2178623639027557, + 0.024046330035121424, + 0.05675030180238311, + 0.1451271045716877, + -0.987784149884972 + ], + [ + 0.2665738342936023, + 0.958184858844646, + 0.1040200324498762, + 0.9616496138558952, + -0.2716511227341572, + 0.0378904696207359, + 0.06456323288695451, + 0.08993021626871629, + -0.9938531808879252 + ], + [ + 0.33779062736268717, + 0.9374464735299256, + 0.08421164606055642, + 0.9370000088825851, + -0.343391182826408, + 0.06413640862346333, + 0.0890419868374333, + 0.05724163540104913, + -0.994381677102236 + ], + [ + 0.3919504248302533, + 0.9184105287884209, + 0.05382346222565482, + 0.915692756156865, + -0.3950986572806295, + 0.07351072939977635, + 0.08877860551522204, + 0.020473192853490654, + -0.9958409549607585 + ], + [ + 0.4351569249845909, + 0.899652929717134, + 0.035539508850470275, + 0.8929621456199429, + -0.43629552097378843, + 0.11074666978306161, + 0.11513929445581586, + -0.01645674419768612, + -0.9932130277249835 + ], + [ + 0.46770789065468255, + 0.8832107218036893, + 0.034469550480878304, + 0.8736392937976047, + -0.46785577641556464, + 0.13366135121048192, + 0.13417791678279298, + -0.03240051489707379, + -0.9904274295889803 + ], + [ + 0.472537105463261, + 0.880972985615686, + 0.02439841338667153, + 0.870023352090846, + -0.47072284416959487, + 0.14655842109375636, + 0.14059890034068703, + -0.04802710268453924, + -0.988901080306174 + ], + [ + 0.45787529974223024, + 0.8887986284676613, + 0.019677599446249264, + 0.879031682996921, + -0.4559299030452038, + 0.13939592460610736, + 0.1328665126115805, + -0.04652871740329096, + -0.9900411952455521 + ], + [ + 0.45464079260203516, + 0.8905819243767826, + 0.012868009773834482, + 0.8786566243400827, + -0.45082468386007957, + 0.15722481014696724, + 0.14582279041865776, + -0.060174250272069095, + -0.9874789989659072 + ], + [ + 0.4797003067794224, + 0.8772977053608223, + -0.015373738789354052, + 0.8609119464954166, + -0.46721216682779615, + 0.2013539459497829, + 0.16946455693507298, + -0.10982498502941301, + -0.9793978949365207 + ], + [ + 0.48128531727448237, + 0.8759648933084122, + -0.0324029175720732, + 0.8627896648924726, + -0.46687113269580455, + 0.19397252282236005, + 0.15478513342932956, + -0.1213130295826388, + -0.9804716779809328 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005987.json b/json/chunk-0005/episode_0005987.json new file mode 100644 index 0000000000000000000000000000000000000000..49d96b849c0fc699afab0bf2368cc80e6f038313 --- /dev/null +++ b/json/chunk-0005/episode_0005987.json @@ -0,0 +1,2182 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 35, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nOpen fridge." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005987.mp4", + "start": 0, + "end": 35, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.21972590684890747, + 0.05103774741292, + 0.07088133692741394, + 0.07931602746248245, + -0.009959974326193333, + -0.01775129698216915, + 0.0, + 0.9994885921478271 + ], + [ + 0.21639741957187653, + 0.04938691854476929, + 0.06585642695426941, + 0.06959263980388641, + 0.004831795115023851, + -0.006270665675401688, + 0.0, + 0.9994885921478271 + ], + [ + 0.21191945672035217, + 0.025832736864686012, + 0.05119435861706734, + 0.0462954118847847, + -0.019837331026792526, + -0.033271487802267075, + 0.0, + 0.9994885921478271 + ], + [ + 0.21385590732097626, + -0.0020951349288225174, + 0.049466200172901154, + -0.006720907986164093, + -0.026173368096351624, + -0.015510251745581627, + 0.0, + 0.9994885921478271 + ], + [ + 0.2206781655550003, + -0.025193562731146812, + 0.054343994706869125, + -0.05269301310181618, + -0.011287390254437923, + -0.008318174630403519, + 0.0, + 0.9994885921478271 + ], + [ + 0.2319769412279129, + -0.049330200999975204, + 0.06166449189186096, + -0.0615040622651577, + -0.04461779445409775, + -0.02318849228322506, + 0.0, + 0.9994885921478271 + ], + [ + 0.24763460457324982, + -0.06939288228750229, + 0.06298663467168808, + -0.06521204859018326, + -0.06732676923274994, + -0.03588666766881943, + 0.0, + 0.9994885921478271 + ], + [ + 0.26325523853302, + -0.08111400157213211, + 0.06429101526737213, + -0.05036269873380661, + -0.11243058741092682, + -0.035621125251054764, + 0.0, + 0.9994885921478271 + ], + [ + 0.27698826789855957, + -0.08346746116876602, + 0.061804503202438354, + -0.03640522435307503, + -0.15250517427921295, + -0.004910074174404144, + 0.0, + 0.9994885921478271 + ], + [ + 0.28635644912719727, + -0.08211827278137207, + 0.063406802713871, + -0.058745719492435455, + -0.20370537042617798, + 0.03944891691207886, + 0.0, + 0.9994885921478271 + ], + [ + 0.2908291816711426, + -0.08007384836673737, + 0.0637224093079567, + -0.06503161042928696, + -0.21946604549884796, + 0.054329559206962585, + 0.0, + 0.9994885921478271 + ], + [ + 0.2984614372253418, + -0.0799112468957901, + 0.061854876577854156, + -0.06237643584609032, + -0.22510728240013123, + 0.050618112087249756, + 0.0, + 0.9994885921478271 + ], + [ + 0.3120962381362915, + -0.07903052866458893, + 0.058416999876499176, + -0.057592667639255524, + -0.22656132280826569, + 0.054775215685367584, + 0.0, + 0.9994885921478271 + ], + [ + 0.3142453134059906, + -0.07818562537431717, + 0.05466111749410629, + -0.03922044858336449, + -0.21259073913097382, + 0.03214631229639053, + 0.0, + 0.9492040276527405 + ], + [ + 0.31401148438453674, + -0.07779406756162643, + 0.052420474588871, + -0.024056950584053993, + -0.2104649692773819, + -0.025337856262922287, + 0.0, + 0.7071652412414551 + ], + [ + 0.3143460750579834, + -0.076532281935215, + 0.05105842277407646, + -0.03311634436249733, + -0.21538081765174866, + -0.0680176168680191, + 0.0, + 0.472818523645401 + ], + [ + 0.3159303665161133, + -0.07226914912462234, + 0.047699037939310074, + -0.04212043061852455, + -0.2605472207069397, + -0.06900488585233688, + 0.0, + 0.27090853452682495 + ], + [ + 0.3152105212211609, + -0.06971099227666855, + 0.04825756326317787, + -0.03554954379796982, + -0.3113519251346588, + -0.06671037524938583, + 0.0, + 0.23591680824756622 + ], + [ + 0.30122533440589905, + -0.06640584021806717, + 0.04838607832789421, + -0.03756791353225708, + -0.3312457501888275, + -0.06739259511232376, + 0.0, + 0.26031553745269775 + ], + [ + 0.2795252203941345, + -0.06161050498485565, + 0.05000055953860283, + -0.04267079010605812, + -0.32094889879226685, + -0.07828859239816666, + 0.0, + 0.2617134153842926 + ], + [ + 0.25648584961891174, + -0.05647902190685272, + 0.04977784305810928, + -0.033800505101680756, + -0.29420527815818787, + -0.10995350778102875, + 0.0, + 0.2617134153842926 + ], + [ + 0.23383870720863342, + -0.04713061824440956, + 0.05297791585326195, + -0.04346133768558502, + -0.25444552302360535, + -0.1154957115650177, + 0.0, + 0.31967243552207947 + ], + [ + 0.21146763861179352, + -0.04739201441407204, + 0.06356888264417648, + -0.01703597791492939, + -0.26953527331352234, + -0.17378786206245422, + 0.0, + 0.5829154849052429 + ], + [ + 0.20361210405826569, + -0.05922844260931015, + 0.05904540419578552, + -0.02449178509414196, + -0.13560467958450317, + -0.2185722291469574, + 0.0, + 0.8713903427124023 + ], + [ + 0.20656859874725342, + -0.08284500241279602, + 0.054579947143793106, + -0.018934031948447227, + -0.07613935321569443, + -0.20604880154132843, + 0.0, + 1.0001531839370728 + ], + [ + 0.21476031839847565, + -0.10826791822910309, + 0.054473962634801865, + -0.03132237121462822, + -0.07451513409614563, + -0.21664223074913025, + 0.0, + 0.9994885921478271 + ], + [ + 0.21489134430885315, + -0.12863841652870178, + 0.052916884422302246, + -0.03672267869114876, + -0.07560236006975174, + -0.24147668480873108, + 0.0, + 0.9994885921478271 + ], + [ + 0.2072603553533554, + -0.15084406733512878, + 0.047290459275245667, + -0.038533058017492294, + -0.0789230540394783, + -0.2583271265029907, + 0.0, + 0.9994885921478271 + ], + [ + 0.217389315366745, + -0.16500023007392883, + 0.04798167943954468, + -0.03406084328889847, + -0.11742650717496872, + -0.25000467896461487, + 0.0, + 0.9994885921478271 + ], + [ + 0.23070792853832245, + -0.17318247258663177, + 0.04872414469718933, + -0.05819014832377434, + -0.13202591240406036, + -0.2410924732685089, + 0.0, + 0.9994885921478271 + ], + [ + 0.25107377767562866, + -0.17223423719406128, + 0.052865445613861084, + -0.046264272183179855, + -0.16748106479644775, + -0.2052692025899887, + 0.0, + 0.9994885921478271 + ], + [ + 0.27076661586761475, + -0.16317887604236603, + 0.057535745203495026, + -0.04305130988359451, + -0.19370894134044647, + -0.1328924149274826, + 0.0, + 0.9994885921478271 + ], + [ + 0.27496138215065, + -0.15037354826927185, + 0.054995786398649216, + 0.004703845828771591, + -0.1845468282699585, + -0.09260636568069458, + 0.0, + 0.9994885921478271 + ], + [ + 0.26928597688674927, + -0.13976825773715973, + 0.04884475842118263, + 0.03980278596282005, + -0.1537705659866333, + -0.0824899896979332, + 0.0, + 0.9994885921478271 + ], + [ + 0.2560592293739319, + -0.12441709637641907, + 0.04564588889479637, + 0.05892641469836235, + -0.12413138151168823, + -0.05112563818693161, + 0.0, + 0.9994885921478271 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9492040276527405 + ], + [ + 0.7071652412414551 + ], + [ + 0.472818523645401 + ], + [ + 0.27090853452682495 + ], + [ + 0.23591680824756622 + ], + [ + 0.26031553745269775 + ], + [ + 0.2617134153842926 + ], + [ + 0.2617134153842926 + ], + [ + 0.31967243552207947 + ], + [ + 0.5829154849052429 + ], + [ + 0.8713903427124023 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.21972590684890747, + 0.05103774741292, + 0.07088133692741394 + ], + [ + 0.21639741957187653, + 0.04938691854476929, + 0.06585642695426941 + ], + [ + 0.21191945672035217, + 0.025832736864686012, + 0.05119435861706734 + ], + [ + 0.21385590732097626, + -0.0020951349288225174, + 0.049466200172901154 + ], + [ + 0.2206781655550003, + -0.025193562731146812, + 0.054343994706869125 + ], + [ + 0.2319769412279129, + -0.049330200999975204, + 0.06166449189186096 + ], + [ + 0.24763460457324982, + -0.06939288228750229, + 0.06298663467168808 + ], + [ + 0.26325523853302, + -0.08111400157213211, + 0.06429101526737213 + ], + [ + 0.27698826789855957, + -0.08346746116876602, + 0.061804503202438354 + ], + [ + 0.28635644912719727, + -0.08211827278137207, + 0.063406802713871 + ], + [ + 0.2908291816711426, + -0.08007384836673737, + 0.0637224093079567 + ], + [ + 0.2984614372253418, + -0.0799112468957901, + 0.061854876577854156 + ], + [ + 0.3120962381362915, + -0.07903052866458893, + 0.058416999876499176 + ], + [ + 0.3142453134059906, + -0.07818562537431717, + 0.05466111749410629 + ], + [ + 0.31401148438453674, + -0.07779406756162643, + 0.052420474588871 + ], + [ + 0.3143460750579834, + -0.076532281935215, + 0.05105842277407646 + ], + [ + 0.3159303665161133, + -0.07226914912462234, + 0.047699037939310074 + ], + [ + 0.3152105212211609, + -0.06971099227666855, + 0.04825756326317787 + ], + [ + 0.30122533440589905, + -0.06640584021806717, + 0.04838607832789421 + ], + [ + 0.2795252203941345, + -0.06161050498485565, + 0.05000055953860283 + ], + [ + 0.25648584961891174, + -0.05647902190685272, + 0.04977784305810928 + ], + [ + 0.23383870720863342, + -0.04713061824440956, + 0.05297791585326195 + ], + [ + 0.21146763861179352, + -0.04739201441407204, + 0.06356888264417648 + ], + [ + 0.20361210405826569, + -0.05922844260931015, + 0.05904540419578552 + ], + [ + 0.20656859874725342, + -0.08284500241279602, + 0.054579947143793106 + ], + [ + 0.21476031839847565, + -0.10826791822910309, + 0.054473962634801865 + ], + [ + 0.21489134430885315, + -0.12863841652870178, + 0.052916884422302246 + ], + [ + 0.2072603553533554, + -0.15084406733512878, + 0.047290459275245667 + ], + [ + 0.217389315366745, + -0.16500023007392883, + 0.04798167943954468 + ], + [ + 0.23070792853832245, + -0.17318247258663177, + 0.04872414469718933 + ], + [ + 0.25107377767562866, + -0.17223423719406128, + 0.052865445613861084 + ], + [ + 0.27076661586761475, + -0.16317887604236603, + 0.057535745203495026 + ], + [ + 0.27496138215065, + -0.15037354826927185, + 0.054995786398649216 + ], + [ + 0.26928597688674927, + -0.13976825773715973, + 0.04884475842118263 + ], + [ + 0.2560592293739319, + -0.12441709637641907, + 0.04564588889479637 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9997928575451597, + -0.016905539763250373, + 0.011333345798888216, + -0.017749484312157466, + -0.9967130853777308, + 0.07904417273560849, + 0.009959809653627557, + -0.07922896037508884, + -0.9968066883952706 + ], + [ + 0.9999686665706102, + -0.00659142407204741, + -0.0043839486423128396, + -0.006270551382792339, + -0.9975576896131207, + 0.06956533676399979, + -0.004831776314334486, + -0.06953566726821117, + -0.9975677645730204 + ], + [ + 0.9992499106008078, + -0.032312226607154666, + 0.02134329346575729, + -0.03325880452684193, + -0.9984062441270716, + 0.045594118146090316, + 0.01983602998895875, + -0.04626977090674007, + -0.998732016215819 + ], + [ + 0.999537256607963, + -0.015685145821500313, + 0.026062403058523254, + -0.015504317779454862, + -0.9998544080079346, + -0.007125932731640831, + 0.02617037987535395, + 0.0067185554742415846, + -0.9996349194728638 + ], + [ + 0.9999017044756648, + -0.008900991798632902, + 0.010832992737982475, + -0.008317548827978695, + -0.9985725516551842, + -0.05276056730503313, + 0.011287150577302557, + 0.05266527723135435, + -0.998548430876535 + ], + [ + 0.9987362178387648, + -0.025883372842561567, + 0.043081529538920305, + -0.023163338919283797, + -0.997777322192469, + -0.06248099749953437, + 0.044602992133155245, + 0.061404123059607116, + -0.9971158943493232 + ], + [ + 0.9970920104363795, + -0.04018397152145609, + 0.064751611228617, + -0.035797678314794724, + -0.9970746623131206, + -0.0675325403079677, + 0.06727591657651072, + 0.06501819903642066, + -0.9956136724868994 + ], + [ + 0.9930559764078164, + -0.041212851972155455, + 0.11018769692229549, + -0.03538874042279256, + -0.99789736095809, + -0.05430003723910001, + 0.11219387136562609, + 0.0500235726952868, + -0.9924264090615448 + ], + [ + 0.9883816925681486, + -0.010436001768457437, + 0.151633504421716, + -0.004853066423777279, + -0.9992982075987255, + -0.037142159822241956, + 0.15191470482612343, + 0.03597474332171547, + -0.9877387004165263 + ], + [ + 0.9785617867196904, + 0.027502500035296838, + 0.2041088975615122, + 0.03862324007809656, + -0.9979667296658117, + -0.05070159569475848, + 0.20229946835777177, + 0.057497991025196114, + -0.9776343417301939 + ], + [ + 0.9745737386688712, + 0.04006096728014487, + 0.2204566778248224, + 0.05300031893247162, + -0.997182095548795, + -0.05309269733183358, + 0.21770850716045678, + 0.0634270227702086, + -0.9739507270352399 + ], + [ + 0.9735216579037517, + 0.03660184587803, + 0.22564548847838978, + 0.049319958017469835, + -0.9974808921372796, + -0.0509844247017767, + 0.2232109390990621, + 0.06076326768152831, + -0.9728744533428644 + ], + [ + 0.97298311862562, + 0.04174667079616376, + 0.22707061973535939, + 0.05334872534755769, + -0.9975525775471081, + -0.045196996945732405, + 0.22462805784975817, + 0.05608984316753272, + -0.9728289495692899 + ], + [ + 0.9769825506773869, + 0.023847213769103037, + 0.21198208902489343, + 0.03141720895611577, + -0.9989806303849125, + -0.032413871986709315, + 0.21099302039004728, + 0.038327672916754575, + -0.9767358572487607 + ], + [ + 0.9776199781706153, + -0.030351565468334552, + 0.2081777143579657, + -0.02477609685580399, + -0.9992624337602679, + -0.029338260004602854, + 0.20891463162324744, + 0.023523837891110826, + -0.9776509120051979 + ], + [ + 0.9746361961372642, + -0.07498786901382352, + 0.21085802019332736, + -0.06639485259950827, + -0.9966597224256561, + -0.047551248592473574, + 0.21371946267800127, + 0.03234528087958578, + -0.9763594492180874 + ], + [ + 0.963949584480388, + -0.07971057415616196, + 0.25386496991074226, + -0.06662301031951888, + -0.995987353780522, + -0.059754209937363606, + 0.2576093419813271, + 0.04068679732994779, + -0.9653921542290361 + ], + [ + 0.9498029155738497, + -0.07748273128465424, + 0.3031020420915781, + -0.06345586885489629, + -0.9964194601795843, + -0.055871388771858065, + 0.30634584096293016, + 0.0338332045200564, + -0.9513188424480087 + ], + [ + 0.9434913143715897, + -0.07948136148003021, + 0.32172480924332064, + -0.06368076496829073, + -0.9962034106636294, + -0.05935928533267281, + 0.325221309078024, + 0.035517288176789626, + -0.9449706992082577 + ], + [ + 0.9460299188605185, + -0.09155338225058154, + 0.31087838589911715, + -0.07421503659000808, + -0.9949770758805297, + -0.06717698129697981, + 0.31546714720348495, + 0.04047958338113073, + -0.9480727199769992 + ], + [ + 0.9512535678831979, + -0.11940981756759302, + 0.2843553148051922, + -0.1050172195523368, + -0.992318138584419, + -0.06539186060856392, + 0.28997936682974895, + 0.03234203618864646, + -0.9564862568318427 + ], + [ + 0.9613552955944847, + -0.1259935912530908, + 0.2447889102790194, + -0.1115287591743567, + -0.9911395036283794, + -0.07213750913580104, + 0.2517088228677514, + 0.04204877299563589, + -0.96688911938241 + ], + [ + 0.9493754665150136, + -0.1773571457623506, + 0.2592887703438622, + -0.16667126837764654, + -0.9840095646458735, + -0.06281612040570848, + 0.2662835178466484, + 0.016420095385540942, + -0.963754879930962 + ], + [ + 0.9672462182549694, + -0.22000294438797927, + 0.12662329063833433, + -0.21484543757959587, + -0.975197383912299, + -0.053211844187552156, + 0.1351894641704462, + 0.02426451877182121, + -0.9905226104971455 + ], + [ + 0.9760110286642599, + -0.20596689921915462, + 0.07056988275305381, + -0.2040011389078003, + -0.9783768474979341, + -0.03409222205026732, + 0.07606580867941606, + 0.018878048258518864, + -0.99692407536577 + ], + [ + 0.9739146086812005, + -0.21712307745558845, + 0.0659386399128664, + -0.21435507680975846, + -0.9756445227447358, + -0.04657967672793961, + 0.07444619562628223, + 0.031230345409734645, + -0.9967358875260598 + ], + [ + 0.9682122853071821, + -0.24166809649972504, + 0.06450970248298687, + -0.2384536333185221, + -0.9696681246295461, + -0.0536990952867447, + 0.07553036036879279, + 0.03660955082514211, + -0.9964712266046328 + ], + [ + 0.9638091680425624, + -0.25821037166926, + 0.0663271555211491, + -0.2546683357881423, + -0.9653251094576482, + -0.05737134997085354, + 0.07884114626260896, + 0.0384036067707547, + -0.9961471962732193 + ], + [ + 0.9622387853766403, + -0.25113064669090923, + 0.10502341743389179, + -0.24570469596489555, + -0.967362198680983, + -0.061964336064322445, + 0.11715682778944639, + 0.03381974062141489, + -0.9925374062707228 + ], + [ + 0.9626266471045567, + -0.24579407803775624, + 0.11373306241286607, + -0.2366857404414863, + -0.967606124465962, + -0.08785356092741455, + 0.1316426927554464, + 0.05765118470188597, + -0.989619392669002 + ], + [ + 0.9653076974804858, + -0.2111602337576356, + 0.1535981929071547, + -0.20097867790834278, + -0.976387185140361, + -0.0792189101155573, + 0.16669919079328915, + 0.04560066198097165, + -0.984952770144721 + ], + [ + 0.9726447147227311, + -0.14059059269857282, + 0.18492307634960328, + -0.13002342936245465, + -0.9891666456030243, + -0.06814143411528584, + 0.1924997837369278, + 0.04223307319062952, + -0.9803877808245628 + ], + [ + 0.9788073629608981, + -0.09161357591944051, + 0.18314775161269475, + -0.09090380309971587, + -0.995783898115389, + -0.012285228371021119, + 0.18350107573401447, + -0.004623955165544487, + -0.9830086338598895 + ], + [ + 0.9848403361973718, + -0.07625713845342631, + 0.15580231395439006, + -0.08142423943896758, + -0.9963124861455085, + 0.027046685237590913, + 0.15316528794225223, + -0.03932275149898099, + -0.9874179033135444 + ], + [ + 0.9910090106511413, + -0.04373257270995325, + 0.12644604735781423, + -0.050710158412174224, + -0.9973326048441598, + 0.052499096645324254, + 0.12381284522236835, + -0.05843917691866949, + -0.9905832837066302 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.003328487277030945, + -0.001650828868150711, + -0.005024909973144531, + -0.009723387658596039, + 0.014791769906878471, + 0.011480631306767464, + 1.0 + ], + [ + -0.004477962851524353, + -0.023554181680083275, + -0.014662068337202072, + -0.023297227919101715, + -0.02466912567615509, + -0.027000822126865387, + 1.0 + ], + [ + 0.0019364506006240845, + -0.02792787179350853, + -0.0017281584441661835, + -0.05301631987094879, + -0.006336037069559097, + 0.017761236056685448, + 1.0 + ], + [ + 0.006822258234024048, + -0.023098427802324295, + 0.004877794533967972, + -0.045972105115652084, + 0.0148859778419137, + 0.007192077115178108, + 1.0 + ], + [ + 0.011298775672912598, + -0.024136638268828392, + 0.0073204971849918365, + -0.008811049163341522, + -0.03333040326833725, + -0.01487031765282154, + 1.0 + ], + [ + 0.015657663345336914, + -0.020062681287527084, + 0.001322142779827118, + -0.0037079863250255585, + -0.02270897477865219, + -0.012698175385594368, + 1.0 + ], + [ + 0.015620633959770203, + -0.011721119284629822, + 0.0013043805956840515, + 0.014849349856376648, + -0.04510381817817688, + 0.0002655424177646637, + 1.0 + ], + [ + 0.01373302936553955, + -0.002353459596633911, + -0.002486512064933777, + 0.013957474380731583, + -0.04007458686828613, + 0.03071105107665062, + 1.0 + ], + [ + 0.009368181228637695, + 0.0013491883873939514, + 0.0016022995114326477, + -0.022340495139360428, + -0.05120019614696503, + 0.044358991086483, + 1.0 + ], + [ + 0.0044727325439453125, + 0.0020444244146347046, + 0.00031560659408569336, + -0.0062858909368515015, + -0.015760675072669983, + 0.014880642294883728, + 1.0 + ], + [ + 0.007632255554199219, + 0.00016260147094726562, + -0.001867532730102539, + 0.00265517458319664, + -0.005641236901283264, + -0.0037114471197128296, + 1.0 + ], + [ + 0.013634800910949707, + 0.0008807182312011719, + -0.0034378767013549805, + 0.004783768206834793, + -0.0014540404081344604, + 0.004157103598117828, + 1.0 + ], + [ + 0.0021490752696990967, + 0.000844903290271759, + -0.0037558823823928833, + 0.018372219055891037, + 0.01397058367729187, + -0.02262890338897705, + 0.0 + ], + [ + -0.00023382902145385742, + 0.00039155781269073486, + -0.0022406429052352905, + 0.015163497999310493, + 0.002125769853591919, + -0.05748416855931282, + 0.0 + ], + [ + 0.0003345906734466553, + 0.001261785626411438, + -0.0013620518147945404, + -0.009059393778443336, + -0.00491584837436676, + -0.04267976060509682, + 0.0 + ], + [ + 0.0015842914581298828, + 0.004263132810592651, + -0.003359384834766388, + -0.009004086256027222, + -0.04516640305519104, + -0.0009872689843177795, + 0.0 + ], + [ + -0.0007198452949523926, + 0.0025581568479537964, + 0.0005585253238677979, + 0.006570886820554733, + -0.050804704427719116, + 0.00229451060295105, + 0.0 + ], + [ + -0.01398518681526184, + 0.0033051520586013794, + 0.0001285150647163391, + -0.002018369734287262, + -0.0198938250541687, + -0.0006822198629379272, + 0.0 + ], + [ + -0.021700114011764526, + 0.004795335233211517, + 0.0016144812107086182, + -0.005102876573801041, + 0.010296851396560669, + -0.010895997285842896, + 0.0 + ], + [ + -0.02303937077522278, + 0.00513148307800293, + -0.00022271648049354553, + 0.008870285004377365, + 0.02674362063407898, + -0.03166491538286209, + 0.0 + ], + [ + -0.02264714241027832, + 0.009348403662443161, + 0.003200072795152664, + -0.009660832583904266, + 0.03975975513458252, + -0.005542203783988953, + 1.0 + ], + [ + -0.022371068596839905, + -0.0002613961696624756, + 0.010590966790914536, + 0.026425359770655632, + -0.015089750289916992, + -0.05829215049743652, + 1.0 + ], + [ + -0.007855534553527832, + -0.011836428195238113, + -0.004523478448390961, + -0.00745580717921257, + 0.13393059372901917, + -0.044784367084503174, + 1.0 + ], + [ + 0.002956494688987732, + -0.02361655980348587, + -0.004465457051992416, + 0.005557753145694733, + 0.059465326368808746, + 0.012523427605628967, + 1.0 + ], + [ + 0.008191719651222229, + -0.025422915816307068, + -0.00010598450899124146, + -0.012388339266180992, + 0.0016242191195487976, + -0.010593429207801819, + 1.0 + ], + [ + 0.00013102591037750244, + -0.020370498299598694, + -0.0015570782124996185, + -0.005400307476520538, + -0.0010872259736061096, + -0.02483445405960083, + 1.0 + ], + [ + -0.007630988955497742, + -0.022205650806427002, + -0.00562642514705658, + -0.0018103793263435364, + -0.0033206939697265625, + -0.016850441694259644, + 1.0 + ], + [ + 0.010128960013389587, + -0.014156162738800049, + 0.0006912201642990112, + 0.004472214728593826, + -0.03850345313549042, + 0.008322447538375854, + 1.0 + ], + [ + 0.013318613171577454, + -0.008182242512702942, + 0.0007424652576446533, + -0.02412930503487587, + -0.014599405229091644, + 0.008912205696105957, + 1.0 + ], + [ + 0.020365849137306213, + 0.0009482353925704956, + 0.004141300916671753, + 0.011925876140594482, + -0.03545515239238739, + 0.0358232706785202, + 1.0 + ], + [ + 0.019692838191986084, + 0.009055361151695251, + 0.004670299589633942, + 0.0032129622995853424, + -0.026227876543998718, + 0.0723767876625061, + 1.0 + ], + [ + 0.004194766283035278, + 0.012805327773094177, + -0.00253995880484581, + 0.047755155712366104, + 0.009162113070487976, + 0.040286049246788025, + 1.0 + ], + [ + -0.005675405263900757, + 0.010605290532112122, + -0.006151027977466583, + 0.03509894013404846, + 0.030776262283325195, + 0.010116375982761383, + 1.0 + ], + [ + -0.013226747512817383, + 0.015351161360740662, + -0.003198869526386261, + 0.019123628735542297, + 0.02963918447494507, + 0.03136435151100159, + 1.0 + ], + [ + -0.01282411813735962, + 0.009114749729633331, + 0.010815650224685669, + 0.0030025318264961243, + 0.014425642788410187, + 0.02425883710384369, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9492040276527405 + ], + [ + 0.7071652412414551 + ], + [ + 0.472818523645401 + ], + [ + 0.27090853452682495 + ], + [ + 0.23591680824756622 + ], + [ + 0.26031553745269775 + ], + [ + 0.2617134153842926 + ], + [ + 0.2617134153842926 + ], + [ + 0.31967243552207947 + ], + [ + 0.5829154849052429 + ], + [ + 0.8713903427124023 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.21639741957187653, + 0.04938691854476929, + 0.06585642695426941 + ], + [ + 0.21191945672035217, + 0.025832736864686012, + 0.05119435861706734 + ], + [ + 0.21385590732097626, + -0.0020951349288225174, + 0.049466200172901154 + ], + [ + 0.2206781655550003, + -0.025193562731146812, + 0.054343994706869125 + ], + [ + 0.2319769412279129, + -0.049330200999975204, + 0.06166449189186096 + ], + [ + 0.24763460457324982, + -0.06939288228750229, + 0.06298663467168808 + ], + [ + 0.26325523853302, + -0.08111400157213211, + 0.06429101526737213 + ], + [ + 0.27698826789855957, + -0.08346746116876602, + 0.061804503202438354 + ], + [ + 0.28635644912719727, + -0.08211827278137207, + 0.063406802713871 + ], + [ + 0.2908291816711426, + -0.08007384836673737, + 0.0637224093079567 + ], + [ + 0.2984614372253418, + -0.0799112468957901, + 0.061854876577854156 + ], + [ + 0.3120962381362915, + -0.07903052866458893, + 0.058416999876499176 + ], + [ + 0.3142453134059906, + -0.07818562537431717, + 0.05466111749410629 + ], + [ + 0.31401148438453674, + -0.07779406756162643, + 0.052420474588871 + ], + [ + 0.3143460750579834, + -0.076532281935215, + 0.05105842277407646 + ], + [ + 0.3159303665161133, + -0.07226914912462234, + 0.047699037939310074 + ], + [ + 0.3152105212211609, + -0.06971099227666855, + 0.04825756326317787 + ], + [ + 0.30122533440589905, + -0.06640584021806717, + 0.04838607832789421 + ], + [ + 0.2795252203941345, + -0.06161050498485565, + 0.05000055953860283 + ], + [ + 0.25648584961891174, + -0.05647902190685272, + 0.04977784305810928 + ], + [ + 0.23383870720863342, + -0.04713061824440956, + 0.05297791585326195 + ], + [ + 0.21146763861179352, + -0.04739201441407204, + 0.06356888264417648 + ], + [ + 0.20361210405826569, + -0.05922844260931015, + 0.05904540419578552 + ], + [ + 0.20656859874725342, + -0.08284500241279602, + 0.054579947143793106 + ], + [ + 0.21476031839847565, + -0.10826791822910309, + 0.054473962634801865 + ], + [ + 0.21489134430885315, + -0.12863841652870178, + 0.052916884422302246 + ], + [ + 0.2072603553533554, + -0.15084406733512878, + 0.047290459275245667 + ], + [ + 0.217389315366745, + -0.16500023007392883, + 0.04798167943954468 + ], + [ + 0.23070792853832245, + -0.17318247258663177, + 0.04872414469718933 + ], + [ + 0.25107377767562866, + -0.17223423719406128, + 0.052865445613861084 + ], + [ + 0.27076661586761475, + -0.16317887604236603, + 0.057535745203495026 + ], + [ + 0.27496138215065, + -0.15037354826927185, + 0.054995786398649216 + ], + [ + 0.26928597688674927, + -0.13976825773715973, + 0.04884475842118263 + ], + [ + 0.2560592293739319, + -0.12441709637641907, + 0.04564588889479637 + ], + [ + 0.24323511123657227, + -0.11530234664678574, + 0.05646153911948204 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9999686665706102, + -0.00659142407204741, + -0.0043839486423128396, + -0.006270551382792339, + -0.9975576896131207, + 0.06956533676399979, + -0.004831776314334486, + -0.06953566726821117, + -0.9975677645730204 + ], + [ + 0.9992499106008078, + -0.032312226607154666, + 0.02134329346575729, + -0.03325880452684193, + -0.9984062441270716, + 0.045594118146090316, + 0.01983602998895875, + -0.04626977090674007, + -0.998732016215819 + ], + [ + 0.999537256607963, + -0.015685145821500313, + 0.026062403058523254, + -0.015504317779454862, + -0.9998544080079346, + -0.007125932731640831, + 0.02617037987535395, + 0.0067185554742415846, + -0.9996349194728638 + ], + [ + 0.9999017044756648, + -0.008900991798632902, + 0.010832992737982475, + -0.008317548827978695, + -0.9985725516551842, + -0.05276056730503313, + 0.011287150577302557, + 0.05266527723135435, + -0.998548430876535 + ], + [ + 0.9987362178387648, + -0.025883372842561567, + 0.043081529538920305, + -0.023163338919283797, + -0.997777322192469, + -0.06248099749953437, + 0.044602992133155245, + 0.061404123059607116, + -0.9971158943493232 + ], + [ + 0.9970920104363795, + -0.04018397152145609, + 0.064751611228617, + -0.035797678314794724, + -0.9970746623131206, + -0.0675325403079677, + 0.06727591657651072, + 0.06501819903642066, + -0.9956136724868994 + ], + [ + 0.9930559764078164, + -0.041212851972155455, + 0.11018769692229549, + -0.03538874042279256, + -0.99789736095809, + -0.05430003723910001, + 0.11219387136562609, + 0.0500235726952868, + -0.9924264090615448 + ], + [ + 0.9883816925681486, + -0.010436001768457437, + 0.151633504421716, + -0.004853066423777279, + -0.9992982075987255, + -0.037142159822241956, + 0.15191470482612343, + 0.03597474332171547, + -0.9877387004165263 + ], + [ + 0.9785617867196904, + 0.027502500035296838, + 0.2041088975615122, + 0.03862324007809656, + -0.9979667296658117, + -0.05070159569475848, + 0.20229946835777177, + 0.057497991025196114, + -0.9776343417301939 + ], + [ + 0.9745737386688712, + 0.04006096728014487, + 0.2204566778248224, + 0.05300031893247162, + -0.997182095548795, + -0.05309269733183358, + 0.21770850716045678, + 0.0634270227702086, + -0.9739507270352399 + ], + [ + 0.9735216579037517, + 0.03660184587803, + 0.22564548847838978, + 0.049319958017469835, + -0.9974808921372796, + -0.0509844247017767, + 0.2232109390990621, + 0.06076326768152831, + -0.9728744533428644 + ], + [ + 0.97298311862562, + 0.04174667079616376, + 0.22707061973535939, + 0.05334872534755769, + -0.9975525775471081, + -0.045196996945732405, + 0.22462805784975817, + 0.05608984316753272, + -0.9728289495692899 + ], + [ + 0.9769825506773869, + 0.023847213769103037, + 0.21198208902489343, + 0.03141720895611577, + -0.9989806303849125, + -0.032413871986709315, + 0.21099302039004728, + 0.038327672916754575, + -0.9767358572487607 + ], + [ + 0.9776199781706153, + -0.030351565468334552, + 0.2081777143579657, + -0.02477609685580399, + -0.9992624337602679, + -0.029338260004602854, + 0.20891463162324744, + 0.023523837891110826, + -0.9776509120051979 + ], + [ + 0.9746361961372642, + -0.07498786901382352, + 0.21085802019332736, + -0.06639485259950827, + -0.9966597224256561, + -0.047551248592473574, + 0.21371946267800127, + 0.03234528087958578, + -0.9763594492180874 + ], + [ + 0.963949584480388, + -0.07971057415616196, + 0.25386496991074226, + -0.06662301031951888, + -0.995987353780522, + -0.059754209937363606, + 0.2576093419813271, + 0.04068679732994779, + -0.9653921542290361 + ], + [ + 0.9498029155738497, + -0.07748273128465424, + 0.3031020420915781, + -0.06345586885489629, + -0.9964194601795843, + -0.055871388771858065, + 0.30634584096293016, + 0.0338332045200564, + -0.9513188424480087 + ], + [ + 0.9434913143715897, + -0.07948136148003021, + 0.32172480924332064, + -0.06368076496829073, + -0.9962034106636294, + -0.05935928533267281, + 0.325221309078024, + 0.035517288176789626, + -0.9449706992082577 + ], + [ + 0.9460299188605185, + -0.09155338225058154, + 0.31087838589911715, + -0.07421503659000808, + -0.9949770758805297, + -0.06717698129697981, + 0.31546714720348495, + 0.04047958338113073, + -0.9480727199769992 + ], + [ + 0.9512535678831979, + -0.11940981756759302, + 0.2843553148051922, + -0.1050172195523368, + -0.992318138584419, + -0.06539186060856392, + 0.28997936682974895, + 0.03234203618864646, + -0.9564862568318427 + ], + [ + 0.9613552955944847, + -0.1259935912530908, + 0.2447889102790194, + -0.1115287591743567, + -0.9911395036283794, + -0.07213750913580104, + 0.2517088228677514, + 0.04204877299563589, + -0.96688911938241 + ], + [ + 0.9493754665150136, + -0.1773571457623506, + 0.2592887703438622, + -0.16667126837764654, + -0.9840095646458735, + -0.06281612040570848, + 0.2662835178466484, + 0.016420095385540942, + -0.963754879930962 + ], + [ + 0.9672462182549694, + -0.22000294438797927, + 0.12662329063833433, + -0.21484543757959587, + -0.975197383912299, + -0.053211844187552156, + 0.1351894641704462, + 0.02426451877182121, + -0.9905226104971455 + ], + [ + 0.9760110286642599, + -0.20596689921915462, + 0.07056988275305381, + -0.2040011389078003, + -0.9783768474979341, + -0.03409222205026732, + 0.07606580867941606, + 0.018878048258518864, + -0.99692407536577 + ], + [ + 0.9739146086812005, + -0.21712307745558845, + 0.0659386399128664, + -0.21435507680975846, + -0.9756445227447358, + -0.04657967672793961, + 0.07444619562628223, + 0.031230345409734645, + -0.9967358875260598 + ], + [ + 0.9682122853071821, + -0.24166809649972504, + 0.06450970248298687, + -0.2384536333185221, + -0.9696681246295461, + -0.0536990952867447, + 0.07553036036879279, + 0.03660955082514211, + -0.9964712266046328 + ], + [ + 0.9638091680425624, + -0.25821037166926, + 0.0663271555211491, + -0.2546683357881423, + -0.9653251094576482, + -0.05737134997085354, + 0.07884114626260896, + 0.0384036067707547, + -0.9961471962732193 + ], + [ + 0.9622387853766403, + -0.25113064669090923, + 0.10502341743389179, + -0.24570469596489555, + -0.967362198680983, + -0.061964336064322445, + 0.11715682778944639, + 0.03381974062141489, + -0.9925374062707228 + ], + [ + 0.9626266471045567, + -0.24579407803775624, + 0.11373306241286607, + -0.2366857404414863, + -0.967606124465962, + -0.08785356092741455, + 0.1316426927554464, + 0.05765118470188597, + -0.989619392669002 + ], + [ + 0.9653076974804858, + -0.2111602337576356, + 0.1535981929071547, + -0.20097867790834278, + -0.976387185140361, + -0.0792189101155573, + 0.16669919079328915, + 0.04560066198097165, + -0.984952770144721 + ], + [ + 0.9726447147227311, + -0.14059059269857282, + 0.18492307634960328, + -0.13002342936245465, + -0.9891666456030243, + -0.06814143411528584, + 0.1924997837369278, + 0.04223307319062952, + -0.9803877808245628 + ], + [ + 0.9788073629608981, + -0.09161357591944051, + 0.18314775161269475, + -0.09090380309971587, + -0.995783898115389, + -0.012285228371021119, + 0.18350107573401447, + -0.004623955165544487, + -0.9830086338598895 + ], + [ + 0.9848403361973718, + -0.07625713845342631, + 0.15580231395439006, + -0.08142423943896758, + -0.9963124861455085, + 0.027046685237590913, + 0.15316528794225223, + -0.03932275149898099, + -0.9874179033135444 + ], + [ + 0.9910090106511413, + -0.04373257270995325, + 0.12644604735781423, + -0.050710158412174224, + -0.9973326048441598, + 0.052499096645324254, + 0.12381284522236835, + -0.05843917691866949, + -0.9905832837066302 + ], + [ + 0.9936296371809928, + -0.020038509446839353, + 0.11089906336266989, + -0.026702074863326396, + -0.9979048443633058, + 0.05893149238089757, + 0.10948581329817053, + -0.06151731248514849, + -0.9920828982252656 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005988.json b/json/chunk-0005/episode_0005988.json new file mode 100644 index 0000000000000000000000000000000000000000..c337241d0f9f07ebfd7a235a022ef8ba783a516d --- /dev/null +++ b/json/chunk-0005/episode_0005988.json @@ -0,0 +1,2782 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 45, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMoved the silver pot at the top left corner of the burner." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005988.mp4", + "start": 0, + "end": 45, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3011855483055115, + 0.09869473427534103, + 0.08931390941143036, + -0.04152480140328407, + -0.1302759051322937, + 1.1961601972579956, + 0.0, + 1.0014774799346924 + ], + [ + 0.2988702058792114, + 0.09732020646333694, + 0.08068908005952835, + -0.01887987181544304, + -0.11149904131889343, + 1.1910573244094849, + 0.0, + 1.0014774799346924 + ], + [ + 0.2948039174079895, + 0.06888295710086823, + 0.06904618442058563, + 0.008156240917742252, + -0.08528493344783783, + 1.0990750789642334, + 0.0, + 1.0014774799346924 + ], + [ + 0.28701624274253845, + 0.05403408408164978, + 0.06215200945734978, + 0.01921422965824604, + -0.08288957923650742, + 1.0536619424819946, + 0.0, + 1.0014774799346924 + ], + [ + 0.27520620822906494, + 0.034511517733335495, + 0.07349063456058502, + -0.053852785378694534, + -0.09067664295434952, + 0.962446928024292, + 0.0, + 1.0014774799346924 + ], + [ + 0.2630786597728729, + 0.013541191816329956, + 0.0722975805401802, + -0.06422211974859238, + -0.1072673499584198, + 0.851764440536499, + 0.0, + 1.0014774799346924 + ], + [ + 0.2557079792022705, + -0.0016325528267771006, + 0.07213356345891953, + -0.08692201226949692, + -0.135276660323143, + 0.7616897225379944, + 0.0, + 1.0014774799346924 + ], + [ + 0.2563401162624359, + -0.01723470725119114, + 0.052999090403318405, + -0.03381776437163353, + -0.12423955649137497, + 0.7127901911735535, + 0.0, + 1.0014774799346924 + ], + [ + 0.26763835549354553, + -0.023652227595448494, + 0.041429903358221054, + -0.029500527307391167, + -0.1458207070827484, + 0.6892368197441101, + 0.0, + 1.0014774799346924 + ], + [ + 0.27753254771232605, + -0.029274918138980865, + 0.033158183097839355, + -0.036587994545698166, + -0.15702709555625916, + 0.6715182065963745, + 0.0, + 1.0014774799346924 + ], + [ + 0.28510650992393494, + -0.03528256341814995, + 0.026700496673583984, + -0.02825288102030754, + -0.17749597132205963, + 0.6584081053733826, + 0.0, + 1.0014774799346924 + ], + [ + 0.29136160016059875, + -0.043754179030656815, + 0.016463447362184525, + -0.024411862716078758, + -0.1692492961883545, + 0.6429459452629089, + 0.0, + 0.9537920951843262 + ], + [ + 0.2928062081336975, + -0.04650985077023506, + 0.007356000132858753, + -0.053696367889642715, + -0.18097196519374847, + 0.6484944820404053, + 0.0, + 0.6781873106956482 + ], + [ + 0.29415613412857056, + -0.05054083094000816, + 0.0070465365424752235, + -0.06556238979101181, + -0.1898202747106552, + 0.6435018181800842, + 0.0, + 0.4503740966320038 + ], + [ + 0.2923029661178589, + -0.05033329129219055, + 0.0067956517450511456, + -0.06284691393375397, + -0.18959107995033264, + 0.6570562720298767, + 0.0, + 0.29134905338287354 + ], + [ + 0.29016879200935364, + -0.04980069398880005, + 0.007063583936542273, + -0.060315489768981934, + -0.18782921135425568, + 0.6567801833152771, + 0.0, + 0.19260896742343903 + ], + [ + 0.28591492772102356, + -0.049784354865550995, + 0.010202193632721901, + -0.0634232610464096, + -0.1792345941066742, + 0.6569200754165649, + 0.0, + 0.10915245115756989 + ], + [ + 0.279712975025177, + -0.04856463521718979, + 0.01461229007691145, + -0.053859174251556396, + -0.17115738987922668, + 0.6319488286972046, + 0.0, + 0.07821663469076157 + ], + [ + 0.27882593870162964, + -0.039953380823135376, + 0.019631270319223404, + -0.05696190521121025, + -0.15995264053344727, + 0.6473615169525146, + 0.0, + 0.07788556814193726 + ], + [ + 0.2792899012565613, + -0.029511509463191032, + 0.028213949874043465, + -0.06738373637199402, + -0.15725532174110413, + 0.6638208627700806, + 0.0, + 0.07788556814193726 + ], + [ + 0.29059088230133057, + -0.01126532070338726, + 0.040998972952365875, + -0.08757150173187256, + -0.18616335093975067, + 0.7010785341262817, + 0.0, + 0.07788556814193726 + ], + [ + 0.3084317445755005, + 0.01422416977584362, + 0.05734582245349884, + -0.09794975817203522, + -0.22115734219551086, + 0.7122006416320801, + 0.0, + 0.07788556814193726 + ], + [ + 0.32663267850875854, + 0.040503617376089096, + 0.07797064632177353, + -0.11371836811304092, + -0.2515585422515869, + 0.6598696708679199, + 0.0, + 0.07788556814193726 + ], + [ + 0.3403894305229187, + 0.07369926571846008, + 0.07733175158500671, + -0.10738643258810043, + -0.25320225954055786, + 0.61960369348526, + 0.0, + 0.07788556814193726 + ], + [ + 0.35222339630126953, + 0.10019774734973907, + 0.07253198325634003, + -0.058757610619068146, + -0.23211273550987244, + 0.523141622543335, + 0.0, + 0.07788556814193726 + ], + [ + 0.3649067282676697, + 0.1301737129688263, + 0.0656789243221283, + -0.015357702039182186, + -0.20508994162082672, + 0.39066457748413086, + 0.0, + 0.07755524665117264 + ], + [ + 0.3729100227355957, + 0.15179042518138885, + 0.06065429002046585, + 0.002702052006497979, + -0.19326288998126984, + 0.3724954426288605, + 0.0, + 0.07755524665117264 + ], + [ + 0.38092583417892456, + 0.16359272599220276, + 0.04357001557946205, + 0.004850002937018871, + -0.17033137381076813, + 0.3424871563911438, + 0.0, + 0.07788556814193726 + ], + [ + 0.383030503988266, + 0.1713692843914032, + 0.021874219179153442, + -0.004341645631939173, + -0.12365706264972687, + 0.33794930577278137, + 0.0, + 0.07788556814193726 + ], + [ + 0.38752901554107666, + 0.17682257294654846, + 0.016496093943715096, + 0.005825821775943041, + -0.10269032418727875, + 0.3348303437232971, + 0.0, + 0.10753463208675385 + ], + [ + 0.3921161890029907, + 0.17936588823795319, + 0.01165909506380558, + 0.002250868361443281, + -0.05519462004303932, + 0.36417075991630554, + 0.0, + 0.2824830114841461 + ], + [ + 0.392295777797699, + 0.17897507548332214, + 0.011660294607281685, + -0.0012150845723226666, + -0.055363889783620834, + 0.3778972327709198, + 0.0, + 0.5354229807853699 + ], + [ + 0.39245927333831787, + 0.17667485773563385, + 0.012293714098632336, + -0.014065641909837723, + -0.05182340741157532, + 0.35887575149536133, + 0.0, + 0.8517581820487976 + ], + [ + 0.389593243598938, + 0.17538712918758392, + 0.010607382282614708, + -0.013697738759219646, + -0.051874708384275436, + 0.3545384705066681, + 0.0, + 1.003452181816101 + ], + [ + 0.3837726414203644, + 0.17720721662044525, + 0.01068022008985281, + 0.003201092826202512, + -0.05205704644322395, + 0.3711400032043457, + 0.0, + 1.0008161067962646 + ], + [ + 0.3795417249202728, + 0.17926587164402008, + 0.01289558969438076, + 0.0054658642038702965, + -0.05193899944424629, + 0.3865126073360443, + 0.0, + 1.0008161067962646 + ], + [ + 0.37482011318206787, + 0.1829153299331665, + 0.024675579741597176, + 0.01209926512092352, + -0.07926221936941147, + 0.3986150622367859, + 0.0, + 1.0001531839370728 + ], + [ + 0.3741689920425415, + 0.18213550746440887, + 0.053129568696022034, + 0.01071543525904417, + -0.134678915143013, + 0.4107208549976349, + 0.0, + 1.0001531839370728 + ], + [ + 0.3711386024951935, + 0.17623473703861237, + 0.08471514284610748, + -0.011097473092377186, + -0.1986740082502365, + 0.4065186083316803, + 0.0, + 1.0008161067962646 + ], + [ + 0.36376118659973145, + 0.17197535932064056, + 0.10818108916282654, + -0.02383766509592533, + -0.25117188692092896, + 0.4229924976825714, + 0.0, + 1.0001531839370728 + ], + [ + 0.36277779936790466, + 0.17401933670043945, + 0.11310439556837082, + -0.02038993313908577, + -0.26334348320961, + 0.4258536994457245, + 0.0, + 1.0008161067962646 + ], + [ + 0.36278074979782104, + 0.17402079701423645, + 0.11248722672462463, + -0.020442023873329163, + -0.2618103325366974, + 0.4258672297000885, + 0.0, + 1.0008161067962646 + ], + [ + 0.36296889185905457, + 0.17364901304244995, + 0.1125013530254364, + -0.023492369800806046, + -0.2619045674800873, + 0.42750686407089233, + 0.0, + 1.0008161067962646 + ], + [ + 0.3630230724811554, + 0.17298272252082825, + 0.11305571347475052, + -0.023508481681346893, + -0.26190608739852905, + 0.42592278122901917, + 0.0, + 1.0001531839370728 + ], + [ + 0.36323481798171997, + 0.17309202253818512, + 0.1125013530254364, + -0.023492369800806046, + -0.2619045674800873, + 0.4259728789329529, + 0.0, + 1.0008161067962646 + ] + ], + "left_gripper_pos": [ + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 0.9537920951843262 + ], + [ + 0.6781873106956482 + ], + [ + 0.4503740966320038 + ], + [ + 0.29134905338287354 + ], + [ + 0.19260896742343903 + ], + [ + 0.10915245115756989 + ], + [ + 0.07821663469076157 + ], + [ + 0.07788556814193726 + ], + [ + 0.07788556814193726 + ], + [ + 0.07788556814193726 + ], + [ + 0.07788556814193726 + ], + [ + 0.07788556814193726 + ], + [ + 0.07788556814193726 + ], + [ + 0.07788556814193726 + ], + [ + 0.07755524665117264 + ], + [ + 0.07755524665117264 + ], + [ + 0.07788556814193726 + ], + [ + 0.07788556814193726 + ], + [ + 0.10753463208675385 + ], + [ + 0.2824830114841461 + ], + [ + 0.5354229807853699 + ], + [ + 0.8517581820487976 + ], + [ + 1.003452181816101 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3011855483055115, + 0.09869473427534103, + 0.08931390941143036 + ], + [ + 0.2988702058792114, + 0.09732020646333694, + 0.08068908005952835 + ], + [ + 0.2948039174079895, + 0.06888295710086823, + 0.06904618442058563 + ], + [ + 0.28701624274253845, + 0.05403408408164978, + 0.06215200945734978 + ], + [ + 0.27520620822906494, + 0.034511517733335495, + 0.07349063456058502 + ], + [ + 0.2630786597728729, + 0.013541191816329956, + 0.0722975805401802 + ], + [ + 0.2557079792022705, + -0.0016325528267771006, + 0.07213356345891953 + ], + [ + 0.2563401162624359, + -0.01723470725119114, + 0.052999090403318405 + ], + [ + 0.26763835549354553, + -0.023652227595448494, + 0.041429903358221054 + ], + [ + 0.27753254771232605, + -0.029274918138980865, + 0.033158183097839355 + ], + [ + 0.28510650992393494, + -0.03528256341814995, + 0.026700496673583984 + ], + [ + 0.29136160016059875, + -0.043754179030656815, + 0.016463447362184525 + ], + [ + 0.2928062081336975, + -0.04650985077023506, + 0.007356000132858753 + ], + [ + 0.29415613412857056, + -0.05054083094000816, + 0.0070465365424752235 + ], + [ + 0.2923029661178589, + -0.05033329129219055, + 0.0067956517450511456 + ], + [ + 0.29016879200935364, + -0.04980069398880005, + 0.007063583936542273 + ], + [ + 0.28591492772102356, + -0.049784354865550995, + 0.010202193632721901 + ], + [ + 0.279712975025177, + -0.04856463521718979, + 0.01461229007691145 + ], + [ + 0.27882593870162964, + -0.039953380823135376, + 0.019631270319223404 + ], + [ + 0.2792899012565613, + -0.029511509463191032, + 0.028213949874043465 + ], + [ + 0.29059088230133057, + -0.01126532070338726, + 0.040998972952365875 + ], + [ + 0.3084317445755005, + 0.01422416977584362, + 0.05734582245349884 + ], + [ + 0.32663267850875854, + 0.040503617376089096, + 0.07797064632177353 + ], + [ + 0.3403894305229187, + 0.07369926571846008, + 0.07733175158500671 + ], + [ + 0.35222339630126953, + 0.10019774734973907, + 0.07253198325634003 + ], + [ + 0.3649067282676697, + 0.1301737129688263, + 0.0656789243221283 + ], + [ + 0.3729100227355957, + 0.15179042518138885, + 0.06065429002046585 + ], + [ + 0.38092583417892456, + 0.16359272599220276, + 0.04357001557946205 + ], + [ + 0.383030503988266, + 0.1713692843914032, + 0.021874219179153442 + ], + [ + 0.38752901554107666, + 0.17682257294654846, + 0.016496093943715096 + ], + [ + 0.3921161890029907, + 0.17936588823795319, + 0.01165909506380558 + ], + [ + 0.392295777797699, + 0.17897507548332214, + 0.011660294607281685 + ], + [ + 0.39245927333831787, + 0.17667485773563385, + 0.012293714098632336 + ], + [ + 0.389593243598938, + 0.17538712918758392, + 0.010607382282614708 + ], + [ + 0.3837726414203644, + 0.17720721662044525, + 0.01068022008985281 + ], + [ + 0.3795417249202728, + 0.17926587164402008, + 0.01289558969438076 + ], + [ + 0.37482011318206787, + 0.1829153299331665, + 0.024675579741597176 + ], + [ + 0.3741689920425415, + 0.18213550746440887, + 0.053129568696022034 + ], + [ + 0.3711386024951935, + 0.17623473703861237, + 0.08471514284610748 + ], + [ + 0.36376118659973145, + 0.17197535932064056, + 0.10818108916282654 + ], + [ + 0.36277779936790466, + 0.17401933670043945, + 0.11310439556837082 + ], + [ + 0.36278074979782104, + 0.17402079701423645, + 0.11248722672462463 + ], + [ + 0.36296889185905457, + 0.17364901304244995, + 0.1125013530254364 + ], + [ + 0.3630230724811554, + 0.17298272252082825, + 0.11305571347475052 + ], + [ + 0.36323481798171997, + 0.17309202253818512, + 0.1125013530254364 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.36283302922279487, + 0.9278651713164844, + 0.0861302314105883, + 0.9227546686780098, + -0.3706372732511682, + 0.1056022400798156, + 0.12990771469757517, + 0.0411610924875654, + -0.9906713633326055 + ], + [ + 0.36837632199431836, + 0.9278172421558553, + 0.058771171098100525, + 0.9229941941125746, + -0.37256297519318715, + 0.09632521554442931, + 0.11126815819639686, + 0.0187615210871767, + -0.9936133062203212 + ], + [ + 0.45276860791018697, + 0.8910735191820032, + 0.031441550592665894, + 0.887549821374378, + -0.45378623084521447, + 0.07958248094651786, + 0.08518158409762339, + -0.00812650649993979, + -0.9963323028100242 + ], + [ + 0.4926938344069387, + 0.8698654783918649, + 0.02422467831531469, + 0.8662550572485417, + -0.49291727374885497, + 0.08145389512676862, + 0.08279469384395528, + -0.019147081816527856, + -0.9963826714316129 + ], + [ + 0.5691658121943064, + 0.8166172143797938, + 0.09584677046088148, + 0.8172212277665265, + -0.5746849245035183, + 0.043436188094215046, + 0.0905524329709924, + 0.05360562215822947, + -0.9944479343616048 + ], + [ + 0.6548708170069782, + 0.7463669154561305, + 0.11866187485925729, + 0.7481189695111694, + -0.6624687350536569, + 0.0381206313425401, + 0.10706176016747947, + 0.06380911054785984, + -0.9922026894344381 + ], + [ + 0.717059474784487, + 0.6790670093159213, + 0.15714231282670513, + 0.6838401056059206, + -0.7290189609250707, + 0.029900912638472214, + 0.13486444893551094, + 0.08601948308645294, + -0.98712320859296 + ], + [ + 0.7507089163362238, + 0.6504034692558726, + 0.11580781542373304, + 0.6489067037362418, + -0.7588475981392021, + 0.05541130430272331, + 0.123920187134532, + 0.03355070756763556, + -0.9917248293968711 + ], + [ + 0.7635411853858897, + 0.6323640974191597, + 0.13084535343206372, + 0.6291990683639469, + -0.7741214303149795, + 0.06960275495288362, + 0.14530447546256542, + 0.02918320445635751, + -0.9889564954982635 + ], + [ + 0.773245883973699, + 0.6172804603930534, + 0.1451056033882657, + 0.6145203766386721, + -0.7859131457418363, + 0.06859470858627173, + 0.15638257452030033, + 0.03612977396982884, + -0.987035526118129 + ], + [ + 0.7785402844490492, + 0.6076691057394965, + 0.15688621169418981, + 0.6022455231997053, + -0.7937034227880058, + 0.08564581974922958, + 0.17656544190726253, + 0.027805297775149857, + -0.983896087063938 + ], + [ + 0.7888974131187406, + 0.5960864993591133, + 0.14940467481426878, + 0.5909890210323121, + -0.8025596362525864, + 0.08142485663104329, + 0.16844241922339176, + 0.02406066374634127, + -0.9854177976200029 + ], + [ + 0.7839784791589979, + 0.5954177606318144, + 0.175657150551123, + 0.5941236182984303, + -0.8016797832458977, + 0.06577728570556411, + 0.17998575053466234, + 0.05279408545477024, + -0.9822514515873563 + ], + [ + 0.7856301115942049, + 0.5888222183015133, + 0.1899308373881456, + 0.58922345450179, + -0.8056977925665592, + 0.060554006625084755, + 0.18868240093197391, + 0.06433865313991932, + -0.9799283082402952 + ], + [ + 0.7776058065903704, + 0.6002110461517034, + 0.18728563648720417, + 0.5998441871501707, + -0.7974598784265099, + 0.06515131189874149, + 0.1884573179770169, + 0.06168016194412765, + -0.980142539084727 + ], + [ + 0.7780331406509311, + 0.6005456915997609, + 0.18441611738081057, + 0.5998312771854017, + -0.7973945158547181, + 0.06606379488758563, + 0.1867267280251482, + 0.059218733402397424, + -0.9806254487087502 + ], + [ + 0.7791913127383412, + 0.6005053565581553, + 0.17959458482388527, + 0.6008979899862386, + -0.7971849669010237, + 0.05846139048562343, + 0.17827648129688686, + 0.06236541743608397, + -0.9820020625866445 + ], + [ + 0.795087973081106, + 0.582463493626689, + 0.16903074765843526, + 0.5820869442940961, + -0.8111241228433362, + 0.05703022552988565, + 0.17032294133245687, + 0.053046544975329915, + -0.9839594299167218 + ], + [ + 0.787495305046082, + 0.5948727684981421, + 0.16117547527379616, + 0.5953853786809216, + -0.8018525163409702, + 0.05048557111323894, + 0.15927145187808756, + 0.056204371155720884, + -0.9856336404971353 + ], + [ + 0.7779249732020788, + 0.6064269744308115, + 0.16455716560282965, + 0.6085282852551306, + -0.7923533420464455, + 0.043237800502326354, + 0.15660798866276124, + 0.06650192501364544, + -0.9854194192608973 + ], + [ + 0.7509436887112801, + 0.6302005330569868, + 0.19730905838147728, + 0.6338969175796784, + -0.7716606452216476, + 0.052101309955628686, + 0.185089908605731, + 0.08594845403379771, + -0.9789558667179649 + ], + [ + 0.7384900823623151, + 0.6341312580169827, + 0.22915048736212534, + 0.6375845518251888, + -0.767316242593082, + 0.0686419924441832, + 0.21935892397250167, + 0.09541138013168607, + -0.9709677291316086 + ], + [ + 0.7652051293773838, + 0.5867387867974444, + 0.26495038411371313, + 0.5937196775227015, + -0.8022837170605318, + 0.06194983342895845, + 0.2489137491117763, + 0.10990192631159611, + -0.9622699787981126 + ], + [ + 0.7881509718179328, + 0.5555092696367294, + 0.26500471122249114, + 0.5621966675000087, + -0.825010754546617, + 0.05737736430254341, + 0.25050539450146214, + 0.10376274008568549, + -0.962538488111295 + ], + [ + 0.8430231833797707, + 0.4870400867216659, + 0.2282627131407799, + 0.48620594324627686, + -0.8715078585095107, + 0.06385791500013882, + 0.23003411276642421, + 0.057148984963155375, + -0.9715031139844305 + ], + [ + 0.9052778673294618, + 0.37786618639909886, + 0.19413687980294467, + 0.3728223911513865, + -0.9257381305184936, + 0.06334333714201583, + 0.2036552174131174, + 0.015035254581347954, + -0.9789272156499124 + ], + [ + 0.9140815665789126, + 0.36442291618986583, + 0.17790679525053144, + 0.3571653068090119, + -0.9312297817450581, + 0.07241572483290723, + 0.1920620557337261, + -0.0026517440911471984, + -0.98137920041165 + ], + [ + 0.9282914285973196, + 0.33660125580826483, + 0.15803359826646585, + 0.3309709110388366, + -0.9416351459659603, + 0.061493966596628424, + 0.1695089367522261, + -0.004779798109102354, + -0.9855170591578647 + ], + [ + 0.9362326725634786, + 0.33104474966607633, + 0.11780389018691548, + 0.3290214185796424, + -0.9436052197381821, + 0.036798035255929826, + 0.1233421620553398, + 0.004308480170755049, + -0.9923548498688018 + ], + [ + 0.9394906081059657, + 0.329167399804745, + 0.09490110740379151, + 0.3268778217045167, + -0.9442538004899503, + 0.03918736962332897, + 0.10250993590083374, + -0.005795098451996838, + -0.9947150998529874 + ], + [ + 0.932996468712513, + 0.35628968604797695, + 0.05074691109629043, + 0.35563216339808046, + -0.93437284241081, + 0.0217521429276433, + 0.055166599739170326, + -0.002247438759477239, + -0.9984746342758241 + ], + [ + 0.9280184599277033, + 0.368904119548013, + 0.051879558729031695, + 0.36840155835404637, + -0.9294666635611984, + 0.019287641917146235, + 0.055335610918502524, + 0.0012132225349084803, + -0.9984670741969196 + ], + [ + 0.9350352733223712, + 0.3505049244660859, + 0.053435340066115215, + 0.350750303624856, + -0.9364555512768518, + 0.005022448589936314, + 0.05180021380293041, + 0.014046295162448687, + -0.99855868102089 + ], + [ + 0.9365452828838106, + 0.3464589548117727, + 0.05337720242592018, + 0.3466905834789621, + -0.9379653942113925, + 0.005153502584089776, + 0.05185144583423302, + 0.01367888491805813, + -0.998561122652138 + ], + [ + 0.9306520678833577, + 0.36283141805173236, + 0.047329595593024965, + 0.3621867467116605, + -0.9318493133859251, + 0.021854465186853807, + 0.0520335377507022, + -0.0031967509676140912, + -0.9986402213672336 + ], + [ + 0.9249802542558355, + 0.377217786848409, + 0.046024672970030545, + 0.37645224729094273, + -0.926108496037239, + 0.024632480127716537, + 0.051915650303245395, + -0.005458466161088351, + -0.9986365557102141 + ], + [ + 0.9187059720547719, + 0.3889968275613395, + 0.06827008904425787, + 0.386923743230219, + -0.9211601385285774, + 0.04188097552264533, + 0.07917925129485, + -0.012060983924469363, + -0.9967874291097181 + ], + [ + 0.9085308570309887, + 0.40056651364423246, + 0.1188198214501351, + 0.39565474098558995, + -0.9162061569374228, + 0.0634318841402665, + 0.1342721406627705, + -0.010618198381239452, + -0.9908876051828349 + ], + [ + 0.9004352431767091, + 0.39337795465697556, + 0.1856614058850015, + 0.3876359313740727, + -0.9193124785241058, + 0.06784505536603734, + 0.19736959632389176, + 0.010878953063597176, + -0.9802687849907208 + ], + [ + 0.8832519853894023, + 0.404972500478743, + 0.2363539806342875, + 0.3976105809039584, + -0.9140373304094069, + 0.08025948274977247, + 0.24853924490690674, + 0.023087496053898964, + -0.9683466379696196 + ], + [ + 0.87929051989486, + 0.4081791924175378, + 0.24543416327071066, + 0.39885683175108927, + -0.9126895545453473, + 0.08894382940541254, + 0.26031021760297945, + 0.019685626766310277, + -0.9653243323931637 + ], + [ + 0.879647537599307, + 0.40820631714365824, + 0.24410614953230292, + 0.39903313022252035, + -0.9126761612434968, + 0.08828808346912961, + 0.2588296168916785, + 0.0197440457314595, + -0.9657211823698708 + ], + [ + 0.8789698874545067, + 0.40895420672050903, + 0.24529246575019628, + 0.4004647792499542, + -0.9122727984692423, + 0.08594359634890142, + 0.2589206394409249, + 0.022689159938099876, + -0.9656320751159865 + ], + [ + 0.8796027953876158, + 0.407504592749145, + 0.24543620196426916, + 0.3990717536730664, + -0.9129208635391985, + 0.08554082262374677, + 0.25892210752771855, + 0.02270470883313394, + -0.9656313159949852 + ], + [ + 0.8795831600768318, + 0.4075543131976346, + 0.2454240132979225, + 0.3991159818658694, + -0.9128990545593241, + 0.085567220382196, + 0.25892063944092497, + 0.02268915993809987, + -0.9656320751159864 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.002315342426300049, + -0.0013745278120040894, + -0.008624829351902008, + 0.022644929587841034, + 0.01877686381340027, + -0.005102872848510742, + 1.0 + ], + [ + -0.004066288471221924, + -0.02843724936246872, + -0.011642895638942719, + 0.027036111801862717, + 0.026214107871055603, + -0.09198224544525146, + 1.0 + ], + [ + -0.00778767466545105, + -0.014848873019218445, + -0.006894174963235855, + 0.011057988740503788, + 0.002395354211330414, + -0.04541313648223877, + 1.0 + ], + [ + -0.01181003451347351, + -0.019522566348314285, + 0.011338625103235245, + -0.07306701689958572, + -0.007787063717842102, + -0.09121501445770264, + 1.0 + ], + [ + -0.012127548456192017, + -0.02097032591700554, + -0.0011930540204048157, + -0.010369334369897842, + -0.016590707004070282, + -0.11068248748779297, + 1.0 + ], + [ + -0.007370680570602417, + -0.015173744410276413, + -0.00016401708126068115, + -0.02269989252090454, + -0.028009310364723206, + -0.09007471799850464, + 1.0 + ], + [ + 0.0006321370601654053, + -0.015602154657244682, + -0.01913447305560112, + 0.05310424789786339, + 0.011037103831768036, + -0.04889953136444092, + 1.0 + ], + [ + 0.01129823923110962, + -0.006417520344257355, + -0.011569187045097351, + 0.004317237064242363, + -0.021581150591373444, + -0.02355337142944336, + 1.0 + ], + [ + 0.009894192218780518, + -0.0056226905435323715, + -0.008271720260381699, + -0.007087467238306999, + -0.011206388473510742, + -0.017718613147735596, + 1.0 + ], + [ + 0.007573962211608887, + -0.006007645279169083, + -0.006457686424255371, + 0.008335113525390625, + -0.020468875765800476, + -0.013110101222991943, + 1.0 + ], + [ + 0.006255090236663818, + -0.008471615612506866, + -0.01023704931139946, + 0.0038410183042287827, + 0.00824667513370514, + -0.015462160110473633, + 0.0 + ], + [ + 0.0014446079730987549, + -0.002755671739578247, + -0.009107447229325771, + -0.029284505173563957, + -0.011722669005393982, + 0.005548536777496338, + 0.0 + ], + [ + 0.0013499259948730469, + -0.004030980169773102, + -0.00030946359038352966, + -0.011866021901369095, + -0.008848309516906738, + -0.004992663860321045, + 0.0 + ], + [ + -0.00185316801071167, + 0.0002075396478176117, + -0.000250884797424078, + 0.002715475857257843, + 0.0002291947603225708, + 0.01355445384979248, + 0.0 + ], + [ + -0.002134174108505249, + 0.0005325973033905029, + 0.000267932191491127, + 0.0025314241647720337, + 0.0017618685960769653, + -0.0002760887145996094, + 0.0 + ], + [ + -0.004253864288330078, + 1.6339123249053955e-05, + 0.0031386096961796284, + -0.0031077712774276733, + 0.008594617247581482, + 0.0001398921012878418, + 0.0 + ], + [ + -0.006201952695846558, + 0.001219719648361206, + 0.0044100964441895485, + 0.00956408679485321, + 0.00807720422744751, + -0.02497124671936035, + 0.0 + ], + [ + -0.0008870363235473633, + 0.008611254394054413, + 0.0050189802423119545, + -0.0031027309596538544, + 0.011204749345779419, + 0.015412688255310059, + 0.0 + ], + [ + 0.0004639625549316406, + 0.010441871359944344, + 0.00858267955482006, + -0.010421831160783768, + 0.0026973187923431396, + 0.016459345817565918, + 0.0 + ], + [ + 0.011300981044769287, + 0.018246188759803772, + 0.01278502307832241, + -0.02018776535987854, + -0.028908029198646545, + 0.03725767135620117, + 0.0 + ], + [ + 0.017840862274169922, + 0.02548949047923088, + 0.016346849501132965, + -0.010378256440162659, + -0.03499399125576019, + 0.01112210750579834, + 0.0 + ], + [ + 0.018200933933258057, + 0.026279447600245476, + 0.02062482386827469, + -0.015768609941005707, + -0.03040120005607605, + -0.052330970764160156, + 0.0 + ], + [ + 0.013756752014160156, + 0.03319564834237099, + -0.0006388947367668152, + 0.006331935524940491, + -0.0016437172889709473, + -0.04026597738265991, + 0.0 + ], + [ + 0.01183396577835083, + 0.02649848163127899, + -0.004799768328666687, + 0.04862882196903229, + 0.021089524030685425, + -0.09646207094192505, + 0.0 + ], + [ + 0.012683331966400146, + 0.02997596561908722, + -0.006853058934211731, + 0.043399907648563385, + 0.027022793889045715, + -0.1324770450592041, + 0.0 + ], + [ + 0.008003294467926025, + 0.02161671221256256, + -0.005024634301662445, + 0.018059754744172096, + 0.011827051639556885, + -0.018169134855270386, + 0.0 + ], + [ + 0.008015811443328857, + 0.011802300810813904, + -0.0170842744410038, + 0.002147950930520892, + 0.02293151617050171, + -0.030008286237716675, + 0.0 + ], + [ + 0.0021046698093414307, + 0.0077765583992004395, + -0.02169579640030861, + -0.009191649034619331, + 0.04667431116104126, + -0.004537850618362427, + 0.0 + ], + [ + 0.004498511552810669, + 0.005453288555145264, + -0.005378125235438347, + 0.010167467407882214, + 0.02096673846244812, + -0.003118962049484253, + 1.0 + ], + [ + 0.0045871734619140625, + 0.002543315291404724, + -0.004836998879909515, + -0.0035749534144997597, + 0.047495704144239426, + 0.029340416193008423, + 1.0 + ], + [ + 0.00017958879470825195, + -0.0003908127546310425, + 1.1995434761047363e-06, + -0.003465952817350626, + -0.00016926974058151245, + 0.013726472854614258, + 1.0 + ], + [ + 0.00016349554061889648, + -0.0023002177476882935, + 0.0006334194913506508, + -0.012850557453930378, + 0.003540482372045517, + -0.01902148127555847, + 1.0 + ], + [ + -0.002866029739379883, + -0.0012877285480499268, + -0.0016863318160176277, + 0.0003679031506180763, + -5.130097270011902e-05, + -0.004337280988693237, + 1.0 + ], + [ + -0.005820602178573608, + 0.0018200874328613281, + 7.283780723810196e-05, + 0.016898831352591515, + -0.00018233805894851685, + 0.016601532697677612, + 1.0 + ], + [ + -0.004230916500091553, + 0.002058655023574829, + 0.0022153696045279503, + 0.0022647713776677847, + 0.00011804699897766113, + 0.015372604131698608, + 1.0 + ], + [ + -0.004721611738204956, + 0.0036494582891464233, + 0.011779990047216415, + 0.006633400917053223, + -0.027323219925165176, + 0.012102454900741577, + 1.0 + ], + [ + -0.0006511211395263672, + -0.0007798224687576294, + 0.028453988954424858, + -0.0013838298618793488, + -0.05541669577360153, + 0.012105792760848999, + 1.0 + ], + [ + -0.0030303895473480225, + -0.005900770425796509, + 0.03158557415008545, + -0.021812908351421356, + -0.06399509310722351, + -0.00420224666595459, + 1.0 + ], + [ + -0.007377415895462036, + -0.004259377717971802, + 0.023465946316719055, + -0.012740192003548145, + -0.052497878670692444, + 0.016473889350891113, + 1.0 + ], + [ + -0.0009833872318267822, + 0.002043977379798889, + 0.004923306405544281, + 0.0034477319568395615, + -0.01217159628868103, + 0.002861201763153076, + 1.0 + ], + [ + 2.950429916381836e-06, + 1.4603137969970703e-06, + -0.0006171688437461853, + -5.2090734243392944e-05, + 0.0015331506729125977, + 1.3530254364013672e-05, + 1.0 + ], + [ + 0.0001881420612335205, + -0.000371783971786499, + 1.4126300811767578e-05, + -0.003050345927476883, + -9.423494338989258e-05, + 0.001639634370803833, + 1.0 + ], + [ + 5.418062210083008e-05, + -0.0006662905216217041, + 0.0005543604493141174, + -1.611188054084778e-05, + -1.519918441772461e-06, + -0.001584082841873169, + 1.0 + ], + [ + 0.0002117455005645752, + 0.00010930001735687256, + -0.0005543604493141174, + 1.611188054084778e-05, + 1.519918441772461e-06, + 5.009770393371582e-05, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 0.9537920951843262 + ], + [ + 0.6781873106956482 + ], + [ + 0.4503740966320038 + ], + [ + 0.29134905338287354 + ], + [ + 0.19260896742343903 + ], + [ + 0.10915245115756989 + ], + [ + 0.07821663469076157 + ], + [ + 0.07788556814193726 + ], + [ + 0.07788556814193726 + ], + [ + 0.07788556814193726 + ], + [ + 0.07788556814193726 + ], + [ + 0.07788556814193726 + ], + [ + 0.07788556814193726 + ], + [ + 0.07788556814193726 + ], + [ + 0.07755524665117264 + ], + [ + 0.07755524665117264 + ], + [ + 0.07788556814193726 + ], + [ + 0.07788556814193726 + ], + [ + 0.10753463208675385 + ], + [ + 0.2824830114841461 + ], + [ + 0.5354229807853699 + ], + [ + 0.8517581820487976 + ], + [ + 1.003452181816101 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2988702058792114, + 0.09732020646333694, + 0.08068908005952835 + ], + [ + 0.2948039174079895, + 0.06888295710086823, + 0.06904618442058563 + ], + [ + 0.28701624274253845, + 0.05403408408164978, + 0.06215200945734978 + ], + [ + 0.27520620822906494, + 0.034511517733335495, + 0.07349063456058502 + ], + [ + 0.2630786597728729, + 0.013541191816329956, + 0.0722975805401802 + ], + [ + 0.2557079792022705, + -0.0016325528267771006, + 0.07213356345891953 + ], + [ + 0.2563401162624359, + -0.01723470725119114, + 0.052999090403318405 + ], + [ + 0.26763835549354553, + -0.023652227595448494, + 0.041429903358221054 + ], + [ + 0.27753254771232605, + -0.029274918138980865, + 0.033158183097839355 + ], + [ + 0.28510650992393494, + -0.03528256341814995, + 0.026700496673583984 + ], + [ + 0.29136160016059875, + -0.043754179030656815, + 0.016463447362184525 + ], + [ + 0.2928062081336975, + -0.04650985077023506, + 0.007356000132858753 + ], + [ + 0.29415613412857056, + -0.05054083094000816, + 0.0070465365424752235 + ], + [ + 0.2923029661178589, + -0.05033329129219055, + 0.0067956517450511456 + ], + [ + 0.29016879200935364, + -0.04980069398880005, + 0.007063583936542273 + ], + [ + 0.28591492772102356, + -0.049784354865550995, + 0.010202193632721901 + ], + [ + 0.279712975025177, + -0.04856463521718979, + 0.01461229007691145 + ], + [ + 0.27882593870162964, + -0.039953380823135376, + 0.019631270319223404 + ], + [ + 0.2792899012565613, + -0.029511509463191032, + 0.028213949874043465 + ], + [ + 0.29059088230133057, + -0.01126532070338726, + 0.040998972952365875 + ], + [ + 0.3084317445755005, + 0.01422416977584362, + 0.05734582245349884 + ], + [ + 0.32663267850875854, + 0.040503617376089096, + 0.07797064632177353 + ], + [ + 0.3403894305229187, + 0.07369926571846008, + 0.07733175158500671 + ], + [ + 0.35222339630126953, + 0.10019774734973907, + 0.07253198325634003 + ], + [ + 0.3649067282676697, + 0.1301737129688263, + 0.0656789243221283 + ], + [ + 0.3729100227355957, + 0.15179042518138885, + 0.06065429002046585 + ], + [ + 0.38092583417892456, + 0.16359272599220276, + 0.04357001557946205 + ], + [ + 0.383030503988266, + 0.1713692843914032, + 0.021874219179153442 + ], + [ + 0.38752901554107666, + 0.17682257294654846, + 0.016496093943715096 + ], + [ + 0.3921161890029907, + 0.17936588823795319, + 0.01165909506380558 + ], + [ + 0.392295777797699, + 0.17897507548332214, + 0.011660294607281685 + ], + [ + 0.39245927333831787, + 0.17667485773563385, + 0.012293714098632336 + ], + [ + 0.389593243598938, + 0.17538712918758392, + 0.010607382282614708 + ], + [ + 0.3837726414203644, + 0.17720721662044525, + 0.01068022008985281 + ], + [ + 0.3795417249202728, + 0.17926587164402008, + 0.01289558969438076 + ], + [ + 0.37482011318206787, + 0.1829153299331665, + 0.024675579741597176 + ], + [ + 0.3741689920425415, + 0.18213550746440887, + 0.053129568696022034 + ], + [ + 0.3711386024951935, + 0.17623473703861237, + 0.08471514284610748 + ], + [ + 0.36376118659973145, + 0.17197535932064056, + 0.10818108916282654 + ], + [ + 0.36277779936790466, + 0.17401933670043945, + 0.11310439556837082 + ], + [ + 0.36278074979782104, + 0.17402079701423645, + 0.11248722672462463 + ], + [ + 0.36296889185905457, + 0.17364901304244995, + 0.1125013530254364 + ], + [ + 0.3630230724811554, + 0.17298272252082825, + 0.11305571347475052 + ], + [ + 0.36323481798171997, + 0.17309202253818512, + 0.1125013530254364 + ], + [ + 0.36323481798171997, + 0.17309202253818512, + 0.1125013530254364 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.36837632199431836, + 0.9278172421558553, + 0.058771171098100525, + 0.9229941941125746, + -0.37256297519318715, + 0.09632521554442931, + 0.11126815819639686, + 0.0187615210871767, + -0.9936133062203212 + ], + [ + 0.45276860791018697, + 0.8910735191820032, + 0.031441550592665894, + 0.887549821374378, + -0.45378623084521447, + 0.07958248094651786, + 0.08518158409762339, + -0.00812650649993979, + -0.9963323028100242 + ], + [ + 0.4926938344069387, + 0.8698654783918649, + 0.02422467831531469, + 0.8662550572485417, + -0.49291727374885497, + 0.08145389512676862, + 0.08279469384395528, + -0.019147081816527856, + -0.9963826714316129 + ], + [ + 0.5691658121943064, + 0.8166172143797938, + 0.09584677046088148, + 0.8172212277665265, + -0.5746849245035183, + 0.043436188094215046, + 0.0905524329709924, + 0.05360562215822947, + -0.9944479343616048 + ], + [ + 0.6548708170069782, + 0.7463669154561305, + 0.11866187485925729, + 0.7481189695111694, + -0.6624687350536569, + 0.0381206313425401, + 0.10706176016747947, + 0.06380911054785984, + -0.9922026894344381 + ], + [ + 0.717059474784487, + 0.6790670093159213, + 0.15714231282670513, + 0.6838401056059206, + -0.7290189609250707, + 0.029900912638472214, + 0.13486444893551094, + 0.08601948308645294, + -0.98712320859296 + ], + [ + 0.7507089163362238, + 0.6504034692558726, + 0.11580781542373304, + 0.6489067037362418, + -0.7588475981392021, + 0.05541130430272331, + 0.123920187134532, + 0.03355070756763556, + -0.9917248293968711 + ], + [ + 0.7635411853858897, + 0.6323640974191597, + 0.13084535343206372, + 0.6291990683639469, + -0.7741214303149795, + 0.06960275495288362, + 0.14530447546256542, + 0.02918320445635751, + -0.9889564954982635 + ], + [ + 0.773245883973699, + 0.6172804603930534, + 0.1451056033882657, + 0.6145203766386721, + -0.7859131457418363, + 0.06859470858627173, + 0.15638257452030033, + 0.03612977396982884, + -0.987035526118129 + ], + [ + 0.7785402844490492, + 0.6076691057394965, + 0.15688621169418981, + 0.6022455231997053, + -0.7937034227880058, + 0.08564581974922958, + 0.17656544190726253, + 0.027805297775149857, + -0.983896087063938 + ], + [ + 0.7888974131187406, + 0.5960864993591133, + 0.14940467481426878, + 0.5909890210323121, + -0.8025596362525864, + 0.08142485663104329, + 0.16844241922339176, + 0.02406066374634127, + -0.9854177976200029 + ], + [ + 0.7839784791589979, + 0.5954177606318144, + 0.175657150551123, + 0.5941236182984303, + -0.8016797832458977, + 0.06577728570556411, + 0.17998575053466234, + 0.05279408545477024, + -0.9822514515873563 + ], + [ + 0.7856301115942049, + 0.5888222183015133, + 0.1899308373881456, + 0.58922345450179, + -0.8056977925665592, + 0.060554006625084755, + 0.18868240093197391, + 0.06433865313991932, + -0.9799283082402952 + ], + [ + 0.7776058065903704, + 0.6002110461517034, + 0.18728563648720417, + 0.5998441871501707, + -0.7974598784265099, + 0.06515131189874149, + 0.1884573179770169, + 0.06168016194412765, + -0.980142539084727 + ], + [ + 0.7780331406509311, + 0.6005456915997609, + 0.18441611738081057, + 0.5998312771854017, + -0.7973945158547181, + 0.06606379488758563, + 0.1867267280251482, + 0.059218733402397424, + -0.9806254487087502 + ], + [ + 0.7791913127383412, + 0.6005053565581553, + 0.17959458482388527, + 0.6008979899862386, + -0.7971849669010237, + 0.05846139048562343, + 0.17827648129688686, + 0.06236541743608397, + -0.9820020625866445 + ], + [ + 0.795087973081106, + 0.582463493626689, + 0.16903074765843526, + 0.5820869442940961, + -0.8111241228433362, + 0.05703022552988565, + 0.17032294133245687, + 0.053046544975329915, + -0.9839594299167218 + ], + [ + 0.787495305046082, + 0.5948727684981421, + 0.16117547527379616, + 0.5953853786809216, + -0.8018525163409702, + 0.05048557111323894, + 0.15927145187808756, + 0.056204371155720884, + -0.9856336404971353 + ], + [ + 0.7779249732020788, + 0.6064269744308115, + 0.16455716560282965, + 0.6085282852551306, + -0.7923533420464455, + 0.043237800502326354, + 0.15660798866276124, + 0.06650192501364544, + -0.9854194192608973 + ], + [ + 0.7509436887112801, + 0.6302005330569868, + 0.19730905838147728, + 0.6338969175796784, + -0.7716606452216476, + 0.052101309955628686, + 0.185089908605731, + 0.08594845403379771, + -0.9789558667179649 + ], + [ + 0.7384900823623151, + 0.6341312580169827, + 0.22915048736212534, + 0.6375845518251888, + -0.767316242593082, + 0.0686419924441832, + 0.21935892397250167, + 0.09541138013168607, + -0.9709677291316086 + ], + [ + 0.7652051293773838, + 0.5867387867974444, + 0.26495038411371313, + 0.5937196775227015, + -0.8022837170605318, + 0.06194983342895845, + 0.2489137491117763, + 0.10990192631159611, + -0.9622699787981126 + ], + [ + 0.7881509718179328, + 0.5555092696367294, + 0.26500471122249114, + 0.5621966675000087, + -0.825010754546617, + 0.05737736430254341, + 0.25050539450146214, + 0.10376274008568549, + -0.962538488111295 + ], + [ + 0.8430231833797707, + 0.4870400867216659, + 0.2282627131407799, + 0.48620594324627686, + -0.8715078585095107, + 0.06385791500013882, + 0.23003411276642421, + 0.057148984963155375, + -0.9715031139844305 + ], + [ + 0.9052778673294618, + 0.37786618639909886, + 0.19413687980294467, + 0.3728223911513865, + -0.9257381305184936, + 0.06334333714201583, + 0.2036552174131174, + 0.015035254581347954, + -0.9789272156499124 + ], + [ + 0.9140815665789126, + 0.36442291618986583, + 0.17790679525053144, + 0.3571653068090119, + -0.9312297817450581, + 0.07241572483290723, + 0.1920620557337261, + -0.0026517440911471984, + -0.98137920041165 + ], + [ + 0.9282914285973196, + 0.33660125580826483, + 0.15803359826646585, + 0.3309709110388366, + -0.9416351459659603, + 0.061493966596628424, + 0.1695089367522261, + -0.004779798109102354, + -0.9855170591578647 + ], + [ + 0.9362326725634786, + 0.33104474966607633, + 0.11780389018691548, + 0.3290214185796424, + -0.9436052197381821, + 0.036798035255929826, + 0.1233421620553398, + 0.004308480170755049, + -0.9923548498688018 + ], + [ + 0.9394906081059657, + 0.329167399804745, + 0.09490110740379151, + 0.3268778217045167, + -0.9442538004899503, + 0.03918736962332897, + 0.10250993590083374, + -0.005795098451996838, + -0.9947150998529874 + ], + [ + 0.932996468712513, + 0.35628968604797695, + 0.05074691109629043, + 0.35563216339808046, + -0.93437284241081, + 0.0217521429276433, + 0.055166599739170326, + -0.002247438759477239, + -0.9984746342758241 + ], + [ + 0.9280184599277033, + 0.368904119548013, + 0.051879558729031695, + 0.36840155835404637, + -0.9294666635611984, + 0.019287641917146235, + 0.055335610918502524, + 0.0012132225349084803, + -0.9984670741969196 + ], + [ + 0.9350352733223712, + 0.3505049244660859, + 0.053435340066115215, + 0.350750303624856, + -0.9364555512768518, + 0.005022448589936314, + 0.05180021380293041, + 0.014046295162448687, + -0.99855868102089 + ], + [ + 0.9365452828838106, + 0.3464589548117727, + 0.05337720242592018, + 0.3466905834789621, + -0.9379653942113925, + 0.005153502584089776, + 0.05185144583423302, + 0.01367888491805813, + -0.998561122652138 + ], + [ + 0.9306520678833577, + 0.36283141805173236, + 0.047329595593024965, + 0.3621867467116605, + -0.9318493133859251, + 0.021854465186853807, + 0.0520335377507022, + -0.0031967509676140912, + -0.9986402213672336 + ], + [ + 0.9249802542558355, + 0.377217786848409, + 0.046024672970030545, + 0.37645224729094273, + -0.926108496037239, + 0.024632480127716537, + 0.051915650303245395, + -0.005458466161088351, + -0.9986365557102141 + ], + [ + 0.9187059720547719, + 0.3889968275613395, + 0.06827008904425787, + 0.386923743230219, + -0.9211601385285774, + 0.04188097552264533, + 0.07917925129485, + -0.012060983924469363, + -0.9967874291097181 + ], + [ + 0.9085308570309887, + 0.40056651364423246, + 0.1188198214501351, + 0.39565474098558995, + -0.9162061569374228, + 0.0634318841402665, + 0.1342721406627705, + -0.010618198381239452, + -0.9908876051828349 + ], + [ + 0.9004352431767091, + 0.39337795465697556, + 0.1856614058850015, + 0.3876359313740727, + -0.9193124785241058, + 0.06784505536603734, + 0.19736959632389176, + 0.010878953063597176, + -0.9802687849907208 + ], + [ + 0.8832519853894023, + 0.404972500478743, + 0.2363539806342875, + 0.3976105809039584, + -0.9140373304094069, + 0.08025948274977247, + 0.24853924490690674, + 0.023087496053898964, + -0.9683466379696196 + ], + [ + 0.87929051989486, + 0.4081791924175378, + 0.24543416327071066, + 0.39885683175108927, + -0.9126895545453473, + 0.08894382940541254, + 0.26031021760297945, + 0.019685626766310277, + -0.9653243323931637 + ], + [ + 0.879647537599307, + 0.40820631714365824, + 0.24410614953230292, + 0.39903313022252035, + -0.9126761612434968, + 0.08828808346912961, + 0.2588296168916785, + 0.0197440457314595, + -0.9657211823698708 + ], + [ + 0.8789698874545067, + 0.40895420672050903, + 0.24529246575019628, + 0.4004647792499542, + -0.9122727984692423, + 0.08594359634890142, + 0.2589206394409249, + 0.022689159938099876, + -0.9656320751159865 + ], + [ + 0.8796027953876158, + 0.407504592749145, + 0.24543620196426916, + 0.3990717536730664, + -0.9129208635391985, + 0.08554082262374677, + 0.25892210752771855, + 0.02270470883313394, + -0.9656313159949852 + ], + [ + 0.8795831600768318, + 0.4075543131976346, + 0.2454240132979225, + 0.3991159818658694, + -0.9128990545593241, + 0.085567220382196, + 0.25892063944092497, + 0.02268915993809987, + -0.9656320751159864 + ], + [ + 0.8795831600768318, + 0.4075543131976346, + 0.2454240132979225, + 0.3991159818658694, + -0.9128990545593241, + 0.085567220382196, + 0.25892063944092497, + 0.02268915993809987, + -0.9656320751159864 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005989.json b/json/chunk-0005/episode_0005989.json new file mode 100644 index 0000000000000000000000000000000000000000..ea78a71b93d4a6194f661439d1fc025ae9b2d435 --- /dev/null +++ b/json/chunk-0005/episode_0005989.json @@ -0,0 +1,2602 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 42, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nRemove the block rectangular and put it in the middle table." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005989.mp4", + "start": 0, + "end": 42, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3572404682636261, + 0.05154918134212494, + 0.15197834372520447, + -0.2648746967315674, + -0.14742670953273773, + 1.3037991523742676, + 0.0, + 0.9981546401977539 + ], + [ + 0.35546359419822693, + 0.05055088922381401, + 0.13899052143096924, + -0.2283608466386795, + -0.13053925335407257, + 1.2976062297821045, + 0.0, + 0.9981546401977539 + ], + [ + 0.35516393184661865, + 0.05184425041079521, + 0.12743817269802094, + -0.19560888409614563, + -0.117153100669384, + 1.300787091255188, + 0.0, + 0.9981546401977539 + ], + [ + 0.35437700152397156, + 0.056581348180770874, + 0.11418172717094421, + -0.15547703206539154, + -0.10968126356601715, + 1.3098875284194946, + 0.0, + 0.9981546401977539 + ], + [ + 0.3550427556037903, + 0.06273192912340164, + 0.10459847748279572, + -0.13920192420482635, + -0.10679700970649719, + 1.3385497331619263, + 0.0, + 0.9981546401977539 + ], + [ + 0.35733285546302795, + 0.06758233159780502, + 0.09536398947238922, + -0.12072329223155975, + -0.11741787195205688, + 1.368163824081421, + 0.0, + 0.9981546401977539 + ], + [ + 0.3598019778728485, + 0.07085880637168884, + 0.09182319045066833, + -0.10143765807151794, + -0.11743126064538956, + 1.3750395774841309, + 0.0, + 0.9981546401977539 + ], + [ + 0.35854753851890564, + 0.07745226472616196, + 0.080412358045578, + -0.06147158890962601, + -0.10586664825677872, + 1.3890444040298462, + 0.0, + 0.9981546401977539 + ], + [ + 0.35822752118110657, + 0.08001016080379486, + 0.07103219628334045, + -0.03440805897116661, + -0.10115183144807816, + 1.397928237915039, + 0.0, + 0.9981546401977539 + ], + [ + 0.35754653811454773, + 0.08001629263162613, + 0.06402074545621872, + -0.01152909267693758, + -0.08533674478530884, + 1.4122223854064941, + 0.0, + 0.9476637244224548 + ], + [ + 0.3586703836917877, + 0.08053211122751236, + 0.06300533562898636, + -0.027646414935588837, + -0.058281660079956055, + 1.442548394203186, + 0.0, + 0.6520930528640747 + ], + [ + 0.35727041959762573, + 0.07601290196180344, + 0.06757762283086777, + -0.03130948916077614, + -0.02769279293715954, + 1.4544070959091187, + 0.0, + 0.5789291858673096 + ], + [ + 0.36523517966270447, + 0.06967327743768692, + 0.09891731292009354, + -0.11277252435684204, + -0.006102913524955511, + 1.455823540687561, + 0.0, + 0.5789291858673096 + ], + [ + 0.36902907490730286, + 0.0629996582865715, + 0.12390264123678207, + -0.17612233757972717, + 0.01952422596514225, + 1.4612175226211548, + 0.0, + 0.5789291858673096 + ], + [ + 0.3712741732597351, + 0.054775964468717575, + 0.14174212515354156, + -0.22378486394882202, + 0.05067550763487816, + 1.457559585571289, + 0.0, + 0.5789291858673096 + ], + [ + 0.37097102403640747, + 0.047182608395814896, + 0.15460926294326782, + -0.259127140045166, + 0.055327851325273514, + 1.4444677829742432, + 0.0, + 0.5789291858673096 + ], + [ + 0.37091073393821716, + 0.03292220085859299, + 0.16376711428165436, + -0.2813519239425659, + 0.05550887808203697, + 1.4114139080047607, + 0.0, + 0.5789291858673096 + ], + [ + 0.36947906017303467, + 0.0199457798153162, + 0.1693035364151001, + -0.28838419914245605, + 0.07114052772521973, + 1.3994770050048828, + 0.0, + 0.5789291858673096 + ], + [ + 0.36836516857147217, + 0.006536449771374464, + 0.1749706119298935, + -0.2790663242340088, + 0.0915861576795578, + 1.4254581928253174, + 0.0, + 0.5789291858673096 + ], + [ + 0.3650912046432495, + -0.0072081368416547775, + 0.1770164966583252, + -0.23808008432388306, + 0.11590226739645004, + 1.5166043043136597, + 0.0, + 0.5789291858673096 + ], + [ + 0.36088016629219055, + -0.023651743307709694, + 0.18411095440387726, + -0.19912321865558624, + 0.13015608489513397, + 1.5886253118515015, + 0.0, + 0.5789291858673096 + ], + [ + 0.3555345833301544, + -0.037010129541158676, + 0.18439814448356628, + -0.16702613234519958, + 0.11298012733459473, + 1.6012057065963745, + 0.0, + 0.5789291858673096 + ], + [ + 0.3515174388885498, + -0.04661274701356888, + 0.19575311243534088, + -0.20056606829166412, + 0.11676286160945892, + 1.5865275859832764, + 0.0, + 0.5789291858673096 + ], + [ + 0.3451337516307831, + -0.052498966455459595, + 0.19313928484916687, + -0.19621482491493225, + 0.11604953557252884, + 1.5815913677215576, + 0.0, + 0.5789291858673096 + ], + [ + 0.3443722724914551, + -0.0572689026594162, + 0.19277766346931458, + -0.1992054581642151, + 0.10606125742197037, + 1.5776339769363403, + 0.0, + 0.5789291858673096 + ], + [ + 0.3449474573135376, + -0.055509719997644424, + 0.19212713837623596, + -0.20130395889282227, + 0.09087184071540833, + 1.5754019021987915, + 0.0, + 0.5789291858673096 + ], + [ + 0.3493606746196747, + -0.046530548483133316, + 0.18930912017822266, + -0.21189624071121216, + 0.07150547206401825, + 1.5589311122894287, + 0.0, + 0.5789291858673096 + ], + [ + 0.3628483712673187, + -0.02481660060584545, + 0.1825455278158188, + -0.2053193598985672, + 0.046764690428972244, + 1.561453104019165, + 0.0, + 0.5789291858673096 + ], + [ + 0.37564173340797424, + -0.0032787129748612642, + 0.19022713601589203, + -0.2268650084733963, + 0.04823562875390053, + 1.5854029655456543, + 0.0, + 0.5789291858673096 + ], + [ + 0.3873904049396515, + 0.017642343416810036, + 0.18905626237392426, + -0.22674678266048431, + 0.04972019046545029, + 1.6145093441009521, + 0.0, + 0.5789291858673096 + ], + [ + 0.4000781774520874, + 0.036090295761823654, + 0.17060640454292297, + -0.2032916396856308, + 0.02721710130572319, + 1.609062910079956, + 0.0, + 0.5789291858673096 + ], + [ + 0.41033050417900085, + 0.04694493114948273, + 0.14200350642204285, + -0.16152462363243103, + -0.019010916352272034, + 1.5514274835586548, + 0.0, + 0.5789291858673096 + ], + [ + 0.4183330833911896, + 0.054000794887542725, + 0.12322825938463211, + -0.18124985694885254, + -0.020311102271080017, + 1.4771510362625122, + 0.0, + 0.5789291858673096 + ], + [ + 0.4166770279407501, + 0.06736300140619278, + 0.10871127992868423, + -0.19092640280723572, + -0.02945544384419918, + 1.4707794189453125, + 0.0, + 0.5789291858673096 + ], + [ + 0.41693729162216187, + 0.06700155138969421, + 0.10173536092042923, + -0.20756584405899048, + -0.02012728713452816, + 1.4491877555847168, + 0.0, + 0.5789291858673096 + ], + [ + 0.4139755666255951, + 0.06925900280475616, + 0.08901306241750717, + -0.20650510489940643, + -0.039254311472177505, + 1.4446769952774048, + 0.0, + 0.5789291858673096 + ], + [ + 0.41393619775772095, + 0.0681881234049797, + 0.0677318200469017, + -0.20797589421272278, + -0.07644950598478317, + 1.4450122117996216, + 0.0, + 0.5789291858673096 + ], + [ + 0.41382551193237305, + 0.07133784145116806, + 0.05551133304834366, + -0.2411309778690338, + -0.13864865899085999, + 1.5179139375686646, + 0.0, + 0.5789291858673096 + ], + [ + 0.41678962111473083, + 0.06457509845495224, + 0.048636049032211304, + -0.28359413146972656, + -0.1671588122844696, + 1.539664626121521, + 0.0, + 0.5789291858673096 + ], + [ + 0.419541597366333, + 0.06334858387708664, + 0.03991786763072014, + -0.2844851315021515, + -0.15399359166622162, + 1.5495213270187378, + 0.0, + 0.641040563583374 + ], + [ + 0.4189054071903229, + 0.05902903899550438, + 0.031639255583286285, + -0.24277335405349731, + -0.12422717362642288, + 1.5293067693710327, + 0.0, + 0.9132781028747559 + ], + [ + 0.4166060984134674, + 0.06098715588450432, + 0.032158367335796356, + -0.21680641174316406, + -0.12968537211418152, + 1.452178955078125, + 0.0, + 1.002137303352356 + ] + ], + "left_gripper_pos": [ + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9476637244224548 + ], + [ + 0.6520930528640747 + ], + [ + 0.5789291858673096 + ], + [ + 0.5789291858673096 + ], + [ + 0.5789291858673096 + ], + [ + 0.5789291858673096 + ], + [ + 0.5789291858673096 + ], + [ + 0.5789291858673096 + ], + [ + 0.5789291858673096 + ], + [ + 0.5789291858673096 + ], + [ + 0.5789291858673096 + ], + [ + 0.5789291858673096 + ], + [ + 0.5789291858673096 + ], + [ + 0.5789291858673096 + ], + [ + 0.5789291858673096 + ], + [ + 0.5789291858673096 + ], + [ + 0.5789291858673096 + ], + [ + 0.5789291858673096 + ], + [ + 0.5789291858673096 + ], + [ + 0.5789291858673096 + ], + [ + 0.5789291858673096 + ], + [ + 0.5789291858673096 + ], + [ + 0.5789291858673096 + ], + [ + 0.5789291858673096 + ], + [ + 0.5789291858673096 + ], + [ + 0.5789291858673096 + ], + [ + 0.5789291858673096 + ], + [ + 0.5789291858673096 + ], + [ + 0.5789291858673096 + ], + [ + 0.5789291858673096 + ], + [ + 0.641040563583374 + ], + [ + 0.9132781028747559 + ], + [ + 1.002137303352356 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3572404682636261, + 0.05154918134212494, + 0.15197834372520447 + ], + [ + 0.35546359419822693, + 0.05055088922381401, + 0.13899052143096924 + ], + [ + 0.35516393184661865, + 0.05184425041079521, + 0.12743817269802094 + ], + [ + 0.35437700152397156, + 0.056581348180770874, + 0.11418172717094421 + ], + [ + 0.3550427556037903, + 0.06273192912340164, + 0.10459847748279572 + ], + [ + 0.35733285546302795, + 0.06758233159780502, + 0.09536398947238922 + ], + [ + 0.3598019778728485, + 0.07085880637168884, + 0.09182319045066833 + ], + [ + 0.35854753851890564, + 0.07745226472616196, + 0.080412358045578 + ], + [ + 0.35822752118110657, + 0.08001016080379486, + 0.07103219628334045 + ], + [ + 0.35754653811454773, + 0.08001629263162613, + 0.06402074545621872 + ], + [ + 0.3586703836917877, + 0.08053211122751236, + 0.06300533562898636 + ], + [ + 0.35727041959762573, + 0.07601290196180344, + 0.06757762283086777 + ], + [ + 0.36523517966270447, + 0.06967327743768692, + 0.09891731292009354 + ], + [ + 0.36902907490730286, + 0.0629996582865715, + 0.12390264123678207 + ], + [ + 0.3712741732597351, + 0.054775964468717575, + 0.14174212515354156 + ], + [ + 0.37097102403640747, + 0.047182608395814896, + 0.15460926294326782 + ], + [ + 0.37091073393821716, + 0.03292220085859299, + 0.16376711428165436 + ], + [ + 0.36947906017303467, + 0.0199457798153162, + 0.1693035364151001 + ], + [ + 0.36836516857147217, + 0.006536449771374464, + 0.1749706119298935 + ], + [ + 0.3650912046432495, + -0.0072081368416547775, + 0.1770164966583252 + ], + [ + 0.36088016629219055, + -0.023651743307709694, + 0.18411095440387726 + ], + [ + 0.3555345833301544, + -0.037010129541158676, + 0.18439814448356628 + ], + [ + 0.3515174388885498, + -0.04661274701356888, + 0.19575311243534088 + ], + [ + 0.3451337516307831, + -0.052498966455459595, + 0.19313928484916687 + ], + [ + 0.3443722724914551, + -0.0572689026594162, + 0.19277766346931458 + ], + [ + 0.3449474573135376, + -0.055509719997644424, + 0.19212713837623596 + ], + [ + 0.3493606746196747, + -0.046530548483133316, + 0.18930912017822266 + ], + [ + 0.3628483712673187, + -0.02481660060584545, + 0.1825455278158188 + ], + [ + 0.37564173340797424, + -0.0032787129748612642, + 0.19022713601589203 + ], + [ + 0.3873904049396515, + 0.017642343416810036, + 0.18905626237392426 + ], + [ + 0.4000781774520874, + 0.036090295761823654, + 0.17060640454292297 + ], + [ + 0.41033050417900085, + 0.04694493114948273, + 0.14200350642204285 + ], + [ + 0.4183330833911896, + 0.054000794887542725, + 0.12322825938463211 + ], + [ + 0.4166770279407501, + 0.06736300140619278, + 0.10871127992868423 + ], + [ + 0.41693729162216187, + 0.06700155138969421, + 0.10173536092042923 + ], + [ + 0.4139755666255951, + 0.06925900280475616, + 0.08901306241750717 + ], + [ + 0.41393619775772095, + 0.0681881234049797, + 0.0677318200469017 + ], + [ + 0.41382551193237305, + 0.07133784145116806, + 0.05551133304834366 + ], + [ + 0.41678962111473083, + 0.06457509845495224, + 0.048636049032211304 + ], + [ + 0.419541597366333, + 0.06334858387708664, + 0.03991786763072014 + ], + [ + 0.4189054071903229, + 0.05902903899550438, + 0.031639255583286285 + ], + [ + 0.4166060984134674, + 0.06098715588450432, + 0.032158367335796356 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.26097420019827444, + 0.9207827019554071, + 0.28991668218743644, + 0.9541042088321974, + -0.29172738088113337, + 0.06767786885622795, + 0.14689324531631004, + 0.25894854898982184, + -0.9546559712569278 + ], + [ + 0.2675090572807942, + 0.9299660988206119, + 0.2521942888273104, + 0.9547224627065419, + -0.2911751088342843, + 0.06100881246917042, + 0.13016882682230974, + 0.22445514260028612, + -0.9657515029675019 + ], + [ + 0.2649119448313772, + 0.9393290124914921, + 0.2179051807034786, + 0.9571622057884293, + -0.28354862504671324, + 0.058657386954645216, + 0.11688529974246517, + 0.19303156095798613, + -0.9742056472728113 + ], + [ + 0.2564086351799552, + 0.9501294854750023, + 0.17750654251649423, + 0.9603503501604672, + -0.2712237411633049, + 0.0645359370897227, + 0.10946148524399214, + 0.15392089871225384, + -0.9820012933737875 + ], + [ + 0.22885304461916955, + 0.960334329496938, + 0.15932438469425408, + 0.9676073477277232, + -0.2423311499579518, + 0.07079289783147319, + 0.10659411143143475, + 0.13796227509621223, + -0.9846847749703556 + ], + [ + 0.19986295717674535, + 0.9695716295431622, + 0.14137062471950684, + 0.9727955002954396, + -0.2136034813004078, + 0.08967980475721402, + 0.11714825202926477, + 0.11960103662328153, + -0.9858863418696521 + ], + [ + 0.19316927847024823, + 0.9735508475861316, + 0.12200154515254463, + 0.9741451644405357, + -0.20514665978896052, + 0.0946363913859486, + 0.11716154852341973, + 0.1005663718235733, + -0.98800788276503 + ], + [ + 0.17974094515929262, + 0.980497498066883, + 0.07948489741974063, + 0.9780221132972786, + -0.18679613901496528, + 0.09262801061572441, + 0.10566900460763862, + 0.061088941173376834, + -0.9925231497207239 + ], + [ + 0.171129175561067, + 0.983914880698275, + 0.051247563964435874, + 0.9800601821024585, + -0.17532862741610056, + 0.0934981917776069, + 0.10097942725667187, + 0.03422542839594003, + -0.9942996406124409 + ], + [ + 0.15733557050649882, + 0.9872326823007621, + 0.024842488817284118, + 0.9838601621553064, + -0.15887001759095254, + 0.08233771210317012, + 0.08523320700952555, + 0.01148688416816241, + -0.996294811747496 + ], + [ + 0.12767950612500606, + 0.9912025656370899, + 0.03486283967385796, + 0.9901035481438659, + -0.1294447254520003, + 0.0542127937445, + 0.05824867095996242, + 0.027595958528502926, + -0.9979206157827842 + ], + [ + 0.11608210656141904, + 0.9926469719690986, + 0.03430646552536547, + 0.9928535892950422, + -0.1169306484174425, + 0.023853169278486325, + 0.027689253514947398, + 0.03129237129487291, + -0.999126665012264 + ], + [ + 0.1147175178202649, + 0.9870089717980274, + 0.1124863578188823, + 0.9933794068804084, + -0.11467318988107028, + -0.006885746758903889, + 0.006102875640627378, + 0.11253154718877909, + -0.9936294106940545 + ], + [ + 0.10933879791805518, + 0.9789996256595999, + 0.17206033891689898, + 0.9938127994267729, + -0.10426773434225328, + -0.03826694749590166, + -0.019522985564598, + 0.17517982912851793, + -0.9843428673491508 + ], + [ + 0.11284984404710141, + 0.9700899539056158, + 0.2149195059317432, + 0.9923200608130767, + -0.09900812539273096, + -0.07415044176637635, + -0.05065382124259128, + 0.22163680298546307, + -0.9738127735637412 + ], + [ + 0.12580000747587888, + 0.9606965025371743, + 0.2474602758664709, + 0.9905131545324024, + -0.10772951617345711, + -0.08531144145600962, + -0.05529962764194822, + 0.2558448384429006, + -0.9651348972163364 + ], + [ + 0.15846403691647193, + 0.9509495918830487, + 0.2656765377326313, + 0.9858047863695826, + -0.1372590736891539, + -0.09668955404187708, + -0.05548037648535449, + 0.27722701958405616, + -0.9592012861947093 + ], + [ + 0.17005128300061378, + 0.9481163025817779, + 0.2686224821724789, + 0.982868311894935, + -0.1435227596997607, + -0.11563346799679496, + -0.07108053617303567, + 0.28368414518055696, + -0.9562796992253524 + ], + [ + 0.14422002523780525, + 0.9548265273874534, + 0.2598208746764273, + 0.9853100967773976, + -0.11429679510332985, + -0.12688678346314547, + -0.09145817354901942, + 0.2743037462856174, + -0.9572841047801606 + ], + [ + 0.05380209681618969, + 0.9718431858159045, + 0.2294039157498732, + 0.9918326686782846, + -0.025404747129507188, + -0.12499022428093386, + -0.11564294929088284, + 0.23425503411128512, + -0.9652726491892469 + ], + [ + -0.017677244666260195, + 0.9796268900950238, + 0.2000466726135695, + 0.9913840598649262, + 0.043145222681027995, + -0.12367754689328368, + -0.12978890887416017, + 0.1961368042019549, + -0.9719491721127698 + ], + [ + -0.030210849104339577, + 0.9850577606937418, + 0.16955386369359315, + 0.9931651493949163, + 0.04871598278067446, + -0.10606478703644548, + -0.11273992471067351, + 0.16519068108929078, + -0.9797967892667784 + ], + [ + -0.015623499972325816, + 0.9794676129402892, + 0.20099527718249155, + 0.9930680671124231, + 0.03862155500237707, + -0.11101436650629626, + -0.11649772671692199, + 0.19786755845830373, + -0.9732814130453429 + ], + [ + -0.01072222314086485, + 0.9805107222674152, + 0.19617277448603687, + 0.9932159324996876, + 0.03316043859679563, + -0.11145625483051319, + -0.11578922816779486, + 0.19364686630746214, + -0.9742144249648568 + ], + [ + -0.006799174868117042, + 0.9800579630731054, + 0.19859546882572, + 0.9943575300713325, + 0.02765108189901122, + -0.10241347596997435, + -0.10586252222364206, + 0.19677857273292976, + -0.9747160200292387 + ], + [ + -0.00458655656096929, + 0.9797127307075018, + 0.2003545077819913, + 0.9958634328436606, + 0.022656932649397332, + -0.08799253677307675, + -0.090746827072651, + 0.19912214515862278, + -0.9757640005061037 + ], + [ + 0.011834616123450437, + 0.977743330108741, + 0.2094705761893068, + 0.9973743618895587, + 0.003425176186929002, + -0.07233706113386298, + -0.07144455267272866, + 0.20977666361146588, + -0.9751355943136502 + ], + [ + 0.009332872332953046, + 0.979042240639212, + 0.20344333004099266, + 0.998863131258929, + 0.00038364204888624576, + -0.047668625220223415, + -0.046747647059767555, + 0.20365692687195736, + -0.9779256176373773 + ], + [ + -0.014589130800558181, + 0.9741139696726027, + 0.22558619494811338, + 0.9987303366249849, + 0.02507584244086969, + -0.04369115277519464, + -0.04821692615077117, + 0.22466236047581423, + -0.9732430075875227 + ], + [ + -0.04364509420937368, + 0.9729838449191984, + 0.2267102628416012, + 0.9978101246372585, + 0.05374278445599845, + -0.03855733769718456, + -0.04969970747231353, + 0.22453095698626746, + -0.9731987404595206 + ], + [ + -0.03824307576246555, + 0.9784801240464781, + 0.20276615595856826, + 0.9988978323374068, + 0.04295970196247112, + -0.018909906370074628, + -0.02721374115875394, + 0.20181950067643056, + -0.979044586032148 + ], + [ + 0.019364132444877946, + 0.9867388961985328, + 0.1611563871013434, + 0.9996317616864017, + -0.022172166559662865, + 0.015644042245897702, + 0.019009771234764813, + 0.16079410983910875, + -0.9868048859012861 + ], + [ + 0.09348919369476372, + 0.9789670836788289, + 0.18133730927658365, + 0.9954131235390193, + -0.09562170233644063, + 0.0030337317899767485, + 0.020309705773233835, + 0.18022191630223428, + -0.9834162784577825 + ], + [ + 0.0998069269540876, + 0.9763640883735857, + 0.19170744447307803, + 0.9945708647724504, + -0.10359682452993774, + 0.009823079613518845, + 0.029451184658034743, + 0.1896862274434551, + -0.9814029564050173 + ], + [ + 0.12128448432546207, + 0.9708056147809407, + 0.20694572276736323, + 0.9924137347274249, + -0.12282210255874465, + -0.005450710725535685, + 0.02012592820892989, + 0.2060368642569791, + -0.9783372412317135 + ], + [ + 0.12568835430548886, + 0.9699675788213183, + 0.20824344798213415, + 0.9912932603013259, + -0.13109550184637975, + 0.012314279386702959, + 0.039244231081087905, + 0.2048825649760266, + -0.9779995014802914 + ], + [ + 0.12508626474496087, + 0.968742327889597, + 0.2142235480221492, + 0.9892018382022896, + -0.13839461506097583, + 0.048235400064013736, + 0.07637505921022049, + 0.20587674146724017, + -0.9755929569515487 + ], + [ + 0.0523505038926102, + 0.9679665254991121, + 0.24556105199189543, + 0.9890191298251159, + -0.08428582029655995, + 0.12139629869525002, + 0.13820486815651667, + 0.23650942055257035, + -0.9617498159124998 + ], + [ + 0.030692812054037677, + 0.95814167940877, + 0.2846444685356753, + 0.9855836687769985, + -0.07641564956164332, + 0.1509486016568015, + 0.1663814386531356, + 0.27590790253599784, + -0.9466742027698332 + ], + [ + 0.021021654027816472, + 0.958673262339039, + 0.2837316798282472, + 0.9879427735316433, + -0.06345832860982631, + 0.14121655978195907, + 0.1533856782380256, + 0.27734205704557596, + -0.948448320735078 + ], + [ + 0.041158016902332506, + 0.9686041833602729, + 0.24517739215034914, + 0.9914397863891661, + -0.07002260011806133, + 0.11019975243761082, + 0.12390789970486929, + 0.23854301802753491, + -0.9631947160055662 + ], + [ + 0.11734566834377519, + 0.9664350601097339, + 0.22854598817666277, + 0.9846348420758705, + -0.14319227207263624, + 0.09995099293604515, + 0.1293221631862766, + 0.213305526907698, + -0.9683886256557597 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.00177687406539917, + -0.0009982921183109283, + -0.01298782229423523, + 0.03651385009288788, + 0.01688745617866516, + -0.006192922592163086, + 1.0 + ], + [ + -0.00029966235160827637, + 0.0012933611869812012, + -0.011552348732948303, + 0.032751962542533875, + 0.013386152684688568, + 0.003180861473083496, + 1.0 + ], + [ + -0.0007869303226470947, + 0.004737097769975662, + -0.013256445527076721, + 0.04013185203075409, + 0.007471837103366852, + 0.00910043716430664, + 1.0 + ], + [ + 0.0006657540798187256, + 0.006150580942630768, + -0.009583249688148499, + 0.016275107860565186, + 0.0028842538595199585, + 0.02866220474243164, + 1.0 + ], + [ + 0.002290099859237671, + 0.004850402474403381, + -0.009234488010406494, + 0.0184786319732666, + -0.010620862245559692, + 0.02961409091949463, + 1.0 + ], + [ + 0.0024691224098205566, + 0.0032764747738838196, + -0.0035407990217208862, + 0.01928563416004181, + -1.3388693332672119e-05, + 0.006875753402709961, + 1.0 + ], + [ + -0.001254439353942871, + 0.006593458354473114, + -0.011410832405090332, + 0.03996606916189194, + 0.01156461238861084, + 0.014004826545715332, + 1.0 + ], + [ + -0.00032001733779907227, + 0.002557896077632904, + -0.009380161762237549, + 0.027063529938459396, + 0.0047148168087005615, + 0.008883833885192871, + 1.0 + ], + [ + -0.0006809830665588379, + 6.1318278312683105e-06, + -0.007011450827121735, + 0.022878967225551605, + 0.015815086662769318, + 0.014294147491455078, + 0.0 + ], + [ + 0.0011238455772399902, + 0.0005158185958862305, + -0.0010154098272323608, + -0.01611732318997383, + 0.027055084705352783, + 0.030326008796691895, + 0.0 + ], + [ + -0.0013999640941619873, + -0.004519209265708923, + 0.004572287201881409, + -0.0036630742251873016, + 0.030588867142796516, + 0.011858701705932617, + 0.0 + ], + [ + 0.007964760065078735, + -0.006339624524116516, + 0.03133969008922577, + -0.0814630389213562, + 0.02158987894654274, + 0.0014164447784423828, + 0.0 + ], + [ + 0.0037938952445983887, + -0.0066736191511154175, + 0.024985328316688538, + -0.06334981322288513, + 0.02562713995575905, + 0.00539398193359375, + 0.0 + ], + [ + 0.002245098352432251, + -0.008223693817853928, + 0.01783948391675949, + -0.04766252636909485, + 0.03115128166973591, + -0.0036579370498657227, + 0.0 + ], + [ + -0.0003031492233276367, + -0.0075933560729026794, + 0.012867137789726257, + -0.035342276096343994, + 0.004652343690395355, + -0.013091802597045898, + 0.0 + ], + [ + -6.029009819030762e-05, + -0.014260407537221909, + 0.009157851338386536, + -0.022224783897399902, + 0.00018102675676345825, + -0.03305387496948242, + 0.0 + ], + [ + -0.0014316737651824951, + -0.012976421043276787, + 0.00553642213344574, + -0.007032275199890137, + 0.015631649643182755, + -0.01193690299987793, + 0.0 + ], + [ + -0.0011138916015625, + -0.013409329578280449, + 0.005667075514793396, + 0.009317874908447266, + 0.020445629954338074, + 0.02598118782043457, + 0.0 + ], + [ + -0.0032739639282226562, + -0.013744587078690529, + 0.0020458847284317017, + 0.04098623991012573, + 0.024316109716892242, + 0.09114611148834229, + 0.0 + ], + [ + -0.00421103835105896, + -0.016443606466054916, + 0.007094457745552063, + 0.038956865668296814, + 0.01425381749868393, + 0.0720210075378418, + 0.0 + ], + [ + -0.005345582962036133, + -0.013358386233448982, + 0.0002871900796890259, + 0.03209708631038666, + -0.017175957560539246, + 0.012580394744873047, + 0.0 + ], + [ + -0.004017144441604614, + -0.009602617472410202, + 0.011354967951774597, + -0.03353993594646454, + 0.0037827342748641968, + -0.014678120613098145, + 0.0 + ], + [ + -0.006383687257766724, + -0.0058862194418907166, + -0.0026138275861740112, + 0.0043512433767318726, + -0.0007133260369300842, + -0.00493621826171875, + 0.0 + ], + [ + -0.0007614791393280029, + -0.004769936203956604, + -0.0003616213798522949, + -0.002990633249282837, + -0.009988278150558472, + -0.003957390785217285, + 0.0 + ], + [ + 0.0005751848220825195, + 0.0017591826617717743, + -0.0006505250930786133, + -0.0020985007286071777, + -0.015189416706562042, + -0.002232074737548828, + 0.0 + ], + [ + 0.004413217306137085, + 0.008979171514511108, + -0.0028180181980133057, + -0.010592281818389893, + -0.019366368651390076, + -0.016470789909362793, + 0.0 + ], + [ + 0.013487696647644043, + 0.021713947877287865, + -0.00676359236240387, + 0.0065768808126449585, + -0.024740781635046005, + 0.002521991729736328, + 0.0 + ], + [ + 0.012793362140655518, + 0.021537886932492256, + 0.007681608200073242, + -0.0215456485748291, + 0.0014709383249282837, + 0.023949861526489258, + 0.0 + ], + [ + 0.011748671531677246, + 0.02092105709016323, + -0.0011708736419677734, + 0.0001182258129119873, + 0.001484561711549759, + 0.02910637855529785, + 0.0 + ], + [ + 0.012687772512435913, + 0.01844795234501362, + -0.018449857831001282, + 0.023455142974853516, + -0.022503089159727097, + -0.005446434020996094, + 0.0 + ], + [ + 0.010252326726913452, + 0.010854635387659073, + -0.028602898120880127, + 0.04176701605319977, + -0.046228017657995224, + -0.05763542652130127, + 0.0 + ], + [ + 0.00800257921218872, + 0.0070558637380599976, + -0.018775247037410736, + -0.01972523331642151, + -0.0013001859188079834, + -0.07427644729614258, + 0.0 + ], + [ + -0.0016560554504394531, + 0.013362206518650055, + -0.014516979455947876, + -0.009676545858383179, + -0.009144341573119164, + -0.006371617317199707, + 0.0 + ], + [ + 0.00026026368141174316, + -0.0003614500164985657, + -0.006975919008255005, + -0.01663944125175476, + 0.00932815670967102, + -0.021591663360595703, + 0.0 + ], + [ + -0.0029617249965667725, + 0.0022574514150619507, + -0.012722298502922058, + 0.0010607391595840454, + -0.019127024337649345, + -0.004510760307312012, + 0.0 + ], + [ + -3.936886787414551e-05, + -0.0010708793997764587, + -0.02128124237060547, + -0.0014707893133163452, + -0.03719519451260567, + 0.0003352165222167969, + 0.0 + ], + [ + -0.00011068582534790039, + 0.0031497180461883545, + -0.012220486998558044, + -0.033155083656311035, + -0.06219915300607681, + 0.07290172576904297, + 0.0 + ], + [ + 0.002964109182357788, + -0.00676274299621582, + -0.006875284016132355, + -0.04246315360069275, + -0.02851015329360962, + 0.021750688552856445, + 0.0 + ], + [ + 0.002751976251602173, + -0.0012265145778656006, + -0.008718181401491165, + -0.0008910000324249268, + 0.013165220618247986, + 0.009856700897216797, + 1.0 + ], + [ + -0.0006361901760101318, + -0.00431954488158226, + -0.008278612047433853, + 0.041711777448654175, + 0.029766418039798737, + -0.020214557647705078, + 1.0 + ], + [ + -0.0022993087768554688, + 0.001958116888999939, + 0.0005191117525100708, + 0.025966942310333252, + -0.0054581984877586365, + -0.07712781429290771, + 1.0 + ], + [ + -0.013956844806671143, + 0.0030006878077983856, + 0.032889023423194885, + -0.04403418302536011, + -0.04750262200832367, + -0.05969560146331787, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9476637244224548 + ], + [ + 0.6520930528640747 + ], + [ + 0.5789291858673096 + ], + [ + 0.5789291858673096 + ], + [ + 0.5789291858673096 + ], + [ + 0.5789291858673096 + ], + [ + 0.5789291858673096 + ], + [ + 0.5789291858673096 + ], + [ + 0.5789291858673096 + ], + [ + 0.5789291858673096 + ], + [ + 0.5789291858673096 + ], + [ + 0.5789291858673096 + ], + [ + 0.5789291858673096 + ], + [ + 0.5789291858673096 + ], + [ + 0.5789291858673096 + ], + [ + 0.5789291858673096 + ], + [ + 0.5789291858673096 + ], + [ + 0.5789291858673096 + ], + [ + 0.5789291858673096 + ], + [ + 0.5789291858673096 + ], + [ + 0.5789291858673096 + ], + [ + 0.5789291858673096 + ], + [ + 0.5789291858673096 + ], + [ + 0.5789291858673096 + ], + [ + 0.5789291858673096 + ], + [ + 0.5789291858673096 + ], + [ + 0.5789291858673096 + ], + [ + 0.5789291858673096 + ], + [ + 0.5789291858673096 + ], + [ + 0.5789291858673096 + ], + [ + 0.641040563583374 + ], + [ + 0.9132781028747559 + ], + [ + 1.002137303352356 + ], + [ + 0.9988223910331726 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.35546359419822693, + 0.05055088922381401, + 0.13899052143096924 + ], + [ + 0.35516393184661865, + 0.05184425041079521, + 0.12743817269802094 + ], + [ + 0.35437700152397156, + 0.056581348180770874, + 0.11418172717094421 + ], + [ + 0.3550427556037903, + 0.06273192912340164, + 0.10459847748279572 + ], + [ + 0.35733285546302795, + 0.06758233159780502, + 0.09536398947238922 + ], + [ + 0.3598019778728485, + 0.07085880637168884, + 0.09182319045066833 + ], + [ + 0.35854753851890564, + 0.07745226472616196, + 0.080412358045578 + ], + [ + 0.35822752118110657, + 0.08001016080379486, + 0.07103219628334045 + ], + [ + 0.35754653811454773, + 0.08001629263162613, + 0.06402074545621872 + ], + [ + 0.3586703836917877, + 0.08053211122751236, + 0.06300533562898636 + ], + [ + 0.35727041959762573, + 0.07601290196180344, + 0.06757762283086777 + ], + [ + 0.36523517966270447, + 0.06967327743768692, + 0.09891731292009354 + ], + [ + 0.36902907490730286, + 0.0629996582865715, + 0.12390264123678207 + ], + [ + 0.3712741732597351, + 0.054775964468717575, + 0.14174212515354156 + ], + [ + 0.37097102403640747, + 0.047182608395814896, + 0.15460926294326782 + ], + [ + 0.37091073393821716, + 0.03292220085859299, + 0.16376711428165436 + ], + [ + 0.36947906017303467, + 0.0199457798153162, + 0.1693035364151001 + ], + [ + 0.36836516857147217, + 0.006536449771374464, + 0.1749706119298935 + ], + [ + 0.3650912046432495, + -0.0072081368416547775, + 0.1770164966583252 + ], + [ + 0.36088016629219055, + -0.023651743307709694, + 0.18411095440387726 + ], + [ + 0.3555345833301544, + -0.037010129541158676, + 0.18439814448356628 + ], + [ + 0.3515174388885498, + -0.04661274701356888, + 0.19575311243534088 + ], + [ + 0.3451337516307831, + -0.052498966455459595, + 0.19313928484916687 + ], + [ + 0.3443722724914551, + -0.0572689026594162, + 0.19277766346931458 + ], + [ + 0.3449474573135376, + -0.055509719997644424, + 0.19212713837623596 + ], + [ + 0.3493606746196747, + -0.046530548483133316, + 0.18930912017822266 + ], + [ + 0.3628483712673187, + -0.02481660060584545, + 0.1825455278158188 + ], + [ + 0.37564173340797424, + -0.0032787129748612642, + 0.19022713601589203 + ], + [ + 0.3873904049396515, + 0.017642343416810036, + 0.18905626237392426 + ], + [ + 0.4000781774520874, + 0.036090295761823654, + 0.17060640454292297 + ], + [ + 0.41033050417900085, + 0.04694493114948273, + 0.14200350642204285 + ], + [ + 0.4183330833911896, + 0.054000794887542725, + 0.12322825938463211 + ], + [ + 0.4166770279407501, + 0.06736300140619278, + 0.10871127992868423 + ], + [ + 0.41693729162216187, + 0.06700155138969421, + 0.10173536092042923 + ], + [ + 0.4139755666255951, + 0.06925900280475616, + 0.08901306241750717 + ], + [ + 0.41393619775772095, + 0.0681881234049797, + 0.0677318200469017 + ], + [ + 0.41382551193237305, + 0.07133784145116806, + 0.05551133304834366 + ], + [ + 0.41678962111473083, + 0.06457509845495224, + 0.048636049032211304 + ], + [ + 0.419541597366333, + 0.06334858387708664, + 0.03991786763072014 + ], + [ + 0.4189054071903229, + 0.05902903899550438, + 0.031639255583286285 + ], + [ + 0.4166060984134674, + 0.06098715588450432, + 0.032158367335796356 + ], + [ + 0.40264925360679626, + 0.0639878436923027, + 0.06504739075899124 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.2675090572807942, + 0.9299660988206119, + 0.2521942888273104, + 0.9547224627065419, + -0.2911751088342843, + 0.06100881246917042, + 0.13016882682230974, + 0.22445514260028612, + -0.9657515029675019 + ], + [ + 0.2649119448313772, + 0.9393290124914921, + 0.2179051807034786, + 0.9571622057884293, + -0.28354862504671324, + 0.058657386954645216, + 0.11688529974246517, + 0.19303156095798613, + -0.9742056472728113 + ], + [ + 0.2564086351799552, + 0.9501294854750023, + 0.17750654251649423, + 0.9603503501604672, + -0.2712237411633049, + 0.0645359370897227, + 0.10946148524399214, + 0.15392089871225384, + -0.9820012933737875 + ], + [ + 0.22885304461916955, + 0.960334329496938, + 0.15932438469425408, + 0.9676073477277232, + -0.2423311499579518, + 0.07079289783147319, + 0.10659411143143475, + 0.13796227509621223, + -0.9846847749703556 + ], + [ + 0.19986295717674535, + 0.9695716295431622, + 0.14137062471950684, + 0.9727955002954396, + -0.2136034813004078, + 0.08967980475721402, + 0.11714825202926477, + 0.11960103662328153, + -0.9858863418696521 + ], + [ + 0.19316927847024823, + 0.9735508475861316, + 0.12200154515254463, + 0.9741451644405357, + -0.20514665978896052, + 0.0946363913859486, + 0.11716154852341973, + 0.1005663718235733, + -0.98800788276503 + ], + [ + 0.17974094515929262, + 0.980497498066883, + 0.07948489741974063, + 0.9780221132972786, + -0.18679613901496528, + 0.09262801061572441, + 0.10566900460763862, + 0.061088941173376834, + -0.9925231497207239 + ], + [ + 0.171129175561067, + 0.983914880698275, + 0.051247563964435874, + 0.9800601821024585, + -0.17532862741610056, + 0.0934981917776069, + 0.10097942725667187, + 0.03422542839594003, + -0.9942996406124409 + ], + [ + 0.15733557050649882, + 0.9872326823007621, + 0.024842488817284118, + 0.9838601621553064, + -0.15887001759095254, + 0.08233771210317012, + 0.08523320700952555, + 0.01148688416816241, + -0.996294811747496 + ], + [ + 0.12767950612500606, + 0.9912025656370899, + 0.03486283967385796, + 0.9901035481438659, + -0.1294447254520003, + 0.0542127937445, + 0.05824867095996242, + 0.027595958528502926, + -0.9979206157827842 + ], + [ + 0.11608210656141904, + 0.9926469719690986, + 0.03430646552536547, + 0.9928535892950422, + -0.1169306484174425, + 0.023853169278486325, + 0.027689253514947398, + 0.03129237129487291, + -0.999126665012264 + ], + [ + 0.1147175178202649, + 0.9870089717980274, + 0.1124863578188823, + 0.9933794068804084, + -0.11467318988107028, + -0.006885746758903889, + 0.006102875640627378, + 0.11253154718877909, + -0.9936294106940545 + ], + [ + 0.10933879791805518, + 0.9789996256595999, + 0.17206033891689898, + 0.9938127994267729, + -0.10426773434225328, + -0.03826694749590166, + -0.019522985564598, + 0.17517982912851793, + -0.9843428673491508 + ], + [ + 0.11284984404710141, + 0.9700899539056158, + 0.2149195059317432, + 0.9923200608130767, + -0.09900812539273096, + -0.07415044176637635, + -0.05065382124259128, + 0.22163680298546307, + -0.9738127735637412 + ], + [ + 0.12580000747587888, + 0.9606965025371743, + 0.2474602758664709, + 0.9905131545324024, + -0.10772951617345711, + -0.08531144145600962, + -0.05529962764194822, + 0.2558448384429006, + -0.9651348972163364 + ], + [ + 0.15846403691647193, + 0.9509495918830487, + 0.2656765377326313, + 0.9858047863695826, + -0.1372590736891539, + -0.09668955404187708, + -0.05548037648535449, + 0.27722701958405616, + -0.9592012861947093 + ], + [ + 0.17005128300061378, + 0.9481163025817779, + 0.2686224821724789, + 0.982868311894935, + -0.1435227596997607, + -0.11563346799679496, + -0.07108053617303567, + 0.28368414518055696, + -0.9562796992253524 + ], + [ + 0.14422002523780525, + 0.9548265273874534, + 0.2598208746764273, + 0.9853100967773976, + -0.11429679510332985, + -0.12688678346314547, + -0.09145817354901942, + 0.2743037462856174, + -0.9572841047801606 + ], + [ + 0.05380209681618969, + 0.9718431858159045, + 0.2294039157498732, + 0.9918326686782846, + -0.025404747129507188, + -0.12499022428093386, + -0.11564294929088284, + 0.23425503411128512, + -0.9652726491892469 + ], + [ + -0.017677244666260195, + 0.9796268900950238, + 0.2000466726135695, + 0.9913840598649262, + 0.043145222681027995, + -0.12367754689328368, + -0.12978890887416017, + 0.1961368042019549, + -0.9719491721127698 + ], + [ + -0.030210849104339577, + 0.9850577606937418, + 0.16955386369359315, + 0.9931651493949163, + 0.04871598278067446, + -0.10606478703644548, + -0.11273992471067351, + 0.16519068108929078, + -0.9797967892667784 + ], + [ + -0.015623499972325816, + 0.9794676129402892, + 0.20099527718249155, + 0.9930680671124231, + 0.03862155500237707, + -0.11101436650629626, + -0.11649772671692199, + 0.19786755845830373, + -0.9732814130453429 + ], + [ + -0.01072222314086485, + 0.9805107222674152, + 0.19617277448603687, + 0.9932159324996876, + 0.03316043859679563, + -0.11145625483051319, + -0.11578922816779486, + 0.19364686630746214, + -0.9742144249648568 + ], + [ + -0.006799174868117042, + 0.9800579630731054, + 0.19859546882572, + 0.9943575300713325, + 0.02765108189901122, + -0.10241347596997435, + -0.10586252222364206, + 0.19677857273292976, + -0.9747160200292387 + ], + [ + -0.00458655656096929, + 0.9797127307075018, + 0.2003545077819913, + 0.9958634328436606, + 0.022656932649397332, + -0.08799253677307675, + -0.090746827072651, + 0.19912214515862278, + -0.9757640005061037 + ], + [ + 0.011834616123450437, + 0.977743330108741, + 0.2094705761893068, + 0.9973743618895587, + 0.003425176186929002, + -0.07233706113386298, + -0.07144455267272866, + 0.20977666361146588, + -0.9751355943136502 + ], + [ + 0.009332872332953046, + 0.979042240639212, + 0.20344333004099266, + 0.998863131258929, + 0.00038364204888624576, + -0.047668625220223415, + -0.046747647059767555, + 0.20365692687195736, + -0.9779256176373773 + ], + [ + -0.014589130800558181, + 0.9741139696726027, + 0.22558619494811338, + 0.9987303366249849, + 0.02507584244086969, + -0.04369115277519464, + -0.04821692615077117, + 0.22466236047581423, + -0.9732430075875227 + ], + [ + -0.04364509420937368, + 0.9729838449191984, + 0.2267102628416012, + 0.9978101246372585, + 0.05374278445599845, + -0.03855733769718456, + -0.04969970747231353, + 0.22453095698626746, + -0.9731987404595206 + ], + [ + -0.03824307576246555, + 0.9784801240464781, + 0.20276615595856826, + 0.9988978323374068, + 0.04295970196247112, + -0.018909906370074628, + -0.02721374115875394, + 0.20181950067643056, + -0.979044586032148 + ], + [ + 0.019364132444877946, + 0.9867388961985328, + 0.1611563871013434, + 0.9996317616864017, + -0.022172166559662865, + 0.015644042245897702, + 0.019009771234764813, + 0.16079410983910875, + -0.9868048859012861 + ], + [ + 0.09348919369476372, + 0.9789670836788289, + 0.18133730927658365, + 0.9954131235390193, + -0.09562170233644063, + 0.0030337317899767485, + 0.020309705773233835, + 0.18022191630223428, + -0.9834162784577825 + ], + [ + 0.0998069269540876, + 0.9763640883735857, + 0.19170744447307803, + 0.9945708647724504, + -0.10359682452993774, + 0.009823079613518845, + 0.029451184658034743, + 0.1896862274434551, + -0.9814029564050173 + ], + [ + 0.12128448432546207, + 0.9708056147809407, + 0.20694572276736323, + 0.9924137347274249, + -0.12282210255874465, + -0.005450710725535685, + 0.02012592820892989, + 0.2060368642569791, + -0.9783372412317135 + ], + [ + 0.12568835430548886, + 0.9699675788213183, + 0.20824344798213415, + 0.9912932603013259, + -0.13109550184637975, + 0.012314279386702959, + 0.039244231081087905, + 0.2048825649760266, + -0.9779995014802914 + ], + [ + 0.12508626474496087, + 0.968742327889597, + 0.2142235480221492, + 0.9892018382022896, + -0.13839461506097583, + 0.048235400064013736, + 0.07637505921022049, + 0.20587674146724017, + -0.9755929569515487 + ], + [ + 0.0523505038926102, + 0.9679665254991121, + 0.24556105199189543, + 0.9890191298251159, + -0.08428582029655995, + 0.12139629869525002, + 0.13820486815651667, + 0.23650942055257035, + -0.9617498159124998 + ], + [ + 0.030692812054037677, + 0.95814167940877, + 0.2846444685356753, + 0.9855836687769985, + -0.07641564956164332, + 0.1509486016568015, + 0.1663814386531356, + 0.27590790253599784, + -0.9466742027698332 + ], + [ + 0.021021654027816472, + 0.958673262339039, + 0.2837316798282472, + 0.9879427735316433, + -0.06345832860982631, + 0.14121655978195907, + 0.1533856782380256, + 0.27734205704557596, + -0.948448320735078 + ], + [ + 0.041158016902332506, + 0.9686041833602729, + 0.24517739215034914, + 0.9914397863891661, + -0.07002260011806133, + 0.11019975243761082, + 0.12390789970486929, + 0.23854301802753491, + -0.9631947160055662 + ], + [ + 0.11734566834377519, + 0.9664350601097339, + 0.22854598817666277, + 0.9846348420758705, + -0.14319227207263624, + 0.09995099293604515, + 0.1293221631862766, + 0.213305526907698, + -0.9683886256557597 + ], + [ + 0.17459251532582526, + 0.9427915499504754, + 0.28400976556129454, + 0.9687358034851691, + -0.21610579340275554, + 0.12185741300269458, + 0.1762622949985198, + 0.2538550361914168, + -0.951046383706972 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005990.json b/json/chunk-0005/episode_0005990.json new file mode 100644 index 0000000000000000000000000000000000000000..37acacdabed6628fefab626a0140c95c895cba0b --- /dev/null +++ b/json/chunk-0005/episode_0005990.json @@ -0,0 +1,2302 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 37, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPlace the spoon on the lower left table edge." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005990.mp4", + "start": 0, + "end": 37, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2775019407272339, + -0.02775982767343521, + 0.10830891877412796, + -0.020428404211997986, + -0.1007707342505455, + 0.07600236684083939, + 0.0, + 0.9994885921478271 + ], + [ + 0.2765732407569885, + -0.027239985764026642, + 0.09987715631723404, + -0.015424273908138275, + -0.07048381865024567, + 0.08169320970773697, + 0.0, + 0.9994885921478271 + ], + [ + 0.29996660351753235, + -0.02418304607272148, + 0.08690593391656876, + 0.008117783814668655, + -0.04233396798372269, + 0.10642243176698685, + 0.0, + 0.9994885921478271 + ], + [ + 0.3273636996746063, + -0.005929876584559679, + 0.0892827957868576, + 0.0220688134431839, + -0.06346392631530762, + 0.18606437742710114, + 0.0, + 0.9994885921478271 + ], + [ + 0.3470163941383362, + 0.012952464632689953, + 0.09048136323690414, + 0.03300376981496811, + -0.10591999441385269, + 0.2614196240901947, + 0.0, + 0.9994885921478271 + ], + [ + 0.3538658618927002, + 0.021028775721788406, + 0.07347553968429565, + 0.04731389507651329, + -0.1098126620054245, + 0.32755041122436523, + 0.0, + 0.9994885921478271 + ], + [ + 0.3592430353164673, + 0.0259056705981493, + 0.059009090065956116, + 0.06573253870010376, + -0.1316300630569458, + 0.4198440909385681, + 0.0, + 0.9994885921478271 + ], + [ + 0.3604140281677246, + 0.02628406509757042, + 0.04688103869557381, + 0.08283428102731705, + -0.12641483545303345, + 0.4442819654941559, + 0.0, + 0.9994885921478271 + ], + [ + 0.36431607604026794, + 0.026155391708016396, + 0.03692328557372093, + 0.0813358798623085, + -0.12727157771587372, + 0.44152501225471497, + 0.0, + 0.9994885921478271 + ], + [ + 0.36952850222587585, + 0.02550654485821724, + 0.0345764085650444, + 0.06638717651367188, + -0.15125788748264313, + 0.43349364399909973, + 0.0, + 0.9994885921478271 + ], + [ + 0.37468400597572327, + 0.027354544028639793, + 0.031270839273929596, + 0.06705906987190247, + -0.18171195685863495, + 0.4217115044593811, + 0.0, + 0.9994885921478271 + ], + [ + 0.37801989912986755, + 0.028473293408751488, + 0.029652807861566544, + 0.06263785064220428, + -0.21077857911586761, + 0.4188911020755768, + 0.0, + 0.9994885921478271 + ], + [ + 0.3771287798881531, + 0.030727898702025414, + 0.014146434143185616, + 0.08497138321399689, + -0.18435390293598175, + 0.4233764410018921, + 0.0, + 0.9994885921478271 + ], + [ + 0.3842564523220062, + 0.02987975999712944, + 0.013771185651421547, + 0.08405501395463943, + -0.18918661773204803, + 0.42201539874076843, + 0.0, + 1.0001531839370728 + ], + [ + 0.38895314931869507, + 0.028399363160133362, + 0.01160295307636261, + 0.07735881954431534, + -0.18081223964691162, + 0.4186456501483917, + 0.0, + 0.9476637244224548 + ], + [ + 0.39024195075035095, + 0.026866590604186058, + 0.010780470445752144, + 0.06954703480005264, + -0.18593986332416534, + 0.4110896587371826, + 0.0, + 0.6340072751045227 + ], + [ + 0.3887759745121002, + 0.025816714391112328, + 0.009299933910369873, + 0.0652141273021698, + -0.18228183686733246, + 0.40307822823524475, + 0.0, + 0.3788849711418152 + ], + [ + 0.3841795027256012, + 0.023630201816558838, + 0.00843540858477354, + 0.054405856877565384, + -0.17429664731025696, + 0.39970314502716064, + 0.0, + 0.33077090978622437 + ], + [ + 0.3694878816604614, + 0.0261146929115057, + 0.014947916381061077, + 0.022456809878349304, + -0.14451903104782104, + 0.3727051615715027, + 0.0, + 0.33077090978622437 + ], + [ + 0.35936930775642395, + 0.027998672798275948, + 0.06572003662586212, + -0.03115062229335308, + -0.19555002450942993, + 0.2640983760356903, + 0.0, + 0.33077090978622437 + ], + [ + 0.3380637466907501, + 0.047372907400131226, + 0.09715238213539124, + -0.03231688588857651, + -0.19534237682819366, + 0.11605386435985565, + 0.0, + 0.33077090978622437 + ], + [ + 0.3066006600856781, + 0.08106972277164459, + 0.10038499534130096, + -0.05177919939160347, + -0.15014183521270752, + 0.006043332163244486, + 0.0, + 0.329172819852829 + ], + [ + 0.2773952782154083, + 0.12648503482341766, + 0.08845341205596924, + -0.0546317882835865, + -0.12315382808446884, + 0.020326873287558556, + 0.0, + 0.329172819852829 + ], + [ + 0.2685716152191162, + 0.14648735523223877, + 0.0807095617055893, + -0.02969810552895069, + -0.13323074579238892, + 0.041425466537475586, + 0.0, + 0.329172819852829 + ], + [ + 0.26318687200546265, + 0.16180476546287537, + 0.0633414164185524, + 0.010798163712024689, + -0.13688179850578308, + 0.08133646100759506, + 0.0, + 0.329172819852829 + ], + [ + 0.26799264550209045, + 0.16516688466072083, + 0.04820992425084114, + 0.016858592629432678, + -0.1401055008172989, + 0.03875294327735901, + 0.0, + 0.329172819852829 + ], + [ + 0.2721617519855499, + 0.16997861862182617, + 0.03868699073791504, + 0.016700809821486473, + -0.13980655372142792, + -0.013223137706518173, + 0.0, + 0.329172819852829 + ], + [ + 0.27297350764274597, + 0.18113481998443604, + 0.027853259816765785, + 0.002708776853978634, + -0.13228432834148407, + -0.042757388204336166, + 0.0, + 0.329172819852829 + ], + [ + 0.26944413781166077, + 0.19149158895015717, + 0.027212319895625114, + 0.0311285313218832, + -0.135213240981102, + -0.0159041378647089, + 0.0, + 0.329172819852829 + ], + [ + 0.26731085777282715, + 0.19831977784633636, + 0.02827448397874832, + 0.03853539749979973, + -0.146159365773201, + 0.014324109070003033, + 0.0, + 0.329172819852829 + ], + [ + 0.26579612493515015, + 0.19883404672145844, + 0.027344418689608574, + 0.04113488271832466, + -0.1386944055557251, + 0.006113944575190544, + 0.0, + 0.329172819852829 + ], + [ + 0.2579132914543152, + 0.2042270004749298, + 0.020075256004929543, + 0.0077768233604729176, + -0.12562960386276245, + 0.038589902222156525, + 0.0, + 0.41842639446258545 + ], + [ + 0.25967031717300415, + 0.20518065989017487, + 0.023391321301460266, + -0.01392908114939928, + -0.13557004928588867, + 0.030455373227596283, + 0.0, + 0.7111459374427795 + ], + [ + 0.2619038224220276, + 0.19723297655582428, + 0.03156362101435661, + -0.04473795369267464, + -0.1669350266456604, + -0.04029184579849243, + 0.0, + 0.973810613155365 + ], + [ + 0.26097598671913147, + 0.19059689342975616, + 0.06865206360816956, + -0.0096351383253932, + -0.2228209525346756, + -0.10550405085086823, + 0.0, + 1.0027955770492554 + ], + [ + 0.26139137148857117, + 0.1655111312866211, + 0.0952337309718132, + 0.021345412358641624, + -0.17925937473773956, + -0.10526598989963531, + 0.0, + 0.9994885921478271 + ], + [ + 0.2590022385120392, + 0.13922464847564697, + 0.10598088800907135, + 0.03935685753822327, + -0.16664358973503113, + -0.04097847267985344, + 0.0, + 1.0001531839370728 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9476637244224548 + ], + [ + 0.6340072751045227 + ], + [ + 0.3788849711418152 + ], + [ + 0.33077090978622437 + ], + [ + 0.33077090978622437 + ], + [ + 0.33077090978622437 + ], + [ + 0.33077090978622437 + ], + [ + 0.329172819852829 + ], + [ + 0.329172819852829 + ], + [ + 0.329172819852829 + ], + [ + 0.329172819852829 + ], + [ + 0.329172819852829 + ], + [ + 0.329172819852829 + ], + [ + 0.329172819852829 + ], + [ + 0.329172819852829 + ], + [ + 0.329172819852829 + ], + [ + 0.329172819852829 + ], + [ + 0.41842639446258545 + ], + [ + 0.7111459374427795 + ], + [ + 0.973810613155365 + ], + [ + 1.0027955770492554 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2775019407272339, + -0.02775982767343521, + 0.10830891877412796 + ], + [ + 0.2765732407569885, + -0.027239985764026642, + 0.09987715631723404 + ], + [ + 0.29996660351753235, + -0.02418304607272148, + 0.08690593391656876 + ], + [ + 0.3273636996746063, + -0.005929876584559679, + 0.0892827957868576 + ], + [ + 0.3470163941383362, + 0.012952464632689953, + 0.09048136323690414 + ], + [ + 0.3538658618927002, + 0.021028775721788406, + 0.07347553968429565 + ], + [ + 0.3592430353164673, + 0.0259056705981493, + 0.059009090065956116 + ], + [ + 0.3604140281677246, + 0.02628406509757042, + 0.04688103869557381 + ], + [ + 0.36431607604026794, + 0.026155391708016396, + 0.03692328557372093 + ], + [ + 0.36952850222587585, + 0.02550654485821724, + 0.0345764085650444 + ], + [ + 0.37468400597572327, + 0.027354544028639793, + 0.031270839273929596 + ], + [ + 0.37801989912986755, + 0.028473293408751488, + 0.029652807861566544 + ], + [ + 0.3771287798881531, + 0.030727898702025414, + 0.014146434143185616 + ], + [ + 0.3842564523220062, + 0.02987975999712944, + 0.013771185651421547 + ], + [ + 0.38895314931869507, + 0.028399363160133362, + 0.01160295307636261 + ], + [ + 0.39024195075035095, + 0.026866590604186058, + 0.010780470445752144 + ], + [ + 0.3887759745121002, + 0.025816714391112328, + 0.009299933910369873 + ], + [ + 0.3841795027256012, + 0.023630201816558838, + 0.00843540858477354 + ], + [ + 0.3694878816604614, + 0.0261146929115057, + 0.014947916381061077 + ], + [ + 0.35936930775642395, + 0.027998672798275948, + 0.06572003662586212 + ], + [ + 0.3380637466907501, + 0.047372907400131226, + 0.09715238213539124 + ], + [ + 0.3066006600856781, + 0.08106972277164459, + 0.10038499534130096 + ], + [ + 0.2773952782154083, + 0.12648503482341766, + 0.08845341205596924 + ], + [ + 0.2685716152191162, + 0.14648735523223877, + 0.0807095617055893 + ], + [ + 0.26318687200546265, + 0.16180476546287537, + 0.0633414164185524 + ], + [ + 0.26799264550209045, + 0.16516688466072083, + 0.04820992425084114 + ], + [ + 0.2721617519855499, + 0.16997861862182617, + 0.03868699073791504 + ], + [ + 0.27297350764274597, + 0.18113481998443604, + 0.027853259816765785 + ], + [ + 0.26944413781166077, + 0.19149158895015717, + 0.027212319895625114 + ], + [ + 0.26731085777282715, + 0.19831977784633636, + 0.02827448397874832 + ], + [ + 0.26579612493515015, + 0.19883404672145844, + 0.027344418689608574 + ], + [ + 0.2579132914543152, + 0.2042270004749298, + 0.020075256004929543 + ], + [ + 0.25967031717300415, + 0.20518065989017487, + 0.023391321301460266 + ], + [ + 0.2619038224220276, + 0.19723297655582428, + 0.03156362101435661 + ], + [ + 0.26097598671913147, + 0.19059689342975616, + 0.06865206360816956 + ], + [ + 0.26139137148857117, + 0.1655111312866211, + 0.0952337309718132 + ], + [ + 0.2590022385120392, + 0.13922464847564697, + 0.10598088800907135 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9920547797361825, + 0.07386434782019399, + 0.10183993383585782, + 0.07554402382706724, + -0.9970611913678957, + -0.012731108830260632, + 0.10060027070843297, + 0.020323355754644574, + -0.9947193306376729 + ], + [ + 0.9941902897294592, + 0.08051007005126117, + 0.0714408596532492, + 0.08139975781847529, + -0.9966350481154156, + -0.009626021767955108, + 0.07042547291106963, + 0.015385366044543533, + -0.9973983874445195 + ], + [ + 0.9934515959158466, + 0.10655976817202893, + 0.041218228726875444, + 0.10612649098830625, + -0.994273220432028, + 0.01256706179793263, + 0.04232132420856563, + -0.008110421619592547, + -0.9990711318912113 + ], + [ + 0.9807614935220582, + 0.18632296151187938, + 0.05822926101046024, + 0.18462022465872113, + -0.9822417010107649, + 0.03341576637520557, + 0.06342133293573166, + -0.022022597687868305, + -0.9977438246963662 + ], + [ + 0.9606101773614973, + 0.2616815208650585, + 0.09354607841733832, + 0.2570037643330368, + -0.9645963396810815, + 0.059185864803252795, + 0.10572205194831287, + -0.03281284979409687, + -0.9938541968620088 + ], + [ + 0.9411301646940213, + 0.32627231944887075, + 0.08843295010604746, + 0.3197867824311437, + -0.9441060879936954, + 0.08000067746948869, + 0.10959209316981319, + -0.04701136218718638, + -0.9928642933150353 + ], + [ + 0.9052530621189069, + 0.414610267600044, + 0.0928182068613812, + 0.40409189304624865, + -0.9076662954594625, + 0.1133650654354971, + 0.1312502780897679, + -0.06511698770302018, + -0.9892083412577166 + ], + [ + 0.8957144713636795, + 0.4377548962196608, + 0.07788604897796762, + 0.42637990301038264, + -0.8953399531409788, + 0.12871109749499735, + 0.12607840456851072, + -0.08207934664228281, + -0.9886188430109124 + ], + [ + 0.8967885881039598, + 0.4352295271507541, + 0.07965856477892166, + 0.4238625296858353, + -0.8967054451441099, + 0.12751431518550527, + 0.12692826389276352, + -0.08058910189991585, + -0.9886326984680075 + ], + [ + 0.8971422186138598, + 0.42818997418500987, + 0.10857801613605594, + 0.41524792805840455, + -0.9013059854911165, + 0.1233559028222365, + 0.1506817766812003, + -0.06558099210386771, + -0.9864046510691589 + ], + [ + 0.897367916454879, + 0.41945110786714845, + 0.13708242274796043, + 0.40258342529803415, + -0.9053823632515919, + 0.13494206900838585, + 0.1807136082112549, + -0.06590557201013868, + -0.9813251486562876 + ], + [ + 0.8933223527176031, + 0.4179142835149234, + 0.1652961759064451, + 0.39774566892098423, + -0.9064219773211583, + 0.14211819687781158, + 0.2092213110313694, + -0.06121152394288047, + -0.975950609583756 + ], + [ + 0.8962579868759314, + 0.4235427119023303, + 0.13165558155855947, + 0.40387936710854977, + -0.9020259590144315, + 0.1524159640198245, + 0.18331142295312677, + -0.08343105212398322, + -0.9795081325626578 + ], + [ + 0.8959882157474175, + 0.4225573133565919, + 0.13656659243980115, + 0.4022915865809577, + -0.9025774099133879, + 0.15334763930434828, + 0.18806008775903407, + -0.08245808658281889, + -0.9786899750938318 + ], + [ + 0.8987461453728948, + 0.4180049272482316, + 0.13239050937874666, + 0.3998962735525481, + -0.905258284318579, + 0.1434935854711572, + 0.17982863113572592, + -0.07602183547365411, + -0.9807560063313747 + ], + [ + 0.9008849525029758, + 0.41041891518107343, + 0.14128912348550238, + 0.3927203619756221, + -0.9093362182855756, + 0.13739854221870015, + 0.18487027788005028, + -0.06829316346222697, + -0.98038718075099 + ], + [ + 0.9046182739023716, + 0.4022844385348727, + 0.1408297164471208, + 0.38575314362722213, + -0.9132688140123869, + 0.13089914260270952, + 0.18127407620398997, + -0.06408825060095631, + -0.9813421449378904 + ], + [ + 0.907219582295652, + 0.3972559579191744, + 0.13834859376597253, + 0.3832488737443657, + -0.9161438500627439, + 0.11747657964840583, + 0.1734154845248202, + -0.053555110773222885, + -0.9833915394374155 + ], + [ + 0.9216366963261604, + 0.36705624672054027, + 0.12591867108745458, + 0.3603401867549556, + -0.9299333020048934, + 0.07334169095186716, + 0.1440164913973549, + -0.02222083629626389, + -0.9893257727563203 + ], + [ + 0.9469300078164236, + 0.2550704188793288, + 0.1956083886481142, + 0.2560638543629331, + -0.9664396815000683, + 0.020631153890294306, + 0.19430610588858632, + 0.030551979228360508, + -0.9804650497491705 + ], + [ + 0.9743825093088022, + 0.10950356090239387, + 0.1964375109361187, + 0.11359128209787446, + -0.9934808939805807, + -0.00962984563258334, + 0.19410241158842703, + 0.03169674187108192, + -0.9804690563043359 + ], + [ + 0.9887318169620879, + -0.0017062507752815337, + 0.1496879515363212, + 0.005975307533569568, + -0.9986883050385231, + -0.050852385186546244, + 0.14957837352614667, + 0.05117380274684941, + -0.9874247070464153 + ], + [ + 0.9922211280710654, + 0.013588753281066589, + 0.12374400508165481, + 0.02017153138980042, + -0.9984381182564752, + -0.05210022393290743, + 0.12284275449033455, + 0.05419104904626876, + -0.9909455019689489 + ], + [ + 0.9902875956205336, + 0.03745431603185944, + 0.1338941827365475, + 0.041046607949090645, + -0.9988648629805751, + -0.0241694327337336, + 0.13283694492111756, + 0.02943059145485223, + -0.9907008561370286 + ], + [ + 0.9873712414815026, + 0.08271063308950474, + 0.13511840240769998, + 0.08048685094994268, + -0.9965161947345739, + 0.021848122479658647, + 0.13645474824804568, + -0.010696953101597562, + -0.9905885507489496 + ], + [ + 0.9894578243526816, + 0.04109012137336622, + 0.13886977983989254, + 0.03836360956842225, + -0.9990159952311464, + 0.022254768774447597, + 0.13964758246435868, + -0.016692609078406515, + -0.9900605585084258 + ], + [ + 0.9901564003719472, + -0.010893936141153275, + 0.1395407645020666, + -0.013093737594660431, + -0.9998039041651938, + 0.014856219298280814, + 0.1393515584350276, + -0.01653709077767035, + -0.9901048771672326 + ], + [ + 0.9903572071813005, + -0.04238724685542084, + 0.1318936066990047, + -0.04237091146816655, + -0.9990976486319382, + -0.00293161380274721, + 0.13189885536050308, + -0.002685107474437829, + -0.9912595432844212 + ], + [ + 0.9907472946951639, + -0.011700795048401878, + 0.13521423538018992, + -0.015758310230398493, + -0.9994558624959279, + 0.02897679383926673, + 0.13480160871776206, + -0.030839427973880163, + -0.9903925766933772 + ], + [ + 0.989236226849501, + 0.019923298149986463, + 0.14496464975775875, + 0.014170896817993215, + -0.9990747230836988, + 0.0406064450377595, + 0.14563953162495652, + -0.03811508738095112, + -0.9886032404063857 + ], + [ + 0.9903788283003722, + 0.011793929462672766, + 0.13787922135772154, + 0.006055196713252087, + -0.9991006463123026, + 0.041967048158088195, + 0.13825017557726968, + -0.04072839017404164, + -0.9895595420118414 + ], + [ + 0.9913803444142902, + 0.03955285442821679, + 0.12490229948076821, + 0.038276272536061466, + -0.999187691798416, + 0.012604900606455657, + 0.12529940011727259, + -0.0077154562492292526, + -0.992088973865307 + ], + [ + 0.9903649730345403, + 0.028566058223093306, + 0.1355035073490314, + 0.03017126371048507, + -0.9994966320445144, + -0.009807006565965353, + 0.13515515170501838, + 0.013800827847175115, + -0.9907283291186975 + ], + [ + 0.9852983519665752, + -0.04766582275012636, + 0.16405830351891582, + -0.03972098637420553, + -0.9978892938240015, + -0.05137314972722702, + 0.1661607680934683, + 0.04410132212291876, + -0.9851120101458511 + ], + [ + 0.9698550243026257, + -0.10742085962287627, + 0.21872812062658, + -0.10270499022128461, + -0.9941692306680817, + -0.03285157190273405, + 0.22098171150255683, + 0.009396792576032728, + -0.9752326817076445 + ], + [ + 0.9785293650458509, + -0.1012632032137258, + 0.1795161424993865, + -0.10338802309498994, + -0.9946379687892799, + 0.0024955406720122003, + 0.1783008648982786, + -0.02100177891588027, + -0.983751862442402 + ], + [ + 0.9853191890939852, + -0.03441419027081604, + 0.16721769975446737, + -0.040399491419507806, + -0.9986541428240682, + 0.03252359318049628, + 0.1658733754893058, + -0.038801630485449705, + -0.985383405977315 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0009286999702453613, + 0.0005198419094085693, + -0.008431762456893921, + 0.005004130303859711, + 0.030286915600299835, + 0.005690842866897583, + 1.0 + ], + [ + 0.023393362760543823, + 0.0030569396913051605, + -0.012971222400665283, + 0.02354205772280693, + 0.02814985066652298, + 0.024729222059249878, + 1.0 + ], + [ + 0.027397096157073975, + 0.01825316995382309, + 0.002376861870288849, + 0.013951029628515244, + -0.02112995833158493, + 0.07964194566011429, + 1.0 + ], + [ + 0.01965269446372986, + 0.01888234168291092, + 0.0011985674500465393, + 0.01093495637178421, + -0.042456068098545074, + 0.07535524666309357, + 1.0 + ], + [ + 0.006849467754364014, + 0.008076311089098454, + -0.01700582355260849, + 0.014310125261545181, + -0.003892667591571808, + 0.06613078713417053, + 1.0 + ], + [ + 0.00537717342376709, + 0.004876894876360893, + -0.014466449618339539, + 0.01841864362359047, + -0.0218174010515213, + 0.09229367971420288, + 1.0 + ], + [ + 0.0011709928512573242, + 0.0003783944994211197, + -0.012128051370382309, + 0.017101742327213287, + 0.0052152276039123535, + 0.02443787455558777, + 1.0 + ], + [ + 0.003902047872543335, + -0.00012867338955402374, + -0.009957753121852875, + -0.001498401165008545, + -0.000856742262840271, + -0.002756953239440918, + 1.0 + ], + [ + 0.00521242618560791, + -0.0006488468497991562, + -0.002346877008676529, + -0.014948703348636627, + -0.02398630976676941, + -0.008031368255615234, + 1.0 + ], + [ + 0.005155503749847412, + 0.001847999170422554, + -0.003305569291114807, + 0.0006718933582305908, + -0.03045406937599182, + -0.011782139539718628, + 1.0 + ], + [ + 0.003335893154144287, + 0.0011187493801116943, + -0.0016180314123630524, + -0.004421219229698181, + -0.029066622257232666, + -0.0028204023838043213, + 1.0 + ], + [ + -0.0008911192417144775, + 0.0022546052932739258, + -0.015506373718380928, + 0.022333532571792603, + 0.026424676179885864, + 0.004485338926315308, + 1.0 + ], + [ + 0.007127672433853149, + -0.0008481387048959732, + -0.0003752484917640686, + -0.0009163692593574524, + -0.004832714796066284, + -0.0013610422611236572, + 1.0 + ], + [ + 0.004696696996688843, + -0.0014803968369960785, + -0.002168232575058937, + -0.006696194410324097, + 0.008374378085136414, + -0.003369748592376709, + 0.0 + ], + [ + 0.0012888014316558838, + -0.0015327725559473038, + -0.000822482630610466, + -0.007811784744262695, + -0.005127623677253723, + -0.0075559914112091064, + 0.0 + ], + [ + -0.0014659762382507324, + -0.0010498762130737305, + -0.0014805365353822708, + -0.004332907497882843, + 0.0036580264568328857, + -0.008011430501937866, + 0.0 + ], + [ + -0.0045964717864990234, + -0.0021865125745534897, + -0.0008645253255963326, + -0.010808270424604416, + 0.0079851895570755, + -0.0033750832080841064, + 0.0 + ], + [ + -0.01469162106513977, + 0.0024844910949468613, + 0.006512507796287537, + -0.03194904699921608, + 0.029777616262435913, + -0.02699798345565796, + 0.0 + ], + [ + -0.010118573904037476, + 0.0018839798867702484, + 0.05077211931347847, + -0.053607434034347534, + -0.05103099346160889, + -0.10860678553581238, + 0.0 + ], + [ + -0.021305561065673828, + 0.019374234601855278, + 0.031432345509529114, + -0.0011662635952234268, + 0.0002076476812362671, + -0.14804451167583466, + 0.0 + ], + [ + -0.03146308660507202, + 0.03369681537151337, + 0.003232613205909729, + -0.019462313503026962, + 0.045200541615486145, + -0.1100105345249176, + 0.0 + ], + [ + -0.029205381870269775, + 0.04541531205177307, + -0.011931583285331726, + -0.0028525888919830322, + 0.026988007128238678, + 0.014283541589975357, + 0.0 + ], + [ + -0.008823662996292114, + 0.020002320408821106, + -0.007743850350379944, + 0.02493368275463581, + -0.010076917707920074, + 0.02109859324991703, + 0.0 + ], + [ + -0.0053847432136535645, + 0.015317410230636597, + -0.017368145287036896, + 0.04049626737833023, + -0.003651052713394165, + 0.039910994470119476, + 0.0 + ], + [ + 0.004805773496627808, + 0.003362119197845459, + -0.015131492167711258, + 0.0060604289174079895, + -0.003223702311515808, + -0.04258351773023605, + 0.0 + ], + [ + 0.004169106483459473, + 0.004811733961105347, + -0.009522933512926102, + -0.00015778280794620514, + 0.0002989470958709717, + -0.05197608098387718, + 0.0 + ], + [ + 0.0008117556571960449, + 0.011156201362609863, + -0.010833730921149254, + -0.01399203296750784, + 0.007522225379943848, + -0.029534250497817993, + 0.0 + ], + [ + -0.003529369831085205, + 0.01035676896572113, + -0.0006409399211406708, + 0.028419755399227142, + -0.00292891263961792, + 0.026853250339627266, + 0.0 + ], + [ + -0.002133280038833618, + 0.006828188896179199, + 0.001062164083123207, + 0.007406866177916527, + -0.010946124792098999, + 0.03022824600338936, + 0.0 + ], + [ + -0.001514732837677002, + 0.0005142688751220703, + -0.0009300652891397476, + 0.002599485218524933, + 0.007464960217475891, + -0.008210164494812489, + 0.0 + ], + [ + -0.007882833480834961, + 0.0053929537534713745, + -0.007269162684679031, + -0.03335805982351303, + 0.013064801692962646, + 0.03247595578432083, + 1.0 + ], + [ + 0.0017570257186889648, + 0.0009536594152450562, + 0.0033160652965307236, + -0.021705904975533485, + -0.00994044542312622, + -0.008134528994560242, + 1.0 + ], + [ + 0.0022335052490234375, + -0.007947683334350586, + 0.008172299712896347, + -0.03080887347459793, + -0.03136497735977173, + -0.07074721902608871, + 1.0 + ], + [ + -0.0009278357028961182, + -0.006636083126068115, + 0.03708844259381294, + 0.03510281443595886, + -0.0558859258890152, + -0.0652122050523758, + 1.0 + ], + [ + 0.00041538476943969727, + -0.02508576214313507, + 0.026581667363643646, + 0.03098054975271225, + 0.043561577796936035, + 0.00023806095123291016, + 1.0 + ], + [ + -0.0023891329765319824, + -0.02628648281097412, + 0.010747157037258148, + 0.018011445179581642, + 0.012615785002708435, + 0.06428751349449158, + 1.0 + ], + [ + -0.0036535263061523438, + -0.017416782677173615, + 8.18297266960144e-05, + -0.012174233794212341, + 0.004851624369621277, + 0.026583626866340637, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9476637244224548 + ], + [ + 0.6340072751045227 + ], + [ + 0.3788849711418152 + ], + [ + 0.33077090978622437 + ], + [ + 0.33077090978622437 + ], + [ + 0.33077090978622437 + ], + [ + 0.33077090978622437 + ], + [ + 0.329172819852829 + ], + [ + 0.329172819852829 + ], + [ + 0.329172819852829 + ], + [ + 0.329172819852829 + ], + [ + 0.329172819852829 + ], + [ + 0.329172819852829 + ], + [ + 0.329172819852829 + ], + [ + 0.329172819852829 + ], + [ + 0.329172819852829 + ], + [ + 0.329172819852829 + ], + [ + 0.41842639446258545 + ], + [ + 0.7111459374427795 + ], + [ + 0.973810613155365 + ], + [ + 1.0027955770492554 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2765732407569885, + -0.027239985764026642, + 0.09987715631723404 + ], + [ + 0.29996660351753235, + -0.02418304607272148, + 0.08690593391656876 + ], + [ + 0.3273636996746063, + -0.005929876584559679, + 0.0892827957868576 + ], + [ + 0.3470163941383362, + 0.012952464632689953, + 0.09048136323690414 + ], + [ + 0.3538658618927002, + 0.021028775721788406, + 0.07347553968429565 + ], + [ + 0.3592430353164673, + 0.0259056705981493, + 0.059009090065956116 + ], + [ + 0.3604140281677246, + 0.02628406509757042, + 0.04688103869557381 + ], + [ + 0.36431607604026794, + 0.026155391708016396, + 0.03692328557372093 + ], + [ + 0.36952850222587585, + 0.02550654485821724, + 0.0345764085650444 + ], + [ + 0.37468400597572327, + 0.027354544028639793, + 0.031270839273929596 + ], + [ + 0.37801989912986755, + 0.028473293408751488, + 0.029652807861566544 + ], + [ + 0.3771287798881531, + 0.030727898702025414, + 0.014146434143185616 + ], + [ + 0.3842564523220062, + 0.02987975999712944, + 0.013771185651421547 + ], + [ + 0.38895314931869507, + 0.028399363160133362, + 0.01160295307636261 + ], + [ + 0.39024195075035095, + 0.026866590604186058, + 0.010780470445752144 + ], + [ + 0.3887759745121002, + 0.025816714391112328, + 0.009299933910369873 + ], + [ + 0.3841795027256012, + 0.023630201816558838, + 0.00843540858477354 + ], + [ + 0.3694878816604614, + 0.0261146929115057, + 0.014947916381061077 + ], + [ + 0.35936930775642395, + 0.027998672798275948, + 0.06572003662586212 + ], + [ + 0.3380637466907501, + 0.047372907400131226, + 0.09715238213539124 + ], + [ + 0.3066006600856781, + 0.08106972277164459, + 0.10038499534130096 + ], + [ + 0.2773952782154083, + 0.12648503482341766, + 0.08845341205596924 + ], + [ + 0.2685716152191162, + 0.14648735523223877, + 0.0807095617055893 + ], + [ + 0.26318687200546265, + 0.16180476546287537, + 0.0633414164185524 + ], + [ + 0.26799264550209045, + 0.16516688466072083, + 0.04820992425084114 + ], + [ + 0.2721617519855499, + 0.16997861862182617, + 0.03868699073791504 + ], + [ + 0.27297350764274597, + 0.18113481998443604, + 0.027853259816765785 + ], + [ + 0.26944413781166077, + 0.19149158895015717, + 0.027212319895625114 + ], + [ + 0.26731085777282715, + 0.19831977784633636, + 0.02827448397874832 + ], + [ + 0.26579612493515015, + 0.19883404672145844, + 0.027344418689608574 + ], + [ + 0.2579132914543152, + 0.2042270004749298, + 0.020075256004929543 + ], + [ + 0.25967031717300415, + 0.20518065989017487, + 0.023391321301460266 + ], + [ + 0.2619038224220276, + 0.19723297655582428, + 0.03156362101435661 + ], + [ + 0.26097598671913147, + 0.19059689342975616, + 0.06865206360816956 + ], + [ + 0.26139137148857117, + 0.1655111312866211, + 0.0952337309718132 + ], + [ + 0.2590022385120392, + 0.13922464847564697, + 0.10598088800907135 + ], + [ + 0.25534871220588684, + 0.12180786579847336, + 0.10606271773576736 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9941902897294592, + 0.08051007005126117, + 0.0714408596532492, + 0.08139975781847529, + -0.9966350481154156, + -0.009626021767955108, + 0.07042547291106963, + 0.015385366044543533, + -0.9973983874445195 + ], + [ + 0.9934515959158466, + 0.10655976817202893, + 0.041218228726875444, + 0.10612649098830625, + -0.994273220432028, + 0.01256706179793263, + 0.04232132420856563, + -0.008110421619592547, + -0.9990711318912113 + ], + [ + 0.9807614935220582, + 0.18632296151187938, + 0.05822926101046024, + 0.18462022465872113, + -0.9822417010107649, + 0.03341576637520557, + 0.06342133293573166, + -0.022022597687868305, + -0.9977438246963662 + ], + [ + 0.9606101773614973, + 0.2616815208650585, + 0.09354607841733832, + 0.2570037643330368, + -0.9645963396810815, + 0.059185864803252795, + 0.10572205194831287, + -0.03281284979409687, + -0.9938541968620088 + ], + [ + 0.9411301646940213, + 0.32627231944887075, + 0.08843295010604746, + 0.3197867824311437, + -0.9441060879936954, + 0.08000067746948869, + 0.10959209316981319, + -0.04701136218718638, + -0.9928642933150353 + ], + [ + 0.9052530621189069, + 0.414610267600044, + 0.0928182068613812, + 0.40409189304624865, + -0.9076662954594625, + 0.1133650654354971, + 0.1312502780897679, + -0.06511698770302018, + -0.9892083412577166 + ], + [ + 0.8957144713636795, + 0.4377548962196608, + 0.07788604897796762, + 0.42637990301038264, + -0.8953399531409788, + 0.12871109749499735, + 0.12607840456851072, + -0.08207934664228281, + -0.9886188430109124 + ], + [ + 0.8967885881039598, + 0.4352295271507541, + 0.07965856477892166, + 0.4238625296858353, + -0.8967054451441099, + 0.12751431518550527, + 0.12692826389276352, + -0.08058910189991585, + -0.9886326984680075 + ], + [ + 0.8971422186138598, + 0.42818997418500987, + 0.10857801613605594, + 0.41524792805840455, + -0.9013059854911165, + 0.1233559028222365, + 0.1506817766812003, + -0.06558099210386771, + -0.9864046510691589 + ], + [ + 0.897367916454879, + 0.41945110786714845, + 0.13708242274796043, + 0.40258342529803415, + -0.9053823632515919, + 0.13494206900838585, + 0.1807136082112549, + -0.06590557201013868, + -0.9813251486562876 + ], + [ + 0.8933223527176031, + 0.4179142835149234, + 0.1652961759064451, + 0.39774566892098423, + -0.9064219773211583, + 0.14211819687781158, + 0.2092213110313694, + -0.06121152394288047, + -0.975950609583756 + ], + [ + 0.8962579868759314, + 0.4235427119023303, + 0.13165558155855947, + 0.40387936710854977, + -0.9020259590144315, + 0.1524159640198245, + 0.18331142295312677, + -0.08343105212398322, + -0.9795081325626578 + ], + [ + 0.8959882157474175, + 0.4225573133565919, + 0.13656659243980115, + 0.4022915865809577, + -0.9025774099133879, + 0.15334763930434828, + 0.18806008775903407, + -0.08245808658281889, + -0.9786899750938318 + ], + [ + 0.8987461453728948, + 0.4180049272482316, + 0.13239050937874666, + 0.3998962735525481, + -0.905258284318579, + 0.1434935854711572, + 0.17982863113572592, + -0.07602183547365411, + -0.9807560063313747 + ], + [ + 0.9008849525029758, + 0.41041891518107343, + 0.14128912348550238, + 0.3927203619756221, + -0.9093362182855756, + 0.13739854221870015, + 0.18487027788005028, + -0.06829316346222697, + -0.98038718075099 + ], + [ + 0.9046182739023716, + 0.4022844385348727, + 0.1408297164471208, + 0.38575314362722213, + -0.9132688140123869, + 0.13089914260270952, + 0.18127407620398997, + -0.06408825060095631, + -0.9813421449378904 + ], + [ + 0.907219582295652, + 0.3972559579191744, + 0.13834859376597253, + 0.3832488737443657, + -0.9161438500627439, + 0.11747657964840583, + 0.1734154845248202, + -0.053555110773222885, + -0.9833915394374155 + ], + [ + 0.9216366963261604, + 0.36705624672054027, + 0.12591867108745458, + 0.3603401867549556, + -0.9299333020048934, + 0.07334169095186716, + 0.1440164913973549, + -0.02222083629626389, + -0.9893257727563203 + ], + [ + 0.9469300078164236, + 0.2550704188793288, + 0.1956083886481142, + 0.2560638543629331, + -0.9664396815000683, + 0.020631153890294306, + 0.19430610588858632, + 0.030551979228360508, + -0.9804650497491705 + ], + [ + 0.9743825093088022, + 0.10950356090239387, + 0.1964375109361187, + 0.11359128209787446, + -0.9934808939805807, + -0.00962984563258334, + 0.19410241158842703, + 0.03169674187108192, + -0.9804690563043359 + ], + [ + 0.9887318169620879, + -0.0017062507752815337, + 0.1496879515363212, + 0.005975307533569568, + -0.9986883050385231, + -0.050852385186546244, + 0.14957837352614667, + 0.05117380274684941, + -0.9874247070464153 + ], + [ + 0.9922211280710654, + 0.013588753281066589, + 0.12374400508165481, + 0.02017153138980042, + -0.9984381182564752, + -0.05210022393290743, + 0.12284275449033455, + 0.05419104904626876, + -0.9909455019689489 + ], + [ + 0.9902875956205336, + 0.03745431603185944, + 0.1338941827365475, + 0.041046607949090645, + -0.9988648629805751, + -0.0241694327337336, + 0.13283694492111756, + 0.02943059145485223, + -0.9907008561370286 + ], + [ + 0.9873712414815026, + 0.08271063308950474, + 0.13511840240769998, + 0.08048685094994268, + -0.9965161947345739, + 0.021848122479658647, + 0.13645474824804568, + -0.010696953101597562, + -0.9905885507489496 + ], + [ + 0.9894578243526816, + 0.04109012137336622, + 0.13886977983989254, + 0.03836360956842225, + -0.9990159952311464, + 0.022254768774447597, + 0.13964758246435868, + -0.016692609078406515, + -0.9900605585084258 + ], + [ + 0.9901564003719472, + -0.010893936141153275, + 0.1395407645020666, + -0.013093737594660431, + -0.9998039041651938, + 0.014856219298280814, + 0.1393515584350276, + -0.01653709077767035, + -0.9901048771672326 + ], + [ + 0.9903572071813005, + -0.04238724685542084, + 0.1318936066990047, + -0.04237091146816655, + -0.9990976486319382, + -0.00293161380274721, + 0.13189885536050308, + -0.002685107474437829, + -0.9912595432844212 + ], + [ + 0.9907472946951639, + -0.011700795048401878, + 0.13521423538018992, + -0.015758310230398493, + -0.9994558624959279, + 0.02897679383926673, + 0.13480160871776206, + -0.030839427973880163, + -0.9903925766933772 + ], + [ + 0.989236226849501, + 0.019923298149986463, + 0.14496464975775875, + 0.014170896817993215, + -0.9990747230836988, + 0.0406064450377595, + 0.14563953162495652, + -0.03811508738095112, + -0.9886032404063857 + ], + [ + 0.9903788283003722, + 0.011793929462672766, + 0.13787922135772154, + 0.006055196713252087, + -0.9991006463123026, + 0.041967048158088195, + 0.13825017557726968, + -0.04072839017404164, + -0.9895595420118414 + ], + [ + 0.9913803444142902, + 0.03955285442821679, + 0.12490229948076821, + 0.038276272536061466, + -0.999187691798416, + 0.012604900606455657, + 0.12529940011727259, + -0.0077154562492292526, + -0.992088973865307 + ], + [ + 0.9903649730345403, + 0.028566058223093306, + 0.1355035073490314, + 0.03017126371048507, + -0.9994966320445144, + -0.009807006565965353, + 0.13515515170501838, + 0.013800827847175115, + -0.9907283291186975 + ], + [ + 0.9852983519665752, + -0.04766582275012636, + 0.16405830351891582, + -0.03972098637420553, + -0.9978892938240015, + -0.05137314972722702, + 0.1661607680934683, + 0.04410132212291876, + -0.9851120101458511 + ], + [ + 0.9698550243026257, + -0.10742085962287627, + 0.21872812062658, + -0.10270499022128461, + -0.9941692306680817, + -0.03285157190273405, + 0.22098171150255683, + 0.009396792576032728, + -0.9752326817076445 + ], + [ + 0.9785293650458509, + -0.1012632032137258, + 0.1795161424993865, + -0.10338802309498994, + -0.9946379687892799, + 0.0024955406720122003, + 0.1783008648982786, + -0.02100177891588027, + -0.983751862442402 + ], + [ + 0.9853191890939852, + -0.03441419027081604, + 0.16721769975446737, + -0.040399491419507806, + -0.9986541428240682, + 0.03252359318049628, + 0.1658733754893058, + -0.038801630485449705, + -0.985383405977315 + ], + [ + 0.9868379548010585, + -0.010011255839513618, + 0.16140206231823948, + -0.014206361456735005, + -0.999590031253426, + 0.024858574233782196, + 0.16108702697059638, + -0.026824320593291276, + -0.9865756056007485 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005991.json b/json/chunk-0005/episode_0005991.json new file mode 100644 index 0000000000000000000000000000000000000000..afd77c95b34e04995cda286440a5de5dbe81c587 --- /dev/null +++ b/json/chunk-0005/episode_0005991.json @@ -0,0 +1,2722 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 44, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMoved the blue towel left of the silver pot." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005991.mp4", + "start": 0, + "end": 44, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.28620222210884094, + 0.19307918846607208, + 0.1259281486272812, + -0.1638357937335968, + -0.3002548813819885, + 3.106574773788452, + 0.0, + 1.0001531839370728 + ], + [ + 0.2851577699184418, + 0.19143933057785034, + 0.11272404342889786, + -0.14036861062049866, + -0.33175602555274963, + 3.0925028324127197, + 0.0, + 1.0001531839370728 + ], + [ + 0.29409080743789673, + 0.1721983551979065, + 0.10889863222837448, + -0.14873135089874268, + -0.32254308462142944, + 2.9268836975097656, + 0.0, + 1.0001531839370728 + ], + [ + 0.2978277802467346, + 0.1489352136850357, + 0.12698186933994293, + -0.20845581591129303, + -0.26963287591934204, + 2.8097193241119385, + 0.0, + 1.0001531839370728 + ], + [ + 0.295882910490036, + 0.1296451836824417, + 0.13955126702785492, + -0.20846107602119446, + -0.2345622330904007, + 2.677173376083374, + 0.0, + 1.0001531839370728 + ], + [ + 0.2922682762145996, + 0.09537345170974731, + 0.14616358280181885, + -0.20219829678535461, + -0.21841725707054138, + 2.4817285537719727, + 0.0, + 1.0001531839370728 + ], + [ + 0.29237422347068787, + 0.05327605828642845, + 0.13899149000644684, + -0.1662379503250122, + -0.24486610293388367, + 2.232243061065674, + 0.0, + 1.0001531839370728 + ], + [ + 0.2809858024120331, + 0.013378935866057873, + 0.12247724831104279, + -0.08147241175174713, + -0.26055774092674255, + 2.0375070571899414, + 0.0, + 1.0001531839370728 + ], + [ + 0.26830413937568665, + -0.021433407440781593, + 0.11825473606586456, + -0.01458434946835041, + -0.26682475209236145, + 1.8925516605377197, + 0.0, + 1.0001531839370728 + ], + [ + 0.24920576810836792, + -0.04455875605344772, + 0.1335427612066269, + -0.040840644389390945, + -0.23672211170196533, + 1.8025894165039062, + 0.0, + 1.0001531839370728 + ], + [ + 0.22964473068714142, + -0.05804218351840973, + 0.13621622323989868, + -0.008644835092127323, + -0.23775014281272888, + 1.7616240978240967, + 0.0, + 1.0001531839370728 + ], + [ + 0.224092036485672, + -0.07778102159500122, + 0.1221073567867279, + 0.04988051950931549, + -0.19993209838867188, + 1.6423026323318481, + 0.0, + 1.0001531839370728 + ], + [ + 0.22893254458904266, + -0.08209658414125443, + 0.10379797965288162, + 0.060584262013435364, + -0.18186555802822113, + 1.5172004699707031, + 0.0, + 1.0001531839370728 + ], + [ + 0.23613715171813965, + -0.08391845226287842, + 0.08999322354793549, + 0.06380300968885422, + -0.16945499181747437, + 1.4446990489959717, + 0.0, + 1.0001531839370728 + ], + [ + 0.2448451966047287, + -0.07711803168058395, + 0.07871612906455994, + 0.001695820246823132, + -0.12914936244487762, + 1.4422394037246704, + 0.0, + 1.0001531839370728 + ], + [ + 0.25533366203308105, + -0.07087070494890213, + 0.06948883086442947, + -0.05533114820718765, + -0.06446483731269836, + 1.4328974485397339, + 0.0, + 1.0001531839370728 + ], + [ + 0.25891581177711487, + -0.06809945404529572, + 0.051519446074962616, + -0.06253517419099808, + -0.011722661554813385, + 1.3798726797103882, + 0.0, + 1.0008161067962646 + ], + [ + 0.2609001100063324, + -0.06681684404611588, + 0.04853484407067299, + -0.07506902515888214, + 0.003981119021773338, + 1.358401894569397, + 0.0, + 1.0014774799346924 + ], + [ + 0.2598421275615692, + -0.06345494836568832, + 0.046458929777145386, + -0.06804143637418747, + -0.009667478501796722, + 1.3670133352279663, + 0.0, + 1.0014774799346924 + ], + [ + 0.25799646973609924, + -0.04429514333605766, + 0.04650706425309181, + -0.06042692810297012, + -0.05485783517360687, + 1.4318227767944336, + 0.0, + 1.0014774799346924 + ], + [ + 0.2555629312992096, + -0.0013756896369159222, + 0.04913102462887764, + -0.05359965190291405, + -0.11751701682806015, + 1.5444141626358032, + 0.0, + 1.0014774799346924 + ], + [ + 0.2585991621017456, + 0.026481695473194122, + 0.050461895763874054, + -0.05778160318732262, + -0.16905993223190308, + 1.5967611074447632, + 0.0, + 1.0014774799346924 + ], + [ + 0.2633754312992096, + 0.05354495719075203, + 0.05138710141181946, + -0.06524617224931717, + -0.21284955739974976, + 1.6647883653640747, + 0.0, + 1.0014774799346924 + ], + [ + 0.26643797755241394, + 0.07520264387130737, + 0.051469769328832626, + -0.0664990171790123, + -0.24573980271816254, + 1.7223433256149292, + 0.0, + 1.0014774799346924 + ], + [ + 0.2698313295841217, + 0.09313176572322845, + 0.050423890352249146, + -0.07243520021438599, + -0.2710598111152649, + 1.7764540910720825, + 0.0, + 1.0014774799346924 + ], + [ + 0.2700411379337311, + 0.11515635251998901, + 0.05124711990356445, + -0.07159016281366348, + -0.27559319138526917, + 1.8613678216934204, + 0.0, + 1.0014774799346924 + ], + [ + 0.28280743956565857, + 0.12124741077423096, + 0.05488799512386322, + -0.08706863224506378, + -0.26977813243865967, + 1.8940175771713257, + 0.0, + 1.0001531839370728 + ], + [ + 0.3023701012134552, + 0.12449169903993607, + 0.06363284587860107, + -0.11984342336654663, + -0.2529330253601074, + 1.918890118598938, + 0.0, + 0.9988223910331726 + ], + [ + 0.3206569254398346, + 0.12514637410640717, + 0.06635959446430206, + -0.12347611039876938, + -0.22725321352481842, + 1.932269811630249, + 0.0, + 0.9988223910331726 + ], + [ + 0.33590951561927795, + 0.12552978098392487, + 0.06606301665306091, + -0.12173065543174744, + -0.2046746462583542, + 1.9240080118179321, + 0.0, + 0.9988223910331726 + ], + [ + 0.34462541341781616, + 0.12728510797023773, + 0.06303760409355164, + -0.10977441817522049, + -0.20247074961662292, + 1.9160751104354858, + 0.0, + 0.9988223910331726 + ], + [ + 0.34644967317581177, + 0.1307636946439743, + 0.06122427061200142, + -0.10618263483047485, + -0.1992902159690857, + 1.9261467456817627, + 0.0, + 0.9988223910331726 + ], + [ + 0.34369829297065735, + 0.13144519925117493, + 0.05911008641123772, + -0.0990440621972084, + -0.189656063914299, + 1.9448169469833374, + 0.0, + 0.9994885921478271 + ], + [ + 0.3509681522846222, + 0.1286793053150177, + 0.05539845675230026, + -0.126900315284729, + -0.13045752048492432, + 1.93453049659729, + 0.0, + 0.9988223910331726 + ], + [ + 0.364433616399765, + 0.12194357812404633, + 0.05449048802256584, + -0.13912469148635864, + -0.09742677211761475, + 1.894431233406067, + 0.0, + 0.9981546401977539 + ], + [ + 0.3844703733921051, + 0.10199575126171112, + 0.05568576604127884, + -0.16017021238803864, + -0.07367539405822754, + 1.8275150060653687, + 0.0, + 0.9981546401977539 + ], + [ + 0.39615732431411743, + 0.06871753185987473, + 0.057654231786727905, + -0.17078106105327606, + -0.05556885525584221, + 1.7400561571121216, + 0.0, + 0.9981546401977539 + ], + [ + 0.40068933367729187, + 0.04786602407693863, + 0.05776502192020416, + -0.1738203912973404, + -0.01869291439652443, + 1.6991322040557861, + 0.0, + 0.9981546401977539 + ], + [ + 0.4063977301120758, + 0.029685266315937042, + 0.05805123597383499, + -0.17969003319740295, + -0.011843419633805752, + 1.6510287523269653, + 0.0, + 0.9981546401977539 + ], + [ + 0.4146798253059387, + 0.02113788016140461, + 0.05780794844031334, + -0.17659226059913635, + -0.010894758626818657, + 1.6289598941802979, + 0.0, + 0.9981546401977539 + ], + [ + 0.41412338614463806, + 0.02128102444112301, + 0.05806222930550575, + -0.1723872721195221, + -0.01825280301272869, + 1.6368755102157593, + 0.0, + 0.9981546401977539 + ], + [ + 0.4101376235485077, + 0.021671006456017494, + 0.06415195763111115, + -0.17460092902183533, + -0.0415087528526783, + 1.653483271598816, + 0.0, + 0.9988223910331726 + ], + [ + 0.4032526910305023, + 0.015775181353092194, + 0.09385698288679123, + -0.22342681884765625, + -0.05819811671972275, + 1.6684566736221313, + 0.0, + 0.9994885921478271 + ], + [ + 0.39302974939346313, + 0.01971428282558918, + 0.12138740718364716, + -0.27984142303466797, + -0.07644138485193253, + 1.7089343070983887, + 0.0, + 0.9994885921478271 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0001531839370728 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.28620222210884094, + 0.19307918846607208, + 0.1259281486272812 + ], + [ + 0.2851577699184418, + 0.19143933057785034, + 0.11272404342889786 + ], + [ + 0.29409080743789673, + 0.1721983551979065, + 0.10889863222837448 + ], + [ + 0.2978277802467346, + 0.1489352136850357, + 0.12698186933994293 + ], + [ + 0.295882910490036, + 0.1296451836824417, + 0.13955126702785492 + ], + [ + 0.2922682762145996, + 0.09537345170974731, + 0.14616358280181885 + ], + [ + 0.29237422347068787, + 0.05327605828642845, + 0.13899149000644684 + ], + [ + 0.2809858024120331, + 0.013378935866057873, + 0.12247724831104279 + ], + [ + 0.26830413937568665, + -0.021433407440781593, + 0.11825473606586456 + ], + [ + 0.24920576810836792, + -0.04455875605344772, + 0.1335427612066269 + ], + [ + 0.22964473068714142, + -0.05804218351840973, + 0.13621622323989868 + ], + [ + 0.224092036485672, + -0.07778102159500122, + 0.1221073567867279 + ], + [ + 0.22893254458904266, + -0.08209658414125443, + 0.10379797965288162 + ], + [ + 0.23613715171813965, + -0.08391845226287842, + 0.08999322354793549 + ], + [ + 0.2448451966047287, + -0.07711803168058395, + 0.07871612906455994 + ], + [ + 0.25533366203308105, + -0.07087070494890213, + 0.06948883086442947 + ], + [ + 0.25891581177711487, + -0.06809945404529572, + 0.051519446074962616 + ], + [ + 0.2609001100063324, + -0.06681684404611588, + 0.04853484407067299 + ], + [ + 0.2598421275615692, + -0.06345494836568832, + 0.046458929777145386 + ], + [ + 0.25799646973609924, + -0.04429514333605766, + 0.04650706425309181 + ], + [ + 0.2555629312992096, + -0.0013756896369159222, + 0.04913102462887764 + ], + [ + 0.2585991621017456, + 0.026481695473194122, + 0.050461895763874054 + ], + [ + 0.2633754312992096, + 0.05354495719075203, + 0.05138710141181946 + ], + [ + 0.26643797755241394, + 0.07520264387130737, + 0.051469769328832626 + ], + [ + 0.2698313295841217, + 0.09313176572322845, + 0.050423890352249146 + ], + [ + 0.2700411379337311, + 0.11515635251998901, + 0.05124711990356445 + ], + [ + 0.28280743956565857, + 0.12124741077423096, + 0.05488799512386322 + ], + [ + 0.3023701012134552, + 0.12449169903993607, + 0.06363284587860107 + ], + [ + 0.3206569254398346, + 0.12514637410640717, + 0.06635959446430206 + ], + [ + 0.33590951561927795, + 0.12552978098392487, + 0.06606301665306091 + ], + [ + 0.34462541341781616, + 0.12728510797023773, + 0.06303760409355164 + ], + [ + 0.34644967317581177, + 0.1307636946439743, + 0.06122427061200142 + ], + [ + 0.34369829297065735, + 0.13144519925117493, + 0.05911008641123772 + ], + [ + 0.3509681522846222, + 0.1286793053150177, + 0.05539845675230026 + ], + [ + 0.364433616399765, + 0.12194357812404633, + 0.05449048802256584 + ], + [ + 0.3844703733921051, + 0.10199575126171112, + 0.05568576604127884 + ], + [ + 0.39615732431411743, + 0.06871753185987473, + 0.057654231786727905 + ], + [ + 0.40068933367729187, + 0.04786602407693863, + 0.05776502192020416 + ], + [ + 0.4063977301120758, + 0.029685266315937042, + 0.05805123597383499 + ], + [ + 0.4146798253059387, + 0.02113788016140461, + 0.05780794844031334 + ], + [ + 0.41412338614463806, + 0.02128102444112301, + 0.05806222930550575 + ], + [ + 0.4101376235485077, + 0.021671006456017494, + 0.06415195763111115 + ], + [ + 0.4032526910305023, + 0.015775181353092194, + 0.09385698288679123 + ], + [ + 0.39302974939346313, + 0.01971428282558918, + 0.12138740718364716 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + -0.9546754999506889, + 0.08275250745178266, + -0.28591381971556534, + 0.03344438343722281, + 0.9843151327441088, + 0.173220070048051, + 0.29576369454415147, + 0.15580674555804808, + -0.9424691480511197 + ], + [ + -0.9443328820915886, + 0.0941011862826083, + -0.3152465297839133, + 0.046394405544556094, + 0.9867356207678721, + 0.15556469343012752, + 0.3257038024567125, + 0.13227917994925786, + -0.9361726612207765 + ], + [ + -0.9266548990520262, + 0.25660347069263345, + -0.27470958645699656, + 0.20207592049500345, + 0.9562439896201635, + 0.21157210277210392, + 0.31697952681360403, + 0.14054213298440954, + -0.9379615602130059 + ], + [ + -0.9112739498334691, + 0.37087997593387934, + -0.17896321355572922, + 0.3140426167275403, + 0.9070054815436449, + 0.2805678016606688, + 0.2663775952174426, + 0.19947205293240017, + -0.9430025858210074 + ], + [ + -0.8695984475408916, + 0.4812119574176795, + -0.1106055698087423, + 0.4356383498687174, + 0.8531813768902048, + 0.2868811012447405, + 0.2324172286172695, + 0.20128733235347795, + -0.951559583881056 + ], + [ + -0.7713046383254308, + 0.6349013523307608, + -0.044603001090149835, + 0.5984453789523795, + 0.7473043894077095, + 0.28878933149012587, + 0.21668475559720304, + 0.19605209098742632, + -0.9563531221840804 + ], + [ + -0.5959356426321533, + 0.8028670750327598, + -0.016284031102379762, + 0.7655652413424585, + 0.5741360945741917, + 0.2903060560087542, + 0.24242642407309006, + 0.16053723784666135, + -0.9567952885417542 + ], + [ + -0.4347637778975522, + 0.8995243624751318, + -0.0428529898835006, + 0.8629094083269758, + 0.4297352677796438, + 0.2659228321283189, + 0.2576195071205521, + 0.07863536697991112, + -0.9630413639148105 + ], + [ + -0.3050417797637579, + 0.9497969081938784, + -0.06953665065207383, + 0.9151107604976529, + 0.312550686261565, + 0.2547240949318146, + 0.2636698856903578, + 0.01406775400603423, + -0.9645103885792311 + ], + [ + -0.2233164926361364, + 0.9746441227794004, + -0.014091772360766391, + 0.9461138012369724, + 0.22021236778825104, + 0.2374345976938045, + 0.23451741774465532, + 0.0396906412730417, + -0.9713013094656641 + ], + [ + -0.18433629914241384, + 0.9821970459947672, + -0.03618137169361495, + 0.9542285020187643, + 0.18766559815413092, + 0.23287247412366524, + 0.23551665493867607, + 0.008401553939911668, + -0.9718339977269221 + ], + [ + -0.07002219664937681, + 0.9954964427434155, + -0.06390402539435208, + 0.977575483972471, + 0.08123351931437672, + 0.1942866142475863, + 0.19860278223727285, + -0.04886663304348669, + -0.9788610662717196 + ], + [ + 0.052686721102103096, + 0.9973186944306801, + -0.050789085034022616, + 0.9820957578337278, + -0.042536791359281956, + 0.18351714858795298, + 0.1808646783219573, + -0.05954866178127678, + -0.9817035830715675 + ], + [ + 0.12396204392373555, + 0.9913940053642606, + -0.0420872640362656, + 0.9778508155942448, + -0.1148400846012596, + 0.17498439190523715, + 0.1686451722046023, + -0.0628464883393178, + -0.9836712483322342 + ], + [ + 0.12713540776929994, + 0.9917745074888431, + 0.014829510666110886, + 0.9834884646811228, + -0.1279863203344152, + 0.12794507277118605, + 0.12879063603578272, + -0.0016816963218517639, + -0.9916703807046874 + ], + [ + 0.13717671572236434, + 0.9885014312720373, + 0.06361972207389288, + 0.9884495874254262, + -0.14078067966496055, + 0.05610894181479841, + 0.06442019700474622, + 0.055188047675248424, + -0.9963956631838902 + ], + [ + 0.18975280089940333, + 0.9797711888383303, + 0.06357902227272773, + 0.9817619161750022, + -0.1901141795241475, + -0.00037241408137125495, + 0.011722393067081883, + 0.06249012935004089, + -0.9979767378223782 + ], + [ + 0.2107994582423633, + 0.9748388389941899, + 0.07247638507255649, + 0.977521221856484, + -0.20991556970153163, + -0.0196904651313125, + -0.003981108505450977, + 0.07499794387408731, + -0.997175741376477 + ], + [ + 0.20236602702470996, + 0.9769089408705466, + 0.06853402332725893, + 0.9792622395850944, + -0.20255087334655808, + -0.004313911140940568, + 0.009667327915183776, + 0.06798577022975845, + -0.9976394528171222 + ], + [ + 0.13831824658512365, + 0.988092462964331, + 0.06738951917545881, + 0.9888688983703301, + -0.1415530897916158, + 0.045836934957486544, + 0.05483032461573624, + 0.06029931511658629, + -0.9966732805182469 + ], + [ + 0.02619716238605785, + 0.99805069614642, + 0.056643769335775994, + 0.9927572295473741, + -0.03262040889115414, + 0.11562435775041502, + 0.11724671366115366, + 0.05320448144113421, + -0.9916766062029694 + ], + [ + -0.025591734734412508, + 0.9982468671987254, + 0.053369047595158065, + 0.9854111137090263, + 0.01620513244093308, + 0.16941762205068475, + 0.1682557579758277, + 0.0569261434711908, + -0.9840982746136067 + ], + [ + -0.0917357007322055, + 0.9947602822671069, + 0.04512806261116571, + 0.9731185367669448, + 0.07994158334186396, + 0.21598531582808236, + 0.21124600496040608, + 0.0637285185506605, + -0.9753531674791478 + ], + [ + -0.1464321546557507, + 0.9887942769142711, + 0.02904310631557104, + 0.9588406542777933, + 0.13465362416848187, + 0.24998600201296448, + 0.2432739685765966, + 0.06445369997041692, + -0.967813771741814 + ], + [ + -0.19675488387344847, + 0.9803170057610018, + 0.016312077970931538, + 0.9431839726932758, + 0.18470619330070098, + 0.2762021285415699, + 0.26775270180985217, + 0.06972940823030153, + -0.9609611336060249 + ], + [ + -0.27568843842992347, + 0.9612027181123773, + -0.009231446768950102, + 0.9219261317883688, + 0.2671175636492347, + 0.28053594193228143, + 0.2721177914834045, + 0.06882980374426996, + -0.959799127773473 + ], + [ + -0.3061342534683447, + 0.951986502405852, + -0.001875657338552189, + 0.9139202303315752, + 0.2944435730689923, + 0.279379302864484, + 0.2665176006271618, + 0.08381337313005269, + -0.9601789869813351 + ], + [ + -0.330253426647082, + 0.9434875680628131, + 0.027638435172404288, + 0.9101155126857708, + 0.31053583491564885, + 0.27433054660747763, + 0.2502447357220067, + 0.1157527716478517, + -0.9612381952977439 + ], + [ + -0.34456008501578667, + 0.9380686960628593, + 0.03613127842799965, + 0.9113271973045103, + 0.32500476017688845, + 0.2526947670915845, + 0.22530221318713414, + 0.11999594713693855, + -0.9668711834591457 + ], + [ + -0.33869281769075504, + 0.9398607030221676, + 0.04414786698555333, + 0.9186823055868055, + 0.32019632242737267, + 0.23129448005885847, + 0.20324860798147842, + 0.11889564339648065, + -0.971881592239985 + ], + [ + -0.3315452249558448, + 0.9427735514181202, + 0.035437191698032, + 0.9217594517037985, + 0.31569172697616876, + 0.22516271164097457, + 0.20109022105435845, + 0.10731618827217532, + -0.9736765164730224 + ], + [ + -0.34103267331441295, + 0.939544408290016, + 0.03087103145326668, + 0.918968525868544, + 0.3262883725368935, + 0.22143339045911783, + 0.1979736452031423, + 0.10388552737599713, + -0.9746867358319753 + ], + [ + -0.3588097928870422, + 0.9331146931259392, + 0.023505361108523554, + 0.914174662407183, + 0.3462178208732043, + 0.21075556249485472, + 0.1885211371201403, + 0.09710916528471435, + -0.9772561541769053 + ], + [ + -0.35274343311629547, + 0.9329171997498594, + 0.07237104948949473, + 0.9266332810603511, + 0.33751907542266707, + 0.16562498651217034, + 0.1300877889144798, + 0.12548454939437464, + -0.9835297631686766 + ], + [ + -0.3165067557926301, + 0.9432149345233024, + 0.10084176133838081, + 0.9435896842191, + 0.3021529926318208, + 0.13543292391045234, + 0.09727271648784107, + 0.13801868111178797, + -0.9856413456685139 + ], + [ + -0.25321933499853566, + 0.9578287372871616, + 0.13580897764794753, + 0.964604436481476, + 0.2393032935138122, + 0.11078002903816231, + 0.07360875969036054, + 0.15905358763738575, + -0.9845220702231732 + ], + [ + -0.16819278723570635, + 0.9729599924603475, + 0.15830363038618264, + 0.9841882267685452, + 0.15669791071704547, + 0.08257904738551872, + 0.055540261181158755, + 0.16968976942784011, + -0.9839312280537982 + ], + [ + -0.1279615234523543, + 0.977245134303656, + 0.16916795203460389, + 0.9916029770853397, + 0.12284922425544992, + 0.04039311742519143, + 0.018691825786790295, + 0.17291620970766053, + -0.9847591584083353 + ], + [ + -0.08014075311194852, + 0.980903681394608, + 0.17721576543060436, + 0.9967131982973553, + 0.07674609638067992, + 0.025939102339597217, + 0.011843142763069262, + 0.17871207154759478, + -0.9838301354668197 + ], + [ + -0.05812732846404739, + 0.9828945973925522, + 0.17475532639140257, + 0.998249729584862, + 0.05531606055644406, + 0.02091914979787124, + 0.010894543101145168, + 0.17566543160522136, + -0.9843896408788386 + ], + [ + -0.0660201059349576, + 0.9832347186977349, + 0.16997303774341038, + 0.9976513508197492, + 0.06192841426116352, + 0.0292686472975293, + 0.018251789497647136, + 0.17150614990280538, + -0.9850139657515775 + ], + [ + -0.08252161095925725, + 0.9820266508465268, + 0.16974640129275903, + 0.9957249602593153, + 0.07415300887270981, + 0.05507390300049845, + 0.041496834111453454, + 0.1735655158788093, + -0.9839476736373988 + ], + [ + -0.09734010144018673, + 0.9717539736134178, + 0.2149863237932751, + 0.9935500521389635, + 0.08225516384545567, + 0.07805371173377931, + 0.058165269244428275, + 0.22119742943192175, + -0.9734929371425523 + ], + [ + -0.13729696049326073, + 0.954848384911202, + 0.2634655698033058, + 0.9875817089160036, + 0.11145060003280077, + 0.11072999578648261, + 0.07636696179538498, + 0.27539666952379305, + -0.9582926283559448 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.00104445219039917, + -0.0016398578882217407, + -0.013204105198383331, + 0.023467183113098145, + -0.03150114417076111, + -0.014071941375732422, + 1.0 + ], + [ + 0.008933037519454956, + -0.019240975379943848, + -0.0038254112005233765, + -0.008362740278244019, + 0.00921294093132019, + -0.1656191349029541, + 1.0 + ], + [ + 0.0037369728088378906, + -0.02326314151287079, + 0.01808323711156845, + -0.059724465012550354, + 0.0529102087020874, + -0.11716437339782715, + 1.0 + ], + [ + -0.0019448697566986084, + -0.019290030002593994, + 0.012569397687911987, + -5.260109901428223e-06, + 0.035070642828941345, + -0.13254594802856445, + 1.0 + ], + [ + -0.0036146342754364014, + -0.0342717319726944, + 0.006612315773963928, + 0.006262779235839844, + 0.016144976019859314, + -0.19544482231140137, + 1.0 + ], + [ + 0.00010594725608825684, + -0.04209739342331886, + -0.007172092795372009, + 0.03596034646034241, + -0.026448845863342285, + -0.24948549270629883, + 1.0 + ], + [ + -0.011388421058654785, + -0.039897121489048004, + -0.016514241695404053, + 0.08476553857326508, + -0.015691637992858887, + -0.19473600387573242, + 1.0 + ], + [ + -0.012681663036346436, + -0.03481234237551689, + -0.004222512245178223, + 0.06688806414604187, + -0.0062670111656188965, + -0.14495539665222168, + 1.0 + ], + [ + -0.019098371267318726, + -0.02312534861266613, + 0.015288025140762329, + -0.026256294921040535, + 0.030102640390396118, + -0.08996224403381348, + 1.0 + ], + [ + -0.0195610374212265, + -0.013483427464962006, + 0.0026734620332717896, + 0.0321958102285862, + -0.0010280311107635498, + -0.04096531867980957, + 1.0 + ], + [ + -0.005552694201469421, + -0.01973883807659149, + -0.014108866453170776, + 0.05852535367012024, + 0.03781804442405701, + -0.11932146549224854, + 1.0 + ], + [ + 0.0048405081033706665, + -0.004315562546253204, + -0.018309377133846283, + 0.010703742504119873, + 0.018066540360450745, + -0.12510216236114502, + 1.0 + ], + [ + 0.007204607129096985, + -0.001821868121623993, + -0.013804756104946136, + 0.0032187476754188538, + 0.012410566210746765, + -0.07250142097473145, + 1.0 + ], + [ + 0.00870804488658905, + 0.006800420582294464, + -0.01127709448337555, + -0.06210719048976898, + 0.04030562937259674, + -0.0024596452713012695, + 1.0 + ], + [ + 0.010488465428352356, + 0.006247326731681824, + -0.009227298200130463, + -0.05702696740627289, + 0.06468452513217926, + -0.009341955184936523, + 1.0 + ], + [ + 0.0035821497440338135, + 0.002771250903606415, + -0.017969384789466858, + -0.007204025983810425, + 0.05274217575788498, + -0.0530247688293457, + 1.0 + ], + [ + 0.0019842982292175293, + 0.00128260999917984, + -0.002984602004289627, + -0.012533850967884064, + 0.015703780576586723, + -0.02147078514099121, + 1.0 + ], + [ + -0.0010579824447631836, + 0.0033618956804275513, + -0.002075914293527603, + 0.007027588784694672, + -0.01364859752357006, + 0.008611440658569336, + 1.0 + ], + [ + -0.0018456578254699707, + 0.01915980502963066, + 4.813447594642639e-05, + 0.007614508271217346, + -0.04519035667181015, + 0.06480944156646729, + 1.0 + ], + [ + -0.0024335384368896484, + 0.042919453233480453, + 0.0026239603757858276, + 0.006827276200056076, + -0.06265918165445328, + 0.11259138584136963, + 1.0 + ], + [ + 0.0030362308025360107, + 0.027857385575771332, + 0.0013308711349964142, + -0.004181951284408569, + -0.051542915403842926, + 0.05234694480895996, + 1.0 + ], + [ + 0.004776269197463989, + 0.027063261717557907, + 0.000925205647945404, + -0.007464569061994553, + -0.04378962516784668, + 0.06802725791931152, + 1.0 + ], + [ + 0.0030625462532043457, + 0.021657686680555344, + 8.266791701316833e-05, + -0.0012528449296951294, + -0.03289024531841278, + 0.05755496025085449, + 1.0 + ], + [ + 0.0033933520317077637, + 0.01792912185192108, + -0.0010458789765834808, + -0.005936183035373688, + -0.025320008397102356, + 0.05411076545715332, + 1.0 + ], + [ + 0.000209808349609375, + 0.02202458679676056, + 0.0008232295513153076, + 0.0008450374007225037, + -0.0045333802700042725, + 0.08491373062133789, + 1.0 + ], + [ + 0.01276630163192749, + 0.006091058254241943, + 0.003640875220298767, + -0.015478469431400299, + 0.005815058946609497, + 0.03264975547790527, + 1.0 + ], + [ + 0.01956266164779663, + 0.0032442882657051086, + 0.008744850754737854, + -0.03277479112148285, + 0.016845107078552246, + 0.024872541427612305, + 1.0 + ], + [ + 0.018286824226379395, + 0.0006546750664710999, + 0.0027267485857009888, + -0.003632687032222748, + 0.025679811835289, + 0.013379693031311035, + 1.0 + ], + [ + 0.01525259017944336, + 0.0003834068775177002, + -0.0002965778112411499, + 0.0017454549670219421, + 0.022578567266464233, + -0.008261799812316895, + 1.0 + ], + [ + 0.008715897798538208, + 0.0017553269863128662, + -0.0030254125595092773, + 0.011956237256526947, + 0.002203896641731262, + -0.007932901382446289, + 1.0 + ], + [ + 0.0018242597579956055, + 0.0034785866737365723, + -0.0018133334815502167, + 0.003591783344745636, + 0.0031805336475372314, + 0.010071635246276855, + 1.0 + ], + [ + -0.002751380205154419, + 0.0006815046072006226, + -0.0021141842007637024, + 0.007138572633266449, + 0.009634152054786682, + 0.018670201301574707, + 1.0 + ], + [ + 0.007269859313964844, + -0.0027658939361572266, + -0.0037116296589374542, + -0.0278562530875206, + 0.059198543429374695, + -0.010286450386047363, + 1.0 + ], + [ + 0.013465464115142822, + -0.0067357271909713745, + -0.0009079687297344208, + -0.012224376201629639, + 0.03303074836730957, + -0.040099263191223145, + 1.0 + ], + [ + 0.020036756992340088, + -0.019947826862335205, + 0.0011952780187129974, + -0.021045520901679993, + 0.023751378059387207, + -0.06691622734069824, + 1.0 + ], + [ + 0.011686950922012329, + -0.033278219401836395, + 0.001968465745449066, + -0.010610848665237427, + 0.01810653880238533, + -0.08745884895324707, + 1.0 + ], + [ + 0.0045320093631744385, + -0.020851507782936096, + 0.00011079013347625732, + -0.003039330244064331, + 0.03687594085931778, + -0.04092395305633545, + 1.0 + ], + [ + 0.0057083964347839355, + -0.018180757761001587, + 0.00028621405363082886, + -0.005869641900062561, + 0.0068494947627186775, + -0.0481034517288208, + 1.0 + ], + [ + 0.008282095193862915, + -0.008547386154532433, + -0.00024328753352165222, + 0.0030977725982666016, + 0.0009486610069870949, + -0.02206885814666748, + 1.0 + ], + [ + -0.0005564391613006592, + 0.00014314427971839905, + 0.00025428086519241333, + 0.004204988479614258, + -0.007358044385910034, + 0.007915616035461426, + 1.0 + ], + [ + -0.003985762596130371, + 0.0003899820148944855, + 0.0060897283256053925, + -0.0022136569023132324, + -0.023255949839949608, + 0.01660776138305664, + 1.0 + ], + [ + -0.006884932518005371, + -0.005895825102925301, + 0.029705025255680084, + -0.04882588982582092, + -0.01668936386704445, + 0.01497340202331543, + 1.0 + ], + [ + -0.010222941637039185, + 0.003939101472496986, + 0.027530424296855927, + -0.05641460418701172, + -0.018243268132209778, + 0.040477633476257324, + 1.0 + ], + [ + -0.014828026294708252, + 0.004505328834056854, + 0.014292150735855103, + -0.030331194400787354, + -0.05537068098783493, + 0.10512518882751465, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0001531839370728 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2851577699184418, + 0.19143933057785034, + 0.11272404342889786 + ], + [ + 0.29409080743789673, + 0.1721983551979065, + 0.10889863222837448 + ], + [ + 0.2978277802467346, + 0.1489352136850357, + 0.12698186933994293 + ], + [ + 0.295882910490036, + 0.1296451836824417, + 0.13955126702785492 + ], + [ + 0.2922682762145996, + 0.09537345170974731, + 0.14616358280181885 + ], + [ + 0.29237422347068787, + 0.05327605828642845, + 0.13899149000644684 + ], + [ + 0.2809858024120331, + 0.013378935866057873, + 0.12247724831104279 + ], + [ + 0.26830413937568665, + -0.021433407440781593, + 0.11825473606586456 + ], + [ + 0.24920576810836792, + -0.04455875605344772, + 0.1335427612066269 + ], + [ + 0.22964473068714142, + -0.05804218351840973, + 0.13621622323989868 + ], + [ + 0.224092036485672, + -0.07778102159500122, + 0.1221073567867279 + ], + [ + 0.22893254458904266, + -0.08209658414125443, + 0.10379797965288162 + ], + [ + 0.23613715171813965, + -0.08391845226287842, + 0.08999322354793549 + ], + [ + 0.2448451966047287, + -0.07711803168058395, + 0.07871612906455994 + ], + [ + 0.25533366203308105, + -0.07087070494890213, + 0.06948883086442947 + ], + [ + 0.25891581177711487, + -0.06809945404529572, + 0.051519446074962616 + ], + [ + 0.2609001100063324, + -0.06681684404611588, + 0.04853484407067299 + ], + [ + 0.2598421275615692, + -0.06345494836568832, + 0.046458929777145386 + ], + [ + 0.25799646973609924, + -0.04429514333605766, + 0.04650706425309181 + ], + [ + 0.2555629312992096, + -0.0013756896369159222, + 0.04913102462887764 + ], + [ + 0.2585991621017456, + 0.026481695473194122, + 0.050461895763874054 + ], + [ + 0.2633754312992096, + 0.05354495719075203, + 0.05138710141181946 + ], + [ + 0.26643797755241394, + 0.07520264387130737, + 0.051469769328832626 + ], + [ + 0.2698313295841217, + 0.09313176572322845, + 0.050423890352249146 + ], + [ + 0.2700411379337311, + 0.11515635251998901, + 0.05124711990356445 + ], + [ + 0.28280743956565857, + 0.12124741077423096, + 0.05488799512386322 + ], + [ + 0.3023701012134552, + 0.12449169903993607, + 0.06363284587860107 + ], + [ + 0.3206569254398346, + 0.12514637410640717, + 0.06635959446430206 + ], + [ + 0.33590951561927795, + 0.12552978098392487, + 0.06606301665306091 + ], + [ + 0.34462541341781616, + 0.12728510797023773, + 0.06303760409355164 + ], + [ + 0.34644967317581177, + 0.1307636946439743, + 0.06122427061200142 + ], + [ + 0.34369829297065735, + 0.13144519925117493, + 0.05911008641123772 + ], + [ + 0.3509681522846222, + 0.1286793053150177, + 0.05539845675230026 + ], + [ + 0.364433616399765, + 0.12194357812404633, + 0.05449048802256584 + ], + [ + 0.3844703733921051, + 0.10199575126171112, + 0.05568576604127884 + ], + [ + 0.39615732431411743, + 0.06871753185987473, + 0.057654231786727905 + ], + [ + 0.40068933367729187, + 0.04786602407693863, + 0.05776502192020416 + ], + [ + 0.4063977301120758, + 0.029685266315937042, + 0.05805123597383499 + ], + [ + 0.4146798253059387, + 0.02113788016140461, + 0.05780794844031334 + ], + [ + 0.41412338614463806, + 0.02128102444112301, + 0.05806222930550575 + ], + [ + 0.4101376235485077, + 0.021671006456017494, + 0.06415195763111115 + ], + [ + 0.4032526910305023, + 0.015775181353092194, + 0.09385698288679123 + ], + [ + 0.39302974939346313, + 0.01971428282558918, + 0.12138740718364716 + ], + [ + 0.3782017230987549, + 0.024219611659646034, + 0.13567955791950226 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + -0.9443328820915886, + 0.0941011862826083, + -0.3152465297839133, + 0.046394405544556094, + 0.9867356207678721, + 0.15556469343012752, + 0.3257038024567125, + 0.13227917994925786, + -0.9361726612207765 + ], + [ + -0.9266548990520262, + 0.25660347069263345, + -0.27470958645699656, + 0.20207592049500345, + 0.9562439896201635, + 0.21157210277210392, + 0.31697952681360403, + 0.14054213298440954, + -0.9379615602130059 + ], + [ + -0.9112739498334691, + 0.37087997593387934, + -0.17896321355572922, + 0.3140426167275403, + 0.9070054815436449, + 0.2805678016606688, + 0.2663775952174426, + 0.19947205293240017, + -0.9430025858210074 + ], + [ + -0.8695984475408916, + 0.4812119574176795, + -0.1106055698087423, + 0.4356383498687174, + 0.8531813768902048, + 0.2868811012447405, + 0.2324172286172695, + 0.20128733235347795, + -0.951559583881056 + ], + [ + -0.7713046383254308, + 0.6349013523307608, + -0.044603001090149835, + 0.5984453789523795, + 0.7473043894077095, + 0.28878933149012587, + 0.21668475559720304, + 0.19605209098742632, + -0.9563531221840804 + ], + [ + -0.5959356426321533, + 0.8028670750327598, + -0.016284031102379762, + 0.7655652413424585, + 0.5741360945741917, + 0.2903060560087542, + 0.24242642407309006, + 0.16053723784666135, + -0.9567952885417542 + ], + [ + -0.4347637778975522, + 0.8995243624751318, + -0.0428529898835006, + 0.8629094083269758, + 0.4297352677796438, + 0.2659228321283189, + 0.2576195071205521, + 0.07863536697991112, + -0.9630413639148105 + ], + [ + -0.3050417797637579, + 0.9497969081938784, + -0.06953665065207383, + 0.9151107604976529, + 0.312550686261565, + 0.2547240949318146, + 0.2636698856903578, + 0.01406775400603423, + -0.9645103885792311 + ], + [ + -0.2233164926361364, + 0.9746441227794004, + -0.014091772360766391, + 0.9461138012369724, + 0.22021236778825104, + 0.2374345976938045, + 0.23451741774465532, + 0.0396906412730417, + -0.9713013094656641 + ], + [ + -0.18433629914241384, + 0.9821970459947672, + -0.03618137169361495, + 0.9542285020187643, + 0.18766559815413092, + 0.23287247412366524, + 0.23551665493867607, + 0.008401553939911668, + -0.9718339977269221 + ], + [ + -0.07002219664937681, + 0.9954964427434155, + -0.06390402539435208, + 0.977575483972471, + 0.08123351931437672, + 0.1942866142475863, + 0.19860278223727285, + -0.04886663304348669, + -0.9788610662717196 + ], + [ + 0.052686721102103096, + 0.9973186944306801, + -0.050789085034022616, + 0.9820957578337278, + -0.042536791359281956, + 0.18351714858795298, + 0.1808646783219573, + -0.05954866178127678, + -0.9817035830715675 + ], + [ + 0.12396204392373555, + 0.9913940053642606, + -0.0420872640362656, + 0.9778508155942448, + -0.1148400846012596, + 0.17498439190523715, + 0.1686451722046023, + -0.0628464883393178, + -0.9836712483322342 + ], + [ + 0.12713540776929994, + 0.9917745074888431, + 0.014829510666110886, + 0.9834884646811228, + -0.1279863203344152, + 0.12794507277118605, + 0.12879063603578272, + -0.0016816963218517639, + -0.9916703807046874 + ], + [ + 0.13717671572236434, + 0.9885014312720373, + 0.06361972207389288, + 0.9884495874254262, + -0.14078067966496055, + 0.05610894181479841, + 0.06442019700474622, + 0.055188047675248424, + -0.9963956631838902 + ], + [ + 0.18975280089940333, + 0.9797711888383303, + 0.06357902227272773, + 0.9817619161750022, + -0.1901141795241475, + -0.00037241408137125495, + 0.011722393067081883, + 0.06249012935004089, + -0.9979767378223782 + ], + [ + 0.2107994582423633, + 0.9748388389941899, + 0.07247638507255649, + 0.977521221856484, + -0.20991556970153163, + -0.0196904651313125, + -0.003981108505450977, + 0.07499794387408731, + -0.997175741376477 + ], + [ + 0.20236602702470996, + 0.9769089408705466, + 0.06853402332725893, + 0.9792622395850944, + -0.20255087334655808, + -0.004313911140940568, + 0.009667327915183776, + 0.06798577022975845, + -0.9976394528171222 + ], + [ + 0.13831824658512365, + 0.988092462964331, + 0.06738951917545881, + 0.9888688983703301, + -0.1415530897916158, + 0.045836934957486544, + 0.05483032461573624, + 0.06029931511658629, + -0.9966732805182469 + ], + [ + 0.02619716238605785, + 0.99805069614642, + 0.056643769335775994, + 0.9927572295473741, + -0.03262040889115414, + 0.11562435775041502, + 0.11724671366115366, + 0.05320448144113421, + -0.9916766062029694 + ], + [ + -0.025591734734412508, + 0.9982468671987254, + 0.053369047595158065, + 0.9854111137090263, + 0.01620513244093308, + 0.16941762205068475, + 0.1682557579758277, + 0.0569261434711908, + -0.9840982746136067 + ], + [ + -0.0917357007322055, + 0.9947602822671069, + 0.04512806261116571, + 0.9731185367669448, + 0.07994158334186396, + 0.21598531582808236, + 0.21124600496040608, + 0.0637285185506605, + -0.9753531674791478 + ], + [ + -0.1464321546557507, + 0.9887942769142711, + 0.02904310631557104, + 0.9588406542777933, + 0.13465362416848187, + 0.24998600201296448, + 0.2432739685765966, + 0.06445369997041692, + -0.967813771741814 + ], + [ + -0.19675488387344847, + 0.9803170057610018, + 0.016312077970931538, + 0.9431839726932758, + 0.18470619330070098, + 0.2762021285415699, + 0.26775270180985217, + 0.06972940823030153, + -0.9609611336060249 + ], + [ + -0.27568843842992347, + 0.9612027181123773, + -0.009231446768950102, + 0.9219261317883688, + 0.2671175636492347, + 0.28053594193228143, + 0.2721177914834045, + 0.06882980374426996, + -0.959799127773473 + ], + [ + -0.3061342534683447, + 0.951986502405852, + -0.001875657338552189, + 0.9139202303315752, + 0.2944435730689923, + 0.279379302864484, + 0.2665176006271618, + 0.08381337313005269, + -0.9601789869813351 + ], + [ + -0.330253426647082, + 0.9434875680628131, + 0.027638435172404288, + 0.9101155126857708, + 0.31053583491564885, + 0.27433054660747763, + 0.2502447357220067, + 0.1157527716478517, + -0.9612381952977439 + ], + [ + -0.34456008501578667, + 0.9380686960628593, + 0.03613127842799965, + 0.9113271973045103, + 0.32500476017688845, + 0.2526947670915845, + 0.22530221318713414, + 0.11999594713693855, + -0.9668711834591457 + ], + [ + -0.33869281769075504, + 0.9398607030221676, + 0.04414786698555333, + 0.9186823055868055, + 0.32019632242737267, + 0.23129448005885847, + 0.20324860798147842, + 0.11889564339648065, + -0.971881592239985 + ], + [ + -0.3315452249558448, + 0.9427735514181202, + 0.035437191698032, + 0.9217594517037985, + 0.31569172697616876, + 0.22516271164097457, + 0.20109022105435845, + 0.10731618827217532, + -0.9736765164730224 + ], + [ + -0.34103267331441295, + 0.939544408290016, + 0.03087103145326668, + 0.918968525868544, + 0.3262883725368935, + 0.22143339045911783, + 0.1979736452031423, + 0.10388552737599713, + -0.9746867358319753 + ], + [ + -0.3588097928870422, + 0.9331146931259392, + 0.023505361108523554, + 0.914174662407183, + 0.3462178208732043, + 0.21075556249485472, + 0.1885211371201403, + 0.09710916528471435, + -0.9772561541769053 + ], + [ + -0.35274343311629547, + 0.9329171997498594, + 0.07237104948949473, + 0.9266332810603511, + 0.33751907542266707, + 0.16562498651217034, + 0.1300877889144798, + 0.12548454939437464, + -0.9835297631686766 + ], + [ + -0.3165067557926301, + 0.9432149345233024, + 0.10084176133838081, + 0.9435896842191, + 0.3021529926318208, + 0.13543292391045234, + 0.09727271648784107, + 0.13801868111178797, + -0.9856413456685139 + ], + [ + -0.25321933499853566, + 0.9578287372871616, + 0.13580897764794753, + 0.964604436481476, + 0.2393032935138122, + 0.11078002903816231, + 0.07360875969036054, + 0.15905358763738575, + -0.9845220702231732 + ], + [ + -0.16819278723570635, + 0.9729599924603475, + 0.15830363038618264, + 0.9841882267685452, + 0.15669791071704547, + 0.08257904738551872, + 0.055540261181158755, + 0.16968976942784011, + -0.9839312280537982 + ], + [ + -0.1279615234523543, + 0.977245134303656, + 0.16916795203460389, + 0.9916029770853397, + 0.12284922425544992, + 0.04039311742519143, + 0.018691825786790295, + 0.17291620970766053, + -0.9847591584083353 + ], + [ + -0.08014075311194852, + 0.980903681394608, + 0.17721576543060436, + 0.9967131982973553, + 0.07674609638067992, + 0.025939102339597217, + 0.011843142763069262, + 0.17871207154759478, + -0.9838301354668197 + ], + [ + -0.05812732846404739, + 0.9828945973925522, + 0.17475532639140257, + 0.998249729584862, + 0.05531606055644406, + 0.02091914979787124, + 0.010894543101145168, + 0.17566543160522136, + -0.9843896408788386 + ], + [ + -0.0660201059349576, + 0.9832347186977349, + 0.16997303774341038, + 0.9976513508197492, + 0.06192841426116352, + 0.0292686472975293, + 0.018251789497647136, + 0.17150614990280538, + -0.9850139657515775 + ], + [ + -0.08252161095925725, + 0.9820266508465268, + 0.16974640129275903, + 0.9957249602593153, + 0.07415300887270981, + 0.05507390300049845, + 0.041496834111453454, + 0.1735655158788093, + -0.9839476736373988 + ], + [ + -0.09734010144018673, + 0.9717539736134178, + 0.2149863237932751, + 0.9935500521389635, + 0.08225516384545567, + 0.07805371173377931, + 0.058165269244428275, + 0.22119742943192175, + -0.9734929371425523 + ], + [ + -0.13729696049326073, + 0.954848384911202, + 0.2634655698033058, + 0.9875817089160036, + 0.11145060003280077, + 0.11072999578648261, + 0.07636696179538498, + 0.27539666952379305, + -0.9582926283559448 + ], + [ + -0.23878152623954468, + 0.9339057278647575, + 0.2660892222321509, + 0.9621379073239605, + 0.19044229114455596, + 0.19499328458662796, + 0.13143070423985082, + 0.3025753215399589, + -0.9440202035857108 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005992.json b/json/chunk-0005/episode_0005992.json new file mode 100644 index 0000000000000000000000000000000000000000..01893da72a8e10299d1a008586c133805305f8a6 --- /dev/null +++ b/json/chunk-0005/episode_0005992.json @@ -0,0 +1,2122 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 34, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut the onion on the bottom left side of the table." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005992.mp4", + "start": 0, + "end": 34, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.26590922474861145, + -0.0274517759680748, + 0.07472247630357742, + -0.048312366008758545, + -0.061740320175886154, + 0.06425797939300537, + 0.0, + 1.0001531839370728 + ], + [ + 0.2642664909362793, + -0.02730044536292553, + 0.06679770350456238, + -0.04499540477991104, + -0.035258274525403976, + 0.0795891061425209, + 0.0, + 1.0001531839370728 + ], + [ + 0.27700382471084595, + -0.04688351973891258, + 0.05548720434308052, + -0.04382864385843277, + -0.06357487291097641, + 0.15247535705566406, + 0.0, + 1.0001531839370728 + ], + [ + 0.3058496415615082, + -0.05511907488107681, + 0.0555654913187027, + -0.02580900676548481, + -0.05580255389213562, + 0.1966066062450409, + 0.0, + 1.0001531839370728 + ], + [ + 0.3410061299800873, + -0.06631860136985779, + 0.054659947752952576, + -0.052936214953660965, + -0.0398976169526577, + 0.26087644696235657, + 0.0, + 1.0001531839370728 + ], + [ + 0.37213796377182007, + -0.06606386601924896, + 0.0557539165019989, + -0.08746764063835144, + -0.04297368600964546, + 0.3399374186992645, + 0.0, + 1.0001531839370728 + ], + [ + 0.39051130414009094, + -0.059398993849754333, + 0.05080071836709976, + -0.06101663038134575, + -0.04804482311010361, + 0.39167529344558716, + 0.0, + 1.0001531839370728 + ], + [ + 0.3992927670478821, + -0.051993828266859055, + 0.04193253442645073, + -0.009869242087006569, + -0.05720058083534241, + 0.41751033067703247, + 0.0, + 1.0001531839370728 + ], + [ + 0.39703312516212463, + -0.048404015600681305, + 0.029708143323659897, + 0.025035008788108826, + -0.03967216610908508, + 0.4198724031448364, + 0.0, + 1.0001531839370728 + ], + [ + 0.39390283823013306, + -0.0470854751765728, + 0.02138061635196209, + 0.043425992131233215, + -0.020657990127801895, + 0.4212820827960968, + 0.0, + 0.9545519351959229 + ], + [ + 0.39352303743362427, + -0.04882591590285301, + 0.019267376512289047, + 0.030899066478013992, + -0.019537948071956635, + 0.4158785045146942, + 0.0, + 0.7021830081939697 + ], + [ + 0.39284324645996094, + -0.050395771861076355, + 0.019183192402124405, + 0.028766412287950516, + -0.017788399010896683, + 0.403509259223938, + 0.0, + 0.6169373393058777 + ], + [ + 0.3880402445793152, + -0.052146997302770615, + 0.022686082869768143, + 0.011243819259107113, + -0.010166269727051258, + 0.3876871168613434, + 0.0, + 0.6139277815818787 + ], + [ + 0.38169562816619873, + -0.05086367949843407, + 0.05298210307955742, + -0.030995246022939682, + -0.05298122391104698, + 0.37580686807632446, + 0.0, + 0.6059080362319946 + ], + [ + 0.3668224811553955, + -0.01597783714532852, + 0.057204410433769226, + -0.024170199409127235, + -0.042750030755996704, + 0.4445522129535675, + 0.0, + 0.6049063205718994 + ], + [ + 0.3423643410205841, + 0.005987911950796843, + 0.056023359298706055, + -0.008122074417769909, + -0.01992560364305973, + 0.46565496921539307, + 0.0, + 0.6049063205718994 + ], + [ + 0.30690401792526245, + 0.016281116753816605, + 0.045439641922712326, + 0.043695464730262756, + 0.02285347506403923, + 0.4362235367298126, + 0.0, + 0.6059080362319946 + ], + [ + 0.28251150250434875, + 0.029054943472146988, + 0.04047916829586029, + 0.09470406174659729, + 0.03753335401415825, + 0.44603532552719116, + 0.0, + 0.6049063205718994 + ], + [ + 0.2692919969558716, + 0.04883847385644913, + 0.03872043266892433, + 0.10145122557878494, + 0.04241669178009033, + 0.5019674301147461, + 0.0, + 0.6049063205718994 + ], + [ + 0.2692977786064148, + 0.05409006029367447, + 0.03637039288878441, + 0.09978830814361572, + 0.043350040912628174, + 0.5191662907600403, + 0.0, + 0.6049063205718994 + ], + [ + 0.27005308866500854, + 0.059325817972421646, + 0.031994350254535675, + 0.13266582787036896, + 0.04346223175525665, + 0.5352055430412292, + 0.0, + 0.6049063205718994 + ], + [ + 0.26916468143463135, + 0.0818786695599556, + 0.0358278714120388, + 0.12632188200950623, + 0.02880821004509926, + 0.6385606527328491, + 0.0, + 0.6049063205718994 + ], + [ + 0.27072063088417053, + 0.10596539080142975, + 0.04300328716635704, + 0.08936192095279694, + 0.02191288396716118, + 0.7327679395675659, + 0.0, + 0.6049063205718994 + ], + [ + 0.26543349027633667, + 0.12840384244918823, + 0.037947315722703934, + 0.08544927835464478, + 0.03851738199591637, + 0.799079954624176, + 0.0, + 0.6049063205718994 + ], + [ + 0.2627866864204407, + 0.143722265958786, + 0.030664077028632164, + 0.07206682115793228, + 0.031979791820049286, + 0.837533712387085, + 0.0, + 0.6049063205718994 + ], + [ + 0.2675303518772125, + 0.15780051052570343, + 0.0286482535302639, + 0.05889647454023361, + -0.03451547026634216, + 0.8663969039916992, + 0.0, + 0.6049063205718994 + ], + [ + 0.27074846625328064, + 0.16579429805278778, + 0.02104184962809086, + 0.06364570558071136, + -0.07584097981452942, + 0.874173104763031, + 0.0, + 0.6049063205718994 + ], + [ + 0.2720605134963989, + 0.16842994093894958, + 0.017476797103881836, + 0.0686885416507721, + -0.09009630233049393, + 0.8868432641029358, + 0.0, + 0.6931989789009094 + ], + [ + 0.26950186491012573, + 0.16810402274131775, + 0.012807846069335938, + 0.0846799910068512, + -0.06609198451042175, + 0.8909892439842224, + 0.0, + 0.9672539830207825 + ], + [ + 0.269292414188385, + 0.16760505735874176, + 0.012279587797820568, + 0.08427981287240982, + -0.061797454953193665, + 0.8855533003807068, + 0.0, + 1.0060625076293945 + ], + [ + 0.2683943510055542, + 0.161046102643013, + 0.023174602538347244, + 0.05933365225791931, + -0.07784012705087662, + 0.8554766774177551, + 0.0, + 1.0008161067962646 + ], + [ + 0.2725844085216522, + 0.14718574285507202, + 0.05365917459130287, + 0.016603171825408936, + -0.1577102243900299, + 0.7819637060165405, + 0.0, + 1.0008161067962646 + ], + [ + 0.27368006110191345, + 0.1350865364074707, + 0.06773390620946884, + 0.017597898840904236, + -0.1536235809326172, + 0.6667917370796204, + 0.0, + 1.0008161067962646 + ], + [ + 0.28318309783935547, + 0.1261870563030243, + 0.06846985965967178, + -0.014502950944006443, + -0.052133072167634964, + 0.4325234889984131, + 0.0, + 1.0008161067962646 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9545519351959229 + ], + [ + 0.7021830081939697 + ], + [ + 0.6169373393058777 + ], + [ + 0.6139277815818787 + ], + [ + 0.6059080362319946 + ], + [ + 0.6049063205718994 + ], + [ + 0.6049063205718994 + ], + [ + 0.6059080362319946 + ], + [ + 0.6049063205718994 + ], + [ + 0.6049063205718994 + ], + [ + 0.6049063205718994 + ], + [ + 0.6049063205718994 + ], + [ + 0.6049063205718994 + ], + [ + 0.6049063205718994 + ], + [ + 0.6049063205718994 + ], + [ + 0.6049063205718994 + ], + [ + 0.6049063205718994 + ], + [ + 0.6049063205718994 + ], + [ + 0.6931989789009094 + ], + [ + 0.9672539830207825 + ], + [ + 1.0060625076293945 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.26590922474861145, + -0.0274517759680748, + 0.07472247630357742 + ], + [ + 0.2642664909362793, + -0.02730044536292553, + 0.06679770350456238 + ], + [ + 0.27700382471084595, + -0.04688351973891258, + 0.05548720434308052 + ], + [ + 0.3058496415615082, + -0.05511907488107681, + 0.0555654913187027 + ], + [ + 0.3410061299800873, + -0.06631860136985779, + 0.054659947752952576 + ], + [ + 0.37213796377182007, + -0.06606386601924896, + 0.0557539165019989 + ], + [ + 0.39051130414009094, + -0.059398993849754333, + 0.05080071836709976 + ], + [ + 0.3992927670478821, + -0.051993828266859055, + 0.04193253442645073 + ], + [ + 0.39703312516212463, + -0.048404015600681305, + 0.029708143323659897 + ], + [ + 0.39390283823013306, + -0.0470854751765728, + 0.02138061635196209 + ], + [ + 0.39352303743362427, + -0.04882591590285301, + 0.019267376512289047 + ], + [ + 0.39284324645996094, + -0.050395771861076355, + 0.019183192402124405 + ], + [ + 0.3880402445793152, + -0.052146997302770615, + 0.022686082869768143 + ], + [ + 0.38169562816619873, + -0.05086367949843407, + 0.05298210307955742 + ], + [ + 0.3668224811553955, + -0.01597783714532852, + 0.057204410433769226 + ], + [ + 0.3423643410205841, + 0.005987911950796843, + 0.056023359298706055 + ], + [ + 0.30690401792526245, + 0.016281116753816605, + 0.045439641922712326 + ], + [ + 0.28251150250434875, + 0.029054943472146988, + 0.04047916829586029 + ], + [ + 0.2692919969558716, + 0.04883847385644913, + 0.03872043266892433 + ], + [ + 0.2692977786064148, + 0.05409006029367447, + 0.03637039288878441 + ], + [ + 0.27005308866500854, + 0.059325817972421646, + 0.031994350254535675 + ], + [ + 0.26916468143463135, + 0.0818786695599556, + 0.0358278714120388 + ], + [ + 0.27072063088417053, + 0.10596539080142975, + 0.04300328716635704 + ], + [ + 0.26543349027633667, + 0.12840384244918823, + 0.037947315722703934 + ], + [ + 0.2627866864204407, + 0.143722265958786, + 0.030664077028632164 + ], + [ + 0.2675303518772125, + 0.15780051052570343, + 0.0286482535302639 + ], + [ + 0.27074846625328064, + 0.16579429805278778, + 0.02104184962809086 + ], + [ + 0.2720605134963989, + 0.16842994093894958, + 0.017476797103881836 + ], + [ + 0.26950186491012573, + 0.16810402274131775, + 0.012807846069335938 + ], + [ + 0.269292414188385, + 0.16760505735874176, + 0.012279587797820568 + ], + [ + 0.2683943510055542, + 0.161046102643013, + 0.023174602538347244 + ], + [ + 0.2725844085216522, + 0.14718574285507202, + 0.05365917459130287 + ], + [ + 0.27368006110191345, + 0.1350865364074707, + 0.06773390620946884 + ], + [ + 0.28318309783935547, + 0.1261870563030243, + 0.06846985965967178 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9960347704010283, + 0.06116522471236311, + 0.0646030296352831, + 0.0640914190779952, + -0.9969631011253407, + -0.0442364668018662, + 0.06170110333486699, + 0.04820155890041258, + -0.9969300795777155 + ], + [ + 0.996214917451022, + 0.07784406140528335, + 0.03867997352615399, + 0.07945569443047137, + -0.9959516030997025, + -0.04203804117349192, + 0.03525096978275999, + 0.04495226787452573, + -0.9983669980234282 + ], + [ + 0.9864013727261739, + 0.1489880378656115, + 0.0693894549400302, + 0.1515783948038419, + -0.9878717491969291, + -0.0336659674937434, + 0.06353205578768885, + 0.04372609874610654, + -0.9970214171099011 + ], + [ + 0.9792085254452573, + 0.19386581250676824, + 0.05972194267114099, + 0.1950383795798051, + -0.9806896356058217, + -0.014417666461816749, + 0.05577359757276136, + 0.025765972840374483, + -0.9981109259282659 + ], + [ + 0.9653954117832471, + 0.25552706645796597, + 0.05213077033040478, + 0.25772218282530657, + -0.9653552434902889, + -0.040847647980817324, + 0.03988703282539832, + 0.052869387864734906, + -0.9978045161449182 + ], + [ + 0.9419051381446264, + 0.3286153399999259, + 0.06947423301833001, + 0.3331202629396451, + -0.9404227478792238, + -0.06808777930224706, + 0.04296046037665157, + 0.08727550394024013, + -0.9952574467223056 + ], + [ + 0.923204290742018, + 0.378320177661401, + 0.06758461903253853, + 0.3812968765568401, + -0.9236687764770584, + -0.03806157234497716, + 0.04802634155882894, + 0.06090841104166156, + -0.9969872797487712 + ], + [ + 0.9126062788178494, + 0.4049504101790312, + 0.05625784530243119, + 0.4048227270240823, + -0.9142855597957761, + 0.014158913578023336, + 0.05716939344634747, + 0.00985294091928575, + -0.9983158718603136 + ], + [ + 0.912422468576073, + 0.4084227960231643, + 0.026001125478821573, + 0.4073231930552483, + -0.9124500998196592, + 0.03902091411500539, + 0.03966176038480449, + -0.02501269732984438, + -0.9989000499226455 + ], + [ + 0.9123706944696762, + 0.4093635907704278, + 0.0010800113252135788, + 0.40884352021190346, + -0.9113383691323974, + 0.04805572731570105, + 0.02065652085080457, + -0.043403081672202505, + -0.9988440722393543 + ], + [ + 0.9145871721392912, + 0.4043529895576372, + 0.005381857862864344, + 0.40391660242416105, + -0.9140812740862738, + 0.03614972546142915, + 0.019536705054254984, + -0.030888253440682297, + -0.9993318932942186 + ], + [ + 0.919543252112512, + 0.3929562541504535, + 0.005058637997475763, + 0.3925860590099252, + -0.9191073744804118, + 0.033433821899081936, + 0.017787460903703433, + -0.028757894564245455, + -0.9994281313505393 + ], + [ + 0.9257380755994129, + 0.3781301171410378, + 0.005160416301018652, + 0.37802865751937315, + -0.925684184499316, + 0.014252180953662166, + 0.010166094608808974, + -0.011243001322622653, + -0.999885116121679 + ], + [ + 0.9289065338680349, + 0.3653203169980556, + 0.06061119802242035, + 0.3665082082335626, + -0.9303673261938028, + -0.009400619576244305, + 0.05295644091795064, + 0.030946798532868035, + -0.9981171830130314 + ], + [ + 0.9019784880511776, + 0.42899557675521777, + 0.04896531647370354, + 0.42966074410335836, + -0.902983818870322, + -0.0034449724118250768, + 0.04273701053490199, + 0.024145765318743892, + -0.9987945384050276 + ], + [ + 0.8933502981452147, + 0.4488487259166724, + 0.021449150259067316, + 0.4489189990017391, + -0.8935708594106933, + 0.0016886525136515394, + 0.019924285159892356, + 0.008120372837204123, + -0.999768514410137 + ], + [ + 0.906117076995287, + 0.4212116696046117, + -0.03914807998372856, + 0.4224093421961798, + -0.9059103967590358, + 0.029944960665808103, + -0.022851485792124548, + -0.043670154943411095, + -0.998784625013977 + ], + [ + 0.9015291289539823, + 0.42625778730187003, + -0.07449515697001638, + 0.43108831854702245, + -0.8996526063707692, + 0.06919573297958712, + -0.03752454209946497, + -0.09449596083852038, + -0.9948177833781571 + ], + [ + 0.8758491334455301, + 0.47491245409774874, + -0.08571147172676585, + 0.4807184190911066, + -0.8741964970307284, + 0.0684856636512435, + -0.04240397374376198, + -0.1011861923488466, + -0.9939634085260287 + ], + [ + 0.8674174561843445, + 0.48993979327407533, + -0.08686746038210764, + 0.49569033430979026, + -0.8660559680048032, + 0.06510109642019579, + -0.04333646476731877, + -0.09952918792906737, + -0.9940904845996924 + ], + [ + 0.8593515347763905, + 0.500592644499945, + -0.10450810470969904, + 0.5095362236247679, + -0.8555365726470875, + 0.09181508415007232, + -0.043448549937509184, + -0.13215209849194998, + -0.9902767524144457 + ], + [ + 0.8026213302230041, + 0.5883772071293183, + -0.0980370460680986, + 0.5957930151191992, + -0.7987195444219994, + 0.08412949835513768, + -0.0288042254926038, + -0.12593391715108698, + -0.9916203734820872 + ], + [ + 0.7431472394066487, + 0.6648070549412757, + -0.07591943270721002, + 0.6687690804227144, + -0.7416677720967273, + 0.05173811847790319, + -0.02191113034130626, + -0.08922160911676288, + -0.9957707601821725 + ], + [ + 0.6968491760134431, + 0.711807931458287, + -0.08792436864976555, + 0.716183196331039, + -0.6971774839505862, + 0.03201851285407109, + -0.038507858710160436, + -0.08528202967451298, + -0.9956124347516726 + ], + [ + 0.6689550797600887, + 0.7395251981673198, + -0.0748437207704126, + 0.7426148010739094, + -0.6692706030859538, + 0.024497287011454445, + -0.031974341105503214, + -0.07196763939820448, + -0.9968943275946146 + ], + [ + 0.6471906099006858, + 0.7619947754332257, + -0.022544992101276383, + 0.7615467613829179, + -0.6449056539617745, + 0.0643679090488829, + 0.03450861752617313, + -0.05882737203550888, + -0.9976715369377981 + ], + [ + 0.6397869164301389, + 0.768552294989841, + -0.00026726515400133516, + 0.7648083856979456, + -0.6366359117424897, + 0.09880713054183327, + 0.07576829634429214, + -0.06341991600165478, + -0.9951065669180493 + ], + [ + 0.6292991109395533, + 0.7771552214780169, + 0.0035200426336056967, + 0.7719373195249755, + -0.6255854829952101, + 0.11294059584686894, + 0.08997446135034058, + -0.06835616428021882, + -0.9935955067881557 + ], + [ + 0.6272705012903973, + 0.7784189150086037, + -0.024407190901898367, + 0.7759960852589457, + -0.6220463146603474, + 0.10434777467809753, + 0.0660438783967495, + -0.08439416552290854, + -0.9942413343610328 + ], + [ + 0.6316531567775532, + 0.7748071797965627, + -0.02623211140279757, + 0.7727873077482111, + -0.6265896399298234, + 0.10092175244160932, + 0.06175812915093224, + -0.08401938626478435, + -0.9945484785647533 + ], + [ + 0.6538727992636223, + 0.7565795234895546, + 0.006147114727502442, + 0.7525978372457197, + -0.6512237208200529, + 0.0974892856387344, + 0.07776154419904263, + -0.05911928684959046, + -0.9952175903621158 + ], + [ + 0.7007254965864309, + 0.7064270855916667, + 0.09972237049009283, + 0.6959287283150378, + -0.707595881816945, + 0.12243885470517077, + 0.15705726197636868, + -0.016396364785023314, + -0.9874533789917994 + ], + [ + 0.7765554994777952, + 0.6204882706464399, + 0.10934286543246649, + 0.6111844442918504, + -0.7840228966711311, + 0.10845124504158954, + 0.15302003557199326, + -0.017389752315639717, + -0.9880700710111336 + ], + [ + 0.9066773810984888, + 0.41843303466792264, + 0.05338466168271558, + 0.41859375383291136, + -0.9081321741703958, + 0.008673147561363271, + 0.05210946033549947, + 0.01448273921405031, + -0.9985363560774341 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0016427338123321533, + 0.0001513306051492691, + -0.007924772799015045, + 0.0033169612288475037, + 0.026482045650482178, + 0.015331126749515533, + 1.0 + ], + [ + 0.01273733377456665, + -0.019583074375987053, + -0.011310499161481857, + 0.0011667609214782715, + -0.028316598385572433, + 0.07288625091314316, + 1.0 + ], + [ + 0.02884581685066223, + -0.00823555514216423, + 7.828697562217712e-05, + 0.01801963709294796, + 0.00777231901884079, + 0.04413124918937683, + 1.0 + ], + [ + 0.0351564884185791, + -0.011199526488780975, + -0.0009055435657501221, + -0.027127208188176155, + 0.01590493693947792, + 0.06426984071731567, + 1.0 + ], + [ + 0.031131833791732788, + 0.0002547353506088257, + 0.0010939687490463257, + -0.034531425684690475, + -0.0030760690569877625, + 0.07906097173690796, + 1.0 + ], + [ + 0.018373340368270874, + 0.006664872169494629, + -0.004953198134899139, + 0.02645101025700569, + -0.005071137100458145, + 0.05173787474632263, + 1.0 + ], + [ + 0.008781462907791138, + 0.007405165582895279, + -0.008868183940649033, + 0.05114738643169403, + -0.0091557577252388, + 0.025835037231445312, + 1.0 + ], + [ + -0.0022596418857574463, + 0.0035898126661777496, + -0.012224391102790833, + 0.034904249012470245, + 0.017528414726257324, + 0.002362072467803955, + 1.0 + ], + [ + -0.003130286931991577, + 0.0013185404241085052, + -0.008327526971697807, + 0.01839098334312439, + 0.019014175981283188, + 0.001409679651260376, + 0.0 + ], + [ + -0.00037980079650878906, + -0.0017404407262802124, + -0.0021132398396730423, + -0.012526925653219223, + 0.0011200420558452606, + -0.005403578281402588, + 0.0 + ], + [ + -0.0006797909736633301, + -0.001569855958223343, + -8.418411016464233e-05, + -0.0021326541900634766, + 0.0017495490610599518, + -0.012369245290756226, + 0.0 + ], + [ + -0.004803001880645752, + -0.0017512254416942596, + 0.003502890467643738, + -0.017522592097520828, + 0.007622129283845425, + -0.015822142362594604, + 0.0 + ], + [ + -0.006344616413116455, + 0.0012833178043365479, + 0.030296020209789276, + -0.04223906621336937, + -0.0428149551153183, + -0.011880248785018921, + 0.0 + ], + [ + -0.014873147010803223, + 0.034885842353105545, + 0.004222307354211807, + 0.006825046613812447, + 0.010231193155050278, + 0.06874534487724304, + 0.0 + ], + [ + -0.0244581401348114, + 0.02196574956178665, + -0.0011810511350631714, + 0.0160481259226799, + 0.022824427112936974, + 0.02110275626182556, + 0.0 + ], + [ + -0.035460323095321655, + 0.010293204337358475, + -0.010583717375993729, + 0.05181754007935524, + 0.04277908056974411, + -0.029431432485580444, + 0.0 + ], + [ + -0.024392515420913696, + 0.012773826718330383, + -0.0049604736268520355, + 0.051008597016334534, + 0.014679878950119019, + 0.00981178879737854, + 0.0 + ], + [ + -0.013219505548477173, + 0.01978353038430214, + -0.0017587356269359589, + 0.006747163832187653, + 0.004883337765932083, + 0.05593210458755493, + 0.0 + ], + [ + 5.781650543212891e-06, + 0.005251586437225342, + -0.002350039780139923, + -0.00166291743516922, + 0.0009333491325378418, + 0.01719886064529419, + 0.0 + ], + [ + 0.00075531005859375, + 0.005235757678747177, + -0.0043760426342487335, + 0.032877519726753235, + 0.000112190842628479, + 0.016039252281188965, + 0.0 + ], + [ + -0.0008884072303771973, + 0.02255285158753395, + 0.003833521157503128, + -0.006343945860862732, + -0.014654021710157394, + 0.10335510969161987, + 0.0 + ], + [ + 0.0015559494495391846, + 0.02408672124147415, + 0.007175415754318237, + -0.03695996105670929, + -0.00689532607793808, + 0.0942072868347168, + 0.0 + ], + [ + -0.005287140607833862, + 0.022438451647758484, + -0.005055971443653107, + -0.003912642598152161, + 0.016604498028755188, + 0.06631201505661011, + 0.0 + ], + [ + -0.002646803855895996, + 0.015318423509597778, + -0.00728323869407177, + -0.013382457196712494, + -0.006537590175867081, + 0.038453757762908936, + 0.0 + ], + [ + 0.004743665456771851, + 0.01407824456691742, + -0.0020158234983682632, + -0.01317034661769867, + -0.06649526208639145, + 0.028863191604614258, + 0.0 + ], + [ + 0.0032181143760681152, + 0.00799378752708435, + -0.007606403902173042, + 0.004749231040477753, + -0.041325509548187256, + 0.007776200771331787, + 0.0 + ], + [ + 0.0013120472431182861, + 0.002635642886161804, + -0.0035650525242090225, + 0.00504283607006073, + -0.014255322515964508, + 0.012670159339904785, + 1.0 + ], + [ + -0.0025586485862731934, + -0.00032591819763183594, + -0.0046689510345458984, + 0.0159914493560791, + 0.024004317820072174, + 0.004145979881286621, + 1.0 + ], + [ + -0.00020945072174072266, + -0.0004989653825759888, + -0.0005282582715153694, + -0.00040017813444137573, + 0.004294529557228088, + -0.005435943603515625, + 1.0 + ], + [ + -0.0008980631828308105, + -0.00655895471572876, + 0.010895014740526676, + -0.02494616061449051, + -0.016042672097682953, + -0.03007662296295166, + 1.0 + ], + [ + 0.0041900575160980225, + -0.013860359787940979, + 0.030484572052955627, + -0.042730480432510376, + -0.07987009733915329, + -0.0735129714012146, + 1.0 + ], + [ + 0.0010956525802612305, + -0.012099206447601318, + 0.01407473161816597, + 0.0009947270154953003, + 0.00408664345741272, + -0.11517196893692017, + 1.0 + ], + [ + 0.009503036737442017, + -0.008899480104446411, + 0.0007359534502029419, + -0.032100848853588104, + 0.10149051249027252, + -0.23426824808120728, + 1.0 + ], + [ + 0.004155904054641724, + -0.003907814621925354, + -0.009491361677646637, + -0.003713591955602169, + 0.06283533573150635, + -0.10499227046966553, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9545519351959229 + ], + [ + 0.7021830081939697 + ], + [ + 0.6169373393058777 + ], + [ + 0.6139277815818787 + ], + [ + 0.6059080362319946 + ], + [ + 0.6049063205718994 + ], + [ + 0.6049063205718994 + ], + [ + 0.6059080362319946 + ], + [ + 0.6049063205718994 + ], + [ + 0.6049063205718994 + ], + [ + 0.6049063205718994 + ], + [ + 0.6049063205718994 + ], + [ + 0.6049063205718994 + ], + [ + 0.6049063205718994 + ], + [ + 0.6049063205718994 + ], + [ + 0.6049063205718994 + ], + [ + 0.6049063205718994 + ], + [ + 0.6049063205718994 + ], + [ + 0.6931989789009094 + ], + [ + 0.9672539830207825 + ], + [ + 1.0060625076293945 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2642664909362793, + -0.02730044536292553, + 0.06679770350456238 + ], + [ + 0.27700382471084595, + -0.04688351973891258, + 0.05548720434308052 + ], + [ + 0.3058496415615082, + -0.05511907488107681, + 0.0555654913187027 + ], + [ + 0.3410061299800873, + -0.06631860136985779, + 0.054659947752952576 + ], + [ + 0.37213796377182007, + -0.06606386601924896, + 0.0557539165019989 + ], + [ + 0.39051130414009094, + -0.059398993849754333, + 0.05080071836709976 + ], + [ + 0.3992927670478821, + -0.051993828266859055, + 0.04193253442645073 + ], + [ + 0.39703312516212463, + -0.048404015600681305, + 0.029708143323659897 + ], + [ + 0.39390283823013306, + -0.0470854751765728, + 0.02138061635196209 + ], + [ + 0.39352303743362427, + -0.04882591590285301, + 0.019267376512289047 + ], + [ + 0.39284324645996094, + -0.050395771861076355, + 0.019183192402124405 + ], + [ + 0.3880402445793152, + -0.052146997302770615, + 0.022686082869768143 + ], + [ + 0.38169562816619873, + -0.05086367949843407, + 0.05298210307955742 + ], + [ + 0.3668224811553955, + -0.01597783714532852, + 0.057204410433769226 + ], + [ + 0.3423643410205841, + 0.005987911950796843, + 0.056023359298706055 + ], + [ + 0.30690401792526245, + 0.016281116753816605, + 0.045439641922712326 + ], + [ + 0.28251150250434875, + 0.029054943472146988, + 0.04047916829586029 + ], + [ + 0.2692919969558716, + 0.04883847385644913, + 0.03872043266892433 + ], + [ + 0.2692977786064148, + 0.05409006029367447, + 0.03637039288878441 + ], + [ + 0.27005308866500854, + 0.059325817972421646, + 0.031994350254535675 + ], + [ + 0.26916468143463135, + 0.0818786695599556, + 0.0358278714120388 + ], + [ + 0.27072063088417053, + 0.10596539080142975, + 0.04300328716635704 + ], + [ + 0.26543349027633667, + 0.12840384244918823, + 0.037947315722703934 + ], + [ + 0.2627866864204407, + 0.143722265958786, + 0.030664077028632164 + ], + [ + 0.2675303518772125, + 0.15780051052570343, + 0.0286482535302639 + ], + [ + 0.27074846625328064, + 0.16579429805278778, + 0.02104184962809086 + ], + [ + 0.2720605134963989, + 0.16842994093894958, + 0.017476797103881836 + ], + [ + 0.26950186491012573, + 0.16810402274131775, + 0.012807846069335938 + ], + [ + 0.269292414188385, + 0.16760505735874176, + 0.012279587797820568 + ], + [ + 0.2683943510055542, + 0.161046102643013, + 0.023174602538347244 + ], + [ + 0.2725844085216522, + 0.14718574285507202, + 0.05365917459130287 + ], + [ + 0.27368006110191345, + 0.1350865364074707, + 0.06773390620946884 + ], + [ + 0.28318309783935547, + 0.1261870563030243, + 0.06846985965967178 + ], + [ + 0.2873390018939972, + 0.12227924168109894, + 0.058978497982025146 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.996214917451022, + 0.07784406140528335, + 0.03867997352615399, + 0.07945569443047137, + -0.9959516030997025, + -0.04203804117349192, + 0.03525096978275999, + 0.04495226787452573, + -0.9983669980234282 + ], + [ + 0.9864013727261739, + 0.1489880378656115, + 0.0693894549400302, + 0.1515783948038419, + -0.9878717491969291, + -0.0336659674937434, + 0.06353205578768885, + 0.04372609874610654, + -0.9970214171099011 + ], + [ + 0.9792085254452573, + 0.19386581250676824, + 0.05972194267114099, + 0.1950383795798051, + -0.9806896356058217, + -0.014417666461816749, + 0.05577359757276136, + 0.025765972840374483, + -0.9981109259282659 + ], + [ + 0.9653954117832471, + 0.25552706645796597, + 0.05213077033040478, + 0.25772218282530657, + -0.9653552434902889, + -0.040847647980817324, + 0.03988703282539832, + 0.052869387864734906, + -0.9978045161449182 + ], + [ + 0.9419051381446264, + 0.3286153399999259, + 0.06947423301833001, + 0.3331202629396451, + -0.9404227478792238, + -0.06808777930224706, + 0.04296046037665157, + 0.08727550394024013, + -0.9952574467223056 + ], + [ + 0.923204290742018, + 0.378320177661401, + 0.06758461903253853, + 0.3812968765568401, + -0.9236687764770584, + -0.03806157234497716, + 0.04802634155882894, + 0.06090841104166156, + -0.9969872797487712 + ], + [ + 0.9126062788178494, + 0.4049504101790312, + 0.05625784530243119, + 0.4048227270240823, + -0.9142855597957761, + 0.014158913578023336, + 0.05716939344634747, + 0.00985294091928575, + -0.9983158718603136 + ], + [ + 0.912422468576073, + 0.4084227960231643, + 0.026001125478821573, + 0.4073231930552483, + -0.9124500998196592, + 0.03902091411500539, + 0.03966176038480449, + -0.02501269732984438, + -0.9989000499226455 + ], + [ + 0.9123706944696762, + 0.4093635907704278, + 0.0010800113252135788, + 0.40884352021190346, + -0.9113383691323974, + 0.04805572731570105, + 0.02065652085080457, + -0.043403081672202505, + -0.9988440722393543 + ], + [ + 0.9145871721392912, + 0.4043529895576372, + 0.005381857862864344, + 0.40391660242416105, + -0.9140812740862738, + 0.03614972546142915, + 0.019536705054254984, + -0.030888253440682297, + -0.9993318932942186 + ], + [ + 0.919543252112512, + 0.3929562541504535, + 0.005058637997475763, + 0.3925860590099252, + -0.9191073744804118, + 0.033433821899081936, + 0.017787460903703433, + -0.028757894564245455, + -0.9994281313505393 + ], + [ + 0.9257380755994129, + 0.3781301171410378, + 0.005160416301018652, + 0.37802865751937315, + -0.925684184499316, + 0.014252180953662166, + 0.010166094608808974, + -0.011243001322622653, + -0.999885116121679 + ], + [ + 0.9289065338680349, + 0.3653203169980556, + 0.06061119802242035, + 0.3665082082335626, + -0.9303673261938028, + -0.009400619576244305, + 0.05295644091795064, + 0.030946798532868035, + -0.9981171830130314 + ], + [ + 0.9019784880511776, + 0.42899557675521777, + 0.04896531647370354, + 0.42966074410335836, + -0.902983818870322, + -0.0034449724118250768, + 0.04273701053490199, + 0.024145765318743892, + -0.9987945384050276 + ], + [ + 0.8933502981452147, + 0.4488487259166724, + 0.021449150259067316, + 0.4489189990017391, + -0.8935708594106933, + 0.0016886525136515394, + 0.019924285159892356, + 0.008120372837204123, + -0.999768514410137 + ], + [ + 0.906117076995287, + 0.4212116696046117, + -0.03914807998372856, + 0.4224093421961798, + -0.9059103967590358, + 0.029944960665808103, + -0.022851485792124548, + -0.043670154943411095, + -0.998784625013977 + ], + [ + 0.9015291289539823, + 0.42625778730187003, + -0.07449515697001638, + 0.43108831854702245, + -0.8996526063707692, + 0.06919573297958712, + -0.03752454209946497, + -0.09449596083852038, + -0.9948177833781571 + ], + [ + 0.8758491334455301, + 0.47491245409774874, + -0.08571147172676585, + 0.4807184190911066, + -0.8741964970307284, + 0.0684856636512435, + -0.04240397374376198, + -0.1011861923488466, + -0.9939634085260287 + ], + [ + 0.8674174561843445, + 0.48993979327407533, + -0.08686746038210764, + 0.49569033430979026, + -0.8660559680048032, + 0.06510109642019579, + -0.04333646476731877, + -0.09952918792906737, + -0.9940904845996924 + ], + [ + 0.8593515347763905, + 0.500592644499945, + -0.10450810470969904, + 0.5095362236247679, + -0.8555365726470875, + 0.09181508415007232, + -0.043448549937509184, + -0.13215209849194998, + -0.9902767524144457 + ], + [ + 0.8026213302230041, + 0.5883772071293183, + -0.0980370460680986, + 0.5957930151191992, + -0.7987195444219994, + 0.08412949835513768, + -0.0288042254926038, + -0.12593391715108698, + -0.9916203734820872 + ], + [ + 0.7431472394066487, + 0.6648070549412757, + -0.07591943270721002, + 0.6687690804227144, + -0.7416677720967273, + 0.05173811847790319, + -0.02191113034130626, + -0.08922160911676288, + -0.9957707601821725 + ], + [ + 0.6968491760134431, + 0.711807931458287, + -0.08792436864976555, + 0.716183196331039, + -0.6971774839505862, + 0.03201851285407109, + -0.038507858710160436, + -0.08528202967451298, + -0.9956124347516726 + ], + [ + 0.6689550797600887, + 0.7395251981673198, + -0.0748437207704126, + 0.7426148010739094, + -0.6692706030859538, + 0.024497287011454445, + -0.031974341105503214, + -0.07196763939820448, + -0.9968943275946146 + ], + [ + 0.6471906099006858, + 0.7619947754332257, + -0.022544992101276383, + 0.7615467613829179, + -0.6449056539617745, + 0.0643679090488829, + 0.03450861752617313, + -0.05882737203550888, + -0.9976715369377981 + ], + [ + 0.6397869164301389, + 0.768552294989841, + -0.00026726515400133516, + 0.7648083856979456, + -0.6366359117424897, + 0.09880713054183327, + 0.07576829634429214, + -0.06341991600165478, + -0.9951065669180493 + ], + [ + 0.6292991109395533, + 0.7771552214780169, + 0.0035200426336056967, + 0.7719373195249755, + -0.6255854829952101, + 0.11294059584686894, + 0.08997446135034058, + -0.06835616428021882, + -0.9935955067881557 + ], + [ + 0.6272705012903973, + 0.7784189150086037, + -0.024407190901898367, + 0.7759960852589457, + -0.6220463146603474, + 0.10434777467809753, + 0.0660438783967495, + -0.08439416552290854, + -0.9942413343610328 + ], + [ + 0.6316531567775532, + 0.7748071797965627, + -0.02623211140279757, + 0.7727873077482111, + -0.6265896399298234, + 0.10092175244160932, + 0.06175812915093224, + -0.08401938626478435, + -0.9945484785647533 + ], + [ + 0.6538727992636223, + 0.7565795234895546, + 0.006147114727502442, + 0.7525978372457197, + -0.6512237208200529, + 0.0974892856387344, + 0.07776154419904263, + -0.05911928684959046, + -0.9952175903621158 + ], + [ + 0.7007254965864309, + 0.7064270855916667, + 0.09972237049009283, + 0.6959287283150378, + -0.707595881816945, + 0.12243885470517077, + 0.15705726197636868, + -0.016396364785023314, + -0.9874533789917994 + ], + [ + 0.7765554994777952, + 0.6204882706464399, + 0.10934286543246649, + 0.6111844442918504, + -0.7840228966711311, + 0.10845124504158954, + 0.15302003557199326, + -0.017389752315639717, + -0.9880700710111336 + ], + [ + 0.9066773810984888, + 0.41843303466792264, + 0.05338466168271558, + 0.41859375383291136, + -0.9081321741703958, + 0.008673147561363271, + 0.05210946033549947, + 0.01448273921405031, + -0.9985363560774341 + ], + [ + 0.9467852268915788, + 0.321837675427045, + -0.0042713950388493585, + 0.3216880477534455, + -0.9466196400605724, + -0.02068953803663754, + -0.010702059261602948, + 0.01821449223306862, + -0.9997768241964068 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005993.json b/json/chunk-0005/episode_0005993.json new file mode 100644 index 0000000000000000000000000000000000000000..7cdad14d7519edeae2c5ab640290443be4a30ccf --- /dev/null +++ b/json/chunk-0005/episode_0005993.json @@ -0,0 +1,2542 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 41, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPlace the can between the cheese and the knife." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005993.mp4", + "start": 0, + "end": 41, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3456219732761383, + 0.1079024225473404, + 0.09068664163351059, + 0.17020730674266815, + -0.025630827993154526, + 0.048038020730018616, + 0.0, + 1.0008161067962646 + ], + [ + 0.34276044368743896, + 0.10734326392412186, + 0.07938361167907715, + 0.16591615974903107, + 0.0007911174325272441, + 0.05204951390624046, + 0.0, + 1.0008161067962646 + ], + [ + 0.3488054871559143, + 0.09668754786252975, + 0.0739363506436348, + 0.1685069352388382, + -0.06419309228658676, + 0.03604731336236, + 0.0, + 1.0008161067962646 + ], + [ + 0.3584417700767517, + 0.08721558004617691, + 0.08560997992753983, + 0.13330358266830444, + -0.1486564576625824, + 0.019811393693089485, + 0.0, + 1.0008161067962646 + ], + [ + 0.3675205111503601, + 0.07369443774223328, + 0.08831200748682022, + 0.08765153586864471, + -0.1933230310678482, + 0.007380878087133169, + 0.0, + 1.0008161067962646 + ], + [ + 0.38541439175605774, + 0.06458830833435059, + 0.09911321848630905, + 0.05562393739819527, + -0.3190629184246063, + 0.0031955603044480085, + 0.0, + 1.0008161067962646 + ], + [ + 0.40154606103897095, + 0.05724187567830086, + 0.10376718640327454, + 0.061111051589250565, + -0.42404526472091675, + -0.027337057515978813, + 0.0, + 1.0008161067962646 + ], + [ + 0.4122154712677002, + 0.0529826320707798, + 0.10749273747205734, + 0.06327936053276062, + -0.49192988872528076, + -0.02398419752717018, + 0.0, + 1.0008161067962646 + ], + [ + 0.41579610109329224, + 0.04899533838033676, + 0.09351439028978348, + 0.04530707001686096, + -0.4754057228565216, + -0.0071905795484781265, + 0.0, + 1.0008161067962646 + ], + [ + 0.42104509472846985, + 0.049104105681180954, + 0.08872228860855103, + 0.05304127186536789, + -0.4962482750415802, + -0.018277088180184364, + 0.0, + 1.0008161067962646 + ], + [ + 0.4255373775959015, + 0.04825643077492714, + 0.08928518742322922, + 0.05363430827856064, + -0.5241996049880981, + -0.023376598954200745, + 0.0, + 1.0008161067962646 + ], + [ + 0.42563483119010925, + 0.04496033862233162, + 0.08544325083494186, + 0.07241866737604141, + -0.5386635065078735, + -0.037794291973114014, + 0.0, + 1.0008161067962646 + ], + [ + 0.42623382806777954, + 0.043593745678663254, + 0.08548487722873688, + 0.07849133014678955, + -0.5426143407821655, + -0.05923817679286003, + 0.0, + 1.0008161067962646 + ], + [ + 0.42793363332748413, + 0.041673656553030014, + 0.08645100146532059, + 0.061793386936187744, + -0.5562268495559692, + -0.05562577769160271, + 0.0, + 1.0008161067962646 + ], + [ + 0.42863714694976807, + 0.04541435465216637, + 0.08286487311124802, + 0.09045764058828354, + -0.5502063632011414, + -0.06740440428256989, + 0.0, + 1.0008161067962646 + ], + [ + 0.427267462015152, + 0.04460874944925308, + 0.07665838301181793, + 0.08753756433725357, + -0.5369247794151306, + -0.08661123365163803, + 0.0, + 1.0008161067962646 + ], + [ + 0.42485061287879944, + 0.04736281558871269, + 0.06703579425811768, + 0.0988600105047226, + -0.5113893151283264, + -0.08638730645179749, + 0.0, + 1.0008161067962646 + ], + [ + 0.42415544390678406, + 0.04616624489426613, + 0.0663456842303276, + 0.092896968126297, + -0.5077732801437378, + -0.08994890004396439, + 0.0, + 1.0008161067962646 + ], + [ + 0.4185464680194855, + 0.04359636455774307, + 0.06004255264997482, + 0.07334533333778381, + -0.4885556697845459, + -0.0962853655219078, + 0.0, + 1.0008161067962646 + ], + [ + 0.40816017985343933, + 0.047195471823215485, + 0.05245187506079674, + 0.06085357815027237, + -0.4401203393936157, + -0.06518252938985825, + 0.0, + 1.0008161067962646 + ], + [ + 0.3988702595233917, + 0.04784686863422394, + 0.04488934576511383, + 0.06853654980659485, + -0.3964698910713196, + -0.07478270679712296, + 0.0, + 1.0008161067962646 + ], + [ + 0.3904050588607788, + 0.04961160197854042, + 0.04258178174495697, + 0.08846915513277054, + -0.38327932357788086, + -0.08630190789699554, + 0.0, + 1.0008161067962646 + ], + [ + 0.38131555914878845, + 0.05126942694187164, + 0.04336123913526535, + 0.09915323555469513, + -0.38268402218818665, + -0.0930759608745575, + 0.0, + 1.0008161067962646 + ], + [ + 0.371690034866333, + 0.05945936590433121, + 0.04197569563984871, + 0.10259643197059631, + -0.3707228899002075, + -0.08216613531112671, + 0.0, + 1.0008161067962646 + ], + [ + 0.36441266536712646, + 0.06192314997315407, + 0.04209601506590843, + 0.12018232047557831, + -0.3704289495944977, + -0.08460105955600739, + 0.0, + 1.0008161067962646 + ], + [ + 0.3557959198951721, + 0.06636252999305725, + 0.03964240849018097, + 0.11596761643886566, + -0.3654995858669281, + -0.08978976309299469, + 0.0, + 1.0008161067962646 + ], + [ + 0.3472176790237427, + 0.06915278732776642, + 0.047184232622385025, + 0.14250759780406952, + -0.37540027499198914, + -0.09534074366092682, + 0.0, + 1.0008161067962646 + ], + [ + 0.3377556800842285, + 0.07017960399389267, + 0.0417214073240757, + 0.15629221498966217, + -0.36390796303749084, + -0.09316812455654144, + 0.0, + 1.0008161067962646 + ], + [ + 0.33250391483306885, + 0.07044264674186707, + 0.042492762207984924, + 0.14513762295246124, + -0.3709654211997986, + -0.09705160558223724, + 0.0, + 1.0008161067962646 + ], + [ + 0.32473814487457275, + 0.07063686102628708, + 0.04550362378358841, + 0.15693096816539764, + -0.37774384021759033, + -0.10126485675573349, + 0.0, + 1.0008161067962646 + ], + [ + 0.31799280643463135, + 0.07080686837434769, + 0.047638360410928726, + 0.16835077106952667, + -0.3818823993206024, + -0.10291124880313873, + 0.0, + 1.0008161067962646 + ], + [ + 0.311171293258667, + 0.06993257254362106, + 0.04862683266401291, + 0.17723599076271057, + -0.38731324672698975, + -0.11331847310066223, + 0.0, + 1.0008161067962646 + ], + [ + 0.30796998739242554, + 0.07095088809728622, + 0.050830453634262085, + 0.18370573222637177, + -0.38891857862472534, + -0.11436757445335388, + 0.0, + 1.0008161067962646 + ], + [ + 0.30429622530937195, + 0.07263149321079254, + 0.04913535341620445, + 0.16259929537773132, + -0.37396708130836487, + -0.09725786000490189, + 0.0, + 1.0008161067962646 + ], + [ + 0.30731895565986633, + 0.07359100878238678, + 0.05510632321238518, + 0.1633649319410324, + -0.37389495968818665, + -0.09431149065494537, + 0.0, + 1.0008161067962646 + ], + [ + 0.31978723406791687, + 0.07679356634616852, + 0.06953164935112, + 0.16455323994159698, + -0.39549198746681213, + -0.0747784897685051, + 0.0, + 1.0008161067962646 + ], + [ + 0.3353447914123535, + 0.07304501533508301, + 0.08546595275402069, + 0.1692599058151245, + -0.37093275785446167, + -0.08220610022544861, + 0.0, + 1.0008161067962646 + ], + [ + 0.345183789730072, + 0.06936802715063095, + 0.09368947148323059, + 0.16263975203037262, + -0.2746897041797638, + -0.0860782042145729, + 0.0, + 1.0008161067962646 + ], + [ + 0.35395240783691406, + 0.07143563777208328, + 0.10126098245382309, + 0.14124539494514465, + -0.17355976998806, + -0.06214376538991928, + 0.0, + 1.0008161067962646 + ], + [ + 0.3597663342952728, + 0.07057865709066391, + 0.1069926992058754, + 0.12360463291406631, + -0.15554209053516388, + -0.04870564863085747, + 0.0, + 1.0008161067962646 + ], + [ + 0.366491436958313, + 0.05954867973923683, + 0.11195451021194458, + 0.11319581419229507, + -0.1341949999332428, + -0.040914539247751236, + 0.0, + 1.0008161067962646 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3456219732761383, + 0.1079024225473404, + 0.09068664163351059 + ], + [ + 0.34276044368743896, + 0.10734326392412186, + 0.07938361167907715 + ], + [ + 0.3488054871559143, + 0.09668754786252975, + 0.0739363506436348 + ], + [ + 0.3584417700767517, + 0.08721558004617691, + 0.08560997992753983 + ], + [ + 0.3675205111503601, + 0.07369443774223328, + 0.08831200748682022 + ], + [ + 0.38541439175605774, + 0.06458830833435059, + 0.09911321848630905 + ], + [ + 0.40154606103897095, + 0.05724187567830086, + 0.10376718640327454 + ], + [ + 0.4122154712677002, + 0.0529826320707798, + 0.10749273747205734 + ], + [ + 0.41579610109329224, + 0.04899533838033676, + 0.09351439028978348 + ], + [ + 0.42104509472846985, + 0.049104105681180954, + 0.08872228860855103 + ], + [ + 0.4255373775959015, + 0.04825643077492714, + 0.08928518742322922 + ], + [ + 0.42563483119010925, + 0.04496033862233162, + 0.08544325083494186 + ], + [ + 0.42623382806777954, + 0.043593745678663254, + 0.08548487722873688 + ], + [ + 0.42793363332748413, + 0.041673656553030014, + 0.08645100146532059 + ], + [ + 0.42863714694976807, + 0.04541435465216637, + 0.08286487311124802 + ], + [ + 0.427267462015152, + 0.04460874944925308, + 0.07665838301181793 + ], + [ + 0.42485061287879944, + 0.04736281558871269, + 0.06703579425811768 + ], + [ + 0.42415544390678406, + 0.04616624489426613, + 0.0663456842303276 + ], + [ + 0.4185464680194855, + 0.04359636455774307, + 0.06004255264997482 + ], + [ + 0.40816017985343933, + 0.047195471823215485, + 0.05245187506079674 + ], + [ + 0.3988702595233917, + 0.04784686863422394, + 0.04488934576511383 + ], + [ + 0.3904050588607788, + 0.04961160197854042, + 0.04258178174495697 + ], + [ + 0.38131555914878845, + 0.05126942694187164, + 0.04336123913526535 + ], + [ + 0.371690034866333, + 0.05945936590433121, + 0.04197569563984871 + ], + [ + 0.36441266536712646, + 0.06192314997315407, + 0.04209601506590843 + ], + [ + 0.3557959198951721, + 0.06636252999305725, + 0.03964240849018097 + ], + [ + 0.3472176790237427, + 0.06915278732776642, + 0.047184232622385025 + ], + [ + 0.3377556800842285, + 0.07017960399389267, + 0.0417214073240757 + ], + [ + 0.33250391483306885, + 0.07044264674186707, + 0.042492762207984924 + ], + [ + 0.32473814487457275, + 0.07063686102628708, + 0.04550362378358841 + ], + [ + 0.31799280643463135, + 0.07080686837434769, + 0.047638360410928726 + ], + [ + 0.311171293258667, + 0.06993257254362106, + 0.04862683266401291 + ], + [ + 0.30796998739242554, + 0.07095088809728622, + 0.050830453634262085 + ], + [ + 0.30429622530937195, + 0.07263149321079254, + 0.04913535341620445 + ], + [ + 0.30731895565986633, + 0.07359100878238678, + 0.05510632321238518 + ], + [ + 0.31978723406791687, + 0.07679356634616852, + 0.06953164935112 + ], + [ + 0.3353447914123535, + 0.07304501533508301, + 0.08546595275402069 + ], + [ + 0.345183789730072, + 0.06936802715063095, + 0.09368947148323059 + ], + [ + 0.35395240783691406, + 0.07143563777208328, + 0.10126098245382309 + ], + [ + 0.3597663342952728, + 0.07057865709066391, + 0.1069926992058754 + ], + [ + 0.366491436958313, + 0.05954867973923683, + 0.11195451021194458 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9985183233637224, + 0.05166168613529158, + 0.017094680241506878, + 0.048003774925725703, + -0.9842042841736347, + 0.170404121449992, + 0.025628021768779048, + -0.16933102846177361, + -0.9852259676339723 + ], + [ + 0.9986454173265303, + 0.051181085265188914, + -0.009371604120812128, + 0.05202599913560797, + -0.9849385850265472, + 0.1648917194398929, + -0.0007911173500048923, + -0.16515592704162962, + -0.9862671513826049 + ], + [ + 0.9972920348598787, + 0.04628053506239236, + 0.057155133447324605, + 0.035965277710139194, + -0.9848081056695117, + 0.16988082236338778, + 0.06414901405536469, + -0.16736519077145948, + -0.9838057719457424 + ], + [ + 0.9887768870039447, + 0.03931559534220834, + 0.1441337978743204, + 0.019591611429277497, + -0.9905437643779692, + 0.13579108812262247, + 0.14810954219222988, + -0.1314432760349853, + -0.9801970356498728 + ], + [ + 0.9813444992573216, + 0.024170171576506624, + 0.1907322117088764, + 0.007243315643215934, + -0.9960097972868857, + 0.08894952550199778, + 0.1921210768132694, + -0.08590859395019826, + -0.9776038079557642 + ], + [ + 0.9495249276876333, + 0.020629472439143877, + 0.313012518226791, + 0.0030342744952810367, + -0.998392562607172, + 0.05659579585951034, + 0.3136769116114252, + -0.05278935307016637, + -0.9480612212955192 + ], + [ + 0.9110914328219433, + -0.0021634747659322433, + 0.412198641937835, + -0.024912765102547446, + -0.9984472189846515, + 0.04982474321821102, + 0.4114507931374099, + -0.055663904630851635, + -0.9097306054804597 + ], + [ + 0.8811694569853987, + 0.005926169529518656, + 0.47276343829738454, + -0.021138195657446793, + -0.9984278049671211, + 0.0519143039333455, + 0.4723278149340826, + -0.055738665065138394, + -0.8796588182109876 + ], + [ + 0.8890841104827281, + 0.013546241906308642, + 0.45754337916459065, + -0.006393140206659582, + -0.9990970435152214, + 0.042002683217171, + 0.45769921591088025, + -0.04026905721965432, + -0.8881947031958736 + ], + [ + 0.8792281798684158, + 0.006988102070003749, + 0.4763496343598171, + -0.0160715205880899, + -0.9988881921817229, + 0.044318007016512326, + 0.47612972386867297, + -0.046621303600266714, + -0.878138337677699 + ], + [ + 0.8654882992392425, + 0.003483999158376907, + 0.5009170246955355, + -0.020235859070626406, + -0.9989163860636844, + 0.04191137865952301, + 0.5005202432346139, + -0.046410294152618804, + -0.8644799423404977 + ], + [ + 0.8577820581143483, + -0.0005952312719807902, + 0.5140132162472527, + -0.03243471036322029, + -0.9980691635295443, + 0.05297107111517568, + 0.5129892107449884, + -0.062109504193543885, + -0.8561451273867448 + ], + [ + 0.8548595087622988, + -0.01860279939187859, + 0.5185259454776265, + -0.05069963699792887, + -0.9975695898840367, + 0.047796026475775216, + 0.5163765748820905, + -0.06714796492359455, + -0.853725004740789 + ], + [ + 0.8479397680767499, + -0.022936154537245415, + 0.5295961504099056, + -0.047216018111879296, + -0.9983603912041379, + 0.03236011292285086, + 0.5279856033525976, + -0.052444848076475245, + -0.8476324324626973 + ], + [ + 0.8504809583824801, + -0.0199527662212158, + 0.5256272696017013, + -0.05741313809908883, + -0.9968312317014419, + 0.05505658069841437, + 0.5228631474893148, + -0.07700248453593929, + -0.848931532205548 + ], + [ + 0.8560647507013408, + -0.04162144750905705, + 0.5151900597972577, + -0.07433078142369498, + -0.9963052130364404, + 0.043021592361928485, + 0.5114959213323153, + -0.07512374846653933, + -0.8559955285378201 + ], + [ + 0.8688134462563833, + -0.03773648218613228, + 0.4936994566700701, + -0.07524171707868176, + -0.9955739864186731, + 0.05631271239678834, + 0.4893892925015404, + -0.08607203656616655, + -0.8678074238598068 + ], + [ + 0.8702967684485192, + -0.04451807625863678, + 0.4905116468691592, + -0.07849404463273638, + -0.9957145753377458, + 0.04889958504084298, + 0.48623268070467923, + -0.08105939394174401, + -0.8700615810783388 + ], + [ + 0.8789216945789768, + -0.06164364713155945, + 0.4729658714608696, + -0.0848897930328679, + -0.9959985438467192, + 0.027939643771032585, + 0.4693510177226176, + -0.06470673398909213, + -0.8806376444027408 + ], + [ + 0.902779151358995, + -0.03916027099830373, + 0.4283179625545393, + -0.05892891052316006, + -0.997717014770689, + 0.03298699655345579, + 0.4260483392481254, + -0.0550202836452496, + -0.9030257919968344 + ], + [ + 0.9198518200250014, + -0.04816586637793281, + 0.3892976733975626, + -0.06891752956483008, + -0.9968397634733916, + 0.03950772173883367, + 0.38616447702419876, + -0.06317068366240355, + -0.9202643432244082 + ], + [ + 0.9239916115312283, + -0.0529395662394624, + 0.37873064854366023, + -0.07994080445659223, + -0.9952299860898534, + 0.05591728328901022, + 0.3739638613592987, + -0.08194313341560786, + -0.9238161902041311 + ], + [ + 0.9236503865075436, + -0.05568079236242283, + 0.37916963600261855, + -0.08621876607072537, + -0.9942166886422298, + 0.06402734105459257, + 0.3734116868574242, + -0.09183041645975659, + -0.923109357947974 + ], + [ + 0.9289211482745292, + -0.04466289985883217, + 0.3675741090780606, + -0.07649809148261993, + -0.9944309005046035, + 0.07249293842244217, + 0.3622893074434392, + -0.09545894142406572, + -0.9271645205756904 + ], + [ + 0.928838198118625, + -0.040642711233005904, + 0.3682496052127909, + -0.07876871024209403, + -0.992903632374441, + 0.08909470862199322, + 0.3620153201213215, + -0.11176111506812796, + -0.9254481947446792 + ], + [ + 0.9301830188003223, + -0.047877645176896994, + 0.36396055092253404, + -0.08374609324348287, + -0.9929902955827575, + 0.08340782184496721, + 0.35741592494175917, + -0.10806481374981901, + -0.9276722765218565 + ], + [ + 0.9261357155226028, + -0.04239482998150858, + 0.37480036662772315, + -0.08856698436238851, + -0.9903246780411441, + 0.10683127511949354, + 0.36664495866490393, + -0.1321351976331192, + -0.9209298365413445 + ], + [ + 0.930460012599668, + -0.03673698450578465, + 0.36454705995584097, + -0.0869409177754139, + -0.9886813693684361, + 0.12227193741870125, + 0.35592898416593516, + -0.14546320439608024, + -0.9231224265488461 + ], + [ + 0.9275920879783361, + -0.04369715958462881, + 0.37103029062898174, + -0.09030801716351039, + -0.9899101164449482, + 0.10918985024234061, + 0.3625153518900769, + -0.13479065102663884, + -0.9221789956618125 + ], + [ + 0.9247373908636116, + -0.04250223619957673, + 0.3782252210744224, + -0.09396480882247242, + -0.9884788389940065, + 0.11866001670325843, + 0.36882431134852883, + -0.14526921483609923, + -0.9180770569942303 + ], + [ + 0.9230551956076974, + -0.03916471899472583, + 0.3826685650111588, + -0.09532953705294027, + -0.9870613033239977, + 0.1289273549158712, + 0.37266792889502504, + -0.1554866819582793, + -0.9148456189470972 + ], + [ + 0.919988600826391, + -0.04513937272982203, + 0.38933714359030464, + -0.10470024223929457, + -0.9855515920931721, + 0.13313871937812316, + 0.3777020434476524, + -0.16324979740315693, + -0.9114223335113617 + ], + [ + 0.9192746923277771, + -0.04338286114148081, + 0.3912185673058599, + -0.10559601537122572, + -0.9846553211079652, + 0.13893660479330103, + 0.379187976580733, + -0.16903202647116625, + -0.9097497746323768 + ], + [ + 0.9264862592673785, + -0.036965303225199725, + 0.37450871518058, + -0.09039326350489552, + -0.9878889165704042, + 0.12611322860940247, + 0.36531119514966176, + -0.15069523839465507, + -0.9186069212799911 + ], + [ + 0.9267747967083689, + -0.03377887031459725, + 0.3740955280492283, + -0.08766558528051221, + -0.987894822704683, + 0.1279787655461179, + 0.3652440572324026, + -0.1514027978392493, + -0.9185172679176264 + ], + [ + 0.9202282470602157, + -0.010765559783457185, + 0.39123404253085126, + -0.06894182998035135, + -0.9884496860857748, + 0.134960150251451, + 0.3852622449597721, + -0.15116653333156352, + -0.9103415193261671 + ], + [ + 0.9288422936854897, + -0.0200846958747039, + 0.3699305319282244, + -0.0765289706581482, + -0.9873949338126284, + 0.13854443810979622, + 0.3624849101839726, + -0.15699633649475875, + -0.9186712361972272 + ], + [ + 0.9589457762094379, + -0.041078492402336145, + 0.28059856691015017, + -0.08274880596002701, + -0.986925720708612, + 0.13831217197331852, + 0.271248287372047, + -0.15585306947807687, + -0.94980744750291 + ], + [ + 0.9830749711721335, + -0.037221631586007144, + 0.17938269480912739, + -0.061170744680550886, + -0.9896401430247365, + 0.12988659403189445, + 0.172689724796051, + -0.13866123270782954, + -0.97516732999717 + ], + [ + 0.9867561283455056, + -0.02923802598971473, + 0.15955400655832327, + -0.04809863712825187, + -0.99212371948517, + 0.11565918182884193, + 0.15491566828114403, + -0.12180173673284438, + -0.9803904694813541 + ], + [ + 0.9901799964494596, + -0.02554156053158337, + 0.13744527389822941, + -0.04053537958707124, + -0.9933868106519153, + 0.10742219242106268, + 0.1337925918467831, + -0.11193870245999474, + -0.9846670854956474 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.002861529588699341, + -0.0005591586232185364, + -0.011303029954433441, + -0.004291146993637085, + 0.02642194554209709, + 0.0040114931762218475, + 1.0 + ], + [ + 0.006045043468475342, + -0.010655716061592102, + -0.005447261035442352, + 0.002590775489807129, + -0.06498420983552933, + -0.016002200543880463, + 1.0 + ], + [ + 0.009636282920837402, + -0.009471967816352844, + 0.01167362928390503, + -0.03520335257053375, + -0.08446336537599564, + -0.016235919669270515, + 1.0 + ], + [ + 0.009078741073608398, + -0.013521142303943634, + 0.0027020275592803955, + -0.04565204679965973, + -0.04466657340526581, + -0.012430515140295029, + 1.0 + ], + [ + 0.017893880605697632, + -0.00910612940788269, + 0.01080121099948883, + -0.03202759847044945, + -0.12573988735675812, + -0.004185318015515804, + 1.0 + ], + [ + 0.016131669282913208, + -0.007346432656049728, + 0.004653967916965485, + 0.005487114191055298, + -0.10498234629631042, + -0.03053261712193489, + 1.0 + ], + [ + 0.010669410228729248, + -0.004259243607521057, + 0.0037255510687828064, + 0.0021683089435100555, + -0.06788462400436401, + 0.003352859988808632, + 1.0 + ], + [ + 0.003580629825592041, + -0.003987293690443039, + -0.013978347182273865, + -0.017972290515899658, + 0.016524165868759155, + 0.016793617978692055, + 1.0 + ], + [ + 0.005248993635177612, + 0.0001087673008441925, + -0.004792101681232452, + 0.0077342018485069275, + -0.020842552185058594, + -0.011086508631706238, + 1.0 + ], + [ + 0.004492282867431641, + -0.0008476749062538147, + 0.0005628988146781921, + 0.000593036413192749, + -0.027951329946517944, + -0.00509951077401638, + 1.0 + ], + [ + 9.745359420776367e-05, + -0.00329609215259552, + -0.0038419365882873535, + 0.018784359097480774, + -0.01446390151977539, + -0.014417693018913269, + 1.0 + ], + [ + 0.0005989968776702881, + -0.0013665929436683655, + 4.162639379501343e-05, + 0.006072662770748138, + -0.003950834274291992, + -0.021443884819746017, + 1.0 + ], + [ + 0.0016998052597045898, + -0.0019200891256332397, + 0.0009661242365837097, + -0.016697943210601807, + -0.013612508773803711, + 0.0036123991012573242, + 1.0 + ], + [ + 0.0007035136222839355, + 0.0037406980991363525, + -0.003586128354072571, + 0.028664253652095795, + 0.006020486354827881, + -0.011778626590967178, + 1.0 + ], + [ + -0.0013696849346160889, + -0.0008056052029132843, + -0.006206490099430084, + -0.0029200762510299683, + 0.013281583786010742, + -0.019206829369068146, + 1.0 + ], + [ + -0.002416849136352539, + 0.00275406613945961, + -0.009622588753700256, + 0.011322446167469025, + 0.0255354642868042, + 0.00022392719984054565, + 1.0 + ], + [ + -0.0006951689720153809, + -0.0011965706944465637, + -0.0006901100277900696, + -0.005963042378425598, + 0.003616034984588623, + -0.0035615935921669006, + 1.0 + ], + [ + -0.005608975887298584, + -0.002569880336523056, + -0.006303131580352783, + -0.019551634788513184, + 0.019217610359191895, + -0.00633646547794342, + 1.0 + ], + [ + -0.010386288166046143, + 0.003599107265472412, + -0.007590677589178085, + -0.012491755187511444, + 0.048435330390930176, + 0.03110283613204956, + 1.0 + ], + [ + -0.009289920330047607, + 0.0006513968110084534, + -0.007562529295682907, + 0.007682971656322479, + 0.04365044832229614, + -0.00960017740726471, + 1.0 + ], + [ + -0.008465200662612915, + 0.0017647333443164825, + -0.0023075640201568604, + 0.01993260532617569, + 0.01319056749343872, + -0.011519201099872589, + 1.0 + ], + [ + -0.009089499711990356, + 0.0016578249633312225, + 0.0007794573903083801, + 0.010684080421924591, + 0.0005953013896942139, + -0.006774052977561951, + 1.0 + ], + [ + -0.009625524282455444, + 0.008189938962459564, + -0.0013855434954166412, + 0.003443196415901184, + 0.011961132287979126, + 0.010909825563430786, + 1.0 + ], + [ + -0.007277369499206543, + 0.0024637840688228607, + 0.0001203194260597229, + 0.017585888504981995, + 0.00029394030570983887, + -0.0024349242448806763, + 1.0 + ], + [ + -0.008616745471954346, + 0.004439380019903183, + -0.0024536065757274628, + -0.0042147040367126465, + 0.00492936372756958, + -0.005188703536987305, + 1.0 + ], + [ + -0.008578240871429443, + 0.0027902573347091675, + 0.007541824132204056, + 0.026539981365203857, + -0.009900689125061035, + -0.005550980567932129, + 1.0 + ], + [ + -0.00946199893951416, + 0.0010268166661262512, + -0.005462825298309326, + 0.013784617185592651, + 0.011492311954498291, + 0.002172619104385376, + 1.0 + ], + [ + -0.005251765251159668, + 0.00026304274797439575, + 0.0007713548839092255, + -0.011154592037200928, + -0.007057458162307739, + -0.0038834810256958008, + 1.0 + ], + [ + -0.007765769958496094, + 0.00019421428442001343, + 0.003010861575603485, + 0.011793345212936401, + -0.006778419017791748, + -0.004213251173496246, + 1.0 + ], + [ + -0.006745338439941406, + 0.0001700073480606079, + 0.0021347366273403168, + 0.011419802904129028, + -0.004138559103012085, + -0.001646392047405243, + 1.0 + ], + [ + -0.0068215131759643555, + -0.0008742958307266235, + 0.0009884722530841827, + 0.008885219693183899, + -0.005430847406387329, + -0.010407224297523499, + 1.0 + ], + [ + -0.003201305866241455, + 0.0010183155536651611, + 0.002203620970249176, + 0.006469741463661194, + -0.0016053318977355957, + -0.0010491013526916504, + 1.0 + ], + [ + -0.003673762083053589, + 0.0016806051135063171, + -0.0016951002180576324, + -0.021106436848640442, + 0.014951497316360474, + 0.017109714448451996, + 1.0 + ], + [ + 0.0030227303504943848, + 0.0009595155715942383, + 0.005970969796180725, + 0.0007656365633010864, + 7.212162017822266e-05, + 0.0029463693499565125, + 1.0 + ], + [ + 0.012468278408050537, + 0.0032025575637817383, + 0.014425326138734818, + 0.0011883080005645752, + -0.02159702777862549, + 0.019533000886440277, + 1.0 + ], + [ + 0.015557557344436646, + -0.0037485510110855103, + 0.015934303402900696, + 0.004706665873527527, + 0.024559229612350464, + -0.007427610456943512, + 1.0 + ], + [ + 0.009838998317718506, + -0.003676988184452057, + 0.0082235187292099, + -0.006620153784751892, + 0.09624305367469788, + -0.003872103989124298, + 1.0 + ], + [ + 0.008768618106842041, + 0.0020676106214523315, + 0.007571510970592499, + -0.021394357085227966, + 0.1011299341917038, + 0.023934438824653625, + 1.0 + ], + [ + 0.005813926458358765, + -0.0008569806814193726, + 0.005731716752052307, + -0.01764076203107834, + 0.018017679452896118, + 0.013438116759061813, + 1.0 + ], + [ + 0.006725102663040161, + -0.011029977351427078, + 0.004961811006069183, + -0.01040881872177124, + 0.02134709060192108, + 0.007791109383106232, + 1.0 + ], + [ + 0.0036744773387908936, + -0.01977977529168129, + 0.006942585110664368, + -0.015501625835895538, + 0.011809296905994415, + -0.009309578686952591, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.34276044368743896, + 0.10734326392412186, + 0.07938361167907715 + ], + [ + 0.3488054871559143, + 0.09668754786252975, + 0.0739363506436348 + ], + [ + 0.3584417700767517, + 0.08721558004617691, + 0.08560997992753983 + ], + [ + 0.3675205111503601, + 0.07369443774223328, + 0.08831200748682022 + ], + [ + 0.38541439175605774, + 0.06458830833435059, + 0.09911321848630905 + ], + [ + 0.40154606103897095, + 0.05724187567830086, + 0.10376718640327454 + ], + [ + 0.4122154712677002, + 0.0529826320707798, + 0.10749273747205734 + ], + [ + 0.41579610109329224, + 0.04899533838033676, + 0.09351439028978348 + ], + [ + 0.42104509472846985, + 0.049104105681180954, + 0.08872228860855103 + ], + [ + 0.4255373775959015, + 0.04825643077492714, + 0.08928518742322922 + ], + [ + 0.42563483119010925, + 0.04496033862233162, + 0.08544325083494186 + ], + [ + 0.42623382806777954, + 0.043593745678663254, + 0.08548487722873688 + ], + [ + 0.42793363332748413, + 0.041673656553030014, + 0.08645100146532059 + ], + [ + 0.42863714694976807, + 0.04541435465216637, + 0.08286487311124802 + ], + [ + 0.427267462015152, + 0.04460874944925308, + 0.07665838301181793 + ], + [ + 0.42485061287879944, + 0.04736281558871269, + 0.06703579425811768 + ], + [ + 0.42415544390678406, + 0.04616624489426613, + 0.0663456842303276 + ], + [ + 0.4185464680194855, + 0.04359636455774307, + 0.06004255264997482 + ], + [ + 0.40816017985343933, + 0.047195471823215485, + 0.05245187506079674 + ], + [ + 0.3988702595233917, + 0.04784686863422394, + 0.04488934576511383 + ], + [ + 0.3904050588607788, + 0.04961160197854042, + 0.04258178174495697 + ], + [ + 0.38131555914878845, + 0.05126942694187164, + 0.04336123913526535 + ], + [ + 0.371690034866333, + 0.05945936590433121, + 0.04197569563984871 + ], + [ + 0.36441266536712646, + 0.06192314997315407, + 0.04209601506590843 + ], + [ + 0.3557959198951721, + 0.06636252999305725, + 0.03964240849018097 + ], + [ + 0.3472176790237427, + 0.06915278732776642, + 0.047184232622385025 + ], + [ + 0.3377556800842285, + 0.07017960399389267, + 0.0417214073240757 + ], + [ + 0.33250391483306885, + 0.07044264674186707, + 0.042492762207984924 + ], + [ + 0.32473814487457275, + 0.07063686102628708, + 0.04550362378358841 + ], + [ + 0.31799280643463135, + 0.07080686837434769, + 0.047638360410928726 + ], + [ + 0.311171293258667, + 0.06993257254362106, + 0.04862683266401291 + ], + [ + 0.30796998739242554, + 0.07095088809728622, + 0.050830453634262085 + ], + [ + 0.30429622530937195, + 0.07263149321079254, + 0.04913535341620445 + ], + [ + 0.30731895565986633, + 0.07359100878238678, + 0.05510632321238518 + ], + [ + 0.31978723406791687, + 0.07679356634616852, + 0.06953164935112 + ], + [ + 0.3353447914123535, + 0.07304501533508301, + 0.08546595275402069 + ], + [ + 0.345183789730072, + 0.06936802715063095, + 0.09368947148323059 + ], + [ + 0.35395240783691406, + 0.07143563777208328, + 0.10126098245382309 + ], + [ + 0.3597663342952728, + 0.07057865709066391, + 0.1069926992058754 + ], + [ + 0.366491436958313, + 0.05954867973923683, + 0.11195451021194458 + ], + [ + 0.3701659142971039, + 0.03976890444755554, + 0.11889709532260895 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9986454173265303, + 0.051181085265188914, + -0.009371604120812128, + 0.05202599913560797, + -0.9849385850265472, + 0.1648917194398929, + -0.0007911173500048923, + -0.16515592704162962, + -0.9862671513826049 + ], + [ + 0.9972920348598787, + 0.04628053506239236, + 0.057155133447324605, + 0.035965277710139194, + -0.9848081056695117, + 0.16988082236338778, + 0.06414901405536469, + -0.16736519077145948, + -0.9838057719457424 + ], + [ + 0.9887768870039447, + 0.03931559534220834, + 0.1441337978743204, + 0.019591611429277497, + -0.9905437643779692, + 0.13579108812262247, + 0.14810954219222988, + -0.1314432760349853, + -0.9801970356498728 + ], + [ + 0.9813444992573216, + 0.024170171576506624, + 0.1907322117088764, + 0.007243315643215934, + -0.9960097972868857, + 0.08894952550199778, + 0.1921210768132694, + -0.08590859395019826, + -0.9776038079557642 + ], + [ + 0.9495249276876333, + 0.020629472439143877, + 0.313012518226791, + 0.0030342744952810367, + -0.998392562607172, + 0.05659579585951034, + 0.3136769116114252, + -0.05278935307016637, + -0.9480612212955192 + ], + [ + 0.9110914328219433, + -0.0021634747659322433, + 0.412198641937835, + -0.024912765102547446, + -0.9984472189846515, + 0.04982474321821102, + 0.4114507931374099, + -0.055663904630851635, + -0.9097306054804597 + ], + [ + 0.8811694569853987, + 0.005926169529518656, + 0.47276343829738454, + -0.021138195657446793, + -0.9984278049671211, + 0.0519143039333455, + 0.4723278149340826, + -0.055738665065138394, + -0.8796588182109876 + ], + [ + 0.8890841104827281, + 0.013546241906308642, + 0.45754337916459065, + -0.006393140206659582, + -0.9990970435152214, + 0.042002683217171, + 0.45769921591088025, + -0.04026905721965432, + -0.8881947031958736 + ], + [ + 0.8792281798684158, + 0.006988102070003749, + 0.4763496343598171, + -0.0160715205880899, + -0.9988881921817229, + 0.044318007016512326, + 0.47612972386867297, + -0.046621303600266714, + -0.878138337677699 + ], + [ + 0.8654882992392425, + 0.003483999158376907, + 0.5009170246955355, + -0.020235859070626406, + -0.9989163860636844, + 0.04191137865952301, + 0.5005202432346139, + -0.046410294152618804, + -0.8644799423404977 + ], + [ + 0.8577820581143483, + -0.0005952312719807902, + 0.5140132162472527, + -0.03243471036322029, + -0.9980691635295443, + 0.05297107111517568, + 0.5129892107449884, + -0.062109504193543885, + -0.8561451273867448 + ], + [ + 0.8548595087622988, + -0.01860279939187859, + 0.5185259454776265, + -0.05069963699792887, + -0.9975695898840367, + 0.047796026475775216, + 0.5163765748820905, + -0.06714796492359455, + -0.853725004740789 + ], + [ + 0.8479397680767499, + -0.022936154537245415, + 0.5295961504099056, + -0.047216018111879296, + -0.9983603912041379, + 0.03236011292285086, + 0.5279856033525976, + -0.052444848076475245, + -0.8476324324626973 + ], + [ + 0.8504809583824801, + -0.0199527662212158, + 0.5256272696017013, + -0.05741313809908883, + -0.9968312317014419, + 0.05505658069841437, + 0.5228631474893148, + -0.07700248453593929, + -0.848931532205548 + ], + [ + 0.8560647507013408, + -0.04162144750905705, + 0.5151900597972577, + -0.07433078142369498, + -0.9963052130364404, + 0.043021592361928485, + 0.5114959213323153, + -0.07512374846653933, + -0.8559955285378201 + ], + [ + 0.8688134462563833, + -0.03773648218613228, + 0.4936994566700701, + -0.07524171707868176, + -0.9955739864186731, + 0.05631271239678834, + 0.4893892925015404, + -0.08607203656616655, + -0.8678074238598068 + ], + [ + 0.8702967684485192, + -0.04451807625863678, + 0.4905116468691592, + -0.07849404463273638, + -0.9957145753377458, + 0.04889958504084298, + 0.48623268070467923, + -0.08105939394174401, + -0.8700615810783388 + ], + [ + 0.8789216945789768, + -0.06164364713155945, + 0.4729658714608696, + -0.0848897930328679, + -0.9959985438467192, + 0.027939643771032585, + 0.4693510177226176, + -0.06470673398909213, + -0.8806376444027408 + ], + [ + 0.902779151358995, + -0.03916027099830373, + 0.4283179625545393, + -0.05892891052316006, + -0.997717014770689, + 0.03298699655345579, + 0.4260483392481254, + -0.0550202836452496, + -0.9030257919968344 + ], + [ + 0.9198518200250014, + -0.04816586637793281, + 0.3892976733975626, + -0.06891752956483008, + -0.9968397634733916, + 0.03950772173883367, + 0.38616447702419876, + -0.06317068366240355, + -0.9202643432244082 + ], + [ + 0.9239916115312283, + -0.0529395662394624, + 0.37873064854366023, + -0.07994080445659223, + -0.9952299860898534, + 0.05591728328901022, + 0.3739638613592987, + -0.08194313341560786, + -0.9238161902041311 + ], + [ + 0.9236503865075436, + -0.05568079236242283, + 0.37916963600261855, + -0.08621876607072537, + -0.9942166886422298, + 0.06402734105459257, + 0.3734116868574242, + -0.09183041645975659, + -0.923109357947974 + ], + [ + 0.9289211482745292, + -0.04466289985883217, + 0.3675741090780606, + -0.07649809148261993, + -0.9944309005046035, + 0.07249293842244217, + 0.3622893074434392, + -0.09545894142406572, + -0.9271645205756904 + ], + [ + 0.928838198118625, + -0.040642711233005904, + 0.3682496052127909, + -0.07876871024209403, + -0.992903632374441, + 0.08909470862199322, + 0.3620153201213215, + -0.11176111506812796, + -0.9254481947446792 + ], + [ + 0.9301830188003223, + -0.047877645176896994, + 0.36396055092253404, + -0.08374609324348287, + -0.9929902955827575, + 0.08340782184496721, + 0.35741592494175917, + -0.10806481374981901, + -0.9276722765218565 + ], + [ + 0.9261357155226028, + -0.04239482998150858, + 0.37480036662772315, + -0.08856698436238851, + -0.9903246780411441, + 0.10683127511949354, + 0.36664495866490393, + -0.1321351976331192, + -0.9209298365413445 + ], + [ + 0.930460012599668, + -0.03673698450578465, + 0.36454705995584097, + -0.0869409177754139, + -0.9886813693684361, + 0.12227193741870125, + 0.35592898416593516, + -0.14546320439608024, + -0.9231224265488461 + ], + [ + 0.9275920879783361, + -0.04369715958462881, + 0.37103029062898174, + -0.09030801716351039, + -0.9899101164449482, + 0.10918985024234061, + 0.3625153518900769, + -0.13479065102663884, + -0.9221789956618125 + ], + [ + 0.9247373908636116, + -0.04250223619957673, + 0.3782252210744224, + -0.09396480882247242, + -0.9884788389940065, + 0.11866001670325843, + 0.36882431134852883, + -0.14526921483609923, + -0.9180770569942303 + ], + [ + 0.9230551956076974, + -0.03916471899472583, + 0.3826685650111588, + -0.09532953705294027, + -0.9870613033239977, + 0.1289273549158712, + 0.37266792889502504, + -0.1554866819582793, + -0.9148456189470972 + ], + [ + 0.919988600826391, + -0.04513937272982203, + 0.38933714359030464, + -0.10470024223929457, + -0.9855515920931721, + 0.13313871937812316, + 0.3777020434476524, + -0.16324979740315693, + -0.9114223335113617 + ], + [ + 0.9192746923277771, + -0.04338286114148081, + 0.3912185673058599, + -0.10559601537122572, + -0.9846553211079652, + 0.13893660479330103, + 0.379187976580733, + -0.16903202647116625, + -0.9097497746323768 + ], + [ + 0.9264862592673785, + -0.036965303225199725, + 0.37450871518058, + -0.09039326350489552, + -0.9878889165704042, + 0.12611322860940247, + 0.36531119514966176, + -0.15069523839465507, + -0.9186069212799911 + ], + [ + 0.9267747967083689, + -0.03377887031459725, + 0.3740955280492283, + -0.08766558528051221, + -0.987894822704683, + 0.1279787655461179, + 0.3652440572324026, + -0.1514027978392493, + -0.9185172679176264 + ], + [ + 0.9202282470602157, + -0.010765559783457185, + 0.39123404253085126, + -0.06894182998035135, + -0.9884496860857748, + 0.134960150251451, + 0.3852622449597721, + -0.15116653333156352, + -0.9103415193261671 + ], + [ + 0.9288422936854897, + -0.0200846958747039, + 0.3699305319282244, + -0.0765289706581482, + -0.9873949338126284, + 0.13854443810979622, + 0.3624849101839726, + -0.15699633649475875, + -0.9186712361972272 + ], + [ + 0.9589457762094379, + -0.041078492402336145, + 0.28059856691015017, + -0.08274880596002701, + -0.986925720708612, + 0.13831217197331852, + 0.271248287372047, + -0.15585306947807687, + -0.94980744750291 + ], + [ + 0.9830749711721335, + -0.037221631586007144, + 0.17938269480912739, + -0.061170744680550886, + -0.9896401430247365, + 0.12988659403189445, + 0.172689724796051, + -0.13866123270782954, + -0.97516732999717 + ], + [ + 0.9867561283455056, + -0.02923802598971473, + 0.15955400655832327, + -0.04809863712825187, + -0.99212371948517, + 0.11565918182884193, + 0.15491566828114403, + -0.12180173673284438, + -0.9803904694813541 + ], + [ + 0.9901799964494596, + -0.02554156053158337, + 0.13744527389822941, + -0.04053537958707124, + -0.9933868106519153, + 0.10742219242106268, + 0.1337925918467831, + -0.11193870245999474, + -0.9846670854956474 + ], + [ + 0.9912686788666977, + -0.03807105453455544, + 0.1262418357934426, + -0.049827498069991295, + -0.9945745602746487, + 0.0913162881997186, + 0.12208041093458294, + -0.09680929119209561, + -0.987787595794221 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005994.json b/json/chunk-0005/episode_0005994.json new file mode 100644 index 0000000000000000000000000000000000000000..6dce57a5b076a4382dfca82870bf0fb17991cd64 --- /dev/null +++ b/json/chunk-0005/episode_0005994.json @@ -0,0 +1,2482 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 40, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPick up the green triangle from the top of the tower and place it on the table." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005994.mp4", + "start": 0, + "end": 40, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2644328474998474, + -0.03221445530653, + 0.14532306790351868, + -0.03001817874610424, + 0.10658156126737595, + 0.12033292651176453, + 0.0, + 0.9994885921478271 + ], + [ + 0.2623455822467804, + -0.03243016451597214, + 0.13529789447784424, + -0.021888019517064095, + 0.1440753936767578, + 0.11989268660545349, + 0.0, + 0.9994885921478271 + ], + [ + 0.2632630467414856, + -0.031142378225922585, + 0.1362934559583664, + -0.01781122386455536, + 0.1397078037261963, + 0.11265307664871216, + 0.0, + 0.9994885921478271 + ], + [ + 0.26593565940856934, + -0.03252186253666878, + 0.13862662017345428, + -0.02558484859764576, + 0.1298566609621048, + 0.1021869108080864, + 0.0, + 0.9994885921478271 + ], + [ + 0.27558261156082153, + -0.03785613551735878, + 0.14955592155456543, + -0.04519437998533249, + 0.08273439854383469, + 0.07640454173088074, + 0.0, + 0.9994885921478271 + ], + [ + 0.2903706431388855, + -0.040951650589704514, + 0.1366257220506668, + -0.04025646671652794, + 0.11768670380115509, + 0.04430220648646355, + 0.0, + 0.9994885921478271 + ], + [ + 0.3014020323753357, + -0.04455701634287834, + 0.13720184564590454, + -0.043170612305402756, + 0.12982504069805145, + 0.026207074522972107, + 0.0, + 0.9994885921478271 + ], + [ + 0.3103635013103485, + -0.04437507316470146, + 0.13432487845420837, + -0.03155386075377464, + 0.1275218278169632, + 0.007665821351110935, + 0.0, + 0.9994885921478271 + ], + [ + 0.3102266192436218, + -0.04581158608198166, + 0.13336317241191864, + -0.03176933154463768, + 0.1304207593202591, + -0.0015252777375280857, + 0.0, + 0.9994885921478271 + ], + [ + 0.3118181824684143, + -0.046251632273197174, + 0.13507044315338135, + -0.031209222972393036, + 0.12262672185897827, + -0.0033418734092265368, + 0.0, + 0.9613274931907654 + ], + [ + 0.31392648816108704, + -0.050907332450151443, + 0.13522230088710785, + -0.04172300547361374, + 0.10709274560213089, + -0.007870197296142578, + 0.0, + 0.7912794351577759 + ], + [ + 0.315760999917984, + -0.05335364490747452, + 0.1316417008638382, + -0.04573017731308937, + 0.10634581744670868, + -0.006581128109246492, + 0.0, + 0.505268931388855 + ], + [ + 0.31765255331993103, + -0.05457134544849396, + 0.131891131401062, + -0.052259404212236404, + 0.09545189142227173, + 0.004004159476608038, + 0.0, + 0.48038846254348755 + ], + [ + 0.31831657886505127, + -0.05465380847454071, + 0.13096071779727936, + -0.051602791994810104, + 0.09297379851341248, + 0.015134837478399277, + 0.0, + 0.48038846254348755 + ], + [ + 0.31626391410827637, + -0.05507921054959297, + 0.13285395503044128, + -0.058438606560230255, + 0.09038268774747849, + 0.03168068453669548, + 0.0, + 0.48038846254348755 + ], + [ + 0.3125848174095154, + -0.049669068306684494, + 0.15563225746154785, + -0.0727597251534462, + 0.02349848859012127, + 0.05752869322896004, + 0.0, + 0.48038846254348755 + ], + [ + 0.3064195513725281, + -0.03992629423737526, + 0.16885335743427277, + -0.10814958810806274, + -0.002293193945661187, + 0.0964621752500534, + 0.0, + 0.48038846254348755 + ], + [ + 0.30110785365104675, + -0.02751138247549534, + 0.16977348923683167, + -0.12285203486680984, + 0.0008976177196018398, + 0.1385992169380188, + 0.0, + 0.48038846254348755 + ], + [ + 0.2900428771972656, + -0.005867618601769209, + 0.15621554851531982, + -0.11894100904464722, + 0.010189429856836796, + 0.24450410902500153, + 0.0, + 0.48038846254348755 + ], + [ + 0.2803865075111389, + 0.012320645153522491, + 0.13994060456752777, + -0.08496077358722687, + 0.03368661552667618, + 0.34889325499534607, + 0.0, + 0.48038846254348755 + ], + [ + 0.27676913142204285, + 0.03282379359006882, + 0.12925265729427338, + -0.021851345896720886, + 0.0353543795645237, + 0.4801206588745117, + 0.0, + 0.48038846254348755 + ], + [ + 0.2781168222427368, + 0.04438689351081848, + 0.11751991510391235, + 0.04519150033593178, + 0.03595801442861557, + 0.5955599546432495, + 0.0, + 0.48038846254348755 + ], + [ + 0.28656038641929626, + 0.055211663246154785, + 0.09068404138088226, + 0.13678377866744995, + 0.06507778912782669, + 0.6266875863075256, + 0.0, + 0.48038846254348755 + ], + [ + 0.3020953834056854, + 0.05577743053436279, + 0.0551070012152195, + 0.13982321321964264, + 0.10776947438716888, + 0.6247665882110596, + 0.0, + 0.48038846254348755 + ], + [ + 0.31023702025413513, + 0.05145641043782234, + 0.017564410343766212, + 0.0686425045132637, + 0.1585281640291214, + 0.687864363193512, + 0.0, + 0.48038846254348755 + ], + [ + 0.31136760115623474, + 0.05456569045782089, + 0.0021197027526795864, + -0.015612688846886158, + 0.1896069496870041, + 0.7438508868217468, + 0.0, + 0.48038846254348755 + ], + [ + 0.3119990825653076, + 0.05813005194067955, + -0.0016921727219596505, + -0.04464415833353996, + 0.19367952644824982, + 0.7747634649276733, + 0.0, + 0.529549777507782 + ], + [ + 0.3068256974220276, + 0.05879583582282066, + -0.0037282914854586124, + -0.025916192680597305, + 0.21625745296478271, + 0.7717849016189575, + 0.0, + 0.8607404828071594 + ], + [ + 0.3049857020378113, + 0.05971238389611244, + 0.00039345791446976364, + -0.017414197325706482, + 0.2061370313167572, + 0.7746488451957703, + 0.0, + 1.003452181816101 + ], + [ + 0.3129352927207947, + 0.058387864381074905, + 0.03150505945086479, + -0.03841884061694145, + 0.1523536592721939, + 0.7425540089607239, + 0.0, + 0.9988223910331726 + ], + [ + 0.3198619782924652, + 0.05666856840252876, + 0.06857889890670776, + -0.05013933777809143, + 0.09194521605968475, + 0.7011452317237854, + 0.0, + 0.9988223910331726 + ], + [ + 0.3183582127094269, + 0.045284517109394073, + 0.12100925296545029, + -0.07833624631166458, + 0.03837151452898979, + 0.5459393858909607, + 0.0, + 0.9988223910331726 + ], + [ + 0.3044966161251068, + 0.03240411728620529, + 0.1515592634677887, + -0.060101546347141266, + 0.02651219815015793, + 0.39655882120132446, + 0.0, + 0.9988223910331726 + ], + [ + 0.287010133266449, + 0.017221014946699142, + 0.18028096854686737, + -0.09577616304159164, + 0.001843213220126927, + 0.2969668209552765, + 0.0, + 0.9988223910331726 + ], + [ + 0.274164617061615, + 0.008345618844032288, + 0.18504446744918823, + -0.09859278798103333, + -0.007544027641415596, + 0.24922741949558258, + 0.0, + 0.9988223910331726 + ], + [ + 0.26826012134552, + -0.0003430615470279008, + 0.17703212797641754, + -0.065138079226017, + 0.01704755611717701, + 0.20661312341690063, + 0.0, + 0.9988223910331726 + ], + [ + 0.2665124833583832, + -0.0055180499330163, + 0.17290237545967102, + -0.014469530433416367, + 0.014878779649734497, + 0.15696708858013153, + 0.0, + 0.9988223910331726 + ], + [ + 0.269931823015213, + -0.00943028088659048, + 0.16792207956314087, + 0.01599341630935669, + 0.012891711667180061, + 0.12083764374256134, + 0.0, + 0.9988223910331726 + ], + [ + 0.2724461257457733, + -0.010657320730388165, + 0.1641308218240738, + 0.033684585243463516, + 0.0177176333963871, + 0.10603336989879608, + 0.0, + 0.9988223910331726 + ], + [ + 0.2722359299659729, + -0.010404330678284168, + 0.16334807872772217, + 0.03567446768283844, + 0.02050008624792099, + 0.10581609606742859, + 0.0, + 0.9988223910331726 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9613274931907654 + ], + [ + 0.7912794351577759 + ], + [ + 0.505268931388855 + ], + [ + 0.48038846254348755 + ], + [ + 0.48038846254348755 + ], + [ + 0.48038846254348755 + ], + [ + 0.48038846254348755 + ], + [ + 0.48038846254348755 + ], + [ + 0.48038846254348755 + ], + [ + 0.48038846254348755 + ], + [ + 0.48038846254348755 + ], + [ + 0.48038846254348755 + ], + [ + 0.48038846254348755 + ], + [ + 0.48038846254348755 + ], + [ + 0.48038846254348755 + ], + [ + 0.48038846254348755 + ], + [ + 0.48038846254348755 + ], + [ + 0.529549777507782 + ], + [ + 0.8607404828071594 + ], + [ + 1.003452181816101 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2644328474998474, + -0.03221445530653, + 0.14532306790351868 + ], + [ + 0.2623455822467804, + -0.03243016451597214, + 0.13529789447784424 + ], + [ + 0.2632630467414856, + -0.031142378225922585, + 0.1362934559583664 + ], + [ + 0.26593565940856934, + -0.03252186253666878, + 0.13862662017345428 + ], + [ + 0.27558261156082153, + -0.03785613551735878, + 0.14955592155456543 + ], + [ + 0.2903706431388855, + -0.040951650589704514, + 0.1366257220506668 + ], + [ + 0.3014020323753357, + -0.04455701634287834, + 0.13720184564590454 + ], + [ + 0.3103635013103485, + -0.04437507316470146, + 0.13432487845420837 + ], + [ + 0.3102266192436218, + -0.04581158608198166, + 0.13336317241191864 + ], + [ + 0.3118181824684143, + -0.046251632273197174, + 0.13507044315338135 + ], + [ + 0.31392648816108704, + -0.050907332450151443, + 0.13522230088710785 + ], + [ + 0.315760999917984, + -0.05335364490747452, + 0.1316417008638382 + ], + [ + 0.31765255331993103, + -0.05457134544849396, + 0.131891131401062 + ], + [ + 0.31831657886505127, + -0.05465380847454071, + 0.13096071779727936 + ], + [ + 0.31626391410827637, + -0.05507921054959297, + 0.13285395503044128 + ], + [ + 0.3125848174095154, + -0.049669068306684494, + 0.15563225746154785 + ], + [ + 0.3064195513725281, + -0.03992629423737526, + 0.16885335743427277 + ], + [ + 0.30110785365104675, + -0.02751138247549534, + 0.16977348923683167 + ], + [ + 0.2900428771972656, + -0.005867618601769209, + 0.15621554851531982 + ], + [ + 0.2803865075111389, + 0.012320645153522491, + 0.13994060456752777 + ], + [ + 0.27676913142204285, + 0.03282379359006882, + 0.12925265729427338 + ], + [ + 0.2781168222427368, + 0.04438689351081848, + 0.11751991510391235 + ], + [ + 0.28656038641929626, + 0.055211663246154785, + 0.09068404138088226 + ], + [ + 0.3020953834056854, + 0.05577743053436279, + 0.0551070012152195 + ], + [ + 0.31023702025413513, + 0.05145641043782234, + 0.017564410343766212 + ], + [ + 0.31136760115623474, + 0.05456569045782089, + 0.0021197027526795864 + ], + [ + 0.3119990825653076, + 0.05813005194067955, + -0.0016921727219596505 + ], + [ + 0.3068256974220276, + 0.05879583582282066, + -0.0037282914854586124 + ], + [ + 0.3049857020378113, + 0.05971238389611244, + 0.00039345791446976364 + ], + [ + 0.3129352927207947, + 0.058387864381074905, + 0.03150505945086479 + ], + [ + 0.3198619782924652, + 0.05666856840252876, + 0.06857889890670776 + ], + [ + 0.3183582127094269, + 0.045284517109394073, + 0.12100925296545029 + ], + [ + 0.3044966161251068, + 0.03240411728620529, + 0.1515592634677887 + ], + [ + 0.287010133266449, + 0.017221014946699142, + 0.18028096854686737 + ], + [ + 0.274164617061615, + 0.008345618844032288, + 0.18504446744918823 + ], + [ + 0.26826012134552, + -0.0003430615470279008, + 0.17703212797641754 + ], + [ + 0.2665124833583832, + -0.0055180499330163, + 0.17290237545967102 + ], + [ + 0.269931823015213, + -0.00943028088659048, + 0.16792207956314087 + ], + [ + 0.2724461257457733, + -0.010657320730388165, + 0.1641308218240738 + ], + [ + 0.2722359299659729, + -0.010404330678284168, + 0.16334807872772217 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9871353189774783, + 0.12315841486206582, + -0.1019601239499828, + 0.119361557688191, + -0.9919381929903878, + -0.04256101306610579, + -0.10637988801216713, + 0.029843359992263976, + -0.9938776047838542 + ], + [ + 0.9825349344584825, + 0.12269683322392021, + -0.13989492373022966, + 0.11836644038900933, + -0.9922078173167476, + -0.03889772544983244, + -0.14357746466037197, + 0.021659509974995935, + -0.989402030152224 + ], + [ + 0.9839798370279632, + 0.11486155049032543, + -0.13634700048546058, + 0.11131966362841095, + -0.9932249338432039, + -0.03334911215941774, + -0.1392537712669973, + 0.017636751716866877, + -0.9900996576995656 + ], + [ + 0.9864078453397132, + 0.10527116795459272, + -0.12616474883952342, + 0.10115029185553694, + -0.9941199692846573, + -0.03865365606267234, + -0.1294920117605862, + 0.02536666842428466, + -0.9912559462738412 + ], + [ + 0.9936720331981227, + 0.07997498789345946, + -0.07886629033592342, + 0.07606913573074929, + -0.995779493322939, + -0.05134868320305686, + -0.08264004494847517, + 0.045024459896283765, + -0.9955618619563338 + ], + [ + 0.9921085136464821, + 0.04897264405637073, + -0.11542260300433312, + 0.04398137386242935, + -0.9980001513522682, + -0.045401945487202326, + -0.11741522858360874, + 0.03996721199905857, + -0.9922783309443379 + ], + [ + 0.9912440632563236, + 0.031764901710042266, + -0.12816473024371652, + 0.025983555903817002, + -0.9985788216844329, + -0.04653162049534148, + -0.12946065765971718, + 0.04279401713651828, + -0.9906606937875514 + ], + [ + 0.9918509606719956, + 0.011674055770085305, + -0.1268676012065982, + 0.007603501211475157, + -0.9994420937615965, + -0.03252211534883817, + -0.12717648596877726, + 0.03129245339235928, + -0.9913863645306609 + ], + [ + 0.9915061078135948, + 0.002606436877532292, + -0.13003401345470816, + -0.001512323365664124, + -0.9995005354231103, + -0.03156568654335141, + -0.13005134004066798, + 0.03149422448194097, + -0.9910069438595813 + ], + [ + 0.9924852183991656, + 0.000476619595594437, + -0.12236365511426198, + -0.0033167723077957983, + -0.999520205902816, + -0.030795405719861356, + -0.12231962344864863, + 0.03096983735433116, + -0.9920074490111591 + ], + [ + 0.9942402580176019, + -0.003405003544182811, + -0.10712009749788394, + -0.007825028551803833, + -0.9991338669129923, + -0.0408691193403293, + -0.1068881577409561, + 0.04147194157927413, + -0.9934057578836502 + ], + [ + 0.9943290776453347, + -0.0017219456315072969, + -0.10633306283663632, + -0.00654390151785105, + -0.9989648585164266, + -0.045015428490468294, + -0.10614547895177912, + 0.04545598258203128, + -0.9933110746113725 + ], + [ + 0.995439945829797, + 0.008977063286219687, + -0.0949669762660995, + 0.003985921594994431, + -0.9986068480532376, + -0.052616304034173236, + -0.09530701272943799, + 0.05199783991603117, + -0.9940889286017913 + ], + [ + 0.9955670140510069, + 0.019902238249830576, + -0.09192508605494712, + 0.015068895551096329, + -0.9984820213226503, + -0.052977178882088624, + -0.0928399101703174, + 0.05135712227219949, + -0.9943556693012244 + ], + [ + 0.995418521927356, + 0.036890316929406024, + -0.08821037762534543, + 0.031546094793274033, + -0.9976250346977585, + -0.06123017268953379, + -0.09025968151534676, + 0.05816695506165283, + -0.9942181829113789 + ], + [ + 0.9980700609975749, + 0.05905009193458247, + -0.019215618200144294, + 0.0574810925493252, + -0.9956060275248635, + -0.07392267551635277, + -0.02349632608797108, + 0.07267547453355518, + -0.997078832420832 + ], + [ + 0.9953485136979994, + 0.0955035713464955, + 0.012665075572131998, + 0.09631239561930051, + -0.9895596627132128, + -0.10721751900218189, + 0.002293191935777178, + 0.1079386019502603, + -0.99415491724367 + ], + [ + 0.9904100952871984, + 0.13722358572444152, + 0.01604776227794013, + 0.13815584474009154, + -0.9829307471040049, + -0.12149118882336453, + -0.0008976175990641176, + 0.12254319205280047, + -0.9924627753040192 + ], + [ + 0.970207119373762, + 0.2415380197453391, + 0.018908477833158403, + 0.24206264608316583, + -0.9631097910965037, + -0.1175806347374653, + -0.010189253539041335, + 0.1186546051004739, + -0.9928833082496492 + ], + [ + 0.9392184788436612, + 0.343310736339079, + -0.002527313379504334, + 0.34166400178537865, + -0.9353849074935477, + -0.09121833542269565, + -0.03368024469328561, + 0.0848104542353479, + -0.9958277099829036 + ], + [ + 0.886384949390263, + 0.4624609288111846, + -0.021251136852339904, + 0.4615975628510631, + -0.8863707353430526, + -0.03570167359346972, + -0.035347014928834124, + 0.021835953162440844, + -0.9991365170411439 + ], + [ + 0.8272993809705107, + 0.5590551799935428, + -0.055073042118603595, + 0.5606097685670726, + -0.8279003935330997, + 0.017251833957933106, + -0.03595026610448588, + -0.04514691695039909, + -0.9983332781475787 + ], + [ + 0.8082599990968542, + 0.5738047121805502, + -0.13215114883855317, + 0.5852235731670495, + -0.8076096700888862, + 0.07266354098522576, + -0.06503186349432415, + -0.13606900109252149, + -0.9885626351790457 + ], + [ + 0.8063940619571304, + 0.5670408046109768, + -0.16790873338339443, + 0.5815146183325469, + -0.8119519616935851, + 0.050742098572008544, + -0.10756098505421104, + -0.13855950998785707, + -0.9844957575764828 + ], + [ + 0.7629157615056509, + 0.6250279331435302, + -0.1652259774871356, + 0.6269275741819811, + -0.7776586172785429, + -0.04699884788716919, + -0.15786499794618605, + -0.0677285594321286, + -0.9851352621141419 + ], + [ + 0.7226785713272496, + 0.6792093884264085, + -0.1281026510960244, + 0.6649914640476227, + -0.7337843882456375, + -0.13909286218485475, + -0.1884729033261945, + 0.015332261424841807, + -0.9819586989641649 + ], + [ + 0.701225666999737, + 0.7049882416654795, + -0.10617976763107537, + 0.6864674131490814, + -0.7078655151433546, + -0.1663998291923443, + -0.1924709189077198, + 0.04379488079956907, + -0.9803249225591325 + ], + [ + 0.6999739185473951, + 0.7011662623940836, + -0.13565539367720028, + 0.6811708714206947, + -0.7125484484900668, + -0.16816941601364527, + -0.21457576116928165, + 0.025309702382882424, + -0.976379363610228 + ], + [ + 0.6995364109801693, + 0.7019062926003203, + -0.13407597145297026, + 0.6846567056070385, + -0.7120653313035483, + -0.15558971502925734, + -0.20468025107543067, + 0.017044657920939996, + -0.9786804761800745 + ], + [ + 0.7282100237370545, + 0.6799674373753137, + -0.08575806340005082, + 0.6683394065194097, + -0.7322588220109444, + -0.1308413362834042, + -0.15176494661864912, + 0.03796447940368181, + -0.9876872477061985 + ], + [ + 0.7608763444003364, + 0.6477986283251942, + -0.03773758964186498, + 0.6423683225966357, + -0.7601751542145614, + -0.0974508750050637, + -0.09181572118306076, + 0.049906633375381995, + -0.9945246107003938 + ], + [ + 0.8540108216800444, + 0.5201945419151425, + 0.00794701296531386, + 0.5188389594197996, + -0.8504602434693729, + -0.08673816038050901, + -0.038362099024365943, + 0.07819854755499304, + -0.9961994461546014 + ], + [ + 0.9220714406379956, + 0.38701782887220826, + -0.001207681585847024, + 0.3861107695745928, + -0.9201151486840176, + -0.06562458975645735, + -0.026509092370098075, + 0.06004426115150164, + -0.9978436524448523 + ], + [ + 0.9562268344596171, + 0.2914486036593619, + 0.02622884832295678, + 0.2926206479867974, + -0.9517944542967726, + -0.09198083029466571, + -0.0018432121764275933, + 0.09562964077584644, + -0.9954152773460712 + ], + [ + 0.9690756951617567, + 0.24473785011083796, + 0.031554425519770085, + 0.24664830381206163, + -0.9645801437887185, + -0.09354015413269332, + 0.007543956083558456, + 0.09843033542389298, + -0.9951153489897285 + ], + [ + 0.9785891162702891, + 0.2057971861872215, + -0.0032954020630076766, + 0.20511643156959133, + -0.9764280708551593, + -0.06719726144888284, + -0.01704673040474184, + 0.06508256758529461, + -0.9977342674174391 + ], + [ + 0.9875966139086293, + 0.15651956825977936, + -0.012431932592404509, + 0.15630600259730149, + -0.9875688929865285, + -0.01661671319530302, + -0.014878230683189471, + 0.014467423997894246, + -0.9997846427579306 + ], + [ + 0.9926255203617862, + 0.1203237039184369, + -0.0147235390392934, + 0.12053376831262595, + -0.9926059042862926, + 0.014322341720176572, + -0.012891354577835155, + -0.015991405546093684, + -0.9997890217069844 + ], + [ + 0.9942276555393373, + 0.10518143823816277, + -0.02117153775482671, + 0.10581818026054708, + -0.9938827892957491, + 0.03161508924623675, + -0.01771670644050038, + -0.03367292965948612, + -0.9992758638739595 + ], + [ + 0.994197754719124, + 0.10482449971500168, + -0.02413811862908782, + 0.10559654276060837, + -0.9938512116806456, + 0.03330374150030754, + -0.020498650405802617, + -0.03565940689932898, + -0.9991537479442933 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0020872652530670166, + -0.00021570920944213867, + -0.010025173425674438, + 0.008130159229040146, + 0.037493832409381866, + -0.00044023990631103516, + 1.0 + ], + [ + 0.0009174644947052002, + 0.001287786290049553, + 0.0009955614805221558, + 0.004076795652508736, + -0.0043675899505615234, + -0.007239609956741333, + 1.0 + ], + [ + 0.0026726126670837402, + -0.001379484310746193, + 0.0023331642150878906, + -0.007773624733090401, + -0.009851142764091492, + -0.010466165840625763, + 1.0 + ], + [ + 0.009646952152252197, + -0.0053342729806900024, + 0.010929301381111145, + -0.01960953138768673, + -0.04712226241827011, + -0.025782369077205658, + 1.0 + ], + [ + 0.014788031578063965, + -0.0030955150723457336, + -0.01293019950389862, + 0.00493791326880455, + 0.034952305257320404, + -0.03210233524441719, + 1.0 + ], + [ + 0.011031389236450195, + -0.003605365753173828, + 0.0005761235952377319, + -0.002914145588874817, + 0.012138336896896362, + -0.01809513196349144, + 1.0 + ], + [ + 0.008961468935012817, + 0.00018194317817687988, + -0.002876967191696167, + 0.011616751551628113, + -0.002303212881088257, + -0.018541254103183746, + 1.0 + ], + [ + -0.00013688206672668457, + -0.0014365129172801971, + -0.0009617060422897339, + -0.0002154707908630371, + 0.0028989315032958984, + -0.009191099554300308, + 1.0 + ], + [ + 0.0015915632247924805, + -0.00044004619121551514, + 0.0017072707414627075, + 0.0005601085722446442, + -0.007794037461280823, + -0.001816595671698451, + 0.0 + ], + [ + 0.0021083056926727295, + -0.004655700176954269, + 0.00015185773372650146, + -0.010513782501220703, + -0.015533976256847382, + -0.004528324119746685, + 0.0 + ], + [ + 0.0018345117568969727, + -0.0024463124573230743, + -0.0035806000232696533, + -0.004007171839475632, + -0.0007469281554222107, + 0.0012890691868960857, + 0.0 + ], + [ + 0.0018915534019470215, + -0.0012177005410194397, + 0.0002494305372238159, + -0.006529226899147034, + -0.01089392602443695, + 0.01058528758585453, + 0.0 + ], + [ + 0.0006640255451202393, + -8.246302604675293e-05, + -0.0009304136037826538, + 0.0006566122174263, + -0.002478092908859253, + 0.011130677536129951, + 0.0 + ], + [ + -0.0020526647567749023, + -0.00042540207505226135, + 0.0018932372331619263, + -0.006835814565420151, + -0.0025911107659339905, + 0.016545847058296204, + 0.0 + ], + [ + -0.0036790966987609863, + 0.005410142242908478, + 0.022778302431106567, + -0.014321118593215942, + -0.06688419729471207, + 0.025848008692264557, + 0.0 + ], + [ + -0.006165266036987305, + 0.009742774069309235, + 0.013221099972724915, + -0.03538986295461655, + -0.025791682302951813, + 0.03893348202109337, + 0.0 + ], + [ + -0.005311697721481323, + 0.012414911761879921, + 0.0009201318025588989, + -0.0147024467587471, + 0.003190811723470688, + 0.04213704168796539, + 0.0 + ], + [ + -0.011064976453781128, + 0.021643763408064842, + -0.01355794072151184, + 0.003911025822162628, + 0.009291811846196651, + 0.10590489208698273, + 0.0 + ], + [ + -0.009656369686126709, + 0.018188264220952988, + -0.016274943947792053, + 0.03398023545742035, + 0.023497186601161957, + 0.10438914597034454, + 0.0 + ], + [ + -0.0036173760890960693, + 0.020503148436546326, + -0.010687947273254395, + 0.06310942769050598, + 0.001667764037847519, + 0.13122740387916565, + 0.0 + ], + [ + 0.0013476908206939697, + 0.011563099920749664, + -0.011732742190361023, + 0.06704284250736237, + 0.0006036348640918732, + 0.11543929576873779, + 0.0 + ], + [ + 0.008443564176559448, + 0.010824769735336304, + -0.02683587372303009, + 0.09159228205680847, + 0.02911977469921112, + 0.031127631664276123, + 0.0 + ], + [ + 0.01553499698638916, + 0.0005657672882080078, + -0.035577040165662766, + 0.003039434552192688, + 0.042691685259342194, + -0.0019209980964660645, + 0.0 + ], + [ + 0.008141636848449707, + -0.004321020096540451, + -0.037542589008808136, + -0.07118070870637894, + 0.050758689641952515, + 0.06309777498245239, + 0.0 + ], + [ + 0.0011305809020996094, + 0.0031092800199985504, + -0.015444707125425339, + -0.08425519615411758, + 0.03107878565788269, + 0.05598652362823486, + 0.0 + ], + [ + 0.000631481409072876, + 0.003564361482858658, + -0.003811875358223915, + -0.02903147041797638, + 0.0040725767612457275, + 0.030912578105926514, + 1.0 + ], + [ + -0.005173385143280029, + 0.0006657838821411133, + -0.0020361188799142838, + 0.018727965652942657, + 0.022577926516532898, + -0.0029785633087158203, + 1.0 + ], + [ + -0.0018399953842163086, + 0.0009165480732917786, + 0.004121749196201563, + 0.008501995354890823, + -0.010120421648025513, + 0.002863943576812744, + 1.0 + ], + [ + 0.007949590682983398, + -0.0013245195150375366, + 0.03111160174012184, + -0.02100464329123497, + -0.05378337204456329, + -0.03209483623504639, + 1.0 + ], + [ + 0.006926685571670532, + -0.0017192959785461426, + 0.03707383945584297, + -0.011720497161149979, + -0.060408443212509155, + -0.04140877723693848, + 1.0 + ], + [ + -0.00150376558303833, + -0.01138405129313469, + 0.05243035405874252, + -0.02819690853357315, + -0.05357370153069496, + -0.1552058458328247, + 1.0 + ], + [ + -0.013861596584320068, + -0.012880399823188782, + 0.03055001050233841, + 0.018234699964523315, + -0.011859316378831863, + -0.14938056468963623, + 1.0 + ], + [ + -0.017486482858657837, + -0.01518310233950615, + 0.028721705079078674, + -0.03567461669445038, + -0.02466898411512375, + -0.09959200024604797, + 1.0 + ], + [ + -0.012845516204833984, + -0.008875396102666855, + 0.004763498902320862, + -0.002816624939441681, + -0.009387240745127201, + -0.04773940145969391, + 1.0 + ], + [ + -0.005904495716094971, + -0.008688680827617645, + -0.008012339472770691, + 0.03345470875501633, + 0.024591583758592606, + -0.042614296078681946, + 1.0 + ], + [ + -0.0017476379871368408, + -0.00517498841509223, + -0.004129752516746521, + 0.05066854879260063, + -0.0021687764674425125, + -0.049646034836769104, + 1.0 + ], + [ + 0.003419339656829834, + -0.003912230953574181, + -0.004980295896530151, + 0.030462946742773056, + -0.0019870679825544357, + -0.03612944483757019, + 1.0 + ], + [ + 0.0025143027305603027, + -0.0012270398437976837, + -0.0037912577390670776, + 0.017691168934106827, + 0.004825921729207039, + -0.014804273843765259, + 1.0 + ], + [ + -0.00021019577980041504, + 0.0002529900521039963, + -0.0007827430963516235, + 0.0019898824393749237, + 0.0027824528515338898, + -0.00021727383136749268, + 1.0 + ], + [ + -8.100271224975586e-05, + 4.604458808898926e-06, + 0.00041778385639190674, + -0.00024833157658576965, + -0.0015137512236833572, + -4.902482032775879e-06, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9613274931907654 + ], + [ + 0.7912794351577759 + ], + [ + 0.505268931388855 + ], + [ + 0.48038846254348755 + ], + [ + 0.48038846254348755 + ], + [ + 0.48038846254348755 + ], + [ + 0.48038846254348755 + ], + [ + 0.48038846254348755 + ], + [ + 0.48038846254348755 + ], + [ + 0.48038846254348755 + ], + [ + 0.48038846254348755 + ], + [ + 0.48038846254348755 + ], + [ + 0.48038846254348755 + ], + [ + 0.48038846254348755 + ], + [ + 0.48038846254348755 + ], + [ + 0.48038846254348755 + ], + [ + 0.48038846254348755 + ], + [ + 0.529549777507782 + ], + [ + 0.8607404828071594 + ], + [ + 1.003452181816101 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2623455822467804, + -0.03243016451597214, + 0.13529789447784424 + ], + [ + 0.2632630467414856, + -0.031142378225922585, + 0.1362934559583664 + ], + [ + 0.26593565940856934, + -0.03252186253666878, + 0.13862662017345428 + ], + [ + 0.27558261156082153, + -0.03785613551735878, + 0.14955592155456543 + ], + [ + 0.2903706431388855, + -0.040951650589704514, + 0.1366257220506668 + ], + [ + 0.3014020323753357, + -0.04455701634287834, + 0.13720184564590454 + ], + [ + 0.3103635013103485, + -0.04437507316470146, + 0.13432487845420837 + ], + [ + 0.3102266192436218, + -0.04581158608198166, + 0.13336317241191864 + ], + [ + 0.3118181824684143, + -0.046251632273197174, + 0.13507044315338135 + ], + [ + 0.31392648816108704, + -0.050907332450151443, + 0.13522230088710785 + ], + [ + 0.315760999917984, + -0.05335364490747452, + 0.1316417008638382 + ], + [ + 0.31765255331993103, + -0.05457134544849396, + 0.131891131401062 + ], + [ + 0.31831657886505127, + -0.05465380847454071, + 0.13096071779727936 + ], + [ + 0.31626391410827637, + -0.05507921054959297, + 0.13285395503044128 + ], + [ + 0.3125848174095154, + -0.049669068306684494, + 0.15563225746154785 + ], + [ + 0.3064195513725281, + -0.03992629423737526, + 0.16885335743427277 + ], + [ + 0.30110785365104675, + -0.02751138247549534, + 0.16977348923683167 + ], + [ + 0.2900428771972656, + -0.005867618601769209, + 0.15621554851531982 + ], + [ + 0.2803865075111389, + 0.012320645153522491, + 0.13994060456752777 + ], + [ + 0.27676913142204285, + 0.03282379359006882, + 0.12925265729427338 + ], + [ + 0.2781168222427368, + 0.04438689351081848, + 0.11751991510391235 + ], + [ + 0.28656038641929626, + 0.055211663246154785, + 0.09068404138088226 + ], + [ + 0.3020953834056854, + 0.05577743053436279, + 0.0551070012152195 + ], + [ + 0.31023702025413513, + 0.05145641043782234, + 0.017564410343766212 + ], + [ + 0.31136760115623474, + 0.05456569045782089, + 0.0021197027526795864 + ], + [ + 0.3119990825653076, + 0.05813005194067955, + -0.0016921727219596505 + ], + [ + 0.3068256974220276, + 0.05879583582282066, + -0.0037282914854586124 + ], + [ + 0.3049857020378113, + 0.05971238389611244, + 0.00039345791446976364 + ], + [ + 0.3129352927207947, + 0.058387864381074905, + 0.03150505945086479 + ], + [ + 0.3198619782924652, + 0.05666856840252876, + 0.06857889890670776 + ], + [ + 0.3183582127094269, + 0.045284517109394073, + 0.12100925296545029 + ], + [ + 0.3044966161251068, + 0.03240411728620529, + 0.1515592634677887 + ], + [ + 0.287010133266449, + 0.017221014946699142, + 0.18028096854686737 + ], + [ + 0.274164617061615, + 0.008345618844032288, + 0.18504446744918823 + ], + [ + 0.26826012134552, + -0.0003430615470279008, + 0.17703212797641754 + ], + [ + 0.2665124833583832, + -0.0055180499330163, + 0.17290237545967102 + ], + [ + 0.269931823015213, + -0.00943028088659048, + 0.16792207956314087 + ], + [ + 0.2724461257457733, + -0.010657320730388165, + 0.1641308218240738 + ], + [ + 0.2722359299659729, + -0.010404330678284168, + 0.16334807872772217 + ], + [ + 0.27215492725372314, + -0.01039972621947527, + 0.16376586258411407 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9825349344584825, + 0.12269683322392021, + -0.13989492373022966, + 0.11836644038900933, + -0.9922078173167476, + -0.03889772544983244, + -0.14357746466037197, + 0.021659509974995935, + -0.989402030152224 + ], + [ + 0.9839798370279632, + 0.11486155049032543, + -0.13634700048546058, + 0.11131966362841095, + -0.9932249338432039, + -0.03334911215941774, + -0.1392537712669973, + 0.017636751716866877, + -0.9900996576995656 + ], + [ + 0.9864078453397132, + 0.10527116795459272, + -0.12616474883952342, + 0.10115029185553694, + -0.9941199692846573, + -0.03865365606267234, + -0.1294920117605862, + 0.02536666842428466, + -0.9912559462738412 + ], + [ + 0.9936720331981227, + 0.07997498789345946, + -0.07886629033592342, + 0.07606913573074929, + -0.995779493322939, + -0.05134868320305686, + -0.08264004494847517, + 0.045024459896283765, + -0.9955618619563338 + ], + [ + 0.9921085136464821, + 0.04897264405637073, + -0.11542260300433312, + 0.04398137386242935, + -0.9980001513522682, + -0.045401945487202326, + -0.11741522858360874, + 0.03996721199905857, + -0.9922783309443379 + ], + [ + 0.9912440632563236, + 0.031764901710042266, + -0.12816473024371652, + 0.025983555903817002, + -0.9985788216844329, + -0.04653162049534148, + -0.12946065765971718, + 0.04279401713651828, + -0.9906606937875514 + ], + [ + 0.9918509606719956, + 0.011674055770085305, + -0.1268676012065982, + 0.007603501211475157, + -0.9994420937615965, + -0.03252211534883817, + -0.12717648596877726, + 0.03129245339235928, + -0.9913863645306609 + ], + [ + 0.9915061078135948, + 0.002606436877532292, + -0.13003401345470816, + -0.001512323365664124, + -0.9995005354231103, + -0.03156568654335141, + -0.13005134004066798, + 0.03149422448194097, + -0.9910069438595813 + ], + [ + 0.9924852183991656, + 0.000476619595594437, + -0.12236365511426198, + -0.0033167723077957983, + -0.999520205902816, + -0.030795405719861356, + -0.12231962344864863, + 0.03096983735433116, + -0.9920074490111591 + ], + [ + 0.9942402580176019, + -0.003405003544182811, + -0.10712009749788394, + -0.007825028551803833, + -0.9991338669129923, + -0.0408691193403293, + -0.1068881577409561, + 0.04147194157927413, + -0.9934057578836502 + ], + [ + 0.9943290776453347, + -0.0017219456315072969, + -0.10633306283663632, + -0.00654390151785105, + -0.9989648585164266, + -0.045015428490468294, + -0.10614547895177912, + 0.04545598258203128, + -0.9933110746113725 + ], + [ + 0.995439945829797, + 0.008977063286219687, + -0.0949669762660995, + 0.003985921594994431, + -0.9986068480532376, + -0.052616304034173236, + -0.09530701272943799, + 0.05199783991603117, + -0.9940889286017913 + ], + [ + 0.9955670140510069, + 0.019902238249830576, + -0.09192508605494712, + 0.015068895551096329, + -0.9984820213226503, + -0.052977178882088624, + -0.0928399101703174, + 0.05135712227219949, + -0.9943556693012244 + ], + [ + 0.995418521927356, + 0.036890316929406024, + -0.08821037762534543, + 0.031546094793274033, + -0.9976250346977585, + -0.06123017268953379, + -0.09025968151534676, + 0.05816695506165283, + -0.9942181829113789 + ], + [ + 0.9980700609975749, + 0.05905009193458247, + -0.019215618200144294, + 0.0574810925493252, + -0.9956060275248635, + -0.07392267551635277, + -0.02349632608797108, + 0.07267547453355518, + -0.997078832420832 + ], + [ + 0.9953485136979994, + 0.0955035713464955, + 0.012665075572131998, + 0.09631239561930051, + -0.9895596627132128, + -0.10721751900218189, + 0.002293191935777178, + 0.1079386019502603, + -0.99415491724367 + ], + [ + 0.9904100952871984, + 0.13722358572444152, + 0.01604776227794013, + 0.13815584474009154, + -0.9829307471040049, + -0.12149118882336453, + -0.0008976175990641176, + 0.12254319205280047, + -0.9924627753040192 + ], + [ + 0.970207119373762, + 0.2415380197453391, + 0.018908477833158403, + 0.24206264608316583, + -0.9631097910965037, + -0.1175806347374653, + -0.010189253539041335, + 0.1186546051004739, + -0.9928833082496492 + ], + [ + 0.9392184788436612, + 0.343310736339079, + -0.002527313379504334, + 0.34166400178537865, + -0.9353849074935477, + -0.09121833542269565, + -0.03368024469328561, + 0.0848104542353479, + -0.9958277099829036 + ], + [ + 0.886384949390263, + 0.4624609288111846, + -0.021251136852339904, + 0.4615975628510631, + -0.8863707353430526, + -0.03570167359346972, + -0.035347014928834124, + 0.021835953162440844, + -0.9991365170411439 + ], + [ + 0.8272993809705107, + 0.5590551799935428, + -0.055073042118603595, + 0.5606097685670726, + -0.8279003935330997, + 0.017251833957933106, + -0.03595026610448588, + -0.04514691695039909, + -0.9983332781475787 + ], + [ + 0.8082599990968542, + 0.5738047121805502, + -0.13215114883855317, + 0.5852235731670495, + -0.8076096700888862, + 0.07266354098522576, + -0.06503186349432415, + -0.13606900109252149, + -0.9885626351790457 + ], + [ + 0.8063940619571304, + 0.5670408046109768, + -0.16790873338339443, + 0.5815146183325469, + -0.8119519616935851, + 0.050742098572008544, + -0.10756098505421104, + -0.13855950998785707, + -0.9844957575764828 + ], + [ + 0.7629157615056509, + 0.6250279331435302, + -0.1652259774871356, + 0.6269275741819811, + -0.7776586172785429, + -0.04699884788716919, + -0.15786499794618605, + -0.0677285594321286, + -0.9851352621141419 + ], + [ + 0.7226785713272496, + 0.6792093884264085, + -0.1281026510960244, + 0.6649914640476227, + -0.7337843882456375, + -0.13909286218485475, + -0.1884729033261945, + 0.015332261424841807, + -0.9819586989641649 + ], + [ + 0.701225666999737, + 0.7049882416654795, + -0.10617976763107537, + 0.6864674131490814, + -0.7078655151433546, + -0.1663998291923443, + -0.1924709189077198, + 0.04379488079956907, + -0.9803249225591325 + ], + [ + 0.6999739185473951, + 0.7011662623940836, + -0.13565539367720028, + 0.6811708714206947, + -0.7125484484900668, + -0.16816941601364527, + -0.21457576116928165, + 0.025309702382882424, + -0.976379363610228 + ], + [ + 0.6995364109801693, + 0.7019062926003203, + -0.13407597145297026, + 0.6846567056070385, + -0.7120653313035483, + -0.15558971502925734, + -0.20468025107543067, + 0.017044657920939996, + -0.9786804761800745 + ], + [ + 0.7282100237370545, + 0.6799674373753137, + -0.08575806340005082, + 0.6683394065194097, + -0.7322588220109444, + -0.1308413362834042, + -0.15176494661864912, + 0.03796447940368181, + -0.9876872477061985 + ], + [ + 0.7608763444003364, + 0.6477986283251942, + -0.03773758964186498, + 0.6423683225966357, + -0.7601751542145614, + -0.0974508750050637, + -0.09181572118306076, + 0.049906633375381995, + -0.9945246107003938 + ], + [ + 0.8540108216800444, + 0.5201945419151425, + 0.00794701296531386, + 0.5188389594197996, + -0.8504602434693729, + -0.08673816038050901, + -0.038362099024365943, + 0.07819854755499304, + -0.9961994461546014 + ], + [ + 0.9220714406379956, + 0.38701782887220826, + -0.001207681585847024, + 0.3861107695745928, + -0.9201151486840176, + -0.06562458975645735, + -0.026509092370098075, + 0.06004426115150164, + -0.9978436524448523 + ], + [ + 0.9562268344596171, + 0.2914486036593619, + 0.02622884832295678, + 0.2926206479867974, + -0.9517944542967726, + -0.09198083029466571, + -0.0018432121764275933, + 0.09562964077584644, + -0.9954152773460712 + ], + [ + 0.9690756951617567, + 0.24473785011083796, + 0.031554425519770085, + 0.24664830381206163, + -0.9645801437887185, + -0.09354015413269332, + 0.007543956083558456, + 0.09843033542389298, + -0.9951153489897285 + ], + [ + 0.9785891162702891, + 0.2057971861872215, + -0.0032954020630076766, + 0.20511643156959133, + -0.9764280708551593, + -0.06719726144888284, + -0.01704673040474184, + 0.06508256758529461, + -0.9977342674174391 + ], + [ + 0.9875966139086293, + 0.15651956825977936, + -0.012431932592404509, + 0.15630600259730149, + -0.9875688929865285, + -0.01661671319530302, + -0.014878230683189471, + 0.014467423997894246, + -0.9997846427579306 + ], + [ + 0.9926255203617862, + 0.1203237039184369, + -0.0147235390392934, + 0.12053376831262595, + -0.9926059042862926, + 0.014322341720176572, + -0.012891354577835155, + -0.015991405546093684, + -0.9997890217069844 + ], + [ + 0.9942276555393373, + 0.10518143823816277, + -0.02117153775482671, + 0.10581818026054708, + -0.9938827892957491, + 0.03161508924623675, + -0.01771670644050038, + -0.03367292965948612, + -0.9992758638739595 + ], + [ + 0.994197754719124, + 0.10482449971500168, + -0.02413811862908782, + 0.10559654276060837, + -0.9938512116806456, + 0.03330374150030754, + -0.020498650405802617, + -0.03565940689932898, + -0.9991537479442933 + ], + [ + 0.9942279896204105, + 0.10487892324746627, + -0.022607877251275974, + 0.10559482492584356, + -0.993854303926295, + 0.033216795692233805, + -0.01898519434288545, + -0.03541234284301498, + -0.9991924381069601 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005997.json b/json/chunk-0005/episode_0005997.json new file mode 100644 index 0000000000000000000000000000000000000000..cad343b185e416e41548dfd12d33a465a76b8051 --- /dev/null +++ b/json/chunk-0005/episode_0005997.json @@ -0,0 +1,1282 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 20, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut pot on stove which is near stove." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005997.mp4", + "start": 0, + "end": 20, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3472689986228943, + 0.17292369902133942, + 0.09375154972076416, + 0.007262026891112328, + -0.19921070337295532, + -1.0819885730743408, + 0.0, + 0.9974852800369263 + ], + [ + 0.3467143177986145, + 0.17007167637348175, + 0.07493357360363007, + -0.033350687474012375, + -0.21504594385623932, + -1.0721596479415894, + 0.0, + 0.9974852800369263 + ], + [ + 0.3486691415309906, + 0.1655067801475525, + 0.07389780879020691, + -0.03969258815050125, + -0.2514406442642212, + -1.0761419534683228, + 0.0, + 0.9974852800369263 + ], + [ + 0.34966450929641724, + 0.16431622207164764, + 0.06931449472904205, + -0.05436265096068382, + -0.2889777719974518, + -1.0579431056976318, + 0.0, + 0.8214757442474365 + ], + [ + 0.3491586446762085, + 0.16806668043136597, + 0.06914058327674866, + -0.0458160862326622, + -0.32419878244400024, + -1.0339223146438599, + 0.0, + 0.5285724997520447 + ], + [ + 0.34840452671051025, + 0.16825558245182037, + 0.06628089398145676, + -0.044541191309690475, + -0.336046427488327, + -1.0280191898345947, + 0.0, + 0.25545796751976013 + ], + [ + 0.3472440242767334, + 0.1686192750930786, + 0.061815448105335236, + -0.03120003640651703, + -0.332911878824234, + -1.026807188987732, + 0.0, + 0.11078528314828873 + ], + [ + 0.3482514023780823, + 0.16914665699005127, + 0.061845552176237106, + 0.001321702147834003, + -0.3241504430770874, + -1.0225882530212402, + 0.0, + 0.08363015204668045 + ], + [ + 0.3484792113304138, + 0.17040665447711945, + 0.06218249723315239, + 0.013181601651012897, + -0.29412347078323364, + -1.0370560884475708, + 0.0, + 0.08363015204668045 + ], + [ + 0.34829625487327576, + 0.17135025560855865, + 0.06352857500314713, + 0.07330520451068878, + -0.2567448616027832, + -1.0903127193450928, + 0.0, + 0.08363015204668045 + ], + [ + 0.34639087319374084, + 0.1737060546875, + 0.06455419957637787, + 0.11422202736139297, + -0.2524811923503876, + -1.1407502889633179, + 0.0, + 0.08363015204668045 + ], + [ + 0.34380847215652466, + 0.18128976225852966, + 0.06765255331993103, + 0.12953582406044006, + -0.252726674079895, + -1.1788674592971802, + 0.0, + 0.08397578448057175 + ], + [ + 0.3451210558414459, + 0.19573158025741577, + 0.08277527987957001, + 0.1693514883518219, + -0.24868497252464294, + -1.2487983703613281, + 0.0, + 0.08363015204668045 + ], + [ + 0.35009804368019104, + 0.21546682715415955, + 0.1020963191986084, + 0.22530139982700348, + -0.23552335798740387, + -1.3251943588256836, + 0.0, + 0.08363015204668045 + ], + [ + 0.35633623600006104, + 0.2287939488887787, + 0.10063464939594269, + 0.22666619718074799, + -0.248499795794487, + -1.384415864944458, + 0.0, + 0.08363015204668045 + ], + [ + 0.3575379252433777, + 0.2438063770532608, + 0.09705591201782227, + 0.23878616094589233, + -0.26438024640083313, + -1.422785997390747, + 0.0, + 0.08363015204668045 + ], + [ + 0.3575511872768402, + 0.2542034387588501, + 0.09137996286153793, + 0.2472294270992279, + -0.2621700167655945, + -1.4622869491577148, + 0.0, + 0.08363015204668045 + ], + [ + 0.35894760489463806, + 0.26233935356140137, + 0.0853077843785286, + 0.28008490800857544, + -0.25418031215667725, + -1.5056545734405518, + 0.0, + 0.08363015204668045 + ], + [ + 0.3570457696914673, + 0.2727354168891907, + 0.08299760520458221, + 0.32159167528152466, + -0.24039150774478912, + -1.5279511213302612, + 0.0, + 0.08363015204668045 + ], + [ + 0.35520312190055847, + 0.2756383419036865, + 0.07406817376613617, + 0.3251416087150574, + -0.2542262077331543, + -1.5435436964035034, + 0.0, + 0.18011163175106049 + ] + ], + "left_gripper_pos": [ + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.8214757442474365 + ], + [ + 0.5285724997520447 + ], + [ + 0.25545796751976013 + ], + [ + 0.11078528314828873 + ], + [ + 0.08363015204668045 + ], + [ + 0.08363015204668045 + ], + [ + 0.08363015204668045 + ], + [ + 0.08363015204668045 + ], + [ + 0.08397578448057175 + ], + [ + 0.08363015204668045 + ], + [ + 0.08363015204668045 + ], + [ + 0.08363015204668045 + ], + [ + 0.08363015204668045 + ], + [ + 0.08363015204668045 + ], + [ + 0.08363015204668045 + ], + [ + 0.08363015204668045 + ], + [ + 0.18011163175106049 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3472689986228943, + 0.17292369902133942, + 0.09375154972076416 + ], + [ + 0.3467143177986145, + 0.17007167637348175, + 0.07493357360363007 + ], + [ + 0.3486691415309906, + 0.1655067801475525, + 0.07389780879020691 + ], + [ + 0.34966450929641724, + 0.16431622207164764, + 0.06931449472904205 + ], + [ + 0.3491586446762085, + 0.16806668043136597, + 0.06914058327674866 + ], + [ + 0.34840452671051025, + 0.16825558245182037, + 0.06628089398145676 + ], + [ + 0.3472440242767334, + 0.1686192750930786, + 0.061815448105335236 + ], + [ + 0.3482514023780823, + 0.16914665699005127, + 0.061845552176237106 + ], + [ + 0.3484792113304138, + 0.17040665447711945, + 0.06218249723315239 + ], + [ + 0.34829625487327576, + 0.17135025560855865, + 0.06352857500314713 + ], + [ + 0.34639087319374084, + 0.1737060546875, + 0.06455419957637787 + ], + [ + 0.34380847215652466, + 0.18128976225852966, + 0.06765255331993103 + ], + [ + 0.3451210558414459, + 0.19573158025741577, + 0.08277527987957001 + ], + [ + 0.35009804368019104, + 0.21546682715415955, + 0.1020963191986084 + ], + [ + 0.35633623600006104, + 0.2287939488887787, + 0.10063464939594269 + ], + [ + 0.3575379252433777, + 0.2438063770532608, + 0.09705591201782227 + ], + [ + 0.3575511872768402, + 0.2542034387588501, + 0.09137996286153793 + ], + [ + 0.35894760489463806, + 0.26233935356140137, + 0.0853077843785286 + ], + [ + 0.3570457696914673, + 0.2727354168891907, + 0.08299760520458221 + ], + [ + 0.35520312190055847, + 0.2756383419036865, + 0.07406817376613617 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.46028687716535693, + -0.8821952233358543, + 0.0993356866023792, + -0.8654324239109266, + -0.4708300299522081, + -0.17130616608534938, + 0.1978957057467951, + -0.007118343810557717, + -0.9801972346565628 + ], + [ + 0.4672134301791861, + -0.8811498031782293, + 0.07270924988724424, + -0.8580066030787706, + -0.47171368234406225, + -0.20325075882424987, + 0.21339231413860016, + 0.032576467708640325, + -0.9764233170189046 + ], + [ + 0.4597996743221402, + -0.8841265461630933, + 0.0830933803799884, + -0.8524570595397395, + -0.46566409600401626, + -0.237642402221538, + 0.24879956015659419, + 0.03843436044065221, + -0.9677921154893768 + ], + [ + 0.4703202842901917, + -0.8776584271609801, + 0.09227413190330067, + -0.8352182266362295, + -0.47644838020254465, + -0.2746041785862029, + 0.2849725321497233, + 0.05208287852726523, + -0.9571196527521983 + ], + [ + 0.4848088330895046, + -0.8658718073097107, + 0.12339533485755654, + -0.8145469104678931, + -0.4983785948378496, + -0.2968705220372361, + 0.31854940904921375, + 0.04341416259317066, + -0.9469115505055004 + ], + [ + 0.4876250513816289, + -0.8630122630753612, + 0.13202894775997992, + -0.8083823152324192, + -0.503431043898298, + -0.3050823109571312, + 0.3297572465989754, + 0.04203591108818444, + -0.9431294399468447 + ], + [ + 0.4891370157824241, + -0.8605106229238064, + 0.1423602740470359, + -0.8086711849067689, + -0.5085786736537748, + -0.2956326223643957, + 0.326796411383214, + 0.02948220717398395, + -0.9446347997862472 + ], + [ + 0.494017645611702, + -0.8532396338332848, + 0.16711879930250934, + -0.8090129977825637, + -0.5215175525075819, + -0.2711409446125221, + 0.3185035874886498, + -0.0012528697231345975, + -0.9479208274293357 + ], + [ + 0.48690915909135296, + -0.8588913449775551, + 0.15882420569799152, + -0.8239398269112014, + -0.5120024559647844, + -0.24285107929669247, + 0.28990107351041483, + -0.012615173747332162, + -0.9569734714028564 + ], + [ + 0.4470576789705165, + -0.8757938293788083, + 0.18200164860653723, + -0.8577046277053686, + -0.47745891830229936, + -0.19072428515108789, + 0.2539334623209195, + -0.07083890001687701, + -0.9646240961940092 + ], + [ + 0.40369467635674877, + -0.8911535140271006, + 0.20706526197885186, + -0.8801289362732957, + -0.4400750031589887, + -0.17806472735792936, + 0.24980725332875633, + -0.11036034628328614, + -0.9619859303298444 + ], + [ + 0.3698381078435343, + -0.9040938304836535, + 0.21408904611891968, + -0.8948169084397822, + -0.4086217078915434, + -0.17980823176392294, + 0.250044944673922, + -0.1250705621686927, + -0.9601223256032652 + ], + [ + 0.3067271046340165, + -0.9219065948952401, + 0.23665737590765465, + -0.9194230275866457, + -0.35128665510632134, + -0.1768020992172283, + 0.24612959924852465, + -0.1633582450716102, + -0.9553712912480072 + ], + [ + 0.2364277403531853, + -0.9328012653954959, + 0.2719994905657878, + -0.9432119602050574, + -0.28756181306043643, + -0.16631115956401638, + 0.23335192674931976, + -0.21723260102009528, + -0.9478168996891878 + ], + [ + 0.17961120853726809, + -0.9473032286703084, + 0.2652478213267582, + -0.95249585550076, + -0.23487858336316125, + -0.19386514986244974, + 0.2459501149047457, + -0.21782709663429006, + -0.9444892254283361 + ], + [ + 0.14234659252634763, + -0.951887885516752, + 0.2713796252532327, + -0.954700978045783, + -0.20441657983344963, + -0.21624038569985102, + 0.26131109833790717, + -0.22830531158000242, + -0.937866298887957 + ], + [ + 0.10459605460410776, + -0.957022855966694, + 0.2704938419236322, + -0.9601494330701488, + -0.1680561207574212, + -0.2233163819585092, + 0.25917702740853826, + -0.23635649649061788, + -0.9364629597748937 + ], + [ + 0.06300415022216688, + -0.9544687967446003, + 0.29158153764547196, + -0.9658169066994561, + -0.13192234924333823, + -0.22314613262078492, + 0.25145214214294703, + -0.26755524627828525, + -0.9301537563224102 + ], + [ + 0.041600454174282375, + -0.9446396366929966, + 0.32546176273260874, + -0.9703535116337361, + -0.11581972277087826, + -0.2121316908841147, + 0.2380828945400533, + -0.30698818968455505, + -0.9214525417630738 + ], + [ + 0.02637341666666093, + -0.9450644527902528, + 0.3258183895448304, + -0.9674987967870203, + -0.10613052471046758, + -0.2295264471479239, + 0.25149656281745597, + -0.3091755032290575, + -0.9171477455099938 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0005546808242797852, + -0.002852022647857666, + -0.018817976117134094, + -0.04061271250247955, + -0.015835240483283997, + 0.009828925132751465, + 1.0 + ], + [ + 0.0019548237323760986, + -0.00456489622592926, + -0.0010357648134231567, + -0.006341900676488876, + -0.03639470040798187, + -0.0039823055267333984, + 1.0 + ], + [ + 0.0009953677654266357, + -0.0011905580759048462, + -0.004583314061164856, + -0.014670062810182571, + -0.03753712773323059, + 0.018198847770690918, + 0.0 + ], + [ + -0.0005058646202087402, + 0.0037504583597183228, + -0.000173911452293396, + 0.008546564728021622, + -0.03522101044654846, + 0.024020791053771973, + 0.0 + ], + [ + -0.0007541179656982422, + 0.00018890202045440674, + -0.0028596892952919006, + 0.0012748949229717255, + -0.011847645044326782, + 0.005903124809265137, + 0.0 + ], + [ + -0.0011605024337768555, + 0.00036369264125823975, + -0.004465445876121521, + 0.013341154903173447, + 0.0031345486640930176, + 0.001212000846862793, + 0.0 + ], + [ + 0.001007378101348877, + 0.0005273818969726562, + 3.0104070901870728e-05, + 0.03252173960208893, + 0.008761435747146606, + 0.004218935966491699, + 0.0 + ], + [ + 0.00022780895233154297, + 0.0012599974870681763, + 0.0003369450569152832, + 0.011859899386763573, + 0.03002697229385376, + -0.014467835426330566, + 0.0 + ], + [ + -0.00018295645713806152, + 0.000943601131439209, + 0.0013460777699947357, + 0.06012360379099846, + 0.03737860918045044, + -0.05325663089752197, + 0.0 + ], + [ + -0.0019053816795349121, + 0.002355799078941345, + 0.0010256245732307434, + 0.04091682285070419, + 0.00426366925239563, + -0.0504375696182251, + 0.0 + ], + [ + -0.0025824010372161865, + 0.007583707571029663, + 0.0030983537435531616, + 0.015313796699047089, + -0.0002454817295074463, + -0.038117170333862305, + 0.0 + ], + [ + 0.0013125836849212646, + 0.014441817998886108, + 0.015122726559638977, + 0.039815664291381836, + 0.004041701555252075, + -0.06993091106414795, + 0.0 + ], + [ + 0.004976987838745117, + 0.019735246896743774, + 0.01932103931903839, + 0.05594991147518158, + 0.013161614537239075, + -0.07639598846435547, + 0.0 + ], + [ + 0.006238192319869995, + 0.01332712173461914, + -0.0014616698026657104, + 0.0013647973537445068, + -0.01297643780708313, + -0.059221506118774414, + 0.0 + ], + [ + 0.0012016892433166504, + 0.015012428164482117, + -0.0035787373781204224, + 0.012119963765144348, + -0.01588045060634613, + -0.03837013244628906, + 0.0 + ], + [ + 1.3262033462524414e-05, + 0.010397061705589294, + -0.005675949156284332, + 0.008443266153335571, + 0.0022102296352386475, + -0.03950095176696777, + 0.0 + ], + [ + 0.0013964176177978516, + 0.00813591480255127, + -0.006072178483009338, + 0.032855480909347534, + 0.007989704608917236, + -0.043367624282836914, + 0.0 + ], + [ + -0.0019018352031707764, + 0.010396063327789307, + -0.0023101791739463806, + 0.04150676727294922, + 0.013788804411888123, + -0.022296547889709473, + 0.0 + ], + [ + -0.0018426477909088135, + 0.0029029250144958496, + -0.008929431438446045, + 0.003549933433532715, + -0.013834699988365173, + -0.015592575073242188, + 1.0 + ], + [ + 0.0012492835521697998, + -0.0022697746753692627, + 4.897266626358032e-05, + 0.011679202318191528, + -0.01118043065071106, + -0.021777749061584473, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.8214757442474365 + ], + [ + 0.5285724997520447 + ], + [ + 0.25545796751976013 + ], + [ + 0.11078528314828873 + ], + [ + 0.08363015204668045 + ], + [ + 0.08363015204668045 + ], + [ + 0.08363015204668045 + ], + [ + 0.08363015204668045 + ], + [ + 0.08397578448057175 + ], + [ + 0.08363015204668045 + ], + [ + 0.08363015204668045 + ], + [ + 0.08363015204668045 + ], + [ + 0.08363015204668045 + ], + [ + 0.08363015204668045 + ], + [ + 0.08363015204668045 + ], + [ + 0.08363015204668045 + ], + [ + 0.18011163175106049 + ], + [ + 0.4077054560184479 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3467143177986145, + 0.17007167637348175, + 0.07493357360363007 + ], + [ + 0.3486691415309906, + 0.1655067801475525, + 0.07389780879020691 + ], + [ + 0.34966450929641724, + 0.16431622207164764, + 0.06931449472904205 + ], + [ + 0.3491586446762085, + 0.16806668043136597, + 0.06914058327674866 + ], + [ + 0.34840452671051025, + 0.16825558245182037, + 0.06628089398145676 + ], + [ + 0.3472440242767334, + 0.1686192750930786, + 0.061815448105335236 + ], + [ + 0.3482514023780823, + 0.16914665699005127, + 0.061845552176237106 + ], + [ + 0.3484792113304138, + 0.17040665447711945, + 0.06218249723315239 + ], + [ + 0.34829625487327576, + 0.17135025560855865, + 0.06352857500314713 + ], + [ + 0.34639087319374084, + 0.1737060546875, + 0.06455419957637787 + ], + [ + 0.34380847215652466, + 0.18128976225852966, + 0.06765255331993103 + ], + [ + 0.3451210558414459, + 0.19573158025741577, + 0.08277527987957001 + ], + [ + 0.35009804368019104, + 0.21546682715415955, + 0.1020963191986084 + ], + [ + 0.35633623600006104, + 0.2287939488887787, + 0.10063464939594269 + ], + [ + 0.3575379252433777, + 0.2438063770532608, + 0.09705591201782227 + ], + [ + 0.3575511872768402, + 0.2542034387588501, + 0.09137996286153793 + ], + [ + 0.35894760489463806, + 0.26233935356140137, + 0.0853077843785286 + ], + [ + 0.3570457696914673, + 0.2727354168891907, + 0.08299760520458221 + ], + [ + 0.35520312190055847, + 0.2756383419036865, + 0.07406817376613617 + ], + [ + 0.35645240545272827, + 0.27336856722831726, + 0.07411714643239975 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.4672134301791861, + -0.8811498031782293, + 0.07270924988724424, + -0.8580066030787706, + -0.47171368234406225, + -0.20325075882424987, + 0.21339231413860016, + 0.032576467708640325, + -0.9764233170189046 + ], + [ + 0.4597996743221402, + -0.8841265461630933, + 0.0830933803799884, + -0.8524570595397395, + -0.46566409600401626, + -0.237642402221538, + 0.24879956015659419, + 0.03843436044065221, + -0.9677921154893768 + ], + [ + 0.4703202842901917, + -0.8776584271609801, + 0.09227413190330067, + -0.8352182266362295, + -0.47644838020254465, + -0.2746041785862029, + 0.2849725321497233, + 0.05208287852726523, + -0.9571196527521983 + ], + [ + 0.4848088330895046, + -0.8658718073097107, + 0.12339533485755654, + -0.8145469104678931, + -0.4983785948378496, + -0.2968705220372361, + 0.31854940904921375, + 0.04341416259317066, + -0.9469115505055004 + ], + [ + 0.4876250513816289, + -0.8630122630753612, + 0.13202894775997992, + -0.8083823152324192, + -0.503431043898298, + -0.3050823109571312, + 0.3297572465989754, + 0.04203591108818444, + -0.9431294399468447 + ], + [ + 0.4891370157824241, + -0.8605106229238064, + 0.1423602740470359, + -0.8086711849067689, + -0.5085786736537748, + -0.2956326223643957, + 0.326796411383214, + 0.02948220717398395, + -0.9446347997862472 + ], + [ + 0.494017645611702, + -0.8532396338332848, + 0.16711879930250934, + -0.8090129977825637, + -0.5215175525075819, + -0.2711409446125221, + 0.3185035874886498, + -0.0012528697231345975, + -0.9479208274293357 + ], + [ + 0.48690915909135296, + -0.8588913449775551, + 0.15882420569799152, + -0.8239398269112014, + -0.5120024559647844, + -0.24285107929669247, + 0.28990107351041483, + -0.012615173747332162, + -0.9569734714028564 + ], + [ + 0.4470576789705165, + -0.8757938293788083, + 0.18200164860653723, + -0.8577046277053686, + -0.47745891830229936, + -0.19072428515108789, + 0.2539334623209195, + -0.07083890001687701, + -0.9646240961940092 + ], + [ + 0.40369467635674877, + -0.8911535140271006, + 0.20706526197885186, + -0.8801289362732957, + -0.4400750031589887, + -0.17806472735792936, + 0.24980725332875633, + -0.11036034628328614, + -0.9619859303298444 + ], + [ + 0.3698381078435343, + -0.9040938304836535, + 0.21408904611891968, + -0.8948169084397822, + -0.4086217078915434, + -0.17980823176392294, + 0.250044944673922, + -0.1250705621686927, + -0.9601223256032652 + ], + [ + 0.3067271046340165, + -0.9219065948952401, + 0.23665737590765465, + -0.9194230275866457, + -0.35128665510632134, + -0.1768020992172283, + 0.24612959924852465, + -0.1633582450716102, + -0.9553712912480072 + ], + [ + 0.2364277403531853, + -0.9328012653954959, + 0.2719994905657878, + -0.9432119602050574, + -0.28756181306043643, + -0.16631115956401638, + 0.23335192674931976, + -0.21723260102009528, + -0.9478168996891878 + ], + [ + 0.17961120853726809, + -0.9473032286703084, + 0.2652478213267582, + -0.95249585550076, + -0.23487858336316125, + -0.19386514986244974, + 0.2459501149047457, + -0.21782709663429006, + -0.9444892254283361 + ], + [ + 0.14234659252634763, + -0.951887885516752, + 0.2713796252532327, + -0.954700978045783, + -0.20441657983344963, + -0.21624038569985102, + 0.26131109833790717, + -0.22830531158000242, + -0.937866298887957 + ], + [ + 0.10459605460410776, + -0.957022855966694, + 0.2704938419236322, + -0.9601494330701488, + -0.1680561207574212, + -0.2233163819585092, + 0.25917702740853826, + -0.23635649649061788, + -0.9364629597748937 + ], + [ + 0.06300415022216688, + -0.9544687967446003, + 0.29158153764547196, + -0.9658169066994561, + -0.13192234924333823, + -0.22314613262078492, + 0.25145214214294703, + -0.26755524627828525, + -0.9301537563224102 + ], + [ + 0.041600454174282375, + -0.9446396366929966, + 0.32546176273260874, + -0.9703535116337361, + -0.11581972277087826, + -0.2121316908841147, + 0.2380828945400533, + -0.30698818968455505, + -0.9214525417630738 + ], + [ + 0.02637341666666093, + -0.9450644527902528, + 0.3258183895448304, + -0.9674987967870203, + -0.10613052471046758, + -0.2295264471479239, + 0.25149656281745597, + -0.3091755032290575, + -0.9171477455099938 + ], + [ + 0.005283156996720606, + -0.9433213708555043, + 0.33183863479022446, + -0.9649714563664932, + -0.09185354117770445, + -0.24574990411197506, + 0.26230169013957416, + -0.3189164753668392, + -0.9107634737348194 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005998.json b/json/chunk-0005/episode_0005998.json new file mode 100644 index 0000000000000000000000000000000000000000..cfd3d9c792ad9c776327c734ecaaeac4a974d525 --- /dev/null +++ b/json/chunk-0005/episode_0005998.json @@ -0,0 +1,1762 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 28, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nTake the cloth across the lower left side of the table." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005998.mp4", + "start": 0, + "end": 28, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.39589712023735046, + 0.10103002190589905, + 0.12019674479961395, + -0.016350768506526947, + -0.2040320783853531, + -0.06029469519853592, + 0.0, + 1.0014774799346924 + ], + [ + 0.3930889070034027, + 0.09753581136465073, + 0.10355591773986816, + -0.04149695858359337, + -0.1633445769548416, + -0.050474394112825394, + 0.0, + 1.0014774799346924 + ], + [ + 0.38036036491394043, + 0.06640340387821198, + 0.09055830538272858, + -0.09298374503850937, + -0.1254897117614746, + -0.06406397372484207, + 0.0, + 1.0014774799346924 + ], + [ + 0.36843153834342957, + 0.041475068777799606, + 0.09878281503915787, + -0.06529640406370163, + -0.1265982836484909, + -0.0845685601234436, + 0.0, + 1.0014774799346924 + ], + [ + 0.36025363206863403, + 0.008813136257231236, + 0.10374502092599869, + -0.05165596306324005, + -0.14986096322536469, + -0.14111512899398804, + 0.0, + 1.0014774799346924 + ], + [ + 0.3597547113895416, + -0.036740049719810486, + 0.09851142019033432, + -0.04867921769618988, + -0.18886058032512665, + -0.2655819356441498, + 0.0, + 1.0014774799346924 + ], + [ + 0.355219304561615, + -0.06201384589076042, + 0.09173616021871567, + -0.06352364271879196, + -0.20660318434238434, + -0.3475310206413269, + 0.0, + 1.0014774799346924 + ], + [ + 0.34707117080688477, + -0.07824660837650299, + 0.08157661557197571, + -0.05952463671565056, + -0.20085105299949646, + -0.3972892165184021, + 0.0, + 1.0014774799346924 + ], + [ + 0.346218466758728, + -0.07987769693136215, + 0.06513113528490067, + -0.02366526611149311, + -0.15753872692584991, + -0.42414596676826477, + 0.0, + 1.0014774799346924 + ], + [ + 0.3453947603702545, + -0.07543547451496124, + 0.05797777697443962, + -0.005272505804896355, + -0.12195137143135071, + -0.44594427943229675, + 0.0, + 1.0014774799346924 + ], + [ + 0.3480924367904663, + -0.061118558049201965, + 0.046525560319423676, + -0.004015807528048754, + -0.09797830134630203, + -0.4143179655075073, + 0.0, + 1.0014774799346924 + ], + [ + 0.3506163954734802, + -0.053936634212732315, + 0.03781069442629814, + -0.02000296488404274, + -0.08895368129014969, + -0.40268760919570923, + 0.0, + 1.0014774799346924 + ], + [ + 0.3477630317211151, + -0.04596593230962753, + 0.03035939298570156, + -0.02055416814982891, + -0.0889151394367218, + -0.37573039531707764, + 0.0, + 1.0008161067962646 + ], + [ + 0.339814156293869, + -0.03712918609380722, + 0.02794390358030796, + 0.0027583076152950525, + -0.09123580157756805, + -0.34743037819862366, + 0.0, + 1.0008161067962646 + ], + [ + 0.3352835774421692, + -0.02709221839904785, + 0.026178602129220963, + 0.029089057818055153, + -0.08933126926422119, + -0.31496044993400574, + 0.0, + 1.0008161067962646 + ], + [ + 0.33053135871887207, + -0.0065336283296346664, + 0.025266312062740326, + 0.05134332552552223, + -0.08691160380840302, + -0.24291113018989563, + 0.0, + 1.0008161067962646 + ], + [ + 0.3249630033969879, + 0.016087723895907402, + 0.023646017536520958, + 0.06292496621608734, + -0.10596898198127747, + -0.16194188594818115, + 0.0, + 1.0008161067962646 + ], + [ + 0.3086400032043457, + 0.05212094634771347, + 0.022484149783849716, + 0.06884555518627167, + -0.10905438661575317, + -0.034148357808589935, + 0.0, + 1.0008161067962646 + ], + [ + 0.2857344448566437, + 0.07950806617736816, + 0.021977344527840614, + 0.0690034031867981, + -0.10546166449785233, + 0.08453676104545593, + 0.0, + 1.0008161067962646 + ], + [ + 0.26071396470069885, + 0.11022783070802689, + 0.021586306393146515, + 0.0429716482758522, + -0.12043158710002899, + 0.21182887256145477, + 0.0, + 1.0008161067962646 + ], + [ + 0.24696503579616547, + 0.13040520250797272, + 0.020243290811777115, + 0.026830602437257767, + -0.12292341887950897, + 0.2844531238079071, + 0.0, + 1.0008161067962646 + ], + [ + 0.23377060890197754, + 0.15289969742298126, + 0.02027948759496212, + 0.007561329752206802, + -0.12738639116287231, + 0.3732486665248871, + 0.0, + 1.0008161067962646 + ], + [ + 0.22598963975906372, + 0.17414000630378723, + 0.02177657186985016, + -0.0016654784558340907, + -0.12772633135318756, + 0.42490294575691223, + 0.0, + 1.0008161067962646 + ], + [ + 0.21785558760166168, + 0.18870551884174347, + 0.022621026262640953, + -0.010076924227178097, + -0.12510983645915985, + 0.4621756076812744, + 0.0, + 1.0008161067962646 + ], + [ + 0.21788573265075684, + 0.18764187395572662, + 0.023409543558955193, + -0.010526509024202824, + -0.1231333538889885, + 0.4396437406539917, + 0.0, + 1.0008161067962646 + ], + [ + 0.2226201444864273, + 0.17893502116203308, + 0.03118770383298397, + -0.00873138289898634, + -0.13985979557037354, + 0.3905525505542755, + 0.0, + 0.9981546401977539 + ], + [ + 0.23125380277633667, + 0.16970418393611908, + 0.05316881462931633, + 0.009814203716814518, + -0.1866629272699356, + 0.34559547901153564, + 0.0, + 0.9981546401977539 + ], + [ + 0.24002200365066528, + 0.16547387838363647, + 0.0725582093000412, + 0.052711714059114456, + -0.2315824329853058, + 0.29882508516311646, + 0.0, + 0.9981546401977539 + ] + ], + "left_gripper_pos": [ + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.39589712023735046, + 0.10103002190589905, + 0.12019674479961395 + ], + [ + 0.3930889070034027, + 0.09753581136465073, + 0.10355591773986816 + ], + [ + 0.38036036491394043, + 0.06640340387821198, + 0.09055830538272858 + ], + [ + 0.36843153834342957, + 0.041475068777799606, + 0.09878281503915787 + ], + [ + 0.36025363206863403, + 0.008813136257231236, + 0.10374502092599869 + ], + [ + 0.3597547113895416, + -0.036740049719810486, + 0.09851142019033432 + ], + [ + 0.355219304561615, + -0.06201384589076042, + 0.09173616021871567 + ], + [ + 0.34707117080688477, + -0.07824660837650299, + 0.08157661557197571 + ], + [ + 0.346218466758728, + -0.07987769693136215, + 0.06513113528490067 + ], + [ + 0.3453947603702545, + -0.07543547451496124, + 0.05797777697443962 + ], + [ + 0.3480924367904663, + -0.061118558049201965, + 0.046525560319423676 + ], + [ + 0.3506163954734802, + -0.053936634212732315, + 0.03781069442629814 + ], + [ + 0.3477630317211151, + -0.04596593230962753, + 0.03035939298570156 + ], + [ + 0.339814156293869, + -0.03712918609380722, + 0.02794390358030796 + ], + [ + 0.3352835774421692, + -0.02709221839904785, + 0.026178602129220963 + ], + [ + 0.33053135871887207, + -0.0065336283296346664, + 0.025266312062740326 + ], + [ + 0.3249630033969879, + 0.016087723895907402, + 0.023646017536520958 + ], + [ + 0.3086400032043457, + 0.05212094634771347, + 0.022484149783849716 + ], + [ + 0.2857344448566437, + 0.07950806617736816, + 0.021977344527840614 + ], + [ + 0.26071396470069885, + 0.11022783070802689, + 0.021586306393146515 + ], + [ + 0.24696503579616547, + 0.13040520250797272, + 0.020243290811777115 + ], + [ + 0.23377060890197754, + 0.15289969742298126, + 0.02027948759496212 + ], + [ + 0.22598963975906372, + 0.17414000630378723, + 0.02177657186985016 + ], + [ + 0.21785558760166168, + 0.18870551884174347, + 0.022621026262640953 + ], + [ + 0.21788573265075684, + 0.18764187395572662, + 0.023409543558955193 + ], + [ + 0.2226201444864273, + 0.17893502116203308, + 0.03118770383298397 + ], + [ + 0.23125380277633667, + 0.16970418393611908, + 0.05316881462931633 + ], + [ + 0.24002200365066528, + 0.16547387838363647, + 0.0725582093000412 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9774780810295419, + -0.06355692947440013, + 0.2012389570202318, + -0.059008267502979064, + -0.9978497721540378, + -0.028528171662971735, + 0.20261941040557158, + 0.016010900284532618, + -0.9791266647369877 + ], + [ + 0.9854323013963456, + -0.05714720365359044, + 0.16017920114445722, + -0.049781380952527404, + -0.9975262902915564, + -0.049629772189932954, + 0.16261916699811485, + 0.040932838794058256, + -0.9858394946608188 + ], + [ + 0.9901012301191355, + -0.07534090154908721, + 0.11842002647502288, + -0.06351673795420168, + -0.9928936053381157, + -0.10063753016810043, + 0.12516060928355874, + 0.0921196886254442, + -0.9878505883236186 + ], + [ + 0.9884519450105399, + -0.09249683672277774, + 0.12002952803856634, + -0.08379180828694537, + -0.993606885848705, + -0.07565903289127326, + 0.12626038677623708, + 0.06472782701681537, + -0.9898831361028416 + ], + [ + 0.9789630293821442, + -0.14809185286428614, + 0.14035736609867633, + -0.13907085019427415, + -0.9876549312919096, + -0.07209046622830968, + 0.14930065548810217, + 0.05105428297406529, + -0.9874729234064229 + ], + [ + 0.9477821209811215, + -0.27097505463134774, + 0.16817125472584443, + -0.2578037955268504, + -0.9613990745885368, + -0.09617183783340612, + 0.1877398576767243, + 0.047794760673562656, + -0.981055251599868 + ], + [ + 0.9202212216942303, + -0.35213428549743203, + 0.1708635365453697, + -0.3333345380118236, + -0.9338850013741389, + -0.12940977543009774, + 0.20513651286892345, + 0.06213090362804339, + -0.9767593162608383 + ], + [ + 0.9035761284993985, + -0.3971788209273025, + 0.16062118232921818, + -0.37914191855162727, + -0.9158880075451712, + -0.13191119449056393, + 0.19950334734793163, + 0.05829358319518445, + -0.9781616801711446 + ], + [ + 0.9001042571946949, + -0.4148108275367948, + 0.13320774578915007, + -0.40644620304726337, + -0.9096075084035422, + -0.08611425366548475, + 0.1568878905730144, + 0.02337002383696154, + -0.9873398765255106 + ], + [ + 0.8955032517928644, + -0.4318826777789617, + 0.10747687501448563, + -0.4281067271282881, + -0.9019146106813887, + -0.05722469071078232, + 0.12164931654518762, + 0.005233323409918941, + -0.9925593463920311 + ], + [ + 0.9110008491487447, + -0.40292204439943435, + 0.08792769181120272, + -0.4006349765163464, + -0.9152255753803707, + -0.043055333716223616, + 0.09782161541301665, + 0.00399653683194455, + -0.9951959401300521 + ], + [ + 0.9163735517495524, + -0.3934487288099763, + 0.07387564857058354, + -0.39034293231560346, + -0.9191306707069473, + -0.053209072131109, + 0.08883641621073435, + 0.019922549124323875, + -0.9958469677572063 + ], + [ + 0.9265650794273326, + -0.36857228456409324, + 0.07504415125128733, + -0.36550248158404536, + -0.9293736533220129, + -0.0516966968654632, + 0.08879802667697978, + 0.020471530526564682, + -0.9958392575592582 + ], + [ + 0.9363401318856452, + -0.34024525851360055, + 0.08660439642065416, + -0.33906674339965537, + -0.9403327171659337, + -0.028427531508814285, + 0.09110928021186941, + -0.0027468320562974713, + -0.9958371121689178 + ], + [ + 0.9470173912247644, + -0.3071807100193495, + 0.09379803894458627, + -0.30854365927523847, + -0.9512101815239393, + 2.976978679229865e-05, + 0.08921250494682545, + -0.02896898267462933, + -0.9955912449413714 + ], + [ + 0.9669782503781366, + -0.2358883680880593, + 0.09648699962373206, + -0.23962144388041107, + -0.9704342848329339, + 0.028963122301625496, + 0.08680222882106667, + -0.05112706349424116, + -0.9949127582105634 + ], + [ + 0.981379977965097, + -0.15435167795751475, + 0.11431928254203191, + -0.1603305465359683, + -0.9860352276985364, + 0.04504048828523903, + 0.10577076484881334, + -0.06253070645046886, + -0.9924225189172714 + ], + [ + 0.9934799261930373, + -0.02657808824680032, + 0.11086587155938624, + -0.03393890118885326, + -0.9973050863521316, + 0.06504395223431986, + 0.10883835370663361, + -0.06838252672512565, + -0.9917046146918532 + ], + [ + 0.9908928073309627, + 0.0914672165660913, + 0.09881898943733194, + 0.08396698618382825, + -0.993444769049364, + 0.07756955639721579, + 0.10526627955318152, + -0.06856558278107026, + -0.9920775026412623 + ], + [ + 0.9705668078918379, + 0.21509985032562903, + 0.10831493806738131, + 0.2087253902657312, + -0.9756604248579176, + 0.06723426823046796, + 0.1201406795264071, + -0.04264727137766622, + -0.9918404243460605 + ], + [ + 0.9525729093453847, + 0.2836888190191045, + 0.11011587689709092, + 0.27851505888003947, + -0.9585466945927513, + 0.06014645677310523, + 0.12261408711203463, + -0.026624955377552807, + -0.9920972217443338 + ], + [ + 0.9236028680356111, + 0.36552637410467187, + 0.11553446234905762, + 0.36168775873449505, + -0.9307707666043212, + 0.053364269098551825, + 0.12704214788019003, + -0.007499991246421044, + -0.9918689645277203 + ], + [ + 0.9036571675320751, + 0.4120385048877381, + 0.11673899972924533, + 0.40887434597938377, + -0.9111649365951731, + 0.050992426098840776, + 0.12737932629684656, + 0.0016519108305155274, + -0.9918526999624337 + ], + [ + 0.888088510965881, + 0.44474838204402684, + 0.11617948768876765, + 0.4424113717820472, + -0.8955997525659481, + 0.04661825095109921, + 0.12478371211152273, + 0.009997993450327692, + -0.9921335924756483 + ], + [ + 0.8980520216902147, + 0.42442361104267673, + 0.11561645526313355, + 0.42239462084151363, + -0.9054034827614592, + 0.04274713660086839, + 0.12282243533765072, + 0.010446616338033506, + -0.9923736784018476 + ], + [ + 0.9156696706793599, + 0.3795593825892045, + 0.1322260537354665, + 0.3769820960565283, + -0.9251269758782308, + 0.044995308146802984, + 0.13940428060421614, + 0.00864601589757991, + -0.9901978049654119 + ], + [ + 0.9245299781611993, + 0.34045430629522355, + 0.17127517276678067, + 0.3328724606243709, + -0.9402116075396361, + 0.07209755894349035, + 0.18558082993436875, + -0.009643566392758363, + -0.98258167965218 + ], + [ + 0.9301705247305341, + 0.3055454374757684, + 0.2035307852887727, + 0.2865384493081043, + -0.9507955965005329, + 0.11782805584114034, + 0.22951799927376101, + -0.0512807889266265, + -0.9719525547558547 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.002808213233947754, + -0.0034942105412483215, + -0.01664082705974579, + -0.02514619007706642, + 0.040687501430511475, + 0.009820301085710526, + 1.0 + ], + [ + -0.01272854208946228, + -0.03113240748643875, + -0.012997612357139587, + -0.051486786454916, + 0.037854865193367004, + -0.013589579612016678, + 1.0 + ], + [ + -0.011928826570510864, + -0.02492833510041237, + 0.00822450965642929, + 0.02768734097480774, + -0.0011085718870162964, + -0.020504586398601532, + 1.0 + ], + [ + -0.008177906274795532, + -0.032661933451890945, + 0.00496220588684082, + 0.013640441000461578, + -0.02326267957687378, + -0.056546568870544434, + 1.0 + ], + [ + -0.0004989206790924072, + -0.04555318504571915, + -0.005233600735664368, + 0.002976745367050171, + -0.03899961709976196, + -0.12446680665016174, + 1.0 + ], + [ + -0.004535406827926636, + -0.025273796170949936, + -0.006775259971618652, + -0.014844425022602081, + -0.01774260401725769, + -0.08194908499717712, + 1.0 + ], + [ + -0.008148133754730225, + -0.01623276248574257, + -0.01015954464673996, + 0.003999006003141403, + 0.005752131342887878, + -0.049758195877075195, + 1.0 + ], + [ + -0.0008527040481567383, + -0.0016310885548591614, + -0.016445480287075043, + 0.0358593687415123, + 0.043312326073646545, + -0.02685675024986267, + 1.0 + ], + [ + -0.0008237063884735107, + 0.004442222416400909, + -0.007153358310461044, + 0.018392760306596756, + 0.03558735549449921, + -0.021798312664031982, + 1.0 + ], + [ + 0.002697676420211792, + 0.014316916465759277, + -0.011452216655015945, + 0.001256698276847601, + 0.023973070085048676, + 0.03162631392478943, + 1.0 + ], + [ + 0.002523958683013916, + 0.00718192383646965, + -0.008714865893125534, + -0.015987157821655273, + 0.009024620056152344, + 0.011630356311798096, + 1.0 + ], + [ + -0.0028533637523651123, + 0.007970701903104782, + -0.0074513014405965805, + -0.000551203265786171, + 3.854185342788696e-05, + 0.026957213878631592, + 1.0 + ], + [ + -0.007948875427246094, + 0.008836746215820312, + -0.0024154894053936005, + 0.02331247553229332, + -0.0023206621408462524, + 0.02830001711845398, + 1.0 + ], + [ + -0.004530578851699829, + 0.010036967694759369, + -0.001765301451086998, + 0.026330750435590744, + 0.0019045323133468628, + 0.03246992826461792, + 1.0 + ], + [ + -0.004752218723297119, + 0.020558590069413185, + -0.0009122900664806366, + 0.02225426770746708, + 0.0024196654558181763, + 0.07204931974411011, + 1.0 + ], + [ + -0.005568355321884155, + 0.02262135222554207, + -0.001620294526219368, + 0.01158164069056511, + -0.01905737817287445, + 0.08096924424171448, + 1.0 + ], + [ + -0.016323000192642212, + 0.03603322058916092, + -0.0011618677526712418, + 0.005920588970184326, + -0.003085404634475708, + 0.12779352068901062, + 1.0 + ], + [ + -0.022905558347702026, + 0.027387119829654694, + -0.0005068052560091019, + 0.00015784800052642822, + 0.0035927221179008484, + 0.11868511885404587, + 1.0 + ], + [ + -0.025020480155944824, + 0.030719764530658722, + -0.0003910381346940994, + -0.026031754910945892, + -0.014969922602176666, + 0.12729211151599884, + 1.0 + ], + [ + -0.013748928904533386, + 0.02017737179994583, + -0.0013430155813694, + -0.016141045838594437, + -0.0024918317794799805, + 0.07262425124645233, + 1.0 + ], + [ + -0.013194426894187927, + 0.022494494915008545, + 3.619678318500519e-05, + -0.019269272685050964, + -0.004462972283363342, + 0.08879554271697998, + 1.0 + ], + [ + -0.007780969142913818, + 0.02124030888080597, + 0.0014970842748880386, + -0.009226808324456215, + -0.0003399401903152466, + 0.051654279232025146, + 1.0 + ], + [ + -0.008134052157402039, + 0.014565512537956238, + 0.0008444543927907944, + -0.008411445654928684, + 0.00261649489402771, + 0.03727266192436218, + 1.0 + ], + [ + 3.014504909515381e-05, + -0.0010636448860168457, + 0.0007885172963142395, + -0.00044958479702472687, + 0.001976482570171356, + -0.022531867027282715, + 1.0 + ], + [ + 0.004734411835670471, + -0.008706852793693542, + 0.007778160274028778, + 0.001795126125216484, + -0.01672644168138504, + -0.049091190099716187, + 1.0 + ], + [ + 0.008633658289909363, + -0.009230837225914001, + 0.02198111079633236, + 0.018545586615800858, + -0.04680313169956207, + -0.04495707154273987, + 1.0 + ], + [ + 0.008768200874328613, + -0.004230305552482605, + 0.01938939467072487, + 0.04289751127362251, + -0.04491950571537018, + -0.04677039384841919, + 1.0 + ], + [ + 0.00521579384803772, + -0.003602460026741028, + 0.0071741193532943726, + 0.04146275296807289, + 0.013397783041000366, + -0.049412354826927185, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3930889070034027, + 0.09753581136465073, + 0.10355591773986816 + ], + [ + 0.38036036491394043, + 0.06640340387821198, + 0.09055830538272858 + ], + [ + 0.36843153834342957, + 0.041475068777799606, + 0.09878281503915787 + ], + [ + 0.36025363206863403, + 0.008813136257231236, + 0.10374502092599869 + ], + [ + 0.3597547113895416, + -0.036740049719810486, + 0.09851142019033432 + ], + [ + 0.355219304561615, + -0.06201384589076042, + 0.09173616021871567 + ], + [ + 0.34707117080688477, + -0.07824660837650299, + 0.08157661557197571 + ], + [ + 0.346218466758728, + -0.07987769693136215, + 0.06513113528490067 + ], + [ + 0.3453947603702545, + -0.07543547451496124, + 0.05797777697443962 + ], + [ + 0.3480924367904663, + -0.061118558049201965, + 0.046525560319423676 + ], + [ + 0.3506163954734802, + -0.053936634212732315, + 0.03781069442629814 + ], + [ + 0.3477630317211151, + -0.04596593230962753, + 0.03035939298570156 + ], + [ + 0.339814156293869, + -0.03712918609380722, + 0.02794390358030796 + ], + [ + 0.3352835774421692, + -0.02709221839904785, + 0.026178602129220963 + ], + [ + 0.33053135871887207, + -0.0065336283296346664, + 0.025266312062740326 + ], + [ + 0.3249630033969879, + 0.016087723895907402, + 0.023646017536520958 + ], + [ + 0.3086400032043457, + 0.05212094634771347, + 0.022484149783849716 + ], + [ + 0.2857344448566437, + 0.07950806617736816, + 0.021977344527840614 + ], + [ + 0.26071396470069885, + 0.11022783070802689, + 0.021586306393146515 + ], + [ + 0.24696503579616547, + 0.13040520250797272, + 0.020243290811777115 + ], + [ + 0.23377060890197754, + 0.15289969742298126, + 0.02027948759496212 + ], + [ + 0.22598963975906372, + 0.17414000630378723, + 0.02177657186985016 + ], + [ + 0.21785558760166168, + 0.18870551884174347, + 0.022621026262640953 + ], + [ + 0.21788573265075684, + 0.18764187395572662, + 0.023409543558955193 + ], + [ + 0.2226201444864273, + 0.17893502116203308, + 0.03118770383298397 + ], + [ + 0.23125380277633667, + 0.16970418393611908, + 0.05316881462931633 + ], + [ + 0.24002200365066528, + 0.16547387838363647, + 0.0725582093000412 + ], + [ + 0.245237797498703, + 0.16187141835689545, + 0.07973232865333557 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9854323013963456, + -0.05714720365359044, + 0.16017920114445722, + -0.049781380952527404, + -0.9975262902915564, + -0.049629772189932954, + 0.16261916699811485, + 0.040932838794058256, + -0.9858394946608188 + ], + [ + 0.9901012301191355, + -0.07534090154908721, + 0.11842002647502288, + -0.06351673795420168, + -0.9928936053381157, + -0.10063753016810043, + 0.12516060928355874, + 0.0921196886254442, + -0.9878505883236186 + ], + [ + 0.9884519450105399, + -0.09249683672277774, + 0.12002952803856634, + -0.08379180828694537, + -0.993606885848705, + -0.07565903289127326, + 0.12626038677623708, + 0.06472782701681537, + -0.9898831361028416 + ], + [ + 0.9789630293821442, + -0.14809185286428614, + 0.14035736609867633, + -0.13907085019427415, + -0.9876549312919096, + -0.07209046622830968, + 0.14930065548810217, + 0.05105428297406529, + -0.9874729234064229 + ], + [ + 0.9477821209811215, + -0.27097505463134774, + 0.16817125472584443, + -0.2578037955268504, + -0.9613990745885368, + -0.09617183783340612, + 0.1877398576767243, + 0.047794760673562656, + -0.981055251599868 + ], + [ + 0.9202212216942303, + -0.35213428549743203, + 0.1708635365453697, + -0.3333345380118236, + -0.9338850013741389, + -0.12940977543009774, + 0.20513651286892345, + 0.06213090362804339, + -0.9767593162608383 + ], + [ + 0.9035761284993985, + -0.3971788209273025, + 0.16062118232921818, + -0.37914191855162727, + -0.9158880075451712, + -0.13191119449056393, + 0.19950334734793163, + 0.05829358319518445, + -0.9781616801711446 + ], + [ + 0.9001042571946949, + -0.4148108275367948, + 0.13320774578915007, + -0.40644620304726337, + -0.9096075084035422, + -0.08611425366548475, + 0.1568878905730144, + 0.02337002383696154, + -0.9873398765255106 + ], + [ + 0.8955032517928644, + -0.4318826777789617, + 0.10747687501448563, + -0.4281067271282881, + -0.9019146106813887, + -0.05722469071078232, + 0.12164931654518762, + 0.005233323409918941, + -0.9925593463920311 + ], + [ + 0.9110008491487447, + -0.40292204439943435, + 0.08792769181120272, + -0.4006349765163464, + -0.9152255753803707, + -0.043055333716223616, + 0.09782161541301665, + 0.00399653683194455, + -0.9951959401300521 + ], + [ + 0.9163735517495524, + -0.3934487288099763, + 0.07387564857058354, + -0.39034293231560346, + -0.9191306707069473, + -0.053209072131109, + 0.08883641621073435, + 0.019922549124323875, + -0.9958469677572063 + ], + [ + 0.9265650794273326, + -0.36857228456409324, + 0.07504415125128733, + -0.36550248158404536, + -0.9293736533220129, + -0.0516966968654632, + 0.08879802667697978, + 0.020471530526564682, + -0.9958392575592582 + ], + [ + 0.9363401318856452, + -0.34024525851360055, + 0.08660439642065416, + -0.33906674339965537, + -0.9403327171659337, + -0.028427531508814285, + 0.09110928021186941, + -0.0027468320562974713, + -0.9958371121689178 + ], + [ + 0.9470173912247644, + -0.3071807100193495, + 0.09379803894458627, + -0.30854365927523847, + -0.9512101815239393, + 2.976978679229865e-05, + 0.08921250494682545, + -0.02896898267462933, + -0.9955912449413714 + ], + [ + 0.9669782503781366, + -0.2358883680880593, + 0.09648699962373206, + -0.23962144388041107, + -0.9704342848329339, + 0.028963122301625496, + 0.08680222882106667, + -0.05112706349424116, + -0.9949127582105634 + ], + [ + 0.981379977965097, + -0.15435167795751475, + 0.11431928254203191, + -0.1603305465359683, + -0.9860352276985364, + 0.04504048828523903, + 0.10577076484881334, + -0.06253070645046886, + -0.9924225189172714 + ], + [ + 0.9934799261930373, + -0.02657808824680032, + 0.11086587155938624, + -0.03393890118885326, + -0.9973050863521316, + 0.06504395223431986, + 0.10883835370663361, + -0.06838252672512565, + -0.9917046146918532 + ], + [ + 0.9908928073309627, + 0.0914672165660913, + 0.09881898943733194, + 0.08396698618382825, + -0.993444769049364, + 0.07756955639721579, + 0.10526627955318152, + -0.06856558278107026, + -0.9920775026412623 + ], + [ + 0.9705668078918379, + 0.21509985032562903, + 0.10831493806738131, + 0.2087253902657312, + -0.9756604248579176, + 0.06723426823046796, + 0.1201406795264071, + -0.04264727137766622, + -0.9918404243460605 + ], + [ + 0.9525729093453847, + 0.2836888190191045, + 0.11011587689709092, + 0.27851505888003947, + -0.9585466945927513, + 0.06014645677310523, + 0.12261408711203463, + -0.026624955377552807, + -0.9920972217443338 + ], + [ + 0.9236028680356111, + 0.36552637410467187, + 0.11553446234905762, + 0.36168775873449505, + -0.9307707666043212, + 0.053364269098551825, + 0.12704214788019003, + -0.007499991246421044, + -0.9918689645277203 + ], + [ + 0.9036571675320751, + 0.4120385048877381, + 0.11673899972924533, + 0.40887434597938377, + -0.9111649365951731, + 0.050992426098840776, + 0.12737932629684656, + 0.0016519108305155274, + -0.9918526999624337 + ], + [ + 0.888088510965881, + 0.44474838204402684, + 0.11617948768876765, + 0.4424113717820472, + -0.8955997525659481, + 0.04661825095109921, + 0.12478371211152273, + 0.009997993450327692, + -0.9921335924756483 + ], + [ + 0.8980520216902147, + 0.42442361104267673, + 0.11561645526313355, + 0.42239462084151363, + -0.9054034827614592, + 0.04274713660086839, + 0.12282243533765072, + 0.010446616338033506, + -0.9923736784018476 + ], + [ + 0.9156696706793599, + 0.3795593825892045, + 0.1322260537354665, + 0.3769820960565283, + -0.9251269758782308, + 0.044995308146802984, + 0.13940428060421614, + 0.00864601589757991, + -0.9901978049654119 + ], + [ + 0.9245299781611993, + 0.34045430629522355, + 0.17127517276678067, + 0.3328724606243709, + -0.9402116075396361, + 0.07209755894349035, + 0.18558082993436875, + -0.009643566392758363, + -0.98258167965218 + ], + [ + 0.9301705247305341, + 0.3055454374757684, + 0.2035307852887727, + 0.2865384493081043, + -0.9507955965005329, + 0.11782805584114034, + 0.22951799927376101, + -0.0512807889266265, + -0.9719525547558547 + ], + [ + 0.9460831352328103, + 0.2654659881491547, + 0.18561926183467364, + 0.2409829429001842, + -0.9597392766344662, + 0.14431819745381527, + 0.21645766897761515, + -0.09180593674237382, + -0.9719659189084938 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0005/episode_0005999.json b/json/chunk-0005/episode_0005999.json new file mode 100644 index 0000000000000000000000000000000000000000..07d426791b4f5ce4e2678a3e2b3c02c27a7d6deb --- /dev/null +++ b/json/chunk-0005/episode_0005999.json @@ -0,0 +1,2062 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 33, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nFolds the cloth from the bottom right to the top leftt." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0005/image_0/episode_0005999.mp4", + "start": 0, + "end": 33, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.23719628155231476, + 0.13413849472999573, + 0.13893303275108337, + -0.14307914674282074, + -0.02432248368859291, + 0.5577924251556396, + 0.0, + 0.9994885921478271 + ], + [ + 0.23749804496765137, + 0.13370397686958313, + 0.13127093017101288, + -0.1419312208890915, + -0.004647881258279085, + 0.5633928179740906, + 0.0, + 0.9994885921478271 + ], + [ + 0.26928821206092834, + 0.11706531047821045, + 0.12179097533226013, + -0.1209016740322113, + -0.10550273954868317, + 0.5902154445648193, + 0.0, + 0.9994885921478271 + ], + [ + 0.2978063225746155, + 0.0962940901517868, + 0.09992633759975433, + -0.0723881646990776, + -0.15091480314731598, + 0.5924200415611267, + 0.0, + 0.9994885921478271 + ], + [ + 0.33233723044395447, + 0.07416409254074097, + 0.08172713965177536, + -0.0021789364982396364, + -0.23258022964000702, + 0.5715348720550537, + 0.0, + 0.9994885921478271 + ], + [ + 0.3675539195537567, + 0.05855267494916916, + 0.06836000829935074, + 0.03907333314418793, + -0.28011253476142883, + 0.5816393494606018, + 0.0, + 0.9994885921478271 + ], + [ + 0.3900870084762573, + 0.04585627466440201, + 0.06746891885995865, + 0.03657921403646469, + -0.3261649012565613, + 0.5998734831809998, + 0.0, + 0.9994885921478271 + ], + [ + 0.40100789070129395, + 0.03497040644288063, + 0.057246848940849304, + 0.0602390356361866, + -0.39022505283355713, + 0.6175385117530823, + 0.0, + 0.9994885921478271 + ], + [ + 0.4081021845340729, + 0.023786773905158043, + 0.048461347818374634, + 0.06941668689250946, + -0.4127589166164398, + 0.6260541677474976, + 0.0, + 0.9994885921478271 + ], + [ + 0.41748175024986267, + 0.006917921360582113, + 0.0398092195391655, + 0.07027366012334824, + -0.42398473620414734, + 0.6208274364471436, + 0.0, + 0.9994885921478271 + ], + [ + 0.4261772930622101, + -0.0068902745842933655, + 0.034861598163843155, + 0.07812358438968658, + -0.43699148297309875, + 0.6144040822982788, + 0.0, + 0.9994885921478271 + ], + [ + 0.43175792694091797, + -0.011542527936398983, + 0.025149021297693253, + 0.09797602891921997, + -0.4334373474121094, + 0.6081807613372803, + 0.0, + 0.9994885921478271 + ], + [ + 0.4377974569797516, + -0.016111256554722786, + 0.02008313313126564, + 0.10072154551744461, + -0.4317171573638916, + 0.6078299880027771, + 0.0, + 0.9994885921478271 + ], + [ + 0.4405830502510071, + -0.01790023408830166, + 0.015896549448370934, + 0.1024613231420517, + -0.4219624102115631, + 0.6111866235733032, + 0.0, + 0.9994885921478271 + ], + [ + 0.4384448528289795, + -0.018149780109524727, + 0.011133648455142975, + 0.11215895414352417, + -0.4029044508934021, + 0.6008567810058594, + 0.0, + 0.9515043497085571 + ], + [ + 0.43564313650131226, + -0.017330816015601158, + 0.009279130026698112, + 0.11192362010478973, + -0.3718129098415375, + 0.5942124128341675, + 0.0, + 0.672171950340271 + ], + [ + 0.43053320050239563, + -0.012231859378516674, + 0.004071274772286415, + 0.1272939294576645, + -0.35605406761169434, + 0.5872195959091187, + 0.0, + 0.36865687370300293 + ], + [ + 0.4196780025959015, + -0.011202726513147354, + 0.004594737198203802, + 0.13686205446720123, + -0.3493881821632385, + 0.5716530680656433, + 0.0, + 0.15820781886577606 + ], + [ + 0.40652036666870117, + -0.007874270901083946, + 0.01774744503200054, + 0.11875361204147339, + -0.35718804597854614, + 0.5629530549049377, + 0.0, + 0.06621777266263962 + ], + [ + 0.3938215672969818, + 0.004141812678426504, + 0.05036742985248566, + 0.045952096581459045, + -0.3739811182022095, + 0.612281858921051, + 0.0, + 0.05511022359132767 + ], + [ + 0.37705013155937195, + 0.01711532287299633, + 0.08058392256498337, + -0.033330805599689484, + -0.3831402659416199, + 0.6604796051979065, + 0.0, + 0.05511022359132767 + ], + [ + 0.35243409872055054, + 0.04730617627501488, + 0.10162859410047531, + -0.11998589336872101, + -0.3604196012020111, + 0.7485406398773193, + 0.0, + 0.054840996861457825 + ], + [ + 0.32930558919906616, + 0.06330075114965439, + 0.1062634289264679, + -0.15456035733222961, + -0.3346947729587555, + 0.7593128085136414, + 0.0, + 0.054840996861457825 + ], + [ + 0.2964753806591034, + 0.09687048196792603, + 0.10589654743671417, + -0.16003140807151794, + -0.31242233514785767, + 0.7839047312736511, + 0.0, + 0.054840996861457825 + ], + [ + 0.2648981511592865, + 0.10931450873613358, + 0.10296151041984558, + -0.15287216007709503, + -0.30287086963653564, + 0.738904595375061, + 0.0, + 0.054840996861457825 + ], + [ + 0.2352708876132965, + 0.12916317582130432, + 0.10291788727045059, + -0.12555724382400513, + -0.317554235458374, + 0.718269944190979, + 0.0, + 0.054840996861457825 + ], + [ + 0.21445898711681366, + 0.15542364120483398, + 0.10116136074066162, + -0.13951748609542847, + -0.29566678404808044, + 0.7690801620483398, + 0.0, + 0.054840996861457825 + ], + [ + 0.19818931818008423, + 0.17721886932849884, + 0.08997517079114914, + -0.1115981712937355, + -0.27595338225364685, + 0.7797560691833496, + 0.0, + 0.054840996861457825 + ], + [ + 0.19128024578094482, + 0.19300934672355652, + 0.07574000209569931, + -0.07254556566476822, + -0.26577115058898926, + 0.776513934135437, + 0.0, + 0.07854863256216049 + ], + [ + 0.190731018781662, + 0.2065436840057373, + 0.07386454194784164, + -0.057525187730789185, + -0.2702088952064514, + 0.7970350384712219, + 0.0, + 0.23134081065654755 + ], + [ + 0.1901671141386032, + 0.20853954553604126, + 0.07943880558013916, + -0.04788341745734215, + -0.25004342198371887, + 0.7964916825294495, + 0.0, + 0.49277758598327637 + ], + [ + 0.1902702897787094, + 0.2088630050420761, + 0.09002161771059036, + -0.04919391870498657, + -0.1742965281009674, + 0.7923402786254883, + 0.0, + 0.7998467683792114 + ], + [ + 0.19172191619873047, + 0.2023690640926361, + 0.10442602634429932, + -0.03759424760937691, + -0.09568502753973007, + 0.7946364879608154, + 0.0, + 1.0008161067962646 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9515043497085571 + ], + [ + 0.672171950340271 + ], + [ + 0.36865687370300293 + ], + [ + 0.15820781886577606 + ], + [ + 0.06621777266263962 + ], + [ + 0.05511022359132767 + ], + [ + 0.05511022359132767 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.07854863256216049 + ], + [ + 0.23134081065654755 + ], + [ + 0.49277758598327637 + ], + [ + 0.7998467683792114 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.23719628155231476, + 0.13413849472999573, + 0.13893303275108337 + ], + [ + 0.23749804496765137, + 0.13370397686958313, + 0.13127093017101288 + ], + [ + 0.26928821206092834, + 0.11706531047821045, + 0.12179097533226013 + ], + [ + 0.2978063225746155, + 0.0962940901517868, + 0.09992633759975433 + ], + [ + 0.33233723044395447, + 0.07416409254074097, + 0.08172713965177536 + ], + [ + 0.3675539195537567, + 0.05855267494916916, + 0.06836000829935074 + ], + [ + 0.3900870084762573, + 0.04585627466440201, + 0.06746891885995865 + ], + [ + 0.40100789070129395, + 0.03497040644288063, + 0.057246848940849304 + ], + [ + 0.4081021845340729, + 0.023786773905158043, + 0.048461347818374634 + ], + [ + 0.41748175024986267, + 0.006917921360582113, + 0.0398092195391655 + ], + [ + 0.4261772930622101, + -0.0068902745842933655, + 0.034861598163843155 + ], + [ + 0.43175792694091797, + -0.011542527936398983, + 0.025149021297693253 + ], + [ + 0.4377974569797516, + -0.016111256554722786, + 0.02008313313126564 + ], + [ + 0.4405830502510071, + -0.01790023408830166, + 0.015896549448370934 + ], + [ + 0.4384448528289795, + -0.018149780109524727, + 0.011133648455142975 + ], + [ + 0.43564313650131226, + -0.017330816015601158, + 0.009279130026698112 + ], + [ + 0.43053320050239563, + -0.012231859378516674, + 0.004071274772286415 + ], + [ + 0.4196780025959015, + -0.011202726513147354, + 0.004594737198203802 + ], + [ + 0.40652036666870117, + -0.007874270901083946, + 0.01774744503200054 + ], + [ + 0.3938215672969818, + 0.004141812678426504, + 0.05036742985248566 + ], + [ + 0.37705013155937195, + 0.01711532287299633, + 0.08058392256498337 + ], + [ + 0.35243409872055054, + 0.04730617627501488, + 0.10162859410047531 + ], + [ + 0.32930558919906616, + 0.06330075114965439, + 0.1062634289264679 + ], + [ + 0.2964753806591034, + 0.09687048196792603, + 0.10589654743671417 + ], + [ + 0.2648981511592865, + 0.10931450873613358, + 0.10296151041984558 + ], + [ + 0.2352708876132965, + 0.12916317582130432, + 0.10291788727045059 + ], + [ + 0.21445898711681366, + 0.15542364120483398, + 0.10116136074066162 + ], + [ + 0.19818931818008423, + 0.17721886932849884, + 0.08997517079114914 + ], + [ + 0.19128024578094482, + 0.19300934672355652, + 0.07574000209569931 + ], + [ + 0.190731018781662, + 0.2065436840057373, + 0.07386454194784164 + ], + [ + 0.1901671141386032, + 0.20853954553604126, + 0.07943880558013916 + ], + [ + 0.1902702897787094, + 0.2088630050420761, + 0.09002161771059036 + ], + [ + 0.19172191619873047, + 0.2023690640926361, + 0.10442602634429932 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8481747340262598, + 0.5209635920880996, + 0.09589867714493118, + 0.5291579669573158, + -0.8415917268320913, + -0.10823682983799418, + 0.024320085630685995, + 0.14254929339159403, + -0.9894888743126288 + ], + [ + 0.845438887922568, + 0.5281317341462544, + 0.07943524517442868, + 0.5340519489184739, + -0.837297877679644, + -0.11713573276137244, + 0.004647864523755471, + 0.14145365113999028, + -0.9899339684719051 + ], + [ + 0.8262012205128908, + 0.5419253515500458, + 0.1539755063975094, + 0.5534455279179374, + -0.8318245557496783, + -0.04202328020855053, + 0.10530712630513517, + 0.11993674082286096, + -0.987180625493706 + ], + [ + 0.8201626545766185, + 0.5478874125905604, + 0.16478046960321283, + 0.5520238422831569, + -0.8334906817345271, + 0.023726799460811503, + 0.1503426007117565, + 0.07150291313320224, + -0.9860448447330837 + ], + [ + 0.8184257945010421, + 0.5404999352387447, + 0.19503599386331394, + 0.5263592111339701, + -0.8413413840265369, + 0.12284403273556202, + 0.2304890447499892, + 0.002120266781309374, + -0.9730726101987526 + ], + [ + 0.8029964932002147, + 0.5579988793962497, + 0.20936542814105435, + 0.5279814388533112, + -0.8289921191960877, + 0.18441167679180887, + 0.2764637989584616, + -0.037540869772940536, + -0.9602908158272401 + ], + [ + 0.7818900341517988, + 0.5738323792337694, + 0.2436480556807499, + 0.5347745428876605, + -0.8182397360833418, + 0.21095004757893865, + 0.32041248847913545, + -0.034642962303679664, + -0.9466444434894409 + ], + [ + 0.7540143129834419, + 0.5966510104465387, + 0.2747180146063096, + 0.5355005824409683, + -0.8005670909448687, + 0.26894508566146724, + 0.38039655889806856, + -0.05567678716659889, + -0.9231460086840616 + ], + [ + 0.742291089834895, + 0.6070871604114377, + 0.28363553658753904, + 0.5367421994372868, + -0.7920911406954403, + 0.2906878672649069, + 0.40113806762129633, + -0.06353585204727832, + -0.9138114938047556 + ], + [ + 0.7413766622337374, + 0.6037688283840706, + 0.2929570729081129, + 0.5302021167677594, + -0.794586287055967, + 0.2958350009677685, + 0.4113956247581516, + -0.06399870541143046, + -0.9092072402018755 + ], + [ + 0.74033181914583, + 0.6017023632034463, + 0.29977168591382075, + 0.5223000763539015, + -0.7955842670156967, + 0.30699886696501916, + 0.4232155807634391, + -0.0707102552143949, + -0.9032655379270154 + ], + [ + 0.7447976557583686, + 0.6023518733212639, + 0.287138769035465, + 0.5185388410275075, + -0.7932789182767931, + 0.319101908743038, + 0.41999276460754364, + -0.08877374907012045, + -0.9031751209778464 + ], + [ + 0.7455714626993201, + 0.602731048141913, + 0.2843210819023935, + 0.5186893790281042, + -0.7927010266931986, + 0.32029113375644447, + 0.41843102429413176, + -0.09132560366786462, + -0.9036454570365879 + ], + [ + 0.7471335435887829, + 0.60513652360299, + 0.2749568254220218, + 0.5235064651197967, + -0.7906344969324852, + 0.31755011138100864, + 0.4095515218165392, + -0.09331066424586197, + -0.9075024357629861 + ], + [ + 0.7588024280552748, + 0.5979953538076305, + 0.2581093411752212, + 0.5200796465379983, + -0.7948587504980262, + 0.312596749844952, + 0.3920918724410525, + -0.10296175785797221, + -0.9141459620785217 + ], + [ + 0.7719723547678072, + 0.5899755299540843, + 0.2366169003466234, + 0.5216014908407303, + -0.800687665296482, + 0.29467125308519015, + 0.3633050622093974, + -0.1040583331476435, + -0.9258408583960636 + ], + [ + 0.780270607694603, + 0.5864050122229383, + 0.21750158713837087, + 0.5192983707096614, + -0.801230931388807, + 0.29725106688473935, + 0.3485785147512477, + -0.11898805076830322, + -0.9296961131618082 + ], + [ + 0.7901960447656985, + 0.5752431123868971, + 0.21138962247017185, + 0.5083356784210955, + -0.8078750826111787, + 0.2982158428724836, + 0.3423230183332853, + -0.1281920923747515, + -0.9307962927363711 + ], + [ + 0.7923064289348325, + 0.5649584062673441, + 0.2303747422275197, + 0.5000015922660481, + -0.8176195104409982, + 0.2854763455658616, + 0.3496411451759505, + -0.11099700596901373, + -0.9302852972427141 + ], + [ + 0.7617753804465633, + 0.5878625472065447, + 0.27224234670110925, + 0.5350107040483701, + -0.807829892547799, + 0.2473346139542118, + 0.36532426185398803, + -0.042760850062232625, + -0.9298976789963476 + ], + [ + 0.732441239810244, + 0.6033169296056871, + 0.3154972467017721, + 0.5690143280159452, + -0.7969023470502636, + 0.20290230106714705, + 0.3738348896742982, + 0.030908440868917142, + -0.9269801203614119 + ], + [ + 0.6856071864914848, + 0.6447479812417236, + 0.3379982640723943, + 0.6368428687411138, + -0.7561444099280099, + 0.15058815314695218, + 0.3526669056841293, + 0.11200746412334944, + -0.9290211954610281 + ], + [ + 0.685062295622345, + 0.643539098048357, + 0.3413899242797741, + 0.6502230023131822, + -0.7514754103407684, + 0.11177993968510327, + 0.3284808949991982, + 0.1454033594394605, + -0.9332513941507105 + ], + [ + 0.6738811759290695, + 0.6623436898616626, + 0.3273911990706105, + 0.6718713843307225, + -0.7336944455408999, + 0.1013967627685911, + 0.30736461026925826, + 0.15163540840736717, + -0.9394326475438022 + ], + [ + 0.7055611133480398, + 0.6320506667148448, + 0.32046133937870713, + 0.6428246374024954, + -0.7611743446765149, + 0.0859657056891214, + 0.2982616315911669, + 0.14534638527186902, + -0.9433527587329019 + ], + [ + 0.7152995631553988, + 0.6234612683565359, + 0.3156621323645822, + 0.6251801416903735, + -0.7727502995584958, + 0.10957538486475549, + 0.31224401577244054, + 0.11896647171163066, + -0.9425235557919949 + ], + [ + 0.6873713950969014, + 0.6596007431181378, + 0.30405168126576837, + 0.6652965975942998, + -0.7397496971971501, + 0.10075129143675224, + 0.29137776585043035, + 0.1330309932862473, + -0.9473129115520841 + ], + [ + 0.6841817850609094, + 0.6771554578041844, + 0.2708427051941281, + 0.6765045829134125, + -0.727996342917985, + 0.11118846160996186, + 0.2724643725113758, + 0.10715321117001385, + -0.9561806079648013 + ], + [ + 0.6883149637366586, + 0.6853728683220631, + 0.23766897581340052, + 0.6761920516289329, + -0.724826068647594, + 0.13187675884221692, + 0.26265342185103435, + 0.06993712588362191, + -0.9623523151180556 + ], + [ + 0.6734736188935693, + 0.7033791874617035, + 0.2273565554368585, + 0.6893331468653634, + -0.7086520634155054, + 0.15043957474561684, + 0.2669327579880277, + 0.05540732499101891, + -0.9621210584174139 + ], + [ + 0.6774745878425381, + 0.7058064164751838, + 0.2070398157119591, + 0.6926749919769077, + -0.7068850781795537, + 0.14323003084855032, + 0.247446031120674, + 0.04637659657138609, + -0.9677911308609316 + ], + [ + 0.6915420636452139, + 0.7051492835240973, + 0.15663352819486334, + 0.701210870320309, + -0.7074030794632635, + 0.0887930093561765, + 0.1734153671216986, + 0.04842903169942174, + -0.9836573282066793 + ], + [ + 0.6973397039451519, + 0.7105892075901092, + 0.09370333696378332, + 0.7103447195120818, + -0.7026117069089398, + 0.04179914802729455, + 0.09553908500184428, + 0.03741346510237159, + -0.9947223310381867 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + 0.0003017634153366089, + -0.00043451786041259766, + -0.007662102580070496, + 0.001147925853729248, + 0.019674602895975113, + 0.005600392818450928, + 1.0 + ], + [ + 0.03179016709327698, + -0.01663866639137268, + -0.009479954838752747, + 0.021029546856880188, + -0.10085485875606537, + 0.02682262659072876, + 1.0 + ], + [ + 0.028518110513687134, + -0.020771220326423645, + -0.0218646377325058, + 0.0485135093331337, + -0.04541206359863281, + 0.002204596996307373, + 1.0 + ], + [ + 0.03453090786933899, + -0.022129997611045837, + -0.018199197947978973, + 0.07020922750234604, + -0.08166542649269104, + -0.020885169506072998, + 1.0 + ], + [ + 0.035216689109802246, + -0.015611417591571808, + -0.013367131352424622, + 0.041252270340919495, + -0.047532305121421814, + 0.010104477405548096, + 1.0 + ], + [ + 0.02253308892250061, + -0.012696400284767151, + -0.0008910894393920898, + -0.002494119107723236, + -0.046052366495132446, + 0.01823413372039795, + 1.0 + ], + [ + 0.010920882225036621, + -0.010885868221521378, + -0.010222069919109344, + 0.02365982159972191, + -0.06406015157699585, + 0.01766502857208252, + 1.0 + ], + [ + 0.007094293832778931, + -0.011183632537722588, + -0.00878550112247467, + 0.00917765125632286, + -0.02253386378288269, + 0.008515655994415283, + 1.0 + ], + [ + 0.009379565715789795, + -0.016868852078914642, + -0.008652128279209137, + 0.0008569732308387756, + -0.01122581958770752, + -0.005226731300354004, + 1.0 + ], + [ + 0.008695542812347412, + -0.013808196410536766, + -0.004947621375322342, + 0.007849924266338348, + -0.013006746768951416, + -0.006423354148864746, + 1.0 + ], + [ + 0.005580633878707886, + -0.0046522533521056175, + -0.009712576866149902, + 0.019852444529533386, + 0.00355413556098938, + -0.006223320960998535, + 1.0 + ], + [ + 0.006039530038833618, + -0.004568728618323803, + -0.005065888166427612, + 0.00274551659822464, + 0.0017201900482177734, + -0.00035077333450317383, + 1.0 + ], + [ + 0.002785593271255493, + -0.0017889775335788727, + -0.004186583682894707, + 0.0017397776246070862, + 0.009754747152328491, + 0.003356635570526123, + 1.0 + ], + [ + -0.002138197422027588, + -0.00024954602122306824, + -0.004762900993227959, + 0.009697631001472473, + 0.01905795931816101, + -0.010329842567443848, + 0.0 + ], + [ + -0.0028017163276672363, + 0.0008189640939235687, + -0.0018545184284448624, + -0.00023533403873443604, + 0.031091541051864624, + -0.0066443681716918945, + 0.0 + ], + [ + -0.005109935998916626, + 0.005098956637084484, + -0.005207855254411697, + 0.015370309352874756, + 0.01575884222984314, + -0.006992816925048828, + 0.0 + ], + [ + -0.01085519790649414, + 0.00102913286536932, + 0.000523462425917387, + 0.009568125009536743, + 0.0066658854484558105, + -0.015566527843475342, + 0.0 + ], + [ + -0.013157635927200317, + 0.003328455612063408, + 0.013152707368135452, + -0.018108442425727844, + -0.007799863815307617, + -0.008700013160705566, + 0.0 + ], + [ + -0.01269879937171936, + 0.012016084045171738, + 0.032619982957839966, + -0.07280151546001434, + -0.01679307222366333, + 0.04932880401611328, + 0.0 + ], + [ + -0.016771435737609863, + 0.012973509728908539, + 0.03021649271249771, + -0.07928290218114853, + -0.0091591477394104, + 0.04819774627685547, + 0.0 + ], + [ + -0.02461603283882141, + 0.030190853402018547, + 0.021044671535491943, + -0.08665508776903152, + 0.022720664739608765, + 0.08806103467941284, + 0.0 + ], + [ + -0.023128509521484375, + 0.01599457487463951, + 0.004634834825992584, + -0.034574463963508606, + 0.025724828243255615, + 0.010772168636322021, + 0.0 + ], + [ + -0.03283020853996277, + 0.03356973081827164, + -0.00036688148975372314, + -0.00547105073928833, + 0.022272437810897827, + 0.024591922760009766, + 0.0 + ], + [ + -0.031577229499816895, + 0.01244402676820755, + -0.0029350370168685913, + 0.007159247994422913, + 0.009551465511322021, + -0.04500013589859009, + 0.0 + ], + [ + -0.02962726354598999, + 0.019848667085170746, + -4.3623149394989014e-05, + 0.027314916253089905, + -0.014683365821838379, + -0.02063465118408203, + 0.0 + ], + [ + -0.02081190049648285, + 0.026260465383529663, + -0.001756526529788971, + -0.01396024227142334, + 0.02188745141029358, + 0.05081021785736084, + 0.0 + ], + [ + -0.01626966893672943, + 0.021795228123664856, + -0.011186189949512482, + 0.027919314801692963, + 0.019713401794433594, + 0.010675907135009766, + 0.0 + ], + [ + -0.006909072399139404, + 0.015790477395057678, + -0.014235168695449829, + 0.039052605628967285, + 0.010182231664657593, + -0.0032421350479125977, + 1.0 + ], + [ + -0.0005492269992828369, + 0.013534337282180786, + -0.001875460147857666, + 0.015020377933979034, + -0.004437744617462158, + 0.020521104335784912, + 1.0 + ], + [ + -0.0005639046430587769, + 0.001995861530303955, + 0.005574263632297516, + 0.009641770273447037, + 0.020165473222732544, + -0.0005433559417724609, + 1.0 + ], + [ + 0.00010317564010620117, + 0.0003234595060348511, + 0.010582812130451202, + -0.0013105012476444244, + 0.07574689388275146, + -0.004151403903961182, + 1.0 + ], + [ + 0.0014516264200210571, + -0.0064939409494400024, + 0.014404408633708954, + 0.011599671095609665, + 0.07861150056123734, + 0.0022962093353271484, + 1.0 + ], + [ + 0.013961046934127808, + -0.013379544019699097, + 0.0328667014837265, + 0.04840752109885216, + 0.1526661366224289, + -0.07930779457092285, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9515043497085571 + ], + [ + 0.672171950340271 + ], + [ + 0.36865687370300293 + ], + [ + 0.15820781886577606 + ], + [ + 0.06621777266263962 + ], + [ + 0.05511022359132767 + ], + [ + 0.05511022359132767 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.07854863256216049 + ], + [ + 0.23134081065654755 + ], + [ + 0.49277758598327637 + ], + [ + 0.7998467683792114 + ], + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.23749804496765137, + 0.13370397686958313, + 0.13127093017101288 + ], + [ + 0.26928821206092834, + 0.11706531047821045, + 0.12179097533226013 + ], + [ + 0.2978063225746155, + 0.0962940901517868, + 0.09992633759975433 + ], + [ + 0.33233723044395447, + 0.07416409254074097, + 0.08172713965177536 + ], + [ + 0.3675539195537567, + 0.05855267494916916, + 0.06836000829935074 + ], + [ + 0.3900870084762573, + 0.04585627466440201, + 0.06746891885995865 + ], + [ + 0.40100789070129395, + 0.03497040644288063, + 0.057246848940849304 + ], + [ + 0.4081021845340729, + 0.023786773905158043, + 0.048461347818374634 + ], + [ + 0.41748175024986267, + 0.006917921360582113, + 0.0398092195391655 + ], + [ + 0.4261772930622101, + -0.0068902745842933655, + 0.034861598163843155 + ], + [ + 0.43175792694091797, + -0.011542527936398983, + 0.025149021297693253 + ], + [ + 0.4377974569797516, + -0.016111256554722786, + 0.02008313313126564 + ], + [ + 0.4405830502510071, + -0.01790023408830166, + 0.015896549448370934 + ], + [ + 0.4384448528289795, + -0.018149780109524727, + 0.011133648455142975 + ], + [ + 0.43564313650131226, + -0.017330816015601158, + 0.009279130026698112 + ], + [ + 0.43053320050239563, + -0.012231859378516674, + 0.004071274772286415 + ], + [ + 0.4196780025959015, + -0.011202726513147354, + 0.004594737198203802 + ], + [ + 0.40652036666870117, + -0.007874270901083946, + 0.01774744503200054 + ], + [ + 0.3938215672969818, + 0.004141812678426504, + 0.05036742985248566 + ], + [ + 0.37705013155937195, + 0.01711532287299633, + 0.08058392256498337 + ], + [ + 0.35243409872055054, + 0.04730617627501488, + 0.10162859410047531 + ], + [ + 0.32930558919906616, + 0.06330075114965439, + 0.1062634289264679 + ], + [ + 0.2964753806591034, + 0.09687048196792603, + 0.10589654743671417 + ], + [ + 0.2648981511592865, + 0.10931450873613358, + 0.10296151041984558 + ], + [ + 0.2352708876132965, + 0.12916317582130432, + 0.10291788727045059 + ], + [ + 0.21445898711681366, + 0.15542364120483398, + 0.10116136074066162 + ], + [ + 0.19818931818008423, + 0.17721886932849884, + 0.08997517079114914 + ], + [ + 0.19128024578094482, + 0.19300934672355652, + 0.07574000209569931 + ], + [ + 0.190731018781662, + 0.2065436840057373, + 0.07386454194784164 + ], + [ + 0.1901671141386032, + 0.20853954553604126, + 0.07943880558013916 + ], + [ + 0.1902702897787094, + 0.2088630050420761, + 0.09002161771059036 + ], + [ + 0.19172191619873047, + 0.2023690640926361, + 0.10442602634429932 + ], + [ + 0.20568296313285828, + 0.188989520072937, + 0.13729272782802582 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.845438887922568, + 0.5281317341462544, + 0.07943524517442868, + 0.5340519489184739, + -0.837297877679644, + -0.11713573276137244, + 0.004647864523755471, + 0.14145365113999028, + -0.9899339684719051 + ], + [ + 0.8262012205128908, + 0.5419253515500458, + 0.1539755063975094, + 0.5534455279179374, + -0.8318245557496783, + -0.04202328020855053, + 0.10530712630513517, + 0.11993674082286096, + -0.987180625493706 + ], + [ + 0.8201626545766185, + 0.5478874125905604, + 0.16478046960321283, + 0.5520238422831569, + -0.8334906817345271, + 0.023726799460811503, + 0.1503426007117565, + 0.07150291313320224, + -0.9860448447330837 + ], + [ + 0.8184257945010421, + 0.5404999352387447, + 0.19503599386331394, + 0.5263592111339701, + -0.8413413840265369, + 0.12284403273556202, + 0.2304890447499892, + 0.002120266781309374, + -0.9730726101987526 + ], + [ + 0.8029964932002147, + 0.5579988793962497, + 0.20936542814105435, + 0.5279814388533112, + -0.8289921191960877, + 0.18441167679180887, + 0.2764637989584616, + -0.037540869772940536, + -0.9602908158272401 + ], + [ + 0.7818900341517988, + 0.5738323792337694, + 0.2436480556807499, + 0.5347745428876605, + -0.8182397360833418, + 0.21095004757893865, + 0.32041248847913545, + -0.034642962303679664, + -0.9466444434894409 + ], + [ + 0.7540143129834419, + 0.5966510104465387, + 0.2747180146063096, + 0.5355005824409683, + -0.8005670909448687, + 0.26894508566146724, + 0.38039655889806856, + -0.05567678716659889, + -0.9231460086840616 + ], + [ + 0.742291089834895, + 0.6070871604114377, + 0.28363553658753904, + 0.5367421994372868, + -0.7920911406954403, + 0.2906878672649069, + 0.40113806762129633, + -0.06353585204727832, + -0.9138114938047556 + ], + [ + 0.7413766622337374, + 0.6037688283840706, + 0.2929570729081129, + 0.5302021167677594, + -0.794586287055967, + 0.2958350009677685, + 0.4113956247581516, + -0.06399870541143046, + -0.9092072402018755 + ], + [ + 0.74033181914583, + 0.6017023632034463, + 0.29977168591382075, + 0.5223000763539015, + -0.7955842670156967, + 0.30699886696501916, + 0.4232155807634391, + -0.0707102552143949, + -0.9032655379270154 + ], + [ + 0.7447976557583686, + 0.6023518733212639, + 0.287138769035465, + 0.5185388410275075, + -0.7932789182767931, + 0.319101908743038, + 0.41999276460754364, + -0.08877374907012045, + -0.9031751209778464 + ], + [ + 0.7455714626993201, + 0.602731048141913, + 0.2843210819023935, + 0.5186893790281042, + -0.7927010266931986, + 0.32029113375644447, + 0.41843102429413176, + -0.09132560366786462, + -0.9036454570365879 + ], + [ + 0.7471335435887829, + 0.60513652360299, + 0.2749568254220218, + 0.5235064651197967, + -0.7906344969324852, + 0.31755011138100864, + 0.4095515218165392, + -0.09331066424586197, + -0.9075024357629861 + ], + [ + 0.7588024280552748, + 0.5979953538076305, + 0.2581093411752212, + 0.5200796465379983, + -0.7948587504980262, + 0.312596749844952, + 0.3920918724410525, + -0.10296175785797221, + -0.9141459620785217 + ], + [ + 0.7719723547678072, + 0.5899755299540843, + 0.2366169003466234, + 0.5216014908407303, + -0.800687665296482, + 0.29467125308519015, + 0.3633050622093974, + -0.1040583331476435, + -0.9258408583960636 + ], + [ + 0.780270607694603, + 0.5864050122229383, + 0.21750158713837087, + 0.5192983707096614, + -0.801230931388807, + 0.29725106688473935, + 0.3485785147512477, + -0.11898805076830322, + -0.9296961131618082 + ], + [ + 0.7901960447656985, + 0.5752431123868971, + 0.21138962247017185, + 0.5083356784210955, + -0.8078750826111787, + 0.2982158428724836, + 0.3423230183332853, + -0.1281920923747515, + -0.9307962927363711 + ], + [ + 0.7923064289348325, + 0.5649584062673441, + 0.2303747422275197, + 0.5000015922660481, + -0.8176195104409982, + 0.2854763455658616, + 0.3496411451759505, + -0.11099700596901373, + -0.9302852972427141 + ], + [ + 0.7617753804465633, + 0.5878625472065447, + 0.27224234670110925, + 0.5350107040483701, + -0.807829892547799, + 0.2473346139542118, + 0.36532426185398803, + -0.042760850062232625, + -0.9298976789963476 + ], + [ + 0.732441239810244, + 0.6033169296056871, + 0.3154972467017721, + 0.5690143280159452, + -0.7969023470502636, + 0.20290230106714705, + 0.3738348896742982, + 0.030908440868917142, + -0.9269801203614119 + ], + [ + 0.6856071864914848, + 0.6447479812417236, + 0.3379982640723943, + 0.6368428687411138, + -0.7561444099280099, + 0.15058815314695218, + 0.3526669056841293, + 0.11200746412334944, + -0.9290211954610281 + ], + [ + 0.685062295622345, + 0.643539098048357, + 0.3413899242797741, + 0.6502230023131822, + -0.7514754103407684, + 0.11177993968510327, + 0.3284808949991982, + 0.1454033594394605, + -0.9332513941507105 + ], + [ + 0.6738811759290695, + 0.6623436898616626, + 0.3273911990706105, + 0.6718713843307225, + -0.7336944455408999, + 0.1013967627685911, + 0.30736461026925826, + 0.15163540840736717, + -0.9394326475438022 + ], + [ + 0.7055611133480398, + 0.6320506667148448, + 0.32046133937870713, + 0.6428246374024954, + -0.7611743446765149, + 0.0859657056891214, + 0.2982616315911669, + 0.14534638527186902, + -0.9433527587329019 + ], + [ + 0.7152995631553988, + 0.6234612683565359, + 0.3156621323645822, + 0.6251801416903735, + -0.7727502995584958, + 0.10957538486475549, + 0.31224401577244054, + 0.11896647171163066, + -0.9425235557919949 + ], + [ + 0.6873713950969014, + 0.6596007431181378, + 0.30405168126576837, + 0.6652965975942998, + -0.7397496971971501, + 0.10075129143675224, + 0.29137776585043035, + 0.1330309932862473, + -0.9473129115520841 + ], + [ + 0.6841817850609094, + 0.6771554578041844, + 0.2708427051941281, + 0.6765045829134125, + -0.727996342917985, + 0.11118846160996186, + 0.2724643725113758, + 0.10715321117001385, + -0.9561806079648013 + ], + [ + 0.6883149637366586, + 0.6853728683220631, + 0.23766897581340052, + 0.6761920516289329, + -0.724826068647594, + 0.13187675884221692, + 0.26265342185103435, + 0.06993712588362191, + -0.9623523151180556 + ], + [ + 0.6734736188935693, + 0.7033791874617035, + 0.2273565554368585, + 0.6893331468653634, + -0.7086520634155054, + 0.15043957474561684, + 0.2669327579880277, + 0.05540732499101891, + -0.9621210584174139 + ], + [ + 0.6774745878425381, + 0.7058064164751838, + 0.2070398157119591, + 0.6926749919769077, + -0.7068850781795537, + 0.14323003084855032, + 0.247446031120674, + 0.04637659657138609, + -0.9677911308609316 + ], + [ + 0.6915420636452139, + 0.7051492835240973, + 0.15663352819486334, + 0.701210870320309, + -0.7074030794632635, + 0.0887930093561765, + 0.1734153671216986, + 0.04842903169942174, + -0.9836573282066793 + ], + [ + 0.6973397039451519, + 0.7105892075901092, + 0.09370333696378332, + 0.7103447195120818, + -0.7026117069089398, + 0.04179914802729455, + 0.09553908500184428, + 0.03741346510237159, + -0.9947223310381867 + ], + [ + 0.753652548574025, + 0.6553623727329334, + -0.05007990049647098, + 0.6548011158327012, + -0.7552374575706936, + -0.02918700715050904, + -0.056950282985478766, + -0.010795512401650418, + -0.9983186476170118 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006001.json b/json/chunk-0006/episode_0006001.json new file mode 100644 index 0000000000000000000000000000000000000000..53927a7108111e11f0586a1de2d55bee0872bef7 --- /dev/null +++ b/json/chunk-0006/episode_0006001.json @@ -0,0 +1,1762 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 28, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut the yellow egg shape right of the silver pot." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006001.mp4", + "start": 0, + "end": 28, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.27219247817993164, + 0.14565055072307587, + 0.08943304419517517, + 0.03332410380244255, + -0.09240206331014633, + -0.021126583218574524, + 0.0, + 1.0001531839370728 + ], + [ + 0.27137327194213867, + 0.1449044793844223, + 0.07868649810552597, + 0.016912057995796204, + -0.06265456229448318, + -0.00982310064136982, + 0.0, + 1.0001531839370728 + ], + [ + 0.2939601242542267, + 0.15515989065170288, + 0.06610783189535141, + 0.035206135362386703, + -0.06489623337984085, + 0.05553378909826279, + 0.0, + 1.0001531839370728 + ], + [ + 0.3192959427833557, + 0.1686886101961136, + 0.05620903894305229, + 0.0598713681101799, + -0.06741596758365631, + 0.09588497132062912, + 0.0, + 1.0001531839370728 + ], + [ + 0.3410422205924988, + 0.18263526260852814, + 0.048113442957401276, + 0.0792960599064827, + -0.07596863806247711, + 0.14236989617347717, + 0.0, + 1.0001531839370728 + ], + [ + 0.3611454963684082, + 0.19454067945480347, + 0.04383828490972519, + 0.09301041811704636, + -0.0745759829878807, + 0.1788550317287445, + 0.0, + 1.0001531839370728 + ], + [ + 0.3788028359413147, + 0.20036004483699799, + 0.03376322612166405, + 0.06655171513557434, + -0.07205034047365189, + 0.21486756205558777, + 0.0, + 1.0001531839370728 + ], + [ + 0.39447468519210815, + 0.20783936977386475, + 0.02308477647602558, + 0.043814193457365036, + -0.07017260044813156, + 0.24175414443016052, + 0.0, + 1.0001531839370728 + ], + [ + 0.39972472190856934, + 0.21116214990615845, + 0.01636907272040844, + 0.03358236327767372, + -0.0693758949637413, + 0.24797287583351135, + 0.0, + 0.931966245174408 + ], + [ + 0.40110039710998535, + 0.20874831080436707, + 0.0156937874853611, + 0.033785637468099594, + -0.06927458941936493, + 0.2387375384569168, + 0.0, + 0.6881998181343079 + ], + [ + 0.4006233811378479, + 0.20508959889411926, + 0.014150953851640224, + 0.03934444859623909, + -0.05989448353648186, + 0.2203558385372162, + 0.0, + 0.6651484370231628 + ], + [ + 0.39948704838752747, + 0.19725923240184784, + 0.02063690312206745, + 0.017623156309127808, + -0.07307367771863937, + 0.22178304195404053, + 0.0, + 0.6651484370231628 + ], + [ + 0.4199187457561493, + 0.1722269058227539, + 0.07725046575069427, + -0.0373307541012764, + -0.22873878479003906, + 0.16642312705516815, + 0.0, + 0.6651484370231628 + ], + [ + 0.4182126522064209, + 0.120045006275177, + 0.1271778643131256, + -0.07191101461648941, + -0.3240739703178406, + -0.0038857676554471254, + 0.0, + 0.6651484370231628 + ], + [ + 0.40311703085899353, + 0.07121432572603226, + 0.12364598363637924, + -0.09703060984611511, + -0.30056554079055786, + -0.18442080914974213, + 0.0, + 0.6651484370231628 + ], + [ + 0.3894670903682709, + 0.027530349791049957, + 0.10235247015953064, + -0.0861290842294693, + -0.219809889793396, + -0.31922921538352966, + 0.0, + 0.6651484370231628 + ], + [ + 0.37962836027145386, + -0.028998393565416336, + 0.08597927540540695, + -0.03812739998102188, + -0.15964744985103607, + -0.44549962878227234, + 0.0, + 0.6651484370231628 + ], + [ + 0.37577715516090393, + -0.07219929993152618, + 0.06896091252565384, + 0.01617654599249363, + -0.11295327544212341, + -0.5113983750343323, + 0.0, + 0.6651484370231628 + ], + [ + 0.37446898221969604, + -0.0843028649687767, + 0.051059119403362274, + 0.027076557278633118, + -0.08315984159708023, + -0.5510863661766052, + 0.0, + 0.6651484370231628 + ], + [ + 0.3795609474182129, + -0.07812783867120743, + 0.035336606204509735, + 0.030081981793045998, + -0.10162762552499771, + -0.5366818904876709, + 0.0, + 0.6651484370231628 + ], + [ + 0.37945905327796936, + -0.06529121100902557, + 0.023560600355267525, + 0.010814971290528774, + -0.13876256346702576, + -0.5070131421089172, + 0.0, + 0.6651484370231628 + ], + [ + 0.37399935722351074, + -0.05369910970330238, + 0.010755429975688457, + -0.016482874751091003, + -0.1371772587299347, + -0.4919969141483307, + 0.0, + 0.7506401538848877 + ], + [ + 0.37097030878067017, + -0.05322432890534401, + 0.009016509167850018, + -0.021169928833842278, + -0.13482899963855743, + -0.5144696235656738, + 0.0, + 0.9865638017654419 + ], + [ + 0.3634626567363739, + -0.05484022572636604, + 0.016424765810370445, + -0.06311696022748947, + -0.13491277396678925, + -0.522002637386322, + 0.0, + 1.0008161067962646 + ], + [ + 0.36311498284339905, + -0.05522459000349045, + 0.07391799241304398, + -0.05513692647218704, + -0.25481662154197693, + -0.5097131133079529, + 0.0, + 1.0008161067962646 + ], + [ + 0.33555883169174194, + -0.034400977194309235, + 0.12798841297626495, + 0.0037719537504017353, + -0.307690292596817, + -0.4635505676269531, + 0.0, + 1.0008161067962646 + ], + [ + 0.30401092767715454, + -0.008814980275928974, + 0.16705545783042908, + 0.08710429072380066, + -0.29054197669029236, + -0.38235339522361755, + 0.0, + 1.0008161067962646 + ], + [ + 0.2768527865409851, + 0.026399770751595497, + 0.15736480057239532, + 0.0899767205119133, + -0.24188750982284546, + -0.28340521454811096, + 0.0, + 1.0008161067962646 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.931966245174408 + ], + [ + 0.6881998181343079 + ], + [ + 0.6651484370231628 + ], + [ + 0.6651484370231628 + ], + [ + 0.6651484370231628 + ], + [ + 0.6651484370231628 + ], + [ + 0.6651484370231628 + ], + [ + 0.6651484370231628 + ], + [ + 0.6651484370231628 + ], + [ + 0.6651484370231628 + ], + [ + 0.6651484370231628 + ], + [ + 0.6651484370231628 + ], + [ + 0.6651484370231628 + ], + [ + 0.7506401538848877 + ], + [ + 0.9865638017654419 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.27219247817993164, + 0.14565055072307587, + 0.08943304419517517 + ], + [ + 0.27137327194213867, + 0.1449044793844223, + 0.07868649810552597 + ], + [ + 0.2939601242542267, + 0.15515989065170288, + 0.06610783189535141 + ], + [ + 0.3192959427833557, + 0.1686886101961136, + 0.05620903894305229 + ], + [ + 0.3410422205924988, + 0.18263526260852814, + 0.048113442957401276 + ], + [ + 0.3611454963684082, + 0.19454067945480347, + 0.04383828490972519 + ], + [ + 0.3788028359413147, + 0.20036004483699799, + 0.03376322612166405 + ], + [ + 0.39447468519210815, + 0.20783936977386475, + 0.02308477647602558 + ], + [ + 0.39972472190856934, + 0.21116214990615845, + 0.01636907272040844 + ], + [ + 0.40110039710998535, + 0.20874831080436707, + 0.0156937874853611 + ], + [ + 0.4006233811378479, + 0.20508959889411926, + 0.014150953851640224 + ], + [ + 0.39948704838752747, + 0.19725923240184784, + 0.02063690312206745 + ], + [ + 0.4199187457561493, + 0.1722269058227539, + 0.07725046575069427 + ], + [ + 0.4182126522064209, + 0.120045006275177, + 0.1271778643131256 + ], + [ + 0.40311703085899353, + 0.07121432572603226, + 0.12364598363637924 + ], + [ + 0.3894670903682709, + 0.027530349791049957, + 0.10235247015953064 + ], + [ + 0.37962836027145386, + -0.028998393565416336, + 0.08597927540540695 + ], + [ + 0.37577715516090393, + -0.07219929993152618, + 0.06896091252565384 + ], + [ + 0.37446898221969604, + -0.0843028649687767, + 0.051059119403362274 + ], + [ + 0.3795609474182129, + -0.07812783867120743, + 0.035336606204509735 + ], + [ + 0.37945905327796936, + -0.06529121100902557, + 0.023560600355267525 + ], + [ + 0.37399935722351074, + -0.05369910970330238, + 0.010755429975688457 + ], + [ + 0.37097030878067017, + -0.05322432890534401, + 0.009016509167850018 + ], + [ + 0.3634626567363739, + -0.05484022572636604, + 0.016424765810370445 + ], + [ + 0.36311498284339905, + -0.05522459000349045, + 0.07391799241304398 + ], + [ + 0.33555883169174194, + -0.034400977194309235, + 0.12798841297626495 + ], + [ + 0.30401092767715454, + -0.008814980275928974, + 0.16705545783042908 + ], + [ + 0.2768527865409851, + 0.026399770751595497, + 0.15736480057239532 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9955117600183045, + -0.01803970223113719, + 0.09290266308706871, + -0.02103489165494351, + -0.9992867132973765, + 0.03136236535071172, + 0.09227062912065942, + -0.033175800981116325, + -0.9951811378994977 + ], + [ + 0.997989693324735, + -0.008762715039278808, + 0.06276772134419237, + -0.009803668528070261, + -0.9998191564484341, + 0.01629547428379105, + 0.06261357760896202, + -0.016878069317382477, + -0.9978951200778189 + ], + [ + 0.9963566188796712, + 0.05775000567934625, + 0.06275687100792308, + 0.05538840936649059, + -0.9977129785034282, + 0.038741923463708285, + 0.06485069099492834, + -0.03512476860924849, + -0.9972766108295266 + ], + [ + 0.9931453957199747, + 0.09957887801386094, + 0.06120678078216324, + 0.0955206339713525, + -0.9932371292260179, + 0.06599858795890991, + 0.06736491257268937, + -0.0596996832517533, + -0.995940719306985 + ], + [ + 0.9870274648014022, + 0.14739466313752303, + 0.06365215633655284, + 0.14148018801026735, + -0.9859189922781424, + 0.08914649216784593, + 0.07589558701463643, + -0.0789845171146126, + -0.9939825481002549 + ], + [ + 0.981312869476545, + 0.18394356903325815, + 0.05647845262590422, + 0.17740850514843054, + -0.9785635535954876, + 0.10459251347764127, + 0.07450687552641572, + -0.09261822167305024, + -0.9929101623578103 + ], + [ + 0.9744697993673395, + 0.21742332914363222, + 0.055997375519542494, + 0.21266484282571074, + -0.9738210407811548, + 0.08028851199159073, + 0.07198801807865414, + -0.06633005710843184, + -0.9951974923486792 + ], + [ + 0.968529998735864, + 0.24215811450052838, + 0.057524682791443335, + 0.23881692769136542, + -0.9692525075874684, + 0.059296303286642496, + 0.07011502404452498, + -0.04369238053658041, + -0.9965815868689739 + ], + [ + 0.9670799876779768, + 0.2475572661199631, + 0.05892111186980414, + 0.24484893175381733, + -0.9682941009950026, + 0.0495533510198256, + 0.06932025715314889, + -0.033495282794586696, + -0.9970319794162732 + ], + [ + 0.9693067948621954, + 0.23861306110173497, + 0.05922959146944923, + 0.23590896652040877, + -0.9705298754090823, + 0.04918048854682248, + 0.06921919494801151, + -0.033698190012093614, + -0.9970321634935647 + ], + [ + 0.9740699531720334, + 0.22070528282952426, + 0.049768508703521445, + 0.218184932590149, + -0.9745499139348892, + 0.05145678225591162, + 0.05985867955497282, + -0.03926376676580927, + -0.9974343562868162 + ], + [ + 0.9729034571817099, + 0.22119024775386154, + 0.06733303277338525, + 0.2193823106323871, + -0.9750722978786656, + 0.03324779227578134, + 0.07300866240023325, + -0.01757521573705552, + -0.9971764372498603 + ], + [ + 0.9604966274477044, + 0.15719471527453388, + 0.22964331070454513, + 0.16134114669857208, + -0.9868984252694627, + 0.0007297826010306506, + 0.22674933967616284, + 0.03634996135366782, + -0.9732745847221179 + ], + [ + 0.9479388528665605, + -0.026754515196525098, + 0.3173265307890731, + -0.0036834886730613067, + -0.997319084792694, + -0.07308265881492598, + 0.3184310963728653, + 0.06810902307963576, + -0.9454960591339939 + ], + [ + 0.938972046049324, + -0.2107101296557329, + 0.27190575205098205, + -0.1751562500676331, + -0.9731590114684384, + -0.14927098331563382, + 0.29606044112679203, + 0.09253528871860556, + -0.9506763042916203 + ], + [ + 0.9266321420836013, + -0.3304805755426085, + 0.17926366739131072, + -0.3062836064921793, + -0.9400715451807503, + -0.14985273549595401, + 0.2180440910726547, + 0.08395283872807807, + -0.972321292175481 + ], + [ + 0.8909200718801155, + -0.43606382986241793, + 0.12692423648322923, + -0.4254290975697063, + -0.8991285009898198, + -0.1028495097160195, + 0.15897014959468267, + 0.037633429202246514, + -0.9865658703524689 + ], + [ + 0.8665038418182438, + -0.48774319277769157, + 0.10619637476508882, + -0.48627853823479267, + -0.8728391857934111, + -0.041048008425844225, + 0.11271324397095893, + -0.01607276088661995, + -0.9934975545974053 + ], + [ + 0.8490120099262716, + -0.521505254830979, + 0.08491687809045016, + -0.521803578665032, + -0.8528214147973088, + -0.02041224523374532, + 0.08306402526556507, + -0.026979689523649066, + -0.9961789317486539 + ], + [ + 0.854975666895038, + -0.5084334361720266, + 0.1025282887777354, + -0.5086491353375346, + -0.8605812568098564, + -0.02599918360153392, + 0.10145277787110274, + -0.02992225609598417, + -0.9943902616439699 + ], + [ + 0.8657958549767112, + -0.4842322228226788, + 0.12616137239802377, + -0.4809009848944655, + -0.8748739526188942, + -0.057704503780254664, + 0.13831767867007572, + -0.010710808055414613, + -0.990329994677593 + ], + [ + 0.8731114620264991, + -0.4743092808399037, + 0.11272568911779965, + -0.4679492631057753, + -0.8802068652125977, + -0.0791161272521216, + 0.13674743886710036, + 0.016327294379209364, + -0.990471381424796 + ], + [ + 0.8626529709770386, + -0.49444006864048157, + 0.10657800048454782, + -0.4876073039207706, + -0.8689585814459916, + -0.08455826922594258, + 0.13442086455459826, + 0.02097623069489872, + -0.9907022907605637 + ], + [ + 0.8589456127757847, + -0.5049781966944568, + 0.084908510506582, + -0.49408616765547886, + -0.8608661527922109, + -0.1216072609191571, + 0.1345038781030265, + 0.06250190269065806, + -0.9889399470823766 + ], + [ + 0.844698676827562, + -0.4993107908816467, + 0.1928026957148439, + -0.47217146359035295, + -0.8647801446912046, + -0.17090760755099121, + 0.25206795579111246, + 0.05332949893824319, + -0.9662389508844518 + ], + [ + 0.8524623332273115, + -0.4461018047669926, + 0.27258237326041423, + -0.42612776648540857, + -0.8949750036803136, + -0.1320411656173161, + 0.30285821279735003, + -0.0035947977765611178, + -0.9530288455079103 + ], + [ + 0.8889043445020945, + -0.3485686817120145, + 0.297235496626581, + -0.3574676620900701, + -0.933570007902943, + -0.025766468596970685, + 0.2864715289259324, + -0.08334815219096078, + -0.9544564676511922 + ], + [ + 0.9321577255901282, + -0.25783054194914407, + 0.2541758963018524, + -0.27148603143717914, + -0.9622435704293432, + 0.019561336914454774, + 0.23953561187666925, + -0.08723945670165827, + -0.966960168692211 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0008192062377929688, + -0.0007460713386535645, + -0.0107465460896492, + -0.016412045806646347, + 0.029747501015663147, + 0.011303482577204704, + 1.0 + ], + [ + 0.022586852312088013, + 0.010255411267280579, + -0.01257866621017456, + 0.0182940773665905, + -0.002241671085357666, + 0.06535688787698746, + 1.0 + ], + [ + 0.02533581852912903, + 0.013528719544410706, + -0.009898792952299118, + 0.024665232747793198, + -0.00251973420381546, + 0.04035118222236633, + 1.0 + ], + [ + 0.021746277809143066, + 0.01394665241241455, + -0.008095595985651016, + 0.019424691796302795, + -0.0085526704788208, + 0.04648492485284805, + 1.0 + ], + [ + 0.020103275775909424, + 0.01190541684627533, + -0.004275158047676086, + 0.01371435821056366, + 0.001392655074596405, + 0.036485135555267334, + 1.0 + ], + [ + 0.017657339572906494, + 0.005819365382194519, + -0.010075058788061142, + -0.026458702981472015, + 0.002525642514228821, + 0.03601253032684326, + 1.0 + ], + [ + 0.015671849250793457, + 0.00747932493686676, + -0.010678449645638466, + -0.022737521678209305, + 0.0018777400255203247, + 0.026886582374572754, + 1.0 + ], + [ + 0.005250036716461182, + 0.003322780132293701, + -0.006715703755617142, + -0.010231830179691315, + 0.0007967054843902588, + 0.00621873140335083, + 0.0 + ], + [ + 0.0013756752014160156, + -0.002413839101791382, + -0.0006752852350473404, + 0.0002032741904258728, + 0.00010130554437637329, + -0.009235337376594543, + 0.0 + ], + [ + -0.00047701597213745117, + -0.0036587119102478027, + -0.0015428336337208748, + 0.005558811128139496, + 0.009380105882883072, + -0.018381699919700623, + 0.0 + ], + [ + -0.0011363327503204346, + -0.007830366492271423, + 0.006485949270427227, + -0.021721292287111282, + -0.013179194182157516, + 0.0014272034168243408, + 0.0 + ], + [ + 0.020431697368621826, + -0.025032326579093933, + 0.05661356449127197, + -0.054953910410404205, + -0.1556650996208191, + -0.055359914898872375, + 0.0 + ], + [ + -0.0017060935497283936, + -0.052181899547576904, + 0.049927398562431335, + -0.03458026051521301, + -0.09533518552780151, + -0.1703088879585266, + 0.0 + ], + [ + -0.015095621347427368, + -0.048830680549144745, + -0.0035318806767463684, + -0.025119595229625702, + 0.023508429527282715, + -0.18053504824638367, + 0.0 + ], + [ + -0.013649940490722656, + -0.0436839759349823, + -0.021293513476848602, + 0.010901525616645813, + 0.08075565099716187, + -0.13480840623378754, + 0.0 + ], + [ + -0.009838730096817017, + -0.05652874335646629, + -0.016373194754123688, + 0.04800168424844742, + 0.060162439942359924, + -0.12627041339874268, + 0.0 + ], + [ + -0.0038512051105499268, + -0.04320090636610985, + -0.017018362879753113, + 0.05430394411087036, + 0.04669417440891266, + -0.06589874625205994, + 0.0 + ], + [ + -0.0013081729412078857, + -0.012103565037250519, + -0.017901793122291565, + 0.010900011286139488, + 0.029793433845043182, + -0.03968799114227295, + 0.0 + ], + [ + 0.005091965198516846, + 0.006175026297569275, + -0.01572251319885254, + 0.00300542451441288, + -0.01846778392791748, + 0.014404475688934326, + 0.0 + ], + [ + -0.00010189414024353027, + 0.012836627662181854, + -0.01177600584924221, + -0.019267011433839798, + -0.037134937942028046, + 0.029668748378753662, + 1.0 + ], + [ + -0.005459696054458618, + 0.01159210130572319, + -0.012805170379579067, + -0.027297846972942352, + 0.0015853047370910645, + 0.015016227960586548, + 1.0 + ], + [ + -0.003029048442840576, + 0.000474780797958374, + -0.00173892080783844, + -0.004687054082751274, + 0.0023482590913772583, + -0.02247270941734314, + 1.0 + ], + [ + -0.007507652044296265, + -0.0016158968210220337, + 0.007408256642520428, + -0.041947029531002045, + -8.377432823181152e-05, + -0.007533013820648193, + 1.0 + ], + [ + -0.0003476738929748535, + -0.0003843642771244049, + 0.05749322474002838, + 0.00798003375530243, + -0.11990384757518768, + 0.01228952407836914, + 1.0 + ], + [ + -0.027556151151657104, + 0.020823612809181213, + 0.05407042056322098, + 0.05890887975692749, + -0.05287367105484009, + 0.046162545680999756, + 1.0 + ], + [ + -0.0315479040145874, + 0.025585997849702835, + 0.039067044854164124, + 0.08333233743906021, + 0.017148315906524658, + 0.08119717240333557, + 1.0 + ], + [ + -0.027158141136169434, + 0.035214751958847046, + -0.009690657258033752, + 0.0028724297881126404, + 0.0486544668674469, + 0.09894818067550659, + 1.0 + ], + [ + -0.017554521560668945, + 0.01721525751054287, + -0.01273934543132782, + -0.04037310928106308, + 0.06875893473625183, + 0.03759634494781494, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.931966245174408 + ], + [ + 0.6881998181343079 + ], + [ + 0.6651484370231628 + ], + [ + 0.6651484370231628 + ], + [ + 0.6651484370231628 + ], + [ + 0.6651484370231628 + ], + [ + 0.6651484370231628 + ], + [ + 0.6651484370231628 + ], + [ + 0.6651484370231628 + ], + [ + 0.6651484370231628 + ], + [ + 0.6651484370231628 + ], + [ + 0.6651484370231628 + ], + [ + 0.6651484370231628 + ], + [ + 0.7506401538848877 + ], + [ + 0.9865638017654419 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.27137327194213867, + 0.1449044793844223, + 0.07868649810552597 + ], + [ + 0.2939601242542267, + 0.15515989065170288, + 0.06610783189535141 + ], + [ + 0.3192959427833557, + 0.1686886101961136, + 0.05620903894305229 + ], + [ + 0.3410422205924988, + 0.18263526260852814, + 0.048113442957401276 + ], + [ + 0.3611454963684082, + 0.19454067945480347, + 0.04383828490972519 + ], + [ + 0.3788028359413147, + 0.20036004483699799, + 0.03376322612166405 + ], + [ + 0.39447468519210815, + 0.20783936977386475, + 0.02308477647602558 + ], + [ + 0.39972472190856934, + 0.21116214990615845, + 0.01636907272040844 + ], + [ + 0.40110039710998535, + 0.20874831080436707, + 0.0156937874853611 + ], + [ + 0.4006233811378479, + 0.20508959889411926, + 0.014150953851640224 + ], + [ + 0.39948704838752747, + 0.19725923240184784, + 0.02063690312206745 + ], + [ + 0.4199187457561493, + 0.1722269058227539, + 0.07725046575069427 + ], + [ + 0.4182126522064209, + 0.120045006275177, + 0.1271778643131256 + ], + [ + 0.40311703085899353, + 0.07121432572603226, + 0.12364598363637924 + ], + [ + 0.3894670903682709, + 0.027530349791049957, + 0.10235247015953064 + ], + [ + 0.37962836027145386, + -0.028998393565416336, + 0.08597927540540695 + ], + [ + 0.37577715516090393, + -0.07219929993152618, + 0.06896091252565384 + ], + [ + 0.37446898221969604, + -0.0843028649687767, + 0.051059119403362274 + ], + [ + 0.3795609474182129, + -0.07812783867120743, + 0.035336606204509735 + ], + [ + 0.37945905327796936, + -0.06529121100902557, + 0.023560600355267525 + ], + [ + 0.37399935722351074, + -0.05369910970330238, + 0.010755429975688457 + ], + [ + 0.37097030878067017, + -0.05322432890534401, + 0.009016509167850018 + ], + [ + 0.3634626567363739, + -0.05484022572636604, + 0.016424765810370445 + ], + [ + 0.36311498284339905, + -0.05522459000349045, + 0.07391799241304398 + ], + [ + 0.33555883169174194, + -0.034400977194309235, + 0.12798841297626495 + ], + [ + 0.30401092767715454, + -0.008814980275928974, + 0.16705545783042908 + ], + [ + 0.2768527865409851, + 0.026399770751595497, + 0.15736480057239532 + ], + [ + 0.25929826498031616, + 0.04361502826213837, + 0.1446254551410675 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.997989693324735, + -0.008762715039278808, + 0.06276772134419237, + -0.009803668528070261, + -0.9998191564484341, + 0.01629547428379105, + 0.06261357760896202, + -0.016878069317382477, + -0.9978951200778189 + ], + [ + 0.9963566188796712, + 0.05775000567934625, + 0.06275687100792308, + 0.05538840936649059, + -0.9977129785034282, + 0.038741923463708285, + 0.06485069099492834, + -0.03512476860924849, + -0.9972766108295266 + ], + [ + 0.9931453957199747, + 0.09957887801386094, + 0.06120678078216324, + 0.0955206339713525, + -0.9932371292260179, + 0.06599858795890991, + 0.06736491257268937, + -0.0596996832517533, + -0.995940719306985 + ], + [ + 0.9870274648014022, + 0.14739466313752303, + 0.06365215633655284, + 0.14148018801026735, + -0.9859189922781424, + 0.08914649216784593, + 0.07589558701463643, + -0.0789845171146126, + -0.9939825481002549 + ], + [ + 0.981312869476545, + 0.18394356903325815, + 0.05647845262590422, + 0.17740850514843054, + -0.9785635535954876, + 0.10459251347764127, + 0.07450687552641572, + -0.09261822167305024, + -0.9929101623578103 + ], + [ + 0.9744697993673395, + 0.21742332914363222, + 0.055997375519542494, + 0.21266484282571074, + -0.9738210407811548, + 0.08028851199159073, + 0.07198801807865414, + -0.06633005710843184, + -0.9951974923486792 + ], + [ + 0.968529998735864, + 0.24215811450052838, + 0.057524682791443335, + 0.23881692769136542, + -0.9692525075874684, + 0.059296303286642496, + 0.07011502404452498, + -0.04369238053658041, + -0.9965815868689739 + ], + [ + 0.9670799876779768, + 0.2475572661199631, + 0.05892111186980414, + 0.24484893175381733, + -0.9682941009950026, + 0.0495533510198256, + 0.06932025715314889, + -0.033495282794586696, + -0.9970319794162732 + ], + [ + 0.9693067948621954, + 0.23861306110173497, + 0.05922959146944923, + 0.23590896652040877, + -0.9705298754090823, + 0.04918048854682248, + 0.06921919494801151, + -0.033698190012093614, + -0.9970321634935647 + ], + [ + 0.9740699531720334, + 0.22070528282952426, + 0.049768508703521445, + 0.218184932590149, + -0.9745499139348892, + 0.05145678225591162, + 0.05985867955497282, + -0.03926376676580927, + -0.9974343562868162 + ], + [ + 0.9729034571817099, + 0.22119024775386154, + 0.06733303277338525, + 0.2193823106323871, + -0.9750722978786656, + 0.03324779227578134, + 0.07300866240023325, + -0.01757521573705552, + -0.9971764372498603 + ], + [ + 0.9604966274477044, + 0.15719471527453388, + 0.22964331070454513, + 0.16134114669857208, + -0.9868984252694627, + 0.0007297826010306506, + 0.22674933967616284, + 0.03634996135366782, + -0.9732745847221179 + ], + [ + 0.9479388528665605, + -0.026754515196525098, + 0.3173265307890731, + -0.0036834886730613067, + -0.997319084792694, + -0.07308265881492598, + 0.3184310963728653, + 0.06810902307963576, + -0.9454960591339939 + ], + [ + 0.938972046049324, + -0.2107101296557329, + 0.27190575205098205, + -0.1751562500676331, + -0.9731590114684384, + -0.14927098331563382, + 0.29606044112679203, + 0.09253528871860556, + -0.9506763042916203 + ], + [ + 0.9266321420836013, + -0.3304805755426085, + 0.17926366739131072, + -0.3062836064921793, + -0.9400715451807503, + -0.14985273549595401, + 0.2180440910726547, + 0.08395283872807807, + -0.972321292175481 + ], + [ + 0.8909200718801155, + -0.43606382986241793, + 0.12692423648322923, + -0.4254290975697063, + -0.8991285009898198, + -0.1028495097160195, + 0.15897014959468267, + 0.037633429202246514, + -0.9865658703524689 + ], + [ + 0.8665038418182438, + -0.48774319277769157, + 0.10619637476508882, + -0.48627853823479267, + -0.8728391857934111, + -0.041048008425844225, + 0.11271324397095893, + -0.01607276088661995, + -0.9934975545974053 + ], + [ + 0.8490120099262716, + -0.521505254830979, + 0.08491687809045016, + -0.521803578665032, + -0.8528214147973088, + -0.02041224523374532, + 0.08306402526556507, + -0.026979689523649066, + -0.9961789317486539 + ], + [ + 0.854975666895038, + -0.5084334361720266, + 0.1025282887777354, + -0.5086491353375346, + -0.8605812568098564, + -0.02599918360153392, + 0.10145277787110274, + -0.02992225609598417, + -0.9943902616439699 + ], + [ + 0.8657958549767112, + -0.4842322228226788, + 0.12616137239802377, + -0.4809009848944655, + -0.8748739526188942, + -0.057704503780254664, + 0.13831767867007572, + -0.010710808055414613, + -0.990329994677593 + ], + [ + 0.8731114620264991, + -0.4743092808399037, + 0.11272568911779965, + -0.4679492631057753, + -0.8802068652125977, + -0.0791161272521216, + 0.13674743886710036, + 0.016327294379209364, + -0.990471381424796 + ], + [ + 0.8626529709770386, + -0.49444006864048157, + 0.10657800048454782, + -0.4876073039207706, + -0.8689585814459916, + -0.08455826922594258, + 0.13442086455459826, + 0.02097623069489872, + -0.9907022907605637 + ], + [ + 0.8589456127757847, + -0.5049781966944568, + 0.084908510506582, + -0.49408616765547886, + -0.8608661527922109, + -0.1216072609191571, + 0.1345038781030265, + 0.06250190269065806, + -0.9889399470823766 + ], + [ + 0.844698676827562, + -0.4993107908816467, + 0.1928026957148439, + -0.47217146359035295, + -0.8647801446912046, + -0.17090760755099121, + 0.25206795579111246, + 0.05332949893824319, + -0.9662389508844518 + ], + [ + 0.8524623332273115, + -0.4461018047669926, + 0.27258237326041423, + -0.42612776648540857, + -0.8949750036803136, + -0.1320411656173161, + 0.30285821279735003, + -0.0035947977765611178, + -0.9530288455079103 + ], + [ + 0.8889043445020945, + -0.3485686817120145, + 0.297235496626581, + -0.3574676620900701, + -0.933570007902943, + -0.025766468596970685, + 0.2864715289259324, + -0.08334815219096078, + -0.9544564676511922 + ], + [ + 0.9321577255901282, + -0.25783054194914407, + 0.2541758963018524, + -0.27148603143717914, + -0.9622435704293432, + 0.019561336914454774, + 0.23953561187666925, + -0.08723945670165827, + -0.966960168692211 + ], + [ + 0.955440821337234, + -0.23475693635586709, + 0.17894696911442534, + -0.2397031694635804, + -0.9708262648620346, + 0.006225271331018169, + 0.17226499200808557, + -0.04884203401618432, + -0.9838390255736027 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006002.json b/json/chunk-0006/episode_0006002.json new file mode 100644 index 0000000000000000000000000000000000000000..2a9e2602c83721101bd7044802034c4e04b87c13 --- /dev/null +++ b/json/chunk-0006/episode_0006002.json @@ -0,0 +1,2602 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 42, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut the stick in the cube with a hole." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006002.mp4", + "start": 0, + "end": 42, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2705639898777008, + -0.0864848867058754, + 0.14570459723472595, + 0.3631470799446106, + -0.2722998261451721, + -0.8571301698684692, + 0.0, + 0.9988223910331726 + ], + [ + 0.2672201097011566, + -0.08549023419618607, + 0.1388016939163208, + 0.3484077453613281, + -0.2522176504135132, + -0.8500487804412842, + 0.0, + 0.9988223910331726 + ], + [ + 0.24869771301746368, + -0.10487061738967896, + 0.1356382668018341, + 0.3057589530944824, + -0.23027290403842926, + -0.8992367386817932, + 0.0, + 0.9988223910331726 + ], + [ + 0.22969591617584229, + -0.12396126240491867, + 0.13836856186389923, + 0.2771816551685333, + -0.24456264078617096, + -0.9522882103919983, + 0.0, + 0.9988223910331726 + ], + [ + 0.22193823754787445, + -0.1359434872865677, + 0.1380927711725235, + 0.26774898171424866, + -0.24878090620040894, + -0.9870242476463318, + 0.0, + 0.9988223910331726 + ], + [ + 0.22387805581092834, + -0.14101047813892365, + 0.13182497024536133, + 0.25846830010414124, + -0.24674133956432343, + -0.9920352101325989, + 0.0, + 0.9988223910331726 + ], + [ + 0.23081186413764954, + -0.1462167501449585, + 0.10659650713205338, + 0.23746652901172638, + -0.19155222177505493, + -1.0132460594177246, + 0.0, + 0.9988223910331726 + ], + [ + 0.24141095578670502, + -0.15334652364253998, + 0.09596329182386398, + 0.22230137884616852, + -0.18823866546154022, + -1.0172139406204224, + 0.0, + 0.9988223910331726 + ], + [ + 0.24459047615528107, + -0.16128812730312347, + 0.08122198283672333, + 0.18492546677589417, + -0.16982783377170563, + -1.017217755317688, + 0.0, + 0.9988223910331726 + ], + [ + 0.24588705599308014, + -0.16944098472595215, + 0.07084678113460541, + 0.16154497861862183, + -0.15623827278614044, + -1.03678560256958, + 0.0, + 0.9988223910331726 + ], + [ + 0.24437007308006287, + -0.17126619815826416, + 0.06288021057844162, + 0.1495928168296814, + -0.1337972730398178, + -1.0463340282440186, + 0.0, + 0.9988223910331726 + ], + [ + 0.2438717931509018, + -0.17057578265666962, + 0.05563420429825783, + 0.13933183252811432, + -0.11530289053916931, + -1.0369353294372559, + 0.0, + 0.9643021821975708 + ], + [ + 0.2460811883211136, + -0.17096173763275146, + 0.05377594009041786, + 0.14442488551139832, + -0.141221821308136, + -1.0179367065429688, + 0.0, + 0.6601285338401794 + ], + [ + 0.2468024492263794, + -0.1702643483877182, + 0.053664080798625946, + 0.15483501553535461, + -0.13914091885089874, + -1.0263720750808716, + 0.0, + 0.3814634680747986 + ], + [ + 0.24917739629745483, + -0.16521430015563965, + 0.057297661900520325, + 0.172162264585495, + -0.1335272341966629, + -1.0225080251693726, + 0.0, + 0.1649598330259323 + ], + [ + 0.25537165999412537, + -0.14892874658107758, + 0.07814282178878784, + 0.22245372831821442, + -0.1577509492635727, + -0.9875029921531677, + 0.0, + 0.10633110255002975 + ], + [ + 0.26637861132621765, + -0.12213838845491409, + 0.0984000414609909, + 0.2625289261341095, + -0.18735235929489136, + -0.9028341174125671, + 0.0, + 0.10473939776420593 + ], + [ + 0.2756929397583008, + -0.10268346220254898, + 0.10530654340982437, + 0.27363109588623047, + -0.19498661160469055, + -0.8469192385673523, + 0.0, + 0.10473939776420593 + ], + [ + 0.27980631589889526, + -0.08982452005147934, + 0.10549817979335785, + 0.27698883414268494, + -0.18472479283809662, + -0.8274295926094055, + 0.0, + 0.10473939776420593 + ], + [ + 0.2826777994632721, + -0.08033237606287003, + 0.10549817979335785, + 0.27998146414756775, + -0.18008607625961304, + -0.8101793527603149, + 0.0, + 0.10473939776420593 + ], + [ + 0.28419971466064453, + -0.07090065628290176, + 0.10432546585798264, + 0.2798098623752594, + -0.17522156238555908, + -0.7855156660079956, + 0.0, + 0.10473939776420593 + ], + [ + 0.2781195640563965, + -0.05666166543960571, + 0.10331900417804718, + 0.276689350605011, + -0.16117022931575775, + -0.7351766228675842, + 0.0, + 0.10473939776420593 + ], + [ + 0.2743653357028961, + -0.049253277480602264, + 0.10235137492418289, + 0.2756706178188324, + -0.15532228350639343, + -0.7193700075149536, + 0.0, + 0.10473939776420593 + ], + [ + 0.2732177972793579, + -0.046799540519714355, + 0.10044641047716141, + 0.27357780933380127, + -0.150798499584198, + -0.7135013341903687, + 0.0, + 0.10473939776420593 + ], + [ + 0.27567198872566223, + -0.048928581178188324, + 0.10097499936819077, + 0.27495908737182617, + -0.17007380723953247, + -0.721742570400238, + 0.0, + 0.10473939776420593 + ], + [ + 0.276610404253006, + -0.04961242899298668, + 0.0948524922132492, + 0.26711505651474, + -0.1576056331396103, + -0.7245665192604065, + 0.0, + 0.10473939776420593 + ], + [ + 0.28036394715309143, + -0.049903303384780884, + 0.09374172985553741, + 0.26926496624946594, + -0.15271010994911194, + -0.7216612100601196, + 0.0, + 0.10473939776420593 + ], + [ + 0.28046947717666626, + -0.04942990466952324, + 0.0891251489520073, + 0.2652072608470917, + -0.1387895792722702, + -0.7177736759185791, + 0.0, + 0.10473939776420593 + ], + [ + 0.28150463104248047, + -0.048585064709186554, + 0.08383086323738098, + 0.2658514976501465, + -0.12227029353380203, + -0.7198283672332764, + 0.0, + 0.10473939776420593 + ], + [ + 0.28518351912498474, + -0.04908209666609764, + 0.08477514237165451, + 0.27108508348464966, + -0.12553022801876068, + -0.7198783159255981, + 0.0, + 0.10473939776420593 + ], + [ + 0.2862500548362732, + -0.049247339367866516, + 0.08519133180379868, + 0.2734178304672241, + -0.12776659429073334, + -0.721290647983551, + 0.0, + 0.10473939776420593 + ], + [ + 0.28638455271720886, + -0.049285225570201874, + 0.08247296512126923, + 0.26959046721458435, + -0.11905644088983536, + -0.7222860455513, + 0.0, + 0.10473939776420593 + ], + [ + 0.2863193154335022, + -0.04830211028456688, + 0.0824279710650444, + 0.2693045139312744, + -0.1172245442867279, + -0.7203112244606018, + 0.0, + 0.10473939776420593 + ], + [ + 0.2865683138370514, + -0.04668978229165077, + 0.08298757672309875, + 0.27325764298439026, + -0.11737694591283798, + -0.7116963863372803, + 0.0, + 0.10473939776420593 + ], + [ + 0.28374725580215454, + -0.04646502807736397, + 0.08128480613231659, + 0.27151378989219666, + -0.1113809123635292, + -0.7088056206703186, + 0.0, + 0.10473939776420593 + ], + [ + 0.2799880802631378, + -0.04911154881119728, + 0.07922066748142242, + 0.269052654504776, + -0.10438661277294159, + -0.7151296138763428, + 0.0, + 0.10473939776420593 + ], + [ + 0.27768203616142273, + -0.050861556082963943, + 0.08149699866771698, + 0.27419528365135193, + -0.11339565366506577, + -0.7213345170021057, + 0.0, + 0.10473939776420593 + ], + [ + 0.2745552957057953, + -0.05416378751397133, + 0.0801338329911232, + 0.25915366411209106, + -0.13717596232891083, + -0.7234136462211609, + 0.0, + 0.13900397717952728 + ], + [ + 0.27171972393989563, + -0.05151858553290367, + 0.08091241866350174, + 0.2587008476257324, + -0.12107294797897339, + -0.7008385062217712, + 0.0, + 0.33882394433021545 + ], + [ + 0.27116209268569946, + -0.05164377763867378, + 0.08624845743179321, + 0.2652852535247803, + -0.13478298485279083, + -0.691394567489624, + 0.0, + 0.6651484370231628 + ], + [ + 0.26916027069091797, + -0.05771840736269951, + 0.09457319974899292, + 0.2674882411956787, + -0.13806411623954773, + -0.7205387353897095, + 0.0, + 0.941448450088501 + ], + [ + 0.2688865661621094, + -0.06928971409797668, + 0.1123102605342865, + 0.2772440016269684, + -0.1664981096982956, + -0.7636070847511292, + 0.0, + 1.0008161067962646 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9643021821975708 + ], + [ + 0.6601285338401794 + ], + [ + 0.3814634680747986 + ], + [ + 0.1649598330259323 + ], + [ + 0.10633110255002975 + ], + [ + 0.10473939776420593 + ], + [ + 0.10473939776420593 + ], + [ + 0.10473939776420593 + ], + [ + 0.10473939776420593 + ], + [ + 0.10473939776420593 + ], + [ + 0.10473939776420593 + ], + [ + 0.10473939776420593 + ], + [ + 0.10473939776420593 + ], + [ + 0.10473939776420593 + ], + [ + 0.10473939776420593 + ], + [ + 0.10473939776420593 + ], + [ + 0.10473939776420593 + ], + [ + 0.10473939776420593 + ], + [ + 0.10473939776420593 + ], + [ + 0.10473939776420593 + ], + [ + 0.10473939776420593 + ], + [ + 0.10473939776420593 + ], + [ + 0.10473939776420593 + ], + [ + 0.10473939776420593 + ], + [ + 0.10473939776420593 + ], + [ + 0.10473939776420593 + ], + [ + 0.13900397717952728 + ], + [ + 0.33882394433021545 + ], + [ + 0.6651484370231628 + ], + [ + 0.941448450088501 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2705639898777008, + -0.0864848867058754, + 0.14570459723472595 + ], + [ + 0.2672201097011566, + -0.08549023419618607, + 0.1388016939163208 + ], + [ + 0.24869771301746368, + -0.10487061738967896, + 0.1356382668018341 + ], + [ + 0.22969591617584229, + -0.12396126240491867, + 0.13836856186389923 + ], + [ + 0.22193823754787445, + -0.1359434872865677, + 0.1380927711725235 + ], + [ + 0.22387805581092834, + -0.14101047813892365, + 0.13182497024536133 + ], + [ + 0.23081186413764954, + -0.1462167501449585, + 0.10659650713205338 + ], + [ + 0.24141095578670502, + -0.15334652364253998, + 0.09596329182386398 + ], + [ + 0.24459047615528107, + -0.16128812730312347, + 0.08122198283672333 + ], + [ + 0.24588705599308014, + -0.16944098472595215, + 0.07084678113460541 + ], + [ + 0.24437007308006287, + -0.17126619815826416, + 0.06288021057844162 + ], + [ + 0.2438717931509018, + -0.17057578265666962, + 0.05563420429825783 + ], + [ + 0.2460811883211136, + -0.17096173763275146, + 0.05377594009041786 + ], + [ + 0.2468024492263794, + -0.1702643483877182, + 0.053664080798625946 + ], + [ + 0.24917739629745483, + -0.16521430015563965, + 0.057297661900520325 + ], + [ + 0.25537165999412537, + -0.14892874658107758, + 0.07814282178878784 + ], + [ + 0.26637861132621765, + -0.12213838845491409, + 0.0984000414609909 + ], + [ + 0.2756929397583008, + -0.10268346220254898, + 0.10530654340982437 + ], + [ + 0.27980631589889526, + -0.08982452005147934, + 0.10549817979335785 + ], + [ + 0.2826777994632721, + -0.08033237606287003, + 0.10549817979335785 + ], + [ + 0.28419971466064453, + -0.07090065628290176, + 0.10432546585798264 + ], + [ + 0.2781195640563965, + -0.05666166543960571, + 0.10331900417804718 + ], + [ + 0.2743653357028961, + -0.049253277480602264, + 0.10235137492418289 + ], + [ + 0.2732177972793579, + -0.046799540519714355, + 0.10044641047716141 + ], + [ + 0.27567198872566223, + -0.048928581178188324, + 0.10097499936819077 + ], + [ + 0.276610404253006, + -0.04961242899298668, + 0.0948524922132492 + ], + [ + 0.28036394715309143, + -0.049903303384780884, + 0.09374172985553741 + ], + [ + 0.28046947717666626, + -0.04942990466952324, + 0.0891251489520073 + ], + [ + 0.28150463104248047, + -0.048585064709186554, + 0.08383086323738098 + ], + [ + 0.28518351912498474, + -0.04908209666609764, + 0.08477514237165451 + ], + [ + 0.2862500548362732, + -0.049247339367866516, + 0.08519133180379868 + ], + [ + 0.28638455271720886, + -0.049285225570201874, + 0.08247296512126923 + ], + [ + 0.2863193154335022, + -0.04830211028456688, + 0.0824279710650444 + ], + [ + 0.2865683138370514, + -0.04668978229165077, + 0.08298757672309875 + ], + [ + 0.28374725580215454, + -0.04646502807736397, + 0.08128480613231659 + ], + [ + 0.2799880802631378, + -0.04911154881119728, + 0.07922066748142242 + ], + [ + 0.27768203616142273, + -0.050861556082963943, + 0.08149699866771698 + ], + [ + 0.2745552957057953, + -0.05416378751397133, + 0.0801338329911232 + ], + [ + 0.27171972393989563, + -0.05151858553290367, + 0.08091241866350174 + ], + [ + 0.27116209268569946, + -0.05164377763867378, + 0.08624845743179321 + ], + [ + 0.26916027069091797, + -0.05771840736269951, + 0.09457319974899292 + ], + [ + 0.2688865661621094, + -0.06928971409797668, + 0.1123102605342865 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.6304905075614823, + -0.6441275395125273, + 0.43310672208637185, + -0.728113387286185, + -0.6841395448706181, + 0.042473266872955495, + 0.26894723484264, + -0.3421297940632486, + -0.9003413735271398 + ], + [ + 0.639066703584328, + -0.6499460792696786, + 0.4112953226233341, + -0.7275421078098366, + -0.6843052074480039, + 0.04908018360971886, + 0.2495520581631817, + -0.33060017710448397, + -0.9101798136439871 + ], + [ + 0.6057839654399959, + -0.7037937429727082, + 0.3710797145739154, + -0.7621881749400031, + -0.6471348507369294, + 0.01690180296058924, + 0.22824323253367293, + -0.2930714116289012, + -0.9284471845443995 + ], + [ + 0.5625667731892321, + -0.7452279975242523, + 0.35798583409046836, + -0.7905002965055664, + -0.611672540760777, + -0.031080284809946207, + 0.24213200310588243, + -0.26550317245797395, + -0.9332096005114202 + ], + [ + 0.5342063729247775, + -0.7687551875322305, + 0.35162339621936234, + -0.8087014232339542, + -0.5858891765598733, + -0.052305648350542536, + 0.24622258057686452, + -0.2564163302761327, + -0.9346791462217346 + ], + [ + 0.5304208977351639, + -0.7751853884867667, + 0.34313449946404895, + -0.8117868607371536, + -0.5810797110035745, + -0.05786589837304586, + 0.24424529469437106, + -0.2478587963672521, + -0.9375021349751888 + ], + [ + 0.519431600765918, + -0.8010443105167613, + 0.2975211332233089, + -0.8330336982941482, + -0.5522639359000125, + -0.032548465564454024, + 0.19038295520379322, + -0.23093842835906037, + -0.9541602447570938 + ], + [ + 0.5164509666428341, + -0.8080239167301434, + 0.28350617108938003, + -0.835620218479561, + -0.5478962545742474, + -0.03935155259557435, + 0.1871289649462453, + -0.21658034124913086, + -0.9581626721296114 + ], + [ + 0.5181714130201291, + -0.8198067890219718, + 0.24375236491613128, + -0.838411060734656, + -0.5432064276743347, + -0.04465053382745615, + 0.16901266214846628, + -0.18122804862043856, + -0.9688091217710103 + ], + [ + 0.5027900528716871, + -0.8368264168749356, + 0.2166188144034183, + -0.8502880347410012, + -0.5239058905871206, + -0.05032768407548457, + 0.15560340841245057, + -0.1588841270497858, + -0.9749581598520295 + ], + [ + 0.4962722091393835, + -0.8459708233061797, + 0.19505706998358355, + -0.8578570704116973, + -0.5123641687129779, + -0.03955003620376735, + 0.1333984302028182, + -0.1477035027808202, + -0.9799941500262643 + ], + [ + 0.505482015948436, + -0.8443757416759188, + 0.17753179552392012, + -0.8551327309241725, + -0.517684116447211, + -0.027407445711653856, + 0.11504757300730772, + -0.1379592782219175, + -0.9837333447116732 + ], + [ + 0.5198952597369186, + -0.831528438405344, + 0.19562559910771332, + -0.8425541801369, + -0.5368956168824573, + -0.04295986622699667, + 0.1407528771887731, + -0.14249053545964158, + -0.9797372478718498 + ], + [ + 0.5129201789331415, + -0.8341143844173795, + 0.20289426741830488, + -0.8471583746452223, + -0.5300261887032169, + -0.03734872899052272, + 0.1386923873601568, + -0.15272666105417987, + -0.9784881137201321 + ], + [ + 0.5165874829237798, + -0.8289139248786882, + 0.21456718674737305, + -0.8458212355957643, + -0.5329856529941107, + -0.022643566805962703, + 0.13313079997404123, + -0.16978809983226145, + -0.9764467170581413 + ], + [ + 0.5439367849057399, + -0.7949970709911461, + 0.2685375786401326, + -0.8242894851898167, + -0.5661326524660693, + -0.0063768657850002824, + 0.15709748130353285, + -0.2178840905785263, + -0.9632481011872563 + ], + [ + 0.6085486640767184, + -0.7282456878173365, + 0.3151614532678392, + -0.7713471273410377, + -0.636114999777948, + 0.019527319330375298, + 0.18625824167851135, + -0.2549822057182738, + -0.9488371526104327 + ], + [ + 0.6497442193137094, + -0.6866924432605797, + 0.3260152417253427, + -0.7350456239881158, + -0.6768833000947043, + 0.03920368233755034, + 0.19375340029103869, + -0.2651084427582753, + -0.9445512868309176 + ], + [ + 0.6652563090100538, + -0.6741399745283676, + 0.3208883576342574, + -0.7236692370575943, + -0.6879516798313404, + 0.05500292313791663, + 0.18367601546962645, + -0.2688080745813417, + -0.945518556338834 + ], + [ + 0.6782202435677178, + -0.6620816586026738, + 0.31884977427760386, + -0.7126958563591702, + -0.6983803670955213, + 0.0657987779825327, + 0.17911425834761271, + -0.27186897615847644, + -0.9455185573319687 + ], + [ + 0.69619769949588, + -0.645646717992235, + 0.3137659617652929, + -0.6963613288178013, + -0.7135731941218749, + 0.07677366969092075, + 0.17432631167941925, + -0.27194413429335046, + -0.9463914226575015 + ], + [ + 0.732099834447079, + -0.6126930926123079, + 0.2977196779988279, + -0.6620257750659596, + -0.7429035441608323, + 0.09907672391429824, + 0.16047337957080382, + -0.26963215375477867, + -0.9494981812045163 + ], + [ + 0.7431655444323995, + -0.6023580010794383, + 0.2913242387857189, + -0.6509787586668621, + -0.7515645380816858, + 0.10666489986220078, + 0.15469851108865385, + -0.26891556971221564, + -0.950659132935306 + ], + [ + 0.74749457972063, + -0.5994573126283099, + 0.2861866237697418, + -0.6470575832685327, + -0.754521190956603, + 0.10960956314170658, + 0.15022761804330428, + -0.2671117794742017, + -0.9518839005063384 + ], + [ + 0.7398253137732144, + -0.601379993531313, + 0.3016630711251265, + -0.6511614384830177, + -0.7528197134979295, + 0.09618347052182377, + 0.16925509189708965, + -0.26759032558964724, + -0.9485505424160245 + ], + [ + 0.7395062839966969, + -0.6082845234263441, + 0.2883060777877952, + -0.6545959882941383, + -0.7496910454552455, + 0.09730071157726182, + 0.15695396789701466, + -0.2606784895694438, + -0.952581847946504 + ], + [ + 0.7419729013143617, + -0.6064491724808866, + 0.2858244477164196, + -0.6529445254448484, + -0.7503923894379917, + 0.10283340199148887, + 0.15211725874058568, + -0.26292710600238456, + -0.9527484854474766 + ], + [ + 0.7460285395152375, + -0.6073999102121259, + 0.27295927773765666, + -0.6513848598205272, + -0.7507855594836974, + 0.10963032457921372, + 0.13834443474659186, + -0.25958889179826805, + -0.9557585597992797 + ], + [ + 0.7463052859578196, + -0.6120007633985443, + 0.26169349581335805, + -0.6543338201580613, + -0.7466286535045017, + 0.11997043620581124, + 0.12196586386680065, + -0.2607694755251345, + -0.9576657082121983 + ], + [ + 0.7459696866539074, + -0.6100087369907684, + 0.2672425254116543, + -0.6541054842764439, + -0.746531163270629, + 0.12180820048453309, + 0.12520080683825457, + -0.2656700266509735, + -0.9558996782645766 + ], + [ + 0.7448330026157225, + -0.6099871579692471, + 0.27044309073638406, + -0.6549718544348699, + -0.7457791643913587, + 0.12175922083306188, + 0.12741926115228752, + -0.2678228987079475, + -0.9550053543384339 + ], + [ + 0.7449851466134036, + -0.6134875934390958, + 0.261973479615233, + -0.6564217701381836, + -0.7441091657205492, + 0.1241451133928464, + 0.11877538050479929, + -0.2644513607205978, + -0.957056887963806 + ], + [ + 0.7464422927459323, + -0.612455506381882, + 0.2602348099365424, + -0.6550917022857008, + -0.7450356045740125, + 0.12560577022357794, + 0.1169562533455074, + -0.2642351237431317, + -0.9573406051055358 + ], + [ + 0.7520445270206733, + -0.6049544085813174, + 0.26164707702605816, + -0.6486253445550876, + -0.749799534394672, + 0.1307127408569142, + 0.11710760769072776, + -0.2680127268611724, + -0.9562713979103384 + ], + [ + 0.7544359040398056, + -0.6044518623835766, + 0.25586014296225734, + -0.6468940985998315, + -0.7507333992435163, + 0.13389319794891172, + 0.11115076199627495, + -0.26652825238856137, + -0.9573965734147718 + ], + [ + 0.7508984933977154, + -0.6112128661636504, + 0.2501405302006373, + -0.6521460025215606, + -0.7460071173353908, + 0.13482941919361813, + 0.10419714011521214, + -0.2643713545771463, + -0.9587756478294882 + ], + [ + 0.7461023579266332, + -0.612710226501225, + 0.260609765429339, + -0.6561461095910632, + -0.7431064721380287, + 0.13139655221916924, + 0.11315279212122814, + -0.2690333611420526, + -0.9564609224781635 + ], + [ + 0.7425092617721236, + -0.6135765211854062, + 0.2687077386913734, + -0.6557289724974639, + -0.7477174295706737, + 0.10458565935942449, + 0.1367461546444243, + -0.2538552701171283, + -0.9575270184301452 + ], + [ + 0.7587067583458762, + -0.5997846338840591, + 0.25420945654490834, + -0.640138173903658, + -0.7587929346372213, + 0.12023477307303455, + 0.12077737019650119, + -0.253952112220393, + -0.959646367964376 + ], + [ + 0.7633708255964905, + -0.5881664520959687, + 0.2670677952449019, + -0.6318293046242122, + -0.7658725196126369, + 0.1192938117434233, + 0.13437526724147114, + -0.2598066749162372, + -0.956265538029449 + ], + [ + 0.7442997945835329, + -0.6089913736192852, + 0.2741301199069658, + -0.653511227388493, + -0.7487276015409728, + 0.11104077795066204, + 0.13762591129615404, + -0.26179473934362935, + -0.9552605000689105 + ], + [ + 0.7123571060191789, + -0.6323577434871346, + 0.30441918099199977, + -0.681968438242464, + -0.7261311101961194, + 0.08747948357463951, + 0.16572990902403528, + -0.26992090518744655, + -0.9485126789862509 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0033438801765441895, + 0.000994652509689331, + -0.006902903318405151, + -0.01473933458328247, + 0.020082175731658936, + 0.007081389427185059, + 1.0 + ], + [ + -0.018522396683692932, + -0.01938038319349289, + -0.0031634271144866943, + -0.0426487922668457, + 0.021944746375083923, + -0.04918795824050903, + 1.0 + ], + [ + -0.0190017968416214, + -0.019090645015239716, + 0.0027302950620651245, + -0.028577297925949097, + -0.0142897367477417, + -0.05305147171020508, + 1.0 + ], + [ + -0.0077576786279678345, + -0.011982224881649017, + -0.0002757906913757324, + -0.009432673454284668, + -0.004218265414237976, + -0.034736037254333496, + 1.0 + ], + [ + 0.001939818263053894, + -0.005066990852355957, + -0.00626780092716217, + -0.009280681610107422, + 0.0020395666360855103, + -0.00501096248626709, + 1.0 + ], + [ + 0.006933808326721191, + -0.005206272006034851, + -0.025228463113307953, + -0.021001771092414856, + 0.055189117789268494, + -0.021210849285125732, + 1.0 + ], + [ + 0.010599091649055481, + -0.007129773497581482, + -0.010633215308189392, + -0.015165150165557861, + 0.0033135563135147095, + -0.003967881202697754, + 1.0 + ], + [ + 0.00317952036857605, + -0.007941603660583496, + -0.014741308987140656, + -0.03737591207027435, + 0.018410831689834595, + -3.814697265625e-06, + 1.0 + ], + [ + 0.0012965798377990723, + -0.008152857422828674, + -0.01037520170211792, + -0.02338048815727234, + 0.013589560985565186, + -0.01956784725189209, + 1.0 + ], + [ + -0.001516982913017273, + -0.0018252134323120117, + -0.007966570556163788, + -0.01195216178894043, + 0.022440999746322632, + -0.009548425674438477, + 1.0 + ], + [ + -0.0004982799291610718, + 0.0006904155015945435, + -0.007246006280183792, + -0.010260984301567078, + 0.0184943825006485, + 0.009398698806762695, + 0.0 + ], + [ + 0.002209395170211792, + -0.00038595497608184814, + -0.0018582642078399658, + 0.005093052983283997, + -0.025918930768966675, + 0.01899862289428711, + 0.0 + ], + [ + 0.0007212609052658081, + 0.0006973892450332642, + -0.0001118592917919159, + 0.010410130023956299, + 0.0020809024572372437, + -0.008435368537902832, + 0.0 + ], + [ + 0.0023749470710754395, + 0.005050048232078552, + 0.0036335811018943787, + 0.01732724905014038, + 0.00561368465423584, + 0.0038640499114990234, + 0.0 + ], + [ + 0.006194263696670532, + 0.016285553574562073, + 0.020845159888267517, + 0.05029146373271942, + -0.02422371506690979, + 0.035005033016204834, + 0.0 + ], + [ + 0.011006951332092285, + 0.026790358126163483, + 0.020257219672203064, + 0.04007519781589508, + -0.029601410031318665, + 0.08466887474060059, + 0.0 + ], + [ + 0.00931432843208313, + 0.019454926252365112, + 0.006906501948833466, + 0.011102169752120972, + -0.007634252309799194, + 0.055914878845214844, + 0.0 + ], + [ + 0.004113376140594482, + 0.012858942151069641, + 0.00019163638353347778, + 0.0033577382564544678, + 0.010261818766593933, + 0.019489645957946777, + 0.0 + ], + [ + 0.002871483564376831, + 0.009492143988609314, + 0.0, + 0.0029926300048828125, + 0.0046387165784835815, + 0.017250239849090576, + 0.0 + ], + [ + 0.0015219151973724365, + 0.009431719779968262, + -0.0011727139353752136, + -0.0001716017723083496, + 0.004864513874053955, + 0.024663686752319336, + 0.0 + ], + [ + -0.006080150604248047, + 0.014238990843296051, + -0.0010064616799354553, + -0.003120511770248413, + 0.01405133306980133, + 0.05033904314041138, + 0.0 + ], + [ + -0.003754228353500366, + 0.0074083879590034485, + -0.0009676292538642883, + -0.0010187327861785889, + 0.005847945809364319, + 0.015806615352630615, + 0.0 + ], + [ + -0.001147538423538208, + 0.002453736960887909, + -0.0019049644470214844, + -0.002092808485031128, + 0.004523783922195435, + 0.005868673324584961, + 0.0 + ], + [ + 0.0024541914463043213, + -0.0021290406584739685, + 0.0005285888910293579, + 0.0013812780380249023, + -0.019275307655334473, + -0.008241236209869385, + 0.0 + ], + [ + 0.00093841552734375, + -0.0006838478147983551, + -0.006122507154941559, + -0.007844030857086182, + 0.01246817409992218, + -0.002823948860168457, + 0.0 + ], + [ + 0.0037535429000854492, + -0.0002908743917942047, + -0.001110762357711792, + 0.002149909734725952, + 0.004895523190498352, + 0.0029053092002868652, + 0.0 + ], + [ + 0.0001055300235748291, + 0.00047339871525764465, + -0.004616580903530121, + -0.004057705402374268, + 0.013920530676841736, + 0.0038875341415405273, + 0.0 + ], + [ + 0.001035153865814209, + 0.0008448399603366852, + -0.005294285714626312, + 0.0006442368030548096, + 0.01651928573846817, + -0.0020546913146972656, + 0.0 + ], + [ + 0.0036788880825042725, + -0.000497031956911087, + 0.000944279134273529, + 0.005233585834503174, + -0.0032599344849586487, + -4.9948692321777344e-05, + 0.0 + ], + [ + 0.0010665357112884521, + -0.00016524270176887512, + 0.00041618943214416504, + 0.002332746982574463, + -0.0022363662719726562, + -0.0014123320579528809, + 0.0 + ], + [ + 0.00013449788093566895, + -3.7886202335357666e-05, + -0.0027183666825294495, + -0.0038273632526397705, + 0.00871015340089798, + -0.0009953975677490234, + 0.0 + ], + [ + -6.523728370666504e-05, + 0.0009831152856349945, + -4.4994056224823e-05, + -0.0002859532833099365, + 0.0018318966031074524, + 0.001974821090698242, + 0.0 + ], + [ + 0.00024899840354919434, + 0.0016123279929161072, + 0.0005596056580543518, + 0.003953129053115845, + -0.0001524016261100769, + 0.008614838123321533, + 0.0 + ], + [ + -0.0028210580348968506, + 0.0002247542142868042, + -0.0017027705907821655, + -0.0017438530921936035, + 0.005996033549308777, + 0.00289076566696167, + 0.0 + ], + [ + -0.0037591755390167236, + -0.002646520733833313, + -0.002064138650894165, + -0.0024611353874206543, + 0.006994299590587616, + -0.00632399320602417, + 0.0 + ], + [ + -0.002306044101715088, + -0.0017500072717666626, + 0.0022763311862945557, + 0.005142629146575928, + -0.009009040892124176, + -0.0062049031257629395, + 0.0 + ], + [ + -0.0031267404556274414, + -0.0033022314310073853, + -0.0013631656765937805, + -0.015041619539260864, + -0.023780308663845062, + -0.0020791292190551758, + 1.0 + ], + [ + -0.002835571765899658, + 0.0026452019810676575, + 0.00077858567237854, + -0.0004528164863586426, + 0.01610301434993744, + 0.02257513999938965, + 1.0 + ], + [ + -0.000557631254196167, + -0.00012519210577011108, + 0.005336038768291473, + 0.0065844058990478516, + -0.013710036873817444, + 0.009443938732147217, + 1.0 + ], + [ + -0.002001821994781494, + -0.006074629724025726, + 0.008324742317199707, + 0.0022029876708984375, + -0.003281131386756897, + -0.02914416790008545, + 1.0 + ], + [ + -0.00027370452880859375, + -0.011571306735277176, + 0.01773706078529358, + 0.009755760431289673, + -0.028433993458747864, + -0.04306834936141968, + 1.0 + ], + [ + -0.0017865300178527832, + -0.011962421238422394, + 0.0212697833776474, + 0.019153863191604614, + -0.027694150805473328, + -0.04915356636047363, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9643021821975708 + ], + [ + 0.6601285338401794 + ], + [ + 0.3814634680747986 + ], + [ + 0.1649598330259323 + ], + [ + 0.10633110255002975 + ], + [ + 0.10473939776420593 + ], + [ + 0.10473939776420593 + ], + [ + 0.10473939776420593 + ], + [ + 0.10473939776420593 + ], + [ + 0.10473939776420593 + ], + [ + 0.10473939776420593 + ], + [ + 0.10473939776420593 + ], + [ + 0.10473939776420593 + ], + [ + 0.10473939776420593 + ], + [ + 0.10473939776420593 + ], + [ + 0.10473939776420593 + ], + [ + 0.10473939776420593 + ], + [ + 0.10473939776420593 + ], + [ + 0.10473939776420593 + ], + [ + 0.10473939776420593 + ], + [ + 0.10473939776420593 + ], + [ + 0.10473939776420593 + ], + [ + 0.10473939776420593 + ], + [ + 0.10473939776420593 + ], + [ + 0.10473939776420593 + ], + [ + 0.10473939776420593 + ], + [ + 0.13900397717952728 + ], + [ + 0.33882394433021545 + ], + [ + 0.6651484370231628 + ], + [ + 0.941448450088501 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2672201097011566, + -0.08549023419618607, + 0.1388016939163208 + ], + [ + 0.24869771301746368, + -0.10487061738967896, + 0.1356382668018341 + ], + [ + 0.22969591617584229, + -0.12396126240491867, + 0.13836856186389923 + ], + [ + 0.22193823754787445, + -0.1359434872865677, + 0.1380927711725235 + ], + [ + 0.22387805581092834, + -0.14101047813892365, + 0.13182497024536133 + ], + [ + 0.23081186413764954, + -0.1462167501449585, + 0.10659650713205338 + ], + [ + 0.24141095578670502, + -0.15334652364253998, + 0.09596329182386398 + ], + [ + 0.24459047615528107, + -0.16128812730312347, + 0.08122198283672333 + ], + [ + 0.24588705599308014, + -0.16944098472595215, + 0.07084678113460541 + ], + [ + 0.24437007308006287, + -0.17126619815826416, + 0.06288021057844162 + ], + [ + 0.2438717931509018, + -0.17057578265666962, + 0.05563420429825783 + ], + [ + 0.2460811883211136, + -0.17096173763275146, + 0.05377594009041786 + ], + [ + 0.2468024492263794, + -0.1702643483877182, + 0.053664080798625946 + ], + [ + 0.24917739629745483, + -0.16521430015563965, + 0.057297661900520325 + ], + [ + 0.25537165999412537, + -0.14892874658107758, + 0.07814282178878784 + ], + [ + 0.26637861132621765, + -0.12213838845491409, + 0.0984000414609909 + ], + [ + 0.2756929397583008, + -0.10268346220254898, + 0.10530654340982437 + ], + [ + 0.27980631589889526, + -0.08982452005147934, + 0.10549817979335785 + ], + [ + 0.2826777994632721, + -0.08033237606287003, + 0.10549817979335785 + ], + [ + 0.28419971466064453, + -0.07090065628290176, + 0.10432546585798264 + ], + [ + 0.2781195640563965, + -0.05666166543960571, + 0.10331900417804718 + ], + [ + 0.2743653357028961, + -0.049253277480602264, + 0.10235137492418289 + ], + [ + 0.2732177972793579, + -0.046799540519714355, + 0.10044641047716141 + ], + [ + 0.27567198872566223, + -0.048928581178188324, + 0.10097499936819077 + ], + [ + 0.276610404253006, + -0.04961242899298668, + 0.0948524922132492 + ], + [ + 0.28036394715309143, + -0.049903303384780884, + 0.09374172985553741 + ], + [ + 0.28046947717666626, + -0.04942990466952324, + 0.0891251489520073 + ], + [ + 0.28150463104248047, + -0.048585064709186554, + 0.08383086323738098 + ], + [ + 0.28518351912498474, + -0.04908209666609764, + 0.08477514237165451 + ], + [ + 0.2862500548362732, + -0.049247339367866516, + 0.08519133180379868 + ], + [ + 0.28638455271720886, + -0.049285225570201874, + 0.08247296512126923 + ], + [ + 0.2863193154335022, + -0.04830211028456688, + 0.0824279710650444 + ], + [ + 0.2865683138370514, + -0.04668978229165077, + 0.08298757672309875 + ], + [ + 0.28374725580215454, + -0.04646502807736397, + 0.08128480613231659 + ], + [ + 0.2799880802631378, + -0.04911154881119728, + 0.07922066748142242 + ], + [ + 0.27768203616142273, + -0.050861556082963943, + 0.08149699866771698 + ], + [ + 0.2745552957057953, + -0.05416378751397133, + 0.0801338329911232 + ], + [ + 0.27171972393989563, + -0.05151858553290367, + 0.08091241866350174 + ], + [ + 0.27116209268569946, + -0.05164377763867378, + 0.08624845743179321 + ], + [ + 0.26916027069091797, + -0.05771840736269951, + 0.09457319974899292 + ], + [ + 0.2688865661621094, + -0.06928971409797668, + 0.1123102605342865 + ], + [ + 0.2671000361442566, + -0.08125213533639908, + 0.1335800439119339 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.639066703584328, + -0.6499460792696786, + 0.4112953226233341, + -0.7275421078098366, + -0.6843052074480039, + 0.04908018360971886, + 0.2495520581631817, + -0.33060017710448397, + -0.9101798136439871 + ], + [ + 0.6057839654399959, + -0.7037937429727082, + 0.3710797145739154, + -0.7621881749400031, + -0.6471348507369294, + 0.01690180296058924, + 0.22824323253367293, + -0.2930714116289012, + -0.9284471845443995 + ], + [ + 0.5625667731892321, + -0.7452279975242523, + 0.35798583409046836, + -0.7905002965055664, + -0.611672540760777, + -0.031080284809946207, + 0.24213200310588243, + -0.26550317245797395, + -0.9332096005114202 + ], + [ + 0.5342063729247775, + -0.7687551875322305, + 0.35162339621936234, + -0.8087014232339542, + -0.5858891765598733, + -0.052305648350542536, + 0.24622258057686452, + -0.2564163302761327, + -0.9346791462217346 + ], + [ + 0.5304208977351639, + -0.7751853884867667, + 0.34313449946404895, + -0.8117868607371536, + -0.5810797110035745, + -0.05786589837304586, + 0.24424529469437106, + -0.2478587963672521, + -0.9375021349751888 + ], + [ + 0.519431600765918, + -0.8010443105167613, + 0.2975211332233089, + -0.8330336982941482, + -0.5522639359000125, + -0.032548465564454024, + 0.19038295520379322, + -0.23093842835906037, + -0.9541602447570938 + ], + [ + 0.5164509666428341, + -0.8080239167301434, + 0.28350617108938003, + -0.835620218479561, + -0.5478962545742474, + -0.03935155259557435, + 0.1871289649462453, + -0.21658034124913086, + -0.9581626721296114 + ], + [ + 0.5181714130201291, + -0.8198067890219718, + 0.24375236491613128, + -0.838411060734656, + -0.5432064276743347, + -0.04465053382745615, + 0.16901266214846628, + -0.18122804862043856, + -0.9688091217710103 + ], + [ + 0.5027900528716871, + -0.8368264168749356, + 0.2166188144034183, + -0.8502880347410012, + -0.5239058905871206, + -0.05032768407548457, + 0.15560340841245057, + -0.1588841270497858, + -0.9749581598520295 + ], + [ + 0.4962722091393835, + -0.8459708233061797, + 0.19505706998358355, + -0.8578570704116973, + -0.5123641687129779, + -0.03955003620376735, + 0.1333984302028182, + -0.1477035027808202, + -0.9799941500262643 + ], + [ + 0.505482015948436, + -0.8443757416759188, + 0.17753179552392012, + -0.8551327309241725, + -0.517684116447211, + -0.027407445711653856, + 0.11504757300730772, + -0.1379592782219175, + -0.9837333447116732 + ], + [ + 0.5198952597369186, + -0.831528438405344, + 0.19562559910771332, + -0.8425541801369, + -0.5368956168824573, + -0.04295986622699667, + 0.1407528771887731, + -0.14249053545964158, + -0.9797372478718498 + ], + [ + 0.5129201789331415, + -0.8341143844173795, + 0.20289426741830488, + -0.8471583746452223, + -0.5300261887032169, + -0.03734872899052272, + 0.1386923873601568, + -0.15272666105417987, + -0.9784881137201321 + ], + [ + 0.5165874829237798, + -0.8289139248786882, + 0.21456718674737305, + -0.8458212355957643, + -0.5329856529941107, + -0.022643566805962703, + 0.13313079997404123, + -0.16978809983226145, + -0.9764467170581413 + ], + [ + 0.5439367849057399, + -0.7949970709911461, + 0.2685375786401326, + -0.8242894851898167, + -0.5661326524660693, + -0.0063768657850002824, + 0.15709748130353285, + -0.2178840905785263, + -0.9632481011872563 + ], + [ + 0.6085486640767184, + -0.7282456878173365, + 0.3151614532678392, + -0.7713471273410377, + -0.636114999777948, + 0.019527319330375298, + 0.18625824167851135, + -0.2549822057182738, + -0.9488371526104327 + ], + [ + 0.6497442193137094, + -0.6866924432605797, + 0.3260152417253427, + -0.7350456239881158, + -0.6768833000947043, + 0.03920368233755034, + 0.19375340029103869, + -0.2651084427582753, + -0.9445512868309176 + ], + [ + 0.6652563090100538, + -0.6741399745283676, + 0.3208883576342574, + -0.7236692370575943, + -0.6879516798313404, + 0.05500292313791663, + 0.18367601546962645, + -0.2688080745813417, + -0.945518556338834 + ], + [ + 0.6782202435677178, + -0.6620816586026738, + 0.31884977427760386, + -0.7126958563591702, + -0.6983803670955213, + 0.0657987779825327, + 0.17911425834761271, + -0.27186897615847644, + -0.9455185573319687 + ], + [ + 0.69619769949588, + -0.645646717992235, + 0.3137659617652929, + -0.6963613288178013, + -0.7135731941218749, + 0.07677366969092075, + 0.17432631167941925, + -0.27194413429335046, + -0.9463914226575015 + ], + [ + 0.732099834447079, + -0.6126930926123079, + 0.2977196779988279, + -0.6620257750659596, + -0.7429035441608323, + 0.09907672391429824, + 0.16047337957080382, + -0.26963215375477867, + -0.9494981812045163 + ], + [ + 0.7431655444323995, + -0.6023580010794383, + 0.2913242387857189, + -0.6509787586668621, + -0.7515645380816858, + 0.10666489986220078, + 0.15469851108865385, + -0.26891556971221564, + -0.950659132935306 + ], + [ + 0.74749457972063, + -0.5994573126283099, + 0.2861866237697418, + -0.6470575832685327, + -0.754521190956603, + 0.10960956314170658, + 0.15022761804330428, + -0.2671117794742017, + -0.9518839005063384 + ], + [ + 0.7398253137732144, + -0.601379993531313, + 0.3016630711251265, + -0.6511614384830177, + -0.7528197134979295, + 0.09618347052182377, + 0.16925509189708965, + -0.26759032558964724, + -0.9485505424160245 + ], + [ + 0.7395062839966969, + -0.6082845234263441, + 0.2883060777877952, + -0.6545959882941383, + -0.7496910454552455, + 0.09730071157726182, + 0.15695396789701466, + -0.2606784895694438, + -0.952581847946504 + ], + [ + 0.7419729013143617, + -0.6064491724808866, + 0.2858244477164196, + -0.6529445254448484, + -0.7503923894379917, + 0.10283340199148887, + 0.15211725874058568, + -0.26292710600238456, + -0.9527484854474766 + ], + [ + 0.7460285395152375, + -0.6073999102121259, + 0.27295927773765666, + -0.6513848598205272, + -0.7507855594836974, + 0.10963032457921372, + 0.13834443474659186, + -0.25958889179826805, + -0.9557585597992797 + ], + [ + 0.7463052859578196, + -0.6120007633985443, + 0.26169349581335805, + -0.6543338201580613, + -0.7466286535045017, + 0.11997043620581124, + 0.12196586386680065, + -0.2607694755251345, + -0.9576657082121983 + ], + [ + 0.7459696866539074, + -0.6100087369907684, + 0.2672425254116543, + -0.6541054842764439, + -0.746531163270629, + 0.12180820048453309, + 0.12520080683825457, + -0.2656700266509735, + -0.9558996782645766 + ], + [ + 0.7448330026157225, + -0.6099871579692471, + 0.27044309073638406, + -0.6549718544348699, + -0.7457791643913587, + 0.12175922083306188, + 0.12741926115228752, + -0.2678228987079475, + -0.9550053543384339 + ], + [ + 0.7449851466134036, + -0.6134875934390958, + 0.261973479615233, + -0.6564217701381836, + -0.7441091657205492, + 0.1241451133928464, + 0.11877538050479929, + -0.2644513607205978, + -0.957056887963806 + ], + [ + 0.7464422927459323, + -0.612455506381882, + 0.2602348099365424, + -0.6550917022857008, + -0.7450356045740125, + 0.12560577022357794, + 0.1169562533455074, + -0.2642351237431317, + -0.9573406051055358 + ], + [ + 0.7520445270206733, + -0.6049544085813174, + 0.26164707702605816, + -0.6486253445550876, + -0.749799534394672, + 0.1307127408569142, + 0.11710760769072776, + -0.2680127268611724, + -0.9562713979103384 + ], + [ + 0.7544359040398056, + -0.6044518623835766, + 0.25586014296225734, + -0.6468940985998315, + -0.7507333992435163, + 0.13389319794891172, + 0.11115076199627495, + -0.26652825238856137, + -0.9573965734147718 + ], + [ + 0.7508984933977154, + -0.6112128661636504, + 0.2501405302006373, + -0.6521460025215606, + -0.7460071173353908, + 0.13482941919361813, + 0.10419714011521214, + -0.2643713545771463, + -0.9587756478294882 + ], + [ + 0.7461023579266332, + -0.612710226501225, + 0.260609765429339, + -0.6561461095910632, + -0.7431064721380287, + 0.13139655221916924, + 0.11315279212122814, + -0.2690333611420526, + -0.9564609224781635 + ], + [ + 0.7425092617721236, + -0.6135765211854062, + 0.2687077386913734, + -0.6557289724974639, + -0.7477174295706737, + 0.10458565935942449, + 0.1367461546444243, + -0.2538552701171283, + -0.9575270184301452 + ], + [ + 0.7587067583458762, + -0.5997846338840591, + 0.25420945654490834, + -0.640138173903658, + -0.7587929346372213, + 0.12023477307303455, + 0.12077737019650119, + -0.253952112220393, + -0.959646367964376 + ], + [ + 0.7633708255964905, + -0.5881664520959687, + 0.2670677952449019, + -0.6318293046242122, + -0.7658725196126369, + 0.1192938117434233, + 0.13437526724147114, + -0.2598066749162372, + -0.956265538029449 + ], + [ + 0.7442997945835329, + -0.6089913736192852, + 0.2741301199069658, + -0.653511227388493, + -0.7487276015409728, + 0.11104077795066204, + 0.13762591129615404, + -0.26179473934362935, + -0.9552605000689105 + ], + [ + 0.7123571060191789, + -0.6323577434871346, + 0.30441918099199977, + -0.681968438242464, + -0.7261311101961194, + 0.08747948357463951, + 0.16572990902403528, + -0.26992090518744655, + -0.9485126789862509 + ], + [ + 0.6745740287559073, + -0.6557727516513743, + 0.33898669283558847, + -0.7125383493339952, + -0.6984482212608493, + 0.06677711393839605, + 0.1929740408873953, + -0.2865871253373763, + -0.9384182644932105 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006003.json b/json/chunk-0006/episode_0006003.json new file mode 100644 index 0000000000000000000000000000000000000000..43d796658c30e98f2776a2ced46936d1e6ee83a8 --- /dev/null +++ b/json/chunk-0006/episode_0006003.json @@ -0,0 +1,1342 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 21, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPush the tin can to the lower left side of the table." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006003.mp4", + "start": 0, + "end": 21, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.35139352083206177, + 0.08418770879507065, + 0.02361416444182396, + -0.19433455169200897, + -0.17331275343894958, + 1.6346514225006104, + 0.0, + 0.9994885921478271 + ], + [ + 0.34812018275260925, + 0.08322568237781525, + 0.01042893622070551, + -0.15861909091472626, + -0.1690085232257843, + 1.6350011825561523, + 0.0, + 0.9994885921478271 + ], + [ + 0.34534814953804016, + 0.08279608935117722, + 0.0016641482943668962, + -0.13812559843063354, + -0.16170749068260193, + 1.6663140058517456, + 0.0, + 0.9994885921478271 + ], + [ + 0.3440185785293579, + 0.0816270187497139, + -0.012241087853908539, + -0.10826680809259415, + -0.14985433220863342, + 1.6919395923614502, + 0.0, + 0.9994885921478271 + ], + [ + 0.35158243775367737, + 0.08388347923755646, + -0.02071486786007881, + -0.09451520442962646, + -0.14738844335079193, + 1.7351489067077637, + 0.0, + 0.9994885921478271 + ], + [ + 0.3611835241317749, + 0.0856875330209732, + -0.02829844132065773, + -0.06003321707248688, + -0.13748343288898468, + 1.7902289628982544, + 0.0, + 0.9994885921478271 + ], + [ + 0.3704875409603119, + 0.0974334105849266, + -0.02965601347386837, + -0.05427888408303261, + -0.12482745200395584, + 1.85635244846344, + 0.0, + 0.9994885921478271 + ], + [ + 0.3750487267971039, + 0.10722456872463226, + -0.030122708529233932, + -0.04697732627391815, + -0.10648049414157867, + 1.9353222846984863, + 0.0, + 0.9994885921478271 + ], + [ + 0.37400877475738525, + 0.1253705471754074, + -0.029441267251968384, + -0.05675017833709717, + -0.10108133405447006, + 2.0509748458862305, + 0.0, + 0.9994885921478271 + ], + [ + 0.36779356002807617, + 0.13920684158802032, + -0.029573095962405205, + -0.059603091329336166, + -0.10984034091234207, + 2.1489055156707764, + 0.0, + 0.9994885921478271 + ], + [ + 0.3560362160205841, + 0.15881936252117157, + -0.03169003501534462, + -0.05909338966012001, + -0.12627539038658142, + 2.2409989833831787, + 0.0, + 0.9994885921478271 + ], + [ + 0.34100085496902466, + 0.1685875654220581, + -0.0334739089012146, + -0.05828466638922691, + -0.15708090364933014, + 2.2932071685791016, + 0.0, + 0.9994885921478271 + ], + [ + 0.3271755874156952, + 0.1807728111743927, + -0.035543713718652725, + -0.057327572256326675, + -0.16883830726146698, + 2.346794366836548, + 0.0, + 0.9994885921478271 + ], + [ + 0.3144363760948181, + 0.19710013270378113, + -0.0270426906645298, + -0.07090264558792114, + -0.15439294278621674, + 2.4271240234375, + 0.0, + 0.9994885921478271 + ], + [ + 0.3084414303302765, + 0.20456303656101227, + -0.02605394460260868, + -0.08185622096061707, + -0.16797292232513428, + 2.4604029655456543, + 0.0, + 0.9994885921478271 + ], + [ + 0.29524603486061096, + 0.21912188827991486, + -0.02430373802781105, + -0.07874953746795654, + -0.20879386365413666, + 2.51478910446167, + 0.0, + 0.9994885921478271 + ], + [ + 0.2816616892814636, + 0.23419633507728577, + -0.022814452648162842, + -0.0843571126461029, + -0.23346500098705292, + 2.5866057872772217, + 0.0, + 0.9994885921478271 + ], + [ + 0.27804598212242126, + 0.23833651840686798, + -0.021912118420004845, + -0.09353809058666229, + -0.26812663674354553, + 2.5717830657958984, + 0.0, + 0.9994885921478271 + ], + [ + 0.27285096049308777, + 0.23596897721290588, + -0.021625440567731857, + -0.07953180372714996, + -0.2759190499782562, + 2.551344633102417, + 0.0, + 0.9994885921478271 + ], + [ + 0.28246715664863586, + 0.23003466427326202, + -0.003060991642996669, + -0.11421982944011688, + -0.22479812800884247, + 2.532604217529297, + 0.0, + 0.9994885921478271 + ], + [ + 0.30041390657424927, + 0.2134329080581665, + 0.01802435703575611, + -0.15070776641368866, + -0.15347209572792053, + 2.469006061553955, + 0.0, + 0.9994885921478271 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.35139352083206177, + 0.08418770879507065, + 0.02361416444182396 + ], + [ + 0.34812018275260925, + 0.08322568237781525, + 0.01042893622070551 + ], + [ + 0.34534814953804016, + 0.08279608935117722, + 0.0016641482943668962 + ], + [ + 0.3440185785293579, + 0.0816270187497139, + -0.012241087853908539 + ], + [ + 0.35158243775367737, + 0.08388347923755646, + -0.02071486786007881 + ], + [ + 0.3611835241317749, + 0.0856875330209732, + -0.02829844132065773 + ], + [ + 0.3704875409603119, + 0.0974334105849266, + -0.02965601347386837 + ], + [ + 0.3750487267971039, + 0.10722456872463226, + -0.030122708529233932 + ], + [ + 0.37400877475738525, + 0.1253705471754074, + -0.029441267251968384 + ], + [ + 0.36779356002807617, + 0.13920684158802032, + -0.029573095962405205 + ], + [ + 0.3560362160205841, + 0.15881936252117157, + -0.03169003501534462 + ], + [ + 0.34100085496902466, + 0.1685875654220581, + -0.0334739089012146 + ], + [ + 0.3271755874156952, + 0.1807728111743927, + -0.035543713718652725 + ], + [ + 0.3144363760948181, + 0.19710013270378113, + -0.0270426906645298 + ], + [ + 0.3084414303302765, + 0.20456303656101227, + -0.02605394460260868 + ], + [ + 0.29524603486061096, + 0.21912188827991486, + -0.02430373802781105 + ], + [ + 0.2816616892814636, + 0.23419633507728577, + -0.022814452648162842 + ], + [ + 0.27804598212242126, + 0.23833651840686798, + -0.021912118420004845 + ], + [ + 0.27285096049308777, + 0.23596897721290588, + -0.021625440567731857 + ], + [ + 0.28246715664863586, + 0.23003466427326202, + -0.003060991642996669 + ], + [ + 0.30041390657424927, + 0.2134329080581665, + 0.01802435703575611 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + -0.06285574039892533, + 0.9813017553848169, + 0.1819231177656652, + 0.9830113886249721, + 0.02937665651368293, + 0.1811784255524958, + 0.1724464140900213, + 0.19022060070022456, + -0.9664772927165639 + ], + [ + -0.06324659234816288, + 0.9871164620825987, + 0.14697264657710468, + 0.9837209558904199, + 0.03684124703554814, + 0.17588576821023372, + 0.1682050816663505, + 0.15570424786241038, + -0.9733772329879188 + ], + [ + -0.09412825292395649, + 0.9880751098757278, + 0.12185010974780357, + 0.9824549328590194, + 0.07239712590671427, + 0.17187484126953195, + 0.16100365493510738, + 0.13589051992142587, + -0.9775538807109412 + ], + [ + -0.11949281862215505, + 0.9888084185532033, + 0.08932736252708738, + 0.9815460958937943, + 0.10412579016964257, + 0.16039040325779397, + 0.14929409878954672, + 0.10684442531017013, + -0.9830033269764433 + ], + [ + -0.16183976553829188, + 0.9843889845466606, + 0.06918249340479558, + 0.9758285625594926, + 0.14921077404527122, + 0.15967079069724965, + 0.1468553941249166, + 0.09335133642323983, + -0.9847431244768405 + ], + [ + -0.21562191572854628, + 0.9760527260952748, + 0.028779599363682656, + 0.9668114018544486, + 0.20925828127345392, + 0.14658337205398117, + 0.13705073039494342, + 0.0594310323018411, + -0.988779575890274 + ], + [ + -0.27949930444138177, + 0.9599947570046569, + 0.017035414299438785, + 0.9520393951309974, + 0.274795171064158, + 0.13456821347712306, + 0.12450352981095847, + 0.05383010759221892, + -0.9907578869639251 + ], + [ + -0.35448729719580185, + 0.9350414065612949, + 0.006026951359563881, + 0.9290013167758551, + 0.35145018241164416, + 0.11592809284875367, + 0.10627939384256219, + 0.046694082052197536, + -0.9932393231974659 + ], + [ + -0.45957961386408785, + 0.8881285890081559, + 0.00376668380914124, + 0.8823853431016294, + 0.45611757424350075, + 0.11555459638475885, + 0.10090928995863505, + 0.05643020337201243, + -0.9932939883777802 + ], + [ + -0.5431482977406471, + 0.8395783400986365, + -0.00990643723321663, + 0.8324502800720555, + 0.5400023383750358, + 0.12419342074944914, + 0.10961960531489655, + 0.059208828621343836, + -0.992208575221911 + ], + [ + -0.6161991735119547, + 0.7869478668907391, + -0.03180618429330861, + 0.7774559004068052, + 0.6142315615790777, + 0.13521061971151452, + 0.12594007100930213, + 0.05858876646801541, + -0.9903062430167391 + ], + [ + -0.6530546966179488, + 0.7549651934994814, + -0.059557701681055744, + 0.7409773469006995, + 0.6532360519321952, + 0.15567669008569945, + 0.15643572036219722, + 0.05753448583527087, + -0.9860109777961054 + ], + [ + -0.6904690988367609, + 0.7192935021458688, + -0.0766112349612114, + 0.7035736587062953, + 0.6924064574015297, + 0.15986683371888288, + 0.16803728849927518, + 0.056481461732096214, + -0.9841612236592219 + ], + [ + -0.7464555832237612, + 0.6617998374904585, + -0.06946248895394935, + 0.6474223384042724, + 0.7464053149516843, + 0.15402409404707046, + 0.15378029135496676, + 0.0700005779224706, + -0.9856224130372147 + ], + [ + -0.7658908359815524, + 0.6382281508973033, + -0.0779490523463066, + 0.6208548048426179, + 0.765614917206765, + 0.16844319474028296, + 0.1671841459687885, + 0.08061405555290559, + -0.9826244630498466 + ], + [ + -0.7923167028494658, + 0.5979477194689876, + -0.1212137251617475, + 0.5738198309911219, + 0.797831900193926, + 0.18491906498322153, + 0.2072801098684362, + 0.07695962457539396, + -0.9752497999169971 + ], + [ + -0.826849891980607, + 0.5416255277071101, + -0.15152901988613687, + 0.5126367899470546, + 0.8366137107735266, + 0.19308293694298717, + 0.23134990322980054, + 0.08197125521635468, + -0.9694111282597376 + ], + [ + -0.8119179849694426, + 0.5579483944538589, + -0.17170548858298296, + 0.5201958068561848, + 0.8249739345034474, + 0.22093965221106043, + 0.26492547671449534, + 0.09006440204799339, + -0.9600535897913901 + ], + [ + -0.7993777415840683, + 0.5727897883086597, + -0.1814030999439517, + 0.5355150714842198, + 0.8161301022853379, + 0.2171526291735255, + 0.27243133900710725, + 0.07644288425383111, + -0.9591338024351711 + ], + [ + -0.7995894600879427, + 0.589148814951559, + -0.11644899809550038, + 0.5576450637756872, + 0.8003496565585941, + 0.22016450688780467, + 0.22290957395967056, + 0.11110401022336772, + -0.9684870782562893 + ], + [ + -0.7730188786655547, + 0.6339026012719482, + -0.024684110826718883, + 0.6156886182357904, + 0.759047347895391, + 0.2116002103682241, + 0.1528703326402856, + 0.14837323125695842, + -0.9770445463973572 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0032733380794525146, + -0.0009620264172554016, + -0.01318522822111845, + 0.035715460777282715, + 0.004304230213165283, + 0.0003497600555419922, + 1.0 + ], + [ + -0.002772033214569092, + -0.000429593026638031, + -0.008764787577092648, + 0.020493492484092712, + 0.007301032543182373, + 0.03131282329559326, + 1.0 + ], + [ + -0.001329571008682251, + -0.0011690706014633179, + -0.0139052364975214, + 0.029858790338039398, + 0.011853158473968506, + 0.02562558650970459, + 1.0 + ], + [ + 0.007563859224319458, + 0.00225646048784256, + -0.008473780006170273, + 0.013751603662967682, + 0.0024658888578414917, + 0.04320931434631348, + 1.0 + ], + [ + 0.009601086378097534, + 0.001804053783416748, + -0.0075835734605789185, + 0.03448198735713959, + 0.009905010461807251, + 0.05508005619049072, + 1.0 + ], + [ + 0.009304016828536987, + 0.0117458775639534, + -0.00135757215321064, + 0.005754332989454269, + 0.012655980885028839, + 0.06612348556518555, + 1.0 + ], + [ + 0.004561185836791992, + 0.009791158139705658, + -0.00046669505536556244, + 0.007301557809114456, + 0.018346957862377167, + 0.07896983623504639, + 1.0 + ], + [ + -0.001039952039718628, + 0.018145978450775146, + 0.0006814412772655487, + -0.009772852063179016, + 0.005399160087108612, + 0.11565256118774414, + 1.0 + ], + [ + -0.006215214729309082, + 0.013836294412612915, + -0.00013182871043682098, + -0.0028529129922389984, + -0.00875900685787201, + 0.0979306697845459, + 1.0 + ], + [ + -0.011757344007492065, + 0.019612520933151245, + -0.002116939052939415, + 0.000509701669216156, + -0.01643504947423935, + 0.09209346771240234, + 1.0 + ], + [ + -0.015035361051559448, + 0.009768202900886536, + -0.0017838738858699799, + 0.0008087232708930969, + -0.030805513262748718, + 0.05220818519592285, + 1.0 + ], + [ + -0.013825267553329468, + 0.012185245752334595, + -0.0020698048174381256, + 0.000957094132900238, + -0.01175740361213684, + 0.05358719825744629, + 1.0 + ], + [ + -0.012739211320877075, + 0.016327321529388428, + 0.008501023054122925, + -0.013575073331594467, + 0.014445364475250244, + 0.08032965660095215, + 1.0 + ], + [ + -0.005994945764541626, + 0.00746290385723114, + 0.0009887460619211197, + -0.010953575372695923, + -0.013579979538917542, + 0.0332789421081543, + 1.0 + ], + [ + -0.013195395469665527, + 0.014558851718902588, + 0.0017502065747976303, + 0.0031066834926605225, + -0.04082094132900238, + 0.054386138916015625, + 1.0 + ], + [ + -0.013584345579147339, + 0.01507444679737091, + 0.0014892853796482086, + -0.005607575178146362, + -0.02467113733291626, + 0.07181668281555176, + 1.0 + ], + [ + -0.0036157071590423584, + 0.004140183329582214, + 0.0009023342281579971, + -0.009180977940559387, + -0.034661635756492615, + -0.014822721481323242, + 1.0 + ], + [ + -0.005195021629333496, + -0.002367541193962097, + 0.00028667785227298737, + 0.014006286859512329, + -0.007792413234710693, + -0.020438432693481445, + 1.0 + ], + [ + 0.009616196155548096, + -0.00593431293964386, + 0.01856444962322712, + -0.03468802571296692, + 0.05112092196941376, + -0.018740415573120117, + 1.0 + ], + [ + 0.017946749925613403, + -0.01660175621509552, + 0.02108534798026085, + -0.03648793697357178, + 0.07132603228092194, + -0.0635981559753418, + 1.0 + ], + [ + 0.01065799593925476, + -0.010617315769195557, + 0.025547707453370094, + -0.05790163576602936, + 0.04815138131380081, + -0.04320788383483887, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.34812018275260925, + 0.08322568237781525, + 0.01042893622070551 + ], + [ + 0.34534814953804016, + 0.08279608935117722, + 0.0016641482943668962 + ], + [ + 0.3440185785293579, + 0.0816270187497139, + -0.012241087853908539 + ], + [ + 0.35158243775367737, + 0.08388347923755646, + -0.02071486786007881 + ], + [ + 0.3611835241317749, + 0.0856875330209732, + -0.02829844132065773 + ], + [ + 0.3704875409603119, + 0.0974334105849266, + -0.02965601347386837 + ], + [ + 0.3750487267971039, + 0.10722456872463226, + -0.030122708529233932 + ], + [ + 0.37400877475738525, + 0.1253705471754074, + -0.029441267251968384 + ], + [ + 0.36779356002807617, + 0.13920684158802032, + -0.029573095962405205 + ], + [ + 0.3560362160205841, + 0.15881936252117157, + -0.03169003501534462 + ], + [ + 0.34100085496902466, + 0.1685875654220581, + -0.0334739089012146 + ], + [ + 0.3271755874156952, + 0.1807728111743927, + -0.035543713718652725 + ], + [ + 0.3144363760948181, + 0.19710013270378113, + -0.0270426906645298 + ], + [ + 0.3084414303302765, + 0.20456303656101227, + -0.02605394460260868 + ], + [ + 0.29524603486061096, + 0.21912188827991486, + -0.02430373802781105 + ], + [ + 0.2816616892814636, + 0.23419633507728577, + -0.022814452648162842 + ], + [ + 0.27804598212242126, + 0.23833651840686798, + -0.021912118420004845 + ], + [ + 0.27285096049308777, + 0.23596897721290588, + -0.021625440567731857 + ], + [ + 0.28246715664863586, + 0.23003466427326202, + -0.003060991642996669 + ], + [ + 0.30041390657424927, + 0.2134329080581665, + 0.01802435703575611 + ], + [ + 0.31107190251350403, + 0.20281559228897095, + 0.043572064489126205 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + -0.06324659234816288, + 0.9871164620825987, + 0.14697264657710468, + 0.9837209558904199, + 0.03684124703554814, + 0.17588576821023372, + 0.1682050816663505, + 0.15570424786241038, + -0.9733772329879188 + ], + [ + -0.09412825292395649, + 0.9880751098757278, + 0.12185010974780357, + 0.9824549328590194, + 0.07239712590671427, + 0.17187484126953195, + 0.16100365493510738, + 0.13589051992142587, + -0.9775538807109412 + ], + [ + -0.11949281862215505, + 0.9888084185532033, + 0.08932736252708738, + 0.9815460958937943, + 0.10412579016964257, + 0.16039040325779397, + 0.14929409878954672, + 0.10684442531017013, + -0.9830033269764433 + ], + [ + -0.16183976553829188, + 0.9843889845466606, + 0.06918249340479558, + 0.9758285625594926, + 0.14921077404527122, + 0.15967079069724965, + 0.1468553941249166, + 0.09335133642323983, + -0.9847431244768405 + ], + [ + -0.21562191572854628, + 0.9760527260952748, + 0.028779599363682656, + 0.9668114018544486, + 0.20925828127345392, + 0.14658337205398117, + 0.13705073039494342, + 0.0594310323018411, + -0.988779575890274 + ], + [ + -0.27949930444138177, + 0.9599947570046569, + 0.017035414299438785, + 0.9520393951309974, + 0.274795171064158, + 0.13456821347712306, + 0.12450352981095847, + 0.05383010759221892, + -0.9907578869639251 + ], + [ + -0.35448729719580185, + 0.9350414065612949, + 0.006026951359563881, + 0.9290013167758551, + 0.35145018241164416, + 0.11592809284875367, + 0.10627939384256219, + 0.046694082052197536, + -0.9932393231974659 + ], + [ + -0.45957961386408785, + 0.8881285890081559, + 0.00376668380914124, + 0.8823853431016294, + 0.45611757424350075, + 0.11555459638475885, + 0.10090928995863505, + 0.05643020337201243, + -0.9932939883777802 + ], + [ + -0.5431482977406471, + 0.8395783400986365, + -0.00990643723321663, + 0.8324502800720555, + 0.5400023383750358, + 0.12419342074944914, + 0.10961960531489655, + 0.059208828621343836, + -0.992208575221911 + ], + [ + -0.6161991735119547, + 0.7869478668907391, + -0.03180618429330861, + 0.7774559004068052, + 0.6142315615790777, + 0.13521061971151452, + 0.12594007100930213, + 0.05858876646801541, + -0.9903062430167391 + ], + [ + -0.6530546966179488, + 0.7549651934994814, + -0.059557701681055744, + 0.7409773469006995, + 0.6532360519321952, + 0.15567669008569945, + 0.15643572036219722, + 0.05753448583527087, + -0.9860109777961054 + ], + [ + -0.6904690988367609, + 0.7192935021458688, + -0.0766112349612114, + 0.7035736587062953, + 0.6924064574015297, + 0.15986683371888288, + 0.16803728849927518, + 0.056481461732096214, + -0.9841612236592219 + ], + [ + -0.7464555832237612, + 0.6617998374904585, + -0.06946248895394935, + 0.6474223384042724, + 0.7464053149516843, + 0.15402409404707046, + 0.15378029135496676, + 0.0700005779224706, + -0.9856224130372147 + ], + [ + -0.7658908359815524, + 0.6382281508973033, + -0.0779490523463066, + 0.6208548048426179, + 0.765614917206765, + 0.16844319474028296, + 0.1671841459687885, + 0.08061405555290559, + -0.9826244630498466 + ], + [ + -0.7923167028494658, + 0.5979477194689876, + -0.1212137251617475, + 0.5738198309911219, + 0.797831900193926, + 0.18491906498322153, + 0.2072801098684362, + 0.07695962457539396, + -0.9752497999169971 + ], + [ + -0.826849891980607, + 0.5416255277071101, + -0.15152901988613687, + 0.5126367899470546, + 0.8366137107735266, + 0.19308293694298717, + 0.23134990322980054, + 0.08197125521635468, + -0.9694111282597376 + ], + [ + -0.8119179849694426, + 0.5579483944538589, + -0.17170548858298296, + 0.5201958068561848, + 0.8249739345034474, + 0.22093965221106043, + 0.26492547671449534, + 0.09006440204799339, + -0.9600535897913901 + ], + [ + -0.7993777415840683, + 0.5727897883086597, + -0.1814030999439517, + 0.5355150714842198, + 0.8161301022853379, + 0.2171526291735255, + 0.27243133900710725, + 0.07644288425383111, + -0.9591338024351711 + ], + [ + -0.7995894600879427, + 0.589148814951559, + -0.11644899809550038, + 0.5576450637756872, + 0.8003496565585941, + 0.22016450688780467, + 0.22290957395967056, + 0.11110401022336772, + -0.9684870782562893 + ], + [ + -0.7730188786655547, + 0.6339026012719482, + -0.024684110826718883, + 0.6156886182357904, + 0.759047347895391, + 0.2116002103682241, + 0.1528703326402856, + 0.14837323125695842, + -0.9770445463973572 + ], + [ + -0.7503909699284755, + 0.6584184578030893, + 0.05829688391332055, + 0.6525809474109491, + 0.7239260118898337, + 0.2237615614566275, + 0.1051261115329091, + 0.20595209086940974, + -0.9728988832044615 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006005.json b/json/chunk-0006/episode_0006005.json new file mode 100644 index 0000000000000000000000000000000000000000..5308fa3f1c4bc3da1fc782960afb24425a8c341e --- /dev/null +++ b/json/chunk-0006/episode_0006005.json @@ -0,0 +1,2182 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 35, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the yellow towel to the back left of the table against the brick wall." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006005.mp4", + "start": 0, + "end": 35, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.28795021772384644, + -0.11668706685304642, + 0.1118445172905922, + 0.16287687420845032, + -0.17212772369384766, + 0.24965800344944, + 0.0, + 0.9994885921478271 + ], + [ + 0.2856452465057373, + -0.11638660728931427, + 0.10221121460199356, + 0.17804645001888275, + -0.14389455318450928, + 0.2581886053085327, + 0.0, + 0.9994885921478271 + ], + [ + 0.29409411549568176, + -0.09652282297611237, + 0.09834248572587967, + 0.1334875524044037, + -0.14024777710437775, + 0.3878360986709595, + 0.0, + 0.9988223910331726 + ], + [ + 0.30444854497909546, + -0.06875589489936829, + 0.09384247660636902, + 0.07226912677288055, + -0.13448405265808105, + 0.5614513754844666, + 0.0, + 0.9994885921478271 + ], + [ + 0.3140764832496643, + -0.031052373349666595, + 0.09237353503704071, + 0.029909811913967133, + -0.14653727412223816, + 0.7898487448692322, + 0.0, + 0.9994885921478271 + ], + [ + 0.32132968306541443, + 0.0030677292961627245, + 0.08030038326978683, + 0.012281037867069244, + -0.12024963647127151, + 0.9910907745361328, + 0.0, + 0.9913908839225769 + ], + [ + 0.3304504156112671, + 0.02922726422548294, + 0.0677095577120781, + -0.024549389258027077, + -0.05400586873292923, + 1.1699682474136353, + 0.0, + 0.9041115045547485 + ], + [ + 0.34019532799720764, + 0.03816306218504906, + 0.058652497828006744, + 0.0094325952231884, + -0.10450581461191177, + 1.2063612937927246, + 0.0, + 0.6119219660758972 + ], + [ + 0.34994256496429443, + 0.038211606442928314, + 0.04888732358813286, + 0.007619251497089863, + -0.0967283546924591, + 1.227569818496704, + 0.0, + 0.3188876807689667 + ], + [ + 0.35908758640289307, + 0.0436735562980175, + 0.041658710688352585, + 0.021188661456108093, + -0.12267520278692245, + 1.2826197147369385, + 0.0, + 0.12885156273841858 + ], + [ + 0.36458301544189453, + 0.04145946726202965, + 0.03155466541647911, + -0.005611140746623278, + -0.11387988179922104, + 1.3109267950057983, + 0.0, + 0.06413581967353821 + ], + [ + 0.3641306459903717, + 0.041038960218429565, + 0.016752000898122787, + 0.01579037494957447, + -0.10406974703073502, + 1.3061028718948364, + 0.0, + 0.06325549632310867 + ], + [ + 0.3670535087585449, + 0.04200858622789383, + 0.016919007524847984, + -0.00041365879587829113, + -0.11484505236148834, + 1.3062156438827515, + 0.0, + 0.06325549632310867 + ], + [ + 0.36717158555984497, + 0.04848116636276245, + 0.016679616644978523, + 0.0021362975239753723, + -0.13115298748016357, + 1.305026888847351, + 0.0, + 0.06325549632310867 + ], + [ + 0.363037645816803, + 0.06948956847190857, + 0.016434350982308388, + 0.018831802532076836, + -0.14422136545181274, + 1.318782925605774, + 0.0, + 0.06325549632310867 + ], + [ + 0.35611337423324585, + 0.0865161195397377, + 0.017023911699652672, + 0.05540354549884796, + -0.15992280840873718, + 1.3170956373214722, + 0.0, + 0.06325549632310867 + ], + [ + 0.3536296486854553, + 0.10038789361715317, + 0.016835886985063553, + 0.053762469440698624, + -0.16554996371269226, + 1.3280247449874878, + 0.0, + 0.06325549632310867 + ], + [ + 0.35365328192710876, + 0.1106850877404213, + 0.01591131091117859, + 0.07639744877815247, + -0.20309463143348694, + 1.3105486631393433, + 0.0, + 0.06325549632310867 + ], + [ + 0.3582446575164795, + 0.1201377809047699, + 0.01533493772149086, + 0.07081931084394455, + -0.22080881893634796, + 1.308531641960144, + 0.0, + 0.06325549632310867 + ], + [ + 0.3574223816394806, + 0.12882423400878906, + 0.015978967770934105, + 0.08031371980905533, + -0.25061818957328796, + 1.3017529249191284, + 0.0, + 0.06325549632310867 + ], + [ + 0.35631564259529114, + 0.14171476662158966, + 0.015924742445349693, + 0.08546026051044464, + -0.2704507112503052, + 1.310197353363037, + 0.0, + 0.06325549632310867 + ], + [ + 0.35267943143844604, + 0.15554140508174896, + 0.016462620347738266, + 0.08186516165733337, + -0.27502453327178955, + 1.3376349210739136, + 0.0, + 0.06325549632310867 + ], + [ + 0.35268068313598633, + 0.15951021015644073, + 0.01649288646876812, + 0.07439147680997849, + -0.2777886688709259, + 1.338551640510559, + 0.0, + 0.06325549632310867 + ], + [ + 0.3543386459350586, + 0.16139481961727142, + 0.017106816172599792, + 0.054687999188899994, + -0.27748003602027893, + 1.3412411212921143, + 0.0, + 0.08890553563833237 + ], + [ + 0.353422611951828, + 0.16435378789901733, + 0.023511657491326332, + 0.04023617133498192, + -0.3057006597518921, + 1.3439878225326538, + 0.0, + 0.24456030130386353 + ], + [ + 0.35417574644088745, + 0.16646204888820648, + 0.038526445627212524, + -0.00486203096807003, + -0.35853031277656555, + 1.3561949729919434, + 0.0, + 0.5043045878410339 + ], + [ + 0.3564188480377197, + 0.16369140148162842, + 0.04845237359404564, + -0.022559963166713715, + -0.3758416771888733, + 1.3478423357009888, + 0.0, + 0.8045819997787476 + ], + [ + 0.3554714322090149, + 0.16100428998470306, + 0.06049825996160507, + -0.04489981383085251, + -0.383904367685318, + 1.351885437965393, + 0.0, + 1.0047606229782104 + ], + [ + 0.3527128994464874, + 0.1529921591281891, + 0.0719454288482666, + -0.03613192215561867, + -0.3687554895877838, + 1.3127588033676147, + 0.0, + 1.0047606229782104 + ], + [ + 0.34655478596687317, + 0.14334402978420258, + 0.07545178383588791, + 0.03356489911675453, + -0.2984054684638977, + 1.1720001697540283, + 0.0, + 1.0001531839370728 + ], + [ + 0.3410220742225647, + 0.12971574068069458, + 0.09106866270303726, + 0.05875146761536598, + -0.23835204541683197, + 0.980999231338501, + 0.0, + 1.0001531839370728 + ], + [ + 0.3366183340549469, + 0.11078342795372009, + 0.10086788982152939, + 0.12745283544063568, + -0.1743791252374649, + 0.7529669404029846, + 0.0, + 1.0001531839370728 + ], + [ + 0.31545349955558777, + 0.1105208769440651, + 0.1178315281867981, + 0.10731162875890732, + -0.09753716737031937, + 0.639587938785553, + 0.0, + 1.0001531839370728 + ], + [ + 0.2957674264907837, + 0.11575112491846085, + 0.12302467972040176, + 0.1373593807220459, + 0.028646258637309074, + 0.49078619480133057, + 0.0, + 1.0001531839370728 + ], + [ + 0.2826981544494629, + 0.12275011837482452, + 0.13310891389846802, + 0.14630933105945587, + 0.027164021506905556, + 0.4174601137638092, + 0.0, + 1.0001531839370728 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9913908839225769 + ], + [ + 0.9041115045547485 + ], + [ + 0.6119219660758972 + ], + [ + 0.3188876807689667 + ], + [ + 0.12885156273841858 + ], + [ + 0.06413581967353821 + ], + [ + 0.06325549632310867 + ], + [ + 0.06325549632310867 + ], + [ + 0.06325549632310867 + ], + [ + 0.06325549632310867 + ], + [ + 0.06325549632310867 + ], + [ + 0.06325549632310867 + ], + [ + 0.06325549632310867 + ], + [ + 0.06325549632310867 + ], + [ + 0.06325549632310867 + ], + [ + 0.06325549632310867 + ], + [ + 0.06325549632310867 + ], + [ + 0.06325549632310867 + ], + [ + 0.08890553563833237 + ], + [ + 0.24456030130386353 + ], + [ + 0.5043045878410339 + ], + [ + 0.8045819997787476 + ], + [ + 1.0047606229782104 + ], + [ + 1.0047606229782104 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.28795021772384644, + -0.11668706685304642, + 0.1118445172905922 + ], + [ + 0.2856452465057373, + -0.11638660728931427, + 0.10221121460199356 + ], + [ + 0.29409411549568176, + -0.09652282297611237, + 0.09834248572587967 + ], + [ + 0.30444854497909546, + -0.06875589489936829, + 0.09384247660636902 + ], + [ + 0.3140764832496643, + -0.031052373349666595, + 0.09237353503704071 + ], + [ + 0.32132968306541443, + 0.0030677292961627245, + 0.08030038326978683 + ], + [ + 0.3304504156112671, + 0.02922726422548294, + 0.0677095577120781 + ], + [ + 0.34019532799720764, + 0.03816306218504906, + 0.058652497828006744 + ], + [ + 0.34994256496429443, + 0.038211606442928314, + 0.04888732358813286 + ], + [ + 0.35908758640289307, + 0.0436735562980175, + 0.041658710688352585 + ], + [ + 0.36458301544189453, + 0.04145946726202965, + 0.03155466541647911 + ], + [ + 0.3641306459903717, + 0.041038960218429565, + 0.016752000898122787 + ], + [ + 0.3670535087585449, + 0.04200858622789383, + 0.016919007524847984 + ], + [ + 0.36717158555984497, + 0.04848116636276245, + 0.016679616644978523 + ], + [ + 0.363037645816803, + 0.06948956847190857, + 0.016434350982308388 + ], + [ + 0.35611337423324585, + 0.0865161195397377, + 0.017023911699652672 + ], + [ + 0.3536296486854553, + 0.10038789361715317, + 0.016835886985063553 + ], + [ + 0.35365328192710876, + 0.1106850877404213, + 0.01591131091117859 + ], + [ + 0.3582446575164795, + 0.1201377809047699, + 0.01533493772149086 + ], + [ + 0.3574223816394806, + 0.12882423400878906, + 0.015978967770934105 + ], + [ + 0.35631564259529114, + 0.14171476662158966, + 0.015924742445349693 + ], + [ + 0.35267943143844604, + 0.15554140508174896, + 0.016462620347738266 + ], + [ + 0.35268068313598633, + 0.15951021015644073, + 0.01649288646876812 + ], + [ + 0.3543386459350586, + 0.16139481961727142, + 0.017106816172599792 + ], + [ + 0.353422611951828, + 0.16435378789901733, + 0.023511657491326332 + ], + [ + 0.35417574644088745, + 0.16646204888820648, + 0.038526445627212524 + ], + [ + 0.3564188480377197, + 0.16369140148162842, + 0.04845237359404564 + ], + [ + 0.3554714322090149, + 0.16100428998470306, + 0.06049825996160507 + ], + [ + 0.3527128994464874, + 0.1529921591281891, + 0.0719454288482666 + ], + [ + 0.34655478596687317, + 0.14334402978420258, + 0.07545178383588791 + ], + [ + 0.3410220742225647, + 0.12971574068069458, + 0.09106866270303726 + ], + [ + 0.3366183340549469, + 0.11078342795372009, + 0.10086788982152939 + ], + [ + 0.31545349955558777, + 0.1105208769440651, + 0.1178315281867981 + ], + [ + 0.2957674264907837, + 0.11575112491846085, + 0.12302467972040176 + ], + [ + 0.2826981544494629, + 0.12275011837482452, + 0.13310891389846802 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9546776844939673, + 0.27071566218139903, + 0.1237075138337362, + 0.2434214805790778, + -0.949309921035637, + 0.19888855325534102, + 0.17127901658383915, + -0.15976139731799924, + -0.9721830045855944 + ], + [ + 0.9568616589607707, + 0.27584836221441367, + 0.09123292538588705, + 0.25269079346232537, + -0.9450850268234015, + 0.20727193484307166, + 0.14339849549497247, + -0.17527684712430147, + -0.9740199681484677 + ], + [ + 0.9166402064639004, + 0.3920445566316683, + 0.07792173964495601, + 0.3744728527504719, + -0.9104580489875553, + 0.1756024589426284, + 0.1397884632104564, + -0.13178469808461332, + -0.9813724975278275 + ], + [ + 0.8388400668262221, + 0.5392206664648158, + 0.07475570308825581, + 0.5276079541324963, + -0.8391192173219124, + 0.13232076880513918, + 0.13407904020801042, + -0.07155425898086905, + -0.9883839329929427 + ], + [ + 0.6964082175967214, + 0.7130030030508394, + 0.08150038100672766, + 0.7026348137015652, + -0.7005365476318909, + 0.12471112222475499, + 0.14601340020122733, + -0.02958484531775983, + -0.9888401407149692 + ], + [ + 0.5438219631513987, + 0.8373678716594173, + 0.055432119810962084, + 0.8305824823854462, + -0.5465037982601939, + 0.10708099010380712, + 0.11996004480071298, + -0.01219204657797153, + -0.9927038539522508 + ], + [ + 0.38961205116843495, + 0.919943768246226, + 0.04365676178163607, + 0.9193958071519547, + -0.3912833596355609, + 0.04010838146465062, + 0.05397962000357571, + 0.024511134964379327, + -0.9982411556768371 + ], + [ + 0.35447693673057834, + 0.9346344137253751, + 0.02836571885799065, + 0.9292278179510168, + -0.3554863002002392, + 0.10082238201876652, + 0.10431569235785286, + -0.00938099409286984, + -0.9944999915926254 + ], + [ + 0.33495404680987007, + 0.941894058717068, + 0.025325257731763973, + 0.937271868844432, + -0.335824465676124, + 0.0935060004823865, + 0.09657758745463488, + -0.007583561619363695, + -0.9952965684631934 + ], + [ + 0.28206865501950446, + 0.959285301926933, + 0.014456256861335094, + 0.9515584112492703, + -0.2816549998976326, + 0.1233168723793672, + 0.12236774017792582, + -0.021027851521676598, + -0.9922620448370127 + ], + [ + 0.2552900930422396, + 0.9662444595496095, + 0.03462098762554827, + 0.9601636869995821, + -0.25756662510749684, + 0.10837494082168347, + 0.1136338970635693, + 0.005574766400298546, + -0.9935070505123398 + ], + [ + 0.26019798601674565, + 0.9654815348797143, + 0.011933728635297534, + 0.9599508005126569, + -0.2599976558831864, + 0.10438237174139095, + 0.10388199395438644, + -0.015704290546206492, + -0.9944656387178502 + ], + [ + 0.25978191766371383, + 0.965189760566902, + 0.030365792460761855, + 0.9588440196191756, + -0.2615502957945094, + 0.11049700815111121, + 0.114592762840877, + 0.00041093382839987175, + -0.9934124671242472 + ], + [ + 0.2603960550416896, + 0.9649618699194117, + 0.03228752267297289, + 0.9566039872862159, + -0.26238159976285047, + 0.12674662762377792, + 0.13077731464913403, + -0.0021179488945098496, + -0.9914095058378458 + ], + [ + 0.24676549801222536, + 0.968915470616246, + 0.017595448027171, + 0.9583583870257774, + -0.24668915752965936, + 0.14385291646211867, + 0.14372192250359295, + -0.018635191380970265, + -0.9894426403961302 + ], + [ + 0.2477851895429375, + 0.9687181813169277, + -0.013696168412913878, + 0.9556382605994844, + -0.24206699469765802, + 0.16780668924818315, + 0.15924200049472773, + -0.05466859486092847, + -0.985724773968053 + ], + [ + 0.23710715746613364, + 0.9714017585689203, + -0.012602354047548725, + 0.957404235227457, + -0.23145069472260082, + 0.1726490842169583, + 0.1647948004242215, + -0.0530018807367731, + -0.9849027740805214 + ], + [ + 0.25203120806521395, + 0.9674689407749429, + -0.022002699766132366, + 0.9464654499118313, + -0.24169322466244325, + 0.21398022636557817, + 0.20170131949093234, + -0.07475449008641204, + -0.9765901616991322 + ], + [ + 0.25297358253202257, + 0.9674024600073495, + -0.011698158515016599, + 0.9423561420813492, + -0.24365070605282163, + 0.22934523086717418, + 0.2190188759501562, + -0.06904211621676998, + -0.9732748420491717 + ], + [ + 0.2575053008812718, + 0.9662068671776379, + -0.011632275650932014, + 0.9339087695241687, + -0.2457717007323244, + 0.2596356703632867, + 0.2480028834991605, + -0.07772104565633675, + -0.9656365821768491 + ], + [ + 0.24829357971996763, + 0.9685852717847205, + -0.013887748253880616, + 0.9311137083471828, + -0.23468470981062722, + 0.27919589737146816, + 0.2671657919678374, + -0.08225362157875342, + -0.9601337309663573 + ], + [ + 0.22237116588453398, + 0.9748134503790767, + -0.0170235584761895, + 0.9363762608438683, + -0.20867428395365173, + 0.28223136137659577, + 0.2715705483133415, + -0.07870057291068411, + -0.9591953174991634 + ], + [ + 0.22133905894388278, + 0.9751517572734192, + -0.009384629582418563, + 0.9358456380086033, + -0.2096915999185352, + 0.2832355463988858, + 0.27422976280139033, + -0.07147365395841875, + -0.9590044598351593 + ], + [ + 0.21884057071274415, + 0.9757190123117149, + 0.009011860161587198, + 0.936519911316175, + -0.21262364454302501, + 0.27878601379837065, + 0.2739329485813351, + -0.05256990388704298, + -0.9603109625984922 + ], + [ + 0.21444316406768033, + 0.9763227108663611, + 0.02842698772649166, + 0.9292127586733824, + -0.21289069958600565, + 0.3020615817153579, + 0.3009614236131346, + -0.03836032164022182, + -0.9528644747394115 + ], + [ + 0.1994167028905175, + 0.9766864965962361, + 0.07947619753640567, + 0.9149334987453464, + -0.2146223634423341, + 0.34180979211255214, + 0.35089837771336946, + 0.004552853720181577, + -0.9364024775923696 + ], + [ + 0.2056776601787808, + 0.973169561514555, + 0.10313924880931863, + 0.907175229309432, + -0.22913030856676436, + 0.3528914918547608, + 0.36705558629553825, + 0.020983475347709668, + -0.92996230586598 + ], + [ + 0.20135893289931883, + 0.9714999221067067, + 0.12506990640562055, + 0.9050810796899083, + -0.2333578403841512, + 0.3554888992902523, + 0.37454348122614245, + 0.04161754050767619, + -0.9262748841424421 + ], + [ + 0.23802924987552548, + 0.9629387845951457, + 0.12685020033929123, + 0.9018948770698348, + -0.2676069846259643, + 0.3390754082716505, + 0.3604548611392031, + 0.03369568075915047, + -0.9321678465701847 + ], + [ + 0.3711484992700471, + 0.9248411772607806, + 0.08317204056944226, + 0.8808035190718352, + -0.37899862472596924, + 0.283804868257215, + 0.29399651746281463, + -0.03207552491724863, + -0.9552681343062899 + ], + [ + 0.5404679487249495, + 0.8373303566018989, + 0.0822938048335487, + 0.8075583190479524, + -0.5437115969999401, + 0.22853284364445364, + 0.2361015835133065, + -0.057057630521356636, + -0.970051786793776 + ], + [ + 0.7185975238996767, + 0.6943513332976711, + 0.038650027076318136, + 0.6734363292060525, + -0.7086650096954266, + 0.21042199157611488, + 0.1734967122187942, + -0.12518038976264453, + -0.9768463343167857 + ], + [ + 0.7985282567961369, + 0.6018001068326212, + 0.013756980568737337, + 0.5940279915333327, + -0.791500961620106, + 0.14372533885617478, + 0.09738258762734538, + -0.1065967127574452, + -0.9895219919012963 + ], + [ + 0.8816007342468329, + 0.46342108251438496, + -0.08956029062391527, + 0.4711260571045437, + -0.8755038814107389, + 0.10739269971397737, + -0.028642340905917954, + -0.13687166951537436, + -0.9901746120717814 + ], + [ + 0.9137844220192634, + 0.39748857816084554, + -0.08367114381069408, + 0.4052904236268136, + -0.9059604840920257, + 0.1223735011354179, + -0.02716068098038804, + -0.1457341123258778, + -0.9889508915579528 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.002304971218109131, + 0.0003004595637321472, + -0.009633302688598633, + 0.015169575810432434, + 0.02823317050933838, + 0.008530601859092712, + 1.0 + ], + [ + 0.008448868989944458, + 0.019863784313201904, + -0.0038687288761138916, + -0.044558897614479065, + 0.0036467760801315308, + 0.12964749336242676, + 1.0 + ], + [ + 0.010354429483413696, + 0.02776692807674408, + -0.004500009119510651, + -0.06121842563152313, + 0.005763724446296692, + 0.17361527681350708, + 1.0 + ], + [ + 0.009627938270568848, + 0.03770352154970169, + -0.001468941569328308, + -0.04235931485891342, + -0.012053221464157104, + 0.22839736938476562, + 1.0 + ], + [ + 0.007253199815750122, + 0.0341201014816761, + -0.012073151767253876, + -0.017628774046897888, + 0.026287637650966644, + 0.20124202966690063, + 1.0 + ], + [ + 0.009120732545852661, + 0.026159534230828285, + -0.01259082555770874, + -0.03683042526245117, + 0.06624376773834229, + 0.17887747287750244, + 0.0 + ], + [ + 0.009744912385940552, + 0.008935797959566116, + -0.00905705988407135, + 0.033981986343860626, + -0.050499945878982544, + 0.036393046379089355, + 0.0 + ], + [ + 0.009747236967086792, + 4.85442578792572e-05, + -0.009765174239873886, + -0.0018133437260985374, + 0.007777459919452667, + 0.021208524703979492, + 0.0 + ], + [ + 0.009145021438598633, + 0.005461949855089188, + -0.0072286128997802734, + 0.01356940995901823, + -0.02594684809446335, + 0.055049896240234375, + 0.0 + ], + [ + 0.005495429039001465, + -0.002214089035987854, + -0.010104045271873474, + -0.026799801737070084, + 0.008795320987701416, + 0.028307080268859863, + 0.0 + ], + [ + -0.00045236945152282715, + -0.0004205070436000824, + -0.014802664518356323, + 0.02140151523053646, + 0.009810134768486023, + -0.004823923110961914, + 0.0 + ], + [ + 0.0029228627681732178, + 0.0009696260094642639, + 0.00016700662672519684, + -0.01620403304696083, + -0.010775305330753326, + 0.00011277198791503906, + 0.0 + ], + [ + 0.00011807680130004883, + 0.006472580134868622, + -0.00023939087986946106, + 0.0025499563198536634, + -0.016307935118675232, + -0.0011887550354003906, + 0.0 + ], + [ + -0.004133939743041992, + 0.021008402109146118, + -0.0002452656626701355, + 0.016695505008101463, + -0.01306837797164917, + 0.013756036758422852, + 0.0 + ], + [ + -0.006924271583557129, + 0.017026551067829132, + 0.0005895607173442841, + 0.03657174110412598, + -0.01570144295692444, + -0.0016872882843017578, + 0.0 + ], + [ + -0.0024837255477905273, + 0.013871774077415466, + -0.00018802471458911896, + -0.0016410760581493378, + -0.005627155303955078, + 0.010929107666015625, + 0.0 + ], + [ + 2.3633241653442383e-05, + 0.010297194123268127, + -0.000924576073884964, + 0.022634979337453842, + -0.03754466772079468, + -0.01747608184814453, + 0.0 + ], + [ + 0.0045913755893707275, + 0.009452693164348602, + -0.0005763731896877289, + -0.005578137934207916, + -0.017714187502861023, + -0.0020170211791992188, + 0.0 + ], + [ + -0.0008222758769989014, + 0.008686453104019165, + 0.0006440300494432449, + 0.009494408965110779, + -0.029809370636940002, + -0.006778717041015625, + 0.0 + ], + [ + -0.0011067390441894531, + 0.012890532612800598, + -5.422532558441162e-05, + 0.005146540701389313, + -0.019832521677017212, + 0.008444428443908691, + 0.0 + ], + [ + -0.0036362111568450928, + 0.013826638460159302, + 0.0005378779023885727, + -0.003595098853111267, + -0.004573822021484375, + 0.027437567710876465, + 0.0 + ], + [ + 1.2516975402832031e-06, + 0.0039688050746917725, + 3.026612102985382e-05, + -0.007473684847354889, + -0.0027641355991363525, + 0.0009167194366455078, + 0.0 + ], + [ + 0.0016579627990722656, + 0.0018846094608306885, + 0.0006139297038316727, + -0.01970347762107849, + 0.00030863285064697266, + 0.0026894807815551758, + 1.0 + ], + [ + -0.0009160339832305908, + 0.0029589682817459106, + 0.00640484131872654, + -0.014451827853918076, + -0.02822062373161316, + 0.0027467012405395508, + 1.0 + ], + [ + 0.0007531344890594482, + 0.002108260989189148, + 0.015014788135886192, + -0.0450982004404068, + -0.05282965302467346, + 0.01220715045928955, + 1.0 + ], + [ + 0.0022431015968322754, + -0.002770647406578064, + 0.009925927966833115, + -0.017697932198643684, + -0.01731136441230774, + -0.00835263729095459, + 1.0 + ], + [ + -0.000947415828704834, + -0.002687111496925354, + 0.012045886367559433, + -0.022339850664138794, + -0.008062690496444702, + 0.004043102264404297, + 1.0 + ], + [ + -0.002758532762527466, + -0.008012130856513977, + 0.01144716888666153, + 0.008767891675233841, + 0.01514887809753418, + -0.03912663459777832, + 1.0 + ], + [ + -0.006158113479614258, + -0.009648129343986511, + 0.0035063549876213074, + 0.0696968212723732, + 0.07035002112388611, + -0.14075863361358643, + 1.0 + ], + [ + -0.005532711744308472, + -0.013628289103507996, + 0.015616878867149353, + 0.02518656849861145, + 0.060053423047065735, + -0.19100093841552734, + 1.0 + ], + [ + -0.004403740167617798, + -0.018932312726974487, + 0.009799227118492126, + 0.06870137155056, + 0.06397292017936707, + -0.22803229093551636, + 1.0 + ], + [ + -0.02116483449935913, + -0.0002625510096549988, + 0.016963638365268707, + -0.020141206681728363, + 0.07684195786714554, + -0.11337900161743164, + 1.0 + ], + [ + -0.019686073064804077, + 0.005230247974395752, + 0.005193151533603668, + 0.03004775196313858, + 0.126183420419693, + -0.1488017439842224, + 1.0 + ], + [ + -0.0130692720413208, + 0.006998993456363678, + 0.010084234178066254, + 0.008949950337409973, + -0.0014822371304035187, + -0.07332608103752136, + 1.0 + ], + [ + -0.01891389489173889, + 0.012177452445030212, + 0.003976374864578247, + 0.057824745774269104, + 0.011523595079779625, + -0.009015947580337524, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9913908839225769 + ], + [ + 0.9041115045547485 + ], + [ + 0.6119219660758972 + ], + [ + 0.3188876807689667 + ], + [ + 0.12885156273841858 + ], + [ + 0.06413581967353821 + ], + [ + 0.06325549632310867 + ], + [ + 0.06325549632310867 + ], + [ + 0.06325549632310867 + ], + [ + 0.06325549632310867 + ], + [ + 0.06325549632310867 + ], + [ + 0.06325549632310867 + ], + [ + 0.06325549632310867 + ], + [ + 0.06325549632310867 + ], + [ + 0.06325549632310867 + ], + [ + 0.06325549632310867 + ], + [ + 0.06325549632310867 + ], + [ + 0.06325549632310867 + ], + [ + 0.08890553563833237 + ], + [ + 0.24456030130386353 + ], + [ + 0.5043045878410339 + ], + [ + 0.8045819997787476 + ], + [ + 1.0047606229782104 + ], + [ + 1.0047606229782104 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2856452465057373, + -0.11638660728931427, + 0.10221121460199356 + ], + [ + 0.29409411549568176, + -0.09652282297611237, + 0.09834248572587967 + ], + [ + 0.30444854497909546, + -0.06875589489936829, + 0.09384247660636902 + ], + [ + 0.3140764832496643, + -0.031052373349666595, + 0.09237353503704071 + ], + [ + 0.32132968306541443, + 0.0030677292961627245, + 0.08030038326978683 + ], + [ + 0.3304504156112671, + 0.02922726422548294, + 0.0677095577120781 + ], + [ + 0.34019532799720764, + 0.03816306218504906, + 0.058652497828006744 + ], + [ + 0.34994256496429443, + 0.038211606442928314, + 0.04888732358813286 + ], + [ + 0.35908758640289307, + 0.0436735562980175, + 0.041658710688352585 + ], + [ + 0.36458301544189453, + 0.04145946726202965, + 0.03155466541647911 + ], + [ + 0.3641306459903717, + 0.041038960218429565, + 0.016752000898122787 + ], + [ + 0.3670535087585449, + 0.04200858622789383, + 0.016919007524847984 + ], + [ + 0.36717158555984497, + 0.04848116636276245, + 0.016679616644978523 + ], + [ + 0.363037645816803, + 0.06948956847190857, + 0.016434350982308388 + ], + [ + 0.35611337423324585, + 0.0865161195397377, + 0.017023911699652672 + ], + [ + 0.3536296486854553, + 0.10038789361715317, + 0.016835886985063553 + ], + [ + 0.35365328192710876, + 0.1106850877404213, + 0.01591131091117859 + ], + [ + 0.3582446575164795, + 0.1201377809047699, + 0.01533493772149086 + ], + [ + 0.3574223816394806, + 0.12882423400878906, + 0.015978967770934105 + ], + [ + 0.35631564259529114, + 0.14171476662158966, + 0.015924742445349693 + ], + [ + 0.35267943143844604, + 0.15554140508174896, + 0.016462620347738266 + ], + [ + 0.35268068313598633, + 0.15951021015644073, + 0.01649288646876812 + ], + [ + 0.3543386459350586, + 0.16139481961727142, + 0.017106816172599792 + ], + [ + 0.353422611951828, + 0.16435378789901733, + 0.023511657491326332 + ], + [ + 0.35417574644088745, + 0.16646204888820648, + 0.038526445627212524 + ], + [ + 0.3564188480377197, + 0.16369140148162842, + 0.04845237359404564 + ], + [ + 0.3554714322090149, + 0.16100428998470306, + 0.06049825996160507 + ], + [ + 0.3527128994464874, + 0.1529921591281891, + 0.0719454288482666 + ], + [ + 0.34655478596687317, + 0.14334402978420258, + 0.07545178383588791 + ], + [ + 0.3410220742225647, + 0.12971574068069458, + 0.09106866270303726 + ], + [ + 0.3366183340549469, + 0.11078342795372009, + 0.10086788982152939 + ], + [ + 0.31545349955558777, + 0.1105208769440651, + 0.1178315281867981 + ], + [ + 0.2957674264907837, + 0.11575112491846085, + 0.12302467972040176 + ], + [ + 0.2826981544494629, + 0.12275011837482452, + 0.13310891389846802 + ], + [ + 0.263784259557724, + 0.13492757081985474, + 0.13708528876304626 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9568616589607707, + 0.27584836221441367, + 0.09123292538588705, + 0.25269079346232537, + -0.9450850268234015, + 0.20727193484307166, + 0.14339849549497247, + -0.17527684712430147, + -0.9740199681484677 + ], + [ + 0.9166402064639004, + 0.3920445566316683, + 0.07792173964495601, + 0.3744728527504719, + -0.9104580489875553, + 0.1756024589426284, + 0.1397884632104564, + -0.13178469808461332, + -0.9813724975278275 + ], + [ + 0.8388400668262221, + 0.5392206664648158, + 0.07475570308825581, + 0.5276079541324963, + -0.8391192173219124, + 0.13232076880513918, + 0.13407904020801042, + -0.07155425898086905, + -0.9883839329929427 + ], + [ + 0.6964082175967214, + 0.7130030030508394, + 0.08150038100672766, + 0.7026348137015652, + -0.7005365476318909, + 0.12471112222475499, + 0.14601340020122733, + -0.02958484531775983, + -0.9888401407149692 + ], + [ + 0.5438219631513987, + 0.8373678716594173, + 0.055432119810962084, + 0.8305824823854462, + -0.5465037982601939, + 0.10708099010380712, + 0.11996004480071298, + -0.01219204657797153, + -0.9927038539522508 + ], + [ + 0.38961205116843495, + 0.919943768246226, + 0.04365676178163607, + 0.9193958071519547, + -0.3912833596355609, + 0.04010838146465062, + 0.05397962000357571, + 0.024511134964379327, + -0.9982411556768371 + ], + [ + 0.35447693673057834, + 0.9346344137253751, + 0.02836571885799065, + 0.9292278179510168, + -0.3554863002002392, + 0.10082238201876652, + 0.10431569235785286, + -0.00938099409286984, + -0.9944999915926254 + ], + [ + 0.33495404680987007, + 0.941894058717068, + 0.025325257731763973, + 0.937271868844432, + -0.335824465676124, + 0.0935060004823865, + 0.09657758745463488, + -0.007583561619363695, + -0.9952965684631934 + ], + [ + 0.28206865501950446, + 0.959285301926933, + 0.014456256861335094, + 0.9515584112492703, + -0.2816549998976326, + 0.1233168723793672, + 0.12236774017792582, + -0.021027851521676598, + -0.9922620448370127 + ], + [ + 0.2552900930422396, + 0.9662444595496095, + 0.03462098762554827, + 0.9601636869995821, + -0.25756662510749684, + 0.10837494082168347, + 0.1136338970635693, + 0.005574766400298546, + -0.9935070505123398 + ], + [ + 0.26019798601674565, + 0.9654815348797143, + 0.011933728635297534, + 0.9599508005126569, + -0.2599976558831864, + 0.10438237174139095, + 0.10388199395438644, + -0.015704290546206492, + -0.9944656387178502 + ], + [ + 0.25978191766371383, + 0.965189760566902, + 0.030365792460761855, + 0.9588440196191756, + -0.2615502957945094, + 0.11049700815111121, + 0.114592762840877, + 0.00041093382839987175, + -0.9934124671242472 + ], + [ + 0.2603960550416896, + 0.9649618699194117, + 0.03228752267297289, + 0.9566039872862159, + -0.26238159976285047, + 0.12674662762377792, + 0.13077731464913403, + -0.0021179488945098496, + -0.9914095058378458 + ], + [ + 0.24676549801222536, + 0.968915470616246, + 0.017595448027171, + 0.9583583870257774, + -0.24668915752965936, + 0.14385291646211867, + 0.14372192250359295, + -0.018635191380970265, + -0.9894426403961302 + ], + [ + 0.2477851895429375, + 0.9687181813169277, + -0.013696168412913878, + 0.9556382605994844, + -0.24206699469765802, + 0.16780668924818315, + 0.15924200049472773, + -0.05466859486092847, + -0.985724773968053 + ], + [ + 0.23710715746613364, + 0.9714017585689203, + -0.012602354047548725, + 0.957404235227457, + -0.23145069472260082, + 0.1726490842169583, + 0.1647948004242215, + -0.0530018807367731, + -0.9849027740805214 + ], + [ + 0.25203120806521395, + 0.9674689407749429, + -0.022002699766132366, + 0.9464654499118313, + -0.24169322466244325, + 0.21398022636557817, + 0.20170131949093234, + -0.07475449008641204, + -0.9765901616991322 + ], + [ + 0.25297358253202257, + 0.9674024600073495, + -0.011698158515016599, + 0.9423561420813492, + -0.24365070605282163, + 0.22934523086717418, + 0.2190188759501562, + -0.06904211621676998, + -0.9732748420491717 + ], + [ + 0.2575053008812718, + 0.9662068671776379, + -0.011632275650932014, + 0.9339087695241687, + -0.2457717007323244, + 0.2596356703632867, + 0.2480028834991605, + -0.07772104565633675, + -0.9656365821768491 + ], + [ + 0.24829357971996763, + 0.9685852717847205, + -0.013887748253880616, + 0.9311137083471828, + -0.23468470981062722, + 0.27919589737146816, + 0.2671657919678374, + -0.08225362157875342, + -0.9601337309663573 + ], + [ + 0.22237116588453398, + 0.9748134503790767, + -0.0170235584761895, + 0.9363762608438683, + -0.20867428395365173, + 0.28223136137659577, + 0.2715705483133415, + -0.07870057291068411, + -0.9591953174991634 + ], + [ + 0.22133905894388278, + 0.9751517572734192, + -0.009384629582418563, + 0.9358456380086033, + -0.2096915999185352, + 0.2832355463988858, + 0.27422976280139033, + -0.07147365395841875, + -0.9590044598351593 + ], + [ + 0.21884057071274415, + 0.9757190123117149, + 0.009011860161587198, + 0.936519911316175, + -0.21262364454302501, + 0.27878601379837065, + 0.2739329485813351, + -0.05256990388704298, + -0.9603109625984922 + ], + [ + 0.21444316406768033, + 0.9763227108663611, + 0.02842698772649166, + 0.9292127586733824, + -0.21289069958600565, + 0.3020615817153579, + 0.3009614236131346, + -0.03836032164022182, + -0.9528644747394115 + ], + [ + 0.1994167028905175, + 0.9766864965962361, + 0.07947619753640567, + 0.9149334987453464, + -0.2146223634423341, + 0.34180979211255214, + 0.35089837771336946, + 0.004552853720181577, + -0.9364024775923696 + ], + [ + 0.2056776601787808, + 0.973169561514555, + 0.10313924880931863, + 0.907175229309432, + -0.22913030856676436, + 0.3528914918547608, + 0.36705558629553825, + 0.020983475347709668, + -0.92996230586598 + ], + [ + 0.20135893289931883, + 0.9714999221067067, + 0.12506990640562055, + 0.9050810796899083, + -0.2333578403841512, + 0.3554888992902523, + 0.37454348122614245, + 0.04161754050767619, + -0.9262748841424421 + ], + [ + 0.23802924987552548, + 0.9629387845951457, + 0.12685020033929123, + 0.9018948770698348, + -0.2676069846259643, + 0.3390754082716505, + 0.3604548611392031, + 0.03369568075915047, + -0.9321678465701847 + ], + [ + 0.3711484992700471, + 0.9248411772607806, + 0.08317204056944226, + 0.8808035190718352, + -0.37899862472596924, + 0.283804868257215, + 0.29399651746281463, + -0.03207552491724863, + -0.9552681343062899 + ], + [ + 0.5404679487249495, + 0.8373303566018989, + 0.0822938048335487, + 0.8075583190479524, + -0.5437115969999401, + 0.22853284364445364, + 0.2361015835133065, + -0.057057630521356636, + -0.970051786793776 + ], + [ + 0.7185975238996767, + 0.6943513332976711, + 0.038650027076318136, + 0.6734363292060525, + -0.7086650096954266, + 0.21042199157611488, + 0.1734967122187942, + -0.12518038976264453, + -0.9768463343167857 + ], + [ + 0.7985282567961369, + 0.6018001068326212, + 0.013756980568737337, + 0.5940279915333327, + -0.791500961620106, + 0.14372533885617478, + 0.09738258762734538, + -0.1065967127574452, + -0.9895219919012963 + ], + [ + 0.8816007342468329, + 0.46342108251438496, + -0.08956029062391527, + 0.4711260571045437, + -0.8755038814107389, + 0.10739269971397737, + -0.028642340905917954, + -0.13687166951537436, + -0.9901746120717814 + ], + [ + 0.9137844220192634, + 0.39748857816084554, + -0.08367114381069408, + 0.4052904236268136, + -0.9059604840920257, + 0.1223735011354179, + -0.02716068098038804, + -0.1457341123258778, + -0.9889508915579528 + ], + [ + 0.9170531629213056, + 0.38173943889043976, + -0.11527574407325236, + 0.3968847581919763, + -0.9017989615644213, + 0.17100035566111638, + -0.03867796647868477, + -0.2025676028316078, + -0.9785041549181741 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006006.json b/json/chunk-0006/episode_0006006.json new file mode 100644 index 0000000000000000000000000000000000000000..7b5f421953a7fa183fea005b18a620a53eed321e --- /dev/null +++ b/json/chunk-0006/episode_0006006.json @@ -0,0 +1,1702 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 27, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPlace the pot to the left of the spoon." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006006.mp4", + "start": 0, + "end": 27, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.24358944594860077, + -0.050848279148340225, + 0.06195493042469025, + 0.01081534381955862, + -0.14061139523983002, + -0.16008366644382477, + 0.0, + 1.0001531839370728 + ], + [ + 0.2415909767150879, + -0.050405945628881454, + 0.05595303699374199, + 0.011704378761351109, + -0.11616356670856476, + -0.15563338994979858, + 0.0, + 1.0001531839370728 + ], + [ + 0.26240310072898865, + -0.02528705820441246, + 0.05984124168753624, + 0.028629379346966743, + -0.1405629813671112, + -0.06046801805496216, + 0.0, + 1.0001531839370728 + ], + [ + 0.28618374466896057, + -0.007094857282936573, + 0.05913989990949631, + 0.044983506202697754, + -0.1539066582918167, + -0.006311072036623955, + 0.0, + 1.0001531839370728 + ], + [ + 0.30696189403533936, + 0.027476001530885696, + 0.06435898691415787, + 0.08541884273290634, + -0.16151738166809082, + 0.0898260697722435, + 0.0, + 1.0001531839370728 + ], + [ + 0.32775363326072693, + 0.07339075952768326, + 0.07686766982078552, + 0.10499788820743561, + -0.20177724957466125, + 0.22077718377113342, + 0.0, + 1.0001531839370728 + ], + [ + 0.3386569321155548, + 0.12294876575469971, + 0.08074277639389038, + 0.10606755316257477, + -0.20712633430957794, + 0.35903939604759216, + 0.0, + 1.0001531839370728 + ], + [ + 0.3441632091999054, + 0.16182754933834076, + 0.07534557580947876, + 0.09746572375297546, + -0.19966177642345428, + 0.4700414836406708, + 0.0, + 1.0001531839370728 + ], + [ + 0.3443363606929779, + 0.18887785077095032, + 0.0657300278544426, + 0.09270603954792023, + -0.19043275713920593, + 0.554100751876831, + 0.0, + 1.0001531839370728 + ], + [ + 0.3437088429927826, + 0.19249068200588226, + 0.045621708035469055, + 0.08507155627012253, + -0.154152050614357, + 0.5855405926704407, + 0.0, + 1.0001531839370728 + ], + [ + 0.34594497084617615, + 0.19162456691265106, + 0.026981648057699203, + 0.05966910719871521, + -0.1342371553182602, + 0.6278737187385559, + 0.0, + 1.0001531839370728 + ], + [ + 0.3519042134284973, + 0.18974606692790985, + 0.02981942519545555, + 0.05953986570239067, + -0.1528579592704773, + 0.6456091403961182, + 0.0, + 1.0001531839370728 + ], + [ + 0.3575374484062195, + 0.18365541100502014, + 0.032638069242239, + 0.08082807064056396, + -0.16252286732196808, + 0.623935878276825, + 0.0, + 0.9492040276527405 + ], + [ + 0.36465489864349365, + 0.1814309060573578, + 0.03688764572143555, + 0.076961949467659, + -0.18070638179779053, + 0.6138311624526978, + 0.0, + 0.6831957101821899 + ], + [ + 0.3682588040828705, + 0.1756354570388794, + 0.028403138741850853, + 0.08851853758096695, + -0.1652909368276596, + 0.5960452556610107, + 0.0, + 0.37802740931510925 + ], + [ + 0.3728017210960388, + 0.1717437356710434, + 0.03043169341981411, + 0.09249760955572128, + -0.17601343989372253, + 0.580679178237915, + 0.0, + 0.16866940259933472 + ], + [ + 0.3719575107097626, + 0.16940614581108093, + 0.03127725422382355, + 0.08943722397089005, + -0.17462998628616333, + 0.5741056799888611, + 0.0, + 0.09437843412160873 + ], + [ + 0.36452892422676086, + 0.14688338339328766, + 0.0601959228515625, + 0.08526454120874405, + -0.2307252138853073, + 0.49489641189575195, + 0.0, + 0.07689721137285233 + ], + [ + 0.34542661905288696, + 0.11237844824790955, + 0.08403759449720383, + 0.08743825554847717, + -0.25347524881362915, + 0.38155654072761536, + 0.0, + 0.06926051527261734 + ], + [ + 0.31176987290382385, + 0.08436480909585953, + 0.08530882745981216, + 0.10287673026323318, + -0.2192399799823761, + 0.2984883189201355, + 0.0, + 0.0686454325914383 + ], + [ + 0.28207701444625854, + 0.06914422661066055, + 0.07111623138189316, + 0.14274151623249054, + -0.1461464911699295, + 0.23794347047805786, + 0.0, + 0.0686454325914383 + ], + [ + 0.26336532831192017, + 0.07011308521032333, + 0.05966434255242348, + 0.1890314668416977, + -0.08005443215370178, + 0.2285584807395935, + 0.0, + 0.0686454325914383 + ], + [ + 0.2520274519920349, + 0.07253879308700562, + 0.049241743981838226, + 0.21418754756450653, + -0.06497935950756073, + 0.2251231074333191, + 0.0, + 0.0686454325914383 + ], + [ + 0.24899281561374664, + 0.07945422828197479, + 0.04406782612204552, + 0.20984332263469696, + -0.07282581925392151, + 0.2482156902551651, + 0.0, + 0.09737934172153473 + ], + [ + 0.24945053458213806, + 0.07979406416416168, + 0.0424715094268322, + 0.21306566894054413, + -0.06587416678667068, + 0.2273908257484436, + 0.0, + 0.2716236412525177 + ], + [ + 0.2576324939727783, + 0.07518894225358963, + 0.04865959659218788, + 0.22080636024475098, + -0.10717491805553436, + 0.1431005448102951, + 0.0, + 0.5511609315872192 + ], + [ + 0.2624762952327728, + 0.06641504168510437, + 0.06047191098332405, + 0.22942154109477997, + -0.1349700689315796, + 0.03743802011013031, + 0.0, + 0.8553624749183655 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9492040276527405 + ], + [ + 0.6831957101821899 + ], + [ + 0.37802740931510925 + ], + [ + 0.16866940259933472 + ], + [ + 0.09437843412160873 + ], + [ + 0.07689721137285233 + ], + [ + 0.06926051527261734 + ], + [ + 0.0686454325914383 + ], + [ + 0.0686454325914383 + ], + [ + 0.0686454325914383 + ], + [ + 0.0686454325914383 + ], + [ + 0.09737934172153473 + ], + [ + 0.2716236412525177 + ], + [ + 0.5511609315872192 + ], + [ + 0.8553624749183655 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.24358944594860077, + -0.050848279148340225, + 0.06195493042469025 + ], + [ + 0.2415909767150879, + -0.050405945628881454, + 0.05595303699374199 + ], + [ + 0.26240310072898865, + -0.02528705820441246, + 0.05984124168753624 + ], + [ + 0.28618374466896057, + -0.007094857282936573, + 0.05913989990949631 + ], + [ + 0.30696189403533936, + 0.027476001530885696, + 0.06435898691415787 + ], + [ + 0.32775363326072693, + 0.07339075952768326, + 0.07686766982078552 + ], + [ + 0.3386569321155548, + 0.12294876575469971, + 0.08074277639389038 + ], + [ + 0.3441632091999054, + 0.16182754933834076, + 0.07534557580947876 + ], + [ + 0.3443363606929779, + 0.18887785077095032, + 0.0657300278544426 + ], + [ + 0.3437088429927826, + 0.19249068200588226, + 0.045621708035469055 + ], + [ + 0.34594497084617615, + 0.19162456691265106, + 0.026981648057699203 + ], + [ + 0.3519042134284973, + 0.18974606692790985, + 0.02981942519545555 + ], + [ + 0.3575374484062195, + 0.18365541100502014, + 0.032638069242239 + ], + [ + 0.36465489864349365, + 0.1814309060573578, + 0.03688764572143555 + ], + [ + 0.3682588040828705, + 0.1756354570388794, + 0.028403138741850853 + ], + [ + 0.3728017210960388, + 0.1717437356710434, + 0.03043169341981411 + ], + [ + 0.3719575107097626, + 0.16940614581108093, + 0.03127725422382355 + ], + [ + 0.36452892422676086, + 0.14688338339328766, + 0.0601959228515625 + ], + [ + 0.34542661905288696, + 0.11237844824790955, + 0.08403759449720383 + ], + [ + 0.31176987290382385, + 0.08436480909585953, + 0.08530882745981216 + ], + [ + 0.28207701444625854, + 0.06914422661066055, + 0.07111623138189316 + ], + [ + 0.26336532831192017, + 0.07011308521032333, + 0.05966434255242348 + ], + [ + 0.2520274519920349, + 0.07253879308700562, + 0.049241743981838226 + ], + [ + 0.24899281561374664, + 0.07945422828197479, + 0.04406782612204552 + ], + [ + 0.24945053458213806, + 0.07979406416416168, + 0.0424715094268322 + ], + [ + 0.2576324939727783, + 0.07518894225358963, + 0.04865959659218788 + ], + [ + 0.2624762952327728, + 0.06641504168510437, + 0.06047191098332405 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.977470637460246, + -0.15789513670240088, + 0.1400724052366871, + -0.15782759684561995, + -0.9873978206001016, + -0.011661627163742699, + 0.14014850187211067, + -0.010708392965324854, + -0.9900725871081895 + ], + [ + 0.9812556017018186, + -0.15365510767149704, + 0.11630800494919835, + -0.15396121777927896, + -0.9880561531860806, + -0.006401685016147205, + 0.11590249155528765, + -0.01162523279703194, + -0.9931925626049016 + ], + [ + 0.9883276709353295, + -0.05640329680497663, + 0.14151707661295515, + -0.05983515995118517, + -0.9980056785030552, + 0.020110179245161855, + 0.140100565656115, + -0.02834314353042311, + -0.9897315281012576 + ], + [ + 0.9881600510582542, + 0.0005888525755497176, + 0.15342544360435298, + -0.006236432064423574, + -0.9990120240224475, + 0.04400094059992898, + 0.15329977301892542, + -0.044436799065829626, + -0.9871801003267483 + ], + [ + 0.9830052253019526, + 0.10304296415330905, + 0.15193049255352617, + 0.08853775300845462, + -0.9911063193481221, + 0.09934450181279122, + 0.16081602321059643, + -0.08420457996283612, + -0.9833858832584546 + ], + [ + 0.955931936108286, + 0.2382762459753278, + 0.1715184075607327, + 0.21454516803896687, + -0.9657543679505595, + 0.1459070651323898, + 0.20041083902672527, + -0.10267877769198973, + -0.974316459992483 + ], + [ + 0.9162236303049374, + 0.36978383176488244, + 0.1542536127165997, + 0.34386472627149883, + -0.9233231980488522, + 0.17097169932789286, + 0.2056485091049015, + -0.10360593472442282, + -0.9731261485505412 + ], + [ + 0.8738377248751262, + 0.46798108041615083, + 0.13191413479076158, + 0.4439253683627775, + -0.8785765161804082, + 0.17616348242547014, + 0.19833783781476322, + -0.0953782658095062, + -0.975481977538353 + ], + [ + 0.8350012404040396, + 0.5388201256756697, + 0.1115607488795725, + 0.516666772622028, + -0.8375022973678676, + 0.17789139375439644, + 0.18928384662208564, + -0.09089980236721919, + -0.977705912500046 + ], + [ + 0.8235309008588495, + 0.5615243814465087, + 0.08054330742977707, + 0.5460967219164239, + -0.8231894363389238, + 0.15536255086777148, + 0.15354226011996797, + -0.08396142531615669, + -0.9845685620697685 + ], + [ + 0.8019978689050193, + 0.5928387911595886, + 0.07308615442233184, + 0.5821406876217464, + -0.8031498526516383, + 0.1267380526950443, + 0.133834368108821, + -0.059097223979552166, + -0.9892400517724821 + ], + [ + 0.7894201348749093, + 0.6078557534918113, + 0.08559926168480007, + 0.5946694140446257, + -0.7918665701712537, + 0.13898065708952825, + 0.15226338579547644, + -0.05881086627586626, + -0.9865886393801525 + ], + [ + 0.8008903692191066, + 0.5929294558621315, + 0.08372142415845382, + 0.576535061784745, + -0.8013029249358717, + 0.159752762173544, + 0.16180834040599776, + -0.07967611223104076, + -0.9836004158777096 + ], + [ + 0.8041367528837372, + 0.585594148758743, + 0.1021938139082933, + 0.5666243795389139, + -0.8070681395704992, + 0.16606574180834088, + 0.17972449797882462, + -0.0756340599844864, + -0.980805074312181 + ], + [ + 0.8162829349489207, + 0.5712137043601856, + 0.08600624432150608, + 0.5537228420003572, + -0.8161564773871428, + 0.1651654281805306, + 0.1645393094619754, + -0.08719809843181726, + -0.9825086805070231 + ], + [ + 0.8231723098291702, + 0.5597695241120051, + 0.09510745610059898, + 0.540115944851095, + -0.8236432703145911, + 0.1728772089753125, + 0.17510600917192112, + -0.0909386779148691, + -0.9803407787147173 + ], + [ + 0.8269075722920782, + 0.5539439526651152, + 0.09679857536022804, + 0.5348242436349361, + -0.8278944425337186, + 0.16897875736938545, + 0.17374376335955102, + -0.08795958917327734, + -0.980854839089928 + ], + [ + 0.8566981478000141, + 0.49035345547763, + 0.1600680238435322, + 0.46235495437455654, + -0.8675715085519391, + 0.18315996755354214, + 0.22868357991191096, + -0.08290456109322845, + -0.9699642539952759 + ], + [ + 0.8984308188389255, + 0.3912670764339884, + 0.19932922178952295, + 0.36046724712981304, + -0.9163861926492717, + 0.17406811789763715, + 0.25076967022961855, + -0.08453650584552748, + -0.9643485633692607 + ], + [ + 0.9329035980421139, + 0.3138682721772675, + 0.17657175448110193, + 0.287036423042713, + -0.9441605917745686, + 0.1617741289166506, + 0.2174878585276027, + -0.10023714211984053, + -0.9709024393484261 + ], + [ + 0.9614647186220765, + 0.25344013795475506, + 0.10655370157083244, + 0.2331918344026102, + -0.9570580624692291, + 0.17222495008154548, + 0.14562679428222303, + -0.1407407600381636, + -0.979277731417887 + ], + [ + 0.9708746600845976, + 0.23717369619150636, + 0.03392686605739682, + 0.22584809305221637, + -0.9532392864394157, + 0.20081708506287843, + 0.07996895191444557, + -0.18730590119730073, + -0.9790410952081492 + ], + [ + 0.9727094706733382, + 0.23157912207041328, + 0.014401245900638421, + 0.22275526438199586, + -0.9494116938992936, + 0.22135385173378222, + 0.0649336419161991, + -0.21210503461344507, + -0.9750872147860047 + ], + [ + 0.9667829317968057, + 0.25497767842468155, + 0.017808601616426223, + 0.2450235341066405, + -0.9443645713170465, + 0.21940607141796004, + 0.07276146315368373, + -0.20775451847392074, + -0.9754710808288498 + ], + [ + 0.972144827208517, + 0.23389973101546127, + 0.015011687533968542, + 0.2249473322040084, + -0.9490893035846131, + 0.22051800732723348, + 0.06582653466514944, + -0.21099860106685348, + -0.9752673775338786 + ], + [ + 0.9840994892115267, + 0.16233887098100397, + 0.07207139725456331, + 0.14179437430245145, + -0.9624067500547567, + 0.23166269200114423, + 0.10696985907155541, + -0.21775981818887905, + -0.9701227297783295 + ], + [ + 0.9902110111720602, + 0.06702812563727792, + 0.12243113871544233, + 0.037088869354782894, + -0.971970373448287, + 0.23215944716677395, + 0.13456065221152297, + -0.22534600842338331, + -0.96494176371637 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0019984692335128784, + 0.00044233351945877075, + -0.0060018934309482574, + 0.0008890349417924881, + 0.02444782853126526, + 0.004450276494026184, + 1.0 + ], + [ + 0.020812124013900757, + 0.025118887424468994, + 0.0038882046937942505, + 0.01692499965429306, + -0.024399414658546448, + 0.09516537189483643, + 1.0 + ], + [ + 0.023780643939971924, + 0.018192201852798462, + -0.0007013417780399323, + 0.01635412685573101, + -0.013343676924705505, + 0.054156944155693054, + 1.0 + ], + [ + 0.020778149366378784, + 0.034570857882499695, + 0.00521908700466156, + 0.04043533653020859, + -0.007610723376274109, + 0.0961371436715126, + 1.0 + ], + [ + 0.020791739225387573, + 0.04591475799679756, + 0.012508682906627655, + 0.019579045474529266, + -0.040259867906570435, + 0.13095110654830933, + 1.0 + ], + [ + 0.01090329885482788, + 0.04955800622701645, + 0.0038751065731048584, + 0.0010696649551391602, + -0.005349084734916687, + 0.13826221227645874, + 1.0 + ], + [ + 0.005506277084350586, + 0.03887878358364105, + -0.005397200584411621, + -0.008601829409599304, + 0.007464557886123657, + 0.11100208759307861, + 1.0 + ], + [ + 0.00017315149307250977, + 0.027050301432609558, + -0.009615547955036163, + -0.004759684205055237, + 0.009229019284248352, + 0.08405926823616028, + 1.0 + ], + [ + -0.0006275177001953125, + 0.003612831234931946, + -0.02010831981897354, + -0.007634483277797699, + 0.03628070652484894, + 0.03143984079360962, + 1.0 + ], + [ + 0.0022361278533935547, + -0.0008661150932312012, + -0.01864005997776985, + -0.025402449071407318, + 0.019914895296096802, + 0.042333126068115234, + 1.0 + ], + [ + 0.005959242582321167, + -0.001878499984741211, + 0.0028377771377563477, + -0.00012924149632453918, + -0.018620803952217102, + 0.017735421657562256, + 1.0 + ], + [ + 0.005633234977722168, + -0.0060906559228897095, + 0.0028186440467834473, + 0.021288204938173294, + -0.009664908051490784, + -0.021673262119293213, + 0.0 + ], + [ + 0.00711745023727417, + -0.0022245049476623535, + 0.0042495764791965485, + -0.0038661211729049683, + -0.01818351447582245, + -0.010104715824127197, + 0.0 + ], + [ + 0.003603905439376831, + -0.0057954490184783936, + -0.008484506979584694, + 0.011556588113307953, + 0.01541544497013092, + -0.01778590679168701, + 0.0 + ], + [ + 0.004542917013168335, + -0.0038917213678359985, + 0.002028554677963257, + 0.0039790719747543335, + -0.010722503066062927, + -0.015366077423095703, + 0.0 + ], + [ + -0.0008442103862762451, + -0.0023375898599624634, + 0.0008455608040094376, + -0.003060385584831238, + 0.001383453607559204, + -0.006573498249053955, + 0.0 + ], + [ + -0.007428586483001709, + -0.022522762417793274, + 0.028918668627738953, + -0.004172682762145996, + -0.05609522759914398, + -0.07920926809310913, + 0.0 + ], + [ + -0.0191023051738739, + -0.03450493514537811, + 0.023841671645641327, + 0.0021737143397331238, + -0.02275003492832184, + -0.1133398711681366, + 0.0 + ], + [ + -0.03365674614906311, + -0.02801363915205002, + 0.0012712329626083374, + 0.015438474714756012, + 0.03423526883125305, + -0.08306822180747986, + 0.0 + ], + [ + -0.029692858457565308, + -0.015220582485198975, + -0.014192596077919006, + 0.039864785969257355, + 0.0730934888124466, + -0.06054484844207764, + 0.0 + ], + [ + -0.01871168613433838, + 0.0009688585996627808, + -0.01145188882946968, + 0.04628995060920715, + 0.06609205901622772, + -0.009384989738464355, + 0.0 + ], + [ + -0.011337876319885254, + 0.0024257078766822815, + -0.01042259857058525, + 0.025156080722808838, + 0.015075072646141052, + -0.003435373306274414, + 0.0 + ], + [ + -0.003034636378288269, + 0.006915435194969177, + -0.005173917859792709, + -0.00434422492980957, + -0.007846459746360779, + 0.02309258282184601, + 1.0 + ], + [ + 0.00045771896839141846, + 0.00033983588218688965, + -0.0015963166952133179, + 0.003222346305847168, + 0.006951652467250824, + -0.020824864506721497, + 1.0 + ], + [ + 0.008181959390640259, + -0.004605121910572052, + 0.006188087165355682, + 0.007740691304206848, + -0.04130075126886368, + -0.0842902809381485, + 1.0 + ], + [ + 0.004843801259994507, + -0.00877390056848526, + 0.01181231439113617, + 0.008615180850028992, + -0.027795150876045227, + -0.1056625247001648, + 1.0 + ], + [ + 0.0028586089611053467, + -0.006673455238342285, + 0.02015494927763939, + -0.024665474891662598, + -0.06897914409637451, + -0.023974787443876266, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9492040276527405 + ], + [ + 0.6831957101821899 + ], + [ + 0.37802740931510925 + ], + [ + 0.16866940259933472 + ], + [ + 0.09437843412160873 + ], + [ + 0.07689721137285233 + ], + [ + 0.06926051527261734 + ], + [ + 0.0686454325914383 + ], + [ + 0.0686454325914383 + ], + [ + 0.0686454325914383 + ], + [ + 0.0686454325914383 + ], + [ + 0.09737934172153473 + ], + [ + 0.2716236412525177 + ], + [ + 0.5511609315872192 + ], + [ + 0.8553624749183655 + ], + [ + 1.0099300146102905 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2415909767150879, + -0.050405945628881454, + 0.05595303699374199 + ], + [ + 0.26240310072898865, + -0.02528705820441246, + 0.05984124168753624 + ], + [ + 0.28618374466896057, + -0.007094857282936573, + 0.05913989990949631 + ], + [ + 0.30696189403533936, + 0.027476001530885696, + 0.06435898691415787 + ], + [ + 0.32775363326072693, + 0.07339075952768326, + 0.07686766982078552 + ], + [ + 0.3386569321155548, + 0.12294876575469971, + 0.08074277639389038 + ], + [ + 0.3441632091999054, + 0.16182754933834076, + 0.07534557580947876 + ], + [ + 0.3443363606929779, + 0.18887785077095032, + 0.0657300278544426 + ], + [ + 0.3437088429927826, + 0.19249068200588226, + 0.045621708035469055 + ], + [ + 0.34594497084617615, + 0.19162456691265106, + 0.026981648057699203 + ], + [ + 0.3519042134284973, + 0.18974606692790985, + 0.02981942519545555 + ], + [ + 0.3575374484062195, + 0.18365541100502014, + 0.032638069242239 + ], + [ + 0.36465489864349365, + 0.1814309060573578, + 0.03688764572143555 + ], + [ + 0.3682588040828705, + 0.1756354570388794, + 0.028403138741850853 + ], + [ + 0.3728017210960388, + 0.1717437356710434, + 0.03043169341981411 + ], + [ + 0.3719575107097626, + 0.16940614581108093, + 0.03127725422382355 + ], + [ + 0.36452892422676086, + 0.14688338339328766, + 0.0601959228515625 + ], + [ + 0.34542661905288696, + 0.11237844824790955, + 0.08403759449720383 + ], + [ + 0.31176987290382385, + 0.08436480909585953, + 0.08530882745981216 + ], + [ + 0.28207701444625854, + 0.06914422661066055, + 0.07111623138189316 + ], + [ + 0.26336532831192017, + 0.07011308521032333, + 0.05966434255242348 + ], + [ + 0.2520274519920349, + 0.07253879308700562, + 0.049241743981838226 + ], + [ + 0.24899281561374664, + 0.07945422828197479, + 0.04406782612204552 + ], + [ + 0.24945053458213806, + 0.07979406416416168, + 0.0424715094268322 + ], + [ + 0.2576324939727783, + 0.07518894225358963, + 0.04865959659218788 + ], + [ + 0.2624762952327728, + 0.06641504168510437, + 0.06047191098332405 + ], + [ + 0.2653349041938782, + 0.059741586446762085, + 0.08062686026096344 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9812556017018186, + -0.15365510767149704, + 0.11630800494919835, + -0.15396121777927896, + -0.9880561531860806, + -0.006401685016147205, + 0.11590249155528765, + -0.01162523279703194, + -0.9931925626049016 + ], + [ + 0.9883276709353295, + -0.05640329680497663, + 0.14151707661295515, + -0.05983515995118517, + -0.9980056785030552, + 0.020110179245161855, + 0.140100565656115, + -0.02834314353042311, + -0.9897315281012576 + ], + [ + 0.9881600510582542, + 0.0005888525755497176, + 0.15342544360435298, + -0.006236432064423574, + -0.9990120240224475, + 0.04400094059992898, + 0.15329977301892542, + -0.044436799065829626, + -0.9871801003267483 + ], + [ + 0.9830052253019526, + 0.10304296415330905, + 0.15193049255352617, + 0.08853775300845462, + -0.9911063193481221, + 0.09934450181279122, + 0.16081602321059643, + -0.08420457996283612, + -0.9833858832584546 + ], + [ + 0.955931936108286, + 0.2382762459753278, + 0.1715184075607327, + 0.21454516803896687, + -0.9657543679505595, + 0.1459070651323898, + 0.20041083902672527, + -0.10267877769198973, + -0.974316459992483 + ], + [ + 0.9162236303049374, + 0.36978383176488244, + 0.1542536127165997, + 0.34386472627149883, + -0.9233231980488522, + 0.17097169932789286, + 0.2056485091049015, + -0.10360593472442282, + -0.9731261485505412 + ], + [ + 0.8738377248751262, + 0.46798108041615083, + 0.13191413479076158, + 0.4439253683627775, + -0.8785765161804082, + 0.17616348242547014, + 0.19833783781476322, + -0.0953782658095062, + -0.975481977538353 + ], + [ + 0.8350012404040396, + 0.5388201256756697, + 0.1115607488795725, + 0.516666772622028, + -0.8375022973678676, + 0.17789139375439644, + 0.18928384662208564, + -0.09089980236721919, + -0.977705912500046 + ], + [ + 0.8235309008588495, + 0.5615243814465087, + 0.08054330742977707, + 0.5460967219164239, + -0.8231894363389238, + 0.15536255086777148, + 0.15354226011996797, + -0.08396142531615669, + -0.9845685620697685 + ], + [ + 0.8019978689050193, + 0.5928387911595886, + 0.07308615442233184, + 0.5821406876217464, + -0.8031498526516383, + 0.1267380526950443, + 0.133834368108821, + -0.059097223979552166, + -0.9892400517724821 + ], + [ + 0.7894201348749093, + 0.6078557534918113, + 0.08559926168480007, + 0.5946694140446257, + -0.7918665701712537, + 0.13898065708952825, + 0.15226338579547644, + -0.05881086627586626, + -0.9865886393801525 + ], + [ + 0.8008903692191066, + 0.5929294558621315, + 0.08372142415845382, + 0.576535061784745, + -0.8013029249358717, + 0.159752762173544, + 0.16180834040599776, + -0.07967611223104076, + -0.9836004158777096 + ], + [ + 0.8041367528837372, + 0.585594148758743, + 0.1021938139082933, + 0.5666243795389139, + -0.8070681395704992, + 0.16606574180834088, + 0.17972449797882462, + -0.0756340599844864, + -0.980805074312181 + ], + [ + 0.8162829349489207, + 0.5712137043601856, + 0.08600624432150608, + 0.5537228420003572, + -0.8161564773871428, + 0.1651654281805306, + 0.1645393094619754, + -0.08719809843181726, + -0.9825086805070231 + ], + [ + 0.8231723098291702, + 0.5597695241120051, + 0.09510745610059898, + 0.540115944851095, + -0.8236432703145911, + 0.1728772089753125, + 0.17510600917192112, + -0.0909386779148691, + -0.9803407787147173 + ], + [ + 0.8269075722920782, + 0.5539439526651152, + 0.09679857536022804, + 0.5348242436349361, + -0.8278944425337186, + 0.16897875736938545, + 0.17374376335955102, + -0.08795958917327734, + -0.980854839089928 + ], + [ + 0.8566981478000141, + 0.49035345547763, + 0.1600680238435322, + 0.46235495437455654, + -0.8675715085519391, + 0.18315996755354214, + 0.22868357991191096, + -0.08290456109322845, + -0.9699642539952759 + ], + [ + 0.8984308188389255, + 0.3912670764339884, + 0.19932922178952295, + 0.36046724712981304, + -0.9163861926492717, + 0.17406811789763715, + 0.25076967022961855, + -0.08453650584552748, + -0.9643485633692607 + ], + [ + 0.9329035980421139, + 0.3138682721772675, + 0.17657175448110193, + 0.287036423042713, + -0.9441605917745686, + 0.1617741289166506, + 0.2174878585276027, + -0.10023714211984053, + -0.9709024393484261 + ], + [ + 0.9614647186220765, + 0.25344013795475506, + 0.10655370157083244, + 0.2331918344026102, + -0.9570580624692291, + 0.17222495008154548, + 0.14562679428222303, + -0.1407407600381636, + -0.979277731417887 + ], + [ + 0.9708746600845976, + 0.23717369619150636, + 0.03392686605739682, + 0.22584809305221637, + -0.9532392864394157, + 0.20081708506287843, + 0.07996895191444557, + -0.18730590119730073, + -0.9790410952081492 + ], + [ + 0.9727094706733382, + 0.23157912207041328, + 0.014401245900638421, + 0.22275526438199586, + -0.9494116938992936, + 0.22135385173378222, + 0.0649336419161991, + -0.21210503461344507, + -0.9750872147860047 + ], + [ + 0.9667829317968057, + 0.25497767842468155, + 0.017808601616426223, + 0.2450235341066405, + -0.9443645713170465, + 0.21940607141796004, + 0.07276146315368373, + -0.20775451847392074, + -0.9754710808288498 + ], + [ + 0.972144827208517, + 0.23389973101546127, + 0.015011687533968542, + 0.2249473322040084, + -0.9490893035846131, + 0.22051800732723348, + 0.06582653466514944, + -0.21099860106685348, + -0.9752673775338786 + ], + [ + 0.9840994892115267, + 0.16233887098100397, + 0.07207139725456331, + 0.14179437430245145, + -0.9624067500547567, + 0.23166269200114423, + 0.10696985907155541, + -0.21775981818887905, + -0.9701227297783295 + ], + [ + 0.9902110111720602, + 0.06702812563727792, + 0.12243113871544233, + 0.037088869354782894, + -0.971970373448287, + 0.23215944716677395, + 0.13456065221152297, + -0.22534600842338331, + -0.96494176371637 + ], + [ + 0.9791856000705274, + 0.05435962899347896, + 0.19555201699346586, + 0.013183799213917661, + -0.978467454612523, + 0.20597967788686655, + 0.20253826318206775, + -0.19911421596606688, + -0.9588179081282379 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006007.json b/json/chunk-0006/episode_0006007.json new file mode 100644 index 0000000000000000000000000000000000000000..22eedb8cba0addeeb14be381b2739553e4f9bab7 --- /dev/null +++ b/json/chunk-0006/episode_0006007.json @@ -0,0 +1,2782 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 45, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut the yellow block on top of the green arch." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006007.mp4", + "start": 0, + "end": 45, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.277060329914093, + -0.12877559661865234, + 0.11636180430650711, + -0.05092969536781311, + 0.027881480753421783, + 0.07903692126274109, + 0.0, + 1.0008161067962646 + ], + [ + 0.27468159794807434, + -0.12775591015815735, + 0.10733576118946075, + -0.03574465215206146, + 0.0565006248652935, + 0.08274023979902267, + 0.0, + 1.0008161067962646 + ], + [ + 0.27444717288017273, + -0.13404010236263275, + 0.09680834412574768, + -0.006063731852918863, + 0.06213115155696869, + 0.14222203195095062, + 0.0, + 1.0008161067962646 + ], + [ + 0.27238917350769043, + -0.1472865343093872, + 0.0908641442656517, + 0.0029811114072799683, + 0.043728604912757874, + 0.0933229997754097, + 0.0, + 1.0008161067962646 + ], + [ + 0.2730816900730133, + -0.156034454703331, + 0.08602017909288406, + -0.02198082208633423, + 0.04034386947751045, + 0.09594512730836868, + 0.0, + 1.0008161067962646 + ], + [ + 0.27530714869499207, + -0.16262748837471008, + 0.08184852451086044, + -0.05697254091501236, + 0.04181593284010887, + 0.12907467782497406, + 0.0, + 1.0008161067962646 + ], + [ + 0.2709018290042877, + -0.15885649621486664, + 0.0689917653799057, + -0.05364444851875305, + 0.08931002020835876, + 0.16317224502563477, + 0.0, + 1.0008161067962646 + ], + [ + 0.26884812116622925, + -0.14951513707637787, + 0.059137243777513504, + -0.03186412528157234, + 0.1206323653459549, + 0.1877027451992035, + 0.0, + 1.0008161067962646 + ], + [ + 0.266905814409256, + -0.1416458636522293, + 0.054253339767456055, + -0.015427449718117714, + 0.14078623056411743, + 0.20704834163188934, + 0.0, + 1.0008161067962646 + ], + [ + 0.2668752372264862, + -0.139338880777359, + 0.05369965359568596, + -0.01308847963809967, + 0.14535489678382874, + 0.22027423977851868, + 0.0, + 1.0008161067962646 + ], + [ + 0.26605114340782166, + -0.1368686854839325, + 0.05007117614150047, + -0.023113204166293144, + 0.14818809926509857, + 0.2467968612909317, + 0.0, + 0.9650423526763916 + ], + [ + 0.2684589624404907, + -0.13573363423347473, + 0.047726262360811234, + -0.02881781943142414, + 0.1432337909936905, + 0.2584257423877716, + 0.0, + 0.6651484370231628 + ], + [ + 0.26974838972091675, + -0.13527266681194305, + 0.045647814869880676, + -0.02529206871986389, + 0.13748764991760254, + 0.2625378668308258, + 0.0, + 0.4699908196926117 + ], + [ + 0.27151918411254883, + -0.13492938876152039, + 0.043690163642168045, + -0.025555144995450974, + 0.11933601647615433, + 0.28249916434288025, + 0.0, + 0.4699908196926117 + ], + [ + 0.27018487453460693, + -0.13603995740413666, + 0.04540959373116493, + -0.019858045503497124, + 0.10839714109897614, + 0.2809050977230072, + 0.0, + 0.4699908196926117 + ], + [ + 0.2662290632724762, + -0.13492123782634735, + 0.05953625589609146, + -0.02350890077650547, + 0.10528584569692612, + 0.2363094538450241, + 0.0, + 0.4699908196926117 + ], + [ + 0.2754449248313904, + -0.13692383468151093, + 0.11073184758424759, + -0.05846617743372917, + -0.020086482167243958, + 0.07700088620185852, + 0.0, + 0.4699908196926117 + ], + [ + 0.27006611227989197, + -0.1325771063566208, + 0.13721328973770142, + -0.04646778106689453, + -0.04573656991124153, + 0.007745795417577028, + 0.0, + 0.4699908196926117 + ], + [ + 0.2675917446613312, + -0.1296735256910324, + 0.14099344611167908, + -0.045120712369680405, + -0.03511887416243553, + -0.007037315983325243, + 0.0, + 0.4699908196926117 + ], + [ + 0.2646467983722687, + -0.11732431501150131, + 0.16008703410625458, + -0.06098643317818642, + -0.06686829775571823, + 0.022412968799471855, + 0.0, + 0.4699908196926117 + ], + [ + 0.26276376843452454, + -0.08993319422006607, + 0.1788032352924347, + -0.0925038680434227, + -0.1335914433002472, + 0.11204490065574646, + 0.0, + 0.4699908196926117 + ], + [ + 0.2661694288253784, + -0.05960904434323311, + 0.19584304094314575, + -0.12943418323993683, + -0.1881127506494522, + 0.22823891043663025, + 0.0, + 0.4699908196926117 + ], + [ + 0.2624141275882721, + -0.019375566393136978, + 0.19888831675052643, + -0.1372564285993576, + -0.19685374200344086, + 0.4020993709564209, + 0.0, + 0.4699908196926117 + ], + [ + 0.25605449080467224, + 0.005774066783487797, + 0.19428879022598267, + -0.14949138462543488, + -0.15139536559581757, + 0.5656148195266724, + 0.0, + 0.4699908196926117 + ], + [ + 0.24677692353725433, + 0.02069724351167679, + 0.18090754747390747, + -0.16963937878608704, + -0.0810355395078659, + 0.6748635768890381, + 0.0, + 0.4699908196926117 + ], + [ + 0.2404511272907257, + 0.017894359305500984, + 0.1646089106798172, + -0.15394553542137146, + -0.0016879525501281023, + 0.7403724789619446, + 0.0, + 0.4699908196926117 + ], + [ + 0.24030299484729767, + 0.005865534767508507, + 0.1535164713859558, + -0.11132209002971649, + 0.04517293721437454, + 0.7953080534934998, + 0.0, + 0.4699908196926117 + ], + [ + 0.23551511764526367, + -0.00022588300635106862, + 0.14410386979579926, + -0.10610019415616989, + 0.07919301092624664, + 0.8369920253753662, + 0.0, + 0.4699908196926117 + ], + [ + 0.2312678098678589, + 0.00232495553791523, + 0.1321897804737091, + -0.08601897954940796, + 0.12551265954971313, + 0.8787422180175781, + 0.0, + 0.4699908196926117 + ], + [ + 0.223576620221138, + 0.013725374825298786, + 0.12243660539388657, + -0.08225598931312561, + 0.16112357378005981, + 0.962048351764679, + 0.0, + 0.4699908196926117 + ], + [ + 0.22031298279762268, + 0.01878025010228157, + 0.1167227253317833, + -0.07041632384061813, + 0.1670098900794983, + 1.0356074571609497, + 0.0, + 0.4699908196926117 + ], + [ + 0.2211509346961975, + 0.021677164360880852, + 0.11289465427398682, + -0.061000727117061615, + 0.14524580538272858, + 1.100175142288208, + 0.0, + 0.4699908196926117 + ], + [ + 0.22429853677749634, + 0.02272949181497097, + 0.10695905238389969, + -0.07259976118803024, + 0.10698511451482773, + 1.1575497388839722, + 0.0, + 0.4699908196926117 + ], + [ + 0.2273125946521759, + 0.02408469095826149, + 0.10187120735645294, + -0.08954256772994995, + 0.07876727730035782, + 1.218384027481079, + 0.0, + 0.4699908196926117 + ], + [ + 0.22781550884246826, + 0.01943381130695343, + 0.09472642093896866, + -0.1213100403547287, + 0.0964873805642128, + 1.2458152770996094, + 0.0, + 0.4699908196926117 + ], + [ + 0.22377392649650574, + 0.019363978877663612, + 0.08790583163499832, + -0.12416552752256393, + 0.11058662086725235, + 1.266151785850525, + 0.0, + 0.4699908196926117 + ], + [ + 0.2160196304321289, + 0.019989583641290665, + 0.08607210218906403, + -0.13252806663513184, + 0.10600721836090088, + 1.2570202350616455, + 0.0, + 0.4699908196926117 + ], + [ + 0.2110290676355362, + 0.021313276141881943, + 0.08411284536123276, + -0.1331716626882553, + 0.11706539988517761, + 1.2743946313858032, + 0.0, + 0.4699908196926117 + ], + [ + 0.20813363790512085, + 0.02507377415895462, + 0.08133036643266678, + -0.13475541770458221, + 0.12678711116313934, + 1.3020933866500854, + 0.0, + 0.4699908196926117 + ], + [ + 0.2081734538078308, + 0.025466090068221092, + 0.08085643500089645, + -0.1402478665113449, + 0.13007433712482452, + 1.3032618761062622, + 0.0, + 0.4699908196926117 + ], + [ + 0.20910626649856567, + 0.02481699176132679, + 0.07630256563425064, + -0.12983158230781555, + 0.1422441303730011, + 1.299309253692627, + 0.0, + 0.4699908196926117 + ], + [ + 0.21251855790615082, + 0.024738281965255737, + 0.07529766857624054, + -0.12944163382053375, + 0.14961762726306915, + 1.3007657527923584, + 0.0, + 0.4699908196926117 + ], + [ + 0.21454226970672607, + 0.02500591054558754, + 0.07511772960424423, + -0.13078194856643677, + 0.1531388908624649, + 1.3000695705413818, + 0.0, + 0.5188266634941101 + ], + [ + 0.21325574815273285, + 0.025636907666921616, + 0.07217880338430405, + -0.12528185546398163, + 0.16803131997585297, + 1.2829461097717285, + 0.0, + 0.8307508826255798 + ], + [ + 0.2170751839876175, + 0.02738962136209011, + 0.07689175009727478, + -0.1310873031616211, + 0.1589648425579071, + 1.2671701908111572, + 0.0, + 1.0105689764022827 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9650423526763916 + ], + [ + 0.6651484370231628 + ], + [ + 0.4699908196926117 + ], + [ + 0.4699908196926117 + ], + [ + 0.4699908196926117 + ], + [ + 0.4699908196926117 + ], + [ + 0.4699908196926117 + ], + [ + 0.4699908196926117 + ], + [ + 0.4699908196926117 + ], + [ + 0.4699908196926117 + ], + [ + 0.4699908196926117 + ], + [ + 0.4699908196926117 + ], + [ + 0.4699908196926117 + ], + [ + 0.4699908196926117 + ], + [ + 0.4699908196926117 + ], + [ + 0.4699908196926117 + ], + [ + 0.4699908196926117 + ], + [ + 0.4699908196926117 + ], + [ + 0.4699908196926117 + ], + [ + 0.4699908196926117 + ], + [ + 0.4699908196926117 + ], + [ + 0.4699908196926117 + ], + [ + 0.4699908196926117 + ], + [ + 0.4699908196926117 + ], + [ + 0.4699908196926117 + ], + [ + 0.4699908196926117 + ], + [ + 0.4699908196926117 + ], + [ + 0.4699908196926117 + ], + [ + 0.4699908196926117 + ], + [ + 0.4699908196926117 + ], + [ + 0.4699908196926117 + ], + [ + 0.4699908196926117 + ], + [ + 0.5188266634941101 + ], + [ + 0.8307508826255798 + ], + [ + 1.0105689764022827 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.277060329914093, + -0.12877559661865234, + 0.11636180430650711 + ], + [ + 0.27468159794807434, + -0.12775591015815735, + 0.10733576118946075 + ], + [ + 0.27444717288017273, + -0.13404010236263275, + 0.09680834412574768 + ], + [ + 0.27238917350769043, + -0.1472865343093872, + 0.0908641442656517 + ], + [ + 0.2730816900730133, + -0.156034454703331, + 0.08602017909288406 + ], + [ + 0.27530714869499207, + -0.16262748837471008, + 0.08184852451086044 + ], + [ + 0.2709018290042877, + -0.15885649621486664, + 0.0689917653799057 + ], + [ + 0.26884812116622925, + -0.14951513707637787, + 0.059137243777513504 + ], + [ + 0.266905814409256, + -0.1416458636522293, + 0.054253339767456055 + ], + [ + 0.2668752372264862, + -0.139338880777359, + 0.05369965359568596 + ], + [ + 0.26605114340782166, + -0.1368686854839325, + 0.05007117614150047 + ], + [ + 0.2684589624404907, + -0.13573363423347473, + 0.047726262360811234 + ], + [ + 0.26974838972091675, + -0.13527266681194305, + 0.045647814869880676 + ], + [ + 0.27151918411254883, + -0.13492938876152039, + 0.043690163642168045 + ], + [ + 0.27018487453460693, + -0.13603995740413666, + 0.04540959373116493 + ], + [ + 0.2662290632724762, + -0.13492123782634735, + 0.05953625589609146 + ], + [ + 0.2754449248313904, + -0.13692383468151093, + 0.11073184758424759 + ], + [ + 0.27006611227989197, + -0.1325771063566208, + 0.13721328973770142 + ], + [ + 0.2675917446613312, + -0.1296735256910324, + 0.14099344611167908 + ], + [ + 0.2646467983722687, + -0.11732431501150131, + 0.16008703410625458 + ], + [ + 0.26276376843452454, + -0.08993319422006607, + 0.1788032352924347 + ], + [ + 0.2661694288253784, + -0.05960904434323311, + 0.19584304094314575 + ], + [ + 0.2624141275882721, + -0.019375566393136978, + 0.19888831675052643 + ], + [ + 0.25605449080467224, + 0.005774066783487797, + 0.19428879022598267 + ], + [ + 0.24677692353725433, + 0.02069724351167679, + 0.18090754747390747 + ], + [ + 0.2404511272907257, + 0.017894359305500984, + 0.1646089106798172 + ], + [ + 0.24030299484729767, + 0.005865534767508507, + 0.1535164713859558 + ], + [ + 0.23551511764526367, + -0.00022588300635106862, + 0.14410386979579926 + ], + [ + 0.2312678098678589, + 0.00232495553791523, + 0.1321897804737091 + ], + [ + 0.223576620221138, + 0.013725374825298786, + 0.12243660539388657 + ], + [ + 0.22031298279762268, + 0.01878025010228157, + 0.1167227253317833 + ], + [ + 0.2211509346961975, + 0.021677164360880852, + 0.11289465427398682 + ], + [ + 0.22429853677749634, + 0.02272949181497097, + 0.10695905238389969 + ], + [ + 0.2273125946521759, + 0.02408469095826149, + 0.10187120735645294 + ], + [ + 0.22781550884246826, + 0.01943381130695343, + 0.09472642093896866 + ], + [ + 0.22377392649650574, + 0.019363978877663612, + 0.08790583163499832 + ], + [ + 0.2160196304321289, + 0.019989583641290665, + 0.08607210218906403 + ], + [ + 0.2110290676355362, + 0.021313276141881943, + 0.08411284536123276 + ], + [ + 0.20813363790512085, + 0.02507377415895462, + 0.08133036643266678 + ], + [ + 0.2081734538078308, + 0.025466090068221092, + 0.08085643500089645 + ], + [ + 0.20910626649856567, + 0.02481699176132679, + 0.07630256563425064 + ], + [ + 0.21251855790615082, + 0.024738281965255737, + 0.07529766857624054 + ], + [ + 0.21454226970672607, + 0.02500591054558754, + 0.07511772960424423 + ], + [ + 0.21325574815273285, + 0.025636907666921616, + 0.07217880338430405 + ], + [ + 0.2170751839876175, + 0.02738962136209011, + 0.07689175009727478 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9964907581768003, + 0.08026705022282905, + -0.02373540639532149, + 0.07892397174915323, + -0.9954735670939642, + -0.052946991421206235, + -0.027877868490329243, + 0.050887895080699325, + -0.9983152040226029 + ], + [ + 0.9949887020217865, + 0.08460426143054643, + -0.05328791417190718, + 0.08251398526043179, + -0.9957756050157512, + -0.040278861602034234, + -0.056470568311661605, + 0.035680014059783306, + -0.9977665115202312 + ], + [ + 0.987993444904151, + 0.142113154699661, + -0.06060366397948749, + 0.14146956397243057, + -0.9898319173585596, + -0.014803305297396471, + -0.0620911853315652, + 0.006051994678432812, + -0.9980521319372718 + ], + [ + 0.994696784970414, + 0.09305743246353212, + -0.04380205740392331, + 0.0930985155405891, + -0.9956562882075358, + -0.0011055120670521788, + -0.04371467000516104, + -0.0029782572230861314, + -0.9990396176379855 + ], + [ + 0.994590834911707, + 0.0966572523618852, + -0.03803217947323611, + 0.09572004059246013, + -0.9950754155743885, + -0.025740845915311943, + -0.04033292623417486, + 0.021961167667245818, + -0.9989449244958801 + ], + [ + 0.9908145355724636, + 0.13086830702709248, + -0.03405939391982507, + 0.12860405432856473, + -0.9897660291031579, + -0.06184015559183275, + -0.04180374754228064, + 0.05689194889638748, + -0.9975047633180465 + ], + [ + 0.9827843704297993, + 0.16693424231244924, + -0.07916969105959307, + 0.1618016872627021, + -0.9845206254340835, + -0.06737471405374441, + -0.08919134059899347, + 0.05340502634068793, + -0.994581725110463 + ], + [ + 0.9752958819012095, + 0.19027430168335346, + -0.11222135654791467, + 0.18524639506531826, + -0.9812213867701062, + -0.05374349505059756, + -0.12034000108794259, + 0.031627207651984894, + -0.9922288062106905 + ], + [ + 0.9689592498837903, + 0.20766620412687964, + -0.13413694393482717, + 0.20353824694055905, + -0.9780804907304465, + -0.04394013751517583, + -0.14032160951544786, + 0.01527420426803659, + -0.9899881537609285 + ], + [ + 0.9655469324663615, + 0.2203284527240385, + -0.1384719976205679, + 0.2161930959864003, + -0.9753397706382657, + -0.04441708071350654, + -0.1448435930671928, + 0.012950086159024998, + -0.9893698139805253 + ], + [ + 0.9590722229484551, + 0.24754276638804873, + -0.13748836306270118, + 0.24162167015394254, + -0.9686072978009647, + -0.05847111388312254, + -0.14764633310965974, + 0.022857853260217123, + -0.9887760509152748 + ], + [ + 0.9568931067317326, + 0.2594292158004021, + -0.13058355286360246, + 0.25294185331317676, + -0.9653409563701391, + -0.06432151115202682, + -0.14274453100482776, + 0.028518764762403934, + -0.9893486134445422 + ], + [ + 0.9566212311055955, + 0.2627965519197248, + -0.12575290253953553, + 0.2570832014978534, + -0.9645260148538121, + -0.059981615332014154, + -0.13705490763058664, + 0.025050727920102312, + -0.9902466426729474 + ], + [ + 0.9535315943189555, + 0.2815871023136964, + -0.10717370221340058, + 0.2767740746619654, + -0.9592002058003365, + -0.05771548135123629, + -0.11905297237181264, + 0.025370632691519304, + -0.9925637111874825 + ], + [ + 0.9551657405856089, + 0.2792347276467888, + -0.09841938268232203, + 0.2755982876221795, + -0.9600199432854795, + -0.04906416567992827, + -0.10818498912172636, + 0.01974019681180375, + -0.9939347728893297 + ], + [ + 0.9668250670049413, + 0.2364532587552414, + -0.09663925824900611, + 0.23281984429627786, + -0.9713616177698978, + -0.04745026475484007, + -0.10509143596291841, + 0.023376568342559065, + -0.9941877720731522 + ], + [ + 0.9968357673866254, + 0.07562322456167883, + 0.024486338346333902, + 0.07690929951412676, + -0.9954235804678655, + -0.05671732624851718, + 0.02008513148982568, + 0.05842108656494066, + -0.9980899579384654 + ], + [ + 0.9989242982445179, + 0.005613649135041812, + 0.04602970041273872, + 0.0077376179979841185, + -0.9989070509067783, + -0.04609590997518705, + 0.04572062602825017, + 0.04640248476226161, + -0.997875961111136 + ], + [ + 0.999358649178313, + -0.008613781807283092, + 0.03475763334109864, + -0.007032918694311216, + -0.9989463516576358, + -0.04535112528414672, + 0.03511165571625668, + 0.045077591693386675, + -0.99836625662128 + ], + [ + 0.9975145495356718, + 0.018297955856063447, + 0.06804342933844011, + 0.022361006885952307, + -0.9979814797302887, + -0.05943863630997562, + 0.06681847675375525, + 0.06081242411574063, + -0.9959102069149984 + ], + [ + 0.9848753307707718, + 0.09910628446334487, + 0.1421215227157136, + 0.11081437057681968, + -0.990856565157227, + -0.07696390425702807, + 0.13319443724430013, + 0.09154895774771152, + -0.9868525878886277 + ], + [ + 0.9568827811158472, + 0.20085841320954478, + 0.2098362243440002, + 0.222270940779018, + -0.9713797658331971, + -0.08376741260808883, + 0.18700527289146715, + 0.1267960897377647, + -0.9741415603175962 + ], + [ + 0.9024686162067135, + 0.3630438823701301, + 0.23183946220512813, + 0.38379288523174737, + -0.9220596383251394, + -0.050090364514585796, + 0.19558481026764502, + 0.13418331805905087, + -0.9714635449399185 + ], + [ + 0.8346022770625725, + 0.5109938733771527, + 0.20572870604994123, + 0.5298047427201032, + -0.8468814020734617, + -0.045812939366218, + 0.15081768368879692, + 0.147231627692904, + -0.9775361241885867 + ], + [ + 0.7782299599418062, + 0.6051520629346446, + 0.16777696556714272, + 0.6227405015835147, + -0.7781228780052059, + -0.0819698384310215, + 0.08094687848513324, + 0.16827289577005272, + -0.9824112353860137 + ], + [ + 0.7382162977880331, + 0.6663943214461596, + 0.10466759777716465, + 0.6745619678717623, + -0.729661616553764, + -0.11207174857707536, + 0.0016879517485803713, + 0.15333797205017413, + -0.9881723620636403 + ], + [ + 0.6993506719632077, + 0.7131711980300454, + 0.04791116701772097, + 0.7133508470582689, + -0.6921491957446262, + -0.10981830371717537, + -0.04515757550910332, + 0.11097897607410766, + -0.9927962833550912 + ], + [ + 0.6676007460182048, + 0.7440666249798736, + 0.02596346484960664, + 0.740304539150401, + -0.6597120384859005, + -0.1293414689497934, + -0.07911025994932087, + 0.10556933204220821, + -0.9912601489532974 + ], + [ + 0.633100367274702, + 0.7739530442346543, + -0.01343913228407987, + 0.7638802570969316, + -0.627480134710969, + -0.1508497045427341, + -0.12518337658876016, + 0.08523711552496262, + -0.9884653541540144 + ], + [ + 0.5644341120803875, + 0.8251284375243436, + -0.024024876870848214, + 0.8097389736129167, + -0.5590939140683019, + -0.17814822442024478, + -0.1604273285083443, + 0.08109905573076118, + -0.9837103310564823 + ], + [ + 0.5029074394941317, + 0.8640056164003147, + -0.024049992311191648, + 0.8482040840912297, + -0.49867907677028167, + -0.17851893491307175, + -0.16623459036077362, + 0.06937919875763705, + -0.9836425101363473 + ], + [ + 0.4486654656634021, + 0.8936299563294234, + -0.011171440001872743, + 0.8819018602921305, + -0.4447323688474724, + -0.15640405657333614, + -0.1447356512208453, + 0.06032098515432743, + -0.9876299762642329 + ], + [ + 0.39928869441373477, + 0.9165198740431358, + 0.023661339719676343, + 0.9105857049658773, + -0.393433401293464, + -0.126664251698942, + -0.10678114264780994, + 0.0721212813988418, + -0.9916634047620279 + ], + [ + 0.3440926650140542, + 0.9372114407688434, + 0.056876648771835035, + 0.9356328202597053, + -0.33717615505873266, + -0.10441966343883477, + -0.07868585347059473, + 0.08914569956985197, + -0.992905625279566 + ], + [ + 0.3178057110409094, + 0.9444147278481351, + 0.08414482665806004, + 0.943248944057535, + -0.30589647540542164, + -0.12926243022969003, + -0.09633773696806054, + 0.12044985744314203, + -0.9880338416662657 + ], + [ + 0.2981218416794023, + 0.9507092286453984, + 0.08529554550005822, + 0.9481264358343064, + -0.2846063276292328, + -0.1416174422362454, + -0.11036135730325144, + 0.12309021424090898, + -0.9862399150167827 + ], + [ + 0.30691992916136984, + 0.947149466218219, + 0.09331691018310766, + 0.9458354284694152, + -0.2926470111898342, + -0.14054561214685696, + -0.10580878666565176, + 0.13139868905053625, + -0.9856667211487576 + ], + [ + 0.29008161184670767, + 0.9524551947653677, + 0.09317596488838442, + 0.9498477978204731, + -0.27466253662850626, + -0.14949799981401785, + -0.11679819966084096, + 0.13186960581293877, + -0.9843620206096568 + ], + [ + 0.2633502000778681, + 0.959885579014514, + 0.09626186845744299, + 0.9563773580871289, + -0.24669595719845167, + -0.15647189409035572, + -0.1264477008775985, + 0.1332695760551182, + -0.9829802638104483 + ], + [ + 0.26212120494044905, + 0.9597494626802833, + 0.10086348598712462, + 0.9562783836407364, + -0.24427215814720077, + -0.1608190465572087, + -0.1297078521217116, + 0.13860765360908733, + -0.9818165772989147 + ], + [ + 0.2654559730774356, + 0.9601870177193422, + 0.08702883062955431, + 0.9536434498841383, + -0.2482257344938752, + -0.170141574073051, + -0.1417649351941132, + 0.12815957138743886, + -0.9815690640047685 + ], + [ + 0.2637806892296542, + 0.9608326969791804, + 0.0849722096055139, + 0.9529957249289512, + -0.24598570552141635, + -0.17689030766628833, + -0.14906004245495075, + 0.1276383997660806, + -0.9805557315361952 + ], + [ + 0.26430207527355676, + 0.9606680278398634, + 0.0852135745779916, + 0.9523001866185901, + -0.24597975117860849, + -0.1806054167966974, + -0.15254103569954564, + 0.1288832894380713, + -0.9798573009021938 + ], + [ + 0.27989319901550935, + 0.9572739952306611, + 0.0727069130137765, + 0.9453517883617674, + -0.26162876160938386, + -0.19457745845793312, + -0.16724172142761806, + 0.12319451754793531, + -0.978188794384836 + ], + [ + 0.29521276814285385, + 0.9522577329131786, + 0.07781151349567181, + 0.9422270103836768, + -0.2766724776530907, + -0.18884014671869626, + -0.15829618576855328, + 0.12906413218378493, + -0.9789202047944328 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0023787319660186768, + 0.0010196864604949951, + -0.009026043117046356, + 0.015185043215751648, + 0.02861914411187172, + 0.0037033185362815857, + 1.0 + ], + [ + -0.00023442506790161133, + -0.006284192204475403, + -0.010527417063713074, + 0.029680920764803886, + 0.005630526691675186, + 0.05948179215192795, + 1.0 + ], + [ + -0.0020579993724823, + -0.013246431946754456, + -0.005944199860095978, + 0.009044842794537544, + -0.018402546644210815, + -0.048899032175540924, + 1.0 + ], + [ + 0.000692516565322876, + -0.008747920393943787, + -0.004843965172767639, + -0.024961933493614197, + -0.0033847354352474213, + 0.0026221275329589844, + 1.0 + ], + [ + 0.0022254586219787598, + -0.006593033671379089, + -0.004171654582023621, + -0.03499171882867813, + 0.0014720633625984192, + 0.03312955051660538, + 1.0 + ], + [ + -0.004405319690704346, + 0.003770992159843445, + -0.012856759130954742, + 0.003328092396259308, + 0.04749408736824989, + 0.034097567200660706, + 1.0 + ], + [ + -0.0020537078380584717, + 0.00934135913848877, + -0.009854521602392197, + 0.02178032323718071, + 0.03132234513759613, + 0.024530500173568726, + 1.0 + ], + [ + -0.0019423067569732666, + 0.00786927342414856, + -0.004883904010057449, + 0.016436675563454628, + 0.020153865218162537, + 0.019345596432685852, + 1.0 + ], + [ + -3.057718276977539e-05, + 0.0023069828748703003, + -0.0005536861717700958, + 0.0023389700800180435, + 0.004568666219711304, + 0.013225898146629333, + 1.0 + ], + [ + -0.0008240938186645508, + 0.0024701952934265137, + -0.003628477454185486, + -0.010024724528193474, + 0.0028332024812698364, + 0.026522621512413025, + 0.0 + ], + [ + 0.0024078190326690674, + 0.0011350512504577637, + -0.0023449137806892395, + -0.005704615265130997, + -0.004954308271408081, + 0.011628881096839905, + 0.0 + ], + [ + 0.0012894272804260254, + 0.00046096742153167725, + -0.0020784474909305573, + 0.0035257507115602493, + -0.005746141076087952, + 0.004112124443054199, + 0.0 + ], + [ + 0.00177079439163208, + 0.00034327805042266846, + -0.0019576512277126312, + -0.0002630762755870819, + -0.01815163344144821, + 0.019961297512054443, + 0.0 + ], + [ + -0.0013343095779418945, + -0.001110568642616272, + 0.0017194300889968872, + 0.00569709949195385, + -0.010938875377178192, + -0.0015940666198730469, + 0.0 + ], + [ + -0.003955811262130737, + 0.0011187195777893066, + 0.014126662164926529, + -0.0036508552730083466, + -0.0031112954020500183, + -0.04459564387798309, + 0.0 + ], + [ + 0.009215861558914185, + -0.0020025968551635742, + 0.05119559168815613, + -0.03495727479457855, + -0.12537232041358948, + -0.1593085676431656, + 0.0 + ], + [ + -0.005378812551498413, + 0.004346728324890137, + 0.026481442153453827, + 0.01199839636683464, + -0.025650087743997574, + -0.06925509124994278, + 0.0 + ], + [ + -0.002474367618560791, + 0.002903580665588379, + 0.003780156373977661, + 0.0013470686972141266, + 0.010617695748806, + -0.014783111400902271, + 0.0 + ], + [ + -0.0029449462890625, + 0.012349210679531097, + 0.0190935879945755, + -0.015865720808506012, + -0.0317494235932827, + 0.02945028431713581, + 0.0 + ], + [ + -0.0018830299377441406, + 0.02739112079143524, + 0.018716201186180115, + -0.03151743486523628, + -0.06672314554452896, + 0.08963192999362946, + 0.0 + ], + [ + 0.003405660390853882, + 0.030324149876832962, + 0.01703980565071106, + -0.03693031519651413, + -0.05452130734920502, + 0.11619400978088379, + 0.0 + ], + [ + -0.0037553012371063232, + 0.04023347795009613, + 0.0030452758073806763, + -0.007822245359420776, + -0.008740991353988647, + 0.17386046051979065, + 0.0 + ], + [ + -0.0063596367835998535, + 0.0251496322453022, + -0.004599526524543762, + -0.01223495602607727, + 0.04545837640762329, + 0.16351544857025146, + 0.0 + ], + [ + -0.009277567267417908, + 0.014923176728188992, + -0.013381242752075195, + -0.02014799416065216, + 0.07035982608795166, + 0.10924875736236572, + 0.0 + ], + [ + -0.0063257962465286255, + -0.002802884206175804, + -0.01629863679409027, + 0.015693843364715576, + 0.07934758812189102, + 0.0655089020729065, + 0.0 + ], + [ + -0.00014813244342803955, + -0.012028824537992477, + -0.01109243929386139, + 0.04262344539165497, + 0.046860888600349426, + 0.054935574531555176, + 0.0 + ], + [ + -0.004787877202033997, + -0.006091417744755745, + -0.009412601590156555, + 0.0052218958735466, + 0.0340200737118721, + 0.041683971881866455, + 0.0 + ], + [ + -0.004247307777404785, + 0.002550838515162468, + -0.011914089322090149, + 0.020081214606761932, + 0.04631964862346649, + 0.041750192642211914, + 0.0 + ], + [ + -0.007691189646720886, + 0.011400419287383556, + -0.00975317507982254, + 0.0037629902362823486, + 0.03561091423034668, + 0.08330613374710083, + 0.0 + ], + [ + -0.00326363742351532, + 0.005054875276982784, + -0.0057138800621032715, + 0.011839665472507477, + 0.0058863162994384766, + 0.07355910539627075, + 0.0 + ], + [ + 0.0008379518985748291, + 0.0028969142585992813, + -0.0038280710577964783, + 0.009415596723556519, + -0.021764084696769714, + 0.0645676851272583, + 0.0 + ], + [ + 0.003147602081298828, + 0.0010523274540901184, + -0.005935601890087128, + -0.011599034070968628, + -0.03826069086790085, + 0.05737459659576416, + 0.0 + ], + [ + 0.0030140578746795654, + 0.0013551991432905197, + -0.005087845027446747, + -0.016942806541919708, + -0.02821783721446991, + 0.060834288597106934, + 0.0 + ], + [ + 0.0005029141902923584, + -0.00465087965130806, + -0.0071447864174842834, + -0.03176747262477875, + 0.01772010326385498, + 0.027431249618530273, + 0.0 + ], + [ + -0.004041582345962524, + -6.983242928981781e-05, + -0.006820589303970337, + -0.0028554871678352356, + 0.01409924030303955, + 0.020336508750915527, + 0.0 + ], + [ + -0.007754296064376831, + 0.0006256047636270523, + -0.0018337294459342957, + -0.008362539112567902, + -0.004579402506351471, + -0.009131550788879395, + 0.0 + ], + [ + -0.004990562796592712, + 0.001323692500591278, + -0.0019592568278312683, + -0.0006435960531234741, + 0.011058181524276733, + 0.017374396324157715, + 0.0 + ], + [ + -0.0028954297304153442, + 0.0037604980170726776, + -0.002782478928565979, + -0.0015837550163269043, + 0.009721711277961731, + 0.027698755264282227, + 0.0 + ], + [ + 3.981590270996094e-05, + 0.00039231590926647186, + -0.0004739314317703247, + -0.005492448806762695, + 0.0032872259616851807, + 0.0011684894561767578, + 0.0 + ], + [ + 0.0009328126907348633, + -0.0006490983068943024, + -0.004553869366645813, + 0.010416284203529358, + 0.012169793248176575, + -0.003952622413635254, + 0.0 + ], + [ + 0.003412291407585144, + -7.870979607105255e-05, + -0.0010048970580101013, + 0.0003899484872817993, + 0.007373496890068054, + 0.0014564990997314453, + 0.0 + ], + [ + 0.0020237118005752563, + 0.00026762858033180237, + -0.00017993897199630737, + -0.0013403147459030151, + 0.003521263599395752, + -0.0006961822509765625, + 1.0 + ], + [ + -0.001286521553993225, + 0.0006309971213340759, + -0.0029389262199401855, + 0.005500093102455139, + 0.014892429113388062, + -0.01712346076965332, + 1.0 + ], + [ + 0.0038194358348846436, + 0.0017527136951684952, + 0.004712946712970734, + -0.005805447697639465, + -0.009066477417945862, + -0.01577591896057129, + 1.0 + ], + [ + 0.005669459700584412, + -0.0021345429122447968, + 0.004887506365776062, + 0.004800364375114441, + -0.008971601724624634, + -0.03669583797454834, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9650423526763916 + ], + [ + 0.6651484370231628 + ], + [ + 0.4699908196926117 + ], + [ + 0.4699908196926117 + ], + [ + 0.4699908196926117 + ], + [ + 0.4699908196926117 + ], + [ + 0.4699908196926117 + ], + [ + 0.4699908196926117 + ], + [ + 0.4699908196926117 + ], + [ + 0.4699908196926117 + ], + [ + 0.4699908196926117 + ], + [ + 0.4699908196926117 + ], + [ + 0.4699908196926117 + ], + [ + 0.4699908196926117 + ], + [ + 0.4699908196926117 + ], + [ + 0.4699908196926117 + ], + [ + 0.4699908196926117 + ], + [ + 0.4699908196926117 + ], + [ + 0.4699908196926117 + ], + [ + 0.4699908196926117 + ], + [ + 0.4699908196926117 + ], + [ + 0.4699908196926117 + ], + [ + 0.4699908196926117 + ], + [ + 0.4699908196926117 + ], + [ + 0.4699908196926117 + ], + [ + 0.4699908196926117 + ], + [ + 0.4699908196926117 + ], + [ + 0.4699908196926117 + ], + [ + 0.4699908196926117 + ], + [ + 0.4699908196926117 + ], + [ + 0.4699908196926117 + ], + [ + 0.4699908196926117 + ], + [ + 0.5188266634941101 + ], + [ + 0.8307508826255798 + ], + [ + 1.0105689764022827 + ], + [ + 1.003452181816101 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.27468159794807434, + -0.12775591015815735, + 0.10733576118946075 + ], + [ + 0.27444717288017273, + -0.13404010236263275, + 0.09680834412574768 + ], + [ + 0.27238917350769043, + -0.1472865343093872, + 0.0908641442656517 + ], + [ + 0.2730816900730133, + -0.156034454703331, + 0.08602017909288406 + ], + [ + 0.27530714869499207, + -0.16262748837471008, + 0.08184852451086044 + ], + [ + 0.2709018290042877, + -0.15885649621486664, + 0.0689917653799057 + ], + [ + 0.26884812116622925, + -0.14951513707637787, + 0.059137243777513504 + ], + [ + 0.266905814409256, + -0.1416458636522293, + 0.054253339767456055 + ], + [ + 0.2668752372264862, + -0.139338880777359, + 0.05369965359568596 + ], + [ + 0.26605114340782166, + -0.1368686854839325, + 0.05007117614150047 + ], + [ + 0.2684589624404907, + -0.13573363423347473, + 0.047726262360811234 + ], + [ + 0.26974838972091675, + -0.13527266681194305, + 0.045647814869880676 + ], + [ + 0.27151918411254883, + -0.13492938876152039, + 0.043690163642168045 + ], + [ + 0.27018487453460693, + -0.13603995740413666, + 0.04540959373116493 + ], + [ + 0.2662290632724762, + -0.13492123782634735, + 0.05953625589609146 + ], + [ + 0.2754449248313904, + -0.13692383468151093, + 0.11073184758424759 + ], + [ + 0.27006611227989197, + -0.1325771063566208, + 0.13721328973770142 + ], + [ + 0.2675917446613312, + -0.1296735256910324, + 0.14099344611167908 + ], + [ + 0.2646467983722687, + -0.11732431501150131, + 0.16008703410625458 + ], + [ + 0.26276376843452454, + -0.08993319422006607, + 0.1788032352924347 + ], + [ + 0.2661694288253784, + -0.05960904434323311, + 0.19584304094314575 + ], + [ + 0.2624141275882721, + -0.019375566393136978, + 0.19888831675052643 + ], + [ + 0.25605449080467224, + 0.005774066783487797, + 0.19428879022598267 + ], + [ + 0.24677692353725433, + 0.02069724351167679, + 0.18090754747390747 + ], + [ + 0.2404511272907257, + 0.017894359305500984, + 0.1646089106798172 + ], + [ + 0.24030299484729767, + 0.005865534767508507, + 0.1535164713859558 + ], + [ + 0.23551511764526367, + -0.00022588300635106862, + 0.14410386979579926 + ], + [ + 0.2312678098678589, + 0.00232495553791523, + 0.1321897804737091 + ], + [ + 0.223576620221138, + 0.013725374825298786, + 0.12243660539388657 + ], + [ + 0.22031298279762268, + 0.01878025010228157, + 0.1167227253317833 + ], + [ + 0.2211509346961975, + 0.021677164360880852, + 0.11289465427398682 + ], + [ + 0.22429853677749634, + 0.02272949181497097, + 0.10695905238389969 + ], + [ + 0.2273125946521759, + 0.02408469095826149, + 0.10187120735645294 + ], + [ + 0.22781550884246826, + 0.01943381130695343, + 0.09472642093896866 + ], + [ + 0.22377392649650574, + 0.019363978877663612, + 0.08790583163499832 + ], + [ + 0.2160196304321289, + 0.019989583641290665, + 0.08607210218906403 + ], + [ + 0.2110290676355362, + 0.021313276141881943, + 0.08411284536123276 + ], + [ + 0.20813363790512085, + 0.02507377415895462, + 0.08133036643266678 + ], + [ + 0.2081734538078308, + 0.025466090068221092, + 0.08085643500089645 + ], + [ + 0.20910626649856567, + 0.02481699176132679, + 0.07630256563425064 + ], + [ + 0.21251855790615082, + 0.024738281965255737, + 0.07529766857624054 + ], + [ + 0.21454226970672607, + 0.02500591054558754, + 0.07511772960424423 + ], + [ + 0.21325574815273285, + 0.025636907666921616, + 0.07217880338430405 + ], + [ + 0.2170751839876175, + 0.02738962136209011, + 0.07689175009727478 + ], + [ + 0.2227446436882019, + 0.025255078449845314, + 0.08177925646305084 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9949887020217865, + 0.08460426143054643, + -0.05328791417190718, + 0.08251398526043179, + -0.9957756050157512, + -0.040278861602034234, + -0.056470568311661605, + 0.035680014059783306, + -0.9977665115202312 + ], + [ + 0.987993444904151, + 0.142113154699661, + -0.06060366397948749, + 0.14146956397243057, + -0.9898319173585596, + -0.014803305297396471, + -0.0620911853315652, + 0.006051994678432812, + -0.9980521319372718 + ], + [ + 0.994696784970414, + 0.09305743246353212, + -0.04380205740392331, + 0.0930985155405891, + -0.9956562882075358, + -0.0011055120670521788, + -0.04371467000516104, + -0.0029782572230861314, + -0.9990396176379855 + ], + [ + 0.994590834911707, + 0.0966572523618852, + -0.03803217947323611, + 0.09572004059246013, + -0.9950754155743885, + -0.025740845915311943, + -0.04033292623417486, + 0.021961167667245818, + -0.9989449244958801 + ], + [ + 0.9908145355724636, + 0.13086830702709248, + -0.03405939391982507, + 0.12860405432856473, + -0.9897660291031579, + -0.06184015559183275, + -0.04180374754228064, + 0.05689194889638748, + -0.9975047633180465 + ], + [ + 0.9827843704297993, + 0.16693424231244924, + -0.07916969105959307, + 0.1618016872627021, + -0.9845206254340835, + -0.06737471405374441, + -0.08919134059899347, + 0.05340502634068793, + -0.994581725110463 + ], + [ + 0.9752958819012095, + 0.19027430168335346, + -0.11222135654791467, + 0.18524639506531826, + -0.9812213867701062, + -0.05374349505059756, + -0.12034000108794259, + 0.031627207651984894, + -0.9922288062106905 + ], + [ + 0.9689592498837903, + 0.20766620412687964, + -0.13413694393482717, + 0.20353824694055905, + -0.9780804907304465, + -0.04394013751517583, + -0.14032160951544786, + 0.01527420426803659, + -0.9899881537609285 + ], + [ + 0.9655469324663615, + 0.2203284527240385, + -0.1384719976205679, + 0.2161930959864003, + -0.9753397706382657, + -0.04441708071350654, + -0.1448435930671928, + 0.012950086159024998, + -0.9893698139805253 + ], + [ + 0.9590722229484551, + 0.24754276638804873, + -0.13748836306270118, + 0.24162167015394254, + -0.9686072978009647, + -0.05847111388312254, + -0.14764633310965974, + 0.022857853260217123, + -0.9887760509152748 + ], + [ + 0.9568931067317326, + 0.2594292158004021, + -0.13058355286360246, + 0.25294185331317676, + -0.9653409563701391, + -0.06432151115202682, + -0.14274453100482776, + 0.028518764762403934, + -0.9893486134445422 + ], + [ + 0.9566212311055955, + 0.2627965519197248, + -0.12575290253953553, + 0.2570832014978534, + -0.9645260148538121, + -0.059981615332014154, + -0.13705490763058664, + 0.025050727920102312, + -0.9902466426729474 + ], + [ + 0.9535315943189555, + 0.2815871023136964, + -0.10717370221340058, + 0.2767740746619654, + -0.9592002058003365, + -0.05771548135123629, + -0.11905297237181264, + 0.025370632691519304, + -0.9925637111874825 + ], + [ + 0.9551657405856089, + 0.2792347276467888, + -0.09841938268232203, + 0.2755982876221795, + -0.9600199432854795, + -0.04906416567992827, + -0.10818498912172636, + 0.01974019681180375, + -0.9939347728893297 + ], + [ + 0.9668250670049413, + 0.2364532587552414, + -0.09663925824900611, + 0.23281984429627786, + -0.9713616177698978, + -0.04745026475484007, + -0.10509143596291841, + 0.023376568342559065, + -0.9941877720731522 + ], + [ + 0.9968357673866254, + 0.07562322456167883, + 0.024486338346333902, + 0.07690929951412676, + -0.9954235804678655, + -0.05671732624851718, + 0.02008513148982568, + 0.05842108656494066, + -0.9980899579384654 + ], + [ + 0.9989242982445179, + 0.005613649135041812, + 0.04602970041273872, + 0.0077376179979841185, + -0.9989070509067783, + -0.04609590997518705, + 0.04572062602825017, + 0.04640248476226161, + -0.997875961111136 + ], + [ + 0.999358649178313, + -0.008613781807283092, + 0.03475763334109864, + -0.007032918694311216, + -0.9989463516576358, + -0.04535112528414672, + 0.03511165571625668, + 0.045077591693386675, + -0.99836625662128 + ], + [ + 0.9975145495356718, + 0.018297955856063447, + 0.06804342933844011, + 0.022361006885952307, + -0.9979814797302887, + -0.05943863630997562, + 0.06681847675375525, + 0.06081242411574063, + -0.9959102069149984 + ], + [ + 0.9848753307707718, + 0.09910628446334487, + 0.1421215227157136, + 0.11081437057681968, + -0.990856565157227, + -0.07696390425702807, + 0.13319443724430013, + 0.09154895774771152, + -0.9868525878886277 + ], + [ + 0.9568827811158472, + 0.20085841320954478, + 0.2098362243440002, + 0.222270940779018, + -0.9713797658331971, + -0.08376741260808883, + 0.18700527289146715, + 0.1267960897377647, + -0.9741415603175962 + ], + [ + 0.9024686162067135, + 0.3630438823701301, + 0.23183946220512813, + 0.38379288523174737, + -0.9220596383251394, + -0.050090364514585796, + 0.19558481026764502, + 0.13418331805905087, + -0.9714635449399185 + ], + [ + 0.8346022770625725, + 0.5109938733771527, + 0.20572870604994123, + 0.5298047427201032, + -0.8468814020734617, + -0.045812939366218, + 0.15081768368879692, + 0.147231627692904, + -0.9775361241885867 + ], + [ + 0.7782299599418062, + 0.6051520629346446, + 0.16777696556714272, + 0.6227405015835147, + -0.7781228780052059, + -0.0819698384310215, + 0.08094687848513324, + 0.16827289577005272, + -0.9824112353860137 + ], + [ + 0.7382162977880331, + 0.6663943214461596, + 0.10466759777716465, + 0.6745619678717623, + -0.729661616553764, + -0.11207174857707536, + 0.0016879517485803713, + 0.15333797205017413, + -0.9881723620636403 + ], + [ + 0.6993506719632077, + 0.7131711980300454, + 0.04791116701772097, + 0.7133508470582689, + -0.6921491957446262, + -0.10981830371717537, + -0.04515757550910332, + 0.11097897607410766, + -0.9927962833550912 + ], + [ + 0.6676007460182048, + 0.7440666249798736, + 0.02596346484960664, + 0.740304539150401, + -0.6597120384859005, + -0.1293414689497934, + -0.07911025994932087, + 0.10556933204220821, + -0.9912601489532974 + ], + [ + 0.633100367274702, + 0.7739530442346543, + -0.01343913228407987, + 0.7638802570969316, + -0.627480134710969, + -0.1508497045427341, + -0.12518337658876016, + 0.08523711552496262, + -0.9884653541540144 + ], + [ + 0.5644341120803875, + 0.8251284375243436, + -0.024024876870848214, + 0.8097389736129167, + -0.5590939140683019, + -0.17814822442024478, + -0.1604273285083443, + 0.08109905573076118, + -0.9837103310564823 + ], + [ + 0.5029074394941317, + 0.8640056164003147, + -0.024049992311191648, + 0.8482040840912297, + -0.49867907677028167, + -0.17851893491307175, + -0.16623459036077362, + 0.06937919875763705, + -0.9836425101363473 + ], + [ + 0.4486654656634021, + 0.8936299563294234, + -0.011171440001872743, + 0.8819018602921305, + -0.4447323688474724, + -0.15640405657333614, + -0.1447356512208453, + 0.06032098515432743, + -0.9876299762642329 + ], + [ + 0.39928869441373477, + 0.9165198740431358, + 0.023661339719676343, + 0.9105857049658773, + -0.393433401293464, + -0.126664251698942, + -0.10678114264780994, + 0.0721212813988418, + -0.9916634047620279 + ], + [ + 0.3440926650140542, + 0.9372114407688434, + 0.056876648771835035, + 0.9356328202597053, + -0.33717615505873266, + -0.10441966343883477, + -0.07868585347059473, + 0.08914569956985197, + -0.992905625279566 + ], + [ + 0.3178057110409094, + 0.9444147278481351, + 0.08414482665806004, + 0.943248944057535, + -0.30589647540542164, + -0.12926243022969003, + -0.09633773696806054, + 0.12044985744314203, + -0.9880338416662657 + ], + [ + 0.2981218416794023, + 0.9507092286453984, + 0.08529554550005822, + 0.9481264358343064, + -0.2846063276292328, + -0.1416174422362454, + -0.11036135730325144, + 0.12309021424090898, + -0.9862399150167827 + ], + [ + 0.30691992916136984, + 0.947149466218219, + 0.09331691018310766, + 0.9458354284694152, + -0.2926470111898342, + -0.14054561214685696, + -0.10580878666565176, + 0.13139868905053625, + -0.9856667211487576 + ], + [ + 0.29008161184670767, + 0.9524551947653677, + 0.09317596488838442, + 0.9498477978204731, + -0.27466253662850626, + -0.14949799981401785, + -0.11679819966084096, + 0.13186960581293877, + -0.9843620206096568 + ], + [ + 0.2633502000778681, + 0.959885579014514, + 0.09626186845744299, + 0.9563773580871289, + -0.24669595719845167, + -0.15647189409035572, + -0.1264477008775985, + 0.1332695760551182, + -0.9829802638104483 + ], + [ + 0.26212120494044905, + 0.9597494626802833, + 0.10086348598712462, + 0.9562783836407364, + -0.24427215814720077, + -0.1608190465572087, + -0.1297078521217116, + 0.13860765360908733, + -0.9818165772989147 + ], + [ + 0.2654559730774356, + 0.9601870177193422, + 0.08702883062955431, + 0.9536434498841383, + -0.2482257344938752, + -0.170141574073051, + -0.1417649351941132, + 0.12815957138743886, + -0.9815690640047685 + ], + [ + 0.2637806892296542, + 0.9608326969791804, + 0.0849722096055139, + 0.9529957249289512, + -0.24598570552141635, + -0.17689030766628833, + -0.14906004245495075, + 0.1276383997660806, + -0.9805557315361952 + ], + [ + 0.26430207527355676, + 0.9606680278398634, + 0.0852135745779916, + 0.9523001866185901, + -0.24597975117860849, + -0.1806054167966974, + -0.15254103569954564, + 0.1288832894380713, + -0.9798573009021938 + ], + [ + 0.27989319901550935, + 0.9572739952306611, + 0.0727069130137765, + 0.9453517883617674, + -0.26162876160938386, + -0.19457745845793312, + -0.16724172142761806, + 0.12319451754793531, + -0.978188794384836 + ], + [ + 0.29521276814285385, + 0.9522577329131786, + 0.07781151349567181, + 0.9422270103836768, + -0.2766724776530907, + -0.18884014671869626, + -0.15829618576855328, + 0.12906413218378493, + -0.9789202047944328 + ], + [ + 0.3300428456204986, + 0.9414226870038603, + 0.06924625945966723, + 0.9320632822100795, + -0.31339076511291836, + -0.18178081938893775, + -0.1494314492016244, + 0.12453735478309913, + -0.9808978995049031 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006008.json b/json/chunk-0006/episode_0006008.json new file mode 100644 index 0000000000000000000000000000000000000000..480e0e76b2addca7bdd4006c60f9c61027f7b5a4 --- /dev/null +++ b/json/chunk-0006/episode_0006008.json @@ -0,0 +1,2122 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 34, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut the green rectangle on top of the yellow rectangle." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006008.mp4", + "start": 0, + "end": 34, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3061757981777191, + 0.008474052883684635, + 0.12665623426437378, + -0.12884819507598877, + -0.3643568158149719, + 0.09722226858139038, + 0.0, + 1.0001531839370728 + ], + [ + 0.3052612245082855, + 0.008332502096891403, + 0.11859920620918274, + -0.1305413544178009, + -0.3346604108810425, + 0.10160428285598755, + 0.0, + 1.0001531839370728 + ], + [ + 0.3077129125595093, + -0.00797856505960226, + 0.10997996479272842, + -0.13477280735969543, + -0.300477534532547, + 0.07114598900079727, + 0.0, + 0.9994885921478271 + ], + [ + 0.31344524025917053, + -0.01932666450738907, + 0.1037534549832344, + -0.1326902061700821, + -0.28275585174560547, + 0.04658844321966171, + 0.0, + 0.9994885921478271 + ], + [ + 0.3230683207511902, + -0.04207777976989746, + 0.0960817039012909, + -0.17391258478164673, + -0.2682398855686188, + 0.0015348397428169847, + 0.0, + 0.9994885921478271 + ], + [ + 0.3270265758037567, + -0.06485571712255478, + 0.087602898478508, + -0.17515288293361664, + -0.2541676461696625, + -0.0627720057964325, + 0.0, + 1.0001531839370728 + ], + [ + 0.3276571035385132, + -0.07001165300607681, + 0.07781766355037689, + -0.1806417852640152, + -0.23854929208755493, + -0.06214223802089691, + 0.0, + 1.0001531839370728 + ], + [ + 0.327764630317688, + -0.07373441010713577, + 0.06521496176719666, + -0.16334334015846252, + -0.21766753494739532, + -0.08018986135721207, + 0.0, + 1.0001531839370728 + ], + [ + 0.3282783627510071, + -0.0722358450293541, + 0.051442425698041916, + -0.14245860278606415, + -0.19321657717227936, + -0.0816550925374031, + 0.0, + 0.9994885921478271 + ], + [ + 0.3324280083179474, + -0.07099799811840057, + 0.043132439255714417, + -0.12453797459602356, + -0.18399681150913239, + -0.07799939066171646, + 0.0, + 0.9994885921478271 + ], + [ + 0.3342112600803375, + -0.07528464496135712, + 0.03248235583305359, + -0.12233009189367294, + -0.1617385894060135, + -0.08347602933645248, + 0.0, + 0.9701826572418213 + ], + [ + 0.3375381529331207, + -0.07633455842733383, + 0.03362702205777168, + -0.127115860581398, + -0.1828063577413559, + -0.06764834374189377, + 0.0, + 0.6961957812309265 + ], + [ + 0.33591100573539734, + -0.07557198405265808, + 0.03301144763827324, + -0.12811411917209625, + -0.17573761940002441, + -0.058840394020080566, + 0.0, + 0.5948979258537292 + ], + [ + 0.3269021213054657, + -0.06315457075834274, + 0.05121021345257759, + -0.12943010032176971, + -0.20389825105667114, + -0.022214047610759735, + 0.0, + 0.5948979258537292 + ], + [ + 0.31547263264656067, + -0.03994981199502945, + 0.0777919739484787, + -0.13906151056289673, + -0.2573452293872833, + 0.04593225568532944, + 0.0, + 0.5948979258537292 + ], + [ + 0.30825039744377136, + -0.026627223938703537, + 0.09164633601903915, + -0.14199130237102509, + -0.2733270227909088, + 0.0813082605600357, + 0.0, + 0.5948979258537292 + ], + [ + 0.30457109212875366, + -0.009584375657141209, + 0.1041392982006073, + -0.13572850823402405, + -0.3045436441898346, + 0.10814736038446426, + 0.0, + 0.5948979258537292 + ], + [ + 0.30274516344070435, + 0.009110360406339169, + 0.10761149972677231, + -0.12882576882839203, + -0.3129439949989319, + 0.14102095365524292, + 0.0, + 0.5948979258537292 + ], + [ + 0.3017995059490204, + 0.025419477373361588, + 0.10640738904476166, + -0.1339026838541031, + -0.310061514377594, + 0.1812640130519867, + 0.0, + 0.5948979258537292 + ], + [ + 0.30404341220855713, + 0.030487963929772377, + 0.09433988481760025, + -0.13006240129470825, + -0.27293726801872253, + 0.18675941228866577, + 0.0, + 0.5948979258537292 + ], + [ + 0.3068002164363861, + 0.03647865727543831, + 0.08077769726514816, + -0.12246258556842804, + -0.23371757566928864, + 0.19302543997764587, + 0.0, + 0.5948979258537292 + ], + [ + 0.31045907735824585, + 0.038796357810497284, + 0.07212177664041519, + -0.11344874650239944, + -0.2025461196899414, + 0.20153701305389404, + 0.0, + 0.5948979258537292 + ], + [ + 0.315586119890213, + 0.03943069651722908, + 0.07028093934059143, + -0.11629752069711685, + -0.18632321059703827, + 0.20872661471366882, + 0.0, + 0.5948979258537292 + ], + [ + 0.31709492206573486, + 0.039350513368844986, + 0.064439557492733, + -0.11948689818382263, + -0.16057656705379486, + 0.2192220389842987, + 0.0, + 0.5948979258537292 + ], + [ + 0.3165971338748932, + 0.03981270268559456, + 0.06192561611533165, + -0.11642314493656158, + -0.1521744281053543, + 0.22381553053855896, + 0.0, + 0.5948979258537292 + ], + [ + 0.3177683353424072, + 0.040156133472919464, + 0.06144658476114273, + -0.11040153354406357, + -0.1526772528886795, + 0.22713111340999603, + 0.0, + 0.6731748580932617 + ], + [ + 0.3134000301361084, + 0.04076046869158745, + 0.05643344670534134, + -0.09917092323303223, + -0.11761120706796646, + 0.220335453748703, + 0.0, + 0.9343546032905579 + ], + [ + 0.3149666488170624, + 0.04067223519086838, + 0.06092604249715805, + -0.10449600219726562, + -0.11448562145233154, + 0.22255299985408783, + 0.0, + 1.0054124593734741 + ], + [ + 0.31811216473579407, + 0.03955630213022232, + 0.07973695546388626, + -0.11395961046218872, + -0.16059228777885437, + 0.2212570607662201, + 0.0, + 1.0001531839370728 + ], + [ + 0.3189510107040405, + 0.038012731820344925, + 0.09379594027996063, + -0.13471831381320953, + -0.17797605693340302, + 0.2259606420993805, + 0.0, + 1.0001531839370728 + ], + [ + 0.3202490508556366, + 0.043049056082963943, + 0.1101880669593811, + -0.13996203243732452, + -0.21221530437469482, + 0.23881222307682037, + 0.0, + 1.0001531839370728 + ], + [ + 0.31920087337493896, + 0.04325282573699951, + 0.11739044636487961, + -0.1410369724035263, + -0.22913837432861328, + 0.23967613279819489, + 0.0, + 1.0001531839370728 + ], + [ + 0.32440295815467834, + 0.04343379661440849, + 0.1258247047662735, + -0.13302741944789886, + -0.2527811825275421, + 0.21619398891925812, + 0.0, + 1.0001531839370728 + ], + [ + 0.33470070362091064, + 0.02325463481247425, + 0.13317634165287018, + -0.1293029934167862, + -0.2721688449382782, + 0.14066244661808014, + 0.0, + 1.0001531839370728 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9701826572418213 + ], + [ + 0.6961957812309265 + ], + [ + 0.5948979258537292 + ], + [ + 0.5948979258537292 + ], + [ + 0.5948979258537292 + ], + [ + 0.5948979258537292 + ], + [ + 0.5948979258537292 + ], + [ + 0.5948979258537292 + ], + [ + 0.5948979258537292 + ], + [ + 0.5948979258537292 + ], + [ + 0.5948979258537292 + ], + [ + 0.5948979258537292 + ], + [ + 0.5948979258537292 + ], + [ + 0.5948979258537292 + ], + [ + 0.5948979258537292 + ], + [ + 0.6731748580932617 + ], + [ + 0.9343546032905579 + ], + [ + 1.0054124593734741 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3061757981777191, + 0.008474052883684635, + 0.12665623426437378 + ], + [ + 0.3052612245082855, + 0.008332502096891403, + 0.11859920620918274 + ], + [ + 0.3077129125595093, + -0.00797856505960226, + 0.10997996479272842 + ], + [ + 0.31344524025917053, + -0.01932666450738907, + 0.1037534549832344 + ], + [ + 0.3230683207511902, + -0.04207777976989746, + 0.0960817039012909 + ], + [ + 0.3270265758037567, + -0.06485571712255478, + 0.087602898478508 + ], + [ + 0.3276571035385132, + -0.07001165300607681, + 0.07781766355037689 + ], + [ + 0.327764630317688, + -0.07373441010713577, + 0.06521496176719666 + ], + [ + 0.3282783627510071, + -0.0722358450293541, + 0.051442425698041916 + ], + [ + 0.3324280083179474, + -0.07099799811840057, + 0.043132439255714417 + ], + [ + 0.3342112600803375, + -0.07528464496135712, + 0.03248235583305359 + ], + [ + 0.3375381529331207, + -0.07633455842733383, + 0.03362702205777168 + ], + [ + 0.33591100573539734, + -0.07557198405265808, + 0.03301144763827324 + ], + [ + 0.3269021213054657, + -0.06315457075834274, + 0.05121021345257759 + ], + [ + 0.31547263264656067, + -0.03994981199502945, + 0.0777919739484787 + ], + [ + 0.30825039744377136, + -0.026627223938703537, + 0.09164633601903915 + ], + [ + 0.30457109212875366, + -0.009584375657141209, + 0.1041392982006073 + ], + [ + 0.30274516344070435, + 0.009110360406339169, + 0.10761149972677231 + ], + [ + 0.3017995059490204, + 0.025419477373361588, + 0.10640738904476166 + ], + [ + 0.30404341220855713, + 0.030487963929772377, + 0.09433988481760025 + ], + [ + 0.3068002164363861, + 0.03647865727543831, + 0.08077769726514816 + ], + [ + 0.31045907735824585, + 0.038796357810497284, + 0.07212177664041519 + ], + [ + 0.315586119890213, + 0.03943069651722908, + 0.07028093934059143 + ], + [ + 0.31709492206573486, + 0.039350513368844986, + 0.064439557492733 + ], + [ + 0.3165971338748932, + 0.03981270268559456, + 0.06192561611533165 + ], + [ + 0.3177683353424072, + 0.040156133472919464, + 0.06144658476114273 + ], + [ + 0.3134000301361084, + 0.04076046869158745, + 0.05643344670534134 + ], + [ + 0.3149666488170624, + 0.04067223519086838, + 0.06092604249715805 + ], + [ + 0.31811216473579407, + 0.03955630213022232, + 0.07973695546388626 + ], + [ + 0.3189510107040405, + 0.038012731820344925, + 0.09379594027996063 + ], + [ + 0.3202490508556366, + 0.043049056082963943, + 0.1101880669593811 + ], + [ + 0.31920087337493896, + 0.04325282573699951, + 0.11739044636487961 + ], + [ + 0.32440295815467834, + 0.04343379661440849, + 0.1258247047662735 + ], + [ + 0.33470070362091064, + 0.02325463481247425, + 0.13317634165287018 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9299407970565613, + 0.05069284847650754, + 0.364198227732021, + 0.09069689497751501, + -0.9914719265450888, + -0.09358147313655305, + 0.3563484070558542, + 0.12005687812994154, + -0.9266078775849292 + ], + [ + 0.9396507413558751, + 0.058032613538882394, + 0.33717754972002717, + 0.0958024367481074, + -0.9907147376670119, + -0.0964686564771649, + 0.328448439458128, + 0.12294927545630796, + -0.936485503508885 + ], + [ + 0.952778798014392, + 0.030773055347990096, + 0.302101938290372, + 0.06790099455537174, + -0.9912520284574904, + -0.11317628292757205, + 0.29597637911266095, + 0.12834498487849066, + -0.9465334372666917 + ], + [ + 0.9592482362996406, + 0.009289817632997258, + 0.282411969371651, + 0.04472224296327155, + -0.9918531274201753, + -0.11927822354123012, + 0.27900312209787687, + 0.12704752227085425, + -0.9518488246273533 + ], + [ + 0.9642377453479437, + -0.044349125407342, + 0.26130198147338546, + 0.001479951575208055, + -0.9849845134539875, + -0.17263637507531884, + 0.2650346773342097, + 0.16684922334675392, + -0.9496936118975088 + ], + [ + 0.96596667716082, + -0.10550029097434893, + 0.2361738072251291, + -0.06071543298781323, + -0.9800119413369272, + -0.18944717214603712, + 0.25143988309730636, + 0.1686602604093672, + -0.9530643743980036 + ], + [ + 0.969806242117638, + -0.10346248715416481, + 0.2208424019556473, + -0.060343625812942586, + -0.9791933848691906, + -0.193749740263477, + 0.2362932491067254, + 0.174573276248948, + -0.955871158496947 + ], + [ + 0.97326614882791, + -0.11404263992509528, + 0.1993671984670581, + -0.07821379848378612, + -0.9807053275418871, + -0.17916378612235612, + 0.2159527848221133, + 0.1587807822435534, + -0.963407005329367 + ], + [ + 0.9781217532740815, + -0.10790928168594008, + 0.1778578721846791, + -0.0800466064334186, + -0.9843481430342574, + -0.15700724220080636, + 0.19201660493439257, + 0.13933527992232875, + -0.9714501032983814 + ], + [ + 0.9801311997498661, + -0.09997440630365781, + 0.1713124320098211, + -0.07660505201381274, + -0.9874674324206094, + -0.13798454955034112, + 0.18296037079884125, + 0.12211956433299555, + -0.9755061838472733 + ], + [ + 0.983512147094421, + -0.10233785093136354, + 0.14910003616522668, + -0.08229091885966137, + -0.9874325006785386, + -0.1349268738130415, + 0.16103434786080426, + 0.12043264038655722, + -0.9795733346404278 + ], + [ + 0.9810882334668414, + -0.09004484686654923, + 0.17134119091944114, + -0.0664704211677101, + -0.9881049818240271, + -0.13867309762288638, + 0.18178988217912437, + 0.12466142325242013, + -0.9754034899927215 + ], + [ + 0.9828939038135688, + -0.08062338611079711, + 0.1655881742702419, + -0.05790070112271248, + -0.9887745999095048, + -0.13773997017313733, + 0.17483444356196234, + 0.12579610560676258, + -0.9765286770794552 + ], + [ + 0.9790430592745479, + -0.04815495697111877, + 0.19787821559091237, + -0.021752087206097254, + -0.9908104371572625, + -0.13349728207874703, + 0.20248835716779431, + 0.12639532324949335, + -0.9710935523790402 + ], + [ + 0.9660490934394416, + 0.010230911454910271, + 0.25815591706492885, + 0.04440404583003637, + -0.9909218821509546, + -0.12689406679720425, + 0.25451410526482937, + 0.1340490653649293, + -0.9577334797823619 + ], + [ + 0.9596970857950154, + 0.042327567853834555, + 0.2778306687825052, + 0.07820371249369382, + -0.9897682639164593, + -0.11934388587607622, + 0.269936442276249, + 0.13626136922612095, + -0.9531878914400163 + ], + [ + 0.9484105020769469, + 0.06660661249445436, + 0.3099694803076063, + 0.10296984573199537, + -0.9893939876422232, + -0.1024536387218625, + 0.29985785035593615, + 0.12908561650871272, + -0.9452101211849581 + ], + [ + 0.9419865065291612, + 0.1002310996674715, + 0.320335992633416, + 0.13372748847655933, + -0.9874277300470313, + -0.08428188868267458, + 0.3078609756736606, + 0.12223012964738461, + -0.9435472511027974 + ], + [ + 0.9367126588953602, + 0.13859262206797857, + 0.32149880213386095, + 0.1716766667329902, + -0.9821549382482597, + -0.0768036416715201, + 0.30511721807304615, + 0.12713678611196644, + -0.943790083044151 + ], + [ + 0.946238050321386, + 0.14975431301686565, + 0.28671797616617783, + 0.1788025346259714, + -0.9808031712799251, + -0.07781254923577635, + 0.2695611354318545, + 0.12489509574073931, + -0.9548497312795354 + ], + [ + 0.9547454285562802, + 0.16262682859550773, + 0.24902546309936266, + 0.1866136013797802, + -0.9795052982555891, + -0.07579402660696852, + 0.2315956183328026, + 0.11883553891911591, + -0.9655265839213595 + ], + [ + 0.9597313822735748, + 0.176576696689789, + 0.218486484857476, + 0.19608339675799438, + -0.9780203368859346, + -0.07090502206029128, + 0.2011640509512094, + 0.11089134692862965, + -0.973260568286445 + ], + [ + 0.9613632221340913, + 0.18478590647655013, + 0.20404637682546028, + 0.20362785349667278, + -0.9761413663049765, + -0.07539051842633517, + 0.18524700377683745, + 0.11402719743944285, + -0.9760539666615833 + ], + [ + 0.9635100825019336, + 0.19731688853262713, + 0.1808711320717612, + 0.21467264783751944, + -0.9732522741238369, + -0.08182704432648702, + 0.15988738282787063, + 0.11766926706911751, + -0.9800969178606119 + ], + [ + 0.9637897224878078, + 0.20327979650704803, + 0.17258822427653678, + 0.21938667465656198, + -0.9723652420631564, + -0.0798456198585464, + 0.15158778911908058, + 0.11481794441424571, + -0.9817525053853832 + ], + [ + 0.9629826454265762, + 0.2074863770574249, + 0.1720866872910781, + 0.22256379555294326, + -0.9721579696427369, + -0.07330920112222686, + 0.1520847839736141, + 0.10889575471842572, + -0.9823502089825216 + ], + [ + 0.9690829711402368, + 0.20614631022481458, + 0.135579842995578, + 0.21704713750642787, + -0.9735686912025473, + -0.07109531356161851, + 0.11734025373364784, + 0.09832447452620115, + -0.9882123064214843 + ], + [ + 0.968952256651827, + 0.2078948116985891, + 0.13383299891334668, + 0.2192754681696254, + -0.9726469028946808, + -0.07665684149752512, + 0.11423569226963727, + 0.10362311305009746, + -0.9880346436504558 + ], + [ + 0.9630687718008316, + 0.20029294221182073, + 0.17994798715787189, + 0.216632414335961, + -0.9732844854833027, + -0.07607698322406678, + 0.1599029012901577, + 0.11224993370882078, + -0.9807298376930087 + ], + [ + 0.9591848993597331, + 0.19883896107273402, + 0.20106565196416584, + 0.22050371419225862, + -0.9710761945351853, + -0.09159222911624232, + 0.1770379644812887, + 0.13218960612158304, + -0.9752863513685318 + ], + [ + 0.9498230054302728, + 0.20568600761859204, + 0.23564703398372797, + 0.23124216074868, + -0.9690690719560785, + -0.08621019006165148, + 0.21062602272199268, + 0.13637595113548776, + -0.9680073752323405 + ], + [ + 0.9460245166841286, + 0.2040148066433467, + 0.2518244874964289, + 0.23118329148880246, + -0.969349019463496, + -0.08316708604708077, + 0.22713850305257496, + 0.13689571627862213, + -0.9641927521484481 + ], + [ + 0.9456813570034939, + 0.18021891505618495, + 0.2705696096608072, + 0.20769665582992017, + -0.9752073410196126, + -0.0763723849210189, + 0.25009772124731094, + 0.12842034370545888, + -0.9596662675896626 + ], + [ + 0.9536770286375548, + 0.1047084270269761, + 0.2820217551157733, + 0.13503834057451972, + -0.9867174605626461, + -0.09029562334733106, + 0.268821077343137, + 0.12419661158960608, + -0.9551494281240689 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0009145736694335938, + -0.00014155078679323196, + -0.00805702805519104, + -0.0016931593418121338, + 0.029696404933929443, + 0.004382014274597168, + 1.0 + ], + [ + 0.002451688051223755, + -0.01631106808781624, + -0.008619241416454315, + -0.004231452941894531, + 0.03418287634849548, + -0.030458293855190277, + 1.0 + ], + [ + 0.005732327699661255, + -0.011348099447786808, + -0.0062265098094940186, + 0.0020826011896133423, + 0.01772168278694153, + -0.02455754578113556, + 1.0 + ], + [ + 0.009623080492019653, + -0.022751115262508392, + -0.007671751081943512, + -0.041222378611564636, + 0.014515966176986694, + -0.04505360499024391, + 1.0 + ], + [ + 0.003958255052566528, + -0.022777937352657318, + -0.008478805422782898, + -0.0012402981519699097, + 0.014072239398956299, + -0.0643068477511406, + 1.0 + ], + [ + 0.0006305277347564697, + -0.005155935883522034, + -0.009785234928131104, + -0.00548890233039856, + 0.015618354082107544, + 0.0006297677755355835, + 1.0 + ], + [ + 0.00010752677917480469, + -0.00372275710105896, + -0.012602701783180237, + 0.017298445105552673, + 0.020881757140159607, + -0.018047623336315155, + 1.0 + ], + [ + 0.0005137324333190918, + 0.0014985650777816772, + -0.01377253606915474, + 0.020884737372398376, + 0.024450957775115967, + -0.00146523118019104, + 1.0 + ], + [ + 0.004149645566940308, + 0.0012378469109535217, + -0.0083099864423275, + 0.01792062819004059, + 0.009219765663146973, + 0.0036557018756866455, + 1.0 + ], + [ + 0.0017832517623901367, + -0.004286646842956543, + -0.010650083422660828, + 0.0022078827023506165, + 0.022258222103118896, + -0.005476638674736023, + 0.0 + ], + [ + 0.003326892852783203, + -0.001049913465976715, + 0.0011446662247180939, + -0.004785768687725067, + -0.021067768335342407, + 0.015827685594558716, + 0.0 + ], + [ + -0.0016271471977233887, + 0.0007625743746757507, + -0.0006155744194984436, + -0.0009982585906982422, + 0.007068738341331482, + 0.008807949721813202, + 0.0 + ], + [ + -0.00900888442993164, + 0.012417413294315338, + 0.018198765814304352, + -0.001315981149673462, + -0.02816063165664673, + 0.03662634640932083, + 0.0 + ], + [ + -0.01142948865890503, + 0.023204758763313293, + 0.026581760495901108, + -0.009631410241127014, + -0.05344697833061218, + 0.06814630329608917, + 0.0 + ], + [ + -0.007222235202789307, + 0.013322588056325912, + 0.013854362070560455, + -0.002929791808128357, + -0.01598179340362549, + 0.03537600487470627, + 0.0 + ], + [ + -0.0036793053150177, + 0.017042849212884903, + 0.012492962181568146, + 0.006262794137001038, + -0.03121662139892578, + 0.02683909982442856, + 0.0 + ], + [ + -0.0018259286880493164, + 0.018694736063480377, + 0.0034722015261650085, + 0.006902739405632019, + -0.00840035080909729, + 0.032873593270778656, + 0.0 + ], + [ + -0.00094565749168396, + 0.016309116035699844, + -0.0012041106820106506, + -0.00507691502571106, + 0.0028824806213378906, + 0.040243059396743774, + 0.0 + ], + [ + 0.002243906259536743, + 0.0050684865564107895, + -0.012067504227161407, + 0.0038402825593948364, + 0.03712424635887146, + 0.005495399236679077, + 0.0 + ], + [ + 0.0027568042278289795, + 0.005990693345665932, + -0.013562187552452087, + 0.007599815726280212, + 0.0392196923494339, + 0.0062660276889801025, + 0.0 + ], + [ + 0.003658860921859741, + 0.0023177005350589752, + -0.008655920624732971, + 0.009013839066028595, + 0.03117145597934723, + 0.008511573076248169, + 0.0 + ], + [ + 0.005127042531967163, + 0.0006343387067317963, + -0.001840837299823761, + -0.0028487741947174072, + 0.016222909092903137, + 0.00718960165977478, + 0.0 + ], + [ + 0.0015088021755218506, + -8.018314838409424e-05, + -0.005841381847858429, + -0.00318937748670578, + 0.025746643543243408, + 0.010495424270629883, + 0.0 + ], + [ + -0.0004977881908416748, + 0.00046218931674957275, + -0.002513941377401352, + 0.0030637532472610474, + 0.008402138948440552, + 0.004593491554260254, + 0.0 + ], + [ + 0.001171201467514038, + 0.0003434307873249054, + -0.00047903135418891907, + 0.006021611392498016, + -0.0005028247833251953, + 0.0033155828714370728, + 1.0 + ], + [ + -0.004368305206298828, + 0.000604335218667984, + -0.005013138055801392, + 0.011230610311031342, + 0.03506604582071304, + -0.00679565966129303, + 1.0 + ], + [ + 0.0015666186809539795, + -8.823350071907043e-05, + 0.004492595791816711, + -0.0053250789642333984, + 0.003125585615634918, + 0.0022175461053848267, + 1.0 + ], + [ + 0.0031455159187316895, + -0.0011159330606460571, + 0.01881091296672821, + -0.009463608264923096, + -0.04610666632652283, + -0.0012959390878677368, + 1.0 + ], + [ + 0.00083884596824646, + -0.0015435703098773956, + 0.014058984816074371, + -0.020758703351020813, + -0.017383769154548645, + 0.0047035813331604, + 1.0 + ], + [ + 0.0012980401515960693, + 0.0050363242626190186, + 0.01639212667942047, + -0.00524371862411499, + -0.03423924744129181, + 0.01285158097743988, + 1.0 + ], + [ + -0.0010481774806976318, + 0.00020376965403556824, + 0.007202379405498505, + -0.0010749399662017822, + -0.016923069953918457, + 0.0008639097213745117, + 1.0 + ], + [ + 0.00520208477973938, + 0.00018097087740898132, + 0.00843425840139389, + 0.008009552955627441, + -0.023642808198928833, + -0.023482143878936768, + 1.0 + ], + [ + 0.0102977454662323, + -0.020179161801934242, + 0.00735163688659668, + 0.003724426031112671, + -0.019387662410736084, + -0.07553154230117798, + 1.0 + ], + [ + 0.011478900909423828, + -0.02455969713628292, + -0.00032986700534820557, + 0.0018899142742156982, + 0.001012265682220459, + -0.08058582991361618, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9701826572418213 + ], + [ + 0.6961957812309265 + ], + [ + 0.5948979258537292 + ], + [ + 0.5948979258537292 + ], + [ + 0.5948979258537292 + ], + [ + 0.5948979258537292 + ], + [ + 0.5948979258537292 + ], + [ + 0.5948979258537292 + ], + [ + 0.5948979258537292 + ], + [ + 0.5948979258537292 + ], + [ + 0.5948979258537292 + ], + [ + 0.5948979258537292 + ], + [ + 0.5948979258537292 + ], + [ + 0.5948979258537292 + ], + [ + 0.5948979258537292 + ], + [ + 0.6731748580932617 + ], + [ + 0.9343546032905579 + ], + [ + 1.0054124593734741 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3052612245082855, + 0.008332502096891403, + 0.11859920620918274 + ], + [ + 0.3077129125595093, + -0.00797856505960226, + 0.10997996479272842 + ], + [ + 0.31344524025917053, + -0.01932666450738907, + 0.1037534549832344 + ], + [ + 0.3230683207511902, + -0.04207777976989746, + 0.0960817039012909 + ], + [ + 0.3270265758037567, + -0.06485571712255478, + 0.087602898478508 + ], + [ + 0.3276571035385132, + -0.07001165300607681, + 0.07781766355037689 + ], + [ + 0.327764630317688, + -0.07373441010713577, + 0.06521496176719666 + ], + [ + 0.3282783627510071, + -0.0722358450293541, + 0.051442425698041916 + ], + [ + 0.3324280083179474, + -0.07099799811840057, + 0.043132439255714417 + ], + [ + 0.3342112600803375, + -0.07528464496135712, + 0.03248235583305359 + ], + [ + 0.3375381529331207, + -0.07633455842733383, + 0.03362702205777168 + ], + [ + 0.33591100573539734, + -0.07557198405265808, + 0.03301144763827324 + ], + [ + 0.3269021213054657, + -0.06315457075834274, + 0.05121021345257759 + ], + [ + 0.31547263264656067, + -0.03994981199502945, + 0.0777919739484787 + ], + [ + 0.30825039744377136, + -0.026627223938703537, + 0.09164633601903915 + ], + [ + 0.30457109212875366, + -0.009584375657141209, + 0.1041392982006073 + ], + [ + 0.30274516344070435, + 0.009110360406339169, + 0.10761149972677231 + ], + [ + 0.3017995059490204, + 0.025419477373361588, + 0.10640738904476166 + ], + [ + 0.30404341220855713, + 0.030487963929772377, + 0.09433988481760025 + ], + [ + 0.3068002164363861, + 0.03647865727543831, + 0.08077769726514816 + ], + [ + 0.31045907735824585, + 0.038796357810497284, + 0.07212177664041519 + ], + [ + 0.315586119890213, + 0.03943069651722908, + 0.07028093934059143 + ], + [ + 0.31709492206573486, + 0.039350513368844986, + 0.064439557492733 + ], + [ + 0.3165971338748932, + 0.03981270268559456, + 0.06192561611533165 + ], + [ + 0.3177683353424072, + 0.040156133472919464, + 0.06144658476114273 + ], + [ + 0.3134000301361084, + 0.04076046869158745, + 0.05643344670534134 + ], + [ + 0.3149666488170624, + 0.04067223519086838, + 0.06092604249715805 + ], + [ + 0.31811216473579407, + 0.03955630213022232, + 0.07973695546388626 + ], + [ + 0.3189510107040405, + 0.038012731820344925, + 0.09379594027996063 + ], + [ + 0.3202490508556366, + 0.043049056082963943, + 0.1101880669593811 + ], + [ + 0.31920087337493896, + 0.04325282573699951, + 0.11739044636487961 + ], + [ + 0.32440295815467834, + 0.04343379661440849, + 0.1258247047662735 + ], + [ + 0.33470070362091064, + 0.02325463481247425, + 0.13317634165287018 + ], + [ + 0.3461796045303345, + -0.0013050615089014173, + 0.13284647464752197 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9396507413558751, + 0.058032613538882394, + 0.33717754972002717, + 0.0958024367481074, + -0.9907147376670119, + -0.0964686564771649, + 0.328448439458128, + 0.12294927545630796, + -0.936485503508885 + ], + [ + 0.952778798014392, + 0.030773055347990096, + 0.302101938290372, + 0.06790099455537174, + -0.9912520284574904, + -0.11317628292757205, + 0.29597637911266095, + 0.12834498487849066, + -0.9465334372666917 + ], + [ + 0.9592482362996406, + 0.009289817632997258, + 0.282411969371651, + 0.04472224296327155, + -0.9918531274201753, + -0.11927822354123012, + 0.27900312209787687, + 0.12704752227085425, + -0.9518488246273533 + ], + [ + 0.9642377453479437, + -0.044349125407342, + 0.26130198147338546, + 0.001479951575208055, + -0.9849845134539875, + -0.17263637507531884, + 0.2650346773342097, + 0.16684922334675392, + -0.9496936118975088 + ], + [ + 0.96596667716082, + -0.10550029097434893, + 0.2361738072251291, + -0.06071543298781323, + -0.9800119413369272, + -0.18944717214603712, + 0.25143988309730636, + 0.1686602604093672, + -0.9530643743980036 + ], + [ + 0.969806242117638, + -0.10346248715416481, + 0.2208424019556473, + -0.060343625812942586, + -0.9791933848691906, + -0.193749740263477, + 0.2362932491067254, + 0.174573276248948, + -0.955871158496947 + ], + [ + 0.97326614882791, + -0.11404263992509528, + 0.1993671984670581, + -0.07821379848378612, + -0.9807053275418871, + -0.17916378612235612, + 0.2159527848221133, + 0.1587807822435534, + -0.963407005329367 + ], + [ + 0.9781217532740815, + -0.10790928168594008, + 0.1778578721846791, + -0.0800466064334186, + -0.9843481430342574, + -0.15700724220080636, + 0.19201660493439257, + 0.13933527992232875, + -0.9714501032983814 + ], + [ + 0.9801311997498661, + -0.09997440630365781, + 0.1713124320098211, + -0.07660505201381274, + -0.9874674324206094, + -0.13798454955034112, + 0.18296037079884125, + 0.12211956433299555, + -0.9755061838472733 + ], + [ + 0.983512147094421, + -0.10233785093136354, + 0.14910003616522668, + -0.08229091885966137, + -0.9874325006785386, + -0.1349268738130415, + 0.16103434786080426, + 0.12043264038655722, + -0.9795733346404278 + ], + [ + 0.9810882334668414, + -0.09004484686654923, + 0.17134119091944114, + -0.0664704211677101, + -0.9881049818240271, + -0.13867309762288638, + 0.18178988217912437, + 0.12466142325242013, + -0.9754034899927215 + ], + [ + 0.9828939038135688, + -0.08062338611079711, + 0.1655881742702419, + -0.05790070112271248, + -0.9887745999095048, + -0.13773997017313733, + 0.17483444356196234, + 0.12579610560676258, + -0.9765286770794552 + ], + [ + 0.9790430592745479, + -0.04815495697111877, + 0.19787821559091237, + -0.021752087206097254, + -0.9908104371572625, + -0.13349728207874703, + 0.20248835716779431, + 0.12639532324949335, + -0.9710935523790402 + ], + [ + 0.9660490934394416, + 0.010230911454910271, + 0.25815591706492885, + 0.04440404583003637, + -0.9909218821509546, + -0.12689406679720425, + 0.25451410526482937, + 0.1340490653649293, + -0.9577334797823619 + ], + [ + 0.9596970857950154, + 0.042327567853834555, + 0.2778306687825052, + 0.07820371249369382, + -0.9897682639164593, + -0.11934388587607622, + 0.269936442276249, + 0.13626136922612095, + -0.9531878914400163 + ], + [ + 0.9484105020769469, + 0.06660661249445436, + 0.3099694803076063, + 0.10296984573199537, + -0.9893939876422232, + -0.1024536387218625, + 0.29985785035593615, + 0.12908561650871272, + -0.9452101211849581 + ], + [ + 0.9419865065291612, + 0.1002310996674715, + 0.320335992633416, + 0.13372748847655933, + -0.9874277300470313, + -0.08428188868267458, + 0.3078609756736606, + 0.12223012964738461, + -0.9435472511027974 + ], + [ + 0.9367126588953602, + 0.13859262206797857, + 0.32149880213386095, + 0.1716766667329902, + -0.9821549382482597, + -0.0768036416715201, + 0.30511721807304615, + 0.12713678611196644, + -0.943790083044151 + ], + [ + 0.946238050321386, + 0.14975431301686565, + 0.28671797616617783, + 0.1788025346259714, + -0.9808031712799251, + -0.07781254923577635, + 0.2695611354318545, + 0.12489509574073931, + -0.9548497312795354 + ], + [ + 0.9547454285562802, + 0.16262682859550773, + 0.24902546309936266, + 0.1866136013797802, + -0.9795052982555891, + -0.07579402660696852, + 0.2315956183328026, + 0.11883553891911591, + -0.9655265839213595 + ], + [ + 0.9597313822735748, + 0.176576696689789, + 0.218486484857476, + 0.19608339675799438, + -0.9780203368859346, + -0.07090502206029128, + 0.2011640509512094, + 0.11089134692862965, + -0.973260568286445 + ], + [ + 0.9613632221340913, + 0.18478590647655013, + 0.20404637682546028, + 0.20362785349667278, + -0.9761413663049765, + -0.07539051842633517, + 0.18524700377683745, + 0.11402719743944285, + -0.9760539666615833 + ], + [ + 0.9635100825019336, + 0.19731688853262713, + 0.1808711320717612, + 0.21467264783751944, + -0.9732522741238369, + -0.08182704432648702, + 0.15988738282787063, + 0.11766926706911751, + -0.9800969178606119 + ], + [ + 0.9637897224878078, + 0.20327979650704803, + 0.17258822427653678, + 0.21938667465656198, + -0.9723652420631564, + -0.0798456198585464, + 0.15158778911908058, + 0.11481794441424571, + -0.9817525053853832 + ], + [ + 0.9629826454265762, + 0.2074863770574249, + 0.1720866872910781, + 0.22256379555294326, + -0.9721579696427369, + -0.07330920112222686, + 0.1520847839736141, + 0.10889575471842572, + -0.9823502089825216 + ], + [ + 0.9690829711402368, + 0.20614631022481458, + 0.135579842995578, + 0.21704713750642787, + -0.9735686912025473, + -0.07109531356161851, + 0.11734025373364784, + 0.09832447452620115, + -0.9882123064214843 + ], + [ + 0.968952256651827, + 0.2078948116985891, + 0.13383299891334668, + 0.2192754681696254, + -0.9726469028946808, + -0.07665684149752512, + 0.11423569226963727, + 0.10362311305009746, + -0.9880346436504558 + ], + [ + 0.9630687718008316, + 0.20029294221182073, + 0.17994798715787189, + 0.216632414335961, + -0.9732844854833027, + -0.07607698322406678, + 0.1599029012901577, + 0.11224993370882078, + -0.9807298376930087 + ], + [ + 0.9591848993597331, + 0.19883896107273402, + 0.20106565196416584, + 0.22050371419225862, + -0.9710761945351853, + -0.09159222911624232, + 0.1770379644812887, + 0.13218960612158304, + -0.9752863513685318 + ], + [ + 0.9498230054302728, + 0.20568600761859204, + 0.23564703398372797, + 0.23124216074868, + -0.9690690719560785, + -0.08621019006165148, + 0.21062602272199268, + 0.13637595113548776, + -0.9680073752323405 + ], + [ + 0.9460245166841286, + 0.2040148066433467, + 0.2518244874964289, + 0.23118329148880246, + -0.969349019463496, + -0.08316708604708077, + 0.22713850305257496, + 0.13689571627862213, + -0.9641927521484481 + ], + [ + 0.9456813570034939, + 0.18021891505618495, + 0.2705696096608072, + 0.20769665582992017, + -0.9752073410196126, + -0.0763723849210189, + 0.25009772124731094, + 0.12842034370545888, + -0.9596662675896626 + ], + [ + 0.9536770286375548, + 0.1047084270269761, + 0.2820217551157733, + 0.13503834057451972, + -0.9867174605626461, + -0.09029562334733106, + 0.268821077343137, + 0.12419661158960608, + -0.9551494281240689 + ], + [ + 0.961723615626588, + 0.025580380163573797, + 0.2728247263295793, + 0.05784671123013886, + -0.9921479620429416, + -0.11088813919393956, + 0.2678459354666032, + 0.12242575531612876, + -0.9556518661569681 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006010.json b/json/chunk-0006/episode_0006010.json new file mode 100644 index 0000000000000000000000000000000000000000..9d11b23639bb85d45a418fa1a902fa29591d9882 --- /dev/null +++ b/json/chunk-0006/episode_0006010.json @@ -0,0 +1,1282 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 20, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut knife in pot or pan." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006010.mp4", + "start": 0, + "end": 20, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2594810724258423, + -0.048407308757305145, + 0.13353995978832245, + -0.04395109787583351, + 0.03262288123369217, + 0.14930981397628784, + 0.0, + 0.9981546401977539 + ], + [ + 0.25949493050575256, + -0.04411537945270538, + 0.12009059637784958, + -0.024468334391713142, + 0.013203025795519352, + 0.18152695894241333, + 0.0, + 0.9981546401977539 + ], + [ + 0.26527589559555054, + -0.039890680462121964, + 0.1137242391705513, + -0.009584549814462662, + -0.04246201366186142, + 0.2304002046585083, + 0.0, + 0.9981546401977539 + ], + [ + 0.2721294164657593, + -0.03987615928053856, + 0.11221663653850555, + -0.01969735138118267, + -0.08166788518428802, + 0.24758240580558777, + 0.0, + 0.9981546401977539 + ], + [ + 0.2751998007297516, + -0.03415459021925926, + 0.10365013778209686, + -0.02493329532444477, + -0.0660325363278389, + 0.25632932782173157, + 0.0, + 0.9981546401977539 + ], + [ + 0.2787148058414459, + -0.03194450959563255, + 0.09485767781734467, + -0.0442156121134758, + -0.04598082974553108, + 0.2552413046360016, + 0.0, + 0.9981546401977539 + ], + [ + 0.28116849064826965, + -0.028397269546985626, + 0.08493732661008835, + -0.04924878850579262, + -0.02118558995425701, + 0.24505247175693512, + 0.0, + 0.9981546401977539 + ], + [ + 0.2840207517147064, + -0.025184867903590202, + 0.07830434292554855, + -0.0593392550945282, + -0.008056688122451305, + 0.24464021623134613, + 0.0, + 0.9981546401977539 + ], + [ + 0.2880919277667999, + -0.02475389465689659, + 0.07340976595878601, + -0.08489005267620087, + -0.012299716472625732, + 0.24127379059791565, + 0.0, + 0.9981546401977539 + ], + [ + 0.289096474647522, + -0.024052444845438004, + 0.06331641227006912, + -0.10473892837762833, + 0.012386299669742584, + 0.24108347296714783, + 0.0, + 0.9981546401977539 + ], + [ + 0.2895868718624115, + -0.02350674383342266, + 0.056380242109298706, + -0.11617913842201233, + 0.032076284289360046, + 0.24173957109451294, + 0.0, + 0.9981546401977539 + ], + [ + 0.2926899790763855, + -0.02379656583070755, + 0.05492455139756203, + -0.13090501725673676, + 0.027177516371011734, + 0.2507469952106476, + 0.0, + 0.831673800945282 + ], + [ + 0.29434168338775635, + -0.02338401786983013, + 0.05514729022979736, + -0.13180498778820038, + 0.046321652829647064, + 0.2669100761413574, + 0.0, + 0.5452468395233154 + ], + [ + 0.2937142252922058, + -0.023818066343665123, + 0.05670006945729256, + -0.12298119068145752, + 0.0843135267496109, + 0.29048120975494385, + 0.0, + 0.4975702464580536 + ], + [ + 0.29352012276649475, + -0.025952178984880447, + 0.06025950610637665, + -0.11628697067499161, + 0.11585548520088196, + 0.31583547592163086, + 0.0, + 0.4975702464580536 + ], + [ + 0.2966151237487793, + -0.03250223025679588, + 0.06931658089160919, + -0.10743261128664017, + 0.13108083605766296, + 0.3457674980163574, + 0.0, + 0.4975702464580536 + ], + [ + 0.29677918553352356, + -0.03342710807919502, + 0.07896900177001953, + -0.09567020833492279, + 0.16199730336666107, + 0.3669126033782959, + 0.0, + 0.4975702464580536 + ], + [ + 0.29147425293922424, + -0.02887839637696743, + 0.08561434596776962, + -0.06693844497203827, + 0.2088724821805954, + 0.3999701142311096, + 0.0, + 0.4975702464580536 + ], + [ + 0.2855251729488373, + -0.02139013074338436, + 0.1002507209777832, + -0.05071577802300453, + 0.1998167335987091, + 0.4310106635093689, + 0.0, + 0.4975702464580536 + ], + [ + 0.2701456844806671, + -0.013308370485901833, + 0.1118408739566803, + -0.02490420639514923, + 0.20659741759300232, + 0.47285449504852295, + 0.0, + 0.4975702464580536 + ] + ], + "left_gripper_pos": [ + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.831673800945282 + ], + [ + 0.5452468395233154 + ], + [ + 0.4975702464580536 + ], + [ + 0.4975702464580536 + ], + [ + 0.4975702464580536 + ], + [ + 0.4975702464580536 + ], + [ + 0.4975702464580536 + ], + [ + 0.4975702464580536 + ], + [ + 0.4975702464580536 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2594810724258423, + -0.048407308757305145, + 0.13353995978832245 + ], + [ + 0.25949493050575256, + -0.04411537945270538, + 0.12009059637784958 + ], + [ + 0.26527589559555054, + -0.039890680462121964, + 0.1137242391705513 + ], + [ + 0.2721294164657593, + -0.03987615928053856, + 0.11221663653850555 + ], + [ + 0.2751998007297516, + -0.03415459021925926, + 0.10365013778209686 + ], + [ + 0.2787148058414459, + -0.03194450959563255, + 0.09485767781734467 + ], + [ + 0.28116849064826965, + -0.028397269546985626, + 0.08493732661008835 + ], + [ + 0.2840207517147064, + -0.025184867903590202, + 0.07830434292554855 + ], + [ + 0.2880919277667999, + -0.02475389465689659, + 0.07340976595878601 + ], + [ + 0.289096474647522, + -0.024052444845438004, + 0.06331641227006912 + ], + [ + 0.2895868718624115, + -0.02350674383342266, + 0.056380242109298706 + ], + [ + 0.2926899790763855, + -0.02379656583070755, + 0.05492455139756203 + ], + [ + 0.29434168338775635, + -0.02338401786983013, + 0.05514729022979736 + ], + [ + 0.2937142252922058, + -0.023818066343665123, + 0.05670006945729256 + ], + [ + 0.29352012276649475, + -0.025952178984880447, + 0.06025950610637665 + ], + [ + 0.2966151237487793, + -0.03250223025679588, + 0.06931658089160919 + ], + [ + 0.29677918553352356, + -0.03342710807919502, + 0.07896900177001953 + ], + [ + 0.29147425293922424, + -0.02887839637696743, + 0.08561434596776962 + ], + [ + 0.2855251729488373, + -0.02139013074338436, + 0.1002507209777832 + ], + [ + 0.2701456844806671, + -0.013308370485901833, + 0.1118408739566803 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9883478234560293, + 0.1500291595024299, + -0.025687179072906522, + 0.14867651119308672, + -0.9877058517380936, + -0.04829539793581532, + -0.03261709504509983, + 0.04391357126585407, + -0.998502740792181 + ], + [ + 0.9834834485297705, + 0.1807953206919774, + -0.008564956735135248, + 0.18051591815332652, + -0.9832164443483866, + -0.026446679492461586, + -0.013202642207194982, + 0.024463760520421228, + -0.9996135326514682 + ], + [ + 0.9726975222968054, + 0.22796058209172815, + 0.043514401409829165, + 0.22816132644059378, + -0.9736232730156673, + 0.00036243499797612624, + 0.042449254817064505, + 0.009575763920410044, + -0.9990527340990645 + ], + [ + 0.9662763731723744, + 0.24345550690590095, + 0.08390105366461625, + 0.24424402151594904, + -0.9697133918456975, + 0.0008919802851030875, + 0.08157713284100276, + 0.01963043128164066, + -0.9964736913562434 + ], + [ + 0.9652189739191293, + 0.25186143102775777, + 0.07012953690958576, + 0.25297899170224797, + -0.9674435308181158, + -0.0073921874631894206, + 0.06598455988954469, + 0.024876379134170137, + -0.9975105030110489 + ], + [ + 0.9665797094792333, + 0.25026627232499216, + 0.055591889332832045, + 0.2522120498666465, + -0.9671696718039767, + -0.03117543655912834, + 0.045964629065240833, + 0.04415448877680388, + -0.9979667499449839 + ], + [ + 0.9699068942896036, + 0.24130136480863898, + 0.0324694895399322, + 0.24255278669392935, + -0.9692013495813067, + -0.042624988408010364, + 0.021184005204513093, + 0.04921783529638364, + -0.9985633893810814 + ], + [ + 0.9701930414347765, + 0.24131740511969257, + 0.022166919899607965, + 0.24219940861296207, + -0.968632604222333, + -0.05559068721460408, + 0.008056600962496396, + 0.05930251279464204, + -0.9982075451313578 + ], + [ + 0.9709609539596638, + 0.23706665607838348, + 0.03215939149849531, + 0.2389216408974508, + -0.9677868881038633, + -0.07940395912742859, + 0.012299406351918474, + 0.08478171848962623, + -0.9963236345753003 + ], + [ + 0.9710053696116522, + 0.2387039768029975, + 0.012999370899115023, + 0.2387365904330781, + -0.9654490675065629, + -0.10446501059731388, + -0.01238598295362355, + 0.10453951171275962, + -0.9944436021801992 + ], + [ + 0.970423562060106, + 0.24138766991775434, + -0.003178523281716127, + 0.23926883417306982, + -0.9634878515852908, + -0.12017314525725063, + -0.032070784088250065, + 0.11585833012449955, + -0.9927478593020118 + ], + [ + 0.9683696044144224, + 0.2494408818427435, + 0.0062893331736827846, + 0.2480360330357994, + -0.9595589422253822, + -0.13313437839705258, + -0.027174170863504238, + 0.13048326659315454, + -0.9910780401043406 + ], + [ + 0.963555800322385, + 0.26733457744013467, + -0.009614747526212553, + 0.26346927406242904, + -0.9546188099961525, + -0.138877173165882, + -0.04630508924626795, + 0.13128271518533713, + -0.9902629385185839 + ], + [ + 0.9547026999412707, + 0.29414794739510813, + -0.044941514973279785, + 0.28539588793092047, + -0.9479110868573849, + -0.14146999174727273, + -0.08421366799380223, + 0.12223565951103058, + -0.9889218885568939 + ], + [ + 0.9441650455204419, + 0.32126164399828483, + -0.0730980363135792, + 0.3085284758905268, + -0.9399516077909944, + -0.1459491506511546, + -0.11559648083765653, + 0.11524726073379825, + -0.9865878179418724 + ], + [ + 0.9327445424589704, + 0.35015046472941946, + -0.08592014061195483, + 0.33601133451679743, + -0.9306415228430814, + -0.1449232177277052, + -0.1307057825394401, + 0.10630619930221627, + -0.9857053263529981 + ], + [ + 0.9212179296982479, + 0.37147636993310973, + -0.1155977187655258, + 0.3540383667901924, + -0.9236437552832018, + -0.1467618757269007, + -0.1612896799023649, + 0.09427364375934826, + -0.9823940753329736 + ], + [ + 0.901053426791751, + 0.40129384565026277, + -0.16451738968894902, + 0.38092753668380347, + -0.9136090813824753, + -0.14217122849395053, + -0.2073570202883231, + 0.06543466862980646, + -0.9760744696376682 + ], + [ + 0.8904666435185198, + 0.42639405969287153, + -0.15892533668201883, + 0.4094764830165641, + -0.9031718933637204, + -0.1288780077987614, + -0.19848971418500913, + 0.049685379101140285, + -0.9788427843460507 + ], + [ + 0.8713398668204935, + 0.45983578032062905, + -0.17122468170845914, + 0.4457445043664349, + -0.8876694522584004, + -0.1155628848480032, + -0.20513086875545142, + 0.02437208780941342, + -0.9784310543004265 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + 1.385807991027832e-05, + 0.004291929304599762, + -0.01344936341047287, + 0.01948276348412037, + -0.019419856369495392, + 0.03221714496612549, + 1.0 + ], + [ + 0.005780965089797974, + 0.00422469899058342, + -0.006366357207298279, + 0.01488378457725048, + -0.0556650385260582, + 0.04887324571609497, + 1.0 + ], + [ + 0.00685352087020874, + 1.4521181583404541e-05, + -0.0015076026320457458, + -0.010112801566720009, + -0.039205871522426605, + 0.017182201147079468, + 1.0 + ], + [ + 0.0030703842639923096, + 0.005721569061279297, + -0.008566498756408691, + -0.0052359439432621, + 0.015635348856449127, + 0.008746922016143799, + 1.0 + ], + [ + 0.003515005111694336, + 0.002210080623626709, + -0.008792459964752197, + -0.01928231678903103, + 0.020051706582307816, + -0.0010880231857299805, + 1.0 + ], + [ + 0.0024536848068237305, + 0.003547240048646927, + -0.009920351207256317, + -0.005033176392316818, + 0.02479523979127407, + -0.010188832879066467, + 1.0 + ], + [ + 0.0028522610664367676, + 0.003212401643395424, + -0.006632983684539795, + -0.01009046658873558, + 0.013128901831805706, + -0.00041225552558898926, + 1.0 + ], + [ + 0.004071176052093506, + 0.00043097324669361115, + -0.004894576966762543, + -0.02555079758167267, + -0.004243028350174427, + -0.003366425633430481, + 1.0 + ], + [ + 0.001004546880722046, + 0.0007014498114585876, + -0.010093353688716888, + -0.01984887570142746, + 0.024686016142368317, + -0.00019031763076782227, + 1.0 + ], + [ + 0.0004903972148895264, + 0.0005457010120153427, + -0.006936170160770416, + -0.011440210044384003, + 0.019689984619617462, + 0.0006560981273651123, + 1.0 + ], + [ + 0.003103107213973999, + -0.0002898219972848892, + -0.001455690711736679, + -0.014725878834724426, + -0.004898767918348312, + 0.009007424116134644, + 0.0 + ], + [ + 0.0016517043113708496, + 0.0004125479608774185, + 0.0002227388322353363, + -0.000899970531463623, + 0.01914413645863533, + 0.01616308093070984, + 0.0 + ], + [ + -0.0006274580955505371, + -0.00043404847383499146, + 0.0015527792274951935, + 0.008823797106742859, + 0.03799187391996384, + 0.023571133613586426, + 0.0 + ], + [ + -0.00019410252571105957, + -0.0021341126412153244, + 0.003559436649084091, + 0.006694220006465912, + 0.03154195845127106, + 0.02535426616668701, + 0.0 + ], + [ + 0.003095000982284546, + -0.006550051271915436, + 0.009057074785232544, + 0.00885435938835144, + 0.015225350856781006, + 0.029932022094726562, + 0.0 + ], + [ + 0.0001640617847442627, + -0.0009248778223991394, + 0.00965242087841034, + 0.011762402951717377, + 0.030916467308998108, + 0.021145105361938477, + 0.0 + ], + [ + -0.005304932594299316, + 0.0045487117022275925, + 0.0066453441977500916, + 0.02873176336288452, + 0.046875178813934326, + 0.03305751085281372, + 0.0 + ], + [ + -0.005949079990386963, + 0.007488265633583069, + 0.01463637501001358, + 0.016222666949033737, + -0.009055748581886292, + 0.031040549278259277, + 0.0 + ], + [ + -0.015379488468170166, + 0.008081760257482529, + 0.011590152978897095, + 0.0258115716278553, + 0.006780683994293213, + 0.04184383153915405, + 0.0 + ], + [ + -0.020750150084495544, + 0.007348817307502031, + 0.005909748375415802, + 0.02266388013958931, + 0.01394742727279663, + 0.04681897163391113, + 0.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.831673800945282 + ], + [ + 0.5452468395233154 + ], + [ + 0.4975702464580536 + ], + [ + 0.4975702464580536 + ], + [ + 0.4975702464580536 + ], + [ + 0.4975702464580536 + ], + [ + 0.4975702464580536 + ], + [ + 0.4975702464580536 + ], + [ + 0.4975702464580536 + ], + [ + 0.4975702464580536 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.25949493050575256, + -0.04411537945270538, + 0.12009059637784958 + ], + [ + 0.26527589559555054, + -0.039890680462121964, + 0.1137242391705513 + ], + [ + 0.2721294164657593, + -0.03987615928053856, + 0.11221663653850555 + ], + [ + 0.2751998007297516, + -0.03415459021925926, + 0.10365013778209686 + ], + [ + 0.2787148058414459, + -0.03194450959563255, + 0.09485767781734467 + ], + [ + 0.28116849064826965, + -0.028397269546985626, + 0.08493732661008835 + ], + [ + 0.2840207517147064, + -0.025184867903590202, + 0.07830434292554855 + ], + [ + 0.2880919277667999, + -0.02475389465689659, + 0.07340976595878601 + ], + [ + 0.289096474647522, + -0.024052444845438004, + 0.06331641227006912 + ], + [ + 0.2895868718624115, + -0.02350674383342266, + 0.056380242109298706 + ], + [ + 0.2926899790763855, + -0.02379656583070755, + 0.05492455139756203 + ], + [ + 0.29434168338775635, + -0.02338401786983013, + 0.05514729022979736 + ], + [ + 0.2937142252922058, + -0.023818066343665123, + 0.05670006945729256 + ], + [ + 0.29352012276649475, + -0.025952178984880447, + 0.06025950610637665 + ], + [ + 0.2966151237487793, + -0.03250223025679588, + 0.06931658089160919 + ], + [ + 0.29677918553352356, + -0.03342710807919502, + 0.07896900177001953 + ], + [ + 0.29147425293922424, + -0.02887839637696743, + 0.08561434596776962 + ], + [ + 0.2855251729488373, + -0.02139013074338436, + 0.1002507209777832 + ], + [ + 0.2701456844806671, + -0.013308370485901833, + 0.1118408739566803 + ], + [ + 0.24939553439617157, + -0.005959553178399801, + 0.1177506223320961 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9834834485297705, + 0.1807953206919774, + -0.008564956735135248, + 0.18051591815332652, + -0.9832164443483866, + -0.026446679492461586, + -0.013202642207194982, + 0.024463760520421228, + -0.9996135326514682 + ], + [ + 0.9726975222968054, + 0.22796058209172815, + 0.043514401409829165, + 0.22816132644059378, + -0.9736232730156673, + 0.00036243499797612624, + 0.042449254817064505, + 0.009575763920410044, + -0.9990527340990645 + ], + [ + 0.9662763731723744, + 0.24345550690590095, + 0.08390105366461625, + 0.24424402151594904, + -0.9697133918456975, + 0.0008919802851030875, + 0.08157713284100276, + 0.01963043128164066, + -0.9964736913562434 + ], + [ + 0.9652189739191293, + 0.25186143102775777, + 0.07012953690958576, + 0.25297899170224797, + -0.9674435308181158, + -0.0073921874631894206, + 0.06598455988954469, + 0.024876379134170137, + -0.9975105030110489 + ], + [ + 0.9665797094792333, + 0.25026627232499216, + 0.055591889332832045, + 0.2522120498666465, + -0.9671696718039767, + -0.03117543655912834, + 0.045964629065240833, + 0.04415448877680388, + -0.9979667499449839 + ], + [ + 0.9699068942896036, + 0.24130136480863898, + 0.0324694895399322, + 0.24255278669392935, + -0.9692013495813067, + -0.042624988408010364, + 0.021184005204513093, + 0.04921783529638364, + -0.9985633893810814 + ], + [ + 0.9701930414347765, + 0.24131740511969257, + 0.022166919899607965, + 0.24219940861296207, + -0.968632604222333, + -0.05559068721460408, + 0.008056600962496396, + 0.05930251279464204, + -0.9982075451313578 + ], + [ + 0.9709609539596638, + 0.23706665607838348, + 0.03215939149849531, + 0.2389216408974508, + -0.9677868881038633, + -0.07940395912742859, + 0.012299406351918474, + 0.08478171848962623, + -0.9963236345753003 + ], + [ + 0.9710053696116522, + 0.2387039768029975, + 0.012999370899115023, + 0.2387365904330781, + -0.9654490675065629, + -0.10446501059731388, + -0.01238598295362355, + 0.10453951171275962, + -0.9944436021801992 + ], + [ + 0.970423562060106, + 0.24138766991775434, + -0.003178523281716127, + 0.23926883417306982, + -0.9634878515852908, + -0.12017314525725063, + -0.032070784088250065, + 0.11585833012449955, + -0.9927478593020118 + ], + [ + 0.9683696044144224, + 0.2494408818427435, + 0.0062893331736827846, + 0.2480360330357994, + -0.9595589422253822, + -0.13313437839705258, + -0.027174170863504238, + 0.13048326659315454, + -0.9910780401043406 + ], + [ + 0.963555800322385, + 0.26733457744013467, + -0.009614747526212553, + 0.26346927406242904, + -0.9546188099961525, + -0.138877173165882, + -0.04630508924626795, + 0.13128271518533713, + -0.9902629385185839 + ], + [ + 0.9547026999412707, + 0.29414794739510813, + -0.044941514973279785, + 0.28539588793092047, + -0.9479110868573849, + -0.14146999174727273, + -0.08421366799380223, + 0.12223565951103058, + -0.9889218885568939 + ], + [ + 0.9441650455204419, + 0.32126164399828483, + -0.0730980363135792, + 0.3085284758905268, + -0.9399516077909944, + -0.1459491506511546, + -0.11559648083765653, + 0.11524726073379825, + -0.9865878179418724 + ], + [ + 0.9327445424589704, + 0.35015046472941946, + -0.08592014061195483, + 0.33601133451679743, + -0.9306415228430814, + -0.1449232177277052, + -0.1307057825394401, + 0.10630619930221627, + -0.9857053263529981 + ], + [ + 0.9212179296982479, + 0.37147636993310973, + -0.1155977187655258, + 0.3540383667901924, + -0.9236437552832018, + -0.1467618757269007, + -0.1612896799023649, + 0.09427364375934826, + -0.9823940753329736 + ], + [ + 0.901053426791751, + 0.40129384565026277, + -0.16451738968894902, + 0.38092753668380347, + -0.9136090813824753, + -0.14217122849395053, + -0.2073570202883231, + 0.06543466862980646, + -0.9760744696376682 + ], + [ + 0.8904666435185198, + 0.42639405969287153, + -0.15892533668201883, + 0.4094764830165641, + -0.9031718933637204, + -0.1288780077987614, + -0.19848971418500913, + 0.049685379101140285, + -0.9788427843460507 + ], + [ + 0.8713398668204935, + 0.45983578032062905, + -0.17122468170845914, + 0.4457445043664349, + -0.8876694522584004, + -0.1155628848480032, + -0.20513086875545142, + 0.02437208780941342, + -0.9784310543004265 + ], + [ + 0.8469574862777673, + 0.4970208877065485, + -0.18876772399284747, + 0.4845683734855223, + -0.8677358228887553, + -0.11058043720825987, + -0.21876130337799854, + 0.0021860601476261787, + -0.9757759544513229 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006011.json b/json/chunk-0006/episode_0006011.json new file mode 100644 index 0000000000000000000000000000000000000000..450a5bc6e27d78b964bbe3fc369d8373c174a0ed --- /dev/null +++ b/json/chunk-0006/episode_0006011.json @@ -0,0 +1,2302 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 37, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nFold the cloth from top right to bottom left." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006011.mp4", + "start": 0, + "end": 37, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.22681812942028046, + 0.21873360872268677, + 0.18075843155384064, + 0.11993221193552017, + -0.23868148028850555, + 0.6719391942024231, + 0.0, + 1.0001531839370728 + ], + [ + 0.22794225811958313, + 0.21637441217899323, + 0.17105188965797424, + 0.12096533924341202, + -0.2145819365978241, + 0.6770148873329163, + 0.0, + 1.0001531839370728 + ], + [ + 0.26153165102005005, + 0.17296259105205536, + 0.150455504655838, + 0.1374865621328354, + -0.2584000527858734, + 0.6200128793716431, + 0.0, + 1.0001531839370728 + ], + [ + 0.28515785932540894, + 0.1377778947353363, + 0.13616076111793518, + 0.1353672295808792, + -0.34692439436912537, + 0.6323510408401489, + 0.0, + 1.0001531839370728 + ], + [ + 0.30968186259269714, + 0.1031261458992958, + 0.1365358978509903, + 0.1060815081000328, + -0.4234398305416107, + 0.6127339005470276, + 0.0, + 1.0001531839370728 + ], + [ + 0.32657575607299805, + 0.08052343130111694, + 0.11675172299146652, + 0.13358983397483826, + -0.4283372461795807, + 0.6278709769248962, + 0.0, + 1.0001531839370728 + ], + [ + 0.3496469259262085, + 0.06894564628601074, + 0.11696641147136688, + 0.13904722034931183, + -0.43503338098526, + 0.6607933044433594, + 0.0, + 1.0001531839370728 + ], + [ + 0.3760741651058197, + 0.05495697632431984, + 0.1060103252530098, + 0.16426324844360352, + -0.41812118887901306, + 0.6673523187637329, + 0.0, + 1.0001531839370728 + ], + [ + 0.3953275978565216, + 0.04575404152274132, + 0.09862971305847168, + 0.1577172577381134, + -0.43077993392944336, + 0.6858953237533569, + 0.0, + 1.0001531839370728 + ], + [ + 0.40699324011802673, + 0.03519560396671295, + 0.09014520794153214, + 0.18206608295440674, + -0.43014809489250183, + 0.6658902168273926, + 0.0, + 1.0001531839370728 + ], + [ + 0.4090718626976013, + 0.01873055100440979, + 0.08832132816314697, + 0.18105003237724304, + -0.42606493830680847, + 0.6405093669891357, + 0.0, + 1.0001531839370728 + ], + [ + 0.412365585565567, + 0.012171166948974133, + 0.08959505707025528, + 0.16563518345355988, + -0.4457528293132782, + 0.6386634707450867, + 0.0, + 1.0001531839370728 + ], + [ + 0.4124533534049988, + 0.010821763426065445, + 0.07717479020357132, + 0.1886701136827469, + -0.43374860286712646, + 0.630971372127533, + 0.0, + 1.0001531839370728 + ], + [ + 0.41791725158691406, + 0.011278677731752396, + 0.0675344467163086, + 0.2128734588623047, + -0.4164200723171234, + 0.6504091620445251, + 0.0, + 1.0001531839370728 + ], + [ + 0.42347562313079834, + 0.011338533833622932, + 0.05606309324502945, + 0.2358236163854599, + -0.40103089809417725, + 0.6556779146194458, + 0.0, + 1.0001531839370728 + ], + [ + 0.42851802706718445, + 0.013537372462451458, + 0.05263122543692589, + 0.2383408397436142, + -0.4068266749382019, + 0.6657662987709045, + 0.0, + 0.9553104043006897 + ], + [ + 0.4286062717437744, + 0.015869807451963425, + 0.050251998007297516, + 0.24107304215431213, + -0.41297873854637146, + 0.6777011156082153, + 0.0, + 0.6530976295471191 + ], + [ + 0.4245103895664215, + 0.016792375594377518, + 0.044383980333805084, + 0.2498238980770111, + -0.40322959423065186, + 0.6722719669342041, + 0.0, + 0.3644362688064575 + ], + [ + 0.4194251298904419, + 0.02182292565703392, + 0.04417360946536064, + 0.2453518956899643, + -0.3953859806060791, + 0.6760381460189819, + 0.0, + 0.15718480944633484 + ], + [ + 0.41442492604255676, + 0.026335887610912323, + 0.04597224295139313, + 0.23316340148448944, + -0.38577693700790405, + 0.6788787245750427, + 0.0, + 0.06926051527261734 + ], + [ + 0.40866613388061523, + 0.03221501410007477, + 0.06104552745819092, + 0.18070733547210693, + -0.36753717064857483, + 0.7136749029159546, + 0.0, + 0.06037256866693497 + ], + [ + 0.40460672974586487, + 0.041962187737226486, + 0.09366749972105026, + 0.07382999360561371, + -0.37103644013404846, + 0.7674973011016846, + 0.0, + 0.05980546772480011 + ], + [ + 0.3936251401901245, + 0.05965288728475571, + 0.11656531691551208, + -0.0070899189449846745, + -0.36204150319099426, + 0.8142234086990356, + 0.0, + 0.05952305346727371 + ], + [ + 0.37571972608566284, + 0.08151199668645859, + 0.11560622602701187, + -0.017729004845023155, + -0.35118892788887024, + 0.8309279084205627, + 0.0, + 0.05952305346727371 + ], + [ + 0.35385987162590027, + 0.10803814232349396, + 0.10221076011657715, + 0.009348602965474129, + -0.3514539897441864, + 0.8281842470169067, + 0.0, + 0.05952305346727371 + ], + [ + 0.33819258213043213, + 0.131535604596138, + 0.09113986045122147, + 0.029834557324647903, + -0.35718488693237305, + 0.8238635659217834, + 0.0, + 0.059241458773612976 + ], + [ + 0.3211728036403656, + 0.153538316488266, + 0.09103681147098541, + 0.030785145238041878, + -0.3579118847846985, + 0.8095191717147827, + 0.0, + 0.059241458773612976 + ], + [ + 0.30782651901245117, + 0.17273057997226715, + 0.0974252000451088, + 0.01613093540072441, + -0.3757823407649994, + 0.8067718744277954, + 0.0, + 0.059241458773612976 + ], + [ + 0.28880324959754944, + 0.19172166287899017, + 0.10672768205404282, + 0.0026981239207088947, + -0.39587336778640747, + 0.8196937441825867, + 0.0, + 0.059241458773612976 + ], + [ + 0.27280154824256897, + 0.20546239614486694, + 0.1143931970000267, + -6.033317549736239e-05, + -0.39267444610595703, + 0.8161643147468567, + 0.0, + 0.059241458773612976 + ], + [ + 0.25779691338539124, + 0.21875521540641785, + 0.11514366418123245, + 0.040803827345371246, + -0.38353562355041504, + 0.7957767844200134, + 0.0, + 0.059241458773612976 + ], + [ + 0.25021836161613464, + 0.22808319330215454, + 0.11537910252809525, + 0.0755247101187706, + -0.3884241282939911, + 0.7892652153968811, + 0.0, + 0.059241458773612976 + ], + [ + 0.24470961093902588, + 0.2347351610660553, + 0.11620348691940308, + 0.10016512125730515, + -0.3910059332847595, + 0.7895551323890686, + 0.0, + 0.0650232583284378 + ], + [ + 0.24162887036800385, + 0.23602241277694702, + 0.11592258512973785, + 0.12141667306423187, + -0.38044607639312744, + 0.7706058025360107, + 0.0, + 0.10198938846588135 + ], + [ + 0.23555177450180054, + 0.2367468625307083, + 0.11805409938097, + 0.13839003443717957, + -0.3658604621887207, + 0.7677368521690369, + 0.0, + 0.27019456028938293 + ], + [ + 0.2309427261352539, + 0.23702695965766907, + 0.11990567296743393, + 0.14380954205989838, + -0.3523527979850769, + 0.7746226787567139, + 0.0, + 0.5452468395233154 + ], + [ + 0.23088355362415314, + 0.23847201466560364, + 0.12659308314323425, + 0.15064451098442078, + -0.34091901779174805, + 0.7775092720985413, + 0.0, + 0.8381108045578003 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9553104043006897 + ], + [ + 0.6530976295471191 + ], + [ + 0.3644362688064575 + ], + [ + 0.15718480944633484 + ], + [ + 0.06926051527261734 + ], + [ + 0.06037256866693497 + ], + [ + 0.05980546772480011 + ], + [ + 0.05952305346727371 + ], + [ + 0.05952305346727371 + ], + [ + 0.05952305346727371 + ], + [ + 0.059241458773612976 + ], + [ + 0.059241458773612976 + ], + [ + 0.059241458773612976 + ], + [ + 0.059241458773612976 + ], + [ + 0.059241458773612976 + ], + [ + 0.059241458773612976 + ], + [ + 0.059241458773612976 + ], + [ + 0.0650232583284378 + ], + [ + 0.10198938846588135 + ], + [ + 0.27019456028938293 + ], + [ + 0.5452468395233154 + ], + [ + 0.8381108045578003 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.22681812942028046, + 0.21873360872268677, + 0.18075843155384064 + ], + [ + 0.22794225811958313, + 0.21637441217899323, + 0.17105188965797424 + ], + [ + 0.26153165102005005, + 0.17296259105205536, + 0.150455504655838 + ], + [ + 0.28515785932540894, + 0.1377778947353363, + 0.13616076111793518 + ], + [ + 0.30968186259269714, + 0.1031261458992958, + 0.1365358978509903 + ], + [ + 0.32657575607299805, + 0.08052343130111694, + 0.11675172299146652 + ], + [ + 0.3496469259262085, + 0.06894564628601074, + 0.11696641147136688 + ], + [ + 0.3760741651058197, + 0.05495697632431984, + 0.1060103252530098 + ], + [ + 0.3953275978565216, + 0.04575404152274132, + 0.09862971305847168 + ], + [ + 0.40699324011802673, + 0.03519560396671295, + 0.09014520794153214 + ], + [ + 0.4090718626976013, + 0.01873055100440979, + 0.08832132816314697 + ], + [ + 0.412365585565567, + 0.012171166948974133, + 0.08959505707025528 + ], + [ + 0.4124533534049988, + 0.010821763426065445, + 0.07717479020357132 + ], + [ + 0.41791725158691406, + 0.011278677731752396, + 0.0675344467163086 + ], + [ + 0.42347562313079834, + 0.011338533833622932, + 0.05606309324502945 + ], + [ + 0.42851802706718445, + 0.013537372462451458, + 0.05263122543692589 + ], + [ + 0.4286062717437744, + 0.015869807451963425, + 0.050251998007297516 + ], + [ + 0.4245103895664215, + 0.016792375594377518, + 0.044383980333805084 + ], + [ + 0.4194251298904419, + 0.02182292565703392, + 0.04417360946536064 + ], + [ + 0.41442492604255676, + 0.026335887610912323, + 0.04597224295139313 + ], + [ + 0.40866613388061523, + 0.03221501410007477, + 0.06104552745819092 + ], + [ + 0.40460672974586487, + 0.041962187737226486, + 0.09366749972105026 + ], + [ + 0.3936251401901245, + 0.05965288728475571, + 0.11656531691551208 + ], + [ + 0.37571972608566284, + 0.08151199668645859, + 0.11560622602701187 + ], + [ + 0.35385987162590027, + 0.10803814232349396, + 0.10221076011657715 + ], + [ + 0.33819258213043213, + 0.131535604596138, + 0.09113986045122147 + ], + [ + 0.3211728036403656, + 0.153538316488266, + 0.09103681147098541 + ], + [ + 0.30782651901245117, + 0.17273057997226715, + 0.0974252000451088 + ], + [ + 0.28880324959754944, + 0.19172166287899017, + 0.10672768205404282 + ], + [ + 0.27280154824256897, + 0.20546239614486694, + 0.1143931970000267 + ], + [ + 0.25779691338539124, + 0.21875521540641785, + 0.11514366418123245 + ], + [ + 0.25021836161613464, + 0.22808319330215454, + 0.11537910252809525 + ], + [ + 0.24470961093902588, + 0.2347351610660553, + 0.11620348691940308 + ], + [ + 0.24162887036800385, + 0.23602241277694702, + 0.11592258512973785 + ], + [ + 0.23555177450180054, + 0.2367468625307083, + 0.11805409938097 + ], + [ + 0.2309427261352539, + 0.23702695965766907, + 0.11990567296743393 + ], + [ + 0.23088355362415314, + 0.23847201466560364, + 0.12659308314323425 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.7604292447236531, + 0.6401707777194771, + 0.10921876726577141, + 0.60485712971216, + -0.759385676948182, + 0.2397524687721047, + 0.23642169190956663, + -0.11625303866992788, + -0.9646709359126701 + ], + [ + 0.7615700603134647, + 0.6419194624566747, + 0.0891652788560631, + 0.6121013295287864, + -0.7576531391325292, + 0.22648108784557794, + 0.21293897159335987, + -0.1179030299948147, + -0.9699257032859806 + ], + [ + 0.7868505027977228, + 0.6040659886194213, + 0.1263747112369096, + 0.561754960149704, + -0.7858416277790442, + 0.2586199930337697, + 0.25553405055721157, + -0.13250365067734476, + -0.9576769453020163 + ], + [ + 0.7585828800673061, + 0.6226488662954794, + 0.19199063354691415, + 0.5558302077751727, + -0.7721406760360139, + 0.30797979890774685, + 0.34000705021131516, + -0.12691400912272002, + -0.9318197465685081 + ], + [ + 0.745826822816455, + 0.6074654792521796, + 0.2733643025057074, + 0.5243133029669216, + -0.7884588886257049, + 0.32160245844681457, + 0.4108989056926645, + -0.09653119943333248, + -0.906556019690197 + ], + [ + 0.7361677208031535, + 0.6269609117132448, + 0.2549060651125966, + 0.5343539280277269, + -0.769571502116188, + 0.3496077555375069, + 0.41535884058104433, + -0.12115988739814497, + -0.9015527246017505 + ], + [ + 0.7159678655597018, + 0.6539360304981311, + 0.24445384738684672, + 0.5565768359664275, + -0.7460360076192076, + 0.36558514877001463, + 0.42144067334737034, + -0.12568986972680235, + -0.8981034547849007 + ], + [ + 0.7177981409896304, + 0.6627310871564503, + 0.21343227241506896, + 0.5655916602107939, + -0.7337953921361594, + 0.3763647119214792, + 0.4060442127303732, + -0.14943837725353432, + -0.9015521442002131 + ], + [ + 0.7031534087455359, + 0.6762595260162845, + 0.21965504146675688, + 0.5755020018102848, + -0.7227070760306502, + 0.38274263959948607, + 0.4175796087956013, + -0.14271487563480315, + -0.8973626550011173 + ], + [ + 0.7147322570081449, + 0.6669226035984193, + 0.21064672226633063, + 0.561484005073611, + -0.726726670776267, + 0.39573230602130594, + 0.4170054110422792, + -0.164567878979918, + -0.893881368174497 + ], + [ + 0.7301106000953181, + 0.6475040501441146, + 0.21835067363171207, + 0.5441776083328683, + -0.7442137138221584, + 0.3873198661934991, + 0.41329074780059366, + -0.16396479258059815, + -0.8957155265911313 + ], + [ + 0.7244395829435027, + 0.6450382427581998, + 0.2431315611845945, + 0.5378735400277901, + -0.7495290291652128, + 0.3858734110775546, + 0.4311372700226898, + -0.14876793948316924, + -0.8899375003781529 + ], + [ + 0.7326818517923148, + 0.6431074455008622, + 0.22268838675499175, + 0.5352999588282336, + -0.7466257155584094, + 0.39497341042832923, + 0.4202752171288197, + -0.17018476549988137, + -0.8912945009698392 + ], + [ + 0.7278262178971794, + 0.6598534765617821, + 0.18671471824903613, + 0.5537667389043099, + -0.7261276726786342, + 0.4075303692408649, + 0.40448905476511104, + -0.19321488669261394, + -0.8938996655864612 + ], + [ + 0.7297463940528479, + 0.6651155349453117, + 0.15840304776511555, + 0.5613228074041157, + -0.715087812638805, + 0.416612681160105, + 0.3903676552364805, + -0.21510635832039254, + -0.8951772720278991 + ], + [ + 0.7222550482714482, + 0.6736711637298333, + 0.15657205499481758, + 0.5672490870512935, + -0.7065095289813116, + 0.4231698934211639, + 0.39569700338248953, + -0.21682123654637114, + -0.8924194265571657 + ], + [ + 0.7135238293792845, + 0.6835158689209212, + 0.15391491753952868, + 0.5742912291835879, + -0.6964108116047348, + 0.43035051477004, + 0.4013394186853886, + -0.21867336009059873, + -0.8894428776464297 + ], + [ + 0.7196584494398951, + 0.6793351983783175, + 0.14351099049918764, + 0.5728185149072088, + -0.6977038925708415, + 0.4302188132462309, + 0.39239095954069286, + -0.22740485161004712, + -0.8912442809549729 + ], + [ + 0.719874751164223, + 0.6799474606861131, + 0.13946968610689076, + 0.5774328645335198, + -0.6981581486544661, + 0.4232569980803412, + 0.3851644189081614, + -0.22415764580730885, + -0.8952104334921835 + ], + [ + 0.7210788553242043, + 0.6785941986921635, + 0.13983990097849577, + 0.5817725782854768, + -0.7026248510340816, + 0.40970597489468363, + 0.3762790873266859, + -0.21407529565710046, + -0.9014354198887023 + ], + [ + 0.7054745434050311, + 0.6927759666772229, + 0.14955643952000996, + 0.610897796791078, + -0.7013776623177322, + 0.36725094510092143, + 0.3593181744405224, + -0.16772249341144646, + -0.9180193977910149 + ], + [ + 0.6706798874109152, + 0.7116919514943961, + 0.20900491573305144, + 0.6470881826811391, + -0.6991200857612349, + 0.3041512609206544, + 0.3625815390459124, + -0.06874352233702753, + -0.9294132319263567 + ], + [ + 0.6419357750859851, + 0.7254507494157327, + 0.2482733792352837, + 0.6800529830392597, + -0.6882421447180793, + 0.2526869416753914, + 0.354184134207279, + 0.0066302643996925675, + -0.9351522008046765 + ], + [ + 0.6330410793527194, + 0.734329512237493, + 0.2449880799324525, + 0.6934789662991313, + -0.678589034013277, + 0.2420823128971133, + 0.3440144112571918, + 0.016646031778574752, + -0.938816805598086 + ], + [ + 0.6348796827825548, + 0.7388488393970633, + 0.22589860759096128, + 0.6916723071664065, + -0.6738140369294057, + 0.25993088145889376, + 0.3442632828069566, + -0.008777024467893385, + -0.9388321234131622 + ], + [ + 0.6365113790063268, + 0.7405355130838602, + 0.21554678902059227, + 0.6874637471350822, + -0.6714358471677196, + 0.2767083293165536, + 0.34963818551533493, + -0.027947397012784994, + -0.9364678757062379 + ], + [ + 0.6461312878574689, + 0.7310510956979578, + 0.2192684526567002, + 0.678078765740811, + -0.6817133863460157, + 0.2747290416538914, + 0.3503192063005774, + -0.02882974775232433, + -0.9361865729337664 + ], + [ + 0.6435573693313067, + 0.726059191214791, + 0.24222296181801556, + 0.6716730048242591, + -0.687468479575611, + 0.276120379871441, + 0.3670003909667117, + -0.015004680687087407, + -0.9300997648573832 + ], + [ + 0.629664880443348, + 0.7316442394167947, + 0.26118737577548534, + 0.6744063018239842, + -0.6816821176876386, + 0.28369989510924004, + 0.3856141574117342, + -0.002489448355893653, + -0.9226567748900573 + ], + [ + 0.6328829946667115, + 0.7285078553525949, + 0.26217440712483375, + 0.6730749774137458, + -0.6850374453871018, + 0.27873602780587814, + 0.38266067192903563, + 5.574115472176122e-05, + -0.9238889581826069 + ], + [ + 0.6488928293365883, + 0.7244938275748929, + 0.23247965468280998, + 0.6625038067418798, + -0.6882424528373241, + 0.29565356782048446, + 0.37420155276010725, + -0.03782882390909176, + -0.9265755112205263 + ], + [ + 0.6518966928911984, + 0.727940641359557, + 0.21244557998356983, + 0.6569581277721566, + -0.6820746907404065, + 0.321216647460062, + 0.3787304056339039, + -0.0698322197013364, + -0.9228687560752953 + ], + [ + 0.6510154963457785, + 0.7333174094384525, + 0.19602142875751336, + 0.65645062377178, + -0.6735714381028397, + 0.3396676262491223, + 0.3811186194182864, + -0.09245049911465958, + -0.9198921149494378 + ], + [ + 0.6661877099749941, + 0.723711344663189, + 0.1800994855186232, + 0.6467646284895635, + -0.680878094210046, + 0.34365758562798127, + 0.37133468786666113, + -0.11245848314242639, + -0.9216635173186983 + ], + [ + 0.6718661358332478, + 0.7233764523785775, + 0.159130146938545, + 0.6485435445265364, + -0.6783304763086375, + 0.34533901569885367, + 0.3577529404120334, + -0.1288187604934936, + -0.9248884043880449 + ], + [ + 0.6707771445958345, + 0.727573681403252, + 0.143856040600241, + 0.6564748080086767, + -0.6727136862543973, + 0.34131674845514304, + 0.3451070105602465, + -0.134509607297544, + -0.9288747584076287 + ], + [ + 0.6716476753562088, + 0.7293218268733629, + 0.13030377214302458, + 0.661133293050809, + -0.6693914452294181, + 0.33884784472306184, + 0.33435335949918904, + -0.14143820523384598, + -0.93177414918629 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + 0.0011241286993026733, + -0.0023591965436935425, + -0.009706541895866394, + 0.0010331273078918457, + 0.024099543690681458, + 0.005075693130493164, + 1.0 + ], + [ + 0.03358939290046692, + -0.043411821126937866, + -0.02059638500213623, + 0.01652122288942337, + -0.043818116188049316, + -0.05700200796127319, + 1.0 + ], + [ + 0.023626208305358887, + -0.035184696316719055, + -0.014294743537902832, + -0.0021193325519561768, + -0.08852434158325195, + 0.01233816146850586, + 1.0 + ], + [ + 0.024524003267288208, + -0.0346517488360405, + 0.00037513673305511475, + -0.029285721480846405, + -0.07651543617248535, + -0.019617140293121338, + 1.0 + ], + [ + 0.016893893480300903, + -0.022602714598178864, + -0.019784174859523773, + 0.02750832587480545, + -0.004897415637969971, + 0.015137076377868652, + 1.0 + ], + [ + 0.02307116985321045, + -0.011577785015106201, + 0.0002146884799003601, + 0.005457386374473572, + -0.006696134805679321, + 0.032922327518463135, + 1.0 + ], + [ + 0.026427239179611206, + -0.013988669961690903, + -0.010956086218357086, + 0.025216028094291687, + 0.016912192106246948, + 0.006559014320373535, + 1.0 + ], + [ + 0.019253432750701904, + -0.009202934801578522, + -0.0073806121945381165, + -0.006545990705490112, + -0.012658745050430298, + 0.018543004989624023, + 1.0 + ], + [ + 0.011665642261505127, + -0.010558437556028366, + -0.008484505116939545, + 0.024348825216293335, + 0.0006318390369415283, + -0.020005106925964355, + 1.0 + ], + [ + 0.002078622579574585, + -0.01646505296230316, + -0.0018238797783851624, + -0.0010160505771636963, + 0.004083156585693359, + -0.025380849838256836, + 1.0 + ], + [ + 0.0032937228679656982, + -0.0065593840554356575, + 0.0012737289071083069, + -0.015414848923683167, + -0.019687891006469727, + -0.0018458962440490723, + 1.0 + ], + [ + 8.77678394317627e-05, + -0.0013494035229086876, + -0.01242026686668396, + 0.02303493022918701, + 0.012004226446151733, + -0.007692098617553711, + 1.0 + ], + [ + 0.005463898181915283, + 0.0004569143056869507, + -0.009640343487262726, + 0.0242033451795578, + 0.017328530550003052, + 0.019437789916992188, + 1.0 + ], + [ + 0.005558371543884277, + 5.9856101870536804e-05, + -0.011471353471279144, + 0.022950157523155212, + 0.015389174222946167, + 0.005268752574920654, + 1.0 + ], + [ + 0.005042403936386108, + 0.0021988386288285255, + -0.0034318678081035614, + 0.002517223358154297, + -0.005795776844024658, + 0.01008838415145874, + 0.0 + ], + [ + 8.824467658996582e-05, + 0.0023324349895119667, + -0.002379227429628372, + 0.002732202410697937, + -0.006152063608169556, + 0.011934816837310791, + 0.0 + ], + [ + -0.004095882177352905, + 0.000922568142414093, + -0.005868017673492432, + 0.008750855922698975, + 0.009749144315719604, + -0.0054291486740112305, + 0.0 + ], + [ + -0.005085259675979614, + 0.005030550062656403, + -0.00021037086844444275, + -0.004472002387046814, + 0.007843613624572754, + 0.003766179084777832, + 0.0 + ], + [ + -0.005000203847885132, + 0.004512961953878403, + 0.001798633486032486, + -0.012188494205474854, + 0.009609043598175049, + 0.002840578556060791, + 0.0 + ], + [ + -0.005758792161941528, + 0.005879126489162445, + 0.01507328450679779, + -0.05245606601238251, + 0.018239766359329224, + 0.034796178340911865, + 0.0 + ], + [ + -0.004059404134750366, + 0.009747173637151718, + 0.032621972262859344, + -0.10687734186649323, + -0.003499269485473633, + 0.05382239818572998, + 0.0 + ], + [ + -0.010981589555740356, + 0.01769069954752922, + 0.022897817194461823, + -0.08091991394758224, + 0.0089949369430542, + 0.046726107597351074, + 0.0 + ], + [ + -0.01790541410446167, + 0.02185910940170288, + -0.0009590908885002136, + -0.010639086365699768, + 0.010852575302124023, + 0.0167044997215271, + 0.0 + ], + [ + -0.021859854459762573, + 0.02652614563703537, + -0.013395465910434723, + 0.027077607810497284, + -0.0002650618553161621, + -0.002743661403656006, + 0.0 + ], + [ + -0.01566728949546814, + 0.023497462272644043, + -0.011070899665355682, + 0.020485954359173775, + -0.0057308971881866455, + -0.004320681095123291, + 0.0 + ], + [ + -0.01701977849006653, + 0.02200271189212799, + -0.00010304898023605347, + 0.0009505879133939743, + -0.0007269978523254395, + -0.014344394207000732, + 0.0 + ], + [ + -0.013346284627914429, + 0.01919226348400116, + 0.006388388574123383, + -0.014654209837317467, + -0.017870455980300903, + -0.0027472972869873047, + 0.0 + ], + [ + -0.019023269414901733, + 0.018991082906723022, + 0.009302482008934021, + -0.013432811945676804, + -0.02009102702140808, + 0.01292186975479126, + 0.0 + ], + [ + -0.01600170135498047, + 0.01374073326587677, + 0.007665514945983887, + -0.0027584570925682783, + 0.0031989216804504395, + -0.0035294294357299805, + 0.0 + ], + [ + -0.015004634857177734, + 0.013292819261550903, + 0.0007504671812057495, + 0.040864162147045135, + 0.009138822555541992, + -0.02038753032684326, + 0.0 + ], + [ + -0.007578551769256592, + 0.009327977895736694, + 0.00023543834686279297, + 0.03472088277339935, + -0.00488850474357605, + -0.006511569023132324, + 0.0 + ], + [ + -0.005508750677108765, + 0.006651967763900757, + 0.0008243843913078308, + 0.024640411138534546, + -0.0025818049907684326, + 0.0002899169921875, + 1.0 + ], + [ + -0.0030807405710220337, + 0.0012872517108917236, + -0.00028090178966522217, + 0.021251551806926727, + 0.01055985689163208, + -0.01894932985305786, + 1.0 + ], + [ + -0.006077095866203308, + 0.0007244497537612915, + 0.002131514251232147, + 0.016973361372947693, + 0.014585614204406738, + -0.002868950366973877, + 1.0 + ], + [ + -0.004609048366546631, + 0.0002800971269607544, + 0.0018515735864639282, + 0.005419507622718811, + 0.013507664203643799, + 0.006885826587677002, + 1.0 + ], + [ + -5.917251110076904e-05, + 0.0014450550079345703, + 0.0066874101758003235, + 0.0068349689245224, + 0.011433780193328857, + 0.0028865933418273926, + 1.0 + ], + [ + 0.0008054524660110474, + 0.002536982297897339, + 0.009083017706871033, + 0.009799808263778687, + 0.0036941170692443848, + 0.006190955638885498, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9553104043006897 + ], + [ + 0.6530976295471191 + ], + [ + 0.3644362688064575 + ], + [ + 0.15718480944633484 + ], + [ + 0.06926051527261734 + ], + [ + 0.06037256866693497 + ], + [ + 0.05980546772480011 + ], + [ + 0.05952305346727371 + ], + [ + 0.05952305346727371 + ], + [ + 0.05952305346727371 + ], + [ + 0.059241458773612976 + ], + [ + 0.059241458773612976 + ], + [ + 0.059241458773612976 + ], + [ + 0.059241458773612976 + ], + [ + 0.059241458773612976 + ], + [ + 0.059241458773612976 + ], + [ + 0.059241458773612976 + ], + [ + 0.0650232583284378 + ], + [ + 0.10198938846588135 + ], + [ + 0.27019456028938293 + ], + [ + 0.5452468395233154 + ], + [ + 0.8381108045578003 + ], + [ + 1.00800359249115 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.22794225811958313, + 0.21637441217899323, + 0.17105188965797424 + ], + [ + 0.26153165102005005, + 0.17296259105205536, + 0.150455504655838 + ], + [ + 0.28515785932540894, + 0.1377778947353363, + 0.13616076111793518 + ], + [ + 0.30968186259269714, + 0.1031261458992958, + 0.1365358978509903 + ], + [ + 0.32657575607299805, + 0.08052343130111694, + 0.11675172299146652 + ], + [ + 0.3496469259262085, + 0.06894564628601074, + 0.11696641147136688 + ], + [ + 0.3760741651058197, + 0.05495697632431984, + 0.1060103252530098 + ], + [ + 0.3953275978565216, + 0.04575404152274132, + 0.09862971305847168 + ], + [ + 0.40699324011802673, + 0.03519560396671295, + 0.09014520794153214 + ], + [ + 0.4090718626976013, + 0.01873055100440979, + 0.08832132816314697 + ], + [ + 0.412365585565567, + 0.012171166948974133, + 0.08959505707025528 + ], + [ + 0.4124533534049988, + 0.010821763426065445, + 0.07717479020357132 + ], + [ + 0.41791725158691406, + 0.011278677731752396, + 0.0675344467163086 + ], + [ + 0.42347562313079834, + 0.011338533833622932, + 0.05606309324502945 + ], + [ + 0.42851802706718445, + 0.013537372462451458, + 0.05263122543692589 + ], + [ + 0.4286062717437744, + 0.015869807451963425, + 0.050251998007297516 + ], + [ + 0.4245103895664215, + 0.016792375594377518, + 0.044383980333805084 + ], + [ + 0.4194251298904419, + 0.02182292565703392, + 0.04417360946536064 + ], + [ + 0.41442492604255676, + 0.026335887610912323, + 0.04597224295139313 + ], + [ + 0.40866613388061523, + 0.03221501410007477, + 0.06104552745819092 + ], + [ + 0.40460672974586487, + 0.041962187737226486, + 0.09366749972105026 + ], + [ + 0.3936251401901245, + 0.05965288728475571, + 0.11656531691551208 + ], + [ + 0.37571972608566284, + 0.08151199668645859, + 0.11560622602701187 + ], + [ + 0.35385987162590027, + 0.10803814232349396, + 0.10221076011657715 + ], + [ + 0.33819258213043213, + 0.131535604596138, + 0.09113986045122147 + ], + [ + 0.3211728036403656, + 0.153538316488266, + 0.09103681147098541 + ], + [ + 0.30782651901245117, + 0.17273057997226715, + 0.0974252000451088 + ], + [ + 0.28880324959754944, + 0.19172166287899017, + 0.10672768205404282 + ], + [ + 0.27280154824256897, + 0.20546239614486694, + 0.1143931970000267 + ], + [ + 0.25779691338539124, + 0.21875521540641785, + 0.11514366418123245 + ], + [ + 0.25021836161613464, + 0.22808319330215454, + 0.11537910252809525 + ], + [ + 0.24470961093902588, + 0.2347351610660553, + 0.11620348691940308 + ], + [ + 0.24162887036800385, + 0.23602241277694702, + 0.11592258512973785 + ], + [ + 0.23555177450180054, + 0.2367468625307083, + 0.11805409938097 + ], + [ + 0.2309427261352539, + 0.23702695965766907, + 0.11990567296743393 + ], + [ + 0.23088355362415314, + 0.23847201466560364, + 0.12659308314323425 + ], + [ + 0.23168900609016418, + 0.24100899696350098, + 0.13567610085010529 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.7615700603134647, + 0.6419194624566747, + 0.0891652788560631, + 0.6121013295287864, + -0.7576531391325292, + 0.22648108784557794, + 0.21293897159335987, + -0.1179030299948147, + -0.9699257032859806 + ], + [ + 0.7868505027977228, + 0.6040659886194213, + 0.1263747112369096, + 0.561754960149704, + -0.7858416277790442, + 0.2586199930337697, + 0.25553405055721157, + -0.13250365067734476, + -0.9576769453020163 + ], + [ + 0.7585828800673061, + 0.6226488662954794, + 0.19199063354691415, + 0.5558302077751727, + -0.7721406760360139, + 0.30797979890774685, + 0.34000705021131516, + -0.12691400912272002, + -0.9318197465685081 + ], + [ + 0.745826822816455, + 0.6074654792521796, + 0.2733643025057074, + 0.5243133029669216, + -0.7884588886257049, + 0.32160245844681457, + 0.4108989056926645, + -0.09653119943333248, + -0.906556019690197 + ], + [ + 0.7361677208031535, + 0.6269609117132448, + 0.2549060651125966, + 0.5343539280277269, + -0.769571502116188, + 0.3496077555375069, + 0.41535884058104433, + -0.12115988739814497, + -0.9015527246017505 + ], + [ + 0.7159678655597018, + 0.6539360304981311, + 0.24445384738684672, + 0.5565768359664275, + -0.7460360076192076, + 0.36558514877001463, + 0.42144067334737034, + -0.12568986972680235, + -0.8981034547849007 + ], + [ + 0.7177981409896304, + 0.6627310871564503, + 0.21343227241506896, + 0.5655916602107939, + -0.7337953921361594, + 0.3763647119214792, + 0.4060442127303732, + -0.14943837725353432, + -0.9015521442002131 + ], + [ + 0.7031534087455359, + 0.6762595260162845, + 0.21965504146675688, + 0.5755020018102848, + -0.7227070760306502, + 0.38274263959948607, + 0.4175796087956013, + -0.14271487563480315, + -0.8973626550011173 + ], + [ + 0.7147322570081449, + 0.6669226035984193, + 0.21064672226633063, + 0.561484005073611, + -0.726726670776267, + 0.39573230602130594, + 0.4170054110422792, + -0.164567878979918, + -0.893881368174497 + ], + [ + 0.7301106000953181, + 0.6475040501441146, + 0.21835067363171207, + 0.5441776083328683, + -0.7442137138221584, + 0.3873198661934991, + 0.41329074780059366, + -0.16396479258059815, + -0.8957155265911313 + ], + [ + 0.7244395829435027, + 0.6450382427581998, + 0.2431315611845945, + 0.5378735400277901, + -0.7495290291652128, + 0.3858734110775546, + 0.4311372700226898, + -0.14876793948316924, + -0.8899375003781529 + ], + [ + 0.7326818517923148, + 0.6431074455008622, + 0.22268838675499175, + 0.5352999588282336, + -0.7466257155584094, + 0.39497341042832923, + 0.4202752171288197, + -0.17018476549988137, + -0.8912945009698392 + ], + [ + 0.7278262178971794, + 0.6598534765617821, + 0.18671471824903613, + 0.5537667389043099, + -0.7261276726786342, + 0.4075303692408649, + 0.40448905476511104, + -0.19321488669261394, + -0.8938996655864612 + ], + [ + 0.7297463940528479, + 0.6651155349453117, + 0.15840304776511555, + 0.5613228074041157, + -0.715087812638805, + 0.416612681160105, + 0.3903676552364805, + -0.21510635832039254, + -0.8951772720278991 + ], + [ + 0.7222550482714482, + 0.6736711637298333, + 0.15657205499481758, + 0.5672490870512935, + -0.7065095289813116, + 0.4231698934211639, + 0.39569700338248953, + -0.21682123654637114, + -0.8924194265571657 + ], + [ + 0.7135238293792845, + 0.6835158689209212, + 0.15391491753952868, + 0.5742912291835879, + -0.6964108116047348, + 0.43035051477004, + 0.4013394186853886, + -0.21867336009059873, + -0.8894428776464297 + ], + [ + 0.7196584494398951, + 0.6793351983783175, + 0.14351099049918764, + 0.5728185149072088, + -0.6977038925708415, + 0.4302188132462309, + 0.39239095954069286, + -0.22740485161004712, + -0.8912442809549729 + ], + [ + 0.719874751164223, + 0.6799474606861131, + 0.13946968610689076, + 0.5774328645335198, + -0.6981581486544661, + 0.4232569980803412, + 0.3851644189081614, + -0.22415764580730885, + -0.8952104334921835 + ], + [ + 0.7210788553242043, + 0.6785941986921635, + 0.13983990097849577, + 0.5817725782854768, + -0.7026248510340816, + 0.40970597489468363, + 0.3762790873266859, + -0.21407529565710046, + -0.9014354198887023 + ], + [ + 0.7054745434050311, + 0.6927759666772229, + 0.14955643952000996, + 0.610897796791078, + -0.7013776623177322, + 0.36725094510092143, + 0.3593181744405224, + -0.16772249341144646, + -0.9180193977910149 + ], + [ + 0.6706798874109152, + 0.7116919514943961, + 0.20900491573305144, + 0.6470881826811391, + -0.6991200857612349, + 0.3041512609206544, + 0.3625815390459124, + -0.06874352233702753, + -0.9294132319263567 + ], + [ + 0.6419357750859851, + 0.7254507494157327, + 0.2482733792352837, + 0.6800529830392597, + -0.6882421447180793, + 0.2526869416753914, + 0.354184134207279, + 0.0066302643996925675, + -0.9351522008046765 + ], + [ + 0.6330410793527194, + 0.734329512237493, + 0.2449880799324525, + 0.6934789662991313, + -0.678589034013277, + 0.2420823128971133, + 0.3440144112571918, + 0.016646031778574752, + -0.938816805598086 + ], + [ + 0.6348796827825548, + 0.7388488393970633, + 0.22589860759096128, + 0.6916723071664065, + -0.6738140369294057, + 0.25993088145889376, + 0.3442632828069566, + -0.008777024467893385, + -0.9388321234131622 + ], + [ + 0.6365113790063268, + 0.7405355130838602, + 0.21554678902059227, + 0.6874637471350822, + -0.6714358471677196, + 0.2767083293165536, + 0.34963818551533493, + -0.027947397012784994, + -0.9364678757062379 + ], + [ + 0.6461312878574689, + 0.7310510956979578, + 0.2192684526567002, + 0.678078765740811, + -0.6817133863460157, + 0.2747290416538914, + 0.3503192063005774, + -0.02882974775232433, + -0.9361865729337664 + ], + [ + 0.6435573693313067, + 0.726059191214791, + 0.24222296181801556, + 0.6716730048242591, + -0.687468479575611, + 0.276120379871441, + 0.3670003909667117, + -0.015004680687087407, + -0.9300997648573832 + ], + [ + 0.629664880443348, + 0.7316442394167947, + 0.26118737577548534, + 0.6744063018239842, + -0.6816821176876386, + 0.28369989510924004, + 0.3856141574117342, + -0.002489448355893653, + -0.9226567748900573 + ], + [ + 0.6328829946667115, + 0.7285078553525949, + 0.26217440712483375, + 0.6730749774137458, + -0.6850374453871018, + 0.27873602780587814, + 0.38266067192903563, + 5.574115472176122e-05, + -0.9238889581826069 + ], + [ + 0.6488928293365883, + 0.7244938275748929, + 0.23247965468280998, + 0.6625038067418798, + -0.6882424528373241, + 0.29565356782048446, + 0.37420155276010725, + -0.03782882390909176, + -0.9265755112205263 + ], + [ + 0.6518966928911984, + 0.727940641359557, + 0.21244557998356983, + 0.6569581277721566, + -0.6820746907404065, + 0.321216647460062, + 0.3787304056339039, + -0.0698322197013364, + -0.9228687560752953 + ], + [ + 0.6510154963457785, + 0.7333174094384525, + 0.19602142875751336, + 0.65645062377178, + -0.6735714381028397, + 0.3396676262491223, + 0.3811186194182864, + -0.09245049911465958, + -0.9198921149494378 + ], + [ + 0.6661877099749941, + 0.723711344663189, + 0.1800994855186232, + 0.6467646284895635, + -0.680878094210046, + 0.34365758562798127, + 0.37133468786666113, + -0.11245848314242639, + -0.9216635173186983 + ], + [ + 0.6718661358332478, + 0.7233764523785775, + 0.159130146938545, + 0.6485435445265364, + -0.6783304763086375, + 0.34533901569885367, + 0.3577529404120334, + -0.1288187604934936, + -0.9248884043880449 + ], + [ + 0.6707771445958345, + 0.727573681403252, + 0.143856040600241, + 0.6564748080086767, + -0.6727136862543973, + 0.34131674845514304, + 0.3451070105602465, + -0.134509607297544, + -0.9288747584076287 + ], + [ + 0.6716476753562088, + 0.7293218268733629, + 0.13030377214302458, + 0.661133293050809, + -0.6693914452294181, + 0.33884784472306184, + 0.33435335949918904, + -0.14143820523384598, + -0.93177414918629 + ], + [ + 0.6684120842989968, + 0.7342789133418325, + 0.11857387142456112, + 0.6661460882099092, + -0.6618959666892226, + 0.34371953456732046, + 0.330869573587096, + -0.15075876990104764, + -0.9315562884615273 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006012.json b/json/chunk-0006/episode_0006012.json new file mode 100644 index 0000000000000000000000000000000000000000..233ab941006e0d7c390dc8d2143d3cde23d41054 --- /dev/null +++ b/json/chunk-0006/episode_0006012.json @@ -0,0 +1,1822 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 29, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut spatula on cutting board." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006012.mp4", + "start": 0, + "end": 29, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3596300780773163, + 0.07358787208795547, + 0.13703705370426178, + 0.06872930377721786, + -0.39918065071105957, + 0.6477428674697876, + 0.0, + 1.0105689764022827 + ], + [ + 0.35580796003341675, + 0.07128503918647766, + 0.12334983795881271, + 0.08144346624612808, + -0.36533239483833313, + 0.6237611174583435, + 0.0, + 1.0105689764022827 + ], + [ + 0.3322426974773407, + 0.07884930819272995, + 0.11630769819021225, + 0.0604926161468029, + -0.38265398144721985, + 0.4146631956100464, + 0.0, + 1.0099300146102905 + ], + [ + 0.308317631483078, + 0.09947805851697922, + 0.1166527196764946, + 0.03822505101561546, + -0.36970213055610657, + 0.1744222790002823, + 0.0, + 1.0105689764022827 + ], + [ + 0.28881141543388367, + 0.11788775771856308, + 0.11383748799562454, + 0.05061573535203934, + -0.3005325198173523, + -0.07290499657392502, + 0.0, + 1.0099300146102905 + ], + [ + 0.2755448520183563, + 0.12918302416801453, + 0.10260216891765594, + 0.0870334580540657, + -0.11722803860902786, + -0.2438802719116211, + 0.0, + 1.0105689764022827 + ], + [ + 0.26467955112457275, + 0.14058783650398254, + 0.09489405155181885, + 0.1082758903503418, + -0.0565188005566597, + -0.3713647425174713, + 0.0, + 1.0099300146102905 + ], + [ + 0.25118669867515564, + 0.1505199372768402, + 0.07715591043233871, + 0.0751672312617302, + -0.06876447796821594, + -0.478731244802475, + 0.0, + 1.0099300146102905 + ], + [ + 0.2472950518131256, + 0.16394969820976257, + 0.06399169564247131, + 0.06359072029590607, + -0.10423906147480011, + -0.537761390209198, + 0.0, + 1.0099300146102905 + ], + [ + 0.24679936468601227, + 0.1706968992948532, + 0.042563896626234055, + 0.04838969558477402, + -0.08066446334123611, + -0.5545467734336853, + 0.0, + 1.0099300146102905 + ], + [ + 0.25114384293556213, + 0.1753452718257904, + 0.029753487557172775, + 0.06927922368049622, + -0.07198058068752289, + -0.5551440715789795, + 0.0, + 1.0105689764022827 + ], + [ + 0.24750716984272003, + 0.17045935988426208, + 0.0170909371227026, + 0.054318543523550034, + -0.06863702088594437, + -0.5605857968330383, + 0.0, + 1.0099300146102905 + ], + [ + 0.24576303362846375, + 0.16987545788288116, + 0.007515141274780035, + 0.09575047343969345, + -0.07587896287441254, + -0.5618107914924622, + 0.0, + 0.9530308246612549 + ], + [ + 0.2482234239578247, + 0.17148298025131226, + 0.0068593816831707954, + 0.14680790901184082, + -0.08258218318223953, + -0.551219642162323, + 0.0, + 0.6711689233779907 + ], + [ + 0.2491130530834198, + 0.16709639132022858, + 0.0074576521292328835, + 0.15542590618133545, + -0.10433389246463776, + -0.48977991938591003, + 0.0, + 0.4077054560184479 + ], + [ + 0.25189200043678284, + 0.1499982476234436, + 0.011235091835260391, + 0.10637969523668289, + -0.10920920968055725, + -0.37361690402030945, + 0.0, + 0.39886748790740967 + ], + [ + 0.26431986689567566, + 0.12655358016490936, + 0.0272469874471426, + 0.1036650612950325, + -0.1139751598238945, + -0.22486352920532227, + 0.0, + 0.4247366487979889 + ], + [ + 0.2871207594871521, + 0.09677641093730927, + 0.04582153260707855, + 0.10543543100357056, + -0.1594565510749817, + -0.06728888303041458, + 0.0, + 0.4247366487979889 + ], + [ + 0.3083355128765106, + 0.06489396840333939, + 0.05275878682732582, + 0.06941209733486176, + -0.23681694269180298, + 0.06497957557439804, + 0.0, + 0.4247366487979889 + ], + [ + 0.32757073640823364, + 0.03986288234591484, + 0.060656920075416565, + 0.041931673884391785, + -0.3189636766910553, + 0.1427476406097412, + 0.0, + 0.4247366487979889 + ], + [ + 0.33370789885520935, + 0.035322707146406174, + 0.05370661988854408, + 0.06518413126468658, + -0.32251134514808655, + 0.1602879911661148, + 0.0, + 0.4247366487979889 + ], + [ + 0.3331272304058075, + 0.038737133145332336, + 0.05072535201907158, + 0.11456415802240372, + -0.34692978858947754, + 0.12898772954940796, + 0.0, + 0.4247366487979889 + ], + [ + 0.33038046956062317, + 0.044913485646247864, + 0.05028105899691582, + 0.1387670338153839, + -0.32965776324272156, + 0.1050926074385643, + 0.0, + 0.4247366487979889 + ], + [ + 0.33055609464645386, + 0.0501411147415638, + 0.04596609249711037, + 0.16070255637168884, + -0.32650327682495117, + 0.09737400710582733, + 0.0, + 0.4247366487979889 + ], + [ + 0.3304292857646942, + 0.04963047057390213, + 0.0337902307510376, + 0.1940448135137558, + -0.3187839984893799, + 0.09787355363368988, + 0.0, + 0.4247366487979889 + ], + [ + 0.3290725648403168, + 0.05084517225623131, + 0.022579966112971306, + 0.21068507432937622, + -0.28218844532966614, + 0.08369798213243484, + 0.0, + 0.4247366487979889 + ], + [ + 0.3275182545185089, + 0.048050105571746826, + 0.02183797024190426, + 0.1894252449274063, + -0.2665542662143707, + 0.08913525938987732, + 0.0, + 0.4985305666923523 + ], + [ + 0.3296825587749481, + 0.0486338771879673, + 0.028302393853664398, + 0.10881983488798141, + -0.2280946969985962, + 0.15701089799404144, + 0.0, + 0.8149353265762329 + ], + [ + 0.33468979597091675, + 0.05007584020495415, + 0.038082510232925415, + 0.0675661638379097, + -0.2746447026729584, + 0.2047639787197113, + 0.0, + 1.0118417739868164 + ] + ], + "left_gripper_pos": [ + [ + 1.0105689764022827 + ], + [ + 1.0105689764022827 + ], + [ + 1.0099300146102905 + ], + [ + 1.0105689764022827 + ], + [ + 1.0099300146102905 + ], + [ + 1.0105689764022827 + ], + [ + 1.0099300146102905 + ], + [ + 1.0099300146102905 + ], + [ + 1.0099300146102905 + ], + [ + 1.0099300146102905 + ], + [ + 1.0105689764022827 + ], + [ + 1.0099300146102905 + ], + [ + 0.9530308246612549 + ], + [ + 0.6711689233779907 + ], + [ + 0.4077054560184479 + ], + [ + 0.39886748790740967 + ], + [ + 0.4247366487979889 + ], + [ + 0.4247366487979889 + ], + [ + 0.4247366487979889 + ], + [ + 0.4247366487979889 + ], + [ + 0.4247366487979889 + ], + [ + 0.4247366487979889 + ], + [ + 0.4247366487979889 + ], + [ + 0.4247366487979889 + ], + [ + 0.4247366487979889 + ], + [ + 0.4247366487979889 + ], + [ + 0.4985305666923523 + ], + [ + 0.8149353265762329 + ], + [ + 1.0118417739868164 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3596300780773163, + 0.07358787208795547, + 0.13703705370426178 + ], + [ + 0.35580796003341675, + 0.07128503918647766, + 0.12334983795881271 + ], + [ + 0.3322426974773407, + 0.07884930819272995, + 0.11630769819021225 + ], + [ + 0.308317631483078, + 0.09947805851697922, + 0.1166527196764946 + ], + [ + 0.28881141543388367, + 0.11788775771856308, + 0.11383748799562454 + ], + [ + 0.2755448520183563, + 0.12918302416801453, + 0.10260216891765594 + ], + [ + 0.26467955112457275, + 0.14058783650398254, + 0.09489405155181885 + ], + [ + 0.25118669867515564, + 0.1505199372768402, + 0.07715591043233871 + ], + [ + 0.2472950518131256, + 0.16394969820976257, + 0.06399169564247131 + ], + [ + 0.24679936468601227, + 0.1706968992948532, + 0.042563896626234055 + ], + [ + 0.25114384293556213, + 0.1753452718257904, + 0.029753487557172775 + ], + [ + 0.24750716984272003, + 0.17045935988426208, + 0.0170909371227026 + ], + [ + 0.24576303362846375, + 0.16987545788288116, + 0.007515141274780035 + ], + [ + 0.2482234239578247, + 0.17148298025131226, + 0.0068593816831707954 + ], + [ + 0.2491130530834198, + 0.16709639132022858, + 0.0074576521292328835 + ], + [ + 0.25189200043678284, + 0.1499982476234436, + 0.011235091835260391 + ], + [ + 0.26431986689567566, + 0.12655358016490936, + 0.0272469874471426 + ], + [ + 0.2871207594871521, + 0.09677641093730927, + 0.04582153260707855 + ], + [ + 0.3083355128765106, + 0.06489396840333939, + 0.05275878682732582 + ], + [ + 0.32757073640823364, + 0.03986288234591484, + 0.060656920075416565 + ], + [ + 0.33370789885520935, + 0.035322707146406174, + 0.05370661988854408 + ], + [ + 0.3331272304058075, + 0.038737133145332336, + 0.05072535201907158 + ], + [ + 0.33038046956062317, + 0.044913485646247864, + 0.05028105899691582 + ], + [ + 0.33055609464645386, + 0.0501411147415638, + 0.04596609249711037 + ], + [ + 0.3304292857646942, + 0.04963047057390213, + 0.0337902307510376 + ], + [ + 0.3290725648403168, + 0.05084517225623131, + 0.022579966112971306 + ], + [ + 0.3275182545185089, + 0.048050105571746826, + 0.02183797024190426 + ], + [ + 0.3296825587749481, + 0.0486338771879673, + 0.028302393853664398 + ], + [ + 0.33468979597091675, + 0.05007584020495415, + 0.038082510232925415 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.7347522170767207, + 0.6232485587041543, + 0.2677693290390783, + 0.555949486367318, + -0.7794596774822353, + 0.28872613284426685, + 0.388663541007848, + -0.06327594529111585, + -0.9192044422427237 + ], + [ + 0.7581201060853673, + 0.6057471940571725, + 0.2415041234450733, + 0.5455450115084698, + -0.7920206348820298, + 0.27401451483322853, + 0.3572597726687608, + -0.07598454325011228, + -0.930909127691708 + ], + [ + 0.8490582439879033, + 0.42280493280351, + 0.3167587206584804, + 0.3737440595951896, + -0.9044836331246464, + 0.20548658186593866, + 0.37338381892294853, + -0.05608338619109132, + -0.9259801172594665 + ], + [ + 0.9182871450603711, + 0.18701171051020468, + 0.3489632349530827, + 0.16181403775178474, + -0.9817111895939756, + 0.10029634795168427, + 0.3613377040987239, + -0.0356336969458507, + -0.9317538855505967 + ], + [ + 0.9526416531580685, + -0.0578096057091462, + 0.2985497113648163, + -0.06957564823036116, + -0.9971572614977303, + 0.028924470879717588, + 0.29602890034857593, + -0.0483264454527709, + -0.9539556828429259 + ], + [ + 0.9637480705013435, + -0.23069019717271025, + 0.1340585302520998, + -0.23981259274750263, + -0.9691902165117214, + 0.05621605266898948, + 0.11695972368579514, + -0.0863270360106161, + -0.9893776154173712 + ], + [ + 0.9303450498284157, + -0.3550740711778698, + 0.09154502846651685, + -0.36230803653594235, + -0.9285912678661045, + 0.08031901334236313, + 0.056488714990099, + -0.10789189598850069, + -0.9925564789264002 + ], + [ + 0.8854824352575883, + -0.4547728404020644, + 0.09540713014722502, + -0.4595647416797593, + -0.8874507359826656, + 0.0350918709766454, + 0.06871029802807699, + -0.07491898849066168, + -0.9948196017914148 + ], + [ + 0.8541956255860721, + -0.5055004163503329, + 0.12173398169475737, + -0.5094343425728058, + -0.8605084067441303, + 0.0013901547006986703, + 0.10405039085478023, + -0.06320293499766341, + -0.9925617890945878 + ], + [ + 0.8473748531127063, + -0.5226282027815581, + 0.09389153300238401, + -0.524845885047353, + -0.8511963446720247, + -0.0012568873634202712, + 0.08057701447112522, + -0.04821352999213152, + -0.9955816391761239 + ], + [ + 0.8476239072081175, + -0.5215705668794168, + 0.09745694277129821, + -0.5257009131105934, + -0.850409896418639, + 0.021013282178843417, + 0.07191843910940043, + -0.06904456414753629, + -0.9950178823909367 + ], + [ + 0.8449495882269354, + -0.52774465413131, + 0.08686641117806143, + -0.5304305289494617, + -0.8476743720534088, + 0.009571463955583243, + 0.06858314161312687, + -0.054164000957119596, + -0.9961739876581756 + ], + [ + 0.8438567115641201, + -0.5241459589540328, + 0.1147905225197024, + -0.5311866667312456, + -0.8462761779321943, + 0.040710634377583085, + 0.07580617016534794, + -0.0953291370811352, + -0.9925551774023589 + ], + [ + 0.8489831926086178, + -0.5078136411206924, + 0.14612612552115128, + -0.5219417696445823, + -0.849042247048762, + 0.08187827444854237, + 0.0824883492886141, + -0.14578260739242418, + -0.9858717480552457 + ], + [ + 0.8776378604051877, + -0.4505345940651827, + 0.16361651974640337, + -0.4678735577728186, + -0.8793834057904195, + 0.08819954397527889, + 0.10414470663653111, + -0.1539591022673334, + -0.9825733941587405 + ], + [ + 0.925466901905212, + -0.3521475975705343, + 0.13965343892389448, + -0.3628108345515408, + -0.9299741834720013, + 0.0592985363023336, + 0.10899225573398987, + -0.10554661340320519, + -0.9884232901895478 + ], + [ + 0.9684997470067254, + -0.2103040225144905, + 0.13334338439582957, + -0.2215266468699825, + -0.9722153633509394, + 0.07565204551724428, + 0.1137285574271096, + -0.1028080997714956, + -0.9881782783723406 + ], + [ + 0.985079385680734, + -0.05019233356661984, + 0.1646187521456915, + -0.06638511451810586, + -0.9933199197326946, + 0.09438513459571322, + 0.1587816755084963, + -0.103905085117958, + -0.98183100012647 + ], + [ + 0.9700381468359395, + 0.08101482415912838, + 0.22904713914293318, + 0.06312153239071248, + -0.9944300172219085, + 0.08440742263973808, + 0.2346096030254195, + -0.06742061342423875, + -0.9697488309112596 + ], + [ + 0.9399027694142668, + 0.1551497839694064, + 0.3041567500182072, + 0.13508770735726863, + -0.9870887020084128, + 0.08606512469231485, + 0.31358267708588206, + -0.03980501101109345, + -0.9487262332886438 + ], + [ + 0.9362846983501363, + 0.17964435831957654, + 0.30182589047220937, + 0.15137379667136014, + -0.9817897852779138, + 0.11478149330465141, + 0.31694942390970243, + -0.06177962486043127, + -0.946428201521601 + ], + [ + 0.9326086086063706, + 0.1663322939231843, + 0.32027293228048653, + 0.12096668685701747, + -0.9801921586699145, + 0.15681324163746407, + 0.3400121230546434, + -0.10750302358661756, + -0.9342563117772389 + ], + [ + 0.940933120922394, + 0.14842138282142547, + 0.3043286957758322, + 0.09925077469807732, + -0.9802260530180238, + 0.17119044572211853, + 0.32371923896036003, + -0.13087390154680187, + -0.9370580965024756 + ], + [ + 0.9426828053282222, + 0.1470454663675994, + 0.29954425275616325, + 0.09208402393202252, + -0.9774496001298466, + 0.19003371212100645, + 0.32073300590210496, + -0.15155827270966782, + -0.9349654693614423 + ], + [ + 0.9450725570996362, + 0.15602925738383933, + 0.2872154812286453, + 0.09279409774445269, + -0.9706307755569608, + 0.22195754766505632, + 0.31341205662984256, + -0.18311408570052828, + -0.9317951032158904 + ], + [ + 0.9570861721539045, + 0.139781787318025, + 0.25386435552468817, + 0.08029376432587665, + -0.9695962757288994, + 0.23116222334764977, + 0.27845820239699787, + -0.20085844275714818, + -0.9392107939600173 + ], + [ + 0.9608545414579448, + 0.1368265334974048, + 0.24090879994455577, + 0.08587356386633806, + -0.97379859569159, + 0.21057546404550812, + 0.2634089618607089, + -0.181644693729739, + -0.9474285851985323 + ], + [ + 0.9621166903749878, + 0.17969759731207435, + 0.20503718594964115, + 0.15231652454919525, + -0.9780167596334399, + 0.14241802633571737, + 0.2261219813532832, + -0.1057922085806618, + -0.9683371614022109 + ], + [ + 0.9424135809868365, + 0.220799937252247, + 0.25120515536304444, + 0.1957153676683716, + -0.9731517931607432, + 0.12112424334733443, + 0.2712049727235871, + -0.06498442257521378, + -0.960325407136854 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.003822118043899536, + -0.0023028329014778137, + -0.013687215745449066, + 0.012714162468910217, + 0.03384825587272644, + -0.023981750011444092, + 1.0 + ], + [ + -0.02356526255607605, + 0.007564269006252289, + -0.007042139768600464, + -0.02095085009932518, + -0.01732158660888672, + -0.20909792184829712, + 1.0 + ], + [ + -0.023925065994262695, + 0.020628750324249268, + 0.00034502148628234863, + -0.02226756513118744, + 0.012951850891113281, + -0.2402409166097641, + 1.0 + ], + [ + -0.019506216049194336, + 0.018409699201583862, + -0.002815231680870056, + 0.012390684336423874, + 0.06916961073875427, + -0.2473272681236267, + 1.0 + ], + [ + -0.013266563415527344, + 0.011295266449451447, + -0.011235319077968597, + 0.03641772270202637, + 0.18330448865890503, + -0.17097526788711548, + 1.0 + ], + [ + -0.01086530089378357, + 0.011404812335968018, + -0.007708117365837097, + 0.021242432296276093, + 0.060709238052368164, + -0.12748447060585022, + 1.0 + ], + [ + -0.013492852449417114, + 0.009932100772857666, + -0.017738141119480133, + -0.0331086590886116, + -0.012245677411556244, + -0.10736650228500366, + 1.0 + ], + [ + -0.0038916468620300293, + 0.013429760932922363, + -0.013164214789867401, + -0.011576510965824127, + -0.03547458350658417, + -0.05903014540672302, + 1.0 + ], + [ + -0.0004956871271133423, + 0.006747201085090637, + -0.02142779901623726, + -0.01520102471113205, + 0.023574598133563995, + -0.016785383224487305, + 1.0 + ], + [ + 0.004344478249549866, + 0.004648372530937195, + -0.01281040906906128, + 0.0208895280957222, + 0.008683882653713226, + -0.0005972981452941895, + 1.0 + ], + [ + -0.003636673092842102, + -0.00488591194152832, + -0.012662550434470177, + -0.014960680156946182, + 0.0033435598015785217, + -0.005441725254058838, + 1.0 + ], + [ + -0.0017441362142562866, + -0.0005839020013809204, + -0.009575795382261276, + 0.04143192991614342, + -0.00724194198846817, + -0.0012249946594238281, + 0.0 + ], + [ + 0.002460390329360962, + 0.0016075223684310913, + -0.0006557595916092396, + 0.05105743557214737, + -0.006703220307826996, + 0.01059114933013916, + 0.0 + ], + [ + 0.0008896291255950928, + -0.004386588931083679, + 0.000598270446062088, + 0.008617997169494629, + -0.021751709282398224, + 0.061439722776412964, + 0.0 + ], + [ + 0.002778947353363037, + -0.017098143696784973, + 0.0037774397060275078, + -0.04904621094465256, + -0.004875317215919495, + 0.11616301536560059, + 0.0 + ], + [ + 0.012427866458892822, + -0.02344466745853424, + 0.01601189561188221, + -0.0027146339416503906, + -0.00476595014333725, + 0.14875337481498718, + 0.0 + ], + [ + 0.02280089259147644, + -0.029777169227600098, + 0.01857454515993595, + 0.0017703697085380554, + -0.04548139125108719, + 0.15757465362548828, + 0.0 + ], + [ + 0.02121475338935852, + -0.03188244253396988, + 0.006937254220247269, + -0.0360233336687088, + -0.07736039161682129, + 0.13226845860481262, + 0.0 + ], + [ + 0.019235223531723022, + -0.025031086057424545, + 0.007898133248090744, + -0.02748042345046997, + -0.08214673399925232, + 0.07776806503534317, + 0.0 + ], + [ + 0.006137162446975708, + -0.004540175199508667, + -0.006950300186872482, + 0.0232524573802948, + -0.00354766845703125, + 0.017540350556373596, + 0.0 + ], + [ + -0.0005806684494018555, + 0.0034144259989261627, + -0.0029812678694725037, + 0.04938002675771713, + -0.02441844344139099, + -0.03130026161670685, + 0.0 + ], + [ + -0.002746760845184326, + 0.006176352500915527, + -0.0004442930221557617, + 0.024202875792980194, + 0.01727202534675598, + -0.02389512211084366, + 0.0 + ], + [ + 0.00017562508583068848, + 0.005227629095315933, + -0.0043149664998054504, + 0.02193552255630493, + 0.0031544864177703857, + -0.007718600332736969, + 0.0 + ], + [ + -0.00012680888175964355, + -0.0005106441676616669, + -0.01217586174607277, + 0.033342257142066956, + 0.007719278335571289, + 0.0004995465278625488, + 0.0 + ], + [ + -0.0013567209243774414, + 0.0012147016823291779, + -0.011210264638066292, + 0.016640260815620422, + 0.036595553159713745, + -0.014175571501255035, + 0.0 + ], + [ + -0.0015543103218078613, + -0.002795066684484482, + -0.0007419958710670471, + -0.02125982940196991, + 0.01563417911529541, + 0.005437277257442474, + 1.0 + ], + [ + 0.002164304256439209, + 0.0005837716162204742, + 0.0064644236117601395, + -0.0806054100394249, + 0.038459569215774536, + 0.06787563860416412, + 1.0 + ], + [ + 0.005007237195968628, + 0.001441963016986847, + 0.009780116379261017, + -0.041253671050071716, + -0.04655000567436218, + 0.04775308072566986, + 1.0 + ], + [ + 0.0014361441135406494, + -0.0005499161779880524, + 0.018448788672685623, + -0.03888469934463501, + -0.014620423316955566, + 0.02532033622264862, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0105689764022827 + ], + [ + 1.0099300146102905 + ], + [ + 1.0105689764022827 + ], + [ + 1.0099300146102905 + ], + [ + 1.0105689764022827 + ], + [ + 1.0099300146102905 + ], + [ + 1.0099300146102905 + ], + [ + 1.0099300146102905 + ], + [ + 1.0099300146102905 + ], + [ + 1.0105689764022827 + ], + [ + 1.0099300146102905 + ], + [ + 0.9530308246612549 + ], + [ + 0.6711689233779907 + ], + [ + 0.4077054560184479 + ], + [ + 0.39886748790740967 + ], + [ + 0.4247366487979889 + ], + [ + 0.4247366487979889 + ], + [ + 0.4247366487979889 + ], + [ + 0.4247366487979889 + ], + [ + 0.4247366487979889 + ], + [ + 0.4247366487979889 + ], + [ + 0.4247366487979889 + ], + [ + 0.4247366487979889 + ], + [ + 0.4247366487979889 + ], + [ + 0.4247366487979889 + ], + [ + 0.4985305666923523 + ], + [ + 0.8149353265762329 + ], + [ + 1.0118417739868164 + ], + [ + 1.0105689764022827 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.35580796003341675, + 0.07128503918647766, + 0.12334983795881271 + ], + [ + 0.3322426974773407, + 0.07884930819272995, + 0.11630769819021225 + ], + [ + 0.308317631483078, + 0.09947805851697922, + 0.1166527196764946 + ], + [ + 0.28881141543388367, + 0.11788775771856308, + 0.11383748799562454 + ], + [ + 0.2755448520183563, + 0.12918302416801453, + 0.10260216891765594 + ], + [ + 0.26467955112457275, + 0.14058783650398254, + 0.09489405155181885 + ], + [ + 0.25118669867515564, + 0.1505199372768402, + 0.07715591043233871 + ], + [ + 0.2472950518131256, + 0.16394969820976257, + 0.06399169564247131 + ], + [ + 0.24679936468601227, + 0.1706968992948532, + 0.042563896626234055 + ], + [ + 0.25114384293556213, + 0.1753452718257904, + 0.029753487557172775 + ], + [ + 0.24750716984272003, + 0.17045935988426208, + 0.0170909371227026 + ], + [ + 0.24576303362846375, + 0.16987545788288116, + 0.007515141274780035 + ], + [ + 0.2482234239578247, + 0.17148298025131226, + 0.0068593816831707954 + ], + [ + 0.2491130530834198, + 0.16709639132022858, + 0.0074576521292328835 + ], + [ + 0.25189200043678284, + 0.1499982476234436, + 0.011235091835260391 + ], + [ + 0.26431986689567566, + 0.12655358016490936, + 0.0272469874471426 + ], + [ + 0.2871207594871521, + 0.09677641093730927, + 0.04582153260707855 + ], + [ + 0.3083355128765106, + 0.06489396840333939, + 0.05275878682732582 + ], + [ + 0.32757073640823364, + 0.03986288234591484, + 0.060656920075416565 + ], + [ + 0.33370789885520935, + 0.035322707146406174, + 0.05370661988854408 + ], + [ + 0.3331272304058075, + 0.038737133145332336, + 0.05072535201907158 + ], + [ + 0.33038046956062317, + 0.044913485646247864, + 0.05028105899691582 + ], + [ + 0.33055609464645386, + 0.0501411147415638, + 0.04596609249711037 + ], + [ + 0.3304292857646942, + 0.04963047057390213, + 0.0337902307510376 + ], + [ + 0.3290725648403168, + 0.05084517225623131, + 0.022579966112971306 + ], + [ + 0.3275182545185089, + 0.048050105571746826, + 0.02183797024190426 + ], + [ + 0.3296825587749481, + 0.0486338771879673, + 0.028302393853664398 + ], + [ + 0.33468979597091675, + 0.05007584020495415, + 0.038082510232925415 + ], + [ + 0.3361259400844574, + 0.049525924026966095, + 0.05653129890561104 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.7581201060853673, + 0.6057471940571725, + 0.2415041234450733, + 0.5455450115084698, + -0.7920206348820298, + 0.27401451483322853, + 0.3572597726687608, + -0.07598454325011228, + -0.930909127691708 + ], + [ + 0.8490582439879033, + 0.42280493280351, + 0.3167587206584804, + 0.3737440595951896, + -0.9044836331246464, + 0.20548658186593866, + 0.37338381892294853, + -0.05608338619109132, + -0.9259801172594665 + ], + [ + 0.9182871450603711, + 0.18701171051020468, + 0.3489632349530827, + 0.16181403775178474, + -0.9817111895939756, + 0.10029634795168427, + 0.3613377040987239, + -0.0356336969458507, + -0.9317538855505967 + ], + [ + 0.9526416531580685, + -0.0578096057091462, + 0.2985497113648163, + -0.06957564823036116, + -0.9971572614977303, + 0.028924470879717588, + 0.29602890034857593, + -0.0483264454527709, + -0.9539556828429259 + ], + [ + 0.9637480705013435, + -0.23069019717271025, + 0.1340585302520998, + -0.23981259274750263, + -0.9691902165117214, + 0.05621605266898948, + 0.11695972368579514, + -0.0863270360106161, + -0.9893776154173712 + ], + [ + 0.9303450498284157, + -0.3550740711778698, + 0.09154502846651685, + -0.36230803653594235, + -0.9285912678661045, + 0.08031901334236313, + 0.056488714990099, + -0.10789189598850069, + -0.9925564789264002 + ], + [ + 0.8854824352575883, + -0.4547728404020644, + 0.09540713014722502, + -0.4595647416797593, + -0.8874507359826656, + 0.0350918709766454, + 0.06871029802807699, + -0.07491898849066168, + -0.9948196017914148 + ], + [ + 0.8541956255860721, + -0.5055004163503329, + 0.12173398169475737, + -0.5094343425728058, + -0.8605084067441303, + 0.0013901547006986703, + 0.10405039085478023, + -0.06320293499766341, + -0.9925617890945878 + ], + [ + 0.8473748531127063, + -0.5226282027815581, + 0.09389153300238401, + -0.524845885047353, + -0.8511963446720247, + -0.0012568873634202712, + 0.08057701447112522, + -0.04821352999213152, + -0.9955816391761239 + ], + [ + 0.8476239072081175, + -0.5215705668794168, + 0.09745694277129821, + -0.5257009131105934, + -0.850409896418639, + 0.021013282178843417, + 0.07191843910940043, + -0.06904456414753629, + -0.9950178823909367 + ], + [ + 0.8449495882269354, + -0.52774465413131, + 0.08686641117806143, + -0.5304305289494617, + -0.8476743720534088, + 0.009571463955583243, + 0.06858314161312687, + -0.054164000957119596, + -0.9961739876581756 + ], + [ + 0.8438567115641201, + -0.5241459589540328, + 0.1147905225197024, + -0.5311866667312456, + -0.8462761779321943, + 0.040710634377583085, + 0.07580617016534794, + -0.0953291370811352, + -0.9925551774023589 + ], + [ + 0.8489831926086178, + -0.5078136411206924, + 0.14612612552115128, + -0.5219417696445823, + -0.849042247048762, + 0.08187827444854237, + 0.0824883492886141, + -0.14578260739242418, + -0.9858717480552457 + ], + [ + 0.8776378604051877, + -0.4505345940651827, + 0.16361651974640337, + -0.4678735577728186, + -0.8793834057904195, + 0.08819954397527889, + 0.10414470663653111, + -0.1539591022673334, + -0.9825733941587405 + ], + [ + 0.925466901905212, + -0.3521475975705343, + 0.13965343892389448, + -0.3628108345515408, + -0.9299741834720013, + 0.0592985363023336, + 0.10899225573398987, + -0.10554661340320519, + -0.9884232901895478 + ], + [ + 0.9684997470067254, + -0.2103040225144905, + 0.13334338439582957, + -0.2215266468699825, + -0.9722153633509394, + 0.07565204551724428, + 0.1137285574271096, + -0.1028080997714956, + -0.9881782783723406 + ], + [ + 0.985079385680734, + -0.05019233356661984, + 0.1646187521456915, + -0.06638511451810586, + -0.9933199197326946, + 0.09438513459571322, + 0.1587816755084963, + -0.103905085117958, + -0.98183100012647 + ], + [ + 0.9700381468359395, + 0.08101482415912838, + 0.22904713914293318, + 0.06312153239071248, + -0.9944300172219085, + 0.08440742263973808, + 0.2346096030254195, + -0.06742061342423875, + -0.9697488309112596 + ], + [ + 0.9399027694142668, + 0.1551497839694064, + 0.3041567500182072, + 0.13508770735726863, + -0.9870887020084128, + 0.08606512469231485, + 0.31358267708588206, + -0.03980501101109345, + -0.9487262332886438 + ], + [ + 0.9362846983501363, + 0.17964435831957654, + 0.30182589047220937, + 0.15137379667136014, + -0.9817897852779138, + 0.11478149330465141, + 0.31694942390970243, + -0.06177962486043127, + -0.946428201521601 + ], + [ + 0.9326086086063706, + 0.1663322939231843, + 0.32027293228048653, + 0.12096668685701747, + -0.9801921586699145, + 0.15681324163746407, + 0.3400121230546434, + -0.10750302358661756, + -0.9342563117772389 + ], + [ + 0.940933120922394, + 0.14842138282142547, + 0.3043286957758322, + 0.09925077469807732, + -0.9802260530180238, + 0.17119044572211853, + 0.32371923896036003, + -0.13087390154680187, + -0.9370580965024756 + ], + [ + 0.9426828053282222, + 0.1470454663675994, + 0.29954425275616325, + 0.09208402393202252, + -0.9774496001298466, + 0.19003371212100645, + 0.32073300590210496, + -0.15155827270966782, + -0.9349654693614423 + ], + [ + 0.9450725570996362, + 0.15602925738383933, + 0.2872154812286453, + 0.09279409774445269, + -0.9706307755569608, + 0.22195754766505632, + 0.31341205662984256, + -0.18311408570052828, + -0.9317951032158904 + ], + [ + 0.9570861721539045, + 0.139781787318025, + 0.25386435552468817, + 0.08029376432587665, + -0.9695962757288994, + 0.23116222334764977, + 0.27845820239699787, + -0.20085844275714818, + -0.9392107939600173 + ], + [ + 0.9608545414579448, + 0.1368265334974048, + 0.24090879994455577, + 0.08587356386633806, + -0.97379859569159, + 0.21057546404550812, + 0.2634089618607089, + -0.181644693729739, + -0.9474285851985323 + ], + [ + 0.9621166903749878, + 0.17969759731207435, + 0.20503718594964115, + 0.15231652454919525, + -0.9780167596334399, + 0.14241802633571737, + 0.2261219813532832, + -0.1057922085806618, + -0.9683371614022109 + ], + [ + 0.9424135809868365, + 0.220799937252247, + 0.25120515536304444, + 0.1957153676683716, + -0.9731517931607432, + 0.12112424334733443, + 0.2712049727235871, + -0.06498442257521378, + -0.960325407136854 + ], + [ + 0.9331957863708492, + 0.23593045579714764, + 0.271076454763306, + 0.21858459675214217, + -0.9713811481413589, + 0.09294858308914157, + 0.28524795943598946, + -0.02748608853449014, + -0.9580595579475623 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006013.json b/json/chunk-0006/episode_0006013.json new file mode 100644 index 0000000000000000000000000000000000000000..b5b6074ed2794a106976c6ce7b14c1e4961f4022 --- /dev/null +++ b/json/chunk-0006/episode_0006013.json @@ -0,0 +1,2062 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 33, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove blue cloth to right of mushroom." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006013.mp4", + "start": 0, + "end": 33, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.393915057182312, + 0.13064120709896088, + 0.07481929659843445, + 0.05899113789200783, + -0.04684207960963249, + 0.014785725623369217, + 0.0, + 1.0008161067962646 + ], + [ + 0.3909279704093933, + 0.12946587800979614, + 0.054663099348545074, + 0.04318459704518318, + 0.0013390519889071584, + 0.014089095406234264, + 0.0, + 1.0008161067962646 + ], + [ + 0.39021793007850647, + 0.12900421023368835, + 0.04897464066743851, + 0.037796761840581894, + 0.014333224855363369, + 0.00997105147689581, + 0.0, + 1.0008161067962646 + ], + [ + 0.3888431191444397, + 0.1283341646194458, + 0.0475342683494091, + 0.03470601141452789, + 0.01968460902571678, + 0.013520685024559498, + 0.0, + 1.0008161067962646 + ], + [ + 0.38491538166999817, + 0.1261734962463379, + 0.04201609268784523, + 0.030415121465921402, + 0.0280830729752779, + 0.010272786021232605, + 0.0, + 1.0008161067962646 + ], + [ + 0.38393697142601013, + 0.11423468589782715, + 0.06207111477851868, + 0.04453332722187042, + -0.018378790467977524, + -0.031811464577913284, + 0.0, + 1.0008161067962646 + ], + [ + 0.38478711247444153, + 0.08853429555892944, + 0.08755072951316833, + 0.07830392569303513, + -0.08815088868141174, + -0.10531558841466904, + 0.0, + 1.0008161067962646 + ], + [ + 0.38115838170051575, + 0.05541761592030525, + 0.11012516170740128, + 0.09630460292100906, + -0.15880659222602844, + -0.175232395529747, + 0.0, + 1.0008161067962646 + ], + [ + 0.3656541109085083, + 0.0024025868624448776, + 0.1097116768360138, + 0.056974999606609344, + -0.16887542605400085, + -0.27849695086479187, + 0.0, + 1.0008161067962646 + ], + [ + 0.3437601327896118, + -0.036634158343076706, + 0.10156437009572983, + 0.04613731801509857, + -0.1376679688692093, + -0.3270980417728424, + 0.0, + 1.0008161067962646 + ], + [ + 0.3214320242404938, + -0.05365157872438431, + 0.08903990685939789, + 0.05223154276609421, + -0.10883360356092453, + -0.33394259214401245, + 0.0, + 1.0008161067962646 + ], + [ + 0.3027331233024597, + -0.06364807486534119, + 0.07295329123735428, + 0.06264171004295349, + -0.07058163732290268, + -0.35647693276405334, + 0.0, + 1.0008161067962646 + ], + [ + 0.2847229242324829, + -0.0739283561706543, + 0.058447711169719696, + 0.06547657400369644, + -0.04079499468207359, + -0.3906590938568115, + 0.0, + 1.0008161067962646 + ], + [ + 0.2658306658267975, + -0.08796535432338715, + 0.045844703912734985, + 0.06107863411307335, + -0.025507580488920212, + -0.4364451766014099, + 0.0, + 1.0008161067962646 + ], + [ + 0.25867706537246704, + -0.09135659039020538, + 0.039746563881635666, + 0.05912569537758827, + -0.0203283429145813, + -0.44249045848846436, + 0.0, + 1.0008161067962646 + ], + [ + 0.25745928287506104, + -0.09156341105699539, + 0.0277719646692276, + 0.05436435341835022, + -0.0075214095413684845, + -0.45622071623802185, + 0.0, + 1.0008161067962646 + ], + [ + 0.25950586795806885, + -0.08676567673683167, + 0.0129458112642169, + 0.05096757411956787, + 0.015203138813376427, + -0.4348461627960205, + 0.0, + 1.0008161067962646 + ], + [ + 0.2622984051704407, + -0.08704730868339539, + 0.008923652581870556, + 0.05461345613002777, + 0.024573393166065216, + -0.4360293447971344, + 0.0, + 1.0014774799346924 + ], + [ + 0.2623082995414734, + -0.08643269538879395, + 0.007019650191068649, + 0.056456126272678375, + 0.014022037386894226, + -0.4378441870212555, + 0.0, + 1.0014774799346924 + ], + [ + 0.2622066140174866, + -0.07964155822992325, + 0.0054646753706038, + 0.05685168877243996, + 0.01164509728550911, + -0.4274384379386902, + 0.0, + 1.0014774799346924 + ], + [ + 0.2634955048561096, + -0.06764373928308487, + 0.006483499892055988, + 0.07626459747552872, + -0.012285405769944191, + -0.4159523844718933, + 0.0, + 1.0014774799346924 + ], + [ + 0.266500324010849, + -0.04366401955485344, + 0.007463663816452026, + 0.10025813430547714, + -0.03241851553320885, + -0.36364129185676575, + 0.0, + 1.0008161067962646 + ], + [ + 0.2745589315891266, + -0.019809482619166374, + 0.009370389394462109, + 0.12786763906478882, + -0.04797111079096794, + -0.31589367985725403, + 0.0, + 1.0008161067962646 + ], + [ + 0.28349143266677856, + -0.0066542611457407475, + 0.010785301215946674, + 0.15142151713371277, + -0.05665699020028114, + -0.3057086169719696, + 0.0, + 1.0008161067962646 + ], + [ + 0.2953869700431824, + 0.009384027682244778, + 0.01179330050945282, + 0.16284067928791046, + -0.055468469858169556, + -0.282342791557312, + 0.0, + 1.0008161067962646 + ], + [ + 0.3051071763038635, + 0.03414110094308853, + 0.014322801493108273, + 0.18974386155605316, + -0.050557941198349, + -0.25073838233947754, + 0.0, + 1.0008161067962646 + ], + [ + 0.3085031807422638, + 0.05597112700343132, + 0.014647061936557293, + 0.20464226603507996, + -0.03332902118563652, + -0.21138280630111694, + 0.0, + 1.0008161067962646 + ], + [ + 0.3107627034187317, + 0.07667166739702225, + 0.01938071846961975, + 0.22546356916427612, + -0.029860587790608406, + -0.17896495759487152, + 0.0, + 1.0001531839370728 + ], + [ + 0.31181806325912476, + 0.0858563780784607, + 0.022692229598760605, + 0.23630015552043915, + -0.03211744502186775, + -0.15158788859844208, + 0.0, + 1.0001531839370728 + ], + [ + 0.3124406039714813, + 0.08096255362033844, + 0.02167520485818386, + 0.20597875118255615, + -0.0388430692255497, + -0.16014255583286285, + 0.0, + 1.0001531839370728 + ], + [ + 0.313952773809433, + 0.0731290802359581, + 0.022715376690030098, + 0.16113168001174927, + -0.0360446497797966, + -0.19823049008846283, + 0.0, + 1.0001531839370728 + ], + [ + 0.3237774074077606, + 0.06076264753937721, + 0.049713801592588425, + 0.14314599335193634, + -0.09072861075401306, + -0.24689960479736328, + 0.0, + 1.0001531839370728 + ], + [ + 0.32526734471321106, + 0.056659042835235596, + 0.071217380464077, + 0.13682912290096283, + -0.1213463619351387, + -0.2527126967906952, + 0.0, + 1.0001531839370728 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.393915057182312, + 0.13064120709896088, + 0.07481929659843445 + ], + [ + 0.3909279704093933, + 0.12946587800979614, + 0.054663099348545074 + ], + [ + 0.39021793007850647, + 0.12900421023368835, + 0.04897464066743851 + ], + [ + 0.3888431191444397, + 0.1283341646194458, + 0.0475342683494091 + ], + [ + 0.38491538166999817, + 0.1261734962463379, + 0.04201609268784523 + ], + [ + 0.38393697142601013, + 0.11423468589782715, + 0.06207111477851868 + ], + [ + 0.38478711247444153, + 0.08853429555892944, + 0.08755072951316833 + ], + [ + 0.38115838170051575, + 0.05541761592030525, + 0.11012516170740128 + ], + [ + 0.3656541109085083, + 0.0024025868624448776, + 0.1097116768360138 + ], + [ + 0.3437601327896118, + -0.036634158343076706, + 0.10156437009572983 + ], + [ + 0.3214320242404938, + -0.05365157872438431, + 0.08903990685939789 + ], + [ + 0.3027331233024597, + -0.06364807486534119, + 0.07295329123735428 + ], + [ + 0.2847229242324829, + -0.0739283561706543, + 0.058447711169719696 + ], + [ + 0.2658306658267975, + -0.08796535432338715, + 0.045844703912734985 + ], + [ + 0.25867706537246704, + -0.09135659039020538, + 0.039746563881635666 + ], + [ + 0.25745928287506104, + -0.09156341105699539, + 0.0277719646692276 + ], + [ + 0.25950586795806885, + -0.08676567673683167, + 0.0129458112642169 + ], + [ + 0.2622984051704407, + -0.08704730868339539, + 0.008923652581870556 + ], + [ + 0.2623082995414734, + -0.08643269538879395, + 0.007019650191068649 + ], + [ + 0.2622066140174866, + -0.07964155822992325, + 0.0054646753706038 + ], + [ + 0.2634955048561096, + -0.06764373928308487, + 0.006483499892055988 + ], + [ + 0.266500324010849, + -0.04366401955485344, + 0.007463663816452026 + ], + [ + 0.2745589315891266, + -0.019809482619166374, + 0.009370389394462109 + ], + [ + 0.28349143266677856, + -0.0066542611457407475, + 0.010785301215946674 + ], + [ + 0.2953869700431824, + 0.009384027682244778, + 0.01179330050945282 + ], + [ + 0.3051071763038635, + 0.03414110094308853, + 0.014322801493108273 + ], + [ + 0.3085031807422638, + 0.05597112700343132, + 0.014647061936557293 + ], + [ + 0.3107627034187317, + 0.07667166739702225, + 0.01938071846961975 + ], + [ + 0.31181806325912476, + 0.0858563780784607, + 0.022692229598760605 + ], + [ + 0.3124406039714813, + 0.08096255362033844, + 0.02167520485818386 + ], + [ + 0.313952773809433, + 0.0731290802359581, + 0.022715376690030098 + ], + [ + 0.3237774074077606, + 0.06076264753937721, + 0.049713801592588425 + ], + [ + 0.32526734471321106, + 0.056659042835235596, + 0.071217380464077 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9987939234232402, + 0.01751982206661285, + 0.04586670216578445, + 0.014768969174313829, + -0.99811059383444, + 0.05964159643227076, + 0.046824951493180625, + -0.05889226018939934, + -0.9971655457382418 + ], + [ + 0.9998998538961097, + 0.014017691629234212, + -0.0019458930922812599, + 0.014088616659615048, + -0.9989693475020841, + 0.04314804319872753, + -0.0013390515887403834, + -0.04317113703214842, + -0.9990667944978427 + ], + [ + 0.9998475756754946, + 0.00942218988496643, + -0.014698562977644495, + 0.009969862055734786, + -0.9992415126634834, + 0.037643076662026945, + -0.014332734087596992, + -0.03778388158679907, + -0.999183141884314 + ], + [ + 0.9997148789783812, + 0.012829200674013221, + -0.020138827158161128, + 0.013517653718979677, + -0.999315693060062, + 0.03442990911724025, + -0.019683337805721478, + -0.034692322118208906, + -0.9992041878409397 + ], + [ + 0.9995529526243859, + 0.009413993135668411, + -0.028377308419120045, + 0.010268554815726758, + -0.9994935274914973, + 0.03012051268820016, + -0.028079381792850928, + -0.030398441339075266, + -0.9991433746376375 + ], + [ + 0.9993252582598434, + -0.030956827303746992, + 0.019766209732356464, + -0.03180072789860794, + -0.9985291371243499, + 0.04391213976590294, + 0.01837775582099777, + -0.04451109026958877, + -0.9988398374784601 + ], + [ + 0.9905981757249336, + -0.09795047704005802, + 0.09550370829479989, + -0.10471285276165329, + -0.9921361528662562, + 0.06856436860542459, + 0.08803676911921222, + -0.0779202042051308, + -0.9930649369802967 + ], + [ + 0.9722954621026862, + -0.1585559451781286, + 0.17176014270835277, + -0.17214324650342988, + -0.9827742861438709, + 0.06724139482241626, + 0.15813992872700688, + -0.09494585163699867, + -0.9828413138442756 + ], + [ + 0.9477922465606932, + -0.2652626805776148, + 0.17699030383671363, + -0.2710000524589724, + -0.9625407375596813, + 0.008619750883795116, + 0.1680738793705557, + -0.05613411467942456, + -0.9841748484098183 + ], + [ + 0.9380190893638215, + -0.3149606382089747, + 0.14463742381576844, + -0.3182564189748315, + -0.9480045963897944, + -0.0003701420531180208, + 0.1372335227646052, + -0.045684588241750444, + -0.989484653052688 + ], + [ + 0.9391677360407569, + -0.32196587483800826, + 0.1195907146055893, + -0.325831095171687, + -0.9453277097471481, + 0.013770207094702228, + 0.10861887957118017, + -0.051898907734247685, + -0.9927277785862012 + ], + [ + 0.9347987805318589, + -0.3441531177044964, + 0.08780587389477372, + -0.34810593152825287, + -0.936834706884788, + 0.03410267454234533, + 0.07052304836716307, + -0.06244488410085177, + -0.9955536831826972 + ], + [ + 0.9238889630768575, + -0.37751452995899387, + 0.06254569189487384, + -0.3804811103472611, + -0.9236930452208802, + 0.04500314299570335, + 0.04078368023712262, + -0.06537536141709922, + -0.9970269572814465 + ], + [ + 0.9059652760117753, + -0.4205213991330576, + 0.04887403740313693, + -0.42258303692366, + -0.9052282661658674, + 0.044557412836855693, + 0.025504814551063577, + -0.06102080797165075, + -0.997810585947655 + ], + [ + 0.9035013596640241, + -0.426357700348333, + 0.04363948256958093, + -0.4281029180925112, + -0.90262327579138, + 0.04471144730731608, + 0.02032694285760303, + -0.05907904326679132, + -0.9980463326122411 + ], + [ + 0.8976985075387621, + -0.43954074470498755, + 0.03068099259906707, + -0.4405460464332463, + -0.8965776755694403, + 0.04547144865226134, + 0.0075213386252052095, + -0.054336041580927155, + -0.9984943785773662 + ], + [ + 0.9068300497954769, + -0.4214262608335482, + 0.007692039247648989, + -0.42122220165307994, + -0.9054308706244465, + 0.05260033607106534, + -0.015202553156140837, + -0.0509396230856796, + -0.998586018917461 + ], + [ + 0.9061621227327954, + -0.42292971331211204, + 0.0008154275743895989, + -0.42221614986700884, + -0.9045178777126214, + 0.05984088643841276, + -0.02457092012672533, + -0.054569831372198424, + -0.9982075953368298 + ], + [ + 0.905578772280587, + -0.4240290430658911, + 0.011245347100442097, + -0.4239463203615746, + -0.9038894220295742, + 0.05703884812058759, + -0.014021577895012903, + -0.05642059357776171, + -0.9983086256131755 + ], + [ + 0.9099689036554921, + -0.4144734651444621, + 0.012974631831531145, + -0.41451295784208136, + -0.9082860511272715, + 0.05652837436753463, + -0.01164483409200385, + -0.05681721586605271, + -0.9983166841339475 + ], + [ + 0.9146628837798306, + -0.4020305926149986, + 0.041990613679688024, + -0.40403079763043726, + -0.9124512357119123, + 0.06474455200182261, + 0.012285096730447535, + -0.07618493978101618, + -0.997018019570803 + ], + [ + 0.9341168138789068, + -0.35086160513525677, + 0.06574125090558135, + -0.3554928775660168, + -0.931068525503743, + 0.08207444679142527, + 0.03241283740360355, + -0.10003766719689468, + -0.9944555661834522 + ], + [ + 0.9494256518877267, + -0.302317463418242, + 0.0848238342090569, + -0.3103086668810115, + -0.9446588406283263, + 0.10643404568687743, + 0.04795271416817898, + -0.12737278412246006, + -0.9906950646232162 + ], + [ + 0.9521037402800713, + -0.28937949834998256, + 0.09878245633416441, + -0.3004860836503447, + -0.9452929151269162, + 0.12700164622293314, + 0.05662668343790522, + -0.15060149582779525, + -0.9869714323004763 + ], + [ + 0.9589282723980247, + -0.26628851280261245, + 0.09770873218455235, + -0.2781779491962224, + -0.9502040224409941, + 0.14046118438180197, + 0.05544003045384789, + -0.16187261561588348, + -0.9852530940509391 + ], + [ + 0.9674916552495222, + -0.23443273533621492, + 0.0948745994738319, + -0.2478022775396543, + -0.9537082398031304, + 0.1703954945935336, + 0.05053640537968591, + -0.18836636094163683, + -0.9807977292984038 + ], + [ + 0.9771987210334065, + -0.19881309528251867, + 0.07453866617305992, + -0.20969560607293952, + -0.9587607105485223, + 0.191847993740345, + 0.03332285108416276, + -0.2031040448949184, + -0.9785899726356008 + ], + [ + 0.983589794743923, + -0.1669378135577938, + 0.06843158685980265, + -0.17793180142104548, + -0.9603114274139439, + 0.21480744033029933, + 0.029856150432851936, + -0.223458561668012, + -0.9742560656719538 + ], + [ + 0.9880227335946441, + -0.139380183627611, + 0.06621361122987031, + -0.15093012377109483, + -0.9621972221232906, + 0.2267081901402436, + 0.03211192362050222, + -0.2339864742889133, + -0.9717093980255798 + ], + [ + 0.9864599160007214, + -0.14824741400995028, + 0.07013942089305064, + -0.15933866057583645, + -0.967602800534379, + 0.19584690869126722, + 0.03883330232865209, + -0.20437104647525192, + -0.978122921719383 + ], + [ + 0.9797797727425532, + -0.1887153996286537, + 0.06646875106053912, + -0.19680686650645185, + -0.9688552160245878, + 0.15028848152090937, + 0.03603684531784124, + -0.1603311208872021, + -0.9864052298394362 + ], + [ + 0.9656865239319851, + -0.2293656619720164, + 0.12182335820481535, + -0.24339354709466138, + -0.9629160184490103, + 0.11641444346379251, + 0.0906041871484917, + -0.1420708785164799, + -0.9857011447435359 + ], + [ + 0.9611178477215893, + -0.23170756526772512, + 0.15021347139561805, + -0.24819282040716067, + -0.9633164431017042, + 0.10208699402088119, + 0.12104877814070722, + -0.13539953710254493, + -0.9833687806022 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.002987086772918701, + -0.0011753290891647339, + -0.020156197249889374, + -0.015806540846824646, + 0.04818113148212433, + -0.0006966302171349525, + 1.0 + ], + [ + -0.0007100403308868408, + -0.0004616677761077881, + -0.005688458681106567, + -0.005387835204601288, + 0.012994172982871532, + -0.004118043929338455, + 1.0 + ], + [ + -0.0013748109340667725, + -0.0006700456142425537, + -0.0014403723180294037, + -0.003090750426054001, + 0.005351384170353413, + 0.0035496335476636887, + 1.0 + ], + [ + -0.003927737474441528, + -0.00216066837310791, + -0.005518175661563873, + -0.004290889948606491, + 0.008398463949561119, + -0.003247899003326893, + 1.0 + ], + [ + -0.0009784102439880371, + -0.011938810348510742, + 0.020055022090673447, + 0.01411820575594902, + -0.046461865305900574, + -0.04208425059914589, + 1.0 + ], + [ + 0.0008501410484313965, + -0.025700390338897705, + 0.025479614734649658, + 0.0337705984711647, + -0.06977209448814392, + -0.07350412011146545, + 1.0 + ], + [ + -0.0036287307739257812, + -0.03311667963862419, + 0.02257443219423294, + 0.018000677227973938, + -0.0706557035446167, + -0.06991680711507797, + 1.0 + ], + [ + -0.015504270792007446, + -0.053015030920505524, + -0.0004134848713874817, + -0.03932960331439972, + -0.010068833827972412, + -0.10326455533504486, + 1.0 + ], + [ + -0.021893978118896484, + -0.039036743342876434, + -0.008147306740283966, + -0.010837681591510773, + 0.031207457184791565, + -0.04860109090805054, + 1.0 + ], + [ + -0.022328108549118042, + -0.017017420381307602, + -0.01252446323633194, + 0.006094224750995636, + 0.02883436530828476, + -0.006844550371170044, + 1.0 + ], + [ + -0.018698900938034058, + -0.009996496140956879, + -0.01608661562204361, + 0.010410167276859283, + 0.03825196623802185, + -0.022534340620040894, + 1.0 + ], + [ + -0.018010199069976807, + -0.01028028130531311, + -0.014505580067634583, + 0.0028348639607429504, + 0.029786642640829086, + -0.03418216109275818, + 1.0 + ], + [ + -0.018892258405685425, + -0.014036998152732849, + -0.01260300725698471, + -0.004397939890623093, + 0.015287414193153381, + -0.04578608274459839, + 1.0 + ], + [ + -0.007153600454330444, + -0.0033912360668182373, + -0.0060981400310993195, + -0.001952938735485077, + 0.005179237574338913, + -0.006045281887054443, + 1.0 + ], + [ + -0.0012177824974060059, + -0.00020682066679000854, + -0.011974599212408066, + -0.004761341959238052, + 0.012806933373212814, + -0.013730257749557495, + 1.0 + ], + [ + 0.0020465850830078125, + 0.004797734320163727, + -0.0148261534050107, + -0.0033967792987823486, + 0.02272454835474491, + 0.021374553442001343, + 1.0 + ], + [ + 0.002792537212371826, + -0.0002816319465637207, + -0.004022158682346344, + 0.0036458820104599, + 0.00937025435268879, + -0.0011831820011138916, + 1.0 + ], + [ + 9.894371032714844e-06, + 0.0006146132946014404, + -0.0019040023908019066, + 0.0018426701426506042, + -0.01055135577917099, + -0.0018148422241210938, + 1.0 + ], + [ + -0.0001016855239868164, + 0.006791137158870697, + -0.0015549748204648495, + 0.0003955624997615814, + -0.0023769401013851166, + 0.010405749082565308, + 1.0 + ], + [ + 0.0012888908386230469, + 0.011997818946838379, + 0.0010188245214521885, + 0.01941290870308876, + -0.0239305030554533, + 0.011486053466796875, + 1.0 + ], + [ + 0.00300481915473938, + 0.02397971972823143, + 0.000980163924396038, + 0.023993536829948425, + -0.020133109763264656, + 0.052311092615127563, + 1.0 + ], + [ + 0.008058607578277588, + 0.023854536935687065, + 0.0019067255780100822, + 0.027609504759311676, + -0.015552595257759094, + 0.04774761199951172, + 1.0 + ], + [ + 0.008932501077651978, + 0.013155221939086914, + 0.0014149118214845657, + 0.02355387806892395, + -0.008685879409313202, + 0.010185062885284424, + 1.0 + ], + [ + 0.011895537376403809, + 0.016038289293646812, + 0.0010079992935061455, + 0.011419162154197693, + 0.0011885203421115875, + 0.023365825414657593, + 1.0 + ], + [ + 0.009720206260681152, + 0.02475707232952118, + 0.0025295009836554527, + 0.0269031822681427, + 0.004910528659820557, + 0.03160440921783447, + 1.0 + ], + [ + 0.0033960044384002686, + 0.02183002606034279, + 0.0003242604434490204, + 0.014898404479026794, + 0.01722892001271248, + 0.039355576038360596, + 1.0 + ], + [ + 0.0022595226764678955, + 0.020700540393590927, + 0.004733656533062458, + 0.020821303129196167, + 0.0034684333950281143, + 0.03241784870624542, + 1.0 + ], + [ + 0.0010553598403930664, + 0.009184710681438446, + 0.003311511129140854, + 0.010836586356163025, + -0.002256857231259346, + 0.027377068996429443, + 1.0 + ], + [ + 0.0006225407123565674, + -0.004893824458122253, + -0.001017024740576744, + -0.030321404337882996, + -0.006725624203681946, + -0.008554667234420776, + 1.0 + ], + [ + 0.0015121698379516602, + -0.00783347338438034, + 0.0010401718318462372, + -0.044847071170806885, + 0.0027984194457530975, + -0.038087934255599976, + 1.0 + ], + [ + 0.009824633598327637, + -0.012366432696580887, + 0.026998424902558327, + -0.017985686659812927, + -0.05468396097421646, + -0.04866911470890045, + 1.0 + ], + [ + 0.0014899373054504395, + -0.004103604704141617, + 0.02150357887148857, + -0.006316870450973511, + -0.03061775118112564, + -0.005813091993331909, + 1.0 + ], + [ + -0.002374023199081421, + -0.00317440927028656, + 0.01241418719291687, + -0.016423359513282776, + -0.013237811625003815, + -0.003913253545761108, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3909279704093933, + 0.12946587800979614, + 0.054663099348545074 + ], + [ + 0.39021793007850647, + 0.12900421023368835, + 0.04897464066743851 + ], + [ + 0.3888431191444397, + 0.1283341646194458, + 0.0475342683494091 + ], + [ + 0.38491538166999817, + 0.1261734962463379, + 0.04201609268784523 + ], + [ + 0.38393697142601013, + 0.11423468589782715, + 0.06207111477851868 + ], + [ + 0.38478711247444153, + 0.08853429555892944, + 0.08755072951316833 + ], + [ + 0.38115838170051575, + 0.05541761592030525, + 0.11012516170740128 + ], + [ + 0.3656541109085083, + 0.0024025868624448776, + 0.1097116768360138 + ], + [ + 0.3437601327896118, + -0.036634158343076706, + 0.10156437009572983 + ], + [ + 0.3214320242404938, + -0.05365157872438431, + 0.08903990685939789 + ], + [ + 0.3027331233024597, + -0.06364807486534119, + 0.07295329123735428 + ], + [ + 0.2847229242324829, + -0.0739283561706543, + 0.058447711169719696 + ], + [ + 0.2658306658267975, + -0.08796535432338715, + 0.045844703912734985 + ], + [ + 0.25867706537246704, + -0.09135659039020538, + 0.039746563881635666 + ], + [ + 0.25745928287506104, + -0.09156341105699539, + 0.0277719646692276 + ], + [ + 0.25950586795806885, + -0.08676567673683167, + 0.0129458112642169 + ], + [ + 0.2622984051704407, + -0.08704730868339539, + 0.008923652581870556 + ], + [ + 0.2623082995414734, + -0.08643269538879395, + 0.007019650191068649 + ], + [ + 0.2622066140174866, + -0.07964155822992325, + 0.0054646753706038 + ], + [ + 0.2634955048561096, + -0.06764373928308487, + 0.006483499892055988 + ], + [ + 0.266500324010849, + -0.04366401955485344, + 0.007463663816452026 + ], + [ + 0.2745589315891266, + -0.019809482619166374, + 0.009370389394462109 + ], + [ + 0.28349143266677856, + -0.0066542611457407475, + 0.010785301215946674 + ], + [ + 0.2953869700431824, + 0.009384027682244778, + 0.01179330050945282 + ], + [ + 0.3051071763038635, + 0.03414110094308853, + 0.014322801493108273 + ], + [ + 0.3085031807422638, + 0.05597112700343132, + 0.014647061936557293 + ], + [ + 0.3107627034187317, + 0.07667166739702225, + 0.01938071846961975 + ], + [ + 0.31181806325912476, + 0.0858563780784607, + 0.022692229598760605 + ], + [ + 0.3124406039714813, + 0.08096255362033844, + 0.02167520485818386 + ], + [ + 0.313952773809433, + 0.0731290802359581, + 0.022715376690030098 + ], + [ + 0.3237774074077606, + 0.06076264753937721, + 0.049713801592588425 + ], + [ + 0.32526734471321106, + 0.056659042835235596, + 0.071217380464077 + ], + [ + 0.32289332151412964, + 0.053484633564949036, + 0.08363156765699387 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9998998538961097, + 0.014017691629234212, + -0.0019458930922812599, + 0.014088616659615048, + -0.9989693475020841, + 0.04314804319872753, + -0.0013390515887403834, + -0.04317113703214842, + -0.9990667944978427 + ], + [ + 0.9998475756754946, + 0.00942218988496643, + -0.014698562977644495, + 0.009969862055734786, + -0.9992415126634834, + 0.037643076662026945, + -0.014332734087596992, + -0.03778388158679907, + -0.999183141884314 + ], + [ + 0.9997148789783812, + 0.012829200674013221, + -0.020138827158161128, + 0.013517653718979677, + -0.999315693060062, + 0.03442990911724025, + -0.019683337805721478, + -0.034692322118208906, + -0.9992041878409397 + ], + [ + 0.9995529526243859, + 0.009413993135668411, + -0.028377308419120045, + 0.010268554815726758, + -0.9994935274914973, + 0.03012051268820016, + -0.028079381792850928, + -0.030398441339075266, + -0.9991433746376375 + ], + [ + 0.9993252582598434, + -0.030956827303746992, + 0.019766209732356464, + -0.03180072789860794, + -0.9985291371243499, + 0.04391213976590294, + 0.01837775582099777, + -0.04451109026958877, + -0.9988398374784601 + ], + [ + 0.9905981757249336, + -0.09795047704005802, + 0.09550370829479989, + -0.10471285276165329, + -0.9921361528662562, + 0.06856436860542459, + 0.08803676911921222, + -0.0779202042051308, + -0.9930649369802967 + ], + [ + 0.9722954621026862, + -0.1585559451781286, + 0.17176014270835277, + -0.17214324650342988, + -0.9827742861438709, + 0.06724139482241626, + 0.15813992872700688, + -0.09494585163699867, + -0.9828413138442756 + ], + [ + 0.9477922465606932, + -0.2652626805776148, + 0.17699030383671363, + -0.2710000524589724, + -0.9625407375596813, + 0.008619750883795116, + 0.1680738793705557, + -0.05613411467942456, + -0.9841748484098183 + ], + [ + 0.9380190893638215, + -0.3149606382089747, + 0.14463742381576844, + -0.3182564189748315, + -0.9480045963897944, + -0.0003701420531180208, + 0.1372335227646052, + -0.045684588241750444, + -0.989484653052688 + ], + [ + 0.9391677360407569, + -0.32196587483800826, + 0.1195907146055893, + -0.325831095171687, + -0.9453277097471481, + 0.013770207094702228, + 0.10861887957118017, + -0.051898907734247685, + -0.9927277785862012 + ], + [ + 0.9347987805318589, + -0.3441531177044964, + 0.08780587389477372, + -0.34810593152825287, + -0.936834706884788, + 0.03410267454234533, + 0.07052304836716307, + -0.06244488410085177, + -0.9955536831826972 + ], + [ + 0.9238889630768575, + -0.37751452995899387, + 0.06254569189487384, + -0.3804811103472611, + -0.9236930452208802, + 0.04500314299570335, + 0.04078368023712262, + -0.06537536141709922, + -0.9970269572814465 + ], + [ + 0.9059652760117753, + -0.4205213991330576, + 0.04887403740313693, + -0.42258303692366, + -0.9052282661658674, + 0.044557412836855693, + 0.025504814551063577, + -0.06102080797165075, + -0.997810585947655 + ], + [ + 0.9035013596640241, + -0.426357700348333, + 0.04363948256958093, + -0.4281029180925112, + -0.90262327579138, + 0.04471144730731608, + 0.02032694285760303, + -0.05907904326679132, + -0.9980463326122411 + ], + [ + 0.8976985075387621, + -0.43954074470498755, + 0.03068099259906707, + -0.4405460464332463, + -0.8965776755694403, + 0.04547144865226134, + 0.0075213386252052095, + -0.054336041580927155, + -0.9984943785773662 + ], + [ + 0.9068300497954769, + -0.4214262608335482, + 0.007692039247648989, + -0.42122220165307994, + -0.9054308706244465, + 0.05260033607106534, + -0.015202553156140837, + -0.0509396230856796, + -0.998586018917461 + ], + [ + 0.9061621227327954, + -0.42292971331211204, + 0.0008154275743895989, + -0.42221614986700884, + -0.9045178777126214, + 0.05984088643841276, + -0.02457092012672533, + -0.054569831372198424, + -0.9982075953368298 + ], + [ + 0.905578772280587, + -0.4240290430658911, + 0.011245347100442097, + -0.4239463203615746, + -0.9038894220295742, + 0.05703884812058759, + -0.014021577895012903, + -0.05642059357776171, + -0.9983086256131755 + ], + [ + 0.9099689036554921, + -0.4144734651444621, + 0.012974631831531145, + -0.41451295784208136, + -0.9082860511272715, + 0.05652837436753463, + -0.01164483409200385, + -0.05681721586605271, + -0.9983166841339475 + ], + [ + 0.9146628837798306, + -0.4020305926149986, + 0.041990613679688024, + -0.40403079763043726, + -0.9124512357119123, + 0.06474455200182261, + 0.012285096730447535, + -0.07618493978101618, + -0.997018019570803 + ], + [ + 0.9341168138789068, + -0.35086160513525677, + 0.06574125090558135, + -0.3554928775660168, + -0.931068525503743, + 0.08207444679142527, + 0.03241283740360355, + -0.10003766719689468, + -0.9944555661834522 + ], + [ + 0.9494256518877267, + -0.302317463418242, + 0.0848238342090569, + -0.3103086668810115, + -0.9446588406283263, + 0.10643404568687743, + 0.04795271416817898, + -0.12737278412246006, + -0.9906950646232162 + ], + [ + 0.9521037402800713, + -0.28937949834998256, + 0.09878245633416441, + -0.3004860836503447, + -0.9452929151269162, + 0.12700164622293314, + 0.05662668343790522, + -0.15060149582779525, + -0.9869714323004763 + ], + [ + 0.9589282723980247, + -0.26628851280261245, + 0.09770873218455235, + -0.2781779491962224, + -0.9502040224409941, + 0.14046118438180197, + 0.05544003045384789, + -0.16187261561588348, + -0.9852530940509391 + ], + [ + 0.9674916552495222, + -0.23443273533621492, + 0.0948745994738319, + -0.2478022775396543, + -0.9537082398031304, + 0.1703954945935336, + 0.05053640537968591, + -0.18836636094163683, + -0.9807977292984038 + ], + [ + 0.9771987210334065, + -0.19881309528251867, + 0.07453866617305992, + -0.20969560607293952, + -0.9587607105485223, + 0.191847993740345, + 0.03332285108416276, + -0.2031040448949184, + -0.9785899726356008 + ], + [ + 0.983589794743923, + -0.1669378135577938, + 0.06843158685980265, + -0.17793180142104548, + -0.9603114274139439, + 0.21480744033029933, + 0.029856150432851936, + -0.223458561668012, + -0.9742560656719538 + ], + [ + 0.9880227335946441, + -0.139380183627611, + 0.06621361122987031, + -0.15093012377109483, + -0.9621972221232906, + 0.2267081901402436, + 0.03211192362050222, + -0.2339864742889133, + -0.9717093980255798 + ], + [ + 0.9864599160007214, + -0.14824741400995028, + 0.07013942089305064, + -0.15933866057583645, + -0.967602800534379, + 0.19584690869126722, + 0.03883330232865209, + -0.20437104647525192, + -0.978122921719383 + ], + [ + 0.9797797727425532, + -0.1887153996286537, + 0.06646875106053912, + -0.19680686650645185, + -0.9688552160245878, + 0.15028848152090937, + 0.03603684531784124, + -0.1603311208872021, + -0.9864052298394362 + ], + [ + 0.9656865239319851, + -0.2293656619720164, + 0.12182335820481535, + -0.24339354709466138, + -0.9629160184490103, + 0.11641444346379251, + 0.0906041871484917, + -0.1420708785164799, + -0.9857011447435359 + ], + [ + 0.9611178477215893, + -0.23170756526772512, + 0.15021347139561805, + -0.24819282040716067, + -0.9633164431017042, + 0.10208699402088119, + 0.12104877814070722, + -0.13539953710254493, + -0.9833687806022 + ], + [ + 0.958505224324194, + -0.23639176495773498, + 0.1593319440771164, + -0.2515232204984607, + -0.9643397026265791, + 0.0823711568946546, + 0.13417825641030326, + -0.11902886791971126, + -0.9837826610123005 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006014.json b/json/chunk-0006/episode_0006014.json new file mode 100644 index 0000000000000000000000000000000000000000..a98e4d21e4b526c1f8b7c750b1af22e50a17eac3 --- /dev/null +++ b/json/chunk-0006/episode_0006014.json @@ -0,0 +1,1402 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 22, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut the yellow brush on the top right edge of the cooker." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006014.mp4", + "start": 0, + "end": 22, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2734661102294922, + 0.0891919955611229, + 0.07081400603055954, + 0.029834618791937828, + -0.11000142991542816, + -0.029908351600170135, + 0.0, + 1.0008161067962646 + ], + [ + 0.2711580693721771, + 0.08848301321268082, + 0.06274431943893433, + 0.01775810681283474, + -0.08341869711875916, + -0.030144279822707176, + 0.0, + 1.0001531839370728 + ], + [ + 0.27457281947135925, + 0.08412228524684906, + 0.06278149038553238, + -0.008695866912603378, + -0.10825030505657196, + -0.05231555923819542, + 0.0, + 1.0001531839370728 + ], + [ + 0.27987369894981384, + 0.09154242277145386, + 0.06572398543357849, + -0.015386742539703846, + -0.12323557585477829, + -0.05403214693069458, + 0.0, + 1.0008161067962646 + ], + [ + 0.3050999343395233, + 0.10518709570169449, + 0.06137186661362648, + -0.04882768914103508, + -0.11840265989303589, + -0.1086210161447525, + 0.0, + 1.0001531839370728 + ], + [ + 0.33620113134384155, + 0.1265498399734497, + 0.05453326925635338, + -0.04804544895887375, + -0.12768249213695526, + -0.15825094282627106, + 0.0, + 1.0001531839370728 + ], + [ + 0.36163780093193054, + 0.14141929149627686, + 0.03656625375151634, + -0.03130538761615753, + -0.12007269263267517, + -0.19408409297466278, + 0.0, + 1.0008161067962646 + ], + [ + 0.372623473405838, + 0.14605754613876343, + 0.016810007393360138, + -0.007140172645449638, + -0.05900220200419426, + -0.24121412634849548, + 0.0, + 1.0008161067962646 + ], + [ + 0.38200056552886963, + 0.145799458026886, + 0.008849311619997025, + 0.010657311417162418, + -0.043588731437921524, + -0.25870129466056824, + 0.0, + 1.0008161067962646 + ], + [ + 0.3850478231906891, + 0.14537614583969116, + 0.0056987483985722065, + 0.02103540301322937, + -0.03399162366986275, + -0.25806739926338196, + 0.0, + 0.9255412817001343 + ], + [ + 0.38357803225517273, + 0.14592787623405457, + 0.0037536099553108215, + 0.02596184052526951, + -0.02298537641763687, + -0.2564942240715027, + 0.0, + 0.6781873106956482 + ], + [ + 0.38311195373535156, + 0.13795018196105957, + 0.006046083755791187, + 0.031826987862586975, + -0.03774423897266388, + -0.25228530168533325, + 0.0, + 0.40239205956459045 + ], + [ + 0.3839315176010132, + 0.1281648427248001, + 0.010127735324203968, + 0.008083198219537735, + -0.05228423327207565, + -0.20006738603115082, + 0.0, + 0.33639705181121826 + ], + [ + 0.3927402198314667, + 0.09575045108795166, + 0.0295485258102417, + -0.027846917510032654, + -0.09254329651594162, + -0.15467165410518646, + 0.0, + 0.33639705181121826 + ], + [ + 0.3982310891151428, + 0.05367966741323471, + 0.04183891788125038, + -0.061074573546648026, + -0.11573878675699234, + -0.12486538290977478, + 0.0, + 0.33639705181121826 + ], + [ + 0.3972213864326477, + 0.016935795545578003, + 0.035328760743141174, + -0.05104772001504898, + -0.10137117654085159, + -0.17178671061992645, + 0.0, + 0.33639705181121826 + ], + [ + 0.3966555893421173, + -0.005242106504738331, + 0.030032558366656303, + -0.0015111119719222188, + -0.1006474643945694, + -0.20565427839756012, + 0.0, + 0.33639705181121826 + ], + [ + 0.39187243580818176, + -0.016960762441158295, + 0.021446194499731064, + 0.04084653779864311, + -0.0964432954788208, + -0.20554523169994354, + 0.0, + 0.33639705181121826 + ], + [ + 0.3908816874027252, + -0.01896861381828785, + 0.01921115815639496, + 0.04261068254709244, + -0.09956790506839752, + -0.20316629111766815, + 0.0, + 0.4077054560184479 + ], + [ + 0.3869878053665161, + -0.020301364362239838, + 0.018592484295368195, + 0.03340894728899002, + -0.09901539236307144, + -0.2112576812505722, + 0.0, + 0.7368898391723633 + ], + [ + 0.388886034488678, + -0.015623160637915134, + 0.0505211167037487, + 0.02019749954342842, + -0.17605279386043549, + -0.23787471652030945, + 0.0, + 0.9809558987617493 + ], + [ + 0.37707915902137756, + -0.005567782558500767, + 0.07570704072713852, + 0.006779070477932692, + -0.22243660688400269, + -0.22099488973617554, + 0.0, + 1.0073583126068115 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9255412817001343 + ], + [ + 0.6781873106956482 + ], + [ + 0.40239205956459045 + ], + [ + 0.33639705181121826 + ], + [ + 0.33639705181121826 + ], + [ + 0.33639705181121826 + ], + [ + 0.33639705181121826 + ], + [ + 0.33639705181121826 + ], + [ + 0.33639705181121826 + ], + [ + 0.4077054560184479 + ], + [ + 0.7368898391723633 + ], + [ + 0.9809558987617493 + ], + [ + 1.0073583126068115 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2734661102294922, + 0.0891919955611229, + 0.07081400603055954 + ], + [ + 0.2711580693721771, + 0.08848301321268082, + 0.06274431943893433 + ], + [ + 0.27457281947135925, + 0.08412228524684906, + 0.06278149038553238 + ], + [ + 0.27987369894981384, + 0.09154242277145386, + 0.06572398543357849 + ], + [ + 0.3050999343395233, + 0.10518709570169449, + 0.06137186661362648 + ], + [ + 0.33620113134384155, + 0.1265498399734497, + 0.05453326925635338 + ], + [ + 0.36163780093193054, + 0.14141929149627686, + 0.03656625375151634 + ], + [ + 0.372623473405838, + 0.14605754613876343, + 0.016810007393360138 + ], + [ + 0.38200056552886963, + 0.145799458026886, + 0.008849311619997025 + ], + [ + 0.3850478231906891, + 0.14537614583969116, + 0.0056987483985722065 + ], + [ + 0.38357803225517273, + 0.14592787623405457, + 0.0037536099553108215 + ], + [ + 0.38311195373535156, + 0.13795018196105957, + 0.006046083755791187 + ], + [ + 0.3839315176010132, + 0.1281648427248001, + 0.010127735324203968 + ], + [ + 0.3927402198314667, + 0.09575045108795166, + 0.0295485258102417 + ], + [ + 0.3982310891151428, + 0.05367966741323471, + 0.04183891788125038 + ], + [ + 0.3972213864326477, + 0.016935795545578003, + 0.035328760743141174 + ], + [ + 0.3966555893421173, + -0.005242106504738331, + 0.030032558366656303 + ], + [ + 0.39187243580818176, + -0.016960762441158295, + 0.021446194499731064 + ], + [ + 0.3908816874027252, + -0.01896861381828785, + 0.01921115815639496 + ], + [ + 0.3869878053665161, + -0.020301364362239838, + 0.018592484295368195 + ], + [ + 0.388886034488678, + -0.015623160637915134, + 0.0505211167037487 + ], + [ + 0.37707915902137756, + -0.005567782558500767, + 0.07570704072713852 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9935114226053406, + -0.026617299348465198, + 0.11057383292672043, + -0.029723152021858934, + -0.9992058861668277, + 0.026535472173108886, + 0.10977972211022194, + -0.029649897553930382, + -0.9935136114761809 + ], + [ + 0.9960699530142143, + -0.02865607188767333, + 0.08380619455761731, + -0.03003490928762577, + -0.9994326897995862, + 0.0152382014702498, + 0.0833219834518166, + -0.017695426073772006, + -0.9963655548892297 + ], + [ + 0.9927865163830898, + -0.05322791721598788, + 0.1074324053383205, + -0.0519856172505232, + -0.9985449690715649, + -0.01433319018746379, + 0.10803901372657639, + 0.008644858050647467, + -0.9941090674278518 + ], + [ + 0.9909677882267721, + -0.05588803034448788, + 0.12189901870463495, + -0.05359628492522565, + -0.998320275265433, + -0.022001505315869172, + 0.12292388270451503, + 0.01526944852192742, + -0.9922986259199813 + ], + [ + 0.9871463882315767, + -0.11400990246667178, + 0.11199888544487366, + -0.10764854182920156, + -0.9922966967849531, + -0.06131114900014619, + 0.11812620218817071, + 0.048466562589185906, + -0.9918151000400168 + ], + [ + 0.9794658068575426, + -0.16344852975579965, + 0.1180309760934417, + -0.1563084003247937, + -0.9854011308074312, + -0.06747070024343982, + 0.12733584406916681, + 0.04763601079124434, + -0.9907150918862039 + ], + [ + 0.9741598444349386, + -0.19645229523468546, + 0.11144098522321011, + -0.19147924314165285, + -0.980020839391772, + -0.053803845622279266, + 0.1197843768460459, + 0.031074910375900634, + -0.9923134852498648 + ], + [ + 0.9693589119157575, + -0.239284536975634, + 0.055553670030477974, + -0.23846609380973222, + -0.9709233267556613, + -0.021019411619916994, + 0.058967974296450044, + 0.007127687288029301, + -0.9982344284191451 + ], + [ + 0.9658048043393208, + -0.25536182210300057, + 0.044848854247595875, + -0.2555822869581756, + -0.966786936960222, + -0.0008444621370933087, + 0.04357492981423378, + -0.01064698714696707, + -0.99899342698357 + ], + [ + 0.9663264767606136, + -0.2544647995502617, + 0.03822049321064434, + -0.25506500106774044, + -0.9668535327873624, + 0.011665820455950129, + 0.033985078221674195, + -0.02102170132130275, + -0.999201232250954 + ], + [ + 0.9670297939362499, + -0.2530284362765656, + 0.028809513620510197, + -0.25362401926340855, + -0.9671106972061383, + 0.019280980320810027, + 0.022983352503247557, + -0.02595206706397952, + -0.9993989472291925 + ], + [ + 0.967654816142038, + -0.24832836756173243, + 0.04446547718448241, + -0.2494397835435313, + -0.9681538351953709, + 0.02139966780702053, + 0.037735277697068144, + -0.03179895062136026, + -0.9987816956455026 + ], + [ + 0.9787139363936831, + -0.19831488004974784, + 0.052822713482319754, + -0.1984637994278285, + -0.9801051219765774, + -0.0024637759534177953, + 0.05226041547339432, + -0.008072064552027131, + -0.9986008665870543 + ], + [ + 0.9838341748437893, + -0.15653827365837794, + 0.0869832471772296, + -0.153396465532762, + -0.9872827047005167, + -0.04174188976661746, + 0.09241125890007343, + 0.027724174997410887, + -0.9953348830163727 + ], + [ + 0.985576268887608, + -0.13130262744784116, + 0.10676627852873116, + -0.12370795270125139, + -0.98948665176697, + -0.07491667647096775, + 0.11548056392331188, + 0.060628260739395555, + -0.9914577415884498 + ], + [ + 0.9802228175011751, + -0.17580801505686516, + 0.09085576421902683, + -0.1700654695690056, + -0.983114743202144, + -0.067551001168425, + 0.10119764873914786, + 0.05076360448537905, + -0.9935703761431902 + ], + [ + 0.9739735443038737, + -0.20435609498909135, + 0.09805162638610054, + -0.2031742645635638, + -0.9788954622616148, + -0.021997549469752235, + 0.10047762544569297, + 0.0015034641427970775, + -0.9949381821904144 + ], + [ + 0.9744006178863976, + -0.20008129923057402, + 0.10252272704533379, + -0.20315247721137722, + -0.9789358629423708, + 0.020338319698456134, + 0.09629385684189508, + -0.04064541725067217, + -0.9945227213045619 + ], + [ + 0.9745816969930252, + -0.19744108003650884, + 0.10586564976521938, + -0.20077217392533242, + -0.9793979671922717, + 0.021683081813758068, + 0.09940347108371649, + -0.04238681131747189, + -0.9941440077588588 + ], + [ + 0.9729788378396619, + -0.20634420000510353, + 0.10360623649392314, + -0.20866272097169256, + -0.9779147363982565, + 0.011943082174128676, + 0.09885367971335449, + -0.03323912543046598, + -0.994546685956847 + ], + [ + 0.9568189223135826, + -0.23215202114385103, + 0.17493710007171082, + -0.23199539803604713, + -0.9724762555794585, + -0.02163487056240688, + 0.1751447549679147, + -0.019883948626492357, + -0.984341883389226 + ], + [ + 0.9516418450914922, + -0.21773626132091184, + 0.2167226780400521, + -0.2137999434234758, + -0.9759852467775861, + -0.04174185267346199, + 0.2206068513509475, + -0.006612002607836693, + -0.9753404013771475 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0023080408573150635, + -0.0007089823484420776, + -0.008069686591625214, + -0.012076511979103088, + 0.026582732796669006, + -0.0002359282225370407, + 1.0 + ], + [ + 0.003414750099182129, + -0.004360727965831757, + 3.717094659805298e-05, + -0.026453973725438118, + -0.024831607937812805, + -0.022171279415488243, + 1.0 + ], + [ + 0.00530087947845459, + 0.007420137524604797, + 0.002942495048046112, + -0.006690875627100468, + -0.01498527079820633, + -0.0017165876924991608, + 1.0 + ], + [ + 0.025226235389709473, + 0.013644672930240631, + -0.004352118819952011, + -0.03344094753265381, + 0.004832915961742401, + -0.05458886921405792, + 1.0 + ], + [ + 0.031101197004318237, + 0.02136274427175522, + -0.006838597357273102, + 0.0007822401821613312, + -0.009279832243919373, + -0.049629926681518555, + 1.0 + ], + [ + 0.02543666958808899, + 0.014869451522827148, + -0.017967015504837036, + 0.016740061342716217, + 0.00760979950428009, + -0.035833150148391724, + 1.0 + ], + [ + 0.01098567247390747, + 0.004638254642486572, + -0.019756246358156204, + 0.024165214970707893, + 0.06107049062848091, + -0.0471300333738327, + 1.0 + ], + [ + 0.009377092123031616, + -0.0002580881118774414, + -0.007960695773363113, + 0.01779748499393463, + 0.015413470566272736, + -0.017487168312072754, + 1.0 + ], + [ + 0.003047257661819458, + -0.0004233121871948242, + -0.003150563221424818, + 0.010378091596066952, + 0.009597107768058777, + 0.0006338953971862793, + 0.0 + ], + [ + -0.0014697909355163574, + 0.0005517303943634033, + -0.001945138443261385, + 0.004926437512040138, + 0.011006247252225876, + 0.0015731751918792725, + 0.0 + ], + [ + -0.000466078519821167, + -0.007977694272994995, + 0.0022924738004803658, + 0.005865147337317467, + -0.014758862555027008, + 0.004208922386169434, + 0.0 + ], + [ + 0.0008195638656616211, + -0.00978533923625946, + 0.004081651568412781, + -0.02374378964304924, + -0.014539994299411774, + 0.052217915654182434, + 0.0 + ], + [ + 0.008808702230453491, + -0.03241439163684845, + 0.019420791417360306, + -0.03593011572957039, + -0.04025906324386597, + 0.045395731925964355, + 0.0 + ], + [ + 0.0054908692836761475, + -0.04207078367471695, + 0.012290392071008682, + -0.03322765603661537, + -0.02319549024105072, + 0.029806271195411682, + 0.0 + ], + [ + -0.0010097026824951172, + -0.03674387186765671, + -0.006510157138109207, + 0.010026853531599045, + 0.014367610216140747, + -0.04692132771015167, + 0.0 + ], + [ + -0.0005657970905303955, + -0.02217790111899376, + -0.005296202376484871, + 0.049536608159542084, + 0.000723712146282196, + -0.03386756777763367, + 0.0 + ], + [ + -0.004783153533935547, + -0.011718655936419964, + -0.00858636386692524, + 0.04235764965415001, + 0.004204168915748596, + 0.00010904669761657715, + 1.0 + ], + [ + -0.000990748405456543, + -0.0020078513771295547, + -0.0022350363433361053, + 0.0017641447484493256, + -0.003124609589576721, + 0.0023789405822753906, + 1.0 + ], + [ + -0.0038938820362091064, + -0.0013327505439519882, + -0.0006186738610267639, + -0.009201735258102417, + 0.0005525127053260803, + -0.008091390132904053, + 1.0 + ], + [ + 0.0018982291221618652, + 0.004678203724324703, + 0.03192863240838051, + -0.0132114477455616, + -0.07703740149736404, + -0.026617035269737244, + 1.0 + ], + [ + -0.011806875467300415, + 0.010055378079414368, + 0.025185924023389816, + -0.013418428599834442, + -0.0463838130235672, + 0.01687982678413391, + 1.0 + ], + [ + -0.008569151163101196, + -0.0010313019156455994, + 0.0028692856431007385, + -0.009184855967760086, + 0.0074014365673065186, + 0.004879266023635864, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9255412817001343 + ], + [ + 0.6781873106956482 + ], + [ + 0.40239205956459045 + ], + [ + 0.33639705181121826 + ], + [ + 0.33639705181121826 + ], + [ + 0.33639705181121826 + ], + [ + 0.33639705181121826 + ], + [ + 0.33639705181121826 + ], + [ + 0.33639705181121826 + ], + [ + 0.4077054560184479 + ], + [ + 0.7368898391723633 + ], + [ + 0.9809558987617493 + ], + [ + 1.0073583126068115 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2711580693721771, + 0.08848301321268082, + 0.06274431943893433 + ], + [ + 0.27457281947135925, + 0.08412228524684906, + 0.06278149038553238 + ], + [ + 0.27987369894981384, + 0.09154242277145386, + 0.06572398543357849 + ], + [ + 0.3050999343395233, + 0.10518709570169449, + 0.06137186661362648 + ], + [ + 0.33620113134384155, + 0.1265498399734497, + 0.05453326925635338 + ], + [ + 0.36163780093193054, + 0.14141929149627686, + 0.03656625375151634 + ], + [ + 0.372623473405838, + 0.14605754613876343, + 0.016810007393360138 + ], + [ + 0.38200056552886963, + 0.145799458026886, + 0.008849311619997025 + ], + [ + 0.3850478231906891, + 0.14537614583969116, + 0.0056987483985722065 + ], + [ + 0.38357803225517273, + 0.14592787623405457, + 0.0037536099553108215 + ], + [ + 0.38311195373535156, + 0.13795018196105957, + 0.006046083755791187 + ], + [ + 0.3839315176010132, + 0.1281648427248001, + 0.010127735324203968 + ], + [ + 0.3927402198314667, + 0.09575045108795166, + 0.0295485258102417 + ], + [ + 0.3982310891151428, + 0.05367966741323471, + 0.04183891788125038 + ], + [ + 0.3972213864326477, + 0.016935795545578003, + 0.035328760743141174 + ], + [ + 0.3966555893421173, + -0.005242106504738331, + 0.030032558366656303 + ], + [ + 0.39187243580818176, + -0.016960762441158295, + 0.021446194499731064 + ], + [ + 0.3908816874027252, + -0.01896861381828785, + 0.01921115815639496 + ], + [ + 0.3869878053665161, + -0.020301364362239838, + 0.018592484295368195 + ], + [ + 0.388886034488678, + -0.015623160637915134, + 0.0505211167037487 + ], + [ + 0.37707915902137756, + -0.005567782558500767, + 0.07570704072713852 + ], + [ + 0.36851000785827637, + -0.006599084474146366, + 0.07857632637023926 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9960699530142143, + -0.02865607188767333, + 0.08380619455761731, + -0.03003490928762577, + -0.9994326897995862, + 0.0152382014702498, + 0.0833219834518166, + -0.017695426073772006, + -0.9963655548892297 + ], + [ + 0.9927865163830898, + -0.05322791721598788, + 0.1074324053383205, + -0.0519856172505232, + -0.9985449690715649, + -0.01433319018746379, + 0.10803901372657639, + 0.008644858050647467, + -0.9941090674278518 + ], + [ + 0.9909677882267721, + -0.05588803034448788, + 0.12189901870463495, + -0.05359628492522565, + -0.998320275265433, + -0.022001505315869172, + 0.12292388270451503, + 0.01526944852192742, + -0.9922986259199813 + ], + [ + 0.9871463882315767, + -0.11400990246667178, + 0.11199888544487366, + -0.10764854182920156, + -0.9922966967849531, + -0.06131114900014619, + 0.11812620218817071, + 0.048466562589185906, + -0.9918151000400168 + ], + [ + 0.9794658068575426, + -0.16344852975579965, + 0.1180309760934417, + -0.1563084003247937, + -0.9854011308074312, + -0.06747070024343982, + 0.12733584406916681, + 0.04763601079124434, + -0.9907150918862039 + ], + [ + 0.9741598444349386, + -0.19645229523468546, + 0.11144098522321011, + -0.19147924314165285, + -0.980020839391772, + -0.053803845622279266, + 0.1197843768460459, + 0.031074910375900634, + -0.9923134852498648 + ], + [ + 0.9693589119157575, + -0.239284536975634, + 0.055553670030477974, + -0.23846609380973222, + -0.9709233267556613, + -0.021019411619916994, + 0.058967974296450044, + 0.007127687288029301, + -0.9982344284191451 + ], + [ + 0.9658048043393208, + -0.25536182210300057, + 0.044848854247595875, + -0.2555822869581756, + -0.966786936960222, + -0.0008444621370933087, + 0.04357492981423378, + -0.01064698714696707, + -0.99899342698357 + ], + [ + 0.9663264767606136, + -0.2544647995502617, + 0.03822049321064434, + -0.25506500106774044, + -0.9668535327873624, + 0.011665820455950129, + 0.033985078221674195, + -0.02102170132130275, + -0.999201232250954 + ], + [ + 0.9670297939362499, + -0.2530284362765656, + 0.028809513620510197, + -0.25362401926340855, + -0.9671106972061383, + 0.019280980320810027, + 0.022983352503247557, + -0.02595206706397952, + -0.9993989472291925 + ], + [ + 0.967654816142038, + -0.24832836756173243, + 0.04446547718448241, + -0.2494397835435313, + -0.9681538351953709, + 0.02139966780702053, + 0.037735277697068144, + -0.03179895062136026, + -0.9987816956455026 + ], + [ + 0.9787139363936831, + -0.19831488004974784, + 0.052822713482319754, + -0.1984637994278285, + -0.9801051219765774, + -0.0024637759534177953, + 0.05226041547339432, + -0.008072064552027131, + -0.9986008665870543 + ], + [ + 0.9838341748437893, + -0.15653827365837794, + 0.0869832471772296, + -0.153396465532762, + -0.9872827047005167, + -0.04174188976661746, + 0.09241125890007343, + 0.027724174997410887, + -0.9953348830163727 + ], + [ + 0.985576268887608, + -0.13130262744784116, + 0.10676627852873116, + -0.12370795270125139, + -0.98948665176697, + -0.07491667647096775, + 0.11548056392331188, + 0.060628260739395555, + -0.9914577415884498 + ], + [ + 0.9802228175011751, + -0.17580801505686516, + 0.09085576421902683, + -0.1700654695690056, + -0.983114743202144, + -0.067551001168425, + 0.10119764873914786, + 0.05076360448537905, + -0.9935703761431902 + ], + [ + 0.9739735443038737, + -0.20435609498909135, + 0.09805162638610054, + -0.2031742645635638, + -0.9788954622616148, + -0.021997549469752235, + 0.10047762544569297, + 0.0015034641427970775, + -0.9949381821904144 + ], + [ + 0.9744006178863976, + -0.20008129923057402, + 0.10252272704533379, + -0.20315247721137722, + -0.9789358629423708, + 0.020338319698456134, + 0.09629385684189508, + -0.04064541725067217, + -0.9945227213045619 + ], + [ + 0.9745816969930252, + -0.19744108003650884, + 0.10586564976521938, + -0.20077217392533242, + -0.9793979671922717, + 0.021683081813758068, + 0.09940347108371649, + -0.04238681131747189, + -0.9941440077588588 + ], + [ + 0.9729788378396619, + -0.20634420000510353, + 0.10360623649392314, + -0.20866272097169256, + -0.9779147363982565, + 0.011943082174128676, + 0.09885367971335449, + -0.03323912543046598, + -0.994546685956847 + ], + [ + 0.9568189223135826, + -0.23215202114385103, + 0.17493710007171082, + -0.23199539803604713, + -0.9724762555794585, + -0.02163487056240688, + 0.1751447549679147, + -0.019883948626492357, + -0.984341883389226 + ], + [ + 0.9516418450914922, + -0.21773626132091184, + 0.2167226780400521, + -0.2137999434234758, + -0.9759852467775861, + -0.04174185267346199, + 0.2206068513509475, + -0.006612002607836693, + -0.9753404013771475 + ], + [ + 0.9542424158884154, + -0.21493802147046576, + 0.20790155998886042, + -0.20949850585244206, + -0.9766248628112957, + -0.04810668752275431, + 0.21338178873801397, + 0.002350375540044046, + -0.9769660628546859 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006015.json b/json/chunk-0006/episode_0006015.json new file mode 100644 index 0000000000000000000000000000000000000000..5497785e7f8a6dbda5e1d8b4feeac3f42bfc27ed --- /dev/null +++ b/json/chunk-0006/episode_0006015.json @@ -0,0 +1,1282 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 20, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nTurn faucet front to left." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006015.mp4", + "start": 0, + "end": 20, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.29987022280693054, + -0.011183173395693302, + 0.10160690546035767, + 0.1234128549695015, + -0.11898337304592133, + 0.029621487483382225, + 0.0, + 1.0112061500549316 + ], + [ + 0.3001015782356262, + -0.014871709048748016, + 0.09179598838090897, + 0.12093119323253632, + -0.12611721456050873, + 0.033388156443834305, + 0.0, + 1.0112061500549316 + ], + [ + 0.30431729555130005, + -0.025771452113986015, + 0.09061214327812195, + 0.11245620995759964, + -0.1703692227602005, + 0.04715501144528389, + 0.0, + 1.0112061500549316 + ], + [ + 0.30146896839141846, + -0.040596894919872284, + 0.09175867587327957, + 0.1064082533121109, + -0.16576333343982697, + 0.06056664139032364, + 0.0, + 1.0118417739868164 + ], + [ + 0.302682101726532, + -0.05440026894211769, + 0.09659230709075928, + 0.08966885507106781, + -0.17538155615329742, + 0.0717858225107193, + 0.0, + 1.0112061500549316 + ], + [ + 0.30657732486724854, + -0.06527029722929001, + 0.10006563365459442, + 0.07846565544605255, + -0.19282236695289612, + 0.05754036083817482, + 0.0, + 1.0118417739868164 + ], + [ + 0.3137218654155731, + -0.06979115307331085, + 0.10015570372343063, + 0.08886418491601944, + -0.21649067103862762, + 0.03456016629934311, + 0.0, + 1.0112061500549316 + ], + [ + 0.32580894231796265, + -0.07577578723430634, + 0.10716389119625092, + 0.09327735006809235, + -0.2699747383594513, + 0.007741091772913933, + 0.0, + 1.0112061500549316 + ], + [ + 0.33178314566612244, + -0.07761048525571823, + 0.10849986970424652, + 0.10122840106487274, + -0.2794438302516937, + -0.03440764918923378, + 0.0, + 1.0112061500549316 + ], + [ + 0.33638036251068115, + -0.07332085072994232, + 0.10975092649459839, + 0.10801990330219269, + -0.2775844931602478, + -0.07534994930028915, + 0.0, + 1.0112061500549316 + ], + [ + 0.3401625454425812, + -0.0652843490242958, + 0.1105426475405693, + 0.11628289520740509, + -0.2700291574001312, + -0.10671939700841904, + 0.0, + 1.0112061500549316 + ], + [ + 0.3412950336933136, + -0.05491134896874428, + 0.11179696768522263, + 0.12292372435331345, + -0.25403517484664917, + -0.12642022967338562, + 0.0, + 1.0112061500549316 + ], + [ + 0.3427587151527405, + -0.04684372991323471, + 0.11312124878168106, + 0.13493411242961884, + -0.24515245854854584, + -0.15701760351657867, + 0.0, + 1.0118417739868164 + ], + [ + 0.34762105345726013, + -0.0336889810860157, + 0.11728769540786743, + 0.12689870595932007, + -0.23186029493808746, + -0.18640482425689697, + 0.0, + 1.0112061500549316 + ], + [ + 0.35288459062576294, + -0.018091298639774323, + 0.11807801574468613, + 0.11413958668708801, + -0.2127106785774231, + -0.21255309879779816, + 0.0, + 1.0112061500549316 + ], + [ + 0.35576725006103516, + -0.008876277133822441, + 0.11946602165699005, + 0.12357279658317566, + -0.20962965488433838, + -0.23911942541599274, + 0.0, + 1.0112061500549316 + ], + [ + 0.3568458557128906, + -0.003380765672773123, + 0.11636348068714142, + 0.12717857956886292, + -0.20277346670627594, + -0.25684139132499695, + 0.0, + 1.0112061500549316 + ], + [ + 0.3603799045085907, + 0.0015120309544727206, + 0.11277411878108978, + 0.1268545389175415, + -0.20735935866832733, + -0.2766602337360382, + 0.0, + 1.0112061500549316 + ], + [ + 0.365578830242157, + 0.00913851335644722, + 0.11066724359989166, + 0.137641042470932, + -0.20912997424602509, + -0.2999396026134491, + 0.0, + 1.0112061500549316 + ], + [ + 0.36866137385368347, + 0.015347045846283436, + 0.11158021539449692, + 0.1520797610282898, + -0.2114804983139038, + -0.3236730992794037, + 0.0, + 1.0112061500549316 + ] + ], + "left_gripper_pos": [ + [ + 1.0112061500549316 + ], + [ + 1.0112061500549316 + ], + [ + 1.0112061500549316 + ], + [ + 1.0118417739868164 + ], + [ + 1.0112061500549316 + ], + [ + 1.0118417739868164 + ], + [ + 1.0112061500549316 + ], + [ + 1.0112061500549316 + ], + [ + 1.0112061500549316 + ], + [ + 1.0112061500549316 + ], + [ + 1.0112061500549316 + ], + [ + 1.0112061500549316 + ], + [ + 1.0118417739868164 + ], + [ + 1.0112061500549316 + ], + [ + 1.0112061500549316 + ], + [ + 1.0112061500549316 + ], + [ + 1.0112061500549316 + ], + [ + 1.0112061500549316 + ], + [ + 1.0112061500549316 + ], + [ + 1.0112061500549316 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.29987022280693054, + -0.011183173395693302, + 0.10160690546035767 + ], + [ + 0.3001015782356262, + -0.014871709048748016, + 0.09179598838090897 + ], + [ + 0.30431729555130005, + -0.025771452113986015, + 0.09061214327812195 + ], + [ + 0.30146896839141846, + -0.040596894919872284, + 0.09175867587327957 + ], + [ + 0.302682101726532, + -0.05440026894211769, + 0.09659230709075928 + ], + [ + 0.30657732486724854, + -0.06527029722929001, + 0.10006563365459442 + ], + [ + 0.3137218654155731, + -0.06979115307331085, + 0.10015570372343063 + ], + [ + 0.32580894231796265, + -0.07577578723430634, + 0.10716389119625092 + ], + [ + 0.33178314566612244, + -0.07761048525571823, + 0.10849986970424652 + ], + [ + 0.33638036251068115, + -0.07332085072994232, + 0.10975092649459839 + ], + [ + 0.3401625454425812, + -0.0652843490242958, + 0.1105426475405693 + ], + [ + 0.3412950336933136, + -0.05491134896874428, + 0.11179696768522263 + ], + [ + 0.3427587151527405, + -0.04684372991323471, + 0.11312124878168106 + ], + [ + 0.34762105345726013, + -0.0336889810860157, + 0.11728769540786743 + ], + [ + 0.35288459062576294, + -0.018091298639774323, + 0.11807801574468613 + ], + [ + 0.35576725006103516, + -0.008876277133822441, + 0.11946602165699005 + ], + [ + 0.3568458557128906, + -0.003380765672773123, + 0.11636348068714142 + ], + [ + 0.3603799045085907, + 0.0015120309544727206, + 0.11277411878108978 + ], + [ + 0.365578830242157, + 0.00913851335644722, + 0.11066724359989166 + ], + [ + 0.36866137385368347, + 0.015347045846283436, + 0.11158021539449692 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9924942428317785, + 0.04399778272194607, + 0.11410246737615891, + 0.02940775740210735, + -0.9915261720023018, + 0.1265347147586027, + 0.11870282958023277, + -0.12222947823669449, + -0.9853778934498337 + ], + [ + 0.9915048533687436, + 0.048303757483210655, + 0.12076784654546886, + 0.03311682594395164, + -0.991636928150932, + 0.1247376389338113, + 0.12578315302783896, + -0.11967852664695967, + -0.9848124941703312 + ], + [ + 0.9844267355677456, + 0.06584500772893233, + 0.162998273784137, + 0.04645509152610576, + -0.9916820352544286, + 0.12003610050703604, + 0.16954623785484824, + -0.11059464684518398, + -0.9792971445472799 + ], + [ + 0.9844842239804469, + 0.0776799336885135, + 0.1573424311359318, + 0.059699920238487164, + -0.9914599843151588, + 0.11594403402203748, + 0.1650052491805505, + -0.1047517417704033, + -0.9807141991115104 + ], + [ + 0.9821240473434725, + 0.0870205952848003, + 0.16691246695784934, + 0.07062393743636261, + -0.9922966158850645, + 0.1017825405658208, + 0.17448385338093864, + -0.08817506506562502, + -0.9807041056353396 + ], + [ + 0.9798429770964011, + 0.07232773606618285, + 0.18621610787040518, + 0.056442824273659056, + -0.9944094192103341, + 0.08924188799985774, + 0.1916297153963201, + -0.07693247416603019, + -0.978447467468652 + ], + [ + 0.9760740738602947, + 0.05346879081600271, + 0.21076169183806373, + 0.033746719134146494, + -0.9948006918821094, + 0.0960871603210215, + 0.21480354113805813, + -0.08667567040151004, + -0.9728035602705202 + ], + [ + 0.9637487573289506, + 0.03254828942129771, + 0.26481869571963984, + 0.007460616601688267, + -0.9954306897150385, + 0.09519496401262825, + 0.26670709016977107, + -0.08976831751342126, + -0.9595879205283815 + ], + [ + 0.9606400653586232, + -0.0063679848561817975, + 0.27772308797910794, + -0.03306641635535215, + -0.9952507887382732, + 0.09155588252679021, + 0.27582109588861103, + -0.09713555623311347, + -0.9562883491803552 + ], + [ + 0.9589913260062647, + -0.045380206584877035, + 0.2797789725748878, + -0.07239701380339383, + -0.993574592087426, + 0.08699541568758629, + 0.27403340861489345, + -0.10368301118610809, + -0.9561148069945805 + ], + [ + 0.9582801621313348, + -0.07502397008692513, + 0.2758088736388641, + -0.10265709887508209, + -0.9908927352028066, + 0.08713843797574174, + 0.26675953762910587, + -0.11181677528303495, + -0.9572545940601219 + ], + [ + 0.9601819390709636, + -0.09456386140122484, + 0.2628846134691305, + -0.12203725116871621, + -0.9884194030378621, + 0.09018865242068803, + 0.25131166548552397, + -0.11867923076581656, + -0.9606027727295637 + ], + [ + 0.9581662005373598, + -0.1227036622999739, + 0.2585756048160264, + -0.15169769281552695, + -0.9838256138376998, + 0.09526264509932084, + 0.24270422769751238, + -0.13050276937692587, + -0.9612823128731263 + ], + [ + 0.956381029795493, + -0.15525914645707156, + 0.24744680900899477, + -0.18036796039338632, + -0.9801649411135558, + 0.08212239082850477, + 0.22978843467599094, + -0.12317177295663755, + -0.9654149313305013 + ], + [ + 0.9554649639758442, + -0.18608090656492682, + 0.22904278820040122, + -0.20620174951151865, + -0.9762072677960555, + 0.0670835956143501, + 0.21111025818995102, + -0.11132504890695405, + -0.9711020504420927 + ], + [ + 0.9502778564421351, + -0.210121143374133, + 0.22982841569938295, + -0.23166215175351634, + -0.9702135593325601, + 0.07083993740945879, + 0.20809767658643402, + -0.12056016918697618, + -0.9706495776566001 + ], + [ + 0.9473810499602743, + -0.22727002260647114, + 0.22542733419135966, + -0.24882227596746745, + -0.9658744282288612, + 0.07193096604342611, + 0.20138674524044112, + -0.12423737649365085, + -0.9716009742293578 + ], + [ + 0.9413656266630571, + -0.24589370681753292, + 0.2310130773025692, + -0.2672931055070033, + -0.9613577681779113, + 0.0659214480454364, + 0.20587654719683746, + -0.12380438809476155, + -0.9707148504080845 + ], + [ + 0.9345389897999442, + -0.26545452850280965, + 0.23700373381246692, + -0.2890249426237849, + -0.9547353504060981, + 0.07032064580379443, + 0.20760890897313988, + -0.1342173758583288, + -0.9689603897645592 + ], + [ + 0.9269516588456264, + -0.2842316226577639, + 0.24489386853222062, + -0.31096527645833827, + -0.9472450128042224, + 0.07763686337506416, + 0.20990764397832518, + -0.14811910882416085, + -0.9664365010700938 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + 0.0002313554286956787, + -0.003688535653054714, + -0.0098109170794487, + -0.0024816617369651794, + -0.007133841514587402, + 0.0037666689604520798, + 1.0 + ], + [ + 0.004215717315673828, + -0.010899743065237999, + -0.0011838451027870178, + -0.008474983274936676, + -0.04425200819969177, + 0.013766855001449585, + 1.0 + ], + [ + -0.002848327159881592, + -0.014825442805886269, + 0.0011465325951576233, + -0.006047956645488739, + 0.004605889320373535, + 0.01341162994503975, + 1.0 + ], + [ + 0.0012131333351135254, + -0.013803374022245407, + 0.004833631217479706, + -0.01673939824104309, + -0.009618222713470459, + 0.01121918112039566, + 1.0 + ], + [ + 0.0038952231407165527, + -0.010870028287172318, + 0.003473326563835144, + -0.011203199625015259, + -0.017440810799598694, + -0.01424546167254448, + 1.0 + ], + [ + 0.007144540548324585, + -0.0045208558440208435, + 9.007006883621216e-05, + 0.010398529469966888, + -0.023668304085731506, + -0.02298019453883171, + 1.0 + ], + [ + 0.012087076902389526, + -0.005984634160995483, + 0.007008187472820282, + 0.0044131651520729065, + -0.05348406732082367, + -0.026819074526429176, + 1.0 + ], + [ + 0.00597420334815979, + -0.0018346980214118958, + 0.0013359785079956055, + 0.007951050996780396, + -0.009469091892242432, + -0.042148739099502563, + 1.0 + ], + [ + 0.004597216844558716, + 0.004289634525775909, + 0.0012510567903518677, + 0.006791502237319946, + 0.0018593370914459229, + -0.040942300111055374, + 1.0 + ], + [ + 0.0037821829319000244, + 0.008036501705646515, + 0.0007917210459709167, + 0.008262991905212402, + 0.007555335760116577, + -0.03136944770812988, + 1.0 + ], + [ + 0.0011324882507324219, + 0.010373000055551529, + 0.0012543201446533203, + 0.006640829145908356, + 0.015993982553482056, + -0.019700832664966583, + 1.0 + ], + [ + 0.0014636814594268799, + 0.008067619055509567, + 0.001324281096458435, + 0.01201038807630539, + 0.008882716298103333, + -0.030597373843193054, + 1.0 + ], + [ + 0.004862338304519653, + 0.01315474882721901, + 0.004166446626186371, + -0.008035406470298767, + 0.013292163610458374, + -0.0293872207403183, + 1.0 + ], + [ + 0.005263537168502808, + 0.015597682446241379, + 0.0007903203368186951, + -0.012759119272232056, + 0.019149616360664368, + -0.026148274540901184, + 1.0 + ], + [ + 0.002882659435272217, + 0.009215021505951881, + 0.0013880059123039246, + 0.009433209896087646, + 0.003081023693084717, + -0.02656632661819458, + 1.0 + ], + [ + 0.0010786056518554688, + 0.005495511461049318, + -0.003102540969848633, + 0.003605782985687256, + 0.006856188178062439, + -0.01772196590900421, + 1.0 + ], + [ + 0.0035340487957000732, + 0.004892796743661165, + -0.0035893619060516357, + -0.00032404065132141113, + -0.004585891962051392, + -0.01981884241104126, + 1.0 + ], + [ + 0.005198925733566284, + 0.007626482285559177, + -0.00210687518119812, + 0.010786503553390503, + -0.001770615577697754, + -0.02327936887741089, + 1.0 + ], + [ + 0.0030825436115264893, + 0.006208532489836216, + 0.0009129717946052551, + 0.014438718557357788, + -0.002350524067878723, + -0.02373349666595459, + 1.0 + ], + [ + 0.004022657871246338, + 0.00414643157273531, + -0.0011934712529182434, + 0.013640880584716797, + -0.00652901828289032, + -0.01633390784263611, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0112061500549316 + ], + [ + 1.0112061500549316 + ], + [ + 1.0118417739868164 + ], + [ + 1.0112061500549316 + ], + [ + 1.0118417739868164 + ], + [ + 1.0112061500549316 + ], + [ + 1.0112061500549316 + ], + [ + 1.0112061500549316 + ], + [ + 1.0112061500549316 + ], + [ + 1.0112061500549316 + ], + [ + 1.0112061500549316 + ], + [ + 1.0118417739868164 + ], + [ + 1.0112061500549316 + ], + [ + 1.0112061500549316 + ], + [ + 1.0112061500549316 + ], + [ + 1.0112061500549316 + ], + [ + 1.0112061500549316 + ], + [ + 1.0112061500549316 + ], + [ + 1.0112061500549316 + ], + [ + 1.0112061500549316 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3001015782356262, + -0.014871709048748016, + 0.09179598838090897 + ], + [ + 0.30431729555130005, + -0.025771452113986015, + 0.09061214327812195 + ], + [ + 0.30146896839141846, + -0.040596894919872284, + 0.09175867587327957 + ], + [ + 0.302682101726532, + -0.05440026894211769, + 0.09659230709075928 + ], + [ + 0.30657732486724854, + -0.06527029722929001, + 0.10006563365459442 + ], + [ + 0.3137218654155731, + -0.06979115307331085, + 0.10015570372343063 + ], + [ + 0.32580894231796265, + -0.07577578723430634, + 0.10716389119625092 + ], + [ + 0.33178314566612244, + -0.07761048525571823, + 0.10849986970424652 + ], + [ + 0.33638036251068115, + -0.07332085072994232, + 0.10975092649459839 + ], + [ + 0.3401625454425812, + -0.0652843490242958, + 0.1105426475405693 + ], + [ + 0.3412950336933136, + -0.05491134896874428, + 0.11179696768522263 + ], + [ + 0.3427587151527405, + -0.04684372991323471, + 0.11312124878168106 + ], + [ + 0.34762105345726013, + -0.0336889810860157, + 0.11728769540786743 + ], + [ + 0.35288459062576294, + -0.018091298639774323, + 0.11807801574468613 + ], + [ + 0.35576725006103516, + -0.008876277133822441, + 0.11946602165699005 + ], + [ + 0.3568458557128906, + -0.003380765672773123, + 0.11636348068714142 + ], + [ + 0.3603799045085907, + 0.0015120309544727206, + 0.11277411878108978 + ], + [ + 0.365578830242157, + 0.00913851335644722, + 0.11066724359989166 + ], + [ + 0.36866137385368347, + 0.015347045846283436, + 0.11158021539449692 + ], + [ + 0.3726840317249298, + 0.019493477419018745, + 0.11038674414157867 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9915048533687436, + 0.048303757483210655, + 0.12076784654546886, + 0.03311682594395164, + -0.991636928150932, + 0.1247376389338113, + 0.12578315302783896, + -0.11967852664695967, + -0.9848124941703312 + ], + [ + 0.9844267355677456, + 0.06584500772893233, + 0.162998273784137, + 0.04645509152610576, + -0.9916820352544286, + 0.12003610050703604, + 0.16954623785484824, + -0.11059464684518398, + -0.9792971445472799 + ], + [ + 0.9844842239804469, + 0.0776799336885135, + 0.1573424311359318, + 0.059699920238487164, + -0.9914599843151588, + 0.11594403402203748, + 0.1650052491805505, + -0.1047517417704033, + -0.9807141991115104 + ], + [ + 0.9821240473434725, + 0.0870205952848003, + 0.16691246695784934, + 0.07062393743636261, + -0.9922966158850645, + 0.1017825405658208, + 0.17448385338093864, + -0.08817506506562502, + -0.9807041056353396 + ], + [ + 0.9798429770964011, + 0.07232773606618285, + 0.18621610787040518, + 0.056442824273659056, + -0.9944094192103341, + 0.08924188799985774, + 0.1916297153963201, + -0.07693247416603019, + -0.978447467468652 + ], + [ + 0.9760740738602947, + 0.05346879081600271, + 0.21076169183806373, + 0.033746719134146494, + -0.9948006918821094, + 0.0960871603210215, + 0.21480354113805813, + -0.08667567040151004, + -0.9728035602705202 + ], + [ + 0.9637487573289506, + 0.03254828942129771, + 0.26481869571963984, + 0.007460616601688267, + -0.9954306897150385, + 0.09519496401262825, + 0.26670709016977107, + -0.08976831751342126, + -0.9595879205283815 + ], + [ + 0.9606400653586232, + -0.0063679848561817975, + 0.27772308797910794, + -0.03306641635535215, + -0.9952507887382732, + 0.09155588252679021, + 0.27582109588861103, + -0.09713555623311347, + -0.9562883491803552 + ], + [ + 0.9589913260062647, + -0.045380206584877035, + 0.2797789725748878, + -0.07239701380339383, + -0.993574592087426, + 0.08699541568758629, + 0.27403340861489345, + -0.10368301118610809, + -0.9561148069945805 + ], + [ + 0.9582801621313348, + -0.07502397008692513, + 0.2758088736388641, + -0.10265709887508209, + -0.9908927352028066, + 0.08713843797574174, + 0.26675953762910587, + -0.11181677528303495, + -0.9572545940601219 + ], + [ + 0.9601819390709636, + -0.09456386140122484, + 0.2628846134691305, + -0.12203725116871621, + -0.9884194030378621, + 0.09018865242068803, + 0.25131166548552397, + -0.11867923076581656, + -0.9606027727295637 + ], + [ + 0.9581662005373598, + -0.1227036622999739, + 0.2585756048160264, + -0.15169769281552695, + -0.9838256138376998, + 0.09526264509932084, + 0.24270422769751238, + -0.13050276937692587, + -0.9612823128731263 + ], + [ + 0.956381029795493, + -0.15525914645707156, + 0.24744680900899477, + -0.18036796039338632, + -0.9801649411135558, + 0.08212239082850477, + 0.22978843467599094, + -0.12317177295663755, + -0.9654149313305013 + ], + [ + 0.9554649639758442, + -0.18608090656492682, + 0.22904278820040122, + -0.20620174951151865, + -0.9762072677960555, + 0.0670835956143501, + 0.21111025818995102, + -0.11132504890695405, + -0.9711020504420927 + ], + [ + 0.9502778564421351, + -0.210121143374133, + 0.22982841569938295, + -0.23166215175351634, + -0.9702135593325601, + 0.07083993740945879, + 0.20809767658643402, + -0.12056016918697618, + -0.9706495776566001 + ], + [ + 0.9473810499602743, + -0.22727002260647114, + 0.22542733419135966, + -0.24882227596746745, + -0.9658744282288612, + 0.07193096604342611, + 0.20138674524044112, + -0.12423737649365085, + -0.9716009742293578 + ], + [ + 0.9413656266630571, + -0.24589370681753292, + 0.2310130773025692, + -0.2672931055070033, + -0.9613577681779113, + 0.0659214480454364, + 0.20587654719683746, + -0.12380438809476155, + -0.9707148504080845 + ], + [ + 0.9345389897999442, + -0.26545452850280965, + 0.23700373381246692, + -0.2890249426237849, + -0.9547353504060981, + 0.07032064580379443, + 0.20760890897313988, + -0.1342173758583288, + -0.9689603897645592 + ], + [ + 0.9269516588456264, + -0.2842316226577639, + 0.24489386853222062, + -0.31096527645833827, + -0.9472450128042224, + 0.07763686337506416, + 0.20990764397832518, + -0.14811910882416085, + -0.9664365010700938 + ], + [ + 0.9204372851487455, + -0.29528797264814227, + 0.25612539373782767, + -0.3255998683527694, + -0.9417352013860334, + 0.08437734411005579, + 0.21628668437207715, + -0.16105844802355912, + -0.9629539171131588 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006016.json b/json/chunk-0006/episode_0006016.json new file mode 100644 index 0000000000000000000000000000000000000000..9c380a25b831ac69e1998cc319adeae444055fca --- /dev/null +++ b/json/chunk-0006/episode_0006016.json @@ -0,0 +1,1762 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 28, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nFold cloth from top right to bottom left." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006016.mp4", + "start": 0, + "end": 28, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.23359285295009613, + 0.22099286317825317, + 0.05295644700527191, + 0.05517056956887245, + -0.23041068017482758, + 0.4138505160808563, + 0.0, + 1.0008161067962646 + ], + [ + 0.2321612685918808, + 0.21868063509464264, + 0.045470256358385086, + 0.04713049903512001, + -0.20692282915115356, + 0.4181922674179077, + 0.0, + 1.0008161067962646 + ], + [ + 0.25852516293525696, + 0.1867648959159851, + 0.04546526446938515, + 0.0421874113380909, + -0.2078196257352829, + 0.3163929879665375, + 0.0, + 1.0008161067962646 + ], + [ + 0.2897346019744873, + 0.14304597675800323, + 0.053997598588466644, + 0.05239483341574669, + -0.24396084249019623, + 0.17757047712802887, + 0.0, + 1.0008161067962646 + ], + [ + 0.31327328085899353, + 0.09715162217617035, + 0.057278651744127274, + 0.038228839635849, + -0.2836209833621979, + 0.0678982362151146, + 0.0, + 1.0008161067962646 + ], + [ + 0.3363896310329437, + 0.048684410750865936, + 0.06533245742321014, + 0.01095513440668583, + -0.2825198173522949, + -0.0429864302277565, + 0.0, + 1.0008161067962646 + ], + [ + 0.36085745692253113, + 0.012143700383603573, + 0.06661586463451385, + 0.01144671905785799, + -0.2573549151420593, + -0.1343560367822647, + 0.0, + 1.0008161067962646 + ], + [ + 0.3889785706996918, + -0.024670034646987915, + 0.054124146699905396, + 0.017717799171805382, + -0.22396062314510345, + -0.20904341340065002, + 0.0, + 1.0008161067962646 + ], + [ + 0.40603771805763245, + -0.042675767093896866, + 0.05095214396715164, + 0.012350345030426979, + -0.21210667490959167, + -0.236759215593338, + 0.0, + 1.0008161067962646 + ], + [ + 0.4052126705646515, + -0.04409193992614746, + 0.042710307985544205, + -0.01423707790672779, + -0.23602187633514404, + -0.1496380716562271, + 0.0, + 1.0008161067962646 + ], + [ + 0.40246060490608215, + -0.047169119119644165, + 0.032550133764743805, + -0.053053367882966995, + -0.26001209020614624, + -0.06210343912243843, + 0.0, + 1.0008161067962646 + ], + [ + 0.40660715103149414, + -0.051312826573848724, + 0.03410343453288078, + -0.07267536222934723, + -0.28440341353416443, + 0.008147500455379486, + 0.0, + 1.0008161067962646 + ], + [ + 0.4127306342124939, + -0.06892628967761993, + 0.02479422092437744, + -0.06449688225984573, + -0.27472245693206787, + -0.008253437466919422, + 0.0, + 1.0008161067962646 + ], + [ + 0.41804924607276917, + -0.0770845115184784, + 0.027492955327033997, + -0.027067076414823532, + -0.27365928888320923, + -0.03986306115984917, + 0.0, + 1.0008161067962646 + ], + [ + 0.4180319309234619, + -0.08845140039920807, + 0.02135779894888401, + -0.006697787903249264, + -0.26637524366378784, + -0.06844428926706314, + 0.0, + 1.0008161067962646 + ], + [ + 0.41832515597343445, + -0.09375113993883133, + 0.017954804003238678, + -0.028352832421660423, + -0.2685896158218384, + -0.09610321372747421, + 0.0, + 0.9723638892173767 + ], + [ + 0.4198942184448242, + -0.09025616943836212, + 0.01447381917387247, + -0.04264372959733009, + -0.26859933137893677, + -0.0944867804646492, + 0.0, + 0.6951970458030701 + ], + [ + 0.419837087392807, + -0.0889069065451622, + 0.0138887669891119, + -0.05660146474838257, + -0.2677246928215027, + -0.0952860414981842, + 0.0, + 0.39273425936698914 + ], + [ + 0.414172887802124, + -0.08235815167427063, + 0.011998968198895454, + -0.061144739389419556, + -0.28446996212005615, + -0.08296369016170502, + 0.0, + 0.19029754400253296 + ], + [ + 0.39935341477394104, + -0.0697946846485138, + 0.03273719176650047, + -0.017924008890986443, + -0.31109383702278137, + -0.03325626999139786, + 0.0, + 0.08055824041366577 + ], + [ + 0.38439279794692993, + -0.04092642664909363, + 0.07501653581857681, + -0.06383078545331955, + -0.42075690627098083, + 0.07817373424768448, + 0.0, + 0.061516307294368744 + ], + [ + 0.37323975563049316, + 0.018712269142270088, + 0.08745265007019043, + -0.17529767751693726, + -0.4693511128425598, + 0.30017563700675964, + 0.0, + 0.061516307294368744 + ], + [ + 0.3703671991825104, + 0.06695345044136047, + 0.0830092504620552, + -0.2650601863861084, + -0.4814423620700836, + 0.4482601583003998, + 0.0, + 0.061516307294368744 + ], + [ + 0.3583486080169678, + 0.11775082349777222, + 0.05144234746694565, + -0.3097769021987915, + -0.39997369050979614, + 0.5527918934822083, + 0.0, + 0.07854863256216049 + ], + [ + 0.3488357663154602, + 0.16251860558986664, + 0.029033999890089035, + -0.315676212310791, + -0.3592820167541504, + 0.5908975601196289, + 0.0, + 0.22681957483291626 + ], + [ + 0.3379511833190918, + 0.1940658688545227, + 0.034896370023489, + -0.21946969628334045, + -0.36358940601348877, + 0.5295296907424927, + 0.0, + 0.47187528014183044 + ], + [ + 0.3271161913871765, + 0.20400187373161316, + 0.03397515416145325, + -0.08576727658510208, + -0.32279884815216064, + 0.40548941493034363, + 0.0, + 0.7749528288841248 + ], + [ + 0.3247852325439453, + 0.2055899202823639, + 0.03656690940260887, + -0.02772555500268936, + -0.2879871726036072, + 0.32973891496658325, + 0.0, + 0.9941151142120361 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9723638892173767 + ], + [ + 0.6951970458030701 + ], + [ + 0.39273425936698914 + ], + [ + 0.19029754400253296 + ], + [ + 0.08055824041366577 + ], + [ + 0.061516307294368744 + ], + [ + 0.061516307294368744 + ], + [ + 0.061516307294368744 + ], + [ + 0.07854863256216049 + ], + [ + 0.22681957483291626 + ], + [ + 0.47187528014183044 + ], + [ + 0.7749528288841248 + ], + [ + 0.9941151142120361 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.23359285295009613, + 0.22099286317825317, + 0.05295644700527191 + ], + [ + 0.2321612685918808, + 0.21868063509464264, + 0.045470256358385086 + ], + [ + 0.25852516293525696, + 0.1867648959159851, + 0.04546526446938515 + ], + [ + 0.2897346019744873, + 0.14304597675800323, + 0.053997598588466644 + ], + [ + 0.31327328085899353, + 0.09715162217617035, + 0.057278651744127274 + ], + [ + 0.3363896310329437, + 0.048684410750865936, + 0.06533245742321014 + ], + [ + 0.36085745692253113, + 0.012143700383603573, + 0.06661586463451385 + ], + [ + 0.3889785706996918, + -0.024670034646987915, + 0.054124146699905396 + ], + [ + 0.40603771805763245, + -0.042675767093896866, + 0.05095214396715164 + ], + [ + 0.4052126705646515, + -0.04409193992614746, + 0.042710307985544205 + ], + [ + 0.40246060490608215, + -0.047169119119644165, + 0.032550133764743805 + ], + [ + 0.40660715103149414, + -0.051312826573848724, + 0.03410343453288078 + ], + [ + 0.4127306342124939, + -0.06892628967761993, + 0.02479422092437744 + ], + [ + 0.41804924607276917, + -0.0770845115184784, + 0.027492955327033997 + ], + [ + 0.4180319309234619, + -0.08845140039920807, + 0.02135779894888401 + ], + [ + 0.41832515597343445, + -0.09375113993883133, + 0.017954804003238678 + ], + [ + 0.4198942184448242, + -0.09025616943836212, + 0.01447381917387247 + ], + [ + 0.419837087392807, + -0.0889069065451622, + 0.0138887669891119 + ], + [ + 0.414172887802124, + -0.08235815167427063, + 0.011998968198895454 + ], + [ + 0.39935341477394104, + -0.0697946846485138, + 0.03273719176650047 + ], + [ + 0.38439279794692993, + -0.04092642664909363, + 0.07501653581857681 + ], + [ + 0.37323975563049316, + 0.018712269142270088, + 0.08745265007019043 + ], + [ + 0.3703671991825104, + 0.06695345044136047, + 0.0830092504620552 + ], + [ + 0.3583486080169678, + 0.11775082349777222, + 0.05144234746694565 + ], + [ + 0.3488357663154602, + 0.16251860558986664, + 0.029033999890089035 + ], + [ + 0.3379511833190918, + 0.1940658688545227, + 0.034896370023489 + ], + [ + 0.3271161913871765, + 0.20400187373161316, + 0.03397515416145325 + ], + [ + 0.3247852325439453, + 0.2055899202823639, + 0.03656690940260887 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8913828787378556, + 0.4130560765701701, + 0.1866045045047711, + 0.39151033251179307, + -0.9091218644978774, + 0.14218683141700666, + 0.22837736978413306, + -0.05368531550024427, + -0.9720913865836486 + ], + [ + 0.8943306356155513, + 0.4145034328717925, + 0.1684031423013943, + 0.39744594477778705, + -0.9088789546199544, + 0.12639528008842482, + 0.20544934942505044, + -0.04610802518476082, + -0.9775810016742271 + ], + [ + 0.9299150109353911, + 0.31913367164796635, + 0.18278887290401108, + 0.30444583972576544, + -0.9468108043270974, + 0.10422107024564566, + 0.2063269325868639, + -0.04126742577338989, + -0.9776124981092114 + ], + [ + 0.9551302137329626, + 0.18884754407813684, + 0.2281729166883776, + 0.1714083002893859, + -0.980690533366225, + 0.09415557528777932, + 0.2415480685212135, + -0.05082010292714026, + -0.969057195284234 + ], + [ + 0.9578363173716675, + 0.07846697933489966, + 0.27639197216623185, + 0.06513552259743693, + -0.9962412289584363, + 0.0571032172416218, + 0.2798337949923873, + -0.036692599764005566, + -0.9593470176649936 + ], + [ + 0.9594688699484971, + -0.039919462897289516, + 0.27897298091705225, + -0.04126956452266229, + -0.9991475131634964, + -0.0010343999762102637, + 0.27877645281455155, + -0.010520618859786508, + -0.9602983942165807 + ], + [ + 0.9583511960269936, + -0.1310562645827252, + 0.2537464099987486, + -0.1295406779777533, + -0.9913131300097877, + -0.022748428940504703, + 0.2545234720466745, + -0.011069497902791096, + -0.9670032411494209 + ], + [ + 0.9537990477827422, + -0.20364252769156374, + 0.2209006504384372, + -0.202341413585624, + -0.9788929032137831, + -0.028751284942802355, + 0.22209306336962753, + -0.01727440167072199, + -0.974872435885851 + ], + [ + 0.9503179816095653, + -0.23200820176394582, + 0.2075281381976478, + -0.22929704633219544, + -0.972638900447846, + -0.03736888918520277, + 0.21051982893032387, + -0.012073261774066892, + -0.9775150320978608 + ], + [ + 0.961410810048322, + -0.1523569863156215, + 0.22907772271229448, + -0.1449471419566129, + -0.9882285922413687, + -0.04893440012151013, + 0.23383665315950547, + 0.013841900066973202, + -0.9721773611032593 + ], + [ + 0.9645238704053406, + -0.07558313226861177, + 0.2529444475270558, + -0.05997737695981025, + -0.9958217885267373, + -0.06885985585543473, + 0.257092235727419, + 0.05124603020601659, + -0.9650271637196548 + ], + [ + 0.9597973591966018, + -0.012247082242498451, + 0.2804265291583073, + 0.007820122459732445, + -0.9974931975094518, + -0.07032898838377254, + 0.28058488014136523, + 0.06969454712468905, + -0.9572955631032354 + ], + [ + 0.9624677443180716, + -0.025720161890346135, + 0.27017459987870335, + -0.00794384771873867, + -0.9977425021981671, + -0.06668429043457011, + 0.2712798120588861, + 0.06203525271710428, + -0.9604992925502966 + ], + [ + 0.9620235338056862, + -0.04714625269306385, + 0.26886418739025325, + -0.0383695289932316, + -0.9985480859783447, + -0.037808719018524055, + 0.27025635912750884, + 0.02605668524555479, + -0.9624357378574202 + ], + [ + 0.9624725809540565, + -0.07014828786526785, + 0.2621559623987388, + -0.0659788125044558, + -0.9975156472431415, + -0.024684606652702442, + 0.2632362574041412, + 0.006461517984830644, + -0.9647097602767335 + ], + [ + 0.9596972134141563, + -0.10340510658196063, + 0.2613209568669863, + -0.09251497940661306, + -0.9942637035975307, + -0.053671838928027724, + 0.2653718846270229, + 0.02733261131497597, + -0.9637586270473573 + ], + [ + 0.9598429370831466, + -0.10552343264728768, + 0.2599352636598813, + -0.09096332946883719, + -0.9935670148099702, + -0.06745561335832784, + 0.2653812518312898, + 0.04110221701973969, + -0.9632670444547139 + ], + [ + 0.9600006196726647, + -0.10988690368095888, + 0.2575338397716142, + -0.09175251394594994, + -0.9924457268498523, + -0.08144295821043403, + 0.26453787330493544, + 0.054555913124792535, + -0.9628309124298108 + ], + [ + 0.9565092607031522, + -0.09980420716459756, + 0.27409697995664906, + -0.07953810797326236, + -0.9932770023971725, + -0.08410996307763571, + 0.2806487547970652, + 0.05865080341422168, + -0.9580168890420061 + ], + [ + 0.9514729184552937, + -0.03872801371470914, + 0.3052858110031964, + -0.03165411072528391, + -0.9991041007723666, + -0.02808937688935592, + 0.3061001514543198, + 0.017062730542152883, + -0.9518463954368311 + ], + [ + 0.9099924024162941, + 0.051960591450684615, + 0.4113562014613565, + 0.07128276958196395, + -0.9969503865123726, + -0.03175993692618321, + 0.40845145893403995, + 0.05822391062892925, + -0.9109211721799688 + ], + [ + 0.8519819810601255, + 0.2158007393868428, + 0.47702908174340464, + 0.26371287807892085, + -0.9639692801128278, + -0.03491052755385977, + 0.4523076628625654, + 0.1555418524990896, + -0.8781938910268935 + ], + [ + 0.7987609713114028, + 0.308941202538314, + 0.5162714829271953, + 0.3841329735696662, + -0.9223034251063909, + -0.0424057856140722, + 0.4630580625863143, + 0.23218898641236402, + -0.8553744824710452 + ], + [ + 0.7838886519550801, + 0.39904751738950445, + 0.47568861685068775, + 0.48362258921644113, + -0.8728807724181131, + -0.06471745006057919, + 0.3893941095286788, + 0.28078503522807485, + -0.8772297255886486 + ], + [ + 0.7774169132186851, + 0.43892869156682596, + 0.45051586737979055, + 0.5215350870656549, + -0.8502188602562987, + -0.07161733466067868, + 0.3516021842949082, + 0.2906363593632325, + -0.8898912352726791 + ], + [ + 0.8066243410927739, + 0.4261895976788867, + 0.40953583382526715, + 0.4721054668709829, + -0.8814525205378104, + -0.012565117909190196, + 0.35563127042933007, + 0.2034794359827286, + -0.9122074975711234 + ], + [ + 0.8714489491048342, + 0.3680481826160883, + 0.32421792729131227, + 0.3740947395728106, + -0.9262510196560958, + 0.04595839868831198, + 0.3172220908575427, + 0.08123782283540945, + -0.9448653667125976 + ], + [ + 0.9071630485299946, + 0.31622207259237756, + 0.27759467607853655, + 0.3104612923564134, + -0.9483127576045239, + 0.06570159596911583, + 0.28402286761835244, + 0.026580341793973297, + -0.9584490054770589 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.001431584358215332, + -0.0023122280836105347, + -0.0074861906468868256, + -0.008040070533752441, + 0.02348785102367401, + 0.004341751337051392, + 1.0 + ], + [ + 0.02636389434337616, + -0.03191573917865753, + -4.991888999938965e-06, + -0.004943087697029114, + -0.0008967965841293335, + -0.10179927945137024, + 1.0 + ], + [ + 0.031209439039230347, + -0.04371891915798187, + 0.008532334119081497, + 0.010207422077655792, + -0.03614121675491333, + -0.1388225108385086, + 1.0 + ], + [ + 0.023538678884506226, + -0.045894354581832886, + 0.0032810531556606293, + -0.01416599377989769, + -0.03966014087200165, + -0.10967224091291428, + 1.0 + ], + [ + 0.023116350173950195, + -0.04846721142530441, + 0.00805380567908287, + -0.02727370522916317, + 0.001101166009902954, + -0.1108846664428711, + 1.0 + ], + [ + 0.024467825889587402, + -0.03654070943593979, + 0.001283407211303711, + 0.0004915846511721611, + 0.025164902210235596, + -0.09136960655450821, + 1.0 + ], + [ + 0.028121113777160645, + -0.03681373596191406, + -0.01249171793460846, + 0.0062710801139473915, + 0.03339429199695587, + -0.07468737661838531, + 1.0 + ], + [ + 0.017059147357940674, + -0.01800573244690895, + -0.0031720027327537537, + -0.005367454141378403, + 0.01185394823551178, + -0.02771580219268799, + 1.0 + ], + [ + -0.000825047492980957, + -0.001416172832250595, + -0.008241835981607437, + -0.02658742293715477, + -0.023915201425552368, + 0.0871211439371109, + 1.0 + ], + [ + -0.002752065658569336, + -0.003077179193496704, + -0.0101601742208004, + -0.038816288113594055, + -0.023990213871002197, + 0.08753463625907898, + 1.0 + ], + [ + 0.004146546125411987, + -0.004143707454204559, + 0.0015533007681369781, + -0.019621994346380234, + -0.02439132332801819, + 0.07025094330310822, + 1.0 + ], + [ + 0.006123483180999756, + -0.01761346310377121, + -0.009309213608503342, + 0.008178479969501495, + 0.009680956602096558, + -0.016400936990976334, + 1.0 + ], + [ + 0.0053186118602752686, + -0.00815822184085846, + 0.002698734402656555, + 0.0374298058450222, + 0.0010631680488586426, + -0.03160962462425232, + 1.0 + ], + [ + -1.7315149307250977e-05, + -0.011366888880729675, + -0.006135156378149986, + 0.020369287580251694, + 0.007284045219421387, + -0.028581228107213974, + 1.0 + ], + [ + 0.0002932250499725342, + -0.0052997395396232605, + -0.0034029949456453323, + -0.021655045449733734, + -0.002214372158050537, + -0.027658924460411072, + 0.0 + ], + [ + 0.0015690624713897705, + 0.0034949705004692078, + -0.003480984829366207, + -0.01429089717566967, + -9.715557098388672e-06, + 0.0016164332628250122, + 0.0 + ], + [ + -5.7131052017211914e-05, + 0.0013492628931999207, + -0.0005850521847605705, + -0.013957735151052475, + 0.000874638557434082, + -0.0007992610335350037, + 0.0 + ], + [ + -0.005664199590682983, + 0.006548754870891571, + -0.001889798790216446, + -0.004543274641036987, + -0.016745269298553467, + 0.012322351336479187, + 0.0 + ], + [ + -0.014819473028182983, + 0.012563467025756836, + 0.02073822356760502, + 0.043220728635787964, + -0.02662387490272522, + 0.04970742017030716, + 0.0 + ], + [ + -0.014960616827011108, + 0.028868257999420166, + 0.04227934405207634, + -0.04590677469968796, + -0.10966306924819946, + 0.11143000423908234, + 0.0 + ], + [ + -0.011153042316436768, + 0.05963869392871857, + 0.012436114251613617, + -0.1114668920636177, + -0.04859420657157898, + 0.22200191020965576, + 0.0 + ], + [ + -0.002872556447982788, + 0.048241183161735535, + -0.004443399608135223, + -0.08976250886917114, + -0.012091249227523804, + 0.14808452129364014, + 0.0 + ], + [ + -0.012018591165542603, + 0.05079737305641174, + -0.03156690299510956, + -0.044716715812683105, + 0.08146867156028748, + 0.10453173518180847, + 1.0 + ], + [ + -0.009512841701507568, + 0.04476778209209442, + -0.022408347576856613, + -0.005899310111999512, + 0.04069167375564575, + 0.038105666637420654, + 1.0 + ], + [ + -0.010884582996368408, + 0.03154726326465607, + 0.005862370133399963, + 0.09620651602745056, + -0.004307389259338379, + -0.06136786937713623, + 1.0 + ], + [ + -0.010834991931915283, + 0.009936004877090454, + -0.0009212158620357513, + 0.13370242714881897, + 0.040790557861328125, + -0.12404027581214905, + 1.0 + ], + [ + -0.002330958843231201, + 0.0015880465507507324, + 0.0025917552411556244, + 0.05804172158241272, + 0.03481167554855347, + -0.07575049996376038, + 1.0 + ], + [ + 6.589293479919434e-05, + -0.0030287504196166992, + 0.016364730894565582, + 0.05431262403726578, + -0.0044825077056884766, + -0.05188262462615967, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9723638892173767 + ], + [ + 0.6951970458030701 + ], + [ + 0.39273425936698914 + ], + [ + 0.19029754400253296 + ], + [ + 0.08055824041366577 + ], + [ + 0.061516307294368744 + ], + [ + 0.061516307294368744 + ], + [ + 0.061516307294368744 + ], + [ + 0.07854863256216049 + ], + [ + 0.22681957483291626 + ], + [ + 0.47187528014183044 + ], + [ + 0.7749528288841248 + ], + [ + 0.9941151142120361 + ], + [ + 1.002137303352356 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2321612685918808, + 0.21868063509464264, + 0.045470256358385086 + ], + [ + 0.25852516293525696, + 0.1867648959159851, + 0.04546526446938515 + ], + [ + 0.2897346019744873, + 0.14304597675800323, + 0.053997598588466644 + ], + [ + 0.31327328085899353, + 0.09715162217617035, + 0.057278651744127274 + ], + [ + 0.3363896310329437, + 0.048684410750865936, + 0.06533245742321014 + ], + [ + 0.36085745692253113, + 0.012143700383603573, + 0.06661586463451385 + ], + [ + 0.3889785706996918, + -0.024670034646987915, + 0.054124146699905396 + ], + [ + 0.40603771805763245, + -0.042675767093896866, + 0.05095214396715164 + ], + [ + 0.4052126705646515, + -0.04409193992614746, + 0.042710307985544205 + ], + [ + 0.40246060490608215, + -0.047169119119644165, + 0.032550133764743805 + ], + [ + 0.40660715103149414, + -0.051312826573848724, + 0.03410343453288078 + ], + [ + 0.4127306342124939, + -0.06892628967761993, + 0.02479422092437744 + ], + [ + 0.41804924607276917, + -0.0770845115184784, + 0.027492955327033997 + ], + [ + 0.4180319309234619, + -0.08845140039920807, + 0.02135779894888401 + ], + [ + 0.41832515597343445, + -0.09375113993883133, + 0.017954804003238678 + ], + [ + 0.4198942184448242, + -0.09025616943836212, + 0.01447381917387247 + ], + [ + 0.419837087392807, + -0.0889069065451622, + 0.0138887669891119 + ], + [ + 0.414172887802124, + -0.08235815167427063, + 0.011998968198895454 + ], + [ + 0.39935341477394104, + -0.0697946846485138, + 0.03273719176650047 + ], + [ + 0.38439279794692993, + -0.04092642664909363, + 0.07501653581857681 + ], + [ + 0.37323975563049316, + 0.018712269142270088, + 0.08745265007019043 + ], + [ + 0.3703671991825104, + 0.06695345044136047, + 0.0830092504620552 + ], + [ + 0.3583486080169678, + 0.11775082349777222, + 0.05144234746694565 + ], + [ + 0.3488357663154602, + 0.16251860558986664, + 0.029033999890089035 + ], + [ + 0.3379511833190918, + 0.1940658688545227, + 0.034896370023489 + ], + [ + 0.3271161913871765, + 0.20400187373161316, + 0.03397515416145325 + ], + [ + 0.3247852325439453, + 0.2055899202823639, + 0.03656690940260887 + ], + [ + 0.3248511254787445, + 0.2025611698627472, + 0.052931640297174454 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8943306356155513, + 0.4145034328717925, + 0.1684031423013943, + 0.39744594477778705, + -0.9088789546199544, + 0.12639528008842482, + 0.20544934942505044, + -0.04610802518476082, + -0.9775810016742271 + ], + [ + 0.9299150109353911, + 0.31913367164796635, + 0.18278887290401108, + 0.30444583972576544, + -0.9468108043270974, + 0.10422107024564566, + 0.2063269325868639, + -0.04126742577338989, + -0.9776124981092114 + ], + [ + 0.9551302137329626, + 0.18884754407813684, + 0.2281729166883776, + 0.1714083002893859, + -0.980690533366225, + 0.09415557528777932, + 0.2415480685212135, + -0.05082010292714026, + -0.969057195284234 + ], + [ + 0.9578363173716675, + 0.07846697933489966, + 0.27639197216623185, + 0.06513552259743693, + -0.9962412289584363, + 0.0571032172416218, + 0.2798337949923873, + -0.036692599764005566, + -0.9593470176649936 + ], + [ + 0.9594688699484971, + -0.039919462897289516, + 0.27897298091705225, + -0.04126956452266229, + -0.9991475131634964, + -0.0010343999762102637, + 0.27877645281455155, + -0.010520618859786508, + -0.9602983942165807 + ], + [ + 0.9583511960269936, + -0.1310562645827252, + 0.2537464099987486, + -0.1295406779777533, + -0.9913131300097877, + -0.022748428940504703, + 0.2545234720466745, + -0.011069497902791096, + -0.9670032411494209 + ], + [ + 0.9537990477827422, + -0.20364252769156374, + 0.2209006504384372, + -0.202341413585624, + -0.9788929032137831, + -0.028751284942802355, + 0.22209306336962753, + -0.01727440167072199, + -0.974872435885851 + ], + [ + 0.9503179816095653, + -0.23200820176394582, + 0.2075281381976478, + -0.22929704633219544, + -0.972638900447846, + -0.03736888918520277, + 0.21051982893032387, + -0.012073261774066892, + -0.9775150320978608 + ], + [ + 0.961410810048322, + -0.1523569863156215, + 0.22907772271229448, + -0.1449471419566129, + -0.9882285922413687, + -0.04893440012151013, + 0.23383665315950547, + 0.013841900066973202, + -0.9721773611032593 + ], + [ + 0.9645238704053406, + -0.07558313226861177, + 0.2529444475270558, + -0.05997737695981025, + -0.9958217885267373, + -0.06885985585543473, + 0.257092235727419, + 0.05124603020601659, + -0.9650271637196548 + ], + [ + 0.9597973591966018, + -0.012247082242498451, + 0.2804265291583073, + 0.007820122459732445, + -0.9974931975094518, + -0.07032898838377254, + 0.28058488014136523, + 0.06969454712468905, + -0.9572955631032354 + ], + [ + 0.9624677443180716, + -0.025720161890346135, + 0.27017459987870335, + -0.00794384771873867, + -0.9977425021981671, + -0.06668429043457011, + 0.2712798120588861, + 0.06203525271710428, + -0.9604992925502966 + ], + [ + 0.9620235338056862, + -0.04714625269306385, + 0.26886418739025325, + -0.0383695289932316, + -0.9985480859783447, + -0.037808719018524055, + 0.27025635912750884, + 0.02605668524555479, + -0.9624357378574202 + ], + [ + 0.9624725809540565, + -0.07014828786526785, + 0.2621559623987388, + -0.0659788125044558, + -0.9975156472431415, + -0.024684606652702442, + 0.2632362574041412, + 0.006461517984830644, + -0.9647097602767335 + ], + [ + 0.9596972134141563, + -0.10340510658196063, + 0.2613209568669863, + -0.09251497940661306, + -0.9942637035975307, + -0.053671838928027724, + 0.2653718846270229, + 0.02733261131497597, + -0.9637586270473573 + ], + [ + 0.9598429370831466, + -0.10552343264728768, + 0.2599352636598813, + -0.09096332946883719, + -0.9935670148099702, + -0.06745561335832784, + 0.2653812518312898, + 0.04110221701973969, + -0.9632670444547139 + ], + [ + 0.9600006196726647, + -0.10988690368095888, + 0.2575338397716142, + -0.09175251394594994, + -0.9924457268498523, + -0.08144295821043403, + 0.26453787330493544, + 0.054555913124792535, + -0.9628309124298108 + ], + [ + 0.9565092607031522, + -0.09980420716459756, + 0.27409697995664906, + -0.07953810797326236, + -0.9932770023971725, + -0.08410996307763571, + 0.2806487547970652, + 0.05865080341422168, + -0.9580168890420061 + ], + [ + 0.9514729184552937, + -0.03872801371470914, + 0.3052858110031964, + -0.03165411072528391, + -0.9991041007723666, + -0.02808937688935592, + 0.3061001514543198, + 0.017062730542152883, + -0.9518463954368311 + ], + [ + 0.9099924024162941, + 0.051960591450684615, + 0.4113562014613565, + 0.07128276958196395, + -0.9969503865123726, + -0.03175993692618321, + 0.40845145893403995, + 0.05822391062892925, + -0.9109211721799688 + ], + [ + 0.8519819810601255, + 0.2158007393868428, + 0.47702908174340464, + 0.26371287807892085, + -0.9639692801128278, + -0.03491052755385977, + 0.4523076628625654, + 0.1555418524990896, + -0.8781938910268935 + ], + [ + 0.7987609713114028, + 0.308941202538314, + 0.5162714829271953, + 0.3841329735696662, + -0.9223034251063909, + -0.0424057856140722, + 0.4630580625863143, + 0.23218898641236402, + -0.8553744824710452 + ], + [ + 0.7838886519550801, + 0.39904751738950445, + 0.47568861685068775, + 0.48362258921644113, + -0.8728807724181131, + -0.06471745006057919, + 0.3893941095286788, + 0.28078503522807485, + -0.8772297255886486 + ], + [ + 0.7774169132186851, + 0.43892869156682596, + 0.45051586737979055, + 0.5215350870656549, + -0.8502188602562987, + -0.07161733466067868, + 0.3516021842949082, + 0.2906363593632325, + -0.8898912352726791 + ], + [ + 0.8066243410927739, + 0.4261895976788867, + 0.40953583382526715, + 0.4721054668709829, + -0.8814525205378104, + -0.012565117909190196, + 0.35563127042933007, + 0.2034794359827286, + -0.9122074975711234 + ], + [ + 0.8714489491048342, + 0.3680481826160883, + 0.32421792729131227, + 0.3740947395728106, + -0.9262510196560958, + 0.04595839868831198, + 0.3172220908575427, + 0.08123782283540945, + -0.9448653667125976 + ], + [ + 0.9071630485299946, + 0.31622207259237756, + 0.27759467607853655, + 0.3104612923564134, + -0.9483127576045239, + 0.06570159596911583, + 0.28402286761835244, + 0.026580341793973297, + -0.9584490054770589 + ], + [ + 0.9208091262719681, + 0.28156850470769873, + 0.2698698392390767, + 0.26264679260524865, + -0.9592034288585926, + 0.10462047791945076, + 0.2883179066732241, + -0.0254550431661276, + -0.9571963359044896 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006018.json b/json/chunk-0006/episode_0006018.json new file mode 100644 index 0000000000000000000000000000000000000000..d3940ecb64103c45d26a54b8141c9a930d5ce3b2 --- /dev/null +++ b/json/chunk-0006/episode_0006018.json @@ -0,0 +1,2062 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 33, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nTopple basil bottle cardboard fence." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006018.mp4", + "start": 0, + "end": 33, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.249738410115242, + 0.06979480385780334, + 0.09538272768259048, + -0.01816973090171814, + -0.12753428518772125, + 0.6076596975326538, + 0.0, + 0.9941151142120361 + ], + [ + 0.24598468840122223, + 0.06840910017490387, + 0.08783133327960968, + -0.00421726331114769, + -0.1026061400771141, + 0.583189845085144, + 0.0, + 0.9941151142120361 + ], + [ + 0.25018179416656494, + 0.06532440334558487, + 0.08408720791339874, + 0.049318987876176834, + -0.11027669161558151, + 0.3297061026096344, + 0.0, + 0.9941151142120361 + ], + [ + 0.24983561038970947, + 0.06099225580692291, + 0.08472947776317596, + 0.10937931388616562, + -0.08088964968919754, + 0.06792742013931274, + 0.0, + 0.9941151142120361 + ], + [ + 0.250667929649353, + 0.059248849749565125, + 0.0862211063504219, + 0.13033494353294373, + 0.023108866065740585, + -0.18684113025665283, + 0.0, + 0.9941151142120361 + ], + [ + 0.24567094445228577, + 0.0537719689309597, + 0.08367830514907837, + 0.07156940549612045, + 0.07924115657806396, + -0.4359043836593628, + 0.0, + 0.9941151142120361 + ], + [ + 0.24543406069278717, + 0.04409082606434822, + 0.08732786029577255, + -0.015398882329463959, + 0.09282820671796799, + -0.6831207275390625, + 0.0, + 0.9941151142120361 + ], + [ + 0.24036569893360138, + 0.030332544818520546, + 0.09169648587703705, + 0.0027201101183891296, + 0.014149511232972145, + -0.9427005052566528, + 0.0, + 0.9941151142120361 + ], + [ + 0.2388027459383011, + 0.016498258337378502, + 0.09759790450334549, + 0.02461153082549572, + -0.0264916829764843, + -1.1363602876663208, + 0.0, + 0.9941151142120361 + ], + [ + 0.23727713525295258, + 0.0036802554968744516, + 0.1023709699511528, + 0.037483539432287216, + -0.03582451492547989, + -1.1839654445648193, + 0.0, + 0.9941151142120361 + ], + [ + 0.24118375778198242, + -0.006195919122546911, + 0.10262438654899597, + 0.06416364014148712, + -0.04149731248617172, + -1.1908825635910034, + 0.0, + 0.9941151142120361 + ], + [ + 0.24093790352344513, + -0.015915635973215103, + 0.09671686589717865, + 0.04829411581158638, + -0.023465819656848907, + -1.1848000288009644, + 0.0, + 0.9941151142120361 + ], + [ + 0.24428388476371765, + -0.023297445848584175, + 0.09085935354232788, + 0.048911429941654205, + -0.012770986184477806, + -1.1805038452148438, + 0.0, + 0.9941151142120361 + ], + [ + 0.24703390896320343, + -0.027417417615652084, + 0.08570689707994461, + 0.03382870927453041, + -0.0061019426211714745, + -1.1574223041534424, + 0.0, + 0.9941151142120361 + ], + [ + 0.2501178979873657, + -0.0308995358645916, + 0.08655798435211182, + 0.03890635073184967, + -0.01005786843597889, + -1.1482927799224854, + 0.0, + 0.973810613155365 + ], + [ + 0.2523958384990692, + -0.03431522846221924, + 0.0861845314502716, + 0.05002301186323166, + -0.014343863353133202, + -1.1040524244308472, + 0.0, + 0.8853598833084106 + ], + [ + 0.25527384877204895, + -0.03579970449209213, + 0.08575323224067688, + 0.05408009886741638, + -0.02769819274544716, + -1.0715384483337402, + 0.0, + 0.8381108045578003 + ], + [ + 0.2605377733707428, + -0.03579955920577049, + 0.08551832288503647, + 0.07995310425758362, + -0.05319247022271156, + -0.9965140223503113, + 0.0, + 0.8651953339576721 + ], + [ + 0.26297906041145325, + -0.03764721006155014, + 0.08613286912441254, + 0.13527460396289825, + -0.15131741762161255, + -0.9068888425827026, + 0.0, + 0.8651953339576721 + ], + [ + 0.2666442394256592, + -0.03534547612071037, + 0.08800297230482101, + 0.2439863532781601, + -0.34801238775253296, + -0.7860215306282043, + 0.0, + 0.8651953339576721 + ], + [ + 0.2692324221134186, + -0.03344664350152016, + 0.08775930106639862, + 0.24338388442993164, + -0.47993379831314087, + -0.6954038739204407, + 0.0, + 0.8651953339576721 + ], + [ + 0.27074480056762695, + -0.032620541751384735, + 0.08600228279829025, + 0.2212209552526474, + -0.588578462600708, + -0.6071637272834778, + 0.0, + 0.8651953339576721 + ], + [ + 0.2705352008342743, + -0.030942507088184357, + 0.08521797508001328, + 0.15172934532165527, + -0.6227812767028809, + -0.5078964829444885, + 0.0, + 0.8651953339576721 + ], + [ + 0.2662670314311981, + -0.026544855907559395, + 0.08238457888364792, + 0.10385344177484512, + -0.5977640151977539, + -0.39706289768218994, + 0.0, + 0.8651953339576721 + ], + [ + 0.25733131170272827, + -0.026028838008642197, + 0.07534988224506378, + 0.11263007670640945, + -0.53498375415802, + -0.3477916717529297, + 0.0, + 0.8651953339576721 + ], + [ + 0.2498135268688202, + -0.024086786434054375, + 0.06607744842767715, + 0.10499022901058197, + -0.4776347577571869, + -0.30202218890190125, + 0.0, + 0.8660832643508911 + ], + [ + 0.2397213727235794, + -0.02311755158007145, + 0.05582704022526741, + 0.0741458460688591, + -0.395365834236145, + -0.2365277111530304, + 0.0, + 0.8660832643508911 + ], + [ + 0.2326289564371109, + -0.024337276816368103, + 0.047236956655979156, + 0.007165587041527033, + -0.30443528294563293, + -0.17599302530288696, + 0.0, + 0.8660832643508911 + ], + [ + 0.2349201738834381, + -0.02824106439948082, + 0.037401165813207626, + -0.040042176842689514, + -0.18948830664157867, + -0.1954563558101654, + 0.0, + 0.8660832643508911 + ], + [ + 0.23367826640605927, + -0.03137629106640816, + 0.028127755969762802, + -0.0213820468634367, + -0.14133737981319427, + -0.26289963722229004, + 0.0, + 0.9222983717918396 + ], + [ + 0.23441040515899658, + -0.035169705748558044, + 0.028769349679350853, + 0.01060745120048523, + -0.13035047054290771, + -0.29594892263412476, + 0.0, + 0.9994885921478271 + ], + [ + 0.23512038588523865, + -0.03624642640352249, + 0.030068565160036087, + 0.009540481492877007, + -0.12729628384113312, + -0.2894343137741089, + 0.0, + 0.9988223910331726 + ], + [ + 0.2357255220413208, + -0.03681649640202522, + 0.042422786355018616, + 0.020804882049560547, + -0.15199162065982819, + -0.2915065884590149, + 0.0, + 0.9988223910331726 + ] + ], + "left_gripper_pos": [ + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.973810613155365 + ], + [ + 0.8853598833084106 + ], + [ + 0.8381108045578003 + ], + [ + 0.8651953339576721 + ], + [ + 0.8651953339576721 + ], + [ + 0.8651953339576721 + ], + [ + 0.8651953339576721 + ], + [ + 0.8651953339576721 + ], + [ + 0.8651953339576721 + ], + [ + 0.8651953339576721 + ], + [ + 0.8651953339576721 + ], + [ + 0.8660832643508911 + ], + [ + 0.8660832643508911 + ], + [ + 0.8660832643508911 + ], + [ + 0.8660832643508911 + ], + [ + 0.9222983717918396 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.249738410115242, + 0.06979480385780334, + 0.09538272768259048 + ], + [ + 0.24598468840122223, + 0.06840910017490387, + 0.08783133327960968 + ], + [ + 0.25018179416656494, + 0.06532440334558487, + 0.08408720791339874 + ], + [ + 0.24983561038970947, + 0.06099225580692291, + 0.08472947776317596 + ], + [ + 0.250667929649353, + 0.059248849749565125, + 0.0862211063504219 + ], + [ + 0.24567094445228577, + 0.0537719689309597, + 0.08367830514907837 + ], + [ + 0.24543406069278717, + 0.04409082606434822, + 0.08732786029577255 + ], + [ + 0.24036569893360138, + 0.030332544818520546, + 0.09169648587703705 + ], + [ + 0.2388027459383011, + 0.016498258337378502, + 0.09759790450334549 + ], + [ + 0.23727713525295258, + 0.0036802554968744516, + 0.1023709699511528 + ], + [ + 0.24118375778198242, + -0.006195919122546911, + 0.10262438654899597 + ], + [ + 0.24093790352344513, + -0.015915635973215103, + 0.09671686589717865 + ], + [ + 0.24428388476371765, + -0.023297445848584175, + 0.09085935354232788 + ], + [ + 0.24703390896320343, + -0.027417417615652084, + 0.08570689707994461 + ], + [ + 0.2501178979873657, + -0.0308995358645916, + 0.08655798435211182 + ], + [ + 0.2523958384990692, + -0.03431522846221924, + 0.0861845314502716 + ], + [ + 0.25527384877204895, + -0.03579970449209213, + 0.08575323224067688 + ], + [ + 0.2605377733707428, + -0.03579955920577049, + 0.08551832288503647 + ], + [ + 0.26297906041145325, + -0.03764721006155014, + 0.08613286912441254 + ], + [ + 0.2666442394256592, + -0.03534547612071037, + 0.08800297230482101 + ], + [ + 0.2692324221134186, + -0.03344664350152016, + 0.08775930106639862 + ], + [ + 0.27074480056762695, + -0.032620541751384735, + 0.08600228279829025 + ], + [ + 0.2705352008342743, + -0.030942507088184357, + 0.08521797508001328 + ], + [ + 0.2662670314311981, + -0.026544855907559395, + 0.08238457888364792 + ], + [ + 0.25733131170272827, + -0.026028838008642197, + 0.07534988224506378 + ], + [ + 0.2498135268688202, + -0.024086786434054375, + 0.06607744842767715 + ], + [ + 0.2397213727235794, + -0.02311755158007145, + 0.05582704022526741 + ], + [ + 0.2326289564371109, + -0.024337276816368103, + 0.047236956655979156 + ], + [ + 0.2349201738834381, + -0.02824106439948082, + 0.037401165813207626 + ], + [ + 0.23367826640605927, + -0.03137629106640816, + 0.028127755969762802 + ], + [ + 0.23441040515899658, + -0.035169705748558044, + 0.028769349679350853 + ], + [ + 0.23512038588523865, + -0.03624642640352249, + 0.030068565160036087 + ], + [ + 0.2357255220413208, + -0.03681649640202522, + 0.042422786355018616 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8143188300599546, + 0.5689562406223068, + 0.11477647523216065, + 0.5663107286953264, + -0.8221703190570013, + 0.05768990402381753, + 0.12718884217711643, + 0.018021174174859822, + -0.9917147955470889 + ], + [ + 0.8303202161774629, + 0.5503238744447039, + 0.08781783317288988, + 0.5477930386588108, + -0.8349407371775455, + 0.05288432847606039, + 0.10242619491105931, + 0.004195070629567449, + -0.9947317608171838 + ], + [ + 0.9403904007948767, + 0.3285045842321092, + 0.08803767506777964, + 0.3217983246402292, + -0.9432305038055699, + 0.0822317149853515, + 0.11005331595000907, + -0.0489995390710924, + -0.9927171363582012 + ], + [ + 0.9944315762219682, + 0.07626963067137171, + 0.07272402388444074, + 0.06765325724041835, + -0.9911329595961784, + 0.11436123987996209, + 0.08080146655509376, + -0.10880441093711689, + -0.9907738002002139 + ], + [ + 0.9823335642261547, + -0.18713126933607774, + 0.0016299176077301837, + -0.18570633795360134, + -0.9737041028298491, + 0.13196013101002096, + -0.023106809355738837, + -0.12993155186092187, + -0.9912536845794877 + ], + [ + 0.903644049951293, + -0.4262806337865613, + -0.041379369813383624, + -0.4209054546022946, + -0.9017779227870207, + 0.0981589336737203, + -0.07915825461479556, + -0.07128393390136226, + -0.9943100982560146 + ], + [ + 0.7722673121550143, + -0.6300346574143273, + -0.08160593749035787, + -0.6284988826773875, + -0.7764156495896398, + 0.04656064374095666, + -0.09269494619527195, + 0.01533197733849487, + -0.9955765050566162 + ], + [ + 0.5875462413738124, + -0.8091675011370042, + -0.006113047619824601, + -0.8090668816236316, + -0.5875717467715156, + 0.013046971130599997, + -0.01414903909523203, + -0.002719834474108414, + -0.9998961982091518 + ], + [ + 0.4207512084243536, + -0.9065584742937246, + 0.033468691275286684, + -0.9067892674187904, + -0.42136273262901486, + -0.013662797865109107, + 0.026488584400448534, + -0.024600411330780537, + -0.9993463737157486 + ], + [ + 0.37701330702042496, + -0.9249523895248738, + 0.04820833373752638, + -0.9255150562799727, + -0.3782334211301113, + -0.01900946446617815, + 0.03581685257810642, + -0.03745071764916935, + -0.9986563957733212 + ], + [ + 0.3705211302228345, + -0.9257991196183396, + 0.07490048178950648, + -0.9278971135566828, + -0.3725476343635804, + -0.014669927855174528, + 0.04148540359655822, + -0.06406442260730126, + -0.9970831013734127 + ], + [ + 0.37637866838353407, + -0.9249172070101904, + 0.05354678479895386, + -0.92616875047483, + -0.37709273962634193, + -0.003537140793234632, + 0.023463666161300068, + -0.04826205442754901, + -0.9985590771069595 + ], + [ + 0.3804278920814814, + -0.9234542814614827, + 0.05006804346983769, + -0.9247224068362999, + -0.3805813435513582, + 0.006805235890388773, + 0.012770639033403777, + -0.048887943207910636, + -0.9987226240491294 + ], + [ + 0.40169396125358536, + -0.9151638394092184, + 0.03342317355041193, + -0.9157536394963247, + -0.40166060863516595, + 0.008001701073092192, + 0.006101904754921323, + -0.0338216278231245, + -0.9994092576366078 + ], + [ + 0.4100243937082298, + -0.9112146074742914, + 0.03959716769759508, + -0.9120191002702961, + -0.4100916381198066, + 0.006782999806347785, + 0.010057698859972068, + -0.0388945686399335, + -0.9991927017467428 + ], + [ + 0.44993456614581695, + -0.8915983827150046, + 0.05110000124426452, + -0.8929463331474207, + -0.45005846628434654, + 0.009706855533976017, + 0.014343371491780676, + -0.049997008568214256, + -0.9986463672534331 + ], + [ + 0.47859049012805477, + -0.8759378664661793, + 0.060695937670209296, + -0.877601361126448, + -0.4793884521966667, + 0.0016008902179011943, + 0.027694651252432038, + -0.05403300834824827, + -0.9981550181714482 + ], + [ + 0.5424640258875902, + -0.8345935427450384, + 0.09584570426531175, + -0.8383949005675682, + -0.5450621624470149, + -0.0011089503513127333, + 0.053167389630538346, + -0.07975498402526202, + -0.9953955852840642 + ], + [ + 0.609157953272967, + -0.7678684384272916, + 0.19825400180455982, + -0.778590939697503, + -0.6265807764749407, + -0.03453518746176498, + 0.15074062685702466, + -0.13332138545369573, + -0.9795420723968207 + ], + [ + 0.6643029378732299, + -0.6283741143793804, + 0.404780902601549, + -0.6651316639467817, + -0.7440266113113331, + -0.06343714429227906, + 0.34103002264959115, + -0.22709111395759954, + -0.9122105840282251 + ], + [ + 0.6810537408748504, + -0.5363811350738742, + 0.4984587043850615, + -0.5683133153697694, + -0.8164562531140416, + -0.1020742980597988, + 0.46172045396949096, + -0.2137626363231937, + -0.8608831266196154 + ], + [ + 0.6830751011484186, + -0.45659110605629155, + 0.5700289186184947, + -0.4745359932288487, + -0.8707574933107791, + -0.12882926287703034, + 0.5551792479203345, + -0.18249917729519022, + -0.8114616768308845 + ], + [ + 0.7097273665761004, + -0.4037178355841537, + 0.5773205126826867, + -0.3950344560401085, + -0.9066085889372475, + -0.14835310918989494, + 0.5832965315121027, + -0.12277123317968085, + -0.802927381915383 + ], + [ + 0.7622875530674886, + -0.330823650801869, + 0.5563033331811916, + -0.3196541417076329, + -0.9397940360187877, + -0.12086521233454299, + 0.562795625540513, + -0.08569061753564793, + -0.822142446257838 + ], + [ + 0.8087701138433344, + -0.28479323980337184, + 0.5145713881631385, + -0.29320175340908866, + -0.9537002557576105, + -0.06699667130316739, + 0.5098270635732044, + -0.09668832778659381, + -0.8548261416909033 + ], + [ + 0.847887229732067, + -0.24982076657989463, + 0.4676289450437338, + -0.26416208942979713, + -0.9638089769780861, + -0.035925567560436425, + 0.4596799279557086, + -0.09306900924523383, + -0.8831944991635453 + ], + [ + 0.8971611065826686, + -0.20594817116712727, + 0.39075222280657346, + -0.21625133742695002, + -0.9761720228982836, + -0.01798723913581232, + 0.3851458267934598, + -0.06836323941702259, + -0.9203201397339915 + ], + [ + 0.9392798423910917, + -0.17296669488096725, + 0.29637122016100026, + -0.1670348262076677, + -0.9849039502259042, + -0.045426596429667086, + 0.29975447371397135, + -0.006836028917725667, + -0.953991888957708 + ], + [ + 0.9634007025117021, + -0.20145515593655924, + 0.17684712761742813, + -0.19073793158010824, + -0.978708411813892, + -0.07582140925405209, + 0.18835638522890655, + 0.03931494361314938, + -0.9813135112451036 + ], + [ + 0.9560115811565237, + -0.2627305592394007, + 0.13043967930179545, + -0.2572902347485132, + -0.9646370311841307, + -0.057246250281756145, + 0.14086728434117857, + 0.021167222539064057, + -0.9898021806867893 + ], + [ + 0.948411039373027, + -0.2903124344541087, + 0.12741738812541803, + -0.2891734282539207, + -0.9568741179208501, + -0.02776059878802249, + 0.1299816478863426, + -0.010517264593221536, + -0.9914606186622981 + ], + [ + 0.9506507955438449, + -0.2842363309352205, + 0.12438960209092458, + -0.28310079315001724, + -0.9587075451298895, + -0.02708844456316961, + 0.12695277015365153, + -0.00946314363753326, + -0.9918636212014278 + ], + [ + 0.9467698338231388, + -0.28431648636366474, + 0.15096694122994558, + -0.28408233726340465, + -0.9585099248431043, + -0.023578584186239027, + 0.15140709170136984, + -0.02056354928231958, + -0.9882575742302441 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0037537217140197754, + -0.001385703682899475, + -0.0075513944029808044, + 0.01395246759057045, + 0.024928145110607147, + -0.024469852447509766, + 1.0 + ], + [ + 0.004197105765342712, + -0.0030846968293190002, + -0.0037441253662109375, + 0.053536251187324524, + -0.007670551538467407, + -0.25348374247550964, + 1.0 + ], + [ + -0.00034618377685546875, + -0.004332147538661957, + 0.0006422698497772217, + 0.060060326009988785, + 0.029387041926383972, + -0.26177868247032166, + 1.0 + ], + [ + 0.0008323192596435547, + -0.001743406057357788, + 0.0014916285872459412, + 0.020955629646778107, + 0.10399851202964783, + -0.2547685503959656, + 1.0 + ], + [ + -0.004996985197067261, + -0.005476880818605423, + -0.0025428012013435364, + -0.05876553803682327, + 0.05613229051232338, + -0.24906325340270996, + 1.0 + ], + [ + -0.0002368837594985962, + -0.00968114286661148, + 0.0036495551466941833, + -0.08696828782558441, + 0.013587050139904022, + -0.2472163438796997, + 1.0 + ], + [ + -0.005068361759185791, + -0.013758281245827675, + 0.004368625581264496, + 0.01811899244785309, + -0.07867869734764099, + -0.25957977771759033, + 1.0 + ], + [ + -0.001562952995300293, + -0.013834286481142044, + 0.005901418626308441, + 0.02189142070710659, + -0.04064119607210159, + -0.19365978240966797, + 1.0 + ], + [ + -0.0015256106853485107, + -0.012818003073334694, + 0.004773065447807312, + 0.012872008606791496, + -0.00933283194899559, + -0.047605156898498535, + 1.0 + ], + [ + 0.003906622529029846, + -0.009876174852252007, + 0.00025341659784317017, + 0.026680100709199905, + -0.0056727975606918335, + -0.006917119026184082, + 1.0 + ], + [ + -0.0002458542585372925, + -0.009719716385006905, + -0.005907520651817322, + -0.01586952432990074, + 0.018031492829322815, + 0.0060825347900390625, + 1.0 + ], + [ + 0.003345981240272522, + -0.007381809875369072, + -0.005857512354850769, + 0.0006173141300678253, + 0.010694833472371101, + 0.0042961835861206055, + 1.0 + ], + [ + 0.002750024199485779, + -0.004119971767067909, + -0.00515245646238327, + -0.015082720667123795, + 0.006669043563306332, + 0.023081541061401367, + 1.0 + ], + [ + 0.0030839890241622925, + -0.003482118248939514, + 0.0008510872721672058, + 0.00507764145731926, + -0.003955925814807415, + 0.009129524230957031, + 0.0 + ], + [ + 0.002277940511703491, + -0.0034156925976276398, + -0.00037345290184020996, + 0.011116661131381989, + -0.004285994917154312, + 0.044240355491638184, + 0.0 + ], + [ + 0.0028780102729797363, + -0.0014844760298728943, + -0.00043129920959472656, + 0.004057087004184723, + -0.013354329392313957, + 0.032513976097106934, + 0.0 + ], + [ + 0.005263924598693848, + 1.4528632164001465e-07, + -0.00023490935564041138, + 0.025873005390167236, + -0.025494277477264404, + 0.07502442598342896, + 0.0 + ], + [ + 0.0024412870407104492, + -0.0018476508557796478, + 0.0006145462393760681, + 0.055321499705314636, + -0.09812495112419128, + 0.08962517976760864, + 0.0 + ], + [ + 0.0036651790142059326, + 0.0023017339408397675, + 0.0018701031804084778, + 0.10871174931526184, + -0.1966949701309204, + 0.12086731195449829, + 0.0 + ], + [ + 0.0025881826877593994, + 0.001898832619190216, + -0.0002436712384223938, + -0.0006024688482284546, + -0.1319214105606079, + 0.09061765670776367, + 0.0 + ], + [ + 0.001512378454208374, + 0.0008261017501354218, + -0.001757018268108368, + -0.02216292917728424, + -0.10864466428756714, + 0.08824014663696289, + 0.0 + ], + [ + -0.00020959973335266113, + 0.0016780346632003784, + -0.0007843077182769775, + -0.06949160993099213, + -0.03420281410217285, + 0.09926724433898926, + 0.0 + ], + [ + -0.004268169403076172, + 0.004397651180624962, + -0.0028333961963653564, + -0.04787590354681015, + 0.025017261505126953, + 0.11083358526229858, + 0.0 + ], + [ + -0.008935719728469849, + 0.0005160178989171982, + -0.007034696638584137, + 0.008776634931564331, + 0.06278026103973389, + 0.049271225929260254, + 0.0 + ], + [ + -0.007517784833908081, + 0.001942051574587822, + -0.009272433817386627, + -0.007639847695827484, + 0.05734899640083313, + 0.04576948285102844, + 0.0 + ], + [ + -0.010092154145240784, + 0.0009692348539829254, + -0.010250408202409744, + -0.03084438294172287, + 0.08226892352104187, + 0.06549447774887085, + 0.0 + ], + [ + -0.007092416286468506, + -0.0012197252362966537, + -0.008590083569288254, + -0.0669802576303482, + 0.09093055129051208, + 0.06053468585014343, + 0.0 + ], + [ + 0.0022912174463272095, + -0.0039037875831127167, + -0.00983579084277153, + -0.04720776528120041, + 0.11494697630405426, + -0.019463330507278442, + 0.0 + ], + [ + -0.0012419074773788452, + -0.0031352266669273376, + -0.009273409843444824, + 0.018660129979252815, + 0.0481509268283844, + -0.06744328141212463, + 1.0 + ], + [ + 0.0007321387529373169, + -0.003793414682149887, + 0.0006415937095880508, + 0.03198949992656708, + 0.01098690927028656, + -0.03304928541183472, + 1.0 + ], + [ + 0.0007099807262420654, + -0.001076720654964447, + 0.001299215480685234, + -0.001066969707608223, + 0.003054186701774597, + 0.006514608860015869, + 1.0 + ], + [ + 0.0006051361560821533, + -0.0005700699985027313, + 0.012354221194982529, + 0.01126440055668354, + -0.02469533681869507, + -0.002072274684906006, + 1.0 + ], + [ + 0.010145440697669983, + -0.002047814428806305, + 0.01856140047311783, + 0.023790691047906876, + -0.035154491662979126, + 0.01925477385520935, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.973810613155365 + ], + [ + 0.8853598833084106 + ], + [ + 0.8381108045578003 + ], + [ + 0.8651953339576721 + ], + [ + 0.8651953339576721 + ], + [ + 0.8651953339576721 + ], + [ + 0.8651953339576721 + ], + [ + 0.8651953339576721 + ], + [ + 0.8651953339576721 + ], + [ + 0.8651953339576721 + ], + [ + 0.8651953339576721 + ], + [ + 0.8660832643508911 + ], + [ + 0.8660832643508911 + ], + [ + 0.8660832643508911 + ], + [ + 0.8660832643508911 + ], + [ + 0.9222983717918396 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.24598468840122223, + 0.06840910017490387, + 0.08783133327960968 + ], + [ + 0.25018179416656494, + 0.06532440334558487, + 0.08408720791339874 + ], + [ + 0.24983561038970947, + 0.06099225580692291, + 0.08472947776317596 + ], + [ + 0.250667929649353, + 0.059248849749565125, + 0.0862211063504219 + ], + [ + 0.24567094445228577, + 0.0537719689309597, + 0.08367830514907837 + ], + [ + 0.24543406069278717, + 0.04409082606434822, + 0.08732786029577255 + ], + [ + 0.24036569893360138, + 0.030332544818520546, + 0.09169648587703705 + ], + [ + 0.2388027459383011, + 0.016498258337378502, + 0.09759790450334549 + ], + [ + 0.23727713525295258, + 0.0036802554968744516, + 0.1023709699511528 + ], + [ + 0.24118375778198242, + -0.006195919122546911, + 0.10262438654899597 + ], + [ + 0.24093790352344513, + -0.015915635973215103, + 0.09671686589717865 + ], + [ + 0.24428388476371765, + -0.023297445848584175, + 0.09085935354232788 + ], + [ + 0.24703390896320343, + -0.027417417615652084, + 0.08570689707994461 + ], + [ + 0.2501178979873657, + -0.0308995358645916, + 0.08655798435211182 + ], + [ + 0.2523958384990692, + -0.03431522846221924, + 0.0861845314502716 + ], + [ + 0.25527384877204895, + -0.03579970449209213, + 0.08575323224067688 + ], + [ + 0.2605377733707428, + -0.03579955920577049, + 0.08551832288503647 + ], + [ + 0.26297906041145325, + -0.03764721006155014, + 0.08613286912441254 + ], + [ + 0.2666442394256592, + -0.03534547612071037, + 0.08800297230482101 + ], + [ + 0.2692324221134186, + -0.03344664350152016, + 0.08775930106639862 + ], + [ + 0.27074480056762695, + -0.032620541751384735, + 0.08600228279829025 + ], + [ + 0.2705352008342743, + -0.030942507088184357, + 0.08521797508001328 + ], + [ + 0.2662670314311981, + -0.026544855907559395, + 0.08238457888364792 + ], + [ + 0.25733131170272827, + -0.026028838008642197, + 0.07534988224506378 + ], + [ + 0.2498135268688202, + -0.024086786434054375, + 0.06607744842767715 + ], + [ + 0.2397213727235794, + -0.02311755158007145, + 0.05582704022526741 + ], + [ + 0.2326289564371109, + -0.024337276816368103, + 0.047236956655979156 + ], + [ + 0.2349201738834381, + -0.02824106439948082, + 0.037401165813207626 + ], + [ + 0.23367826640605927, + -0.03137629106640816, + 0.028127755969762802 + ], + [ + 0.23441040515899658, + -0.035169705748558044, + 0.028769349679350853 + ], + [ + 0.23512038588523865, + -0.03624642640352249, + 0.030068565160036087 + ], + [ + 0.2357255220413208, + -0.03681649640202522, + 0.042422786355018616 + ], + [ + 0.24587096273899078, + -0.03886431083083153, + 0.060984186828136444 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8303202161774629, + 0.5503238744447039, + 0.08781783317288988, + 0.5477930386588108, + -0.8349407371775455, + 0.05288432847606039, + 0.10242619491105931, + 0.004195070629567449, + -0.9947317608171838 + ], + [ + 0.9403904007948767, + 0.3285045842321092, + 0.08803767506777964, + 0.3217983246402292, + -0.9432305038055699, + 0.0822317149853515, + 0.11005331595000907, + -0.0489995390710924, + -0.9927171363582012 + ], + [ + 0.9944315762219682, + 0.07626963067137171, + 0.07272402388444074, + 0.06765325724041835, + -0.9911329595961784, + 0.11436123987996209, + 0.08080146655509376, + -0.10880441093711689, + -0.9907738002002139 + ], + [ + 0.9823335642261547, + -0.18713126933607774, + 0.0016299176077301837, + -0.18570633795360134, + -0.9737041028298491, + 0.13196013101002096, + -0.023106809355738837, + -0.12993155186092187, + -0.9912536845794877 + ], + [ + 0.903644049951293, + -0.4262806337865613, + -0.041379369813383624, + -0.4209054546022946, + -0.9017779227870207, + 0.0981589336737203, + -0.07915825461479556, + -0.07128393390136226, + -0.9943100982560146 + ], + [ + 0.7722673121550143, + -0.6300346574143273, + -0.08160593749035787, + -0.6284988826773875, + -0.7764156495896398, + 0.04656064374095666, + -0.09269494619527195, + 0.01533197733849487, + -0.9955765050566162 + ], + [ + 0.5875462413738124, + -0.8091675011370042, + -0.006113047619824601, + -0.8090668816236316, + -0.5875717467715156, + 0.013046971130599997, + -0.01414903909523203, + -0.002719834474108414, + -0.9998961982091518 + ], + [ + 0.4207512084243536, + -0.9065584742937246, + 0.033468691275286684, + -0.9067892674187904, + -0.42136273262901486, + -0.013662797865109107, + 0.026488584400448534, + -0.024600411330780537, + -0.9993463737157486 + ], + [ + 0.37701330702042496, + -0.9249523895248738, + 0.04820833373752638, + -0.9255150562799727, + -0.3782334211301113, + -0.01900946446617815, + 0.03581685257810642, + -0.03745071764916935, + -0.9986563957733212 + ], + [ + 0.3705211302228345, + -0.9257991196183396, + 0.07490048178950648, + -0.9278971135566828, + -0.3725476343635804, + -0.014669927855174528, + 0.04148540359655822, + -0.06406442260730126, + -0.9970831013734127 + ], + [ + 0.37637866838353407, + -0.9249172070101904, + 0.05354678479895386, + -0.92616875047483, + -0.37709273962634193, + -0.003537140793234632, + 0.023463666161300068, + -0.04826205442754901, + -0.9985590771069595 + ], + [ + 0.3804278920814814, + -0.9234542814614827, + 0.05006804346983769, + -0.9247224068362999, + -0.3805813435513582, + 0.006805235890388773, + 0.012770639033403777, + -0.048887943207910636, + -0.9987226240491294 + ], + [ + 0.40169396125358536, + -0.9151638394092184, + 0.03342317355041193, + -0.9157536394963247, + -0.40166060863516595, + 0.008001701073092192, + 0.006101904754921323, + -0.0338216278231245, + -0.9994092576366078 + ], + [ + 0.4100243937082298, + -0.9112146074742914, + 0.03959716769759508, + -0.9120191002702961, + -0.4100916381198066, + 0.006782999806347785, + 0.010057698859972068, + -0.0388945686399335, + -0.9991927017467428 + ], + [ + 0.44993456614581695, + -0.8915983827150046, + 0.05110000124426452, + -0.8929463331474207, + -0.45005846628434654, + 0.009706855533976017, + 0.014343371491780676, + -0.049997008568214256, + -0.9986463672534331 + ], + [ + 0.47859049012805477, + -0.8759378664661793, + 0.060695937670209296, + -0.877601361126448, + -0.4793884521966667, + 0.0016008902179011943, + 0.027694651252432038, + -0.05403300834824827, + -0.9981550181714482 + ], + [ + 0.5424640258875902, + -0.8345935427450384, + 0.09584570426531175, + -0.8383949005675682, + -0.5450621624470149, + -0.0011089503513127333, + 0.053167389630538346, + -0.07975498402526202, + -0.9953955852840642 + ], + [ + 0.609157953272967, + -0.7678684384272916, + 0.19825400180455982, + -0.778590939697503, + -0.6265807764749407, + -0.03453518746176498, + 0.15074062685702466, + -0.13332138545369573, + -0.9795420723968207 + ], + [ + 0.6643029378732299, + -0.6283741143793804, + 0.404780902601549, + -0.6651316639467817, + -0.7440266113113331, + -0.06343714429227906, + 0.34103002264959115, + -0.22709111395759954, + -0.9122105840282251 + ], + [ + 0.6810537408748504, + -0.5363811350738742, + 0.4984587043850615, + -0.5683133153697694, + -0.8164562531140416, + -0.1020742980597988, + 0.46172045396949096, + -0.2137626363231937, + -0.8608831266196154 + ], + [ + 0.6830751011484186, + -0.45659110605629155, + 0.5700289186184947, + -0.4745359932288487, + -0.8707574933107791, + -0.12882926287703034, + 0.5551792479203345, + -0.18249917729519022, + -0.8114616768308845 + ], + [ + 0.7097273665761004, + -0.4037178355841537, + 0.5773205126826867, + -0.3950344560401085, + -0.9066085889372475, + -0.14835310918989494, + 0.5832965315121027, + -0.12277123317968085, + -0.802927381915383 + ], + [ + 0.7622875530674886, + -0.330823650801869, + 0.5563033331811916, + -0.3196541417076329, + -0.9397940360187877, + -0.12086521233454299, + 0.562795625540513, + -0.08569061753564793, + -0.822142446257838 + ], + [ + 0.8087701138433344, + -0.28479323980337184, + 0.5145713881631385, + -0.29320175340908866, + -0.9537002557576105, + -0.06699667130316739, + 0.5098270635732044, + -0.09668832778659381, + -0.8548261416909033 + ], + [ + 0.847887229732067, + -0.24982076657989463, + 0.4676289450437338, + -0.26416208942979713, + -0.9638089769780861, + -0.035925567560436425, + 0.4596799279557086, + -0.09306900924523383, + -0.8831944991635453 + ], + [ + 0.8971611065826686, + -0.20594817116712727, + 0.39075222280657346, + -0.21625133742695002, + -0.9761720228982836, + -0.01798723913581232, + 0.3851458267934598, + -0.06836323941702259, + -0.9203201397339915 + ], + [ + 0.9392798423910917, + -0.17296669488096725, + 0.29637122016100026, + -0.1670348262076677, + -0.9849039502259042, + -0.045426596429667086, + 0.29975447371397135, + -0.006836028917725667, + -0.953991888957708 + ], + [ + 0.9634007025117021, + -0.20145515593655924, + 0.17684712761742813, + -0.19073793158010824, + -0.978708411813892, + -0.07582140925405209, + 0.18835638522890655, + 0.03931494361314938, + -0.9813135112451036 + ], + [ + 0.9560115811565237, + -0.2627305592394007, + 0.13043967930179545, + -0.2572902347485132, + -0.9646370311841307, + -0.057246250281756145, + 0.14086728434117857, + 0.021167222539064057, + -0.9898021806867893 + ], + [ + 0.948411039373027, + -0.2903124344541087, + 0.12741738812541803, + -0.2891734282539207, + -0.9568741179208501, + -0.02776059878802249, + 0.1299816478863426, + -0.010517264593221536, + -0.9914606186622981 + ], + [ + 0.9506507955438449, + -0.2842363309352205, + 0.12438960209092458, + -0.28310079315001724, + -0.9587075451298895, + -0.02708844456316961, + 0.12695277015365153, + -0.00946314363753326, + -0.9918636212014278 + ], + [ + 0.9467698338231388, + -0.28431648636366474, + 0.15096694122994558, + -0.28408233726340465, + -0.9585099248431043, + -0.023578584186239027, + 0.15140709170136984, + -0.02056354928231958, + -0.9882575742302441 + ], + [ + 0.9463501596809544, + -0.2606446443835413, + 0.19101242008311775, + -0.26420577022124847, + -0.9644406260070266, + -0.007042008873286879, + 0.18605559989860282, + -0.04380237734817505, + -0.9815623594479462 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006019.json b/json/chunk-0006/episode_0006019.json new file mode 100644 index 0000000000000000000000000000000000000000..f7e8ebe3fdd45df6667fa32cc9324de9a073eba8 --- /dev/null +++ b/json/chunk-0006/episode_0006019.json @@ -0,0 +1,1282 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 20, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut brush into pot or pan." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006019.mp4", + "start": 0, + "end": 20, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.1952027827501297, + 0.0647582933306694, + 0.18257683515548706, + -0.04004788026213646, + -0.14373226463794708, + 0.7821795344352722, + 0.0, + 1.0001531839370728 + ], + [ + 0.18799851834774017, + 0.06585045158863068, + 0.17618171870708466, + -0.011300915852189064, + -0.12270624190568924, + 0.866539478302002, + 0.0, + 1.0001531839370728 + ], + [ + 0.1798229217529297, + 0.06803715229034424, + 0.1743527501821518, + 0.027828248217701912, + -0.10909868031740189, + 0.9758462905883789, + 0.0, + 1.0001531839370728 + ], + [ + 0.17628636956214905, + 0.06907927989959717, + 0.17009998857975006, + 0.05257208272814751, + -0.09252196550369263, + 1.0423234701156616, + 0.0, + 1.0001531839370728 + ], + [ + 0.1710599958896637, + 0.07232362031936646, + 0.1630985587835312, + 0.04010334610939026, + -0.08399888873100281, + 1.107178807258606, + 0.0, + 1.0001531839370728 + ], + [ + 0.164069265127182, + 0.07447999715805054, + 0.15840083360671997, + 0.011347022838890553, + -0.08305598795413971, + 1.170105218887329, + 0.0, + 1.0001531839370728 + ], + [ + 0.15913555026054382, + 0.07658028602600098, + 0.15262103080749512, + -0.008402533829212189, + -0.06866279989480972, + 1.2095526456832886, + 0.0, + 1.0001531839370728 + ], + [ + 0.1545213758945465, + 0.07560448348522186, + 0.14514605700969696, + -0.016791878268122673, + -0.04406603425741196, + 1.224748134613037, + 0.0, + 1.0001531839370728 + ], + [ + 0.15173883736133575, + 0.07445739209651947, + 0.1365693360567093, + -0.027873218059539795, + -0.01993553340435028, + 1.238184928894043, + 0.0, + 1.0001531839370728 + ], + [ + 0.154829204082489, + 0.07592601329088211, + 0.12498979270458221, + -0.0563431978225708, + 0.009761843830347061, + 1.2452702522277832, + 0.0, + 1.0001531839370728 + ], + [ + 0.15487685799598694, + 0.0775846540927887, + 0.11775092780590057, + -0.09305821359157562, + 0.023502899333834648, + 1.251186728477478, + 0.0, + 1.0001531839370728 + ], + [ + 0.15246926248073578, + 0.07792045921087265, + 0.11685288697481155, + -0.12596416473388672, + 0.018650062382221222, + 1.2564020156860352, + 0.0, + 0.8251956701278687 + ], + [ + 0.1543808877468109, + 0.07927589863538742, + 0.11760787665843964, + -0.1396234929561615, + -0.004221449606120586, + 1.2382537126541138, + 0.0, + 0.5334634184837341 + ], + [ + 0.15566541254520416, + 0.07530397921800613, + 0.12222452461719513, + -0.13100233674049377, + -0.035056453198194504, + 1.209581971168518, + 0.0, + 0.35357794165611267 + ], + [ + 0.16439691185951233, + 0.07581224292516708, + 0.13777151703834534, + -0.13949282467365265, + -0.09728193283081055, + 1.1804044246673584, + 0.0, + 0.35109609365463257 + ], + [ + 0.17776986956596375, + 0.07793872058391571, + 0.14875474572181702, + -0.12122277170419693, + -0.11416012048721313, + 1.1570382118225098, + 0.0, + 0.35109609365463257 + ], + [ + 0.20126290619373322, + 0.08293630927801132, + 0.16751645505428314, + -0.12348376214504242, + -0.15340539813041687, + 1.117546796798706, + 0.0, + 0.35109609365463257 + ], + [ + 0.225931778550148, + 0.08702030777931213, + 0.18504057824611664, + -0.1421467512845993, + -0.1962004452943802, + 1.0725325345993042, + 0.0, + 0.35109609365463257 + ], + [ + 0.24839001893997192, + 0.08782387524843216, + 0.19572976231575012, + -0.15247146785259247, + -0.21922332048416138, + 1.0247628688812256, + 0.0, + 0.35109609365463257 + ], + [ + 0.27242767810821533, + 0.08885166049003601, + 0.19765910506248474, + -0.16018597781658173, + -0.21635285019874573, + 0.9651347398757935, + 0.0, + 0.35109609365463257 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.8251956701278687 + ], + [ + 0.5334634184837341 + ], + [ + 0.35357794165611267 + ], + [ + 0.35109609365463257 + ], + [ + 0.35109609365463257 + ], + [ + 0.35109609365463257 + ], + [ + 0.35109609365463257 + ], + [ + 0.35109609365463257 + ], + [ + 0.35109609365463257 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.1952027827501297, + 0.0647582933306694, + 0.18257683515548706 + ], + [ + 0.18799851834774017, + 0.06585045158863068, + 0.17618171870708466 + ], + [ + 0.1798229217529297, + 0.06803715229034424, + 0.1743527501821518 + ], + [ + 0.17628636956214905, + 0.06907927989959717, + 0.17009998857975006 + ], + [ + 0.1710599958896637, + 0.07232362031936646, + 0.1630985587835312 + ], + [ + 0.164069265127182, + 0.07447999715805054, + 0.15840083360671997 + ], + [ + 0.15913555026054382, + 0.07658028602600098, + 0.15262103080749512 + ], + [ + 0.1545213758945465, + 0.07560448348522186, + 0.14514605700969696 + ], + [ + 0.15173883736133575, + 0.07445739209651947, + 0.1365693360567093 + ], + [ + 0.154829204082489, + 0.07592601329088211, + 0.12498979270458221 + ], + [ + 0.15487685799598694, + 0.0775846540927887, + 0.11775092780590057 + ], + [ + 0.15246926248073578, + 0.07792045921087265, + 0.11685288697481155 + ], + [ + 0.1543808877468109, + 0.07927589863538742, + 0.11760787665843964 + ], + [ + 0.15566541254520416, + 0.07530397921800613, + 0.12222452461719513 + ], + [ + 0.16439691185951233, + 0.07581224292516708, + 0.13777151703834534 + ], + [ + 0.17776986956596375, + 0.07793872058391571, + 0.14875474572181702 + ], + [ + 0.20126290619373322, + 0.08293630927801132, + 0.16751645505428314 + ], + [ + 0.225931778550148, + 0.08702030777931213, + 0.18504057824611664 + ], + [ + 0.24839001893997192, + 0.08782387524843216, + 0.19572976231575012 + ], + [ + 0.27242767810821533, + 0.08885166049003601, + 0.19765910506248474 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.7020641173155742, + 0.7001938957068258, + 0.12974776912456928, + 0.6975592335062472, + -0.7128523138336667, + 0.07247547455632639, + 0.1432378823080007, + 0.039624324308265416, + -0.9888947476830043 + ], + [ + 0.64259936831072, + 0.761148697186543, + 0.08785620420830788, + 0.7563627752542069, + -0.6484804304779362, + 0.08595628829180861, + 0.12239854597346199, + 0.011215705879645724, + -0.9924176559721232 + ], + [ + 0.5571351957873197, + 0.8295538493237973, + 0.0379576696741944, + 0.8232526951257528, + -0.5577413182862171, + 0.10573373087400592, + 0.10888238417305601, + -0.02765922899183948, + -0.9936697607698283 + ], + [ + 0.5020585413343548, + 0.864832885262013, + 0.0011408955262753595, + 0.8598844721448488, + -0.4993259176436792, + 0.10617119446192819, + 0.09239001914381662, + -0.05232311667589809, + -0.9943472108996563 + ], + [ + 0.44560997699508076, + 0.8952257238697833, + 0.001628411577475286, + 0.8912869988528228, + -0.44381843352242534, + 0.09291223677012872, + 0.08390014349434406, + -0.03995123762191344, + -0.995672970675666 + ], + [ + 0.38871021804597905, + 0.9210995385408922, + 0.021909050330917147, + 0.9176175220847684, + -0.38916291808130676, + 0.08081031093524746, + 0.0829605300709724, + -0.01130766510811674, + -0.9964886788921115 + ], + [ + 0.3526050893335501, + 0.9352212100934767, + 0.032108241424476686, + 0.9332537036193822, + -0.35396471520336753, + 0.06120870094770345, + 0.0686088599000568, + 0.008382635760442611, + -0.9976084180483455 + ], + [ + 0.3388536571915531, + 0.9403369316533103, + 0.030735223713950627, + 0.9398072356550986, + -0.3398309306351642, + 0.03573931160444738, + 0.04405177429151941, + 0.016774789193173472, + -0.9988884059940295 + ], + [ + 0.3264475336587199, + 0.9446443725563581, + 0.0328483966997412, + 0.9450050978287051, + -0.326910695659991, + 0.009734584781093741, + 0.01993421294906072, + 0.02786407114377528, + -0.9994129380258174 + ], + [ + 0.31979203892307934, + 0.9461548970646921, + 0.05023905454844146, + 0.9474374709042118, + -0.318778943551485, + -0.027243785985607203, + -0.00976168879088709, + 0.05631070865031547, + -0.9983655710826815 + ], + [ + 0.31410917877706857, + 0.9459366133034549, + 0.08086623164204874, + 0.9490959589175417, + -0.31076330238515737, + -0.051410413897022306, + -0.023500735613751978, + 0.09289829655414117, + -0.995398222784706 + ], + [ + 0.30918674842123633, + 0.9441737293463955, + 0.11375202597238623, + 0.9508184737894726, + -0.3045623582960601, + -0.05644466148184513, + -0.018648981241903916, + 0.12560946907483386, + -0.9919044695823168 + ], + [ + 0.3264444902474031, + 0.9358251861547485, + 0.13291055543313096, + 0.945206947845917, + -0.3238258773940046, + -0.04148043965303225, + 0.004221437067978409, + 0.13916904141522757, + -0.9902596413974709 + ], + [ + 0.3531933442909751, + 0.925834688393439, + 0.13447896235463835, + 0.9348935821785402, + -0.35466523468858874, + -0.013658744622588405, + 0.03504927317268601, + 0.13054769653544931, + -0.9908223086807011 + ], + [ + 0.3787515556824999, + 0.9106381880803814, + 0.1651827759718491, + 0.9203875821137822, + -0.3893431697547413, + 0.03603602164607511, + 0.0971285630431743, + 0.13838347652451358, + -0.9856044113467417 + ], + [ + 0.39943610908365457, + 0.9033588209191288, + 0.15618461969000708, + 0.9096564071133535, + -0.41171527766934846, + 0.05491585500815056, + 0.11391231609328158, + 0.12013896454211957, + -0.986200087933991 + ], + [ + 0.4327468875951014, + 0.8839418271740769, + 0.17713547766866644, + 0.8884711255398192, + -0.45147555890271873, + 0.08239465271171402, + 0.15280441864932726, + 0.1217237277018401, + -0.9807314330414871 + ], + [ + 0.46873231001826743, + 0.8563556650166391, + 0.21666794072692966, + 0.8615606906429178, + -0.49734065116405723, + 0.10181086896107704, + 0.19494408912259162, + 0.13895053685977954, + -0.9709220104738288 + ], + [ + 0.506872925491622, + 0.8275242542977922, + 0.24141964698931934, + 0.8341378432632139, + -0.5415040402402725, + 0.10482095610924091, + 0.21747159777717795, + 0.1482463589851174, + -0.9647430337700796 + ], + [ + 0.5560338028548915, + 0.7921073926800404, + 0.2517782527232161, + 0.8029593129598394, + -0.5901672945440877, + 0.08342005862845345, + 0.2146689353720984, + 0.15578332039130544, + -0.9641829729227069 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.007204264402389526, + 0.0010921582579612732, + -0.006395116448402405, + 0.028746964409947395, + 0.021026022732257843, + 0.08435994386672974, + 1.0 + ], + [ + -0.008175596594810486, + 0.002186700701713562, + -0.0018289685249328613, + 0.039129164069890976, + 0.013607561588287354, + 0.10930681228637695, + 1.0 + ], + [ + -0.0035365521907806396, + 0.0010421276092529297, + -0.004252761602401733, + 0.024743834510445595, + 0.01657671481370926, + 0.06647717952728271, + 1.0 + ], + [ + -0.0052263736724853516, + 0.003244340419769287, + -0.007001429796218872, + -0.012468736618757248, + 0.00852307677268982, + 0.06485533714294434, + 1.0 + ], + [ + -0.0069907307624816895, + 0.002156376838684082, + -0.004697725176811218, + -0.02875632420182228, + 0.0009429007768630981, + 0.06292641162872314, + 1.0 + ], + [ + -0.004933714866638184, + 0.0021002888679504395, + -0.0057798027992248535, + -0.019749555736780167, + 0.014393188059329987, + 0.03944742679595947, + 1.0 + ], + [ + -0.0046141743659973145, + -0.0009758025407791138, + -0.007474973797798157, + -0.008389344438910484, + 0.024596765637397766, + 0.015195488929748535, + 1.0 + ], + [ + -0.0027825385332107544, + -0.0011470913887023926, + -0.008576720952987671, + -0.011081339791417122, + 0.024130500853061676, + 0.01343679428100586, + 1.0 + ], + [ + 0.0030903667211532593, + 0.0014686211943626404, + -0.011579543352127075, + -0.028469979763031006, + 0.029697377234697342, + 0.007085323333740234, + 1.0 + ], + [ + 4.7653913497924805e-05, + 0.0016586408019065857, + -0.007238864898681641, + -0.03671501576900482, + 0.013741055503487587, + 0.005916476249694824, + 1.0 + ], + [ + -0.0024075955152511597, + 0.00033580511808395386, + -0.0008980408310890198, + -0.032905951142311096, + -0.004852836951613426, + 0.005215287208557129, + 0.0 + ], + [ + 0.0019116252660751343, + 0.0013554394245147705, + 0.0007549896836280823, + -0.01365932822227478, + -0.022871512919664383, + -0.018148303031921387, + 0.0 + ], + [ + 0.0012845247983932495, + -0.003971919417381287, + 0.004616647958755493, + 0.008621156215667725, + -0.030835002660751343, + -0.028671741485595703, + 0.0 + ], + [ + 0.008731499314308167, + 0.0005082637071609497, + 0.015546992421150208, + -0.008490487933158875, + -0.06222547963261604, + -0.029177546501159668, + 0.0 + ], + [ + 0.013372957706451416, + 0.0021264776587486267, + 0.01098322868347168, + 0.01827005296945572, + -0.016878187656402588, + -0.023366212844848633, + 0.0 + ], + [ + 0.02349303662776947, + 0.004997588694095612, + 0.018761709332466125, + -0.0022609904408454895, + -0.039245277643203735, + -0.03949141502380371, + 0.0 + ], + [ + 0.024668872356414795, + 0.004083998501300812, + 0.017524123191833496, + -0.018662989139556885, + -0.04279504716396332, + -0.045014262199401855, + 0.0 + ], + [ + 0.022458240389823914, + 0.0008035674691200256, + 0.010689184069633484, + -0.010324716567993164, + -0.02302287518978119, + -0.04776966571807861, + 0.0 + ], + [ + 0.024037659168243408, + 0.0010277852416038513, + 0.0019293427467346191, + -0.007714509963989258, + 0.0028704702854156494, + -0.05962812900543213, + 0.0 + ], + [ + 0.02224189043045044, + -5.5499374866485596e-05, + -0.0015998482704162598, + -0.020100906491279602, + 0.005725964903831482, + -0.05128663778305054, + 0.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.8251956701278687 + ], + [ + 0.5334634184837341 + ], + [ + 0.35357794165611267 + ], + [ + 0.35109609365463257 + ], + [ + 0.35109609365463257 + ], + [ + 0.35109609365463257 + ], + [ + 0.35109609365463257 + ], + [ + 0.35109609365463257 + ], + [ + 0.35109609365463257 + ], + [ + 0.35109609365463257 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.18799851834774017, + 0.06585045158863068, + 0.17618171870708466 + ], + [ + 0.1798229217529297, + 0.06803715229034424, + 0.1743527501821518 + ], + [ + 0.17628636956214905, + 0.06907927989959717, + 0.17009998857975006 + ], + [ + 0.1710599958896637, + 0.07232362031936646, + 0.1630985587835312 + ], + [ + 0.164069265127182, + 0.07447999715805054, + 0.15840083360671997 + ], + [ + 0.15913555026054382, + 0.07658028602600098, + 0.15262103080749512 + ], + [ + 0.1545213758945465, + 0.07560448348522186, + 0.14514605700969696 + ], + [ + 0.15173883736133575, + 0.07445739209651947, + 0.1365693360567093 + ], + [ + 0.154829204082489, + 0.07592601329088211, + 0.12498979270458221 + ], + [ + 0.15487685799598694, + 0.0775846540927887, + 0.11775092780590057 + ], + [ + 0.15246926248073578, + 0.07792045921087265, + 0.11685288697481155 + ], + [ + 0.1543808877468109, + 0.07927589863538742, + 0.11760787665843964 + ], + [ + 0.15566541254520416, + 0.07530397921800613, + 0.12222452461719513 + ], + [ + 0.16439691185951233, + 0.07581224292516708, + 0.13777151703834534 + ], + [ + 0.17776986956596375, + 0.07793872058391571, + 0.14875474572181702 + ], + [ + 0.20126290619373322, + 0.08293630927801132, + 0.16751645505428314 + ], + [ + 0.225931778550148, + 0.08702030777931213, + 0.18504057824611664 + ], + [ + 0.24839001893997192, + 0.08782387524843216, + 0.19572976231575012 + ], + [ + 0.27242767810821533, + 0.08885166049003601, + 0.19765910506248474 + ], + [ + 0.29466956853866577, + 0.08879616111516953, + 0.19605925679206848 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.64259936831072, + 0.761148697186543, + 0.08785620420830788, + 0.7563627752542069, + -0.6484804304779362, + 0.08595628829180861, + 0.12239854597346199, + 0.011215705879645724, + -0.9924176559721232 + ], + [ + 0.5571351957873197, + 0.8295538493237973, + 0.0379576696741944, + 0.8232526951257528, + -0.5577413182862171, + 0.10573373087400592, + 0.10888238417305601, + -0.02765922899183948, + -0.9936697607698283 + ], + [ + 0.5020585413343548, + 0.864832885262013, + 0.0011408955262753595, + 0.8598844721448488, + -0.4993259176436792, + 0.10617119446192819, + 0.09239001914381662, + -0.05232311667589809, + -0.9943472108996563 + ], + [ + 0.44560997699508076, + 0.8952257238697833, + 0.001628411577475286, + 0.8912869988528228, + -0.44381843352242534, + 0.09291223677012872, + 0.08390014349434406, + -0.03995123762191344, + -0.995672970675666 + ], + [ + 0.38871021804597905, + 0.9210995385408922, + 0.021909050330917147, + 0.9176175220847684, + -0.38916291808130676, + 0.08081031093524746, + 0.0829605300709724, + -0.01130766510811674, + -0.9964886788921115 + ], + [ + 0.3526050893335501, + 0.9352212100934767, + 0.032108241424476686, + 0.9332537036193822, + -0.35396471520336753, + 0.06120870094770345, + 0.0686088599000568, + 0.008382635760442611, + -0.9976084180483455 + ], + [ + 0.3388536571915531, + 0.9403369316533103, + 0.030735223713950627, + 0.9398072356550986, + -0.3398309306351642, + 0.03573931160444738, + 0.04405177429151941, + 0.016774789193173472, + -0.9988884059940295 + ], + [ + 0.3264475336587199, + 0.9446443725563581, + 0.0328483966997412, + 0.9450050978287051, + -0.326910695659991, + 0.009734584781093741, + 0.01993421294906072, + 0.02786407114377528, + -0.9994129380258174 + ], + [ + 0.31979203892307934, + 0.9461548970646921, + 0.05023905454844146, + 0.9474374709042118, + -0.318778943551485, + -0.027243785985607203, + -0.00976168879088709, + 0.05631070865031547, + -0.9983655710826815 + ], + [ + 0.31410917877706857, + 0.9459366133034549, + 0.08086623164204874, + 0.9490959589175417, + -0.31076330238515737, + -0.051410413897022306, + -0.023500735613751978, + 0.09289829655414117, + -0.995398222784706 + ], + [ + 0.30918674842123633, + 0.9441737293463955, + 0.11375202597238623, + 0.9508184737894726, + -0.3045623582960601, + -0.05644466148184513, + -0.018648981241903916, + 0.12560946907483386, + -0.9919044695823168 + ], + [ + 0.3264444902474031, + 0.9358251861547485, + 0.13291055543313096, + 0.945206947845917, + -0.3238258773940046, + -0.04148043965303225, + 0.004221437067978409, + 0.13916904141522757, + -0.9902596413974709 + ], + [ + 0.3531933442909751, + 0.925834688393439, + 0.13447896235463835, + 0.9348935821785402, + -0.35466523468858874, + -0.013658744622588405, + 0.03504927317268601, + 0.13054769653544931, + -0.9908223086807011 + ], + [ + 0.3787515556824999, + 0.9106381880803814, + 0.1651827759718491, + 0.9203875821137822, + -0.3893431697547413, + 0.03603602164607511, + 0.0971285630431743, + 0.13838347652451358, + -0.9856044113467417 + ], + [ + 0.39943610908365457, + 0.9033588209191288, + 0.15618461969000708, + 0.9096564071133535, + -0.41171527766934846, + 0.05491585500815056, + 0.11391231609328158, + 0.12013896454211957, + -0.986200087933991 + ], + [ + 0.4327468875951014, + 0.8839418271740769, + 0.17713547766866644, + 0.8884711255398192, + -0.45147555890271873, + 0.08239465271171402, + 0.15280441864932726, + 0.1217237277018401, + -0.9807314330414871 + ], + [ + 0.46873231001826743, + 0.8563556650166391, + 0.21666794072692966, + 0.8615606906429178, + -0.49734065116405723, + 0.10181086896107704, + 0.19494408912259162, + 0.13895053685977954, + -0.9709220104738288 + ], + [ + 0.506872925491622, + 0.8275242542977922, + 0.24141964698931934, + 0.8341378432632139, + -0.5415040402402725, + 0.10482095610924091, + 0.21747159777717795, + 0.1482463589851174, + -0.9647430337700796 + ], + [ + 0.5560338028548915, + 0.7921073926800404, + 0.2517782527232161, + 0.8029593129598394, + -0.5901672945440877, + 0.08342005862845345, + 0.2146689353720984, + 0.15578332039130544, + -0.9641829729227069 + ], + [ + 0.5972066085840285, + 0.7561306099029763, + 0.2676018823388873, + 0.7743595799268241, + -0.6304912511792454, + 0.05336687326405447, + 0.20907297204353067, + 0.17534903180280864, + -0.9620505233129404 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006020.json b/json/chunk-0006/episode_0006020.json new file mode 100644 index 0000000000000000000000000000000000000000..7a71f1e66117c4bb8aaac9df528bff0d9a3f1217 --- /dev/null +++ b/json/chunk-0006/episode_0006020.json @@ -0,0 +1,1702 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 27, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nClose oven." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006020.mp4", + "start": 0, + "end": 27, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.24932041764259338, + 0.053455159068107605, + 0.060239002108573914, + 0.11600422114133835, + -0.013765065930783749, + -0.30677464604377747, + 0.0, + 0.9988223910331726 + ], + [ + 0.24452680349349976, + 0.05160433053970337, + 0.054893456399440765, + 0.09868088364601135, + 0.0043038493022322655, + -0.2935071587562561, + 0.0, + 0.9988223910331726 + ], + [ + 0.24551217257976532, + 0.04437287896871567, + 0.06584034860134125, + 0.07683753222227097, + -0.04537036269903183, + -0.20363830029964447, + 0.0, + 0.9988223910331726 + ], + [ + 0.24111585319042206, + 0.037413716316223145, + 0.08334016054868698, + 0.07346374541521072, + -0.040442194789648056, + -0.07642850279808044, + 0.0, + 0.9988223910331726 + ], + [ + 0.23854105174541473, + 0.023980800062417984, + 0.10292170941829681, + 0.04131143540143967, + -0.05948243662714958, + 0.017974261194467545, + 0.0, + 0.9988223910331726 + ], + [ + 0.23472625017166138, + 0.004175565671175718, + 0.1307692676782608, + 0.022509519010782242, + -0.06252498179674149, + 0.09797858446836472, + 0.0, + 0.9988223910331726 + ], + [ + 0.22343142330646515, + -0.015814729034900665, + 0.1502818465232849, + 0.010386968031525612, + -0.04527748376131058, + 0.22239938378334045, + 0.0, + 0.9988223910331726 + ], + [ + 0.21314078569412231, + -0.03452160209417343, + 0.16746488213539124, + -0.04749373719096184, + -0.03590938076376915, + 0.28353241086006165, + 0.0, + 0.9988223910331726 + ], + [ + 0.21401721239089966, + -0.04422321543097496, + 0.1860620230436325, + -0.07232258468866348, + -0.03582419082522392, + 0.36188289523124695, + 0.0, + 0.9988223910331726 + ], + [ + 0.21700361371040344, + -0.05624788999557495, + 0.21021990478038788, + -0.09189358353614807, + -0.0556267611682415, + 0.4224071204662323, + 0.0, + 0.9988223910331726 + ], + [ + 0.21716910600662231, + -0.07378918677568436, + 0.2114047110080719, + -0.12226229906082153, + -0.031572021543979645, + 0.34913939237594604, + 0.0, + 0.9988223910331726 + ], + [ + 0.216688334941864, + -0.09109365940093994, + 0.20658400654792786, + -0.12814076244831085, + -0.07604128122329712, + 0.1858871579170227, + 0.0, + 0.9988223910331726 + ], + [ + 0.2161620706319809, + -0.10060973465442657, + 0.20189988613128662, + -0.11132606118917465, + -0.15290775895118713, + 0.03547944501042366, + 0.0, + 0.9981546401977539 + ], + [ + 0.2154877632856369, + -0.10670401155948639, + 0.19431616365909576, + -0.09883639216423035, + -0.18973217904567719, + -0.029831288382411003, + 0.0, + 0.9988223910331726 + ], + [ + 0.21559764444828033, + -0.10771948844194412, + 0.1800481379032135, + -0.04457686096429825, + -0.19552063941955566, + -0.06401098519563675, + 0.0, + 0.9981546401977539 + ], + [ + 0.220413476228714, + -0.10128103941679001, + 0.1718614548444748, + -0.002575712976977229, + -0.19546546041965485, + -0.0674092173576355, + 0.0, + 0.9988223910331726 + ], + [ + 0.22852155566215515, + -0.08366148918867111, + 0.17204587161540985, + 0.029241232201457024, + -0.15123075246810913, + -0.05898291990160942, + 0.0, + 0.9988223910331726 + ], + [ + 0.2422768473625183, + -0.06268873810768127, + 0.18669363856315613, + 0.047976747155189514, + -0.17714126408100128, + -0.02222556620836258, + 0.0, + 0.9988223910331726 + ], + [ + 0.24723488092422485, + -0.046759750694036484, + 0.20406487584114075, + 0.031586240977048874, + -0.17205117642879486, + 0.005633767694234848, + 0.0, + 0.9988223910331726 + ], + [ + 0.2397865355014801, + -0.04498763382434845, + 0.20744363963603973, + 0.010964255779981613, + -0.1413552463054657, + -0.015611440874636173, + 0.0, + 0.9988223910331726 + ], + [ + 0.22967827320098877, + -0.05204750970005989, + 0.18526208400726318, + 0.035646919161081314, + -0.12385687232017517, + -0.032716844230890274, + 0.0, + 0.9988223910331726 + ], + [ + 0.23632986843585968, + -0.05112409591674805, + 0.1345977783203125, + 0.07724039256572723, + -0.08421659469604492, + -0.01641654595732689, + 0.0, + 0.9988223910331726 + ], + [ + 0.24693648517131805, + -0.043860189616680145, + 0.09742588549852371, + 0.10416219383478165, + -0.0964796245098114, + -0.0024704867973923683, + 0.0, + 0.9988223910331726 + ], + [ + 0.26456764340400696, + -0.03770790249109268, + 0.07624936103820801, + 0.11432752758264542, + -0.12470693141222, + 0.00015792751219123602, + 0.0, + 0.9988223910331726 + ], + [ + 0.27422699332237244, + -0.029245343059301376, + 0.06587503850460052, + 0.10433369874954224, + -0.15438108146190643, + -0.0005308507825247943, + 0.0, + 0.9981546401977539 + ], + [ + 0.2879735827445984, + -0.01955024152994156, + 0.0549851655960083, + 0.09618057310581207, + -0.14364252984523773, + 0.042146652936935425, + 0.0, + 0.9988223910331726 + ], + [ + 0.2929909825325012, + -0.016335347667336464, + 0.04909459874033928, + 0.09414249658584595, + -0.13874052464962006, + 0.06995447725057602, + 0.0, + 0.9988223910331726 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9981546401977539 + ], + [ + 0.9988223910331726 + ], + [ + 0.9981546401977539 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9981546401977539 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.24932041764259338, + 0.053455159068107605, + 0.060239002108573914 + ], + [ + 0.24452680349349976, + 0.05160433053970337, + 0.054893456399440765 + ], + [ + 0.24551217257976532, + 0.04437287896871567, + 0.06584034860134125 + ], + [ + 0.24111585319042206, + 0.037413716316223145, + 0.08334016054868698 + ], + [ + 0.23854105174541473, + 0.023980800062417984, + 0.10292170941829681 + ], + [ + 0.23472625017166138, + 0.004175565671175718, + 0.1307692676782608 + ], + [ + 0.22343142330646515, + -0.015814729034900665, + 0.1502818465232849 + ], + [ + 0.21314078569412231, + -0.03452160209417343, + 0.16746488213539124 + ], + [ + 0.21401721239089966, + -0.04422321543097496, + 0.1860620230436325 + ], + [ + 0.21700361371040344, + -0.05624788999557495, + 0.21021990478038788 + ], + [ + 0.21716910600662231, + -0.07378918677568436, + 0.2114047110080719 + ], + [ + 0.216688334941864, + -0.09109365940093994, + 0.20658400654792786 + ], + [ + 0.2161620706319809, + -0.10060973465442657, + 0.20189988613128662 + ], + [ + 0.2154877632856369, + -0.10670401155948639, + 0.19431616365909576 + ], + [ + 0.21559764444828033, + -0.10771948844194412, + 0.1800481379032135 + ], + [ + 0.220413476228714, + -0.10128103941679001, + 0.1718614548444748 + ], + [ + 0.22852155566215515, + -0.08366148918867111, + 0.17204587161540985 + ], + [ + 0.2422768473625183, + -0.06268873810768127, + 0.18669363856315613 + ], + [ + 0.24723488092422485, + -0.046759750694036484, + 0.20406487584114075 + ], + [ + 0.2397865355014801, + -0.04498763382434845, + 0.20744363963603973 + ], + [ + 0.22967827320098877, + -0.05204750970005989, + 0.18526208400726318 + ], + [ + 0.23632986843585968, + -0.05112409591674805, + 0.1345977783203125 + ], + [ + 0.24693648517131805, + -0.043860189616680145, + 0.09742588549852371 + ], + [ + 0.26456764340400696, + -0.03770790249109268, + 0.07624936103820801 + ], + [ + 0.27422699332237244, + -0.029245343059301376, + 0.06587503850460052 + ], + [ + 0.2879735827445984, + -0.01955024152994156, + 0.0549851655960083 + ], + [ + 0.2929909825325012, + -0.016335347667336464, + 0.04909459874033928 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.953222222751858, + -0.2984370187208327, + 0.04798687225719907, + -0.3019568329725445, + -0.9473864892284845, + 0.10621163330124253, + 0.013764631240910447, + -0.11573325314855754, + -0.9931849520821657 + ], + [ + 0.9572262389707057, + -0.2883095559796545, + 0.02440342920189209, + -0.289308493517818, + -0.9524554745078624, + 0.09554666220466983, + -0.00430383601545924, + -0.0985198914474487, + -0.9951257749574849 + ], + [ + 0.9783294788616016, + -0.19822749855018415, + 0.059810447322554264, + -0.20202567417038228, + -0.9771517709212995, + 0.06603062593502448, + 0.04535479871402617, + -0.07668295380268902, + -0.9960234268478353 + ], + [ + 0.9962654762910276, + -0.07318928007065323, + 0.04580862400630995, + -0.07629168456917021, + -0.9946179747567252, + 0.07010465859290996, + 0.04043117134353429, + -0.07333766817652243, + -0.996487283817621 + ], + [ + 0.998070194408615, + 0.020412719599964407, + 0.058644760308855085, + 0.017941506551483972, + -0.9989412818722953, + 0.042360567914027536, + 0.059447366432945487, + -0.04122664490192127, + -0.997379754343509 + ], + [ + 0.9932592588958598, + 0.09919674271537204, + 0.05996708140561667, + 0.09763074830320803, + -0.9948142496156677, + 0.02851044979251776, + 0.06248425084293813, + -0.02246363720051406, + -0.9977931165328414 + ], + [ + 0.9743714149171847, + 0.2210171946104196, + 0.04185385858941606, + 0.22034449340988807, + -0.9752147125021664, + 0.020113894283708227, + 0.04526201515865947, + -0.01037613636457749, + -0.9989212610500993 + ], + [ + 0.9594543098128329, + 0.27779690139984997, + 0.047710679666321955, + 0.279568413658385, + -0.9594674706202818, + -0.035548205384414985, + 0.0359016638349045, + 0.047445277891065715, + -0.9982284388554179 + ], + [ + 0.9346318082602186, + 0.3506898440126726, + 0.0589916629245233, + 0.3538086478043357, + -0.9337033192918258, + -0.05493225174971142, + 0.0358165286858008, + 0.07221319027569312, + -0.9967459211971249 + ], + [ + 0.9106939516942825, + 0.40357399020100576, + 0.08811674517757762, + 0.4093230754702834, + -0.9103479422943088, + -0.061001998721896836, + 0.05559807761964719, + 0.09162236841381115, + -0.9942405118336525 + ], + [ + 0.9391991775461676, + 0.3359180962127707, + 0.07116134859170326, + 0.3419187674092671, + -0.9339700837161794, + -0.10388185220008328, + 0.03156677667944092, + 0.12189715074594712, + -0.9920406358864993 + ], + [ + 0.9799327114234923, + 0.1737624521036192, + 0.0976652001540991, + 0.18428440235207313, + -0.976509332442107, + -0.11166370360690178, + 0.07596802045559706, + 0.1274210888840942, + -0.9889351475074843 + ], + [ + 0.9877103817193649, + 0.01834170771261172, + 0.15521528147051625, + 0.0350581276944826, + -0.9937844521196703, + -0.10565694680315253, + 0.15231260462070703, + 0.10980002041617283, + -0.982214246481013 + ], + [ + 0.9816178445655787, + -0.04828282267107606, + 0.18464879167040574, + -0.02929161444362352, + -0.9941218379753153, + -0.10422942283188118, + 0.18859588689500514, + 0.09690480016745502, + -0.9772620176548314 + ], + [ + 0.9789376717386389, + -0.07254341001584624, + 0.19083628720504323, + -0.06274849025085386, + -0.99640685646, + -0.056885880240525814, + 0.19427728076687564, + 0.043713042250268584, + -0.9799721976235116 + ], + [ + 0.9787294800289688, + -0.06785708061712578, + 0.1936079066886099, + -0.06607550100082119, + -0.997691852522643, + -0.015652334567953466, + 0.19422315281581404, + 0.0025266618407624106, + -0.9809541186468547 + ], + [ + 0.9868672676899151, + -0.05452647657714028, + 0.15205215984761353, + -0.05827590901760566, + -0.9980939128284539, + 0.020309101480823634, + 0.15065495143012522, + -0.028903365320827587, + -0.9881637926390126 + ], + [ + 0.9841083573067396, + -0.013749209847534572, + 0.17703587293991752, + -0.021875967636307347, + -0.9987904567884973, + 0.04403482108740515, + 0.17621629640588127, + -0.047207866471521524, + -0.9832188129934258 + ], + [ + 0.9852200356466214, + 0.011037620970594382, + 0.1709375683803281, + 0.0055505595323589296, + -0.9994548740763252, + 0.032544522948639715, + 0.17120359998944995, + -0.031114716909949422, + -0.9847442316369597 + ], + [ + 0.9899053309466105, + -0.014065388737326184, + 0.14103049529498646, + -0.015455104123608579, + -0.9998421579184351, + 0.008763504181277216, + 0.14088497265503414, + -0.010854680496207332, + -0.9899664642760962 + ], + [ + 0.9918084893361337, + -0.02828967972103452, + 0.12456168954400727, + -0.03246042647152284, + -0.9989739310277974, + 0.03158173269718436, + 0.12354044355620235, + -0.0353663561616239, + -0.9917091204873464 + ], + [ + 0.9963216071371477, + -0.009876960852335474, + 0.08512168229054431, + -0.016357628954836733, + -0.9969906483303428, + 0.0757764812908219, + 0.08411707987458206, + -0.07689013451778992, + -0.993484888706018 + ], + [ + 0.9953464126474362, + 0.007558686541944531, + 0.09606448400756966, + -0.002458995173945242, + -0.9946017305973864, + 0.10373693091381939, + 0.09633001698647466, + -0.1034904041466872, + -0.9899546777893122 + ], + [ + 0.9922341504936154, + 0.014346446738531117, + 0.12355391560040305, + 0.00015670107220140672, + -0.9934694703657397, + 0.11409814589199159, + 0.12438394606615036, + -0.11319271583098763, + -0.9857565840732782 + ], + [ + 0.9881067510140646, + 0.01548618676224546, + 0.15298766819581852, + -0.0005245372912658329, + -0.9945705361250714, + 0.10406331501791587, + 0.15376857110950562, + -0.10290591183917848, + -0.9827337380224045 + ], + [ + 0.9888222453570504, + 0.05567417535004892, + 0.13831468933606705, + 0.04170024219020841, + -0.9939150627590002, + 0.10195066366655038, + 0.14314907225797413, + -0.09504332811862239, + -0.9851269506473856 + ], + [ + 0.9879686470575673, + 0.08255641820775254, + 0.13077610731302058, + 0.06922578887526347, + -0.9922281935097034, + 0.10339730247481344, + 0.13829585165809372, + -0.09310021384066353, + -0.9860053790913035 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.004793614149093628, + -0.0018508285284042358, + -0.005345545709133148, + -0.017323337495326996, + 0.018068915233016014, + 0.013267487287521362, + 1.0 + ], + [ + 0.000985369086265564, + -0.007231451570987701, + 0.010946892201900482, + -0.021843351423740387, + -0.04967421293258667, + 0.08986885845661163, + 1.0 + ], + [ + -0.004396319389343262, + -0.006959162652492523, + 0.017499811947345734, + -0.0033737868070602417, + 0.004928167909383774, + 0.12720979750156403, + 1.0 + ], + [ + -0.0025748014450073242, + -0.01343291625380516, + 0.019581548869609833, + -0.03215231001377106, + -0.019040241837501526, + 0.09440276026725769, + 1.0 + ], + [ + -0.003814801573753357, + -0.01980523392558098, + 0.02784755825996399, + -0.018801916390657425, + -0.0030425451695919037, + 0.08000431954860687, + 1.0 + ], + [ + -0.011294826865196228, + -0.01999029517173767, + 0.01951257884502411, + -0.01212255097925663, + 0.017247498035430908, + 0.12442079931497574, + 1.0 + ], + [ + -0.010290637612342834, + -0.018706873059272766, + 0.017183035612106323, + -0.0578807070851326, + 0.009368102997541428, + 0.06113302707672119, + 1.0 + ], + [ + 0.0008764266967773438, + -0.009701613336801529, + 0.018597140908241272, + -0.024828847497701645, + 8.518993854522705e-05, + 0.0783504843711853, + 1.0 + ], + [ + 0.002986401319503784, + -0.01202467456459999, + 0.02415788173675537, + -0.01957099884748459, + -0.019802570343017578, + 0.06052422523498535, + 1.0 + ], + [ + 0.00016549229621887207, + -0.017541296780109406, + 0.001184806227684021, + -0.030368715524673462, + 0.024054739624261856, + -0.07326772809028625, + 1.0 + ], + [ + -0.0004807710647583008, + -0.017304472625255585, + -0.004820704460144043, + -0.005878463387489319, + -0.044469259679317474, + -0.16325223445892334, + 1.0 + ], + [ + -0.0005262643098831177, + -0.009516075253486633, + -0.004684120416641235, + 0.0168147012591362, + -0.07686647772789001, + -0.15040771663188934, + 1.0 + ], + [ + -0.0006743073463439941, + -0.0060942769050598145, + -0.007583722472190857, + 0.012489669024944305, + -0.03682442009449005, + -0.06531073153018951, + 1.0 + ], + [ + 0.00010988116264343262, + -0.0010154768824577332, + -0.014268025755882263, + 0.0542595311999321, + -0.005788460373878479, + -0.0341796949505806, + 1.0 + ], + [ + 0.004815831780433655, + 0.006438449025154114, + -0.008186683058738708, + 0.0420011468231678, + 5.517899990081787e-05, + -0.0033982321619987488, + 1.0 + ], + [ + 0.008108079433441162, + 0.017619550228118896, + 0.0001844167709350586, + 0.03181694447994232, + 0.044234707951545715, + 0.008426297456026077, + 1.0 + ], + [ + 0.01375529170036316, + 0.020972751080989838, + 0.014647766947746277, + 0.01873551495373249, + -0.02591051161289215, + 0.03675735369324684, + 1.0 + ], + [ + 0.004958033561706543, + 0.01592898741364479, + 0.01737123727798462, + -0.01639050617814064, + 0.005090087652206421, + 0.027859333902597427, + 1.0 + ], + [ + -0.007448345422744751, + 0.001772116869688034, + 0.003378763794898987, + -0.02062198519706726, + 0.030695930123329163, + -0.021245207637548447, + 1.0 + ], + [ + -0.010108262300491333, + -0.007059875875711441, + -0.02218155562877655, + 0.0246826633810997, + 0.017498373985290527, + -0.017105404287576675, + 1.0 + ], + [ + 0.006651595234870911, + 0.0009234137833118439, + -0.050664305686950684, + 0.04159347340464592, + 0.03964027762413025, + 0.016300298273563385, + 1.0 + ], + [ + 0.010606616735458374, + 0.007263906300067902, + -0.03717189282178879, + 0.026921801269054413, + -0.01226302981376648, + 0.01394605915993452, + 1.0 + ], + [ + 0.017631158232688904, + 0.006152287125587463, + -0.021176524460315704, + 0.01016533374786377, + -0.0282273069024086, + 0.002628414425998926, + 1.0 + ], + [ + 0.009659349918365479, + 0.008462559431791306, + -0.010374322533607483, + -0.00999382883310318, + -0.029674150049686432, + -0.0006887782947160304, + 1.0 + ], + [ + 0.013746589422225952, + 0.009695101529359818, + -0.010889872908592224, + -0.008153125643730164, + 0.010738551616668701, + 0.04267750307917595, + 1.0 + ], + [ + 0.005017399787902832, + 0.003214893862605095, + -0.005890566855669022, + -0.0020380765199661255, + 0.004902005195617676, + 0.027807824313640594, + 1.0 + ], + [ + 0.00046515464782714844, + -5.5924057960510254e-05, + 0.00033661723136901855, + -7.648766040802002e-05, + -0.0013625770807266235, + -0.0015017539262771606, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9981546401977539 + ], + [ + 0.9988223910331726 + ], + [ + 0.9981546401977539 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9981546401977539 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.24452680349349976, + 0.05160433053970337, + 0.054893456399440765 + ], + [ + 0.24551217257976532, + 0.04437287896871567, + 0.06584034860134125 + ], + [ + 0.24111585319042206, + 0.037413716316223145, + 0.08334016054868698 + ], + [ + 0.23854105174541473, + 0.023980800062417984, + 0.10292170941829681 + ], + [ + 0.23472625017166138, + 0.004175565671175718, + 0.1307692676782608 + ], + [ + 0.22343142330646515, + -0.015814729034900665, + 0.1502818465232849 + ], + [ + 0.21314078569412231, + -0.03452160209417343, + 0.16746488213539124 + ], + [ + 0.21401721239089966, + -0.04422321543097496, + 0.1860620230436325 + ], + [ + 0.21700361371040344, + -0.05624788999557495, + 0.21021990478038788 + ], + [ + 0.21716910600662231, + -0.07378918677568436, + 0.2114047110080719 + ], + [ + 0.216688334941864, + -0.09109365940093994, + 0.20658400654792786 + ], + [ + 0.2161620706319809, + -0.10060973465442657, + 0.20189988613128662 + ], + [ + 0.2154877632856369, + -0.10670401155948639, + 0.19431616365909576 + ], + [ + 0.21559764444828033, + -0.10771948844194412, + 0.1800481379032135 + ], + [ + 0.220413476228714, + -0.10128103941679001, + 0.1718614548444748 + ], + [ + 0.22852155566215515, + -0.08366148918867111, + 0.17204587161540985 + ], + [ + 0.2422768473625183, + -0.06268873810768127, + 0.18669363856315613 + ], + [ + 0.24723488092422485, + -0.046759750694036484, + 0.20406487584114075 + ], + [ + 0.2397865355014801, + -0.04498763382434845, + 0.20744363963603973 + ], + [ + 0.22967827320098877, + -0.05204750970005989, + 0.18526208400726318 + ], + [ + 0.23632986843585968, + -0.05112409591674805, + 0.1345977783203125 + ], + [ + 0.24693648517131805, + -0.043860189616680145, + 0.09742588549852371 + ], + [ + 0.26456764340400696, + -0.03770790249109268, + 0.07624936103820801 + ], + [ + 0.27422699332237244, + -0.029245343059301376, + 0.06587503850460052 + ], + [ + 0.2879735827445984, + -0.01955024152994156, + 0.0549851655960083 + ], + [ + 0.2929909825325012, + -0.016335347667336464, + 0.04909459874033928 + ], + [ + 0.29345613718032837, + -0.016391271725296974, + 0.0494312159717083 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9572262389707057, + -0.2883095559796545, + 0.02440342920189209, + -0.289308493517818, + -0.9524554745078624, + 0.09554666220466983, + -0.00430383601545924, + -0.0985198914474487, + -0.9951257749574849 + ], + [ + 0.9783294788616016, + -0.19822749855018415, + 0.059810447322554264, + -0.20202567417038228, + -0.9771517709212995, + 0.06603062593502448, + 0.04535479871402617, + -0.07668295380268902, + -0.9960234268478353 + ], + [ + 0.9962654762910276, + -0.07318928007065323, + 0.04580862400630995, + -0.07629168456917021, + -0.9946179747567252, + 0.07010465859290996, + 0.04043117134353429, + -0.07333766817652243, + -0.996487283817621 + ], + [ + 0.998070194408615, + 0.020412719599964407, + 0.058644760308855085, + 0.017941506551483972, + -0.9989412818722953, + 0.042360567914027536, + 0.059447366432945487, + -0.04122664490192127, + -0.997379754343509 + ], + [ + 0.9932592588958598, + 0.09919674271537204, + 0.05996708140561667, + 0.09763074830320803, + -0.9948142496156677, + 0.02851044979251776, + 0.06248425084293813, + -0.02246363720051406, + -0.9977931165328414 + ], + [ + 0.9743714149171847, + 0.2210171946104196, + 0.04185385858941606, + 0.22034449340988807, + -0.9752147125021664, + 0.020113894283708227, + 0.04526201515865947, + -0.01037613636457749, + -0.9989212610500993 + ], + [ + 0.9594543098128329, + 0.27779690139984997, + 0.047710679666321955, + 0.279568413658385, + -0.9594674706202818, + -0.035548205384414985, + 0.0359016638349045, + 0.047445277891065715, + -0.9982284388554179 + ], + [ + 0.9346318082602186, + 0.3506898440126726, + 0.0589916629245233, + 0.3538086478043357, + -0.9337033192918258, + -0.05493225174971142, + 0.0358165286858008, + 0.07221319027569312, + -0.9967459211971249 + ], + [ + 0.9106939516942825, + 0.40357399020100576, + 0.08811674517757762, + 0.4093230754702834, + -0.9103479422943088, + -0.061001998721896836, + 0.05559807761964719, + 0.09162236841381115, + -0.9942405118336525 + ], + [ + 0.9391991775461676, + 0.3359180962127707, + 0.07116134859170326, + 0.3419187674092671, + -0.9339700837161794, + -0.10388185220008328, + 0.03156677667944092, + 0.12189715074594712, + -0.9920406358864993 + ], + [ + 0.9799327114234923, + 0.1737624521036192, + 0.0976652001540991, + 0.18428440235207313, + -0.976509332442107, + -0.11166370360690178, + 0.07596802045559706, + 0.1274210888840942, + -0.9889351475074843 + ], + [ + 0.9877103817193649, + 0.01834170771261172, + 0.15521528147051625, + 0.0350581276944826, + -0.9937844521196703, + -0.10565694680315253, + 0.15231260462070703, + 0.10980002041617283, + -0.982214246481013 + ], + [ + 0.9816178445655787, + -0.04828282267107606, + 0.18464879167040574, + -0.02929161444362352, + -0.9941218379753153, + -0.10422942283188118, + 0.18859588689500514, + 0.09690480016745502, + -0.9772620176548314 + ], + [ + 0.9789376717386389, + -0.07254341001584624, + 0.19083628720504323, + -0.06274849025085386, + -0.99640685646, + -0.056885880240525814, + 0.19427728076687564, + 0.043713042250268584, + -0.9799721976235116 + ], + [ + 0.9787294800289688, + -0.06785708061712578, + 0.1936079066886099, + -0.06607550100082119, + -0.997691852522643, + -0.015652334567953466, + 0.19422315281581404, + 0.0025266618407624106, + -0.9809541186468547 + ], + [ + 0.9868672676899151, + -0.05452647657714028, + 0.15205215984761353, + -0.05827590901760566, + -0.9980939128284539, + 0.020309101480823634, + 0.15065495143012522, + -0.028903365320827587, + -0.9881637926390126 + ], + [ + 0.9841083573067396, + -0.013749209847534572, + 0.17703587293991752, + -0.021875967636307347, + -0.9987904567884973, + 0.04403482108740515, + 0.17621629640588127, + -0.047207866471521524, + -0.9832188129934258 + ], + [ + 0.9852200356466214, + 0.011037620970594382, + 0.1709375683803281, + 0.0055505595323589296, + -0.9994548740763252, + 0.032544522948639715, + 0.17120359998944995, + -0.031114716909949422, + -0.9847442316369597 + ], + [ + 0.9899053309466105, + -0.014065388737326184, + 0.14103049529498646, + -0.015455104123608579, + -0.9998421579184351, + 0.008763504181277216, + 0.14088497265503414, + -0.010854680496207332, + -0.9899664642760962 + ], + [ + 0.9918084893361337, + -0.02828967972103452, + 0.12456168954400727, + -0.03246042647152284, + -0.9989739310277974, + 0.03158173269718436, + 0.12354044355620235, + -0.0353663561616239, + -0.9917091204873464 + ], + [ + 0.9963216071371477, + -0.009876960852335474, + 0.08512168229054431, + -0.016357628954836733, + -0.9969906483303428, + 0.0757764812908219, + 0.08411707987458206, + -0.07689013451778992, + -0.993484888706018 + ], + [ + 0.9953464126474362, + 0.007558686541944531, + 0.09606448400756966, + -0.002458995173945242, + -0.9946017305973864, + 0.10373693091381939, + 0.09633001698647466, + -0.1034904041466872, + -0.9899546777893122 + ], + [ + 0.9922341504936154, + 0.014346446738531117, + 0.12355391560040305, + 0.00015670107220140672, + -0.9934694703657397, + 0.11409814589199159, + 0.12438394606615036, + -0.11319271583098763, + -0.9857565840732782 + ], + [ + 0.9881067510140646, + 0.01548618676224546, + 0.15298766819581852, + -0.0005245372912658329, + -0.9945705361250714, + 0.10406331501791587, + 0.15376857110950562, + -0.10290591183917848, + -0.9827337380224045 + ], + [ + 0.9888222453570504, + 0.05567417535004892, + 0.13831468933606705, + 0.04170024219020841, + -0.9939150627590002, + 0.10195066366655038, + 0.14314907225797413, + -0.09504332811862239, + -0.9851269506473856 + ], + [ + 0.9879686470575673, + 0.08255641820775254, + 0.13077610731302058, + 0.06922578887526347, + -0.9922281935097034, + 0.10339730247481344, + 0.13829585165809372, + -0.09310021384066353, + -0.9860053790913035 + ], + [ + 0.9878825784375999, + 0.08118267276093041, + 0.1322776808946647, + 0.06772907362072095, + -0.9923502756869484, + 0.10321677640052622, + 0.13964520688501278, + -0.09300701042087607, + -0.9858239762790377 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006022.json b/json/chunk-0006/episode_0006022.json new file mode 100644 index 0000000000000000000000000000000000000000..f2fa57cdbf3b044ad9a69b2fa284d0d9ede71c34 --- /dev/null +++ b/json/chunk-0006/episode_0006022.json @@ -0,0 +1,1942 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 31, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove to the cloth left to the right." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006022.mp4", + "start": 0, + "end": 31, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.343265563249588, + -0.03498902544379234, + 0.0867001861333847, + -0.09015218168497086, + -0.28792428970336914, + -0.14639149606227875, + 0.0, + 0.9981546401977539 + ], + [ + 0.33850789070129395, + -0.036402519792318344, + 0.07822953909635544, + -0.10514941811561584, + -0.2629826068878174, + -0.12611964344978333, + 0.0, + 0.9981546401977539 + ], + [ + 0.32197439670562744, + -0.04291095212101936, + 0.0724099650979042, + -0.22161968052387238, + -0.2597806453704834, + 0.11457663774490356, + 0.0, + 0.9988223910331726 + ], + [ + 0.3179287016391754, + -0.03713968023657799, + 0.08781855553388596, + -0.3107540011405945, + -0.31917935609817505, + 0.40692928433418274, + 0.0, + 0.9981546401977539 + ], + [ + 0.3204338848590851, + -0.02406887337565422, + 0.09262079000473022, + -0.2856544852256775, + -0.3657340705394745, + 0.7009409666061401, + 0.0, + 0.9988223910331726 + ], + [ + 0.32361409068107605, + -0.0257747620344162, + 0.10004086047410965, + -0.21329940855503082, + -0.40762874484062195, + 0.909839928150177, + 0.0, + 0.9988223910331726 + ], + [ + 0.33516454696655273, + -0.018350988626480103, + 0.08570525050163269, + -0.1356903612613678, + -0.38129910826683044, + 1.0779615640640259, + 0.0, + 0.9988223910331726 + ], + [ + 0.3437284231185913, + -0.01760523021221161, + 0.07457442581653595, + -0.14324814081192017, + -0.3437454402446747, + 1.20652437210083, + 0.0, + 0.9981546401977539 + ], + [ + 0.35046085715293884, + -0.021844590082764626, + 0.06264703720808029, + -0.1444401890039444, + -0.2584346532821655, + 1.2728215456008911, + 0.0, + 0.9981546401977539 + ], + [ + 0.3538813889026642, + -0.020993506535887718, + 0.0496780164539814, + -0.17170345783233643, + -0.17781098186969757, + 1.371142029762268, + 0.0, + 0.9981546401977539 + ], + [ + 0.35393285751342773, + -0.02543988637626171, + 0.03514371067285538, + -0.1908324956893921, + -0.12191025167703629, + 1.469398856163025, + 0.0, + 0.9981546401977539 + ], + [ + 0.3560826778411865, + -0.02313472516834736, + 0.017081407830119133, + -0.18920771777629852, + -0.12831105291843414, + 1.5241162776947021, + 0.0, + 0.9988223910331726 + ], + [ + 0.3529171347618103, + -0.01708565466105938, + -0.009090893901884556, + -0.1374611109495163, + -0.12072211503982544, + 1.5555461645126343, + 0.0, + 0.9981546401977539 + ], + [ + 0.35756683349609375, + -0.009840458631515503, + -0.021809805184602737, + -0.12980839610099792, + -0.12053892761468887, + 1.5855162143707275, + 0.0, + 0.9988223910331726 + ], + [ + 0.35892122983932495, + -0.007304641418159008, + -0.023675180971622467, + -0.13505819439888, + -0.13786427676677704, + 1.5796115398406982, + 0.0, + 0.9981546401977539 + ], + [ + 0.36465102434158325, + -0.0012710767332464457, + -0.021522529423236847, + -0.16096904873847961, + -0.18909952044487, + 1.5087125301361084, + 0.0, + 0.9988223910331726 + ], + [ + 0.3673812448978424, + -0.00018981806351803243, + -0.020469626411795616, + -0.1431744545698166, + -0.21829944849014282, + 1.3563710451126099, + 0.0, + 0.9981546401977539 + ], + [ + 0.38102075457572937, + -0.0028653962071985006, + -0.01671595126390457, + -0.1521814912557602, + -0.20680546760559082, + 1.245097279548645, + 0.0, + 0.9981546401977539 + ], + [ + 0.39962249994277954, + -0.0009378486429341137, + -0.0187369491904974, + -0.17052263021469116, + -0.1584654301404953, + 1.0975871086120605, + 0.0, + 0.9981546401977539 + ], + [ + 0.41421395540237427, + -0.009301387704908848, + -0.021252885460853577, + -0.18189387023448944, + -0.11123987287282944, + 0.8716654181480408, + 0.0, + 0.9988223910331726 + ], + [ + 0.42002812027931213, + -0.017531948164105415, + -0.01942664012312889, + -0.16159150004386902, + -0.12521862983703613, + 0.6659654974937439, + 0.0, + 0.9988223910331726 + ], + [ + 0.4141688346862793, + -0.02593810111284256, + -0.019345343112945557, + -0.127841517329216, + -0.16225580871105194, + 0.48678579926490784, + 0.0, + 0.9988223910331726 + ], + [ + 0.3997979760169983, + -0.03783513605594635, + -0.01957130618393421, + -0.08849658071994781, + -0.14761146903038025, + 0.24543850123882294, + 0.0, + 0.9981546401977539 + ], + [ + 0.38436153531074524, + -0.04330800846219063, + -0.019967375323176384, + -0.053931381553411484, + -0.10625901818275452, + 0.08059895038604736, + 0.0, + 0.9981546401977539 + ], + [ + 0.3730064928531647, + -0.04482928290963173, + -0.018131043761968613, + -0.05828409641981125, + -0.08563869446516037, + -0.013043723069131374, + 0.0, + 0.9981546401977539 + ], + [ + 0.35942038893699646, + -0.04485360532999039, + -0.019725609570741653, + -0.05971488356590271, + -0.03636328503489494, + -0.08862338215112686, + 0.0, + 0.9981546401977539 + ], + [ + 0.35139456391334534, + -0.04531913250684738, + -0.010555515065789223, + -0.07319999486207962, + -0.03086717799305916, + -0.12646818161010742, + 0.0, + 0.9981546401977539 + ], + [ + 0.36070454120635986, + -0.04049219563603401, + 0.006088129710406065, + -0.04348623752593994, + -0.10907290130853653, + -0.0773010328412056, + 0.0, + 0.9981546401977539 + ], + [ + 0.3674945533275604, + -0.037939004600048065, + 0.021242110058665276, + -0.02867770567536354, + -0.1918281763792038, + -0.022707846015691757, + 0.0, + 0.9981546401977539 + ], + [ + 0.37366604804992676, + -0.03749440610408783, + 0.04589167609810829, + -0.04116538166999817, + -0.28256240487098694, + 0.021709632128477097, + 0.0, + 0.9981546401977539 + ], + [ + 0.36951345205307007, + -0.04142439365386963, + 0.07824485749006271, + -0.09384097903966904, + -0.3600272238254547, + 0.05053870007395744, + 0.0, + 0.9981546401977539 + ] + ], + "left_gripper_pos": [ + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9988223910331726 + ], + [ + 0.9981546401977539 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9988223910331726 + ], + [ + 0.9981546401977539 + ], + [ + 0.9988223910331726 + ], + [ + 0.9981546401977539 + ], + [ + 0.9988223910331726 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.343265563249588, + -0.03498902544379234, + 0.0867001861333847 + ], + [ + 0.33850789070129395, + -0.036402519792318344, + 0.07822953909635544 + ], + [ + 0.32197439670562744, + -0.04291095212101936, + 0.0724099650979042 + ], + [ + 0.3179287016391754, + -0.03713968023657799, + 0.08781855553388596 + ], + [ + 0.3204338848590851, + -0.02406887337565422, + 0.09262079000473022 + ], + [ + 0.32361409068107605, + -0.0257747620344162, + 0.10004086047410965 + ], + [ + 0.33516454696655273, + -0.018350988626480103, + 0.08570525050163269 + ], + [ + 0.3437284231185913, + -0.01760523021221161, + 0.07457442581653595 + ], + [ + 0.35046085715293884, + -0.021844590082764626, + 0.06264703720808029 + ], + [ + 0.3538813889026642, + -0.020993506535887718, + 0.0496780164539814 + ], + [ + 0.35393285751342773, + -0.02543988637626171, + 0.03514371067285538 + ], + [ + 0.3560826778411865, + -0.02313472516834736, + 0.017081407830119133 + ], + [ + 0.3529171347618103, + -0.01708565466105938, + -0.009090893901884556 + ], + [ + 0.35756683349609375, + -0.009840458631515503, + -0.021809805184602737 + ], + [ + 0.35892122983932495, + -0.007304641418159008, + -0.023675180971622467 + ], + [ + 0.36465102434158325, + -0.0012710767332464457, + -0.021522529423236847 + ], + [ + 0.3673812448978424, + -0.00018981806351803243, + -0.020469626411795616 + ], + [ + 0.38102075457572937, + -0.0028653962071985006, + -0.01671595126390457 + ], + [ + 0.39962249994277954, + -0.0009378486429341137, + -0.0187369491904974 + ], + [ + 0.41421395540237427, + -0.009301387704908848, + -0.021252885460853577 + ], + [ + 0.42002812027931213, + -0.017531948164105415, + -0.01942664012312889 + ], + [ + 0.4141688346862793, + -0.02593810111284256, + -0.019345343112945557 + ], + [ + 0.3997979760169983, + -0.03783513605594635, + -0.01957130618393421 + ], + [ + 0.38436153531074524, + -0.04330800846219063, + -0.019967375323176384 + ], + [ + 0.3730064928531647, + -0.04482928290963173, + -0.018131043761968613 + ], + [ + 0.35942038893699646, + -0.04485360532999039, + -0.019725609570741653 + ], + [ + 0.35139456391334534, + -0.04531913250684738, + -0.010555515065789223 + ], + [ + 0.36070454120635986, + -0.04049219563603401, + 0.006088129710406065 + ], + [ + 0.3674945533275604, + -0.037939004600048065, + 0.021242110058665276 + ], + [ + 0.37366604804992676, + -0.03749440610408783, + 0.04589167609810829 + ], + [ + 0.36951345205307007, + -0.04142439365386963, + 0.07824485749006271 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9485795536299839, + -0.170568549354552, + 0.2666518336824709, + -0.13986453123747739, + -0.981557195039382, + -0.1303203198589579, + 0.2839625738312377, + 0.08632405711911445, + -0.9549415761320871 + ], + [ + 0.9579494380548854, + -0.1521586124624663, + 0.24327069446159436, + -0.1214609179488124, + -0.9831462188503828, + -0.13664098130219648, + 0.25996176553747524, + 0.10134726939435691, + -0.9602856926170182 + ], + [ + 0.9601096234847404, + 0.05543793930210977, + 0.2740732489279559, + 0.11049005353193028, + -0.9756014538063984, + -0.18972019239225152, + 0.25686856359333055, + 0.21243455043089704, + -0.9428096853664166 + ], + [ + 0.8719581141153697, + 0.2887204020246234, + 0.39538535213524084, + 0.37580110506918624, + -0.9123307402205405, + -0.1625612188605255, + 0.3137874705228796, + 0.29033282608651245, + -0.9040156378290547 + ], + [ + 0.7136902485719174, + 0.5417857266255838, + 0.44397573753319275, + 0.6022819103581357, + -0.7982612602618882, + 0.005954898861959712, + 0.35763491097585653, + 0.263148602105141, + -0.8960190196984665 + ], + [ + 0.5635735541172796, + 0.7200001058662318, + 0.4049502397236392, + 0.7247243224457038, + -0.6662067748328582, + 0.1759067640041646, + 0.3964334818796632, + 0.19434088792484316, + -0.8972581087543039 + ], + [ + 0.4391462861766048, + 0.8490805150286558, + 0.2936201940193627, + 0.8177238769156516, + -0.5131248975792102, + 0.2608265718947391, + 0.37212659198091713, + 0.12555922301048922, + -0.9196503036794313 + ], + [ + 0.3354270159357187, + 0.9076721832817154, + 0.25222990440679804, + 0.8797210260608976, + -0.39757503807550215, + 0.26081603747780513, + 0.3370157760206782, + 0.13440720514863178, + -0.9318557130357215 + ], + [ + 0.2838352405677483, + 0.9351787367758397, + 0.2118449586235014, + 0.9241876476389821, + -0.3256925795348829, + 0.19950322199763687, + 0.2555675021660087, + 0.1391584489646911, + -0.9567236685262723 + ], + [ + 0.1952034763643931, + 0.9597286800080645, + 0.2020308481030401, + 0.964681637770047, + -0.22503487321075794, + 0.136925686371542, + 0.1768754945280878, + 0.1681670794448067, + -0.9697602243990255 + ], + [ + 0.10047253929899697, + 0.9744687371527412, + 0.200788319278671, + 0.9874799446414164, + -0.12233403904350909, + 0.09958785981376796, + 0.12160850207858417, + 0.18826859324710327, + -0.9745595461637837 + ], + [ + 0.046279500582193656, + 0.9799606552410175, + 0.19374034687038888, + 0.9906990637169505, + -0.06987079352714853, + 0.11676231139474907, + 0.1279592629559131, + 0.18653467879051988, + -0.9740796890564433 + ], + [ + 0.015138583743083023, + 0.9902002522993291, + 0.1388318537965955, + 0.9926064958593434, + -0.03160603742136031, + 0.11718960182693386, + 0.12042909806225979, + 0.13603131530961973, + -0.9833576732781648 + ], + [ + -0.014612552001092238, + 0.9917084010172519, + 0.12767505894191356, + 0.9926364259622487, + -0.0009680982555868023, + 0.12112798453974641, + 0.12024724186819792, + 0.12850490316549504, + -0.9843917363963994 + ], + [ + -0.008731459131204822, + 0.9910181153057266, + 0.13344233495156313, + 0.9904732780305657, + -0.009768854937277638, + 0.1373581267366427, + 0.13742797069310622, + 0.13337040379746737, + -0.981491664896893 + ], + [ + 0.06093792061574077, + 0.9833015253864476, + 0.17147792861973674, + 0.9802816639711404, + -0.09131138454571175, + 0.17524294660361608, + 0.18797454378985032, + 0.1574177284330803, + -0.9694767813939471 + ], + [ + 0.20773589059815606, + 0.9605258174209615, + 0.18502960256452097, + 0.9539095059515642, + -0.24080243814921704, + 0.17908333321846343, + 0.21656974445345226, + 0.13929946105131263, + -0.9662780168968867 + ], + [ + 0.3131531685588511, + 0.9265176621956631, + 0.20856681102475216, + 0.9272393651140881, + -0.345764337098699, + 0.14378519733797274, + 0.20533449005068366, + 0.14836456730021536, + -0.9673808465984044 + ], + [ + 0.45003497438458284, + 0.8649960222472447, + 0.2219243189177607, + 0.8789577459238999, + -0.47297121363320194, + 0.06108610279526094, + 0.15780305038574205, + 0.1675712164149324, + -0.9731485419596408 + ], + [ + 0.6395750703141453, + 0.7398516757790667, + 0.20871805690826803, + 0.7606710045440586, + -0.6483059762224276, + -0.03284789247757389, + 0.11101059534381927, + 0.179774467155912, + -0.9774240577560075 + ], + [ + 0.7801640621549514, + 0.593969862455277, + 0.19632584806067854, + 0.6129813298776626, + -0.7884911114247498, + -0.05035530186162192, + 0.12489165441812944, + 0.1596294762849964, + -0.9792448646572931 + ], + [ + 0.8722320692798481, + 0.4457665181308146, + 0.2012546363026804, + 0.46164325668232564, + -0.886262823419192, + -0.0377321001903979, + 0.16154479527217944, + 0.1258189935525317, + -0.9788119635465728 + ], + [ + 0.9594819736017268, + 0.2294216758995523, + 0.16358495334466364, + 0.2403393291085082, + -0.9693933363876199, + -0.050135478964011465, + 0.14707599809964636, + 0.08741998624296066, + -0.9852544832622043 + ], + [ + 0.991131792951369, + 0.07469606945485288, + 0.10990116563986067, + 0.08005761384132351, + -0.9957647352259613, + -0.04520365633889015, + 0.10605916965089736, + 0.05360120603462902, + -0.9929140764661337 + ], + [ + 0.9962504912010237, + -0.01800323425616958, + 0.08462176042860603, + -0.012995552538593452, + -0.9981520512299473, + -0.05935990430977173, + 0.08553405401321493, + 0.058037627292697624, + -0.994643433307785 + ], + [ + 0.9954170406472087, + -0.0905108082251866, + 0.030865981007843536, + -0.08844890843591467, + -0.994108077705087, + -0.06265716589498542, + 0.03635527177244379, + 0.059639948322580176, + -0.9975577029818534 + ], + [ + 0.9915410036322121, + -0.12803263013690835, + 0.021309240630567505, + -0.12607124175881085, + -0.9890723251045654, + -0.07643283138573685, + 0.030862276607814803, + 0.07309980391543221, + -0.9968469985660329 + ], + [ + 0.9910889545937229, + -0.08186921252195326, + 0.10507195688363398, + -0.0767651628955292, + -0.9957057624509789, + -0.051741128587780315, + 0.10885675839351387, + 0.04321419515563841, + -0.9931176866258631 + ], + [ + 0.9814042438033481, + -0.02816191474085896, + 0.189875266432747, + -0.022289407729130864, + -0.9992069889225194, + -0.03299356894118239, + 0.19065385531864448, + 0.02814782134589789, + -0.9812536917666177 + ], + [ + 0.9601178488086438, + 0.010217858986275483, + 0.27940886127107517, + 0.020847080533359118, + -0.9991664651751836, + -0.03509663947679929, + 0.2788173517417773, + 0.039521769027529324, + -0.9595305696748994 + ], + [ + 0.9346922844885865, + 0.017325421870042428, + 0.355035439181122, + 0.04727839207878621, + -0.9959966307013022, + -0.07586478283168256, + 0.3522997118363166, + 0.08769573187264502, + -0.9317694841812375 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.004757672548294067, + -0.001413494348526001, + -0.008470647037029266, + -0.014997236430644989, + 0.024941682815551758, + 0.020271852612495422, + 1.0 + ], + [ + -0.016533493995666504, + -0.006508432328701019, + -0.005819573998451233, + -0.11647026240825653, + 0.0032019615173339844, + 0.2406962811946869, + 1.0 + ], + [ + -0.004045695066452026, + 0.005771271884441376, + 0.01540859043598175, + -0.0891343206167221, + -0.05939871072769165, + 0.2923526465892792, + 1.0 + ], + [ + 0.002505183219909668, + 0.013070806860923767, + 0.004802234470844269, + 0.025099515914916992, + -0.04655471444129944, + 0.2940116822719574, + 1.0 + ], + [ + 0.003180205821990967, + -0.0017058886587619781, + 0.007420070469379425, + 0.07235507667064667, + -0.04189467430114746, + 0.20889896154403687, + 1.0 + ], + [ + 0.011550456285476685, + 0.007423773407936096, + -0.01433560997247696, + 0.07760904729366302, + 0.026329636573791504, + 0.16812163591384888, + 1.0 + ], + [ + 0.008563876152038574, + 0.0007457584142684937, + -0.01113082468509674, + -0.007557779550552368, + 0.03755366802215576, + 0.1285628080368042, + 1.0 + ], + [ + 0.006732434034347534, + -0.004239359870553017, + -0.011927388608455658, + -0.001192048192024231, + 0.08531078696250916, + 0.06629717350006104, + 1.0 + ], + [ + 0.003420531749725342, + 0.0008510835468769073, + -0.012969020754098892, + -0.02726326882839203, + 0.08062367141246796, + 0.09832048416137695, + 1.0 + ], + [ + 5.1468610763549805e-05, + -0.004446379840373993, + -0.014534305781126022, + -0.019129037857055664, + 0.055900730192661285, + 0.09825682640075684, + 1.0 + ], + [ + 0.002149820327758789, + 0.0023051612079143524, + -0.018062302842736244, + 0.001624777913093567, + -0.006400801241397858, + 0.054717421531677246, + 1.0 + ], + [ + -0.0031655430793762207, + 0.006049070507287979, + -0.026172302663326263, + 0.05174660682678223, + 0.007588937878608704, + 0.03142988681793213, + 1.0 + ], + [ + 0.004649698734283447, + 0.007245196029543877, + -0.012718911282718182, + 0.007652714848518372, + 0.00018318742513656616, + 0.02997004985809326, + 1.0 + ], + [ + 0.0013543963432312012, + 0.002535817213356495, + -0.0018653757870197296, + -0.00524979829788208, + -0.017325349152088165, + -0.005904674530029297, + 1.0 + ], + [ + 0.005729794502258301, + 0.006033564917743206, + 0.00215265154838562, + -0.02591085433959961, + -0.05123524367809296, + -0.07089900970458984, + 1.0 + ], + [ + 0.0027302205562591553, + 0.0010812586406245828, + 0.0010529030114412308, + 0.017794594168663025, + -0.029199928045272827, + -0.15234148502349854, + 1.0 + ], + [ + 0.013639509677886963, + -0.0026755782309919596, + 0.0037536751478910446, + -0.009007036685943604, + 0.011493980884552002, + -0.11127376556396484, + 1.0 + ], + [ + 0.01860174536705017, + 0.0019275476224720478, + -0.002020997926592827, + -0.01834113895893097, + 0.04834003746509552, + -0.14751017093658447, + 1.0 + ], + [ + 0.014591455459594727, + -0.008363539353013039, + -0.0025159362703561783, + -0.011371240019798279, + 0.04722555726766586, + -0.22592169046401978, + 1.0 + ], + [ + 0.005814164876937866, + -0.008230560459196568, + 0.0018262453377246857, + 0.020302370190620422, + -0.013978756964206696, + -0.20569992065429688, + 1.0 + ], + [ + -0.005859285593032837, + -0.008406152948737144, + 8.129701018333435e-05, + 0.033749982714653015, + -0.03703717887401581, + -0.17917969822883606, + 1.0 + ], + [ + -0.014370858669281006, + -0.01189703494310379, + -0.0002259630709886551, + 0.03934493660926819, + 0.014644339680671692, + -0.2413472980260849, + 1.0 + ], + [ + -0.015436440706253052, + -0.005472872406244278, + -0.00039606913924217224, + 0.03456519916653633, + 0.04135245084762573, + -0.16483955085277557, + 1.0 + ], + [ + -0.011355042457580566, + -0.001521274447441101, + 0.0018363315612077713, + -0.004352714866399765, + 0.020620323717594147, + -0.09364267438650131, + 1.0 + ], + [ + -0.013586103916168213, + -2.4322420358657837e-05, + -0.0015945658087730408, + -0.0014307871460914612, + 0.04927540943026543, + -0.07557965815067291, + 1.0 + ], + [ + -0.008025825023651123, + -0.00046552717685699463, + 0.00917009450495243, + -0.01348511129617691, + 0.005496107041835785, + -0.03784479945898056, + 1.0 + ], + [ + 0.009309977293014526, + 0.00482693687081337, + 0.016643645241856575, + 0.02971375733613968, + -0.07820571959018707, + 0.049167148768901825, + 1.0 + ], + [ + 0.0067900121212005615, + 0.0025531910359859467, + 0.015153979882597923, + 0.0148085318505764, + -0.08275527507066727, + 0.05459318682551384, + 1.0 + ], + [ + 0.006171494722366333, + 0.0004445984959602356, + 0.024649566039443016, + -0.012487675994634628, + -0.09073422849178314, + 0.044417478144168854, + 1.0 + ], + [ + -0.0041525959968566895, + -0.003929987549781799, + 0.03235318139195442, + -0.05267559736967087, + -0.07746481895446777, + 0.028829067945480347, + 1.0 + ], + [ + -0.013838231563568115, + 0.0035911984741687775, + 0.021751098334789276, + -0.08703828603029251, + -0.04122254252433777, + 0.059060100466012955, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9981546401977539 + ], + [ + 0.9988223910331726 + ], + [ + 0.9981546401977539 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9988223910331726 + ], + [ + 0.9981546401977539 + ], + [ + 0.9988223910331726 + ], + [ + 0.9981546401977539 + ], + [ + 0.9988223910331726 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.33850789070129395, + -0.036402519792318344, + 0.07822953909635544 + ], + [ + 0.32197439670562744, + -0.04291095212101936, + 0.0724099650979042 + ], + [ + 0.3179287016391754, + -0.03713968023657799, + 0.08781855553388596 + ], + [ + 0.3204338848590851, + -0.02406887337565422, + 0.09262079000473022 + ], + [ + 0.32361409068107605, + -0.0257747620344162, + 0.10004086047410965 + ], + [ + 0.33516454696655273, + -0.018350988626480103, + 0.08570525050163269 + ], + [ + 0.3437284231185913, + -0.01760523021221161, + 0.07457442581653595 + ], + [ + 0.35046085715293884, + -0.021844590082764626, + 0.06264703720808029 + ], + [ + 0.3538813889026642, + -0.020993506535887718, + 0.0496780164539814 + ], + [ + 0.35393285751342773, + -0.02543988637626171, + 0.03514371067285538 + ], + [ + 0.3560826778411865, + -0.02313472516834736, + 0.017081407830119133 + ], + [ + 0.3529171347618103, + -0.01708565466105938, + -0.009090893901884556 + ], + [ + 0.35756683349609375, + -0.009840458631515503, + -0.021809805184602737 + ], + [ + 0.35892122983932495, + -0.007304641418159008, + -0.023675180971622467 + ], + [ + 0.36465102434158325, + -0.0012710767332464457, + -0.021522529423236847 + ], + [ + 0.3673812448978424, + -0.00018981806351803243, + -0.020469626411795616 + ], + [ + 0.38102075457572937, + -0.0028653962071985006, + -0.01671595126390457 + ], + [ + 0.39962249994277954, + -0.0009378486429341137, + -0.0187369491904974 + ], + [ + 0.41421395540237427, + -0.009301387704908848, + -0.021252885460853577 + ], + [ + 0.42002812027931213, + -0.017531948164105415, + -0.01942664012312889 + ], + [ + 0.4141688346862793, + -0.02593810111284256, + -0.019345343112945557 + ], + [ + 0.3997979760169983, + -0.03783513605594635, + -0.01957130618393421 + ], + [ + 0.38436153531074524, + -0.04330800846219063, + -0.019967375323176384 + ], + [ + 0.3730064928531647, + -0.04482928290963173, + -0.018131043761968613 + ], + [ + 0.35942038893699646, + -0.04485360532999039, + -0.019725609570741653 + ], + [ + 0.35139456391334534, + -0.04531913250684738, + -0.010555515065789223 + ], + [ + 0.36070454120635986, + -0.04049219563603401, + 0.006088129710406065 + ], + [ + 0.3674945533275604, + -0.037939004600048065, + 0.021242110058665276 + ], + [ + 0.37366604804992676, + -0.03749440610408783, + 0.04589167609810829 + ], + [ + 0.36951345205307007, + -0.04142439365386963, + 0.07824485749006271 + ], + [ + 0.35567522048950195, + -0.03783319517970085, + 0.09999595582485199 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9579494380548854, + -0.1521586124624663, + 0.24327069446159436, + -0.1214609179488124, + -0.9831462188503828, + -0.13664098130219648, + 0.25996176553747524, + 0.10134726939435691, + -0.9602856926170182 + ], + [ + 0.9601096234847404, + 0.05543793930210977, + 0.2740732489279559, + 0.11049005353193028, + -0.9756014538063984, + -0.18972019239225152, + 0.25686856359333055, + 0.21243455043089704, + -0.9428096853664166 + ], + [ + 0.8719581141153697, + 0.2887204020246234, + 0.39538535213524084, + 0.37580110506918624, + -0.9123307402205405, + -0.1625612188605255, + 0.3137874705228796, + 0.29033282608651245, + -0.9040156378290547 + ], + [ + 0.7136902485719174, + 0.5417857266255838, + 0.44397573753319275, + 0.6022819103581357, + -0.7982612602618882, + 0.005954898861959712, + 0.35763491097585653, + 0.263148602105141, + -0.8960190196984665 + ], + [ + 0.5635735541172796, + 0.7200001058662318, + 0.4049502397236392, + 0.7247243224457038, + -0.6662067748328582, + 0.1759067640041646, + 0.3964334818796632, + 0.19434088792484316, + -0.8972581087543039 + ], + [ + 0.4391462861766048, + 0.8490805150286558, + 0.2936201940193627, + 0.8177238769156516, + -0.5131248975792102, + 0.2608265718947391, + 0.37212659198091713, + 0.12555922301048922, + -0.9196503036794313 + ], + [ + 0.3354270159357187, + 0.9076721832817154, + 0.25222990440679804, + 0.8797210260608976, + -0.39757503807550215, + 0.26081603747780513, + 0.3370157760206782, + 0.13440720514863178, + -0.9318557130357215 + ], + [ + 0.2838352405677483, + 0.9351787367758397, + 0.2118449586235014, + 0.9241876476389821, + -0.3256925795348829, + 0.19950322199763687, + 0.2555675021660087, + 0.1391584489646911, + -0.9567236685262723 + ], + [ + 0.1952034763643931, + 0.9597286800080645, + 0.2020308481030401, + 0.964681637770047, + -0.22503487321075794, + 0.136925686371542, + 0.1768754945280878, + 0.1681670794448067, + -0.9697602243990255 + ], + [ + 0.10047253929899697, + 0.9744687371527412, + 0.200788319278671, + 0.9874799446414164, + -0.12233403904350909, + 0.09958785981376796, + 0.12160850207858417, + 0.18826859324710327, + -0.9745595461637837 + ], + [ + 0.046279500582193656, + 0.9799606552410175, + 0.19374034687038888, + 0.9906990637169505, + -0.06987079352714853, + 0.11676231139474907, + 0.1279592629559131, + 0.18653467879051988, + -0.9740796890564433 + ], + [ + 0.015138583743083023, + 0.9902002522993291, + 0.1388318537965955, + 0.9926064958593434, + -0.03160603742136031, + 0.11718960182693386, + 0.12042909806225979, + 0.13603131530961973, + -0.9833576732781648 + ], + [ + -0.014612552001092238, + 0.9917084010172519, + 0.12767505894191356, + 0.9926364259622487, + -0.0009680982555868023, + 0.12112798453974641, + 0.12024724186819792, + 0.12850490316549504, + -0.9843917363963994 + ], + [ + -0.008731459131204822, + 0.9910181153057266, + 0.13344233495156313, + 0.9904732780305657, + -0.009768854937277638, + 0.1373581267366427, + 0.13742797069310622, + 0.13337040379746737, + -0.981491664896893 + ], + [ + 0.06093792061574077, + 0.9833015253864476, + 0.17147792861973674, + 0.9802816639711404, + -0.09131138454571175, + 0.17524294660361608, + 0.18797454378985032, + 0.1574177284330803, + -0.9694767813939471 + ], + [ + 0.20773589059815606, + 0.9605258174209615, + 0.18502960256452097, + 0.9539095059515642, + -0.24080243814921704, + 0.17908333321846343, + 0.21656974445345226, + 0.13929946105131263, + -0.9662780168968867 + ], + [ + 0.3131531685588511, + 0.9265176621956631, + 0.20856681102475216, + 0.9272393651140881, + -0.345764337098699, + 0.14378519733797274, + 0.20533449005068366, + 0.14836456730021536, + -0.9673808465984044 + ], + [ + 0.45003497438458284, + 0.8649960222472447, + 0.2219243189177607, + 0.8789577459238999, + -0.47297121363320194, + 0.06108610279526094, + 0.15780305038574205, + 0.1675712164149324, + -0.9731485419596408 + ], + [ + 0.6395750703141453, + 0.7398516757790667, + 0.20871805690826803, + 0.7606710045440586, + -0.6483059762224276, + -0.03284789247757389, + 0.11101059534381927, + 0.179774467155912, + -0.9774240577560075 + ], + [ + 0.7801640621549514, + 0.593969862455277, + 0.19632584806067854, + 0.6129813298776626, + -0.7884911114247498, + -0.05035530186162192, + 0.12489165441812944, + 0.1596294762849964, + -0.9792448646572931 + ], + [ + 0.8722320692798481, + 0.4457665181308146, + 0.2012546363026804, + 0.46164325668232564, + -0.886262823419192, + -0.0377321001903979, + 0.16154479527217944, + 0.1258189935525317, + -0.9788119635465728 + ], + [ + 0.9594819736017268, + 0.2294216758995523, + 0.16358495334466364, + 0.2403393291085082, + -0.9693933363876199, + -0.050135478964011465, + 0.14707599809964636, + 0.08741998624296066, + -0.9852544832622043 + ], + [ + 0.991131792951369, + 0.07469606945485288, + 0.10990116563986067, + 0.08005761384132351, + -0.9957647352259613, + -0.04520365633889015, + 0.10605916965089736, + 0.05360120603462902, + -0.9929140764661337 + ], + [ + 0.9962504912010237, + -0.01800323425616958, + 0.08462176042860603, + -0.012995552538593452, + -0.9981520512299473, + -0.05935990430977173, + 0.08553405401321493, + 0.058037627292697624, + -0.994643433307785 + ], + [ + 0.9954170406472087, + -0.0905108082251866, + 0.030865981007843536, + -0.08844890843591467, + -0.994108077705087, + -0.06265716589498542, + 0.03635527177244379, + 0.059639948322580176, + -0.9975577029818534 + ], + [ + 0.9915410036322121, + -0.12803263013690835, + 0.021309240630567505, + -0.12607124175881085, + -0.9890723251045654, + -0.07643283138573685, + 0.030862276607814803, + 0.07309980391543221, + -0.9968469985660329 + ], + [ + 0.9910889545937229, + -0.08186921252195326, + 0.10507195688363398, + -0.0767651628955292, + -0.9957057624509789, + -0.051741128587780315, + 0.10885675839351387, + 0.04321419515563841, + -0.9931176866258631 + ], + [ + 0.9814042438033481, + -0.02816191474085896, + 0.189875266432747, + -0.022289407729130864, + -0.9992069889225194, + -0.03299356894118239, + 0.19065385531864448, + 0.02814782134589789, + -0.9812536917666177 + ], + [ + 0.9601178488086438, + 0.010217858986275483, + 0.27940886127107517, + 0.020847080533359118, + -0.9991664651751836, + -0.03509663947679929, + 0.2788173517417773, + 0.039521769027529324, + -0.9595305696748994 + ], + [ + 0.9346922844885865, + 0.017325421870042428, + 0.355035439181122, + 0.04727839207878621, + -0.9959966307013022, + -0.07586478283168256, + 0.3522997118363166, + 0.08769573187264502, + -0.9317694841812375 + ], + [ + 0.915050207437162, + 0.03775538551816125, + 0.40156898377935185, + 0.10069189528634849, + -0.9854689860495464, + -0.13679188484015228, + 0.3905691489260888, + 0.16560618466365765, + -0.9055552614326178 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006023.json b/json/chunk-0006/episode_0006023.json new file mode 100644 index 0000000000000000000000000000000000000000..43143007a041360c2c2350750214af40fa8cdd1e --- /dev/null +++ b/json/chunk-0006/episode_0006023.json @@ -0,0 +1,1882 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 30, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPick up the green thing and place it on the bottom right of the table." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006023.mp4", + "start": 0, + "end": 30, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.4264456331729889, + 0.02715313248336315, + 0.12105477601289749, + -0.023387743160128593, + -0.22423504292964935, + 0.0227847658097744, + 0.0, + 1.0014774799346924 + ], + [ + 0.4252316653728485, + 0.02659885212779045, + 0.10502289235591888, + -0.028821803629398346, + -0.18150962889194489, + 0.024296214804053307, + 0.0, + 1.0014774799346924 + ], + [ + 0.4254117012023926, + 0.05200587213039398, + 0.11154267191886902, + -0.05216981843113899, + -0.16640888154506683, + 0.06644276529550552, + 0.0, + 1.0014774799346924 + ], + [ + 0.421435683965683, + 0.10266062617301941, + 0.1289212554693222, + -0.057984936982393265, + -0.1841198056936264, + 0.1635851263999939, + 0.0, + 1.0014774799346924 + ], + [ + 0.4144246578216553, + 0.13104957342147827, + 0.13727304339408875, + -0.05027106776833534, + -0.18944095075130463, + 0.18820281326770782, + 0.0, + 1.0014774799346924 + ], + [ + 0.40259361267089844, + 0.16194270551204681, + 0.13946227729320526, + -0.06378813087940216, + -0.19610914587974548, + 0.2283155471086502, + 0.0, + 1.0014774799346924 + ], + [ + 0.3865932822227478, + 0.19348247349262238, + 0.14559516310691833, + -0.03222937881946564, + -0.19016925990581512, + 0.2681049704551697, + 0.0, + 1.0014774799346924 + ], + [ + 0.3892231583595276, + 0.2030005007982254, + 0.16166481375694275, + 0.0007452930440194905, + -0.22256866097450256, + 0.28817084431648254, + 0.0, + 1.0014774799346924 + ], + [ + 0.39243999123573303, + 0.2157273292541504, + 0.1519981026649475, + 0.003178349928930402, + -0.2057434767484665, + 0.3220283091068268, + 0.0, + 1.0014774799346924 + ], + [ + 0.399252325296402, + 0.2250896692276001, + 0.13367870450019836, + 0.025527499616146088, + -0.16371628642082214, + 0.34930750727653503, + 0.0, + 1.0014774799346924 + ], + [ + 0.40578892827033997, + 0.23295390605926514, + 0.11889506876468658, + 0.04392716661095619, + -0.11914806067943573, + 0.3644730746746063, + 0.0, + 0.9968144297599792 + ], + [ + 0.4081913232803345, + 0.235979363322258, + 0.10949013382196426, + 0.050039634108543396, + -0.09974754601716995, + 0.3675057888031006, + 0.0, + 0.9545519351959229 + ], + [ + 0.41010627150535583, + 0.23565295338630676, + 0.10614177584648132, + 0.04889798164367676, + -0.11065079271793365, + 0.36213159561157227, + 0.0, + 0.67718505859375 + ], + [ + 0.4102986752986908, + 0.2263893038034439, + 0.10747923702001572, + 0.053050171583890915, + -0.1242334321141243, + 0.34936031699180603, + 0.0, + 0.3831871449947357 + ], + [ + 0.40708285570144653, + 0.20501936972141266, + 0.10752689093351364, + 0.0469985157251358, + -0.12576958537101746, + 0.3344050943851471, + 0.0, + 0.33077090978622437 + ], + [ + 0.4026362895965576, + 0.162138894200325, + 0.11400749534368515, + 0.03890524059534073, + -0.15814970433712006, + 0.2766026258468628, + 0.0, + 0.33077090978622437 + ], + [ + 0.3973284065723419, + 0.11206206679344177, + 0.12776562571525574, + 0.03012271411716938, + -0.20379552245140076, + 0.18482208251953125, + 0.0, + 0.33077090978622437 + ], + [ + 0.3870435059070587, + 0.0813760980963707, + 0.12075675278902054, + 0.024314220994710922, + -0.19181422889232635, + 0.10046741366386414, + 0.0, + 0.33077090978622437 + ], + [ + 0.38104677200317383, + 0.029399573802947998, + 0.10970092564821243, + -0.0185437873005867, + -0.16975468397140503, + -0.03431858494877815, + 0.0, + 0.33077090978622437 + ], + [ + 0.36818090081214905, + -0.0023674366530030966, + 0.09263374656438828, + -0.04261862114071846, + -0.12693168222904205, + -0.1317160725593567, + 0.0, + 0.33077090978622437 + ], + [ + 0.3520320653915405, + -0.030558215454220772, + 0.08557406067848206, + -0.03789815306663513, + -0.11165641993284225, + -0.23166625201702118, + 0.0, + 0.33077090978622437 + ], + [ + 0.3324151933193207, + -0.050093185156583786, + 0.07028774917125702, + -0.028148053213953972, + -0.0726499855518341, + -0.3100886940956116, + 0.0, + 0.33077090978622437 + ], + [ + 0.3135145902633667, + -0.06780166178941727, + 0.0715968906879425, + -0.01923098973929882, + -0.09909923374652863, + -0.37607941031455994, + 0.0, + 0.33077090978622437 + ], + [ + 0.2959843575954437, + -0.08325040340423584, + 0.056681711226701736, + -0.004446092527359724, + -0.07855517417192459, + -0.4277024567127228, + 0.0, + 0.33077090978622437 + ], + [ + 0.28376278281211853, + -0.09616269916296005, + 0.03918558359146118, + 0.011676780879497528, + -0.09438936412334442, + -0.4500078856945038, + 0.0, + 0.33077090978622437 + ], + [ + 0.28048861026763916, + -0.10148714482784271, + 0.018417468294501305, + -0.009691959246993065, + -0.09749887883663177, + -0.39730021357536316, + 0.0, + 0.33077090978622437 + ], + [ + 0.2795490324497223, + -0.10286720097064972, + -0.0015285684494301677, + -0.028117209672927856, + -0.08706064522266388, + -0.3093557357788086, + 0.0, + 0.33077090978622437 + ], + [ + 0.2764756679534912, + -0.10768183320760727, + -0.00458740908652544, + -0.024522699415683746, + -0.08665923029184341, + -0.3135158121585846, + 0.0, + 0.3806030750274658 + ], + [ + 0.2677523195743561, + -0.10779982060194016, + -0.004751016851514578, + -0.029844485223293304, + -0.06187018007040024, + -0.3159193992614746, + 0.0, + 0.6871993541717529 + ], + [ + 0.26247143745422363, + -0.11227788031101227, + 0.0277834665030241, + -0.005668146535754204, + -0.10578270256519318, + -0.3138922154903412, + 0.0, + 0.959831714630127 + ] + ], + "left_gripper_pos": [ + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 0.9968144297599792 + ], + [ + 0.9545519351959229 + ], + [ + 0.67718505859375 + ], + [ + 0.3831871449947357 + ], + [ + 0.33077090978622437 + ], + [ + 0.33077090978622437 + ], + [ + 0.33077090978622437 + ], + [ + 0.33077090978622437 + ], + [ + 0.33077090978622437 + ], + [ + 0.33077090978622437 + ], + [ + 0.33077090978622437 + ], + [ + 0.33077090978622437 + ], + [ + 0.33077090978622437 + ], + [ + 0.33077090978622437 + ], + [ + 0.33077090978622437 + ], + [ + 0.33077090978622437 + ], + [ + 0.33077090978622437 + ], + [ + 0.3806030750274658 + ], + [ + 0.6871993541717529 + ], + [ + 0.959831714630127 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.4264456331729889, + 0.02715313248336315, + 0.12105477601289749 + ], + [ + 0.4252316653728485, + 0.02659885212779045, + 0.10502289235591888 + ], + [ + 0.4254117012023926, + 0.05200587213039398, + 0.11154267191886902 + ], + [ + 0.421435683965683, + 0.10266062617301941, + 0.1289212554693222 + ], + [ + 0.4144246578216553, + 0.13104957342147827, + 0.13727304339408875 + ], + [ + 0.40259361267089844, + 0.16194270551204681, + 0.13946227729320526 + ], + [ + 0.3865932822227478, + 0.19348247349262238, + 0.14559516310691833 + ], + [ + 0.3892231583595276, + 0.2030005007982254, + 0.16166481375694275 + ], + [ + 0.39243999123573303, + 0.2157273292541504, + 0.1519981026649475 + ], + [ + 0.399252325296402, + 0.2250896692276001, + 0.13367870450019836 + ], + [ + 0.40578892827033997, + 0.23295390605926514, + 0.11889506876468658 + ], + [ + 0.4081913232803345, + 0.235979363322258, + 0.10949013382196426 + ], + [ + 0.41010627150535583, + 0.23565295338630676, + 0.10614177584648132 + ], + [ + 0.4102986752986908, + 0.2263893038034439, + 0.10747923702001572 + ], + [ + 0.40708285570144653, + 0.20501936972141266, + 0.10752689093351364 + ], + [ + 0.4026362895965576, + 0.162138894200325, + 0.11400749534368515 + ], + [ + 0.3973284065723419, + 0.11206206679344177, + 0.12776562571525574 + ], + [ + 0.3870435059070587, + 0.0813760980963707, + 0.12075675278902054 + ], + [ + 0.38104677200317383, + 0.029399573802947998, + 0.10970092564821243 + ], + [ + 0.36818090081214905, + -0.0023674366530030966, + 0.09263374656438828 + ], + [ + 0.3520320653915405, + -0.030558215454220772, + 0.08557406067848206 + ], + [ + 0.3324151933193207, + -0.050093185156583786, + 0.07028774917125702 + ], + [ + 0.3135145902633667, + -0.06780166178941727, + 0.0715968906879425 + ], + [ + 0.2959843575954437, + -0.08325040340423584, + 0.056681711226701736 + ], + [ + 0.28376278281211853, + -0.09616269916296005, + 0.03918558359146118 + ], + [ + 0.28048861026763916, + -0.10148714482784271, + 0.018417468294501305 + ], + [ + 0.2795490324497223, + -0.10286720097064972, + -0.0015285684494301677 + ], + [ + 0.2764756679534912, + -0.10768183320760727, + -0.00458740908652544 + ], + [ + 0.2677523195743561, + -0.10779982060194016, + -0.004751016851514578 + ], + [ + 0.26247143745422363, + -0.11227788031101227, + 0.0277834665030241 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.974711425345571, + 0.01757787448861478, + 0.22277489901079015, + 0.022212415517229578, + -0.999585500058999, + -0.018314930212550436, + 0.22236062128374975, + 0.022800140356216227, + -0.9746978545693231 + ], + [ + 0.9832820135325205, + 0.019083233843898803, + 0.18108647671621173, + 0.02389473293395774, + -0.9994160419947664, + -0.024425739324122057, + 0.18051460772316144, + 0.028344403143728443, + -0.9831638069055323 + ], + [ + 0.984009936534, + 0.05768502767302681, + 0.16851374538807012, + 0.06547672170553102, + -0.997009440214724, + -0.04104844744224853, + 0.16564191413120544, + 0.051425807772797594, + -0.9848442224930122 + ], + [ + 0.9699731913980953, + 0.1521144412011623, + 0.18977145398360556, + 0.1601038729667259, + -0.986719454916859, + -0.02741290115312231, + 0.18308128749287322, + 0.056972923978276635, + -0.9814455298707704 + ], + [ + 0.9647676332652785, + 0.1775619232528658, + 0.19415245868764316, + 0.18374657579763465, + -0.982871431676412, + -0.014175495652874955, + 0.18830987676263214, + 0.04935090885793256, + -0.9808689403322641 + ], + [ + 0.9553786059489978, + 0.21377814426013683, + 0.2038397025401118, + 0.22199871019532116, + -0.9748793647703907, + -0.018077522410244164, + 0.19485454053360657, + 0.06252302920981359, + -0.9788373607764803 + ], + [ + 0.9468909321883717, + 0.2588935138225232, + 0.19071368865412838, + 0.26012895217552906, + -0.9653874231794255, + 0.018975020607380304, + 0.1890251062147517, + 0.031642877043912596, + -0.9814622955329899 + ], + [ + 0.9351161038835778, + 0.2843566206496202, + 0.21142181663755993, + 0.27718882560992464, + -0.9587183026810053, + 0.06344738813728508, + 0.22073565007625934, + -0.0007269093344450944, + -0.9753334016572133 + ], + [ + 0.9285889491922809, + 0.3171055984199962, + 0.1927864178013361, + 0.3098162540005409, + -0.9483851323132565, + 0.06767222151103719, + 0.2042950126533869, + -0.003111311277048133, + -0.9789044220694323 + ], + [ + 0.9270458492709905, + 0.34604464742759283, + 0.14435752608070324, + 0.3376708220895677, + -0.9378800015523306, + 0.0797465898804184, + 0.1629859173633828, + -0.02518342063567058, + -0.9863069431299282 + ], + [ + 0.927687692830778, + 0.36099008212988487, + 0.09529798095535308, + 0.35392984490555496, + -0.9315498116396067, + 0.08335834282987375, + 0.11886635123296124, + -0.04360170911870196, + -0.9919524592975664 + ], + [ + 0.9285876359188184, + 0.36348753936707856, + 0.0748452479691653, + 0.35750298423708227, + -0.9302686403077451, + 0.08241282134206468, + 0.0995822207036972, + -0.0497701274344868, + -0.9937838375295075 + ], + [ + 0.9294248681147507, + 0.35889229828425, + 0.085823847281085, + 0.35210183706254766, + -0.9321139108231518, + 0.08478179985791946, + 0.1104251369347451, + -0.04857957886003243, + -0.9926964861682167 + ], + [ + 0.9323503825517417, + 0.3479889482383374, + 0.09811450483795077, + 0.33965873683495446, + -0.9360209307957001, + 0.09217786938324218, + 0.12391410996050321, + -0.05261662300382496, + -0.9908969594949666 + ], + [ + 0.9371446904660407, + 0.33341165225154257, + 0.10293929897859821, + 0.3256149071287806, + -0.9416284648672849, + 0.0855030198717913, + 0.1254382771996823, + -0.04661013081484354, + -0.9910059204256041 + ], + [ + 0.949983518481146, + 0.278775190219042, + 0.14076827743678078, + 0.2696809479305838, + -0.9595879653158856, + 0.0803935516330744, + 0.1574912725754773, + -0.038410026545877274, + -0.9867731091407493 + ], + [ + 0.9626268780977371, + 0.18968001330680997, + 0.19331576789215385, + 0.17996858049880235, + -0.9814028452913179, + 0.06678147413281407, + 0.20238775555119634, + -0.029494877623648712, + -0.9788611998628383 + ], + [ + 0.9767098605108123, + 0.10488027727319309, + 0.18718433647089253, + 0.09845900865556549, + -0.9941984429946332, + 0.043304498168329604, + 0.19064016364741573, + -0.023865946160706038, + -0.9813698307051941 + ], + [ + 0.9850458791800399, + -0.03743672331439427, + 0.1681758236427092, + -0.03381865853953352, + -0.9991318593718852, + -0.024327472591001986, + 0.16894056423786616, + 0.018276195872254285, + -0.9854567805943751 + ], + [ + 0.983362642622972, + -0.1365630724411464, + 0.11978497543097606, + -0.13027894655151673, + -0.9897294426851242, + -0.05884748395319023, + 0.12659111018942992, + 0.0422629569200752, + -0.9910542534560759 + ], + [ + 0.9672244270373761, + -0.2335437063741098, + 0.09967068252632247, + -0.22816983932454618, + -0.9716169914511952, + -0.06244154343014458, + 0.11142455817650856, + 0.03765314245015217, + -0.9930593178148011 + ], + [ + 0.9497944678237729, + -0.3069676802027298, + 0.060508777894704165, + -0.30433817997661494, + -0.9513058987683783, + -0.048942406734950344, + 0.0725860943974639, + 0.028070095821753294, + -0.9969670649628702 + ], + [ + 0.9255483034260085, + -0.3689783779206818, + 0.08494289053393692, + -0.3654747409490663, + -0.9292409756964928, + -0.054216444136844594, + 0.09893711009247608, + 0.01913545697529198, + -0.9949096856161852 + ], + [ + 0.9071150487707345, + -0.4150946907079177, + 0.06956066445747852, + -0.4135021836266607, + -0.9097674163604222, + -0.03659497595114835, + 0.0784744062077001, + 0.004432366747000975, + -0.996906275281367 + ], + [ + 0.8964354646799632, + -0.4339520404265962, + 0.08993933663093379, + -0.4330364107612059, + -0.900860975235128, + -0.0304790133282939, + 0.09424926853334603, + -0.01162453904496748, + -0.9954807609757816 + ], + [ + 0.9177296547055549, + -0.38778204349296, + 0.08600795090250413, + -0.3850926289758348, + -0.9217006269380936, + -0.046600658905274164, + 0.09734448100690443, + 0.009645778680318764, + -0.9952040047001154 + ], + [ + 0.9489223132466148, + -0.30665313198114025, + 0.07423139543920006, + -0.30329196827975696, + -0.951409198509818, + -0.05324020067483627, + 0.08695070672331763, + 0.02800702835117166, + -0.9958188494717563 + ], + [ + 0.947685513612898, + -0.31033104117447213, + 0.07474498091394512, + -0.30724766137913334, + -0.9503146355622831, + -0.050009679194917694, + 0.08655080511070569, + 0.02442822792781424, + -0.9959479001509043 + ], + [ + 0.948692472421344, + -0.3123058703506693, + 0.04947359008186216, + -0.31009604224927517, + -0.9495146226375878, + -0.04756496587547043, + 0.06183071528304474, + 0.029782960596788453, + -0.9976421893172306 + ], + [ + 0.9458223525738657, + -0.30932727305614366, + 0.09867479675827759, + -0.307037088211816, + -0.9509389406108856, + -0.037991547642276545, + 0.10558552852567896, + 0.005636432692385812, + -0.9943942511863474 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0012139678001403809, + -0.0005542803555727005, + -0.016031883656978607, + -0.0054340604692697525, + 0.04272541403770447, + 0.0015114489942789078, + 1.0 + ], + [ + 0.00018003582954406738, + 0.02540702000260353, + 0.006519779562950134, + -0.023348014801740646, + 0.015100747346878052, + 0.04214654862880707, + 1.0 + ], + [ + -0.003976017236709595, + 0.05065475404262543, + 0.017378583550453186, + -0.0058151185512542725, + -0.01771092414855957, + 0.09714236110448837, + 1.0 + ], + [ + -0.00701102614402771, + 0.028388947248458862, + 0.00835178792476654, + 0.007713869214057922, + -0.005321145057678223, + 0.024617686867713928, + 1.0 + ], + [ + -0.011831045150756836, + 0.030893132090568542, + 0.002189233899116516, + -0.013517063111066818, + -0.006668195128440857, + 0.04011273384094238, + 1.0 + ], + [ + -0.016000330448150635, + 0.03153976798057556, + 0.006132885813713074, + 0.03155875205993652, + 0.005939885973930359, + 0.03978942334651947, + 1.0 + ], + [ + 0.002629876136779785, + 0.009518027305603027, + 0.016069650650024414, + 0.03297467157244682, + -0.03239940106868744, + 0.020065873861312866, + 1.0 + ], + [ + 0.0032168328762054443, + 0.012726828455924988, + -0.00966671109199524, + 0.0024330569431185722, + 0.016825184226036072, + 0.03385746479034424, + 1.0 + ], + [ + 0.006812334060668945, + 0.009362339973449707, + -0.018319398164749146, + 0.022349148988723755, + 0.04202719032764435, + 0.027279198169708252, + 1.0 + ], + [ + 0.006536602973937988, + 0.007864236831665039, + -0.01478363573551178, + 0.018399666994810104, + 0.044568225741386414, + 0.015165567398071289, + 1.0 + ], + [ + 0.002402395009994507, + 0.003025457262992859, + -0.00940493494272232, + 0.006112467497587204, + 0.019400514662265778, + 0.0030327141284942627, + 0.0 + ], + [ + 0.0019149482250213623, + -0.0003264099359512329, + -0.0033483579754829407, + -0.0011416524648666382, + -0.010903246700763702, + -0.00537419319152832, + 0.0 + ], + [ + 0.00019240379333496094, + -0.009263649582862854, + 0.0013374611735343933, + 0.004152189940214157, + -0.013582639396190643, + -0.012771278619766235, + 0.0 + ], + [ + -0.0032158195972442627, + -0.02136993408203125, + 4.7653913497924805e-05, + -0.006051655858755112, + -0.001536153256893158, + -0.014955222606658936, + 0.0 + ], + [ + -0.004446566104888916, + -0.042880475521087646, + 0.006480604410171509, + -0.008093275129795074, + -0.0323801189661026, + -0.0578024685382843, + 0.0 + ], + [ + -0.005307883024215698, + -0.05007682740688324, + 0.013758130371570587, + -0.008782526478171349, + -0.0456458181142807, + -0.09178054332733154, + 0.0 + ], + [ + -0.010284900665283203, + -0.030685968697071075, + -0.007008872926235199, + -0.005808493122458458, + 0.011981293559074402, + -0.08435466885566711, + 0.0 + ], + [ + -0.005996733903884888, + -0.0519765242934227, + -0.011055827140808105, + -0.04285800829529762, + 0.022059544920921326, + -0.134785994887352, + 0.0 + ], + [ + -0.01286587119102478, + -0.03176701068878174, + -0.017067179083824158, + -0.02407483384013176, + 0.042823001742362976, + -0.09739749133586884, + 0.0 + ], + [ + -0.01614883542060852, + -0.02819077856838703, + -0.0070596858859062195, + 0.004720468074083328, + 0.015275262296199799, + -0.09995017945766449, + 0.0 + ], + [ + -0.01961687207221985, + -0.019534969702363014, + -0.015286311507225037, + 0.00975009985268116, + 0.03900643438100815, + -0.0784224420785904, + 0.0 + ], + [ + -0.01890060305595398, + -0.01770847663283348, + 0.0013091415166854858, + 0.008917063474655151, + -0.02644924819469452, + -0.06599071621894836, + 0.0 + ], + [ + -0.017530232667922974, + -0.015448741614818573, + -0.014915179461240768, + 0.01478489674627781, + 0.020544059574604034, + -0.05162304639816284, + 0.0 + ], + [ + -0.012221574783325195, + -0.012912295758724213, + -0.017496127635240555, + 0.01612287387251854, + -0.01583418995141983, + -0.022305428981781006, + 0.0 + ], + [ + -0.00327417254447937, + -0.00532444566488266, + -0.020768115296959877, + -0.021368740126490593, + -0.0031095147132873535, + 0.052707672119140625, + 0.0 + ], + [ + -0.0009395778179168701, + -0.0013800561428070068, + -0.019946036860346794, + -0.01842525042593479, + 0.010438233613967896, + 0.08794447779655457, + 0.0 + ], + [ + -0.003073364496231079, + -0.00481463223695755, + -0.0030588405206799507, + 0.00359451025724411, + 0.0004014149308204651, + -0.004160076379776001, + 1.0 + ], + [ + -0.008723348379135132, + -0.00011798739433288574, + -0.00016360776498913765, + -0.005321785807609558, + 0.024789050221443176, + -0.0024035871028900146, + 1.0 + ], + [ + -0.005280882120132446, + -0.004478059709072113, + 0.032534483820199966, + 0.0241763386875391, + -0.04391252249479294, + 0.002027183771133423, + 1.0 + ], + [ + -0.008013665676116943, + -0.0027383118867874146, + 0.025296228006482124, + 0.029726048931479454, + -0.044853270053863525, + 0.015687882900238037, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 0.9968144297599792 + ], + [ + 0.9545519351959229 + ], + [ + 0.67718505859375 + ], + [ + 0.3831871449947357 + ], + [ + 0.33077090978622437 + ], + [ + 0.33077090978622437 + ], + [ + 0.33077090978622437 + ], + [ + 0.33077090978622437 + ], + [ + 0.33077090978622437 + ], + [ + 0.33077090978622437 + ], + [ + 0.33077090978622437 + ], + [ + 0.33077090978622437 + ], + [ + 0.33077090978622437 + ], + [ + 0.33077090978622437 + ], + [ + 0.33077090978622437 + ], + [ + 0.33077090978622437 + ], + [ + 0.33077090978622437 + ], + [ + 0.3806030750274658 + ], + [ + 0.6871993541717529 + ], + [ + 0.959831714630127 + ], + [ + 1.0060625076293945 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.4252316653728485, + 0.02659885212779045, + 0.10502289235591888 + ], + [ + 0.4254117012023926, + 0.05200587213039398, + 0.11154267191886902 + ], + [ + 0.421435683965683, + 0.10266062617301941, + 0.1289212554693222 + ], + [ + 0.4144246578216553, + 0.13104957342147827, + 0.13727304339408875 + ], + [ + 0.40259361267089844, + 0.16194270551204681, + 0.13946227729320526 + ], + [ + 0.3865932822227478, + 0.19348247349262238, + 0.14559516310691833 + ], + [ + 0.3892231583595276, + 0.2030005007982254, + 0.16166481375694275 + ], + [ + 0.39243999123573303, + 0.2157273292541504, + 0.1519981026649475 + ], + [ + 0.399252325296402, + 0.2250896692276001, + 0.13367870450019836 + ], + [ + 0.40578892827033997, + 0.23295390605926514, + 0.11889506876468658 + ], + [ + 0.4081913232803345, + 0.235979363322258, + 0.10949013382196426 + ], + [ + 0.41010627150535583, + 0.23565295338630676, + 0.10614177584648132 + ], + [ + 0.4102986752986908, + 0.2263893038034439, + 0.10747923702001572 + ], + [ + 0.40708285570144653, + 0.20501936972141266, + 0.10752689093351364 + ], + [ + 0.4026362895965576, + 0.162138894200325, + 0.11400749534368515 + ], + [ + 0.3973284065723419, + 0.11206206679344177, + 0.12776562571525574 + ], + [ + 0.3870435059070587, + 0.0813760980963707, + 0.12075675278902054 + ], + [ + 0.38104677200317383, + 0.029399573802947998, + 0.10970092564821243 + ], + [ + 0.36818090081214905, + -0.0023674366530030966, + 0.09263374656438828 + ], + [ + 0.3520320653915405, + -0.030558215454220772, + 0.08557406067848206 + ], + [ + 0.3324151933193207, + -0.050093185156583786, + 0.07028774917125702 + ], + [ + 0.3135145902633667, + -0.06780166178941727, + 0.0715968906879425 + ], + [ + 0.2959843575954437, + -0.08325040340423584, + 0.056681711226701736 + ], + [ + 0.28376278281211853, + -0.09616269916296005, + 0.03918558359146118 + ], + [ + 0.28048861026763916, + -0.10148714482784271, + 0.018417468294501305 + ], + [ + 0.2795490324497223, + -0.10286720097064972, + -0.0015285684494301677 + ], + [ + 0.2764756679534912, + -0.10768183320760727, + -0.00458740908652544 + ], + [ + 0.2677523195743561, + -0.10779982060194016, + -0.004751016851514578 + ], + [ + 0.26247143745422363, + -0.11227788031101227, + 0.0277834665030241 + ], + [ + 0.2544577717781067, + -0.11501619219779968, + 0.053079694509506226 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9832820135325205, + 0.019083233843898803, + 0.18108647671621173, + 0.02389473293395774, + -0.9994160419947664, + -0.024425739324122057, + 0.18051460772316144, + 0.028344403143728443, + -0.9831638069055323 + ], + [ + 0.984009936534, + 0.05768502767302681, + 0.16851374538807012, + 0.06547672170553102, + -0.997009440214724, + -0.04104844744224853, + 0.16564191413120544, + 0.051425807772797594, + -0.9848442224930122 + ], + [ + 0.9699731913980953, + 0.1521144412011623, + 0.18977145398360556, + 0.1601038729667259, + -0.986719454916859, + -0.02741290115312231, + 0.18308128749287322, + 0.056972923978276635, + -0.9814455298707704 + ], + [ + 0.9647676332652785, + 0.1775619232528658, + 0.19415245868764316, + 0.18374657579763465, + -0.982871431676412, + -0.014175495652874955, + 0.18830987676263214, + 0.04935090885793256, + -0.9808689403322641 + ], + [ + 0.9553786059489978, + 0.21377814426013683, + 0.2038397025401118, + 0.22199871019532116, + -0.9748793647703907, + -0.018077522410244164, + 0.19485454053360657, + 0.06252302920981359, + -0.9788373607764803 + ], + [ + 0.9468909321883717, + 0.2588935138225232, + 0.19071368865412838, + 0.26012895217552906, + -0.9653874231794255, + 0.018975020607380304, + 0.1890251062147517, + 0.031642877043912596, + -0.9814622955329899 + ], + [ + 0.9351161038835778, + 0.2843566206496202, + 0.21142181663755993, + 0.27718882560992464, + -0.9587183026810053, + 0.06344738813728508, + 0.22073565007625934, + -0.0007269093344450944, + -0.9753334016572133 + ], + [ + 0.9285889491922809, + 0.3171055984199962, + 0.1927864178013361, + 0.3098162540005409, + -0.9483851323132565, + 0.06767222151103719, + 0.2042950126533869, + -0.003111311277048133, + -0.9789044220694323 + ], + [ + 0.9270458492709905, + 0.34604464742759283, + 0.14435752608070324, + 0.3376708220895677, + -0.9378800015523306, + 0.0797465898804184, + 0.1629859173633828, + -0.02518342063567058, + -0.9863069431299282 + ], + [ + 0.927687692830778, + 0.36099008212988487, + 0.09529798095535308, + 0.35392984490555496, + -0.9315498116396067, + 0.08335834282987375, + 0.11886635123296124, + -0.04360170911870196, + -0.9919524592975664 + ], + [ + 0.9285876359188184, + 0.36348753936707856, + 0.0748452479691653, + 0.35750298423708227, + -0.9302686403077451, + 0.08241282134206468, + 0.0995822207036972, + -0.0497701274344868, + -0.9937838375295075 + ], + [ + 0.9294248681147507, + 0.35889229828425, + 0.085823847281085, + 0.35210183706254766, + -0.9321139108231518, + 0.08478179985791946, + 0.1104251369347451, + -0.04857957886003243, + -0.9926964861682167 + ], + [ + 0.9323503825517417, + 0.3479889482383374, + 0.09811450483795077, + 0.33965873683495446, + -0.9360209307957001, + 0.09217786938324218, + 0.12391410996050321, + -0.05261662300382496, + -0.9908969594949666 + ], + [ + 0.9371446904660407, + 0.33341165225154257, + 0.10293929897859821, + 0.3256149071287806, + -0.9416284648672849, + 0.0855030198717913, + 0.1254382771996823, + -0.04661013081484354, + -0.9910059204256041 + ], + [ + 0.949983518481146, + 0.278775190219042, + 0.14076827743678078, + 0.2696809479305838, + -0.9595879653158856, + 0.0803935516330744, + 0.1574912725754773, + -0.038410026545877274, + -0.9867731091407493 + ], + [ + 0.9626268780977371, + 0.18968001330680997, + 0.19331576789215385, + 0.17996858049880235, + -0.9814028452913179, + 0.06678147413281407, + 0.20238775555119634, + -0.029494877623648712, + -0.9788611998628383 + ], + [ + 0.9767098605108123, + 0.10488027727319309, + 0.18718433647089253, + 0.09845900865556549, + -0.9941984429946332, + 0.043304498168329604, + 0.19064016364741573, + -0.023865946160706038, + -0.9813698307051941 + ], + [ + 0.9850458791800399, + -0.03743672331439427, + 0.1681758236427092, + -0.03381865853953352, + -0.9991318593718852, + -0.024327472591001986, + 0.16894056423786616, + 0.018276195872254285, + -0.9854567805943751 + ], + [ + 0.983362642622972, + -0.1365630724411464, + 0.11978497543097606, + -0.13027894655151673, + -0.9897294426851242, + -0.05884748395319023, + 0.12659111018942992, + 0.0422629569200752, + -0.9910542534560759 + ], + [ + 0.9672244270373761, + -0.2335437063741098, + 0.09967068252632247, + -0.22816983932454618, + -0.9716169914511952, + -0.06244154343014458, + 0.11142455817650856, + 0.03765314245015217, + -0.9930593178148011 + ], + [ + 0.9497944678237729, + -0.3069676802027298, + 0.060508777894704165, + -0.30433817997661494, + -0.9513058987683783, + -0.048942406734950344, + 0.0725860943974639, + 0.028070095821753294, + -0.9969670649628702 + ], + [ + 0.9255483034260085, + -0.3689783779206818, + 0.08494289053393692, + -0.3654747409490663, + -0.9292409756964928, + -0.054216444136844594, + 0.09893711009247608, + 0.01913545697529198, + -0.9949096856161852 + ], + [ + 0.9071150487707345, + -0.4150946907079177, + 0.06956066445747852, + -0.4135021836266607, + -0.9097674163604222, + -0.03659497595114835, + 0.0784744062077001, + 0.004432366747000975, + -0.996906275281367 + ], + [ + 0.8964354646799632, + -0.4339520404265962, + 0.08993933663093379, + -0.4330364107612059, + -0.900860975235128, + -0.0304790133282939, + 0.09424926853334603, + -0.01162453904496748, + -0.9954807609757816 + ], + [ + 0.9177296547055549, + -0.38778204349296, + 0.08600795090250413, + -0.3850926289758348, + -0.9217006269380936, + -0.046600658905274164, + 0.09734448100690443, + 0.009645778680318764, + -0.9952040047001154 + ], + [ + 0.9489223132466148, + -0.30665313198114025, + 0.07423139543920006, + -0.30329196827975696, + -0.951409198509818, + -0.05324020067483627, + 0.08695070672331763, + 0.02800702835117166, + -0.9958188494717563 + ], + [ + 0.947685513612898, + -0.31033104117447213, + 0.07474498091394512, + -0.30724766137913334, + -0.9503146355622831, + -0.050009679194917694, + 0.08655080511070569, + 0.02442822792781424, + -0.9959479001509043 + ], + [ + 0.948692472421344, + -0.3123058703506693, + 0.04947359008186216, + -0.31009604224927517, + -0.9495146226375878, + -0.04756496587547043, + 0.06183071528304474, + 0.029782960596788453, + -0.9976421893172306 + ], + [ + 0.9458223525738657, + -0.30932727305614366, + 0.09867479675827759, + -0.307037088211816, + -0.9509389406108856, + -0.037991547642276545, + 0.10558552852567896, + 0.005636432692385812, + -0.9943942511863474 + ], + [ + 0.945041229043431, + -0.2902686196942227, + 0.15046994327403795, + -0.29047717787337923, + -0.9566496166976582, + -0.021083643113582413, + 0.15006693354233197, + -0.02378317247623702, + -0.988389739001861 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006024.json b/json/chunk-0006/episode_0006024.json new file mode 100644 index 0000000000000000000000000000000000000000..0970bf1e881fed84ef83f591a336e58150c9d032 --- /dev/null +++ b/json/chunk-0006/episode_0006024.json @@ -0,0 +1,2062 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 33, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nClose the drawer." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006024.mp4", + "start": 0, + "end": 33, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2676883339881897, + -0.029873987659811974, + 0.1417744904756546, + 0.015038778074085712, + -0.36435627937316895, + -0.31308862566947937, + 0.0, + 0.9994885921478271 + ], + [ + 0.26733383536338806, + -0.030411547049880028, + 0.1360260248184204, + 0.005458991043269634, + -0.3460244834423065, + -0.30820485949516296, + 0.0, + 0.9994885921478271 + ], + [ + 0.2766287922859192, + -0.03770522400736809, + 0.10367117822170258, + -0.025999946519732475, + -0.2604965567588806, + -0.32907813787460327, + 0.0, + 0.9994885921478271 + ], + [ + 0.2893531620502472, + -0.04140901565551758, + 0.09172026813030243, + -0.038943711668252945, + -0.22968332469463348, + -0.31056469678878784, + 0.0, + 0.9994885921478271 + ], + [ + 0.3016294240951538, + -0.04048038274049759, + 0.0832497775554657, + -0.04308082163333893, + -0.18806572258472443, + -0.2770957350730896, + 0.0, + 0.9994885921478271 + ], + [ + 0.30980542302131653, + -0.032430499792099, + 0.08264703303575516, + -0.043271955102682114, + -0.18173843622207642, + -0.23221582174301147, + 0.0, + 0.9994885921478271 + ], + [ + 0.3088996708393097, + -0.028631366789340973, + 0.08288151025772095, + -0.03263816982507706, + -0.16803446412086487, + -0.1989988088607788, + 0.0, + 0.9994885921478271 + ], + [ + 0.30871307849884033, + -0.027082500979304314, + 0.08275731652975082, + -0.029925895854830742, + -0.16379699110984802, + -0.1584552824497223, + 0.0, + 0.9994885921478271 + ], + [ + 0.3076629340648651, + -0.020544379949569702, + 0.08242284506559372, + -0.0185959804803133, + -0.1521095484495163, + -0.11608519405126572, + 0.0, + 0.9994885921478271 + ], + [ + 0.307076096534729, + -0.012298883870244026, + 0.08221694082021713, + 0.008002027869224548, + -0.14425793290138245, + -0.04008549451828003, + 0.0, + 0.9994885921478271 + ], + [ + 0.3050309121608734, + 0.000860885193105787, + 0.0703495442867279, + 0.0008172654779627919, + -0.09973828494548798, + 0.018215980380773544, + 0.0, + 0.9994885921478271 + ], + [ + 0.3051893413066864, + 0.011273934505879879, + 0.06946741789579391, + -0.010209974832832813, + -0.09958944469690323, + 0.057055216282606125, + 0.0, + 0.9994885921478271 + ], + [ + 0.3045732378959656, + 0.022346677258610725, + 0.06946223974227905, + -0.0030605674255639315, + -0.09973569214344025, + 0.06865321099758148, + 0.0, + 0.9994885921478271 + ], + [ + 0.30154573917388916, + 0.036167312413454056, + 0.0693112462759018, + 0.013570963405072689, + -0.08868809789419174, + 0.08695065230131149, + 0.0, + 0.9994885921478271 + ], + [ + 0.29786214232444763, + 0.046636804938316345, + 0.06970904022455215, + 0.04396308213472366, + -0.07439874112606049, + 0.10141698271036148, + 0.0, + 0.9994885921478271 + ], + [ + 0.2962769567966461, + 0.05946020781993866, + 0.07034704089164734, + 0.10030496120452881, + -0.07405231893062592, + 0.10272862762212753, + 0.0, + 0.9994885921478271 + ], + [ + 0.29333892464637756, + 0.07578516006469727, + 0.07107318937778473, + 0.13888771831989288, + -0.07389916479587555, + 0.12699148058891296, + 0.0, + 0.9994885921478271 + ], + [ + 0.2940901517868042, + 0.08170425891876221, + 0.07174301147460938, + 0.16139891743659973, + -0.08495786041021347, + 0.12932001054286957, + 0.0, + 1.0001531839370728 + ], + [ + 0.2945884168148041, + 0.08679897338151932, + 0.07228051126003265, + 0.19412021338939667, + -0.08992184698581696, + 0.12012480944395065, + 0.0, + 0.9994885921478271 + ], + [ + 0.2934352457523346, + 0.09214229136705399, + 0.069553904235363, + 0.22830969095230103, + -0.07610785961151123, + 0.12160895764827728, + 0.0, + 1.0001531839370728 + ], + [ + 0.2916770577430725, + 0.10073331743478775, + 0.06686480343341827, + 0.28474560379981995, + -0.06228228285908699, + 0.1198388859629631, + 0.0, + 1.0001531839370728 + ], + [ + 0.2898823916912079, + 0.10616175085306168, + 0.06673489511013031, + 0.3129894733428955, + -0.05944307520985603, + 0.12136121839284897, + 0.0, + 1.0001531839370728 + ], + [ + 0.28386491537094116, + 0.11368489265441895, + 0.06411794573068619, + 0.3276744484901428, + -0.06023157387971878, + 0.1336672604084015, + 0.0, + 1.0001531839370728 + ], + [ + 0.27866992354393005, + 0.11528894305229187, + 0.06361469626426697, + 0.34571290016174316, + -0.06136737018823624, + 0.1336849182844162, + 0.0, + 1.0001531839370728 + ], + [ + 0.27255797386169434, + 0.11854612082242966, + 0.06454262882471085, + 0.3784307539463043, + -0.06531325727701187, + 0.14232857525348663, + 0.0, + 1.0001531839370728 + ], + [ + 0.26603028178215027, + 0.12003379315137863, + 0.06509161740541458, + 0.39718395471572876, + -0.065909743309021, + 0.14955417811870575, + 0.0, + 1.0001531839370728 + ], + [ + 0.2532155513763428, + 0.11018086969852448, + 0.06040339171886444, + 0.35058438777923584, + -0.03624069690704346, + 0.1180877536535263, + 0.0, + 1.0001531839370728 + ], + [ + 0.2500878572463989, + 0.08311235904693604, + 0.0501769594848156, + 0.2265409380197525, + -0.02780059538781643, + 0.05537158623337746, + 0.0, + 1.0008161067962646 + ], + [ + 0.25245270133018494, + 0.05664420872926712, + 0.051277026534080505, + 0.10834887623786926, + -0.05780935287475586, + -0.0034487657248973846, + 0.0, + 1.0014774799346924 + ], + [ + 0.2611098289489746, + 0.03413654491305351, + 0.06402700394392014, + 0.05094977095723152, + -0.13265405595302582, + -0.07666029781103134, + 0.0, + 1.0001531839370728 + ], + [ + 0.2643982470035553, + 0.026805631816387177, + 0.07016585022211075, + 0.019479362294077873, + -0.1446812003850937, + -0.08386988192796707, + 0.0, + 1.0001531839370728 + ], + [ + 0.27413877844810486, + 0.007382472511380911, + 0.08171241730451584, + 0.00624961219727993, + -0.16877804696559906, + -0.13104073703289032, + 0.0, + 1.0001531839370728 + ], + [ + 0.2817783057689667, + -0.009450341574847698, + 0.09362392127513885, + -0.006187882740050554, + -0.19073733687400818, + -0.16707521677017212, + 0.0, + 0.9994885921478271 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2676883339881897, + -0.029873987659811974, + 0.1417744904756546 + ], + [ + 0.26733383536338806, + -0.030411547049880028, + 0.1360260248184204 + ], + [ + 0.2766287922859192, + -0.03770522400736809, + 0.10367117822170258 + ], + [ + 0.2893531620502472, + -0.04140901565551758, + 0.09172026813030243 + ], + [ + 0.3016294240951538, + -0.04048038274049759, + 0.0832497775554657 + ], + [ + 0.30980542302131653, + -0.032430499792099, + 0.08264703303575516 + ], + [ + 0.3088996708393097, + -0.028631366789340973, + 0.08288151025772095 + ], + [ + 0.30871307849884033, + -0.027082500979304314, + 0.08275731652975082 + ], + [ + 0.3076629340648651, + -0.020544379949569702, + 0.08242284506559372 + ], + [ + 0.307076096534729, + -0.012298883870244026, + 0.08221694082021713 + ], + [ + 0.3050309121608734, + 0.000860885193105787, + 0.0703495442867279 + ], + [ + 0.3051893413066864, + 0.011273934505879879, + 0.06946741789579391 + ], + [ + 0.3045732378959656, + 0.022346677258610725, + 0.06946223974227905 + ], + [ + 0.30154573917388916, + 0.036167312413454056, + 0.0693112462759018 + ], + [ + 0.29786214232444763, + 0.046636804938316345, + 0.06970904022455215 + ], + [ + 0.2962769567966461, + 0.05946020781993866, + 0.07034704089164734 + ], + [ + 0.29333892464637756, + 0.07578516006469727, + 0.07107318937778473 + ], + [ + 0.2940901517868042, + 0.08170425891876221, + 0.07174301147460938 + ], + [ + 0.2945884168148041, + 0.08679897338151932, + 0.07228051126003265 + ], + [ + 0.2934352457523346, + 0.09214229136705399, + 0.069553904235363 + ], + [ + 0.2916770577430725, + 0.10073331743478775, + 0.06686480343341827 + ], + [ + 0.2898823916912079, + 0.10616175085306168, + 0.06673489511013031 + ], + [ + 0.28386491537094116, + 0.11368489265441895, + 0.06411794573068619 + ], + [ + 0.27866992354393005, + 0.11528894305229187, + 0.06361469626426697 + ], + [ + 0.27255797386169434, + 0.11854612082242966, + 0.06454262882471085 + ], + [ + 0.26603028178215027, + 0.12003379315137863, + 0.06509161740541458 + ], + [ + 0.2532155513763428, + 0.11018086969852448, + 0.06040339171886444 + ], + [ + 0.2500878572463989, + 0.08311235904693604, + 0.0501769594848156 + ], + [ + 0.25245270133018494, + 0.05664420872926712, + 0.051277026534080505 + ], + [ + 0.2611098289489746, + 0.03413654491305351, + 0.06402700394392014 + ], + [ + 0.2643982470035553, + 0.026805631816387177, + 0.07016585022211075 + ], + [ + 0.27413877844810486, + 0.007382472511380911, + 0.08171241730451584 + ], + [ + 0.2817783057689667, + -0.009450341574847698, + 0.09362392127513885 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8889314531787533, + -0.3028654249977232, + 0.34361811053909547, + -0.2877795016332595, + -0.9529297474934703, + -0.095435081504358, + 0.3563479058297134, + -0.01405100291720144, + -0.9342476862844232 + ], + [ + 0.8964010343443882, + -0.3015798294173174, + 0.32483040515772543, + -0.28536864281837293, + -0.9534270995341932, + -0.0976806202366407, + 0.33916061581839096, + -0.005135402850476221, + -0.9407144648166375 + ], + [ + 0.9144132161263864, + -0.32939805468073335, + 0.23525601319827502, + -0.3122677006752783, + -0.9438569332405975, + -0.1078098914229524, + 0.257560387653795, + 0.025119935234840143, + -0.9659356270297851 + ], + [ + 0.9271560113887104, + -0.31380465736044644, + 0.20471533299846095, + -0.2975709610201052, + -0.9487303948577883, + -0.10659343802765964, + 0.22766917600621517, + 0.037911408466031714, + -0.9730002422429159 + ], + [ + 0.9448942990981115, + -0.28105421880405457, + 0.1678787944450729, + -0.2687397776453261, + -0.9587588587579987, + -0.09252233602866058, + 0.1869590742462882, + 0.04230811796218689, + -0.981456228117927 + ], + [ + 0.9571318699796667, + -0.2375276674371866, + 0.1657684851564822, + -0.22634434348412838, + -0.9704485780985659, + -0.08365282684530034, + 0.18073965154875252, + 0.042546027644425145, + -0.9826103062199758 + ], + [ + 0.9664583491809398, + -0.20293260329283883, + 0.1574059014752764, + -0.19490364042347294, + -0.9786640240359107, + -0.06503306088072844, + 0.16724482128942192, + 0.032172761439302484, + -0.9853903202149082 + ], + [ + 0.9742551271165233, + -0.16254040766926695, + 0.15622920073365154, + -0.15568100776469088, + -0.9862601736291133, + -0.05526566505925273, + 0.16306554237035287, + 0.029520938124994414, + -0.9861734852974313 + ], + [ + 0.981801018851975, + -0.1186032260744129, + 0.14832408484789508, + -0.11448729262572518, + -0.9927715965051381, + -0.03601689880973728, + 0.1515236589066389, + 0.018380205041864696, + -0.9882827271859828 + ], + [ + 0.98881788479572, + -0.038924057098416086, + 0.14395870410335573, + -0.03965849788745953, + -0.9992107935702548, + 0.002234627040960731, + 0.14375811021792353, + -0.007918825146514454, + -0.989581172999401 + ], + [ + 0.994865177238327, + 0.018296330974007406, + 0.09954156614923393, + 0.018124449291085563, + -0.9998322774208114, + 0.0026308488001006458, + 0.09957300566141208, + -0.0008132037897723396, + -0.9950299268078068 + ], + [ + 0.9934259238993219, + 0.05600783751408275, + 0.09984015155124158, + 0.05674171470618576, + -0.9983786419077776, + -0.00452384732099605, + 0.0994249040079024, + 0.010159208599982874, + -0.9949932054761187 + ], + [ + 0.9926865177038752, + 0.06829494866324382, + 0.09954535426647942, + 0.06825839059043426, + -0.9976605263368714, + 0.003777076017287293, + 0.099570425744584, + 0.0030453532342807604, + -0.9950258570211735 + ], + [ + 0.9923068085311274, + 0.08803056118652625, + 0.08705066363878596, + 0.08649982579155632, + -0.9960260565289395, + 0.02121025349776699, + 0.08857187974068405, + -0.013517211716710996, + -0.995978065575044 + ], + [ + 0.9921096083275842, + 0.10439533980246285, + 0.06942721434434805, + 0.10096314951956992, + -0.9935697141171799, + 0.05124124928409479, + 0.07433012513898184, + -0.04382734553488374, + -0.9962701422205674 + ], + [ + 0.9920018814768767, + 0.10940213034040133, + 0.06295586567841993, + 0.10226699225213828, + -0.9889684890975964, + 0.10715778024818971, + 0.0739846568015187, + -0.09986241259352822, + -0.9922468287220485 + ], + [ + 0.9892400896304924, + 0.13556996168606902, + 0.05499845958109563, + 0.12630476012412253, + -0.981101002945118, + 0.1465876174513782, + 0.07383192153698494, + -0.13806378058173516, + -0.9876675755807899 + ], + [ + 0.9880731825098529, + 0.14080619582192364, + 0.06232977797978121, + 0.12849473523948055, + -0.9770032555913717, + 0.17015799005511464, + 0.08485569527489906, + -0.16011949844418946, + -0.9834435709268705 + ], + [ + 0.9887825564329699, + 0.13478335193631347, + 0.06436228814059833, + 0.11935195088252137, + -0.9720708965816013, + 0.20207247175104986, + 0.08980071221553726, + -0.19212397054988872, + -0.9772534021561289 + ], + [ + 0.9897413124767956, + 0.13524338296345725, + 0.04605824292468376, + 0.12095827147506524, + -0.9647691292883636, + 0.23364422469630355, + 0.07603440628080134, + -0.2256762161521945, + -0.9712306700906606 + ], + [ + 0.9909029018639165, + 0.13209746916658124, + 0.02572348571740855, + 0.11932044873808027, + -0.9507595299347482, + 0.28604011388474854, + 0.062242024313262506, + -0.2803686410389737, + -0.9578723064852364 + ], + [ + 0.9908915331871934, + 0.13333939492990324, + 0.018830167754445296, + 0.12084970058847269, + -0.9422049559143134, + 0.31248227296629677, + 0.059408074582583126, + -0.3073604184182374, + -0.9497369392964329 + ], + [ + 0.989282627647425, + 0.14537927524875466, + 0.013592239077990072, + 0.1330279109879789, + -0.9357659245236847, + 0.32656654666163887, + 0.060195162041320006, + -0.3212584642129773, + -0.9450764739630009 + ], + [ + 0.9892118810007064, + 0.14599795574716587, + 0.012018793811879484, + 0.1330361810193945, + -0.9296694743179171, + 0.3435346315311199, + 0.06132885965692483, + -0.33822960461659185, + -0.9390630998682064 + ], + [ + 0.9877777821082767, + 0.15568194537825308, + 0.007627912984321274, + 0.14154608398925622, + -0.9164288878165006, + 0.37432980068746624, + 0.06526683139666108, + -0.3686749590881572, + -0.9272642639834587 + ], + [ + 0.9866905779911315, + 0.1625910210946505, + 0.002421396895563921, + 0.14867378983235396, + -0.9080645138302853, + 0.3915545210300256, + 0.06586203398325907, + -0.38598315841700476, + -0.9201517233032939 + ], + [ + 0.9923836904541503, + 0.1230045155087771, + -0.006670838406928694, + 0.11773613592997, + -0.9311654538652314, + 0.3450639068697804, + 0.036232764411233756, + -0.34322119207940505, + -0.9385554858881341 + ], + [ + 0.998081565920121, + 0.060163096141774376, + 0.01461470605501532, + 0.05532191027928742, + -0.9726101693785383, + 0.22576302767393344, + 0.027797014470790932, + -0.22452140273053342, + -0.9740726182900451 + ], + [ + 0.9983235676076371, + 0.002819276568999819, + 0.05781095085524164, + -0.003442997752654557, + -0.994151635780959, + 0.10793827328857193, + 0.05777715920357189, + -0.10795636504472868, + -0.9924753010129241 + ], + [ + 0.9883031868184855, + -0.06976966165351992, + 0.13560606637307732, + -0.07591238225118499, + -0.9962850665918593, + 0.040661730250994794, + 0.13226534370490284, + -0.05048029713470437, + -0.9899280875173793 + ], + [ + 0.9860736275127331, + -0.08095727139692738, + 0.14527464104875162, + -0.08289633854346926, + -0.9965311882623735, + 0.00733402184807514, + 0.14417696827151663, + -0.019274621354147384, + -0.9893641851167283 + ], + [ + 0.9773390293239265, + -0.12962268629557938, + 0.16735107097859545, + -0.1288093629800146, + -0.9915442522207624, + -0.01575258380875908, + 0.16797788476120276, + -0.006160769877779689, + -0.9857715126466503 + ], + [ + 0.9681926150266723, + -0.16745259820977895, + 0.1859104288645708, + -0.1632831279489307, + -0.9858614071634082, + -0.03762852631977716, + 0.18958291150583015, + 0.00607562495381072, + -0.9818459178742831 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.00035449862480163574, + -0.0005375593900680542, + -0.005748465657234192, + -0.009579787030816078, + 0.018331795930862427, + 0.004883766174316406, + 1.0 + ], + [ + 0.009294956922531128, + -0.00729367695748806, + -0.032354846596717834, + -0.031458936631679535, + 0.0855279266834259, + -0.020873278379440308, + 1.0 + ], + [ + 0.012724369764328003, + -0.0037037916481494904, + -0.011950910091400146, + -0.01294376514852047, + 0.03081323206424713, + 0.01851344108581543, + 1.0 + ], + [ + 0.012276262044906616, + 0.000928632915019989, + -0.008470490574836731, + -0.004137109965085983, + 0.04161760210990906, + 0.03346896171569824, + 1.0 + ], + [ + 0.00817599892616272, + 0.00804988294839859, + -0.0006027445197105408, + -0.00019113346934318542, + 0.00632728636264801, + 0.044879913330078125, + 1.0 + ], + [ + -0.0009057521820068359, + 0.003799133002758026, + 0.0002344772219657898, + 0.010633785277605057, + 0.013703972101211548, + 0.033217012882232666, + 1.0 + ], + [ + -0.00018659234046936035, + 0.0015488658100366592, + -0.0001241937279701233, + 0.002712273970246315, + 0.004237473011016846, + 0.04054352641105652, + 1.0 + ], + [ + -0.0010501444339752197, + 0.0065381210297346115, + -0.0003344714641571045, + 0.01132991537451744, + 0.011687442660331726, + 0.042370088398456573, + 1.0 + ], + [ + -0.0005868375301361084, + 0.008245496079325676, + -0.00020590424537658691, + 0.02659800834953785, + 0.00785161554813385, + 0.07599969953298569, + 1.0 + ], + [ + -0.002045184373855591, + 0.013159768655896187, + -0.011867396533489227, + -0.007184762507677078, + 0.04451964795589447, + 0.058301474899053574, + 1.0 + ], + [ + 0.00015842914581298828, + 0.010413049720227718, + -0.0008821263909339905, + -0.011027240194380283, + 0.00014884024858474731, + 0.03883923590183258, + 1.0 + ], + [ + -0.0006161034107208252, + 0.011072742752730846, + -5.1781535148620605e-06, + 0.0071494076400995255, + -0.00014624744653701782, + 0.011597994714975357, + 1.0 + ], + [ + -0.003027498722076416, + 0.01382063515484333, + -0.0001509934663772583, + 0.016631530597805977, + 0.011047594249248505, + 0.01829744130373001, + 1.0 + ], + [ + -0.0036835968494415283, + 0.01046949252486229, + 0.0003977939486503601, + 0.0303921177983284, + 0.014289356768131256, + 0.014466330409049988, + 1.0 + ], + [ + -0.0015851855278015137, + 0.012823402881622314, + 0.0006380006670951843, + 0.056341879069805145, + 0.0003464221954345703, + 0.0013116449117660522, + 1.0 + ], + [ + -0.0029380321502685547, + 0.016324952244758606, + 0.0007261484861373901, + 0.038582757115364075, + 0.0001531541347503662, + 0.02426285296678543, + 1.0 + ], + [ + 0.0007512271404266357, + 0.005919098854064941, + 0.000669822096824646, + 0.022511199116706848, + -0.011058695614337921, + 0.002328529953956604, + 1.0 + ], + [ + 0.0004982650279998779, + 0.005094714462757111, + 0.0005374997854232788, + 0.032721295952796936, + -0.004963986575603485, + -0.009195201098918915, + 1.0 + ], + [ + -0.0011531710624694824, + 0.005343317985534668, + -0.002726607024669647, + 0.03418947756290436, + 0.013813987374305725, + 0.0014841482043266296, + 1.0 + ], + [ + -0.001758188009262085, + 0.008591026067733765, + -0.0026891008019447327, + 0.05643591284751892, + 0.01382557675242424, + -0.0017700716853141785, + 1.0 + ], + [ + -0.001794666051864624, + 0.005428433418273926, + -0.00012990832328796387, + 0.02824386954307556, + 0.002839207649230957, + 0.0015223324298858643, + 1.0 + ], + [ + -0.006017476320266724, + 0.007523141801357269, + -0.0026169493794441223, + 0.014684975147247314, + -0.0007884986698627472, + 0.01230604201555252, + 1.0 + ], + [ + -0.005194991827011108, + 0.0016040503978729248, + -0.00050324946641922, + 0.018038451671600342, + -0.001135796308517456, + 1.7657876014709473e-05, + 1.0 + ], + [ + -0.006111949682235718, + 0.003257177770137787, + 0.0009279325604438782, + 0.03271785378456116, + -0.003945887088775635, + 0.008643656969070435, + 1.0 + ], + [ + -0.006527692079544067, + 0.0014876723289489746, + 0.0005489885807037354, + 0.01875320076942444, + -0.0005964860320091248, + 0.007225602865219116, + 1.0 + ], + [ + -0.012814730405807495, + -0.009852923452854156, + -0.00468822568655014, + -0.04659956693649292, + 0.02966904640197754, + -0.03146642446517944, + 1.0 + ], + [ + -0.0031276941299438477, + -0.02706851065158844, + -0.010226432234048843, + -0.12404344975948334, + 0.008440101519227028, + -0.06271617114543915, + 1.0 + ], + [ + 0.0023648440837860107, + -0.026468150317668915, + 0.0011000670492649078, + -0.11819206178188324, + -0.03000875748693943, + -0.05882035195827484, + 1.0 + ], + [ + 0.008657127618789673, + -0.022507663816213608, + 0.01274997740983963, + -0.05739910528063774, + -0.07484470307826996, + -0.07321153581142426, + 1.0 + ], + [ + 0.0032884180545806885, + -0.007330913096666336, + 0.006138846278190613, + -0.0314704105257988, + -0.012027144432067871, + -0.00720958411693573, + 1.0 + ], + [ + 0.00974053144454956, + -0.01942315883934498, + 0.01154656708240509, + -0.013229750096797943, + -0.02409684658050537, + -0.04717085510492325, + 1.0 + ], + [ + 0.007639527320861816, + -0.016832813620567322, + 0.011911503970623016, + -0.012437494471669197, + -0.02195928990840912, + -0.0360344797372818, + 1.0 + ], + [ + 0.004756301641464233, + -0.0023544207215309143, + 0.01017606258392334, + -0.0017580040730535984, + -0.011165380477905273, + -0.005779236555099487, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.26733383536338806, + -0.030411547049880028, + 0.1360260248184204 + ], + [ + 0.2766287922859192, + -0.03770522400736809, + 0.10367117822170258 + ], + [ + 0.2893531620502472, + -0.04140901565551758, + 0.09172026813030243 + ], + [ + 0.3016294240951538, + -0.04048038274049759, + 0.0832497775554657 + ], + [ + 0.30980542302131653, + -0.032430499792099, + 0.08264703303575516 + ], + [ + 0.3088996708393097, + -0.028631366789340973, + 0.08288151025772095 + ], + [ + 0.30871307849884033, + -0.027082500979304314, + 0.08275731652975082 + ], + [ + 0.3076629340648651, + -0.020544379949569702, + 0.08242284506559372 + ], + [ + 0.307076096534729, + -0.012298883870244026, + 0.08221694082021713 + ], + [ + 0.3050309121608734, + 0.000860885193105787, + 0.0703495442867279 + ], + [ + 0.3051893413066864, + 0.011273934505879879, + 0.06946741789579391 + ], + [ + 0.3045732378959656, + 0.022346677258610725, + 0.06946223974227905 + ], + [ + 0.30154573917388916, + 0.036167312413454056, + 0.0693112462759018 + ], + [ + 0.29786214232444763, + 0.046636804938316345, + 0.06970904022455215 + ], + [ + 0.2962769567966461, + 0.05946020781993866, + 0.07034704089164734 + ], + [ + 0.29333892464637756, + 0.07578516006469727, + 0.07107318937778473 + ], + [ + 0.2940901517868042, + 0.08170425891876221, + 0.07174301147460938 + ], + [ + 0.2945884168148041, + 0.08679897338151932, + 0.07228051126003265 + ], + [ + 0.2934352457523346, + 0.09214229136705399, + 0.069553904235363 + ], + [ + 0.2916770577430725, + 0.10073331743478775, + 0.06686480343341827 + ], + [ + 0.2898823916912079, + 0.10616175085306168, + 0.06673489511013031 + ], + [ + 0.28386491537094116, + 0.11368489265441895, + 0.06411794573068619 + ], + [ + 0.27866992354393005, + 0.11528894305229187, + 0.06361469626426697 + ], + [ + 0.27255797386169434, + 0.11854612082242966, + 0.06454262882471085 + ], + [ + 0.26603028178215027, + 0.12003379315137863, + 0.06509161740541458 + ], + [ + 0.2532155513763428, + 0.11018086969852448, + 0.06040339171886444 + ], + [ + 0.2500878572463989, + 0.08311235904693604, + 0.0501769594848156 + ], + [ + 0.25245270133018494, + 0.05664420872926712, + 0.051277026534080505 + ], + [ + 0.2611098289489746, + 0.03413654491305351, + 0.06402700394392014 + ], + [ + 0.2643982470035553, + 0.026805631816387177, + 0.07016585022211075 + ], + [ + 0.27413877844810486, + 0.007382472511380911, + 0.08171241730451584 + ], + [ + 0.2817783057689667, + -0.009450341574847698, + 0.09362392127513885 + ], + [ + 0.2865346074104309, + -0.011804762296378613, + 0.1037999838590622 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8964010343443882, + -0.3015798294173174, + 0.32483040515772543, + -0.28536864281837293, + -0.9534270995341932, + -0.0976806202366407, + 0.33916061581839096, + -0.005135402850476221, + -0.9407144648166375 + ], + [ + 0.9144132161263864, + -0.32939805468073335, + 0.23525601319827502, + -0.3122677006752783, + -0.9438569332405975, + -0.1078098914229524, + 0.257560387653795, + 0.025119935234840143, + -0.9659356270297851 + ], + [ + 0.9271560113887104, + -0.31380465736044644, + 0.20471533299846095, + -0.2975709610201052, + -0.9487303948577883, + -0.10659343802765964, + 0.22766917600621517, + 0.037911408466031714, + -0.9730002422429159 + ], + [ + 0.9448942990981115, + -0.28105421880405457, + 0.1678787944450729, + -0.2687397776453261, + -0.9587588587579987, + -0.09252233602866058, + 0.1869590742462882, + 0.04230811796218689, + -0.981456228117927 + ], + [ + 0.9571318699796667, + -0.2375276674371866, + 0.1657684851564822, + -0.22634434348412838, + -0.9704485780985659, + -0.08365282684530034, + 0.18073965154875252, + 0.042546027644425145, + -0.9826103062199758 + ], + [ + 0.9664583491809398, + -0.20293260329283883, + 0.1574059014752764, + -0.19490364042347294, + -0.9786640240359107, + -0.06503306088072844, + 0.16724482128942192, + 0.032172761439302484, + -0.9853903202149082 + ], + [ + 0.9742551271165233, + -0.16254040766926695, + 0.15622920073365154, + -0.15568100776469088, + -0.9862601736291133, + -0.05526566505925273, + 0.16306554237035287, + 0.029520938124994414, + -0.9861734852974313 + ], + [ + 0.981801018851975, + -0.1186032260744129, + 0.14832408484789508, + -0.11448729262572518, + -0.9927715965051381, + -0.03601689880973728, + 0.1515236589066389, + 0.018380205041864696, + -0.9882827271859828 + ], + [ + 0.98881788479572, + -0.038924057098416086, + 0.14395870410335573, + -0.03965849788745953, + -0.9992107935702548, + 0.002234627040960731, + 0.14375811021792353, + -0.007918825146514454, + -0.989581172999401 + ], + [ + 0.994865177238327, + 0.018296330974007406, + 0.09954156614923393, + 0.018124449291085563, + -0.9998322774208114, + 0.0026308488001006458, + 0.09957300566141208, + -0.0008132037897723396, + -0.9950299268078068 + ], + [ + 0.9934259238993219, + 0.05600783751408275, + 0.09984015155124158, + 0.05674171470618576, + -0.9983786419077776, + -0.00452384732099605, + 0.0994249040079024, + 0.010159208599982874, + -0.9949932054761187 + ], + [ + 0.9926865177038752, + 0.06829494866324382, + 0.09954535426647942, + 0.06825839059043426, + -0.9976605263368714, + 0.003777076017287293, + 0.099570425744584, + 0.0030453532342807604, + -0.9950258570211735 + ], + [ + 0.9923068085311274, + 0.08803056118652625, + 0.08705066363878596, + 0.08649982579155632, + -0.9960260565289395, + 0.02121025349776699, + 0.08857187974068405, + -0.013517211716710996, + -0.995978065575044 + ], + [ + 0.9921096083275842, + 0.10439533980246285, + 0.06942721434434805, + 0.10096314951956992, + -0.9935697141171799, + 0.05124124928409479, + 0.07433012513898184, + -0.04382734553488374, + -0.9962701422205674 + ], + [ + 0.9920018814768767, + 0.10940213034040133, + 0.06295586567841993, + 0.10226699225213828, + -0.9889684890975964, + 0.10715778024818971, + 0.0739846568015187, + -0.09986241259352822, + -0.9922468287220485 + ], + [ + 0.9892400896304924, + 0.13556996168606902, + 0.05499845958109563, + 0.12630476012412253, + -0.981101002945118, + 0.1465876174513782, + 0.07383192153698494, + -0.13806378058173516, + -0.9876675755807899 + ], + [ + 0.9880731825098529, + 0.14080619582192364, + 0.06232977797978121, + 0.12849473523948055, + -0.9770032555913717, + 0.17015799005511464, + 0.08485569527489906, + -0.16011949844418946, + -0.9834435709268705 + ], + [ + 0.9887825564329699, + 0.13478335193631347, + 0.06436228814059833, + 0.11935195088252137, + -0.9720708965816013, + 0.20207247175104986, + 0.08980071221553726, + -0.19212397054988872, + -0.9772534021561289 + ], + [ + 0.9897413124767956, + 0.13524338296345725, + 0.04605824292468376, + 0.12095827147506524, + -0.9647691292883636, + 0.23364422469630355, + 0.07603440628080134, + -0.2256762161521945, + -0.9712306700906606 + ], + [ + 0.9909029018639165, + 0.13209746916658124, + 0.02572348571740855, + 0.11932044873808027, + -0.9507595299347482, + 0.28604011388474854, + 0.062242024313262506, + -0.2803686410389737, + -0.9578723064852364 + ], + [ + 0.9908915331871934, + 0.13333939492990324, + 0.018830167754445296, + 0.12084970058847269, + -0.9422049559143134, + 0.31248227296629677, + 0.059408074582583126, + -0.3073604184182374, + -0.9497369392964329 + ], + [ + 0.989282627647425, + 0.14537927524875466, + 0.013592239077990072, + 0.1330279109879789, + -0.9357659245236847, + 0.32656654666163887, + 0.060195162041320006, + -0.3212584642129773, + -0.9450764739630009 + ], + [ + 0.9892118810007064, + 0.14599795574716587, + 0.012018793811879484, + 0.1330361810193945, + -0.9296694743179171, + 0.3435346315311199, + 0.06132885965692483, + -0.33822960461659185, + -0.9390630998682064 + ], + [ + 0.9877777821082767, + 0.15568194537825308, + 0.007627912984321274, + 0.14154608398925622, + -0.9164288878165006, + 0.37432980068746624, + 0.06526683139666108, + -0.3686749590881572, + -0.9272642639834587 + ], + [ + 0.9866905779911315, + 0.1625910210946505, + 0.002421396895563921, + 0.14867378983235396, + -0.9080645138302853, + 0.3915545210300256, + 0.06586203398325907, + -0.38598315841700476, + -0.9201517233032939 + ], + [ + 0.9923836904541503, + 0.1230045155087771, + -0.006670838406928694, + 0.11773613592997, + -0.9311654538652314, + 0.3450639068697804, + 0.036232764411233756, + -0.34322119207940505, + -0.9385554858881341 + ], + [ + 0.998081565920121, + 0.060163096141774376, + 0.01461470605501532, + 0.05532191027928742, + -0.9726101693785383, + 0.22576302767393344, + 0.027797014470790932, + -0.22452140273053342, + -0.9740726182900451 + ], + [ + 0.9983235676076371, + 0.002819276568999819, + 0.05781095085524164, + -0.003442997752654557, + -0.994151635780959, + 0.10793827328857193, + 0.05777715920357189, + -0.10795636504472868, + -0.9924753010129241 + ], + [ + 0.9883031868184855, + -0.06976966165351992, + 0.13560606637307732, + -0.07591238225118499, + -0.9962850665918593, + 0.040661730250994794, + 0.13226534370490284, + -0.05048029713470437, + -0.9899280875173793 + ], + [ + 0.9860736275127331, + -0.08095727139692738, + 0.14527464104875162, + -0.08289633854346926, + -0.9965311882623735, + 0.00733402184807514, + 0.14417696827151663, + -0.019274621354147384, + -0.9893641851167283 + ], + [ + 0.9773390293239265, + -0.12962268629557938, + 0.16735107097859545, + -0.1288093629800146, + -0.9915442522207624, + -0.01575258380875908, + 0.16797788476120276, + -0.006160769877779689, + -0.9857715126466503 + ], + [ + 0.9681926150266723, + -0.16745259820977895, + 0.1859104288645708, + -0.1632831279489307, + -0.9858614071634082, + -0.03762852631977716, + 0.18958291150583015, + 0.00607562495381072, + -0.9818459178742831 + ], + [ + 0.9650873325159265, + -0.1735591887612398, + 0.1961724970882367, + -0.16850119235844876, + -0.9847926741895024, + -0.0423171009932127, + 0.20053375972906645, + 0.007784398450044503, + -0.9796558652658066 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006025.json b/json/chunk-0006/episode_0006025.json new file mode 100644 index 0000000000000000000000000000000000000000..ca66a217833aacb220a76961686cede4103cfef4 --- /dev/null +++ b/json/chunk-0006/episode_0006025.json @@ -0,0 +1,922 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 14, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nTurn lever vertical to front." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006025.mp4", + "start": 0, + "end": 14, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.4082437753677368, + -0.06848939508199692, + 0.08710630238056183, + 0.24333640933036804, + -0.09669895470142365, + 0.13246853649616241, + 0.0, + 0.9994885921478271 + ], + [ + 0.408806174993515, + -0.06903371959924698, + 0.0660727471113205, + 0.255551278591156, + -0.05955690145492554, + 0.11614980548620224, + 0.0, + 0.9994885921478271 + ], + [ + 0.42469802498817444, + -0.07034128904342651, + 0.07674089074134827, + 0.24558623135089874, + -0.11275675147771835, + 0.10393550992012024, + 0.0, + 0.9994885921478271 + ], + [ + 0.43412259221076965, + -0.06753235310316086, + 0.07146668434143066, + 0.2855673134326935, + -0.1034785583615303, + 0.08847248554229736, + 0.0, + 0.9994885921478271 + ], + [ + 0.44233670830726624, + -0.0672478973865509, + 0.07614222913980484, + 0.28018227219581604, + -0.1129576563835144, + 0.06329426914453506, + 0.0, + 0.9994885921478271 + ], + [ + 0.4489815831184387, + -0.058746833354234695, + 0.07607772946357727, + 0.2678273916244507, + -0.11442439258098602, + 0.05916120857000351, + 0.0, + 0.9994885921478271 + ], + [ + 0.4486169219017029, + -0.05950992554426193, + 0.07533048093318939, + 0.26441463828086853, + -0.10631982982158661, + 0.06506328284740448, + 0.0, + 0.8490449786186218 + ], + [ + 0.4475862383842468, + -0.05879736319184303, + 0.07393425703048706, + 0.2659868001937866, + -0.10943836718797684, + 0.09381843358278275, + 0.0, + 0.5521479845046997 + ], + [ + 0.44182685017585754, + -0.05794178321957588, + 0.07192310690879822, + 0.26320549845695496, + -0.11934922635555267, + 0.1278902292251587, + 0.0, + 0.4615449905395508 + ], + [ + 0.4268299639225006, + -0.05891304090619087, + 0.0725165456533432, + 0.2583007514476776, + -0.12195013463497162, + 0.19888836145401, + 0.0, + 0.4615449905395508 + ], + [ + 0.4151298701763153, + -0.0589301660656929, + 0.06825058907270432, + 0.24525763094425201, + -0.13485637307167053, + 0.23806609213352203, + 0.0, + 0.4615449905395508 + ], + [ + 0.40738657116889954, + -0.06168663501739502, + 0.06290951371192932, + 0.20357953011989594, + -0.1575082540512085, + 0.2471224069595337, + 0.0, + 0.4615449905395508 + ], + [ + 0.40459463000297546, + -0.06285819411277771, + 0.05811554193496704, + 0.14842398464679718, + -0.18311433494091034, + 0.257552832365036, + 0.0, + 0.4615449905395508 + ], + [ + 0.4008161127567291, + -0.06279755383729935, + 0.05083216726779938, + 0.1203237920999527, + -0.19776175916194916, + 0.2657454013824463, + 0.0, + 0.4615449905395508 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.8490449786186218 + ], + [ + 0.5521479845046997 + ], + [ + 0.4615449905395508 + ], + [ + 0.4615449905395508 + ], + [ + 0.4615449905395508 + ], + [ + 0.4615449905395508 + ], + [ + 0.4615449905395508 + ], + [ + 0.4615449905395508 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.4082437753677368, + -0.06848939508199692, + 0.08710630238056183 + ], + [ + 0.408806174993515, + -0.06903371959924698, + 0.0660727471113205 + ], + [ + 0.42469802498817444, + -0.07034128904342651, + 0.07674089074134827 + ], + [ + 0.43412259221076965, + -0.06753235310316086, + 0.07146668434143066 + ], + [ + 0.44233670830726624, + -0.0672478973865509, + 0.07614222913980484 + ], + [ + 0.4489815831184387, + -0.058746833354234695, + 0.07607772946357727 + ], + [ + 0.4486169219017029, + -0.05950992554426193, + 0.07533048093318939 + ], + [ + 0.4475862383842468, + -0.05879736319184303, + 0.07393425703048706 + ], + [ + 0.44182685017585754, + -0.05794178321957588, + 0.07192310690879822 + ], + [ + 0.4268299639225006, + -0.05891304090619087, + 0.0725165456533432 + ], + [ + 0.4151298701763153, + -0.0589301660656929, + 0.06825058907270432 + ], + [ + 0.40738657116889954, + -0.06168663501739502, + 0.06290951371192932 + ], + [ + 0.40459463000297546, + -0.06285819411277771, + 0.05811554193496704 + ], + [ + 0.4008161127567291, + -0.06279755383729935, + 0.05083216726779938 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9866080937921219, + 0.15124901356306897, + 0.06105903012719949, + 0.13146440671106624, + -0.9589639185761624, + 0.25120770815633586, + 0.09654832485332429, + -0.23981646891998476, + -0.966005425555554 + ], + [ + 0.9915011492728464, + 0.12706967739811464, + 0.0279064164048993, + 0.11568335356096024, + -0.9592614559736219, + 0.2577495311193734, + 0.05952169940042397, + -0.2523306484938087, + -0.9658086824683134 + ], + [ + 0.9882875244779258, + 0.12784381315241977, + 0.08332903695556941, + 0.10308964715432262, + -0.9619223133731658, + 0.25313630258106856, + 0.11251797016872787, + -0.24158108881588022, + -0.9638351954123916 + ], + [ + 0.9907606526614436, + 0.11376312444420804, + 0.07383278847884808, + 0.0878844790214623, + -0.9531782243764335, + 0.2893572029891703, + 0.10329398571551415, + -0.28019497513567476, + -0.954369492609504 + ], + [ + 0.9916374121439169, + 0.09189298145836941, + 0.09061414235762145, + 0.0628489153798171, + -0.9571091624474853, + 0.28282868488654683, + 0.11271759699397473, + -0.27476850459571384, + -0.9548806272043323 + ], + [ + 0.9917225955106028, + 0.08718074763209385, + 0.09426457869222321, + 0.05874005432767306, + -0.9608744773274485, + 0.2706840313692048, + 0.11417486400821855, + -0.26290636367918485, + -0.9580419324673074 + ], + [ + 0.9922494476977822, + 0.09043283169081937, + 0.08522286369177003, + 0.06465025871490962, + -0.9614001372602904, + 0.2674511546506951, + 0.10611963810502432, + -0.2598685803021879, + -0.9597952611782286 + ], + [ + 0.989646183108075, + 0.11896993014232879, + 0.08029064691199944, + 0.09312042733655701, + -0.9579009552868885, + 0.27157751356311316, + 0.10922004519443748, + -0.2612889503641425, + -0.9590615549303023 + ], + [ + 0.9847776122358189, + 0.15387472753423923, + 0.08084319801555218, + 0.12663459660860335, + -0.953724360500424, + 0.2727150951631258, + 0.1190660882908918, + -0.2583261744661584, + -0.9586922625142985 + ], + [ + 0.9730065179723776, + 0.22148609677808603, + 0.0648245703208089, + 0.19611236177742578, + -0.9416267199548249, + 0.27364038778147803, + 0.1216480889342256, + -0.25354098130504643, + -0.9596450975530093 + ], + [ + 0.9629725801909264, + 0.26049072767555115, + 0.06948662170153187, + 0.2336825794073097, + -0.935016249883669, + 0.2667153248972143, + 0.1344479895051479, + -0.24060173159921772, + -0.9612671558258306 + ], + [ + 0.9576175996077158, + 0.270312791057719, + 0.09949637135163529, + 0.24158676510270052, + -0.9418394113674959, + 0.23361155391405922, + 0.15685779498886612, + -0.1996735290055113, + -0.9672259890872019 + ], + [ + 0.950849011565937, + 0.2779539921850648, + 0.1364834621207459, + 0.2504563811777727, + -0.9495253025233744, + 0.18887377000321684, + 0.18209271905107666, + -0.14540728350491525, + -0.9724705463777843 + ], + [ + 0.9460899973645516, + 0.2834855083159806, + 0.15668338604195592, + 0.2575096284843379, + -0.9517268904403005, + 0.16704705100867354, + 0.19647520994924728, + -0.11769406351921992, + -0.9734195391955787 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + 0.0005623996257781982, + -0.000544324517250061, + -0.021033555269241333, + 0.012214869260787964, + 0.03714205324649811, + -0.016318731009960175, + 1.0 + ], + [ + 0.015891849994659424, + -0.001307569444179535, + 0.010668143630027771, + -0.009965047240257263, + -0.053199850022792816, + -0.012214295566082, + 1.0 + ], + [ + 0.009424567222595215, + 0.0028089359402656555, + -0.0052742063999176025, + 0.03998108208179474, + 0.00927819311618805, + -0.015463024377822876, + 1.0 + ], + [ + 0.008214116096496582, + 0.00028445571660995483, + 0.004675544798374176, + -0.005385041236877441, + -0.0094790980219841, + -0.0251782163977623, + 1.0 + ], + [ + 0.006644874811172485, + 0.008501064032316208, + -6.449967622756958e-05, + -0.012354880571365356, + -0.0014667361974716187, + -0.004133060574531555, + 1.0 + ], + [ + -0.00036466121673583984, + -0.0007630921900272369, + -0.0007472485303878784, + -0.0034127533435821533, + 0.008104562759399414, + 0.0059020742774009705, + 0.0 + ], + [ + -0.0010306835174560547, + 0.0007125623524188995, + -0.0013962239027023315, + 0.0015721619129180908, + -0.0031185373663902283, + 0.028755150735378265, + 0.0 + ], + [ + -0.005759388208389282, + 0.0008555799722671509, + -0.0020111501216888428, + -0.002781301736831665, + -0.009910859167575836, + 0.034071795642375946, + 0.0 + ], + [ + -0.014996886253356934, + -0.0009712576866149902, + 0.0005934387445449829, + -0.004904747009277344, + -0.0026009082794189453, + 0.07099813222885132, + 0.0 + ], + [ + -0.011700093746185303, + -1.712515950202942e-05, + -0.0042659565806388855, + -0.013043120503425598, + -0.012906238436698914, + 0.039177730679512024, + 0.0 + ], + [ + -0.0077432990074157715, + -0.002756468951702118, + -0.005341075360774994, + -0.04167810082435608, + -0.022651880979537964, + 0.009056314826011658, + 0.0 + ], + [ + -0.0027919411659240723, + -0.0011715590953826904, + -0.00479397177696228, + -0.055155545473098755, + -0.025606080889701843, + 0.01043042540550232, + 0.0 + ], + [ + -0.003778517246246338, + 6.064027547836304e-05, + -0.007283374667167664, + -0.028100192546844482, + -0.014647424221038818, + 0.008192569017410278, + 0.0 + ], + [ + -0.004294246435165405, + -0.00044640153646469116, + -0.012515261769294739, + -0.010665826499462128, + 0.005623191595077515, + 0.025158941745758057, + 0.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.8490449786186218 + ], + [ + 0.5521479845046997 + ], + [ + 0.4615449905395508 + ], + [ + 0.4615449905395508 + ], + [ + 0.4615449905395508 + ], + [ + 0.4615449905395508 + ], + [ + 0.4615449905395508 + ], + [ + 0.4615449905395508 + ], + [ + 0.4615449905395508 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.408806174993515, + -0.06903371959924698, + 0.0660727471113205 + ], + [ + 0.42469802498817444, + -0.07034128904342651, + 0.07674089074134827 + ], + [ + 0.43412259221076965, + -0.06753235310316086, + 0.07146668434143066 + ], + [ + 0.44233670830726624, + -0.0672478973865509, + 0.07614222913980484 + ], + [ + 0.4489815831184387, + -0.058746833354234695, + 0.07607772946357727 + ], + [ + 0.4486169219017029, + -0.05950992554426193, + 0.07533048093318939 + ], + [ + 0.4475862383842468, + -0.05879736319184303, + 0.07393425703048706 + ], + [ + 0.44182685017585754, + -0.05794178321957588, + 0.07192310690879822 + ], + [ + 0.4268299639225006, + -0.05891304090619087, + 0.0725165456533432 + ], + [ + 0.4151298701763153, + -0.0589301660656929, + 0.06825058907270432 + ], + [ + 0.40738657116889954, + -0.06168663501739502, + 0.06290951371192932 + ], + [ + 0.40459463000297546, + -0.06285819411277771, + 0.05811554193496704 + ], + [ + 0.4008161127567291, + -0.06279755383729935, + 0.05083216726779938 + ], + [ + 0.3965218663215637, + -0.06324395537376404, + 0.03831690549850464 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9915011492728464, + 0.12706967739811464, + 0.0279064164048993, + 0.11568335356096024, + -0.9592614559736219, + 0.2577495311193734, + 0.05952169940042397, + -0.2523306484938087, + -0.9658086824683134 + ], + [ + 0.9882875244779258, + 0.12784381315241977, + 0.08332903695556941, + 0.10308964715432262, + -0.9619223133731658, + 0.25313630258106856, + 0.11251797016872787, + -0.24158108881588022, + -0.9638351954123916 + ], + [ + 0.9907606526614436, + 0.11376312444420804, + 0.07383278847884808, + 0.0878844790214623, + -0.9531782243764335, + 0.2893572029891703, + 0.10329398571551415, + -0.28019497513567476, + -0.954369492609504 + ], + [ + 0.9916374121439169, + 0.09189298145836941, + 0.09061414235762145, + 0.0628489153798171, + -0.9571091624474853, + 0.28282868488654683, + 0.11271759699397473, + -0.27476850459571384, + -0.9548806272043323 + ], + [ + 0.9917225955106028, + 0.08718074763209385, + 0.09426457869222321, + 0.05874005432767306, + -0.9608744773274485, + 0.2706840313692048, + 0.11417486400821855, + -0.26290636367918485, + -0.9580419324673074 + ], + [ + 0.9922494476977822, + 0.09043283169081937, + 0.08522286369177003, + 0.06465025871490962, + -0.9614001372602904, + 0.2674511546506951, + 0.10611963810502432, + -0.2598685803021879, + -0.9597952611782286 + ], + [ + 0.989646183108075, + 0.11896993014232879, + 0.08029064691199944, + 0.09312042733655701, + -0.9579009552868885, + 0.27157751356311316, + 0.10922004519443748, + -0.2612889503641425, + -0.9590615549303023 + ], + [ + 0.9847776122358189, + 0.15387472753423923, + 0.08084319801555218, + 0.12663459660860335, + -0.953724360500424, + 0.2727150951631258, + 0.1190660882908918, + -0.2583261744661584, + -0.9586922625142985 + ], + [ + 0.9730065179723776, + 0.22148609677808603, + 0.0648245703208089, + 0.19611236177742578, + -0.9416267199548249, + 0.27364038778147803, + 0.1216480889342256, + -0.25354098130504643, + -0.9596450975530093 + ], + [ + 0.9629725801909264, + 0.26049072767555115, + 0.06948662170153187, + 0.2336825794073097, + -0.935016249883669, + 0.2667153248972143, + 0.1344479895051479, + -0.24060173159921772, + -0.9612671558258306 + ], + [ + 0.9576175996077158, + 0.270312791057719, + 0.09949637135163529, + 0.24158676510270052, + -0.9418394113674959, + 0.23361155391405922, + 0.15685779498886612, + -0.1996735290055113, + -0.9672259890872019 + ], + [ + 0.950849011565937, + 0.2779539921850648, + 0.1364834621207459, + 0.2504563811777727, + -0.9495253025233744, + 0.18887377000321684, + 0.18209271905107666, + -0.14540728350491525, + -0.9724705463777843 + ], + [ + 0.9460899973645516, + 0.2834855083159806, + 0.15668338604195592, + 0.2575096284843379, + -0.9517268904403005, + 0.16704705100867354, + 0.19647520994924728, + -0.11769406351921992, + -0.9734195391955787 + ], + [ + 0.9403561449599935, + 0.3051160820628759, + 0.15044765568987728, + 0.2815406811501673, + -0.946236843012845, + 0.1592817685191371, + 0.19095854391327804, + -0.10742445434669196, + -0.9757022194885261 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006026.json b/json/chunk-0006/episode_0006026.json new file mode 100644 index 0000000000000000000000000000000000000000..a5474c67e22f838d884612213cd743f8e789d8cd --- /dev/null +++ b/json/chunk-0006/episode_0006026.json @@ -0,0 +1,982 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 15, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nEnd effector transition from object to object." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006026.mp4", + "start": 0, + "end": 15, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.37666764855384827, + 0.03802596405148506, + 0.0724763572216034, + 0.011919818818569183, + -0.14379960298538208, + 0.24963252246379852, + 0.0, + 0.9994885921478271 + ], + [ + 0.37154310941696167, + 0.03702584654092789, + 0.05900406092405319, + 0.019288314506411552, + -0.09992333501577377, + 0.24737514555454254, + 0.0, + 0.9994885921478271 + ], + [ + 0.3627222180366516, + 0.04022065922617912, + 0.05879402160644531, + 0.049933888018131256, + -0.051163721829652786, + 0.2235890030860901, + 0.0, + 0.9994885921478271 + ], + [ + 0.3558982312679291, + 0.04680416360497475, + 0.07368838787078857, + 0.07325077801942825, + -0.04299698397517204, + 0.20003630220890045, + 0.0, + 0.9994885921478271 + ], + [ + 0.3507894277572632, + 0.05249946936964989, + 0.08732667565345764, + 0.09904869645833969, + -0.044806186109781265, + 0.1892629712820053, + 0.0, + 0.9994885921478271 + ], + [ + 0.34619560837745667, + 0.062008678913116455, + 0.10800199955701828, + 0.11939911544322968, + -0.0431632474064827, + 0.1658797413110733, + 0.0, + 0.9994885921478271 + ], + [ + 0.33964046835899353, + 0.07820133119821548, + 0.1169569119811058, + 0.12573818862438202, + -0.06609831005334854, + 0.13596071302890778, + 0.0, + 0.9994885921478271 + ], + [ + 0.32528960704803467, + 0.0949907973408699, + 0.10701998323202133, + 0.1221366599202156, + -0.08026345074176788, + 0.11898069828748703, + 0.0, + 0.9994885921478271 + ], + [ + 0.31726157665252686, + 0.10736483335494995, + 0.10372716188430786, + 0.11722376942634583, + -0.1312101036310196, + 0.09035476297140121, + 0.0, + 0.9994885921478271 + ], + [ + 0.3079894483089447, + 0.1180625781416893, + 0.09088856726884842, + 0.11409835517406464, + -0.1460852175951004, + 0.08488612622022629, + 0.0, + 0.9994885921478271 + ], + [ + 0.29677265882492065, + 0.12135560810565948, + 0.0737677589058876, + 0.0922875925898552, + -0.15106388926506042, + 0.099002406001091, + 0.0, + 0.9994885921478271 + ], + [ + 0.2846182882785797, + 0.12204162031412125, + 0.06282482296228409, + 0.08333562314510345, + -0.1612665355205536, + 0.12413497269153595, + 0.0, + 0.9994885921478271 + ], + [ + 0.27678990364074707, + 0.12151642888784409, + 0.04934356361627579, + 0.068080373108387, + -0.18066786229610443, + 0.14282165467739105, + 0.0, + 0.9994885921478271 + ], + [ + 0.27434197068214417, + 0.12252266705036163, + 0.04039184749126434, + 0.03830432519316673, + -0.2151520699262619, + 0.1807914674282074, + 0.0, + 0.9994885921478271 + ], + [ + 0.2725697457790375, + 0.11994367837905884, + 0.022995783016085625, + 0.013624732382595539, + -0.20475129783153534, + 0.1858595907688141, + 0.0, + 0.9994885921478271 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.37666764855384827, + 0.03802596405148506, + 0.0724763572216034 + ], + [ + 0.37154310941696167, + 0.03702584654092789, + 0.05900406092405319 + ], + [ + 0.3627222180366516, + 0.04022065922617912, + 0.05879402160644531 + ], + [ + 0.3558982312679291, + 0.04680416360497475, + 0.07368838787078857 + ], + [ + 0.3507894277572632, + 0.05249946936964989, + 0.08732667565345764 + ], + [ + 0.34619560837745667, + 0.062008678913116455, + 0.10800199955701828 + ], + [ + 0.33964046835899353, + 0.07820133119821548, + 0.1169569119811058 + ], + [ + 0.32528960704803467, + 0.0949907973408699, + 0.10701998323202133 + ], + [ + 0.31726157665252686, + 0.10736483335494995, + 0.10372716188430786 + ], + [ + 0.3079894483089447, + 0.1180625781416893, + 0.09088856726884842 + ], + [ + 0.29677265882492065, + 0.12135560810565948, + 0.0737677589058876 + ], + [ + 0.2846182882785797, + 0.12204162031412125, + 0.06282482296228409 + ], + [ + 0.27678990364074707, + 0.12151642888784409, + 0.04934356361627579 + ], + [ + 0.27434197068214417, + 0.12252266705036163, + 0.04039184749126434 + ], + [ + 0.2725697457790375, + 0.11994367837905884, + 0.022995783016085625 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.959001841236166, + 0.2486855159715791, + 0.1359079933322297, + 0.2444980191041858, + -0.9685124451860565, + 0.04695063550002016, + 0.14330452595704407, + -0.011796510741572376, + -0.9896083342285227 + ], + [ + 0.9647221464824789, + 0.2466797658560226, + 0.09197974344091024, + 0.24363844981355035, + -0.9689070141446054, + 0.043121963241888606, + 0.09975713437488033, + -0.01919091083306189, + -0.9948267301810446 + ], + [ + 0.9738319344645956, + 0.2239434233421733, + 0.03873895402217781, + 0.22144055715310837, + -0.9733265318106044, + 0.05999618422251567, + 0.05114140264663461, + -0.04984782457970696, + -0.9974466157745016 + ], + [ + 0.9791535668371657, + 0.20125510284500128, + 0.02747136925789874, + 0.19852126062198147, + -0.9768061184172855, + 0.08024410323266866, + 0.04298373682121165, + -0.07311764904182726, + -0.9963966116800482 + ], + [ + 0.9811574552265238, + 0.19156313586393048, + 0.025171671207712448, + 0.18794626055989327, + -0.9764960727101153, + 0.10550650749254144, + 0.04479119550720401, + -0.09878757492568745, + -0.9940999767857038 + ], + [ + 0.9853548704669015, + 0.1690137387108717, + 0.022586176615994998, + 0.16496626939466422, + -0.9784029039204316, + 0.12455475728399, + 0.04314984599234158, + -0.11900467943337263, + -0.9919556326085343 + ], + [ + 0.9886080252987074, + 0.14267888807595663, + 0.047926059846377295, + 0.13524623728242974, + -0.9818270712634162, + 0.13313172963364886, + 0.06605019012792175, + -0.12513327707572794, + -0.9899389048584534 + ], + [ + 0.9897335216334997, + 0.12751512584284358, + 0.06455578081190565, + 0.11831803254454551, + -0.9843739007137419, + 0.13041804617613498, + 0.08017729934176453, + -0.12144099915142484, + -0.9893551861669119 + ], + [ + 0.9873601454896961, + 0.10485195126214021, + 0.11885289821913157, + 0.08945626432491287, + -0.9877052326371373, + 0.1282027698384438, + 0.1308339400598973, + -0.11595016920099534, + -0.9846004460646273 + ], + [ + 0.98578620558222, + 0.10074611341387231, + 0.1344461881787967, + 0.08388114196316464, + -0.9885154730697535, + 0.12570248018490668, + 0.14556617363510196, + -0.11263827117672136, + -0.9829156163982515 + ], + [ + 0.9837705624583523, + 0.11222088393149135, + 0.1400069771476131, + 0.09771511222856502, + -0.9894978349214271, + 0.10651662559416447, + 0.1504899906390337, + -0.09110712318717573, + -0.9844045178797284 + ], + [ + 0.9794296955029145, + 0.13664945745831403, + 0.14847355772465487, + 0.12220985489079027, + -0.9872065643127947, + 0.10241069643987251, + 0.16056843691909062, + -0.0821591452856963, + -0.9835993350502448 + ], + [ + 0.9737079367177093, + 0.1541060954573393, + 0.16776222851355743, + 0.140019919140724, + -0.9857854477687197, + 0.09285188857126195, + 0.17968660555747262, + -0.06692056716973013, + -0.9814450374182525 + ], + [ + 0.9610214026191243, + 0.18771887272886048, + 0.20297657138048375, + 0.1756625287707458, + -0.9815100432347872, + 0.07603098720332804, + 0.2134959945615787, + -0.03741202815474744, + -0.9762273303157981 + ], + [ + 0.9622490957656525, + 0.18749667359836225, + 0.1972857701095876, + 0.18093138859848962, + -0.9821746531270259, + 0.05095864376755437, + 0.20332365902178273, + -0.01333972055012312, + -0.9790207053671737 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.005124539136886597, + -0.0010001175105571747, + -0.013472296297550201, + 0.007368495687842369, + 0.04387626796960831, + -0.0022573769092559814, + 1.0 + ], + [ + -0.008820891380310059, + 0.003194812685251236, + -0.00021003931760787964, + 0.030645573511719704, + 0.04875961318612099, + -0.023786142468452454, + 1.0 + ], + [ + -0.006823986768722534, + 0.006583504378795624, + 0.014894366264343262, + 0.023316890001296997, + 0.008166737854480743, + -0.023552700877189636, + 1.0 + ], + [ + -0.0051088035106658936, + 0.00569530576467514, + 0.013638287782669067, + 0.025797918438911438, + -0.0018092021346092224, + -0.010773330926895142, + 1.0 + ], + [ + -0.0045938193798065186, + 0.009509209543466568, + 0.02067532390356064, + 0.020350418984889984, + 0.0016429387032985687, + -0.023383229970932007, + 1.0 + ], + [ + -0.006555140018463135, + 0.01619265228509903, + 0.008954912424087524, + 0.006339073181152344, + -0.022935062646865845, + -0.029919028282165527, + 1.0 + ], + [ + -0.014350861310958862, + 0.01678946614265442, + -0.009936928749084473, + -0.0036015287041664124, + -0.014165140688419342, + -0.016980014741420746, + 1.0 + ], + [ + -0.008028030395507812, + 0.012374036014080048, + -0.0032928213477134705, + -0.0049128904938697815, + -0.05094665288925171, + -0.028625935316085815, + 1.0 + ], + [ + -0.009272128343582153, + 0.01069774478673935, + -0.012838594615459442, + -0.003125414252281189, + -0.01487511396408081, + -0.005468636751174927, + 1.0 + ], + [ + -0.011216789484024048, + 0.0032930299639701843, + -0.017120808362960815, + -0.021810762584209442, + -0.004978671669960022, + 0.014116279780864716, + 1.0 + ], + [ + -0.012154370546340942, + 0.0006860122084617615, + -0.010942935943603516, + -0.00895196944475174, + -0.010202646255493164, + 0.025132566690444946, + 1.0 + ], + [ + -0.007828384637832642, + -0.0005251914262771606, + -0.0134812593460083, + -0.015255250036716461, + -0.019401326775550842, + 0.018686681985855103, + 1.0 + ], + [ + -0.0024479329586029053, + 0.0010062381625175476, + -0.008951716125011444, + -0.02977604791522026, + -0.03448420763015747, + 0.037969812750816345, + 1.0 + ], + [ + -0.0017722249031066895, + -0.0025789886713027954, + -0.01739606447517872, + -0.02467959374189377, + 0.010400772094726562, + 0.0050681233406066895, + 1.0 + ], + [ + 0.006660014390945435, + 0.0015442892909049988, + -0.004222404211759567, + -0.021194828674197197, + -0.0014538019895553589, + -0.005864381790161133, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.37154310941696167, + 0.03702584654092789, + 0.05900406092405319 + ], + [ + 0.3627222180366516, + 0.04022065922617912, + 0.05879402160644531 + ], + [ + 0.3558982312679291, + 0.04680416360497475, + 0.07368838787078857 + ], + [ + 0.3507894277572632, + 0.05249946936964989, + 0.08732667565345764 + ], + [ + 0.34619560837745667, + 0.062008678913116455, + 0.10800199955701828 + ], + [ + 0.33964046835899353, + 0.07820133119821548, + 0.1169569119811058 + ], + [ + 0.32528960704803467, + 0.0949907973408699, + 0.10701998323202133 + ], + [ + 0.31726157665252686, + 0.10736483335494995, + 0.10372716188430786 + ], + [ + 0.3079894483089447, + 0.1180625781416893, + 0.09088856726884842 + ], + [ + 0.29677265882492065, + 0.12135560810565948, + 0.0737677589058876 + ], + [ + 0.2846182882785797, + 0.12204162031412125, + 0.06282482296228409 + ], + [ + 0.27678990364074707, + 0.12151642888784409, + 0.04934356361627579 + ], + [ + 0.27434197068214417, + 0.12252266705036163, + 0.04039184749126434 + ], + [ + 0.2725697457790375, + 0.11994367837905884, + 0.022995783016085625 + ], + [ + 0.2792297601699829, + 0.12148796766996384, + 0.018773378804326057 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9647221464824789, + 0.2466797658560226, + 0.09197974344091024, + 0.24363844981355035, + -0.9689070141446054, + 0.043121963241888606, + 0.09975713437488033, + -0.01919091083306189, + -0.9948267301810446 + ], + [ + 0.9738319344645956, + 0.2239434233421733, + 0.03873895402217781, + 0.22144055715310837, + -0.9733265318106044, + 0.05999618422251567, + 0.05114140264663461, + -0.04984782457970696, + -0.9974466157745016 + ], + [ + 0.9791535668371657, + 0.20125510284500128, + 0.02747136925789874, + 0.19852126062198147, + -0.9768061184172855, + 0.08024410323266866, + 0.04298373682121165, + -0.07311764904182726, + -0.9963966116800482 + ], + [ + 0.9811574552265238, + 0.19156313586393048, + 0.025171671207712448, + 0.18794626055989327, + -0.9764960727101153, + 0.10550650749254144, + 0.04479119550720401, + -0.09878757492568745, + -0.9940999767857038 + ], + [ + 0.9853548704669015, + 0.1690137387108717, + 0.022586176615994998, + 0.16496626939466422, + -0.9784029039204316, + 0.12455475728399, + 0.04314984599234158, + -0.11900467943337263, + -0.9919556326085343 + ], + [ + 0.9886080252987074, + 0.14267888807595663, + 0.047926059846377295, + 0.13524623728242974, + -0.9818270712634162, + 0.13313172963364886, + 0.06605019012792175, + -0.12513327707572794, + -0.9899389048584534 + ], + [ + 0.9897335216334997, + 0.12751512584284358, + 0.06455578081190565, + 0.11831803254454551, + -0.9843739007137419, + 0.13041804617613498, + 0.08017729934176453, + -0.12144099915142484, + -0.9893551861669119 + ], + [ + 0.9873601454896961, + 0.10485195126214021, + 0.11885289821913157, + 0.08945626432491287, + -0.9877052326371373, + 0.1282027698384438, + 0.1308339400598973, + -0.11595016920099534, + -0.9846004460646273 + ], + [ + 0.98578620558222, + 0.10074611341387231, + 0.1344461881787967, + 0.08388114196316464, + -0.9885154730697535, + 0.12570248018490668, + 0.14556617363510196, + -0.11263827117672136, + -0.9829156163982515 + ], + [ + 0.9837705624583523, + 0.11222088393149135, + 0.1400069771476131, + 0.09771511222856502, + -0.9894978349214271, + 0.10651662559416447, + 0.1504899906390337, + -0.09110712318717573, + -0.9844045178797284 + ], + [ + 0.9794296955029145, + 0.13664945745831403, + 0.14847355772465487, + 0.12220985489079027, + -0.9872065643127947, + 0.10241069643987251, + 0.16056843691909062, + -0.0821591452856963, + -0.9835993350502448 + ], + [ + 0.9737079367177093, + 0.1541060954573393, + 0.16776222851355743, + 0.140019919140724, + -0.9857854477687197, + 0.09285188857126195, + 0.17968660555747262, + -0.06692056716973013, + -0.9814450374182525 + ], + [ + 0.9610214026191243, + 0.18771887272886048, + 0.20297657138048375, + 0.1756625287707458, + -0.9815100432347872, + 0.07603098720332804, + 0.2134959945615787, + -0.03741202815474744, + -0.9762273303157981 + ], + [ + 0.9622490957656525, + 0.18749667359836225, + 0.1972857701095876, + 0.18093138859848962, + -0.9821746531270259, + 0.05095864376755437, + 0.20332365902178273, + -0.01333972055012312, + -0.9790207053671737 + ], + [ + 0.9630017593400264, + 0.17749483138007743, + 0.2027885508143185, + 0.17523221007907336, + -0.9840938379445198, + 0.029206004013362784, + 0.2047468780197077, + 0.007409652689765268, + -0.9787869088765949 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006028.json b/json/chunk-0006/episode_0006028.json new file mode 100644 index 0000000000000000000000000000000000000000..a206cabba20d9acb831a6682987985583ac4a415 --- /dev/null +++ b/json/chunk-0006/episode_0006028.json @@ -0,0 +1,1702 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 27, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove spoon to just below canned foods." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006028.mp4", + "start": 0, + "end": 27, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2936745285987854, + -0.03417590260505676, + 0.16318340599536896, + -0.16467952728271484, + -0.2253173440694809, + 0.004398569464683533, + 0.0, + 1.0001531839370728 + ], + [ + 0.2925164997577667, + -0.03345271572470665, + 0.15302526950836182, + -0.16095702350139618, + -0.19236549735069275, + 0.0006422246224246919, + 0.0, + 1.0001531839370728 + ], + [ + 0.2893868386745453, + -0.0055575184524059296, + 0.13824041187763214, + -0.12150462716817856, + -0.1774657815694809, + 0.04441344738006592, + 0.0, + 1.0001531839370728 + ], + [ + 0.2835559844970703, + 0.02820003591477871, + 0.11606424301862717, + -0.10140546411275864, + -0.15717965364456177, + 0.11220288276672363, + 0.0, + 1.0001531839370728 + ], + [ + 0.28570273518562317, + 0.04634414240717888, + 0.08700975030660629, + -0.07530742883682251, + -0.14552928507328033, + 0.1607353389263153, + 0.0, + 1.0001531839370728 + ], + [ + 0.293715238571167, + 0.05598555877804756, + 0.051119498908519745, + -0.05093051493167877, + -0.11097603291273117, + 0.2002692073583603, + 0.0, + 1.0001531839370728 + ], + [ + 0.30109378695487976, + 0.056520625948905945, + 0.025374697521328926, + -0.026628883555531502, + -0.06329404562711716, + 0.1970708668231964, + 0.0, + 1.0001531839370728 + ], + [ + 0.3075081408023834, + 0.058718983083963394, + 0.010102924890816212, + 0.00048011293984018266, + -0.02607322484254837, + 0.17026560008525848, + 0.0, + 1.0001531839370728 + ], + [ + 0.3148784935474396, + 0.05959485471248627, + 0.007631886284798384, + 0.0313723050057888, + -0.014619537629187107, + 0.13493402302265167, + 0.0, + 0.9239223003387451 + ], + [ + 0.31716209650039673, + 0.0588097982108593, + 0.006220953539013863, + 0.030418390408158302, + -0.012616998516023159, + 0.11606916785240173, + 0.0, + 0.6631406545639038 + ], + [ + 0.31550878286361694, + 0.0573648139834404, + 0.00522217433899641, + 0.019953032955527306, + -0.009809368290007114, + 0.11447463184595108, + 0.0, + 0.3754602372646332 + ], + [ + 0.31204313039779663, + 0.05533446744084358, + 0.006258686538785696, + 0.014393720775842667, + -0.016227010637521744, + 0.11636460572481155, + 0.0, + 0.32440370321273804 + ], + [ + 0.3056944012641907, + 0.04263860359787941, + 0.023137981072068214, + -0.06421488523483276, + -0.01606818474829197, + 0.1401619166135788, + 0.0, + 0.32440370321273804 + ], + [ + 0.31498071551322937, + 0.02861793152987957, + 0.07671171426773071, + -0.16202250123023987, + -0.11966927349567413, + 0.2151624858379364, + 0.0, + 0.32440370321273804 + ], + [ + 0.3350728750228882, + 0.003575136885046959, + 0.10461144894361496, + -0.2095443159341812, + -0.13402624428272247, + 0.25730013847351074, + 0.0, + 0.32440370321273804 + ], + [ + 0.35871249437332153, + -0.02712101675570011, + 0.09588446468114853, + -0.24402813613414764, + -0.09757792204618454, + 0.2769750952720642, + 0.0, + 0.32440370321273804 + ], + [ + 0.3798999488353729, + -0.04785407334566116, + 0.06790966540575027, + -0.24497461318969727, + -0.05312803015112877, + 0.2881341278553009, + 0.0, + 0.32440370321273804 + ], + [ + 0.38889145851135254, + -0.05401125177741051, + 0.038469843566417694, + -0.20896363258361816, + -0.025937838479876518, + 0.29106956720352173, + 0.0, + 0.32440370321273804 + ], + [ + 0.39274999499320984, + -0.050013311207294464, + 0.013455010950565338, + -0.16949999332427979, + -0.01819097064435482, + 0.295405775308609, + 0.0, + 0.32440370321273804 + ], + [ + 0.4037647843360901, + -0.056021809577941895, + 0.012597760185599327, + -0.16421644389629364, + -0.05705857649445534, + 0.27099281549453735, + 0.0, + 0.32440370321273804 + ], + [ + 0.40667107701301575, + -0.06530799716711044, + 0.013066449202597141, + -0.1641276478767395, + -0.07308219373226166, + 0.2259339988231659, + 0.0, + 0.3849146366119385 + ], + [ + 0.4012902081012726, + -0.07951240241527557, + 0.01155166607350111, + -0.14628322422504425, + -0.06515544652938843, + 0.18202891945838928, + 0.0, + 0.7181003093719482 + ], + [ + 0.3883337080478668, + -0.0847327709197998, + 0.013730891048908234, + -0.14528648555278778, + -0.05735253915190697, + 0.1553877592086792, + 0.0, + 0.9752515554428101 + ], + [ + 0.38010480999946594, + -0.08733396977186203, + 0.043784815818071365, + -0.1836981624364853, + -0.10499359667301178, + 0.15518270432949066, + 0.0, + 1.003452181816101 + ], + [ + 0.3652009963989258, + -0.08413629978895187, + 0.10035666078329086, + -0.19901607930660248, + -0.1823798269033432, + 0.14575767517089844, + 0.0, + 1.0008161067962646 + ], + [ + 0.3368814289569855, + -0.07385679334402084, + 0.13798347115516663, + -0.15583479404449463, + -0.18873882293701172, + 0.1047745794057846, + 0.0, + 1.0008161067962646 + ], + [ + 0.30694544315338135, + -0.06783826649188995, + 0.14620459079742432, + -0.1377754956483841, + -0.18576742708683014, + -0.014306396245956421, + 0.0, + 1.0008161067962646 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9239223003387451 + ], + [ + 0.6631406545639038 + ], + [ + 0.3754602372646332 + ], + [ + 0.32440370321273804 + ], + [ + 0.32440370321273804 + ], + [ + 0.32440370321273804 + ], + [ + 0.32440370321273804 + ], + [ + 0.32440370321273804 + ], + [ + 0.32440370321273804 + ], + [ + 0.32440370321273804 + ], + [ + 0.32440370321273804 + ], + [ + 0.32440370321273804 + ], + [ + 0.3849146366119385 + ], + [ + 0.7181003093719482 + ], + [ + 0.9752515554428101 + ], + [ + 1.003452181816101 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2936745285987854, + -0.03417590260505676, + 0.16318340599536896 + ], + [ + 0.2925164997577667, + -0.03345271572470665, + 0.15302526950836182 + ], + [ + 0.2893868386745453, + -0.0055575184524059296, + 0.13824041187763214 + ], + [ + 0.2835559844970703, + 0.02820003591477871, + 0.11606424301862717 + ], + [ + 0.28570273518562317, + 0.04634414240717888, + 0.08700975030660629 + ], + [ + 0.293715238571167, + 0.05598555877804756, + 0.051119498908519745 + ], + [ + 0.30109378695487976, + 0.056520625948905945, + 0.025374697521328926 + ], + [ + 0.3075081408023834, + 0.058718983083963394, + 0.010102924890816212 + ], + [ + 0.3148784935474396, + 0.05959485471248627, + 0.007631886284798384 + ], + [ + 0.31716209650039673, + 0.0588097982108593, + 0.006220953539013863 + ], + [ + 0.31550878286361694, + 0.0573648139834404, + 0.00522217433899641 + ], + [ + 0.31204313039779663, + 0.05533446744084358, + 0.006258686538785696 + ], + [ + 0.3056944012641907, + 0.04263860359787941, + 0.023137981072068214 + ], + [ + 0.31498071551322937, + 0.02861793152987957, + 0.07671171426773071 + ], + [ + 0.3350728750228882, + 0.003575136885046959, + 0.10461144894361496 + ], + [ + 0.35871249437332153, + -0.02712101675570011, + 0.09588446468114853 + ], + [ + 0.3798999488353729, + -0.04785407334566116, + 0.06790966540575027 + ], + [ + 0.38889145851135254, + -0.05401125177741051, + 0.038469843566417694 + ], + [ + 0.39274999499320984, + -0.050013311207294464, + 0.013455010950565338 + ], + [ + 0.4037647843360901, + -0.056021809577941895, + 0.012597760185599327 + ], + [ + 0.40667107701301575, + -0.06530799716711044, + 0.013066449202597141 + ], + [ + 0.4012902081012726, + -0.07951240241527557, + 0.01155166607350111 + ], + [ + 0.3883337080478668, + -0.0847327709197998, + 0.013730891048908234 + ], + [ + 0.38010480999946594, + -0.08733396977186203, + 0.043784815818071365 + ], + [ + 0.3652009963989258, + -0.08413629978895187, + 0.10035666078329086 + ], + [ + 0.3368814289569855, + -0.07385679334402084, + 0.13798347115516663 + ], + [ + 0.30694544315338135, + -0.06783826649188995, + 0.14620459079742432 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9747138273331619, + -0.032286519475868324, + 0.2211120427875278, + 0.004287374127614584, + -0.9866225014043698, + -0.16296520532210032, + 0.22341569602118158, + 0.15979242905319022, + -0.9615361700885996 + ], + [ + 0.9815545404566249, + -0.030005345034457228, + 0.18881303815771527, + 0.0006303785808010678, + -0.9870938337679385, + -0.160141705873761, + 0.19118129283962, + 0.1573068422118901, + -0.9688675196648378 + ], + [ + 0.9833236057492599, + 0.022695444447011784, + 0.18044279752217052, + 0.043701529547722884, + -0.992598554658928, + -0.11330615872139062, + 0.1765357263883544, + 0.11930224679510466, + -0.9770374154648206 + ], + [ + 0.9814620625586739, + 0.09564591532125435, + 0.16608455268456923, + 0.11058734201210607, + -0.9903812849882295, + -0.08315858423374634, + 0.15653325379858263, + 0.09998384483216799, + -0.9825988862337498 + ], + [ + 0.9766754110861503, + 0.1488206670320462, + 0.15478226785984245, + 0.1583523301846366, + -0.9860582900715066, + -0.051123263846828776, + 0.1450161401527258, + 0.07444096752053586, + -0.9866249852146516 + ], + [ + 0.9739844865007092, + 0.1931498654852197, + 0.11852151500462302, + 0.19770942284821727, + -0.97986388930591, + -0.027888035988933038, + 0.11074838225894931, + 0.050595334738854594, + -0.9925597754944983 + ], + [ + 0.9786806599011483, + 0.19407679320257018, + 0.06721877918900278, + 0.1954056718111936, + -0.980626383884472, + -0.013730209527909341, + 0.06325179333006457, + 0.02657242122711071, + -0.9976437826552421 + ], + [ + 0.9852048248681297, + 0.16945643064577023, + 0.025611934119724972, + 0.1693865225969918, + -0.9855375628361636, + 0.004890623830727618, + 0.026070270789860375, + -0.00047994973712444516, + -0.9996599975137512 + ], + [ + 0.9908043167401013, + 0.1349131271410254, + 0.01025933985258332, + 0.13451055822952798, + -0.9903609239732575, + 0.033047692682195984, + 0.014619016860310717, + -0.03136380703718261, + -0.9994011186476492 + ], + [ + 0.9931924753533491, + 0.11613629242396999, + 0.009003803835099203, + 0.1157995107794637, + -0.9927676040707951, + 0.03166950600766856, + 0.012616663771524143, + -0.030411278985715356, + -0.9994578399841232 + ], + [ + 0.9934071348985365, + 0.11439646715164513, + 0.007464089757156415, + 0.11421927907636957, + -0.9932348241543968, + 0.0209413555974385, + 0.009809210975135181, + -0.019950749113919097, + -0.9997528429516158 + ], + [ + 0.993106510749281, + 0.11632211589453162, + 0.01444381048087429, + 0.11608688790770677, + -0.9931072726591059, + 0.016179599732257476, + 0.01622629850864886, + -0.014391328827168808, + -0.9997647707792552 + ], + [ + 0.9900655643212216, + 0.13839455496994077, + 0.024842010787640985, + 0.13968541084712885, + -0.9882965767103608, + -0.0613014066645385, + 0.016067493325657274, + 0.06416247826615144, + -0.9978101082074564 + ], + [ + 0.9699547977804669, + 0.1918956015880922, + 0.1495452050511745, + 0.21197921123704394, + -0.9682585289518989, + -0.13243955268433033, + 0.11938385261824289, + 0.16016085415309506, + -0.9798448839132532 + ], + [ + 0.9584076809311083, + 0.2220232188384739, + 0.1793332301299955, + 0.2521883870542095, + -0.9529996835185325, + -0.16790658310076173, + 0.13362535151404106, + 0.20614871697437243, + -0.9693538940565354 + ], + [ + 0.9573113421334122, + 0.2427041518758496, + 0.1570021938857853, + 0.2721465126653636, + -0.9398253809328614, + -0.20655393726211885, + 0.09742314851618311, + 0.24046402645016735, + -0.9657565853343 + ], + [ + 0.9574229614097258, + 0.263331390831502, + 0.11831251653217845, + 0.28376282357867516, + -0.9338098457726935, + -0.2178940841157368, + 0.053103040591739564, + 0.2421894930436183, + -0.9687746469324984 + ], + [ + 0.9576152639101384, + 0.2755803923904224, + 0.08383587332554543, + 0.2868804380253026, + -0.9386428882291976, + -0.1914396580000094, + 0.025934930204776257, + 0.20737641068041185, + -0.9779173808091267 + ], + [ + 0.9565258040245493, + 0.28402044113981806, + 0.06626292515376096, + 0.29107990538919604, + -0.9438673885970834, + -0.15616286825471445, + 0.018189967394321063, + 0.16866161910068858, + -0.9855061559059528 + ], + [ + 0.9619375982795827, + 0.2551042690964948, + 0.09796871390832698, + 0.2672525163294737, + -0.9530389414617588, + -0.14245303988688596, + 0.057027620778643956, + 0.16321332036997938, + -0.9849412482590694 + ], + [ + 0.9719838255442482, + 0.20937902574872108, + 0.10680761422709803, + 0.22341875001015948, + -0.9641607176059103, + -0.143101966337132, + 0.07301715568457912, + 0.1629556203454554, + -0.9839278229492047 + ], + [ + 0.981391622696616, + 0.16975825676880177, + 0.08973637590030505, + 0.18064123178647049, + -0.9746925786090166, + -0.13169328981832298, + 0.06510935631358923, + 0.14545278087174454, + -0.9872204719600919 + ], + [ + 0.986327198148712, + 0.1449339578659662, + 0.07843982438416056, + 0.1545087356491131, + -0.9788273363828609, + -0.13425384969432413, + 0.05732110257334633, + 0.14453786149981612, + -0.9878375867483662 + ], + [ + 0.9825427153249902, + 0.13304653166461639, + 0.130032430469523, + 0.15370948155748243, + -0.974319226647895, + -0.16454616332074518, + 0.10480080076566721, + 0.18166085157860407, + -0.9777607719491569 + ], + [ + 0.9729868578661679, + 0.10689766345808717, + 0.20462029216801408, + 0.1428332496777121, + -0.9750750921641518, + -0.1697858281116991, + 0.18137044193094493, + 0.19442596068496767, + -0.964003790763035 + ], + [ + 0.9768551857201996, + 0.07435579847171667, + 0.2005621134840465, + 0.1027257645817343, + -0.9855103373076799, + -0.13496959787596893, + 0.18762026389132969, + 0.15244864805348754, + -0.9703391398289628 + ], + [ + 0.9826942215931882, + -0.03953456417714668, + 0.1809670828705625, + -0.014059772154270579, + -0.9900596998775731, + -0.13994325094587445, + 0.18470081119022724, + 0.13497706810289317, + -0.9734817930665263 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0011580288410186768, + 0.0007231868803501129, + -0.010158136487007141, + 0.0037225037813186646, + 0.03295184671878815, + -0.00375634478405118, + 1.0 + ], + [ + -0.0031296610832214355, + 0.02789519727230072, + -0.014784857630729675, + 0.03945239633321762, + 0.014899715781211853, + 0.04377122223377228, + 1.0 + ], + [ + -0.005830854177474976, + 0.03375755250453949, + -0.022176168859004974, + 0.020099163055419922, + 0.02028612792491913, + 0.06778943538665771, + 1.0 + ], + [ + 0.0021467506885528564, + 0.01814410649240017, + -0.029054492712020874, + 0.026098035275936127, + 0.011650368571281433, + 0.048532456159591675, + 1.0 + ], + [ + 0.008012503385543823, + 0.009641416370868683, + -0.03589025139808655, + 0.024376913905143738, + 0.034553252160549164, + 0.03953386843204498, + 1.0 + ], + [ + 0.0073785483837127686, + 0.0005350671708583832, + -0.02574480138719082, + 0.02430163137614727, + 0.047681987285614014, + -0.0031983405351638794, + 1.0 + ], + [ + 0.006414353847503662, + 0.0021983571350574493, + -0.015271772630512714, + 0.027108997106552124, + 0.03722082078456879, + -0.026805266737937927, + 1.0 + ], + [ + 0.007370352745056152, + 0.0008758716285228729, + -0.002471038606017828, + 0.03089219145476818, + 0.011453687213361263, + -0.03533157706260681, + 0.0 + ], + [ + 0.0022836029529571533, + -0.0007850565016269684, + -0.001410932745784521, + -0.0009539145976305008, + 0.002002539113163948, + -0.01886485517024994, + 0.0 + ], + [ + -0.0016533136367797852, + -0.0014449842274188995, + -0.0009987792000174522, + -0.010465357452630997, + 0.0028076302260160446, + -0.001594536006450653, + 0.0 + ], + [ + -0.0034656524658203125, + -0.002030346542596817, + 0.0010365121997892857, + -0.005559312179684639, + -0.006417642347514629, + 0.0018899738788604736, + 0.0 + ], + [ + -0.006348729133605957, + -0.012695863842964172, + 0.01687929406762123, + -0.07860860228538513, + 0.00015882588922977448, + 0.023797310888767242, + 0.0 + ], + [ + 0.009286314249038696, + -0.01402067206799984, + 0.05357373505830765, + -0.0978076159954071, + -0.10360109061002731, + 0.0750005692243576, + 0.0 + ], + [ + 0.020092159509658813, + -0.02504279464483261, + 0.027899734675884247, + -0.047521814703941345, + -0.01435697078704834, + 0.04213765263557434, + 0.0 + ], + [ + 0.02363961935043335, + -0.03069615364074707, + -0.00872698426246643, + -0.03448382019996643, + 0.03644832223653793, + 0.019674956798553467, + 0.0 + ], + [ + 0.02118745446205139, + -0.020733056589961052, + -0.027974799275398254, + -0.0009464770555496216, + 0.04444989189505577, + 0.011159032583236694, + 0.0 + ], + [ + 0.008991509675979614, + -0.006157178431749344, + -0.02943982183933258, + 0.0360109806060791, + 0.02719019167125225, + 0.002935439348220825, + 0.0 + ], + [ + 0.0038585364818573, + 0.003997940570116043, + -0.025014832615852356, + 0.03946363925933838, + 0.007746867835521698, + 0.00433620810508728, + 0.0 + ], + [ + 0.011014789342880249, + -0.00600849837064743, + -0.000857250764966011, + 0.005283549427986145, + -0.038867607712745667, + -0.024412959814071655, + 0.0 + ], + [ + 0.002906292676925659, + -0.009286187589168549, + 0.0004686890169978142, + 8.879601955413818e-05, + -0.01602361723780632, + -0.04505881667137146, + 1.0 + ], + [ + -0.005380868911743164, + -0.01420440524816513, + -0.0015147831290960312, + 0.01784442365169525, + 0.00792674720287323, + -0.04390507936477661, + 1.0 + ], + [ + -0.012956500053405762, + -0.005220368504524231, + 0.0021792249754071236, + 0.0009967386722564697, + 0.007802907377481461, + -0.026641160249710083, + 1.0 + ], + [ + -0.008228898048400879, + -0.0026011988520622253, + 0.03005392476916313, + -0.03841167688369751, + -0.04764105752110481, + -0.0002050548791885376, + 1.0 + ], + [ + -0.014903813600540161, + 0.0031976699829101562, + 0.0565718449652195, + -0.015317916870117188, + -0.07738623023033142, + -0.009425029158592224, + 1.0 + ], + [ + -0.028319567441940308, + 0.01027950644493103, + 0.03762681037187576, + 0.04318128526210785, + -0.006358996033668518, + -0.04098309576511383, + 1.0 + ], + [ + -0.029935985803604126, + 0.00601852685213089, + 0.00822111964225769, + 0.018059298396110535, + 0.0029713958501815796, + -0.11908097565174103, + 1.0 + ], + [ + -0.012727916240692139, + 0.019721273332834244, + -0.010184317827224731, + -0.002486184239387512, + 0.02499590814113617, + -0.011487184092402458, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9239223003387451 + ], + [ + 0.6631406545639038 + ], + [ + 0.3754602372646332 + ], + [ + 0.32440370321273804 + ], + [ + 0.32440370321273804 + ], + [ + 0.32440370321273804 + ], + [ + 0.32440370321273804 + ], + [ + 0.32440370321273804 + ], + [ + 0.32440370321273804 + ], + [ + 0.32440370321273804 + ], + [ + 0.32440370321273804 + ], + [ + 0.32440370321273804 + ], + [ + 0.3849146366119385 + ], + [ + 0.7181003093719482 + ], + [ + 0.9752515554428101 + ], + [ + 1.003452181816101 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2925164997577667, + -0.03345271572470665, + 0.15302526950836182 + ], + [ + 0.2893868386745453, + -0.0055575184524059296, + 0.13824041187763214 + ], + [ + 0.2835559844970703, + 0.02820003591477871, + 0.11606424301862717 + ], + [ + 0.28570273518562317, + 0.04634414240717888, + 0.08700975030660629 + ], + [ + 0.293715238571167, + 0.05598555877804756, + 0.051119498908519745 + ], + [ + 0.30109378695487976, + 0.056520625948905945, + 0.025374697521328926 + ], + [ + 0.3075081408023834, + 0.058718983083963394, + 0.010102924890816212 + ], + [ + 0.3148784935474396, + 0.05959485471248627, + 0.007631886284798384 + ], + [ + 0.31716209650039673, + 0.0588097982108593, + 0.006220953539013863 + ], + [ + 0.31550878286361694, + 0.0573648139834404, + 0.00522217433899641 + ], + [ + 0.31204313039779663, + 0.05533446744084358, + 0.006258686538785696 + ], + [ + 0.3056944012641907, + 0.04263860359787941, + 0.023137981072068214 + ], + [ + 0.31498071551322937, + 0.02861793152987957, + 0.07671171426773071 + ], + [ + 0.3350728750228882, + 0.003575136885046959, + 0.10461144894361496 + ], + [ + 0.35871249437332153, + -0.02712101675570011, + 0.09588446468114853 + ], + [ + 0.3798999488353729, + -0.04785407334566116, + 0.06790966540575027 + ], + [ + 0.38889145851135254, + -0.05401125177741051, + 0.038469843566417694 + ], + [ + 0.39274999499320984, + -0.050013311207294464, + 0.013455010950565338 + ], + [ + 0.4037647843360901, + -0.056021809577941895, + 0.012597760185599327 + ], + [ + 0.40667107701301575, + -0.06530799716711044, + 0.013066449202597141 + ], + [ + 0.4012902081012726, + -0.07951240241527557, + 0.01155166607350111 + ], + [ + 0.3883337080478668, + -0.0847327709197998, + 0.013730891048908234 + ], + [ + 0.38010480999946594, + -0.08733396977186203, + 0.043784815818071365 + ], + [ + 0.3652009963989258, + -0.08413629978895187, + 0.10035666078329086 + ], + [ + 0.3368814289569855, + -0.07385679334402084, + 0.13798347115516663 + ], + [ + 0.30694544315338135, + -0.06783826649188995, + 0.14620459079742432 + ], + [ + 0.2942175269126892, + -0.04811699315905571, + 0.13602027297019958 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9815545404566249, + -0.030005345034457228, + 0.18881303815771527, + 0.0006303785808010678, + -0.9870938337679385, + -0.160141705873761, + 0.19118129283962, + 0.1573068422118901, + -0.9688675196648378 + ], + [ + 0.9833236057492599, + 0.022695444447011784, + 0.18044279752217052, + 0.043701529547722884, + -0.992598554658928, + -0.11330615872139062, + 0.1765357263883544, + 0.11930224679510466, + -0.9770374154648206 + ], + [ + 0.9814620625586739, + 0.09564591532125435, + 0.16608455268456923, + 0.11058734201210607, + -0.9903812849882295, + -0.08315858423374634, + 0.15653325379858263, + 0.09998384483216799, + -0.9825988862337498 + ], + [ + 0.9766754110861503, + 0.1488206670320462, + 0.15478226785984245, + 0.1583523301846366, + -0.9860582900715066, + -0.051123263846828776, + 0.1450161401527258, + 0.07444096752053586, + -0.9866249852146516 + ], + [ + 0.9739844865007092, + 0.1931498654852197, + 0.11852151500462302, + 0.19770942284821727, + -0.97986388930591, + -0.027888035988933038, + 0.11074838225894931, + 0.050595334738854594, + -0.9925597754944983 + ], + [ + 0.9786806599011483, + 0.19407679320257018, + 0.06721877918900278, + 0.1954056718111936, + -0.980626383884472, + -0.013730209527909341, + 0.06325179333006457, + 0.02657242122711071, + -0.9976437826552421 + ], + [ + 0.9852048248681297, + 0.16945643064577023, + 0.025611934119724972, + 0.1693865225969918, + -0.9855375628361636, + 0.004890623830727618, + 0.026070270789860375, + -0.00047994973712444516, + -0.9996599975137512 + ], + [ + 0.9908043167401013, + 0.1349131271410254, + 0.01025933985258332, + 0.13451055822952798, + -0.9903609239732575, + 0.033047692682195984, + 0.014619016860310717, + -0.03136380703718261, + -0.9994011186476492 + ], + [ + 0.9931924753533491, + 0.11613629242396999, + 0.009003803835099203, + 0.1157995107794637, + -0.9927676040707951, + 0.03166950600766856, + 0.012616663771524143, + -0.030411278985715356, + -0.9994578399841232 + ], + [ + 0.9934071348985365, + 0.11439646715164513, + 0.007464089757156415, + 0.11421927907636957, + -0.9932348241543968, + 0.0209413555974385, + 0.009809210975135181, + -0.019950749113919097, + -0.9997528429516158 + ], + [ + 0.993106510749281, + 0.11632211589453162, + 0.01444381048087429, + 0.11608688790770677, + -0.9931072726591059, + 0.016179599732257476, + 0.01622629850864886, + -0.014391328827168808, + -0.9997647707792552 + ], + [ + 0.9900655643212216, + 0.13839455496994077, + 0.024842010787640985, + 0.13968541084712885, + -0.9882965767103608, + -0.0613014066645385, + 0.016067493325657274, + 0.06416247826615144, + -0.9978101082074564 + ], + [ + 0.9699547977804669, + 0.1918956015880922, + 0.1495452050511745, + 0.21197921123704394, + -0.9682585289518989, + -0.13243955268433033, + 0.11938385261824289, + 0.16016085415309506, + -0.9798448839132532 + ], + [ + 0.9584076809311083, + 0.2220232188384739, + 0.1793332301299955, + 0.2521883870542095, + -0.9529996835185325, + -0.16790658310076173, + 0.13362535151404106, + 0.20614871697437243, + -0.9693538940565354 + ], + [ + 0.9573113421334122, + 0.2427041518758496, + 0.1570021938857853, + 0.2721465126653636, + -0.9398253809328614, + -0.20655393726211885, + 0.09742314851618311, + 0.24046402645016735, + -0.9657565853343 + ], + [ + 0.9574229614097258, + 0.263331390831502, + 0.11831251653217845, + 0.28376282357867516, + -0.9338098457726935, + -0.2178940841157368, + 0.053103040591739564, + 0.2421894930436183, + -0.9687746469324984 + ], + [ + 0.9576152639101384, + 0.2755803923904224, + 0.08383587332554543, + 0.2868804380253026, + -0.9386428882291976, + -0.1914396580000094, + 0.025934930204776257, + 0.20737641068041185, + -0.9779173808091267 + ], + [ + 0.9565258040245493, + 0.28402044113981806, + 0.06626292515376096, + 0.29107990538919604, + -0.9438673885970834, + -0.15616286825471445, + 0.018189967394321063, + 0.16866161910068858, + -0.9855061559059528 + ], + [ + 0.9619375982795827, + 0.2551042690964948, + 0.09796871390832698, + 0.2672525163294737, + -0.9530389414617588, + -0.14245303988688596, + 0.057027620778643956, + 0.16321332036997938, + -0.9849412482590694 + ], + [ + 0.9719838255442482, + 0.20937902574872108, + 0.10680761422709803, + 0.22341875001015948, + -0.9641607176059103, + -0.143101966337132, + 0.07301715568457912, + 0.1629556203454554, + -0.9839278229492047 + ], + [ + 0.981391622696616, + 0.16975825676880177, + 0.08973637590030505, + 0.18064123178647049, + -0.9746925786090166, + -0.13169328981832298, + 0.06510935631358923, + 0.14545278087174454, + -0.9872204719600919 + ], + [ + 0.986327198148712, + 0.1449339578659662, + 0.07843982438416056, + 0.1545087356491131, + -0.9788273363828609, + -0.13425384969432413, + 0.05732110257334633, + 0.14453786149981612, + -0.9878375867483662 + ], + [ + 0.9825427153249902, + 0.13304653166461639, + 0.130032430469523, + 0.15370948155748243, + -0.974319226647895, + -0.16454616332074518, + 0.10480080076566721, + 0.18166085157860407, + -0.9777607719491569 + ], + [ + 0.9729868578661679, + 0.10689766345808717, + 0.20462029216801408, + 0.1428332496777121, + -0.9750750921641518, + -0.1697858281116991, + 0.18137044193094493, + 0.19442596068496767, + -0.964003790763035 + ], + [ + 0.9768551857201996, + 0.07435579847171667, + 0.2005621134840465, + 0.1027257645817343, + -0.9855103373076799, + -0.13496959787596893, + 0.18762026389132969, + 0.15244864805348754, + -0.9703391398289628 + ], + [ + 0.9826942215931882, + -0.03953456417714668, + 0.1809670828705625, + -0.014059772154270579, + -0.9900596998775731, + -0.13994325094587445, + 0.18470081119022724, + 0.13497706810289317, + -0.9734817930665263 + ], + [ + 0.9867757262522202, + -0.0479095131855853, + 0.1548494256551303, + -0.025458125059558082, + -0.989272893557498, + -0.14384375530702423, + 0.1600798236751134, + 0.13799935006620642, + -0.9774101643800566 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006030.json b/json/chunk-0006/episode_0006030.json new file mode 100644 index 0000000000000000000000000000000000000000..b6d95cba772d4d05b038e86a8ef7467d81d9d997 --- /dev/null +++ b/json/chunk-0006/episode_0006030.json @@ -0,0 +1,2602 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 42, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut the rectangular block on top of another rectangular block." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006030.mp4", + "start": 0, + "end": 42, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.32987019419670105, + 0.06848450005054474, + 0.12354915589094162, + 0.022581269964575768, + -0.1256135106086731, + 0.18226106464862823, + 0.0, + 0.9994885921478271 + ], + [ + 0.3265380263328552, + 0.06760069727897644, + 0.11192497611045837, + 0.020642897114157677, + -0.08728466928005219, + 0.1829404979944229, + 0.0, + 0.9994885921478271 + ], + [ + 0.3184168040752411, + 0.06908273696899414, + 0.10135596245527267, + 0.018663156777620316, + -0.06548146158456802, + 0.1745850145816803, + 0.0, + 0.9994885921478271 + ], + [ + 0.3102286159992218, + 0.07470663636922836, + 0.09693845361471176, + 0.026282070204615593, + -0.07383643835783005, + 0.16491836309432983, + 0.0, + 0.9994885921478271 + ], + [ + 0.30163466930389404, + 0.08170891553163528, + 0.09641070663928986, + 0.034043312072753906, + -0.10288475453853607, + 0.14277487993240356, + 0.0, + 0.9994885921478271 + ], + [ + 0.29633745551109314, + 0.08727875351905823, + 0.09431462734937668, + 0.048385217785835266, + -0.13317866623401642, + 0.08906619250774384, + 0.0, + 0.9994885921478271 + ], + [ + 0.2950829565525055, + 0.08940701186656952, + 0.08804162591695786, + 0.06743621826171875, + -0.14860899746418, + 0.049151889979839325, + 0.0, + 0.9994885921478271 + ], + [ + 0.29611995816230774, + 0.0899592936038971, + 0.08281050622463226, + 0.07300922274589539, + -0.15972919762134552, + 0.04103948548436165, + 0.0, + 0.9994885921478271 + ], + [ + 0.2937797009944916, + 0.08990561217069626, + 0.06681592762470245, + 0.06672955304384232, + -0.137220561504364, + 0.07229799777269363, + 0.0, + 0.9994885921478271 + ], + [ + 0.2912771999835968, + 0.09280596673488617, + 0.05383959785103798, + 0.0803181603550911, + -0.10693638771772385, + 0.11663839221000671, + 0.0, + 0.9994885921478271 + ], + [ + 0.28718340396881104, + 0.09409677237272263, + 0.04704207181930542, + 0.08760058134794235, + -0.09107865393161774, + 0.14038150012493134, + 0.0, + 0.9994885921478271 + ], + [ + 0.28338196873664856, + 0.09395182132720947, + 0.04446134343743324, + 0.09105869382619858, + -0.07918832451105118, + 0.1477162390947342, + 0.0, + 0.9994885921478271 + ], + [ + 0.2809523642063141, + 0.0927940383553505, + 0.04424261674284935, + 0.08855413645505905, + -0.062840536236763, + 0.15176448225975037, + 0.0, + 0.9628177285194397 + ], + [ + 0.2779778242111206, + 0.09231775254011154, + 0.04401055723428726, + 0.08304346352815628, + -0.04423632472753525, + 0.14962762594223022, + 0.0, + 0.6861988306045532 + ], + [ + 0.2757735848426819, + 0.09321729838848114, + 0.044337306171655655, + 0.09045355767011642, + -0.03020525351166725, + 0.1533888429403305, + 0.0, + 0.5422952175140381 + ], + [ + 0.27607065439224243, + 0.09305225312709808, + 0.043991103768348694, + 0.10029976069927216, + -0.008813003078103065, + 0.15335246920585632, + 0.0, + 0.5422952175140381 + ], + [ + 0.275226891040802, + 0.0880689024925232, + 0.04591021314263344, + 0.08272743225097656, + 0.012689786963164806, + 0.15529684722423553, + 0.0, + 0.5422952175140381 + ], + [ + 0.2786184251308441, + 0.07493547350168228, + 0.0624835379421711, + 0.04108152911067009, + -0.010290972888469696, + 0.14133217930793762, + 0.0, + 0.5422952175140381 + ], + [ + 0.28751689195632935, + 0.04534412547945976, + 0.08664293587207794, + -0.00993261020630598, + -0.07801005989313126, + 0.07462490350008011, + 0.0, + 0.5422952175140381 + ], + [ + 0.2962358891963959, + 0.02676694467663765, + 0.09637041389942169, + -0.039399467408657074, + -0.11670908331871033, + 0.026958856731653214, + 0.0, + 0.5422952175140381 + ], + [ + 0.30778804421424866, + 0.008387410081923008, + 0.10462631285190582, + -0.0588342659175396, + -0.15164628624916077, + -0.007113920524716377, + 0.0, + 0.5422952175140381 + ], + [ + 0.31629085540771484, + 0.007289869245141745, + 0.08419810235500336, + -0.06591158360242844, + -0.09676313400268555, + 0.011425572447478771, + 0.0, + 0.5422952175140381 + ], + [ + 0.3278026580810547, + 0.009357287548482418, + 0.07712025195360184, + -0.07218960672616959, + -0.08633499592542648, + 0.04002203047275543, + 0.0, + 0.5422952175140381 + ], + [ + 0.33687910437583923, + 0.009453684091567993, + 0.07215539366006851, + -0.08125375956296921, + -0.08272813260555267, + 0.07350844889879227, + 0.0, + 0.5422952175140381 + ], + [ + 0.3428122103214264, + 0.009986121207475662, + 0.07408855110406876, + -0.091856949031353, + -0.09405933320522308, + 0.093052439391613, + 0.0, + 0.5422952175140381 + ], + [ + 0.3445375859737396, + 0.009578501805663109, + 0.06942103803157806, + -0.09199640154838562, + -0.08290229737758636, + 0.09609543532133102, + 0.0, + 0.5422952175140381 + ], + [ + 0.34864330291748047, + 0.006755988113582134, + 0.07162127643823624, + -0.08824245631694794, + -0.09666232019662857, + 0.08474043756723404, + 0.0, + 0.5422952175140381 + ], + [ + 0.3502872884273529, + 0.008204389363527298, + 0.06638648360967636, + -0.07918419688940048, + -0.09693038463592529, + 0.07947307080030441, + 0.0, + 0.5422952175140381 + ], + [ + 0.3514113426208496, + 0.008624352514743805, + 0.06271727383136749, + -0.07298670709133148, + -0.09722888469696045, + 0.07227420806884766, + 0.0, + 0.5422952175140381 + ], + [ + 0.35524407029151917, + 0.008640093728899956, + 0.060754500329494476, + -0.07419653981924057, + -0.09732112288475037, + 0.07159221917390823, + 0.0, + 0.5422952175140381 + ], + [ + 0.35642239451408386, + 0.007659553084522486, + 0.05957309529185295, + -0.07460291683673859, + -0.09991370141506195, + 0.07512566447257996, + 0.0, + 0.5422952175140381 + ], + [ + 0.3577597439289093, + 0.006777820643037558, + 0.05588647350668907, + -0.0703832283616066, + -0.10128100216388702, + 0.0718570351600647, + 0.0, + 0.5422952175140381 + ], + [ + 0.3593524992465973, + 0.003680818947032094, + 0.05384453386068344, + -0.06648702919483185, + -0.1071694940328598, + 0.06390531361103058, + 0.0, + 0.5422952175140381 + ], + [ + 0.3592272400856018, + 0.00322873517870903, + 0.05051259696483612, + -0.058494485914707184, + -0.10103441029787064, + 0.057178013026714325, + 0.0, + 0.5422952175140381 + ], + [ + 0.3604113757610321, + 0.0016949790297076106, + 0.05060454457998276, + -0.05539722368121147, + -0.10827500373125076, + 0.058014433830976486, + 0.0, + 0.5422952175140381 + ], + [ + 0.36040011048316956, + 0.00210504699498415, + 0.04787079617381096, + -0.052652351558208466, + -0.10366980731487274, + 0.057879555970430374, + 0.0, + 0.5422952175140381 + ], + [ + 0.3602920174598694, + 0.0022980424109846354, + 0.04730788618326187, + -0.05143221840262413, + -0.10209724307060242, + 0.0585046149790287, + 0.0, + 0.5422952175140381 + ], + [ + 0.3601503074169159, + 0.001732996548525989, + 0.047835610806941986, + -0.05179243162274361, + -0.10194021463394165, + 0.059976059943437576, + 0.0, + 0.5422952175140381 + ], + [ + 0.35954487323760986, + 0.002645035507157445, + 0.0472155436873436, + -0.04951842874288559, + -0.09720341861248016, + 0.06415605545043945, + 0.0, + 0.5948979258537292 + ], + [ + 0.3584570586681366, + 0.0016631812322884798, + 0.046503882855176926, + -0.05190487205982208, + -0.09258640557527542, + 0.06279896944761276, + 0.0, + 0.8973560333251953 + ], + [ + 0.3574375510215759, + 0.0021764556877315044, + 0.046325068920850754, + -0.051838770508766174, + -0.08952154964208603, + 0.06424795091152191, + 0.0, + 1.0067112445831299 + ], + [ + 0.3555262088775635, + 0.0028579658828675747, + 0.049639273434877396, + -0.05028961971402168, + -0.09440162032842636, + 0.06020856276154518, + 0.0, + 1.0001531839370728 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9628177285194397 + ], + [ + 0.6861988306045532 + ], + [ + 0.5422952175140381 + ], + [ + 0.5422952175140381 + ], + [ + 0.5422952175140381 + ], + [ + 0.5422952175140381 + ], + [ + 0.5422952175140381 + ], + [ + 0.5422952175140381 + ], + [ + 0.5422952175140381 + ], + [ + 0.5422952175140381 + ], + [ + 0.5422952175140381 + ], + [ + 0.5422952175140381 + ], + [ + 0.5422952175140381 + ], + [ + 0.5422952175140381 + ], + [ + 0.5422952175140381 + ], + [ + 0.5422952175140381 + ], + [ + 0.5422952175140381 + ], + [ + 0.5422952175140381 + ], + [ + 0.5422952175140381 + ], + [ + 0.5422952175140381 + ], + [ + 0.5422952175140381 + ], + [ + 0.5422952175140381 + ], + [ + 0.5422952175140381 + ], + [ + 0.5422952175140381 + ], + [ + 0.5422952175140381 + ], + [ + 0.5422952175140381 + ], + [ + 0.5948979258537292 + ], + [ + 0.8973560333251953 + ], + [ + 1.0067112445831299 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.32987019419670105, + 0.06848450005054474, + 0.12354915589094162 + ], + [ + 0.3265380263328552, + 0.06760069727897644, + 0.11192497611045837 + ], + [ + 0.3184168040752411, + 0.06908273696899414, + 0.10135596245527267 + ], + [ + 0.3102286159992218, + 0.07470663636922836, + 0.09693845361471176 + ], + [ + 0.30163466930389404, + 0.08170891553163528, + 0.09641070663928986 + ], + [ + 0.29633745551109314, + 0.08727875351905823, + 0.09431462734937668 + ], + [ + 0.2950829565525055, + 0.08940701186656952, + 0.08804162591695786 + ], + [ + 0.29611995816230774, + 0.0899592936038971, + 0.08281050622463226 + ], + [ + 0.2937797009944916, + 0.08990561217069626, + 0.06681592762470245 + ], + [ + 0.2912771999835968, + 0.09280596673488617, + 0.05383959785103798 + ], + [ + 0.28718340396881104, + 0.09409677237272263, + 0.04704207181930542 + ], + [ + 0.28338196873664856, + 0.09395182132720947, + 0.04446134343743324 + ], + [ + 0.2809523642063141, + 0.0927940383553505, + 0.04424261674284935 + ], + [ + 0.2779778242111206, + 0.09231775254011154, + 0.04401055723428726 + ], + [ + 0.2757735848426819, + 0.09321729838848114, + 0.044337306171655655 + ], + [ + 0.27607065439224243, + 0.09305225312709808, + 0.043991103768348694 + ], + [ + 0.275226891040802, + 0.0880689024925232, + 0.04591021314263344 + ], + [ + 0.2786184251308441, + 0.07493547350168228, + 0.0624835379421711 + ], + [ + 0.28751689195632935, + 0.04534412547945976, + 0.08664293587207794 + ], + [ + 0.2962358891963959, + 0.02676694467663765, + 0.09637041389942169 + ], + [ + 0.30778804421424866, + 0.008387410081923008, + 0.10462631285190582 + ], + [ + 0.31629085540771484, + 0.007289869245141745, + 0.08419810235500336 + ], + [ + 0.3278026580810547, + 0.009357287548482418, + 0.07712025195360184 + ], + [ + 0.33687910437583923, + 0.009453684091567993, + 0.07215539366006851 + ], + [ + 0.3428122103214264, + 0.009986121207475662, + 0.07408855110406876 + ], + [ + 0.3445375859737396, + 0.009578501805663109, + 0.06942103803157806 + ], + [ + 0.34864330291748047, + 0.006755988113582134, + 0.07162127643823624 + ], + [ + 0.3502872884273529, + 0.008204389363527298, + 0.06638648360967636 + ], + [ + 0.3514113426208496, + 0.008624352514743805, + 0.06271727383136749 + ], + [ + 0.35524407029151917, + 0.008640093728899956, + 0.060754500329494476 + ], + [ + 0.35642239451408386, + 0.007659553084522486, + 0.05957309529185295 + ], + [ + 0.3577597439289093, + 0.006777820643037558, + 0.05588647350668907 + ], + [ + 0.3593524992465973, + 0.003680818947032094, + 0.05384453386068344 + ], + [ + 0.3592272400856018, + 0.00322873517870903, + 0.05051259696483612 + ], + [ + 0.3604113757610321, + 0.0016949790297076106, + 0.05060454457998276 + ], + [ + 0.36040011048316956, + 0.00210504699498415, + 0.04787079617381096 + ], + [ + 0.3602920174598694, + 0.0022980424109846354, + 0.04730788618326187 + ], + [ + 0.3601503074169159, + 0.001732996548525989, + 0.047835610806941986 + ], + [ + 0.35954487323760986, + 0.002645035507157445, + 0.0472155436873436 + ], + [ + 0.3584570586681366, + 0.0016631812322884798, + 0.046503882855176926 + ], + [ + 0.3574375510215759, + 0.0021764556877315044, + 0.046325068920850754 + ], + [ + 0.3555262088775635, + 0.0028579658828675747, + 0.049639273434877396 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.975687876921068, + 0.18398940132755928, + 0.11908428539646053, + 0.17982554900523703, + -0.9826729238792808, + 0.04490764522339656, + 0.12528343367829775, + -0.02240144802622548, + -0.9918680539124668 + ], + [ + 0.9795696406814299, + 0.18365239311664658, + 0.08194582086831866, + 0.18122922964590923, + -0.9827761533757224, + 0.03615243668092489, + 0.08717388013163212, + -0.020562851420624688, + -0.9959808651596921 + ], + [ + 0.9826881400693533, + 0.1748718091241295, + 0.061187169739161974, + 0.17332721230410478, + -0.9844150895790574, + 0.029742375223646613, + 0.06543467614287389, + -0.01862207783010308, + -0.9976830766207107 + ], + [ + 0.9837440584976339, + 0.16602739018892618, + 0.06842903680206214, + 0.16372448805227904, + -0.985772831664223, + 0.03802915151194748, + 0.07376936615305202, + -0.026207442831256464, + -0.9969309156394055 + ], + [ + 0.9845908049256342, + 0.14566797669897194, + 0.09675633013048819, + 0.14153787761014994, + -0.988754044716, + 0.048295633957583066, + 0.10270334005039204, + -0.033856751500674194, + -0.99413567701814 + ], + [ + 0.9872161493479922, + 0.09524126603829303, + 0.12780209587462257, + 0.08816082732869429, + -0.9942992732526256, + 0.059971857850336256, + 0.13278532671663415, + -0.04793804806960627, + -0.9899848486497321 + ], + [ + 0.9877835905403064, + 0.05898559240475655, + 0.14423688206544322, + 0.048590566787579725, + -0.9960318723330092, + 0.07456182747265552, + 0.14806260526737464, + -0.06664239780695333, + -0.986730082512932 + ], + [ + 0.986439107778895, + 0.052510765594145734, + 0.1555008236026231, + 0.04050569642819199, + -0.9960202509604354, + 0.07939110928547453, + 0.15905085727918786, + -0.07201582585395856, + -0.9846403128174915 + ], + [ + 0.9880122164759685, + 0.08117162236988423, + 0.13131271003252346, + 0.0715560229481868, + -0.9945089923224983, + 0.07636491190021867, + 0.13679033472465532, + -0.06605325057505125, + -0.9883953522828741 + ], + [ + 0.9875320142621261, + 0.12450411611453363, + 0.09632884239897752, + 0.11570934608412775, + -0.9890070319367916, + 0.09206757305567462, + 0.10673269431702673, + -0.0797735285048691, + -0.9910823962283416 + ], + [ + 0.9860586678588257, + 0.1472634002615621, + 0.07747124940183324, + 0.1393409287861514, + -0.9852525348920155, + 0.09930532741938113, + 0.09095278503427352, + -0.08712596302056445, + -0.9920366210288049 + ], + [ + 0.9860101501503254, + 0.15368483041329262, + 0.06453647574333414, + 0.14671840277459786, + -0.983953211687498, + 0.10153712373870111, + 0.07910558822108173, + -0.09064794598166531, + -0.9927362468458083 + ], + [ + 0.9865547284221008, + 0.15608020622369967, + 0.04846377052152001, + 0.15088416126714033, + -0.9837928929572801, + 0.09687886067381919, + 0.0627991855576707, + -0.08826388271491951, + -0.9941155613415275 + ], + [ + 0.9878593201054647, + 0.15218335052303641, + 0.03121204101546874, + 0.14892409927941078, + -0.9848722273106186, + 0.08859067967928194, + 0.04422189881252129, + -0.08286690350075576, + -0.9955789772637886 + ], + [ + 0.9878081905086544, + 0.15485944341339203, + 0.015922674075430906, + 0.15271836450102583, + -0.9838020322864846, + 0.09386512884513995, + 0.030200660723728946, + -0.0902890583330967, + -0.9954575862572814 + ], + [ + 0.9882261571965016, + 0.15285650206173437, + -0.006629631217955174, + 0.1527461790690207, + -0.9831629143207272, + 0.10029600532518206, + 0.00881288899565593, + -0.10012778676184388, + -0.9949355553530715 + ], + [ + 0.9878861146099465, + 0.1531084542467164, + -0.02527500344301849, + 0.1546609275516457, + -0.9847490396582759, + 0.07968266047872571, + -0.01268944639170846, + -0.08262644933848018, + -0.9964997982036862 + ], + [ + 0.9899767975233063, + 0.14116171491501828, + 0.004394383659861695, + 0.14085467681627056, + -0.9891343720931308, + 0.04210883473704836, + 0.01029079124668845, + -0.041067799870204764, + -0.9991033657381693 + ], + [ + 0.9941840761069867, + 0.0737800914419026, + 0.07845075475814167, + 0.07432891817448799, + -0.9972253725971509, + -0.004094895784270678, + 0.07793096135880698, + 0.009902239913184275, + -0.9969095801056354 + ], + [ + 0.9928363258646407, + 0.022349681751345885, + 0.11737342871883166, + 0.026772218418483214, + -0.9989844914617332, + -0.036238572542187805, + 0.11644431443636108, + 0.03912131828755182, + -0.9924264426600543 + ], + [ + 0.9884987067602002, + -0.015984041780356874, + 0.15038223678937515, + -0.007032219867622336, + -0.9981813133225983, + -0.059871642847900274, + 0.15106572945954785, + 0.05812552057347028, + -0.9868133406277593 + ], + [ + 0.9952571338198152, + 0.005037676771872382, + 0.09714864586554137, + 0.011371877332971134, + -0.9978361906654699, + -0.0647581423772145, + 0.09661220412913726, + 0.06555576565768922, + -0.9931608749856913 + ], + [ + 0.9954776565461989, + 0.03369277163747888, + 0.08882022549325706, + 0.03986232270849103, + -0.996845617167122, + -0.06862806104636825, + 0.08622778290999052, + 0.07185828187540129, + -0.9936806110518325 + ], + [ + 0.9938886854319389, + 0.06651115147955114, + 0.08809964641947636, + 0.0731910923198612, + -0.9945016806715542, + -0.07489640276061195, + 0.08263380044145437, + 0.08088679663776067, + -0.9932919918907449 + ], + [ + 0.991272549505153, + 0.08394860819283767, + 0.10164331645533628, + 0.09250748300897751, + -0.9922766034085234, + -0.08264083685072293, + 0.0939207015779692, + 0.09132236040822364, + -0.9913824329211067 + ], + [ + 0.9919678029541965, + 0.08796973315724234, + 0.0908911654148415, + 0.09561808226184597, + -0.9919071062032283, + -0.0835312816141623, + 0.08280736831219405, + 0.0915511808322602, + -0.9923514100566531 + ], + [ + 0.9917602624882538, + 0.07583486224224951, + 0.10325044996477861, + 0.08424394549576998, + -0.9932546875864028, + -0.07967485949120617, + 0.09651186142923546, + 0.0877165848419599, + -0.9914591576797945 + ], + [ + 0.9921644205690862, + 0.07150950488849474, + 0.10245073580707882, + 0.0790167791722615, + -0.9943278894593996, + -0.0711926741488052, + 0.09677867102854622, + 0.07873016546291672, + -0.9921872050576596 + ], + [ + 0.9926786806878625, + 0.06495858051959735, + 0.10183034775882806, + 0.07187024865980013, + -0.9952451393658321, + -0.0657402458640367, + 0.09707576559256882, + 0.07257751294694856, + -0.992627221241213 + ], + [ + 0.9927185291650837, + 0.06414984118257054, + 0.10195449832431973, + 0.07119259536331095, + -0.9952093486417399, + -0.06700721410057006, + 0.09716756772580352, + 0.07377770837004044, + -0.9925297544809005 + ], + [ + 0.9922062382817666, + 0.06743266445218692, + 0.10478366513739257, + 0.07468070178036411, + -0.9949637334250159, + -0.06685777404719989, + 0.09974754882371181, + 0.07416201813484366, + -0.9922451418726264 + ], + [ + 0.9923080804543778, + 0.06452537703667235, + 0.10564634013170125, + 0.0714272956631396, + -0.9954604008820651, + -0.06290255726095896, + 0.10110793687539212, + 0.06996474822360942, + -0.9924122727510015 + ], + [ + 0.9922333052517313, + 0.05662872107812738, + 0.11075313042203562, + 0.06349544020182131, + -0.9962076466485137, + -0.05948658531641497, + 0.10696446616891851, + 0.06605688993652241, + -0.9920660715240254 + ], + [ + 0.9932744808838148, + 0.051162217332002095, + 0.10386641970656797, + 0.05685543434995697, + -0.9969952319477636, + -0.0526114726870714, + 0.10086260560716089, + 0.0581630036285757, + -0.9931987715452714 + ], + [ + 0.9924714728340409, + 0.05191965616453942, + 0.11092666457793489, + 0.05764235357185689, + -0.9971331082218639, + -0.04901962425908294, + 0.10806356779843383, + 0.055044652706331416, + -0.992618935706504 + ], + [ + 0.9929655331856161, + 0.05233002941276063, + 0.10621213643960088, + 0.05753666861331007, + -0.9972569977408212, + -0.046561918150411205, + 0.10348420976306928, + 0.05234547237940508, + -0.9932527220456482 + ], + [ + 0.9930906047392567, + 0.05316323233015442, + 0.10461702302601936, + 0.058166762822080775, + -0.9972753798883842, + -0.04537008233713013, + 0.10191996115293825, + 0.051141836070757084, + -0.9934771432307311 + ], + [ + 0.9930199037980859, + 0.054600970539466165, + 0.10454761918374308, + 0.05962893606069858, + -0.997179236656462, + -0.04558464615970276, + 0.10176374916987746, + 0.051500524243783485, + -0.9934746274351983 + ], + [ + 0.9932318838904632, + 0.0592395281032784, + 0.099905470988838, + 0.06380941034951959, + -0.9970274237877709, + -0.04318188701257455, + 0.09705041975307106, + 0.04926453618193335, + -0.9940594657768372 + ], + [ + 0.9937541751508849, + 0.05788596862248224, + 0.09540363728297577, + 0.062488905741765605, + -0.9969857197918063, + -0.04598490176580674, + 0.09245418340660058, + 0.0516593570212712, + -0.9943759524459387 + ], + [ + 0.9939406934841345, + 0.059494654768495095, + 0.0924244766836981, + 0.06394666343475965, + -0.9968936720921495, + -0.04597641545609383, + 0.08940202498735386, + 0.05160806716597081, + -0.9946576724338646 + ], + [ + 0.9937435550196383, + 0.05536632979480412, + 0.09699647613178489, + 0.059904274450846215, + -0.9972111647907177, + -0.044512590570056215, + 0.09426147017444944, + 0.0500446035231847, + -0.9942888478197662 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.003332167863845825, + -0.0008838027715682983, + -0.011624179780483246, + -0.0019383728504180908, + 0.03832884132862091, + 0.0006794333457946777, + 1.0 + ], + [ + -0.008121222257614136, + 0.0014820396900177002, + -0.0105690136551857, + -0.001979740336537361, + 0.02180320769548416, + -0.008355483412742615, + 1.0 + ], + [ + -0.008188188076019287, + 0.005623899400234222, + -0.004417508840560913, + 0.007618913426995277, + -0.008354976773262024, + -0.009666651487350464, + 1.0 + ], + [ + -0.008593946695327759, + 0.007002279162406921, + -0.0005277469754219055, + 0.007761241868138313, + -0.029048316180706024, + -0.02214348316192627, + 1.0 + ], + [ + -0.005297213792800903, + 0.005569837987422943, + -0.0020960792899131775, + 0.01434190571308136, + -0.030293911695480347, + -0.05370868742465973, + 1.0 + ], + [ + -0.0012544989585876465, + 0.0021282583475112915, + -0.006273001432418823, + 0.019051000475883484, + -0.015430331230163574, + -0.03991430252790451, + 1.0 + ], + [ + 0.001037001609802246, + 0.0005522817373275757, + -0.005231119692325592, + 0.005573004484176636, + -0.011120200157165527, + -0.008112404495477676, + 1.0 + ], + [ + -0.002340257167816162, + -5.368143320083618e-05, + -0.01599457859992981, + -0.00627966970205307, + 0.022508636116981506, + 0.031258512288331985, + 1.0 + ], + [ + -0.0025025010108947754, + 0.002900354564189911, + -0.012976329773664474, + 0.01358860731124878, + 0.030284173786640167, + 0.04434039443731308, + 1.0 + ], + [ + -0.004093796014785767, + 0.0012908056378364563, + -0.006797526031732559, + 0.007282420992851257, + 0.01585773378610611, + 0.02374310791492462, + 1.0 + ], + [ + -0.0038014352321624756, + -0.00014495104551315308, + -0.002580728381872177, + 0.0034581124782562256, + 0.011890329420566559, + 0.0073347389698028564, + 1.0 + ], + [ + -0.0024296045303344727, + -0.0011577829718589783, + -0.00021872669458389282, + -0.0025045573711395264, + 0.016347788274288177, + 0.004048243165016174, + 0.0 + ], + [ + -0.0029745399951934814, + -0.00047628581523895264, + -0.000232059508562088, + -0.005510672926902771, + 0.018604211509227753, + -0.0021368563175201416, + 0.0 + ], + [ + -0.0022042393684387207, + 0.0008995458483695984, + 0.00032674893736839294, + 0.007410094141960144, + 0.014031071215867996, + 0.0037612169981002808, + 0.0 + ], + [ + 0.0002970695495605469, + -0.00016504526138305664, + -0.00034620240330696106, + 0.009846203029155731, + 0.021392250433564186, + -3.637373447418213e-05, + 0.0 + ], + [ + -0.0008437633514404297, + -0.00498335063457489, + 0.0019191093742847443, + -0.017572328448295593, + 0.021502789109945297, + 0.0019443780183792114, + 0.0 + ], + [ + 0.0033915340900421143, + -0.013133428990840912, + 0.01657332479953766, + -0.04164590314030647, + -0.022980760782957077, + -0.013964667916297913, + 0.0 + ], + [ + 0.00889846682548523, + -0.02959134802222252, + 0.024159397929906845, + -0.051014140248298645, + -0.06771908700466156, + -0.06670727580785751, + 0.0 + ], + [ + 0.008718997240066528, + -0.018577180802822113, + 0.00972747802734375, + -0.02946685627102852, + -0.03869902342557907, + -0.047666046768426895, + 0.0 + ], + [ + 0.011552155017852783, + -0.018379535526037216, + 0.00825589895248413, + -0.019434798508882523, + -0.03493720293045044, + -0.03407277911901474, + 0.0 + ], + [ + 0.008502811193466187, + -0.0010975408367812634, + -0.020428210496902466, + -0.00707731768488884, + 0.05488315224647522, + 0.018539492040872574, + 0.0 + ], + [ + 0.011511802673339844, + 0.0020674183033406734, + -0.00707785040140152, + -0.00627802312374115, + 0.010428138077259064, + 0.028596457093954086, + 0.0 + ], + [ + 0.009076446294784546, + 9.63965430855751e-05, + -0.004964858293533325, + -0.009064152836799622, + 0.00360686331987381, + 0.033486418426036835, + 0.0 + ], + [ + 0.005933105945587158, + 0.0005324371159076691, + 0.0019331574440002441, + -0.010603189468383789, + -0.01133120059967041, + 0.01954399049282074, + 0.0 + ], + [ + 0.0017253756523132324, + -0.0004076194018125534, + -0.004667513072490692, + -0.0001394525170326233, + 0.011157035827636719, + 0.0030429959297180176, + 0.0 + ], + [ + 0.004105716943740845, + -0.0028225136920809746, + 0.0022002384066581726, + 0.003753945231437683, + -0.013760022819042206, + -0.011354997754096985, + 0.0 + ], + [ + 0.0016439855098724365, + 0.0014484012499451637, + -0.0052347928285598755, + 0.009058259427547455, + -0.0002680644392967224, + -0.0052673667669296265, + 0.0 + ], + [ + 0.001124054193496704, + 0.00041996315121650696, + -0.0036692097783088684, + 0.006197489798069, + -0.00029850006103515625, + -0.007198862731456757, + 0.0 + ], + [ + 0.0038327276706695557, + 1.5741214156150818e-05, + -0.0019627735018730164, + -0.0012098327279090881, + -9.223818778991699e-05, + -0.0006819888949394226, + 0.0 + ], + [ + 0.0011783242225646973, + -0.00098054064437747, + -0.0011814050376415253, + -0.00040637701749801636, + -0.0025925785303115845, + 0.0035334452986717224, + 0.0 + ], + [ + 0.0013373494148254395, + -0.0008817324414849281, + -0.0036866217851638794, + 0.0042196884751319885, + -0.0013673007488250732, + -0.003268629312515259, + 0.0 + ], + [ + 0.0015927553176879883, + -0.0030970016960054636, + -0.0020419396460056305, + 0.0038961991667747498, + -0.005888491868972778, + -0.007951721549034119, + 0.0 + ], + [ + -0.0001252591609954834, + -0.00045208376832306385, + -0.0033319368958473206, + 0.007992543280124664, + 0.006135083734989166, + -0.006727300584316254, + 0.0 + ], + [ + 0.0011841356754302979, + -0.0015337561490014195, + 9.194761514663696e-05, + 0.0030972622334957123, + -0.007240593433380127, + 0.0008364208042621613, + 0.0 + ], + [ + -1.1265277862548828e-05, + 0.0004100679652765393, + -0.0027337484061717987, + 0.002744872123003006, + 0.004605196416378021, + -0.00013487786054611206, + 0.0 + ], + [ + -0.0001080930233001709, + 0.00019299541600048542, + -0.0005629099905490875, + 0.0012201331555843353, + 0.0015725642442703247, + 0.0006250590085983276, + 0.0 + ], + [ + -0.0001417100429534912, + -0.0005650458624586463, + 0.0005277246236801147, + -0.0003602132201194763, + 0.0001570284366607666, + 0.0014714449644088745, + 1.0 + ], + [ + -0.0006054341793060303, + 0.0009120389586314559, + -0.0006200671195983887, + 0.002274002879858017, + 0.004736796021461487, + 0.004179995507001877, + 1.0 + ], + [ + -0.0010878145694732666, + -0.0009818542748689651, + -0.0007116608321666718, + -0.002386443316936493, + 0.004617013037204742, + -0.0013570860028266907, + 1.0 + ], + [ + -0.001019507646560669, + 0.0005132744554430246, + -0.00017881393432617188, + 6.61015510559082e-05, + 0.003064855933189392, + 0.0014489814639091492, + 1.0 + ], + [ + -0.0019113421440124512, + 0.0006815101951360703, + 0.003314204514026642, + 0.0015491507947444916, + -0.004880070686340332, + -0.00403938814997673, + 1.0 + ], + [ + -0.003341585397720337, + 0.005640954244881868, + 0.02985844388604164, + -0.000585600733757019, + -0.06571363657712936, + 0.019440215080976486, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9628177285194397 + ], + [ + 0.6861988306045532 + ], + [ + 0.5422952175140381 + ], + [ + 0.5422952175140381 + ], + [ + 0.5422952175140381 + ], + [ + 0.5422952175140381 + ], + [ + 0.5422952175140381 + ], + [ + 0.5422952175140381 + ], + [ + 0.5422952175140381 + ], + [ + 0.5422952175140381 + ], + [ + 0.5422952175140381 + ], + [ + 0.5422952175140381 + ], + [ + 0.5422952175140381 + ], + [ + 0.5422952175140381 + ], + [ + 0.5422952175140381 + ], + [ + 0.5422952175140381 + ], + [ + 0.5422952175140381 + ], + [ + 0.5422952175140381 + ], + [ + 0.5422952175140381 + ], + [ + 0.5422952175140381 + ], + [ + 0.5422952175140381 + ], + [ + 0.5422952175140381 + ], + [ + 0.5422952175140381 + ], + [ + 0.5422952175140381 + ], + [ + 0.5422952175140381 + ], + [ + 0.5422952175140381 + ], + [ + 0.5948979258537292 + ], + [ + 0.8973560333251953 + ], + [ + 1.0067112445831299 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3265380263328552, + 0.06760069727897644, + 0.11192497611045837 + ], + [ + 0.3184168040752411, + 0.06908273696899414, + 0.10135596245527267 + ], + [ + 0.3102286159992218, + 0.07470663636922836, + 0.09693845361471176 + ], + [ + 0.30163466930389404, + 0.08170891553163528, + 0.09641070663928986 + ], + [ + 0.29633745551109314, + 0.08727875351905823, + 0.09431462734937668 + ], + [ + 0.2950829565525055, + 0.08940701186656952, + 0.08804162591695786 + ], + [ + 0.29611995816230774, + 0.0899592936038971, + 0.08281050622463226 + ], + [ + 0.2937797009944916, + 0.08990561217069626, + 0.06681592762470245 + ], + [ + 0.2912771999835968, + 0.09280596673488617, + 0.05383959785103798 + ], + [ + 0.28718340396881104, + 0.09409677237272263, + 0.04704207181930542 + ], + [ + 0.28338196873664856, + 0.09395182132720947, + 0.04446134343743324 + ], + [ + 0.2809523642063141, + 0.0927940383553505, + 0.04424261674284935 + ], + [ + 0.2779778242111206, + 0.09231775254011154, + 0.04401055723428726 + ], + [ + 0.2757735848426819, + 0.09321729838848114, + 0.044337306171655655 + ], + [ + 0.27607065439224243, + 0.09305225312709808, + 0.043991103768348694 + ], + [ + 0.275226891040802, + 0.0880689024925232, + 0.04591021314263344 + ], + [ + 0.2786184251308441, + 0.07493547350168228, + 0.0624835379421711 + ], + [ + 0.28751689195632935, + 0.04534412547945976, + 0.08664293587207794 + ], + [ + 0.2962358891963959, + 0.02676694467663765, + 0.09637041389942169 + ], + [ + 0.30778804421424866, + 0.008387410081923008, + 0.10462631285190582 + ], + [ + 0.31629085540771484, + 0.007289869245141745, + 0.08419810235500336 + ], + [ + 0.3278026580810547, + 0.009357287548482418, + 0.07712025195360184 + ], + [ + 0.33687910437583923, + 0.009453684091567993, + 0.07215539366006851 + ], + [ + 0.3428122103214264, + 0.009986121207475662, + 0.07408855110406876 + ], + [ + 0.3445375859737396, + 0.009578501805663109, + 0.06942103803157806 + ], + [ + 0.34864330291748047, + 0.006755988113582134, + 0.07162127643823624 + ], + [ + 0.3502872884273529, + 0.008204389363527298, + 0.06638648360967636 + ], + [ + 0.3514113426208496, + 0.008624352514743805, + 0.06271727383136749 + ], + [ + 0.35524407029151917, + 0.008640093728899956, + 0.060754500329494476 + ], + [ + 0.35642239451408386, + 0.007659553084522486, + 0.05957309529185295 + ], + [ + 0.3577597439289093, + 0.006777820643037558, + 0.05588647350668907 + ], + [ + 0.3593524992465973, + 0.003680818947032094, + 0.05384453386068344 + ], + [ + 0.3592272400856018, + 0.00322873517870903, + 0.05051259696483612 + ], + [ + 0.3604113757610321, + 0.0016949790297076106, + 0.05060454457998276 + ], + [ + 0.36040011048316956, + 0.00210504699498415, + 0.04787079617381096 + ], + [ + 0.3602920174598694, + 0.0022980424109846354, + 0.04730788618326187 + ], + [ + 0.3601503074169159, + 0.001732996548525989, + 0.047835610806941986 + ], + [ + 0.35954487323760986, + 0.002645035507157445, + 0.0472155436873436 + ], + [ + 0.3584570586681366, + 0.0016631812322884798, + 0.046503882855176926 + ], + [ + 0.3574375510215759, + 0.0021764556877315044, + 0.046325068920850754 + ], + [ + 0.3555262088775635, + 0.0028579658828675747, + 0.049639273434877396 + ], + [ + 0.35218462347984314, + 0.008498920127749443, + 0.07949771732091904 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9795696406814299, + 0.18365239311664658, + 0.08194582086831866, + 0.18122922964590923, + -0.9827761533757224, + 0.03615243668092489, + 0.08717388013163212, + -0.020562851420624688, + -0.9959808651596921 + ], + [ + 0.9826881400693533, + 0.1748718091241295, + 0.061187169739161974, + 0.17332721230410478, + -0.9844150895790574, + 0.029742375223646613, + 0.06543467614287389, + -0.01862207783010308, + -0.9976830766207107 + ], + [ + 0.9837440584976339, + 0.16602739018892618, + 0.06842903680206214, + 0.16372448805227904, + -0.985772831664223, + 0.03802915151194748, + 0.07376936615305202, + -0.026207442831256464, + -0.9969309156394055 + ], + [ + 0.9845908049256342, + 0.14566797669897194, + 0.09675633013048819, + 0.14153787761014994, + -0.988754044716, + 0.048295633957583066, + 0.10270334005039204, + -0.033856751500674194, + -0.99413567701814 + ], + [ + 0.9872161493479922, + 0.09524126603829303, + 0.12780209587462257, + 0.08816082732869429, + -0.9942992732526256, + 0.059971857850336256, + 0.13278532671663415, + -0.04793804806960627, + -0.9899848486497321 + ], + [ + 0.9877835905403064, + 0.05898559240475655, + 0.14423688206544322, + 0.048590566787579725, + -0.9960318723330092, + 0.07456182747265552, + 0.14806260526737464, + -0.06664239780695333, + -0.986730082512932 + ], + [ + 0.986439107778895, + 0.052510765594145734, + 0.1555008236026231, + 0.04050569642819199, + -0.9960202509604354, + 0.07939110928547453, + 0.15905085727918786, + -0.07201582585395856, + -0.9846403128174915 + ], + [ + 0.9880122164759685, + 0.08117162236988423, + 0.13131271003252346, + 0.0715560229481868, + -0.9945089923224983, + 0.07636491190021867, + 0.13679033472465532, + -0.06605325057505125, + -0.9883953522828741 + ], + [ + 0.9875320142621261, + 0.12450411611453363, + 0.09632884239897752, + 0.11570934608412775, + -0.9890070319367916, + 0.09206757305567462, + 0.10673269431702673, + -0.0797735285048691, + -0.9910823962283416 + ], + [ + 0.9860586678588257, + 0.1472634002615621, + 0.07747124940183324, + 0.1393409287861514, + -0.9852525348920155, + 0.09930532741938113, + 0.09095278503427352, + -0.08712596302056445, + -0.9920366210288049 + ], + [ + 0.9860101501503254, + 0.15368483041329262, + 0.06453647574333414, + 0.14671840277459786, + -0.983953211687498, + 0.10153712373870111, + 0.07910558822108173, + -0.09064794598166531, + -0.9927362468458083 + ], + [ + 0.9865547284221008, + 0.15608020622369967, + 0.04846377052152001, + 0.15088416126714033, + -0.9837928929572801, + 0.09687886067381919, + 0.0627991855576707, + -0.08826388271491951, + -0.9941155613415275 + ], + [ + 0.9878593201054647, + 0.15218335052303641, + 0.03121204101546874, + 0.14892409927941078, + -0.9848722273106186, + 0.08859067967928194, + 0.04422189881252129, + -0.08286690350075576, + -0.9955789772637886 + ], + [ + 0.9878081905086544, + 0.15485944341339203, + 0.015922674075430906, + 0.15271836450102583, + -0.9838020322864846, + 0.09386512884513995, + 0.030200660723728946, + -0.0902890583330967, + -0.9954575862572814 + ], + [ + 0.9882261571965016, + 0.15285650206173437, + -0.006629631217955174, + 0.1527461790690207, + -0.9831629143207272, + 0.10029600532518206, + 0.00881288899565593, + -0.10012778676184388, + -0.9949355553530715 + ], + [ + 0.9878861146099465, + 0.1531084542467164, + -0.02527500344301849, + 0.1546609275516457, + -0.9847490396582759, + 0.07968266047872571, + -0.01268944639170846, + -0.08262644933848018, + -0.9964997982036862 + ], + [ + 0.9899767975233063, + 0.14116171491501828, + 0.004394383659861695, + 0.14085467681627056, + -0.9891343720931308, + 0.04210883473704836, + 0.01029079124668845, + -0.041067799870204764, + -0.9991033657381693 + ], + [ + 0.9941840761069867, + 0.0737800914419026, + 0.07845075475814167, + 0.07432891817448799, + -0.9972253725971509, + -0.004094895784270678, + 0.07793096135880698, + 0.009902239913184275, + -0.9969095801056354 + ], + [ + 0.9928363258646407, + 0.022349681751345885, + 0.11737342871883166, + 0.026772218418483214, + -0.9989844914617332, + -0.036238572542187805, + 0.11644431443636108, + 0.03912131828755182, + -0.9924264426600543 + ], + [ + 0.9884987067602002, + -0.015984041780356874, + 0.15038223678937515, + -0.007032219867622336, + -0.9981813133225983, + -0.059871642847900274, + 0.15106572945954785, + 0.05812552057347028, + -0.9868133406277593 + ], + [ + 0.9952571338198152, + 0.005037676771872382, + 0.09714864586554137, + 0.011371877332971134, + -0.9978361906654699, + -0.0647581423772145, + 0.09661220412913726, + 0.06555576565768922, + -0.9931608749856913 + ], + [ + 0.9954776565461989, + 0.03369277163747888, + 0.08882022549325706, + 0.03986232270849103, + -0.996845617167122, + -0.06862806104636825, + 0.08622778290999052, + 0.07185828187540129, + -0.9936806110518325 + ], + [ + 0.9938886854319389, + 0.06651115147955114, + 0.08809964641947636, + 0.0731910923198612, + -0.9945016806715542, + -0.07489640276061195, + 0.08263380044145437, + 0.08088679663776067, + -0.9932919918907449 + ], + [ + 0.991272549505153, + 0.08394860819283767, + 0.10164331645533628, + 0.09250748300897751, + -0.9922766034085234, + -0.08264083685072293, + 0.0939207015779692, + 0.09132236040822364, + -0.9913824329211067 + ], + [ + 0.9919678029541965, + 0.08796973315724234, + 0.0908911654148415, + 0.09561808226184597, + -0.9919071062032283, + -0.0835312816141623, + 0.08280736831219405, + 0.0915511808322602, + -0.9923514100566531 + ], + [ + 0.9917602624882538, + 0.07583486224224951, + 0.10325044996477861, + 0.08424394549576998, + -0.9932546875864028, + -0.07967485949120617, + 0.09651186142923546, + 0.0877165848419599, + -0.9914591576797945 + ], + [ + 0.9921644205690862, + 0.07150950488849474, + 0.10245073580707882, + 0.0790167791722615, + -0.9943278894593996, + -0.0711926741488052, + 0.09677867102854622, + 0.07873016546291672, + -0.9921872050576596 + ], + [ + 0.9926786806878625, + 0.06495858051959735, + 0.10183034775882806, + 0.07187024865980013, + -0.9952451393658321, + -0.0657402458640367, + 0.09707576559256882, + 0.07257751294694856, + -0.992627221241213 + ], + [ + 0.9927185291650837, + 0.06414984118257054, + 0.10195449832431973, + 0.07119259536331095, + -0.9952093486417399, + -0.06700721410057006, + 0.09716756772580352, + 0.07377770837004044, + -0.9925297544809005 + ], + [ + 0.9922062382817666, + 0.06743266445218692, + 0.10478366513739257, + 0.07468070178036411, + -0.9949637334250159, + -0.06685777404719989, + 0.09974754882371181, + 0.07416201813484366, + -0.9922451418726264 + ], + [ + 0.9923080804543778, + 0.06452537703667235, + 0.10564634013170125, + 0.0714272956631396, + -0.9954604008820651, + -0.06290255726095896, + 0.10110793687539212, + 0.06996474822360942, + -0.9924122727510015 + ], + [ + 0.9922333052517313, + 0.05662872107812738, + 0.11075313042203562, + 0.06349544020182131, + -0.9962076466485137, + -0.05948658531641497, + 0.10696446616891851, + 0.06605688993652241, + -0.9920660715240254 + ], + [ + 0.9932744808838148, + 0.051162217332002095, + 0.10386641970656797, + 0.05685543434995697, + -0.9969952319477636, + -0.0526114726870714, + 0.10086260560716089, + 0.0581630036285757, + -0.9931987715452714 + ], + [ + 0.9924714728340409, + 0.05191965616453942, + 0.11092666457793489, + 0.05764235357185689, + -0.9971331082218639, + -0.04901962425908294, + 0.10806356779843383, + 0.055044652706331416, + -0.992618935706504 + ], + [ + 0.9929655331856161, + 0.05233002941276063, + 0.10621213643960088, + 0.05753666861331007, + -0.9972569977408212, + -0.046561918150411205, + 0.10348420976306928, + 0.05234547237940508, + -0.9932527220456482 + ], + [ + 0.9930906047392567, + 0.05316323233015442, + 0.10461702302601936, + 0.058166762822080775, + -0.9972753798883842, + -0.04537008233713013, + 0.10191996115293825, + 0.051141836070757084, + -0.9934771432307311 + ], + [ + 0.9930199037980859, + 0.054600970539466165, + 0.10454761918374308, + 0.05962893606069858, + -0.997179236656462, + -0.04558464615970276, + 0.10176374916987746, + 0.051500524243783485, + -0.9934746274351983 + ], + [ + 0.9932318838904632, + 0.0592395281032784, + 0.099905470988838, + 0.06380941034951959, + -0.9970274237877709, + -0.04318188701257455, + 0.09705041975307106, + 0.04926453618193335, + -0.9940594657768372 + ], + [ + 0.9937541751508849, + 0.05788596862248224, + 0.09540363728297577, + 0.062488905741765605, + -0.9969857197918063, + -0.04598490176580674, + 0.09245418340660058, + 0.0516593570212712, + -0.9943759524459387 + ], + [ + 0.9939406934841345, + 0.059494654768495095, + 0.0924244766836981, + 0.06394666343475965, + -0.9968936720921495, + -0.04597641545609383, + 0.08940202498735386, + 0.05160806716597081, + -0.9946576724338646 + ], + [ + 0.9937435550196383, + 0.05536632979480412, + 0.09699647613178489, + 0.059904274450846215, + -0.9972111647907177, + -0.044512590570056215, + 0.09426147017444944, + 0.0500446035231847, + -0.9942888478197662 + ], + [ + 0.9840791783444051, + 0.07137970880227153, + 0.16276703572991486, + 0.07854687270913067, + -0.9961850306220883, + -0.03802332905052603, + 0.15943199031755229, + 0.05020280804668075, + -0.9859315993148875 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006031.json b/json/chunk-0006/episode_0006031.json new file mode 100644 index 0000000000000000000000000000000000000000..abc1dac5c40a09792cf56e0435388229157ccb76 --- /dev/null +++ b/json/chunk-0006/episode_0006031.json @@ -0,0 +1,1582 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 25, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMoved the blue cloth to the bottom of the stove." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006031.mp4", + "start": 0, + "end": 25, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.324180006980896, + 0.06593004614114761, + 0.04702715948224068, + -0.019646191969513893, + -0.12661370635032654, + -0.14449186623096466, + 0.0, + 0.9981546401977539 + ], + [ + 0.32189062237739563, + 0.0650080218911171, + 0.03711213916540146, + -0.033307041972875595, + -0.09898432344198227, + -0.1412142962217331, + 0.0, + 0.9981546401977539 + ], + [ + 0.33006709814071655, + 0.06604646891355515, + 0.03840310871601105, + -0.04275769367814064, + -0.11805694550275803, + -0.1317628175020218, + 0.0, + 0.9981546401977539 + ], + [ + 0.34221649169921875, + 0.07525872439146042, + 0.03400774300098419, + -0.03268440067768097, + -0.13790251314640045, + -0.12367228418588638, + 0.0, + 0.9988223910331726 + ], + [ + 0.3638782501220703, + 0.08027840405702591, + 0.01566174440085888, + -0.02502083219587803, + -0.15054193139076233, + -0.11806029826402664, + 0.0, + 0.9988223910331726 + ], + [ + 0.38693490624427795, + 0.07685374468564987, + 0.0011720601469278336, + -0.014110107906162739, + -0.1544455587863922, + -0.15037740767002106, + 0.0, + 0.9981546401977539 + ], + [ + 0.4026840329170227, + 0.0718357115983963, + -0.0066044810228049755, + -0.02498554438352585, + -0.1698196530342102, + -0.15039241313934326, + 0.0, + 0.9981546401977539 + ], + [ + 0.4055970311164856, + 0.07522078603506088, + -0.0100153349339962, + -0.0016268196050077677, + -0.1726771593093872, + -0.15062043070793152, + 0.0, + 0.9988223910331726 + ], + [ + 0.4043281376361847, + 0.07724195718765259, + -0.017587188631296158, + 0.023521602153778076, + -0.15381115674972534, + -0.15703295171260834, + 0.0, + 0.9981546401977539 + ], + [ + 0.4017963707447052, + 0.07669021189212799, + -0.028049910441040993, + 0.033756617456674576, + -0.1202806606888771, + -0.17814528942108154, + 0.0, + 0.9981546401977539 + ], + [ + 0.40211060643196106, + 0.07928012311458588, + -0.028227413073182106, + 0.072224922478199, + -0.1088716983795166, + -0.1916629523038864, + 0.0, + 0.9988223910331726 + ], + [ + 0.3985196053981781, + 0.0828404501080513, + -0.030857373028993607, + 0.09742998331785202, + -0.0944444015622139, + -0.18125025928020477, + 0.0, + 0.9988223910331726 + ], + [ + 0.3910232484340668, + 0.09212961792945862, + -0.03196876123547554, + 0.1230943351984024, + -0.07002700120210648, + -0.14478535950183868, + 0.0, + 0.9994885921478271 + ], + [ + 0.3748793303966522, + 0.10789769887924194, + -0.03282054141163826, + 0.11002078652381897, + -0.052156779915094376, + -0.10180318355560303, + 0.0, + 0.9994885921478271 + ], + [ + 0.36004573106765747, + 0.11959605664014816, + -0.032849594950675964, + 0.10730625689029694, + -0.034413982182741165, + -0.0745345875620842, + 0.0, + 0.9994885921478271 + ], + [ + 0.3443681299686432, + 0.13165748119354248, + -0.03468601405620575, + 0.09119655191898346, + -0.02667219564318657, + -0.04112667590379715, + 0.0, + 0.9994885921478271 + ], + [ + 0.33122846484184265, + 0.13996972143650055, + -0.03682054206728935, + 0.0843113362789154, + -0.016911247745156288, + -0.015446498990058899, + 0.0, + 1.0001531839370728 + ], + [ + 0.3129989504814148, + 0.14799579977989197, + -0.03788584843277931, + 0.07262544333934784, + -3.571137131075375e-05, + 0.00816137995570898, + 0.0, + 1.0001531839370728 + ], + [ + 0.2958963215351105, + 0.15134510397911072, + -0.037441838532686234, + 0.04817860201001167, + 0.012378226034343243, + 0.01602821610867977, + 0.0, + 1.0001531839370728 + ], + [ + 0.2866836190223694, + 0.15081143379211426, + -0.03755754232406616, + 0.043294042348861694, + 0.016325660049915314, + 0.008342896588146687, + 0.0, + 1.0001531839370728 + ], + [ + 0.28383469581604004, + 0.1485137790441513, + -0.0366659015417099, + 0.034347523003816605, + 0.01626691035926342, + -0.0009714773041196167, + 0.0, + 0.9994885921478271 + ], + [ + 0.2834491729736328, + 0.1442834585905075, + -0.033613916486501694, + 0.009492641314864159, + 0.008119314908981323, + -0.0015542859910055995, + 0.0, + 0.9988223910331726 + ], + [ + 0.28883373737335205, + 0.1450246423482895, + -0.01767626963555813, + 0.015833159908652306, + -0.03499186784029007, + -0.011829917319118977, + 0.0, + 0.9994885921478271 + ], + [ + 0.29193970561027527, + 0.13994091749191284, + 0.001250893110409379, + -0.006945222616195679, + -0.06502677500247955, + -0.018584689125418663, + 0.0, + 0.9994885921478271 + ], + [ + 0.2970328629016876, + 0.13935008645057678, + 0.027458153665065765, + -0.003122346941381693, + -0.1277533322572708, + -0.028551330789923668, + 0.0, + 0.9994885921478271 + ] + ], + "left_gripper_pos": [ + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9988223910331726 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.324180006980896, + 0.06593004614114761, + 0.04702715948224068 + ], + [ + 0.32189062237739563, + 0.0650080218911171, + 0.03711213916540146 + ], + [ + 0.33006709814071655, + 0.06604646891355515, + 0.03840310871601105 + ], + [ + 0.34221649169921875, + 0.07525872439146042, + 0.03400774300098419 + ], + [ + 0.3638782501220703, + 0.08027840405702591, + 0.01566174440085888 + ], + [ + 0.38693490624427795, + 0.07685374468564987, + 0.0011720601469278336 + ], + [ + 0.4026840329170227, + 0.0718357115983963, + -0.0066044810228049755 + ], + [ + 0.4055970311164856, + 0.07522078603506088, + -0.0100153349339962 + ], + [ + 0.4043281376361847, + 0.07724195718765259, + -0.017587188631296158 + ], + [ + 0.4017963707447052, + 0.07669021189212799, + -0.028049910441040993 + ], + [ + 0.40211060643196106, + 0.07928012311458588, + -0.028227413073182106 + ], + [ + 0.3985196053981781, + 0.0828404501080513, + -0.030857373028993607 + ], + [ + 0.3910232484340668, + 0.09212961792945862, + -0.03196876123547554 + ], + [ + 0.3748793303966522, + 0.10789769887924194, + -0.03282054141163826 + ], + [ + 0.36004573106765747, + 0.11959605664014816, + -0.032849594950675964 + ], + [ + 0.3443681299686432, + 0.13165748119354248, + -0.03468601405620575 + ], + [ + 0.33122846484184265, + 0.13996972143650055, + -0.03682054206728935 + ], + [ + 0.3129989504814148, + 0.14799579977989197, + -0.03788584843277931 + ], + [ + 0.2958963215351105, + 0.15134510397911072, + -0.037441838532686234 + ], + [ + 0.2866836190223694, + 0.15081143379211426, + -0.03755754232406616 + ], + [ + 0.28383469581604004, + 0.1485137790441513, + -0.0366659015417099 + ], + [ + 0.2834491729736328, + 0.1442834585905075, + -0.033613916486501694 + ], + [ + 0.28883373737335205, + 0.1450246423482895, + -0.01767626963555813 + ], + [ + 0.29193970561027527, + 0.13994091749191284, + 0.001250893110409379 + ], + [ + 0.2970328629016876, + 0.13935008645057678, + 0.027458153665065765 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9816578032076497, + -0.14641664871108614, + 0.1221070120089162, + -0.1428369998192134, + -0.9890310387113268, + -0.037619090210159835, + 0.12627568603724648, + 0.019487674202133654, + -0.9918037515910163 + ], + [ + 0.9851995952429154, + -0.14392549292767703, + 0.09309785184804793, + -0.14005648525470715, + -0.9890335350898004, + -0.04687053878366276, + 0.09882276292076582, + 0.033137877923880885, + -0.9945531371301427 + ], + [ + 0.9844315366627884, + -0.13625275388043767, + 0.11103934745727911, + -0.13046738213330478, + -0.9897643293504162, + -0.0578345445629445, + 0.11778290123368379, + 0.042447136599750315, + -0.9921317597836785 + ], + [ + 0.9829413411090587, + -0.12774926271913944, + 0.13231192619504042, + -0.122186176074, + -0.9912781728322093, + -0.04937734746673324, + 0.13746584417643173, + 0.03236834782860144, + -0.9899774905237534 + ], + [ + 0.9818076510908099, + -0.12147532635544704, + 0.1459365661730606, + -0.11645406220788083, + -0.992286204576063, + -0.04250340696126109, + 0.14997395658856738, + 0.024735264196470406, + -0.9883804829367592 + ], + [ + 0.9769459123349158, + -0.1519424014248053, + 0.1499672998402053, + -0.14802808385160132, + -0.9882910178006329, + -0.03699392552584834, + 0.15383228127841703, + 0.013941692287955687, + -0.9879986125763667 + ], + [ + 0.9744899924608477, + -0.15395393715099503, + 0.1633016834860087, + -0.1476709181883899, + -0.9877711602147958, + -0.05001434763459341, + 0.16900459909438842, + 0.024623571707280405, + -0.9853076297285642 + ], + [ + 0.9739748537999486, + -0.1503277248907564, + 0.16963065552705314, + -0.14782004682738975, + -0.9886349208485395, + -0.027390272630081924, + 0.17182030706909185, + 0.0016026253370549585, + -0.9851270038277867 + ], + [ + 0.976035269042477, + -0.15278613062705867, + 0.15495661287338253, + -0.1545420949412206, + -0.9879859403594262, + -0.0007228715511611219, + 0.15320539963186264, + -0.02324177144952754, + -0.9879210118139656 + ], + [ + 0.9770633892243016, + -0.1731179425075799, + 0.12400528786895801, + -0.17592421826302845, + -0.9843309919531593, + 0.011965270956043448, + 0.11999084492603257, + -0.03350636152212716, + -0.9922094138192226 + ], + [ + 0.9758765569060406, + -0.18229770320518496, + 0.12013531157543, + -0.189363820712881, + -0.9806230936831031, + 0.05019652916686478, + 0.10865674892169014, + -0.07173489765444946, + -0.991487677872133 + ], + [ + 0.9792355345923311, + -0.1703813606180635, + 0.10985426594178549, + -0.17945615593017825, + -0.9806078432076208, + 0.07876386188133044, + 0.09430406083745638, + -0.0968423966743655, + -0.9908220295875187 + ], + [ + 0.9871116522547825, + -0.13468707723184378, + 0.08642902990070472, + -0.14392642403457803, + -0.983289051678809, + 0.11148015658944735, + 0.06996978238820242, + -0.12248278277101729, + -0.9900011098363555 + ], + [ + 0.9934697138718348, + -0.09531844287302264, + 0.06270822966467525, + -0.10148922979793178, + -0.9893893816452102, + 0.10396435794411389, + 0.05213313585847235, + -0.10964965087026753, + -0.9926021812436194 + ], + [ + 0.9966331246077473, + -0.07036249021971806, + 0.04208960566076531, + -0.07442150381958866, + -0.9917621662504499, + 0.10425567305161994, + 0.03440718971130307, + -0.10703702893996732, + -0.9936595089525764 + ], + [ + 0.9987990362948845, + -0.038517528206908694, + 0.030280110918559814, + -0.04110045935861875, + -0.995102265438888, + 0.08990124336684062, + 0.026669033295581224, + -0.09103780170469501, + -0.99549027183788 + ], + [ + 0.9997377305223494, + -0.013967135964546348, + 0.018149084907233753, + -0.015443676122232491, + -0.9963510288969182, + 0.08394117037475511, + 0.016910441681212526, + -0.08419944375706977, + -0.9963054203572045 + ], + [ + 0.9999666954858393, + 0.008142366823976165, + -0.0005565803040154227, + 0.008161289348440308, + -0.9973306942142195, + 0.07255949100120714, + 3.57113713031633e-05, + -0.0725616168555183, + -0.9973639308116226 + ], + [ + 0.9997949514728384, + 0.01541288891182232, + -0.013133844251242255, + 0.01602630197556636, + -0.9987208898996871, + 0.04795562243329049, + -0.012377909937142956, + -0.04815627615761191, + -0.9987631152641847 + ], + [ + 0.9998319422496316, + 0.007628455202956254, + -0.01667015082553916, + 0.008341688038684581, + -0.9990340847957427, + 0.043142944463703724, + -0.016324934854234516, + -0.04327475115525734, + -0.9989298235684306 + ], + [ + 0.9998672249095364, + -0.0015294974810669349, + -0.01622322992370778, + -0.0009713486217086628, + -0.999409167555165, + 0.034356546516595074, + -0.01626619296446413, + -0.03433622641099726, + -0.999277956587803 + ], + [ + 0.9999658306813689, + -0.0016312869839410658, + -0.008104096032022362, + -0.0015542341336880305, + -0.9999536175794769, + 0.009505106310576479, + -0.008119225700637663, + -0.009492185864894675, + -0.9999219852476136 + ], + [ + 0.9993179172360473, + -0.011274301762173124, + 0.03516518748397612, + -0.011822399844470883, + -0.9998112466436248, + 0.015417585635814818, + 0.034984727423908644, + -0.01582280647343222, + -0.9992625819284832 + ], + [ + 0.9977141787796799, + -0.01903439676524717, + 0.06483910241337602, + -0.01854434291214564, + -0.999794808984869, + -0.008151519666060383, + 0.06498095727169516, + 0.006930488200160471, + -0.9978624371752661 + ], + [ + 0.9914463956651939, + -0.028944956013662707, + 0.12726442568079474, + -0.028314808295494823, + -0.9995762095767285, + -0.0067581713065682225, + 0.12740610720716952, + 0.0030968967671970472, + -0.9918458010581725 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.002289384603500366, + -0.0009220242500305176, + -0.009915020316839218, + -0.013660850003361702, + 0.02762938290834427, + 0.0032775700092315674, + 1.0 + ], + [ + 0.008176475763320923, + 0.0010384470224380493, + 0.0012909695506095886, + -0.009450651705265045, + -0.019072622060775757, + 0.009451478719711304, + 1.0 + ], + [ + 0.012149393558502197, + 0.009212255477905273, + -0.0043953657150268555, + 0.010073293000459671, + -0.019845567643642426, + 0.008090533316135406, + 1.0 + ], + [ + 0.021661758422851562, + 0.005019679665565491, + -0.018345998600125313, + 0.00766356848180294, + -0.012639418244361877, + 0.005611985921859741, + 1.0 + ], + [ + 0.02305665612220764, + -0.0034246593713760376, + -0.014489684253931046, + 0.01091072428971529, + -0.003903627395629883, + -0.032317109405994415, + 1.0 + ], + [ + 0.01574912667274475, + -0.0050180330872535706, + -0.007776541169732809, + -0.01087543647736311, + -0.015374094247817993, + -1.500546932220459e-05, + 1.0 + ], + [ + 0.0029129981994628906, + 0.0033850744366645813, + -0.003410853911191225, + 0.023358725011348724, + -0.002857506275177002, + -0.00022801756858825684, + 1.0 + ], + [ + -0.0012688934803009033, + 0.0020211711525917053, + -0.007571853697299957, + 0.0251484215259552, + 0.018866002559661865, + -0.006412521004676819, + 1.0 + ], + [ + -0.002531766891479492, + -0.0005517452955245972, + -0.010462721809744835, + 0.0102350153028965, + 0.033530496060848236, + -0.021112337708473206, + 1.0 + ], + [ + 0.0003142356872558594, + 0.0025899112224578857, + -0.00017750263214111328, + 0.03846830502152443, + 0.011408962309360504, + -0.01351766288280487, + 1.0 + ], + [ + -0.003591001033782959, + 0.0035603269934654236, + -0.0026299599558115005, + 0.025205060839653015, + 0.014427296817302704, + 0.01041269302368164, + 1.0 + ], + [ + -0.007496356964111328, + 0.009289167821407318, + -0.0011113882064819336, + 0.025664351880550385, + 0.024417400360107422, + 0.03646489977836609, + 1.0 + ], + [ + -0.01614391803741455, + 0.015768080949783325, + -0.0008517801761627197, + -0.013073548674583435, + 0.0178702212870121, + 0.04298217594623566, + 1.0 + ], + [ + -0.014833599328994751, + 0.01169835776090622, + -2.9053539037704468e-05, + -0.0027145296335220337, + 0.01774279773235321, + 0.02726859599351883, + 1.0 + ], + [ + -0.015677601099014282, + 0.012061424553394318, + -0.0018364191055297852, + -0.016109704971313477, + 0.007741786539554596, + 0.03340791165828705, + 1.0 + ], + [ + -0.013139665126800537, + 0.008312240242958069, + -0.002134528011083603, + -0.006885215640068054, + 0.009760947898030281, + 0.02568017691373825, + 1.0 + ], + [ + -0.018229514360427856, + 0.008026078343391418, + -0.0010653063654899597, + -0.011685892939567566, + 0.016875537112355232, + 0.023607879877090454, + 1.0 + ], + [ + -0.01710262894630432, + 0.00334930419921875, + 0.0004440099000930786, + -0.024446841329336166, + 0.012413937598466873, + 0.00786683615297079, + 1.0 + ], + [ + -0.009212702512741089, + -0.00053367018699646, + -0.00011570379137992859, + -0.004884559661149979, + 0.003947434015572071, + -0.007685319520533085, + 1.0 + ], + [ + -0.0028489232063293457, + -0.0022976547479629517, + 0.0008916407823562622, + -0.00894651934504509, + -5.8749690651893616e-05, + -0.009314374066889286, + 1.0 + ], + [ + -0.00038552284240722656, + -0.004230320453643799, + 0.003051985055208206, + -0.024854881688952446, + -0.008147595450282097, + -0.0005828086868859828, + 1.0 + ], + [ + 0.005384564399719238, + 0.0007411837577819824, + 0.015937646850943565, + 0.006340518593788147, + -0.04311118274927139, + -0.010275631211698055, + 1.0 + ], + [ + 0.0031059682369232178, + -0.005083724856376648, + 0.018927162513136864, + -0.022778382524847984, + -0.030034907162189484, + -0.006754771806299686, + 1.0 + ], + [ + 0.0050931572914123535, + -0.0005908310413360596, + 0.02620726078748703, + 0.003822875674813986, + -0.06272655725479126, + -0.009966641664505005, + 1.0 + ], + [ + -0.0017889440059661865, + 0.005317121744155884, + 0.014064107090234756, + 0.029577579349279404, + -0.019855976104736328, + 0.0043615251779556274, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9988223910331726 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.32189062237739563, + 0.0650080218911171, + 0.03711213916540146 + ], + [ + 0.33006709814071655, + 0.06604646891355515, + 0.03840310871601105 + ], + [ + 0.34221649169921875, + 0.07525872439146042, + 0.03400774300098419 + ], + [ + 0.3638782501220703, + 0.08027840405702591, + 0.01566174440085888 + ], + [ + 0.38693490624427795, + 0.07685374468564987, + 0.0011720601469278336 + ], + [ + 0.4026840329170227, + 0.0718357115983963, + -0.0066044810228049755 + ], + [ + 0.4055970311164856, + 0.07522078603506088, + -0.0100153349339962 + ], + [ + 0.4043281376361847, + 0.07724195718765259, + -0.017587188631296158 + ], + [ + 0.4017963707447052, + 0.07669021189212799, + -0.028049910441040993 + ], + [ + 0.40211060643196106, + 0.07928012311458588, + -0.028227413073182106 + ], + [ + 0.3985196053981781, + 0.0828404501080513, + -0.030857373028993607 + ], + [ + 0.3910232484340668, + 0.09212961792945862, + -0.03196876123547554 + ], + [ + 0.3748793303966522, + 0.10789769887924194, + -0.03282054141163826 + ], + [ + 0.36004573106765747, + 0.11959605664014816, + -0.032849594950675964 + ], + [ + 0.3443681299686432, + 0.13165748119354248, + -0.03468601405620575 + ], + [ + 0.33122846484184265, + 0.13996972143650055, + -0.03682054206728935 + ], + [ + 0.3129989504814148, + 0.14799579977989197, + -0.03788584843277931 + ], + [ + 0.2958963215351105, + 0.15134510397911072, + -0.037441838532686234 + ], + [ + 0.2866836190223694, + 0.15081143379211426, + -0.03755754232406616 + ], + [ + 0.28383469581604004, + 0.1485137790441513, + -0.0366659015417099 + ], + [ + 0.2834491729736328, + 0.1442834585905075, + -0.033613916486501694 + ], + [ + 0.28883373737335205, + 0.1450246423482895, + -0.01767626963555813 + ], + [ + 0.29193970561027527, + 0.13994091749191284, + 0.001250893110409379 + ], + [ + 0.2970328629016876, + 0.13935008645057678, + 0.027458153665065765 + ], + [ + 0.29524391889572144, + 0.14466720819473267, + 0.04152226075530052 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9851995952429154, + -0.14392549292767703, + 0.09309785184804793, + -0.14005648525470715, + -0.9890335350898004, + -0.04687053878366276, + 0.09882276292076582, + 0.033137877923880885, + -0.9945531371301427 + ], + [ + 0.9844315366627884, + -0.13625275388043767, + 0.11103934745727911, + -0.13046738213330478, + -0.9897643293504162, + -0.0578345445629445, + 0.11778290123368379, + 0.042447136599750315, + -0.9921317597836785 + ], + [ + 0.9829413411090587, + -0.12774926271913944, + 0.13231192619504042, + -0.122186176074, + -0.9912781728322093, + -0.04937734746673324, + 0.13746584417643173, + 0.03236834782860144, + -0.9899774905237534 + ], + [ + 0.9818076510908099, + -0.12147532635544704, + 0.1459365661730606, + -0.11645406220788083, + -0.992286204576063, + -0.04250340696126109, + 0.14997395658856738, + 0.024735264196470406, + -0.9883804829367592 + ], + [ + 0.9769459123349158, + -0.1519424014248053, + 0.1499672998402053, + -0.14802808385160132, + -0.9882910178006329, + -0.03699392552584834, + 0.15383228127841703, + 0.013941692287955687, + -0.9879986125763667 + ], + [ + 0.9744899924608477, + -0.15395393715099503, + 0.1633016834860087, + -0.1476709181883899, + -0.9877711602147958, + -0.05001434763459341, + 0.16900459909438842, + 0.024623571707280405, + -0.9853076297285642 + ], + [ + 0.9739748537999486, + -0.1503277248907564, + 0.16963065552705314, + -0.14782004682738975, + -0.9886349208485395, + -0.027390272630081924, + 0.17182030706909185, + 0.0016026253370549585, + -0.9851270038277867 + ], + [ + 0.976035269042477, + -0.15278613062705867, + 0.15495661287338253, + -0.1545420949412206, + -0.9879859403594262, + -0.0007228715511611219, + 0.15320539963186264, + -0.02324177144952754, + -0.9879210118139656 + ], + [ + 0.9770633892243016, + -0.1731179425075799, + 0.12400528786895801, + -0.17592421826302845, + -0.9843309919531593, + 0.011965270956043448, + 0.11999084492603257, + -0.03350636152212716, + -0.9922094138192226 + ], + [ + 0.9758765569060406, + -0.18229770320518496, + 0.12013531157543, + -0.189363820712881, + -0.9806230936831031, + 0.05019652916686478, + 0.10865674892169014, + -0.07173489765444946, + -0.991487677872133 + ], + [ + 0.9792355345923311, + -0.1703813606180635, + 0.10985426594178549, + -0.17945615593017825, + -0.9806078432076208, + 0.07876386188133044, + 0.09430406083745638, + -0.0968423966743655, + -0.9908220295875187 + ], + [ + 0.9871116522547825, + -0.13468707723184378, + 0.08642902990070472, + -0.14392642403457803, + -0.983289051678809, + 0.11148015658944735, + 0.06996978238820242, + -0.12248278277101729, + -0.9900011098363555 + ], + [ + 0.9934697138718348, + -0.09531844287302264, + 0.06270822966467525, + -0.10148922979793178, + -0.9893893816452102, + 0.10396435794411389, + 0.05213313585847235, + -0.10964965087026753, + -0.9926021812436194 + ], + [ + 0.9966331246077473, + -0.07036249021971806, + 0.04208960566076531, + -0.07442150381958866, + -0.9917621662504499, + 0.10425567305161994, + 0.03440718971130307, + -0.10703702893996732, + -0.9936595089525764 + ], + [ + 0.9987990362948845, + -0.038517528206908694, + 0.030280110918559814, + -0.04110045935861875, + -0.995102265438888, + 0.08990124336684062, + 0.026669033295581224, + -0.09103780170469501, + -0.99549027183788 + ], + [ + 0.9997377305223494, + -0.013967135964546348, + 0.018149084907233753, + -0.015443676122232491, + -0.9963510288969182, + 0.08394117037475511, + 0.016910441681212526, + -0.08419944375706977, + -0.9963054203572045 + ], + [ + 0.9999666954858393, + 0.008142366823976165, + -0.0005565803040154227, + 0.008161289348440308, + -0.9973306942142195, + 0.07255949100120714, + 3.57113713031633e-05, + -0.0725616168555183, + -0.9973639308116226 + ], + [ + 0.9997949514728384, + 0.01541288891182232, + -0.013133844251242255, + 0.01602630197556636, + -0.9987208898996871, + 0.04795562243329049, + -0.012377909937142956, + -0.04815627615761191, + -0.9987631152641847 + ], + [ + 0.9998319422496316, + 0.007628455202956254, + -0.01667015082553916, + 0.008341688038684581, + -0.9990340847957427, + 0.043142944463703724, + -0.016324934854234516, + -0.04327475115525734, + -0.9989298235684306 + ], + [ + 0.9998672249095364, + -0.0015294974810669349, + -0.01622322992370778, + -0.0009713486217086628, + -0.999409167555165, + 0.034356546516595074, + -0.01626619296446413, + -0.03433622641099726, + -0.999277956587803 + ], + [ + 0.9999658306813689, + -0.0016312869839410658, + -0.008104096032022362, + -0.0015542341336880305, + -0.9999536175794769, + 0.009505106310576479, + -0.008119225700637663, + -0.009492185864894675, + -0.9999219852476136 + ], + [ + 0.9993179172360473, + -0.011274301762173124, + 0.03516518748397612, + -0.011822399844470883, + -0.9998112466436248, + 0.015417585635814818, + 0.034984727423908644, + -0.01582280647343222, + -0.9992625819284832 + ], + [ + 0.9977141787796799, + -0.01903439676524717, + 0.06483910241337602, + -0.01854434291214564, + -0.999794808984869, + -0.008151519666060383, + 0.06498095727169516, + 0.006930488200160471, + -0.9978624371752661 + ], + [ + 0.9914463956651939, + -0.028944956013662707, + 0.12726442568079474, + -0.028314808295494823, + -0.9995762095767285, + -0.0067581713065682225, + 0.12740610720716952, + 0.0030968967671970472, + -0.9918458010581725 + ], + [ + 0.988836134825007, + -0.020289701708166928, + 0.1476191941074543, + -0.02392442049741899, + -0.9994517233379008, + 0.02288831188102229, + 0.14707386092777783, + -0.02616449352641622, + -0.9887793984050754 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006032.json b/json/chunk-0006/episode_0006032.json new file mode 100644 index 0000000000000000000000000000000000000000..cdb79e14bcb02f21ed419db6727b37143db26054 --- /dev/null +++ b/json/chunk-0006/episode_0006032.json @@ -0,0 +1,1282 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 20, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut pan from stove to sink." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006032.mp4", + "start": 0, + "end": 20, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2026032954454422, + 0.017503907904028893, + 0.18963415920734406, + -0.08333306014537811, + -0.13960708677768707, + -0.11102166026830673, + 0.0, + 1.0008161067962646 + ], + [ + 0.1983475238084793, + 0.019375702366232872, + 0.18643604218959808, + -0.08136581629514694, + -0.08429057151079178, + -0.03998757526278496, + 0.0, + 1.0008161067962646 + ], + [ + 0.1998222917318344, + 0.028595522046089172, + 0.19380085170269012, + -0.03379654511809349, + -0.06632983684539795, + 0.08170995116233826, + 0.0, + 1.0014774799346924 + ], + [ + 0.2004917412996292, + 0.03409614413976669, + 0.19415707886219025, + -0.021360965445637703, + -0.0766248106956482, + 0.12826550006866455, + 0.0, + 1.0008161067962646 + ], + [ + 0.19847556948661804, + 0.041205648332834244, + 0.1942010223865509, + -0.03292769566178322, + -0.0819537341594696, + 0.25801506638526917, + 0.0, + 1.0008161067962646 + ], + [ + 0.19603119790554047, + 0.04901682212948799, + 0.191200390458107, + -0.044714462012052536, + -0.07394541800022125, + 0.3436616361141205, + 0.0, + 1.0014774799346924 + ], + [ + 0.18839770555496216, + 0.05470411852002144, + 0.18428120017051697, + -0.04607829451560974, + -0.0906144455075264, + 0.38664406538009644, + 0.0, + 1.0008161067962646 + ], + [ + 0.1789088398218155, + 0.05485250800848007, + 0.17396759986877441, + -0.05316319316625595, + -0.11592326313257217, + 0.415995329618454, + 0.0, + 1.0014774799346924 + ], + [ + 0.1747412383556366, + 0.054938167333602905, + 0.16713200509548187, + -0.07339221239089966, + -0.13561736047267914, + 0.44700831174850464, + 0.0, + 1.0008161067962646 + ], + [ + 0.17443382740020752, + 0.055394239723682404, + 0.152616485953331, + -0.10643842071294785, + -0.15252184867858887, + 0.4737290143966675, + 0.0, + 1.0008161067962646 + ], + [ + 0.17834392189979553, + 0.05510423704981804, + 0.14086268842220306, + -0.128322571516037, + -0.18590669333934784, + 0.49107834696769714, + 0.0, + 1.0008161067962646 + ], + [ + 0.1801837831735611, + 0.055043116211891174, + 0.13384126126766205, + -0.13980534672737122, + -0.2089623212814331, + 0.5042374134063721, + 0.0, + 1.0014774799346924 + ], + [ + 0.18073783814907074, + 0.05373663827776909, + 0.1297619491815567, + -0.13246659934520721, + -0.21770831942558289, + 0.5189435482025146, + 0.0, + 0.7969971895217896 + ], + [ + 0.18044500052928925, + 0.052099939435720444, + 0.1311175525188446, + -0.11877670884132385, + -0.22455230355262756, + 0.5179477334022522, + 0.0, + 0.4860933721065521 + ], + [ + 0.17999106645584106, + 0.05036962777376175, + 0.13060562312602997, + -0.12027661502361298, + -0.21553677320480347, + 0.521959662437439, + 0.0, + 0.2129654437303543 + ], + [ + 0.18010267615318298, + 0.044882092624902725, + 0.1325320303440094, + -0.11410018056631088, + -0.21750503778457642, + 0.5256562829017639, + 0.0, + 0.08571679890155792 + ], + [ + 0.17574626207351685, + 0.03182799741625786, + 0.13900120556354523, + -0.08465319871902466, + -0.22745166718959808, + 0.5209222435951233, + 0.0, + 0.06772904843091965 + ], + [ + 0.17640726268291473, + 0.008621374145150185, + 0.1556979864835739, + -0.06405270099639893, + -0.26124095916748047, + 0.5209924578666687, + 0.0, + 0.06772904843091965 + ], + [ + 0.1755671501159668, + -0.005641161929816008, + 0.16405421495437622, + -0.04462113603949547, + -0.27347251772880554, + 0.5337307453155518, + 0.0, + 0.06772904843091965 + ], + [ + 0.17619135975837708, + -0.02032536268234253, + 0.16716402769088745, + -0.025686612352728844, + -0.3163648545742035, + 0.5462484359741211, + 0.0, + 0.06772904843091965 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 0.7969971895217896 + ], + [ + 0.4860933721065521 + ], + [ + 0.2129654437303543 + ], + [ + 0.08571679890155792 + ], + [ + 0.06772904843091965 + ], + [ + 0.06772904843091965 + ], + [ + 0.06772904843091965 + ], + [ + 0.06772904843091965 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2026032954454422, + 0.017503907904028893, + 0.18963415920734406 + ], + [ + 0.1983475238084793, + 0.019375702366232872, + 0.18643604218959808 + ], + [ + 0.1998222917318344, + 0.028595522046089172, + 0.19380085170269012 + ], + [ + 0.2004917412996292, + 0.03409614413976669, + 0.19415707886219025 + ], + [ + 0.19847556948661804, + 0.041205648332834244, + 0.1942010223865509 + ], + [ + 0.19603119790554047, + 0.04901682212948799, + 0.191200390458107 + ], + [ + 0.18839770555496216, + 0.05470411852002144, + 0.18428120017051697 + ], + [ + 0.1789088398218155, + 0.05485250800848007, + 0.17396759986877441 + ], + [ + 0.1747412383556366, + 0.054938167333602905, + 0.16713200509548187 + ], + [ + 0.17443382740020752, + 0.055394239723682404, + 0.152616485953331 + ], + [ + 0.17834392189979553, + 0.05510423704981804, + 0.14086268842220306 + ], + [ + 0.1801837831735611, + 0.055043116211891174, + 0.13384126126766205 + ], + [ + 0.18073783814907074, + 0.05373663827776909, + 0.1297619491815567 + ], + [ + 0.18044500052928925, + 0.052099939435720444, + 0.1311175525188446 + ], + [ + 0.17999106645584106, + 0.05036962777376175, + 0.13060562312602997 + ], + [ + 0.18010267615318298, + 0.044882092624902725, + 0.1325320303440094 + ], + [ + 0.17574626207351685, + 0.03182799741625786, + 0.13900120556354523 + ], + [ + 0.17640726268291473, + 0.008621374145150185, + 0.1556979864835739 + ], + [ + 0.1755671501159668, + -0.005641161929816008, + 0.16405421495437622 + ], + [ + 0.17619135975837708, + -0.02032536268234253, + 0.16716402769088745 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9841740701056427, + -0.12192065845567013, + 0.12859530618739176, + -0.10971578872607557, + -0.9891113048729623, + -0.09808808427490466, + 0.13915403492500086, + 0.08242681368487735, + -0.986834319908793 + ], + [ + 0.995653094172544, + -0.046681887466105305, + 0.08059601384213216, + -0.03983498743284856, + -0.9956213260118097, + -0.08456564885762181, + 0.08419079427623946, + 0.080987508747261, + -0.9931530262683834 + ], + [ + 0.9944719184496599, + 0.07934027296430093, + 0.06878026243772839, + 0.08143957682796821, + -0.996277253311604, + -0.028270653688357423, + 0.06628120956299785, + 0.033715806676331964, + -0.997231189664177 + ], + [ + 0.9888751118235797, + 0.12626327973381604, + 0.07863585318900748, + 0.127538753217415, + -0.991768136282414, + -0.011394309222356472, + 0.07654985070952347, + 0.021296667480323904, + -0.9968382879437278 + ], + [ + 0.9636531337183776, + 0.25241768126438885, + 0.08750972551585381, + 0.2543054199466311, + -0.9670619091276519, + -0.010955240761786054, + 0.08186202575381524, + 0.032811249587458055, + -0.9961034236664339 + ], + [ + 0.9389543124641094, + 0.3334908755629162, + 0.08454960095311458, + 0.33601612024752187, + -0.9416988320335165, + -0.01721849820726896, + 0.07387804842342725, + 0.04457741202661247, + -0.9962704895248856 + ], + [ + 0.9223799171207088, + 0.3728216276107935, + 0.10109066464334683, + 0.3755352973470103, + -0.9267684180345711, + -0.008575533813784314, + 0.09049049087549142, + 0.04587301297427036, + -0.9948402573990336 + ], + [ + 0.9085753800264275, + 0.39790766460046434, + 0.12712304772163735, + 0.4013884193922105, + -0.9159058916402496, + -0.0019324690173018536, + 0.1156638041379249, + 0.052781512965092876, + -0.9918850721235096 + ], + [ + 0.8934645820265094, + 0.42216628797664296, + 0.15328622234309483, + 0.4283006562187161, + -0.903602322651445, + -0.007835201435216058, + 0.13520202863423195, + 0.07265306459424438, + -0.9881507696997722 + ], + [ + 0.8795428006261841, + 0.4392627532733755, + 0.1829007803519233, + 0.4509117171754511, + -0.8922008406715457, + -0.025618025272714014, + 0.1519311856747484, + 0.10500425463609098, + -0.9827975484950012 + ], + [ + 0.8666301797727434, + 0.4468412324901096, + 0.22200235236092106, + 0.463451360691506, + -0.8857290323424868, + -0.026399195798994968, + 0.18483767954682376, + 0.12576563207952288, + -0.9746886877395181 + ], + [ + 0.8564972140657668, + 0.45311619081251414, + 0.24718058160206904, + 0.47263001735128657, + -0.8809669907437223, + -0.022760226678850394, + 0.20744490592950784, + 0.13631903331342773, + -0.9687020863817679 + ], + [ + 0.8478463729606431, + 0.4668456972417832, + 0.25141921729317945, + 0.484255843208442, + -0.8748851070862677, + -0.008504570367194084, + 0.21599260676227441, + 0.1289617942085292, + -0.9678409215664288 + ], + [ + 0.84702396545004, + 0.46868479015413067, + 0.25076875688862776, + 0.4826681107650045, + -0.8757791354310476, + 0.006511589221374001, + 0.2226699279288306, + 0.11552261000265274, + -0.9680251183592005 + ], + [ + 0.8467865345254896, + 0.47273304477231803, + 0.24387708651409845, + 0.48704354307799314, + -0.8733757252020019, + 0.0018519648787002282, + 0.21387181229032148, + 0.11721054136966733, + -0.969804380738447 + ], + [ + 0.8446145762859919, + 0.47726618353585254, + 0.24257618922383295, + 0.4899582795270095, + -0.8716984349745515, + 0.009095206751414432, + 0.21579411912322288, + 0.11117026812974809, + -0.9700897224668411 + ], + [ + 0.8450209969787896, + 0.47936089361000905, + 0.2369655003210087, + 0.48486211143429186, + -0.8737434340479139, + 0.038485638277662604, + 0.22549555995729206, + 0.08237442039597212, + -0.9707554827576175 + ], + [ + 0.837897441579345, + 0.4823816652231002, + 0.2554130115154221, + 0.4808529125223888, + -0.8737757732079653, + 0.07277619578927233, + 0.2582796041376944, + 0.06183710222359636, + -0.9640891135548957 + ], + [ + 0.8289224675532803, + 0.49787079246124166, + 0.2549749336687744, + 0.4898430452077259, + -0.8661870943839592, + 0.09886206848076523, + 0.27007653331417464, + 0.042948708207453105, + -0.9618804887387561 + ], + [ + 0.8120738545012611, + 0.5124861000239657, + 0.2790950592857043, + 0.4937045754872557, + -0.8583485246350511, + 0.1396194914751522, + 0.31111388104424637, + 0.024409169159506222, + -0.9500591273613077 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.004255771636962891, + 0.0018717944622039795, + -0.0031981170177459717, + 0.0019672438502311707, + 0.055316515266895294, + 0.07103408873081207, + 1.0 + ], + [ + 0.0014747679233551025, + 0.0092198196798563, + 0.007364809513092041, + 0.04756927117705345, + 0.01796073466539383, + 0.12169753015041351, + 1.0 + ], + [ + 0.0006694495677947998, + 0.005500622093677521, + 0.00035622715950012207, + 0.012435579672455788, + -0.010294973850250244, + 0.046555548906326294, + 1.0 + ], + [ + -0.0020161718130111694, + 0.007109504193067551, + 4.394352436065674e-05, + -0.011566730216145515, + -0.005328923463821411, + 0.12974956631660461, + 1.0 + ], + [ + -0.0024443715810775757, + 0.0078111737966537476, + -0.0030006319284439087, + -0.011786766350269318, + 0.008008316159248352, + 0.08564656972885132, + 1.0 + ], + [ + -0.007633492350578308, + 0.005687296390533447, + -0.006919190287590027, + -0.0013638325035572052, + -0.016669027507305145, + 0.04298242926597595, + 1.0 + ], + [ + -0.009488865733146667, + 0.00014838948845863342, + -0.010313600301742554, + -0.00708489865064621, + -0.025308817625045776, + 0.029351264238357544, + 1.0 + ], + [ + -0.004167601466178894, + 8.565932512283325e-05, + -0.0068355947732925415, + -0.020229019224643707, + -0.019694097340106964, + 0.03101298213005066, + 1.0 + ], + [ + -0.00030741095542907715, + 0.0004560723900794983, + -0.014515519142150879, + -0.03304620832204819, + -0.01690448820590973, + 0.026720702648162842, + 1.0 + ], + [ + 0.003910094499588013, + -0.0002900026738643646, + -0.01175379753112793, + -0.021884150803089142, + -0.03338484466075897, + 0.017349332571029663, + 1.0 + ], + [ + 0.001839861273765564, + -6.112083792686462e-05, + -0.007021427154541016, + -0.011482775211334229, + -0.023055627942085266, + 0.013159066438674927, + 1.0 + ], + [ + 0.0005540549755096436, + -0.0013064779341220856, + -0.004079312086105347, + 0.0073387473821640015, + -0.00874599814414978, + 0.014706134796142578, + 0.0 + ], + [ + -0.00029283761978149414, + -0.001636698842048645, + 0.0013556033372879028, + 0.013689890503883362, + -0.006843984127044678, + -0.0009958148002624512, + 0.0 + ], + [ + -0.00045393407344818115, + -0.0017303116619586945, + -0.0005119293928146362, + -0.0014999061822891235, + 0.009015530347824097, + 0.004011929035186768, + 0.0 + ], + [ + 0.00011160969734191895, + -0.005487535148859024, + 0.0019264072179794312, + 0.0061764344573020935, + -0.0019682645797729492, + 0.003696620464324951, + 0.0 + ], + [ + -0.004356414079666138, + -0.013054095208644867, + 0.006469175219535828, + 0.029446981847286224, + -0.009946629405021667, + -0.004734039306640625, + 0.0 + ], + [ + 0.0006610006093978882, + -0.023206623271107674, + 0.016696780920028687, + 0.020600497722625732, + -0.033789291977882385, + 7.021427154541016e-05, + 0.0 + ], + [ + -0.000840112566947937, + -0.01426253654062748, + 0.008356228470802307, + 0.019431564956903458, + -0.012231558561325073, + 0.012738287448883057, + 0.0 + ], + [ + 0.0006242096424102783, + -0.014684200286865234, + 0.0031098127365112305, + 0.018934523686766624, + -0.04289233684539795, + 0.012517690658569336, + 0.0 + ], + [ + 0.00206206738948822, + -0.014032460749149323, + -0.0003494769334793091, + -0.0023163724690675735, + -0.042429983615875244, + 0.020259499549865723, + 0.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 0.7969971895217896 + ], + [ + 0.4860933721065521 + ], + [ + 0.2129654437303543 + ], + [ + 0.08571679890155792 + ], + [ + 0.06772904843091965 + ], + [ + 0.06772904843091965 + ], + [ + 0.06772904843091965 + ], + [ + 0.06772904843091965 + ], + [ + 0.06772904843091965 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.1983475238084793, + 0.019375702366232872, + 0.18643604218959808 + ], + [ + 0.1998222917318344, + 0.028595522046089172, + 0.19380085170269012 + ], + [ + 0.2004917412996292, + 0.03409614413976669, + 0.19415707886219025 + ], + [ + 0.19847556948661804, + 0.041205648332834244, + 0.1942010223865509 + ], + [ + 0.19603119790554047, + 0.04901682212948799, + 0.191200390458107 + ], + [ + 0.18839770555496216, + 0.05470411852002144, + 0.18428120017051697 + ], + [ + 0.1789088398218155, + 0.05485250800848007, + 0.17396759986877441 + ], + [ + 0.1747412383556366, + 0.054938167333602905, + 0.16713200509548187 + ], + [ + 0.17443382740020752, + 0.055394239723682404, + 0.152616485953331 + ], + [ + 0.17834392189979553, + 0.05510423704981804, + 0.14086268842220306 + ], + [ + 0.1801837831735611, + 0.055043116211891174, + 0.13384126126766205 + ], + [ + 0.18073783814907074, + 0.05373663827776909, + 0.1297619491815567 + ], + [ + 0.18044500052928925, + 0.052099939435720444, + 0.1311175525188446 + ], + [ + 0.17999106645584106, + 0.05036962777376175, + 0.13060562312602997 + ], + [ + 0.18010267615318298, + 0.044882092624902725, + 0.1325320303440094 + ], + [ + 0.17574626207351685, + 0.03182799741625786, + 0.13900120556354523 + ], + [ + 0.17640726268291473, + 0.008621374145150185, + 0.1556979864835739 + ], + [ + 0.1755671501159668, + -0.005641161929816008, + 0.16405421495437622 + ], + [ + 0.17619135975837708, + -0.02032536268234253, + 0.16716402769088745 + ], + [ + 0.1782534271478653, + -0.03435782343149185, + 0.16681455075740814 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.995653094172544, + -0.046681887466105305, + 0.08059601384213216, + -0.03983498743284856, + -0.9956213260118097, + -0.08456564885762181, + 0.08419079427623946, + 0.080987508747261, + -0.9931530262683834 + ], + [ + 0.9944719184496599, + 0.07934027296430093, + 0.06878026243772839, + 0.08143957682796821, + -0.996277253311604, + -0.028270653688357423, + 0.06628120956299785, + 0.033715806676331964, + -0.997231189664177 + ], + [ + 0.9888751118235797, + 0.12626327973381604, + 0.07863585318900748, + 0.127538753217415, + -0.991768136282414, + -0.011394309222356472, + 0.07654985070952347, + 0.021296667480323904, + -0.9968382879437278 + ], + [ + 0.9636531337183776, + 0.25241768126438885, + 0.08750972551585381, + 0.2543054199466311, + -0.9670619091276519, + -0.010955240761786054, + 0.08186202575381524, + 0.032811249587458055, + -0.9961034236664339 + ], + [ + 0.9389543124641094, + 0.3334908755629162, + 0.08454960095311458, + 0.33601612024752187, + -0.9416988320335165, + -0.01721849820726896, + 0.07387804842342725, + 0.04457741202661247, + -0.9962704895248856 + ], + [ + 0.9223799171207088, + 0.3728216276107935, + 0.10109066464334683, + 0.3755352973470103, + -0.9267684180345711, + -0.008575533813784314, + 0.09049049087549142, + 0.04587301297427036, + -0.9948402573990336 + ], + [ + 0.9085753800264275, + 0.39790766460046434, + 0.12712304772163735, + 0.4013884193922105, + -0.9159058916402496, + -0.0019324690173018536, + 0.1156638041379249, + 0.052781512965092876, + -0.9918850721235096 + ], + [ + 0.8934645820265094, + 0.42216628797664296, + 0.15328622234309483, + 0.4283006562187161, + -0.903602322651445, + -0.007835201435216058, + 0.13520202863423195, + 0.07265306459424438, + -0.9881507696997722 + ], + [ + 0.8795428006261841, + 0.4392627532733755, + 0.1829007803519233, + 0.4509117171754511, + -0.8922008406715457, + -0.025618025272714014, + 0.1519311856747484, + 0.10500425463609098, + -0.9827975484950012 + ], + [ + 0.8666301797727434, + 0.4468412324901096, + 0.22200235236092106, + 0.463451360691506, + -0.8857290323424868, + -0.026399195798994968, + 0.18483767954682376, + 0.12576563207952288, + -0.9746886877395181 + ], + [ + 0.8564972140657668, + 0.45311619081251414, + 0.24718058160206904, + 0.47263001735128657, + -0.8809669907437223, + -0.022760226678850394, + 0.20744490592950784, + 0.13631903331342773, + -0.9687020863817679 + ], + [ + 0.8478463729606431, + 0.4668456972417832, + 0.25141921729317945, + 0.484255843208442, + -0.8748851070862677, + -0.008504570367194084, + 0.21599260676227441, + 0.1289617942085292, + -0.9678409215664288 + ], + [ + 0.84702396545004, + 0.46868479015413067, + 0.25076875688862776, + 0.4826681107650045, + -0.8757791354310476, + 0.006511589221374001, + 0.2226699279288306, + 0.11552261000265274, + -0.9680251183592005 + ], + [ + 0.8467865345254896, + 0.47273304477231803, + 0.24387708651409845, + 0.48704354307799314, + -0.8733757252020019, + 0.0018519648787002282, + 0.21387181229032148, + 0.11721054136966733, + -0.969804380738447 + ], + [ + 0.8446145762859919, + 0.47726618353585254, + 0.24257618922383295, + 0.4899582795270095, + -0.8716984349745515, + 0.009095206751414432, + 0.21579411912322288, + 0.11117026812974809, + -0.9700897224668411 + ], + [ + 0.8450209969787896, + 0.47936089361000905, + 0.2369655003210087, + 0.48486211143429186, + -0.8737434340479139, + 0.038485638277662604, + 0.22549555995729206, + 0.08237442039597212, + -0.9707554827576175 + ], + [ + 0.837897441579345, + 0.4823816652231002, + 0.2554130115154221, + 0.4808529125223888, + -0.8737757732079653, + 0.07277619578927233, + 0.2582796041376944, + 0.06183710222359636, + -0.9640891135548957 + ], + [ + 0.8289224675532803, + 0.49787079246124166, + 0.2549749336687744, + 0.4898430452077259, + -0.8661870943839592, + 0.09886206848076523, + 0.27007653331417464, + 0.042948708207453105, + -0.9618804887387561 + ], + [ + 0.8120738545012611, + 0.5124861000239657, + 0.2790950592857043, + 0.4937045754872557, + -0.8583485246350511, + 0.1396194914751522, + 0.31111388104424637, + 0.024409169159506222, + -0.9500591273613077 + ], + [ + 0.7900489238612042, + 0.528182455279596, + 0.3112008866320445, + 0.5025128207300504, + -0.8487261024974765, + 0.16475699663859814, + 0.351146070614041, + 0.026216347462232836, + -0.935953599393719 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006033.json b/json/chunk-0006/episode_0006033.json new file mode 100644 index 0000000000000000000000000000000000000000..8035510071b5c942a29f6654ea77799623406e91 --- /dev/null +++ b/json/chunk-0006/episode_0006033.json @@ -0,0 +1,1162 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 18, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut pear in bowl." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006033.mp4", + "start": 0, + "end": 18, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2863180935382843, + -0.07582855224609375, + 0.10521890968084335, + -0.05299698933959007, + -0.16525310277938843, + 0.08658582717180252, + 0.0, + 1.0014774799346924 + ], + [ + 0.286907821893692, + -0.07486901432275772, + 0.09205721318721771, + -0.029093854129314423, + -0.15184366703033447, + 0.0998384952545166, + 0.0, + 1.002137303352356 + ], + [ + 0.2897784113883972, + -0.07647405564785004, + 0.08297531306743622, + -0.012978939339518547, + -0.16123667359352112, + 0.10400614887475967, + 0.0, + 1.0014774799346924 + ], + [ + 0.28938210010528564, + -0.07600563764572144, + 0.07595035433769226, + -0.012093906290829182, + -0.16796250641345978, + 0.09652923047542572, + 0.0, + 1.002137303352356 + ], + [ + 0.2859474718570709, + -0.0750155970454216, + 0.06805860996246338, + -0.022632012143731117, + -0.1686878651380539, + 0.07486119866371155, + 0.0, + 1.002137303352356 + ], + [ + 0.28058549761772156, + -0.07280905544757843, + 0.058857403695583344, + -0.024599486961960793, + -0.16992700099945068, + 0.04752669855952263, + 0.0, + 1.002137303352356 + ], + [ + 0.2802017629146576, + -0.07073001563549042, + 0.05225852504372597, + -0.03047993965446949, + -0.19786928594112396, + 0.029942866414785385, + 0.0, + 1.0014774799346924 + ], + [ + 0.28105130791664124, + -0.07099714130163193, + 0.04455281049013138, + -0.04165467619895935, + -0.22183190286159515, + 0.035651687532663345, + 0.0, + 0.8074146509170532 + ], + [ + 0.2833448052406311, + -0.07206279784440994, + 0.04325541481375694, + -0.05837368592619896, + -0.247114896774292, + 0.04044590890407562, + 0.0, + 0.729983389377594 + ], + [ + 0.2838636040687561, + -0.07032421976327896, + 0.04444749280810356, + -0.053714510053396225, + -0.24089846014976501, + 0.0561784952878952, + 0.0, + 0.729983389377594 + ], + [ + 0.2759978473186493, + -0.05825170502066612, + 0.04969913884997368, + 0.015337279997766018, + -0.16214469075202942, + 0.03280676156282425, + 0.0, + 0.7001883387565613 + ], + [ + 0.2707851231098175, + -0.03051719255745411, + 0.06431605666875839, + 0.05711783841252327, + -0.13375867903232574, + 0.010713516734540462, + 0.0, + 0.684196949005127 + ], + [ + 0.2656010091304779, + -0.006272203288972378, + 0.06123774126172066, + 0.0676337406039238, + -0.1420605480670929, + -0.008033408783376217, + 0.0, + 0.684196949005127 + ], + [ + 0.2594320774078369, + 0.01334475539624691, + 0.04767235741019249, + 0.09778803586959839, + -0.16888801753520966, + -0.026586327701807022, + 0.0, + 0.684196949005127 + ], + [ + 0.2614400088787079, + 0.028031496331095695, + 0.03777921944856644, + 0.1339322179555893, + -0.2260247766971588, + -0.05926041677594185, + 0.0, + 0.6831957101821899 + ], + [ + 0.2644737660884857, + 0.04187736287713051, + 0.025643998757004738, + 0.12301553785800934, + -0.2438201904296875, + -0.08335904777050018, + 0.0, + 0.6831957101821899 + ], + [ + 0.26630899310112, + 0.053293365985155106, + 0.01616625487804413, + 0.0832175463438034, + -0.25875934958457947, + -0.11135369539260864, + 0.0, + 0.684196949005127 + ], + [ + 0.2684812545776367, + 0.05803292617201805, + 0.012818245217204094, + 0.056402936577796936, + -0.2805192470550537, + -0.11683019995689392, + 0.0, + 0.9107924103736877 + ] + ], + "left_gripper_pos": [ + [ + 1.0014774799346924 + ], + [ + 1.002137303352356 + ], + [ + 1.0014774799346924 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.0014774799346924 + ], + [ + 0.8074146509170532 + ], + [ + 0.729983389377594 + ], + [ + 0.729983389377594 + ], + [ + 0.7001883387565613 + ], + [ + 0.684196949005127 + ], + [ + 0.684196949005127 + ], + [ + 0.684196949005127 + ], + [ + 0.6831957101821899 + ], + [ + 0.6831957101821899 + ], + [ + 0.684196949005127 + ], + [ + 0.9107924103736877 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2863180935382843, + -0.07582855224609375, + 0.10521890968084335 + ], + [ + 0.286907821893692, + -0.07486901432275772, + 0.09205721318721771 + ], + [ + 0.2897784113883972, + -0.07647405564785004, + 0.08297531306743622 + ], + [ + 0.28938210010528564, + -0.07600563764572144, + 0.07595035433769226 + ], + [ + 0.2859474718570709, + -0.0750155970454216, + 0.06805860996246338 + ], + [ + 0.28058549761772156, + -0.07280905544757843, + 0.058857403695583344 + ], + [ + 0.2802017629146576, + -0.07073001563549042, + 0.05225852504372597 + ], + [ + 0.28105130791664124, + -0.07099714130163193, + 0.04455281049013138 + ], + [ + 0.2833448052406311, + -0.07206279784440994, + 0.04325541481375694 + ], + [ + 0.2838636040687561, + -0.07032421976327896, + 0.04444749280810356 + ], + [ + 0.2759978473186493, + -0.05825170502066612, + 0.04969913884997368 + ], + [ + 0.2707851231098175, + -0.03051719255745411, + 0.06431605666875839 + ], + [ + 0.2656010091304779, + -0.006272203288972378, + 0.06123774126172066 + ], + [ + 0.2594320774078369, + 0.01334475539624691, + 0.04767235741019249 + ], + [ + 0.2614400088787079, + 0.028031496331095695, + 0.03777921944856644 + ], + [ + 0.2644737660884857, + 0.04187736287713051, + 0.025643998757004738 + ], + [ + 0.26630899310112, + 0.053293365985155106, + 0.01616625487804413 + ], + [ + 0.2684812545776367, + 0.05803292617201805, + 0.012818245217204094 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9826815752226774, + 0.07767487635861332, + 0.16823654567468777, + 0.08529957028034717, + -0.9956086056260464, + -0.03856796226594597, + 0.16450199095410756, + 0.052250530964129446, + -0.9849918664568256 + ], + [ + 0.9835714566226846, + 0.09525230774456393, + 0.15334336499002824, + 0.09852587154866892, + -0.9950377608684249, + -0.013874692123660763, + 0.1512608420996833, + 0.028755039824108486, + -0.9880755564894865 + ], + [ + 0.9816958277190342, + 0.10173768767002628, + 0.16100541837651378, + 0.10247215911913235, + -0.9947287774820908, + 0.0037571071914623104, + 0.16053896238764992, + 0.01281023639676887, + -0.9869463710855597 + ], + [ + 0.9813376116506884, + 0.09436001980931097, + 0.1675490334836619, + 0.09502308628569364, + -0.9954667340695486, + 0.004073626596594921, + 0.1671738766448408, + 0.011923423270743397, + -0.9858553275937816 + ], + [ + 0.9830448720004119, + 0.07098344188503357, + 0.16906841991290944, + 0.07372970091779722, + -0.9972279907042625, + -0.010013279108847563, + 0.16788898366559368, + 0.022308866714684815, + -0.985553450417399 + ], + [ + 0.9844841969244691, + 0.04333952194921996, + 0.1700369131782745, + 0.04682454453264813, + -0.9987662266431997, + -0.016537428645786948, + 0.16911040191334484, + 0.024242738172853415, + -0.9852989199276477 + ], + [ + 0.9800481526900143, + 0.023936333659385953, + 0.19731363444992095, + 0.029354224197419163, + -0.9992668327402517, + -0.024578985069232933, + 0.19658063976561407, + 0.029880577574947765, + -0.9800322459761871 + ], + [ + 0.974876153635881, + 0.026456951780953225, + 0.2211707819187944, + 0.034770712949321735, + -0.9988242411945338, + -0.03378065604987687, + 0.22001700523620094, + 0.04062222180807605, + -0.974649861489894 + ], + [ + 0.9688291936044805, + 0.026107147153066713, + 0.24635017858166813, + 0.03920655860460851, + -0.9980573362245172, + -0.0484189980359366, + 0.24460752110692563, + 0.05656828153611134, + -0.9679706556202909 + ], + [ + 0.9695919744626276, + 0.04327938401741234, + 0.24086987768655616, + 0.05452759369417859, + -0.9977016013136258, + -0.04022755600517212, + 0.23857523883166448, + 0.0521383702785198, + -0.9697233862092396 + ], + [ + 0.9863522893405641, + 0.0352715657025985, + 0.1608262353147513, + 0.03237063853588118, + -0.9992631449799291, + 0.02062301737382194, + 0.16143513580818705, + -0.015135512469319113, + -0.9867672538085582 + ], + [ + 0.9910107609573354, + 0.018308507955506672, + 0.1325234703862162, + 0.01061761660276674, + -0.9982303625604979, + 0.058509909246329005, + 0.13336018103032038, + -0.056576866286320186, + -0.9894514239298361 + ], + [ + 0.9898944163612419, + 0.0015532383087844956, + 0.14179785579335272, + -0.007952397570813962, + -0.9977583832714243, + 0.0664452254452439, + 0.14158320461732757, + -0.06690139058606853, + -0.9876631005094492 + ], + [ + 0.9854239177541593, + -0.010051350943265308, + 0.16981952968448408, + -0.026204977672999084, + -0.9953070989776283, + 0.09315083397316054, + 0.16808629171708697, + -0.09624317673972022, + -0.9810628162701129 + ], + [ + 0.9728542246426211, + -0.0288226187992712, + 0.22961688579143455, + -0.05771932882696988, + -0.9910771602182336, + 0.1201438370184924, + 0.22410519109286361, + -0.13013577194343545, + -0.9658372244772498 + ], + [ + 0.9670531684085584, + -0.05311366569929448, + 0.24897210282871365, + -0.0807998702008589, + -0.9914634590132637, + 0.10233078919356711, + 0.24141157894039036, + -0.11907622750758232, + -0.9630894566944805 + ], + [ + 0.9607209525050013, + -0.08960163651788496, + 0.262653380239432, + -0.10742420311688099, + -0.9927309499876599, + 0.05427063221763062, + 0.2558814022210015, + -0.08035426354534683, + -0.9633628082542417 + ], + [ + 0.9543613830241938, + -0.1008784982795765, + 0.28110119028030656, + -0.11200830703429508, + -0.9934229673914388, + 0.02376861406348671, + 0.2768546364926163, + -0.054169515818819874, + -0.9593837468961497 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + 0.0005897283554077148, + 0.000959537923336029, + -0.013161696493625641, + 0.02390313521027565, + 0.013409435749053955, + 0.01325266808271408, + 1.0 + ], + [ + 0.0028705894947052, + -0.0016050413250923157, + -0.009081900119781494, + 0.016114914789795876, + -0.009393006563186646, + 0.0041676536202430725, + 1.0 + ], + [ + -0.00039631128311157227, + 0.0004684180021286011, + -0.0070249587297439575, + 0.0008850330486893654, + -0.00672583281993866, + -0.007476918399333954, + 1.0 + ], + [ + -0.0034346282482147217, + 0.0009900406002998352, + -0.007891744375228882, + -0.010538105852901936, + -0.0007253587245941162, + -0.021668031811714172, + 1.0 + ], + [ + -0.005361974239349365, + 0.00220654159784317, + -0.009201206266880035, + -0.0019674748182296753, + -0.0012391358613967896, + -0.02733450010418892, + 1.0 + ], + [ + -0.00038373470306396484, + 0.0020790398120880127, + -0.006598878651857376, + -0.0058804526925086975, + -0.02794228494167328, + -0.017583832144737244, + 1.0 + ], + [ + 0.0008495450019836426, + -0.00026712566614151, + -0.007705714553594589, + -0.01117473654448986, + -0.02396261692047119, + 0.00570882111787796, + 0.0 + ], + [ + 0.002293497323989868, + -0.0010656565427780151, + -0.0012973956763744354, + -0.01671900972723961, + -0.02528299391269684, + 0.004794221371412277, + 0.0 + ], + [ + 0.000518798828125, + 0.0017385780811309814, + 0.0011920779943466187, + 0.004659175872802734, + 0.0062164366245269775, + 0.01573258638381958, + 0.0 + ], + [ + -0.007865756750106812, + 0.012072514742612839, + 0.005251646041870117, + 0.06905178725719452, + 0.0787537693977356, + -0.023371733725070953, + 0.0 + ], + [ + -0.005212724208831787, + 0.027734512463212013, + 0.014616917818784714, + 0.04178055748343468, + 0.028386011719703674, + -0.022093243896961212, + 0.0 + ], + [ + -0.0051841139793396, + 0.024244990199804306, + -0.003078315407037735, + 0.010515902191400528, + -0.008301869034767151, + -0.01874692551791668, + 0.0 + ], + [ + -0.006168931722640991, + 0.019616957753896713, + -0.013565383851528168, + 0.03015429526567459, + -0.02682746946811676, + -0.01855291798710823, + 0.0 + ], + [ + 0.0020079314708709717, + 0.014686740934848785, + -0.009893137961626053, + 0.036144182085990906, + -0.05713675916194916, + -0.03267408907413483, + 0.0 + ], + [ + 0.003033757209777832, + 0.013845866546034813, + -0.012135220691561699, + -0.010916680097579956, + -0.017795413732528687, + -0.024098630994558334, + 0.0 + ], + [ + 0.0018352270126342773, + 0.011416003108024597, + -0.00947774387896061, + -0.03979799151420593, + -0.014939159154891968, + -0.02799464762210846, + 1.0 + ], + [ + 0.0021722614765167236, + 0.0047395601868629456, + -0.0033480096608400345, + -0.02681460976600647, + -0.021759897470474243, + -0.005476504564285278, + 1.0 + ], + [ + 0.0006258487701416016, + -0.00044620782136917114, + -0.000563562847673893, + -0.007468454539775848, + -0.004602283239364624, + 0.009512349963188171, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.002137303352356 + ], + [ + 1.0014774799346924 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.0014774799346924 + ], + [ + 0.8074146509170532 + ], + [ + 0.729983389377594 + ], + [ + 0.729983389377594 + ], + [ + 0.7001883387565613 + ], + [ + 0.684196949005127 + ], + [ + 0.684196949005127 + ], + [ + 0.684196949005127 + ], + [ + 0.6831957101821899 + ], + [ + 0.6831957101821899 + ], + [ + 0.684196949005127 + ], + [ + 0.9107924103736877 + ], + [ + 1.0131081342697144 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.286907821893692, + -0.07486901432275772, + 0.09205721318721771 + ], + [ + 0.2897784113883972, + -0.07647405564785004, + 0.08297531306743622 + ], + [ + 0.28938210010528564, + -0.07600563764572144, + 0.07595035433769226 + ], + [ + 0.2859474718570709, + -0.0750155970454216, + 0.06805860996246338 + ], + [ + 0.28058549761772156, + -0.07280905544757843, + 0.058857403695583344 + ], + [ + 0.2802017629146576, + -0.07073001563549042, + 0.05225852504372597 + ], + [ + 0.28105130791664124, + -0.07099714130163193, + 0.04455281049013138 + ], + [ + 0.2833448052406311, + -0.07206279784440994, + 0.04325541481375694 + ], + [ + 0.2838636040687561, + -0.07032421976327896, + 0.04444749280810356 + ], + [ + 0.2759978473186493, + -0.05825170502066612, + 0.04969913884997368 + ], + [ + 0.2707851231098175, + -0.03051719255745411, + 0.06431605666875839 + ], + [ + 0.2656010091304779, + -0.006272203288972378, + 0.06123774126172066 + ], + [ + 0.2594320774078369, + 0.01334475539624691, + 0.04767235741019249 + ], + [ + 0.2614400088787079, + 0.028031496331095695, + 0.03777921944856644 + ], + [ + 0.2644737660884857, + 0.04187736287713051, + 0.025643998757004738 + ], + [ + 0.26630899310112, + 0.053293365985155106, + 0.01616625487804413 + ], + [ + 0.2684812545776367, + 0.05803292617201805, + 0.012818245217204094 + ], + [ + 0.2691071033477783, + 0.05758671835064888, + 0.012254682369530201 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9835714566226846, + 0.09525230774456393, + 0.15334336499002824, + 0.09852587154866892, + -0.9950377608684249, + -0.013874692123660763, + 0.1512608420996833, + 0.028755039824108486, + -0.9880755564894865 + ], + [ + 0.9816958277190342, + 0.10173768767002628, + 0.16100541837651378, + 0.10247215911913235, + -0.9947287774820908, + 0.0037571071914623104, + 0.16053896238764992, + 0.01281023639676887, + -0.9869463710855597 + ], + [ + 0.9813376116506884, + 0.09436001980931097, + 0.1675490334836619, + 0.09502308628569364, + -0.9954667340695486, + 0.004073626596594921, + 0.1671738766448408, + 0.011923423270743397, + -0.9858553275937816 + ], + [ + 0.9830448720004119, + 0.07098344188503357, + 0.16906841991290944, + 0.07372970091779722, + -0.9972279907042625, + -0.010013279108847563, + 0.16788898366559368, + 0.022308866714684815, + -0.985553450417399 + ], + [ + 0.9844841969244691, + 0.04333952194921996, + 0.1700369131782745, + 0.04682454453264813, + -0.9987662266431997, + -0.016537428645786948, + 0.16911040191334484, + 0.024242738172853415, + -0.9852989199276477 + ], + [ + 0.9800481526900143, + 0.023936333659385953, + 0.19731363444992095, + 0.029354224197419163, + -0.9992668327402517, + -0.024578985069232933, + 0.19658063976561407, + 0.029880577574947765, + -0.9800322459761871 + ], + [ + 0.974876153635881, + 0.026456951780953225, + 0.2211707819187944, + 0.034770712949321735, + -0.9988242411945338, + -0.03378065604987687, + 0.22001700523620094, + 0.04062222180807605, + -0.974649861489894 + ], + [ + 0.9688291936044805, + 0.026107147153066713, + 0.24635017858166813, + 0.03920655860460851, + -0.9980573362245172, + -0.0484189980359366, + 0.24460752110692563, + 0.05656828153611134, + -0.9679706556202909 + ], + [ + 0.9695919744626276, + 0.04327938401741234, + 0.24086987768655616, + 0.05452759369417859, + -0.9977016013136258, + -0.04022755600517212, + 0.23857523883166448, + 0.0521383702785198, + -0.9697233862092396 + ], + [ + 0.9863522893405641, + 0.0352715657025985, + 0.1608262353147513, + 0.03237063853588118, + -0.9992631449799291, + 0.02062301737382194, + 0.16143513580818705, + -0.015135512469319113, + -0.9867672538085582 + ], + [ + 0.9910107609573354, + 0.018308507955506672, + 0.1325234703862162, + 0.01061761660276674, + -0.9982303625604979, + 0.058509909246329005, + 0.13336018103032038, + -0.056576866286320186, + -0.9894514239298361 + ], + [ + 0.9898944163612419, + 0.0015532383087844956, + 0.14179785579335272, + -0.007952397570813962, + -0.9977583832714243, + 0.0664452254452439, + 0.14158320461732757, + -0.06690139058606853, + -0.9876631005094492 + ], + [ + 0.9854239177541593, + -0.010051350943265308, + 0.16981952968448408, + -0.026204977672999084, + -0.9953070989776283, + 0.09315083397316054, + 0.16808629171708697, + -0.09624317673972022, + -0.9810628162701129 + ], + [ + 0.9728542246426211, + -0.0288226187992712, + 0.22961688579143455, + -0.05771932882696988, + -0.9910771602182336, + 0.1201438370184924, + 0.22410519109286361, + -0.13013577194343545, + -0.9658372244772498 + ], + [ + 0.9670531684085584, + -0.05311366569929448, + 0.24897210282871365, + -0.0807998702008589, + -0.9914634590132637, + 0.10233078919356711, + 0.24141157894039036, + -0.11907622750758232, + -0.9630894566944805 + ], + [ + 0.9607209525050013, + -0.08960163651788496, + 0.262653380239432, + -0.10742420311688099, + -0.9927309499876599, + 0.05427063221763062, + 0.2558814022210015, + -0.08035426354534683, + -0.9633628082542417 + ], + [ + 0.9543613830241938, + -0.1008784982795765, + 0.28110119028030656, + -0.11200830703429508, + -0.9934229673914388, + 0.02376861406348671, + 0.2768546364926163, + -0.054169515818819874, + -0.9593837468961497 + ], + [ + 0.9541067052455959, + -0.09330439555283442, + 0.28456051162435275, + -0.10278758928422267, + -0.9945304990470525, + 0.018541789405511017, + 0.28127407718190306, + -0.046940134594402064, + -0.9584787516005391 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006034.json b/json/chunk-0006/episode_0006034.json new file mode 100644 index 0000000000000000000000000000000000000000..ecb6c44ed66248497c15620a6e833fed8e5b40c7 --- /dev/null +++ b/json/chunk-0006/episode_0006034.json @@ -0,0 +1,2182 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 35, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nTake lid off pot." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006034.mp4", + "start": 0, + "end": 35, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.26588889956474304, + 0.06516917794942856, + 0.201520174741745, + -0.004825417418032885, + -0.06147543713450432, + 0.22289562225341797, + 0.0, + 0.9947922229766846 + ], + [ + 0.2659275531768799, + 0.06474614888429642, + 0.19453109800815582, + -0.0055364142172038555, + -0.03537840023636818, + 0.22599293291568756, + 0.0, + 0.9941151142120361 + ], + [ + 0.2664301097393036, + 0.046876076608896255, + 0.18706169724464417, + -0.0342392735183239, + 0.03029249794781208, + 0.2286473959684372, + 0.0, + 0.9947922229766846 + ], + [ + 0.26237064599990845, + 0.026906831189990044, + 0.18005487322807312, + -0.02021910808980465, + 0.012770039029419422, + 0.21371452510356903, + 0.0, + 0.9941151142120361 + ], + [ + 0.2531076967716217, + 0.007950383238494396, + 0.17187614738941193, + -0.04708195477724075, + 0.03398707136511803, + 0.16512493789196014, + 0.0, + 0.9941151142120361 + ], + [ + 0.23448283970355988, + -0.019387206062674522, + 0.1553642749786377, + -0.07650132477283478, + 0.04002455249428749, + 0.11735334992408752, + 0.0, + 0.9947922229766846 + ], + [ + 0.2272169142961502, + -0.03573627769947052, + 0.1444472074508667, + -0.09295336157083511, + 0.05370548367500305, + 0.11421171575784683, + 0.0, + 0.9941151142120361 + ], + [ + 0.2202104777097702, + -0.048229750245809555, + 0.13093124330043793, + -0.10632975399494171, + 0.04947511851787567, + 0.09258036315441132, + 0.0, + 0.9947922229766846 + ], + [ + 0.21972593665122986, + -0.055596742779016495, + 0.12323392927646637, + -0.102187879383564, + 0.03912295773625374, + 0.08530141413211823, + 0.0, + 0.9941151142120361 + ], + [ + 0.2187976986169815, + -0.06154938414692879, + 0.11047445982694626, + -0.07757218182086945, + 0.03755314648151398, + 0.09201237559318542, + 0.0, + 0.9947922229766846 + ], + [ + 0.21818050742149353, + -0.06756795197725296, + 0.10258612036705017, + -0.06824769824743271, + 0.024358002468943596, + 0.08779050409793854, + 0.0, + 0.9941151142120361 + ], + [ + 0.22212351858615875, + -0.07004562020301819, + 0.09289040416479111, + -0.05272219330072403, + 0.02715696208178997, + 0.09513653814792633, + 0.0, + 0.9947922229766846 + ], + [ + 0.21710804104804993, + -0.07720191776752472, + 0.08112387359142303, + -0.037957049906253815, + 0.02330143377184868, + 0.07850588858127594, + 0.0, + 0.9941151142120361 + ], + [ + 0.2203204482793808, + -0.07628155499696732, + 0.074317067861557, + -0.03007989190518856, + 0.02348436787724495, + 0.08038853853940964, + 0.0, + 0.9941151142120361 + ], + [ + 0.22081339359283447, + -0.07286950945854187, + 0.07093031704425812, + -0.018170000985264778, + 0.013821089640259743, + 0.08138924837112427, + 0.0, + 0.9947922229766846 + ], + [ + 0.22218966484069824, + -0.06800804287195206, + 0.06735045462846756, + -0.011146928183734417, + 0.024219568818807602, + 0.0998506098985672, + 0.0, + 0.9941151142120361 + ], + [ + 0.22478850185871124, + -0.06741117686033249, + 0.061888959258794785, + -0.0009645685786381364, + 0.021803326904773712, + 0.09194711595773697, + 0.0, + 0.9941151142120361 + ], + [ + 0.22522298991680145, + -0.0671149268746376, + 0.061155714094638824, + 0.001420812914147973, + 0.020871290937066078, + 0.09179592877626419, + 0.0, + 0.9941151142120361 + ], + [ + 0.22195197641849518, + -0.06865393370389938, + 0.05741067975759506, + 0.0063423896208405495, + 0.018947595730423927, + 0.0868549793958664, + 0.0, + 0.9545519351959229 + ], + [ + 0.20744463801383972, + -0.07669675350189209, + 0.05187133327126503, + 0.006698501296341419, + 0.00873684324324131, + 0.07485378533601761, + 0.0, + 0.672171950340271 + ], + [ + 0.20486809313297272, + -0.07623951137065887, + 0.05084662884473801, + 0.0073782773688435555, + -0.017383627593517303, + 0.08965390175580978, + 0.0, + 0.38577979803085327 + ], + [ + 0.2047702968120575, + -0.07768839597702026, + 0.05151640996336937, + 0.0031090688426047564, + -0.02045249752700329, + 0.09008210897445679, + 0.0, + 0.36950385570526123 + ], + [ + 0.2028951495885849, + -0.0770139992237091, + 0.05460702255368233, + -0.005146482493728399, + 0.006048085168004036, + 0.11447016894817352, + 0.0, + 0.3962334990501404 + ], + [ + 0.20387797057628632, + -0.07245131582021713, + 0.06631134450435638, + -0.01780550926923752, + 0.018776405602693558, + 0.13268305361270905, + 0.0, + 0.400628000497818 + ], + [ + 0.2082662433385849, + -0.06630086898803711, + 0.08767140656709671, + -0.0559312142431736, + 0.009499994106590748, + 0.16058380901813507, + 0.0, + 0.4015096127986908 + ], + [ + 0.212924987077713, + -0.055093761533498764, + 0.09523610025644302, + -0.06722255796194077, + 0.015642710030078888, + 0.17530891299247742, + 0.0, + 0.400628000497818 + ], + [ + 0.21592003107070923, + -0.035408373922109604, + 0.09931282699108124, + -0.07655922323465347, + 0.0031497932504862547, + 0.19281068444252014, + 0.0, + 0.400628000497818 + ], + [ + 0.2186151146888733, + -0.009933644905686378, + 0.09966439008712769, + -0.07807175815105438, + -0.006780754309147596, + 0.19841612875461578, + 0.0, + 0.4015096127986908 + ], + [ + 0.22012777626514435, + 0.0073804366402328014, + 0.09785401821136475, + -0.06240018829703331, + -0.016689864918589592, + 0.1948758214712143, + 0.0, + 0.400628000497818 + ], + [ + 0.22474652528762817, + 0.02064388245344162, + 0.08238726109266281, + -0.039658162742853165, + 0.004797397647053003, + 0.21301907300949097, + 0.0, + 0.400628000497818 + ], + [ + 0.2369559109210968, + 0.02828017994761467, + 0.06865620613098145, + 0.000439791678218171, + 0.01844797283411026, + 0.21405208110809326, + 0.0, + 0.400628000497818 + ], + [ + 0.24641986191272736, + 0.03267940506339073, + 0.059395335614681244, + 0.019965501502156258, + 0.030210528522729874, + 0.22539041936397552, + 0.0, + 0.4015096127986908 + ], + [ + 0.24944649636745453, + 0.03837662190198898, + 0.04936627298593521, + 0.05111643671989441, + 0.029091769829392433, + 0.23171067237854004, + 0.0, + 0.3737536668777466 + ], + [ + 0.2526853084564209, + 0.04146896302700043, + 0.04761308431625366, + 0.056712910532951355, + -0.006561344489455223, + 0.2472076565027237, + 0.0, + 0.438394159078598 + ], + [ + 0.2522284686565399, + 0.04490017145872116, + 0.047880496829748154, + 0.08097386360168457, + -0.008845023810863495, + 0.2406020164489746, + 0.0, + 0.7574808597564697 + ] + ], + "left_gripper_pos": [ + [ + 0.9947922229766846 + ], + [ + 0.9941151142120361 + ], + [ + 0.9947922229766846 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9947922229766846 + ], + [ + 0.9941151142120361 + ], + [ + 0.9947922229766846 + ], + [ + 0.9941151142120361 + ], + [ + 0.9947922229766846 + ], + [ + 0.9941151142120361 + ], + [ + 0.9947922229766846 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9947922229766846 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9545519351959229 + ], + [ + 0.672171950340271 + ], + [ + 0.38577979803085327 + ], + [ + 0.36950385570526123 + ], + [ + 0.3962334990501404 + ], + [ + 0.400628000497818 + ], + [ + 0.4015096127986908 + ], + [ + 0.400628000497818 + ], + [ + 0.400628000497818 + ], + [ + 0.4015096127986908 + ], + [ + 0.400628000497818 + ], + [ + 0.400628000497818 + ], + [ + 0.400628000497818 + ], + [ + 0.4015096127986908 + ], + [ + 0.3737536668777466 + ], + [ + 0.438394159078598 + ], + [ + 0.7574808597564697 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.26588889956474304, + 0.06516917794942856, + 0.201520174741745 + ], + [ + 0.2659275531768799, + 0.06474614888429642, + 0.19453109800815582 + ], + [ + 0.2664301097393036, + 0.046876076608896255, + 0.18706169724464417 + ], + [ + 0.26237064599990845, + 0.026906831189990044, + 0.18005487322807312 + ], + [ + 0.2531076967716217, + 0.007950383238494396, + 0.17187614738941193 + ], + [ + 0.23448283970355988, + -0.019387206062674522, + 0.1553642749786377 + ], + [ + 0.2272169142961502, + -0.03573627769947052, + 0.1444472074508667 + ], + [ + 0.2202104777097702, + -0.048229750245809555, + 0.13093124330043793 + ], + [ + 0.21972593665122986, + -0.055596742779016495, + 0.12323392927646637 + ], + [ + 0.2187976986169815, + -0.06154938414692879, + 0.11047445982694626 + ], + [ + 0.21818050742149353, + -0.06756795197725296, + 0.10258612036705017 + ], + [ + 0.22212351858615875, + -0.07004562020301819, + 0.09289040416479111 + ], + [ + 0.21710804104804993, + -0.07720191776752472, + 0.08112387359142303 + ], + [ + 0.2203204482793808, + -0.07628155499696732, + 0.074317067861557 + ], + [ + 0.22081339359283447, + -0.07286950945854187, + 0.07093031704425812 + ], + [ + 0.22218966484069824, + -0.06800804287195206, + 0.06735045462846756 + ], + [ + 0.22478850185871124, + -0.06741117686033249, + 0.061888959258794785 + ], + [ + 0.22522298991680145, + -0.0671149268746376, + 0.061155714094638824 + ], + [ + 0.22195197641849518, + -0.06865393370389938, + 0.05741067975759506 + ], + [ + 0.20744463801383972, + -0.07669675350189209, + 0.05187133327126503 + ], + [ + 0.20486809313297272, + -0.07623951137065887, + 0.05084662884473801 + ], + [ + 0.2047702968120575, + -0.07768839597702026, + 0.05151640996336937 + ], + [ + 0.2028951495885849, + -0.0770139992237091, + 0.05460702255368233 + ], + [ + 0.20387797057628632, + -0.07245131582021713, + 0.06631134450435638 + ], + [ + 0.2082662433385849, + -0.06630086898803711, + 0.08767140656709671 + ], + [ + 0.212924987077713, + -0.055093761533498764, + 0.09523610025644302 + ], + [ + 0.21592003107070923, + -0.035408373922109604, + 0.09931282699108124 + ], + [ + 0.2186151146888733, + -0.009933644905686378, + 0.09966439008712769 + ], + [ + 0.22012777626514435, + 0.0073804366402328014, + 0.09785401821136475 + ], + [ + 0.22474652528762817, + 0.02064388245344162, + 0.08238726109266281 + ], + [ + 0.2369559109210968, + 0.02828017994761467, + 0.06865620613098145 + ], + [ + 0.24641986191272736, + 0.03267940506339073, + 0.059395335614681244 + ], + [ + 0.24944649636745453, + 0.03837662190198898, + 0.04936627298593521 + ], + [ + 0.2526853084564209, + 0.04146896302700043, + 0.04761308431625366 + ], + [ + 0.2522284686565399, + 0.04490017145872116, + 0.047880496829748154 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9734191603519639, + 0.2207628382596936, + 0.06098284597492966, + 0.22063695825648957, + -0.975315627198475, + 0.008874682741891902, + 0.061436722821140904, + 0.00481628341873001, + -0.9980993600353768 + ], + [ + 0.9739622581108563, + 0.22387987487197547, + 0.03571164240007498, + 0.22393394266777844, + -0.974601040634864, + 0.002530002906103477, + 0.035371020579937386, + 0.005532921538335024, + -0.9993589333579727 + ], + [ + 0.973527025255366, + 0.2275373303351786, + -0.02172313056116678, + 0.2265563424760123, + -0.9731680063170868, + -0.04020267608901387, + -0.03028786524880059, + 0.03421687865317588, + -0.9989553796010631 + ], + [ + 0.9771701588075877, + 0.21230032312344102, + -0.008188622450458621, + 0.2120740806966124, + -0.9769953340880321, + -0.022465561798031036, + -0.012769691955578203, + 0.020216082011531012, + -0.9997140816230722 + ], + [ + 0.9858281767137518, + 0.16577094289875105, + -0.025744911879804058, + 0.16428064303793272, + -0.9850418667083308, + -0.05200376096793755, + -0.03398052854625995, + 0.04703738217871053, + -0.9983149845401955 + ], + [ + 0.9923266275648339, + 0.1197788213417878, + -0.030674063698431776, + 0.11699040418405998, + -0.9898592534195759, + -0.08057235101751775, + -0.04001386702948927, + 0.07636551825013627, + -0.9962766674311582 + ], + [ + 0.9920525291569167, + 0.11842165043963071, + -0.0425216662481494, + 0.11379926349557329, + -0.988628174418972, + -0.0983059528862614, + -0.05367967046499242, + 0.09268573489035234, + -0.9942473774300867 + ], + [ + 0.9944990945251352, + 0.0971521995863045, + -0.039153558002164364, + 0.09233504321534661, + -0.9896087742729894, + -0.11022120338814753, + -0.04945493689315624, + 0.10599964149681906, + -0.9931355824958844 + ], + [ + 0.9956016168347779, + 0.08872897020346801, + -0.03007640940352175, + 0.08513281090538091, + -0.9908264346949327, + -0.10495418437145212, + -0.03911297819554047, + 0.10193206637933028, + -0.9940221470270745 + ], + [ + 0.9950677929719626, + 0.09450345362333804, + -0.03015268882154413, + 0.09181781624013885, + -0.9925080247031179, + -0.08060589011236667, + -0.03754432061976048, + 0.07743977113329063, + -0.9962898703871399 + ], + [ + 0.9958533890051593, + 0.08912819361034115, + -0.01822615457787343, + 0.08765176925311886, + -0.9936842569466885, + -0.07006257805066701, + -0.024355593890049133, + 0.0681745010987638, + -0.9973760787417141 + ], + [ + 0.9951108716328259, + 0.09628556271230304, + -0.021987350257201322, + 0.09495806365544712, + -0.9939587933188371, + -0.05503529168605767, + -0.027153624158954243, + 0.05267834087494172, + -0.9982422917797551 + ], + [ + 0.9966493650928854, + 0.07925022225960533, + -0.02023475553968793, + 0.07840398270737374, + -0.9961325906478745, + -0.03965699616429805, + -0.023299325217044715, + 0.03793763462521703, + -0.9990084470731332 + ], + [ + 0.9964957265278467, + 0.08096961300592431, + -0.02098067638112406, + 0.08027984092836976, + -0.9962629640292536, + -0.031863045117526544, + -0.023482209271153645, + 0.030067062931332933, + -0.9992720138052645 + ], + [ + 0.9965945294855683, + 0.08153627762743115, + -0.012295496334074021, + 0.08129165666589516, + -0.9965047846753963, + -0.019232282120336546, + -0.0138206496212364, + 0.01816726588412419, + -0.9997394361003983 + ], + [ + 0.9947272496837234, + 0.09994717595724147, + -0.022983923834437137, + 0.09965553626811892, + -0.9949303422979355, + -0.013505112588421382, + -0.02421720107214354, + 0.011143428246483003, + -0.999644612439414 + ], + [ + 0.9955391621029219, + 0.09183851064672864, + -0.02162093156187096, + 0.09179578955944041, + -0.9957734471315055, + -0.0029622638299234075, + -0.021801599449841443, + 0.0009643391674371716, + -0.9997618517984166 + ], + [ + 0.9955728309771693, + 0.0916374437464538, + -0.020912128627180483, + 0.09164709860821027, + -0.9957914244835009, + -0.000498238714670095, + -0.02086977567683014, + -0.001420502986736254, + -0.9997811933790629 + ], + [ + 0.9960516531868842, + 0.08662436121241478, + -0.019424835345935445, + 0.08673024709242712, + -0.996220863622845, + 0.004674946185778125, + -0.018946462017013926, + -0.006341208646186711, + -0.9998003904029763 + ], + [ + 0.99716170417643, + 0.07472386638022495, + -0.009213008040188793, + 0.07478104864399028, + -0.9971817677683265, + 0.00602634168804971, + -0.008736732092919858, + -0.006698195550015943, + -0.9999394000081759 + ], + [ + 0.995833295537087, + 0.08965914778318985, + 0.016651868319704253, + 0.08952031853109775, + -0.9959451870854678, + 0.008904880200398587, + 0.01738275207886956, + -0.00737709564020806, + -0.9998216932984 + ], + [ + 0.9957370527922998, + 0.09002321663830708, + 0.020088358882615284, + 0.08994151079685477, + -0.9959348162560917, + 0.0049362338400638864, + 0.020451071661005297, + -0.003108413588466996, + -0.9997860228233234 + ], + [ + 0.9934372713227073, + 0.11424975060728558, + -0.005420556527315113, + 0.11421825186329486, + -0.993438729568555, + -0.0058035794564843405, + -0.006048048295583368, + 0.005146365648478222, + -0.9999684675190642 + ], + [ + 0.9910357875752472, + 0.132604464045827, + -0.01625188789736317, + 0.13227076686519507, + -0.9910091650457, + -0.020131543118146588, + -0.018775302341179474, + 0.017801430014006043, + -0.9996652425244432 + ], + [ + 0.987089559699183, + 0.16016872637140406, + -0.0004245296642119128, + 0.1598873164445187, + -0.9855055662552171, + -0.05669942610075128, + -0.009499851211668171, + 0.05589953463622499, + -0.9983912033138163 + ], + [ + 0.9845522381742552, + 0.17505300279858083, + -0.003651919668465756, + 0.17439098568095385, + -0.9822654837344387, + -0.06886438540475617, + -0.015642072090686156, + 0.06716372291013578, + -0.9976193461965143 + ], + [ + 0.981464665497541, + 0.19129340184628232, + 0.011573451942967399, + 0.19161729884091525, + -0.9785484252245005, + -0.07566895185980249, + -0.0031497880422020064, + 0.07648407612520716, + -0.9970658277839844 + ], + [ + 0.9803574768510908, + 0.19599788716616262, + 0.02200104107906771, + 0.1971122514148611, + -0.9774979704531849, + -0.07512974179423754, + 0.006780702347635931, + 0.07799067884243854, + -0.9969310287524248 + ], + [ + 0.9809350872557097, + 0.1922467979411255, + 0.028416953953889358, + 0.1936177390177228, + -0.9793638340886212, + -0.05795387490842001, + 0.016689090097976603, + 0.062351015714420255, + -0.9979147383975656 + ], + [ + 0.9773858553600264, + 0.211431369068237, + 0.003696743983637853, + 0.21140925924502196, + -0.9765883814801478, + -0.03976503820514426, + -0.004797379245037036, + 0.03964731178675842, + -0.9992022196835149 + ], + [ + 0.9770119156150275, + 0.21241329000825304, + -0.01811935357909162, + 0.21238509281600393, + -0.9771798201339299, + -0.0034887637578047545, + -0.018446926459216695, + -0.0004397168295202623, + -0.9998297442831545 + ], + [ + 0.9742621657366844, + 0.2228545978801187, + -0.033897796650449105, + 0.22338494579052665, + -0.9746474355222062, + 0.01270993407338342, + -0.030205933328206782, + -0.019955065363883886, + -0.9993444836281904 + ], + [ + 0.9728631482945925, + 0.2278963715201865, + -0.040006731161983694, + 0.22954564328330845, + -0.9723450197874041, + 0.043057637467529684, + -0.02908766645824674, + -0.05107255958502805, + -0.9982712563814746 + ], + [ + 0.9695786091029951, + 0.2446646550989579, + -0.0075184649503096225, + 0.24469219469813774, + -0.9679496048219084, + 0.05656228760330939, + 0.006561297410552189, + -0.0566812938315526, + -0.9983707629462468 + ], + [ + 0.9711567077596016, + 0.2382013902548453, + -0.010711986472647178, + 0.2382780236771843, + -0.9678420123136452, + 0.08065620021528802, + 0.008844908480391371, + -0.08088224082783751, + -0.99668441881703 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + 3.865361213684082e-05, + -0.0004230290651321411, + -0.006989076733589172, + -0.0007109967991709709, + 0.02609703689813614, + 0.0030973106622695923, + 1.0 + ], + [ + 0.0005025565624237061, + -0.017870072275400162, + -0.007469400763511658, + -0.028702858835458755, + 0.06567090004682541, + 0.002654463052749634, + 1.0 + ], + [ + -0.004059463739395142, + -0.019969245418906212, + -0.007006824016571045, + 0.014020165428519249, + -0.017522457987070084, + -0.014932870864868164, + 1.0 + ], + [ + -0.009262949228286743, + -0.018956448882818222, + -0.008178725838661194, + -0.026862846687436104, + 0.02121703326702118, + -0.04858958721160889, + 1.0 + ], + [ + -0.01862485706806183, + -0.027337588369846344, + -0.01651187241077423, + -0.029419369995594025, + 0.006037481129169464, + -0.04777158796787262, + 1.0 + ], + [ + -0.007265925407409668, + -0.016349071636795998, + -0.010917067527770996, + -0.016452036798000336, + 0.013680931180715561, + -0.003141634166240692, + 1.0 + ], + [ + -0.007006436586380005, + -0.012493472546339035, + -0.013515964150428772, + -0.013376392424106598, + -0.00423036515712738, + -0.021631352603435516, + 1.0 + ], + [ + -0.00048454105854034424, + -0.00736699253320694, + -0.007697314023971558, + 0.004141874611377716, + -0.010352160781621933, + -0.007278949022293091, + 1.0 + ], + [ + -0.000928238034248352, + -0.0059526413679122925, + -0.012759469449520111, + 0.02461569756269455, + -0.0015698112547397614, + 0.0067109614610672, + 1.0 + ], + [ + -0.0006171911954879761, + -0.006018567830324173, + -0.007888339459896088, + 0.009324483573436737, + -0.013195144012570381, + -0.004221871495246887, + 1.0 + ], + [ + 0.003943011164665222, + -0.0024776682257652283, + -0.009695716202259064, + 0.01552550494670868, + 0.0027989596128463745, + 0.007346034049987793, + 1.0 + ], + [ + -0.005015477538108826, + -0.007156297564506531, + -0.011766530573368073, + 0.014765143394470215, + -0.003855528309941292, + -0.01663064956665039, + 1.0 + ], + [ + 0.0032124072313308716, + 0.0009203627705574036, + -0.006806805729866028, + 0.007877158001065254, + 0.00018293410539627075, + 0.0018826499581336975, + 1.0 + ], + [ + 0.0004929453134536743, + 0.0034120455384254456, + -0.003386750817298889, + 0.011909890919923782, + -0.009663278236985207, + 0.0010007098317146301, + 1.0 + ], + [ + 0.0013762712478637695, + 0.004861466586589813, + -0.003579862415790558, + 0.007023072801530361, + 0.01039847917854786, + 0.018461361527442932, + 1.0 + ], + [ + 0.0025988370180130005, + 0.0005968660116195679, + -0.005461495369672775, + 0.010182359255850315, + -0.0024162419140338898, + -0.00790349394083023, + 1.0 + ], + [ + 0.00043448805809020996, + 0.00029624998569488525, + -0.0007332451641559601, + 0.0023853816092014313, + -0.000932035967707634, + -0.00015118718147277832, + 1.0 + ], + [ + -0.0032710134983062744, + -0.0015390068292617798, + -0.003745034337043762, + 0.00492157693952322, + -0.0019236952066421509, + -0.004940949380397797, + 0.0 + ], + [ + -0.014507338404655457, + -0.008042819797992706, + -0.005539346486330032, + 0.00035611167550086975, + -0.010210752487182617, + -0.012001194059848785, + 0.0 + ], + [ + -0.0025765448808670044, + 0.00045724213123321533, + -0.0010247044265270233, + 0.0006797760725021362, + -0.026120470836758614, + 0.014800116419792175, + 0.0 + ], + [ + -9.779632091522217e-05, + -0.0014488846063613892, + 0.0006697811186313629, + -0.004269208759069443, + -0.003068869933485985, + 0.0004282072186470032, + 0.0 + ], + [ + -0.0018751472234725952, + 0.0006743967533111572, + 0.0030906125903129578, + -0.0082555515691638, + 0.026500582695007324, + 0.024388059973716736, + 0.0 + ], + [ + 0.000982820987701416, + 0.004562683403491974, + 0.011704321950674057, + -0.012659026309847832, + 0.012728320434689522, + 0.018212884664535522, + 0.0 + ], + [ + 0.004388272762298584, + 0.006150446832180023, + 0.021360062062740326, + -0.03812570497393608, + -0.00927641149610281, + 0.027900755405426025, + 0.0 + ], + [ + 0.004658743739128113, + 0.011207107454538345, + 0.0075646936893463135, + -0.011291343718767166, + 0.00614271592348814, + 0.014725103974342346, + 0.0 + ], + [ + 0.002995043992996216, + 0.01968538761138916, + 0.004076726734638214, + -0.009336665272712708, + -0.01249291654676199, + 0.017501771450042725, + 0.0 + ], + [ + 0.0026950836181640625, + 0.025474729016423225, + 0.00035156309604644775, + -0.0015125349164009094, + -0.009930547326803207, + 0.005605444312095642, + 0.0 + ], + [ + 0.0015126615762710571, + 0.017314082011580467, + -0.0018103718757629395, + 0.015671569854021072, + -0.009909110143780708, + -0.0035403072834014893, + 0.0 + ], + [ + 0.004618749022483826, + 0.013263445347547531, + -0.015466757118701935, + 0.022742025554180145, + 0.021487262099981308, + 0.018143251538276672, + 0.0 + ], + [ + 0.012209385633468628, + 0.00763629749417305, + -0.013731054961681366, + 0.040097955614328384, + 0.013650575652718544, + 0.001033008098602295, + 0.0 + ], + [ + 0.009463950991630554, + 0.004399225115776062, + -0.009260870516300201, + 0.019525710493326187, + 0.011762555688619614, + 0.011338338255882263, + 0.0 + ], + [ + 0.003026634454727173, + 0.005697216838598251, + -0.010029062628746033, + 0.03115093521773815, + -0.0011187586933374405, + 0.006320253014564514, + 1.0 + ], + [ + 0.0032388120889663696, + 0.003092341125011444, + -0.001753188669681549, + 0.005596473813056946, + -0.035653114318847656, + 0.015496984124183655, + 1.0 + ], + [ + -0.00045683979988098145, + 0.0034312084317207336, + 0.0002674125134944916, + 0.024260953068733215, + -0.002283679321408272, + -0.0066056400537490845, + 1.0 + ], + [ + -0.0008212029933929443, + -0.00025435909628868103, + 9.001791477203369e-05, + 0.007095746695995331, + 0.004930231720209122, + -0.004236072301864624, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9941151142120361 + ], + [ + 0.9947922229766846 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9947922229766846 + ], + [ + 0.9941151142120361 + ], + [ + 0.9947922229766846 + ], + [ + 0.9941151142120361 + ], + [ + 0.9947922229766846 + ], + [ + 0.9941151142120361 + ], + [ + 0.9947922229766846 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9947922229766846 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9545519351959229 + ], + [ + 0.672171950340271 + ], + [ + 0.38577979803085327 + ], + [ + 0.36950385570526123 + ], + [ + 0.3962334990501404 + ], + [ + 0.400628000497818 + ], + [ + 0.4015096127986908 + ], + [ + 0.400628000497818 + ], + [ + 0.400628000497818 + ], + [ + 0.4015096127986908 + ], + [ + 0.400628000497818 + ], + [ + 0.400628000497818 + ], + [ + 0.400628000497818 + ], + [ + 0.4015096127986908 + ], + [ + 0.3737536668777466 + ], + [ + 0.438394159078598 + ], + [ + 0.7574808597564697 + ], + [ + 0.9886419177055359 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2659275531768799, + 0.06474614888429642, + 0.19453109800815582 + ], + [ + 0.2664301097393036, + 0.046876076608896255, + 0.18706169724464417 + ], + [ + 0.26237064599990845, + 0.026906831189990044, + 0.18005487322807312 + ], + [ + 0.2531076967716217, + 0.007950383238494396, + 0.17187614738941193 + ], + [ + 0.23448283970355988, + -0.019387206062674522, + 0.1553642749786377 + ], + [ + 0.2272169142961502, + -0.03573627769947052, + 0.1444472074508667 + ], + [ + 0.2202104777097702, + -0.048229750245809555, + 0.13093124330043793 + ], + [ + 0.21972593665122986, + -0.055596742779016495, + 0.12323392927646637 + ], + [ + 0.2187976986169815, + -0.06154938414692879, + 0.11047445982694626 + ], + [ + 0.21818050742149353, + -0.06756795197725296, + 0.10258612036705017 + ], + [ + 0.22212351858615875, + -0.07004562020301819, + 0.09289040416479111 + ], + [ + 0.21710804104804993, + -0.07720191776752472, + 0.08112387359142303 + ], + [ + 0.2203204482793808, + -0.07628155499696732, + 0.074317067861557 + ], + [ + 0.22081339359283447, + -0.07286950945854187, + 0.07093031704425812 + ], + [ + 0.22218966484069824, + -0.06800804287195206, + 0.06735045462846756 + ], + [ + 0.22478850185871124, + -0.06741117686033249, + 0.061888959258794785 + ], + [ + 0.22522298991680145, + -0.0671149268746376, + 0.061155714094638824 + ], + [ + 0.22195197641849518, + -0.06865393370389938, + 0.05741067975759506 + ], + [ + 0.20744463801383972, + -0.07669675350189209, + 0.05187133327126503 + ], + [ + 0.20486809313297272, + -0.07623951137065887, + 0.05084662884473801 + ], + [ + 0.2047702968120575, + -0.07768839597702026, + 0.05151640996336937 + ], + [ + 0.2028951495885849, + -0.0770139992237091, + 0.05460702255368233 + ], + [ + 0.20387797057628632, + -0.07245131582021713, + 0.06631134450435638 + ], + [ + 0.2082662433385849, + -0.06630086898803711, + 0.08767140656709671 + ], + [ + 0.212924987077713, + -0.055093761533498764, + 0.09523610025644302 + ], + [ + 0.21592003107070923, + -0.035408373922109604, + 0.09931282699108124 + ], + [ + 0.2186151146888733, + -0.009933644905686378, + 0.09966439008712769 + ], + [ + 0.22012777626514435, + 0.0073804366402328014, + 0.09785401821136475 + ], + [ + 0.22474652528762817, + 0.02064388245344162, + 0.08238726109266281 + ], + [ + 0.2369559109210968, + 0.02828017994761467, + 0.06865620613098145 + ], + [ + 0.24641986191272736, + 0.03267940506339073, + 0.059395335614681244 + ], + [ + 0.24944649636745453, + 0.03837662190198898, + 0.04936627298593521 + ], + [ + 0.2526853084564209, + 0.04146896302700043, + 0.04761308431625366 + ], + [ + 0.2522284686565399, + 0.04490017145872116, + 0.047880496829748154 + ], + [ + 0.251407265663147, + 0.04464581236243248, + 0.04797051474452019 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9739622581108563, + 0.22387987487197547, + 0.03571164240007498, + 0.22393394266777844, + -0.974601040634864, + 0.002530002906103477, + 0.035371020579937386, + 0.005532921538335024, + -0.9993589333579727 + ], + [ + 0.973527025255366, + 0.2275373303351786, + -0.02172313056116678, + 0.2265563424760123, + -0.9731680063170868, + -0.04020267608901387, + -0.03028786524880059, + 0.03421687865317588, + -0.9989553796010631 + ], + [ + 0.9771701588075877, + 0.21230032312344102, + -0.008188622450458621, + 0.2120740806966124, + -0.9769953340880321, + -0.022465561798031036, + -0.012769691955578203, + 0.020216082011531012, + -0.9997140816230722 + ], + [ + 0.9858281767137518, + 0.16577094289875105, + -0.025744911879804058, + 0.16428064303793272, + -0.9850418667083308, + -0.05200376096793755, + -0.03398052854625995, + 0.04703738217871053, + -0.9983149845401955 + ], + [ + 0.9923266275648339, + 0.1197788213417878, + -0.030674063698431776, + 0.11699040418405998, + -0.9898592534195759, + -0.08057235101751775, + -0.04001386702948927, + 0.07636551825013627, + -0.9962766674311582 + ], + [ + 0.9920525291569167, + 0.11842165043963071, + -0.0425216662481494, + 0.11379926349557329, + -0.988628174418972, + -0.0983059528862614, + -0.05367967046499242, + 0.09268573489035234, + -0.9942473774300867 + ], + [ + 0.9944990945251352, + 0.0971521995863045, + -0.039153558002164364, + 0.09233504321534661, + -0.9896087742729894, + -0.11022120338814753, + -0.04945493689315624, + 0.10599964149681906, + -0.9931355824958844 + ], + [ + 0.9956016168347779, + 0.08872897020346801, + -0.03007640940352175, + 0.08513281090538091, + -0.9908264346949327, + -0.10495418437145212, + -0.03911297819554047, + 0.10193206637933028, + -0.9940221470270745 + ], + [ + 0.9950677929719626, + 0.09450345362333804, + -0.03015268882154413, + 0.09181781624013885, + -0.9925080247031179, + -0.08060589011236667, + -0.03754432061976048, + 0.07743977113329063, + -0.9962898703871399 + ], + [ + 0.9958533890051593, + 0.08912819361034115, + -0.01822615457787343, + 0.08765176925311886, + -0.9936842569466885, + -0.07006257805066701, + -0.024355593890049133, + 0.0681745010987638, + -0.9973760787417141 + ], + [ + 0.9951108716328259, + 0.09628556271230304, + -0.021987350257201322, + 0.09495806365544712, + -0.9939587933188371, + -0.05503529168605767, + -0.027153624158954243, + 0.05267834087494172, + -0.9982422917797551 + ], + [ + 0.9966493650928854, + 0.07925022225960533, + -0.02023475553968793, + 0.07840398270737374, + -0.9961325906478745, + -0.03965699616429805, + -0.023299325217044715, + 0.03793763462521703, + -0.9990084470731332 + ], + [ + 0.9964957265278467, + 0.08096961300592431, + -0.02098067638112406, + 0.08027984092836976, + -0.9962629640292536, + -0.031863045117526544, + -0.023482209271153645, + 0.030067062931332933, + -0.9992720138052645 + ], + [ + 0.9965945294855683, + 0.08153627762743115, + -0.012295496334074021, + 0.08129165666589516, + -0.9965047846753963, + -0.019232282120336546, + -0.0138206496212364, + 0.01816726588412419, + -0.9997394361003983 + ], + [ + 0.9947272496837234, + 0.09994717595724147, + -0.022983923834437137, + 0.09965553626811892, + -0.9949303422979355, + -0.013505112588421382, + -0.02421720107214354, + 0.011143428246483003, + -0.999644612439414 + ], + [ + 0.9955391621029219, + 0.09183851064672864, + -0.02162093156187096, + 0.09179578955944041, + -0.9957734471315055, + -0.0029622638299234075, + -0.021801599449841443, + 0.0009643391674371716, + -0.9997618517984166 + ], + [ + 0.9955728309771693, + 0.0916374437464538, + -0.020912128627180483, + 0.09164709860821027, + -0.9957914244835009, + -0.000498238714670095, + -0.02086977567683014, + -0.001420502986736254, + -0.9997811933790629 + ], + [ + 0.9960516531868842, + 0.08662436121241478, + -0.019424835345935445, + 0.08673024709242712, + -0.996220863622845, + 0.004674946185778125, + -0.018946462017013926, + -0.006341208646186711, + -0.9998003904029763 + ], + [ + 0.99716170417643, + 0.07472386638022495, + -0.009213008040188793, + 0.07478104864399028, + -0.9971817677683265, + 0.00602634168804971, + -0.008736732092919858, + -0.006698195550015943, + -0.9999394000081759 + ], + [ + 0.995833295537087, + 0.08965914778318985, + 0.016651868319704253, + 0.08952031853109775, + -0.9959451870854678, + 0.008904880200398587, + 0.01738275207886956, + -0.00737709564020806, + -0.9998216932984 + ], + [ + 0.9957370527922998, + 0.09002321663830708, + 0.020088358882615284, + 0.08994151079685477, + -0.9959348162560917, + 0.0049362338400638864, + 0.020451071661005297, + -0.003108413588466996, + -0.9997860228233234 + ], + [ + 0.9934372713227073, + 0.11424975060728558, + -0.005420556527315113, + 0.11421825186329486, + -0.993438729568555, + -0.0058035794564843405, + -0.006048048295583368, + 0.005146365648478222, + -0.9999684675190642 + ], + [ + 0.9910357875752472, + 0.132604464045827, + -0.01625188789736317, + 0.13227076686519507, + -0.9910091650457, + -0.020131543118146588, + -0.018775302341179474, + 0.017801430014006043, + -0.9996652425244432 + ], + [ + 0.987089559699183, + 0.16016872637140406, + -0.0004245296642119128, + 0.1598873164445187, + -0.9855055662552171, + -0.05669942610075128, + -0.009499851211668171, + 0.05589953463622499, + -0.9983912033138163 + ], + [ + 0.9845522381742552, + 0.17505300279858083, + -0.003651919668465756, + 0.17439098568095385, + -0.9822654837344387, + -0.06886438540475617, + -0.015642072090686156, + 0.06716372291013578, + -0.9976193461965143 + ], + [ + 0.981464665497541, + 0.19129340184628232, + 0.011573451942967399, + 0.19161729884091525, + -0.9785484252245005, + -0.07566895185980249, + -0.0031497880422020064, + 0.07648407612520716, + -0.9970658277839844 + ], + [ + 0.9803574768510908, + 0.19599788716616262, + 0.02200104107906771, + 0.1971122514148611, + -0.9774979704531849, + -0.07512974179423754, + 0.006780702347635931, + 0.07799067884243854, + -0.9969310287524248 + ], + [ + 0.9809350872557097, + 0.1922467979411255, + 0.028416953953889358, + 0.1936177390177228, + -0.9793638340886212, + -0.05795387490842001, + 0.016689090097976603, + 0.062351015714420255, + -0.9979147383975656 + ], + [ + 0.9773858553600264, + 0.211431369068237, + 0.003696743983637853, + 0.21140925924502196, + -0.9765883814801478, + -0.03976503820514426, + -0.004797379245037036, + 0.03964731178675842, + -0.9992022196835149 + ], + [ + 0.9770119156150275, + 0.21241329000825304, + -0.01811935357909162, + 0.21238509281600393, + -0.9771798201339299, + -0.0034887637578047545, + -0.018446926459216695, + -0.0004397168295202623, + -0.9998297442831545 + ], + [ + 0.9742621657366844, + 0.2228545978801187, + -0.033897796650449105, + 0.22338494579052665, + -0.9746474355222062, + 0.01270993407338342, + -0.030205933328206782, + -0.019955065363883886, + -0.9993444836281904 + ], + [ + 0.9728631482945925, + 0.2278963715201865, + -0.040006731161983694, + 0.22954564328330845, + -0.9723450197874041, + 0.043057637467529684, + -0.02908766645824674, + -0.05107255958502805, + -0.9982712563814746 + ], + [ + 0.9695786091029951, + 0.2446646550989579, + -0.0075184649503096225, + 0.24469219469813774, + -0.9679496048219084, + 0.05656228760330939, + 0.006561297410552189, + -0.0566812938315526, + -0.9983707629462468 + ], + [ + 0.9711567077596016, + 0.2382013902548453, + -0.010711986472647178, + 0.2382780236771843, + -0.9678420123136452, + 0.08065620021528802, + 0.008844908480391371, + -0.08088224082783751, + -0.99668441881703 + ], + [ + 0.9721879339302738, + 0.23359836310210608, + -0.01680553112524208, + 0.2341693737480693, + -0.9683468900673986, + 0.08642340478848158, + 0.003914782091240976, + -0.0879551320436353, + -0.9961167447786249 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006037.json b/json/chunk-0006/episode_0006037.json new file mode 100644 index 0000000000000000000000000000000000000000..2fee7a53adc3a26ef7058dea11aec1ae00a9f242 --- /dev/null +++ b/json/chunk-0006/episode_0006037.json @@ -0,0 +1,1762 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 28, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nTake the eggplant and put it between the two right burners." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006037.mp4", + "start": 0, + "end": 28, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2838594913482666, + 0.05546483024954796, + 0.04955695569515228, + 0.11860664933919907, + -0.2499784380197525, + 0.8840775489807129, + 0.0, + 0.9981546401977539 + ], + [ + 0.2794587016105652, + 0.05361468344926834, + 0.041871391236782074, + 0.13788123428821564, + -0.23021027445793152, + 0.8716526627540588, + 0.0, + 0.9981546401977539 + ], + [ + 0.26353615522384644, + 0.04245259612798691, + 0.028869399800896645, + 0.17018243670463562, + -0.19555658102035522, + 0.780693531036377, + 0.0, + 0.9981546401977539 + ], + [ + 0.2484363615512848, + 0.025887031108140945, + 0.031227685511112213, + 0.153340145945549, + -0.1757640540599823, + 0.65360027551651, + 0.0, + 0.9981546401977539 + ], + [ + 0.2287774235010147, + 0.0058000716380774975, + 0.028705133125185966, + 0.10813982039690018, + -0.14319908618927002, + 0.5049802660942078, + 0.0, + 0.9665181636810303 + ], + [ + 0.2161943018436432, + -0.010573548264801502, + 0.022852495312690735, + 0.06813541054725647, + -0.10389905422925949, + 0.439695805311203, + 0.0, + 0.7151217460632324 + ], + [ + 0.20599420368671417, + -0.020714759826660156, + 0.018204573541879654, + 0.04904691502451897, + -0.10332467406988144, + 0.40356481075286865, + 0.0, + 0.41932523250579834 + ], + [ + 0.1995156854391098, + -0.027871351689100266, + 0.014017496258020401, + 0.04744761809706688, + -0.09489741921424866, + 0.38699454069137573, + 0.0, + 0.17027510702610016 + ], + [ + 0.19363173842430115, + -0.038802314549684525, + 0.0052526360377669334, + 0.0419098325073719, + -0.07994230836629868, + 0.4016856849193573, + 0.0, + 0.056468017399311066 + ], + [ + 0.18818102777004242, + -0.04432522505521774, + -0.0053289951756596565, + 0.05329294875264168, + -0.0956486165523529, + 0.40881606936454773, + 0.0, + 0.05271430313587189 + ], + [ + 0.18797707557678223, + -0.044104237109422684, + -0.014650639146566391, + 0.05632822588086128, + -0.107500821352005, + 0.40497106313705444, + 0.0, + 0.05271430313587189 + ], + [ + 0.1910254955291748, + -0.03809531405568123, + -0.020646588876843452, + 0.06054770201444626, + -0.1109980046749115, + 0.41613712906837463, + 0.0, + 0.05271430313587189 + ], + [ + 0.20224444568157196, + -0.029339443892240524, + -0.02114604413509369, + 0.05862902104854584, + -0.11902876198291779, + 0.4509889483451843, + 0.0, + 0.05271430313587189 + ], + [ + 0.21084387600421906, + -0.018585076555609703, + -0.020501982420682907, + 0.04850531741976738, + -0.13708609342575073, + 0.48109737038612366, + 0.0, + 0.05271430313587189 + ], + [ + 0.22540423274040222, + -0.008172331377863884, + -0.02155149355530739, + 0.06949393451213837, + -0.1683150827884674, + 0.47202345728874207, + 0.0, + 0.05271430313587189 + ], + [ + 0.23937684297561646, + 0.0023189764469861984, + -0.021117547526955605, + 0.07778111100196838, + -0.20675353705883026, + 0.4661659896373749, + 0.0, + 0.05271430313587189 + ], + [ + 0.25121375918388367, + 0.01268795132637024, + -0.02044001966714859, + 0.06717640161514282, + -0.2176916003227234, + 0.5073855519294739, + 0.0, + 0.05271430313587189 + ], + [ + 0.2575811445713043, + 0.01882648468017578, + -0.01909882016479969, + 0.07447806745767593, + -0.23262225091457367, + 0.508840024471283, + 0.0, + 0.05271430313587189 + ], + [ + 0.259033203125, + 0.02529790997505188, + -0.018544603139162064, + 0.08152810484170914, + -0.23114491999149323, + 0.507481575012207, + 0.0, + 0.05271430313587189 + ], + [ + 0.2533875107765198, + 0.02789308689534664, + -0.017394838854670525, + 0.09068658947944641, + -0.1908726543188095, + 0.4923384487628937, + 0.0, + 0.05271430313587189 + ], + [ + 0.2523598372936249, + 0.02912573143839836, + -0.003906805068254471, + 0.08614029735326767, + -0.201669842004776, + 0.5267707109451294, + 0.0, + 0.05271430313587189 + ], + [ + 0.25453534722328186, + 0.028751933947205544, + 0.010382398962974548, + 0.07299300283193588, + -0.21125100553035736, + 0.5560078024864197, + 0.0, + 0.05271430313587189 + ], + [ + 0.2562510073184967, + 0.028156552463769913, + 0.022891871631145477, + 0.06575898081064224, + -0.21251070499420166, + 0.5833146572113037, + 0.0, + 0.05271430313587189 + ], + [ + 0.261361300945282, + 0.0295797660946846, + 0.02916167676448822, + 0.07757250219583511, + -0.22117963433265686, + 0.6278052926063538, + 0.0, + 0.07270156592130661 + ], + [ + 0.2709442973136902, + 0.037011466920375824, + 0.026604868471622467, + 0.07539594173431396, + -0.2153497338294983, + 0.7371776103973389, + 0.0, + 0.2142026573419571 + ], + [ + 0.2829000949859619, + 0.049266163259744644, + 0.04018845036625862, + 0.038693033158779144, + -0.2138240784406662, + 0.9142348170280457, + 0.0, + 0.4522285461425781 + ], + [ + 0.29438069462776184, + 0.05746205523610115, + 0.04436372220516205, + -0.010462366975843906, + -0.20564553141593933, + 1.0896327495574951, + 0.0, + 0.748681366443634 + ], + [ + 0.31111979484558105, + 0.07191994041204453, + 0.04721115529537201, + -0.11654412746429443, + -0.26928696036338806, + 1.1411120891571045, + 0.0, + 0.9809558987617493 + ] + ], + "left_gripper_pos": [ + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9665181636810303 + ], + [ + 0.7151217460632324 + ], + [ + 0.41932523250579834 + ], + [ + 0.17027510702610016 + ], + [ + 0.056468017399311066 + ], + [ + 0.05271430313587189 + ], + [ + 0.05271430313587189 + ], + [ + 0.05271430313587189 + ], + [ + 0.05271430313587189 + ], + [ + 0.05271430313587189 + ], + [ + 0.05271430313587189 + ], + [ + 0.05271430313587189 + ], + [ + 0.05271430313587189 + ], + [ + 0.05271430313587189 + ], + [ + 0.05271430313587189 + ], + [ + 0.05271430313587189 + ], + [ + 0.05271430313587189 + ], + [ + 0.05271430313587189 + ], + [ + 0.05271430313587189 + ], + [ + 0.07270156592130661 + ], + [ + 0.2142026573419571 + ], + [ + 0.4522285461425781 + ], + [ + 0.748681366443634 + ], + [ + 0.9809558987617493 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2838594913482666, + 0.05546483024954796, + 0.04955695569515228 + ], + [ + 0.2794587016105652, + 0.05361468344926834, + 0.041871391236782074 + ], + [ + 0.26353615522384644, + 0.04245259612798691, + 0.028869399800896645 + ], + [ + 0.2484363615512848, + 0.025887031108140945, + 0.031227685511112213 + ], + [ + 0.2287774235010147, + 0.0058000716380774975, + 0.028705133125185966 + ], + [ + 0.2161943018436432, + -0.010573548264801502, + 0.022852495312690735 + ], + [ + 0.20599420368671417, + -0.020714759826660156, + 0.018204573541879654 + ], + [ + 0.1995156854391098, + -0.027871351689100266, + 0.014017496258020401 + ], + [ + 0.19363173842430115, + -0.038802314549684525, + 0.0052526360377669334 + ], + [ + 0.18818102777004242, + -0.04432522505521774, + -0.0053289951756596565 + ], + [ + 0.18797707557678223, + -0.044104237109422684, + -0.014650639146566391 + ], + [ + 0.1910254955291748, + -0.03809531405568123, + -0.020646588876843452 + ], + [ + 0.20224444568157196, + -0.029339443892240524, + -0.02114604413509369 + ], + [ + 0.21084387600421906, + -0.018585076555609703, + -0.020501982420682907 + ], + [ + 0.22540423274040222, + -0.008172331377863884, + -0.02155149355530739 + ], + [ + 0.23937684297561646, + 0.0023189764469861984, + -0.021117547526955605 + ], + [ + 0.25121375918388367, + 0.01268795132637024, + -0.02044001966714859 + ], + [ + 0.2575811445713043, + 0.01882648468017578, + -0.01909882016479969 + ], + [ + 0.259033203125, + 0.02529790997505188, + -0.018544603139162064 + ], + [ + 0.2533875107765198, + 0.02789308689534664, + -0.017394838854670525 + ], + [ + 0.2523598372936249, + 0.02912573143839836, + -0.003906805068254471 + ], + [ + 0.25453534722328186, + 0.028751933947205544, + 0.010382398962974548 + ], + [ + 0.2562510073184967, + 0.028156552463769913, + 0.022891871631145477 + ], + [ + 0.261361300945282, + 0.0295797660946846, + 0.02916167676448822 + ], + [ + 0.2709442973136902, + 0.037011466920375824, + 0.026604868471622467 + ], + [ + 0.2829000949859619, + 0.049266163259744644, + 0.04018845036625862 + ], + [ + 0.29438069462776184, + 0.05746205523610115, + 0.04436372220516205 + ], + [ + 0.31111979484558105, + 0.07191994041204453, + 0.04721115529537201 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.6142968906182096, + 0.7864563021947099, + 0.06423250668487444, + 0.7492936327488519, + -0.6069115835022585, + 0.26498562552110205, + 0.24738306752651462, + -0.11465083754165979, + -0.9621105982953143 + ], + [ + 0.626584304007583, + 0.7783132551241134, + 0.04025651337907929, + 0.745201293725416, + -0.6134500929591757, + 0.2614460083427276, + 0.22818225566704284, + -0.13381875932202425, + -0.964378244182341 + ], + [ + 0.6968846747863662, + 0.7169850470308812, + 0.016858006466534986, + 0.6903581591056147, + -0.6770021552426263, + 0.2550954604714589, + 0.1943125374344316, + -0.16613405469970335, + -0.9667689039604184 + ], + [ + 0.7816683691404283, + 0.6221176264543519, + 0.044319516470136225, + 0.5986805294674818, + -0.7683446483115586, + 0.2263363096092254, + 0.17486047101011376, + -0.15038670242342234, + -0.9730404181802164 + ], + [ + 0.8662260926932687, + 0.49444425327574026, + 0.0719530175875075, + 0.47883834478002707, + -0.8626200863692425, + 0.16309637077704825, + 0.14271018150670425, + -0.10682446814712486, + -0.9839828947189109 + ], + [ + 0.9000014796458631, + 0.43106592166426494, + 0.06464911302558508, + 0.4233687652675827, + -0.8997759579311156, + 0.10565090688179514, + 0.10371222315165925, + -0.06771555736225658, + -0.9922995404917103 + ], + [ + 0.9147621311203527, + 0.39687751983447667, + 0.07548826212190396, + 0.39060490703388834, + -0.9165752195571604, + 0.08554340123464127, + 0.10314092334858252, + -0.04876577840840776, + -0.9934706079129991 + ], + [ + 0.9218808801860413, + 0.3811440380910289, + 0.06974858403633781, + 0.37570882777265224, + -0.9233091749996165, + 0.07964323006525577, + 0.09475504989766691, + -0.047216412286322576, + -0.9943802546962096 + ], + [ + 0.9174637710725109, + 0.39370660544523267, + 0.05705556588273997, + 0.3897217706248985, + -0.918286936313131, + 0.06975703618731346, + 0.07985718671730072, + -0.04176375731942725, + -0.9959310308973018 + ], + [ + 0.9133979366791848, + 0.4016268566254947, + 0.0663330785304927, + 0.39570622528002397, + -0.9142670819985205, + 0.08678874378942218, + 0.09550284050667329, + -0.05302424738773197, + -0.9940159136775034 + ], + [ + 0.9138080754310762, + 0.3989191741869109, + 0.07627774080939698, + 0.39171778507796484, + -0.9152761687598099, + 0.09395058144565899, + 0.10729388673436105, + -0.05597345233588014, + -0.9926504895999584 + ], + [ + 0.9090284892255486, + 0.4096202931177903, + 0.07667086306030543, + 0.4017426594172581, + -0.9102717156409256, + 0.10004118806009227, + 0.11077021883460167, + -0.06013833361693114, + -0.9920248683622367 + ], + [ + 0.8936483798382867, + 0.44136932581144017, + 0.08115227319773208, + 0.43277189147952544, + -0.8954373834913927, + 0.10440489543753116, + 0.11874789748723297, + -0.058180842885289755, + -0.9912184049761779 + ], + [ + 0.8781709800361168, + 0.4680818579426241, + 0.09856522757741365, + 0.458410906070889, + -0.8823788057819769, + 0.10614652279768275, + 0.13665712940667546, + -0.048031420671821506, + -0.9894532892514804 + ], + [ + 0.8780637802331142, + 0.46395227008053785, + 0.11727015361910714, + 0.4482639303554885, + -0.8832111668830928, + 0.13783135867884103, + 0.1675214809658243, + -0.06845674386151654, + -0.9834888040211214 + ], + [ + 0.8742731005614016, + 0.46235484412350286, + 0.14790045216389414, + 0.43989221657412875, + -0.8834278266860696, + 0.16140047346345437, + 0.20528366577069107, + -0.07604783463228121, + -0.9757434823843242 + ], + [ + 0.8533898015993552, + 0.4974690700080718, + 0.15572530594452985, + 0.47442606591242215, + -0.8650022079926705, + 0.1633740742916908, + 0.21597628228366952, + -0.06554162458399271, + -0.97419635645891 + ], + [ + 0.8497877881779127, + 0.5007944089425379, + 0.164516488643496, + 0.4740428930082029, + -0.8625325910687485, + 0.17697701809174268, + 0.23052993439487396, + -0.07240503653839042, + -0.9703676932131293 + ], + [ + 0.8507276865453157, + 0.5006690218740327, + 0.15997791685402704, + 0.473053055065508, + -0.862001442721677, + 0.1821381888537835, + 0.22909214399111147, + -0.07927195772431975, + -0.9701715035395078 + ], + [ + 0.8652259426339837, + 0.48588601809785875, + 0.12368850233607435, + 0.4641034298456254, + -0.869487452800284, + 0.1691140911586017, + 0.1897157731941666, + -0.0889176407687499, + -0.9778044684707974 + ], + [ + 0.8469159784890776, + 0.515777246630772, + 0.12925616905149295, + 0.49255556866825656, + -0.852566122903332, + 0.1746997935072365, + 0.20030560939169584, + -0.0842902007089826, + -0.976100827225682 + ], + [ + 0.8304869427778622, + 0.539382535888982, + 0.13913273465813442, + 0.5160662447641989, + -0.8390362311025619, + 0.17231898883229954, + 0.2096832584887448, + -0.0713069623191119, + -0.9751657542358442 + ], + [ + 0.8158658271764232, + 0.5611708089110394, + 0.13946424370375304, + 0.5384031059780092, + -0.8252038512798556, + 0.17076504122953853, + 0.2109147873406766, + -0.06423337963257883, + -0.9753917292155053 + ], + [ + 0.7896030266723446, + 0.5993626949444864, + 0.13149684474828732, + 0.5730612362866425, + -0.7968989621960673, + 0.1911880318337307, + 0.21938067311296466, + -0.07560690418019608, + -0.9727053594510462 + ], + [ + 0.7232674739026683, + 0.682208305967631, + 0.1071260400800288, + 0.656674296011834, + -0.7274456162819651, + 0.1990018701156193, + 0.21368909694183025, + -0.07358466294634244, + -0.9741264123445468 + ], + [ + 0.596496039668141, + 0.7965133586639774, + 0.0987873682717246, + 0.7740570389191295, + -0.6034380216659279, + 0.1915678848545868, + 0.212198433453154, + -0.037802426876338766, + -0.9764951619758729 + ], + [ + 0.45305923223524, + 0.8854197566894215, + 0.10377469128097039, + 0.8677788004717528, + -0.4646794178789501, + 0.17616183483230974, + 0.2041991320701948, + 0.010241731480849572, + -0.9788757946736928 + ], + [ + 0.4015704361352062, + 0.8900430707220969, + 0.21578813007614808, + 0.8763342334061698, + -0.4418814350023013, + 0.19177880164587396, + 0.26604416209080917, + 0.11208982853001126, + -0.9574217326536472 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.004400789737701416, + -0.0018501468002796173, + -0.007685564458370209, + 0.01927458494901657, + 0.019768163561820984, + -0.012424886226654053, + 1.0 + ], + [ + -0.01592254638671875, + -0.011162087321281433, + -0.01300199143588543, + 0.03230120241641998, + 0.034653693437576294, + -0.09095913171768188, + 1.0 + ], + [ + -0.015099793672561646, + -0.016565565019845963, + 0.0023582857102155685, + -0.01684229075908661, + 0.019792526960372925, + -0.12709325551986694, + 1.0 + ], + [ + -0.01965893805027008, + -0.02008695900440216, + -0.0025225523859262466, + -0.045200325548648834, + 0.03256496787071228, + -0.14862000942230225, + 0.0 + ], + [ + -0.012583121657371521, + -0.016373619437217712, + -0.005852637812495232, + -0.04000440984964371, + 0.03930003196001053, + -0.06528446078300476, + 0.0 + ], + [ + -0.010200098156929016, + -0.010141211561858654, + -0.004647921770811081, + -0.019088495522737503, + 0.0005743801593780518, + -0.03613099455833435, + 0.0 + ], + [ + -0.00647851824760437, + -0.007156591862440109, + -0.004187077283859253, + -0.0015992969274520874, + 0.008427254855632782, + -0.01657027006149292, + 0.0 + ], + [ + -0.005883947014808655, + -0.010930962860584259, + -0.008764860220253468, + -0.005537785589694977, + 0.014955110847949982, + 0.014691144227981567, + 0.0 + ], + [ + -0.005450710654258728, + -0.005522910505533218, + -0.01058163121342659, + 0.011383116245269775, + -0.01570630818605423, + 0.00713038444519043, + 0.0 + ], + [ + -0.00020395219326019287, + 0.0002209879457950592, + -0.009321643970906734, + 0.0030352771282196045, + -0.0118522047996521, + -0.003845006227493286, + 0.0 + ], + [ + 0.003048419952392578, + 0.006008923053741455, + -0.0059959497302770615, + 0.004219476133584976, + -0.003497183322906494, + 0.01116606593132019, + 0.0 + ], + [ + 0.011218950152397156, + 0.008755870163440704, + -0.0004994552582502365, + -0.0019186809659004211, + -0.008030757308006287, + 0.03485181927680969, + 0.0 + ], + [ + 0.008599430322647095, + 0.010754367336630821, + 0.0006440617144107819, + -0.010123703628778458, + -0.018057331442832947, + 0.03010842204093933, + 0.0 + ], + [ + 0.014560356736183167, + 0.010412745177745819, + -0.0010495111346244812, + 0.020988617092370987, + -0.031228989362716675, + -0.009073913097381592, + 0.0 + ], + [ + 0.013972610235214233, + 0.010491307824850082, + 0.00043394602835178375, + 0.008287176489830017, + -0.038438454270362854, + -0.0058574676513671875, + 0.0 + ], + [ + 0.011836916208267212, + 0.01036897487938404, + 0.0006775278598070145, + -0.010604709386825562, + -0.010938063263893127, + 0.041219562292099, + 0.0 + ], + [ + 0.006367385387420654, + 0.006138533353805542, + 0.0013411995023488998, + 0.007301665842533112, + -0.01493065059185028, + 0.001454472541809082, + 0.0 + ], + [ + 0.0014520585536956787, + 0.006471425294876099, + 0.0005542170256376266, + 0.007050037384033203, + 0.0014773309230804443, + -0.0013584494590759277, + 0.0 + ], + [ + -0.005645692348480225, + 0.0025951769202947617, + 0.001149764284491539, + 0.009158484637737274, + 0.040272265672683716, + -0.015143126249313354, + 0.0 + ], + [ + -0.0010276734828948975, + 0.0012326445430517197, + 0.013488033786416054, + -0.0045462921261787415, + -0.010797187685966492, + 0.03443226218223572, + 0.0 + ], + [ + 0.0021755099296569824, + -0.0003737974911928177, + 0.01428920403122902, + -0.013147294521331787, + -0.00958116352558136, + 0.029237091541290283, + 0.0 + ], + [ + 0.0017156600952148438, + -0.0005953814834356308, + 0.012509472668170929, + -0.00723402202129364, + -0.0012596994638442993, + 0.027306854724884033, + 0.0 + ], + [ + 0.005110293626785278, + 0.0014232136309146881, + 0.006269805133342743, + 0.011813521385192871, + -0.0086689293384552, + 0.04449063539505005, + 1.0 + ], + [ + 0.009582996368408203, + 0.007431700825691223, + -0.002556808292865753, + -0.0021765604615211487, + 0.005829900503158569, + 0.10937231779098511, + 1.0 + ], + [ + 0.011955797672271729, + 0.01225469633936882, + 0.013583581894636154, + -0.03670290857553482, + 0.0015256553888320923, + 0.1770572066307068, + 1.0 + ], + [ + 0.011480599641799927, + 0.008195891976356506, + 0.004175271838903427, + -0.049155399203300476, + 0.008178547024726868, + 0.17539793252944946, + 1.0 + ], + [ + 0.016739100217819214, + 0.014457885175943375, + 0.002847433090209961, + -0.1060817614197731, + -0.06364142894744873, + 0.051479339599609375, + 1.0 + ], + [ + 0.01572367548942566, + 0.020474307239055634, + -0.007325127720832825, + 0.02761217951774597, + -0.003843367099761963, + 0.029055356979370117, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9665181636810303 + ], + [ + 0.7151217460632324 + ], + [ + 0.41932523250579834 + ], + [ + 0.17027510702610016 + ], + [ + 0.056468017399311066 + ], + [ + 0.05271430313587189 + ], + [ + 0.05271430313587189 + ], + [ + 0.05271430313587189 + ], + [ + 0.05271430313587189 + ], + [ + 0.05271430313587189 + ], + [ + 0.05271430313587189 + ], + [ + 0.05271430313587189 + ], + [ + 0.05271430313587189 + ], + [ + 0.05271430313587189 + ], + [ + 0.05271430313587189 + ], + [ + 0.05271430313587189 + ], + [ + 0.05271430313587189 + ], + [ + 0.05271430313587189 + ], + [ + 0.05271430313587189 + ], + [ + 0.07270156592130661 + ], + [ + 0.2142026573419571 + ], + [ + 0.4522285461425781 + ], + [ + 0.748681366443634 + ], + [ + 0.9809558987617493 + ], + [ + 0.9961419701576233 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2794587016105652, + 0.05361468344926834, + 0.041871391236782074 + ], + [ + 0.26353615522384644, + 0.04245259612798691, + 0.028869399800896645 + ], + [ + 0.2484363615512848, + 0.025887031108140945, + 0.031227685511112213 + ], + [ + 0.2287774235010147, + 0.0058000716380774975, + 0.028705133125185966 + ], + [ + 0.2161943018436432, + -0.010573548264801502, + 0.022852495312690735 + ], + [ + 0.20599420368671417, + -0.020714759826660156, + 0.018204573541879654 + ], + [ + 0.1995156854391098, + -0.027871351689100266, + 0.014017496258020401 + ], + [ + 0.19363173842430115, + -0.038802314549684525, + 0.0052526360377669334 + ], + [ + 0.18818102777004242, + -0.04432522505521774, + -0.0053289951756596565 + ], + [ + 0.18797707557678223, + -0.044104237109422684, + -0.014650639146566391 + ], + [ + 0.1910254955291748, + -0.03809531405568123, + -0.020646588876843452 + ], + [ + 0.20224444568157196, + -0.029339443892240524, + -0.02114604413509369 + ], + [ + 0.21084387600421906, + -0.018585076555609703, + -0.020501982420682907 + ], + [ + 0.22540423274040222, + -0.008172331377863884, + -0.02155149355530739 + ], + [ + 0.23937684297561646, + 0.0023189764469861984, + -0.021117547526955605 + ], + [ + 0.25121375918388367, + 0.01268795132637024, + -0.02044001966714859 + ], + [ + 0.2575811445713043, + 0.01882648468017578, + -0.01909882016479969 + ], + [ + 0.259033203125, + 0.02529790997505188, + -0.018544603139162064 + ], + [ + 0.2533875107765198, + 0.02789308689534664, + -0.017394838854670525 + ], + [ + 0.2523598372936249, + 0.02912573143839836, + -0.003906805068254471 + ], + [ + 0.25453534722328186, + 0.028751933947205544, + 0.010382398962974548 + ], + [ + 0.2562510073184967, + 0.028156552463769913, + 0.022891871631145477 + ], + [ + 0.261361300945282, + 0.0295797660946846, + 0.02916167676448822 + ], + [ + 0.2709442973136902, + 0.037011466920375824, + 0.026604868471622467 + ], + [ + 0.2829000949859619, + 0.049266163259744644, + 0.04018845036625862 + ], + [ + 0.29438069462776184, + 0.05746205523610115, + 0.04436372220516205 + ], + [ + 0.31111979484558105, + 0.07191994041204453, + 0.04721115529537201 + ], + [ + 0.3268434703350067, + 0.09239424765110016, + 0.039886027574539185 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.626584304007583, + 0.7783132551241134, + 0.04025651337907929, + 0.745201293725416, + -0.6134500929591757, + 0.2614460083427276, + 0.22818225566704284, + -0.13381875932202425, + -0.964378244182341 + ], + [ + 0.6968846747863662, + 0.7169850470308812, + 0.016858006466534986, + 0.6903581591056147, + -0.6770021552426263, + 0.2550954604714589, + 0.1943125374344316, + -0.16613405469970335, + -0.9667689039604184 + ], + [ + 0.7816683691404283, + 0.6221176264543519, + 0.044319516470136225, + 0.5986805294674818, + -0.7683446483115586, + 0.2263363096092254, + 0.17486047101011376, + -0.15038670242342234, + -0.9730404181802164 + ], + [ + 0.8662260926932687, + 0.49444425327574026, + 0.0719530175875075, + 0.47883834478002707, + -0.8626200863692425, + 0.16309637077704825, + 0.14271018150670425, + -0.10682446814712486, + -0.9839828947189109 + ], + [ + 0.9000014796458631, + 0.43106592166426494, + 0.06464911302558508, + 0.4233687652675827, + -0.8997759579311156, + 0.10565090688179514, + 0.10371222315165925, + -0.06771555736225658, + -0.9922995404917103 + ], + [ + 0.9147621311203527, + 0.39687751983447667, + 0.07548826212190396, + 0.39060490703388834, + -0.9165752195571604, + 0.08554340123464127, + 0.10314092334858252, + -0.04876577840840776, + -0.9934706079129991 + ], + [ + 0.9218808801860413, + 0.3811440380910289, + 0.06974858403633781, + 0.37570882777265224, + -0.9233091749996165, + 0.07964323006525577, + 0.09475504989766691, + -0.047216412286322576, + -0.9943802546962096 + ], + [ + 0.9174637710725109, + 0.39370660544523267, + 0.05705556588273997, + 0.3897217706248985, + -0.918286936313131, + 0.06975703618731346, + 0.07985718671730072, + -0.04176375731942725, + -0.9959310308973018 + ], + [ + 0.9133979366791848, + 0.4016268566254947, + 0.0663330785304927, + 0.39570622528002397, + -0.9142670819985205, + 0.08678874378942218, + 0.09550284050667329, + -0.05302424738773197, + -0.9940159136775034 + ], + [ + 0.9138080754310762, + 0.3989191741869109, + 0.07627774080939698, + 0.39171778507796484, + -0.9152761687598099, + 0.09395058144565899, + 0.10729388673436105, + -0.05597345233588014, + -0.9926504895999584 + ], + [ + 0.9090284892255486, + 0.4096202931177903, + 0.07667086306030543, + 0.4017426594172581, + -0.9102717156409256, + 0.10004118806009227, + 0.11077021883460167, + -0.06013833361693114, + -0.9920248683622367 + ], + [ + 0.8936483798382867, + 0.44136932581144017, + 0.08115227319773208, + 0.43277189147952544, + -0.8954373834913927, + 0.10440489543753116, + 0.11874789748723297, + -0.058180842885289755, + -0.9912184049761779 + ], + [ + 0.8781709800361168, + 0.4680818579426241, + 0.09856522757741365, + 0.458410906070889, + -0.8823788057819769, + 0.10614652279768275, + 0.13665712940667546, + -0.048031420671821506, + -0.9894532892514804 + ], + [ + 0.8780637802331142, + 0.46395227008053785, + 0.11727015361910714, + 0.4482639303554885, + -0.8832111668830928, + 0.13783135867884103, + 0.1675214809658243, + -0.06845674386151654, + -0.9834888040211214 + ], + [ + 0.8742731005614016, + 0.46235484412350286, + 0.14790045216389414, + 0.43989221657412875, + -0.8834278266860696, + 0.16140047346345437, + 0.20528366577069107, + -0.07604783463228121, + -0.9757434823843242 + ], + [ + 0.8533898015993552, + 0.4974690700080718, + 0.15572530594452985, + 0.47442606591242215, + -0.8650022079926705, + 0.1633740742916908, + 0.21597628228366952, + -0.06554162458399271, + -0.97419635645891 + ], + [ + 0.8497877881779127, + 0.5007944089425379, + 0.164516488643496, + 0.4740428930082029, + -0.8625325910687485, + 0.17697701809174268, + 0.23052993439487396, + -0.07240503653839042, + -0.9703676932131293 + ], + [ + 0.8507276865453157, + 0.5006690218740327, + 0.15997791685402704, + 0.473053055065508, + -0.862001442721677, + 0.1821381888537835, + 0.22909214399111147, + -0.07927195772431975, + -0.9701715035395078 + ], + [ + 0.8652259426339837, + 0.48588601809785875, + 0.12368850233607435, + 0.4641034298456254, + -0.869487452800284, + 0.1691140911586017, + 0.1897157731941666, + -0.0889176407687499, + -0.9778044684707974 + ], + [ + 0.8469159784890776, + 0.515777246630772, + 0.12925616905149295, + 0.49255556866825656, + -0.852566122903332, + 0.1746997935072365, + 0.20030560939169584, + -0.0842902007089826, + -0.976100827225682 + ], + [ + 0.8304869427778622, + 0.539382535888982, + 0.13913273465813442, + 0.5160662447641989, + -0.8390362311025619, + 0.17231898883229954, + 0.2096832584887448, + -0.0713069623191119, + -0.9751657542358442 + ], + [ + 0.8158658271764232, + 0.5611708089110394, + 0.13946424370375304, + 0.5384031059780092, + -0.8252038512798556, + 0.17076504122953853, + 0.2109147873406766, + -0.06423337963257883, + -0.9753917292155053 + ], + [ + 0.7896030266723446, + 0.5993626949444864, + 0.13149684474828732, + 0.5730612362866425, + -0.7968989621960673, + 0.1911880318337307, + 0.21938067311296466, + -0.07560690418019608, + -0.9727053594510462 + ], + [ + 0.7232674739026683, + 0.682208305967631, + 0.1071260400800288, + 0.656674296011834, + -0.7274456162819651, + 0.1990018701156193, + 0.21368909694183025, + -0.07358466294634244, + -0.9741264123445468 + ], + [ + 0.596496039668141, + 0.7965133586639774, + 0.0987873682717246, + 0.7740570389191295, + -0.6034380216659279, + 0.1915678848545868, + 0.212198433453154, + -0.037802426876338766, + -0.9764951619758729 + ], + [ + 0.45305923223524, + 0.8854197566894215, + 0.10377469128097039, + 0.8677788004717528, + -0.4646794178789501, + 0.17616183483230974, + 0.2041991320701948, + 0.010241731480849572, + -0.9788757946736928 + ], + [ + 0.4015704361352062, + 0.8900430707220969, + 0.21578813007614808, + 0.8763342334061698, + -0.4418814350023013, + 0.19177880164587396, + 0.26604416209080917, + 0.11208982853001126, + -0.9574217326536472 + ], + [ + 0.37554077069860414, + 0.9078336234947919, + 0.1865669895651803, + 0.8866823907731456, + -0.4105167618089717, + 0.21276824520283547, + 0.26974704342386463, + 0.0855225135633402, + -0.9591258688190467 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006038.json b/json/chunk-0006/episode_0006038.json new file mode 100644 index 0000000000000000000000000000000000000000..1884eef4581d126b23f302bd4147d959b025a2dc --- /dev/null +++ b/json/chunk-0006/episode_0006038.json @@ -0,0 +1,4942 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 81, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nSweep into pile." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006038.mp4", + "start": 0, + "end": 81, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.30752384662628174, + -0.07126303017139435, + 0.038237184286117554, + -0.04313104227185249, + -0.03346916288137436, + 0.14104817807674408, + 0.0, + 0.9994885921478271 + ], + [ + 0.30397123098373413, + -0.07049383968114853, + 0.03135833889245987, + -0.03463292866945267, + -0.010395628400146961, + 0.14239437878131866, + 0.0, + 0.9994885921478271 + ], + [ + 0.2954767942428589, + -0.050194427371025085, + 0.03349270299077034, + 0.02823011763393879, + -0.003278471063822508, + 0.2526075541973114, + 0.0, + 0.9994885921478271 + ], + [ + 0.29549190402030945, + -0.014219717122614384, + 0.049046989530324936, + 0.04064756631851196, + -0.08078259229660034, + 0.39480817317962646, + 0.0, + 0.9994885921478271 + ], + [ + 0.29047149419784546, + 0.02964625507593155, + 0.051277585327625275, + 0.1086268424987793, + -0.1014520451426506, + 0.5633111596107483, + 0.0, + 0.9994885921478271 + ], + [ + 0.27803874015808105, + 0.078943632543087, + 0.04578026011586189, + 0.11374923586845398, + -0.1222204938530922, + 0.73994380235672, + 0.0, + 0.9994885921478271 + ], + [ + 0.27561962604522705, + 0.10983934998512268, + 0.04058406502008438, + 0.07608514279127121, + -0.14990852773189545, + 0.8366625905036926, + 0.0, + 0.9994885921478271 + ], + [ + 0.2648734152317047, + 0.12422404438257217, + 0.027109138667583466, + 0.0695924237370491, + -0.12769173085689545, + 0.8995534181594849, + 0.0, + 0.9994885921478271 + ], + [ + 0.2625025808811188, + 0.13214321434497833, + 0.007671936880797148, + 0.05195876955986023, + -0.11024010181427002, + 0.9305112957954407, + 0.0, + 0.9994885921478271 + ], + [ + 0.2560807764530182, + 0.13045449554920197, + -0.009125675074756145, + 0.08618438988924026, + -0.05771985277533531, + 0.9295133948326111, + 0.0, + 0.9994885921478271 + ], + [ + 0.2565663754940033, + 0.13029272854328156, + -0.027162998914718628, + 0.10193820297718048, + -0.024942560121417046, + 0.9193862676620483, + 0.0, + 0.9994885921478271 + ], + [ + 0.25960108637809753, + 0.13159526884555817, + -0.039295028895139694, + 0.11360163986682892, + -0.004920531529933214, + 0.932790994644165, + 0.0, + 0.939095675945282 + ], + [ + 0.2613426446914673, + 0.13374440371990204, + -0.03994511067867279, + 0.11344689875841141, + -0.022924603894352913, + 0.952707052230835, + 0.0, + 0.6279802918434143 + ], + [ + 0.25636157393455505, + 0.13106000423431396, + -0.03982289507985115, + 0.1076413169503212, + -0.027567315846681595, + 0.961340069770813, + 0.0, + 0.37802740931510925 + ], + [ + 0.25973275303840637, + 0.12260595709085464, + -0.021729281172156334, + 0.05600963160395622, + 0.0018523908220231533, + 0.8997671604156494, + 0.0, + 0.3577343225479126 + ], + [ + 0.2652432322502136, + 0.11923804879188538, + -0.005796192213892937, + 0.04111875593662262, + 0.04288915917277336, + 0.8688274025917053, + 0.0, + 0.3577343225479126 + ], + [ + 0.26815858483314514, + 0.12220573425292969, + -0.008374929428100586, + 0.032311975955963135, + 0.0007145196432247758, + 0.9253225922584534, + 0.0, + 0.3577343225479126 + ], + [ + 0.26497697830200195, + 0.12413676828145981, + -0.013935043476521969, + 0.03195558860898018, + -0.02684318646788597, + 0.9800562858581543, + 0.0, + 0.3577343225479126 + ], + [ + 0.25830310583114624, + 0.13363002240657806, + -0.033894769847393036, + 0.08080341666936874, + -0.012344119139015675, + 1.0312392711639404, + 0.0, + 0.3577343225479126 + ], + [ + 0.26863306760787964, + 0.14613334834575653, + -0.04381229355931282, + 0.05756288766860962, + 0.010107072070240974, + 1.026421070098877, + 0.0, + 0.3577343225479126 + ], + [ + 0.28537413477897644, + 0.15261442959308624, + -0.04827601835131645, + 0.045058995485305786, + 0.044924862682819366, + 0.9082751274108887, + 0.0, + 0.3577343225479126 + ], + [ + 0.3089773952960968, + 0.15343216061592102, + -0.04897858202457428, + 0.043434545397758484, + 0.05312284454703331, + 0.7091125845909119, + 0.0, + 0.3577343225479126 + ], + [ + 0.3403269052505493, + 0.1523851901292801, + -0.04843932390213013, + 0.08074993640184402, + 0.04058956354856491, + 0.46461623907089233, + 0.0, + 0.3577343225479126 + ], + [ + 0.3649577498435974, + 0.15032072365283966, + -0.04963185265660286, + 0.07063951343297958, + 0.011122679337859154, + 0.24137890338897705, + 0.0, + 0.3577343225479126 + ], + [ + 0.3811427652835846, + 0.14699393510818481, + -0.05176115408539772, + 0.06701863557100296, + -0.06732099503278732, + 0.08711972087621689, + 0.0, + 0.3577343225479126 + ], + [ + 0.39368435740470886, + 0.1293066293001175, + -0.0529545322060585, + 0.06334506720304489, + -0.08201900124549866, + -0.043099090456962585, + 0.0, + 0.3577343225479126 + ], + [ + 0.3972412347793579, + 0.11250034719705582, + -0.05473902449011803, + -0.005923330318182707, + -0.11776229739189148, + -0.1140807494521141, + 0.0, + 0.3577343225479126 + ], + [ + 0.40286603569984436, + 0.08621469885110855, + -0.057776253670454025, + -0.0172883328050375, + -0.15894514322280884, + -0.1895274519920349, + 0.0, + 0.3577343225479126 + ], + [ + 0.3966674506664276, + 0.07200602442026138, + -0.05643628537654877, + -0.023667536675930023, + -0.15918272733688354, + -0.2016865611076355, + 0.0, + 0.3577343225479126 + ], + [ + 0.3892877399921417, + 0.025700580328702927, + -0.05664423108100891, + -0.05013532191514969, + -0.1367659866809845, + -0.21936292946338654, + 0.0, + 0.3577343225479126 + ], + [ + 0.38465631008148193, + -0.00241289590485394, + -0.05563243106007576, + -0.06704891473054886, + -0.12590555846691132, + -0.16078606247901917, + 0.0, + 0.3577343225479126 + ], + [ + 0.37687402963638306, + -0.036845043301582336, + -0.053186219185590744, + -0.06271456182003021, + -0.12438658624887466, + -0.17000287771224976, + 0.0, + 0.3577343225479126 + ], + [ + 0.35391902923583984, + -0.13394244015216827, + -0.04996883496642113, + -0.05773010849952698, + -0.12104610353708267, + -0.3693404197692871, + 0.0, + 0.3577343225479126 + ], + [ + 0.328958660364151, + -0.16595320403575897, + -0.03850683569908142, + -0.07206278294324875, + -0.12311679124832153, + -0.41922852396965027, + 0.0, + 0.3577343225479126 + ], + [ + 0.33397650718688965, + -0.14783968031406403, + -0.017108479514718056, + -0.08420603722333908, + -0.16645526885986328, + -0.3577287197113037, + 0.0, + 0.3577343225479126 + ], + [ + 0.3432677984237671, + -0.11082237958908081, + -0.004202994517982006, + -0.04854799434542656, + -0.19452036917209625, + -0.28545063734054565, + 0.0, + 0.3577343225479126 + ], + [ + 0.34651175141334534, + -0.05870139226317406, + 0.004370265640318394, + -0.016603464260697365, + -0.1871534287929535, + -0.15218611061573029, + 0.0, + 0.3577343225479126 + ], + [ + 0.34566083550453186, + -0.020548727363348007, + 0.014880850911140442, + 0.02180953323841095, + -0.16429787874221802, + -0.07351047545671463, + 0.0, + 0.3577343225479126 + ], + [ + 0.3396596312522888, + 0.028361087664961815, + 0.017558475956320763, + 0.07838409394025803, + -0.10676988959312439, + -0.05104227364063263, + 0.0, + 0.3577343225479126 + ], + [ + 0.34061703085899353, + 0.07109445333480835, + 0.015603729523718357, + 0.14619360864162445, + -0.0487486869096756, + -0.18617849051952362, + 0.0, + 0.3577343225479126 + ], + [ + 0.3273775279521942, + 0.11043219268321991, + 0.0019539883360266685, + 0.1428050547838211, + 0.06064095348119736, + -0.22794921696186066, + 0.0, + 0.3577343225479126 + ], + [ + 0.29233697056770325, + 0.14005640149116516, + -0.019251063466072083, + 0.03622299060225487, + 0.032301343977451324, + -0.1377287358045578, + 0.0, + 0.3577343225479126 + ], + [ + 0.27131181955337524, + 0.15440917015075684, + -0.034702107310295105, + -0.015526083298027515, + -0.03505203500390053, + -0.05270066112279892, + 0.0, + 0.3577343225479126 + ], + [ + 0.2611677944660187, + 0.13928750157356262, + -0.04790274426341057, + -0.06626255065202713, + -0.0849088653922081, + -0.03909485414624214, + 0.0, + 0.3577343225479126 + ], + [ + 0.2638683617115021, + 0.11766429245471954, + -0.053184665739536285, + -0.08011509478092194, + -0.1524495929479599, + 0.01422987598925829, + 0.0, + 0.3577343225479126 + ], + [ + 0.2663559019565582, + 0.08066912740468979, + -0.05707098916172981, + -0.07444638758897781, + -0.18803253769874573, + -0.005340194795280695, + 0.0, + 0.3577343225479126 + ], + [ + 0.26863354444503784, + 0.02777680940926075, + -0.0581231415271759, + -0.11726319044828415, + -0.20507220923900604, + 0.0009794156067073345, + 0.0, + 0.3577343225479126 + ], + [ + 0.27251383662223816, + -0.025669535622000694, + -0.05768921226263046, + -0.16067393124103546, + -0.21067382395267487, + -0.020596755668520927, + 0.0, + 0.3577343225479126 + ], + [ + 0.26670533418655396, + -0.07986730337142944, + -0.05678557604551315, + -0.18875621259212494, + -0.1830914318561554, + -0.023348690941929817, + 0.0, + 0.3577343225479126 + ], + [ + 0.2694162130355835, + -0.11615259945392609, + -0.049587227404117584, + -0.20532211661338806, + -0.14355313777923584, + 0.036208879202604294, + 0.0, + 0.3577343225479126 + ], + [ + 0.2768367826938629, + -0.10985057801008224, + -0.04541121423244476, + -0.2171679437160492, + -0.12296018749475479, + 0.09646942466497421, + 0.0, + 0.3577343225479126 + ], + [ + 0.29438871145248413, + -0.07718048989772797, + -0.038937877863645554, + -0.1769999861717224, + -0.12138916552066803, + 0.1139225959777832, + 0.0, + 0.3577343225479126 + ], + [ + 0.31376710534095764, + -0.03191646188497543, + -0.02765335887670517, + -0.11305717378854752, + -0.11437679827213287, + 0.0724715143442154, + 0.0, + 0.3577343225479126 + ], + [ + 0.332211971282959, + 0.008429726585745811, + -0.017745668068528175, + -0.08003850281238556, + -0.09646698832511902, + 0.011685536243021488, + 0.0, + 0.3577343225479126 + ], + [ + 0.3423175513744354, + 0.058823831379413605, + -0.03195876628160477, + -0.10568981617689133, + -0.024494225159287453, + -0.11171498894691467, + 0.0, + 0.3577343225479126 + ], + [ + 0.34450283646583557, + 0.09424816071987152, + -0.03704696521162987, + -0.12195762246847153, + 0.07009962201118469, + -0.24081279337406158, + 0.0, + 0.3577343225479126 + ], + [ + 0.32874780893325806, + 0.12108200043439865, + -0.04335916414856911, + -0.14744804799556732, + 0.0737638995051384, + -0.30190032720565796, + 0.0, + 0.3577343225479126 + ], + [ + 0.3157189190387726, + 0.13834574818611145, + -0.04510330408811569, + -0.1255095899105072, + 0.11989784240722656, + -0.38300588726997375, + 0.0, + 0.3577343225479126 + ], + [ + 0.30135372281074524, + 0.14565691351890564, + -0.048673611134290695, + -0.11635839194059372, + 0.07742433249950409, + -0.49894240498542786, + 0.0, + 0.3577343225479126 + ], + [ + 0.2826420068740845, + 0.1634572297334671, + -0.04784862697124481, + -0.08214273303747177, + 0.03924306109547615, + -0.48567065596580505, + 0.0, + 0.3577343225479126 + ], + [ + 0.27233177423477173, + 0.16569873690605164, + -0.04900806397199631, + -0.048044923692941666, + 0.012220988050103188, + -0.4733562171459198, + 0.0, + 0.3577343225479126 + ], + [ + 0.2525582015514374, + 0.15757562220096588, + -0.04958273842930794, + -0.045399270951747894, + -0.050524890422821045, + -0.37916243076324463, + 0.0, + 0.3577343225479126 + ], + [ + 0.25632837414741516, + 0.13253358006477356, + -0.055070910602808, + -0.03423462435603142, + -0.09913375228643417, + -0.26715749502182007, + 0.0, + 0.3577343225479126 + ], + [ + 0.2625252902507782, + 0.09175270795822144, + -0.06111685559153557, + -0.055269721895456314, + -0.13755497336387634, + -0.19647042453289032, + 0.0, + 0.3577343225479126 + ], + [ + 0.26857689023017883, + 0.05114828422665596, + -0.06161336228251457, + -0.07492449134588242, + -0.20758803188800812, + -0.10932955890893936, + 0.0, + 0.3577343225479126 + ], + [ + 0.2766474783420563, + 0.007539781741797924, + -0.061745934188365936, + -0.0815444216132164, + -0.2243647575378418, + -0.13651685416698456, + 0.0, + 0.3577343225479126 + ], + [ + 0.275195837020874, + -0.06139249727129936, + -0.06235041469335556, + -0.10279804468154907, + -0.22572380304336548, + -0.19900785386562347, + 0.0, + 0.3577343225479126 + ], + [ + 0.27443429827690125, + -0.1144578829407692, + -0.06002378463745117, + -0.13000217080116272, + -0.21381820738315582, + -0.15986108779907227, + 0.0, + 0.3577343225479126 + ], + [ + 0.2690930664539337, + -0.16596314311027527, + -0.054287973791360855, + -0.14760656654834747, + -0.16609974205493927, + -0.04899628460407257, + 0.0, + 0.3577343225479126 + ], + [ + 0.2648679316043854, + -0.15607154369354248, + -0.04731765389442444, + -0.1354273110628128, + -0.153059720993042, + -0.0036869829054921865, + 0.0, + 0.3577343225479126 + ], + [ + 0.2703661620616913, + -0.1340169459581375, + -0.03696667402982712, + -0.12278483808040619, + -0.17220352590084076, + 0.052099645137786865, + 0.0, + 0.35690104961395264 + ], + [ + 0.2788615822792053, + -0.099398173391819, + -0.03178386017680168, + -0.11011887341737747, + -0.17086701095104218, + 0.129823699593544, + 0.0, + 0.3577343225479126 + ], + [ + 0.2901111841201782, + -0.06893515586853027, + -0.01901751384139061, + -0.09926401823759079, + -0.19847171008586884, + 0.17549297213554382, + 0.0, + 0.3577343225479126 + ], + [ + 0.2967704236507416, + -0.031240325421094894, + -0.01477864570915699, + -0.07231553643941879, + -0.19591519236564636, + 0.2343624085187912, + 0.0, + 0.3577343225479126 + ], + [ + 0.2981591522693634, + 0.0071735680103302, + -0.018220748752355576, + -0.07045678794384003, + -0.1889331042766571, + 0.32782822847366333, + 0.0, + 0.3577343225479126 + ], + [ + 0.2960875630378723, + 0.02005048654973507, + -0.04390811547636986, + -0.06976097822189331, + -0.14236761629581451, + 0.3589135408401489, + 0.0, + 0.40327540040016174 + ], + [ + 0.2990853488445282, + 0.01668272726237774, + -0.04249384254217148, + -0.08852044492959976, + -0.14028193056583405, + 0.31576287746429443, + 0.0, + 0.7171077728271484 + ], + [ + 0.30184248089790344, + 0.01766929402947426, + -0.034442149102687836, + -0.09001211076974869, + -0.15927813947200775, + 0.32660967111587524, + 0.0, + 0.9913908839225769 + ], + [ + 0.3084067404270172, + 0.017808904871344566, + -0.001368687255308032, + -0.1159910187125206, + -0.21491409838199615, + 0.3561757206916809, + 0.0, + 1.0118417739868164 + ], + [ + 0.31267431378364563, + 0.020180586725473404, + 0.028592446818947792, + -0.11319940537214279, + -0.22298789024353027, + 0.3992633521556854, + 0.0, + 1.002137303352356 + ], + [ + 0.30553945899009705, + 0.04214189574122429, + 0.045077674090862274, + -0.07081122696399689, + -0.22657954692840576, + 0.5138691067695618, + 0.0, + 0.9988223910331726 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.939095675945282 + ], + [ + 0.6279802918434143 + ], + [ + 0.37802740931510925 + ], + [ + 0.3577343225479126 + ], + [ + 0.3577343225479126 + ], + [ + 0.3577343225479126 + ], + [ + 0.3577343225479126 + ], + [ + 0.3577343225479126 + ], + [ + 0.3577343225479126 + ], + [ + 0.3577343225479126 + ], + [ + 0.3577343225479126 + ], + [ + 0.3577343225479126 + ], + [ + 0.3577343225479126 + ], + [ + 0.3577343225479126 + ], + [ + 0.3577343225479126 + ], + [ + 0.3577343225479126 + ], + [ + 0.3577343225479126 + ], + [ + 0.3577343225479126 + ], + [ + 0.3577343225479126 + ], + [ + 0.3577343225479126 + ], + [ + 0.3577343225479126 + ], + [ + 0.3577343225479126 + ], + [ + 0.3577343225479126 + ], + [ + 0.3577343225479126 + ], + [ + 0.3577343225479126 + ], + [ + 0.3577343225479126 + ], + [ + 0.3577343225479126 + ], + [ + 0.3577343225479126 + ], + [ + 0.3577343225479126 + ], + [ + 0.3577343225479126 + ], + [ + 0.3577343225479126 + ], + [ + 0.3577343225479126 + ], + [ + 0.3577343225479126 + ], + [ + 0.3577343225479126 + ], + [ + 0.3577343225479126 + ], + [ + 0.3577343225479126 + ], + [ + 0.3577343225479126 + ], + [ + 0.3577343225479126 + ], + [ + 0.3577343225479126 + ], + [ + 0.3577343225479126 + ], + [ + 0.3577343225479126 + ], + [ + 0.3577343225479126 + ], + [ + 0.3577343225479126 + ], + [ + 0.3577343225479126 + ], + [ + 0.3577343225479126 + ], + [ + 0.3577343225479126 + ], + [ + 0.3577343225479126 + ], + [ + 0.3577343225479126 + ], + [ + 0.3577343225479126 + ], + [ + 0.3577343225479126 + ], + [ + 0.3577343225479126 + ], + [ + 0.3577343225479126 + ], + [ + 0.3577343225479126 + ], + [ + 0.3577343225479126 + ], + [ + 0.3577343225479126 + ], + [ + 0.3577343225479126 + ], + [ + 0.3577343225479126 + ], + [ + 0.3577343225479126 + ], + [ + 0.3577343225479126 + ], + [ + 0.35690104961395264 + ], + [ + 0.3577343225479126 + ], + [ + 0.3577343225479126 + ], + [ + 0.3577343225479126 + ], + [ + 0.3577343225479126 + ], + [ + 0.40327540040016174 + ], + [ + 0.7171077728271484 + ], + [ + 0.9913908839225769 + ], + [ + 1.0118417739868164 + ], + [ + 1.002137303352356 + ], + [ + 0.9988223910331726 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.30752384662628174, + -0.07126303017139435, + 0.038237184286117554 + ], + [ + 0.30397123098373413, + -0.07049383968114853, + 0.03135833889245987 + ], + [ + 0.2954767942428589, + -0.050194427371025085, + 0.03349270299077034 + ], + [ + 0.29549190402030945, + -0.014219717122614384, + 0.049046989530324936 + ], + [ + 0.29047149419784546, + 0.02964625507593155, + 0.051277585327625275 + ], + [ + 0.27803874015808105, + 0.078943632543087, + 0.04578026011586189 + ], + [ + 0.27561962604522705, + 0.10983934998512268, + 0.04058406502008438 + ], + [ + 0.2648734152317047, + 0.12422404438257217, + 0.027109138667583466 + ], + [ + 0.2625025808811188, + 0.13214321434497833, + 0.007671936880797148 + ], + [ + 0.2560807764530182, + 0.13045449554920197, + -0.009125675074756145 + ], + [ + 0.2565663754940033, + 0.13029272854328156, + -0.027162998914718628 + ], + [ + 0.25960108637809753, + 0.13159526884555817, + -0.039295028895139694 + ], + [ + 0.2613426446914673, + 0.13374440371990204, + -0.03994511067867279 + ], + [ + 0.25636157393455505, + 0.13106000423431396, + -0.03982289507985115 + ], + [ + 0.25973275303840637, + 0.12260595709085464, + -0.021729281172156334 + ], + [ + 0.2652432322502136, + 0.11923804879188538, + -0.005796192213892937 + ], + [ + 0.26815858483314514, + 0.12220573425292969, + -0.008374929428100586 + ], + [ + 0.26497697830200195, + 0.12413676828145981, + -0.013935043476521969 + ], + [ + 0.25830310583114624, + 0.13363002240657806, + -0.033894769847393036 + ], + [ + 0.26863306760787964, + 0.14613334834575653, + -0.04381229355931282 + ], + [ + 0.28537413477897644, + 0.15261442959308624, + -0.04827601835131645 + ], + [ + 0.3089773952960968, + 0.15343216061592102, + -0.04897858202457428 + ], + [ + 0.3403269052505493, + 0.1523851901292801, + -0.04843932390213013 + ], + [ + 0.3649577498435974, + 0.15032072365283966, + -0.04963185265660286 + ], + [ + 0.3811427652835846, + 0.14699393510818481, + -0.05176115408539772 + ], + [ + 0.39368435740470886, + 0.1293066293001175, + -0.0529545322060585 + ], + [ + 0.3972412347793579, + 0.11250034719705582, + -0.05473902449011803 + ], + [ + 0.40286603569984436, + 0.08621469885110855, + -0.057776253670454025 + ], + [ + 0.3966674506664276, + 0.07200602442026138, + -0.05643628537654877 + ], + [ + 0.3892877399921417, + 0.025700580328702927, + -0.05664423108100891 + ], + [ + 0.38465631008148193, + -0.00241289590485394, + -0.05563243106007576 + ], + [ + 0.37687402963638306, + -0.036845043301582336, + -0.053186219185590744 + ], + [ + 0.35391902923583984, + -0.13394244015216827, + -0.04996883496642113 + ], + [ + 0.328958660364151, + -0.16595320403575897, + -0.03850683569908142 + ], + [ + 0.33397650718688965, + -0.14783968031406403, + -0.017108479514718056 + ], + [ + 0.3432677984237671, + -0.11082237958908081, + -0.004202994517982006 + ], + [ + 0.34651175141334534, + -0.05870139226317406, + 0.004370265640318394 + ], + [ + 0.34566083550453186, + -0.020548727363348007, + 0.014880850911140442 + ], + [ + 0.3396596312522888, + 0.028361087664961815, + 0.017558475956320763 + ], + [ + 0.34061703085899353, + 0.07109445333480835, + 0.015603729523718357 + ], + [ + 0.3273775279521942, + 0.11043219268321991, + 0.0019539883360266685 + ], + [ + 0.29233697056770325, + 0.14005640149116516, + -0.019251063466072083 + ], + [ + 0.27131181955337524, + 0.15440917015075684, + -0.034702107310295105 + ], + [ + 0.2611677944660187, + 0.13928750157356262, + -0.04790274426341057 + ], + [ + 0.2638683617115021, + 0.11766429245471954, + -0.053184665739536285 + ], + [ + 0.2663559019565582, + 0.08066912740468979, + -0.05707098916172981 + ], + [ + 0.26863354444503784, + 0.02777680940926075, + -0.0581231415271759 + ], + [ + 0.27251383662223816, + -0.025669535622000694, + -0.05768921226263046 + ], + [ + 0.26670533418655396, + -0.07986730337142944, + -0.05678557604551315 + ], + [ + 0.2694162130355835, + -0.11615259945392609, + -0.049587227404117584 + ], + [ + 0.2768367826938629, + -0.10985057801008224, + -0.04541121423244476 + ], + [ + 0.29438871145248413, + -0.07718048989772797, + -0.038937877863645554 + ], + [ + 0.31376710534095764, + -0.03191646188497543, + -0.02765335887670517 + ], + [ + 0.332211971282959, + 0.008429726585745811, + -0.017745668068528175 + ], + [ + 0.3423175513744354, + 0.058823831379413605, + -0.03195876628160477 + ], + [ + 0.34450283646583557, + 0.09424816071987152, + -0.03704696521162987 + ], + [ + 0.32874780893325806, + 0.12108200043439865, + -0.04335916414856911 + ], + [ + 0.3157189190387726, + 0.13834574818611145, + -0.04510330408811569 + ], + [ + 0.30135372281074524, + 0.14565691351890564, + -0.048673611134290695 + ], + [ + 0.2826420068740845, + 0.1634572297334671, + -0.04784862697124481 + ], + [ + 0.27233177423477173, + 0.16569873690605164, + -0.04900806397199631 + ], + [ + 0.2525582015514374, + 0.15757562220096588, + -0.04958273842930794 + ], + [ + 0.25632837414741516, + 0.13253358006477356, + -0.055070910602808 + ], + [ + 0.2625252902507782, + 0.09175270795822144, + -0.06111685559153557 + ], + [ + 0.26857689023017883, + 0.05114828422665596, + -0.06161336228251457 + ], + [ + 0.2766474783420563, + 0.007539781741797924, + -0.061745934188365936 + ], + [ + 0.275195837020874, + -0.06139249727129936, + -0.06235041469335556 + ], + [ + 0.27443429827690125, + -0.1144578829407692, + -0.06002378463745117 + ], + [ + 0.2690930664539337, + -0.16596314311027527, + -0.054287973791360855 + ], + [ + 0.2648679316043854, + -0.15607154369354248, + -0.04731765389442444 + ], + [ + 0.2703661620616913, + -0.1340169459581375, + -0.03696667402982712 + ], + [ + 0.2788615822792053, + -0.099398173391819, + -0.03178386017680168 + ], + [ + 0.2901111841201782, + -0.06893515586853027, + -0.01901751384139061 + ], + [ + 0.2967704236507416, + -0.031240325421094894, + -0.01477864570915699 + ], + [ + 0.2981591522693634, + 0.0071735680103302, + -0.018220748752355576 + ], + [ + 0.2960875630378723, + 0.02005048654973507, + -0.04390811547636986 + ], + [ + 0.2990853488445282, + 0.01668272726237774, + -0.04249384254217148 + ], + [ + 0.30184248089790344, + 0.01766929402947426, + -0.034442149102687836 + ], + [ + 0.3084067404270172, + 0.017808904871344566, + -0.001368687255308032 + ], + [ + 0.31267431378364563, + 0.020180586725473404, + 0.028592446818947792 + ], + [ + 0.30553945899009705, + 0.04214189574122429, + 0.045077674090862274 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9895147077464372, + 0.13902170597961563, + 0.03916131279720064, + 0.14050222951402672, + -0.989351258918886, + -0.03798960354100812, + 0.03346291462306654, + 0.04309352320398654, + -0.9985104814686707 + ], + [ + 0.9898255517999807, + 0.14147225506798342, + 0.015197962029289488, + 0.14190599637418536, + -0.989336530377228, + -0.03280118678033403, + 0.010395441160142132, + 0.03462413474916172, + -0.9993463384112429 + ], + [ + 0.9682588056027617, + 0.249919626516212, + -0.003881450078310896, + 0.24992826378524322, + -0.967855082636644, + 0.02814963544539731, + 0.003278465190787618, + -0.028226216473554902, + -0.9995961846513725 + ], + [ + 0.9200601026308078, + 0.3873403006387247, + 0.05879539988885305, + 0.38337679045109674, + -0.9210466488602612, + 0.06852231145181009, + 0.08069475875423152, + -0.04050385320417531, + -0.9959155555493706 + ], + [ + 0.8411442394355794, + 0.5401247083062208, + 0.027233581135447195, + 0.5312429901169142, + -0.8346450775266939, + 0.14542516980254686, + 0.10127810185810807, + -0.10785589477436668, + -0.9889943640114638 + ], + [ + 0.7329974648119014, + 0.6801085752719691, + 0.012924489191359703, + 0.6692167804644171, + -0.7244036420383759, + 0.16549400033347597, + 0.12191643582456572, + -0.11265739764022895, + -0.9861261042243866 + ], + [ + 0.6624306859035554, + 0.7478688539254349, + 0.043333170915612854, + 0.7340850460580867, + -0.6595780942281817, + 0.16148028600487696, + 0.14934768671540277, + -0.07515926385068235, + -0.9859241114457956 + ], + [ + 0.6168960297721222, + 0.7866613150459448, + 0.024561430365064536, + 0.7766740226739403, + -0.6135202492203073, + 0.14272479217056863, + 0.1273450075773403, + -0.06897013271581451, + -0.9894576139675162 + ], + [ + 0.593797502883763, + 0.8042568106129679, + 0.023989750971277014, + 0.7970575867831005, + -0.5920357629964907, + 0.11913378481632858, + 0.11001694833300787, + -0.05162013091633386, + -0.9925883503062449 + ], + [ + 0.5972277445820503, + 0.8013253059467087, + -0.034594438149097184, + 0.7999944611467491, + -0.5920245221368053, + 0.0975491021138093, + 0.0576878083823644, + -0.08593438914719595, + -0.9946292764271211 + ], + [ + 0.6061197370404369, + 0.7926402331705447, + -0.06588114395922609, + 0.7949823029915237, + -0.6011426191246456, + 0.08142904520043508, + 0.024939973943950682, + -0.10173009501276321, + -0.9944993642372876 + ], + [ + 0.5955871296322243, + 0.7984398161932352, + -0.08814664448384035, + 0.8032756435877483, + -0.5913072457552027, + 0.07144215517525353, + 0.004920511674275346, + -0.11335608071342652, + -0.9935422424487819 + ], + [ + 0.5793267402783813, + 0.8112519712450831, + -0.07906179323410115, + 0.8147730251987174, + -0.5736391664470986, + 0.08416070417010649, + 0.02292259599075052, + -0.11317396285738504, + -0.9933107312035847 + ], + [ + 0.5722042034481655, + 0.8169087826659338, + -0.07240435318067845, + 0.8196478421525015, + -0.5666805431352394, + 0.08396771335875379, + 0.027563824317359056, + -0.1073927503848003, + -0.993834509741833 + ], + [ + 0.6217912741371827, + 0.7818895437556439, + -0.04499280800804948, + 0.7831808093020574, + -0.620898504053375, + 0.03335967034092267, + -0.0018523897626559205, + -0.05598025571459499, + -0.9984301576085806 + ], + [ + 0.6451285482153151, + 0.7617887819444121, + -0.059050893145227434, + 0.762870109469484, + -0.646522357484036, + -0.006167442849529803, + -0.04287601142384542, + -0.041069367866252364, + -0.9982359213469774 + ], + [ + 0.6015767786317127, + 0.7983840117475021, + -0.026236409759260008, + 0.7988146649084866, + -0.6012813566330287, + 0.018864286169553934, + -0.0007145195824265031, + -0.03230634537531206, + -0.9994777583869775 + ], + [ + 0.5567751463644655, + 0.8305823360463445, + -0.01159393973701343, + 0.8302295181344446, + -0.5559792319164811, + 0.04007544005756819, + 0.026839962911229535, + -0.031938640004813335, + -0.9991293908526397 + ], + [ + 0.51371688212314, + 0.8556489128184351, + -0.06292776028359824, + 0.8578709666866086, + -0.5112249370732864, + 0.052023727573084204, + 0.012343805647526584, + -0.08070936567118203, + -0.9966612407207835 + ], + [ + 0.5178573028799106, + 0.8537330016668622, + -0.05444057052267694, + 0.8554073090794058, + -0.5175234024066877, + 0.021162786558863906, + -0.010106899993322985, + -0.05752816550434717, + -0.9982927229756962 + ], + [ + 0.6144860161466167, + 0.7863993724839845, + -0.06311071950988703, + 0.7876484305047041, + -0.6160772514117108, + -0.007666173521926972, + -0.04490975265726333, + -0.044998302743407534, + -0.9979770873454341 + ], + [ + 0.7578693981861067, + 0.6487966233236919, + -0.06853405618234112, + 0.6502419490557454, + -0.7597255316830638, + -0.0015887721899863518, + -0.0530978623036198, + -0.04335963644522166, + -0.9976475123740471 + ], + [ + 0.893257255156821, + 0.44369351396311235, + -0.07230174117383083, + 0.44771069677629144, + -0.8925471344045591, + 0.05398837706671323, + -0.04057841916326732, + -0.0805957724280586, + -0.9959205356678488 + ], + [ + 0.9709492194603835, + 0.23768335444970298, + -0.027644823146635533, + 0.23902699499272564, + -0.9687753056049359, + 0.06588249323462562, + -0.01112245000076056, + -0.07057641438610938, + -0.9974443647835104 + ], + [ + 0.9939508651043069, + 0.09130212467462584, + 0.06103769153808922, + 0.08681246421532376, + -0.9935791059855139, + 0.0725545050695667, + 0.06727015545740161, + -0.0668167806686743, + -0.9954949743749644 + ], + [ + 0.9957128265653554, + -0.037817944751348455, + 0.08441427644666695, + -0.04294090850588992, + -0.9972910640116975, + 0.05972111870272545, + 0.08192707360768565, + -0.0630899096306231, + -0.9946394411609066 + ], + [ + 0.9866188957064732, + -0.11452287050446827, + 0.11605027689047707, + -0.11304505423649963, + -0.9934031966014377, + -0.019258886123356165, + 0.11749029895104728, + 0.005882271114317599, + -0.9930566089296881 + ], + [ + 0.9697138791377881, + -0.1910538844899403, + 0.15216243238345026, + -0.18602007374322985, + -0.9814311200293336, + -0.04679197369775112, + 0.1582767347783838, + 0.01706955943404095, + -0.9872472361919384 + ], + [ + 0.9673435451113037, + -0.20394107223586094, + 0.15051413484049647, + -0.1977893507798552, + -0.9787042776107862, + -0.05493004373230885, + 0.15851131962601028, + 0.023366130223837208, + -0.9870806377944936 + ], + [ + 0.966922151207122, + -0.22400328975593675, + 0.12200032657132365, + -0.21557586317792582, + -0.9733230528455815, + -0.07854477713030886, + 0.13634001877689467, + 0.04964635916032026, + -0.9894173226207639 + ], + [ + 0.9792882024349013, + -0.1680391801896236, + 0.11294888442573843, + -0.15882693177351687, + -0.9835368789073686, + -0.08619288585818763, + 0.12557317514194755, + 0.06646835149415961, + -0.9898552095808854 + ], + [ + 0.9779696142588951, + -0.17651614078535696, + 0.11143377238769182, + -0.1678780534060039, + -0.9823311815696523, + -0.0827188545652172, + 0.12406608227440237, + 0.0621892414989497, + -0.9903232328239433 + ], + [ + 0.92574194489877, + -0.3668962712084085, + 0.0915913621932131, + -0.3583589185966445, + -0.9284969584002394, + -0.09732565799288309, + 0.1207507222226267, + 0.0572758624105307, + -0.9910291310894165 + ], + [ + 0.9064894193467291, + -0.4140758217537706, + 0.08257206822751327, + -0.4039747757566546, + -0.9074333775141448, + -0.11562459048849354, + 0.12280599808148697, + 0.071455435148145, + -0.9898549427178704 + ], + [ + 0.9237477927169583, + -0.3619602182021081, + 0.12519910498733489, + -0.34530799964371617, + -0.9284961405097627, + -0.1365917363552068, + 0.16568766047175248, + 0.08294406246113878, + -0.982684019240081 + ], + [ + 0.9414385009588566, + -0.2902589714213596, + 0.17159043802541776, + -0.2762792357850503, + -0.9557628710145419, + -0.10093125513966482, + 0.19329597198692208, + 0.047613694452897495, + -0.9799844913641116 + ], + [ + 0.9711817102978979, + -0.15463188168827954, + 0.18136997201409116, + -0.14895208718443628, + -0.9878374736199019, + -0.04461391526922973, + 0.18606278861247455, + 0.016312782650174357, + -0.9824024286492568 + ], + [ + 0.983869127593379, + -0.0698695760202022, + 0.16468084926730378, + -0.07245524537455604, + -0.9973241121305616, + 0.009739239225918673, + 0.16355970526494637, + -0.021514128142780597, + -0.986298821404497 + ], + [ + 0.9930105504037041, + -0.04252970751998316, + 0.11009664284253808, + -0.05072957938489347, + -0.996056907674103, + 0.0727814979932068, + 0.10656714579252131, + -0.07785795176453117, + -0.9912525322967238 + ], + [ + 0.9815513366846087, + -0.17615432139411646, + 0.07434129745192926, + -0.18488488543181336, + -0.9735498459992373, + 0.13423217383968228, + 0.048729381193722915, + -0.14550035192067323, + -0.9881574241989164 + ], + [ + 0.9723413285674681, + -0.23208196662021924, + -0.026273589959171048, + -0.22556489284605524, + -0.9622667626263901, + 0.15219446987283852, + -0.060603794229394825, + -0.1420585735329557, + -0.9880012863406521 + ], + [ + 0.9900136778445537, + -0.13836216889550532, + -0.02699681276062446, + -0.1372220962012687, + -0.989720034600021, + 0.04030321854968084, + -0.03229572719153893, + -0.03619617838757631, + -0.9988227183416009 + ], + [ + 0.9979982346639424, + -0.05321325293551072, + 0.034174161579701524, + -0.05264391281958349, + -0.9984626211581014, + -0.017349714497294937, + 0.03504485769265272, + 0.015515922857339591, + -0.9992652871421015 + ], + [ + 0.9956360537650903, + -0.04461023977057361, + 0.0819681337514177, + -0.038944089140845635, + -0.9968235330782008, + -0.06947087031614786, + 0.08480687686778848, + 0.06597552886567183, + -0.9942107539283744 + ], + [ + 0.988301980379094, + 0.002031736232430077, + 0.1524961233167683, + 0.01406436392828151, + -0.9968645170885989, + -0.07786737594787364, + 0.15185976835901607, + 0.07910124283218607, + -0.9852317514860905 + ], + [ + 0.9823598995310129, + -0.019228329653154585, + 0.18600886842343803, + -0.005246043090989627, + -0.9971416828256965, + -0.07537203329767314, + 0.18692647438312673, + 0.07306665251869476, + -0.9796528760047646 + ], + [ + 0.979045812959868, + -0.022851835756272948, + 0.20235387253106824, + 0.0009588930555020168, + -0.993155404613982, + -0.11679650170337318, + 0.2036378566226319, + 0.11454316168417157, + -0.9723227280391704 + ], + [ + 0.977682811363873, + -0.053778497374974435, + 0.20308666520410276, + -0.02013994203218238, + -0.9862212885508745, + -0.1642009523236483, + 0.20911887312859592, + 0.1564462950316899, + -0.9652946978370304 + ], + [ + 0.9830175222062161, + -0.05708575339888874, + 0.17440690294375613, + -0.02295634410544111, + -0.9811730559504829, + -0.1917614156761028, + 0.18207019882689227, + 0.18450108681433766, + -0.965820786514488 + ], + [ + 0.9890652030774612, + 0.00629214193458902, + 0.1473446063187095, + 0.03582860192000374, + -0.9794095531672659, + -0.19867873174840464, + 0.14306060025666884, + 0.201785371408761, + -0.9689253472479858 + ], + [ + 0.9878354531791296, + 0.06775343484056154, + 0.1399663870709324, + 0.0955926414981714, + -0.9745166526538209, + -0.20292693412111387, + 0.12265057820404424, + 0.21383817659084778, + -0.9691388290118789 + ], + [ + 0.9862069139465025, + 0.09071709021988608, + 0.13844252390848996, + 0.11283983327679278, + -0.9804192073830758, + -0.16138571752298012, + 0.12109126686174101, + 0.17478154174963265, + -0.9771327022229069 + ], + [ + 0.9908583416066546, + 0.059104153200404436, + 0.12127013623713673, + 0.07193498570309761, + -0.9919399774061478, + -0.10430934308769525, + 0.11412758080501717, + 0.1120793482223844, + -0.9871236574014627 + ], + [ + 0.9952827096029085, + 0.0039475118542443306, + 0.09693680991065061, + 0.011630941588441192, + -0.9968205589053176, + -0.07882572258759842, + 0.09631743955929932, + 0.07958134513723274, + -0.9921641801349663 + ], + [ + 0.9934682691298805, + -0.11342830057555886, + 0.012442622738804764, + -0.11144932096318261, + -0.9879331400531063, + -0.10755073054914795, + 0.024491775944693258, + 0.10546151626707533, + -0.9941217337417609 + ], + [ + 0.9687593467969396, + -0.2284454725874798, + -0.09652975731788484, + -0.23790631497882977, + -0.9659633575175243, + -0.10156464555476609, + -0.07004222502719744, + 0.12135673853459662, + -0.9901346518153402 + ], + [ + 0.9521768426490944, + -0.2837713318694212, + -0.11328323588182335, + -0.2965265736248072, + -0.9476324348060384, + -0.11859493934359691, + -0.07369702475089332, + 0.14651484468351486, + -0.9864594004976749 + ], + [ + 0.9208865179260692, + -0.356882585701074, + -0.15685292832878536, + -0.3710273325765977, + -0.9258449616370833, + -0.07176228460913611, + -0.11961078372410358, + 0.12428164399678437, + -0.9850113366770772 + ], + [ + 0.8754585589816644, + -0.46737658737004756, + -0.12300990644690368, + -0.4770636779216511, + -0.8764482178692923, + -0.06518257897328589, + -0.07734700196914412, + 0.11574820504901948, + -0.9902624875831233 + ], + [ + 0.8836812054517523, + -0.46238076319323346, + -0.07288042919866018, + -0.46644217184613296, + -0.8828828495397429, + -0.05430998353936641, + -0.0392329893686484, + 0.08198721740263351, + -0.9958608681576824 + ], + [ + 0.8899768206491907, + -0.45482759376569887, + -0.032758489837941385, + -0.455841983140522, + -0.8892837934461726, + -0.03718092414802271, + -0.012220683846422272, + 0.04802285563447181, + -0.9987714754752642 + ], + [ + 0.9277895063927764, + -0.3718903731511606, + 0.03006962229457697, + -0.36967017561372406, + -0.927169415803936, + -0.060834493993999594, + 0.05050339680819849, + 0.045325762600072594, + -0.9976948341830557 + ], + [ + 0.9597896313141583, + -0.2671035692976872, + 0.08636866845255502, + -0.26269471613023077, + -0.9630657336441607, + -0.05912595705518557, + 0.09897145921471102, + 0.03405988768140336, + -0.9945072017396559 + ], + [ + 0.971497633466768, + -0.20233988894355615, + 0.12349460518896731, + -0.19336498190087775, + -0.9777854131741004, + -0.08090531230041204, + 0.1371215954652759, + 0.05471978733751937, + -0.9890416639003607 + ], + [ + 0.9726885244265712, + -0.12414117820471926, + 0.1961275154658419, + -0.10676934969252111, + -0.9895573724548435, + -0.0968323943032621, + 0.20610031638766607, + 0.07324735144843411, + -0.9757855733155177 + ], + [ + 0.9658648723609303, + -0.15359485377845022, + 0.20859930304768595, + -0.13268211883292008, + -0.9849377026171603, + -0.11087460171399569, + 0.22248708654933366, + 0.07941248551712005, + -0.9716960190629488 + ], + [ + 0.9553962469200656, + -0.2191668370140468, + 0.1979492584586038, + -0.19268176235463633, + -0.9705478402570585, + -0.14460507677211876, + 0.22381186256980293, + 0.10001393565707303, + -0.9694872164435271 + ], + [ + 0.9647676079501085, + -0.18499496880329588, + 0.1870837357112942, + -0.15555617112079925, + -0.9745398789658453, + -0.16147539110177866, + 0.21219269609593636, + 0.12668419720984675, + -0.9689816169055192 + ], + [ + 0.9850535623619807, + -0.07273123322732403, + 0.1561398315331601, + -0.04830262321637008, + -0.9867479555092007, + -0.154904257168193, + 0.16533703719490198, + 0.1450470268969512, + -0.9755126980823808 + ], + [ + 0.9883024938252127, + -0.024237644668765233, + 0.1505679822531215, + -0.003643870911606782, + -0.9907610993494361, + -0.1355697835827612, + 0.1524627918662294, + 0.13343530491143576, + -0.9792599841204312 + ], + [ + 0.9838727660334674, + 0.03072568576765037, + 0.17621098856700693, + 0.051305851446560295, + -0.9922176540088249, + -0.11345411707191491, + 0.17135369813633358, + 0.12066507078410013, + -0.977792335226489 + ], + [ + 0.9771449919303012, + 0.11014600808305966, + 0.1818117753306912, + 0.12757410402447786, + -0.9879978791310815, + -0.08709212831729593, + 0.17003679815817185, + 0.10829611136070952, + -0.9794689579237648 + ], + [ + 0.965311166013033, + 0.15449433398302823, + 0.21048955683762335, + 0.17116612304223314, + -0.9832051072664263, + -0.06332357671441283, + 0.19717127349908162, + 0.09715563705907937, + -0.97554306470519 + ], + [ + 0.9540554938866875, + 0.21793544007782858, + 0.20562650252998033, + 0.2277804304371742, + -0.9733866347298286, + -0.02518997497408433, + 0.19466430102739557, + 0.07087032727046293, + -0.9783062948883101 + ], + [ + 0.9298967123119828, + 0.30867132117023244, + 0.20003529668133285, + 0.31625796166169295, + -0.9486521367891629, + -0.006326535461581344, + 0.1878110915706439, + 0.06914577971488, + -0.9797682659846995 + ], + [ + 0.9268065151378039, + 0.34114289476011783, + 0.157007034405491, + 0.34770348527552875, + -0.9374756722313202, + -0.015545105393164015, + 0.14188717287115857, + 0.06899919803245229, + -0.9874751342922558 + ], + [ + 0.9412220362385277, + 0.2975759912099693, + 0.1598424472860808, + 0.3074911513601695, + -0.9506765483096263, + -0.04078348108354104, + 0.13982228125086696, + 0.08753644926257018, + -0.9862997007584989 + ], + [ + 0.935146705436995, + 0.3060314775380918, + 0.1784527222156794, + 0.31677267373656526, + -0.947875349967007, + -0.034458585268573774, + 0.15860552475913822, + 0.08875277843975586, + -0.9833449200738782 + ], + [ + 0.9156757657539869, + 0.3232173660223361, + 0.23888998788654345, + 0.3406707648407844, + -0.9395456393220105, + -0.034603780339575015, + 0.21326350366071686, + 0.1130686779465376, + -0.9704298800396541 + ], + [ + 0.8985360070314685, + 0.36323645948130434, + 0.2463581104234886, + 0.3791149505686513, + -0.9251615047132071, + -0.018655949510111673, + 0.22114451908938215, + 0.11016108523558363, + -0.9689992966852168 + ], + [ + 0.8485906868746151, + 0.4764770559109272, + 0.22992055440983078, + 0.47898653781722106, + -0.8764795403949421, + 0.04853361576209768, + 0.22464581620751523, + 0.06894367599371372, + -0.9719984705754084 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0035526156425476074, + 0.0007691904902458191, + -0.006878845393657684, + 0.008498113602399826, + 0.023073535412549973, + 0.001346200704574585, + 1.0 + ], + [ + -0.008494436740875244, + 0.020299412310123444, + 0.0021343640983104706, + 0.06286304444074631, + 0.007117157336324453, + 0.11021317541599274, + 1.0 + ], + [ + 1.5109777450561523e-05, + 0.035974711179733276, + 0.015554286539554596, + 0.012417448684573174, + -0.07750412076711655, + 0.14220061898231506, + 1.0 + ], + [ + -0.005020409822463989, + 0.04386597126722336, + 0.0022305957973003387, + 0.06797927618026733, + -0.020669452846050262, + 0.16850298643112183, + 1.0 + ], + [ + -0.012432754039764404, + 0.04929737746715546, + -0.005497325211763382, + 0.005122393369674683, + -0.02076844871044159, + 0.17663264274597168, + 1.0 + ], + [ + -0.002419114112854004, + 0.030895717442035675, + -0.005196195095777512, + -0.03766409307718277, + -0.027688033878803253, + 0.09671878814697266, + 1.0 + ], + [ + -0.010746210813522339, + 0.014384694397449493, + -0.013474926352500916, + -0.006492719054222107, + 0.022216796875, + 0.06289082765579224, + 1.0 + ], + [ + -0.0023708343505859375, + 0.007919169962406158, + -0.01943720132112503, + -0.017633654177188873, + 0.017451629042625427, + 0.03095787763595581, + 1.0 + ], + [ + -0.006421804428100586, + -0.0016887187957763672, + -0.016797611489892006, + 0.034225620329380035, + 0.05252024903893471, + -0.0009979009628295898, + 1.0 + ], + [ + 0.0004855990409851074, + -0.00016176700592041016, + -0.018037322908639908, + 0.015753813087940216, + 0.032777294516563416, + -0.010127127170562744, + 1.0 + ], + [ + 0.0030347108840942383, + 0.0013025403022766113, + -0.012132029980421066, + 0.011663436889648438, + 0.02002202905714512, + 0.0134047269821167, + 0.0 + ], + [ + 0.001741558313369751, + 0.002149134874343872, + -0.0006500817835330963, + -0.00015474110841751099, + -0.018004072830080986, + 0.019916057586669922, + 0.0 + ], + [ + -0.0049810707569122314, + -0.0026843994855880737, + 0.00012221559882164001, + -0.00580558180809021, + -0.004642711952328682, + 0.008633017539978027, + 0.0 + ], + [ + 0.0033711791038513184, + -0.00845404714345932, + 0.018093613907694817, + -0.051631685346364975, + 0.029419707134366035, + -0.061572909355163574, + 0.0 + ], + [ + 0.005510479211807251, + -0.003367908298969269, + 0.015933088958263397, + -0.014890875667333603, + 0.04103676974773407, + -0.030939757823944092, + 0.0 + ], + [ + 0.0029153525829315186, + 0.0029676854610443115, + -0.0025787372142076492, + -0.008806779980659485, + -0.04217464104294777, + 0.05649518966674805, + 0.0 + ], + [ + -0.0031816065311431885, + 0.0019310340285301208, + -0.005560114048421383, + -0.00035638734698295593, + -0.027557706460356712, + 0.05473369359970093, + 0.0 + ], + [ + -0.006673872470855713, + 0.009493254125118256, + -0.019959725439548492, + 0.048847828060388565, + 0.014499067328870296, + 0.05118298530578613, + 0.0 + ], + [ + 0.010329961776733398, + 0.012503325939178467, + -0.009917523711919785, + -0.023240529000759125, + 0.022451192140579224, + -0.0048182010650634766, + 0.0 + ], + [ + 0.016741067171096802, + 0.006481081247329712, + -0.004463724792003632, + -0.012503892183303833, + 0.03481779247522354, + -0.11814594268798828, + 0.0 + ], + [ + 0.02360326051712036, + 0.0008177310228347778, + -0.0007025636732578278, + -0.0016244500875473022, + 0.008197981864213943, + -0.1991625428199768, + 0.0 + ], + [ + 0.031349509954452515, + -0.0010469704866409302, + 0.0005392581224441528, + 0.03731539100408554, + -0.012533280998468399, + -0.24449634552001953, + 0.0 + ], + [ + 0.024630844593048096, + -0.0020644664764404297, + -0.0011925287544727325, + -0.010110422968864441, + -0.029466884210705757, + -0.22323733568191528, + 0.0 + ], + [ + 0.016185015439987183, + -0.003326788544654846, + -0.002129301428794861, + -0.0036208778619766235, + -0.07844367623329163, + -0.15425917506217957, + 0.0 + ], + [ + 0.012541592121124268, + -0.017687305808067322, + -0.0011933781206607819, + -0.003673568367958069, + -0.014698006212711334, + -0.13021880388259888, + 0.0 + ], + [ + 0.003556877374649048, + -0.016806282103061676, + -0.0017844922840595245, + -0.06926839798688889, + -0.03574329614639282, + -0.07098165899515152, + 0.0 + ], + [ + 0.00562480092048645, + -0.026285648345947266, + -0.0030372291803359985, + -0.011365002021193504, + -0.04118284583091736, + -0.0754467025399208, + 0.0 + ], + [ + -0.006198585033416748, + -0.014208674430847168, + 0.0013399682939052582, + -0.006379203870892525, + -0.00023758411407470703, + -0.012159109115600586, + 0.0 + ], + [ + -0.007379710674285889, + -0.046305444091558456, + -0.00020794570446014404, + -0.026467785239219666, + 0.022416740655899048, + -0.017676368355751038, + 0.0 + ], + [ + -0.00463142991065979, + -0.028113476932048798, + 0.0010118000209331512, + -0.01691359281539917, + 0.010860428214073181, + 0.05857686698436737, + 0.0 + ], + [ + -0.007782280445098877, + -0.034432146698236465, + 0.002446211874485016, + 0.004334352910518646, + 0.0015189722180366516, + -0.00921681523323059, + 0.0 + ], + [ + -0.022955000400543213, + -0.09709739685058594, + 0.0032173842191696167, + 0.004984453320503235, + 0.003340482711791992, + -0.19933754205703735, + 0.0 + ], + [ + -0.024960368871688843, + -0.0320107638835907, + 0.011461999267339706, + -0.014332674443721771, + -0.002070687711238861, + -0.04988810420036316, + 0.0 + ], + [ + 0.0050178468227386475, + 0.018113523721694946, + 0.021398356184363365, + -0.012143254280090332, + -0.04333847761154175, + 0.06149980425834656, + 0.0 + ], + [ + 0.009291291236877441, + 0.037017300724983215, + 0.01290548499673605, + 0.03565804287791252, + -0.02806510031223297, + 0.07227808237075806, + 0.0 + ], + [ + 0.003243952989578247, + 0.052120987325906754, + 0.0085732601583004, + 0.031944528222084045, + 0.007366940379142761, + 0.13326452672481537, + 0.0 + ], + [ + -0.0008509159088134766, + 0.03815266489982605, + 0.010510585270822048, + 0.038412995636463165, + 0.022855550050735474, + 0.07867563515901566, + 0.0 + ], + [ + -0.006001204252243042, + 0.04890981316566467, + 0.0026776250451803207, + 0.056574560701847076, + 0.05752798914909363, + 0.022468201816082, + 0.0 + ], + [ + 0.0009573996067047119, + 0.042733363807201385, + -0.0019547464326024055, + 0.06780951470136642, + 0.05802120268344879, + -0.135136216878891, + 0.0 + ], + [ + -0.013239502906799316, + 0.03933773934841156, + -0.013649741187691689, + -0.0033885538578033447, + 0.10938964039087296, + -0.041770726442337036, + 0.0 + ], + [ + -0.03504055738449097, + 0.02962420880794525, + -0.021205052733421326, + -0.10658206045627594, + -0.028339609503746033, + 0.09022048115730286, + 0.0 + ], + [ + -0.021025151014328003, + 0.014352768659591675, + -0.015451043844223022, + -0.05174907296895981, + -0.06735338270664215, + 0.08502807468175888, + 0.0 + ], + [ + -0.010144025087356567, + -0.015121668577194214, + -0.013200636953115463, + -0.05073646828532219, + -0.04985683038830757, + 0.013605806976556778, + 0.0 + ], + [ + 0.0027005672454833984, + -0.02162320911884308, + -0.005281921476125717, + -0.013852544128894806, + -0.0675407275557518, + 0.053324729204177856, + 0.0 + ], + [ + 0.0024875402450561523, + -0.036995165050029755, + -0.0038863234221935272, + 0.005668707191944122, + -0.03558294475078583, + -0.01957007125020027, + 0.0 + ], + [ + 0.0022776424884796143, + -0.05289231985807419, + -0.0010521523654460907, + -0.042816802859306335, + -0.017039671540260315, + 0.0063196104019880295, + 0.0 + ], + [ + 0.0038802921772003174, + -0.053446345031261444, + 0.0004339292645454407, + -0.04341074079275131, + -0.005601614713668823, + -0.02157617174088955, + 0.0 + ], + [ + -0.005808502435684204, + -0.0541977658867836, + 0.0009036362171173096, + -0.028082281351089478, + 0.02758239209651947, + -0.0027519352734088898, + 0.0 + ], + [ + 0.002710878849029541, + -0.03628529608249664, + 0.007198348641395569, + -0.016565904021263123, + 0.039538294076919556, + 0.05955757200717926, + 0.0 + ], + [ + 0.007420569658279419, + 0.0063020214438438416, + 0.004176013171672821, + -0.011845827102661133, + 0.02059295028448105, + 0.06026054546236992, + 0.0 + ], + [ + 0.017551928758621216, + 0.03267008811235428, + 0.00647333636879921, + 0.04016795754432678, + 0.0015710219740867615, + 0.01745317131280899, + 0.0 + ], + [ + 0.01937839388847351, + 0.04526402801275253, + 0.011284518986940384, + 0.0639428123831749, + 0.007012367248535156, + -0.04145108163356781, + 0.0 + ], + [ + 0.018444865942001343, + 0.040346190333366394, + 0.009907690808176994, + 0.03301867097616196, + 0.017909809947013855, + -0.06078597903251648, + 0.0 + ], + [ + 0.01010558009147644, + 0.050394102931022644, + -0.014213098213076591, + -0.025651313364505768, + 0.07197276502847672, + -0.12340052425861359, + 0.0 + ], + [ + 0.0021852850914001465, + 0.035424329340457916, + -0.005088198930025101, + -0.0162678062915802, + 0.094593845307827, + -0.1290978044271469, + 0.0 + ], + [ + -0.015755027532577515, + 0.02683383971452713, + -0.0063121989369392395, + -0.025490425527095795, + 0.003664277493953705, + -0.061087533831596375, + 0.0 + ], + [ + -0.013028889894485474, + 0.0172637477517128, + -0.001744139939546585, + 0.02193845808506012, + 0.046133942902088165, + -0.0811055600643158, + 0.0 + ], + [ + -0.014365196228027344, + 0.0073111653327941895, + -0.003570307046175003, + 0.009151197969913483, + -0.04247350990772247, + -0.1159365177154541, + 0.0 + ], + [ + -0.018711715936660767, + 0.017800316214561462, + 0.0008249841630458832, + 0.03421565890312195, + -0.03818127140402794, + 0.013271749019622803, + 0.0 + ], + [ + -0.010310232639312744, + 0.0022415071725845337, + -0.0011594370007514954, + 0.034097809344530106, + -0.027022073045372963, + 0.012314438819885254, + 0.0 + ], + [ + -0.01977357268333435, + -0.008123114705085754, + -0.0005746744573116302, + 0.0026456527411937714, + -0.06274587661027908, + 0.09419378638267517, + 0.0 + ], + [ + 0.003770172595977783, + -0.025042042136192322, + -0.005488172173500061, + 0.011164646595716476, + -0.04860886186361313, + 0.11200493574142456, + 0.0 + ], + [ + 0.006196916103363037, + -0.040780872106552124, + -0.00604594498872757, + -0.021035097539424896, + -0.03842122107744217, + 0.07068707048892975, + 0.0 + ], + [ + 0.006051599979400635, + -0.040604423731565475, + -0.0004965066909790039, + -0.0196547694504261, + -0.07003305852413177, + 0.08714086562395096, + 0.0 + ], + [ + 0.008070588111877441, + -0.04360850155353546, + -0.00013257190585136414, + -0.006619930267333984, + -0.01677672564983368, + -0.027187295258045197, + 0.0 + ], + [ + -0.001451641321182251, + -0.06893227994441986, + -0.000604480504989624, + -0.021253623068332672, + -0.0013590455055236816, + -0.062490999698638916, + 0.0 + ], + [ + -0.0007615387439727783, + -0.05306538566946983, + 0.0023266300559043884, + -0.027204126119613647, + 0.011905595660209656, + 0.03914676606655121, + 0.0 + ], + [ + -0.005341231822967529, + -0.05150526016950607, + 0.005735810846090317, + -0.017604395747184753, + 0.04771846532821655, + 0.1108648031949997, + 0.0 + ], + [ + -0.00422513484954834, + 0.009891599416732788, + 0.006970319896936417, + 0.012179255485534668, + 0.013040021061897278, + 0.04530930146574974, + 0.0 + ], + [ + 0.005498230457305908, + 0.022054597735404968, + 0.01035097986459732, + 0.012642472982406616, + -0.019143804907798767, + 0.055786628276109695, + 0.0 + ], + [ + 0.008495420217514038, + 0.03461877256631851, + 0.005182813853025436, + 0.012665964663028717, + 0.001336514949798584, + 0.07772405445575714, + 0.0 + ], + [ + 0.0112496018409729, + 0.030463017523288727, + 0.012766346335411072, + 0.010854855179786682, + -0.02760469913482666, + 0.04566927254199982, + 0.0 + ], + [ + 0.0066592395305633545, + 0.03769483044743538, + 0.00423886813223362, + 0.026948481798171997, + 0.002556517720222473, + 0.058869436383247375, + 0.0 + ], + [ + 0.0013887286186218262, + 0.038413893431425095, + -0.0034421030431985855, + 0.0018587484955787659, + 0.006982088088989258, + 0.09346581995487213, + 0.0 + ], + [ + -0.002071589231491089, + 0.012876918539404869, + -0.025687366724014282, + 0.0006958097219467163, + 0.04656548798084259, + 0.031085312366485596, + 1.0 + ], + [ + 0.002997785806655884, + -0.0033677592873573303, + 0.0014142729341983795, + -0.01875946670770645, + 0.0020856857299804688, + -0.04315066337585449, + 1.0 + ], + [ + 0.002757132053375244, + 0.0009865667670965195, + 0.008051693439483643, + -0.0014916658401489258, + -0.018996208906173706, + 0.01084679365158081, + 1.0 + ], + [ + 0.0065642595291137695, + 0.00013961084187030792, + 0.033073462545871735, + -0.02597890794277191, + -0.0556359589099884, + 0.029566049575805664, + 1.0 + ], + [ + 0.004267573356628418, + 0.0023716818541288376, + 0.029961133375763893, + 0.0027916133403778076, + -0.008073791861534119, + 0.04308763146400452, + 1.0 + ], + [ + -0.007134854793548584, + 0.021961309015750885, + 0.016485227271914482, + 0.042388178408145905, + -0.0035916566848754883, + 0.11460575461387634, + 1.0 + ], + [ + -0.03279316425323486, + 0.051338281482458115, + -0.017914507538080215, + -0.010877594351768494, + 0.036031052470207214, + 0.239371657371521, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.939095675945282 + ], + [ + 0.6279802918434143 + ], + [ + 0.37802740931510925 + ], + [ + 0.3577343225479126 + ], + [ + 0.3577343225479126 + ], + [ + 0.3577343225479126 + ], + [ + 0.3577343225479126 + ], + [ + 0.3577343225479126 + ], + [ + 0.3577343225479126 + ], + [ + 0.3577343225479126 + ], + [ + 0.3577343225479126 + ], + [ + 0.3577343225479126 + ], + [ + 0.3577343225479126 + ], + [ + 0.3577343225479126 + ], + [ + 0.3577343225479126 + ], + [ + 0.3577343225479126 + ], + [ + 0.3577343225479126 + ], + [ + 0.3577343225479126 + ], + [ + 0.3577343225479126 + ], + [ + 0.3577343225479126 + ], + [ + 0.3577343225479126 + ], + [ + 0.3577343225479126 + ], + [ + 0.3577343225479126 + ], + [ + 0.3577343225479126 + ], + [ + 0.3577343225479126 + ], + [ + 0.3577343225479126 + ], + [ + 0.3577343225479126 + ], + [ + 0.3577343225479126 + ], + [ + 0.3577343225479126 + ], + [ + 0.3577343225479126 + ], + [ + 0.3577343225479126 + ], + [ + 0.3577343225479126 + ], + [ + 0.3577343225479126 + ], + [ + 0.3577343225479126 + ], + [ + 0.3577343225479126 + ], + [ + 0.3577343225479126 + ], + [ + 0.3577343225479126 + ], + [ + 0.3577343225479126 + ], + [ + 0.3577343225479126 + ], + [ + 0.3577343225479126 + ], + [ + 0.3577343225479126 + ], + [ + 0.3577343225479126 + ], + [ + 0.3577343225479126 + ], + [ + 0.3577343225479126 + ], + [ + 0.3577343225479126 + ], + [ + 0.3577343225479126 + ], + [ + 0.3577343225479126 + ], + [ + 0.3577343225479126 + ], + [ + 0.3577343225479126 + ], + [ + 0.3577343225479126 + ], + [ + 0.3577343225479126 + ], + [ + 0.3577343225479126 + ], + [ + 0.3577343225479126 + ], + [ + 0.3577343225479126 + ], + [ + 0.3577343225479126 + ], + [ + 0.3577343225479126 + ], + [ + 0.3577343225479126 + ], + [ + 0.3577343225479126 + ], + [ + 0.3577343225479126 + ], + [ + 0.35690104961395264 + ], + [ + 0.3577343225479126 + ], + [ + 0.3577343225479126 + ], + [ + 0.3577343225479126 + ], + [ + 0.3577343225479126 + ], + [ + 0.40327540040016174 + ], + [ + 0.7171077728271484 + ], + [ + 0.9913908839225769 + ], + [ + 1.0118417739868164 + ], + [ + 1.002137303352356 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.30397123098373413, + -0.07049383968114853, + 0.03135833889245987 + ], + [ + 0.2954767942428589, + -0.050194427371025085, + 0.03349270299077034 + ], + [ + 0.29549190402030945, + -0.014219717122614384, + 0.049046989530324936 + ], + [ + 0.29047149419784546, + 0.02964625507593155, + 0.051277585327625275 + ], + [ + 0.27803874015808105, + 0.078943632543087, + 0.04578026011586189 + ], + [ + 0.27561962604522705, + 0.10983934998512268, + 0.04058406502008438 + ], + [ + 0.2648734152317047, + 0.12422404438257217, + 0.027109138667583466 + ], + [ + 0.2625025808811188, + 0.13214321434497833, + 0.007671936880797148 + ], + [ + 0.2560807764530182, + 0.13045449554920197, + -0.009125675074756145 + ], + [ + 0.2565663754940033, + 0.13029272854328156, + -0.027162998914718628 + ], + [ + 0.25960108637809753, + 0.13159526884555817, + -0.039295028895139694 + ], + [ + 0.2613426446914673, + 0.13374440371990204, + -0.03994511067867279 + ], + [ + 0.25636157393455505, + 0.13106000423431396, + -0.03982289507985115 + ], + [ + 0.25973275303840637, + 0.12260595709085464, + -0.021729281172156334 + ], + [ + 0.2652432322502136, + 0.11923804879188538, + -0.005796192213892937 + ], + [ + 0.26815858483314514, + 0.12220573425292969, + -0.008374929428100586 + ], + [ + 0.26497697830200195, + 0.12413676828145981, + -0.013935043476521969 + ], + [ + 0.25830310583114624, + 0.13363002240657806, + -0.033894769847393036 + ], + [ + 0.26863306760787964, + 0.14613334834575653, + -0.04381229355931282 + ], + [ + 0.28537413477897644, + 0.15261442959308624, + -0.04827601835131645 + ], + [ + 0.3089773952960968, + 0.15343216061592102, + -0.04897858202457428 + ], + [ + 0.3403269052505493, + 0.1523851901292801, + -0.04843932390213013 + ], + [ + 0.3649577498435974, + 0.15032072365283966, + -0.04963185265660286 + ], + [ + 0.3811427652835846, + 0.14699393510818481, + -0.05176115408539772 + ], + [ + 0.39368435740470886, + 0.1293066293001175, + -0.0529545322060585 + ], + [ + 0.3972412347793579, + 0.11250034719705582, + -0.05473902449011803 + ], + [ + 0.40286603569984436, + 0.08621469885110855, + -0.057776253670454025 + ], + [ + 0.3966674506664276, + 0.07200602442026138, + -0.05643628537654877 + ], + [ + 0.3892877399921417, + 0.025700580328702927, + -0.05664423108100891 + ], + [ + 0.38465631008148193, + -0.00241289590485394, + -0.05563243106007576 + ], + [ + 0.37687402963638306, + -0.036845043301582336, + -0.053186219185590744 + ], + [ + 0.35391902923583984, + -0.13394244015216827, + -0.04996883496642113 + ], + [ + 0.328958660364151, + -0.16595320403575897, + -0.03850683569908142 + ], + [ + 0.33397650718688965, + -0.14783968031406403, + -0.017108479514718056 + ], + [ + 0.3432677984237671, + -0.11082237958908081, + -0.004202994517982006 + ], + [ + 0.34651175141334534, + -0.05870139226317406, + 0.004370265640318394 + ], + [ + 0.34566083550453186, + -0.020548727363348007, + 0.014880850911140442 + ], + [ + 0.3396596312522888, + 0.028361087664961815, + 0.017558475956320763 + ], + [ + 0.34061703085899353, + 0.07109445333480835, + 0.015603729523718357 + ], + [ + 0.3273775279521942, + 0.11043219268321991, + 0.0019539883360266685 + ], + [ + 0.29233697056770325, + 0.14005640149116516, + -0.019251063466072083 + ], + [ + 0.27131181955337524, + 0.15440917015075684, + -0.034702107310295105 + ], + [ + 0.2611677944660187, + 0.13928750157356262, + -0.04790274426341057 + ], + [ + 0.2638683617115021, + 0.11766429245471954, + -0.053184665739536285 + ], + [ + 0.2663559019565582, + 0.08066912740468979, + -0.05707098916172981 + ], + [ + 0.26863354444503784, + 0.02777680940926075, + -0.0581231415271759 + ], + [ + 0.27251383662223816, + -0.025669535622000694, + -0.05768921226263046 + ], + [ + 0.26670533418655396, + -0.07986730337142944, + -0.05678557604551315 + ], + [ + 0.2694162130355835, + -0.11615259945392609, + -0.049587227404117584 + ], + [ + 0.2768367826938629, + -0.10985057801008224, + -0.04541121423244476 + ], + [ + 0.29438871145248413, + -0.07718048989772797, + -0.038937877863645554 + ], + [ + 0.31376710534095764, + -0.03191646188497543, + -0.02765335887670517 + ], + [ + 0.332211971282959, + 0.008429726585745811, + -0.017745668068528175 + ], + [ + 0.3423175513744354, + 0.058823831379413605, + -0.03195876628160477 + ], + [ + 0.34450283646583557, + 0.09424816071987152, + -0.03704696521162987 + ], + [ + 0.32874780893325806, + 0.12108200043439865, + -0.04335916414856911 + ], + [ + 0.3157189190387726, + 0.13834574818611145, + -0.04510330408811569 + ], + [ + 0.30135372281074524, + 0.14565691351890564, + -0.048673611134290695 + ], + [ + 0.2826420068740845, + 0.1634572297334671, + -0.04784862697124481 + ], + [ + 0.27233177423477173, + 0.16569873690605164, + -0.04900806397199631 + ], + [ + 0.2525582015514374, + 0.15757562220096588, + -0.04958273842930794 + ], + [ + 0.25632837414741516, + 0.13253358006477356, + -0.055070910602808 + ], + [ + 0.2625252902507782, + 0.09175270795822144, + -0.06111685559153557 + ], + [ + 0.26857689023017883, + 0.05114828422665596, + -0.06161336228251457 + ], + [ + 0.2766474783420563, + 0.007539781741797924, + -0.061745934188365936 + ], + [ + 0.275195837020874, + -0.06139249727129936, + -0.06235041469335556 + ], + [ + 0.27443429827690125, + -0.1144578829407692, + -0.06002378463745117 + ], + [ + 0.2690930664539337, + -0.16596314311027527, + -0.054287973791360855 + ], + [ + 0.2648679316043854, + -0.15607154369354248, + -0.04731765389442444 + ], + [ + 0.2703661620616913, + -0.1340169459581375, + -0.03696667402982712 + ], + [ + 0.2788615822792053, + -0.099398173391819, + -0.03178386017680168 + ], + [ + 0.2901111841201782, + -0.06893515586853027, + -0.01901751384139061 + ], + [ + 0.2967704236507416, + -0.031240325421094894, + -0.01477864570915699 + ], + [ + 0.2981591522693634, + 0.0071735680103302, + -0.018220748752355576 + ], + [ + 0.2960875630378723, + 0.02005048654973507, + -0.04390811547636986 + ], + [ + 0.2990853488445282, + 0.01668272726237774, + -0.04249384254217148 + ], + [ + 0.30184248089790344, + 0.01766929402947426, + -0.034442149102687836 + ], + [ + 0.3084067404270172, + 0.017808904871344566, + -0.001368687255308032 + ], + [ + 0.31267431378364563, + 0.020180586725473404, + 0.028592446818947792 + ], + [ + 0.30553945899009705, + 0.04214189574122429, + 0.045077674090862274 + ], + [ + 0.2727462947368622, + 0.0934801772236824, + 0.02716316655278206 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9898255517999807, + 0.14147225506798342, + 0.015197962029289488, + 0.14190599637418536, + -0.989336530377228, + -0.03280118678033403, + 0.010395441160142132, + 0.03462413474916172, + -0.9993463384112429 + ], + [ + 0.9682588056027617, + 0.249919626516212, + -0.003881450078310896, + 0.24992826378524322, + -0.967855082636644, + 0.02814963544539731, + 0.003278465190787618, + -0.028226216473554902, + -0.9995961846513725 + ], + [ + 0.9200601026308078, + 0.3873403006387247, + 0.05879539988885305, + 0.38337679045109674, + -0.9210466488602612, + 0.06852231145181009, + 0.08069475875423152, + -0.04050385320417531, + -0.9959155555493706 + ], + [ + 0.8411442394355794, + 0.5401247083062208, + 0.027233581135447195, + 0.5312429901169142, + -0.8346450775266939, + 0.14542516980254686, + 0.10127810185810807, + -0.10785589477436668, + -0.9889943640114638 + ], + [ + 0.7329974648119014, + 0.6801085752719691, + 0.012924489191359703, + 0.6692167804644171, + -0.7244036420383759, + 0.16549400033347597, + 0.12191643582456572, + -0.11265739764022895, + -0.9861261042243866 + ], + [ + 0.6624306859035554, + 0.7478688539254349, + 0.043333170915612854, + 0.7340850460580867, + -0.6595780942281817, + 0.16148028600487696, + 0.14934768671540277, + -0.07515926385068235, + -0.9859241114457956 + ], + [ + 0.6168960297721222, + 0.7866613150459448, + 0.024561430365064536, + 0.7766740226739403, + -0.6135202492203073, + 0.14272479217056863, + 0.1273450075773403, + -0.06897013271581451, + -0.9894576139675162 + ], + [ + 0.593797502883763, + 0.8042568106129679, + 0.023989750971277014, + 0.7970575867831005, + -0.5920357629964907, + 0.11913378481632858, + 0.11001694833300787, + -0.05162013091633386, + -0.9925883503062449 + ], + [ + 0.5972277445820503, + 0.8013253059467087, + -0.034594438149097184, + 0.7999944611467491, + -0.5920245221368053, + 0.0975491021138093, + 0.0576878083823644, + -0.08593438914719595, + -0.9946292764271211 + ], + [ + 0.6061197370404369, + 0.7926402331705447, + -0.06588114395922609, + 0.7949823029915237, + -0.6011426191246456, + 0.08142904520043508, + 0.024939973943950682, + -0.10173009501276321, + -0.9944993642372876 + ], + [ + 0.5955871296322243, + 0.7984398161932352, + -0.08814664448384035, + 0.8032756435877483, + -0.5913072457552027, + 0.07144215517525353, + 0.004920511674275346, + -0.11335608071342652, + -0.9935422424487819 + ], + [ + 0.5793267402783813, + 0.8112519712450831, + -0.07906179323410115, + 0.8147730251987174, + -0.5736391664470986, + 0.08416070417010649, + 0.02292259599075052, + -0.11317396285738504, + -0.9933107312035847 + ], + [ + 0.5722042034481655, + 0.8169087826659338, + -0.07240435318067845, + 0.8196478421525015, + -0.5666805431352394, + 0.08396771335875379, + 0.027563824317359056, + -0.1073927503848003, + -0.993834509741833 + ], + [ + 0.6217912741371827, + 0.7818895437556439, + -0.04499280800804948, + 0.7831808093020574, + -0.620898504053375, + 0.03335967034092267, + -0.0018523897626559205, + -0.05598025571459499, + -0.9984301576085806 + ], + [ + 0.6451285482153151, + 0.7617887819444121, + -0.059050893145227434, + 0.762870109469484, + -0.646522357484036, + -0.006167442849529803, + -0.04287601142384542, + -0.041069367866252364, + -0.9982359213469774 + ], + [ + 0.6015767786317127, + 0.7983840117475021, + -0.026236409759260008, + 0.7988146649084866, + -0.6012813566330287, + 0.018864286169553934, + -0.0007145195824265031, + -0.03230634537531206, + -0.9994777583869775 + ], + [ + 0.5567751463644655, + 0.8305823360463445, + -0.01159393973701343, + 0.8302295181344446, + -0.5559792319164811, + 0.04007544005756819, + 0.026839962911229535, + -0.031938640004813335, + -0.9991293908526397 + ], + [ + 0.51371688212314, + 0.8556489128184351, + -0.06292776028359824, + 0.8578709666866086, + -0.5112249370732864, + 0.052023727573084204, + 0.012343805647526584, + -0.08070936567118203, + -0.9966612407207835 + ], + [ + 0.5178573028799106, + 0.8537330016668622, + -0.05444057052267694, + 0.8554073090794058, + -0.5175234024066877, + 0.021162786558863906, + -0.010106899993322985, + -0.05752816550434717, + -0.9982927229756962 + ], + [ + 0.6144860161466167, + 0.7863993724839845, + -0.06311071950988703, + 0.7876484305047041, + -0.6160772514117108, + -0.007666173521926972, + -0.04490975265726333, + -0.044998302743407534, + -0.9979770873454341 + ], + [ + 0.7578693981861067, + 0.6487966233236919, + -0.06853405618234112, + 0.6502419490557454, + -0.7597255316830638, + -0.0015887721899863518, + -0.0530978623036198, + -0.04335963644522166, + -0.9976475123740471 + ], + [ + 0.893257255156821, + 0.44369351396311235, + -0.07230174117383083, + 0.44771069677629144, + -0.8925471344045591, + 0.05398837706671323, + -0.04057841916326732, + -0.0805957724280586, + -0.9959205356678488 + ], + [ + 0.9709492194603835, + 0.23768335444970298, + -0.027644823146635533, + 0.23902699499272564, + -0.9687753056049359, + 0.06588249323462562, + -0.01112245000076056, + -0.07057641438610938, + -0.9974443647835104 + ], + [ + 0.9939508651043069, + 0.09130212467462584, + 0.06103769153808922, + 0.08681246421532376, + -0.9935791059855139, + 0.0725545050695667, + 0.06727015545740161, + -0.0668167806686743, + -0.9954949743749644 + ], + [ + 0.9957128265653554, + -0.037817944751348455, + 0.08441427644666695, + -0.04294090850588992, + -0.9972910640116975, + 0.05972111870272545, + 0.08192707360768565, + -0.0630899096306231, + -0.9946394411609066 + ], + [ + 0.9866188957064732, + -0.11452287050446827, + 0.11605027689047707, + -0.11304505423649963, + -0.9934031966014377, + -0.019258886123356165, + 0.11749029895104728, + 0.005882271114317599, + -0.9930566089296881 + ], + [ + 0.9697138791377881, + -0.1910538844899403, + 0.15216243238345026, + -0.18602007374322985, + -0.9814311200293336, + -0.04679197369775112, + 0.1582767347783838, + 0.01706955943404095, + -0.9872472361919384 + ], + [ + 0.9673435451113037, + -0.20394107223586094, + 0.15051413484049647, + -0.1977893507798552, + -0.9787042776107862, + -0.05493004373230885, + 0.15851131962601028, + 0.023366130223837208, + -0.9870806377944936 + ], + [ + 0.966922151207122, + -0.22400328975593675, + 0.12200032657132365, + -0.21557586317792582, + -0.9733230528455815, + -0.07854477713030886, + 0.13634001877689467, + 0.04964635916032026, + -0.9894173226207639 + ], + [ + 0.9792882024349013, + -0.1680391801896236, + 0.11294888442573843, + -0.15882693177351687, + -0.9835368789073686, + -0.08619288585818763, + 0.12557317514194755, + 0.06646835149415961, + -0.9898552095808854 + ], + [ + 0.9779696142588951, + -0.17651614078535696, + 0.11143377238769182, + -0.1678780534060039, + -0.9823311815696523, + -0.0827188545652172, + 0.12406608227440237, + 0.0621892414989497, + -0.9903232328239433 + ], + [ + 0.92574194489877, + -0.3668962712084085, + 0.0915913621932131, + -0.3583589185966445, + -0.9284969584002394, + -0.09732565799288309, + 0.1207507222226267, + 0.0572758624105307, + -0.9910291310894165 + ], + [ + 0.9064894193467291, + -0.4140758217537706, + 0.08257206822751327, + -0.4039747757566546, + -0.9074333775141448, + -0.11562459048849354, + 0.12280599808148697, + 0.071455435148145, + -0.9898549427178704 + ], + [ + 0.9237477927169583, + -0.3619602182021081, + 0.12519910498733489, + -0.34530799964371617, + -0.9284961405097627, + -0.1365917363552068, + 0.16568766047175248, + 0.08294406246113878, + -0.982684019240081 + ], + [ + 0.9414385009588566, + -0.2902589714213596, + 0.17159043802541776, + -0.2762792357850503, + -0.9557628710145419, + -0.10093125513966482, + 0.19329597198692208, + 0.047613694452897495, + -0.9799844913641116 + ], + [ + 0.9711817102978979, + -0.15463188168827954, + 0.18136997201409116, + -0.14895208718443628, + -0.9878374736199019, + -0.04461391526922973, + 0.18606278861247455, + 0.016312782650174357, + -0.9824024286492568 + ], + [ + 0.983869127593379, + -0.0698695760202022, + 0.16468084926730378, + -0.07245524537455604, + -0.9973241121305616, + 0.009739239225918673, + 0.16355970526494637, + -0.021514128142780597, + -0.986298821404497 + ], + [ + 0.9930105504037041, + -0.04252970751998316, + 0.11009664284253808, + -0.05072957938489347, + -0.996056907674103, + 0.0727814979932068, + 0.10656714579252131, + -0.07785795176453117, + -0.9912525322967238 + ], + [ + 0.9815513366846087, + -0.17615432139411646, + 0.07434129745192926, + -0.18488488543181336, + -0.9735498459992373, + 0.13423217383968228, + 0.048729381193722915, + -0.14550035192067323, + -0.9881574241989164 + ], + [ + 0.9723413285674681, + -0.23208196662021924, + -0.026273589959171048, + -0.22556489284605524, + -0.9622667626263901, + 0.15219446987283852, + -0.060603794229394825, + -0.1420585735329557, + -0.9880012863406521 + ], + [ + 0.9900136778445537, + -0.13836216889550532, + -0.02699681276062446, + -0.1372220962012687, + -0.989720034600021, + 0.04030321854968084, + -0.03229572719153893, + -0.03619617838757631, + -0.9988227183416009 + ], + [ + 0.9979982346639424, + -0.05321325293551072, + 0.034174161579701524, + -0.05264391281958349, + -0.9984626211581014, + -0.017349714497294937, + 0.03504485769265272, + 0.015515922857339591, + -0.9992652871421015 + ], + [ + 0.9956360537650903, + -0.04461023977057361, + 0.0819681337514177, + -0.038944089140845635, + -0.9968235330782008, + -0.06947087031614786, + 0.08480687686778848, + 0.06597552886567183, + -0.9942107539283744 + ], + [ + 0.988301980379094, + 0.002031736232430077, + 0.1524961233167683, + 0.01406436392828151, + -0.9968645170885989, + -0.07786737594787364, + 0.15185976835901607, + 0.07910124283218607, + -0.9852317514860905 + ], + [ + 0.9823598995310129, + -0.019228329653154585, + 0.18600886842343803, + -0.005246043090989627, + -0.9971416828256965, + -0.07537203329767314, + 0.18692647438312673, + 0.07306665251869476, + -0.9796528760047646 + ], + [ + 0.979045812959868, + -0.022851835756272948, + 0.20235387253106824, + 0.0009588930555020168, + -0.993155404613982, + -0.11679650170337318, + 0.2036378566226319, + 0.11454316168417157, + -0.9723227280391704 + ], + [ + 0.977682811363873, + -0.053778497374974435, + 0.20308666520410276, + -0.02013994203218238, + -0.9862212885508745, + -0.1642009523236483, + 0.20911887312859592, + 0.1564462950316899, + -0.9652946978370304 + ], + [ + 0.9830175222062161, + -0.05708575339888874, + 0.17440690294375613, + -0.02295634410544111, + -0.9811730559504829, + -0.1917614156761028, + 0.18207019882689227, + 0.18450108681433766, + -0.965820786514488 + ], + [ + 0.9890652030774612, + 0.00629214193458902, + 0.1473446063187095, + 0.03582860192000374, + -0.9794095531672659, + -0.19867873174840464, + 0.14306060025666884, + 0.201785371408761, + -0.9689253472479858 + ], + [ + 0.9878354531791296, + 0.06775343484056154, + 0.1399663870709324, + 0.0955926414981714, + -0.9745166526538209, + -0.20292693412111387, + 0.12265057820404424, + 0.21383817659084778, + -0.9691388290118789 + ], + [ + 0.9862069139465025, + 0.09071709021988608, + 0.13844252390848996, + 0.11283983327679278, + -0.9804192073830758, + -0.16138571752298012, + 0.12109126686174101, + 0.17478154174963265, + -0.9771327022229069 + ], + [ + 0.9908583416066546, + 0.059104153200404436, + 0.12127013623713673, + 0.07193498570309761, + -0.9919399774061478, + -0.10430934308769525, + 0.11412758080501717, + 0.1120793482223844, + -0.9871236574014627 + ], + [ + 0.9952827096029085, + 0.0039475118542443306, + 0.09693680991065061, + 0.011630941588441192, + -0.9968205589053176, + -0.07882572258759842, + 0.09631743955929932, + 0.07958134513723274, + -0.9921641801349663 + ], + [ + 0.9934682691298805, + -0.11342830057555886, + 0.012442622738804764, + -0.11144932096318261, + -0.9879331400531063, + -0.10755073054914795, + 0.024491775944693258, + 0.10546151626707533, + -0.9941217337417609 + ], + [ + 0.9687593467969396, + -0.2284454725874798, + -0.09652975731788484, + -0.23790631497882977, + -0.9659633575175243, + -0.10156464555476609, + -0.07004222502719744, + 0.12135673853459662, + -0.9901346518153402 + ], + [ + 0.9521768426490944, + -0.2837713318694212, + -0.11328323588182335, + -0.2965265736248072, + -0.9476324348060384, + -0.11859493934359691, + -0.07369702475089332, + 0.14651484468351486, + -0.9864594004976749 + ], + [ + 0.9208865179260692, + -0.356882585701074, + -0.15685292832878536, + -0.3710273325765977, + -0.9258449616370833, + -0.07176228460913611, + -0.11961078372410358, + 0.12428164399678437, + -0.9850113366770772 + ], + [ + 0.8754585589816644, + -0.46737658737004756, + -0.12300990644690368, + -0.4770636779216511, + -0.8764482178692923, + -0.06518257897328589, + -0.07734700196914412, + 0.11574820504901948, + -0.9902624875831233 + ], + [ + 0.8836812054517523, + -0.46238076319323346, + -0.07288042919866018, + -0.46644217184613296, + -0.8828828495397429, + -0.05430998353936641, + -0.0392329893686484, + 0.08198721740263351, + -0.9958608681576824 + ], + [ + 0.8899768206491907, + -0.45482759376569887, + -0.032758489837941385, + -0.455841983140522, + -0.8892837934461726, + -0.03718092414802271, + -0.012220683846422272, + 0.04802285563447181, + -0.9987714754752642 + ], + [ + 0.9277895063927764, + -0.3718903731511606, + 0.03006962229457697, + -0.36967017561372406, + -0.927169415803936, + -0.060834493993999594, + 0.05050339680819849, + 0.045325762600072594, + -0.9976948341830557 + ], + [ + 0.9597896313141583, + -0.2671035692976872, + 0.08636866845255502, + -0.26269471613023077, + -0.9630657336441607, + -0.05912595705518557, + 0.09897145921471102, + 0.03405988768140336, + -0.9945072017396559 + ], + [ + 0.971497633466768, + -0.20233988894355615, + 0.12349460518896731, + -0.19336498190087775, + -0.9777854131741004, + -0.08090531230041204, + 0.1371215954652759, + 0.05471978733751937, + -0.9890416639003607 + ], + [ + 0.9726885244265712, + -0.12414117820471926, + 0.1961275154658419, + -0.10676934969252111, + -0.9895573724548435, + -0.0968323943032621, + 0.20610031638766607, + 0.07324735144843411, + -0.9757855733155177 + ], + [ + 0.9658648723609303, + -0.15359485377845022, + 0.20859930304768595, + -0.13268211883292008, + -0.9849377026171603, + -0.11087460171399569, + 0.22248708654933366, + 0.07941248551712005, + -0.9716960190629488 + ], + [ + 0.9553962469200656, + -0.2191668370140468, + 0.1979492584586038, + -0.19268176235463633, + -0.9705478402570585, + -0.14460507677211876, + 0.22381186256980293, + 0.10001393565707303, + -0.9694872164435271 + ], + [ + 0.9647676079501085, + -0.18499496880329588, + 0.1870837357112942, + -0.15555617112079925, + -0.9745398789658453, + -0.16147539110177866, + 0.21219269609593636, + 0.12668419720984675, + -0.9689816169055192 + ], + [ + 0.9850535623619807, + -0.07273123322732403, + 0.1561398315331601, + -0.04830262321637008, + -0.9867479555092007, + -0.154904257168193, + 0.16533703719490198, + 0.1450470268969512, + -0.9755126980823808 + ], + [ + 0.9883024938252127, + -0.024237644668765233, + 0.1505679822531215, + -0.003643870911606782, + -0.9907610993494361, + -0.1355697835827612, + 0.1524627918662294, + 0.13343530491143576, + -0.9792599841204312 + ], + [ + 0.9838727660334674, + 0.03072568576765037, + 0.17621098856700693, + 0.051305851446560295, + -0.9922176540088249, + -0.11345411707191491, + 0.17135369813633358, + 0.12066507078410013, + -0.977792335226489 + ], + [ + 0.9771449919303012, + 0.11014600808305966, + 0.1818117753306912, + 0.12757410402447786, + -0.9879978791310815, + -0.08709212831729593, + 0.17003679815817185, + 0.10829611136070952, + -0.9794689579237648 + ], + [ + 0.965311166013033, + 0.15449433398302823, + 0.21048955683762335, + 0.17116612304223314, + -0.9832051072664263, + -0.06332357671441283, + 0.19717127349908162, + 0.09715563705907937, + -0.97554306470519 + ], + [ + 0.9540554938866875, + 0.21793544007782858, + 0.20562650252998033, + 0.2277804304371742, + -0.9733866347298286, + -0.02518997497408433, + 0.19466430102739557, + 0.07087032727046293, + -0.9783062948883101 + ], + [ + 0.9298967123119828, + 0.30867132117023244, + 0.20003529668133285, + 0.31625796166169295, + -0.9486521367891629, + -0.006326535461581344, + 0.1878110915706439, + 0.06914577971488, + -0.9797682659846995 + ], + [ + 0.9268065151378039, + 0.34114289476011783, + 0.157007034405491, + 0.34770348527552875, + -0.9374756722313202, + -0.015545105393164015, + 0.14188717287115857, + 0.06899919803245229, + -0.9874751342922558 + ], + [ + 0.9412220362385277, + 0.2975759912099693, + 0.1598424472860808, + 0.3074911513601695, + -0.9506765483096263, + -0.04078348108354104, + 0.13982228125086696, + 0.08753644926257018, + -0.9862997007584989 + ], + [ + 0.935146705436995, + 0.3060314775380918, + 0.1784527222156794, + 0.31677267373656526, + -0.947875349967007, + -0.034458585268573774, + 0.15860552475913822, + 0.08875277843975586, + -0.9833449200738782 + ], + [ + 0.9156757657539869, + 0.3232173660223361, + 0.23888998788654345, + 0.3406707648407844, + -0.9395456393220105, + -0.034603780339575015, + 0.21326350366071686, + 0.1130686779465376, + -0.9704298800396541 + ], + [ + 0.8985360070314685, + 0.36323645948130434, + 0.2463581104234886, + 0.3791149505686513, + -0.9251615047132071, + -0.018655949510111673, + 0.22114451908938215, + 0.11016108523558363, + -0.9689992966852168 + ], + [ + 0.8485906868746151, + 0.4764770559109272, + 0.22992055440983078, + 0.47898653781722106, + -0.8764795403949421, + 0.04853361576209768, + 0.22464581620751523, + 0.06894367599371372, + -0.9719984705754084 + ], + [ + 0.7162728486562927, + 0.6704518122343256, + 0.19351375596972092, + 0.6716262330342545, + -0.7376143804325125, + 0.06959331059360947, + 0.18939749042164583, + 0.08012111613594682, + -0.9786261785641713 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006039.json b/json/chunk-0006/episode_0006039.json new file mode 100644 index 0000000000000000000000000000000000000000..ea692c4fee53c148e28e1281f4c443aa9b73d880 --- /dev/null +++ b/json/chunk-0006/episode_0006039.json @@ -0,0 +1,1942 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 31, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPick yellow cube from the tower and place it on the table." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006039.mp4", + "start": 0, + "end": 31, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.30412569642066956, + 0.08812452107667923, + 0.2428193837404251, + 0.06596006453037262, + -0.8048970699310303, + 0.06185461953282356, + 0.0, + 0.9994885921478271 + ], + [ + 0.30330947041511536, + 0.08778242021799088, + 0.23422116041183472, + 0.05385720357298851, + -0.7800211310386658, + 0.07122445851564407, + 0.0, + 0.9994885921478271 + ], + [ + 0.31624841690063477, + 0.09358149021863937, + 0.21338748931884766, + 0.10363220423460007, + -0.7069156765937805, + 0.01985890604555607, + 0.0, + 0.9994885921478271 + ], + [ + 0.3276526629924774, + 0.09502068907022476, + 0.2168136090040207, + 0.14121630787849426, + -0.7025225162506104, + -0.018656812608242035, + 0.0, + 0.9994885921478271 + ], + [ + 0.33693769574165344, + 0.08737952262163162, + 0.21252623200416565, + 0.14815276861190796, + -0.671324610710144, + -0.05992059409618378, + 0.0, + 0.9994885921478271 + ], + [ + 0.3426778316497803, + 0.08052820712327957, + 0.20670771598815918, + 0.13497914373874664, + -0.6383114457130432, + -0.0816260278224945, + 0.0, + 0.9994885921478271 + ], + [ + 0.34347283840179443, + 0.07431549578905106, + 0.19306929409503937, + 0.09450571984052658, + -0.5746508836746216, + -0.05811135470867157, + 0.0, + 0.9994885921478271 + ], + [ + 0.34392842650413513, + 0.07030922174453735, + 0.18275988101959229, + 0.08744686841964722, + -0.5305203199386597, + -0.023784693330526352, + 0.0, + 0.9994885921478271 + ], + [ + 0.34692829847335815, + 0.06753015518188477, + 0.1720637083053589, + 0.09565667808055878, + -0.4994385540485382, + -0.009180888533592224, + 0.0, + 0.9994885921478271 + ], + [ + 0.3513692617416382, + 0.06276032328605652, + 0.16107229888439178, + 0.11851455271244049, + -0.47371968626976013, + -0.007039807271212339, + 0.0, + 0.9994885921478271 + ], + [ + 0.35578203201293945, + 0.060572024434804916, + 0.15161782503128052, + 0.1397625207901001, + -0.4585275650024414, + -0.017812319099903107, + 0.0, + 0.9994885921478271 + ], + [ + 0.36080455780029297, + 0.06425344944000244, + 0.14397503435611725, + 0.17026183009147644, + -0.45984789729118347, + -0.023825297132134438, + 0.0, + 0.9437892436981201 + ], + [ + 0.36417192220687866, + 0.0626557469367981, + 0.13836857676506042, + 0.16563427448272705, + -0.4588959515094757, + -0.03586824983358383, + 0.0, + 0.6530976295471191 + ], + [ + 0.36523813009262085, + 0.06376192718744278, + 0.1372789442539215, + 0.17289012670516968, + -0.46038511395454407, + -0.04404865577816963, + 0.0, + 0.5383656024932861 + ], + [ + 0.36536651849746704, + 0.06476293504238129, + 0.13752056658267975, + 0.17968440055847168, + -0.4614277780056, + -0.0448404923081398, + 0.0, + 0.5383656024932861 + ], + [ + 0.3638278543949127, + 0.0698874294757843, + 0.1372838169336319, + 0.18685825169086456, + -0.4553011655807495, + -0.03980311378836632, + 0.0, + 0.5383656024932861 + ], + [ + 0.36236947774887085, + 0.06987731158733368, + 0.14531201124191284, + 0.1881730705499649, + -0.4724636375904083, + -0.04594587907195091, + 0.0, + 0.5383656024932861 + ], + [ + 0.3675615191459656, + 0.05879239737987518, + 0.15889036655426025, + 0.1706397384405136, + -0.5058640837669373, + -0.08583855628967285, + 0.0, + 0.5383656024932861 + ], + [ + 0.3733349144458771, + 0.03798558562994003, + 0.1677529215812683, + 0.15402959287166595, + -0.5298894047737122, + -0.13645970821380615, + 0.0, + 0.5383656024932861 + ], + [ + 0.37778106331825256, + 0.009053715504705906, + 0.17410126328468323, + 0.13162733614444733, + -0.5444722175598145, + -0.2068641483783722, + 0.0, + 0.5383656024932861 + ], + [ + 0.38650640845298767, + -0.02151871845126152, + 0.14547409117221832, + 0.10455817729234695, + -0.4507252275943756, + -0.27317023277282715, + 0.0, + 0.5383656024932861 + ], + [ + 0.39173704385757446, + -0.044782742857933044, + 0.12242542952299118, + 0.08495943248271942, + -0.3964759409427643, + -0.34067660570144653, + 0.0, + 0.5383656024932861 + ], + [ + 0.39338842034339905, + -0.04664177820086479, + 0.09262197464704514, + 0.07469778507947922, + -0.3390936255455017, + -0.36787423491477966, + 0.0, + 0.5383656024932861 + ], + [ + 0.3878011405467987, + -0.04489094391465187, + 0.07711184769868851, + 0.09513149410486221, + -0.3133013844490051, + -0.38611507415771484, + 0.0, + 0.5383656024932861 + ], + [ + 0.3769337236881256, + -0.045110635459423065, + 0.05335380509495735, + 0.1469113975763321, + -0.32591864466667175, + -0.3950292468070984, + 0.0, + 0.5373842120170593 + ], + [ + 0.3715435266494751, + -0.04750834032893181, + 0.05379457399249077, + 0.1678689420223236, + -0.4311245381832123, + -0.41895151138305664, + 0.0, + 0.5373842120170593 + ], + [ + 0.36762887239456177, + -0.05225496366620064, + 0.049460288137197495, + 0.16589879989624023, + -0.491012305021286, + -0.45393356680870056, + 0.0, + 0.5899012684822083 + ], + [ + 0.36602482199668884, + -0.052621446549892426, + 0.053957968950271606, + 0.1787956953048706, + -0.5323520302772522, + -0.46442922949790955, + 0.0, + 0.8896691203117371 + ], + [ + 0.36637717485427856, + -0.04754394665360451, + 0.06642312556505203, + 0.21287444233894348, + -0.5520203709602356, + -0.44679754972457886, + 0.0, + 1.0092895030975342 + ], + [ + 0.3624520003795624, + -0.045135658234357834, + 0.09112735092639923, + 0.2559516131877899, + -0.5996420383453369, + -0.47005680203437805, + 0.0, + 1.0014774799346924 + ], + [ + 0.3495054841041565, + -0.03720705211162567, + 0.14265935122966766, + 0.3147919178009033, + -0.6992751955986023, + -0.46821171045303345, + 0.0, + 0.9994885921478271 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9437892436981201 + ], + [ + 0.6530976295471191 + ], + [ + 0.5383656024932861 + ], + [ + 0.5383656024932861 + ], + [ + 0.5383656024932861 + ], + [ + 0.5383656024932861 + ], + [ + 0.5383656024932861 + ], + [ + 0.5383656024932861 + ], + [ + 0.5383656024932861 + ], + [ + 0.5383656024932861 + ], + [ + 0.5383656024932861 + ], + [ + 0.5383656024932861 + ], + [ + 0.5383656024932861 + ], + [ + 0.5373842120170593 + ], + [ + 0.5373842120170593 + ], + [ + 0.5899012684822083 + ], + [ + 0.8896691203117371 + ], + [ + 1.0092895030975342 + ], + [ + 1.0014774799346924 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.30412569642066956, + 0.08812452107667923, + 0.2428193837404251 + ], + [ + 0.30330947041511536, + 0.08778242021799088, + 0.23422116041183472 + ], + [ + 0.31624841690063477, + 0.09358149021863937, + 0.21338748931884766 + ], + [ + 0.3276526629924774, + 0.09502068907022476, + 0.2168136090040207 + ], + [ + 0.33693769574165344, + 0.08737952262163162, + 0.21252623200416565 + ], + [ + 0.3426778316497803, + 0.08052820712327957, + 0.20670771598815918 + ], + [ + 0.34347283840179443, + 0.07431549578905106, + 0.19306929409503937 + ], + [ + 0.34392842650413513, + 0.07030922174453735, + 0.18275988101959229 + ], + [ + 0.34692829847335815, + 0.06753015518188477, + 0.1720637083053589 + ], + [ + 0.3513692617416382, + 0.06276032328605652, + 0.16107229888439178 + ], + [ + 0.35578203201293945, + 0.060572024434804916, + 0.15161782503128052 + ], + [ + 0.36080455780029297, + 0.06425344944000244, + 0.14397503435611725 + ], + [ + 0.36417192220687866, + 0.0626557469367981, + 0.13836857676506042 + ], + [ + 0.36523813009262085, + 0.06376192718744278, + 0.1372789442539215 + ], + [ + 0.36536651849746704, + 0.06476293504238129, + 0.13752056658267975 + ], + [ + 0.3638278543949127, + 0.0698874294757843, + 0.1372838169336319 + ], + [ + 0.36236947774887085, + 0.06987731158733368, + 0.14531201124191284 + ], + [ + 0.3675615191459656, + 0.05879239737987518, + 0.15889036655426025 + ], + [ + 0.3733349144458771, + 0.03798558562994003, + 0.1677529215812683 + ], + [ + 0.37778106331825256, + 0.009053715504705906, + 0.17410126328468323 + ], + [ + 0.38650640845298767, + -0.02151871845126152, + 0.14547409117221832 + ], + [ + 0.39173704385757446, + -0.044782742857933044, + 0.12242542952299118 + ], + [ + 0.39338842034339905, + -0.04664177820086479, + 0.09262197464704514 + ], + [ + 0.3878011405467987, + -0.04489094391465187, + 0.07711184769868851 + ], + [ + 0.3769337236881256, + -0.045110635459423065, + 0.05335380509495735 + ], + [ + 0.3715435266494751, + -0.04750834032893181, + 0.05379457399249077 + ], + [ + 0.36762887239456177, + -0.05225496366620064, + 0.049460288137197495 + ], + [ + 0.36602482199668884, + -0.052621446549892426, + 0.053957968950271606 + ], + [ + 0.36637717485427856, + -0.04754394665360451, + 0.06642312556505203 + ], + [ + 0.3624520003795624, + -0.045135658234357834, + 0.09112735092639923 + ], + [ + 0.3495054841041565, + -0.03720705211162567, + 0.14265935122966766 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.6918597876093381, + 0.1090967751527682, + 0.7137421999156475, + 0.042849385039112405, + -0.9929805494692558, + 0.11024317927883184, + 0.7207592971935441, + -0.04568940825838205, + -0.6916780417810496 + ], + [ + 0.7090962716789023, + 0.10882424550499759, + 0.6966633053931779, + 0.05059057430239272, + -0.993324118738631, + 0.10367154346239843, + 0.7032944413848543, + -0.03826850823313993, + -0.709867910244417 + ], + [ + 0.7602188010763958, + 0.08692565367675681, + 0.6438255238982342, + 0.015099098704965265, + -0.9931046742614089, + 0.11625456196828798, + 0.6494916409841354, + -0.07865771858507806, + -0.7562893438352319 + ], + [ + 0.7630818812862394, + 0.07245738587746375, + 0.642227350464349, + -0.014238327712074166, + -0.9915698480015572, + 0.12878861191165966, + 0.6461449624322835, + -0.10742049974736115, + -0.7556173130344553 + ], + [ + 0.78159316519143, + 0.032424265134786176, + 0.6229452553447302, + -0.046889658993971906, + -0.9927688804209253, + 0.11050479603714755, + 0.6220237005174892, + -0.1155794838985347, + -0.7744210088164429 + ], + [ + 0.8004290352804081, + -0.0008787454134889031, + 0.5994268823522793, + -0.06548133721110505, + -0.9941425413484082, + 0.08598140472435856, + 0.5958402084092014, + -0.10807328665228363, + -0.7957980967274629 + ], + [ + 0.8379652445398919, + -0.006614688679203319, + 0.5456835116043702, + -0.048750183228348426, + -0.9968361340509179, + 0.06277851133647074, + 0.5435417818147948, + -0.0792083817793177, + -0.8356365021212873 + ], + [ + 0.8622999505909802, + 0.020486113279301894, + 0.5059833143232108, + -0.02051340825421579, + -0.9969481477501424, + 0.07532324195994576, + 0.5059822084743587, + -0.07533067011694687, + -0.8592480985414764 + ], + [ + 0.8778145988561725, + 0.03660256462357478, + 0.47760002334375323, + -0.00805934442379068, + -0.9958063941660895, + 0.09112997479089442, + 0.47893274789101165, + -0.08384436534977989, + -0.8738383977582223 + ], + [ + 0.8898554787121981, + 0.04694809751703474, + 0.453820562717707, + -0.006264514557163318, + -0.9933404837703299, + 0.11504537870027833, + 0.45619949897303513, + -0.10521672605844738, + -0.8836353646693266 + ], + [ + 0.8965629616934341, + 0.044014153861360664, + 0.44072396120402424, + -0.01597155474733882, + -0.9911902972082182, + 0.13147891146201682, + 0.4426282471312134, + -0.1249181691354487, + -0.8879615339987408 + ], + [ + 0.8958656859753502, + 0.05169973547762795, + 0.4413069340532255, + -0.021348305729845654, + -0.9870522153943821, + 0.15897224263218693, + 0.4438118098185082, + -0.15183893254559308, + -0.883162508278649 + ], + [ + 0.8959654386293734, + 0.03761735515192268, + 0.44252781536650193, + -0.03215050092010927, + -0.9882986256949461, + 0.14910456646282574, + 0.4429585511899062, + -0.14782002922762286, + -0.8842719948561553 + ], + [ + 0.8950124687260541, + 0.032979725777004164, + 0.4448202091998156, + -0.03944961393895872, + -0.9875017979252911, + 0.15259071745812222, + 0.44429315635620725, + -0.15411858026205336, + -0.8825253845828163 + ], + [ + 0.894517681230196, + 0.03538679053874379, + 0.4456297712472991, + -0.0401375179090423, + -0.9864779493693574, + 0.1589032254679823, + 0.4452270180735378, + -0.16002821770985948, + -0.8810016299156042 + ], + [ + 0.8974172832932475, + 0.04252575226788793, + 0.4391284322844705, + -0.03573887779310391, + -0.9850651556039189, + 0.1684320985712523, + 0.43973281917620854, + -0.16684783369608575, + -0.8824946731455475 + ], + [ + 0.8895101208881377, + 0.039920802929845664, + 0.45516818246776336, + -0.04089810745807852, + -0.9852209085804127, + 0.1663343202779682, + 0.45508140990807144, + -0.1665715785763666, + -0.8747312842048461 + ], + [ + 0.8715353617360934, + -0.0025058873944402565, + 0.4903262523788657, + -0.07499562344490647, + -0.9889025028651866, + 0.1282477925388164, + 0.4845634836712796, + -0.14854480925073044, + -0.8620514311437673 + ], + [ + 0.8548416392529591, + -0.057601993512047846, + 0.5156818613668235, + -0.11738094011048453, + -0.98952369540112, + 0.08405100319740587, + 0.5054379157701692, + -0.1323815190392884, + -0.8526474340070214 + ], + [ + 0.8371634714437739, + -0.13708271648377873, + 0.5294956571319895, + -0.17569240939814612, + -0.9841767818792739, + 0.022983456868589436, + 0.5179666971534789, + -0.11226927830526048, + -0.8480012439782929 + ], + [ + 0.8667549522310369, + -0.2245333875339582, + 0.4453320229508521, + -0.24284237663218192, + -0.9699273940510877, + -0.01638384511949191, + 0.4356184487537304, + -0.09394470794989639, + -0.8952155935603459 + ], + [ + 0.8694145933729714, + -0.3020336987689061, + 0.3910165081401095, + -0.30820602110205436, + -0.9500782700257633, + -0.048583221190993335, + 0.38617005759969364, + -0.0782746806625656, + -0.9191005173432462 + ], + [ + 0.8799603523122297, + -0.3354668966952978, + 0.33635062000859006, + -0.3391539776691385, + -0.939419391843251, + -0.049656677899935456, + 0.33263246652985945, + -0.07037874288791213, + -0.94042675140586 + ], + [ + 0.8812841195213975, + -0.3477694226228409, + 0.31999176453148176, + -0.35826031312838386, + -0.9332152728378186, + -0.027546371437787084, + 0.30820098753337527, + -0.09036417006099318, + -0.9470197822921338 + ], + [ + 0.8743965895480568, + -0.33743035049175124, + 0.34867085159752187, + -0.3645763029720233, + -0.9310796567548384, + 0.01322089590549655, + 0.32017920528663113, + -0.13867743632006754, + -0.9371519861568427 + ], + [ + 0.829925959525869, + -0.3373007757603438, + 0.4443546875824936, + -0.3695789341178721, + -0.9290786053436964, + -0.014978536273927548, + 0.4178927053220273, + -0.15179305571758572, + -0.8957257141974628 + ], + [ + 0.7925497056077593, + -0.362503090903731, + 0.49036361327722433, + -0.38669749239575313, + -0.9205345151718375, + -0.055509060091000796, + 0.47151883686220886, + -0.1456286903827374, + -0.8697483952394038 + ], + [ + 0.7703510560696907, + -0.3600664908173902, + 0.5262236906513835, + -0.38592847516687057, + -0.920256246341847, + -0.06471207865760675, + 0.5075612893707389, + -0.15323368839541918, + -0.8478802829840124 + ], + [ + 0.7678828991972936, + -0.3224104994852189, + 0.553540714800683, + -0.3679014782957574, + -0.9293498691637733, + -0.03094063595135102, + 0.5244085767683015, + -0.17988966203473009, + -0.8322471712807892 + ], + [ + 0.7360019802910935, + -0.31080366895733236, + 0.6014167975458032, + -0.37391650142722965, + -0.9272113233521446, + -0.021578039947717148, + 0.5643469987233115, + -0.2089981847055751, + -0.7986439906627765 + ], + [ + 0.6829438881659883, + -0.25127325227956604, + 0.6858931391299746, + -0.3453771646006382, + -0.9384639609030018, + 9.087723624513766e-05, + 0.6436631570854005, + -0.23695389166480885, + -0.7277022697750477 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0008162260055541992, + -0.0003421008586883545, + -0.008598223328590393, + -0.01210286095738411, + 0.024875938892364502, + 0.00936983898282051, + 1.0 + ], + [ + 0.01293894648551941, + 0.0057990700006484985, + -0.02083367109298706, + 0.04977500066161156, + 0.07310545444488525, + -0.051365554332733154, + 1.0 + ], + [ + 0.011404246091842651, + 0.0014391988515853882, + 0.0034261196851730347, + 0.037584103643894196, + 0.004393160343170166, + -0.038515716791152954, + 1.0 + ], + [ + 0.009285032749176025, + -0.00764116644859314, + -0.0042873769998550415, + 0.006936460733413696, + 0.03119790554046631, + -0.04126378148794174, + 1.0 + ], + [ + 0.005740135908126831, + -0.006851315498352051, + -0.00581851601600647, + -0.013173624873161316, + 0.03301316499710083, + -0.02170543372631073, + 1.0 + ], + [ + 0.0007950067520141602, + -0.006212711334228516, + -0.013638421893119812, + -0.04047342389822006, + 0.06366056203842163, + 0.023514673113822937, + 1.0 + ], + [ + 0.00045558810234069824, + -0.004006274044513702, + -0.010309413075447083, + -0.007058851420879364, + 0.044130563735961914, + 0.03432666137814522, + 1.0 + ], + [ + 0.0029998719692230225, + -0.002779066562652588, + -0.010696172714233398, + 0.00820980966091156, + 0.03108176589012146, + 0.014603804796934128, + 1.0 + ], + [ + 0.004440963268280029, + -0.004769831895828247, + -0.010991409420967102, + 0.022857874631881714, + 0.025718867778778076, + 0.0021410812623798847, + 1.0 + ], + [ + 0.0044127702713012695, + -0.002188298851251602, + -0.009454473853111267, + 0.021247968077659607, + 0.015192121267318726, + -0.01077251136302948, + 1.0 + ], + [ + 0.005022525787353516, + 0.003681425005197525, + -0.007642790675163269, + 0.030499309301376343, + -0.0013203322887420654, + -0.006012978032231331, + 0.0 + ], + [ + 0.0033673644065856934, + -0.0015977025032043457, + -0.005606457591056824, + -0.00462755560874939, + 0.0009519457817077637, + -0.012042952701449394, + 0.0 + ], + [ + 0.0010662078857421875, + 0.0011061802506446838, + -0.001089632511138916, + 0.007255852222442627, + -0.0014891624450683594, + -0.0081804059445858, + 0.0 + ], + [ + 0.0001283884048461914, + 0.001001007854938507, + 0.00024162232875823975, + 0.006794273853302002, + -0.0010426640510559082, + -0.0007918365299701691, + 0.0 + ], + [ + -0.0015386641025543213, + 0.005124494433403015, + -0.00023674964904785156, + 0.007173851132392883, + 0.006126612424850464, + 0.005037378519773483, + 0.0 + ], + [ + -0.0014583766460418701, + -1.0117888450622559e-05, + 0.008028194308280945, + 0.0013148188591003418, + -0.017162472009658813, + -0.006142765283584595, + 0.0 + ], + [ + 0.0051920413970947266, + -0.011084914207458496, + 0.013578355312347412, + -0.017533332109451294, + -0.03340044617652893, + -0.03989267721772194, + 0.0 + ], + [ + 0.005773395299911499, + -0.02080681174993515, + 0.008862555027008057, + -0.016610145568847656, + -0.024025321006774902, + -0.0506211519241333, + 0.0 + ], + [ + 0.004446148872375488, + -0.0289318710565567, + 0.006348341703414917, + -0.022402256727218628, + -0.014582812786102295, + -0.07040444016456604, + 0.0 + ], + [ + 0.008725345134735107, + -0.03057243302464485, + -0.028627172112464905, + -0.027069158852100372, + 0.09374698996543884, + -0.06630608439445496, + 0.0 + ], + [ + 0.005230635404586792, + -0.023264024406671524, + -0.023048661649227142, + -0.019598744809627533, + 0.05424928665161133, + -0.06750637292861938, + 0.0 + ], + [ + 0.001651376485824585, + -0.0018590353429317474, + -0.029803454875946045, + -0.010261647403240204, + 0.05738231539726257, + -0.02719762921333313, + 0.0 + ], + [ + -0.005587279796600342, + 0.0017508342862129211, + -0.015510126948356628, + 0.020433709025382996, + 0.025792241096496582, + -0.01824083924293518, + 0.0 + ], + [ + -0.010867416858673096, + -0.00021969154477119446, + -0.023758042603731155, + 0.05177990347146988, + -0.012617260217666626, + -0.008914172649383545, + 0.0 + ], + [ + -0.005390197038650513, + -0.0023977048695087433, + 0.00044076889753341675, + 0.020957544445991516, + -0.10520589351654053, + -0.023922264575958252, + 0.0 + ], + [ + -0.00391465425491333, + -0.004746623337268829, + -0.004334285855293274, + -0.001970142126083374, + -0.05988776683807373, + -0.03498205542564392, + 1.0 + ], + [ + -0.0016040503978729248, + -0.0003664828836917877, + 0.004497680813074112, + 0.012896895408630371, + -0.041339725255966187, + -0.010495662689208984, + 1.0 + ], + [ + 0.0003523528575897217, + 0.005077499896287918, + 0.012465156614780426, + 0.034078747034072876, + -0.0196683406829834, + 0.01763167977333069, + 1.0 + ], + [ + -0.0039251744747161865, + 0.0024082884192466736, + 0.0247042253613472, + 0.043077170848846436, + -0.04762166738510132, + -0.023259252309799194, + 1.0 + ], + [ + -0.012946516275405884, + 0.007928606122732162, + 0.05153200030326843, + 0.0588403046131134, + -0.09963315725326538, + 0.0018450915813446045, + 1.0 + ], + [ + -0.020073890686035156, + 0.01078040897846222, + 0.03686879575252533, + 0.027729332447052002, + -0.019663870334625244, + 0.03682190179824829, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9437892436981201 + ], + [ + 0.6530976295471191 + ], + [ + 0.5383656024932861 + ], + [ + 0.5383656024932861 + ], + [ + 0.5383656024932861 + ], + [ + 0.5383656024932861 + ], + [ + 0.5383656024932861 + ], + [ + 0.5383656024932861 + ], + [ + 0.5383656024932861 + ], + [ + 0.5383656024932861 + ], + [ + 0.5383656024932861 + ], + [ + 0.5383656024932861 + ], + [ + 0.5383656024932861 + ], + [ + 0.5373842120170593 + ], + [ + 0.5373842120170593 + ], + [ + 0.5899012684822083 + ], + [ + 0.8896691203117371 + ], + [ + 1.0092895030975342 + ], + [ + 1.0014774799346924 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.30330947041511536, + 0.08778242021799088, + 0.23422116041183472 + ], + [ + 0.31624841690063477, + 0.09358149021863937, + 0.21338748931884766 + ], + [ + 0.3276526629924774, + 0.09502068907022476, + 0.2168136090040207 + ], + [ + 0.33693769574165344, + 0.08737952262163162, + 0.21252623200416565 + ], + [ + 0.3426778316497803, + 0.08052820712327957, + 0.20670771598815918 + ], + [ + 0.34347283840179443, + 0.07431549578905106, + 0.19306929409503937 + ], + [ + 0.34392842650413513, + 0.07030922174453735, + 0.18275988101959229 + ], + [ + 0.34692829847335815, + 0.06753015518188477, + 0.1720637083053589 + ], + [ + 0.3513692617416382, + 0.06276032328605652, + 0.16107229888439178 + ], + [ + 0.35578203201293945, + 0.060572024434804916, + 0.15161782503128052 + ], + [ + 0.36080455780029297, + 0.06425344944000244, + 0.14397503435611725 + ], + [ + 0.36417192220687866, + 0.0626557469367981, + 0.13836857676506042 + ], + [ + 0.36523813009262085, + 0.06376192718744278, + 0.1372789442539215 + ], + [ + 0.36536651849746704, + 0.06476293504238129, + 0.13752056658267975 + ], + [ + 0.3638278543949127, + 0.0698874294757843, + 0.1372838169336319 + ], + [ + 0.36236947774887085, + 0.06987731158733368, + 0.14531201124191284 + ], + [ + 0.3675615191459656, + 0.05879239737987518, + 0.15889036655426025 + ], + [ + 0.3733349144458771, + 0.03798558562994003, + 0.1677529215812683 + ], + [ + 0.37778106331825256, + 0.009053715504705906, + 0.17410126328468323 + ], + [ + 0.38650640845298767, + -0.02151871845126152, + 0.14547409117221832 + ], + [ + 0.39173704385757446, + -0.044782742857933044, + 0.12242542952299118 + ], + [ + 0.39338842034339905, + -0.04664177820086479, + 0.09262197464704514 + ], + [ + 0.3878011405467987, + -0.04489094391465187, + 0.07711184769868851 + ], + [ + 0.3769337236881256, + -0.045110635459423065, + 0.05335380509495735 + ], + [ + 0.3715435266494751, + -0.04750834032893181, + 0.05379457399249077 + ], + [ + 0.36762887239456177, + -0.05225496366620064, + 0.049460288137197495 + ], + [ + 0.36602482199668884, + -0.052621446549892426, + 0.053957968950271606 + ], + [ + 0.36637717485427856, + -0.04754394665360451, + 0.06642312556505203 + ], + [ + 0.3624520003795624, + -0.045135658234357834, + 0.09112735092639923 + ], + [ + 0.3495054841041565, + -0.03720705211162567, + 0.14265935122966766 + ], + [ + 0.32943159341812134, + -0.026426643133163452, + 0.179528146982193 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.7090962716789023, + 0.10882424550499759, + 0.6966633053931779, + 0.05059057430239272, + -0.993324118738631, + 0.10367154346239843, + 0.7032944413848543, + -0.03826850823313993, + -0.709867910244417 + ], + [ + 0.7602188010763958, + 0.08692565367675681, + 0.6438255238982342, + 0.015099098704965265, + -0.9931046742614089, + 0.11625456196828798, + 0.6494916409841354, + -0.07865771858507806, + -0.7562893438352319 + ], + [ + 0.7630818812862394, + 0.07245738587746375, + 0.642227350464349, + -0.014238327712074166, + -0.9915698480015572, + 0.12878861191165966, + 0.6461449624322835, + -0.10742049974736115, + -0.7556173130344553 + ], + [ + 0.78159316519143, + 0.032424265134786176, + 0.6229452553447302, + -0.046889658993971906, + -0.9927688804209253, + 0.11050479603714755, + 0.6220237005174892, + -0.1155794838985347, + -0.7744210088164429 + ], + [ + 0.8004290352804081, + -0.0008787454134889031, + 0.5994268823522793, + -0.06548133721110505, + -0.9941425413484082, + 0.08598140472435856, + 0.5958402084092014, + -0.10807328665228363, + -0.7957980967274629 + ], + [ + 0.8379652445398919, + -0.006614688679203319, + 0.5456835116043702, + -0.048750183228348426, + -0.9968361340509179, + 0.06277851133647074, + 0.5435417818147948, + -0.0792083817793177, + -0.8356365021212873 + ], + [ + 0.8622999505909802, + 0.020486113279301894, + 0.5059833143232108, + -0.02051340825421579, + -0.9969481477501424, + 0.07532324195994576, + 0.5059822084743587, + -0.07533067011694687, + -0.8592480985414764 + ], + [ + 0.8778145988561725, + 0.03660256462357478, + 0.47760002334375323, + -0.00805934442379068, + -0.9958063941660895, + 0.09112997479089442, + 0.47893274789101165, + -0.08384436534977989, + -0.8738383977582223 + ], + [ + 0.8898554787121981, + 0.04694809751703474, + 0.453820562717707, + -0.006264514557163318, + -0.9933404837703299, + 0.11504537870027833, + 0.45619949897303513, + -0.10521672605844738, + -0.8836353646693266 + ], + [ + 0.8965629616934341, + 0.044014153861360664, + 0.44072396120402424, + -0.01597155474733882, + -0.9911902972082182, + 0.13147891146201682, + 0.4426282471312134, + -0.1249181691354487, + -0.8879615339987408 + ], + [ + 0.8958656859753502, + 0.05169973547762795, + 0.4413069340532255, + -0.021348305729845654, + -0.9870522153943821, + 0.15897224263218693, + 0.4438118098185082, + -0.15183893254559308, + -0.883162508278649 + ], + [ + 0.8959654386293734, + 0.03761735515192268, + 0.44252781536650193, + -0.03215050092010927, + -0.9882986256949461, + 0.14910456646282574, + 0.4429585511899062, + -0.14782002922762286, + -0.8842719948561553 + ], + [ + 0.8950124687260541, + 0.032979725777004164, + 0.4448202091998156, + -0.03944961393895872, + -0.9875017979252911, + 0.15259071745812222, + 0.44429315635620725, + -0.15411858026205336, + -0.8825253845828163 + ], + [ + 0.894517681230196, + 0.03538679053874379, + 0.4456297712472991, + -0.0401375179090423, + -0.9864779493693574, + 0.1589032254679823, + 0.4452270180735378, + -0.16002821770985948, + -0.8810016299156042 + ], + [ + 0.8974172832932475, + 0.04252575226788793, + 0.4391284322844705, + -0.03573887779310391, + -0.9850651556039189, + 0.1684320985712523, + 0.43973281917620854, + -0.16684783369608575, + -0.8824946731455475 + ], + [ + 0.8895101208881377, + 0.039920802929845664, + 0.45516818246776336, + -0.04089810745807852, + -0.9852209085804127, + 0.1663343202779682, + 0.45508140990807144, + -0.1665715785763666, + -0.8747312842048461 + ], + [ + 0.8715353617360934, + -0.0025058873944402565, + 0.4903262523788657, + -0.07499562344490647, + -0.9889025028651866, + 0.1282477925388164, + 0.4845634836712796, + -0.14854480925073044, + -0.8620514311437673 + ], + [ + 0.8548416392529591, + -0.057601993512047846, + 0.5156818613668235, + -0.11738094011048453, + -0.98952369540112, + 0.08405100319740587, + 0.5054379157701692, + -0.1323815190392884, + -0.8526474340070214 + ], + [ + 0.8371634714437739, + -0.13708271648377873, + 0.5294956571319895, + -0.17569240939814612, + -0.9841767818792739, + 0.022983456868589436, + 0.5179666971534789, + -0.11226927830526048, + -0.8480012439782929 + ], + [ + 0.8667549522310369, + -0.2245333875339582, + 0.4453320229508521, + -0.24284237663218192, + -0.9699273940510877, + -0.01638384511949191, + 0.4356184487537304, + -0.09394470794989639, + -0.8952155935603459 + ], + [ + 0.8694145933729714, + -0.3020336987689061, + 0.3910165081401095, + -0.30820602110205436, + -0.9500782700257633, + -0.048583221190993335, + 0.38617005759969364, + -0.0782746806625656, + -0.9191005173432462 + ], + [ + 0.8799603523122297, + -0.3354668966952978, + 0.33635062000859006, + -0.3391539776691385, + -0.939419391843251, + -0.049656677899935456, + 0.33263246652985945, + -0.07037874288791213, + -0.94042675140586 + ], + [ + 0.8812841195213975, + -0.3477694226228409, + 0.31999176453148176, + -0.35826031312838386, + -0.9332152728378186, + -0.027546371437787084, + 0.30820098753337527, + -0.09036417006099318, + -0.9470197822921338 + ], + [ + 0.8743965895480568, + -0.33743035049175124, + 0.34867085159752187, + -0.3645763029720233, + -0.9310796567548384, + 0.01322089590549655, + 0.32017920528663113, + -0.13867743632006754, + -0.9371519861568427 + ], + [ + 0.829925959525869, + -0.3373007757603438, + 0.4443546875824936, + -0.3695789341178721, + -0.9290786053436964, + -0.014978536273927548, + 0.4178927053220273, + -0.15179305571758572, + -0.8957257141974628 + ], + [ + 0.7925497056077593, + -0.362503090903731, + 0.49036361327722433, + -0.38669749239575313, + -0.9205345151718375, + -0.055509060091000796, + 0.47151883686220886, + -0.1456286903827374, + -0.8697483952394038 + ], + [ + 0.7703510560696907, + -0.3600664908173902, + 0.5262236906513835, + -0.38592847516687057, + -0.920256246341847, + -0.06471207865760675, + 0.5075612893707389, + -0.15323368839541918, + -0.8478802829840124 + ], + [ + 0.7678828991972936, + -0.3224104994852189, + 0.553540714800683, + -0.3679014782957574, + -0.9293498691637733, + -0.03094063595135102, + 0.5244085767683015, + -0.17988966203473009, + -0.8322471712807892 + ], + [ + 0.7360019802910935, + -0.31080366895733236, + 0.6014167975458032, + -0.37391650142722965, + -0.9272113233521446, + -0.021578039947717148, + 0.5643469987233115, + -0.2089981847055751, + -0.7986439906627765 + ], + [ + 0.6829438881659883, + -0.25127325227956604, + 0.6858931391299746, + -0.3453771646006382, + -0.9384639609030018, + 9.087723624513766e-05, + 0.6436631570854005, + -0.23695389166480885, + -0.7277022697750477 + ], + [ + 0.6835645132038513, + -0.19291445388173406, + 0.7039343504701944, + -0.31464763625859377, + -0.9481071992852806, + 0.045712182843320834, + 0.6585866847160379, + -0.2527385054694552, + -0.7087925130585147 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006040.json b/json/chunk-0006/episode_0006040.json new file mode 100644 index 0000000000000000000000000000000000000000..85db43499f4bdc3568206e8779306e14b67b2a34 --- /dev/null +++ b/json/chunk-0006/episode_0006040.json @@ -0,0 +1,1342 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 21, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut can in pot." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006040.mp4", + "start": 0, + "end": 21, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3847472071647644, + 0.01646273210644722, + 0.06524199992418289, + 0.016809364780783653, + -0.19575123488903046, + 0.11315125226974487, + 0.0, + 1.00800359249115 + ], + [ + 0.371412456035614, + 0.031049730256199837, + 0.052100684493780136, + 0.07323682308197021, + -0.13248898088932037, + -0.04627588391304016, + 0.0, + 1.00800359249115 + ], + [ + 0.35961276292800903, + 0.06253823637962341, + 0.07085873931646347, + 0.13914170861244202, + -0.14386337995529175, + -0.19284307956695557, + 0.0, + 1.00800359249115 + ], + [ + 0.3505236804485321, + 0.09640856087207794, + 0.09378563612699509, + 0.20963476598262787, + -0.16776087880134583, + -0.3494889438152313, + 0.0, + 1.00800359249115 + ], + [ + 0.3429895341396332, + 0.11521685868501663, + 0.09578099846839905, + 0.22734515368938446, + -0.12623827159404755, + -0.4739739000797272, + 0.0, + 1.00800359249115 + ], + [ + 0.3354732394218445, + 0.1317829042673111, + 0.09052122384309769, + 0.22450923919677734, + -0.1311366856098175, + -0.4940486550331116, + 0.0, + 1.00800359249115 + ], + [ + 0.32397595047950745, + 0.13948047161102295, + 0.07753854244947433, + 0.19742579758167267, + -0.14495410025119781, + -0.4882165789604187, + 0.0, + 1.00800359249115 + ], + [ + 0.31680819392204285, + 0.1430046111345291, + 0.06852235645055771, + 0.1768665462732315, + -0.16388486325740814, + -0.4899446368217468, + 0.0, + 1.00800359249115 + ], + [ + 0.3125520944595337, + 0.14414194226264954, + 0.05796324834227562, + 0.1546916365623474, + -0.16980934143066406, + -0.48897862434387207, + 0.0, + 1.00800359249115 + ], + [ + 0.30978673696517944, + 0.148151233792305, + 0.0449388325214386, + 0.12879401445388794, + -0.17839829623699188, + -0.4809071123600006, + 0.0, + 1.00800359249115 + ], + [ + 0.3122217357158661, + 0.1462407112121582, + 0.03138291835784912, + 0.10048168152570724, + -0.19097886979579926, + -0.4660245180130005, + 0.0, + 1.00800359249115 + ], + [ + 0.31515392661094666, + 0.14492671191692352, + 0.01644998975098133, + 0.07544656097888947, + -0.20461001992225647, + -0.42894241213798523, + 0.0, + 1.00800359249115 + ], + [ + 0.315370112657547, + 0.14191637933254242, + 0.01025552861392498, + 0.06629718095064163, + -0.1962750405073166, + -0.3579532206058502, + 0.0, + 0.8827611207962036 + ], + [ + 0.3135410249233246, + 0.13067626953125, + 0.01203697919845581, + 0.05046161264181137, + -0.15331144630908966, + -0.28572043776512146, + 0.0, + 0.8792814016342163 + ], + [ + 0.31673961877822876, + 0.09309554845094681, + 0.031717538833618164, + 0.04448496922850609, + -0.08409787714481354, + -0.18999002873897552, + 0.0, + 0.8792814016342163 + ], + [ + 0.33661985397338867, + 0.045654334127902985, + 0.05239009112119675, + 0.053324371576309204, + -0.16358572244644165, + -0.060001883655786514, + 0.0, + 0.8792814016342163 + ], + [ + 0.34533557295799255, + 0.0024443992879241705, + 0.03390776365995407, + 0.0005488483584485948, + -0.25654807686805725, + 0.04697299376130104, + 0.0, + 0.8792814016342163 + ], + [ + 0.3479219377040863, + -0.022078312933444977, + -0.002437636023387313, + -0.05475875735282898, + -0.3192164897918701, + 0.0976443961262703, + 0.0, + 0.8792814016342163 + ], + [ + 0.34339869022369385, + -0.024494674056768417, + -0.026392968371510506, + -0.05855116620659828, + -0.33900755643844604, + 0.12478835880756378, + 0.0, + 0.8792814016342163 + ], + [ + 0.3383582830429077, + -0.024002574384212494, + -0.03056389093399048, + -0.0551990382373333, + -0.34985682368278503, + 0.13530072569847107, + 0.0, + 0.8905277252197266 + ], + [ + 0.33563292026519775, + -0.02317104861140251, + -0.032406870275735855, + -0.04890231415629387, + -0.34892013669013977, + 0.11330246925354004, + 0.0, + 1.0008161067962646 + ] + ], + "left_gripper_pos": [ + [ + 1.00800359249115 + ], + [ + 1.00800359249115 + ], + [ + 1.00800359249115 + ], + [ + 1.00800359249115 + ], + [ + 1.00800359249115 + ], + [ + 1.00800359249115 + ], + [ + 1.00800359249115 + ], + [ + 1.00800359249115 + ], + [ + 1.00800359249115 + ], + [ + 1.00800359249115 + ], + [ + 1.00800359249115 + ], + [ + 1.00800359249115 + ], + [ + 0.8827611207962036 + ], + [ + 0.8792814016342163 + ], + [ + 0.8792814016342163 + ], + [ + 0.8792814016342163 + ], + [ + 0.8792814016342163 + ], + [ + 0.8792814016342163 + ], + [ + 0.8792814016342163 + ], + [ + 0.8905277252197266 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3847472071647644, + 0.01646273210644722, + 0.06524199992418289 + ], + [ + 0.371412456035614, + 0.031049730256199837, + 0.052100684493780136 + ], + [ + 0.35961276292800903, + 0.06253823637962341, + 0.07085873931646347 + ], + [ + 0.3505236804485321, + 0.09640856087207794, + 0.09378563612699509 + ], + [ + 0.3429895341396332, + 0.11521685868501663, + 0.09578099846839905 + ], + [ + 0.3354732394218445, + 0.1317829042673111, + 0.09052122384309769 + ], + [ + 0.32397595047950745, + 0.13948047161102295, + 0.07753854244947433 + ], + [ + 0.31680819392204285, + 0.1430046111345291, + 0.06852235645055771 + ], + [ + 0.3125520944595337, + 0.14414194226264954, + 0.05796324834227562 + ], + [ + 0.30978673696517944, + 0.148151233792305, + 0.0449388325214386 + ], + [ + 0.3122217357158661, + 0.1462407112121582, + 0.03138291835784912 + ], + [ + 0.31515392661094666, + 0.14492671191692352, + 0.01644998975098133 + ], + [ + 0.315370112657547, + 0.14191637933254242, + 0.01025552861392498 + ], + [ + 0.3135410249233246, + 0.13067626953125, + 0.01203697919845581 + ], + [ + 0.31673961877822876, + 0.09309554845094681, + 0.031717538833618164 + ], + [ + 0.33661985397338867, + 0.045654334127902985, + 0.05239009112119675 + ], + [ + 0.34533557295799255, + 0.0024443992879241705, + 0.03390776365995407 + ], + [ + 0.3479219377040863, + -0.022078312933444977, + -0.002437636023387313 + ], + [ + 0.34339869022369385, + -0.024494674056768417, + -0.026392968371510506 + ], + [ + 0.3383582830429077, + -0.024002574384212494, + -0.03056389093399048 + ], + [ + 0.33563292026519775, + -0.02317104861140251, + -0.032406870275735855 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9746291813043159, + 0.11614242507788253, + 0.19133451347602562, + 0.11075358327588475, + -0.9930957141465145, + 0.03865936284234326, + 0.1945034774538251, + -0.0164875601849616, + -0.9807632525831688 + ], + [ + 0.9901750101317295, + -0.03647964977091472, + 0.1349914236654338, + -0.045853959930693126, + -0.9966988604130386, + 0.06699847766945513, + 0.13210171713230537, + -0.0725301096369052, + -0.988579040606645 + ], + [ + 0.9713243189287002, + -0.1702822954332297, + 0.16593073048621065, + -0.18967020326176204, + -0.975788666950419, + 0.10891139263532802, + 0.14336764437047533, + -0.13726039965377845, + -0.9801047399306598 + ], + [ + 0.9263576269143827, + -0.3022737633173044, + 0.22470451501371222, + -0.33761052811838055, + -0.9308766132912268, + 0.1395989331301784, + 0.16697508305487233, + -0.20518114639861562, + -0.9643754553084439 + ], + [ + 0.8826812735738364, + -0.4194317927214165, + 0.21201589689589145, + -0.45279370745060876, + -0.8798186169493157, + 0.14455815356639726, + 0.1259032476753601, + -0.22359823908942641, + -0.9665154937717786 + ], + [ + 0.8728608543037484, + -0.4366636674245398, + 0.21780443194637167, + -0.47012280305418924, + -0.8721290588129723, + 0.13555609474483735, + 0.13076115276565414, + -0.2207164387293122, + -0.9665328626601619 + ], + [ + 0.8739085582346598, + -0.4349175348194975, + 0.21709576170609424, + -0.46413240860452126, + -0.8793044461604899, + 0.10679324999905143, + 0.14444701148581712, + -0.19408871391434734, + -0.9702910037735539 + ], + [ + 0.8705361024123717, + -0.43790700101802166, + 0.22450913757813737, + -0.46427173262750004, + -0.8821023417185148, + 0.07966942335533436, + 0.1631522377405096, + -0.17358835558330157, + -0.9712097765808113 + ], + [ + 0.8701155880021192, + -0.4411289220881804, + 0.21978202295239352, + -0.4629684051643869, + -0.884502124984477, + 0.05758686236884844, + 0.16899443581156864, + -0.15185935926133998, + -0.9738478401010421 + ], + [ + 0.8725049920575236, + -0.43854557443970565, + 0.21543634320617538, + -0.45524201000634323, + -0.8897757384648222, + 0.03246301841734189, + 0.17745351830855566, + -0.12639981953598184, + -0.9759781424095451 + ], + [ + 0.8771193781174953, + -0.4300610024376119, + 0.21379693803498484, + -0.4411688360181121, + -0.8974115408915617, + 0.00475230481529372, + 0.18982005862711915, + -0.09848888494134589, + -0.9768665645244533 + ], + [ + 0.8904361774000968, + -0.40079846236869987, + 0.21560149939179318, + -0.40723351481250014, + -0.9131887829301362, + -0.01571976921058333, + 0.20318533015589674, + -0.0738027051906815, + -0.9763548956788084 + ], + [ + 0.9186326892362711, + -0.3374875114365891, + 0.20546571950297304, + -0.343630984401685, + -0.9390847757041687, + -0.006126222309031898, + 0.19501725263592762, + -0.06497663937900192, + -0.9786451387041911 + ], + [ + 0.9482051636435472, + -0.2740994631050735, + 0.1605504654780668, + -0.2785428946969307, + -0.9604085608436307, + 0.005408518477411087, + 0.1527115694817129, + -0.0498485765471431, + -0.9870128144875604 + ], + [ + 0.9785355683659079, + -0.18499404035002898, + 0.09080389021281662, + -0.18818168344615677, + -0.9817400629300974, + 0.027822703919257175, + 0.08399878248034229, + -0.04431313431681452, + -0.9954800604074598 + ], + [ + 0.9848741190269582, + -0.051216133939737, + 0.1655290829284686, + -0.05916532219764003, + -0.9973020896028585, + 0.04345119932776637, + 0.1628570978499935, + -0.052587543183141384, + -0.9852472359676219 + ], + [ + 0.9662047131104645, + 0.047094827447136334, + 0.25343742736787955, + 0.045418937931615305, + -0.9988902819571271, + 0.012462932591282345, + 0.25374312294186185, + -0.0005308854257050355, + -0.9672714953519388 + ], + [ + 0.944958806048562, + 0.08024904132417748, + 0.3171954385514196, + 0.092564301701175, + -0.9954192981685216, + -0.023922183935888165, + 0.3138227284978747, + 0.05196645264244106, + -0.9480584279873846 + ], + [ + 0.93575176757705, + 0.10494263283291633, + 0.3366833427577347, + 0.117380850929178, + -0.9929458281931325, + -0.01674270315679022, + 0.3325512972633976, + 0.0551871913395673, + -0.9414690693806576 + ], + [ + 0.9308362452958785, + 0.11594507794449906, + 0.3465553683668972, + 0.12671700407423167, + -0.9919024695762302, + -0.008502454176741246, + 0.34276330801578364, + 0.05182885054697304, + -0.9379909833943273 + ], + [ + 0.9337169498482503, + 0.09631998347599616, + 0.34481171434460234, + 0.10624747444408605, + -0.9942898110608274, + -0.009962218371295576, + 0.34188321359834717, + 0.045937265959217946, + -0.9386190046317295 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.01333475112915039, + 0.014586998149752617, + -0.013141315430402756, + 0.05642745643854141, + 0.06326225399971008, + -0.15942713618278503, + 1.0 + ], + [ + -0.01179969310760498, + 0.031488507986068726, + 0.018758054822683334, + 0.0659048855304718, + -0.011374399065971375, + -0.1465671956539154, + 1.0 + ], + [ + -0.009089082479476929, + 0.03387032449245453, + 0.022926896810531616, + 0.07049305737018585, + -0.023897498846054077, + -0.15664586424827576, + 1.0 + ], + [ + -0.007534146308898926, + 0.01880829781293869, + 0.001995362341403961, + 0.017710387706756592, + 0.04152260720729828, + -0.12448495626449585, + 1.0 + ], + [ + -0.007516294717788696, + 0.016566045582294464, + -0.005259774625301361, + -0.0028359144926071167, + -0.0048984140157699585, + -0.0200747549533844, + 1.0 + ], + [ + -0.011497288942337036, + 0.007697567343711853, + -0.012982681393623352, + -0.027083441615104675, + -0.01381741464138031, + 0.005832076072692871, + 1.0 + ], + [ + -0.0071677565574646, + 0.0035241395235061646, + -0.009016185998916626, + -0.020559251308441162, + -0.018930763006210327, + -0.001728057861328125, + 1.0 + ], + [ + -0.004256099462509155, + 0.0011373311281204224, + -0.01055910810828209, + -0.022174909710884094, + -0.00592447817325592, + 0.0009660124778747559, + 1.0 + ], + [ + -0.002765357494354248, + 0.0040092915296554565, + -0.013024415820837021, + -0.025897622108459473, + -0.00858895480632782, + 0.00807151198387146, + 1.0 + ], + [ + 0.0024349987506866455, + -0.0019105225801467896, + -0.013555914163589478, + -0.028312332928180695, + -0.012580573558807373, + 0.014882594347000122, + 1.0 + ], + [ + 0.0029321908950805664, + -0.0013139992952346802, + -0.01493292860686779, + -0.02503512054681778, + -0.013631150126457214, + 0.03708210587501526, + 1.0 + ], + [ + 0.0002161860466003418, + -0.0030103325843811035, + -0.006194461137056351, + -0.009149380028247833, + 0.00833497941493988, + 0.07098919153213501, + 0.0 + ], + [ + -0.0018290877342224121, + -0.01124010980129242, + 0.0017814505845308304, + -0.01583556830883026, + 0.04296359419822693, + 0.07223278284072876, + 0.0 + ], + [ + 0.003198593854904175, + -0.03758072108030319, + 0.019680559635162354, + -0.005976643413305283, + 0.06921356916427612, + 0.09573040902614594, + 0.0 + ], + [ + 0.019880235195159912, + -0.04744121432304382, + 0.020672552287578583, + 0.008839402347803116, + -0.07948784530162811, + 0.1299881488084793, + 0.0 + ], + [ + 0.008715718984603882, + -0.04320993646979332, + -0.018482327461242676, + -0.05277552455663681, + -0.0929623544216156, + 0.10697487741708755, + 0.0 + ], + [ + 0.00258636474609375, + -0.02452271245419979, + -0.03634539991617203, + -0.05530760437250137, + -0.06266841292381287, + 0.050671402364969254, + 0.0 + ], + [ + -0.004523247480392456, + -0.0024163611233234406, + -0.02395533211529255, + -0.0037924088537693024, + -0.019791066646575928, + 0.027143962681293488, + 0.0 + ], + [ + -0.005040407180786133, + 0.0004920996725559235, + -0.004170922562479973, + 0.003352127969264984, + -0.01084926724433899, + 0.010512366890907288, + 1.0 + ], + [ + -0.002725362777709961, + 0.0008315257728099823, + -0.0018429793417453766, + 0.006296724081039429, + 0.0009366869926452637, + -0.02199825644493103, + 1.0 + ], + [ + -1.5556812286376953e-05, + -0.00011782906949520111, + -4.414469003677368e-06, + -0.0012480653822422028, + 0.0002516806125640869, + 0.0015218183398246765, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.00800359249115 + ], + [ + 1.00800359249115 + ], + [ + 1.00800359249115 + ], + [ + 1.00800359249115 + ], + [ + 1.00800359249115 + ], + [ + 1.00800359249115 + ], + [ + 1.00800359249115 + ], + [ + 1.00800359249115 + ], + [ + 1.00800359249115 + ], + [ + 1.00800359249115 + ], + [ + 1.00800359249115 + ], + [ + 0.8827611207962036 + ], + [ + 0.8792814016342163 + ], + [ + 0.8792814016342163 + ], + [ + 0.8792814016342163 + ], + [ + 0.8792814016342163 + ], + [ + 0.8792814016342163 + ], + [ + 0.8792814016342163 + ], + [ + 0.8905277252197266 + ], + [ + 1.0008161067962646 + ], + [ + 1.003452181816101 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.371412456035614, + 0.031049730256199837, + 0.052100684493780136 + ], + [ + 0.35961276292800903, + 0.06253823637962341, + 0.07085873931646347 + ], + [ + 0.3505236804485321, + 0.09640856087207794, + 0.09378563612699509 + ], + [ + 0.3429895341396332, + 0.11521685868501663, + 0.09578099846839905 + ], + [ + 0.3354732394218445, + 0.1317829042673111, + 0.09052122384309769 + ], + [ + 0.32397595047950745, + 0.13948047161102295, + 0.07753854244947433 + ], + [ + 0.31680819392204285, + 0.1430046111345291, + 0.06852235645055771 + ], + [ + 0.3125520944595337, + 0.14414194226264954, + 0.05796324834227562 + ], + [ + 0.30978673696517944, + 0.148151233792305, + 0.0449388325214386 + ], + [ + 0.3122217357158661, + 0.1462407112121582, + 0.03138291835784912 + ], + [ + 0.31515392661094666, + 0.14492671191692352, + 0.01644998975098133 + ], + [ + 0.315370112657547, + 0.14191637933254242, + 0.01025552861392498 + ], + [ + 0.3135410249233246, + 0.13067626953125, + 0.01203697919845581 + ], + [ + 0.31673961877822876, + 0.09309554845094681, + 0.031717538833618164 + ], + [ + 0.33661985397338867, + 0.045654334127902985, + 0.05239009112119675 + ], + [ + 0.34533557295799255, + 0.0024443992879241705, + 0.03390776365995407 + ], + [ + 0.3479219377040863, + -0.022078312933444977, + -0.002437636023387313 + ], + [ + 0.34339869022369385, + -0.024494674056768417, + -0.026392968371510506 + ], + [ + 0.3383582830429077, + -0.024002574384212494, + -0.03056389093399048 + ], + [ + 0.33563292026519775, + -0.02317104861140251, + -0.032406870275735855 + ], + [ + 0.3356173634529114, + -0.023288877680897713, + -0.03241128474473953 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9901750101317295, + -0.03647964977091472, + 0.1349914236654338, + -0.045853959930693126, + -0.9966988604130386, + 0.06699847766945513, + 0.13210171713230537, + -0.0725301096369052, + -0.988579040606645 + ], + [ + 0.9713243189287002, + -0.1702822954332297, + 0.16593073048621065, + -0.18967020326176204, + -0.975788666950419, + 0.10891139263532802, + 0.14336764437047533, + -0.13726039965377845, + -0.9801047399306598 + ], + [ + 0.9263576269143827, + -0.3022737633173044, + 0.22470451501371222, + -0.33761052811838055, + -0.9308766132912268, + 0.1395989331301784, + 0.16697508305487233, + -0.20518114639861562, + -0.9643754553084439 + ], + [ + 0.8826812735738364, + -0.4194317927214165, + 0.21201589689589145, + -0.45279370745060876, + -0.8798186169493157, + 0.14455815356639726, + 0.1259032476753601, + -0.22359823908942641, + -0.9665154937717786 + ], + [ + 0.8728608543037484, + -0.4366636674245398, + 0.21780443194637167, + -0.47012280305418924, + -0.8721290588129723, + 0.13555609474483735, + 0.13076115276565414, + -0.2207164387293122, + -0.9665328626601619 + ], + [ + 0.8739085582346598, + -0.4349175348194975, + 0.21709576170609424, + -0.46413240860452126, + -0.8793044461604899, + 0.10679324999905143, + 0.14444701148581712, + -0.19408871391434734, + -0.9702910037735539 + ], + [ + 0.8705361024123717, + -0.43790700101802166, + 0.22450913757813737, + -0.46427173262750004, + -0.8821023417185148, + 0.07966942335533436, + 0.1631522377405096, + -0.17358835558330157, + -0.9712097765808113 + ], + [ + 0.8701155880021192, + -0.4411289220881804, + 0.21978202295239352, + -0.4629684051643869, + -0.884502124984477, + 0.05758686236884844, + 0.16899443581156864, + -0.15185935926133998, + -0.9738478401010421 + ], + [ + 0.8725049920575236, + -0.43854557443970565, + 0.21543634320617538, + -0.45524201000634323, + -0.8897757384648222, + 0.03246301841734189, + 0.17745351830855566, + -0.12639981953598184, + -0.9759781424095451 + ], + [ + 0.8771193781174953, + -0.4300610024376119, + 0.21379693803498484, + -0.4411688360181121, + -0.8974115408915617, + 0.00475230481529372, + 0.18982005862711915, + -0.09848888494134589, + -0.9768665645244533 + ], + [ + 0.8904361774000968, + -0.40079846236869987, + 0.21560149939179318, + -0.40723351481250014, + -0.9131887829301362, + -0.01571976921058333, + 0.20318533015589674, + -0.0738027051906815, + -0.9763548956788084 + ], + [ + 0.9186326892362711, + -0.3374875114365891, + 0.20546571950297304, + -0.343630984401685, + -0.9390847757041687, + -0.006126222309031898, + 0.19501725263592762, + -0.06497663937900192, + -0.9786451387041911 + ], + [ + 0.9482051636435472, + -0.2740994631050735, + 0.1605504654780668, + -0.2785428946969307, + -0.9604085608436307, + 0.005408518477411087, + 0.1527115694817129, + -0.0498485765471431, + -0.9870128144875604 + ], + [ + 0.9785355683659079, + -0.18499404035002898, + 0.09080389021281662, + -0.18818168344615677, + -0.9817400629300974, + 0.027822703919257175, + 0.08399878248034229, + -0.04431313431681452, + -0.9954800604074598 + ], + [ + 0.9848741190269582, + -0.051216133939737, + 0.1655290829284686, + -0.05916532219764003, + -0.9973020896028585, + 0.04345119932776637, + 0.1628570978499935, + -0.052587543183141384, + -0.9852472359676219 + ], + [ + 0.9662047131104645, + 0.047094827447136334, + 0.25343742736787955, + 0.045418937931615305, + -0.9988902819571271, + 0.012462932591282345, + 0.25374312294186185, + -0.0005308854257050355, + -0.9672714953519388 + ], + [ + 0.944958806048562, + 0.08024904132417748, + 0.3171954385514196, + 0.092564301701175, + -0.9954192981685216, + -0.023922183935888165, + 0.3138227284978747, + 0.05196645264244106, + -0.9480584279873846 + ], + [ + 0.93575176757705, + 0.10494263283291633, + 0.3366833427577347, + 0.117380850929178, + -0.9929458281931325, + -0.01674270315679022, + 0.3325512972633976, + 0.0551871913395673, + -0.9414690693806576 + ], + [ + 0.9308362452958785, + 0.11594507794449906, + 0.3465553683668972, + 0.12671700407423167, + -0.9919024695762302, + -0.008502454176741246, + 0.34276330801578364, + 0.05182885054697304, + -0.9379909833943273 + ], + [ + 0.9337169498482503, + 0.09631998347599616, + 0.34481171434460234, + 0.10624747444408605, + -0.9942898110608274, + -0.009962218371295576, + 0.34188321359834717, + 0.045937265959217946, + -0.9386190046317295 + ], + [ + 0.933639628537549, + 0.0974143365628318, + 0.3447136363074297, + 0.10767815343557646, + -0.9941281669351922, + -0.010705278080423385, + 0.3416466878179445, + 0.04711299967204456, + -0.9386468483753249 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006041.json b/json/chunk-0006/episode_0006041.json new file mode 100644 index 0000000000000000000000000000000000000000..f629b34878f1a3e32c2ff60331828739ee4e081c --- /dev/null +++ b/json/chunk-0006/episode_0006041.json @@ -0,0 +1,4582 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 75, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut pickle in pot or pan an put pot or pan on stove." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006041.mp4", + "start": 0, + "end": 75, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.23208975791931152, + -0.1479160040616989, + 0.13326235115528107, + 0.035309478640556335, + -0.2663438320159912, + 0.12147918343544006, + 0.0, + 1.0001531839370728 + ], + [ + 0.23062044382095337, + -0.14640304446220398, + 0.12534737586975098, + 0.048697568476200104, + -0.25198253989219666, + 0.12157965451478958, + 0.0, + 1.0001531839370728 + ], + [ + 0.23422043025493622, + -0.14773574471473694, + 0.10126157850027084, + 0.03056279756128788, + -0.27721336483955383, + 0.12309429794549942, + 0.0, + 1.0001531839370728 + ], + [ + 0.2407151609659195, + -0.14631059765815735, + 0.07953468710184097, + 0.003446887480095029, + -0.31752482056617737, + 0.13348332047462463, + 0.0, + 1.0001531839370728 + ], + [ + 0.24752748012542725, + -0.14187543094158173, + 0.06257614493370056, + -0.011752035468816757, + -0.35229605436325073, + 0.13432015478610992, + 0.0, + 1.0001531839370728 + ], + [ + 0.2533774673938751, + -0.14193926751613617, + 0.051588524132966995, + -0.03004681132733822, + -0.3811545968055725, + 0.13292652368545532, + 0.0, + 1.0001531839370728 + ], + [ + 0.2562884986400604, + -0.14192259311676025, + 0.03673576936125755, + -0.03356418013572693, + -0.4009089767932892, + 0.12799225747585297, + 0.0, + 1.0001531839370728 + ], + [ + 0.2584932744503021, + -0.14165963232517242, + 0.02827783115208149, + -0.0411725752055645, + -0.4186426103115082, + 0.12559327483177185, + 0.0, + 1.0001531839370728 + ], + [ + 0.2573574185371399, + -0.1419191062450409, + 0.023101896047592163, + -0.05099065601825714, + -0.43074649572372437, + 0.1353142112493515, + 0.0, + 0.9635607004165649 + ], + [ + 0.2560896575450897, + -0.14570775628089905, + 0.01909756101667881, + -0.04924630746245384, + -0.43489453196525574, + 0.14936769008636475, + 0.0, + 0.6591242551803589 + ], + [ + 0.2512211799621582, + -0.15045978128910065, + 0.019527694210410118, + -0.05097952485084534, + -0.42229560017585754, + 0.17812757194042206, + 0.0, + 0.365278422832489 + ], + [ + 0.24631628394126892, + -0.15261156857013702, + 0.020099155604839325, + -0.034726690500974655, + -0.39276382327079773, + 0.19090767204761505, + 0.0, + 0.2928420901298523 + ], + [ + 0.2406930923461914, + -0.15056112408638, + 0.0240202434360981, + 0.007510685361921787, + -0.3486689031124115, + 0.1891736537218094, + 0.0, + 0.3188876807689667 + ], + [ + 0.24158263206481934, + -0.15444819629192352, + 0.05178246647119522, + 0.009614557959139347, + -0.3274141848087311, + 0.18667614459991455, + 0.0, + 0.32440370321273804 + ], + [ + 0.24215617775917053, + -0.15483330190181732, + 0.07329051941633224, + 0.04580274969339371, + -0.2664731740951538, + 0.15473809838294983, + 0.0, + 0.32440370321273804 + ], + [ + 0.2514569163322449, + -0.15663191676139832, + 0.09362643212080002, + 0.05576756224036217, + -0.23948459327220917, + 0.14932997524738312, + 0.0, + 0.32440370321273804 + ], + [ + 0.26792940497398376, + -0.1491256207227707, + 0.11419983953237534, + 0.051156073808670044, + -0.22150518000125885, + 0.14041753113269806, + 0.0, + 0.32440370321273804 + ], + [ + 0.29296961426734924, + -0.14467792212963104, + 0.11873771995306015, + 0.07257342338562012, + -0.19807882606983185, + 0.13443756103515625, + 0.0, + 0.32440370321273804 + ], + [ + 0.3212888836860657, + -0.1432335376739502, + 0.11446073651313782, + 0.05355088412761688, + -0.19137150049209595, + 0.14029888808727264, + 0.0, + 0.32440370321273804 + ], + [ + 0.3378869295120239, + -0.13620971143245697, + 0.10786578804254532, + 0.039242133498191833, + -0.19479922950267792, + 0.13122746348381042, + 0.0, + 0.32440370321273804 + ], + [ + 0.3502635657787323, + -0.12857145071029663, + 0.0964483916759491, + 0.027222948148846626, + -0.20802269876003265, + 0.12836292386054993, + 0.0, + 0.32440370321273804 + ], + [ + 0.36365583539009094, + -0.12116412818431854, + 0.09371859580278397, + 0.016188908368349075, + -0.2278067022562027, + 0.11516368389129639, + 0.0, + 0.32440370321273804 + ], + [ + 0.368322491645813, + -0.11330948024988174, + 0.09574627131223679, + 0.019704025238752365, + -0.2339022010564804, + 0.09647557884454727, + 0.0, + 0.32440370321273804 + ], + [ + 0.37403276562690735, + -0.10678336024284363, + 0.09677669405937195, + 0.0161038376390934, + -0.2517493665218353, + 0.07603322714567184, + 0.0, + 0.32440370321273804 + ], + [ + 0.37766140699386597, + -0.09805303066968918, + 0.09606415033340454, + 0.020149128511548042, + -0.25621548295021057, + 0.05831541121006012, + 0.0, + 0.32440370321273804 + ], + [ + 0.37942391633987427, + -0.09788386523723602, + 0.09647844731807709, + 0.019336141645908356, + -0.26639074087142944, + 0.05081719532608986, + 0.0, + 0.3831871449947357 + ], + [ + 0.3758032023906708, + -0.09469608217477798, + 0.08720376342535019, + 0.018094554543495178, + -0.257986456155777, + 0.03457681089639664, + 0.0, + 0.6951970458030701 + ], + [ + 0.3722767233848572, + -0.09424486756324768, + 0.08109918236732483, + 0.00998265016824007, + -0.24667882919311523, + 0.023668842390179634, + 0.0, + 0.9694526195526123 + ], + [ + 0.3675054609775543, + -0.09850466996431351, + 0.07785893231630325, + 0.014002528972923756, + -0.2347581386566162, + 0.03427092730998993, + 0.0, + 1.0001531839370728 + ], + [ + 0.35905981063842773, + -0.10221581161022186, + 0.07762531191110611, + 0.041027795523405075, + -0.19871270656585693, + 0.043186042457818985, + 0.0, + 0.9994885921478271 + ], + [ + 0.35379505157470703, + -0.10245917737483978, + 0.09790603071451187, + 0.06540204584598541, + -0.1769486963748932, + 0.041510798037052155, + 0.0, + 0.9994885921478271 + ], + [ + 0.35360923409461975, + -0.10146597027778625, + 0.12003111839294434, + 0.07617021352052689, + -0.16009503602981567, + 0.027666546404361725, + 0.0, + 0.9994885921478271 + ], + [ + 0.3531615734100342, + -0.10128380358219147, + 0.11997546255588531, + 0.07760854065418243, + -0.15717411041259766, + 0.026336347684264183, + 0.0, + 0.9994885921478271 + ], + [ + 0.3531615734100342, + -0.10128380358219147, + 0.11997546255588531, + 0.07760854065418243, + -0.15717411041259766, + 0.026336347684264183, + 0.0, + 0.9994885921478271 + ], + [ + 0.3539336621761322, + -0.1006341204047203, + 0.12015338987112045, + 0.08102906495332718, + -0.16255876421928406, + 0.02979588694870472, + 0.0, + 0.9994885921478271 + ], + [ + 0.35201922059059143, + -0.09814354032278061, + 0.11244659125804901, + 0.13046959042549133, + -0.19806677103042603, + 0.0006338344537653029, + 0.0, + 0.9994885921478271 + ], + [ + 0.3651200532913208, + -0.08485370129346848, + 0.11840680986642838, + 0.13541950285434723, + -0.2296058088541031, + -0.04599388316273689, + 0.0, + 0.9994885921478271 + ], + [ + 0.3831399083137512, + -0.06812676787376404, + 0.11719948053359985, + 0.13213354349136353, + -0.24228844046592712, + -0.057970914989709854, + 0.0, + 0.9994885921478271 + ], + [ + 0.3917023539543152, + -0.05270136892795563, + 0.11751410365104675, + 0.13887816667556763, + -0.26468273997306824, + -0.07100903987884521, + 0.0, + 0.9994885921478271 + ], + [ + 0.39770644903182983, + -0.03939593955874443, + 0.115061454474926, + 0.13988766074180603, + -0.2926012873649597, + -0.08610928803682327, + 0.0, + 0.9994885921478271 + ], + [ + 0.393720418214798, + -0.030828841030597687, + 0.10149591416120529, + 0.13280506432056427, + -0.2854883074760437, + -0.08977053314447403, + 0.0, + 0.9994885921478271 + ], + [ + 0.3840316832065582, + -0.02367619052529335, + 0.08061500638723373, + 0.1305953413248062, + -0.2706238031387329, + -0.09192819893360138, + 0.0, + 0.9994885921478271 + ], + [ + 0.3734692335128784, + -0.02313211001455784, + 0.06350195407867432, + 0.12255118787288666, + -0.26826685667037964, + -0.0780729204416275, + 0.0, + 0.9994885921478271 + ], + [ + 0.36205753684043884, + -0.026029493659734726, + 0.06213555112481117, + 0.12015154957771301, + -0.3035644292831421, + -0.07133735716342926, + 0.0, + 0.9994885921478271 + ], + [ + 0.35711535811424255, + -0.028151623904705048, + 0.053927406668663025, + 0.1251828968524933, + -0.31521075963974, + -0.06796304136514664, + 0.0, + 0.9994885921478271 + ], + [ + 0.355154424905777, + -0.03126898407936096, + 0.0488949716091156, + 0.12450484186410904, + -0.33420324325561523, + -0.06233992427587509, + 0.0, + 0.9476637244224548 + ], + [ + 0.3550132215023041, + -0.037823837250471115, + 0.048776790499687195, + 0.1295648068189621, + -0.3478498160839081, + -0.05280669778585434, + 0.0, + 0.6551066637039185 + ], + [ + 0.35175392031669617, + -0.042553532868623734, + 0.04826630279421806, + 0.1395815759897232, + -0.3343174159526825, + -0.052292514592409134, + 0.0, + 0.3453405201435089 + ], + [ + 0.3512071669101715, + -0.04541359841823578, + 0.050047945231199265, + 0.1436440348625183, + -0.32479795813560486, + -0.05287427455186844, + 0.0, + 0.14571818709373474 + ], + [ + 0.35280853509902954, + -0.048819974064826965, + 0.05527699366211891, + 0.13553425669670105, + -0.31261134147644043, + -0.04236588254570961, + 0.0, + 0.08022117614746094 + ], + [ + 0.35208988189697266, + -0.05094439536333084, + 0.05844639614224434, + 0.1228528544306755, + -0.2931208312511444, + -0.03659241273999214, + 0.0, + 0.07988496869802475 + ], + [ + 0.35299593210220337, + -0.05273996293544769, + 0.06713155657052994, + 0.11956693977117538, + -0.25581032037734985, + -0.03693179413676262, + 0.0, + 0.08783477544784546 + ], + [ + 0.35196495056152344, + -0.05377171188592911, + 0.08587646484375, + 0.11950856447219849, + -0.20193083584308624, + -0.044689178466796875, + 0.0, + 0.08926420658826828 + ], + [ + 0.35497236251831055, + -0.04555938020348549, + 0.10708054155111313, + 0.11239126324653625, + -0.17616315186023712, + -0.054519861936569214, + 0.0, + 0.08926420658826828 + ], + [ + 0.3602501153945923, + -0.026183029636740685, + 0.12178365141153336, + 0.10696215182542801, + -0.1556704044342041, + -0.07345905154943466, + 0.0, + 0.08926420658826828 + ], + [ + 0.3651931583881378, + -0.003120667766779661, + 0.12824492156505585, + 0.08454583585262299, + -0.16112487018108368, + -0.09542199969291687, + 0.0, + 0.08926420658826828 + ], + [ + 0.3675936162471771, + 0.018472036346793175, + 0.1265280842781067, + 0.06659551709890366, + -0.1691056489944458, + -0.1117510125041008, + 0.0, + 0.08926420658826828 + ], + [ + 0.3736979067325592, + 0.03826778382062912, + 0.11787637323141098, + 0.05621357262134552, + -0.17941614985466003, + -0.12223777174949646, + 0.0, + 0.08962377160787582 + ], + [ + 0.37859565019607544, + 0.05609842389822006, + 0.11237723380327225, + 0.03853648528456688, + -0.19981543719768524, + -0.1305621862411499, + 0.0, + 0.08926420658826828 + ], + [ + 0.3870878517627716, + 0.07878954708576202, + 0.09376195818185806, + 0.021022452041506767, + -0.21334847807884216, + -0.14963899552822113, + 0.0, + 0.08926420658826828 + ], + [ + 0.3938477337360382, + 0.09779364615678787, + 0.08104043453931808, + 0.019953880459070206, + -0.22416618466377258, + -0.1636045277118683, + 0.0, + 0.08926420658826828 + ], + [ + 0.3961346745491028, + 0.112632155418396, + 0.07074451446533203, + 0.015044977888464928, + -0.24696992337703705, + -0.1715361475944519, + 0.0, + 0.08926420658826828 + ], + [ + 0.39532285928726196, + 0.1257237046957016, + 0.06869319081306458, + 0.03435936197638512, + -0.27286890149116516, + -0.1773035228252411, + 0.0, + 0.08962377160787582 + ], + [ + 0.39068806171417236, + 0.12990164756774902, + 0.06220893934369087, + 0.04055469483137131, + -0.2677212655544281, + -0.17058254778385162, + 0.0, + 0.09400739520788193 + ], + [ + 0.38529884815216064, + 0.12839245796203613, + 0.05493833124637604, + 0.037336722016334534, + -0.25082311034202576, + -0.16567818820476532, + 0.0, + 0.13386739790439606 + ], + [ + 0.38393735885620117, + 0.11923021823167801, + 0.05073903128504753, + 0.03389802947640419, + -0.23062831163406372, + -0.1379479467868805, + 0.0, + 0.33237314224243164 + ], + [ + 0.3797559440135956, + 0.10731971263885498, + 0.0511336475610733, + 0.026960646733641624, + -0.18117697536945343, + -0.138363778591156, + 0.0, + 0.629988968372345 + ], + [ + 0.38116902112960815, + 0.09693493694067001, + 0.06778565794229507, + 0.04779786616563797, + -0.17454339563846588, + -0.13099145889282227, + 0.0, + 0.9255412817001343 + ], + [ + 0.38369736075401306, + 0.09006913006305695, + 0.08576928824186325, + 0.05798621475696564, + -0.16509611904621124, + -0.12313264608383179, + 0.0, + 1.0041072368621826 + ], + [ + 0.3862232267856598, + 0.08394094556570053, + 0.10466112941503525, + 0.06590592861175537, + -0.12674812972545624, + -0.12697045505046844, + 0.0, + 1.0027955770492554 + ], + [ + 0.38836830854415894, + 0.08027767390012741, + 0.12297944724559784, + 0.07387378066778183, + -0.1036091297864914, + -0.12897667288780212, + 0.0, + 1.0027955770492554 + ], + [ + 0.39092570543289185, + 0.0734846368432045, + 0.13790777325630188, + 0.08151831477880478, + -0.09606638550758362, + -0.1258988380432129, + 0.0, + 1.0027955770492554 + ], + [ + 0.3918798267841339, + 0.06253210455179214, + 0.1363060176372528, + 0.07718543708324432, + -0.09419204294681549, + -0.12121104449033737, + 0.0, + 1.0027955770492554 + ], + [ + 0.3861733675003052, + 0.041843172162771225, + 0.1377011388540268, + 0.07134029269218445, + -0.10542382299900055, + -0.10233863443136215, + 0.0, + 1.0027955770492554 + ], + [ + 0.38373032212257385, + 0.021266285330057144, + 0.1354459971189499, + 0.0685870498418808, + -0.09707039594650269, + -0.09129039943218231, + 0.0, + 1.0027955770492554 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9635607004165649 + ], + [ + 0.6591242551803589 + ], + [ + 0.365278422832489 + ], + [ + 0.2928420901298523 + ], + [ + 0.3188876807689667 + ], + [ + 0.32440370321273804 + ], + [ + 0.32440370321273804 + ], + [ + 0.32440370321273804 + ], + [ + 0.32440370321273804 + ], + [ + 0.32440370321273804 + ], + [ + 0.32440370321273804 + ], + [ + 0.32440370321273804 + ], + [ + 0.32440370321273804 + ], + [ + 0.32440370321273804 + ], + [ + 0.32440370321273804 + ], + [ + 0.32440370321273804 + ], + [ + 0.32440370321273804 + ], + [ + 0.3831871449947357 + ], + [ + 0.6951970458030701 + ], + [ + 0.9694526195526123 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9476637244224548 + ], + [ + 0.6551066637039185 + ], + [ + 0.3453405201435089 + ], + [ + 0.14571818709373474 + ], + [ + 0.08022117614746094 + ], + [ + 0.07988496869802475 + ], + [ + 0.08783477544784546 + ], + [ + 0.08926420658826828 + ], + [ + 0.08926420658826828 + ], + [ + 0.08926420658826828 + ], + [ + 0.08926420658826828 + ], + [ + 0.08926420658826828 + ], + [ + 0.08962377160787582 + ], + [ + 0.08926420658826828 + ], + [ + 0.08926420658826828 + ], + [ + 0.08926420658826828 + ], + [ + 0.08926420658826828 + ], + [ + 0.08962377160787582 + ], + [ + 0.09400739520788193 + ], + [ + 0.13386739790439606 + ], + [ + 0.33237314224243164 + ], + [ + 0.629988968372345 + ], + [ + 0.9255412817001343 + ], + [ + 1.0041072368621826 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.23208975791931152, + -0.1479160040616989, + 0.13326235115528107 + ], + [ + 0.23062044382095337, + -0.14640304446220398, + 0.12534737586975098 + ], + [ + 0.23422043025493622, + -0.14773574471473694, + 0.10126157850027084 + ], + [ + 0.2407151609659195, + -0.14631059765815735, + 0.07953468710184097 + ], + [ + 0.24752748012542725, + -0.14187543094158173, + 0.06257614493370056 + ], + [ + 0.2533774673938751, + -0.14193926751613617, + 0.051588524132966995 + ], + [ + 0.2562884986400604, + -0.14192259311676025, + 0.03673576936125755 + ], + [ + 0.2584932744503021, + -0.14165963232517242, + 0.02827783115208149 + ], + [ + 0.2573574185371399, + -0.1419191062450409, + 0.023101896047592163 + ], + [ + 0.2560896575450897, + -0.14570775628089905, + 0.01909756101667881 + ], + [ + 0.2512211799621582, + -0.15045978128910065, + 0.019527694210410118 + ], + [ + 0.24631628394126892, + -0.15261156857013702, + 0.020099155604839325 + ], + [ + 0.2406930923461914, + -0.15056112408638, + 0.0240202434360981 + ], + [ + 0.24158263206481934, + -0.15444819629192352, + 0.05178246647119522 + ], + [ + 0.24215617775917053, + -0.15483330190181732, + 0.07329051941633224 + ], + [ + 0.2514569163322449, + -0.15663191676139832, + 0.09362643212080002 + ], + [ + 0.26792940497398376, + -0.1491256207227707, + 0.11419983953237534 + ], + [ + 0.29296961426734924, + -0.14467792212963104, + 0.11873771995306015 + ], + [ + 0.3212888836860657, + -0.1432335376739502, + 0.11446073651313782 + ], + [ + 0.3378869295120239, + -0.13620971143245697, + 0.10786578804254532 + ], + [ + 0.3502635657787323, + -0.12857145071029663, + 0.0964483916759491 + ], + [ + 0.36365583539009094, + -0.12116412818431854, + 0.09371859580278397 + ], + [ + 0.368322491645813, + -0.11330948024988174, + 0.09574627131223679 + ], + [ + 0.37403276562690735, + -0.10678336024284363, + 0.09677669405937195 + ], + [ + 0.37766140699386597, + -0.09805303066968918, + 0.09606415033340454 + ], + [ + 0.37942391633987427, + -0.09788386523723602, + 0.09647844731807709 + ], + [ + 0.3758032023906708, + -0.09469608217477798, + 0.08720376342535019 + ], + [ + 0.3722767233848572, + -0.09424486756324768, + 0.08109918236732483 + ], + [ + 0.3675054609775543, + -0.09850466996431351, + 0.07785893231630325 + ], + [ + 0.35905981063842773, + -0.10221581161022186, + 0.07762531191110611 + ], + [ + 0.35379505157470703, + -0.10245917737483978, + 0.09790603071451187 + ], + [ + 0.35360923409461975, + -0.10146597027778625, + 0.12003111839294434 + ], + [ + 0.3531615734100342, + -0.10128380358219147, + 0.11997546255588531 + ], + [ + 0.3531615734100342, + -0.10128380358219147, + 0.11997546255588531 + ], + [ + 0.3539336621761322, + -0.1006341204047203, + 0.12015338987112045 + ], + [ + 0.35201922059059143, + -0.09814354032278061, + 0.11244659125804901 + ], + [ + 0.3651200532913208, + -0.08485370129346848, + 0.11840680986642838 + ], + [ + 0.3831399083137512, + -0.06812676787376404, + 0.11719948053359985 + ], + [ + 0.3917023539543152, + -0.05270136892795563, + 0.11751410365104675 + ], + [ + 0.39770644903182983, + -0.03939593955874443, + 0.115061454474926 + ], + [ + 0.393720418214798, + -0.030828841030597687, + 0.10149591416120529 + ], + [ + 0.3840316832065582, + -0.02367619052529335, + 0.08061500638723373 + ], + [ + 0.3734692335128784, + -0.02313211001455784, + 0.06350195407867432 + ], + [ + 0.36205753684043884, + -0.026029493659734726, + 0.06213555112481117 + ], + [ + 0.35711535811424255, + -0.028151623904705048, + 0.053927406668663025 + ], + [ + 0.355154424905777, + -0.03126898407936096, + 0.0488949716091156 + ], + [ + 0.3550132215023041, + -0.037823837250471115, + 0.048776790499687195 + ], + [ + 0.35175392031669617, + -0.042553532868623734, + 0.04826630279421806 + ], + [ + 0.3512071669101715, + -0.04541359841823578, + 0.050047945231199265 + ], + [ + 0.35280853509902954, + -0.048819974064826965, + 0.05527699366211891 + ], + [ + 0.35208988189697266, + -0.05094439536333084, + 0.05844639614224434 + ], + [ + 0.35299593210220337, + -0.05273996293544769, + 0.06713155657052994 + ], + [ + 0.35196495056152344, + -0.05377171188592911, + 0.08587646484375 + ], + [ + 0.35497236251831055, + -0.04555938020348549, + 0.10708054155111313 + ], + [ + 0.3602501153945923, + -0.026183029636740685, + 0.12178365141153336 + ], + [ + 0.3651931583881378, + -0.003120667766779661, + 0.12824492156505585 + ], + [ + 0.3675936162471771, + 0.018472036346793175, + 0.1265280842781067 + ], + [ + 0.3736979067325592, + 0.03826778382062912, + 0.11787637323141098 + ], + [ + 0.37859565019607544, + 0.05609842389822006, + 0.11237723380327225 + ], + [ + 0.3870878517627716, + 0.07878954708576202, + 0.09376195818185806 + ], + [ + 0.3938477337360382, + 0.09779364615678787, + 0.08104043453931808 + ], + [ + 0.3961346745491028, + 0.112632155418396, + 0.07074451446533203 + ], + [ + 0.39532285928726196, + 0.1257237046957016, + 0.06869319081306458 + ], + [ + 0.39068806171417236, + 0.12990164756774902, + 0.06220893934369087 + ], + [ + 0.38529884815216064, + 0.12839245796203613, + 0.05493833124637604 + ], + [ + 0.38393735885620117, + 0.11923021823167801, + 0.05073903128504753 + ], + [ + 0.3797559440135956, + 0.10731971263885498, + 0.0511336475610733 + ], + [ + 0.38116902112960815, + 0.09693493694067001, + 0.06778565794229507 + ], + [ + 0.38369736075401306, + 0.09006913006305695, + 0.08576928824186325 + ], + [ + 0.3862232267856598, + 0.08394094556570053, + 0.10466112941503525 + ], + [ + 0.38836830854415894, + 0.08027767390012741, + 0.12297944724559784 + ], + [ + 0.39092570543289185, + 0.0734846368432045, + 0.13790777325630188 + ], + [ + 0.3918798267841339, + 0.06253210455179214, + 0.1363060176372528 + ], + [ + 0.3861733675003052, + 0.041843172162771225, + 0.1377011388540268 + ], + [ + 0.38373032212257385, + 0.021266285330057144, + 0.1354459971189499 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9576299929402796, + 0.13032834646584138, + 0.2568254635519609, + 0.11690775285856511, + -0.9908857740403574, + 0.06691756216422186, + 0.26320595347134657, + -0.03405737676218544, + -0.964138330917985 + ], + [ + 0.9612714370759834, + 0.133183678268047, + 0.24128682538602775, + 0.11745032200667094, + -0.989969609626011, + 0.07852129569392677, + 0.24932437931819545, + -0.04714106341521287, + -0.9672719752053607 + ], + [ + 0.9545441434040658, + 0.13102607157886434, + 0.26772681385996594, + 0.11809601631496675, + -0.9909431440888944, + 0.06391413078304514, + 0.273676468158177, + -0.029391389042156657, + -0.9613726317233289 + ], + [ + 0.9415601250264773, + 0.1341530846773004, + 0.30897812354872145, + 0.1264343928649894, + -0.9909552093967181, + 0.044967958263274176, + 0.31221607143288677, + -0.003274574945107564, + -0.9500054746673531 + ], + [ + 0.9301287361807592, + 0.12988890721386728, + 0.3434958601112545, + 0.12569185336295055, + -0.9914672010469685, + 0.0345593293667032, + 0.3450537525212118, + 0.011030005932778126, + -0.938518112153491 + ], + [ + 0.9200471085756883, + 0.12139867191813584, + 0.3725260802387248, + 0.1230241086337207, + -0.9922120313534085, + 0.019502654496801084, + 0.3719924551605778, + 0.02788632808485055, + -0.9278167739427596 + ], + [ + 0.913175414751921, + 0.11458217084063997, + 0.39112860802823285, + 0.11752183303664925, + -0.9929331819857846, + 0.016501965679588823, + 0.390255404385849, + 0.030896961614870516, + -0.9201880770313242 + ], + [ + 0.9064453147883865, + 0.10855622152868913, + 0.4081328681515338, + 0.1144458127932457, + -0.9933787340221322, + 0.010042247093138435, + 0.40652066027728095, + 0.03760634999571824, + -0.9128673042713948 + ], + [ + 0.9003482883601177, + 0.11363897343307391, + 0.42007040286609576, + 0.12257897100321113, + -0.9924420929846671, + 0.005752211749213532, + 0.41754922525949056, + 0.046312803729541, + -0.907473288144565 + ], + [ + 0.896816326718657, + 0.12812359853738473, + 0.4234439982201731, + 0.1349605677537398, + -0.9907528674364819, + 0.013942769379745422, + 0.4213147532219149, + 0.04464413919227949, + -0.90581498086162 + ], + [ + 0.8977176946387995, + 0.15640216196772233, + 0.4118753506392698, + 0.16162128388661767, + -0.986599155435915, + 0.022375591343702934, + 0.40985546394703637, + 0.04648085869432075, + -0.9109654375703823 + ], + [ + 0.9070705394190698, + 0.17658844179148422, + 0.3821512249668356, + 0.17530158283068517, + -0.9837619907054, + 0.03849286557798018, + 0.382743244976386, + 0.03207597027376731, + -0.9232977529247768 + ], + [ + 0.9230617385657321, + 0.19056225378747094, + 0.3341302952853081, + 0.17673222802503735, + -0.9816497350633323, + 0.07162064805204803, + 0.3416471079539732, + -0.00705868837169174, + -0.9398018027994824 + ], + [ + 0.9304265723626788, + 0.188623474158679, + 0.314209449949786, + 0.17573453493490884, + -0.982007285252931, + 0.06913078143186159, + 0.3215956571109881, + -0.009103664453321336, + -0.9468333309621463 + ], + [ + 0.9531792449140758, + 0.16587269182468387, + 0.2528548539614498, + 0.1486817146750322, + -0.9851574480454119, + 0.08578199276039329, + 0.26333073270380913, + -0.04417072183568317, + -0.9636938686876607 + ], + [ + 0.9606489607338549, + 0.16161848945616142, + 0.22590493156828895, + 0.14452959578350116, + -0.9853666672350498, + 0.09035334550944112, + 0.23720196074995337, + -0.05414789901740723, + -0.9699501197733718 + ], + [ + 0.9659659850900854, + 0.15089689015827074, + 0.2100948456995159, + 0.13653711176405192, + -0.9872900634617889, + 0.081338476139815, + 0.21969827664338062, + -0.049884457801796775, + -0.9742916442779076 + ], + [ + 0.9715997547672695, + 0.14782031054615455, + 0.184778441183544, + 0.13141214751894617, + -0.9864558256557623, + 0.09816186384878473, + 0.19678608695901426, + -0.07109191107184454, + -0.9778656227516705 + ], + [ + 0.9720979118912022, + 0.14971938499255294, + 0.18058171406378906, + 0.13728621084039522, + -0.9873311488962304, + 0.07955940379575636, + 0.19020553622292627, + -0.052548151030282444, + -0.9803369552421491 + ], + [ + 0.9726511953208157, + 0.1382792509416476, + 0.18662395612569416, + 0.12837630428862995, + -0.9896450701603267, + 0.06420404663691454, + 0.1935695656299855, + -0.03849004892668829, + -0.9803312396304831 + ], + [ + 0.9703913453824772, + 0.1335385691212294, + 0.20126621018899443, + 0.12525094887167765, + -0.9906856950820835, + 0.0534233410268726, + 0.20652563185602468, + -0.026632763971915722, + -0.9780786569952776 + ], + [ + 0.9677112015319586, + 0.11852598161287535, + 0.22245588801440486, + 0.11194050182163943, + -0.9928257147733169, + 0.04202884886327433, + 0.2258414365910132, + -0.015769964094973388, + -0.9740364232157598 + ], + [ + 0.9682458366544974, + 0.10085266533802882, + 0.22875475884765206, + 0.09370297274266627, + -0.9947167413123041, + 0.04193277300891609, + 0.2317752202035822, + -0.01916623195220435, + -0.9725805379773619 + ], + [ + 0.965680076460753, + 0.07994982071093795, + 0.24712348349568686, + 0.07356558942620453, + -0.9966768810809326, + 0.034975688287150114, + 0.24909856278013576, + -0.015595540614985458, + -0.9683525624140193 + ], + [ + 0.9657116094933633, + 0.06336772977546375, + 0.2517650057351926, + 0.056379794126278415, + -0.9977999139809235, + 0.034880517111134775, + 0.2534214002487087, + -0.019490061127803302, + -0.9671596204418474 + ], + [ + 0.9634819379838583, + 0.05586920575671672, + 0.2618801004791738, + 0.04900363922537408, + -0.9982638426857858, + 0.03267940833121149, + 0.263251208015344, + -0.01865294170693534, + -0.9645469761728247 + ], + [ + 0.9663277244244166, + 0.03917779027420121, + 0.25431443088814126, + 0.033425852877878026, + -0.9990790928066726, + 0.026901276474959268, + 0.2551341634672137, + -0.017494772528571192, + -0.9667473773256684 + ], + [ + 0.9694571321967753, + 0.02610234026950341, + 0.24386786722579717, + 0.022950213903879055, + -0.9996124046771522, + 0.01575842940547887, + 0.24418467706752234, + -0.00968030206224606, + -0.9696804294392114 + ], + [ + 0.971999544123274, + 0.037515938197510035, + 0.23196861987197293, + 0.03332437319640956, + -0.9992032347651375, + 0.021963191615783823, + 0.23260776507935776, + -0.013618003379564297, + -0.9724752838035218 + ], + [ + 0.9794074869163222, + 0.051225663645706666, + 0.1952867275477564, + 0.04232304789697162, + -0.9978773250356999, + 0.049493472259555, + 0.19740753326295668, + -0.040209147760846914, + -0.979496549380028 + ], + [ + 0.9835373872501871, + 0.05290454784626514, + 0.17278691124693893, + 0.04085088855982631, + -0.9965250250388379, + 0.0725884245263388, + 0.17602673883517797, + -0.06433493054729737, + -0.9822808172445018 + ], + [ + 0.9868343373085305, + 0.039708874496029646, + 0.15678391497565056, + 0.02730926619027279, + -0.9963832947192091, + 0.08046448896651645, + 0.15941202805617358, + -0.07512346697771868, + -0.9843496685732491 + ], + [ + 0.9873310496368035, + 0.03838553231457949, + 0.15396086948317173, + 0.026008707321732702, + -0.9963246576247267, + 0.08161325720998822, + 0.15652777889735836, + -0.07657497971202878, + -0.9847006280670091 + ], + [ + 0.9873310496368035, + 0.03838553231457949, + 0.15396086948317173, + 0.026008707321732702, + -0.9963246576247267, + 0.08161325720998822, + 0.15652777889735836, + -0.07657497971202878, + -0.9847006280670091 + ], + [ + 0.9863783814079409, + 0.042787619365318504, + 0.15882980929315227, + 0.0293987192668479, + -0.9958862733376175, + 0.08571024374706318, + 0.16184376415703994, + -0.0798733385226919, + -0.9835785915709632 + ], + [ + 0.9804486225246928, + 0.026228726513130934, + 0.19501936441013146, + 0.0006214422003235475, + -0.9914844839307013, + 0.1302233924234133, + 0.19677426762415845, + -0.12755615245910334, + -0.9721158961619781 + ], + [ + 0.9727264075591853, + -0.014862716407215112, + 0.23147880183291167, + -0.0447710393004475, + -0.9912096660799202, + 0.12449478667675486, + 0.2275936951608271, + -0.13146291313800867, + -0.9648412368842393 + ], + [ + 0.9691606863748371, + -0.025876552336006144, + 0.2450672724470913, + -0.05624615332891427, + -0.9914492888117584, + 0.11774836708149701, + 0.2399248511954425, + -0.12790117964217781, + -0.9623291297809624 + ], + [ + 0.9627432234649493, + -0.03414325621774715, + 0.26825309639809886, + -0.06847860684525656, + -0.9904454788351025, + 0.11970143633071828, + 0.26160306970074193, + -0.13361134498968824, + -0.9558827555789439 + ], + [ + 0.953949155128221, + -0.04509354508186686, + 0.29655957516509646, + -0.0823475136268528, + -0.9900216333878248, + 0.11435056809468953, + 0.28844392250423334, + -0.13350557147944267, + -0.9481436420470892 + ], + [ + 0.9556605603659577, + -0.05171922650689346, + 0.2898931095603204, + -0.0860213570804059, + -0.9905463342621076, + 0.10685637934136645, + 0.2816260277159563, + -0.1270554260526852, + -0.951075022920643 + ], + [ + 0.9595355768163715, + -0.05635082755147228, + 0.2758913935916411, + -0.08845769713833221, + -0.9904938876815943, + 0.10534274670040003, + 0.26733258806336474, + -0.12548483055599102, + -0.9553987882866912 + ], + [ + 0.9612945450133003, + -0.045105127801148136, + 0.2718056753890807, + -0.07520393353453095, + -0.9920038696474633, + 0.10135428449450169, + 0.26506068382279185, + -0.11787217674455931, + -0.9569999915574156 + ], + [ + 0.9518499243854073, + -0.035024351354615055, + 0.30455708210396765, + -0.06801787860084794, + -0.9928192226588439, + 0.09840507766233078, + 0.2989235514945832, + -0.11438219236960584, + -0.9473971840947111 + ], + [ + 0.9485362045198517, + -0.02876115519204842, + 0.31535989704953415, + -0.06456484372790847, + -0.992512971004161, + 0.10367923293931142, + 0.3100168538474395, + -0.11870466857083653, + -0.9432914459434173 + ], + [ + 0.9428369299597549, + -0.021162212456389398, + 0.33258184596880025, + -0.05885264158762664, + -0.9928695358185351, + 0.10366509258976649, + 0.32801660031501834, + -0.11731259782068222, + -0.9373595171066117 + ], + [ + 0.9387973711044982, + -0.008358920132575463, + 0.3443684428943801, + -0.04962092106383746, + -0.992560593397151, + 0.11118108035035275, + 0.3408771922555968, + -0.12146438527120783, + -0.9322280530592437 + ], + [ + 0.9433432416142786, + -0.006171186393073631, + 0.33176112635323396, + -0.049374803684503234, + -0.9913067968184337, + 0.12195475940976286, + 0.32812445392226, + -0.13142583855573575, + -0.9354472682616269 + ], + [ + 0.946390770954379, + -0.006687357195183312, + 0.3229547768745956, + -0.05008640949827694, + -0.990732065117412, + 0.12625896693605101, + 0.3191173142215049, + -0.13566596626247843, + -0.9379546286266308 + ], + [ + 0.9506799005031372, + -0.00044677693114191647, + 0.31017338243266296, + -0.04030050725255963, + -0.9917002139616525, + 0.12209240248106756, + 0.30754446165478505, + -0.12857093769116879, + -0.9428074660749575 + ], + [ + 0.9567059274711425, + -0.0009241734002398624, + 0.2910548303071211, + -0.03502381191369103, + -0.9930940691180383, + 0.11197098946428448, + 0.2889413451560977, + -0.11731715895853768, + -0.9501313505370095 + ], + [ + 0.9667988672606851, + -0.006498440074750299, + 0.2554559072326407, + -0.03572185924596015, + -0.9932977717945396, + 0.10992490764160359, + 0.2530294430209032, + -0.1154006361533512, + -0.9605512969851916 + ], + [ + 0.9787030443875381, + -0.02046775236227536, + 0.20425822387311907, + -0.04376657463604083, + -0.9929443149835849, + 0.11020922958812104, + 0.20056130696421112, + -0.11680179131766721, + -0.9726934273931286 + ], + [ + 0.9830605148498375, + -0.034522742520050706, + 0.180000567754845, + -0.05364949027076127, + -0.9932853674490583, + 0.10249834635386322, + 0.17525340606350495, + -0.11041901584638082, + -0.9783117522562308 + ], + [ + 0.9852435200710261, + -0.056466132542534755, + 0.16157593271815715, + -0.07250552034764986, + -0.9928183166234172, + 0.09515639598135564, + 0.15504243186034614, + -0.10546736961133013, + -0.982261919383062 + ], + [ + 0.9825571450355796, + -0.0814511514247104, + 0.16717406099966545, + -0.0940431732605643, + -0.9931859136993377, + 0.06883038858160738, + 0.16042860811779938, + -0.0833513692796974, + -0.9835218405996813 + ], + [ + 0.979587008060219, + -0.10014142506652167, + 0.1743014303592341, + -0.10992782489388898, + -0.992808501160697, + 0.047404148944466776, + 0.16830082279575223, + -0.06559706554943545, + -0.9835506382680945 + ], + [ + 0.9766060886543954, + -0.1117894785772002, + 0.18369447482872497, + -0.11997631319675492, + -0.9921930259981125, + 0.03403943936704782, + 0.17845512566154426, + -0.05528210958480554, + -0.9823938398040656 + ], + [ + 0.97176143085228, + -0.12251283743351757, + 0.20166885275599353, + -0.1276011726974922, + -0.9917483339629853, + 0.012376704240960594, + 0.19848844357834758, + -0.037760385930653985, + -0.9793755617842492 + ], + [ + 0.9664057380504368, + -0.1446471362314802, + 0.21245506688055815, + -0.14570111562035234, + -0.9892700023251858, + -0.010772530181527462, + 0.2117336401476524, + -0.020544305282944236, + -0.9771114558484442 + ], + [ + 0.9619605067521944, + -0.15846713134957827, + 0.2225312376519233, + -0.1588004702652185, + -0.9871725967983767, + -0.01651286691931308, + 0.22229348639266674, + -0.019453339358192562, + -0.9747857064479393 + ], + [ + 0.955426653970556, + -0.1670529504828724, + 0.24341984433811997, + -0.16551682594952083, + -0.985839999246994, + -0.02690123068343433, + 0.24446694911628364, + -0.014587927188408335, + -0.9695478859603183 + ], + [ + 0.9479045968828826, + -0.16715918432708035, + 0.27117279049234416, + -0.16985040193199133, + -0.9853747581015568, + -0.013690400280463725, + 0.26949529897911134, + -0.033081614099126064, + -0.9624333175014027 + ], + [ + 0.9503792888299751, + -0.15904737844525385, + 0.2673633085760327, + -0.163709100621856, + -0.9864964161351709, + -0.00491439986638692, + 0.2645345681316786, + -0.03909926293622315, + -0.9635832656813994 + ], + [ + 0.9554436707309599, + -0.15566832388696336, + 0.25078828720331575, + -0.15976062873290822, + -0.9871473181163662, + -0.004088256661678384, + 0.24820139718989329, + -0.03615999549072658, + -0.9680333264713027 + ], + [ + 0.9642747478926903, + -0.12975820439828722, + 0.23094808717073334, + -0.1338699664323597, + -0.9909965649743455, + 0.0021541347326993303, + 0.22858924441864542, + -0.032994190403464296, + -0.9729636893202812 + ], + [ + 0.9742317182486568, + -0.1330616340477461, + 0.1821185347591318, + -0.13566523804621175, + -0.9907529940997951, + 0.0018568436002712116, + 0.1801874089500543, + -0.026516150301936155, + -0.9832748300597502 + ], + [ + 0.9763689836379807, + -0.12224173304113635, + 0.17821494463943152, + -0.128632565777929, + -0.991384339169577, + 0.02471345930231793, + 0.17365848902694866, + -0.04705370073012442, + -0.9836811873958333 + ], + [ + 0.97893426166432, + -0.11316288624427856, + 0.16994667550910597, + -0.121151672117781, + -0.9919305639113621, + 0.03736346773993183, + 0.1643471438230631, + -0.05716570261399493, + -0.9847446870950104 + ], + [ + 0.9839928537645636, + -0.11809659837362348, + 0.13345882208699808, + -0.12561377436071403, + -0.9908507426372415, + 0.04935570388599906, + 0.12640903223712122, + -0.06532992628042585, + -0.9898246093632287 + ], + [ + 0.9863759483785881, + -0.12069862124946881, + 0.11177804475261889, + -0.12792964509719673, + -0.9899710581056317, + 0.05992753973359462, + 0.10342385781601114, + -0.07341080943358101, + -0.9919245730864622 + ], + [ + 0.9875108702465927, + -0.11740087470649821, + 0.10506814818472104, + -0.1249875423964926, + -0.9897714428820648, + 0.06877939444950594, + 0.09591869155958266, + -0.08105260929362405, + -0.9920837057104571 + ], + [ + 0.9882626630774083, + -0.11335536231578228, + 0.10240835220530864, + -0.12037846605065272, + -0.9905843667235635, + 0.06520458046922857, + 0.09405282387276134, + -0.07676701268861504, + -0.9926030888952668 + ], + [ + 0.9892450723711265, + -0.09443880140969386, + 0.11169377591318744, + -0.10159290517781451, + -0.9930039092777325, + 0.06018403257237339, + 0.10522864822364925, + -0.07088405284294426, + -0.9919185362949834 + ], + [ + 0.9911478949501707, + -0.08433485700446701, + 0.10253527310092474, + -0.09073448587746137, + -0.9941000643531617, + 0.05943328297841669, + 0.09691802416680749, + -0.06821065860315302, + -0.9929522660453151 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0014693140983581543, + 0.001512959599494934, + -0.00791497528553009, + 0.013388089835643768, + 0.014361292123794556, + 0.00010047107934951782, + 1.0 + ], + [ + 0.003599986433982849, + -0.001332700252532959, + -0.024085797369480133, + -0.018134770914912224, + -0.025230824947357178, + 0.0015146434307098389, + 1.0 + ], + [ + 0.006494730710983276, + 0.0014251470565795898, + -0.02172689139842987, + -0.02711590938270092, + -0.040311455726623535, + 0.010389022529125214, + 1.0 + ], + [ + 0.0068123191595077515, + 0.0044351667165756226, + -0.01695854216814041, + -0.015198922716081142, + -0.034771233797073364, + 0.0008368343114852905, + 1.0 + ], + [ + 0.005849987268447876, + -6.383657455444336e-05, + -0.010987620800733566, + -0.01829477585852146, + -0.028858542442321777, + -0.001393631100654602, + 1.0 + ], + [ + 0.0029110312461853027, + 1.6674399375915527e-05, + -0.014852754771709442, + -0.00351736880838871, + -0.019754379987716675, + -0.004934266209602356, + 1.0 + ], + [ + 0.0022047758102416992, + 0.0002629607915878296, + -0.008457938209176064, + -0.00760839506983757, + -0.017733633518218994, + -0.0023989826440811157, + 1.0 + ], + [ + -0.0011358559131622314, + -0.00025947391986846924, + -0.0051759351044893265, + -0.009818080812692642, + -0.012103885412216187, + 0.009720936417579651, + 0.0 + ], + [ + -0.001267760992050171, + -0.0037886500358581543, + -0.004004335030913353, + 0.001744348555803299, + -0.004148036241531372, + 0.014053478837013245, + 0.0 + ], + [ + -0.0048684775829315186, + -0.004752025008201599, + 0.000430133193731308, + -0.0017332173883914948, + 0.012598931789398193, + 0.028759881854057312, + 0.0 + ], + [ + -0.004904896020889282, + -0.002151787281036377, + 0.0005714613944292068, + 0.016252834349870682, + 0.029531776905059814, + 0.012780100107192993, + 0.0 + ], + [ + -0.005623191595077515, + 0.002050444483757019, + 0.003921087831258774, + 0.04223737493157387, + 0.04409492015838623, + -0.001734018325805664, + 0.0 + ], + [ + 0.0008895397186279297, + -0.003887072205543518, + 0.027762223035097122, + 0.00210387259721756, + 0.02125471830368042, + -0.0024975091218948364, + 0.0 + ], + [ + 0.0005735456943511963, + -0.00038510560989379883, + 0.021508052945137024, + 0.036188192665576935, + 0.06094101071357727, + -0.03193804621696472, + 0.0 + ], + [ + 0.00930073857307434, + -0.0017986148595809937, + 0.020335912704467773, + 0.00996481254696846, + 0.02698858082294464, + -0.005408123135566711, + 0.0 + ], + [ + 0.01647248864173889, + 0.0075062960386276245, + 0.020573407411575317, + -0.004611488431692123, + 0.017979413270950317, + -0.008912444114685059, + 0.0 + ], + [ + 0.02504020929336548, + 0.0044476985931396484, + 0.0045378804206848145, + 0.021417349576950073, + 0.023426353931427002, + -0.005979970097541809, + 0.0 + ], + [ + 0.02831926941871643, + 0.0014443844556808472, + -0.004276983439922333, + -0.019022539258003235, + 0.006707325577735901, + 0.005861327052116394, + 0.0 + ], + [ + 0.016598045825958252, + 0.007023826241493225, + -0.006594948470592499, + -0.014308750629425049, + -0.00342772901058197, + -0.00907142460346222, + 0.0 + ], + [ + 0.012376636266708374, + 0.007638260722160339, + -0.011417396366596222, + -0.012019185349345207, + -0.013223469257354736, + -0.002864539623260498, + 0.0 + ], + [ + 0.013392269611358643, + 0.007407322525978088, + -0.0027297958731651306, + -0.011034039780497551, + -0.019784003496170044, + -0.01319923996925354, + 0.0 + ], + [ + 0.004666656255722046, + 0.007854647934436798, + 0.00202767550945282, + 0.00351511687040329, + -0.00609549880027771, + -0.018688105046749115, + 0.0 + ], + [ + 0.00571027398109436, + 0.0065261200070381165, + 0.0010304227471351624, + -0.003600187599658966, + -0.01784716546535492, + -0.020442351698875427, + 0.0 + ], + [ + 0.003628641366958618, + 0.00873032957315445, + -0.0007125437259674072, + 0.004045290872454643, + -0.004466116428375244, + -0.017717815935611725, + 0.0 + ], + [ + 0.0017625093460083008, + 0.00016916543245315552, + 0.0004142969846725464, + -0.0008129868656396866, + -0.010175257921218872, + -0.007498215883970261, + 1.0 + ], + [ + -0.003620713949203491, + 0.0031877830624580383, + -0.009274683892726898, + -0.0012415871024131775, + 0.008404284715652466, + -0.016240384429693222, + 1.0 + ], + [ + -0.0035264790058135986, + 0.00045121461153030396, + -0.00610458105802536, + -0.008111904375255108, + 0.011307626962661743, + -0.010907968506217003, + 1.0 + ], + [ + -0.0047712624073028564, + -0.004259802401065826, + -0.003240250051021576, + 0.004019878804683685, + 0.011920690536499023, + 0.010602084919810295, + 1.0 + ], + [ + -0.008445650339126587, + -0.0037111416459083557, + -0.00023362040519714355, + 0.027025267481803894, + 0.03604543209075928, + 0.008915115147829056, + 1.0 + ], + [ + -0.005264759063720703, + -0.00024336576461791992, + 0.02028071880340576, + 0.024374250322580338, + 0.021764010190963745, + -0.0016752444207668304, + 1.0 + ], + [ + -0.00018581748008728027, + 0.0009932070970535278, + 0.022125087678432465, + 0.010768167674541473, + 0.016853660345077515, + -0.01384425163269043, + 1.0 + ], + [ + -0.0004476606845855713, + 0.0001821666955947876, + -5.5655837059020996e-05, + 0.001438327133655548, + 0.0029209256172180176, + -0.0013301987200975418, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0007720887660980225, + 0.0006496831774711609, + 0.00017792731523513794, + 0.003420524299144745, + -0.005384653806686401, + 0.0034595392644405365, + 1.0 + ], + [ + -0.0019144415855407715, + 0.0024905800819396973, + -0.007706798613071442, + 0.049440525472164154, + -0.03550800681114197, + -0.029162053018808365, + 1.0 + ], + [ + 0.01310083270072937, + 0.013289839029312134, + 0.005960218608379364, + 0.004949912428855896, + -0.03153903782367706, + -0.0466277189552784, + 1.0 + ], + [ + 0.01801985502243042, + 0.016726933419704437, + -0.0012073293328285217, + -0.0032859593629837036, + -0.012682631611824036, + -0.011977031826972961, + 1.0 + ], + [ + 0.008562445640563965, + 0.01542539894580841, + 0.0003146231174468994, + 0.0067446231842041016, + -0.022394299507141113, + -0.01303812488913536, + 1.0 + ], + [ + 0.0060040950775146484, + 0.013305429369211197, + -0.002452649176120758, + 0.0010094940662384033, + -0.02791854739189148, + -0.015100248157978058, + 1.0 + ], + [ + -0.00398603081703186, + 0.008567098528146744, + -0.013565540313720703, + -0.00708259642124176, + 0.007112979888916016, + -0.003661245107650757, + 1.0 + ], + [ + -0.009688735008239746, + 0.0071526505053043365, + -0.020880907773971558, + -0.0022097229957580566, + 0.014864504337310791, + -0.00215766578912735, + 1.0 + ], + [ + -0.01056244969367981, + 0.0005440805107355118, + -0.017113052308559418, + -0.008044153451919556, + 0.0023569464683532715, + 0.013855278491973877, + 1.0 + ], + [ + -0.011411696672439575, + -0.0028973836451768875, + -0.001366402953863144, + -0.002399638295173645, + -0.03529757261276245, + 0.006735563278198242, + 1.0 + ], + [ + -0.004942178726196289, + -0.0021221302449703217, + -0.008208144456148148, + 0.0050313472747802734, + -0.0116463303565979, + 0.0033743157982826233, + 1.0 + ], + [ + -0.001960933208465576, + -0.0031173601746559143, + -0.005032435059547424, + -0.0006780549883842468, + -0.018992483615875244, + 0.005623117089271545, + 0.0 + ], + [ + -0.0001412034034729004, + -0.006554853171110153, + -0.00011818110942840576, + 0.005059964954853058, + -0.013646572828292847, + 0.009533226490020752, + 0.0 + ], + [ + -0.00325930118560791, + -0.004729695618152618, + -0.0005104877054691315, + 0.010016769170761108, + 0.013532400131225586, + 0.0005141831934452057, + 0.0 + ], + [ + -0.0005467534065246582, + -0.0028600655496120453, + 0.0017816424369812012, + 0.004062458872795105, + 0.009519457817077637, + -0.0005817599594593048, + 0.0 + ], + [ + 0.0016013681888580322, + -0.0034063756465911865, + 0.005229048430919647, + -0.00810977816581726, + 0.012186616659164429, + 0.010508392006158829, + 0.0 + ], + [ + -0.0007186532020568848, + -0.0021244212985038757, + 0.0031694024801254272, + -0.012681402266025543, + 0.01949051022529602, + 0.005773469805717468, + 0.0 + ], + [ + 0.0009060502052307129, + -0.0017955675721168518, + 0.008685160428285599, + -0.003285914659500122, + 0.037310510873794556, + -0.0003393813967704773, + 0.0 + ], + [ + -0.0010309815406799316, + -0.0010317489504814148, + 0.018744908273220062, + -5.837529897689819e-05, + 0.05387948453426361, + -0.007757384330034256, + 0.0 + ], + [ + 0.0030074119567871094, + 0.008212331682443619, + 0.02120407670736313, + -0.0071173012256622314, + 0.02576768398284912, + -0.009830683469772339, + 0.0 + ], + [ + 0.005277752876281738, + 0.019376350566744804, + 0.014703109860420227, + -0.005429111421108246, + 0.02049274742603302, + -0.018939189612865448, + 0.0 + ], + [ + 0.004943042993545532, + 0.023062361404299736, + 0.0064612701535224915, + -0.022416315972805023, + -0.005454465746879578, + -0.021962948143482208, + 0.0 + ], + [ + 0.0024004578590393066, + 0.021592704579234123, + -0.0017168372869491577, + -0.01795031875371933, + -0.007980778813362122, + -0.01632901281118393, + 0.0 + ], + [ + 0.00610429048538208, + 0.019795747473835945, + -0.00865171104669571, + -0.010381944477558136, + -0.010310500860214233, + -0.01048675924539566, + 0.0 + ], + [ + 0.004897743463516235, + 0.017830640077590942, + -0.005499139428138733, + -0.01767708733677864, + -0.020399287343025208, + -0.008324414491653442, + 0.0 + ], + [ + 0.008492201566696167, + 0.02269112318754196, + -0.018615275621414185, + -0.017514033243060112, + -0.013533040881156921, + -0.019076809287071228, + 0.0 + ], + [ + 0.0067598819732666016, + 0.01900409907102585, + -0.012721523642539978, + -0.0010685715824365616, + -0.01081770658493042, + -0.013965532183647156, + 0.0 + ], + [ + 0.002286940813064575, + 0.014838509261608124, + -0.010295920073986053, + -0.004908902570605278, + -0.022803738713264465, + -0.007931619882583618, + 0.0 + ], + [ + -0.0008118152618408203, + 0.013091549277305603, + -0.002051323652267456, + 0.01931438408792019, + -0.025898978114128113, + -0.005767375230789185, + 0.0 + ], + [ + -0.0046347975730896, + 0.004177942872047424, + -0.006484251469373703, + 0.006195332854986191, + 0.0051476359367370605, + 0.006720975041389465, + 1.0 + ], + [ + -0.005389213562011719, + -0.0015091896057128906, + -0.007270608097314835, + -0.0032179728150367737, + 0.016898155212402344, + 0.004904359579086304, + 1.0 + ], + [ + -0.0013614892959594727, + -0.009162239730358124, + -0.0041992999613285065, + -0.0034386925399303436, + 0.020194798707962036, + 0.027730241417884827, + 1.0 + ], + [ + -0.004181414842605591, + -0.011910505592823029, + 0.0003946162760257721, + -0.006937382742762566, + 0.04945133626461029, + -0.0004158318042755127, + 1.0 + ], + [ + 0.0014130771160125732, + -0.010384775698184967, + 0.01665201038122177, + 0.020837219431996346, + 0.006633579730987549, + 0.00737231969833374, + 1.0 + ], + [ + 0.0025283396244049072, + -0.006865806877613068, + 0.017983630299568176, + 0.010188348591327667, + 0.009447276592254639, + 0.007858812808990479, + 1.0 + ], + [ + 0.0025258660316467285, + -0.006128184497356415, + 0.018891841173171997, + 0.007919713854789734, + 0.038347989320755005, + -0.0038378089666366577, + 1.0 + ], + [ + 0.0021450817584991455, + -0.00366327166557312, + 0.01831831783056259, + 0.007967852056026459, + 0.023138999938964844, + -0.002006217837333679, + 1.0 + ], + [ + 0.00255739688873291, + -0.006793037056922913, + 0.01492832601070404, + 0.007644534111022949, + 0.007542744278907776, + 0.0030778348445892334, + 1.0 + ], + [ + 0.0009541213512420654, + -0.010952532291412354, + -0.0016017556190490723, + -0.004332877695560455, + 0.0018743425607681274, + 0.004687793552875519, + 1.0 + ], + [ + -0.005706459283828735, + -0.02068893238902092, + 0.0013951212167739868, + -0.0058451443910598755, + -0.011231780052185059, + 0.01887241005897522, + 1.0 + ], + [ + -0.0024430453777313232, + -0.02057688683271408, + -0.0022551417350769043, + -0.00275324285030365, + 0.008353427052497864, + 0.01104823499917984, + 1.0 + ], + [ + 0.000864863395690918, + -0.016499606892466545, + 0.00040368735790252686, + -0.004267632961273193, + -0.004481032490730286, + 0.0016401782631874084, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9635607004165649 + ], + [ + 0.6591242551803589 + ], + [ + 0.365278422832489 + ], + [ + 0.2928420901298523 + ], + [ + 0.3188876807689667 + ], + [ + 0.32440370321273804 + ], + [ + 0.32440370321273804 + ], + [ + 0.32440370321273804 + ], + [ + 0.32440370321273804 + ], + [ + 0.32440370321273804 + ], + [ + 0.32440370321273804 + ], + [ + 0.32440370321273804 + ], + [ + 0.32440370321273804 + ], + [ + 0.32440370321273804 + ], + [ + 0.32440370321273804 + ], + [ + 0.32440370321273804 + ], + [ + 0.32440370321273804 + ], + [ + 0.3831871449947357 + ], + [ + 0.6951970458030701 + ], + [ + 0.9694526195526123 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9476637244224548 + ], + [ + 0.6551066637039185 + ], + [ + 0.3453405201435089 + ], + [ + 0.14571818709373474 + ], + [ + 0.08022117614746094 + ], + [ + 0.07988496869802475 + ], + [ + 0.08783477544784546 + ], + [ + 0.08926420658826828 + ], + [ + 0.08926420658826828 + ], + [ + 0.08926420658826828 + ], + [ + 0.08926420658826828 + ], + [ + 0.08926420658826828 + ], + [ + 0.08962377160787582 + ], + [ + 0.08926420658826828 + ], + [ + 0.08926420658826828 + ], + [ + 0.08926420658826828 + ], + [ + 0.08926420658826828 + ], + [ + 0.08962377160787582 + ], + [ + 0.09400739520788193 + ], + [ + 0.13386739790439606 + ], + [ + 0.33237314224243164 + ], + [ + 0.629988968372345 + ], + [ + 0.9255412817001343 + ], + [ + 1.0041072368621826 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.23062044382095337, + -0.14640304446220398, + 0.12534737586975098 + ], + [ + 0.23422043025493622, + -0.14773574471473694, + 0.10126157850027084 + ], + [ + 0.2407151609659195, + -0.14631059765815735, + 0.07953468710184097 + ], + [ + 0.24752748012542725, + -0.14187543094158173, + 0.06257614493370056 + ], + [ + 0.2533774673938751, + -0.14193926751613617, + 0.051588524132966995 + ], + [ + 0.2562884986400604, + -0.14192259311676025, + 0.03673576936125755 + ], + [ + 0.2584932744503021, + -0.14165963232517242, + 0.02827783115208149 + ], + [ + 0.2573574185371399, + -0.1419191062450409, + 0.023101896047592163 + ], + [ + 0.2560896575450897, + -0.14570775628089905, + 0.01909756101667881 + ], + [ + 0.2512211799621582, + -0.15045978128910065, + 0.019527694210410118 + ], + [ + 0.24631628394126892, + -0.15261156857013702, + 0.020099155604839325 + ], + [ + 0.2406930923461914, + -0.15056112408638, + 0.0240202434360981 + ], + [ + 0.24158263206481934, + -0.15444819629192352, + 0.05178246647119522 + ], + [ + 0.24215617775917053, + -0.15483330190181732, + 0.07329051941633224 + ], + [ + 0.2514569163322449, + -0.15663191676139832, + 0.09362643212080002 + ], + [ + 0.26792940497398376, + -0.1491256207227707, + 0.11419983953237534 + ], + [ + 0.29296961426734924, + -0.14467792212963104, + 0.11873771995306015 + ], + [ + 0.3212888836860657, + -0.1432335376739502, + 0.11446073651313782 + ], + [ + 0.3378869295120239, + -0.13620971143245697, + 0.10786578804254532 + ], + [ + 0.3502635657787323, + -0.12857145071029663, + 0.0964483916759491 + ], + [ + 0.36365583539009094, + -0.12116412818431854, + 0.09371859580278397 + ], + [ + 0.368322491645813, + -0.11330948024988174, + 0.09574627131223679 + ], + [ + 0.37403276562690735, + -0.10678336024284363, + 0.09677669405937195 + ], + [ + 0.37766140699386597, + -0.09805303066968918, + 0.09606415033340454 + ], + [ + 0.37942391633987427, + -0.09788386523723602, + 0.09647844731807709 + ], + [ + 0.3758032023906708, + -0.09469608217477798, + 0.08720376342535019 + ], + [ + 0.3722767233848572, + -0.09424486756324768, + 0.08109918236732483 + ], + [ + 0.3675054609775543, + -0.09850466996431351, + 0.07785893231630325 + ], + [ + 0.35905981063842773, + -0.10221581161022186, + 0.07762531191110611 + ], + [ + 0.35379505157470703, + -0.10245917737483978, + 0.09790603071451187 + ], + [ + 0.35360923409461975, + -0.10146597027778625, + 0.12003111839294434 + ], + [ + 0.3531615734100342, + -0.10128380358219147, + 0.11997546255588531 + ], + [ + 0.3531615734100342, + -0.10128380358219147, + 0.11997546255588531 + ], + [ + 0.3539336621761322, + -0.1006341204047203, + 0.12015338987112045 + ], + [ + 0.35201922059059143, + -0.09814354032278061, + 0.11244659125804901 + ], + [ + 0.3651200532913208, + -0.08485370129346848, + 0.11840680986642838 + ], + [ + 0.3831399083137512, + -0.06812676787376404, + 0.11719948053359985 + ], + [ + 0.3917023539543152, + -0.05270136892795563, + 0.11751410365104675 + ], + [ + 0.39770644903182983, + -0.03939593955874443, + 0.115061454474926 + ], + [ + 0.393720418214798, + -0.030828841030597687, + 0.10149591416120529 + ], + [ + 0.3840316832065582, + -0.02367619052529335, + 0.08061500638723373 + ], + [ + 0.3734692335128784, + -0.02313211001455784, + 0.06350195407867432 + ], + [ + 0.36205753684043884, + -0.026029493659734726, + 0.06213555112481117 + ], + [ + 0.35711535811424255, + -0.028151623904705048, + 0.053927406668663025 + ], + [ + 0.355154424905777, + -0.03126898407936096, + 0.0488949716091156 + ], + [ + 0.3550132215023041, + -0.037823837250471115, + 0.048776790499687195 + ], + [ + 0.35175392031669617, + -0.042553532868623734, + 0.04826630279421806 + ], + [ + 0.3512071669101715, + -0.04541359841823578, + 0.050047945231199265 + ], + [ + 0.35280853509902954, + -0.048819974064826965, + 0.05527699366211891 + ], + [ + 0.35208988189697266, + -0.05094439536333084, + 0.05844639614224434 + ], + [ + 0.35299593210220337, + -0.05273996293544769, + 0.06713155657052994 + ], + [ + 0.35196495056152344, + -0.05377171188592911, + 0.08587646484375 + ], + [ + 0.35497236251831055, + -0.04555938020348549, + 0.10708054155111313 + ], + [ + 0.3602501153945923, + -0.026183029636740685, + 0.12178365141153336 + ], + [ + 0.3651931583881378, + -0.003120667766779661, + 0.12824492156505585 + ], + [ + 0.3675936162471771, + 0.018472036346793175, + 0.1265280842781067 + ], + [ + 0.3736979067325592, + 0.03826778382062912, + 0.11787637323141098 + ], + [ + 0.37859565019607544, + 0.05609842389822006, + 0.11237723380327225 + ], + [ + 0.3870878517627716, + 0.07878954708576202, + 0.09376195818185806 + ], + [ + 0.3938477337360382, + 0.09779364615678787, + 0.08104043453931808 + ], + [ + 0.3961346745491028, + 0.112632155418396, + 0.07074451446533203 + ], + [ + 0.39532285928726196, + 0.1257237046957016, + 0.06869319081306458 + ], + [ + 0.39068806171417236, + 0.12990164756774902, + 0.06220893934369087 + ], + [ + 0.38529884815216064, + 0.12839245796203613, + 0.05493833124637604 + ], + [ + 0.38393735885620117, + 0.11923021823167801, + 0.05073903128504753 + ], + [ + 0.3797559440135956, + 0.10731971263885498, + 0.0511336475610733 + ], + [ + 0.38116902112960815, + 0.09693493694067001, + 0.06778565794229507 + ], + [ + 0.38369736075401306, + 0.09006913006305695, + 0.08576928824186325 + ], + [ + 0.3862232267856598, + 0.08394094556570053, + 0.10466112941503525 + ], + [ + 0.38836830854415894, + 0.08027767390012741, + 0.12297944724559784 + ], + [ + 0.39092570543289185, + 0.0734846368432045, + 0.13790777325630188 + ], + [ + 0.3918798267841339, + 0.06253210455179214, + 0.1363060176372528 + ], + [ + 0.3861733675003052, + 0.041843172162771225, + 0.1377011388540268 + ], + [ + 0.38373032212257385, + 0.021266285330057144, + 0.1354459971189499 + ], + [ + 0.38459518551826477, + 0.004766677971929312, + 0.13584968447685242 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9612714370759834, + 0.133183678268047, + 0.24128682538602775, + 0.11745032200667094, + -0.989969609626011, + 0.07852129569392677, + 0.24932437931819545, + -0.04714106341521287, + -0.9672719752053607 + ], + [ + 0.9545441434040658, + 0.13102607157886434, + 0.26772681385996594, + 0.11809601631496675, + -0.9909431440888944, + 0.06391413078304514, + 0.273676468158177, + -0.029391389042156657, + -0.9613726317233289 + ], + [ + 0.9415601250264773, + 0.1341530846773004, + 0.30897812354872145, + 0.1264343928649894, + -0.9909552093967181, + 0.044967958263274176, + 0.31221607143288677, + -0.003274574945107564, + -0.9500054746673531 + ], + [ + 0.9301287361807592, + 0.12988890721386728, + 0.3434958601112545, + 0.12569185336295055, + -0.9914672010469685, + 0.0345593293667032, + 0.3450537525212118, + 0.011030005932778126, + -0.938518112153491 + ], + [ + 0.9200471085756883, + 0.12139867191813584, + 0.3725260802387248, + 0.1230241086337207, + -0.9922120313534085, + 0.019502654496801084, + 0.3719924551605778, + 0.02788632808485055, + -0.9278167739427596 + ], + [ + 0.913175414751921, + 0.11458217084063997, + 0.39112860802823285, + 0.11752183303664925, + -0.9929331819857846, + 0.016501965679588823, + 0.390255404385849, + 0.030896961614870516, + -0.9201880770313242 + ], + [ + 0.9064453147883865, + 0.10855622152868913, + 0.4081328681515338, + 0.1144458127932457, + -0.9933787340221322, + 0.010042247093138435, + 0.40652066027728095, + 0.03760634999571824, + -0.9128673042713948 + ], + [ + 0.9003482883601177, + 0.11363897343307391, + 0.42007040286609576, + 0.12257897100321113, + -0.9924420929846671, + 0.005752211749213532, + 0.41754922525949056, + 0.046312803729541, + -0.907473288144565 + ], + [ + 0.896816326718657, + 0.12812359853738473, + 0.4234439982201731, + 0.1349605677537398, + -0.9907528674364819, + 0.013942769379745422, + 0.4213147532219149, + 0.04464413919227949, + -0.90581498086162 + ], + [ + 0.8977176946387995, + 0.15640216196772233, + 0.4118753506392698, + 0.16162128388661767, + -0.986599155435915, + 0.022375591343702934, + 0.40985546394703637, + 0.04648085869432075, + -0.9109654375703823 + ], + [ + 0.9070705394190698, + 0.17658844179148422, + 0.3821512249668356, + 0.17530158283068517, + -0.9837619907054, + 0.03849286557798018, + 0.382743244976386, + 0.03207597027376731, + -0.9232977529247768 + ], + [ + 0.9230617385657321, + 0.19056225378747094, + 0.3341302952853081, + 0.17673222802503735, + -0.9816497350633323, + 0.07162064805204803, + 0.3416471079539732, + -0.00705868837169174, + -0.9398018027994824 + ], + [ + 0.9304265723626788, + 0.188623474158679, + 0.314209449949786, + 0.17573453493490884, + -0.982007285252931, + 0.06913078143186159, + 0.3215956571109881, + -0.009103664453321336, + -0.9468333309621463 + ], + [ + 0.9531792449140758, + 0.16587269182468387, + 0.2528548539614498, + 0.1486817146750322, + -0.9851574480454119, + 0.08578199276039329, + 0.26333073270380913, + -0.04417072183568317, + -0.9636938686876607 + ], + [ + 0.9606489607338549, + 0.16161848945616142, + 0.22590493156828895, + 0.14452959578350116, + -0.9853666672350498, + 0.09035334550944112, + 0.23720196074995337, + -0.05414789901740723, + -0.9699501197733718 + ], + [ + 0.9659659850900854, + 0.15089689015827074, + 0.2100948456995159, + 0.13653711176405192, + -0.9872900634617889, + 0.081338476139815, + 0.21969827664338062, + -0.049884457801796775, + -0.9742916442779076 + ], + [ + 0.9715997547672695, + 0.14782031054615455, + 0.184778441183544, + 0.13141214751894617, + -0.9864558256557623, + 0.09816186384878473, + 0.19678608695901426, + -0.07109191107184454, + -0.9778656227516705 + ], + [ + 0.9720979118912022, + 0.14971938499255294, + 0.18058171406378906, + 0.13728621084039522, + -0.9873311488962304, + 0.07955940379575636, + 0.19020553622292627, + -0.052548151030282444, + -0.9803369552421491 + ], + [ + 0.9726511953208157, + 0.1382792509416476, + 0.18662395612569416, + 0.12837630428862995, + -0.9896450701603267, + 0.06420404663691454, + 0.1935695656299855, + -0.03849004892668829, + -0.9803312396304831 + ], + [ + 0.9703913453824772, + 0.1335385691212294, + 0.20126621018899443, + 0.12525094887167765, + -0.9906856950820835, + 0.0534233410268726, + 0.20652563185602468, + -0.026632763971915722, + -0.9780786569952776 + ], + [ + 0.9677112015319586, + 0.11852598161287535, + 0.22245588801440486, + 0.11194050182163943, + -0.9928257147733169, + 0.04202884886327433, + 0.2258414365910132, + -0.015769964094973388, + -0.9740364232157598 + ], + [ + 0.9682458366544974, + 0.10085266533802882, + 0.22875475884765206, + 0.09370297274266627, + -0.9947167413123041, + 0.04193277300891609, + 0.2317752202035822, + -0.01916623195220435, + -0.9725805379773619 + ], + [ + 0.965680076460753, + 0.07994982071093795, + 0.24712348349568686, + 0.07356558942620453, + -0.9966768810809326, + 0.034975688287150114, + 0.24909856278013576, + -0.015595540614985458, + -0.9683525624140193 + ], + [ + 0.9657116094933633, + 0.06336772977546375, + 0.2517650057351926, + 0.056379794126278415, + -0.9977999139809235, + 0.034880517111134775, + 0.2534214002487087, + -0.019490061127803302, + -0.9671596204418474 + ], + [ + 0.9634819379838583, + 0.05586920575671672, + 0.2618801004791738, + 0.04900363922537408, + -0.9982638426857858, + 0.03267940833121149, + 0.263251208015344, + -0.01865294170693534, + -0.9645469761728247 + ], + [ + 0.9663277244244166, + 0.03917779027420121, + 0.25431443088814126, + 0.033425852877878026, + -0.9990790928066726, + 0.026901276474959268, + 0.2551341634672137, + -0.017494772528571192, + -0.9667473773256684 + ], + [ + 0.9694571321967753, + 0.02610234026950341, + 0.24386786722579717, + 0.022950213903879055, + -0.9996124046771522, + 0.01575842940547887, + 0.24418467706752234, + -0.00968030206224606, + -0.9696804294392114 + ], + [ + 0.971999544123274, + 0.037515938197510035, + 0.23196861987197293, + 0.03332437319640956, + -0.9992032347651375, + 0.021963191615783823, + 0.23260776507935776, + -0.013618003379564297, + -0.9724752838035218 + ], + [ + 0.9794074869163222, + 0.051225663645706666, + 0.1952867275477564, + 0.04232304789697162, + -0.9978773250356999, + 0.049493472259555, + 0.19740753326295668, + -0.040209147760846914, + -0.979496549380028 + ], + [ + 0.9835373872501871, + 0.05290454784626514, + 0.17278691124693893, + 0.04085088855982631, + -0.9965250250388379, + 0.0725884245263388, + 0.17602673883517797, + -0.06433493054729737, + -0.9822808172445018 + ], + [ + 0.9868343373085305, + 0.039708874496029646, + 0.15678391497565056, + 0.02730926619027279, + -0.9963832947192091, + 0.08046448896651645, + 0.15941202805617358, + -0.07512346697771868, + -0.9843496685732491 + ], + [ + 0.9873310496368035, + 0.03838553231457949, + 0.15396086948317173, + 0.026008707321732702, + -0.9963246576247267, + 0.08161325720998822, + 0.15652777889735836, + -0.07657497971202878, + -0.9847006280670091 + ], + [ + 0.9873310496368035, + 0.03838553231457949, + 0.15396086948317173, + 0.026008707321732702, + -0.9963246576247267, + 0.08161325720998822, + 0.15652777889735836, + -0.07657497971202878, + -0.9847006280670091 + ], + [ + 0.9863783814079409, + 0.042787619365318504, + 0.15882980929315227, + 0.0293987192668479, + -0.9958862733376175, + 0.08571024374706318, + 0.16184376415703994, + -0.0798733385226919, + -0.9835785915709632 + ], + [ + 0.9804486225246928, + 0.026228726513130934, + 0.19501936441013146, + 0.0006214422003235475, + -0.9914844839307013, + 0.1302233924234133, + 0.19677426762415845, + -0.12755615245910334, + -0.9721158961619781 + ], + [ + 0.9727264075591853, + -0.014862716407215112, + 0.23147880183291167, + -0.0447710393004475, + -0.9912096660799202, + 0.12449478667675486, + 0.2275936951608271, + -0.13146291313800867, + -0.9648412368842393 + ], + [ + 0.9691606863748371, + -0.025876552336006144, + 0.2450672724470913, + -0.05624615332891427, + -0.9914492888117584, + 0.11774836708149701, + 0.2399248511954425, + -0.12790117964217781, + -0.9623291297809624 + ], + [ + 0.9627432234649493, + -0.03414325621774715, + 0.26825309639809886, + -0.06847860684525656, + -0.9904454788351025, + 0.11970143633071828, + 0.26160306970074193, + -0.13361134498968824, + -0.9558827555789439 + ], + [ + 0.953949155128221, + -0.04509354508186686, + 0.29655957516509646, + -0.0823475136268528, + -0.9900216333878248, + 0.11435056809468953, + 0.28844392250423334, + -0.13350557147944267, + -0.9481436420470892 + ], + [ + 0.9556605603659577, + -0.05171922650689346, + 0.2898931095603204, + -0.0860213570804059, + -0.9905463342621076, + 0.10685637934136645, + 0.2816260277159563, + -0.1270554260526852, + -0.951075022920643 + ], + [ + 0.9595355768163715, + -0.05635082755147228, + 0.2758913935916411, + -0.08845769713833221, + -0.9904938876815943, + 0.10534274670040003, + 0.26733258806336474, + -0.12548483055599102, + -0.9553987882866912 + ], + [ + 0.9612945450133003, + -0.045105127801148136, + 0.2718056753890807, + -0.07520393353453095, + -0.9920038696474633, + 0.10135428449450169, + 0.26506068382279185, + -0.11787217674455931, + -0.9569999915574156 + ], + [ + 0.9518499243854073, + -0.035024351354615055, + 0.30455708210396765, + -0.06801787860084794, + -0.9928192226588439, + 0.09840507766233078, + 0.2989235514945832, + -0.11438219236960584, + -0.9473971840947111 + ], + [ + 0.9485362045198517, + -0.02876115519204842, + 0.31535989704953415, + -0.06456484372790847, + -0.992512971004161, + 0.10367923293931142, + 0.3100168538474395, + -0.11870466857083653, + -0.9432914459434173 + ], + [ + 0.9428369299597549, + -0.021162212456389398, + 0.33258184596880025, + -0.05885264158762664, + -0.9928695358185351, + 0.10366509258976649, + 0.32801660031501834, + -0.11731259782068222, + -0.9373595171066117 + ], + [ + 0.9387973711044982, + -0.008358920132575463, + 0.3443684428943801, + -0.04962092106383746, + -0.992560593397151, + 0.11118108035035275, + 0.3408771922555968, + -0.12146438527120783, + -0.9322280530592437 + ], + [ + 0.9433432416142786, + -0.006171186393073631, + 0.33176112635323396, + -0.049374803684503234, + -0.9913067968184337, + 0.12195475940976286, + 0.32812445392226, + -0.13142583855573575, + -0.9354472682616269 + ], + [ + 0.946390770954379, + -0.006687357195183312, + 0.3229547768745956, + -0.05008640949827694, + -0.990732065117412, + 0.12625896693605101, + 0.3191173142215049, + -0.13566596626247843, + -0.9379546286266308 + ], + [ + 0.9506799005031372, + -0.00044677693114191647, + 0.31017338243266296, + -0.04030050725255963, + -0.9917002139616525, + 0.12209240248106756, + 0.30754446165478505, + -0.12857093769116879, + -0.9428074660749575 + ], + [ + 0.9567059274711425, + -0.0009241734002398624, + 0.2910548303071211, + -0.03502381191369103, + -0.9930940691180383, + 0.11197098946428448, + 0.2889413451560977, + -0.11731715895853768, + -0.9501313505370095 + ], + [ + 0.9667988672606851, + -0.006498440074750299, + 0.2554559072326407, + -0.03572185924596015, + -0.9932977717945396, + 0.10992490764160359, + 0.2530294430209032, + -0.1154006361533512, + -0.9605512969851916 + ], + [ + 0.9787030443875381, + -0.02046775236227536, + 0.20425822387311907, + -0.04376657463604083, + -0.9929443149835849, + 0.11020922958812104, + 0.20056130696421112, + -0.11680179131766721, + -0.9726934273931286 + ], + [ + 0.9830605148498375, + -0.034522742520050706, + 0.180000567754845, + -0.05364949027076127, + -0.9932853674490583, + 0.10249834635386322, + 0.17525340606350495, + -0.11041901584638082, + -0.9783117522562308 + ], + [ + 0.9852435200710261, + -0.056466132542534755, + 0.16157593271815715, + -0.07250552034764986, + -0.9928183166234172, + 0.09515639598135564, + 0.15504243186034614, + -0.10546736961133013, + -0.982261919383062 + ], + [ + 0.9825571450355796, + -0.0814511514247104, + 0.16717406099966545, + -0.0940431732605643, + -0.9931859136993377, + 0.06883038858160738, + 0.16042860811779938, + -0.0833513692796974, + -0.9835218405996813 + ], + [ + 0.979587008060219, + -0.10014142506652167, + 0.1743014303592341, + -0.10992782489388898, + -0.992808501160697, + 0.047404148944466776, + 0.16830082279575223, + -0.06559706554943545, + -0.9835506382680945 + ], + [ + 0.9766060886543954, + -0.1117894785772002, + 0.18369447482872497, + -0.11997631319675492, + -0.9921930259981125, + 0.03403943936704782, + 0.17845512566154426, + -0.05528210958480554, + -0.9823938398040656 + ], + [ + 0.97176143085228, + -0.12251283743351757, + 0.20166885275599353, + -0.1276011726974922, + -0.9917483339629853, + 0.012376704240960594, + 0.19848844357834758, + -0.037760385930653985, + -0.9793755617842492 + ], + [ + 0.9664057380504368, + -0.1446471362314802, + 0.21245506688055815, + -0.14570111562035234, + -0.9892700023251858, + -0.010772530181527462, + 0.2117336401476524, + -0.020544305282944236, + -0.9771114558484442 + ], + [ + 0.9619605067521944, + -0.15846713134957827, + 0.2225312376519233, + -0.1588004702652185, + -0.9871725967983767, + -0.01651286691931308, + 0.22229348639266674, + -0.019453339358192562, + -0.9747857064479393 + ], + [ + 0.955426653970556, + -0.1670529504828724, + 0.24341984433811997, + -0.16551682594952083, + -0.985839999246994, + -0.02690123068343433, + 0.24446694911628364, + -0.014587927188408335, + -0.9695478859603183 + ], + [ + 0.9479045968828826, + -0.16715918432708035, + 0.27117279049234416, + -0.16985040193199133, + -0.9853747581015568, + -0.013690400280463725, + 0.26949529897911134, + -0.033081614099126064, + -0.9624333175014027 + ], + [ + 0.9503792888299751, + -0.15904737844525385, + 0.2673633085760327, + -0.163709100621856, + -0.9864964161351709, + -0.00491439986638692, + 0.2645345681316786, + -0.03909926293622315, + -0.9635832656813994 + ], + [ + 0.9554436707309599, + -0.15566832388696336, + 0.25078828720331575, + -0.15976062873290822, + -0.9871473181163662, + -0.004088256661678384, + 0.24820139718989329, + -0.03615999549072658, + -0.9680333264713027 + ], + [ + 0.9642747478926903, + -0.12975820439828722, + 0.23094808717073334, + -0.1338699664323597, + -0.9909965649743455, + 0.0021541347326993303, + 0.22858924441864542, + -0.032994190403464296, + -0.9729636893202812 + ], + [ + 0.9742317182486568, + -0.1330616340477461, + 0.1821185347591318, + -0.13566523804621175, + -0.9907529940997951, + 0.0018568436002712116, + 0.1801874089500543, + -0.026516150301936155, + -0.9832748300597502 + ], + [ + 0.9763689836379807, + -0.12224173304113635, + 0.17821494463943152, + -0.128632565777929, + -0.991384339169577, + 0.02471345930231793, + 0.17365848902694866, + -0.04705370073012442, + -0.9836811873958333 + ], + [ + 0.97893426166432, + -0.11316288624427856, + 0.16994667550910597, + -0.121151672117781, + -0.9919305639113621, + 0.03736346773993183, + 0.1643471438230631, + -0.05716570261399493, + -0.9847446870950104 + ], + [ + 0.9839928537645636, + -0.11809659837362348, + 0.13345882208699808, + -0.12561377436071403, + -0.9908507426372415, + 0.04935570388599906, + 0.12640903223712122, + -0.06532992628042585, + -0.9898246093632287 + ], + [ + 0.9863759483785881, + -0.12069862124946881, + 0.11177804475261889, + -0.12792964509719673, + -0.9899710581056317, + 0.05992753973359462, + 0.10342385781601114, + -0.07341080943358101, + -0.9919245730864622 + ], + [ + 0.9875108702465927, + -0.11740087470649821, + 0.10506814818472104, + -0.1249875423964926, + -0.9897714428820648, + 0.06877939444950594, + 0.09591869155958266, + -0.08105260929362405, + -0.9920837057104571 + ], + [ + 0.9882626630774083, + -0.11335536231578228, + 0.10240835220530864, + -0.12037846605065272, + -0.9905843667235635, + 0.06520458046922857, + 0.09405282387276134, + -0.07676701268861504, + -0.9926030888952668 + ], + [ + 0.9892450723711265, + -0.09443880140969386, + 0.11169377591318744, + -0.10159290517781451, + -0.9930039092777325, + 0.06018403257237339, + 0.10522864822364925, + -0.07088405284294426, + -0.9919185362949834 + ], + [ + 0.9911478949501707, + -0.08433485700446701, + 0.10253527310092474, + -0.09073448587746137, + -0.9941000643531617, + 0.05943328297841669, + 0.09691802416680749, + -0.06821065860315302, + -0.9929522660453151 + ], + [ + 0.9908528827177866, + -0.08285520645657395, + 0.10651563065058027, + -0.08906892850877841, + -0.9945080128090509, + 0.054959425332611, + 0.10137697363874328, + -0.06394393811481454, + -0.9927909558382462 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006042.json b/json/chunk-0006/episode_0006042.json new file mode 100644 index 0000000000000000000000000000000000000000..2b666b4faa42afa4271c30e483796ab1911a8fd1 --- /dev/null +++ b/json/chunk-0006/episode_0006042.json @@ -0,0 +1,1822 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 29, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove towel up to just below microwave." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006042.mp4", + "start": 0, + "end": 29, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.30662253499031067, + 0.035471849143505096, + 0.0919603481888771, + -0.056497201323509216, + -0.1525961309671402, + 0.012982474640011787, + 0.0, + 1.0001531839370728 + ], + [ + 0.30381399393081665, + 0.03502032160758972, + 0.08300236612558365, + -0.06096712872385979, + -0.1208147406578064, + 0.011946635320782661, + 0.0, + 1.0001531839370728 + ], + [ + 0.2903365194797516, + 0.04837292432785034, + 0.07342524826526642, + -0.05939043313264847, + -0.08326026052236557, + 0.03833865746855736, + 0.0, + 1.0001531839370728 + ], + [ + 0.27240604162216187, + 0.07608958333730698, + 0.0762653648853302, + -0.039010342210531235, + -0.09712982922792435, + 0.03024815209209919, + 0.0, + 1.0001531839370728 + ], + [ + 0.25874632596969604, + 0.10746082663536072, + 0.07396452128887177, + 0.0326082780957222, + -0.06954169273376465, + -0.09220172464847565, + 0.0, + 1.0001531839370728 + ], + [ + 0.25701576471328735, + 0.12966199219226837, + 0.06232200562953949, + 0.04867362603545189, + -0.03126934543251991, + -0.17040258646011353, + 0.0, + 1.0001531839370728 + ], + [ + 0.25897160172462463, + 0.14230449497699738, + 0.0470162108540535, + 0.0320148728787899, + -0.01645611599087715, + -0.145539328455925, + 0.0, + 1.0001531839370728 + ], + [ + 0.2624676525592804, + 0.14953286945819855, + 0.03409985452890396, + 0.032799623906612396, + -0.03683367371559143, + -0.11801249533891678, + 0.0, + 1.0001531839370728 + ], + [ + 0.2635176181793213, + 0.15264317393302917, + 0.02757713757455349, + 0.06786797940731049, + -0.07585885375738144, + -0.11631102114915848, + 0.0, + 1.0001531839370728 + ], + [ + 0.2605007290840149, + 0.1526457667350769, + 0.018099794164299965, + 0.10260583460330963, + -0.10211773216724396, + -0.11869338899850845, + 0.0, + 1.0001531839370728 + ], + [ + 0.26013296842575073, + 0.15488450229167938, + 0.011233709752559662, + 0.08029250055551529, + -0.07123301923274994, + -0.09882573783397675, + 0.0, + 1.0001531839370728 + ], + [ + 0.2611968219280243, + 0.15874186158180237, + 0.00932675413787365, + 0.04460582509636879, + -0.062415119260549545, + -0.0750238299369812, + 0.0, + 0.9994885921478271 + ], + [ + 0.2632857859134674, + 0.16519685089588165, + 0.009037564508616924, + 0.03390897437930107, + -0.05119498074054718, + -0.058543168008327484, + 0.0, + 0.9994885921478271 + ], + [ + 0.26960548758506775, + 0.17103718221187592, + 0.008752825669944286, + 0.046551842242479324, + -0.042515069246292114, + -0.048494819551706314, + 0.0, + 0.9994885921478271 + ], + [ + 0.29319751262664795, + 0.17840084433555603, + 0.00919932872056961, + 0.03188631683588028, + -0.050641320645809174, + 0.002796392422169447, + 0.0, + 0.9994885921478271 + ], + [ + 0.32399147748947144, + 0.18673469126224518, + 0.009951885789632797, + 0.004199840594083071, + -0.08525355905294418, + 0.08877036720514297, + 0.0, + 0.9994885921478271 + ], + [ + 0.35184529423713684, + 0.1864556521177292, + 0.009032758884131908, + 0.001549159991554916, + -0.08915367722511292, + 0.11435207724571228, + 0.0, + 0.9994885921478271 + ], + [ + 0.3798762857913971, + 0.17999954521656036, + 0.0073781986720860004, + -0.003709150943905115, + -0.09008517116308212, + 0.1010836735367775, + 0.0, + 1.0001531839370728 + ], + [ + 0.4036025404930115, + 0.1707638055086136, + 0.005439213942736387, + -0.006801609881222248, + -0.09284805506467819, + 0.060919564217329025, + 0.0, + 1.0001531839370728 + ], + [ + 0.4232567250728607, + 0.1531481146812439, + 0.004597090650349855, + -0.004459522198885679, + -0.09831065684556961, + 0.011262019164860249, + 0.0, + 1.0008161067962646 + ], + [ + 0.42805978655815125, + 0.14499078691005707, + 0.004735699854791164, + 0.0022471940610557795, + -0.10025091469287872, + -0.00015375205839518458, + 0.0, + 1.0008161067962646 + ], + [ + 0.4252975881099701, + 0.14268749952316284, + 0.0063825976103544235, + 0.013541500084102154, + -0.10799665004014969, + 0.045117512345314026, + 0.0, + 1.0001531839370728 + ], + [ + 0.42147278785705566, + 0.11827605217695236, + 0.013849586248397827, + -0.00037024097400717437, + -0.09970728307962418, + 0.04333562031388283, + 0.0, + 0.9994885921478271 + ], + [ + 0.43014904856681824, + 0.10061726719141006, + 0.03055715002119541, + -0.03407784551382065, + -0.10501554608345032, + 0.06972702592611313, + 0.0, + 0.9994885921478271 + ], + [ + 0.43455421924591064, + 0.10473314672708511, + 0.06813877075910568, + -0.06300998479127884, + -0.15979407727718353, + 0.11883268505334854, + 0.0, + 0.9994885921478271 + ], + [ + 0.41432490944862366, + 0.1129828691482544, + 0.08638494461774826, + -0.0389106422662735, + -0.12965692579746246, + 0.15229207277297974, + 0.0, + 0.9994885921478271 + ], + [ + 0.38860955834388733, + 0.1100163534283638, + 0.10148864984512329, + -0.003895015921443701, + -0.10924694687128067, + 0.13393433392047882, + 0.0, + 0.9994885921478271 + ], + [ + 0.363313764333725, + 0.10335251688957214, + 0.10816584527492523, + -0.0001634902146179229, + -0.08587925136089325, + 0.10035011917352676, + 0.0, + 0.9994885921478271 + ], + [ + 0.33823543787002563, + 0.10360725969076157, + 0.10621720552444458, + -0.008354486897587776, + -0.08870489150285721, + 0.08191998302936554, + 0.0, + 0.9994885921478271 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.30662253499031067, + 0.035471849143505096, + 0.0919603481888771 + ], + [ + 0.30381399393081665, + 0.03502032160758972, + 0.08300236612558365 + ], + [ + 0.2903365194797516, + 0.04837292432785034, + 0.07342524826526642 + ], + [ + 0.27240604162216187, + 0.07608958333730698, + 0.0762653648853302 + ], + [ + 0.25874632596969604, + 0.10746082663536072, + 0.07396452128887177 + ], + [ + 0.25701576471328735, + 0.12966199219226837, + 0.06232200562953949 + ], + [ + 0.25897160172462463, + 0.14230449497699738, + 0.0470162108540535 + ], + [ + 0.2624676525592804, + 0.14953286945819855, + 0.03409985452890396 + ], + [ + 0.2635176181793213, + 0.15264317393302917, + 0.02757713757455349 + ], + [ + 0.2605007290840149, + 0.1526457667350769, + 0.018099794164299965 + ], + [ + 0.26013296842575073, + 0.15488450229167938, + 0.011233709752559662 + ], + [ + 0.2611968219280243, + 0.15874186158180237, + 0.00932675413787365 + ], + [ + 0.2632857859134674, + 0.16519685089588165, + 0.009037564508616924 + ], + [ + 0.26960548758506775, + 0.17103718221187592, + 0.008752825669944286 + ], + [ + 0.29319751262664795, + 0.17840084433555603, + 0.00919932872056961 + ], + [ + 0.32399147748947144, + 0.18673469126224518, + 0.009951885789632797 + ], + [ + 0.35184529423713684, + 0.1864556521177292, + 0.009032758884131908 + ], + [ + 0.3798762857913971, + 0.17999954521656036, + 0.0073781986720860004 + ], + [ + 0.4036025404930115, + 0.1707638055086136, + 0.005439213942736387 + ], + [ + 0.4232567250728607, + 0.1531481146812439, + 0.004597090650349855 + ], + [ + 0.42805978655815125, + 0.14499078691005707, + 0.004735699854791164 + ], + [ + 0.4252975881099701, + 0.14268749952316284, + 0.0063825976103544235 + ], + [ + 0.42147278785705566, + 0.11827605217695236, + 0.013849586248397827 + ], + [ + 0.43014904856681824, + 0.10061726719141006, + 0.03055715002119541 + ], + [ + 0.43455421924591064, + 0.10473314672708511, + 0.06813877075910568 + ], + [ + 0.41432490944862366, + 0.1129828691482544, + 0.08638494461774826 + ], + [ + 0.38860955834388733, + 0.1100163534283638, + 0.10148864984512329 + ], + [ + 0.363313764333725, + 0.10335251688957214, + 0.10816584527492523 + ], + [ + 0.33823543787002563, + 0.10360725969076157, + 0.10621720552444458 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9882964934116982, + 0.004378852891814028, + 0.15248234900306593, + 0.012831255050417784, + -0.9984317498268283, + -0.054492199731418244, + 0.152004605206461, + 0.05581098982359569, + -0.9868027834430435 + ], + [ + 0.9926399319095632, + 0.004581408611723148, + 0.12101642976765654, + 0.011859271470096739, + -0.9981585778825223, + -0.05948790700419075, + 0.1205210490278618, + 0.06048523865103887, + -0.9908663949526952 + ], + [ + 0.9958035756534059, + 0.0333290667292262, + 0.08523152014865518, + 0.03819648843035435, + -0.9976925686132909, + -0.056129910078353086, + 0.08316409674542033, + 0.05914990993038776, + -0.9947788805396633 + ], + [ + 0.9948313211038547, + 0.02644010689895167, + 0.09803858066052781, + 0.03010098997408327, + -0.9988964863493187, + -0.03605190649002319, + 0.0969771774869683, + 0.03881662409531831, + -0.9945293845535704 + ], + [ + 0.9933456487538386, + -0.08976641440203592, + 0.07215547759676895, + -0.09184860277720236, + -0.9954316651207137, + 0.026069795604863538, + 0.0694856551360895, + -0.03252369782797809, + -0.9970526329185952 + ], + [ + 0.9850348105361414, + -0.16787916903583658, + 0.03902571762140254, + -0.16949622032967196, + -0.984607356732735, + 0.042654242013336466, + 0.03126424996675488, + -0.048630624832650404, + -0.9983274057153808 + ], + [ + 0.9892938657235797, + -0.14443060326811583, + 0.020915259532287275, + -0.14500644100245322, + -0.9889972074393909, + 0.029285760104314888, + 0.016455373271270703, + -0.03200507017167069, + -0.9993522382892873 + ], + [ + 0.992371038043948, + -0.11647619215152569, + 0.040410636142709025, + -0.11765890014711497, + -0.9926526711129118, + 0.02823221118816251, + 0.03682534545321721, + -0.03277149972586918, + -0.9987842223112903 + ], + [ + 0.9903870230460574, + -0.11067701110360148, + 0.08297074059656034, + -0.11571520541710537, + -0.991553336272407, + 0.05858303988643947, + 0.07578611889551765, + -0.06762085876585956, + -0.9948285699770198 + ], + [ + 0.9877913722996888, + -0.1074242365391819, + 0.11281949394617624, + -0.11779801004519641, + -0.9889782563994355, + 0.08969747598747693, + 0.10194034353330975, + -0.10189230477865388, + -0.9895585503582921 + ], + [ + 0.992597084820961, + -0.09266643251695267, + 0.07851088771317663, + -0.09841473812797741, + -0.9924779472899211, + 0.07281526943152881, + 0.07117279342650254, + -0.08000285262267566, + -0.9942504599184768 + ], + [ + 0.9952453183430298, + -0.0721053916386108, + 0.06547952972436447, + -0.07480752145292252, + -0.9964036270605945, + 0.03979505892145795, + 0.062374602606765445, + -0.04450420740934872, + -0.9970600706439476 + ], + [ + 0.996978905829687, + -0.056744191872226485, + 0.05303921209264377, + -0.058433074784075084, + -0.9978144760303089, + 0.030852020932818927, + 0.051172620627823934, + -0.03385805831893428, + -0.9981157221409513 + ], + [ + 0.9979217895800147, + -0.04644777916046516, + 0.04466212816785, + -0.048432009685869006, + -0.9978381665446211, + 0.0444222221940413, + 0.04250226251870238, + -0.04649298009301558, + -0.9980140081596358 + ], + [ + 0.9987140974447201, + 0.004408762585257239, + 0.05050459758917838, + 0.002792803813744278, + -0.9994832537390639, + 0.032022269470348114, + 0.05061967811074999, + -0.03184004251945166, + -0.9982103284780834 + ], + [ + 0.9924449141058099, + 0.08900925216771356, + 0.08444196524274283, + 0.08833184499670492, + -0.9960220089741819, + 0.011732126768547069, + 0.08515032369280992, + -0.004184574958050065, + -0.9963593286096291 + ], + [ + 0.9895233039164874, + 0.11423991388141602, + 0.08827725121777065, + 0.11364985456813959, + -0.9934519924014407, + 0.01169826270213636, + 0.089035619629671, + -0.0015430067965262282, + -0.9960272474019906 + ], + [ + 0.9908611673627965, + 0.10057893970600047, + 0.08987782763314175, + 0.10050242839179856, + -0.9949222233405887, + 0.005388078541643212, + 0.08996337532455873, + 0.003694102142095215, + -0.9959382233399701 + ], + [ + 0.9938456822712786, + 0.06025104761161182, + 0.09295467224642529, + 0.06061965484245259, + -0.9981602815881044, + -0.0011444241950523126, + 0.09271470906775783, + 0.006772261192511132, + -0.9956696837811331 + ], + [ + 0.995108288628156, + 0.010823985646058024, + 0.09819539316218977, + 0.011207402444755502, + -0.9999315705184266, + -0.00335386508297788, + 0.0981523715148258, + 0.004437974232401498, + -0.9951615026470472 + ], + [ + 0.9949790725248834, + 7.115422947725868e-05, + 0.10008316628983398, + -0.00015298008166629999, + -0.9999974978204159, + 0.0022318042033248804, + 0.100083074666087, + -0.0022359092072337665, + -0.9949765720233816 + ], + [ + 0.9931623339064662, + 0.04655613755120944, + 0.10705654844881891, + 0.04483944289656493, + -0.9988249573017204, + 0.018388285182225694, + 0.10778683996753564, + -0.013462196237242803, + -0.9940828770290149 + ], + [ + 0.9940991674259284, + 0.04328523475844322, + 0.09946473633897683, + 0.04310689202232458, + -0.9990626870881496, + 0.003942477442085446, + 0.09954215781894306, + 0.00036840210662061174, + -0.9950332773815337 + ], + [ + 0.9920743756835879, + 0.06606732928013187, + 0.10688096703253583, + 0.06928671952635487, + -0.9972396969062928, + -0.026689649895075003, + 0.10482262928058814, + 0.03388354934235896, + -0.9939135382288886 + ], + [ + 0.9802976167361034, + 0.10836940319276064, + 0.16514434617376494, + 0.11704284605235982, + -0.9921650316743513, + -0.04369807902639224, + 0.15911491070757333, + 0.06216608701115182, + -0.9853008793339437 + ], + [ + 0.9801294162780378, + 0.1466178166562823, + 0.13360218256232614, + 0.15043071617236023, + -0.9884408120874362, + -0.01885101142644305, + 0.1292939556914519, + 0.038574302830691395, + -0.9908557393398811 + ], + [ + 0.9851360720165827, + 0.13311238358094818, + 0.10857261601866483, + 0.13273819832562483, + -0.9910933874318131, + 0.010698976315546569, + 0.1090297680315106, + 0.0038717859357214474, + -0.9940309446675503 + ], + [ + 0.9913023341386255, + 0.1001678266013508, + 0.08535858975682929, + 0.09981257492678351, + -0.9949705422682427, + 0.008430296846754028, + 0.08577372685034847, + 0.000162887694079337, + -0.9963146296475832 + ], + [ + 0.9927279196761356, + 0.08108791040405945, + 0.08897206461465833, + 0.08150666320026183, + -0.9966722142773023, + -0.0010775627768238425, + 0.08858860733441291, + 0.008321542758535664, + -0.9960335388814309 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0028085410594940186, + -0.00045152753591537476, + -0.008957982063293457, + -0.004469927400350571, + 0.0317813903093338, + -0.001035839319229126, + 1.0 + ], + [ + -0.013477474451065063, + 0.01335260272026062, + -0.00957711786031723, + 0.001576695591211319, + 0.037554480135440826, + 0.026392022147774696, + 1.0 + ], + [ + -0.01793047785758972, + 0.027716659009456635, + 0.0028401166200637817, + 0.020380090922117233, + -0.013869568705558777, + -0.008090505376458168, + 1.0 + ], + [ + -0.01365971565246582, + 0.03137124329805374, + -0.002300843596458435, + 0.07161861658096313, + 0.0275881364941597, + -0.12244987487792969, + 1.0 + ], + [ + -0.0017305612564086914, + 0.022201165556907654, + -0.011642515659332275, + 0.01606534793972969, + 0.038272347301244736, + -0.07820086181163788, + 1.0 + ], + [ + 0.0019558370113372803, + 0.012642502784729004, + -0.015305794775485992, + -0.016658753156661987, + 0.014813229441642761, + 0.024863258004188538, + 1.0 + ], + [ + 0.0034960508346557617, + 0.007228374481201172, + -0.012916356325149536, + 0.0007847510278224945, + -0.02037755772471428, + 0.02752683311700821, + 1.0 + ], + [ + 0.0010499656200408936, + 0.0031103044748306274, + -0.0065227169543504715, + 0.03506835550069809, + -0.03902518004179001, + 0.0017014741897583008, + 1.0 + ], + [ + -0.0030168890953063965, + 2.592802047729492e-06, + -0.009477343410253525, + 0.034737855195999146, + -0.02625887840986252, + -0.0023823678493499756, + 1.0 + ], + [ + -0.00036776065826416016, + 0.002238735556602478, + -0.006866084411740303, + -0.022313334047794342, + 0.03088471293449402, + 0.019867651164531708, + 1.0 + ], + [ + 0.0010638535022735596, + 0.003857359290122986, + -0.0019069556146860123, + -0.0356866754591465, + 0.008817899972200394, + 0.023801907896995544, + 1.0 + ], + [ + 0.0020889639854431152, + 0.006454989314079285, + -0.0002891896292567253, + -0.010696850717067719, + 0.011220138520002365, + 0.016480661928653717, + 1.0 + ], + [ + 0.006319701671600342, + 0.005840331315994263, + -0.00028473883867263794, + 0.012642867863178253, + 0.008679911494255066, + 0.01004834845662117, + 1.0 + ], + [ + 0.0235920250415802, + 0.007363662123680115, + 0.00044650305062532425, + -0.014665525406599045, + -0.00812625139951706, + 0.05129121243953705, + 1.0 + ], + [ + 0.030793964862823486, + 0.008333846926689148, + 0.0007525570690631866, + -0.027686476707458496, + -0.03461223840713501, + 0.08597397804260254, + 1.0 + ], + [ + 0.027853816747665405, + -0.0002790391445159912, + -0.0009191269055008888, + -0.002650680486112833, + -0.0039001181721687317, + 0.025581710040569305, + 1.0 + ], + [ + 0.028030991554260254, + -0.006456106901168823, + -0.001654560212045908, + -0.005258311051875353, + -0.0009314939379692078, + -0.013268403708934784, + 1.0 + ], + [ + 0.02372625470161438, + -0.009235739707946777, + -0.0019389847293496132, + -0.003092458937317133, + -0.0027628839015960693, + -0.04016410931944847, + 1.0 + ], + [ + 0.019654184579849243, + -0.01761569082736969, + -0.0008421232923865318, + 0.002342087682336569, + -0.0054626017808914185, + -0.04965754598379135, + 1.0 + ], + [ + 0.004803061485290527, + -0.008157327771186829, + 0.00013860920444130898, + 0.006706716492772102, + -0.0019402578473091125, + -0.011415771208703518, + 1.0 + ], + [ + -0.0027621984481811523, + -0.002303287386894226, + 0.0016468977555632591, + 0.011294306255877018, + -0.007745735347270966, + 0.045271266251802444, + 1.0 + ], + [ + -0.0038248002529144287, + -0.02441144734621048, + 0.007466988638043404, + -0.013911740854382515, + 0.008289366960525513, + -0.0017818920314311981, + 1.0 + ], + [ + 0.008676260709762573, + -0.017658784985542297, + 0.016707563772797585, + -0.03370760381221771, + -0.005308263003826141, + 0.0263914056122303, + 1.0 + ], + [ + 0.004405170679092407, + 0.004115879535675049, + 0.03758162260055542, + -0.02893213927745819, + -0.054778531193733215, + 0.04910565912723541, + 1.0 + ], + [ + -0.020229309797286987, + 0.008249722421169281, + 0.018246173858642578, + 0.02409934252500534, + 0.03013715147972107, + 0.033459387719631195, + 1.0 + ], + [ + -0.025715351104736328, + -0.0029665157198905945, + 0.01510370522737503, + 0.03501562774181366, + 0.020409978926181793, + -0.018357738852500916, + 1.0 + ], + [ + -0.025295794010162354, + -0.0066638365387916565, + 0.006677195429801941, + 0.0037315257359296083, + 0.02336769551038742, + -0.03358421474695206, + 1.0 + ], + [ + -0.02507832646369934, + 0.0002547428011894226, + -0.0019486397504806519, + -0.008190996944904327, + -0.0028256401419639587, + -0.018430136144161224, + 1.0 + ], + [ + -0.00913187861442566, + -0.0006969794631004333, + -0.002615422010421753, + -0.007903030142188072, + -0.015559762716293335, + -0.009454779326915741, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.30381399393081665, + 0.03502032160758972, + 0.08300236612558365 + ], + [ + 0.2903365194797516, + 0.04837292432785034, + 0.07342524826526642 + ], + [ + 0.27240604162216187, + 0.07608958333730698, + 0.0762653648853302 + ], + [ + 0.25874632596969604, + 0.10746082663536072, + 0.07396452128887177 + ], + [ + 0.25701576471328735, + 0.12966199219226837, + 0.06232200562953949 + ], + [ + 0.25897160172462463, + 0.14230449497699738, + 0.0470162108540535 + ], + [ + 0.2624676525592804, + 0.14953286945819855, + 0.03409985452890396 + ], + [ + 0.2635176181793213, + 0.15264317393302917, + 0.02757713757455349 + ], + [ + 0.2605007290840149, + 0.1526457667350769, + 0.018099794164299965 + ], + [ + 0.26013296842575073, + 0.15488450229167938, + 0.011233709752559662 + ], + [ + 0.2611968219280243, + 0.15874186158180237, + 0.00932675413787365 + ], + [ + 0.2632857859134674, + 0.16519685089588165, + 0.009037564508616924 + ], + [ + 0.26960548758506775, + 0.17103718221187592, + 0.008752825669944286 + ], + [ + 0.29319751262664795, + 0.17840084433555603, + 0.00919932872056961 + ], + [ + 0.32399147748947144, + 0.18673469126224518, + 0.009951885789632797 + ], + [ + 0.35184529423713684, + 0.1864556521177292, + 0.009032758884131908 + ], + [ + 0.3798762857913971, + 0.17999954521656036, + 0.0073781986720860004 + ], + [ + 0.4036025404930115, + 0.1707638055086136, + 0.005439213942736387 + ], + [ + 0.4232567250728607, + 0.1531481146812439, + 0.004597090650349855 + ], + [ + 0.42805978655815125, + 0.14499078691005707, + 0.004735699854791164 + ], + [ + 0.4252975881099701, + 0.14268749952316284, + 0.0063825976103544235 + ], + [ + 0.42147278785705566, + 0.11827605217695236, + 0.013849586248397827 + ], + [ + 0.43014904856681824, + 0.10061726719141006, + 0.03055715002119541 + ], + [ + 0.43455421924591064, + 0.10473314672708511, + 0.06813877075910568 + ], + [ + 0.41432490944862366, + 0.1129828691482544, + 0.08638494461774826 + ], + [ + 0.38860955834388733, + 0.1100163534283638, + 0.10148864984512329 + ], + [ + 0.363313764333725, + 0.10335251688957214, + 0.10816584527492523 + ], + [ + 0.33823543787002563, + 0.10360725969076157, + 0.10621720552444458 + ], + [ + 0.3291035592556, + 0.10291028022766113, + 0.10360178351402283 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9926399319095632, + 0.004581408611723148, + 0.12101642976765654, + 0.011859271470096739, + -0.9981585778825223, + -0.05948790700419075, + 0.1205210490278618, + 0.06048523865103887, + -0.9908663949526952 + ], + [ + 0.9958035756534059, + 0.0333290667292262, + 0.08523152014865518, + 0.03819648843035435, + -0.9976925686132909, + -0.056129910078353086, + 0.08316409674542033, + 0.05914990993038776, + -0.9947788805396633 + ], + [ + 0.9948313211038547, + 0.02644010689895167, + 0.09803858066052781, + 0.03010098997408327, + -0.9988964863493187, + -0.03605190649002319, + 0.0969771774869683, + 0.03881662409531831, + -0.9945293845535704 + ], + [ + 0.9933456487538386, + -0.08976641440203592, + 0.07215547759676895, + -0.09184860277720236, + -0.9954316651207137, + 0.026069795604863538, + 0.0694856551360895, + -0.03252369782797809, + -0.9970526329185952 + ], + [ + 0.9850348105361414, + -0.16787916903583658, + 0.03902571762140254, + -0.16949622032967196, + -0.984607356732735, + 0.042654242013336466, + 0.03126424996675488, + -0.048630624832650404, + -0.9983274057153808 + ], + [ + 0.9892938657235797, + -0.14443060326811583, + 0.020915259532287275, + -0.14500644100245322, + -0.9889972074393909, + 0.029285760104314888, + 0.016455373271270703, + -0.03200507017167069, + -0.9993522382892873 + ], + [ + 0.992371038043948, + -0.11647619215152569, + 0.040410636142709025, + -0.11765890014711497, + -0.9926526711129118, + 0.02823221118816251, + 0.03682534545321721, + -0.03277149972586918, + -0.9987842223112903 + ], + [ + 0.9903870230460574, + -0.11067701110360148, + 0.08297074059656034, + -0.11571520541710537, + -0.991553336272407, + 0.05858303988643947, + 0.07578611889551765, + -0.06762085876585956, + -0.9948285699770198 + ], + [ + 0.9877913722996888, + -0.1074242365391819, + 0.11281949394617624, + -0.11779801004519641, + -0.9889782563994355, + 0.08969747598747693, + 0.10194034353330975, + -0.10189230477865388, + -0.9895585503582921 + ], + [ + 0.992597084820961, + -0.09266643251695267, + 0.07851088771317663, + -0.09841473812797741, + -0.9924779472899211, + 0.07281526943152881, + 0.07117279342650254, + -0.08000285262267566, + -0.9942504599184768 + ], + [ + 0.9952453183430298, + -0.0721053916386108, + 0.06547952972436447, + -0.07480752145292252, + -0.9964036270605945, + 0.03979505892145795, + 0.062374602606765445, + -0.04450420740934872, + -0.9970600706439476 + ], + [ + 0.996978905829687, + -0.056744191872226485, + 0.05303921209264377, + -0.058433074784075084, + -0.9978144760303089, + 0.030852020932818927, + 0.051172620627823934, + -0.03385805831893428, + -0.9981157221409513 + ], + [ + 0.9979217895800147, + -0.04644777916046516, + 0.04466212816785, + -0.048432009685869006, + -0.9978381665446211, + 0.0444222221940413, + 0.04250226251870238, + -0.04649298009301558, + -0.9980140081596358 + ], + [ + 0.9987140974447201, + 0.004408762585257239, + 0.05050459758917838, + 0.002792803813744278, + -0.9994832537390639, + 0.032022269470348114, + 0.05061967811074999, + -0.03184004251945166, + -0.9982103284780834 + ], + [ + 0.9924449141058099, + 0.08900925216771356, + 0.08444196524274283, + 0.08833184499670492, + -0.9960220089741819, + 0.011732126768547069, + 0.08515032369280992, + -0.004184574958050065, + -0.9963593286096291 + ], + [ + 0.9895233039164874, + 0.11423991388141602, + 0.08827725121777065, + 0.11364985456813959, + -0.9934519924014407, + 0.01169826270213636, + 0.089035619629671, + -0.0015430067965262282, + -0.9960272474019906 + ], + [ + 0.9908611673627965, + 0.10057893970600047, + 0.08987782763314175, + 0.10050242839179856, + -0.9949222233405887, + 0.005388078541643212, + 0.08996337532455873, + 0.003694102142095215, + -0.9959382233399701 + ], + [ + 0.9938456822712786, + 0.06025104761161182, + 0.09295467224642529, + 0.06061965484245259, + -0.9981602815881044, + -0.0011444241950523126, + 0.09271470906775783, + 0.006772261192511132, + -0.9956696837811331 + ], + [ + 0.995108288628156, + 0.010823985646058024, + 0.09819539316218977, + 0.011207402444755502, + -0.9999315705184266, + -0.00335386508297788, + 0.0981523715148258, + 0.004437974232401498, + -0.9951615026470472 + ], + [ + 0.9949790725248834, + 7.115422947725868e-05, + 0.10008316628983398, + -0.00015298008166629999, + -0.9999974978204159, + 0.0022318042033248804, + 0.100083074666087, + -0.0022359092072337665, + -0.9949765720233816 + ], + [ + 0.9931623339064662, + 0.04655613755120944, + 0.10705654844881891, + 0.04483944289656493, + -0.9988249573017204, + 0.018388285182225694, + 0.10778683996753564, + -0.013462196237242803, + -0.9940828770290149 + ], + [ + 0.9940991674259284, + 0.04328523475844322, + 0.09946473633897683, + 0.04310689202232458, + -0.9990626870881496, + 0.003942477442085446, + 0.09954215781894306, + 0.00036840210662061174, + -0.9950332773815337 + ], + [ + 0.9920743756835879, + 0.06606732928013187, + 0.10688096703253583, + 0.06928671952635487, + -0.9972396969062928, + -0.026689649895075003, + 0.10482262928058814, + 0.03388354934235896, + -0.9939135382288886 + ], + [ + 0.9802976167361034, + 0.10836940319276064, + 0.16514434617376494, + 0.11704284605235982, + -0.9921650316743513, + -0.04369807902639224, + 0.15911491070757333, + 0.06216608701115182, + -0.9853008793339437 + ], + [ + 0.9801294162780378, + 0.1466178166562823, + 0.13360218256232614, + 0.15043071617236023, + -0.9884408120874362, + -0.01885101142644305, + 0.1292939556914519, + 0.038574302830691395, + -0.9908557393398811 + ], + [ + 0.9851360720165827, + 0.13311238358094818, + 0.10857261601866483, + 0.13273819832562483, + -0.9910933874318131, + 0.010698976315546569, + 0.1090297680315106, + 0.0038717859357214474, + -0.9940309446675503 + ], + [ + 0.9913023341386255, + 0.1001678266013508, + 0.08535858975682929, + 0.09981257492678351, + -0.9949705422682427, + 0.008430296846754028, + 0.08577372685034847, + 0.000162887694079337, + -0.9963146296475832 + ], + [ + 0.9927279196761356, + 0.08108791040405945, + 0.08897206461465833, + 0.08150666320026183, + -0.9966722142773023, + -0.0010775627768238425, + 0.08858860733441291, + 0.008321542758535664, + -0.9960335388814309 + ], + [ + 0.9919591617200583, + 0.0707047309373921, + 0.10496600641498403, + 0.07200861087660848, + -0.9973662417136014, + -0.008679853092497887, + 0.10407584464831725, + 0.016168516108695633, + -0.994437930515315 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006046.json b/json/chunk-0006/episode_0006046.json new file mode 100644 index 0000000000000000000000000000000000000000..6a89995171376a09829d996f5412c2dfefde233c --- /dev/null +++ b/json/chunk-0006/episode_0006046.json @@ -0,0 +1,2782 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 45, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut the blue object on the top right of the cloth." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006046.mp4", + "start": 0, + "end": 45, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.29887261986732483, + 0.18941763043403625, + 0.21188901364803314, + -0.01186539139598608, + -0.19716425240039825, + -0.056904423981904984, + 0.0, + 0.9994885921478271 + ], + [ + 0.30026981234550476, + 0.1894582211971283, + 0.19871298968791962, + -0.03879987448453903, + -0.16702444851398468, + -0.05211275443434715, + 0.0, + 0.9994885921478271 + ], + [ + 0.2989177107810974, + 0.18338051438331604, + 0.1868559569120407, + -0.07285445183515549, + -0.15654389560222626, + -0.04847054183483124, + 0.0, + 0.9994885921478271 + ], + [ + 0.29615119099617004, + 0.16331273317337036, + 0.17966769635677338, + -0.10210350155830383, + -0.1658579558134079, + -0.07156143337488174, + 0.0, + 0.9994885921478271 + ], + [ + 0.2930528521537781, + 0.13929997384548187, + 0.1804790496826172, + -0.1284189224243164, + -0.2022593468427658, + -0.08645720779895782, + 0.0, + 0.9994885921478271 + ], + [ + 0.293735146522522, + 0.10925233364105225, + 0.16620077192783356, + -0.20149767398834229, + -0.23701995611190796, + -0.004656800534576178, + 0.0, + 0.9994885921478271 + ], + [ + 0.30187878012657166, + 0.07397153973579407, + 0.16010840237140656, + -0.2728339433670044, + -0.27811840176582336, + 0.07676335424184799, + 0.0, + 0.9994885921478271 + ], + [ + 0.30051225423812866, + 0.03911447897553444, + 0.16525053977966309, + -0.31348034739494324, + -0.2671683430671692, + 0.11726588010787964, + 0.0, + 0.9994885921478271 + ], + [ + 0.29000845551490784, + 0.004495807457715273, + 0.17012062668800354, + -0.3125744163990021, + -0.20974989235401154, + 0.16191883385181427, + 0.0, + 0.9994885921478271 + ], + [ + 0.27387765049934387, + -0.019914677366614342, + 0.17221438884735107, + -0.294974148273468, + -0.1585608273744583, + 0.177623450756073, + 0.0, + 0.9994885921478271 + ], + [ + 0.25301918387413025, + -0.04492570459842682, + 0.16389676928520203, + -0.2131478637456894, + -0.11926225572824478, + 0.17593583464622498, + 0.0, + 0.9994885921478271 + ], + [ + 0.23773714900016785, + -0.039554912596940994, + 0.15050029754638672, + -0.1666850596666336, + -0.11873839795589447, + 0.2393169403076172, + 0.0, + 0.9994885921478271 + ], + [ + 0.2307211458683014, + -0.029577037319540977, + 0.1288405805826187, + -0.12614986300468445, + -0.12875933945178986, + 0.30988484621047974, + 0.0, + 0.9994885921478271 + ], + [ + 0.23263274133205414, + -0.011664989404380322, + 0.11734912544488907, + -0.10425399243831635, + -0.1509799212217331, + 0.3868771493434906, + 0.0, + 0.9994885921478271 + ], + [ + 0.23085597157478333, + -0.004167232196778059, + 0.10990989208221436, + -0.09833207726478577, + -0.1484845131635666, + 0.46146532893180847, + 0.0, + 0.9994885921478271 + ], + [ + 0.22808937728405, + -0.001563161495141685, + 0.10436245799064636, + -0.09496571123600006, + -0.12304884195327759, + 0.519286036491394, + 0.0, + 0.9994885921478271 + ], + [ + 0.22172683477401733, + -0.004327918868511915, + 0.10030462592840195, + -0.09504904597997665, + -0.08820588886737823, + 0.5180477499961853, + 0.0, + 0.9994885921478271 + ], + [ + 0.21274521946907043, + -0.007641575299203396, + 0.09618349373340607, + -0.1079128310084343, + -0.08288123458623886, + 0.4951260983943939, + 0.0, + 0.9994885921478271 + ], + [ + 0.20809581875801086, + -0.007542206905782223, + 0.09709247201681137, + -0.11875630170106888, + -0.11141914129257202, + 0.4762406349182129, + 0.0, + 0.9994885921478271 + ], + [ + 0.2057669758796692, + -0.006379506550729275, + 0.08909820020198822, + -0.11522917449474335, + -0.13291533291339874, + 0.454992413520813, + 0.0, + 0.9994885921478271 + ], + [ + 0.20857349038124084, + -0.008532342500984669, + 0.08310803771018982, + -0.10913684964179993, + -0.16218909621238708, + 0.4426203966140747, + 0.0, + 0.9994885921478271 + ], + [ + 0.21440738439559937, + -0.009846702218055725, + 0.07418862730264664, + -0.07444596290588379, + -0.1813535839319229, + 0.42932242155075073, + 0.0, + 0.9994885921478271 + ], + [ + 0.21880027651786804, + -0.004588738549500704, + 0.06265546381473541, + -0.03311637416481972, + -0.1808837354183197, + 0.4733472168445587, + 0.0, + 0.9994885921478271 + ], + [ + 0.2190667688846588, + -0.0009517280268482864, + 0.05191798880696297, + -0.007693087216466665, + -0.16131266951560974, + 0.5254941582679749, + 0.0, + 0.9994885921478271 + ], + [ + 0.2201806902885437, + 0.00823634210973978, + 0.046746090054512024, + -0.0137143824249506, + -0.15913014113903046, + 0.590708315372467, + 0.0, + 0.9499720335006714 + ], + [ + 0.21736402809619904, + 0.014054612256586552, + 0.039820317178964615, + 0.0009923877660185099, + -0.14613467454910278, + 0.6310019493103027, + 0.0, + 0.8158720135688782 + ], + [ + 0.21479690074920654, + 0.013090033084154129, + 0.0417361743748188, + 0.007559518329799175, + -0.1261441856622696, + 0.6541262269020081, + 0.0, + 0.9994885921478271 + ], + [ + 0.22095263004302979, + 0.004789918661117554, + 0.06593652814626694, + -0.06493578106164932, + -0.1344492882490158, + 0.6562680006027222, + 0.0, + 1.0014774799346924 + ], + [ + 0.22413195669651031, + -0.006379247643053532, + 0.07973451912403107, + -0.12362090498209, + -0.10157036036252975, + 0.618241548538208, + 0.0, + 1.0014774799346924 + ], + [ + 0.22892342507839203, + -0.02204887568950653, + 0.08479589223861694, + -0.15665754675865173, + -0.1051778569817543, + 0.5745630860328674, + 0.0, + 1.0008161067962646 + ], + [ + 0.23325282335281372, + -0.040243204683065414, + 0.07348253577947617, + -0.12412922829389572, + -0.12851233780384064, + 0.539993941783905, + 0.0, + 1.0008161067962646 + ], + [ + 0.24163754284381866, + -0.052397262305021286, + 0.06321138143539429, + -0.13861091434955597, + -0.1819162219762802, + 0.5229594707489014, + 0.0, + 1.0008161067962646 + ], + [ + 0.24621689319610596, + -0.05263042077422142, + 0.05457305535674095, + -0.12388885021209717, + -0.19908317923545837, + 0.538870096206665, + 0.0, + 1.0008161067962646 + ], + [ + 0.24913369119167328, + -0.04725906252861023, + 0.0449509471654892, + -0.08963503688573837, + -0.20993822813034058, + 0.5634799599647522, + 0.0, + 0.9522681832313538 + ], + [ + 0.25514495372772217, + -0.03978639468550682, + 0.043223462998867035, + -0.0815526694059372, + -0.22466012835502625, + 0.5832050442695618, + 0.0, + 0.85895174741745 + ], + [ + 0.2517476975917816, + -0.03805859386920929, + 0.04422201216220856, + -0.07146802544593811, + -0.2126055508852005, + 0.5551707148551941, + 0.0, + 0.85895174741745 + ], + [ + 0.24999749660491943, + -0.0337737500667572, + 0.06207431107759476, + -0.10535768419504166, + -0.21408763527870178, + 0.5640370845794678, + 0.0, + 0.85895174741745 + ], + [ + 0.26955869793891907, + -0.029062097892165184, + 0.08666017651557922, + -0.16297441720962524, + -0.2113783210515976, + 0.6163462996482849, + 0.0, + 0.85895174741745 + ], + [ + 0.2991732060909271, + -0.01711609587073326, + 0.10127212107181549, + -0.17711026966571808, + -0.21912838518619537, + 0.6561843752861023, + 0.0, + 0.85895174741745 + ], + [ + 0.33232855796813965, + -0.003475841600447893, + 0.09393448382616043, + -0.15494783222675323, + -0.2010919600725174, + 0.6778792142868042, + 0.0, + 0.85895174741745 + ], + [ + 0.3579522669315338, + 0.00904588308185339, + 0.08885445445775986, + -0.14524346590042114, + -0.21132805943489075, + 0.7129733562469482, + 0.0, + 0.85895174741745 + ], + [ + 0.37933236360549927, + 0.024292850866913795, + 0.08147679269313812, + -0.12874393165111542, + -0.2209385633468628, + 0.7375123500823975, + 0.0, + 0.85895174741745 + ], + [ + 0.3924332857131958, + 0.043606847524642944, + 0.07662312686443329, + -0.11678925901651382, + -0.21607357263565063, + 0.7705206871032715, + 0.0, + 0.85895174741745 + ], + [ + 0.4023192226886749, + 0.05687190964818001, + 0.0743732824921608, + -0.10644219070672989, + -0.22122125327587128, + 0.7789516448974609, + 0.0, + 0.85895174741745 + ], + [ + 0.40644678473472595, + 0.06675399094820023, + 0.06777115166187286, + -0.0878811925649643, + -0.2238495647907257, + 0.7892207503318787, + 0.0, + 0.85895174741745 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9499720335006714 + ], + [ + 0.8158720135688782 + ], + [ + 0.9994885921478271 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9522681832313538 + ], + [ + 0.85895174741745 + ], + [ + 0.85895174741745 + ], + [ + 0.85895174741745 + ], + [ + 0.85895174741745 + ], + [ + 0.85895174741745 + ], + [ + 0.85895174741745 + ], + [ + 0.85895174741745 + ], + [ + 0.85895174741745 + ], + [ + 0.85895174741745 + ], + [ + 0.85895174741745 + ], + [ + 0.85895174741745 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.29887261986732483, + 0.18941763043403625, + 0.21188901364803314 + ], + [ + 0.30026981234550476, + 0.1894582211971283, + 0.19871298968791962 + ], + [ + 0.2989177107810974, + 0.18338051438331604, + 0.1868559569120407 + ], + [ + 0.29615119099617004, + 0.16331273317337036, + 0.17966769635677338 + ], + [ + 0.2930528521537781, + 0.13929997384548187, + 0.1804790496826172 + ], + [ + 0.293735146522522, + 0.10925233364105225, + 0.16620077192783356 + ], + [ + 0.30187878012657166, + 0.07397153973579407, + 0.16010840237140656 + ], + [ + 0.30051225423812866, + 0.03911447897553444, + 0.16525053977966309 + ], + [ + 0.29000845551490784, + 0.004495807457715273, + 0.17012062668800354 + ], + [ + 0.27387765049934387, + -0.019914677366614342, + 0.17221438884735107 + ], + [ + 0.25301918387413025, + -0.04492570459842682, + 0.16389676928520203 + ], + [ + 0.23773714900016785, + -0.039554912596940994, + 0.15050029754638672 + ], + [ + 0.2307211458683014, + -0.029577037319540977, + 0.1288405805826187 + ], + [ + 0.23263274133205414, + -0.011664989404380322, + 0.11734912544488907 + ], + [ + 0.23085597157478333, + -0.004167232196778059, + 0.10990989208221436 + ], + [ + 0.22808937728405, + -0.001563161495141685, + 0.10436245799064636 + ], + [ + 0.22172683477401733, + -0.004327918868511915, + 0.10030462592840195 + ], + [ + 0.21274521946907043, + -0.007641575299203396, + 0.09618349373340607 + ], + [ + 0.20809581875801086, + -0.007542206905782223, + 0.09709247201681137 + ], + [ + 0.2057669758796692, + -0.006379506550729275, + 0.08909820020198822 + ], + [ + 0.20857349038124084, + -0.008532342500984669, + 0.08310803771018982 + ], + [ + 0.21440738439559937, + -0.009846702218055725, + 0.07418862730264664 + ], + [ + 0.21880027651786804, + -0.004588738549500704, + 0.06265546381473541 + ], + [ + 0.2190667688846588, + -0.0009517280268482864, + 0.05191798880696297 + ], + [ + 0.2201806902885437, + 0.00823634210973978, + 0.046746090054512024 + ], + [ + 0.21736402809619904, + 0.014054612256586552, + 0.039820317178964615 + ], + [ + 0.21479690074920654, + 0.013090033084154129, + 0.0417361743748188 + ], + [ + 0.22095263004302979, + 0.004789918661117554, + 0.06593652814626694 + ], + [ + 0.22413195669651031, + -0.006379247643053532, + 0.07973451912403107 + ], + [ + 0.22892342507839203, + -0.02204887568950653, + 0.08479589223861694 + ], + [ + 0.23325282335281372, + -0.040243204683065414, + 0.07348253577947617 + ], + [ + 0.24163754284381866, + -0.052397262305021286, + 0.06321138143539429 + ], + [ + 0.24621689319610596, + -0.05263042077422142, + 0.05457305535674095 + ], + [ + 0.24913369119167328, + -0.04725906252861023, + 0.0449509471654892 + ], + [ + 0.25514495372772217, + -0.03978639468550682, + 0.043223462998867035 + ], + [ + 0.2517476975917816, + -0.03805859386920929, + 0.04422201216220856 + ], + [ + 0.24999749660491943, + -0.0337737500667572, + 0.06207431107759476 + ], + [ + 0.26955869793891907, + -0.029062097892165184, + 0.08666017651557922 + ], + [ + 0.2991732060909271, + -0.01711609587073326, + 0.10127212107181549 + ], + [ + 0.33232855796813965, + -0.003475841600447893, + 0.09393448382616043 + ], + [ + 0.3579522669315338, + 0.00904588308185339, + 0.08885445445775986 + ], + [ + 0.37933236360549927, + 0.024292850866913795, + 0.08147679269313812 + ], + [ + 0.3924332857131958, + 0.043606847524642944, + 0.07662312686443329 + ], + [ + 0.4023192226886749, + 0.05687190964818001, + 0.0743732824921608 + ], + [ + 0.40644678473472595, + 0.06675399094820023, + 0.06777115166187286 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9790387518121391, + -0.059190201719417704, + 0.19488366393965195, + -0.055771847750944445, + -0.9981789124435804, + -0.02298607733817218, + 0.19588931427868655, + 0.011635238431832895, + -0.9805569834426046 + ], + [ + 0.9847451435986913, + -0.05849003205334023, + 0.16387775416203362, + -0.051364287605272216, + -0.9975549250328137, + -0.04739073223300054, + 0.16624894621499284, + 0.038250329321148455, + -0.9853416667274493 + ], + [ + 0.9866119012200416, + -0.05965805833938422, + 0.15178231928043992, + -0.04785909925553688, + -0.995626091531482, + -0.0802383479403309, + 0.155905301351248, + 0.0718999439284869, + -0.9851517320056119 + ], + [ + 0.983752767058789, + -0.08791279280502412, + 0.15653061734177554, + -0.07051917635919483, + -0.9910426683046015, + -0.11340844485891098, + 0.16509857379698117, + 0.10052746122784943, + -0.981140504958024 + ], + [ + 0.975956256089863, + -0.11126876169503085, + 0.18742638253434898, + -0.084589322069247, + -0.9858398168939349, + -0.14479123598615426, + 0.20088313217122758, + 0.12545564195119904, + -0.971548685919388 + ], + [ + 0.9720314852727596, + -0.05155559846920239, + 0.22912182764834021, + -0.0045265894611817015, + -0.97953847464904, + -0.2012060801021739, + 0.23480694543876524, + 0.1945415044372662, + -0.9523756094236151 + ], + [ + 0.9587420272496566, + 8.940473092323986e-05, + 0.2842775355036215, + 0.07374115347864083, + -0.9658485577564757, + -0.24839244304804312, + 0.2745468402092041, + 0.2591072277774781, + -0.9260061970875854 + ], + [ + 0.9578982079840286, + 0.030444270140614398, + 0.2854893510388651, + 0.11284651281697836, + -0.9542578178749976, + -0.27687123644303646, + 0.2640013024324588, + 0.29743093894222494, + -0.917517383417836 + ], + [ + 0.9652894618142108, + 0.09021007199133377, + 0.2451089509213179, + 0.15767895215329275, + -0.9494207497829285, + -0.2715466588442234, + 0.20821528031888115, + 0.30076965071785383, + -0.9306900742184744 + ], + [ + 0.9719193035040079, + 0.12387868018480151, + 0.20006733884358993, + 0.17447442621587445, + -0.9498662488453293, + -0.2594470734102512, + 0.15789725163195698, + 0.2870682530343168, + -0.9448070046453402 + ], + [ + 0.9775695066539913, + 0.14628849966544952, + 0.15151743967578082, + 0.1737863116213519, + -0.9666876403514719, + -0.18791839687680864, + 0.11897973589363221, + 0.2100349515136354, + -0.9704272984563792 + ], + [ + 0.9646596594738782, + 0.21465977542048886, + 0.15281662933125775, + 0.23537006732305493, + -0.9626940950257206, + -0.13349535876183136, + 0.11845958294744383, + 0.16474604765831188, + -0.9791966436772971 + ], + [ + 0.9444849484955838, + 0.28714003224236057, + 0.15968338657841333, + 0.30242459060022436, + -0.9497273512655701, + -0.08097731323260561, + 0.12840385144372243, + 0.12477403632944224, + -0.9838413951407401 + ], + [ + 0.9155567524747827, + 0.3607543449212708, + 0.1777980191629078, + 0.37300613113820125, + -0.9269691028952851, + -0.03993380035534747, + 0.15040697833258923, + 0.10288141181931029, + -0.9832564039816496 + ], + [ + 0.8855483837102993, + 0.4301051246639164, + 0.17553814926081843, + 0.44036117772605216, + -0.8975424493553665, + -0.02235139272827172, + 0.14793949188705743, + 0.0970934258485407, + -0.9842188645810408 + ], + [ + 0.8616094847580344, + 0.48392015214505524, + 0.15313517598155185, + 0.4925082141131937, + -0.8700375462270543, + -0.021687028063766933, + 0.12273856283184537, + 0.09410608111653901, + -0.9879672518311831 + ], + [ + 0.8654100455184809, + 0.48568641951300545, + 0.1231834202169172, + 0.49325990202365017, + -0.869006013151272, + -0.03902842762077455, + 0.08809155561868454, + 0.09453703511094394, + -0.9916161691002785 + ], + [ + 0.8768883533885369, + 0.46453312923517887, + 0.12359525692563446, + 0.4735115957772197, + -0.8790269779190572, + -0.05566274117397528, + 0.08278637784111527, + 0.10733379679049211, + -0.9907703425670784 + ], + [ + 0.8832139379177212, + 0.44350498611503747, + 0.1524351244266629, + 0.45559872789610006, + -0.8885043497172936, + -0.054679243529007895, + 0.11118875396067346, + 0.11774271877508848, + -0.9867997330604236 + ], + [ + 0.8903414493389903, + 0.42285447130039855, + 0.1687785522221555, + 0.4355793934782829, + -0.8990034253926815, + -0.04542502734524947, + 0.13252432065865377, + 0.11396024409190184, + -0.9846067068634444 + ], + [ + 0.8917732962931052, + 0.40986718241272374, + 0.1917010192971975, + 0.42268774991648456, + -0.9057894926495884, + -0.02967256436744966, + 0.1614789586573707, + 0.10749087303885893, + -0.9810047187064265 + ], + [ + 0.8943367546732959, + 0.4029045175999113, + 0.1944986347973148, + 0.4094284237577974, + -0.9123135070510301, + 0.007240902668518304, + 0.1803611240252231, + 0.07315746407464024, + -0.980876062706459 + ], + [ + 0.8755263483198585, + 0.45031648577785427, + 0.1751247442093134, + 0.4484305712789612, + -0.8922747610983756, + 0.05249546122534279, + 0.1798989609200632, + 0.032570129620873245, + -0.9831457422561323 + ], + [ + 0.853845133837976, + 0.5005568135502668, + 0.14279833272700218, + 0.4951279020356379, + -0.8656703880259633, + 0.07391305649724805, + 0.16061397214126796, + 0.007593135280040915, + -0.9869880932663891 + ], + [ + 0.8200528484340196, + 0.5550922112204096, + 0.13923348310549238, + 0.5499126702900649, + -0.8316785959327139, + 0.07685550157171944, + 0.1584593980478965, + 0.013540683506614137, + -0.98727264170566 + ], + [ + 0.7988305966704662, + 0.5900704541535168, + 0.11698947370669385, + 0.5836659313515741, + -0.8073511597713052, + 0.08670747024004183, + 0.14561510362117794, + -0.0009818100582913505, + -0.9893408298692634 + ], + [ + 0.7872743974728549, + 0.6092034179624292, + 0.09523769540810427, + 0.6036314187163657, + -0.7929785336415986, + 0.08254789835051565, + 0.12580990987287305, + -0.007499381742081569, + -0.992026020753118 + ], + [ + 0.785124834514798, + 0.6019870191868286, + 0.14556999333196333, + 0.604657789350457, + -0.795912403911959, + 0.03020601060889711, + 0.1340445896182665, + 0.06430454128320315, + -0.9888867346488308 + ], + [ + 0.8106990645938262, + 0.5649914807490551, + 0.15346547933553314, + 0.5766159179078038, + -0.8159267775976189, + -0.04216131893698943, + 0.1013958080101727, + 0.12267078005847884, + -0.9872541566576503 + ], + [ + 0.8347910634553686, + 0.5230636077992902, + 0.17183812897912104, + 0.5404648284126842, + -0.8380520663258756, + -0.07460900331580725, + 0.10498404461584937, + 0.1551553941148052, + -0.9822958587173096 + ], + [ + 0.8506388029029499, + 0.4965653051219417, + 0.17273252370352654, + 0.5098910920614789, + -0.8592703776699335, + -0.04081044345902581, + 0.12815889057021707, + 0.12278972191565066, + -0.9841229511395863 + ], + [ + 0.8520491718784021, + 0.4730004019216403, + 0.2242383296479338, + 0.49120479440217724, + -0.8705200691732661, + -0.03021024863993106, + 0.18091450648757693, + 0.13588755994769486, + -0.9740659692206775 + ], + [ + 0.8413363986034023, + 0.488257726511593, + 0.2318565437652937, + 0.5030306290889766, + -0.8642520305391665, + -0.005349196881402611, + 0.19777070203497166, + 0.12113141710827133, + -0.97273528218418 + ], + [ + 0.8268396653278891, + 0.5162162293840393, + 0.22328674918361996, + 0.5224038884215745, + -0.8519717507295022, + 0.03518967634016731, + 0.2083994846502339, + 0.08754964579843522, + -0.9741174027385432 + ], + [ + 0.8137257550148835, + 0.5337237407321231, + 0.2301941880334231, + 0.5368628085730034, + -0.8419217324908426, + 0.054278182824451335, + 0.22277504437563064, + 0.07941514300514303, + -0.971629823886087 + ], + [ + 0.8306765143921184, + 0.5129383759245136, + 0.21649653794294987, + 0.5152206944032125, + -0.8555829955360669, + 0.050253097498584795, + 0.2110074986725171, + 0.06979942874732636, + -0.9749891667349513 + ], + [ + 0.8258105892567833, + 0.5127562210067579, + 0.23477207774825667, + 0.5223976712044262, + -0.8523620203603044, + 0.024076116121429972, + 0.2124559808326348, + 0.10276207503826094, + -0.9717522380433575 + ], + [ + 0.7978340495418813, + 0.5426195618636582, + 0.26272578951160264, + 0.5651915965283056, + -0.8248615289896033, + -0.012724669218458287, + 0.2098077420053614, + 0.15864258279486576, + -0.9647866304622936 + ], + [ + 0.7733792400661319, + 0.5702089243206581, + 0.2770312864277434, + 0.5955089841919681, + -0.8032976848739412, + -0.009048713876391862, + 0.2173789336191131, + 0.17197270743127938, + -0.9608182903740816 + ], + [ + 0.7632088422203667, + 0.5956190006268554, + 0.25050003842098234, + 0.6145050308691389, + -0.7889048825847025, + 0.003557143592223602, + 0.19973940570945495, + 0.15121869039997365, + -0.9681100544259165 + ], + [ + 0.7395924632759654, + 0.6242344860160439, + 0.2516630579439, + 0.6395344544973217, + -0.76831324370119, + 0.026276245244866277, + 0.209758598813499, + 0.14151348353298598, + -0.9674581459691972 + ], + [ + 0.7221523980633892, + 0.6460590354800742, + 0.2471914979238832, + 0.6561030236552836, + -0.7529380580238068, + 0.051118520418076976, + 0.21914546840327573, + 0.1252677271043719, + -0.9676173108333759 + ], + [ + 0.7008628049760393, + 0.6738382582925487, + 0.23395155537500187, + 0.6803128802696737, + -0.7300604678259838, + 0.06470006380897819, + 0.21439616027414907, + 0.11381438827744844, + -0.9700930736175428 + ], + [ + 0.6943076607320847, + 0.6819679539701619, + 0.2299055936824743, + 0.6854131418415136, + -0.7239999483711892, + 0.07767174357164915, + 0.21942127800121167, + 0.1036522287086291, + -0.9701085084896681 + ], + [ + 0.6868239907981217, + 0.6933414721125866, + 0.21806056203012317, + 0.6920950543978441, + -0.7155095773114651, + 0.09513401312681988, + 0.22198477727580138, + 0.0855783139838592, + -0.9712873472013794 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + 0.0013971924781799316, + 4.0590763092041016e-05, + -0.013176023960113525, + -0.026934482157230377, + 0.030139803886413574, + 0.004791669547557831, + 1.0 + ], + [ + -0.0013521015644073486, + -0.006077706813812256, + -0.011857032775878906, + -0.034054577350616455, + 0.010480552911758423, + 0.003642212599515915, + 1.0 + ], + [ + -0.002766519784927368, + -0.02006778120994568, + -0.007188260555267334, + -0.029249049723148346, + -0.00931406021118164, + -0.023090891540050507, + 1.0 + ], + [ + -0.0030983388423919678, + -0.02401275932788849, + 0.000811353325843811, + -0.026315420866012573, + -0.03640139102935791, + -0.01489577442407608, + 1.0 + ], + [ + 0.0006822943687438965, + -0.030047640204429626, + -0.01427827775478363, + -0.07307875156402588, + -0.03476060926914215, + 0.08180040866136551, + 1.0 + ], + [ + 0.008143633604049683, + -0.03528079390525818, + -0.006092369556427002, + -0.07133626937866211, + -0.041098445653915405, + 0.08142015337944031, + 1.0 + ], + [ + -0.0013665258884429932, + -0.03485706076025963, + 0.005142137408256531, + -0.04064640402793884, + 0.010950058698654175, + 0.04050252586603165, + 1.0 + ], + [ + -0.010503798723220825, + -0.034618671983480453, + 0.004870086908340454, + 0.0009059309959411621, + 0.057418450713157654, + 0.04465295374393463, + 1.0 + ], + [ + -0.016130805015563965, + -0.024410484358668327, + 0.002093762159347534, + 0.017600268125534058, + 0.05118906497955322, + 0.015704616904258728, + 1.0 + ], + [ + -0.020858466625213623, + -0.025011027231812477, + -0.008317619562149048, + 0.08182628452777863, + 0.03929857164621353, + -0.0016876161098480225, + 1.0 + ], + [ + -0.015282034873962402, + 0.005370792001485825, + -0.013396471738815308, + 0.046462804079055786, + 0.0005238577723503113, + 0.06338110566139221, + 1.0 + ], + [ + -0.007016003131866455, + 0.009977875277400017, + -0.021659716963768005, + 0.04053519666194916, + -0.010020941495895386, + 0.07056790590286255, + 1.0 + ], + [ + 0.0019115954637527466, + 0.01791204884648323, + -0.011491455137729645, + 0.021895870566368103, + -0.022220581769943237, + 0.07699230313301086, + 1.0 + ], + [ + -0.001776769757270813, + 0.0074977572076022625, + -0.007439233362674713, + 0.005921915173530579, + 0.002495408058166504, + 0.07458817958831787, + 1.0 + ], + [ + -0.0027665942907333374, + 0.002604070585221052, + -0.005547434091567993, + 0.0033663660287857056, + 0.025435671210289, + 0.05782070755958557, + 1.0 + ], + [ + -0.006362542510032654, + -0.0027647572569549084, + -0.004057832062244415, + -8.333474397659302e-05, + 0.03484295308589935, + -0.0012382864952087402, + 1.0 + ], + [ + -0.0089816153049469, + -0.0033136564306914806, + -0.00412113219499588, + -0.012863785028457642, + 0.005324654281139374, + -0.022921651601791382, + 1.0 + ], + [ + -0.00464940071105957, + 9.93683934211731e-05, + 0.000908978283405304, + -0.010843470692634583, + -0.02853790670633316, + -0.01888546347618103, + 1.0 + ], + [ + -0.002328842878341675, + 0.001162700355052948, + -0.00799427181482315, + 0.003527127206325531, + -0.02149619162082672, + -0.021248221397399902, + 1.0 + ], + [ + 0.0028065145015716553, + -0.002152835950255394, + -0.005990162491798401, + 0.00609232485294342, + -0.029273763298988342, + -0.012372016906738281, + 1.0 + ], + [ + 0.0058338940143585205, + -0.0013143597170710564, + -0.008919410407543182, + 0.03469088673591614, + -0.019164487719535828, + -0.013297975063323975, + 1.0 + ], + [ + 0.004392892122268677, + 0.005257963668555021, + -0.011533163487911224, + 0.04132958874106407, + 0.00046984851360321045, + 0.04402479529380798, + 1.0 + ], + [ + 0.0002664923667907715, + 0.0036370104644447565, + -0.010737475007772446, + 0.025423286482691765, + 0.01957106590270996, + 0.05214694142341614, + 1.0 + ], + [ + 0.0011139214038848877, + 0.009188069961965084, + -0.005171898752450943, + -0.006021295208483934, + 0.0021825283765792847, + 0.06521415710449219, + 1.0 + ], + [ + -0.0028166621923446655, + 0.005818270146846771, + -0.006925772875547409, + 0.014706769958138466, + 0.012995466589927673, + 0.04029363393783569, + 1.0 + ], + [ + -0.0025671273469924927, + -0.0009645791724324226, + 0.001915857195854187, + 0.006567130796611309, + 0.01999048888683319, + 0.023124277591705322, + 1.0 + ], + [ + 0.006155729293823242, + -0.008300114423036575, + 0.024200353771448135, + -0.07249529659748077, + -0.008305102586746216, + 0.0021417737007141113, + 1.0 + ], + [ + 0.00317932665348053, + -0.011169166304171085, + 0.01379799097776413, + -0.058685123920440674, + 0.03287892788648605, + -0.03802645206451416, + 1.0 + ], + [ + 0.004791468381881714, + -0.015669628977775574, + 0.0050613731145858765, + -0.03303664177656174, + -0.0036074966192245483, + -0.043678462505340576, + 1.0 + ], + [ + 0.004329398274421692, + -0.018194328993558884, + -0.011313356459140778, + 0.03252831846475601, + -0.023334480822086334, + -0.0345691442489624, + 1.0 + ], + [ + 0.008384719491004944, + -0.012154057621955872, + -0.010271154344081879, + -0.014481686055660248, + -0.053403884172439575, + -0.017034471035003662, + 1.0 + ], + [ + 0.0045793503522872925, + -0.00023315846920013428, + -0.008638326078653336, + 0.014722064137458801, + -0.01716695725917816, + 0.015910625457763672, + 1.0 + ], + [ + 0.0029167979955673218, + 0.005371358245611191, + -0.009622108191251755, + 0.034253813326358795, + -0.010855048894882202, + 0.024609863758087158, + 0.0 + ], + [ + 0.006011262536048889, + 0.007472667843103409, + -0.0017274841666221619, + 0.008082367479801178, + -0.014721900224685669, + 0.01972508430480957, + 0.0 + ], + [ + -0.0033972561359405518, + 0.0017278008162975311, + 0.0009985491633415222, + 0.010084643959999084, + 0.012054577469825745, + -0.028034329414367676, + 0.0 + ], + [ + -0.0017502009868621826, + 0.004284843802452087, + 0.0178522989153862, + -0.033889658749103546, + -0.0014820843935012817, + 0.008866369724273682, + 0.0 + ], + [ + 0.019561201333999634, + 0.004711652174592018, + 0.024585865437984467, + -0.05761673301458359, + 0.002709314227104187, + 0.05230921506881714, + 0.0 + ], + [ + 0.029614508152008057, + 0.011946002021431923, + 0.014611944556236267, + -0.014135852456092834, + -0.007750064134597778, + 0.03983807563781738, + 0.0 + ], + [ + 0.033155351877212524, + 0.013640254735946655, + -0.00733763724565506, + 0.022162437438964844, + 0.01803642511367798, + 0.021694839000701904, + 0.0 + ], + [ + 0.025623708963394165, + 0.01252172514796257, + -0.005080029368400574, + 0.009704366326332092, + -0.010236099362373352, + 0.03509414196014404, + 0.0 + ], + [ + 0.021380096673965454, + 0.015246967785060406, + -0.007377661764621735, + 0.016499534249305725, + -0.009610503911972046, + 0.02453899383544922, + 0.0 + ], + [ + 0.013100922107696533, + 0.01931399665772915, + -0.004853665828704834, + 0.011954672634601593, + 0.004864990711212158, + 0.03300833702087402, + 0.0 + ], + [ + 0.009885936975479126, + 0.013265062123537064, + -0.0022498443722724915, + 0.010347068309783936, + -0.005147680640220642, + 0.008430957794189453, + 0.0 + ], + [ + 0.004127562046051025, + 0.009882081300020218, + -0.006602130830287933, + 0.018560998141765594, + -0.002628311514854431, + 0.010269105434417725, + 0.0 + ], + [ + 0.0018863379955291748, + 0.007277742028236389, + 0.0018412098288536072, + 0.005321279168128967, + -0.00931510329246521, + 0.005043148994445801, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9499720335006714 + ], + [ + 0.8158720135688782 + ], + [ + 0.9994885921478271 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9522681832313538 + ], + [ + 0.85895174741745 + ], + [ + 0.85895174741745 + ], + [ + 0.85895174741745 + ], + [ + 0.85895174741745 + ], + [ + 0.85895174741745 + ], + [ + 0.85895174741745 + ], + [ + 0.85895174741745 + ], + [ + 0.85895174741745 + ], + [ + 0.85895174741745 + ], + [ + 0.85895174741745 + ], + [ + 0.85895174741745 + ], + [ + 0.9124506115913391 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.30026981234550476, + 0.1894582211971283, + 0.19871298968791962 + ], + [ + 0.2989177107810974, + 0.18338051438331604, + 0.1868559569120407 + ], + [ + 0.29615119099617004, + 0.16331273317337036, + 0.17966769635677338 + ], + [ + 0.2930528521537781, + 0.13929997384548187, + 0.1804790496826172 + ], + [ + 0.293735146522522, + 0.10925233364105225, + 0.16620077192783356 + ], + [ + 0.30187878012657166, + 0.07397153973579407, + 0.16010840237140656 + ], + [ + 0.30051225423812866, + 0.03911447897553444, + 0.16525053977966309 + ], + [ + 0.29000845551490784, + 0.004495807457715273, + 0.17012062668800354 + ], + [ + 0.27387765049934387, + -0.019914677366614342, + 0.17221438884735107 + ], + [ + 0.25301918387413025, + -0.04492570459842682, + 0.16389676928520203 + ], + [ + 0.23773714900016785, + -0.039554912596940994, + 0.15050029754638672 + ], + [ + 0.2307211458683014, + -0.029577037319540977, + 0.1288405805826187 + ], + [ + 0.23263274133205414, + -0.011664989404380322, + 0.11734912544488907 + ], + [ + 0.23085597157478333, + -0.004167232196778059, + 0.10990989208221436 + ], + [ + 0.22808937728405, + -0.001563161495141685, + 0.10436245799064636 + ], + [ + 0.22172683477401733, + -0.004327918868511915, + 0.10030462592840195 + ], + [ + 0.21274521946907043, + -0.007641575299203396, + 0.09618349373340607 + ], + [ + 0.20809581875801086, + -0.007542206905782223, + 0.09709247201681137 + ], + [ + 0.2057669758796692, + -0.006379506550729275, + 0.08909820020198822 + ], + [ + 0.20857349038124084, + -0.008532342500984669, + 0.08310803771018982 + ], + [ + 0.21440738439559937, + -0.009846702218055725, + 0.07418862730264664 + ], + [ + 0.21880027651786804, + -0.004588738549500704, + 0.06265546381473541 + ], + [ + 0.2190667688846588, + -0.0009517280268482864, + 0.05191798880696297 + ], + [ + 0.2201806902885437, + 0.00823634210973978, + 0.046746090054512024 + ], + [ + 0.21736402809619904, + 0.014054612256586552, + 0.039820317178964615 + ], + [ + 0.21479690074920654, + 0.013090033084154129, + 0.0417361743748188 + ], + [ + 0.22095263004302979, + 0.004789918661117554, + 0.06593652814626694 + ], + [ + 0.22413195669651031, + -0.006379247643053532, + 0.07973451912403107 + ], + [ + 0.22892342507839203, + -0.02204887568950653, + 0.08479589223861694 + ], + [ + 0.23325282335281372, + -0.040243204683065414, + 0.07348253577947617 + ], + [ + 0.24163754284381866, + -0.052397262305021286, + 0.06321138143539429 + ], + [ + 0.24621689319610596, + -0.05263042077422142, + 0.05457305535674095 + ], + [ + 0.24913369119167328, + -0.04725906252861023, + 0.0449509471654892 + ], + [ + 0.25514495372772217, + -0.03978639468550682, + 0.043223462998867035 + ], + [ + 0.2517476975917816, + -0.03805859386920929, + 0.04422201216220856 + ], + [ + 0.24999749660491943, + -0.0337737500667572, + 0.06207431107759476 + ], + [ + 0.26955869793891907, + -0.029062097892165184, + 0.08666017651557922 + ], + [ + 0.2991732060909271, + -0.01711609587073326, + 0.10127212107181549 + ], + [ + 0.33232855796813965, + -0.003475841600447893, + 0.09393448382616043 + ], + [ + 0.3579522669315338, + 0.00904588308185339, + 0.08885445445775986 + ], + [ + 0.37933236360549927, + 0.024292850866913795, + 0.08147679269313812 + ], + [ + 0.3924332857131958, + 0.043606847524642944, + 0.07662312686443329 + ], + [ + 0.4023192226886749, + 0.05687190964818001, + 0.0743732824921608 + ], + [ + 0.40644678473472595, + 0.06675399094820023, + 0.06777115166187286 + ], + [ + 0.4083331227302551, + 0.07403173297643661, + 0.06961236149072647 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9847451435986913, + -0.05849003205334023, + 0.16387775416203362, + -0.051364287605272216, + -0.9975549250328137, + -0.04739073223300054, + 0.16624894621499284, + 0.038250329321148455, + -0.9853416667274493 + ], + [ + 0.9866119012200416, + -0.05965805833938422, + 0.15178231928043992, + -0.04785909925553688, + -0.995626091531482, + -0.0802383479403309, + 0.155905301351248, + 0.0718999439284869, + -0.9851517320056119 + ], + [ + 0.983752767058789, + -0.08791279280502412, + 0.15653061734177554, + -0.07051917635919483, + -0.9910426683046015, + -0.11340844485891098, + 0.16509857379698117, + 0.10052746122784943, + -0.981140504958024 + ], + [ + 0.975956256089863, + -0.11126876169503085, + 0.18742638253434898, + -0.084589322069247, + -0.9858398168939349, + -0.14479123598615426, + 0.20088313217122758, + 0.12545564195119904, + -0.971548685919388 + ], + [ + 0.9720314852727596, + -0.05155559846920239, + 0.22912182764834021, + -0.0045265894611817015, + -0.97953847464904, + -0.2012060801021739, + 0.23480694543876524, + 0.1945415044372662, + -0.9523756094236151 + ], + [ + 0.9587420272496566, + 8.940473092323986e-05, + 0.2842775355036215, + 0.07374115347864083, + -0.9658485577564757, + -0.24839244304804312, + 0.2745468402092041, + 0.2591072277774781, + -0.9260061970875854 + ], + [ + 0.9578982079840286, + 0.030444270140614398, + 0.2854893510388651, + 0.11284651281697836, + -0.9542578178749976, + -0.27687123644303646, + 0.2640013024324588, + 0.29743093894222494, + -0.917517383417836 + ], + [ + 0.9652894618142108, + 0.09021007199133377, + 0.2451089509213179, + 0.15767895215329275, + -0.9494207497829285, + -0.2715466588442234, + 0.20821528031888115, + 0.30076965071785383, + -0.9306900742184744 + ], + [ + 0.9719193035040079, + 0.12387868018480151, + 0.20006733884358993, + 0.17447442621587445, + -0.9498662488453293, + -0.2594470734102512, + 0.15789725163195698, + 0.2870682530343168, + -0.9448070046453402 + ], + [ + 0.9775695066539913, + 0.14628849966544952, + 0.15151743967578082, + 0.1737863116213519, + -0.9666876403514719, + -0.18791839687680864, + 0.11897973589363221, + 0.2100349515136354, + -0.9704272984563792 + ], + [ + 0.9646596594738782, + 0.21465977542048886, + 0.15281662933125775, + 0.23537006732305493, + -0.9626940950257206, + -0.13349535876183136, + 0.11845958294744383, + 0.16474604765831188, + -0.9791966436772971 + ], + [ + 0.9444849484955838, + 0.28714003224236057, + 0.15968338657841333, + 0.30242459060022436, + -0.9497273512655701, + -0.08097731323260561, + 0.12840385144372243, + 0.12477403632944224, + -0.9838413951407401 + ], + [ + 0.9155567524747827, + 0.3607543449212708, + 0.1777980191629078, + 0.37300613113820125, + -0.9269691028952851, + -0.03993380035534747, + 0.15040697833258923, + 0.10288141181931029, + -0.9832564039816496 + ], + [ + 0.8855483837102993, + 0.4301051246639164, + 0.17553814926081843, + 0.44036117772605216, + -0.8975424493553665, + -0.02235139272827172, + 0.14793949188705743, + 0.0970934258485407, + -0.9842188645810408 + ], + [ + 0.8616094847580344, + 0.48392015214505524, + 0.15313517598155185, + 0.4925082141131937, + -0.8700375462270543, + -0.021687028063766933, + 0.12273856283184537, + 0.09410608111653901, + -0.9879672518311831 + ], + [ + 0.8654100455184809, + 0.48568641951300545, + 0.1231834202169172, + 0.49325990202365017, + -0.869006013151272, + -0.03902842762077455, + 0.08809155561868454, + 0.09453703511094394, + -0.9916161691002785 + ], + [ + 0.8768883533885369, + 0.46453312923517887, + 0.12359525692563446, + 0.4735115957772197, + -0.8790269779190572, + -0.05566274117397528, + 0.08278637784111527, + 0.10733379679049211, + -0.9907703425670784 + ], + [ + 0.8832139379177212, + 0.44350498611503747, + 0.1524351244266629, + 0.45559872789610006, + -0.8885043497172936, + -0.054679243529007895, + 0.11118875396067346, + 0.11774271877508848, + -0.9867997330604236 + ], + [ + 0.8903414493389903, + 0.42285447130039855, + 0.1687785522221555, + 0.4355793934782829, + -0.8990034253926815, + -0.04542502734524947, + 0.13252432065865377, + 0.11396024409190184, + -0.9846067068634444 + ], + [ + 0.8917732962931052, + 0.40986718241272374, + 0.1917010192971975, + 0.42268774991648456, + -0.9057894926495884, + -0.02967256436744966, + 0.1614789586573707, + 0.10749087303885893, + -0.9810047187064265 + ], + [ + 0.8943367546732959, + 0.4029045175999113, + 0.1944986347973148, + 0.4094284237577974, + -0.9123135070510301, + 0.007240902668518304, + 0.1803611240252231, + 0.07315746407464024, + -0.980876062706459 + ], + [ + 0.8755263483198585, + 0.45031648577785427, + 0.1751247442093134, + 0.4484305712789612, + -0.8922747610983756, + 0.05249546122534279, + 0.1798989609200632, + 0.032570129620873245, + -0.9831457422561323 + ], + [ + 0.853845133837976, + 0.5005568135502668, + 0.14279833272700218, + 0.4951279020356379, + -0.8656703880259633, + 0.07391305649724805, + 0.16061397214126796, + 0.007593135280040915, + -0.9869880932663891 + ], + [ + 0.8200528484340196, + 0.5550922112204096, + 0.13923348310549238, + 0.5499126702900649, + -0.8316785959327139, + 0.07685550157171944, + 0.1584593980478965, + 0.013540683506614137, + -0.98727264170566 + ], + [ + 0.7988305966704662, + 0.5900704541535168, + 0.11698947370669385, + 0.5836659313515741, + -0.8073511597713052, + 0.08670747024004183, + 0.14561510362117794, + -0.0009818100582913505, + -0.9893408298692634 + ], + [ + 0.7872743974728549, + 0.6092034179624292, + 0.09523769540810427, + 0.6036314187163657, + -0.7929785336415986, + 0.08254789835051565, + 0.12580990987287305, + -0.007499381742081569, + -0.992026020753118 + ], + [ + 0.785124834514798, + 0.6019870191868286, + 0.14556999333196333, + 0.604657789350457, + -0.795912403911959, + 0.03020601060889711, + 0.1340445896182665, + 0.06430454128320315, + -0.9888867346488308 + ], + [ + 0.8106990645938262, + 0.5649914807490551, + 0.15346547933553314, + 0.5766159179078038, + -0.8159267775976189, + -0.04216131893698943, + 0.1013958080101727, + 0.12267078005847884, + -0.9872541566576503 + ], + [ + 0.8347910634553686, + 0.5230636077992902, + 0.17183812897912104, + 0.5404648284126842, + -0.8380520663258756, + -0.07460900331580725, + 0.10498404461584937, + 0.1551553941148052, + -0.9822958587173096 + ], + [ + 0.8506388029029499, + 0.4965653051219417, + 0.17273252370352654, + 0.5098910920614789, + -0.8592703776699335, + -0.04081044345902581, + 0.12815889057021707, + 0.12278972191565066, + -0.9841229511395863 + ], + [ + 0.8520491718784021, + 0.4730004019216403, + 0.2242383296479338, + 0.49120479440217724, + -0.8705200691732661, + -0.03021024863993106, + 0.18091450648757693, + 0.13588755994769486, + -0.9740659692206775 + ], + [ + 0.8413363986034023, + 0.488257726511593, + 0.2318565437652937, + 0.5030306290889766, + -0.8642520305391665, + -0.005349196881402611, + 0.19777070203497166, + 0.12113141710827133, + -0.97273528218418 + ], + [ + 0.8268396653278891, + 0.5162162293840393, + 0.22328674918361996, + 0.5224038884215745, + -0.8519717507295022, + 0.03518967634016731, + 0.2083994846502339, + 0.08754964579843522, + -0.9741174027385432 + ], + [ + 0.8137257550148835, + 0.5337237407321231, + 0.2301941880334231, + 0.5368628085730034, + -0.8419217324908426, + 0.054278182824451335, + 0.22277504437563064, + 0.07941514300514303, + -0.971629823886087 + ], + [ + 0.8306765143921184, + 0.5129383759245136, + 0.21649653794294987, + 0.5152206944032125, + -0.8555829955360669, + 0.050253097498584795, + 0.2110074986725171, + 0.06979942874732636, + -0.9749891667349513 + ], + [ + 0.8258105892567833, + 0.5127562210067579, + 0.23477207774825667, + 0.5223976712044262, + -0.8523620203603044, + 0.024076116121429972, + 0.2124559808326348, + 0.10276207503826094, + -0.9717522380433575 + ], + [ + 0.7978340495418813, + 0.5426195618636582, + 0.26272578951160264, + 0.5651915965283056, + -0.8248615289896033, + -0.012724669218458287, + 0.2098077420053614, + 0.15864258279486576, + -0.9647866304622936 + ], + [ + 0.7733792400661319, + 0.5702089243206581, + 0.2770312864277434, + 0.5955089841919681, + -0.8032976848739412, + -0.009048713876391862, + 0.2173789336191131, + 0.17197270743127938, + -0.9608182903740816 + ], + [ + 0.7632088422203667, + 0.5956190006268554, + 0.25050003842098234, + 0.6145050308691389, + -0.7889048825847025, + 0.003557143592223602, + 0.19973940570945495, + 0.15121869039997365, + -0.9681100544259165 + ], + [ + 0.7395924632759654, + 0.6242344860160439, + 0.2516630579439, + 0.6395344544973217, + -0.76831324370119, + 0.026276245244866277, + 0.209758598813499, + 0.14151348353298598, + -0.9674581459691972 + ], + [ + 0.7221523980633892, + 0.6460590354800742, + 0.2471914979238832, + 0.6561030236552836, + -0.7529380580238068, + 0.051118520418076976, + 0.21914546840327573, + 0.1252677271043719, + -0.9676173108333759 + ], + [ + 0.7008628049760393, + 0.6738382582925487, + 0.23395155537500187, + 0.6803128802696737, + -0.7300604678259838, + 0.06470006380897819, + 0.21439616027414907, + 0.11381438827744844, + -0.9700930736175428 + ], + [ + 0.6943076607320847, + 0.6819679539701619, + 0.2299055936824743, + 0.6854131418415136, + -0.7239999483711892, + 0.07767174357164915, + 0.21942127800121167, + 0.1036522287086291, + -0.9701085084896681 + ], + [ + 0.6868239907981217, + 0.6933414721125866, + 0.21806056203012317, + 0.6920950543978441, + -0.7155095773114651, + 0.09513401312681988, + 0.22198477727580138, + 0.0855783139838592, + -0.9712873472013794 + ], + [ + 0.681846164917917, + 0.697564628995758, + 0.22020307845427473, + 0.6940447702261512, + -0.7120154445702209, + 0.10647001275100743, + 0.23105770774518175, + 0.08023462511585211, + -0.9696260828917821 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006047.json b/json/chunk-0006/episode_0006047.json new file mode 100644 index 0000000000000000000000000000000000000000..39f68a781fdbd8ea1d02d37a5ac3c49e37ea9dc1 --- /dev/null +++ b/json/chunk-0006/episode_0006047.json @@ -0,0 +1,2542 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 41, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nTake the object away from the table." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006047.mp4", + "start": 0, + "end": 41, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3478790521621704, + 0.24299654364585876, + 0.15477155148983002, + -0.11847175657749176, + 0.08635471761226654, + 1.8229225873947144, + 0.0, + 0.9994885921478271 + ], + [ + 0.3473295569419861, + 0.24227364361286163, + 0.13358649611473083, + -0.0695691630244255, + 0.10866789519786835, + 1.8265694379806519, + 0.0, + 0.9994885921478271 + ], + [ + 0.33509835600852966, + 0.2378653734922409, + 0.11263389140367508, + -0.030621996149420738, + 0.11923087388277054, + 1.8409326076507568, + 0.0, + 0.9994885921478271 + ], + [ + 0.32043561339378357, + 0.24209651350975037, + 0.11821955442428589, + -0.04608314856886864, + 0.10397158563137054, + 1.8668019771575928, + 0.0, + 0.9994885921478271 + ], + [ + 0.3000788688659668, + 0.24404089152812958, + 0.11244776844978333, + -0.033015258610248566, + 0.10362136363983154, + 1.901098608970642, + 0.0, + 0.9994885921478271 + ], + [ + 0.2818131148815155, + 0.23784689605236053, + 0.10270275920629501, + -0.07044076919555664, + 0.05370315909385681, + 1.942389726638794, + 0.0, + 0.9994885921478271 + ], + [ + 0.2708045244216919, + 0.23245769739151, + 0.08207052201032639, + -0.07036533206701279, + 0.032703936100006104, + 1.9716823101043701, + 0.0, + 0.9994885921478271 + ], + [ + 0.25603315234184265, + 0.2296472042798996, + 0.060459934175014496, + -0.041768696159124374, + -0.005922454409301281, + 1.9758081436157227, + 0.0, + 0.9994885921478271 + ], + [ + 0.2498832792043686, + 0.23200623691082, + 0.05346524342894554, + -0.046094831079244614, + -0.012333337217569351, + 1.9784513711929321, + 0.0, + 0.9994885921478271 + ], + [ + 0.24715107679367065, + 0.23470816016197205, + 0.05281373858451843, + -0.044691141694784164, + -0.020685682073235512, + 1.9738147258758545, + 0.0, + 0.9994885921478271 + ], + [ + 0.24525749683380127, + 0.23672376573085785, + 0.0528390035033226, + -0.03977593407034874, + -0.03409096598625183, + 1.9728456735610962, + 0.0, + 0.9994885921478271 + ], + [ + 0.24083387851715088, + 0.2379111349582672, + 0.05084589496254921, + -0.02872280776500702, + -0.04227098450064659, + 1.9791755676269531, + 0.0, + 0.9988223910331726 + ], + [ + 0.23659035563468933, + 0.23793338239192963, + 0.048214223235845566, + -0.017096880823373795, + -0.04749131575226784, + 1.982196569442749, + 0.0, + 0.9994885921478271 + ], + [ + 0.23407253623008728, + 0.23883642256259918, + 0.046687692403793335, + -0.010887585580348969, + -0.06128571555018425, + 1.9841550588607788, + 0.0, + 0.9994885921478271 + ], + [ + 0.23030611872673035, + 0.23697535693645477, + 0.03510500490665436, + 0.022933272644877434, + -0.05389455705881119, + 1.97248113155365, + 0.0, + 0.9994885921478271 + ], + [ + 0.22623085975646973, + 0.238910511136055, + 0.0261678546667099, + 0.03866561874747276, + -0.02842375449836254, + 1.9870460033416748, + 0.0, + 0.9643021821975708 + ], + [ + 0.22238720953464508, + 0.2443443387746811, + 0.025067748501896858, + 0.008818762376904488, + 0.011356266215443611, + 2.0471243858337402, + 0.0, + 0.6892001032829285 + ], + [ + 0.2214883416891098, + 0.2440672516822815, + 0.027351774275302887, + 0.016680167987942696, + 0.03449280932545662, + 2.0725152492523193, + 0.0, + 0.5551114082336426 + ], + [ + 0.24511182308197021, + 0.23603807389736176, + 0.06234627589583397, + -0.005767945200204849, + 0.1356809437274933, + 2.0530941486358643, + 0.0, + 0.5551114082336426 + ], + [ + 0.27433791756629944, + 0.22357143461704254, + 0.11127892881631851, + -0.0460142157971859, + 0.15583796799182892, + 1.9961403608322144, + 0.0, + 0.5551114082336426 + ], + [ + 0.29573166370391846, + 0.212552011013031, + 0.13444645702838898, + -0.09184803068637848, + 0.17737819254398346, + 1.9424817562103271, + 0.0, + 0.5551114082336426 + ], + [ + 0.31374260783195496, + 0.208441361784935, + 0.1504422426223755, + -0.1547061949968338, + 0.15664595365524292, + 1.874356985092163, + 0.0, + 0.5551114082336426 + ], + [ + 0.32519271969795227, + 0.20772984623908997, + 0.14217811822891235, + -0.15330258011817932, + 0.10612303018569946, + 1.8502671718597412, + 0.0, + 0.5551114082336426 + ], + [ + 0.3337896466255188, + 0.2164452075958252, + 0.1323220282793045, + -0.15674853324890137, + 0.06456567347049713, + 1.8558897972106934, + 0.0, + 0.5551114082336426 + ], + [ + 0.3396182656288147, + 0.2234801948070526, + 0.12131842970848083, + -0.1407637596130371, + 0.0444430336356163, + 1.8741222620010376, + 0.0, + 0.5551114082336426 + ], + [ + 0.34535831212997437, + 0.2317981868982315, + 0.11458801478147507, + -0.13451848924160004, + 0.026334919035434723, + 1.8992060422897339, + 0.0, + 0.5551114082336426 + ], + [ + 0.3507588803768158, + 0.23560830950737, + 0.1087123230099678, + -0.13097339868545532, + 0.030030345544219017, + 1.9204849004745483, + 0.0, + 0.5551114082336426 + ], + [ + 0.35190916061401367, + 0.2371893972158432, + 0.10548004508018494, + -0.12074361741542816, + 0.03736165165901184, + 1.9614123106002808, + 0.0, + 0.5551114082336426 + ], + [ + 0.35110846161842346, + 0.2379256635904312, + 0.1041683629155159, + -0.11578745394945145, + 0.0421915166079998, + 1.9846442937850952, + 0.0, + 0.5551114082336426 + ], + [ + 0.3502349555492401, + 0.23923929035663605, + 0.10318555682897568, + -0.11103486269712448, + 0.03846924006938934, + 1.9988420009613037, + 0.0, + 0.6099167466163635 + ], + [ + 0.3479960858821869, + 0.24090366065502167, + 0.10254864394664764, + -0.10121946036815643, + 0.01643349975347519, + 2.0123746395111084, + 0.0, + 0.9263488054275513 + ], + [ + 0.3479408621788025, + 0.24149860441684723, + 0.1029130220413208, + -0.10133049637079239, + 0.009522316046059132, + 2.0170364379882812, + 0.0, + 1.003452181816101 + ], + [ + 0.3493036925792694, + 0.23793752491474152, + 0.10358115285634995, + -0.10036205500364304, + 0.02873353846371174, + 2.009833812713623, + 0.0, + 0.9974852800369263 + ], + [ + 0.34818509221076965, + 0.22755320370197296, + 0.1311594396829605, + -0.15165776014328003, + 0.07072491198778152, + 1.9826016426086426, + 0.0, + 0.9994885921478271 + ], + [ + 0.3476056754589081, + 0.2076694816350937, + 0.15975137054920197, + -0.18318845331668854, + 0.13241814076900482, + 1.9190105199813843, + 0.0, + 0.9994885921478271 + ], + [ + 0.3514386713504791, + 0.1686619520187378, + 0.1522916704416275, + -0.12064116448163986, + 0.13451144099235535, + 1.8253201246261597, + 0.0, + 0.9994885921478271 + ], + [ + 0.35835742950439453, + 0.11489386856555939, + 0.1522381603717804, + -0.015795264393091202, + -0.007497816346585751, + 1.700796365737915, + 0.0, + 0.9994885921478271 + ], + [ + 0.3619649410247803, + 0.10050386190414429, + 0.15266777575016022, + -0.0075339628383517265, + -0.029147746041417122, + 1.6618988513946533, + 0.0, + 0.9994885921478271 + ], + [ + 0.3608212172985077, + 0.10352414846420288, + 0.15227650105953217, + -0.006234722677618265, + -0.02739422768354416, + 1.6696678400039673, + 0.0, + 0.9994885921478271 + ], + [ + 0.36108824610710144, + 0.10359760373830795, + 0.1526613086462021, + -0.007789688650518656, + -0.027641158550977707, + 1.6712440252304077, + 0.0, + 0.9994885921478271 + ], + [ + 0.36115190386772156, + 0.10336416214704514, + 0.1526551991701126, + -0.008045191876590252, + -0.026134533807635307, + 1.6713848114013672, + 0.0, + 0.9994885921478271 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9643021821975708 + ], + [ + 0.6892001032829285 + ], + [ + 0.5551114082336426 + ], + [ + 0.5551114082336426 + ], + [ + 0.5551114082336426 + ], + [ + 0.5551114082336426 + ], + [ + 0.5551114082336426 + ], + [ + 0.5551114082336426 + ], + [ + 0.5551114082336426 + ], + [ + 0.5551114082336426 + ], + [ + 0.5551114082336426 + ], + [ + 0.5551114082336426 + ], + [ + 0.5551114082336426 + ], + [ + 0.5551114082336426 + ], + [ + 0.6099167466163635 + ], + [ + 0.9263488054275513 + ], + [ + 1.003452181816101 + ], + [ + 0.9974852800369263 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3478790521621704, + 0.24299654364585876, + 0.15477155148983002 + ], + [ + 0.3473295569419861, + 0.24227364361286163, + 0.13358649611473083 + ], + [ + 0.33509835600852966, + 0.2378653734922409, + 0.11263389140367508 + ], + [ + 0.32043561339378357, + 0.24209651350975037, + 0.11821955442428589 + ], + [ + 0.3000788688659668, + 0.24404089152812958, + 0.11244776844978333 + ], + [ + 0.2818131148815155, + 0.23784689605236053, + 0.10270275920629501 + ], + [ + 0.2708045244216919, + 0.23245769739151, + 0.08207052201032639 + ], + [ + 0.25603315234184265, + 0.2296472042798996, + 0.060459934175014496 + ], + [ + 0.2498832792043686, + 0.23200623691082, + 0.05346524342894554 + ], + [ + 0.24715107679367065, + 0.23470816016197205, + 0.05281373858451843 + ], + [ + 0.24525749683380127, + 0.23672376573085785, + 0.0528390035033226 + ], + [ + 0.24083387851715088, + 0.2379111349582672, + 0.05084589496254921 + ], + [ + 0.23659035563468933, + 0.23793338239192963, + 0.048214223235845566 + ], + [ + 0.23407253623008728, + 0.23883642256259918, + 0.046687692403793335 + ], + [ + 0.23030611872673035, + 0.23697535693645477, + 0.03510500490665436 + ], + [ + 0.22623085975646973, + 0.238910511136055, + 0.0261678546667099 + ], + [ + 0.22238720953464508, + 0.2443443387746811, + 0.025067748501896858 + ], + [ + 0.2214883416891098, + 0.2440672516822815, + 0.027351774275302887 + ], + [ + 0.24511182308197021, + 0.23603807389736176, + 0.06234627589583397 + ], + [ + 0.27433791756629944, + 0.22357143461704254, + 0.11127892881631851 + ], + [ + 0.29573166370391846, + 0.212552011013031, + 0.13444645702838898 + ], + [ + 0.31374260783195496, + 0.208441361784935, + 0.1504422426223755 + ], + [ + 0.32519271969795227, + 0.20772984623908997, + 0.14217811822891235 + ], + [ + 0.3337896466255188, + 0.2164452075958252, + 0.1323220282793045 + ], + [ + 0.3396182656288147, + 0.2234801948070526, + 0.12131842970848083 + ], + [ + 0.34535831212997437, + 0.2317981868982315, + 0.11458801478147507 + ], + [ + 0.3507588803768158, + 0.23560830950737, + 0.1087123230099678 + ], + [ + 0.35190916061401367, + 0.2371893972158432, + 0.10548004508018494 + ], + [ + 0.35110846161842346, + 0.2379256635904312, + 0.1041683629155159 + ], + [ + 0.3502349555492401, + 0.23923929035663605, + 0.10318555682897568 + ], + [ + 0.3479960858821869, + 0.24090366065502167, + 0.10254864394664764 + ], + [ + 0.3479408621788025, + 0.24149860441684723, + 0.1029130220413208 + ], + [ + 0.3493036925792694, + 0.23793752491474152, + 0.10358115285634995 + ], + [ + 0.34818509221076965, + 0.22755320370197296, + 0.1311594396829605 + ], + [ + 0.3476056754589081, + 0.2076694816350937, + 0.15975137054920197 + ], + [ + 0.3514386713504791, + 0.1686619520187378, + 0.1522916704416275 + ], + [ + 0.35835742950439453, + 0.11489386856555939, + 0.1522381603717804 + ], + [ + 0.3619649410247803, + 0.10050386190414429, + 0.15266777575016022 + ], + [ + 0.3608212172985077, + 0.10352414846420288, + 0.15227650105953217 + ], + [ + 0.36108824610710144, + 0.10359760373830795, + 0.1526613086462021 + ], + [ + 0.36115190386772156, + 0.10336416214704514, + 0.1526551991701126 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + -0.248533994628659, + 0.9590531944919369, + 0.1358227655760699, + 0.9647757429258634, + 0.25758663300723905, + -0.0534499051247186, + -0.08624743112562375, + 0.11775439113172913, + -0.989290293085617 + ], + [ + -0.25150115057532535, + 0.963220415527876, + 0.09462347684160377, + 0.9617613365993839, + 0.2596751854794142, + -0.08708575927669508, + -0.10845415013660933, + 0.06910303290404705, + -0.9916967622018376 + ], + [ + -0.2649681630216445, + 0.9623108416799766, + 0.061234929330486645, + 0.9568924227086666, + 0.2702474674105906, + -0.10641051508614985, + -0.11894857690478323, + 0.030399841172879256, + -0.9924349276950051 + ], + [ + -0.2901266691277559, + 0.9540991750580423, + 0.07430531619202413, + 0.9513439555847201, + 0.2959653165169704, + -0.08572753111706596, + -0.10378436314422129, + 0.04581807037155319, + -0.993543914678247 + ], + [ + -0.32258931986586953, + 0.9443214799492624, + 0.06475394362438855, + 0.9408704051155036, + 0.3273820229494084, + -0.08708554315924791, + -0.10343602605603061, + 0.032832203032813326, + -0.9940940775186966 + ], + [ + -0.3625770720521904, + 0.928067519170335, + 0.08502086028193578, + 0.9304066901098337, + 0.36572018290048464, + -0.024333902648363992, + -0.053677349235265716, + 0.07028106203135963, + -0.9960819818161653 + ], + [ + -0.39002556561651547, + 0.9175400790239571, + 0.07746135520520753, + 0.9202232837661103, + 0.3913851999875584, + -0.0025948497866412554, + -0.03269810667658757, + 0.07026968489618451, + -0.9969919785055228 + ], + [ + -0.3940227108454808, + 0.9183935610865155, + 0.03604677922932304, + 0.9190816222087366, + 0.3934586617017952, + 0.0218918535074049, + 0.0059224197872203965, + 0.04175581979390623, + -0.9991102924388292 + ], + [ + -0.3964274739631091, + 0.917303187161993, + 0.03741818688388331, + 0.9179831994065879, + 0.3955147996286353, + 0.029578520618251045, + 0.01233302454681247, + 0.04607500512391985, + -0.9988618475086319 + ], + [ + -0.3921127868138734, + 0.9193253205278171, + 0.03299268787904317, + 0.9196845796265232, + 0.3909550360563112, + 0.036529902537422984, + 0.020684206879720363, + 0.04466670816877502, + -0.9987877896566028 + ], + [ + -0.3910777324244499, + 0.9200634862966942, + 0.023267754195945404, + 0.9197262980918369, + 0.3897482873653435, + 0.046902122490001655, + 0.03408436298415801, + 0.03974234114083132, + -0.9986284607002796 + ], + [ + -0.3967676296329255, + 0.9178690683612976, + 0.009582349452688977, + 0.9169458413409228, + 0.39584475917443857, + 0.05017221025346731, + 0.0422583970715522, + 0.028693204416631604, + -0.9986946119296172 + ], + [ + -0.39944224874093814, + 0.9167523770793239, + -0.0033119541349353743, + 0.9155283501817303, + 0.3990907954005112, + 0.050342596676242336, + 0.04747346558133219, + 0.01707677211878137, + -0.9987265160792025 + ], + [ + -0.4009333162778256, + 0.9159904073076551, + -0.01463043467640605, + 0.9140575676470154, + 0.4010529684927858, + 0.060458907452466376, + 0.061247358520072945, + 0.010866930729517225, + -0.9980634603525134 + ], + [ + -0.39040192455505124, + 0.9196786137614011, + -0.04216141237695824, + 0.9190672038610809, + 0.3920037378505044, + 0.040602269618925324, + 0.05386847028352404, + -0.022897967183593434, + -0.9982854656901365 + ], + [ + -0.4041698932710632, + 0.9134839476135985, + -0.04683775000503496, + 0.9142423120282706, + 0.40503579988879085, + 0.010343872855464108, + 0.028419927347903044, + -0.03864037086680293, + -0.9988489522789801 + ], + [ + -0.4584895106670107, + 0.8886959268578222, + -0.002630246118097301, + 0.888627261212397, + 0.45841225012154296, + -0.01413504752940192, + -0.011356022123950767, + -0.008818079429249767, + -0.9998966357762685 + ], + [ + -0.48064725817268866, + 0.8769118394084239, + 0.0019593663290064095, + 0.8762356595569376, + 0.4803621077528762, + -0.03825329209404581, + -0.034485970073278964, + -0.01666947331347152, + -0.9992661539988013 + ], + [ + -0.4595533872176676, + 0.885554890795882, + 0.06784703150663274, + 0.8777893007730834, + 0.4644995966326275, + -0.11715830391580315, + -0.13526502779754188, + 0.005714902940552227, + -0.9907929713816657 + ], + [ + -0.4076338096409785, + 0.9069867723796315, + 0.10587573832545763, + 0.8998584134228252, + 0.4187005487394607, + -0.12224846124769911, + -0.15520796703049175, + 0.045440567928369424, + -0.9868361777704591 + ], + [ + -0.3574877847632048, + 0.921911576814667, + 0.14926998452532655, + 0.9170976247600712, + 0.3767341153843025, + -0.13039690550409222, + -0.1764495123386082, + 0.09027984736751468, + -0.9801607616890027 + ], + [ + -0.2952600039436885, + 0.9356953749026269, + 0.19312093479735815, + 0.9425940926603698, + 0.31828975333856063, + -0.10103469404839392, + -0.15600611062694753, + 0.15220314814586006, + -0.9759591667388252 + ], + [ + -0.2742952116521408, + 0.9454669219092143, + 0.17565430948377733, + 0.9557940438057998, + 0.2881592946665463, + -0.058497578775836556, + -0.10592394767031652, + 0.15184373702195914, + -0.9827123672963223 + ], + [ + -0.2806611324817835, + 0.9450375454988863, + 0.167730039979376, + 0.9576358347847386, + 0.287464703293988, + -0.017252602593125277, + -0.0645208233842349, + 0.1557821618720826, + -0.9856819879617769 + ], + [ + -0.2984010124996225, + 0.9430471362334911, + 0.14703378720896643, + 0.9534059747073318, + 0.3016903079718082, + -7.39475365688913e-05, + -0.04442840455792721, + 0.14016082518909104, + -0.9891314674757599 + ], + [ + -0.322426304649366, + 0.9368662706095823, + 0.13536199268719257, + 0.946228254926758, + 0.3229670585491646, + 0.018557173016469683, + -0.02633187514053939, + 0.13406666284425, + -0.9906224115501272 + ], + [ + -0.34245077263953927, + 0.9300895613818531, + 0.1328942290962815, + 0.9390558650722441, + 0.34335494244608744, + 0.016776941654047924, + -0.030025832078428537, + 0.13054038189907483, + -0.9909882229883672 + ], + [ + -0.38049235410602866, + 0.91622935427893, + 0.12549636976609266, + 0.9240293960892477, + 0.3821461808585819, + 0.011574610928263972, + -0.03735296012089554, + 0.120366385726312, + -0.992026556881111 + ], + [ + -0.4017775464798511, + 0.9074900216454675, + 0.12262407495487965, + 0.9147653989416327, + 0.40390429278234563, + 0.008098590689051686, + -0.04217900003303471, + 0.11542609274294091, + -0.9924201474528374 + ], + [ + -0.41478648523689354, + 0.9024072967009323, + 0.11667580094320995, + 0.9091056149351485, + 0.4164145460138394, + 0.01122081821763108, + -0.03845975244602282, + 0.11072486951450117, + -0.9931066663318634 + ], + [ + -0.42730920896808916, + 0.8987412787131165, + 0.09834100806976749, + 0.9039561960221462, + 0.4266807160678145, + 0.02840355979500244, + -0.016432760091874152, + 0.10103306623561051, + -0.994747346778464 + ], + [ + -0.43155732024612853, + 0.8970332066637147, + 0.09533994695086348, + 0.9020352585014001, + 0.4302320065293315, + 0.03511143657068451, + -0.009522172141499259, + 0.10115259116976845, + -0.994825352279157 + ], + [ + -0.42489297205607457, + 0.8993828358116308, + 0.10284199990657894, + 0.9047875846041179, + 0.42553499476298473, + 0.016715112273405594, + -0.028729584814295626, + 0.10015229842342878, + -0.9945572522871182 + ], + [ + -0.3992637236244084, + 0.901608039695588, + 0.16640739693250206, + 0.9141087464338588, + 0.4054536204076203, + -0.003544205337279782, + -0.07066596557531435, + 0.15069938438703917, + -0.9860507171817665 + ], + [ + -0.33823252261590153, + 0.9160487531424298, + 0.21553060690093068, + 0.9317544978746889, + 0.358118494577067, + -0.0598723603354819, + -0.13203149751165538, + 0.18057083293836532, + -0.9746598678291699 + ], + [ + -0.24951019861612694, + 0.9566854641555868, + 0.14999194465020674, + 0.9590412884502949, + 0.26557407274725103, + -0.09854044312888086, + -0.13410618119288623, + 0.11926162231769136, + -0.9837642998239027 + ], + [ + -0.12963053741259312, + 0.991453550456034, + 0.014689488018534567, + 0.991534017355737, + 0.12950058564694988, + 0.009481072908166981, + 0.007497746095680588, + 0.01579416364425021, + -0.99984715241794 + ], + [ + -0.09093791303712734, + 0.9958447471834238, + 0.004851337922178062, + 0.9954300304127772, + 0.09075532047090779, + 0.02970734519678015, + 0.029143618939138284, + 0.00753069142948508, + -0.9995468664158398 + ], + [ + -0.09867346823734191, + 0.995113708569838, + 0.0035005260173132987, + 0.9947428263922165, + 0.09853864681729874, + 0.0278719289723679, + 0.027390801507793335, + 0.006232343042490112, + -0.9996053730812783 + ], + [ + -0.10024056265933534, + 0.9949507724366795, + 0.004978958264038033, + 0.9945793032807135, + 0.10006162478163982, + 0.028278626764913183, + 0.027637638889579305, + 0.007786634299458937, + -0.9995876796173991 + ], + [ + -0.10038465214755982, + 0.9949341549516797, + 0.005380420411100496, + 0.9946054812056653, + 0.10020652569479377, + 0.02680650972852045, + 0.026131558867775746, + 0.008042357786459097, + -0.9996261611784547 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0005494952201843262, + -0.0007229000329971313, + -0.021185055375099182, + 0.048902593553066254, + 0.022313177585601807, + 0.0036468505859375, + 1.0 + ], + [ + -0.012231200933456421, + -0.0044082701206207275, + -0.020952604711055756, + 0.03894716501235962, + 0.010562978684902191, + 0.01436316967010498, + 1.0 + ], + [ + -0.014662742614746094, + 0.0042311400175094604, + 0.005585663020610809, + -0.015461152419447899, + -0.015259288251399994, + 0.025869369506835938, + 1.0 + ], + [ + -0.020356744527816772, + 0.0019443780183792114, + -0.0057717859745025635, + 0.013067889958620071, + -0.00035022199153900146, + 0.034296631813049316, + 1.0 + ], + [ + -0.018265753984451294, + -0.006193995475769043, + -0.009745009243488312, + -0.037425510585308075, + -0.04991820454597473, + 0.041291117668151855, + 1.0 + ], + [ + -0.011008590459823608, + -0.005389198660850525, + -0.020632237195968628, + 7.543712854385376e-05, + -0.020999222993850708, + 0.029292583465576172, + 1.0 + ], + [ + -0.014771372079849243, + -0.0028104931116104126, + -0.02161058783531189, + 0.028596635907888412, + -0.03862639144062996, + 0.004125833511352539, + 1.0 + ], + [ + -0.00614987313747406, + 0.00235903263092041, + -0.0069946907460689545, + -0.004326134920120239, + -0.00641088280826807, + 0.0026432275772094727, + 1.0 + ], + [ + -0.002732202410697937, + 0.0027019232511520386, + -0.0006515048444271088, + 0.0014036893844604492, + -0.00835234485566616, + -0.004636645317077637, + 1.0 + ], + [ + -0.0018935799598693848, + 0.0020156055688858032, + 2.52649188041687e-05, + 0.004915207624435425, + -0.01340528391301632, + -0.0009690523147583008, + 1.0 + ], + [ + -0.004423618316650391, + 0.0011873692274093628, + -0.0019931085407733917, + 0.01105312630534172, + -0.00818001851439476, + 0.006329894065856934, + 1.0 + ], + [ + -0.004243522882461548, + 2.224743366241455e-05, + -0.002631671726703644, + 0.011625926941633224, + -0.005220331251621246, + 0.0030210018157958984, + 1.0 + ], + [ + -0.0025178194046020508, + 0.0009030401706695557, + -0.0015265308320522308, + 0.006209295243024826, + -0.013794399797916412, + 0.001958489418029785, + 1.0 + ], + [ + -0.0037664175033569336, + -0.0018610656261444092, + -0.011582687497138977, + 0.03382086008787155, + 0.007391158491373062, + -0.011673927307128906, + 1.0 + ], + [ + -0.00407525897026062, + 0.0019351541996002197, + -0.008937150239944458, + 0.01573234610259533, + 0.025470802560448647, + 0.014564871788024902, + 0.0 + ], + [ + -0.003843650221824646, + 0.005433827638626099, + -0.0011001061648130417, + -0.029846856370568275, + 0.03978002071380615, + 0.06007838249206543, + 0.0 + ], + [ + -0.0008988678455352783, + -0.00027708709239959717, + 0.0022840257734060287, + 0.007861405611038208, + 0.023136543110013008, + 0.0253908634185791, + 0.0 + ], + [ + 0.023623481392860413, + -0.008029177784919739, + 0.03499450162053108, + -0.022448113188147545, + 0.10118813812732697, + -0.019421100616455078, + 0.0 + ], + [ + 0.029226094484329224, + -0.012466639280319214, + 0.04893265292048454, + -0.04024627059698105, + 0.020157024264335632, + -0.0569537878036499, + 0.0 + ], + [ + 0.02139374613761902, + -0.011019423604011536, + 0.023167528212070465, + -0.04583381488919258, + 0.02154022455215454, + -0.05365860462188721, + 0.0 + ], + [ + 0.0180109441280365, + -0.004110649228096008, + 0.01599578559398651, + -0.06285816431045532, + -0.02073223888874054, + -0.06812477111816406, + 0.0 + ], + [ + 0.011450111865997314, + -0.0007115155458450317, + -0.008264124393463135, + 0.00140361487865448, + -0.05052292346954346, + -0.024089813232421875, + 0.0 + ], + [ + 0.008596926927566528, + 0.00871536135673523, + -0.009856089949607849, + -0.003445953130722046, + -0.04155735671520233, + 0.0056226253509521484, + 0.0 + ], + [ + 0.0058286190032958984, + 0.007034987211227417, + -0.01100359857082367, + 0.015984773635864258, + -0.02012263983488083, + 0.01823246479034424, + 0.0 + ], + [ + 0.005740046501159668, + 0.008317992091178894, + -0.006730414927005768, + 0.006245270371437073, + -0.01810811460018158, + 0.02508378028869629, + 0.0 + ], + [ + 0.005400568246841431, + 0.0038101226091384888, + -0.005875691771507263, + 0.0035450905561447144, + 0.003695426508784294, + 0.021278858184814453, + 0.0 + ], + [ + 0.001150280237197876, + 0.0015810877084732056, + -0.0032322779297828674, + 0.01022978127002716, + 0.007331306114792824, + 0.04092741012573242, + 0.0 + ], + [ + -0.00080069899559021, + 0.0007362663745880127, + -0.0013116821646690369, + 0.004956163465976715, + 0.004829864948987961, + 0.023231983184814453, + 0.0 + ], + [ + -0.0008735060691833496, + 0.001313626766204834, + -0.0009828060865402222, + 0.004752591252326965, + -0.0037222765386104584, + 0.014197707176208496, + 1.0 + ], + [ + -0.0022388696670532227, + 0.0016643702983856201, + -0.0006369128823280334, + 0.009815402328968048, + -0.022035740315914154, + 0.013532638549804688, + 1.0 + ], + [ + -5.5223703384399414e-05, + 0.0005949437618255615, + 0.00036437809467315674, + -0.00011103600263595581, + -0.006911183707416058, + 0.0046617984771728516, + 1.0 + ], + [ + 0.001362830400466919, + -0.003561079502105713, + 0.0006681308150291443, + 0.000968441367149353, + 0.019211221486330032, + -0.007202625274658203, + 1.0 + ], + [ + -0.0011186003684997559, + -0.010384321212768555, + 0.027578286826610565, + -0.05129570513963699, + 0.041991375386714935, + -0.02723217010498047, + 1.0 + ], + [ + -0.0005794167518615723, + -0.019883722066879272, + 0.028591930866241455, + -0.03153069317340851, + 0.0616932287812233, + -0.0635911226272583, + 1.0 + ], + [ + 0.003832995891571045, + -0.039007529616355896, + -0.007459700107574463, + 0.06254728883504868, + 0.002093300223350525, + -0.09369039535522461, + 1.0 + ], + [ + 0.006918758153915405, + -0.053768083453178406, + -5.3510069847106934e-05, + 0.10484589636325836, + -0.14200925827026367, + -0.12452375888824463, + 1.0 + ], + [ + 0.003607511520385742, + -0.0143900066614151, + 0.0004296153783798218, + 0.008261301554739475, + -0.021649930626153946, + -0.03889751434326172, + 1.0 + ], + [ + -0.001143723726272583, + 0.0030202865600585938, + -0.00039127469062805176, + 0.0012992401607334614, + 0.001753518357872963, + 0.007768988609313965, + 1.0 + ], + [ + 0.00026702880859375, + 7.345527410507202e-05, + 0.0003848075866699219, + -0.0015549659729003906, + -0.000246930867433548, + 0.0015761852264404297, + 1.0 + ], + [ + 6.365776062011719e-05, + -0.00023344159126281738, + -6.109476089477539e-06, + -0.00025550322607159615, + 0.0015066247433423996, + 0.00014078617095947266, + 1.0 + ], + [ + -6.365776062011719e-05, + 0.00023344159126281738, + 6.109476089477539e-06, + 0.00025550322607159615, + -0.0015066247433423996, + -0.00014078617095947266, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9643021821975708 + ], + [ + 0.6892001032829285 + ], + [ + 0.5551114082336426 + ], + [ + 0.5551114082336426 + ], + [ + 0.5551114082336426 + ], + [ + 0.5551114082336426 + ], + [ + 0.5551114082336426 + ], + [ + 0.5551114082336426 + ], + [ + 0.5551114082336426 + ], + [ + 0.5551114082336426 + ], + [ + 0.5551114082336426 + ], + [ + 0.5551114082336426 + ], + [ + 0.5551114082336426 + ], + [ + 0.5551114082336426 + ], + [ + 0.6099167466163635 + ], + [ + 0.9263488054275513 + ], + [ + 1.003452181816101 + ], + [ + 0.9974852800369263 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3473295569419861, + 0.24227364361286163, + 0.13358649611473083 + ], + [ + 0.33509835600852966, + 0.2378653734922409, + 0.11263389140367508 + ], + [ + 0.32043561339378357, + 0.24209651350975037, + 0.11821955442428589 + ], + [ + 0.3000788688659668, + 0.24404089152812958, + 0.11244776844978333 + ], + [ + 0.2818131148815155, + 0.23784689605236053, + 0.10270275920629501 + ], + [ + 0.2708045244216919, + 0.23245769739151, + 0.08207052201032639 + ], + [ + 0.25603315234184265, + 0.2296472042798996, + 0.060459934175014496 + ], + [ + 0.2498832792043686, + 0.23200623691082, + 0.05346524342894554 + ], + [ + 0.24715107679367065, + 0.23470816016197205, + 0.05281373858451843 + ], + [ + 0.24525749683380127, + 0.23672376573085785, + 0.0528390035033226 + ], + [ + 0.24083387851715088, + 0.2379111349582672, + 0.05084589496254921 + ], + [ + 0.23659035563468933, + 0.23793338239192963, + 0.048214223235845566 + ], + [ + 0.23407253623008728, + 0.23883642256259918, + 0.046687692403793335 + ], + [ + 0.23030611872673035, + 0.23697535693645477, + 0.03510500490665436 + ], + [ + 0.22623085975646973, + 0.238910511136055, + 0.0261678546667099 + ], + [ + 0.22238720953464508, + 0.2443443387746811, + 0.025067748501896858 + ], + [ + 0.2214883416891098, + 0.2440672516822815, + 0.027351774275302887 + ], + [ + 0.24511182308197021, + 0.23603807389736176, + 0.06234627589583397 + ], + [ + 0.27433791756629944, + 0.22357143461704254, + 0.11127892881631851 + ], + [ + 0.29573166370391846, + 0.212552011013031, + 0.13444645702838898 + ], + [ + 0.31374260783195496, + 0.208441361784935, + 0.1504422426223755 + ], + [ + 0.32519271969795227, + 0.20772984623908997, + 0.14217811822891235 + ], + [ + 0.3337896466255188, + 0.2164452075958252, + 0.1323220282793045 + ], + [ + 0.3396182656288147, + 0.2234801948070526, + 0.12131842970848083 + ], + [ + 0.34535831212997437, + 0.2317981868982315, + 0.11458801478147507 + ], + [ + 0.3507588803768158, + 0.23560830950737, + 0.1087123230099678 + ], + [ + 0.35190916061401367, + 0.2371893972158432, + 0.10548004508018494 + ], + [ + 0.35110846161842346, + 0.2379256635904312, + 0.1041683629155159 + ], + [ + 0.3502349555492401, + 0.23923929035663605, + 0.10318555682897568 + ], + [ + 0.3479960858821869, + 0.24090366065502167, + 0.10254864394664764 + ], + [ + 0.3479408621788025, + 0.24149860441684723, + 0.1029130220413208 + ], + [ + 0.3493036925792694, + 0.23793752491474152, + 0.10358115285634995 + ], + [ + 0.34818509221076965, + 0.22755320370197296, + 0.1311594396829605 + ], + [ + 0.3476056754589081, + 0.2076694816350937, + 0.15975137054920197 + ], + [ + 0.3514386713504791, + 0.1686619520187378, + 0.1522916704416275 + ], + [ + 0.35835742950439453, + 0.11489386856555939, + 0.1522381603717804 + ], + [ + 0.3619649410247803, + 0.10050386190414429, + 0.15266777575016022 + ], + [ + 0.3608212172985077, + 0.10352414846420288, + 0.15227650105953217 + ], + [ + 0.36108824610710144, + 0.10359760373830795, + 0.1526613086462021 + ], + [ + 0.36115190386772156, + 0.10336416214704514, + 0.1526551991701126 + ], + [ + 0.36108824610710144, + 0.10359760373830795, + 0.1526613086462021 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + -0.25150115057532535, + 0.963220415527876, + 0.09462347684160377, + 0.9617613365993839, + 0.2596751854794142, + -0.08708575927669508, + -0.10845415013660933, + 0.06910303290404705, + -0.9916967622018376 + ], + [ + -0.2649681630216445, + 0.9623108416799766, + 0.061234929330486645, + 0.9568924227086666, + 0.2702474674105906, + -0.10641051508614985, + -0.11894857690478323, + 0.030399841172879256, + -0.9924349276950051 + ], + [ + -0.2901266691277559, + 0.9540991750580423, + 0.07430531619202413, + 0.9513439555847201, + 0.2959653165169704, + -0.08572753111706596, + -0.10378436314422129, + 0.04581807037155319, + -0.993543914678247 + ], + [ + -0.32258931986586953, + 0.9443214799492624, + 0.06475394362438855, + 0.9408704051155036, + 0.3273820229494084, + -0.08708554315924791, + -0.10343602605603061, + 0.032832203032813326, + -0.9940940775186966 + ], + [ + -0.3625770720521904, + 0.928067519170335, + 0.08502086028193578, + 0.9304066901098337, + 0.36572018290048464, + -0.024333902648363992, + -0.053677349235265716, + 0.07028106203135963, + -0.9960819818161653 + ], + [ + -0.39002556561651547, + 0.9175400790239571, + 0.07746135520520753, + 0.9202232837661103, + 0.3913851999875584, + -0.0025948497866412554, + -0.03269810667658757, + 0.07026968489618451, + -0.9969919785055228 + ], + [ + -0.3940227108454808, + 0.9183935610865155, + 0.03604677922932304, + 0.9190816222087366, + 0.3934586617017952, + 0.0218918535074049, + 0.0059224197872203965, + 0.04175581979390623, + -0.9991102924388292 + ], + [ + -0.3964274739631091, + 0.917303187161993, + 0.03741818688388331, + 0.9179831994065879, + 0.3955147996286353, + 0.029578520618251045, + 0.01233302454681247, + 0.04607500512391985, + -0.9988618475086319 + ], + [ + -0.3921127868138734, + 0.9193253205278171, + 0.03299268787904317, + 0.9196845796265232, + 0.3909550360563112, + 0.036529902537422984, + 0.020684206879720363, + 0.04466670816877502, + -0.9987877896566028 + ], + [ + -0.3910777324244499, + 0.9200634862966942, + 0.023267754195945404, + 0.9197262980918369, + 0.3897482873653435, + 0.046902122490001655, + 0.03408436298415801, + 0.03974234114083132, + -0.9986284607002796 + ], + [ + -0.3967676296329255, + 0.9178690683612976, + 0.009582349452688977, + 0.9169458413409228, + 0.39584475917443857, + 0.05017221025346731, + 0.0422583970715522, + 0.028693204416631604, + -0.9986946119296172 + ], + [ + -0.39944224874093814, + 0.9167523770793239, + -0.0033119541349353743, + 0.9155283501817303, + 0.3990907954005112, + 0.050342596676242336, + 0.04747346558133219, + 0.01707677211878137, + -0.9987265160792025 + ], + [ + -0.4009333162778256, + 0.9159904073076551, + -0.01463043467640605, + 0.9140575676470154, + 0.4010529684927858, + 0.060458907452466376, + 0.061247358520072945, + 0.010866930729517225, + -0.9980634603525134 + ], + [ + -0.39040192455505124, + 0.9196786137614011, + -0.04216141237695824, + 0.9190672038610809, + 0.3920037378505044, + 0.040602269618925324, + 0.05386847028352404, + -0.022897967183593434, + -0.9982854656901365 + ], + [ + -0.4041698932710632, + 0.9134839476135985, + -0.04683775000503496, + 0.9142423120282706, + 0.40503579988879085, + 0.010343872855464108, + 0.028419927347903044, + -0.03864037086680293, + -0.9988489522789801 + ], + [ + -0.4584895106670107, + 0.8886959268578222, + -0.002630246118097301, + 0.888627261212397, + 0.45841225012154296, + -0.01413504752940192, + -0.011356022123950767, + -0.008818079429249767, + -0.9998966357762685 + ], + [ + -0.48064725817268866, + 0.8769118394084239, + 0.0019593663290064095, + 0.8762356595569376, + 0.4803621077528762, + -0.03825329209404581, + -0.034485970073278964, + -0.01666947331347152, + -0.9992661539988013 + ], + [ + -0.4595533872176676, + 0.885554890795882, + 0.06784703150663274, + 0.8777893007730834, + 0.4644995966326275, + -0.11715830391580315, + -0.13526502779754188, + 0.005714902940552227, + -0.9907929713816657 + ], + [ + -0.4076338096409785, + 0.9069867723796315, + 0.10587573832545763, + 0.8998584134228252, + 0.4187005487394607, + -0.12224846124769911, + -0.15520796703049175, + 0.045440567928369424, + -0.9868361777704591 + ], + [ + -0.3574877847632048, + 0.921911576814667, + 0.14926998452532655, + 0.9170976247600712, + 0.3767341153843025, + -0.13039690550409222, + -0.1764495123386082, + 0.09027984736751468, + -0.9801607616890027 + ], + [ + -0.2952600039436885, + 0.9356953749026269, + 0.19312093479735815, + 0.9425940926603698, + 0.31828975333856063, + -0.10103469404839392, + -0.15600611062694753, + 0.15220314814586006, + -0.9759591667388252 + ], + [ + -0.2742952116521408, + 0.9454669219092143, + 0.17565430948377733, + 0.9557940438057998, + 0.2881592946665463, + -0.058497578775836556, + -0.10592394767031652, + 0.15184373702195914, + -0.9827123672963223 + ], + [ + -0.2806611324817835, + 0.9450375454988863, + 0.167730039979376, + 0.9576358347847386, + 0.287464703293988, + -0.017252602593125277, + -0.0645208233842349, + 0.1557821618720826, + -0.9856819879617769 + ], + [ + -0.2984010124996225, + 0.9430471362334911, + 0.14703378720896643, + 0.9534059747073318, + 0.3016903079718082, + -7.39475365688913e-05, + -0.04442840455792721, + 0.14016082518909104, + -0.9891314674757599 + ], + [ + -0.322426304649366, + 0.9368662706095823, + 0.13536199268719257, + 0.946228254926758, + 0.3229670585491646, + 0.018557173016469683, + -0.02633187514053939, + 0.13406666284425, + -0.9906224115501272 + ], + [ + -0.34245077263953927, + 0.9300895613818531, + 0.1328942290962815, + 0.9390558650722441, + 0.34335494244608744, + 0.016776941654047924, + -0.030025832078428537, + 0.13054038189907483, + -0.9909882229883672 + ], + [ + -0.38049235410602866, + 0.91622935427893, + 0.12549636976609266, + 0.9240293960892477, + 0.3821461808585819, + 0.011574610928263972, + -0.03735296012089554, + 0.120366385726312, + -0.992026556881111 + ], + [ + -0.4017775464798511, + 0.9074900216454675, + 0.12262407495487965, + 0.9147653989416327, + 0.40390429278234563, + 0.008098590689051686, + -0.04217900003303471, + 0.11542609274294091, + -0.9924201474528374 + ], + [ + -0.41478648523689354, + 0.9024072967009323, + 0.11667580094320995, + 0.9091056149351485, + 0.4164145460138394, + 0.01122081821763108, + -0.03845975244602282, + 0.11072486951450117, + -0.9931066663318634 + ], + [ + -0.42730920896808916, + 0.8987412787131165, + 0.09834100806976749, + 0.9039561960221462, + 0.4266807160678145, + 0.02840355979500244, + -0.016432760091874152, + 0.10103306623561051, + -0.994747346778464 + ], + [ + -0.43155732024612853, + 0.8970332066637147, + 0.09533994695086348, + 0.9020352585014001, + 0.4302320065293315, + 0.03511143657068451, + -0.009522172141499259, + 0.10115259116976845, + -0.994825352279157 + ], + [ + -0.42489297205607457, + 0.8993828358116308, + 0.10284199990657894, + 0.9047875846041179, + 0.42553499476298473, + 0.016715112273405594, + -0.028729584814295626, + 0.10015229842342878, + -0.9945572522871182 + ], + [ + -0.3992637236244084, + 0.901608039695588, + 0.16640739693250206, + 0.9141087464338588, + 0.4054536204076203, + -0.003544205337279782, + -0.07066596557531435, + 0.15069938438703917, + -0.9860507171817665 + ], + [ + -0.33823252261590153, + 0.9160487531424298, + 0.21553060690093068, + 0.9317544978746889, + 0.358118494577067, + -0.0598723603354819, + -0.13203149751165538, + 0.18057083293836532, + -0.9746598678291699 + ], + [ + -0.24951019861612694, + 0.9566854641555868, + 0.14999194465020674, + 0.9590412884502949, + 0.26557407274725103, + -0.09854044312888086, + -0.13410618119288623, + 0.11926162231769136, + -0.9837642998239027 + ], + [ + -0.12963053741259312, + 0.991453550456034, + 0.014689488018534567, + 0.991534017355737, + 0.12950058564694988, + 0.009481072908166981, + 0.007497746095680588, + 0.01579416364425021, + -0.99984715241794 + ], + [ + -0.09093791303712734, + 0.9958447471834238, + 0.004851337922178062, + 0.9954300304127772, + 0.09075532047090779, + 0.02970734519678015, + 0.029143618939138284, + 0.00753069142948508, + -0.9995468664158398 + ], + [ + -0.09867346823734191, + 0.995113708569838, + 0.0035005260173132987, + 0.9947428263922165, + 0.09853864681729874, + 0.0278719289723679, + 0.027390801507793335, + 0.006232343042490112, + -0.9996053730812783 + ], + [ + -0.10024056265933534, + 0.9949507724366795, + 0.004978958264038033, + 0.9945793032807135, + 0.10006162478163982, + 0.028278626764913183, + 0.027637638889579305, + 0.007786634299458937, + -0.9995876796173991 + ], + [ + -0.10038465214755982, + 0.9949341549516797, + 0.005380420411100496, + 0.9946054812056653, + 0.10020652569479377, + 0.02680650972852045, + 0.026131558867775746, + 0.008042357786459097, + -0.9996261611784547 + ], + [ + -0.10024056265933534, + 0.9949507724366795, + 0.004978958264038033, + 0.9945793032807135, + 0.10006162478163982, + 0.028278626764913183, + 0.027637638889579305, + 0.007786634299458937, + -0.9995876796173991 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006048.json b/json/chunk-0006/episode_0006048.json new file mode 100644 index 0000000000000000000000000000000000000000..5e2acf926f45dd58c91ea5eb24455ad99a3df5ec --- /dev/null +++ b/json/chunk-0006/episode_0006048.json @@ -0,0 +1,2122 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 34, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nUnfold the cloth from right to left." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006048.mp4", + "start": 0, + "end": 34, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.321486234664917, + -0.007148665376007557, + 0.1966075748205185, + -0.23177742958068848, + -0.31990453600883484, + 0.22418931126594543, + 0.0, + 1.0008161067962646 + ], + [ + 0.3227906823158264, + -0.007556919474154711, + 0.18685568869113922, + -0.22806745767593384, + -0.2885669469833374, + 0.225819393992424, + 0.0, + 1.0008161067962646 + ], + [ + 0.33205702900886536, + -0.018002759665250778, + 0.16206291317939758, + -0.213684543967247, + -0.23175771534442902, + 0.23957882821559906, + 0.0, + 1.0014774799346924 + ], + [ + 0.3471006453037262, + -0.02883315458893776, + 0.13890279829502106, + -0.2106993943452835, + -0.18116602301597595, + 0.282507061958313, + 0.0, + 1.0008161067962646 + ], + [ + 0.35667991638183594, + -0.03785330429673195, + 0.11950496584177017, + -0.1927661895751953, + -0.15470579266548157, + 0.3161937892436981, + 0.0, + 1.0008161067962646 + ], + [ + 0.3647013306617737, + -0.04398536682128906, + 0.10355173051357269, + -0.16437585651874542, + -0.15221594274044037, + 0.33245718479156494, + 0.0, + 1.0014774799346924 + ], + [ + 0.368004709482193, + -0.04824426397681236, + 0.08953949809074402, + -0.15002165734767914, + -0.14406836032867432, + 0.338987797498703, + 0.0, + 1.0008161067962646 + ], + [ + 0.3712088167667389, + -0.05650213733315468, + 0.0766865685582161, + -0.13815081119537354, + -0.14580881595611572, + 0.332584947347641, + 0.0, + 1.0008161067962646 + ], + [ + 0.37379834055900574, + -0.06415616720914841, + 0.06824910640716553, + -0.1373697966337204, + -0.13755181431770325, + 0.33835890889167786, + 0.0, + 1.0008161067962646 + ], + [ + 0.37941938638687134, + -0.07455713301897049, + 0.07525160908699036, + -0.1628304421901703, + -0.15270794928073883, + 0.3398433327674866, + 0.0, + 1.0008161067962646 + ], + [ + 0.3829644024372101, + -0.0809018611907959, + 0.07062627375125885, + -0.16380974650382996, + -0.13711941242218018, + 0.3413504362106323, + 0.0, + 1.0014774799346924 + ], + [ + 0.3888019919395447, + -0.0818294808268547, + 0.06961939483880997, + -0.1653895378112793, + -0.1346689909696579, + 0.3581642210483551, + 0.0, + 1.0008161067962646 + ], + [ + 0.3910768926143646, + -0.08063893020153046, + 0.06202157586812973, + -0.14863134920597076, + -0.12620480358600616, + 0.35684236884117126, + 0.0, + 1.0008161067962646 + ], + [ + 0.3922880291938782, + -0.07900407165288925, + 0.062083981931209564, + -0.14089864492416382, + -0.13772019743919373, + 0.35197800397872925, + 0.0, + 0.9492040276527405 + ], + [ + 0.39128759503364563, + -0.07776163518428802, + 0.051580481231212616, + -0.12602655589580536, + -0.12465614825487137, + 0.35335367918014526, + 0.0, + 0.7329457402229309 + ], + [ + 0.389395534992218, + -0.0765954777598381, + 0.04834948107600212, + -0.11743976175785065, + -0.12552917003631592, + 0.3585067391395569, + 0.0, + 0.43017780780792236 + ], + [ + 0.3866948187351227, + -0.07941128313541412, + 0.04480370506644249, + -0.10618796944618225, + -0.13364075124263763, + 0.3451248109340668, + 0.0, + 0.18686315417289734 + ], + [ + 0.383240282535553, + -0.07970951497554779, + 0.04435858130455017, + -0.10820510983467102, + -0.13248422741889954, + 0.3440498411655426, + 0.0, + 0.08259850740432739 + ], + [ + 0.3774162828922272, + -0.08324684202671051, + 0.049774907529354095, + -0.12252282351255417, + -0.10439696162939072, + 0.3276880085468292, + 0.0, + 0.06238236278295517 + ], + [ + 0.37765073776245117, + -0.0764116421341896, + 0.08511526137590408, + -0.18006274104118347, + -0.14130492508411407, + 0.32463395595550537, + 0.0, + 0.059241458773612976 + ], + [ + 0.372563898563385, + -0.054634418338537216, + 0.10675694793462753, + -0.2104344666004181, + -0.14970141649246216, + 0.3467135429382324, + 0.0, + 0.05896064639091492 + ], + [ + 0.36062750220298767, + -0.0306968055665493, + 0.11975337564945221, + -0.22737526893615723, + -0.13742662966251373, + 0.35491785407066345, + 0.0, + 0.05896064639091492 + ], + [ + 0.3437308073043823, + -0.00588074978441, + 0.11857870221138, + -0.2045128047466278, + -0.10936160385608673, + 0.3336801826953888, + 0.0, + 0.05868057906627655 + ], + [ + 0.3264775574207306, + 0.015091360546648502, + 0.1205240786075592, + -0.18827897310256958, + -0.1041911318898201, + 0.3204382658004761, + 0.0, + 0.05868057906627655 + ], + [ + 0.30770695209503174, + 0.04107917472720146, + 0.12376900762319565, + -0.17676925659179688, + -0.09285891056060791, + 0.3126815855503082, + 0.0, + 0.05868057906627655 + ], + [ + 0.2945215404033661, + 0.06116471439599991, + 0.13191503286361694, + -0.18797799944877625, + -0.09596769511699677, + 0.29786601662635803, + 0.0, + 0.05868057906627655 + ], + [ + 0.28122538328170776, + 0.08570146560668945, + 0.13566619157791138, + -0.18803559243679047, + -0.06785023957490921, + 0.28146061301231384, + 0.0, + 0.05868057906627655 + ], + [ + 0.27263695001602173, + 0.10745988041162491, + 0.1401551514863968, + -0.17745189368724823, + -0.05868993327021599, + 0.2673660218715668, + 0.0, + 0.05868057906627655 + ], + [ + 0.266020804643631, + 0.12033350020647049, + 0.13274015486240387, + -0.14651228487491608, + -0.03374350443482399, + 0.2626599669456482, + 0.0, + 0.05868057906627655 + ], + [ + 0.2555341124534607, + 0.12752395868301392, + 0.11806488782167435, + -0.09302562475204468, + 0.013771496713161469, + 0.2519304156303406, + 0.0, + 0.07301933318376541 + ], + [ + 0.24566639959812164, + 0.1377115100622177, + 0.10729791224002838, + -0.009399807080626488, + 0.05293911322951317, + 0.279402494430542, + 0.0, + 0.21731513738632202 + ], + [ + 0.24390606582164764, + 0.14225569367408752, + 0.1047087088227272, + 0.10924843698740005, + 0.06487219780683517, + 0.3012842833995819, + 0.0, + 0.4775448143482208 + ], + [ + 0.24394436180591583, + 0.15165194869041443, + 0.10303087532520294, + 0.28604039549827576, + 0.03484299033880234, + 0.32349663972854614, + 0.0, + 0.8233373761177063 + ], + [ + 0.24547001719474792, + 0.16109365224838257, + 0.1091967299580574, + 0.41380539536476135, + -0.01208428293466568, + 0.34234729409217834, + 0.0, + 1.0041072368621826 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9492040276527405 + ], + [ + 0.7329457402229309 + ], + [ + 0.43017780780792236 + ], + [ + 0.18686315417289734 + ], + [ + 0.08259850740432739 + ], + [ + 0.06238236278295517 + ], + [ + 0.059241458773612976 + ], + [ + 0.05896064639091492 + ], + [ + 0.05896064639091492 + ], + [ + 0.05868057906627655 + ], + [ + 0.05868057906627655 + ], + [ + 0.05868057906627655 + ], + [ + 0.05868057906627655 + ], + [ + 0.05868057906627655 + ], + [ + 0.05868057906627655 + ], + [ + 0.05868057906627655 + ], + [ + 0.07301933318376541 + ], + [ + 0.21731513738632202 + ], + [ + 0.4775448143482208 + ], + [ + 0.8233373761177063 + ], + [ + 1.0041072368621826 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.321486234664917, + -0.007148665376007557, + 0.1966075748205185 + ], + [ + 0.3227906823158264, + -0.007556919474154711, + 0.18685568869113922 + ], + [ + 0.33205702900886536, + -0.018002759665250778, + 0.16206291317939758 + ], + [ + 0.3471006453037262, + -0.02883315458893776, + 0.13890279829502106 + ], + [ + 0.35667991638183594, + -0.03785330429673195, + 0.11950496584177017 + ], + [ + 0.3647013306617737, + -0.04398536682128906, + 0.10355173051357269 + ], + [ + 0.368004709482193, + -0.04824426397681236, + 0.08953949809074402 + ], + [ + 0.3712088167667389, + -0.05650213733315468, + 0.0766865685582161 + ], + [ + 0.37379834055900574, + -0.06415616720914841, + 0.06824910640716553 + ], + [ + 0.37941938638687134, + -0.07455713301897049, + 0.07525160908699036 + ], + [ + 0.3829644024372101, + -0.0809018611907959, + 0.07062627375125885 + ], + [ + 0.3888019919395447, + -0.0818294808268547, + 0.06961939483880997 + ], + [ + 0.3910768926143646, + -0.08063893020153046, + 0.06202157586812973 + ], + [ + 0.3922880291938782, + -0.07900407165288925, + 0.062083981931209564 + ], + [ + 0.39128759503364563, + -0.07776163518428802, + 0.051580481231212616 + ], + [ + 0.389395534992218, + -0.0765954777598381, + 0.04834948107600212 + ], + [ + 0.3866948187351227, + -0.07941128313541412, + 0.04480370506644249 + ], + [ + 0.383240282535553, + -0.07970951497554779, + 0.04435858130455017 + ], + [ + 0.3774162828922272, + -0.08324684202671051, + 0.049774907529354095 + ], + [ + 0.37765073776245117, + -0.0764116421341896, + 0.08511526137590408 + ], + [ + 0.372563898563385, + -0.054634418338537216, + 0.10675694793462753 + ], + [ + 0.36062750220298767, + -0.0306968055665493, + 0.11975337564945221 + ], + [ + 0.3437308073043823, + -0.00588074978441, + 0.11857870221138 + ], + [ + 0.3264775574207306, + 0.015091360546648502, + 0.1205240786075592 + ], + [ + 0.30770695209503174, + 0.04107917472720146, + 0.12376900762319565 + ], + [ + 0.2945215404033661, + 0.06116471439599991, + 0.13191503286361694 + ], + [ + 0.28122538328170776, + 0.08570146560668945, + 0.13566619157791138 + ], + [ + 0.27263695001602173, + 0.10745988041162491, + 0.1401551514863968 + ], + [ + 0.266020804643631, + 0.12033350020647049, + 0.13274015486240387 + ], + [ + 0.2555341124534607, + 0.12752395868301392, + 0.11806488782167435 + ], + [ + 0.24566639959812164, + 0.1377115100622177, + 0.10729791224002838 + ], + [ + 0.24390606582164764, + 0.14225569367408752, + 0.1047087088227272 + ], + [ + 0.24394436180591583, + 0.15165194869041443, + 0.10303087532520294 + ], + [ + 0.24547001719474792, + 0.16109365224838257, + 0.1091967299580574 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9255097497754498, + 0.1459414220468877, + 0.34947504117106354, + 0.21103692890800907, + -0.9649630569320962, + -0.15591572529203135, + 0.31447594138130863, + 0.21805366331982695, + -0.9238817468730202 + ], + [ + 0.9343134124977892, + 0.15539866848202974, + 0.32079541932631683, + 0.21464715388787217, + -0.9637800523561014, + -0.15828648081344748, + 0.2845787176767992, + 0.21674700577973843, + -0.93382851152176 + ], + [ + 0.9454658025271128, + 0.18457951258874933, + 0.2683744022522682, + 0.23094926675363803, + -0.9609019579402245, + -0.1527411647611731, + 0.22968859884138676, + 0.20639241933545577, + -0.9511284439039439 + ], + [ + 0.9446425938131389, + 0.23641022255945596, + 0.22750950886363724, + 0.2742020237845359, + -0.9496257375312366, + -0.151737301843415, + 0.18017663585062788, + 0.20572108615220586, + -0.9618810813223777 + ], + [ + 0.9390748223908354, + 0.2771356747366074, + 0.20330837597085472, + 0.30723758062052564, + -0.942001277153931, + -0.13505059383360368, + 0.15408941237498142, + 0.18928658597124182, + -0.96975617624498 + ], + [ + 0.9343138836096763, + 0.29851404414000693, + 0.19479972367891762, + 0.3225930356740375, + -0.940599837768343, + -0.10585687755066385, + 0.15162882387202575, + 0.1617445845812004, + -0.9751140390384303 + ], + [ + 0.9333213946864563, + 0.3085607571907526, + 0.1835795014221297, + 0.3290876548122592, + -0.9396342629257187, + -0.09374842604656784, + 0.1435705041806835, + 0.14791115934205526, + -0.9785242967200118 + ], + [ + 0.9351717460397974, + 0.30446467101766367, + 0.18098361669218116, + 0.3230229615318145, + -0.9427285241934008, + -0.0831811035953968, + 0.1452927105263454, + 0.1362504817394716, + -0.9799621597253995 + ], + [ + 0.934390878928255, + 0.3111003715936982, + 0.17358065609377707, + 0.32880421467298593, + -0.9406471517014601, + -0.08408759961618342, + 0.1371184662580653, + 0.13564473742166885, + -0.9812232322060268 + ], + [ + 0.9318352512383339, + 0.3056808032780927, + 0.19555641400079782, + 0.32946024621849096, + -0.9385558546063097, + -0.10280493152505481, + 0.15211512321673604, + 0.16022532350249713, + -0.9752891032905462 + ], + [ + 0.9334588547440454, + 0.30927349203480736, + 0.1816713340748389, + 0.33161781208308416, + -0.9371511766678854, + -0.1085232637696953, + 0.13669013574199154, + 0.1615474518356588, + -0.9773526628583166 + ], + [ + 0.9280623316238303, + 0.3250701871337854, + 0.18174070005847767, + 0.34738155062437487, + -0.9315110213561439, + -0.10776490791458329, + 0.13426230635120442, + 0.1631459179043089, + -0.9774236760813685 + ], + [ + 0.929552266387224, + 0.3280007012231604, + 0.16836901155346284, + 0.3465390534919077, + -0.9331848084950215, + -0.09527222889721051, + 0.1258700459176358, + 0.1469069541962695, + -0.981109106241231 + ], + [ + 0.9298046614126835, + 0.3232413612722725, + 0.17600657367863737, + 0.3414909220259496, + -0.9360370259656838, + -0.08496255760736436, + 0.1372852569983834, + 0.13910322923701712, + -0.9807155804955492 + ], + [ + 0.9309373442699285, + 0.3286394362461662, + 0.1592224292851195, + 0.3433610746968888, + -0.9361845799301228, + -0.0752436355053175, + 0.12433355712216373, + 0.12471789464572279, + -0.9843711766038704 + ], + [ + 0.9290536330293588, + 0.3347224381014153, + 0.15754439496977887, + 0.3481154517640361, + -0.9351188594944144, + -0.06609350089824817, + 0.12519975718055745, + 0.11624804535694297, + -0.9852976264827901 + ], + [ + 0.9326423776882856, + 0.3231190102453542, + 0.1605375362898158, + 0.3352975049555967, + -0.9405104873468273, + -0.05491453688400803, + 0.13324330568735096, + 0.1050434596188461, + -0.9855009350989024 + ], + [ + 0.9331467177314428, + 0.32189997973490264, + 0.16005501002375458, + 0.33434650345529565, + -0.9407024987473437, + -0.05736919450124414, + 0.13209700531901894, + 0.10704770850967735, + -0.9854395817545457 + ], + [ + 0.9416342865839898, + 0.3073839455728211, + 0.1372588078541613, + 0.32010261060063105, + -0.9437904631515773, + -0.08242499833662077, + 0.10420743263376855, + 0.12155110722743788, + -0.9870998628890911 + ], + [ + 0.938321201635709, + 0.2899001276428255, + 0.1884442584787143, + 0.31578280858074664, + -0.9404894412335023, + -0.12554213927263577, + 0.1408351531606172, + 0.17730630818154172, + -0.9740266591388849 + ], + [ + 0.9299757398659731, + 0.3030127878931792, + 0.20815468679311244, + 0.33600821434584793, + -0.9303337798504795, + -0.14689294728214186, + 0.14914289508002138, + 0.20654856194687626, + -0.9670026310227015 + ], + [ + 0.9288344633740319, + 0.30961207883630526, + 0.20348685531831284, + 0.3442369195368159, + -0.9242723295058886, + -0.16498970918685238, + 0.13699446294094592, + 0.22329581623581732, + -0.9650759014580678 + ], + [ + 0.9391988864154136, + 0.2997534664370685, + 0.16749122697923097, + 0.32556580841169896, + -0.9324127766001213, + -0.156886323260153, + 0.10914374077006855, + 0.201876876813105, + -0.973310521087131 + ], + [ + 0.9439505195587239, + 0.2909409481453463, + 0.15591914993707984, + 0.3132744014195219, + -0.9384562970022562, + -0.14546108769032676, + 0.1040027213108145, + 0.18615354766724043, + -0.9770006605170977 + ], + [ + 0.9474127144372472, + 0.28730262211243784, + 0.14094804663408667, + 0.3062860213448767, + -0.9417004965263737, + -0.13924456172758393, + 0.0927255178005098, + 0.17509248461684168, + -0.9801758006497244 + ], + [ + 0.9515662038492408, + 0.271193189960386, + 0.14483098222084667, + 0.29213045023156126, + -0.9443799064366498, + -0.15101785446168317, + 0.09582045574641408, + 0.18601302652721616, + -0.977863791242285 + ], + [ + 0.9584403604820892, + 0.26068832868210556, + 0.11590371300304853, + 0.27711997510128317, + -0.9472378706887651, + -0.16107431742173609, + 0.06779819170764609, + 0.1864993609156463, + -0.980112949398807 + ], + [ + 0.9628095311760198, + 0.2500570327250668, + 0.10231953411420432, + 0.26373708778349064, + -0.9520602143461936, + -0.15499708638088358, + 0.05865624607913743, + 0.1762181280226713, + -0.9826019622166897 + ], + [ + 0.9651530003283874, + 0.25211206743812403, + 0.07013694753256981, + 0.2595023968191938, + -0.9566352852961316, + -0.13231567167755404, + 0.03373710127152757, + 0.14590557350034106, + -0.9887231015907998 + ], + [ + 0.968341192003676, + 0.24943493306192488, + 0.00987674224092516, + 0.24925026326252653, + -0.9639268735093919, + -0.09337713205046982, + -0.013771061413770325, + 0.0928827039593633, + -0.9955818204310162 + ], + [ + 0.9598737713634252, + 0.27624726947190126, + -0.048267889511285966, + 0.2753950080445713, + -0.9610407586169386, + -0.02362731091575306, + -0.05291438927820527, + 0.009386500215625034, + -0.9985549364061131 + ], + [ + 0.952947454530857, + 0.28822801539912923, + -0.09389227892771128, + 0.29612268925655083, + -0.9513604765702436, + 0.08499762659925772, + -0.06482670599859337, + -0.10880190604542697, + -0.9919473995279455 + ], + [ + 0.9475542188825837, + 0.295648389954338, + -0.12137970091915586, + 0.3176908237821457, + -0.9127304026087186, + 0.25689638502389944, + -0.0348359406710614, + -0.2819844706205177, + -0.9587863242487494 + ], + [ + 0.9419004997773947, + 0.311942152378141, + -0.12456139887134944, + 0.33567458309075865, + -0.8608334072813897, + 0.3824766910220272, + 0.012083988825720357, + -0.4020670820621933, + -0.9155304684913845 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + 0.0013044476509094238, + -0.00040825409814715385, + -0.009751886129379272, + 0.0037099719047546387, + 0.031337589025497437, + 0.0016300827264785767, + 1.0 + ], + [ + 0.00926634669303894, + -0.010445840656757355, + -0.024792775511741638, + 0.014382913708686829, + 0.056809231638908386, + 0.013759434223175049, + 1.0 + ], + [ + 0.01504361629486084, + -0.010830394923686981, + -0.023160114884376526, + 0.002985149621963501, + 0.050591692328453064, + 0.04292823374271393, + 1.0 + ], + [ + 0.009579271078109741, + -0.00902014970779419, + -0.019397832453250885, + 0.017933204770088196, + 0.026460230350494385, + 0.03368672728538513, + 1.0 + ], + [ + 0.008021414279937744, + -0.006132062524557114, + -0.01595323532819748, + 0.02839033305644989, + 0.0024898499250411987, + 0.01626339554786682, + 1.0 + ], + [ + 0.0033033788204193115, + -0.0042588971555233, + -0.014012232422828674, + 0.014354199171066284, + 0.008147582411766052, + 0.0065306127071380615, + 1.0 + ], + [ + 0.0032041072845458984, + -0.008257873356342316, + -0.012852929532527924, + 0.011870846152305603, + -0.0017404556274414062, + -0.006402850151062012, + 1.0 + ], + [ + 0.0025895237922668457, + -0.007654029875993729, + -0.008437462151050568, + 0.0007810145616531372, + 0.008257001638412476, + 0.005773961544036865, + 1.0 + ], + [ + 0.005621045827865601, + -0.010400965809822083, + 0.007002502679824829, + -0.02546064555644989, + -0.015156134963035583, + 0.0014844238758087158, + 1.0 + ], + [ + 0.003545016050338745, + -0.006344728171825409, + -0.004625335335731506, + -0.000979304313659668, + 0.015588536858558655, + 0.001507103443145752, + 1.0 + ], + [ + 0.005837589502334595, + -0.0009276196360588074, + -0.001006878912448883, + -0.0015797913074493408, + 0.002450421452522278, + 0.01681378483772278, + 1.0 + ], + [ + 0.0022749006748199463, + 0.0011905506253242493, + -0.007597818970680237, + 0.016758188605308533, + 0.008464187383651733, + -0.0013218522071838379, + 1.0 + ], + [ + 0.0012111365795135498, + 0.0016348585486412048, + 6.240606307983398e-05, + 0.007732704281806946, + -0.011515393853187561, + -0.004864364862442017, + 0.0 + ], + [ + -0.001000434160232544, + 0.0012424364686012268, + -0.010503500699996948, + 0.01487208902835846, + 0.013064049184322357, + 0.0013756752014160156, + 0.0 + ], + [ + -0.0018920600414276123, + 0.0011661574244499207, + -0.003231000155210495, + 0.008586794137954712, + -0.0008730217814445496, + 0.005153059959411621, + 0.0 + ], + [ + -0.002700716257095337, + -0.0028158053755760193, + -0.0035457760095596313, + 0.011251792311668396, + -0.008111581206321716, + -0.013381928205490112, + 0.0 + ], + [ + -0.003454536199569702, + -0.000298231840133667, + -0.0004451237618923187, + -0.0020171403884887695, + 0.0011565238237380981, + -0.00107496976852417, + 0.0 + ], + [ + -0.005823999643325806, + -0.0035373270511627197, + 0.0054163262248039246, + -0.014317713677883148, + 0.02808726578950882, + -0.01636183261871338, + 0.0 + ], + [ + 0.00023445487022399902, + 0.0068351998925209045, + 0.03534035384654999, + -0.0575399175286293, + -0.03690796345472336, + -0.0030540525913238525, + 0.0 + ], + [ + -0.005086839199066162, + 0.02177722379565239, + 0.02164168655872345, + -0.03037172555923462, + -0.008396491408348083, + 0.02207958698272705, + 0.0 + ], + [ + -0.011936396360397339, + 0.023937612771987915, + 0.012996427714824677, + -0.016940802335739136, + 0.012274786829948425, + 0.00820431113243103, + 0.0 + ], + [ + -0.016896694898605347, + 0.024816054850816727, + -0.0011746734380722046, + 0.02286246418952942, + 0.028065025806427002, + -0.021237671375274658, + 0.0 + ], + [ + -0.017253249883651733, + 0.020972110331058502, + 0.0019453763961791992, + 0.016233831644058228, + 0.005170471966266632, + -0.01324191689491272, + 0.0 + ], + [ + -0.018770605325698853, + 0.025987815111875534, + 0.003244929015636444, + 0.011509716510772705, + 0.011332221329212189, + -0.007756680250167847, + 0.0 + ], + [ + -0.01318541169166565, + 0.020085539668798447, + 0.008146025240421295, + -0.01120874285697937, + -0.003108784556388855, + -0.014815568923950195, + 0.0 + ], + [ + -0.013296157121658325, + 0.024536751210689545, + 0.0037511587142944336, + -5.759298801422119e-05, + 0.028117455542087555, + -0.01640540361404419, + 0.0 + ], + [ + -0.008588433265686035, + 0.021758414804935455, + 0.004488959908485413, + 0.010583698749542236, + 0.009160306304693222, + -0.01409459114074707, + 0.0 + ], + [ + -0.006616145372390747, + 0.012873619794845581, + -0.00741499662399292, + 0.030939608812332153, + 0.024946428835392, + -0.004706054925918579, + 0.0 + ], + [ + -0.010486692190170288, + 0.0071904584765434265, + -0.014675267040729523, + 0.0534866601228714, + 0.04751500114798546, + -0.010729551315307617, + 1.0 + ], + [ + -0.00986771285533905, + 0.010187551379203796, + -0.010766975581645966, + 0.08362581580877304, + 0.0391676165163517, + 0.027472078800201416, + 1.0 + ], + [ + -0.001760333776473999, + 0.004544183611869812, + -0.002589203417301178, + 0.11864824593067169, + 0.011933084577322006, + 0.021881788969039917, + 1.0 + ], + [ + 3.8295984268188477e-05, + 0.009396255016326904, + -0.0016778334975242615, + 0.1767919659614563, + -0.030029207468032837, + 0.022212356328964233, + 1.0 + ], + [ + 0.0015256553888320923, + 0.00944170355796814, + 0.006165854632854462, + 0.1277649998664856, + -0.04692727327346802, + 0.018850654363632202, + 1.0 + ], + [ + 0.00442543625831604, + -0.0076662153005599976, + 0.027798272669315338, + -0.061354368925094604, + -0.007526125758886337, + -0.026767492294311523, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9492040276527405 + ], + [ + 0.7329457402229309 + ], + [ + 0.43017780780792236 + ], + [ + 0.18686315417289734 + ], + [ + 0.08259850740432739 + ], + [ + 0.06238236278295517 + ], + [ + 0.059241458773612976 + ], + [ + 0.05896064639091492 + ], + [ + 0.05896064639091492 + ], + [ + 0.05868057906627655 + ], + [ + 0.05868057906627655 + ], + [ + 0.05868057906627655 + ], + [ + 0.05868057906627655 + ], + [ + 0.05868057906627655 + ], + [ + 0.05868057906627655 + ], + [ + 0.05868057906627655 + ], + [ + 0.07301933318376541 + ], + [ + 0.21731513738632202 + ], + [ + 0.4775448143482208 + ], + [ + 0.8233373761177063 + ], + [ + 1.0041072368621826 + ], + [ + 1.002137303352356 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3227906823158264, + -0.007556919474154711, + 0.18685568869113922 + ], + [ + 0.33205702900886536, + -0.018002759665250778, + 0.16206291317939758 + ], + [ + 0.3471006453037262, + -0.02883315458893776, + 0.13890279829502106 + ], + [ + 0.35667991638183594, + -0.03785330429673195, + 0.11950496584177017 + ], + [ + 0.3647013306617737, + -0.04398536682128906, + 0.10355173051357269 + ], + [ + 0.368004709482193, + -0.04824426397681236, + 0.08953949809074402 + ], + [ + 0.3712088167667389, + -0.05650213733315468, + 0.0766865685582161 + ], + [ + 0.37379834055900574, + -0.06415616720914841, + 0.06824910640716553 + ], + [ + 0.37941938638687134, + -0.07455713301897049, + 0.07525160908699036 + ], + [ + 0.3829644024372101, + -0.0809018611907959, + 0.07062627375125885 + ], + [ + 0.3888019919395447, + -0.0818294808268547, + 0.06961939483880997 + ], + [ + 0.3910768926143646, + -0.08063893020153046, + 0.06202157586812973 + ], + [ + 0.3922880291938782, + -0.07900407165288925, + 0.062083981931209564 + ], + [ + 0.39128759503364563, + -0.07776163518428802, + 0.051580481231212616 + ], + [ + 0.389395534992218, + -0.0765954777598381, + 0.04834948107600212 + ], + [ + 0.3866948187351227, + -0.07941128313541412, + 0.04480370506644249 + ], + [ + 0.383240282535553, + -0.07970951497554779, + 0.04435858130455017 + ], + [ + 0.3774162828922272, + -0.08324684202671051, + 0.049774907529354095 + ], + [ + 0.37765073776245117, + -0.0764116421341896, + 0.08511526137590408 + ], + [ + 0.372563898563385, + -0.054634418338537216, + 0.10675694793462753 + ], + [ + 0.36062750220298767, + -0.0306968055665493, + 0.11975337564945221 + ], + [ + 0.3437308073043823, + -0.00588074978441, + 0.11857870221138 + ], + [ + 0.3264775574207306, + 0.015091360546648502, + 0.1205240786075592 + ], + [ + 0.30770695209503174, + 0.04107917472720146, + 0.12376900762319565 + ], + [ + 0.2945215404033661, + 0.06116471439599991, + 0.13191503286361694 + ], + [ + 0.28122538328170776, + 0.08570146560668945, + 0.13566619157791138 + ], + [ + 0.27263695001602173, + 0.10745988041162491, + 0.1401551514863968 + ], + [ + 0.266020804643631, + 0.12033350020647049, + 0.13274015486240387 + ], + [ + 0.2555341124534607, + 0.12752395868301392, + 0.11806488782167435 + ], + [ + 0.24566639959812164, + 0.1377115100622177, + 0.10729791224002838 + ], + [ + 0.24390606582164764, + 0.14225569367408752, + 0.1047087088227272 + ], + [ + 0.24394436180591583, + 0.15165194869041443, + 0.10303087532520294 + ], + [ + 0.24547001719474792, + 0.16109365224838257, + 0.1091967299580574 + ], + [ + 0.24989545345306396, + 0.15342743694782257, + 0.13699500262737274 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9343134124977892, + 0.15539866848202974, + 0.32079541932631683, + 0.21464715388787217, + -0.9637800523561014, + -0.15828648081344748, + 0.2845787176767992, + 0.21674700577973843, + -0.93382851152176 + ], + [ + 0.9454658025271128, + 0.18457951258874933, + 0.2683744022522682, + 0.23094926675363803, + -0.9609019579402245, + -0.1527411647611731, + 0.22968859884138676, + 0.20639241933545577, + -0.9511284439039439 + ], + [ + 0.9446425938131389, + 0.23641022255945596, + 0.22750950886363724, + 0.2742020237845359, + -0.9496257375312366, + -0.151737301843415, + 0.18017663585062788, + 0.20572108615220586, + -0.9618810813223777 + ], + [ + 0.9390748223908354, + 0.2771356747366074, + 0.20330837597085472, + 0.30723758062052564, + -0.942001277153931, + -0.13505059383360368, + 0.15408941237498142, + 0.18928658597124182, + -0.96975617624498 + ], + [ + 0.9343138836096763, + 0.29851404414000693, + 0.19479972367891762, + 0.3225930356740375, + -0.940599837768343, + -0.10585687755066385, + 0.15162882387202575, + 0.1617445845812004, + -0.9751140390384303 + ], + [ + 0.9333213946864563, + 0.3085607571907526, + 0.1835795014221297, + 0.3290876548122592, + -0.9396342629257187, + -0.09374842604656784, + 0.1435705041806835, + 0.14791115934205526, + -0.9785242967200118 + ], + [ + 0.9351717460397974, + 0.30446467101766367, + 0.18098361669218116, + 0.3230229615318145, + -0.9427285241934008, + -0.0831811035953968, + 0.1452927105263454, + 0.1362504817394716, + -0.9799621597253995 + ], + [ + 0.934390878928255, + 0.3111003715936982, + 0.17358065609377707, + 0.32880421467298593, + -0.9406471517014601, + -0.08408759961618342, + 0.1371184662580653, + 0.13564473742166885, + -0.9812232322060268 + ], + [ + 0.9318352512383339, + 0.3056808032780927, + 0.19555641400079782, + 0.32946024621849096, + -0.9385558546063097, + -0.10280493152505481, + 0.15211512321673604, + 0.16022532350249713, + -0.9752891032905462 + ], + [ + 0.9334588547440454, + 0.30927349203480736, + 0.1816713340748389, + 0.33161781208308416, + -0.9371511766678854, + -0.1085232637696953, + 0.13669013574199154, + 0.1615474518356588, + -0.9773526628583166 + ], + [ + 0.9280623316238303, + 0.3250701871337854, + 0.18174070005847767, + 0.34738155062437487, + -0.9315110213561439, + -0.10776490791458329, + 0.13426230635120442, + 0.1631459179043089, + -0.9774236760813685 + ], + [ + 0.929552266387224, + 0.3280007012231604, + 0.16836901155346284, + 0.3465390534919077, + -0.9331848084950215, + -0.09527222889721051, + 0.1258700459176358, + 0.1469069541962695, + -0.981109106241231 + ], + [ + 0.9298046614126835, + 0.3232413612722725, + 0.17600657367863737, + 0.3414909220259496, + -0.9360370259656838, + -0.08496255760736436, + 0.1372852569983834, + 0.13910322923701712, + -0.9807155804955492 + ], + [ + 0.9309373442699285, + 0.3286394362461662, + 0.1592224292851195, + 0.3433610746968888, + -0.9361845799301228, + -0.0752436355053175, + 0.12433355712216373, + 0.12471789464572279, + -0.9843711766038704 + ], + [ + 0.9290536330293588, + 0.3347224381014153, + 0.15754439496977887, + 0.3481154517640361, + -0.9351188594944144, + -0.06609350089824817, + 0.12519975718055745, + 0.11624804535694297, + -0.9852976264827901 + ], + [ + 0.9326423776882856, + 0.3231190102453542, + 0.1605375362898158, + 0.3352975049555967, + -0.9405104873468273, + -0.05491453688400803, + 0.13324330568735096, + 0.1050434596188461, + -0.9855009350989024 + ], + [ + 0.9331467177314428, + 0.32189997973490264, + 0.16005501002375458, + 0.33434650345529565, + -0.9407024987473437, + -0.05736919450124414, + 0.13209700531901894, + 0.10704770850967735, + -0.9854395817545457 + ], + [ + 0.9416342865839898, + 0.3073839455728211, + 0.1372588078541613, + 0.32010261060063105, + -0.9437904631515773, + -0.08242499833662077, + 0.10420743263376855, + 0.12155110722743788, + -0.9870998628890911 + ], + [ + 0.938321201635709, + 0.2899001276428255, + 0.1884442584787143, + 0.31578280858074664, + -0.9404894412335023, + -0.12554213927263577, + 0.1408351531606172, + 0.17730630818154172, + -0.9740266591388849 + ], + [ + 0.9299757398659731, + 0.3030127878931792, + 0.20815468679311244, + 0.33600821434584793, + -0.9303337798504795, + -0.14689294728214186, + 0.14914289508002138, + 0.20654856194687626, + -0.9670026310227015 + ], + [ + 0.9288344633740319, + 0.30961207883630526, + 0.20348685531831284, + 0.3442369195368159, + -0.9242723295058886, + -0.16498970918685238, + 0.13699446294094592, + 0.22329581623581732, + -0.9650759014580678 + ], + [ + 0.9391988864154136, + 0.2997534664370685, + 0.16749122697923097, + 0.32556580841169896, + -0.9324127766001213, + -0.156886323260153, + 0.10914374077006855, + 0.201876876813105, + -0.973310521087131 + ], + [ + 0.9439505195587239, + 0.2909409481453463, + 0.15591914993707984, + 0.3132744014195219, + -0.9384562970022562, + -0.14546108769032676, + 0.1040027213108145, + 0.18615354766724043, + -0.9770006605170977 + ], + [ + 0.9474127144372472, + 0.28730262211243784, + 0.14094804663408667, + 0.3062860213448767, + -0.9417004965263737, + -0.13924456172758393, + 0.0927255178005098, + 0.17509248461684168, + -0.9801758006497244 + ], + [ + 0.9515662038492408, + 0.271193189960386, + 0.14483098222084667, + 0.29213045023156126, + -0.9443799064366498, + -0.15101785446168317, + 0.09582045574641408, + 0.18601302652721616, + -0.977863791242285 + ], + [ + 0.9584403604820892, + 0.26068832868210556, + 0.11590371300304853, + 0.27711997510128317, + -0.9472378706887651, + -0.16107431742173609, + 0.06779819170764609, + 0.1864993609156463, + -0.980112949398807 + ], + [ + 0.9628095311760198, + 0.2500570327250668, + 0.10231953411420432, + 0.26373708778349064, + -0.9520602143461936, + -0.15499708638088358, + 0.05865624607913743, + 0.1762181280226713, + -0.9826019622166897 + ], + [ + 0.9651530003283874, + 0.25211206743812403, + 0.07013694753256981, + 0.2595023968191938, + -0.9566352852961316, + -0.13231567167755404, + 0.03373710127152757, + 0.14590557350034106, + -0.9887231015907998 + ], + [ + 0.968341192003676, + 0.24943493306192488, + 0.00987674224092516, + 0.24925026326252653, + -0.9639268735093919, + -0.09337713205046982, + -0.013771061413770325, + 0.0928827039593633, + -0.9955818204310162 + ], + [ + 0.9598737713634252, + 0.27624726947190126, + -0.048267889511285966, + 0.2753950080445713, + -0.9610407586169386, + -0.02362731091575306, + -0.05291438927820527, + 0.009386500215625034, + -0.9985549364061131 + ], + [ + 0.952947454530857, + 0.28822801539912923, + -0.09389227892771128, + 0.29612268925655083, + -0.9513604765702436, + 0.08499762659925772, + -0.06482670599859337, + -0.10880190604542697, + -0.9919473995279455 + ], + [ + 0.9475542188825837, + 0.295648389954338, + -0.12137970091915586, + 0.3176908237821457, + -0.9127304026087186, + 0.25689638502389944, + -0.0348359406710614, + -0.2819844706205177, + -0.9587863242487494 + ], + [ + 0.9419004997773947, + 0.311942152378141, + -0.12456139887134944, + 0.33567458309075865, + -0.8608334072813897, + 0.3824766910220272, + 0.012083988825720357, + -0.4020670820621933, + -0.9155304684913845 + ], + [ + 0.9504338043990522, + 0.29772400094023976, + -0.0896437544934407, + 0.31030801572218036, + -0.890080754799142, + 0.33386402219279737, + 0.019609151794689958, + -0.3451328283434159, + -0.9383489819707629 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006050.json b/json/chunk-0006/episode_0006050.json new file mode 100644 index 0000000000000000000000000000000000000000..56f237c4f5b5ef3034baf9a751df9e27e4ad7ed4 --- /dev/null +++ b/json/chunk-0006/episode_0006050.json @@ -0,0 +1,1222 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 19, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut sweet potato in pan which is on stove." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006050.mp4", + "start": 0, + "end": 19, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.446939617395401, + 0.07651294767856598, + 0.03953997790813446, + 0.0562731958925724, + -0.11483713239431381, + -0.2041248381137848, + 0.0, + 1.0008161067962646 + ], + [ + 0.4515443742275238, + 0.07527478039264679, + 0.02382279746234417, + 0.03649025782942772, + -0.09282321482896805, + -0.22355735301971436, + 0.0, + 1.0008161067962646 + ], + [ + 0.4617016315460205, + 0.0753927081823349, + 0.02511380799114704, + 0.0373571552336216, + -0.11427526921033859, + -0.24482452869415283, + 0.0, + 1.0008161067962646 + ], + [ + 0.46342456340789795, + 0.0730448067188263, + 0.016917234286665916, + 0.0168199110776186, + -0.11699173599481583, + -0.25216105580329895, + 0.0, + 1.0008161067962646 + ], + [ + 0.4656507074832916, + 0.071242555975914, + 0.012773444876074791, + 0.004127030726522207, + -0.14628447592258453, + -0.24341274797916412, + 0.0, + 0.8417698740959167 + ], + [ + 0.4646111726760864, + 0.07192812114953995, + 0.01029613334685564, + 0.005641098599880934, + -0.15598714351654053, + -0.21919028460979462, + 0.0, + 0.7874543070793152 + ], + [ + 0.4603125751018524, + 0.07377798855304718, + 0.012697752565145493, + 0.050615664571523666, + -0.12191037833690643, + -0.2160121500492096, + 0.0, + 0.7874543070793152 + ], + [ + 0.4541439712047577, + 0.0674581304192543, + 0.019368140026926994, + 0.11285080760717392, + -0.06210115924477577, + -0.2286624163389206, + 0.0, + 0.7874543070793152 + ], + [ + 0.4540937840938568, + 0.06964118033647537, + 0.047267429530620575, + 0.17001540958881378, + -0.04884800314903259, + -0.24118176102638245, + 0.0, + 0.7874543070793152 + ], + [ + 0.448446661233902, + 0.07549707591533661, + 0.061508659273386, + 0.21598723530769348, + 0.005336483474820852, + -0.2197495549917221, + 0.0, + 0.7874543070793152 + ], + [ + 0.4438636898994446, + 0.07837658375501633, + 0.06995917856693268, + 0.268164724111557, + -0.002735150745138526, + -0.21494841575622559, + 0.0, + 0.7874543070793152 + ], + [ + 0.4376886487007141, + 0.08338332921266556, + 0.08986711502075195, + 0.31855520606040955, + -0.02853621542453766, + -0.2142251580953598, + 0.0, + 0.7874543070793152 + ], + [ + 0.4312247335910797, + 0.0860537737607956, + 0.0877893790602684, + 0.3276788294315338, + 0.001038338989019394, + -0.21840737760066986, + 0.0, + 0.7874543070793152 + ], + [ + 0.4173825681209564, + 0.0876544788479805, + 0.08815625309944153, + 0.3295491933822632, + -0.005419970955699682, + -0.1992429494857788, + 0.0, + 0.7874543070793152 + ], + [ + 0.4003587067127228, + 0.09520931541919708, + 0.07732129842042923, + 0.31497126817703247, + -0.010182968340814114, + -0.16350151598453522, + 0.0, + 0.7874543070793152 + ], + [ + 0.39079439640045166, + 0.09346894919872284, + 0.067888043820858, + 0.2920801043510437, + -0.020939452573657036, + -0.1471060961484909, + 0.0, + 0.7874543070793152 + ], + [ + 0.3808160424232483, + 0.09581608325242996, + 0.055509477853775024, + 0.2732529044151306, + -0.02673177607357502, + -0.1293438822031021, + 0.0, + 0.7874543070793152 + ], + [ + 0.3755519390106201, + 0.10672697424888611, + 0.05497201904654503, + 0.2647714912891388, + -0.058571841567754745, + -0.10047756135463715, + 0.0, + 0.7874543070793152 + ], + [ + 0.37183475494384766, + 0.10540090501308441, + 0.04815676808357239, + 0.25603020191192627, + -0.058657098561525345, + -0.09536049515008926, + 0.0, + 0.7874543070793152 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.8417698740959167 + ], + [ + 0.7874543070793152 + ], + [ + 0.7874543070793152 + ], + [ + 0.7874543070793152 + ], + [ + 0.7874543070793152 + ], + [ + 0.7874543070793152 + ], + [ + 0.7874543070793152 + ], + [ + 0.7874543070793152 + ], + [ + 0.7874543070793152 + ], + [ + 0.7874543070793152 + ], + [ + 0.7874543070793152 + ], + [ + 0.7874543070793152 + ], + [ + 0.7874543070793152 + ], + [ + 0.7874543070793152 + ], + [ + 0.7874543070793152 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.446939617395401, + 0.07651294767856598, + 0.03953997790813446 + ], + [ + 0.4515443742275238, + 0.07527478039264679, + 0.02382279746234417 + ], + [ + 0.4617016315460205, + 0.0753927081823349, + 0.02511380799114704 + ], + [ + 0.46342456340789795, + 0.0730448067188263, + 0.016917234286665916 + ], + [ + 0.4656507074832916, + 0.071242555975914, + 0.012773444876074791 + ], + [ + 0.4646111726760864, + 0.07192812114953995, + 0.01029613334685564 + ], + [ + 0.4603125751018524, + 0.07377798855304718, + 0.012697752565145493 + ], + [ + 0.4541439712047577, + 0.0674581304192543, + 0.019368140026926994 + ], + [ + 0.4540937840938568, + 0.06964118033647537, + 0.047267429530620575 + ], + [ + 0.448446661233902, + 0.07549707591533661, + 0.061508659273386 + ], + [ + 0.4438636898994446, + 0.07837658375501633, + 0.06995917856693268 + ], + [ + 0.4376886487007141, + 0.08338332921266556, + 0.08986711502075195 + ], + [ + 0.4312247335910797, + 0.0860537737607956, + 0.0877893790602684 + ], + [ + 0.4173825681209564, + 0.0876544788479805, + 0.08815625309944153 + ], + [ + 0.4003587067127228, + 0.09520931541919708, + 0.07732129842042923 + ], + [ + 0.39079439640045166, + 0.09346894919872284, + 0.067888043820858 + ], + [ + 0.3808160424232483, + 0.09581608325242996, + 0.055509477853775024 + ], + [ + 0.3755519390106201, + 0.10672697424888611, + 0.05497201904654503 + ], + [ + 0.37183475494384766, + 0.10540090501308441, + 0.04815676808357239 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9727889681580723, + -0.19607851478311988, + 0.12342949189881298, + -0.2013750859914335, + -0.9789951063436458, + 0.03188505131149235, + 0.11458489504247958, + -0.05587305070997623, + -0.9918409671073607 + ], + [ + 0.9709171037201207, + -0.21825488104447696, + 0.09841130323287746, + -0.22074543277360406, + -0.9752155113750165, + 0.015038626372086044, + 0.09268997579742043, + -0.03632510528307073, + -0.9950321879782821 + ], + [ + 0.9638520518978051, + -0.23808525035191339, + 0.11960198834993449, + -0.24080517109185431, + -0.9705352349664539, + 0.008615524594204066, + 0.1140267145357346, + -0.03710486832583153, + -0.9927845371069742 + ], + [ + 0.9617559513648234, + -0.2475608353778559, + 0.11721400428857272, + -0.2477917576047171, + -0.9687283438915167, + -0.012831235496413755, + 0.11672503963378437, + -0.016704147036512778, + -0.9930237845058265 + ], + [ + 0.9601554429569874, + -0.2404302805472119, + 0.1424598383968624, + -0.23844199249977618, + -0.9706578232281731, + -0.031125655313280903, + 0.14576330667492374, + -0.0040829403538942596, + -0.9893110673722691 + ], + [ + 0.9642229832436092, + -0.21658049084888514, + 0.15286245310229393, + -0.21479934605299295, + -0.9762488603590516, + -0.028273726016568936, + 0.1553553330915988, + -0.005572578515320493, + -0.9878429363257549 + ], + [ + 0.9695105675671403, + -0.2080519802040132, + 0.12947444886474702, + -0.21274539012780233, + -0.976827758887514, + 0.023386501366503262, + 0.12160862779840204, + -0.05021855234856108, + -0.9913069346297362 + ], + [ + 0.9720929815852601, + -0.21842621282707905, + 0.08558752656023054, + -0.2262380080669443, + -0.9693593240531584, + 0.09570195701815476, + 0.06206125086219138, + -0.11239435226568575, + -0.9917237068459122 + ], + [ + 0.9698980871670742, + -0.22738409076293514, + 0.08714456826196176, + -0.2385654425148503, + -0.9590291571105817, + 0.15280577688510547, + 0.04882857920669111, + -0.16899571319912302, + -0.9844065312527013 + ], + [ + 0.9759381766684722, + -0.21403654870134645, + 0.04162969061900614, + -0.21798210370457752, + -0.953026811487432, + 0.21029431530744147, + -0.005336458146077819, + -0.21430877818259086, + -0.9767513858747988 + ], + [ + 0.9769837438294589, + -0.20496550611910216, + 0.05909234801828571, + -0.21329623358613395, + -0.9422232736965698, + 0.25830218590342585, + 0.002735147334840069, + -0.26496121188932326, + -0.9642551919296041 + ], + [ + 0.9767435876939159, + -0.1931627970718595, + 0.09305964606741876, + -0.2125038101321747, + -0.9298801089036558, + 0.30027506347453126, + 0.02853234266803642, + -0.31306727215201013, + -0.9493022640493243 + ], + [ + 0.9762432426466973, + -0.20547249789466224, + 0.06877633165260894, + -0.21667499403298243, + -0.9242273353342991, + 0.3144133896348371, + -0.0010383388024389137, + -0.3218460582790923, + -0.9467914430447406 + ], + [ + 0.9802023022659844, + -0.18555723041942998, + 0.06907938094347979, + -0.19792440687028354, + -0.9278167615404262, + 0.31619928236743705, + 0.005419944419483937, + -0.32361176005161846, + -0.9461744305141538 + ], + [ + 0.9866122227443327, + -0.15165394492766146, + 0.05997835375670548, + -0.16276557581772552, + -0.9386382224624737, + 0.3040816578835548, + 0.010182792358234861, + -0.30977309166608524, + -0.9507559846876714 + ], + [ + 0.9889825420085745, + -0.1344043130167709, + 0.06204040816071576, + -0.14654396953479606, + -0.94818752951399, + 0.28189585642066695, + 0.020937922419454642, + -0.2878817283480255, + -0.9574370547916509 + ], + [ + 0.9912924472906204, + -0.11704514470684566, + 0.060330075792474305, + -0.1289374510692702, + -0.9557851770326234, + 0.2642911823661087, + 0.026728592486917127, + -0.26976865916052917, + -0.9625541298433029 + ], + [ + 0.9932501842693976, + -0.08157149397010986, + 0.08246309974947762, + -0.10013656761736191, + -0.9618210679985778, + 0.2547015920246453, + 0.05853835729350008, + -0.2612399749761887, + -0.9634972424453633 + ], + [ + 0.9937446119531945, + -0.07733378406246302, + 0.08056756206175919, + -0.0950522762937249, + -0.9644212224861778, + 0.24669165042548155, + 0.05862346787231598, + -0.2528066285935694, + -0.9657391457084966 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + 0.004604756832122803, + -0.0012381672859191895, + -0.01571718044579029, + -0.019782938063144684, + 0.022013917565345764, + -0.019432514905929565, + 1.0 + ], + [ + 0.010157257318496704, + 0.00011792778968811035, + 0.0012910105288028717, + 0.0008668974041938782, + -0.021452054381370544, + -0.021267175674438477, + 1.0 + ], + [ + 0.0017229318618774414, + -0.002347901463508606, + -0.008196573704481125, + -0.020537244156003, + -0.002716466784477234, + -0.007336527109146118, + 1.0 + ], + [ + 0.0022261440753936768, + -0.0018022507429122925, + -0.0041437894105911255, + -0.012692879885435104, + -0.029292739927768707, + 0.008748307824134827, + 0.0 + ], + [ + -0.0010395348072052002, + 0.000685565173625946, + -0.0024773115292191505, + 0.0015140678733587265, + -0.009702667593955994, + 0.024222463369369507, + 0.0 + ], + [ + -0.004298597574234009, + 0.0018498674035072327, + 0.002401619218289852, + 0.044974565505981445, + 0.034076765179634094, + 0.003178134560585022, + 0.0 + ], + [ + -0.0061686038970947266, + -0.006319858133792877, + 0.006670387461781502, + 0.06223514303565025, + 0.05980921909213066, + -0.012650266289710999, + 0.0 + ], + [ + -5.0187110900878906e-05, + 0.0021830499172210693, + 0.02789928950369358, + 0.05716460198163986, + 0.01325315609574318, + -0.012519344687461853, + 0.0 + ], + [ + -0.005647122859954834, + 0.005855895578861237, + 0.014241229742765427, + 0.0459718257188797, + 0.05418448522686958, + 0.02143220603466034, + 0.0 + ], + [ + -0.0045829713344573975, + 0.002879507839679718, + 0.008450519293546677, + 0.052177488803863525, + -0.008071633987128735, + 0.004801139235496521, + 0.0 + ], + [ + -0.006175041198730469, + 0.005006745457649231, + 0.019907936453819275, + 0.05039048194885254, + -0.02580106444656849, + 0.0007232576608657837, + 0.0 + ], + [ + -0.006463915109634399, + 0.0026704445481300354, + -0.002077735960483551, + 0.009123623371124268, + 0.029574554413557053, + -0.004182219505310059, + 0.0 + ], + [ + -0.013842165470123291, + 0.001600705087184906, + 0.0003668740391731262, + 0.0018703639507293701, + -0.006458309944719076, + 0.019164428114891052, + 0.0 + ], + [ + -0.017023861408233643, + 0.007554836571216583, + -0.010834954679012299, + -0.014577925205230713, + -0.004762997385114431, + 0.03574143350124359, + 0.0 + ], + [ + -0.009564310312271118, + -0.0017403662204742432, + -0.009433254599571228, + -0.02289116382598877, + -0.010756484232842922, + 0.01639541983604431, + 0.0 + ], + [ + -0.00997835397720337, + 0.002347134053707123, + -0.012378565967082977, + -0.018827199935913086, + -0.005792323499917984, + 0.017762213945388794, + 0.0 + ], + [ + -0.005264103412628174, + 0.010910890996456146, + -0.0005374588072299957, + -0.008481413125991821, + -0.031840063631534576, + 0.028866320848464966, + 0.0 + ], + [ + -0.003717184066772461, + -0.0013260692358016968, + -0.006815250962972641, + -0.008741289377212524, + -8.525699377059937e-05, + 0.005117066204547882, + 0.0 + ], + [ + 0.0013865530490875244, + -0.001066841185092926, + -0.0010207891464233398, + -0.012035757303237915, + -0.012503664940595627, + -0.005081303417682648, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.8417698740959167 + ], + [ + 0.7874543070793152 + ], + [ + 0.7874543070793152 + ], + [ + 0.7874543070793152 + ], + [ + 0.7874543070793152 + ], + [ + 0.7874543070793152 + ], + [ + 0.7874543070793152 + ], + [ + 0.7874543070793152 + ], + [ + 0.7874543070793152 + ], + [ + 0.7874543070793152 + ], + [ + 0.7874543070793152 + ], + [ + 0.7874543070793152 + ], + [ + 0.7874543070793152 + ], + [ + 0.7874543070793152 + ], + [ + 0.7874543070793152 + ], + [ + 0.9461179971694946 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.4515443742275238, + 0.07527478039264679, + 0.02382279746234417 + ], + [ + 0.4617016315460205, + 0.0753927081823349, + 0.02511380799114704 + ], + [ + 0.46342456340789795, + 0.0730448067188263, + 0.016917234286665916 + ], + [ + 0.4656507074832916, + 0.071242555975914, + 0.012773444876074791 + ], + [ + 0.4646111726760864, + 0.07192812114953995, + 0.01029613334685564 + ], + [ + 0.4603125751018524, + 0.07377798855304718, + 0.012697752565145493 + ], + [ + 0.4541439712047577, + 0.0674581304192543, + 0.019368140026926994 + ], + [ + 0.4540937840938568, + 0.06964118033647537, + 0.047267429530620575 + ], + [ + 0.448446661233902, + 0.07549707591533661, + 0.061508659273386 + ], + [ + 0.4438636898994446, + 0.07837658375501633, + 0.06995917856693268 + ], + [ + 0.4376886487007141, + 0.08338332921266556, + 0.08986711502075195 + ], + [ + 0.4312247335910797, + 0.0860537737607956, + 0.0877893790602684 + ], + [ + 0.4173825681209564, + 0.0876544788479805, + 0.08815625309944153 + ], + [ + 0.4003587067127228, + 0.09520931541919708, + 0.07732129842042923 + ], + [ + 0.39079439640045166, + 0.09346894919872284, + 0.067888043820858 + ], + [ + 0.3808160424232483, + 0.09581608325242996, + 0.055509477853775024 + ], + [ + 0.3755519390106201, + 0.10672697424888611, + 0.05497201904654503 + ], + [ + 0.37183475494384766, + 0.10540090501308441, + 0.04815676808357239 + ], + [ + 0.3732213079929352, + 0.10433406382799149, + 0.04713597893714905 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9709171037201207, + -0.21825488104447696, + 0.09841130323287746, + -0.22074543277360406, + -0.9752155113750165, + 0.015038626372086044, + 0.09268997579742043, + -0.03632510528307073, + -0.9950321879782821 + ], + [ + 0.9638520518978051, + -0.23808525035191339, + 0.11960198834993449, + -0.24080517109185431, + -0.9705352349664539, + 0.008615524594204066, + 0.1140267145357346, + -0.03710486832583153, + -0.9927845371069742 + ], + [ + 0.9617559513648234, + -0.2475608353778559, + 0.11721400428857272, + -0.2477917576047171, + -0.9687283438915167, + -0.012831235496413755, + 0.11672503963378437, + -0.016704147036512778, + -0.9930237845058265 + ], + [ + 0.9601554429569874, + -0.2404302805472119, + 0.1424598383968624, + -0.23844199249977618, + -0.9706578232281731, + -0.031125655313280903, + 0.14576330667492374, + -0.0040829403538942596, + -0.9893110673722691 + ], + [ + 0.9642229832436092, + -0.21658049084888514, + 0.15286245310229393, + -0.21479934605299295, + -0.9762488603590516, + -0.028273726016568936, + 0.1553553330915988, + -0.005572578515320493, + -0.9878429363257549 + ], + [ + 0.9695105675671403, + -0.2080519802040132, + 0.12947444886474702, + -0.21274539012780233, + -0.976827758887514, + 0.023386501366503262, + 0.12160862779840204, + -0.05021855234856108, + -0.9913069346297362 + ], + [ + 0.9720929815852601, + -0.21842621282707905, + 0.08558752656023054, + -0.2262380080669443, + -0.9693593240531584, + 0.09570195701815476, + 0.06206125086219138, + -0.11239435226568575, + -0.9917237068459122 + ], + [ + 0.9698980871670742, + -0.22738409076293514, + 0.08714456826196176, + -0.2385654425148503, + -0.9590291571105817, + 0.15280577688510547, + 0.04882857920669111, + -0.16899571319912302, + -0.9844065312527013 + ], + [ + 0.9759381766684722, + -0.21403654870134645, + 0.04162969061900614, + -0.21798210370457752, + -0.953026811487432, + 0.21029431530744147, + -0.005336458146077819, + -0.21430877818259086, + -0.9767513858747988 + ], + [ + 0.9769837438294589, + -0.20496550611910216, + 0.05909234801828571, + -0.21329623358613395, + -0.9422232736965698, + 0.25830218590342585, + 0.002735147334840069, + -0.26496121188932326, + -0.9642551919296041 + ], + [ + 0.9767435876939159, + -0.1931627970718595, + 0.09305964606741876, + -0.2125038101321747, + -0.9298801089036558, + 0.30027506347453126, + 0.02853234266803642, + -0.31306727215201013, + -0.9493022640493243 + ], + [ + 0.9762432426466973, + -0.20547249789466224, + 0.06877633165260894, + -0.21667499403298243, + -0.9242273353342991, + 0.3144133896348371, + -0.0010383388024389137, + -0.3218460582790923, + -0.9467914430447406 + ], + [ + 0.9802023022659844, + -0.18555723041942998, + 0.06907938094347979, + -0.19792440687028354, + -0.9278167615404262, + 0.31619928236743705, + 0.005419944419483937, + -0.32361176005161846, + -0.9461744305141538 + ], + [ + 0.9866122227443327, + -0.15165394492766146, + 0.05997835375670548, + -0.16276557581772552, + -0.9386382224624737, + 0.3040816578835548, + 0.010182792358234861, + -0.30977309166608524, + -0.9507559846876714 + ], + [ + 0.9889825420085745, + -0.1344043130167709, + 0.06204040816071576, + -0.14654396953479606, + -0.94818752951399, + 0.28189585642066695, + 0.020937922419454642, + -0.2878817283480255, + -0.9574370547916509 + ], + [ + 0.9912924472906204, + -0.11704514470684566, + 0.060330075792474305, + -0.1289374510692702, + -0.9557851770326234, + 0.2642911823661087, + 0.026728592486917127, + -0.26976865916052917, + -0.9625541298433029 + ], + [ + 0.9932501842693976, + -0.08157149397010986, + 0.08246309974947762, + -0.10013656761736191, + -0.9618210679985778, + 0.2547015920246453, + 0.05853835729350008, + -0.2612399749761887, + -0.9634972424453633 + ], + [ + 0.9937446119531945, + -0.07733378406246302, + 0.08056756206175919, + -0.0950522762937249, + -0.9644212224861778, + 0.24669165042548155, + 0.05862346787231598, + -0.2528066285935694, + -0.9657391457084966 + ], + [ + 0.9924418586696995, + -0.08021299649368946, + 0.09287105229152783, + -0.1000192214975596, + -0.9672123275858379, + 0.23344478725601941, + 0.07110072075059752, + -0.24096926891097425, + -0.9679248415808204 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006053.json b/json/chunk-0006/episode_0006053.json new file mode 100644 index 0000000000000000000000000000000000000000..dc0c15507feb970fb19899da5772f0ddeeea3097 --- /dev/null +++ b/json/chunk-0006/episode_0006053.json @@ -0,0 +1,2182 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 35, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut broccoli in pot." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006053.mp4", + "start": 0, + "end": 35, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.25159791111946106, + 0.021268805488944054, + 0.08679957687854767, + 0.084280826151371, + -0.31260818243026733, + 0.09330380707979202, + 0.0, + 1.0041072368621826 + ], + [ + 0.24819305539131165, + 0.021197481080889702, + 0.08002462983131409, + 0.08345326781272888, + -0.2835941016674042, + 0.08914785832166672, + 0.0, + 1.0041072368621826 + ], + [ + 0.263023316860199, + 0.029590347781777382, + 0.08976583182811737, + 0.09423971176147461, + -0.29127368330955505, + 0.04277661442756653, + 0.0, + 1.0041072368621826 + ], + [ + 0.27927663922309875, + 0.036191798746585846, + 0.10778246074914932, + 0.12293767184019089, + -0.2986088991165161, + 0.005859725177288055, + 0.0, + 1.0041072368621826 + ], + [ + 0.29219770431518555, + 0.03788807988166809, + 0.11100982129573822, + 0.12751753628253937, + -0.264044851064682, + -0.018831079825758934, + 0.0, + 1.0041072368621826 + ], + [ + 0.30539748072624207, + 0.04075741395354271, + 0.09690883755683899, + 0.12245038151741028, + -0.17734527587890625, + -0.041536446660757065, + 0.0, + 1.0041072368621826 + ], + [ + 0.329679399728775, + 0.04741080477833748, + 0.07489314675331116, + 0.10849518328905106, + -0.12470074743032455, + -0.07929300516843796, + 0.0, + 1.0041072368621826 + ], + [ + 0.34785550832748413, + 0.05499366670846939, + 0.06500811129808426, + 0.0957733765244484, + -0.12096709758043289, + -0.1046443060040474, + 0.0, + 1.0041072368621826 + ], + [ + 0.3593727648258209, + 0.06072753295302391, + 0.05911917984485626, + 0.08254782110452652, + -0.11543074995279312, + -0.11704576760530472, + 0.0, + 1.0041072368621826 + ], + [ + 0.36123889684677124, + 0.06407434493303299, + 0.05741271749138832, + 0.08106127381324768, + -0.13463154435157776, + -0.07941387593746185, + 0.0, + 1.0041072368621826 + ], + [ + 0.35491281747817993, + 0.06585021317005157, + 0.04996437206864357, + 0.08450409024953842, + -0.1272345781326294, + 0.0075014070607721806, + 0.0, + 1.0041072368621826 + ], + [ + 0.35113292932510376, + 0.0670432448387146, + 0.04602373391389847, + 0.1074960008263588, + -0.11929703503847122, + 0.059965163469314575, + 0.0, + 1.0041072368621826 + ], + [ + 0.3482128977775574, + 0.06557124108076096, + 0.04644372686743736, + 0.10221478343009949, + -0.09974739700555801, + 0.06306739151477814, + 0.0, + 1.0041072368621826 + ], + [ + 0.3499680757522583, + 0.05999140813946724, + 0.038633864372968674, + 0.0646372064948082, + -0.08349716663360596, + 0.058827247470617294, + 0.0, + 1.0041072368621826 + ], + [ + 0.3536997139453888, + 0.053594451397657394, + 0.036823660135269165, + 0.04456853121519089, + -0.10101307928562164, + 0.03925497084856033, + 0.0, + 1.0041072368621826 + ], + [ + 0.3518391251564026, + 0.050277210772037506, + 0.03188920393586159, + 0.03606332466006279, + -0.10154247283935547, + 0.03155839070677757, + 0.0, + 1.0041072368621826 + ], + [ + 0.34958088397979736, + 0.04455661401152611, + 0.024500364437699318, + 0.0024917637929320335, + -0.10308755189180374, + 0.028059301897883415, + 0.0, + 1.0041072368621826 + ], + [ + 0.34799760580062866, + 0.04223860055208206, + 0.013381057418882847, + -0.010589334182441235, + -0.0955677255988121, + 0.017946302890777588, + 0.0, + 0.9453431367874146 + ], + [ + 0.34933730959892273, + 0.04226673021912575, + 0.01169509906321764, + -0.00956705305725336, + -0.10041140019893646, + 0.003742357948794961, + 0.0, + 0.641040563583374 + ], + [ + 0.3523103594779968, + 0.04234255477786064, + 0.013957155868411064, + -0.009324559010565281, + -0.0820557102560997, + -0.01129720639437437, + 0.0, + 0.45315688848495483 + ], + [ + 0.3520292639732361, + 0.0421421155333519, + 0.01242873352020979, + 0.010929117910563946, + -0.08830657601356506, + -0.016369858756661415, + 0.0, + 0.464354008436203 + ], + [ + 0.3494078516960144, + 0.041066139936447144, + 0.014090068638324738, + 0.029191594570875168, + -0.09243752062320709, + -0.011121036484837532, + 0.0, + 0.4747070372104645 + ], + [ + 0.34254372119903564, + 0.0412764810025692, + 0.022845136001706123, + 0.04514288157224655, + -0.06974581629037857, + -0.0060179634019732475, + 0.0, + 0.4747070372104645 + ], + [ + 0.3421854078769684, + 0.045829467475414276, + 0.04058108106255531, + 0.08263078331947327, + -0.09075599163770676, + -0.0037268761079758406, + 0.0, + 0.4747070372104645 + ], + [ + 0.339268296957016, + 0.04937949776649475, + 0.05264848843216896, + 0.10682934522628784, + -0.08964266628026962, + -0.003615443129092455, + 0.0, + 0.4747070372104645 + ], + [ + 0.34150755405426025, + 0.053265005350112915, + 0.06412830203771591, + 0.1260925531387329, + -0.07318517565727234, + -0.014807102270424366, + 0.0, + 0.4747070372104645 + ], + [ + 0.33898302912712097, + 0.0575733557343483, + 0.09487447142601013, + 0.1595904529094696, + -0.08138124644756317, + -0.017164096236228943, + 0.0, + 0.4747070372104645 + ], + [ + 0.31872934103012085, + 0.06398411840200424, + 0.11409270763397217, + 0.19697916507720947, + -0.10894404351711273, + 0.02082761377096176, + 0.0, + 0.4747070372104645 + ], + [ + 0.2898362874984741, + 0.06907113641500473, + 0.11068902909755707, + 0.19994699954986572, + -0.13410358130931854, + 0.07870656251907349, + 0.0, + 0.4747070372104645 + ], + [ + 0.27661430835723877, + 0.07222311943769455, + 0.09801899641752243, + 0.1796453595161438, + -0.13245445489883423, + 0.11384285986423492, + 0.0, + 0.4747070372104645 + ], + [ + 0.2754627764225006, + 0.0753551721572876, + 0.09463227540254593, + 0.14409679174423218, + -0.12631791830062866, + 0.12858697772026062, + 0.0, + 0.4747070372104645 + ], + [ + 0.27524012327194214, + 0.07721489667892456, + 0.08231309801340103, + 0.11492187529802322, + -0.09024251252412796, + 0.12162578105926514, + 0.0, + 0.5531353950500488 + ], + [ + 0.27682045102119446, + 0.07927870750427246, + 0.08080008625984192, + 0.0832284688949585, + -0.08744344860315323, + 0.11739055067300797, + 0.0, + 0.898204505443573 + ], + [ + 0.2797587811946869, + 0.08051885664463043, + 0.07498680800199509, + 0.06707548350095749, + -0.07323239743709564, + 0.1009410172700882, + 0.0, + 1.0092895030975342 + ], + [ + 0.28044161200523376, + 0.08183664828538895, + 0.07591747492551804, + 0.07993967086076736, + -0.07097108662128448, + 0.12641184031963348, + 0.0, + 1.0086473226547241 + ] + ], + "left_gripper_pos": [ + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 0.9453431367874146 + ], + [ + 0.641040563583374 + ], + [ + 0.45315688848495483 + ], + [ + 0.464354008436203 + ], + [ + 0.4747070372104645 + ], + [ + 0.4747070372104645 + ], + [ + 0.4747070372104645 + ], + [ + 0.4747070372104645 + ], + [ + 0.4747070372104645 + ], + [ + 0.4747070372104645 + ], + [ + 0.4747070372104645 + ], + [ + 0.4747070372104645 + ], + [ + 0.4747070372104645 + ], + [ + 0.4747070372104645 + ], + [ + 0.5531353950500488 + ], + [ + 0.898204505443573 + ], + [ + 1.0092895030975342 + ], + [ + 1.0086473226547241 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.25159791111946106, + 0.021268805488944054, + 0.08679957687854767 + ], + [ + 0.24819305539131165, + 0.021197481080889702, + 0.08002462983131409 + ], + [ + 0.263023316860199, + 0.029590347781777382, + 0.08976583182811737 + ], + [ + 0.27927663922309875, + 0.036191798746585846, + 0.10778246074914932 + ], + [ + 0.29219770431518555, + 0.03788807988166809, + 0.11100982129573822 + ], + [ + 0.30539748072624207, + 0.04075741395354271, + 0.09690883755683899 + ], + [ + 0.329679399728775, + 0.04741080477833748, + 0.07489314675331116 + ], + [ + 0.34785550832748413, + 0.05499366670846939, + 0.06500811129808426 + ], + [ + 0.3593727648258209, + 0.06072753295302391, + 0.05911917984485626 + ], + [ + 0.36123889684677124, + 0.06407434493303299, + 0.05741271749138832 + ], + [ + 0.35491281747817993, + 0.06585021317005157, + 0.04996437206864357 + ], + [ + 0.35113292932510376, + 0.0670432448387146, + 0.04602373391389847 + ], + [ + 0.3482128977775574, + 0.06557124108076096, + 0.04644372686743736 + ], + [ + 0.3499680757522583, + 0.05999140813946724, + 0.038633864372968674 + ], + [ + 0.3536997139453888, + 0.053594451397657394, + 0.036823660135269165 + ], + [ + 0.3518391251564026, + 0.050277210772037506, + 0.03188920393586159 + ], + [ + 0.34958088397979736, + 0.04455661401152611, + 0.024500364437699318 + ], + [ + 0.34799760580062866, + 0.04223860055208206, + 0.013381057418882847 + ], + [ + 0.34933730959892273, + 0.04226673021912575, + 0.01169509906321764 + ], + [ + 0.3523103594779968, + 0.04234255477786064, + 0.013957155868411064 + ], + [ + 0.3520292639732361, + 0.0421421155333519, + 0.01242873352020979 + ], + [ + 0.3494078516960144, + 0.041066139936447144, + 0.014090068638324738 + ], + [ + 0.34254372119903564, + 0.0412764810025692, + 0.022845136001706123 + ], + [ + 0.3421854078769684, + 0.045829467475414276, + 0.04058108106255531 + ], + [ + 0.339268296957016, + 0.04937949776649475, + 0.05264848843216896 + ], + [ + 0.34150755405426025, + 0.053265005350112915, + 0.06412830203771591 + ], + [ + 0.33898302912712097, + 0.0575733557343483, + 0.09487447142601013 + ], + [ + 0.31872934103012085, + 0.06398411840200424, + 0.11409270763397217 + ], + [ + 0.2898362874984741, + 0.06907113641500473, + 0.11068902909755707 + ], + [ + 0.27661430835723877, + 0.07222311943769455, + 0.09801899641752243 + ], + [ + 0.2754627764225006, + 0.0753551721572876, + 0.09463227540254593 + ], + [ + 0.27524012327194214, + 0.07721489667892456, + 0.08231309801340103 + ], + [ + 0.27682045102119446, + 0.07927870750427246, + 0.08080008625984192 + ], + [ + 0.2797587811946869, + 0.08051885664463043, + 0.07498680800199509 + ], + [ + 0.28044161200523376, + 0.08183664828538895, + 0.07591747492551804 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.947395846563691, + 0.1186143486200181, + 0.2972738572685396, + 0.08865304806369506, + -0.9897042137715029, + 0.11236639316071159, + 0.30754145571432057, + -0.08010122061729302, + -0.9481571850029595 + ], + [ + 0.9562435628302502, + 0.1119511582055791, + 0.2703057282451462, + 0.08547361503001635, + -0.9904860637918174, + 0.10784998177047878, + 0.2798079871615712, + -0.08002684306294633, + -0.9567147927726259 + ], + [ + 0.957002637450793, + 0.06957210830295768, + 0.2816126305024469, + 0.04096232069059246, + -0.9934964026119324, + 0.10624022910738755, + 0.2871724920598545, + -0.09013667257798384, + -0.9536285126089205 + ], + [ + 0.9557302546555136, + 0.04189096373029131, + 0.29124702143344605, + 0.005600380734979669, + -0.9922242437700609, + 0.12433698488604976, + 0.29419095171627907, + -0.11720152402028701, + -0.9485333345199798 + ], + [ + 0.9651710682342324, + 0.014507377621568179, + 0.261217045841453, + -0.01817736210439917, + -0.9923297631839876, + 0.12227520029072374, + 0.2609873417438403, + -0.12276472251325408, + -0.9575042717166997 + ], + [ + 0.9834665134305739, + -0.01968376890622046, + 0.18001712752501586, + -0.0408732129450466, + -0.9925510455869155, + 0.11476847288288732, + 0.176417112050561, + -0.1202288282649701, + -0.9769452550832992 + ], + [ + 0.9891172866701132, + -0.06531858148266581, + 0.13183503374841382, + -0.078594869830481, + -0.9920633941631346, + 0.09814819610084907, + 0.12437781010567284, + -0.10744163473539167, + -0.9864007580485246 + ], + [ + 0.9872621515236227, + -0.09249833241658563, + 0.12945077314986694, + -0.10369012312136798, + -0.9911774263751872, + 0.08255705791351753, + 0.12067229398674344, + -0.09492822522522562, + -0.9881431219816115 + ], + [ + 0.9865487576438159, + -0.1069494134281642, + 0.1236259348147252, + -0.11600157041759758, + -0.9908851242156952, + 0.06848581071066498, + 0.11517458249151252, + -0.08190539405568775, + -0.9899627881756404 + ], + [ + 0.9878277490184143, + -0.06823563604387692, + 0.13978639505652898, + -0.07861255819912638, + -0.9944372645328657, + 0.070104155381688, + 0.13422519868713698, + -0.08023979612435748, + -0.987696902473284 + ], + [ + 0.9918886868474361, + 0.01818436681464696, + 0.12580207354260425, + 0.007440700365025316, + -0.9963232784875425, + 0.0853496380889356, + 0.126891563479005, + -0.08372128491240886, + -0.9883770927993367 + ], + [ + 0.9911079470390136, + 0.07232929554210307, + 0.11168487060696475, + 0.05950328821737719, + -0.9916756369688405, + 0.11418752004384614, + 0.1190142680834155, + -0.10652654152288588, + -0.9871614356039955 + ], + [ + 0.9930511450060556, + 0.07283748044784794, + 0.0924344353808225, + 0.06271231340140856, + -0.9921624975843923, + 0.10807749134276022, + 0.0995820724327707, + -0.10152969924662571, + -0.989835911159463 + ], + [ + 0.9947923392399467, + 0.06404823086783658, + 0.07928446198477364, + 0.058588495381997126, + -0.9958688119826504, + 0.06937360830415296, + 0.0834001798462594, + -0.06436717675154507, + -0.9944351545267528 + ], + [ + 0.994136065080558, + 0.04369532267159713, + 0.09891512969596596, + 0.03904483973238051, + -0.9980610529855524, + 0.04847303377800114, + 0.10084138335235925, + -0.0443266656764924, + -0.9939145647959824 + ], + [ + 0.9943536314669076, + 0.035185693620065184, + 0.10011404773081564, + 0.03139062206976449, + -0.9987368649595196, + 0.039233957446368144, + 0.10136806417529312, + -0.03586978582742189, + -0.9942021293630628 + ], + [ + 0.9942996356013195, + 0.028311846893806548, + 0.10279432848433195, + 0.027906677906432625, + -0.9995960665189136, + 0.005377836753023316, + 0.10290506290416282, + -0.0024785329082341826, + -0.9946880942804699 + ], + [ + 0.9952765837159452, + 0.0169340562192904, + 0.0955916295848085, + 0.017863452832128368, + -0.9998010446692324, + -0.008875141194710027, + 0.09542231898058047, + 0.01054081677450216, + -0.9953810688485565 + ], + [ + 0.9949560422481881, + 0.0027831715566182177, + 0.10027326637697763, + 0.003723499036261604, + -0.999950822766041, + -0.009191713901383125, + 0.10024275309841026, + 0.009518718695515287, + -0.9949174761987283 + ], + [ + 0.9965717207007603, + -0.012060690105555265, + 0.08184952812144831, + -0.011258955401383223, + -0.9998840827679317, + -0.0102497292940649, + 0.08196365915938393, + 0.009293050172559596, + -0.9965919916373475 + ], + [ + 0.9959700463099145, + -0.015404439243762875, + 0.08835366492122537, + -0.01630534547015619, + -0.9998220798604149, + 0.009483898602002673, + 0.08819185088502118, + -0.010886315959930134, + -0.9960440178838961 + ], + [ + 0.9956691196000184, + -0.00842206113849661, + 0.09258549109392733, + -0.01107332911670716, + -0.9995421053139565, + 0.028159564748350862, + 0.09230593511360663, + -0.029062838655625232, + -0.9953064682559235 + ], + [ + 0.9975506824976833, + -0.0028669464832207945, + 0.06988860040284538, + -0.0060032959706153135, + -0.9989820695293313, + 0.04470777556961836, + 0.069689283867001, + -0.04501783398561639, + -0.9965524563902033 + ], + [ + 0.9958775847683251, + 0.0037662254001795906, + 0.09062919894958121, + -0.0037115295610514985, + -0.9966089763282648, + 0.0821995915454919, + 0.0906314553801558, + -0.08219710364826309, + -0.9924865618473189 + ], + [ + 0.9959782765971922, + 0.005950579572051404, + 0.08939722114945178, + -0.003600918506579223, + -0.9943271828919484, + 0.10630374757303333, + 0.08952265597264347, + -0.10619813541168648, + -0.9903068464383579 + ], + [ + 0.9972138304381915, + -0.005494559979301542, + 0.07439345531311345, + -0.014766926406126347, + -0.9920882615934612, + 0.12467084299458524, + 0.07311986233101372, + -0.12542205156629488, + -0.9894052732392301 + ], + [ + 0.9965435616035507, + -0.0040287145321361165, + 0.08297408803793933, + -0.017106449516645948, + -0.9873687419455537, + 0.1575129734777048, + 0.08129144611485022, + -0.1583879316364484, + -0.9840248797162007 + ], + [ + 0.9938558638056064, + 0.04169781177832914, + 0.10252714017327579, + 0.020702639691131397, + -0.9800063998388128, + 0.19788596965118024, + 0.1087286654430684, + -0.19454754886111433, + -0.9748483618199814 + ], + [ + 0.9879536145028448, + 0.10353221382514642, + 0.1150162435972771, + 0.07791939576954314, + -0.9749550816350075, + 0.2083054405362102, + 0.1337019945762715, + -0.19683411669357387, + -0.9712775644231606 + ], + [ + 0.9848243230207775, + 0.13521416446827628, + 0.10880341223423491, + 0.11260208661247822, + -0.9748575361098625, + 0.19228508621399518, + 0.13206749364314777, + -0.17711553860955717, + -0.9752888100997894 + ], + [ + 0.9838423532701241, + 0.1448454343276771, + 0.10523318899630003, + 0.127211218168224, + -0.9791458065313869, + 0.15840074344571897, + 0.12598226019587416, + -0.1424545180274271, + -0.9817510786393426 + ], + [ + 0.9885736646922875, + 0.13078348585134542, + 0.0749519132873349, + 0.1208324505120456, + -0.9848113897279711, + 0.12468378228669819, + 0.09012007756385527, + -0.1142024802297815, + -0.9893614936560102 + ], + [ + 0.9893231911880095, + 0.12392586298790942, + 0.0766942231219202, + 0.11667362915066543, + -0.9888296574402261, + 0.09275329011661929, + 0.0873320538999626, + -0.08281478762483577, + -0.9927309924205384 + ], + [ + 0.9922431292322782, + 0.10542215313623841, + 0.0658767191005726, + 0.1004995960358142, + -0.9921783317353504, + 0.074040456721275, + 0.07316695762415171, + -0.06684555080913264, + -0.9950770164409632 + ], + [ + 0.9895233540748898, + 0.13129023905644635, + 0.06005335018866095, + 0.1257580522178988, + -0.9881387493089616, + 0.08812902142019777, + 0.07091152263730496, + -0.07965353251816651, + -0.9942971742465312 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.003404855728149414, + -7.13244080543518e-05, + -0.0067749470472335815, + -0.0008275583386421204, + 0.02901408076286316, + -0.004155948758125305, + 1.0 + ], + [ + 0.014830261468887329, + 0.00839286670088768, + 0.009741201996803284, + 0.010786443948745728, + -0.007679581642150879, + -0.04637124389410019, + 1.0 + ], + [ + 0.01625332236289978, + 0.006601450964808464, + 0.018016628921031952, + 0.028697960078716278, + -0.00733521580696106, + -0.03691688925027847, + 1.0 + ], + [ + 0.012921065092086792, + 0.0016962811350822449, + 0.0032273605465888977, + 0.00457986444234848, + 0.034564048051834106, + -0.02469080500304699, + 1.0 + ], + [ + 0.013199776411056519, + 0.0028693340718746185, + -0.014100983738899231, + -0.005067154765129089, + 0.08669957518577576, + -0.02270536683499813, + 1.0 + ], + [ + 0.02428191900253296, + 0.006653390824794769, + -0.022015690803527832, + -0.013955198228359222, + 0.052644528448581696, + -0.03775655850768089, + 1.0 + ], + [ + 0.018176108598709106, + 0.007582861930131912, + -0.009885035455226898, + -0.012721806764602661, + 0.0037336498498916626, + -0.025351300835609436, + 1.0 + ], + [ + 0.011517256498336792, + 0.00573386624455452, + -0.005888931453227997, + -0.013225555419921875, + 0.0055363476276397705, + -0.012401461601257324, + 1.0 + ], + [ + 0.0018661320209503174, + 0.003346811980009079, + -0.0017064623534679413, + -0.0014865472912788391, + -0.019200794398784637, + 0.037631891667842865, + 1.0 + ], + [ + -0.006326079368591309, + 0.0017758682370185852, + -0.007448345422744751, + 0.003442816436290741, + 0.007396966218948364, + 0.0869152843952179, + 1.0 + ], + [ + -0.003779888153076172, + 0.001193031668663025, + -0.003940638154745102, + 0.022991910576820374, + 0.007937543094158173, + 0.05246375501155853, + 1.0 + ], + [ + -0.0029200315475463867, + -0.0014720037579536438, + 0.00041999295353889465, + -0.005281217396259308, + 0.019549638032913208, + 0.003102228045463562, + 1.0 + ], + [ + 0.0017551779747009277, + -0.005579832941293716, + -0.007809862494468689, + -0.03757757693529129, + 0.016250230371952057, + -0.004240144044160843, + 1.0 + ], + [ + 0.003731638193130493, + -0.006396956741809845, + -0.0018102042376995087, + -0.02006867527961731, + -0.017515912652015686, + -0.01957227662205696, + 1.0 + ], + [ + -0.001860588788986206, + -0.0033172406256198883, + -0.0049344561994075775, + -0.008505206555128098, + -0.0005293935537338257, + -0.007696580141782761, + 1.0 + ], + [ + -0.0022582411766052246, + -0.005720596760511398, + -0.00738883949816227, + -0.03357155993580818, + -0.0015450790524482727, + -0.0034990888088941574, + 1.0 + ], + [ + -0.0015832781791687012, + -0.002318013459444046, + -0.011119307018816471, + -0.013081097975373268, + 0.007519826292991638, + -0.010112999007105827, + 0.0 + ], + [ + 0.0013397037982940674, + 2.8129667043685913e-05, + -0.001685958355665207, + 0.0010222811251878738, + -0.004843674600124359, + -0.01420394517481327, + 0.0 + ], + [ + 0.0029730498790740967, + 7.58245587348938e-05, + 0.0022620568051934242, + 0.00024249404668807983, + 0.01835568994283676, + -0.015039564110338688, + 0.0 + ], + [ + -0.0002810955047607422, + -0.00020043924450874329, + -0.0015284223482012749, + 0.020253676921129227, + -0.0062508657574653625, + -0.0050726523622870445, + 0.0 + ], + [ + -0.0026214122772216797, + -0.0010759755969047546, + 0.0016613351181149483, + 0.018262475728988647, + -0.004130944609642029, + 0.005248822271823883, + 0.0 + ], + [ + -0.00686413049697876, + 0.00021034106612205505, + 0.008755067363381386, + 0.015951287001371384, + 0.02269170433282852, + 0.0051030730828642845, + 0.0 + ], + [ + -0.00035831332206726074, + 0.0045529864728450775, + 0.01773594506084919, + 0.037487901747226715, + -0.021010175347328186, + 0.002291087293997407, + 0.0 + ], + [ + -0.0029171109199523926, + 0.003550030291080475, + 0.012067407369613647, + 0.024198561906814575, + 0.0011133253574371338, + 0.00011143297888338566, + 0.0 + ], + [ + 0.0022392570972442627, + 0.003885507583618164, + 0.011479813605546951, + 0.01926320791244507, + 0.016457490622997284, + -0.011191658675670624, + 0.0 + ], + [ + -0.0025245249271392822, + 0.004308350384235382, + 0.03074616938829422, + 0.033497899770736694, + -0.008196070790290833, + -0.002356993965804577, + 0.0 + ], + [ + -0.020253688097000122, + 0.006410762667655945, + 0.019218236207962036, + 0.03738871216773987, + -0.02756279706954956, + 0.037991710007190704, + 0.0 + ], + [ + -0.02889305353164673, + 0.005087018013000488, + -0.0034036785364151, + 0.00296783447265625, + -0.02515953779220581, + 0.057878948748111725, + 0.0 + ], + [ + -0.013221979141235352, + 0.0031519830226898193, + -0.012670032680034637, + -0.020301640033721924, + 0.001649126410484314, + 0.03513629734516144, + 0.0 + ], + [ + -0.0011515319347381592, + 0.003132052719593048, + -0.0033867210149765015, + -0.03554856777191162, + 0.006136536598205566, + 0.014744117856025696, + 0.0 + ], + [ + -0.00022265315055847168, + 0.0018597245216369629, + -0.012319177389144897, + -0.029174916446208954, + 0.0360754057765007, + -0.006961196660995483, + 1.0 + ], + [ + 0.0015803277492523193, + 0.0020638108253479004, + -0.0015130117535591125, + -0.03169340640306473, + 0.0027990639209747314, + -0.004235230386257172, + 1.0 + ], + [ + 0.0029383301734924316, + 0.0012401491403579712, + -0.005813278257846832, + -0.016152985394001007, + 0.014211051166057587, + -0.01644953340291977, + 1.0 + ], + [ + 0.000682830810546875, + 0.0013177916407585144, + 0.0009306669235229492, + 0.012864187359809875, + 0.0022613108158111572, + 0.025470823049545288, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + -0.00010879337787628174, + -0.0001224130392074585, + 0.0015329420566558838, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 0.9453431367874146 + ], + [ + 0.641040563583374 + ], + [ + 0.45315688848495483 + ], + [ + 0.464354008436203 + ], + [ + 0.4747070372104645 + ], + [ + 0.4747070372104645 + ], + [ + 0.4747070372104645 + ], + [ + 0.4747070372104645 + ], + [ + 0.4747070372104645 + ], + [ + 0.4747070372104645 + ], + [ + 0.4747070372104645 + ], + [ + 0.4747070372104645 + ], + [ + 0.4747070372104645 + ], + [ + 0.4747070372104645 + ], + [ + 0.5531353950500488 + ], + [ + 0.898204505443573 + ], + [ + 1.0092895030975342 + ], + [ + 1.0086473226547241 + ], + [ + 1.0086473226547241 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.24819305539131165, + 0.021197481080889702, + 0.08002462983131409 + ], + [ + 0.263023316860199, + 0.029590347781777382, + 0.08976583182811737 + ], + [ + 0.27927663922309875, + 0.036191798746585846, + 0.10778246074914932 + ], + [ + 0.29219770431518555, + 0.03788807988166809, + 0.11100982129573822 + ], + [ + 0.30539748072624207, + 0.04075741395354271, + 0.09690883755683899 + ], + [ + 0.329679399728775, + 0.04741080477833748, + 0.07489314675331116 + ], + [ + 0.34785550832748413, + 0.05499366670846939, + 0.06500811129808426 + ], + [ + 0.3593727648258209, + 0.06072753295302391, + 0.05911917984485626 + ], + [ + 0.36123889684677124, + 0.06407434493303299, + 0.05741271749138832 + ], + [ + 0.35491281747817993, + 0.06585021317005157, + 0.04996437206864357 + ], + [ + 0.35113292932510376, + 0.0670432448387146, + 0.04602373391389847 + ], + [ + 0.3482128977775574, + 0.06557124108076096, + 0.04644372686743736 + ], + [ + 0.3499680757522583, + 0.05999140813946724, + 0.038633864372968674 + ], + [ + 0.3536997139453888, + 0.053594451397657394, + 0.036823660135269165 + ], + [ + 0.3518391251564026, + 0.050277210772037506, + 0.03188920393586159 + ], + [ + 0.34958088397979736, + 0.04455661401152611, + 0.024500364437699318 + ], + [ + 0.34799760580062866, + 0.04223860055208206, + 0.013381057418882847 + ], + [ + 0.34933730959892273, + 0.04226673021912575, + 0.01169509906321764 + ], + [ + 0.3523103594779968, + 0.04234255477786064, + 0.013957155868411064 + ], + [ + 0.3520292639732361, + 0.0421421155333519, + 0.01242873352020979 + ], + [ + 0.3494078516960144, + 0.041066139936447144, + 0.014090068638324738 + ], + [ + 0.34254372119903564, + 0.0412764810025692, + 0.022845136001706123 + ], + [ + 0.3421854078769684, + 0.045829467475414276, + 0.04058108106255531 + ], + [ + 0.339268296957016, + 0.04937949776649475, + 0.05264848843216896 + ], + [ + 0.34150755405426025, + 0.053265005350112915, + 0.06412830203771591 + ], + [ + 0.33898302912712097, + 0.0575733557343483, + 0.09487447142601013 + ], + [ + 0.31872934103012085, + 0.06398411840200424, + 0.11409270763397217 + ], + [ + 0.2898362874984741, + 0.06907113641500473, + 0.11068902909755707 + ], + [ + 0.27661430835723877, + 0.07222311943769455, + 0.09801899641752243 + ], + [ + 0.2754627764225006, + 0.0753551721572876, + 0.09463227540254593 + ], + [ + 0.27524012327194214, + 0.07721489667892456, + 0.08231309801340103 + ], + [ + 0.27682045102119446, + 0.07927870750427246, + 0.08080008625984192 + ], + [ + 0.2797587811946869, + 0.08051885664463043, + 0.07498680800199509 + ], + [ + 0.28044161200523376, + 0.08183664828538895, + 0.07591747492551804 + ], + [ + 0.28044161200523376, + 0.08183664828538895, + 0.07591747492551804 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9562435628302502, + 0.1119511582055791, + 0.2703057282451462, + 0.08547361503001635, + -0.9904860637918174, + 0.10784998177047878, + 0.2798079871615712, + -0.08002684306294633, + -0.9567147927726259 + ], + [ + 0.957002637450793, + 0.06957210830295768, + 0.2816126305024469, + 0.04096232069059246, + -0.9934964026119324, + 0.10624022910738755, + 0.2871724920598545, + -0.09013667257798384, + -0.9536285126089205 + ], + [ + 0.9557302546555136, + 0.04189096373029131, + 0.29124702143344605, + 0.005600380734979669, + -0.9922242437700609, + 0.12433698488604976, + 0.29419095171627907, + -0.11720152402028701, + -0.9485333345199798 + ], + [ + 0.9651710682342324, + 0.014507377621568179, + 0.261217045841453, + -0.01817736210439917, + -0.9923297631839876, + 0.12227520029072374, + 0.2609873417438403, + -0.12276472251325408, + -0.9575042717166997 + ], + [ + 0.9834665134305739, + -0.01968376890622046, + 0.18001712752501586, + -0.0408732129450466, + -0.9925510455869155, + 0.11476847288288732, + 0.176417112050561, + -0.1202288282649701, + -0.9769452550832992 + ], + [ + 0.9891172866701132, + -0.06531858148266581, + 0.13183503374841382, + -0.078594869830481, + -0.9920633941631346, + 0.09814819610084907, + 0.12437781010567284, + -0.10744163473539167, + -0.9864007580485246 + ], + [ + 0.9872621515236227, + -0.09249833241658563, + 0.12945077314986694, + -0.10369012312136798, + -0.9911774263751872, + 0.08255705791351753, + 0.12067229398674344, + -0.09492822522522562, + -0.9881431219816115 + ], + [ + 0.9865487576438159, + -0.1069494134281642, + 0.1236259348147252, + -0.11600157041759758, + -0.9908851242156952, + 0.06848581071066498, + 0.11517458249151252, + -0.08190539405568775, + -0.9899627881756404 + ], + [ + 0.9878277490184143, + -0.06823563604387692, + 0.13978639505652898, + -0.07861255819912638, + -0.9944372645328657, + 0.070104155381688, + 0.13422519868713698, + -0.08023979612435748, + -0.987696902473284 + ], + [ + 0.9918886868474361, + 0.01818436681464696, + 0.12580207354260425, + 0.007440700365025316, + -0.9963232784875425, + 0.0853496380889356, + 0.126891563479005, + -0.08372128491240886, + -0.9883770927993367 + ], + [ + 0.9911079470390136, + 0.07232929554210307, + 0.11168487060696475, + 0.05950328821737719, + -0.9916756369688405, + 0.11418752004384614, + 0.1190142680834155, + -0.10652654152288588, + -0.9871614356039955 + ], + [ + 0.9930511450060556, + 0.07283748044784794, + 0.0924344353808225, + 0.06271231340140856, + -0.9921624975843923, + 0.10807749134276022, + 0.0995820724327707, + -0.10152969924662571, + -0.989835911159463 + ], + [ + 0.9947923392399467, + 0.06404823086783658, + 0.07928446198477364, + 0.058588495381997126, + -0.9958688119826504, + 0.06937360830415296, + 0.0834001798462594, + -0.06436717675154507, + -0.9944351545267528 + ], + [ + 0.994136065080558, + 0.04369532267159713, + 0.09891512969596596, + 0.03904483973238051, + -0.9980610529855524, + 0.04847303377800114, + 0.10084138335235925, + -0.0443266656764924, + -0.9939145647959824 + ], + [ + 0.9943536314669076, + 0.035185693620065184, + 0.10011404773081564, + 0.03139062206976449, + -0.9987368649595196, + 0.039233957446368144, + 0.10136806417529312, + -0.03586978582742189, + -0.9942021293630628 + ], + [ + 0.9942996356013195, + 0.028311846893806548, + 0.10279432848433195, + 0.027906677906432625, + -0.9995960665189136, + 0.005377836753023316, + 0.10290506290416282, + -0.0024785329082341826, + -0.9946880942804699 + ], + [ + 0.9952765837159452, + 0.0169340562192904, + 0.0955916295848085, + 0.017863452832128368, + -0.9998010446692324, + -0.008875141194710027, + 0.09542231898058047, + 0.01054081677450216, + -0.9953810688485565 + ], + [ + 0.9949560422481881, + 0.0027831715566182177, + 0.10027326637697763, + 0.003723499036261604, + -0.999950822766041, + -0.009191713901383125, + 0.10024275309841026, + 0.009518718695515287, + -0.9949174761987283 + ], + [ + 0.9965717207007603, + -0.012060690105555265, + 0.08184952812144831, + -0.011258955401383223, + -0.9998840827679317, + -0.0102497292940649, + 0.08196365915938393, + 0.009293050172559596, + -0.9965919916373475 + ], + [ + 0.9959700463099145, + -0.015404439243762875, + 0.08835366492122537, + -0.01630534547015619, + -0.9998220798604149, + 0.009483898602002673, + 0.08819185088502118, + -0.010886315959930134, + -0.9960440178838961 + ], + [ + 0.9956691196000184, + -0.00842206113849661, + 0.09258549109392733, + -0.01107332911670716, + -0.9995421053139565, + 0.028159564748350862, + 0.09230593511360663, + -0.029062838655625232, + -0.9953064682559235 + ], + [ + 0.9975506824976833, + -0.0028669464832207945, + 0.06988860040284538, + -0.0060032959706153135, + -0.9989820695293313, + 0.04470777556961836, + 0.069689283867001, + -0.04501783398561639, + -0.9965524563902033 + ], + [ + 0.9958775847683251, + 0.0037662254001795906, + 0.09062919894958121, + -0.0037115295610514985, + -0.9966089763282648, + 0.0821995915454919, + 0.0906314553801558, + -0.08219710364826309, + -0.9924865618473189 + ], + [ + 0.9959782765971922, + 0.005950579572051404, + 0.08939722114945178, + -0.003600918506579223, + -0.9943271828919484, + 0.10630374757303333, + 0.08952265597264347, + -0.10619813541168648, + -0.9903068464383579 + ], + [ + 0.9972138304381915, + -0.005494559979301542, + 0.07439345531311345, + -0.014766926406126347, + -0.9920882615934612, + 0.12467084299458524, + 0.07311986233101372, + -0.12542205156629488, + -0.9894052732392301 + ], + [ + 0.9965435616035507, + -0.0040287145321361165, + 0.08297408803793933, + -0.017106449516645948, + -0.9873687419455537, + 0.1575129734777048, + 0.08129144611485022, + -0.1583879316364484, + -0.9840248797162007 + ], + [ + 0.9938558638056064, + 0.04169781177832914, + 0.10252714017327579, + 0.020702639691131397, + -0.9800063998388128, + 0.19788596965118024, + 0.1087286654430684, + -0.19454754886111433, + -0.9748483618199814 + ], + [ + 0.9879536145028448, + 0.10353221382514642, + 0.1150162435972771, + 0.07791939576954314, + -0.9749550816350075, + 0.2083054405362102, + 0.1337019945762715, + -0.19683411669357387, + -0.9712775644231606 + ], + [ + 0.9848243230207775, + 0.13521416446827628, + 0.10880341223423491, + 0.11260208661247822, + -0.9748575361098625, + 0.19228508621399518, + 0.13206749364314777, + -0.17711553860955717, + -0.9752888100997894 + ], + [ + 0.9838423532701241, + 0.1448454343276771, + 0.10523318899630003, + 0.127211218168224, + -0.9791458065313869, + 0.15840074344571897, + 0.12598226019587416, + -0.1424545180274271, + -0.9817510786393426 + ], + [ + 0.9885736646922875, + 0.13078348585134542, + 0.0749519132873349, + 0.1208324505120456, + -0.9848113897279711, + 0.12468378228669819, + 0.09012007756385527, + -0.1142024802297815, + -0.9893614936560102 + ], + [ + 0.9893231911880095, + 0.12392586298790942, + 0.0766942231219202, + 0.11667362915066543, + -0.9888296574402261, + 0.09275329011661929, + 0.0873320538999626, + -0.08281478762483577, + -0.9927309924205384 + ], + [ + 0.9922431292322782, + 0.10542215313623841, + 0.0658767191005726, + 0.1004995960358142, + -0.9921783317353504, + 0.074040456721275, + 0.07316695762415171, + -0.06684555080913264, + -0.9950770164409632 + ], + [ + 0.9895233540748898, + 0.13129023905644635, + 0.06005335018866095, + 0.1257580522178988, + -0.9881387493089616, + 0.08812902142019777, + 0.07091152263730496, + -0.07965353251816651, + -0.9942971742465312 + ], + [ + 0.9893207947422317, + 0.13280798191807747, + 0.06005335152550682, + 0.12727367727921013, + -0.9879446776046246, + 0.08812902509685006, + 0.07103362698346431, + -0.07954466626708148, + -0.9942971738399099 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006055.json b/json/chunk-0006/episode_0006055.json new file mode 100644 index 0000000000000000000000000000000000000000..3a5b70340e3a1e73681b93cd86d74cf9c8111b3c --- /dev/null +++ b/json/chunk-0006/episode_0006055.json @@ -0,0 +1,2782 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 45, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nTake the rectangle arch and put it on the blue rectangle." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006055.mp4", + "start": 0, + "end": 45, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2555191218852997, + -0.016466815024614334, + 0.1642119288444519, + 0.017708726227283478, + 0.14824964106082916, + 0.14515332877635956, + 0.0, + 0.9994885921478271 + ], + [ + 0.254149854183197, + -0.016632581129670143, + 0.15564720332622528, + 0.02369079738855362, + 0.18307723104953766, + 0.14793947339057922, + 0.0, + 0.9994885921478271 + ], + [ + 0.25924766063690186, + -0.036948684602975845, + 0.1591506004333496, + 0.019522003829479218, + 0.15739847719669342, + 0.16391703486442566, + 0.0, + 0.9994885921478271 + ], + [ + 0.26901566982269287, + -0.05661514773964882, + 0.17100098729133606, + 0.005472202319651842, + 0.09507192671298981, + 0.12512443959712982, + 0.0, + 0.9994885921478271 + ], + [ + 0.27734512090682983, + -0.06646387279033661, + 0.1842050552368164, + -0.007666903547942638, + 0.04009434953331947, + 0.18686920404434204, + 0.0, + 0.9994885921478271 + ], + [ + 0.2814158797264099, + -0.07358904927968979, + 0.18468856811523438, + -0.04827926307916641, + 0.03762776404619217, + 0.4163883328437805, + 0.0, + 0.9994885921478271 + ], + [ + 0.2834297716617584, + -0.07373396307229996, + 0.17726004123687744, + -0.07633345574140549, + 0.017862481996417046, + 0.6642832159996033, + 0.0, + 0.9994885921478271 + ], + [ + 0.28701329231262207, + -0.07002950459718704, + 0.1761104315519333, + -0.14604534208774567, + -0.022157449275255203, + 0.9092354774475098, + 0.0, + 0.9994885921478271 + ], + [ + 0.2938072085380554, + -0.06431896239519119, + 0.17364215850830078, + -0.17400383949279785, + -0.05622945725917816, + 1.1693607568740845, + 0.0, + 0.9994885921478271 + ], + [ + 0.2977374196052551, + -0.06396324187517166, + 0.16814517974853516, + -0.21360822021961212, + -0.07187269628047943, + 1.3880705833435059, + 0.0, + 0.9994885921478271 + ], + [ + 0.30448272824287415, + -0.062251053750514984, + 0.1607455462217331, + -0.2273118495941162, + -0.0745949074625969, + 1.470755934715271, + 0.0, + 0.9994885921478271 + ], + [ + 0.30644360184669495, + -0.06474403291940689, + 0.1489129513502121, + -0.19016623497009277, + -0.09969887882471085, + 1.4657411575317383, + 0.0, + 0.9994885921478271 + ], + [ + 0.30869197845458984, + -0.06965656578540802, + 0.14044323563575745, + -0.17278499901294708, + -0.07715961337089539, + 1.4731920957565308, + 0.0, + 0.9994885921478271 + ], + [ + 0.31105342507362366, + -0.0720275342464447, + 0.13036462664604187, + -0.15284939110279083, + -0.06937382370233536, + 1.4762338399887085, + 0.0, + 0.9994885921478271 + ], + [ + 0.3147830665111542, + -0.07410378009080887, + 0.12440507113933563, + -0.1437792330980301, + -0.06659844517707825, + 1.4833251237869263, + 0.0, + 0.9994885921478271 + ], + [ + 0.3192230463027954, + -0.0756068006157875, + 0.11936604976654053, + -0.141411691904068, + -0.06201517581939697, + 1.4865037202835083, + 0.0, + 0.9994885921478271 + ], + [ + 0.3218879997730255, + -0.07291562855243683, + 0.11298429220914841, + -0.1330958604812622, + -0.058427538722753525, + 1.5017235279083252, + 0.0, + 0.9994885921478271 + ], + [ + 0.3224509358406067, + -0.07248687744140625, + 0.11249788105487823, + -0.13426722586154938, + -0.05459356680512428, + 1.5101860761642456, + 0.0, + 0.9445669651031494 + ], + [ + 0.32348501682281494, + -0.07227583229541779, + 0.11261535435914993, + -0.14023111760616302, + -0.05320729315280914, + 1.5115282535552979, + 0.0, + 0.6631406545639038 + ], + [ + 0.3240363299846649, + -0.07273579388856888, + 0.11260443925857544, + -0.14298290014266968, + -0.04367957264184952, + 1.517478585243225, + 0.0, + 0.5501742362976074 + ], + [ + 0.32524314522743225, + -0.06986725330352783, + 0.11250393837690353, + -0.1432405412197113, + -0.023511087521910667, + 1.538309931755066, + 0.0, + 0.5501742362976074 + ], + [ + 0.32486480474472046, + -0.05229683220386505, + 0.1271781176328659, + -0.1663035750389099, + -0.010393381118774414, + 1.580627202987671, + 0.0, + 0.5501742362976074 + ], + [ + 0.3222854435443878, + -0.024679871276021004, + 0.15396730601787567, + -0.23239198327064514, + 0.006768259219825268, + 1.6458884477615356, + 0.0, + 0.5501742362976074 + ], + [ + 0.3077392280101776, + 0.00988955982029438, + 0.1622963398694992, + -0.2251589000225067, + 0.01275913417339325, + 1.669675350189209, + 0.0, + 0.5501742362976074 + ], + [ + 0.27591365575790405, + 0.05034660920500755, + 0.15022386610507965, + -0.14683106541633606, + 0.04503919184207916, + 1.6011103391647339, + 0.0, + 0.5501742362976074 + ], + [ + 0.24707137048244476, + 0.07284267246723175, + 0.13250645995140076, + -0.0565212108194828, + 0.08162597566843033, + 1.4973020553588867, + 0.0, + 0.5501742362976074 + ], + [ + 0.23909331858158112, + 0.08307739347219467, + 0.11956073343753815, + -0.022936269640922546, + 0.09583807736635208, + 1.3952853679656982, + 0.0, + 0.5501742362976074 + ], + [ + 0.2378852218389511, + 0.08655937761068344, + 0.10751153528690338, + -0.009646874852478504, + 0.12267427891492844, + 1.3464826345443726, + 0.0, + 0.5501742362976074 + ], + [ + 0.24293173849582672, + 0.08298613131046295, + 0.09561023116111755, + 0.002499393420293927, + 0.14023445546627045, + 1.323243260383606, + 0.0, + 0.5501742362976074 + ], + [ + 0.2511579990386963, + 0.07630673795938492, + 0.08573267608880997, + -0.006486433558166027, + 0.14662796258926392, + 1.2989373207092285, + 0.0, + 0.5501742362976074 + ], + [ + 0.25913679599761963, + 0.07362790405750275, + 0.07856310158967972, + -0.016120774671435356, + 0.132552370429039, + 1.323966383934021, + 0.0, + 0.5501742362976074 + ], + [ + 0.26648199558258057, + 0.07419709116220474, + 0.07324834913015366, + -0.029491188004612923, + 0.09912791848182678, + 1.4309661388397217, + 0.0, + 0.5501742362976074 + ], + [ + 0.26918283104896545, + 0.07670023292303085, + 0.06753623485565186, + -0.04252981022000313, + 0.08810071647167206, + 1.4991599321365356, + 0.0, + 0.5501742362976074 + ], + [ + 0.2694065272808075, + 0.07965750992298126, + 0.06325536221265793, + -0.03810454532504082, + 0.09790065139532089, + 1.5205780267715454, + 0.0, + 0.5501742362976074 + ], + [ + 0.265889972448349, + 0.0826481357216835, + 0.062085963785648346, + -0.015001220628619194, + 0.08322741091251373, + 1.5096746683120728, + 0.0, + 0.5501742362976074 + ], + [ + 0.2639758586883545, + 0.08251223713159561, + 0.061634231358766556, + -0.0008913364727050066, + 0.07426833361387253, + 1.4964627027511597, + 0.0, + 0.5501742362976074 + ], + [ + 0.26242581009864807, + 0.07948851585388184, + 0.059977371245622635, + 0.010014877654612064, + 0.06913984566926956, + 1.4806357622146606, + 0.0, + 0.5501742362976074 + ], + [ + 0.2634541392326355, + 0.07323583960533142, + 0.05511907860636711, + 0.02159590646624565, + 0.07384440302848816, + 1.4618645906448364, + 0.0, + 0.5501742362976074 + ], + [ + 0.2602916955947876, + 0.06948287039995193, + 0.05145611613988876, + 0.028708700090646744, + 0.08065669983625412, + 1.457914113998413, + 0.0, + 0.5501742362976074 + ], + [ + 0.26033133268356323, + 0.06759321689605713, + 0.05049147456884384, + 0.028399726375937462, + 0.078495554625988, + 1.4558053016662598, + 0.0, + 0.5501742362976074 + ], + [ + 0.2610161304473877, + 0.06601890921592712, + 0.05063904821872711, + 0.03152315318584442, + 0.09099967777729034, + 1.4641634225845337, + 0.0, + 0.5958979725837708 + ], + [ + 0.2588403820991516, + 0.06477709859609604, + 0.04922927916049957, + 0.05612761899828911, + 0.10292653739452362, + 1.4588611125946045, + 0.0, + 0.9015869498252869 + ], + [ + 0.2650064527988434, + 0.07254206389188766, + 0.07307235151529312, + 0.02726571448147297, + 0.0518760159611702, + 1.450355887413025, + 0.0, + 1.003452181816101 + ], + [ + 0.27229008078575134, + 0.079696886241436, + 0.1128062754869461, + -0.0284555833786726, + -0.02662942185997963, + 1.4278916120529175, + 0.0, + 0.9994885921478271 + ], + [ + 0.2701859176158905, + 0.07262518256902695, + 0.14111757278442383, + -0.04754079133272171, + -0.057304080575704575, + 1.3197258710861206, + 0.0, + 0.9994885921478271 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9445669651031494 + ], + [ + 0.6631406545639038 + ], + [ + 0.5501742362976074 + ], + [ + 0.5501742362976074 + ], + [ + 0.5501742362976074 + ], + [ + 0.5501742362976074 + ], + [ + 0.5501742362976074 + ], + [ + 0.5501742362976074 + ], + [ + 0.5501742362976074 + ], + [ + 0.5501742362976074 + ], + [ + 0.5501742362976074 + ], + [ + 0.5501742362976074 + ], + [ + 0.5501742362976074 + ], + [ + 0.5501742362976074 + ], + [ + 0.5501742362976074 + ], + [ + 0.5501742362976074 + ], + [ + 0.5501742362976074 + ], + [ + 0.5501742362976074 + ], + [ + 0.5501742362976074 + ], + [ + 0.5501742362976074 + ], + [ + 0.5501742362976074 + ], + [ + 0.5501742362976074 + ], + [ + 0.5501742362976074 + ], + [ + 0.5958979725837708 + ], + [ + 0.9015869498252869 + ], + [ + 1.003452181816101 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2555191218852997, + -0.016466815024614334, + 0.1642119288444519 + ], + [ + 0.254149854183197, + -0.016632581129670143, + 0.15564720332622528 + ], + [ + 0.25924766063690186, + -0.036948684602975845, + 0.1591506004333496 + ], + [ + 0.26901566982269287, + -0.05661514773964882, + 0.17100098729133606 + ], + [ + 0.27734512090682983, + -0.06646387279033661, + 0.1842050552368164 + ], + [ + 0.2814158797264099, + -0.07358904927968979, + 0.18468856811523438 + ], + [ + 0.2834297716617584, + -0.07373396307229996, + 0.17726004123687744 + ], + [ + 0.28701329231262207, + -0.07002950459718704, + 0.1761104315519333 + ], + [ + 0.2938072085380554, + -0.06431896239519119, + 0.17364215850830078 + ], + [ + 0.2977374196052551, + -0.06396324187517166, + 0.16814517974853516 + ], + [ + 0.30448272824287415, + -0.062251053750514984, + 0.1607455462217331 + ], + [ + 0.30644360184669495, + -0.06474403291940689, + 0.1489129513502121 + ], + [ + 0.30869197845458984, + -0.06965656578540802, + 0.14044323563575745 + ], + [ + 0.31105342507362366, + -0.0720275342464447, + 0.13036462664604187 + ], + [ + 0.3147830665111542, + -0.07410378009080887, + 0.12440507113933563 + ], + [ + 0.3192230463027954, + -0.0756068006157875, + 0.11936604976654053 + ], + [ + 0.3218879997730255, + -0.07291562855243683, + 0.11298429220914841 + ], + [ + 0.3224509358406067, + -0.07248687744140625, + 0.11249788105487823 + ], + [ + 0.32348501682281494, + -0.07227583229541779, + 0.11261535435914993 + ], + [ + 0.3240363299846649, + -0.07273579388856888, + 0.11260443925857544 + ], + [ + 0.32524314522743225, + -0.06986725330352783, + 0.11250393837690353 + ], + [ + 0.32486480474472046, + -0.05229683220386505, + 0.1271781176328659 + ], + [ + 0.3222854435443878, + -0.024679871276021004, + 0.15396730601787567 + ], + [ + 0.3077392280101776, + 0.00988955982029438, + 0.1622963398694992 + ], + [ + 0.27591365575790405, + 0.05034660920500755, + 0.15022386610507965 + ], + [ + 0.24707137048244476, + 0.07284267246723175, + 0.13250645995140076 + ], + [ + 0.23909331858158112, + 0.08307739347219467, + 0.11956073343753815 + ], + [ + 0.2378852218389511, + 0.08655937761068344, + 0.10751153528690338 + ], + [ + 0.24293173849582672, + 0.08298613131046295, + 0.09561023116111755 + ], + [ + 0.2511579990386963, + 0.07630673795938492, + 0.08573267608880997 + ], + [ + 0.25913679599761963, + 0.07362790405750275, + 0.07856310158967972 + ], + [ + 0.26648199558258057, + 0.07419709116220474, + 0.07324834913015366 + ], + [ + 0.26918283104896545, + 0.07670023292303085, + 0.06753623485565186 + ], + [ + 0.2694065272808075, + 0.07965750992298126, + 0.06325536221265793 + ], + [ + 0.265889972448349, + 0.0826481357216835, + 0.062085963785648346 + ], + [ + 0.2639758586883545, + 0.08251223713159561, + 0.061634231358766556 + ], + [ + 0.26242581009864807, + 0.07948851585388184, + 0.059977371245622635 + ], + [ + 0.2634541392326355, + 0.07323583960533142, + 0.05511907860636711 + ], + [ + 0.2602916955947876, + 0.06948287039995193, + 0.05145611613988876 + ], + [ + 0.26033133268356323, + 0.06759321689605713, + 0.05049147456884384 + ], + [ + 0.2610161304473877, + 0.06601890921592712, + 0.05063904821872711 + ], + [ + 0.2588403820991516, + 0.06477709859609604, + 0.04922927916049957 + ], + [ + 0.2650064527988434, + 0.07254206389188766, + 0.07307235151529312 + ], + [ + 0.27229008078575134, + 0.079696886241436, + 0.1128062754869461 + ], + [ + 0.2701859176158905, + 0.07262518256902695, + 0.14111757278442383 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9786302243492689, + 0.1420334045596791, + -0.1486922862131257, + 0.1430575653941824, + -0.989706919744071, + -0.003840051326779134, + -0.14770720014132277, + -0.01751356616710615, + -0.9888760579701188 + ], + [ + 0.9725475655750789, + 0.14309351856979333, + -0.18350879444131216, + 0.14493708931891172, + -0.9894350383125515, + -0.0033978079995249932, + -0.18205623536080642, + -0.02329270063251671, + -0.9830121958874644 + ], + [ + 0.9743997675077436, + 0.16013403173002771, + -0.15780426154810115, + 0.16116676510556188, + -0.9869069836868911, + -0.00631501191217313, + -0.15674937609529319, + -0.01927945621454934, + -0.9874502193335153 + ], + [ + 0.9877015173952242, + 0.12428092683067628, + -0.09486813881003482, + 0.12423462083480434, + -0.9922321181924046, + -0.006417368109009389, + -0.09492877077685323, + -0.005447463035415969, + -0.9954691625687225 + ], + [ + 0.9818010206583144, + 0.18608002326584225, + -0.03796025257655557, + 0.1856342107430676, + -0.9825047272787532, + -0.014980009235691403, + -0.0400836080722613, + 0.007660666830416402, + -0.9991669622979049 + ], + [ + 0.9139083171091099, + 0.40564912550227844, + -0.014845029404857503, + 0.4041737341474065, + -0.9127557210168411, + -0.059334529376812856, + -0.037618885471740304, + 0.04822634892113478, + -0.9981277667340994 + ], + [ + 0.7872332737779545, + 0.6157721700759635, + 0.03299101721352002, + 0.6163965755316785, + -0.7842263715482929, + -0.07102295291677616, + -0.01786153211972015, + 0.07624718177177162, + -0.9969289507995034 + ], + [ + 0.6141983615018034, + 0.7786536736090555, + 0.12829196897554573, + 0.7888406052617094, + -0.6103530332907802, + -0.07210876675608646, + 0.02215563627702575, + 0.14549100084838995, + -0.9891114681638737 + ], + [ + 0.3901226390224905, + 0.9027991827823041, + 0.18099160778812687, + 0.9190461933325094, + -0.3937960235750762, + -0.01669689604332579, + 0.05619983134450857, + 0.17285348531071498, + -0.9833428962334487 + ], + [ + 0.18124148270221796, + 0.9582366184042336, + 0.22121055150494423, + 0.9808132998275186, + -0.19255032731892463, + 0.030490036582949187, + 0.07181083364894342, + 0.21144019154029098, + -0.9747493265306981 + ], + [ + 0.09959586731657638, + 0.9677270796798353, + 0.23148425965451133, + 0.9922331259284972, + -0.1140155298364563, + 0.04973814196645798, + 0.07452574738721038, + 0.22473263717237524, + -0.9715663408979993 + ], + [ + 0.10434130832773436, + 0.9745861096791257, + 0.1982291759478514, + 0.9895483388745228, + -0.12168203235514718, + 0.07737937730813, + 0.09953379530154426, + 0.18808348630974614, + -0.9770965283790758 + ], + [ + 0.09715938875607938, + 0.9791296706236762, + 0.17850809864237668, + 0.9922793220697347, + -0.1091878397853982, + 0.05881974698879484, + 0.07708307317026655, + 0.17141500444059632, + -0.9821787495579699 + ], + [ + 0.09419449752377124, + 0.9829291143051304, + 0.15804351580364345, + 0.9931376465778479, + -0.10382766492606815, + 0.05382778971696867, + 0.06931819087410127, + 0.15188868373691425, + -0.9859639020606228 + ], + [ + 0.08716603827092761, + 0.9850648268654199, + 0.14849029815025472, + 0.9939684514345559, + -0.0959572942262038, + 0.053093457577901064, + 0.06654922482600235, + 0.14296672535029298, + -0.9874875777029664 + ], + [ + 0.08403097610094229, + 0.985767526787474, + 0.14560624363958272, + 0.9945339817048365, + -0.09205626798320715, + 0.04927273850038811, + 0.06197543295408711, + 0.14066992093660466, + -0.9881148815061145 + ], + [ + 0.06890011466935964, + 0.9882574981216099, + 0.13638141957380095, + 0.9959130884644121, + -0.07613811535695325, + 0.0485809388049204, + 0.05839430129580476, + 0.13247680852250077, + -0.9894645020312084 + ], + [ + 0.060482902355491974, + 0.9887375210619617, + 0.1368938748334002, + 0.9966766380587412, + -0.06731905053540727, + 0.04586746758799955, + 0.05456645187824594, + 0.13366472937636875, + -0.9895232399747674 + ], + [ + 0.05914955524844068, + 0.988004812312037, + 0.14264578844875903, + 0.9968314725226398, + -0.06607225700909547, + 0.044288511400468675, + 0.05318219158945103, + 0.1395741655965762, + -0.988782436532811 + ], + [ + 0.05324165294290323, + 0.9880571994228041, + 0.14459701608495357, + 0.9976265004421027, + -0.05896200438943183, + 0.03556469673740832, + 0.04366568455378477, + 0.14236029189049, + -0.988851280671317 + ], + [ + 0.03247170438967023, + 0.9891273670256079, + 0.14343165694859078, + 0.9991961364127034, + -0.035502189941305884, + 0.01861922359545929, + 0.023508921539622814, + 0.14271175953774726, + -0.9894850601690175 + ], + [ + -0.009830186876909286, + 0.9861726595155642, + 0.16542929924884422, + 0.9998976692364272, + 0.007974701330262235, + 0.01187666595696403, + 0.010393194000173078, + 0.16552912058816638, + -0.9861501365186656 + ], + [ + -0.07501985061506933, + 0.970259017508574, + 0.23015095254417114, + 0.9971590712520847, + 0.074559226176374, + 0.010710201289440585, + -0.006768207545037069, + 0.23030058778751944, + -0.9730960027825366 + ], + [ + -0.09870994245132292, + 0.9697161844189737, + 0.22339845330074, + 0.9950344519615062, + 0.09906083121965126, + 0.009663908512407879, + -0.012758787987929565, + 0.22324308140226468, + -0.9746793010704086 + ], + [ + -0.030278633274929523, + 0.9885855277821316, + 0.14758678337414477, + 0.9985269384635114, + 0.03656739264584841, + -0.04008464740735092, + -0.045023966170136764, + 0.14615567062146018, + -0.9882364911373703 + ], + [ + 0.07318364454269205, + 0.9960461355384006, + 0.050361195880030254, + 0.9939799488733375, + -0.06871727977302938, + -0.08533344419600292, + -0.0815353629366181, + 0.056303031353676536, + -0.995078867854795 + ], + [ + 0.17380998639456202, + 0.9847616683055975, + 0.005877522054252411, + 0.9801189918388469, + -0.1724044452368917, + -0.0982011664867668, + -0.09569143360993324, + 0.02282901440131952, + -0.9951492278222095 + ], + [ + 0.22076567172609612, + 0.9751642057994769, + -0.017812633572857055, + 0.9676202141105203, + -0.22127608514341363, + -0.12144140722305313, + -0.12236682324893541, + 0.009574229529319522, + -0.9924387611822121 + ], + [ + 0.24262693579736455, + 0.9694262704328014, + -0.03667255404700904, + 0.959997418362307, + -0.24537029422452356, + -0.13490135451461097, + -0.1397752723599118, + -0.002474854929086806, + -0.9901801595314828 + ], + [ + 0.2656412127778001, + 0.9635075856459784, + -0.03298300284383896, + 0.9529368423629808, + -0.2676041054854397, + -0.1424760232270984, + -0.1461031161242312, + 0.0064167850201473225, + -0.9892485553837287 + ], + [ + 0.24218788881030645, + 0.9700863862358993, + -0.016656222662415412, + 0.9611854961487047, + -0.24223353487287963, + -0.13208087134917457, + -0.13216455087115614, + 0.015978667740545217, + -0.9910989928711775 + ], + [ + 0.13869074940462456, + 0.9902158114366786, + 0.015411775056226339, + 0.9853784427050749, + -0.13642464794796794, + -0.1020668412580411, + -0.09896565405081087, + 0.0293421576076658, + -0.9946581508765824 + ], + [ + 0.07129754603246585, + 0.9968010315916846, + 0.03611597080935551, + 0.9935667991799149, + -0.06777907898983149, + -0.09072492501330223, + -0.08798679160605612, + 0.042352094033754506, + -0.9952208923821028 + ], + [ + 0.04995682890726627, + 0.9982012652958274, + 0.03314436916490704, + 0.9939569204531717, + -0.046441849567419924, + -0.09946253009050504, + -0.09774433757910278, + 0.037912907703929244, + -0.9944891431788765 + ], + [ + 0.06087217368759407, + 0.9980965195865878, + 0.009895254402360061, + 0.9946777142913004, + -0.059832039246647095, + -0.08388308394320076, + -0.0831313608861407, + 0.014948734686511984, + -0.9964264710295941 + ], + [ + 0.07406046673988548, + 0.997243043609787, + -0.004621605582305323, + 0.9944895151429414, + -0.07419920394130702, + -0.07406134217818046, + -0.07420007774273235, + 0.000888879274369675, + -0.9972429785947895 + ], + [ + 0.08982334223332228, + 0.9958260497124991, + -0.016194008275708768, + 0.9935587859936066, + -0.09072300132002759, + -0.06789901182194126, + -0.06908477375619974, + -0.009990783026597002, + -0.9975607642091631 + ], + [ + 0.1084201505797362, + 0.9936677994665393, + -0.02948517002820718, + 0.9913636969383339, + -0.11027480128634881, + -0.07097526748110984, + -0.07377730912025822, + -0.021535377976279847, + -0.997042193768344 + ], + [ + 0.11227643396497428, + 0.9929656106071143, + -0.03759386290008235, + 0.9904052676089152, + -0.11489421994114829, + -0.07679013033345411, + -0.08056927620763756, + -0.02861143784846309, + -0.9963382845979681 + ], + [ + 0.11438447287862197, + 0.9927397495825376, + -0.03720190805698348, + 0.9903369551745371, + -0.11690346440290866, + -0.07460760836687146, + -0.07841497038133985, + -0.028308472396056845, + -0.9965188020357143 + ], + [ + 0.1059905693042052, + 0.9935212695529702, + -0.04100592840584915, + 0.990205983942939, + -0.10922595986606715, + -0.08695860541046438, + -0.0908741359362884, + -0.03138752359125271, + -0.9953676279549392 + ], + [ + 0.11111045789425483, + 0.9915330804065896, + -0.06720577806966307, + 0.9884826509788631, + -0.1172534391323587, + -0.09567486464810798, + -0.10274490187025606, + -0.05580126764737556, + -0.9931413311652162 + ], + [ + 0.11998783555815407, + 0.9922169730401909, + -0.0332926077234942, + 0.9914203001069579, + -0.12150819631726095, + -0.048182432105025486, + -0.05185275165214279, + -0.02722566140036012, + -0.9982835546614068 + ], + [ + 0.14236832344682598, + 0.9892978889495551, + 0.031952267507867206, + 0.9894555583624977, + -0.14311100280202954, + 0.022292126470035322, + 0.026626274701852016, + 0.028441656016341087, + -0.9992407686331408 + ], + [ + 0.2480331967441754, + 0.9668764072044715, + 0.060245717725308394, + 0.967057065763776, + -0.250796723597759, + 0.043607740012347594, + 0.05727272360574811, + 0.04744487985021801, + -0.997230574394296 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0013692677021026611, + -0.00016576610505580902, + -0.008564725518226624, + 0.005982071161270142, + 0.034827589988708496, + 0.0027861446142196655, + 1.0 + ], + [ + 0.005097806453704834, + -0.020316103473305702, + 0.0035033971071243286, + -0.004168793559074402, + -0.02567875385284424, + 0.015977561473846436, + 1.0 + ], + [ + 0.009768009185791016, + -0.019666463136672974, + 0.01185038685798645, + -0.014049801975488663, + -0.06232655048370361, + -0.03879259526729584, + 1.0 + ], + [ + 0.008329451084136963, + -0.00984872505068779, + 0.013204067945480347, + -0.013139106333255768, + -0.054977577179670334, + 0.06174476444721222, + 1.0 + ], + [ + 0.004070758819580078, + -0.00712517648935318, + 0.00048351287841796875, + -0.0406123585999012, + -0.002466585487127304, + 0.22951912879943848, + 1.0 + ], + [ + 0.0020138919353485107, + -0.00014491379261016846, + -0.007428526878356934, + -0.028054192662239075, + -0.019765282049775124, + 0.24789488315582275, + 1.0 + ], + [ + 0.0035835206508636475, + 0.003704458475112915, + -0.0011496096849441528, + -0.06971188634634018, + -0.0400199294090271, + 0.2449522614479065, + 1.0 + ], + [ + 0.00679391622543335, + 0.00571054220199585, + -0.0024682730436325073, + -0.027958497405052185, + -0.03407200798392296, + 0.2601252794265747, + 1.0 + ], + [ + 0.003930211067199707, + 0.00035572052001953125, + -0.005496978759765625, + -0.03960438072681427, + -0.01564323902130127, + 0.2187098264694214, + 1.0 + ], + [ + 0.0067453086376190186, + 0.0017121881246566772, + -0.007399633526802063, + -0.01370362937450409, + -0.002722211182117462, + 0.08268535137176514, + 1.0 + ], + [ + 0.0019608736038208008, + -0.0024929791688919067, + -0.011832594871520996, + 0.03714561462402344, + -0.025103971362113953, + -0.005014777183532715, + 1.0 + ], + [ + 0.0022483766078948975, + -0.004912532866001129, + -0.008469715714454651, + 0.01738123595714569, + 0.02253926545381546, + 0.0074509382247924805, + 1.0 + ], + [ + 0.0023614466190338135, + -0.002370968461036682, + -0.010078608989715576, + 0.01993560791015625, + 0.007785789668560028, + 0.0030417442321777344, + 1.0 + ], + [ + 0.0037296414375305176, + -0.0020762458443641663, + -0.005959555506706238, + 0.009070158004760742, + 0.0027753785252571106, + 0.0070912837982177734, + 1.0 + ], + [ + 0.004439979791641235, + -0.0015030205249786377, + -0.005039021372795105, + 0.002367541193962097, + 0.004583269357681274, + 0.0031785964965820312, + 1.0 + ], + [ + 0.0026649534702301025, + 0.0026911720633506775, + -0.00638175755739212, + 0.008315831422805786, + 0.003587637096643448, + 0.015219807624816895, + 1.0 + ], + [ + 0.0005629360675811768, + 0.0004287511110305786, + -0.0004864111542701721, + -0.0011713653802871704, + 0.003833971917629242, + 0.00846254825592041, + 0.0 + ], + [ + 0.001034080982208252, + 0.00021104514598846436, + 0.000117473304271698, + -0.0059638917446136475, + 0.0013862736523151398, + 0.001342177391052246, + 0.0 + ], + [ + 0.0005513131618499756, + -0.00045996159315109253, + -1.0915100574493408e-05, + -0.002751782536506653, + 0.009527720510959625, + 0.005950331687927246, + 0.0 + ], + [ + 0.001206815242767334, + 0.002868540585041046, + -0.00010050088167190552, + -0.000257641077041626, + 0.02016848511993885, + 0.02083134651184082, + 0.0 + ], + [ + -0.000378340482711792, + 0.01757042109966278, + 0.014674179255962372, + -0.02306303381919861, + 0.013117706403136253, + 0.04231727123260498, + 0.0 + ], + [ + -0.0025793612003326416, + 0.027616960927844048, + 0.026789188385009766, + -0.06608840823173523, + 0.017161641269922256, + 0.06526124477386475, + 0.0 + ], + [ + -0.014546215534210205, + 0.034569431096315384, + 0.008329033851623535, + 0.007233083248138428, + 0.005990874953567982, + 0.02378690242767334, + 0.0 + ], + [ + -0.03182557225227356, + 0.040457047522068024, + -0.012072473764419556, + 0.07832783460617065, + 0.03228005766868591, + -0.0685650110244751, + 0.0 + ], + [ + -0.02884228527545929, + 0.022496063262224197, + -0.017717406153678894, + 0.09030985832214355, + 0.036586783826351166, + -0.10380828380584717, + 0.0 + ], + [ + -0.007978051900863647, + 0.010234721004962921, + -0.01294572651386261, + 0.03358494117856026, + 0.014212101697921753, + -0.10201668739318848, + 0.0 + ], + [ + -0.0012080967426300049, + 0.0034819841384887695, + -0.012049198150634766, + 0.013289394788444042, + 0.026836201548576355, + -0.048802733421325684, + 0.0 + ], + [ + 0.00504651665687561, + -0.0035732463002204895, + -0.011901304125785828, + 0.012146268039941788, + 0.01756017655134201, + -0.0232393741607666, + 0.0 + ], + [ + 0.008226260542869568, + -0.0066793933510780334, + -0.009877555072307587, + -0.00898582674562931, + 0.006393507122993469, + -0.02430593967437744, + 0.0 + ], + [ + 0.00797879695892334, + -0.0026788339018821716, + -0.007169574499130249, + -0.009634341113269329, + -0.014075592160224915, + 0.02502906322479248, + 0.0 + ], + [ + 0.0073451995849609375, + 0.0005691871047019958, + -0.005314752459526062, + -0.013370413333177567, + -0.03342445194721222, + 0.10699975490570068, + 0.0 + ], + [ + 0.0027008354663848877, + 0.002503141760826111, + -0.0057121142745018005, + -0.013038622215390205, + -0.011027202010154724, + 0.06819379329681396, + 0.0 + ], + [ + 0.00022369623184204102, + 0.002957276999950409, + -0.004280872642993927, + 0.004425264894962311, + 0.009799934923648834, + 0.021418094635009766, + 0.0 + ], + [ + -0.003516554832458496, + 0.00299062579870224, + -0.0011693984270095825, + 0.023103324696421623, + -0.01467324048280716, + -0.010903358459472656, + 0.0 + ], + [ + -0.0019141137599945068, + -0.00013589859008789062, + -0.00045173242688179016, + 0.014109884388744831, + -0.008959077298641205, + -0.013211965560913086, + 0.0 + ], + [ + -0.001550048589706421, + -0.0030237212777137756, + -0.001656860113143921, + 0.010906213894486427, + -0.005128487944602966, + -0.015826940536499023, + 0.0 + ], + [ + 0.0010283291339874268, + -0.006252676248550415, + -0.004858292639255524, + 0.011581028811633587, + 0.004704557359218597, + -0.01877117156982422, + 0.0 + ], + [ + -0.0031624436378479004, + -0.003752969205379486, + -0.0036629624664783478, + 0.0071127936244010925, + 0.006812296807765961, + -0.00395047664642334, + 0.0 + ], + [ + 3.9637088775634766e-05, + -0.001889653503894806, + -0.0009646415710449219, + -0.0003089737147092819, + -0.0021611452102661133, + -0.0021088123321533203, + 0.0 + ], + [ + 0.0006847977638244629, + -0.0015743076801300049, + 0.00014757364988327026, + 0.0031234268099069595, + 0.012504123151302338, + 0.008358120918273926, + 1.0 + ], + [ + -0.002175748348236084, + -0.0012418106198310852, + -0.001409769058227539, + 0.024604465812444687, + 0.011926859617233276, + -0.005302309989929199, + 1.0 + ], + [ + 0.0061660706996917725, + 0.007764965295791626, + 0.02384307235479355, + -0.02886190451681614, + -0.051050521433353424, + -0.00850522518157959, + 1.0 + ], + [ + 0.007283627986907959, + 0.00715482234954834, + 0.039733923971652985, + -0.05572129786014557, + -0.07850544154644012, + -0.022464275360107422, + 1.0 + ], + [ + -0.00210416316986084, + -0.007071703672409058, + 0.028311297297477722, + -0.01908520795404911, + -0.030674658715724945, + -0.10816574096679688, + 1.0 + ], + [ + 0.007065296173095703, + -0.028430819511413574, + 0.020511269569396973, + 0.013693653047084808, + 0.012464791536331177, + -0.22713732719421387, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9445669651031494 + ], + [ + 0.6631406545639038 + ], + [ + 0.5501742362976074 + ], + [ + 0.5501742362976074 + ], + [ + 0.5501742362976074 + ], + [ + 0.5501742362976074 + ], + [ + 0.5501742362976074 + ], + [ + 0.5501742362976074 + ], + [ + 0.5501742362976074 + ], + [ + 0.5501742362976074 + ], + [ + 0.5501742362976074 + ], + [ + 0.5501742362976074 + ], + [ + 0.5501742362976074 + ], + [ + 0.5501742362976074 + ], + [ + 0.5501742362976074 + ], + [ + 0.5501742362976074 + ], + [ + 0.5501742362976074 + ], + [ + 0.5501742362976074 + ], + [ + 0.5501742362976074 + ], + [ + 0.5501742362976074 + ], + [ + 0.5501742362976074 + ], + [ + 0.5501742362976074 + ], + [ + 0.5501742362976074 + ], + [ + 0.5958979725837708 + ], + [ + 0.9015869498252869 + ], + [ + 1.003452181816101 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.254149854183197, + -0.016632581129670143, + 0.15564720332622528 + ], + [ + 0.25924766063690186, + -0.036948684602975845, + 0.1591506004333496 + ], + [ + 0.26901566982269287, + -0.05661514773964882, + 0.17100098729133606 + ], + [ + 0.27734512090682983, + -0.06646387279033661, + 0.1842050552368164 + ], + [ + 0.2814158797264099, + -0.07358904927968979, + 0.18468856811523438 + ], + [ + 0.2834297716617584, + -0.07373396307229996, + 0.17726004123687744 + ], + [ + 0.28701329231262207, + -0.07002950459718704, + 0.1761104315519333 + ], + [ + 0.2938072085380554, + -0.06431896239519119, + 0.17364215850830078 + ], + [ + 0.2977374196052551, + -0.06396324187517166, + 0.16814517974853516 + ], + [ + 0.30448272824287415, + -0.062251053750514984, + 0.1607455462217331 + ], + [ + 0.30644360184669495, + -0.06474403291940689, + 0.1489129513502121 + ], + [ + 0.30869197845458984, + -0.06965656578540802, + 0.14044323563575745 + ], + [ + 0.31105342507362366, + -0.0720275342464447, + 0.13036462664604187 + ], + [ + 0.3147830665111542, + -0.07410378009080887, + 0.12440507113933563 + ], + [ + 0.3192230463027954, + -0.0756068006157875, + 0.11936604976654053 + ], + [ + 0.3218879997730255, + -0.07291562855243683, + 0.11298429220914841 + ], + [ + 0.3224509358406067, + -0.07248687744140625, + 0.11249788105487823 + ], + [ + 0.32348501682281494, + -0.07227583229541779, + 0.11261535435914993 + ], + [ + 0.3240363299846649, + -0.07273579388856888, + 0.11260443925857544 + ], + [ + 0.32524314522743225, + -0.06986725330352783, + 0.11250393837690353 + ], + [ + 0.32486480474472046, + -0.05229683220386505, + 0.1271781176328659 + ], + [ + 0.3222854435443878, + -0.024679871276021004, + 0.15396730601787567 + ], + [ + 0.3077392280101776, + 0.00988955982029438, + 0.1622963398694992 + ], + [ + 0.27591365575790405, + 0.05034660920500755, + 0.15022386610507965 + ], + [ + 0.24707137048244476, + 0.07284267246723175, + 0.13250645995140076 + ], + [ + 0.23909331858158112, + 0.08307739347219467, + 0.11956073343753815 + ], + [ + 0.2378852218389511, + 0.08655937761068344, + 0.10751153528690338 + ], + [ + 0.24293173849582672, + 0.08298613131046295, + 0.09561023116111755 + ], + [ + 0.2511579990386963, + 0.07630673795938492, + 0.08573267608880997 + ], + [ + 0.25913679599761963, + 0.07362790405750275, + 0.07856310158967972 + ], + [ + 0.26648199558258057, + 0.07419709116220474, + 0.07324834913015366 + ], + [ + 0.26918283104896545, + 0.07670023292303085, + 0.06753623485565186 + ], + [ + 0.2694065272808075, + 0.07965750992298126, + 0.06325536221265793 + ], + [ + 0.265889972448349, + 0.0826481357216835, + 0.062085963785648346 + ], + [ + 0.2639758586883545, + 0.08251223713159561, + 0.061634231358766556 + ], + [ + 0.26242581009864807, + 0.07948851585388184, + 0.059977371245622635 + ], + [ + 0.2634541392326355, + 0.07323583960533142, + 0.05511907860636711 + ], + [ + 0.2602916955947876, + 0.06948287039995193, + 0.05145611613988876 + ], + [ + 0.26033133268356323, + 0.06759321689605713, + 0.05049147456884384 + ], + [ + 0.2610161304473877, + 0.06601890921592712, + 0.05063904821872711 + ], + [ + 0.2588403820991516, + 0.06477709859609604, + 0.04922927916049957 + ], + [ + 0.2650064527988434, + 0.07254206389188766, + 0.07307235151529312 + ], + [ + 0.27229008078575134, + 0.079696886241436, + 0.1128062754869461 + ], + [ + 0.2701859176158905, + 0.07262518256902695, + 0.14111757278442383 + ], + [ + 0.2772512137889862, + 0.04419436305761337, + 0.1616288423538208 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9725475655750789, + 0.14309351856979333, + -0.18350879444131216, + 0.14493708931891172, + -0.9894350383125515, + -0.0033978079995249932, + -0.18205623536080642, + -0.02329270063251671, + -0.9830121958874644 + ], + [ + 0.9743997675077436, + 0.16013403173002771, + -0.15780426154810115, + 0.16116676510556188, + -0.9869069836868911, + -0.00631501191217313, + -0.15674937609529319, + -0.01927945621454934, + -0.9874502193335153 + ], + [ + 0.9877015173952242, + 0.12428092683067628, + -0.09486813881003482, + 0.12423462083480434, + -0.9922321181924046, + -0.006417368109009389, + -0.09492877077685323, + -0.005447463035415969, + -0.9954691625687225 + ], + [ + 0.9818010206583144, + 0.18608002326584225, + -0.03796025257655557, + 0.1856342107430676, + -0.9825047272787532, + -0.014980009235691403, + -0.0400836080722613, + 0.007660666830416402, + -0.9991669622979049 + ], + [ + 0.9139083171091099, + 0.40564912550227844, + -0.014845029404857503, + 0.4041737341474065, + -0.9127557210168411, + -0.059334529376812856, + -0.037618885471740304, + 0.04822634892113478, + -0.9981277667340994 + ], + [ + 0.7872332737779545, + 0.6157721700759635, + 0.03299101721352002, + 0.6163965755316785, + -0.7842263715482929, + -0.07102295291677616, + -0.01786153211972015, + 0.07624718177177162, + -0.9969289507995034 + ], + [ + 0.6141983615018034, + 0.7786536736090555, + 0.12829196897554573, + 0.7888406052617094, + -0.6103530332907802, + -0.07210876675608646, + 0.02215563627702575, + 0.14549100084838995, + -0.9891114681638737 + ], + [ + 0.3901226390224905, + 0.9027991827823041, + 0.18099160778812687, + 0.9190461933325094, + -0.3937960235750762, + -0.01669689604332579, + 0.05619983134450857, + 0.17285348531071498, + -0.9833428962334487 + ], + [ + 0.18124148270221796, + 0.9582366184042336, + 0.22121055150494423, + 0.9808132998275186, + -0.19255032731892463, + 0.030490036582949187, + 0.07181083364894342, + 0.21144019154029098, + -0.9747493265306981 + ], + [ + 0.09959586731657638, + 0.9677270796798353, + 0.23148425965451133, + 0.9922331259284972, + -0.1140155298364563, + 0.04973814196645798, + 0.07452574738721038, + 0.22473263717237524, + -0.9715663408979993 + ], + [ + 0.10434130832773436, + 0.9745861096791257, + 0.1982291759478514, + 0.9895483388745228, + -0.12168203235514718, + 0.07737937730813, + 0.09953379530154426, + 0.18808348630974614, + -0.9770965283790758 + ], + [ + 0.09715938875607938, + 0.9791296706236762, + 0.17850809864237668, + 0.9922793220697347, + -0.1091878397853982, + 0.05881974698879484, + 0.07708307317026655, + 0.17141500444059632, + -0.9821787495579699 + ], + [ + 0.09419449752377124, + 0.9829291143051304, + 0.15804351580364345, + 0.9931376465778479, + -0.10382766492606815, + 0.05382778971696867, + 0.06931819087410127, + 0.15188868373691425, + -0.9859639020606228 + ], + [ + 0.08716603827092761, + 0.9850648268654199, + 0.14849029815025472, + 0.9939684514345559, + -0.0959572942262038, + 0.053093457577901064, + 0.06654922482600235, + 0.14296672535029298, + -0.9874875777029664 + ], + [ + 0.08403097610094229, + 0.985767526787474, + 0.14560624363958272, + 0.9945339817048365, + -0.09205626798320715, + 0.04927273850038811, + 0.06197543295408711, + 0.14066992093660466, + -0.9881148815061145 + ], + [ + 0.06890011466935964, + 0.9882574981216099, + 0.13638141957380095, + 0.9959130884644121, + -0.07613811535695325, + 0.0485809388049204, + 0.05839430129580476, + 0.13247680852250077, + -0.9894645020312084 + ], + [ + 0.060482902355491974, + 0.9887375210619617, + 0.1368938748334002, + 0.9966766380587412, + -0.06731905053540727, + 0.04586746758799955, + 0.05456645187824594, + 0.13366472937636875, + -0.9895232399747674 + ], + [ + 0.05914955524844068, + 0.988004812312037, + 0.14264578844875903, + 0.9968314725226398, + -0.06607225700909547, + 0.044288511400468675, + 0.05318219158945103, + 0.1395741655965762, + -0.988782436532811 + ], + [ + 0.05324165294290323, + 0.9880571994228041, + 0.14459701608495357, + 0.9976265004421027, + -0.05896200438943183, + 0.03556469673740832, + 0.04366568455378477, + 0.14236029189049, + -0.988851280671317 + ], + [ + 0.03247170438967023, + 0.9891273670256079, + 0.14343165694859078, + 0.9991961364127034, + -0.035502189941305884, + 0.01861922359545929, + 0.023508921539622814, + 0.14271175953774726, + -0.9894850601690175 + ], + [ + -0.009830186876909286, + 0.9861726595155642, + 0.16542929924884422, + 0.9998976692364272, + 0.007974701330262235, + 0.01187666595696403, + 0.010393194000173078, + 0.16552912058816638, + -0.9861501365186656 + ], + [ + -0.07501985061506933, + 0.970259017508574, + 0.23015095254417114, + 0.9971590712520847, + 0.074559226176374, + 0.010710201289440585, + -0.006768207545037069, + 0.23030058778751944, + -0.9730960027825366 + ], + [ + -0.09870994245132292, + 0.9697161844189737, + 0.22339845330074, + 0.9950344519615062, + 0.09906083121965126, + 0.009663908512407879, + -0.012758787987929565, + 0.22324308140226468, + -0.9746793010704086 + ], + [ + -0.030278633274929523, + 0.9885855277821316, + 0.14758678337414477, + 0.9985269384635114, + 0.03656739264584841, + -0.04008464740735092, + -0.045023966170136764, + 0.14615567062146018, + -0.9882364911373703 + ], + [ + 0.07318364454269205, + 0.9960461355384006, + 0.050361195880030254, + 0.9939799488733375, + -0.06871727977302938, + -0.08533344419600292, + -0.0815353629366181, + 0.056303031353676536, + -0.995078867854795 + ], + [ + 0.17380998639456202, + 0.9847616683055975, + 0.005877522054252411, + 0.9801189918388469, + -0.1724044452368917, + -0.0982011664867668, + -0.09569143360993324, + 0.02282901440131952, + -0.9951492278222095 + ], + [ + 0.22076567172609612, + 0.9751642057994769, + -0.017812633572857055, + 0.9676202141105203, + -0.22127608514341363, + -0.12144140722305313, + -0.12236682324893541, + 0.009574229529319522, + -0.9924387611822121 + ], + [ + 0.24262693579736455, + 0.9694262704328014, + -0.03667255404700904, + 0.959997418362307, + -0.24537029422452356, + -0.13490135451461097, + -0.1397752723599118, + -0.002474854929086806, + -0.9901801595314828 + ], + [ + 0.2656412127778001, + 0.9635075856459784, + -0.03298300284383896, + 0.9529368423629808, + -0.2676041054854397, + -0.1424760232270984, + -0.1461031161242312, + 0.0064167850201473225, + -0.9892485553837287 + ], + [ + 0.24218788881030645, + 0.9700863862358993, + -0.016656222662415412, + 0.9611854961487047, + -0.24223353487287963, + -0.13208087134917457, + -0.13216455087115614, + 0.015978667740545217, + -0.9910989928711775 + ], + [ + 0.13869074940462456, + 0.9902158114366786, + 0.015411775056226339, + 0.9853784427050749, + -0.13642464794796794, + -0.1020668412580411, + -0.09896565405081087, + 0.0293421576076658, + -0.9946581508765824 + ], + [ + 0.07129754603246585, + 0.9968010315916846, + 0.03611597080935551, + 0.9935667991799149, + -0.06777907898983149, + -0.09072492501330223, + -0.08798679160605612, + 0.042352094033754506, + -0.9952208923821028 + ], + [ + 0.04995682890726627, + 0.9982012652958274, + 0.03314436916490704, + 0.9939569204531717, + -0.046441849567419924, + -0.09946253009050504, + -0.09774433757910278, + 0.037912907703929244, + -0.9944891431788765 + ], + [ + 0.06087217368759407, + 0.9980965195865878, + 0.009895254402360061, + 0.9946777142913004, + -0.059832039246647095, + -0.08388308394320076, + -0.0831313608861407, + 0.014948734686511984, + -0.9964264710295941 + ], + [ + 0.07406046673988548, + 0.997243043609787, + -0.004621605582305323, + 0.9944895151429414, + -0.07419920394130702, + -0.07406134217818046, + -0.07420007774273235, + 0.000888879274369675, + -0.9972429785947895 + ], + [ + 0.08982334223332228, + 0.9958260497124991, + -0.016194008275708768, + 0.9935587859936066, + -0.09072300132002759, + -0.06789901182194126, + -0.06908477375619974, + -0.009990783026597002, + -0.9975607642091631 + ], + [ + 0.1084201505797362, + 0.9936677994665393, + -0.02948517002820718, + 0.9913636969383339, + -0.11027480128634881, + -0.07097526748110984, + -0.07377730912025822, + -0.021535377976279847, + -0.997042193768344 + ], + [ + 0.11227643396497428, + 0.9929656106071143, + -0.03759386290008235, + 0.9904052676089152, + -0.11489421994114829, + -0.07679013033345411, + -0.08056927620763756, + -0.02861143784846309, + -0.9963382845979681 + ], + [ + 0.11438447287862197, + 0.9927397495825376, + -0.03720190805698348, + 0.9903369551745371, + -0.11690346440290866, + -0.07460760836687146, + -0.07841497038133985, + -0.028308472396056845, + -0.9965188020357143 + ], + [ + 0.1059905693042052, + 0.9935212695529702, + -0.04100592840584915, + 0.990205983942939, + -0.10922595986606715, + -0.08695860541046438, + -0.0908741359362884, + -0.03138752359125271, + -0.9953676279549392 + ], + [ + 0.11111045789425483, + 0.9915330804065896, + -0.06720577806966307, + 0.9884826509788631, + -0.1172534391323587, + -0.09567486464810798, + -0.10274490187025606, + -0.05580126764737556, + -0.9931413311652162 + ], + [ + 0.11998783555815407, + 0.9922169730401909, + -0.0332926077234942, + 0.9914203001069579, + -0.12150819631726095, + -0.048182432105025486, + -0.05185275165214279, + -0.02722566140036012, + -0.9982835546614068 + ], + [ + 0.14236832344682598, + 0.9892978889495551, + 0.031952267507867206, + 0.9894555583624977, + -0.14311100280202954, + 0.022292126470035322, + 0.026626274701852016, + 0.028441656016341087, + -0.9992407686331408 + ], + [ + 0.2480331967441754, + 0.9668764072044715, + 0.060245717725308394, + 0.967057065763776, + -0.250796723597759, + 0.043607740012347594, + 0.05727272360574811, + 0.04744487985021801, + -0.997230574394296 + ], + [ + 0.4597262058375823, + 0.8866145454992942, + 0.05066027413329592, + 0.8869287462453963, + -0.4612718908582082, + 0.02420003693514587, + 0.044824265189181076, + 0.03380666226016828, + -0.9984227034863924 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006056.json b/json/chunk-0006/episode_0006056.json new file mode 100644 index 0000000000000000000000000000000000000000..928380e0c9775507179ac9674c9d3e03631b4beb --- /dev/null +++ b/json/chunk-0006/episode_0006056.json @@ -0,0 +1,2302 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 37, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMoved the green spatula to the top between the two burners." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006056.mp4", + "start": 0, + "end": 37, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.23001475632190704, + -0.027057694271206856, + 0.0869259163737297, + -0.11900348961353302, + -0.17615069448947906, + -0.7411275506019592, + 0.0, + 0.9988223910331726 + ], + [ + 0.217842236161232, + -0.02802289091050625, + 0.07554848492145538, + -0.1554889678955078, + -0.13844360411167145, + -0.738478422164917, + 0.0, + 0.9988223910331726 + ], + [ + 0.2128038853406906, + -0.030031990259885788, + 0.070588618516922, + -0.15492260456085205, + -0.11764848232269287, + -0.771049976348877, + 0.0, + 0.9988223910331726 + ], + [ + 0.20940044522285461, + -0.039504025131464005, + 0.06266183406114578, + -0.14526808261871338, + -0.10176259279251099, + -0.8297833204269409, + 0.0, + 0.9988223910331726 + ], + [ + 0.2057662010192871, + -0.03844291344285011, + 0.05328072980046272, + -0.10935027152299881, + -0.09552111476659775, + -0.8505366444587708, + 0.0, + 0.9988223910331726 + ], + [ + 0.2023959904909134, + -0.04621044546365738, + 0.04407265782356262, + -0.10006820410490036, + -0.08561854809522629, + -0.8904205560684204, + 0.0, + 0.9988223910331726 + ], + [ + 0.20108413696289062, + -0.045543525367975235, + 0.03530687093734741, + -0.0827920213341713, + -0.075807124376297, + -0.8920705318450928, + 0.0, + 0.9988223910331726 + ], + [ + 0.20282994210720062, + -0.048600949347019196, + 0.027117054909467697, + -0.07035812735557556, + -0.07365927845239639, + -0.8978496789932251, + 0.0, + 0.9988223910331726 + ], + [ + 0.20205867290496826, + -0.04707164317369461, + 0.01599629782140255, + -0.053004149347543716, + -0.06491664052009583, + -0.8928930163383484, + 0.0, + 0.9988223910331726 + ], + [ + 0.20222227275371552, + -0.04846896231174469, + 0.005516825709491968, + -0.056177761405706406, + -0.04998036473989487, + -0.8974940776824951, + 0.0, + 0.9844722747802734 + ], + [ + 0.20458759367465973, + -0.04895899072289467, + 0.0001389536337228492, + -0.05614374950528145, + -0.050624676048755646, + -0.9011827707290649, + 0.0, + 0.8956556916236877 + ], + [ + 0.20694786310195923, + -0.04989985004067421, + 8.092284406302497e-05, + -0.040626585483551025, + -0.05771518126130104, + -0.8990074992179871, + 0.0, + 0.5779332518577576 + ], + [ + 0.20591780543327332, + -0.05323057994246483, + -1.2308918485359754e-05, + -0.0342550054192543, + -0.05128958448767662, + -0.9239286780357361, + 0.0, + 0.32678350806236267 + ], + [ + 0.20511220395565033, + -0.05345290154218674, + -1.8896236724685878e-05, + -0.03791069611907005, + -0.04778846725821495, + -0.9179049134254456, + 0.0, + 0.30878186225891113 + ], + [ + 0.20236502587795258, + -0.05362377688288689, + 0.00019956286996603012, + -0.04890095070004463, + -0.042146746069192886, + -0.9255133867263794, + 0.0, + 0.30878186225891113 + ], + [ + 0.19753672182559967, + -0.05304320156574249, + 0.01469133235514164, + -0.03729994595050812, + -0.05991574376821518, + -0.919547975063324, + 0.0, + 0.30878186225891113 + ], + [ + 0.19375105202198029, + -0.053607288748025894, + 0.03710734471678734, + -0.0216677226126194, + -0.0928889736533165, + -0.9329016804695129, + 0.0, + 0.30878186225891113 + ], + [ + 0.18667446076869965, + -0.04899408668279648, + 0.05099417641758919, + -0.02721344120800495, + -0.09227311611175537, + -0.9384666681289673, + 0.0, + 0.30878186225891113 + ], + [ + 0.19441206753253937, + -0.03809497877955437, + 0.06575097888708115, + -0.030490253120660782, + -0.07608921080827713, + -0.9702173471450806, + 0.0, + 0.30878186225891113 + ], + [ + 0.21643809974193573, + -0.018617961555719376, + 0.08263280987739563, + -0.018579985946416855, + -0.10931123048067093, + -0.9860166907310486, + 0.0, + 0.3080119788646698 + ], + [ + 0.23527982831001282, + -0.0045354836620390415, + 0.0870627760887146, + -0.0187254399061203, + -0.11857079714536667, + -1.0128252506256104, + 0.0, + 0.30878186225891113 + ], + [ + 0.26221388578414917, + 0.0009129973477683961, + 0.08051706850528717, + -0.014627927914261818, + -0.13340215384960175, + -1.0990256071090698, + 0.0, + 0.3080119788646698 + ], + [ + 0.2859063148498535, + 0.006954609882086515, + 0.0709850862622261, + 0.00296499184332788, + -0.10987632721662521, + -1.1577401161193848, + 0.0, + 0.3080119788646698 + ], + [ + 0.3077906370162964, + 0.008672334253787994, + 0.06511750817298889, + 0.03609084337949753, + -0.1174590066075325, + -1.2176151275634766, + 0.0, + 0.3080119788646698 + ], + [ + 0.31949856877326965, + 0.014810384251177311, + 0.04709256812930107, + 0.026690691709518433, + -0.08008682727813721, + -1.2319473028182983, + 0.0, + 0.3080119788646698 + ], + [ + 0.330928236246109, + 0.01798524148762226, + 0.029904255643486977, + 0.008798534981906414, + -0.060797762125730515, + -1.2287474870681763, + 0.0, + 0.3080119788646698 + ], + [ + 0.33624494075775146, + 0.019818168133497238, + 0.014651640318334103, + -0.01453970093280077, + -0.045439232140779495, + -1.225904107093811, + 0.0, + 0.3080119788646698 + ], + [ + 0.3379448354244232, + 0.018923934549093246, + 0.006256906781345606, + -0.030832136049866676, + -0.040981266647577286, + -1.2281957864761353, + 0.0, + 0.3080119788646698 + ], + [ + 0.3376000225543976, + 0.013138656504452229, + 0.0026427661068737507, + -0.0386357381939888, + -0.042789749801158905, + -1.2524356842041016, + 0.0, + 0.30878186225891113 + ], + [ + 0.33570584654808044, + 0.011845611035823822, + 0.001189411268569529, + -0.0542539581656456, + -0.03224607929587364, + -1.2435660362243652, + 0.0, + 0.36950385570526123 + ], + [ + 0.3316028118133545, + 0.010723033919930458, + 0.000834992912132293, + -0.07719249278306961, + -0.01370751392096281, + -1.2328425645828247, + 0.0, + 0.672171950340271 + ], + [ + 0.3312866985797882, + 0.010695463046431541, + 0.0013784910552203655, + -0.07874452322721481, + -0.01298941858112812, + -1.2283363342285156, + 0.0, + 0.9590815901756287 + ], + [ + 0.33163267374038696, + 0.010688531212508678, + 0.005515218246728182, + -0.07293505221605301, + -0.014811056666076183, + -1.2270928621292114, + 0.0, + 1.0162451267242432 + ], + [ + 0.3349999189376831, + 0.010528156533837318, + 0.029685696586966515, + -0.01724378392100334, + -0.037177279591560364, + -1.2221616506576538, + 0.0, + 1.003452181816101 + ], + [ + 0.32866501808166504, + 0.008457976393401623, + 0.049211520701646805, + 0.0015199925983324647, + -0.054563723504543304, + -1.2175196409225464, + 0.0, + 0.9981546401977539 + ], + [ + 0.31766051054000854, + 0.006439664401113987, + 0.07948936522006989, + 0.03991086035966873, + -0.0762750655412674, + -1.2178093194961548, + 0.0, + 0.9981546401977539 + ], + [ + 0.30629777908325195, + 0.004824219271540642, + 0.10432524234056473, + 0.0750957801938057, + -0.09536905586719513, + -1.208288550376892, + 0.0, + 0.9981546401977539 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9844722747802734 + ], + [ + 0.8956556916236877 + ], + [ + 0.5779332518577576 + ], + [ + 0.32678350806236267 + ], + [ + 0.30878186225891113 + ], + [ + 0.30878186225891113 + ], + [ + 0.30878186225891113 + ], + [ + 0.30878186225891113 + ], + [ + 0.30878186225891113 + ], + [ + 0.30878186225891113 + ], + [ + 0.3080119788646698 + ], + [ + 0.30878186225891113 + ], + [ + 0.3080119788646698 + ], + [ + 0.3080119788646698 + ], + [ + 0.3080119788646698 + ], + [ + 0.3080119788646698 + ], + [ + 0.3080119788646698 + ], + [ + 0.3080119788646698 + ], + [ + 0.3080119788646698 + ], + [ + 0.30878186225891113 + ], + [ + 0.36950385570526123 + ], + [ + 0.672171950340271 + ], + [ + 0.9590815901756287 + ], + [ + 1.0162451267242432 + ], + [ + 1.003452181816101 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.23001475632190704, + -0.027057694271206856, + 0.0869259163737297 + ], + [ + 0.217842236161232, + -0.02802289091050625, + 0.07554848492145538 + ], + [ + 0.2128038853406906, + -0.030031990259885788, + 0.070588618516922 + ], + [ + 0.20940044522285461, + -0.039504025131464005, + 0.06266183406114578 + ], + [ + 0.2057662010192871, + -0.03844291344285011, + 0.05328072980046272 + ], + [ + 0.2023959904909134, + -0.04621044546365738, + 0.04407265782356262 + ], + [ + 0.20108413696289062, + -0.045543525367975235, + 0.03530687093734741 + ], + [ + 0.20282994210720062, + -0.048600949347019196, + 0.027117054909467697 + ], + [ + 0.20205867290496826, + -0.04707164317369461, + 0.01599629782140255 + ], + [ + 0.20222227275371552, + -0.04846896231174469, + 0.005516825709491968 + ], + [ + 0.20458759367465973, + -0.04895899072289467, + 0.0001389536337228492 + ], + [ + 0.20694786310195923, + -0.04989985004067421, + 8.092284406302497e-05 + ], + [ + 0.20591780543327332, + -0.05323057994246483, + -1.2308918485359754e-05 + ], + [ + 0.20511220395565033, + -0.05345290154218674, + -1.8896236724685878e-05 + ], + [ + 0.20236502587795258, + -0.05362377688288689, + 0.00019956286996603012 + ], + [ + 0.19753672182559967, + -0.05304320156574249, + 0.01469133235514164 + ], + [ + 0.19375105202198029, + -0.053607288748025894, + 0.03710734471678734 + ], + [ + 0.18667446076869965, + -0.04899408668279648, + 0.05099417641758919 + ], + [ + 0.19441206753253937, + -0.03809497877955437, + 0.06575097888708115 + ], + [ + 0.21643809974193573, + -0.018617961555719376, + 0.08263280987739563 + ], + [ + 0.23527982831001282, + -0.0045354836620390415, + 0.0870627760887146 + ], + [ + 0.26221388578414917, + 0.0009129973477683961, + 0.08051706850528717 + ], + [ + 0.2859063148498535, + 0.006954609882086515, + 0.0709850862622261 + ], + [ + 0.3077906370162964, + 0.008672334253787994, + 0.06511750817298889 + ], + [ + 0.31949856877326965, + 0.014810384251177311, + 0.04709256812930107 + ], + [ + 0.330928236246109, + 0.01798524148762226, + 0.029904255643486977 + ], + [ + 0.33624494075775146, + 0.019818168133497238, + 0.014651640318334103 + ], + [ + 0.3379448354244232, + 0.018923934549093246, + 0.006256906781345606 + ], + [ + 0.3376000225543976, + 0.013138656504452229, + 0.0026427661068737507 + ], + [ + 0.33570584654808044, + 0.011845611035823822, + 0.001189411268569529 + ], + [ + 0.3316028118133545, + 0.010723033919930458, + 0.000834992912132293 + ], + [ + 0.3312866985797882, + 0.010695463046431541, + 0.0013784910552203655 + ], + [ + 0.33163267374038696, + 0.010688531212508678, + 0.005515218246728182 + ], + [ + 0.3349999189376831, + 0.010528156533837318, + 0.029685696586966515 + ], + [ + 0.32866501808166504, + 0.008457976393401623, + 0.049211520701646805 + ], + [ + 0.31766051054000854, + 0.006439664401113987, + 0.07948936522006989 + ], + [ + 0.30629777908325195, + 0.004824219271540642, + 0.10432524234056473 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.7262921672219005, + -0.6856934129457002, + 0.04821028183895987, + -0.6646730250023762, + -0.7184443557315782, + -0.20505481596789615, + 0.17524114147740855, + 0.1168856328224927, + -0.9775624231594522 + ], + [ + 0.7324181954847397, + -0.6808464114881465, + -0.00342795662040829, + -0.6667226530954127, + -0.7161859352766167, + -0.20629738234251083, + 0.1380017781490218, + 0.15338145284118176, + -0.9784833361647182 + ], + [ + 0.7122217716689294, + -0.7015317058274386, + -0.02436008373581082, + -0.6920713287799647, + -0.695968167520002, + -0.19148259889500294, + 0.11737727140083655, + 0.15323699134900373, + -0.9811936611295448 + ], + [ + 0.6715434460287214, + -0.7399408716268988, + -0.038947485052246385, + -0.7339683043625448, + -0.6570760751212145, + -0.1718765827402644, + 0.1015870478311118, + 0.14400881222802064, + -0.9843482786664657 + ], + [ + 0.65657307083076, + -0.7540104315630617, + -0.01949542905276279, + -0.7482080167999458, + -0.6478168806987237, + -0.1432412394461452, + 0.09537592073557175, + 0.10863497676099143, + -0.9894957683426346 + ], + [ + 0.626780811212218, + -0.7788218900734823, + -0.02413044215347723, + -0.7744889758230652, + -0.6192973275741559, + -0.12898700084910894, + 0.0855139814573817, + 0.09953533845763986, + -0.9913526493500835 + ], + [ + 0.6259986900553313, + -0.779639091385074, + -0.016986089404727633, + -0.7761378226677303, + -0.6207763215617186, + -0.11066543639680931, + 0.07573453818175581, + 0.08245996466502892, + -0.9937125509692619 + ], + [ + 0.6216028016397046, + -0.783278362947297, + -0.009217544807198594, + -0.7798679845313596, + -0.6177051634054851, + -0.10122380058661325, + 0.07359268779345807, + 0.07010946612837503, + -0.9948209783988922 + ], + [ + 0.625840296251939, + -0.7799509709601101, + -0.0006375622850768106, + -0.7772487824301614, + -0.6236036279699415, + -0.0836830054046766, + 0.06487105516420694, + 0.052867741403514745, + -0.9964922218064596 + ], + [ + 0.6227922813414719, + -0.7822826690031317, + -0.012790624645504754, + -0.7807905076343997, + -0.6203942877742202, + -0.07400750560000666, + 0.0499595585399021, + 0.056078101558944604, + -0.9971756560586722 + ], + [ + 0.6198878462092994, + -0.7845886421704391, + -0.012638065482608818, + -0.7830570789938291, + -0.6174786762249693, + -0.07444256474028557, + 0.050603054845019896, + 0.05604236776409635, + -0.9971452170349842 + ], + [ + 0.6213508034113304, + -0.7835218695341103, + 0.004081551404439613, + -0.7814063180725458, + -0.6200398029259976, + -0.07039040320809194, + 0.05768314464730509, + 0.04054778353082843, + -0.9975111688970382 + ], + [ + 0.6018972761745979, + -0.798565627425171, + 0.0035507222705767234, + -0.7969261906669084, + -0.6009351671025799, + -0.061526998695897, + 0.05126710019818054, + 0.034203269353051576, + -0.9980991036980409 + ], + [ + 0.6067921431652474, + -0.7948597790970848, + -0.0011075046995082244, + -0.7934237804266833, + -0.6056109949982714, + -0.06094282066522679, + 0.04777027994848099, + 0.03785834532751243, + -0.9981406444197665 + ], + [ + 0.6008904211815245, + -0.7992132655197174, + -0.013742559790664405, + -0.7982201482569197, + -0.5990600976776992, + -0.06302058621662279, + 0.04213426929461696, + 0.04883805470834677, + -0.9979176056986435 + ], + [ + 0.6050919907796425, + -0.7961280918167394, + 0.006613933365702502, + -0.7939005479735094, + -0.6039821246061132, + -0.07019624693419549, + 0.05987990165063797, + 0.037224381479380245, + -0.9975112745236452 + ], + [ + 0.592938152548519, + -0.8043594643098262, + 0.037817977570978864, + -0.79988797559457, + -0.593751188716763, + -0.08739995650257332, + 0.09275545133074455, + 0.021572623221125596, + -0.995455196468324 + ], + [ + 0.5885112776876578, + -0.8078359550887617, + 0.03248916281267619, + -0.803221193230707, + -0.5887843129033401, + -0.09038112426818337, + 0.09214223124865029, + 0.027094326800451082, + -0.9953771680502574 + ], + [ + 0.5634851193617669, + -0.8259347024968953, + 0.01778728391913552, + -0.8226214905213725, + -0.56294570785039, + -0.0799125355949769, + 0.07601581144900342, + 0.0303973226483509, + -0.9966431654235939 + ], + [ + 0.5487209291666564, + -0.8348086769007708, + 0.04471928963730946, + -0.8288569921619735, + -0.5502303198711981, + -0.10120613439236288, + 0.1090936681878796, + 0.018468028200742448, + -0.9938599013420801 + ], + [ + 0.5257485573042182, + -0.8493551240602372, + 0.04673679198610429, + -0.842374728166967, + -0.5274942446805222, + -0.11024808013999021, + 0.11829316057220512, + 0.018592876634469006, + -0.9928046298745257 + ], + [ + 0.45042643172891444, + -0.8915538373517683, + 0.04741080787431212, + -0.8828506171734462, + -0.45268264737561786, + -0.12511278320566585, + 0.13300683199153163, + 0.014497443510473183, + -0.9910090851123605 + ], + [ + 0.3989897382193414, + -0.9157637722981173, + 0.04673223878633826, + -0.9103751356442467, + -0.40170639514812106, + -0.09924255386587538, + 0.1096553746807743, + -0.002947107636907517, + -0.9939652978651697 + ], + [ + 0.3435011235837397, + -0.9362035411310939, + 0.07436334897184607, + -0.9318120476537305, + -0.349626696000551, + -0.09740370265600978, + 0.117189103350399, + -0.03583438317228896, + -0.992462901593098 + ], + [ + 0.3313363572322751, + -0.9420922647145805, + 0.051753097887944605, + -0.940114896943458, + -0.3342970225224125, + -0.06655434830002806, + 0.08000124324682725, + -0.026601982963730373, + -0.9964397300295486 + ], + [ + 0.33479822092592987, + -0.9418536484288342, + 0.02866803457033765, + -0.9403288443517017, + -0.335908586542161, + -0.05428706998393443, + 0.060760313898344034, + -0.008782165367457545, + -0.998113749943579 + ], + [ + 0.33774626928788903, + -0.9412357085605656, + 0.0016728755492066115, + -0.9401404971607012, + -0.33743797812555715, + -0.04765979979989148, + 0.04542359717748551, + 0.014524181526901943, + -0.9988622252194901 + ], + [ + 0.3356555751035162, + -0.9418608648238653, + -0.0152789467951258, + -0.941093412300497, + -0.3345883844701727, + -0.048926498978024965, + 0.04096979651565969, + 0.030801368328053247, + -0.9986855118016809 + ], + [ + 0.31272349140199535, + -0.9495582479004958, + -0.023305616693980617, + -0.9488804837487792, + -0.3112071436472514, + -0.05268720246513303, + 0.042776693257299, + 0.03859077074974816, + -0.9983390741260764 + ], + [ + 0.3212544323125353, + -0.9461048574537367, + -0.04100229776482053, + -0.9464439446903274, + -0.3192930476078863, + -0.047914604331877955, + 0.032240491289108025, + 0.054199155452021336, + -0.9980095201298054 + ], + [ + 0.3315261464491116, + -0.9409761335484426, + -0.06822265249040085, + -0.9433464528213951, + -0.32957272090376355, + -0.0384615598407223, + 0.013707084660631579, + 0.07710860994930294, + -0.9969284719084879 + ], + [ + 0.3357769212409258, + -0.9393557420125691, + -0.06974703656773577, + -0.9418519754483985, + -0.33380224630576655, + -0.038612390565384555, + 0.012989053310945287, + 0.07865653379879062, + -0.9968171518311897 + ], + [ + 0.33693929563134156, + -0.9393737365139623, + -0.06363092178533963, + -0.9414098786926477, + -0.3350642503054844, + -0.03846281928197462, + 0.014810515161518031, + 0.07286241359590205, + -0.9972320278278419 + ], + [ + 0.3413788858990602, + -0.9399192175415078, + -0.00351009379880534, + -0.9391905785338769, + -0.3409618111060282, + -0.0408178951012756, + 0.03716871608648959, + 0.01723101458002633, + -0.9991604369074192 + ], + [ + 0.34545910135002655, + -0.9382143401349501, + 0.020294365217279512, + -0.936847779936677, + -0.34605136679551995, + -0.050642756309980635, + 0.054536653015670594, + -0.0015177299142981361, + -0.9985106158543111 + ], + [ + 0.3446970462967749, + -0.9365459627040862, + 0.06376210486609898, + -0.9356160187278668, + -0.3482798771788095, + -0.05765234298906882, + 0.07620112711827096, + -0.039784254360107685, + -0.9962984499289935 + ], + [ + 0.3530086843881394, + -0.929841765145357, + 0.10382273613193509, + -0.9307615984112645, + -0.3603006365273678, + -0.06217956449575219, + 0.09522455392104896, + -0.07468428957511791, + -0.9926502612809796 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.012172520160675049, + -0.0009651966392993927, + -0.011377431452274323, + -0.03648547828197479, + 0.03770709037780762, + 0.0026491284370422363, + 1.0 + ], + [ + -0.005038350820541382, + -0.0020090993493795395, + -0.004959866404533386, + 0.0005663633346557617, + 0.020795121788978577, + -0.03257155418395996, + 1.0 + ], + [ + -0.0034034401178359985, + -0.009472034871578217, + -0.007926784455776215, + 0.009654521942138672, + 0.015885889530181885, + -0.058733344078063965, + 1.0 + ], + [ + -0.003634244203567505, + 0.0010611116886138916, + -0.00938110426068306, + 0.03591781109571457, + 0.0062414780259132385, + -0.020753324031829834, + 1.0 + ], + [ + -0.0033702105283737183, + -0.007767532020807266, + -0.0092080719769001, + 0.00928206741809845, + 0.00990256667137146, + -0.03988391160964966, + 1.0 + ], + [ + -0.0013118535280227661, + 0.0006669200956821442, + -0.00876578688621521, + 0.017276182770729065, + 0.00981142371892929, + -0.0016499757766723633, + 1.0 + ], + [ + 0.0017458051443099976, + -0.0030574239790439606, + -0.008189816027879715, + 0.012433893978595734, + 0.0021478459239006042, + -0.005779147148132324, + 1.0 + ], + [ + -0.0007712692022323608, + 0.001529306173324585, + -0.011120757088065147, + 0.017353978008031845, + 0.008742637932300568, + 0.004956662654876709, + 1.0 + ], + [ + 0.00016359984874725342, + -0.0013973191380500793, + -0.010479472577571869, + -0.003173612058162689, + 0.014936275780200958, + -0.0046010613441467285, + 0.0 + ], + [ + 0.002365320920944214, + -0.0004900284111499786, + -0.0053778719156980515, + 3.4011900424957275e-05, + -0.0006443113088607788, + -0.0036886930465698242, + 0.0 + ], + [ + 0.0023602694272994995, + -0.000940859317779541, + -5.803078965982422e-05, + 0.015517164021730423, + -0.007090505212545395, + 0.002175271511077881, + 0.0 + ], + [ + -0.001030057668685913, + -0.003330729901790619, + -9.323176345787942e-05, + 0.006371580064296722, + 0.00642559677362442, + -0.024921178817749023, + 0.0 + ], + [ + -0.0008056014776229858, + -0.00022232159972190857, + -6.587318239326123e-06, + -0.00365569069981575, + 0.00350111722946167, + 0.006023764610290527, + 0.0 + ], + [ + -0.002747178077697754, + -0.00017087534070014954, + 0.0002184591139666736, + -0.010990254580974579, + 0.005641721189022064, + -0.007608473300933838, + 0.0 + ], + [ + -0.004828304052352905, + 0.0005805753171443939, + 0.01449176948517561, + 0.011601004749536514, + -0.017768997699022293, + 0.00596541166305542, + 0.0 + ], + [ + -0.0037856698036193848, + -0.0005640871822834015, + 0.0224160123616457, + 0.015632223337888718, + -0.03297322988510132, + -0.013353705406188965, + 0.0 + ], + [ + -0.00707659125328064, + 0.004613202065229416, + 0.01388683170080185, + -0.0055457185953855515, + 0.0006158575415611267, + -0.005564987659454346, + 0.0 + ], + [ + 0.007737606763839722, + 0.010899107903242111, + 0.014756802469491959, + -0.0032768119126558304, + 0.01618390530347824, + -0.03175067901611328, + 0.0 + ], + [ + 0.022026032209396362, + 0.01947701722383499, + 0.016881830990314484, + 0.011910267174243927, + -0.0332220196723938, + -0.015799343585968018, + 0.0 + ], + [ + 0.018841728568077087, + 0.014082478359341621, + 0.00442996621131897, + -0.00014545395970344543, + -0.00925956666469574, + -0.026808559894561768, + 0.0 + ], + [ + 0.026934057474136353, + 0.005448481068015099, + -0.006545707583427429, + 0.004097511991858482, + -0.014831356704235077, + -0.08620035648345947, + 0.0 + ], + [ + 0.023692429065704346, + 0.006041612476110458, + -0.009531982243061066, + 0.01759291999042034, + 0.023525826632976532, + -0.05871450901031494, + 0.0 + ], + [ + 0.02188432216644287, + 0.001717724371701479, + -0.005867578089237213, + 0.033125851303339005, + -0.007582679390907288, + -0.0598750114440918, + 0.0 + ], + [ + 0.011707931756973267, + 0.0061380499973893166, + -0.01802494004368782, + -0.009400151669979095, + 0.037372179329395294, + -0.014332175254821777, + 0.0 + ], + [ + 0.011429667472839355, + 0.00317485723644495, + -0.017188312485814095, + -0.017892155796289444, + 0.019289065152406693, + 0.0031998157501220703, + 0.0 + ], + [ + 0.005316704511642456, + 0.0018329266458749771, + -0.015252615325152874, + -0.023338235914707184, + 0.01535852998495102, + 0.0028433799743652344, + 0.0 + ], + [ + 0.001699894666671753, + -0.0008942335844039917, + -0.00839473307132721, + -0.016292434185743332, + 0.0044579654932022095, + -0.0022916793823242188, + 0.0 + ], + [ + -0.00034481287002563477, + -0.005785278044641018, + -0.003614140674471855, + -0.007803602144122124, + -0.0018084831535816193, + -0.02423989772796631, + 0.0 + ], + [ + -0.0018941760063171387, + -0.0012930454686284065, + -0.0014533548383042216, + -0.0156182199716568, + 0.010543670505285263, + 0.008869647979736328, + 1.0 + ], + [ + -0.004103034734725952, + -0.001122577115893364, + -0.00035441835643723607, + -0.02293853461742401, + 0.018538564443588257, + 0.010723471641540527, + 1.0 + ], + [ + -0.0003161132335662842, + -2.7570873498916626e-05, + 0.0005434981430880725, + -0.0015520304441452026, + 0.0007180953398346901, + 0.004506230354309082, + 1.0 + ], + [ + 0.0003459751605987549, + -6.931833922863007e-06, + 0.004136727191507816, + 0.005809471011161804, + -0.001821638084948063, + 0.0012434720993041992, + 1.0 + ], + [ + 0.0033672451972961426, + -0.00016037467867136002, + 0.02417047880589962, + 0.05569126829504967, + -0.022366221994161606, + 0.004931211471557617, + 1.0 + ], + [ + -0.006334900856018066, + -0.0020701801404356956, + 0.01952582411468029, + 0.018763776868581772, + -0.01738644391298294, + 0.004642009735107422, + 1.0 + ], + [ + -0.011004507541656494, + -0.002018311992287636, + 0.03027784451842308, + 0.0383908674120903, + -0.02171134203672409, + -0.00028967857360839844, + 1.0 + ], + [ + -0.011362731456756592, + -0.0016154451295733452, + 0.024835877120494843, + 0.03518491983413696, + -0.019093990325927734, + 0.009520769119262695, + 1.0 + ], + [ + -0.00036206841468811035, + -1.834426075220108e-05, + 0.001029372215270996, + 0.0020437315106391907, + -0.0016543790698051453, + 0.00893855094909668, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9844722747802734 + ], + [ + 0.8956556916236877 + ], + [ + 0.5779332518577576 + ], + [ + 0.32678350806236267 + ], + [ + 0.30878186225891113 + ], + [ + 0.30878186225891113 + ], + [ + 0.30878186225891113 + ], + [ + 0.30878186225891113 + ], + [ + 0.30878186225891113 + ], + [ + 0.30878186225891113 + ], + [ + 0.3080119788646698 + ], + [ + 0.30878186225891113 + ], + [ + 0.3080119788646698 + ], + [ + 0.3080119788646698 + ], + [ + 0.3080119788646698 + ], + [ + 0.3080119788646698 + ], + [ + 0.3080119788646698 + ], + [ + 0.3080119788646698 + ], + [ + 0.3080119788646698 + ], + [ + 0.30878186225891113 + ], + [ + 0.36950385570526123 + ], + [ + 0.672171950340271 + ], + [ + 0.9590815901756287 + ], + [ + 1.0162451267242432 + ], + [ + 1.003452181816101 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.217842236161232, + -0.02802289091050625, + 0.07554848492145538 + ], + [ + 0.2128038853406906, + -0.030031990259885788, + 0.070588618516922 + ], + [ + 0.20940044522285461, + -0.039504025131464005, + 0.06266183406114578 + ], + [ + 0.2057662010192871, + -0.03844291344285011, + 0.05328072980046272 + ], + [ + 0.2023959904909134, + -0.04621044546365738, + 0.04407265782356262 + ], + [ + 0.20108413696289062, + -0.045543525367975235, + 0.03530687093734741 + ], + [ + 0.20282994210720062, + -0.048600949347019196, + 0.027117054909467697 + ], + [ + 0.20205867290496826, + -0.04707164317369461, + 0.01599629782140255 + ], + [ + 0.20222227275371552, + -0.04846896231174469, + 0.005516825709491968 + ], + [ + 0.20458759367465973, + -0.04895899072289467, + 0.0001389536337228492 + ], + [ + 0.20694786310195923, + -0.04989985004067421, + 8.092284406302497e-05 + ], + [ + 0.20591780543327332, + -0.05323057994246483, + -1.2308918485359754e-05 + ], + [ + 0.20511220395565033, + -0.05345290154218674, + -1.8896236724685878e-05 + ], + [ + 0.20236502587795258, + -0.05362377688288689, + 0.00019956286996603012 + ], + [ + 0.19753672182559967, + -0.05304320156574249, + 0.01469133235514164 + ], + [ + 0.19375105202198029, + -0.053607288748025894, + 0.03710734471678734 + ], + [ + 0.18667446076869965, + -0.04899408668279648, + 0.05099417641758919 + ], + [ + 0.19441206753253937, + -0.03809497877955437, + 0.06575097888708115 + ], + [ + 0.21643809974193573, + -0.018617961555719376, + 0.08263280987739563 + ], + [ + 0.23527982831001282, + -0.0045354836620390415, + 0.0870627760887146 + ], + [ + 0.26221388578414917, + 0.0009129973477683961, + 0.08051706850528717 + ], + [ + 0.2859063148498535, + 0.006954609882086515, + 0.0709850862622261 + ], + [ + 0.3077906370162964, + 0.008672334253787994, + 0.06511750817298889 + ], + [ + 0.31949856877326965, + 0.014810384251177311, + 0.04709256812930107 + ], + [ + 0.330928236246109, + 0.01798524148762226, + 0.029904255643486977 + ], + [ + 0.33624494075775146, + 0.019818168133497238, + 0.014651640318334103 + ], + [ + 0.3379448354244232, + 0.018923934549093246, + 0.006256906781345606 + ], + [ + 0.3376000225543976, + 0.013138656504452229, + 0.0026427661068737507 + ], + [ + 0.33570584654808044, + 0.011845611035823822, + 0.001189411268569529 + ], + [ + 0.3316028118133545, + 0.010723033919930458, + 0.000834992912132293 + ], + [ + 0.3312866985797882, + 0.010695463046431541, + 0.0013784910552203655 + ], + [ + 0.33163267374038696, + 0.010688531212508678, + 0.005515218246728182 + ], + [ + 0.3349999189376831, + 0.010528156533837318, + 0.029685696586966515 + ], + [ + 0.32866501808166504, + 0.008457976393401623, + 0.049211520701646805 + ], + [ + 0.31766051054000854, + 0.006439664401113987, + 0.07948936522006989 + ], + [ + 0.30629777908325195, + 0.004824219271540642, + 0.10432524234056473 + ], + [ + 0.30593571066856384, + 0.004805875010788441, + 0.10535461455583572 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.7324181954847397, + -0.6808464114881465, + -0.00342795662040829, + -0.6667226530954127, + -0.7161859352766167, + -0.20629738234251083, + 0.1380017781490218, + 0.15338145284118176, + -0.9784833361647182 + ], + [ + 0.7122217716689294, + -0.7015317058274386, + -0.02436008373581082, + -0.6920713287799647, + -0.695968167520002, + -0.19148259889500294, + 0.11737727140083655, + 0.15323699134900373, + -0.9811936611295448 + ], + [ + 0.6715434460287214, + -0.7399408716268988, + -0.038947485052246385, + -0.7339683043625448, + -0.6570760751212145, + -0.1718765827402644, + 0.1015870478311118, + 0.14400881222802064, + -0.9843482786664657 + ], + [ + 0.65657307083076, + -0.7540104315630617, + -0.01949542905276279, + -0.7482080167999458, + -0.6478168806987237, + -0.1432412394461452, + 0.09537592073557175, + 0.10863497676099143, + -0.9894957683426346 + ], + [ + 0.626780811212218, + -0.7788218900734823, + -0.02413044215347723, + -0.7744889758230652, + -0.6192973275741559, + -0.12898700084910894, + 0.0855139814573817, + 0.09953533845763986, + -0.9913526493500835 + ], + [ + 0.6259986900553313, + -0.779639091385074, + -0.016986089404727633, + -0.7761378226677303, + -0.6207763215617186, + -0.11066543639680931, + 0.07573453818175581, + 0.08245996466502892, + -0.9937125509692619 + ], + [ + 0.6216028016397046, + -0.783278362947297, + -0.009217544807198594, + -0.7798679845313596, + -0.6177051634054851, + -0.10122380058661325, + 0.07359268779345807, + 0.07010946612837503, + -0.9948209783988922 + ], + [ + 0.625840296251939, + -0.7799509709601101, + -0.0006375622850768106, + -0.7772487824301614, + -0.6236036279699415, + -0.0836830054046766, + 0.06487105516420694, + 0.052867741403514745, + -0.9964922218064596 + ], + [ + 0.6227922813414719, + -0.7822826690031317, + -0.012790624645504754, + -0.7807905076343997, + -0.6203942877742202, + -0.07400750560000666, + 0.0499595585399021, + 0.056078101558944604, + -0.9971756560586722 + ], + [ + 0.6198878462092994, + -0.7845886421704391, + -0.012638065482608818, + -0.7830570789938291, + -0.6174786762249693, + -0.07444256474028557, + 0.050603054845019896, + 0.05604236776409635, + -0.9971452170349842 + ], + [ + 0.6213508034113304, + -0.7835218695341103, + 0.004081551404439613, + -0.7814063180725458, + -0.6200398029259976, + -0.07039040320809194, + 0.05768314464730509, + 0.04054778353082843, + -0.9975111688970382 + ], + [ + 0.6018972761745979, + -0.798565627425171, + 0.0035507222705767234, + -0.7969261906669084, + -0.6009351671025799, + -0.061526998695897, + 0.05126710019818054, + 0.034203269353051576, + -0.9980991036980409 + ], + [ + 0.6067921431652474, + -0.7948597790970848, + -0.0011075046995082244, + -0.7934237804266833, + -0.6056109949982714, + -0.06094282066522679, + 0.04777027994848099, + 0.03785834532751243, + -0.9981406444197665 + ], + [ + 0.6008904211815245, + -0.7992132655197174, + -0.013742559790664405, + -0.7982201482569197, + -0.5990600976776992, + -0.06302058621662279, + 0.04213426929461696, + 0.04883805470834677, + -0.9979176056986435 + ], + [ + 0.6050919907796425, + -0.7961280918167394, + 0.006613933365702502, + -0.7939005479735094, + -0.6039821246061132, + -0.07019624693419549, + 0.05987990165063797, + 0.037224381479380245, + -0.9975112745236452 + ], + [ + 0.592938152548519, + -0.8043594643098262, + 0.037817977570978864, + -0.79988797559457, + -0.593751188716763, + -0.08739995650257332, + 0.09275545133074455, + 0.021572623221125596, + -0.995455196468324 + ], + [ + 0.5885112776876578, + -0.8078359550887617, + 0.03248916281267619, + -0.803221193230707, + -0.5887843129033401, + -0.09038112426818337, + 0.09214223124865029, + 0.027094326800451082, + -0.9953771680502574 + ], + [ + 0.5634851193617669, + -0.8259347024968953, + 0.01778728391913552, + -0.8226214905213725, + -0.56294570785039, + -0.0799125355949769, + 0.07601581144900342, + 0.0303973226483509, + -0.9966431654235939 + ], + [ + 0.5487209291666564, + -0.8348086769007708, + 0.04471928963730946, + -0.8288569921619735, + -0.5502303198711981, + -0.10120613439236288, + 0.1090936681878796, + 0.018468028200742448, + -0.9938599013420801 + ], + [ + 0.5257485573042182, + -0.8493551240602372, + 0.04673679198610429, + -0.842374728166967, + -0.5274942446805222, + -0.11024808013999021, + 0.11829316057220512, + 0.018592876634469006, + -0.9928046298745257 + ], + [ + 0.45042643172891444, + -0.8915538373517683, + 0.04741080787431212, + -0.8828506171734462, + -0.45268264737561786, + -0.12511278320566585, + 0.13300683199153163, + 0.014497443510473183, + -0.9910090851123605 + ], + [ + 0.3989897382193414, + -0.9157637722981173, + 0.04673223878633826, + -0.9103751356442467, + -0.40170639514812106, + -0.09924255386587538, + 0.1096553746807743, + -0.002947107636907517, + -0.9939652978651697 + ], + [ + 0.3435011235837397, + -0.9362035411310939, + 0.07436334897184607, + -0.9318120476537305, + -0.349626696000551, + -0.09740370265600978, + 0.117189103350399, + -0.03583438317228896, + -0.992462901593098 + ], + [ + 0.3313363572322751, + -0.9420922647145805, + 0.051753097887944605, + -0.940114896943458, + -0.3342970225224125, + -0.06655434830002806, + 0.08000124324682725, + -0.026601982963730373, + -0.9964397300295486 + ], + [ + 0.33479822092592987, + -0.9418536484288342, + 0.02866803457033765, + -0.9403288443517017, + -0.335908586542161, + -0.05428706998393443, + 0.060760313898344034, + -0.008782165367457545, + -0.998113749943579 + ], + [ + 0.33774626928788903, + -0.9412357085605656, + 0.0016728755492066115, + -0.9401404971607012, + -0.33743797812555715, + -0.04765979979989148, + 0.04542359717748551, + 0.014524181526901943, + -0.9988622252194901 + ], + [ + 0.3356555751035162, + -0.9418608648238653, + -0.0152789467951258, + -0.941093412300497, + -0.3345883844701727, + -0.048926498978024965, + 0.04096979651565969, + 0.030801368328053247, + -0.9986855118016809 + ], + [ + 0.31272349140199535, + -0.9495582479004958, + -0.023305616693980617, + -0.9488804837487792, + -0.3112071436472514, + -0.05268720246513303, + 0.042776693257299, + 0.03859077074974816, + -0.9983390741260764 + ], + [ + 0.3212544323125353, + -0.9461048574537367, + -0.04100229776482053, + -0.9464439446903274, + -0.3192930476078863, + -0.047914604331877955, + 0.032240491289108025, + 0.054199155452021336, + -0.9980095201298054 + ], + [ + 0.3315261464491116, + -0.9409761335484426, + -0.06822265249040085, + -0.9433464528213951, + -0.32957272090376355, + -0.0384615598407223, + 0.013707084660631579, + 0.07710860994930294, + -0.9969284719084879 + ], + [ + 0.3357769212409258, + -0.9393557420125691, + -0.06974703656773577, + -0.9418519754483985, + -0.33380224630576655, + -0.038612390565384555, + 0.012989053310945287, + 0.07865653379879062, + -0.9968171518311897 + ], + [ + 0.33693929563134156, + -0.9393737365139623, + -0.06363092178533963, + -0.9414098786926477, + -0.3350642503054844, + -0.03846281928197462, + 0.014810515161518031, + 0.07286241359590205, + -0.9972320278278419 + ], + [ + 0.3413788858990602, + -0.9399192175415078, + -0.00351009379880534, + -0.9391905785338769, + -0.3409618111060282, + -0.0408178951012756, + 0.03716871608648959, + 0.01723101458002633, + -0.9991604369074192 + ], + [ + 0.34545910135002655, + -0.9382143401349501, + 0.020294365217279512, + -0.936847779936677, + -0.34605136679551995, + -0.050642756309980635, + 0.054536653015670594, + -0.0015177299142981361, + -0.9985106158543111 + ], + [ + 0.3446970462967749, + -0.9365459627040862, + 0.06376210486609898, + -0.9356160187278668, + -0.3482798771788095, + -0.05765234298906882, + 0.07620112711827096, + -0.039784254360107685, + -0.9962984499289935 + ], + [ + 0.3530086843881394, + -0.929841765145357, + 0.10382273613193509, + -0.9307615984112645, + -0.3603006365273678, + -0.06217956449575219, + 0.09522455392104896, + -0.07468428957511791, + -0.9926502612809796 + ], + [ + 0.3612564565816206, + -0.926322787624839, + 0.10686377171445435, + -0.9274210084368062, + -0.3688402248503167, + -0.06202549187572258, + 0.0968712841256334, + -0.07670059751602427, + -0.9923371265112153 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006057.json b/json/chunk-0006/episode_0006057.json new file mode 100644 index 0000000000000000000000000000000000000000..8879cc9b6a59ab2a25fb690ef8aff32146957b4e --- /dev/null +++ b/json/chunk-0006/episode_0006057.json @@ -0,0 +1,2182 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 35, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut broccoli in pot." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006057.mp4", + "start": 0, + "end": 35, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.29401999711990356, + 0.16489727795124054, + 0.11163133382797241, + -0.03700895234942436, + -0.3145778179168701, + 0.046421922743320465, + 0.0, + 1.002137303352356 + ], + [ + 0.28776121139526367, + 0.16166657209396362, + 0.09964782744646072, + -0.05947170406579971, + -0.27742692828178406, + 0.06061917543411255, + 0.0, + 1.002137303352356 + ], + [ + 0.2629237771034241, + 0.15044459700584412, + 0.09660781919956207, + -0.06871149688959122, + -0.23187269270420074, + 0.12390297651290894, + 0.0, + 1.002137303352356 + ], + [ + 0.24523112177848816, + 0.14766168594360352, + 0.1267598569393158, + -0.002546966541558504, + -0.2707097828388214, + 0.149563267827034, + 0.0, + 1.0027955770492554 + ], + [ + 0.23146167397499084, + 0.14275841414928436, + 0.14627188444137573, + 0.03687063977122307, + -0.2154511660337448, + 0.17042836546897888, + 0.0, + 1.0027955770492554 + ], + [ + 0.21108101308345795, + 0.1335299015045166, + 0.13396938145160675, + 0.03984301909804344, + -0.13950206339359283, + 0.18901319801807404, + 0.0, + 1.002137303352356 + ], + [ + 0.1951575130224228, + 0.12712779641151428, + 0.1102253869175911, + 0.023277733474969864, + -0.12300587445497513, + 0.21337665617465973, + 0.0, + 1.002137303352356 + ], + [ + 0.18576084077358246, + 0.12610174715518951, + 0.09899498522281647, + 0.018777847290039062, + -0.14286500215530396, + 0.21402938663959503, + 0.0, + 1.0027955770492554 + ], + [ + 0.18083490431308746, + 0.12625537812709808, + 0.09050294011831284, + 0.012160002253949642, + -0.1672411561012268, + 0.16857479512691498, + 0.0, + 1.002137303352356 + ], + [ + 0.17827969789505005, + 0.12603436410427094, + 0.08153197169303894, + 0.012847433798015118, + -0.18670646846294403, + 0.06981977820396423, + 0.0, + 1.002137303352356 + ], + [ + 0.17728829383850098, + 0.12528814375400543, + 0.06505753099918365, + 0.008127422071993351, + -0.1798752397298813, + 0.008386415429413319, + 0.0, + 1.002137303352356 + ], + [ + 0.18067707121372223, + 0.12752872705459595, + 0.058898329734802246, + 0.008450783789157867, + -0.184556245803833, + 0.007507515139877796, + 0.0, + 1.002137303352356 + ], + [ + 0.18081983923912048, + 0.1285964548587799, + 0.05013339966535568, + -0.0021681422367691994, + -0.16566883027553558, + 0.030952300876379013, + 0.0, + 1.002137303352356 + ], + [ + 0.18052725493907928, + 0.12822335958480835, + 0.04193607345223427, + -0.023175308480858803, + -0.14669589698314667, + 0.0548069067299366, + 0.0, + 1.002137303352356 + ], + [ + 0.18122319877147675, + 0.1265179067850113, + 0.035476766526699066, + -0.017273465171456337, + -0.18151423335075378, + 0.10267432779073715, + 0.0, + 1.002137303352356 + ], + [ + 0.18552440404891968, + 0.12835495173931122, + 0.02700398489832878, + -0.020273450762033463, + -0.199342742562294, + 0.12740671634674072, + 0.0, + 1.0027955770492554 + ], + [ + 0.18604500591754913, + 0.12603721022605896, + 0.01794033870100975, + -0.03086337260901928, + -0.1977408081293106, + 0.14369919896125793, + 0.0, + 1.0027955770492554 + ], + [ + 0.18778827786445618, + 0.12638521194458008, + 0.013512801378965378, + -0.031717270612716675, + -0.2013574093580246, + 0.1512659192085266, + 0.0, + 1.002137303352356 + ], + [ + 0.1859288215637207, + 0.1234743520617485, + 0.00822728406637907, + -0.04445481672883034, + -0.2120150625705719, + 0.16220857203006744, + 0.0, + 1.0027955770492554 + ], + [ + 0.18642958998680115, + 0.12251121550798416, + 0.00651421956717968, + -0.04352930188179016, + -0.22683528065681458, + 0.1498851329088211, + 0.0, + 0.9091293215751648 + ], + [ + 0.18929456174373627, + 0.1266687512397766, + -0.001034409273415804, + -0.027841193601489067, + -0.2254212498664856, + 0.1412123143672943, + 0.0, + 0.6470694541931152 + ], + [ + 0.19032976031303406, + 0.12710677087306976, + 0.00034919733298011124, + -0.01929977722465992, + -0.20884554088115692, + 0.12865577638149261, + 0.0, + 0.475652277469635 + ], + [ + 0.190260112285614, + 0.12387809157371521, + 0.011941364966332912, + -0.00043624473619274795, + -0.18483756482601166, + 0.12151788920164108, + 0.0, + 0.5023775696754456 + ], + [ + 0.19322751462459564, + 0.12596839666366577, + 0.03411879017949104, + 0.02810339815914631, + -0.16509488224983215, + 0.11325683444738388, + 0.0, + 0.5120346546173096 + ], + [ + 0.20212700963020325, + 0.13222067058086395, + 0.06457556039094925, + 0.049141980707645416, + -0.16705916821956635, + 0.11873865872621536, + 0.0, + 0.5120346546173096 + ], + [ + 0.21610106527805328, + 0.13896694779396057, + 0.093761146068573, + 0.07022668421268463, + -0.1587388515472412, + 0.12126442790031433, + 0.0, + 0.5120346546173096 + ], + [ + 0.23266419768333435, + 0.14182697236537933, + 0.11137053370475769, + 0.06130159646272659, + -0.2187146544456482, + 0.13752269744873047, + 0.0, + 0.5120346546173096 + ], + [ + 0.25024348497390747, + 0.12917181849479675, + 0.11346311867237091, + -0.061007145792245865, + -0.3867798447608948, + 0.22620725631713867, + 0.0, + 0.5130034685134888 + ], + [ + 0.2532362639904022, + 0.12025228142738342, + 0.10612927377223969, + -0.10735796391963959, + -0.425453782081604, + 0.27430328726768494, + 0.0, + 0.5120346546173096 + ], + [ + 0.2563537657260895, + 0.11374007165431976, + 0.1053638607263565, + -0.13566377758979797, + -0.43209850788116455, + 0.2804468274116516, + 0.0, + 0.4775448143482208 + ], + [ + 0.26231950521469116, + 0.10581996291875839, + 0.10061416774988174, + -0.16483449935913086, + -0.43764209747314453, + 0.2940402925014496, + 0.0, + 0.5511609315872192 + ], + [ + 0.2657659947872162, + 0.09909223020076752, + 0.09795641899108887, + -0.18136845529079437, + -0.4561305046081543, + 0.3033069372177124, + 0.0, + 0.8722711205482483 + ], + [ + 0.26447150111198425, + 0.09704972803592682, + 0.09582304209470749, + -0.2021455317735672, + -0.4454406499862671, + 0.3364529609680176, + 0.0, + 1.0118417739868164 + ], + [ + 0.26138633489608765, + 0.09776702523231506, + 0.09475211799144745, + -0.18073081970214844, + -0.4279281497001648, + 0.32736319303512573, + 0.0, + 1.0105689764022827 + ], + [ + 0.258929580450058, + 0.09819083660840988, + 0.09848172217607498, + -0.16462743282318115, + -0.43021485209465027, + 0.31317704916000366, + 0.0, + 1.0105689764022827 + ] + ], + "left_gripper_pos": [ + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.0027955770492554 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.002137303352356 + ], + [ + 1.0027955770492554 + ], + [ + 0.9091293215751648 + ], + [ + 0.6470694541931152 + ], + [ + 0.475652277469635 + ], + [ + 0.5023775696754456 + ], + [ + 0.5120346546173096 + ], + [ + 0.5120346546173096 + ], + [ + 0.5120346546173096 + ], + [ + 0.5120346546173096 + ], + [ + 0.5130034685134888 + ], + [ + 0.5120346546173096 + ], + [ + 0.4775448143482208 + ], + [ + 0.5511609315872192 + ], + [ + 0.8722711205482483 + ], + [ + 1.0118417739868164 + ], + [ + 1.0105689764022827 + ], + [ + 1.0105689764022827 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.29401999711990356, + 0.16489727795124054, + 0.11163133382797241 + ], + [ + 0.28776121139526367, + 0.16166657209396362, + 0.09964782744646072 + ], + [ + 0.2629237771034241, + 0.15044459700584412, + 0.09660781919956207 + ], + [ + 0.24523112177848816, + 0.14766168594360352, + 0.1267598569393158 + ], + [ + 0.23146167397499084, + 0.14275841414928436, + 0.14627188444137573 + ], + [ + 0.21108101308345795, + 0.1335299015045166, + 0.13396938145160675 + ], + [ + 0.1951575130224228, + 0.12712779641151428, + 0.1102253869175911 + ], + [ + 0.18576084077358246, + 0.12610174715518951, + 0.09899498522281647 + ], + [ + 0.18083490431308746, + 0.12625537812709808, + 0.09050294011831284 + ], + [ + 0.17827969789505005, + 0.12603436410427094, + 0.08153197169303894 + ], + [ + 0.17728829383850098, + 0.12528814375400543, + 0.06505753099918365 + ], + [ + 0.18067707121372223, + 0.12752872705459595, + 0.058898329734802246 + ], + [ + 0.18081983923912048, + 0.1285964548587799, + 0.05013339966535568 + ], + [ + 0.18052725493907928, + 0.12822335958480835, + 0.04193607345223427 + ], + [ + 0.18122319877147675, + 0.1265179067850113, + 0.035476766526699066 + ], + [ + 0.18552440404891968, + 0.12835495173931122, + 0.02700398489832878 + ], + [ + 0.18604500591754913, + 0.12603721022605896, + 0.01794033870100975 + ], + [ + 0.18778827786445618, + 0.12638521194458008, + 0.013512801378965378 + ], + [ + 0.1859288215637207, + 0.1234743520617485, + 0.00822728406637907 + ], + [ + 0.18642958998680115, + 0.12251121550798416, + 0.00651421956717968 + ], + [ + 0.18929456174373627, + 0.1266687512397766, + -0.001034409273415804 + ], + [ + 0.19032976031303406, + 0.12710677087306976, + 0.00034919733298011124 + ], + [ + 0.190260112285614, + 0.12387809157371521, + 0.011941364966332912 + ], + [ + 0.19322751462459564, + 0.12596839666366577, + 0.03411879017949104 + ], + [ + 0.20212700963020325, + 0.13222067058086395, + 0.06457556039094925 + ], + [ + 0.21610106527805328, + 0.13896694779396057, + 0.093761146068573 + ], + [ + 0.23266419768333435, + 0.14182697236537933, + 0.11137053370475769 + ], + [ + 0.25024348497390747, + 0.12917181849479675, + 0.11346311867237091 + ], + [ + 0.2532362639904022, + 0.12025228142738342, + 0.10612927377223969 + ], + [ + 0.2563537657260895, + 0.11374007165431976, + 0.1053638607263565 + ], + [ + 0.26231950521469116, + 0.10581996291875839, + 0.10061416774988174 + ], + [ + 0.2657659947872162, + 0.09909223020076752, + 0.09795641899108887 + ], + [ + 0.26447150111198425, + 0.09704972803592682, + 0.09582304209470749 + ], + [ + 0.26138633489608765, + 0.09776702523231506, + 0.09475211799144745 + ], + [ + 0.258929580450058, + 0.09819083660840988, + 0.09848172217607498 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.949902655607479, + 0.034937296344584604, + 0.31058707344960473, + 0.04412801079346748, + -0.9987699516994006, + -0.022611993405905174, + 0.30941503443315604, + 0.035184782314343764, + -0.9502759428504025 + ], + [ + 0.959996791676762, + 0.04422623043137013, + 0.27649629384886004, + 0.058265600652767445, + -0.9973847393888163, + -0.04276448777753882, + 0.27388187189168994, + 0.057163993703505285, + -0.9600630177613185 + ], + [ + 0.9657767609839659, + 0.10763800568840838, + 0.2359858209188458, + 0.1202787505596178, + -0.9919421078602108, + -0.039797949917790475, + 0.229800500667724, + 0.06682001485531028, + -0.970941200849773 + ], + [ + 0.9528241492657364, + 0.14833231295705815, + 0.2648087338228001, + 0.1435796795176187, + -0.988934528572033, + 0.03732792289464266, + 0.2674154374856529, + 0.0024542067597991338, + -0.9635782068226412 + ], + [ + 0.9627272015292702, + 0.17725580017327933, + 0.20429566011188424, + 0.16568327414493297, + -0.9835058001424966, + 0.07256303297604415, + 0.213788185137147, + -0.03601003181056575, + -0.9762161079928803 + ], + [ + 0.9726484969617311, + 0.1931807085815744, + 0.12898106523829697, + 0.18606447753302133, + -0.9803699632176555, + 0.06522840961556646, + 0.13905003257262757, + -0.03944552005656858, + -0.9894994388017699 + ], + [ + 0.9699371064949445, + 0.2144948691913896, + 0.11495199230454126, + 0.21016117775661192, + -0.9764519198672301, + 0.04872296739274197, + 0.1226959200958549, + -0.0230997679245723, + -0.9921754441194675 + ], + [ + 0.9672276095602551, + 0.21497404004244874, + 0.13511814612472484, + 0.21023517002166808, + -0.9764429031922904, + 0.04858425764969298, + 0.1423795090254042, + -0.01858544896522795, + -0.9896376389853236 + ], + [ + 0.9720704231875242, + 0.16976055715488853, + 0.1620507500707391, + 0.1654366458636965, + -0.9854123969154372, + 0.03991396009847081, + 0.16646263415372592, + -0.011990047532611228, + -0.985974862859479 + ], + [ + 0.9802268525062523, + 0.07213621975855392, + 0.1842598258564019, + 0.06855064791419077, + -0.9973148977235768, + 0.025764383345156634, + 0.18562361459747137, + -0.012623809946175082, + -0.9825398277557059 + ], + [ + 0.9838314224972993, + 0.00984002430467943, + 0.17882646903807095, + 0.0082510124591164, + -0.9999196140716413, + 0.009627366629537814, + 0.1789068274279669, + -0.007996206381988299, + -0.9838335264581892 + ], + [ + 0.9829900782157612, + 0.009057920531146185, + 0.18343516621690262, + 0.007379951546612749, + -0.9999244696333408, + 0.00982808952195221, + 0.18351033334540293, + -0.00830717184926971, + -0.9829826796293644 + ], + [ + 0.9858358516902226, + 0.030589904872774982, + 0.16489976119475636, + 0.030523636190502263, + -0.9995297317890338, + 0.0029364780693565636, + 0.16491204066387316, + 0.002138454960135657, + -0.9863059595553807 + ], + [ + 0.9877740433671203, + 0.05138260944528828, + 0.14718106772531364, + 0.05419111043263005, + -0.9984158963387549, + -0.015133455922526667, + 0.14617032120183931, + 0.02292434044140713, + -0.9889937875513058 + ], + [ + 0.9783916114469582, + 0.0993771182419286, + 0.18131200462229302, + 0.10081019786357032, + -0.9949048032818755, + 0.0013177303823765918, + 0.18051913653940532, + 0.016988842708747884, + -0.9834247406723532 + ], + [ + 0.972252189275172, + 0.12305435695798789, + 0.1989555369505724, + 0.12454608621950627, + -0.9922009796225921, + 0.0050486080627349245, + 0.19802513188238957, + 0.019870613217107844, + -0.9799955131904113 + ], + [ + 0.970406786025723, + 0.1371371508872317, + 0.19875631180357473, + 0.1404145055079484, + -0.9900898483780142, + -0.002420492049091408, + 0.19645466723441696, + 0.030257131148442154, + -0.9800459528698033 + ], + [ + 0.9686078157841145, + 0.14434397540580055, + 0.20239495044584757, + 0.1476451815718918, + -0.9890396324294369, + -0.0012271277227784653, + 0.1999994989006986, + 0.031071244711059785, + -0.9793032105489982 + ], + [ + 0.9647758079554382, + 0.15210982591954458, + 0.2146397941730706, + 0.15788205206995992, + -0.9874082859967817, + -0.009906279779868233, + 0.2104302687783075, + 0.04344511023837319, + -0.976643038360621 + ], + [ + 0.9634584514699366, + 0.1395063982489883, + 0.2286608342911972, + 0.14549930754739948, + -0.9893129613109725, + -0.00947713486985436, + 0.2248950061570486, + 0.04240081873866148, + -0.9734600180674664 + ], + [ + 0.964997968865209, + 0.13452868049954553, + 0.22512430834779162, + 0.13718266043939487, + -0.9905381455476794, + 0.003885857657374316, + 0.22351697421178118, + 0.027133306802063203, + -0.9743223008333508 + ], + [ + 0.9701857617408216, + 0.12430913239161329, + 0.20805486612772583, + 0.12551327931440784, + -0.9920639162612186, + 0.007456726372689058, + 0.20733066447374587, + 0.018879238769030776, + -0.9780887331486734 + ], + [ + 0.9757175109578452, + 0.12113944596022867, + 0.18248444712543535, + 0.11915421133216013, + -0.9926354067587907, + 0.02184543821077311, + 0.18378686768112104, + 0.00042881378081758084, + -0.9829660235159215 + ], + [ + 0.9800831771181019, + 0.11755872105571576, + 0.16005284450403173, + 0.11147817385483562, + -0.9926790420885855, + 0.04648587045629365, + 0.16434592384381913, + -0.027717620782323364, + -0.9860132609727361 + ], + [ + 0.9791349117897121, + 0.12642751717150874, + 0.15909402068085343, + 0.11681064883327025, + -0.9907925168318735, + 0.0684504266539763, + 0.16628318265447767, + -0.04843832668258506, + -0.984887623881267 + ], + [ + 0.9801762239834823, + 0.13167964597195955, + 0.1480372952136793, + 0.1194465735610711, + -0.9888679458757412, + 0.08872824625795252, + 0.15807304008591178, + -0.06928676970527368, + -0.9849935317258719 + ], + [ + 0.9669607114415917, + 0.1499992110786736, + 0.20612428096696142, + 0.13382375791264844, + -0.9868757514317791, + 0.0903739622573819, + 0.21697507770826627, + -0.05980374496415217, + -0.9743435368194089 + ], + [ + 0.9025345242002483, + 0.20145356033628037, + 0.380588880098287, + 0.2077149083778002, + -0.9778691731205686, + 0.025027926364314935, + 0.3772080983545207, + 0.05646541674628944, + -0.9244055967200947 + ], + [ + 0.8767985803631007, + 0.22674498030823734, + 0.4240412283944437, + 0.2467281276504835, + -0.9690516318677596, + 0.008010355829766037, + 0.4127341523297272, + 0.09759942970862998, + -0.9056074595657946 + ], + [ + 0.8726115954827186, + 0.2198158486552744, + 0.4361536381930868, + 0.2513454404429336, + -0.9677793759316223, + -0.015117840121774848, + 0.4187773549246094, + 0.1228172308813439, + -0.8997452166035598 + ], + [ + 0.8668791903442347, + 0.21933600524387203, + 0.44767419643283507, + 0.2625067989524231, + -0.9642626971477306, + -0.03588358110802718, + 0.4238049667616893, + 0.14862425001676005, + -0.8934764588141533 + ], + [ + 0.8567843213861819, + 0.2179540203916486, + 0.46735069447036937, + 0.2681420894304414, + -0.9624308642091562, + -0.042739343624973634, + 0.44047752099590376, + 0.16193479123626656, + -0.8830383213001403 + ], + [ + 0.8518236225200972, + 0.24176524255143317, + 0.4646999931254412, + 0.29792614953809193, + -0.9532697345398284, + -0.05016794426494994, + 0.4308555738738271, + 0.18118051966039653, + -0.8840458663199797 + ], + [ + 0.861509731669212, + 0.24567834036529695, + 0.44434573849041914, + 0.29255264063720093, + -0.9554563143702445, + -0.03893820471246025, + 0.41498666809361895, + 0.16354016144477168, + -0.8950087602359962 + ], + [ + 0.8646680439000507, + 0.2388910788516218, + 0.4419052232132676, + 0.2800090244360028, + -0.9595544029234432, + -0.029159802204953802, + 0.4170660860013166, + 0.1489509995781909, + -0.8965876865272018 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.006258785724639893, + -0.0032307058572769165, + -0.011983506381511688, + -0.02246275171637535, + 0.03715088963508606, + 0.014197252690792084, + 1.0 + ], + [ + -0.0248374342918396, + -0.011221975088119507, + -0.003040008246898651, + -0.009239792823791504, + 0.04555423557758331, + 0.06328380107879639, + 1.0 + ], + [ + -0.017692655324935913, + -0.0027829110622406006, + 0.030152037739753723, + 0.066164530813694, + -0.038837090134620667, + 0.02566029131412506, + 1.0 + ], + [ + -0.013769447803497314, + -0.004903271794319153, + 0.019512027502059937, + 0.039417605847120285, + 0.0552586168050766, + 0.020865097641944885, + 1.0 + ], + [ + -0.020380660891532898, + -0.009228512644767761, + -0.012302502989768982, + 0.0029723793268203735, + 0.07594910264015198, + 0.018584832549095154, + 1.0 + ], + [ + -0.015923500061035156, + -0.006402105093002319, + -0.023743994534015656, + -0.016565285623073578, + 0.016496188938617706, + 0.024363458156585693, + 1.0 + ], + [ + -0.009396672248840332, + -0.001026049256324768, + -0.011230401694774628, + -0.004499886184930801, + -0.019859127700328827, + 0.0006527304649353027, + 1.0 + ], + [ + -0.004925936460494995, + 0.00015363097190856934, + -0.008492045104503632, + -0.00661784503608942, + -0.02437615394592285, + -0.045454591512680054, + 1.0 + ], + [ + -0.0025552064180374146, + -0.00022101402282714844, + -0.008970968425273895, + 0.0006874315440654755, + -0.019465312361717224, + -0.09875501692295074, + 1.0 + ], + [ + -0.0009914040565490723, + -0.0007462203502655029, + -0.016474440693855286, + -0.004720011726021767, + 0.006831228733062744, + -0.06143336370587349, + 1.0 + ], + [ + 0.0033887773752212524, + 0.002240583300590515, + -0.006159201264381409, + 0.00032336171716451645, + -0.004681006073951721, + -0.0008789002895355225, + 1.0 + ], + [ + 0.0001427680253982544, + 0.00106772780418396, + -0.008764930069446564, + -0.010618926025927067, + 0.018887415528297424, + 0.02344478666782379, + 1.0 + ], + [ + -0.00029258430004119873, + -0.0003730952739715576, + -0.008197326213121414, + -0.02100716531276703, + 0.018972933292388916, + 0.023854605853557587, + 1.0 + ], + [ + 0.0006959438323974609, + -0.001705452799797058, + -0.006459306925535202, + 0.005901843309402466, + -0.03481833636760712, + 0.04786742106080055, + 1.0 + ], + [ + 0.004301205277442932, + 0.0018370449542999268, + -0.008472781628370285, + -0.0029999855905771255, + -0.017828509211540222, + 0.02473238855600357, + 1.0 + ], + [ + 0.0005206018686294556, + -0.0023177415132522583, + -0.00906364619731903, + -0.010589921846985817, + 0.0016019344329833984, + 0.016292482614517212, + 1.0 + ], + [ + 0.0017432719469070435, + 0.00034800171852111816, + -0.0044275373220443726, + -0.0008538980036973953, + -0.0036166012287139893, + 0.007566720247268677, + 1.0 + ], + [ + -0.0018594563007354736, + -0.0029108598828315735, + -0.0052855173125863075, + -0.012737546116113663, + -0.010657653212547302, + 0.010942652821540833, + 1.0 + ], + [ + 0.0005007684230804443, + -0.0009631365537643433, + -0.0017130644991993904, + 0.0009255148470401764, + -0.014820218086242676, + -0.012323439121246338, + 0.0 + ], + [ + 0.0028649717569351196, + 0.00415753573179245, + -0.007548628840595484, + 0.015688108280301094, + 0.0014140307903289795, + -0.008672818541526794, + 0.0 + ], + [ + 0.0010351985692977905, + 0.00043801963329315186, + 0.0013836065772920847, + 0.008541416376829147, + 0.016575708985328674, + -0.012556537985801697, + 0.0 + ], + [ + -6.964802742004395e-05, + -0.0032286792993545532, + 0.011592167429625988, + 0.018863532692193985, + 0.024007976055145264, + -0.007137887179851532, + 0.0 + ], + [ + 0.0029674023389816284, + 0.0020903050899505615, + 0.022177424281835556, + 0.028539642691612244, + 0.019742682576179504, + -0.008261054754257202, + 0.0 + ], + [ + 0.008899495005607605, + 0.006252273917198181, + 0.030456770211458206, + 0.021038582548499107, + -0.001964285969734192, + 0.005481824278831482, + 0.0 + ], + [ + 0.013974055647850037, + 0.006746277213096619, + 0.02918558567762375, + 0.021084703505039215, + 0.008320316672325134, + 0.0025257691740989685, + 0.0 + ], + [ + 0.016563132405281067, + 0.002860024571418762, + 0.017609387636184692, + -0.008925087749958038, + -0.05997580289840698, + 0.016258269548416138, + 0.0 + ], + [ + 0.01757928729057312, + -0.01265515387058258, + 0.00209258496761322, + -0.12230874598026276, + -0.16806519031524658, + 0.0886845588684082, + 0.0 + ], + [ + 0.002992779016494751, + -0.00891953706741333, + -0.007333844900131226, + -0.04635081812739372, + -0.03867393732070923, + 0.048096030950546265, + 0.0 + ], + [ + 0.003117501735687256, + -0.00651220977306366, + -0.0007654130458831787, + -0.028305813670158386, + -0.006644725799560547, + 0.006143540143966675, + 1.0 + ], + [ + 0.005965739488601685, + -0.00792010873556137, + -0.004749692976474762, + -0.029170721769332886, + -0.0055435895919799805, + 0.013593465089797974, + 1.0 + ], + [ + 0.0034464895725250244, + -0.006727732717990875, + -0.002657748758792877, + -0.016533955931663513, + -0.018488407135009766, + 0.009266644716262817, + 1.0 + ], + [ + -0.0012944936752319336, + -0.0020425021648406982, + -0.002133376896381378, + -0.020777076482772827, + 0.010689854621887207, + 0.033146023750305176, + 1.0 + ], + [ + -0.0030851662158966064, + 0.0007172971963882446, + -0.0010709241032600403, + 0.021414712071418762, + 0.017512500286102295, + -0.009089767932891846, + 1.0 + ], + [ + -0.002456754446029663, + 0.0004238113760948181, + 0.003729604184627533, + 0.016103386878967285, + -0.0022867023944854736, + -0.01418614387512207, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.0027955770492554 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.002137303352356 + ], + [ + 1.0027955770492554 + ], + [ + 0.9091293215751648 + ], + [ + 0.6470694541931152 + ], + [ + 0.475652277469635 + ], + [ + 0.5023775696754456 + ], + [ + 0.5120346546173096 + ], + [ + 0.5120346546173096 + ], + [ + 0.5120346546173096 + ], + [ + 0.5120346546173096 + ], + [ + 0.5130034685134888 + ], + [ + 0.5120346546173096 + ], + [ + 0.4775448143482208 + ], + [ + 0.5511609315872192 + ], + [ + 0.8722711205482483 + ], + [ + 1.0118417739868164 + ], + [ + 1.0105689764022827 + ], + [ + 1.0105689764022827 + ], + [ + 1.0105689764022827 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.28776121139526367, + 0.16166657209396362, + 0.09964782744646072 + ], + [ + 0.2629237771034241, + 0.15044459700584412, + 0.09660781919956207 + ], + [ + 0.24523112177848816, + 0.14766168594360352, + 0.1267598569393158 + ], + [ + 0.23146167397499084, + 0.14275841414928436, + 0.14627188444137573 + ], + [ + 0.21108101308345795, + 0.1335299015045166, + 0.13396938145160675 + ], + [ + 0.1951575130224228, + 0.12712779641151428, + 0.1102253869175911 + ], + [ + 0.18576084077358246, + 0.12610174715518951, + 0.09899498522281647 + ], + [ + 0.18083490431308746, + 0.12625537812709808, + 0.09050294011831284 + ], + [ + 0.17827969789505005, + 0.12603436410427094, + 0.08153197169303894 + ], + [ + 0.17728829383850098, + 0.12528814375400543, + 0.06505753099918365 + ], + [ + 0.18067707121372223, + 0.12752872705459595, + 0.058898329734802246 + ], + [ + 0.18081983923912048, + 0.1285964548587799, + 0.05013339966535568 + ], + [ + 0.18052725493907928, + 0.12822335958480835, + 0.04193607345223427 + ], + [ + 0.18122319877147675, + 0.1265179067850113, + 0.035476766526699066 + ], + [ + 0.18552440404891968, + 0.12835495173931122, + 0.02700398489832878 + ], + [ + 0.18604500591754913, + 0.12603721022605896, + 0.01794033870100975 + ], + [ + 0.18778827786445618, + 0.12638521194458008, + 0.013512801378965378 + ], + [ + 0.1859288215637207, + 0.1234743520617485, + 0.00822728406637907 + ], + [ + 0.18642958998680115, + 0.12251121550798416, + 0.00651421956717968 + ], + [ + 0.18929456174373627, + 0.1266687512397766, + -0.001034409273415804 + ], + [ + 0.19032976031303406, + 0.12710677087306976, + 0.00034919733298011124 + ], + [ + 0.190260112285614, + 0.12387809157371521, + 0.011941364966332912 + ], + [ + 0.19322751462459564, + 0.12596839666366577, + 0.03411879017949104 + ], + [ + 0.20212700963020325, + 0.13222067058086395, + 0.06457556039094925 + ], + [ + 0.21610106527805328, + 0.13896694779396057, + 0.093761146068573 + ], + [ + 0.23266419768333435, + 0.14182697236537933, + 0.11137053370475769 + ], + [ + 0.25024348497390747, + 0.12917181849479675, + 0.11346311867237091 + ], + [ + 0.2532362639904022, + 0.12025228142738342, + 0.10612927377223969 + ], + [ + 0.2563537657260895, + 0.11374007165431976, + 0.1053638607263565 + ], + [ + 0.26231950521469116, + 0.10581996291875839, + 0.10061416774988174 + ], + [ + 0.2657659947872162, + 0.09909223020076752, + 0.09795641899108887 + ], + [ + 0.26447150111198425, + 0.09704972803592682, + 0.09582304209470749 + ], + [ + 0.26138633489608765, + 0.09776702523231506, + 0.09475211799144745 + ], + [ + 0.258929580450058, + 0.09819083660840988, + 0.09848172217607498 + ], + [ + 0.258929580450058, + 0.09819083660840988, + 0.09848172217607498 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.959996791676762, + 0.04422623043137013, + 0.27649629384886004, + 0.058265600652767445, + -0.9973847393888163, + -0.04276448777753882, + 0.27388187189168994, + 0.057163993703505285, + -0.9600630177613185 + ], + [ + 0.9657767609839659, + 0.10763800568840838, + 0.2359858209188458, + 0.1202787505596178, + -0.9919421078602108, + -0.039797949917790475, + 0.229800500667724, + 0.06682001485531028, + -0.970941200849773 + ], + [ + 0.9528241492657364, + 0.14833231295705815, + 0.2648087338228001, + 0.1435796795176187, + -0.988934528572033, + 0.03732792289464266, + 0.2674154374856529, + 0.0024542067597991338, + -0.9635782068226412 + ], + [ + 0.9627272015292702, + 0.17725580017327933, + 0.20429566011188424, + 0.16568327414493297, + -0.9835058001424966, + 0.07256303297604415, + 0.213788185137147, + -0.03601003181056575, + -0.9762161079928803 + ], + [ + 0.9726484969617311, + 0.1931807085815744, + 0.12898106523829697, + 0.18606447753302133, + -0.9803699632176555, + 0.06522840961556646, + 0.13905003257262757, + -0.03944552005656858, + -0.9894994388017699 + ], + [ + 0.9699371064949445, + 0.2144948691913896, + 0.11495199230454126, + 0.21016117775661192, + -0.9764519198672301, + 0.04872296739274197, + 0.1226959200958549, + -0.0230997679245723, + -0.9921754441194675 + ], + [ + 0.9672276095602551, + 0.21497404004244874, + 0.13511814612472484, + 0.21023517002166808, + -0.9764429031922904, + 0.04858425764969298, + 0.1423795090254042, + -0.01858544896522795, + -0.9896376389853236 + ], + [ + 0.9720704231875242, + 0.16976055715488853, + 0.1620507500707391, + 0.1654366458636965, + -0.9854123969154372, + 0.03991396009847081, + 0.16646263415372592, + -0.011990047532611228, + -0.985974862859479 + ], + [ + 0.9802268525062523, + 0.07213621975855392, + 0.1842598258564019, + 0.06855064791419077, + -0.9973148977235768, + 0.025764383345156634, + 0.18562361459747137, + -0.012623809946175082, + -0.9825398277557059 + ], + [ + 0.9838314224972993, + 0.00984002430467943, + 0.17882646903807095, + 0.0082510124591164, + -0.9999196140716413, + 0.009627366629537814, + 0.1789068274279669, + -0.007996206381988299, + -0.9838335264581892 + ], + [ + 0.9829900782157612, + 0.009057920531146185, + 0.18343516621690262, + 0.007379951546612749, + -0.9999244696333408, + 0.00982808952195221, + 0.18351033334540293, + -0.00830717184926971, + -0.9829826796293644 + ], + [ + 0.9858358516902226, + 0.030589904872774982, + 0.16489976119475636, + 0.030523636190502263, + -0.9995297317890338, + 0.0029364780693565636, + 0.16491204066387316, + 0.002138454960135657, + -0.9863059595553807 + ], + [ + 0.9877740433671203, + 0.05138260944528828, + 0.14718106772531364, + 0.05419111043263005, + -0.9984158963387549, + -0.015133455922526667, + 0.14617032120183931, + 0.02292434044140713, + -0.9889937875513058 + ], + [ + 0.9783916114469582, + 0.0993771182419286, + 0.18131200462229302, + 0.10081019786357032, + -0.9949048032818755, + 0.0013177303823765918, + 0.18051913653940532, + 0.016988842708747884, + -0.9834247406723532 + ], + [ + 0.972252189275172, + 0.12305435695798789, + 0.1989555369505724, + 0.12454608621950627, + -0.9922009796225921, + 0.0050486080627349245, + 0.19802513188238957, + 0.019870613217107844, + -0.9799955131904113 + ], + [ + 0.970406786025723, + 0.1371371508872317, + 0.19875631180357473, + 0.1404145055079484, + -0.9900898483780142, + -0.002420492049091408, + 0.19645466723441696, + 0.030257131148442154, + -0.9800459528698033 + ], + [ + 0.9686078157841145, + 0.14434397540580055, + 0.20239495044584757, + 0.1476451815718918, + -0.9890396324294369, + -0.0012271277227784653, + 0.1999994989006986, + 0.031071244711059785, + -0.9793032105489982 + ], + [ + 0.9647758079554382, + 0.15210982591954458, + 0.2146397941730706, + 0.15788205206995992, + -0.9874082859967817, + -0.009906279779868233, + 0.2104302687783075, + 0.04344511023837319, + -0.976643038360621 + ], + [ + 0.9634584514699366, + 0.1395063982489883, + 0.2286608342911972, + 0.14549930754739948, + -0.9893129613109725, + -0.00947713486985436, + 0.2248950061570486, + 0.04240081873866148, + -0.9734600180674664 + ], + [ + 0.964997968865209, + 0.13452868049954553, + 0.22512430834779162, + 0.13718266043939487, + -0.9905381455476794, + 0.003885857657374316, + 0.22351697421178118, + 0.027133306802063203, + -0.9743223008333508 + ], + [ + 0.9701857617408216, + 0.12430913239161329, + 0.20805486612772583, + 0.12551327931440784, + -0.9920639162612186, + 0.007456726372689058, + 0.20733066447374587, + 0.018879238769030776, + -0.9780887331486734 + ], + [ + 0.9757175109578452, + 0.12113944596022867, + 0.18248444712543535, + 0.11915421133216013, + -0.9926354067587907, + 0.02184543821077311, + 0.18378686768112104, + 0.00042881378081758084, + -0.9829660235159215 + ], + [ + 0.9800831771181019, + 0.11755872105571576, + 0.16005284450403173, + 0.11147817385483562, + -0.9926790420885855, + 0.04648587045629365, + 0.16434592384381913, + -0.027717620782323364, + -0.9860132609727361 + ], + [ + 0.9791349117897121, + 0.12642751717150874, + 0.15909402068085343, + 0.11681064883327025, + -0.9907925168318735, + 0.0684504266539763, + 0.16628318265447767, + -0.04843832668258506, + -0.984887623881267 + ], + [ + 0.9801762239834823, + 0.13167964597195955, + 0.1480372952136793, + 0.1194465735610711, + -0.9888679458757412, + 0.08872824625795252, + 0.15807304008591178, + -0.06928676970527368, + -0.9849935317258719 + ], + [ + 0.9669607114415917, + 0.1499992110786736, + 0.20612428096696142, + 0.13382375791264844, + -0.9868757514317791, + 0.0903739622573819, + 0.21697507770826627, + -0.05980374496415217, + -0.9743435368194089 + ], + [ + 0.9025345242002483, + 0.20145356033628037, + 0.380588880098287, + 0.2077149083778002, + -0.9778691731205686, + 0.025027926364314935, + 0.3772080983545207, + 0.05646541674628944, + -0.9244055967200947 + ], + [ + 0.8767985803631007, + 0.22674498030823734, + 0.4240412283944437, + 0.2467281276504835, + -0.9690516318677596, + 0.008010355829766037, + 0.4127341523297272, + 0.09759942970862998, + -0.9056074595657946 + ], + [ + 0.8726115954827186, + 0.2198158486552744, + 0.4361536381930868, + 0.2513454404429336, + -0.9677793759316223, + -0.015117840121774848, + 0.4187773549246094, + 0.1228172308813439, + -0.8997452166035598 + ], + [ + 0.8668791903442347, + 0.21933600524387203, + 0.44767419643283507, + 0.2625067989524231, + -0.9642626971477306, + -0.03588358110802718, + 0.4238049667616893, + 0.14862425001676005, + -0.8934764588141533 + ], + [ + 0.8567843213861819, + 0.2179540203916486, + 0.46735069447036937, + 0.2681420894304414, + -0.9624308642091562, + -0.042739343624973634, + 0.44047752099590376, + 0.16193479123626656, + -0.8830383213001403 + ], + [ + 0.8518236225200972, + 0.24176524255143317, + 0.4646999931254412, + 0.29792614953809193, + -0.9532697345398284, + -0.05016794426494994, + 0.4308555738738271, + 0.18118051966039653, + -0.8840458663199797 + ], + [ + 0.861509731669212, + 0.24567834036529695, + 0.44434573849041914, + 0.29255264063720093, + -0.9554563143702445, + -0.03893820471246025, + 0.41498666809361895, + 0.16354016144477168, + -0.8950087602359962 + ], + [ + 0.8646680439000507, + 0.2388910788516218, + 0.4419052232132676, + 0.2800090244360028, + -0.9595544029234432, + -0.029159802204953802, + 0.4170660860013166, + 0.1489509995781909, + -0.8965876865272018 + ], + [ + 0.8646680439000507, + 0.2388910788516218, + 0.4419052232132676, + 0.2800090244360028, + -0.9595544029234432, + -0.029159802204953802, + 0.4170660860013166, + 0.1489509995781909, + -0.8965876865272018 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006059.json b/json/chunk-0006/episode_0006059.json new file mode 100644 index 0000000000000000000000000000000000000000..1eae53090b86e7a56509b14dabd9f0fc28e6c87e --- /dev/null +++ b/json/chunk-0006/episode_0006059.json @@ -0,0 +1,2182 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 35, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut knife in pot cardboard fence." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006059.mp4", + "start": 0, + "end": 35, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2789504826068878, + 0.11204873770475388, + 0.10873038321733475, + 0.02863645739853382, + -0.08202528208494186, + 0.9429323077201843, + 0.0, + 0.9886419177055359 + ], + [ + 0.27532607316970825, + 0.11023780703544617, + 0.0998186245560646, + 0.04379552602767944, + -0.058719050139188766, + 0.9598879814147949, + 0.0, + 0.9886419177055359 + ], + [ + 0.26863881945610046, + 0.0951479971408844, + 0.09417122602462769, + 0.052447445690631866, + -0.07914604991674423, + 1.104515552520752, + 0.0, + 0.9886419177055359 + ], + [ + 0.2598130404949188, + 0.0780397579073906, + 0.10813053697347641, + 0.005414419341832399, + -0.0757821723818779, + 1.1165406703948975, + 0.0, + 0.9886419177055359 + ], + [ + 0.24329207837581635, + 0.061627212911844254, + 0.1126268282532692, + 0.014648553915321827, + -0.03744475916028023, + 1.1037384271621704, + 0.0, + 0.9886419177055359 + ], + [ + 0.22961576282978058, + 0.040129631757736206, + 0.10807225853204727, + 0.026934070512652397, + 0.010454049333930016, + 1.0673367977142334, + 0.0, + 0.9886419177055359 + ], + [ + 0.21319106221199036, + 0.019105011597275734, + 0.09234963357448578, + 0.06425130367279053, + 0.05499950423836708, + 1.0244611501693726, + 0.0, + 0.9886419177055359 + ], + [ + 0.2056158185005188, + 0.0031155883334577084, + 0.07884927093982697, + 0.0655139833688736, + 0.02946985512971878, + 0.961485743522644, + 0.0, + 0.9886419177055359 + ], + [ + 0.205472931265831, + -0.0049372646026313305, + 0.06607694178819656, + 0.0605066642165184, + -0.006702222861349583, + 0.8988452553749084, + 0.0, + 0.9886419177055359 + ], + [ + 0.20673511922359467, + -0.00577217061072588, + 0.04967512562870979, + 0.056980133056640625, + -0.05753269046545029, + 0.8786425590515137, + 0.0, + 0.9886419177055359 + ], + [ + 0.21363011002540588, + -0.004856490064412355, + 0.03866405412554741, + 0.04172535240650177, + -0.07959850132465363, + 0.889306902885437, + 0.0, + 0.9886419177055359 + ], + [ + 0.21736814081668854, + -0.004621039144694805, + 0.03093559481203556, + 0.033302608877420425, + -0.08444667607545853, + 0.8949499726295471, + 0.0, + 0.9886419177055359 + ], + [ + 0.2158469557762146, + -0.0067082601599395275, + 0.018677284941077232, + 0.07381423562765121, + -0.08400500565767288, + 0.8989529609680176, + 0.0, + 0.9886419177055359 + ], + [ + 0.21578142046928406, + -0.00750563433393836, + 0.012229625135660172, + 0.0760197788476944, + -0.08893701434135437, + 0.8878881335258484, + 0.0, + 0.9886419177055359 + ], + [ + 0.2152046412229538, + -0.009422351606190205, + 0.001952621852979064, + 0.08881210535764694, + -0.050789352506399155, + 0.8884090781211853, + 0.0, + 0.9886419177055359 + ], + [ + 0.21903370320796967, + -0.014005177654325962, + 0.0012079734588041902, + 0.06380593031644821, + -0.011743729934096336, + 0.8807392716407776, + 0.0, + 0.9886419177055359 + ], + [ + 0.2198888063430786, + -0.015967341139912605, + 0.0006574802682735026, + 0.037251267582178116, + 0.016246749088168144, + 0.8836032152175903, + 0.0, + 0.941448450088501 + ], + [ + 0.2230270802974701, + -0.018464457243680954, + -0.0008092791540548205, + 0.03315766155719757, + 0.02758399210870266, + 0.8903025984764099, + 0.0, + 0.676182746887207 + ], + [ + 0.2250978648662567, + -0.020143907517194748, + -0.0026310766115784645, + 0.0504394993185997, + 0.04838692024350166, + 0.8884839415550232, + 0.0, + 0.39798861742019653 + ], + [ + 0.22304286062717438, + -0.020454896613955498, + -0.0033747057896107435, + 0.04508673772215843, + 0.04540422558784485, + 0.8911186456680298, + 0.0, + 0.33397963643074036 + ], + [ + 0.21252748370170593, + -0.02155950851738453, + 0.0004936062032356858, + 0.06671977043151855, + 0.0970047265291214, + 0.9528334736824036, + 0.0, + 0.3610773980617523 + ], + [ + 0.20729109644889832, + -0.021662713959813118, + 0.013960550539195538, + 0.07575929164886475, + 0.12822695076465607, + 1.0303884744644165, + 0.0, + 0.36275482177734375 + ], + [ + 0.2041482925415039, + -0.019946642220020294, + 0.02147010900080204, + 0.09825445711612701, + 0.12654277682304382, + 1.1558456420898438, + 0.0, + 0.36275482177734375 + ], + [ + 0.20804370939731598, + -0.017694588750600815, + 0.03500880300998688, + 0.049593862146139145, + 0.10807151347398758, + 1.1896377801895142, + 0.0, + 0.36275482177734375 + ], + [ + 0.21241582930088043, + -0.016641302034258842, + 0.059944119304418564, + -0.008246836252510548, + 0.11959237605333328, + 1.2381411790847778, + 0.0, + 0.36275482177734375 + ], + [ + 0.2323518991470337, + -0.01141349971294403, + 0.08870326727628708, + -0.039005815982818604, + 0.1678582727909088, + 1.3119133710861206, + 0.0, + 0.36275482177734375 + ], + [ + 0.259578675031662, + -0.0031976457685232162, + 0.09912706166505814, + -0.032292768359184265, + 0.19636136293411255, + 1.3657417297363281, + 0.0, + 0.36275482177734375 + ], + [ + 0.28051063418388367, + 0.004549670964479446, + 0.0942092314362526, + -0.0019553485326468945, + 0.20265023410320282, + 1.4072679281234741, + 0.0, + 0.36275482177734375 + ], + [ + 0.2900077998638153, + 0.009092859923839569, + 0.08590816706418991, + 0.006570650264620781, + 0.19099140167236328, + 1.4265016317367554, + 0.0, + 0.36275482177734375 + ], + [ + 0.2938801050186157, + 0.012890956364572048, + 0.08265036344528198, + -0.01149801630526781, + 0.16412100195884705, + 1.4261447191238403, + 0.0, + 0.36275482177734375 + ], + [ + 0.29528453946113586, + 0.018331199884414673, + 0.06847832351922989, + 0.00692887045443058, + 0.13742950558662415, + 1.4365487098693848, + 0.0, + 0.36275482177734375 + ], + [ + 0.2958897650241852, + 0.01877400279045105, + 0.06012265384197235, + 0.028756719082593918, + 0.11946894228458405, + 1.4372315406799316, + 0.0, + 0.36275482177734375 + ], + [ + 0.296389102935791, + 0.019365062937140465, + 0.055678896605968475, + 0.04588351026177406, + 0.10813119262456894, + 1.4378299713134766, + 0.0, + 0.40327540040016174 + ], + [ + 0.29382452368736267, + 0.018826499581336975, + 0.05801954120397568, + 0.06596332043409348, + 0.11991908401250839, + 1.418902039527893, + 0.0, + 0.684196949005127 + ], + [ + 0.29621726274490356, + 0.01522697415202856, + 0.06692381203174591, + 0.06692437827587128, + 0.1707293540239334, + 1.422972321510315, + 0.0, + 0.9398812651634216 + ] + ], + "left_gripper_pos": [ + [ + 0.9886419177055359 + ], + [ + 0.9886419177055359 + ], + [ + 0.9886419177055359 + ], + [ + 0.9886419177055359 + ], + [ + 0.9886419177055359 + ], + [ + 0.9886419177055359 + ], + [ + 0.9886419177055359 + ], + [ + 0.9886419177055359 + ], + [ + 0.9886419177055359 + ], + [ + 0.9886419177055359 + ], + [ + 0.9886419177055359 + ], + [ + 0.9886419177055359 + ], + [ + 0.9886419177055359 + ], + [ + 0.9886419177055359 + ], + [ + 0.9886419177055359 + ], + [ + 0.9886419177055359 + ], + [ + 0.941448450088501 + ], + [ + 0.676182746887207 + ], + [ + 0.39798861742019653 + ], + [ + 0.33397963643074036 + ], + [ + 0.3610773980617523 + ], + [ + 0.36275482177734375 + ], + [ + 0.36275482177734375 + ], + [ + 0.36275482177734375 + ], + [ + 0.36275482177734375 + ], + [ + 0.36275482177734375 + ], + [ + 0.36275482177734375 + ], + [ + 0.36275482177734375 + ], + [ + 0.36275482177734375 + ], + [ + 0.36275482177734375 + ], + [ + 0.36275482177734375 + ], + [ + 0.36275482177734375 + ], + [ + 0.40327540040016174 + ], + [ + 0.684196949005127 + ], + [ + 0.9398812651634216 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2789504826068878, + 0.11204873770475388, + 0.10873038321733475 + ], + [ + 0.27532607316970825, + 0.11023780703544617, + 0.0998186245560646 + ], + [ + 0.26863881945610046, + 0.0951479971408844, + 0.09417122602462769 + ], + [ + 0.2598130404949188, + 0.0780397579073906, + 0.10813053697347641 + ], + [ + 0.24329207837581635, + 0.061627212911844254, + 0.1126268282532692 + ], + [ + 0.22961576282978058, + 0.040129631757736206, + 0.10807225853204727 + ], + [ + 0.21319106221199036, + 0.019105011597275734, + 0.09234963357448578 + ], + [ + 0.2056158185005188, + 0.0031155883334577084, + 0.07884927093982697 + ], + [ + 0.205472931265831, + -0.0049372646026313305, + 0.06607694178819656 + ], + [ + 0.20673511922359467, + -0.00577217061072588, + 0.04967512562870979 + ], + [ + 0.21363011002540588, + -0.004856490064412355, + 0.03866405412554741 + ], + [ + 0.21736814081668854, + -0.004621039144694805, + 0.03093559481203556 + ], + [ + 0.2158469557762146, + -0.0067082601599395275, + 0.018677284941077232 + ], + [ + 0.21578142046928406, + -0.00750563433393836, + 0.012229625135660172 + ], + [ + 0.2152046412229538, + -0.009422351606190205, + 0.001952621852979064 + ], + [ + 0.21903370320796967, + -0.014005177654325962, + 0.0012079734588041902 + ], + [ + 0.2198888063430786, + -0.015967341139912605, + 0.0006574802682735026 + ], + [ + 0.2230270802974701, + -0.018464457243680954, + -0.0008092791540548205 + ], + [ + 0.2250978648662567, + -0.020143907517194748, + -0.0026310766115784645 + ], + [ + 0.22304286062717438, + -0.020454896613955498, + -0.0033747057896107435 + ], + [ + 0.21252748370170593, + -0.02155950851738453, + 0.0004936062032356858 + ], + [ + 0.20729109644889832, + -0.021662713959813118, + 0.013960550539195538 + ], + [ + 0.2041482925415039, + -0.019946642220020294, + 0.02147010900080204 + ], + [ + 0.20804370939731598, + -0.017694588750600815, + 0.03500880300998688 + ], + [ + 0.21241582930088043, + -0.016641302034258842, + 0.059944119304418564 + ], + [ + 0.2323518991470337, + -0.01141349971294403, + 0.08870326727628708 + ], + [ + 0.259578675031662, + -0.0031976457685232162, + 0.09912706166505814 + ], + [ + 0.28051063418388367, + 0.004549670964479446, + 0.0942092314362526 + ], + [ + 0.2900077998638153, + 0.009092859923839569, + 0.08590816706418991 + ], + [ + 0.2938801050186157, + 0.012890956364572048, + 0.08265036344528198 + ], + [ + 0.29528453946113586, + 0.018331199884414673, + 0.06847832351922989 + ], + [ + 0.2958897650241852, + 0.01877400279045105, + 0.06012265384197235 + ], + [ + 0.296389102935791, + 0.019365062937140465, + 0.055678896605968475 + ], + [ + 0.29382452368736267, + 0.018826499581336975, + 0.05801954120397568 + ], + [ + 0.29621726274490356, + 0.01522697415202856, + 0.06692381203174591 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.5854424761047381, + 0.8103303211290468, + 0.02493747844609792, + 0.8065631011034177, + -0.5852780976835197, + 0.083099412214521, + 0.08193333333138378, + -0.02853627570053311, + -0.9962291954456827 + ], + [ + 0.5726231455835519, + 0.8198156803871043, + -0.002232338107785708, + 0.8177155784284792, + -0.5709571170856109, + 0.07313824748150231, + 0.05868531279098657, + -0.04370607098238208, + -0.9973193136713572 + ], + [ + 0.4481598854991454, + 0.8938815988022225, + -0.011331564418718541, + 0.8904502729128426, + -0.44524673292269845, + 0.09409388020008336, + 0.07906344603441776, + -0.05225929720581704, + -0.9954988384507121 + ], + [ + 0.43753419808515764, + 0.8987545898961966, + 0.02835511676042464, + 0.8960088577787184, + -0.4384187946770675, + 0.07040658531688213, + 0.07570965782549886, + -0.005398853065845977, + -0.9971152892707639 + ], + [ + 0.4499456246804961, + 0.8930479742086241, + 0.003774995728543288, + 0.89227096782533, + -0.4497233056899344, + 0.04001834948328842, + 0.037436009495229336, + -0.014637762164696814, + -0.9991918139736147 + ], + [ + 0.48243232295362337, + 0.8754652041106658, + -0.028630930146278814, + 0.8758708641136909, + -0.482530296357505, + 0.0038395955353333067, + -0.010453858919431964, + -0.026929342520913155, + -0.999582676593129 + ], + [ + 0.5187737527266517, + 0.8508374791418498, + -0.08336292682871237, + 0.8531423661288196, + -0.5215031060559725, + -0.013513455890054166, + -0.05497178001507853, + -0.06411001841768185, + -0.9964276235334197 + ], + [ + 0.5720537485943296, + 0.8171795645986653, + -0.07051289188163856, + 0.8196867009677817, + -0.5726563851697192, + 0.013355777061064413, + -0.029465589689164913, + -0.06543870205533023, + -0.9974214531969842 + ], + [ + 0.6225001146206794, + 0.781428728391014, + -0.04315958459536473, + 0.7825910095180943, + -0.6210577395694532, + 0.04287885192413163, + 0.006702172684386942, + -0.06046839311644314, + -0.9981476114860088 + ], + [ + 0.6371408616513179, + 0.7707136890742984, + -0.00720637826526881, + 0.7685994811259417, + -0.6346399840992275, + 0.08054146879381853, + 0.05750095674986315, + -0.05685507942143912, + -0.9967252078265265 + ], + [ + 0.6279558566997636, + 0.7780487763004597, + 0.017650601514480717, + 0.7741762658620571, + -0.6268262183434883, + 0.08797727759531443, + 0.07951447297409003, + -0.04158116995177875, + -0.9959660912365912 + ], + [ + 0.6233286707065662, + 0.7815020316527392, + 0.02675710742636842, + 0.7773976219402439, + -0.6230199098050955, + 0.08659751375244261, + 0.08434634358903123, + -0.03317780145054519, + -0.9958839931508434 + ], + [ + 0.6202348983867675, + 0.7843958817424865, + -0.005636623863911172, + 0.7799156453776501, + -0.6158918226337602, + 0.1113950129405636, + 0.08390623885218389, + -0.07348716567055645, + -0.9937602223692537 + ], + [ + 0.6285575941952131, + 0.7777571529728626, + -0.0030268430869985555, + 0.7726748289007466, + -0.6239963385723885, + 0.11662837661330766, + 0.08881981514689269, + -0.07564641728330992, + -0.9931710124593204 + ], + [ + 0.6298342688085616, + 0.7758504798713418, + -0.036943561249468404, + 0.7750686761726472, + -0.624667459269647, + 0.09517937037816693, + 0.05076751963967496, + -0.08858102625852063, + -0.994774376799394 + ], + [ + 0.6365372881422383, + 0.7701170235607996, + -0.04171391645937232, + 0.7711565158590331, + -0.6347083234475966, + 0.049628340638162016, + 0.011743459996161497, + -0.06375824784445924, + -0.9978962756615152 + ], + [ + 0.6342861547401606, + 0.7721095527679812, + -0.03908852042951894, + 0.7729276423266261, + -0.6343975011087956, + 0.01107566315479886, + -0.01624603435746637, + -0.037237737731278885, + -0.9991743677938862 + ], + [ + 0.6289375092304728, + 0.7762596575741499, + -0.043110944153801053, + 0.7769664895093501, + -0.6295417002646235, + -0.0005672807448305166, + -0.027580494239327697, + -0.03313897479992434, + -0.9990701300142668 + ], + [ + 0.6298513354014706, + 0.7735917915436945, + -0.06959192014308126, + 0.7752082480800226, + -0.6316800619630606, + -0.005698370560603513, + -0.04836804111896705, + -0.050359104187434306, + -0.997559268025591 + ], + [ + 0.6278945925168246, + 0.7756991187130433, + -0.06355515648583147, + 0.7769737789988158, + -0.6294947381821531, + -0.006936955332233732, + -0.04538862672993971, + -0.04502501336801727, + -0.9979542177548927 + ], + [ + 0.576652163115816, + 0.8095058186856025, + -0.11032956216718531, + 0.811228601758094, + -0.5833498937625102, + -0.04013797624290208, + -0.09685266368798554, + -0.06635684562590773, + -0.9930842514988955 + ], + [ + 0.5102619332251392, + 0.8500598399200607, + -0.13050298102504895, + 0.850459009034999, + -0.5213093554983086, + -0.07039907542820016, + -0.1278758517177924, + -0.07506546759342063, + -0.9889453686237831 + ], + [ + 0.39992131177092205, + 0.9057313702504332, + -0.14040523257947832, + 0.9078189029718747, + -0.41253005281990973, + -0.07539094725060823, + -0.12620532396997544, + -0.09731207769169732, + -0.9872196187966273 + ], + [ + 0.36982587957965063, + 0.925103910701928, + -0.08609049423215823, + 0.9228189236712344, + -0.37650207189421536, + -0.08155626262665468, + -0.1078612669469563, + -0.04928432066451331, + -0.9929436050598419 + ], + [ + 0.3242213064380462, + 0.9454677826602402, + -0.031164345061866987, + 0.9384275484845577, + -0.32561270128944625, + -0.11545607391667617, + -0.11930750478016755, + 0.008187839184937706, + -0.9928235888578654 + ], + [ + 0.25240276004103634, + 0.9676091314558181, + -0.00504137352159123, + 0.9530897603468856, + -0.24950818207949466, + -0.17136386957962224, + -0.1670711089494023, + 0.038447832171696325, + -0.9851949090183698 + ], + [ + 0.19970763082036685, + 0.9798220899340266, + -0.008095323923856035, + 0.9602354420675518, + -0.1973471373908972, + -0.1974892482160775, + -0.19510191692920187, + 0.03166669292702427, + -0.9802716269328703 + ], + [ + 0.15946908921005087, + 0.9867211842571205, + -0.03083689551077548, + 0.9664686194444091, + -0.1624119331603412, + -0.1988988979264062, + -0.20126603592194814, + 0.0019153342649562005, + -0.979534743783455 + ], + [ + 0.14117980582766543, + 0.9894068519142354, + -0.03379857706509834, + 0.9716130590512442, + -0.1450257368590685, + -0.18691067152404145, + -0.18983236264543144, + -0.006451126540916702, + -0.9817953234044288 + ], + [ + 0.14221067879616045, + 0.9897615654713466, + -0.012172360167379992, + 0.9762588779075793, + -0.14227921129532572, + -0.16332553180631126, + -0.1633852078462723, + 0.011343260064426111, + -0.9864971385199965 + ], + [ + 0.1325827696914768, + 0.9908514763518936, + -0.02520240052473907, + 0.9816585688284298, + -0.13478221087940861, + -0.13483400860382844, + -0.13699731174974003, + -0.00686348612085623, + -0.9905476410206695 + ], + [ + 0.13221880521468715, + 0.9902273599631043, + -0.044361730445302054, + 0.9840290314948433, + -0.13650933384237024, + -0.11424564302078719, + -0.1191849517469443, + -0.028547808224333747, + -0.99246157100548 + ], + [ + 0.13180059156980717, + 0.9894735665080527, + -0.05975504366731797, + 0.9853840614940221, + -0.1373417072825559, + -0.10077453445319368, + -0.10792059773460332, + -0.04559952436755158, + -0.9931131999737286 + ], + [ + 0.15022421326594004, + 0.9851432981386901, + -0.08321879523914158, + 0.9813872328278845, + -0.15877661127174214, + -0.10802354815266219, + -0.11963187280594506, + -0.06544211064358238, + -0.9906591468125937 + ], + [ + 0.14514484173249664, + 0.9852062549759433, + -0.09111317179598691, + 0.9747135867069707, + -0.1581946318060039, + -0.15782231260691715, + -0.1699011442200468, + -0.0659021518923272, + -0.983255057230157 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0036244094371795654, + -0.0018109306693077087, + -0.008911758661270142, + 0.015159068629145622, + 0.023306231945753098, + 0.016955673694610596, + 1.0 + ], + [ + -0.006687253713607788, + -0.015089809894561768, + -0.00564739853143692, + 0.008651919662952423, + -0.020426999777555466, + 0.14462757110595703, + 1.0 + ], + [ + -0.00882577896118164, + -0.017108239233493805, + 0.013959310948848724, + -0.047033026814460754, + 0.003363877534866333, + 0.012025117874145508, + 1.0 + ], + [ + -0.016520962119102478, + -0.01641254499554634, + 0.004496291279792786, + 0.00923413410782814, + 0.03833741322159767, + -0.01280224323272705, + 1.0 + ], + [ + -0.013676315546035767, + -0.021497581154108047, + -0.004554569721221924, + 0.01228551659733057, + 0.047898806631565094, + -0.03640162944793701, + 1.0 + ], + [ + -0.016424700617790222, + -0.021024620160460472, + -0.015722624957561493, + 0.03731723129749298, + 0.044545456767082214, + -0.04287564754486084, + 1.0 + ], + [ + -0.007575243711471558, + -0.01598942279815674, + -0.013500362634658813, + 0.0012626796960830688, + -0.0255296491086483, + -0.06297540664672852, + 1.0 + ], + [ + -0.00014288723468780518, + -0.008052852936089039, + -0.012772329151630402, + -0.005007319152355194, + -0.03617207705974579, + -0.0626404881477356, + 1.0 + ], + [ + 0.0012621879577636719, + -0.0008349060080945492, + -0.01640181615948677, + -0.003526531159877777, + -0.05083046853542328, + -0.020202696323394775, + 1.0 + ], + [ + 0.006894990801811218, + 0.0009156805463135242, + -0.011011071503162384, + -0.015254780650138855, + -0.02206581085920334, + 0.01066434383392334, + 1.0 + ], + [ + 0.003738030791282654, + 0.00023545091971755028, + -0.0077284593135118484, + -0.008422743529081345, + -0.004848174750804901, + 0.005643069744110107, + 1.0 + ], + [ + -0.001521185040473938, + -0.0020872210152447224, + -0.012258309870958328, + 0.04051162675023079, + 0.00044167041778564453, + 0.004002988338470459, + 1.0 + ], + [ + -6.553530693054199e-05, + -0.0007973741739988327, + -0.006447659805417061, + 0.0022055432200431824, + -0.004932008683681488, + -0.01106482744216919, + 1.0 + ], + [ + -0.0005767792463302612, + -0.0019167172722518444, + -0.010277003049850464, + 0.012792326509952545, + 0.038147661834955215, + 0.0005209445953369141, + 1.0 + ], + [ + 0.003829061985015869, + -0.0045828260481357574, + -0.0007446483941748738, + -0.02500617504119873, + 0.03904562443494797, + -0.007669806480407715, + 1.0 + ], + [ + 0.0008551031351089478, + -0.0019621634855866432, + -0.0005504931905306876, + -0.026554662734270096, + 0.02799047902226448, + 0.002863943576812744, + 0.0 + ], + [ + 0.0031382739543914795, + -0.0024971161037683487, + -0.001466759480535984, + -0.004093606024980545, + 0.011337243020534515, + 0.00669938325881958, + 0.0 + ], + [ + 0.002070784568786621, + -0.001679450273513794, + -0.001821797457523644, + 0.01728183776140213, + 0.020802928134799004, + -0.0018186569213867188, + 0.0 + ], + [ + -0.0020550042390823364, + -0.0003109890967607498, + -0.000743629178032279, + -0.005352761596441269, + -0.0029826946556568146, + 0.002634704113006592, + 0.0 + ], + [ + -0.010515376925468445, + -0.0011046119034290314, + 0.003868312109261751, + 0.021633032709360123, + 0.05160050094127655, + 0.06171482801437378, + 0.0 + ], + [ + -0.005236387252807617, + -0.00010320544242858887, + 0.013466943986713886, + 0.009039521217346191, + 0.031222224235534668, + 0.07755500078201294, + 0.0 + ], + [ + -0.003142803907394409, + 0.0017160717397928238, + 0.0075095584616065025, + 0.022495165467262268, + -0.0016841739416122437, + 0.12545716762542725, + 0.0 + ], + [ + 0.0038954168558120728, + 0.0022520534694194794, + 0.013538694009184837, + -0.04866059496998787, + -0.018471263349056244, + 0.03379213809967041, + 0.0 + ], + [ + 0.004372119903564453, + 0.0010532867163419724, + 0.024935316294431686, + -0.05784069746732712, + 0.011520862579345703, + 0.04850339889526367, + 0.0 + ], + [ + 0.01993606984615326, + 0.005227802321314812, + 0.028759147971868515, + -0.03075898066163063, + 0.04826589673757553, + 0.07377219200134277, + 0.0 + ], + [ + 0.027226775884628296, + 0.008215853944420815, + 0.010423794388771057, + 0.006713047623634338, + 0.028503090143203735, + 0.05382835865020752, + 0.0 + ], + [ + 0.02093195915222168, + 0.007747316733002663, + -0.004917830228805542, + 0.030337419360876083, + 0.006288871169090271, + 0.041526198387145996, + 0.0 + ], + [ + 0.00949716567993164, + 0.004543188959360123, + -0.008301064372062683, + 0.008525999262928963, + -0.011658832430839539, + 0.01923370361328125, + 0.0 + ], + [ + 0.003872305154800415, + 0.003798096440732479, + -0.0032578036189079285, + -0.018068667501211166, + -0.026870399713516235, + -0.00035691261291503906, + 0.0 + ], + [ + 0.0014044344425201416, + 0.005440243519842625, + -0.014172039926052094, + 0.018426887691020966, + -0.0266914963722229, + 0.010403990745544434, + 0.0 + ], + [ + 0.0006052255630493164, + 0.00044280290603637695, + -0.008355669677257538, + 0.021827848628163338, + -0.0179605633020401, + 0.000682830810546875, + 0.0 + ], + [ + 0.000499337911605835, + 0.000591060146689415, + -0.004443757236003876, + 0.017126791179180145, + -0.011337749660015106, + 0.0005984306335449219, + 1.0 + ], + [ + -0.0025645792484283447, + -0.0005385633558034897, + 0.002340644598007202, + 0.020079810172319412, + 0.011787891387939453, + -0.018927931785583496, + 1.0 + ], + [ + 0.0023927390575408936, + -0.0035995254293084145, + 0.008904270827770233, + 0.0009610578417778015, + 0.05081027001142502, + 0.004070281982421875, + 1.0 + ], + [ + 0.0011852681636810303, + -0.0017231665551662445, + 0.027583397924900055, + -0.015682939440011978, + 0.06121401488780975, + 0.012202858924865723, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9886419177055359 + ], + [ + 0.9886419177055359 + ], + [ + 0.9886419177055359 + ], + [ + 0.9886419177055359 + ], + [ + 0.9886419177055359 + ], + [ + 0.9886419177055359 + ], + [ + 0.9886419177055359 + ], + [ + 0.9886419177055359 + ], + [ + 0.9886419177055359 + ], + [ + 0.9886419177055359 + ], + [ + 0.9886419177055359 + ], + [ + 0.9886419177055359 + ], + [ + 0.9886419177055359 + ], + [ + 0.9886419177055359 + ], + [ + 0.9886419177055359 + ], + [ + 0.941448450088501 + ], + [ + 0.676182746887207 + ], + [ + 0.39798861742019653 + ], + [ + 0.33397963643074036 + ], + [ + 0.3610773980617523 + ], + [ + 0.36275482177734375 + ], + [ + 0.36275482177734375 + ], + [ + 0.36275482177734375 + ], + [ + 0.36275482177734375 + ], + [ + 0.36275482177734375 + ], + [ + 0.36275482177734375 + ], + [ + 0.36275482177734375 + ], + [ + 0.36275482177734375 + ], + [ + 0.36275482177734375 + ], + [ + 0.36275482177734375 + ], + [ + 0.36275482177734375 + ], + [ + 0.40327540040016174 + ], + [ + 0.684196949005127 + ], + [ + 0.9398812651634216 + ], + [ + 0.9851709604263306 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.27532607316970825, + 0.11023780703544617, + 0.0998186245560646 + ], + [ + 0.26863881945610046, + 0.0951479971408844, + 0.09417122602462769 + ], + [ + 0.2598130404949188, + 0.0780397579073906, + 0.10813053697347641 + ], + [ + 0.24329207837581635, + 0.061627212911844254, + 0.1126268282532692 + ], + [ + 0.22961576282978058, + 0.040129631757736206, + 0.10807225853204727 + ], + [ + 0.21319106221199036, + 0.019105011597275734, + 0.09234963357448578 + ], + [ + 0.2056158185005188, + 0.0031155883334577084, + 0.07884927093982697 + ], + [ + 0.205472931265831, + -0.0049372646026313305, + 0.06607694178819656 + ], + [ + 0.20673511922359467, + -0.00577217061072588, + 0.04967512562870979 + ], + [ + 0.21363011002540588, + -0.004856490064412355, + 0.03866405412554741 + ], + [ + 0.21736814081668854, + -0.004621039144694805, + 0.03093559481203556 + ], + [ + 0.2158469557762146, + -0.0067082601599395275, + 0.018677284941077232 + ], + [ + 0.21578142046928406, + -0.00750563433393836, + 0.012229625135660172 + ], + [ + 0.2152046412229538, + -0.009422351606190205, + 0.001952621852979064 + ], + [ + 0.21903370320796967, + -0.014005177654325962, + 0.0012079734588041902 + ], + [ + 0.2198888063430786, + -0.015967341139912605, + 0.0006574802682735026 + ], + [ + 0.2230270802974701, + -0.018464457243680954, + -0.0008092791540548205 + ], + [ + 0.2250978648662567, + -0.020143907517194748, + -0.0026310766115784645 + ], + [ + 0.22304286062717438, + -0.020454896613955498, + -0.0033747057896107435 + ], + [ + 0.21252748370170593, + -0.02155950851738453, + 0.0004936062032356858 + ], + [ + 0.20729109644889832, + -0.021662713959813118, + 0.013960550539195538 + ], + [ + 0.2041482925415039, + -0.019946642220020294, + 0.02147010900080204 + ], + [ + 0.20804370939731598, + -0.017694588750600815, + 0.03500880300998688 + ], + [ + 0.21241582930088043, + -0.016641302034258842, + 0.059944119304418564 + ], + [ + 0.2323518991470337, + -0.01141349971294403, + 0.08870326727628708 + ], + [ + 0.259578675031662, + -0.0031976457685232162, + 0.09912706166505814 + ], + [ + 0.28051063418388367, + 0.004549670964479446, + 0.0942092314362526 + ], + [ + 0.2900077998638153, + 0.009092859923839569, + 0.08590816706418991 + ], + [ + 0.2938801050186157, + 0.012890956364572048, + 0.08265036344528198 + ], + [ + 0.29528453946113586, + 0.018331199884414673, + 0.06847832351922989 + ], + [ + 0.2958897650241852, + 0.01877400279045105, + 0.06012265384197235 + ], + [ + 0.296389102935791, + 0.019365062937140465, + 0.055678896605968475 + ], + [ + 0.29382452368736267, + 0.018826499581336975, + 0.05801954120397568 + ], + [ + 0.29621726274490356, + 0.01522697415202856, + 0.06692381203174591 + ], + [ + 0.2974025309085846, + 0.013503807596862316, + 0.09450720995664597 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.5726231455835519, + 0.8198156803871043, + -0.002232338107785708, + 0.8177155784284792, + -0.5709571170856109, + 0.07313824748150231, + 0.05868531279098657, + -0.04370607098238208, + -0.9973193136713572 + ], + [ + 0.4481598854991454, + 0.8938815988022225, + -0.011331564418718541, + 0.8904502729128426, + -0.44524673292269845, + 0.09409388020008336, + 0.07906344603441776, + -0.05225929720581704, + -0.9954988384507121 + ], + [ + 0.43753419808515764, + 0.8987545898961966, + 0.02835511676042464, + 0.8960088577787184, + -0.4384187946770675, + 0.07040658531688213, + 0.07570965782549886, + -0.005398853065845977, + -0.9971152892707639 + ], + [ + 0.4499456246804961, + 0.8930479742086241, + 0.003774995728543288, + 0.89227096782533, + -0.4497233056899344, + 0.04001834948328842, + 0.037436009495229336, + -0.014637762164696814, + -0.9991918139736147 + ], + [ + 0.48243232295362337, + 0.8754652041106658, + -0.028630930146278814, + 0.8758708641136909, + -0.482530296357505, + 0.0038395955353333067, + -0.010453858919431964, + -0.026929342520913155, + -0.999582676593129 + ], + [ + 0.5187737527266517, + 0.8508374791418498, + -0.08336292682871237, + 0.8531423661288196, + -0.5215031060559725, + -0.013513455890054166, + -0.05497178001507853, + -0.06411001841768185, + -0.9964276235334197 + ], + [ + 0.5720537485943296, + 0.8171795645986653, + -0.07051289188163856, + 0.8196867009677817, + -0.5726563851697192, + 0.013355777061064413, + -0.029465589689164913, + -0.06543870205533023, + -0.9974214531969842 + ], + [ + 0.6225001146206794, + 0.781428728391014, + -0.04315958459536473, + 0.7825910095180943, + -0.6210577395694532, + 0.04287885192413163, + 0.006702172684386942, + -0.06046839311644314, + -0.9981476114860088 + ], + [ + 0.6371408616513179, + 0.7707136890742984, + -0.00720637826526881, + 0.7685994811259417, + -0.6346399840992275, + 0.08054146879381853, + 0.05750095674986315, + -0.05685507942143912, + -0.9967252078265265 + ], + [ + 0.6279558566997636, + 0.7780487763004597, + 0.017650601514480717, + 0.7741762658620571, + -0.6268262183434883, + 0.08797727759531443, + 0.07951447297409003, + -0.04158116995177875, + -0.9959660912365912 + ], + [ + 0.6233286707065662, + 0.7815020316527392, + 0.02675710742636842, + 0.7773976219402439, + -0.6230199098050955, + 0.08659751375244261, + 0.08434634358903123, + -0.03317780145054519, + -0.9958839931508434 + ], + [ + 0.6202348983867675, + 0.7843958817424865, + -0.005636623863911172, + 0.7799156453776501, + -0.6158918226337602, + 0.1113950129405636, + 0.08390623885218389, + -0.07348716567055645, + -0.9937602223692537 + ], + [ + 0.6285575941952131, + 0.7777571529728626, + -0.0030268430869985555, + 0.7726748289007466, + -0.6239963385723885, + 0.11662837661330766, + 0.08881981514689269, + -0.07564641728330992, + -0.9931710124593204 + ], + [ + 0.6298342688085616, + 0.7758504798713418, + -0.036943561249468404, + 0.7750686761726472, + -0.624667459269647, + 0.09517937037816693, + 0.05076751963967496, + -0.08858102625852063, + -0.994774376799394 + ], + [ + 0.6365372881422383, + 0.7701170235607996, + -0.04171391645937232, + 0.7711565158590331, + -0.6347083234475966, + 0.049628340638162016, + 0.011743459996161497, + -0.06375824784445924, + -0.9978962756615152 + ], + [ + 0.6342861547401606, + 0.7721095527679812, + -0.03908852042951894, + 0.7729276423266261, + -0.6343975011087956, + 0.01107566315479886, + -0.01624603435746637, + -0.037237737731278885, + -0.9991743677938862 + ], + [ + 0.6289375092304728, + 0.7762596575741499, + -0.043110944153801053, + 0.7769664895093501, + -0.6295417002646235, + -0.0005672807448305166, + -0.027580494239327697, + -0.03313897479992434, + -0.9990701300142668 + ], + [ + 0.6298513354014706, + 0.7735917915436945, + -0.06959192014308126, + 0.7752082480800226, + -0.6316800619630606, + -0.005698370560603513, + -0.04836804111896705, + -0.050359104187434306, + -0.997559268025591 + ], + [ + 0.6278945925168246, + 0.7756991187130433, + -0.06355515648583147, + 0.7769737789988158, + -0.6294947381821531, + -0.006936955332233732, + -0.04538862672993971, + -0.04502501336801727, + -0.9979542177548927 + ], + [ + 0.576652163115816, + 0.8095058186856025, + -0.11032956216718531, + 0.811228601758094, + -0.5833498937625102, + -0.04013797624290208, + -0.09685266368798554, + -0.06635684562590773, + -0.9930842514988955 + ], + [ + 0.5102619332251392, + 0.8500598399200607, + -0.13050298102504895, + 0.850459009034999, + -0.5213093554983086, + -0.07039907542820016, + -0.1278758517177924, + -0.07506546759342063, + -0.9889453686237831 + ], + [ + 0.39992131177092205, + 0.9057313702504332, + -0.14040523257947832, + 0.9078189029718747, + -0.41253005281990973, + -0.07539094725060823, + -0.12620532396997544, + -0.09731207769169732, + -0.9872196187966273 + ], + [ + 0.36982587957965063, + 0.925103910701928, + -0.08609049423215823, + 0.9228189236712344, + -0.37650207189421536, + -0.08155626262665468, + -0.1078612669469563, + -0.04928432066451331, + -0.9929436050598419 + ], + [ + 0.3242213064380462, + 0.9454677826602402, + -0.031164345061866987, + 0.9384275484845577, + -0.32561270128944625, + -0.11545607391667617, + -0.11930750478016755, + 0.008187839184937706, + -0.9928235888578654 + ], + [ + 0.25240276004103634, + 0.9676091314558181, + -0.00504137352159123, + 0.9530897603468856, + -0.24950818207949466, + -0.17136386957962224, + -0.1670711089494023, + 0.038447832171696325, + -0.9851949090183698 + ], + [ + 0.19970763082036685, + 0.9798220899340266, + -0.008095323923856035, + 0.9602354420675518, + -0.1973471373908972, + -0.1974892482160775, + -0.19510191692920187, + 0.03166669292702427, + -0.9802716269328703 + ], + [ + 0.15946908921005087, + 0.9867211842571205, + -0.03083689551077548, + 0.9664686194444091, + -0.1624119331603412, + -0.1988988979264062, + -0.20126603592194814, + 0.0019153342649562005, + -0.979534743783455 + ], + [ + 0.14117980582766543, + 0.9894068519142354, + -0.03379857706509834, + 0.9716130590512442, + -0.1450257368590685, + -0.18691067152404145, + -0.18983236264543144, + -0.006451126540916702, + -0.9817953234044288 + ], + [ + 0.14221067879616045, + 0.9897615654713466, + -0.012172360167379992, + 0.9762588779075793, + -0.14227921129532572, + -0.16332553180631126, + -0.1633852078462723, + 0.011343260064426111, + -0.9864971385199965 + ], + [ + 0.1325827696914768, + 0.9908514763518936, + -0.02520240052473907, + 0.9816585688284298, + -0.13478221087940861, + -0.13483400860382844, + -0.13699731174974003, + -0.00686348612085623, + -0.9905476410206695 + ], + [ + 0.13221880521468715, + 0.9902273599631043, + -0.044361730445302054, + 0.9840290314948433, + -0.13650933384237024, + -0.11424564302078719, + -0.1191849517469443, + -0.028547808224333747, + -0.99246157100548 + ], + [ + 0.13180059156980717, + 0.9894735665080527, + -0.05975504366731797, + 0.9853840614940221, + -0.1373417072825559, + -0.10077453445319368, + -0.10792059773460332, + -0.04559952436755158, + -0.9931131999737286 + ], + [ + 0.15022421326594004, + 0.9851432981386901, + -0.08321879523914158, + 0.9813872328278845, + -0.15877661127174214, + -0.10802354815266219, + -0.11963187280594506, + -0.06544211064358238, + -0.9906591468125937 + ], + [ + 0.14514484173249664, + 0.9852062549759433, + -0.09111317179598691, + 0.9747135867069707, + -0.1581946318060039, + -0.15782231260691715, + -0.1699011442200468, + -0.0659021518923272, + -0.983255057230157 + ], + [ + 0.13158517343993187, + 0.9879251675171676, + -0.08178756333917403, + 0.9642849444093509, + -0.14669388234972142, + -0.22053446639158555, + -0.22986928484736352, + -0.04984744995827209, + -0.9719441051914557 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006061.json b/json/chunk-0006/episode_0006061.json new file mode 100644 index 0000000000000000000000000000000000000000..1f782ac3c4aca491af8dc893ab233e4c821715fd --- /dev/null +++ b/json/chunk-0006/episode_0006061.json @@ -0,0 +1,2062 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 33, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove silver pot from right side to left side." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006061.mp4", + "start": 0, + "end": 33, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.22763580083847046, + 0.12039874494075775, + 0.08384144306182861, + 0.1008748859167099, + -0.19754663109779358, + 0.230224147439003, + 0.0, + 1.0001531839370728 + ], + [ + 0.22680409252643585, + 0.11737783253192902, + 0.07670272141695023, + 0.08079031854867935, + -0.173544242978096, + 0.23965871334075928, + 0.0, + 1.0001531839370728 + ], + [ + 0.23478496074676514, + 0.1013704389333725, + 0.06666868925094604, + -0.00321901380084455, + -0.1507350206375122, + 0.2439214289188385, + 0.0, + 1.0001531839370728 + ], + [ + 0.2529528737068176, + 0.08605900406837463, + 0.06758643686771393, + -0.037381719797849655, + -0.16238318383693695, + 0.2357426881790161, + 0.0, + 1.0001531839370728 + ], + [ + 0.2697615623474121, + 0.06327498704195023, + 0.06264721602201462, + -0.0032348025124520063, + -0.18423031270503998, + 0.21128635108470917, + 0.0, + 1.0001531839370728 + ], + [ + 0.2903168797492981, + 0.053881771862506866, + 0.05373937264084816, + 0.029486456885933876, + -0.18508373200893402, + 0.21417710185050964, + 0.0, + 1.0001531839370728 + ], + [ + 0.30581796169281006, + 0.0555671826004982, + 0.041433852165937424, + 0.04160335287451744, + -0.16763165593147278, + 0.24792499840259552, + 0.0, + 1.0001531839370728 + ], + [ + 0.31815728545188904, + 0.06277646869421005, + 0.03170158714056015, + 0.017149120569229126, + -0.15539202094078064, + 0.2909891903400421, + 0.0, + 1.0001531839370728 + ], + [ + 0.3283449709415436, + 0.06660547852516174, + 0.026453595608472824, + 0.005766537040472031, + -0.14942051470279694, + 0.3131644129753113, + 0.0, + 1.0001531839370728 + ], + [ + 0.33195602893829346, + 0.06724388897418976, + 0.01273822970688343, + 0.007783409673720598, + -0.12809306383132935, + 0.3155885338783264, + 0.0, + 1.0001531839370728 + ], + [ + 0.33894580602645874, + 0.06476270407438278, + -0.0012917725834995508, + -0.0011084399884566665, + -0.10944619029760361, + 0.288348913192749, + 0.0, + 1.0001531839370728 + ], + [ + 0.34417223930358887, + 0.06071432679891586, + -0.0020675244741141796, + -0.005831794813275337, + -0.11202029138803482, + 0.27917420864105225, + 0.0, + 0.9492040276527405 + ], + [ + 0.34692373871803284, + 0.0599747896194458, + -0.0012402471620589495, + -0.009792576543986797, + -0.1285019814968109, + 0.26230087876319885, + 0.0, + 0.6591242551803589 + ], + [ + 0.34577906131744385, + 0.05928947404026985, + -0.002164756413549185, + -0.01393054611980915, + -0.1250213086605072, + 0.2734767198562622, + 0.0, + 0.3461596965789795 + ], + [ + 0.3420322835445404, + 0.05755561962723732, + -0.0015987547812983394, + -0.02237500622868538, + -0.11814521998167038, + 0.26643815636634827, + 0.0, + 0.14329741895198822 + ], + [ + 0.33680403232574463, + 0.059211455285549164, + 0.00803943257778883, + -0.05402666702866554, + -0.12803976237773895, + 0.26572737097740173, + 0.0, + 0.07689721137285233 + ], + [ + 0.33354392647743225, + 0.0625028908252716, + 0.024214312434196472, + -0.08596387505531311, + -0.14716258645057678, + 0.2650315463542938, + 0.0, + 0.07397755235433578 + ], + [ + 0.33102214336395264, + 0.07513894140720367, + 0.04438226297497749, + -0.12795965373516083, + -0.1868274211883545, + 0.2892671823501587, + 0.0, + 0.07397755235433578 + ], + [ + 0.3210628926753998, + 0.10368426889181137, + 0.06431519985198975, + -0.12816737592220306, + -0.21776443719863892, + 0.3562309145927429, + 0.0, + 0.07397755235433578 + ], + [ + 0.3056027293205261, + 0.13464988768100739, + 0.06658351421356201, + -0.11761665344238281, + -0.202230304479599, + 0.4244564473628998, + 0.0, + 0.07397755235433578 + ], + [ + 0.2871057391166687, + 0.17930839955806732, + 0.07184360176324844, + -0.08886826038360596, + -0.2151840180158615, + 0.5154486298561096, + 0.0, + 0.07397755235433578 + ], + [ + 0.277167946100235, + 0.2090957760810852, + 0.06879448890686035, + -0.051503099501132965, + -0.21396254003047943, + 0.5629016160964966, + 0.0, + 0.07397755235433578 + ], + [ + 0.2612094581127167, + 0.2388414442539215, + 0.05310787633061409, + -0.029002761468291283, + -0.18085503578186035, + 0.617082953453064, + 0.0, + 0.07397755235433578 + ], + [ + 0.253099262714386, + 0.26032042503356934, + 0.03919755667448044, + -0.006455166731029749, + -0.15676507353782654, + 0.6544926166534424, + 0.0, + 0.07397755235433578 + ], + [ + 0.2516132593154907, + 0.2776809334754944, + 0.027842383831739426, + 0.013291259296238422, + -0.13607777655124664, + 0.68879634141922, + 0.0, + 0.07397755235433578 + ], + [ + 0.2506227195262909, + 0.28164488077163696, + 0.015138383023440838, + 0.019981959834694862, + -0.11180838942527771, + 0.6955522894859314, + 0.0, + 0.07397755235433578 + ], + [ + 0.2517206072807312, + 0.28641122579574585, + 0.010990086942911148, + 0.03715619444847107, + -0.10654588788747787, + 0.7011006474494934, + 0.0, + 0.07397755235433578 + ], + [ + 0.25281932950019836, + 0.2891876995563507, + 0.01149187795817852, + 0.040886275470256805, + -0.09084513783454895, + 0.7079381346702576, + 0.0, + 0.10394904017448425 + ], + [ + 0.2542124390602112, + 0.28849396109580994, + 0.012429640628397465, + 0.03318212926387787, + -0.08745277673006058, + 0.7223145961761475, + 0.0, + 0.2824830114841461 + ], + [ + 0.25265392661094666, + 0.2885340750217438, + 0.012978430837392807, + 0.038419369608163834, + -0.07815941423177719, + 0.7370339632034302, + 0.0, + 0.5729578137397766 + ], + [ + 0.25750434398651123, + 0.28742292523384094, + 0.017191236838698387, + 0.0802866593003273, + -0.07378192245960236, + 0.7257555723190308, + 0.0, + 0.8775349855422974 + ], + [ + 0.2598472833633423, + 0.28293973207473755, + 0.03345777839422226, + 0.10081403702497482, + -0.06981544941663742, + 0.7185145616531372, + 0.0, + 1.013738751411438 + ], + [ + 0.2654910683631897, + 0.28433430194854736, + 0.06749382615089417, + 0.07999417930841446, + -0.1181926354765892, + 0.7301963567733765, + 0.0, + 1.0086473226547241 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9492040276527405 + ], + [ + 0.6591242551803589 + ], + [ + 0.3461596965789795 + ], + [ + 0.14329741895198822 + ], + [ + 0.07689721137285233 + ], + [ + 0.07397755235433578 + ], + [ + 0.07397755235433578 + ], + [ + 0.07397755235433578 + ], + [ + 0.07397755235433578 + ], + [ + 0.07397755235433578 + ], + [ + 0.07397755235433578 + ], + [ + 0.07397755235433578 + ], + [ + 0.07397755235433578 + ], + [ + 0.07397755235433578 + ], + [ + 0.07397755235433578 + ], + [ + 0.07397755235433578 + ], + [ + 0.10394904017448425 + ], + [ + 0.2824830114841461 + ], + [ + 0.5729578137397766 + ], + [ + 0.8775349855422974 + ], + [ + 1.013738751411438 + ], + [ + 1.0086473226547241 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.22763580083847046, + 0.12039874494075775, + 0.08384144306182861 + ], + [ + 0.22680409252643585, + 0.11737783253192902, + 0.07670272141695023 + ], + [ + 0.23478496074676514, + 0.1013704389333725, + 0.06666868925094604 + ], + [ + 0.2529528737068176, + 0.08605900406837463, + 0.06758643686771393 + ], + [ + 0.2697615623474121, + 0.06327498704195023, + 0.06264721602201462 + ], + [ + 0.2903168797492981, + 0.053881771862506866, + 0.05373937264084816 + ], + [ + 0.30581796169281006, + 0.0555671826004982, + 0.041433852165937424 + ], + [ + 0.31815728545188904, + 0.06277646869421005, + 0.03170158714056015 + ], + [ + 0.3283449709415436, + 0.06660547852516174, + 0.026453595608472824 + ], + [ + 0.33195602893829346, + 0.06724388897418976, + 0.01273822970688343 + ], + [ + 0.33894580602645874, + 0.06476270407438278, + -0.0012917725834995508 + ], + [ + 0.34417223930358887, + 0.06071432679891586, + -0.0020675244741141796 + ], + [ + 0.34692373871803284, + 0.0599747896194458, + -0.0012402471620589495 + ], + [ + 0.34577906131744385, + 0.05928947404026985, + -0.002164756413549185 + ], + [ + 0.3420322835445404, + 0.05755561962723732, + -0.0015987547812983394 + ], + [ + 0.33680403232574463, + 0.059211455285549164, + 0.00803943257778883 + ], + [ + 0.33354392647743225, + 0.0625028908252716, + 0.024214312434196472 + ], + [ + 0.33102214336395264, + 0.07513894140720367, + 0.04438226297497749 + ], + [ + 0.3210628926753998, + 0.10368426889181137, + 0.06431519985198975 + ], + [ + 0.3056027293205261, + 0.13464988768100739, + 0.06658351421356201 + ], + [ + 0.2871057391166687, + 0.17930839955806732, + 0.07184360176324844 + ], + [ + 0.277167946100235, + 0.2090957760810852, + 0.06879448890686035 + ], + [ + 0.2612094581127167, + 0.2388414442539215, + 0.05310787633061409 + ], + [ + 0.253099262714386, + 0.26032042503356934, + 0.03919755667448044 + ], + [ + 0.2516132593154907, + 0.2776809334754944, + 0.027842383831739426 + ], + [ + 0.2506227195262909, + 0.28164488077163696, + 0.015138383023440838 + ], + [ + 0.2517206072807312, + 0.28641122579574585, + 0.010990086942911148 + ], + [ + 0.25281932950019836, + 0.2891876995563507, + 0.01149187795817852 + ], + [ + 0.2542124390602112, + 0.28849396109580994, + 0.012429640628397465 + ], + [ + 0.25265392661094666, + 0.2885340750217438, + 0.012978430837392807 + ], + [ + 0.25750434398651123, + 0.28742292523384094, + 0.017191236838698387 + ], + [ + 0.2598472833633423, + 0.28293973207473755, + 0.03345777839422226 + ], + [ + 0.2654910683631897, + 0.28433430194854736, + 0.06749382615089417 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9546794625987034, + 0.24627880933213556, + 0.1671342926098555, + 0.22375759168916096, + -0.9641556473866904, + 0.14260584761439127, + 0.19626427044604397, + -0.09874530716088685, + -0.9755663485688632 + ], + [ + 0.9568273134002939, + 0.2501338280986821, + 0.14803567263289888, + 0.23380554569255596, + -0.964942678220507, + 0.11925013439003401, + 0.17267443103882515, + -0.07949022448914075, + -0.9817661865617924 + ], + [ + 0.9593949993050965, + 0.2410394975469327, + 0.14649640244967146, + 0.23877133490678537, + -0.970510088698898, + 0.0331423801270965, + 0.1501648591888449, + 0.00318250781294473, + -0.9886558484674103 + ], + [ + 0.9595497969642988, + 0.22752702816037787, + 0.16581808888743035, + 0.23049259825074844, + -0.9730730786540008, + 0.0013949015893681242, + 0.16167049606341974, + 0.03688136460777401, + -0.9861553709468283 + ], + [ + 0.9612158162213074, + 0.20913731659358062, + 0.17979359681046003, + 0.20616887693067074, + -0.9778811124318239, + 0.035255129190582254, + 0.18318992557220987, + 0.003180056152825208, + -0.9830723973399482 + ], + [ + 0.9604627024887784, + 0.2177526192855458, + 0.17347966429018838, + 0.20891334234064152, + -0.9755736950324272, + 0.06790567688226523, + 0.18402883611003526, + -0.02897865343767455, + -0.982493575106181 + ], + [ + 0.9558349811725261, + 0.2519078346299489, + 0.15139990627132768, + 0.24195318308033603, + -0.9668819771862074, + 0.08122745465532946, + 0.16684767293615418, + -0.0410083533507568, + -0.9851295188914244 + ], + [ + 0.9464180163203331, + 0.2894002064898511, + 0.14331942948503895, + 0.2834430941313073, + -0.957058253537902, + 0.0608236115686307, + 0.1547674086284201, + -0.016941659263848774, + -0.9878056637860663 + ], + [ + 0.9407629130793894, + 0.30888223904627454, + 0.13984600021502663, + 0.3046380060146958, + -0.9510831965320311, + 0.05134626145888383, + 0.14886512911280209, + -0.0057022518511591, + -0.9888410679467428 + ], + [ + 0.9428257774622466, + 0.3113117555322862, + 0.11901489074950447, + 0.307833174385975, + -0.9502764856559353, + 0.047046121592105306, + 0.12774306282598788, + -0.007719564548040087, + -0.9917772523218228 + ], + [ + 0.9529784635348506, + 0.28425344359581156, + 0.10503346058603402, + 0.2826682349489947, + -0.9587485414975911, + 0.029998385407573356, + 0.10922782149972193, + 0.001101807680203501, + -0.9940161311720552 + ], + [ + 0.9552582732824199, + 0.2749305668225234, + 0.10906335201219519, + 0.2738347796882182, + -0.9614466178464652, + 0.025197509097100362, + 0.11178615638170503, + 0.0057952099392039064, + -0.9937153872126394 + ], + [ + 0.9578328984123339, + 0.2580790199102283, + 0.12629868645874098, + 0.257165452576274, + -0.9660749985009771, + 0.02377030232405558, + 0.12814861965806568, + 0.009711681291763453, + -0.9917074238535373 + ], + [ + 0.9553227844687254, + 0.2683819001289278, + 0.1238124919307699, + 0.26797260315809424, + -0.9632134370835173, + 0.0202622451478425, + 0.12469587576016827, + 0.013821371311954128, + -0.9920987391703819 + ], + [ + 0.9579897782960519, + 0.2606869621254366, + 0.1195737950309033, + 0.2614614992216028, + -0.9651677081698562, + 0.009443491459155778, + 0.1178705608074939, + 0.02221717542709931, + -0.9927804027129908 + ], + [ + 0.9570031533852456, + 0.2555747004528316, + 0.1372098279976402, + 0.26046147081205706, + -0.9653046545154164, + -0.018621122235063455, + 0.12769019787405983, + 0.05355834630866256, + -0.9903669607310036 + ], + [ + 0.9546527534724323, + 0.24882250841032302, + 0.16347929408918555, + 0.25910843690516977, + -0.9648182486515924, + -0.04459332902390224, + 0.14663198222783236, + 0.08493000869697982, + -0.9855384088967146 + ], + [ + 0.9417746095822371, + 0.26019985989626626, + 0.21297093148171165, + 0.28028614279691977, + -0.9573783736756097, + -0.0697590694767993, + 0.18574246391778376, + 0.12539012133420888, + -0.9745650591774481 + ], + [ + 0.9150835328897753, + 0.32000300836354445, + 0.2453980490392054, + 0.34050792793720164, + -0.9391610663405956, + -0.04506486970921188, + 0.21604739953510302, + 0.12479810138089469, + -0.9683743878510227 + ], + [ + 0.8926921368494634, + 0.38750233609281415, + 0.23009278200271943, + 0.4034329505977038, + -0.9146734132174359, + -0.02478712418165474, + 0.20085468174570886, + 0.1149542808066657, + -0.972852974577892 + ], + [ + 0.8500053085633786, + 0.4744914890674014, + 0.22879860623849105, + 0.4815569620879196, + -0.875979543983734, + 0.027617581116090167, + 0.21352720594512062, + 0.0867044711918015, + -0.9730819425909725 + ], + [ + 0.8264256930391832, + 0.5236902935731647, + 0.20680679462231838, + 0.5214738314059841, + -0.8504220944452994, + 0.06962258568907685, + 0.21233373976706643, + 0.05030643792321561, + -0.9759014526375134 + ], + [ + 0.8022681622957086, + 0.5741611892141267, + 0.16341580268409184, + 0.5692207976320673, + -0.8182452024177458, + 0.08038950344077997, + 0.17987072944139448, + 0.028525734356224193, + -0.9832765649448066 + ], + [ + 0.7836283639364384, + 0.6079445589925199, + 0.12778889007144245, + 0.6012919053100232, + -0.793953877910669, + 0.08991820927516678, + 0.1561237709093103, + 0.00637596596611751, + -0.9877169205876024 + ], + [ + 0.7648749204777128, + 0.6369442115149482, + 0.09627267235209393, + 0.6297326480529541, + -0.7707974280641745, + 0.09647858242049448, + 0.13565820284976074, + -0.013168003161259649, + -0.9906681864743202 + ], + [ + 0.7629063506121061, + 0.6423930753712082, + 0.0728356843232754, + 0.6368082836551552, + -0.7661180595298706, + 0.08682354939969661, + 0.11157558005179306, + -0.019855870096958744, + -0.9935575646930574 + ], + [ + 0.7597995420316457, + 0.6476325547784506, + 0.05724272809395952, + 0.6414012167928417, + -0.761056983699604, + 0.09693681786980199, + 0.10634441699103861, + -0.036936994371473165, + -0.9936430563444995 + ], + [ + 0.7565715533641948, + 0.6525424186160353, + 0.042283289214821836, + 0.6475873097290981, + -0.756658037876342, + 0.08999605544107785, + 0.09072023433566873, + -0.04070633395258259, + -0.9950441364372851 + ], + [ + 0.7474102787495907, + 0.6629331323617286, + 0.043560730440683496, + 0.658596511098804, + -0.7479488008409729, + 0.08260282615645481, + 0.08734134638269601, + -0.03304925623395025, + -0.9956300697922098 + ], + [ + 0.7382047094746331, + 0.6738193487868387, + 0.0319576612090565, + 0.6700427913778131, + -0.7379032169487015, + 0.08087954091972616, + 0.07807986060502789, + -0.03829265748466549, + -0.9962114272335272 + ], + [ + 0.7459631192632884, + 0.6659850035512636, + 0.0017319768497725818, + 0.6618951001995164, + -0.7416648953616846, + 0.1087568817133583, + 0.07371499868315073, + -0.0799822357337218, + -0.9940668694490217 + ], + [ + 0.7509505100227718, + 0.6602099908022889, + -0.014003554598033336, + 0.6566635734071133, + -0.744340630618639, + 0.12144948320370519, + 0.06975874752845829, + -0.10039817555657068, + -0.9924988279530472 + ], + [ + 0.7398455569782663, + 0.6719032368719049, + 0.03427232266094297, + 0.6623624239549135, + -0.736375852372477, + 0.13793702684659925, + 0.11791764563495333, + -0.0793513977429812, + -0.9898478592814882 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0008317083120346069, + -0.0030209124088287354, + -0.0071387216448783875, + -0.020084567368030548, + 0.02400238811969757, + 0.009434565901756287, + 1.0 + ], + [ + 0.007980868220329285, + -0.01600739359855652, + -0.010034032166004181, + -0.0840093344449997, + 0.0228092223405838, + 0.004262715578079224, + 1.0 + ], + [ + 0.01816791296005249, + -0.015311434864997864, + 0.0009177476167678833, + -0.03416270762681961, + -0.011648163199424744, + -0.008178740739822388, + 1.0 + ], + [ + 0.016808688640594482, + -0.022784017026424408, + -0.00493922084569931, + 0.03414691612124443, + -0.021847128868103027, + -0.024456337094306946, + 1.0 + ], + [ + 0.020555317401885986, + -0.00939321517944336, + -0.008907843381166458, + 0.03272125869989395, + -0.000853419303894043, + 0.002890750765800476, + 1.0 + ], + [ + 0.015501081943511963, + 0.001685410737991333, + -0.012305520474910736, + 0.012116895988583565, + 0.017452076077461243, + 0.033747896552085876, + 1.0 + ], + [ + 0.01233932375907898, + 0.007209286093711853, + -0.009732265025377274, + -0.024454232305288315, + 0.012239634990692139, + 0.043064191937446594, + 1.0 + ], + [ + 0.010187685489654541, + 0.0038290098309516907, + -0.005247991532087326, + -0.011382583528757095, + 0.005971506237983704, + 0.022175222635269165, + 1.0 + ], + [ + 0.003611057996749878, + 0.0006384104490280151, + -0.013715365901589394, + 0.0020168726332485676, + 0.02132745087146759, + 0.0024241209030151367, + 1.0 + ], + [ + 0.006989777088165283, + -0.0024811848998069763, + -0.014030002057552338, + -0.008891849778592587, + 0.01864687353372574, + -0.027239620685577393, + 1.0 + ], + [ + 0.005226433277130127, + -0.004048377275466919, + -0.0007757518906146288, + -0.004723354708403349, + -0.0025741010904312134, + -0.009174704551696777, + 0.0 + ], + [ + 0.0027514994144439697, + -0.0007395371794700623, + 0.0008272773120552301, + -0.00396078173071146, + -0.016481690108776093, + -0.016873329877853394, + 0.0 + ], + [ + -0.0011446774005889893, + -0.0006853155791759491, + -0.0009245092514902353, + -0.004137969575822353, + 0.003480672836303711, + 0.011175841093063354, + 0.0 + ], + [ + -0.0037467777729034424, + -0.0017338544130325317, + 0.0005660016322508454, + -0.008444460108876228, + 0.0068760886788368225, + -0.00703856348991394, + 0.0 + ], + [ + -0.005228251218795776, + 0.0016558356583118439, + 0.009638187475502491, + -0.031651660799980164, + -0.009894542396068573, + -0.0007107853889465332, + 0.0 + ], + [ + -0.003260105848312378, + 0.0032914355397224426, + 0.016174878925085068, + -0.03193720802664757, + -0.01912282407283783, + -0.0006958246231079102, + 0.0 + ], + [ + -0.0025217831134796143, + 0.012636050581932068, + 0.02016795054078102, + -0.04199577867984772, + -0.03966483473777771, + 0.024235635995864868, + 0.0 + ], + [ + -0.009959250688552856, + 0.028545327484607697, + 0.019932936877012253, + -0.00020772218704223633, + -0.030937016010284424, + 0.06696373224258423, + 0.0 + ], + [ + -0.015460163354873657, + 0.030965618789196014, + 0.0022683143615722656, + 0.010550722479820251, + 0.015534132719039917, + 0.06822553277015686, + 0.0 + ], + [ + -0.018496990203857422, + 0.044658511877059937, + 0.005260087549686432, + 0.028748393058776855, + -0.012953713536262512, + 0.09099218249320984, + 0.0 + ], + [ + -0.009937793016433716, + 0.029787376523017883, + -0.003049112856388092, + 0.03736516088247299, + 0.00122147798538208, + 0.04745298624038696, + 0.0 + ], + [ + -0.01595848798751831, + 0.029745668172836304, + -0.01568661257624626, + 0.022500338032841682, + 0.03310750424861908, + 0.05418133735656738, + 0.0 + ], + [ + -0.008110195398330688, + 0.021478980779647827, + -0.013910319656133652, + 0.02254759520292282, + 0.024089962244033813, + 0.03740966320037842, + 0.0 + ], + [ + -0.0014860033988952637, + 0.01736050844192505, + -0.011355172842741013, + 0.01974642649292946, + 0.020687296986579895, + 0.03430372476577759, + 0.0 + ], + [ + -0.000990539789199829, + 0.003963947296142578, + -0.012704000808298588, + 0.00669070053845644, + 0.024269387125968933, + 0.006755948066711426, + 0.0 + ], + [ + 0.0010978877544403076, + 0.004766345024108887, + -0.00414829608052969, + 0.017174234613776207, + 0.005262501537799835, + 0.005548357963562012, + 0.0 + ], + [ + 0.001098722219467163, + 0.0027764737606048584, + 0.0005017910152673721, + 0.003730081021785736, + 0.015700750052928925, + 0.00683748722076416, + 1.0 + ], + [ + 0.0013931095600128174, + -0.0006937384605407715, + 0.0009377626702189445, + -0.007704146206378937, + 0.003392361104488373, + 0.014376461505889893, + 1.0 + ], + [ + -0.0015585124492645264, + 4.011392593383789e-05, + 0.0005487902089953423, + 0.005237240344285965, + 0.009293362498283386, + 0.014719367027282715, + 1.0 + ], + [ + 0.004850417375564575, + -0.001111149787902832, + 0.00421280600130558, + 0.04186728969216347, + 0.004377491772174835, + -0.011278390884399414, + 1.0 + ], + [ + 0.0023429393768310547, + -0.0044831931591033936, + 0.016266541555523872, + 0.020527377724647522, + 0.003966473042964935, + -0.007241010665893555, + 1.0 + ], + [ + 0.005643784999847412, + 0.0013945698738098145, + 0.034036047756671906, + -0.020819857716560364, + -0.04837718605995178, + 0.011681795120239258, + 1.0 + ], + [ + -0.0007849931716918945, + -0.0014625489711761475, + 0.02440832555294037, + 0.0022369325160980225, + -0.044945813715457916, + 0.005652010440826416, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9492040276527405 + ], + [ + 0.6591242551803589 + ], + [ + 0.3461596965789795 + ], + [ + 0.14329741895198822 + ], + [ + 0.07689721137285233 + ], + [ + 0.07397755235433578 + ], + [ + 0.07397755235433578 + ], + [ + 0.07397755235433578 + ], + [ + 0.07397755235433578 + ], + [ + 0.07397755235433578 + ], + [ + 0.07397755235433578 + ], + [ + 0.07397755235433578 + ], + [ + 0.07397755235433578 + ], + [ + 0.07397755235433578 + ], + [ + 0.07397755235433578 + ], + [ + 0.07397755235433578 + ], + [ + 0.10394904017448425 + ], + [ + 0.2824830114841461 + ], + [ + 0.5729578137397766 + ], + [ + 0.8775349855422974 + ], + [ + 1.013738751411438 + ], + [ + 1.0086473226547241 + ], + [ + 1.0027955770492554 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.22680409252643585, + 0.11737783253192902, + 0.07670272141695023 + ], + [ + 0.23478496074676514, + 0.1013704389333725, + 0.06666868925094604 + ], + [ + 0.2529528737068176, + 0.08605900406837463, + 0.06758643686771393 + ], + [ + 0.2697615623474121, + 0.06327498704195023, + 0.06264721602201462 + ], + [ + 0.2903168797492981, + 0.053881771862506866, + 0.05373937264084816 + ], + [ + 0.30581796169281006, + 0.0555671826004982, + 0.041433852165937424 + ], + [ + 0.31815728545188904, + 0.06277646869421005, + 0.03170158714056015 + ], + [ + 0.3283449709415436, + 0.06660547852516174, + 0.026453595608472824 + ], + [ + 0.33195602893829346, + 0.06724388897418976, + 0.01273822970688343 + ], + [ + 0.33894580602645874, + 0.06476270407438278, + -0.0012917725834995508 + ], + [ + 0.34417223930358887, + 0.06071432679891586, + -0.0020675244741141796 + ], + [ + 0.34692373871803284, + 0.0599747896194458, + -0.0012402471620589495 + ], + [ + 0.34577906131744385, + 0.05928947404026985, + -0.002164756413549185 + ], + [ + 0.3420322835445404, + 0.05755561962723732, + -0.0015987547812983394 + ], + [ + 0.33680403232574463, + 0.059211455285549164, + 0.00803943257778883 + ], + [ + 0.33354392647743225, + 0.0625028908252716, + 0.024214312434196472 + ], + [ + 0.33102214336395264, + 0.07513894140720367, + 0.04438226297497749 + ], + [ + 0.3210628926753998, + 0.10368426889181137, + 0.06431519985198975 + ], + [ + 0.3056027293205261, + 0.13464988768100739, + 0.06658351421356201 + ], + [ + 0.2871057391166687, + 0.17930839955806732, + 0.07184360176324844 + ], + [ + 0.277167946100235, + 0.2090957760810852, + 0.06879448890686035 + ], + [ + 0.2612094581127167, + 0.2388414442539215, + 0.05310787633061409 + ], + [ + 0.253099262714386, + 0.26032042503356934, + 0.03919755667448044 + ], + [ + 0.2516132593154907, + 0.2776809334754944, + 0.027842383831739426 + ], + [ + 0.2506227195262909, + 0.28164488077163696, + 0.015138383023440838 + ], + [ + 0.2517206072807312, + 0.28641122579574585, + 0.010990086942911148 + ], + [ + 0.25281932950019836, + 0.2891876995563507, + 0.01149187795817852 + ], + [ + 0.2542124390602112, + 0.28849396109580994, + 0.012429640628397465 + ], + [ + 0.25265392661094666, + 0.2885340750217438, + 0.012978430837392807 + ], + [ + 0.25750434398651123, + 0.28742292523384094, + 0.017191236838698387 + ], + [ + 0.2598472833633423, + 0.28293973207473755, + 0.03345777839422226 + ], + [ + 0.2654910683631897, + 0.28433430194854736, + 0.06749382615089417 + ], + [ + 0.2647060751914978, + 0.2828717529773712, + 0.09190215170383453 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9568273134002939, + 0.2501338280986821, + 0.14803567263289888, + 0.23380554569255596, + -0.964942678220507, + 0.11925013439003401, + 0.17267443103882515, + -0.07949022448914075, + -0.9817661865617924 + ], + [ + 0.9593949993050965, + 0.2410394975469327, + 0.14649640244967146, + 0.23877133490678537, + -0.970510088698898, + 0.0331423801270965, + 0.1501648591888449, + 0.00318250781294473, + -0.9886558484674103 + ], + [ + 0.9595497969642988, + 0.22752702816037787, + 0.16581808888743035, + 0.23049259825074844, + -0.9730730786540008, + 0.0013949015893681242, + 0.16167049606341974, + 0.03688136460777401, + -0.9861553709468283 + ], + [ + 0.9612158162213074, + 0.20913731659358062, + 0.17979359681046003, + 0.20616887693067074, + -0.9778811124318239, + 0.035255129190582254, + 0.18318992557220987, + 0.003180056152825208, + -0.9830723973399482 + ], + [ + 0.9604627024887784, + 0.2177526192855458, + 0.17347966429018838, + 0.20891334234064152, + -0.9755736950324272, + 0.06790567688226523, + 0.18402883611003526, + -0.02897865343767455, + -0.982493575106181 + ], + [ + 0.9558349811725261, + 0.2519078346299489, + 0.15139990627132768, + 0.24195318308033603, + -0.9668819771862074, + 0.08122745465532946, + 0.16684767293615418, + -0.0410083533507568, + -0.9851295188914244 + ], + [ + 0.9464180163203331, + 0.2894002064898511, + 0.14331942948503895, + 0.2834430941313073, + -0.957058253537902, + 0.0608236115686307, + 0.1547674086284201, + -0.016941659263848774, + -0.9878056637860663 + ], + [ + 0.9407629130793894, + 0.30888223904627454, + 0.13984600021502663, + 0.3046380060146958, + -0.9510831965320311, + 0.05134626145888383, + 0.14886512911280209, + -0.0057022518511591, + -0.9888410679467428 + ], + [ + 0.9428257774622466, + 0.3113117555322862, + 0.11901489074950447, + 0.307833174385975, + -0.9502764856559353, + 0.047046121592105306, + 0.12774306282598788, + -0.007719564548040087, + -0.9917772523218228 + ], + [ + 0.9529784635348506, + 0.28425344359581156, + 0.10503346058603402, + 0.2826682349489947, + -0.9587485414975911, + 0.029998385407573356, + 0.10922782149972193, + 0.001101807680203501, + -0.9940161311720552 + ], + [ + 0.9552582732824199, + 0.2749305668225234, + 0.10906335201219519, + 0.2738347796882182, + -0.9614466178464652, + 0.025197509097100362, + 0.11178615638170503, + 0.0057952099392039064, + -0.9937153872126394 + ], + [ + 0.9578328984123339, + 0.2580790199102283, + 0.12629868645874098, + 0.257165452576274, + -0.9660749985009771, + 0.02377030232405558, + 0.12814861965806568, + 0.009711681291763453, + -0.9917074238535373 + ], + [ + 0.9553227844687254, + 0.2683819001289278, + 0.1238124919307699, + 0.26797260315809424, + -0.9632134370835173, + 0.0202622451478425, + 0.12469587576016827, + 0.013821371311954128, + -0.9920987391703819 + ], + [ + 0.9579897782960519, + 0.2606869621254366, + 0.1195737950309033, + 0.2614614992216028, + -0.9651677081698562, + 0.009443491459155778, + 0.1178705608074939, + 0.02221717542709931, + -0.9927804027129908 + ], + [ + 0.9570031533852456, + 0.2555747004528316, + 0.1372098279976402, + 0.26046147081205706, + -0.9653046545154164, + -0.018621122235063455, + 0.12769019787405983, + 0.05355834630866256, + -0.9903669607310036 + ], + [ + 0.9546527534724323, + 0.24882250841032302, + 0.16347929408918555, + 0.25910843690516977, + -0.9648182486515924, + -0.04459332902390224, + 0.14663198222783236, + 0.08493000869697982, + -0.9855384088967146 + ], + [ + 0.9417746095822371, + 0.26019985989626626, + 0.21297093148171165, + 0.28028614279691977, + -0.9573783736756097, + -0.0697590694767993, + 0.18574246391778376, + 0.12539012133420888, + -0.9745650591774481 + ], + [ + 0.9150835328897753, + 0.32000300836354445, + 0.2453980490392054, + 0.34050792793720164, + -0.9391610663405956, + -0.04506486970921188, + 0.21604739953510302, + 0.12479810138089469, + -0.9683743878510227 + ], + [ + 0.8926921368494634, + 0.38750233609281415, + 0.23009278200271943, + 0.4034329505977038, + -0.9146734132174359, + -0.02478712418165474, + 0.20085468174570886, + 0.1149542808066657, + -0.972852974577892 + ], + [ + 0.8500053085633786, + 0.4744914890674014, + 0.22879860623849105, + 0.4815569620879196, + -0.875979543983734, + 0.027617581116090167, + 0.21352720594512062, + 0.0867044711918015, + -0.9730819425909725 + ], + [ + 0.8264256930391832, + 0.5236902935731647, + 0.20680679462231838, + 0.5214738314059841, + -0.8504220944452994, + 0.06962258568907685, + 0.21233373976706643, + 0.05030643792321561, + -0.9759014526375134 + ], + [ + 0.8022681622957086, + 0.5741611892141267, + 0.16341580268409184, + 0.5692207976320673, + -0.8182452024177458, + 0.08038950344077997, + 0.17987072944139448, + 0.028525734356224193, + -0.9832765649448066 + ], + [ + 0.7836283639364384, + 0.6079445589925199, + 0.12778889007144245, + 0.6012919053100232, + -0.793953877910669, + 0.08991820927516678, + 0.1561237709093103, + 0.00637596596611751, + -0.9877169205876024 + ], + [ + 0.7648749204777128, + 0.6369442115149482, + 0.09627267235209393, + 0.6297326480529541, + -0.7707974280641745, + 0.09647858242049448, + 0.13565820284976074, + -0.013168003161259649, + -0.9906681864743202 + ], + [ + 0.7629063506121061, + 0.6423930753712082, + 0.0728356843232754, + 0.6368082836551552, + -0.7661180595298706, + 0.08682354939969661, + 0.11157558005179306, + -0.019855870096958744, + -0.9935575646930574 + ], + [ + 0.7597995420316457, + 0.6476325547784506, + 0.05724272809395952, + 0.6414012167928417, + -0.761056983699604, + 0.09693681786980199, + 0.10634441699103861, + -0.036936994371473165, + -0.9936430563444995 + ], + [ + 0.7565715533641948, + 0.6525424186160353, + 0.042283289214821836, + 0.6475873097290981, + -0.756658037876342, + 0.08999605544107785, + 0.09072023433566873, + -0.04070633395258259, + -0.9950441364372851 + ], + [ + 0.7474102787495907, + 0.6629331323617286, + 0.043560730440683496, + 0.658596511098804, + -0.7479488008409729, + 0.08260282615645481, + 0.08734134638269601, + -0.03304925623395025, + -0.9956300697922098 + ], + [ + 0.7382047094746331, + 0.6738193487868387, + 0.0319576612090565, + 0.6700427913778131, + -0.7379032169487015, + 0.08087954091972616, + 0.07807986060502789, + -0.03829265748466549, + -0.9962114272335272 + ], + [ + 0.7459631192632884, + 0.6659850035512636, + 0.0017319768497725818, + 0.6618951001995164, + -0.7416648953616846, + 0.1087568817133583, + 0.07371499868315073, + -0.0799822357337218, + -0.9940668694490217 + ], + [ + 0.7509505100227718, + 0.6602099908022889, + -0.014003554598033336, + 0.6566635734071133, + -0.744340630618639, + 0.12144948320370519, + 0.06975874752845829, + -0.10039817555657068, + -0.9924988279530472 + ], + [ + 0.7398455569782663, + 0.6719032368719049, + 0.03427232266094297, + 0.6623624239549135, + -0.736375852372477, + 0.13793702684659925, + 0.11791764563495333, + -0.0793513977429812, + -0.9898478592814882 + ], + [ + 0.7314194150392948, + 0.6788370323539838, + 0.06485308634454055, + 0.6623041248936878, + -0.7298023886884267, + 0.16953383029198993, + 0.16241577956708086, + -0.08104786838346262, + -0.9833882028874023 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006062.json b/json/chunk-0006/episode_0006062.json new file mode 100644 index 0000000000000000000000000000000000000000..eb311bdb02777df2e8c80187ad3787e84d99e4d8 --- /dev/null +++ b/json/chunk-0006/episode_0006062.json @@ -0,0 +1,2602 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 42, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMoved the orange pot to the upper part of the bench." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006062.mp4", + "start": 0, + "end": 42, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3234670162200928, + -0.019073987379670143, + 0.08846767246723175, + 0.11456090956926346, + -0.31456512212753296, + 0.39328616857528687, + 0.0, + 1.0001531839370728 + ], + [ + 0.31990793347358704, + -0.01834332011640072, + 0.0798993855714798, + 0.130965918302536, + -0.28970903158187866, + 0.39321577548980713, + 0.0, + 1.0001531839370728 + ], + [ + 0.29851651191711426, + -0.0030222178902477026, + 0.07305364310741425, + 0.17287300527095795, + -0.26215022802352905, + 0.43585044145584106, + 0.0, + 1.0001531839370728 + ], + [ + 0.28254199028015137, + 0.012426218017935753, + 0.0896359458565712, + 0.16131354868412018, + -0.2937139570713043, + 0.47382643818855286, + 0.0, + 1.0001531839370728 + ], + [ + 0.257099986076355, + 0.027286574244499207, + 0.09774092584848404, + 0.14343902468681335, + -0.3085083067417145, + 0.5065410137176514, + 0.0, + 1.0001531839370728 + ], + [ + 0.2261424958705902, + 0.04129767045378685, + 0.09515544027090073, + 0.12577714025974274, + -0.2965094745159149, + 0.5297279357910156, + 0.0, + 1.0001531839370728 + ], + [ + 0.19536751508712769, + 0.07036250829696655, + 0.0775366798043251, + 0.13200142979621887, + -0.24954353272914886, + 0.5899422764778137, + 0.0, + 1.0001531839370728 + ], + [ + 0.18081989884376526, + 0.09156230837106705, + 0.06183020770549774, + 0.16150690615177155, + -0.22151127457618713, + 0.6300367116928101, + 0.0, + 1.0001531839370728 + ], + [ + 0.17588046193122864, + 0.10253386944532394, + 0.04637942463159561, + 0.12489258497953415, + -0.2119617462158203, + 0.6561107635498047, + 0.0, + 1.0001531839370728 + ], + [ + 0.18252451717853546, + 0.1048102155327797, + 0.030846651643514633, + 0.0917746052145958, + -0.20553000271320343, + 0.6499845385551453, + 0.0, + 1.0001531839370728 + ], + [ + 0.18084026873111725, + 0.11133233457803726, + 0.01574719324707985, + 0.08248001337051392, + -0.19091671705245972, + 0.6855370998382568, + 0.0, + 1.0001531839370728 + ], + [ + 0.1798635572195053, + 0.11231007426977158, + -0.000268264178885147, + 0.0843856930732727, + -0.15001925826072693, + 0.6758757829666138, + 0.0, + 0.9484345316886902 + ], + [ + 0.17908388376235962, + 0.1171715259552002, + -0.0031347295735031366, + 0.11089643836021423, + -0.1527383029460907, + 0.7017760872840881, + 0.0, + 0.6611326336860657 + ], + [ + 0.17904064059257507, + 0.11791704595088959, + -0.005519960541278124, + 0.1247221827507019, + -0.14900876581668854, + 0.696144163608551, + 0.0, + 0.3552374839782715 + ], + [ + 0.17886212468147278, + 0.118909552693367, + -0.005330531392246485, + 0.12917351722717285, + -0.15327660739421844, + 0.7034921050071716, + 0.0, + 0.1511339694261551 + ], + [ + 0.17903906106948853, + 0.12000701576471329, + -0.003570335218682885, + 0.13429415225982666, + -0.1599157154560089, + 0.6973358988761902, + 0.0, + 0.08783477544784546 + ], + [ + 0.17846103012561798, + 0.12083425372838974, + -0.0013255049707368016, + 0.13691124320030212, + -0.1640445441007614, + 0.7052316665649414, + 0.0, + 0.08606764674186707 + ], + [ + 0.17788228392601013, + 0.12101095169782639, + 0.0030956885311752558, + 0.13723894953727722, + -0.17118529975414276, + 0.7105575203895569, + 0.0, + 0.08157449960708618 + ], + [ + 0.17995573580265045, + 0.12145237624645233, + 0.01927286386489868, + 0.18080392479896545, + -0.2259340137243271, + 0.7272984385490417, + 0.0, + 0.08089608699083328 + ], + [ + 0.19397686421871185, + 0.11522474884986877, + 0.03828592598438263, + 0.203627347946167, + -0.25955116748809814, + 0.7031212449073792, + 0.0, + 0.07238461822271347 + ], + [ + 0.21272911131381989, + 0.10545147955417633, + 0.05494413897395134, + 0.13954754173755646, + -0.280735582113266, + 0.7154785394668579, + 0.0, + 0.07112513482570648 + ], + [ + 0.242905393242836, + 0.08651141077280045, + 0.06580427289009094, + 0.0388275608420372, + -0.2784583866596222, + 0.7066944241523743, + 0.0, + 0.07112513482570648 + ], + [ + 0.27280429005622864, + 0.06559344381093979, + 0.06501291692256927, + -0.02755489945411682, + -0.2514338791370392, + 0.7004746794700623, + 0.0, + 0.07112513482570648 + ], + [ + 0.3034166991710663, + 0.041613612323999405, + 0.05051049217581749, + -0.09023337811231613, + -0.1939523071050644, + 0.6856268048286438, + 0.0, + 0.07081232219934464 + ], + [ + 0.3347879648208618, + 0.018195977434515953, + 0.03712812811136246, + -0.14557267725467682, + -0.1878480315208435, + 0.6510241627693176, + 0.0, + 0.07081232219934464 + ], + [ + 0.35311365127563477, + 0.0005124546005390584, + 0.024266442283988, + -0.1554240882396698, + -0.1887567788362503, + 0.6080912947654724, + 0.0, + 0.07081232219934464 + ], + [ + 0.36396902799606323, + -0.014922509901225567, + 0.005807118955999613, + -0.14693836867809296, + -0.17444486916065216, + 0.5562086701393127, + 0.0, + 0.07081232219934464 + ], + [ + 0.3780284523963928, + -0.029878754168748856, + -0.004491421859711409, + -0.15864087641239166, + -0.16494005918502808, + 0.5099888443946838, + 0.0, + 0.07081232219934464 + ], + [ + 0.3823118507862091, + -0.030137179419398308, + -0.004419323522597551, + -0.15184611082077026, + -0.16709265112876892, + 0.47858622670173645, + 0.0, + 0.08998419344425201 + ], + [ + 0.37885499000549316, + -0.032475680112838745, + -0.007889674976468086, + -0.13691946864128113, + -0.1679542362689972, + 0.4667884111404419, + 0.0, + 0.25545796751976013 + ], + [ + 0.37521374225616455, + -0.0326361246407032, + -0.009486419148743153, + -0.12588238716125488, + -0.16321098804473877, + 0.46776944398880005, + 0.0, + 0.5275958180427551 + ], + [ + 0.3700929284095764, + -0.03137893229722977, + -0.007642723619937897, + -0.12148305028676987, + -0.16045650839805603, + 0.46655699610710144, + 0.0, + 0.831673800945282 + ], + [ + 0.3704904019832611, + -0.03058069385588169, + 0.0019177079666405916, + -0.13244183361530304, + -0.17556694149971008, + 0.46884021162986755, + 0.0, + 1.00800359249115 + ], + [ + 0.3692564368247986, + -0.03065643645823002, + 0.015590725466609001, + -0.15114089846611023, + -0.19881512224674225, + 0.4697900712490082, + 0.0, + 1.0060625076293945 + ], + [ + 0.3679552972316742, + -0.024825485423207283, + 0.04349334165453911, + -0.17563284933567047, + -0.2611721456050873, + 0.4854210317134857, + 0.0, + 1.0001531839370728 + ], + [ + 0.3602975010871887, + -0.017291368916630745, + 0.06301870197057724, + -0.17278756201267242, + -0.31622081995010376, + 0.4612653851509094, + 0.0, + 1.0001531839370728 + ], + [ + 0.3609544634819031, + -0.015657803043723106, + 0.06587407737970352, + -0.17751649022102356, + -0.3242560625076294, + 0.46735793352127075, + 0.0, + 1.0001531839370728 + ], + [ + 0.3608854413032532, + -0.015654833987355232, + 0.06531991064548492, + -0.17672638595104218, + -0.3229174315929413, + 0.46710672974586487, + 0.0, + 1.0001531839370728 + ], + [ + 0.3608854413032532, + -0.015654833987355232, + 0.06531991064548492, + -0.17672638595104218, + -0.3229174315929413, + 0.46710672974586487, + 0.0, + 1.0001531839370728 + ], + [ + 0.3608854413032532, + -0.015654833987355232, + 0.06531991064548492, + -0.17672638595104218, + -0.3229174315929413, + 0.46710672974586487, + 0.0, + 1.0001531839370728 + ], + [ + 0.3608854413032532, + -0.015654833987355232, + 0.06531991064548492, + -0.17672638595104218, + -0.3229174315929413, + 0.46710672974586487, + 0.0, + 1.0001531839370728 + ], + [ + 0.3608854413032532, + -0.015654833987355232, + 0.06531991064548492, + -0.17672638595104218, + -0.3229174315929413, + 0.46710672974586487, + 0.0, + 1.0001531839370728 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9484345316886902 + ], + [ + 0.6611326336860657 + ], + [ + 0.3552374839782715 + ], + [ + 0.1511339694261551 + ], + [ + 0.08783477544784546 + ], + [ + 0.08606764674186707 + ], + [ + 0.08157449960708618 + ], + [ + 0.08089608699083328 + ], + [ + 0.07238461822271347 + ], + [ + 0.07112513482570648 + ], + [ + 0.07112513482570648 + ], + [ + 0.07112513482570648 + ], + [ + 0.07081232219934464 + ], + [ + 0.07081232219934464 + ], + [ + 0.07081232219934464 + ], + [ + 0.07081232219934464 + ], + [ + 0.07081232219934464 + ], + [ + 0.08998419344425201 + ], + [ + 0.25545796751976013 + ], + [ + 0.5275958180427551 + ], + [ + 0.831673800945282 + ], + [ + 1.00800359249115 + ], + [ + 1.0060625076293945 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3234670162200928, + -0.019073987379670143, + 0.08846767246723175 + ], + [ + 0.31990793347358704, + -0.01834332011640072, + 0.0798993855714798 + ], + [ + 0.29851651191711426, + -0.0030222178902477026, + 0.07305364310741425 + ], + [ + 0.28254199028015137, + 0.012426218017935753, + 0.0896359458565712 + ], + [ + 0.257099986076355, + 0.027286574244499207, + 0.09774092584848404 + ], + [ + 0.2261424958705902, + 0.04129767045378685, + 0.09515544027090073 + ], + [ + 0.19536751508712769, + 0.07036250829696655, + 0.0775366798043251 + ], + [ + 0.18081989884376526, + 0.09156230837106705, + 0.06183020770549774 + ], + [ + 0.17588046193122864, + 0.10253386944532394, + 0.04637942463159561 + ], + [ + 0.18252451717853546, + 0.1048102155327797, + 0.030846651643514633 + ], + [ + 0.18084026873111725, + 0.11133233457803726, + 0.01574719324707985 + ], + [ + 0.1798635572195053, + 0.11231007426977158, + -0.000268264178885147 + ], + [ + 0.17908388376235962, + 0.1171715259552002, + -0.0031347295735031366 + ], + [ + 0.17904064059257507, + 0.11791704595088959, + -0.005519960541278124 + ], + [ + 0.17886212468147278, + 0.118909552693367, + -0.005330531392246485 + ], + [ + 0.17903906106948853, + 0.12000701576471329, + -0.003570335218682885 + ], + [ + 0.17846103012561798, + 0.12083425372838974, + -0.0013255049707368016 + ], + [ + 0.17788228392601013, + 0.12101095169782639, + 0.0030956885311752558 + ], + [ + 0.17995573580265045, + 0.12145237624645233, + 0.01927286386489868 + ], + [ + 0.19397686421871185, + 0.11522474884986877, + 0.03828592598438263 + ], + [ + 0.21272911131381989, + 0.10545147955417633, + 0.05494413897395134 + ], + [ + 0.242905393242836, + 0.08651141077280045, + 0.06580427289009094 + ], + [ + 0.27280429005622864, + 0.06559344381093979, + 0.06501291692256927 + ], + [ + 0.3034166991710663, + 0.041613612323999405, + 0.05051049217581749 + ], + [ + 0.3347879648208618, + 0.018195977434515953, + 0.03712812811136246 + ], + [ + 0.35311365127563477, + 0.0005124546005390584, + 0.024266442283988 + ], + [ + 0.36396902799606323, + -0.014922509901225567, + 0.005807118955999613 + ], + [ + 0.3780284523963928, + -0.029878754168748856, + -0.004491421859711409 + ], + [ + 0.3823118507862091, + -0.030137179419398308, + -0.004419323522597551 + ], + [ + 0.37885499000549316, + -0.032475680112838745, + -0.007889674976468086 + ], + [ + 0.37521374225616455, + -0.0326361246407032, + -0.009486419148743153 + ], + [ + 0.3700929284095764, + -0.03137893229722977, + -0.007642723619937897 + ], + [ + 0.3704904019832611, + -0.03058069385588169, + 0.0019177079666405916 + ], + [ + 0.3692564368247986, + -0.03065643645823002, + 0.015590725466609001 + ], + [ + 0.3679552972316742, + -0.024825485423207283, + 0.04349334165453911 + ], + [ + 0.3602975010871887, + -0.017291368916630745, + 0.06301870197057724 + ], + [ + 0.3609544634819031, + -0.015657803043723106, + 0.06587407737970352 + ], + [ + 0.3608854413032532, + -0.015654833987355232, + 0.06531991064548492 + ], + [ + 0.3608854413032532, + -0.015654833987355232, + 0.06531991064548492 + ], + [ + 0.3608854413032532, + -0.015654833987355232, + 0.06531991064548492 + ], + [ + 0.3608854413032532, + -0.015654833987355232, + 0.06531991064548492 + ], + [ + 0.3608854413032532, + -0.015654833987355232, + 0.06531991064548492 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.878331911874323, + 0.4133815695575945, + 0.24010150048114168, + 0.3644212670971945, + -0.9040462853870653, + 0.22337738015547462, + 0.30940296163817044, + -0.10870138834416018, + -0.9446977376397068 + ], + [ + 0.8851891275439449, + 0.41433887653974344, + 0.21157387330616428, + 0.36719330095665714, + -0.901477036774051, + 0.22914674752575045, + 0.28567339429940514, + -0.12514970058637562, + -0.9501201314742241 + ], + [ + 0.8755403361448244, + 0.456299719509227, + 0.15880707087283352, + 0.4077576424541357, + -0.8741791939102144, + 0.2637128020304164, + 0.2591579148003271, + -0.16613639851125084, + -0.9514388431665263 + ], + [ + 0.85172213149009, + 0.49174705476653846, + 0.18098133842585185, + 0.43675379718223295, + -0.8570588703373877, + 0.27330608010598945, + 0.289509121405317, + -0.15373655032046107, + -0.9447484012787137 + ], + [ + 0.8331440113463605, + 0.5181270249546547, + 0.1934307172331577, + 0.46225014725332875, + -0.8443898896571622, + 0.2707960775362908, + 0.3036377080040802, + -0.13619875277110127, + -0.9430026733904974 + ], + [ + 0.8252875629742084, + 0.5329366643349633, + 0.1867590699473925, + 0.483248459006502, + -0.8376069057666926, + 0.25472651664047175, + 0.29218378679853824, + -0.11997159338555909, + -0.9488073837784974 + ], + [ + 0.8052336204580447, + 0.5784839108230456, + 0.1302120632003962, + 0.5390814007279704, + -0.805660915876818, + 0.2455641097915081, + 0.24696165668621273, + -0.1275415757602243, + -0.9605951730981162 + ], + [ + 0.7882634919558534, + 0.6100535511770945, + 0.08046944728143937, + 0.5747788461211679, + -0.7766752110865935, + 0.2576914715996909, + 0.21970422231077627, + -0.15687664319398112, + -0.962870590224359 + ], + [ + 0.7746376178891903, + 0.6260533893362498, + 0.08940757602996649, + 0.596387119799442, + -0.7702121166299593, + 0.22604357706805867, + 0.2103781459379425, + -0.12178033132239124, + -0.9700054570025478 + ], + [ + 0.7793377477321132, + 0.6175171573807073, + 0.10632608005700042, + 0.5924369711290055, + -0.7814239746613283, + 0.19594643927354635, + 0.20408603626737162, + -0.08971695583858344, + -0.9748331947752552 + ], + [ + 0.7600146450332934, + 0.643038278471502, + 0.09423116127547242, + 0.6215860743070348, + -0.7615501569970127, + 0.1834996201777942, + 0.1897590355226501, + -0.08088962107855645, + -0.9784929113893883 + ], + [ + 0.7713967831528746, + 0.6331824983953293, + 0.06345807015066082, + 0.6185544082331772, + -0.769502795084687, + 0.1589210257082384, + 0.14945717445710438, + -0.08333889897702894, + -0.9852498063540005 + ], + [ + 0.7548059622603992, + 0.6544684826272493, + 0.044033675564715644, + 0.6380594178499694, + -0.7481355676475758, + 0.1821355311673084, + 0.15214512357979415, + -0.10938088346793225, + -0.982286966065754 + ], + [ + 0.7588176005264204, + 0.6504535326196141, + 0.03325734556440436, + 0.6341577757719072, + -0.7495172708478376, + 0.18991518140695465, + 0.14845795552732433, + -0.12302057796756485, + -0.9812370625069017 + ], + [ + 0.7536473647371449, + 0.6564931179459206, + 0.03213153769118795, + 0.6393006654297655, + -0.7435121923499765, + 0.1961741038159481, + 0.15267713910672956, + -0.12730438294330235, + -0.9800424915673855 + ], + [ + 0.756775023638841, + 0.6527387243214674, + 0.034981729054108845, + 0.6339840526333326, + -0.7459624283933911, + 0.20397126374087737, + 0.15923499804706057, + -0.13218249958530165, + -0.9783516761371314 + ], + [ + 0.7512386630880061, + 0.6591168200261567, + 0.034720147470186674, + 0.6395079263329054, + -0.7398878052793086, + 0.20879570818470924, + 0.16330977692450535, + -0.13465159916456274, + -0.9773427564592135 + ], + [ + 0.7469190971404993, + 0.6637890874367034, + 0.038676992214622785, + 0.6427227931106978, + -0.7356701771941075, + 0.21376810239877594, + 0.17035044333022592, + -0.13480889357582845, + -0.9761184808567331 + ], + [ + 0.7279891667133904, + 0.6841067493611835, + 0.04505250965727152, + 0.647957001080166, + -0.7080150166513225, + 0.28083173066344486, + 0.22401673575682163, + -0.1752503685436996, + -0.9586990197273366 + ], + [ + 0.7372769934271451, + 0.672833360280725, + 0.06097461977230664, + 0.6249440502233639, + -0.7135087267688748, + 0.31678104570045973, + 0.25664677877083697, + -0.1954496511074071, + -0.9465367741554185 + ], + [ + 0.7252312329231492, + 0.6786896467898295, + 0.11584481918957797, + 0.6302983618420878, + -0.7221621042343498, + 0.28496643708864555, + 0.27706250892524237, + -0.13364976074843155, + -0.9515114857950677 + ], + [ + 0.7312177273082582, + 0.6569486639493523, + 0.18368203016437695, + 0.6243116686779555, + -0.7530109426208655, + 0.20786885443900122, + 0.2748737448769759, + -0.037322556562980905, + -0.9607556667274518 + ], + [ + 0.7404967433376807, + 0.6390953891825508, + 0.2078981881399961, + 0.624312912247871, + -0.7686644187889087, + 0.13924223098073235, + 0.24879300775317503, + 0.02668510471243131, + -0.9681890024574826 + ], + [ + 0.7595095212728308, + 0.6171393238211378, + 0.20563156880572722, + 0.6212866666834835, + -0.7818700076750723, + 0.05178966016019612, + 0.19273859213256103, + 0.08842141195305248, + -0.9772581486030122 + ], + [ + 0.7814700783894102, + 0.5780433454898537, + 0.23488381663483565, + 0.595340860729846, + -0.8034659760222894, + -0.0034183212248510703, + 0.18674521714757675, + 0.1425072493224389, + -0.9720174421084515 + ], + [ + 0.8061621973150044, + 0.5405761033854294, + 0.2405826013428026, + 0.5611546397996928, + -0.8274408732357734, + -0.0211440660729679, + 0.18763790089297347, + 0.1520495897641509, + -0.9703983410955691 + ], + [ + 0.8363736896092735, + 0.5006999803991206, + 0.2231111403710957, + 0.5199571822515032, + -0.8535275712429613, + -0.03369293328234604, + 0.1735614587241292, + 0.14418812279938936, + -0.9742105549054273 + ], + [ + 0.8609051648061968, + 0.4593996030846476, + 0.2186190794411222, + 0.48154219854373476, + -0.8744531475921664, + -0.05872651605381911, + 0.16419320397532244, + 0.15583227313949227, + -0.9740415260226317 + ], + [ + 0.8752841611250223, + 0.4328946802669579, + 0.21559182053184345, + 0.454110734432134, + -0.8890188546747807, + -0.05855695437989625, + 0.1663161993227783, + 0.14915653465171994, + -0.9747262436261355 + ], + [ + 0.880452345145138, + 0.4254331224672047, + 0.20930916424330615, + 0.4436882791143852, + -0.8949285895386027, + -0.04736592238057677, + 0.16716572287685766, + 0.1345714603259241, + -0.9767016653824268 + ], + [ + 0.8807144779515337, + 0.42911980585925064, + 0.20049488907669552, + 0.4449043356048545, + -0.8947119735848049, + -0.039377867946173664, + 0.16248735485126356, + 0.123881703827895, + -0.978903050853422 + ], + [ + 0.8816496432500573, + 0.4292066167771693, + 0.1961519479172787, + 0.4440358268439387, + -0.8952490572735985, + -0.036895933783453475, + 0.15976886754329322, + 0.11962777923805755, + -0.9798791269327581 + ], + [ + 0.8783793949814023, + 0.42731817879071915, + 0.21412335824727083, + 0.44490593388333105, + -0.8947025628470483, + -0.03957314784452948, + 0.17466639192330966, + 0.13002499032842443, + -0.9760046892421093 + ], + [ + 0.8740987236258942, + 0.42102202526724125, + 0.24226406170840237, + 0.4437815205100876, + -0.8949606951630246, + -0.04586192502577917, + 0.19750793252256177, + 0.14760016379796453, + -0.9691257958786759 + ], + [ + 0.8544841254937614, + 0.419497162553301, + 0.3063968176872775, + 0.4507580963925371, + -0.8919230539430173, + -0.035922199007539374, + 0.25821312479372077, + 0.16880579508621862, + -0.951225833190821 + ], + [ + 0.8510893278669053, + 0.390575785640548, + 0.35085254974465824, + 0.4230133176427023, + -0.9059522962494557, + -0.017611644365373783, + 0.3109769912517218, + 0.1634043836364461, + -0.936265089769142 + ], + [ + 0.8462381402359571, + 0.3932216620486149, + 0.3595243169880362, + 0.42705115547037703, + -0.9040793763638294, + -0.01636434676379328, + 0.31860370465737675, + 0.16738340936100765, + -0.9329922152136537 + ], + [ + 0.8467254366648791, + 0.3934777025054747, + 0.3580940275062999, + 0.4270302330526498, + -0.9040903697156911, + -0.016302866200280097, + 0.3173345473844112, + 0.16672102752309853, + -0.9335431880839647 + ], + [ + 0.8467254366648791, + 0.3934777025054747, + 0.3580940275062999, + 0.4270302330526498, + -0.9040903697156911, + -0.016302866200280097, + 0.3173345473844112, + 0.16672102752309853, + -0.9335431880839647 + ], + [ + 0.8467254366648791, + 0.3934777025054747, + 0.3580940275062999, + 0.4270302330526498, + -0.9040903697156911, + -0.016302866200280097, + 0.3173345473844112, + 0.16672102752309853, + -0.9335431880839647 + ], + [ + 0.8467254366648791, + 0.3934777025054747, + 0.3580940275062999, + 0.4270302330526498, + -0.9040903697156911, + -0.016302866200280097, + 0.3173345473844112, + 0.16672102752309853, + -0.9335431880839647 + ], + [ + 0.8467254366648791, + 0.3934777025054747, + 0.3580940275062999, + 0.4270302330526498, + -0.9040903697156911, + -0.016302866200280097, + 0.3173345473844112, + 0.16672102752309853, + -0.9335431880839647 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0035590827465057373, + 0.0007306672632694244, + -0.008568286895751953, + 0.016405008733272552, + 0.024856090545654297, + -7.039308547973633e-05, + 1.0 + ], + [ + -0.02139142155647278, + 0.015321101993322372, + -0.006845742464065552, + 0.041907086968421936, + 0.02755880355834961, + 0.042634665966033936, + 1.0 + ], + [ + -0.01597452163696289, + 0.015448436141014099, + 0.016582302749156952, + -0.011559456586837769, + -0.03156372904777527, + 0.03797599673271179, + 1.0 + ], + [ + -0.025442004203796387, + 0.014860356226563454, + 0.008104979991912842, + -0.017874523997306824, + -0.014794349670410156, + 0.03271457552909851, + 1.0 + ], + [ + -0.03095749020576477, + 0.014011096209287643, + -0.002585485577583313, + -0.017661884427070618, + 0.01199883222579956, + 0.023186922073364258, + 1.0 + ], + [ + -0.030774980783462524, + 0.029064837843179703, + -0.017618760466575623, + 0.006224289536476135, + 0.04696594178676605, + 0.060214340686798096, + 1.0 + ], + [ + -0.014547616243362427, + 0.021199800074100494, + -0.015706472098827362, + 0.029505476355552673, + 0.02803225815296173, + 0.04009443521499634, + 1.0 + ], + [ + -0.004939436912536621, + 0.010971561074256897, + -0.01545078307390213, + -0.036614321172237396, + 0.009549528360366821, + 0.02607405185699463, + 1.0 + ], + [ + 0.006644055247306824, + 0.0022763460874557495, + -0.015532772988080978, + -0.033117979764938354, + 0.006431743502616882, + -0.006126224994659424, + 1.0 + ], + [ + -0.0016842484474182129, + 0.006522119045257568, + -0.015099458396434784, + -0.009294591844081879, + 0.014613285660743713, + 0.03555256128311157, + 1.0 + ], + [ + -0.0009767115116119385, + 0.000977739691734314, + -0.01601545698940754, + 0.001905679702758789, + 0.04089745879173279, + -0.009661316871643066, + 0.0 + ], + [ + -0.0007796734571456909, + 0.004861451685428619, + -0.002866465365514159, + 0.02651074528694153, + -0.0027190446853637695, + 0.025900304317474365, + 0.0 + ], + [ + -4.32431697845459e-05, + 0.0007455199956893921, + -0.0023852309677749872, + 0.013825744390487671, + 0.0037295371294021606, + -0.005631923675537109, + 0.0 + ], + [ + -0.00017851591110229492, + 0.000992506742477417, + 0.0001894291490316391, + 0.004451334476470947, + -0.004267841577529907, + 0.0073479413986206055, + 0.0 + ], + [ + 0.00017693638801574707, + 0.001097463071346283, + 0.0017601961735635996, + 0.005120635032653809, + -0.006639108061790466, + -0.006156206130981445, + 0.0 + ], + [ + -0.0005780309438705444, + 0.0008272379636764526, + 0.0022448301315307617, + 0.002617090940475464, + -0.0041288286447525024, + 0.00789576768875122, + 0.0 + ], + [ + -0.0005787461996078491, + 0.0001766979694366455, + 0.004421193618327379, + 0.00032770633697509766, + -0.007140755653381348, + 0.0053258538246154785, + 0.0 + ], + [ + 0.00207345187664032, + 0.00044142454862594604, + 0.01617717556655407, + 0.04356497526168823, + -0.054748713970184326, + 0.016740918159484863, + 0.0 + ], + [ + 0.014021128416061401, + -0.006227627396583557, + 0.019013062119483948, + 0.022823423147201538, + -0.03361715376377106, + -0.024177193641662598, + 0.0 + ], + [ + 0.018752247095108032, + -0.009773269295692444, + 0.01665821298956871, + -0.06407980620861053, + -0.021184414625167847, + 0.01235729455947876, + 0.0 + ], + [ + 0.030176281929016113, + -0.018940068781375885, + 0.010860133916139603, + -0.10071998089551926, + 0.002277195453643799, + -0.008784115314483643, + 0.0 + ], + [ + 0.02989889681339264, + -0.020917966961860657, + -0.0007913559675216675, + -0.06638246029615402, + 0.027024507522583008, + -0.006219744682312012, + 0.0 + ], + [ + 0.030612409114837646, + -0.023979831486940384, + -0.014502424746751785, + -0.06267847865819931, + 0.05748157203197479, + -0.014847874641418457, + 0.0 + ], + [ + 0.03137126564979553, + -0.023417634889483452, + -0.013382364064455032, + -0.05533929914236069, + 0.006104275584220886, + -0.03460264205932617, + 0.0 + ], + [ + 0.01832568645477295, + -0.017683522775769234, + -0.012861685827374458, + -0.009851410984992981, + -0.0009087473154067993, + -0.042932868003845215, + 0.0 + ], + [ + 0.010855376720428467, + -0.015434964559972286, + -0.018459323793649673, + 0.008485719561576843, + 0.014311909675598145, + -0.05188262462615967, + 0.0 + ], + [ + 0.01405942440032959, + -0.014956244267523289, + -0.010298540815711021, + -0.011702507734298706, + 0.009504809975624084, + -0.046219825744628906, + 0.0 + ], + [ + 0.004283398389816284, + -0.0002584252506494522, + 7.209833711385727e-05, + 0.006794765591621399, + -0.0021525919437408447, + -0.03140261769294739, + 1.0 + ], + [ + -0.0034568607807159424, + -0.0023385006934404373, + -0.003470351453870535, + 0.014926642179489136, + -0.0008615851402282715, + -0.011797815561294556, + 1.0 + ], + [ + -0.0036412477493286133, + -0.00016044452786445618, + -0.0015967441722750664, + 0.011037081480026245, + 0.004743248224258423, + 0.0009810328483581543, + 1.0 + ], + [ + -0.005120813846588135, + 0.0012571923434734344, + 0.0018436955288052559, + 0.004399336874485016, + 0.0027544796466827393, + -0.0012124478816986084, + 1.0 + ], + [ + 0.0003974735736846924, + 0.0007982384413480759, + 0.009560431353747845, + -0.010958783328533173, + -0.015110433101654053, + 0.0022832155227661133, + 1.0 + ], + [ + -0.0012339651584625244, + -7.574260234832764e-05, + 0.013673017732799053, + -0.01869906485080719, + -0.023248180747032166, + 0.000949859619140625, + 1.0 + ], + [ + -0.0013011395931243896, + 0.005830951035022736, + 0.027902616187930107, + -0.02449195086956024, + -0.06235702335834503, + 0.01563096046447754, + 1.0 + ], + [ + -0.007657796144485474, + 0.007534116506576538, + 0.01952536031603813, + 0.002845287322998047, + -0.05504867434501648, + -0.024155646562576294, + 1.0 + ], + [ + 0.0006569623947143555, + 0.0016335658729076385, + 0.0028553754091262817, + -0.004728928208351135, + -0.008035242557525635, + 0.006092548370361328, + 1.0 + ], + [ + -6.902217864990234e-05, + 2.9690563678741455e-06, + -0.0005541667342185974, + 0.0007901042699813843, + 0.0013386309146881104, + -0.0002512037754058838, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9484345316886902 + ], + [ + 0.6611326336860657 + ], + [ + 0.3552374839782715 + ], + [ + 0.1511339694261551 + ], + [ + 0.08783477544784546 + ], + [ + 0.08606764674186707 + ], + [ + 0.08157449960708618 + ], + [ + 0.08089608699083328 + ], + [ + 0.07238461822271347 + ], + [ + 0.07112513482570648 + ], + [ + 0.07112513482570648 + ], + [ + 0.07112513482570648 + ], + [ + 0.07081232219934464 + ], + [ + 0.07081232219934464 + ], + [ + 0.07081232219934464 + ], + [ + 0.07081232219934464 + ], + [ + 0.07081232219934464 + ], + [ + 0.08998419344425201 + ], + [ + 0.25545796751976013 + ], + [ + 0.5275958180427551 + ], + [ + 0.831673800945282 + ], + [ + 1.00800359249115 + ], + [ + 1.0060625076293945 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.31990793347358704, + -0.01834332011640072, + 0.0798993855714798 + ], + [ + 0.29851651191711426, + -0.0030222178902477026, + 0.07305364310741425 + ], + [ + 0.28254199028015137, + 0.012426218017935753, + 0.0896359458565712 + ], + [ + 0.257099986076355, + 0.027286574244499207, + 0.09774092584848404 + ], + [ + 0.2261424958705902, + 0.04129767045378685, + 0.09515544027090073 + ], + [ + 0.19536751508712769, + 0.07036250829696655, + 0.0775366798043251 + ], + [ + 0.18081989884376526, + 0.09156230837106705, + 0.06183020770549774 + ], + [ + 0.17588046193122864, + 0.10253386944532394, + 0.04637942463159561 + ], + [ + 0.18252451717853546, + 0.1048102155327797, + 0.030846651643514633 + ], + [ + 0.18084026873111725, + 0.11133233457803726, + 0.01574719324707985 + ], + [ + 0.1798635572195053, + 0.11231007426977158, + -0.000268264178885147 + ], + [ + 0.17908388376235962, + 0.1171715259552002, + -0.0031347295735031366 + ], + [ + 0.17904064059257507, + 0.11791704595088959, + -0.005519960541278124 + ], + [ + 0.17886212468147278, + 0.118909552693367, + -0.005330531392246485 + ], + [ + 0.17903906106948853, + 0.12000701576471329, + -0.003570335218682885 + ], + [ + 0.17846103012561798, + 0.12083425372838974, + -0.0013255049707368016 + ], + [ + 0.17788228392601013, + 0.12101095169782639, + 0.0030956885311752558 + ], + [ + 0.17995573580265045, + 0.12145237624645233, + 0.01927286386489868 + ], + [ + 0.19397686421871185, + 0.11522474884986877, + 0.03828592598438263 + ], + [ + 0.21272911131381989, + 0.10545147955417633, + 0.05494413897395134 + ], + [ + 0.242905393242836, + 0.08651141077280045, + 0.06580427289009094 + ], + [ + 0.27280429005622864, + 0.06559344381093979, + 0.06501291692256927 + ], + [ + 0.3034166991710663, + 0.041613612323999405, + 0.05051049217581749 + ], + [ + 0.3347879648208618, + 0.018195977434515953, + 0.03712812811136246 + ], + [ + 0.35311365127563477, + 0.0005124546005390584, + 0.024266442283988 + ], + [ + 0.36396902799606323, + -0.014922509901225567, + 0.005807118955999613 + ], + [ + 0.3780284523963928, + -0.029878754168748856, + -0.004491421859711409 + ], + [ + 0.3823118507862091, + -0.030137179419398308, + -0.004419323522597551 + ], + [ + 0.37885499000549316, + -0.032475680112838745, + -0.007889674976468086 + ], + [ + 0.37521374225616455, + -0.0326361246407032, + -0.009486419148743153 + ], + [ + 0.3700929284095764, + -0.03137893229722977, + -0.007642723619937897 + ], + [ + 0.3704904019832611, + -0.03058069385588169, + 0.0019177079666405916 + ], + [ + 0.3692564368247986, + -0.03065643645823002, + 0.015590725466609001 + ], + [ + 0.3679552972316742, + -0.024825485423207283, + 0.04349334165453911 + ], + [ + 0.3602975010871887, + -0.017291368916630745, + 0.06301870197057724 + ], + [ + 0.3609544634819031, + -0.015657803043723106, + 0.06587407737970352 + ], + [ + 0.3608854413032532, + -0.015654833987355232, + 0.06531991064548492 + ], + [ + 0.3608854413032532, + -0.015654833987355232, + 0.06531991064548492 + ], + [ + 0.3608854413032532, + -0.015654833987355232, + 0.06531991064548492 + ], + [ + 0.3608854413032532, + -0.015654833987355232, + 0.06531991064548492 + ], + [ + 0.3608854413032532, + -0.015654833987355232, + 0.06531991064548492 + ], + [ + 0.3608854413032532, + -0.015654833987355232, + 0.06531991064548492 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8851891275439449, + 0.41433887653974344, + 0.21157387330616428, + 0.36719330095665714, + -0.901477036774051, + 0.22914674752575045, + 0.28567339429940514, + -0.12514970058637562, + -0.9501201314742241 + ], + [ + 0.8755403361448244, + 0.456299719509227, + 0.15880707087283352, + 0.4077576424541357, + -0.8741791939102144, + 0.2637128020304164, + 0.2591579148003271, + -0.16613639851125084, + -0.9514388431665263 + ], + [ + 0.85172213149009, + 0.49174705476653846, + 0.18098133842585185, + 0.43675379718223295, + -0.8570588703373877, + 0.27330608010598945, + 0.289509121405317, + -0.15373655032046107, + -0.9447484012787137 + ], + [ + 0.8331440113463605, + 0.5181270249546547, + 0.1934307172331577, + 0.46225014725332875, + -0.8443898896571622, + 0.2707960775362908, + 0.3036377080040802, + -0.13619875277110127, + -0.9430026733904974 + ], + [ + 0.8252875629742084, + 0.5329366643349633, + 0.1867590699473925, + 0.483248459006502, + -0.8376069057666926, + 0.25472651664047175, + 0.29218378679853824, + -0.11997159338555909, + -0.9488073837784974 + ], + [ + 0.8052336204580447, + 0.5784839108230456, + 0.1302120632003962, + 0.5390814007279704, + -0.805660915876818, + 0.2455641097915081, + 0.24696165668621273, + -0.1275415757602243, + -0.9605951730981162 + ], + [ + 0.7882634919558534, + 0.6100535511770945, + 0.08046944728143937, + 0.5747788461211679, + -0.7766752110865935, + 0.2576914715996909, + 0.21970422231077627, + -0.15687664319398112, + -0.962870590224359 + ], + [ + 0.7746376178891903, + 0.6260533893362498, + 0.08940757602996649, + 0.596387119799442, + -0.7702121166299593, + 0.22604357706805867, + 0.2103781459379425, + -0.12178033132239124, + -0.9700054570025478 + ], + [ + 0.7793377477321132, + 0.6175171573807073, + 0.10632608005700042, + 0.5924369711290055, + -0.7814239746613283, + 0.19594643927354635, + 0.20408603626737162, + -0.08971695583858344, + -0.9748331947752552 + ], + [ + 0.7600146450332934, + 0.643038278471502, + 0.09423116127547242, + 0.6215860743070348, + -0.7615501569970127, + 0.1834996201777942, + 0.1897590355226501, + -0.08088962107855645, + -0.9784929113893883 + ], + [ + 0.7713967831528746, + 0.6331824983953293, + 0.06345807015066082, + 0.6185544082331772, + -0.769502795084687, + 0.1589210257082384, + 0.14945717445710438, + -0.08333889897702894, + -0.9852498063540005 + ], + [ + 0.7548059622603992, + 0.6544684826272493, + 0.044033675564715644, + 0.6380594178499694, + -0.7481355676475758, + 0.1821355311673084, + 0.15214512357979415, + -0.10938088346793225, + -0.982286966065754 + ], + [ + 0.7588176005264204, + 0.6504535326196141, + 0.03325734556440436, + 0.6341577757719072, + -0.7495172708478376, + 0.18991518140695465, + 0.14845795552732433, + -0.12302057796756485, + -0.9812370625069017 + ], + [ + 0.7536473647371449, + 0.6564931179459206, + 0.03213153769118795, + 0.6393006654297655, + -0.7435121923499765, + 0.1961741038159481, + 0.15267713910672956, + -0.12730438294330235, + -0.9800424915673855 + ], + [ + 0.756775023638841, + 0.6527387243214674, + 0.034981729054108845, + 0.6339840526333326, + -0.7459624283933911, + 0.20397126374087737, + 0.15923499804706057, + -0.13218249958530165, + -0.9783516761371314 + ], + [ + 0.7512386630880061, + 0.6591168200261567, + 0.034720147470186674, + 0.6395079263329054, + -0.7398878052793086, + 0.20879570818470924, + 0.16330977692450535, + -0.13465159916456274, + -0.9773427564592135 + ], + [ + 0.7469190971404993, + 0.6637890874367034, + 0.038676992214622785, + 0.6427227931106978, + -0.7356701771941075, + 0.21376810239877594, + 0.17035044333022592, + -0.13480889357582845, + -0.9761184808567331 + ], + [ + 0.7279891667133904, + 0.6841067493611835, + 0.04505250965727152, + 0.647957001080166, + -0.7080150166513225, + 0.28083173066344486, + 0.22401673575682163, + -0.1752503685436996, + -0.9586990197273366 + ], + [ + 0.7372769934271451, + 0.672833360280725, + 0.06097461977230664, + 0.6249440502233639, + -0.7135087267688748, + 0.31678104570045973, + 0.25664677877083697, + -0.1954496511074071, + -0.9465367741554185 + ], + [ + 0.7252312329231492, + 0.6786896467898295, + 0.11584481918957797, + 0.6302983618420878, + -0.7221621042343498, + 0.28496643708864555, + 0.27706250892524237, + -0.13364976074843155, + -0.9515114857950677 + ], + [ + 0.7312177273082582, + 0.6569486639493523, + 0.18368203016437695, + 0.6243116686779555, + -0.7530109426208655, + 0.20786885443900122, + 0.2748737448769759, + -0.037322556562980905, + -0.9607556667274518 + ], + [ + 0.7404967433376807, + 0.6390953891825508, + 0.2078981881399961, + 0.624312912247871, + -0.7686644187889087, + 0.13924223098073235, + 0.24879300775317503, + 0.02668510471243131, + -0.9681890024574826 + ], + [ + 0.7595095212728308, + 0.6171393238211378, + 0.20563156880572722, + 0.6212866666834835, + -0.7818700076750723, + 0.05178966016019612, + 0.19273859213256103, + 0.08842141195305248, + -0.9772581486030122 + ], + [ + 0.7814700783894102, + 0.5780433454898537, + 0.23488381663483565, + 0.595340860729846, + -0.8034659760222894, + -0.0034183212248510703, + 0.18674521714757675, + 0.1425072493224389, + -0.9720174421084515 + ], + [ + 0.8061621973150044, + 0.5405761033854294, + 0.2405826013428026, + 0.5611546397996928, + -0.8274408732357734, + -0.0211440660729679, + 0.18763790089297347, + 0.1520495897641509, + -0.9703983410955691 + ], + [ + 0.8363736896092735, + 0.5006999803991206, + 0.2231111403710957, + 0.5199571822515032, + -0.8535275712429613, + -0.03369293328234604, + 0.1735614587241292, + 0.14418812279938936, + -0.9742105549054273 + ], + [ + 0.8609051648061968, + 0.4593996030846476, + 0.2186190794411222, + 0.48154219854373476, + -0.8744531475921664, + -0.05872651605381911, + 0.16419320397532244, + 0.15583227313949227, + -0.9740415260226317 + ], + [ + 0.8752841611250223, + 0.4328946802669579, + 0.21559182053184345, + 0.454110734432134, + -0.8890188546747807, + -0.05855695437989625, + 0.1663161993227783, + 0.14915653465171994, + -0.9747262436261355 + ], + [ + 0.880452345145138, + 0.4254331224672047, + 0.20930916424330615, + 0.4436882791143852, + -0.8949285895386027, + -0.04736592238057677, + 0.16716572287685766, + 0.1345714603259241, + -0.9767016653824268 + ], + [ + 0.8807144779515337, + 0.42911980585925064, + 0.20049488907669552, + 0.4449043356048545, + -0.8947119735848049, + -0.039377867946173664, + 0.16248735485126356, + 0.123881703827895, + -0.978903050853422 + ], + [ + 0.8816496432500573, + 0.4292066167771693, + 0.1961519479172787, + 0.4440358268439387, + -0.8952490572735985, + -0.036895933783453475, + 0.15976886754329322, + 0.11962777923805755, + -0.9798791269327581 + ], + [ + 0.8783793949814023, + 0.42731817879071915, + 0.21412335824727083, + 0.44490593388333105, + -0.8947025628470483, + -0.03957314784452948, + 0.17466639192330966, + 0.13002499032842443, + -0.9760046892421093 + ], + [ + 0.8740987236258942, + 0.42102202526724125, + 0.24226406170840237, + 0.4437815205100876, + -0.8949606951630246, + -0.04586192502577917, + 0.19750793252256177, + 0.14760016379796453, + -0.9691257958786759 + ], + [ + 0.8544841254937614, + 0.419497162553301, + 0.3063968176872775, + 0.4507580963925371, + -0.8919230539430173, + -0.035922199007539374, + 0.25821312479372077, + 0.16880579508621862, + -0.951225833190821 + ], + [ + 0.8510893278669053, + 0.390575785640548, + 0.35085254974465824, + 0.4230133176427023, + -0.9059522962494557, + -0.017611644365373783, + 0.3109769912517218, + 0.1634043836364461, + -0.936265089769142 + ], + [ + 0.8462381402359571, + 0.3932216620486149, + 0.3595243169880362, + 0.42705115547037703, + -0.9040793763638294, + -0.01636434676379328, + 0.31860370465737675, + 0.16738340936100765, + -0.9329922152136537 + ], + [ + 0.8467254366648791, + 0.3934777025054747, + 0.3580940275062999, + 0.4270302330526498, + -0.9040903697156911, + -0.016302866200280097, + 0.3173345473844112, + 0.16672102752309853, + -0.9335431880839647 + ], + [ + 0.8467254366648791, + 0.3934777025054747, + 0.3580940275062999, + 0.4270302330526498, + -0.9040903697156911, + -0.016302866200280097, + 0.3173345473844112, + 0.16672102752309853, + -0.9335431880839647 + ], + [ + 0.8467254366648791, + 0.3934777025054747, + 0.3580940275062999, + 0.4270302330526498, + -0.9040903697156911, + -0.016302866200280097, + 0.3173345473844112, + 0.16672102752309853, + -0.9335431880839647 + ], + [ + 0.8467254366648791, + 0.3934777025054747, + 0.3580940275062999, + 0.4270302330526498, + -0.9040903697156911, + -0.016302866200280097, + 0.3173345473844112, + 0.16672102752309853, + -0.9335431880839647 + ], + [ + 0.8467254366648791, + 0.3934777025054747, + 0.3580940275062999, + 0.4270302330526498, + -0.9040903697156911, + -0.016302866200280097, + 0.3173345473844112, + 0.16672102752309853, + -0.9335431880839647 + ], + [ + 0.8467254366648791, + 0.3934777025054747, + 0.3580940275062999, + 0.4270302330526498, + -0.9040903697156911, + -0.016302866200280097, + 0.3173345473844112, + 0.16672102752309853, + -0.9335431880839647 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006063.json b/json/chunk-0006/episode_0006063.json new file mode 100644 index 0000000000000000000000000000000000000000..aa03165af3e58200866a89d566fcca8ce5018a28 --- /dev/null +++ b/json/chunk-0006/episode_0006063.json @@ -0,0 +1,1882 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 30, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nTake corn out of bowl sink." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006063.mp4", + "start": 0, + "end": 30, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3580845594406128, + 0.08661994338035583, + 0.05901486799120903, + 0.0007912498549558222, + -0.1058749258518219, + 0.25305798649787903, + 0.0, + 0.9994885921478271 + ], + [ + 0.35268789529800415, + 0.08412019163370132, + 0.043463628739118576, + -0.0026757651939988136, + -0.05824457108974457, + 0.2585877776145935, + 0.0, + 0.9994885921478271 + ], + [ + 0.35506671667099, + 0.06696216017007828, + 0.04123152047395706, + -0.03870503604412079, + -0.055159442126750946, + 0.29837772250175476, + 0.0, + 0.9994885921478271 + ], + [ + 0.35889574885368347, + 0.04804836958646774, + 0.04154500737786293, + -0.07746133953332901, + -0.0500197559595108, + 0.3397853374481201, + 0.0, + 0.9994885921478271 + ], + [ + 0.3617842495441437, + 0.02959674596786499, + 0.038756225258111954, + -0.08216487616300583, + -0.06304342299699783, + 0.3358369767665863, + 0.0, + 0.9994885921478271 + ], + [ + 0.3645785450935364, + 0.013987293466925621, + 0.035957250744104385, + -0.07055706530809402, + -0.0867762342095375, + 0.3513903319835663, + 0.0, + 0.9994885921478271 + ], + [ + 0.3683072626590729, + 0.0054773916490375996, + 0.027126019820570946, + -0.04753617197275162, + -0.10515965521335602, + 0.3724959194660187, + 0.0, + 0.9994885921478271 + ], + [ + 0.37036576867103577, + -0.0019067431567236781, + 0.0193882267922163, + -0.022217698395252228, + -0.12408839911222458, + 0.38036656379699707, + 0.0, + 0.9994885921478271 + ], + [ + 0.36777839064598083, + -0.004789536818861961, + 0.006268967408686876, + -0.0025477351155132055, + -0.09998045116662979, + 0.4174790680408478, + 0.0, + 0.9994885921478271 + ], + [ + 0.3695688843727112, + -0.00801725871860981, + 0.006964578293263912, + -0.016910767182707787, + -0.1036795973777771, + 0.4336599111557007, + 0.0, + 0.9994885921478271 + ], + [ + 0.37220948934555054, + -0.008275557309389114, + -0.0006179202464409173, + -0.0009337220108136535, + -0.11368647962808609, + 0.44235676527023315, + 0.0, + 0.9994885921478271 + ], + [ + 0.37413492798805237, + -0.008495022542774677, + -0.0008422365062870085, + 0.004400315694510937, + -0.13030792772769928, + 0.4469066858291626, + 0.0, + 0.9994885921478271 + ], + [ + 0.3743789494037628, + -0.010179135948419571, + -0.004376788157969713, + 0.007444016635417938, + -0.12986458837985992, + 0.4543798267841339, + 0.0, + 0.9445669651031494 + ], + [ + 0.3745526671409607, + -0.011269868351519108, + -0.008232994936406612, + 0.007184560410678387, + -0.1288914531469345, + 0.4618454575538635, + 0.0, + 0.6581199765205383 + ], + [ + 0.37488502264022827, + -0.01147169154137373, + -0.008398270234465599, + 0.010202823206782341, + -0.13504265248775482, + 0.462851881980896, + 0.0, + 0.5779332518577576 + ], + [ + 0.3755365014076233, + -0.01163462270051241, + -0.00810309499502182, + 0.0033615094143897295, + -0.1352635622024536, + 0.4766487181186676, + 0.0, + 0.6119219660758972 + ], + [ + 0.3790993392467499, + -0.013039638288319111, + -0.004239910747855902, + -0.010066809132695198, + -0.13546371459960938, + 0.48065006732940674, + 0.0, + 0.6119219660758972 + ], + [ + 0.3851349353790283, + -0.0067779142409563065, + 0.011620421893894672, + -0.05969526618719101, + -0.1656971275806427, + 0.5195761322975159, + 0.0, + 0.6119219660758972 + ], + [ + 0.3859863877296448, + -0.0029876853805035353, + 0.028944794088602066, + -0.10741937905550003, + -0.17217718064785004, + 0.5191951394081116, + 0.0, + 0.6119219660758972 + ], + [ + 0.37752729654312134, + 0.013226425275206566, + 0.04619670286774635, + -0.15158355236053467, + -0.18620894849300385, + 0.5123463273048401, + 0.0, + 0.6119219660758972 + ], + [ + 0.36511483788490295, + 0.033037204295396805, + 0.042835697531700134, + -0.15969844162464142, + -0.16076840460300446, + 0.5079005360603333, + 0.0, + 0.6119219660758972 + ], + [ + 0.36006587743759155, + 0.05454239621758461, + 0.040975846350193024, + -0.14824174344539642, + -0.1615644246339798, + 0.5031048059463501, + 0.0, + 0.6119219660758972 + ], + [ + 0.3560272753238678, + 0.0787326768040657, + 0.039138905704021454, + -0.11367543041706085, + -0.17669670283794403, + 0.5095338225364685, + 0.0, + 0.6119219660758972 + ], + [ + 0.3563167154788971, + 0.08825727552175522, + 0.023884374648332596, + -0.08339540660381317, + -0.180421382188797, + 0.48425358533859253, + 0.0, + 0.6119219660758972 + ], + [ + 0.3529338240623474, + 0.0886872261762619, + 0.01636059395968914, + -0.06114918738603592, + -0.19001032412052155, + 0.4537547826766968, + 0.0, + 0.6119219660758972 + ], + [ + 0.3482508659362793, + 0.08745841681957245, + 0.009785437025129795, + -0.03341054916381836, + -0.18736810982227325, + 0.44712281227111816, + 0.0, + 0.6892001032829285 + ], + [ + 0.35069769620895386, + 0.09110566228628159, + -0.006516086868941784, + 0.029309595003724098, + -0.1540110856294632, + 0.49297791719436646, + 0.0, + 0.9635607004165649 + ], + [ + 0.34834691882133484, + 0.08960963785648346, + -0.00906639639288187, + 0.04755272716283798, + -0.1417085975408554, + 0.489009827375412, + 0.0, + 1.0001531839370728 + ], + [ + 0.34553900361061096, + 0.09205328673124313, + -0.00442143902182579, + 0.04592385143041611, + -0.10033714026212692, + 0.5075239539146423, + 0.0, + 1.0001531839370728 + ], + [ + 0.3453403413295746, + 0.0943014919757843, + 0.011414687149226665, + 0.01196481753140688, + -0.07057817280292511, + 0.5239018797874451, + 0.0, + 1.0001531839370728 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9445669651031494 + ], + [ + 0.6581199765205383 + ], + [ + 0.5779332518577576 + ], + [ + 0.6119219660758972 + ], + [ + 0.6119219660758972 + ], + [ + 0.6119219660758972 + ], + [ + 0.6119219660758972 + ], + [ + 0.6119219660758972 + ], + [ + 0.6119219660758972 + ], + [ + 0.6119219660758972 + ], + [ + 0.6119219660758972 + ], + [ + 0.6119219660758972 + ], + [ + 0.6119219660758972 + ], + [ + 0.6892001032829285 + ], + [ + 0.9635607004165649 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3580845594406128, + 0.08661994338035583, + 0.05901486799120903 + ], + [ + 0.35268789529800415, + 0.08412019163370132, + 0.043463628739118576 + ], + [ + 0.35506671667099, + 0.06696216017007828, + 0.04123152047395706 + ], + [ + 0.35889574885368347, + 0.04804836958646774, + 0.04154500737786293 + ], + [ + 0.3617842495441437, + 0.02959674596786499, + 0.038756225258111954 + ], + [ + 0.3645785450935364, + 0.013987293466925621, + 0.035957250744104385 + ], + [ + 0.3683072626590729, + 0.0054773916490375996, + 0.027126019820570946 + ], + [ + 0.37036576867103577, + -0.0019067431567236781, + 0.0193882267922163 + ], + [ + 0.36777839064598083, + -0.004789536818861961, + 0.006268967408686876 + ], + [ + 0.3695688843727112, + -0.00801725871860981, + 0.006964578293263912 + ], + [ + 0.37220948934555054, + -0.008275557309389114, + -0.0006179202464409173 + ], + [ + 0.37413492798805237, + -0.008495022542774677, + -0.0008422365062870085 + ], + [ + 0.3743789494037628, + -0.010179135948419571, + -0.004376788157969713 + ], + [ + 0.3745526671409607, + -0.011269868351519108, + -0.008232994936406612 + ], + [ + 0.37488502264022827, + -0.01147169154137373, + -0.008398270234465599 + ], + [ + 0.3755365014076233, + -0.01163462270051241, + -0.00810309499502182 + ], + [ + 0.3790993392467499, + -0.013039638288319111, + -0.004239910747855902 + ], + [ + 0.3851349353790283, + -0.0067779142409563065, + 0.011620421893894672 + ], + [ + 0.3859863877296448, + -0.0029876853805035353, + 0.028944794088602066 + ], + [ + 0.37752729654312134, + 0.013226425275206566, + 0.04619670286774635 + ], + [ + 0.36511483788490295, + 0.033037204295396805, + 0.042835697531700134 + ], + [ + 0.36006587743759155, + 0.05454239621758461, + 0.040975846350193024 + ], + [ + 0.3560272753238678, + 0.0787326768040657, + 0.039138905704021454 + ], + [ + 0.3563167154788971, + 0.08825727552175522, + 0.023884374648332596 + ], + [ + 0.3529338240623474, + 0.0886872261762619, + 0.01636059395968914 + ], + [ + 0.3482508659362793, + 0.08745841681957245, + 0.009785437025129795 + ], + [ + 0.35069769620895386, + 0.09110566228628159, + -0.006516086868941784 + ], + [ + 0.34834691882133484, + 0.08960963785648346, + -0.00906639639288187 + ], + [ + 0.34553900361061096, + 0.09205328673124313, + -0.00442143902182579 + ], + [ + 0.3453403413295746, + 0.0943014919757843, + 0.011414687149226665 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9627301553825044, + 0.2504465945908858, + 0.10211342308926549, + 0.24896379202418606, + -0.9681300967191566, + 0.027223998374487853, + 0.10567723585577307, + -0.0007868191563301236, + -0.9944001723338037 + ], + [ + 0.9651127133914306, + 0.255564041210461, + 0.056960260624476663, + 0.25528191249661075, + -0.9667884388009754, + 0.012298770379413198, + 0.05821164490291682, + 0.00267122461626817, + -0.9983006906522435 + ], + [ + 0.9543609525681226, + 0.29171075887993814, + 0.06403128428319897, + 0.29352289968247625, + -0.955725929532011, + -0.02079074270352524, + 0.055131475358965905, + 0.038636521244332624, + -0.9977312963172397 + ], + [ + 0.9416470125977985, + 0.32863741466324364, + 0.07278978876944642, + 0.33286786208850144, + -0.9412885593755859, + -0.05634566866463079, + 0.04999890053062943, + 0.07728711194043422, + -0.9957543935497523 + ], + [ + 0.9422592088117446, + 0.3235658510386556, + 0.08632915759519122, + 0.3289048082892258, + -0.9426536946077918, + -0.05679471037435905, + 0.06300167056271186, + 0.08190941389065248, + -0.9946464886694152 + ], + [ + 0.9353622871665423, + 0.33761052049416224, + 0.1054349477082227, + 0.34290838256426354, + -0.9386620391902939, + -0.036433739175106644, + 0.08666736937126604, + 0.07023327298923135, + -0.9937585493727762 + ], + [ + 0.9262765346749828, + 0.35888445153105963, + 0.11495099721079327, + 0.3619308387434804, + -0.9321849829856294, + -0.006101267288244765, + 0.10496594341473833, + 0.047255771555783074, + -0.9933524262706169 + ], + [ + 0.9213890657929866, + 0.3686160906785656, + 0.12314368489686546, + 0.36840620061926466, + -0.9293202857100303, + 0.02531161616936891, + 0.1237701934328501, + 0.022045050707104656, + -0.9920660033268531 + ], + [ + 0.909548995701465, + 0.4052235503105091, + 0.09227404126948459, + 0.40343251817147857, + -0.9142141149652471, + 0.03814125430723837, + 0.09981396545712369, + 0.0025350092812642666, + -0.9950028874468998 + ], + [ + 0.9025611105876534, + 0.41854657517393923, + 0.10100597044208617, + 0.41793832623427785, + -0.9080395808542817, + 0.028136720961595047, + 0.10349394725911229, + 0.016819156106842297, + -0.9944878676326734 + ], + [ + 0.8979113193311653, + 0.4279746534297974, + 0.10292209985523147, + 0.42530722189521547, + -0.9037902607379625, + 0.047717204433819875, + 0.11344174549406115, + 0.0009276943730843271, + -0.993544216309677 + ], + [ + 0.8941428519960622, + 0.4326895257231627, + 0.11527503872830613, + 0.42851405511818536, + -0.9015324390172489, + 0.06012458703208877, + 0.12993946586975316, + -0.004362995424584976, + -0.9915123294646457 + ], + [ + 0.8909672425198731, + 0.4397591688270416, + 0.11308954942470671, + 0.43520932411585556, + -0.8980854025924945, + 0.06352522217904702, + 0.12949987242910238, + -0.007381265665634552, + -0.9915519653341521 + ], + [ + 0.8878057289348771, + 0.44641618584674714, + 0.11186409917598385, + 0.44190471231691164, + -0.8947970858075353, + 0.06370557638425467, + 0.128534870375783, + -0.00712490311408609, + -0.9916793951943822 + ], + [ + 0.8866362982822716, + 0.4477075756738054, + 0.1159051390258221, + 0.44243659911744165, + -0.8941228771792765, + 0.06923970151614961, + 0.1346325752918053, + -0.010109757115629291, + -0.9908440152119606 + ], + [ + 0.8804214331691014, + 0.45920420304437964, + 0.11827763914976414, + 0.45461322124347875, + -0.8883244934637224, + 0.064856868433875, + 0.1348514704669309, + -0.0033307985224640124, + -0.9908602256090964 + ], + [ + 0.878571373421136, + 0.4611267978007652, + 0.1243962143913975, + 0.458119957547563, + -0.8872781905133573, + 0.05351184108177404, + 0.13504979193437275, + 0.009974416742556787, + -0.9907886074784712 + ], + [ + 0.8561408403954414, + 0.4870861866064546, + 0.1725395845137261, + 0.48971182765773996, + -0.8713693729766661, + 0.02996233786551977, + 0.16493995046411022, + 0.05884269415512565, + -0.9845467739449777 + ], + [ + 0.8553814131598173, + 0.4773736373106994, + 0.20108965269617157, + 0.48884500884939786, + -0.8723286106324015, + -0.008564601285303883, + 0.1713277424813221, + 0.10562767380235595, + -0.9795353996581017 + ], + [ + 0.8565295220678955, + 0.4602359634154873, + 0.2335380821304324, + 0.4817492231184382, + -0.8753069607826877, + -0.04189761843059351, + 0.1851347181133878, + 0.14839333672504515, + -0.9714445706084747 + ], + [ + 0.8624998873995537, + 0.4579131140594597, + 0.21542869866414263, + 0.4800722638386827, + -0.8750291678063709, + -0.06208523963787943, + 0.16007674949398495, + 0.1569698552603616, + -0.9745439440122655 + ], + [ + 0.8646803481715966, + 0.4560446244433891, + 0.21059723645417106, + 0.4758688542797205, + -0.8779366119712625, + -0.052689077491699536, + 0.16086245370611513, + 0.1457758754962848, + -0.9761519682462044 + ], + [ + 0.8593795646123615, + 0.4672162875163834, + 0.20778764305433542, + 0.48017561529074454, + -0.877063255299178, + -0.013835630963700794, + 0.17577867449387205, + 0.11166461786715162, + -0.978076106808545 + ], + [ + 0.8706571456606522, + 0.45070108299015377, + 0.19703976375734092, + 0.4579911989312907, + -0.8889056615306486, + 0.00952820026234396, + 0.17944413172774729, + 0.08194668199666735, + -0.9803491953881599 + ], + [ + 0.8826310756894388, + 0.4271501371407957, + 0.19622727783848873, + 0.43045426294665184, + -0.9021870166821516, + 0.027707660334531214, + 0.18886903329651142, + 0.06001122620608963, + -0.9801668944577157 + ], + [ + 0.885913287997899, + 0.4265210226439005, + 0.18231144613422667, + 0.4248055421803117, + -0.9038820085422831, + 0.05037425896685438, + 0.18627371656152442, + 0.032819687328943234, + -0.9819495764253822 + ], + [ + 0.8705005561532265, + 0.4770082927539853, + 0.12121002590896315, + 0.4676497749562873, + -0.8784215913115562, + 0.0983829045160139, + 0.1534029651612285, + -0.028958531758387515, + -0.987739304532396 + ], + [ + 0.8739493683767283, + 0.47514770751073765, + 0.10221133773318902, + 0.46504326185310196, + -0.8786467834752799, + 0.10823398030919781, + 0.1412347907526497, + -0.047058324830311415, + -0.988857041207282 + ], + [ + 0.8695550030756373, + 0.48952126662218826, + 0.06513851511001001, + 0.483570361709354, + -0.8707942110636993, + 0.0887532943289101, + 0.10016886693186197, + -0.04567681581019059, + -0.9939214388446548 + ], + [ + 0.8637181276807292, + 0.500957232490701, + 0.055071291349973794, + 0.4990170167370573, + -0.8653897463425363, + 0.04563555556853143, + 0.07051959247289682, + -0.01193474509400061, + -0.9974389950954384 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.005396664142608643, + -0.0024997517466545105, + -0.015551239252090454, + -0.003467014990746975, + 0.04763035476207733, + 0.0055297911167144775, + 1.0 + ], + [ + 0.00237882137298584, + -0.017158031463623047, + -0.0022321082651615143, + -0.03602927178144455, + 0.003085128962993622, + 0.039789944887161255, + 1.0 + ], + [ + 0.0038290321826934814, + -0.018913790583610535, + 0.00031348690390586853, + -0.03875630348920822, + 0.005139686167240143, + 0.041407614946365356, + 1.0 + ], + [ + 0.002888500690460205, + -0.018451623618602753, + -0.0027887821197509766, + -0.004703536629676819, + -0.01302366703748703, + -0.0039483606815338135, + 1.0 + ], + [ + 0.0027942955493927, + -0.01560945250093937, + -0.0027989745140075684, + 0.011607810854911804, + -0.023732811212539673, + 0.01555335521697998, + 1.0 + ], + [ + 0.003728717565536499, + -0.008509902283549309, + -0.00883123092353344, + 0.023020893335342407, + -0.018383421003818512, + 0.021105587482452393, + 1.0 + ], + [ + 0.0020585060119628906, + -0.0073841349221765995, + -0.007737793028354645, + 0.02531847357749939, + -0.01892874389886856, + 0.007870644330978394, + 1.0 + ], + [ + -0.0025873780250549316, + -0.0028827935457229614, + -0.013119259849190712, + 0.01966996304690838, + 0.024107947945594788, + 0.03711250424385071, + 1.0 + ], + [ + 0.0017904937267303467, + -0.0032277218997478485, + 0.0006956108845770359, + -0.014363031834363937, + -0.0036991462111473083, + 0.016180843114852905, + 1.0 + ], + [ + 0.0026406049728393555, + -0.0002582985907793045, + -0.007582498714327812, + 0.0159770455211401, + -0.01000688225030899, + 0.00869685411453247, + 1.0 + ], + [ + 0.001925438642501831, + -0.0002194652333855629, + -0.00022431625984609127, + 0.005334037821739912, + -0.01662144809961319, + 0.004549920558929443, + 1.0 + ], + [ + 0.00024402141571044922, + -0.0016841134056448936, + -0.0035345517098903656, + 0.0030437009409070015, + 0.00044333934783935547, + 0.0074731409549713135, + 0.0 + ], + [ + 0.00017371773719787598, + -0.001090732403099537, + -0.003856206778436899, + -0.00025945622473955154, + 0.000973135232925415, + 0.007465630769729614, + 0.0 + ], + [ + 0.0003323554992675781, + -0.0002018231898546219, + -0.00016527529805898666, + 0.0030182627961039543, + -0.0061511993408203125, + 0.0010064244270324707, + 0.0 + ], + [ + 0.0006514787673950195, + -0.0001629311591386795, + 0.000295175239443779, + -0.006841314025223255, + -0.0002209097146987915, + 0.013796836137771606, + 0.0 + ], + [ + 0.003562837839126587, + -0.0014050155878067017, + 0.0038631842471659184, + -0.013428318314254284, + -0.00020015239715576172, + 0.004001349210739136, + 0.0 + ], + [ + 0.006035596132278442, + 0.006261724047362804, + 0.015860332176089287, + -0.04962845891714096, + -0.030233412981033325, + 0.03892606496810913, + 0.0 + ], + [ + 0.0008514523506164551, + 0.003790228860452771, + 0.017324373126029968, + -0.04772411286830902, + -0.006480053067207336, + -0.0003809928894042969, + 0.0 + ], + [ + -0.008459091186523438, + 0.01621410995721817, + 0.017251908779144287, + -0.04416417330503464, + -0.014031767845153809, + -0.006848812103271484, + 0.0 + ], + [ + -0.012412458658218384, + 0.01981077902019024, + -0.003361005336046219, + -0.00811488926410675, + 0.02544054388999939, + -0.004445791244506836, + 0.0 + ], + [ + -0.005048960447311401, + 0.021505191922187805, + -0.0018598511815071106, + 0.011456698179244995, + -0.0007960200309753418, + -0.004795730113983154, + 0.0 + ], + [ + -0.004038602113723755, + 0.024190280586481094, + -0.0018369406461715698, + 0.03456631302833557, + -0.015132278203964233, + 0.006429016590118408, + 0.0 + ], + [ + 0.0002894401550292969, + 0.009524598717689514, + -0.015254531055688858, + 0.03028002381324768, + -0.0037246793508529663, + -0.025280237197875977, + 0.0 + ], + [ + -0.0033828914165496826, + 0.00042995065450668335, + -0.0075237806886434555, + 0.022246219217777252, + -0.009588941931724548, + -0.030498802661895752, + 0.0 + ], + [ + -0.004682958126068115, + -0.0012288093566894531, + -0.006575156934559345, + 0.02773863822221756, + 0.002642214298248291, + -0.006631970405578613, + 1.0 + ], + [ + 0.0024468302726745605, + 0.003647245466709137, + -0.01630152389407158, + 0.06272014230489731, + 0.03335702419281006, + 0.04585510492324829, + 1.0 + ], + [ + -0.0023507773876190186, + -0.0014960244297981262, + -0.0025503095239400864, + 0.018243132159113884, + 0.012302488088607788, + -0.003968089818954468, + 1.0 + ], + [ + -0.002807915210723877, + 0.002443648874759674, + 0.00464495737105608, + -0.001628875732421875, + 0.041371457278728485, + 0.018514126539230347, + 1.0 + ], + [ + -0.00019866228103637695, + 0.002248205244541168, + 0.01583612710237503, + -0.0339590348303318, + 0.029758967459201813, + 0.016377925872802734, + 1.0 + ], + [ + 0.006710678339004517, + 0.006797283887863159, + 0.03391841799020767, + -0.05325296148657799, + -0.009269021451473236, + 0.015433192253112793, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9445669651031494 + ], + [ + 0.6581199765205383 + ], + [ + 0.5779332518577576 + ], + [ + 0.6119219660758972 + ], + [ + 0.6119219660758972 + ], + [ + 0.6119219660758972 + ], + [ + 0.6119219660758972 + ], + [ + 0.6119219660758972 + ], + [ + 0.6119219660758972 + ], + [ + 0.6119219660758972 + ], + [ + 0.6119219660758972 + ], + [ + 0.6119219660758972 + ], + [ + 0.6119219660758972 + ], + [ + 0.6892001032829285 + ], + [ + 0.9635607004165649 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.35268789529800415, + 0.08412019163370132, + 0.043463628739118576 + ], + [ + 0.35506671667099, + 0.06696216017007828, + 0.04123152047395706 + ], + [ + 0.35889574885368347, + 0.04804836958646774, + 0.04154500737786293 + ], + [ + 0.3617842495441437, + 0.02959674596786499, + 0.038756225258111954 + ], + [ + 0.3645785450935364, + 0.013987293466925621, + 0.035957250744104385 + ], + [ + 0.3683072626590729, + 0.0054773916490375996, + 0.027126019820570946 + ], + [ + 0.37036576867103577, + -0.0019067431567236781, + 0.0193882267922163 + ], + [ + 0.36777839064598083, + -0.004789536818861961, + 0.006268967408686876 + ], + [ + 0.3695688843727112, + -0.00801725871860981, + 0.006964578293263912 + ], + [ + 0.37220948934555054, + -0.008275557309389114, + -0.0006179202464409173 + ], + [ + 0.37413492798805237, + -0.008495022542774677, + -0.0008422365062870085 + ], + [ + 0.3743789494037628, + -0.010179135948419571, + -0.004376788157969713 + ], + [ + 0.3745526671409607, + -0.011269868351519108, + -0.008232994936406612 + ], + [ + 0.37488502264022827, + -0.01147169154137373, + -0.008398270234465599 + ], + [ + 0.3755365014076233, + -0.01163462270051241, + -0.00810309499502182 + ], + [ + 0.3790993392467499, + -0.013039638288319111, + -0.004239910747855902 + ], + [ + 0.3851349353790283, + -0.0067779142409563065, + 0.011620421893894672 + ], + [ + 0.3859863877296448, + -0.0029876853805035353, + 0.028944794088602066 + ], + [ + 0.37752729654312134, + 0.013226425275206566, + 0.04619670286774635 + ], + [ + 0.36511483788490295, + 0.033037204295396805, + 0.042835697531700134 + ], + [ + 0.36006587743759155, + 0.05454239621758461, + 0.040975846350193024 + ], + [ + 0.3560272753238678, + 0.0787326768040657, + 0.039138905704021454 + ], + [ + 0.3563167154788971, + 0.08825727552175522, + 0.023884374648332596 + ], + [ + 0.3529338240623474, + 0.0886872261762619, + 0.01636059395968914 + ], + [ + 0.3482508659362793, + 0.08745841681957245, + 0.009785437025129795 + ], + [ + 0.35069769620895386, + 0.09110566228628159, + -0.006516086868941784 + ], + [ + 0.34834691882133484, + 0.08960963785648346, + -0.00906639639288187 + ], + [ + 0.34553900361061096, + 0.09205328673124313, + -0.00442143902182579 + ], + [ + 0.3453403413295746, + 0.0943014919757843, + 0.011414687149226665 + ], + [ + 0.3520510196685791, + 0.10109877586364746, + 0.04533310607075691 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9651127133914306, + 0.255564041210461, + 0.056960260624476663, + 0.25528191249661075, + -0.9667884388009754, + 0.012298770379413198, + 0.05821164490291682, + 0.00267122461626817, + -0.9983006906522435 + ], + [ + 0.9543609525681226, + 0.29171075887993814, + 0.06403128428319897, + 0.29352289968247625, + -0.955725929532011, + -0.02079074270352524, + 0.055131475358965905, + 0.038636521244332624, + -0.9977312963172397 + ], + [ + 0.9416470125977985, + 0.32863741466324364, + 0.07278978876944642, + 0.33286786208850144, + -0.9412885593755859, + -0.05634566866463079, + 0.04999890053062943, + 0.07728711194043422, + -0.9957543935497523 + ], + [ + 0.9422592088117446, + 0.3235658510386556, + 0.08632915759519122, + 0.3289048082892258, + -0.9426536946077918, + -0.05679471037435905, + 0.06300167056271186, + 0.08190941389065248, + -0.9946464886694152 + ], + [ + 0.9353622871665423, + 0.33761052049416224, + 0.1054349477082227, + 0.34290838256426354, + -0.9386620391902939, + -0.036433739175106644, + 0.08666736937126604, + 0.07023327298923135, + -0.9937585493727762 + ], + [ + 0.9262765346749828, + 0.35888445153105963, + 0.11495099721079327, + 0.3619308387434804, + -0.9321849829856294, + -0.006101267288244765, + 0.10496594341473833, + 0.047255771555783074, + -0.9933524262706169 + ], + [ + 0.9213890657929866, + 0.3686160906785656, + 0.12314368489686546, + 0.36840620061926466, + -0.9293202857100303, + 0.02531161616936891, + 0.1237701934328501, + 0.022045050707104656, + -0.9920660033268531 + ], + [ + 0.909548995701465, + 0.4052235503105091, + 0.09227404126948459, + 0.40343251817147857, + -0.9142141149652471, + 0.03814125430723837, + 0.09981396545712369, + 0.0025350092812642666, + -0.9950028874468998 + ], + [ + 0.9025611105876534, + 0.41854657517393923, + 0.10100597044208617, + 0.41793832623427785, + -0.9080395808542817, + 0.028136720961595047, + 0.10349394725911229, + 0.016819156106842297, + -0.9944878676326734 + ], + [ + 0.8979113193311653, + 0.4279746534297974, + 0.10292209985523147, + 0.42530722189521547, + -0.9037902607379625, + 0.047717204433819875, + 0.11344174549406115, + 0.0009276943730843271, + -0.993544216309677 + ], + [ + 0.8941428519960622, + 0.4326895257231627, + 0.11527503872830613, + 0.42851405511818536, + -0.9015324390172489, + 0.06012458703208877, + 0.12993946586975316, + -0.004362995424584976, + -0.9915123294646457 + ], + [ + 0.8909672425198731, + 0.4397591688270416, + 0.11308954942470671, + 0.43520932411585556, + -0.8980854025924945, + 0.06352522217904702, + 0.12949987242910238, + -0.007381265665634552, + -0.9915519653341521 + ], + [ + 0.8878057289348771, + 0.44641618584674714, + 0.11186409917598385, + 0.44190471231691164, + -0.8947970858075353, + 0.06370557638425467, + 0.128534870375783, + -0.00712490311408609, + -0.9916793951943822 + ], + [ + 0.8866362982822716, + 0.4477075756738054, + 0.1159051390258221, + 0.44243659911744165, + -0.8941228771792765, + 0.06923970151614961, + 0.1346325752918053, + -0.010109757115629291, + -0.9908440152119606 + ], + [ + 0.8804214331691014, + 0.45920420304437964, + 0.11827763914976414, + 0.45461322124347875, + -0.8883244934637224, + 0.064856868433875, + 0.1348514704669309, + -0.0033307985224640124, + -0.9908602256090964 + ], + [ + 0.878571373421136, + 0.4611267978007652, + 0.1243962143913975, + 0.458119957547563, + -0.8872781905133573, + 0.05351184108177404, + 0.13504979193437275, + 0.009974416742556787, + -0.9907886074784712 + ], + [ + 0.8561408403954414, + 0.4870861866064546, + 0.1725395845137261, + 0.48971182765773996, + -0.8713693729766661, + 0.02996233786551977, + 0.16493995046411022, + 0.05884269415512565, + -0.9845467739449777 + ], + [ + 0.8553814131598173, + 0.4773736373106994, + 0.20108965269617157, + 0.48884500884939786, + -0.8723286106324015, + -0.008564601285303883, + 0.1713277424813221, + 0.10562767380235595, + -0.9795353996581017 + ], + [ + 0.8565295220678955, + 0.4602359634154873, + 0.2335380821304324, + 0.4817492231184382, + -0.8753069607826877, + -0.04189761843059351, + 0.1851347181133878, + 0.14839333672504515, + -0.9714445706084747 + ], + [ + 0.8624998873995537, + 0.4579131140594597, + 0.21542869866414263, + 0.4800722638386827, + -0.8750291678063709, + -0.06208523963787943, + 0.16007674949398495, + 0.1569698552603616, + -0.9745439440122655 + ], + [ + 0.8646803481715966, + 0.4560446244433891, + 0.21059723645417106, + 0.4758688542797205, + -0.8779366119712625, + -0.052689077491699536, + 0.16086245370611513, + 0.1457758754962848, + -0.9761519682462044 + ], + [ + 0.8593795646123615, + 0.4672162875163834, + 0.20778764305433542, + 0.48017561529074454, + -0.877063255299178, + -0.013835630963700794, + 0.17577867449387205, + 0.11166461786715162, + -0.978076106808545 + ], + [ + 0.8706571456606522, + 0.45070108299015377, + 0.19703976375734092, + 0.4579911989312907, + -0.8889056615306486, + 0.00952820026234396, + 0.17944413172774729, + 0.08194668199666735, + -0.9803491953881599 + ], + [ + 0.8826310756894388, + 0.4271501371407957, + 0.19622727783848873, + 0.43045426294665184, + -0.9021870166821516, + 0.027707660334531214, + 0.18886903329651142, + 0.06001122620608963, + -0.9801668944577157 + ], + [ + 0.885913287997899, + 0.4265210226439005, + 0.18231144613422667, + 0.4248055421803117, + -0.9038820085422831, + 0.05037425896685438, + 0.18627371656152442, + 0.032819687328943234, + -0.9819495764253822 + ], + [ + 0.8705005561532265, + 0.4770082927539853, + 0.12121002590896315, + 0.4676497749562873, + -0.8784215913115562, + 0.0983829045160139, + 0.1534029651612285, + -0.028958531758387515, + -0.987739304532396 + ], + [ + 0.8739493683767283, + 0.47514770751073765, + 0.10221133773318902, + 0.46504326185310196, + -0.8786467834752799, + 0.10823398030919781, + 0.1412347907526497, + -0.047058324830311415, + -0.988857041207282 + ], + [ + 0.8695550030756373, + 0.48952126662218826, + 0.06513851511001001, + 0.483570361709354, + -0.8707942110636993, + 0.0887532943289101, + 0.10016886693186197, + -0.04567681581019059, + -0.9939214388446548 + ], + [ + 0.8637181276807292, + 0.500957232490701, + 0.055071291349973794, + 0.4990170167370573, + -0.8653897463425363, + 0.04563555556853143, + 0.07051959247289682, + -0.01193474509400061, + -0.9974389950954384 + ], + [ + 0.8553165261140637, + 0.5103029218985706, + 0.08957995343798492, + 0.511929295439904, + -0.8590099095616327, + 0.0055110566427234026, + 0.07976237600882896, + 0.041144904626175, + -0.9959643870122712 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006068.json b/json/chunk-0006/episode_0006068.json new file mode 100644 index 0000000000000000000000000000000000000000..e99e2ea5a844d6575273e888665a8337757853cd --- /dev/null +++ b/json/chunk-0006/episode_0006068.json @@ -0,0 +1,2242 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 36, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut the silver pot above the yellow towel." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006068.mp4", + "start": 0, + "end": 36, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3591322898864746, + 0.016870977357029915, + 0.0715622827410698, + 0.06406558305025101, + -0.044473789632320404, + -0.1711849421262741, + 0.0, + 1.0001531839370728 + ], + [ + 0.35620322823524475, + 0.015484176576137543, + 0.06155617535114288, + 0.05099811777472496, + -0.022070134058594704, + -0.16564476490020752, + 0.0, + 1.0001531839370728 + ], + [ + 0.338593453168869, + -0.0031076939776539803, + 0.06702982634305954, + -0.0013164913980290294, + -0.06878182291984558, + -0.17487166821956635, + 0.0, + 1.0001531839370728 + ], + [ + 0.3251701295375824, + -0.02350039780139923, + 0.1019807979464531, + 0.006322310771793127, + -0.18752115964889526, + -0.16808056831359863, + 0.0, + 1.0001531839370728 + ], + [ + 0.30389073491096497, + -0.05197212100028992, + 0.10911773890256882, + 0.001522109960205853, + -0.21168814599514008, + -0.1819574534893036, + 0.0, + 1.0001531839370728 + ], + [ + 0.2920984923839569, + -0.08208103477954865, + 0.09293828159570694, + -0.00528296921402216, + -0.17940352857112885, + -0.23809881508350372, + 0.0, + 1.0001531839370728 + ], + [ + 0.28732800483703613, + -0.10952184349298477, + 0.07023149728775024, + 0.0025956688914448023, + -0.144611194729805, + -0.3134031295776367, + 0.0, + 1.0001531839370728 + ], + [ + 0.278775691986084, + -0.12004294246435165, + 0.05439203232526779, + 0.03437171131372452, + -0.08195087313652039, + -0.34661784768104553, + 0.0, + 1.0001531839370728 + ], + [ + 0.27600908279418945, + -0.11825097352266312, + 0.04852715879678726, + 0.06752472370862961, + -0.05292132496833801, + -0.3307808041572571, + 0.0, + 1.0001531839370728 + ], + [ + 0.27267447113990784, + -0.1151445135474205, + 0.03821888566017151, + 0.08048214763402939, + -0.015367577783763409, + -0.3235371708869934, + 0.0, + 1.0001531839370728 + ], + [ + 0.271107017993927, + -0.11097577214241028, + 0.036422617733478546, + 0.08416660130023956, + -0.006563073955476284, + -0.2977635860443115, + 0.0, + 1.0001531839370728 + ], + [ + 0.26476138830184937, + -0.10377494245767593, + 0.028068918734788895, + 0.08077044039964676, + 0.029315173625946045, + -0.2697460353374481, + 0.0, + 1.0001531839370728 + ], + [ + 0.2590034008026123, + -0.10003776848316193, + 0.01583762839436531, + 0.0559864416718483, + 0.05451338738203049, + -0.25190863013267517, + 0.0, + 1.0001531839370728 + ], + [ + 0.25901034474372864, + -0.09802614897489548, + 0.012145791202783585, + 0.04347505047917366, + 0.05523643642663956, + -0.23966658115386963, + 0.0, + 0.9398812651634216 + ], + [ + 0.2551289498806, + -0.09782829880714417, + 0.006822717841714621, + 0.03351481631398201, + 0.047999586910009384, + -0.25630417466163635, + 0.0, + 0.6500836610794067 + ], + [ + 0.2516988217830658, + -0.10035856813192368, + 0.005518630612641573, + 0.006318383850157261, + 0.02566506341099739, + -0.30648210644721985, + 0.0, + 0.36781078577041626 + ], + [ + 0.25273698568344116, + -0.10238762944936752, + 0.009983038529753685, + -0.04109746217727661, + -0.0387854129076004, + -0.3842233121395111, + 0.0, + 0.16338585317134857 + ], + [ + 0.25075942277908325, + -0.10921066254377365, + 0.02241389825940132, + -0.00289947260171175, + -0.08741462230682373, + -0.39956021308898926, + 0.0, + 0.08363015204668045 + ], + [ + 0.24960626661777496, + -0.1153838038444519, + 0.036286212503910065, + -0.0026967457961291075, + -0.11986717581748962, + -0.35400673747062683, + 0.0, + 0.07788556814193726 + ], + [ + 0.24626849591732025, + -0.11313944309949875, + 0.059091802686452866, + -0.012742855586111546, + -0.136445090174675, + -0.26199954748153687, + 0.0, + 0.07788556814193726 + ], + [ + 0.25771012902259827, + -0.09270818531513214, + 0.0726875439286232, + 0.01307013351470232, + -0.104986272752285, + -0.16003602743148804, + 0.0, + 0.07788556814193726 + ], + [ + 0.28014394640922546, + -0.0651404932141304, + 0.0878138318657875, + 0.0313347727060318, + -0.12796245515346527, + -0.0829208567738533, + 0.0, + 0.07788556814193726 + ], + [ + 0.3053836226463318, + -0.03600049018859863, + 0.09175094217061996, + 0.05045592039823532, + -0.13171927630901337, + -0.022580156102776527, + 0.0, + 0.07788556814193726 + ], + [ + 0.3304669260978699, + -0.012780092656612396, + 0.08954472094774246, + 0.07339823246002197, + -0.1341247409582138, + 0.015768030658364296, + 0.0, + 0.07788556814193726 + ], + [ + 0.35094425082206726, + -0.0026114792563021183, + 0.08114304393529892, + 0.09465458989143372, + -0.12765362858772278, + 0.03637636452913284, + 0.0, + 0.07788556814193726 + ], + [ + 0.3684805631637573, + 0.005794628988951445, + 0.06750708073377609, + 0.10093312710523605, + -0.10441043227910995, + 0.03969627246260643, + 0.0, + 0.07788556814193726 + ], + [ + 0.3780892789363861, + 0.02166586183011532, + 0.05971585586667061, + 0.10737242549657822, + -0.09123873710632324, + 0.054409291595220566, + 0.0, + 0.07788556814193726 + ], + [ + 0.3839951455593109, + 0.03964467719197273, + 0.050679512321949005, + 0.09621977806091309, + -0.06890131533145905, + 0.08125992864370346, + 0.0, + 0.07788556814193726 + ], + [ + 0.3849087953567505, + 0.05173421651124954, + 0.04357795789837837, + 0.07943123579025269, + -0.046042509377002716, + 0.09905495494604111, + 0.0, + 0.07788556814193726 + ], + [ + 0.3839389681816101, + 0.05541309341788292, + 0.038037899881601334, + 0.07711069285869598, + -0.029892858117818832, + 0.10079819709062576, + 0.0, + 0.07755524665117264 + ], + [ + 0.3852072060108185, + 0.05838674306869507, + 0.033728498965501785, + 0.07618403434753418, + -0.017908869311213493, + 0.0928407534956932, + 0.0, + 0.10834171622991562 + ], + [ + 0.38414454460144043, + 0.061899758875370026, + 0.03177524730563164, + 0.06149262562394142, + -0.011677083559334278, + 0.08399984240531921, + 0.0, + 0.2486134171485901 + ], + [ + 0.3826044797897339, + 0.06266302615404129, + 0.030269142240285873, + 0.06408809870481491, + -0.012274305336177349, + 0.07116012275218964, + 0.0, + 0.5159127116203308 + ], + [ + 0.380200058221817, + 0.0627259910106659, + 0.057747721672058105, + 0.07329243421554565, + -0.07241369783878326, + 0.03534994646906853, + 0.0, + 0.8186774849891663 + ], + [ + 0.3722749948501587, + 0.061743684113025665, + 0.07665634900331497, + 0.09282088279724121, + -0.1082364097237587, + -0.004690940026193857, + 0.0, + 1.0067112445831299 + ], + [ + 0.36657020449638367, + 0.05353644862771034, + 0.08407232910394669, + 0.09622722119092941, + -0.11560545116662979, + -0.043224263936281204, + 0.0, + 1.0067112445831299 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9398812651634216 + ], + [ + 0.6500836610794067 + ], + [ + 0.36781078577041626 + ], + [ + 0.16338585317134857 + ], + [ + 0.08363015204668045 + ], + [ + 0.07788556814193726 + ], + [ + 0.07788556814193726 + ], + [ + 0.07788556814193726 + ], + [ + 0.07788556814193726 + ], + [ + 0.07788556814193726 + ], + [ + 0.07788556814193726 + ], + [ + 0.07788556814193726 + ], + [ + 0.07788556814193726 + ], + [ + 0.07788556814193726 + ], + [ + 0.07788556814193726 + ], + [ + 0.07788556814193726 + ], + [ + 0.07755524665117264 + ], + [ + 0.10834171622991562 + ], + [ + 0.2486134171485901 + ], + [ + 0.5159127116203308 + ], + [ + 0.8186774849891663 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3591322898864746, + 0.016870977357029915, + 0.0715622827410698 + ], + [ + 0.35620322823524475, + 0.015484176576137543, + 0.06155617535114288 + ], + [ + 0.338593453168869, + -0.0031076939776539803, + 0.06702982634305954 + ], + [ + 0.3251701295375824, + -0.02350039780139923, + 0.1019807979464531 + ], + [ + 0.30389073491096497, + -0.05197212100028992, + 0.10911773890256882 + ], + [ + 0.2920984923839569, + -0.08208103477954865, + 0.09293828159570694 + ], + [ + 0.28732800483703613, + -0.10952184349298477, + 0.07023149728775024 + ], + [ + 0.278775691986084, + -0.12004294246435165, + 0.05439203232526779 + ], + [ + 0.27600908279418945, + -0.11825097352266312, + 0.04852715879678726 + ], + [ + 0.27267447113990784, + -0.1151445135474205, + 0.03821888566017151 + ], + [ + 0.271107017993927, + -0.11097577214241028, + 0.036422617733478546 + ], + [ + 0.26476138830184937, + -0.10377494245767593, + 0.028068918734788895 + ], + [ + 0.2590034008026123, + -0.10003776848316193, + 0.01583762839436531 + ], + [ + 0.25901034474372864, + -0.09802614897489548, + 0.012145791202783585 + ], + [ + 0.2551289498806, + -0.09782829880714417, + 0.006822717841714621 + ], + [ + 0.2516988217830658, + -0.10035856813192368, + 0.005518630612641573 + ], + [ + 0.25273698568344116, + -0.10238762944936752, + 0.009983038529753685 + ], + [ + 0.25075942277908325, + -0.10921066254377365, + 0.02241389825940132 + ], + [ + 0.24960626661777496, + -0.1153838038444519, + 0.036286212503910065 + ], + [ + 0.24626849591732025, + -0.11313944309949875, + 0.059091802686452866 + ], + [ + 0.25771012902259827, + -0.09270818531513214, + 0.0726875439286232 + ], + [ + 0.28014394640922546, + -0.0651404932141304, + 0.0878138318657875 + ], + [ + 0.3053836226463318, + -0.03600049018859863, + 0.09175094217061996 + ], + [ + 0.3304669260978699, + -0.012780092656612396, + 0.08954472094774246 + ], + [ + 0.35094425082206726, + -0.0026114792563021183, + 0.08114304393529892 + ], + [ + 0.3684805631637573, + 0.005794628988951445, + 0.06750708073377609 + ], + [ + 0.3780892789363861, + 0.02166586183011532, + 0.05971585586667061 + ], + [ + 0.3839951455593109, + 0.03964467719197273, + 0.050679512321949005 + ], + [ + 0.3849087953567505, + 0.05173421651124954, + 0.04357795789837837 + ], + [ + 0.3839389681816101, + 0.05541309341788292, + 0.038037899881601334 + ], + [ + 0.3852072060108185, + 0.05838674306869507, + 0.033728498965501785 + ], + [ + 0.38414454460144043, + 0.061899758875370026, + 0.03177524730563164 + ], + [ + 0.3826044797897339, + 0.06266302615404129, + 0.030269142240285873 + ], + [ + 0.380200058221817, + 0.0627259910106659, + 0.057747721672058105 + ], + [ + 0.3722749948501587, + 0.061743684113025665, + 0.07665634900331497 + ], + [ + 0.36657020449638367, + 0.05353644862771034, + 0.08407232910394669 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9844092603880515, + -0.16719586946053427, + 0.05462553704619465, + -0.1701816494434334, + -0.9838469679351932, + 0.055527919801114545, + 0.04445913016424802, + -0.06395846245855699, + -0.9969617348850334 + ], + [ + 0.9860720441092692, + -0.16356437177121036, + 0.03014332618103637, + -0.16484814857767766, + -0.985215411851249, + 0.046644186789840295, + 0.022068342408957067, + -0.05096360012658928, + -0.9984566589118717 + ], + [ + 0.9824203991017787, + -0.17407071304202998, + 0.06745032460812343, + -0.17357037810397574, + -0.98473227930181, + -0.01325375214439456, + 0.06872760197726145, + 0.0013133781258242742, + -0.9976345983196221 + ], + [ + 0.9686241009477583, + -0.16612491890173148, + 0.18485091934594272, + -0.1643575717896022, + -0.9860851532152314, + -0.024953140161501557, + 0.1864240855108933, + -0.0062114352920169015, + -0.982449733275469 + ], + [ + 0.9615374887776786, + -0.1806403161015293, + 0.20691721502536986, + -0.17691570820925862, + -0.9835480982957232, + -0.03652356126780365, + 0.21011066099541936, + -0.0014881322542391398, + -0.9776764779815774 + ], + [ + 0.9561912314182194, + -0.2367683210513367, + 0.17216007407479866, + -0.2320700956428882, + -0.97155223294031, + -0.0472200103451698, + 0.17844270695999248, + 0.005198154983103723, + -0.9839365729139057 + ], + [ + 0.9413603491768743, + -0.30794090450452033, + 0.1378879702168786, + -0.3050797692696204, + -0.9514020190059221, + -0.0419587012888832, + 0.1441076936877005, + -0.00256857244251036, + -0.9895586769139155 + ], + [ + 0.9373705733764561, + -0.33687231267167667, + 0.0886197106919761, + -0.3385786226940542, + -0.9409272070901844, + 0.004528488938078308, + 0.0818591743330627, + -0.03424961186205023, + -0.9960552392637708 + ], + [ + 0.9444649302005103, + -0.32066581832792934, + 0.07182916244412357, + -0.32432690697298566, + -0.9447928391834659, + 0.04667492304205065, + 0.05289662592908161, + -0.06737895801898731, + -0.996324255943613 + ], + [ + 0.948004853922958, + -0.31572176442179367, + 0.04008197112045139, + -0.31788465373761965, + -0.945440580401261, + 0.07135443818460459, + 0.015366972916776973, + -0.08038579725869675, + -0.9966453630767861 + ], + [ + 0.9559744158479682, + -0.29181693344741155, + 0.03091591172009727, + -0.2933766229999283, + -0.9527727310139511, + 0.07844921996664418, + 0.006563026839335741, + -0.08406545300874747, + -0.9964386214359318 + ], + [ + 0.9634244837788107, + -0.2678972448524116, + -0.00665809702684543, + -0.26637216596382585, + -0.9600661276433491, + 0.08555056838878641, + -0.029310974996950886, + -0.08064798046071228, + -0.9963115827853938 + ], + [ + 0.9669998520165857, + -0.25181494344467237, + -0.03873655196139078, + -0.2488825412026897, + -0.9661611263432763, + 0.06775070942494134, + -0.05448639173585021, + -0.05587407449835601, + -0.9969500092354477 + ], + [ + 0.9699356242025583, + -0.23948530115361802, + -0.043262864377596376, + -0.23701671402797983, + -0.9699297182176386, + 0.055312014875889534, + -0.05520835239501578, + -0.043395071720331066, + -0.9975314058094686 + ], + [ + 0.9662193656985283, + -0.25492009210846284, + -0.03789305989948979, + -0.25321521651201345, + -0.9663826929194687, + 0.04457067368225166, + -0.04798115750904352, + -0.033469948687269296, + -0.9982873188911916 + ], + [ + 0.953086855474908, + -0.30185511237232615, + -0.022559633322422466, + -0.3016071866765418, + -0.9533328883353208, + 0.013766225455672446, + -0.025662245926915545, + -0.006316260992475278, + -0.9996507159908712 + ], + [ + 0.9263926182802901, + -0.37599966128205653, + 0.02051759029631156, + -0.37455728894861595, + -0.9257098584807019, + -0.0526126905518216, + 0.03877568943618617, + 0.041054995157927814, + -0.9984041933412193 + ], + [ + 0.9177146935802752, + -0.3892447934093091, + 0.07929837319016028, + -0.38752789372171687, + -0.9211298214488516, + -0.036633094671577056, + 0.08730333770521839, + 0.00288839771348208, + -0.9961775867706407 + ], + [ + 0.9312607443791339, + -0.346960085247393, + 0.11123005539665445, + -0.34417142374767246, + -0.9378760743384613, + -0.04398295418655565, + 0.1195803372378634, + 0.002677392126366116, + -0.9928209176470247 + ], + [ + 0.9568969770975253, + -0.2606654642252362, + 0.12806908675344159, + -0.25660506685420803, + -0.9653466467451335, + -0.047536210226248626, + 0.13602211175527995, + 0.012624079299845537, + -0.9906253669957507 + ], + [ + 0.981785902445174, + -0.15798803833908523, + 0.10552829716091845, + -0.1584763721138752, + -0.987355476490107, + -0.003795066088823, + 0.10479351717324857, + -0.012997799304563143, + -0.9944090586733905 + ], + [ + 0.9884160983854748, + -0.07880085613247, + 0.12970752300936408, + -0.08214867725728307, + -0.9964059730350655, + 0.02065748592938516, + 0.12761352309733356, + -0.031073493090313594, + -0.9913370903733262 + ], + [ + 0.9910848387761647, + -0.0159271876548349, + 0.13227685754292487, + -0.02238265453245356, + -0.9986223319448856, + 0.04746003494562224, + 0.13133871905917313, + -0.04999762828741502, + -0.9900759455928263 + ], + [ + 0.9908955566865421, + 0.02552992432302564, + 0.13219008549406547, + 0.01562576655410153, + -0.9970289623440352, + 0.07542601452266422, + 0.13372296421506846, + -0.07267373123238559, + -0.9883504933121136 + ], + [ + 0.991207169574173, + 0.04822980977539294, + 0.12321620199383909, + 0.036072425552302556, + -0.9944274202193214, + 0.09906001226892246, + 0.1273072154260344, + -0.09374428710580122, + -0.9874233547650647 + ], + [ + 0.9937706774464722, + 0.04997707903075931, + 0.09960990020642024, + 0.0394697258085483, + -0.9937100304545361, + 0.10479750053623907, + 0.10422082993422083, + -0.10021310765363106, + -0.989492471756215 + ], + [ + 0.9943669677492617, + 0.06381897039939424, + 0.08462548355135166, + 0.0541562537187597, + -0.9922388203279733, + 0.11193401456796438, + 0.09111220353107577, + -0.10672048749566869, + -0.9901057034056508 + ], + [ + 0.9943353011971433, + 0.0873874531913818, + 0.06050406447429387, + 0.08097793131227704, + -0.9915530603746853, + 0.10131684510474617, + 0.06884681135368287, + -0.09584342171645918, + -0.9930126661226989 + ], + [ + 0.9940434938356479, + 0.10221541440035442, + 0.03780927693016473, + 0.0987882446439852, + -0.9915993563610014, + 0.08349610281089691, + 0.04602624341805663, + -0.07926364566061513, + -0.9957905700464381 + ], + [ + 0.9944796710346905, + 0.1026193192269646, + 0.021896557266573993, + 0.10058263798528097, + -0.9917359998656318, + 0.07964194564698679, + 0.029888406358585525, + -0.07699988241491032, + -0.996583012735735 + ], + [ + 0.9955337230371643, + 0.09379563955412577, + 0.010723073085426336, + 0.0926925724263903, + -0.9926789253157022, + 0.07743796388749555, + 0.017907912015119685, + -0.07609815526473157, + -0.9969395054127225 + ], + [ + 0.9964061512169035, + 0.08445757000411384, + 0.006457606841310755, + 0.08389537373448543, + -0.9945304694049478, + 0.062215043929297706, + 0.01167681819108907, + -0.061449689129999985, + -0.9980418766879263 + ], + [ + 0.9973940489906111, + 0.07173820681940002, + 0.007664249503494644, + 0.07109472577117698, + -0.9953655526436866, + 0.06475304300069455, + 0.012273997133614375, + -0.06403941202623305, + -0.9978718869182049 + ], + [ + 0.9967561666722669, + 0.040542383618594864, + 0.06952308488071175, + 0.03524996136174579, + -0.9965049998541755, + 0.0757312715436952, + 0.07235042795176398, + -0.0730349258653157, + -0.9947016211804645 + ], + [ + 0.9941372180198975, + 0.005341762653804062, + 0.10799378370725451, + -0.0046634722740309, + -0.9957312471791789, + 0.09218207752782669, + 0.10802519971751123, + -0.09214526012089459, + -0.9898685808041613 + ], + [ + 0.9923973401505432, + -0.031938745087179025, + 0.1188588903884897, + -0.04292237904664135, + -0.9949229144566178, + 0.09102781808944851, + 0.11534811935659485, + -0.09543747089799418, + -0.98872974088448 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0029290616512298584, + -0.0013868007808923721, + -0.01000610738992691, + -0.013067465275526047, + 0.0224036555737257, + 0.005540177226066589, + 1.0 + ], + [ + -0.017609775066375732, + -0.01859186962246895, + 0.0054736509919166565, + -0.05231460928916931, + -0.04671169072389603, + -0.009226903319358826, + 1.0 + ], + [ + -0.013423323631286621, + -0.020392704755067825, + 0.034950971603393555, + 0.007638802286237478, + -0.11873933672904968, + 0.006791099905967712, + 1.0 + ], + [ + -0.02127939462661743, + -0.028471723198890686, + 0.007136940956115723, + -0.004800200928002596, + -0.024166986346244812, + -0.013876885175704956, + 1.0 + ], + [ + -0.011792242527008057, + -0.030108913779258728, + -0.016179457306861877, + -0.006805079057812691, + 0.03228461742401123, + -0.056141361594200134, + 1.0 + ], + [ + -0.004770487546920776, + -0.027440808713436127, + -0.022706784307956696, + 0.007878637872636318, + 0.03479233384132385, + -0.075304314494133, + 1.0 + ], + [ + -0.008552312850952148, + -0.010521098971366882, + -0.015839464962482452, + 0.03177604079246521, + 0.0626603215932846, + -0.033214718103408813, + 1.0 + ], + [ + -0.0027666091918945312, + 0.0017919689416885376, + -0.00586487352848053, + 0.03315301239490509, + 0.029029548168182373, + 0.015837043523788452, + 1.0 + ], + [ + -0.003334611654281616, + 0.0031064599752426147, + -0.010308273136615753, + 0.01295742392539978, + 0.03755374625325203, + 0.007243633270263672, + 1.0 + ], + [ + -0.001567453145980835, + 0.004168741405010223, + -0.0017962679266929626, + 0.0036844536662101746, + 0.008804503828287125, + 0.025773584842681885, + 1.0 + ], + [ + -0.006345629692077637, + 0.0072008296847343445, + -0.008353698998689651, + -0.003396160900592804, + 0.035878248512744904, + 0.028017550706863403, + 1.0 + ], + [ + -0.0057579874992370605, + 0.0037371739745140076, + -0.012231290340423584, + -0.024783998727798462, + 0.025198213756084442, + 0.01783740520477295, + 1.0 + ], + [ + 6.943941116333008e-06, + 0.002011619508266449, + -0.003691837191581726, + -0.012511391192674637, + 0.0007230490446090698, + 0.012242048978805542, + 0.0 + ], + [ + -0.003881394863128662, + 0.00019785016775131226, + -0.005323073361068964, + -0.00996023416519165, + -0.007236849516630173, + -0.016637593507766724, + 0.0 + ], + [ + -0.0034301280975341797, + -0.0025302693247795105, + -0.0013040872290730476, + -0.027196433395147324, + -0.022334523499011993, + -0.050177931785583496, + 0.0 + ], + [ + 0.0010381639003753662, + -0.0020290613174438477, + 0.004464407917112112, + -0.0474158450961113, + -0.0644504725933075, + -0.07774120569229126, + 0.0 + ], + [ + -0.00197756290435791, + -0.006823033094406128, + 0.012430859729647636, + 0.038197990506887436, + -0.04862920939922333, + -0.01533690094947815, + 0.0 + ], + [ + -0.0011531561613082886, + -0.006173141300678253, + 0.013872314244508743, + 0.00020272680558264256, + -0.032452553510665894, + 0.04555347561836243, + 0.0 + ], + [ + -0.003337770700454712, + 0.0022443607449531555, + 0.0228055901825428, + -0.010046109557151794, + -0.016577914357185364, + 0.09200718998908997, + 0.0 + ], + [ + 0.011441633105278015, + 0.020431257784366608, + 0.013595741242170334, + 0.025812989100813866, + 0.031458817422389984, + 0.10196352005004883, + 0.0 + ], + [ + 0.022433817386627197, + 0.02756769210100174, + 0.015126287937164307, + 0.018264640122652054, + -0.022976182401180267, + 0.07711517065763474, + 0.0 + ], + [ + 0.025239676237106323, + 0.02914000302553177, + 0.0039371103048324585, + 0.01912114769220352, + -0.0037568211555480957, + 0.060340702533721924, + 0.0 + ], + [ + 0.025083303451538086, + 0.023220397531986237, + -0.0022062212228775024, + 0.02294231206178665, + -0.0024054646492004395, + 0.03834818676114082, + 0.0 + ], + [ + 0.020477324724197388, + 0.010168613865971565, + -0.008401677012443542, + 0.021256357431411743, + 0.006471112370491028, + 0.020608333870768547, + 0.0 + ], + [ + 0.017536312341690063, + 0.008406108245253563, + -0.013635963201522827, + 0.006278537213802338, + 0.023243196308612823, + 0.003319907933473587, + 0.0 + ], + [ + 0.009608715772628784, + 0.015871232375502586, + -0.007791224867105484, + 0.006439298391342163, + 0.013171695172786713, + 0.014713019132614136, + 0.0 + ], + [ + 0.005905866622924805, + 0.017978815361857414, + -0.009036343544721603, + -0.01115264743566513, + 0.022337421774864197, + 0.026850637048482895, + 0.0 + ], + [ + 0.0009136497974395752, + 0.01208953931927681, + -0.007101554423570633, + -0.0167885422706604, + 0.02285880595445633, + 0.017795026302337646, + 0.0 + ], + [ + -0.0009698271751403809, + 0.003678876906633377, + -0.005540058016777039, + -0.0023205429315567017, + 0.016149651259183884, + 0.0017432421445846558, + 0.0 + ], + [ + 0.001268237829208374, + 0.002973649650812149, + -0.004309400916099548, + -0.0009266585111618042, + 0.011983988806605339, + -0.007957443594932556, + 1.0 + ], + [ + -0.0010626614093780518, + 0.0035130158066749573, + -0.0019532516598701477, + -0.014691408723592758, + 0.006231785751879215, + -0.008840911090373993, + 1.0 + ], + [ + -0.001540064811706543, + 0.0007632672786712646, + -0.0015061050653457642, + 0.0025954730808734894, + -0.000597221776843071, + -0.012839719653129578, + 1.0 + ], + [ + -0.00240442156791687, + 6.296485662460327e-05, + 0.027478579431772232, + 0.009204335510730743, + -0.06013939157128334, + -0.03581017628312111, + 1.0 + ], + [ + -0.007925063371658325, + -0.0009823068976402283, + 0.018908627331256866, + 0.019528448581695557, + -0.03582271188497543, + -0.040040887892246246, + 1.0 + ], + [ + -0.005704790353775024, + -0.008207235485315323, + 0.007415980100631714, + 0.003406338393688202, + -0.007369041442871094, + -0.038533322513103485, + 1.0 + ], + [ + -0.003081202507019043, + -0.01349020004272461, + -0.005123615264892578, + -0.020585283637046814, + 0.014987491071224213, + -0.033939819782972336, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9398812651634216 + ], + [ + 0.6500836610794067 + ], + [ + 0.36781078577041626 + ], + [ + 0.16338585317134857 + ], + [ + 0.08363015204668045 + ], + [ + 0.07788556814193726 + ], + [ + 0.07788556814193726 + ], + [ + 0.07788556814193726 + ], + [ + 0.07788556814193726 + ], + [ + 0.07788556814193726 + ], + [ + 0.07788556814193726 + ], + [ + 0.07788556814193726 + ], + [ + 0.07788556814193726 + ], + [ + 0.07788556814193726 + ], + [ + 0.07788556814193726 + ], + [ + 0.07788556814193726 + ], + [ + 0.07755524665117264 + ], + [ + 0.10834171622991562 + ], + [ + 0.2486134171485901 + ], + [ + 0.5159127116203308 + ], + [ + 0.8186774849891663 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.35620322823524475, + 0.015484176576137543, + 0.06155617535114288 + ], + [ + 0.338593453168869, + -0.0031076939776539803, + 0.06702982634305954 + ], + [ + 0.3251701295375824, + -0.02350039780139923, + 0.1019807979464531 + ], + [ + 0.30389073491096497, + -0.05197212100028992, + 0.10911773890256882 + ], + [ + 0.2920984923839569, + -0.08208103477954865, + 0.09293828159570694 + ], + [ + 0.28732800483703613, + -0.10952184349298477, + 0.07023149728775024 + ], + [ + 0.278775691986084, + -0.12004294246435165, + 0.05439203232526779 + ], + [ + 0.27600908279418945, + -0.11825097352266312, + 0.04852715879678726 + ], + [ + 0.27267447113990784, + -0.1151445135474205, + 0.03821888566017151 + ], + [ + 0.271107017993927, + -0.11097577214241028, + 0.036422617733478546 + ], + [ + 0.26476138830184937, + -0.10377494245767593, + 0.028068918734788895 + ], + [ + 0.2590034008026123, + -0.10003776848316193, + 0.01583762839436531 + ], + [ + 0.25901034474372864, + -0.09802614897489548, + 0.012145791202783585 + ], + [ + 0.2551289498806, + -0.09782829880714417, + 0.006822717841714621 + ], + [ + 0.2516988217830658, + -0.10035856813192368, + 0.005518630612641573 + ], + [ + 0.25273698568344116, + -0.10238762944936752, + 0.009983038529753685 + ], + [ + 0.25075942277908325, + -0.10921066254377365, + 0.02241389825940132 + ], + [ + 0.24960626661777496, + -0.1153838038444519, + 0.036286212503910065 + ], + [ + 0.24626849591732025, + -0.11313944309949875, + 0.059091802686452866 + ], + [ + 0.25771012902259827, + -0.09270818531513214, + 0.0726875439286232 + ], + [ + 0.28014394640922546, + -0.0651404932141304, + 0.0878138318657875 + ], + [ + 0.3053836226463318, + -0.03600049018859863, + 0.09175094217061996 + ], + [ + 0.3304669260978699, + -0.012780092656612396, + 0.08954472094774246 + ], + [ + 0.35094425082206726, + -0.0026114792563021183, + 0.08114304393529892 + ], + [ + 0.3684805631637573, + 0.005794628988951445, + 0.06750708073377609 + ], + [ + 0.3780892789363861, + 0.02166586183011532, + 0.05971585586667061 + ], + [ + 0.3839951455593109, + 0.03964467719197273, + 0.050679512321949005 + ], + [ + 0.3849087953567505, + 0.05173421651124954, + 0.04357795789837837 + ], + [ + 0.3839389681816101, + 0.05541309341788292, + 0.038037899881601334 + ], + [ + 0.3852072060108185, + 0.05838674306869507, + 0.033728498965501785 + ], + [ + 0.38414454460144043, + 0.061899758875370026, + 0.03177524730563164 + ], + [ + 0.3826044797897339, + 0.06266302615404129, + 0.030269142240285873 + ], + [ + 0.380200058221817, + 0.0627259910106659, + 0.057747721672058105 + ], + [ + 0.3722749948501587, + 0.061743684113025665, + 0.07665634900331497 + ], + [ + 0.36657020449638367, + 0.05353644862771034, + 0.08407232910394669 + ], + [ + 0.3634890019893646, + 0.04004624858498573, + 0.07894871383905411 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9860720441092692, + -0.16356437177121036, + 0.03014332618103637, + -0.16484814857767766, + -0.985215411851249, + 0.046644186789840295, + 0.022068342408957067, + -0.05096360012658928, + -0.9984566589118717 + ], + [ + 0.9824203991017787, + -0.17407071304202998, + 0.06745032460812343, + -0.17357037810397574, + -0.98473227930181, + -0.01325375214439456, + 0.06872760197726145, + 0.0013133781258242742, + -0.9976345983196221 + ], + [ + 0.9686241009477583, + -0.16612491890173148, + 0.18485091934594272, + -0.1643575717896022, + -0.9860851532152314, + -0.024953140161501557, + 0.1864240855108933, + -0.0062114352920169015, + -0.982449733275469 + ], + [ + 0.9615374887776786, + -0.1806403161015293, + 0.20691721502536986, + -0.17691570820925862, + -0.9835480982957232, + -0.03652356126780365, + 0.21011066099541936, + -0.0014881322542391398, + -0.9776764779815774 + ], + [ + 0.9561912314182194, + -0.2367683210513367, + 0.17216007407479866, + -0.2320700956428882, + -0.97155223294031, + -0.0472200103451698, + 0.17844270695999248, + 0.005198154983103723, + -0.9839365729139057 + ], + [ + 0.9413603491768743, + -0.30794090450452033, + 0.1378879702168786, + -0.3050797692696204, + -0.9514020190059221, + -0.0419587012888832, + 0.1441076936877005, + -0.00256857244251036, + -0.9895586769139155 + ], + [ + 0.9373705733764561, + -0.33687231267167667, + 0.0886197106919761, + -0.3385786226940542, + -0.9409272070901844, + 0.004528488938078308, + 0.0818591743330627, + -0.03424961186205023, + -0.9960552392637708 + ], + [ + 0.9444649302005103, + -0.32066581832792934, + 0.07182916244412357, + -0.32432690697298566, + -0.9447928391834659, + 0.04667492304205065, + 0.05289662592908161, + -0.06737895801898731, + -0.996324255943613 + ], + [ + 0.948004853922958, + -0.31572176442179367, + 0.04008197112045139, + -0.31788465373761965, + -0.945440580401261, + 0.07135443818460459, + 0.015366972916776973, + -0.08038579725869675, + -0.9966453630767861 + ], + [ + 0.9559744158479682, + -0.29181693344741155, + 0.03091591172009727, + -0.2933766229999283, + -0.9527727310139511, + 0.07844921996664418, + 0.006563026839335741, + -0.08406545300874747, + -0.9964386214359318 + ], + [ + 0.9634244837788107, + -0.2678972448524116, + -0.00665809702684543, + -0.26637216596382585, + -0.9600661276433491, + 0.08555056838878641, + -0.029310974996950886, + -0.08064798046071228, + -0.9963115827853938 + ], + [ + 0.9669998520165857, + -0.25181494344467237, + -0.03873655196139078, + -0.2488825412026897, + -0.9661611263432763, + 0.06775070942494134, + -0.05448639173585021, + -0.05587407449835601, + -0.9969500092354477 + ], + [ + 0.9699356242025583, + -0.23948530115361802, + -0.043262864377596376, + -0.23701671402797983, + -0.9699297182176386, + 0.055312014875889534, + -0.05520835239501578, + -0.043395071720331066, + -0.9975314058094686 + ], + [ + 0.9662193656985283, + -0.25492009210846284, + -0.03789305989948979, + -0.25321521651201345, + -0.9663826929194687, + 0.04457067368225166, + -0.04798115750904352, + -0.033469948687269296, + -0.9982873188911916 + ], + [ + 0.953086855474908, + -0.30185511237232615, + -0.022559633322422466, + -0.3016071866765418, + -0.9533328883353208, + 0.013766225455672446, + -0.025662245926915545, + -0.006316260992475278, + -0.9996507159908712 + ], + [ + 0.9263926182802901, + -0.37599966128205653, + 0.02051759029631156, + -0.37455728894861595, + -0.9257098584807019, + -0.0526126905518216, + 0.03877568943618617, + 0.041054995157927814, + -0.9984041933412193 + ], + [ + 0.9177146935802752, + -0.3892447934093091, + 0.07929837319016028, + -0.38752789372171687, + -0.9211298214488516, + -0.036633094671577056, + 0.08730333770521839, + 0.00288839771348208, + -0.9961775867706407 + ], + [ + 0.9312607443791339, + -0.346960085247393, + 0.11123005539665445, + -0.34417142374767246, + -0.9378760743384613, + -0.04398295418655565, + 0.1195803372378634, + 0.002677392126366116, + -0.9928209176470247 + ], + [ + 0.9568969770975253, + -0.2606654642252362, + 0.12806908675344159, + -0.25660506685420803, + -0.9653466467451335, + -0.047536210226248626, + 0.13602211175527995, + 0.012624079299845537, + -0.9906253669957507 + ], + [ + 0.981785902445174, + -0.15798803833908523, + 0.10552829716091845, + -0.1584763721138752, + -0.987355476490107, + -0.003795066088823, + 0.10479351717324857, + -0.012997799304563143, + -0.9944090586733905 + ], + [ + 0.9884160983854748, + -0.07880085613247, + 0.12970752300936408, + -0.08214867725728307, + -0.9964059730350655, + 0.02065748592938516, + 0.12761352309733356, + -0.031073493090313594, + -0.9913370903733262 + ], + [ + 0.9910848387761647, + -0.0159271876548349, + 0.13227685754292487, + -0.02238265453245356, + -0.9986223319448856, + 0.04746003494562224, + 0.13133871905917313, + -0.04999762828741502, + -0.9900759455928263 + ], + [ + 0.9908955566865421, + 0.02552992432302564, + 0.13219008549406547, + 0.01562576655410153, + -0.9970289623440352, + 0.07542601452266422, + 0.13372296421506846, + -0.07267373123238559, + -0.9883504933121136 + ], + [ + 0.991207169574173, + 0.04822980977539294, + 0.12321620199383909, + 0.036072425552302556, + -0.9944274202193214, + 0.09906001226892246, + 0.1273072154260344, + -0.09374428710580122, + -0.9874233547650647 + ], + [ + 0.9937706774464722, + 0.04997707903075931, + 0.09960990020642024, + 0.0394697258085483, + -0.9937100304545361, + 0.10479750053623907, + 0.10422082993422083, + -0.10021310765363106, + -0.989492471756215 + ], + [ + 0.9943669677492617, + 0.06381897039939424, + 0.08462548355135166, + 0.0541562537187597, + -0.9922388203279733, + 0.11193401456796438, + 0.09111220353107577, + -0.10672048749566869, + -0.9901057034056508 + ], + [ + 0.9943353011971433, + 0.0873874531913818, + 0.06050406447429387, + 0.08097793131227704, + -0.9915530603746853, + 0.10131684510474617, + 0.06884681135368287, + -0.09584342171645918, + -0.9930126661226989 + ], + [ + 0.9940434938356479, + 0.10221541440035442, + 0.03780927693016473, + 0.0987882446439852, + -0.9915993563610014, + 0.08349610281089691, + 0.04602624341805663, + -0.07926364566061513, + -0.9957905700464381 + ], + [ + 0.9944796710346905, + 0.1026193192269646, + 0.021896557266573993, + 0.10058263798528097, + -0.9917359998656318, + 0.07964194564698679, + 0.029888406358585525, + -0.07699988241491032, + -0.996583012735735 + ], + [ + 0.9955337230371643, + 0.09379563955412577, + 0.010723073085426336, + 0.0926925724263903, + -0.9926789253157022, + 0.07743796388749555, + 0.017907912015119685, + -0.07609815526473157, + -0.9969395054127225 + ], + [ + 0.9964061512169035, + 0.08445757000411384, + 0.006457606841310755, + 0.08389537373448543, + -0.9945304694049478, + 0.062215043929297706, + 0.01167681819108907, + -0.061449689129999985, + -0.9980418766879263 + ], + [ + 0.9973940489906111, + 0.07173820681940002, + 0.007664249503494644, + 0.07109472577117698, + -0.9953655526436866, + 0.06475304300069455, + 0.012273997133614375, + -0.06403941202623305, + -0.9978718869182049 + ], + [ + 0.9967561666722669, + 0.040542383618594864, + 0.06952308488071175, + 0.03524996136174579, + -0.9965049998541755, + 0.0757312715436952, + 0.07235042795176398, + -0.0730349258653157, + -0.9947016211804645 + ], + [ + 0.9941372180198975, + 0.005341762653804062, + 0.10799378370725451, + -0.0046634722740309, + -0.9957312471791789, + 0.09218207752782669, + 0.10802519971751123, + -0.09214526012089459, + -0.9898685808041613 + ], + [ + 0.9923973401505432, + -0.031938745087179025, + 0.1188588903884897, + -0.04292237904664135, + -0.9949229144566178, + 0.09102781808944851, + 0.11534811935659485, + -0.09543747089799418, + -0.98872974088448 + ], + [ + 0.9919816613684191, + -0.06929882909052766, + 0.10568848468699447, + -0.07669764324574897, + -0.9947585108976965, + 0.06762378662235279, + 0.10044827041467187, + -0.07518761389537189, + -0.992097257171605 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006069.json b/json/chunk-0006/episode_0006069.json new file mode 100644 index 0000000000000000000000000000000000000000..6aa2c517c23b0c9860e82e6b2fbe40b6035d7e18 --- /dev/null +++ b/json/chunk-0006/episode_0006069.json @@ -0,0 +1,2362 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 38, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nRemove the blue cube from the arch and put on the left side of the table." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006069.mp4", + "start": 0, + "end": 38, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.32988542318344116, + 0.06772512942552567, + 0.14603886008262634, + 0.05424419417977333, + -0.14027121663093567, + -0.16794756054878235, + 0.0, + 1.0001531839370728 + ], + [ + 0.3299405872821808, + 0.06704140454530716, + 0.13621564209461212, + 0.04034842923283577, + -0.11601004749536514, + -0.16815482079982758, + 0.0, + 1.0001531839370728 + ], + [ + 0.32509732246398926, + 0.059213489294052124, + 0.1256953775882721, + -0.0014372278237715364, + -0.12306176126003265, + -0.17435495555400848, + 0.0, + 1.0001531839370728 + ], + [ + 0.31767532229423523, + 0.04838165268301964, + 0.13805446028709412, + -0.03546846657991409, + -0.19027544558048248, + -0.21928857266902924, + 0.0, + 1.0001531839370728 + ], + [ + 0.31251248717308044, + 0.044537242501974106, + 0.13985712826251984, + -0.04631193354725838, + -0.1958838701248169, + -0.23313863575458527, + 0.0, + 1.0001531839370728 + ], + [ + 0.2992545962333679, + 0.036621350795030594, + 0.1303822547197342, + -0.07339581847190857, + -0.15670016407966614, + -0.20235522091388702, + 0.0, + 1.0001531839370728 + ], + [ + 0.29733431339263916, + 0.02435900643467903, + 0.12617433071136475, + -0.0647139772772789, + -0.139680415391922, + -0.26582270860671997, + 0.0, + 1.0001531839370728 + ], + [ + 0.2956470251083374, + 0.016433080658316612, + 0.11727463454008102, + -0.055551350116729736, + -0.12218187749385834, + -0.3034575283527374, + 0.0, + 1.0001531839370728 + ], + [ + 0.29430440068244934, + 0.01426783949136734, + 0.11422491818666458, + -0.04835531488060951, + -0.1157914325594902, + -0.3041062653064728, + 0.0, + 1.0001531839370728 + ], + [ + 0.2947365641593933, + 0.012728425674140453, + 0.1134730726480484, + -0.04183729365468025, + -0.116338349878788, + -0.2978748083114624, + 0.0, + 1.0001531839370728 + ], + [ + 0.29296591877937317, + 0.011972513981163502, + 0.10880987346172333, + -0.05046335607767105, + -0.10746638476848602, + -0.2869240939617157, + 0.0, + 1.0001531839370728 + ], + [ + 0.2924348711967468, + 0.010251937434077263, + 0.10585246980190277, + -0.06315083801746368, + -0.10675299912691116, + -0.2740364968776703, + 0.0, + 1.0001531839370728 + ], + [ + 0.2912326157093048, + 0.007431287784129381, + 0.09607820212841034, + -0.09036888182163239, + -0.08617065846920013, + -0.2531719207763672, + 0.0, + 1.0001531839370728 + ], + [ + 0.2903672456741333, + 0.005268516484647989, + 0.09060996025800705, + -0.08696117252111435, + -0.06174726039171219, + -0.23966483771800995, + 0.0, + 1.0001531839370728 + ], + [ + 0.2888207733631134, + 0.005873590707778931, + 0.08768320828676224, + -0.08468768000602722, + -0.05568310245871544, + -0.22108712792396545, + 0.0, + 0.9492040276527405 + ], + [ + 0.2881072759628296, + 0.005963354837149382, + 0.08452102541923523, + -0.08432778716087341, + -0.056351739913225174, + -0.19656145572662354, + 0.0, + 0.6631406545639038 + ], + [ + 0.2887859344482422, + 0.006914058234542608, + 0.08531837910413742, + -0.08311750739812851, + -0.06062964349985123, + -0.19188831746578217, + 0.0, + 0.5650128126144409 + ], + [ + 0.28715839982032776, + 0.01507594995200634, + 0.08784084767103195, + -0.07907795906066895, + -0.058256760239601135, + -0.155992791056633, + 0.0, + 0.5650128126144409 + ], + [ + 0.2910669445991516, + 0.0314997136592865, + 0.10592496395111084, + -0.07029373943805695, + -0.11713704466819763, + -0.07563487440347672, + 0.0, + 0.5650128126144409 + ], + [ + 0.29684388637542725, + 0.04177464544773102, + 0.11394765228033066, + -0.0696849599480629, + -0.14486318826675415, + -0.06203649565577507, + 0.0, + 0.5650128126144409 + ], + [ + 0.29911407828330994, + 0.0591648630797863, + 0.11483184248209, + -0.06648185104131699, + -0.13762280344963074, + -0.012660214677453041, + 0.0, + 0.5650128126144409 + ], + [ + 0.31111347675323486, + 0.0756840705871582, + 0.1061374619603157, + -0.060347381979227066, + -0.1226983293890953, + 0.009560695849359035, + 0.0, + 0.5650128126144409 + ], + [ + 0.3201427459716797, + 0.09382668882608414, + 0.09494433552026749, + -0.056261032819747925, + -0.1030777171254158, + 0.021751536056399345, + 0.0, + 0.5650128126144409 + ], + [ + 0.320446252822876, + 0.10652220249176025, + 0.08531250059604645, + -0.0683719590306282, + -0.06078808009624481, + 0.03200174495577812, + 0.0, + 0.5650128126144409 + ], + [ + 0.3110411763191223, + 0.11767780035734177, + 0.08352665603160858, + -0.06753760576248169, + -0.023521577939391136, + 0.05557599663734436, + 0.0, + 0.5650128126144409 + ], + [ + 0.30172115564346313, + 0.1140565276145935, + 0.07822554558515549, + -0.09082390367984772, + 0.017831072211265564, + 0.052557751536369324, + 0.0, + 0.5650128126144409 + ], + [ + 0.2971116304397583, + 0.10958442091941833, + 0.07064051926136017, + -0.10963630676269531, + 0.022790074348449707, + 0.03097224421799183, + 0.0, + 0.5650128126144409 + ], + [ + 0.29988163709640503, + 0.10816861689090729, + 0.062041182070970535, + -0.0994250699877739, + -0.02074257843196392, + 0.00549883721396327, + 0.0, + 0.5650128126144409 + ], + [ + 0.3024871051311493, + 0.10411367565393448, + 0.04301668703556061, + -0.07352766394615173, + -0.024380378425121307, + -0.04363899305462837, + 0.0, + 0.5650128126144409 + ], + [ + 0.30475756525993347, + 0.10748380422592163, + 0.030115658417344093, + -0.05334240570664406, + -0.01832577772438526, + -0.052807919681072235, + 0.0, + 0.5650128126144409 + ], + [ + 0.30299484729766846, + 0.10942899435758591, + 0.02785992994904518, + -0.046659279614686966, + -0.0026528979651629925, + -0.04221220687031746, + 0.0, + 0.5650128126144409 + ], + [ + 0.30090218782424927, + 0.10942977666854858, + 0.027556737884879112, + -0.046472445130348206, + 0.010046648792922497, + -0.024763073772192, + 0.0, + 0.6219554543495178 + ], + [ + 0.29903730750083923, + 0.10881292819976807, + 0.02654843218624592, + -0.0497538186609745, + 0.015835141763091087, + 0.027639400213956833, + 0.0, + 0.9231109023094177 + ], + [ + 0.29893654584884644, + 0.10802942514419556, + 0.026077259331941605, + -0.05089684948325157, + 0.021136220544576645, + 0.08208176493644714, + 0.0, + 1.0041072368621826 + ], + [ + 0.2999081015586853, + 0.10601216554641724, + 0.04167794808745384, + -0.06037368252873421, + 0.009030124172568321, + 0.14857035875320435, + 0.0, + 1.0014774799346924 + ], + [ + 0.3147941529750824, + 0.10297419875860214, + 0.08946344256401062, + 0.014832892455160618, + -0.09752054512500763, + 0.07473184913396835, + 0.0, + 1.0001531839370728 + ], + [ + 0.32266440987586975, + 0.09239241480827332, + 0.11786350607872009, + 0.08663702756166458, + -0.13849744200706482, + -0.02448808215558529, + 0.0, + 1.0001531839370728 + ], + [ + 0.3263978064060211, + 0.0840570256114006, + 0.12843836843967438, + 0.06101256236433983, + -0.11964063346385956, + -0.12236039340496063, + 0.0, + 1.0001531839370728 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9492040276527405 + ], + [ + 0.6631406545639038 + ], + [ + 0.5650128126144409 + ], + [ + 0.5650128126144409 + ], + [ + 0.5650128126144409 + ], + [ + 0.5650128126144409 + ], + [ + 0.5650128126144409 + ], + [ + 0.5650128126144409 + ], + [ + 0.5650128126144409 + ], + [ + 0.5650128126144409 + ], + [ + 0.5650128126144409 + ], + [ + 0.5650128126144409 + ], + [ + 0.5650128126144409 + ], + [ + 0.5650128126144409 + ], + [ + 0.5650128126144409 + ], + [ + 0.5650128126144409 + ], + [ + 0.5650128126144409 + ], + [ + 0.6219554543495178 + ], + [ + 0.9231109023094177 + ], + [ + 1.0041072368621826 + ], + [ + 1.0014774799346924 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.32988542318344116, + 0.06772512942552567, + 0.14603886008262634 + ], + [ + 0.3299405872821808, + 0.06704140454530716, + 0.13621564209461212 + ], + [ + 0.32509732246398926, + 0.059213489294052124, + 0.1256953775882721 + ], + [ + 0.31767532229423523, + 0.04838165268301964, + 0.13805446028709412 + ], + [ + 0.31251248717308044, + 0.044537242501974106, + 0.13985712826251984 + ], + [ + 0.2992545962333679, + 0.036621350795030594, + 0.1303822547197342 + ], + [ + 0.29733431339263916, + 0.02435900643467903, + 0.12617433071136475 + ], + [ + 0.2956470251083374, + 0.016433080658316612, + 0.11727463454008102 + ], + [ + 0.29430440068244934, + 0.01426783949136734, + 0.11422491818666458 + ], + [ + 0.2947365641593933, + 0.012728425674140453, + 0.1134730726480484 + ], + [ + 0.29296591877937317, + 0.011972513981163502, + 0.10880987346172333 + ], + [ + 0.2924348711967468, + 0.010251937434077263, + 0.10585246980190277 + ], + [ + 0.2912326157093048, + 0.007431287784129381, + 0.09607820212841034 + ], + [ + 0.2903672456741333, + 0.005268516484647989, + 0.09060996025800705 + ], + [ + 0.2888207733631134, + 0.005873590707778931, + 0.08768320828676224 + ], + [ + 0.2881072759628296, + 0.005963354837149382, + 0.08452102541923523 + ], + [ + 0.2887859344482422, + 0.006914058234542608, + 0.08531837910413742 + ], + [ + 0.28715839982032776, + 0.01507594995200634, + 0.08784084767103195 + ], + [ + 0.2910669445991516, + 0.0314997136592865, + 0.10592496395111084 + ], + [ + 0.29684388637542725, + 0.04177464544773102, + 0.11394765228033066 + ], + [ + 0.29911407828330994, + 0.0591648630797863, + 0.11483184248209 + ], + [ + 0.31111347675323486, + 0.0756840705871582, + 0.1061374619603157 + ], + [ + 0.3201427459716797, + 0.09382668882608414, + 0.09494433552026749 + ], + [ + 0.320446252822876, + 0.10652220249176025, + 0.08531250059604645 + ], + [ + 0.3110411763191223, + 0.11767780035734177, + 0.08352665603160858 + ], + [ + 0.30172115564346313, + 0.1140565276145935, + 0.07822554558515549 + ], + [ + 0.2971116304397583, + 0.10958442091941833, + 0.07064051926136017 + ], + [ + 0.29988163709640503, + 0.10816861689090729, + 0.062041182070970535 + ], + [ + 0.3024871051311493, + 0.10411367565393448, + 0.04301668703556061 + ], + [ + 0.30475756525993347, + 0.10748380422592163, + 0.030115658417344093 + ], + [ + 0.30299484729766846, + 0.10942899435758591, + 0.02785992994904518 + ], + [ + 0.30090218782424927, + 0.10942977666854858, + 0.027556737884879112 + ], + [ + 0.29903730750083923, + 0.10881292819976807, + 0.02654843218624592 + ], + [ + 0.29893654584884644, + 0.10802942514419556, + 0.026077259331941605 + ], + [ + 0.2999081015586853, + 0.10601216554641724, + 0.04167794808745384 + ], + [ + 0.3147941529750824, + 0.10297419875860214, + 0.08946344256401062 + ], + [ + 0.32266440987586975, + 0.09239241480827332, + 0.11786350607872009 + ], + [ + 0.3263978064060211, + 0.0840570256114006, + 0.12843836843967438 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9762462353415258, + -0.15943967599866854, + 0.1467047296406557, + -0.16551732295702043, + -0.9857468753114231, + 0.03011832689422023, + 0.13981167255504703, + -0.05368507736052271, + -0.9887217043668836 + ], + [ + 0.9792684454071607, + -0.16262405867225696, + 0.12077552471757147, + -0.1662385275209324, + -0.9858742836797891, + 0.020411975566676895, + 0.11575000560481452, + -0.04006634897048569, + -0.9924699611991591 + ], + [ + 0.9773907527583835, + -0.1736464767189902, + 0.12064086183993067, + -0.17216101195972378, + -0.9848070199918776, + -0.022709454764947443, + 0.12275138444597636, + 0.0014263582293887536, + -0.9924364277467838 + ], + [ + 0.9584368353956776, + -0.22394458417181903, + 0.17677006470788667, + -0.2136092495377929, + -0.9739796294940147, + -0.07572826316906586, + 0.18912937653527093, + 0.03482103603877175, + -0.9813345883950931 + ], + [ + 0.9543394627954007, + -0.23955152783232425, + 0.17846919976451175, + -0.22661412160309652, + -0.9698211148560149, + -0.0899613531995463, + 0.19463357788789426, + 0.04541002854695993, + -0.9798243208177277 + ], + [ + 0.9675935792569824, + -0.211646312078947, + 0.13772619200443584, + -0.1985146060481028, + -0.9746586685224475, + -0.1031136802738429, + 0.1560596570745569, + 0.07243147421826182, + -0.9850883538933657 + ], + [ + 0.9554793226919046, + -0.2708406599754464, + 0.11706665115345384, + -0.2601445827083204, + -0.9604917210339089, + -0.09889615721975346, + 0.1392266497324906, + 0.06403897820378636, + -0.9881877095344194 + ], + [ + 0.9471947097714938, + -0.30481840096884855, + 0.09953855640750296, + -0.29659384469028355, + -0.9508147850345879, + -0.0893495151160095, + 0.12187810743825712, + 0.055108864898710364, + -0.9910139958329771 + ], + [ + 0.9477258748743317, + -0.3044187640816813, + 0.0956288772738869, + -0.29743541309979843, + -0.9513274870256121, + -0.08067333799766765, + 0.11553285735164122, + 0.048012795216643776, + -0.9921425957833127 + ], + [ + 0.9495003719948247, + -0.29787354441645125, + 0.09859206417592627, + -0.29150537515903513, + -0.9537009926582569, + -0.07402048943397684, + 0.1160760950199466, + 0.04154236559749293, + -0.9923711866159177 + ], + [ + 0.9535857879407632, + -0.2878323465605367, + 0.08846855549204569, + -0.28137077453077386, + -0.9563667827444241, + -0.07869602342578859, + 0.10725964887760195, + 0.050150943525869726, + -0.9929653823704625 + ], + [ + 0.9572061100160153, + -0.2765534371194885, + 0.08529161368742665, + -0.2690789578257105, + -0.9589476954213553, + -0.08953117837659179, + 0.10655035149373078, + 0.06274961245672155, + -0.9923253038863282 + ], + [ + 0.9645306856788736, + -0.25697330121830053, + 0.06037614466666428, + -0.24954665813108198, + -0.9622269583872877, + -0.10883816411699214, + 0.0860640563734379, + 0.0899110839313874, + -0.9922242564999266 + ], + [ + 0.9695663039048946, + -0.2416863269557052, + 0.039101172550978565, + -0.2369246743703774, + -0.9664746456900211, + -0.0989619013198462, + 0.06170803032581796, + 0.08668609231594365, + -0.9943227043532193 + ], + [ + 0.9741474509860348, + -0.22309753289820236, + 0.035556076163528454, + -0.21895054031272718, + -0.9711306702485928, + -0.09468834246771919, + 0.05565433167486563, + 0.08445538536561632, + -0.9948717923675239 + ], + [ + 0.9791871425993323, + -0.1992566996092455, + 0.038591546081834335, + -0.19498815620481383, + -0.9763323904440062, + -0.09356645932031533, + 0.05632192031529608, + 0.08409417952940622, + -0.994864820094305 + ], + [ + 0.9798421692679227, + -0.1949926707328926, + 0.043441704441526854, + -0.19036247439595902, + -0.9772975692360393, + -0.09301392103968362, + 0.060592505033040964, + 0.08286929181417191, + -0.9947166575502987 + ], + [ + 0.9861819301395593, + -0.15941898010699543, + 0.04506428128638929, + -0.15509735078922368, + -0.9840561181602425, + -0.08705382294626363, + 0.058223813378873814, + 0.07886155649643434, + -0.9951838234530251 + ], + [ + 0.9903079350624536, + -0.08356112545425441, + 0.11094021842937409, + -0.07504497250717022, + -0.9940582678228744, + -0.07884422790784508, + 0.11686935378334622, + 0.06975455888903971, + -0.990694632901813 + ], + [ + 0.9876221674438622, + -0.07187828548132776, + 0.13941293501591648, + -0.06134733745655034, + -0.9950308556662993, + -0.07842257620726233, + 0.14435705234064436, + 0.06889926232011835, + -0.9871240717818929 + ], + [ + 0.990465537703083, + -0.02174502636851652, + 0.1360337180656882, + -0.012540176329249034, + -0.997595552986065, + -0.06816052112519884, + 0.13718878452764993, + 0.06580476039512533, + -0.9883567022634926 + ], + [ + 0.9924366394617912, + 0.0021620083238245336, + 0.12273891955608135, + 0.009488673971523124, + -0.9982046003518081, + -0.05914001101410848, + 0.12239069294700736, + 0.0598573433798598, + -0.9906753336605574 + ], + [ + 0.9944568944968443, + 0.015930835020780545, + 0.10393119590975884, + 0.021634377057515346, + -0.9983074276516869, + -0.05398364219654703, + 0.10289528034378086, + 0.05593289185275718, + -0.9931183579473104 + ], + [ + 0.9976419070823701, + 0.027773244783201416, + 0.06276362089032002, + 0.03193718502681111, + -0.9972855297106124, + -0.06634446806167361, + 0.060750649754670705, + 0.06819251501474023, + -0.995820837023583 + ], + [ + 0.9981798592844762, + 0.05383596807333384, + 0.027178246088194292, + 0.05553202604312661, + -0.9962679412153553, + -0.06607861522507108, + 0.02351940905654257, + 0.0674676059166506, + -0.9974442137530833 + ], + [ + 0.9984604094359512, + 0.05393197596531586, + -0.012967372805226965, + 0.05252520678831367, + -0.9944182383253697, + -0.09150666608348011, + -0.017830127336562536, + 0.0906846693457347, + -0.9957200295790063 + ], + [ + 0.9992608404249288, + 0.03327356896294118, + -0.019252075257817372, + 0.030959250949443556, + -0.9934420218962712, + -0.1100657708431527, + -0.022788101586434198, + 0.10938838484554209, + -0.9937378344850161 + ], + [ + 0.9997697651182197, + 0.003412895657880656, + 0.021184166225947425, + 0.00549762660090372, + -0.9950576750390461, + -0.09914635367801333, + 0.02074109103246953, + 0.09923998936475706, + -0.9948473408788235 + ], + [ + 0.9987510664667285, + -0.04529640616182673, + 0.021084184129221986, + -0.04361217882277954, + -0.9962704758583295, + -0.07445211072459344, + 0.02437796320249111, + 0.07343959777831062, + -0.9970016752183807 + ], + [ + 0.9984383075161138, + -0.05368396251767405, + 0.015458921461708668, + -0.05277451608802746, + -0.997134029236846, + -0.0542086541943954, + 0.018324752004674993, + 0.05330815984719392, + -0.9984099576615176 + ], + [ + 0.9991056812848996, + -0.042277371027266385, + 0.0006793550322493703, + -0.04219952337567252, + -0.9980165981995615, + -0.04671263153625033, + 0.002652894853373309, + 0.04664218709707208, + -0.9989081381847377 + ], + [ + 0.9996429590773147, + -0.0242672369548031, + -0.011182825122932451, + -0.02475929342903221, + -0.9986256481694076, + -0.04619298872260006, + -0.010046479783771668, + 0.04645337478386918, + -0.9988699375870436 + ], + [ + 0.9994927307419521, + 0.028388882831522078, + -0.014434421553140168, + 0.027632416424287036, + -0.9983592995254262, + -0.05015135704699451, + -0.01583447998989669, + 0.04972705885811511, + -0.9986373159765116 + ], + [ + 0.9964105732971676, + 0.08295505494118917, + -0.016865001669552217, + 0.08197131281263491, + -0.9952544206290893, + -0.052434169145977136, + -0.02113464684783896, + 0.05086351421166327, + -0.9984819625935448 + ], + [ + 0.9889433881738251, + 0.14829354232399372, + 1.709611084141794e-05, + 0.1480183571760849, + -0.9871011939490082, + -0.06100654754479636, + -0.009030001448951545, + 0.060334552367979306, + -0.9981373657289799 + ], + [ + 0.9924707753560577, + 0.07609423054088783, + 0.09597618528851778, + 0.07430755995960296, + -0.9969913515840814, + 0.022059723466002806, + 0.09736604437377383, + -0.014761874709423525, + -0.9951391563284341 + ], + [ + 0.990127602752966, + -0.012451653101422495, + 0.13961477930973862, + -0.0242511738106854, + -0.9962431647292683, + 0.08313505457396565, + 0.1380551007223895, + -0.08570013456963856, + -0.9867098236560113 + ], + [ + 0.9854283413058551, + -0.11460493385992768, + 0.12568489681005035, + -0.12118278960552833, + -0.9915648024884144, + 0.045977972655765705, + 0.11935541736600672, + -0.06053884373750202, + -0.991004204201129 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + 5.5164098739624023e-05, + -0.0006837248802185059, + -0.009823217988014221, + -0.013895764946937561, + 0.024261169135570526, + -0.00020726025104522705, + 1.0 + ], + [ + -0.004843264818191528, + -0.007827915251255035, + -0.010520264506340027, + -0.04178565740585327, + -0.007051713764667511, + -0.006200134754180908, + 1.0 + ], + [ + -0.007422000169754028, + -0.010831836611032486, + 0.012359082698822021, + -0.03403123840689659, + -0.06721368432044983, + -0.04493361711502075, + 1.0 + ], + [ + -0.005162835121154785, + -0.0038444101810455322, + 0.0018026679754257202, + -0.010843466967344284, + -0.005608424544334412, + -0.01385006308555603, + 1.0 + ], + [ + -0.013257890939712524, + -0.007915891706943512, + -0.009474873542785645, + -0.027083884924650192, + 0.03918370604515076, + 0.030783414840698242, + 1.0 + ], + [ + -0.0019202828407287598, + -0.012262344360351562, + -0.004207924008369446, + 0.00868184119462967, + 0.01701974868774414, + -0.06346748769283295, + 1.0 + ], + [ + -0.0016872882843017578, + -0.007925925776362419, + -0.008899696171283722, + 0.009162627160549164, + 0.01749853789806366, + -0.037634819746017456, + 1.0 + ], + [ + -0.0013426244258880615, + -0.002165241166949272, + -0.003049716353416443, + 0.007196035236120224, + 0.0063904449343681335, + -0.0006487369537353516, + 1.0 + ], + [ + 0.0004321634769439697, + -0.0015394138172268867, + -0.0007518455386161804, + 0.00651802122592926, + -0.0005469173192977905, + 0.006231456995010376, + 1.0 + ], + [ + -0.0017706453800201416, + -0.0007559116929769516, + -0.004663199186325073, + -0.008626062422990799, + 0.008871965110301971, + 0.010950714349746704, + 1.0 + ], + [ + -0.0005310475826263428, + -0.0017205765470862389, + -0.0029574036598205566, + -0.012687481939792633, + 0.0007133856415748596, + 0.01288759708404541, + 1.0 + ], + [ + -0.0012022554874420166, + -0.0028206496499478817, + -0.009774267673492432, + -0.0272180438041687, + 0.02058234065771103, + 0.0208645761013031, + 1.0 + ], + [ + -0.0008653700351715088, + -0.002162771299481392, + -0.00546824187040329, + 0.003407709300518036, + 0.024423398077487946, + 0.013507083058357239, + 1.0 + ], + [ + -0.0015464723110198975, + 0.0006050742231309414, + -0.002926751971244812, + 0.0022734925150871277, + 0.00606415793299675, + 0.018577709794044495, + 0.0 + ], + [ + -0.0007134974002838135, + 8.976412937045097e-05, + -0.003162182867527008, + 0.0003598928451538086, + -0.0006686374545097351, + 0.02452567219734192, + 0.0 + ], + [ + 0.0006786584854125977, + 0.0009507033973932266, + 0.0007973536849021912, + 0.0012102797627449036, + -0.004277903586626053, + 0.00467313826084137, + 0.0 + ], + [ + -0.0016275346279144287, + 0.008161891251802444, + 0.0025224685668945312, + 0.004039548337459564, + 0.0023728832602500916, + 0.03589552640914917, + 0.0 + ], + [ + 0.0039085447788238525, + 0.01642376370728016, + 0.018084116280078888, + 0.008784219622612, + -0.0588802844285965, + 0.08035791665315628, + 0.0 + ], + [ + 0.005776941776275635, + 0.010274931788444519, + 0.008022688329219818, + 0.0006087794899940491, + -0.02772614359855652, + 0.013598378747701645, + 0.0 + ], + [ + 0.0022701919078826904, + 0.017390217632055283, + 0.0008841902017593384, + 0.0032031089067459106, + 0.007240384817123413, + 0.04937627911567688, + 0.0 + ], + [ + 0.011999398469924927, + 0.016519207507371902, + -0.008694380521774292, + 0.00613446906208992, + 0.014924474060535431, + 0.022220909595489502, + 0.0 + ], + [ + 0.009029269218444824, + 0.018142618238925934, + -0.011193126440048218, + 0.004086349159479141, + 0.019620612263679504, + 0.01219084020704031, + 0.0 + ], + [ + 0.00030350685119628906, + 0.012695513665676117, + -0.009631834924221039, + -0.01211092621088028, + 0.04228963702917099, + 0.010250208899378777, + 0.0 + ], + [ + -0.009405076503753662, + 0.011155597865581512, + -0.0017858445644378662, + 0.0008343532681465149, + 0.03726650029420853, + 0.02357425168156624, + 0.0 + ], + [ + -0.00932002067565918, + -0.0036212727427482605, + -0.0053011104464530945, + -0.023286297917366028, + 0.04135265201330185, + -0.0030182451009750366, + 0.0 + ], + [ + -0.004609525203704834, + -0.004472106695175171, + -0.007585026323795319, + -0.018812403082847595, + 0.004959002137184143, + -0.021585507318377495, + 0.0 + ], + [ + 0.0027700066566467285, + -0.0014158040285110474, + -0.008599337190389633, + 0.010211236774921417, + -0.04353265464305878, + -0.02547340653836727, + 0.0 + ], + [ + 0.0026054680347442627, + -0.004054941236972809, + -0.019024495035409927, + 0.025897406041622162, + -0.0036377999931573868, + -0.04913783073425293, + 0.0 + ], + [ + 0.0022704601287841797, + 0.003370128571987152, + -0.012901028618216515, + 0.020185258239507675, + 0.006054600700736046, + -0.009168926626443863, + 0.0 + ], + [ + -0.0017627179622650146, + 0.0019451901316642761, + -0.002255728468298912, + 0.006683126091957092, + 0.015672879293560982, + 0.010595712810754776, + 0.0 + ], + [ + -0.0020926594734191895, + 7.82310962677002e-07, + -0.00030319206416606903, + 0.00018683448433876038, + 0.012699546292424202, + 0.017449133098125458, + 1.0 + ], + [ + -0.0018648803234100342, + -0.0006168484687805176, + -0.001008305698633194, + -0.003281373530626297, + 0.0057884929701685905, + 0.052402473986148834, + 1.0 + ], + [ + -0.00010076165199279785, + -0.0007835030555725098, + -0.00047117285430431366, + -0.001143030822277069, + 0.0053010787814855576, + 0.05444236472249031, + 1.0 + ], + [ + 0.0009715557098388672, + -0.0020172595977783203, + 0.015600688755512238, + -0.009476833045482635, + -0.012106096372008324, + 0.0664885938167572, + 1.0 + ], + [ + 0.014886051416397095, + -0.003037966787815094, + 0.04778549447655678, + 0.07520657777786255, + -0.1065506711602211, + -0.07383850961923599, + 1.0 + ], + [ + 0.007870256900787354, + -0.010581783950328827, + 0.028400063514709473, + 0.07180413603782654, + -0.04097689688205719, + -0.09921993315219879, + 1.0 + ], + [ + 0.003733396530151367, + -0.008335389196872711, + 0.010574862360954285, + -0.025624465197324753, + 0.01885680854320526, + -0.0978723093867302, + 1.0 + ], + [ + -0.0001640617847442627, + -0.005879901349544525, + -0.00878472626209259, + -0.04323839396238327, + 0.02740643173456192, + -0.021978110074996948, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9492040276527405 + ], + [ + 0.6631406545639038 + ], + [ + 0.5650128126144409 + ], + [ + 0.5650128126144409 + ], + [ + 0.5650128126144409 + ], + [ + 0.5650128126144409 + ], + [ + 0.5650128126144409 + ], + [ + 0.5650128126144409 + ], + [ + 0.5650128126144409 + ], + [ + 0.5650128126144409 + ], + [ + 0.5650128126144409 + ], + [ + 0.5650128126144409 + ], + [ + 0.5650128126144409 + ], + [ + 0.5650128126144409 + ], + [ + 0.5650128126144409 + ], + [ + 0.5650128126144409 + ], + [ + 0.5650128126144409 + ], + [ + 0.6219554543495178 + ], + [ + 0.9231109023094177 + ], + [ + 1.0041072368621826 + ], + [ + 1.0014774799346924 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3299405872821808, + 0.06704140454530716, + 0.13621564209461212 + ], + [ + 0.32509732246398926, + 0.059213489294052124, + 0.1256953775882721 + ], + [ + 0.31767532229423523, + 0.04838165268301964, + 0.13805446028709412 + ], + [ + 0.31251248717308044, + 0.044537242501974106, + 0.13985712826251984 + ], + [ + 0.2992545962333679, + 0.036621350795030594, + 0.1303822547197342 + ], + [ + 0.29733431339263916, + 0.02435900643467903, + 0.12617433071136475 + ], + [ + 0.2956470251083374, + 0.016433080658316612, + 0.11727463454008102 + ], + [ + 0.29430440068244934, + 0.01426783949136734, + 0.11422491818666458 + ], + [ + 0.2947365641593933, + 0.012728425674140453, + 0.1134730726480484 + ], + [ + 0.29296591877937317, + 0.011972513981163502, + 0.10880987346172333 + ], + [ + 0.2924348711967468, + 0.010251937434077263, + 0.10585246980190277 + ], + [ + 0.2912326157093048, + 0.007431287784129381, + 0.09607820212841034 + ], + [ + 0.2903672456741333, + 0.005268516484647989, + 0.09060996025800705 + ], + [ + 0.2888207733631134, + 0.005873590707778931, + 0.08768320828676224 + ], + [ + 0.2881072759628296, + 0.005963354837149382, + 0.08452102541923523 + ], + [ + 0.2887859344482422, + 0.006914058234542608, + 0.08531837910413742 + ], + [ + 0.28715839982032776, + 0.01507594995200634, + 0.08784084767103195 + ], + [ + 0.2910669445991516, + 0.0314997136592865, + 0.10592496395111084 + ], + [ + 0.29684388637542725, + 0.04177464544773102, + 0.11394765228033066 + ], + [ + 0.29911407828330994, + 0.0591648630797863, + 0.11483184248209 + ], + [ + 0.31111347675323486, + 0.0756840705871582, + 0.1061374619603157 + ], + [ + 0.3201427459716797, + 0.09382668882608414, + 0.09494433552026749 + ], + [ + 0.320446252822876, + 0.10652220249176025, + 0.08531250059604645 + ], + [ + 0.3110411763191223, + 0.11767780035734177, + 0.08352665603160858 + ], + [ + 0.30172115564346313, + 0.1140565276145935, + 0.07822554558515549 + ], + [ + 0.2971116304397583, + 0.10958442091941833, + 0.07064051926136017 + ], + [ + 0.29988163709640503, + 0.10816861689090729, + 0.062041182070970535 + ], + [ + 0.3024871051311493, + 0.10411367565393448, + 0.04301668703556061 + ], + [ + 0.30475756525993347, + 0.10748380422592163, + 0.030115658417344093 + ], + [ + 0.30299484729766846, + 0.10942899435758591, + 0.02785992994904518 + ], + [ + 0.30090218782424927, + 0.10942977666854858, + 0.027556737884879112 + ], + [ + 0.29903730750083923, + 0.10881292819976807, + 0.02654843218624592 + ], + [ + 0.29893654584884644, + 0.10802942514419556, + 0.026077259331941605 + ], + [ + 0.2999081015586853, + 0.10601216554641724, + 0.04167794808745384 + ], + [ + 0.3147941529750824, + 0.10297419875860214, + 0.08946344256401062 + ], + [ + 0.32266440987586975, + 0.09239241480827332, + 0.11786350607872009 + ], + [ + 0.3263978064060211, + 0.0840570256114006, + 0.12843836843967438 + ], + [ + 0.32623374462127686, + 0.07817712426185608, + 0.11965364217758179 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9792684454071607, + -0.16262405867225696, + 0.12077552471757147, + -0.1662385275209324, + -0.9858742836797891, + 0.020411975566676895, + 0.11575000560481452, + -0.04006634897048569, + -0.9924699611991591 + ], + [ + 0.9773907527583835, + -0.1736464767189902, + 0.12064086183993067, + -0.17216101195972378, + -0.9848070199918776, + -0.022709454764947443, + 0.12275138444597636, + 0.0014263582293887536, + -0.9924364277467838 + ], + [ + 0.9584368353956776, + -0.22394458417181903, + 0.17677006470788667, + -0.2136092495377929, + -0.9739796294940147, + -0.07572826316906586, + 0.18912937653527093, + 0.03482103603877175, + -0.9813345883950931 + ], + [ + 0.9543394627954007, + -0.23955152783232425, + 0.17846919976451175, + -0.22661412160309652, + -0.9698211148560149, + -0.0899613531995463, + 0.19463357788789426, + 0.04541002854695993, + -0.9798243208177277 + ], + [ + 0.9675935792569824, + -0.211646312078947, + 0.13772619200443584, + -0.1985146060481028, + -0.9746586685224475, + -0.1031136802738429, + 0.1560596570745569, + 0.07243147421826182, + -0.9850883538933657 + ], + [ + 0.9554793226919046, + -0.2708406599754464, + 0.11706665115345384, + -0.2601445827083204, + -0.9604917210339089, + -0.09889615721975346, + 0.1392266497324906, + 0.06403897820378636, + -0.9881877095344194 + ], + [ + 0.9471947097714938, + -0.30481840096884855, + 0.09953855640750296, + -0.29659384469028355, + -0.9508147850345879, + -0.0893495151160095, + 0.12187810743825712, + 0.055108864898710364, + -0.9910139958329771 + ], + [ + 0.9477258748743317, + -0.3044187640816813, + 0.0956288772738869, + -0.29743541309979843, + -0.9513274870256121, + -0.08067333799766765, + 0.11553285735164122, + 0.048012795216643776, + -0.9921425957833127 + ], + [ + 0.9495003719948247, + -0.29787354441645125, + 0.09859206417592627, + -0.29150537515903513, + -0.9537009926582569, + -0.07402048943397684, + 0.1160760950199466, + 0.04154236559749293, + -0.9923711866159177 + ], + [ + 0.9535857879407632, + -0.2878323465605367, + 0.08846855549204569, + -0.28137077453077386, + -0.9563667827444241, + -0.07869602342578859, + 0.10725964887760195, + 0.050150943525869726, + -0.9929653823704625 + ], + [ + 0.9572061100160153, + -0.2765534371194885, + 0.08529161368742665, + -0.2690789578257105, + -0.9589476954213553, + -0.08953117837659179, + 0.10655035149373078, + 0.06274961245672155, + -0.9923253038863282 + ], + [ + 0.9645306856788736, + -0.25697330121830053, + 0.06037614466666428, + -0.24954665813108198, + -0.9622269583872877, + -0.10883816411699214, + 0.0860640563734379, + 0.0899110839313874, + -0.9922242564999266 + ], + [ + 0.9695663039048946, + -0.2416863269557052, + 0.039101172550978565, + -0.2369246743703774, + -0.9664746456900211, + -0.0989619013198462, + 0.06170803032581796, + 0.08668609231594365, + -0.9943227043532193 + ], + [ + 0.9741474509860348, + -0.22309753289820236, + 0.035556076163528454, + -0.21895054031272718, + -0.9711306702485928, + -0.09468834246771919, + 0.05565433167486563, + 0.08445538536561632, + -0.9948717923675239 + ], + [ + 0.9791871425993323, + -0.1992566996092455, + 0.038591546081834335, + -0.19498815620481383, + -0.9763323904440062, + -0.09356645932031533, + 0.05632192031529608, + 0.08409417952940622, + -0.994864820094305 + ], + [ + 0.9798421692679227, + -0.1949926707328926, + 0.043441704441526854, + -0.19036247439595902, + -0.9772975692360393, + -0.09301392103968362, + 0.060592505033040964, + 0.08286929181417191, + -0.9947166575502987 + ], + [ + 0.9861819301395593, + -0.15941898010699543, + 0.04506428128638929, + -0.15509735078922368, + -0.9840561181602425, + -0.08705382294626363, + 0.058223813378873814, + 0.07886155649643434, + -0.9951838234530251 + ], + [ + 0.9903079350624536, + -0.08356112545425441, + 0.11094021842937409, + -0.07504497250717022, + -0.9940582678228744, + -0.07884422790784508, + 0.11686935378334622, + 0.06975455888903971, + -0.990694632901813 + ], + [ + 0.9876221674438622, + -0.07187828548132776, + 0.13941293501591648, + -0.06134733745655034, + -0.9950308556662993, + -0.07842257620726233, + 0.14435705234064436, + 0.06889926232011835, + -0.9871240717818929 + ], + [ + 0.990465537703083, + -0.02174502636851652, + 0.1360337180656882, + -0.012540176329249034, + -0.997595552986065, + -0.06816052112519884, + 0.13718878452764993, + 0.06580476039512533, + -0.9883567022634926 + ], + [ + 0.9924366394617912, + 0.0021620083238245336, + 0.12273891955608135, + 0.009488673971523124, + -0.9982046003518081, + -0.05914001101410848, + 0.12239069294700736, + 0.0598573433798598, + -0.9906753336605574 + ], + [ + 0.9944568944968443, + 0.015930835020780545, + 0.10393119590975884, + 0.021634377057515346, + -0.9983074276516869, + -0.05398364219654703, + 0.10289528034378086, + 0.05593289185275718, + -0.9931183579473104 + ], + [ + 0.9976419070823701, + 0.027773244783201416, + 0.06276362089032002, + 0.03193718502681111, + -0.9972855297106124, + -0.06634446806167361, + 0.060750649754670705, + 0.06819251501474023, + -0.995820837023583 + ], + [ + 0.9981798592844762, + 0.05383596807333384, + 0.027178246088194292, + 0.05553202604312661, + -0.9962679412153553, + -0.06607861522507108, + 0.02351940905654257, + 0.0674676059166506, + -0.9974442137530833 + ], + [ + 0.9984604094359512, + 0.05393197596531586, + -0.012967372805226965, + 0.05252520678831367, + -0.9944182383253697, + -0.09150666608348011, + -0.017830127336562536, + 0.0906846693457347, + -0.9957200295790063 + ], + [ + 0.9992608404249288, + 0.03327356896294118, + -0.019252075257817372, + 0.030959250949443556, + -0.9934420218962712, + -0.1100657708431527, + -0.022788101586434198, + 0.10938838484554209, + -0.9937378344850161 + ], + [ + 0.9997697651182197, + 0.003412895657880656, + 0.021184166225947425, + 0.00549762660090372, + -0.9950576750390461, + -0.09914635367801333, + 0.02074109103246953, + 0.09923998936475706, + -0.9948473408788235 + ], + [ + 0.9987510664667285, + -0.04529640616182673, + 0.021084184129221986, + -0.04361217882277954, + -0.9962704758583295, + -0.07445211072459344, + 0.02437796320249111, + 0.07343959777831062, + -0.9970016752183807 + ], + [ + 0.9984383075161138, + -0.05368396251767405, + 0.015458921461708668, + -0.05277451608802746, + -0.997134029236846, + -0.0542086541943954, + 0.018324752004674993, + 0.05330815984719392, + -0.9984099576615176 + ], + [ + 0.9991056812848996, + -0.042277371027266385, + 0.0006793550322493703, + -0.04219952337567252, + -0.9980165981995615, + -0.04671263153625033, + 0.002652894853373309, + 0.04664218709707208, + -0.9989081381847377 + ], + [ + 0.9996429590773147, + -0.0242672369548031, + -0.011182825122932451, + -0.02475929342903221, + -0.9986256481694076, + -0.04619298872260006, + -0.010046479783771668, + 0.04645337478386918, + -0.9988699375870436 + ], + [ + 0.9994927307419521, + 0.028388882831522078, + -0.014434421553140168, + 0.027632416424287036, + -0.9983592995254262, + -0.05015135704699451, + -0.01583447998989669, + 0.04972705885811511, + -0.9986373159765116 + ], + [ + 0.9964105732971676, + 0.08295505494118917, + -0.016865001669552217, + 0.08197131281263491, + -0.9952544206290893, + -0.052434169145977136, + -0.02113464684783896, + 0.05086351421166327, + -0.9984819625935448 + ], + [ + 0.9889433881738251, + 0.14829354232399372, + 1.709611084141794e-05, + 0.1480183571760849, + -0.9871011939490082, + -0.06100654754479636, + -0.009030001448951545, + 0.060334552367979306, + -0.9981373657289799 + ], + [ + 0.9924707753560577, + 0.07609423054088783, + 0.09597618528851778, + 0.07430755995960296, + -0.9969913515840814, + 0.022059723466002806, + 0.09736604437377383, + -0.014761874709423525, + -0.9951391563284341 + ], + [ + 0.990127602752966, + -0.012451653101422495, + 0.13961477930973862, + -0.0242511738106854, + -0.9962431647292683, + 0.08313505457396565, + 0.1380551007223895, + -0.08570013456963856, + -0.9867098236560113 + ], + [ + 0.9854283413058551, + -0.11460493385992768, + 0.12568489681005035, + -0.12118278960552833, + -0.9915648024884144, + 0.045977972655765705, + 0.11935541736600672, + -0.06053884373750202, + -0.991004204201129 + ], + [ + 0.9853949116711749, + -0.14219516902007076, + 0.09368778981228854, + -0.1432264521402992, + -0.9896804159621733, + 0.00434254168004017, + 0.09210348234383234, + -0.017697688218911725, + -0.9955921556399719 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006070.json b/json/chunk-0006/episode_0006070.json new file mode 100644 index 0000000000000000000000000000000000000000..17e091117752d51e68b16ba783851d2df596d04d --- /dev/null +++ b/json/chunk-0006/episode_0006070.json @@ -0,0 +1,1402 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 22, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut potato on plate." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006070.mp4", + "start": 0, + "end": 22, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2748897075653076, + 0.1271393895149231, + 0.08104266226291656, + 0.07205310463905334, + -0.15271823108196259, + -0.003306260798126459, + 0.0, + 1.0014774799346924 + ], + [ + 0.2832736670970917, + 0.11235784739255905, + 0.07128344476222992, + 0.07056482136249542, + -0.16853360831737518, + -0.004122256767004728, + 0.0, + 1.0014774799346924 + ], + [ + 0.3058798313140869, + 0.07915984839200974, + 0.06765568256378174, + 0.059537045657634735, + -0.22301045060157776, + -0.06822111457586288, + 0.0, + 1.0014774799346924 + ], + [ + 0.33376196026802063, + 0.06185801699757576, + 0.06572345644235611, + 0.04578163102269173, + -0.2638498544692993, + -0.09465369582176208, + 0.0, + 1.0014774799346924 + ], + [ + 0.3591878116130829, + 0.04829234257340431, + 0.06351792067289352, + 0.07631300389766693, + -0.2879438102245331, + -0.1384885162115097, + 0.0, + 1.0014774799346924 + ], + [ + 0.3857925534248352, + 0.040495093911886215, + 0.06240793317556381, + 0.10335014015436172, + -0.3106626272201538, + -0.20041464269161224, + 0.0, + 1.0008161067962646 + ], + [ + 0.411012202501297, + 0.039382144808769226, + 0.054761238396167755, + 0.0719483271241188, + -0.31153586506843567, + -0.22198109328746796, + 0.0, + 1.0014774799346924 + ], + [ + 0.427686482667923, + 0.03902026265859604, + 0.04357608035206795, + 0.02959313429892063, + -0.32967478036880493, + -0.2244071066379547, + 0.0, + 1.0014774799346924 + ], + [ + 0.4331619441509247, + 0.03491678833961487, + 0.025751611217856407, + -0.0051207030192017555, + -0.3451295495033264, + -0.22329099476337433, + 0.0, + 1.0008161067962646 + ], + [ + 0.4371878504753113, + 0.03240101784467697, + 0.02317730151116848, + -0.024901965633034706, + -0.3722326457500458, + -0.209555521607399, + 0.0, + 1.0008161067962646 + ], + [ + 0.4379664361476898, + 0.03512116149067879, + 0.021283699199557304, + -0.048930518329143524, + -0.3825208246707916, + -0.19519202411174774, + 0.0, + 0.8381108045578003 + ], + [ + 0.43695369362831116, + 0.04002124071121216, + 0.013776630163192749, + -0.07614400237798691, + -0.37500298023223877, + -0.17668502032756805, + 0.0, + 0.6581199765205383 + ], + [ + 0.4316295087337494, + 0.042789217084646225, + 0.012123406864702702, + -0.07157395035028458, + -0.3360827565193176, + -0.14204128086566925, + 0.0, + 0.6581199765205383 + ], + [ + 0.39946556091308594, + 0.03260513022542, + 0.018100963905453682, + -0.047474686056375504, + -0.20121707022190094, + -0.05914979428052902, + 0.0, + 0.6581199765205383 + ], + [ + 0.3696046769618988, + 0.020677832886576653, + 0.042379606515169144, + -0.0004138158692512661, + -0.1903095543384552, + 0.03081064671278, + 0.0, + 0.6581199765205383 + ], + [ + 0.3397998511791229, + 0.010831369087100029, + 0.033147212117910385, + -0.011166688054800034, + -0.1991584450006485, + 0.06976058334112167, + 0.0, + 0.6581199765205383 + ], + [ + 0.3281404972076416, + 0.02310001850128174, + 0.012456109747290611, + -0.08309803903102875, + -0.2656470537185669, + 0.13047099113464355, + 0.0, + 0.6581199765205383 + ], + [ + 0.3363778591156006, + 0.015380380675196648, + 0.005762947257608175, + -0.18606053292751312, + -0.3454054892063141, + 0.14640548825263977, + 0.0, + 0.6581199765205383 + ], + [ + 0.337520956993103, + 0.015645146369934082, + -0.0028241819236427546, + -0.22605352103710175, + -0.425818532705307, + 0.18332673609256744, + 0.0, + 0.6581199765205383 + ], + [ + 0.3290693163871765, + 0.01526427548378706, + -0.010819711722433567, + -0.19477269053459167, + -0.4386281967163086, + 0.19951799511909485, + 0.0, + 0.6581199765205383 + ], + [ + 0.32308974862098694, + 0.0029616982210427523, + -0.01422869972884655, + -0.21597924828529358, + -0.39497852325439453, + 0.22854037582874298, + 0.0, + 0.6581199765205383 + ], + [ + 0.317945659160614, + 0.0014497273368760943, + -0.016413195058703423, + -0.20889900624752045, + -0.3606199622154236, + 0.2171698659658432, + 0.0, + 0.8705081939697266 + ] + ], + "left_gripper_pos": [ + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.8381108045578003 + ], + [ + 0.6581199765205383 + ], + [ + 0.6581199765205383 + ], + [ + 0.6581199765205383 + ], + [ + 0.6581199765205383 + ], + [ + 0.6581199765205383 + ], + [ + 0.6581199765205383 + ], + [ + 0.6581199765205383 + ], + [ + 0.6581199765205383 + ], + [ + 0.6581199765205383 + ], + [ + 0.6581199765205383 + ], + [ + 0.8705081939697266 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2748897075653076, + 0.1271393895149231, + 0.08104266226291656 + ], + [ + 0.2832736670970917, + 0.11235784739255905, + 0.07128344476222992 + ], + [ + 0.3058798313140869, + 0.07915984839200974, + 0.06765568256378174 + ], + [ + 0.33376196026802063, + 0.06185801699757576, + 0.06572345644235611 + ], + [ + 0.3591878116130829, + 0.04829234257340431, + 0.06351792067289352 + ], + [ + 0.3857925534248352, + 0.040495093911886215, + 0.06240793317556381 + ], + [ + 0.411012202501297, + 0.039382144808769226, + 0.054761238396167755 + ], + [ + 0.427686482667923, + 0.03902026265859604, + 0.04357608035206795 + ], + [ + 0.4331619441509247, + 0.03491678833961487, + 0.025751611217856407 + ], + [ + 0.4371878504753113, + 0.03240101784467697, + 0.02317730151116848 + ], + [ + 0.4379664361476898, + 0.03512116149067879, + 0.021283699199557304 + ], + [ + 0.43695369362831116, + 0.04002124071121216, + 0.013776630163192749 + ], + [ + 0.4316295087337494, + 0.042789217084646225, + 0.012123406864702702 + ], + [ + 0.39946556091308594, + 0.03260513022542, + 0.018100963905453682 + ], + [ + 0.3696046769618988, + 0.020677832886576653, + 0.042379606515169144 + ], + [ + 0.3397998511791229, + 0.010831369087100029, + 0.033147212117910385 + ], + [ + 0.3281404972076416, + 0.02310001850128174, + 0.012456109747290611 + ], + [ + 0.3363778591156006, + 0.015380380675196648, + 0.005762947257608175 + ], + [ + 0.337520956993103, + 0.015645146369934082, + -0.0028241819236427546 + ], + [ + 0.3290693163871765, + 0.01526427548378706, + -0.010819711722433567 + ], + [ + 0.32308974862098694, + 0.0029616982210427523, + -0.01422869972884655 + ], + [ + 0.317945659160614, + 0.0014497273368760943, + -0.016413195058703423 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.98835581609446, + 0.007653881314725542, + 0.15196775609672625, + -0.003267773996433899, + -0.9974360552559997, + 0.07148872168712088, + 0.15212528535835917, + -0.07115289014629338, + -0.9857967152402504 + ], + [ + 0.9858234186482429, + 0.00771441819748615, + 0.16760869606486994, + -0.004063840277567631, + -0.9975516123283629, + 0.06981594333160829, + 0.16773691438347754, + -0.06950732690125708, + -0.9833783905802242 + ], + [ + 0.9729675056325308, + -0.05491821611466074, + 0.22431723634619552, + -0.06648009515218185, + -0.9968032388157397, + 0.044313655175449454, + 0.22116652082032753, + -0.05802837775808668, + -0.9735081291098687 + ], + [ + 0.9610716902447521, + -0.08253118064160515, + 0.2636850591747625, + -0.09124163806647966, + -0.9956086429244055, + 0.020937851302583216, + 0.2607990983363263, + -0.04418183287422889, + -0.9643815613909429 + ], + [ + 0.9496497758832169, + -0.11620133630291124, + 0.29096830172094956, + -0.1323628712018672, + -0.9905319846333719, + 0.036420567615997365, + 0.28398129074316447, + -0.07310018371858754, + -0.9560392197227867 + ], + [ + 0.9330734733738756, + -0.16710783436201423, + 0.3185103844160329, + -0.18954618081946042, + -0.9810332659240818, + 0.04057063577374781, + 0.30568961157155444, + -0.0982278109557945, + -0.9470507687194307 + ], + [ + 0.9285082246062134, + -0.19809895424627427, + 0.31405299101449413, + -0.20956477548794694, + -0.9777907211074189, + 0.0028125772735673044, + 0.3065209319333735, + -0.06842594568411844, + -0.9494012893628964 + ], + [ + 0.9224241742421075, + -0.21309217640504147, + 0.32206422826624026, + -0.2105447044908112, + -0.9766309346754408, + -0.043161844792036635, + 0.3237353397215744, + -0.027995388726316323, + -0.9457334127677944 + ], + [ + 0.9176695550746357, + -0.22312661795946417, + 0.3287812343292902, + -0.20838214695340843, + -0.9747775604063984, + -0.0799098777325953, + 0.3383185902669382, + 0.004818722457410093, + -0.9410192938477244 + ], + [ + 0.9111392930772771, + -0.21681837170326573, + 0.35044968583604774, + -0.19377911625022726, + -0.9759363819878373, + -0.09998916150149181, + 0.3636960856483349, + 0.023194223514379816, + -0.9312288576282655 + ], + [ + 0.9101095427438339, + -0.21163262849129005, + 0.35624745720422657, + -0.1799371466848107, + -0.9762953682286631, + -0.12029121837519247, + 0.37326028914088694, + 0.04537603478849736, + -0.9266163024776408 + ], + [ + 0.9160201863040976, + -0.20268683052530925, + 0.34615757541184977, + -0.16355250310530214, + -0.9766819685390263, + -0.13907879442503923, + 0.36627530221323423, + 0.07078404525270332, + -0.9278103372598664 + ], + [ + 0.9345462953768069, + -0.16454850102636345, + 0.31551071710397194, + -0.13364415331554116, + -0.9840558536621329, + -0.11735977657554918, + 0.32979154337559635, + 0.06751198177558969, + -0.9416366975828174 + ], + [ + 0.9781105028808715, + -0.06851693734693892, + 0.19648224716427645, + -0.057922602024146404, + -0.9965657219096526, + -0.05917545174685964, + 0.19986199320751438, + 0.046499367859017295, + -0.9787200787047494 + ], + [ + 0.9814796842967324, + 0.030727528126240355, + 0.18908582265214363, + 0.030249596354243895, + -0.9995277154232522, + 0.005413688315707583, + 0.18916286959441092, + 0.0004063447125559048, + -0.9819456419022301 + ], + [ + 0.9778492169960974, + 0.06749582095193112, + 0.19812930872070372, + 0.0683262051540406, + -0.9976595135993132, + 0.0026503988434990215, + 0.19784448061385745, + 0.010945733360836166, + -0.9801723075111979 + ], + [ + 0.9567216871412615, + 0.10804648292638537, + 0.27020283285120456, + 0.12553756503629318, + -0.9909144251518374, + -0.04825890374595734, + 0.26253367996951577, + 0.08009094551346882, + -0.9615932130211933 + ], + [ + 0.9308719381258347, + 0.08140202834252042, + 0.35616168321645153, + 0.1372669172469194, + -0.9813642278182563, + -0.13446949761267535, + 0.3385782453722918, + 0.17406309815811455, + -0.9246982262447674 + ], + [ + 0.8954400096997088, + 0.0866330823536795, + 0.4366713845340521, + 0.16602220477351032, + -0.9751053386748053, + -0.1469904963255655, + 0.413066358532292, + 0.20411831747737402, + -0.8875313492598884 + ], + [ + 0.8873752812549723, + 0.11388242372741973, + 0.44676157375453346, + 0.17943462346207179, + -0.977920309038708, + -0.10712182351259117, + 0.42469792337693807, + 0.1752217530319984, + -0.8882167590986505 + ], + [ + 0.899004967039758, + 0.14097498012163323, + 0.4146276935005049, + 0.2091123688733631, + -0.9700514264058712, + -0.12358093425810081, + 0.3847883657570925, + 0.19780365291783575, + -0.9015606626679905 + ], + [ + 0.9137002498175408, + 0.13932537707400622, + 0.3817594698059894, + 0.20160762787564623, + -0.97104864422858, + -0.12813623579687544, + 0.35285438620728393, + 0.19404373178493423, + -0.9153364475914079 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + 0.008383959531784058, + -0.014781542122364044, + -0.009759217500686646, + -0.0014882832765579224, + -0.015815377235412598, + -0.0008159959688782692, + 1.0 + ], + [ + 0.02260616421699524, + -0.033197999000549316, + -0.003627762198448181, + -0.011027775704860687, + -0.054476842284202576, + -0.06409885734319687, + 1.0 + ], + [ + 0.027882128953933716, + -0.017301831394433975, + -0.0019322261214256287, + -0.013755414634943008, + -0.04083940386772156, + -0.0264325812458992, + 1.0 + ], + [ + 0.025425851345062256, + -0.013565674424171448, + -0.0022055357694625854, + 0.030531372874975204, + -0.024093955755233765, + -0.04383482038974762, + 1.0 + ], + [ + 0.02660474181175232, + -0.007797248661518097, + -0.001109987497329712, + 0.027037136256694794, + -0.022718816995620728, + -0.06192612648010254, + 1.0 + ], + [ + 0.025219649076461792, + -0.0011129491031169891, + -0.007646694779396057, + -0.03140181303024292, + -0.0008732378482818604, + -0.021566450595855713, + 1.0 + ], + [ + 0.016674280166625977, + -0.00036188215017318726, + -0.011185158044099808, + -0.04235519468784332, + -0.018138915300369263, + -0.0024260133504867554, + 1.0 + ], + [ + 0.005475461483001709, + -0.004103474318981171, + -0.01782446913421154, + -0.03471383824944496, + -0.015454769134521484, + 0.0011161118745803833, + 1.0 + ], + [ + 0.004025906324386597, + -0.0025157704949378967, + -0.0025743097066879272, + -0.019781261682510376, + -0.02710309624671936, + 0.013735473155975342, + 1.0 + ], + [ + 0.00077858567237854, + 0.002720143646001816, + -0.0018936023116111755, + -0.024028552696108818, + -0.01028817892074585, + 0.014363497495651245, + 0.0 + ], + [ + -0.0010127425193786621, + 0.004900079220533371, + -0.007507069036364555, + -0.027213484048843384, + 0.0075178444385528564, + 0.018507003784179688, + 0.0 + ], + [ + -0.005324184894561768, + 0.0027679763734340668, + -0.0016532232984900475, + 0.0045700520277023315, + 0.03892022371292114, + 0.034643739461898804, + 0.0 + ], + [ + -0.03216394782066345, + -0.010184086859226227, + 0.00597755704075098, + 0.024099264293909073, + 0.1348656862974167, + 0.08289148658514023, + 0.0 + ], + [ + -0.029860883951187134, + -0.011927297338843346, + 0.02427864260971546, + 0.04706086963415146, + 0.01090751588344574, + 0.08996044099330902, + 0.0 + ], + [ + -0.02980482578277588, + -0.009846463799476624, + -0.009232394397258759, + -0.010752872563898563, + -0.008848890662193298, + 0.038949936628341675, + 0.0 + ], + [ + -0.011659353971481323, + 0.01226864941418171, + -0.020691102370619774, + -0.07193134725093842, + -0.0664886087179184, + 0.06071040779352188, + 0.0 + ], + [ + 0.008237361907958984, + -0.007719637826085091, + -0.006693162489682436, + -0.10296249389648438, + -0.07975843548774719, + 0.015934497117996216, + 0.0 + ], + [ + 0.0011430978775024414, + 0.0002647656947374344, + -0.008587129414081573, + -0.03999298810958862, + -0.08041304349899292, + 0.03692124783992767, + 0.0 + ], + [ + -0.008451640605926514, + -0.00038087088614702225, + -0.007995530031621456, + 0.03128083050251007, + -0.012809664011001587, + 0.016191259026527405, + 0.0 + ], + [ + -0.005979567766189575, + -0.012302577495574951, + -0.003408988006412983, + -0.021206557750701904, + 0.04364967346191406, + 0.029022380709648132, + 0.0 + ], + [ + -0.005144089460372925, + -0.001511970884166658, + -0.0021844953298568726, + 0.007080242037773132, + 0.03435856103897095, + -0.01137050986289978, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + -0.0016949325799942017, + 0.000958174467086792, + 0.004809588193893433, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.8381108045578003 + ], + [ + 0.6581199765205383 + ], + [ + 0.6581199765205383 + ], + [ + 0.6581199765205383 + ], + [ + 0.6581199765205383 + ], + [ + 0.6581199765205383 + ], + [ + 0.6581199765205383 + ], + [ + 0.6581199765205383 + ], + [ + 0.6581199765205383 + ], + [ + 0.6581199765205383 + ], + [ + 0.6581199765205383 + ], + [ + 0.8705081939697266 + ], + [ + 1.021787166595459 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2832736670970917, + 0.11235784739255905, + 0.07128344476222992 + ], + [ + 0.3058798313140869, + 0.07915984839200974, + 0.06765568256378174 + ], + [ + 0.33376196026802063, + 0.06185801699757576, + 0.06572345644235611 + ], + [ + 0.3591878116130829, + 0.04829234257340431, + 0.06351792067289352 + ], + [ + 0.3857925534248352, + 0.040495093911886215, + 0.06240793317556381 + ], + [ + 0.411012202501297, + 0.039382144808769226, + 0.054761238396167755 + ], + [ + 0.427686482667923, + 0.03902026265859604, + 0.04357608035206795 + ], + [ + 0.4331619441509247, + 0.03491678833961487, + 0.025751611217856407 + ], + [ + 0.4371878504753113, + 0.03240101784467697, + 0.02317730151116848 + ], + [ + 0.4379664361476898, + 0.03512116149067879, + 0.021283699199557304 + ], + [ + 0.43695369362831116, + 0.04002124071121216, + 0.013776630163192749 + ], + [ + 0.4316295087337494, + 0.042789217084646225, + 0.012123406864702702 + ], + [ + 0.39946556091308594, + 0.03260513022542, + 0.018100963905453682 + ], + [ + 0.3696046769618988, + 0.020677832886576653, + 0.042379606515169144 + ], + [ + 0.3397998511791229, + 0.010831369087100029, + 0.033147212117910385 + ], + [ + 0.3281404972076416, + 0.02310001850128174, + 0.012456109747290611 + ], + [ + 0.3363778591156006, + 0.015380380675196648, + 0.005762947257608175 + ], + [ + 0.337520956993103, + 0.015645146369934082, + -0.0028241819236427546 + ], + [ + 0.3290693163871765, + 0.01526427548378706, + -0.010819711722433567 + ], + [ + 0.32308974862098694, + 0.0029616982210427523, + -0.01422869972884655 + ], + [ + 0.317945659160614, + 0.0014497273368760943, + -0.016413195058703423 + ], + [ + 0.317945659160614, + 0.0014497273368760943, + -0.016413195058703423 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9858234186482429, + 0.00771441819748615, + 0.16760869606486994, + -0.004063840277567631, + -0.9975516123283629, + 0.06981594333160829, + 0.16773691438347754, + -0.06950732690125708, + -0.9833783905802242 + ], + [ + 0.9729675056325308, + -0.05491821611466074, + 0.22431723634619552, + -0.06648009515218185, + -0.9968032388157397, + 0.044313655175449454, + 0.22116652082032753, + -0.05802837775808668, + -0.9735081291098687 + ], + [ + 0.9610716902447521, + -0.08253118064160515, + 0.2636850591747625, + -0.09124163806647966, + -0.9956086429244055, + 0.020937851302583216, + 0.2607990983363263, + -0.04418183287422889, + -0.9643815613909429 + ], + [ + 0.9496497758832169, + -0.11620133630291124, + 0.29096830172094956, + -0.1323628712018672, + -0.9905319846333719, + 0.036420567615997365, + 0.28398129074316447, + -0.07310018371858754, + -0.9560392197227867 + ], + [ + 0.9330734733738756, + -0.16710783436201423, + 0.3185103844160329, + -0.18954618081946042, + -0.9810332659240818, + 0.04057063577374781, + 0.30568961157155444, + -0.0982278109557945, + -0.9470507687194307 + ], + [ + 0.9285082246062134, + -0.19809895424627427, + 0.31405299101449413, + -0.20956477548794694, + -0.9777907211074189, + 0.0028125772735673044, + 0.3065209319333735, + -0.06842594568411844, + -0.9494012893628964 + ], + [ + 0.9224241742421075, + -0.21309217640504147, + 0.32206422826624026, + -0.2105447044908112, + -0.9766309346754408, + -0.043161844792036635, + 0.3237353397215744, + -0.027995388726316323, + -0.9457334127677944 + ], + [ + 0.9176695550746357, + -0.22312661795946417, + 0.3287812343292902, + -0.20838214695340843, + -0.9747775604063984, + -0.0799098777325953, + 0.3383185902669382, + 0.004818722457410093, + -0.9410192938477244 + ], + [ + 0.9111392930772771, + -0.21681837170326573, + 0.35044968583604774, + -0.19377911625022726, + -0.9759363819878373, + -0.09998916150149181, + 0.3636960856483349, + 0.023194223514379816, + -0.9312288576282655 + ], + [ + 0.9101095427438339, + -0.21163262849129005, + 0.35624745720422657, + -0.1799371466848107, + -0.9762953682286631, + -0.12029121837519247, + 0.37326028914088694, + 0.04537603478849736, + -0.9266163024776408 + ], + [ + 0.9160201863040976, + -0.20268683052530925, + 0.34615757541184977, + -0.16355250310530214, + -0.9766819685390263, + -0.13907879442503923, + 0.36627530221323423, + 0.07078404525270332, + -0.9278103372598664 + ], + [ + 0.9345462953768069, + -0.16454850102636345, + 0.31551071710397194, + -0.13364415331554116, + -0.9840558536621329, + -0.11735977657554918, + 0.32979154337559635, + 0.06751198177558969, + -0.9416366975828174 + ], + [ + 0.9781105028808715, + -0.06851693734693892, + 0.19648224716427645, + -0.057922602024146404, + -0.9965657219096526, + -0.05917545174685964, + 0.19986199320751438, + 0.046499367859017295, + -0.9787200787047494 + ], + [ + 0.9814796842967324, + 0.030727528126240355, + 0.18908582265214363, + 0.030249596354243895, + -0.9995277154232522, + 0.005413688315707583, + 0.18916286959441092, + 0.0004063447125559048, + -0.9819456419022301 + ], + [ + 0.9778492169960974, + 0.06749582095193112, + 0.19812930872070372, + 0.0683262051540406, + -0.9976595135993132, + 0.0026503988434990215, + 0.19784448061385745, + 0.010945733360836166, + -0.9801723075111979 + ], + [ + 0.9567216871412615, + 0.10804648292638537, + 0.27020283285120456, + 0.12553756503629318, + -0.9909144251518374, + -0.04825890374595734, + 0.26253367996951577, + 0.08009094551346882, + -0.9615932130211933 + ], + [ + 0.9308719381258347, + 0.08140202834252042, + 0.35616168321645153, + 0.1372669172469194, + -0.9813642278182563, + -0.13446949761267535, + 0.3385782453722918, + 0.17406309815811455, + -0.9246982262447674 + ], + [ + 0.8954400096997088, + 0.0866330823536795, + 0.4366713845340521, + 0.16602220477351032, + -0.9751053386748053, + -0.1469904963255655, + 0.413066358532292, + 0.20411831747737402, + -0.8875313492598884 + ], + [ + 0.8873752812549723, + 0.11388242372741973, + 0.44676157375453346, + 0.17943462346207179, + -0.977920309038708, + -0.10712182351259117, + 0.42469792337693807, + 0.1752217530319984, + -0.8882167590986505 + ], + [ + 0.899004967039758, + 0.14097498012163323, + 0.4146276935005049, + 0.2091123688733631, + -0.9700514264058712, + -0.12358093425810081, + 0.3847883657570925, + 0.19780365291783575, + -0.9015606626679905 + ], + [ + 0.9137002498175408, + 0.13932537707400622, + 0.3817594698059894, + 0.20160762787564623, + -0.97104864422858, + -0.12813623579687544, + 0.35285438620728393, + 0.19404373178493423, + -0.9153364475914079 + ], + [ + 0.9130494173456477, + 0.14352864011837296, + 0.38175946740132605, + 0.2060741420354314, + -0.9701105877967773, + -0.12813623776649805, + 0.351957681361175, + 0.19566547194219588, + -0.9153364483185971 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006072.json b/json/chunk-0006/episode_0006072.json new file mode 100644 index 0000000000000000000000000000000000000000..33f4986ca2cf05a5fee1033c5fd818bc4c4998a0 --- /dev/null +++ b/json/chunk-0006/episode_0006072.json @@ -0,0 +1,1402 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 22, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPick up bit holder." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006072.mp4", + "start": 0, + "end": 22, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2716968059539795, + -0.04640990123152733, + 0.1477569043636322, + 0.12429647147655487, + -0.20769758522510529, + 0.035214465111494064, + 0.0, + 0.9927561283111572 + ], + [ + 0.26964813470840454, + -0.0438806489109993, + 0.1370399445295334, + 0.1290639042854309, + -0.18275737762451172, + -0.015239279717206955, + 0.0, + 0.9927561283111572 + ], + [ + 0.2757010757923126, + -0.009627791121602058, + 0.12196379154920578, + 0.15878774225711823, + -0.1887582689523697, + -0.23618212342262268, + 0.0, + 0.9927561283111572 + ], + [ + 0.27933087944984436, + 0.029043547809123993, + 0.11740776151418686, + 0.1830543428659439, + -0.19371958076953888, + -0.41569945216178894, + 0.0, + 0.9927561283111572 + ], + [ + 0.2821413278579712, + 0.08206332474946976, + 0.10952119529247284, + 0.17097394168376923, + -0.1619604378938675, + -0.6379579901695251, + 0.0, + 0.9927561283111572 + ], + [ + 0.291412353515625, + 0.12062843888998032, + 0.09761486202478409, + 0.13393843173980713, + -0.13721680641174316, + -0.8103377223014832, + 0.0, + 0.9927561283111572 + ], + [ + 0.3063634932041168, + 0.15957851707935333, + 0.0847306028008461, + 0.12112760543823242, + -0.1212356686592102, + -0.9604042768478394, + 0.0, + 0.9927561283111572 + ], + [ + 0.3255303204059601, + 0.1795579046010971, + 0.07902567833662033, + 0.15020307898521423, + -0.12105076014995575, + -1.0661680698394775, + 0.0, + 0.9927561283111572 + ], + [ + 0.33463239669799805, + 0.19828517735004425, + 0.06457443535327911, + 0.20021981000900269, + -0.14834555983543396, + -1.1620732545852661, + 0.0, + 0.9927561283111572 + ], + [ + 0.3371271789073944, + 0.2142261266708374, + 0.05014021322131157, + 0.24776598811149597, + -0.18307170271873474, + -1.2184836864471436, + 0.0, + 0.9927561283111572 + ], + [ + 0.34621456265449524, + 0.22456662356853485, + 0.03589150309562683, + 0.199193075299263, + -0.20783695578575134, + -1.2523244619369507, + 0.0, + 0.9927561283111572 + ], + [ + 0.34806451201438904, + 0.2307790368795395, + 0.020698605105280876, + 0.1656893938779831, + -0.23073850572109222, + -1.2745039463043213, + 0.0, + 0.9927561283111572 + ], + [ + 0.3471683859825134, + 0.23638968169689178, + 0.013645564205944538, + 0.17122766375541687, + -0.24534477293491364, + -1.3032413721084595, + 0.0, + 0.9927561283111572 + ], + [ + 0.34788987040519714, + 0.24086184799671173, + 0.007356144022196531, + 0.15172149240970612, + -0.2511803209781647, + -1.3049458265304565, + 0.0, + 0.9927561283111572 + ], + [ + 0.349903404712677, + 0.24182534217834473, + 0.0038819615729153156, + 0.1526147574186325, + -0.2690621614456177, + -1.3110084533691406, + 0.0, + 0.8836284875869751 + ], + [ + 0.3497940003871918, + 0.24089494347572327, + -0.010441371239721775, + 0.16910825669765472, + -0.29002246260643005, + -1.3026567697525024, + 0.0, + 0.5928986668586731 + ], + [ + 0.3442247807979584, + 0.2392081767320633, + -0.010601399466395378, + 0.17481960356235504, + -0.26965323090553284, + -1.2957463264465332, + 0.0, + 0.47187528014183044 + ], + [ + 0.33822309970855713, + 0.23478521406650543, + -0.009875471703708172, + 0.17824876308441162, + -0.2737561762332916, + -1.2681818008422852, + 0.0, + 0.4202251136302948 + ], + [ + 0.3273178040981293, + 0.23118533194065094, + -0.0011807801201939583, + 0.1515786349773407, + -0.23809371888637543, + -1.206567406654358, + 0.0, + 0.34207403659820557 + ], + [ + 0.33205074071884155, + 0.22841386497020721, + 0.013999582268297672, + 0.17302986979484558, + -0.19973689317703247, + -1.2174580097198486, + 0.0, + 0.2198251634836197 + ], + [ + 0.3314933776855469, + 0.2285633385181427, + 0.01430454757064581, + 0.16897761821746826, + -0.19385212659835815, + -1.2159830331802368, + 0.0, + 0.1972842812538147 + ], + [ + 0.33074042201042175, + 0.22774235904216766, + 0.02911938726902008, + 0.16534696519374847, + -0.1564280390739441, + -1.2082761526107788, + 0.0, + 0.1972842812538147 + ] + ], + "left_gripper_pos": [ + [ + 0.9927561283111572 + ], + [ + 0.9927561283111572 + ], + [ + 0.9927561283111572 + ], + [ + 0.9927561283111572 + ], + [ + 0.9927561283111572 + ], + [ + 0.9927561283111572 + ], + [ + 0.9927561283111572 + ], + [ + 0.9927561283111572 + ], + [ + 0.9927561283111572 + ], + [ + 0.9927561283111572 + ], + [ + 0.9927561283111572 + ], + [ + 0.9927561283111572 + ], + [ + 0.9927561283111572 + ], + [ + 0.9927561283111572 + ], + [ + 0.8836284875869751 + ], + [ + 0.5928986668586731 + ], + [ + 0.47187528014183044 + ], + [ + 0.4202251136302948 + ], + [ + 0.34207403659820557 + ], + [ + 0.2198251634836197 + ], + [ + 0.1972842812538147 + ], + [ + 0.1972842812538147 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2716968059539795, + -0.04640990123152733, + 0.1477569043636322 + ], + [ + 0.26964813470840454, + -0.0438806489109993, + 0.1370399445295334 + ], + [ + 0.2757010757923126, + -0.009627791121602058, + 0.12196379154920578 + ], + [ + 0.27933087944984436, + 0.029043547809123993, + 0.11740776151418686 + ], + [ + 0.2821413278579712, + 0.08206332474946976, + 0.10952119529247284 + ], + [ + 0.291412353515625, + 0.12062843888998032, + 0.09761486202478409 + ], + [ + 0.3063634932041168, + 0.15957851707935333, + 0.0847306028008461 + ], + [ + 0.3255303204059601, + 0.1795579046010971, + 0.07902567833662033 + ], + [ + 0.33463239669799805, + 0.19828517735004425, + 0.06457443535327911 + ], + [ + 0.3371271789073944, + 0.2142261266708374, + 0.05014021322131157 + ], + [ + 0.34621456265449524, + 0.22456662356853485, + 0.03589150309562683 + ], + [ + 0.34806451201438904, + 0.2307790368795395, + 0.020698605105280876 + ], + [ + 0.3471683859825134, + 0.23638968169689178, + 0.013645564205944538 + ], + [ + 0.34788987040519714, + 0.24086184799671173, + 0.007356144022196531 + ], + [ + 0.349903404712677, + 0.24182534217834473, + 0.0038819615729153156 + ], + [ + 0.3497940003871918, + 0.24089494347572327, + -0.010441371239721775 + ], + [ + 0.3442247807979584, + 0.2392081767320633, + -0.010601399466395378 + ], + [ + 0.33822309970855713, + 0.23478521406650543, + -0.009875471703708172 + ], + [ + 0.3273178040981293, + 0.23118533194065094, + -0.0011807801201939583 + ], + [ + 0.33205074071884155, + 0.22841386497020721, + 0.013999582268297672 + ], + [ + 0.3314933776855469, + 0.2285633385181427, + 0.01430454757064581 + ], + [ + 0.33074042201042175, + 0.22774235904216766, + 0.02911938726902008 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9779016420382429, + 0.060484639289658075, + 0.20012492825459904, + 0.034450524656000854, + -0.9907698827226558, + 0.1311037788954286, + 0.20620751647269003, + -0.12131219188414287, + -0.9709592227536801 + ], + [ + 0.9832321193076254, + 0.00827656653396179, + 0.1821705190425825, + -0.014984909321064853, + -0.9919241110920012, + 0.12594447318950663, + 0.18174171798041985, + -0.12656245999802546, + -0.9751676223423199 + ], + [ + 0.9549695042750105, + -0.2022026545791819, + 0.21713436482020185, + -0.22983627820488556, + -0.9669498601111393, + 0.11037777517224288, + 0.18763936454184368, + -0.1553127635198724, + -0.9698811341407528 + ], + [ + 0.8977220834755086, + -0.3650239826791577, + 0.24668310219680217, + -0.3962762602426858, + -0.9137008536774808, + 0.09008815436623155, + 0.1925102241660508, + -0.17862878283772968, + -0.9648997727916865 + ], + [ + 0.7928006416862976, + -0.5648331168597357, + 0.22897749374187676, + -0.5877622961281453, + -0.807940545556499, + 0.04204233694786064, + 0.16125329699564434, + -0.16791552919364894, + -0.972523392656265 + ], + [ + 0.6827751695768814, + -0.7054408513654873, + 0.19018746813078188, + -0.7177098924952654, + -0.6963148546566866, + -0.006175224600922749, + 0.13678661492885666, + -0.13228313728201985, + -0.9817283705624132 + ], + [ + 0.568981526781095, + -0.8050433136882531, + 0.16782516279655701, + -0.8134087564738117, + -0.580963447913269, + -0.02911472274388799, + 0.12093889809974778, + -0.1199447175767368, + -0.9853867502924197 + ], + [ + 0.47994408966529845, + -0.8567620222258936, + 0.18871276604073448, + -0.8689486851977932, + -0.49385579126252577, + -0.032165819272805436, + 0.12075534476110825, + -0.1485439150819099, + -0.9815054009040214 + ], + [ + 0.39307283025857614, + -0.8876145716999884, + 0.24007107742991166, + -0.9075507144861574, + -0.41647247993381836, + -0.053873686466031204, + 0.1478020661160648, + -0.19670039543331191, + -0.9692592551470431 + ], + [ + 0.33930291006813373, + -0.894509659057205, + 0.2910773180319256, + -0.9228927573945325, + -0.37643547599596483, + -0.08102648184641902, + 0.1820507994160218, + -0.24114062757041627, + -0.9532621382216611 + ], + [ + 0.30637723965468644, + -0.9181510607100503, + 0.25126005798491874, + -0.9292767005568372, + -0.34570208132835967, + -0.13013410301469264, + 0.2063438897175617, + -0.19361999039936473, + -0.9591316377296584 + ], + [ + 0.2842381391328842, + -0.9323140600621549, + 0.22360495001832104, + -0.9310781826617853, + -0.3240533584373043, + -0.16757935032912372, + 0.22869651950456604, + -0.16056124780258987, + -0.9601656042946827 + ], + [ + 0.2564571340358401, + -0.9393752453077983, + 0.227604672414774, + -0.9355393117180381, + -0.30042221808044395, + -0.18577590563301116, + 0.24289078745860754, + -0.16528956224317248, + -0.9558678914898218 + ], + [ + 0.25448544709574517, + -0.9439157456750613, + 0.21038113575882172, + -0.9345915364779922, + -0.2959576127022693, + -0.19735184677950057, + 0.2485474143099956, + -0.14639725595197006, + -0.9574925724461516 + ], + [ + 0.24763332702315854, + -0.9448306342076593, + 0.21441270487122205, + -0.9316724198514894, + -0.29294572279792086, + -0.2148704390614818, + 0.2658274580164955, + -0.1465533218905531, + -0.9528157672957205 + ], + [ + 0.253873452103418, + -0.9377588972729833, + 0.23697367132753688, + -0.9239952839742374, + -0.307569096655178, + -0.22723108496877328, + 0.28597374968773204, + -0.16127461476647745, + -0.9445684269132979 + ], + [ + 0.2617805179356809, + -0.9351582269112836, + 0.23864209827578742, + -0.927633270441916, + -0.3120483441781806, + -0.20523729306558958, + 0.26639721469745437, + -0.16764522521026265, + -0.9491720615703132 + ], + [ + 0.2869194532440201, + -0.925150886455166, + 0.2485418770375988, + -0.9190148527468588, + -0.3390516622293584, + -0.20113595096396442, + 0.2703496398755172, + -0.1707038594488401, + -0.9475079232325441 + ], + [ + 0.34617945110166126, + -0.9109984078300881, + 0.22414657830535123, + -0.9080387131390719, + -0.3854212556997013, + -0.16406142476403127, + 0.23585055241760816, + -0.1467390765471485, + -0.9606467406588122 + ], + [ + 0.33915229244348183, + -0.9123924352418469, + 0.22916318780245448, + -0.9195697985412878, + -0.37291448823658674, + -0.12379890982549004, + 0.1984114617179818, + -0.16874486237126357, + -0.9654833314367666 + ], + [ + 0.34090801248578473, + -0.9131004686124753, + 0.22367221830766074, + -0.9201475132095125, + -0.3728463644121639, + -0.11964172549316485, + 0.19264028902942912, + -0.1650246126016046, + -0.9672934385585111 + ], + [ + 0.3503017038157221, + -0.9131602146137432, + 0.20839179146594222, + -0.9235896946685243, + -0.3737707556535289, + -0.08530825352972812, + 0.15579086046974794, + -0.16258488449044897, + -0.9743178963404722 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.002048671245574951, + 0.0025292523205280304, + -0.010716959834098816, + 0.004767432808876038, + 0.024940207600593567, + -0.05045374482870102, + 1.0 + ], + [ + 0.006052941083908081, + 0.03425285965204239, + -0.015076152980327606, + 0.029723837971687317, + -0.006000891327857971, + -0.22094283998012543, + 1.0 + ], + [ + 0.0036298036575317383, + 0.0386713370680809, + -0.004556030035018921, + 0.024266600608825684, + -0.0049613118171691895, + -0.17951732873916626, + 1.0 + ], + [ + 0.002810448408126831, + 0.053019776940345764, + -0.00788656622171402, + -0.012080401182174683, + 0.03175914287567139, + -0.2222585380077362, + 1.0 + ], + [ + 0.009271025657653809, + 0.03856511414051056, + -0.011906333267688751, + -0.0370355099439621, + 0.02474363148212433, + -0.172379732131958, + 1.0 + ], + [ + 0.014951139688491821, + 0.038950078189373016, + -0.012884259223937988, + -0.012810826301574707, + 0.01598113775253296, + -0.1500665545463562, + 1.0 + ], + [ + 0.01916682720184326, + 0.019979387521743774, + -0.005704924464225769, + 0.02907547354698181, + 0.00018490850925445557, + -0.10576379299163818, + 1.0 + ], + [ + 0.009102076292037964, + 0.018727272748947144, + -0.014451242983341217, + 0.05001673102378845, + -0.02729479968547821, + -0.09590518474578857, + 1.0 + ], + [ + 0.0024947822093963623, + 0.015940949320793152, + -0.014434222131967545, + 0.047546178102493286, + -0.03472614288330078, + -0.05641043186187744, + 1.0 + ], + [ + 0.00908738374710083, + 0.010340496897697449, + -0.014248710125684738, + -0.04857291281223297, + -0.0247652530670166, + -0.03384077548980713, + 1.0 + ], + [ + 0.0018499493598937988, + 0.006212413311004639, + -0.015192897990345955, + -0.03350368142127991, + -0.02290154993534088, + -0.022179484367370605, + 1.0 + ], + [ + -0.0008961260318756104, + 0.005610644817352295, + -0.007053040899336338, + 0.005538269877433777, + -0.014606267213821411, + -0.028737425804138184, + 1.0 + ], + [ + 0.0007214844226837158, + 0.004472166299819946, + -0.006289420183748007, + -0.019506171345710754, + -0.005835548043251038, + -0.0017044544219970703, + 1.0 + ], + [ + 0.0020135343074798584, + 0.0009634941816329956, + -0.0034741824492812157, + 0.0008932650089263916, + -0.017881840467453003, + -0.006062626838684082, + 0.0 + ], + [ + -0.00010940432548522949, + -0.00093039870262146, + -0.014323333278298378, + 0.016493499279022217, + -0.020960301160812378, + 0.008351683616638184, + 0.0 + ], + [ + -0.0055692195892333984, + -0.0016867667436599731, + -0.00016002822667360306, + 0.005711346864700317, + 0.020369231700897217, + 0.006910443305969238, + 0.0 + ], + [ + -0.006001681089401245, + -0.004422962665557861, + 0.0007259277626872063, + 0.0034291595220565796, + -0.004102945327758789, + 0.027564525604248047, + 0.0 + ], + [ + -0.010905295610427856, + -0.003599882125854492, + 0.008694691583514214, + -0.026670128107070923, + 0.0356624573469162, + 0.061614394187927246, + 0.0 + ], + [ + 0.00473293662071228, + -0.0027714669704437256, + 0.01518036238849163, + 0.021451234817504883, + 0.03835682570934296, + -0.010890603065490723, + 0.0 + ], + [ + -0.0005573630332946777, + 0.00014947354793548584, + 0.0003049653023481369, + -0.004052251577377319, + 0.005884766578674316, + 0.0014749765396118164, + 0.0 + ], + [ + -0.0007529556751251221, + -0.0008209794759750366, + 0.014814839698374271, + -0.0036306530237197876, + 0.03742408752441406, + 0.007706880569458008, + 0.0 + ], + [ + 0.00280645489692688, + -0.011564269661903381, + 0.05299719423055649, + 0.02681940793991089, + 0.13026151061058044, + -0.01591634750366211, + 0.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9927561283111572 + ], + [ + 0.9927561283111572 + ], + [ + 0.9927561283111572 + ], + [ + 0.9927561283111572 + ], + [ + 0.9927561283111572 + ], + [ + 0.9927561283111572 + ], + [ + 0.9927561283111572 + ], + [ + 0.9927561283111572 + ], + [ + 0.9927561283111572 + ], + [ + 0.9927561283111572 + ], + [ + 0.9927561283111572 + ], + [ + 0.9927561283111572 + ], + [ + 0.9927561283111572 + ], + [ + 0.8836284875869751 + ], + [ + 0.5928986668586731 + ], + [ + 0.47187528014183044 + ], + [ + 0.4202251136302948 + ], + [ + 0.34207403659820557 + ], + [ + 0.2198251634836197 + ], + [ + 0.1972842812538147 + ], + [ + 0.1972842812538147 + ], + [ + 0.1972842812538147 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.26964813470840454, + -0.0438806489109993, + 0.1370399445295334 + ], + [ + 0.2757010757923126, + -0.009627791121602058, + 0.12196379154920578 + ], + [ + 0.27933087944984436, + 0.029043547809123993, + 0.11740776151418686 + ], + [ + 0.2821413278579712, + 0.08206332474946976, + 0.10952119529247284 + ], + [ + 0.291412353515625, + 0.12062843888998032, + 0.09761486202478409 + ], + [ + 0.3063634932041168, + 0.15957851707935333, + 0.0847306028008461 + ], + [ + 0.3255303204059601, + 0.1795579046010971, + 0.07902567833662033 + ], + [ + 0.33463239669799805, + 0.19828517735004425, + 0.06457443535327911 + ], + [ + 0.3371271789073944, + 0.2142261266708374, + 0.05014021322131157 + ], + [ + 0.34621456265449524, + 0.22456662356853485, + 0.03589150309562683 + ], + [ + 0.34806451201438904, + 0.2307790368795395, + 0.020698605105280876 + ], + [ + 0.3471683859825134, + 0.23638968169689178, + 0.013645564205944538 + ], + [ + 0.34788987040519714, + 0.24086184799671173, + 0.007356144022196531 + ], + [ + 0.349903404712677, + 0.24182534217834473, + 0.0038819615729153156 + ], + [ + 0.3497940003871918, + 0.24089494347572327, + -0.010441371239721775 + ], + [ + 0.3442247807979584, + 0.2392081767320633, + -0.010601399466395378 + ], + [ + 0.33822309970855713, + 0.23478521406650543, + -0.009875471703708172 + ], + [ + 0.3273178040981293, + 0.23118533194065094, + -0.0011807801201939583 + ], + [ + 0.33205074071884155, + 0.22841386497020721, + 0.013999582268297672 + ], + [ + 0.3314933776855469, + 0.2285633385181427, + 0.01430454757064581 + ], + [ + 0.33074042201042175, + 0.22774235904216766, + 0.02911938726902008 + ], + [ + 0.33354687690734863, + 0.21617808938026428, + 0.08211658149957657 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9832321193076254, + 0.00827656653396179, + 0.1821705190425825, + -0.014984909321064853, + -0.9919241110920012, + 0.12594447318950663, + 0.18174171798041985, + -0.12656245999802546, + -0.9751676223423199 + ], + [ + 0.9549695042750105, + -0.2022026545791819, + 0.21713436482020185, + -0.22983627820488556, + -0.9669498601111393, + 0.11037777517224288, + 0.18763936454184368, + -0.1553127635198724, + -0.9698811341407528 + ], + [ + 0.8977220834755086, + -0.3650239826791577, + 0.24668310219680217, + -0.3962762602426858, + -0.9137008536774808, + 0.09008815436623155, + 0.1925102241660508, + -0.17862878283772968, + -0.9648997727916865 + ], + [ + 0.7928006416862976, + -0.5648331168597357, + 0.22897749374187676, + -0.5877622961281453, + -0.807940545556499, + 0.04204233694786064, + 0.16125329699564434, + -0.16791552919364894, + -0.972523392656265 + ], + [ + 0.6827751695768814, + -0.7054408513654873, + 0.19018746813078188, + -0.7177098924952654, + -0.6963148546566866, + -0.006175224600922749, + 0.13678661492885666, + -0.13228313728201985, + -0.9817283705624132 + ], + [ + 0.568981526781095, + -0.8050433136882531, + 0.16782516279655701, + -0.8134087564738117, + -0.580963447913269, + -0.02911472274388799, + 0.12093889809974778, + -0.1199447175767368, + -0.9853867502924197 + ], + [ + 0.47994408966529845, + -0.8567620222258936, + 0.18871276604073448, + -0.8689486851977932, + -0.49385579126252577, + -0.032165819272805436, + 0.12075534476110825, + -0.1485439150819099, + -0.9815054009040214 + ], + [ + 0.39307283025857614, + -0.8876145716999884, + 0.24007107742991166, + -0.9075507144861574, + -0.41647247993381836, + -0.053873686466031204, + 0.1478020661160648, + -0.19670039543331191, + -0.9692592551470431 + ], + [ + 0.33930291006813373, + -0.894509659057205, + 0.2910773180319256, + -0.9228927573945325, + -0.37643547599596483, + -0.08102648184641902, + 0.1820507994160218, + -0.24114062757041627, + -0.9532621382216611 + ], + [ + 0.30637723965468644, + -0.9181510607100503, + 0.25126005798491874, + -0.9292767005568372, + -0.34570208132835967, + -0.13013410301469264, + 0.2063438897175617, + -0.19361999039936473, + -0.9591316377296584 + ], + [ + 0.2842381391328842, + -0.9323140600621549, + 0.22360495001832104, + -0.9310781826617853, + -0.3240533584373043, + -0.16757935032912372, + 0.22869651950456604, + -0.16056124780258987, + -0.9601656042946827 + ], + [ + 0.2564571340358401, + -0.9393752453077983, + 0.227604672414774, + -0.9355393117180381, + -0.30042221808044395, + -0.18577590563301116, + 0.24289078745860754, + -0.16528956224317248, + -0.9558678914898218 + ], + [ + 0.25448544709574517, + -0.9439157456750613, + 0.21038113575882172, + -0.9345915364779922, + -0.2959576127022693, + -0.19735184677950057, + 0.2485474143099956, + -0.14639725595197006, + -0.9574925724461516 + ], + [ + 0.24763332702315854, + -0.9448306342076593, + 0.21441270487122205, + -0.9316724198514894, + -0.29294572279792086, + -0.2148704390614818, + 0.2658274580164955, + -0.1465533218905531, + -0.9528157672957205 + ], + [ + 0.253873452103418, + -0.9377588972729833, + 0.23697367132753688, + -0.9239952839742374, + -0.307569096655178, + -0.22723108496877328, + 0.28597374968773204, + -0.16127461476647745, + -0.9445684269132979 + ], + [ + 0.2617805179356809, + -0.9351582269112836, + 0.23864209827578742, + -0.927633270441916, + -0.3120483441781806, + -0.20523729306558958, + 0.26639721469745437, + -0.16764522521026265, + -0.9491720615703132 + ], + [ + 0.2869194532440201, + -0.925150886455166, + 0.2485418770375988, + -0.9190148527468588, + -0.3390516622293584, + -0.20113595096396442, + 0.2703496398755172, + -0.1707038594488401, + -0.9475079232325441 + ], + [ + 0.34617945110166126, + -0.9109984078300881, + 0.22414657830535123, + -0.9080387131390719, + -0.3854212556997013, + -0.16406142476403127, + 0.23585055241760816, + -0.1467390765471485, + -0.9606467406588122 + ], + [ + 0.33915229244348183, + -0.9123924352418469, + 0.22916318780245448, + -0.9195697985412878, + -0.37291448823658674, + -0.12379890982549004, + 0.1984114617179818, + -0.16874486237126357, + -0.9654833314367666 + ], + [ + 0.34090801248578473, + -0.9131004686124753, + 0.22367221830766074, + -0.9201475132095125, + -0.3728463644121639, + -0.11964172549316485, + 0.19264028902942912, + -0.1650246126016046, + -0.9672934385585111 + ], + [ + 0.3503017038157221, + -0.9131602146137432, + 0.20839179146594222, + -0.9235896946685243, + -0.3737707556535289, + -0.08530825352972812, + 0.15579086046974794, + -0.16258488449044897, + -0.9743178963404722 + ], + [ + 0.33958927422916557, + -0.9215218060463849, + 0.1883525572152332, + -0.9402098671348219, + -0.3381522429672312, + 0.040724271860298145, + 0.02616353513631893, + -0.1909204587183882, + -0.9812567695929191 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006073.json b/json/chunk-0006/episode_0006073.json new file mode 100644 index 0000000000000000000000000000000000000000..ffaa62c0ea9bc5ba8e12a5f02287523f17720278 --- /dev/null +++ b/json/chunk-0006/episode_0006073.json @@ -0,0 +1,2362 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 38, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nFold the clothe from top right to bottom left." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006073.mp4", + "start": 0, + "end": 38, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3841063380241394, + 0.12851479649543762, + 0.06411349773406982, + 0.05407479777932167, + -0.12297606468200684, + -0.571877121925354, + 0.0, + 1.0001531839370728 + ], + [ + 0.38203004002571106, + 0.12687736749649048, + 0.05036766454577446, + 0.024526191875338554, + -0.1027868315577507, + -0.5649199485778809, + 0.0, + 1.0001531839370728 + ], + [ + 0.3894268572330475, + 0.09640521556138992, + 0.045444320887327194, + 0.003161712782457471, + -0.10328933596611023, + -0.5977705717086792, + 0.0, + 1.0001531839370728 + ], + [ + 0.39701685309410095, + 0.06177429109811783, + 0.04486104100942612, + 0.003953792154788971, + -0.10418834537267685, + -0.6626873016357422, + 0.0, + 1.0001531839370728 + ], + [ + 0.3927138149738312, + 0.040718208998441696, + 0.04054727032780647, + -0.015854520723223686, + -0.07483772188425064, + -0.6448439955711365, + 0.0, + 1.0001531839370728 + ], + [ + 0.38221344351768494, + 0.005982470698654652, + 0.026664139702916145, + -0.07522778958082199, + -0.07312207669019699, + -0.5200934410095215, + 0.0, + 1.0001531839370728 + ], + [ + 0.36716821789741516, + 0.0024260147474706173, + 0.03204668313264847, + -0.013536444865167141, + -0.14594769477844238, + -0.34377235174179077, + 0.0, + 1.0001531839370728 + ], + [ + 0.3703601658344269, + -0.001135929487645626, + 0.03583163768053055, + 0.008444040082395077, + -0.17130336165428162, + -0.30899330973625183, + 0.0, + 1.0001531839370728 + ], + [ + 0.3751293420791626, + 0.0002772572042886168, + 0.0374169684946537, + 0.034475162625312805, + -0.18990008533000946, + -0.2761226296424866, + 0.0, + 1.0001531839370728 + ], + [ + 0.39545294642448425, + 0.0031261530239135027, + 0.0334647037088871, + 0.05663365498185158, + -0.2279140055179596, + -0.25056734681129456, + 0.0, + 1.0001531839370728 + ], + [ + 0.4100707471370697, + 0.003417328465729952, + 0.018008412793278694, + 0.03829503804445267, + -0.20808543264865875, + -0.27189162373542786, + 0.0, + 1.0001531839370728 + ], + [ + 0.4126056134700775, + 0.012533768080174923, + 0.015603997744619846, + 0.04178345203399658, + -0.1974574476480484, + -0.2570059597492218, + 0.0, + 1.0001531839370728 + ], + [ + 0.41167646646499634, + 0.016395168378949165, + 0.014003684744238853, + 0.06688764691352844, + -0.19144801795482635, + -0.2630908787250519, + 0.0, + 1.0001531839370728 + ], + [ + 0.41115131974220276, + 0.015856191515922546, + 0.025134745985269547, + 0.13356797397136688, + -0.17541779577732086, + -0.2907201945781708, + 0.0, + 1.0001531839370728 + ], + [ + 0.41430971026420593, + 0.007547416724264622, + 0.05271428823471069, + 0.22043681144714355, + -0.18147724866867065, + -0.3304792642593384, + 0.0, + 1.0001531839370728 + ], + [ + 0.4059635400772095, + 0.013807253912091255, + 0.06698604673147202, + 0.26315003633499146, + -0.2037510871887207, + -0.30573463439941406, + 0.0, + 1.0001531839370728 + ], + [ + 0.3927936851978302, + 0.023675261065363884, + 0.05461626499891281, + 0.222942516207695, + -0.20926140248775482, + -0.2681129574775696, + 0.0, + 1.0001531839370728 + ], + [ + 0.38741493225097656, + 0.03482816740870476, + 0.04567381739616394, + 0.17988704144954681, + -0.2198607176542282, + -0.2428695559501648, + 0.0, + 1.0001531839370728 + ], + [ + 0.3890411853790283, + 0.03197089582681656, + 0.04279810190200806, + 0.15905748307704926, + -0.21942004561424255, + -0.25105777382850647, + 0.0, + 1.0001531839370728 + ], + [ + 0.38836669921875, + 0.027782069519162178, + 0.028286151587963104, + 0.12901034951210022, + -0.19231240451335907, + -0.25908246636390686, + 0.0, + 1.0001531839370728 + ], + [ + 0.39290228486061096, + 0.019860131666064262, + 0.025487659499049187, + 0.12262456864118576, + -0.1779918223619461, + -0.27803730964660645, + 0.0, + 1.0001531839370728 + ], + [ + 0.394422709941864, + 0.01619250327348709, + 0.018354497849941254, + 0.10696640610694885, + -0.16759784519672394, + -0.28260642290115356, + 0.0, + 1.0001531839370728 + ], + [ + 0.3956623077392578, + 0.014743885956704617, + 0.017341701313853264, + 0.10181625932455063, + -0.16886527836322784, + -0.2850528657436371, + 0.0, + 1.0001531839370728 + ], + [ + 0.39663103222846985, + 0.013576844707131386, + 0.012151006609201431, + 0.09186355769634247, + -0.15848195552825928, + -0.2907847762107849, + 0.0, + 0.9665181636810303 + ], + [ + 0.3969605565071106, + 0.013737753964960575, + 0.011636156588792801, + 0.09445023536682129, + -0.15900449454784393, + -0.298227459192276, + 0.0, + 0.6951970458030701 + ], + [ + 0.3989342749118805, + 0.013693680986762047, + 0.011262424290180206, + 0.09476728737354279, + -0.14984548091888428, + -0.31934279203414917, + 0.0, + 0.40239205956459045 + ], + [ + 0.4001515805721283, + 0.01435427088290453, + 0.014133354648947716, + 0.10602910071611404, + -0.14461281895637512, + -0.3257227838039398, + 0.0, + 0.19087372720241547 + ], + [ + 0.39615142345428467, + 0.013781245797872543, + 0.025994479656219482, + 0.16093683242797852, + -0.10880821198225021, + -0.3610334098339081, + 0.0, + 0.07526680082082748 + ], + [ + 0.3877464532852173, + 0.024664655327796936, + 0.07561670988798141, + 0.24117223918437958, + -0.18645361065864563, + -0.3648069202899933, + 0.0, + 0.056468017399311066 + ], + [ + 0.36533576250076294, + 0.058007463812828064, + 0.08603169769048691, + 0.24197369813919067, + -0.23920898139476776, + -0.2784438133239746, + 0.0, + 0.054572440683841705 + ], + [ + 0.3507057726383209, + 0.09841199964284897, + 0.08016858249902725, + 0.1996147334575653, + -0.2631950378417969, + -0.18517376482486725, + 0.0, + 0.05403778702020645 + ], + [ + 0.33703866600990295, + 0.13875165581703186, + 0.06711513549089432, + 0.1417718380689621, + -0.26604506373405457, + -0.1007155030965805, + 0.0, + 0.05403778702020645 + ], + [ + 0.31699511408805847, + 0.17037934064865112, + 0.041924864053726196, + 0.05857053026556969, + -0.21310515701770782, + -0.017141638323664665, + 0.0, + 0.05403778702020645 + ], + [ + 0.3078843653202057, + 0.18344736099243164, + 0.02745743654668331, + 0.003285906743258238, + -0.2096453309059143, + 0.032050490379333496, + 0.0, + 0.05403778702020645 + ], + [ + 0.3062358498573303, + 0.18391752243041992, + 0.0183479655534029, + -0.03170027956366539, + -0.20785830914974213, + 0.04297018423676491, + 0.0, + 0.06742517650127411 + ], + [ + 0.3035110533237457, + 0.1840658038854599, + 0.01621205173432827, + -0.033272478729486465, + -0.20674070715904236, + 0.03319434076547623, + 0.0, + 0.2056351900100708 + ], + [ + 0.2959977090358734, + 0.1841830164194107, + 0.01521958876401186, + -0.01836257055401802, + -0.15650057792663574, + -0.011291887611150742, + 0.0, + 0.45408597588539124 + ], + [ + 0.2992250323295593, + 0.17992594838142395, + 0.028810808435082436, + 0.03964373096823692, + -0.11926313489675522, + -0.09334976226091385, + 0.0, + 0.7565051317214966 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9665181636810303 + ], + [ + 0.6951970458030701 + ], + [ + 0.40239205956459045 + ], + [ + 0.19087372720241547 + ], + [ + 0.07526680082082748 + ], + [ + 0.056468017399311066 + ], + [ + 0.054572440683841705 + ], + [ + 0.05403778702020645 + ], + [ + 0.05403778702020645 + ], + [ + 0.05403778702020645 + ], + [ + 0.05403778702020645 + ], + [ + 0.06742517650127411 + ], + [ + 0.2056351900100708 + ], + [ + 0.45408597588539124 + ], + [ + 0.7565051317214966 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3841063380241394, + 0.12851479649543762, + 0.06411349773406982 + ], + [ + 0.38203004002571106, + 0.12687736749649048, + 0.05036766454577446 + ], + [ + 0.3894268572330475, + 0.09640521556138992, + 0.045444320887327194 + ], + [ + 0.39701685309410095, + 0.06177429109811783, + 0.04486104100942612 + ], + [ + 0.3927138149738312, + 0.040718208998441696, + 0.04054727032780647 + ], + [ + 0.38221344351768494, + 0.005982470698654652, + 0.026664139702916145 + ], + [ + 0.36716821789741516, + 0.0024260147474706173, + 0.03204668313264847 + ], + [ + 0.3703601658344269, + -0.001135929487645626, + 0.03583163768053055 + ], + [ + 0.3751293420791626, + 0.0002772572042886168, + 0.0374169684946537 + ], + [ + 0.39545294642448425, + 0.0031261530239135027, + 0.0334647037088871 + ], + [ + 0.4100707471370697, + 0.003417328465729952, + 0.018008412793278694 + ], + [ + 0.4126056134700775, + 0.012533768080174923, + 0.015603997744619846 + ], + [ + 0.41167646646499634, + 0.016395168378949165, + 0.014003684744238853 + ], + [ + 0.41115131974220276, + 0.015856191515922546, + 0.025134745985269547 + ], + [ + 0.41430971026420593, + 0.007547416724264622, + 0.05271428823471069 + ], + [ + 0.4059635400772095, + 0.013807253912091255, + 0.06698604673147202 + ], + [ + 0.3927936851978302, + 0.023675261065363884, + 0.05461626499891281 + ], + [ + 0.38741493225097656, + 0.03482816740870476, + 0.04567381739616394 + ], + [ + 0.3890411853790283, + 0.03197089582681656, + 0.04279810190200806 + ], + [ + 0.38836669921875, + 0.027782069519162178, + 0.028286151587963104 + ], + [ + 0.39290228486061096, + 0.019860131666064262, + 0.025487659499049187 + ], + [ + 0.394422709941864, + 0.01619250327348709, + 0.018354497849941254 + ], + [ + 0.3956623077392578, + 0.014743885956704617, + 0.017341701313853264 + ], + [ + 0.39663103222846985, + 0.013576844707131386, + 0.012151006609201431 + ], + [ + 0.3969605565071106, + 0.013737753964960575, + 0.011636156588792801 + ], + [ + 0.3989342749118805, + 0.013693680986762047, + 0.011262424290180206 + ], + [ + 0.4001515805721283, + 0.01435427088290453, + 0.014133354648947716 + ], + [ + 0.39615142345428467, + 0.013781245797872543, + 0.025994479656219482 + ], + [ + 0.3877464532852173, + 0.024664655327796936, + 0.07561670988798141 + ], + [ + 0.36533576250076294, + 0.058007463812828064, + 0.08603169769048691 + ], + [ + 0.3507057726383209, + 0.09841199964284897, + 0.08016858249902725 + ], + [ + 0.33703866600990295, + 0.13875165581703186, + 0.06711513549089432 + ], + [ + 0.31699511408805847, + 0.17037934064865112, + 0.041924864053726196 + ], + [ + 0.3078843653202057, + 0.18344736099243164, + 0.02745743654668331 + ], + [ + 0.3062358498573303, + 0.18391752243041992, + 0.0183479655534029 + ], + [ + 0.3035110533237457, + 0.1840658038854599, + 0.01621205173432827 + ], + [ + 0.2959977090358734, + 0.1841830164194107, + 0.01521958876401186 + ], + [ + 0.2992250323295593, + 0.17992594838142395, + 0.028810808435082436 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8345361357145699, + -0.5348453520909957, + 0.13224933849835288, + -0.5371242019506923, + -0.8432456169327942, + -0.02084277338703332, + 0.12266633550173818, + -0.0536402728394455, + -0.9909973215222556 + ], + [ + 0.8401735637045427, + -0.5330618670445866, + 0.0997668720314912, + -0.5325226803430467, + -0.845724520211849, + -0.03419986597480816, + 0.10260593439107571, + -0.02439429882937913, + -0.9944229182859559 + ], + [ + 0.8221869836939695, + -0.5625287710154863, + 0.08700543445106901, + -0.5598015391947537, + -0.8267717288678132, + -0.05541430375013373, + 0.1031057736472471, + -0.003144856870192808, + -0.994665425817078 + ], + [ + 0.7840668121298033, + -0.614908613460156, + 0.08441937697659632, + -0.6119013356223915, + -0.7885885706636517, + -0.06086724638253916, + 0.10399994990451492, + -0.003932341690112674, + -0.9945695285442295 + ], + [ + 0.7969565756757191, + -0.6019455564878196, + 0.05021716351807271, + -0.5993913412411827, + -0.7983806155805568, + -0.05760566560944423, + 0.07476788436439653, + 0.015809481009197834, + -0.9970756359363575 + ], + [ + 0.8654538602172928, + -0.5003203872637242, + 0.025867468435534887, + -0.49563323183941094, + -0.8625897665807654, + -0.10142284795134135, + 0.07305693212424828, + 0.07495601829351181, + -0.9945070537659224 + ], + [ + 0.9314805049695685, + -0.33886360140086486, + 0.1323462447796441, + -0.3334578694928781, + -0.9407401929721286, + -0.061755474251541986, + 0.14543011426423488, + 0.01339212352085846, + -0.989277884566664 + ], + [ + 0.9386967963897098, + -0.30271769476915766, + 0.16495551437082326, + -0.29964879761302166, + -0.953043949175473, + -0.04379302489083222, + 0.17046677839616195, + -0.008320349371615673, + -0.9853282951633776 + ], + [ + 0.9448238141344313, + -0.2662054046273509, + 0.19089956205202108, + -0.26772622052754413, + -0.9633218299460258, + -0.018268081220435002, + 0.1887607774048991, + -0.03384870007294202, + -0.9814395724734507 + ], + [ + 0.9437193017909551, + -0.23516617448500757, + 0.23257418129551544, + -0.24154150730665155, + -0.97038986674239, + -0.0010985316187414815, + 0.2259459662734059, + -0.05513961281849524, + -0.972578039759794 + ], + [ + 0.9424852964735287, + -0.2607383838072335, + 0.20913383547574538, + -0.2627608647507182, + -0.9646824655919618, + -0.018559863546585367, + 0.2065870128702652, + -0.03745978896102954, + -0.9777108827891483 + ], + [ + 0.9483621111477277, + -0.24603872708938648, + 0.20018554121529286, + -0.24924678762859884, + -0.9683941627709142, + -0.009422545730572492, + 0.19617682074151743, + -0.040959617716172486, + -0.9797126949878193 + ], + [ + 0.9479491589826364, + -0.24720444484754472, + 0.20070464476869893, + -0.25531483278853767, + -0.9667390646821009, + 0.015163013412173545, + 0.19028065624827306, + -0.06561663863071555, + -0.9795344448218922 + ], + [ + 0.9433353628838212, + -0.2618234379242343, + 0.20387957348980304, + -0.2822433778613667, + -0.9561663389590727, + 0.07800389666554866, + 0.17451953697582148, + -0.1311274936660442, + -0.9758834518622633 + ], + [ + 0.9303537175980103, + -0.27931612158603936, + 0.23753834295476267, + -0.3191675637238188, + -0.9358041916453979, + 0.14967491829129406, + 0.1804827593377374, + -0.21506515087534842, + -0.959777554676499 + ], + [ + 0.9338998174763873, + -0.2404386103931619, + 0.2646136911608607, + -0.29476760269015506, + -0.9366405188621099, + 0.1892527379723103, + 0.20234423965576326, + -0.2547426408317272, + -0.9456019223860579 + ], + [ + 0.943236538410585, + -0.21406617520267424, + 0.253930118814832, + -0.25913312292359414, + -0.9525754476127571, + 0.159530690493148, + 0.2077374718510894, + -0.2162768809638541, + -0.953975604273749 + ], + [ + 0.9472861839145433, + -0.19873261023515948, + 0.25130506440130146, + -0.23469986295243744, + -0.9643734645189108, + 0.12206471751452214, + 0.21809369567855275, + -0.1746114846191773, + -0.9601801754589384 + ], + [ + 0.9454256786871488, + -0.21189835924045955, + 0.24752650652030206, + -0.24247234643111873, + -0.964987552626094, + 0.10003091768492722, + 0.21766361040635968, + -0.15459013108184588, + -0.9637035042361141 + ], + [ + 0.9488056066347939, + -0.23029605839100273, + 0.2161750362737313, + -0.25147078903202535, + -0.9648921294507637, + 0.07579987326890149, + 0.1911291790438911, + -0.12628105168052245, + -0.9734077937352206 + ], + [ + 0.946403955471263, + -0.25158285197311847, + 0.20254782561513537, + -0.27013259334000306, + -0.9603194860878549, + 0.06938924019876944, + 0.1770534808574851, + -0.1203850208000562, + -0.9768108883930492 + ], + [ + 0.9468760169998549, + -0.2601627627101823, + 0.1890532870105566, + -0.27495233354425236, + -0.9598094997380933, + 0.0562755585585924, + 0.16681433604178245, + -0.10526661917016589, + -0.9803529548991132 + ], + [ + 0.9459968747076428, + -0.26335909472181795, + 0.18902883449536587, + -0.2772083090706028, + -0.9594805920558568, + 0.05052273597460233, + 0.16806387602810155, + -0.10019471390970042, + -0.9806709707536794 + ], + [ + 0.9460132736723267, + -0.2716255685237574, + 0.1768571077449613, + -0.28311116703383576, + -0.9581304431265382, + 0.04282663954693186, + 0.1578193686988603, + -0.09058479165008257, + -0.9833043488082436 + ], + [ + 0.9438010296198424, + -0.2782433115279908, + 0.17838238724286334, + -0.2901198671713027, + -0.9559860304201464, + 0.043831179701627955, + 0.1583353376888149, + -0.09312018702444821, + -0.9829845123945243 + ], + [ + 0.9388026514700589, + -0.29912196044113126, + 0.17080876550880245, + -0.31042465568297506, + -0.949616562914787, + 0.043184679945696414, + 0.14928534669180735, + -0.09356514425660972, + -0.9843573787214409 + ], + [ + 0.9375303091698375, + -0.3037473669887239, + 0.1696303523409845, + -0.3166534837398887, + -0.9469794245981983, + 0.05441085023281216, + 0.14410930096042063, + -0.10472586325775962, + -0.9840045746548215 + ], + [ + 0.929999752470124, + -0.3323969402419307, + 0.15688446233872408, + -0.35115222076855274, + -0.929589835238102, + 0.1120484541228131, + 0.10859363818761128, + -0.15929536195319954, + -0.9812402404128041 + ], + [ + 0.9180010732703177, + -0.3050819868334147, + 0.2533752371174444, + -0.35058534621466586, + -0.9229518960387273, + 0.15890158154675907, + 0.18537514529755028, + -0.23470146763131802, + -0.954228105118277 + ], + [ + 0.9341067402173437, + -0.21226490742656484, + 0.2870334596448988, + -0.2670332938704435, + -0.9490782331508817, + 0.16716377395806187, + 0.23693420573068225, + -0.2327962981544004, + -0.9432221719830266 + ], + [ + 0.9490566514215196, + -0.12975432968095263, + 0.28715028525428743, + -0.17777700439774896, + -0.9728852054521306, + 0.14795172766726322, + 0.2601668870166508, + -0.1914632887563878, + -0.946390511342254 + ], + [ + 0.9599290256877765, + -0.06257523642151731, + 0.27316772398822603, + -0.09700796050549564, + -0.9886857322922499, + 0.1144114433101082, + 0.2629177081154494, + -0.13632630908423038, + -0.9551384277741057 + ], + [ + 0.977235309038105, + -0.004732883726279726, + 0.21210551756338755, + -0.016753055139044466, + -0.9983507833685185, + 0.05490945720887474, + 0.2114958295397503, + -0.05721287581566432, + -0.9757029265756015 + ], + [ + 0.9776024592818755, + 0.03272831794748337, + 0.2078997085384129, + 0.031343371275927866, + -0.999459117570821, + 0.009953159378550458, + 0.2081130094037562, + -0.003213955333218725, + -0.9780995071095925 + ], + [ + 0.9775719207879073, + 0.03640069161187921, + 0.20743222829931182, + 0.042032318731757834, + -0.9988559453629495, + -0.02280536329725647, + 0.20636478350017204, + 0.03101274033788049, + -0.9779835305707668 + ], + [ + 0.978165999974719, + 0.026345019456903734, + 0.20614853005363246, + 0.03248150647516306, + -0.9991225753655332, + -0.026439196887353224, + 0.20527110909858207, + 0.03255793827562875, + -0.978163458949821 + ], + [ + 0.9877157855738725, + -0.014151437126788778, + 0.15561896978014908, + -0.011153649701607505, + -0.9997353555104437, + -0.0201200159229831, + 0.1558625132176504, + 0.018137137857275245, + -0.9876122322064589 + ], + [ + 0.9885735798956699, + -0.08844593577999316, + 0.12206389136948369, + -0.09255210347569565, + -0.9953033462636452, + 0.028378813551918954, + 0.11898060881708376, + -0.03935181521088679, + -0.9921164494983058 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0020762979984283447, + -0.0016374289989471436, + -0.013745833188295364, + -0.029548605903983116, + 0.020189233124256134, + 0.0069571733474731445, + 1.0 + ], + [ + 0.007396817207336426, + -0.030472151935100555, + -0.004923343658447266, + -0.021364478394389153, + -0.0005025044083595276, + -0.03285062313079834, + 1.0 + ], + [ + 0.007589995861053467, + -0.034630924463272095, + -0.0005832798779010773, + 0.0007920793723315, + -0.0008990094065666199, + -0.06491672992706299, + 1.0 + ], + [ + -0.004303038120269775, + -0.021056082099676132, + -0.004313770681619644, + -0.019808312878012657, + 0.02935062348842621, + 0.017843306064605713, + 1.0 + ], + [ + -0.01050037145614624, + -0.03473573923110962, + -0.013883130624890327, + -0.059373266994953156, + 0.00171564519405365, + 0.12475055456161499, + 1.0 + ], + [ + -0.015045225620269775, + -0.0035564559511840343, + 0.005382543429732323, + 0.061691343784332275, + -0.07282561808824539, + 0.1763210892677307, + 1.0 + ], + [ + 0.0031919479370117188, + -0.0035619442351162434, + 0.00378495454788208, + 0.021980484947562218, + -0.025355666875839233, + 0.03477904200553894, + 1.0 + ], + [ + 0.004769176244735718, + 0.0014131866628304124, + 0.0015853308141231537, + 0.026031121611595154, + -0.018596723675727844, + 0.03287068009376526, + 1.0 + ], + [ + 0.020323604345321655, + 0.0028488957323133945, + -0.0039522647857666016, + 0.022158492356538773, + -0.038013920187950134, + 0.025555282831192017, + 1.0 + ], + [ + 0.01461780071258545, + 0.00029117544181644917, + -0.015456290915608406, + -0.01833861693739891, + 0.019828572869300842, + -0.0213242769241333, + 1.0 + ], + [ + 0.0025348663330078125, + 0.009116439148783684, + -0.002404415048658848, + 0.003488413989543915, + 0.010627985000610352, + 0.014885663986206055, + 1.0 + ], + [ + -0.0009291470050811768, + 0.0038614002987742424, + -0.0016003130003809929, + 0.02510419487953186, + 0.006009429693222046, + -0.006084918975830078, + 1.0 + ], + [ + -0.0005251467227935791, + -0.000538976863026619, + 0.011131061241030693, + 0.06668032705783844, + 0.016030222177505493, + -0.027629315853118896, + 1.0 + ], + [ + 0.003158390522003174, + -0.008308774791657925, + 0.027579542249441147, + 0.08686883747577667, + -0.0060594528913497925, + -0.0397590696811676, + 1.0 + ], + [ + -0.00834617018699646, + 0.0062598371878266335, + 0.014271758496761322, + 0.0427132248878479, + -0.02227383852005005, + 0.024744629859924316, + 1.0 + ], + [ + -0.013169854879379272, + 0.009868007153272629, + -0.012369781732559204, + -0.04020752012729645, + -0.005510315299034119, + 0.03762167692184448, + 1.0 + ], + [ + -0.005378752946853638, + 0.011152906343340874, + -0.00894244760274887, + -0.04305547475814819, + -0.010599315166473389, + 0.025243401527404785, + 1.0 + ], + [ + 0.0016262531280517578, + -0.002857271581888199, + -0.002875715494155884, + -0.02082955837249756, + 0.00044067203998565674, + -0.008188217878341675, + 1.0 + ], + [ + -0.0006744861602783203, + -0.004188826307654381, + -0.014511950314044952, + -0.030047133564949036, + 0.027107641100883484, + -0.00802469253540039, + 1.0 + ], + [ + 0.004535585641860962, + -0.007921937853097916, + -0.0027984920889139175, + -0.006385780870914459, + 0.014320582151412964, + -0.018954843282699585, + 1.0 + ], + [ + 0.0015204250812530518, + -0.0036676283925771713, + -0.007133161649107933, + -0.015658162534236908, + 0.010393977165222168, + -0.004569113254547119, + 1.0 + ], + [ + 0.0012395977973937988, + -0.0014486173167824745, + -0.0010127965360879898, + -0.005150146782398224, + -0.0012674331665039062, + -0.0024464428424835205, + 1.0 + ], + [ + 0.0009687244892120361, + -0.0011670412495732307, + -0.005190694704651833, + -0.00995270162820816, + 0.010383322834968567, + -0.005731910467147827, + 0.0 + ], + [ + 0.00032952427864074707, + 0.0001609092578291893, + -0.0005148500204086304, + 0.002586677670478821, + -0.0005225390195846558, + -0.007442682981491089, + 0.0 + ], + [ + 0.0019737184047698975, + -4.407297819852829e-05, + -0.0003737322986125946, + 0.0003170520067214966, + 0.009159013628959656, + -0.02111533284187317, + 0.0 + ], + [ + 0.0012173056602478027, + 0.0006605898961424828, + 0.0028709303587675095, + 0.011261813342571259, + 0.005232661962509155, + -0.006379991769790649, + 0.0 + ], + [ + -0.004000157117843628, + -0.0005730250850319862, + 0.011861125007271767, + 0.05490773171186447, + 0.03580460697412491, + -0.03531062602996826, + 0.0 + ], + [ + -0.008404970169067383, + 0.010883409529924393, + 0.04962223023176193, + 0.08023540675640106, + -0.07764539867639542, + -0.003773510456085205, + 0.0 + ], + [ + -0.022410690784454346, + 0.03334280848503113, + 0.010414987802505493, + 0.0008014589548110962, + -0.05275537073612213, + 0.08636310696601868, + 0.0 + ], + [ + -0.014629989862442017, + 0.040404535830020905, + -0.005863115191459656, + -0.042358964681625366, + -0.023986056447029114, + 0.09327004849910736, + 0.0 + ], + [ + -0.013667106628417969, + 0.04033965617418289, + -0.013053447008132935, + -0.05784289538860321, + -0.0028500258922576904, + 0.08445826172828674, + 0.0 + ], + [ + -0.020043551921844482, + 0.03162768483161926, + -0.02519027143716812, + -0.08320130407810211, + 0.05293990671634674, + 0.08357386291027069, + 0.0 + ], + [ + -0.009110748767852783, + 0.013068020343780518, + -0.014467427507042885, + -0.05528462305665016, + 0.003459826111793518, + 0.04919213056564331, + 0.0 + ], + [ + -0.0016485154628753662, + 0.00047016143798828125, + -0.00910947099328041, + -0.034986186772584915, + 0.0017870217561721802, + 0.010919693857431412, + 1.0 + ], + [ + -0.0027247965335845947, + 0.00014828145503997803, + -0.0021359138190746307, + -0.0015721991658210754, + 0.001117601990699768, + -0.009775843471288681, + 1.0 + ], + [ + -0.0075133442878723145, + 0.00011721253395080566, + -0.00099246297031641, + 0.014909908175468445, + 0.050240129232406616, + -0.04448622837662697, + 1.0 + ], + [ + 0.003227323293685913, + -0.004257068037986755, + 0.013591219671070576, + 0.058006301522254944, + 0.037237443029880524, + -0.0820578783750534, + 1.0 + ], + [ + 0.00881621241569519, + -0.009927481412887573, + 0.016458583995699883, + 0.04199480637907982, + 0.01926650106906891, + -0.04562845081090927, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9665181636810303 + ], + [ + 0.6951970458030701 + ], + [ + 0.40239205956459045 + ], + [ + 0.19087372720241547 + ], + [ + 0.07526680082082748 + ], + [ + 0.056468017399311066 + ], + [ + 0.054572440683841705 + ], + [ + 0.05403778702020645 + ], + [ + 0.05403778702020645 + ], + [ + 0.05403778702020645 + ], + [ + 0.05403778702020645 + ], + [ + 0.06742517650127411 + ], + [ + 0.2056351900100708 + ], + [ + 0.45408597588539124 + ], + [ + 0.7565051317214966 + ], + [ + 0.9886419177055359 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.38203004002571106, + 0.12687736749649048, + 0.05036766454577446 + ], + [ + 0.3894268572330475, + 0.09640521556138992, + 0.045444320887327194 + ], + [ + 0.39701685309410095, + 0.06177429109811783, + 0.04486104100942612 + ], + [ + 0.3927138149738312, + 0.040718208998441696, + 0.04054727032780647 + ], + [ + 0.38221344351768494, + 0.005982470698654652, + 0.026664139702916145 + ], + [ + 0.36716821789741516, + 0.0024260147474706173, + 0.03204668313264847 + ], + [ + 0.3703601658344269, + -0.001135929487645626, + 0.03583163768053055 + ], + [ + 0.3751293420791626, + 0.0002772572042886168, + 0.0374169684946537 + ], + [ + 0.39545294642448425, + 0.0031261530239135027, + 0.0334647037088871 + ], + [ + 0.4100707471370697, + 0.003417328465729952, + 0.018008412793278694 + ], + [ + 0.4126056134700775, + 0.012533768080174923, + 0.015603997744619846 + ], + [ + 0.41167646646499634, + 0.016395168378949165, + 0.014003684744238853 + ], + [ + 0.41115131974220276, + 0.015856191515922546, + 0.025134745985269547 + ], + [ + 0.41430971026420593, + 0.007547416724264622, + 0.05271428823471069 + ], + [ + 0.4059635400772095, + 0.013807253912091255, + 0.06698604673147202 + ], + [ + 0.3927936851978302, + 0.023675261065363884, + 0.05461626499891281 + ], + [ + 0.38741493225097656, + 0.03482816740870476, + 0.04567381739616394 + ], + [ + 0.3890411853790283, + 0.03197089582681656, + 0.04279810190200806 + ], + [ + 0.38836669921875, + 0.027782069519162178, + 0.028286151587963104 + ], + [ + 0.39290228486061096, + 0.019860131666064262, + 0.025487659499049187 + ], + [ + 0.394422709941864, + 0.01619250327348709, + 0.018354497849941254 + ], + [ + 0.3956623077392578, + 0.014743885956704617, + 0.017341701313853264 + ], + [ + 0.39663103222846985, + 0.013576844707131386, + 0.012151006609201431 + ], + [ + 0.3969605565071106, + 0.013737753964960575, + 0.011636156588792801 + ], + [ + 0.3989342749118805, + 0.013693680986762047, + 0.011262424290180206 + ], + [ + 0.4001515805721283, + 0.01435427088290453, + 0.014133354648947716 + ], + [ + 0.39615142345428467, + 0.013781245797872543, + 0.025994479656219482 + ], + [ + 0.3877464532852173, + 0.024664655327796936, + 0.07561670988798141 + ], + [ + 0.36533576250076294, + 0.058007463812828064, + 0.08603169769048691 + ], + [ + 0.3507057726383209, + 0.09841199964284897, + 0.08016858249902725 + ], + [ + 0.33703866600990295, + 0.13875165581703186, + 0.06711513549089432 + ], + [ + 0.31699511408805847, + 0.17037934064865112, + 0.041924864053726196 + ], + [ + 0.3078843653202057, + 0.18344736099243164, + 0.02745743654668331 + ], + [ + 0.3062358498573303, + 0.18391752243041992, + 0.0183479655534029 + ], + [ + 0.3035110533237457, + 0.1840658038854599, + 0.01621205173432827 + ], + [ + 0.2959977090358734, + 0.1841830164194107, + 0.01521958876401186 + ], + [ + 0.2992250323295593, + 0.17992594838142395, + 0.028810808435082436 + ], + [ + 0.3080412447452545, + 0.16999846696853638, + 0.04526939243078232 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8401735637045427, + -0.5330618670445866, + 0.0997668720314912, + -0.5325226803430467, + -0.845724520211849, + -0.03419986597480816, + 0.10260593439107571, + -0.02439429882937913, + -0.9944229182859559 + ], + [ + 0.8221869836939695, + -0.5625287710154863, + 0.08700543445106901, + -0.5598015391947537, + -0.8267717288678132, + -0.05541430375013373, + 0.1031057736472471, + -0.003144856870192808, + -0.994665425817078 + ], + [ + 0.7840668121298033, + -0.614908613460156, + 0.08441937697659632, + -0.6119013356223915, + -0.7885885706636517, + -0.06086724638253916, + 0.10399994990451492, + -0.003932341690112674, + -0.9945695285442295 + ], + [ + 0.7969565756757191, + -0.6019455564878196, + 0.05021716351807271, + -0.5993913412411827, + -0.7983806155805568, + -0.05760566560944423, + 0.07476788436439653, + 0.015809481009197834, + -0.9970756359363575 + ], + [ + 0.8654538602172928, + -0.5003203872637242, + 0.025867468435534887, + -0.49563323183941094, + -0.8625897665807654, + -0.10142284795134135, + 0.07305693212424828, + 0.07495601829351181, + -0.9945070537659224 + ], + [ + 0.9314805049695685, + -0.33886360140086486, + 0.1323462447796441, + -0.3334578694928781, + -0.9407401929721286, + -0.061755474251541986, + 0.14543011426423488, + 0.01339212352085846, + -0.989277884566664 + ], + [ + 0.9386967963897098, + -0.30271769476915766, + 0.16495551437082326, + -0.29964879761302166, + -0.953043949175473, + -0.04379302489083222, + 0.17046677839616195, + -0.008320349371615673, + -0.9853282951633776 + ], + [ + 0.9448238141344313, + -0.2662054046273509, + 0.19089956205202108, + -0.26772622052754413, + -0.9633218299460258, + -0.018268081220435002, + 0.1887607774048991, + -0.03384870007294202, + -0.9814395724734507 + ], + [ + 0.9437193017909551, + -0.23516617448500757, + 0.23257418129551544, + -0.24154150730665155, + -0.97038986674239, + -0.0010985316187414815, + 0.2259459662734059, + -0.05513961281849524, + -0.972578039759794 + ], + [ + 0.9424852964735287, + -0.2607383838072335, + 0.20913383547574538, + -0.2627608647507182, + -0.9646824655919618, + -0.018559863546585367, + 0.2065870128702652, + -0.03745978896102954, + -0.9777108827891483 + ], + [ + 0.9483621111477277, + -0.24603872708938648, + 0.20018554121529286, + -0.24924678762859884, + -0.9683941627709142, + -0.009422545730572492, + 0.19617682074151743, + -0.040959617716172486, + -0.9797126949878193 + ], + [ + 0.9479491589826364, + -0.24720444484754472, + 0.20070464476869893, + -0.25531483278853767, + -0.9667390646821009, + 0.015163013412173545, + 0.19028065624827306, + -0.06561663863071555, + -0.9795344448218922 + ], + [ + 0.9433353628838212, + -0.2618234379242343, + 0.20387957348980304, + -0.2822433778613667, + -0.9561663389590727, + 0.07800389666554866, + 0.17451953697582148, + -0.1311274936660442, + -0.9758834518622633 + ], + [ + 0.9303537175980103, + -0.27931612158603936, + 0.23753834295476267, + -0.3191675637238188, + -0.9358041916453979, + 0.14967491829129406, + 0.1804827593377374, + -0.21506515087534842, + -0.959777554676499 + ], + [ + 0.9338998174763873, + -0.2404386103931619, + 0.2646136911608607, + -0.29476760269015506, + -0.9366405188621099, + 0.1892527379723103, + 0.20234423965576326, + -0.2547426408317272, + -0.9456019223860579 + ], + [ + 0.943236538410585, + -0.21406617520267424, + 0.253930118814832, + -0.25913312292359414, + -0.9525754476127571, + 0.159530690493148, + 0.2077374718510894, + -0.2162768809638541, + -0.953975604273749 + ], + [ + 0.9472861839145433, + -0.19873261023515948, + 0.25130506440130146, + -0.23469986295243744, + -0.9643734645189108, + 0.12206471751452214, + 0.21809369567855275, + -0.1746114846191773, + -0.9601801754589384 + ], + [ + 0.9454256786871488, + -0.21189835924045955, + 0.24752650652030206, + -0.24247234643111873, + -0.964987552626094, + 0.10003091768492722, + 0.21766361040635968, + -0.15459013108184588, + -0.9637035042361141 + ], + [ + 0.9488056066347939, + -0.23029605839100273, + 0.2161750362737313, + -0.25147078903202535, + -0.9648921294507637, + 0.07579987326890149, + 0.1911291790438911, + -0.12628105168052245, + -0.9734077937352206 + ], + [ + 0.946403955471263, + -0.25158285197311847, + 0.20254782561513537, + -0.27013259334000306, + -0.9603194860878549, + 0.06938924019876944, + 0.1770534808574851, + -0.1203850208000562, + -0.9768108883930492 + ], + [ + 0.9468760169998549, + -0.2601627627101823, + 0.1890532870105566, + -0.27495233354425236, + -0.9598094997380933, + 0.0562755585585924, + 0.16681433604178245, + -0.10526661917016589, + -0.9803529548991132 + ], + [ + 0.9459968747076428, + -0.26335909472181795, + 0.18902883449536587, + -0.2772083090706028, + -0.9594805920558568, + 0.05052273597460233, + 0.16806387602810155, + -0.10019471390970042, + -0.9806709707536794 + ], + [ + 0.9460132736723267, + -0.2716255685237574, + 0.1768571077449613, + -0.28311116703383576, + -0.9581304431265382, + 0.04282663954693186, + 0.1578193686988603, + -0.09058479165008257, + -0.9833043488082436 + ], + [ + 0.9438010296198424, + -0.2782433115279908, + 0.17838238724286334, + -0.2901198671713027, + -0.9559860304201464, + 0.043831179701627955, + 0.1583353376888149, + -0.09312018702444821, + -0.9829845123945243 + ], + [ + 0.9388026514700589, + -0.29912196044113126, + 0.17080876550880245, + -0.31042465568297506, + -0.949616562914787, + 0.043184679945696414, + 0.14928534669180735, + -0.09356514425660972, + -0.9843573787214409 + ], + [ + 0.9375303091698375, + -0.3037473669887239, + 0.1696303523409845, + -0.3166534837398887, + -0.9469794245981983, + 0.05441085023281216, + 0.14410930096042063, + -0.10472586325775962, + -0.9840045746548215 + ], + [ + 0.929999752470124, + -0.3323969402419307, + 0.15688446233872408, + -0.35115222076855274, + -0.929589835238102, + 0.1120484541228131, + 0.10859363818761128, + -0.15929536195319954, + -0.9812402404128041 + ], + [ + 0.9180010732703177, + -0.3050819868334147, + 0.2533752371174444, + -0.35058534621466586, + -0.9229518960387273, + 0.15890158154675907, + 0.18537514529755028, + -0.23470146763131802, + -0.954228105118277 + ], + [ + 0.9341067402173437, + -0.21226490742656484, + 0.2870334596448988, + -0.2670332938704435, + -0.9490782331508817, + 0.16716377395806187, + 0.23693420573068225, + -0.2327962981544004, + -0.9432221719830266 + ], + [ + 0.9490566514215196, + -0.12975432968095263, + 0.28715028525428743, + -0.17777700439774896, + -0.9728852054521306, + 0.14795172766726322, + 0.2601668870166508, + -0.1914632887563878, + -0.946390511342254 + ], + [ + 0.9599290256877765, + -0.06257523642151731, + 0.27316772398822603, + -0.09700796050549564, + -0.9886857322922499, + 0.1144114433101082, + 0.2629177081154494, + -0.13632630908423038, + -0.9551384277741057 + ], + [ + 0.977235309038105, + -0.004732883726279726, + 0.21210551756338755, + -0.016753055139044466, + -0.9983507833685185, + 0.05490945720887474, + 0.2114958295397503, + -0.05721287581566432, + -0.9757029265756015 + ], + [ + 0.9776024592818755, + 0.03272831794748337, + 0.2078997085384129, + 0.031343371275927866, + -0.999459117570821, + 0.009953159378550458, + 0.2081130094037562, + -0.003213955333218725, + -0.9780995071095925 + ], + [ + 0.9775719207879073, + 0.03640069161187921, + 0.20743222829931182, + 0.042032318731757834, + -0.9988559453629495, + -0.02280536329725647, + 0.20636478350017204, + 0.03101274033788049, + -0.9779835305707668 + ], + [ + 0.978165999974719, + 0.026345019456903734, + 0.20614853005363246, + 0.03248150647516306, + -0.9991225753655332, + -0.026439196887353224, + 0.20527110909858207, + 0.03255793827562875, + -0.978163458949821 + ], + [ + 0.9877157855738725, + -0.014151437126788778, + 0.15561896978014908, + -0.011153649701607505, + -0.9997353555104437, + -0.0201200159229831, + 0.1558625132176504, + 0.018137137857275245, + -0.9876122322064589 + ], + [ + 0.9885735798956699, + -0.08844593577999316, + 0.12206389136948369, + -0.09255210347569565, + -0.9953033462636452, + 0.028378813551918954, + 0.11898060881708376, + -0.03935181521088679, + -0.9921164494983058 + ], + [ + 0.9854107302158885, + -0.13000742721255076, + 0.10983515668929592, + -0.13783921952806222, + -0.9881873741525038, + 0.06697807944001966, + 0.09983006729078936, + -0.08114051044424256, + -0.9916905642535698 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006076.json b/json/chunk-0006/episode_0006076.json new file mode 100644 index 0000000000000000000000000000000000000000..a1a88fb806ac96b3e17f0666c4dee13e744d2a2a --- /dev/null +++ b/json/chunk-0006/episode_0006076.json @@ -0,0 +1,1162 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 18, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nFlip pot upright in sink." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006076.mp4", + "start": 0, + "end": 18, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3190770745277405, + -0.03330814838409424, + 0.05592837557196617, + 0.12879687547683716, + -0.13813498616218567, + 0.16898907721042633, + 0.0, + 1.0041072368621826 + ], + [ + 0.3143312931060791, + -0.03874102979898453, + 0.04787761718034744, + 0.19453762471675873, + -0.15479066967964172, + 0.18414919078350067, + 0.0, + 1.0041072368621826 + ], + [ + 0.31139135360717773, + -0.05972572788596153, + 0.04511120915412903, + 0.2939448058605194, + -0.24648506939411163, + 0.14425139129161835, + 0.0, + 1.0041072368621826 + ], + [ + 0.31095144152641296, + -0.07141377031803131, + 0.04183968901634216, + 0.3754979372024536, + -0.3106703758239746, + 0.09446198493242264, + 0.0, + 1.0041072368621826 + ], + [ + 0.313739538192749, + -0.07192815840244293, + 0.039368484169244766, + 0.437051922082901, + -0.3510529100894928, + 0.061643075197935104, + 0.0, + 1.0041072368621826 + ], + [ + 0.31364983320236206, + -0.07158232480287552, + 0.03277996927499771, + 0.49614009261131287, + -0.38119015097618103, + 0.019225910305976868, + 0.0, + 1.0041072368621826 + ], + [ + 0.3135658800601959, + -0.06823160499334335, + 0.023742033168673515, + 0.5166553854942322, + -0.4030086398124695, + -0.008573432452976704, + 0.0, + 1.0041072368621826 + ], + [ + 0.31626203656196594, + -0.06160193309187889, + 0.015637235715985298, + 0.530731737613678, + -0.4188827574253082, + -0.03503851965069771, + 0.0, + 1.0041072368621826 + ], + [ + 0.31802812218666077, + -0.0533905103802681, + 0.011763338930904865, + 0.548103392124176, + -0.41350218653678894, + -0.051710065454244614, + 0.0, + 1.0041072368621826 + ], + [ + 0.3183411657810211, + -0.03944341465830803, + 0.008993999101221561, + 0.5729061365127563, + -0.4066794216632843, + -0.0755566656589508, + 0.0, + 1.0041072368621826 + ], + [ + 0.31807127594947815, + -0.026670876890420914, + 0.005562919192016125, + 0.5824272036552429, + -0.393068790435791, + -0.09016676992177963, + 0.0, + 1.0041072368621826 + ], + [ + 0.3185406029224396, + -0.006966041401028633, + 0.00041894856258295476, + 0.5712935328483582, + -0.3617052137851715, + -0.09244290739297867, + 0.0, + 0.842682421207428 + ], + [ + 0.32339727878570557, + 0.01404782198369503, + -0.0010336119448766112, + 0.5607766509056091, + -0.3677840530872345, + -0.08592169731855392, + 0.0, + 0.5354229807853699 + ], + [ + 0.32689329981803894, + 0.02485593594610691, + -0.0026973807252943516, + 0.5096999406814575, + -0.37591177225112915, + -0.02955133281648159, + 0.0, + 0.32124534249305725 + ], + [ + 0.32092422246932983, + 0.02773539163172245, + -0.01040877029299736, + 0.39421236515045166, + -0.30032896995544434, + 0.04386909678578377, + 0.0, + 0.1862945258617401 + ], + [ + 0.31838610768318176, + 0.018415406346321106, + -0.01694517396390438, + 0.24679896235466003, + -0.2211560159921646, + 0.08420784771442413, + 0.0, + 0.07050029188394547 + ], + [ + 0.31714120507240295, + 0.020688600838184357, + -0.018619028851389885, + 0.17700231075286865, + -0.19480770826339722, + 0.12193963676691055, + 0.0, + 0.05538023263216019 + ], + [ + 0.3207765817642212, + 0.02309495583176613, + -0.018561264500021935, + 0.16325834393501282, + -0.21557115018367767, + 0.11130668222904205, + 0.0, + 0.13340650498867035 + ] + ], + "left_gripper_pos": [ + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 0.842682421207428 + ], + [ + 0.5354229807853699 + ], + [ + 0.32124534249305725 + ], + [ + 0.1862945258617401 + ], + [ + 0.07050029188394547 + ], + [ + 0.05538023263216019 + ], + [ + 0.13340650498867035 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3190770745277405, + -0.03330814838409424, + 0.05592837557196617 + ], + [ + 0.3143312931060791, + -0.03874102979898453, + 0.04787761718034744 + ], + [ + 0.31139135360717773, + -0.05972572788596153, + 0.04511120915412903 + ], + [ + 0.31095144152641296, + -0.07141377031803131, + 0.04183968901634216 + ], + [ + 0.313739538192749, + -0.07192815840244293, + 0.039368484169244766 + ], + [ + 0.31364983320236206, + -0.07158232480287552, + 0.03277996927499771 + ], + [ + 0.3135658800601959, + -0.06823160499334335, + 0.023742033168673515 + ], + [ + 0.31626203656196594, + -0.06160193309187889, + 0.015637235715985298 + ], + [ + 0.31802812218666077, + -0.0533905103802681, + 0.011763338930904865 + ], + [ + 0.3183411657810211, + -0.03944341465830803, + 0.008993999101221561 + ], + [ + 0.31807127594947815, + -0.026670876890420914, + 0.005562919192016125 + ], + [ + 0.3185406029224396, + -0.006966041401028633, + 0.00041894856258295476 + ], + [ + 0.32339727878570557, + 0.01404782198369503, + -0.0010336119448766112 + ], + [ + 0.32689329981803894, + 0.02485593594610691, + -0.0026973807252943516 + ], + [ + 0.32092422246932983, + 0.02773539163172245, + -0.01040877029299736 + ], + [ + 0.31838610768318176, + 0.018415406346321106, + -0.01694517396390438 + ], + [ + 0.31714120507240295, + 0.020688600838184357, + -0.018619028851389885 + ], + [ + 0.3207765817642212, + 0.02309495583176613, + -0.018561264500021935 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9763655049482017, + 0.18422675928571264, + 0.11300841521907613, + 0.16658386177366025, + -0.9746159139846483, + 0.14957819762399432, + 0.13769610649476288, + -0.12721761423227812, + -0.9822705639920348 + ], + [ + 0.9713383740537932, + 0.2089559718621552, + 0.11331003889186518, + 0.1809208786269329, + -0.9590911235385129, + 0.21774262886833176, + 0.15417327513999438, + -0.1910016192935957, + -0.9694065105309704 + ], + [ + 0.9597037513950276, + 0.20754486953198462, + 0.18945668816186506, + 0.13940689317774776, + -0.9370054104394718, + 0.32029139692112346, + 0.2439967780378231, + -0.2809732868763651, + -0.9281807929326338 + ], + [ + 0.9478840551898392, + 0.19935994718535854, + 0.24853858729605152, + 0.08980628419190018, + -0.9156031407109597, + 0.39192565626642784, + 0.30569698924999184, + -0.34917975339139806, + -0.885789394035068 + ], + [ + 0.9372276569592219, + 0.20109405045861695, + 0.28489559824762883, + 0.05784688369134121, + -0.8953157284001201, + 0.4416599195382832, + 0.343886692208244, + -0.39745556902565793, + -0.850747326515084 + ], + [ + 0.9280509798405894, + 0.19397099033500695, + 0.31795696835480486, + 0.017844823646164992, + -0.8758593882909462, + 0.4822363468379863, + 0.3720254575777832, + -0.44186602817037873, + -0.8163035416209922 + ], + [ + 0.9198514002666529, + 0.18626944179403546, + 0.345220359308683, + -0.00788647707643983, + -0.8711051586568368, + 0.49103320258488614, + 0.39218771641498484, + -0.4544001514251349, + -0.7998182902872464 + ], + [ + 0.9129832170845495, + 0.17553870469248423, + 0.3683039620705041, + -0.03200267800436522, + -0.869119733349081, + 0.493565312500556, + 0.40674005694361526, + -0.46240355995397286, + -0.7878740215411328 + ], + [ + 0.9144951849341407, + 0.16497999736596447, + 0.3694322092094805, + -0.04733079982159482, + -0.8631954512414448, + 0.5026464048855079, + 0.4018188050857241, + -0.4771532389339972, + -0.7815794485874586 + ], + [ + 0.9158190268112504, + 0.15038087460394536, + 0.37237226358020625, + -0.06932820943543658, + -0.8541174849675092, + 0.5154385717515259, + 0.39556176446538716, + -0.4978643534398994, + -0.7717914070957906 + ], + [ + 0.9199855149638254, + 0.1346290371966536, + 0.3681055210129927, + -0.08317765726580915, + -0.8507084524857329, + 0.5190150346580539, + 0.38302497253901907, + -0.5081044687983282, + -0.771441325830197 + ], + [ + 0.9313012355121476, + 0.11287512881159237, + 0.34631952591402404, + -0.08633827417325937, + -0.8552737398434097, + 0.5109330018182924, + 0.35386962450361714, + -0.5057331660372241, + -0.786772046798585 + ], + [ + 0.929684074517875, + 0.1178457068491483, + 0.3489984397745453, + -0.08007718833702457, + -0.8601283708137022, + 0.5037527465229379, + 0.359548557910999, + -0.49627771972816914, + -0.7902108955244352 + ], + [ + 0.929767156156241, + 0.1532543237430377, + 0.3347329496586803, + -0.02748385951914395, + -0.8778024171922889, + 0.4782337857547362, + 0.36712078775120915, + -0.4538458203238619, + -0.8119398367954935 + ], + [ + 0.9543201897492681, + 0.15400642473921544, + 0.2560370999991317, + 0.04189204192938467, + -0.9174280629433512, + 0.39569029069083467, + 0.2958344676671528, + -0.36688931636537875, + -0.8819717667119722 + ], + [ + 0.9721874350111753, + 0.1349592688865053, + 0.19140947455131668, + 0.08205986434677022, + -0.9617560756385035, + 0.26132628959944715, + 0.21935763006966696, + -0.23835109967030657, + -0.9460819115785768 + ], + [ + 0.9737999340128167, + 0.15356919914972975, + 0.1677205699642862, + 0.11933688170271792, + -0.9729204999581277, + 0.1979505226734674, + 0.19357788402115023, + -0.17274895610028462, + -0.9657563880110536 + ], + [ + 0.9708094151550022, + 0.1441517651544992, + 0.1917011946995759, + 0.10850604584197601, + -0.9767352146484464, + 0.18497231814893897, + 0.21390539371914305, + -0.15877212938200266, + -0.9638650805322097 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.004745781421661377, + -0.005432881414890289, + -0.008050758391618729, + 0.06574074923992157, + -0.016655683517456055, + 0.01516011357307434, + 1.0 + ], + [ + -0.002939939498901367, + -0.020984698086977005, + -0.0027664080262184143, + 0.09940718114376068, + -0.09169439971446991, + -0.039897799491882324, + 1.0 + ], + [ + -0.0004399120807647705, + -0.011688042432069778, + -0.0032715201377868652, + 0.0815531313419342, + -0.06418530642986298, + -0.04978940635919571, + 1.0 + ], + [ + 0.0027880966663360596, + -0.0005143880844116211, + -0.002471204847097397, + 0.06155398488044739, + -0.04038253426551819, + -0.032818909734487534, + 1.0 + ], + [ + -8.970499038696289e-05, + 0.00034583359956741333, + -0.006588514894247055, + 0.059088170528411865, + -0.030137240886688232, + -0.04241716489195824, + 1.0 + ], + [ + -8.39531421661377e-05, + 0.0033507198095321655, + -0.009037936106324196, + 0.02051529288291931, + -0.021818488836288452, + -0.027799341827630997, + 1.0 + ], + [ + 0.0026961565017700195, + 0.006629671901464462, + -0.008104797452688217, + 0.0140763521194458, + -0.015874117612838745, + -0.02646508812904358, + 1.0 + ], + [ + 0.0017660856246948242, + 0.008211422711610794, + -0.003873896785080433, + 0.017371654510498047, + 0.005380570888519287, + -0.016671545803546906, + 1.0 + ], + [ + 0.00031304359436035156, + 0.013947095721960068, + -0.002769339829683304, + 0.024802744388580322, + 0.006822764873504639, + -0.023846600204706192, + 1.0 + ], + [ + -0.00026988983154296875, + 0.012772537767887115, + -0.0034310799092054367, + 0.009521067142486572, + 0.013610631227493286, + -0.014610104262828827, + 1.0 + ], + [ + 0.0004693269729614258, + 0.01970483548939228, + -0.005143970716744661, + -0.011133670806884766, + 0.03136357665061951, + -0.0022761374711990356, + 0.0 + ], + [ + 0.004856675863265991, + 0.021013863384723663, + -0.0014525605365633965, + -0.010516881942749023, + -0.006078839302062988, + 0.006521210074424744, + 0.0 + ], + [ + 0.003496021032333374, + 0.01080811396241188, + -0.0016637687804177403, + -0.05107671022415161, + -0.008127719163894653, + 0.056370362639427185, + 0.0 + ], + [ + -0.0059690773487091064, + 0.0028794556856155396, + -0.007711389567703009, + -0.11548757553100586, + 0.07558280229568481, + 0.07342042773962021, + 0.0 + ], + [ + -0.0025381147861480713, + -0.009319985285401344, + -0.006536403670907021, + -0.14741340279579163, + 0.07917295396327972, + 0.040338750928640366, + 0.0 + ], + [ + -0.0012449026107788086, + 0.0022731944918632507, + -0.0016738548874855042, + -0.06979665160179138, + 0.026348307728767395, + 0.03773178905248642, + 0.0 + ], + [ + 0.0036353766918182373, + 0.002406354993581772, + 5.776435136795044e-05, + -0.013743966817855835, + -0.020763441920280457, + -0.0106329545378685, + 1.0 + ], + [ + 0.0014232993125915527, + 0.0005749799311161041, + -0.0007553938776254654, + -0.006563082337379456, + -0.00975559651851654, + -0.011305488646030426, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 0.842682421207428 + ], + [ + 0.5354229807853699 + ], + [ + 0.32124534249305725 + ], + [ + 0.1862945258617401 + ], + [ + 0.07050029188394547 + ], + [ + 0.05538023263216019 + ], + [ + 0.13340650498867035 + ], + [ + 0.35109609365463257 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3143312931060791, + -0.03874102979898453, + 0.04787761718034744 + ], + [ + 0.31139135360717773, + -0.05972572788596153, + 0.04511120915412903 + ], + [ + 0.31095144152641296, + -0.07141377031803131, + 0.04183968901634216 + ], + [ + 0.313739538192749, + -0.07192815840244293, + 0.039368484169244766 + ], + [ + 0.31364983320236206, + -0.07158232480287552, + 0.03277996927499771 + ], + [ + 0.3135658800601959, + -0.06823160499334335, + 0.023742033168673515 + ], + [ + 0.31626203656196594, + -0.06160193309187889, + 0.015637235715985298 + ], + [ + 0.31802812218666077, + -0.0533905103802681, + 0.011763338930904865 + ], + [ + 0.3183411657810211, + -0.03944341465830803, + 0.008993999101221561 + ], + [ + 0.31807127594947815, + -0.026670876890420914, + 0.005562919192016125 + ], + [ + 0.3185406029224396, + -0.006966041401028633, + 0.00041894856258295476 + ], + [ + 0.32339727878570557, + 0.01404782198369503, + -0.0010336119448766112 + ], + [ + 0.32689329981803894, + 0.02485593594610691, + -0.0026973807252943516 + ], + [ + 0.32092422246932983, + 0.02773539163172245, + -0.01040877029299736 + ], + [ + 0.31838610768318176, + 0.018415406346321106, + -0.01694517396390438 + ], + [ + 0.31714120507240295, + 0.020688600838184357, + -0.018619028851389885 + ], + [ + 0.3207765817642212, + 0.02309495583176613, + -0.018561264500021935 + ], + [ + 0.32219988107681274, + 0.023669935762882233, + -0.0193166583776474 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9713383740537932, + 0.2089559718621552, + 0.11331003889186518, + 0.1809208786269329, + -0.9590911235385129, + 0.21774262886833176, + 0.15417327513999438, + -0.1910016192935957, + -0.9694065105309704 + ], + [ + 0.9597037513950276, + 0.20754486953198462, + 0.18945668816186506, + 0.13940689317774776, + -0.9370054104394718, + 0.32029139692112346, + 0.2439967780378231, + -0.2809732868763651, + -0.9281807929326338 + ], + [ + 0.9478840551898392, + 0.19935994718535854, + 0.24853858729605152, + 0.08980628419190018, + -0.9156031407109597, + 0.39192565626642784, + 0.30569698924999184, + -0.34917975339139806, + -0.885789394035068 + ], + [ + 0.9372276569592219, + 0.20109405045861695, + 0.28489559824762883, + 0.05784688369134121, + -0.8953157284001201, + 0.4416599195382832, + 0.343886692208244, + -0.39745556902565793, + -0.850747326515084 + ], + [ + 0.9280509798405894, + 0.19397099033500695, + 0.31795696835480486, + 0.017844823646164992, + -0.8758593882909462, + 0.4822363468379863, + 0.3720254575777832, + -0.44186602817037873, + -0.8163035416209922 + ], + [ + 0.9198514002666529, + 0.18626944179403546, + 0.345220359308683, + -0.00788647707643983, + -0.8711051586568368, + 0.49103320258488614, + 0.39218771641498484, + -0.4544001514251349, + -0.7998182902872464 + ], + [ + 0.9129832170845495, + 0.17553870469248423, + 0.3683039620705041, + -0.03200267800436522, + -0.869119733349081, + 0.493565312500556, + 0.40674005694361526, + -0.46240355995397286, + -0.7878740215411328 + ], + [ + 0.9144951849341407, + 0.16497999736596447, + 0.3694322092094805, + -0.04733079982159482, + -0.8631954512414448, + 0.5026464048855079, + 0.4018188050857241, + -0.4771532389339972, + -0.7815794485874586 + ], + [ + 0.9158190268112504, + 0.15038087460394536, + 0.37237226358020625, + -0.06932820943543658, + -0.8541174849675092, + 0.5154385717515259, + 0.39556176446538716, + -0.4978643534398994, + -0.7717914070957906 + ], + [ + 0.9199855149638254, + 0.1346290371966536, + 0.3681055210129927, + -0.08317765726580915, + -0.8507084524857329, + 0.5190150346580539, + 0.38302497253901907, + -0.5081044687983282, + -0.771441325830197 + ], + [ + 0.9313012355121476, + 0.11287512881159237, + 0.34631952591402404, + -0.08633827417325937, + -0.8552737398434097, + 0.5109330018182924, + 0.35386962450361714, + -0.5057331660372241, + -0.786772046798585 + ], + [ + 0.929684074517875, + 0.1178457068491483, + 0.3489984397745453, + -0.08007718833702457, + -0.8601283708137022, + 0.5037527465229379, + 0.359548557910999, + -0.49627771972816914, + -0.7902108955244352 + ], + [ + 0.929767156156241, + 0.1532543237430377, + 0.3347329496586803, + -0.02748385951914395, + -0.8778024171922889, + 0.4782337857547362, + 0.36712078775120915, + -0.4538458203238619, + -0.8119398367954935 + ], + [ + 0.9543201897492681, + 0.15400642473921544, + 0.2560370999991317, + 0.04189204192938467, + -0.9174280629433512, + 0.39569029069083467, + 0.2958344676671528, + -0.36688931636537875, + -0.8819717667119722 + ], + [ + 0.9721874350111753, + 0.1349592688865053, + 0.19140947455131668, + 0.08205986434677022, + -0.9617560756385035, + 0.26132628959944715, + 0.21935763006966696, + -0.23835109967030657, + -0.9460819115785768 + ], + [ + 0.9737999340128167, + 0.15356919914972975, + 0.1677205699642862, + 0.11933688170271792, + -0.9729204999581277, + 0.1979505226734674, + 0.19357788402115023, + -0.17274895610028462, + -0.9657563880110536 + ], + [ + 0.9708094151550022, + 0.1441517651544992, + 0.1917011946995759, + 0.10850604584197601, + -0.9767352146484464, + 0.18497231814893897, + 0.21390539371914305, + -0.15877212938200266, + -0.9638650805322097 + ], + [ + 0.9698514938238398, + 0.13330380399873867, + 0.20400533269287963, + 0.09731090085640168, + -0.9793327653285164, + 0.1773074260388344, + 0.22342486097608344, + -0.15210992930596948, + -0.962779258659196 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006077.json b/json/chunk-0006/episode_0006077.json new file mode 100644 index 0000000000000000000000000000000000000000..94e6dda89754c16c3f413eddff2eacd67605d54b --- /dev/null +++ b/json/chunk-0006/episode_0006077.json @@ -0,0 +1,2182 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 35, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut broccoli in pot." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006077.mp4", + "start": 0, + "end": 35, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.27995187044143677, + 0.05218219384551048, + 0.07568513602018356, + -0.13549676537513733, + -0.058708880096673965, + 0.005962762515991926, + 0.0, + 1.0047606229782104 + ], + [ + 0.2719460427761078, + 0.050775814801454544, + 0.06720862537622452, + -0.14203116297721863, + -0.013653836213052273, + 0.029498538002371788, + 0.0, + 1.0047606229782104 + ], + [ + 0.2484125941991806, + 0.03766683489084244, + 0.10072635114192963, + -0.10765312612056732, + -0.02147079072892666, + 0.11906739324331284, + 0.0, + 1.0047606229782104 + ], + [ + 0.23532834649085999, + 0.02745746821165085, + 0.12096908688545227, + -0.062371544539928436, + -0.03333825245499611, + 0.1527111828327179, + 0.0, + 1.0047606229782104 + ], + [ + 0.2284543365240097, + 0.014919500797986984, + 0.12811560928821564, + -0.06365115940570831, + -0.07206105440855026, + 0.14504557847976685, + 0.0, + 1.0047606229782104 + ], + [ + 0.22265993058681488, + -0.0005788738490082324, + 0.107598677277565, + -0.1384616196155548, + -0.08632830530405045, + 0.10722020268440247, + 0.0, + 1.0047606229782104 + ], + [ + 0.21355687081813812, + -0.01441458985209465, + 0.080409936606884, + -0.2518867254257202, + -0.14980678260326385, + 0.022225497290492058, + 0.0, + 1.0047606229782104 + ], + [ + 0.20978933572769165, + -0.018850570544600487, + 0.06845144182443619, + -0.2586330473423004, + -0.20400431752204895, + -0.04731347784399986, + 0.0, + 1.0047606229782104 + ], + [ + 0.20929422974586487, + -0.02401956543326378, + 0.06519559025764465, + -0.2564013600349426, + -0.22970077395439148, + -0.09110172092914581, + 0.0, + 1.0047606229782104 + ], + [ + 0.210943341255188, + -0.027099547907710075, + 0.06365141272544861, + -0.27283912897109985, + -0.2360682636499405, + -0.11480997502803802, + 0.0, + 1.0047606229782104 + ], + [ + 0.21466293931007385, + -0.031680602580308914, + 0.05931081622838974, + -0.28171223402023315, + -0.2359110414981842, + -0.124618299305439, + 0.0, + 1.0047606229782104 + ], + [ + 0.22197188436985016, + -0.03303556516766548, + 0.059319037944078445, + -0.2934916317462921, + -0.20824724435806274, + -0.10764361172914505, + 0.0, + 1.0047606229782104 + ], + [ + 0.22123374044895172, + -0.03710265830159187, + 0.04553527757525444, + -0.3470950722694397, + -0.14631924033164978, + -0.06312227994203568, + 0.0, + 1.0047606229782104 + ], + [ + 0.22040177881717682, + -0.03786909207701683, + 0.03443831577897072, + -0.38225188851356506, + -0.08595523238182068, + -0.025812571868300438, + 0.0, + 1.0047606229782104 + ], + [ + 0.22200945019721985, + -0.03423362970352173, + 0.024210555478930473, + -0.42256101965904236, + -0.08547826111316681, + 0.008363521657884121, + 0.0, + 1.0047606229782104 + ], + [ + 0.22223272919654846, + -0.030314812436699867, + 0.013526053167879581, + -0.4595264494419098, + -0.07602882385253906, + 0.009760485962033272, + 0.0, + 0.9752515554428101 + ], + [ + 0.2187313288450241, + -0.03159743919968605, + 0.00022281585552264005, + -0.4984787702560425, + -0.09046827256679535, + 0.04543444141745567, + 0.0, + 0.8139979243278503 + ], + [ + 0.21823124587535858, + -0.03298351168632507, + -0.0018291538581252098, + -0.4820689857006073, + -0.09526359289884567, + 0.07081089913845062, + 0.0, + 0.6079121828079224 + ], + [ + 0.21479067206382751, + -0.033518776297569275, + 0.0011257483856752515, + -0.44619297981262207, + -0.07586861401796341, + 0.08164744079113007, + 0.0, + 0.6319981217384338 + ], + [ + 0.21160298585891724, + -0.033326659351587296, + 0.016103317961096764, + -0.42061561346054077, + -0.03675270453095436, + 0.09007498621940613, + 0.0, + 0.6440550088882446 + ], + [ + 0.216462641954422, + -0.026216967031359673, + 0.04392911493778229, + -0.3659682869911194, + -0.055824823677539825, + 0.10116641968488693, + 0.0, + 0.6440550088882446 + ], + [ + 0.22267144918441772, + -0.011486074887216091, + 0.06071809306740761, + -0.2659551203250885, + -0.1053815484046936, + 0.09483683109283447, + 0.0, + 0.6440550088882446 + ], + [ + 0.2404623180627823, + 0.01315758004784584, + 0.07891997694969177, + -0.16376981139183044, + -0.12248421460390091, + 0.061318594962358475, + 0.0, + 0.6440550088882446 + ], + [ + 0.266730934381485, + 0.040130991488695145, + 0.08428601175546646, + -0.0839025005698204, + -0.15307359397411346, + 0.004993423353880644, + 0.0, + 0.6440550088882446 + ], + [ + 0.2913905680179596, + 0.059007588773965836, + 0.09553708881139755, + -0.05235300958156586, + -0.17167355120182037, + -0.043409302830696106, + 0.0, + 0.6440550088882446 + ], + [ + 0.3149380385875702, + 0.07895607501268387, + 0.11613170802593231, + 0.01801637001335621, + -0.19647637009620667, + -0.07910539954900742, + 0.0, + 0.6440550088882446 + ], + [ + 0.3214990198612213, + 0.09013967216014862, + 0.12144096940755844, + 0.06314581632614136, + -0.2258148491382599, + -0.0861867368221283, + 0.0, + 0.6440550088882446 + ], + [ + 0.329233318567276, + 0.09827835857868195, + 0.1099412813782692, + 0.09698813408613205, + -0.2673276960849762, + -0.09270419180393219, + 0.0, + 0.6440550088882446 + ], + [ + 0.33344128727912903, + 0.10491057485342026, + 0.0900750383734703, + 0.14015769958496094, + -0.30178654193878174, + -0.09663047641515732, + 0.0, + 0.6440550088882446 + ], + [ + 0.3351639211177826, + 0.10863122344017029, + 0.07604280859231949, + 0.1303694248199463, + -0.28897228837013245, + -0.08644974231719971, + 0.0, + 0.6440550088882446 + ], + [ + 0.3411741852760315, + 0.11581719666719437, + 0.0584394745528698, + 0.12370280176401138, + -0.29327911138534546, + -0.09489548206329346, + 0.0, + 0.6902000904083252 + ], + [ + 0.34891897439956665, + 0.1215985044836998, + 0.06455923616886139, + 0.13857781887054443, + -0.31626829504966736, + -0.1350695937871933, + 0.0, + 0.9781157374382019 + ], + [ + 0.34532272815704346, + 0.12142779678106308, + 0.06492334604263306, + 0.14749576151371002, + -0.2770661413669586, + -0.1452237218618393, + 0.0, + 1.0041072368621826 + ], + [ + 0.34475287795066833, + 0.11606991291046143, + 0.06986772269010544, + 0.16005490720272064, + -0.22589778900146484, + -0.15446293354034424, + 0.0, + 1.0041072368621826 + ], + [ + 0.3409540057182312, + 0.10741999745368958, + 0.07159950584173203, + 0.16193364560604095, + -0.19260990619659424, + -0.1502104252576828, + 0.0, + 1.0041072368621826 + ] + ], + "left_gripper_pos": [ + [ + 1.0047606229782104 + ], + [ + 1.0047606229782104 + ], + [ + 1.0047606229782104 + ], + [ + 1.0047606229782104 + ], + [ + 1.0047606229782104 + ], + [ + 1.0047606229782104 + ], + [ + 1.0047606229782104 + ], + [ + 1.0047606229782104 + ], + [ + 1.0047606229782104 + ], + [ + 1.0047606229782104 + ], + [ + 1.0047606229782104 + ], + [ + 1.0047606229782104 + ], + [ + 1.0047606229782104 + ], + [ + 1.0047606229782104 + ], + [ + 1.0047606229782104 + ], + [ + 0.9752515554428101 + ], + [ + 0.8139979243278503 + ], + [ + 0.6079121828079224 + ], + [ + 0.6319981217384338 + ], + [ + 0.6440550088882446 + ], + [ + 0.6440550088882446 + ], + [ + 0.6440550088882446 + ], + [ + 0.6440550088882446 + ], + [ + 0.6440550088882446 + ], + [ + 0.6440550088882446 + ], + [ + 0.6440550088882446 + ], + [ + 0.6440550088882446 + ], + [ + 0.6440550088882446 + ], + [ + 0.6440550088882446 + ], + [ + 0.6440550088882446 + ], + [ + 0.6902000904083252 + ], + [ + 0.9781157374382019 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.27995187044143677, + 0.05218219384551048, + 0.07568513602018356 + ], + [ + 0.2719460427761078, + 0.050775814801454544, + 0.06720862537622452 + ], + [ + 0.2484125941991806, + 0.03766683489084244, + 0.10072635114192963 + ], + [ + 0.23532834649085999, + 0.02745746821165085, + 0.12096908688545227 + ], + [ + 0.2284543365240097, + 0.014919500797986984, + 0.12811560928821564 + ], + [ + 0.22265993058681488, + -0.0005788738490082324, + 0.107598677277565 + ], + [ + 0.21355687081813812, + -0.01441458985209465, + 0.080409936606884 + ], + [ + 0.20978933572769165, + -0.018850570544600487, + 0.06845144182443619 + ], + [ + 0.20929422974586487, + -0.02401956543326378, + 0.06519559025764465 + ], + [ + 0.210943341255188, + -0.027099547907710075, + 0.06365141272544861 + ], + [ + 0.21466293931007385, + -0.031680602580308914, + 0.05931081622838974 + ], + [ + 0.22197188436985016, + -0.03303556516766548, + 0.059319037944078445 + ], + [ + 0.22123374044895172, + -0.03710265830159187, + 0.04553527757525444 + ], + [ + 0.22040177881717682, + -0.03786909207701683, + 0.03443831577897072 + ], + [ + 0.22200945019721985, + -0.03423362970352173, + 0.024210555478930473 + ], + [ + 0.22223272919654846, + -0.030314812436699867, + 0.013526053167879581 + ], + [ + 0.2187313288450241, + -0.03159743919968605, + 0.00022281585552264005 + ], + [ + 0.21823124587535858, + -0.03298351168632507, + -0.0018291538581252098 + ], + [ + 0.21479067206382751, + -0.033518776297569275, + 0.0011257483856752515 + ], + [ + 0.21160298585891724, + -0.033326659351587296, + 0.016103317961096764 + ], + [ + 0.216462641954422, + -0.026216967031359673, + 0.04392911493778229 + ], + [ + 0.22267144918441772, + -0.011486074887216091, + 0.06071809306740761 + ], + [ + 0.2404623180627823, + 0.01315758004784584, + 0.07891997694969177 + ], + [ + 0.266730934381485, + 0.040130991488695145, + 0.08428601175546646 + ], + [ + 0.2913905680179596, + 0.059007588773965836, + 0.09553708881139755 + ], + [ + 0.3149380385875702, + 0.07895607501268387, + 0.11613170802593231 + ], + [ + 0.3214990198612213, + 0.09013967216014862, + 0.12144096940755844 + ], + [ + 0.329233318567276, + 0.09827835857868195, + 0.1099412813782692 + ], + [ + 0.33344128727912903, + 0.10491057485342026, + 0.0900750383734703 + ], + [ + 0.3351639211177826, + 0.10863122344017029, + 0.07604280859231949 + ], + [ + 0.3411741852760315, + 0.11581719666719437, + 0.0584394745528698 + ], + [ + 0.34891897439956665, + 0.1215985044836998, + 0.06455923616886139 + ], + [ + 0.34532272815704346, + 0.12142779678106308, + 0.06492334604263306 + ], + [ + 0.34475287795066833, + 0.11606991291046143, + 0.06986772269010544 + ], + [ + 0.3409540057182312, + 0.10741999745368958, + 0.07159950584173203 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9982593820527143, + -0.0020177738672573007, + 0.05894179105145646, + 0.005952454170292063, + -0.9908639953738095, + -0.1347334812182986, + 0.05867516027318129, + 0.1348498100127385, + -0.9891272690136719 + ], + [ + 0.9994717780547595, + 0.027265412367726675, + 0.01768508299317077, + 0.029491510871362914, + -0.9895568528362186, + -0.14109388998607492, + 0.013653411975832407, + 0.14154092091439896, + -0.9898382453957424 + ], + [ + 0.9926909918222296, + 0.11580817490261602, + 0.03395675751192147, + 0.11875887644665098, + -0.987445843017663, + -0.10414910644007527, + 0.021469141112942243, + 0.10742054613928445, + -0.9939818420107134 + ], + [ + 0.9878130889823639, + 0.14976908231783434, + 0.042361813190594094, + 0.15203379184562757, + -0.9867564901747015, + -0.05654516102324894, + 0.03333207722542082, + 0.06229647726620283, + -0.9975009381188875 + ], + [ + 0.9869312968191513, + 0.13971321676743328, + 0.08029216910362665, + 0.14416241518041414, + -0.9881574718632657, + -0.05255481757317643, + 0.07199870421208339, + 0.06344310727964195, + -0.9953849299293643 + ], + [ + 0.990554829414173, + 0.09415882921557811, + 0.09967569816665554, + 0.1066163630591716, + -0.9860153720556496, + -0.12808839603177904, + 0.08622111720624788, + 0.13750563970510646, + -0.986741160587211 + ], + [ + 0.9885557234777232, + -0.01566552508574474, + 0.15004057085743117, + 0.02197476098370663, + -0.9690313872221561, + -0.24595788350450085, + 0.1492470819116571, + 0.2464401791552923, + -0.9575972778985764 + ], + [ + 0.9781673196420938, + -0.09747965313875617, + 0.1835385845214836, + -0.046315062726660534, + -0.963208012096352, + -0.2647361713064904, + 0.2025922252921555, + 0.2504556700443049, + -0.9466933756997726 + ], + [ + 0.9696965956647482, + -0.1455036937361902, + 0.1962579615335975, + -0.08858623887702384, + -0.9580444577819358, + -0.2725863077906513, + 0.22768616698829322, + 0.24694026002748473, + -0.9419020741774261 + ], + [ + 0.9658642109658498, + -0.17292880605313724, + 0.19287808069439183, + -0.11138065827993335, + -0.949450000960769, + -0.2934945393644047, + 0.23388175417600365, + 0.2619929840904749, + -0.9363007002832601 + ], + [ + 0.9647617859275088, + -0.18386929203905455, + 0.18822003044049454, + -0.1208532272698562, + -0.9450553573558366, + -0.3037513275551118, + 0.23372888968294933, + 0.27030067513435707, + -0.9339744917017203 + ], + [ + 0.9727318605357678, + -0.16230632981100096, + 0.1656785526310103, + -0.10511467775814365, + -0.9452733020529164, + -0.3088839408997785, + 0.20674533130986414, + 0.28304600284981735, + -0.9365582353769124 + ], + [ + 0.9873441557597389, + -0.10881543752509615, + 0.11537208779991188, + -0.06240632060070953, + -0.935363546173882, + -0.3481386040618045, + 0.1457976996943715, + 0.33653266861516185, + -0.9303165019059846 + ], + [ + 0.9959762268355148, + -0.05595903594232859, + 0.06999958481945898, + -0.025714419265096232, + -0.9266914288194139, + -0.3749423480943333, + 0.08584942760642206, + 0.37163366646341195, + -0.9244015868282633 + ], + [ + 0.9963141109379445, + -0.027382737714472544, + 0.08129193084921395, + 0.008332888936803142, + -0.9123025848854885, + -0.4094319926107665, + 0.08537420750964476, + 0.4086002683387718, + -0.9087117614544139 + ], + [ + 0.9970637053419701, + -0.02493868611540014, + 0.07240186064307383, + 0.009732135351931893, + -0.8965487442066334, + -0.44283815870247756, + 0.07595559907757435, + 0.4422424800902177, + -0.8936735062495814 + ], + [ + 0.9948827896571611, + -0.0032565902227303205, + 0.10098331280021451, + 0.045233072811622616, + -0.8793662497111382, + -0.473992582213041, + 0.09034491666941309, + 0.4761348480095626, + -0.8747190420603106 + ], + [ + 0.9929711729563945, + 0.018700509902186826, + 0.11686975916378146, + 0.0704309388273109, + -0.8869372208769799, + -0.45648860783038464, + 0.09511956966631872, + 0.4615112752169955, + -0.88202018702186 + ], + [ + 0.993801638851144, + 0.040972511362008295, + 0.10334193693496439, + 0.08132214689366782, + -0.9017589410344818, + -0.42452034190245147, + 0.07579585108292387, + 0.4302929996840057, + -0.8995014860363241 + ], + [ + 0.995273423625206, + 0.06716995233046626, + 0.07013565234090202, + 0.0898924858419841, + -0.910486711925564, + -0.40364995775563206, + 0.03674443106798184, + 0.40804674353669057, + -0.912221300932286 + ], + [ + 0.993337204901415, + 0.0744412372942588, + 0.08797556222465513, + 0.10083661246877343, + -0.9310198465464485, + -0.35076206026657136, + 0.055795832680109014, + 0.35729616220542765, + -0.9323230542729307 + ], + [ + 0.9899837870735042, + 0.06384338654037235, + 0.12592109960868325, + 0.09416941530152577, + -0.9631242094565512, + -0.2520394381450303, + 0.10518660824160124, + 0.26137287379097013, + -0.9594894466813473 + ], + [ + 0.9906428659095853, + 0.0405778886682697, + 0.13030789375041274, + 0.060821076237484874, + -0.9859861084787187, + -0.15534539121681823, + 0.12217818507310296, + 0.16181726990101447, + -0.9792280951106462 + ], + [ + 0.9882947747334305, + -0.007802158916169443, + 0.15235670169324697, + 0.004935015225752172, + -0.9965336327815122, + -0.08304435176461028, + 0.1524765026465383, + 0.08282418156269081, + -0.9848304783510465 + ], + [ + 0.984372063364792, + -0.05226725321649273, + 0.16816591541731882, + -0.04275776548677857, + -0.9973012151436206, + -0.059682993923189265, + 0.1708315379475331, + 0.05155987310167501, + -0.9839502859028091 + ], + [ + 0.977693494184764, + -0.07550422591899852, + 0.19599628388609733, + -0.0775025636494299, + -0.9969889296146137, + 0.002535123995588812, + 0.19521471270514654, + -0.017668788704372853, + -0.9806013613335276 + ], + [ + 0.9709944418123435, + -0.07183196613922453, + 0.22805692844136263, + -0.08389467285936587, + -0.9955188094107849, + 0.0436346648337462, + 0.22390059811299182, + -0.06150177842881202, + -0.9726695499576091 + ], + [ + 0.960338805000152, + -0.0666664952840344, + 0.27074888368638483, + -0.08928334846681996, + -0.9933945149658611, + 0.07208204576934411, + 0.2641549986228391, + -0.0933965526252722, + -0.9599475093255267 + ], + [ + 0.9503527423018256, + -0.05420546255868934, + 0.3064170899741044, + -0.09211993863536645, + -0.9895807118082527, + 0.11065230102843948, + 0.2972264828463577, + -0.13338584124962663, + -0.9454441470805737 + ], + [ + 0.9549576342214052, + -0.048701871162803584, + 0.2927183707721449, + -0.08276212003320985, + -0.9910097928889755, + 0.10511908430803071, + 0.28496727589298, + -0.12461026500008732, + -0.9504030374145185 + ], + [ + 0.9529939688210936, + -0.05851909814384684, + 0.29728439337282914, + -0.0907072632550541, + -0.9912736297524423, + 0.09564927260672729, + 0.2890928705163766, + -0.11811903364762402, + -0.9499858978462536 + ], + [ + 0.9417463720733696, + -0.09079671315080028, + 0.3238359578052717, + -0.12798053169909368, + -0.9871780864706474, + 0.09539606437462814, + 0.31102211206385905, + -0.1312835955980876, + -0.941291593149633 + ], + [ + 0.9517371010135688, + -0.10336657444486448, + 0.2889841550013117, + -0.13919471822186735, + -0.9845474203482072, + 0.10626009366091013, + 0.2735348624461291, + -0.14135674152025693, + -0.9514183888560029 + ], + [ + 0.9629901956564729, + -0.11661155800756773, + 0.24300540654182143, + -0.14994065959699415, + -0.9809568879822099, + 0.1234559942646638, + 0.2239814315275411, + -0.1553233030144094, + -0.9621366794128409 + ], + [ + 0.9704558249187082, + -0.11717371092585745, + 0.2109166028296814, + -0.14687893227694546, + -0.98042271506951, + 0.1311406841102918, + 0.19142118778895517, + -0.1582454462017611, + -0.9686672842735381 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.00800582766532898, + -0.0014063790440559387, + -0.008476510643959045, + -0.006534397602081299, + 0.04505504295229912, + 0.023535775020718575, + 1.0 + ], + [ + -0.023533448576927185, + -0.013108979910612106, + 0.03351772576570511, + 0.034378036856651306, + -0.007816954515874386, + 0.0895688533782959, + 1.0 + ], + [ + -0.013084247708320618, + -0.01020936667919159, + 0.020242735743522644, + 0.045281581580638885, + -0.01186746172606945, + 0.03364378958940506, + 1.0 + ], + [ + -0.006874009966850281, + -0.012537967413663864, + 0.007146522402763367, + -0.0012796148657798767, + -0.03872280195355415, + -0.00766560435295105, + 1.0 + ], + [ + -0.005794405937194824, + -0.015498374588787556, + -0.020516932010650635, + -0.0748104602098465, + -0.014267250895500183, + -0.03782537579536438, + 1.0 + ], + [ + -0.009103059768676758, + -0.013835716061294079, + -0.027188740670681, + -0.1134251058101654, + -0.06347847729921341, + -0.08499470353126526, + 1.0 + ], + [ + -0.003767535090446472, + -0.0044359806925058365, + -0.011958494782447815, + -0.0067463219165802, + -0.054197534918785095, + -0.06953897327184677, + 1.0 + ], + [ + -0.0004951059818267822, + -0.005168994888663292, + -0.0032558515667915344, + 0.002231687307357788, + -0.02569645643234253, + -0.04378824308514595, + 1.0 + ], + [ + 0.0016491115093231201, + -0.0030799824744462967, + -0.001544177532196045, + -0.016437768936157227, + -0.006367489695549011, + -0.023708254098892212, + 1.0 + ], + [ + 0.0037195980548858643, + -0.004581054672598839, + -0.004340596497058868, + -0.0088731050491333, + 0.00015722215175628662, + -0.00980832427740097, + 1.0 + ], + [ + 0.007308945059776306, + -0.0013549625873565674, + 8.221715688705444e-06, + -0.01177939772605896, + 0.02766379714012146, + 0.016974687576293945, + 1.0 + ], + [ + -0.0007381439208984375, + -0.004067093133926392, + -0.013783760368824005, + -0.05360344052314758, + 0.061928004026412964, + 0.044521331787109375, + 1.0 + ], + [ + -0.0008319616317749023, + -0.0007664337754249573, + -0.011096961796283722, + -0.035156816244125366, + 0.0603640079498291, + 0.03730970621109009, + 1.0 + ], + [ + 0.0016076713800430298, + 0.003635462373495102, + -0.010227760300040245, + -0.040309131145477295, + 0.00047697126865386963, + 0.034176092594861984, + 1.0 + ], + [ + 0.00022327899932861328, + 0.003918817266821861, + -0.010684502311050892, + -0.03696542978286743, + 0.009449437260627747, + 0.0013969643041491508, + 0.0 + ], + [ + -0.003501400351524353, + -0.0012826267629861832, + -0.013303237035870552, + -0.03895232081413269, + -0.014439448714256287, + 0.03567395359277725, + 0.0 + ], + [ + -0.0005000829696655273, + -0.0013860724866390228, + -0.0020519697573035955, + 0.01640978455543518, + -0.0047953203320503235, + 0.02537645772099495, + 0.0 + ], + [ + -0.003440573811531067, + -0.0005352646112442017, + 0.0029549021273851395, + 0.03587600588798523, + 0.019394978880882263, + 0.010836541652679443, + 0.0 + ], + [ + -0.0031876862049102783, + 0.00019211694598197937, + 0.014977569691836834, + 0.0255773663520813, + 0.03911590948700905, + 0.008427545428276062, + 0.0 + ], + [ + 0.004859656095504761, + 0.007109692320227623, + 0.027825796976685524, + 0.05464732646942139, + -0.019072119146585464, + 0.011091433465480804, + 0.0 + ], + [ + 0.0062088072299957275, + 0.014730892144143581, + 0.01678897812962532, + 0.10001316666603088, + -0.04955672472715378, + -0.00632958859205246, + 0.0 + ], + [ + 0.017790868878364563, + 0.024643655866384506, + 0.018201883882284164, + 0.10218530893325806, + -0.017102666199207306, + -0.033518236130476, + 0.0 + ], + [ + 0.026268616318702698, + 0.026973411440849304, + 0.005366034805774689, + 0.07986731082201004, + -0.030589379370212555, + -0.056325171142816544, + 0.0 + ], + [ + 0.02465963363647461, + 0.01887659728527069, + 0.011251077055931091, + 0.03154949098825455, + -0.01859995722770691, + -0.04840272665023804, + 0.0 + ], + [ + 0.023547470569610596, + 0.019948486238718033, + 0.02059461921453476, + 0.07036937773227692, + -0.02480281889438629, + -0.03569609671831131, + 0.0 + ], + [ + 0.006560981273651123, + 0.011183597147464752, + 0.005309261381626129, + 0.0451294481754303, + -0.029338479042053223, + -0.00708133727312088, + 0.0 + ], + [ + 0.0077342987060546875, + 0.008138686418533325, + -0.011499688029289246, + 0.03384231775999069, + -0.04151284694671631, + -0.006517454981803894, + 0.0 + ], + [ + 0.004207968711853027, + 0.006632216274738312, + -0.01986624300479889, + 0.04316956549882889, + -0.03445884585380554, + -0.003926284611225128, + 0.0 + ], + [ + 0.0017226338386535645, + 0.0037206485867500305, + -0.014032229781150818, + -0.009788274765014648, + 0.012814253568649292, + 0.010180734097957611, + 0.0 + ], + [ + 0.006010264158248901, + 0.007185973227024078, + -0.017603334039449692, + -0.006666623055934906, + -0.004306823015213013, + -0.00844573974609375, + 1.0 + ], + [ + 0.007744789123535156, + 0.005781307816505432, + 0.006119761615991592, + 0.01487501710653305, + -0.0229891836643219, + -0.04017411172389984, + 1.0 + ], + [ + -0.0035962462425231934, + -0.00017070770263671875, + 0.0003641098737716675, + 0.008917942643165588, + 0.03920215368270874, + -0.010154128074645996, + 1.0 + ], + [ + -0.0005698502063751221, + -0.005357883870601654, + 0.004944376647472382, + 0.01255914568901062, + 0.051168352365493774, + -0.009239211678504944, + 1.0 + ], + [ + -0.003798872232437134, + -0.00864991545677185, + 0.001731783151626587, + 0.0018787384033203125, + 0.033287882804870605, + 0.004252508282661438, + 1.0 + ], + [ + 0.0012600421905517578, + -0.0030490681529045105, + 0.001434624195098877, + 0.00015366077423095703, + -0.0037669390439987183, + -0.0031662285327911377, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0047606229782104 + ], + [ + 1.0047606229782104 + ], + [ + 1.0047606229782104 + ], + [ + 1.0047606229782104 + ], + [ + 1.0047606229782104 + ], + [ + 1.0047606229782104 + ], + [ + 1.0047606229782104 + ], + [ + 1.0047606229782104 + ], + [ + 1.0047606229782104 + ], + [ + 1.0047606229782104 + ], + [ + 1.0047606229782104 + ], + [ + 1.0047606229782104 + ], + [ + 1.0047606229782104 + ], + [ + 1.0047606229782104 + ], + [ + 0.9752515554428101 + ], + [ + 0.8139979243278503 + ], + [ + 0.6079121828079224 + ], + [ + 0.6319981217384338 + ], + [ + 0.6440550088882446 + ], + [ + 0.6440550088882446 + ], + [ + 0.6440550088882446 + ], + [ + 0.6440550088882446 + ], + [ + 0.6440550088882446 + ], + [ + 0.6440550088882446 + ], + [ + 0.6440550088882446 + ], + [ + 0.6440550088882446 + ], + [ + 0.6440550088882446 + ], + [ + 0.6440550088882446 + ], + [ + 0.6440550088882446 + ], + [ + 0.6902000904083252 + ], + [ + 0.9781157374382019 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2719460427761078, + 0.050775814801454544, + 0.06720862537622452 + ], + [ + 0.2484125941991806, + 0.03766683489084244, + 0.10072635114192963 + ], + [ + 0.23532834649085999, + 0.02745746821165085, + 0.12096908688545227 + ], + [ + 0.2284543365240097, + 0.014919500797986984, + 0.12811560928821564 + ], + [ + 0.22265993058681488, + -0.0005788738490082324, + 0.107598677277565 + ], + [ + 0.21355687081813812, + -0.01441458985209465, + 0.080409936606884 + ], + [ + 0.20978933572769165, + -0.018850570544600487, + 0.06845144182443619 + ], + [ + 0.20929422974586487, + -0.02401956543326378, + 0.06519559025764465 + ], + [ + 0.210943341255188, + -0.027099547907710075, + 0.06365141272544861 + ], + [ + 0.21466293931007385, + -0.031680602580308914, + 0.05931081622838974 + ], + [ + 0.22197188436985016, + -0.03303556516766548, + 0.059319037944078445 + ], + [ + 0.22123374044895172, + -0.03710265830159187, + 0.04553527757525444 + ], + [ + 0.22040177881717682, + -0.03786909207701683, + 0.03443831577897072 + ], + [ + 0.22200945019721985, + -0.03423362970352173, + 0.024210555478930473 + ], + [ + 0.22223272919654846, + -0.030314812436699867, + 0.013526053167879581 + ], + [ + 0.2187313288450241, + -0.03159743919968605, + 0.00022281585552264005 + ], + [ + 0.21823124587535858, + -0.03298351168632507, + -0.0018291538581252098 + ], + [ + 0.21479067206382751, + -0.033518776297569275, + 0.0011257483856752515 + ], + [ + 0.21160298585891724, + -0.033326659351587296, + 0.016103317961096764 + ], + [ + 0.216462641954422, + -0.026216967031359673, + 0.04392911493778229 + ], + [ + 0.22267144918441772, + -0.011486074887216091, + 0.06071809306740761 + ], + [ + 0.2404623180627823, + 0.01315758004784584, + 0.07891997694969177 + ], + [ + 0.266730934381485, + 0.040130991488695145, + 0.08428601175546646 + ], + [ + 0.2913905680179596, + 0.059007588773965836, + 0.09553708881139755 + ], + [ + 0.3149380385875702, + 0.07895607501268387, + 0.11613170802593231 + ], + [ + 0.3214990198612213, + 0.09013967216014862, + 0.12144096940755844 + ], + [ + 0.329233318567276, + 0.09827835857868195, + 0.1099412813782692 + ], + [ + 0.33344128727912903, + 0.10491057485342026, + 0.0900750383734703 + ], + [ + 0.3351639211177826, + 0.10863122344017029, + 0.07604280859231949 + ], + [ + 0.3411741852760315, + 0.11581719666719437, + 0.0584394745528698 + ], + [ + 0.34891897439956665, + 0.1215985044836998, + 0.06455923616886139 + ], + [ + 0.34532272815704346, + 0.12142779678106308, + 0.06492334604263306 + ], + [ + 0.34475287795066833, + 0.11606991291046143, + 0.06986772269010544 + ], + [ + 0.3409540057182312, + 0.10741999745368958, + 0.07159950584173203 + ], + [ + 0.34221404790878296, + 0.10437092930078506, + 0.0730341300368309 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9994717780547595, + 0.027265412367726675, + 0.01768508299317077, + 0.029491510871362914, + -0.9895568528362186, + -0.14109388998607492, + 0.013653411975832407, + 0.14154092091439896, + -0.9898382453957424 + ], + [ + 0.9926909918222296, + 0.11580817490261602, + 0.03395675751192147, + 0.11875887644665098, + -0.987445843017663, + -0.10414910644007527, + 0.021469141112942243, + 0.10742054613928445, + -0.9939818420107134 + ], + [ + 0.9878130889823639, + 0.14976908231783434, + 0.042361813190594094, + 0.15203379184562757, + -0.9867564901747015, + -0.05654516102324894, + 0.03333207722542082, + 0.06229647726620283, + -0.9975009381188875 + ], + [ + 0.9869312968191513, + 0.13971321676743328, + 0.08029216910362665, + 0.14416241518041414, + -0.9881574718632657, + -0.05255481757317643, + 0.07199870421208339, + 0.06344310727964195, + -0.9953849299293643 + ], + [ + 0.990554829414173, + 0.09415882921557811, + 0.09967569816665554, + 0.1066163630591716, + -0.9860153720556496, + -0.12808839603177904, + 0.08622111720624788, + 0.13750563970510646, + -0.986741160587211 + ], + [ + 0.9885557234777232, + -0.01566552508574474, + 0.15004057085743117, + 0.02197476098370663, + -0.9690313872221561, + -0.24595788350450085, + 0.1492470819116571, + 0.2464401791552923, + -0.9575972778985764 + ], + [ + 0.9781673196420938, + -0.09747965313875617, + 0.1835385845214836, + -0.046315062726660534, + -0.963208012096352, + -0.2647361713064904, + 0.2025922252921555, + 0.2504556700443049, + -0.9466933756997726 + ], + [ + 0.9696965956647482, + -0.1455036937361902, + 0.1962579615335975, + -0.08858623887702384, + -0.9580444577819358, + -0.2725863077906513, + 0.22768616698829322, + 0.24694026002748473, + -0.9419020741774261 + ], + [ + 0.9658642109658498, + -0.17292880605313724, + 0.19287808069439183, + -0.11138065827993335, + -0.949450000960769, + -0.2934945393644047, + 0.23388175417600365, + 0.2619929840904749, + -0.9363007002832601 + ], + [ + 0.9647617859275088, + -0.18386929203905455, + 0.18822003044049454, + -0.1208532272698562, + -0.9450553573558366, + -0.3037513275551118, + 0.23372888968294933, + 0.27030067513435707, + -0.9339744917017203 + ], + [ + 0.9727318605357678, + -0.16230632981100096, + 0.1656785526310103, + -0.10511467775814365, + -0.9452733020529164, + -0.3088839408997785, + 0.20674533130986414, + 0.28304600284981735, + -0.9365582353769124 + ], + [ + 0.9873441557597389, + -0.10881543752509615, + 0.11537208779991188, + -0.06240632060070953, + -0.935363546173882, + -0.3481386040618045, + 0.1457976996943715, + 0.33653266861516185, + -0.9303165019059846 + ], + [ + 0.9959762268355148, + -0.05595903594232859, + 0.06999958481945898, + -0.025714419265096232, + -0.9266914288194139, + -0.3749423480943333, + 0.08584942760642206, + 0.37163366646341195, + -0.9244015868282633 + ], + [ + 0.9963141109379445, + -0.027382737714472544, + 0.08129193084921395, + 0.008332888936803142, + -0.9123025848854885, + -0.4094319926107665, + 0.08537420750964476, + 0.4086002683387718, + -0.9087117614544139 + ], + [ + 0.9970637053419701, + -0.02493868611540014, + 0.07240186064307383, + 0.009732135351931893, + -0.8965487442066334, + -0.44283815870247756, + 0.07595559907757435, + 0.4422424800902177, + -0.8936735062495814 + ], + [ + 0.9948827896571611, + -0.0032565902227303205, + 0.10098331280021451, + 0.045233072811622616, + -0.8793662497111382, + -0.473992582213041, + 0.09034491666941309, + 0.4761348480095626, + -0.8747190420603106 + ], + [ + 0.9929711729563945, + 0.018700509902186826, + 0.11686975916378146, + 0.0704309388273109, + -0.8869372208769799, + -0.45648860783038464, + 0.09511956966631872, + 0.4615112752169955, + -0.88202018702186 + ], + [ + 0.993801638851144, + 0.040972511362008295, + 0.10334193693496439, + 0.08132214689366782, + -0.9017589410344818, + -0.42452034190245147, + 0.07579585108292387, + 0.4302929996840057, + -0.8995014860363241 + ], + [ + 0.995273423625206, + 0.06716995233046626, + 0.07013565234090202, + 0.0898924858419841, + -0.910486711925564, + -0.40364995775563206, + 0.03674443106798184, + 0.40804674353669057, + -0.912221300932286 + ], + [ + 0.993337204901415, + 0.0744412372942588, + 0.08797556222465513, + 0.10083661246877343, + -0.9310198465464485, + -0.35076206026657136, + 0.055795832680109014, + 0.35729616220542765, + -0.9323230542729307 + ], + [ + 0.9899837870735042, + 0.06384338654037235, + 0.12592109960868325, + 0.09416941530152577, + -0.9631242094565512, + -0.2520394381450303, + 0.10518660824160124, + 0.26137287379097013, + -0.9594894466813473 + ], + [ + 0.9906428659095853, + 0.0405778886682697, + 0.13030789375041274, + 0.060821076237484874, + -0.9859861084787187, + -0.15534539121681823, + 0.12217818507310296, + 0.16181726990101447, + -0.9792280951106462 + ], + [ + 0.9882947747334305, + -0.007802158916169443, + 0.15235670169324697, + 0.004935015225752172, + -0.9965336327815122, + -0.08304435176461028, + 0.1524765026465383, + 0.08282418156269081, + -0.9848304783510465 + ], + [ + 0.984372063364792, + -0.05226725321649273, + 0.16816591541731882, + -0.04275776548677857, + -0.9973012151436206, + -0.059682993923189265, + 0.1708315379475331, + 0.05155987310167501, + -0.9839502859028091 + ], + [ + 0.977693494184764, + -0.07550422591899852, + 0.19599628388609733, + -0.0775025636494299, + -0.9969889296146137, + 0.002535123995588812, + 0.19521471270514654, + -0.017668788704372853, + -0.9806013613335276 + ], + [ + 0.9709944418123435, + -0.07183196613922453, + 0.22805692844136263, + -0.08389467285936587, + -0.9955188094107849, + 0.0436346648337462, + 0.22390059811299182, + -0.06150177842881202, + -0.9726695499576091 + ], + [ + 0.960338805000152, + -0.0666664952840344, + 0.27074888368638483, + -0.08928334846681996, + -0.9933945149658611, + 0.07208204576934411, + 0.2641549986228391, + -0.0933965526252722, + -0.9599475093255267 + ], + [ + 0.9503527423018256, + -0.05420546255868934, + 0.3064170899741044, + -0.09211993863536645, + -0.9895807118082527, + 0.11065230102843948, + 0.2972264828463577, + -0.13338584124962663, + -0.9454441470805737 + ], + [ + 0.9549576342214052, + -0.048701871162803584, + 0.2927183707721449, + -0.08276212003320985, + -0.9910097928889755, + 0.10511908430803071, + 0.28496727589298, + -0.12461026500008732, + -0.9504030374145185 + ], + [ + 0.9529939688210936, + -0.05851909814384684, + 0.29728439337282914, + -0.0907072632550541, + -0.9912736297524423, + 0.09564927260672729, + 0.2890928705163766, + -0.11811903364762402, + -0.9499858978462536 + ], + [ + 0.9417463720733696, + -0.09079671315080028, + 0.3238359578052717, + -0.12798053169909368, + -0.9871780864706474, + 0.09539606437462814, + 0.31102211206385905, + -0.1312835955980876, + -0.941291593149633 + ], + [ + 0.9517371010135688, + -0.10336657444486448, + 0.2889841550013117, + -0.13919471822186735, + -0.9845474203482072, + 0.10626009366091013, + 0.2735348624461291, + -0.14135674152025693, + -0.9514183888560029 + ], + [ + 0.9629901956564729, + -0.11661155800756773, + 0.24300540654182143, + -0.14994065959699415, + -0.9809568879822099, + 0.1234559942646638, + 0.2239814315275411, + -0.1553233030144094, + -0.9621366794128409 + ], + [ + 0.9704558249187082, + -0.11717371092585745, + 0.2109166028296814, + -0.14687893227694546, + -0.98042271506951, + 0.1311406841102918, + 0.19142118778895517, + -0.1582454462017611, + -0.9686672842735381 + ], + [ + 0.9692664215801537, + -0.11965544677268132, + 0.21495389751021948, + -0.14983964971234381, + -0.9801178644298492, + 0.1300655650030169, + 0.1951171016884118, + -0.1582768014685094, + -0.9679244654132946 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006079.json b/json/chunk-0006/episode_0006079.json new file mode 100644 index 0000000000000000000000000000000000000000..74f3f22670cdfbb890d28c88a3eab2094aedc58e --- /dev/null +++ b/json/chunk-0006/episode_0006079.json @@ -0,0 +1,2782 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 45, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nTook the blue spoon from the stove and put it in the left burner." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006079.mp4", + "start": 0, + "end": 45, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.30908113718032837, + 0.034308500587940216, + 0.14122776687145233, + -0.21372123062610626, + -0.21810270845890045, + 0.7525453567504883, + 0.0, + 1.0001531839370728 + ], + [ + 0.30937543511390686, + 0.034477852284908295, + 0.13264766335487366, + -0.19680748879909515, + -0.19507132470607758, + 0.7608584761619568, + 0.0, + 1.0001531839370728 + ], + [ + 0.3124990165233612, + 0.039535365998744965, + 0.12150735408067703, + -0.15463212132453918, + -0.17598392069339752, + 0.911892831325531, + 0.0, + 1.0001531839370728 + ], + [ + 0.3205990791320801, + 0.04404677078127861, + 0.11382932215929031, + -0.12362152338027954, + -0.19443269073963165, + 1.113823413848877, + 0.0, + 1.0001531839370728 + ], + [ + 0.33043017983436584, + 0.04448744282126427, + 0.10843303799629211, + -0.11562962085008621, + -0.21890650689601898, + 1.3203761577606201, + 0.0, + 1.0001531839370728 + ], + [ + 0.341256320476532, + 0.04557841271162033, + 0.10157674551010132, + -0.10991814732551575, + -0.21981985867023468, + 1.4858176708221436, + 0.0, + 1.0001531839370728 + ], + [ + 0.3532296121120453, + 0.042246803641319275, + 0.09200934320688248, + -0.10049645602703094, + -0.16583266854286194, + 1.579571008682251, + 0.0, + 1.0001531839370728 + ], + [ + 0.36393705010414124, + 0.05308917537331581, + 0.07746215164661407, + -0.08211620897054672, + -0.12123184651136398, + 1.6446126699447632, + 0.0, + 1.0001531839370728 + ], + [ + 0.373158723115921, + 0.054873935878276825, + 0.05922914296388626, + -0.0552075058221817, + -0.057779282331466675, + 1.6531378030776978, + 0.0, + 1.0001531839370728 + ], + [ + 0.37689411640167236, + 0.056902941316366196, + 0.046650297939777374, + -0.05967390164732933, + -0.03906356915831566, + 1.651800274848938, + 0.0, + 1.0001531839370728 + ], + [ + 0.37852880358695984, + 0.051410380750894547, + 0.031170379370450974, + -0.03520481660962105, + -0.002325036795809865, + 1.6398664712905884, + 0.0, + 1.0001531839370728 + ], + [ + 0.3824344873428345, + 0.04749646782875061, + 0.024571118876338005, + -0.03588740900158882, + 0.006488172337412834, + 1.6237192153930664, + 0.0, + 1.0001531839370728 + ], + [ + 0.3906167447566986, + 0.042776986956596375, + 0.02178952284157276, + -0.04516737535595894, + 0.027001669630408287, + 1.6233792304992676, + 0.0, + 0.9716382026672363 + ], + [ + 0.39509138464927673, + 0.041441451758146286, + 0.021503901109099388, + -0.05255604907870293, + 0.03803369030356407, + 1.6175347566604614, + 0.0, + 0.7081608176231384 + ], + [ + 0.3948809802532196, + 0.041200969368219376, + 0.021501336246728897, + -0.05094700679183006, + 0.03975880891084671, + 1.6228623390197754, + 0.0, + 0.442066490650177 + ], + [ + 0.39265549182891846, + 0.040492307394742966, + 0.020712077617645264, + -0.0424153096973896, + 0.04272761940956116, + 1.6137725114822388, + 0.0, + 0.4220271706581116 + ], + [ + 0.38660386204719543, + 0.03771498426795006, + 0.02371165156364441, + -0.01837152987718582, + 0.05726959556341171, + 1.6032779216766357, + 0.0, + 0.4220271706581116 + ], + [ + 0.3853238523006439, + 0.034189656376838684, + 0.046274878084659576, + -0.05719038099050522, + 0.09719615429639816, + 1.600051999092102, + 0.0, + 0.4220271706581116 + ], + [ + 0.372604101896286, + 0.03488704934716225, + 0.06547237932682037, + -0.09164312481880188, + 0.09689219295978546, + 1.6031043529510498, + 0.0, + 0.4220271706581116 + ], + [ + 0.35763972997665405, + 0.01956520415842533, + 0.08133744448423386, + -0.13463900983333588, + 0.17294438183307648, + 1.5634864568710327, + 0.0, + 0.4211256504058838 + ], + [ + 0.33154505491256714, + 0.0008762435172684491, + 0.08888201415538788, + -0.13092739880084991, + 0.24589063227176666, + 1.5275049209594727, + 0.0, + 0.4211256504058838 + ], + [ + 0.31053468585014343, + -0.02369527332484722, + 0.08152372390031815, + -0.09478017687797546, + 0.28295451402664185, + 1.4694627523422241, + 0.0, + 0.4211256504058838 + ], + [ + 0.2962665259838104, + -0.04034401476383209, + 0.07487843185663223, + -0.07902426272630692, + 0.3114655911922455, + 1.4326653480529785, + 0.0, + 0.4211256504058838 + ], + [ + 0.2892765402793884, + -0.04855785891413689, + 0.072562076151371, + -0.06346923857927322, + 0.344037801027298, + 1.4107049703598022, + 0.0, + 0.4211256504058838 + ], + [ + 0.2900943160057068, + -0.04895526543259621, + 0.06309838593006134, + -0.04814154654741287, + 0.32554346323013306, + 1.3847423791885376, + 0.0, + 0.4211256504058838 + ], + [ + 0.29324156045913696, + -0.0501670278608799, + 0.05954048037528992, + -0.03996754810214043, + 0.3909730911254883, + 1.3500148057937622, + 0.0, + 0.4211256504058838 + ], + [ + 0.2971957325935364, + -0.04431914910674095, + 0.06145402789115906, + -0.05236021429300308, + 0.43513724207878113, + 1.3311653137207031, + 0.0, + 0.4211256504058838 + ], + [ + 0.2990494668483734, + -0.039634671062231064, + 0.05930387228727341, + -0.053246915340423584, + 0.46533167362213135, + 1.322997808456421, + 0.0, + 0.4211256504058838 + ], + [ + 0.29899224638938904, + -0.025824226438999176, + 0.058454737067222595, + -0.04165839031338692, + 0.45436349511146545, + 1.3640758991241455, + 0.0, + 0.4211256504058838 + ], + [ + 0.29799237847328186, + -0.007385565433651209, + 0.056835420429706573, + -0.02448062039911747, + 0.4364514648914337, + 1.4248579740524292, + 0.0, + 0.4211256504058838 + ], + [ + 0.2958184480667114, + 0.00671016750857234, + 0.04837416857481003, + 0.008138712495565414, + 0.42441532015800476, + 1.4734597206115723, + 0.0, + 0.4211256504058838 + ], + [ + 0.2949811816215515, + 0.0282650887966156, + 0.04413251578807831, + 0.034877460449934006, + 0.4028362035751343, + 1.5609776973724365, + 0.0, + 0.4220271706581116 + ], + [ + 0.29559868574142456, + 0.04121899604797363, + 0.044899895787239075, + 0.03399628773331642, + 0.3850383460521698, + 1.600946307182312, + 0.0, + 0.4211256504058838 + ], + [ + 0.2953563928604126, + 0.0581076443195343, + 0.04687504842877388, + 0.030946310609579086, + 0.38184186816215515, + 1.6630116701126099, + 0.0, + 0.4211256504058838 + ], + [ + 0.30185920000076294, + 0.07578722387552261, + 0.05397244915366173, + -0.0021790540777146816, + 0.3658856153488159, + 1.7018284797668457, + 0.0, + 0.4220271706581116 + ], + [ + 0.30215170979499817, + 0.097022645175457, + 0.05135936290025711, + 0.009930414147675037, + 0.3467514216899872, + 1.7795629501342773, + 0.0, + 0.4211256504058838 + ], + [ + 0.301095187664032, + 0.10883443057537079, + 0.04925044998526573, + 0.015607899986207485, + 0.3345775306224823, + 1.824108362197876, + 0.0, + 0.4211256504058838 + ], + [ + 0.3043207824230194, + 0.10560358315706253, + 0.04822160303592682, + 0.0005680019385181367, + 0.3210895359516144, + 1.7976616621017456, + 0.0, + 0.4211256504058838 + ], + [ + 0.30604973435401917, + 0.08545869588851929, + 0.04070299118757248, + -0.05994225665926933, + 0.21622295677661896, + 1.6919976472854614, + 0.0, + 0.4211256504058838 + ], + [ + 0.3103446364402771, + 0.07284574210643768, + 0.04224490001797676, + -0.13478343188762665, + 0.1464017778635025, + 1.591037631034851, + 0.0, + 0.4211256504058838 + ], + [ + 0.31160369515419006, + 0.06497814506292343, + 0.03563186898827553, + -0.1570521742105484, + 0.09366694837808609, + 1.5368760824203491, + 0.0, + 0.4211256504058838 + ], + [ + 0.31386059522628784, + 0.0681399405002594, + 0.029311900958418846, + -0.12691663205623627, + 0.04946659132838249, + 1.5668156147003174, + 0.0, + 0.4211256504058838 + ], + [ + 0.31954309344291687, + 0.07316189259290695, + 0.021591654047369957, + -0.0981956496834755, + 0.022264476865530014, + 1.572990894317627, + 0.0, + 0.4615449905395508 + ], + [ + 0.3197668492794037, + 0.07057162374258041, + 0.023464936763048172, + -0.08361987769603729, + 0.016881966963410378, + 1.5666694641113281, + 0.0, + 0.763324499130249 + ], + [ + 0.31825387477874756, + 0.06709842383861542, + 0.023860353976488113, + -0.07316610217094421, + 0.028531035408377647, + 1.5493505001068115, + 0.0, + 0.9968144297599792 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9716382026672363 + ], + [ + 0.7081608176231384 + ], + [ + 0.442066490650177 + ], + [ + 0.4220271706581116 + ], + [ + 0.4220271706581116 + ], + [ + 0.4220271706581116 + ], + [ + 0.4220271706581116 + ], + [ + 0.4211256504058838 + ], + [ + 0.4211256504058838 + ], + [ + 0.4211256504058838 + ], + [ + 0.4211256504058838 + ], + [ + 0.4211256504058838 + ], + [ + 0.4211256504058838 + ], + [ + 0.4211256504058838 + ], + [ + 0.4211256504058838 + ], + [ + 0.4211256504058838 + ], + [ + 0.4211256504058838 + ], + [ + 0.4211256504058838 + ], + [ + 0.4211256504058838 + ], + [ + 0.4220271706581116 + ], + [ + 0.4211256504058838 + ], + [ + 0.4211256504058838 + ], + [ + 0.4220271706581116 + ], + [ + 0.4211256504058838 + ], + [ + 0.4211256504058838 + ], + [ + 0.4211256504058838 + ], + [ + 0.4211256504058838 + ], + [ + 0.4211256504058838 + ], + [ + 0.4211256504058838 + ], + [ + 0.4211256504058838 + ], + [ + 0.4615449905395508 + ], + [ + 0.763324499130249 + ], + [ + 0.9968144297599792 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.30908113718032837, + 0.034308500587940216, + 0.14122776687145233 + ], + [ + 0.30937543511390686, + 0.034477852284908295, + 0.13264766335487366 + ], + [ + 0.3124990165233612, + 0.039535365998744965, + 0.12150735408067703 + ], + [ + 0.3205990791320801, + 0.04404677078127861, + 0.11382932215929031 + ], + [ + 0.33043017983436584, + 0.04448744282126427, + 0.10843303799629211 + ], + [ + 0.341256320476532, + 0.04557841271162033, + 0.10157674551010132 + ], + [ + 0.3532296121120453, + 0.042246803641319275, + 0.09200934320688248 + ], + [ + 0.36393705010414124, + 0.05308917537331581, + 0.07746215164661407 + ], + [ + 0.373158723115921, + 0.054873935878276825, + 0.05922914296388626 + ], + [ + 0.37689411640167236, + 0.056902941316366196, + 0.046650297939777374 + ], + [ + 0.37852880358695984, + 0.051410380750894547, + 0.031170379370450974 + ], + [ + 0.3824344873428345, + 0.04749646782875061, + 0.024571118876338005 + ], + [ + 0.3906167447566986, + 0.042776986956596375, + 0.02178952284157276 + ], + [ + 0.39509138464927673, + 0.041441451758146286, + 0.021503901109099388 + ], + [ + 0.3948809802532196, + 0.041200969368219376, + 0.021501336246728897 + ], + [ + 0.39265549182891846, + 0.040492307394742966, + 0.020712077617645264 + ], + [ + 0.38660386204719543, + 0.03771498426795006, + 0.02371165156364441 + ], + [ + 0.3853238523006439, + 0.034189656376838684, + 0.046274878084659576 + ], + [ + 0.372604101896286, + 0.03488704934716225, + 0.06547237932682037 + ], + [ + 0.35763972997665405, + 0.01956520415842533, + 0.08133744448423386 + ], + [ + 0.33154505491256714, + 0.0008762435172684491, + 0.08888201415538788 + ], + [ + 0.31053468585014343, + -0.02369527332484722, + 0.08152372390031815 + ], + [ + 0.2962665259838104, + -0.04034401476383209, + 0.07487843185663223 + ], + [ + 0.2892765402793884, + -0.04855785891413689, + 0.072562076151371 + ], + [ + 0.2900943160057068, + -0.04895526543259621, + 0.06309838593006134 + ], + [ + 0.29324156045913696, + -0.0501670278608799, + 0.05954048037528992 + ], + [ + 0.2971957325935364, + -0.04431914910674095, + 0.06145402789115906 + ], + [ + 0.2990494668483734, + -0.039634671062231064, + 0.05930387228727341 + ], + [ + 0.29899224638938904, + -0.025824226438999176, + 0.058454737067222595 + ], + [ + 0.29799237847328186, + -0.007385565433651209, + 0.056835420429706573 + ], + [ + 0.2958184480667114, + 0.00671016750857234, + 0.04837416857481003 + ], + [ + 0.2949811816215515, + 0.0282650887966156, + 0.04413251578807831 + ], + [ + 0.29559868574142456, + 0.04121899604797363, + 0.044899895787239075 + ], + [ + 0.2953563928604126, + 0.0581076443195343, + 0.04687504842877388 + ], + [ + 0.30185920000076294, + 0.07578722387552261, + 0.05397244915366173 + ], + [ + 0.30215170979499817, + 0.097022645175457, + 0.05135936290025711 + ], + [ + 0.301095187664032, + 0.10883443057537079, + 0.04925044998526573 + ], + [ + 0.3043207824230194, + 0.10560358315706253, + 0.04822160303592682 + ], + [ + 0.30604973435401917, + 0.08545869588851929, + 0.04070299118757248 + ], + [ + 0.3103446364402771, + 0.07284574210643768, + 0.04224490001797676 + ], + [ + 0.31160369515419006, + 0.06497814506292343, + 0.03563186898827553 + ], + [ + 0.31386059522628784, + 0.0681399405002594, + 0.029311900958418846 + ], + [ + 0.31954309344291687, + 0.07316189259290695, + 0.021591654047369957 + ], + [ + 0.3197668492794037, + 0.07057162374258041, + 0.023464936763048172 + ], + [ + 0.31825387477874756, + 0.06709842383861542, + 0.023860353976488113 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.7126587445863274, + 0.6344484263668743, + 0.29932041033854706, + 0.6673066895625667, + -0.7447119272757144, + -0.010292105631932572, + 0.21637766943399583, + 0.20707327122032787, + -0.9540971462678339 + ], + [ + 0.7105081922693577, + 0.648781582394881, + 0.2725079211019819, + 0.6764654589221135, + -0.7363989375601847, + -0.01053981240468796, + 0.19383650740617542, + 0.19183081896667625, + -0.9620958087899304 + ], + [ + 0.6027938975269334, + 0.7647208608931133, + 0.2276873339015247, + 0.7784520409703382, + -0.6262651066347165, + 0.04247865488597925, + 0.17507694597920018, + 0.15163779583831583, + -0.9728072994482995 + ], + [ + 0.4329196754742519, + 0.8800318848622329, + 0.19525479818200148, + 0.8804830896761845, + -0.4592459908542863, + 0.11765478604181379, + 0.19320994638358707, + 0.12098347618617394, + -0.973669818320544 + ], + [ + 0.24189715733921607, + 0.9561302345936912, + 0.16522935504025865, + 0.9456882554742633, + -0.2704292398593456, + 0.1803933194082894, + 0.21716235569096948, + 0.11261882935330945, + -0.9696171979424866 + ], + [ + 0.08283401303439336, + 0.9883481136362998, + 0.12769703424976647, + 0.9724150645863999, + -0.10819771576252774, + 0.2066450978591055, + 0.21805382007670948, + 0.10705727707792373, + -0.9700470457532537 + ], + [ + -0.008654193126076404, + 0.9950614959219256, + 0.0988823759572775, + 0.9862432765134844, + -0.00783047058924341, + 0.16511475785736937, + 0.16507363348906845, + 0.09895101345600657, + -0.9813049436657016 + ], + [ + -0.07320803627977035, + 0.9946479070007601, + 0.07291175846917113, + 0.9899572132386203, + 0.06360825432937112, + 0.12624858786534854, + 0.12093510400576178, + 0.08142193242718425, + -0.9893155055587365 + ], + [ + -0.08211120751481815, + 0.9953555514209674, + 0.050250132894551575, + 0.9949487512194529, + 0.07894749079665708, + 0.06200222692583347, + 0.057747138866867526, + 0.05508738469353361, + -0.9968102367052202 + ], + [ + -0.08085366158788682, + 0.9951353113542978, + 0.05628852017610177, + 0.9959605910886511, + 0.07844990187647666, + 0.043681963027264084, + 0.039053634993116135, + 0.05959299448219679, + -0.9974585147275392 + ], + [ + -0.06901505240433342, + 0.9970031055014086, + 0.03495325681784328, + 0.997612909276572, + 0.06889083495409204, + 0.004747220667078089, + 0.0023250347010312887, + 0.03519744990585315, + -0.9993776732215722 + ], + [ + -0.05289707396255694, + 0.9979446140244679, + 0.03617246059857151, + 0.9985788921144978, + 0.05309659323022076, + -0.004576899684965666, + -0.006488126816080311, + 0.035878951028422035, + -0.9993350814834423 + ], + [ + -0.0525395165919168, + 0.9975353040718898, + 0.04650716424906858, + 0.9982538185286624, + 0.05372241915284037, + -0.024560445299523337, + -0.026998388641399494, + 0.045135560377253234, + -0.998615976339353 + ], + [ + -0.046687626560994844, + 0.9974353889886736, + 0.05424859739306523, + 0.9981855545473299, + 0.04865222193359925, + -0.03547618911274653, + -0.03802452128746196, + 0.05249386720310851, + -0.9978970536517893 + ], + [ + -0.052001363383453014, + 0.9972437680872293, + 0.052921878438383696, + 0.9978556649545147, + 0.05399640504451647, + -0.036992704151657396, + -0.03974833486381053, + 0.050884725148648446, + -0.9979132300065479 + ], + [ + -0.04292374506407659, + 0.998100286980829, + 0.04419693698052846, + 0.9981648227509886, + 0.04473385438046129, + -0.04081505720631816, + -0.04271461965371449, + 0.0423638926570061, + -0.9981887406030906 + ], + [ + -0.03242264078991269, + 0.9992697083224871, + 0.02021935689628229, + 0.9978339290337406, + 0.033521344434227995, + -0.056601850998083326, + -0.057238295164126485, + 0.018340378851397797, + -0.9981920697292135 + ], + [ + -0.029113437115470875, + 0.9977756033099324, + 0.05996876869524295, + 0.9948542743071221, + 0.03474821367098868, + -0.09517108037384267, + -0.09704318972587736, + 0.05688942859772231, + -0.9936529636858392 + ], + [ + -0.032150895411587554, + 0.9949980578862543, + 0.09457898670854424, + 0.9947902115050782, + 0.041015447261353644, + -0.09332828177799297, + -0.09674065855634069, + 0.09108566236534131, + -0.9911330118069684 + ], + [ + 0.007200759773001331, + 0.9910922280326226, + 0.13298249731458373, + 0.9850560395649042, + 0.015854954516624553, + -0.17150282602331, + -0.17208354940376347, + 0.13223016278673907, + -0.9761672172706861 + ], + [ + 0.04197612538774065, + 0.9918876826217444, + 0.11998679077589597, + 0.9690121670707623, + -0.011157848442939766, + -0.2467608609300711, + -0.24342026408304257, + 0.12662672498880456, + -0.9616195960733911 + ], + [ + 0.097137577221511, + 0.9930777908199917, + 0.06603629662253951, + 0.9553088834825252, + -0.07441930275454983, + -0.2860886305271463, + -0.2791938900314732, + 0.09087501723582608, + -0.9559249463276298 + ], + [ + 0.13106714285127063, + 0.9907150713248762, + 0.036125496737765606, + 0.942818818982043, + -0.11330074971852666, + -0.3134575165577076, + -0.30645404000944476, + 0.07514377926991339, + -0.9489148190427443 + ], + [ + 0.15006713198977367, + 0.9886352367120236, + 0.008956820179333691, + 0.9293624827803458, + -0.13796775433283043, + -0.3424182739935284, + -0.33729101899800884, + 0.059709860958779976, + -0.9395049233546187 + ], + [ + 0.17526657414450564, + 0.9844502880120085, + -0.011800780513268133, + 0.9311253383099931, + -0.16964283211984177, + -0.3228419332544338, + -0.3198237520021764, + 0.045595393883955004, + -0.9463793254883676 + ], + [ + 0.20246679366176712, + 0.9782820073970218, + -0.04440170568319307, + 0.9020969674999413, + -0.2039598595812534, + -0.38029125273532816, + -0.3810882557777572, + 0.03694170655030521, + -0.923800331037729 + ], + [ + 0.21522661511886704, + 0.9753304817742607, + -0.04907092282058345, + 0.8809006002541062, + -0.21558774721918023, + -0.42135027675428693, + -0.42153485812733255, + 0.047459188477548125, + -0.9055694279361589 + ], + [ + 0.2191914089854642, + 0.9739381918954438, + -0.05830544223656134, + 0.866375308647814, + -0.22177054573232313, + -0.44745016438816165, + -0.4487192338114918, + 0.0475628364694706, + -0.8924061999978521 + ], + [ + 0.18442658462832423, + 0.9816118195142622, + -0.049245006571544875, + 0.8794100203141062, + -0.18718416050579173, + -0.4377214939055262, + -0.43889047728730135, + 0.03742092790995344, + -0.8977610055582073 + ], + [ + 0.13178874456083073, + 0.9905781873630424, + -0.0372368302575469, + 0.8966238045468347, + -0.13513972695890136, + -0.4216669388479881, + -0.4227262470287828, + 0.022183528078798503, + -0.9059858780107655 + ], + [ + 0.08856087022556852, + 0.9949078713691818, + -0.04811756178916171, + 0.9069661393901601, + -0.10051528295395712, + -0.40903435050420256, + -0.411788045315304, + -0.007416561219981049, + -0.9112494720739603 + ], + [ + 0.009032530705558206, + 0.999209449447102, + -0.03871549463292562, + 0.9199084773686257, + -0.023482048716790715, + -0.39142941465020065, + -0.39202908904109346, + -0.03207911351146117, + -0.9193933455392904 + ], + [ + -0.027938287152731334, + 0.9993528155881228, + -0.022658377855949124, + 0.9263628294694588, + 0.01736743099627086, + -0.376231684627874, + -0.37559467553242787, + -0.03150114786291458, + -0.9262485181607629 + ], + [ + -0.08545275209582925, + 0.9963361212375725, + 0.0034872161558284487, + 0.9240370522527026, + 0.08055990859562345, + -0.3737186471012659, + -0.3726303171017953, + -0.02871296996713346, + -0.9275355584193425 + ], + [ + -0.12200893986736966, + 0.9913233471395184, + 0.048906441380885374, + 0.9258022713507954, + 0.13143013712334045, + -0.35442386124166003, + -0.3577764287290991, + 0.002034814940313545, + -0.9338050581218813 + ], + [ + -0.1949180842164412, + 0.978938471283335, + 0.060715812494273325, + 0.9200612693829927, + 0.20394177705292382, + -0.3345071182409305, + -0.33984437765946446, + -0.00933921912918384, + -0.940435313011644 + ], + [ + -0.23671503117113474, + 0.9692541593020682, + 0.06717416685965805, + 0.9144063837230528, + 0.24561973278672328, + -0.32176375226601756, + -0.32837015611071785, + -0.014741829649642768, + -0.9444340734187873 + ], + [ + -0.21342888784333108, + 0.9744164063907821, + 0.07043278207222065, + 0.924577942214277, + 0.22474958612882717, + -0.3076414346373612, + -0.31560059981687566, + -0.0005389725364184361, + -0.9488919700913447 + ], + [ + -0.11808950331512064, + 0.9893273616021376, + 0.08535947980242672, + 0.9695496738744727, + 0.13344580882361018, + -0.20534275248305167, + -0.21454206836117581, + 0.058511432154454146, + -0.97496057007991 + ], + [ + -0.02002340324530244, + 0.9903307096668672, + 0.13727399175807162, + 0.9890997306514666, + 0.03965498156196895, + -0.14180692952925825, + -0.14587935476849398, + 0.13293821094041777, + -0.9803298658738746 + ], + [ + 0.03376507775907678, + 0.9876205958253684, + 0.1531844581720605, + 0.9950437429550149, + -0.018875980507951473, + -0.09763015397886862, + -0.09353004399655576, + 0.15572172636279016, + -0.9833630432391665 + ], + [ + 0.003975832298263926, + 0.9919739442513897, + 0.12637992990928765, + 0.9987688642990724, + 0.002310005082519495, + -0.04955219049910243, + -0.049446420136109795, + 0.12642135026513168, + -0.9907435055214159 + ], + [ + -0.002194021852919059, + 0.9951754936469499, + 0.09808630440922306, + 0.9997497493078222, + 0.004366571229179994, + -0.021940187206295154, + -0.022262637468541173, + 0.09801362099346372, + -0.9949360306435253 + ], + [ + 0.004126262905516875, + 0.9965032276689684, + 0.08345232890556356, + 0.9998489887077974, + -0.002702486842318108, + -0.017166722018528584, + -0.016881165079131587, + 0.08351056106981261, + -0.9963638956000842 + ], + [ + 0.021435455414736515, + 0.9971399357334473, + 0.07247392508108964, + 0.999363158277257, + -0.019301929910010396, + -0.03001188730911764, + -0.028527164760434483, + 0.07307108913411375, + -0.9969186610769634 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + 0.0002942979335784912, + 0.0001693516969680786, + -0.008580103516578674, + 0.01691374182701111, + 0.023031383752822876, + 0.008313119411468506, + 1.0 + ], + [ + 0.0031235814094543457, + 0.00505751371383667, + -0.011140309274196625, + 0.04217536747455597, + 0.019087404012680054, + 0.15103435516357422, + 1.0 + ], + [ + 0.008100062608718872, + 0.004511404782533646, + -0.007678031921386719, + 0.031010597944259644, + -0.01844877004623413, + 0.20193058252334595, + 1.0 + ], + [ + 0.009831100702285767, + 0.00044067203998565674, + -0.0053962841629981995, + 0.007991902530193329, + -0.02447381615638733, + 0.20655274391174316, + 1.0 + ], + [ + 0.010826140642166138, + 0.0010909698903560638, + -0.006856292486190796, + 0.005711473524570465, + -0.0009133517742156982, + 0.16544151306152344, + 1.0 + ], + [ + 0.011973291635513306, + -0.003331609070301056, + -0.009567402303218842, + 0.009421691298484802, + 0.05398719012737274, + 0.09375333786010742, + 1.0 + ], + [ + 0.010707437992095947, + 0.010842371731996536, + -0.014547191560268402, + 0.018380247056484222, + 0.044600822031497955, + 0.06504166126251221, + 1.0 + ], + [ + 0.009221673011779785, + 0.0017847605049610138, + -0.018233008682727814, + 0.02690870314836502, + 0.06345256417989731, + 0.00852513313293457, + 1.0 + ], + [ + 0.0037353932857513428, + 0.0020290054380893707, + -0.012578845024108887, + -0.004466395825147629, + 0.018715713173151016, + -0.0013375282287597656, + 1.0 + ], + [ + 0.0016346871852874756, + -0.005492560565471649, + -0.0154799185693264, + 0.024469085037708282, + 0.03673853352665901, + -0.01193380355834961, + 1.0 + ], + [ + 0.003905683755874634, + -0.003913912922143936, + -0.0065992604941129684, + -0.0006825923919677734, + 0.008813208900392056, + -0.016147255897521973, + 1.0 + ], + [ + 0.008182257413864136, + -0.004719480872154236, + -0.0027815960347652435, + -0.009279966354370117, + 0.020513497292995453, + -0.0003399848937988281, + 0.0 + ], + [ + 0.004474639892578125, + -0.0013355351984500885, + -0.0002856217324733734, + -0.007388673722743988, + 0.011032020673155785, + -0.005844473838806152, + 0.0 + ], + [ + -0.0002104043960571289, + -0.0002404823899269104, + -2.564862370491028e-06, + 0.0016090422868728638, + 0.0017251186072826385, + 0.005327582359313965, + 0.0 + ], + [ + -0.0022254884243011475, + -0.0007086619734764099, + -0.0007892586290836334, + 0.00853169709444046, + 0.002968810498714447, + -0.009089827537536621, + 0.0 + ], + [ + -0.0060516297817230225, + -0.0027773231267929077, + 0.0029995739459991455, + 0.02404377982020378, + 0.014541976153850555, + -0.010494589805603027, + 0.0 + ], + [ + -0.0012800097465515137, + -0.003525327891111374, + 0.022563226521015167, + -0.0388188511133194, + 0.03992655873298645, + -0.0032259225845336914, + 0.0 + ], + [ + -0.01271975040435791, + 0.0006973929703235626, + 0.019197501242160797, + -0.03445274382829666, + -0.0003039613366127014, + 0.003052353858947754, + 0.0 + ], + [ + -0.014964371919631958, + -0.015321845188736916, + 0.015865065157413483, + -0.042995885014534, + 0.07605218887329102, + -0.03961789608001709, + 0.0 + ], + [ + -0.026094675064086914, + -0.018688960000872612, + 0.007544569671154022, + 0.003711611032485962, + 0.07294625043869019, + -0.03598153591156006, + 0.0 + ], + [ + -0.021010369062423706, + -0.02457151748239994, + -0.007358290255069733, + 0.03614722192287445, + 0.03706388175487518, + -0.058042168617248535, + 0.0 + ], + [ + -0.014268159866333008, + -0.01664874143898487, + -0.006645292043685913, + 0.01575591415166855, + 0.028511077165603638, + -0.036797404289245605, + 0.0 + ], + [ + -0.006989985704421997, + -0.008213844150304794, + -0.0023163557052612305, + 0.015555024147033691, + 0.03257220983505249, + -0.02196037769317627, + 0.0 + ], + [ + 0.0008177757263183594, + -0.00039740651845932007, + -0.009463690221309662, + 0.015327692031860352, + -0.018494337797164917, + -0.02596259117126465, + 0.0 + ], + [ + 0.0031472444534301758, + -0.0012117624282836914, + -0.0035579055547714233, + 0.008173998445272446, + 0.06542962789535522, + -0.03472757339477539, + 0.0 + ], + [ + 0.003954172134399414, + 0.0058478787541389465, + 0.0019135475158691406, + -0.012392666190862656, + 0.04416415095329285, + -0.018849492073059082, + 0.0 + ], + [ + 0.0018537342548370361, + 0.004684478044509888, + -0.0021501556038856506, + -0.0008867010474205017, + 0.03019443154335022, + -0.008167505264282227, + 0.0 + ], + [ + -5.7220458984375e-05, + 0.013810444623231888, + -0.0008491352200508118, + 0.011588525027036667, + -0.010968178510665894, + 0.04107809066772461, + 0.0 + ], + [ + -0.0009998679161071777, + 0.018438661471009254, + -0.0016193166375160217, + 0.017177769914269447, + -0.01791203022003174, + 0.06078207492828369, + 0.0 + ], + [ + -0.0021739304065704346, + 0.014095732942223549, + -0.008461251854896545, + 0.03261933475732803, + -0.012036144733428955, + 0.048601746559143066, + 0.0 + ], + [ + -0.0008372664451599121, + 0.021554920822381973, + -0.00424165278673172, + 0.02673874795436859, + -0.021579116582870483, + 0.08751797676086426, + 0.0 + ], + [ + 0.0006175041198730469, + 0.012953907251358032, + 0.0007673799991607666, + -0.0008811727166175842, + -0.017797857522964478, + 0.03996860980987549, + 0.0 + ], + [ + -0.0002422928810119629, + 0.01688864827156067, + 0.0019751526415348053, + -0.003049977123737335, + -0.0031964778900146484, + 0.06206536293029785, + 0.0 + ], + [ + 0.006502807140350342, + 0.017679579555988312, + 0.007097400724887848, + -0.033125363290309906, + -0.015956252813339233, + 0.03881680965423584, + 0.0 + ], + [ + 0.0002925097942352295, + 0.021235421299934387, + -0.0026130862534046173, + 0.012109467759728432, + -0.019134193658828735, + 0.07773447036743164, + 0.0 + ], + [ + -0.0010565221309661865, + 0.011811785399913788, + -0.002108912914991379, + 0.005677485838532448, + -0.012173891067504883, + 0.04454541206359863, + 0.0 + ], + [ + 0.0032255947589874268, + -0.003230847418308258, + -0.001028846949338913, + -0.015039898455142975, + -0.01348799467086792, + -0.02644670009613037, + 0.0 + ], + [ + 0.0017289519309997559, + -0.020144887268543243, + -0.00751861184835434, + -0.06051025912165642, + -0.10486657917499542, + -0.10566401481628418, + 0.0 + ], + [ + 0.004294902086257935, + -0.012612953782081604, + 0.0015419088304042816, + -0.07484117150306702, + -0.06982117891311646, + -0.10096001625061035, + 0.0 + ], + [ + 0.0012590587139129639, + -0.007867597043514252, + -0.006613031029701233, + -0.022268742322921753, + -0.05273482948541641, + -0.05416154861450195, + 0.0 + ], + [ + 0.0022569000720977783, + 0.003161795437335968, + -0.006319968029856682, + 0.030135542154312134, + -0.0442003570497036, + 0.02993953227996826, + 0.0 + ], + [ + 0.005682498216629028, + 0.0050219520926475525, + -0.007720246911048889, + 0.028720982372760773, + -0.027202114462852478, + 0.00617527961730957, + 1.0 + ], + [ + 0.0002237558364868164, + -0.002590268850326538, + 0.001873282715678215, + 0.014575771987438202, + -0.0053825099021196365, + -0.006321430206298828, + 1.0 + ], + [ + -0.001512974500656128, + -0.0034731999039649963, + 0.0003954172134399414, + 0.010453775525093079, + 0.01164906844496727, + -0.0173189640045166, + 1.0 + ], + [ + 0.0008423030376434326, + -0.0016711503267288208, + 0.01895534247159958, + -0.018555261194705963, + 0.005984829738736153, + -0.014326930046081543, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9716382026672363 + ], + [ + 0.7081608176231384 + ], + [ + 0.442066490650177 + ], + [ + 0.4220271706581116 + ], + [ + 0.4220271706581116 + ], + [ + 0.4220271706581116 + ], + [ + 0.4220271706581116 + ], + [ + 0.4211256504058838 + ], + [ + 0.4211256504058838 + ], + [ + 0.4211256504058838 + ], + [ + 0.4211256504058838 + ], + [ + 0.4211256504058838 + ], + [ + 0.4211256504058838 + ], + [ + 0.4211256504058838 + ], + [ + 0.4211256504058838 + ], + [ + 0.4211256504058838 + ], + [ + 0.4211256504058838 + ], + [ + 0.4211256504058838 + ], + [ + 0.4211256504058838 + ], + [ + 0.4220271706581116 + ], + [ + 0.4211256504058838 + ], + [ + 0.4211256504058838 + ], + [ + 0.4220271706581116 + ], + [ + 0.4211256504058838 + ], + [ + 0.4211256504058838 + ], + [ + 0.4211256504058838 + ], + [ + 0.4211256504058838 + ], + [ + 0.4211256504058838 + ], + [ + 0.4211256504058838 + ], + [ + 0.4211256504058838 + ], + [ + 0.4615449905395508 + ], + [ + 0.763324499130249 + ], + [ + 0.9968144297599792 + ], + [ + 1.003452181816101 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.30937543511390686, + 0.034477852284908295, + 0.13264766335487366 + ], + [ + 0.3124990165233612, + 0.039535365998744965, + 0.12150735408067703 + ], + [ + 0.3205990791320801, + 0.04404677078127861, + 0.11382932215929031 + ], + [ + 0.33043017983436584, + 0.04448744282126427, + 0.10843303799629211 + ], + [ + 0.341256320476532, + 0.04557841271162033, + 0.10157674551010132 + ], + [ + 0.3532296121120453, + 0.042246803641319275, + 0.09200934320688248 + ], + [ + 0.36393705010414124, + 0.05308917537331581, + 0.07746215164661407 + ], + [ + 0.373158723115921, + 0.054873935878276825, + 0.05922914296388626 + ], + [ + 0.37689411640167236, + 0.056902941316366196, + 0.046650297939777374 + ], + [ + 0.37852880358695984, + 0.051410380750894547, + 0.031170379370450974 + ], + [ + 0.3824344873428345, + 0.04749646782875061, + 0.024571118876338005 + ], + [ + 0.3906167447566986, + 0.042776986956596375, + 0.02178952284157276 + ], + [ + 0.39509138464927673, + 0.041441451758146286, + 0.021503901109099388 + ], + [ + 0.3948809802532196, + 0.041200969368219376, + 0.021501336246728897 + ], + [ + 0.39265549182891846, + 0.040492307394742966, + 0.020712077617645264 + ], + [ + 0.38660386204719543, + 0.03771498426795006, + 0.02371165156364441 + ], + [ + 0.3853238523006439, + 0.034189656376838684, + 0.046274878084659576 + ], + [ + 0.372604101896286, + 0.03488704934716225, + 0.06547237932682037 + ], + [ + 0.35763972997665405, + 0.01956520415842533, + 0.08133744448423386 + ], + [ + 0.33154505491256714, + 0.0008762435172684491, + 0.08888201415538788 + ], + [ + 0.31053468585014343, + -0.02369527332484722, + 0.08152372390031815 + ], + [ + 0.2962665259838104, + -0.04034401476383209, + 0.07487843185663223 + ], + [ + 0.2892765402793884, + -0.04855785891413689, + 0.072562076151371 + ], + [ + 0.2900943160057068, + -0.04895526543259621, + 0.06309838593006134 + ], + [ + 0.29324156045913696, + -0.0501670278608799, + 0.05954048037528992 + ], + [ + 0.2971957325935364, + -0.04431914910674095, + 0.06145402789115906 + ], + [ + 0.2990494668483734, + -0.039634671062231064, + 0.05930387228727341 + ], + [ + 0.29899224638938904, + -0.025824226438999176, + 0.058454737067222595 + ], + [ + 0.29799237847328186, + -0.007385565433651209, + 0.056835420429706573 + ], + [ + 0.2958184480667114, + 0.00671016750857234, + 0.04837416857481003 + ], + [ + 0.2949811816215515, + 0.0282650887966156, + 0.04413251578807831 + ], + [ + 0.29559868574142456, + 0.04121899604797363, + 0.044899895787239075 + ], + [ + 0.2953563928604126, + 0.0581076443195343, + 0.04687504842877388 + ], + [ + 0.30185920000076294, + 0.07578722387552261, + 0.05397244915366173 + ], + [ + 0.30215170979499817, + 0.097022645175457, + 0.05135936290025711 + ], + [ + 0.301095187664032, + 0.10883443057537079, + 0.04925044998526573 + ], + [ + 0.3043207824230194, + 0.10560358315706253, + 0.04822160303592682 + ], + [ + 0.30604973435401917, + 0.08545869588851929, + 0.04070299118757248 + ], + [ + 0.3103446364402771, + 0.07284574210643768, + 0.04224490001797676 + ], + [ + 0.31160369515419006, + 0.06497814506292343, + 0.03563186898827553 + ], + [ + 0.31386059522628784, + 0.0681399405002594, + 0.029311900958418846 + ], + [ + 0.31954309344291687, + 0.07316189259290695, + 0.021591654047369957 + ], + [ + 0.3197668492794037, + 0.07057162374258041, + 0.023464936763048172 + ], + [ + 0.31825387477874756, + 0.06709842383861542, + 0.023860353976488113 + ], + [ + 0.319096177816391, + 0.0654272735118866, + 0.04281569644808769 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.7105081922693577, + 0.648781582394881, + 0.2725079211019819, + 0.6764654589221135, + -0.7363989375601847, + -0.01053981240468796, + 0.19383650740617542, + 0.19183081896667625, + -0.9620958087899304 + ], + [ + 0.6027938975269334, + 0.7647208608931133, + 0.2276873339015247, + 0.7784520409703382, + -0.6262651066347165, + 0.04247865488597925, + 0.17507694597920018, + 0.15163779583831583, + -0.9728072994482995 + ], + [ + 0.4329196754742519, + 0.8800318848622329, + 0.19525479818200148, + 0.8804830896761845, + -0.4592459908542863, + 0.11765478604181379, + 0.19320994638358707, + 0.12098347618617394, + -0.973669818320544 + ], + [ + 0.24189715733921607, + 0.9561302345936912, + 0.16522935504025865, + 0.9456882554742633, + -0.2704292398593456, + 0.1803933194082894, + 0.21716235569096948, + 0.11261882935330945, + -0.9696171979424866 + ], + [ + 0.08283401303439336, + 0.9883481136362998, + 0.12769703424976647, + 0.9724150645863999, + -0.10819771576252774, + 0.2066450978591055, + 0.21805382007670948, + 0.10705727707792373, + -0.9700470457532537 + ], + [ + -0.008654193126076404, + 0.9950614959219256, + 0.0988823759572775, + 0.9862432765134844, + -0.00783047058924341, + 0.16511475785736937, + 0.16507363348906845, + 0.09895101345600657, + -0.9813049436657016 + ], + [ + -0.07320803627977035, + 0.9946479070007601, + 0.07291175846917113, + 0.9899572132386203, + 0.06360825432937112, + 0.12624858786534854, + 0.12093510400576178, + 0.08142193242718425, + -0.9893155055587365 + ], + [ + -0.08211120751481815, + 0.9953555514209674, + 0.050250132894551575, + 0.9949487512194529, + 0.07894749079665708, + 0.06200222692583347, + 0.057747138866867526, + 0.05508738469353361, + -0.9968102367052202 + ], + [ + -0.08085366158788682, + 0.9951353113542978, + 0.05628852017610177, + 0.9959605910886511, + 0.07844990187647666, + 0.043681963027264084, + 0.039053634993116135, + 0.05959299448219679, + -0.9974585147275392 + ], + [ + -0.06901505240433342, + 0.9970031055014086, + 0.03495325681784328, + 0.997612909276572, + 0.06889083495409204, + 0.004747220667078089, + 0.0023250347010312887, + 0.03519744990585315, + -0.9993776732215722 + ], + [ + -0.05289707396255694, + 0.9979446140244679, + 0.03617246059857151, + 0.9985788921144978, + 0.05309659323022076, + -0.004576899684965666, + -0.006488126816080311, + 0.035878951028422035, + -0.9993350814834423 + ], + [ + -0.0525395165919168, + 0.9975353040718898, + 0.04650716424906858, + 0.9982538185286624, + 0.05372241915284037, + -0.024560445299523337, + -0.026998388641399494, + 0.045135560377253234, + -0.998615976339353 + ], + [ + -0.046687626560994844, + 0.9974353889886736, + 0.05424859739306523, + 0.9981855545473299, + 0.04865222193359925, + -0.03547618911274653, + -0.03802452128746196, + 0.05249386720310851, + -0.9978970536517893 + ], + [ + -0.052001363383453014, + 0.9972437680872293, + 0.052921878438383696, + 0.9978556649545147, + 0.05399640504451647, + -0.036992704151657396, + -0.03974833486381053, + 0.050884725148648446, + -0.9979132300065479 + ], + [ + -0.04292374506407659, + 0.998100286980829, + 0.04419693698052846, + 0.9981648227509886, + 0.04473385438046129, + -0.04081505720631816, + -0.04271461965371449, + 0.0423638926570061, + -0.9981887406030906 + ], + [ + -0.03242264078991269, + 0.9992697083224871, + 0.02021935689628229, + 0.9978339290337406, + 0.033521344434227995, + -0.056601850998083326, + -0.057238295164126485, + 0.018340378851397797, + -0.9981920697292135 + ], + [ + -0.029113437115470875, + 0.9977756033099324, + 0.05996876869524295, + 0.9948542743071221, + 0.03474821367098868, + -0.09517108037384267, + -0.09704318972587736, + 0.05688942859772231, + -0.9936529636858392 + ], + [ + -0.032150895411587554, + 0.9949980578862543, + 0.09457898670854424, + 0.9947902115050782, + 0.041015447261353644, + -0.09332828177799297, + -0.09674065855634069, + 0.09108566236534131, + -0.9911330118069684 + ], + [ + 0.007200759773001331, + 0.9910922280326226, + 0.13298249731458373, + 0.9850560395649042, + 0.015854954516624553, + -0.17150282602331, + -0.17208354940376347, + 0.13223016278673907, + -0.9761672172706861 + ], + [ + 0.04197612538774065, + 0.9918876826217444, + 0.11998679077589597, + 0.9690121670707623, + -0.011157848442939766, + -0.2467608609300711, + -0.24342026408304257, + 0.12662672498880456, + -0.9616195960733911 + ], + [ + 0.097137577221511, + 0.9930777908199917, + 0.06603629662253951, + 0.9553088834825252, + -0.07441930275454983, + -0.2860886305271463, + -0.2791938900314732, + 0.09087501723582608, + -0.9559249463276298 + ], + [ + 0.13106714285127063, + 0.9907150713248762, + 0.036125496737765606, + 0.942818818982043, + -0.11330074971852666, + -0.3134575165577076, + -0.30645404000944476, + 0.07514377926991339, + -0.9489148190427443 + ], + [ + 0.15006713198977367, + 0.9886352367120236, + 0.008956820179333691, + 0.9293624827803458, + -0.13796775433283043, + -0.3424182739935284, + -0.33729101899800884, + 0.059709860958779976, + -0.9395049233546187 + ], + [ + 0.17526657414450564, + 0.9844502880120085, + -0.011800780513268133, + 0.9311253383099931, + -0.16964283211984177, + -0.3228419332544338, + -0.3198237520021764, + 0.045595393883955004, + -0.9463793254883676 + ], + [ + 0.20246679366176712, + 0.9782820073970218, + -0.04440170568319307, + 0.9020969674999413, + -0.2039598595812534, + -0.38029125273532816, + -0.3810882557777572, + 0.03694170655030521, + -0.923800331037729 + ], + [ + 0.21522661511886704, + 0.9753304817742607, + -0.04907092282058345, + 0.8809006002541062, + -0.21558774721918023, + -0.42135027675428693, + -0.42153485812733255, + 0.047459188477548125, + -0.9055694279361589 + ], + [ + 0.2191914089854642, + 0.9739381918954438, + -0.05830544223656134, + 0.866375308647814, + -0.22177054573232313, + -0.44745016438816165, + -0.4487192338114918, + 0.0475628364694706, + -0.8924061999978521 + ], + [ + 0.18442658462832423, + 0.9816118195142622, + -0.049245006571544875, + 0.8794100203141062, + -0.18718416050579173, + -0.4377214939055262, + -0.43889047728730135, + 0.03742092790995344, + -0.8977610055582073 + ], + [ + 0.13178874456083073, + 0.9905781873630424, + -0.0372368302575469, + 0.8966238045468347, + -0.13513972695890136, + -0.4216669388479881, + -0.4227262470287828, + 0.022183528078798503, + -0.9059858780107655 + ], + [ + 0.08856087022556852, + 0.9949078713691818, + -0.04811756178916171, + 0.9069661393901601, + -0.10051528295395712, + -0.40903435050420256, + -0.411788045315304, + -0.007416561219981049, + -0.9112494720739603 + ], + [ + 0.009032530705558206, + 0.999209449447102, + -0.03871549463292562, + 0.9199084773686257, + -0.023482048716790715, + -0.39142941465020065, + -0.39202908904109346, + -0.03207911351146117, + -0.9193933455392904 + ], + [ + -0.027938287152731334, + 0.9993528155881228, + -0.022658377855949124, + 0.9263628294694588, + 0.01736743099627086, + -0.376231684627874, + -0.37559467553242787, + -0.03150114786291458, + -0.9262485181607629 + ], + [ + -0.08545275209582925, + 0.9963361212375725, + 0.0034872161558284487, + 0.9240370522527026, + 0.08055990859562345, + -0.3737186471012659, + -0.3726303171017953, + -0.02871296996713346, + -0.9275355584193425 + ], + [ + -0.12200893986736966, + 0.9913233471395184, + 0.048906441380885374, + 0.9258022713507954, + 0.13143013712334045, + -0.35442386124166003, + -0.3577764287290991, + 0.002034814940313545, + -0.9338050581218813 + ], + [ + -0.1949180842164412, + 0.978938471283335, + 0.060715812494273325, + 0.9200612693829927, + 0.20394177705292382, + -0.3345071182409305, + -0.33984437765946446, + -0.00933921912918384, + -0.940435313011644 + ], + [ + -0.23671503117113474, + 0.9692541593020682, + 0.06717416685965805, + 0.9144063837230528, + 0.24561973278672328, + -0.32176375226601756, + -0.32837015611071785, + -0.014741829649642768, + -0.9444340734187873 + ], + [ + -0.21342888784333108, + 0.9744164063907821, + 0.07043278207222065, + 0.924577942214277, + 0.22474958612882717, + -0.3076414346373612, + -0.31560059981687566, + -0.0005389725364184361, + -0.9488919700913447 + ], + [ + -0.11808950331512064, + 0.9893273616021376, + 0.08535947980242672, + 0.9695496738744727, + 0.13344580882361018, + -0.20534275248305167, + -0.21454206836117581, + 0.058511432154454146, + -0.97496057007991 + ], + [ + -0.02002340324530244, + 0.9903307096668672, + 0.13727399175807162, + 0.9890997306514666, + 0.03965498156196895, + -0.14180692952925825, + -0.14587935476849398, + 0.13293821094041777, + -0.9803298658738746 + ], + [ + 0.03376507775907678, + 0.9876205958253684, + 0.1531844581720605, + 0.9950437429550149, + -0.018875980507951473, + -0.09763015397886862, + -0.09353004399655576, + 0.15572172636279016, + -0.9833630432391665 + ], + [ + 0.003975832298263926, + 0.9919739442513897, + 0.12637992990928765, + 0.9987688642990724, + 0.002310005082519495, + -0.04955219049910243, + -0.049446420136109795, + 0.12642135026513168, + -0.9907435055214159 + ], + [ + -0.002194021852919059, + 0.9951754936469499, + 0.09808630440922306, + 0.9997497493078222, + 0.004366571229179994, + -0.021940187206295154, + -0.022262637468541173, + 0.09801362099346372, + -0.9949360306435253 + ], + [ + 0.004126262905516875, + 0.9965032276689684, + 0.08345232890556356, + 0.9998489887077974, + -0.002702486842318108, + -0.017166722018528584, + -0.016881165079131587, + 0.08351056106981261, + -0.9963638956000842 + ], + [ + 0.021435455414736515, + 0.9971399357334473, + 0.07247392508108964, + 0.999363158277257, + -0.019301929910010396, + -0.03001188730911764, + -0.028527164760434483, + 0.07307108913411375, + -0.9969186610769634 + ], + [ + 0.035743825361404746, + 0.9952725019483003, + 0.09030518154626682, + 0.9987649908899808, + -0.032456035141729345, + -0.03761779838607652, + -0.034509012171751216, + 0.0915382578403677, + -0.9952034341934721 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006081.json b/json/chunk-0006/episode_0006081.json new file mode 100644 index 0000000000000000000000000000000000000000..178f61420ae2561bafd1f4a2f37a8c95cad93065 --- /dev/null +++ b/json/chunk-0006/episode_0006081.json @@ -0,0 +1,2242 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 36, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nTake the orange object out of the pot and put it in the lower left corner of the table." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006081.mp4", + "start": 0, + "end": 36, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.32768598198890686, + -0.07283247262239456, + 0.060675665736198425, + -0.14017024636268616, + 0.044229958206415176, + 1.1899994611740112, + 0.0, + 1.0008161067962646 + ], + [ + 0.32502540946006775, + -0.07235989719629288, + 0.05171125382184982, + -0.11030460149049759, + 0.04979397729039192, + 1.186609148979187, + 0.0, + 1.0008161067962646 + ], + [ + 0.32499903440475464, + -0.05947095528244972, + 0.06015888229012489, + -0.09867708384990692, + 0.050895970314741135, + 1.137162446975708, + 0.0, + 1.0008161067962646 + ], + [ + 0.332246333360672, + -0.04573976621031761, + 0.07788107544183731, + -0.11506396532058716, + 0.0781269297003746, + 0.9809454083442688, + 0.0, + 1.0001531839370728 + ], + [ + 0.3347783386707306, + -0.014592843130230904, + 0.10971598327159882, + -0.17467689514160156, + 0.0926983579993248, + 0.9423623085021973, + 0.0, + 1.0001531839370728 + ], + [ + 0.33461716771125793, + 0.032858967781066895, + 0.12113424390554428, + -0.15376102924346924, + 0.029652908444404602, + 0.9617565870285034, + 0.0, + 1.0008161067962646 + ], + [ + 0.33462464809417725, + 0.0796486958861351, + 0.1256517916917801, + -0.13819631934165955, + -0.06030011177062988, + 1.0204232931137085, + 0.0, + 1.0008161067962646 + ], + [ + 0.3402319848537445, + 0.1284964382648468, + 0.13944502174854279, + -0.13205885887145996, + -0.143011674284935, + 1.0178676843643188, + 0.0, + 1.0001531839370728 + ], + [ + 0.344963937997818, + 0.18049627542495728, + 0.1257435381412506, + -0.09244683384895325, + -0.10705682635307312, + 1.05130136013031, + 0.0, + 1.0008161067962646 + ], + [ + 0.34790101647377014, + 0.21863830089569092, + 0.1040533110499382, + -0.07021095603704453, + -0.07314106076955795, + 1.089379072189331, + 0.0, + 1.0001531839370728 + ], + [ + 0.3493886888027191, + 0.22151772677898407, + 0.09725519269704819, + -0.08190859854221344, + -0.01876329816877842, + 1.0203137397766113, + 0.0, + 1.0008161067962646 + ], + [ + 0.3480663299560547, + 0.2183895707130432, + 0.08448835462331772, + -0.06937829405069351, + 0.02705187164247036, + 0.9900786280632019, + 0.0, + 1.0001531839370728 + ], + [ + 0.3549359142780304, + 0.21067465841770172, + 0.08050602674484253, + -0.10520578175783157, + 0.03658343479037285, + 0.967670738697052, + 0.0, + 1.0008161067962646 + ], + [ + 0.36394375562667847, + 0.19827361404895782, + 0.06450247019529343, + -0.10695349425077438, + 0.04432464763522148, + 0.9524105191230774, + 0.0, + 1.0008161067962646 + ], + [ + 0.3721567988395691, + 0.1862146407365799, + 0.060378190129995346, + -0.12525717914104462, + 0.0312991626560688, + 0.9205911159515381, + 0.0, + 1.0008161067962646 + ], + [ + 0.37811344861984253, + 0.17875173687934875, + 0.05267275869846344, + -0.12048615515232086, + 0.030200041830539703, + 0.9154683351516724, + 0.0, + 1.0008161067962646 + ], + [ + 0.37803083658218384, + 0.17479248344898224, + 0.041526831686496735, + -0.07333731651306152, + 0.03974948823451996, + 0.92112135887146, + 0.0, + 1.0008161067962646 + ], + [ + 0.37595534324645996, + 0.17821736633777618, + 0.03802996873855591, + -0.03551536798477173, + 0.031574033200740814, + 0.9341481328010559, + 0.0, + 1.0001531839370728 + ], + [ + 0.3744182586669922, + 0.17711544036865234, + 0.029163561761379242, + -0.0057481336407363415, + 0.058101456612348557, + 0.9335667490959167, + 0.0, + 0.9453431367874146 + ], + [ + 0.3780793249607086, + 0.17415215075016022, + 0.027481526136398315, + 0.011315890587866306, + 0.05139676108956337, + 0.9336626529693604, + 0.0, + 0.729983389377594 + ], + [ + 0.3790855407714844, + 0.17431989312171936, + 0.027450956404209137, + 0.003181007457897067, + 0.048721034079790115, + 0.9325680136680603, + 0.0, + 0.7260281443595886 + ], + [ + 0.37685805559158325, + 0.1768278181552887, + 0.025133028626441956, + 0.019399626180529594, + 0.03484969213604927, + 0.9468042850494385, + 0.0, + 0.7260281443595886 + ], + [ + 0.37245500087738037, + 0.16970281302928925, + 0.03839573264122009, + -0.009116592817008495, + 0.04335729405283928, + 0.941752552986145, + 0.0, + 0.7260281443595886 + ], + [ + 0.36504819989204407, + 0.17199380695819855, + 0.0759885162115097, + -0.06085113063454628, + -0.005413266830146313, + 0.9651687145233154, + 0.0, + 0.7260281443595886 + ], + [ + 0.3510988652706146, + 0.16553623974323273, + 0.09662627428770065, + -0.12039612233638763, + -0.00592651916667819, + 1.012923002243042, + 0.0, + 0.7260281443595886 + ], + [ + 0.3280476927757263, + 0.1447887122631073, + 0.09642740339040756, + -0.15800397098064423, + 0.019025953486561775, + 1.0027973651885986, + 0.0, + 0.7260281443595886 + ], + [ + 0.29843294620513916, + 0.12393757700920105, + 0.08455370366573334, + -0.15923625230789185, + 0.0032421762589365244, + 0.9884549975395203, + 0.0, + 0.7260281443595886 + ], + [ + 0.2801385223865509, + 0.11717405170202255, + 0.06092595309019089, + -0.13194222748279572, + 0.011964480392634869, + 1.0788872241973877, + 0.0, + 0.7260281443595886 + ], + [ + 0.26385292410850525, + 0.10999792814254761, + 0.032997358590364456, + -0.11303022503852844, + -0.0074646007269620895, + 1.1046130657196045, + 0.0, + 0.7260281443595886 + ], + [ + 0.2601605951786041, + 0.10285339504480362, + 0.008468609303236008, + -0.07867870479822159, + -0.026741426438093185, + 1.1118181943893433, + 0.0, + 0.7250383496284485 + ], + [ + 0.262961208820343, + 0.1067396029829979, + -0.0031990555580705404, + -0.0436566099524498, + -0.059700824320316315, + 1.1020658016204834, + 0.0, + 0.7998467683792114 + ], + [ + 0.2554621994495392, + 0.10638049989938736, + -0.011214442551136017, + 0.003900989657267928, + -0.02452908456325531, + 1.1191105842590332, + 0.0, + 1.0041072368621826 + ], + [ + 0.2559341490268707, + 0.10179874300956726, + 0.0015196598833426833, + -0.033384859561920166, + -0.02769581414759159, + 1.1241436004638672, + 0.0, + 1.0047606229782104 + ], + [ + 0.2545926570892334, + 0.09706722944974899, + 0.020139211788773537, + -0.054827284067869186, + -0.05161750316619873, + 1.1287269592285156, + 0.0, + 0.9994885921478271 + ], + [ + 0.2541898190975189, + 0.09162265062332153, + 0.04940130561590195, + -0.11628983914852142, + -0.07578707486391068, + 1.1406643390655518, + 0.0, + 0.9994885921478271 + ], + [ + 0.2528951168060303, + 0.08417576551437378, + 0.07634226977825165, + -0.1801195591688156, + -0.08158470690250397, + 1.1309524774551392, + 0.0, + 0.9994885921478271 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 0.9453431367874146 + ], + [ + 0.729983389377594 + ], + [ + 0.7260281443595886 + ], + [ + 0.7260281443595886 + ], + [ + 0.7260281443595886 + ], + [ + 0.7260281443595886 + ], + [ + 0.7260281443595886 + ], + [ + 0.7260281443595886 + ], + [ + 0.7260281443595886 + ], + [ + 0.7260281443595886 + ], + [ + 0.7260281443595886 + ], + [ + 0.7250383496284485 + ], + [ + 0.7998467683792114 + ], + [ + 1.0041072368621826 + ], + [ + 1.0047606229782104 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.32768598198890686, + -0.07283247262239456, + 0.060675665736198425 + ], + [ + 0.32502540946006775, + -0.07235989719629288, + 0.05171125382184982 + ], + [ + 0.32499903440475464, + -0.05947095528244972, + 0.06015888229012489 + ], + [ + 0.332246333360672, + -0.04573976621031761, + 0.07788107544183731 + ], + [ + 0.3347783386707306, + -0.014592843130230904, + 0.10971598327159882 + ], + [ + 0.33461716771125793, + 0.032858967781066895, + 0.12113424390554428 + ], + [ + 0.33462464809417725, + 0.0796486958861351, + 0.1256517916917801 + ], + [ + 0.3402319848537445, + 0.1284964382648468, + 0.13944502174854279 + ], + [ + 0.344963937997818, + 0.18049627542495728, + 0.1257435381412506 + ], + [ + 0.34790101647377014, + 0.21863830089569092, + 0.1040533110499382 + ], + [ + 0.3493886888027191, + 0.22151772677898407, + 0.09725519269704819 + ], + [ + 0.3480663299560547, + 0.2183895707130432, + 0.08448835462331772 + ], + [ + 0.3549359142780304, + 0.21067465841770172, + 0.08050602674484253 + ], + [ + 0.36394375562667847, + 0.19827361404895782, + 0.06450247019529343 + ], + [ + 0.3721567988395691, + 0.1862146407365799, + 0.060378190129995346 + ], + [ + 0.37811344861984253, + 0.17875173687934875, + 0.05267275869846344 + ], + [ + 0.37803083658218384, + 0.17479248344898224, + 0.041526831686496735 + ], + [ + 0.37595534324645996, + 0.17821736633777618, + 0.03802996873855591 + ], + [ + 0.3744182586669922, + 0.17711544036865234, + 0.029163561761379242 + ], + [ + 0.3780793249607086, + 0.17415215075016022, + 0.027481526136398315 + ], + [ + 0.3790855407714844, + 0.17431989312171936, + 0.027450956404209137 + ], + [ + 0.37685805559158325, + 0.1768278181552887, + 0.025133028626441956 + ], + [ + 0.37245500087738037, + 0.16970281302928925, + 0.03839573264122009 + ], + [ + 0.36504819989204407, + 0.17199380695819855, + 0.0759885162115097 + ], + [ + 0.3510988652706146, + 0.16553623974323273, + 0.09662627428770065 + ], + [ + 0.3280476927757263, + 0.1447887122631073, + 0.09642740339040756 + ], + [ + 0.29843294620513916, + 0.12393757700920105, + 0.08455370366573334 + ], + [ + 0.2801385223865509, + 0.11717405170202255, + 0.06092595309019089 + ], + [ + 0.26385292410850525, + 0.10999792814254761, + 0.032997358590364456 + ], + [ + 0.2601605951786041, + 0.10285339504480362, + 0.008468609303236008 + ], + [ + 0.262961208820343, + 0.1067396029829979, + -0.0031990555580705404 + ], + [ + 0.2554621994495392, + 0.10638049989938736, + -0.011214442551136017 + ], + [ + 0.2559341490268707, + 0.10179874300956726, + 0.0015196598833426833 + ], + [ + 0.2545926570892334, + 0.09706722944974899, + 0.020139211788773537 + ], + [ + 0.2541898190975189, + 0.09162265062332153, + 0.04940130561590195 + ], + [ + 0.2528951168060303, + 0.08417576551437378, + 0.07634226977825165 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.3712968941643977, + 0.9215594402501368, + 0.11343198168826235, + 0.9274608361205214, + -0.3622802802483125, + -0.09257103221757478, + -0.04421553851866047, + 0.13957505733138142, + -0.9892238318623578 + ], + [ + 0.3743411322975041, + 0.9235226245368309, + 0.08351454148126547, + 0.9259542780431191, + -0.367448150977413, + -0.08712365532348945, + -0.04977340297657376, + 0.10994461474707981, + -0.992690681956997 + ], + [ + 0.4196270269307864, + 0.9051363843814079, + 0.06812696924259308, + 0.906269824294209, + -0.4135790633256528, + -0.087334780886077, + -0.05087399967539902, + 0.09838945089605798, + -0.9938467447797972 + ], + [ + 0.554540417217932, + 0.830512667151772, + 0.052284178985730095, + 0.8284886947243213, + -0.5451124781073193, + -0.12829212339690887, + -0.0780474752042131, + 0.11446001883691656, + -0.99035725660092 + ], + [ + 0.5853546714493516, + 0.8060963138056144, + 0.08699793952400428, + 0.8054759512161828, + -0.5659192293412217, + -0.17590883398574253, + -0.09256565575205214, + 0.17304380581470813, + -0.9805546596923369 + ], + [ + 0.5718286255440012, + 0.8131188162645234, + 0.1088568493253384, + 0.8198371702471904, + -0.5616063491228148, + -0.11164821049180745, + -0.02964856302653516, + 0.15308853406288775, + -0.9877676161167354 + ], + [ + 0.5220546504607468, + 0.8398615956130663, + 0.14863190151034797, + 0.8507803731866029, + -0.5250947225299316, + -0.02117283570235394, + 0.06026357550604003, + 0.13750648197626347, + -0.9886659035699266 + ], + [ + 0.5198202732069164, + 0.833724363936285, + 0.18625404302222076, + 0.8423025570598162, + -0.5365794315733853, + 0.05107754871641226, + 0.14252468534812351, + 0.13033111137184059, + -0.9811730303442909 + ], + [ + 0.49359961255644674, + 0.8594662526178403, + 0.13295556812398654, + 0.8631002129834477, + -0.5028846422964772, + 0.0465301933186493, + 0.10685244420251909, + 0.09178669377088625, + -0.9900291702846724 + ], + [ + 0.46179782943180453, + 0.8817820719901295, + 0.09593300917238211, + 0.8839698425960303, + -0.46643882259100106, + 0.03212696936640967, + 0.07307586546065374, + 0.06996572229824408, + -0.994869195216367 + ], + [ + 0.5230065066197238, + 0.8486118322250655, + 0.07951196288012205, + 0.8521221590764179, + -0.522653122398481, + -0.026861490242765185, + 0.01876219721611924, + 0.08180263965628203, + -0.9964719304129384 + ], + [ + 0.5484233934256564, + 0.8350864931483893, + 0.04315472748857694, + 0.8357632178308386, + -0.5457365985650313, + -0.06059215054536893, + -0.02704857231963457, + 0.06929728672751545, + -0.9972292919823778 + ], + [ + 0.5668398442514688, + 0.8211918213910729, + 0.06585274063683276, + 0.8230156986470947, + -0.560920014979509, + -0.08952036961396696, + -0.03657527511044165, + 0.10494155171236384, + -0.9938055745339709 + ], + [ + 0.5791512598462193, + 0.8129015158200279, + 0.061440571254164265, + 0.8140150060914328, + -0.5725539278084439, + -0.09778327878061735, + -0.0443101351442499, + 0.10664485608140825, + -0.9933093609721365 + ], + [ + 0.6050532705384026, + 0.7920903547816833, + 0.08064372060246774, + 0.7955697468372132, + -0.5974953340231979, + -0.1003399408903511, + -0.03129405260036645, + 0.1248687137850532, + -0.9916796290080336 + ], + [ + 0.6091414366031433, + 0.7893119798535082, + 0.0770279733135524, + 0.7924865581993381, + -0.602123714918928, + -0.09701591109501786, + -0.030195451419468285, + 0.12014004491410965, + -0.9922976389781495 + ], + [ + 0.604449784504885, + 0.7959014716302486, + 0.03437012465502749, + 0.7956514740626783, + -0.6009830272555946, + -0.07588236140624291, + -0.03973902155167655, + 0.07321371734521598, + -0.9965242404270002 + ], + [ + 0.5942073108629501, + 0.8042522709906017, + 0.009795729859523898, + 0.8036921570995363, + -0.5932273847279699, + -0.046477807881904164, + -0.031568787333619265, + 0.035490204497476203, + -0.9988712915341054 + ], + [ + 0.5939670455041894, + 0.8039324754483089, + -0.029928644716689053, + 0.8023909063004891, + -0.5946929002902936, + -0.050091794044514235, + -0.058068772514178794, + 0.005738402554055, + -0.9982960925471078 + ], + [ + 0.5941083522352015, + 0.8034069240713881, + -0.039655770809868436, + 0.8027427757378094, + -0.5953231125920977, + -0.03456049210318061, + -0.051374135565779556, + -0.011300706518077857, + -0.9986155377456639 + ], + [ + 0.5950664768068392, + 0.8030561808838783, + -0.031569899032073384, + 0.8021994930421465, + -0.5958948527804334, + -0.03721958883046558, + -0.04870176119627247, + -0.003177227405376678, + -0.9988083117807921 + ], + [ + 0.5839247907261179, + 0.8110048440614663, + -0.03609683759412064, + 0.8110596952905489, + -0.584718138466883, + -0.016937214145931877, + -0.034842638399832766, + -0.019386630874393206, + -0.9992047583416918 + ], + [ + 0.5878188914250193, + 0.808789382919206, + -0.01812967073697192, + 0.8078305970886516, + -0.5880278737031952, + -0.04040972847584509, + -0.04334371109231207, + 0.009107899058988615, + -0.9990187029698079 + ], + [ + 0.5692698357288686, + 0.8204358937806463, + 0.053073518119480134, + 0.822132927790684, + -0.5684951720143565, + -0.03017761486076747, + 0.005413240392279053, + 0.06081269269419829, + -0.9981345166037172 + ], + [ + 0.529373864524074, + 0.8418647111951978, + 0.10501009286289553, + 0.848367955748351, + -0.5261549110373321, + -0.05859028290306867, + 0.005926484473261946, + 0.1201033622989954, + -0.9927437026474984 + ], + [ + 0.5378489314783855, + 0.8340887363105695, + 0.12253369686496887, + 0.8428265442411927, + -0.5287218082340289, + -0.10048216667741228, + -0.019024805649664127, + 0.15731887826187885, + -0.9873645868231332 + ], + [ + 0.5499779767752087, + 0.8248938953322477, + 0.13066861331566348, + 0.835172864377301, + -0.5425935223238672, + -0.08988078849227468, + -0.0032421705788050897, + 0.15856333427299432, + -0.9873434849909974 + ], + [ + 0.4722756885985336, + 0.8745149982264538, + 0.11035937583987517, + 0.8813696908778464, + -0.4668169141376138, + -0.0725908856326012, + -0.011964194944527287, + 0.13155031946757695, + -0.9912372932286739 + ], + [ + 0.44946758902871653, + 0.8872117204976327, + 0.10408770063914036, + 0.8932654516903741, + -0.4473640070118792, + -0.044071283696612396, + 0.007464531405568013, + 0.1127865605553511, + -0.993591199905167 + ], + [ + 0.44287383073155934, + 0.8928012211408136, + 0.08227241082298678, + 0.8961851575465951, + -0.44354573652396795, + -0.010924422391853567, + 0.02673823940237923, + 0.0785694542483464, + -0.996550002464893 + ], + [ + 0.4509492679852669, + 0.8901161156418111, + 0.06586393837514844, + 0.8905530875511667, + -0.45364677029770517, + 0.0334635032766277, + 0.059665366475332056, + 0.04356499137145037, + -0.997267334053497 + ], + [ + 0.436351533309547, + 0.8997474993533962, + 0.0071956087801897505, + 0.8994419292264219, + -0.43639343363351757, + 0.02376945584149743, + 0.024526624877048778, + -0.0038998062591585215, + -0.9996915705272709 + ], + [ + 0.4317834057085065, + 0.9009961820131158, + 0.042059131619088405, + 0.9015521219205587, + -0.43254202055872115, + 0.010543809155957028, + 0.027692273566857908, + 0.033365857530825556, + -0.9990594864851299 + ], + [ + 0.4272410195790112, + 0.9013005323636201, + 0.07157137381762131, + 0.9026644503904537, + -0.4297235439133638, + 0.023120679225297664, + 0.05159458489402565, + 0.054726832245197435, + -0.9971674747212822 + ], + [ + 0.4157938132741419, + 0.8991086301990631, + 0.13681803954344884, + 0.9063017225688251, + -0.4221591772776929, + 0.019970395814851327, + 0.0757145462360333, + 0.1156948578882663, + -0.9903948744548741 + ], + [ + 0.4243818980774338, + 0.8839638440861397, + 0.19623436735865074, + 0.9018085688299715, + -0.432119598636485, + -0.0037359950591650815, + 0.0814942315077183, + 0.17855132265737603, + -0.9805499045985719 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0026605725288391113, + 0.00047257542610168457, + -0.008964411914348602, + 0.029865644872188568, + 0.005564019083976746, + -0.0033903121948242188, + 1.0 + ], + [ + -2.637505531311035e-05, + 0.012888941913843155, + 0.00844762846827507, + 0.011627517640590668, + 0.0011019930243492126, + -0.049446702003479004, + 1.0 + ], + [ + 0.007247298955917358, + 0.01373118907213211, + 0.017722193151712418, + -0.016386881470680237, + 0.02723095938563347, + -0.1562170386314392, + 1.0 + ], + [ + 0.0025320053100585938, + 0.031146923080086708, + 0.031834907829761505, + -0.059612929821014404, + 0.014571428298950195, + -0.03858309984207153, + 1.0 + ], + [ + -0.00016117095947265625, + 0.04745180904865265, + 0.011418260633945465, + 0.020915865898132324, + -0.0630454495549202, + 0.019394278526306152, + 1.0 + ], + [ + 7.4803829193115234e-06, + 0.04678972810506821, + 0.004517547786235809, + 0.015564709901809692, + -0.08995302021503448, + 0.05866670608520508, + 1.0 + ], + [ + 0.005607336759567261, + 0.0488477423787117, + 0.013793230056762695, + 0.006137460470199585, + -0.08271156251430511, + -0.0025556087493896484, + 1.0 + ], + [ + 0.004731953144073486, + 0.051999837160110474, + -0.013701483607292175, + 0.039612025022506714, + 0.03595484793186188, + 0.03343367576599121, + 1.0 + ], + [ + 0.0029370784759521484, + 0.03814202547073364, + -0.02169022709131241, + 0.022235877811908722, + 0.03391576558351517, + 0.038077712059020996, + 1.0 + ], + [ + 0.0014876723289489746, + 0.002879425883293152, + -0.006798118352890015, + -0.011697642505168915, + 0.05437776446342468, + -0.06906533241271973, + 1.0 + ], + [ + -0.0013223588466644287, + -0.003128156065940857, + -0.012766838073730469, + 0.012530304491519928, + 0.04581516981124878, + -0.030235111713409424, + 1.0 + ], + [ + 0.006869584321975708, + -0.007714912295341492, + -0.003982327878475189, + -0.03582748770713806, + 0.009531563147902489, + -0.022407889366149902, + 1.0 + ], + [ + 0.009007841348648071, + -0.012401044368743896, + -0.016003556549549103, + -0.00174771249294281, + 0.007741212844848633, + -0.01526021957397461, + 1.0 + ], + [ + 0.008213043212890625, + -0.01205897331237793, + -0.0041242800652980804, + -0.018303684890270233, + -0.01302548497915268, + -0.03181940317153931, + 1.0 + ], + [ + 0.0059566497802734375, + -0.00746290385723114, + -0.007705431431531906, + 0.004771023988723755, + -0.0010991208255290985, + -0.005122780799865723, + 1.0 + ], + [ + -8.26120376586914e-05, + -0.003959253430366516, + -0.011145927011966705, + 0.04714883863925934, + 0.009549446403980255, + 0.005653023719787598, + 1.0 + ], + [ + -0.002075493335723877, + 0.0034248828887939453, + -0.0034968629479408264, + 0.037821948528289795, + -0.008175455033779144, + 0.013026773929595947, + 1.0 + ], + [ + -0.0015370845794677734, + -0.0011019259691238403, + -0.008866406977176666, + 0.0297672338783741, + 0.026527423411607742, + -0.0005813837051391602, + 0.0 + ], + [ + 0.0036610662937164307, + -0.0029632896184921265, + -0.0016820356249809265, + 0.01706402376294136, + -0.006704695522785187, + 9.590387344360352e-05, + 0.0 + ], + [ + 0.0010062158107757568, + 0.00016774237155914307, + -3.056973218917847e-05, + -0.008134882897138596, + -0.0026757270097732544, + -0.0010946393013000488, + 0.0 + ], + [ + -0.002227485179901123, + 0.002507925033569336, + -0.0023179277777671814, + 0.01621861942112446, + -0.013871341943740845, + 0.014236271381378174, + 0.0 + ], + [ + -0.004403054714202881, + -0.007125005125999451, + 0.013262704014778137, + -0.028516218066215515, + 0.008507601916790009, + -0.005051732063293457, + 0.0 + ], + [ + -0.007406800985336304, + 0.0022909939289093018, + 0.03759278357028961, + -0.05173453688621521, + -0.048770561814308167, + 0.02341616153717041, + 0.0 + ], + [ + -0.013949334621429443, + -0.00645756721496582, + 0.02063775807619095, + -0.059544991701841354, + -0.0005132523365318775, + 0.04775428771972656, + 0.0 + ], + [ + -0.023051172494888306, + -0.020747527480125427, + -0.00019887089729309082, + -0.03760784864425659, + 0.024952473118901253, + -0.01012563705444336, + 0.0 + ], + [ + -0.029614746570587158, + -0.02085113525390625, + -0.011873699724674225, + -0.0012322813272476196, + -0.015783777460455894, + -0.01434236764907837, + 0.0 + ], + [ + -0.018294423818588257, + -0.006763525307178497, + -0.02362775057554245, + 0.02729402482509613, + 0.008722304366528988, + 0.09043222665786743, + 0.0 + ], + [ + -0.016285598278045654, + -0.007176123559474945, + -0.02792859449982643, + 0.018912002444267273, + -0.019429080188274384, + 0.025725841522216797, + 0.0 + ], + [ + -0.003692328929901123, + -0.007144533097743988, + -0.02452874928712845, + 0.034351520240306854, + -0.019276825711131096, + 0.0072051286697387695, + 0.0 + ], + [ + 0.0028006136417388916, + 0.003886207938194275, + -0.011667665094137192, + 0.03502209484577179, + -0.03295939788222313, + -0.009752392768859863, + 1.0 + ], + [ + -0.007499009370803833, + -0.00035910308361053467, + -0.008015386760234833, + 0.04755759984254837, + 0.035171739757061005, + 0.017044782638549805, + 1.0 + ], + [ + 0.00047194957733154297, + -0.004581756889820099, + 0.012734102085232735, + -0.03728584945201874, + -0.003166729584336281, + 0.005033016204833984, + 1.0 + ], + [ + -0.001341491937637329, + -0.004731513559818268, + 0.01861955225467682, + -0.02144242450594902, + -0.02392168901860714, + 0.0045833587646484375, + 1.0 + ], + [ + -0.00040283799171447754, + -0.00544457882642746, + 0.02926209382712841, + -0.06146255508065224, + -0.024169571697711945, + 0.011937379837036133, + 1.0 + ], + [ + -0.0012947022914886475, + -0.007446885108947754, + 0.0269409641623497, + -0.06382972002029419, + -0.005797632038593292, + -0.009711861610412598, + 1.0 + ], + [ + -0.0004107356071472168, + 0.0007533356547355652, + 0.0003961101174354553, + -0.0018250048160552979, + 0.0015796273946762085, + 0.0047370195388793945, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 0.9453431367874146 + ], + [ + 0.729983389377594 + ], + [ + 0.7260281443595886 + ], + [ + 0.7260281443595886 + ], + [ + 0.7260281443595886 + ], + [ + 0.7260281443595886 + ], + [ + 0.7260281443595886 + ], + [ + 0.7260281443595886 + ], + [ + 0.7260281443595886 + ], + [ + 0.7260281443595886 + ], + [ + 0.7260281443595886 + ], + [ + 0.7250383496284485 + ], + [ + 0.7998467683792114 + ], + [ + 1.0041072368621826 + ], + [ + 1.0047606229782104 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.32502540946006775, + -0.07235989719629288, + 0.05171125382184982 + ], + [ + 0.32499903440475464, + -0.05947095528244972, + 0.06015888229012489 + ], + [ + 0.332246333360672, + -0.04573976621031761, + 0.07788107544183731 + ], + [ + 0.3347783386707306, + -0.014592843130230904, + 0.10971598327159882 + ], + [ + 0.33461716771125793, + 0.032858967781066895, + 0.12113424390554428 + ], + [ + 0.33462464809417725, + 0.0796486958861351, + 0.1256517916917801 + ], + [ + 0.3402319848537445, + 0.1284964382648468, + 0.13944502174854279 + ], + [ + 0.344963937997818, + 0.18049627542495728, + 0.1257435381412506 + ], + [ + 0.34790101647377014, + 0.21863830089569092, + 0.1040533110499382 + ], + [ + 0.3493886888027191, + 0.22151772677898407, + 0.09725519269704819 + ], + [ + 0.3480663299560547, + 0.2183895707130432, + 0.08448835462331772 + ], + [ + 0.3549359142780304, + 0.21067465841770172, + 0.08050602674484253 + ], + [ + 0.36394375562667847, + 0.19827361404895782, + 0.06450247019529343 + ], + [ + 0.3721567988395691, + 0.1862146407365799, + 0.060378190129995346 + ], + [ + 0.37811344861984253, + 0.17875173687934875, + 0.05267275869846344 + ], + [ + 0.37803083658218384, + 0.17479248344898224, + 0.041526831686496735 + ], + [ + 0.37595534324645996, + 0.17821736633777618, + 0.03802996873855591 + ], + [ + 0.3744182586669922, + 0.17711544036865234, + 0.029163561761379242 + ], + [ + 0.3780793249607086, + 0.17415215075016022, + 0.027481526136398315 + ], + [ + 0.3790855407714844, + 0.17431989312171936, + 0.027450956404209137 + ], + [ + 0.37685805559158325, + 0.1768278181552887, + 0.025133028626441956 + ], + [ + 0.37245500087738037, + 0.16970281302928925, + 0.03839573264122009 + ], + [ + 0.36504819989204407, + 0.17199380695819855, + 0.0759885162115097 + ], + [ + 0.3510988652706146, + 0.16553623974323273, + 0.09662627428770065 + ], + [ + 0.3280476927757263, + 0.1447887122631073, + 0.09642740339040756 + ], + [ + 0.29843294620513916, + 0.12393757700920105, + 0.08455370366573334 + ], + [ + 0.2801385223865509, + 0.11717405170202255, + 0.06092595309019089 + ], + [ + 0.26385292410850525, + 0.10999792814254761, + 0.032997358590364456 + ], + [ + 0.2601605951786041, + 0.10285339504480362, + 0.008468609303236008 + ], + [ + 0.262961208820343, + 0.1067396029829979, + -0.0031990555580705404 + ], + [ + 0.2554621994495392, + 0.10638049989938736, + -0.011214442551136017 + ], + [ + 0.2559341490268707, + 0.10179874300956726, + 0.0015196598833426833 + ], + [ + 0.2545926570892334, + 0.09706722944974899, + 0.020139211788773537 + ], + [ + 0.2541898190975189, + 0.09162265062332153, + 0.04940130561590195 + ], + [ + 0.2528951168060303, + 0.08417576551437378, + 0.07634226977825165 + ], + [ + 0.25248438119888306, + 0.08492910116910934, + 0.0767383798956871 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.3743411322975041, + 0.9235226245368309, + 0.08351454148126547, + 0.9259542780431191, + -0.367448150977413, + -0.08712365532348945, + -0.04977340297657376, + 0.10994461474707981, + -0.992690681956997 + ], + [ + 0.4196270269307864, + 0.9051363843814079, + 0.06812696924259308, + 0.906269824294209, + -0.4135790633256528, + -0.087334780886077, + -0.05087399967539902, + 0.09838945089605798, + -0.9938467447797972 + ], + [ + 0.554540417217932, + 0.830512667151772, + 0.052284178985730095, + 0.8284886947243213, + -0.5451124781073193, + -0.12829212339690887, + -0.0780474752042131, + 0.11446001883691656, + -0.99035725660092 + ], + [ + 0.5853546714493516, + 0.8060963138056144, + 0.08699793952400428, + 0.8054759512161828, + -0.5659192293412217, + -0.17590883398574253, + -0.09256565575205214, + 0.17304380581470813, + -0.9805546596923369 + ], + [ + 0.5718286255440012, + 0.8131188162645234, + 0.1088568493253384, + 0.8198371702471904, + -0.5616063491228148, + -0.11164821049180745, + -0.02964856302653516, + 0.15308853406288775, + -0.9877676161167354 + ], + [ + 0.5220546504607468, + 0.8398615956130663, + 0.14863190151034797, + 0.8507803731866029, + -0.5250947225299316, + -0.02117283570235394, + 0.06026357550604003, + 0.13750648197626347, + -0.9886659035699266 + ], + [ + 0.5198202732069164, + 0.833724363936285, + 0.18625404302222076, + 0.8423025570598162, + -0.5365794315733853, + 0.05107754871641226, + 0.14252468534812351, + 0.13033111137184059, + -0.9811730303442909 + ], + [ + 0.49359961255644674, + 0.8594662526178403, + 0.13295556812398654, + 0.8631002129834477, + -0.5028846422964772, + 0.0465301933186493, + 0.10685244420251909, + 0.09178669377088625, + -0.9900291702846724 + ], + [ + 0.46179782943180453, + 0.8817820719901295, + 0.09593300917238211, + 0.8839698425960303, + -0.46643882259100106, + 0.03212696936640967, + 0.07307586546065374, + 0.06996572229824408, + -0.994869195216367 + ], + [ + 0.5230065066197238, + 0.8486118322250655, + 0.07951196288012205, + 0.8521221590764179, + -0.522653122398481, + -0.026861490242765185, + 0.01876219721611924, + 0.08180263965628203, + -0.9964719304129384 + ], + [ + 0.5484233934256564, + 0.8350864931483893, + 0.04315472748857694, + 0.8357632178308386, + -0.5457365985650313, + -0.06059215054536893, + -0.02704857231963457, + 0.06929728672751545, + -0.9972292919823778 + ], + [ + 0.5668398442514688, + 0.8211918213910729, + 0.06585274063683276, + 0.8230156986470947, + -0.560920014979509, + -0.08952036961396696, + -0.03657527511044165, + 0.10494155171236384, + -0.9938055745339709 + ], + [ + 0.5791512598462193, + 0.8129015158200279, + 0.061440571254164265, + 0.8140150060914328, + -0.5725539278084439, + -0.09778327878061735, + -0.0443101351442499, + 0.10664485608140825, + -0.9933093609721365 + ], + [ + 0.6050532705384026, + 0.7920903547816833, + 0.08064372060246774, + 0.7955697468372132, + -0.5974953340231979, + -0.1003399408903511, + -0.03129405260036645, + 0.1248687137850532, + -0.9916796290080336 + ], + [ + 0.6091414366031433, + 0.7893119798535082, + 0.0770279733135524, + 0.7924865581993381, + -0.602123714918928, + -0.09701591109501786, + -0.030195451419468285, + 0.12014004491410965, + -0.9922976389781495 + ], + [ + 0.604449784504885, + 0.7959014716302486, + 0.03437012465502749, + 0.7956514740626783, + -0.6009830272555946, + -0.07588236140624291, + -0.03973902155167655, + 0.07321371734521598, + -0.9965242404270002 + ], + [ + 0.5942073108629501, + 0.8042522709906017, + 0.009795729859523898, + 0.8036921570995363, + -0.5932273847279699, + -0.046477807881904164, + -0.031568787333619265, + 0.035490204497476203, + -0.9988712915341054 + ], + [ + 0.5939670455041894, + 0.8039324754483089, + -0.029928644716689053, + 0.8023909063004891, + -0.5946929002902936, + -0.050091794044514235, + -0.058068772514178794, + 0.005738402554055, + -0.9982960925471078 + ], + [ + 0.5941083522352015, + 0.8034069240713881, + -0.039655770809868436, + 0.8027427757378094, + -0.5953231125920977, + -0.03456049210318061, + -0.051374135565779556, + -0.011300706518077857, + -0.9986155377456639 + ], + [ + 0.5950664768068392, + 0.8030561808838783, + -0.031569899032073384, + 0.8021994930421465, + -0.5958948527804334, + -0.03721958883046558, + -0.04870176119627247, + -0.003177227405376678, + -0.9988083117807921 + ], + [ + 0.5839247907261179, + 0.8110048440614663, + -0.03609683759412064, + 0.8110596952905489, + -0.584718138466883, + -0.016937214145931877, + -0.034842638399832766, + -0.019386630874393206, + -0.9992047583416918 + ], + [ + 0.5878188914250193, + 0.808789382919206, + -0.01812967073697192, + 0.8078305970886516, + -0.5880278737031952, + -0.04040972847584509, + -0.04334371109231207, + 0.009107899058988615, + -0.9990187029698079 + ], + [ + 0.5692698357288686, + 0.8204358937806463, + 0.053073518119480134, + 0.822132927790684, + -0.5684951720143565, + -0.03017761486076747, + 0.005413240392279053, + 0.06081269269419829, + -0.9981345166037172 + ], + [ + 0.529373864524074, + 0.8418647111951978, + 0.10501009286289553, + 0.848367955748351, + -0.5261549110373321, + -0.05859028290306867, + 0.005926484473261946, + 0.1201033622989954, + -0.9927437026474984 + ], + [ + 0.5378489314783855, + 0.8340887363105695, + 0.12253369686496887, + 0.8428265442411927, + -0.5287218082340289, + -0.10048216667741228, + -0.019024805649664127, + 0.15731887826187885, + -0.9873645868231332 + ], + [ + 0.5499779767752087, + 0.8248938953322477, + 0.13066861331566348, + 0.835172864377301, + -0.5425935223238672, + -0.08988078849227468, + -0.0032421705788050897, + 0.15856333427299432, + -0.9873434849909974 + ], + [ + 0.4722756885985336, + 0.8745149982264538, + 0.11035937583987517, + 0.8813696908778464, + -0.4668169141376138, + -0.0725908856326012, + -0.011964194944527287, + 0.13155031946757695, + -0.9912372932286739 + ], + [ + 0.44946758902871653, + 0.8872117204976327, + 0.10408770063914036, + 0.8932654516903741, + -0.4473640070118792, + -0.044071283696612396, + 0.007464531405568013, + 0.1127865605553511, + -0.993591199905167 + ], + [ + 0.44287383073155934, + 0.8928012211408136, + 0.08227241082298678, + 0.8961851575465951, + -0.44354573652396795, + -0.010924422391853567, + 0.02673823940237923, + 0.0785694542483464, + -0.996550002464893 + ], + [ + 0.4509492679852669, + 0.8901161156418111, + 0.06586393837514844, + 0.8905530875511667, + -0.45364677029770517, + 0.0334635032766277, + 0.059665366475332056, + 0.04356499137145037, + -0.997267334053497 + ], + [ + 0.436351533309547, + 0.8997474993533962, + 0.0071956087801897505, + 0.8994419292264219, + -0.43639343363351757, + 0.02376945584149743, + 0.024526624877048778, + -0.0038998062591585215, + -0.9996915705272709 + ], + [ + 0.4317834057085065, + 0.9009961820131158, + 0.042059131619088405, + 0.9015521219205587, + -0.43254202055872115, + 0.010543809155957028, + 0.027692273566857908, + 0.033365857530825556, + -0.9990594864851299 + ], + [ + 0.4272410195790112, + 0.9013005323636201, + 0.07157137381762131, + 0.9026644503904537, + -0.4297235439133638, + 0.023120679225297664, + 0.05159458489402565, + 0.054726832245197435, + -0.9971674747212822 + ], + [ + 0.4157938132741419, + 0.8991086301990631, + 0.13681803954344884, + 0.9063017225688251, + -0.4221591772776929, + 0.019970395814851327, + 0.0757145462360333, + 0.1156948578882663, + -0.9903948744548741 + ], + [ + 0.4243818980774338, + 0.8839638440861397, + 0.19623436735865074, + 0.9018085688299715, + -0.432119598636485, + -0.0037359950591650815, + 0.0814942315077183, + 0.17855132265737603, + -0.9805499045985719 + ], + [ + 0.4201590045249819, + 0.8857613282598686, + 0.19721379332057365, + 0.9039243570790869, + -0.4276632331672565, + -0.004991560486310637, + 0.07991975723021161, + 0.18036360041938193, + -0.9803477974923093 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006082.json b/json/chunk-0006/episode_0006082.json new file mode 100644 index 0000000000000000000000000000000000000000..b3d6e1acaebf2ebbc25ae013d499c4239d17caad --- /dev/null +++ b/json/chunk-0006/episode_0006082.json @@ -0,0 +1,1642 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 26, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut the silver pot in the top of the yellow cloth." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006082.mp4", + "start": 0, + "end": 26, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2886818051338196, + -0.010956065729260445, + 0.09592035412788391, + 0.09700138121843338, + -0.02952154539525509, + -0.12650978565216064, + 0.0, + 1.0008161067962646 + ], + [ + 0.2865097224712372, + -0.010723796673119068, + 0.08595933020114899, + 0.09583784639835358, + 0.009877406992018223, + -0.12147361040115356, + 0.0, + 1.0008161067962646 + ], + [ + 0.3018896281719208, + 0.0055536930449306965, + 0.0851517990231514, + 0.090696319937706, + -0.0032461562659591436, + -0.049744296818971634, + 0.0, + 1.0008161067962646 + ], + [ + 0.317878395318985, + 0.017529083415865898, + 0.08046721667051315, + 0.07057404518127441, + 0.0053758020512759686, + 0.01384673360735178, + 0.0, + 1.0008161067962646 + ], + [ + 0.33703917264938354, + 0.041489046066999435, + 0.07696108520030975, + 0.05867960304021835, + 0.0013312863884493709, + 0.1113501489162445, + 0.0, + 1.0008161067962646 + ], + [ + 0.34477511048316956, + 0.05524183064699173, + 0.06684643775224686, + 0.07355572283267975, + 0.021242298185825348, + 0.1546928882598877, + 0.0, + 1.0008161067962646 + ], + [ + 0.3419226408004761, + 0.0655156597495079, + 0.05141603201627731, + 0.1178678423166275, + 0.05953958258032799, + 0.16531524062156677, + 0.0, + 1.0008161067962646 + ], + [ + 0.3376944363117218, + 0.0779975950717926, + 0.04310779273509979, + 0.1641901731491089, + 0.07386048138141632, + 0.18974901735782623, + 0.0, + 1.0008161067962646 + ], + [ + 0.3346763253211975, + 0.08671431243419647, + 0.02897142991423607, + 0.19742438197135925, + 0.10157144069671631, + 0.21232014894485474, + 0.0, + 0.9453431367874146 + ], + [ + 0.33569133281707764, + 0.08859182894229889, + 0.028966356068849564, + 0.19050341844558716, + 0.09370467066764832, + 0.21672891080379486, + 0.0, + 0.6561112403869629 + ], + [ + 0.3359731137752533, + 0.08796621859073639, + 0.028824644163250923, + 0.18565431237220764, + 0.09380261600017548, + 0.21095317602157593, + 0.0, + 0.35940393805503845 + ], + [ + 0.3330962657928467, + 0.08486473560333252, + 0.030475985258817673, + 0.16844618320465088, + 0.09905575215816498, + 0.20128628611564636, + 0.0, + 0.15667486190795898 + ], + [ + 0.3299076557159424, + 0.07862187176942825, + 0.052045032382011414, + 0.14536701142787933, + 0.060624364763498306, + 0.20254549384117126, + 0.0, + 0.07888144999742508 + ], + [ + 0.3277960419654846, + 0.05858539789915085, + 0.07854469120502472, + 0.13523344695568085, + 0.030121274292469025, + 0.1699167639017105, + 0.0, + 0.07722585648298264 + ], + [ + 0.33242854475975037, + 0.01525837741792202, + 0.10338069498538971, + 0.1006854698061943, + -0.03038971498608589, + 0.07888701558113098, + 0.0, + 0.07722585648298264 + ], + [ + 0.3484300971031189, + -0.018455304205417633, + 0.11675148457288742, + 0.06215783953666687, + -0.09471955895423889, + 0.029405204579234123, + 0.0, + 0.07722585648298264 + ], + [ + 0.3649243414402008, + -0.05309242010116577, + 0.10241818428039551, + 0.0711584985256195, + -0.07676772028207779, + -0.03491080924868584, + 0.0, + 0.07722585648298264 + ], + [ + 0.37975555658340454, + -0.0701763927936554, + 0.08981163799762726, + 0.07216064631938934, + -0.06463886052370071, + -0.05106232687830925, + 0.0, + 0.07722585648298264 + ], + [ + 0.39511391520500183, + -0.07716042548418045, + 0.07220838218927383, + 0.09365391731262207, + -0.03593439981341362, + -0.05183783918619156, + 0.0, + 0.07722585648298264 + ], + [ + 0.40351298451423645, + -0.08413815498352051, + 0.0587628036737442, + 0.1195758655667305, + -0.012625716626644135, + -0.06425349414348602, + 0.0, + 0.07722585648298264 + ], + [ + 0.4091324806213379, + -0.08390102535486221, + 0.05760013684630394, + 0.12849673628807068, + -0.02117994613945484, + -0.06279391050338745, + 0.0, + 0.07722585648298264 + ], + [ + 0.40921109914779663, + -0.08126605302095413, + 0.04678906872868538, + 0.14681647717952728, + 0.009549073874950409, + -0.06338056921958923, + 0.0, + 0.07722585648298264 + ], + [ + 0.40896379947662354, + -0.0816577896475792, + 0.04709922894835472, + 0.14423754811286926, + 0.013301745988428593, + -0.07412977516651154, + 0.0, + 0.1059318259358406 + ], + [ + 0.4080556631088257, + -0.08546211570501328, + 0.05125128850340843, + 0.1129748746752739, + 0.02963631972670555, + -0.08467266708612442, + 0.0, + 0.27738428115844727 + ], + [ + 0.4051681458950043, + -0.08823248744010925, + 0.062224507331848145, + 0.06785053014755249, + 0.014431891962885857, + -0.09635090827941895, + 0.0, + 0.5551114082336426 + ], + [ + 0.40153902769088745, + -0.08272503316402435, + 0.10401472449302673, + 0.011459163390100002, + -0.08500668406486511, + -0.08605566620826721, + 0.0, + 0.8562611937522888 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9453431367874146 + ], + [ + 0.6561112403869629 + ], + [ + 0.35940393805503845 + ], + [ + 0.15667486190795898 + ], + [ + 0.07888144999742508 + ], + [ + 0.07722585648298264 + ], + [ + 0.07722585648298264 + ], + [ + 0.07722585648298264 + ], + [ + 0.07722585648298264 + ], + [ + 0.07722585648298264 + ], + [ + 0.07722585648298264 + ], + [ + 0.07722585648298264 + ], + [ + 0.07722585648298264 + ], + [ + 0.07722585648298264 + ], + [ + 0.1059318259358406 + ], + [ + 0.27738428115844727 + ], + [ + 0.5551114082336426 + ], + [ + 0.8562611937522888 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2886818051338196, + -0.010956065729260445, + 0.09592035412788391 + ], + [ + 0.2865097224712372, + -0.010723796673119068, + 0.08595933020114899 + ], + [ + 0.3018896281719208, + 0.0055536930449306965, + 0.0851517990231514 + ], + [ + 0.317878395318985, + 0.017529083415865898, + 0.08046721667051315 + ], + [ + 0.33703917264938354, + 0.041489046066999435, + 0.07696108520030975 + ], + [ + 0.34477511048316956, + 0.05524183064699173, + 0.06684643775224686 + ], + [ + 0.3419226408004761, + 0.0655156597495079, + 0.05141603201627731 + ], + [ + 0.3376944363117218, + 0.0779975950717926, + 0.04310779273509979 + ], + [ + 0.3346763253211975, + 0.08671431243419647, + 0.02897142991423607 + ], + [ + 0.33569133281707764, + 0.08859182894229889, + 0.028966356068849564 + ], + [ + 0.3359731137752533, + 0.08796621859073639, + 0.028824644163250923 + ], + [ + 0.3330962657928467, + 0.08486473560333252, + 0.030475985258817673 + ], + [ + 0.3299076557159424, + 0.07862187176942825, + 0.052045032382011414 + ], + [ + 0.3277960419654846, + 0.05858539789915085, + 0.07854469120502472 + ], + [ + 0.33242854475975037, + 0.01525837741792202, + 0.10338069498538971 + ], + [ + 0.3484300971031189, + -0.018455304205417633, + 0.11675148457288742 + ], + [ + 0.3649243414402008, + -0.05309242010116577, + 0.10241818428039551 + ], + [ + 0.37975555658340454, + -0.0701763927936554, + 0.08981163799762726 + ], + [ + 0.39511391520500183, + -0.07716042548418045, + 0.07220838218927383 + ], + [ + 0.40351298451423645, + -0.08413815498352051, + 0.0587628036737442 + ], + [ + 0.4091324806213379, + -0.08390102535486221, + 0.05760013684630394 + ], + [ + 0.40921109914779663, + -0.08126605302095413, + 0.04678906872868538 + ], + [ + 0.40896379947662354, + -0.0816577896475792, + 0.04709922894835472 + ], + [ + 0.4080556631088257, + -0.08546211570501328, + 0.05125128850340843 + ], + [ + 0.4051681458950043, + -0.08823248744010925, + 0.062224507331848145 + ], + [ + 0.40153902769088745, + -0.08272503316402435, + 0.10401472449302673 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9915760573842529, + -0.122743585277597, + 0.04136344636876768, + -0.1261176194418615, + -0.9877056196434949, + 0.09236858227220661, + 0.02951725747115483, + -0.09680713402358772, + -0.9948653729593369 + ], + [ + 0.9925827270818943, + -0.1215572264291113, + 0.0018359198053220678, + -0.12116917884759255, + -0.9879615010591044, + 0.09617745329567316, + -0.00987724638094729, + -0.0956865357712517, + -0.9953625102825739 + ], + [ + 0.9987577453329849, + -0.04922576790653114, + 0.007732393638738625, + -0.049723522038188146, + -0.9946726183831975, + 0.09029924470797883, + 0.0032461505648837025, + -0.0905715518953162, + -0.9958846602362061 + ], + [ + 0.9998896873120632, + 0.013432784291676006, + -0.0063382578961645765, + 0.01384609106131596, + -0.9974203084818268, + 0.07043446592641729, + -0.005375776158540877, + -0.07051445620715795, + -0.9974962719211048 + ], + [ + 0.9938060943320634, + 0.11085134317507793, + -0.00783751138633628, + 0.11112009064993071, + -0.9921051558581476, + 0.05813505976286282, + -0.0013312859952043913, + -0.058645881662411345, + -0.99827796141237 + ], + [ + 0.9878359810107132, + 0.15211771141436004, + -0.03225331757601323, + 0.15404190097301812, + -0.9856276907276349, + 0.06934802099215534, + -0.021240700676309295, + -0.07347283270003285, + -0.9970709982191901 + ], + [ + 0.9846187278655194, + 0.15651945140335397, + -0.07763776187448367, + 0.1642716828351222, + -0.9806742654478777, + 0.10626758351812719, + -0.059504411223059155, + -0.11738673869163517, + -0.9913019613742013 + ], + [ + 0.9793740942788385, + 0.17423049654908712, + -0.1023235922344548, + 0.18809818151447438, + -0.9711190403279217, + 0.14678856775486201, + -0.07379334364597041, + -0.1630078022207355, + -0.9838612701233406 + ], + [ + 0.9725064130125758, + 0.187193289236053, + -0.13852779184842678, + 0.2096424308498534, + -0.9627469020839129, + 0.17078774462821764, + -0.10139688277643491, + -0.19513347993826244, + -0.9755211925788214 + ], + [ + 0.9723216352102786, + 0.1938431515289044, + -0.13044336053380298, + 0.21409283446878952, + -0.9627481968612038, + 0.165167090153032, + -0.09356760086231236, + -0.1885225239748357, + -0.9776013308210194 + ], + [ + 0.9735329878991904, + 0.18888745099626036, + -0.1286664382355015, + 0.20847150286526822, + -0.9646487058736825, + 0.16122191770763114, + -0.09366511605272933, + -0.18377814100802373, + -0.9784949876838734 + ], + [ + 0.975007181224238, + 0.18085521106817395, + -0.12904413659927483, + 0.1989497540237601, + -0.9692571950818926, + 0.1447739104806792, + -0.09889384174482954, + -0.1668289016072114, + -0.9810138254140357 + ], + [ + 0.9777581520441945, + 0.1904447393176024, + -0.0878623774853179, + 0.20079388174344368, + -0.9709916000706128, + 0.12983500932611108, + -0.06058723599506731, + -0.14458946662382383, + -0.9876350910006775 + ], + [ + 0.9851517668156639, + 0.1635544958565143, + -0.05221037468834778, + 0.1690236064406441, + -0.9772868266960968, + 0.12783379377954754, + -0.0301167197047501, + -0.13476047362411234, + -0.9904204147445825 + ], + [ + 0.996429736826887, + 0.0814507778139438, + 0.022215993351727727, + 0.078768833053773, + -0.9916005976967389, + 0.10258521134557728, + 0.03038503754230508, + -0.10046902727195821, + -0.994476105320072 + ], + [ + 0.9950870913875166, + 0.03521662755340404, + 0.09252821028041901, + 0.02926917600373031, + -0.9974646263067201, + 0.06486628248064102, + 0.09457798840108238, + -0.06183937589077434, + -0.9935949354236084 + ], + [ + 0.9964472795476736, + -0.029366002623118666, + 0.07893324376952993, + -0.03480092009470467, + -0.9970518435263701, + 0.06838506621499627, + 0.07669234018207444, + -0.07088906270085979, + -0.994531560960632 + ], + [ + 0.9966109607315362, + -0.04625629038279196, + 0.06802167705802996, + -0.05093354973159019, + -0.996335243333575, + 0.06871576531746594, + 0.06459385776916966, + -0.07194747036170386, + -0.9953146211359741 + ], + [ + 0.9980120161655213, + -0.048232314222378406, + 0.040566728411163926, + -0.051781176173214094, + -0.9944543677008829, + 0.09153808144567821, + 0.035926666744215845, + -0.09345669813015442, + -0.9949749344537576 + ], + [ + 0.9978569155094449, + -0.062247805558035295, + 0.020168958158163407, + -0.06420417369486509, + -0.9909072154224808, + 0.11824007148097003, + 0.01262538118776261, + -0.11928160431044822, + -0.992780186457702 + ], + [ + 0.9978052655131388, + -0.05952677777248984, + 0.029003703940697137, + -0.06273857720311322, + -0.9899713088306635, + 0.1265728194464837, + 0.021178362655880703, + -0.12811467683340488, + -0.9915332100011015 + ], + [ + 0.9979466234940807, + -0.06405084361517864, + -0.00016152073289739128, + -0.06333525571446687, + -0.9871670538398195, + 0.14659417859108076, + -0.00954892875386125, + -0.14628293559193606, + -0.989196704763142 + ], + [ + 0.9971654222575642, + -0.07519948433753725, + -0.002481573948530545, + -0.07405534850912988, + -0.9867563520843942, + 0.14431807571572647, + -0.013301353731287954, + -0.14372522108686192, + -0.9895282385118919 + ], + [ + 0.9959798605455766, + -0.08736097898083076, + -0.019803452707154206, + -0.08453438977259098, + -0.9897828574042158, + 0.11482086976905144, + -0.029631981597411153, + -0.11268520107031203, + -0.9931887993359338 + ], + [ + 0.9952581861607799, + -0.09695442972772188, + -0.00780906115527716, + -0.09619188029164487, + -0.9929774225859996, + 0.06886915420145101, + -0.014431390990215785, + -0.06779142121712461, + -0.9975951373996619 + ], + [ + 0.9927019648436702, + -0.08497453597405911, + 0.0855694877366344, + -0.0856391357994065, + -0.9963177044068919, + 0.004119502993335972, + 0.0849043427337348, + -0.011417535696227284, + -0.9963236885990306 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0021720826625823975, + 0.0002322690561413765, + -0.009961023926734924, + -0.0011635348200798035, + 0.039398953318595886, + 0.00503617525100708, + 1.0 + ], + [ + 0.015379905700683594, + 0.016277490183711052, + -0.0008075311779975891, + -0.005141526460647583, + -0.01312356349080801, + 0.07172931730747223, + 1.0 + ], + [ + 0.01598876714706421, + 0.011975390836596489, + -0.004684582352638245, + -0.02012227475643158, + 0.008621958084404469, + 0.06359103322029114, + 1.0 + ], + [ + 0.01916077733039856, + 0.023959962651133537, + -0.0035061314702033997, + -0.01189444214105606, + -0.004044515546411276, + 0.0975034162402153, + 1.0 + ], + [ + 0.007735937833786011, + 0.013752784579992294, + -0.010114647448062897, + 0.014876119792461395, + 0.019911011680960655, + 0.04334273934364319, + 1.0 + ], + [ + -0.0028524696826934814, + 0.010273829102516174, + -0.015430405735969543, + 0.044312119483947754, + 0.03829728439450264, + 0.010622352361679077, + 1.0 + ], + [ + -0.0042282044887542725, + 0.012481935322284698, + -0.00830823928117752, + 0.046322330832481384, + 0.014320898801088333, + 0.02443377673625946, + 1.0 + ], + [ + -0.003018110990524292, + 0.00871671736240387, + -0.014136362820863724, + 0.033234208822250366, + 0.027710959315299988, + 0.022571131587028503, + 0.0 + ], + [ + 0.001015007495880127, + 0.001877516508102417, + -5.073845386505127e-06, + -0.006920963525772095, + -0.007866770029067993, + 0.0044087618589401245, + 0.0 + ], + [ + 0.0002817809581756592, + -0.0006256103515625, + -0.00014171190559864044, + -0.004849106073379517, + 9.794533252716064e-05, + -0.005775734782218933, + 0.0 + ], + [ + -0.002876847982406616, + -0.0031014829874038696, + 0.0016513410955667496, + -0.017208129167556763, + 0.005253136157989502, + -0.009666889905929565, + 0.0 + ], + [ + -0.003188610076904297, + -0.006242863833904266, + 0.02156904712319374, + -0.023079171776771545, + -0.03843138739466667, + 0.0012592077255249023, + 0.0 + ], + [ + -0.0021116137504577637, + -0.020036473870277405, + 0.026499658823013306, + -0.010133564472198486, + -0.03050309047102928, + -0.032628729939460754, + 0.0 + ], + [ + 0.004632502794265747, + -0.04332701861858368, + 0.02483600378036499, + -0.03454797714948654, + -0.060510989278554916, + -0.09102974832057953, + 0.0 + ], + [ + 0.01600155234336853, + -0.0337136834859848, + 0.013370789587497711, + -0.038527630269527435, + -0.0643298476934433, + -0.04948180913925171, + 0.0 + ], + [ + 0.01649424433708191, + -0.03463711589574814, + -0.014333300292491913, + 0.009000658988952637, + 0.017951838672161102, + -0.06431601196527481, + 0.0 + ], + [ + 0.014831215143203735, + -0.017083972692489624, + -0.01260654628276825, + 0.0010021477937698364, + 0.012128859758377075, + -0.016151517629623413, + 0.0 + ], + [ + 0.01535835862159729, + -0.006984032690525055, + -0.017603255808353424, + 0.021493270993232727, + 0.028704460710287094, + -0.000775512307882309, + 0.0 + ], + [ + 0.00839906930923462, + -0.006977729499340057, + -0.013445578515529633, + 0.02592194825410843, + 0.023308683186769485, + -0.012415654957294464, + 0.0 + ], + [ + 0.00561949610710144, + 0.00023712962865829468, + -0.0011626668274402618, + 0.00892087072134018, + -0.008554229512810707, + 0.0014595836400985718, + 0.0 + ], + [ + 7.861852645874023e-05, + 0.002634972333908081, + -0.01081106811761856, + 0.018319740891456604, + 0.03072902001440525, + -0.0005866587162017822, + 0.0 + ], + [ + -0.0002472996711730957, + -0.00039173662662506104, + 0.00031016021966934204, + -0.00257892906665802, + 0.0037526721134781837, + -0.010749205946922302, + 1.0 + ], + [ + -0.0009081363677978516, + -0.003804326057434082, + 0.004152059555053711, + -0.03126267343759537, + 0.016334574669599533, + -0.010542891919612885, + 1.0 + ], + [ + -0.002887517213821411, + -0.002770371735095978, + 0.010973218828439713, + -0.045124344527721405, + -0.015204427763819695, + -0.011678241193294525, + 1.0 + ], + [ + -0.0036291182041168213, + 0.0055074542760849, + 0.04179021716117859, + -0.05639136582612991, + -0.09943857789039612, + 0.010295242071151733, + 1.0 + ], + [ + -0.010959267616271973, + 0.008080095052719116, + 0.02181084454059601, + -0.01879829913377762, + -0.0423201322555542, + 0.009473897516727448, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9453431367874146 + ], + [ + 0.6561112403869629 + ], + [ + 0.35940393805503845 + ], + [ + 0.15667486190795898 + ], + [ + 0.07888144999742508 + ], + [ + 0.07722585648298264 + ], + [ + 0.07722585648298264 + ], + [ + 0.07722585648298264 + ], + [ + 0.07722585648298264 + ], + [ + 0.07722585648298264 + ], + [ + 0.07722585648298264 + ], + [ + 0.07722585648298264 + ], + [ + 0.07722585648298264 + ], + [ + 0.07722585648298264 + ], + [ + 0.1059318259358406 + ], + [ + 0.27738428115844727 + ], + [ + 0.5551114082336426 + ], + [ + 0.8562611937522888 + ], + [ + 1.0124757289886475 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2865097224712372, + -0.010723796673119068, + 0.08595933020114899 + ], + [ + 0.3018896281719208, + 0.0055536930449306965, + 0.0851517990231514 + ], + [ + 0.317878395318985, + 0.017529083415865898, + 0.08046721667051315 + ], + [ + 0.33703917264938354, + 0.041489046066999435, + 0.07696108520030975 + ], + [ + 0.34477511048316956, + 0.05524183064699173, + 0.06684643775224686 + ], + [ + 0.3419226408004761, + 0.0655156597495079, + 0.05141603201627731 + ], + [ + 0.3376944363117218, + 0.0779975950717926, + 0.04310779273509979 + ], + [ + 0.3346763253211975, + 0.08671431243419647, + 0.02897142991423607 + ], + [ + 0.33569133281707764, + 0.08859182894229889, + 0.028966356068849564 + ], + [ + 0.3359731137752533, + 0.08796621859073639, + 0.028824644163250923 + ], + [ + 0.3330962657928467, + 0.08486473560333252, + 0.030475985258817673 + ], + [ + 0.3299076557159424, + 0.07862187176942825, + 0.052045032382011414 + ], + [ + 0.3277960419654846, + 0.05858539789915085, + 0.07854469120502472 + ], + [ + 0.33242854475975037, + 0.01525837741792202, + 0.10338069498538971 + ], + [ + 0.3484300971031189, + -0.018455304205417633, + 0.11675148457288742 + ], + [ + 0.3649243414402008, + -0.05309242010116577, + 0.10241818428039551 + ], + [ + 0.37975555658340454, + -0.0701763927936554, + 0.08981163799762726 + ], + [ + 0.39511391520500183, + -0.07716042548418045, + 0.07220838218927383 + ], + [ + 0.40351298451423645, + -0.08413815498352051, + 0.0587628036737442 + ], + [ + 0.4091324806213379, + -0.08390102535486221, + 0.05760013684630394 + ], + [ + 0.40921109914779663, + -0.08126605302095413, + 0.04678906872868538 + ], + [ + 0.40896379947662354, + -0.0816577896475792, + 0.04709922894835472 + ], + [ + 0.4080556631088257, + -0.08546211570501328, + 0.05125128850340843 + ], + [ + 0.4051681458950043, + -0.08823248744010925, + 0.062224507331848145 + ], + [ + 0.40153902769088745, + -0.08272503316402435, + 0.10401472449302673 + ], + [ + 0.3905797600746155, + -0.07464493811130524, + 0.12582556903362274 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9925827270818943, + -0.1215572264291113, + 0.0018359198053220678, + -0.12116917884759255, + -0.9879615010591044, + 0.09617745329567316, + -0.00987724638094729, + -0.0956865357712517, + -0.9953625102825739 + ], + [ + 0.9987577453329849, + -0.04922576790653114, + 0.007732393638738625, + -0.049723522038188146, + -0.9946726183831975, + 0.09029924470797883, + 0.0032461505648837025, + -0.0905715518953162, + -0.9958846602362061 + ], + [ + 0.9998896873120632, + 0.013432784291676006, + -0.0063382578961645765, + 0.01384609106131596, + -0.9974203084818268, + 0.07043446592641729, + -0.005375776158540877, + -0.07051445620715795, + -0.9974962719211048 + ], + [ + 0.9938060943320634, + 0.11085134317507793, + -0.00783751138633628, + 0.11112009064993071, + -0.9921051558581476, + 0.05813505976286282, + -0.0013312859952043913, + -0.058645881662411345, + -0.99827796141237 + ], + [ + 0.9878359810107132, + 0.15211771141436004, + -0.03225331757601323, + 0.15404190097301812, + -0.9856276907276349, + 0.06934802099215534, + -0.021240700676309295, + -0.07347283270003285, + -0.9970709982191901 + ], + [ + 0.9846187278655194, + 0.15651945140335397, + -0.07763776187448367, + 0.1642716828351222, + -0.9806742654478777, + 0.10626758351812719, + -0.059504411223059155, + -0.11738673869163517, + -0.9913019613742013 + ], + [ + 0.9793740942788385, + 0.17423049654908712, + -0.1023235922344548, + 0.18809818151447438, + -0.9711190403279217, + 0.14678856775486201, + -0.07379334364597041, + -0.1630078022207355, + -0.9838612701233406 + ], + [ + 0.9725064130125758, + 0.187193289236053, + -0.13852779184842678, + 0.2096424308498534, + -0.9627469020839129, + 0.17078774462821764, + -0.10139688277643491, + -0.19513347993826244, + -0.9755211925788214 + ], + [ + 0.9723216352102786, + 0.1938431515289044, + -0.13044336053380298, + 0.21409283446878952, + -0.9627481968612038, + 0.165167090153032, + -0.09356760086231236, + -0.1885225239748357, + -0.9776013308210194 + ], + [ + 0.9735329878991904, + 0.18888745099626036, + -0.1286664382355015, + 0.20847150286526822, + -0.9646487058736825, + 0.16122191770763114, + -0.09366511605272933, + -0.18377814100802373, + -0.9784949876838734 + ], + [ + 0.975007181224238, + 0.18085521106817395, + -0.12904413659927483, + 0.1989497540237601, + -0.9692571950818926, + 0.1447739104806792, + -0.09889384174482954, + -0.1668289016072114, + -0.9810138254140357 + ], + [ + 0.9777581520441945, + 0.1904447393176024, + -0.0878623774853179, + 0.20079388174344368, + -0.9709916000706128, + 0.12983500932611108, + -0.06058723599506731, + -0.14458946662382383, + -0.9876350910006775 + ], + [ + 0.9851517668156639, + 0.1635544958565143, + -0.05221037468834778, + 0.1690236064406441, + -0.9772868266960968, + 0.12783379377954754, + -0.0301167197047501, + -0.13476047362411234, + -0.9904204147445825 + ], + [ + 0.996429736826887, + 0.0814507778139438, + 0.022215993351727727, + 0.078768833053773, + -0.9916005976967389, + 0.10258521134557728, + 0.03038503754230508, + -0.10046902727195821, + -0.994476105320072 + ], + [ + 0.9950870913875166, + 0.03521662755340404, + 0.09252821028041901, + 0.02926917600373031, + -0.9974646263067201, + 0.06486628248064102, + 0.09457798840108238, + -0.06183937589077434, + -0.9935949354236084 + ], + [ + 0.9964472795476736, + -0.029366002623118666, + 0.07893324376952993, + -0.03480092009470467, + -0.9970518435263701, + 0.06838506621499627, + 0.07669234018207444, + -0.07088906270085979, + -0.994531560960632 + ], + [ + 0.9966109607315362, + -0.04625629038279196, + 0.06802167705802996, + -0.05093354973159019, + -0.996335243333575, + 0.06871576531746594, + 0.06459385776916966, + -0.07194747036170386, + -0.9953146211359741 + ], + [ + 0.9980120161655213, + -0.048232314222378406, + 0.040566728411163926, + -0.051781176173214094, + -0.9944543677008829, + 0.09153808144567821, + 0.035926666744215845, + -0.09345669813015442, + -0.9949749344537576 + ], + [ + 0.9978569155094449, + -0.062247805558035295, + 0.020168958158163407, + -0.06420417369486509, + -0.9909072154224808, + 0.11824007148097003, + 0.01262538118776261, + -0.11928160431044822, + -0.992780186457702 + ], + [ + 0.9978052655131388, + -0.05952677777248984, + 0.029003703940697137, + -0.06273857720311322, + -0.9899713088306635, + 0.1265728194464837, + 0.021178362655880703, + -0.12811467683340488, + -0.9915332100011015 + ], + [ + 0.9979466234940807, + -0.06405084361517864, + -0.00016152073289739128, + -0.06333525571446687, + -0.9871670538398195, + 0.14659417859108076, + -0.00954892875386125, + -0.14628293559193606, + -0.989196704763142 + ], + [ + 0.9971654222575642, + -0.07519948433753725, + -0.002481573948530545, + -0.07405534850912988, + -0.9867563520843942, + 0.14431807571572647, + -0.013301353731287954, + -0.14372522108686192, + -0.9895282385118919 + ], + [ + 0.9959798605455766, + -0.08736097898083076, + -0.019803452707154206, + -0.08453438977259098, + -0.9897828574042158, + 0.11482086976905144, + -0.029631981597411153, + -0.11268520107031203, + -0.9931887993359338 + ], + [ + 0.9952581861607799, + -0.09695442972772188, + -0.00780906115527716, + -0.09619188029164487, + -0.9929774225859996, + 0.06886915420145101, + -0.014431390990215785, + -0.06779142121712461, + -0.9975951373996619 + ], + [ + 0.9927019648436702, + -0.08497453597405911, + 0.0855694877366344, + -0.0856391357994065, + -0.9963177044068919, + 0.004119502993335972, + 0.0849043427337348, + -0.011417535696227284, + -0.9963236885990306 + ], + [ + 0.9889976619691954, + -0.07743408043142497, + 0.1260459749742321, + -0.07588760259870456, + -0.9969708971491202, + -0.017032381204616344, + 0.1269830555282327, + 0.007279658331122848, + -0.9918781730551872 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006083.json b/json/chunk-0006/episode_0006083.json new file mode 100644 index 0000000000000000000000000000000000000000..9fa961741641fe246b1375b0c2533124a24ef884 --- /dev/null +++ b/json/chunk-0006/episode_0006083.json @@ -0,0 +1,2062 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 33, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nUnfold the cloth from left to right." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006083.mp4", + "start": 0, + "end": 33, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3433932065963745, + -0.04421687126159668, + 0.13635487854480743, + -0.02215086854994297, + -0.08737576752901077, + -0.2640036642551422, + 0.0, + 1.0047606229782104 + ], + [ + 0.33948931097984314, + -0.043303728103637695, + 0.12528058886528015, + -0.025355175137519836, + -0.05306306481361389, + -0.24446545541286469, + 0.0, + 1.0047606229782104 + ], + [ + 0.31438371539115906, + -0.03124961070716381, + 0.11759298294782639, + 0.024517148733139038, + -0.03709470480680466, + 0.0062586101703345776, + 0.0, + 1.0047606229782104 + ], + [ + 0.29245907068252563, + -0.017094139009714127, + 0.1278541535139084, + 0.07488498091697693, + -0.0825696662068367, + 0.2476004809141159, + 0.0, + 1.0047606229782104 + ], + [ + 0.276424765586853, + -0.005999221466481686, + 0.1241728812456131, + 0.09975378960371017, + -0.042119283229112625, + 0.4830004870891571, + 0.0, + 1.0047606229782104 + ], + [ + 0.27230769395828247, + 0.012831018306314945, + 0.11601488292217255, + 0.14474870264530182, + -0.04560018703341484, + 0.7194369435310364, + 0.0, + 1.0047606229782104 + ], + [ + 0.2632419466972351, + 0.0380033478140831, + 0.08551011979579926, + 0.015962468460202217, + 0.016629312187433243, + 0.9687759280204773, + 0.0, + 1.0047606229782104 + ], + [ + 0.25952813029289246, + 0.05323924124240875, + 0.06230147182941437, + -0.059743523597717285, + 0.06798102706670761, + 1.2032840251922607, + 0.0, + 1.0047606229782104 + ], + [ + 0.26185330748558044, + 0.05955548211932182, + 0.043469615280628204, + 0.005241900682449341, + 0.08874945342540741, + 1.2965611219406128, + 0.0, + 0.9657809734344482 + ], + [ + 0.2718610465526581, + 0.054513074457645416, + 0.03969115763902664, + 0.01038636639714241, + 0.07731372863054276, + 1.279687762260437, + 0.0, + 0.680191159248352 + ], + [ + 0.27599138021469116, + 0.04590878635644913, + 0.038285065442323685, + -0.03288503736257553, + 0.09481150656938553, + 1.2954704761505127, + 0.0, + 0.3703518807888031 + ], + [ + 0.2825701832771301, + 0.03629753738641739, + 0.037532929331064224, + -0.09159474819898605, + 0.12240695208311081, + 1.2797119617462158, + 0.0, + 0.1526326984167099 + ], + [ + 0.28610938787460327, + 0.02074306830763817, + 0.03966957703232765, + -0.12209452688694, + 0.17858555912971497, + 1.2792637348175049, + 0.0, + 0.05297749489545822 + ], + [ + 0.29128414392471313, + -0.013346066698431969, + 0.04134758934378624, + -0.12955507636070251, + 0.1999496966600418, + 1.2822375297546387, + 0.0, + 0.05115113407373428 + ], + [ + 0.29789283871650696, + -0.05727490037679672, + 0.04807655140757561, + -0.15111911296844482, + 0.2110307365655899, + 1.2684571743011475, + 0.0, + 0.05115113407373428 + ], + [ + 0.30393388867378235, + -0.0922553762793541, + 0.05748261511325836, + -0.1860230714082718, + 0.23018762469291687, + 1.2365267276763916, + 0.0, + 0.05115113407373428 + ], + [ + 0.3127116858959198, + -0.12604032456874847, + 0.07837412506341934, + -0.23180052638053894, + 0.1932958960533142, + 1.0882841348648071, + 0.0, + 0.05115113407373428 + ], + [ + 0.31118401885032654, + -0.13817337155342102, + 0.07658276706933975, + -0.27313435077667236, + 0.22714364528656006, + 1.0583041906356812, + 0.0, + 0.05115113407373428 + ], + [ + 0.29883822798728943, + -0.14078688621520996, + 0.05121765658259392, + -0.2352919578552246, + 0.2735149562358856, + 1.049553632736206, + 0.0, + 0.056468017399311066 + ], + [ + 0.28750142455101013, + -0.14058588445186615, + 0.0323592945933342, + -0.2689909040927887, + 0.2970835268497467, + 1.0850878953933716, + 0.0, + 0.08819076418876648 + ], + [ + 0.2800500690937042, + -0.1432749181985855, + 0.032785650342702866, + -0.2095785140991211, + 0.2967384159564972, + 1.0949572324752808, + 0.0, + 0.2631158232688904 + ], + [ + 0.27438411116600037, + -0.14617423713207245, + 0.05927993729710579, + -0.1593485325574875, + 0.2340650111436844, + 1.0660443305969238, + 0.0, + 0.529549777507782 + ], + [ + 0.27262431383132935, + -0.14516109228134155, + 0.08632432669401169, + -0.12297529727220535, + 0.18220172822475433, + 1.0557284355163574, + 0.0, + 0.8408563733100891 + ], + [ + 0.27504491806030273, + -0.13782641291618347, + 0.10819899290800095, + -0.11209386587142944, + 0.1198057010769844, + 1.0033495426177979, + 0.0, + 1.0092895030975342 + ], + [ + 0.2817930281162262, + -0.1207604706287384, + 0.11783655732870102, + -0.09224934875965118, + 0.06403524428606033, + 0.8131911754608154, + 0.0, + 1.003452181816101 + ], + [ + 0.28869569301605225, + -0.08194756507873535, + 0.10196294635534286, + -0.11493251472711563, + 0.04391532763838768, + 0.6344959735870361, + 0.0, + 1.0008161067962646 + ], + [ + 0.3036254048347473, + -0.04963110014796257, + 0.10315199196338654, + -0.1861356645822525, + -0.001293842331506312, + 0.5031517148017883, + 0.0, + 1.0008161067962646 + ], + [ + 0.31557852029800415, + -0.007990442216396332, + 0.10913894325494766, + -0.22183530032634735, + -0.05882296711206436, + 0.4150138795375824, + 0.0, + 1.0008161067962646 + ], + [ + 0.32677388191223145, + 0.012861284427344799, + 0.1041301041841507, + -0.2289460003376007, + -0.05581890419125557, + 0.39002153277397156, + 0.0, + 1.0008161067962646 + ], + [ + 0.3388706147670746, + 0.031963154673576355, + 0.1073983684182167, + -0.1996152549982071, + -0.07568980008363724, + 0.3470568358898163, + 0.0, + 1.0008161067962646 + ], + [ + 0.35429316759109497, + 0.03886851668357849, + 0.10601603984832764, + -0.2118961364030838, + -0.07736624777317047, + 0.2928844094276428, + 0.0, + 1.0008161067962646 + ], + [ + 0.36561790108680725, + 0.04512723907828331, + 0.10460193455219269, + -0.17840038239955902, + -0.06703995168209076, + 0.19408069550991058, + 0.0, + 1.0008161067962646 + ], + [ + 0.37361690402030945, + 0.04703176021575928, + 0.10151950269937515, + -0.10346487909555435, + -0.05553648993372917, + 0.0992242619395256, + 0.0, + 1.0008161067962646 + ] + ], + "left_gripper_pos": [ + [ + 1.0047606229782104 + ], + [ + 1.0047606229782104 + ], + [ + 1.0047606229782104 + ], + [ + 1.0047606229782104 + ], + [ + 1.0047606229782104 + ], + [ + 1.0047606229782104 + ], + [ + 1.0047606229782104 + ], + [ + 1.0047606229782104 + ], + [ + 0.9657809734344482 + ], + [ + 0.680191159248352 + ], + [ + 0.3703518807888031 + ], + [ + 0.1526326984167099 + ], + [ + 0.05297749489545822 + ], + [ + 0.05115113407373428 + ], + [ + 0.05115113407373428 + ], + [ + 0.05115113407373428 + ], + [ + 0.05115113407373428 + ], + [ + 0.05115113407373428 + ], + [ + 0.056468017399311066 + ], + [ + 0.08819076418876648 + ], + [ + 0.2631158232688904 + ], + [ + 0.529549777507782 + ], + [ + 0.8408563733100891 + ], + [ + 1.0092895030975342 + ], + [ + 1.003452181816101 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3433932065963745, + -0.04421687126159668, + 0.13635487854480743 + ], + [ + 0.33948931097984314, + -0.043303728103637695, + 0.12528058886528015 + ], + [ + 0.31438371539115906, + -0.03124961070716381, + 0.11759298294782639 + ], + [ + 0.29245907068252563, + -0.017094139009714127, + 0.1278541535139084 + ], + [ + 0.276424765586853, + -0.005999221466481686, + 0.1241728812456131 + ], + [ + 0.27230769395828247, + 0.012831018306314945, + 0.11601488292217255 + ], + [ + 0.2632419466972351, + 0.0380033478140831, + 0.08551011979579926 + ], + [ + 0.25952813029289246, + 0.05323924124240875, + 0.06230147182941437 + ], + [ + 0.26185330748558044, + 0.05955548211932182, + 0.043469615280628204 + ], + [ + 0.2718610465526581, + 0.054513074457645416, + 0.03969115763902664 + ], + [ + 0.27599138021469116, + 0.04590878635644913, + 0.038285065442323685 + ], + [ + 0.2825701832771301, + 0.03629753738641739, + 0.037532929331064224 + ], + [ + 0.28610938787460327, + 0.02074306830763817, + 0.03966957703232765 + ], + [ + 0.29128414392471313, + -0.013346066698431969, + 0.04134758934378624 + ], + [ + 0.29789283871650696, + -0.05727490037679672, + 0.04807655140757561 + ], + [ + 0.30393388867378235, + -0.0922553762793541, + 0.05748261511325836 + ], + [ + 0.3127116858959198, + -0.12604032456874847, + 0.07837412506341934 + ], + [ + 0.31118401885032654, + -0.13817337155342102, + 0.07658276706933975 + ], + [ + 0.29883822798728943, + -0.14078688621520996, + 0.05121765658259392 + ], + [ + 0.28750142455101013, + -0.14058588445186615, + 0.0323592945933342 + ], + [ + 0.2800500690937042, + -0.1432749181985855, + 0.032785650342702866 + ], + [ + 0.27438411116600037, + -0.14617423713207245, + 0.05927993729710579 + ], + [ + 0.27262431383132935, + -0.14516109228134155, + 0.08632432669401169 + ], + [ + 0.27504491806030273, + -0.13782641291618347, + 0.10819899290800095 + ], + [ + 0.2817930281162262, + -0.1207604706287384, + 0.11783655732870102 + ], + [ + 0.28869569301605225, + -0.08194756507873535, + 0.10196294635534286 + ], + [ + 0.3036254048347473, + -0.04963110014796257, + 0.10315199196338654 + ], + [ + 0.31557852029800415, + -0.007990442216396332, + 0.10913894325494766 + ], + [ + 0.32677388191223145, + 0.012861284427344799, + 0.1041301041841507 + ], + [ + 0.3388706147670746, + 0.031963154673576355, + 0.1073983684182167 + ], + [ + 0.35429316759109497, + 0.03886851668357849, + 0.10601603984832764 + ], + [ + 0.36561790108680725, + 0.04512723907828331, + 0.10460193455219269 + ], + [ + 0.37361690402030945, + 0.04703176021575928, + 0.10151950269937515 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9616703096530032, + -0.26274942888912217, + 0.07844076204587339, + -0.25995211034018034, + -0.9646117834207687, + -0.044147566359776916, + 0.08726463121783007, + 0.022064562181116455, + -0.9959407809875906 + ], + [ + 0.9689011792548606, + -0.24326457877173213, + 0.04530838281766912, + -0.24169703701207912, + -0.9696295197868019, + -0.03743176001202809, + 0.05303816680582367, + 0.025316774538399322, + -0.9982715130608756 + ], + [ + 0.999292498763085, + 0.007165827367459128, + 0.03692089969068664, + 0.006254263856368945, + -0.9996742005919287, + 0.024746249301729993, + 0.03708619823391025, + -0.024497828251259922, + -0.9990117468336032 + ], + [ + 0.966200244168424, + 0.2503737317305863, + 0.06140099859268022, + 0.24424335859499047, + -0.9652739418594186, + 0.0926897995974671, + 0.08247587496423908, + -0.0745601208856325, + -0.9938000394558268 + ], + [ + 0.8848199387321497, + 0.4658433097622165, + -0.00914804743202385, + 0.46402660572402116, + -0.8792552183091574, + 0.1076548663849422, + 0.042106830826823996, + -0.09950010967782669, + -0.9941462382224366 + ], + [ + 0.75139498658023, + 0.6570157246741901, + -0.0611221046180889, + 0.6582762626395771, + -0.7399779104113706, + 0.13822103366887353, + 0.04558438534593195, + -0.14409382233138954, + -0.9885135477971778 + ], + [ + 0.5662305268624557, + 0.8239378176088535, + -0.02257129068143531, + 0.8240791721155526, + -0.5664554390271703, + -0.004664084248960801, + -0.016628545769594907, + -0.01595958365671674, + -0.9997343562942573 + ], + [ + 0.35846505936742484, + 0.9330163312089533, + 0.03135804378614111, + 0.9310684700712141, + -0.35486889392208104, + -0.08473235607350754, + -0.06792867768444659, + 0.0595700749026202, + -0.9959101871776084 + ], + [ + 0.2697449833833517, + 0.9624935490006636, + -0.029048443531842327, + 0.9588440104210567, + -0.27125432110321995, + -0.08390027987137949, + -0.0886329939648881, + -0.005221246492797482, + -0.9960506668668425 + ], + [ + 0.28615695003412706, + 0.957644380502807, + -0.03211604643415947, + 0.9550647557339105, + -0.2877672866738146, + -0.07100212021704905, + -0.07723672897069009, + -0.010355153875512259, + -0.9969590054190406 + ], + [ + 0.2706395371681372, + 0.9626625684943282, + 0.005917781790495964, + 0.9580145730884462, + -0.2687181272204437, + -0.09999322903727217, + -0.09466952345702073, + 0.03273144242224745, + -0.9949705191639501 + ], + [ + 0.2848437657911018, + 0.9571228884355013, + 0.052723861038687855, + 0.9507656138804742, + -0.2750897005261512, + -0.1427249246870269, + -0.12210150102447152, + 0.090782339126701, + -0.9883571168106473 + ], + [ + 0.2828493315764725, + 0.9568926080387804, + 0.06597569482380469, + 0.9425715174351869, + -0.26455897735337786, + -0.2038810487065053, + -0.17763780607368515, + 0.11985442913165967, + -0.9767700474885848 + ], + [ + 0.2789012762972404, + 0.9579231387319129, + 0.06780367513468305, + 0.9395553000189831, + -0.25758666645976813, + -0.22557692140017757, + -0.19862002992147615, + 0.12661899361526865, + -0.9718630120391698 + ], + [ + 0.2911485569456245, + 0.9531522110968768, + 0.08205717683185781, + 0.9334643670498021, + -0.264256692638772, + -0.24251324880082226, + -0.2094678811579292, + 0.1472048330617985, + -0.9666715801586676 + ], + [ + 0.3194257348853126, + 0.942197175343268, + 0.1011517803508438, + 0.9197337231431154, + -0.282556103564463, + -0.27249206750247235, + -0.22816020337973367, + 0.1800736824570316, + -0.9568262070407996 + ], + [ + 0.45536457511226264, + 0.8826164250817102, + 0.11675337215177159, + 0.8693347037131861, + -0.41250418214576773, + -0.2722085094778597, + -0.19209444721994237, + 0.2254518704474036, + -0.9551288800256391 + ], + [ + 0.47775538525100636, + 0.8690050518851254, + 0.12876339410637158, + 0.8491388557459904, + -0.4192312269481885, + -0.32126061385408966, + -0.22519546071369315, + 0.26282198947128976, + -0.9381959317351043 + ], + [ + 0.4794477847857982, + 0.8746636997589413, + 0.07136689700408409, + 0.8349649183316706, + -0.42962854108035864, + -0.3438791965858785, + -0.27011739451463995, + 0.2244609743656193, + -0.9362979569386335 + ], + [ + 0.446384941896163, + 0.8888610673997255, + 0.10327868371246889, + 0.845605124301904, + -0.3812486659200723, + -0.3736327454714413, + -0.29273274057187537, + 0.2541170155561925, + -0.921809136970389 + ], + [ + 0.43806402776364817, + 0.897325148563528, + 0.053921102871993934, + 0.8500591456030363, + -0.39398539351433637, + -0.3495353468162975, + -0.2924027300763889, + 0.19895498850945156, + -0.9353702774789663 + ], + [ + 0.47040365351086905, + 0.8820023363621067, + 0.028147493945486074, + 0.8514265739522308, + -0.44525106056551594, + -0.2771719362295715, + -0.23193359379700176, + 0.15434821578841842, + -0.9604079530862595 + ], + [ + 0.48444009181754055, + 0.874635739852899, + 0.01816920503997861, + 0.8558539961992759, + -0.4695311422172085, + -0.21692036252489758, + -0.18119529417052305, + 0.12063510707988531, + -0.9760202028187132 + ], + [ + 0.533628009273399, + 0.845169439121165, + 0.03049207920959615, + 0.8372313203876536, + -0.5228334938822594, + -0.16027742772085957, + -0.1195193033817342, + 0.11105744842415853, + -0.9866009219885516 + ], + [ + 0.6857751775295162, + 0.727445629918383, + 0.02313571691146225, + 0.7249948241501188, + -0.67997924543028, + -0.10959347945751774, + -0.06399149037097669, + 0.09192976284486912, + -0.9937072042927874 + ], + [ + 0.8045940950118033, + 0.5929155649976895, + 0.032855365704973265, + 0.5922001568117664, + -0.7970728059154912, + -0.1182113207020584, + -0.0439012134713414, + 0.11456908332301584, + -0.9924447635018623 + ], + [ + 0.8760664599006216, + 0.47365028701231593, + 0.09034911980945419, + 0.48218863923795185, + -0.8610500913474278, + -0.16151426061013396, + 0.0012938419705182946, + 0.18506254565345387, + -0.982725892692982 + ], + [ + 0.9135279744950642, + 0.3814855067538473, + 0.1411929458284133, + 0.4025052637841918, + -0.8979015401735941, + -0.1782199112891295, + 0.058789050349219864, + 0.21963977847978117, + -0.9738080998165856 + ], + [ + 0.9234603672334785, + 0.35857651575913374, + 0.13654242013033605, + 0.37961616760357286, + -0.905580682363532, + -0.18924902383889944, + 0.05578992241422797, + 0.22659768329804245, + -0.9723893122000955 + ], + [ + 0.9376854462659288, + 0.31927720886234634, + 0.13714250895377286, + 0.33915776556702826, + -0.9268047704563729, + -0.16126043381713517, + 0.07561755032164649, + 0.1977245087498754, + -0.9773366895410065 + ], + [ + 0.9545511947034407, + 0.26669480611476476, + 0.13306350770080375, + 0.2878513732535896, + -0.940694490482333, + -0.17954236962958497, + 0.07728909112065199, + 0.20968489685142305, + -0.9747095159205903 + ], + [ + 0.9790212234595244, + 0.1781390653529616, + 0.09891368667171267, + 0.19243133304319915, + -0.967944890521312, + -0.16140901764431573, + 0.06698974607381218, + 0.17705694651399287, + -0.9819181287725101 + ], + [ + 0.9935471393552379, + 0.09282708759668268, + 0.06517065050574244, + 0.09890879553141435, + -0.9903278047839701, + -0.09730307928471654, + 0.0555079457875059, + 0.10312114661930777, + -0.9931187728939428 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.003903895616531372, + 0.0009131431579589844, + -0.011074289679527283, + -0.003204306587576866, + 0.03431270271539688, + 0.019538208842277527, + 1.0 + ], + [ + -0.025105595588684082, + 0.012054117396473885, + -0.007687605917453766, + 0.049872323870658875, + 0.015968360006809235, + 0.25072407722473145, + 1.0 + ], + [ + -0.021924644708633423, + 0.014155471697449684, + 0.010261170566082, + 0.05036783218383789, + -0.04547496140003204, + 0.24134187400341034, + 1.0 + ], + [ + -0.016034305095672607, + 0.011094917543232441, + -0.003681272268295288, + 0.024868808686733246, + 0.040450382977724075, + 0.2354000061750412, + 1.0 + ], + [ + -0.004117071628570557, + 0.01883023977279663, + -0.008157998323440552, + 0.044994913041591644, + -0.0034809038043022156, + 0.23643645644187927, + 1.0 + ], + [ + -0.009065747261047363, + 0.02517233043909073, + -0.03050476312637329, + -0.12878623604774475, + 0.062229499220848083, + 0.24933898448944092, + 1.0 + ], + [ + -0.0037138164043426514, + 0.015235893428325653, + -0.023208647966384888, + -0.07570599019527435, + 0.05135171487927437, + 0.23450809717178345, + 1.0 + ], + [ + 0.0023251771926879883, + 0.006316240876913071, + -0.018831856548786163, + 0.06498542428016663, + 0.0207684263586998, + 0.09327709674835205, + 0.0 + ], + [ + 0.010007739067077637, + -0.005042407661676407, + -0.0037784576416015625, + 0.0051444657146930695, + -0.011435724794864655, + -0.01687335968017578, + 0.0 + ], + [ + 0.004130333662033081, + -0.008604288101196289, + -0.0014060921967029572, + -0.04327140375971794, + 0.017497777938842773, + 0.015782713890075684, + 0.0 + ], + [ + 0.006578803062438965, + -0.009611248970031738, + -0.0007521361112594604, + -0.05870971083641052, + 0.02759544551372528, + -0.015758514404296875, + 0.0 + ], + [ + 0.0035392045974731445, + -0.01555446907877922, + 0.0021366477012634277, + -0.03049977868795395, + 0.056178607046604156, + -0.0004482269287109375, + 0.0 + ], + [ + 0.005174756050109863, + -0.03408913314342499, + 0.0016780123114585876, + -0.007460549473762512, + 0.021364137530326843, + 0.002973794937133789, + 0.0 + ], + [ + 0.006608694791793823, + -0.043928831815719604, + 0.006728962063789368, + -0.02156403660774231, + 0.011081039905548096, + -0.013780355453491211, + 0.0 + ], + [ + 0.006041049957275391, + -0.03498047590255737, + 0.009406063705682755, + -0.034903958439826965, + 0.019156888127326965, + -0.03193044662475586, + 0.0 + ], + [ + 0.008777797222137451, + -0.03378494828939438, + 0.02089150995016098, + -0.04577745497226715, + -0.03689172863960266, + -0.14824259281158447, + 0.0 + ], + [ + -0.0015276670455932617, + -0.012133046984672546, + -0.0017913579940795898, + -0.04133382439613342, + 0.03384774923324585, + -0.029979944229125977, + 0.0 + ], + [ + -0.01234579086303711, + -0.0026135146617889404, + -0.025365110486745834, + 0.037842392921447754, + 0.04637131094932556, + -0.008750557899475098, + 1.0 + ], + [ + -0.011336803436279297, + 0.00020100176334381104, + -0.01885836198925972, + -0.03369894623756409, + 0.023568570613861084, + 0.03553426265716553, + 1.0 + ], + [ + -0.007451355457305908, + -0.0026890337467193604, + 0.0004263557493686676, + 0.0594123899936676, + -0.0003451108932495117, + 0.00986933708190918, + 1.0 + ], + [ + -0.005665957927703857, + -0.0028993189334869385, + 0.026494286954402924, + 0.050229981541633606, + -0.0626734048128128, + -0.028912901878356934, + 1.0 + ], + [ + -0.0017597973346710205, + 0.001013144850730896, + 0.0270443893969059, + 0.036373235285282135, + -0.051863282918930054, + -0.010315895080566406, + 1.0 + ], + [ + 0.0024206042289733887, + 0.007334679365158081, + 0.021874666213989258, + 0.01088143140077591, + -0.06239602714776993, + -0.05237889289855957, + 1.0 + ], + [ + 0.006748110055923462, + 0.01706594228744507, + 0.009637564420700073, + 0.01984451711177826, + -0.05577045679092407, + -0.19015836715698242, + 1.0 + ], + [ + 0.00690266489982605, + 0.03881290555000305, + -0.015873610973358154, + -0.022683165967464447, + -0.020119916647672653, + -0.1786952018737793, + 1.0 + ], + [ + 0.014929711818695068, + 0.03231646493077278, + 0.0011890456080436707, + -0.07120314985513687, + -0.04520916938781738, + -0.1313442587852478, + 1.0 + ], + [ + 0.011953115463256836, + 0.04164065793156624, + 0.005986951291561127, + -0.03569963574409485, + -0.05752912536263466, + -0.08813783526420593, + 1.0 + ], + [ + 0.011195361614227295, + 0.020851727575063705, + -0.0050088390707969666, + -0.007110700011253357, + 0.003004062920808792, + -0.02499234676361084, + 1.0 + ], + [ + 0.01209673285484314, + 0.01910186931490898, + 0.0032682642340660095, + 0.029330745339393616, + -0.019870895892381668, + -0.04296469688415527, + 1.0 + ], + [ + 0.015422552824020386, + 0.006905362010002136, + -0.0013823285698890686, + -0.012280881404876709, + -0.0016764476895332336, + -0.05417242646217346, + 1.0 + ], + [ + 0.01132473349571228, + 0.006258722394704819, + -0.0014141052961349487, + 0.03349575400352478, + 0.010326296091079712, + -0.09880371391773224, + 1.0 + ], + [ + 0.007999002933502197, + 0.0019045211374759674, + -0.0030824318528175354, + 0.07493550330400467, + 0.011503461748361588, + -0.09485643357038498, + 1.0 + ], + [ + 0.010750651359558105, + -2.9653310775756836e-05, + -0.015923157334327698, + 0.004238329827785492, + 0.03028135560452938, + 0.02753116935491562, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0047606229782104 + ], + [ + 1.0047606229782104 + ], + [ + 1.0047606229782104 + ], + [ + 1.0047606229782104 + ], + [ + 1.0047606229782104 + ], + [ + 1.0047606229782104 + ], + [ + 1.0047606229782104 + ], + [ + 0.9657809734344482 + ], + [ + 0.680191159248352 + ], + [ + 0.3703518807888031 + ], + [ + 0.1526326984167099 + ], + [ + 0.05297749489545822 + ], + [ + 0.05115113407373428 + ], + [ + 0.05115113407373428 + ], + [ + 0.05115113407373428 + ], + [ + 0.05115113407373428 + ], + [ + 0.05115113407373428 + ], + [ + 0.056468017399311066 + ], + [ + 0.08819076418876648 + ], + [ + 0.2631158232688904 + ], + [ + 0.529549777507782 + ], + [ + 0.8408563733100891 + ], + [ + 1.0092895030975342 + ], + [ + 1.003452181816101 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.33948931097984314, + -0.043303728103637695, + 0.12528058886528015 + ], + [ + 0.31438371539115906, + -0.03124961070716381, + 0.11759298294782639 + ], + [ + 0.29245907068252563, + -0.017094139009714127, + 0.1278541535139084 + ], + [ + 0.276424765586853, + -0.005999221466481686, + 0.1241728812456131 + ], + [ + 0.27230769395828247, + 0.012831018306314945, + 0.11601488292217255 + ], + [ + 0.2632419466972351, + 0.0380033478140831, + 0.08551011979579926 + ], + [ + 0.25952813029289246, + 0.05323924124240875, + 0.06230147182941437 + ], + [ + 0.26185330748558044, + 0.05955548211932182, + 0.043469615280628204 + ], + [ + 0.2718610465526581, + 0.054513074457645416, + 0.03969115763902664 + ], + [ + 0.27599138021469116, + 0.04590878635644913, + 0.038285065442323685 + ], + [ + 0.2825701832771301, + 0.03629753738641739, + 0.037532929331064224 + ], + [ + 0.28610938787460327, + 0.02074306830763817, + 0.03966957703232765 + ], + [ + 0.29128414392471313, + -0.013346066698431969, + 0.04134758934378624 + ], + [ + 0.29789283871650696, + -0.05727490037679672, + 0.04807655140757561 + ], + [ + 0.30393388867378235, + -0.0922553762793541, + 0.05748261511325836 + ], + [ + 0.3127116858959198, + -0.12604032456874847, + 0.07837412506341934 + ], + [ + 0.31118401885032654, + -0.13817337155342102, + 0.07658276706933975 + ], + [ + 0.29883822798728943, + -0.14078688621520996, + 0.05121765658259392 + ], + [ + 0.28750142455101013, + -0.14058588445186615, + 0.0323592945933342 + ], + [ + 0.2800500690937042, + -0.1432749181985855, + 0.032785650342702866 + ], + [ + 0.27438411116600037, + -0.14617423713207245, + 0.05927993729710579 + ], + [ + 0.27262431383132935, + -0.14516109228134155, + 0.08632432669401169 + ], + [ + 0.27504491806030273, + -0.13782641291618347, + 0.10819899290800095 + ], + [ + 0.2817930281162262, + -0.1207604706287384, + 0.11783655732870102 + ], + [ + 0.28869569301605225, + -0.08194756507873535, + 0.10196294635534286 + ], + [ + 0.3036254048347473, + -0.04963110014796257, + 0.10315199196338654 + ], + [ + 0.31557852029800415, + -0.007990442216396332, + 0.10913894325494766 + ], + [ + 0.32677388191223145, + 0.012861284427344799, + 0.1041301041841507 + ], + [ + 0.3388706147670746, + 0.031963154673576355, + 0.1073983684182167 + ], + [ + 0.35429316759109497, + 0.03886851668357849, + 0.10601603984832764 + ], + [ + 0.36561790108680725, + 0.04512723907828331, + 0.10460193455219269 + ], + [ + 0.37361690402030945, + 0.04703176021575928, + 0.10151950269937515 + ], + [ + 0.38436755537986755, + 0.04700210690498352, + 0.08559634536504745 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9689011792548606, + -0.24326457877173213, + 0.04530838281766912, + -0.24169703701207912, + -0.9696295197868019, + -0.03743176001202809, + 0.05303816680582367, + 0.025316774538399322, + -0.9982715130608756 + ], + [ + 0.999292498763085, + 0.007165827367459128, + 0.03692089969068664, + 0.006254263856368945, + -0.9996742005919287, + 0.024746249301729993, + 0.03708619823391025, + -0.024497828251259922, + -0.9990117468336032 + ], + [ + 0.966200244168424, + 0.2503737317305863, + 0.06140099859268022, + 0.24424335859499047, + -0.9652739418594186, + 0.0926897995974671, + 0.08247587496423908, + -0.0745601208856325, + -0.9938000394558268 + ], + [ + 0.8848199387321497, + 0.4658433097622165, + -0.00914804743202385, + 0.46402660572402116, + -0.8792552183091574, + 0.1076548663849422, + 0.042106830826823996, + -0.09950010967782669, + -0.9941462382224366 + ], + [ + 0.75139498658023, + 0.6570157246741901, + -0.0611221046180889, + 0.6582762626395771, + -0.7399779104113706, + 0.13822103366887353, + 0.04558438534593195, + -0.14409382233138954, + -0.9885135477971778 + ], + [ + 0.5662305268624557, + 0.8239378176088535, + -0.02257129068143531, + 0.8240791721155526, + -0.5664554390271703, + -0.004664084248960801, + -0.016628545769594907, + -0.01595958365671674, + -0.9997343562942573 + ], + [ + 0.35846505936742484, + 0.9330163312089533, + 0.03135804378614111, + 0.9310684700712141, + -0.35486889392208104, + -0.08473235607350754, + -0.06792867768444659, + 0.0595700749026202, + -0.9959101871776084 + ], + [ + 0.2697449833833517, + 0.9624935490006636, + -0.029048443531842327, + 0.9588440104210567, + -0.27125432110321995, + -0.08390027987137949, + -0.0886329939648881, + -0.005221246492797482, + -0.9960506668668425 + ], + [ + 0.28615695003412706, + 0.957644380502807, + -0.03211604643415947, + 0.9550647557339105, + -0.2877672866738146, + -0.07100212021704905, + -0.07723672897069009, + -0.010355153875512259, + -0.9969590054190406 + ], + [ + 0.2706395371681372, + 0.9626625684943282, + 0.005917781790495964, + 0.9580145730884462, + -0.2687181272204437, + -0.09999322903727217, + -0.09466952345702073, + 0.03273144242224745, + -0.9949705191639501 + ], + [ + 0.2848437657911018, + 0.9571228884355013, + 0.052723861038687855, + 0.9507656138804742, + -0.2750897005261512, + -0.1427249246870269, + -0.12210150102447152, + 0.090782339126701, + -0.9883571168106473 + ], + [ + 0.2828493315764725, + 0.9568926080387804, + 0.06597569482380469, + 0.9425715174351869, + -0.26455897735337786, + -0.2038810487065053, + -0.17763780607368515, + 0.11985442913165967, + -0.9767700474885848 + ], + [ + 0.2789012762972404, + 0.9579231387319129, + 0.06780367513468305, + 0.9395553000189831, + -0.25758666645976813, + -0.22557692140017757, + -0.19862002992147615, + 0.12661899361526865, + -0.9718630120391698 + ], + [ + 0.2911485569456245, + 0.9531522110968768, + 0.08205717683185781, + 0.9334643670498021, + -0.264256692638772, + -0.24251324880082226, + -0.2094678811579292, + 0.1472048330617985, + -0.9666715801586676 + ], + [ + 0.3194257348853126, + 0.942197175343268, + 0.1011517803508438, + 0.9197337231431154, + -0.282556103564463, + -0.27249206750247235, + -0.22816020337973367, + 0.1800736824570316, + -0.9568262070407996 + ], + [ + 0.45536457511226264, + 0.8826164250817102, + 0.11675337215177159, + 0.8693347037131861, + -0.41250418214576773, + -0.2722085094778597, + -0.19209444721994237, + 0.2254518704474036, + -0.9551288800256391 + ], + [ + 0.47775538525100636, + 0.8690050518851254, + 0.12876339410637158, + 0.8491388557459904, + -0.4192312269481885, + -0.32126061385408966, + -0.22519546071369315, + 0.26282198947128976, + -0.9381959317351043 + ], + [ + 0.4794477847857982, + 0.8746636997589413, + 0.07136689700408409, + 0.8349649183316706, + -0.42962854108035864, + -0.3438791965858785, + -0.27011739451463995, + 0.2244609743656193, + -0.9362979569386335 + ], + [ + 0.446384941896163, + 0.8888610673997255, + 0.10327868371246889, + 0.845605124301904, + -0.3812486659200723, + -0.3736327454714413, + -0.29273274057187537, + 0.2541170155561925, + -0.921809136970389 + ], + [ + 0.43806402776364817, + 0.897325148563528, + 0.053921102871993934, + 0.8500591456030363, + -0.39398539351433637, + -0.3495353468162975, + -0.2924027300763889, + 0.19895498850945156, + -0.9353702774789663 + ], + [ + 0.47040365351086905, + 0.8820023363621067, + 0.028147493945486074, + 0.8514265739522308, + -0.44525106056551594, + -0.2771719362295715, + -0.23193359379700176, + 0.15434821578841842, + -0.9604079530862595 + ], + [ + 0.48444009181754055, + 0.874635739852899, + 0.01816920503997861, + 0.8558539961992759, + -0.4695311422172085, + -0.21692036252489758, + -0.18119529417052305, + 0.12063510707988531, + -0.9760202028187132 + ], + [ + 0.533628009273399, + 0.845169439121165, + 0.03049207920959615, + 0.8372313203876536, + -0.5228334938822594, + -0.16027742772085957, + -0.1195193033817342, + 0.11105744842415853, + -0.9866009219885516 + ], + [ + 0.6857751775295162, + 0.727445629918383, + 0.02313571691146225, + 0.7249948241501188, + -0.67997924543028, + -0.10959347945751774, + -0.06399149037097669, + 0.09192976284486912, + -0.9937072042927874 + ], + [ + 0.8045940950118033, + 0.5929155649976895, + 0.032855365704973265, + 0.5922001568117664, + -0.7970728059154912, + -0.1182113207020584, + -0.0439012134713414, + 0.11456908332301584, + -0.9924447635018623 + ], + [ + 0.8760664599006216, + 0.47365028701231593, + 0.09034911980945419, + 0.48218863923795185, + -0.8610500913474278, + -0.16151426061013396, + 0.0012938419705182946, + 0.18506254565345387, + -0.982725892692982 + ], + [ + 0.9135279744950642, + 0.3814855067538473, + 0.1411929458284133, + 0.4025052637841918, + -0.8979015401735941, + -0.1782199112891295, + 0.058789050349219864, + 0.21963977847978117, + -0.9738080998165856 + ], + [ + 0.9234603672334785, + 0.35857651575913374, + 0.13654242013033605, + 0.37961616760357286, + -0.905580682363532, + -0.18924902383889944, + 0.05578992241422797, + 0.22659768329804245, + -0.9723893122000955 + ], + [ + 0.9376854462659288, + 0.31927720886234634, + 0.13714250895377286, + 0.33915776556702826, + -0.9268047704563729, + -0.16126043381713517, + 0.07561755032164649, + 0.1977245087498754, + -0.9773366895410065 + ], + [ + 0.9545511947034407, + 0.26669480611476476, + 0.13306350770080375, + 0.2878513732535896, + -0.940694490482333, + -0.17954236962958497, + 0.07728909112065199, + 0.20968489685142305, + -0.9747095159205903 + ], + [ + 0.9790212234595244, + 0.1781390653529616, + 0.09891368667171267, + 0.19243133304319915, + -0.967944890521312, + -0.16140901764431573, + 0.06698974607381218, + 0.17705694651399287, + -0.9819181287725101 + ], + [ + 0.9935471393552379, + 0.09282708759668268, + 0.06517065050574244, + 0.09890879553141435, + -0.9903278047839701, + -0.09730307928471654, + 0.0555079457875059, + 0.10312114661930777, + -0.9931187728939428 + ], + [ + 0.9916609451076323, + 0.12331291020999696, + 0.03744991487010638, + 0.1263759618450956, + -0.987414071043022, + -0.0950924212225783, + 0.025252449702235346, + 0.09903220931488174, + -0.9947637585388045 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006084.json b/json/chunk-0006/episode_0006084.json new file mode 100644 index 0000000000000000000000000000000000000000..a9abd471bbd05cc1e90e82264c10c706f5cf30aa --- /dev/null +++ b/json/chunk-0006/episode_0006084.json @@ -0,0 +1,2122 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 34, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut the green cube in middle of the table." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006084.mp4", + "start": 0, + "end": 34, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3326808512210846, + -0.09002576768398285, + 0.13862313330173492, + 0.05534162372350693, + -0.03296888247132301, + -0.45406004786491394, + 0.0, + 1.0008161067962646 + ], + [ + 0.3305489718914032, + -0.0901903584599495, + 0.1255669742822647, + 0.0469951406121254, + 0.007552233524620533, + -0.4536115527153015, + 0.0, + 1.0008161067962646 + ], + [ + 0.34218189120292664, + -0.09041576087474823, + 0.13575953245162964, + 0.04804735630750656, + -0.03939420357346535, + -0.39435911178588867, + 0.0, + 1.0001531839370728 + ], + [ + 0.34697338938713074, + -0.08602879196405411, + 0.13758331537246704, + 0.06542624533176422, + -0.06021923944354057, + -0.344505250453949, + 0.0, + 1.0001531839370728 + ], + [ + 0.34911227226257324, + -0.08759332448244095, + 0.14111950993537903, + 0.07889513671398163, + -0.10400985181331635, + -0.2771950364112854, + 0.0, + 1.0001531839370728 + ], + [ + 0.353832870721817, + -0.08926640450954437, + 0.13534104824066162, + 0.06637046486139297, + -0.15212951600551605, + -0.2069411426782608, + 0.0, + 1.0008161067962646 + ], + [ + 0.36228618025779724, + -0.08404761552810669, + 0.12814728915691376, + 0.06793882697820663, + -0.19033662974834442, + -0.12072782218456268, + 0.0, + 1.0008161067962646 + ], + [ + 0.3664912283420563, + -0.06718385964632034, + 0.11715041846036911, + 0.025517156347632408, + -0.2143755555152893, + 0.008686758577823639, + 0.0, + 1.0008161067962646 + ], + [ + 0.36905741691589355, + -0.04929708316922188, + 0.11685850471258163, + 0.02502482570707798, + -0.2166442722082138, + 0.09958753734827042, + 0.0, + 1.0001531839370728 + ], + [ + 0.36952894926071167, + -0.031126195564866066, + 0.1114131361246109, + 0.007957450114190578, + -0.218996062874794, + 0.2205965220928192, + 0.0, + 1.0008161067962646 + ], + [ + 0.3713405728340149, + -0.020668210461735725, + 0.11150726675987244, + -0.010288778692483902, + -0.22161750495433807, + 0.2740184962749481, + 0.0, + 1.0008161067962646 + ], + [ + 0.3789598047733307, + -0.014524386264383793, + 0.11138827353715897, + -0.01613999903202057, + -0.22256408631801605, + 0.294698029756546, + 0.0, + 1.0008161067962646 + ], + [ + 0.3870924115180969, + -0.013090156950056553, + 0.11277905106544495, + -0.022854795679450035, + -0.23455706238746643, + 0.2987847328186035, + 0.0, + 1.0008161067962646 + ], + [ + 0.3918980658054352, + -0.013641667552292347, + 0.10842332243919373, + -0.031064318493008614, + -0.22663618624210358, + 0.306869775056839, + 0.0, + 1.0008161067962646 + ], + [ + 0.3964930474758148, + -0.0136775653809309, + 0.10579366236925125, + -0.031187180429697037, + -0.22545480728149414, + 0.31549718976020813, + 0.0, + 1.0001531839370728 + ], + [ + 0.40214115381240845, + -0.01308264397084713, + 0.10239080339670181, + -0.022307531908154488, + -0.21905796229839325, + 0.3139738142490387, + 0.0, + 1.0008161067962646 + ], + [ + 0.4074215888977051, + -0.012861233204603195, + 0.09383166581392288, + -0.010180855169892311, + -0.1973688155412674, + 0.31164783239364624, + 0.0, + 1.0008161067962646 + ], + [ + 0.4123155474662781, + -0.011008353903889656, + 0.08965915441513062, + -0.013894882053136826, + -0.189129039645195, + 0.3181903660297394, + 0.0, + 1.0001531839370728 + ], + [ + 0.4172210097312927, + -0.005911578424274921, + 0.0941103845834732, + -0.026047931984066963, + -0.20386722683906555, + 0.33060839772224426, + 0.0, + 0.9530308246612549 + ], + [ + 0.41811123490333557, + -0.0012553638080134988, + 0.09016215801239014, + -0.029096122831106186, + -0.19823139905929565, + 0.35315123200416565, + 0.0, + 0.6911999583244324 + ], + [ + 0.41898640990257263, + 0.0014899511588737369, + 0.0890474021434784, + -0.033417247235774994, + -0.19992603361606598, + 0.3637857735157013, + 0.0, + 0.5759422183036804 + ], + [ + 0.41899436712265015, + 0.0025600562803447247, + 0.0890674814581871, + -0.03063255548477173, + -0.20100125670433044, + 0.3638656437397003, + 0.0, + 0.5759422183036804 + ], + [ + 0.41520702838897705, + 0.002378844190388918, + 0.08956123888492584, + -0.026749594137072563, + -0.1991935819387436, + 0.3604985475540161, + 0.0, + 0.5759422183036804 + ], + [ + 0.4088609516620636, + 0.004964825231581926, + 0.1142483651638031, + -0.03451211005449295, + -0.2565007209777832, + 0.37153738737106323, + 0.0, + 0.5759422183036804 + ], + [ + 0.3997427225112915, + 0.015588237904012203, + 0.11329308897256851, + -0.02953183278441429, + -0.26257818937301636, + 0.40032273530960083, + 0.0, + 0.5759422183036804 + ], + [ + 0.3870916962623596, + 0.0391312874853611, + 0.09376735240221024, + -0.020265014842152596, + -0.2340303659439087, + 0.45068514347076416, + 0.0, + 0.5759422183036804 + ], + [ + 0.37703976035118103, + 0.053416408598423004, + 0.08129657804965973, + -0.004685779567807913, + -0.21388103067874908, + 0.46529868245124817, + 0.0, + 0.5759422183036804 + ], + [ + 0.3688935339450836, + 0.0669720247387886, + 0.0748484805226326, + 0.01811514049768448, + -0.19763855636119843, + 0.47182339429855347, + 0.0, + 0.5759422183036804 + ], + [ + 0.3593722879886627, + 0.08153489977121353, + 0.06562333554029465, + 0.03338458761572838, + -0.186634823679924, + 0.48809847235679626, + 0.0, + 0.5759422183036804 + ], + [ + 0.3549240529537201, + 0.09142473340034485, + 0.058363255113363266, + 0.022653236985206604, + -0.1940031796693802, + 0.4847579598426819, + 0.0, + 0.5759422183036804 + ], + [ + 0.35701820254325867, + 0.09556668996810913, + 0.053637512028217316, + -0.005993509199470282, + -0.2072228640317917, + 0.47417742013931274, + 0.0, + 0.5759422183036804 + ], + [ + 0.35493162274360657, + 0.09224050492048264, + 0.031184270977973938, + -0.009318194352090359, + -0.15160183608531952, + 0.44229817390441895, + 0.0, + 0.6470694541931152 + ], + [ + 0.35994604229927063, + 0.09197275340557098, + 0.022760454565286636, + -0.007267438340932131, + -0.14179550111293793, + 0.39915478229522705, + 0.0, + 0.9406655430793762 + ], + [ + 0.36370110511779785, + 0.09035332500934601, + 0.02315152995288372, + 0.003513155970722437, + -0.13065196573734283, + 0.3679772913455963, + 0.0, + 1.002137303352356 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 0.9530308246612549 + ], + [ + 0.6911999583244324 + ], + [ + 0.5759422183036804 + ], + [ + 0.5759422183036804 + ], + [ + 0.5759422183036804 + ], + [ + 0.5759422183036804 + ], + [ + 0.5759422183036804 + ], + [ + 0.5759422183036804 + ], + [ + 0.5759422183036804 + ], + [ + 0.5759422183036804 + ], + [ + 0.5759422183036804 + ], + [ + 0.5759422183036804 + ], + [ + 0.5759422183036804 + ], + [ + 0.6470694541931152 + ], + [ + 0.9406655430793762 + ], + [ + 1.002137303352356 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3326808512210846, + -0.09002576768398285, + 0.13862313330173492 + ], + [ + 0.3305489718914032, + -0.0901903584599495, + 0.1255669742822647 + ], + [ + 0.34218189120292664, + -0.09041576087474823, + 0.13575953245162964 + ], + [ + 0.34697338938713074, + -0.08602879196405411, + 0.13758331537246704 + ], + [ + 0.34911227226257324, + -0.08759332448244095, + 0.14111950993537903 + ], + [ + 0.353832870721817, + -0.08926640450954437, + 0.13534104824066162 + ], + [ + 0.36228618025779724, + -0.08404761552810669, + 0.12814728915691376 + ], + [ + 0.3664912283420563, + -0.06718385964632034, + 0.11715041846036911 + ], + [ + 0.36905741691589355, + -0.04929708316922188, + 0.11685850471258163 + ], + [ + 0.36952894926071167, + -0.031126195564866066, + 0.1114131361246109 + ], + [ + 0.3713405728340149, + -0.020668210461735725, + 0.11150726675987244 + ], + [ + 0.3789598047733307, + -0.014524386264383793, + 0.11138827353715897 + ], + [ + 0.3870924115180969, + -0.013090156950056553, + 0.11277905106544495 + ], + [ + 0.3918980658054352, + -0.013641667552292347, + 0.10842332243919373 + ], + [ + 0.3964930474758148, + -0.0136775653809309, + 0.10579366236925125 + ], + [ + 0.40214115381240845, + -0.01308264397084713, + 0.10239080339670181 + ], + [ + 0.4074215888977051, + -0.012861233204603195, + 0.09383166581392288 + ], + [ + 0.4123155474662781, + -0.011008353903889656, + 0.08965915441513062 + ], + [ + 0.4172210097312927, + -0.005911578424274921, + 0.0941103845834732 + ], + [ + 0.41811123490333557, + -0.0012553638080134988, + 0.09016215801239014 + ], + [ + 0.41898640990257263, + 0.0014899511588737369, + 0.0890474021434784 + ], + [ + 0.41899436712265015, + 0.0025600562803447247, + 0.0890674814581871 + ], + [ + 0.41520702838897705, + 0.002378844190388918, + 0.08956123888492584 + ], + [ + 0.4088609516620636, + 0.004964825231581926, + 0.1142483651638031 + ], + [ + 0.3997427225112915, + 0.015588237904012203, + 0.11329308897256851 + ], + [ + 0.3870916962623596, + 0.0391312874853611, + 0.09376735240221024 + ], + [ + 0.37703976035118103, + 0.053416408598423004, + 0.08129657804965973 + ], + [ + 0.3688935339450836, + 0.0669720247387886, + 0.0748484805226326 + ], + [ + 0.3593722879886627, + 0.08153489977121353, + 0.06562333554029465 + ], + [ + 0.3549240529537201, + 0.09142473340034485, + 0.058363255113363266 + ], + [ + 0.35701820254325867, + 0.09556668996810913, + 0.053637512028217316 + ], + [ + 0.35493162274360657, + 0.09224050492048264, + 0.031184270977973938 + ], + [ + 0.35994604229927063, + 0.09197275340557098, + 0.022760454565286636 + ], + [ + 0.36370110511779785, + 0.09035332500934601, + 0.02315152995288372 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8981853436455255, + -0.4363077497683979, + 0.05383898171777135, + -0.4383794418194944, + -0.8980976015925187, + 0.035272694875698535, + 0.03296291022343059, + -0.05528332032179961, + -0.9979264507185885 + ], + [ + 0.8988446984453149, + -0.4380497885814709, + 0.013805462704291295, + -0.4382022055283491, + -0.8977224463961585, + 0.04553280473007252, + -0.00755216173300236, + -0.046976504342331256, + -0.998867445106173 + ], + [ + 0.9225266945542294, + -0.38202678765284503, + 0.05477254193932633, + -0.38391847727716955, + -0.9229042957005074, + 0.029227791273543333, + 0.03938401503182086, + -0.047991608570648964, + -0.9980709918972571 + ], + [ + 0.9395365348937421, + -0.3333049172652174, + 0.07860618122442467, + -0.33711885762984306, + -0.9405577201776512, + 0.04125591890346634, + 0.06018284996749577, + -0.06526106910744245, + -0.9960517142341274 + ], + [ + 0.9566289675589927, + -0.2649373602857321, + 0.12111652881354959, + -0.27217994597552686, + -0.9610741964828747, + 0.04748121590224656, + 0.10382242260597899, + -0.07838739681622704, + -0.9915020527384704 + ], + [ + 0.9673610106537243, + -0.19517870999318584, + 0.16161047686459007, + -0.20309424962874786, + -0.9785743262036307, + 0.03383805347305305, + 0.1515433958796628, + -0.06555577213720541, + -0.9862743228457049 + ], + [ + 0.9747932976021912, + -0.10740698609325175, + 0.19555502112758463, + -0.11825978457349903, + -0.9919778756691233, + 0.04466002167042795, + 0.18918945610809193, + -0.066660584465916, + -0.9796753116089979 + ], + [ + 0.9770725613497484, + 0.01411147899623717, + 0.2124384052330961, + 0.008487806950534822, + -0.9995895877265387, + 0.0273607975369683, + 0.21273731922399708, + -0.024930348357519495, + -0.9767913342880147 + ], + [ + 0.9717853513158001, + 0.1047438404705977, + 0.2113337617407511, + 0.09709892100448828, + -0.9941989469837789, + 0.046262872328781054, + 0.2149535543036931, + -0.02443730140205597, + -0.9763184868639916 + ], + [ + 0.9524619207665133, + 0.22049164465398122, + 0.21023730431953977, + 0.2135856394162933, + -0.9753579360881296, + 0.055299829520869884, + 0.21724977358997968, + -0.00776731277126172, + -0.9760851421507327 + ], + [ + 0.9391468966761987, + 0.2684107194629587, + 0.2143800180540211, + 0.2639841149771698, + -0.9632522747927837, + 0.0495725947096568, + 0.21980785587231852, + 0.010036970853019318, + -0.9754915508157463 + ], + [ + 0.9332879002692136, + 0.28700421170605195, + 0.21587560694545896, + 0.2832868471029709, + -0.9577999773117856, + 0.048659692970683566, + 0.22073118825743807, + 0.015741217377665397, + -0.9752076479426978 + ], + [ + 0.9295254895781973, + 0.28920617036331253, + 0.22878407997104866, + 0.2862986792595087, + -0.9570087512022314, + 0.04655444529372531, + 0.23241219950483138, + 0.022227036377621634, + -0.9723633726005901 + ], + [ + 0.9289062015201828, + 0.29527736380273395, + 0.2234827671276992, + 0.2943513648880962, + -0.9549320940250166, + 0.038235713534752816, + 0.22470100748741728, + 0.030265066111025755, + -0.9739576392263859 + ], + [ + 0.9265838798332527, + 0.3035115782850107, + 0.22208790034600767, + 0.3024365273697856, + -0.9523428943081901, + 0.039688267450274345, + 0.22354968249957619, + 0.030392984513558558, + -0.9742185616927536 + ], + [ + 0.928384657347945, + 0.30415348585428226, + 0.2135242024774438, + 0.3014601258875593, + -0.9523741961296868, + 0.04588227376874969, + 0.21731019419437364, + 0.02177263394774563, + -0.9758597398756554 + ], + [ + 0.9333506961262525, + 0.30471145233436814, + 0.18975618265795763, + 0.3006746168059454, + -0.9523923928259654, + 0.050433172573517, + 0.19608991011583937, + 0.009983030777892872, + -0.9805351019964813 + ], + [ + 0.9328665583286957, + 0.31033699939929454, + 0.18289595718827764, + 0.3072696772246541, + -0.9505286503232557, + 0.04561392740059354, + 0.18800353669607098, + 0.013646674264889535, + -0.9820735402561649 + ], + [ + 0.9262574712100825, + 0.3195209634162848, + 0.19988359353641816, + 0.3178959974141541, + -0.947235882610278, + 0.04106479664612417, + 0.20245797552964656, + 0.025505619636789767, + -0.9789587486259981 + ], + [ + 0.9199124638078976, + 0.34033420406028453, + 0.19476572716352425, + 0.3390831743298192, + -0.9398718574535128, + 0.04078593450317956, + 0.1969356743134601, + 0.02852229151973583, + -0.9800014382995396 + ], + [ + 0.9159413113570408, + 0.34941505530404005, + 0.1973844808398548, + 0.34872741500827176, + -0.936395669504048, + 0.039399748168159034, + 0.19859683827088728, + 0.03274552276175156, + -0.979534086475742 + ], + [ + 0.9157133707939809, + 0.35000797544443013, + 0.19739158967498135, + 0.34872437355021685, + -0.9362658535479147, + 0.0423976741367175, + 0.19965052927837137, + 0.030011141355930963, + -0.9794074726861033 + ], + [ + 0.9172185727414844, + 0.3476622355820503, + 0.19452778662228667, + 0.3457658480718791, + -0.9372532266657287, + 0.0447478201906516, + 0.19787892289278605, + 0.026217533346438438, + -0.9798757945882834 + ], + [ + 0.9012861834978949, + 0.3546755466361369, + 0.24877393765054387, + 0.3511707376214249, + -0.9343935328959636, + 0.05989857027195626, + 0.253697316647661, + 0.033376373388335934, + -0.9667076544774119 + ], + [ + 0.8893692572651211, + 0.3824871437600321, + 0.2504514106368332, + 0.37635767591814695, + -0.9235206840011608, + 0.0739218912063214, + 0.2595712310892295, + 0.028515453359900876, + -0.9653028772931848 + ], + [ + 0.8756105097414748, + 0.43126301059026906, + 0.21752804629953437, + 0.42370824251485406, + -0.9020109106524113, + 0.08275048210724377, + 0.23189989317644905, + 0.019711234375989012, + -0.9725399255475975 + ], + [ + 0.873324481644667, + 0.44779598756993316, + 0.19178921574567662, + 0.4384661352241566, + -0.8941240329622777, + 0.09104758064255852, + 0.2122540883508844, + 0.004578995036015346, + -0.9772037836514935 + ], + [ + 0.8734009530563592, + 0.4576048198922452, + 0.16663914309558053, + 0.44566323837682686, + -0.8889782658580039, + 0.10536565280762053, + 0.19635440702903295, + -0.017761521429265355, + -0.9803721105767926 + ], + [ + 0.8678882570914367, + 0.47415618631006795, + 0.1481414330519313, + 0.46080362173806, + -0.8798296160758803, + 0.116446849973949, + 0.1855532144584798, + -0.03279874478788233, + -0.9820866799547096 + ], + [ + 0.8681894400976508, + 0.46973844591964037, + 0.15997777510619807, + 0.4572523223406309, + -0.8825257962006169, + 0.10985687395228207, + 0.1927885105939354, + -0.022226368697313717, + -0.9809885721645811 + ], + [ + 0.8706351045857449, + 0.4555015133842198, + 0.18577644083051786, + 0.44683816203563637, + -0.8902156874347738, + 0.0886097443492985, + 0.20574297463481928, + 0.005865249331363134, + -0.9785884871787004 + ], + [ + 0.8934045377927433, + 0.42672722026936016, + 0.14047138972943976, + 0.423108438839649, + -0.9043334747451165, + 0.056215793493458656, + 0.1510217892689997, + 0.009211185407383436, + -0.988487517993718 + ], + [ + 0.9121426022757692, + 0.3876831469619006, + 0.13303251736062735, + 0.38473926000649966, + -0.921764621595364, + 0.048225347949046926, + 0.1413208226810165, + 0.007194437912231497, + -0.9899377077068475 + ], + [ + 0.9251045915949281, + 0.36015370249977885, + 0.12029465983859088, + 0.3566629574824829, + -0.932886476398048, + 0.05014336360360167, + 0.1302805794039546, + -0.0034832067603248335, + -0.9914710474344851 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0021318793296813965, + -0.0001645907759666443, + -0.013056159019470215, + -0.00834648311138153, + 0.04052111506462097, + 0.00044849514961242676, + 1.0 + ], + [ + 0.011632919311523438, + -0.00022540241479873657, + 0.01019255816936493, + 0.0010522156953811646, + -0.046946436166763306, + 0.05925244092941284, + 1.0 + ], + [ + 0.0047914981842041016, + 0.004386968910694122, + 0.0018237829208374023, + 0.01737888902425766, + -0.020825035870075226, + 0.0498538613319397, + 1.0 + ], + [ + 0.002138882875442505, + -0.0015645325183868408, + 0.0035361945629119873, + 0.013468891382217407, + -0.04379061236977577, + 0.06731021404266357, + 1.0 + ], + [ + 0.004720598459243774, + -0.001673080027103424, + -0.005778461694717407, + -0.012524671852588654, + -0.04811966419219971, + 0.0702538937330246, + 1.0 + ], + [ + 0.008453309535980225, + 0.005218788981437683, + -0.007193759083747864, + 0.0015683621168136597, + -0.03820711374282837, + 0.08621332049369812, + 1.0 + ], + [ + 0.004205048084259033, + 0.016863755881786346, + -0.010996870696544647, + -0.04242166876792908, + -0.024038925766944885, + 0.12941458821296692, + 1.0 + ], + [ + 0.0025661885738372803, + 0.017886776477098465, + -0.0002919137477874756, + -0.0004923306405544281, + -0.0022687166929244995, + 0.09090077877044678, + 1.0 + ], + [ + 0.00047153234481811523, + 0.018170887604355812, + -0.005445368587970734, + -0.017067376524209976, + -0.0023517906665802, + 0.1210089847445488, + 1.0 + ], + [ + 0.0018116235733032227, + 0.01045798510313034, + 9.413063526153564e-05, + -0.018246229737997055, + -0.0026214420795440674, + 0.053421974182128906, + 1.0 + ], + [ + 0.007619231939315796, + 0.0061438241973519325, + -0.00011899322271347046, + -0.005851220339536667, + -0.0009465813636779785, + 0.0206795334815979, + 1.0 + ], + [ + 0.008132606744766235, + 0.00143422931432724, + 0.0013907775282859802, + -0.006714796647429466, + -0.011992976069450378, + 0.004086703062057495, + 1.0 + ], + [ + 0.004805654287338257, + -0.0005515106022357941, + -0.004355728626251221, + -0.008209522813558578, + 0.007920876145362854, + 0.008085042238235474, + 1.0 + ], + [ + 0.004594981670379639, + -3.589782863855362e-05, + -0.0026296600699424744, + -0.00012286193668842316, + 0.001181378960609436, + 0.00862741470336914, + 1.0 + ], + [ + 0.005648106336593628, + 0.0005949214100837708, + -0.0034028589725494385, + 0.00887964852154255, + 0.006396844983100891, + -0.0015233755111694336, + 1.0 + ], + [ + 0.005280435085296631, + 0.00022141076624393463, + -0.00855913758277893, + 0.012126676738262177, + 0.021689146757125854, + -0.002325981855392456, + 1.0 + ], + [ + 0.004893958568572998, + 0.0018528793007135391, + -0.004172511398792267, + -0.0037140268832445145, + 0.008239775896072388, + 0.00654253363609314, + 1.0 + ], + [ + 0.0049054622650146484, + 0.005096775479614735, + 0.00445123016834259, + -0.012153049930930138, + -0.014738187193870544, + 0.012418031692504883, + 0.0 + ], + [ + 0.0008902251720428467, + 0.0046562147326767445, + -0.003948226571083069, + -0.0030481908470392227, + 0.0056358277797698975, + 0.022542834281921387, + 0.0 + ], + [ + 0.0008751749992370605, + 0.0027453149668872356, + -0.0011147558689117432, + -0.004321124404668808, + -0.0016946345567703247, + 0.010634541511535645, + 0.0 + ], + [ + 7.957220077514648e-06, + 0.0010701051214709878, + 2.0079314708709717e-05, + 0.0027846917510032654, + -0.0010752230882644653, + 7.987022399902344e-05, + 0.0 + ], + [ + -0.0037873387336730957, + -0.00018121208995580673, + 0.000493757426738739, + 0.0038829613476991653, + 0.001807674765586853, + -0.003367096185684204, + 0.0 + ], + [ + -0.006346076726913452, + 0.0025859810411930084, + 0.02468712627887726, + -0.007762515917420387, + -0.05730713903903961, + 0.01103883981704712, + 0.0 + ], + [ + -0.009118229150772095, + 0.01062341220676899, + -0.0009552761912345886, + 0.004980277270078659, + -0.006077468395233154, + 0.028785347938537598, + 0.0 + ], + [ + -0.012651026248931885, + 0.02354304865002632, + -0.019525736570358276, + 0.009266817942261696, + 0.028547823429107666, + 0.05036240816116333, + 0.0 + ], + [ + -0.010051935911178589, + 0.014285121113061905, + -0.012470774352550507, + 0.015579234808683395, + 0.020149335265159607, + 0.014613538980484009, + 0.0 + ], + [ + -0.008146226406097412, + 0.0135556161403656, + -0.00644809752702713, + 0.02280092053115368, + 0.01624247431755066, + 0.006524711847305298, + 0.0 + ], + [ + -0.009521245956420898, + 0.014562875032424927, + -0.009225144982337952, + 0.0152694471180439, + 0.011003732681274414, + 0.016275078058242798, + 0.0 + ], + [ + -0.004448235034942627, + 0.009889833629131317, + -0.007260080426931381, + -0.010731350630521774, + -0.007368355989456177, + -0.00334051251411438, + 0.0 + ], + [ + 0.0020941495895385742, + 0.004141956567764282, + -0.00472574308514595, + -0.028646746650338173, + -0.013219684362411499, + -0.01058053970336914, + 0.0 + ], + [ + -0.0020865797996520996, + -0.0033261850476264954, + -0.022453241050243378, + -0.003324685152620077, + 0.05562102794647217, + -0.0318792462348938, + 1.0 + ], + [ + 0.0050144195556640625, + -0.0002677515149116516, + -0.008423816412687302, + 0.002050756011158228, + 0.009806334972381592, + -0.043143391609191895, + 1.0 + ], + [ + 0.0037550628185272217, + -0.0016194283962249756, + 0.00039107538759708405, + 0.010780594311654568, + 0.011143535375595093, + -0.031177490949630737, + 1.0 + ], + [ + -0.0029806196689605713, + 0.0008647069334983826, + 0.0012651700526475906, + 0.032016731798648834, + 0.017408423125743866, + -0.023946046829223633, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 0.9530308246612549 + ], + [ + 0.6911999583244324 + ], + [ + 0.5759422183036804 + ], + [ + 0.5759422183036804 + ], + [ + 0.5759422183036804 + ], + [ + 0.5759422183036804 + ], + [ + 0.5759422183036804 + ], + [ + 0.5759422183036804 + ], + [ + 0.5759422183036804 + ], + [ + 0.5759422183036804 + ], + [ + 0.5759422183036804 + ], + [ + 0.5759422183036804 + ], + [ + 0.5759422183036804 + ], + [ + 0.6470694541931152 + ], + [ + 0.9406655430793762 + ], + [ + 1.002137303352356 + ], + [ + 0.9981546401977539 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3305489718914032, + -0.0901903584599495, + 0.1255669742822647 + ], + [ + 0.34218189120292664, + -0.09041576087474823, + 0.13575953245162964 + ], + [ + 0.34697338938713074, + -0.08602879196405411, + 0.13758331537246704 + ], + [ + 0.34911227226257324, + -0.08759332448244095, + 0.14111950993537903 + ], + [ + 0.353832870721817, + -0.08926640450954437, + 0.13534104824066162 + ], + [ + 0.36228618025779724, + -0.08404761552810669, + 0.12814728915691376 + ], + [ + 0.3664912283420563, + -0.06718385964632034, + 0.11715041846036911 + ], + [ + 0.36905741691589355, + -0.04929708316922188, + 0.11685850471258163 + ], + [ + 0.36952894926071167, + -0.031126195564866066, + 0.1114131361246109 + ], + [ + 0.3713405728340149, + -0.020668210461735725, + 0.11150726675987244 + ], + [ + 0.3789598047733307, + -0.014524386264383793, + 0.11138827353715897 + ], + [ + 0.3870924115180969, + -0.013090156950056553, + 0.11277905106544495 + ], + [ + 0.3918980658054352, + -0.013641667552292347, + 0.10842332243919373 + ], + [ + 0.3964930474758148, + -0.0136775653809309, + 0.10579366236925125 + ], + [ + 0.40214115381240845, + -0.01308264397084713, + 0.10239080339670181 + ], + [ + 0.4074215888977051, + -0.012861233204603195, + 0.09383166581392288 + ], + [ + 0.4123155474662781, + -0.011008353903889656, + 0.08965915441513062 + ], + [ + 0.4172210097312927, + -0.005911578424274921, + 0.0941103845834732 + ], + [ + 0.41811123490333557, + -0.0012553638080134988, + 0.09016215801239014 + ], + [ + 0.41898640990257263, + 0.0014899511588737369, + 0.0890474021434784 + ], + [ + 0.41899436712265015, + 0.0025600562803447247, + 0.0890674814581871 + ], + [ + 0.41520702838897705, + 0.002378844190388918, + 0.08956123888492584 + ], + [ + 0.4088609516620636, + 0.004964825231581926, + 0.1142483651638031 + ], + [ + 0.3997427225112915, + 0.015588237904012203, + 0.11329308897256851 + ], + [ + 0.3870916962623596, + 0.0391312874853611, + 0.09376735240221024 + ], + [ + 0.37703976035118103, + 0.053416408598423004, + 0.08129657804965973 + ], + [ + 0.3688935339450836, + 0.0669720247387886, + 0.0748484805226326 + ], + [ + 0.3593722879886627, + 0.08153489977121353, + 0.06562333554029465 + ], + [ + 0.3549240529537201, + 0.09142473340034485, + 0.058363255113363266 + ], + [ + 0.35701820254325867, + 0.09556668996810913, + 0.053637512028217316 + ], + [ + 0.35493162274360657, + 0.09224050492048264, + 0.031184270977973938 + ], + [ + 0.35994604229927063, + 0.09197275340557098, + 0.022760454565286636 + ], + [ + 0.36370110511779785, + 0.09035332500934601, + 0.02315152995288372 + ], + [ + 0.3607204854488373, + 0.09121803194284439, + 0.02441670000553131 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8988446984453149, + -0.4380497885814709, + 0.013805462704291295, + -0.4382022055283491, + -0.8977224463961585, + 0.04553280473007252, + -0.00755216173300236, + -0.046976504342331256, + -0.998867445106173 + ], + [ + 0.9225266945542294, + -0.38202678765284503, + 0.05477254193932633, + -0.38391847727716955, + -0.9229042957005074, + 0.029227791273543333, + 0.03938401503182086, + -0.047991608570648964, + -0.9980709918972571 + ], + [ + 0.9395365348937421, + -0.3333049172652174, + 0.07860618122442467, + -0.33711885762984306, + -0.9405577201776512, + 0.04125591890346634, + 0.06018284996749577, + -0.06526106910744245, + -0.9960517142341274 + ], + [ + 0.9566289675589927, + -0.2649373602857321, + 0.12111652881354959, + -0.27217994597552686, + -0.9610741964828747, + 0.04748121590224656, + 0.10382242260597899, + -0.07838739681622704, + -0.9915020527384704 + ], + [ + 0.9673610106537243, + -0.19517870999318584, + 0.16161047686459007, + -0.20309424962874786, + -0.9785743262036307, + 0.03383805347305305, + 0.1515433958796628, + -0.06555577213720541, + -0.9862743228457049 + ], + [ + 0.9747932976021912, + -0.10740698609325175, + 0.19555502112758463, + -0.11825978457349903, + -0.9919778756691233, + 0.04466002167042795, + 0.18918945610809193, + -0.066660584465916, + -0.9796753116089979 + ], + [ + 0.9770725613497484, + 0.01411147899623717, + 0.2124384052330961, + 0.008487806950534822, + -0.9995895877265387, + 0.0273607975369683, + 0.21273731922399708, + -0.024930348357519495, + -0.9767913342880147 + ], + [ + 0.9717853513158001, + 0.1047438404705977, + 0.2113337617407511, + 0.09709892100448828, + -0.9941989469837789, + 0.046262872328781054, + 0.2149535543036931, + -0.02443730140205597, + -0.9763184868639916 + ], + [ + 0.9524619207665133, + 0.22049164465398122, + 0.21023730431953977, + 0.2135856394162933, + -0.9753579360881296, + 0.055299829520869884, + 0.21724977358997968, + -0.00776731277126172, + -0.9760851421507327 + ], + [ + 0.9391468966761987, + 0.2684107194629587, + 0.2143800180540211, + 0.2639841149771698, + -0.9632522747927837, + 0.0495725947096568, + 0.21980785587231852, + 0.010036970853019318, + -0.9754915508157463 + ], + [ + 0.9332879002692136, + 0.28700421170605195, + 0.21587560694545896, + 0.2832868471029709, + -0.9577999773117856, + 0.048659692970683566, + 0.22073118825743807, + 0.015741217377665397, + -0.9752076479426978 + ], + [ + 0.9295254895781973, + 0.28920617036331253, + 0.22878407997104866, + 0.2862986792595087, + -0.9570087512022314, + 0.04655444529372531, + 0.23241219950483138, + 0.022227036377621634, + -0.9723633726005901 + ], + [ + 0.9289062015201828, + 0.29527736380273395, + 0.2234827671276992, + 0.2943513648880962, + -0.9549320940250166, + 0.038235713534752816, + 0.22470100748741728, + 0.030265066111025755, + -0.9739576392263859 + ], + [ + 0.9265838798332527, + 0.3035115782850107, + 0.22208790034600767, + 0.3024365273697856, + -0.9523428943081901, + 0.039688267450274345, + 0.22354968249957619, + 0.030392984513558558, + -0.9742185616927536 + ], + [ + 0.928384657347945, + 0.30415348585428226, + 0.2135242024774438, + 0.3014601258875593, + -0.9523741961296868, + 0.04588227376874969, + 0.21731019419437364, + 0.02177263394774563, + -0.9758597398756554 + ], + [ + 0.9333506961262525, + 0.30471145233436814, + 0.18975618265795763, + 0.3006746168059454, + -0.9523923928259654, + 0.050433172573517, + 0.19608991011583937, + 0.009983030777892872, + -0.9805351019964813 + ], + [ + 0.9328665583286957, + 0.31033699939929454, + 0.18289595718827764, + 0.3072696772246541, + -0.9505286503232557, + 0.04561392740059354, + 0.18800353669607098, + 0.013646674264889535, + -0.9820735402561649 + ], + [ + 0.9262574712100825, + 0.3195209634162848, + 0.19988359353641816, + 0.3178959974141541, + -0.947235882610278, + 0.04106479664612417, + 0.20245797552964656, + 0.025505619636789767, + -0.9789587486259981 + ], + [ + 0.9199124638078976, + 0.34033420406028453, + 0.19476572716352425, + 0.3390831743298192, + -0.9398718574535128, + 0.04078593450317956, + 0.1969356743134601, + 0.02852229151973583, + -0.9800014382995396 + ], + [ + 0.9159413113570408, + 0.34941505530404005, + 0.1973844808398548, + 0.34872741500827176, + -0.936395669504048, + 0.039399748168159034, + 0.19859683827088728, + 0.03274552276175156, + -0.979534086475742 + ], + [ + 0.9157133707939809, + 0.35000797544443013, + 0.19739158967498135, + 0.34872437355021685, + -0.9362658535479147, + 0.0423976741367175, + 0.19965052927837137, + 0.030011141355930963, + -0.9794074726861033 + ], + [ + 0.9172185727414844, + 0.3476622355820503, + 0.19452778662228667, + 0.3457658480718791, + -0.9372532266657287, + 0.0447478201906516, + 0.19787892289278605, + 0.026217533346438438, + -0.9798757945882834 + ], + [ + 0.9012861834978949, + 0.3546755466361369, + 0.24877393765054387, + 0.3511707376214249, + -0.9343935328959636, + 0.05989857027195626, + 0.253697316647661, + 0.033376373388335934, + -0.9667076544774119 + ], + [ + 0.8893692572651211, + 0.3824871437600321, + 0.2504514106368332, + 0.37635767591814695, + -0.9235206840011608, + 0.0739218912063214, + 0.2595712310892295, + 0.028515453359900876, + -0.9653028772931848 + ], + [ + 0.8756105097414748, + 0.43126301059026906, + 0.21752804629953437, + 0.42370824251485406, + -0.9020109106524113, + 0.08275048210724377, + 0.23189989317644905, + 0.019711234375989012, + -0.9725399255475975 + ], + [ + 0.873324481644667, + 0.44779598756993316, + 0.19178921574567662, + 0.4384661352241566, + -0.8941240329622777, + 0.09104758064255852, + 0.2122540883508844, + 0.004578995036015346, + -0.9772037836514935 + ], + [ + 0.8734009530563592, + 0.4576048198922452, + 0.16663914309558053, + 0.44566323837682686, + -0.8889782658580039, + 0.10536565280762053, + 0.19635440702903295, + -0.017761521429265355, + -0.9803721105767926 + ], + [ + 0.8678882570914367, + 0.47415618631006795, + 0.1481414330519313, + 0.46080362173806, + -0.8798296160758803, + 0.116446849973949, + 0.1855532144584798, + -0.03279874478788233, + -0.9820866799547096 + ], + [ + 0.8681894400976508, + 0.46973844591964037, + 0.15997777510619807, + 0.4572523223406309, + -0.8825257962006169, + 0.10985687395228207, + 0.1927885105939354, + -0.022226368697313717, + -0.9809885721645811 + ], + [ + 0.8706351045857449, + 0.4555015133842198, + 0.18577644083051786, + 0.44683816203563637, + -0.8902156874347738, + 0.0886097443492985, + 0.20574297463481928, + 0.005865249331363134, + -0.9785884871787004 + ], + [ + 0.8934045377927433, + 0.42672722026936016, + 0.14047138972943976, + 0.423108438839649, + -0.9043334747451165, + 0.056215793493458656, + 0.1510217892689997, + 0.009211185407383436, + -0.988487517993718 + ], + [ + 0.9121426022757692, + 0.3876831469619006, + 0.13303251736062735, + 0.38473926000649966, + -0.921764621595364, + 0.048225347949046926, + 0.1413208226810165, + 0.007194437912231497, + -0.9899377077068475 + ], + [ + 0.9251045915949281, + 0.36015370249977885, + 0.12029465983859088, + 0.3566629574824829, + -0.932886476398048, + 0.05014336360360167, + 0.1302805794039546, + -0.0034832067603248335, + -0.9914710474344851 + ], + [ + 0.9353727681789393, + 0.3408508559322616, + 0.09433174735746827, + 0.33512446961900844, + -0.9394546104116964, + 0.07153058673593041, + 0.11300165667744366, + -0.035294886123245085, + -0.9929677218327395 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006085.json b/json/chunk-0006/episode_0006085.json new file mode 100644 index 0000000000000000000000000000000000000000..79d842e268462b1342fd3f8e8e5ae1ba0f2c3b1e --- /dev/null +++ b/json/chunk-0006/episode_0006085.json @@ -0,0 +1,2302 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 37, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the red hexagon to the right side of the table." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006085.mp4", + "start": 0, + "end": 37, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3530062437057495, + -0.07799457013607025, + 0.05071588233113289, + -0.023626727983355522, + -0.14086179435253143, + 0.5213794112205505, + 0.0, + 1.0001531839370728 + ], + [ + 0.35306623578071594, + -0.07779590040445328, + 0.050768397748470306, + -0.02322893775999546, + -0.13698384165763855, + 0.5247821807861328, + 0.0, + 1.0001531839370728 + ], + [ + 0.3470901846885681, + -0.07567860931158066, + 0.05296468362212181, + 0.003933898638933897, + -0.10950636118650436, + 0.5239135026931763, + 0.0, + 1.0001531839370728 + ], + [ + 0.3500232696533203, + -0.07387585937976837, + 0.056615136563777924, + 0.0012148553505539894, + -0.11515724658966064, + 0.5273377895355225, + 0.0, + 1.0001531839370728 + ], + [ + 0.35159754753112793, + -0.07093709707260132, + 0.06652934849262238, + -0.0017019227379933, + -0.1382431834936142, + 0.526191234588623, + 0.0, + 1.0001531839370728 + ], + [ + 0.3528909981250763, + -0.06979905068874359, + 0.08359888195991516, + -0.02879459038376808, + -0.17299884557724, + 0.5358369946479797, + 0.0, + 1.0001531839370728 + ], + [ + 0.35242098569869995, + -0.06995553523302078, + 0.10034135729074478, + -0.06430380046367645, + -0.19462242722511292, + 0.5503257513046265, + 0.0, + 1.0001531839370728 + ], + [ + 0.34789538383483887, + -0.06344514340162277, + 0.10616259276866913, + -0.047055959701538086, + -0.1871524453163147, + 0.5552915930747986, + 0.0, + 1.0001531839370728 + ], + [ + 0.33846333622932434, + -0.05120401829481125, + 0.12078996002674103, + -0.060447823256254196, + -0.21123383939266205, + 0.6074525713920593, + 0.0, + 1.0001531839370728 + ], + [ + 0.3275671601295471, + -0.042834073305130005, + 0.1538091003894806, + -0.08497059345245361, + -0.2624780535697937, + 0.6773409843444824, + 0.0, + 1.0001531839370728 + ], + [ + 0.31541207432746887, + -0.040247950702905655, + 0.18323948979377747, + -0.11265102028846741, + -0.3099573850631714, + 0.7060752511024475, + 0.0, + 1.0001531839370728 + ], + [ + 0.3034398555755615, + -0.036536965519189835, + 0.2002324014902115, + -0.13848257064819336, + -0.3048364520072937, + 0.7304613590240479, + 0.0, + 1.0001531839370728 + ], + [ + 0.29424765706062317, + -0.03261667117476463, + 0.20570944249629974, + -0.13055406510829926, + -0.2460743635892868, + 0.7434374094009399, + 0.0, + 1.0001531839370728 + ], + [ + 0.2894783616065979, + -0.023418160155415535, + 0.19038133323192596, + -0.07634083926677704, + -0.11242754757404327, + 0.7784168124198914, + 0.0, + 1.0001531839370728 + ], + [ + 0.29099002480506897, + -0.016172803938388824, + 0.16973024606704712, + -0.01909896917641163, + -0.06326223909854889, + 0.7966905832290649, + 0.0, + 1.0001531839370728 + ], + [ + 0.2797907888889313, + -0.012558330781757832, + 0.14673103392124176, + 0.021481240168213844, + -0.030647246167063713, + 0.8068293333053589, + 0.0, + 1.0001531839370728 + ], + [ + 0.2712922692298889, + -0.012316164560616016, + 0.13458599150180817, + 0.0420336090028286, + -0.007307917345315218, + 0.806921660900116, + 0.0, + 1.0001531839370728 + ], + [ + 0.2681328356266022, + -0.01256529800593853, + 0.133943110704422, + 0.054316651076078415, + 0.006676055025309324, + 0.8082554340362549, + 0.0, + 0.9994885921478271 + ], + [ + 0.26576271653175354, + -0.012398475781083107, + 0.13853710889816284, + 0.05085274577140808, + 0.00363561837002635, + 0.8085994720458984, + 0.0, + 0.9657809734344482 + ], + [ + 0.2625513970851898, + -0.01060968916863203, + 0.13545376062393188, + 0.061478015035390854, + 0.0019325047032907605, + 0.8247100710868835, + 0.0, + 0.6871993541717529 + ], + [ + 0.26220670342445374, + -0.009414348751306534, + 0.13402985036373138, + 0.0660628005862236, + -0.004112266469746828, + 0.828410267829895, + 0.0, + 0.520771861076355 + ], + [ + 0.26138895750045776, + -0.008647737093269825, + 0.13413381576538086, + 0.07116080075502396, + -0.0066290744580328465, + 0.8409824967384338, + 0.0, + 0.520771861076355 + ], + [ + 0.2589302062988281, + -0.00751522509381175, + 0.13552039861679077, + 0.08330751955509186, + -0.0056947157718241215, + 0.8506622910499573, + 0.0, + 0.520771861076355 + ], + [ + 0.2682642340660095, + -0.017475629225373268, + 0.15249145030975342, + 0.03295629471540451, + -0.025897720828652382, + 0.8315842747688293, + 0.0, + 0.520771861076355 + ], + [ + 0.2886620759963989, + -0.04428979754447937, + 0.17866764962673187, + -0.03970528021454811, + -0.06884102523326874, + 0.7850062251091003, + 0.0, + 0.5217453241348267 + ], + [ + 0.31314176321029663, + -0.07340678572654724, + 0.18061862885951996, + -0.06134709343314171, + -0.05701353773474693, + 0.7319738864898682, + 0.0, + 0.520771861076355 + ], + [ + 0.33939799666404724, + -0.10667087137699127, + 0.16064387559890747, + -0.03742615878582001, + 0.005742308683693409, + 0.6777983903884888, + 0.0, + 0.520771861076355 + ], + [ + 0.3604494035243988, + -0.13003350794315338, + 0.13961556553840637, + -0.014159723185002804, + 0.038568995893001556, + 0.6267676949501038, + 0.0, + 0.520771861076355 + ], + [ + 0.37155792117118835, + -0.14544488489627838, + 0.11583004891872406, + -0.0033385809510946274, + 0.056984271854162216, + 0.5615715384483337, + 0.0, + 0.520771861076355 + ], + [ + 0.3832901418209076, + -0.15771307051181793, + 0.1005840077996254, + -0.02136523276567459, + 0.04724035784602165, + 0.5091887712478638, + 0.0, + 0.520771861076355 + ], + [ + 0.39297908544540405, + -0.17360684275627136, + 0.0924895703792572, + -0.05971721187233925, + 0.009103282354772091, + 0.444480299949646, + 0.0, + 0.5217453241348267 + ], + [ + 0.40282782912254333, + -0.18214569985866547, + 0.08688032627105713, + -0.11096420884132385, + -0.05957268178462982, + 0.3973744213581085, + 0.0, + 0.520771861076355 + ], + [ + 0.40588465332984924, + -0.1828988641500473, + 0.08175715059041977, + -0.1122438907623291, + -0.0982830598950386, + 0.376367449760437, + 0.0, + 0.561048150062561 + ], + [ + 0.3985744118690491, + -0.17936766147613525, + 0.06809340417385101, + -0.08505120873451233, + -0.08211251348257065, + 0.35885196924209595, + 0.0, + 0.8651953339576721 + ], + [ + 0.39432358741760254, + -0.17623455822467804, + 0.06031501665711403, + -0.06936424970626831, + -0.0780872032046318, + 0.34623095393180847, + 0.0, + 1.00800359249115 + ], + [ + 0.39511626958847046, + -0.17319969832897186, + 0.08962779492139816, + -0.10456697642803192, + -0.14444375038146973, + 0.3424583375453949, + 0.0, + 1.0008161067962646 + ], + [ + 0.39050665497779846, + -0.16928493976593018, + 0.1414722353219986, + -0.19995267689228058, + -0.2399408221244812, + 0.37273481488227844, + 0.0, + 1.0001531839370728 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9657809734344482 + ], + [ + 0.6871993541717529 + ], + [ + 0.520771861076355 + ], + [ + 0.520771861076355 + ], + [ + 0.520771861076355 + ], + [ + 0.520771861076355 + ], + [ + 0.5217453241348267 + ], + [ + 0.520771861076355 + ], + [ + 0.520771861076355 + ], + [ + 0.520771861076355 + ], + [ + 0.520771861076355 + ], + [ + 0.520771861076355 + ], + [ + 0.5217453241348267 + ], + [ + 0.520771861076355 + ], + [ + 0.561048150062561 + ], + [ + 0.8651953339576721 + ], + [ + 1.00800359249115 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3530062437057495, + -0.07799457013607025, + 0.05071588233113289 + ], + [ + 0.35306623578071594, + -0.07779590040445328, + 0.050768397748470306 + ], + [ + 0.3470901846885681, + -0.07567860931158066, + 0.05296468362212181 + ], + [ + 0.3500232696533203, + -0.07387585937976837, + 0.056615136563777924 + ], + [ + 0.35159754753112793, + -0.07093709707260132, + 0.06652934849262238 + ], + [ + 0.3528909981250763, + -0.06979905068874359, + 0.08359888195991516 + ], + [ + 0.35242098569869995, + -0.06995553523302078, + 0.10034135729074478 + ], + [ + 0.34789538383483887, + -0.06344514340162277, + 0.10616259276866913 + ], + [ + 0.33846333622932434, + -0.05120401829481125, + 0.12078996002674103 + ], + [ + 0.3275671601295471, + -0.042834073305130005, + 0.1538091003894806 + ], + [ + 0.31541207432746887, + -0.040247950702905655, + 0.18323948979377747 + ], + [ + 0.3034398555755615, + -0.036536965519189835, + 0.2002324014902115 + ], + [ + 0.29424765706062317, + -0.03261667117476463, + 0.20570944249629974 + ], + [ + 0.2894783616065979, + -0.023418160155415535, + 0.19038133323192596 + ], + [ + 0.29099002480506897, + -0.016172803938388824, + 0.16973024606704712 + ], + [ + 0.2797907888889313, + -0.012558330781757832, + 0.14673103392124176 + ], + [ + 0.2712922692298889, + -0.012316164560616016, + 0.13458599150180817 + ], + [ + 0.2681328356266022, + -0.01256529800593853, + 0.133943110704422 + ], + [ + 0.26576271653175354, + -0.012398475781083107, + 0.13853710889816284 + ], + [ + 0.2625513970851898, + -0.01060968916863203, + 0.13545376062393188 + ], + [ + 0.26220670342445374, + -0.009414348751306534, + 0.13402985036373138 + ], + [ + 0.26138895750045776, + -0.008647737093269825, + 0.13413381576538086 + ], + [ + 0.2589302062988281, + -0.00751522509381175, + 0.13552039861679077 + ], + [ + 0.2682642340660095, + -0.017475629225373268, + 0.15249145030975342 + ], + [ + 0.2886620759963989, + -0.04428979754447937, + 0.17866764962673187 + ], + [ + 0.31314176321029663, + -0.07340678572654724, + 0.18061862885951996 + ], + [ + 0.33939799666404724, + -0.10667087137699127, + 0.16064387559890747 + ], + [ + 0.3604494035243988, + -0.13003350794315338, + 0.13961556553840637 + ], + [ + 0.37155792117118835, + -0.14544488489627838, + 0.11583004891872406 + ], + [ + 0.3832901418209076, + -0.15771307051181793, + 0.1005840077996254 + ], + [ + 0.39297908544540405, + -0.17360684275627136, + 0.0924895703792572 + ], + [ + 0.40282782912254333, + -0.18214569985866547, + 0.08688032627105713 + ], + [ + 0.40588465332984924, + -0.1828988641500473, + 0.08175715059041977 + ], + [ + 0.3985744118690491, + -0.17936766147613525, + 0.06809340417385101 + ], + [ + 0.39432358741760254, + -0.17623455822467804, + 0.06031501665711403 + ], + [ + 0.39511626958847046, + -0.17319969832897186, + 0.08962779492139816 + ], + [ + 0.39050665497779846, + -0.16928493976593018, + 0.1414722353219986 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8585443220813409, + 0.49506162577162677, + 0.13347521758830133, + 0.4931434789109164, + -0.8685429577374653, + 0.04942306923182919, + 0.14039642527332802, + 0.02339053768106649, + -0.989819037257549 + ], + [ + 0.8573260427450393, + 0.49814439479161066, + 0.1297852779356395, + 0.4963310991953399, + -0.8667887490640852, + 0.04829807933514744, + 0.13655583620877176, + 0.02300926842858072, + -0.9903651231559524 + ], + [ + 0.8606815932341866, + 0.5006409245074049, + 0.09265991461378054, + 0.49727598828206554, + -0.8656462176117413, + 0.05807940609700478, + 0.10928763217289153, + -0.003910325159965877, + -0.9940024762600876 + ], + [ + 0.8584263485129955, + 0.5033548340927548, + 0.09868188878462197, + 0.4999015192200123, + -0.8640789631787872, + 0.05887288402478605, + 0.11490289491639871, + -0.0012068087368933313, + -0.9933759954581667 + ], + [ + 0.8564764480436761, + 0.5020399206297605, + 0.12001671567141024, + 0.4974518590430644, + -0.8648428045375456, + 0.06773899448790204, + 0.13780327238889375, + 0.0016856849339374202, + -0.9904581851775551 + ], + [ + 0.8470067247258534, + 0.5060879360682502, + 0.16264872958422166, + 0.502939750367821, + -0.8620154656101516, + 0.06309472679129063, + 0.1721372004220369, + 0.028360853567768046, + -0.9846646364198175 + ], + [ + 0.8362624115729056, + 0.5112913978468139, + 0.19810675273225736, + 0.5130917323871245, + -0.8570917498071451, + 0.04615849400171022, + 0.19339610426854004, + 0.06304632344853794, + -0.9790930027088206 + ], + [ + 0.8349085065800045, + 0.5191704832187165, + 0.18272874703995148, + 0.5179853124551581, + -0.8534201654952521, + 0.05801066459529998, + 0.18606182230935628, + 0.046217209787053376, + -0.9814504408264437 + ], + [ + 0.8028539723276109, + 0.5593348852349965, + 0.20632495068926818, + 0.5580909144805478, + -0.8268345824998699, + 0.06985058594265169, + 0.20966647393429763, + 0.05906826001685851, + -0.9759871466195337 + ], + [ + 0.7525528648003987, + 0.6073022854885891, + 0.2546529397455471, + 0.6052579251126134, + -0.7902317534914092, + 0.09589900866154338, + 0.2594745262431111, + 0.08196163623445449, + -0.9622656911771739 + ], + [ + 0.7246541349007254, + 0.6186494755296578, + 0.3035608854878386, + 0.617932336426206, + -0.7783391476798878, + 0.11112064969120827, + 0.3050180525315371, + 0.10705604894551898, + -0.9463101975642254 + ], + [ + 0.710525363234011, + 0.6299652532939497, + 0.31352430183873475, + 0.6364521871449031, + -0.7653791002126331, + 0.09551673380182552, + 0.3001371714394026, + 0.13167616564887313, + -0.9447640264745291 + ], + [ + 0.7139708490482193, + 0.647717481229086, + 0.2659091785170522, + 0.6564338615934466, + -0.7513454601379207, + 0.06763567759438964, + 0.24359846482045167, + 0.12626188672907174, + -0.9616224435279859 + ], + [ + 0.7075308196260456, + 0.6940155760475168, + 0.13320104910521582, + 0.6977201102833823, + -0.7159601816287859, + 0.024241823945842574, + 0.11219085072073154, + 0.0757852131059211, + -0.9907925183856857 + ], + [ + 0.6976784948475132, + 0.7140720233266425, + 0.057843438085085117, + 0.7136161034108496, + -0.6998127442092938, + 0.03184619278615446, + 0.06322005045888344, + 0.019059605044497194, + -0.9978175968961079 + ], + [ + 0.6914665781161022, + 0.7223860986713379, + 0.005682938923887295, + 0.7217582778741062, + -0.6911565560348779, + 0.03698112180844919, + 0.030642448802485633, + -0.021469501540814496, + -0.9992998052811659 + ], + [ + 0.6917062931334821, + 0.7217357821969065, + -0.02529554775364955, + 0.7221419523433922, + -0.6908920111152748, + 0.03433991326088271, + 0.007307852298135697, + -0.04202011034862648, + -0.9990900387958425 + ], + [ + 0.6907455563649489, + 0.7217664444643848, + -0.04386087102780045, + 0.7230670835500157, + -0.6900042990469957, + 0.03268118699097049, + -0.006676005433779657, + -0.054288736786779895, + -0.9985029614425507 + ], + [ + 0.690507577343189, + 0.7222581422175801, + -0.039274185313638466, + 0.7233160221984188, + -0.6897531708995042, + 0.03247299285769481, + -0.003635610360933475, + -0.05083049512339405, + -0.9987006774318391 + ], + [ + 0.6787686362836935, + 0.732883106806859, + -0.04642725659244637, + 0.7343496468493708, + -0.6775747772604347, + 0.04028669001887231, + -0.0019325035004438794, + -0.06143918112734197, + -0.9981089582067794 + ], + [ + 0.6760423038013953, + 0.7354337471279316, + -0.04586945668166775, + 0.7368513369945852, + -0.6743732860856769, + 0.04765268285519601, + 0.004112254879514849, + -0.06601419998284606, + -0.9978102097896325 + ], + [ + 0.6667162448045156, + 0.7437265425672976, + -0.0485827005698444, + 0.7452821646392067, + -0.6646922101668068, + 0.05233317126129639, + 0.006629025906104164, + -0.07109919566675518, + -0.9974472218574157 + ], + [ + 0.6594747414315816, + 0.7494228414665269, + -0.05880875871828578, + 0.7517051522881755, + -0.6568420866260827, + 0.05914251651819329, + 0.005694684992136764, + -0.08320984271665614, + -0.9965157764119491 + ], + [ + 0.6734799156550669, + 0.7391731841928126, + -0.006914259143378133, + 0.738751826525172, + -0.6727094525815863, + 0.041324704634202236, + 0.02589482602694162, + -0.03293928016275205, + -0.999121845325881 + ], + [ + 0.7057083541849121, + 0.7043410013316042, + 0.07667771955930695, + 0.7051553826384941, + -0.708756325088513, + 0.020502633562173456, + 0.06878666418413822, + 0.03960082688807247, + -0.9968451079983286 + ], + [ + 0.7426479848452502, + 0.6644832990714995, + 0.08328214610794851, + 0.6672532859455509, + -0.7447921877792806, + -0.00759272137102638, + 0.05698265525714238, + 0.06120900487681032, + -0.9964970821441659 + ], + [ + 0.7789423472767988, + 0.6268078278040702, + 0.01899385749271612, + 0.6270692512572441, + -0.7782749704881501, + -0.03274483836191358, + -0.005742277125826678, + 0.037416805251272625, + -0.9992832476020991 + ], + [ + 0.8093252432466516, + 0.5869132938061384, + -0.02292239510559562, + 0.5860936961546633, + -0.8095261572540666, + -0.034081960759745386, + -0.038559434273765986, + 0.01414871991004767, + -0.9991561358233224 + ], + [ + 0.8450454079938953, + 0.5326750086255087, + -0.04642837079034737, + 0.5316526727603476, + -0.8463133138849565, + -0.03315434040729076, + -0.05695343690428503, + 0.003333155693650877, + -0.9983712716709712 + ], + [ + 0.8721661526929836, + 0.48823870361270016, + -0.030808609045343417, + 0.4869252614957964, + -0.8724491861144166, + -0.04166782170382902, + -0.04722278913796974, + 0.02133977373080016, + -0.9986564085025184 + ], + [ + 0.9027968439100208, + 0.42971276473593906, + 0.017458477857512884, + 0.4299709189765996, + -0.9009913022395606, + -0.05778998289565032, + -0.009103156624171462, + 0.05967925193613462, + -0.9981760964017419 + ], + [ + 0.9204445630377855, + 0.3785393064831759, + 0.09741560358287643, + 0.38631217714947264, + -0.9189607496318799, + -0.07920885317972884, + 0.05953745174437991, + 0.11054019216217059, + -0.9920867692679587 + ], + [ + 0.9255177835115274, + 0.35501023067973086, + 0.1318505537213769, + 0.36577087756785803, + -0.9281932251381823, + -0.06833009535203827, + 0.09812490778160488, + 0.11146781113982582, + -0.9889117400215994 + ], + [ + 0.9331459145955091, + 0.34340640143353596, + 0.10635198883039265, + 0.3500162527621571, + -0.9353631952290772, + -0.05083616638958007, + 0.08202027112884103, + 0.084662485584351, + -0.9930281660953182 + ], + [ + 0.937792007421387, + 0.33345300063358513, + 0.09672252677129692, + 0.3383207399223999, + -0.9402311632444421, + -0.03878706746280243, + 0.07800786982686939, + 0.06909743868235953, + -0.9945553359228498 + ], + [ + 0.9321228332898154, + 0.319817741041575, + 0.16989301390825806, + 0.33230667418176385, + -0.9418321931466468, + -0.05024335027476644, + 0.143941995102272, + 0.10328955643065728, + -0.9841808622292633 + ], + [ + 0.904654063713433, + 0.3129475460925319, + 0.28924878288669625, + 0.3537312686215955, + -0.9299681525921022, + -0.10016698440000005, + 0.23764514429318598, + 0.19293280840514354, + -0.9519988008578455 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + 5.9992074966430664e-05, + 0.00019866973161697388, + 5.25154173374176e-05, + 0.00039779022336006165, + 0.0038779526948928833, + 0.0034027695655822754, + 1.0 + ], + [ + -0.005976051092147827, + 0.0021172910928726196, + 0.0021962858736515045, + 0.027162836864590645, + 0.027477480471134186, + -0.000868678092956543, + 1.0 + ], + [ + 0.0029330849647521973, + 0.0018027499318122864, + 0.0036504529416561127, + -0.0027190432883799076, + -0.0056508854031562805, + 0.0034242868423461914, + 1.0 + ], + [ + 0.0015742778778076172, + 0.0029387623071670532, + 0.009914211928844452, + -0.0029167779721319675, + -0.023085936903953552, + -0.001146554946899414, + 1.0 + ], + [ + 0.0012934505939483643, + 0.001138046383857727, + 0.017069533467292786, + -0.027092667296528816, + -0.03475566208362579, + 0.00964576005935669, + 1.0 + ], + [ + -0.0004700124263763428, + -0.00015648454427719116, + 0.01674247533082962, + -0.03550921007990837, + -0.021623581647872925, + 0.014488756656646729, + 1.0 + ], + [ + -0.004525601863861084, + 0.00651039183139801, + 0.005821235477924347, + 0.017247840762138367, + 0.007469981908798218, + 0.004965841770172119, + 1.0 + ], + [ + -0.009432047605514526, + 0.012241125106811523, + 0.0146273672580719, + -0.01339186355471611, + -0.02408139407634735, + 0.05216097831726074, + 1.0 + ], + [ + -0.010896176099777222, + 0.008369944989681244, + 0.03301914036273956, + -0.024522770196199417, + -0.05124421417713165, + 0.0698884129524231, + 1.0 + ], + [ + -0.012155085802078247, + 0.00258612260222435, + 0.029430389404296875, + -0.027680426836013794, + -0.047479331493377686, + 0.028734266757965088, + 1.0 + ], + [ + -0.011972218751907349, + 0.0037109851837158203, + 0.01699291169643402, + -0.025831550359725952, + 0.0051209330558776855, + 0.024386107921600342, + 1.0 + ], + [ + -0.009192198514938354, + 0.003920294344425201, + 0.005477041006088257, + 0.007928505539894104, + 0.0587620884180069, + 0.01297605037689209, + 1.0 + ], + [ + -0.0047692954540252686, + 0.009198511019349098, + -0.01532810926437378, + 0.05421322584152222, + 0.13364681601524353, + 0.034979403018951416, + 1.0 + ], + [ + 0.0015116631984710693, + 0.0072453562170267105, + -0.020651087164878845, + 0.05724187195301056, + 0.049165308475494385, + 0.018273770809173584, + 1.0 + ], + [ + -0.011199235916137695, + 0.003614473156630993, + -0.02299921214580536, + 0.04058020934462547, + 0.03261499106884003, + 0.010138750076293945, + 1.0 + ], + [ + -0.008498519659042358, + 0.00024216622114181519, + -0.012145042419433594, + 0.020552368834614754, + 0.023339329287409782, + 9.232759475708008e-05, + 1.0 + ], + [ + -0.003159433603286743, + -0.0002491334453225136, + -0.0006428807973861694, + 0.012283042073249817, + 0.013983972370624542, + 0.001333773136138916, + 1.0 + ], + [ + -0.002370119094848633, + 0.00016682222485542297, + 0.004593998193740845, + -0.003463905304670334, + -0.0030404366552829742, + 0.0003440380096435547, + 0.0 + ], + [ + -0.0032113194465637207, + 0.0017887866124510765, + -0.003083348274230957, + 0.010625269263982773, + -0.0017031136667355895, + 0.016110599040985107, + 0.0 + ], + [ + -0.000344693660736084, + 0.0011953404173254967, + -0.0014239102602005005, + 0.004584785550832748, + -0.006044771056622267, + 0.0037001967430114746, + 0.0 + ], + [ + -0.0008177459239959717, + 0.0007666116580367088, + 0.0001039654016494751, + 0.005098000168800354, + -0.0025168079882860184, + 0.012572228908538818, + 0.0 + ], + [ + -0.0024587512016296387, + 0.0011325119994580746, + 0.0013865828514099121, + 0.012146718800067902, + 0.000934358686208725, + 0.009679794311523438, + 0.0 + ], + [ + 0.009334027767181396, + -0.00996040366590023, + 0.016971051692962646, + -0.05035122483968735, + -0.020203005522489548, + -0.01907801628112793, + 0.0 + ], + [ + 0.020397841930389404, + -0.026814168319106102, + 0.026176199316978455, + -0.07266157865524292, + -0.042943306267261505, + -0.046578049659729004, + 0.0 + ], + [ + 0.024479687213897705, + -0.02911698818206787, + 0.001950979232788086, + -0.021641813218593597, + 0.011827487498521805, + -0.05303233861923218, + 0.0 + ], + [ + 0.02625623345375061, + -0.03326408565044403, + -0.019974753260612488, + 0.0239209346473217, + 0.06275584548711777, + -0.054175496101379395, + 0.0 + ], + [ + 0.021051406860351562, + -0.02336263656616211, + -0.0210283100605011, + 0.02326643466949463, + 0.03282668814063072, + -0.05103069543838501, + 0.0 + ], + [ + 0.01110851764678955, + -0.015411376953125, + -0.023785516619682312, + 0.010821142233908176, + 0.01841527596116066, + -0.06519615650177002, + 0.0 + ], + [ + 0.011732220649719238, + -0.01226818561553955, + -0.015246041119098663, + -0.018026651814579964, + -0.009743914008140564, + -0.05238276720046997, + 0.0 + ], + [ + 0.00968894362449646, + -0.01589377224445343, + -0.008094437420368195, + -0.03835197910666466, + -0.03813707455992699, + -0.06470847129821777, + 0.0 + ], + [ + 0.009848743677139282, + -0.008538857102394104, + -0.005609244108200073, + -0.051246996968984604, + -0.06867596507072449, + -0.047105878591537476, + 0.0 + ], + [ + 0.003056824207305908, + -0.0007531642913818359, + -0.00512317568063736, + -0.001279681921005249, + -0.03871037811040878, + -0.02100697159767151, + 1.0 + ], + [ + -0.007310241460800171, + 0.0035312026739120483, + -0.013663746416568756, + 0.027192682027816772, + 0.016170546412467957, + -0.017515480518341064, + 1.0 + ], + [ + -0.004250824451446533, + 0.0031331032514572144, + -0.007778387516736984, + 0.01568695902824402, + 0.004025310277938843, + -0.012621015310287476, + 1.0 + ], + [ + 0.0007926821708679199, + 0.0030348598957061768, + 0.029312778264284134, + -0.03520272672176361, + -0.06635654717683792, + -0.0037726163864135742, + 1.0 + ], + [ + -0.004609614610671997, + 0.003914758563041687, + 0.05184444040060043, + -0.09538570046424866, + -0.09549707174301147, + 0.030276477336883545, + 1.0 + ], + [ + -0.01215091347694397, + 0.015659257769584656, + 0.05606935918331146, + -0.10114099085330963, + -0.08964160084724426, + 0.05679035186767578, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9657809734344482 + ], + [ + 0.6871993541717529 + ], + [ + 0.520771861076355 + ], + [ + 0.520771861076355 + ], + [ + 0.520771861076355 + ], + [ + 0.520771861076355 + ], + [ + 0.5217453241348267 + ], + [ + 0.520771861076355 + ], + [ + 0.520771861076355 + ], + [ + 0.520771861076355 + ], + [ + 0.520771861076355 + ], + [ + 0.520771861076355 + ], + [ + 0.5217453241348267 + ], + [ + 0.520771861076355 + ], + [ + 0.561048150062561 + ], + [ + 0.8651953339576721 + ], + [ + 1.00800359249115 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.35306623578071594, + -0.07779590040445328, + 0.050768397748470306 + ], + [ + 0.3470901846885681, + -0.07567860931158066, + 0.05296468362212181 + ], + [ + 0.3500232696533203, + -0.07387585937976837, + 0.056615136563777924 + ], + [ + 0.35159754753112793, + -0.07093709707260132, + 0.06652934849262238 + ], + [ + 0.3528909981250763, + -0.06979905068874359, + 0.08359888195991516 + ], + [ + 0.35242098569869995, + -0.06995553523302078, + 0.10034135729074478 + ], + [ + 0.34789538383483887, + -0.06344514340162277, + 0.10616259276866913 + ], + [ + 0.33846333622932434, + -0.05120401829481125, + 0.12078996002674103 + ], + [ + 0.3275671601295471, + -0.042834073305130005, + 0.1538091003894806 + ], + [ + 0.31541207432746887, + -0.040247950702905655, + 0.18323948979377747 + ], + [ + 0.3034398555755615, + -0.036536965519189835, + 0.2002324014902115 + ], + [ + 0.29424765706062317, + -0.03261667117476463, + 0.20570944249629974 + ], + [ + 0.2894783616065979, + -0.023418160155415535, + 0.19038133323192596 + ], + [ + 0.29099002480506897, + -0.016172803938388824, + 0.16973024606704712 + ], + [ + 0.2797907888889313, + -0.012558330781757832, + 0.14673103392124176 + ], + [ + 0.2712922692298889, + -0.012316164560616016, + 0.13458599150180817 + ], + [ + 0.2681328356266022, + -0.01256529800593853, + 0.133943110704422 + ], + [ + 0.26576271653175354, + -0.012398475781083107, + 0.13853710889816284 + ], + [ + 0.2625513970851898, + -0.01060968916863203, + 0.13545376062393188 + ], + [ + 0.26220670342445374, + -0.009414348751306534, + 0.13402985036373138 + ], + [ + 0.26138895750045776, + -0.008647737093269825, + 0.13413381576538086 + ], + [ + 0.2589302062988281, + -0.00751522509381175, + 0.13552039861679077 + ], + [ + 0.2682642340660095, + -0.017475629225373268, + 0.15249145030975342 + ], + [ + 0.2886620759963989, + -0.04428979754447937, + 0.17866764962673187 + ], + [ + 0.31314176321029663, + -0.07340678572654724, + 0.18061862885951996 + ], + [ + 0.33939799666404724, + -0.10667087137699127, + 0.16064387559890747 + ], + [ + 0.3604494035243988, + -0.13003350794315338, + 0.13961556553840637 + ], + [ + 0.37155792117118835, + -0.14544488489627838, + 0.11583004891872406 + ], + [ + 0.3832901418209076, + -0.15771307051181793, + 0.1005840077996254 + ], + [ + 0.39297908544540405, + -0.17360684275627136, + 0.0924895703792572 + ], + [ + 0.40282782912254333, + -0.18214569985866547, + 0.08688032627105713 + ], + [ + 0.40588465332984924, + -0.1828988641500473, + 0.08175715059041977 + ], + [ + 0.3985744118690491, + -0.17936766147613525, + 0.06809340417385101 + ], + [ + 0.39432358741760254, + -0.17623455822467804, + 0.06031501665711403 + ], + [ + 0.39511626958847046, + -0.17319969832897186, + 0.08962779492139816 + ], + [ + 0.39050665497779846, + -0.16928493976593018, + 0.1414722353219986 + ], + [ + 0.3783557415008545, + -0.15362568199634552, + 0.19754159450531006 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8573260427450393, + 0.49814439479161066, + 0.1297852779356395, + 0.4963310991953399, + -0.8667887490640852, + 0.04829807933514744, + 0.13655583620877176, + 0.02300926842858072, + -0.9903651231559524 + ], + [ + 0.8606815932341866, + 0.5006409245074049, + 0.09265991461378054, + 0.49727598828206554, + -0.8656462176117413, + 0.05807940609700478, + 0.10928763217289153, + -0.003910325159965877, + -0.9940024762600876 + ], + [ + 0.8584263485129955, + 0.5033548340927548, + 0.09868188878462197, + 0.4999015192200123, + -0.8640789631787872, + 0.05887288402478605, + 0.11490289491639871, + -0.0012068087368933313, + -0.9933759954581667 + ], + [ + 0.8564764480436761, + 0.5020399206297605, + 0.12001671567141024, + 0.4974518590430644, + -0.8648428045375456, + 0.06773899448790204, + 0.13780327238889375, + 0.0016856849339374202, + -0.9904581851775551 + ], + [ + 0.8470067247258534, + 0.5060879360682502, + 0.16264872958422166, + 0.502939750367821, + -0.8620154656101516, + 0.06309472679129063, + 0.1721372004220369, + 0.028360853567768046, + -0.9846646364198175 + ], + [ + 0.8362624115729056, + 0.5112913978468139, + 0.19810675273225736, + 0.5130917323871245, + -0.8570917498071451, + 0.04615849400171022, + 0.19339610426854004, + 0.06304632344853794, + -0.9790930027088206 + ], + [ + 0.8349085065800045, + 0.5191704832187165, + 0.18272874703995148, + 0.5179853124551581, + -0.8534201654952521, + 0.05801066459529998, + 0.18606182230935628, + 0.046217209787053376, + -0.9814504408264437 + ], + [ + 0.8028539723276109, + 0.5593348852349965, + 0.20632495068926818, + 0.5580909144805478, + -0.8268345824998699, + 0.06985058594265169, + 0.20966647393429763, + 0.05906826001685851, + -0.9759871466195337 + ], + [ + 0.7525528648003987, + 0.6073022854885891, + 0.2546529397455471, + 0.6052579251126134, + -0.7902317534914092, + 0.09589900866154338, + 0.2594745262431111, + 0.08196163623445449, + -0.9622656911771739 + ], + [ + 0.7246541349007254, + 0.6186494755296578, + 0.3035608854878386, + 0.617932336426206, + -0.7783391476798878, + 0.11112064969120827, + 0.3050180525315371, + 0.10705604894551898, + -0.9463101975642254 + ], + [ + 0.710525363234011, + 0.6299652532939497, + 0.31352430183873475, + 0.6364521871449031, + -0.7653791002126331, + 0.09551673380182552, + 0.3001371714394026, + 0.13167616564887313, + -0.9447640264745291 + ], + [ + 0.7139708490482193, + 0.647717481229086, + 0.2659091785170522, + 0.6564338615934466, + -0.7513454601379207, + 0.06763567759438964, + 0.24359846482045167, + 0.12626188672907174, + -0.9616224435279859 + ], + [ + 0.7075308196260456, + 0.6940155760475168, + 0.13320104910521582, + 0.6977201102833823, + -0.7159601816287859, + 0.024241823945842574, + 0.11219085072073154, + 0.0757852131059211, + -0.9907925183856857 + ], + [ + 0.6976784948475132, + 0.7140720233266425, + 0.057843438085085117, + 0.7136161034108496, + -0.6998127442092938, + 0.03184619278615446, + 0.06322005045888344, + 0.019059605044497194, + -0.9978175968961079 + ], + [ + 0.6914665781161022, + 0.7223860986713379, + 0.005682938923887295, + 0.7217582778741062, + -0.6911565560348779, + 0.03698112180844919, + 0.030642448802485633, + -0.021469501540814496, + -0.9992998052811659 + ], + [ + 0.6917062931334821, + 0.7217357821969065, + -0.02529554775364955, + 0.7221419523433922, + -0.6908920111152748, + 0.03433991326088271, + 0.007307852298135697, + -0.04202011034862648, + -0.9990900387958425 + ], + [ + 0.6907455563649489, + 0.7217664444643848, + -0.04386087102780045, + 0.7230670835500157, + -0.6900042990469957, + 0.03268118699097049, + -0.006676005433779657, + -0.054288736786779895, + -0.9985029614425507 + ], + [ + 0.690507577343189, + 0.7222581422175801, + -0.039274185313638466, + 0.7233160221984188, + -0.6897531708995042, + 0.03247299285769481, + -0.003635610360933475, + -0.05083049512339405, + -0.9987006774318391 + ], + [ + 0.6787686362836935, + 0.732883106806859, + -0.04642725659244637, + 0.7343496468493708, + -0.6775747772604347, + 0.04028669001887231, + -0.0019325035004438794, + -0.06143918112734197, + -0.9981089582067794 + ], + [ + 0.6760423038013953, + 0.7354337471279316, + -0.04586945668166775, + 0.7368513369945852, + -0.6743732860856769, + 0.04765268285519601, + 0.004112254879514849, + -0.06601419998284606, + -0.9978102097896325 + ], + [ + 0.6667162448045156, + 0.7437265425672976, + -0.0485827005698444, + 0.7452821646392067, + -0.6646922101668068, + 0.05233317126129639, + 0.006629025906104164, + -0.07109919566675518, + -0.9974472218574157 + ], + [ + 0.6594747414315816, + 0.7494228414665269, + -0.05880875871828578, + 0.7517051522881755, + -0.6568420866260827, + 0.05914251651819329, + 0.005694684992136764, + -0.08320984271665614, + -0.9965157764119491 + ], + [ + 0.6734799156550669, + 0.7391731841928126, + -0.006914259143378133, + 0.738751826525172, + -0.6727094525815863, + 0.041324704634202236, + 0.02589482602694162, + -0.03293928016275205, + -0.999121845325881 + ], + [ + 0.7057083541849121, + 0.7043410013316042, + 0.07667771955930695, + 0.7051553826384941, + -0.708756325088513, + 0.020502633562173456, + 0.06878666418413822, + 0.03960082688807247, + -0.9968451079983286 + ], + [ + 0.7426479848452502, + 0.6644832990714995, + 0.08328214610794851, + 0.6672532859455509, + -0.7447921877792806, + -0.00759272137102638, + 0.05698265525714238, + 0.06120900487681032, + -0.9964970821441659 + ], + [ + 0.7789423472767988, + 0.6268078278040702, + 0.01899385749271612, + 0.6270692512572441, + -0.7782749704881501, + -0.03274483836191358, + -0.005742277125826678, + 0.037416805251272625, + -0.9992832476020991 + ], + [ + 0.8093252432466516, + 0.5869132938061384, + -0.02292239510559562, + 0.5860936961546633, + -0.8095261572540666, + -0.034081960759745386, + -0.038559434273765986, + 0.01414871991004767, + -0.9991561358233224 + ], + [ + 0.8450454079938953, + 0.5326750086255087, + -0.04642837079034737, + 0.5316526727603476, + -0.8463133138849565, + -0.03315434040729076, + -0.05695343690428503, + 0.003333155693650877, + -0.9983712716709712 + ], + [ + 0.8721661526929836, + 0.48823870361270016, + -0.030808609045343417, + 0.4869252614957964, + -0.8724491861144166, + -0.04166782170382902, + -0.04722278913796974, + 0.02133977373080016, + -0.9986564085025184 + ], + [ + 0.9027968439100208, + 0.42971276473593906, + 0.017458477857512884, + 0.4299709189765996, + -0.9009913022395606, + -0.05778998289565032, + -0.009103156624171462, + 0.05967925193613462, + -0.9981760964017419 + ], + [ + 0.9204445630377855, + 0.3785393064831759, + 0.09741560358287643, + 0.38631217714947264, + -0.9189607496318799, + -0.07920885317972884, + 0.05953745174437991, + 0.11054019216217059, + -0.9920867692679587 + ], + [ + 0.9255177835115274, + 0.35501023067973086, + 0.1318505537213769, + 0.36577087756785803, + -0.9281932251381823, + -0.06833009535203827, + 0.09812490778160488, + 0.11146781113982582, + -0.9889117400215994 + ], + [ + 0.9331459145955091, + 0.34340640143353596, + 0.10635198883039265, + 0.3500162527621571, + -0.9353631952290772, + -0.05083616638958007, + 0.08202027112884103, + 0.084662485584351, + -0.9930281660953182 + ], + [ + 0.937792007421387, + 0.33345300063358513, + 0.09672252677129692, + 0.3383207399223999, + -0.9402311632444421, + -0.03878706746280243, + 0.07800786982686939, + 0.06909743868235953, + -0.9945553359228498 + ], + [ + 0.9321228332898154, + 0.319817741041575, + 0.16989301390825806, + 0.33230667418176385, + -0.9418321931466468, + -0.05024335027476644, + 0.143941995102272, + 0.10328955643065728, + -0.9841808622292633 + ], + [ + 0.904654063713433, + 0.3129475460925319, + 0.28924878288669625, + 0.3537312686215955, + -0.9299681525921022, + -0.10016698440000005, + 0.23764514429318598, + 0.19293280840514354, + -0.9519988008578455 + ], + [ + 0.8602302011704608, + 0.31044079053548745, + 0.4045126902408992, + 0.3940253830336181, + -0.9082337066860489, + -0.14090965745657857, + 0.3236479546041324, + 0.28060301069486304, + -0.9036116156123379 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006088.json b/json/chunk-0006/episode_0006088.json new file mode 100644 index 0000000000000000000000000000000000000000..1d90ff5d7b265fa57ab9a4cccf7224f74e046f2a --- /dev/null +++ b/json/chunk-0006/episode_0006088.json @@ -0,0 +1,2182 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 35, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nClose microwave." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006088.mp4", + "start": 0, + "end": 35, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.132149338722229, + -0.13485796749591827, + 0.059878114610910416, + -0.037468742579221725, + -0.014733510091900826, + 0.10614138096570969, + 0.0, + 0.9981546401977539 + ], + [ + 0.12853935360908508, + -0.1320604830980301, + 0.057285867631435394, + -0.03020642325282097, + -0.004376549739390612, + 0.10112540423870087, + 0.0, + 0.9974852800369263 + ], + [ + 0.11265335977077484, + -0.11158081144094467, + 0.07178919017314911, + -0.07976986467838287, + -0.0026089996099472046, + 0.07584591209888458, + 0.0, + 0.9981546401977539 + ], + [ + 0.10255871713161469, + -0.08712803572416306, + 0.08720548450946808, + -0.10870318859815598, + -0.03042043186724186, + 0.0674048438668251, + 0.0, + 0.9974852800369263 + ], + [ + 0.089078389108181, + -0.06024572253227234, + 0.1093018501996994, + -0.11897684633731842, + -0.06007989123463631, + 0.03395232558250427, + 0.0, + 0.9981546401977539 + ], + [ + 0.07967457175254822, + -0.03750395029783249, + 0.12311384826898575, + -0.1041521430015564, + -0.07860439270734787, + 0.03577830269932747, + 0.0, + 0.9981546401977539 + ], + [ + 0.07973569631576538, + -0.018653562292456627, + 0.14874215424060822, + -0.14400088787078857, + -0.08532332628965378, + 0.06477285176515579, + 0.0, + 0.9974852800369263 + ], + [ + 0.09017109125852585, + -0.005960927810519934, + 0.17446912825107574, + -0.18342360854148865, + -0.1062711849808693, + 0.11348862946033478, + 0.0, + 0.9974852800369263 + ], + [ + 0.11129258573055267, + 0.012929759919643402, + 0.1864520162343979, + -0.17121320962905884, + -0.10193857550621033, + 0.1966097354888916, + 0.0, + 0.9981546401977539 + ], + [ + 0.132377028465271, + 0.02503964863717556, + 0.17614831030368805, + -0.12974952161312103, + -0.10241527855396271, + 0.23649470508098602, + 0.0, + 0.9981546401977539 + ], + [ + 0.15097159147262573, + 0.03753018379211426, + 0.16342924535274506, + -0.0768355280160904, + -0.10513295233249664, + 0.2680768668651581, + 0.0, + 0.9981546401977539 + ], + [ + 0.16090410947799683, + 0.045901790261268616, + 0.15348051488399506, + -0.05616437643766403, + -0.08531244844198227, + 0.2749370336532593, + 0.0, + 0.9981546401977539 + ], + [ + 0.17003576457500458, + 0.05211496725678444, + 0.1457805037498474, + -0.016013262793421745, + -0.09116078913211823, + 0.28005948662757874, + 0.0, + 0.9981546401977539 + ], + [ + 0.174466073513031, + 0.047892868518829346, + 0.13407538831233978, + 0.010761380195617676, + -0.06766319274902344, + 0.27072611451148987, + 0.0, + 0.9974852800369263 + ], + [ + 0.17734773457050323, + 0.03924383968114853, + 0.125766322016716, + 0.020988574251532555, + -0.05081108585000038, + 0.26736223697662354, + 0.0, + 0.9974852800369263 + ], + [ + 0.17782238125801086, + 0.025066625326871872, + 0.11595159024000168, + -0.016939256340265274, + -0.05509305000305176, + 0.27429038286209106, + 0.0, + 0.9981546401977539 + ], + [ + 0.1838921457529068, + 0.001170179108157754, + 0.1177791953086853, + -0.10010698437690735, + -0.0672144889831543, + 0.3315690755844116, + 0.0, + 0.9981546401977539 + ], + [ + 0.191214457154274, + -0.02579713985323906, + 0.12398388236761093, + -0.13021452724933624, + -0.08051284402608871, + 0.36615705490112305, + 0.0, + 0.9988223910331726 + ], + [ + 0.20414650440216064, + -0.054651565849781036, + 0.1294606477022171, + -0.14823268353939056, + -0.04830159619450569, + 0.37843745946884155, + 0.0, + 0.9994885921478271 + ], + [ + 0.2131197303533554, + -0.08255728334188461, + 0.13621991872787476, + -0.1738571673631668, + -0.07157338410615921, + 0.3838650584220886, + 0.0, + 0.9974852800369263 + ], + [ + 0.194150909781456, + -0.11522754281759262, + 0.136907696723938, + -0.2232307642698288, + -0.01832694560289383, + 0.3025889992713928, + 0.0, + 0.9974852800369263 + ], + [ + 0.15900875627994537, + -0.11949516087770462, + 0.12701089680194855, + -0.21195942163467407, + -0.007977846078574657, + 0.1813441812992096, + 0.0, + 0.9974852800369263 + ], + [ + 0.13270729780197144, + -0.10448750108480453, + 0.12327469885349274, + -0.1907421499490738, + -0.03293473646044731, + 0.11460470408201218, + 0.0, + 0.9974852800369263 + ], + [ + 0.13717533648014069, + -0.0803857371211052, + 0.10629917681217194, + -0.0737440213561058, + -0.038164764642715454, + 0.12901583313941956, + 0.0, + 0.9974852800369263 + ], + [ + 0.16498057544231415, + -0.05292108282446861, + 0.08613931387662888, + -0.001311029656790197, + -0.053989969193935394, + 0.2315550148487091, + 0.0, + 0.9974852800369263 + ], + [ + 0.19226796925067902, + -0.04120638221502304, + 0.0801592767238617, + 0.0062286993488669395, + -0.08695211261510849, + 0.316005140542984, + 0.0, + 0.9974852800369263 + ], + [ + 0.2160918414592743, + -0.0329037606716156, + 0.07935105264186859, + -0.004881775472313166, + -0.1253054141998291, + 0.3645038604736328, + 0.0, + 0.9974852800369263 + ], + [ + 0.23100019991397858, + -0.030117863789200783, + 0.08468851447105408, + -0.04975038766860962, + -0.17086590826511383, + 0.3993132412433624, + 0.0, + 0.9974852800369263 + ], + [ + 0.24625320732593536, + -0.02987571433186531, + 0.08921880275011063, + -0.09930738061666489, + -0.20870888233184814, + 0.4379555881023407, + 0.0, + 0.9974852800369263 + ], + [ + 0.2592993378639221, + -0.030740074813365936, + 0.09379179775714874, + -0.13381275534629822, + -0.2516084313392639, + 0.46811747550964355, + 0.0, + 0.9974852800369263 + ], + [ + 0.267816424369812, + -0.031349293887615204, + 0.0969366654753685, + -0.14517714083194733, + -0.2648559510707855, + 0.4804038405418396, + 0.0, + 0.9974852800369263 + ], + [ + 0.27375316619873047, + -0.0324251614511013, + 0.09867700189352036, + -0.155082568526268, + -0.2700880169868469, + 0.4996667206287384, + 0.0, + 0.9974852800369263 + ], + [ + 0.28208085894584656, + -0.03253362700343132, + 0.09927215427160263, + -0.15826568007469177, + -0.27291572093963623, + 0.5240033268928528, + 0.0, + 0.9974852800369263 + ], + [ + 0.28634288907051086, + -0.03209532052278519, + 0.09916696697473526, + -0.15859489142894745, + -0.27576756477355957, + 0.5401861667633057, + 0.0, + 0.9974852800369263 + ], + [ + 0.2866359353065491, + -0.030745238065719604, + 0.09694109857082367, + -0.14590081572532654, + -0.2742585241794586, + 0.5384377241134644, + 0.0, + 0.9974852800369263 + ] + ], + "left_gripper_pos": [ + [ + 0.9981546401977539 + ], + [ + 0.9974852800369263 + ], + [ + 0.9981546401977539 + ], + [ + 0.9974852800369263 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.132149338722229, + -0.13485796749591827, + 0.059878114610910416 + ], + [ + 0.12853935360908508, + -0.1320604830980301, + 0.057285867631435394 + ], + [ + 0.11265335977077484, + -0.11158081144094467, + 0.07178919017314911 + ], + [ + 0.10255871713161469, + -0.08712803572416306, + 0.08720548450946808 + ], + [ + 0.089078389108181, + -0.06024572253227234, + 0.1093018501996994 + ], + [ + 0.07967457175254822, + -0.03750395029783249, + 0.12311384826898575 + ], + [ + 0.07973569631576538, + -0.018653562292456627, + 0.14874215424060822 + ], + [ + 0.09017109125852585, + -0.005960927810519934, + 0.17446912825107574 + ], + [ + 0.11129258573055267, + 0.012929759919643402, + 0.1864520162343979 + ], + [ + 0.132377028465271, + 0.02503964863717556, + 0.17614831030368805 + ], + [ + 0.15097159147262573, + 0.03753018379211426, + 0.16342924535274506 + ], + [ + 0.16090410947799683, + 0.045901790261268616, + 0.15348051488399506 + ], + [ + 0.17003576457500458, + 0.05211496725678444, + 0.1457805037498474 + ], + [ + 0.174466073513031, + 0.047892868518829346, + 0.13407538831233978 + ], + [ + 0.17734773457050323, + 0.03924383968114853, + 0.125766322016716 + ], + [ + 0.17782238125801086, + 0.025066625326871872, + 0.11595159024000168 + ], + [ + 0.1838921457529068, + 0.001170179108157754, + 0.1177791953086853 + ], + [ + 0.191214457154274, + -0.02579713985323906, + 0.12398388236761093 + ], + [ + 0.20414650440216064, + -0.054651565849781036, + 0.1294606477022171 + ], + [ + 0.2131197303533554, + -0.08255728334188461, + 0.13621991872787476 + ], + [ + 0.194150909781456, + -0.11522754281759262, + 0.136907696723938 + ], + [ + 0.15900875627994537, + -0.11949516087770462, + 0.12701089680194855 + ], + [ + 0.13270729780197144, + -0.10448750108480453, + 0.12327469885349274 + ], + [ + 0.13717533648014069, + -0.0803857371211052, + 0.10629917681217194 + ], + [ + 0.16498057544231415, + -0.05292108282446861, + 0.08613931387662888 + ], + [ + 0.19226796925067902, + -0.04120638221502304, + 0.0801592767238617 + ], + [ + 0.2160918414592743, + -0.0329037606716156, + 0.07935105264186859 + ], + [ + 0.23100019991397858, + -0.030117863789200783, + 0.08468851447105408 + ], + [ + 0.24625320732593536, + -0.02987571433186531, + 0.08921880275011063 + ], + [ + 0.2592993378639221, + -0.030740074813365936, + 0.09379179775714874 + ], + [ + 0.267816424369812, + -0.031349293887615204, + 0.0969366654753685 + ], + [ + 0.27375316619873047, + -0.0324251614511013, + 0.09867700189352036 + ], + [ + 0.28208085894584656, + -0.03253362700343132, + 0.09927215427160263 + ], + [ + 0.28634288907051086, + -0.03209532052278519, + 0.09916696697473526 + ], + [ + 0.2866359353065491, + -0.030745238065719604, + 0.09694109857082367 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.994264364692947, + 0.10531904636598256, + 0.018608373768021377, + 0.10593069663239164, + -0.9937328379670436, + -0.035689413793749264, + 0.014732977048328755, + 0.037455910328348246, + -0.9991896687660297 + ], + [ + 0.9948816540969242, + 0.10077557825375319, + 0.0074011599759762695, + 0.10095216825824474, + -0.99445067739321, + -0.029605910831203577, + 0.00437653576786152, + 0.030201540685994795, + -0.9995342479749582 + ], + [ + 0.9971216837430632, + 0.07532496004631974, + 0.008631234177044561, + 0.07577295656022974, + -0.9939700436951397, + -0.07925914010890837, + 0.002608996650090785, + 0.07968502136978044, + -0.9968166784849547 + ], + [ + 0.9972675384759728, + 0.06366397947388423, + 0.037474717071948035, + 0.06732265182365073, + -0.9920624335668168, + -0.10620634847746367, + 0.030415740226159265, + 0.10843904104626619, + -0.9936376890614912 + ], + [ + 0.9976204611481113, + 0.02658295945575069, + 0.0636141632437585, + 0.0338845559636307, + -0.9926002804556959, + -0.11660411702174675, + 0.06004375376154641, + 0.11848219066951601, + -0.9911391013013134 + ], + [ + 0.9962742659258915, + 0.027418445682621185, + 0.08176683857270534, + 0.03566021961704836, + -0.9942365773582287, + -0.10110379310321943, + 0.07852347286442177, + 0.10364293067712757, + -0.9915100640588407 + ], + [ + 0.9942727735618968, + 0.051853904536848655, + 0.09344958179583421, + 0.0644921008962161, + -0.988366030022206, + -0.13774381880917871, + 0.08521983733571195, + 0.14298168862629565, + -0.9860496012077931 + ], + [ + 0.9879618955726996, + 0.092122879646901, + 0.12427657841267058, + 0.11260630106628194, + -0.9790909489520844, + -0.16941291166931982, + 0.10607126781823593, + 0.1813678271515361, + -0.9776781665853864 + ], + [ + 0.9756432587674485, + 0.17548532758149832, + 0.13162496505316842, + 0.19433142527539687, + -0.9697818633873095, + -0.14750740522248598, + 0.10176211855138641, + 0.1694934725842033, + -0.9802634513125956 + ], + [ + 0.9670712116844348, + 0.21946719901160094, + 0.1288697795807896, + 0.23306866642170687, + -0.9670927815756706, + -0.1020320957181573, + 0.10223633533928185, + 0.12870781010581456, + -0.9863985154865954 + ], + [ + 0.9589579057479203, + 0.2563285620382985, + 0.12122459852249799, + 0.26341499548821606, + -0.963570684471848, + -0.0463041702052568, + 0.10493938800805826, + 0.07633612716029292, + -0.9915445126340329 + ], + [ + 0.9589419873885313, + 0.2664547064302199, + 0.09711927843903666, + 0.2704989672871691, + -0.9622232831425472, + -0.03092995433155974, + 0.08520899905472919, + 0.055930696397976855, + -0.9947920303664121 + ], + [ + 0.9570485056734657, + 0.2749764743030117, + 0.09190264614292488, + 0.27526507792392924, + -0.9613187092718858, + 0.009771186180232136, + 0.09103457949438594, + 0.015946089919499126, + -0.9957200548108689 + ], + [ + 0.9613720302813507, + 0.26811676839856463, + 0.062267310012749724, + 0.2668192167797771, + -0.9633265931357609, + 0.028449613608525225, + 0.06761157408121606, + -0.01073654790696239, + -0.9976539488165731 + ], + [ + 0.9632263652690185, + 0.2651581688388706, + 0.04342942261476724, + 0.2638473495792783, + -0.9639770879571017, + 0.033656351759155434, + 0.05078922494609619, + -0.020959947322522123, + -0.998489426702963 + ], + [ + 0.9611571293312238, + 0.26992720408292104, + 0.05758712730930352, + 0.2704529501354481, + -0.9627321867987052, + -0.0013922157934075328, + 0.05506518408934665, + 0.01691274660602795, + -0.9983395136442543 + ], + [ + 0.9433976771568048, + 0.31755053604492567, + 0.09572084304228264, + 0.324791986626883, + -0.9429839531462935, + -0.07274221285850149, + 0.06716389028419632, + 0.09971419741525919, + -0.9927467404508176 + ], + [ + 0.9306854574668184, + 0.34524804825318034, + 0.12094777566019632, + 0.35687008269365605, + -0.9295443164544138, + -0.09268822916379543, + 0.08042588723789507, + 0.12942622966256423, + -0.9883220769249926 + ], + [ + 0.928159308070788, + 0.3587908622665248, + 0.09894147762996128, + 0.369038031166689, + -0.9216873137507088, + -0.11959693651434664, + 0.048282816758867586, + 0.14751817794782582, + -0.9878801327999179 + ], + [ + 0.9248501188086752, + 0.35739117256051917, + 0.13009153514121116, + 0.37354818962843767, + -0.9178788483318401, + -0.134015558090589, + 0.07151229100578801, + 0.17253976226027581, + -0.9824031874308385 + ], + [ + 0.9544078823801997, + 0.2867258815409009, + 0.08302928944135729, + 0.29794253593296555, + -0.9320917421618614, + -0.20599812978641355, + 0.01832591968706982, + 0.22134419587660262, + -0.9750235420846841 + ], + [ + 0.9835708548210471, + 0.17466489704522223, + 0.04561301663754341, + 0.1803461362735623, + -0.9618923964905775, + -0.20551955796179477, + 0.007977761452474742, + 0.21036917862128884, + -0.9775894659868282 + ], + [ + 0.9929013236347581, + 0.10607811080073656, + 0.05379959045653943, + 0.11429198043172575, + -0.9761367403555489, + -0.18464670952128368, + 0.03292878274911976, + 0.18948482402817898, + -0.9813313389114152 + ], + [ + 0.990966860837989, + 0.12552071618382893, + 0.0472147278886645, + 0.12856453049704714, + -0.9893554076801905, + -0.06816919239684713, + 0.03815550050747343, + 0.07362354991891648, + -0.9965559345457541 + ], + [ + 0.9718924942088747, + 0.2294222559365467, + 0.05282431430163618, + 0.22915692019432876, + -0.973326109116824, + 0.011108160898830152, + 0.053963743638691504, + 0.0013091189747026508, + -0.9985420374626236 + ], + [ + 0.9468936031567259, + 0.31128009938337564, + 0.0806052357402949, + 0.3095979163216117, + -0.9502979512346308, + 0.032907963908139146, + 0.0868425846586168, + -0.006205127487721757, + -0.9962027212784915 + ], + [ + 0.926975398529372, + 0.3559115199155858, + 0.11850569822877494, + 0.35369078348330496, + -0.9345071057430672, + 0.03999123647352963, + 0.12497775882243134, + 0.004843480886039021, + -0.9921477211043872 + ], + [ + 0.907911740618459, + 0.38051404481532, + 0.17579912669135955, + 0.38312416792957, + -0.9234757730711872, + 0.020208129523728097, + 0.17003571152976849, + 0.04900569608584095, + -0.9842186233534232 + ], + [ + 0.8859679181645456, + 0.40339582973694577, + 0.2287633111624806, + 0.4148858423410112, + -0.9098704386256269, + -0.0023500511055471324, + 0.2071969734532106, + 0.0969927289339265, + -0.9734792369258726 + ], + [ + 0.864319882482345, + 0.4175318062236777, + 0.2803896066855873, + 0.4370000338792882, + -0.8994282571924661, + -0.007731788488056356, + 0.24896206766334125, + 0.12921300613837716, + -0.9598551390233203 + ], + [ + 0.8558855514772461, + 0.42369262553967024, + 0.29655434887350973, + 0.44602271428932716, + -0.8949804060671194, + -0.00859133830759512, + 0.2617702448913394, + 0.1396231779441905, + -0.9549773332756613 + ], + [ + 0.8459218692499338, + 0.43720855647134416, + 0.30539297515322983, + 0.461763221209061, + -0.8869547736313841, + -0.009271303637137296, + 0.26681626386584756, + 0.14886204244448503, + -0.9521812714267839 + ], + [ + 0.8337781548407924, + 0.45731584602033076, + 0.30931570520908375, + 0.48183188861183374, + -0.876257539229941, + -0.003279643188209974, + 0.2695403858924245, + 0.15177266526419594, + -0.9509537520045679 + ], + [ + 0.825209319031115, + 0.47096200301419455, + 0.31180822872570424, + 0.4948637614510183, + -0.8689659512082983, + 0.0028342976567225786, + 0.2722855805707547, + 0.15196370407934592, + -0.9501408291699353 + ], + [ + 0.8264251109619278, + 0.47354346308012496, + 0.3045950172698938, + 0.4936303152106135, + -0.8695806629947616, + 0.012592952420324613, + 0.2708332473619789, + 0.13995020228521493, + -0.9523987048519604 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.003609985113143921, + 0.0027974843978881836, + -0.0025922469794750214, + 0.007262319326400757, + 0.010356960818171501, + -0.00501597672700882, + 1.0 + ], + [ + -0.01588599383831024, + 0.02047967165708542, + 0.014503322541713715, + -0.049563441425561905, + 0.001767550129443407, + -0.025279492139816284, + 1.0 + ], + [ + -0.010094642639160156, + 0.024452775716781616, + 0.01541629433631897, + -0.028933323919773102, + -0.027811432257294655, + -0.008441068232059479, + 1.0 + ], + [ + -0.013480328023433685, + 0.026882313191890717, + 0.022096365690231323, + -0.010273657739162445, + -0.029659459367394447, + -0.03345251828432083, + 1.0 + ], + [ + -0.009403817355632782, + 0.02274177223443985, + 0.013811998069286346, + 0.014824703335762024, + -0.018524501472711563, + 0.0018259771168231964, + 1.0 + ], + [ + 6.112456321716309e-05, + 0.018850388005375862, + 0.025628305971622467, + -0.03984874486923218, + -0.006718933582305908, + 0.028994549065828323, + 1.0 + ], + [ + 0.010435394942760468, + 0.012692634016275406, + 0.02572697401046753, + -0.03942272067070007, + -0.020947858691215515, + 0.048715777695178986, + 1.0 + ], + [ + 0.021121494472026825, + 0.018890688195824623, + 0.011982887983322144, + 0.01221039891242981, + 0.004332609474658966, + 0.08312110602855682, + 1.0 + ], + [ + 0.021084442734718323, + 0.012109888717532158, + -0.010303705930709839, + 0.041463688015937805, + -0.00047670304775238037, + 0.03988496959209442, + 1.0 + ], + [ + 0.018594563007354736, + 0.012490535154938698, + -0.012719064950942993, + 0.05291399359703064, + -0.0027176737785339355, + 0.03158216178417206, + 1.0 + ], + [ + 0.009932518005371094, + 0.008371606469154358, + -0.00994873046875, + 0.02067115157842636, + 0.019820503890514374, + 0.006860166788101196, + 1.0 + ], + [ + 0.009131655097007751, + 0.006213176995515823, + -0.007700011134147644, + 0.04015111178159714, + -0.005848340690135956, + 0.005122452974319458, + 1.0 + ], + [ + 0.004430308938026428, + -0.004222098737955093, + -0.01170511543750763, + 0.02677464298903942, + 0.023497596383094788, + -0.009333372116088867, + 1.0 + ], + [ + 0.002881661057472229, + -0.008649028837680817, + -0.00830906629562378, + 0.010227194055914879, + 0.016852106899023056, + -0.003363877534866333, + 1.0 + ], + [ + 0.0004746466875076294, + -0.014177214354276657, + -0.009814731776714325, + -0.03792782872915268, + -0.004281964153051376, + 0.006928145885467529, + 1.0 + ], + [ + 0.006069764494895935, + -0.02389644645154476, + 0.0018276050686836243, + -0.08316773176193237, + -0.012121438980102539, + 0.05727869272232056, + 1.0 + ], + [ + 0.0073223114013671875, + -0.02696731872856617, + 0.006204687058925629, + -0.030107542872428894, + -0.013298355042934418, + 0.034587979316711426, + 1.0 + ], + [ + 0.012932047247886658, + -0.028854425996541977, + 0.005476765334606171, + -0.01801815629005432, + 0.03221124783158302, + 0.012280404567718506, + 1.0 + ], + [ + 0.008973225951194763, + -0.027905717492103577, + 0.006759271025657654, + -0.025624483823776245, + -0.02327178791165352, + 0.00542759895324707, + 1.0 + ], + [ + -0.018968820571899414, + -0.03267025947570801, + 0.0006877779960632324, + -0.04937359690666199, + 0.05324643850326538, + -0.0812760591506958, + 1.0 + ], + [ + -0.03514215350151062, + -0.0042676180601119995, + -0.009896799921989441, + 0.011271342635154724, + 0.010349099524319172, + -0.12124481797218323, + 1.0 + ], + [ + -0.026301458477973938, + 0.015007659792900085, + -0.0037361979484558105, + 0.02121727168560028, + -0.02495688945055008, + -0.06673947721719742, + 1.0 + ], + [ + 0.0044680386781692505, + 0.02410176396369934, + -0.0169755220413208, + 0.11699812859296799, + -0.005230028182268143, + 0.01441112905740738, + 1.0 + ], + [ + 0.027805238962173462, + 0.02746465429663658, + -0.02015986293554306, + 0.0724329948425293, + -0.01582520455121994, + 0.10253918170928955, + 1.0 + ], + [ + 0.027287393808364868, + 0.011714700609445572, + -0.005980037152767181, + 0.007539729122072458, + -0.032962143421173096, + 0.0844501256942749, + 1.0 + ], + [ + 0.023823872208595276, + 0.00830262154340744, + -0.000808224081993103, + -0.011110475286841393, + -0.03835330158472061, + 0.048498719930648804, + 1.0 + ], + [ + 0.014908358454704285, + 0.002785896882414818, + 0.005337461829185486, + -0.04486861079931259, + -0.04556049406528473, + 0.034809380769729614, + 1.0 + ], + [ + 0.015253007411956787, + 0.0002421494573354721, + 0.004530288279056549, + -0.04955699294805527, + -0.037842974066734314, + 0.03864234685897827, + 1.0 + ], + [ + 0.013046130537986755, + -0.0008643604815006256, + 0.0045729950070381165, + -0.03450537472963333, + -0.04289954900741577, + 0.030161887407302856, + 1.0 + ], + [ + 0.008517086505889893, + -0.0006092190742492676, + 0.003144867718219757, + -0.011364385485649109, + -0.013247519731521606, + 0.012286365032196045, + 1.0 + ], + [ + 0.005936741828918457, + -0.0010758675634860992, + 0.0017403364181518555, + -0.009905427694320679, + -0.005232065916061401, + 0.019262880086898804, + 1.0 + ], + [ + 0.008327692747116089, + -0.00010846555233001709, + 0.0005951523780822754, + -0.003183111548423767, + -0.0028277039527893066, + 0.02433660626411438, + 1.0 + ], + [ + 0.004262030124664307, + 0.0004383064806461334, + -0.0001051872968673706, + -0.00032921135425567627, + -0.00285184383392334, + 0.01618283987045288, + 1.0 + ], + [ + 0.000293046236038208, + 0.0013500824570655823, + -0.0022258684039115906, + 0.01269407570362091, + 0.0015090405941009521, + -0.0017484426498413086, + 1.0 + ], + [ + -0.02772289514541626, + 0.011266272515058517, + -0.006683699786663055, + 0.07467854768037796, + 0.03619040548801422, + -0.04461771249771118, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9974852800369263 + ], + [ + 0.9981546401977539 + ], + [ + 0.9974852800369263 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.12853935360908508, + -0.1320604830980301, + 0.057285867631435394 + ], + [ + 0.11265335977077484, + -0.11158081144094467, + 0.07178919017314911 + ], + [ + 0.10255871713161469, + -0.08712803572416306, + 0.08720548450946808 + ], + [ + 0.089078389108181, + -0.06024572253227234, + 0.1093018501996994 + ], + [ + 0.07967457175254822, + -0.03750395029783249, + 0.12311384826898575 + ], + [ + 0.07973569631576538, + -0.018653562292456627, + 0.14874215424060822 + ], + [ + 0.09017109125852585, + -0.005960927810519934, + 0.17446912825107574 + ], + [ + 0.11129258573055267, + 0.012929759919643402, + 0.1864520162343979 + ], + [ + 0.132377028465271, + 0.02503964863717556, + 0.17614831030368805 + ], + [ + 0.15097159147262573, + 0.03753018379211426, + 0.16342924535274506 + ], + [ + 0.16090410947799683, + 0.045901790261268616, + 0.15348051488399506 + ], + [ + 0.17003576457500458, + 0.05211496725678444, + 0.1457805037498474 + ], + [ + 0.174466073513031, + 0.047892868518829346, + 0.13407538831233978 + ], + [ + 0.17734773457050323, + 0.03924383968114853, + 0.125766322016716 + ], + [ + 0.17782238125801086, + 0.025066625326871872, + 0.11595159024000168 + ], + [ + 0.1838921457529068, + 0.001170179108157754, + 0.1177791953086853 + ], + [ + 0.191214457154274, + -0.02579713985323906, + 0.12398388236761093 + ], + [ + 0.20414650440216064, + -0.054651565849781036, + 0.1294606477022171 + ], + [ + 0.2131197303533554, + -0.08255728334188461, + 0.13621991872787476 + ], + [ + 0.194150909781456, + -0.11522754281759262, + 0.136907696723938 + ], + [ + 0.15900875627994537, + -0.11949516087770462, + 0.12701089680194855 + ], + [ + 0.13270729780197144, + -0.10448750108480453, + 0.12327469885349274 + ], + [ + 0.13717533648014069, + -0.0803857371211052, + 0.10629917681217194 + ], + [ + 0.16498057544231415, + -0.05292108282446861, + 0.08613931387662888 + ], + [ + 0.19226796925067902, + -0.04120638221502304, + 0.0801592767238617 + ], + [ + 0.2160918414592743, + -0.0329037606716156, + 0.07935105264186859 + ], + [ + 0.23100019991397858, + -0.030117863789200783, + 0.08468851447105408 + ], + [ + 0.24625320732593536, + -0.02987571433186531, + 0.08921880275011063 + ], + [ + 0.2592993378639221, + -0.030740074813365936, + 0.09379179775714874 + ], + [ + 0.267816424369812, + -0.031349293887615204, + 0.0969366654753685 + ], + [ + 0.27375316619873047, + -0.0324251614511013, + 0.09867700189352036 + ], + [ + 0.28208085894584656, + -0.03253362700343132, + 0.09927215427160263 + ], + [ + 0.28634288907051086, + -0.03209532052278519, + 0.09916696697473526 + ], + [ + 0.2866359353065491, + -0.030745238065719604, + 0.09694109857082367 + ], + [ + 0.2589130401611328, + -0.019478965550661087, + 0.09025739878416061 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9948816540969242, + 0.10077557825375319, + 0.0074011599759762695, + 0.10095216825824474, + -0.99445067739321, + -0.029605910831203577, + 0.00437653576786152, + 0.030201540685994795, + -0.9995342479749582 + ], + [ + 0.9971216837430632, + 0.07532496004631974, + 0.008631234177044561, + 0.07577295656022974, + -0.9939700436951397, + -0.07925914010890837, + 0.002608996650090785, + 0.07968502136978044, + -0.9968166784849547 + ], + [ + 0.9972675384759728, + 0.06366397947388423, + 0.037474717071948035, + 0.06732265182365073, + -0.9920624335668168, + -0.10620634847746367, + 0.030415740226159265, + 0.10843904104626619, + -0.9936376890614912 + ], + [ + 0.9976204611481113, + 0.02658295945575069, + 0.0636141632437585, + 0.0338845559636307, + -0.9926002804556959, + -0.11660411702174675, + 0.06004375376154641, + 0.11848219066951601, + -0.9911391013013134 + ], + [ + 0.9962742659258915, + 0.027418445682621185, + 0.08176683857270534, + 0.03566021961704836, + -0.9942365773582287, + -0.10110379310321943, + 0.07852347286442177, + 0.10364293067712757, + -0.9915100640588407 + ], + [ + 0.9942727735618968, + 0.051853904536848655, + 0.09344958179583421, + 0.0644921008962161, + -0.988366030022206, + -0.13774381880917871, + 0.08521983733571195, + 0.14298168862629565, + -0.9860496012077931 + ], + [ + 0.9879618955726996, + 0.092122879646901, + 0.12427657841267058, + 0.11260630106628194, + -0.9790909489520844, + -0.16941291166931982, + 0.10607126781823593, + 0.1813678271515361, + -0.9776781665853864 + ], + [ + 0.9756432587674485, + 0.17548532758149832, + 0.13162496505316842, + 0.19433142527539687, + -0.9697818633873095, + -0.14750740522248598, + 0.10176211855138641, + 0.1694934725842033, + -0.9802634513125956 + ], + [ + 0.9670712116844348, + 0.21946719901160094, + 0.1288697795807896, + 0.23306866642170687, + -0.9670927815756706, + -0.1020320957181573, + 0.10223633533928185, + 0.12870781010581456, + -0.9863985154865954 + ], + [ + 0.9589579057479203, + 0.2563285620382985, + 0.12122459852249799, + 0.26341499548821606, + -0.963570684471848, + -0.0463041702052568, + 0.10493938800805826, + 0.07633612716029292, + -0.9915445126340329 + ], + [ + 0.9589419873885313, + 0.2664547064302199, + 0.09711927843903666, + 0.2704989672871691, + -0.9622232831425472, + -0.03092995433155974, + 0.08520899905472919, + 0.055930696397976855, + -0.9947920303664121 + ], + [ + 0.9570485056734657, + 0.2749764743030117, + 0.09190264614292488, + 0.27526507792392924, + -0.9613187092718858, + 0.009771186180232136, + 0.09103457949438594, + 0.015946089919499126, + -0.9957200548108689 + ], + [ + 0.9613720302813507, + 0.26811676839856463, + 0.062267310012749724, + 0.2668192167797771, + -0.9633265931357609, + 0.028449613608525225, + 0.06761157408121606, + -0.01073654790696239, + -0.9976539488165731 + ], + [ + 0.9632263652690185, + 0.2651581688388706, + 0.04342942261476724, + 0.2638473495792783, + -0.9639770879571017, + 0.033656351759155434, + 0.05078922494609619, + -0.020959947322522123, + -0.998489426702963 + ], + [ + 0.9611571293312238, + 0.26992720408292104, + 0.05758712730930352, + 0.2704529501354481, + -0.9627321867987052, + -0.0013922157934075328, + 0.05506518408934665, + 0.01691274660602795, + -0.9983395136442543 + ], + [ + 0.9433976771568048, + 0.31755053604492567, + 0.09572084304228264, + 0.324791986626883, + -0.9429839531462935, + -0.07274221285850149, + 0.06716389028419632, + 0.09971419741525919, + -0.9927467404508176 + ], + [ + 0.9306854574668184, + 0.34524804825318034, + 0.12094777566019632, + 0.35687008269365605, + -0.9295443164544138, + -0.09268822916379543, + 0.08042588723789507, + 0.12942622966256423, + -0.9883220769249926 + ], + [ + 0.928159308070788, + 0.3587908622665248, + 0.09894147762996128, + 0.369038031166689, + -0.9216873137507088, + -0.11959693651434664, + 0.048282816758867586, + 0.14751817794782582, + -0.9878801327999179 + ], + [ + 0.9248501188086752, + 0.35739117256051917, + 0.13009153514121116, + 0.37354818962843767, + -0.9178788483318401, + -0.134015558090589, + 0.07151229100578801, + 0.17253976226027581, + -0.9824031874308385 + ], + [ + 0.9544078823801997, + 0.2867258815409009, + 0.08302928944135729, + 0.29794253593296555, + -0.9320917421618614, + -0.20599812978641355, + 0.01832591968706982, + 0.22134419587660262, + -0.9750235420846841 + ], + [ + 0.9835708548210471, + 0.17466489704522223, + 0.04561301663754341, + 0.1803461362735623, + -0.9618923964905775, + -0.20551955796179477, + 0.007977761452474742, + 0.21036917862128884, + -0.9775894659868282 + ], + [ + 0.9929013236347581, + 0.10607811080073656, + 0.05379959045653943, + 0.11429198043172575, + -0.9761367403555489, + -0.18464670952128368, + 0.03292878274911976, + 0.18948482402817898, + -0.9813313389114152 + ], + [ + 0.990966860837989, + 0.12552071618382893, + 0.0472147278886645, + 0.12856453049704714, + -0.9893554076801905, + -0.06816919239684713, + 0.03815550050747343, + 0.07362354991891648, + -0.9965559345457541 + ], + [ + 0.9718924942088747, + 0.2294222559365467, + 0.05282431430163618, + 0.22915692019432876, + -0.973326109116824, + 0.011108160898830152, + 0.053963743638691504, + 0.0013091189747026508, + -0.9985420374626236 + ], + [ + 0.9468936031567259, + 0.31128009938337564, + 0.0806052357402949, + 0.3095979163216117, + -0.9502979512346308, + 0.032907963908139146, + 0.0868425846586168, + -0.006205127487721757, + -0.9962027212784915 + ], + [ + 0.926975398529372, + 0.3559115199155858, + 0.11850569822877494, + 0.35369078348330496, + -0.9345071057430672, + 0.03999123647352963, + 0.12497775882243134, + 0.004843480886039021, + -0.9921477211043872 + ], + [ + 0.907911740618459, + 0.38051404481532, + 0.17579912669135955, + 0.38312416792957, + -0.9234757730711872, + 0.020208129523728097, + 0.17003571152976849, + 0.04900569608584095, + -0.9842186233534232 + ], + [ + 0.8859679181645456, + 0.40339582973694577, + 0.2287633111624806, + 0.4148858423410112, + -0.9098704386256269, + -0.0023500511055471324, + 0.2071969734532106, + 0.0969927289339265, + -0.9734792369258726 + ], + [ + 0.864319882482345, + 0.4175318062236777, + 0.2803896066855873, + 0.4370000338792882, + -0.8994282571924661, + -0.007731788488056356, + 0.24896206766334125, + 0.12921300613837716, + -0.9598551390233203 + ], + [ + 0.8558855514772461, + 0.42369262553967024, + 0.29655434887350973, + 0.44602271428932716, + -0.8949804060671194, + -0.00859133830759512, + 0.2617702448913394, + 0.1396231779441905, + -0.9549773332756613 + ], + [ + 0.8459218692499338, + 0.43720855647134416, + 0.30539297515322983, + 0.461763221209061, + -0.8869547736313841, + -0.009271303637137296, + 0.26681626386584756, + 0.14886204244448503, + -0.9521812714267839 + ], + [ + 0.8337781548407924, + 0.45731584602033076, + 0.30931570520908375, + 0.48183188861183374, + -0.876257539229941, + -0.003279643188209974, + 0.2695403858924245, + 0.15177266526419594, + -0.9509537520045679 + ], + [ + 0.825209319031115, + 0.47096200301419455, + 0.31180822872570424, + 0.4948637614510183, + -0.8689659512082983, + 0.0028342976567225786, + 0.2722855805707547, + 0.15196370407934592, + -0.9501408291699353 + ], + [ + 0.8264251109619278, + 0.47354346308012496, + 0.3045950172698938, + 0.4936303152106135, + -0.8695806629947616, + 0.012592952420324613, + 0.2708332473619789, + 0.13995020228521493, + -0.9523987048519604 + ], + [ + 0.85569364933775, + 0.45801439173326297, + 0.24085513373862996, + 0.4606241741412551, + -0.8862507585808563, + 0.0488360841135327, + 0.23582567434384846, + 0.06915497003156383, + -0.9693316467753456 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006089.json b/json/chunk-0006/episode_0006089.json new file mode 100644 index 0000000000000000000000000000000000000000..39cc93af70aa44eb595c1da61ccfb5bc6344d64f --- /dev/null +++ b/json/chunk-0006/episode_0006089.json @@ -0,0 +1,2182 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 35, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nTake broccoli out of pan." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006089.mp4", + "start": 0, + "end": 35, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.23342804610729218, + 0.10521582514047623, + 0.07339135557413101, + -0.09976832568645477, + -0.2262585610151291, + 0.1120949536561966, + 0.0, + 1.0131081342697144 + ], + [ + 0.23133164644241333, + 0.10072875022888184, + 0.06953185796737671, + -0.09876414388418198, + -0.19984297454357147, + 0.12505322694778442, + 0.0, + 1.0131081342697144 + ], + [ + 0.24075084924697876, + 0.0679752379655838, + 0.09071342647075653, + -0.023531567305326462, + -0.2022659033536911, + 0.2596907913684845, + 0.0, + 1.0131081342697144 + ], + [ + 0.2511514723300934, + 0.0428207665681839, + 0.09928935766220093, + -0.014646978117525578, + -0.2159785032272339, + 0.37787380814552307, + 0.0, + 1.0131081342697144 + ], + [ + 0.266343355178833, + 0.020660247653722763, + 0.10412890464067459, + -0.06429385393857956, + -0.18991829454898834, + 0.5379251837730408, + 0.0, + 1.0131081342697144 + ], + [ + 0.2831052243709564, + 0.008303055539727211, + 0.10516808182001114, + -0.1486130654811859, + -0.12170973420143127, + 0.7653176188468933, + 0.0, + 1.0131081342697144 + ], + [ + 0.2904476225376129, + -0.0027909257914870977, + 0.09882395714521408, + -0.225482776761055, + -0.07119936496019363, + 0.9801121950149536, + 0.0, + 1.0131081342697144 + ], + [ + 0.2924099266529083, + -0.00870620645582676, + 0.077298104763031, + -0.22671069204807281, + 0.013205711729824543, + 1.1915881633758545, + 0.0, + 1.0131081342697144 + ], + [ + 0.2929146885871887, + -0.010513536632061005, + 0.06667520850896835, + -0.18449369072914124, + -0.010489641688764095, + 1.3477872610092163, + 0.0, + 1.0131081342697144 + ], + [ + 0.28884825110435486, + -0.0312674306333065, + 0.05373631790280342, + -0.09171933680772781, + -0.09942635148763657, + 1.4544683694839478, + 0.0, + 1.0131081342697144 + ], + [ + 0.2872914671897888, + -0.039427101612091064, + 0.049685344099998474, + -0.03078295662999153, + -0.10991328954696655, + 1.4847524166107178, + 0.0, + 1.0131081342697144 + ], + [ + 0.2858794629573822, + -0.04524751380085945, + 0.06343565136194229, + 0.01900033839046955, + -0.14433370530605316, + 1.4978277683258057, + 0.0, + 1.0131081342697144 + ], + [ + 0.28267258405685425, + -0.05173482745885849, + 0.05723293498158455, + 0.04723906144499779, + -0.130181223154068, + 1.4992951154708862, + 0.0, + 1.0131081342697144 + ], + [ + 0.28372934460639954, + -0.04886455833911896, + 0.05056091770529747, + 0.02686164155602455, + -0.09184356778860092, + 1.5233136415481567, + 0.0, + 1.0131081342697144 + ], + [ + 0.28255486488342285, + -0.04691844806075096, + 0.045926012098789215, + 0.03495621308684349, + -0.09561197459697723, + 1.5322580337524414, + 0.0, + 1.0131081342697144 + ], + [ + 0.2827732264995575, + -0.04475971683859825, + 0.038147974759340286, + 0.013148503378033638, + -0.08232149481773376, + 1.5191645622253418, + 0.0, + 1.0131081342697144 + ], + [ + 0.2783697247505188, + -0.04281642287969589, + 0.026249447837471962, + 0.011340823024511337, + -0.06657645106315613, + 1.5340852737426758, + 0.0, + 1.0124757289886475 + ], + [ + 0.27720654010772705, + -0.04325032979249954, + 0.017948104068636894, + -0.029212845489382744, + -0.05860936641693115, + 1.5527081489562988, + 0.0, + 1.0124757289886475 + ], + [ + 0.27985498309135437, + -0.04362398386001587, + 0.01649998314678669, + -0.051731206476688385, + -0.052645958960056305, + 1.5581380128860474, + 0.0, + 0.9583302736282349 + ], + [ + 0.2820494771003723, + -0.04319754242897034, + 0.01645961031317711, + -0.06298724561929703, + -0.05313025042414665, + 1.5609848499298096, + 0.0, + 0.729983389377594 + ], + [ + 0.2819358706474304, + -0.0441870391368866, + 0.0173737034201622, + -0.044323306530714035, + -0.08055507391691208, + 1.5581923723220825, + 0.0, + 0.7151217460632324 + ], + [ + 0.27798497676849365, + -0.04475070908665657, + 0.020054666325449944, + -0.01434788852930069, + -0.1167806014418602, + 1.559099793434143, + 0.0, + 0.7418107390403748 + ], + [ + 0.27904731035232544, + -0.04824414849281311, + 0.029166584834456444, + 0.013832589611411095, + -0.151310995221138, + 1.5536648035049438, + 0.0, + 0.7418107390403748 + ], + [ + 0.2827540636062622, + -0.04720916599035263, + 0.04987634718418121, + 0.03932493180036545, + -0.19900891184806824, + 1.5368462800979614, + 0.0, + 0.7418107390403748 + ], + [ + 0.2769317328929901, + -0.032611630856990814, + 0.07193223387002945, + 0.0003457882849033922, + -0.19976463913917542, + 1.5161510705947876, + 0.0, + 0.7418107390403748 + ], + [ + 0.26143431663513184, + -0.008813397958874702, + 0.0764160305261612, + 0.027106214314699173, + -0.19052299857139587, + 1.4938801527023315, + 0.0, + 0.7418107390403748 + ], + [ + 0.2507559359073639, + 0.01799021102488041, + 0.07464928925037384, + 0.02339797280728817, + -0.20116658508777618, + 1.4740406274795532, + 0.0, + 0.7418107390403748 + ], + [ + 0.24865885078907013, + 0.04417186230421066, + 0.06808345764875412, + 0.015138430520892143, + -0.20797322690486908, + 1.4511467218399048, + 0.0, + 0.7418107390403748 + ], + [ + 0.2345696985721588, + 0.07233186066150665, + 0.04465803876519203, + -0.02745911292731762, + -0.2090182900428772, + 1.4405879974365234, + 0.0, + 0.7418107390403748 + ], + [ + 0.2187100350856781, + 0.08874431997537613, + 0.022609299048781395, + -0.10272931307554245, + -0.20826402306556702, + 1.4636608362197876, + 0.0, + 0.7418107390403748 + ], + [ + 0.2153388112783432, + 0.105209119617939, + 0.019263815134763718, + -0.14836665987968445, + -0.2066686898469925, + 1.480208396911621, + 0.0, + 0.7418107390403748 + ], + [ + 0.21427008509635925, + 0.11803928762674332, + 0.016271773725748062, + -0.13103625178337097, + -0.1927555501461029, + 1.4603469371795654, + 0.0, + 0.7418107390403748 + ], + [ + 0.21315978467464447, + 0.1254669427871704, + 0.014078318141400814, + -0.13255710899829865, + -0.19929230213165283, + 1.4494788646697998, + 0.0, + 0.7836189270019531 + ], + [ + 0.2134188413619995, + 0.1262446641921997, + 0.014592464081943035, + -0.12679480016231537, + -0.20367470383644104, + 1.4252140522003174, + 0.0, + 0.8870869278907776 + ], + [ + 0.2145766019821167, + 0.1261163353919983, + 0.015073790214955807, + -0.14488671720027924, + -0.22702620923519135, + 1.37086820602417, + 0.0, + 1.002137303352356 + ] + ], + "left_gripper_pos": [ + [ + 1.0131081342697144 + ], + [ + 1.0131081342697144 + ], + [ + 1.0131081342697144 + ], + [ + 1.0131081342697144 + ], + [ + 1.0131081342697144 + ], + [ + 1.0131081342697144 + ], + [ + 1.0131081342697144 + ], + [ + 1.0131081342697144 + ], + [ + 1.0131081342697144 + ], + [ + 1.0131081342697144 + ], + [ + 1.0131081342697144 + ], + [ + 1.0131081342697144 + ], + [ + 1.0131081342697144 + ], + [ + 1.0131081342697144 + ], + [ + 1.0131081342697144 + ], + [ + 1.0131081342697144 + ], + [ + 1.0124757289886475 + ], + [ + 1.0124757289886475 + ], + [ + 0.9583302736282349 + ], + [ + 0.729983389377594 + ], + [ + 0.7151217460632324 + ], + [ + 0.7418107390403748 + ], + [ + 0.7418107390403748 + ], + [ + 0.7418107390403748 + ], + [ + 0.7418107390403748 + ], + [ + 0.7418107390403748 + ], + [ + 0.7418107390403748 + ], + [ + 0.7418107390403748 + ], + [ + 0.7418107390403748 + ], + [ + 0.7418107390403748 + ], + [ + 0.7418107390403748 + ], + [ + 0.7418107390403748 + ], + [ + 0.7836189270019531 + ], + [ + 0.8870869278907776 + ], + [ + 1.002137303352356 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.23342804610729218, + 0.10521582514047623, + 0.07339135557413101 + ], + [ + 0.23133164644241333, + 0.10072875022888184, + 0.06953185796737671 + ], + [ + 0.24075084924697876, + 0.0679752379655838, + 0.09071342647075653 + ], + [ + 0.2511514723300934, + 0.0428207665681839, + 0.09928935766220093 + ], + [ + 0.266343355178833, + 0.020660247653722763, + 0.10412890464067459 + ], + [ + 0.2831052243709564, + 0.008303055539727211, + 0.10516808182001114 + ], + [ + 0.2904476225376129, + -0.0027909257914870977, + 0.09882395714521408 + ], + [ + 0.2924099266529083, + -0.00870620645582676, + 0.077298104763031 + ], + [ + 0.2929146885871887, + -0.010513536632061005, + 0.06667520850896835 + ], + [ + 0.28884825110435486, + -0.0312674306333065, + 0.05373631790280342 + ], + [ + 0.2872914671897888, + -0.039427101612091064, + 0.049685344099998474 + ], + [ + 0.2858794629573822, + -0.04524751380085945, + 0.06343565136194229 + ], + [ + 0.28267258405685425, + -0.05173482745885849, + 0.05723293498158455 + ], + [ + 0.28372934460639954, + -0.04886455833911896, + 0.05056091770529747 + ], + [ + 0.28255486488342285, + -0.04691844806075096, + 0.045926012098789215 + ], + [ + 0.2827732264995575, + -0.04475971683859825, + 0.038147974759340286 + ], + [ + 0.2783697247505188, + -0.04281642287969589, + 0.026249447837471962 + ], + [ + 0.27720654010772705, + -0.04325032979249954, + 0.017948104068636894 + ], + [ + 0.27985498309135437, + -0.04362398386001587, + 0.01649998314678669 + ], + [ + 0.2820494771003723, + -0.04319754242897034, + 0.01645961031317711 + ], + [ + 0.2819358706474304, + -0.0441870391368866, + 0.0173737034201622 + ], + [ + 0.27798497676849365, + -0.04475070908665657, + 0.020054666325449944 + ], + [ + 0.27904731035232544, + -0.04824414849281311, + 0.029166584834456444 + ], + [ + 0.2827540636062622, + -0.04720916599035263, + 0.04987634718418121 + ], + [ + 0.2769317328929901, + -0.032611630856990814, + 0.07193223387002945 + ], + [ + 0.26143431663513184, + -0.008813397958874702, + 0.0764160305261612 + ], + [ + 0.2507559359073639, + 0.01799021102488041, + 0.07464928925037384 + ], + [ + 0.24865885078907013, + 0.04417186230421066, + 0.06808345764875412 + ], + [ + 0.2345696985721588, + 0.07233186066150665, + 0.04465803876519203 + ], + [ + 0.2187100350856781, + 0.08874431997537613, + 0.022609299048781395 + ], + [ + 0.2153388112783432, + 0.105209119617939, + 0.019263815134763718 + ], + [ + 0.21427008509635925, + 0.11803928762674332, + 0.016271773725748062 + ], + [ + 0.21315978467464447, + 0.1254669427871704, + 0.014078318141400814 + ], + [ + 0.2134188413619995, + 0.1262446641921997, + 0.014592464081943035 + ], + [ + 0.2145766019821167, + 0.1261163353919983, + 0.015073790214955807 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9683964395722546, + 0.0891001135090375, + 0.23295816275987713, + 0.10900931441096044, + -0.9912818452851195, + -0.07400859801253419, + 0.22433302297128066, + 0.09706427242196349, + -0.9696665518742831 + ], + [ + 0.9724442076538801, + 0.10469822823246631, + 0.2083039702103625, + 0.12224518756663615, + -0.9897973300572291, + -0.07319398560249524, + 0.19851543294468355, + 0.09664122524348875, + -0.9753215349136006 + ], + [ + 0.9467668779942643, + 0.25214231512977764, + 0.20014177888184528, + 0.251546944753751, + -0.9674156103723323, + 0.02883004323584358, + 0.20088955502476194, + 0.02304972296846971, + -0.9793426861691619 + ], + [ + 0.9078573983171341, + 0.36598819232614227, + 0.2045668286860967, + 0.3603734725077428, + -0.930509525159755, + 0.0654445100805094, + 0.21430330056617247, + 0.0143061757576745, + -0.9766623923862507 + ], + [ + 0.8433325335961874, + 0.500880682295644, + 0.19470177164393118, + 0.5031429772848242, + -0.8632135578735266, + 0.041346074932100296, + 0.18877865924727397, + 0.06309433894081154, + -0.9799906745507447 + ], + [ + 0.7158275660615183, + 0.6721658834788226, + 0.18916638378310263, + 0.6876413572281647, + -0.7256669070896511, + -0.02359880896034139, + 0.12140947037134225, + 0.14697130686658855, + -0.981661436271221 + ], + [ + 0.5555183270139215, + 0.8006772911719803, + 0.2243106411946481, + 0.8284555504640932, + -0.5560415428629001, + -0.06692685197947357, + 0.07113922446084553, + 0.22301048856981137, + -0.9722168136434197 + ], + [ + 0.37015272461100224, + 0.9062857453024171, + 0.20404192785967565, + 0.9288770531011681, + -0.35795500212831277, + -0.09516110903834966, + -0.013205327907350045, + 0.2247540084469265, + -0.9743260516900375 + ], + [ + 0.22115300272183552, + 0.958260297517025, + 0.18118651050698853, + 0.9751827115161659, + -0.21928845856985385, + -0.030516407030259304, + 0.010489449322761218, + 0.18343874765338086, + -0.982975176345906 + ], + [ + 0.11549255528148034, + 0.9880114500967535, + 0.10244434660958397, + 0.9883361788496862, + -0.12460801387378967, + 0.08754679009096066, + 0.09926261759270448, + 0.09113845157857257, + -0.9908787591791968 + ], + [ + 0.08541919588767449, + 0.9955383651596866, + 0.04008646241664857, + 0.9902884433795595, + -0.08926068841142604, + 0.10658953238103352, + 0.10969211404103843, + 0.030592368321145, + -0.9934947141871019 + ], + [ + 0.07214576646332149, + 0.9973581802982461, + -0.008464548044090178, + 0.9869686059448424, + -0.07016522283269322, + 0.14480957283319607, + 0.14383309515099119, + -0.018801640806305933, + -0.9894233366169792 + ], + [ + 0.07083580246244453, + 0.9967700999222084, + -0.03783724343252572, + 0.9890048824304651, + -0.0652462667726294, + 0.132711217313898, + 0.12981383446383254, + -0.04682192406667581, + -0.9904322671482848 + ], + [ + 0.04726479678421669, + 0.9986294839145399, + -0.02247649531237539, + 0.9946630028028572, + -0.04498719231158066, + 0.0928529126259644, + 0.09171450179852049, + -0.026745212365980466, + -0.9954261116604028 + ], + [ + 0.03835278017052163, + 0.9987755890512219, + -0.03124719137101243, + 0.994693539348341, + -0.03517123109084125, + 0.0966837488010533, + 0.09546636597180277, + -0.03478946994335601, + -0.9948245401824376 + ], + [ + 0.05143405394568068, + 0.9986368483410197, + -0.008887250993882434, + 0.9952853883325186, + -0.050524655811935104, + 0.08279042774906671, + 0.08222854654255268, + -0.013103598383686313, + -0.9965273512768721 + ], + [ + 0.036621496525456154, + 0.9992896525758109, + -0.00889135800375829, + 0.997112324204607, + -0.035946497862682614, + 0.06689441090774809, + 0.0665272794537887, + -0.011315456081093196, + -0.9977204425800617 + ], + [ + 0.018056135116989502, + 0.9993788725504431, + 0.030262932515570662, + 0.9981196569346189, + -0.019790117388950257, + 0.058012944197395486, + 0.0585758177523419, + 0.02915853826131437, + -0.9978570304513106 + ], + [ + 0.012640438512309837, + 0.9985477893652202, + 0.052369186245812334, + 0.9985345171583337, + -0.015361791651683554, + 0.05189251777109877, + 0.052621643433002456, + 0.051636495921802555, + -0.9972786144961336 + ], + [ + 0.009797474894331637, + 0.997936125779842, + 0.06346257439793772, + 0.9985408559928444, + -0.013134444868542816, + 0.052379817402053164, + 0.053105257731906004, + 0.06285678341686002, + -0.9966086776562371 + ], + [ + 0.012562749670712636, + 0.9988935948314253, + 0.045318467819016786, + 0.9966780229713357, + -0.016156398607372446, + 0.07982411483999852, + 0.08046798025712205, + 0.04416511053752663, + -0.9957782620466 + ], + [ + 0.011616602123034336, + 0.9998091216339395, + 0.01570906912216579, + 0.9931209537424257, + -0.013366640262185536, + 0.11632757268092425, + 0.11651534573973296, + 0.014249674581238325, + -0.9930866633791227 + ], + [ + 0.016934955512578453, + 0.9997933214578109, + -0.011248184304403844, + 0.9884292512698353, + -0.01504437348298232, + 0.15093469468832454, + 0.15073427783997972, + -0.0136741067299984, + -0.9884797399487744 + ], + [ + 0.033273581719283796, + 0.9989148969874847, + -0.032586766271806525, + 0.9796981212069099, + -0.026149308661073845, + 0.19876570368199664, + 0.19769790100863882, + -0.0385388405771514, + -0.9795051289828695 + ], + [ + 0.053531891662000564, + 0.9985110075582391, + 0.010493062475684073, + 0.978650313639905, + -0.05454954558834302, + 0.1981613249063036, + 0.19843865598114738, + -0.0003389116936114156, + -0.9801132510844144 + ], + [ + 0.07544995487610995, + 0.9970715306475189, + -0.012476661468822994, + 0.9790022355653334, + -0.07169476156905341, + 0.190825794696725, + 0.18937245593610763, + -0.026612477069435272, + -0.981544624047708 + ], + [ + 0.09465668587108422, + 0.9955019843958419, + -0.0039888449259950914, + 0.9752512835736253, + -0.0919254448622252, + 0.20108368027982315, + 0.19981252640387442, + -0.022924040892101608, + -0.9795659460400195 + ], + [ + 0.11679219141698954, + 0.9931098445645375, + 0.009613566092624884, + 0.9714559892462783, + -0.116247372304976, + 0.20678445151829689, + 0.20647722630244686, + -0.014811652885086748, + -0.9783392918396253 + ], + [ + 0.12701473993599155, + 0.9904213712208, + 0.05415499301175343, + 0.9699541990432349, + -0.13544057850116986, + 0.20210072106171578, + 0.20749965686089566, + 0.02685809234437707, + -0.9778663176928797 + ], + [ + 0.10462002762567835, + 0.9867574237764638, + 0.12395336397870976, + 0.9727816967841716, + -0.12744850120939777, + 0.19352687136722463, + 0.20676174748079118, + 0.10033277710456517, + -0.9732332267330248 + ], + [ + 0.08853900206526427, + 0.9822145276488966, + 0.16557616612526724, + 0.974706903983756, + -0.11967921450028968, + 0.1887414552847223, + 0.2052006248520903, + 0.14467725215820426, + -0.9679675595123336 + ], + [ + 0.10818360770332697, + 0.9826269912491916, + 0.15079954606315735, + 0.9754996097628204, + -0.13415756395791917, + 0.17436243685341976, + 0.19156413645794615, + 0.12824174087027393, + -0.9730658957756579 + ], + [ + 0.11862473169672805, + 0.980775053690404, + 0.15494665884898648, + 0.9730024661681868, + -0.1459323786196608, + 0.17880140296159439, + 0.19797569007457902, + 0.12955321273126688, + -0.9716077352566215 + ], + [ + 0.1420699891523931, + 0.9777682562419124, + 0.15422501505232378, + 0.9689701716492264, + -0.1692114759692982, + 0.18017847500287362, + 0.20226943574427764, + 0.12384148531870168, + -0.9714681476393089 + ], + [ + 0.1935028456647651, + 0.9633579082822613, + 0.18573688182389725, + 0.9549320260227833, + -0.22836797589749275, + 0.18961248181621596, + 0.22508103961831333, + 0.1406755420622521, + -0.9641311723359176 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.002096399664878845, + -0.004487074911594391, + -0.003859497606754303, + 0.0010041818022727966, + 0.026415586471557617, + 0.01295827329158783, + 1.0 + ], + [ + 0.00941920280456543, + -0.032753512263298035, + 0.021181568503379822, + 0.07523258030414581, + -0.002422928810119629, + 0.13463756442070007, + 1.0 + ], + [ + 0.010400623083114624, + -0.025154471397399902, + 0.008575931191444397, + 0.008884589187800884, + -0.013712599873542786, + 0.11818301677703857, + 1.0 + ], + [ + 0.015191882848739624, + -0.022160518914461136, + 0.004839546978473663, + -0.049646876752376556, + 0.026060208678245544, + 0.1600513756275177, + 1.0 + ], + [ + 0.016761869192123413, + -0.012357192113995552, + 0.0010391771793365479, + -0.08431921154260635, + 0.06820856034755707, + 0.22739243507385254, + 1.0 + ], + [ + 0.007342398166656494, + -0.011093981564044952, + -0.006344124674797058, + -0.07686971127986908, + 0.05051036924123764, + 0.2147945761680603, + 1.0 + ], + [ + 0.00196230411529541, + -0.005915280431509018, + -0.021525852382183075, + -0.0012279152870178223, + 0.0844050794839859, + 0.21147596836090088, + 1.0 + ], + [ + 0.0005047619342803955, + -0.0018073301762342453, + -0.010622896254062653, + 0.04221700131893158, + -0.02369535341858864, + 0.15619909763336182, + 1.0 + ], + [ + -0.004066437482833862, + -0.0207538940012455, + -0.012938890606164932, + 0.09277435392141342, + -0.0889367088675499, + 0.10668110847473145, + 1.0 + ], + [ + -0.00155678391456604, + -0.008159670978784561, + -0.004050973802804947, + 0.06093638017773628, + -0.010486938059329987, + 0.03028404712677002, + 1.0 + ], + [ + -0.0014120042324066162, + -0.005820412188768387, + 0.013750307261943817, + 0.04978329688310623, + -0.03442041575908661, + 0.01307535171508789, + 1.0 + ], + [ + -0.003206878900527954, + -0.006487313657999039, + -0.006202716380357742, + 0.028238723054528236, + 0.014152482151985168, + 0.0014673471450805664, + 1.0 + ], + [ + 0.001056760549545288, + 0.0028702691197395325, + -0.006672017276287079, + -0.020377419888973236, + 0.03833765536546707, + 0.024018526077270508, + 1.0 + ], + [ + -0.0011744797229766846, + 0.0019461102783679962, + -0.004634905606508255, + 0.00809457153081894, + -0.0037684068083763123, + 0.008944392204284668, + 1.0 + ], + [ + 0.00021836161613464355, + 0.00215873122215271, + -0.007778037339448929, + -0.021807709708809853, + 0.01329047977924347, + -0.01309347152709961, + 1.0 + ], + [ + -0.004403501749038696, + 0.001943293958902359, + -0.011898526921868324, + -0.0018076803535223007, + 0.015745043754577637, + 0.014920711517333984, + 1.0 + ], + [ + -0.001163184642791748, + -0.0004339069128036499, + -0.008301343768835068, + -0.04055366665124893, + 0.007967084646224976, + 0.018622875213623047, + 1.0 + ], + [ + 0.0026484429836273193, + -0.0003736540675163269, + -0.0014481209218502045, + -0.02251836098730564, + 0.005963407456874847, + 0.005429863929748535, + 0.0 + ], + [ + 0.0021944940090179443, + 0.0004264414310455322, + -4.0372833609580994e-05, + -0.011256039142608643, + -0.0004842914640903473, + 0.002846837043762207, + 0.0 + ], + [ + -0.00011360645294189453, + -0.0009894967079162598, + 0.0009140931069850922, + 0.018663939088582993, + -0.027424823492765427, + -0.0027924776077270508, + 0.0 + ], + [ + -0.003950893878936768, + -0.0005636699497699738, + 0.0026809629052877426, + 0.029975418001413345, + -0.03622552752494812, + 0.0009074211120605469, + 0.0 + ], + [ + 0.0010623335838317871, + -0.00349343940615654, + 0.0091119185090065, + 0.028180478140711784, + -0.0345303937792778, + -0.005434989929199219, + 0.0 + ], + [ + 0.0037067532539367676, + 0.0010349825024604797, + 0.02070976234972477, + 0.025492342188954353, + -0.04769791662693024, + -0.016818523406982422, + 0.0 + ], + [ + -0.005822330713272095, + 0.014597535133361816, + 0.022055886685848236, + -0.038979142904281616, + -0.0007557272911071777, + -0.020695209503173828, + 0.0 + ], + [ + -0.015497416257858276, + 0.023798232898116112, + 0.004483796656131744, + 0.02676042541861534, + 0.009241640567779541, + -0.022270917892456055, + 0.0 + ], + [ + -0.010678380727767944, + 0.02680360898375511, + -0.0017667412757873535, + -0.003708241507411003, + -0.01064358651638031, + -0.01983952522277832, + 0.0 + ], + [ + -0.002097085118293762, + 0.026181651279330254, + -0.0065658316016197205, + -0.008259542286396027, + -0.0068066418170928955, + -0.022893905639648438, + 0.0 + ], + [ + -0.014089152216911316, + 0.02815999835729599, + -0.023425418883562088, + -0.04259754344820976, + -0.0010450631380081177, + -0.010558724403381348, + 0.0 + ], + [ + -0.015859663486480713, + 0.016412459313869476, + -0.022048739716410637, + -0.07527019828557968, + 0.0007542669773101807, + 0.02307283878326416, + 0.0 + ], + [ + -0.0033712238073349, + 0.016464799642562866, + -0.0033454839140176773, + -0.045637346804142, + 0.001595333218574524, + 0.016547560691833496, + 0.0 + ], + [ + -0.0010687261819839478, + 0.012830168008804321, + -0.0029920414090156555, + 0.017330408096313477, + 0.013913139700889587, + -0.019861459732055664, + 0.0 + ], + [ + -0.0011103004217147827, + 0.0074276551604270935, + -0.002193455584347248, + -0.0015208572149276733, + -0.006536751985549927, + -0.010868072509765625, + 1.0 + ], + [ + 0.0002590566873550415, + 0.0007777214050292969, + 0.0005141459405422211, + 0.005762308835983276, + -0.004382401704788208, + -0.024264812469482422, + 1.0 + ], + [ + 0.0011577606201171875, + -0.00012832880020141602, + 0.0004813261330127716, + -0.018091917037963867, + -0.023351505398750305, + -0.05434584617614746, + 1.0 + ], + [ + 0.0009324103593826294, + -0.002344362437725067, + 0.010739480145275593, + 0.028825856745243073, + -0.016107171773910522, + -0.03304266929626465, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0131081342697144 + ], + [ + 1.0131081342697144 + ], + [ + 1.0131081342697144 + ], + [ + 1.0131081342697144 + ], + [ + 1.0131081342697144 + ], + [ + 1.0131081342697144 + ], + [ + 1.0131081342697144 + ], + [ + 1.0131081342697144 + ], + [ + 1.0131081342697144 + ], + [ + 1.0131081342697144 + ], + [ + 1.0131081342697144 + ], + [ + 1.0131081342697144 + ], + [ + 1.0131081342697144 + ], + [ + 1.0131081342697144 + ], + [ + 1.0131081342697144 + ], + [ + 1.0124757289886475 + ], + [ + 1.0124757289886475 + ], + [ + 0.9583302736282349 + ], + [ + 0.729983389377594 + ], + [ + 0.7151217460632324 + ], + [ + 0.7418107390403748 + ], + [ + 0.7418107390403748 + ], + [ + 0.7418107390403748 + ], + [ + 0.7418107390403748 + ], + [ + 0.7418107390403748 + ], + [ + 0.7418107390403748 + ], + [ + 0.7418107390403748 + ], + [ + 0.7418107390403748 + ], + [ + 0.7418107390403748 + ], + [ + 0.7418107390403748 + ], + [ + 0.7418107390403748 + ], + [ + 0.7836189270019531 + ], + [ + 0.8870869278907776 + ], + [ + 1.002137303352356 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.23133164644241333, + 0.10072875022888184, + 0.06953185796737671 + ], + [ + 0.24075084924697876, + 0.0679752379655838, + 0.09071342647075653 + ], + [ + 0.2511514723300934, + 0.0428207665681839, + 0.09928935766220093 + ], + [ + 0.266343355178833, + 0.020660247653722763, + 0.10412890464067459 + ], + [ + 0.2831052243709564, + 0.008303055539727211, + 0.10516808182001114 + ], + [ + 0.2904476225376129, + -0.0027909257914870977, + 0.09882395714521408 + ], + [ + 0.2924099266529083, + -0.00870620645582676, + 0.077298104763031 + ], + [ + 0.2929146885871887, + -0.010513536632061005, + 0.06667520850896835 + ], + [ + 0.28884825110435486, + -0.0312674306333065, + 0.05373631790280342 + ], + [ + 0.2872914671897888, + -0.039427101612091064, + 0.049685344099998474 + ], + [ + 0.2858794629573822, + -0.04524751380085945, + 0.06343565136194229 + ], + [ + 0.28267258405685425, + -0.05173482745885849, + 0.05723293498158455 + ], + [ + 0.28372934460639954, + -0.04886455833911896, + 0.05056091770529747 + ], + [ + 0.28255486488342285, + -0.04691844806075096, + 0.045926012098789215 + ], + [ + 0.2827732264995575, + -0.04475971683859825, + 0.038147974759340286 + ], + [ + 0.2783697247505188, + -0.04281642287969589, + 0.026249447837471962 + ], + [ + 0.27720654010772705, + -0.04325032979249954, + 0.017948104068636894 + ], + [ + 0.27985498309135437, + -0.04362398386001587, + 0.01649998314678669 + ], + [ + 0.2820494771003723, + -0.04319754242897034, + 0.01645961031317711 + ], + [ + 0.2819358706474304, + -0.0441870391368866, + 0.0173737034201622 + ], + [ + 0.27798497676849365, + -0.04475070908665657, + 0.020054666325449944 + ], + [ + 0.27904731035232544, + -0.04824414849281311, + 0.029166584834456444 + ], + [ + 0.2827540636062622, + -0.04720916599035263, + 0.04987634718418121 + ], + [ + 0.2769317328929901, + -0.032611630856990814, + 0.07193223387002945 + ], + [ + 0.26143431663513184, + -0.008813397958874702, + 0.0764160305261612 + ], + [ + 0.2507559359073639, + 0.01799021102488041, + 0.07464928925037384 + ], + [ + 0.24865885078907013, + 0.04417186230421066, + 0.06808345764875412 + ], + [ + 0.2345696985721588, + 0.07233186066150665, + 0.04465803876519203 + ], + [ + 0.2187100350856781, + 0.08874431997537613, + 0.022609299048781395 + ], + [ + 0.2153388112783432, + 0.105209119617939, + 0.019263815134763718 + ], + [ + 0.21427008509635925, + 0.11803928762674332, + 0.016271773725748062 + ], + [ + 0.21315978467464447, + 0.1254669427871704, + 0.014078318141400814 + ], + [ + 0.2134188413619995, + 0.1262446641921997, + 0.014592464081943035 + ], + [ + 0.2145766019821167, + 0.1261163353919983, + 0.015073790214955807 + ], + [ + 0.21550901234149933, + 0.12377197295427322, + 0.0258132703602314 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9724442076538801, + 0.10469822823246631, + 0.2083039702103625, + 0.12224518756663615, + -0.9897973300572291, + -0.07319398560249524, + 0.19851543294468355, + 0.09664122524348875, + -0.9753215349136006 + ], + [ + 0.9467668779942643, + 0.25214231512977764, + 0.20014177888184528, + 0.251546944753751, + -0.9674156103723323, + 0.02883004323584358, + 0.20088955502476194, + 0.02304972296846971, + -0.9793426861691619 + ], + [ + 0.9078573983171341, + 0.36598819232614227, + 0.2045668286860967, + 0.3603734725077428, + -0.930509525159755, + 0.0654445100805094, + 0.21430330056617247, + 0.0143061757576745, + -0.9766623923862507 + ], + [ + 0.8433325335961874, + 0.500880682295644, + 0.19470177164393118, + 0.5031429772848242, + -0.8632135578735266, + 0.041346074932100296, + 0.18877865924727397, + 0.06309433894081154, + -0.9799906745507447 + ], + [ + 0.7158275660615183, + 0.6721658834788226, + 0.18916638378310263, + 0.6876413572281647, + -0.7256669070896511, + -0.02359880896034139, + 0.12140947037134225, + 0.14697130686658855, + -0.981661436271221 + ], + [ + 0.5555183270139215, + 0.8006772911719803, + 0.2243106411946481, + 0.8284555504640932, + -0.5560415428629001, + -0.06692685197947357, + 0.07113922446084553, + 0.22301048856981137, + -0.9722168136434197 + ], + [ + 0.37015272461100224, + 0.9062857453024171, + 0.20404192785967565, + 0.9288770531011681, + -0.35795500212831277, + -0.09516110903834966, + -0.013205327907350045, + 0.2247540084469265, + -0.9743260516900375 + ], + [ + 0.22115300272183552, + 0.958260297517025, + 0.18118651050698853, + 0.9751827115161659, + -0.21928845856985385, + -0.030516407030259304, + 0.010489449322761218, + 0.18343874765338086, + -0.982975176345906 + ], + [ + 0.11549255528148034, + 0.9880114500967535, + 0.10244434660958397, + 0.9883361788496862, + -0.12460801387378967, + 0.08754679009096066, + 0.09926261759270448, + 0.09113845157857257, + -0.9908787591791968 + ], + [ + 0.08541919588767449, + 0.9955383651596866, + 0.04008646241664857, + 0.9902884433795595, + -0.08926068841142604, + 0.10658953238103352, + 0.10969211404103843, + 0.030592368321145, + -0.9934947141871019 + ], + [ + 0.07214576646332149, + 0.9973581802982461, + -0.008464548044090178, + 0.9869686059448424, + -0.07016522283269322, + 0.14480957283319607, + 0.14383309515099119, + -0.018801640806305933, + -0.9894233366169792 + ], + [ + 0.07083580246244453, + 0.9967700999222084, + -0.03783724343252572, + 0.9890048824304651, + -0.0652462667726294, + 0.132711217313898, + 0.12981383446383254, + -0.04682192406667581, + -0.9904322671482848 + ], + [ + 0.04726479678421669, + 0.9986294839145399, + -0.02247649531237539, + 0.9946630028028572, + -0.04498719231158066, + 0.0928529126259644, + 0.09171450179852049, + -0.026745212365980466, + -0.9954261116604028 + ], + [ + 0.03835278017052163, + 0.9987755890512219, + -0.03124719137101243, + 0.994693539348341, + -0.03517123109084125, + 0.0966837488010533, + 0.09546636597180277, + -0.03478946994335601, + -0.9948245401824376 + ], + [ + 0.05143405394568068, + 0.9986368483410197, + -0.008887250993882434, + 0.9952853883325186, + -0.050524655811935104, + 0.08279042774906671, + 0.08222854654255268, + -0.013103598383686313, + -0.9965273512768721 + ], + [ + 0.036621496525456154, + 0.9992896525758109, + -0.00889135800375829, + 0.997112324204607, + -0.035946497862682614, + 0.06689441090774809, + 0.0665272794537887, + -0.011315456081093196, + -0.9977204425800617 + ], + [ + 0.018056135116989502, + 0.9993788725504431, + 0.030262932515570662, + 0.9981196569346189, + -0.019790117388950257, + 0.058012944197395486, + 0.0585758177523419, + 0.02915853826131437, + -0.9978570304513106 + ], + [ + 0.012640438512309837, + 0.9985477893652202, + 0.052369186245812334, + 0.9985345171583337, + -0.015361791651683554, + 0.05189251777109877, + 0.052621643433002456, + 0.051636495921802555, + -0.9972786144961336 + ], + [ + 0.009797474894331637, + 0.997936125779842, + 0.06346257439793772, + 0.9985408559928444, + -0.013134444868542816, + 0.052379817402053164, + 0.053105257731906004, + 0.06285678341686002, + -0.9966086776562371 + ], + [ + 0.012562749670712636, + 0.9988935948314253, + 0.045318467819016786, + 0.9966780229713357, + -0.016156398607372446, + 0.07982411483999852, + 0.08046798025712205, + 0.04416511053752663, + -0.9957782620466 + ], + [ + 0.011616602123034336, + 0.9998091216339395, + 0.01570906912216579, + 0.9931209537424257, + -0.013366640262185536, + 0.11632757268092425, + 0.11651534573973296, + 0.014249674581238325, + -0.9930866633791227 + ], + [ + 0.016934955512578453, + 0.9997933214578109, + -0.011248184304403844, + 0.9884292512698353, + -0.01504437348298232, + 0.15093469468832454, + 0.15073427783997972, + -0.0136741067299984, + -0.9884797399487744 + ], + [ + 0.033273581719283796, + 0.9989148969874847, + -0.032586766271806525, + 0.9796981212069099, + -0.026149308661073845, + 0.19876570368199664, + 0.19769790100863882, + -0.0385388405771514, + -0.9795051289828695 + ], + [ + 0.053531891662000564, + 0.9985110075582391, + 0.010493062475684073, + 0.978650313639905, + -0.05454954558834302, + 0.1981613249063036, + 0.19843865598114738, + -0.0003389116936114156, + -0.9801132510844144 + ], + [ + 0.07544995487610995, + 0.9970715306475189, + -0.012476661468822994, + 0.9790022355653334, + -0.07169476156905341, + 0.190825794696725, + 0.18937245593610763, + -0.026612477069435272, + -0.981544624047708 + ], + [ + 0.09465668587108422, + 0.9955019843958419, + -0.0039888449259950914, + 0.9752512835736253, + -0.0919254448622252, + 0.20108368027982315, + 0.19981252640387442, + -0.022924040892101608, + -0.9795659460400195 + ], + [ + 0.11679219141698954, + 0.9931098445645375, + 0.009613566092624884, + 0.9714559892462783, + -0.116247372304976, + 0.20678445151829689, + 0.20647722630244686, + -0.014811652885086748, + -0.9783392918396253 + ], + [ + 0.12701473993599155, + 0.9904213712208, + 0.05415499301175343, + 0.9699541990432349, + -0.13544057850116986, + 0.20210072106171578, + 0.20749965686089566, + 0.02685809234437707, + -0.9778663176928797 + ], + [ + 0.10462002762567835, + 0.9867574237764638, + 0.12395336397870976, + 0.9727816967841716, + -0.12744850120939777, + 0.19352687136722463, + 0.20676174748079118, + 0.10033277710456517, + -0.9732332267330248 + ], + [ + 0.08853900206526427, + 0.9822145276488966, + 0.16557616612526724, + 0.974706903983756, + -0.11967921450028968, + 0.1887414552847223, + 0.2052006248520903, + 0.14467725215820426, + -0.9679675595123336 + ], + [ + 0.10818360770332697, + 0.9826269912491916, + 0.15079954606315735, + 0.9754996097628204, + -0.13415756395791917, + 0.17436243685341976, + 0.19156413645794615, + 0.12824174087027393, + -0.9730658957756579 + ], + [ + 0.11862473169672805, + 0.980775053690404, + 0.15494665884898648, + 0.9730024661681868, + -0.1459323786196608, + 0.17880140296159439, + 0.19797569007457902, + 0.12955321273126688, + -0.9716077352566215 + ], + [ + 0.1420699891523931, + 0.9777682562419124, + 0.15422501505232378, + 0.9689701716492264, + -0.1692114759692982, + 0.18017847500287362, + 0.20226943574427764, + 0.12384148531870168, + -0.9714681476393089 + ], + [ + 0.1935028456647651, + 0.9633579082822613, + 0.18573688182389725, + 0.9549320260227833, + -0.22836797589749275, + 0.18961248181621596, + 0.22508103961831333, + 0.1406755420622521, + -0.9641311723359176 + ], + [ + 0.22407884173742815, + 0.9600028081218963, + 0.16787876900813234, + 0.9443677805237534, + -0.2564411482604348, + 0.20593064994679522, + 0.24074502652028443, + 0.1123945989669562, + -0.9640587566786604 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006092.json b/json/chunk-0006/episode_0006092.json new file mode 100644 index 0000000000000000000000000000000000000000..5d2373f98e27f8376d6697938709c02bd0619918 --- /dev/null +++ b/json/chunk-0006/episode_0006092.json @@ -0,0 +1,1282 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 20, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nOpen white1fbox flap." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006092.mp4", + "start": 0, + "end": 20, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2875988483428955, + -0.11216868460178375, + 0.12447600811719894, + 0.17115038633346558, + -0.1479130983352661, + 0.018835026770830154, + 0.0, + 1.0027955770492554 + ], + [ + 0.2854641377925873, + -0.1109948679804802, + 0.1131918802857399, + 0.2089381366968155, + -0.09920982271432877, + 0.018854906782507896, + 0.0, + 1.0027955770492554 + ], + [ + 0.2954307198524475, + -0.11779399961233139, + 0.10866473615169525, + 0.3011690676212311, + -0.051103249192237854, + 0.005299895536154509, + 0.0, + 1.0027955770492554 + ], + [ + 0.2978162169456482, + -0.12039248645305634, + 0.10702209174633026, + 0.36291393637657166, + -0.05847087875008583, + -0.010313359089195728, + 0.0, + 1.0027955770492554 + ], + [ + 0.2890414595603943, + -0.10723156481981277, + 0.09393360465765, + 0.4267670512199402, + -0.0334814190864563, + -0.030730966478586197, + 0.0, + 1.0027955770492554 + ], + [ + 0.28103864192962646, + -0.09593141078948975, + 0.09217804670333862, + 0.46708545088768005, + -0.03225594758987427, + -0.049739282578229904, + 0.0, + 1.0027955770492554 + ], + [ + 0.27297741174697876, + -0.0887436494231224, + 0.0922863632440567, + 0.46578335762023926, + -0.034201353788375854, + -0.06802413612604141, + 0.0, + 1.0027955770492554 + ], + [ + 0.2725569009780884, + -0.08377298712730408, + 0.09715893119573593, + 0.46654003858566284, + -0.030804725363850594, + -0.06601683795452118, + 0.0, + 1.0027955770492554 + ], + [ + 0.27300724387168884, + -0.08061714470386505, + 0.10529773682355881, + 0.498374342918396, + -0.01307581178843975, + -0.06883861124515533, + 0.0, + 1.0027955770492554 + ], + [ + 0.27343451976776123, + -0.07679248601198196, + 0.11568189412355423, + 0.535627007484436, + 0.017437933012843132, + -0.08991900086402893, + 0.0, + 1.0027955770492554 + ], + [ + 0.27407798171043396, + -0.06806895136833191, + 0.13510946929454803, + 0.5525735020637512, + 0.053921084851026535, + -0.118735671043396, + 0.0, + 1.0027955770492554 + ], + [ + 0.27821335196495056, + -0.05659782141447067, + 0.1515304297208786, + 0.5618867874145508, + 0.10645116865634918, + -0.12927499413490295, + 0.0, + 1.0027955770492554 + ], + [ + 0.27852916717529297, + -0.04355688765645027, + 0.16182075440883636, + 0.5501183867454529, + 0.12532632052898407, + -0.1483645886182785, + 0.0, + 1.0027955770492554 + ], + [ + 0.2736712098121643, + -0.02307291515171528, + 0.16631680727005005, + 0.5222644209861755, + 0.1232428103685379, + -0.1704283058643341, + 0.0, + 1.0027955770492554 + ], + [ + 0.2640911638736725, + -0.0007395637803710997, + 0.16149166226387024, + 0.5168002247810364, + 0.09716419130563736, + -0.20256701111793518, + 0.0, + 1.0027955770492554 + ], + [ + 0.25792196393013, + 0.017052140086889267, + 0.15199051797389984, + 0.5048681497573853, + 0.06228726729750633, + -0.21982431411743164, + 0.0, + 1.0027955770492554 + ], + [ + 0.25684165954589844, + 0.02800014428794384, + 0.14658638834953308, + 0.4935246706008911, + 0.038881149142980576, + -0.23616923391819, + 0.0, + 1.0027955770492554 + ], + [ + 0.2551708519458771, + 0.03961420804262161, + 0.1421620100736618, + 0.4557987153530121, + 0.007867629639804363, + -0.24158909916877747, + 0.0, + 1.0027955770492554 + ], + [ + 0.25262343883514404, + 0.0527818500995636, + 0.13769663870334625, + 0.36847740411758423, + 0.005373283289372921, + -0.20137520134449005, + 0.0, + 1.0027955770492554 + ], + [ + 0.25780630111694336, + 0.045301370322704315, + 0.14685721695423126, + 0.25857874751091003, + 0.07333940267562866, + -0.12961679697036743, + 0.0, + 1.0027955770492554 + ] + ], + "left_gripper_pos": [ + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2875988483428955, + -0.11216868460178375, + 0.12447600811719894 + ], + [ + 0.2854641377925873, + -0.1109948679804802, + 0.1131918802857399 + ], + [ + 0.2954307198524475, + -0.11779399961233139, + 0.10866473615169525 + ], + [ + 0.2978162169456482, + -0.12039248645305634, + 0.10702209174633026 + ], + [ + 0.2890414595603943, + -0.10723156481981277, + 0.09393360465765 + ], + [ + 0.28103864192962646, + -0.09593141078948975, + 0.09217804670333862 + ], + [ + 0.27297741174697876, + -0.0887436494231224, + 0.0922863632440567 + ], + [ + 0.2725569009780884, + -0.08377298712730408, + 0.09715893119573593 + ], + [ + 0.27300724387168884, + -0.08061714470386505, + 0.10529773682355881 + ], + [ + 0.27343451976776123, + -0.07679248601198196, + 0.11568189412355423 + ], + [ + 0.27407798171043396, + -0.06806895136833191, + 0.13510946929454803 + ], + [ + 0.27821335196495056, + -0.05659782141447067, + 0.1515304297208786 + ], + [ + 0.27852916717529297, + -0.04355688765645027, + 0.16182075440883636 + ], + [ + 0.2736712098121643, + -0.02307291515171528, + 0.16631680727005005 + ], + [ + 0.2640911638736725, + -0.0007395637803710997, + 0.16149166226387024 + ], + [ + 0.25792196393013, + 0.017052140086889267, + 0.15199051797389984 + ], + [ + 0.25684165954589844, + 0.02800014428794384, + 0.14658638834953308 + ], + [ + 0.2551708519458771, + 0.03961420804262161, + 0.1421620100736618 + ], + [ + 0.25262343883514404, + 0.0527818500995636, + 0.13769663870334625 + ], + [ + 0.25780630111694336, + 0.045301370322704315, + 0.14685721695423126 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9889053501806299, + 0.04365450203740823, + 0.14198765029393262, + 0.018628261639633423, + -0.9847419721321462, + 0.17302091257873198, + 0.14737434054953918, + -0.16845632304297092, + -0.9746298122746047 + ], + [ + 0.994905866284115, + 0.03898458498379179, + 0.09296515135842896, + 0.018761080653872147, + -0.9776904950534269, + 0.20921117975596698, + 0.09904715587109504, + -0.2064013033287972, + -0.9734414018820139 + ], + [ + 0.9986804870305876, + 0.020213622605585038, + 0.04720904876723781, + 0.005292951813069327, + -0.9548966346375054, + 0.2968912289359038, + 0.051081009048891964, + -0.2962496018885522, + -0.9537436258740718 + ], + [ + 0.998237973802588, + 0.011102784546150156, + 0.058289585980902815, + -0.01029555171296105, + -0.9350305790414358, + 0.3544175755692186, + 0.058437567312723045, + -0.3543932059630359, + -0.933268721373331 + ], + [ + 0.9989676552782535, + -0.014120431913337363, + 0.04317681218489099, + -0.03070890922204818, + -0.9103046613548303, + 0.41279823934951526, + 0.033475163961667935, + -0.41369800207185975, + -0.9097985362043022 + ], + [ + 0.9982437222435026, + -0.029889204085929245, + 0.05114788832930043, + -0.049692913369970164, + -0.8925022001977799, + 0.4482972641037714, + 0.032250354451409634, + -0.4500516171743321, + -0.8924200000652869 + ], + [ + 0.9971037936969004, + -0.04540856779978244, + 0.06100890562550158, + -0.06793193663230619, + -0.8924475266122389, + 0.44600747104626076, + 0.03419468643858477, + -0.4488601945083451, + -0.8929475064108177 + ], + [ + 0.9973482852815727, + -0.04509523539133955, + 0.05712107834159442, + -0.0659375982269396, + -0.8920983103520866, + 0.44700429282839665, + 0.030799853667989728, + -0.44958539167988093, + -0.8927061916454252 + ], + [ + 0.997546273573733, + -0.054182158617993394, + 0.044336506026680864, + -0.06877837573955925, + -0.8767103413058431, + 0.4760761624761529, + 0.013075439181431437, + -0.47795739468585163, + -0.878285694837008 + ], + [ + 0.9958085871560592, + -0.08608514885322266, + 0.030896680941025538, + -0.08978422500137462, + -0.855675442764325, + 0.5096649189329975, + -0.01743704926745264, + -0.5103027373990804, + -0.8598180420971925 + ], + [ + 0.9915160414331691, + -0.12891690105030457, + 0.016624445984260095, + -0.11828471125608274, + -0.8418326475887709, + 0.5266180024806831, + -0.0538949595394851, + -0.5241166149601305, + -0.8499394727031867 + ], + [ + 0.9860422754138669, + -0.16523072757513993, + -0.02048017972658471, + -0.12818548586373354, + -0.8318922385135185, + 0.5399294256797321, + -0.10625023440219734, + -0.5297679776713168, + -0.8414610968568428 + ], + [ + 0.9812572416571635, + -0.19064161718893882, + -0.028106929589708667, + -0.14666151639353522, + -0.8334378486460751, + 0.5327961636999189, + -0.1249985012091086, + -0.518687889042908, + -0.8457767131197739 + ], + [ + 0.9780373139459374, + -0.2074297796517201, + -0.020393602993452435, + -0.16831805143567508, + -0.843734639342421, + 0.5096870529399508, + -0.12293106234924167, + -0.4950603446927996, + -0.8601181366663148 + ], + [ + 0.9749330766939636, + -0.22186407072050704, + 0.016787795905585844, + -0.20023558273890038, + -0.841984780823912, + 0.5009664063249365, + -0.09701137754539274, + -0.4917702339347454, + -0.8653038943876946 + ], + [ + 0.9740432153318485, + -0.22023669456030123, + 0.0523030881989467, + -0.2176353045135793, + -0.8476109480373337, + 0.4839323868026749, + -0.06224699908650876, + -0.4827540565716717, + -0.8735409732624563 + ], + [ + 0.9715066313323152, + -0.22396224102896853, + 0.07756145866743006, + -0.23380308628171484, + -0.8519138227782013, + 0.46859252598027706, + -0.03887135349434423, + -0.47337485479555613, + -0.8800029913158273 + ], + [ + 0.9709289647058429, + -0.21818376499206926, + 0.09845196894488951, + -0.23923847344494364, + -0.8710050130238274, + 0.4290864949064409, + -0.007867548472872687, + -0.44016600502679404, + -0.897881946415997 + ], + [ + 0.9797782965216002, + -0.18848747940541777, + 0.06713389436509767, + -0.20001404393139605, + -0.913638577204389, + 0.3539193869713129, + -0.005373257433015845, + -0.3601902557695483, + -0.9328633917960478 + ], + [ + 0.9889459176942027, + -0.14353643448137676, + -0.03719225527370457, + -0.128906711750984, + -0.9562229757671262, + 0.2627178720236033, + -0.07327367563811504, + -0.25501943571311403, + -0.964155618075757 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0021347105503082275, + 0.0011738166213035583, + -0.011284127831459045, + 0.037787750363349915, + 0.04870327562093735, + 1.9880011677742004e-05, + 1.0 + ], + [ + 0.00996658205986023, + -0.006799131631851196, + -0.004527144134044647, + 0.09223093092441559, + 0.04810657352209091, + -0.0135550107806921, + 1.0 + ], + [ + 0.0023854970932006836, + -0.002598486840724945, + -0.0016426444053649902, + 0.061744868755340576, + -0.007367629557847977, + -0.01561325415968895, + 1.0 + ], + [ + -0.008774757385253906, + 0.01316092163324356, + -0.013088487088680267, + 0.06385311484336853, + 0.024989459663629532, + -0.020417608320713043, + 1.0 + ], + [ + -0.008002817630767822, + 0.011300154030323029, + -0.0017555579543113708, + 0.04031839966773987, + 0.0012254714965820312, + -0.019008316099643707, + 1.0 + ], + [ + -0.008061230182647705, + 0.00718776136636734, + 0.00010831654071807861, + -0.001302093267440796, + -0.001945406198501587, + -0.018284853547811508, + 1.0 + ], + [ + -0.00042051076889038086, + 0.004970662295818329, + 0.00487256795167923, + 0.000756680965423584, + 0.003396628424525261, + 0.002007298171520233, + 1.0 + ], + [ + 0.00045034289360046387, + 0.003155842423439026, + 0.008138805627822876, + 0.031834304332733154, + 0.017728913575410843, + -0.0028217732906341553, + 1.0 + ], + [ + 0.0004272758960723877, + 0.003824658691883087, + 0.010384157299995422, + 0.03725266456604004, + 0.030513744801282883, + -0.021080389618873596, + 1.0 + ], + [ + 0.0006434619426727295, + 0.008723534643650055, + 0.019427575170993805, + 0.016946494579315186, + 0.03648315370082855, + -0.028816670179367065, + 1.0 + ], + [ + 0.0041353702545166016, + 0.011471129953861237, + 0.016420960426330566, + 0.00931328535079956, + 0.05253008380532265, + -0.010539323091506958, + 1.0 + ], + [ + 0.0003158152103424072, + 0.013040933758020401, + 0.010290324687957764, + -0.0117684006690979, + 0.018875151872634888, + -0.01908959448337555, + 1.0 + ], + [ + -0.004857957363128662, + 0.020483972504734993, + 0.004496052861213684, + -0.027853965759277344, + -0.002083510160446167, + -0.022063717246055603, + 1.0 + ], + [ + -0.009580045938491821, + 0.022333351895213127, + -0.00482514500617981, + -0.00546419620513916, + -0.026078619062900543, + -0.032138705253601074, + 1.0 + ], + [ + -0.0061691999435424805, + 0.01779170334339142, + -0.009501144289970398, + -0.011932075023651123, + -0.03487692400813103, + -0.01725730299949646, + 1.0 + ], + [ + -0.0010803043842315674, + 0.010948004201054573, + -0.00540412962436676, + -0.01134347915649414, + -0.023406118154525757, + -0.016344919800758362, + 1.0 + ], + [ + -0.0016708076000213623, + 0.011614063754677773, + -0.004424378275871277, + -0.03772595524787903, + -0.031013518571853638, + -0.005419865250587463, + 1.0 + ], + [ + -0.0025474131107330322, + 0.013167642056941986, + -0.004465371370315552, + -0.08732131123542786, + -0.0024943463504314423, + 0.040213897824287415, + 1.0 + ], + [ + 0.005182862281799316, + -0.0074804797768592834, + 0.00916057825088501, + -0.1098986566066742, + 0.06796611845493317, + 0.07175840437412262, + 1.0 + ], + [ + 0.0024966001510620117, + -0.018056409433484077, + 0.0208950936794281, + -0.007865488529205322, + 0.025004588067531586, + 0.0653817430138588, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2854641377925873, + -0.1109948679804802, + 0.1131918802857399 + ], + [ + 0.2954307198524475, + -0.11779399961233139, + 0.10866473615169525 + ], + [ + 0.2978162169456482, + -0.12039248645305634, + 0.10702209174633026 + ], + [ + 0.2890414595603943, + -0.10723156481981277, + 0.09393360465765 + ], + [ + 0.28103864192962646, + -0.09593141078948975, + 0.09217804670333862 + ], + [ + 0.27297741174697876, + -0.0887436494231224, + 0.0922863632440567 + ], + [ + 0.2725569009780884, + -0.08377298712730408, + 0.09715893119573593 + ], + [ + 0.27300724387168884, + -0.08061714470386505, + 0.10529773682355881 + ], + [ + 0.27343451976776123, + -0.07679248601198196, + 0.11568189412355423 + ], + [ + 0.27407798171043396, + -0.06806895136833191, + 0.13510946929454803 + ], + [ + 0.27821335196495056, + -0.05659782141447067, + 0.1515304297208786 + ], + [ + 0.27852916717529297, + -0.04355688765645027, + 0.16182075440883636 + ], + [ + 0.2736712098121643, + -0.02307291515171528, + 0.16631680727005005 + ], + [ + 0.2640911638736725, + -0.0007395637803710997, + 0.16149166226387024 + ], + [ + 0.25792196393013, + 0.017052140086889267, + 0.15199051797389984 + ], + [ + 0.25684165954589844, + 0.02800014428794384, + 0.14658638834953308 + ], + [ + 0.2551708519458771, + 0.03961420804262161, + 0.1421620100736618 + ], + [ + 0.25262343883514404, + 0.0527818500995636, + 0.13769663870334625 + ], + [ + 0.25780630111694336, + 0.045301370322704315, + 0.14685721695423126 + ], + [ + 0.26030290126800537, + 0.027244960889220238, + 0.16775231063365936 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.994905866284115, + 0.03898458498379179, + 0.09296515135842896, + 0.018761080653872147, + -0.9776904950534269, + 0.20921117975596698, + 0.09904715587109504, + -0.2064013033287972, + -0.9734414018820139 + ], + [ + 0.9986804870305876, + 0.020213622605585038, + 0.04720904876723781, + 0.005292951813069327, + -0.9548966346375054, + 0.2968912289359038, + 0.051081009048891964, + -0.2962496018885522, + -0.9537436258740718 + ], + [ + 0.998237973802588, + 0.011102784546150156, + 0.058289585980902815, + -0.01029555171296105, + -0.9350305790414358, + 0.3544175755692186, + 0.058437567312723045, + -0.3543932059630359, + -0.933268721373331 + ], + [ + 0.9989676552782535, + -0.014120431913337363, + 0.04317681218489099, + -0.03070890922204818, + -0.9103046613548303, + 0.41279823934951526, + 0.033475163961667935, + -0.41369800207185975, + -0.9097985362043022 + ], + [ + 0.9982437222435026, + -0.029889204085929245, + 0.05114788832930043, + -0.049692913369970164, + -0.8925022001977799, + 0.4482972641037714, + 0.032250354451409634, + -0.4500516171743321, + -0.8924200000652869 + ], + [ + 0.9971037936969004, + -0.04540856779978244, + 0.06100890562550158, + -0.06793193663230619, + -0.8924475266122389, + 0.44600747104626076, + 0.03419468643858477, + -0.4488601945083451, + -0.8929475064108177 + ], + [ + 0.9973482852815727, + -0.04509523539133955, + 0.05712107834159442, + -0.0659375982269396, + -0.8920983103520866, + 0.44700429282839665, + 0.030799853667989728, + -0.44958539167988093, + -0.8927061916454252 + ], + [ + 0.997546273573733, + -0.054182158617993394, + 0.044336506026680864, + -0.06877837573955925, + -0.8767103413058431, + 0.4760761624761529, + 0.013075439181431437, + -0.47795739468585163, + -0.878285694837008 + ], + [ + 0.9958085871560592, + -0.08608514885322266, + 0.030896680941025538, + -0.08978422500137462, + -0.855675442764325, + 0.5096649189329975, + -0.01743704926745264, + -0.5103027373990804, + -0.8598180420971925 + ], + [ + 0.9915160414331691, + -0.12891690105030457, + 0.016624445984260095, + -0.11828471125608274, + -0.8418326475887709, + 0.5266180024806831, + -0.0538949595394851, + -0.5241166149601305, + -0.8499394727031867 + ], + [ + 0.9860422754138669, + -0.16523072757513993, + -0.02048017972658471, + -0.12818548586373354, + -0.8318922385135185, + 0.5399294256797321, + -0.10625023440219734, + -0.5297679776713168, + -0.8414610968568428 + ], + [ + 0.9812572416571635, + -0.19064161718893882, + -0.028106929589708667, + -0.14666151639353522, + -0.8334378486460751, + 0.5327961636999189, + -0.1249985012091086, + -0.518687889042908, + -0.8457767131197739 + ], + [ + 0.9780373139459374, + -0.2074297796517201, + -0.020393602993452435, + -0.16831805143567508, + -0.843734639342421, + 0.5096870529399508, + -0.12293106234924167, + -0.4950603446927996, + -0.8601181366663148 + ], + [ + 0.9749330766939636, + -0.22186407072050704, + 0.016787795905585844, + -0.20023558273890038, + -0.841984780823912, + 0.5009664063249365, + -0.09701137754539274, + -0.4917702339347454, + -0.8653038943876946 + ], + [ + 0.9740432153318485, + -0.22023669456030123, + 0.0523030881989467, + -0.2176353045135793, + -0.8476109480373337, + 0.4839323868026749, + -0.06224699908650876, + -0.4827540565716717, + -0.8735409732624563 + ], + [ + 0.9715066313323152, + -0.22396224102896853, + 0.07756145866743006, + -0.23380308628171484, + -0.8519138227782013, + 0.46859252598027706, + -0.03887135349434423, + -0.47337485479555613, + -0.8800029913158273 + ], + [ + 0.9709289647058429, + -0.21818376499206926, + 0.09845196894488951, + -0.23923847344494364, + -0.8710050130238274, + 0.4290864949064409, + -0.007867548472872687, + -0.44016600502679404, + -0.897881946415997 + ], + [ + 0.9797782965216002, + -0.18848747940541777, + 0.06713389436509767, + -0.20001404393139605, + -0.913638577204389, + 0.3539193869713129, + -0.005373257433015845, + -0.3601902557695483, + -0.9328633917960478 + ], + [ + 0.9889459176942027, + -0.14353643448137676, + -0.03719225527370457, + -0.128906711750984, + -0.9562229757671262, + 0.2627178720236033, + -0.07327367563811504, + -0.25501943571311403, + -0.964155618075757 + ], + [ + 0.9931157292053433, + -0.0864931098767903, + -0.07899424250400083, + -0.06388072694849824, + -0.965174180891805, + 0.2536888906995436, + -0.09818554440176427, + -0.2468962180424703, + -0.9640549032015004 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006093.json b/json/chunk-0006/episode_0006093.json new file mode 100644 index 0000000000000000000000000000000000000000..d78e466c18b6514aa50dbcbc19e6222dd4ced7f1 --- /dev/null +++ b/json/chunk-0006/episode_0006093.json @@ -0,0 +1,1222 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 19, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut cup from anywhere into sink." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006093.mp4", + "start": 0, + "end": 19, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2717001438140869, + -0.031198451295495033, + 0.19070816040039062, + 0.10956313461065292, + -0.14757303893566132, + 0.21645024418830872, + 0.0, + 0.9981546401977539 + ], + [ + 0.27644285559654236, + -0.02926831692457199, + 0.1874457448720932, + 0.13754649460315704, + -0.1436809003353119, + 0.17817816138267517, + 0.0, + 0.9981546401977539 + ], + [ + 0.2924158573150635, + -0.027615176513791084, + 0.19498427212238312, + 0.15429522097110748, + -0.22277875244617462, + 0.07706926017999649, + 0.0, + 0.9981546401977539 + ], + [ + 0.30538034439086914, + -0.02954668179154396, + 0.19762900471687317, + 0.16559581458568573, + -0.29185593128204346, + -0.024559199810028076, + 0.0, + 0.9981546401977539 + ], + [ + 0.3145112991333008, + -0.030427612364292145, + 0.19503344595432281, + 0.16241846978664398, + -0.31680750846862793, + -0.08959686756134033, + 0.0, + 0.9981546401977539 + ], + [ + 0.3235238194465637, + -0.02557755820453167, + 0.18219810724258423, + 0.1471041589975357, + -0.31884297728538513, + -0.10854430496692657, + 0.0, + 0.9981546401977539 + ], + [ + 0.3245998024940491, + -0.02164236642420292, + 0.176303893327713, + 0.15496693551540375, + -0.3273131847381592, + -0.10377276688814163, + 0.0, + 0.9981546401977539 + ], + [ + 0.32552605867385864, + -0.020579898729920387, + 0.1700490415096283, + 0.16008387506008148, + -0.3147268295288086, + -0.09372762590646744, + 0.0, + 0.9981546401977539 + ], + [ + 0.3250582218170166, + -0.01880350336432457, + 0.16153378784656525, + 0.14443787932395935, + -0.30106204748153687, + -0.08516067266464233, + 0.0, + 0.9981546401977539 + ], + [ + 0.32392561435699463, + -0.018481280654668808, + 0.15200990438461304, + 0.11846315115690231, + -0.2854023873806, + -0.06402520090341568, + 0.0, + 0.8998980522155762 + ], + [ + 0.3229489326477051, + -0.017840977758169174, + 0.1444169282913208, + 0.09965331852436066, + -0.27273282408714294, + -0.040022704750299454, + 0.0, + 0.6921995282173157 + ], + [ + 0.3202735185623169, + -0.01756102591753006, + 0.13955163955688477, + 0.09572100639343262, + -0.2636686861515045, + -0.03339914605021477, + 0.0, + 0.3883807957172394 + ], + [ + 0.31748923659324646, + -0.01727287285029888, + 0.13866344094276428, + 0.10117053985595703, + -0.24859923124313354, + -0.01757424883544445, + 0.0, + 0.1795559972524643 + ], + [ + 0.3087123930454254, + -0.02065054327249527, + 0.1395009458065033, + 0.12846171855926514, + -0.21061491966247559, + 0.012916147708892822, + 0.0, + 0.10394904017448425 + ], + [ + 0.29610204696655273, + -0.03622344881296158, + 0.15597429871559143, + 0.1464114487171173, + -0.24320681393146515, + 0.04987277835607529, + 0.0, + 0.10082460194826126 + ], + [ + 0.27778100967407227, + -0.04762620851397514, + 0.15648706257343292, + 0.1390748769044876, + -0.2562989592552185, + 0.10838303714990616, + 0.0, + 0.10082460194826126 + ], + [ + 0.2600245475769043, + -0.058559734374284744, + 0.14267560839653015, + 0.1047697439789772, + -0.2761172652244568, + 0.16249297559261322, + 0.0, + 0.10082460194826126 + ], + [ + 0.2513313591480255, + -0.06838392466306686, + 0.11975345760583878, + 0.03237031027674675, + -0.29227307438850403, + 0.2042960673570633, + 0.0, + 0.16130207479000092 + ], + [ + 0.24896526336669922, + -0.07495692372322083, + 0.09292133897542953, + -0.03994095325469971, + -0.31353068351745605, + 0.22298705577850342, + 0.0, + 0.3331759572029114 + ] + ], + "left_gripper_pos": [ + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.8998980522155762 + ], + [ + 0.6921995282173157 + ], + [ + 0.3883807957172394 + ], + [ + 0.1795559972524643 + ], + [ + 0.10394904017448425 + ], + [ + 0.10082460194826126 + ], + [ + 0.10082460194826126 + ], + [ + 0.10082460194826126 + ], + [ + 0.16130207479000092 + ], + [ + 0.3331759572029114 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2717001438140869, + -0.031198451295495033, + 0.19070816040039062 + ], + [ + 0.27644285559654236, + -0.02926831692457199, + 0.1874457448720932 + ], + [ + 0.2924158573150635, + -0.027615176513791084, + 0.19498427212238312 + ], + [ + 0.30538034439086914, + -0.02954668179154396, + 0.19762900471687317 + ], + [ + 0.3145112991333008, + -0.030427612364292145, + 0.19503344595432281 + ], + [ + 0.3235238194465637, + -0.02557755820453167, + 0.18219810724258423 + ], + [ + 0.3245998024940491, + -0.02164236642420292, + 0.176303893327713 + ], + [ + 0.32552605867385864, + -0.020579898729920387, + 0.1700490415096283 + ], + [ + 0.3250582218170166, + -0.01880350336432457, + 0.16153378784656525 + ], + [ + 0.32392561435699463, + -0.018481280654668808, + 0.15200990438461304 + ], + [ + 0.3229489326477051, + -0.017840977758169174, + 0.1444169282913208 + ], + [ + 0.3202735185623169, + -0.01756102591753006, + 0.13955163955688477 + ], + [ + 0.31748923659324646, + -0.01727287285029888, + 0.13866344094276428 + ], + [ + 0.3087123930454254, + -0.02065054327249527, + 0.1395009458065033 + ], + [ + 0.29610204696655273, + -0.03622344881296158, + 0.15597429871559143 + ], + [ + 0.27778100967407227, + -0.04762620851397514, + 0.15648706257343292 + ], + [ + 0.2600245475769043, + -0.058559734374284744, + 0.14267560839653015 + ], + [ + 0.2513313591480255, + -0.06838392466306686, + 0.11975345760583878 + ], + [ + 0.24896526336669922, + -0.07495692372322083, + 0.09292133897542953 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9660504284257186, + 0.22917889694130292, + 0.11926274747486088, + 0.21242975419093438, + -0.9673569155209296, + 0.13818175541008157, + 0.14703798581612842, + -0.10815558788430701, + -0.9831999794225665 + ], + [ + 0.9740270039679627, + 0.19488495006193832, + 0.11528769136620673, + 0.1754105611926922, + -0.9713934710865608, + 0.16008079007946935, + 0.14318704747028874, + -0.13570033371277368, + -0.9803483507748573 + ], + [ + 0.9723922670012827, + 0.10993249668433679, + 0.20583518953000884, + 0.07509028204628791, + -0.9825726929049436, + 0.17003632758836104, + 0.22094055448992456, + -0.14988578761935964, + -0.9637009505294727 + ], + [ + 0.9574227084207286, + 0.023194341944564618, + 0.2877564593576922, + -0.023518264169587414, + -0.9871875918024151, + 0.15782125915667328, + 0.2877301663899113, + -0.1578691898158312, + -0.944610327201713 + ], + [ + 0.9464233290146926, + -0.03812471766102889, + 0.32067021720143185, + -0.08502420090649829, + -0.9873883315191511, + 0.13354837340843295, + 0.31153453670011944, + -0.15365802511777138, + -0.9377288754005328 + ], + [ + 0.9440102108242684, + -0.06148535040861246, + 0.3241361959804093, + -0.10287125501983162, + -0.9883555152682758, + 0.11211993725214872, + 0.3134680633655763, + -0.13918666288086348, + -0.9393427734996016 + ], + [ + 0.9418156114733921, + -0.05298954590587277, + 0.33192689256776037, + -0.09808715817782207, + -0.9878417844564824, + 0.12061309332917029, + 0.3215000208174162, + -0.1461530598602767, + -0.9355624082378893 + ], + [ + 0.9467073510250705, + -0.04326672479036362, + 0.3191757854866326, + -0.0889933835606756, + -0.9874989138862619, + 0.13010024118300312, + 0.30955673017641927, + -0.15157138779917545, + -0.9387229331400803 + ], + [ + 0.9515611138056174, + -0.04164467754012009, + 0.3046262751726985, + -0.08123205370566848, + -0.9896311708115353, + 0.1184546293267998, + 0.2965346525176655, + -0.13746223696262755, + -0.9450774218366759 + ], + [ + 0.9575824093697332, + -0.030326640550677735, + 0.28655928555635185, + -0.061393317443796315, + -0.9930858465394691, + 0.10005679375350397, + 0.2815435842616593, + -0.11340545082091939, + -0.9528233907105775 + ], + [ + 0.9622671656894551, + -0.013036335061854094, + 0.27179395836577847, + -0.038533111190232956, + -0.9953141548829435, + 0.088684454284017, + 0.26936425371230044, + -0.09581120528313916, + -0.9582604613382566 + ], + [ + 0.9649019032341386, + -0.00834483272109981, + 0.26247796269781176, + -0.03223888800678262, + -0.995698883812039, + 0.08685843007760287, + 0.26062419541405424, + -0.09227186213747159, + -0.9610207761658747 + ], + [ + 0.9691083508921016, + 0.007362891175557877, + 0.24652543898090537, + -0.017033104925316876, + -0.9951696924986299, + 0.09668069336111337, + 0.2460464947277127, + -0.09789316097521511, + -0.9643018466572001 + ], + [ + 0.9778209746543605, + 0.03958969546739363, + 0.20566671470803274, + 0.01263038251170159, + -0.9913314913400888, + 0.13077594471095697, + 0.20906127083609818, + -0.12527781244192523, + -0.9698447580650015 + ], + [ + 0.9693639164191761, + 0.08440748438317691, + 0.230670704955311, + 0.04838499430587673, + -0.986319464793192, + 0.157584281246866, + 0.24081629901336965, + -0.1415955152897677, + -0.9601865548836477 + ], + [ + 0.9616587981023224, + 0.14206257574784042, + 0.23458597699838257, + 0.10463754411683952, + -0.9807322575373667, + 0.16497037123937258, + 0.2535021506685753, + -0.13409870841118882, + -0.957994883080728 + ], + [ + 0.9494472225072123, + 0.18902650773025673, + 0.25063709032911136, + 0.15565085523281239, + -0.9768035740268569, + 0.14706321441357303, + 0.2726220514533519, + -0.10061688299515972, + -0.9568455778848038 + ], + [ + 0.9376773767044833, + 0.21190292470797278, + 0.27542383287727024, + 0.19427415012327715, + -0.9767991805511959, + 0.09011612213356295, + 0.28812964410222985, + -0.030992117945052928, + -0.9570897537926122 + ], + [ + 0.9276987791689004, + 0.20895696829329363, + 0.30937349681284465, + 0.21036307589540337, + -0.9771868909605855, + 0.029208841719752687, + 0.30841911650926646, + 0.037983753585714555, + -0.9504919163439441 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + 0.004742711782455444, + 0.0019301343709230423, + -0.0032624155282974243, + 0.02798335999250412, + 0.0038921386003494263, + -0.038272082805633545, + 1.0 + ], + [ + 0.015973001718521118, + 0.0016531404107809067, + 0.007538527250289917, + 0.01674872636795044, + -0.07909785211086273, + -0.10110890120267868, + 1.0 + ], + [ + 0.012964487075805664, + -0.0019315052777528763, + 0.0026447325944900513, + 0.011300593614578247, + -0.06907717883586884, + -0.10162845999002457, + 1.0 + ], + [ + 0.00913095474243164, + -0.0008809305727481842, + -0.002595558762550354, + -0.003177344799041748, + -0.024951577186584473, + -0.06503766775131226, + 1.0 + ], + [ + 0.00901252031326294, + 0.004850054159760475, + -0.012835338711738586, + -0.015314310789108276, + -0.002035468816757202, + -0.018947437405586243, + 1.0 + ], + [ + 0.0010759830474853516, + 0.003935191780328751, + -0.005894213914871216, + 0.007862776517868042, + -0.008470207452774048, + 0.004771538078784943, + 1.0 + ], + [ + 0.0009262561798095703, + 0.0010624676942825317, + -0.006254851818084717, + 0.005116939544677734, + 0.012586355209350586, + 0.010045140981674194, + 1.0 + ], + [ + -0.000467836856842041, + 0.0017763953655958176, + -0.00851525366306305, + -0.01564599573612213, + 0.013664782047271729, + 0.008566953241825104, + 1.0 + ], + [ + -0.0011326074600219727, + 0.0003222227096557617, + -0.00952388346195221, + -0.025974728167057037, + 0.01565966010093689, + 0.021135471761226654, + 0.0 + ], + [ + -0.0009766817092895508, + 0.0006403028964996338, + -0.007592976093292236, + -0.018809832632541656, + 0.012669563293457031, + 0.024002496153116226, + 0.0 + ], + [ + -0.0026754140853881836, + 0.0002799518406391144, + -0.004865288734436035, + -0.0039323121309280396, + 0.009064137935638428, + 0.006623558700084686, + 0.0 + ], + [ + -0.0027842819690704346, + 0.0002881530672311783, + -0.0008881986141204834, + 0.005449533462524414, + 0.015069454908370972, + 0.015824897214770317, + 0.0 + ], + [ + -0.008776843547821045, + -0.0033776704221963882, + 0.0008375048637390137, + 0.027291178703308105, + 0.03798431158065796, + 0.030490396544337273, + 0.0 + ], + [ + -0.01261034607887268, + -0.015572905540466309, + 0.016473352909088135, + 0.017949730157852173, + -0.03259189426898956, + 0.036956630647182465, + 0.0 + ], + [ + -0.01832103729248047, + -0.011402759701013565, + 0.0005127638578414917, + -0.0073365718126297, + -0.013092145323753357, + 0.05851025879383087, + 0.0 + ], + [ + -0.01775646209716797, + -0.0109335258603096, + -0.013811454176902771, + -0.034305132925510406, + -0.01981830596923828, + 0.05410993844270706, + 0.0 + ], + [ + -0.008693188428878784, + -0.00982419028878212, + -0.022922150790691376, + -0.07239943742752075, + -0.01615580916404724, + 0.04180309176445007, + 1.0 + ], + [ + -0.002366095781326294, + -0.006572999060153961, + -0.02683211863040924, + -0.07231126725673676, + -0.021257609128952026, + 0.018690988421440125, + 1.0 + ], + [ + 0.0005435347557067871, + -0.0030056610703468323, + -0.008976466953754425, + -0.03369557112455368, + -0.019055455923080444, + -0.021360740065574646, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.8998980522155762 + ], + [ + 0.6921995282173157 + ], + [ + 0.3883807957172394 + ], + [ + 0.1795559972524643 + ], + [ + 0.10394904017448425 + ], + [ + 0.10082460194826126 + ], + [ + 0.10082460194826126 + ], + [ + 0.10082460194826126 + ], + [ + 0.16130207479000092 + ], + [ + 0.3331759572029114 + ], + [ + 0.5968981385231018 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.27644285559654236, + -0.02926831692457199, + 0.1874457448720932 + ], + [ + 0.2924158573150635, + -0.027615176513791084, + 0.19498427212238312 + ], + [ + 0.30538034439086914, + -0.02954668179154396, + 0.19762900471687317 + ], + [ + 0.3145112991333008, + -0.030427612364292145, + 0.19503344595432281 + ], + [ + 0.3235238194465637, + -0.02557755820453167, + 0.18219810724258423 + ], + [ + 0.3245998024940491, + -0.02164236642420292, + 0.176303893327713 + ], + [ + 0.32552605867385864, + -0.020579898729920387, + 0.1700490415096283 + ], + [ + 0.3250582218170166, + -0.01880350336432457, + 0.16153378784656525 + ], + [ + 0.32392561435699463, + -0.018481280654668808, + 0.15200990438461304 + ], + [ + 0.3229489326477051, + -0.017840977758169174, + 0.1444169282913208 + ], + [ + 0.3202735185623169, + -0.01756102591753006, + 0.13955163955688477 + ], + [ + 0.31748923659324646, + -0.01727287285029888, + 0.13866344094276428 + ], + [ + 0.3087123930454254, + -0.02065054327249527, + 0.1395009458065033 + ], + [ + 0.29610204696655273, + -0.03622344881296158, + 0.15597429871559143 + ], + [ + 0.27778100967407227, + -0.04762620851397514, + 0.15648706257343292 + ], + [ + 0.2600245475769043, + -0.058559734374284744, + 0.14267560839653015 + ], + [ + 0.2513313591480255, + -0.06838392466306686, + 0.11975345760583878 + ], + [ + 0.24896526336669922, + -0.07495692372322083, + 0.09292133897542953 + ], + [ + 0.249508798122406, + -0.07796258479356766, + 0.08394487202167511 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9740270039679627, + 0.19488495006193832, + 0.11528769136620673, + 0.1754105611926922, + -0.9713934710865608, + 0.16008079007946935, + 0.14318704747028874, + -0.13570033371277368, + -0.9803483507748573 + ], + [ + 0.9723922670012827, + 0.10993249668433679, + 0.20583518953000884, + 0.07509028204628791, + -0.9825726929049436, + 0.17003632758836104, + 0.22094055448992456, + -0.14988578761935964, + -0.9637009505294727 + ], + [ + 0.9574227084207286, + 0.023194341944564618, + 0.2877564593576922, + -0.023518264169587414, + -0.9871875918024151, + 0.15782125915667328, + 0.2877301663899113, + -0.1578691898158312, + -0.944610327201713 + ], + [ + 0.9464233290146926, + -0.03812471766102889, + 0.32067021720143185, + -0.08502420090649829, + -0.9873883315191511, + 0.13354837340843295, + 0.31153453670011944, + -0.15365802511777138, + -0.9377288754005328 + ], + [ + 0.9440102108242684, + -0.06148535040861246, + 0.3241361959804093, + -0.10287125501983162, + -0.9883555152682758, + 0.11211993725214872, + 0.3134680633655763, + -0.13918666288086348, + -0.9393427734996016 + ], + [ + 0.9418156114733921, + -0.05298954590587277, + 0.33192689256776037, + -0.09808715817782207, + -0.9878417844564824, + 0.12061309332917029, + 0.3215000208174162, + -0.1461530598602767, + -0.9355624082378893 + ], + [ + 0.9467073510250705, + -0.04326672479036362, + 0.3191757854866326, + -0.0889933835606756, + -0.9874989138862619, + 0.13010024118300312, + 0.30955673017641927, + -0.15157138779917545, + -0.9387229331400803 + ], + [ + 0.9515611138056174, + -0.04164467754012009, + 0.3046262751726985, + -0.08123205370566848, + -0.9896311708115353, + 0.1184546293267998, + 0.2965346525176655, + -0.13746223696262755, + -0.9450774218366759 + ], + [ + 0.9575824093697332, + -0.030326640550677735, + 0.28655928555635185, + -0.061393317443796315, + -0.9930858465394691, + 0.10005679375350397, + 0.2815435842616593, + -0.11340545082091939, + -0.9528233907105775 + ], + [ + 0.9622671656894551, + -0.013036335061854094, + 0.27179395836577847, + -0.038533111190232956, + -0.9953141548829435, + 0.088684454284017, + 0.26936425371230044, + -0.09581120528313916, + -0.9582604613382566 + ], + [ + 0.9649019032341386, + -0.00834483272109981, + 0.26247796269781176, + -0.03223888800678262, + -0.995698883812039, + 0.08685843007760287, + 0.26062419541405424, + -0.09227186213747159, + -0.9610207761658747 + ], + [ + 0.9691083508921016, + 0.007362891175557877, + 0.24652543898090537, + -0.017033104925316876, + -0.9951696924986299, + 0.09668069336111337, + 0.2460464947277127, + -0.09789316097521511, + -0.9643018466572001 + ], + [ + 0.9778209746543605, + 0.03958969546739363, + 0.20566671470803274, + 0.01263038251170159, + -0.9913314913400888, + 0.13077594471095697, + 0.20906127083609818, + -0.12527781244192523, + -0.9698447580650015 + ], + [ + 0.9693639164191761, + 0.08440748438317691, + 0.230670704955311, + 0.04838499430587673, + -0.986319464793192, + 0.157584281246866, + 0.24081629901336965, + -0.1415955152897677, + -0.9601865548836477 + ], + [ + 0.9616587981023224, + 0.14206257574784042, + 0.23458597699838257, + 0.10463754411683952, + -0.9807322575373667, + 0.16497037123937258, + 0.2535021506685753, + -0.13409870841118882, + -0.957994883080728 + ], + [ + 0.9494472225072123, + 0.18902650773025673, + 0.25063709032911136, + 0.15565085523281239, + -0.9768035740268569, + 0.14706321441357303, + 0.2726220514533519, + -0.10061688299515972, + -0.9568455778848038 + ], + [ + 0.9376773767044833, + 0.21190292470797278, + 0.27542383287727024, + 0.19427415012327715, + -0.9767991805511959, + 0.09011612213356295, + 0.28812964410222985, + -0.030992117945052928, + -0.9570897537926122 + ], + [ + 0.9276987791689004, + 0.20895696829329363, + 0.30937349681284465, + 0.21036307589540337, + -0.9771868909605855, + 0.029208841719752687, + 0.30841911650926646, + 0.037983753585714555, + -0.9504919163439441 + ], + [ + 0.9260534480997712, + 0.1761870911808382, + 0.33374109750487635, + 0.1892887869357439, + -0.9818974048061121, + -0.006873250716844033, + 0.3264885394664243, + 0.06953844502328951, + -0.942639718164275 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006094.json b/json/chunk-0006/episode_0006094.json new file mode 100644 index 0000000000000000000000000000000000000000..d8b6a0c2c91db02424b5a27742b1b9958a5c9f07 --- /dev/null +++ b/json/chunk-0006/episode_0006094.json @@ -0,0 +1,982 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 15, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nEnd effector transition from object to object." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006094.mp4", + "start": 0, + "end": 15, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3671928346157074, + 0.032144851982593536, + 0.08845751732587814, + 0.04807976633310318, + -0.3451177179813385, + -0.07247001677751541, + 0.0, + 1.0041072368621826 + ], + [ + 0.36289820075035095, + 0.03174375742673874, + 0.07872090488672256, + 0.041273683309555054, + -0.3088555634021759, + -0.06891997158527374, + 0.0, + 1.0041072368621826 + ], + [ + 0.3594896197319031, + 0.030775029212236404, + 0.08508636802434921, + 0.0415370836853981, + -0.2497604787349701, + -0.07285676896572113, + 0.0, + 1.0041072368621826 + ], + [ + 0.3623989522457123, + 0.027814624831080437, + 0.09976553171873093, + 0.04510694369673729, + -0.22463198006153107, + -0.06837581098079681, + 0.0, + 1.0041072368621826 + ], + [ + 0.35772228240966797, + 0.027937578037381172, + 0.10471021384000778, + 0.059233132749795914, + -0.20220018923282623, + -0.09113757312297821, + 0.0, + 1.0041072368621826 + ], + [ + 0.3506220281124115, + 0.038008738309144974, + 0.12530428171157837, + 0.08821096271276474, + -0.21908342838287354, + -0.11560585349798203, + 0.0, + 1.0041072368621826 + ], + [ + 0.34010785818099976, + 0.050606027245521545, + 0.1266128122806549, + 0.09410032629966736, + -0.21470390260219574, + -0.11098529398441315, + 0.0, + 1.0041072368621826 + ], + [ + 0.32172277569770813, + 0.06151314824819565, + 0.11842802911996841, + 0.08802025020122528, + -0.24276579916477203, + -0.12854094803333282, + 0.0, + 1.0041072368621826 + ], + [ + 0.30763956904411316, + 0.07160263508558273, + 0.10950707644224167, + 0.09656697511672974, + -0.2673477530479431, + -0.140838623046875, + 0.0, + 1.0041072368621826 + ], + [ + 0.294580340385437, + 0.08338621258735657, + 0.1011909618973732, + 0.09155970811843872, + -0.3080507516860962, + -0.1697351634502411, + 0.0, + 1.0041072368621826 + ], + [ + 0.2844737768173218, + 0.09787143021821976, + 0.09029222279787064, + 0.08583595603704453, + -0.34929159283638, + -0.197991743683815, + 0.0, + 1.0041072368621826 + ], + [ + 0.2793707549571991, + 0.1095479428768158, + 0.08448128402233124, + 0.09216499328613281, + -0.3998046815395355, + -0.22174276411533356, + 0.0, + 1.0041072368621826 + ], + [ + 0.27625417709350586, + 0.11655343323945999, + 0.07422192394733429, + 0.11342581361532211, + -0.45649877190589905, + -0.24900273978710175, + 0.0, + 1.0041072368621826 + ], + [ + 0.27243053913116455, + 0.12203382700681686, + 0.05537683889269829, + 0.11285647749900818, + -0.49550533294677734, + -0.27310600876808167, + 0.0, + 1.0041072368621826 + ], + [ + 0.2725827991962433, + 0.12939758598804474, + 0.045256391167640686, + 0.12339430302381516, + -0.5274773240089417, + -0.2835751175880432, + 0.0, + 1.0041072368621826 + ] + ], + "left_gripper_pos": [ + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3671928346157074, + 0.032144851982593536, + 0.08845751732587814 + ], + [ + 0.36289820075035095, + 0.03174375742673874, + 0.07872090488672256 + ], + [ + 0.3594896197319031, + 0.030775029212236404, + 0.08508636802434921 + ], + [ + 0.3623989522457123, + 0.027814624831080437, + 0.09976553171873093 + ], + [ + 0.35772228240966797, + 0.027937578037381172, + 0.10471021384000778 + ], + [ + 0.3506220281124115, + 0.038008738309144974, + 0.12530428171157837 + ], + [ + 0.34010785818099976, + 0.050606027245521545, + 0.1266128122806549 + ], + [ + 0.32172277569770813, + 0.06151314824819565, + 0.11842802911996841 + ], + [ + 0.30763956904411316, + 0.07160263508558273, + 0.10950707644224167 + ], + [ + 0.294580340385437, + 0.08338621258735657, + 0.1011909618973732 + ], + [ + 0.2844737768173218, + 0.09787143021821976, + 0.09029222279787064 + ], + [ + 0.2793707549571991, + 0.1095479428768158, + 0.08448128402233124 + ], + [ + 0.27625417709350586, + 0.11655343323945999, + 0.07422192394733429 + ], + [ + 0.27243053913116455, + 0.12203382700681686, + 0.05537683889269829 + ], + [ + 0.2725827991962433, + 0.12939758598804474, + 0.045256391167640686 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.938565601479609, + -0.05610612600139984, + 0.3405094922969625, + -0.06813718998291703, + -0.9973999147848219, + 0.023467708206428482, + 0.33830745640681936, + -0.04522734363573925, + -0.9399481647022899 + ], + [ + 0.9504203598526542, + -0.0562942109721932, + 0.30583018390696753, + -0.0656068538020955, + -0.9976400765173804, + 0.020248912577862183, + 0.30396855151765595, + -0.0393095349427291, + -0.9518707265962352 + ], + [ + 0.9664010863282254, + -0.06249292628416485, + 0.24932624111406365, + -0.07053370505383326, + -0.9972339963231422, + 0.023438281267074534, + 0.24717187703095417, + -0.0402366840310876, + -0.9681358750006002 + ], + [ + 0.9725981407720695, + -0.05823246373761569, + 0.22508184452274357, + -0.06660601896481075, + -0.9973347514325519, + 0.029783079468529632, + 0.2227476033639251, + -0.043958773322475164, + -0.9738845575547496 + ], + [ + 0.9755614918036791, + -0.07901263634025088, + 0.20502872727582133, + -0.08915729211637344, + -0.9951853487264433, + 0.04070748018120148, + 0.20082518012504186, + -0.05799245622312029, + -0.9779090561238063 + ], + [ + 0.9695816949131197, + -0.09588135644028431, + 0.2252067991348696, + -0.11259135055665617, + -0.9916714882375262, + 0.06253676675843232, + 0.21733505163509756, + -0.08599084197716379, + -0.9723019337771721 + ], + [ + 0.9710282400490455, + -0.09037148034272509, + 0.22121743278484501, + -0.10821453934172075, + -0.9916677873761512, + 0.06989000612067021, + 0.21305813878449265, + -0.0918041122235415, + -0.9727169344041128 + ], + [ + 0.9626687207000123, + -0.10673363114205214, + 0.24875061038927018, + -0.12442840693257765, + -0.9906194550866217, + 0.05648598721900858, + 0.24038823959175495, + -0.0853289352278434, + -0.9669190592179161 + ], + [ + 0.9549253142919485, + -0.11450079733833853, + 0.27387444483432305, + -0.13538670748861115, + -0.9890612231518425, + 0.05855199648837807, + 0.26417434311419635, + -0.09299174300047573, + -0.9599814853287103 + ], + [ + 0.9392324027755216, + -0.1408898620444601, + 0.3130376021336947, + -0.16096958862616093, + -0.9861839542973986, + 0.039115212179801524, + 0.3032017234681308, + -0.08712780876069001, + -0.9489349081083042 + ], + [ + 0.9212586676689188, + -0.16720994451679827, + 0.3511741757299042, + -0.1848230108242423, + -0.9826250162546424, + 0.0169862326731303, + 0.34223226311198424, + -0.08055378256328474, + -0.9361560586782508 + ], + [ + 0.8985835905821896, + -0.18405034702863698, + 0.398337796970182, + -0.2025857144885705, + -0.9792540137422293, + 0.004539257085589624, + 0.38923843466643304, + -0.08477644913755224, + -0.9172275588151791 + ], + [ + 0.8699181422363431, + -0.19650087105009845, + 0.45236029167536596, + -0.22120270711099316, + -0.9752262662287761, + 0.0017584152663121452, + 0.4408081081092291, + -0.1015929984498597, + -0.8918335464037721 + ], + [ + 0.8471238541444349, + -0.21644559023355014, + 0.4853168884429312, + -0.23728357405571399, + -0.9712548363614925, + -0.01898811016813428, + 0.47547626778086927, + -0.09907244477078789, + -0.8741321235741851 + ], + [ + 0.8295693992002947, + -0.21818309149085385, + 0.5140143485331476, + -0.24176063081398885, + -0.9700955428822453, + -0.021597107871757407, + 0.5033551522522488, + -0.10635213334717751, + -0.8575096585074828 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.004294633865356445, + -0.00040109455585479736, + -0.009736612439155579, + -0.006806083023548126, + 0.0362621545791626, + 0.0035500451922416687, + 1.0 + ], + [ + -0.003408581018447876, + -0.0009687282145023346, + 0.006365463137626648, + 0.0002634003758430481, + 0.05909508466720581, + -0.003936797380447388, + 1.0 + ], + [ + 0.002909332513809204, + -0.0029604043811559677, + 0.014679163694381714, + 0.0035698600113391876, + 0.025128498673439026, + 0.004480957984924316, + 1.0 + ], + [ + -0.0046766698360443115, + 0.00012295320630073547, + 0.0049446821212768555, + 0.014126189053058624, + 0.022431790828704834, + -0.022761762142181396, + 1.0 + ], + [ + -0.00710025429725647, + 0.010071160271763802, + 0.020594067871570587, + 0.028977829962968826, + -0.016883239150047302, + -0.024468280375003815, + 1.0 + ], + [ + -0.010514169931411743, + 0.012597288936376572, + 0.001308530569076538, + 0.005889363586902618, + 0.004379525780677795, + 0.004620559513568878, + 1.0 + ], + [ + -0.018385082483291626, + 0.010907121002674103, + -0.008184783160686493, + -0.006080076098442078, + -0.028061896562576294, + -0.017555654048919678, + 1.0 + ], + [ + -0.01408320665359497, + 0.010089486837387085, + -0.008920952677726746, + 0.008546724915504456, + -0.02458195388317108, + -0.012297675013542175, + 1.0 + ], + [ + -0.013059228658676147, + 0.011783577501773834, + -0.00831611454486847, + -0.005007266998291016, + -0.040702998638153076, + -0.02889654040336609, + 1.0 + ], + [ + -0.010106563568115234, + 0.01448521763086319, + -0.010898739099502563, + -0.0057237520813941956, + -0.041240841150283813, + -0.028256580233573914, + 1.0 + ], + [ + -0.005103021860122681, + 0.011676512658596039, + -0.005810938775539398, + 0.006329037249088287, + -0.05051308870315552, + -0.023751020431518555, + 1.0 + ], + [ + -0.0031165778636932373, + 0.0070054903626441956, + -0.010259360074996948, + 0.0212608203291893, + -0.056694090366363525, + -0.02725997567176819, + 1.0 + ], + [ + -0.0038236379623413086, + 0.0054803937673568726, + -0.018845085054636, + -0.0005693361163139343, + -0.039006561040878296, + -0.02410326898097992, + 1.0 + ], + [ + 0.00015226006507873535, + 0.007363758981227875, + -0.010120447725057602, + 0.010537825524806976, + -0.03197199106216431, + -0.010469108819961548, + 1.0 + ], + [ + -0.0015946924686431885, + 0.004117339849472046, + -0.015119437128305435, + -0.028798826038837433, + -0.0009449124336242676, + 0.008755236864089966, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.36289820075035095, + 0.03174375742673874, + 0.07872090488672256 + ], + [ + 0.3594896197319031, + 0.030775029212236404, + 0.08508636802434921 + ], + [ + 0.3623989522457123, + 0.027814624831080437, + 0.09976553171873093 + ], + [ + 0.35772228240966797, + 0.027937578037381172, + 0.10471021384000778 + ], + [ + 0.3506220281124115, + 0.038008738309144974, + 0.12530428171157837 + ], + [ + 0.34010785818099976, + 0.050606027245521545, + 0.1266128122806549 + ], + [ + 0.32172277569770813, + 0.06151314824819565, + 0.11842802911996841 + ], + [ + 0.30763956904411316, + 0.07160263508558273, + 0.10950707644224167 + ], + [ + 0.294580340385437, + 0.08338621258735657, + 0.1011909618973732 + ], + [ + 0.2844737768173218, + 0.09787143021821976, + 0.09029222279787064 + ], + [ + 0.2793707549571991, + 0.1095479428768158, + 0.08448128402233124 + ], + [ + 0.27625417709350586, + 0.11655343323945999, + 0.07422192394733429 + ], + [ + 0.27243053913116455, + 0.12203382700681686, + 0.05537683889269829 + ], + [ + 0.2725827991962433, + 0.12939758598804474, + 0.045256391167640686 + ], + [ + 0.2709881067276001, + 0.13351492583751678, + 0.03013695403933525 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9504203598526542, + -0.0562942109721932, + 0.30583018390696753, + -0.0656068538020955, + -0.9976400765173804, + 0.020248912577862183, + 0.30396855151765595, + -0.0393095349427291, + -0.9518707265962352 + ], + [ + 0.9664010863282254, + -0.06249292628416485, + 0.24932624111406365, + -0.07053370505383326, + -0.9972339963231422, + 0.023438281267074534, + 0.24717187703095417, + -0.0402366840310876, + -0.9681358750006002 + ], + [ + 0.9725981407720695, + -0.05823246373761569, + 0.22508184452274357, + -0.06660601896481075, + -0.9973347514325519, + 0.029783079468529632, + 0.2227476033639251, + -0.043958773322475164, + -0.9738845575547496 + ], + [ + 0.9755614918036791, + -0.07901263634025088, + 0.20502872727582133, + -0.08915729211637344, + -0.9951853487264433, + 0.04070748018120148, + 0.20082518012504186, + -0.05799245622312029, + -0.9779090561238063 + ], + [ + 0.9695816949131197, + -0.09588135644028431, + 0.2252067991348696, + -0.11259135055665617, + -0.9916714882375262, + 0.06253676675843232, + 0.21733505163509756, + -0.08599084197716379, + -0.9723019337771721 + ], + [ + 0.9710282400490455, + -0.09037148034272509, + 0.22121743278484501, + -0.10821453934172075, + -0.9916677873761512, + 0.06989000612067021, + 0.21305813878449265, + -0.0918041122235415, + -0.9727169344041128 + ], + [ + 0.9626687207000123, + -0.10673363114205214, + 0.24875061038927018, + -0.12442840693257765, + -0.9906194550866217, + 0.05648598721900858, + 0.24038823959175495, + -0.0853289352278434, + -0.9669190592179161 + ], + [ + 0.9549253142919485, + -0.11450079733833853, + 0.27387444483432305, + -0.13538670748861115, + -0.9890612231518425, + 0.05855199648837807, + 0.26417434311419635, + -0.09299174300047573, + -0.9599814853287103 + ], + [ + 0.9392324027755216, + -0.1408898620444601, + 0.3130376021336947, + -0.16096958862616093, + -0.9861839542973986, + 0.039115212179801524, + 0.3032017234681308, + -0.08712780876069001, + -0.9489349081083042 + ], + [ + 0.9212586676689188, + -0.16720994451679827, + 0.3511741757299042, + -0.1848230108242423, + -0.9826250162546424, + 0.0169862326731303, + 0.34223226311198424, + -0.08055378256328474, + -0.9361560586782508 + ], + [ + 0.8985835905821896, + -0.18405034702863698, + 0.398337796970182, + -0.2025857144885705, + -0.9792540137422293, + 0.004539257085589624, + 0.38923843466643304, + -0.08477644913755224, + -0.9172275588151791 + ], + [ + 0.8699181422363431, + -0.19650087105009845, + 0.45236029167536596, + -0.22120270711099316, + -0.9752262662287761, + 0.0017584152663121452, + 0.4408081081092291, + -0.1015929984498597, + -0.8918335464037721 + ], + [ + 0.8471238541444349, + -0.21644559023355014, + 0.4853168884429312, + -0.23728357405571399, + -0.9712548363614925, + -0.01898811016813428, + 0.47547626778086927, + -0.09907244477078789, + -0.8741321235741851 + ], + [ + 0.8295693992002947, + -0.21818309149085385, + 0.5140143485331476, + -0.24176063081398885, + -0.9700955428822453, + -0.021597107871757407, + 0.5033551522522488, + -0.10635213334717751, + -0.8575096585074828 + ], + [ + 0.8311960995393066, + -0.22432611089408683, + 0.508714890760804, + -0.2343592039565502, + -0.971094193678839, + -0.04529713593702643, + 0.5041714069951756, + -0.08157121412838729, + -0.8597425948469261 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006095.json b/json/chunk-0006/episode_0006095.json new file mode 100644 index 0000000000000000000000000000000000000000..ca9d43da4a56e51d57644c034fefee54ee41835f --- /dev/null +++ b/json/chunk-0006/episode_0006095.json @@ -0,0 +1,2362 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 38, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the cannister at the left side of the blue bag." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006095.mp4", + "start": 0, + "end": 38, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2516532838344574, + 0.031515348702669144, + 0.09656316787004471, + 0.017924662679433823, + -0.1488722860813141, + 0.3761031925678253, + 0.0, + 0.9994885921478271 + ], + [ + 0.24766819179058075, + 0.031185872852802277, + 0.09083575010299683, + 0.02454725094139576, + -0.12409871071577072, + 0.38299596309661865, + 0.0, + 0.9994885921478271 + ], + [ + 0.24298158288002014, + 0.0085606025531888, + 0.08956023305654526, + 0.023495372384786606, + -0.09000764787197113, + 0.4566901624202728, + 0.0, + 0.9994885921478271 + ], + [ + 0.23971514403820038, + -0.017820173874497414, + 0.0904238373041153, + 0.019017022103071213, + -0.07843316346406937, + 0.5223041772842407, + 0.0, + 0.9994885921478271 + ], + [ + 0.24524250626564026, + -0.05452506244182587, + 0.09542955458164215, + -0.046430863440036774, + -0.10885434597730637, + 0.6516945362091064, + 0.0, + 0.9994885921478271 + ], + [ + 0.2501698434352875, + -0.086524099111557, + 0.09761467576026917, + -0.13389964401721954, + -0.15459121763706207, + 0.7273297905921936, + 0.0, + 0.9994885921478271 + ], + [ + 0.2609899640083313, + -0.11322319507598877, + 0.09718084335327148, + -0.16347558796405792, + -0.14964835345745087, + 0.7681981325149536, + 0.0, + 0.9994885921478271 + ], + [ + 0.2712438404560089, + -0.1363627165555954, + 0.09758687764406204, + -0.1911594420671463, + -0.10038663446903229, + 0.8406373262405396, + 0.0, + 0.9994885921478271 + ], + [ + 0.2813164293766022, + -0.15017661452293396, + 0.09411347657442093, + -0.19715721905231476, + -0.054744087159633636, + 0.8724314570426941, + 0.0, + 0.9994885921478271 + ], + [ + 0.28568950295448303, + -0.15522554516792297, + 0.08222711831331253, + -0.17423361539840698, + -0.036688804626464844, + 0.8926538825035095, + 0.0, + 0.9994885921478271 + ], + [ + 0.29237356781959534, + -0.15981590747833252, + 0.07526877522468567, + -0.18314947187900543, + -0.018957162275910378, + 0.9507864713668823, + 0.0, + 0.9994885921478271 + ], + [ + 0.29691922664642334, + -0.16289499402046204, + 0.06460009515285492, + -0.1872655153274536, + -0.003213688964024186, + 1.0181559324264526, + 0.0, + 0.9994885921478271 + ], + [ + 0.3047400414943695, + -0.16243526339530945, + 0.054804474115371704, + -0.16974632441997528, + -0.016666671261191368, + 1.0341124534606934, + 0.0, + 0.9994885921478271 + ], + [ + 0.30851638317108154, + -0.15758253633975983, + 0.04632880538702011, + -0.1405729055404663, + -0.019351040944457054, + 1.0548839569091797, + 0.0, + 0.9994885921478271 + ], + [ + 0.3129521906375885, + -0.1504661589860916, + 0.04577427729964256, + -0.1391347199678421, + -0.020610975101590157, + 1.0853415727615356, + 0.0, + 0.9994885921478271 + ], + [ + 0.31393197178840637, + -0.14302146434783936, + 0.046367477625608444, + -0.12075489014387131, + -0.021251734346151352, + 1.1075435876846313, + 0.0, + 0.9994885921478271 + ], + [ + 0.3159482479095459, + -0.13364560902118683, + 0.04615221172571182, + -0.10841039568185806, + -0.02365061454474926, + 1.131948709487915, + 0.0, + 0.9994885921478271 + ], + [ + 0.3213406205177307, + -0.12093464285135269, + 0.04622620344161987, + -0.10923236608505249, + -0.03631369024515152, + 1.1506450176239014, + 0.0, + 0.9994885921478271 + ], + [ + 0.32632771134376526, + -0.11220252513885498, + 0.04536072537302971, + -0.12222401797771454, + -0.06086980551481247, + 1.1363884210586548, + 0.0, + 0.9994885921478271 + ], + [ + 0.3299596309661865, + -0.10188816487789154, + 0.04559966176748276, + -0.11575715243816376, + -0.09102970361709595, + 1.092950463294983, + 0.0, + 0.9994885921478271 + ], + [ + 0.3335430920124054, + -0.08819502592086792, + 0.04510819911956787, + -0.1072111651301384, + -0.12732674181461334, + 1.0837907791137695, + 0.0, + 0.9994885921478271 + ], + [ + 0.3319264352321625, + -0.06692150980234146, + 0.04017145186662674, + -0.08623912930488586, + -0.12663380801677704, + 1.118354082107544, + 0.0, + 0.9994885921478271 + ], + [ + 0.3330150544643402, + -0.0461205393075943, + 0.044187795370817184, + -0.09324205666780472, + -0.13819803297519684, + 1.168756127357483, + 0.0, + 0.9994885921478271 + ], + [ + 0.33633217215538025, + -0.022879399359226227, + 0.04463956132531166, + -0.0925888791680336, + -0.1579972505569458, + 1.2203749418258667, + 0.0, + 0.9994885921478271 + ], + [ + 0.3429397940635681, + -0.004093222785741091, + 0.05039052665233612, + -0.10002156347036362, + -0.17759878933429718, + 1.2480361461639404, + 0.0, + 0.9994885921478271 + ], + [ + 0.34751367568969727, + 0.011969073675572872, + 0.05197519063949585, + -0.11844091862440109, + -0.20895618200302124, + 1.2727802991867065, + 0.0, + 0.9994885921478271 + ], + [ + 0.3400409519672394, + 0.02564132772386074, + 0.046448830515146255, + -0.09273796528577805, + -0.20961301028728485, + 1.2937787771224976, + 0.0, + 0.9994885921478271 + ], + [ + 0.3351001441478729, + 0.040803212672472, + 0.05215863138437271, + -0.10647210478782654, + -0.22866611182689667, + 1.316161036491394, + 0.0, + 0.9994885921478271 + ], + [ + 0.32946890592575073, + 0.05127343907952309, + 0.04987296834588051, + -0.09649434685707092, + -0.2316964566707611, + 1.3291075229644775, + 0.0, + 0.9994885921478271 + ], + [ + 0.3232269287109375, + 0.05793292820453644, + 0.05582138150930405, + -0.11629832535982132, + -0.2552337050437927, + 1.3317253589630127, + 0.0, + 0.9994885921478271 + ], + [ + 0.3165757358074188, + 0.06002260744571686, + 0.05892473831772804, + -0.1217973604798317, + -0.24785791337490082, + 1.3308727741241455, + 0.0, + 0.9994885921478271 + ], + [ + 0.31566673517227173, + 0.06160569190979004, + 0.06355959177017212, + -0.13680218160152435, + -0.2524999678134918, + 1.333188772201538, + 0.0, + 0.9994885921478271 + ], + [ + 0.313960999250412, + 0.0603126585483551, + 0.06370602548122406, + -0.12515288591384888, + -0.2426309883594513, + 1.3217307329177856, + 0.0, + 0.9994885921478271 + ], + [ + 0.3179817199707031, + 0.047446295619010925, + 0.07120919972658157, + -0.116696298122406, + -0.1901054084300995, + 1.2801814079284668, + 0.0, + 0.9994885921478271 + ], + [ + 0.3236343562602997, + 0.02946123108267784, + 0.07838857918977737, + -0.12323310971260071, + -0.1552189737558365, + 1.2233850955963135, + 0.0, + 0.9994885921478271 + ], + [ + 0.3187861144542694, + 0.007226440589874983, + 0.09503529965877533, + -0.145491361618042, + -0.10725677013397217, + 1.1481205224990845, + 0.0, + 0.9994885921478271 + ], + [ + 0.2990548312664032, + -0.010969351977109909, + 0.11991019546985626, + -0.19551436603069305, + -0.06332509964704514, + 1.0475722551345825, + 0.0, + 0.9994885921478271 + ], + [ + 0.2664929926395416, + -0.017757320776581764, + 0.12122906744480133, + -0.18083322048187256, + -0.05671184882521629, + 0.9259788393974304, + 0.0, + 0.9994885921478271 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2516532838344574, + 0.031515348702669144, + 0.09656316787004471 + ], + [ + 0.24766819179058075, + 0.031185872852802277, + 0.09083575010299683 + ], + [ + 0.24298158288002014, + 0.0085606025531888, + 0.08956023305654526 + ], + [ + 0.23971514403820038, + -0.017820173874497414, + 0.0904238373041153 + ], + [ + 0.24524250626564026, + -0.05452506244182587, + 0.09542955458164215 + ], + [ + 0.2501698434352875, + -0.086524099111557, + 0.09761467576026917 + ], + [ + 0.2609899640083313, + -0.11322319507598877, + 0.09718084335327148 + ], + [ + 0.2712438404560089, + -0.1363627165555954, + 0.09758687764406204 + ], + [ + 0.2813164293766022, + -0.15017661452293396, + 0.09411347657442093 + ], + [ + 0.28568950295448303, + -0.15522554516792297, + 0.08222711831331253 + ], + [ + 0.29237356781959534, + -0.15981590747833252, + 0.07526877522468567 + ], + [ + 0.29691922664642334, + -0.16289499402046204, + 0.06460009515285492 + ], + [ + 0.3047400414943695, + -0.16243526339530945, + 0.054804474115371704 + ], + [ + 0.30851638317108154, + -0.15758253633975983, + 0.04632880538702011 + ], + [ + 0.3129521906375885, + -0.1504661589860916, + 0.04577427729964256 + ], + [ + 0.31393197178840637, + -0.14302146434783936, + 0.046367477625608444 + ], + [ + 0.3159482479095459, + -0.13364560902118683, + 0.04615221172571182 + ], + [ + 0.3213406205177307, + -0.12093464285135269, + 0.04622620344161987 + ], + [ + 0.32632771134376526, + -0.11220252513885498, + 0.04536072537302971 + ], + [ + 0.3299596309661865, + -0.10188816487789154, + 0.04559966176748276 + ], + [ + 0.3335430920124054, + -0.08819502592086792, + 0.04510819911956787 + ], + [ + 0.3319264352321625, + -0.06692150980234146, + 0.04017145186662674 + ], + [ + 0.3330150544643402, + -0.0461205393075943, + 0.044187795370817184 + ], + [ + 0.33633217215538025, + -0.022879399359226227, + 0.04463956132531166 + ], + [ + 0.3429397940635681, + -0.004093222785741091, + 0.05039052665233612 + ], + [ + 0.34751367568969727, + 0.011969073675572872, + 0.05197519063949585 + ], + [ + 0.3400409519672394, + 0.02564132772386074, + 0.046448830515146255 + ], + [ + 0.3351001441478729, + 0.040803212672472, + 0.05215863138437271 + ], + [ + 0.32946890592575073, + 0.05127343907952309, + 0.04987296834588051 + ], + [ + 0.3232269287109375, + 0.05793292820453644, + 0.05582138150930405 + ], + [ + 0.3165757358074188, + 0.06002260744571686, + 0.05892473831772804 + ], + [ + 0.31566673517227173, + 0.06160569190979004, + 0.06355959177017212 + ], + [ + 0.313960999250412, + 0.0603126585483551, + 0.06370602548122406 + ], + [ + 0.3179817199707031, + 0.047446295619010925, + 0.07120919972658157 + ], + [ + 0.3236343562602997, + 0.02946123108267784, + 0.07838857918977737 + ], + [ + 0.3187861144542694, + 0.007226440589874983, + 0.09503529965877533 + ], + [ + 0.2990548312664032, + -0.010969351977109909, + 0.11991019546985626 + ], + [ + 0.2664929926395416, + -0.017757320776581764, + 0.12122906744480133 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9198150920436776, + 0.3697125074278594, + 0.13135013627738037, + 0.3632361326209001, + -0.9289771096935873, + 0.07114099819345349, + 0.1483229867798421, + -0.017725448280766665, + -0.9887801070389478 + ], + [ + 0.9204160109312294, + 0.3764065078082321, + 0.10560543405077957, + 0.3708271470973174, + -0.9261343988919838, + 0.06900943533059509, + 0.12378042574295314, + -0.024356027356578498, + -0.9920106804537429 + ], + [ + 0.8938838750194962, + 0.44275348015497523, + 0.07029206065259039, + 0.43919482592738807, + -0.8963380412536253, + 0.060712607259328574, + 0.08988616611437383, + -0.023398111297113583, + -0.9956771592885854 + ], + [ + 0.8640075638702456, + 0.5000795149735717, + 0.058407262209427185, + 0.49734472232366594, + -0.8657719648435312, + 0.0555619660178338, + 0.0783527711813635, + -0.018957415297676854, + -0.9967454337258999 + ], + [ + 0.7903513723708266, + 0.6018718483874052, + 0.11443332692131081, + 0.6029445807005948, + -0.7972586956075872, + 0.028920665308263996, + 0.1086394992409992, + 0.04613946680248002, + -0.9930098734694676 + ], + [ + 0.7380446859950771, + 0.6435718469552087, + 0.20274446794201176, + 0.6569485290765371, + -0.7539334184898713, + 0.00174086999829344, + 0.15397620471554166, + 0.13190784014166101, + -0.9792301313228466 + ], + [ + 0.7111261598305786, + 0.6681266764510834, + 0.21887514481786957, + 0.6870746901795828, + -0.7264354375095965, + -0.014829876765207098, + 0.14909042531042843, + 0.16092948562855153, + -0.9756401722643882 + ], + [ + 0.6636301526551575, + 0.7187964077239998, + 0.20718770409936438, + 0.7413173075664089, + -0.6690256344603067, + -0.05341675708496786, + 0.10021811208251113, + 0.1890408016224473, + -0.9768418015894691 + ], + [ + 0.6420029930210229, + 0.7441658249442488, + 0.18452474613746034, + 0.7647471703186558, + -0.6387191716158214, + -0.0848503700640594, + 0.05471674735999284, + 0.19558896900245862, + -0.9791583287512281 + ], + [ + 0.6269253763822087, + 0.7629599172480046, + 0.15766019510625995, + 0.7782153351877739, + -0.6228010869892382, + -0.08062070530331712, + 0.036680574240419477, + 0.17323674759686913, + -0.9841969136079688 + ], + [ + 0.5809387788496929, + 0.7982546819740701, + 0.15905847332067263, + 0.8137264923024812, + -0.5741350363193656, + -0.09065404456316438, + 0.018956026844435245, + 0.18209454351252913, + -0.9830982892209894 + ], + [ + 0.5249336945425791, + 0.8359468711872177, + 0.16011697251128498, + 0.8511370562798187, + -0.5162681779860807, + -0.0950414637211425, + 0.0032136834323059638, + 0.18617195532956557, + -0.9825119211936124 + ], + [ + 0.5112178885977652, + 0.8456176915963074, + 0.15358056529709535, + 0.8592895426839284, + -0.5063600653810962, + -0.0722562524719984, + 0.01666589966633164, + 0.16890886254600235, + -0.9854907629915806 + ], + [ + 0.49323630906767013, + 0.8599252884926268, + 0.13132570817693748, + 0.8696801293407402, + -0.4908206662443846, + -0.05245518294021818, + 0.019349833259619427, + 0.14008415969798593, + -0.9899505099521562 + ], + [ + 0.4665115132742291, + 0.8745820324413972, + 0.13218652167775619, + 0.8842749888127027, + -0.46462948966872647, + -0.046660277436741594, + 0.020609515833314968, + 0.1386567916145976, + -0.9901260232900976 + ], + [ + 0.44675947291022483, + 0.8869453085811673, + 0.11719211983250477, + 0.8944017023350977, + -0.44589636340009126, + -0.03495751659733664, + 0.02125013470680557, + 0.12043443316772756, + -0.9924938181583354 + ], + [ + 0.4247777345775948, + 0.8988403567268426, + 0.10793465303732816, + 0.9049887451910086, + -0.42471839733525907, + -0.024691173373745746, + 0.023648409771689333, + 0.10816790690464087, + -0.993851325214762 + ], + [ + 0.40762969197139104, + 0.9059712453403149, + 0.11425470160928844, + 0.912425300868387, + -0.4090812112606516, + -0.011516637041747886, + 0.036305709723707315, + 0.1089434037013568, + -0.9933847342452071 + ], + [ + 0.420093919727709, + 0.8972307565970992, + 0.13600760281692284, + 0.9054394177019445, + -0.42446143057854896, + 0.00345757469549212, + 0.06083222402125754, + 0.12169413859101136, + -0.9907017599425261 + ], + [ + 0.45796338861364555, + 0.8772165585655097, + 0.14408554427141876, + 0.8843110259720531, + -0.46611304475592247, + 0.02706730227818157, + 0.09090403749978407, + 0.11502060201045411, + -0.9891949843581855 + ], + [ + 0.46419331802032576, + 0.872305182519486, + 0.1536497056779713, + 0.8765842149404494, + -0.47730287879777006, + 0.061498585419484456, + 0.12698298162555935, + 0.10613967420812863, + -0.9862097606171192 + ], + [ + 0.4336628263032994, + 0.8912842418407233, + 0.13247246253105316, + 0.8921804569378812, + -0.4453223164197578, + 0.07551203054252152, + 0.12629562676810302, + 0.08544258156767039, + -0.9883061165015139 + ], + [ + 0.38756599372475176, + 0.9112481732831618, + 0.13935338961161442, + 0.9114906372124142, + -0.401400505322556, + 0.08979116103995953, + 0.1377585524831504, + 0.09221930933864912, + -0.9861633638514715 + ], + [ + 0.33901767894992746, + 0.9302111926603496, + 0.14062059027330914, + 0.927529466559879, + -0.35548632389345475, + 0.1154060751774532, + 0.1573407195310551, + 0.09130504134015673, + -0.983314439741084 + ], + [ + 0.3121963294795798, + 0.9380281574339124, + 0.15045473645125562, + 0.9334464895738706, + -0.3323302365029451, + 0.13503431048483389, + 0.17666664360228163, + 0.09828422949301537, + -0.9793513706894317 + ], + [ + 0.2872373430397774, + 0.9420265237062632, + 0.17343799294659348, + 0.9351276979368207, + -0.31499854433933766, + 0.16221006631982057, + 0.2074389001967362, + 0.11559388261491918, + -0.9713944394462926 + ], + [ + 0.26750188246442846, + 0.9524721691634456, + 0.14573781200178582, + 0.9408213833527767, + -0.29084768074991624, + 0.17396192465181187, + 0.2080813963432458, + 0.0905781075728323, + -0.9739084859083884 + ], + [ + 0.24533562013717697, + 0.9562070907480111, + 0.15961965134384948, + 0.9425641964207405, + -0.2737786712029349, + 0.19135823687544617, + 0.22667855901613404, + 0.10350477668967983, + -0.9684542281826172 + ], + [ + 0.23294702818363333, + 0.961123292625257, + 0.14824877211497636, + 0.944990060654176, + -0.2597097827834932, + 0.19885827614501625, + 0.2296289775381807, + 0.09377017169513677, + -0.9687505806837146 + ], + [ + 0.22912881843108157, + 0.9580582149029763, + 0.17211752212165624, + 0.9400840926422193, + -0.2636631804289973, + 0.2161564850915214, + 0.25247154953663903, + 0.1122772645863283, + -0.961068120650966 + ], + [ + 0.2303664843660327, + 0.9570773451389795, + 0.1758813187992312, + 0.9416716545092733, + -0.2648206829259415, + 0.20766439509074558, + 0.24532789889167056, + 0.11778353584589114, + -0.9622584168034268 + ], + [ + 0.22791444662998045, + 0.9548041791229368, + 0.19079828234741603, + 0.941085680372686, + -0.26629190005070463, + 0.2084379192106461, + 0.24982543348271824, + 0.13205151834325893, + -0.9592443115746956 + ], + [ + 0.239278360749818, + 0.954170507204174, + 0.17973455221133525, + 0.9407562158096363, + -0.27363558812294086, + 0.20025310816100958, + 0.240257379683565, + 0.12117016173275288, + -0.9631169105634299 + ], + [ + 0.28137917550593095, + 0.9452475057377047, + 0.1653266841385588, + 0.9408076152526831, + -0.3056712030429303, + 0.14644502966248937, + 0.18896240545188406, + 0.11433402173865821, + -0.9753055627847623 + ], + [ + 0.33637167256829653, + 0.9266567898450558, + 0.16781326445684228, + 0.9289531943748849, + -0.35575080721684577, + 0.10240764534574323, + 0.1545964441838931, + 0.12144363712693243, + -0.9804852790567933 + ], + [ + 0.40784501248821414, + 0.8959927732914246, + 0.17566842629803928, + 0.9067538130923978, + -0.4200226487470766, + 0.037128115786912406, + 0.10705124114593387, + 0.14414549853891082, + -0.9837490061088161 + ], + [ + 0.4986739301778116, + 0.8435664814384799, + 0.1992985267244025, + 0.864476489250186, + -0.5008048157949294, + -0.043300531293268815, + 0.06328278513693568, + 0.19388173681424758, + -0.978981696067502 + ], + [ + 0.600086278938164, + 0.7800505131262542, + 0.17725026037107922, + 0.7979246020821517, + -0.5993991634393153, + -0.06353717227174022, + 0.05668145395266353, + 0.17956012875835284, + -0.9821127088771918 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.003985092043876648, + -0.00032947584986686707, + -0.005727417767047882, + 0.006622588261961937, + 0.024773575365543365, + 0.006892770528793335, + 1.0 + ], + [ + -0.004686608910560608, + -0.02262527123093605, + -0.0012755170464515686, + -0.0010518785566091537, + 0.03409106284379959, + 0.07369419932365417, + 1.0 + ], + [ + -0.003266438841819763, + -0.02638077735900879, + 0.0008636042475700378, + -0.004478350281715393, + 0.011574484407901764, + 0.0656140148639679, + 1.0 + ], + [ + 0.00552736222743988, + -0.0367048904299736, + 0.0050057172775268555, + -0.06544788181781769, + -0.030421182513237, + 0.12939035892486572, + 1.0 + ], + [ + 0.004927337169647217, + -0.03199903666973114, + 0.002185121178627014, + -0.08746878057718277, + -0.04573687165975571, + 0.07563525438308716, + 1.0 + ], + [ + 0.010820120573043823, + -0.026699095964431763, + -0.00043383240699768066, + -0.02957594394683838, + 0.004942864179611206, + 0.04086834192276001, + 1.0 + ], + [ + 0.010253876447677612, + -0.02313952147960663, + 0.00040603429079055786, + -0.02768385410308838, + 0.04926171898841858, + 0.07243919372558594, + 1.0 + ], + [ + 0.010072588920593262, + -0.013813897967338562, + -0.0034734010696411133, + -0.005997776985168457, + 0.04564254730939865, + 0.03179413080215454, + 1.0 + ], + [ + 0.004373073577880859, + -0.005048930644989014, + -0.011886358261108398, + 0.022923603653907776, + 0.018055282533168793, + 0.02022242546081543, + 1.0 + ], + [ + 0.006684064865112305, + -0.004590362310409546, + -0.006958343088626862, + -0.00891585648059845, + 0.017731642350554466, + 0.0581325888633728, + 1.0 + ], + [ + 0.004545658826828003, + -0.0030790865421295166, + -0.01066868007183075, + -0.004116043448448181, + 0.015743473544716835, + 0.06736946105957031, + 1.0 + ], + [ + 0.007820814847946167, + 0.0004597306251525879, + -0.009795621037483215, + 0.017519190907478333, + -0.013452982529997826, + 0.015956521034240723, + 1.0 + ], + [ + 0.003776341676712036, + 0.004852727055549622, + -0.008475668728351593, + 0.029173418879508972, + -0.002684369683265686, + 0.020771503448486328, + 1.0 + ], + [ + 0.004435807466506958, + 0.007116377353668213, + -0.0005545280873775482, + 0.0014381855726242065, + -0.0012599341571331024, + 0.030457615852355957, + 1.0 + ], + [ + 0.000979781150817871, + 0.007444694638252258, + 0.0005932003259658813, + 0.018379829823970795, + -0.0006407592445611954, + 0.022202014923095703, + 1.0 + ], + [ + 0.0020162761211395264, + 0.009375855326652527, + -0.0002152658998966217, + 0.012344494462013245, + -0.002398880198597908, + 0.02440512180328369, + 1.0 + ], + [ + 0.0053923726081848145, + 0.012710966169834137, + 7.399171590805054e-05, + -0.0008219704031944275, + -0.01266307570040226, + 0.018696308135986328, + 1.0 + ], + [ + 0.004987090826034546, + 0.008732117712497711, + -0.0008654780685901642, + -0.012991651892662048, + -0.02455611526966095, + -0.014256596565246582, + 1.0 + ], + [ + 0.0036319196224212646, + 0.01031436026096344, + 0.0002389363944530487, + 0.006466865539550781, + -0.030159898102283478, + -0.043437957763671875, + 1.0 + ], + [ + 0.003583461046218872, + 0.01369313895702362, + -0.0004914626479148865, + 0.00854598730802536, + -0.036297038197517395, + -0.009159684181213379, + 1.0 + ], + [ + -0.00161665678024292, + 0.02127351611852646, + -0.004936747252941132, + 0.020972035825252533, + 0.0006929337978363037, + 0.034563302993774414, + 1.0 + ], + [ + 0.0010886192321777344, + 0.020800970494747162, + 0.004016343504190445, + -0.007002927362918854, + -0.0115642249584198, + 0.050402045249938965, + 1.0 + ], + [ + 0.003317117691040039, + 0.023241139948368073, + 0.0004517659544944763, + 0.0006531774997711182, + -0.019799217581748962, + 0.05161881446838379, + 1.0 + ], + [ + 0.006607621908187866, + 0.018786177039146423, + 0.00575096532702446, + -0.007432684302330017, + -0.01960153877735138, + 0.02766120433807373, + 1.0 + ], + [ + 0.00457388162612915, + 0.01606229692697525, + 0.001584663987159729, + -0.018419355154037476, + -0.03135739266872406, + 0.024744153022766113, + 1.0 + ], + [ + -0.007472723722457886, + 0.013672254048287868, + -0.005526360124349594, + 0.025702953338623047, + -0.0006568282842636108, + 0.020998477935791016, + 1.0 + ], + [ + -0.004940807819366455, + 0.01516188494861126, + 0.005709800869226456, + -0.013734139502048492, + -0.019053101539611816, + 0.022382259368896484, + 1.0 + ], + [ + -0.005631238222122192, + 0.010470226407051086, + -0.0022856630384922028, + 0.009977757930755615, + -0.003030344843864441, + 0.012946486473083496, + 1.0 + ], + [ + -0.006241977214813232, + 0.0066594891250133514, + 0.005948413163423538, + -0.019803978502750397, + -0.023537248373031616, + 0.0026178359985351562, + 1.0 + ], + [ + -0.006651192903518677, + 0.00208967924118042, + 0.003103356808423996, + -0.005499035120010376, + 0.007375791668891907, + -0.0008525848388671875, + 1.0 + ], + [ + -0.0009090006351470947, + 0.0015830844640731812, + 0.0046348534524440765, + -0.015004821121692657, + -0.004642054438591003, + 0.002315998077392578, + 1.0 + ], + [ + -0.0017057359218597412, + -0.0012930333614349365, + 0.00014643371105194092, + 0.011649295687675476, + 0.009868979454040527, + -0.011458039283752441, + 1.0 + ], + [ + 0.004020720720291138, + -0.012866362929344177, + 0.007503174245357513, + 0.008456587791442871, + 0.05252557992935181, + -0.04154932498931885, + 1.0 + ], + [ + 0.005652636289596558, + -0.017985064536333084, + 0.007179379463195801, + -0.006536811590194702, + 0.034886434674263, + -0.05679631233215332, + 1.0 + ], + [ + -0.0048482418060302734, + -0.02223479002714157, + 0.016646720468997955, + -0.022258251905441284, + 0.04796220362186432, + -0.075264573097229, + 1.0 + ], + [ + -0.01973128318786621, + -0.01819579303264618, + 0.024874895811080933, + -0.05002300441265106, + 0.04393167048692703, + -0.10054826736450195, + 1.0 + ], + [ + -0.03256183862686157, + -0.006787968799471855, + 0.0013188719749450684, + 0.014681145548820496, + 0.006613250821828842, + -0.1215934157371521, + 1.0 + ], + [ + -0.016578182578086853, + -0.0021652672439813614, + -0.001970715820789337, + 0.07764317095279694, + 0.04604746773838997, + -0.1762220859527588, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.24766819179058075, + 0.031185872852802277, + 0.09083575010299683 + ], + [ + 0.24298158288002014, + 0.0085606025531888, + 0.08956023305654526 + ], + [ + 0.23971514403820038, + -0.017820173874497414, + 0.0904238373041153 + ], + [ + 0.24524250626564026, + -0.05452506244182587, + 0.09542955458164215 + ], + [ + 0.2501698434352875, + -0.086524099111557, + 0.09761467576026917 + ], + [ + 0.2609899640083313, + -0.11322319507598877, + 0.09718084335327148 + ], + [ + 0.2712438404560089, + -0.1363627165555954, + 0.09758687764406204 + ], + [ + 0.2813164293766022, + -0.15017661452293396, + 0.09411347657442093 + ], + [ + 0.28568950295448303, + -0.15522554516792297, + 0.08222711831331253 + ], + [ + 0.29237356781959534, + -0.15981590747833252, + 0.07526877522468567 + ], + [ + 0.29691922664642334, + -0.16289499402046204, + 0.06460009515285492 + ], + [ + 0.3047400414943695, + -0.16243526339530945, + 0.054804474115371704 + ], + [ + 0.30851638317108154, + -0.15758253633975983, + 0.04632880538702011 + ], + [ + 0.3129521906375885, + -0.1504661589860916, + 0.04577427729964256 + ], + [ + 0.31393197178840637, + -0.14302146434783936, + 0.046367477625608444 + ], + [ + 0.3159482479095459, + -0.13364560902118683, + 0.04615221172571182 + ], + [ + 0.3213406205177307, + -0.12093464285135269, + 0.04622620344161987 + ], + [ + 0.32632771134376526, + -0.11220252513885498, + 0.04536072537302971 + ], + [ + 0.3299596309661865, + -0.10188816487789154, + 0.04559966176748276 + ], + [ + 0.3335430920124054, + -0.08819502592086792, + 0.04510819911956787 + ], + [ + 0.3319264352321625, + -0.06692150980234146, + 0.04017145186662674 + ], + [ + 0.3330150544643402, + -0.0461205393075943, + 0.044187795370817184 + ], + [ + 0.33633217215538025, + -0.022879399359226227, + 0.04463956132531166 + ], + [ + 0.3429397940635681, + -0.004093222785741091, + 0.05039052665233612 + ], + [ + 0.34751367568969727, + 0.011969073675572872, + 0.05197519063949585 + ], + [ + 0.3400409519672394, + 0.02564132772386074, + 0.046448830515146255 + ], + [ + 0.3351001441478729, + 0.040803212672472, + 0.05215863138437271 + ], + [ + 0.32946890592575073, + 0.05127343907952309, + 0.04987296834588051 + ], + [ + 0.3232269287109375, + 0.05793292820453644, + 0.05582138150930405 + ], + [ + 0.3165757358074188, + 0.06002260744571686, + 0.05892473831772804 + ], + [ + 0.31566673517227173, + 0.06160569190979004, + 0.06355959177017212 + ], + [ + 0.313960999250412, + 0.0603126585483551, + 0.06370602548122406 + ], + [ + 0.3179817199707031, + 0.047446295619010925, + 0.07120919972658157 + ], + [ + 0.3236343562602997, + 0.02946123108267784, + 0.07838857918977737 + ], + [ + 0.3187861144542694, + 0.007226440589874983, + 0.09503529965877533 + ], + [ + 0.2990548312664032, + -0.010969351977109909, + 0.11991019546985626 + ], + [ + 0.2664929926395416, + -0.017757320776581764, + 0.12122906744480133 + ], + [ + 0.24991481006145477, + -0.019922588020563126, + 0.119258351624012 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9204160109312294, + 0.3764065078082321, + 0.10560543405077957, + 0.3708271470973174, + -0.9261343988919838, + 0.06900943533059509, + 0.12378042574295314, + -0.024356027356578498, + -0.9920106804537429 + ], + [ + 0.8938838750194962, + 0.44275348015497523, + 0.07029206065259039, + 0.43919482592738807, + -0.8963380412536253, + 0.060712607259328574, + 0.08988616611437383, + -0.023398111297113583, + -0.9956771592885854 + ], + [ + 0.8640075638702456, + 0.5000795149735717, + 0.058407262209427185, + 0.49734472232366594, + -0.8657719648435312, + 0.0555619660178338, + 0.0783527711813635, + -0.018957415297676854, + -0.9967454337258999 + ], + [ + 0.7903513723708266, + 0.6018718483874052, + 0.11443332692131081, + 0.6029445807005948, + -0.7972586956075872, + 0.028920665308263996, + 0.1086394992409992, + 0.04613946680248002, + -0.9930098734694676 + ], + [ + 0.7380446859950771, + 0.6435718469552087, + 0.20274446794201176, + 0.6569485290765371, + -0.7539334184898713, + 0.00174086999829344, + 0.15397620471554166, + 0.13190784014166101, + -0.9792301313228466 + ], + [ + 0.7111261598305786, + 0.6681266764510834, + 0.21887514481786957, + 0.6870746901795828, + -0.7264354375095965, + -0.014829876765207098, + 0.14909042531042843, + 0.16092948562855153, + -0.9756401722643882 + ], + [ + 0.6636301526551575, + 0.7187964077239998, + 0.20718770409936438, + 0.7413173075664089, + -0.6690256344603067, + -0.05341675708496786, + 0.10021811208251113, + 0.1890408016224473, + -0.9768418015894691 + ], + [ + 0.6420029930210229, + 0.7441658249442488, + 0.18452474613746034, + 0.7647471703186558, + -0.6387191716158214, + -0.0848503700640594, + 0.05471674735999284, + 0.19558896900245862, + -0.9791583287512281 + ], + [ + 0.6269253763822087, + 0.7629599172480046, + 0.15766019510625995, + 0.7782153351877739, + -0.6228010869892382, + -0.08062070530331712, + 0.036680574240419477, + 0.17323674759686913, + -0.9841969136079688 + ], + [ + 0.5809387788496929, + 0.7982546819740701, + 0.15905847332067263, + 0.8137264923024812, + -0.5741350363193656, + -0.09065404456316438, + 0.018956026844435245, + 0.18209454351252913, + -0.9830982892209894 + ], + [ + 0.5249336945425791, + 0.8359468711872177, + 0.16011697251128498, + 0.8511370562798187, + -0.5162681779860807, + -0.0950414637211425, + 0.0032136834323059638, + 0.18617195532956557, + -0.9825119211936124 + ], + [ + 0.5112178885977652, + 0.8456176915963074, + 0.15358056529709535, + 0.8592895426839284, + -0.5063600653810962, + -0.0722562524719984, + 0.01666589966633164, + 0.16890886254600235, + -0.9854907629915806 + ], + [ + 0.49323630906767013, + 0.8599252884926268, + 0.13132570817693748, + 0.8696801293407402, + -0.4908206662443846, + -0.05245518294021818, + 0.019349833259619427, + 0.14008415969798593, + -0.9899505099521562 + ], + [ + 0.4665115132742291, + 0.8745820324413972, + 0.13218652167775619, + 0.8842749888127027, + -0.46462948966872647, + -0.046660277436741594, + 0.020609515833314968, + 0.1386567916145976, + -0.9901260232900976 + ], + [ + 0.44675947291022483, + 0.8869453085811673, + 0.11719211983250477, + 0.8944017023350977, + -0.44589636340009126, + -0.03495751659733664, + 0.02125013470680557, + 0.12043443316772756, + -0.9924938181583354 + ], + [ + 0.4247777345775948, + 0.8988403567268426, + 0.10793465303732816, + 0.9049887451910086, + -0.42471839733525907, + -0.024691173373745746, + 0.023648409771689333, + 0.10816790690464087, + -0.993851325214762 + ], + [ + 0.40762969197139104, + 0.9059712453403149, + 0.11425470160928844, + 0.912425300868387, + -0.4090812112606516, + -0.011516637041747886, + 0.036305709723707315, + 0.1089434037013568, + -0.9933847342452071 + ], + [ + 0.420093919727709, + 0.8972307565970992, + 0.13600760281692284, + 0.9054394177019445, + -0.42446143057854896, + 0.00345757469549212, + 0.06083222402125754, + 0.12169413859101136, + -0.9907017599425261 + ], + [ + 0.45796338861364555, + 0.8772165585655097, + 0.14408554427141876, + 0.8843110259720531, + -0.46611304475592247, + 0.02706730227818157, + 0.09090403749978407, + 0.11502060201045411, + -0.9891949843581855 + ], + [ + 0.46419331802032576, + 0.872305182519486, + 0.1536497056779713, + 0.8765842149404494, + -0.47730287879777006, + 0.061498585419484456, + 0.12698298162555935, + 0.10613967420812863, + -0.9862097606171192 + ], + [ + 0.4336628263032994, + 0.8912842418407233, + 0.13247246253105316, + 0.8921804569378812, + -0.4453223164197578, + 0.07551203054252152, + 0.12629562676810302, + 0.08544258156767039, + -0.9883061165015139 + ], + [ + 0.38756599372475176, + 0.9112481732831618, + 0.13935338961161442, + 0.9114906372124142, + -0.401400505322556, + 0.08979116103995953, + 0.1377585524831504, + 0.09221930933864912, + -0.9861633638514715 + ], + [ + 0.33901767894992746, + 0.9302111926603496, + 0.14062059027330914, + 0.927529466559879, + -0.35548632389345475, + 0.1154060751774532, + 0.1573407195310551, + 0.09130504134015673, + -0.983314439741084 + ], + [ + 0.3121963294795798, + 0.9380281574339124, + 0.15045473645125562, + 0.9334464895738706, + -0.3323302365029451, + 0.13503431048483389, + 0.17666664360228163, + 0.09828422949301537, + -0.9793513706894317 + ], + [ + 0.2872373430397774, + 0.9420265237062632, + 0.17343799294659348, + 0.9351276979368207, + -0.31499854433933766, + 0.16221006631982057, + 0.2074389001967362, + 0.11559388261491918, + -0.9713944394462926 + ], + [ + 0.26750188246442846, + 0.9524721691634456, + 0.14573781200178582, + 0.9408213833527767, + -0.29084768074991624, + 0.17396192465181187, + 0.2080813963432458, + 0.0905781075728323, + -0.9739084859083884 + ], + [ + 0.24533562013717697, + 0.9562070907480111, + 0.15961965134384948, + 0.9425641964207405, + -0.2737786712029349, + 0.19135823687544617, + 0.22667855901613404, + 0.10350477668967983, + -0.9684542281826172 + ], + [ + 0.23294702818363333, + 0.961123292625257, + 0.14824877211497636, + 0.944990060654176, + -0.2597097827834932, + 0.19885827614501625, + 0.2296289775381807, + 0.09377017169513677, + -0.9687505806837146 + ], + [ + 0.22912881843108157, + 0.9580582149029763, + 0.17211752212165624, + 0.9400840926422193, + -0.2636631804289973, + 0.2161564850915214, + 0.25247154953663903, + 0.1122772645863283, + -0.961068120650966 + ], + [ + 0.2303664843660327, + 0.9570773451389795, + 0.1758813187992312, + 0.9416716545092733, + -0.2648206829259415, + 0.20766439509074558, + 0.24532789889167056, + 0.11778353584589114, + -0.9622584168034268 + ], + [ + 0.22791444662998045, + 0.9548041791229368, + 0.19079828234741603, + 0.941085680372686, + -0.26629190005070463, + 0.2084379192106461, + 0.24982543348271824, + 0.13205151834325893, + -0.9592443115746956 + ], + [ + 0.239278360749818, + 0.954170507204174, + 0.17973455221133525, + 0.9407562158096363, + -0.27363558812294086, + 0.20025310816100958, + 0.240257379683565, + 0.12117016173275288, + -0.9631169105634299 + ], + [ + 0.28137917550593095, + 0.9452475057377047, + 0.1653266841385588, + 0.9408076152526831, + -0.3056712030429303, + 0.14644502966248937, + 0.18896240545188406, + 0.11433402173865821, + -0.9753055627847623 + ], + [ + 0.33637167256829653, + 0.9266567898450558, + 0.16781326445684228, + 0.9289531943748849, + -0.35575080721684577, + 0.10240764534574323, + 0.1545964441838931, + 0.12144363712693243, + -0.9804852790567933 + ], + [ + 0.40784501248821414, + 0.8959927732914246, + 0.17566842629803928, + 0.9067538130923978, + -0.4200226487470766, + 0.037128115786912406, + 0.10705124114593387, + 0.14414549853891082, + -0.9837490061088161 + ], + [ + 0.4986739301778116, + 0.8435664814384799, + 0.1992985267244025, + 0.864476489250186, + -0.5008048157949294, + -0.043300531293268815, + 0.06328278513693568, + 0.19388173681424758, + -0.978981696067502 + ], + [ + 0.600086278938164, + 0.7800505131262542, + 0.17725026037107922, + 0.7979246020821517, + -0.5993991634393153, + -0.06353717227174022, + 0.05668145395266353, + 0.17956012875835284, + -0.9821127088771918 + ], + [ + 0.7318130373426343, + 0.6770318852552485, + 0.07795835249075048, + 0.6814220084960184, + -0.7287102220370612, + -0.06815760145390207, + 0.010664178946367085, + 0.1030011584712566, + -0.9946240679980445 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006096.json b/json/chunk-0006/episode_0006096.json new file mode 100644 index 0000000000000000000000000000000000000000..445c9f6bf2a018d8950e5544251ab56c6dacd508 --- /dev/null +++ b/json/chunk-0006/episode_0006096.json @@ -0,0 +1,2602 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 42, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nRemonter le cube au dessus." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006096.mp4", + "start": 0, + "end": 42, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.27632439136505127, + -0.023701941594481468, + 0.06939230859279633, + 0.019376415759325027, + 0.049245577305555344, + 1.5795040130615234, + 0.0, + 1.0001531839370728 + ], + [ + 0.27229923009872437, + -0.024523280560970306, + 0.05990458279848099, + 0.05624018982052803, + 0.04808477684855461, + 1.5790462493896484, + 0.0, + 1.0001531839370728 + ], + [ + 0.2743108868598938, + -0.029148662462830544, + 0.05000687763094902, + 0.06360699981451035, + 0.05240887403488159, + 1.5582622289657593, + 0.0, + 1.0001531839370728 + ], + [ + 0.275486558675766, + -0.03383343294262886, + 0.0455997958779335, + 0.06246599555015564, + 0.0513761006295681, + 1.5498770475387573, + 0.0, + 1.0001531839370728 + ], + [ + 0.2813345789909363, + -0.03802677243947983, + 0.04471215605735779, + 0.02082117088139057, + 0.052077531814575195, + 1.5608607530593872, + 0.0, + 1.0001531839370728 + ], + [ + 0.28315070271492004, + -0.04193552955985069, + 0.03813204541802406, + 0.020156534388661385, + 0.055934008210897446, + 1.5627857446670532, + 0.0, + 1.0001531839370728 + ], + [ + 0.2852380871772766, + -0.04763231426477432, + 0.027728809043765068, + 0.03779732063412666, + 0.06295791268348694, + 1.5555505752563477, + 0.0, + 1.0001531839370728 + ], + [ + 0.28665441274642944, + -0.05131791532039642, + 0.021207615733146667, + 0.04403500631451607, + 0.08474227041006088, + 1.5453630685806274, + 0.0, + 1.0001531839370728 + ], + [ + 0.29295459389686584, + -0.04829864203929901, + 0.018328530713915825, + 0.06462416052818298, + 0.042695462703704834, + 1.5592330694198608, + 0.0, + 1.0001531839370728 + ], + [ + 0.2937694191932678, + -0.04737858101725578, + 0.014884987846016884, + 0.08618005365133286, + 0.020441990345716476, + 1.5702571868896484, + 0.0, + 1.0001531839370728 + ], + [ + 0.2915981709957123, + -0.0453123040497303, + 0.006712730508297682, + 0.11285139620304108, + 0.02215942181646824, + 1.5866692066192627, + 0.0, + 1.0001531839370728 + ], + [ + 0.2902527451515198, + -0.04210285097360611, + 0.005952431354671717, + 0.12469275295734406, + 0.013277134858071804, + 1.6129695177078247, + 0.0, + 1.0001531839370728 + ], + [ + 0.28693535923957825, + -0.04124107211828232, + 0.004026629496365786, + 0.13688024878501892, + 0.010221325792372227, + 1.6222038269042969, + 0.0, + 0.9620732665061951 + ], + [ + 0.287007212638855, + -0.04350462183356285, + 0.0013180579990148544, + 0.1411973387002945, + 0.029425300657749176, + 1.6272556781768799, + 0.0, + 0.7021830081939697 + ], + [ + 0.2874705195426941, + -0.043527744710445404, + -0.0013422556221485138, + 0.1443188339471817, + 0.05105288326740265, + 1.6221256256103516, + 0.0, + 0.5501742362976074 + ], + [ + 0.2915072739124298, + -0.044325102120637894, + -0.004066719673573971, + 0.10854792594909668, + 0.12386060506105423, + 1.613587737083435, + 0.0, + 0.5501742362976074 + ], + [ + 0.29118072986602783, + -0.03710441291332245, + -0.0009838416008278728, + 0.09770818054676056, + 0.13961711525917053, + 1.645821213722229, + 0.0, + 0.5501742362976074 + ], + [ + 0.29595500230789185, + -0.0020294853020459414, + 0.044549379497766495, + -0.01893472857773304, + 0.12573274970054626, + 1.7692029476165771, + 0.0, + 0.5501742362976074 + ], + [ + 0.29925036430358887, + 0.02802516333758831, + 0.06273960322141647, + -0.057269979268312454, + 0.12117325514554977, + 1.8724126815795898, + 0.0, + 0.5501742362976074 + ], + [ + 0.3114756941795349, + 0.04911166429519653, + 0.07702317833900452, + -0.08450546860694885, + 0.1389833241701126, + 1.9279742240905762, + 0.0, + 0.5501742362976074 + ], + [ + 0.3166782855987549, + 0.06576111167669296, + 0.06839100271463394, + -0.060887083411216736, + 0.13886307179927826, + 1.9599072933197021, + 0.0, + 0.5501742362976074 + ], + [ + 0.3218810558319092, + 0.08297907561063766, + 0.058885298669338226, + -0.04385989159345627, + 0.13589297235012054, + 1.9863914251327515, + 0.0, + 0.5501742362976074 + ], + [ + 0.3224928379058838, + 0.09659135341644287, + 0.05884592980146408, + -0.03304976224899292, + 0.12199272960424423, + 2.008430004119873, + 0.0, + 0.5501742362976074 + ], + [ + 0.32075172662734985, + 0.1085669994354248, + 0.057235926389694214, + -0.021317580714821815, + 0.10483971983194351, + 2.034956932067871, + 0.0, + 0.5501742362976074 + ], + [ + 0.31930264830589294, + 0.11467031389474869, + 0.05720984563231468, + -0.019625606015324593, + 0.10491340607404709, + 2.0547478199005127, + 0.0, + 0.5501742362976074 + ], + [ + 0.3167862892150879, + 0.1154102236032486, + 0.047196462750434875, + 0.009700171649456024, + 0.09173709899187088, + 2.046724557876587, + 0.0, + 0.5501742362976074 + ], + [ + 0.31546664237976074, + 0.1158556342124939, + 0.04275790601968765, + 0.024425724521279335, + 0.08148523420095444, + 2.0421347618103027, + 0.0, + 0.5501742362976074 + ], + [ + 0.31577175855636597, + 0.11073814332485199, + 0.03989936411380768, + 0.03692803904414177, + 0.08189176023006439, + 2.0314369201660156, + 0.0, + 0.5501742362976074 + ], + [ + 0.3153223693370819, + 0.11000943183898926, + 0.036825016140937805, + 0.046005647629499435, + 0.08119333535432816, + 2.0291147232055664, + 0.0, + 0.5501742362976074 + ], + [ + 0.31393322348594666, + 0.10887505114078522, + 0.031045909970998764, + 0.06698492914438248, + 0.080069899559021, + 2.022786855697632, + 0.0, + 0.5501742362976074 + ], + [ + 0.3148398697376251, + 0.10638556629419327, + 0.03082268498837948, + 0.06867765635251999, + 0.07717631012201309, + 2.016465425491333, + 0.0, + 0.6069100499153137 + ], + [ + 0.3161543607711792, + 0.10399844497442245, + 0.02690652757883072, + 0.0979437604546547, + 0.06896998733282089, + 2.0107674598693848, + 0.0, + 0.9024295806884766 + ], + [ + 0.31637775897979736, + 0.10409194231033325, + 0.02688361518085003, + 0.09693615138530731, + 0.06828585267066956, + 2.018425226211548, + 0.0, + 1.0027955770492554 + ], + [ + 0.3164776563644409, + 0.10410723835229874, + 0.027736350893974304, + 0.09888513386249542, + 0.0655861422419548, + 2.047273874282837, + 0.0, + 0.9988223910331726 + ], + [ + 0.32223793864250183, + 0.10718029737472534, + 0.054851092398166656, + 0.029401235282421112, + 0.06453794986009598, + 2.0620791912078857, + 0.0, + 0.9988223910331726 + ], + [ + 0.3243420422077179, + 0.10416810214519501, + 0.08005910366773605, + -0.015772119164466858, + 0.030418911948800087, + 2.0435922145843506, + 0.0, + 0.9988223910331726 + ], + [ + 0.3235330879688263, + 0.08898774534463882, + 0.09809774905443192, + -0.04565588757395744, + 0.016590718179941177, + 1.9887256622314453, + 0.0, + 0.9988223910331726 + ], + [ + 0.3092615008354187, + 0.06596536189317703, + 0.0961114764213562, + -0.002331099472939968, + 0.018805842846632004, + 1.915980577468872, + 0.0, + 0.9988223910331726 + ], + [ + 0.29502904415130615, + 0.038600094616413116, + 0.08969531953334808, + 0.038420602679252625, + 0.039344578981399536, + 1.8471369743347168, + 0.0, + 0.9988223910331726 + ], + [ + 0.28039631247520447, + 0.017626648768782616, + 0.07974095642566681, + 0.0722617506980896, + 0.048099126666784286, + 1.80131196975708, + 0.0, + 0.9988223910331726 + ], + [ + 0.2775837182998657, + 0.005916186608374119, + 0.07449200004339218, + 0.0733322948217392, + 0.04888168349862099, + 1.7796249389648438, + 0.0, + 0.9988223910331726 + ], + [ + 0.2711786925792694, + 0.0016829135129228234, + 0.06644614785909653, + 0.08623292297124863, + 0.05387532338500023, + 1.7950457334518433, + 0.0, + 0.9988223910331726 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9620732665061951 + ], + [ + 0.7021830081939697 + ], + [ + 0.5501742362976074 + ], + [ + 0.5501742362976074 + ], + [ + 0.5501742362976074 + ], + [ + 0.5501742362976074 + ], + [ + 0.5501742362976074 + ], + [ + 0.5501742362976074 + ], + [ + 0.5501742362976074 + ], + [ + 0.5501742362976074 + ], + [ + 0.5501742362976074 + ], + [ + 0.5501742362976074 + ], + [ + 0.5501742362976074 + ], + [ + 0.5501742362976074 + ], + [ + 0.5501742362976074 + ], + [ + 0.5501742362976074 + ], + [ + 0.5501742362976074 + ], + [ + 0.5501742362976074 + ], + [ + 0.6069100499153137 + ], + [ + 0.9024295806884766 + ], + [ + 1.0027955770492554 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.27632439136505127, + -0.023701941594481468, + 0.06939230859279633 + ], + [ + 0.27229923009872437, + -0.024523280560970306, + 0.05990458279848099 + ], + [ + 0.2743108868598938, + -0.029148662462830544, + 0.05000687763094902 + ], + [ + 0.275486558675766, + -0.03383343294262886, + 0.0455997958779335 + ], + [ + 0.2813345789909363, + -0.03802677243947983, + 0.04471215605735779 + ], + [ + 0.28315070271492004, + -0.04193552955985069, + 0.03813204541802406 + ], + [ + 0.2852380871772766, + -0.04763231426477432, + 0.027728809043765068 + ], + [ + 0.28665441274642944, + -0.05131791532039642, + 0.021207615733146667 + ], + [ + 0.29295459389686584, + -0.04829864203929901, + 0.018328530713915825 + ], + [ + 0.2937694191932678, + -0.04737858101725578, + 0.014884987846016884 + ], + [ + 0.2915981709957123, + -0.0453123040497303, + 0.006712730508297682 + ], + [ + 0.2902527451515198, + -0.04210285097360611, + 0.005952431354671717 + ], + [ + 0.28693535923957825, + -0.04124107211828232, + 0.004026629496365786 + ], + [ + 0.287007212638855, + -0.04350462183356285, + 0.0013180579990148544 + ], + [ + 0.2874705195426941, + -0.043527744710445404, + -0.0013422556221485138 + ], + [ + 0.2915072739124298, + -0.044325102120637894, + -0.004066719673573971 + ], + [ + 0.29118072986602783, + -0.03710441291332245, + -0.0009838416008278728 + ], + [ + 0.29595500230789185, + -0.0020294853020459414, + 0.044549379497766495 + ], + [ + 0.29925036430358887, + 0.02802516333758831, + 0.06273960322141647 + ], + [ + 0.3114756941795349, + 0.04911166429519653, + 0.07702317833900452 + ], + [ + 0.3166782855987549, + 0.06576111167669296, + 0.06839100271463394 + ], + [ + 0.3218810558319092, + 0.08297907561063766, + 0.058885298669338226 + ], + [ + 0.3224928379058838, + 0.09659135341644287, + 0.05884592980146408 + ], + [ + 0.32075172662734985, + 0.1085669994354248, + 0.057235926389694214 + ], + [ + 0.31930264830589294, + 0.11467031389474869, + 0.05720984563231468 + ], + [ + 0.3167862892150879, + 0.1154102236032486, + 0.047196462750434875 + ], + [ + 0.31546664237976074, + 0.1158556342124939, + 0.04275790601968765 + ], + [ + 0.31577175855636597, + 0.11073814332485199, + 0.03989936411380768 + ], + [ + 0.3153223693370819, + 0.11000943183898926, + 0.036825016140937805 + ], + [ + 0.31393322348594666, + 0.10887505114078522, + 0.031045909970998764 + ], + [ + 0.3148398697376251, + 0.10638556629419327, + 0.03082268498837948 + ], + [ + 0.3161543607711792, + 0.10399844497442245, + 0.02690652757883072 + ], + [ + 0.31637775897979736, + 0.10409194231033325, + 0.02688361518085003 + ], + [ + 0.3164776563644409, + 0.10410723835229874, + 0.027736350893974304 + ], + [ + 0.32223793864250183, + 0.10718029737472534, + 0.054851092398166656 + ], + [ + 0.3243420422077179, + 0.10416810214519501, + 0.08005910366773605 + ], + [ + 0.3235330879688263, + 0.08898774534463882, + 0.09809774905443192 + ], + [ + 0.3092615008354187, + 0.06596536189317703, + 0.0961114764213562 + ], + [ + 0.29502904415130615, + 0.038600094616413116, + 0.08969531953334808 + ], + [ + 0.28039631247520447, + 0.017626648768782616, + 0.07974095642566681 + ], + [ + 0.2775837182998657, + 0.005916186608374119, + 0.07449200004339218 + ], + [ + 0.2711786925792694, + 0.0016829135129228234, + 0.06644614785909653 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + -0.008697019870433864, + 0.9997826835013834, + -0.018945912914034954, + 0.9987498158902928, + 0.007752220358432538, + -0.04938327995000694, + -0.04922567525671673, + -0.019351714401758334, + -0.9986001922918069 + ], + [ + -0.008240293445676838, + 0.9984072503493712, + -0.05581272268700905, + 0.9988101587669646, + 0.005535047305092078, + -0.048452347675229344, + -0.048066249155098904, + -0.05614557597120392, + -0.9972649146495738 + ], + [ + 0.01251656038894483, + 0.997857629872034, + -0.06421437706773223, + 0.9985485263553439, + -0.015837960781148686, + -0.05147814596376069, + -0.052384885507189484, + -0.06347684226914407, + -0.9966075026137106 + ], + [ + 0.020890153347744744, + 0.9977642032782523, + -0.06348382588991801, + 0.9984620269628077, + -0.024082016711461873, + -0.049936331307273776, + -0.05135350237742943, + -0.06234301185876878, + -0.9967327458581603 + ], + [ + 0.009921940554212527, + 0.9997231330746413, + -0.02133570460663986, + 0.9985949812925462, + -0.011016950075812548, + -0.051833291892052026, + -0.05205399536037829, + -0.020791440701648727, + -0.998427812894138 + ], + [ + 0.007997968849615789, + 0.9997557599141271, + -0.020602257468702843, + 0.9984040667982785, + -0.009135604747743775, + -0.055730244271414695, + -0.05590484679291345, + -0.02012364888431387, + -0.9982332827854627 + ], + [ + 0.015214957308589017, + 0.999133389691136, + -0.0387424144626842, + 0.9979028211740003, + -0.017611498537346226, + -0.06228799733688808, + -0.06291632989192025, + -0.0377134554710867, + -0.9973059865003124 + ], + [ + 0.025339259535947012, + 0.9986127683779327, + -0.04615691452784895, + 0.9960892747186139, + -0.029130616733293146, + -0.08341201327916413, + -0.08464088088338512, + -0.043862808862397504, + -0.9954456164361694 + ], + [ + 0.011552462181803003, + 0.9978139991342123, + -0.06506737853431492, + 0.9990218943900848, + -0.014295079356273666, + -0.04184381956088518, + -0.04268249227474997, + -0.0645203366233287, + -0.9970031750276565 + ], + [ + 0.0005390272365218829, + 0.996287703601929, + -0.0860843836083667, + 0.9997909244855131, + -0.0022965281787987735, + -0.02031829901163929, + -0.020440566676114595, + -0.08605543335500745, + -0.9960806421289596 + ], + [ + -0.015868316522389847, + 0.9935534706324433, + -0.11224837426427485, + 0.9996285494740847, + 0.013276352175600081, + -0.023801293016289832, + -0.022157608334003417, + -0.11258436599784585, + -0.9933950880318366 + ], + [ + -0.04215697460208784, + 0.9914232894799576, + -0.12370388259524824, + 0.9990227812920985, + 0.04018359300838875, + -0.018405469630951216, + -0.01327674477417616, + -0.12435891576270763, + -0.9921484708039039 + ], + [ + -0.051382176195386875, + 0.9894094654914644, + -0.13575264846522006, + 0.9986267571554445, + 0.04951136701158931, + -0.017123797179516807, + -0.010221147813613204, + -0.1364460850758977, + -0.9905947678061063 + ], + [ + -0.05640493277096037, + 0.9887042967636945, + -0.13886071121851434, + 0.9979743910087207, + 0.051733999646525586, + -0.037023076200478185, + -0.029421054533727543, + -0.1406677178373968, + -0.9896196212224886 + ], + [ + -0.05123991388883492, + 0.9886772806298483, + -0.14103795939757705, + 0.997381741352265, + 0.04344389458229131, + -0.05781254224341033, + -0.05103070881134334, + -0.14363099522697242, + -0.9883147292074124 + ], + [ + -0.04245063055852666, + 0.993776982750857, + -0.102981806741709, + 0.9914306771196079, + 0.029154688999808942, + -0.12733898293720086, + -0.12354414770170134, + -0.10750494250929876, + -0.9864986218463425 + ], + [ + -0.0742251681658247, + 0.9934482925013044, + -0.08689714918797892, + 0.9874836783589183, + 0.0610593743295772, + -0.1454226178461287, + -0.13916396582986434, + -0.09660353478379247, + -0.9855461164662874 + ], + [ + -0.19555150424705375, + 0.9797381558106697, + 0.043275342117914846, + 0.9726427991300033, + 0.19939985525386034, + -0.11918759593721001, + -0.1254017323934029, + 0.018784136217765757, + -0.9919282039236941 + ], + [ + -0.29488576088671586, + 0.9512367716592788, + 0.09050410084352953, + 0.9478560823277377, + 0.30318345643180383, + -0.09822748566657609, + -0.12087694246867572, + 0.05681897560936512, + -0.9910400439892058 + ], + [ + -0.34626026310559255, + 0.9294557080266163, + 0.1273417331858958, + 0.9278531779807772, + 0.3593391502478732, + -0.09981911244901562, + -0.13853631402999939, + 0.08359103968655071, + -0.9868233011938375 + ], + [ + -0.3757142153927907, + 0.9203369164689806, + 0.10871425176189072, + 0.9163402760445797, + 0.38645600348636366, + -0.10474853635202046, + -0.13841722020876812, + 0.06026373332042832, + -0.9885387982249161 + ], + [ + -0.4000123146879055, + 0.9115982026378578, + 0.094756873341469, + 0.9064417488726876, + 0.4087805571310396, + -0.10612168492942699, + -0.13547510471908775, + 0.04344160516214819, + -0.9898279259256573 + ], + [ + -0.42064772526982164, + 0.9035582773756817, + 0.08147349637284029, + 0.8990255534157697, + 0.4272080518087148, + -0.09615786382439843, + -0.12169036745278433, + 0.03279816848077198, + -0.9920260755713597 + ], + [ + -0.44521436144799975, + 0.8929958742655226, + 0.0658979582779647, + 0.8892879267056197, + 0.4495653167367015, + -0.08401195988101555, + -0.10464777004824265, + 0.021198927618723343, + -0.9942833850023574 + ], + [ + -0.4627222333192868, + 0.8840366344904338, + 0.06608603234298599, + 0.8802963342996231, + 0.46700999697872797, + -0.0835465531340118, + -0.10472105142070204, + 0.019516444367638518, + -0.9943101175129352 + ], + [ + -0.4562371877052632, + 0.8892331310103438, + 0.03334767260744263, + 0.8851302247267907, + 0.45735231272163646, + -0.08586819739153448, + -0.09160848121158631, + -0.00965923194209297, + -0.9957482540323108 + ], + [ + -0.4525725121959532, + 0.891598243760609, + 0.015188578855227175, + 0.8880050453954141, + 0.45217256245408466, + -0.0835883551458907, + -0.08139508926791822, + -0.024342257222875457, + -0.9963846114610377 + ], + [ + -0.4430323137246438, + 0.8964996952608892, + 0.00326579131624688, + 0.8927659752215964, + 0.441513710673609, + -0.08963568917486014, + -0.08180025967208372, + -0.036795919398121935, + -0.9959692655063339 + ], + [ + -0.44098311228253156, + 0.8974991714476288, + -0.005397400525459277, + 0.8938433926822729, + 0.43862754454690894, + -0.09300465860909293, + -0.08110415550301209, + -0.04583791460755374, + -0.9956510440634179 + ], + [ + -0.43535771913057897, + 0.8999003484422466, + -0.0253578245703983, + 0.8966973608667207, + 0.43096142713092933, + -0.10102520150898407, + -0.07998436977358835, + -0.06672039567325587, + -0.9945606514401855 + ], + [ + -0.42977861536631035, + 0.9024760146369052, + -0.028764296947873358, + 0.8996365793551914, + 0.4252714740418799, + -0.09898584975811978, + -0.07709972023235497, + -0.06841941516364411, + -0.99467302002656 + ], + [ + -0.4249007440835075, + 0.9032979817827078, + -0.059263089563140595, + 0.9026128939429265, + 0.4177748513527019, + -0.1037021565118259, + -0.06891532025070389, + -0.09755475223952437, + -0.9928412506288344 + ], + [ + -0.4318205225500844, + 0.9001021691479222, + -0.057854311851211704, + 0.8993749617649808, + 0.42484405850963647, + -0.1031125797335131, + -0.06823279603542229, + -0.09655884757113567, + -0.9929857373099187 + ], + [ + -0.45766581800482914, + 0.8872425979132904, + -0.057814976243581256, + 0.8867054872922063, + 0.45066173277247595, + -0.1032345941068222, + -0.06553913209572913, + -0.09851180164114737, + -0.9929753507018961 + ], + [ + -0.4707752855024515, + 0.8822417209755137, + 0.00449180701375498, + 0.8798927566435725, + 0.46988185392030346, + -0.07070912361635709, + -0.06449315751504063, + -0.029335799402474855, + -0.9974868638268665 + ], + [ + -0.45516657056263554, + 0.8899694190847433, + 0.027889534528453577, + 0.8898867164996619, + 0.45574765393509176, + -0.019892403829357, + -0.030414221010896424, + 0.015764169074974032, + -0.9994130608180363 + ], + [ + -0.4058130225167189, + 0.912671645946409, + 0.04843818164751297, + 0.9138055395321991, + 0.40613794188420904, + 0.00337758528025087, + -0.016589957085883456, + 0.045633746805750844, + -0.998820471594549 + ], + [ + -0.33831023312384634, + 0.94099573424663, + 0.008556535124392774, + 0.9408467293498366, + 0.33841039587504107, + -0.016906680200844328, + -0.01880473438803092, + 0.0023306851662539783, + -0.999820458818108 + ], + [ + -0.2726258175013728, + 0.9617625264108826, + -0.02622987654306304, + 0.9613157474708308, + 0.2711820588303432, + -0.04829414698629679, + -0.03933442889258576, + -0.03838142467773288, + -0.99848869244644 + ], + [ + -0.22821531168297432, + 0.9718011330132419, + -0.05933236374544927, + 0.9724227625427313, + 0.2245037421321016, + -0.0631825977421447, + -0.04808058238213972, + -0.07211537729820351, + -0.9962367338915645 + ], + [ + -0.20706647276470302, + 0.9763873907380884, + -0.061572226404859653, + 0.9771059100100707, + 0.203254733338342, + -0.06286138718601812, + -0.04886221935376518, + -0.07317907203037159, + -0.9961211306545995 + ], + [ + -0.22205197665150145, + 0.9723699121751092, + -0.07203938896000964, + 0.9735466996375367, + 0.2170266343285303, + -0.07145812491865736, + -0.053849264526278064, + -0.08600112725191994, + -0.9948387119635916 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.004025161266326904, + -0.0008213389664888382, + -0.009487725794315338, + 0.036863774061203, + -0.0011608004570007324, + -0.000457763671875, + 1.0 + ], + [ + 0.0020116567611694336, + -0.004625381901860237, + -0.009897705167531967, + 0.007366809993982315, + 0.004324097186326981, + -0.02078402042388916, + 1.0 + ], + [ + 0.0011756718158721924, + -0.004684770479798317, + -0.004407081753015518, + -0.0011410042643547058, + -0.0010327734053134918, + -0.008385181427001953, + 1.0 + ], + [ + 0.005848020315170288, + -0.004193339496850967, + -0.0008876398205757141, + -0.04164482653141022, + 0.0007014311850070953, + 0.010983705520629883, + 1.0 + ], + [ + 0.0018161237239837646, + -0.003908757120370865, + -0.006580110639333725, + -0.000664636492729187, + 0.0038564763963222504, + 0.0019249916076660156, + 1.0 + ], + [ + 0.0020873844623565674, + -0.00569678470492363, + -0.010403236374258995, + 0.01764078624546528, + 0.007023904472589493, + -0.007235169410705566, + 1.0 + ], + [ + 0.001416325569152832, + -0.003685601055622101, + -0.006521193310618401, + 0.006237685680389404, + 0.021784357726573944, + -0.010187506675720215, + 1.0 + ], + [ + 0.006300181150436401, + 0.003019273281097412, + -0.0028790850192308426, + 0.020589154213666916, + -0.04204680770635605, + 0.013870000839233398, + 1.0 + ], + [ + 0.0008148252964019775, + 0.0009200610220432281, + -0.003443542867898941, + 0.021555893123149872, + -0.022253472357988358, + 0.011024117469787598, + 1.0 + ], + [ + -0.002171248197555542, + 0.002066276967525482, + -0.008172256872057915, + 0.02667134255170822, + 0.0017174314707517624, + 0.016412019729614258, + 1.0 + ], + [ + -0.0013454258441925049, + 0.0032094530761241913, + -0.0007602991536259651, + 0.011841356754302979, + -0.008882286958396435, + 0.02630031108856201, + 1.0 + ], + [ + -0.0033173859119415283, + 0.0008617788553237915, + -0.001925801858305931, + 0.012187495827674866, + -0.0030558090656995773, + 0.009234309196472168, + 0.0 + ], + [ + 7.18533992767334e-05, + -0.002263549715280533, + -0.002708571497350931, + 0.004317089915275574, + 0.019203975796699524, + 0.005051851272583008, + 0.0 + ], + [ + 0.00046330690383911133, + -2.31228768825531e-05, + -0.0026603136211633682, + 0.003121495246887207, + 0.021627582609653473, + -0.00513005256652832, + 0.0 + ], + [ + 0.004036754369735718, + -0.0007973574101924896, + -0.002724464051425457, + -0.03577090799808502, + 0.07280772179365158, + -0.008537888526916504, + 0.0 + ], + [ + -0.00032654404640197754, + 0.007220689207315445, + 0.003082877956330776, + -0.01083974540233612, + 0.015756510198116302, + 0.032233476638793945, + 0.0 + ], + [ + 0.004774272441864014, + 0.035074926912784576, + 0.04553322121500969, + -0.11664290726184845, + -0.013884365558624268, + 0.12338173389434814, + 0.0 + ], + [ + 0.0032953619956970215, + 0.030054649338126183, + 0.01819022372364998, + -0.038335248827934265, + -0.0045594945549964905, + 0.1032097339630127, + 0.0 + ], + [ + 0.012225329875946045, + 0.021086500957608223, + 0.014283575117588043, + -0.0272354893386364, + 0.017810069024562836, + 0.05556154251098633, + 0.0 + ], + [ + 0.005202591419219971, + 0.01664944738149643, + -0.008632175624370575, + 0.023618385195732117, + -0.00012025237083435059, + 0.03193306922912598, + 0.0 + ], + [ + 0.005202770233154297, + 0.017217963933944702, + -0.009505704045295715, + 0.017027191817760468, + -0.002970099449157715, + 0.026484131813049316, + 0.0 + ], + [ + 0.0006117820739746094, + 0.013612277805805206, + -3.936886787414551e-05, + 0.010810129344463348, + -0.013900242745876312, + 0.022038578987121582, + 0.0 + ], + [ + -0.0017411112785339355, + 0.011975646018981934, + -0.001610003411769867, + 0.011732181534171104, + -0.01715300977230072, + 0.026526927947998047, + 0.0 + ], + [ + -0.0014490783214569092, + 0.006103314459323883, + -2.608075737953186e-05, + 0.001691974699497223, + 7.368624210357666e-05, + 0.0197908878326416, + 0.0 + ], + [ + -0.0025163590908050537, + 0.0007399097084999084, + -0.010013382881879807, + 0.029325777664780617, + -0.013176307082176208, + -0.008023262023925781, + 0.0 + ], + [ + -0.0013196468353271484, + 0.0004454106092453003, + -0.004438556730747223, + 0.01472555287182331, + -0.010251864790916443, + -0.00458979606628418, + 0.0 + ], + [ + 0.0003051161766052246, + -0.005117490887641907, + -0.0028585419058799744, + 0.012502314522862434, + 0.00040652602910995483, + -0.01069784164428711, + 0.0 + ], + [ + -0.0004493892192840576, + -0.0007287114858627319, + -0.003074347972869873, + 0.009077608585357666, + -0.0006984248757362366, + -0.0023221969604492188, + 0.0 + ], + [ + -0.001389145851135254, + -0.0011343806982040405, + -0.005779106169939041, + 0.02097928151488304, + -0.0011234357953071594, + -0.00632786750793457, + 0.0 + ], + [ + 0.0009066462516784668, + -0.0024894848465919495, + -0.00022322498261928558, + 0.0016927272081375122, + -0.002893589437007904, + -0.006321430206298828, + 1.0 + ], + [ + 0.0013144910335540771, + -0.002387121319770813, + -0.0039161574095487595, + 0.029266104102134705, + -0.0082063227891922, + -0.005697965621948242, + 1.0 + ], + [ + 0.00022339820861816406, + 9.349733591079712e-05, + -2.2912397980690002e-05, + -0.0010076090693473816, + -0.0006841346621513367, + 0.007657766342163086, + 1.0 + ], + [ + 9.989738464355469e-05, + 1.529604196548462e-05, + 0.0008527357131242752, + 0.0019489824771881104, + -0.002699710428714752, + 0.028848648071289062, + 1.0 + ], + [ + 0.005760282278060913, + 0.0030730590224266052, + 0.027114741504192352, + -0.06948389858007431, + -0.0010481923818588257, + 0.014805316925048828, + 1.0 + ], + [ + 0.0021041035652160645, + -0.0030121952295303345, + 0.025208011269569397, + -0.04517335444688797, + -0.03411903977394104, + -0.018486976623535156, + 1.0 + ], + [ + -0.0008089542388916016, + -0.015180356800556183, + 0.018038645386695862, + -0.029883768409490585, + -0.01382819376885891, + -0.05486655235290527, + 1.0 + ], + [ + -0.014271587133407593, + -0.023022383451461792, + -0.001986272633075714, + 0.0433247871696949, + 0.0022151246666908264, + -0.07274508476257324, + 1.0 + ], + [ + -0.014232456684112549, + -0.027365267276763916, + -0.006416156888008118, + 0.04075170308351517, + 0.020538736134767532, + -0.06884360313415527, + 1.0 + ], + [ + -0.014632731676101685, + -0.0209734458476305, + -0.009954363107681274, + 0.033841148018836975, + 0.00875454768538475, + -0.04582500457763672, + 1.0 + ], + [ + -0.002812594175338745, + -0.011710462160408497, + -0.005248956382274628, + 0.0010705441236495972, + 0.0007825568318367004, + -0.021687030792236328, + 1.0 + ], + [ + -0.0064050257205963135, + -0.004233273211866617, + -0.008045852184295654, + 0.01290062814950943, + 0.004993639886379242, + 0.015420794486999512, + 1.0 + ], + [ + 0.002588421106338501, + -0.0024943375028669834, + -0.0013161003589630127, + -0.016889117658138275, + 0.019312303513288498, + 0.008330345153808594, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9620732665061951 + ], + [ + 0.7021830081939697 + ], + [ + 0.5501742362976074 + ], + [ + 0.5501742362976074 + ], + [ + 0.5501742362976074 + ], + [ + 0.5501742362976074 + ], + [ + 0.5501742362976074 + ], + [ + 0.5501742362976074 + ], + [ + 0.5501742362976074 + ], + [ + 0.5501742362976074 + ], + [ + 0.5501742362976074 + ], + [ + 0.5501742362976074 + ], + [ + 0.5501742362976074 + ], + [ + 0.5501742362976074 + ], + [ + 0.5501742362976074 + ], + [ + 0.5501742362976074 + ], + [ + 0.5501742362976074 + ], + [ + 0.5501742362976074 + ], + [ + 0.6069100499153137 + ], + [ + 0.9024295806884766 + ], + [ + 1.0027955770492554 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.27229923009872437, + -0.024523280560970306, + 0.05990458279848099 + ], + [ + 0.2743108868598938, + -0.029148662462830544, + 0.05000687763094902 + ], + [ + 0.275486558675766, + -0.03383343294262886, + 0.0455997958779335 + ], + [ + 0.2813345789909363, + -0.03802677243947983, + 0.04471215605735779 + ], + [ + 0.28315070271492004, + -0.04193552955985069, + 0.03813204541802406 + ], + [ + 0.2852380871772766, + -0.04763231426477432, + 0.027728809043765068 + ], + [ + 0.28665441274642944, + -0.05131791532039642, + 0.021207615733146667 + ], + [ + 0.29295459389686584, + -0.04829864203929901, + 0.018328530713915825 + ], + [ + 0.2937694191932678, + -0.04737858101725578, + 0.014884987846016884 + ], + [ + 0.2915981709957123, + -0.0453123040497303, + 0.006712730508297682 + ], + [ + 0.2902527451515198, + -0.04210285097360611, + 0.005952431354671717 + ], + [ + 0.28693535923957825, + -0.04124107211828232, + 0.004026629496365786 + ], + [ + 0.287007212638855, + -0.04350462183356285, + 0.0013180579990148544 + ], + [ + 0.2874705195426941, + -0.043527744710445404, + -0.0013422556221485138 + ], + [ + 0.2915072739124298, + -0.044325102120637894, + -0.004066719673573971 + ], + [ + 0.29118072986602783, + -0.03710441291332245, + -0.0009838416008278728 + ], + [ + 0.29595500230789185, + -0.0020294853020459414, + 0.044549379497766495 + ], + [ + 0.29925036430358887, + 0.02802516333758831, + 0.06273960322141647 + ], + [ + 0.3114756941795349, + 0.04911166429519653, + 0.07702317833900452 + ], + [ + 0.3166782855987549, + 0.06576111167669296, + 0.06839100271463394 + ], + [ + 0.3218810558319092, + 0.08297907561063766, + 0.058885298669338226 + ], + [ + 0.3224928379058838, + 0.09659135341644287, + 0.05884592980146408 + ], + [ + 0.32075172662734985, + 0.1085669994354248, + 0.057235926389694214 + ], + [ + 0.31930264830589294, + 0.11467031389474869, + 0.05720984563231468 + ], + [ + 0.3167862892150879, + 0.1154102236032486, + 0.047196462750434875 + ], + [ + 0.31546664237976074, + 0.1158556342124939, + 0.04275790601968765 + ], + [ + 0.31577175855636597, + 0.11073814332485199, + 0.03989936411380768 + ], + [ + 0.3153223693370819, + 0.11000943183898926, + 0.036825016140937805 + ], + [ + 0.31393322348594666, + 0.10887505114078522, + 0.031045909970998764 + ], + [ + 0.3148398697376251, + 0.10638556629419327, + 0.03082268498837948 + ], + [ + 0.3161543607711792, + 0.10399844497442245, + 0.02690652757883072 + ], + [ + 0.31637775897979736, + 0.10409194231033325, + 0.02688361518085003 + ], + [ + 0.3164776563644409, + 0.10410723835229874, + 0.027736350893974304 + ], + [ + 0.32223793864250183, + 0.10718029737472534, + 0.054851092398166656 + ], + [ + 0.3243420422077179, + 0.10416810214519501, + 0.08005910366773605 + ], + [ + 0.3235330879688263, + 0.08898774534463882, + 0.09809774905443192 + ], + [ + 0.3092615008354187, + 0.06596536189317703, + 0.0961114764213562 + ], + [ + 0.29502904415130615, + 0.038600094616413116, + 0.08969531953334808 + ], + [ + 0.28039631247520447, + 0.017626648768782616, + 0.07974095642566681 + ], + [ + 0.2775837182998657, + 0.005916186608374119, + 0.07449200004339218 + ], + [ + 0.2711786925792694, + 0.0016829135129228234, + 0.06644614785909653 + ], + [ + 0.2737671136856079, + -0.0008114240481518209, + 0.06513004750013351 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + -0.008240293445676838, + 0.9984072503493712, + -0.05581272268700905, + 0.9988101587669646, + 0.005535047305092078, + -0.048452347675229344, + -0.048066249155098904, + -0.05614557597120392, + -0.9972649146495738 + ], + [ + 0.01251656038894483, + 0.997857629872034, + -0.06421437706773223, + 0.9985485263553439, + -0.015837960781148686, + -0.05147814596376069, + -0.052384885507189484, + -0.06347684226914407, + -0.9966075026137106 + ], + [ + 0.020890153347744744, + 0.9977642032782523, + -0.06348382588991801, + 0.9984620269628077, + -0.024082016711461873, + -0.049936331307273776, + -0.05135350237742943, + -0.06234301185876878, + -0.9967327458581603 + ], + [ + 0.009921940554212527, + 0.9997231330746413, + -0.02133570460663986, + 0.9985949812925462, + -0.011016950075812548, + -0.051833291892052026, + -0.05205399536037829, + -0.020791440701648727, + -0.998427812894138 + ], + [ + 0.007997968849615789, + 0.9997557599141271, + -0.020602257468702843, + 0.9984040667982785, + -0.009135604747743775, + -0.055730244271414695, + -0.05590484679291345, + -0.02012364888431387, + -0.9982332827854627 + ], + [ + 0.015214957308589017, + 0.999133389691136, + -0.0387424144626842, + 0.9979028211740003, + -0.017611498537346226, + -0.06228799733688808, + -0.06291632989192025, + -0.0377134554710867, + -0.9973059865003124 + ], + [ + 0.025339259535947012, + 0.9986127683779327, + -0.04615691452784895, + 0.9960892747186139, + -0.029130616733293146, + -0.08341201327916413, + -0.08464088088338512, + -0.043862808862397504, + -0.9954456164361694 + ], + [ + 0.011552462181803003, + 0.9978139991342123, + -0.06506737853431492, + 0.9990218943900848, + -0.014295079356273666, + -0.04184381956088518, + -0.04268249227474997, + -0.0645203366233287, + -0.9970031750276565 + ], + [ + 0.0005390272365218829, + 0.996287703601929, + -0.0860843836083667, + 0.9997909244855131, + -0.0022965281787987735, + -0.02031829901163929, + -0.020440566676114595, + -0.08605543335500745, + -0.9960806421289596 + ], + [ + -0.015868316522389847, + 0.9935534706324433, + -0.11224837426427485, + 0.9996285494740847, + 0.013276352175600081, + -0.023801293016289832, + -0.022157608334003417, + -0.11258436599784585, + -0.9933950880318366 + ], + [ + -0.04215697460208784, + 0.9914232894799576, + -0.12370388259524824, + 0.9990227812920985, + 0.04018359300838875, + -0.018405469630951216, + -0.01327674477417616, + -0.12435891576270763, + -0.9921484708039039 + ], + [ + -0.051382176195386875, + 0.9894094654914644, + -0.13575264846522006, + 0.9986267571554445, + 0.04951136701158931, + -0.017123797179516807, + -0.010221147813613204, + -0.1364460850758977, + -0.9905947678061063 + ], + [ + -0.05640493277096037, + 0.9887042967636945, + -0.13886071121851434, + 0.9979743910087207, + 0.051733999646525586, + -0.037023076200478185, + -0.029421054533727543, + -0.1406677178373968, + -0.9896196212224886 + ], + [ + -0.05123991388883492, + 0.9886772806298483, + -0.14103795939757705, + 0.997381741352265, + 0.04344389458229131, + -0.05781254224341033, + -0.05103070881134334, + -0.14363099522697242, + -0.9883147292074124 + ], + [ + -0.04245063055852666, + 0.993776982750857, + -0.102981806741709, + 0.9914306771196079, + 0.029154688999808942, + -0.12733898293720086, + -0.12354414770170134, + -0.10750494250929876, + -0.9864986218463425 + ], + [ + -0.0742251681658247, + 0.9934482925013044, + -0.08689714918797892, + 0.9874836783589183, + 0.0610593743295772, + -0.1454226178461287, + -0.13916396582986434, + -0.09660353478379247, + -0.9855461164662874 + ], + [ + -0.19555150424705375, + 0.9797381558106697, + 0.043275342117914846, + 0.9726427991300033, + 0.19939985525386034, + -0.11918759593721001, + -0.1254017323934029, + 0.018784136217765757, + -0.9919282039236941 + ], + [ + -0.29488576088671586, + 0.9512367716592788, + 0.09050410084352953, + 0.9478560823277377, + 0.30318345643180383, + -0.09822748566657609, + -0.12087694246867572, + 0.05681897560936512, + -0.9910400439892058 + ], + [ + -0.34626026310559255, + 0.9294557080266163, + 0.1273417331858958, + 0.9278531779807772, + 0.3593391502478732, + -0.09981911244901562, + -0.13853631402999939, + 0.08359103968655071, + -0.9868233011938375 + ], + [ + -0.3757142153927907, + 0.9203369164689806, + 0.10871425176189072, + 0.9163402760445797, + 0.38645600348636366, + -0.10474853635202046, + -0.13841722020876812, + 0.06026373332042832, + -0.9885387982249161 + ], + [ + -0.4000123146879055, + 0.9115982026378578, + 0.094756873341469, + 0.9064417488726876, + 0.4087805571310396, + -0.10612168492942699, + -0.13547510471908775, + 0.04344160516214819, + -0.9898279259256573 + ], + [ + -0.42064772526982164, + 0.9035582773756817, + 0.08147349637284029, + 0.8990255534157697, + 0.4272080518087148, + -0.09615786382439843, + -0.12169036745278433, + 0.03279816848077198, + -0.9920260755713597 + ], + [ + -0.44521436144799975, + 0.8929958742655226, + 0.0658979582779647, + 0.8892879267056197, + 0.4495653167367015, + -0.08401195988101555, + -0.10464777004824265, + 0.021198927618723343, + -0.9942833850023574 + ], + [ + -0.4627222333192868, + 0.8840366344904338, + 0.06608603234298599, + 0.8802963342996231, + 0.46700999697872797, + -0.0835465531340118, + -0.10472105142070204, + 0.019516444367638518, + -0.9943101175129352 + ], + [ + -0.4562371877052632, + 0.8892331310103438, + 0.03334767260744263, + 0.8851302247267907, + 0.45735231272163646, + -0.08586819739153448, + -0.09160848121158631, + -0.00965923194209297, + -0.9957482540323108 + ], + [ + -0.4525725121959532, + 0.891598243760609, + 0.015188578855227175, + 0.8880050453954141, + 0.45217256245408466, + -0.0835883551458907, + -0.08139508926791822, + -0.024342257222875457, + -0.9963846114610377 + ], + [ + -0.4430323137246438, + 0.8964996952608892, + 0.00326579131624688, + 0.8927659752215964, + 0.441513710673609, + -0.08963568917486014, + -0.08180025967208372, + -0.036795919398121935, + -0.9959692655063339 + ], + [ + -0.44098311228253156, + 0.8974991714476288, + -0.005397400525459277, + 0.8938433926822729, + 0.43862754454690894, + -0.09300465860909293, + -0.08110415550301209, + -0.04583791460755374, + -0.9956510440634179 + ], + [ + -0.43535771913057897, + 0.8999003484422466, + -0.0253578245703983, + 0.8966973608667207, + 0.43096142713092933, + -0.10102520150898407, + -0.07998436977358835, + -0.06672039567325587, + -0.9945606514401855 + ], + [ + -0.42977861536631035, + 0.9024760146369052, + -0.028764296947873358, + 0.8996365793551914, + 0.4252714740418799, + -0.09898584975811978, + -0.07709972023235497, + -0.06841941516364411, + -0.99467302002656 + ], + [ + -0.4249007440835075, + 0.9032979817827078, + -0.059263089563140595, + 0.9026128939429265, + 0.4177748513527019, + -0.1037021565118259, + -0.06891532025070389, + -0.09755475223952437, + -0.9928412506288344 + ], + [ + -0.4318205225500844, + 0.9001021691479222, + -0.057854311851211704, + 0.8993749617649808, + 0.42484405850963647, + -0.1031125797335131, + -0.06823279603542229, + -0.09655884757113567, + -0.9929857373099187 + ], + [ + -0.45766581800482914, + 0.8872425979132904, + -0.057814976243581256, + 0.8867054872922063, + 0.45066173277247595, + -0.1032345941068222, + -0.06553913209572913, + -0.09851180164114737, + -0.9929753507018961 + ], + [ + -0.4707752855024515, + 0.8822417209755137, + 0.00449180701375498, + 0.8798927566435725, + 0.46988185392030346, + -0.07070912361635709, + -0.06449315751504063, + -0.029335799402474855, + -0.9974868638268665 + ], + [ + -0.45516657056263554, + 0.8899694190847433, + 0.027889534528453577, + 0.8898867164996619, + 0.45574765393509176, + -0.019892403829357, + -0.030414221010896424, + 0.015764169074974032, + -0.9994130608180363 + ], + [ + -0.4058130225167189, + 0.912671645946409, + 0.04843818164751297, + 0.9138055395321991, + 0.40613794188420904, + 0.00337758528025087, + -0.016589957085883456, + 0.045633746805750844, + -0.998820471594549 + ], + [ + -0.33831023312384634, + 0.94099573424663, + 0.008556535124392774, + 0.9408467293498366, + 0.33841039587504107, + -0.016906680200844328, + -0.01880473438803092, + 0.0023306851662539783, + -0.999820458818108 + ], + [ + -0.2726258175013728, + 0.9617625264108826, + -0.02622987654306304, + 0.9613157474708308, + 0.2711820588303432, + -0.04829414698629679, + -0.03933442889258576, + -0.03838142467773288, + -0.99848869244644 + ], + [ + -0.22821531168297432, + 0.9718011330132419, + -0.05933236374544927, + 0.9724227625427313, + 0.2245037421321016, + -0.0631825977421447, + -0.04808058238213972, + -0.07211537729820351, + -0.9962367338915645 + ], + [ + -0.20706647276470302, + 0.9763873907380884, + -0.061572226404859653, + 0.9771059100100707, + 0.203254733338342, + -0.06286138718601812, + -0.04886221935376518, + -0.07317907203037159, + -0.9961211306545995 + ], + [ + -0.22205197665150145, + 0.9723699121751092, + -0.07203938896000964, + 0.9735466996375367, + 0.2170266343285303, + -0.07145812491865736, + -0.053849264526278064, + -0.08600112725191994, + -0.9948387119635916 + ], + [ + -0.22987155745429189, + 0.9719041953246045, + -0.05060930926193588, + 0.9704700898487489, + 0.22500454184258045, + -0.0869526357229653, + -0.07312230701023073, + -0.06910275870500779, + -0.9949260962286888 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006097.json b/json/chunk-0006/episode_0006097.json new file mode 100644 index 0000000000000000000000000000000000000000..915261c47e7febfd00620f05b43cf0a5f8a46736 --- /dev/null +++ b/json/chunk-0006/episode_0006097.json @@ -0,0 +1,2782 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 45, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nLift the red arch in the right possition." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006097.mp4", + "start": 0, + "end": 45, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.39360108971595764, + 0.0487123541533947, + 0.020642992109060287, + -0.04421196132898331, + -0.049955591559410095, + -0.4236217141151428, + 0.0, + 1.0001531839370728 + ], + [ + 0.3871751129627228, + 0.04776681587100029, + 0.0026324528735131025, + -0.0698402151465416, + -0.010114423930644989, + -0.4257183372974396, + 0.0, + 1.0001531839370728 + ], + [ + 0.3900507688522339, + 0.04818996414542198, + -0.0011581761064007878, + -0.057213060557842255, + -0.030112668871879578, + -0.4582373797893524, + 0.0, + 1.0001531839370728 + ], + [ + 0.39476072788238525, + 0.049288809299468994, + -0.0005028220475651324, + -0.03877422213554382, + -0.057606715708971024, + -0.49226856231689453, + 0.0, + 1.0001531839370728 + ], + [ + 0.3981790840625763, + 0.04976765438914299, + -0.0003425615723244846, + -0.026050392538309097, + -0.0785258337855339, + -0.5297151207923889, + 0.0, + 1.0001531839370728 + ], + [ + 0.39758792519569397, + 0.051144424825906754, + -0.0041612801142036915, + -0.02656751684844494, + -0.10526648163795471, + -0.5937782526016235, + 0.0, + 1.0001531839370728 + ], + [ + 0.4011267125606537, + 0.05295875668525696, + -0.00559599231928587, + -0.0008293265709653497, + -0.13409289717674255, + -0.6629116535186768, + 0.0, + 1.0001531839370728 + ], + [ + 0.40166720747947693, + 0.05706729367375374, + -0.012649914249777794, + 0.013569020666182041, + -0.1597738116979599, + -0.7266930937767029, + 0.0, + 1.0001531839370728 + ], + [ + 0.40263885259628296, + 0.05958372354507446, + -0.016089169308543205, + 0.029859276488423347, + -0.19017161428928375, + -0.7663659453392029, + 0.0, + 1.0001531839370728 + ], + [ + 0.40160542726516724, + 0.05952812731266022, + -0.030715862289071083, + 0.023246491327881813, + -0.17670117318630219, + -0.7554249167442322, + 0.0, + 1.0001531839370728 + ], + [ + 0.4052150547504425, + 0.057311609387397766, + -0.04052174463868141, + 0.021065151318907738, + -0.16606195271015167, + -0.7467092275619507, + 0.0, + 0.9476637244224548 + ], + [ + 0.4116225838661194, + 0.05003878101706505, + -0.039719030261039734, + 0.021236728876829147, + -0.18489466607570648, + -0.7443091869354248, + 0.0, + 0.6621366739273071 + ], + [ + 0.41497766971588135, + 0.04939241707324982, + -0.044288519769907, + 0.012584631331264973, + -0.18649135529994965, + -0.7222506403923035, + 0.0, + 0.3644362688064575 + ], + [ + 0.42025643587112427, + 0.04899528995156288, + -0.0439968965947628, + 0.042897507548332214, + -0.19188205897808075, + -0.6733199954032898, + 0.0, + 0.3142010271549225 + ], + [ + 0.4211789667606354, + 0.04764988273382187, + -0.043641868978738785, + 0.15783753991127014, + -0.2433183640241623, + -0.5943830609321594, + 0.0, + 0.3142010271549225 + ], + [ + 0.4177643656730652, + 0.04628103971481323, + -0.03710750862956047, + 0.30312591791152954, + -0.32039281725883484, + -0.5507544875144958, + 0.0, + 0.31342363357543945 + ], + [ + 0.4084332585334778, + 0.037899166345596313, + -0.03464076668024063, + 0.43421670794487, + -0.34964719414711, + -0.501146674156189, + 0.0, + 0.31342363357543945 + ], + [ + 0.3926257789134979, + 0.040762197226285934, + -0.03107265755534172, + 0.5491355657577515, + -0.3256605863571167, + -0.44079622626304626, + 0.0, + 0.31342363357543945 + ], + [ + 0.3888866603374481, + 0.04339306056499481, + -0.011609713546931744, + 0.6279283761978149, + -0.31051284074783325, + -0.4200863540172577, + 0.0, + 0.31342363357543945 + ], + [ + 0.38219889998435974, + 0.0512288436293602, + 0.0033876709640026093, + 0.6573045253753662, + -0.29680466651916504, + -0.34383657574653625, + 0.0, + 0.31342363357543945 + ], + [ + 0.38661885261535645, + 0.05914325639605522, + 0.01514637190848589, + 0.6980172395706177, + -0.29511868953704834, + -0.281688928604126, + 0.0, + 0.31264728307724 + ], + [ + 0.3966224789619446, + 0.05888035520911217, + -0.0035572207998484373, + 0.7987152934074402, + -0.23125220835208893, + -0.25909703969955444, + 0.0, + 0.31342363357543945 + ], + [ + 0.40692973136901855, + 0.060947734862565994, + -0.019845042377710342, + 0.8502503633499146, + -0.1776103675365448, + -0.23102883994579315, + 0.0, + 0.31264728307724 + ], + [ + 0.41058191657066345, + 0.06411513686180115, + -0.03472663462162018, + 0.8787779211997986, + -0.12698456645011902, + -0.22233319282531738, + 0.0, + 0.31264728307724 + ], + [ + 0.41394978761672974, + 0.06438183784484863, + -0.03651241585612297, + 0.8804596066474915, + -0.1032547801733017, + -0.20348596572875977, + 0.0, + 0.31264728307724 + ], + [ + 0.41339945793151855, + 0.05987915024161339, + -0.0401986725628376, + 0.8233397603034973, + -0.07093369215726852, + -0.1998254358768463, + 0.0, + 0.37802740931510925 + ], + [ + 0.41026127338409424, + 0.0597747378051281, + -0.04739794507622719, + 0.6993765830993652, + -0.0067955427803099155, + -0.197035551071167, + 0.0, + 0.6591242551803589 + ], + [ + 0.4106154441833496, + 0.05949884280562401, + -0.0443560853600502, + 0.5527114868164062, + 0.043953556567430496, + -0.1879095584154129, + 0.0, + 0.8784087896347046 + ], + [ + 0.4133160412311554, + 0.04958757385611534, + -0.042789947241544724, + 0.4790860116481781, + 0.09322630614042282, + -0.19981952011585236, + 0.0, + 0.9893313646316528 + ], + [ + 0.4154474139213562, + 0.04199768602848053, + -0.041361939162015915, + 0.3963015079498291, + 0.10782163590192795, + -0.21556520462036133, + 0.0, + 0.9643021821975708 + ], + [ + 0.4126407504081726, + 0.04294484481215477, + -0.04423491656780243, + 0.32772573828697205, + 0.10874945670366287, + -0.19371141493320465, + 0.0, + 0.6881998181343079 + ], + [ + 0.4155491590499878, + 0.047998230904340744, + -0.04341691732406616, + 0.34800854325294495, + 0.09260935336351395, + -0.1902385950088501, + 0.0, + 0.41037410497665405 + ], + [ + 0.4170064628124237, + 0.048932574689388275, + -0.04282625392079353, + 0.3594296872615814, + 0.08784107863903046, + -0.21233393251895905, + 0.0, + 0.3661215305328369 + ], + [ + 0.4117591381072998, + 0.05248796194791794, + -0.040511809289455414, + 0.42857134342193604, + 0.027070464566349983, + -0.18550117313861847, + 0.0, + 0.36191558837890625 + ], + [ + 0.40568268299102783, + 0.051994647830724716, + -0.03616319224238396, + 0.6683152318000793, + -0.0924912542104721, + -0.11865310370922089, + 0.0, + 0.300372838973999 + ], + [ + 0.40334782004356384, + 0.057388901710510254, + -0.0317305326461792, + 0.7670503258705139, + -0.14628450572490692, + -0.10001330077648163, + 0.0, + 0.29134905338287354 + ], + [ + 0.39998722076416016, + 0.06566262990236282, + -0.026025567203760147, + 0.8513625264167786, + -0.18134620785713196, + -0.0869223102927208, + 0.0, + 0.29134905338287354 + ], + [ + 0.40437760949134827, + 0.06962484866380692, + -0.019043147563934326, + 0.9147415161132812, + -0.17925958335399628, + -0.08795539289712906, + 0.0, + 0.29134905338287354 + ], + [ + 0.4089966416358948, + 0.07556107640266418, + -0.030664782971143723, + 0.9285284876823425, + -0.1278001070022583, + -0.06526012718677521, + 0.0, + 0.29134905338287354 + ], + [ + 0.4101182520389557, + 0.08651086688041687, + -0.037216342985630035, + 0.9261481165885925, + -0.06827306002378464, + -0.03498616814613342, + 0.0, + 0.33478444814682007 + ], + [ + 0.4155005216598511, + 0.08625499159097672, + -0.04255174100399017, + 0.9517759680747986, + -0.029041940346360207, + -0.03878449276089668, + 0.0, + 0.5551114082336426 + ], + [ + 0.4200870096683502, + 0.08402056992053986, + -0.04648945480585098, + 0.9276891946792603, + -0.0007350364467129111, + -0.04318593814969063, + 0.0, + 0.8651953339576721 + ], + [ + 0.4216580390930176, + 0.08033248782157898, + -0.047604337334632874, + 0.906063437461853, + 0.04303519055247307, + -0.054395586252212524, + 0.0, + 0.9492040276527405 + ], + [ + 0.42376378178596497, + 0.07259752601385117, + -0.05086813122034073, + 0.8914651870727539, + 0.0855565071105957, + -0.06113012135028839, + 0.0, + 0.9492040276527405 + ], + [ + 0.4243820607662201, + 0.0618131048977375, + -0.05351925268769264, + 0.7776851058006287, + 0.15412528812885284, + -0.08980974555015564, + 0.0, + 0.9492040276527405 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9476637244224548 + ], + [ + 0.6621366739273071 + ], + [ + 0.3644362688064575 + ], + [ + 0.3142010271549225 + ], + [ + 0.3142010271549225 + ], + [ + 0.31342363357543945 + ], + [ + 0.31342363357543945 + ], + [ + 0.31342363357543945 + ], + [ + 0.31342363357543945 + ], + [ + 0.31342363357543945 + ], + [ + 0.31264728307724 + ], + [ + 0.31342363357543945 + ], + [ + 0.31264728307724 + ], + [ + 0.31264728307724 + ], + [ + 0.31264728307724 + ], + [ + 0.37802740931510925 + ], + [ + 0.6591242551803589 + ], + [ + 0.8784087896347046 + ], + [ + 0.9893313646316528 + ], + [ + 0.9643021821975708 + ], + [ + 0.6881998181343079 + ], + [ + 0.41037410497665405 + ], + [ + 0.3661215305328369 + ], + [ + 0.36191558837890625 + ], + [ + 0.300372838973999 + ], + [ + 0.29134905338287354 + ], + [ + 0.29134905338287354 + ], + [ + 0.29134905338287354 + ], + [ + 0.29134905338287354 + ], + [ + 0.33478444814682007 + ], + [ + 0.5551114082336426 + ], + [ + 0.8651953339576721 + ], + [ + 0.9492040276527405 + ], + [ + 0.9492040276527405 + ], + [ + 0.9492040276527405 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.39360108971595764, + 0.0487123541533947, + 0.020642992109060287 + ], + [ + 0.3871751129627228, + 0.04776681587100029, + 0.0026324528735131025 + ], + [ + 0.3900507688522339, + 0.04818996414542198, + -0.0011581761064007878 + ], + [ + 0.39476072788238525, + 0.049288809299468994, + -0.0005028220475651324 + ], + [ + 0.3981790840625763, + 0.04976765438914299, + -0.0003425615723244846 + ], + [ + 0.39758792519569397, + 0.051144424825906754, + -0.0041612801142036915 + ], + [ + 0.4011267125606537, + 0.05295875668525696, + -0.00559599231928587 + ], + [ + 0.40166720747947693, + 0.05706729367375374, + -0.012649914249777794 + ], + [ + 0.40263885259628296, + 0.05958372354507446, + -0.016089169308543205 + ], + [ + 0.40160542726516724, + 0.05952812731266022, + -0.030715862289071083 + ], + [ + 0.4052150547504425, + 0.057311609387397766, + -0.04052174463868141 + ], + [ + 0.4116225838661194, + 0.05003878101706505, + -0.039719030261039734 + ], + [ + 0.41497766971588135, + 0.04939241707324982, + -0.044288519769907 + ], + [ + 0.42025643587112427, + 0.04899528995156288, + -0.0439968965947628 + ], + [ + 0.4211789667606354, + 0.04764988273382187, + -0.043641868978738785 + ], + [ + 0.4177643656730652, + 0.04628103971481323, + -0.03710750862956047 + ], + [ + 0.4084332585334778, + 0.037899166345596313, + -0.03464076668024063 + ], + [ + 0.3926257789134979, + 0.040762197226285934, + -0.03107265755534172 + ], + [ + 0.3888866603374481, + 0.04339306056499481, + -0.011609713546931744 + ], + [ + 0.38219889998435974, + 0.0512288436293602, + 0.0033876709640026093 + ], + [ + 0.38661885261535645, + 0.05914325639605522, + 0.01514637190848589 + ], + [ + 0.3966224789619446, + 0.05888035520911217, + -0.0035572207998484373 + ], + [ + 0.40692973136901855, + 0.060947734862565994, + -0.019845042377710342 + ], + [ + 0.41058191657066345, + 0.06411513686180115, + -0.03472663462162018 + ], + [ + 0.41394978761672974, + 0.06438183784484863, + -0.03651241585612297 + ], + [ + 0.41339945793151855, + 0.05987915024161339, + -0.0401986725628376 + ], + [ + 0.41026127338409424, + 0.0597747378051281, + -0.04739794507622719 + ], + [ + 0.4106154441833496, + 0.05949884280562401, + -0.0443560853600502 + ], + [ + 0.4133160412311554, + 0.04958757385611534, + -0.042789947241544724 + ], + [ + 0.4154474139213562, + 0.04199768602848053, + -0.041361939162015915 + ], + [ + 0.4126407504081726, + 0.04294484481215477, + -0.04423491656780243 + ], + [ + 0.4155491590499878, + 0.047998230904340744, + -0.04341691732406616 + ], + [ + 0.4170064628124237, + 0.048932574689388275, + -0.04282625392079353 + ], + [ + 0.4117591381072998, + 0.05248796194791794, + -0.040511809289455414 + ], + [ + 0.40568268299102783, + 0.051994647830724716, + -0.03616319224238396 + ], + [ + 0.40334782004356384, + 0.057388901710510254, + -0.0317305326461792 + ], + [ + 0.39998722076416016, + 0.06566262990236282, + -0.026025567203760147 + ], + [ + 0.40437760949134827, + 0.06962484866380692, + -0.019043147563934326 + ], + [ + 0.4089966416358948, + 0.07556107640266418, + -0.030664782971143723 + ], + [ + 0.4101182520389557, + 0.08651086688041687, + -0.037216342985630035 + ], + [ + 0.4155005216598511, + 0.08625499159097672, + -0.04255174100399017 + ], + [ + 0.4200870096683502, + 0.08402056992053986, + -0.04648945480585098 + ], + [ + 0.4216580390930176, + 0.08033248782157898, + -0.047604337334632874 + ], + [ + 0.42376378178596497, + 0.07259752601385117, + -0.05086813122034073 + ], + [ + 0.4243820607662201, + 0.0618131048977375, + -0.05351925268769264 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9104689154331885, + -0.41267494258975396, + 0.02730834649803046, + -0.4105519067706483, + -0.9098081327137023, + -0.06079715038544929, + 0.049934816279807795, + 0.04414242184734851, + -0.9977765084008304 + ], + [ + 0.9106957277438925, + -0.41261115119951625, + -0.019629808323861964, + -0.4129539845867362, + -0.9082305906379423, + -0.0677214946925398, + 0.01011425147795003, + 0.06977988345693939, + -0.9975111376730469 + ], + [ + 0.8964270356326257, + -0.4431882289929634, + 0.0016623684862367167, + -0.4421674694119496, + -0.8946046017292052, + -0.06457968379268253, + 0.030108118186561526, + 0.05715592923757725, + -0.9979111688783993 + ], + [ + 0.8798010989078355, + -0.47423792075015375, + 0.03237932802167728, + -0.47184230621102713, + -0.8795457286106838, + -0.06135266377395675, + 0.057574859357395015, + 0.038700204201938565, + -0.9975908127908476 + ], + [ + 0.8602918079669255, + -0.5068793491634412, + 0.054509912278815666, + -0.50373044637271, + -0.8616258068294873, + -0.06210158132112756, + 0.0784451562695128, + 0.0259671792284128, + -0.9965801839595099 + ], + [ + 0.8242447588375533, + -0.561612524181659, + 0.0721938377642369, + -0.5563995099796419, + -0.8269785344610723, + -0.08078421154551943, + 0.10507217911149333, + 0.026417347007647383, + -0.9941136559538047 + ], + [ + 0.7811280053699243, + -0.6155016129893421, + 0.10486564563440723, + -0.609889864722783, + -0.7881351971065107, + -0.08292927101033948, + 0.13369140636266932, + 0.000821881621052449, + -0.9910226699603657 + ], + [ + 0.7378564959484539, + -0.6627272514223527, + 0.12790770738639182, + -0.6559394813073186, + -0.7487410387893851, + -0.09555236101153164, + 0.15909490327774448, + -0.013395784962667745, + -0.9871724088001441 + ], + [ + 0.7074475649109109, + -0.6891468853551125, + 0.15682637949965575, + -0.6810187795412513, + -0.7240283880661497, + -0.10952769141398716, + 0.18902741815347116, + -0.029316610985589762, + -0.9815340908529628 + ], + [ + 0.7166448519412688, + -0.6824383146698426, + 0.1438683525194545, + -0.6749225634446522, + -0.7305849299110142, + -0.10356251030280295, + 0.17578307523586179, + -0.022882457418370777, + -0.9841629456564193 + ], + [ + 0.7238316455469243, + -0.6765211614335848, + 0.13559818227905795, + -0.6698833746726179, + -0.7361301285401528, + -0.09679203579159955, + 0.1652997678221481, + -0.020773829401697835, + -0.9860245609364567 + ], + [ + 0.7230189821370577, + -0.674439518761612, + 0.14958237530570834, + -0.6659168899347504, + -0.7380349892434963, + -0.10889926699469332, + 0.18384299597515835, + -0.020873192974655064, + -0.9827339734871896 + ], + [ + 0.737309864657997, + -0.6592719889196874, + 0.14742661938702148, + -0.6496125509594728, + -0.7518028493231241, + -0.11311944742420843, + 0.18541223561009237, + -0.012366097828803761, + -0.9825830155821726 + ], + [ + 0.7674081583615819, + -0.6166177128460394, + 0.17569096358266278, + -0.6121402243402977, + -0.7861363836621652, + -0.08528734974885163, + 0.19070674928983283, + -0.04209729785974791, + -0.980743979480992 + ], + [ + 0.8040898887143997, + -0.5216622280570299, + 0.2851455254529516, + -0.5435023504628557, + -0.8394022309027884, + -0.003014928983129897, + 0.24092456476792865, + -0.15255298939711842, + -0.9584794935299279 + ], + [ + 0.8087665417184448, + -0.41936105790251316, + 0.41235055973245943, + -0.49669895059190733, + -0.8624784641743589, + 0.09706210030870735, + 0.3149394123917894, + -0.2833146694937002, + -0.905839922156222 + ], + [ + 0.8239662036045823, + -0.30945158465505346, + 0.47467821950446465, + -0.4513623572142668, + -0.8648821789776291, + 0.21966073608382858, + 0.3425663699306064, + -0.39524490286578656, + -0.8523084822710508 + ], + [ + 0.8568759533020541, + -0.21290275534932881, + 0.4695061420443396, + -0.404234306770091, + -0.8426898439409777, + 0.35562403201813364, + 0.3199347212835765, + -0.49451617130625203, + -0.8081432610829627 + ], + [ + 0.869388755175487, + -0.16614968784146772, + 0.465357361180201, + -0.3883352008215117, + -0.8120922865573167, + 0.43554780439927065, + 0.305546991766133, + -0.5593750077937805, + -0.7705456744920283 + ], + [ + 0.9003034248300296, + -0.09863048859854569, + 0.42394076232196826, + -0.3223621141456613, + -0.8055433430570984, + 0.49717460697418336, + 0.29246608453435946, + -0.5842704418120142, + -0.7570281634271837 + ], + [ + 0.9190588542077576, + -0.03340027006876256, + 0.3927024884841679, + -0.26596074168033196, + -0.7878861613568178, + 0.5554280157025452, + 0.29085341047883895, + -0.6149144808034307, + -0.7329969133025567 + ], + [ + 0.9408903986793349, + -0.020008466910945072, + 0.33811968136285053, + -0.24938762290224695, + -0.7164140713895599, + 0.6515801499878592, + 0.22919657767123977, + -0.6973883706851641, + -0.6790569852500474 + ], + [ + 0.9581179853729083, + -0.02184272841029726, + 0.28553952672187644, + -0.22537700947776862, + -0.6726653276439818, + 0.7047883090577425, + 0.17667803967617762, + -0.739624399409057, + -0.6494155973604071 + ], + [ + 0.9675320978050511, + -0.04559295073677634, + 0.24860193595398883, + -0.21873053331407127, + -0.6438879550604865, + 0.7331884172054052, + 0.1266435687790708, + -0.7637601614192372, + -0.6329548343410941 + ], + [ + 0.9741519160953256, + -0.05085516654955584, + 0.22009497132606629, + -0.20100828456929282, + -0.6397184201777182, + 0.7418598334050942, + 0.1030714019615295, + -0.766925090814312, + -0.6334052345672109 + ], + [ + 0.9776365439898032, + -0.08398801610689718, + 0.1928024922196328, + -0.19799907190359975, + -0.6765669220841289, + 0.7092626928486523, + 0.0708742222601923, + -0.7315758423376459, + -0.6780660967243364 + ], + [ + 0.9806285728189048, + -0.14551658158949235, + 0.13112027552467603, + -0.19575858469124832, + -0.7512934927716827, + 0.6302671372034285, + 0.006795490478080743, + -0.643725882811492, + -0.7652259856458927 + ], + [ + 0.981448086722545, + -0.18165305269135973, + 0.061333689898504504, + -0.18662524403735997, + -0.8318128059426181, + 0.5227413071088456, + -0.04393940551090393, + -0.5244898705578389, + -0.8502821321923505 + ], + [ + 0.9758463958117436, + -0.21820379309907864, + 0.01053168829792362, + -0.19763050657092648, + -0.8612414308171787, + 0.4681937427139516, + -0.09309132426681405, + -0.4589665592623861, + -0.8835630723525615 + ], + [ + 0.9711829318713691, + -0.23789942485505525, + -0.014407515239121725, + -0.21265744447233412, + -0.8922591178647812, + 0.39830952524093416, + -0.10761284380699049, + -0.3837675471438357, + -0.9171379098079939 + ], + [ + 0.9754996316499446, + -0.21653968016611355, + -0.03887204090834571, + -0.19136502412679016, + -0.9223435028724393, + 0.3356514416026722, + -0.1085352301871419, + -0.31998910859989643, + -0.9411838684261796 + ], + [ + 0.9777512725224885, + -0.2087259107603893, + -0.020879254246766094, + -0.18828289213222774, + -0.9171308914960554, + 0.3513125110125959, + -0.09247703288373273, + -0.3395650483204911, + -0.9360254143708515 + ], + [ + 0.973772761550271, + -0.2274395966876685, + -0.006151318664327707, + -0.20992946242825533, + -0.9085714573021868, + 0.36114751526262057, + -0.08772815777926238, + -0.3503842702438734, + -0.9324884093104459 + ], + [ + 0.9824838411606839, + -0.17881389777905543, + 0.05245085146315378, + -0.1843715563538616, + -0.8918812774036067, + 0.4129829490724354, + -0.027067158436066892, + -0.4154195192549003, + -0.9092271399140176 + ], + [ + 0.9887247599902382, + -0.03607904522797783, + 0.14533289881401, + -0.1178689228755585, + -0.7861231689480618, + 0.60672669321797, + 0.09235943916244499, + -0.6170159363731982, + -0.7815120397403382 + ], + [ + 0.9843756978329748, + 0.028770676363808367, + 0.17371451780842245, + -0.09878023763718605, + -0.7264638292318363, + 0.68006820942473, + 0.14576333615894216, + -0.6866021795766354, + -0.7122713646023044 + ], + [ + 0.9798883335348042, + 0.07794009482411635, + 0.18369593196691092, + -0.08538931883828071, + -0.6682479801808655, + 0.7390218543537991, + 0.18035386890975935, + -0.7398445638125627, + -0.648153148080205 + ], + [ + 0.9801723392014491, + 0.08715725709672228, + 0.177948863440413, + -0.08643444822521187, + -0.6200483382052279, + 0.7797878842665728, + 0.17830107017166796, + -0.7797074264262914, + -0.6002208406506115 + ], + [ + 0.9897333490574632, + 0.06277506921986394, + 0.12840244720385527, + -0.06468197466900309, + -0.604393293755443, + 0.79405603619415, + 0.127452500628336, + -0.7942090638792081, + -0.5941277833393217 + ], + [ + 0.9970597718960112, + 0.033476163732263475, + 0.06892864229364266, + -0.034897540561674587, + -0.60245692561097, + 0.7973881203317019, + 0.0682200331971521, + -0.7974490574608193, + -0.59951732904515 + ], + [ + 0.9988266054459853, + 0.0011334406049926839, + 0.04841619115176785, + -0.038758419145287215, + -0.5807182359675379, + 0.8131814775067795, + 0.02903785802375588, + -0.8141038298197262, + -0.5799928939859922 + ], + [ + 0.9990673624066148, + -0.02530224578314358, + 0.03498859431613732, + -0.043172503927953354, + -0.5991510395805081, + 0.7994711793893431, + 0.0007350363805255049, + -0.8002361077381636, + -0.5996846101023383 + ], + [ + 0.9975964233803748, + -0.06734898123429116, + 0.0162938879763913, + -0.054318426762419006, + -0.6140955293373123, + 0.787360266562888, + -0.043021908055545545, + -0.7863528441956762, + -0.6162777943854791 + ], + [ + 0.9944812420922243, + -0.10473949720145678, + -0.006057792724450957, + -0.060868597691668434, + -0.6230377946285339, + 0.7798197998765243, + -0.08545216756616653, + -0.7751474338410717, + -0.6259747461901677 + ], + [ + 0.9841637787154145, + -0.17118450067108082, + -0.046016555657604215, + -0.08862590609943305, + -0.7000074313234796, + 0.7086148776733089, + -0.15351581492683786, + -0.6933148367241947, + -0.7040933402223402 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.006425976753234863, + -0.0009455382823944092, + -0.018010539934039116, + -0.02562825381755829, + 0.039841167628765106, + -0.002096623182296753, + 1.0 + ], + [ + 0.0028756558895111084, + 0.0004231482744216919, + -0.003790629096329212, + 0.01262715458869934, + -0.01999824494123459, + -0.03251904249191284, + 1.0 + ], + [ + 0.004709959030151367, + 0.0010988451540470123, + 0.0006553540588356555, + 0.01843883842229843, + -0.027494046837091446, + -0.034031182527542114, + 1.0 + ], + [ + 0.00341835618019104, + 0.00047884508967399597, + 0.0001602604752406478, + 0.012723829597234726, + -0.02091911807656288, + -0.037446558475494385, + 1.0 + ], + [ + -0.0005911588668823242, + 0.0013767704367637634, + -0.003818718483671546, + -0.0005171243101358414, + -0.026740647852420807, + -0.06406313180923462, + 1.0 + ], + [ + 0.003538787364959717, + 0.0018143318593502045, + -0.0014347122050821781, + 0.025738190859556198, + -0.028826415538787842, + -0.06913340091705322, + 1.0 + ], + [ + 0.0005404949188232422, + 0.00410853698849678, + -0.007053921930491924, + 0.014398347586393356, + -0.025680914521217346, + -0.06378144025802612, + 1.0 + ], + [ + 0.0009716451168060303, + 0.0025164298713207245, + -0.0034392550587654114, + 0.01629025489091873, + -0.030397802591323853, + -0.0396728515625, + 1.0 + ], + [ + -0.0010334253311157227, + -5.5596232414245605e-05, + -0.014626692980527878, + -0.006612785160541534, + 0.013470441102981567, + 0.010941028594970703, + 1.0 + ], + [ + 0.0036096274852752686, + -0.002216517925262451, + -0.009805882349610329, + -0.0021813400089740753, + 0.010639220476150513, + 0.008715689182281494, + 0.0 + ], + [ + 0.00640752911567688, + -0.007272828370332718, + 0.0008027143776416779, + 0.0001715775579214096, + -0.01883271336555481, + 0.002400040626525879, + 0.0 + ], + [ + 0.003355085849761963, + -0.0006463639438152313, + -0.004569489508867264, + -0.008652097545564175, + -0.001596689224243164, + 0.022058546543121338, + 0.0 + ], + [ + 0.00527876615524292, + -0.0003971271216869354, + 0.00029162317514419556, + 0.030312877148389816, + -0.0053907036781311035, + 0.04893064498901367, + 0.0 + ], + [ + 0.0009225308895111084, + -0.0013454072177410126, + 0.00035502761602401733, + 0.11494003236293793, + -0.05143630504608154, + 0.07893693447113037, + 0.0 + ], + [ + -0.0034146010875701904, + -0.0013688430190086365, + 0.006534360349178314, + 0.1452883780002594, + -0.07707445323467255, + 0.043628573417663574, + 0.0 + ], + [ + -0.009331107139587402, + -0.008381873369216919, + 0.0024667419493198395, + 0.13109079003334045, + -0.029254376888275146, + 0.049607813358306885, + 0.0 + ], + [ + -0.01580747961997986, + 0.002863030880689621, + 0.0035681091248989105, + 0.11491885781288147, + 0.023986607789993286, + 0.0603504478931427, + 0.0 + ], + [ + -0.0037391185760498047, + 0.0026308633387088776, + 0.019462943077087402, + 0.07879281044006348, + 0.015147745609283447, + 0.020709872245788574, + 0.0 + ], + [ + -0.006687760353088379, + 0.007835783064365387, + 0.014997384510934353, + 0.02937614917755127, + 0.013708174228668213, + 0.07624977827072144, + 0.0 + ], + [ + 0.004419952630996704, + 0.007914412766695023, + 0.01175870094448328, + 0.040712714195251465, + 0.0016859769821166992, + 0.06214764714241028, + 0.0 + ], + [ + 0.010003626346588135, + -0.0002629011869430542, + -0.01870359294116497, + 0.10069805383682251, + 0.06386648118495941, + 0.022591888904571533, + 0.0 + ], + [ + 0.010307252407073975, + 0.002067379653453827, + -0.016287822276353836, + 0.051535069942474365, + 0.05364184081554413, + 0.02806819975376129, + 0.0 + ], + [ + 0.0036521852016448975, + 0.003167401999235153, + -0.014881592243909836, + 0.028527557849884033, + 0.05062580108642578, + 0.008695647120475769, + 0.0 + ], + [ + 0.003367871046066284, + 0.00026670098304748535, + -0.0017857812345027924, + 0.001681685447692871, + 0.023729786276817322, + 0.018847227096557617, + 0.0 + ], + [ + -0.0005503296852111816, + -0.004502687603235245, + -0.00368625670671463, + -0.05711984634399414, + 0.03232108801603317, + 0.003660529851913452, + 1.0 + ], + [ + -0.0031381845474243164, + -0.00010441243648529053, + -0.007199272513389587, + -0.12396317720413208, + 0.06413815170526505, + 0.0027898848056793213, + 1.0 + ], + [ + 0.0003541707992553711, + -0.00027589499950408936, + 0.0030418597161769867, + -0.14666509628295898, + 0.050749100744724274, + 0.00912599265575409, + 1.0 + ], + [ + 0.002700597047805786, + -0.009911268949508667, + 0.001566138118505478, + -0.07362547516822815, + 0.049272749572992325, + -0.011909961700439453, + 1.0 + ], + [ + 0.0021313726902008057, + -0.007589887827634811, + 0.0014280080795288086, + -0.082784503698349, + 0.014595329761505127, + -0.015745684504508972, + 0.0 + ], + [ + -0.0028066635131835938, + 0.0009471587836742401, + -0.0028729774057865143, + -0.06857576966285706, + 0.0009278208017349243, + 0.021853789687156677, + 0.0 + ], + [ + 0.0029084086418151855, + 0.005053386092185974, + 0.0008179992437362671, + 0.0202828049659729, + -0.016140103340148926, + 0.0034728199243545532, + 0.0 + ], + [ + 0.001457303762435913, + 0.0009343437850475311, + 0.0005906634032726288, + 0.011421144008636475, + -0.00476827472448349, + -0.022095337510108948, + 0.0 + ], + [ + -0.005247324705123901, + 0.003555387258529663, + 0.0023144446313381195, + 0.06914165616035461, + -0.06077061593532562, + 0.026832759380340576, + 0.0 + ], + [ + -0.006076455116271973, + -0.000493314117193222, + 0.004348617047071457, + 0.2397438883781433, + -0.11956171691417694, + 0.06684806942939758, + 0.0 + ], + [ + -0.0023348629474639893, + 0.005394253879785538, + 0.004432659596204758, + 0.09873509407043457, + -0.053793251514434814, + 0.018639802932739258, + 0.0 + ], + [ + -0.0033605992794036865, + 0.00827372819185257, + 0.005704965442419052, + 0.08431220054626465, + -0.03506170213222504, + 0.013090990483760834, + 0.0 + ], + [ + 0.00439038872718811, + 0.003962218761444092, + 0.006982419639825821, + 0.06337898969650269, + 0.002086624503135681, + -0.0010330826044082642, + 0.0 + ], + [ + 0.004619032144546509, + 0.005936227738857269, + -0.011621635407209396, + 0.01378697156906128, + 0.051459476351737976, + 0.02269526571035385, + 0.0 + ], + [ + 0.001121610403060913, + 0.010949790477752686, + -0.006551560014486313, + -0.00238037109375, + 0.05952704697847366, + 0.030273959040641785, + 1.0 + ], + [ + 0.005382269620895386, + -0.00025587528944015503, + -0.005335398018360138, + 0.025627851486206055, + 0.03923112154006958, + -0.00379832461476326, + 1.0 + ], + [ + 0.0045864880084991455, + -0.002234421670436859, + -0.003937713801860809, + -0.02408677339553833, + 0.028306903317570686, + -0.004401445388793945, + 1.0 + ], + [ + 0.0015710294246673584, + -0.0036880820989608765, + -0.0011148825287818909, + -0.021625757217407227, + 0.04377022758126259, + -0.011209648102521896, + 1.0 + ], + [ + 0.0021057426929473877, + -0.007734961807727814, + -0.0032637938857078552, + -0.014598250389099121, + 0.042521316558122635, + -0.006734535098075867, + 1.0 + ], + [ + 0.000618278980255127, + -0.010784421116113663, + -0.0026511214673519135, + -0.11378008127212524, + 0.06856878101825714, + -0.02867962419986725, + 1.0 + ], + [ + -0.002473771572113037, + -0.013035744428634644, + -0.00015182793140411377, + -0.11287873983383179, + 0.06682474911212921, + -0.015873000025749207, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9476637244224548 + ], + [ + 0.6621366739273071 + ], + [ + 0.3644362688064575 + ], + [ + 0.3142010271549225 + ], + [ + 0.3142010271549225 + ], + [ + 0.31342363357543945 + ], + [ + 0.31342363357543945 + ], + [ + 0.31342363357543945 + ], + [ + 0.31342363357543945 + ], + [ + 0.31342363357543945 + ], + [ + 0.31264728307724 + ], + [ + 0.31342363357543945 + ], + [ + 0.31264728307724 + ], + [ + 0.31264728307724 + ], + [ + 0.31264728307724 + ], + [ + 0.37802740931510925 + ], + [ + 0.6591242551803589 + ], + [ + 0.8784087896347046 + ], + [ + 0.9893313646316528 + ], + [ + 0.9643021821975708 + ], + [ + 0.6881998181343079 + ], + [ + 0.41037410497665405 + ], + [ + 0.3661215305328369 + ], + [ + 0.36191558837890625 + ], + [ + 0.300372838973999 + ], + [ + 0.29134905338287354 + ], + [ + 0.29134905338287354 + ], + [ + 0.29134905338287354 + ], + [ + 0.29134905338287354 + ], + [ + 0.33478444814682007 + ], + [ + 0.5551114082336426 + ], + [ + 0.8651953339576721 + ], + [ + 0.9492040276527405 + ], + [ + 0.9492040276527405 + ], + [ + 0.9492040276527405 + ], + [ + 0.9492040276527405 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3871751129627228, + 0.04776681587100029, + 0.0026324528735131025 + ], + [ + 0.3900507688522339, + 0.04818996414542198, + -0.0011581761064007878 + ], + [ + 0.39476072788238525, + 0.049288809299468994, + -0.0005028220475651324 + ], + [ + 0.3981790840625763, + 0.04976765438914299, + -0.0003425615723244846 + ], + [ + 0.39758792519569397, + 0.051144424825906754, + -0.0041612801142036915 + ], + [ + 0.4011267125606537, + 0.05295875668525696, + -0.00559599231928587 + ], + [ + 0.40166720747947693, + 0.05706729367375374, + -0.012649914249777794 + ], + [ + 0.40263885259628296, + 0.05958372354507446, + -0.016089169308543205 + ], + [ + 0.40160542726516724, + 0.05952812731266022, + -0.030715862289071083 + ], + [ + 0.4052150547504425, + 0.057311609387397766, + -0.04052174463868141 + ], + [ + 0.4116225838661194, + 0.05003878101706505, + -0.039719030261039734 + ], + [ + 0.41497766971588135, + 0.04939241707324982, + -0.044288519769907 + ], + [ + 0.42025643587112427, + 0.04899528995156288, + -0.0439968965947628 + ], + [ + 0.4211789667606354, + 0.04764988273382187, + -0.043641868978738785 + ], + [ + 0.4177643656730652, + 0.04628103971481323, + -0.03710750862956047 + ], + [ + 0.4084332585334778, + 0.037899166345596313, + -0.03464076668024063 + ], + [ + 0.3926257789134979, + 0.040762197226285934, + -0.03107265755534172 + ], + [ + 0.3888866603374481, + 0.04339306056499481, + -0.011609713546931744 + ], + [ + 0.38219889998435974, + 0.0512288436293602, + 0.0033876709640026093 + ], + [ + 0.38661885261535645, + 0.05914325639605522, + 0.01514637190848589 + ], + [ + 0.3966224789619446, + 0.05888035520911217, + -0.0035572207998484373 + ], + [ + 0.40692973136901855, + 0.060947734862565994, + -0.019845042377710342 + ], + [ + 0.41058191657066345, + 0.06411513686180115, + -0.03472663462162018 + ], + [ + 0.41394978761672974, + 0.06438183784484863, + -0.03651241585612297 + ], + [ + 0.41339945793151855, + 0.05987915024161339, + -0.0401986725628376 + ], + [ + 0.41026127338409424, + 0.0597747378051281, + -0.04739794507622719 + ], + [ + 0.4106154441833496, + 0.05949884280562401, + -0.0443560853600502 + ], + [ + 0.4133160412311554, + 0.04958757385611534, + -0.042789947241544724 + ], + [ + 0.4154474139213562, + 0.04199768602848053, + -0.041361939162015915 + ], + [ + 0.4126407504081726, + 0.04294484481215477, + -0.04423491656780243 + ], + [ + 0.4155491590499878, + 0.047998230904340744, + -0.04341691732406616 + ], + [ + 0.4170064628124237, + 0.048932574689388275, + -0.04282625392079353 + ], + [ + 0.4117591381072998, + 0.05248796194791794, + -0.040511809289455414 + ], + [ + 0.40568268299102783, + 0.051994647830724716, + -0.03616319224238396 + ], + [ + 0.40334782004356384, + 0.057388901710510254, + -0.0317305326461792 + ], + [ + 0.39998722076416016, + 0.06566262990236282, + -0.026025567203760147 + ], + [ + 0.40437760949134827, + 0.06962484866380692, + -0.019043147563934326 + ], + [ + 0.4089966416358948, + 0.07556107640266418, + -0.030664782971143723 + ], + [ + 0.4101182520389557, + 0.08651086688041687, + -0.037216342985630035 + ], + [ + 0.4155005216598511, + 0.08625499159097672, + -0.04255174100399017 + ], + [ + 0.4200870096683502, + 0.08402056992053986, + -0.04648945480585098 + ], + [ + 0.4216580390930176, + 0.08033248782157898, + -0.047604337334632874 + ], + [ + 0.42376378178596497, + 0.07259752601385117, + -0.05086813122034073 + ], + [ + 0.4243820607662201, + 0.0618131048977375, + -0.05351925268769264 + ], + [ + 0.42190828919410706, + 0.04877736046910286, + -0.053671080619096756 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9106957277438925, + -0.41261115119951625, + -0.019629808323861964, + -0.4129539845867362, + -0.9082305906379423, + -0.0677214946925398, + 0.01011425147795003, + 0.06977988345693939, + -0.9975111376730469 + ], + [ + 0.8964270356326257, + -0.4431882289929634, + 0.0016623684862367167, + -0.4421674694119496, + -0.8946046017292052, + -0.06457968379268253, + 0.030108118186561526, + 0.05715592923757725, + -0.9979111688783993 + ], + [ + 0.8798010989078355, + -0.47423792075015375, + 0.03237932802167728, + -0.47184230621102713, + -0.8795457286106838, + -0.06135266377395675, + 0.057574859357395015, + 0.038700204201938565, + -0.9975908127908476 + ], + [ + 0.8602918079669255, + -0.5068793491634412, + 0.054509912278815666, + -0.50373044637271, + -0.8616258068294873, + -0.06210158132112756, + 0.0784451562695128, + 0.0259671792284128, + -0.9965801839595099 + ], + [ + 0.8242447588375533, + -0.561612524181659, + 0.0721938377642369, + -0.5563995099796419, + -0.8269785344610723, + -0.08078421154551943, + 0.10507217911149333, + 0.026417347007647383, + -0.9941136559538047 + ], + [ + 0.7811280053699243, + -0.6155016129893421, + 0.10486564563440723, + -0.609889864722783, + -0.7881351971065107, + -0.08292927101033948, + 0.13369140636266932, + 0.000821881621052449, + -0.9910226699603657 + ], + [ + 0.7378564959484539, + -0.6627272514223527, + 0.12790770738639182, + -0.6559394813073186, + -0.7487410387893851, + -0.09555236101153164, + 0.15909490327774448, + -0.013395784962667745, + -0.9871724088001441 + ], + [ + 0.7074475649109109, + -0.6891468853551125, + 0.15682637949965575, + -0.6810187795412513, + -0.7240283880661497, + -0.10952769141398716, + 0.18902741815347116, + -0.029316610985589762, + -0.9815340908529628 + ], + [ + 0.7166448519412688, + -0.6824383146698426, + 0.1438683525194545, + -0.6749225634446522, + -0.7305849299110142, + -0.10356251030280295, + 0.17578307523586179, + -0.022882457418370777, + -0.9841629456564193 + ], + [ + 0.7238316455469243, + -0.6765211614335848, + 0.13559818227905795, + -0.6698833746726179, + -0.7361301285401528, + -0.09679203579159955, + 0.1652997678221481, + -0.020773829401697835, + -0.9860245609364567 + ], + [ + 0.7230189821370577, + -0.674439518761612, + 0.14958237530570834, + -0.6659168899347504, + -0.7380349892434963, + -0.10889926699469332, + 0.18384299597515835, + -0.020873192974655064, + -0.9827339734871896 + ], + [ + 0.737309864657997, + -0.6592719889196874, + 0.14742661938702148, + -0.6496125509594728, + -0.7518028493231241, + -0.11311944742420843, + 0.18541223561009237, + -0.012366097828803761, + -0.9825830155821726 + ], + [ + 0.7674081583615819, + -0.6166177128460394, + 0.17569096358266278, + -0.6121402243402977, + -0.7861363836621652, + -0.08528734974885163, + 0.19070674928983283, + -0.04209729785974791, + -0.980743979480992 + ], + [ + 0.8040898887143997, + -0.5216622280570299, + 0.2851455254529516, + -0.5435023504628557, + -0.8394022309027884, + -0.003014928983129897, + 0.24092456476792865, + -0.15255298939711842, + -0.9584794935299279 + ], + [ + 0.8087665417184448, + -0.41936105790251316, + 0.41235055973245943, + -0.49669895059190733, + -0.8624784641743589, + 0.09706210030870735, + 0.3149394123917894, + -0.2833146694937002, + -0.905839922156222 + ], + [ + 0.8239662036045823, + -0.30945158465505346, + 0.47467821950446465, + -0.4513623572142668, + -0.8648821789776291, + 0.21966073608382858, + 0.3425663699306064, + -0.39524490286578656, + -0.8523084822710508 + ], + [ + 0.8568759533020541, + -0.21290275534932881, + 0.4695061420443396, + -0.404234306770091, + -0.8426898439409777, + 0.35562403201813364, + 0.3199347212835765, + -0.49451617130625203, + -0.8081432610829627 + ], + [ + 0.869388755175487, + -0.16614968784146772, + 0.465357361180201, + -0.3883352008215117, + -0.8120922865573167, + 0.43554780439927065, + 0.305546991766133, + -0.5593750077937805, + -0.7705456744920283 + ], + [ + 0.9003034248300296, + -0.09863048859854569, + 0.42394076232196826, + -0.3223621141456613, + -0.8055433430570984, + 0.49717460697418336, + 0.29246608453435946, + -0.5842704418120142, + -0.7570281634271837 + ], + [ + 0.9190588542077576, + -0.03340027006876256, + 0.3927024884841679, + -0.26596074168033196, + -0.7878861613568178, + 0.5554280157025452, + 0.29085341047883895, + -0.6149144808034307, + -0.7329969133025567 + ], + [ + 0.9408903986793349, + -0.020008466910945072, + 0.33811968136285053, + -0.24938762290224695, + -0.7164140713895599, + 0.6515801499878592, + 0.22919657767123977, + -0.6973883706851641, + -0.6790569852500474 + ], + [ + 0.9581179853729083, + -0.02184272841029726, + 0.28553952672187644, + -0.22537700947776862, + -0.6726653276439818, + 0.7047883090577425, + 0.17667803967617762, + -0.739624399409057, + -0.6494155973604071 + ], + [ + 0.9675320978050511, + -0.04559295073677634, + 0.24860193595398883, + -0.21873053331407127, + -0.6438879550604865, + 0.7331884172054052, + 0.1266435687790708, + -0.7637601614192372, + -0.6329548343410941 + ], + [ + 0.9741519160953256, + -0.05085516654955584, + 0.22009497132606629, + -0.20100828456929282, + -0.6397184201777182, + 0.7418598334050942, + 0.1030714019615295, + -0.766925090814312, + -0.6334052345672109 + ], + [ + 0.9776365439898032, + -0.08398801610689718, + 0.1928024922196328, + -0.19799907190359975, + -0.6765669220841289, + 0.7092626928486523, + 0.0708742222601923, + -0.7315758423376459, + -0.6780660967243364 + ], + [ + 0.9806285728189048, + -0.14551658158949235, + 0.13112027552467603, + -0.19575858469124832, + -0.7512934927716827, + 0.6302671372034285, + 0.006795490478080743, + -0.643725882811492, + -0.7652259856458927 + ], + [ + 0.981448086722545, + -0.18165305269135973, + 0.061333689898504504, + -0.18662524403735997, + -0.8318128059426181, + 0.5227413071088456, + -0.04393940551090393, + -0.5244898705578389, + -0.8502821321923505 + ], + [ + 0.9758463958117436, + -0.21820379309907864, + 0.01053168829792362, + -0.19763050657092648, + -0.8612414308171787, + 0.4681937427139516, + -0.09309132426681405, + -0.4589665592623861, + -0.8835630723525615 + ], + [ + 0.9711829318713691, + -0.23789942485505525, + -0.014407515239121725, + -0.21265744447233412, + -0.8922591178647812, + 0.39830952524093416, + -0.10761284380699049, + -0.3837675471438357, + -0.9171379098079939 + ], + [ + 0.9754996316499446, + -0.21653968016611355, + -0.03887204090834571, + -0.19136502412679016, + -0.9223435028724393, + 0.3356514416026722, + -0.1085352301871419, + -0.31998910859989643, + -0.9411838684261796 + ], + [ + 0.9777512725224885, + -0.2087259107603893, + -0.020879254246766094, + -0.18828289213222774, + -0.9171308914960554, + 0.3513125110125959, + -0.09247703288373273, + -0.3395650483204911, + -0.9360254143708515 + ], + [ + 0.973772761550271, + -0.2274395966876685, + -0.006151318664327707, + -0.20992946242825533, + -0.9085714573021868, + 0.36114751526262057, + -0.08772815777926238, + -0.3503842702438734, + -0.9324884093104459 + ], + [ + 0.9824838411606839, + -0.17881389777905543, + 0.05245085146315378, + -0.1843715563538616, + -0.8918812774036067, + 0.4129829490724354, + -0.027067158436066892, + -0.4154195192549003, + -0.9092271399140176 + ], + [ + 0.9887247599902382, + -0.03607904522797783, + 0.14533289881401, + -0.1178689228755585, + -0.7861231689480618, + 0.60672669321797, + 0.09235943916244499, + -0.6170159363731982, + -0.7815120397403382 + ], + [ + 0.9843756978329748, + 0.028770676363808367, + 0.17371451780842245, + -0.09878023763718605, + -0.7264638292318363, + 0.68006820942473, + 0.14576333615894216, + -0.6866021795766354, + -0.7122713646023044 + ], + [ + 0.9798883335348042, + 0.07794009482411635, + 0.18369593196691092, + -0.08538931883828071, + -0.6682479801808655, + 0.7390218543537991, + 0.18035386890975935, + -0.7398445638125627, + -0.648153148080205 + ], + [ + 0.9801723392014491, + 0.08715725709672228, + 0.177948863440413, + -0.08643444822521187, + -0.6200483382052279, + 0.7797878842665728, + 0.17830107017166796, + -0.7797074264262914, + -0.6002208406506115 + ], + [ + 0.9897333490574632, + 0.06277506921986394, + 0.12840244720385527, + -0.06468197466900309, + -0.604393293755443, + 0.79405603619415, + 0.127452500628336, + -0.7942090638792081, + -0.5941277833393217 + ], + [ + 0.9970597718960112, + 0.033476163732263475, + 0.06892864229364266, + -0.034897540561674587, + -0.60245692561097, + 0.7973881203317019, + 0.0682200331971521, + -0.7974490574608193, + -0.59951732904515 + ], + [ + 0.9988266054459853, + 0.0011334406049926839, + 0.04841619115176785, + -0.038758419145287215, + -0.5807182359675379, + 0.8131814775067795, + 0.02903785802375588, + -0.8141038298197262, + -0.5799928939859922 + ], + [ + 0.9990673624066148, + -0.02530224578314358, + 0.03498859431613732, + -0.043172503927953354, + -0.5991510395805081, + 0.7994711793893431, + 0.0007350363805255049, + -0.8002361077381636, + -0.5996846101023383 + ], + [ + 0.9975964233803748, + -0.06734898123429116, + 0.0162938879763913, + -0.054318426762419006, + -0.6140955293373123, + 0.787360266562888, + -0.043021908055545545, + -0.7863528441956762, + -0.6162777943854791 + ], + [ + 0.9944812420922243, + -0.10473949720145678, + -0.006057792724450957, + -0.060868597691668434, + -0.6230377946285339, + 0.7798197998765243, + -0.08545216756616653, + -0.7751474338410717, + -0.6259747461901677 + ], + [ + 0.9841637787154145, + -0.17118450067108082, + -0.046016555657604215, + -0.08862590609943305, + -0.7000074313234796, + 0.7086148776733089, + -0.15351581492683786, + -0.6933148367241947, + -0.7040933402223402 + ], + [ + 0.9702460897669138, + -0.2174663257759888, + -0.10644680570832163, + -0.10292172845962728, + -0.7683835582355093, + 0.631659580188744, + -0.21915666337781384, + -0.6019095485094327, + -0.7679031529498198 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006098.json b/json/chunk-0006/episode_0006098.json new file mode 100644 index 0000000000000000000000000000000000000000..efba42e01f24a5c7fb3ac57b3b4811414ac73831 --- /dev/null +++ b/json/chunk-0006/episode_0006098.json @@ -0,0 +1,1282 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 20, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nTurn lever vertical to front." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006098.mp4", + "start": 0, + "end": 20, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3755474388599396, + -0.04294338449835777, + 0.09216330945491791, + 0.24700035154819489, + -0.12889009714126587, + 0.04883157089352608, + 0.0, + 1.0060625076293945 + ], + [ + 0.3762940764427185, + -0.043586134910583496, + 0.07677577435970306, + 0.25174012780189514, + -0.1147993803024292, + 0.04891825467348099, + 0.0, + 1.0060625076293945 + ], + [ + 0.3864838480949402, + -0.04693674296140671, + 0.0791451558470726, + 0.2539727985858917, + -0.18367239832878113, + 0.038750406354665756, + 0.0, + 1.0060625076293945 + ], + [ + 0.39382439851760864, + -0.05013789236545563, + 0.08337267488241196, + 0.255687952041626, + -0.21508821845054626, + 0.03638366609811783, + 0.0, + 1.0060625076293945 + ], + [ + 0.39976102113723755, + -0.049311958253383636, + 0.08517780154943466, + 0.25750046968460083, + -0.2385571151971817, + 0.03029581904411316, + 0.0, + 1.0060625076293945 + ], + [ + 0.40289196372032166, + -0.04948783665895462, + 0.08329117298126221, + 0.27109000086784363, + -0.24714751541614532, + 0.00761254271492362, + 0.0, + 1.0060625076293945 + ], + [ + 0.4095384180545807, + -0.04548759385943413, + 0.08481596410274506, + 0.2817487120628357, + -0.25979259610176086, + -0.014162031002342701, + 0.0, + 1.0060625076293945 + ], + [ + 0.41425684094429016, + -0.04135102778673172, + 0.08311988413333893, + 0.2891494631767273, + -0.2570021450519562, + -0.034394294023513794, + 0.0, + 1.0060625076293945 + ], + [ + 0.4207117259502411, + -0.03726032376289368, + 0.08098079264163971, + 0.3017662465572357, + -0.2712993919849396, + -0.04666636511683464, + 0.0, + 1.0060625076293945 + ], + [ + 0.4267306625843048, + -0.03708643466234207, + 0.0779929906129837, + 0.29494762420654297, + -0.2754383981227875, + -0.048116929829120636, + 0.0, + 0.8102405071258545 + ], + [ + 0.42826133966445923, + -0.037652213126420975, + 0.07719212025403976, + 0.2699403762817383, + -0.2587735652923584, + -0.04087870195508003, + 0.0, + 0.48038846254348755 + ], + [ + 0.4250433146953583, + -0.03989025577902794, + 0.07611896097660065, + 0.2573416531085968, + -0.24382947385311127, + -0.02015981823205948, + 0.0, + 0.4085940718650818 + ], + [ + 0.4132010042667389, + -0.04863879457116127, + 0.0755431279540062, + 0.2531112730503082, + -0.23531724512577057, + 0.00216679647564888, + 0.0, + 0.4085940718650818 + ], + [ + 0.3998190760612488, + -0.04989370331168175, + 0.07332387566566467, + 0.23537196218967438, + -0.22532600164413452, + 0.07004669308662415, + 0.0, + 0.4085940718650818 + ], + [ + 0.3909515142440796, + -0.04864591732621193, + 0.06983453780412674, + 0.23669691383838654, + -0.21223752200603485, + 0.07515992224216461, + 0.0, + 0.4085940718650818 + ], + [ + 0.3847179412841797, + -0.049338843673467636, + 0.06358303874731064, + 0.21479862928390503, + -0.20804689824581146, + 0.07976756989955902, + 0.0, + 0.4085940718650818 + ], + [ + 0.3809374272823334, + -0.048674024641513824, + 0.059295982122421265, + 0.18430151045322418, + -0.2071215808391571, + 0.09743349999189377, + 0.0, + 0.4085940718650818 + ], + [ + 0.377930223941803, + -0.049904242157936096, + 0.053644273430109024, + 0.1602587103843689, + -0.21112462878227234, + 0.11313152313232422, + 0.0, + 0.4085940718650818 + ], + [ + 0.37517815828323364, + -0.05126911774277687, + 0.046507686376571655, + 0.13548123836517334, + -0.2147378772497177, + 0.13061606884002686, + 0.0, + 0.4085940718650818 + ], + [ + 0.3718229830265045, + -0.05002772808074951, + 0.03810349851846695, + 0.11024188250303268, + -0.21315890550613403, + 0.12998934090137482, + 0.0, + 0.4085940718650818 + ] + ], + "left_gripper_pos": [ + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 0.8102405071258545 + ], + [ + 0.48038846254348755 + ], + [ + 0.4085940718650818 + ], + [ + 0.4085940718650818 + ], + [ + 0.4085940718650818 + ], + [ + 0.4085940718650818 + ], + [ + 0.4085940718650818 + ], + [ + 0.4085940718650818 + ], + [ + 0.4085940718650818 + ], + [ + 0.4085940718650818 + ], + [ + 0.4085940718650818 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3755474388599396, + -0.04294338449835777, + 0.09216330945491791 + ], + [ + 0.3762940764427185, + -0.043586134910583496, + 0.07677577435970306 + ], + [ + 0.3864838480949402, + -0.04693674296140671, + 0.0791451558470726 + ], + [ + 0.39382439851760864, + -0.05013789236545563, + 0.08337267488241196 + ], + [ + 0.39976102113723755, + -0.049311958253383636, + 0.08517780154943466 + ], + [ + 0.40289196372032166, + -0.04948783665895462, + 0.08329117298126221 + ], + [ + 0.4095384180545807, + -0.04548759385943413, + 0.08481596410274506 + ], + [ + 0.41425684094429016, + -0.04135102778673172, + 0.08311988413333893 + ], + [ + 0.4207117259502411, + -0.03726032376289368, + 0.08098079264163971 + ], + [ + 0.4267306625843048, + -0.03708643466234207, + 0.0779929906129837 + ], + [ + 0.42826133966445923, + -0.037652213126420975, + 0.07719212025403976 + ], + [ + 0.4250433146953583, + -0.03989025577902794, + 0.07611896097660065 + ], + [ + 0.4132010042667389, + -0.04863879457116127, + 0.0755431279540062 + ], + [ + 0.3998190760612488, + -0.04989370331168175, + 0.07332387566566467 + ], + [ + 0.3909515142440796, + -0.04864591732621193, + 0.06983453780412674 + ], + [ + 0.3847179412841797, + -0.049338843673467636, + 0.06358303874731064 + ], + [ + 0.3809374272823334, + -0.048674024641513824, + 0.059295982122421265 + ], + [ + 0.377930223941803, + -0.049904242157936096, + 0.053644273430109024 + ], + [ + 0.37517815828323364, + -0.05126911774277687, + 0.046507686376571655 + ], + [ + 0.3718229830265045, + -0.05002772808074951, + 0.03810349851846695 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9905230276291215, + 0.07871925706867647, + 0.11254959041682043, + 0.048407277641131556, + -0.9669603691546312, + 0.2502885933391958, + 0.12853352561807682, + -0.24246839598367154, + -0.9616070973850455 + ], + [ + 0.9922293995665448, + 0.07585591319128476, + 0.09862402886584087, + 0.048576884736652774, + -0.9659266800862977, + 0.25421631530400457, + 0.1145473915246257, + -0.24745005381163163, + -0.9621056937590198 + ], + [ + 0.9824415161384012, + 0.08335242510080645, + 0.16691626822300512, + 0.03808907465406214, + -0.9654175017759535, + 0.25791136007681853, + 0.1826414239970687, + -0.24702514142186321, + -0.9516410508935771 + ], + [ + 0.9763110064287704, + 0.08913704656874111, + 0.19715832636498942, + 0.03553745620307233, + -0.9648856903881803, + 0.26025505507240354, + 0.21343361481420003, + -0.24708336935764652, + -0.945196223360111 + ], + [ + 0.9712340534922839, + 0.08944223036640851, + 0.220690962125843, + 0.029433336683533973, + -0.9647629416658863, + 0.2614692048403787, + 0.23630085067265771, + -0.24745212428926225, + -0.939643205773399 + ], + [ + 0.969586100049894, + 0.07284246944197287, + 0.23365951561113946, + 0.007381158184333644, + -0.9629529771588302, + 0.2695683258188977, + 0.24463914873522374, + -0.25964502388172356, + -0.9342034834443534 + ], + [ + 0.9663463620367932, + 0.05781153712428293, + 0.25066418721784434, + -0.013686342142237393, + -0.9614858217515065, + 0.2745135672596086, + 0.2568801133155708, + -0.26870586288013465, + -0.9283370975226735 + ], + [ + 0.9665843238101359, + 0.03947396495215751, + 0.2532914350219097, + -0.033258100883080795, + -0.9604121654408259, + 0.2765906202294554, + 0.25418230404603953, + -0.2757721497254932, + -0.9270065144030148 + ], + [ + 0.9623746369336914, + 0.03501841576789635, + 0.2694601431452384, + -0.04494315590434283, + -0.957489023294577, + 0.28494715827281897, + 0.26798352733722935, + -0.28633630721147424, + -0.9198893130417337 + ], + [ + 0.9611922901619956, + 0.032945696283736337, + 0.2739050244692824, + -0.0462853480393243, + -0.9595125389694125, + 0.2778369200040748, + 0.2719688362478631, + -0.27973249481755214, + -0.9207511517522698 + ], + [ + 0.9658969415992477, + 0.028796184103784508, + 0.2573205743625661, + -0.039506621734319056, + -0.9657704427870996, + 0.25637214879536246, + 0.2558951446361603, + -0.2577949410284674, + -0.9316970770222304 + ], + [ + 0.9702233871719942, + 0.041936990059082975, + 0.2385537001374902, + -0.01956217734378632, + -0.9681120793580409, + 0.2497525235480539, + 0.24142058777592576, + -0.24698236913965202, + -0.9384646019600802 + ], + [ + 0.9724381412861735, + 0.060482790094483416, + 0.22517969152274384, + 0.002107078834909737, + -0.9680092107497441, + 0.2509058152423737, + 0.2331514992245919, + -0.24351591325012698, + -0.9414565196562616 + ], + [ + 0.9723310456078769, + 0.12003544238725607, + 0.2004091572707899, + 0.06822018584947868, + -0.9663963150440453, + 0.24783899715733285, + 0.22342413475216832, + -0.22730960129344643, + -0.9478459796665589 + ], + [ + 0.9748022020411213, + 0.12225148211609752, + 0.18658842948103388, + 0.07340433048365186, + -0.9656643052338332, + 0.24920725082450054, + 0.21064774188684787, + -0.22923137812628577, + -0.9503054793698161 + ], + [ + 0.9753250138494399, + 0.12173797260433601, + 0.18417650063397367, + 0.07796473610592163, + -0.9704045287920312, + 0.22855316760843683, + 0.2065493095692265, + -0.2085543490941921, + -0.9559510793918139 + ], + [ + 0.9739853779513882, + 0.13313947110459456, + 0.18337492950477235, + 0.0952002495749677, + -0.9747358304244683, + 0.20205685676953894, + 0.20564385723321588, + -0.1793430849537025, + -0.9620533570761727 + ], + [ + 0.971545248980933, + 0.14467020824972399, + 0.18753762296552262, + 0.1103837203505932, + -0.977100323099615, + 0.1819076493174217, + 0.20955968950191506, + -0.15603041191898948, + -0.9652664124956651 + ], + [ + 0.9687097684876691, + 0.15758795504635004, + 0.1917483268789472, + 0.12725355844425568, + -0.9786476806476898, + 0.16141638400785524, + 0.21309133323493104, + -0.13196497106128785, + -0.9680791961988195 + ], + [ + 0.9691217503161013, + 0.15191461648049534, + 0.19422920059517354, + 0.1266898719441449, + -0.9825271105847497, + 0.13634571248396066, + 0.21154836187272238, + -0.10752872297933569, + -0.9714344364512721 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + 0.0007466375827789307, + -0.0006427504122257233, + -0.015387535095214844, + 0.004739776253700256, + 0.01409071683883667, + 8.668377995491028e-05, + 1.0 + ], + [ + 0.01018977165222168, + -0.0033506080508232117, + 0.0023693814873695374, + 0.002232670783996582, + -0.06887301802635193, + -0.010167848318815231, + 1.0 + ], + [ + 0.007340550422668457, + -0.0032011494040489197, + 0.0042275190353393555, + 0.001715153455734253, + -0.03141582012176514, + -0.002366740256547928, + 1.0 + ], + [ + 0.005936622619628906, + 0.000825934112071991, + 0.001805126667022705, + 0.0018125176429748535, + -0.023468896746635437, + -0.006087847054004669, + 1.0 + ], + [ + 0.0031309425830841064, + -0.0001758784055709839, + -0.0018866285681724548, + 0.013589531183242798, + -0.008590400218963623, + -0.02268327586352825, + 1.0 + ], + [ + 0.006646454334259033, + 0.0040002427995204926, + 0.0015247911214828491, + 0.010658711194992065, + -0.01264508068561554, + -0.021774573251605034, + 1.0 + ], + [ + 0.004718422889709473, + 0.004136566072702408, + -0.001696079969406128, + 0.0074007511138916016, + 0.0027904510498046875, + -0.020232263952493668, + 1.0 + ], + [ + 0.006454885005950928, + 0.004090704023838043, + -0.0021390914916992188, + 0.012616783380508423, + -0.014297246932983398, + -0.012272071093320847, + 1.0 + ], + [ + 0.006018936634063721, + 0.00017388910055160522, + -0.002987802028656006, + -0.006818622350692749, + -0.0041390061378479, + -0.0014505647122859955, + 0.0 + ], + [ + 0.001530677080154419, + -0.0005657784640789032, + -0.0008008703589439392, + -0.025007247924804688, + 0.016664832830429077, + 0.007238227874040604, + 0.0 + ], + [ + -0.003218024969100952, + -0.002238042652606964, + -0.0010731592774391174, + -0.01259872317314148, + 0.014944091439247131, + 0.020718883723020554, + 0.0 + ], + [ + -0.011842310428619385, + -0.008748538792133331, + -0.0005758330225944519, + -0.004230380058288574, + 0.008512228727340698, + 0.02232661470770836, + 0.0 + ], + [ + -0.013381928205490112, + -0.0012549087405204773, + -0.002219252288341522, + -0.01773931086063385, + 0.009991243481636047, + 0.06787990033626556, + 0.0 + ], + [ + -0.00886756181716919, + 0.0012477859854698181, + -0.0034893378615379333, + 0.0013249516487121582, + 0.01308847963809967, + 0.005113229155540466, + 0.0 + ], + [ + -0.006233572959899902, + -0.0006929263472557068, + -0.006251499056816101, + -0.021898284554481506, + 0.004190623760223389, + 0.004607647657394409, + 0.0 + ], + [ + -0.0037805140018463135, + 0.0006648190319538116, + -0.004287056624889374, + -0.030497118830680847, + 0.0009253174066543579, + 0.017665930092334747, + 0.0 + ], + [ + -0.0030072033405303955, + -0.0012302175164222717, + -0.005651708692312241, + -0.024042800068855286, + -0.004003047943115234, + 0.01569802314043045, + 0.0 + ], + [ + -0.002752065658569336, + -0.0013648755848407745, + -0.007136587053537369, + -0.024777472019195557, + -0.0036132484674453735, + 0.017484545707702637, + 0.0 + ], + [ + -0.003355175256729126, + 0.001241389662027359, + -0.008404187858104706, + -0.025239355862140656, + 0.0015789717435836792, + -0.0006267279386520386, + 0.0 + ], + [ + 0.0004818737506866455, + 0.0025818273425102234, + -0.0013556517660617828, + -0.007580913603305817, + -0.0019069463014602661, + -0.0032241493463516235, + 0.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 0.8102405071258545 + ], + [ + 0.48038846254348755 + ], + [ + 0.4085940718650818 + ], + [ + 0.4085940718650818 + ], + [ + 0.4085940718650818 + ], + [ + 0.4085940718650818 + ], + [ + 0.4085940718650818 + ], + [ + 0.4085940718650818 + ], + [ + 0.4085940718650818 + ], + [ + 0.4085940718650818 + ], + [ + 0.4085940718650818 + ], + [ + 0.4085940718650818 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3762940764427185, + -0.043586134910583496, + 0.07677577435970306 + ], + [ + 0.3864838480949402, + -0.04693674296140671, + 0.0791451558470726 + ], + [ + 0.39382439851760864, + -0.05013789236545563, + 0.08337267488241196 + ], + [ + 0.39976102113723755, + -0.049311958253383636, + 0.08517780154943466 + ], + [ + 0.40289196372032166, + -0.04948783665895462, + 0.08329117298126221 + ], + [ + 0.4095384180545807, + -0.04548759385943413, + 0.08481596410274506 + ], + [ + 0.41425684094429016, + -0.04135102778673172, + 0.08311988413333893 + ], + [ + 0.4207117259502411, + -0.03726032376289368, + 0.08098079264163971 + ], + [ + 0.4267306625843048, + -0.03708643466234207, + 0.0779929906129837 + ], + [ + 0.42826133966445923, + -0.037652213126420975, + 0.07719212025403976 + ], + [ + 0.4250433146953583, + -0.03989025577902794, + 0.07611896097660065 + ], + [ + 0.4132010042667389, + -0.04863879457116127, + 0.0755431279540062 + ], + [ + 0.3998190760612488, + -0.04989370331168175, + 0.07332387566566467 + ], + [ + 0.3909515142440796, + -0.04864591732621193, + 0.06983453780412674 + ], + [ + 0.3847179412841797, + -0.049338843673467636, + 0.06358303874731064 + ], + [ + 0.3809374272823334, + -0.048674024641513824, + 0.059295982122421265 + ], + [ + 0.377930223941803, + -0.049904242157936096, + 0.053644273430109024 + ], + [ + 0.37517815828323364, + -0.05126911774277687, + 0.046507686376571655 + ], + [ + 0.3718229830265045, + -0.05002772808074951, + 0.03810349851846695 + ], + [ + 0.37230485677719116, + -0.04744590073823929, + 0.03674784675240517 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9922293995665448, + 0.07585591319128476, + 0.09862402886584087, + 0.048576884736652774, + -0.9659266800862977, + 0.25421631530400457, + 0.1145473915246257, + -0.24745005381163163, + -0.9621056937590198 + ], + [ + 0.9824415161384012, + 0.08335242510080645, + 0.16691626822300512, + 0.03808907465406214, + -0.9654175017759535, + 0.25791136007681853, + 0.1826414239970687, + -0.24702514142186321, + -0.9516410508935771 + ], + [ + 0.9763110064287704, + 0.08913704656874111, + 0.19715832636498942, + 0.03553745620307233, + -0.9648856903881803, + 0.26025505507240354, + 0.21343361481420003, + -0.24708336935764652, + -0.945196223360111 + ], + [ + 0.9712340534922839, + 0.08944223036640851, + 0.220690962125843, + 0.029433336683533973, + -0.9647629416658863, + 0.2614692048403787, + 0.23630085067265771, + -0.24745212428926225, + -0.939643205773399 + ], + [ + 0.969586100049894, + 0.07284246944197287, + 0.23365951561113946, + 0.007381158184333644, + -0.9629529771588302, + 0.2695683258188977, + 0.24463914873522374, + -0.25964502388172356, + -0.9342034834443534 + ], + [ + 0.9663463620367932, + 0.05781153712428293, + 0.25066418721784434, + -0.013686342142237393, + -0.9614858217515065, + 0.2745135672596086, + 0.2568801133155708, + -0.26870586288013465, + -0.9283370975226735 + ], + [ + 0.9665843238101359, + 0.03947396495215751, + 0.2532914350219097, + -0.033258100883080795, + -0.9604121654408259, + 0.2765906202294554, + 0.25418230404603953, + -0.2757721497254932, + -0.9270065144030148 + ], + [ + 0.9623746369336914, + 0.03501841576789635, + 0.2694601431452384, + -0.04494315590434283, + -0.957489023294577, + 0.28494715827281897, + 0.26798352733722935, + -0.28633630721147424, + -0.9198893130417337 + ], + [ + 0.9611922901619956, + 0.032945696283736337, + 0.2739050244692824, + -0.0462853480393243, + -0.9595125389694125, + 0.2778369200040748, + 0.2719688362478631, + -0.27973249481755214, + -0.9207511517522698 + ], + [ + 0.9658969415992477, + 0.028796184103784508, + 0.2573205743625661, + -0.039506621734319056, + -0.9657704427870996, + 0.25637214879536246, + 0.2558951446361603, + -0.2577949410284674, + -0.9316970770222304 + ], + [ + 0.9702233871719942, + 0.041936990059082975, + 0.2385537001374902, + -0.01956217734378632, + -0.9681120793580409, + 0.2497525235480539, + 0.24142058777592576, + -0.24698236913965202, + -0.9384646019600802 + ], + [ + 0.9724381412861735, + 0.060482790094483416, + 0.22517969152274384, + 0.002107078834909737, + -0.9680092107497441, + 0.2509058152423737, + 0.2331514992245919, + -0.24351591325012698, + -0.9414565196562616 + ], + [ + 0.9723310456078769, + 0.12003544238725607, + 0.2004091572707899, + 0.06822018584947868, + -0.9663963150440453, + 0.24783899715733285, + 0.22342413475216832, + -0.22730960129344643, + -0.9478459796665589 + ], + [ + 0.9748022020411213, + 0.12225148211609752, + 0.18658842948103388, + 0.07340433048365186, + -0.9656643052338332, + 0.24920725082450054, + 0.21064774188684787, + -0.22923137812628577, + -0.9503054793698161 + ], + [ + 0.9753250138494399, + 0.12173797260433601, + 0.18417650063397367, + 0.07796473610592163, + -0.9704045287920312, + 0.22855316760843683, + 0.2065493095692265, + -0.2085543490941921, + -0.9559510793918139 + ], + [ + 0.9739853779513882, + 0.13313947110459456, + 0.18337492950477235, + 0.0952002495749677, + -0.9747358304244683, + 0.20205685676953894, + 0.20564385723321588, + -0.1793430849537025, + -0.9620533570761727 + ], + [ + 0.971545248980933, + 0.14467020824972399, + 0.18753762296552262, + 0.1103837203505932, + -0.977100323099615, + 0.1819076493174217, + 0.20955968950191506, + -0.15603041191898948, + -0.9652664124956651 + ], + [ + 0.9687097684876691, + 0.15758795504635004, + 0.1917483268789472, + 0.12725355844425568, + -0.9786476806476898, + 0.16141638400785524, + 0.21309133323493104, + -0.13196497106128785, + -0.9680791961988195 + ], + [ + 0.9691217503161013, + 0.15191461648049534, + 0.19422920059517354, + 0.1266898719441449, + -0.9825271105847497, + 0.13634571248396066, + 0.21154836187272238, + -0.10752872297933569, + -0.9714344364512721 + ], + [ + 0.9691232426215977, + 0.14745542896236666, + 0.19762853306171194, + 0.12351339931584052, + -0.9839882714139586, + 0.1284971669306959, + 0.2134117634996849, + -0.10011981916330974, + -0.9718186255730338 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006099.json b/json/chunk-0006/episode_0006099.json new file mode 100644 index 0000000000000000000000000000000000000000..45bfbc96e6e9ac3a58a5178ba2065e92a867af30 --- /dev/null +++ b/json/chunk-0006/episode_0006099.json @@ -0,0 +1,2062 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 33, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut blueberries on plate sink." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006099.mp4", + "start": 0, + "end": 33, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.26915836334228516, + -0.09874872118234634, + 0.08895837515592575, + 0.026444032788276672, + -0.2507001757621765, + 0.21700464189052582, + 0.0, + 1.0099300146102905 + ], + [ + 0.2650871276855469, + -0.097283735871315, + 0.08235318213701248, + 0.033364515751600266, + -0.22569569945335388, + 0.21277397871017456, + 0.0, + 1.0099300146102905 + ], + [ + 0.25541505217552185, + -0.08497761189937592, + 0.0759633406996727, + 0.013706404715776443, + -0.1718846559524536, + 0.14842882752418518, + 0.0, + 1.0099300146102905 + ], + [ + 0.2484733611345291, + -0.0626981109380722, + 0.08015798032283783, + 0.03035375475883484, + -0.17152108252048492, + 0.12211715430021286, + 0.0, + 1.0099300146102905 + ], + [ + 0.23921889066696167, + -0.03860713168978691, + 0.09423888474702835, + 0.05164725333452225, + -0.18033619225025177, + 0.07350444793701172, + 0.0, + 1.0099300146102905 + ], + [ + 0.2315296232700348, + -0.010604551993310452, + 0.10323192179203033, + 0.0739252045750618, + -0.1772661805152893, + 0.08391640335321426, + 0.0, + 1.0099300146102905 + ], + [ + 0.2212102860212326, + 0.016877705231308937, + 0.11625567823648453, + 0.07880225032567978, + -0.1660420298576355, + 0.06572312861680984, + 0.0, + 1.0099300146102905 + ], + [ + 0.2066657990217209, + 0.03366483747959137, + 0.1070583388209343, + 0.05799904838204384, + -0.11636212468147278, + 0.049439843744039536, + 0.0, + 1.0099300146102905 + ], + [ + 0.19354963302612305, + 0.0486583448946476, + 0.09284491091966629, + 0.05887409672141075, + -0.11206010729074478, + 0.049594342708587646, + 0.0, + 1.0099300146102905 + ], + [ + 0.1919049322605133, + 0.05232977494597435, + 0.0917787179350853, + 0.06297644227743149, + -0.11143723130226135, + 0.03382156416773796, + 0.0, + 1.0099300146102905 + ], + [ + 0.19132979214191437, + 0.05228796228766441, + 0.09108280390501022, + 0.06330174952745438, + -0.11057431995868683, + 0.04905465245246887, + 0.0, + 1.0099300146102905 + ], + [ + 0.19014984369277954, + 0.05368342623114586, + 0.08890284597873688, + 0.07869012653827667, + -0.11248830705881119, + 0.08247809112071991, + 0.0, + 1.0099300146102905 + ], + [ + 0.17898502945899963, + 0.058650095015764236, + 0.05551009625196457, + 0.0767352357506752, + -0.13081228733062744, + 0.09051214158535004, + 0.0, + 1.0099300146102905 + ], + [ + 0.18140020966529846, + 0.05838128179311752, + 0.04412441700696945, + 0.05829150974750519, + -0.1536235809326172, + 0.10366549342870712, + 0.0, + 1.0099300146102905 + ], + [ + 0.18713338673114777, + 0.05662478506565094, + 0.03834475576877594, + 0.07082891464233398, + -0.17763105034828186, + 0.09517868608236313, + 0.0, + 1.0099300146102905 + ], + [ + 0.1866178959608078, + 0.052363649010658264, + 0.038140539079904556, + 0.05566521733999252, + -0.16334782540798187, + 0.10732348263263702, + 0.0, + 0.959831714630127 + ], + [ + 0.18703892827033997, + 0.048285819590091705, + 0.03911736607551575, + 0.05408501252532005, + -0.14234022796154022, + 0.12545181810855865, + 0.0, + 0.8196109533309937 + ], + [ + 0.18887412548065186, + 0.03957195207476616, + 0.052718911319971085, + 0.02983042038977146, + -0.11171073466539383, + 0.16163292527198792, + 0.0, + 0.8454146385192871 + ], + [ + 0.19387595355510712, + 0.021510154008865356, + 0.08123497664928436, + -0.013749675825238228, + -0.11429265886545181, + 0.20117495954036713, + 0.0, + 0.84995037317276 + ], + [ + 0.2131911963224411, + -0.011414059437811375, + 0.09896305948495865, + -0.05534665659070015, + -0.11735030263662338, + 0.2891239821910858, + 0.0, + 0.84995037317276 + ], + [ + 0.24878397583961487, + -0.05669675022363663, + 0.08848503977060318, + -0.06078903749585152, + -0.13386781513690948, + 0.37231746315956116, + 0.0, + 0.84995037317276 + ], + [ + 0.282140851020813, + -0.09157023578882217, + 0.06798055022954941, + -0.03395289555191994, + -0.14168192446231842, + 0.3883204460144043, + 0.0, + 0.84995037317276 + ], + [ + 0.30601051449775696, + -0.1178666353225708, + 0.05148366466164589, + -0.04737357795238495, + -0.16633808612823486, + 0.4170953631401062, + 0.0, + 0.84995037317276 + ], + [ + 0.3183823525905609, + -0.12975962460041046, + 0.03495648503303528, + -0.04250723123550415, + -0.19977930188179016, + 0.4327014684677124, + 0.0, + 0.84995037317276 + ], + [ + 0.322398841381073, + -0.128473699092865, + 0.01555587723851204, + -0.013731765560805798, + -0.22567230463027954, + 0.44632601737976074, + 0.0, + 0.84995037317276 + ], + [ + 0.32577061653137207, + -0.1272086352109909, + 0.011850197799503803, + -0.013146425597369671, + -0.24820441007614136, + 0.4400407075881958, + 0.0, + 0.84995037317276 + ], + [ + 0.328273743391037, + -0.1271132379770279, + 0.007905708625912666, + -0.017217671498656273, + -0.2627686560153961, + 0.4346156716346741, + 0.0, + 0.84995037317276 + ], + [ + 0.33759719133377075, + -0.12922246754169464, + 0.004504743032157421, + -0.03340933099389076, + -0.2645954191684723, + 0.4710635244846344, + 0.0, + 0.9173964858055115 + ], + [ + 0.3371659517288208, + -0.1284894049167633, + 0.0031238633673638105, + -0.03404329717159271, + -0.26428431272506714, + 0.4733418822288513, + 0.0, + 1.002137303352356 + ], + [ + 0.3346834182739258, + -0.1299484223127365, + 0.0029367483220994473, + -0.042935553938150406, + -0.2473979890346527, + 0.49203938245773315, + 0.0, + 1.0008161067962646 + ], + [ + 0.3288564085960388, + -0.12864141166210175, + 0.0035468372516334057, + -0.04843269661068916, + -0.2299562245607376, + 0.5049780607223511, + 0.0, + 1.0008161067962646 + ], + [ + 0.3164631426334381, + -0.124471515417099, + 0.010054927319288254, + -0.03272702917456627, + -0.2038404792547226, + 0.47474536299705505, + 0.0, + 1.0008161067962646 + ], + [ + 0.31557685136795044, + -0.12965869903564453, + 0.036331191658973694, + -0.08732611685991287, + -0.2040301114320755, + 0.4832717478275299, + 0.0, + 1.0008161067962646 + ] + ], + "left_gripper_pos": [ + [ + 1.0099300146102905 + ], + [ + 1.0099300146102905 + ], + [ + 1.0099300146102905 + ], + [ + 1.0099300146102905 + ], + [ + 1.0099300146102905 + ], + [ + 1.0099300146102905 + ], + [ + 1.0099300146102905 + ], + [ + 1.0099300146102905 + ], + [ + 1.0099300146102905 + ], + [ + 1.0099300146102905 + ], + [ + 1.0099300146102905 + ], + [ + 1.0099300146102905 + ], + [ + 1.0099300146102905 + ], + [ + 1.0099300146102905 + ], + [ + 1.0099300146102905 + ], + [ + 0.959831714630127 + ], + [ + 0.8196109533309937 + ], + [ + 0.8454146385192871 + ], + [ + 0.84995037317276 + ], + [ + 0.84995037317276 + ], + [ + 0.84995037317276 + ], + [ + 0.84995037317276 + ], + [ + 0.84995037317276 + ], + [ + 0.84995037317276 + ], + [ + 0.84995037317276 + ], + [ + 0.84995037317276 + ], + [ + 0.84995037317276 + ], + [ + 0.9173964858055115 + ], + [ + 1.002137303352356 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.26915836334228516, + -0.09874872118234634, + 0.08895837515592575 + ], + [ + 0.2650871276855469, + -0.097283735871315, + 0.08235318213701248 + ], + [ + 0.25541505217552185, + -0.08497761189937592, + 0.0759633406996727 + ], + [ + 0.2484733611345291, + -0.0626981109380722, + 0.08015798032283783 + ], + [ + 0.23921889066696167, + -0.03860713168978691, + 0.09423888474702835 + ], + [ + 0.2315296232700348, + -0.010604551993310452, + 0.10323192179203033 + ], + [ + 0.2212102860212326, + 0.016877705231308937, + 0.11625567823648453 + ], + [ + 0.2066657990217209, + 0.03366483747959137, + 0.1070583388209343 + ], + [ + 0.19354963302612305, + 0.0486583448946476, + 0.09284491091966629 + ], + [ + 0.1919049322605133, + 0.05232977494597435, + 0.0917787179350853 + ], + [ + 0.19132979214191437, + 0.05228796228766441, + 0.09108280390501022 + ], + [ + 0.19014984369277954, + 0.05368342623114586, + 0.08890284597873688 + ], + [ + 0.17898502945899963, + 0.058650095015764236, + 0.05551009625196457 + ], + [ + 0.18140020966529846, + 0.05838128179311752, + 0.04412441700696945 + ], + [ + 0.18713338673114777, + 0.05662478506565094, + 0.03834475576877594 + ], + [ + 0.1866178959608078, + 0.052363649010658264, + 0.038140539079904556 + ], + [ + 0.18703892827033997, + 0.048285819590091705, + 0.03911736607551575 + ], + [ + 0.18887412548065186, + 0.03957195207476616, + 0.052718911319971085 + ], + [ + 0.19387595355510712, + 0.021510154008865356, + 0.08123497664928436 + ], + [ + 0.2131911963224411, + -0.011414059437811375, + 0.09896305948495865 + ], + [ + 0.24878397583961487, + -0.05669675022363663, + 0.08848503977060318 + ], + [ + 0.282140851020813, + -0.09157023578882217, + 0.06798055022954941 + ], + [ + 0.30601051449775696, + -0.1178666353225708, + 0.05148366466164589 + ], + [ + 0.3183823525905609, + -0.12975962460041046, + 0.03495648503303528 + ], + [ + 0.322398841381073, + -0.128473699092865, + 0.01555587723851204 + ], + [ + 0.32577061653137207, + -0.1272086352109909, + 0.011850197799503803 + ], + [ + 0.328273743391037, + -0.1271132379770279, + 0.007905708625912666 + ], + [ + 0.33759719133377075, + -0.12922246754169464, + 0.004504743032157421 + ], + [ + 0.3371659517288208, + -0.1284894049167633, + 0.0031238633673638105 + ], + [ + 0.3346834182739258, + -0.1299484223127365, + 0.0029367483220994473 + ], + [ + 0.3288564085960388, + -0.12864141166210175, + 0.0035468372516334057 + ], + [ + 0.3164631426334381, + -0.124471515417099, + 0.010054927319288254 + ], + [ + 0.31557685136795044, + -0.12965869903564453, + 0.036331191658973694 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9460188773856404, + 0.2216359000967558, + 0.23648638738479985, + 0.20857481226565913, + -0.974793019756119, + 0.07921563181021644, + 0.24808230754803492, + -0.02561437922432662, + -0.9684002644870533 + ], + [ + 0.9526594718730836, + 0.21835133431641202, + 0.21157179739450133, + 0.20581652223736668, + -0.9753284801769029, + 0.07983680185183058, + 0.22378447181297678, + -0.03251231394495592, + -0.9740962270829981 + ], + [ + 0.9744308423458956, + 0.1501890154825557, + 0.1671161066846923, + 0.14570521854574858, + -0.9885650719272941, + 0.038846979984546434, + 0.17103953570331176, + -0.013504006581927998, + -0.9851716190759005 + ], + [ + 0.9779885240059055, + 0.12689920140513658, + 0.16563526072515283, + 0.12002640472168759, + -0.9914647536958244, + 0.050904855843665525, + 0.17068130853241203, + -0.02990375999130039, + -0.9848724059775696 + ], + [ + 0.9811270015020643, + 0.08257469987367105, + 0.17484629210921673, + 0.07224736067373166, + -0.9952899510356189, + 0.06463924692627052, + 0.17936032392713872, + -0.05078712738764409, + -0.9824716494090113 + ], + [ + 0.9808656779069814, + 0.09656723803363693, + 0.16904818970528127, + 0.08250447532281385, + -0.992667822763954, + 0.08833801673559535, + 0.1763392567064551, + -0.07270049647441226, + -0.9816410262191515 + ], + [ + 0.9841173697864717, + 0.0784548912683762, + 0.15924142840550046, + 0.06477256166941943, + -0.993889915394388, + 0.08937198292595613, + 0.16528011900811942, + -0.07763804552797168, + -0.9831860536781726 + ], + [ + 0.9920239263706826, + 0.056058282127606024, + 0.11289817763363597, + 0.04908550763381156, + -0.9967660914908498, + 0.06362367322298848, + 0.1160997090798479, + -0.05757454176071505, + -0.991567460989225 + ], + [ + 0.9925059984018908, + 0.05605986946917632, + 0.10857777936283576, + 0.049263078385994336, + -0.9967138149497987, + 0.06430178999183217, + 0.11182572264108605, + -0.058471036619143525, + -0.9920061217716761 + ], + [ + 0.9932289473373629, + 0.04074285609574021, + 0.10879465909811718, + 0.03360537126083311, + -0.9972102138594704, + 0.06665184466142308, + 0.11120673178155761, + -0.06254445660097067, + -0.9918272297910325 + ], + [ + 0.9926972944371114, + 0.05590900106581241, + 0.10689370990409958, + 0.04873551875868244, + -0.9964542893386845, + 0.06858351456333488, + 0.1103491315260837, + -0.06287314894579436, + -0.9919022312269888 + ], + [ + 0.9903019535843549, + 0.09092362881631094, + 0.10504729625213381, + 0.08186392916159058, + -0.9927897008459805, + 0.08756087594567763, + 0.11225122640415088, + -0.0781121220875606, + -0.9906049457547351 + ], + [ + 0.9873978114501746, + 0.10008117535678539, + 0.12259412825502675, + 0.08961635003139999, + -0.9920720739812581, + 0.0881017016497122, + 0.13043953292792476, + -0.07600498908446524, + -0.9885387042922574 + ], + [ + 0.9829178533774762, + 0.11217102165569376, + 0.1459114642943853, + 0.10226124498244543, + -0.9920196978019165, + 0.07375335211116912, + 0.15302003557199326, + -0.05757239854054805, + -0.9865446201970967 + ], + [ + 0.9798101885753107, + 0.10724506017522609, + 0.16873201069158864, + 0.09353967517831382, + -0.9917895532279059, + 0.08719983529529449, + 0.1766983970825706, + -0.06965614959214353, + -0.9817971772685269 + ], + [ + 0.9810113336031765, + 0.11594733278401512, + 0.15547661998638157, + 0.10569166191770388, + -0.9917371931452974, + 0.07270909388350685, + 0.1626223722099473, + -0.05489586280002967, + -0.985160092728207 + ], + [ + 0.9821074357936536, + 0.13254855008369112, + 0.13377543283251137, + 0.12385760973185846, + -0.9897309504859889, + 0.07135781780303699, + 0.1418600615759248, + -0.05351193811489175, + -0.9884392724941997 + ], + [ + 0.9808138987626053, + 0.16414008529895657, + 0.10517665326558362, + 0.15992695937555879, + -0.9859916316485731, + 0.047369504788129964, + 0.11147853452116202, + -0.02964008631963743, + -0.9933247211380467 + ], + [ + 0.9734397527902481, + 0.19826544841654986, + 0.11448082656866748, + 0.1985170417390939, + -0.9800531766054016, + 0.009314245263066743, + 0.11404399075277827, + 0.013659538419950703, + -0.9933817922547877 + ], + [ + 0.9519018220766496, + 0.2784681835823531, + 0.1278217190445318, + 0.2831517719891596, + -0.9588729285405041, + -0.019692154060848212, + 0.11708114769916347, + 0.054937943577295194, + -0.9916016474416249 + ], + [ + 0.9231528717170374, + 0.35555028728224825, + 0.14619428393100037, + 0.36052042557747577, + -0.932715917129543, + -0.008126541369574677, + 0.13346834149723646, + 0.06020806546224876, + -0.9892225182795178 + ], + [ + 0.9162722306264164, + 0.3739796034541587, + 0.14347283918275616, + 0.37484048792921354, + -0.9268278576732452, + 0.02201660395727691, + 0.14120838499140165, + 0.03360622622510143, + -0.9894093255912979 + ], + [ + 0.9016504507292388, + 0.3974834360831245, + 0.1703918505660209, + 0.39951513818202505, + -0.9164201104463715, + 0.02370307011460216, + 0.16557209626974578, + 0.046702239871477, + -0.9850912555331253 + ], + [ + 0.8897797705667205, + 0.4112901278725376, + 0.1978190855423848, + 0.4109846176215175, + -0.9105524542790158, + 0.04456312472162998, + 0.19845302710900814, + 0.04164923433932722, + -0.9792250697925471 + ], + [ + 0.8791668765305851, + 0.42884212613272876, + 0.20774993156537044, + 0.420709303601817, + -0.903280311896816, + 0.08419239872141236, + 0.22376167025281488, + 0.013383160820670412, + -0.9745520026823191 + ], + [ + 0.8770088266260179, + 0.42301763858114433, + 0.22784116280709052, + 0.4129222921234393, + -0.9060318364272841, + 0.09274422918827596, + 0.24566379197508906, + 0.012743187569629139, + -0.9692713306824796 + ], + [ + 0.8758976174158188, + 0.4169430341596427, + 0.24282065412778067, + 0.40660867954198315, + -0.9087805497175356, + 0.09374056846541502, + 0.2597551645808359, + 0.01662584496635601, + -0.9655313748153076 + ], + [ + 0.8600748923631801, + 0.44579685548403203, + 0.24806519942751531, + 0.438040069664805, + -0.8945533551288498, + 0.0888548940451253, + 0.2615187887982748, + 0.03224063380683964, + -0.9646597662581438 + ], + [ + 0.8591470219940688, + 0.44768568022032923, + 0.24787885412915633, + 0.4400355571713102, + -0.8935871997476008, + 0.08871654226904557, + 0.2612184967104302, + 0.032854956595647834, + -0.9647203992885403 + ], + [ + 0.8545360301572515, + 0.4627249235682091, + 0.23591061500466637, + 0.45804036651915786, + -0.885524587543043, + 0.07775106105847746, + 0.2448820038346639, + 0.04161550150507194, + -0.9686593592344013 + ], + [ + 0.8521470435508051, + 0.4735631024347363, + 0.22267331268027968, + 0.47105317877778563, + -0.8794975104123854, + 0.06777191115616658, + 0.22793490064263022, + 0.04713933803951037, + -0.9725346080619605 + ], + [ + 0.8709951471768349, + 0.45097593487758947, + 0.1949055149442624, + 0.4476481065700719, + -0.8919607081552217, + 0.06338192006767629, + 0.20243178178989935, + 0.03204373992716782, + -0.9787719716322321 + ], + [ + 0.8671127062476475, + 0.447260475442237, + 0.21925697656189935, + 0.45504033858500137, + -0.8903167170988985, + 0.016566034971814157, + 0.20261748425130666, + 0.08540614943564742, + -0.9755264961620712 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.004071235656738281, + 0.0014649853110313416, + -0.006605193018913269, + 0.006920482963323593, + 0.025004476308822632, + -0.004230663180351257, + 1.0 + ], + [ + -0.009672075510025024, + 0.012306123971939087, + -0.006389841437339783, + -0.019658111035823822, + 0.05381104350090027, + -0.06434515118598938, + 1.0 + ], + [ + -0.006941691040992737, + 0.02227950096130371, + 0.004194639623165131, + 0.016647350043058395, + 0.00036357343196868896, + -0.02631167322397232, + 1.0 + ], + [ + -0.009254470467567444, + 0.024090979248285294, + 0.014080904424190521, + 0.02129349857568741, + -0.008815109729766846, + -0.04861270636320114, + 1.0 + ], + [ + -0.00768926739692688, + 0.028002578765153885, + 0.008993037045001984, + 0.02227795124053955, + 0.0030700117349624634, + 0.010411955416202545, + 1.0 + ], + [ + -0.010319337248802185, + 0.027482256293296814, + 0.013023756444454193, + 0.004877045750617981, + 0.011224150657653809, + -0.01819327473640442, + 1.0 + ], + [ + -0.014544486999511719, + 0.016787132248282433, + -0.009197339415550232, + -0.02080320194363594, + 0.04967990517616272, + -0.01628328487277031, + 1.0 + ], + [ + -0.01311616599559784, + 0.014993507415056229, + -0.014213427901268005, + 0.0008750483393669128, + 0.004302017390727997, + 0.00015449896454811096, + 1.0 + ], + [ + -0.0016447007656097412, + 0.0036714300513267517, + -0.0010661929845809937, + 0.004102345556020737, + 0.000622875988483429, + -0.015772778540849686, + 1.0 + ], + [ + -0.000575140118598938, + -4.1812658309936523e-05, + -0.0006959140300750732, + 0.0003253072500228882, + 0.0008629113435745239, + 0.015233088284730911, + 1.0 + ], + [ + -0.0011799484491348267, + 0.0013954639434814453, + -0.002179957926273346, + 0.015388377010822296, + -0.0019139871001243591, + 0.03342343866825104, + 1.0 + ], + [ + -0.011164814233779907, + 0.004966668784618378, + -0.03339274972677231, + -0.001954890787601471, + -0.018323980271816254, + 0.008034050464630127, + 1.0 + ], + [ + 0.002415180206298828, + -0.00026881322264671326, + -0.011385679244995117, + -0.018443726003170013, + -0.022811293601989746, + 0.013153351843357086, + 1.0 + ], + [ + 0.005733177065849304, + -0.0017564967274665833, + -0.005779661238193512, + 0.012537404894828796, + -0.024007469415664673, + -0.008486807346343994, + 1.0 + ], + [ + -0.0005154907703399658, + -0.004261136054992676, + -0.00020421668887138367, + -0.015163697302341461, + 0.014283224940299988, + 0.012144796550273895, + 0.0 + ], + [ + 0.00042103230953216553, + -0.004077829420566559, + 0.0009768269956111908, + -0.00158020481467247, + 0.02100759744644165, + 0.01812833547592163, + 0.0 + ], + [ + 0.0018351972103118896, + -0.008713867515325546, + 0.013601545244455338, + -0.02425459213554859, + 0.030629493296146393, + 0.03618110716342926, + 0.0 + ], + [ + 0.005001828074455261, + -0.018061798065900803, + 0.028516065329313278, + -0.04358009621500969, + -0.0025819242000579834, + 0.03954203426837921, + 0.0 + ], + [ + 0.019315242767333984, + -0.032924212515354156, + 0.017728082835674286, + -0.04159697890281677, + -0.00305764377117157, + 0.08794902265071869, + 0.0 + ], + [ + 0.03559277951717377, + -0.04528269171714783, + -0.010478019714355469, + -0.005442380905151367, + -0.016517512500286102, + 0.08319348096847534, + 0.0 + ], + [ + 0.03335687518119812, + -0.03487348556518555, + -0.020504489541053772, + 0.02683614194393158, + -0.007814109325408936, + 0.01600298285484314, + 0.0 + ], + [ + 0.02386966347694397, + -0.026296399533748627, + -0.01649688556790352, + -0.013420682400465012, + -0.024656161665916443, + 0.028774917125701904, + 0.0 + ], + [ + 0.012371838092803955, + -0.01189298927783966, + -0.01652717962861061, + 0.004866346716880798, + -0.0334412157535553, + 0.015606105327606201, + 0.0 + ], + [ + 0.004016488790512085, + 0.0012859255075454712, + -0.01940060779452324, + 0.028775464743375778, + -0.02589300274848938, + 0.01362454891204834, + 0.0 + ], + [ + 0.0033717751502990723, + 0.0012650638818740845, + -0.003705679439008236, + 0.0005853399634361267, + -0.022532105445861816, + -0.006285309791564941, + 0.0 + ], + [ + 0.002503126859664917, + 9.53972339630127e-05, + -0.003944489173591137, + -0.004071245901286602, + -0.01456424593925476, + -0.0054250359535217285, + 0.0 + ], + [ + 0.009323447942733765, + -0.002109229564666748, + -0.003400965593755245, + -0.01619165949523449, + -0.0018267631530761719, + 0.03644785284996033, + 1.0 + ], + [ + -0.00043123960494995117, + 0.0007330626249313354, + -0.0013808796647936106, + -0.0006339661777019501, + 0.00031110644340515137, + 0.002278357744216919, + 1.0 + ], + [ + -0.0024825334548950195, + -0.0014590173959732056, + -0.0001871150452643633, + -0.008892256766557693, + 0.01688632369041443, + 0.018697500228881836, + 1.0 + ], + [ + -0.005827009677886963, + 0.0013070106506347656, + 0.0006100889295339584, + -0.005497142672538757, + 0.0174417644739151, + 0.01293867826461792, + 1.0 + ], + [ + -0.012393265962600708, + 0.004169896245002747, + 0.006508090067654848, + 0.015705667436122894, + 0.026115745306015015, + -0.03023269772529602, + 1.0 + ], + [ + -0.0008862912654876709, + -0.005187183618545532, + 0.02627626433968544, + -0.0545990876853466, + -0.00018963217735290527, + 0.008526384830474854, + 1.0 + ], + [ + 0.000562518835067749, + -0.0020439177751541138, + 0.02645808458328247, + -0.04807991534471512, + 0.0030194073915481567, + -0.00801190733909607, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0099300146102905 + ], + [ + 1.0099300146102905 + ], + [ + 1.0099300146102905 + ], + [ + 1.0099300146102905 + ], + [ + 1.0099300146102905 + ], + [ + 1.0099300146102905 + ], + [ + 1.0099300146102905 + ], + [ + 1.0099300146102905 + ], + [ + 1.0099300146102905 + ], + [ + 1.0099300146102905 + ], + [ + 1.0099300146102905 + ], + [ + 1.0099300146102905 + ], + [ + 1.0099300146102905 + ], + [ + 1.0099300146102905 + ], + [ + 0.959831714630127 + ], + [ + 0.8196109533309937 + ], + [ + 0.8454146385192871 + ], + [ + 0.84995037317276 + ], + [ + 0.84995037317276 + ], + [ + 0.84995037317276 + ], + [ + 0.84995037317276 + ], + [ + 0.84995037317276 + ], + [ + 0.84995037317276 + ], + [ + 0.84995037317276 + ], + [ + 0.84995037317276 + ], + [ + 0.84995037317276 + ], + [ + 0.9173964858055115 + ], + [ + 1.002137303352356 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2650871276855469, + -0.097283735871315, + 0.08235318213701248 + ], + [ + 0.25541505217552185, + -0.08497761189937592, + 0.0759633406996727 + ], + [ + 0.2484733611345291, + -0.0626981109380722, + 0.08015798032283783 + ], + [ + 0.23921889066696167, + -0.03860713168978691, + 0.09423888474702835 + ], + [ + 0.2315296232700348, + -0.010604551993310452, + 0.10323192179203033 + ], + [ + 0.2212102860212326, + 0.016877705231308937, + 0.11625567823648453 + ], + [ + 0.2066657990217209, + 0.03366483747959137, + 0.1070583388209343 + ], + [ + 0.19354963302612305, + 0.0486583448946476, + 0.09284491091966629 + ], + [ + 0.1919049322605133, + 0.05232977494597435, + 0.0917787179350853 + ], + [ + 0.19132979214191437, + 0.05228796228766441, + 0.09108280390501022 + ], + [ + 0.19014984369277954, + 0.05368342623114586, + 0.08890284597873688 + ], + [ + 0.17898502945899963, + 0.058650095015764236, + 0.05551009625196457 + ], + [ + 0.18140020966529846, + 0.05838128179311752, + 0.04412441700696945 + ], + [ + 0.18713338673114777, + 0.05662478506565094, + 0.03834475576877594 + ], + [ + 0.1866178959608078, + 0.052363649010658264, + 0.038140539079904556 + ], + [ + 0.18703892827033997, + 0.048285819590091705, + 0.03911736607551575 + ], + [ + 0.18887412548065186, + 0.03957195207476616, + 0.052718911319971085 + ], + [ + 0.19387595355510712, + 0.021510154008865356, + 0.08123497664928436 + ], + [ + 0.2131911963224411, + -0.011414059437811375, + 0.09896305948495865 + ], + [ + 0.24878397583961487, + -0.05669675022363663, + 0.08848503977060318 + ], + [ + 0.282140851020813, + -0.09157023578882217, + 0.06798055022954941 + ], + [ + 0.30601051449775696, + -0.1178666353225708, + 0.05148366466164589 + ], + [ + 0.3183823525905609, + -0.12975962460041046, + 0.03495648503303528 + ], + [ + 0.322398841381073, + -0.128473699092865, + 0.01555587723851204 + ], + [ + 0.32577061653137207, + -0.1272086352109909, + 0.011850197799503803 + ], + [ + 0.328273743391037, + -0.1271132379770279, + 0.007905708625912666 + ], + [ + 0.33759719133377075, + -0.12922246754169464, + 0.004504743032157421 + ], + [ + 0.3371659517288208, + -0.1284894049167633, + 0.0031238633673638105 + ], + [ + 0.3346834182739258, + -0.1299484223127365, + 0.0029367483220994473 + ], + [ + 0.3288564085960388, + -0.12864141166210175, + 0.0035468372516334057 + ], + [ + 0.3164631426334381, + -0.124471515417099, + 0.010054927319288254 + ], + [ + 0.31557685136795044, + -0.12965869903564453, + 0.036331191658973694 + ], + [ + 0.3161393702030182, + -0.13170261681079865, + 0.06278927624225616 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9526594718730836, + 0.21835133431641202, + 0.21157179739450133, + 0.20581652223736668, + -0.9753284801769029, + 0.07983680185183058, + 0.22378447181297678, + -0.03251231394495592, + -0.9740962270829981 + ], + [ + 0.9744308423458956, + 0.1501890154825557, + 0.1671161066846923, + 0.14570521854574858, + -0.9885650719272941, + 0.038846979984546434, + 0.17103953570331176, + -0.013504006581927998, + -0.9851716190759005 + ], + [ + 0.9779885240059055, + 0.12689920140513658, + 0.16563526072515283, + 0.12002640472168759, + -0.9914647536958244, + 0.050904855843665525, + 0.17068130853241203, + -0.02990375999130039, + -0.9848724059775696 + ], + [ + 0.9811270015020643, + 0.08257469987367105, + 0.17484629210921673, + 0.07224736067373166, + -0.9952899510356189, + 0.06463924692627052, + 0.17936032392713872, + -0.05078712738764409, + -0.9824716494090113 + ], + [ + 0.9808656779069814, + 0.09656723803363693, + 0.16904818970528127, + 0.08250447532281385, + -0.992667822763954, + 0.08833801673559535, + 0.1763392567064551, + -0.07270049647441226, + -0.9816410262191515 + ], + [ + 0.9841173697864717, + 0.0784548912683762, + 0.15924142840550046, + 0.06477256166941943, + -0.993889915394388, + 0.08937198292595613, + 0.16528011900811942, + -0.07763804552797168, + -0.9831860536781726 + ], + [ + 0.9920239263706826, + 0.056058282127606024, + 0.11289817763363597, + 0.04908550763381156, + -0.9967660914908498, + 0.06362367322298848, + 0.1160997090798479, + -0.05757454176071505, + -0.991567460989225 + ], + [ + 0.9925059984018908, + 0.05605986946917632, + 0.10857777936283576, + 0.049263078385994336, + -0.9967138149497987, + 0.06430178999183217, + 0.11182572264108605, + -0.058471036619143525, + -0.9920061217716761 + ], + [ + 0.9932289473373629, + 0.04074285609574021, + 0.10879465909811718, + 0.03360537126083311, + -0.9972102138594704, + 0.06665184466142308, + 0.11120673178155761, + -0.06254445660097067, + -0.9918272297910325 + ], + [ + 0.9926972944371114, + 0.05590900106581241, + 0.10689370990409958, + 0.04873551875868244, + -0.9964542893386845, + 0.06858351456333488, + 0.1103491315260837, + -0.06287314894579436, + -0.9919022312269888 + ], + [ + 0.9903019535843549, + 0.09092362881631094, + 0.10504729625213381, + 0.08186392916159058, + -0.9927897008459805, + 0.08756087594567763, + 0.11225122640415088, + -0.0781121220875606, + -0.9906049457547351 + ], + [ + 0.9873978114501746, + 0.10008117535678539, + 0.12259412825502675, + 0.08961635003139999, + -0.9920720739812581, + 0.0881017016497122, + 0.13043953292792476, + -0.07600498908446524, + -0.9885387042922574 + ], + [ + 0.9829178533774762, + 0.11217102165569376, + 0.1459114642943853, + 0.10226124498244543, + -0.9920196978019165, + 0.07375335211116912, + 0.15302003557199326, + -0.05757239854054805, + -0.9865446201970967 + ], + [ + 0.9798101885753107, + 0.10724506017522609, + 0.16873201069158864, + 0.09353967517831382, + -0.9917895532279059, + 0.08719983529529449, + 0.1766983970825706, + -0.06965614959214353, + -0.9817971772685269 + ], + [ + 0.9810113336031765, + 0.11594733278401512, + 0.15547661998638157, + 0.10569166191770388, + -0.9917371931452974, + 0.07270909388350685, + 0.1626223722099473, + -0.05489586280002967, + -0.985160092728207 + ], + [ + 0.9821074357936536, + 0.13254855008369112, + 0.13377543283251137, + 0.12385760973185846, + -0.9897309504859889, + 0.07135781780303699, + 0.1418600615759248, + -0.05351193811489175, + -0.9884392724941997 + ], + [ + 0.9808138987626053, + 0.16414008529895657, + 0.10517665326558362, + 0.15992695937555879, + -0.9859916316485731, + 0.047369504788129964, + 0.11147853452116202, + -0.02964008631963743, + -0.9933247211380467 + ], + [ + 0.9734397527902481, + 0.19826544841654986, + 0.11448082656866748, + 0.1985170417390939, + -0.9800531766054016, + 0.009314245263066743, + 0.11404399075277827, + 0.013659538419950703, + -0.9933817922547877 + ], + [ + 0.9519018220766496, + 0.2784681835823531, + 0.1278217190445318, + 0.2831517719891596, + -0.9588729285405041, + -0.019692154060848212, + 0.11708114769916347, + 0.054937943577295194, + -0.9916016474416249 + ], + [ + 0.9231528717170374, + 0.35555028728224825, + 0.14619428393100037, + 0.36052042557747577, + -0.932715917129543, + -0.008126541369574677, + 0.13346834149723646, + 0.06020806546224876, + -0.9892225182795178 + ], + [ + 0.9162722306264164, + 0.3739796034541587, + 0.14347283918275616, + 0.37484048792921354, + -0.9268278576732452, + 0.02201660395727691, + 0.14120838499140165, + 0.03360622622510143, + -0.9894093255912979 + ], + [ + 0.9016504507292388, + 0.3974834360831245, + 0.1703918505660209, + 0.39951513818202505, + -0.9164201104463715, + 0.02370307011460216, + 0.16557209626974578, + 0.046702239871477, + -0.9850912555331253 + ], + [ + 0.8897797705667205, + 0.4112901278725376, + 0.1978190855423848, + 0.4109846176215175, + -0.9105524542790158, + 0.04456312472162998, + 0.19845302710900814, + 0.04164923433932722, + -0.9792250697925471 + ], + [ + 0.8791668765305851, + 0.42884212613272876, + 0.20774993156537044, + 0.420709303601817, + -0.903280311896816, + 0.08419239872141236, + 0.22376167025281488, + 0.013383160820670412, + -0.9745520026823191 + ], + [ + 0.8770088266260179, + 0.42301763858114433, + 0.22784116280709052, + 0.4129222921234393, + -0.9060318364272841, + 0.09274422918827596, + 0.24566379197508906, + 0.012743187569629139, + -0.9692713306824796 + ], + [ + 0.8758976174158188, + 0.4169430341596427, + 0.24282065412778067, + 0.40660867954198315, + -0.9087805497175356, + 0.09374056846541502, + 0.2597551645808359, + 0.01662584496635601, + -0.9655313748153076 + ], + [ + 0.8600748923631801, + 0.44579685548403203, + 0.24806519942751531, + 0.438040069664805, + -0.8945533551288498, + 0.0888548940451253, + 0.2615187887982748, + 0.03224063380683964, + -0.9646597662581438 + ], + [ + 0.8591470219940688, + 0.44768568022032923, + 0.24787885412915633, + 0.4400355571713102, + -0.8935871997476008, + 0.08871654226904557, + 0.2612184967104302, + 0.032854956595647834, + -0.9647203992885403 + ], + [ + 0.8545360301572515, + 0.4627249235682091, + 0.23591061500466637, + 0.45804036651915786, + -0.885524587543043, + 0.07775106105847746, + 0.2448820038346639, + 0.04161550150507194, + -0.9686593592344013 + ], + [ + 0.8521470435508051, + 0.4735631024347363, + 0.22267331268027968, + 0.47105317877778563, + -0.8794975104123854, + 0.06777191115616658, + 0.22793490064263022, + 0.04713933803951037, + -0.9725346080619605 + ], + [ + 0.8709951471768349, + 0.45097593487758947, + 0.1949055149442624, + 0.4476481065700719, + -0.8919607081552217, + 0.06338192006767629, + 0.20243178178989935, + 0.03204373992716782, + -0.9787719716322321 + ], + [ + 0.8671127062476475, + 0.447260475442237, + 0.21925697656189935, + 0.45504033858500137, + -0.8903167170988985, + 0.016566034971814157, + 0.20261748425130666, + 0.08540614943564742, + -0.9755264961620712 + ], + [ + 0.8712705911695192, + 0.42941564160262863, + 0.2376757533071463, + 0.4483564727493257, + -0.8933675823600064, + -0.02950993276882688, + 0.19965978640402232, + 0.13227459897969956, + -0.97089618402683 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006102.json b/json/chunk-0006/episode_0006102.json new file mode 100644 index 0000000000000000000000000000000000000000..45440bfffda831634301e4b89048430c8d6e5e15 --- /dev/null +++ b/json/chunk-0006/episode_0006102.json @@ -0,0 +1,5782 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 95, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nSweep into pile." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006102.mp4", + "start": 0, + "end": 95, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.33731797337532043, + -0.08238812536001205, + 0.11454620957374573, + 0.09533225744962692, + -0.20975381135940552, + -0.3902203440666199, + 0.0, + 1.0001531839370728 + ], + [ + 0.33618947863578796, + -0.08176910877227783, + 0.10200963169336319, + 0.0891486406326294, + -0.17668437957763672, + -0.3843062222003937, + 0.0, + 1.0001531839370728 + ], + [ + 0.340743750333786, + -0.08475194871425629, + 0.08361572027206421, + 0.08068989217281342, + -0.18761324882507324, + -0.37273359298706055, + 0.0, + 1.0001531839370728 + ], + [ + 0.34527522325515747, + -0.08497432619333267, + 0.06369245797395706, + 0.07460586726665497, + -0.2004159688949585, + -0.3672383427619934, + 0.0, + 1.0001531839370728 + ], + [ + 0.3508756458759308, + -0.07749951630830765, + 0.041873496025800705, + 0.1009838804602623, + -0.19222033023834229, + -0.3391773998737335, + 0.0, + 1.0001531839370728 + ], + [ + 0.3511468172073364, + -0.0756552517414093, + 0.017504332587122917, + 0.10456646978855133, + -0.13516546785831451, + -0.31508368253707886, + 0.0, + 1.0001531839370728 + ], + [ + 0.35226961970329285, + -0.07096219807863235, + 0.011363519355654716, + 0.09128256142139435, + -0.10733427107334137, + -0.2939814329147339, + 0.0, + 0.9628177285194397 + ], + [ + 0.35188883543014526, + -0.06790615618228912, + 0.0102927815169096, + 0.07046002894639969, + -0.09317434579133987, + -0.2772597670555115, + 0.0, + 0.6831957101821899 + ], + [ + 0.35197991132736206, + -0.06722676753997803, + 0.010077712126076221, + 0.043112095445394516, + -0.09518700838088989, + -0.2583179175853729, + 0.0, + 0.41842639446258545 + ], + [ + 0.3505866229534149, + -0.07272088527679443, + 0.013658914715051651, + 0.0060068233869969845, + -0.07650129497051239, + -0.2537211775779724, + 0.0, + 0.39798861742019653 + ], + [ + 0.3653942942619324, + -0.07720371335744858, + 0.04347076639533043, + -0.06025309860706329, + -0.13500049710273743, + -0.18449285626411438, + 0.0, + 0.39798861742019653 + ], + [ + 0.3800041079521179, + -0.0650288388133049, + 0.07984428852796555, + -0.08987744152545929, + -0.202239990234375, + -0.07217995077371597, + 0.0, + 0.39798861742019653 + ], + [ + 0.37982940673828125, + -0.04112721607089043, + 0.08278042823076248, + -0.059654600918293, + -0.17495375871658325, + 0.0862470418214798, + 0.0, + 0.39798861742019653 + ], + [ + 0.37276381254196167, + -0.0016113390447571874, + 0.07621713727712631, + 0.03223196417093277, + -0.16072681546211243, + 0.32344919443130493, + 0.0, + 0.39798861742019653 + ], + [ + 0.35813894867897034, + 0.02597254142165184, + 0.07539734244346619, + 0.10144466906785965, + -0.17605681717395782, + 0.5462608933448792, + 0.0, + 0.3962334990501404 + ], + [ + 0.33860719203948975, + 0.05408328026533127, + 0.0698142945766449, + 0.13795596361160278, + -0.17791378498077393, + 0.786880612373352, + 0.0, + 0.3962334990501404 + ], + [ + 0.3214148283004761, + 0.07710549980401993, + 0.07283276319503784, + 0.11870747804641724, + -0.19855736196041107, + 0.9055660963058472, + 0.0, + 0.3962334990501404 + ], + [ + 0.3016979694366455, + 0.09907884150743484, + 0.06314988434314728, + 0.12022306025028229, + -0.18429510295391083, + 0.9492579102516174, + 0.0, + 0.3962334990501404 + ], + [ + 0.28382426500320435, + 0.1134275496006012, + 0.05139651522040367, + 0.1209869384765625, + -0.17930611968040466, + 0.9690027832984924, + 0.0, + 0.3962334990501404 + ], + [ + 0.272161066532135, + 0.1305384486913681, + 0.04646927863359451, + 0.12494858354330063, + -0.17881405353546143, + 1.0281615257263184, + 0.0, + 0.3962334990501404 + ], + [ + 0.2596180737018585, + 0.14370980858802795, + 0.04011813551187515, + 0.13402853906154633, + -0.18514181673526764, + 1.0801515579223633, + 0.0, + 0.3962334990501404 + ], + [ + 0.24944624304771423, + 0.15674705803394318, + 0.03958415240049362, + 0.1338272988796234, + -0.17706088721752167, + 1.1631861925125122, + 0.0, + 0.3962334990501404 + ], + [ + 0.23667852580547333, + 0.1612846553325653, + 0.03189593553543091, + 0.17041434347629547, + -0.132402703166008, + 1.234209418296814, + 0.0, + 0.3962334990501404 + ], + [ + 0.23444892466068268, + 0.1601172834634781, + 0.03347636014223099, + 0.1667107194662094, + -0.10278885811567307, + 1.296146273612976, + 0.0, + 0.3962334990501404 + ], + [ + 0.23385217785835266, + 0.1600741595029831, + 0.025370584800839424, + 0.18917247653007507, + -0.09004586189985275, + 1.3188798427581787, + 0.0, + 0.3962334990501404 + ], + [ + 0.23455001413822174, + 0.16157010197639465, + 0.02052694372832775, + 0.20390018820762634, + -0.09408806264400482, + 1.324796199798584, + 0.0, + 0.3962334990501404 + ], + [ + 0.2369803488254547, + 0.16367021203041077, + 0.02087816409766674, + 0.2034289389848709, + -0.10571840405464172, + 1.3336710929870605, + 0.0, + 0.3962334990501404 + ], + [ + 0.24234366416931152, + 0.16112670302391052, + 0.014271499589085579, + 0.23474416136741638, + -0.14621195197105408, + 1.2999008893966675, + 0.0, + 0.3962334990501404 + ], + [ + 0.2450086772441864, + 0.16202200949192047, + 0.012092800810933113, + 0.25223496556282043, + -0.1552295982837677, + 1.285177230834961, + 0.0, + 0.3962334990501404 + ], + [ + 0.24894478917121887, + 0.16333280503749847, + 0.010080385021865368, + 0.2607885003089905, + -0.1531188040971756, + 1.2915878295898438, + 0.0, + 0.3953573703765869 + ], + [ + 0.25101277232170105, + 0.16291771829128265, + 0.010154410265386105, + 0.2572905719280243, + -0.14365004003047943, + 1.3095624446868896, + 0.0, + 0.3953573703765869 + ], + [ + 0.25547513365745544, + 0.1634945422410965, + 0.009382588788866997, + 0.25971272587776184, + -0.13180799782276154, + 1.3198397159576416, + 0.0, + 0.3953573703765869 + ], + [ + 0.26306647062301636, + 0.1655568778514862, + 0.008891145698726177, + 0.25345808267593384, + -0.1318337768316269, + 1.332460641860962, + 0.0, + 0.3953573703765869 + ], + [ + 0.267665833234787, + 0.16745489835739136, + 0.008885798044502735, + 0.2550228238105774, + -0.1299961358308792, + 1.3387600183486938, + 0.0, + 0.3953573703765869 + ], + [ + 0.27206769585609436, + 0.1682797223329544, + 0.00921567715704441, + 0.2501038908958435, + -0.12990358471870422, + 1.345017433166504, + 0.0, + 0.3953573703765869 + ], + [ + 0.28017011284828186, + 0.16808100044727325, + 0.008517556823790073, + 0.24953290820121765, + -0.1307840198278427, + 1.3408877849578857, + 0.0, + 0.3953573703765869 + ], + [ + 0.28803256154060364, + 0.1643591970205307, + 0.008299860171973705, + 0.2480790615081787, + -0.12254030257463455, + 1.3459219932556152, + 0.0, + 0.3953573703765869 + ], + [ + 0.29750359058380127, + 0.15632016956806183, + 0.007709156256169081, + 0.2459753006696701, + -0.11006531864404678, + 1.3501518964767456, + 0.0, + 0.3953573703765869 + ], + [ + 0.30963587760925293, + 0.152909517288208, + 0.008151703514158726, + 0.24132183194160461, + -0.112006776034832, + 1.3591936826705933, + 0.0, + 0.3953573703765869 + ], + [ + 0.3181852698326111, + 0.15038898587226868, + 0.006729424465447664, + 0.2418815642595291, + -0.1116681918501854, + 1.3676211833953857, + 0.0, + 0.3953573703765869 + ], + [ + 0.32687556743621826, + 0.1492963582277298, + 0.005844473838806152, + 0.2410852015018463, + -0.11496277898550034, + 1.3774306774139404, + 0.0, + 0.3953573703765869 + ], + [ + 0.3341382145881653, + 0.14694294333457947, + 0.005666914861649275, + 0.24101394414901733, + -0.11849361658096313, + 1.3900105953216553, + 0.0, + 0.3953573703765869 + ], + [ + 0.3421572744846344, + 0.14241096377372742, + 0.005918819457292557, + 0.23935146629810333, + -0.11816280335187912, + 1.3908567428588867, + 0.0, + 0.39448216557502747 + ], + [ + 0.35406363010406494, + 0.13589705526828766, + 0.005752916913479567, + 0.22354531288146973, + -0.1139727458357811, + 1.3961776494979858, + 0.0, + 0.39448216557502747 + ], + [ + 0.3609704375267029, + 0.12765425443649292, + 0.005907254759222269, + 0.21328450739383698, + -0.09923408180475235, + 1.4086506366729736, + 0.0, + 0.39448216557502747 + ], + [ + 0.3607732057571411, + 0.1210285946726799, + 0.008007602766156197, + 0.20430630445480347, + -0.07857269793748856, + 1.424984335899353, + 0.0, + 0.39448216557502747 + ], + [ + 0.3563748002052307, + 0.11213693022727966, + 0.010961965657770634, + 0.18542759120464325, + -0.037376321852207184, + 1.4184643030166626, + 0.0, + 0.39448216557502747 + ], + [ + 0.3494924306869507, + 0.10867201536893845, + 0.017158029600977898, + 0.16754116117954254, + -0.015286765061318874, + 1.3797348737716675, + 0.0, + 0.39448216557502747 + ], + [ + 0.3383628726005554, + 0.11504515260457993, + 0.025360042229294777, + 0.12416909635066986, + -0.02437836118042469, + 1.3502578735351562, + 0.0, + 0.39448216557502747 + ], + [ + 0.3250364363193512, + 0.12025376409292221, + 0.03359495848417282, + 0.10775774717330933, + -0.04332023486495018, + 1.3186191320419312, + 0.0, + 0.39448216557502747 + ], + [ + 0.30806997418403625, + 0.12433893978595734, + 0.026702309027314186, + 0.13930602371692657, + -0.041303761303424835, + 1.294958233833313, + 0.0, + 0.39448216557502747 + ], + [ + 0.2937650680541992, + 0.13396744430065155, + 0.0187597144395113, + 0.18052057921886444, + -0.051662180572748184, + 1.2711704969406128, + 0.0, + 0.39448216557502747 + ], + [ + 0.28997254371643066, + 0.14635616540908813, + 0.018556594848632812, + 0.17308177053928375, + -0.052164703607559204, + 1.2696093320846558, + 0.0, + 0.39448216557502747 + ], + [ + 0.2826439440250397, + 0.16244584321975708, + 0.019238121807575226, + 0.16656306385993958, + -0.04309029132127762, + 1.295944094657898, + 0.0, + 0.39448216557502747 + ], + [ + 0.28495174646377563, + 0.16988663375377655, + 0.02370375022292137, + 0.15574133396148682, + -0.053190868347883224, + 1.309827208518982, + 0.0, + 0.39448216557502747 + ], + [ + 0.2804091274738312, + 0.1716555505990982, + 0.023916756734251976, + 0.16740043461322784, + -0.04188680276274681, + 1.3402538299560547, + 0.0, + 0.39273425936698914 + ], + [ + 0.27909889817237854, + 0.1731492280960083, + 0.02495010942220688, + 0.17136090993881226, + -0.03959843888878822, + 1.3590878248214722, + 0.0, + 0.3918617069721222 + ], + [ + 0.27840495109558105, + 0.17680399119853973, + 0.02646898478269577, + 0.17791365087032318, + -0.03751232847571373, + 1.3911539316177368, + 0.0, + 0.3918617069721222 + ], + [ + 0.27733686566352844, + 0.18193165957927704, + 0.02279006503522396, + 0.1886293739080429, + -0.05057103559374809, + 1.4066628217697144, + 0.0, + 0.3918617069721222 + ], + [ + 0.2801344394683838, + 0.18614114820957184, + 0.01166755985468626, + 0.21765735745429993, + -0.055490754544734955, + 1.428983211517334, + 0.0, + 0.3918617069721222 + ], + [ + 0.2869097888469696, + 0.1916455328464508, + 0.011003918014466763, + 0.2308533936738968, + -0.07687316834926605, + 1.4563428163528442, + 0.0, + 0.3918617069721222 + ], + [ + 0.29376766085624695, + 0.1949077695608139, + 0.010508364997804165, + 0.22382502257823944, + -0.08522599935531616, + 1.4701416492462158, + 0.0, + 0.3918617069721222 + ], + [ + 0.30427229404449463, + 0.19588185846805573, + 0.010220090858638287, + 0.2121162861585617, + -0.0949481949210167, + 1.4571362733840942, + 0.0, + 0.3918617069721222 + ], + [ + 0.31493163108825684, + 0.19199898838996887, + 0.009893086738884449, + 0.20489992201328278, + -0.09406588226556778, + 1.4560096263885498, + 0.0, + 0.3918617069721222 + ], + [ + 0.324052095413208, + 0.18846680223941803, + 0.01024731807410717, + 0.19573256373405457, + -0.09480449557304382, + 1.4548419713974, + 0.0, + 0.3918617069721222 + ], + [ + 0.3372707664966583, + 0.17730852961540222, + 0.009427102282643318, + 0.18783628940582275, + -0.08868385851383209, + 1.437294363975525, + 0.0, + 0.3918617069721222 + ], + [ + 0.3466797471046448, + 0.16286735236644745, + 0.010531263425946236, + 0.17864088714122772, + -0.07903897017240524, + 1.4170029163360596, + 0.0, + 0.3918617069721222 + ], + [ + 0.35557132959365845, + 0.1513567864894867, + 0.010040804743766785, + 0.17222066223621368, + -0.06822559982538223, + 1.3957632780075073, + 0.0, + 0.3918617069721222 + ], + [ + 0.364816814661026, + 0.1467614620923996, + 0.009501571767032146, + 0.1623644232749939, + -0.06967666000127792, + 1.3942627906799316, + 0.0, + 0.3918617069721222 + ], + [ + 0.37494805455207825, + 0.14696475863456726, + 0.0076722754165530205, + 0.16136758029460907, + -0.07752765715122223, + 1.4064325094223022, + 0.0, + 0.3918617069721222 + ], + [ + 0.3807734251022339, + 0.14671646058559418, + 0.007845984771847725, + 0.16719217598438263, + -0.07947295904159546, + 1.4135150909423828, + 0.0, + 0.3918617069721222 + ], + [ + 0.38543701171875, + 0.145783931016922, + 0.009310628287494183, + 0.1600324958562851, + -0.07630059123039246, + 1.4173743724822998, + 0.0, + 0.3918617069721222 + ], + [ + 0.38576701283454895, + 0.1357288807630539, + 0.011644214391708374, + 0.1505548357963562, + -0.022723229601979256, + 1.4280052185058594, + 0.0, + 0.3918617069721222 + ], + [ + 0.3867553472518921, + 0.11883983761072159, + 0.019999153912067413, + 0.1238858699798584, + 0.07467495650053024, + 1.4054986238479614, + 0.0, + 0.3918617069721222 + ], + [ + 0.3949342966079712, + 0.1077975332736969, + 0.04741483926773071, + 0.046145837754011154, + 0.12670651078224182, + 1.3676121234893799, + 0.0, + 0.3918617069721222 + ], + [ + 0.3975701928138733, + 0.09828285872936249, + 0.07348858565092087, + -0.036719925701618195, + 0.1284407526254654, + 1.2718942165374756, + 0.0, + 0.3918617069721222 + ], + [ + 0.3945242166519165, + 0.06085233762860298, + 0.06656836718320847, + -0.04498033598065376, + 0.09649354964494705, + 1.0206218957901, + 0.0, + 0.3918617069721222 + ], + [ + 0.393558531999588, + 0.016222259029746056, + 0.05567074567079544, + -0.002508364152163267, + 0.051598723977804184, + 0.7472512722015381, + 0.0, + 0.3918617069721222 + ], + [ + 0.3795127272605896, + -0.008677391335368156, + 0.04561268165707588, + 0.030050629749894142, + 0.007394351530820131, + 0.48836472630500793, + 0.0, + 0.3918617069721222 + ], + [ + 0.371176540851593, + -0.013339830562472343, + 0.046031102538108826, + 0.032108817249536514, + -0.04911630228161812, + 0.24556873738765717, + 0.0, + 0.3918617069721222 + ], + [ + 0.36909565329551697, + -0.026512807235121727, + 0.0341581366956234, + 0.0666300430893898, + -0.08077370375394821, + -0.026951929554343224, + 0.0, + 0.3918617069721222 + ], + [ + 0.3656737506389618, + -0.023181622847914696, + 0.023869318887591362, + 0.07019967585802078, + -0.08227138221263885, + -0.28862980008125305, + 0.0, + 0.3918617069721222 + ], + [ + 0.3663237988948822, + -0.01782013103365898, + 0.02251606062054634, + 0.053870316594839096, + -0.08798559010028839, + -0.5227595567703247, + 0.0, + 0.3918617069721222 + ], + [ + 0.36716732382774353, + -0.008582924492657185, + 0.010986650362610817, + 0.022315939888358116, + -0.08081278949975967, + -0.6816202998161316, + 0.0, + 0.3918617069721222 + ], + [ + 0.3702099621295929, + -0.0021589798852801323, + 0.00908778328448534, + 0.005671229213476181, + -0.14832869172096252, + -0.621804416179657, + 0.0, + 0.3918617069721222 + ], + [ + 0.3652505576610565, + -0.0008642851025797427, + 0.00716441823169589, + 0.012857258319854736, + -0.1839917153120041, + -0.5477164387702942, + 0.0, + 0.3918617069721222 + ], + [ + 0.36585184931755066, + 0.0075191594660282135, + 0.006654493976384401, + 0.01648629643023014, + -0.184090256690979, + -0.5049577355384827, + 0.0, + 0.3918617069721222 + ], + [ + 0.3750670552253723, + 0.02211134321987629, + 0.007451505865901709, + 0.03646039962768555, + -0.17584240436553955, + -0.4660683274269104, + 0.0, + 0.3918617069721222 + ], + [ + 0.3869604766368866, + 0.050177838653326035, + 0.0074538118205964565, + 0.04187196493148804, + -0.15832820534706116, + -0.3925090730190277, + 0.0, + 0.3918617069721222 + ], + [ + 0.39611509442329407, + 0.06735667586326599, + 0.007014312781393528, + 0.039325639605522156, + -0.14074546098709106, + -0.3390486538410187, + 0.0, + 0.3918617069721222 + ], + [ + 0.40081048011779785, + 0.09048058092594147, + 0.007741512730717659, + 0.0408935472369194, + -0.13447777926921844, + -0.24328143894672394, + 0.0, + 0.3918617069721222 + ], + [ + 0.400396466255188, + 0.1117570698261261, + 0.007989595644176006, + 0.042060211300849915, + -0.13719049096107483, + -0.12119907885789871, + 0.0, + 0.3918617069721222 + ], + [ + 0.397447794675827, + 0.1231064647436142, + 0.008633318357169628, + 0.03784580156207085, + -0.13767364621162415, + -0.0006440017023123801, + 0.0, + 0.3918617069721222 + ], + [ + 0.39583930373191833, + 0.1335391402244568, + 0.01037966925650835, + 0.026566406711935997, + -0.14179328083992004, + 0.11575452983379364, + 0.0, + 0.3918617069721222 + ], + [ + 0.3947103023529053, + 0.13924185931682587, + 0.010750381276011467, + 0.01963776908814907, + -0.1227593868970871, + 0.15162277221679688, + 0.0, + 0.3918617069721222 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9628177285194397 + ], + [ + 0.6831957101821899 + ], + [ + 0.41842639446258545 + ], + [ + 0.39798861742019653 + ], + [ + 0.39798861742019653 + ], + [ + 0.39798861742019653 + ], + [ + 0.39798861742019653 + ], + [ + 0.39798861742019653 + ], + [ + 0.3962334990501404 + ], + [ + 0.3962334990501404 + ], + [ + 0.3962334990501404 + ], + [ + 0.3962334990501404 + ], + [ + 0.3962334990501404 + ], + [ + 0.3962334990501404 + ], + [ + 0.3962334990501404 + ], + [ + 0.3962334990501404 + ], + [ + 0.3962334990501404 + ], + [ + 0.3962334990501404 + ], + [ + 0.3962334990501404 + ], + [ + 0.3962334990501404 + ], + [ + 0.3962334990501404 + ], + [ + 0.3962334990501404 + ], + [ + 0.3962334990501404 + ], + [ + 0.3953573703765869 + ], + [ + 0.3953573703765869 + ], + [ + 0.3953573703765869 + ], + [ + 0.3953573703765869 + ], + [ + 0.3953573703765869 + ], + [ + 0.3953573703765869 + ], + [ + 0.3953573703765869 + ], + [ + 0.3953573703765869 + ], + [ + 0.3953573703765869 + ], + [ + 0.3953573703765869 + ], + [ + 0.3953573703765869 + ], + [ + 0.3953573703765869 + ], + [ + 0.3953573703765869 + ], + [ + 0.39448216557502747 + ], + [ + 0.39448216557502747 + ], + [ + 0.39448216557502747 + ], + [ + 0.39448216557502747 + ], + [ + 0.39448216557502747 + ], + [ + 0.39448216557502747 + ], + [ + 0.39448216557502747 + ], + [ + 0.39448216557502747 + ], + [ + 0.39448216557502747 + ], + [ + 0.39448216557502747 + ], + [ + 0.39448216557502747 + ], + [ + 0.39448216557502747 + ], + [ + 0.39448216557502747 + ], + [ + 0.39273425936698914 + ], + [ + 0.3918617069721222 + ], + [ + 0.3918617069721222 + ], + [ + 0.3918617069721222 + ], + [ + 0.3918617069721222 + ], + [ + 0.3918617069721222 + ], + [ + 0.3918617069721222 + ], + [ + 0.3918617069721222 + ], + [ + 0.3918617069721222 + ], + [ + 0.3918617069721222 + ], + [ + 0.3918617069721222 + ], + [ + 0.3918617069721222 + ], + [ + 0.3918617069721222 + ], + [ + 0.3918617069721222 + ], + [ + 0.3918617069721222 + ], + [ + 0.3918617069721222 + ], + [ + 0.3918617069721222 + ], + [ + 0.3918617069721222 + ], + [ + 0.3918617069721222 + ], + [ + 0.3918617069721222 + ], + [ + 0.3918617069721222 + ], + [ + 0.3918617069721222 + ], + [ + 0.3918617069721222 + ], + [ + 0.3918617069721222 + ], + [ + 0.3918617069721222 + ], + [ + 0.3918617069721222 + ], + [ + 0.3918617069721222 + ], + [ + 0.3918617069721222 + ], + [ + 0.3918617069721222 + ], + [ + 0.3918617069721222 + ], + [ + 0.3918617069721222 + ], + [ + 0.3918617069721222 + ], + [ + 0.3918617069721222 + ], + [ + 0.3918617069721222 + ], + [ + 0.3918617069721222 + ], + [ + 0.3918617069721222 + ], + [ + 0.3918617069721222 + ], + [ + 0.3918617069721222 + ], + [ + 0.3918617069721222 + ], + [ + 0.3918617069721222 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.33731797337532043, + -0.08238812536001205, + 0.11454620957374573 + ], + [ + 0.33618947863578796, + -0.08176910877227783, + 0.10200963169336319 + ], + [ + 0.340743750333786, + -0.08475194871425629, + 0.08361572027206421 + ], + [ + 0.34527522325515747, + -0.08497432619333267, + 0.06369245797395706 + ], + [ + 0.3508756458759308, + -0.07749951630830765, + 0.041873496025800705 + ], + [ + 0.3511468172073364, + -0.0756552517414093, + 0.017504332587122917 + ], + [ + 0.35226961970329285, + -0.07096219807863235, + 0.011363519355654716 + ], + [ + 0.35188883543014526, + -0.06790615618228912, + 0.0102927815169096 + ], + [ + 0.35197991132736206, + -0.06722676753997803, + 0.010077712126076221 + ], + [ + 0.3505866229534149, + -0.07272088527679443, + 0.013658914715051651 + ], + [ + 0.3653942942619324, + -0.07720371335744858, + 0.04347076639533043 + ], + [ + 0.3800041079521179, + -0.0650288388133049, + 0.07984428852796555 + ], + [ + 0.37982940673828125, + -0.04112721607089043, + 0.08278042823076248 + ], + [ + 0.37276381254196167, + -0.0016113390447571874, + 0.07621713727712631 + ], + [ + 0.35813894867897034, + 0.02597254142165184, + 0.07539734244346619 + ], + [ + 0.33860719203948975, + 0.05408328026533127, + 0.0698142945766449 + ], + [ + 0.3214148283004761, + 0.07710549980401993, + 0.07283276319503784 + ], + [ + 0.3016979694366455, + 0.09907884150743484, + 0.06314988434314728 + ], + [ + 0.28382426500320435, + 0.1134275496006012, + 0.05139651522040367 + ], + [ + 0.272161066532135, + 0.1305384486913681, + 0.04646927863359451 + ], + [ + 0.2596180737018585, + 0.14370980858802795, + 0.04011813551187515 + ], + [ + 0.24944624304771423, + 0.15674705803394318, + 0.03958415240049362 + ], + [ + 0.23667852580547333, + 0.1612846553325653, + 0.03189593553543091 + ], + [ + 0.23444892466068268, + 0.1601172834634781, + 0.03347636014223099 + ], + [ + 0.23385217785835266, + 0.1600741595029831, + 0.025370584800839424 + ], + [ + 0.23455001413822174, + 0.16157010197639465, + 0.02052694372832775 + ], + [ + 0.2369803488254547, + 0.16367021203041077, + 0.02087816409766674 + ], + [ + 0.24234366416931152, + 0.16112670302391052, + 0.014271499589085579 + ], + [ + 0.2450086772441864, + 0.16202200949192047, + 0.012092800810933113 + ], + [ + 0.24894478917121887, + 0.16333280503749847, + 0.010080385021865368 + ], + [ + 0.25101277232170105, + 0.16291771829128265, + 0.010154410265386105 + ], + [ + 0.25547513365745544, + 0.1634945422410965, + 0.009382588788866997 + ], + [ + 0.26306647062301636, + 0.1655568778514862, + 0.008891145698726177 + ], + [ + 0.267665833234787, + 0.16745489835739136, + 0.008885798044502735 + ], + [ + 0.27206769585609436, + 0.1682797223329544, + 0.00921567715704441 + ], + [ + 0.28017011284828186, + 0.16808100044727325, + 0.008517556823790073 + ], + [ + 0.28803256154060364, + 0.1643591970205307, + 0.008299860171973705 + ], + [ + 0.29750359058380127, + 0.15632016956806183, + 0.007709156256169081 + ], + [ + 0.30963587760925293, + 0.152909517288208, + 0.008151703514158726 + ], + [ + 0.3181852698326111, + 0.15038898587226868, + 0.006729424465447664 + ], + [ + 0.32687556743621826, + 0.1492963582277298, + 0.005844473838806152 + ], + [ + 0.3341382145881653, + 0.14694294333457947, + 0.005666914861649275 + ], + [ + 0.3421572744846344, + 0.14241096377372742, + 0.005918819457292557 + ], + [ + 0.35406363010406494, + 0.13589705526828766, + 0.005752916913479567 + ], + [ + 0.3609704375267029, + 0.12765425443649292, + 0.005907254759222269 + ], + [ + 0.3607732057571411, + 0.1210285946726799, + 0.008007602766156197 + ], + [ + 0.3563748002052307, + 0.11213693022727966, + 0.010961965657770634 + ], + [ + 0.3494924306869507, + 0.10867201536893845, + 0.017158029600977898 + ], + [ + 0.3383628726005554, + 0.11504515260457993, + 0.025360042229294777 + ], + [ + 0.3250364363193512, + 0.12025376409292221, + 0.03359495848417282 + ], + [ + 0.30806997418403625, + 0.12433893978595734, + 0.026702309027314186 + ], + [ + 0.2937650680541992, + 0.13396744430065155, + 0.0187597144395113 + ], + [ + 0.28997254371643066, + 0.14635616540908813, + 0.018556594848632812 + ], + [ + 0.2826439440250397, + 0.16244584321975708, + 0.019238121807575226 + ], + [ + 0.28495174646377563, + 0.16988663375377655, + 0.02370375022292137 + ], + [ + 0.2804091274738312, + 0.1716555505990982, + 0.023916756734251976 + ], + [ + 0.27909889817237854, + 0.1731492280960083, + 0.02495010942220688 + ], + [ + 0.27840495109558105, + 0.17680399119853973, + 0.02646898478269577 + ], + [ + 0.27733686566352844, + 0.18193165957927704, + 0.02279006503522396 + ], + [ + 0.2801344394683838, + 0.18614114820957184, + 0.01166755985468626 + ], + [ + 0.2869097888469696, + 0.1916455328464508, + 0.011003918014466763 + ], + [ + 0.29376766085624695, + 0.1949077695608139, + 0.010508364997804165 + ], + [ + 0.30427229404449463, + 0.19588185846805573, + 0.010220090858638287 + ], + [ + 0.31493163108825684, + 0.19199898838996887, + 0.009893086738884449 + ], + [ + 0.324052095413208, + 0.18846680223941803, + 0.01024731807410717 + ], + [ + 0.3372707664966583, + 0.17730852961540222, + 0.009427102282643318 + ], + [ + 0.3466797471046448, + 0.16286735236644745, + 0.010531263425946236 + ], + [ + 0.35557132959365845, + 0.1513567864894867, + 0.010040804743766785 + ], + [ + 0.364816814661026, + 0.1467614620923996, + 0.009501571767032146 + ], + [ + 0.37494805455207825, + 0.14696475863456726, + 0.0076722754165530205 + ], + [ + 0.3807734251022339, + 0.14671646058559418, + 0.007845984771847725 + ], + [ + 0.38543701171875, + 0.145783931016922, + 0.009310628287494183 + ], + [ + 0.38576701283454895, + 0.1357288807630539, + 0.011644214391708374 + ], + [ + 0.3867553472518921, + 0.11883983761072159, + 0.019999153912067413 + ], + [ + 0.3949342966079712, + 0.1077975332736969, + 0.04741483926773071 + ], + [ + 0.3975701928138733, + 0.09828285872936249, + 0.07348858565092087 + ], + [ + 0.3945242166519165, + 0.06085233762860298, + 0.06656836718320847 + ], + [ + 0.393558531999588, + 0.016222259029746056, + 0.05567074567079544 + ], + [ + 0.3795127272605896, + -0.008677391335368156, + 0.04561268165707588 + ], + [ + 0.371176540851593, + -0.013339830562472343, + 0.046031102538108826 + ], + [ + 0.36909565329551697, + -0.026512807235121727, + 0.0341581366956234 + ], + [ + 0.3656737506389618, + -0.023181622847914696, + 0.023869318887591362 + ], + [ + 0.3663237988948822, + -0.01782013103365898, + 0.02251606062054634 + ], + [ + 0.36716732382774353, + -0.008582924492657185, + 0.010986650362610817 + ], + [ + 0.3702099621295929, + -0.0021589798852801323, + 0.00908778328448534 + ], + [ + 0.3652505576610565, + -0.0008642851025797427, + 0.00716441823169589 + ], + [ + 0.36585184931755066, + 0.0075191594660282135, + 0.006654493976384401 + ], + [ + 0.3750670552253723, + 0.02211134321987629, + 0.007451505865901709 + ], + [ + 0.3869604766368866, + 0.050177838653326035, + 0.0074538118205964565 + ], + [ + 0.39611509442329407, + 0.06735667586326599, + 0.007014312781393528 + ], + [ + 0.40081048011779785, + 0.09048058092594147, + 0.007741512730717659 + ], + [ + 0.400396466255188, + 0.1117570698261261, + 0.007989595644176006 + ], + [ + 0.397447794675827, + 0.1231064647436142, + 0.008633318357169628 + ], + [ + 0.39583930373191833, + 0.1335391402244568, + 0.01037966925650835 + ], + [ + 0.3947103023529053, + 0.13924185931682587, + 0.010750381276011467 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.904555135074826, + -0.3603349793840382, + 0.2279006587135461, + -0.3720548459733078, + -0.9281652828170535, + 0.009186912480133265, + 0.2082191134299195, + -0.09310161333427133, + -0.9736410480238672 + ], + [ + 0.912626200210108, + -0.35892004871731314, + 0.1956778406432931, + -0.36907931534808996, + -0.9292442246657787, + 0.01690058896848204, + 0.17576654309693177, + -0.08764456374503787, + -0.9805225916692063 + ], + [ + 0.9149924645463161, + -0.3489765755161418, + 0.20249478898106243, + -0.35777242614874427, + -0.9337797469128699, + 0.007367180123884022, + 0.18651455951506785, + -0.079187966234542, + -0.9792556280627327 + ], + [ + 0.9146409274093135, + -0.34419139844322383, + 0.21204776618849086, + -0.35185270446473177, + -0.9360538164295149, + -0.0017108794797284568, + 0.19907699080678587, + -0.07304473961510122, + -0.9772578051598652 + ], + [ + 0.9256604290514296, + -0.31285460455414404, + 0.21277867961239316, + -0.32658375107160675, + -0.9446320879225827, + 0.03183193369905316, + 0.19103880135805423, + -0.0989556207412812, + -0.9765817740974821 + ], + [ + 0.9420985170299215, + -0.29483065922554225, + 0.15976628740336415, + -0.30706948810737594, + -0.9499359752161204, + 0.05770591359360069, + 0.13475427148516025, + -0.10342400771015495, + -0.985466773131227 + ], + [ + 0.951589882652427, + -0.27921232109007676, + 0.12851916193716756, + -0.2880975934347816, + -0.9559427043743381, + 0.05633225195715092, + 0.10712829640495232, + -0.09063126229380516, + -0.9901058036414109 + ], + [ + 0.9576371744801152, + -0.2667419264024853, + 0.10853472602274467, + -0.27253380864247845, + -0.961215503329439, + 0.04230932882896944, + 0.09303958942603976, + -0.07009636836687091, + -0.9931918918019869 + ], + [ + 0.9624443743407829, + -0.2512569386379683, + 0.10281428444557311, + -0.25429823302627874, + -0.9669690938727459, + 0.017412069797507708, + 0.09504333211483817, + -0.0429036394866108, + -0.9945481600904562 + ], + [ + 0.9651539213646512, + -0.2505588232497895, + 0.07548631774114715, + -0.2502735864742469, + -0.9680828504585179, + -0.013368865375500711, + 0.07642669682613744, + -0.00598921862945085, + -0.9970572146433996 + ], + [ + 0.9740850867535784, + -0.19108218958227552, + 0.12102000077969141, + -0.18177887488389005, + -0.9797587646029252, + -0.08384034726607731, + 0.13459080358709594, + 0.05966875235994726, + -0.9891031066484356 + ], + [ + 0.977068328856347, + -0.08980812520733861, + 0.1930595281062521, + -0.0706474763433454, + -0.992070216124976, + -0.10395008592617924, + 0.20086417010552732, + 0.08792716829562172, + -0.9756651055784108 + ], + [ + 0.9810743587486345, + 0.07564802452166346, + 0.1782427529857121, + 0.08482519116218103, + -0.9954047500354517, + -0.0444305137395391, + 0.17406260238849477, + 0.05870911337117715, + -0.982982934977467 + ], + [ + 0.93592435042399, + 0.32256362851519815, + 0.1414154017161556, + 0.31374222878241687, + -0.9460130888359067, + 0.08139440785329442, + 0.16003569652447555, + -0.03181102497965241, + -0.9865985173958401 + ], + [ + 0.8412644887755435, + 0.5319812885859018, + 0.09628067573353774, + 0.5114655288258415, + -0.8408654814777681, + 0.1770543839673653, + 0.17514871609042812, + -0.09970531908401112, + -0.9794803604964368 + ], + [ + 0.6949126654755491, + 0.7186099560749589, + 0.026384055632394696, + 0.696976071019089, + -0.682114824562503, + 0.2212322818642425, + 0.17697667583176446, + -0.13534805924730323, + -0.9748641746774405 + ], + [ + 0.6051128537668115, + 0.7956569768641926, + 0.027720197934353985, + 0.7713162796331496, + -0.5945168614220767, + 0.22720232890030187, + 0.19725524322324897, + -0.1161020096819069, + -0.9734529738866485 + ], + [ + 0.5724259237229457, + 0.8199130847542059, + 0.00843180281876918, + 0.7992162867232712, + -0.5602155792313288, + 0.21774258155623258, + 0.18325361902619605, + -0.11790266424194576, + -0.9759698114585577 + ], + [ + 0.5570455938449422, + 0.8304815833518461, + 0.0007389799365204036, + 0.811105790689438, + -0.5442399383854419, + 0.21426685645771748, + 0.17834686060594784, + -0.1187570173910632, + -0.9767748809896688 + ], + [ + 0.5081603577441268, + 0.861121355224941, + -0.015590458393574591, + 0.842696816379908, + -0.49338652991550896, + 0.21548041154847417, + 0.17786266185045221, + -0.12263663267349303, + -0.9763837001128082 + ], + [ + 0.46314204638501527, + 0.885709752651852, + -0.031901080353107306, + 0.8669554866330027, + -0.44527182799941994, + 0.22387760805178403, + 0.18408592848784944, + -0.13134395017453232, + -0.9740950352431308 + ], + [ + 0.3902186758164531, + 0.9191783257236589, + -0.053297190956986165, + 0.9037173673276021, + -0.37129564027871786, + 0.21315362417863123, + 0.176137176753013, + -0.13134212207006737, + -0.9755639097135613 + ], + [ + 0.3273768018422573, + 0.9376090566254917, + -0.11710545055372604, + 0.9356260758777558, + -0.304350956012777, + 0.17881370672211022, + 0.13201619504109158, + -0.16810637259772304, + -0.9768889249750496 + ], + [ + 0.2697786417633772, + 0.9537935301544945, + -0.13227768626542874, + 0.9574398639043761, + -0.25106148350258495, + 0.14239746664969632, + 0.10260795025278269, + -0.1650637250788587, + -0.9809309737224194 + ], + [ + 0.24825055782343153, + 0.9553747387919241, + -0.16009612430854903, + 0.964512982923884, + -0.22843747632566114, + 0.13240477778854864, + 0.08992422538797312, + -0.1872843503558862, + -0.9781810700479474 + ], + [ + 0.24244934205948343, + 0.9544349961302179, + -0.17398894992738628, + 0.9656043935358372, + -0.22003054512576958, + 0.13854499051190833, + 0.09394930398471125, + -0.2015946362718205, + -0.9749528865064305 + ], + [ + 0.2335977828530147, + 0.9569817955104737, + -0.17209857322972136, + 0.9665905389856245, + -0.20934350546640967, + 0.14791222621039596, + 0.10552158921109858, + -0.2009008207563754, + -0.9739117282535308 + ], + [ + 0.26473911109361375, + 0.9461737040741967, + -0.18619485700705485, + 0.9532508448964958, + -0.22760404763871528, + 0.1987692737889593, + 0.1456915569327203, + -0.23011240561296947, + -0.9621965760807569 + ], + [ + 0.2783637564670747, + 0.9399978086235022, + -0.19727579392452788, + 0.9479505856788443, + -0.23581418316160851, + 0.21396578729077087, + 0.15460694097185668, + -0.24656802469670924, + -0.9567135950745593 + ], + [ + 0.27237047942366904, + 0.9396084562197947, + -0.20724447143114497, + 0.9500271629680067, + -0.22847270757149857, + 0.21271721020620057, + 0.15252118397613193, + -0.254825765760063, + -0.954882776859713 + ], + [ + 0.25561257400931786, + 0.9436801189462422, + -0.21007152380543365, + 0.9561215545410219, + -0.21457933280674918, + 0.19946749829049798, + 0.14315650509281946, + -0.2518403125748859, + -0.9571220779042728 + ], + [ + 0.24617667130269483, + 0.9445709601518735, + -0.21721590122293613, + 0.9602729177280998, + -0.20730912571976368, + 0.18681233864835814, + 0.13142667151033918, + -0.2545753869310122, + -0.9580805824066357 + ], + [ + 0.23403705355338916, + 0.948468319905344, + -0.21362233895354257, + 0.9633000413246625, + -0.19651272049451413, + 0.182854535267104, + 0.1314522268657007, + -0.2485771446046059, + -0.9596508298502477 + ], + [ + 0.2280194251184069, + 0.9492444870665825, + -0.21666113066808218, + 0.9649886653345873, + -0.19069715278184607, + 0.18008740016078084, + 0.12963031105587602, + -0.250138960769005, + -0.9594928257996299 + ], + [ + 0.22197935094764798, + 0.9514738430698091, + -0.2131260042951809, + 0.9664082648292178, + -0.1856526919276219, + 0.17773053662724375, + 0.12953854029840486, + -0.24541924116498293, + -0.9607232497672586 + ], + [ + 0.22594229462714666, + 0.9508692961633853, + -0.2116545797103575, + 0.9653719067650115, + -0.18947239400580973, + 0.17932454806465653, + 0.1304115068830422, + -0.24484238506323946, + -0.9607523329917231 + ], + [ + 0.22131177851515782, + 0.9516713598083488, + -0.21293830000961902, + 0.967512264499325, + -0.18689950569377212, + 0.17026036771607234, + 0.12223385265075407, + -0.24370104163083184, + -0.9621167743960198 + ], + [ + 0.21753414663469828, + 0.9522404566104474, + -0.21428254208460323, + 0.9698522367280982, + -0.18617225365527745, + 0.15724671978270244, + 0.10984322446750328, + -0.24202893373157103, + -0.9640313590725875 + ], + [ + 0.20871099456535364, + 0.9549750884279408, + -0.2108608575093711, + 0.9715691321417764, + -0.1778247386470065, + 0.156306697855207, + 0.11177272572866813, + -0.237488826699637, + -0.9649382959422916 + ], + [ + 0.2005234051200968, + 0.9563046055951164, + -0.21277186213550434, + 0.9733305320771778, + -0.16976288374767323, + 0.15429918544189286, + 0.1114362567811715, + -0.238037947855468, + -0.9648419021038411 + ], + [ + 0.1908944442103157, + 0.9582443801928532, + -0.21290143024049807, + 0.9748851177847072, + -0.15972816797916506, + 0.155196390022183, + 0.11470971315251627, + -0.23718056451327257, + -0.964669405301958 + ], + [ + 0.17854175108175596, + 0.9603436788430956, + -0.21415616177633007, + 0.9768048408716915, + -0.14684868880210789, + 0.1558453253926192, + 0.11821652156230106, + -0.23701367281912455, + -0.9642869764372529 + ], + [ + 0.17772215562102744, + 0.9608085743251112, + -0.21274801739325871, + 0.9769939865567919, + -0.14637125098685544, + 0.15510708274095608, + 0.11788802158524053, + -0.23541949874190538, + -0.9647176135941686 + ], + [ + 0.17260547238809443, + 0.9646689752528583, + -0.19905054404920128, + 0.9784036547549413, + -0.14458140770456984, + 0.14772442217974224, + 0.1137261591009586, + -0.22024982345229066, + -0.9687911931914834 + ], + [ + 0.16064191085805624, + 0.9679067323243306, + -0.19326337986568723, + 0.982028031603612, + -0.1370826682815236, + 0.1297277426056313, + 0.09907129564413433, + -0.21062976897403268, + -0.9725327648986115 + ], + [ + 0.14484757823254663, + 0.971124763663576, + -0.18956759343181467, + 0.9863357463332139, + -0.1265179207945542, + 0.10552256262584253, + 0.07849187592017563, + -0.20226198139340573, + -0.9761808829808875 + ], + [ + 0.15163758196376698, + 0.9725213293943084, + -0.17665873204941993, + 0.987729570634755, + -0.14233272914089357, + 0.06427821955365068, + 0.03736762007225178, + -0.1842380473421055, + -0.9821710659970104 + ], + [ + 0.18987895164346352, + 0.9685398683261488, + -0.16086176421246107, + 0.9816885029066471, + -0.18473938955276464, + 0.04646548405620755, + 0.015286169686519205, + -0.16673896188485177, + -0.9858825749580307 + ], + [ + 0.21869006624207804, + 0.9689276065722482, + -0.11555928413247676, + 0.9754898606118233, + -0.21412500569239107, + 0.05069530334024575, + 0.0243759465572432, + -0.12381346921643241, + -0.9920060675570641 + ], + [ + 0.24927879560044747, + 0.9639168147009667, + -0.09340479859585817, + 0.9674629775608323, + -0.24355535330995354, + 0.06852865767832028, + 0.04330668670216013, + -0.10744842581818581, + -0.9932670168066968 + ], + [ + 0.2721211587224258, + 0.9544376622682181, + -0.12246968530841854, + 0.9613766401381053, + -0.2641981528808355, + 0.077164057767349, + 0.04129201826421695, + -0.1387374673919537, + -0.9894679804669447 + ], + [ + 0.29476892334773475, + 0.9426578968356949, + -0.15654830360537816, + 0.954172245754614, + -0.28150811679904375, + 0.10153081112574841, + 0.051639202743785195, + -0.17930217430237788, + -0.9824378469045388 + ], + [ + 0.2962504481642648, + 0.9433801792631094, + -0.14922972001573834, + 0.9536859981121653, + -0.28364612967296865, + 0.1001393535347035, + 0.05214104877421557, + -0.17198462284474408, + -0.9837187608954481 + ], + [ + 0.2711527889575235, + 0.9510835364031285, + -0.1480414530578382, + 0.961571911378541, + -0.26077475877899103, + 0.08588355157757802, + 0.04307695774281428, + -0.16564006751591961, + -0.9852450171124671 + ], + [ + 0.2576520636100859, + 0.9565747874203149, + -0.13630880451843133, + 0.9647739698441674, + -0.24692669985512244, + 0.09076558824678085, + 0.05316579002131097, + -0.15489312757652599, + -0.9864996288904381 + ], + [ + 0.22830527309910087, + 0.961527966486676, + -0.15277654250290618, + 0.9726886572200277, + -0.21851894523329807, + 0.07827034361510182, + 0.04187455540831704, + -0.16647354215647658, + -0.9851563740702445 + ], + [ + 0.20996583788084716, + 0.964772478912348, + -0.15851943368659133, + 0.9769069198079101, + -0.20045293025433591, + 0.07396953956780107, + 0.03958809106809732, + -0.170389808045476, + -0.9845811781462261 + ], + [ + 0.17855203407615278, + 0.9695626657335725, + -0.16753330517505155, + 0.9832154678719878, + -0.16932688260484635, + 0.06793931530853681, + 0.03750353136088082, + -0.1768520399739092, + -0.9835226693333154 + ], + [ + 0.16318864855337623, + 0.97060965926043, + -0.17687949099224312, + 0.9852990483847094, + -0.15114794213991312, + 0.07962464969502765, + 0.05054948303898904, + -0.18727303312869648, + -0.9810064020317448 + ], + [ + 0.14112070980783098, + 0.9682969811153956, + -0.20612108486553476, + 0.9884375957367733, + -0.1261470725877294, + 0.0841310609207638, + 0.055462280853216875, + -0.21561046458916863, + -0.9749031043966379 + ], + [ + 0.1138665148131256, + 0.9691091748499189, + -0.21877345365930906, + 0.9905233789725408, + -0.09371719653838106, + 0.1004018066660497, + 0.07679747725760666, + -0.2281326243541157, + -0.9705965450135147 + ], + [ + 0.10012008870972655, + 0.9720189803999143, + -0.21249722252083056, + 0.9913274261572608, + -0.0791799537886324, + 0.10488312097974004, + 0.08512286405647565, + -0.2211552320437862, + -0.9715165780132018 + ], + [ + 0.11290464440245673, + 0.9735435232955667, + -0.19865938065344096, + 0.9890725150591706, + -0.09104300835418877, + 0.11596003873897893, + 0.09480559702296677, + -0.20958096020171557, + -0.9731843195890721 + ], + [ + 0.11402844433258896, + 0.9748271581990846, + -0.19159730040004833, + 0.9890273964401501, + -0.09315335449822337, + 0.1146615089580903, + 0.09392722168736575, + -0.2025696526709394, + -0.9747528983505858 + ], + [ + 0.11517515127083472, + 0.9764484984775424, + -0.18243632958019368, + 0.9888243965959406, + -0.09519872005315427, + 0.11473236856665706, + 0.09466254394645446, + -0.19361181141963904, + -0.97650062429698 + ], + [ + 0.1325826696270897, + 0.9758703043106233, + -0.1734905901749281, + 0.9872069721412676, + -0.1143730975732466, + 0.11109090290014885, + 0.08856765702119299, + -0.18599984869937797, + -0.9785498589308488 + ], + [ + 0.1527096174206668, + 0.9746202455441416, + -0.1636922408750974, + 0.9851119794764277, + -0.13688564798881242, + 0.10400340026517238, + 0.07895670104093949, + -0.17713750689834232, + -0.9810138342605429 + ], + [ + 0.17373554955908072, + 0.9721879049042019, + -0.15705615676369677, + 0.9824298672399883, + -0.1600602672928954, + 0.0959805542229587, + 0.06817268348997016, + -0.17097189357349224, + -0.9829145928480617 + ], + [ + 0.1751919199348771, + 0.9734870654801614, + -0.1470738744045177, + 0.9820696541678552, + -0.16222893795825927, + 0.09602586136851304, + 0.06962029554778724, + -0.16125974399012138, + -0.9844533048428856 + ], + [ + 0.16313326544891626, + 0.9757423272246698, + -0.14599468677372582, + 0.983559369139248, + -0.14922297763305103, + 0.10170285308058007, + 0.07745001667125392, + -0.1601855605493543, + -0.9840437394288484 + ], + [ + 0.1561391982199975, + 0.9759541812186064, + -0.15209860926759333, + 0.9845394280817529, + -0.14140102139661764, + 0.10338213433881395, + 0.07938932756782639, + -0.16588908134628078, + -0.9829436135193186 + ], + [ + 0.15237615165752, + 0.9774823875157579, + -0.14597839053277073, + 0.9853786161299614, + -0.13886400184059028, + 0.0987206759833967, + 0.07622657856579108, + -0.1588866611434396, + -0.9843498045059201 + ], + [ + 0.142269629569251, + 0.9791107621591495, + -0.1452634431863613, + 0.9895671256682597, + -0.13732339366353236, + 0.04357968964309958, + 0.022721274147513557, + -0.14994799424086883, + -0.988432770968392 + ], + [ + 0.16408741358825907, + 0.9772928923242649, + -0.1340668613580122, + 0.9836205208784271, + -0.17237818831181762, + -0.05269185042477747, + -0.07460557357709409, + -0.12322484654812271, + -0.989570434877894 + ], + [ + 0.20017140037471975, + 0.9772100909487073, + -0.07065301564719345, + 0.9715773787914516, + -0.20728360123360495, + -0.11432806164874659, + -0.1263677470431256, + -0.04575966354385475, + -0.990927467426147 + ], + [ + 0.29204556255379277, + 0.9564008485792448, + -0.0026088751482839373, + 0.9477884154439413, + -0.2897788495158794, + -0.13313653864929986, + -0.12808789538009407, + 0.036409273683416433, + -0.9910942719272189 + ], + [ + 0.5204037517323953, + 0.8538361343578978, + -0.011991282150343202, + 0.8484679089273138, + -0.5186142655313405, + -0.10555307247020063, + -0.09634387735273446, + 0.044755996828914686, + -0.994341368969677 + ], + [ + 0.7325834333124865, + 0.6797177371316669, + -0.0361290888993266, + 0.6787204482869496, + -0.7334695104010073, + -0.03689214536006867, + -0.05157583070830196, + 0.0025050230961924137, + -0.9986659394141946 + ], + [ + 0.8830771383658043, + 0.46877437633719554, + -0.020624058410897022, + 0.4691695772933261, + -0.8828068106302408, + 0.023066054002896137, + -0.007394284148208079, + -0.03004528572898204, + -0.9995211880532598 + ], + [ + 0.9688294339595788, + 0.24451160578933753, + 0.03979450373960984, + 0.24281485957217394, + -0.969116059628289, + 0.04306979151893266, + 0.049096556544300105, + -0.03206458490076687, + -0.9982792147143172 + ], + [ + 0.996377580515148, + -0.021518691803464364, + 0.08227188432172695, + -0.026860802628495495, + -0.9975634360965895, + 0.0643870192299571, + 0.08068589919516987, + -0.06636367128356727, + -0.9945278522016534 + ], + [ + 0.9553923188237177, + -0.2784121717270511, + 0.09855039201782584, + -0.28367621375919627, + -0.9579143926130332, + 0.04390697179321992, + 0.0821786035406232, + -0.0699047856661533, + -0.9941629635331838 + ], + [ + 0.8630930959329538, + -0.4944492619424971, + 0.1029088680211207, + -0.49734173345331784, + -0.8675500612209797, + 0.0028445458553126024, + 0.08787211115318411, + -0.053635982698127894, + -0.9946867212552343 + ], + [ + 0.774018525374361, + -0.628496416282115, + 0.07673054866113266, + -0.6279958755979682, + -0.7774944249945521, + -0.033520133268413806, + 0.0807248574433008, + -0.022241263968790795, + -0.9964882455743418 + ], + [ + 0.803903400107654, + -0.5818121736193036, + 0.12342575875292115, + -0.5761065906538982, + -0.81330383902821, + -0.08147430040888341, + 0.14778538324372506, + -0.0056089259539221364, + -0.9890035492601372 + ], + [ + 0.8393062050923462, + -0.5186878907523792, + 0.16287408044355142, + -0.5119496363054462, + -0.8548702270139905, + -0.084287987588801, + 0.18295536062167164, + -0.01263989524863278, + -0.9830399631082644 + ], + [ + 0.8604069174360227, + -0.48106361831597694, + 0.1681598393225375, + -0.47559627274070576, + -0.8765358682911701, + -0.07411516008343387, + 0.1830522378540886, + -0.016206996383810127, + -0.9829695882807492 + ], + [ + 0.8795662309675152, + -0.4433820435096211, + 0.17255610344126315, + -0.4424478236706712, + -0.8956138991447992, + -0.04599638015905046, + 0.17493761365322819, + -0.03589020969403309, + -0.9839251618783982 + ], + [ + 0.9123956664186097, + -0.3760745995381666, + 0.16156126851058297, + -0.3777235677619625, + -0.9256669041794438, + -0.02157982539360733, + 0.15766754345049963, + -0.04133615958276821, + -0.9866267114026624 + ], + [ + 0.9337461239013671, + -0.3271316580704892, + 0.1452689037172992, + -0.3293013041369463, + -0.9441766715810475, + -0.009542742574437626, + 0.14028124319694277, + -0.0389267405543814, + -0.9893461889939905 + ], + [ + 0.9617900870480197, + -0.2353675588289283, + 0.13986400790436973, + -0.23871385897200648, + -0.9710616898046918, + 0.007408652262696304, + 0.1340728234611908, + -0.040513045362790504, + -0.9901430054111259 + ], + [ + 0.9833374375853376, + -0.1150873522218231, + 0.14072094798455426, + -0.11976659253314813, + -0.9924817131664543, + 0.02521928514407462, + 0.13676054678195926, + -0.04165273566945277, + -0.9897280446946776 + ], + [ + 0.990537737681638, + 0.004549144122617551, + 0.13716521248587016, + -0.0006379080774599117, + -0.9992870700046179, + 0.037748440959464016, + 0.13723914638989476, + -0.03747875410598761, + -0.9898286516811057 + ], + [ + 0.9833392465013646, + 0.11918421210676952, + 0.13725541837981103, + 0.11433710074019598, + -0.9925238572980389, + 0.042701523257938495, + 0.1413186246906425, + -0.026296697106491542, + -0.9896148392363742 + ], + [ + 0.9810881340687413, + 0.1533902912873652, + 0.11805715449854036, + 0.14990581867908093, + -0.9879734853882028, + 0.03790300378651467, + 0.12245129119641608, + -0.019488732864485693, + -0.9922831604817582 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0011284947395324707, + 0.0006190165877342224, + -0.012536577880382538, + -0.006183616816997528, + 0.0330694317817688, + 0.005914121866226196, + 1.0 + ], + [ + 0.004554271697998047, + -0.0029828399419784546, + -0.01839391142129898, + -0.008458748459815979, + -0.010928869247436523, + 0.01157262921333313, + 1.0 + ], + [ + 0.00453147292137146, + -0.0002223774790763855, + -0.019923262298107147, + -0.006084024906158447, + -0.012802720069885254, + 0.005495250225067139, + 1.0 + ], + [ + 0.005600422620773315, + 0.007474809885025024, + -0.021818961948156357, + 0.02637801319360733, + 0.008195638656616211, + 0.028060942888259888, + 1.0 + ], + [ + 0.00027117133140563965, + 0.001844264566898346, + -0.024369163438677788, + 0.003582589328289032, + 0.05705486238002777, + 0.024093717336654663, + 1.0 + ], + [ + 0.001122802495956421, + 0.004693053662776947, + -0.006140813231468201, + -0.013283908367156982, + 0.027831196784973145, + 0.02110224962234497, + 0.0 + ], + [ + -0.000380784273147583, + 0.003056041896343231, + -0.0010707378387451172, + -0.02082253247499466, + 0.014159925282001495, + 0.016721665859222412, + 0.0 + ], + [ + 9.107589721679688e-05, + 0.0006793886423110962, + -0.00021506939083337784, + -0.027347933501005173, + -0.0020126625895500183, + 0.01894184947013855, + 0.0 + ], + [ + -0.0013932883739471436, + -0.005494117736816406, + 0.0035812025889754295, + -0.03710527345538139, + 0.018685713410377502, + 0.004596740007400513, + 0.0 + ], + [ + 0.014807671308517456, + -0.004482828080654144, + 0.029811851680278778, + -0.06625992059707642, + -0.05849920213222504, + 0.06922832131385803, + 0.0 + ], + [ + 0.014609813690185547, + 0.012174874544143677, + 0.03637352213263512, + -0.029624342918395996, + -0.06723949313163757, + 0.11231290549039841, + 0.0 + ], + [ + -0.00017470121383666992, + 0.023901622742414474, + 0.002936139702796936, + 0.03022284060716629, + 0.027286231517791748, + 0.15842700004577637, + 0.0 + ], + [ + -0.00706559419631958, + 0.03951587527990341, + -0.006563290953636169, + 0.09188656508922577, + 0.014226943254470825, + 0.23720215260982513, + 0.0 + ], + [ + -0.014624863862991333, + 0.027583880349993706, + -0.0008197948336601257, + 0.06921270489692688, + -0.015330001711845398, + 0.22281169891357422, + 0.0 + ], + [ + -0.01953175663948059, + 0.028110738843679428, + -0.005583047866821289, + 0.036511294543743134, + -0.001856967806816101, + 0.2406197190284729, + 0.0 + ], + [ + -0.017192363739013672, + 0.02302221953868866, + 0.0030184686183929443, + -0.019248485565185547, + -0.020643576979637146, + 0.11868548393249512, + 0.0 + ], + [ + -0.019716858863830566, + 0.021973341703414917, + -0.009682878851890564, + 0.0015155822038650513, + 0.014262259006500244, + 0.043691813945770264, + 0.0 + ], + [ + -0.017873704433441162, + 0.014348708093166351, + -0.011753369122743607, + 0.0007638782262802124, + 0.0049889832735061646, + 0.019744873046875, + 0.0 + ], + [ + -0.011663198471069336, + 0.017110899090766907, + -0.004927236586809158, + 0.003961645066738129, + 0.0004920661449432373, + 0.05915874242782593, + 0.0 + ], + [ + -0.01254299283027649, + 0.013171359896659851, + -0.00635114312171936, + 0.009079955518245697, + -0.006327763199806213, + 0.05199003219604492, + 0.0 + ], + [ + -0.010171830654144287, + 0.013037249445915222, + -0.0005339831113815308, + -0.0002012401819229126, + 0.008080929517745972, + 0.08303463459014893, + 0.0 + ], + [ + -0.012767717242240906, + 0.004537597298622131, + -0.007688216865062714, + 0.03658704459667206, + 0.04465818405151367, + 0.07102322578430176, + 0.0 + ], + [ + -0.0022296011447906494, + -0.0011673718690872192, + 0.0015804246068000793, + -0.0037036240100860596, + 0.02961384505033493, + 0.06193685531616211, + 0.0 + ], + [ + -0.0005967468023300171, + -4.312396049499512e-05, + -0.008105775341391563, + 0.02246175706386566, + 0.012742996215820312, + 0.022733569145202637, + 0.0 + ], + [ + 0.0006978362798690796, + 0.00149594247341156, + -0.004843641072511673, + 0.01472771167755127, + -0.004042200744152069, + 0.0059163570404052734, + 0.0 + ], + [ + 0.002430334687232971, + 0.0021001100540161133, + 0.00035122036933898926, + -0.00047124922275543213, + -0.011630341410636902, + 0.008874893188476562, + 0.0 + ], + [ + 0.0053633153438568115, + -0.002543509006500244, + -0.0066066645085811615, + 0.03131522238254547, + -0.040493547916412354, + -0.033770203590393066, + 0.0 + ], + [ + 0.002665013074874878, + 0.0008953064680099487, + -0.002178698778152466, + 0.017490804195404053, + -0.009017646312713623, + -0.014723658561706543, + 0.0 + ], + [ + 0.003936111927032471, + 0.001310795545578003, + -0.002012415789067745, + 0.008553534746170044, + 0.002110794186592102, + 0.0064105987548828125, + 0.0 + ], + [ + 0.0020679831504821777, + -0.0004150867462158203, + 7.40252435207367e-05, + -0.0034979283809661865, + 0.009468764066696167, + 0.0179746150970459, + 0.0 + ], + [ + 0.0044623613357543945, + 0.0005768239498138428, + -0.0007718214765191078, + 0.002422153949737549, + 0.011842042207717896, + 0.010277271270751953, + 0.0 + ], + [ + 0.007591336965560913, + 0.0020623356103897095, + -0.0004914430901408195, + -0.006254643201828003, + -2.5779008865356445e-05, + 0.012620925903320312, + 0.0 + ], + [ + 0.00459936261177063, + 0.0018980205059051514, + -5.347654223442078e-06, + 0.0015647411346435547, + 0.0018376410007476807, + 0.006299376487731934, + 0.0 + ], + [ + 0.004401862621307373, + 0.0008248239755630493, + 0.00032987911254167557, + -0.004918932914733887, + 9.255111217498779e-05, + 0.006257414817810059, + 0.0 + ], + [ + 0.0081024169921875, + -0.00019872188568115234, + -0.0006981203332543373, + -0.0005709826946258545, + -0.0008804351091384888, + -0.004129648208618164, + 0.0 + ], + [ + 0.007862448692321777, + -0.0037218034267425537, + -0.0002176966518163681, + -0.0014538466930389404, + 0.00824371725320816, + 0.005034208297729492, + 0.0 + ], + [ + 0.009471029043197632, + -0.008039027452468872, + -0.0005907039158046246, + -0.002103760838508606, + 0.012474983930587769, + 0.004229903221130371, + 0.0 + ], + [ + 0.01213228702545166, + -0.003410652279853821, + 0.000442547257989645, + -0.004653468728065491, + -0.0019414573907852173, + 0.009041786193847656, + 0.0 + ], + [ + 0.008549392223358154, + -0.002520531415939331, + -0.0014222790487110615, + 0.0005597323179244995, + 0.00033858418464660645, + 0.00842750072479248, + 0.0 + ], + [ + 0.008690297603607178, + -0.0010926276445388794, + -0.0008849506266415119, + -0.0007963627576828003, + -0.0032945871353149414, + 0.009809494018554688, + 0.0 + ], + [ + 0.0072626471519470215, + -0.0023534148931503296, + -0.00017755897715687752, + -7.125735282897949e-05, + -0.003530837595462799, + 0.012579917907714844, + 0.0 + ], + [ + 0.008019059896469116, + -0.004531979560852051, + 0.00025190459564328194, + -0.0016624778509140015, + 0.0003308132290840149, + 0.0008461475372314453, + 0.0 + ], + [ + 0.011906355619430542, + -0.006513908505439758, + -0.0001659025438129902, + -0.015806153416633606, + 0.0041900575160980225, + 0.005320906639099121, + 0.0 + ], + [ + 0.0069068074226379395, + -0.008242800831794739, + 0.00015433784574270248, + -0.010260805487632751, + 0.014738664031028748, + 0.012472987174987793, + 0.0 + ], + [ + -0.00019723176956176758, + -0.006625659763813019, + 0.0021003480069339275, + -0.008978202939033508, + 0.020661383867263794, + 0.016333699226379395, + 0.0 + ], + [ + -0.0043984055519104, + -0.008891664445400238, + 0.002954362891614437, + -0.018878713250160217, + 0.04119637608528137, + -0.00652003288269043, + 0.0 + ], + [ + -0.006882369518280029, + -0.003464914858341217, + 0.006196063943207264, + -0.017886430025100708, + 0.022089555859565735, + -0.03872942924499512, + 0.0 + ], + [ + -0.011129558086395264, + 0.0063731372356414795, + 0.00820201262831688, + -0.04337206482887268, + -0.009091596119105816, + -0.02947700023651123, + 0.0 + ], + [ + -0.013326436281204224, + 0.005208611488342285, + 0.008234916254878044, + -0.016411349177360535, + -0.01894187368452549, + -0.0316387414932251, + 0.0 + ], + [ + -0.01696646213531494, + 0.004085175693035126, + -0.006892649456858635, + 0.03154827654361725, + 0.002016473561525345, + -0.023660898208618164, + 0.0 + ], + [ + -0.014304906129837036, + 0.009628504514694214, + -0.007942594587802887, + 0.041214555501937866, + -0.010358419269323349, + -0.023787736892700195, + 0.0 + ], + [ + -0.0037925243377685547, + 0.012388721108436584, + -0.00020311959087848663, + -0.0074388086795806885, + -0.0005025230348110199, + -0.0015611648559570312, + 0.0 + ], + [ + -0.007328599691390991, + 0.016089677810668945, + 0.0006815269589424133, + -0.006518706679344177, + 0.009074412286281586, + 0.026334762573242188, + 0.0 + ], + [ + 0.002307802438735962, + 0.00744079053401947, + 0.004465628415346146, + -0.010821729898452759, + -0.010100577026605606, + 0.013883113861083984, + 0.0 + ], + [ + -0.004542618989944458, + 0.0017689168453216553, + 0.00021300651133060455, + 0.011659100651741028, + 0.011304065585136414, + 0.030426621437072754, + 0.0 + ], + [ + -0.0013102293014526367, + 0.0014936774969100952, + 0.0010333526879549026, + 0.003960475325584412, + 0.0022883638739585876, + 0.01883399486541748, + 0.0 + ], + [ + -0.0006939470767974854, + 0.003654763102531433, + 0.0015188753604888916, + 0.006552740931510925, + 0.0020861104130744934, + 0.03206610679626465, + 0.0 + ], + [ + -0.0010680854320526123, + 0.005127668380737305, + -0.0036789197474718094, + 0.010715723037719727, + -0.013058707118034363, + 0.015508890151977539, + 0.0 + ], + [ + 0.0027975738048553467, + 0.0042094886302948, + -0.0111225051805377, + 0.02902798354625702, + -0.004919718950986862, + 0.02232038974761963, + 0.0 + ], + [ + 0.006775349378585815, + 0.005504384636878967, + -0.0006636418402194977, + 0.013196036219596863, + -0.021382413804531097, + 0.027359604835510254, + 0.0 + ], + [ + 0.006857872009277344, + 0.003262236714363098, + -0.0004955530166625977, + -0.007028371095657349, + -0.00835283100605011, + 0.013798832893371582, + 0.0 + ], + [ + 0.01050463318824768, + 0.0009740889072418213, + -0.0002882741391658783, + -0.011708736419677734, + -0.009722195565700531, + -0.013005375862121582, + 0.0 + ], + [ + 0.010659337043762207, + -0.003882870078086853, + -0.0003270041197538376, + -0.007216364145278931, + 0.0008823126554489136, + -0.0011266469955444336, + 0.0 + ], + [ + 0.009120464324951172, + -0.0035321861505508423, + 0.0003542313352227211, + -0.00916735827922821, + -0.0007386133074760437, + -0.0011676549911499023, + 0.0 + ], + [ + 0.013218671083450317, + -0.011158272624015808, + -0.0008202157914638519, + -0.007896274328231812, + 0.006120637059211731, + -0.017547607421875, + 0.0 + ], + [ + 0.00940898060798645, + -0.014441177248954773, + 0.0011041611433029175, + -0.009195402264595032, + 0.00964488834142685, + -0.020291447639465332, + 0.0 + ], + [ + 0.008891582489013672, + -0.011510565876960754, + -0.000490458682179451, + -0.006420224905014038, + 0.01081337034702301, + -0.021239638328552246, + 0.0 + ], + [ + 0.009245485067367554, + -0.004595324397087097, + -0.0005392329767346382, + -0.009856238961219788, + -0.001451060175895691, + -0.0015004873275756836, + 0.0 + ], + [ + 0.010131239891052246, + 0.00020329654216766357, + -0.001829296350479126, + -0.0009968429803848267, + -0.007850997149944305, + 0.012169718742370605, + 0.0 + ], + [ + 0.00582537055015564, + -0.0002482980489730835, + 0.00017370935529470444, + 0.00582459568977356, + -0.00194530189037323, + 0.007082581520080566, + 0.0 + ], + [ + 0.004663586616516113, + -0.0009325295686721802, + 0.0014646435156464577, + -0.007159680128097534, + 0.003172367811203003, + 0.003859281539916992, + 0.0 + ], + [ + 0.0003300011157989502, + -0.010055050253868103, + 0.0023335861042141914, + -0.009477660059928894, + 0.05357736349105835, + 0.01063084602355957, + 0.0 + ], + [ + 0.0009883344173431396, + -0.016889043152332306, + 0.00835493952035904, + -0.026668965816497803, + 0.09739818423986435, + -0.02250659465789795, + 0.0 + ], + [ + 0.008178949356079102, + -0.011042304337024689, + 0.0274156853556633, + -0.07774002850055695, + 0.05203155428171158, + -0.03788650035858154, + 0.0 + ], + [ + 0.0026358962059020996, + -0.009514674544334412, + 0.026073746383190155, + -0.08286575973033905, + 0.0017342418432235718, + -0.0957179069519043, + 0.0 + ], + [ + -0.003045976161956787, + -0.037430521100759506, + -0.006920218467712402, + -0.008260410279035568, + -0.03194720298051834, + -0.2512723207473755, + 0.0 + ], + [ + -0.0009656846523284912, + -0.044630080461502075, + -0.010897621512413025, + 0.04247197136282921, + -0.04489482566714287, + -0.273370623588562, + 0.0 + ], + [ + -0.014045804738998413, + -0.024899650365114212, + -0.010058064013719559, + 0.03255899250507355, + -0.04420437291264534, + -0.25888654589653015, + 0.0 + ], + [ + -0.008336186408996582, + -0.004662439227104187, + 0.0004184208810329437, + 0.002058187499642372, + -0.05651065334677696, + -0.24279598891735077, + 0.0 + ], + [ + -0.00208088755607605, + -0.013172976672649384, + -0.011872965842485428, + 0.03452122583985329, + -0.03165740147233009, + -0.27252066135406494, + 0.0 + ], + [ + -0.0034219026565551758, + 0.0033311843872070312, + -0.010288817808032036, + 0.0035696327686309814, + -0.0014976784586906433, + -0.2616778612136841, + 0.0 + ], + [ + 0.0006500482559204102, + 0.005361491814255714, + -0.001353258267045021, + -0.016329359263181686, + -0.005714207887649536, + -0.23412975668907166, + 0.0 + ], + [ + 0.0008435249328613281, + 0.009237206541001797, + -0.011529410257935524, + -0.03155437856912613, + 0.007172800600528717, + -0.15886074304580688, + 0.0 + ], + [ + 0.0030426383018493652, + 0.006423944607377052, + -0.0018988670781254768, + -0.016644710674881935, + -0.06751590222120285, + 0.05981588363647461, + 0.0 + ], + [ + -0.004959404468536377, + 0.0012946948409080505, + -0.0019233650527894497, + 0.007186029106378555, + -0.035663023591041565, + 0.07408797740936279, + 0.0 + ], + [ + 0.0006012916564941406, + 0.008383444510400295, + -0.0005099242553114891, + 0.0036290381103754044, + -9.854137897491455e-05, + 0.04275870323181152, + 0.0 + ], + [ + 0.009215205907821655, + 0.014592183753848076, + 0.0007970118895173073, + 0.019974103197455406, + 0.008247852325439453, + 0.038889408111572266, + 0.0 + ], + [ + 0.011893421411514282, + 0.028066495433449745, + 2.305954694747925e-06, + 0.00541156530380249, + 0.017514199018478394, + 0.07355925440788269, + 0.0 + ], + [ + 0.00915461778640747, + 0.017178837209939957, + -0.00043949903920292854, + -0.0025463253259658813, + 0.017582744359970093, + 0.05346041917800903, + 0.0 + ], + [ + 0.004695385694503784, + 0.023123905062675476, + 0.000727199949324131, + 0.0015679076313972473, + 0.00626768171787262, + 0.09576721489429474, + 0.0 + ], + [ + -0.0004140138626098633, + 0.02127648890018463, + 0.0002480829134583473, + 0.0011666640639305115, + -0.0027127116918563843, + 0.12208236008882523, + 0.0 + ], + [ + -0.002948671579360962, + 0.011349394917488098, + 0.0006437227129936218, + -0.004214409738779068, + -0.0004831552505493164, + 0.120555080473423, + 0.0 + ], + [ + -0.0016084909439086914, + 0.01043267548084259, + 0.0017463508993387222, + -0.01127939485013485, + -0.0041196346282958984, + 0.11639852821826935, + 0.0 + ], + [ + -0.0011290013790130615, + 0.00570271909236908, + 0.0003707120195031166, + -0.006928637623786926, + 0.019033893942832947, + 0.035868242383003235, + 0.0 + ], + [ + 0.003003716468811035, + 0.00955672562122345, + 0.0010656602680683136, + -0.0011407788842916489, + 0.0029595494270324707, + 0.032947927713394165, + 0.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9628177285194397 + ], + [ + 0.6831957101821899 + ], + [ + 0.41842639446258545 + ], + [ + 0.39798861742019653 + ], + [ + 0.39798861742019653 + ], + [ + 0.39798861742019653 + ], + [ + 0.39798861742019653 + ], + [ + 0.39798861742019653 + ], + [ + 0.3962334990501404 + ], + [ + 0.3962334990501404 + ], + [ + 0.3962334990501404 + ], + [ + 0.3962334990501404 + ], + [ + 0.3962334990501404 + ], + [ + 0.3962334990501404 + ], + [ + 0.3962334990501404 + ], + [ + 0.3962334990501404 + ], + [ + 0.3962334990501404 + ], + [ + 0.3962334990501404 + ], + [ + 0.3962334990501404 + ], + [ + 0.3962334990501404 + ], + [ + 0.3962334990501404 + ], + [ + 0.3962334990501404 + ], + [ + 0.3962334990501404 + ], + [ + 0.3953573703765869 + ], + [ + 0.3953573703765869 + ], + [ + 0.3953573703765869 + ], + [ + 0.3953573703765869 + ], + [ + 0.3953573703765869 + ], + [ + 0.3953573703765869 + ], + [ + 0.3953573703765869 + ], + [ + 0.3953573703765869 + ], + [ + 0.3953573703765869 + ], + [ + 0.3953573703765869 + ], + [ + 0.3953573703765869 + ], + [ + 0.3953573703765869 + ], + [ + 0.3953573703765869 + ], + [ + 0.39448216557502747 + ], + [ + 0.39448216557502747 + ], + [ + 0.39448216557502747 + ], + [ + 0.39448216557502747 + ], + [ + 0.39448216557502747 + ], + [ + 0.39448216557502747 + ], + [ + 0.39448216557502747 + ], + [ + 0.39448216557502747 + ], + [ + 0.39448216557502747 + ], + [ + 0.39448216557502747 + ], + [ + 0.39448216557502747 + ], + [ + 0.39448216557502747 + ], + [ + 0.39448216557502747 + ], + [ + 0.39273425936698914 + ], + [ + 0.3918617069721222 + ], + [ + 0.3918617069721222 + ], + [ + 0.3918617069721222 + ], + [ + 0.3918617069721222 + ], + [ + 0.3918617069721222 + ], + [ + 0.3918617069721222 + ], + [ + 0.3918617069721222 + ], + [ + 0.3918617069721222 + ], + [ + 0.3918617069721222 + ], + [ + 0.3918617069721222 + ], + [ + 0.3918617069721222 + ], + [ + 0.3918617069721222 + ], + [ + 0.3918617069721222 + ], + [ + 0.3918617069721222 + ], + [ + 0.3918617069721222 + ], + [ + 0.3918617069721222 + ], + [ + 0.3918617069721222 + ], + [ + 0.3918617069721222 + ], + [ + 0.3918617069721222 + ], + [ + 0.3918617069721222 + ], + [ + 0.3918617069721222 + ], + [ + 0.3918617069721222 + ], + [ + 0.3918617069721222 + ], + [ + 0.3918617069721222 + ], + [ + 0.3918617069721222 + ], + [ + 0.3918617069721222 + ], + [ + 0.3918617069721222 + ], + [ + 0.3918617069721222 + ], + [ + 0.3918617069721222 + ], + [ + 0.3918617069721222 + ], + [ + 0.3918617069721222 + ], + [ + 0.3918617069721222 + ], + [ + 0.3918617069721222 + ], + [ + 0.3918617069721222 + ], + [ + 0.3918617069721222 + ], + [ + 0.3918617069721222 + ], + [ + 0.3918617069721222 + ], + [ + 0.3918617069721222 + ], + [ + 0.3918617069721222 + ], + [ + 0.39099013805389404 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.33618947863578796, + -0.08176910877227783, + 0.10200963169336319 + ], + [ + 0.340743750333786, + -0.08475194871425629, + 0.08361572027206421 + ], + [ + 0.34527522325515747, + -0.08497432619333267, + 0.06369245797395706 + ], + [ + 0.3508756458759308, + -0.07749951630830765, + 0.041873496025800705 + ], + [ + 0.3511468172073364, + -0.0756552517414093, + 0.017504332587122917 + ], + [ + 0.35226961970329285, + -0.07096219807863235, + 0.011363519355654716 + ], + [ + 0.35188883543014526, + -0.06790615618228912, + 0.0102927815169096 + ], + [ + 0.35197991132736206, + -0.06722676753997803, + 0.010077712126076221 + ], + [ + 0.3505866229534149, + -0.07272088527679443, + 0.013658914715051651 + ], + [ + 0.3653942942619324, + -0.07720371335744858, + 0.04347076639533043 + ], + [ + 0.3800041079521179, + -0.0650288388133049, + 0.07984428852796555 + ], + [ + 0.37982940673828125, + -0.04112721607089043, + 0.08278042823076248 + ], + [ + 0.37276381254196167, + -0.0016113390447571874, + 0.07621713727712631 + ], + [ + 0.35813894867897034, + 0.02597254142165184, + 0.07539734244346619 + ], + [ + 0.33860719203948975, + 0.05408328026533127, + 0.0698142945766449 + ], + [ + 0.3214148283004761, + 0.07710549980401993, + 0.07283276319503784 + ], + [ + 0.3016979694366455, + 0.09907884150743484, + 0.06314988434314728 + ], + [ + 0.28382426500320435, + 0.1134275496006012, + 0.05139651522040367 + ], + [ + 0.272161066532135, + 0.1305384486913681, + 0.04646927863359451 + ], + [ + 0.2596180737018585, + 0.14370980858802795, + 0.04011813551187515 + ], + [ + 0.24944624304771423, + 0.15674705803394318, + 0.03958415240049362 + ], + [ + 0.23667852580547333, + 0.1612846553325653, + 0.03189593553543091 + ], + [ + 0.23444892466068268, + 0.1601172834634781, + 0.03347636014223099 + ], + [ + 0.23385217785835266, + 0.1600741595029831, + 0.025370584800839424 + ], + [ + 0.23455001413822174, + 0.16157010197639465, + 0.02052694372832775 + ], + [ + 0.2369803488254547, + 0.16367021203041077, + 0.02087816409766674 + ], + [ + 0.24234366416931152, + 0.16112670302391052, + 0.014271499589085579 + ], + [ + 0.2450086772441864, + 0.16202200949192047, + 0.012092800810933113 + ], + [ + 0.24894478917121887, + 0.16333280503749847, + 0.010080385021865368 + ], + [ + 0.25101277232170105, + 0.16291771829128265, + 0.010154410265386105 + ], + [ + 0.25547513365745544, + 0.1634945422410965, + 0.009382588788866997 + ], + [ + 0.26306647062301636, + 0.1655568778514862, + 0.008891145698726177 + ], + [ + 0.267665833234787, + 0.16745489835739136, + 0.008885798044502735 + ], + [ + 0.27206769585609436, + 0.1682797223329544, + 0.00921567715704441 + ], + [ + 0.28017011284828186, + 0.16808100044727325, + 0.008517556823790073 + ], + [ + 0.28803256154060364, + 0.1643591970205307, + 0.008299860171973705 + ], + [ + 0.29750359058380127, + 0.15632016956806183, + 0.007709156256169081 + ], + [ + 0.30963587760925293, + 0.152909517288208, + 0.008151703514158726 + ], + [ + 0.3181852698326111, + 0.15038898587226868, + 0.006729424465447664 + ], + [ + 0.32687556743621826, + 0.1492963582277298, + 0.005844473838806152 + ], + [ + 0.3341382145881653, + 0.14694294333457947, + 0.005666914861649275 + ], + [ + 0.3421572744846344, + 0.14241096377372742, + 0.005918819457292557 + ], + [ + 0.35406363010406494, + 0.13589705526828766, + 0.005752916913479567 + ], + [ + 0.3609704375267029, + 0.12765425443649292, + 0.005907254759222269 + ], + [ + 0.3607732057571411, + 0.1210285946726799, + 0.008007602766156197 + ], + [ + 0.3563748002052307, + 0.11213693022727966, + 0.010961965657770634 + ], + [ + 0.3494924306869507, + 0.10867201536893845, + 0.017158029600977898 + ], + [ + 0.3383628726005554, + 0.11504515260457993, + 0.025360042229294777 + ], + [ + 0.3250364363193512, + 0.12025376409292221, + 0.03359495848417282 + ], + [ + 0.30806997418403625, + 0.12433893978595734, + 0.026702309027314186 + ], + [ + 0.2937650680541992, + 0.13396744430065155, + 0.0187597144395113 + ], + [ + 0.28997254371643066, + 0.14635616540908813, + 0.018556594848632812 + ], + [ + 0.2826439440250397, + 0.16244584321975708, + 0.019238121807575226 + ], + [ + 0.28495174646377563, + 0.16988663375377655, + 0.02370375022292137 + ], + [ + 0.2804091274738312, + 0.1716555505990982, + 0.023916756734251976 + ], + [ + 0.27909889817237854, + 0.1731492280960083, + 0.02495010942220688 + ], + [ + 0.27840495109558105, + 0.17680399119853973, + 0.02646898478269577 + ], + [ + 0.27733686566352844, + 0.18193165957927704, + 0.02279006503522396 + ], + [ + 0.2801344394683838, + 0.18614114820957184, + 0.01166755985468626 + ], + [ + 0.2869097888469696, + 0.1916455328464508, + 0.011003918014466763 + ], + [ + 0.29376766085624695, + 0.1949077695608139, + 0.010508364997804165 + ], + [ + 0.30427229404449463, + 0.19588185846805573, + 0.010220090858638287 + ], + [ + 0.31493163108825684, + 0.19199898838996887, + 0.009893086738884449 + ], + [ + 0.324052095413208, + 0.18846680223941803, + 0.01024731807410717 + ], + [ + 0.3372707664966583, + 0.17730852961540222, + 0.009427102282643318 + ], + [ + 0.3466797471046448, + 0.16286735236644745, + 0.010531263425946236 + ], + [ + 0.35557132959365845, + 0.1513567864894867, + 0.010040804743766785 + ], + [ + 0.364816814661026, + 0.1467614620923996, + 0.009501571767032146 + ], + [ + 0.37494805455207825, + 0.14696475863456726, + 0.0076722754165530205 + ], + [ + 0.3807734251022339, + 0.14671646058559418, + 0.007845984771847725 + ], + [ + 0.38543701171875, + 0.145783931016922, + 0.009310628287494183 + ], + [ + 0.38576701283454895, + 0.1357288807630539, + 0.011644214391708374 + ], + [ + 0.3867553472518921, + 0.11883983761072159, + 0.019999153912067413 + ], + [ + 0.3949342966079712, + 0.1077975332736969, + 0.04741483926773071 + ], + [ + 0.3975701928138733, + 0.09828285872936249, + 0.07348858565092087 + ], + [ + 0.3945242166519165, + 0.06085233762860298, + 0.06656836718320847 + ], + [ + 0.393558531999588, + 0.016222259029746056, + 0.05567074567079544 + ], + [ + 0.3795127272605896, + -0.008677391335368156, + 0.04561268165707588 + ], + [ + 0.371176540851593, + -0.013339830562472343, + 0.046031102538108826 + ], + [ + 0.36909565329551697, + -0.026512807235121727, + 0.0341581366956234 + ], + [ + 0.3656737506389618, + -0.023181622847914696, + 0.023869318887591362 + ], + [ + 0.3663237988948822, + -0.01782013103365898, + 0.02251606062054634 + ], + [ + 0.36716732382774353, + -0.008582924492657185, + 0.010986650362610817 + ], + [ + 0.3702099621295929, + -0.0021589798852801323, + 0.00908778328448534 + ], + [ + 0.3652505576610565, + -0.0008642851025797427, + 0.00716441823169589 + ], + [ + 0.36585184931755066, + 0.0075191594660282135, + 0.006654493976384401 + ], + [ + 0.3750670552253723, + 0.02211134321987629, + 0.007451505865901709 + ], + [ + 0.3869604766368866, + 0.050177838653326035, + 0.0074538118205964565 + ], + [ + 0.39611509442329407, + 0.06735667586326599, + 0.007014312781393528 + ], + [ + 0.40081048011779785, + 0.09048058092594147, + 0.007741512730717659 + ], + [ + 0.400396466255188, + 0.1117570698261261, + 0.007989595644176006 + ], + [ + 0.397447794675827, + 0.1231064647436142, + 0.008633318357169628 + ], + [ + 0.39583930373191833, + 0.1335391402244568, + 0.01037966925650835 + ], + [ + 0.3947103023529053, + 0.13924185931682587, + 0.010750381276011467 + ], + [ + 0.3977140188217163, + 0.14879858493804932, + 0.01181604154407978 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.912626200210108, + -0.35892004871731314, + 0.1956778406432931, + -0.36907931534808996, + -0.9292442246657787, + 0.01690058896848204, + 0.17576654309693177, + -0.08764456374503787, + -0.9805225916692063 + ], + [ + 0.9149924645463161, + -0.3489765755161418, + 0.20249478898106243, + -0.35777242614874427, + -0.9337797469128699, + 0.007367180123884022, + 0.18651455951506785, + -0.079187966234542, + -0.9792556280627327 + ], + [ + 0.9146409274093135, + -0.34419139844322383, + 0.21204776618849086, + -0.35185270446473177, + -0.9360538164295149, + -0.0017108794797284568, + 0.19907699080678587, + -0.07304473961510122, + -0.9772578051598652 + ], + [ + 0.9256604290514296, + -0.31285460455414404, + 0.21277867961239316, + -0.32658375107160675, + -0.9446320879225827, + 0.03183193369905316, + 0.19103880135805423, + -0.0989556207412812, + -0.9765817740974821 + ], + [ + 0.9420985170299215, + -0.29483065922554225, + 0.15976628740336415, + -0.30706948810737594, + -0.9499359752161204, + 0.05770591359360069, + 0.13475427148516025, + -0.10342400771015495, + -0.985466773131227 + ], + [ + 0.951589882652427, + -0.27921232109007676, + 0.12851916193716756, + -0.2880975934347816, + -0.9559427043743381, + 0.05633225195715092, + 0.10712829640495232, + -0.09063126229380516, + -0.9901058036414109 + ], + [ + 0.9576371744801152, + -0.2667419264024853, + 0.10853472602274467, + -0.27253380864247845, + -0.961215503329439, + 0.04230932882896944, + 0.09303958942603976, + -0.07009636836687091, + -0.9931918918019869 + ], + [ + 0.9624443743407829, + -0.2512569386379683, + 0.10281428444557311, + -0.25429823302627874, + -0.9669690938727459, + 0.017412069797507708, + 0.09504333211483817, + -0.0429036394866108, + -0.9945481600904562 + ], + [ + 0.9651539213646512, + -0.2505588232497895, + 0.07548631774114715, + -0.2502735864742469, + -0.9680828504585179, + -0.013368865375500711, + 0.07642669682613744, + -0.00598921862945085, + -0.9970572146433996 + ], + [ + 0.9740850867535784, + -0.19108218958227552, + 0.12102000077969141, + -0.18177887488389005, + -0.9797587646029252, + -0.08384034726607731, + 0.13459080358709594, + 0.05966875235994726, + -0.9891031066484356 + ], + [ + 0.977068328856347, + -0.08980812520733861, + 0.1930595281062521, + -0.0706474763433454, + -0.992070216124976, + -0.10395008592617924, + 0.20086417010552732, + 0.08792716829562172, + -0.9756651055784108 + ], + [ + 0.9810743587486345, + 0.07564802452166346, + 0.1782427529857121, + 0.08482519116218103, + -0.9954047500354517, + -0.0444305137395391, + 0.17406260238849477, + 0.05870911337117715, + -0.982982934977467 + ], + [ + 0.93592435042399, + 0.32256362851519815, + 0.1414154017161556, + 0.31374222878241687, + -0.9460130888359067, + 0.08139440785329442, + 0.16003569652447555, + -0.03181102497965241, + -0.9865985173958401 + ], + [ + 0.8412644887755435, + 0.5319812885859018, + 0.09628067573353774, + 0.5114655288258415, + -0.8408654814777681, + 0.1770543839673653, + 0.17514871609042812, + -0.09970531908401112, + -0.9794803604964368 + ], + [ + 0.6949126654755491, + 0.7186099560749589, + 0.026384055632394696, + 0.696976071019089, + -0.682114824562503, + 0.2212322818642425, + 0.17697667583176446, + -0.13534805924730323, + -0.9748641746774405 + ], + [ + 0.6051128537668115, + 0.7956569768641926, + 0.027720197934353985, + 0.7713162796331496, + -0.5945168614220767, + 0.22720232890030187, + 0.19725524322324897, + -0.1161020096819069, + -0.9734529738866485 + ], + [ + 0.5724259237229457, + 0.8199130847542059, + 0.00843180281876918, + 0.7992162867232712, + -0.5602155792313288, + 0.21774258155623258, + 0.18325361902619605, + -0.11790266424194576, + -0.9759698114585577 + ], + [ + 0.5570455938449422, + 0.8304815833518461, + 0.0007389799365204036, + 0.811105790689438, + -0.5442399383854419, + 0.21426685645771748, + 0.17834686060594784, + -0.1187570173910632, + -0.9767748809896688 + ], + [ + 0.5081603577441268, + 0.861121355224941, + -0.015590458393574591, + 0.842696816379908, + -0.49338652991550896, + 0.21548041154847417, + 0.17786266185045221, + -0.12263663267349303, + -0.9763837001128082 + ], + [ + 0.46314204638501527, + 0.885709752651852, + -0.031901080353107306, + 0.8669554866330027, + -0.44527182799941994, + 0.22387760805178403, + 0.18408592848784944, + -0.13134395017453232, + -0.9740950352431308 + ], + [ + 0.3902186758164531, + 0.9191783257236589, + -0.053297190956986165, + 0.9037173673276021, + -0.37129564027871786, + 0.21315362417863123, + 0.176137176753013, + -0.13134212207006737, + -0.9755639097135613 + ], + [ + 0.3273768018422573, + 0.9376090566254917, + -0.11710545055372604, + 0.9356260758777558, + -0.304350956012777, + 0.17881370672211022, + 0.13201619504109158, + -0.16810637259772304, + -0.9768889249750496 + ], + [ + 0.2697786417633772, + 0.9537935301544945, + -0.13227768626542874, + 0.9574398639043761, + -0.25106148350258495, + 0.14239746664969632, + 0.10260795025278269, + -0.1650637250788587, + -0.9809309737224194 + ], + [ + 0.24825055782343153, + 0.9553747387919241, + -0.16009612430854903, + 0.964512982923884, + -0.22843747632566114, + 0.13240477778854864, + 0.08992422538797312, + -0.1872843503558862, + -0.9781810700479474 + ], + [ + 0.24244934205948343, + 0.9544349961302179, + -0.17398894992738628, + 0.9656043935358372, + -0.22003054512576958, + 0.13854499051190833, + 0.09394930398471125, + -0.2015946362718205, + -0.9749528865064305 + ], + [ + 0.2335977828530147, + 0.9569817955104737, + -0.17209857322972136, + 0.9665905389856245, + -0.20934350546640967, + 0.14791222621039596, + 0.10552158921109858, + -0.2009008207563754, + -0.9739117282535308 + ], + [ + 0.26473911109361375, + 0.9461737040741967, + -0.18619485700705485, + 0.9532508448964958, + -0.22760404763871528, + 0.1987692737889593, + 0.1456915569327203, + -0.23011240561296947, + -0.9621965760807569 + ], + [ + 0.2783637564670747, + 0.9399978086235022, + -0.19727579392452788, + 0.9479505856788443, + -0.23581418316160851, + 0.21396578729077087, + 0.15460694097185668, + -0.24656802469670924, + -0.9567135950745593 + ], + [ + 0.27237047942366904, + 0.9396084562197947, + -0.20724447143114497, + 0.9500271629680067, + -0.22847270757149857, + 0.21271721020620057, + 0.15252118397613193, + -0.254825765760063, + -0.954882776859713 + ], + [ + 0.25561257400931786, + 0.9436801189462422, + -0.21007152380543365, + 0.9561215545410219, + -0.21457933280674918, + 0.19946749829049798, + 0.14315650509281946, + -0.2518403125748859, + -0.9571220779042728 + ], + [ + 0.24617667130269483, + 0.9445709601518735, + -0.21721590122293613, + 0.9602729177280998, + -0.20730912571976368, + 0.18681233864835814, + 0.13142667151033918, + -0.2545753869310122, + -0.9580805824066357 + ], + [ + 0.23403705355338916, + 0.948468319905344, + -0.21362233895354257, + 0.9633000413246625, + -0.19651272049451413, + 0.182854535267104, + 0.1314522268657007, + -0.2485771446046059, + -0.9596508298502477 + ], + [ + 0.2280194251184069, + 0.9492444870665825, + -0.21666113066808218, + 0.9649886653345873, + -0.19069715278184607, + 0.18008740016078084, + 0.12963031105587602, + -0.250138960769005, + -0.9594928257996299 + ], + [ + 0.22197935094764798, + 0.9514738430698091, + -0.2131260042951809, + 0.9664082648292178, + -0.1856526919276219, + 0.17773053662724375, + 0.12953854029840486, + -0.24541924116498293, + -0.9607232497672586 + ], + [ + 0.22594229462714666, + 0.9508692961633853, + -0.2116545797103575, + 0.9653719067650115, + -0.18947239400580973, + 0.17932454806465653, + 0.1304115068830422, + -0.24484238506323946, + -0.9607523329917231 + ], + [ + 0.22131177851515782, + 0.9516713598083488, + -0.21293830000961902, + 0.967512264499325, + -0.18689950569377212, + 0.17026036771607234, + 0.12223385265075407, + -0.24370104163083184, + -0.9621167743960198 + ], + [ + 0.21753414663469828, + 0.9522404566104474, + -0.21428254208460323, + 0.9698522367280982, + -0.18617225365527745, + 0.15724671978270244, + 0.10984322446750328, + -0.24202893373157103, + -0.9640313590725875 + ], + [ + 0.20871099456535364, + 0.9549750884279408, + -0.2108608575093711, + 0.9715691321417764, + -0.1778247386470065, + 0.156306697855207, + 0.11177272572866813, + -0.237488826699637, + -0.9649382959422916 + ], + [ + 0.2005234051200968, + 0.9563046055951164, + -0.21277186213550434, + 0.9733305320771778, + -0.16976288374767323, + 0.15429918544189286, + 0.1114362567811715, + -0.238037947855468, + -0.9648419021038411 + ], + [ + 0.1908944442103157, + 0.9582443801928532, + -0.21290143024049807, + 0.9748851177847072, + -0.15972816797916506, + 0.155196390022183, + 0.11470971315251627, + -0.23718056451327257, + -0.964669405301958 + ], + [ + 0.17854175108175596, + 0.9603436788430956, + -0.21415616177633007, + 0.9768048408716915, + -0.14684868880210789, + 0.1558453253926192, + 0.11821652156230106, + -0.23701367281912455, + -0.9642869764372529 + ], + [ + 0.17772215562102744, + 0.9608085743251112, + -0.21274801739325871, + 0.9769939865567919, + -0.14637125098685544, + 0.15510708274095608, + 0.11788802158524053, + -0.23541949874190538, + -0.9647176135941686 + ], + [ + 0.17260547238809443, + 0.9646689752528583, + -0.19905054404920128, + 0.9784036547549413, + -0.14458140770456984, + 0.14772442217974224, + 0.1137261591009586, + -0.22024982345229066, + -0.9687911931914834 + ], + [ + 0.16064191085805624, + 0.9679067323243306, + -0.19326337986568723, + 0.982028031603612, + -0.1370826682815236, + 0.1297277426056313, + 0.09907129564413433, + -0.21062976897403268, + -0.9725327648986115 + ], + [ + 0.14484757823254663, + 0.971124763663576, + -0.18956759343181467, + 0.9863357463332139, + -0.1265179207945542, + 0.10552256262584253, + 0.07849187592017563, + -0.20226198139340573, + -0.9761808829808875 + ], + [ + 0.15163758196376698, + 0.9725213293943084, + -0.17665873204941993, + 0.987729570634755, + -0.14233272914089357, + 0.06427821955365068, + 0.03736762007225178, + -0.1842380473421055, + -0.9821710659970104 + ], + [ + 0.18987895164346352, + 0.9685398683261488, + -0.16086176421246107, + 0.9816885029066471, + -0.18473938955276464, + 0.04646548405620755, + 0.015286169686519205, + -0.16673896188485177, + -0.9858825749580307 + ], + [ + 0.21869006624207804, + 0.9689276065722482, + -0.11555928413247676, + 0.9754898606118233, + -0.21412500569239107, + 0.05069530334024575, + 0.0243759465572432, + -0.12381346921643241, + -0.9920060675570641 + ], + [ + 0.24927879560044747, + 0.9639168147009667, + -0.09340479859585817, + 0.9674629775608323, + -0.24355535330995354, + 0.06852865767832028, + 0.04330668670216013, + -0.10744842581818581, + -0.9932670168066968 + ], + [ + 0.2721211587224258, + 0.9544376622682181, + -0.12246968530841854, + 0.9613766401381053, + -0.2641981528808355, + 0.077164057767349, + 0.04129201826421695, + -0.1387374673919537, + -0.9894679804669447 + ], + [ + 0.29476892334773475, + 0.9426578968356949, + -0.15654830360537816, + 0.954172245754614, + -0.28150811679904375, + 0.10153081112574841, + 0.051639202743785195, + -0.17930217430237788, + -0.9824378469045388 + ], + [ + 0.2962504481642648, + 0.9433801792631094, + -0.14922972001573834, + 0.9536859981121653, + -0.28364612967296865, + 0.1001393535347035, + 0.05214104877421557, + -0.17198462284474408, + -0.9837187608954481 + ], + [ + 0.2711527889575235, + 0.9510835364031285, + -0.1480414530578382, + 0.961571911378541, + -0.26077475877899103, + 0.08588355157757802, + 0.04307695774281428, + -0.16564006751591961, + -0.9852450171124671 + ], + [ + 0.2576520636100859, + 0.9565747874203149, + -0.13630880451843133, + 0.9647739698441674, + -0.24692669985512244, + 0.09076558824678085, + 0.05316579002131097, + -0.15489312757652599, + -0.9864996288904381 + ], + [ + 0.22830527309910087, + 0.961527966486676, + -0.15277654250290618, + 0.9726886572200277, + -0.21851894523329807, + 0.07827034361510182, + 0.04187455540831704, + -0.16647354215647658, + -0.9851563740702445 + ], + [ + 0.20996583788084716, + 0.964772478912348, + -0.15851943368659133, + 0.9769069198079101, + -0.20045293025433591, + 0.07396953956780107, + 0.03958809106809732, + -0.170389808045476, + -0.9845811781462261 + ], + [ + 0.17855203407615278, + 0.9695626657335725, + -0.16753330517505155, + 0.9832154678719878, + -0.16932688260484635, + 0.06793931530853681, + 0.03750353136088082, + -0.1768520399739092, + -0.9835226693333154 + ], + [ + 0.16318864855337623, + 0.97060965926043, + -0.17687949099224312, + 0.9852990483847094, + -0.15114794213991312, + 0.07962464969502765, + 0.05054948303898904, + -0.18727303312869648, + -0.9810064020317448 + ], + [ + 0.14112070980783098, + 0.9682969811153956, + -0.20612108486553476, + 0.9884375957367733, + -0.1261470725877294, + 0.0841310609207638, + 0.055462280853216875, + -0.21561046458916863, + -0.9749031043966379 + ], + [ + 0.1138665148131256, + 0.9691091748499189, + -0.21877345365930906, + 0.9905233789725408, + -0.09371719653838106, + 0.1004018066660497, + 0.07679747725760666, + -0.2281326243541157, + -0.9705965450135147 + ], + [ + 0.10012008870972655, + 0.9720189803999143, + -0.21249722252083056, + 0.9913274261572608, + -0.0791799537886324, + 0.10488312097974004, + 0.08512286405647565, + -0.2211552320437862, + -0.9715165780132018 + ], + [ + 0.11290464440245673, + 0.9735435232955667, + -0.19865938065344096, + 0.9890725150591706, + -0.09104300835418877, + 0.11596003873897893, + 0.09480559702296677, + -0.20958096020171557, + -0.9731843195890721 + ], + [ + 0.11402844433258896, + 0.9748271581990846, + -0.19159730040004833, + 0.9890273964401501, + -0.09315335449822337, + 0.1146615089580903, + 0.09392722168736575, + -0.2025696526709394, + -0.9747528983505858 + ], + [ + 0.11517515127083472, + 0.9764484984775424, + -0.18243632958019368, + 0.9888243965959406, + -0.09519872005315427, + 0.11473236856665706, + 0.09466254394645446, + -0.19361181141963904, + -0.97650062429698 + ], + [ + 0.1325826696270897, + 0.9758703043106233, + -0.1734905901749281, + 0.9872069721412676, + -0.1143730975732466, + 0.11109090290014885, + 0.08856765702119299, + -0.18599984869937797, + -0.9785498589308488 + ], + [ + 0.1527096174206668, + 0.9746202455441416, + -0.1636922408750974, + 0.9851119794764277, + -0.13688564798881242, + 0.10400340026517238, + 0.07895670104093949, + -0.17713750689834232, + -0.9810138342605429 + ], + [ + 0.17373554955908072, + 0.9721879049042019, + -0.15705615676369677, + 0.9824298672399883, + -0.1600602672928954, + 0.0959805542229587, + 0.06817268348997016, + -0.17097189357349224, + -0.9829145928480617 + ], + [ + 0.1751919199348771, + 0.9734870654801614, + -0.1470738744045177, + 0.9820696541678552, + -0.16222893795825927, + 0.09602586136851304, + 0.06962029554778724, + -0.16125974399012138, + -0.9844533048428856 + ], + [ + 0.16313326544891626, + 0.9757423272246698, + -0.14599468677372582, + 0.983559369139248, + -0.14922297763305103, + 0.10170285308058007, + 0.07745001667125392, + -0.1601855605493543, + -0.9840437394288484 + ], + [ + 0.1561391982199975, + 0.9759541812186064, + -0.15209860926759333, + 0.9845394280817529, + -0.14140102139661764, + 0.10338213433881395, + 0.07938932756782639, + -0.16588908134628078, + -0.9829436135193186 + ], + [ + 0.15237615165752, + 0.9774823875157579, + -0.14597839053277073, + 0.9853786161299614, + -0.13886400184059028, + 0.0987206759833967, + 0.07622657856579108, + -0.1588866611434396, + -0.9843498045059201 + ], + [ + 0.142269629569251, + 0.9791107621591495, + -0.1452634431863613, + 0.9895671256682597, + -0.13732339366353236, + 0.04357968964309958, + 0.022721274147513557, + -0.14994799424086883, + -0.988432770968392 + ], + [ + 0.16408741358825907, + 0.9772928923242649, + -0.1340668613580122, + 0.9836205208784271, + -0.17237818831181762, + -0.05269185042477747, + -0.07460557357709409, + -0.12322484654812271, + -0.989570434877894 + ], + [ + 0.20017140037471975, + 0.9772100909487073, + -0.07065301564719345, + 0.9715773787914516, + -0.20728360123360495, + -0.11432806164874659, + -0.1263677470431256, + -0.04575966354385475, + -0.990927467426147 + ], + [ + 0.29204556255379277, + 0.9564008485792448, + -0.0026088751482839373, + 0.9477884154439413, + -0.2897788495158794, + -0.13313653864929986, + -0.12808789538009407, + 0.036409273683416433, + -0.9910942719272189 + ], + [ + 0.5204037517323953, + 0.8538361343578978, + -0.011991282150343202, + 0.8484679089273138, + -0.5186142655313405, + -0.10555307247020063, + -0.09634387735273446, + 0.044755996828914686, + -0.994341368969677 + ], + [ + 0.7325834333124865, + 0.6797177371316669, + -0.0361290888993266, + 0.6787204482869496, + -0.7334695104010073, + -0.03689214536006867, + -0.05157583070830196, + 0.0025050230961924137, + -0.9986659394141946 + ], + [ + 0.8830771383658043, + 0.46877437633719554, + -0.020624058410897022, + 0.4691695772933261, + -0.8828068106302408, + 0.023066054002896137, + -0.007394284148208079, + -0.03004528572898204, + -0.9995211880532598 + ], + [ + 0.9688294339595788, + 0.24451160578933753, + 0.03979450373960984, + 0.24281485957217394, + -0.969116059628289, + 0.04306979151893266, + 0.049096556544300105, + -0.03206458490076687, + -0.9982792147143172 + ], + [ + 0.996377580515148, + -0.021518691803464364, + 0.08227188432172695, + -0.026860802628495495, + -0.9975634360965895, + 0.0643870192299571, + 0.08068589919516987, + -0.06636367128356727, + -0.9945278522016534 + ], + [ + 0.9553923188237177, + -0.2784121717270511, + 0.09855039201782584, + -0.28367621375919627, + -0.9579143926130332, + 0.04390697179321992, + 0.0821786035406232, + -0.0699047856661533, + -0.9941629635331838 + ], + [ + 0.8630930959329538, + -0.4944492619424971, + 0.1029088680211207, + -0.49734173345331784, + -0.8675500612209797, + 0.0028445458553126024, + 0.08787211115318411, + -0.053635982698127894, + -0.9946867212552343 + ], + [ + 0.774018525374361, + -0.628496416282115, + 0.07673054866113266, + -0.6279958755979682, + -0.7774944249945521, + -0.033520133268413806, + 0.0807248574433008, + -0.022241263968790795, + -0.9964882455743418 + ], + [ + 0.803903400107654, + -0.5818121736193036, + 0.12342575875292115, + -0.5761065906538982, + -0.81330383902821, + -0.08147430040888341, + 0.14778538324372506, + -0.0056089259539221364, + -0.9890035492601372 + ], + [ + 0.8393062050923462, + -0.5186878907523792, + 0.16287408044355142, + -0.5119496363054462, + -0.8548702270139905, + -0.084287987588801, + 0.18295536062167164, + -0.01263989524863278, + -0.9830399631082644 + ], + [ + 0.8604069174360227, + -0.48106361831597694, + 0.1681598393225375, + -0.47559627274070576, + -0.8765358682911701, + -0.07411516008343387, + 0.1830522378540886, + -0.016206996383810127, + -0.9829695882807492 + ], + [ + 0.8795662309675152, + -0.4433820435096211, + 0.17255610344126315, + -0.4424478236706712, + -0.8956138991447992, + -0.04599638015905046, + 0.17493761365322819, + -0.03589020969403309, + -0.9839251618783982 + ], + [ + 0.9123956664186097, + -0.3760745995381666, + 0.16156126851058297, + -0.3777235677619625, + -0.9256669041794438, + -0.02157982539360733, + 0.15766754345049963, + -0.04133615958276821, + -0.9866267114026624 + ], + [ + 0.9337461239013671, + -0.3271316580704892, + 0.1452689037172992, + -0.3293013041369463, + -0.9441766715810475, + -0.009542742574437626, + 0.14028124319694277, + -0.0389267405543814, + -0.9893461889939905 + ], + [ + 0.9617900870480197, + -0.2353675588289283, + 0.13986400790436973, + -0.23871385897200648, + -0.9710616898046918, + 0.007408652262696304, + 0.1340728234611908, + -0.040513045362790504, + -0.9901430054111259 + ], + [ + 0.9833374375853376, + -0.1150873522218231, + 0.14072094798455426, + -0.11976659253314813, + -0.9924817131664543, + 0.02521928514407462, + 0.13676054678195926, + -0.04165273566945277, + -0.9897280446946776 + ], + [ + 0.990537737681638, + 0.004549144122617551, + 0.13716521248587016, + -0.0006379080774599117, + -0.9992870700046179, + 0.037748440959464016, + 0.13723914638989476, + -0.03747875410598761, + -0.9898286516811057 + ], + [ + 0.9833392465013646, + 0.11918421210676952, + 0.13725541837981103, + 0.11433710074019598, + -0.9925238572980389, + 0.042701523257938495, + 0.1413186246906425, + -0.026296697106491542, + -0.9896148392363742 + ], + [ + 0.9810881340687413, + 0.1533902912873652, + 0.11805715449854036, + 0.14990581867908093, + -0.9879734853882028, + 0.03790300378651467, + 0.12245129119641608, + -0.019488732864485693, + -0.9922831604817582 + ], + [ + 0.9759694439194853, + 0.18566611582147124, + 0.11406900530494153, + 0.1822091441246083, + -0.9824412858678054, + 0.04011168931609446, + 0.11951348180380512, + -0.01836336728874107, + -0.9926627395087168 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006103.json b/json/chunk-0006/episode_0006103.json new file mode 100644 index 0000000000000000000000000000000000000000..770df07d389cb73552ac27d0c10b07fc8021d914 --- /dev/null +++ b/json/chunk-0006/episode_0006103.json @@ -0,0 +1,2002 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 32, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nTake the pink object out of the pot and put it above the yellow spoon." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006103.mp4", + "start": 0, + "end": 32, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.37824130058288574, + 0.023100007325410843, + 0.13756026327610016, + -0.3168066143989563, + -0.13253608345985413, + 1.8164291381835938, + 0.0, + 0.9994885921478271 + ], + [ + 0.3768153190612793, + 0.023120397701859474, + 0.12686289846897125, + -0.27996984124183655, + -0.14099851250648499, + 1.81712806224823, + 0.0, + 0.9994885921478271 + ], + [ + 0.36926811933517456, + 0.006385690998286009, + 0.12871135771274567, + -0.23150724172592163, + -0.1473919153213501, + 1.8001673221588135, + 0.0, + 0.9994885921478271 + ], + [ + 0.35650792717933655, + -0.012982540763914585, + 0.15667593479156494, + -0.26996830105781555, + -0.06475535780191422, + 1.8279832601547241, + 0.0, + 0.9994885921478271 + ], + [ + 0.3492230176925659, + -0.029934346675872803, + 0.16225573420524597, + -0.3094177842140198, + -0.01731623150408268, + 1.8223538398742676, + 0.0, + 0.9994885921478271 + ], + [ + 0.3530780076980591, + -0.04755279794335365, + 0.1535997986793518, + -0.30521726608276367, + 0.002426672959700227, + 1.7682054042816162, + 0.0, + 0.9994885921478271 + ], + [ + 0.3587189018726349, + -0.05445023253560066, + 0.13474544882774353, + -0.2993888258934021, + 0.02310527302324772, + 1.7554465532302856, + 0.0, + 0.9994885921478271 + ], + [ + 0.3636399209499359, + -0.05999283492565155, + 0.11225225776433945, + -0.26048076152801514, + 0.03088609129190445, + 1.7250663042068481, + 0.0, + 0.9994885921478271 + ], + [ + 0.36426714062690735, + -0.060764238238334656, + 0.09942993521690369, + -0.23183147609233856, + 0.022081732749938965, + 1.7136462926864624, + 0.0, + 0.9994885921478271 + ], + [ + 0.3671187162399292, + -0.06685242801904678, + 0.08693891018629074, + -0.2159312516450882, + 0.04125585779547691, + 1.6906706094741821, + 0.0, + 0.9994885921478271 + ], + [ + 0.37114912271499634, + -0.076972097158432, + 0.07625586539506912, + -0.1927131563425064, + 0.05202079564332962, + 1.6554585695266724, + 0.0, + 0.9994885921478271 + ], + [ + 0.3741931617259979, + -0.08162339776754379, + 0.06769324839115143, + -0.17407570779323578, + 0.0553758479654789, + 1.6419485807418823, + 0.0, + 0.9507390260696411 + ], + [ + 0.37411659955978394, + -0.08682719618082047, + 0.06450730562210083, + -0.1752108633518219, + 0.042685169726610184, + 1.6625845432281494, + 0.0, + 0.6821943521499634 + ], + [ + 0.3748638927936554, + -0.08660192042589188, + 0.06411281228065491, + -0.17546959221363068, + 0.04275188222527504, + 1.676327109336853, + 0.0, + 0.48990920186042786 + ], + [ + 0.3748341500759125, + -0.08617362380027771, + 0.06474156677722931, + -0.17445841431617737, + 0.037282880395650864, + 1.6837244033813477, + 0.0, + 0.3962334990501404 + ], + [ + 0.3736163377761841, + -0.08544071018695831, + 0.06513882428407669, + -0.164655864238739, + 0.031223801895976067, + 1.6654731035232544, + 0.0, + 0.3453405201435089 + ], + [ + 0.37052440643310547, + -0.08105853945016861, + 0.07322558015584946, + -0.16347837448120117, + 0.009824869222939014, + 1.6830180883407593, + 0.0, + 0.31264728307724 + ], + [ + 0.3672465682029724, + -0.07132769376039505, + 0.09645022451877594, + -0.21239076554775238, + 0.020596610382199287, + 1.7094777822494507, + 0.0, + 0.27449509501457214 + ], + [ + 0.35454466938972473, + -0.04745267704129219, + 0.12570858001708984, + -0.2523356080055237, + 0.04127898067235947, + 1.7959500551223755, + 0.0, + 0.2499733716249466 + ], + [ + 0.3488854467868805, + -0.028779130429029465, + 0.14127308130264282, + -0.26665225625038147, + 0.027750056236982346, + 1.8569740056991577, + 0.0, + 0.24929283559322357 + ], + [ + 0.3424949049949646, + 0.018890557810664177, + 0.1471582055091858, + -0.2615855932235718, + -0.013282417319715023, + 1.999302625656128, + 0.0, + 0.24929283559322357 + ], + [ + 0.3421443998813629, + 0.06793837994337082, + 0.1516655832529068, + -0.27379903197288513, + -0.021281642839312553, + 2.1350057125091553, + 0.0, + 0.24929283559322357 + ], + [ + 0.3563753366470337, + 0.1057749092578888, + 0.13503415882587433, + -0.2295740693807602, + -0.047850947827100754, + 2.194563388824463, + 0.0, + 0.24929283559322357 + ], + [ + 0.36531373858451843, + 0.13774392008781433, + 0.1282188594341278, + -0.23094433546066284, + -0.06359676271677017, + 2.2415201663970947, + 0.0, + 0.24793511629104614 + ], + [ + 0.3727581202983856, + 0.15907201170921326, + 0.10457763075828552, + -0.18143363296985626, + -0.07075335085391998, + 2.261382579803467, + 0.0, + 0.24793511629104614 + ], + [ + 0.3730827271938324, + 0.17701849341392517, + 0.09167216718196869, + -0.15024523437023163, + -0.07691001892089844, + 2.2865724563598633, + 0.0, + 0.24793511629104614 + ], + [ + 0.3749769628047943, + 0.1792900264263153, + 0.08110984414815903, + -0.10534431785345078, + -0.05838686227798462, + 2.2945282459259033, + 0.0, + 0.3095528483390808 + ], + [ + 0.3717595636844635, + 0.1838957518339157, + 0.08037649840116501, + -0.08411198854446411, + -0.05589209869503975, + 2.301352024078369, + 0.0, + 0.5998998284339905 + ], + [ + 0.3702896535396576, + 0.18217459321022034, + 0.07656148076057434, + -0.07711157947778702, + -0.05084057152271271, + 2.3157248497009277, + 0.0, + 0.9024295806884766 + ], + [ + 0.36796078085899353, + 0.18236199021339417, + 0.07499990612268448, + -0.0726281926035881, + -0.059527426958084106, + 2.322421073913574, + 0.0, + 1.0118417739868164 + ], + [ + 0.3664267361164093, + 0.18191006779670715, + 0.09667874872684479, + -0.11839192360639572, + -0.04546470195055008, + 2.327458620071411, + 0.0, + 1.00800359249115 + ], + [ + 0.3634183704853058, + 0.1843664050102234, + 0.11931779235601425, + -0.16415229439735413, + -0.0600028932094574, + 2.2849984169006348, + 0.0, + 1.0014774799346924 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9507390260696411 + ], + [ + 0.6821943521499634 + ], + [ + 0.48990920186042786 + ], + [ + 0.3962334990501404 + ], + [ + 0.3453405201435089 + ], + [ + 0.31264728307724 + ], + [ + 0.27449509501457214 + ], + [ + 0.2499733716249466 + ], + [ + 0.24929283559322357 + ], + [ + 0.24929283559322357 + ], + [ + 0.24929283559322357 + ], + [ + 0.24929283559322357 + ], + [ + 0.24793511629104614 + ], + [ + 0.24793511629104614 + ], + [ + 0.24793511629104614 + ], + [ + 0.3095528483390808 + ], + [ + 0.5998998284339905 + ], + [ + 0.9024295806884766 + ], + [ + 1.0118417739868164 + ], + [ + 1.00800359249115 + ], + [ + 1.0014774799346924 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.37824130058288574, + 0.023100007325410843, + 0.13756026327610016 + ], + [ + 0.3768153190612793, + 0.023120397701859474, + 0.12686289846897125 + ], + [ + 0.36926811933517456, + 0.006385690998286009, + 0.12871135771274567 + ], + [ + 0.35650792717933655, + -0.012982540763914585, + 0.15667593479156494 + ], + [ + 0.3492230176925659, + -0.029934346675872803, + 0.16225573420524597 + ], + [ + 0.3530780076980591, + -0.04755279794335365, + 0.1535997986793518 + ], + [ + 0.3587189018726349, + -0.05445023253560066, + 0.13474544882774353 + ], + [ + 0.3636399209499359, + -0.05999283492565155, + 0.11225225776433945 + ], + [ + 0.36426714062690735, + -0.060764238238334656, + 0.09942993521690369 + ], + [ + 0.3671187162399292, + -0.06685242801904678, + 0.08693891018629074 + ], + [ + 0.37114912271499634, + -0.076972097158432, + 0.07625586539506912 + ], + [ + 0.3741931617259979, + -0.08162339776754379, + 0.06769324839115143 + ], + [ + 0.37411659955978394, + -0.08682719618082047, + 0.06450730562210083 + ], + [ + 0.3748638927936554, + -0.08660192042589188, + 0.06411281228065491 + ], + [ + 0.3748341500759125, + -0.08617362380027771, + 0.06474156677722931 + ], + [ + 0.3736163377761841, + -0.08544071018695831, + 0.06513882428407669 + ], + [ + 0.37052440643310547, + -0.08105853945016861, + 0.07322558015584946 + ], + [ + 0.3672465682029724, + -0.07132769376039505, + 0.09645022451877594 + ], + [ + 0.35454466938972473, + -0.04745267704129219, + 0.12570858001708984 + ], + [ + 0.3488854467868805, + -0.028779130429029465, + 0.14127308130264282 + ], + [ + 0.3424949049949646, + 0.018890557810664177, + 0.1471582055091858 + ], + [ + 0.3421443998813629, + 0.06793837994337082, + 0.1516655832529068 + ], + [ + 0.3563753366470337, + 0.1057749092578888, + 0.13503415882587433 + ], + [ + 0.36531373858451843, + 0.13774392008781433, + 0.1282188594341278 + ], + [ + 0.3727581202983856, + 0.15907201170921326, + 0.10457763075828552 + ], + [ + 0.3730827271938324, + 0.17701849341392517, + 0.09167216718196869 + ], + [ + 0.3749769628047943, + 0.1792900264263153, + 0.08110984414815903 + ], + [ + 0.3717595636844635, + 0.1838957518339157, + 0.08037649840116501 + ], + [ + 0.3702896535396576, + 0.18217459321022034, + 0.07656148076057434 + ], + [ + 0.36796078085899353, + 0.18236199021339417, + 0.07499990612268448 + ], + [ + 0.3664267361164093, + 0.18191006779670715, + 0.09667874872684479 + ], + [ + 0.3634183704853058, + 0.1843664050102234, + 0.11931779235601425 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + -0.24103757354096506, + 0.9317235038395362, + 0.2716471986501281, + 0.9614768258949504, + 0.19113590564373845, + 0.1975585453497756, + 0.13214840675715808, + 0.30880151872477274, + -0.9419014919962803 + ], + [ + -0.24142816802160805, + 0.9415218412992034, + 0.2350511902592457, + 0.9601891773265746, + 0.196693096114278, + 0.19836473901854512, + 0.14053178797213928, + 0.273584444545989, + -0.9515263360894518 + ], + [ + -0.22489982372331296, + 0.955491280830078, + 0.1909358047798257, + 0.9632510336330342, + 0.18848583364324123, + 0.19136493074935007, + 0.14685882845138704, + 0.22695705050407516, + -0.962768394647631 + ], + [ + -0.25382790473477385, + 0.9364698348560107, + 0.24206536964776823, + 0.9650823779713812, + 0.22845728874058585, + 0.12815331033728633, + 0.06471011132009277, + 0.2661419088119282, + -0.9617593700437155 + ], + [ + -0.24887543478687846, + 0.9238440200297534, + 0.2908147943535665, + 0.9683807082213706, + 0.2319854891638118, + 0.09176893135535538, + 0.017315366132980514, + 0.3044584692083502, + -0.9523682158823809 + ], + [ + -0.19612881277635935, + 0.935114341465886, + 0.29511803940755366, + 0.9805751373907263, + 0.18777967330518947, + 0.056667400015836145, + -0.0024266705780259246, + 0.30049952192677265, + -0.9537788782478291 + ], + [ + -0.18355371085740024, + 0.9380225791559376, + 0.29397563882764305, + 0.9827381526032968, + 0.1821336465657889, + 0.032450858332370464, + -0.023103217272431864, + 0.2948575516792663, + -0.9552618832390265 + ], + [ + -0.15358550186058356, + 0.9535687692223354, + 0.2590716039669978, + 0.9876526951742526, + 0.1563341477330062, + 0.010089002310894407, + -0.030881180891722634, + 0.25742229238431336, + -0.9658054234939548 + ], + [ + -0.14232991863947175, + 0.9626117759886755, + 0.23047941987953904, + 0.9895729738558404, + 0.14357739943857273, + 0.011439396162572377, + -0.022079938274123273, + 0.22970437326786802, + -0.9730099574143249 + ], + [ + -0.11948563592549943, + 0.968710845547799, + 0.2175373083531807, + 0.9919788820530527, + 0.12558368877108883, + -0.014374793056651888, + -0.041244155564810106, + 0.21407483465534694, + -0.975946148513857 + ], + [ + -0.08444674779033245, + 0.9771306981861337, + 0.19515210849466863, + 0.9950703612478976, + 0.09291875490463763, + -0.034656617736740516, + -0.0519973360242106, + 0.1912634404407983, + -0.9801604834909101 + ], + [ + -0.07098325896462404, + 0.9817135350328664, + 0.17663496845198712, + 0.9959407741276874, + 0.07957964272094703, + -0.04206013426451871, + -0.05534755077421253, + 0.17293240181550648, + -0.9833773604398346 + ], + [ + -0.09157589348227735, + 0.9798628691673789, + 0.17743340542297725, + 0.9948833792659698, + 0.09766318693240439, + -0.025864330235489286, + -0.04267220867551644, + 0.1741569968312449, + -0.9837928760981525 + ], + [ + -0.10523876635545376, + 0.9783809894023948, + 0.17803213651465716, + 0.9935281535392789, + 0.11113699855762099, + -0.02346008688037224, + -0.04273886031252437, + 0.17441102926017799, + -0.9837449784835459 + ], + [ + -0.11260989568434654, + 0.9778186953973075, + 0.17660580490308891, + 0.9929398985585934, + 0.11740633517610177, + -0.01691479562297131, + -0.037274243713463204, + 0.17345417663470702, + -0.9841363113733611 + ], + [ + -0.09448931910626718, + 0.9815731434188855, + 0.1660901342452418, + 0.9950362604224976, + 0.09835102370782861, + -0.015163000363838441, + -0.031218728661584816, + 0.16383296449246884, + -0.9859939912222406 + ], + [ + -0.11198095664266733, + 0.980281690348967, + 0.16281299983712982, + 0.9936617837071092, + 0.11208218880206361, + 0.008593168993150782, + -0.009824711161115343, + 0.1627433271133128, + -0.9866195236922337 + ], + [ + -0.1382080293073903, + 0.967544459879937, + 0.21155675075640695, + 0.9901890628864651, + 0.13943084744473244, + 0.00920100651382949, + -0.020595154162844923, + 0.21075283375671292, + -0.9773224046795018 + ], + [ + -0.22306603078410814, + 0.9415908284534791, + 0.2522860631951654, + 0.9739294426523117, + 0.22622911417189684, + 0.016787752558255264, + -0.04126725875535782, + 0.24945360224556895, + -0.967507061308355 + ], + [ + -0.2821787463974938, + 0.9233617745842679, + 0.2603424443269481, + 0.9589605242694346, + 0.2793248987368914, + 0.04870640449177388, + -0.027746494813396055, + 0.26340203906237425, + -0.964287041208868 + ], + [ + -0.41547596233848577, + 0.8800715310094815, + 0.22989959770633883, + 0.9095071811062236, + 0.3982530080576458, + 0.11912694526952182, + 0.013282026770038688, + 0.25858971727364577, + -0.9658959291172191 + ], + [ + -0.5346268136134853, + 0.8166123872904382, + 0.21752788117687955, + 0.8448202946276434, + 0.5099667421250105, + 0.1619030318173948, + 0.021280036436832905, + 0.270329670680475, + -0.9625326120184358 + ], + [ + -0.5834283815799145, + 0.7967459339743201, + 0.1575031436588819, + 0.8107548072143451, + 0.5599371177995004, + 0.17072512026418005, + 0.047832689093047234, + 0.2273023114835769, + -0.9726488025224475 + ], + [ + -0.6202966581442859, + 0.7716158829778839, + 0.14085803147599055, + 0.7817883073552627, + 0.5936554276616837, + 0.19073614154222648, + 0.06355390135643768, + 0.22843415319098762, + -0.9714827529494757 + ], + [ + -0.6353954874407852, + 0.7663451033316341, + 0.0948037823059526, + 0.7689440069190937, + 0.616700378700235, + 0.16854007575112795, + 0.07069433331672395, + 0.17998840382261944, + -0.9811251121678062 + ], + [ + -0.6542634551208089, + 0.7536300534861622, + 0.06309575085396285, + 0.7523535299925306, + 0.6401325812001561, + 0.1555456344414831, + 0.07683421894676473, + 0.14923813510115122, + -0.9858115853601899 + ], + [ + -0.6610573684429497, + 0.749248785676131, + 0.0403659855587071, + 0.7480628329217811, + 0.653917021475221, + 0.11311289504744784, + 0.0583536942131504, + 0.10497040624775555, + -0.9927618345725523 + ], + [ + -0.6662416221499965, + 0.7453022860668794, + 0.025428395514159298, + 0.7436406563901923, + 0.6614290367410276, + 0.0975202723509336, + 0.05586300277021527, + 0.08388165317469432, + -0.9949086355953372 + ], + [ + -0.6770433249159584, + 0.735605746196522, + 0.022282781455695674, + 0.7341864876908164, + 0.6730268142807954, + 0.08947127221218466, + 0.050818672542354185, + 0.07693564467593757, + -0.9957401112234714 + ], + [ + -0.6816172232677367, + 0.7316021828650395, + 0.012498278757084098, + 0.7292863840124769, + 0.6778726255680183, + 0.09289818943083622, + 0.059492277135664136, + 0.07243583044758059, + -0.9955971672461623 + ], + [ + -0.6857889349503639, + 0.725726650571257, + 0.05490323624587605, + 0.726380011702306, + 0.6777893224220739, + 0.11390220809968371, + 0.04544904068298236, + 0.1179934873679507, + -0.9919737504791879 + ], + [ + -0.6538359252343209, + 0.7518774096539026, + 0.08472864760585598, + 0.7542562922767778, + 0.6388048035350498, + 0.15174277096927707, + 0.059966894482436146, + 0.1631219906471355, + -0.9847817970156884 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0014259815216064453, + 2.0390376448631287e-05, + -0.010697364807128906, + 0.03683677315711975, + -0.00846242904663086, + 0.0006989240646362305, + 1.0 + ], + [ + -0.007547199726104736, + -0.016734706237912178, + 0.001848459243774414, + 0.04846259951591492, + -0.006393402814865112, + -0.016960740089416504, + 1.0 + ], + [ + -0.012760192155838013, + -0.019368231296539307, + 0.027964577078819275, + -0.03846105933189392, + 0.08263655751943588, + 0.027815937995910645, + 1.0 + ], + [ + -0.00728490948677063, + -0.016951806843280792, + 0.00557979941368103, + -0.039449483156204224, + 0.047439128160476685, + -0.005629420280456543, + 1.0 + ], + [ + 0.003854990005493164, + -0.01761845126748085, + -0.008655935525894165, + 0.0042005181312561035, + 0.019742904230952263, + -0.05414843559265137, + 1.0 + ], + [ + 0.005640894174575806, + -0.006897434592247009, + -0.018854349851608276, + 0.005828440189361572, + 0.020678600296378136, + -0.012758851051330566, + 1.0 + ], + [ + 0.004921019077301025, + -0.005542602390050888, + -0.022493191063404083, + 0.03890806436538696, + 0.007780818268656731, + -0.0303802490234375, + 1.0 + ], + [ + 0.0006272196769714355, + -0.0007714033126831055, + -0.01282232254743576, + 0.028649285435676575, + -0.008804358541965485, + -0.011420011520385742, + 1.0 + ], + [ + 0.0028515756130218506, + -0.006088189780712128, + -0.012491025030612946, + 0.015900224447250366, + 0.01917412504553795, + -0.022975683212280273, + 1.0 + ], + [ + 0.004030406475067139, + -0.010119669139385223, + -0.010683044791221619, + 0.023218095302581787, + 0.010764937847852707, + -0.035212039947509766, + 1.0 + ], + [ + 0.003044039011001587, + -0.004651300609111786, + -0.008562617003917694, + 0.01863744854927063, + 0.0033550523221492767, + -0.013509988784790039, + 0.0 + ], + [ + -7.656216621398926e-05, + -0.005203798413276672, + -0.003185942769050598, + -0.0011351555585861206, + -0.012690678238868713, + 0.02063596248626709, + 0.0 + ], + [ + 0.00074729323387146, + 0.00022527575492858887, + -0.00039449334144592285, + -0.00025872886180877686, + 6.671249866485596e-05, + 0.013742566108703613, + 0.0 + ], + [ + -2.9742717742919922e-05, + 0.00042829662561416626, + 0.0006287544965744019, + 0.001011177897453308, + -0.005469001829624176, + 0.007397294044494629, + 0.0 + ], + [ + -0.0012178122997283936, + 0.000732913613319397, + 0.0003972575068473816, + 0.009802550077438354, + -0.006059078499674797, + -0.01825129985809326, + 0.0 + ], + [ + -0.0030919313430786133, + 0.004382170736789703, + 0.008086755871772766, + 0.0011774897575378418, + -0.021398931741714478, + 0.017544984817504883, + 0.0 + ], + [ + -0.0032778382301330566, + 0.00973084568977356, + 0.023224644362926483, + -0.04891239106655121, + 0.010771741159260273, + 0.026459693908691406, + 0.0 + ], + [ + -0.01270189881324768, + 0.02387501671910286, + 0.029258355498313904, + -0.0399448424577713, + 0.02068237029016018, + 0.0864722728729248, + 0.0 + ], + [ + -0.005659222602844238, + 0.018673546612262726, + 0.015564501285552979, + -0.014316648244857788, + -0.013528924435377121, + 0.06102395057678223, + 0.0 + ], + [ + -0.0063905417919158936, + 0.04766968637704849, + 0.005885124206542969, + 0.005066663026809692, + -0.04103247448801994, + 0.14232861995697021, + 0.0 + ], + [ + -0.00035050511360168457, + 0.04904782027006149, + 0.004507377743721008, + -0.012213438749313354, + -0.00799922551959753, + 0.13570308685302734, + 0.0 + ], + [ + 0.014230936765670776, + 0.037836529314517975, + -0.01663142442703247, + 0.04422496259212494, + -0.0265693049877882, + 0.05955767631530762, + 0.0 + ], + [ + 0.008938401937484741, + 0.03196901082992554, + -0.006815299391746521, + -0.001370266079902649, + -0.01574581488966942, + 0.046956777572631836, + 0.0 + ], + [ + 0.0074443817138671875, + 0.021328091621398926, + -0.023641228675842285, + 0.04951070249080658, + -0.007156588137149811, + 0.01986241340637207, + 0.0 + ], + [ + 0.00032460689544677734, + 0.017946481704711914, + -0.012905463576316833, + 0.031188398599624634, + -0.006156668066978455, + 0.025189876556396484, + 0.0 + ], + [ + 0.001894235610961914, + 0.0022715330123901367, + -0.010562323033809662, + 0.04490091651678085, + 0.01852315664291382, + 0.007955789566040039, + 1.0 + ], + [ + -0.0032173991203308105, + 0.004605725407600403, + -0.0007333457469940186, + 0.021232329308986664, + 0.00249476358294487, + 0.00682377815246582, + 1.0 + ], + [ + -0.0014699101448059082, + -0.0017211586236953735, + -0.0038150176405906677, + 0.0070004090666770935, + 0.005051527172327042, + 0.014372825622558594, + 1.0 + ], + [ + -0.0023288726806640625, + 0.00018739700317382812, + -0.001561574637889862, + 0.004483386874198914, + -0.008686855435371399, + 0.006696224212646484, + 1.0 + ], + [ + -0.0015340447425842285, + -0.0004519224166870117, + 0.02167884260416031, + -0.04576373100280762, + 0.014062725007534027, + 0.005037546157836914, + 1.0 + ], + [ + -0.0030083656311035156, + 0.0024563372135162354, + 0.022639043629169464, + -0.045760370790958405, + -0.014538191258907318, + -0.04246020317077637, + 1.0 + ], + [ + 0.004772961139678955, + -0.00021642446517944336, + 0.006579868495464325, + -0.01294758915901184, + -0.014181770384311676, + -0.1475536823272705, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9507390260696411 + ], + [ + 0.6821943521499634 + ], + [ + 0.48990920186042786 + ], + [ + 0.3962334990501404 + ], + [ + 0.3453405201435089 + ], + [ + 0.31264728307724 + ], + [ + 0.27449509501457214 + ], + [ + 0.2499733716249466 + ], + [ + 0.24929283559322357 + ], + [ + 0.24929283559322357 + ], + [ + 0.24929283559322357 + ], + [ + 0.24929283559322357 + ], + [ + 0.24793511629104614 + ], + [ + 0.24793511629104614 + ], + [ + 0.24793511629104614 + ], + [ + 0.3095528483390808 + ], + [ + 0.5998998284339905 + ], + [ + 0.9024295806884766 + ], + [ + 1.0118417739868164 + ], + [ + 1.00800359249115 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3768153190612793, + 0.023120397701859474, + 0.12686289846897125 + ], + [ + 0.36926811933517456, + 0.006385690998286009, + 0.12871135771274567 + ], + [ + 0.35650792717933655, + -0.012982540763914585, + 0.15667593479156494 + ], + [ + 0.3492230176925659, + -0.029934346675872803, + 0.16225573420524597 + ], + [ + 0.3530780076980591, + -0.04755279794335365, + 0.1535997986793518 + ], + [ + 0.3587189018726349, + -0.05445023253560066, + 0.13474544882774353 + ], + [ + 0.3636399209499359, + -0.05999283492565155, + 0.11225225776433945 + ], + [ + 0.36426714062690735, + -0.060764238238334656, + 0.09942993521690369 + ], + [ + 0.3671187162399292, + -0.06685242801904678, + 0.08693891018629074 + ], + [ + 0.37114912271499634, + -0.076972097158432, + 0.07625586539506912 + ], + [ + 0.3741931617259979, + -0.08162339776754379, + 0.06769324839115143 + ], + [ + 0.37411659955978394, + -0.08682719618082047, + 0.06450730562210083 + ], + [ + 0.3748638927936554, + -0.08660192042589188, + 0.06411281228065491 + ], + [ + 0.3748341500759125, + -0.08617362380027771, + 0.06474156677722931 + ], + [ + 0.3736163377761841, + -0.08544071018695831, + 0.06513882428407669 + ], + [ + 0.37052440643310547, + -0.08105853945016861, + 0.07322558015584946 + ], + [ + 0.3672465682029724, + -0.07132769376039505, + 0.09645022451877594 + ], + [ + 0.35454466938972473, + -0.04745267704129219, + 0.12570858001708984 + ], + [ + 0.3488854467868805, + -0.028779130429029465, + 0.14127308130264282 + ], + [ + 0.3424949049949646, + 0.018890557810664177, + 0.1471582055091858 + ], + [ + 0.3421443998813629, + 0.06793837994337082, + 0.1516655832529068 + ], + [ + 0.3563753366470337, + 0.1057749092578888, + 0.13503415882587433 + ], + [ + 0.36531373858451843, + 0.13774392008781433, + 0.1282188594341278 + ], + [ + 0.3727581202983856, + 0.15907201170921326, + 0.10457763075828552 + ], + [ + 0.3730827271938324, + 0.17701849341392517, + 0.09167216718196869 + ], + [ + 0.3749769628047943, + 0.1792900264263153, + 0.08110984414815903 + ], + [ + 0.3717595636844635, + 0.1838957518339157, + 0.08037649840116501 + ], + [ + 0.3702896535396576, + 0.18217459321022034, + 0.07656148076057434 + ], + [ + 0.36796078085899353, + 0.18236199021339417, + 0.07499990612268448 + ], + [ + 0.3664267361164093, + 0.18191006779670715, + 0.09667874872684479 + ], + [ + 0.3634183704853058, + 0.1843664050102234, + 0.11931779235601425 + ], + [ + 0.36819133162498474, + 0.18414998054504395, + 0.12589766085147858 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + -0.24142816802160805, + 0.9415218412992034, + 0.2350511902592457, + 0.9601891773265746, + 0.196693096114278, + 0.19836473901854512, + 0.14053178797213928, + 0.273584444545989, + -0.9515263360894518 + ], + [ + -0.22489982372331296, + 0.955491280830078, + 0.1909358047798257, + 0.9632510336330342, + 0.18848583364324123, + 0.19136493074935007, + 0.14685882845138704, + 0.22695705050407516, + -0.962768394647631 + ], + [ + -0.25382790473477385, + 0.9364698348560107, + 0.24206536964776823, + 0.9650823779713812, + 0.22845728874058585, + 0.12815331033728633, + 0.06471011132009277, + 0.2661419088119282, + -0.9617593700437155 + ], + [ + -0.24887543478687846, + 0.9238440200297534, + 0.2908147943535665, + 0.9683807082213706, + 0.2319854891638118, + 0.09176893135535538, + 0.017315366132980514, + 0.3044584692083502, + -0.9523682158823809 + ], + [ + -0.19612881277635935, + 0.935114341465886, + 0.29511803940755366, + 0.9805751373907263, + 0.18777967330518947, + 0.056667400015836145, + -0.0024266705780259246, + 0.30049952192677265, + -0.9537788782478291 + ], + [ + -0.18355371085740024, + 0.9380225791559376, + 0.29397563882764305, + 0.9827381526032968, + 0.1821336465657889, + 0.032450858332370464, + -0.023103217272431864, + 0.2948575516792663, + -0.9552618832390265 + ], + [ + -0.15358550186058356, + 0.9535687692223354, + 0.2590716039669978, + 0.9876526951742526, + 0.1563341477330062, + 0.010089002310894407, + -0.030881180891722634, + 0.25742229238431336, + -0.9658054234939548 + ], + [ + -0.14232991863947175, + 0.9626117759886755, + 0.23047941987953904, + 0.9895729738558404, + 0.14357739943857273, + 0.011439396162572377, + -0.022079938274123273, + 0.22970437326786802, + -0.9730099574143249 + ], + [ + -0.11948563592549943, + 0.968710845547799, + 0.2175373083531807, + 0.9919788820530527, + 0.12558368877108883, + -0.014374793056651888, + -0.041244155564810106, + 0.21407483465534694, + -0.975946148513857 + ], + [ + -0.08444674779033245, + 0.9771306981861337, + 0.19515210849466863, + 0.9950703612478976, + 0.09291875490463763, + -0.034656617736740516, + -0.0519973360242106, + 0.1912634404407983, + -0.9801604834909101 + ], + [ + -0.07098325896462404, + 0.9817135350328664, + 0.17663496845198712, + 0.9959407741276874, + 0.07957964272094703, + -0.04206013426451871, + -0.05534755077421253, + 0.17293240181550648, + -0.9833773604398346 + ], + [ + -0.09157589348227735, + 0.9798628691673789, + 0.17743340542297725, + 0.9948833792659698, + 0.09766318693240439, + -0.025864330235489286, + -0.04267220867551644, + 0.1741569968312449, + -0.9837928760981525 + ], + [ + -0.10523876635545376, + 0.9783809894023948, + 0.17803213651465716, + 0.9935281535392789, + 0.11113699855762099, + -0.02346008688037224, + -0.04273886031252437, + 0.17441102926017799, + -0.9837449784835459 + ], + [ + -0.11260989568434654, + 0.9778186953973075, + 0.17660580490308891, + 0.9929398985585934, + 0.11740633517610177, + -0.01691479562297131, + -0.037274243713463204, + 0.17345417663470702, + -0.9841363113733611 + ], + [ + -0.09448931910626718, + 0.9815731434188855, + 0.1660901342452418, + 0.9950362604224976, + 0.09835102370782861, + -0.015163000363838441, + -0.031218728661584816, + 0.16383296449246884, + -0.9859939912222406 + ], + [ + -0.11198095664266733, + 0.980281690348967, + 0.16281299983712982, + 0.9936617837071092, + 0.11208218880206361, + 0.008593168993150782, + -0.009824711161115343, + 0.1627433271133128, + -0.9866195236922337 + ], + [ + -0.1382080293073903, + 0.967544459879937, + 0.21155675075640695, + 0.9901890628864651, + 0.13943084744473244, + 0.00920100651382949, + -0.020595154162844923, + 0.21075283375671292, + -0.9773224046795018 + ], + [ + -0.22306603078410814, + 0.9415908284534791, + 0.2522860631951654, + 0.9739294426523117, + 0.22622911417189684, + 0.016787752558255264, + -0.04126725875535782, + 0.24945360224556895, + -0.967507061308355 + ], + [ + -0.2821787463974938, + 0.9233617745842679, + 0.2603424443269481, + 0.9589605242694346, + 0.2793248987368914, + 0.04870640449177388, + -0.027746494813396055, + 0.26340203906237425, + -0.964287041208868 + ], + [ + -0.41547596233848577, + 0.8800715310094815, + 0.22989959770633883, + 0.9095071811062236, + 0.3982530080576458, + 0.11912694526952182, + 0.013282026770038688, + 0.25858971727364577, + -0.9658959291172191 + ], + [ + -0.5346268136134853, + 0.8166123872904382, + 0.21752788117687955, + 0.8448202946276434, + 0.5099667421250105, + 0.1619030318173948, + 0.021280036436832905, + 0.270329670680475, + -0.9625326120184358 + ], + [ + -0.5834283815799145, + 0.7967459339743201, + 0.1575031436588819, + 0.8107548072143451, + 0.5599371177995004, + 0.17072512026418005, + 0.047832689093047234, + 0.2273023114835769, + -0.9726488025224475 + ], + [ + -0.6202966581442859, + 0.7716158829778839, + 0.14085803147599055, + 0.7817883073552627, + 0.5936554276616837, + 0.19073614154222648, + 0.06355390135643768, + 0.22843415319098762, + -0.9714827529494757 + ], + [ + -0.6353954874407852, + 0.7663451033316341, + 0.0948037823059526, + 0.7689440069190937, + 0.616700378700235, + 0.16854007575112795, + 0.07069433331672395, + 0.17998840382261944, + -0.9811251121678062 + ], + [ + -0.6542634551208089, + 0.7536300534861622, + 0.06309575085396285, + 0.7523535299925306, + 0.6401325812001561, + 0.1555456344414831, + 0.07683421894676473, + 0.14923813510115122, + -0.9858115853601899 + ], + [ + -0.6610573684429497, + 0.749248785676131, + 0.0403659855587071, + 0.7480628329217811, + 0.653917021475221, + 0.11311289504744784, + 0.0583536942131504, + 0.10497040624775555, + -0.9927618345725523 + ], + [ + -0.6662416221499965, + 0.7453022860668794, + 0.025428395514159298, + 0.7436406563901923, + 0.6614290367410276, + 0.0975202723509336, + 0.05586300277021527, + 0.08388165317469432, + -0.9949086355953372 + ], + [ + -0.6770433249159584, + 0.735605746196522, + 0.022282781455695674, + 0.7341864876908164, + 0.6730268142807954, + 0.08947127221218466, + 0.050818672542354185, + 0.07693564467593757, + -0.9957401112234714 + ], + [ + -0.6816172232677367, + 0.7316021828650395, + 0.012498278757084098, + 0.7292863840124769, + 0.6778726255680183, + 0.09289818943083622, + 0.059492277135664136, + 0.07243583044758059, + -0.9955971672461623 + ], + [ + -0.6857889349503639, + 0.725726650571257, + 0.05490323624587605, + 0.726380011702306, + 0.6777893224220739, + 0.11390220809968371, + 0.04544904068298236, + 0.1179934873679507, + -0.9919737504791879 + ], + [ + -0.6538359252343209, + 0.7518774096539026, + 0.08472864760585598, + 0.7542562922767778, + 0.6388048035350498, + 0.15174277096927707, + 0.059966894482436146, + 0.1631219906471355, + -0.9847817970156884 + ], + [ + -0.5353308685668756, + 0.837517663700822, + 0.10947613506400136, + 0.8413843266395696, + 0.517394272539798, + 0.15612681265013809, + 0.07411663810989194, + 0.17569100640650362, + -0.9816513608319184 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006105.json b/json/chunk-0006/episode_0006105.json new file mode 100644 index 0000000000000000000000000000000000000000..38108e75cc12900ce61533b2d646d5bf0aad0b60 --- /dev/null +++ b/json/chunk-0006/episode_0006105.json @@ -0,0 +1,1522 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 24, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the towel to the lower center side of the table." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006105.mp4", + "start": 0, + "end": 24, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.40644651651382446, + 0.04404783621430397, + 0.05818290263414383, + 0.1891913115978241, + -0.12586641311645508, + 0.05912000313401222, + 0.0, + 1.0008161067962646 + ], + [ + 0.4001515805721283, + 0.04211151972413063, + 0.04028292000293732, + 0.18754909932613373, + -0.07727892696857452, + 0.05207747593522072, + 0.0, + 1.0014774799346924 + ], + [ + 0.3777570426464081, + 0.018886584788560867, + 0.016680236905813217, + 0.17490242421627045, + -0.008980209939181805, + -0.03629382327198982, + 0.0, + 1.0008161067962646 + ], + [ + 0.3694904148578644, + 0.0006364755681715906, + 0.023943180218338966, + 0.15294203162193298, + -0.03587894141674042, + -0.1112518236041069, + 0.0, + 1.0008161067962646 + ], + [ + 0.3563903272151947, + -0.019642168655991554, + 0.030921300873160362, + 0.07649073004722595, + -0.06494968384504318, + -0.1880953311920166, + 0.0, + 1.0008161067962646 + ], + [ + 0.343009889125824, + -0.0525483600795269, + 0.038810864090919495, + 0.05467189475893974, + -0.08329280465841293, + -0.30304378271102905, + 0.0, + 1.0008161067962646 + ], + [ + 0.32994773983955383, + -0.07616899162530899, + 0.03481404855847359, + 0.0522073432803154, + -0.08956506848335266, + -0.38102176785469055, + 0.0, + 1.0008161067962646 + ], + [ + 0.3241398334503174, + -0.09776629507541656, + 0.033617109060287476, + 0.06665677577257156, + -0.0876469686627388, + -0.43796229362487793, + 0.0, + 1.0008161067962646 + ], + [ + 0.32618045806884766, + -0.09915103018283844, + 0.016283132135868073, + 0.0753493458032608, + -0.06679227948188782, + -0.4301563799381256, + 0.0, + 1.0008161067962646 + ], + [ + 0.3305812478065491, + -0.10188745707273483, + 0.001896172878332436, + 0.07850569486618042, + -0.0714205801486969, + -0.4354984760284424, + 0.0, + 1.0008161067962646 + ], + [ + 0.33702966570854187, + -0.10368771106004715, + -0.009064232930541039, + 0.08382508158683777, + -0.06166604906320572, + -0.44249191880226135, + 0.0, + 1.0008161067962646 + ], + [ + 0.33801621198654175, + -0.10414858162403107, + -0.010048789903521538, + 0.0838339626789093, + -0.067783422768116, + -0.4432419538497925, + 0.0, + 1.0008161067962646 + ], + [ + 0.33102115988731384, + -0.10125892609357834, + -0.010438964702188969, + 0.08895348012447357, + -0.08260989934206009, + -0.4502427875995636, + 0.0, + 1.0008161067962646 + ], + [ + 0.318237841129303, + -0.08986365050077438, + -0.010402577929198742, + 0.08727958798408508, + -0.09009179472923279, + -0.43512850999832153, + 0.0, + 0.9988223910331726 + ], + [ + 0.29870307445526123, + -0.07225564122200012, + -0.010637570172548294, + 0.08577969670295715, + -0.08361385017633438, + -0.42580240964889526, + 0.0, + 0.9988223910331726 + ], + [ + 0.2782622277736664, + -0.05756256729364395, + -0.011764965020120144, + 0.09194230288267136, + -0.08326534926891327, + -0.4381340742111206, + 0.0, + 0.9988223910331726 + ], + [ + 0.2537701725959778, + -0.041589636355638504, + -0.013561802916228771, + 0.102382592856884, + -0.08682895451784134, + -0.4632734954357147, + 0.0, + 0.9988223910331726 + ], + [ + 0.22713696956634521, + -0.019982917234301567, + -0.013941646553575993, + 0.1001066192984581, + -0.08873689919710159, + -0.4832226037979126, + 0.0, + 0.9988223910331726 + ], + [ + 0.21517430245876312, + -0.005391764920204878, + -0.01525577250868082, + 0.09895952045917511, + -0.09725755453109741, + -0.4786793887615204, + 0.0, + 0.9988223910331726 + ], + [ + 0.20169569551944733, + 0.007091638166457415, + -0.014848326332867146, + 0.07531378418207169, + -0.0895920842885971, + -0.4676014482975006, + 0.0, + 0.9988223910331726 + ], + [ + 0.20025266706943512, + 0.00461735762655735, + -0.013636721298098564, + 0.0443539060652256, + -0.07894720882177353, + -0.4690718948841095, + 0.0, + 0.9981546401977539 + ], + [ + 0.20569159090518951, + 0.0025559626519680023, + -0.007922111079096794, + 0.02736218273639679, + -0.0618370920419693, + -0.4575626850128174, + 0.0, + 0.9981546401977539 + ], + [ + 0.21974900364875793, + -0.007372591178864241, + 0.005227232817560434, + 0.0211187731474638, + -0.068203866481781, + -0.47213077545166016, + 0.0, + 0.9988223910331726 + ], + [ + 0.23766140639781952, + -0.015047633089125156, + 0.034259796142578125, + 0.0016469599213451147, + -0.12060859054327011, + -0.4626394510269165, + 0.0, + 0.9988223910331726 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.40644651651382446, + 0.04404783621430397, + 0.05818290263414383 + ], + [ + 0.4001515805721283, + 0.04211151972413063, + 0.04028292000293732 + ], + [ + 0.3777570426464081, + 0.018886584788560867, + 0.016680236905813217 + ], + [ + 0.3694904148578644, + 0.0006364755681715906, + 0.023943180218338966 + ], + [ + 0.3563903272151947, + -0.019642168655991554, + 0.030921300873160362 + ], + [ + 0.343009889125824, + -0.0525483600795269, + 0.038810864090919495 + ], + [ + 0.32994773983955383, + -0.07616899162530899, + 0.03481404855847359 + ], + [ + 0.3241398334503174, + -0.09776629507541656, + 0.033617109060287476 + ], + [ + 0.32618045806884766, + -0.09915103018283844, + 0.016283132135868073 + ], + [ + 0.3305812478065491, + -0.10188745707273483, + 0.001896172878332436 + ], + [ + 0.33702966570854187, + -0.10368771106004715, + -0.009064232930541039 + ], + [ + 0.33801621198654175, + -0.10414858162403107, + -0.010048789903521538 + ], + [ + 0.33102115988731384, + -0.10125892609357834, + -0.010438964702188969 + ], + [ + 0.318237841129303, + -0.08986365050077438, + -0.010402577929198742 + ], + [ + 0.29870307445526123, + -0.07225564122200012, + -0.010637570172548294 + ], + [ + 0.2782622277736664, + -0.05756256729364395, + -0.011764965020120144 + ], + [ + 0.2537701725959778, + -0.041589636355638504, + -0.013561802916228771 + ], + [ + 0.22713696956634521, + -0.019982917234301567, + -0.013941646553575993 + ], + [ + 0.21517430245876312, + -0.005391764920204878, + -0.01525577250868082 + ], + [ + 0.20169569551944733, + 0.007091638166457415, + -0.014848326332867146 + ], + [ + 0.20025266706943512, + 0.00461735762655735, + -0.013636721298098564 + ], + [ + 0.20569159090518951, + 0.0025559626519680023, + -0.007922111079096794 + ], + [ + 0.21974900364875793, + -0.007372591178864241, + 0.005227232817560434 + ], + [ + 0.23766140639781952, + -0.015047633089125156, + 0.034259796142578125 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9903560172339466, + 0.08159861665351327, + 0.11196707055535662, + 0.058618160332853095, + -0.9790458110387779, + 0.19502105313687043, + 0.12553433955578508, + -0.18657696976758706, + -0.9743870709038776 + ], + [ + 0.9956637903726836, + 0.06551605233059067, + 0.06603986241442204, + 0.051898582985298404, + -0.9803829209494593, + 0.19014695736383505, + 0.0772020312221031, + -0.18589506501685651, + -0.9795319653679301 + ], + [ + 0.9993011562294427, + -0.034170646841675964, + 0.015151437321920699, + -0.03628439272953257, + -0.9841517234409989, + 0.17357657702685692, + 0.008980089239404836, + -0.17400503481949253, + -0.9847038163096146 + ], + [ + 0.993178294634218, + -0.10429544992335267, + 0.05214723571535017, + -0.1109510203403657, + -0.9828239286070247, + 0.147468628673648, + 0.035871244094659055, + -0.15224843014868808, + -0.9876910799254804 + ], + [ + 0.9802908671451928, + -0.18156917104486933, + 0.07786174874612506, + -0.18659389815951624, + -0.9804171586525116, + 0.06296754870067432, + 0.0649040288530828, + -0.0762550401338475, + -0.9949736860303509 + ], + [ + 0.9511237002071894, + -0.29364169448314564, + 0.09559425801402192, + -0.29739207221487823, + -0.9543632350552622, + 0.0273636795514553, + 0.08319652810018625, + -0.054455218628897684, + -0.9950442034784955 + ], + [ + 0.9245643385566884, + -0.3670296368291721, + 0.10232316237431006, + -0.3703786032537133, + -0.9287561040170159, + 0.015224634739870874, + 0.08944536947803312, + -0.05197446430873576, + -0.9946346972324855 + ], + [ + 0.9021414763829273, + -0.41787298439876874, + 0.10734489042007687, + -0.4224670594643196, + -0.9060792537417215, + 0.02328024068638292, + 0.08753479455166967, + -0.06635175090765288, + -0.9939492466390251 + ], + [ + 0.9068739044681574, + -0.41126315181716316, + 0.09188221455805395, + -0.4160830962425324, + -0.9084167963118577, + 0.040666708739808835, + 0.06674262817650173, + -0.07511021325967555, + -0.9949391325343372 + ], + [ + 0.9043484591026696, + -0.4154890351605117, + 0.09758445665173113, + -0.4207869204372482, + -0.9062282760551023, + 0.04109354288855972, + 0.07135987743517738, + -0.07822514518736255, + -0.9943784966263359 + ], + [ + 0.9019697662248313, + -0.4220263285038044, + 0.09134724334057492, + -0.42737882135852023, + -0.9027237673715739, + 0.04936742728433935, + 0.06162697356292344, + -0.08356780404002176, + -0.9945946602799571 + ], + [ + 0.9012915300789377, + -0.4222406991747422, + 0.09688327909599165, + -0.42788551956825466, + -0.9026257666644398, + 0.04669804596807679, + 0.06773152849132938, + -0.08354350551572913, + -0.9941996392749151 + ], + [ + 0.89727107517652, + -0.4268636591440352, + 0.1126589284244075, + -0.4337000486372515, + -0.8999718207357029, + 0.044215265392269415, + 0.08251597096087854, + -0.08853326145482296, + -0.9926494729523381 + ], + [ + 0.9031382680103589, + -0.4128106476700126, + 0.11801965101420063, + -0.41981742816139717, + -0.9066699908500572, + 0.04126566010507026, + 0.08996997203066757, + -0.08681530315688465, + -0.992153469615754 + ], + [ + 0.9075259397918873, + -0.40501663159319606, + 0.11116742660398701, + -0.41160863709357937, + -0.9103145604293186, + 0.04365467833282463, + 0.08351645631142188, + -0.08537522593397684, + -0.992842420690164 + ], + [ + 0.9024075475478965, + -0.4155438741893581, + 0.1139469470950827, + -0.4227806850432043, + -0.904959669313005, + 0.048005096305448254, + 0.08316916786279331, + -0.09149472957824098, + -0.9923263596097883 + ], + [ + 0.8912242619499744, + -0.4366099721092803, + 0.1228456233101401, + -0.44519543504392944, + -0.8938706091340171, + 0.052880608378002986, + 0.08671989118864126, + -0.10181879188595183, + -0.9910159403819474 + ], + [ + 0.8820181481448386, + -0.4544664007314125, + 0.1245161714372259, + -0.462807082106551, + -0.8851840640888128, + 0.04752659713500057, + 0.08862048913862741, + -0.09954628717058059, + -0.9910786778129084 + ], + [ + 0.8834093507110592, + -0.44983845390023175, + 0.13127560500303856, + -0.45843066433414886, + -0.8876803163053089, + 0.04318543784955267, + 0.09710429997902073, + -0.09833118242325642, + -0.9904048331307903 + ], + [ + 0.8890718459805719, + -0.4434593148408221, + 0.11355654435393447, + -0.4489387088897304, + -0.8931560378300551, + 0.02695046842151931, + 0.08947227696398685, + -0.07494083111779602, + -0.9931659395520236 + ], + [ + 0.8892099432086201, + -0.4484948990066912, + 0.09032166110020444, + -0.45065058865298185, + -0.8926917576300593, + 0.003933548789099076, + 0.07886522583270318, + -0.0442012604382854, + -0.9959048773502535 + ], + [ + 0.8954171847473246, + -0.4400806784513658, + 0.06750601242082627, + -0.44091848532848754, + -0.8975429531404514, + -0.002745280231457866, + 0.06179769052972351, + -0.027306477650962304, + -0.9977150904559324 + ], + [ + 0.8885306338885598, + -0.4534018573789229, + 0.07028561991571713, + -0.45372762065611427, + -0.8910571758453822, + -0.012180132519499152, + 0.0681510006921032, + -0.021068106222301094, + -0.9974525432344491 + ], + [ + 0.8883768461830254, + -0.44613371363101245, + 0.10840336123803147, + -0.4430694565083321, + -0.8949648240870423, + -0.05222471020753279, + 0.12031639902902898, + -0.001634995000420577, + -0.9927342498957292 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.006294935941696167, + -0.0019363164901733398, + -0.017899982631206512, + -0.0016422122716903687, + 0.048587486147880554, + -0.007042527198791504, + 1.0 + ], + [ + -0.022394537925720215, + -0.023224934935569763, + -0.0236026830971241, + -0.012646675109863281, + 0.06829871982336044, + -0.08837129920721054, + 1.0 + ], + [ + -0.008266627788543701, + -0.018250109627842903, + 0.007262943312525749, + -0.021960392594337463, + -0.026898730546236038, + -0.07495799660682678, + 1.0 + ], + [ + -0.013100087642669678, + -0.02027864381670952, + 0.006978120654821396, + -0.07645130157470703, + -0.029070742428302765, + -0.0768435075879097, + 1.0 + ], + [ + -0.013380438089370728, + -0.0329061895608902, + 0.007889563217759132, + -0.02181883528828621, + -0.01834312081336975, + -0.11494845151901245, + 1.0 + ], + [ + -0.013062149286270142, + -0.02362063154578209, + -0.003996815532445908, + -0.002464551478624344, + -0.006272263824939728, + -0.0779779851436615, + 1.0 + ], + [ + -0.00580790638923645, + -0.021597303450107574, + -0.0011969394981861115, + 0.014449432492256165, + 0.001918099820613861, + -0.05694052577018738, + 1.0 + ], + [ + 0.0020406246185302734, + -0.001384735107421875, + -0.017333976924419403, + 0.00869257003068924, + 0.020854689180850983, + 0.007805913686752319, + 1.0 + ], + [ + 0.004400789737701416, + -0.002736426889896393, + -0.014386959373950958, + 0.0031563490629196167, + -0.004628300666809082, + -0.0053420960903167725, + 1.0 + ], + [ + 0.006448417901992798, + -0.001800253987312317, + -0.010960405692458153, + 0.005319386720657349, + 0.00975453108549118, + -0.00699344277381897, + 1.0 + ], + [ + 0.000986546277999878, + -0.00046087056398391724, + -0.0009845569729804993, + 8.881092071533203e-06, + -0.006117373704910278, + -0.0007500350475311279, + 1.0 + ], + [ + -0.006995052099227905, + 0.0028896555304527283, + -0.0003901747986674309, + 0.00511951744556427, + -0.014826476573944092, + -0.007000833749771118, + 1.0 + ], + [ + -0.012783318758010864, + 0.011395275592803955, + 3.6386772990226746e-05, + -0.0016738921403884888, + -0.007481895387172699, + 0.015114277601242065, + 1.0 + ], + [ + -0.019534766674041748, + 0.01760800927877426, + -0.00023499224334955215, + -0.0014998912811279297, + 0.006477944552898407, + 0.00932610034942627, + 1.0 + ], + [ + -0.02044084668159485, + 0.01469307392835617, + -0.0011273948475718498, + 0.006162606179714203, + 0.00034850090742111206, + -0.012331664562225342, + 1.0 + ], + [ + -0.0244920551776886, + 0.015972930938005447, + -0.0017968378961086273, + 0.010440289974212646, + -0.00356360524892807, + -0.025139421224594116, + 1.0 + ], + [ + -0.02663320302963257, + 0.021606719121336937, + -0.0003798436373472214, + -0.0022759735584259033, + -0.001907944679260254, + -0.019949108362197876, + 1.0 + ], + [ + -0.011962667107582092, + 0.014591151848435402, + -0.0013141259551048279, + -0.0011470988392829895, + -0.008520655333995819, + 0.004543215036392212, + 1.0 + ], + [ + -0.013478606939315796, + 0.012483403086662292, + 0.0004074461758136749, + -0.023645736277103424, + 0.007665470242500305, + 0.011077940464019775, + 1.0 + ], + [ + -0.001443028450012207, + -0.0024742805399000645, + 0.0012116050347685814, + -0.030959878116846085, + 0.010644875466823578, + -0.0014704465866088867, + 1.0 + ], + [ + 0.0054389238357543945, + -0.002061394974589348, + 0.00571461021900177, + -0.01699172332882881, + 0.01711011677980423, + 0.011509209871292114, + 1.0 + ], + [ + 0.01405741274356842, + -0.00992855429649353, + 0.013149343430995941, + -0.006243409588932991, + -0.0063667744398117065, + -0.014568090438842773, + 1.0 + ], + [ + 0.017912402749061584, + -0.007675041910260916, + 0.029032563790678978, + -0.01947181299328804, + -0.052404724061489105, + 0.009491324424743652, + 1.0 + ], + [ + 0.015360459685325623, + -0.0055278269574046135, + 0.03206974267959595, + -0.00016361591406166553, + -0.07883869856595993, + -0.007344573736190796, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.4001515805721283, + 0.04211151972413063, + 0.04028292000293732 + ], + [ + 0.3777570426464081, + 0.018886584788560867, + 0.016680236905813217 + ], + [ + 0.3694904148578644, + 0.0006364755681715906, + 0.023943180218338966 + ], + [ + 0.3563903272151947, + -0.019642168655991554, + 0.030921300873160362 + ], + [ + 0.343009889125824, + -0.0525483600795269, + 0.038810864090919495 + ], + [ + 0.32994773983955383, + -0.07616899162530899, + 0.03481404855847359 + ], + [ + 0.3241398334503174, + -0.09776629507541656, + 0.033617109060287476 + ], + [ + 0.32618045806884766, + -0.09915103018283844, + 0.016283132135868073 + ], + [ + 0.3305812478065491, + -0.10188745707273483, + 0.001896172878332436 + ], + [ + 0.33702966570854187, + -0.10368771106004715, + -0.009064232930541039 + ], + [ + 0.33801621198654175, + -0.10414858162403107, + -0.010048789903521538 + ], + [ + 0.33102115988731384, + -0.10125892609357834, + -0.010438964702188969 + ], + [ + 0.318237841129303, + -0.08986365050077438, + -0.010402577929198742 + ], + [ + 0.29870307445526123, + -0.07225564122200012, + -0.010637570172548294 + ], + [ + 0.2782622277736664, + -0.05756256729364395, + -0.011764965020120144 + ], + [ + 0.2537701725959778, + -0.041589636355638504, + -0.013561802916228771 + ], + [ + 0.22713696956634521, + -0.019982917234301567, + -0.013941646553575993 + ], + [ + 0.21517430245876312, + -0.005391764920204878, + -0.01525577250868082 + ], + [ + 0.20169569551944733, + 0.007091638166457415, + -0.014848326332867146 + ], + [ + 0.20025266706943512, + 0.00461735762655735, + -0.013636721298098564 + ], + [ + 0.20569159090518951, + 0.0025559626519680023, + -0.007922111079096794 + ], + [ + 0.21974900364875793, + -0.007372591178864241, + 0.005227232817560434 + ], + [ + 0.23766140639781952, + -0.015047633089125156, + 0.034259796142578125 + ], + [ + 0.25302186608314514, + -0.02057546004652977, + 0.06632953882217407 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9956637903726836, + 0.06551605233059067, + 0.06603986241442204, + 0.051898582985298404, + -0.9803829209494593, + 0.19014695736383505, + 0.0772020312221031, + -0.18589506501685651, + -0.9795319653679301 + ], + [ + 0.9993011562294427, + -0.034170646841675964, + 0.015151437321920699, + -0.03628439272953257, + -0.9841517234409989, + 0.17357657702685692, + 0.008980089239404836, + -0.17400503481949253, + -0.9847038163096146 + ], + [ + 0.993178294634218, + -0.10429544992335267, + 0.05214723571535017, + -0.1109510203403657, + -0.9828239286070247, + 0.147468628673648, + 0.035871244094659055, + -0.15224843014868808, + -0.9876910799254804 + ], + [ + 0.9802908671451928, + -0.18156917104486933, + 0.07786174874612506, + -0.18659389815951624, + -0.9804171586525116, + 0.06296754870067432, + 0.0649040288530828, + -0.0762550401338475, + -0.9949736860303509 + ], + [ + 0.9511237002071894, + -0.29364169448314564, + 0.09559425801402192, + -0.29739207221487823, + -0.9543632350552622, + 0.0273636795514553, + 0.08319652810018625, + -0.054455218628897684, + -0.9950442034784955 + ], + [ + 0.9245643385566884, + -0.3670296368291721, + 0.10232316237431006, + -0.3703786032537133, + -0.9287561040170159, + 0.015224634739870874, + 0.08944536947803312, + -0.05197446430873576, + -0.9946346972324855 + ], + [ + 0.9021414763829273, + -0.41787298439876874, + 0.10734489042007687, + -0.4224670594643196, + -0.9060792537417215, + 0.02328024068638292, + 0.08753479455166967, + -0.06635175090765288, + -0.9939492466390251 + ], + [ + 0.9068739044681574, + -0.41126315181716316, + 0.09188221455805395, + -0.4160830962425324, + -0.9084167963118577, + 0.040666708739808835, + 0.06674262817650173, + -0.07511021325967555, + -0.9949391325343372 + ], + [ + 0.9043484591026696, + -0.4154890351605117, + 0.09758445665173113, + -0.4207869204372482, + -0.9062282760551023, + 0.04109354288855972, + 0.07135987743517738, + -0.07822514518736255, + -0.9943784966263359 + ], + [ + 0.9019697662248313, + -0.4220263285038044, + 0.09134724334057492, + -0.42737882135852023, + -0.9027237673715739, + 0.04936742728433935, + 0.06162697356292344, + -0.08356780404002176, + -0.9945946602799571 + ], + [ + 0.9012915300789377, + -0.4222406991747422, + 0.09688327909599165, + -0.42788551956825466, + -0.9026257666644398, + 0.04669804596807679, + 0.06773152849132938, + -0.08354350551572913, + -0.9941996392749151 + ], + [ + 0.89727107517652, + -0.4268636591440352, + 0.1126589284244075, + -0.4337000486372515, + -0.8999718207357029, + 0.044215265392269415, + 0.08251597096087854, + -0.08853326145482296, + -0.9926494729523381 + ], + [ + 0.9031382680103589, + -0.4128106476700126, + 0.11801965101420063, + -0.41981742816139717, + -0.9066699908500572, + 0.04126566010507026, + 0.08996997203066757, + -0.08681530315688465, + -0.992153469615754 + ], + [ + 0.9075259397918873, + -0.40501663159319606, + 0.11116742660398701, + -0.41160863709357937, + -0.9103145604293186, + 0.04365467833282463, + 0.08351645631142188, + -0.08537522593397684, + -0.992842420690164 + ], + [ + 0.9024075475478965, + -0.4155438741893581, + 0.1139469470950827, + -0.4227806850432043, + -0.904959669313005, + 0.048005096305448254, + 0.08316916786279331, + -0.09149472957824098, + -0.9923263596097883 + ], + [ + 0.8912242619499744, + -0.4366099721092803, + 0.1228456233101401, + -0.44519543504392944, + -0.8938706091340171, + 0.052880608378002986, + 0.08671989118864126, + -0.10181879188595183, + -0.9910159403819474 + ], + [ + 0.8820181481448386, + -0.4544664007314125, + 0.1245161714372259, + -0.462807082106551, + -0.8851840640888128, + 0.04752659713500057, + 0.08862048913862741, + -0.09954628717058059, + -0.9910786778129084 + ], + [ + 0.8834093507110592, + -0.44983845390023175, + 0.13127560500303856, + -0.45843066433414886, + -0.8876803163053089, + 0.04318543784955267, + 0.09710429997902073, + -0.09833118242325642, + -0.9904048331307903 + ], + [ + 0.8890718459805719, + -0.4434593148408221, + 0.11355654435393447, + -0.4489387088897304, + -0.8931560378300551, + 0.02695046842151931, + 0.08947227696398685, + -0.07494083111779602, + -0.9931659395520236 + ], + [ + 0.8892099432086201, + -0.4484948990066912, + 0.09032166110020444, + -0.45065058865298185, + -0.8926917576300593, + 0.003933548789099076, + 0.07886522583270318, + -0.0442012604382854, + -0.9959048773502535 + ], + [ + 0.8954171847473246, + -0.4400806784513658, + 0.06750601242082627, + -0.44091848532848754, + -0.8975429531404514, + -0.002745280231457866, + 0.06179769052972351, + -0.027306477650962304, + -0.9977150904559324 + ], + [ + 0.8885306338885598, + -0.4534018573789229, + 0.07028561991571713, + -0.45372762065611427, + -0.8910571758453822, + -0.012180132519499152, + 0.0681510006921032, + -0.021068106222301094, + -0.9974525432344491 + ], + [ + 0.8883768461830254, + -0.44613371363101245, + 0.10840336123803147, + -0.4430694565083321, + -0.8949648240870423, + -0.05222471020753279, + 0.12031639902902898, + -0.001634995000420577, + -0.9927342498957292 + ], + [ + 0.873901139254631, + -0.4526095177961714, + 0.17731729529229717, + -0.4438944132917756, + -0.8917076373254735, + -0.08840384258488168, + 0.19812760700570953, + -0.0014539380108436264, + -0.9801751564931914 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006107.json b/json/chunk-0006/episode_0006107.json new file mode 100644 index 0000000000000000000000000000000000000000..fb3e89a006f857316ef546f378650111c3f0f933 --- /dev/null +++ b/json/chunk-0006/episode_0006107.json @@ -0,0 +1,1762 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 28, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the blue cloth on the right of the knife." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006107.mp4", + "start": 0, + "end": 28, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2814464271068573, + 0.14621859788894653, + 0.07338215410709381, + -0.05680926516652107, + -0.16555066406726837, + 0.2880137264728546, + 0.0, + 1.0001531839370728 + ], + [ + 0.2802368402481079, + 0.14262787997722626, + 0.06464499235153198, + -0.06747446209192276, + -0.13050711154937744, + 0.2947594225406647, + 0.0, + 1.0001531839370728 + ], + [ + 0.29662638902664185, + 0.12301479279994965, + 0.07346806675195694, + -0.07229214906692505, + -0.13788816332817078, + 0.261940062046051, + 0.0, + 1.0001531839370728 + ], + [ + 0.3082617521286011, + 0.11209825426340103, + 0.07873686403036118, + -0.043657127767801285, + -0.15805178880691528, + 0.23846854269504547, + 0.0, + 1.0001531839370728 + ], + [ + 0.31830355525016785, + 0.09160611033439636, + 0.06617516279220581, + -0.047742389142513275, + -0.14056262373924255, + 0.20652177929878235, + 0.0, + 1.0001531839370728 + ], + [ + 0.3339291214942932, + 0.07652181386947632, + 0.05158126726746559, + -0.014820301905274391, + -0.1766459345817566, + 0.16815564036369324, + 0.0, + 1.0001531839370728 + ], + [ + 0.34563010931015015, + 0.07688087970018387, + 0.03212909400463104, + 0.010117903351783752, + -0.16690438985824585, + 0.15201155841350555, + 0.0, + 1.0001531839370728 + ], + [ + 0.35266947746276855, + 0.0807541236281395, + 0.016952043399214745, + 0.018227649852633476, + -0.15266719460487366, + 0.16429153084754944, + 0.0, + 1.0001531839370728 + ], + [ + 0.3636636435985565, + 0.08934638649225235, + 0.01245773583650589, + 0.026529556140303612, + -0.15546296536922455, + 0.18020431697368622, + 0.0, + 1.0008161067962646 + ], + [ + 0.36563587188720703, + 0.09069149941205978, + 0.010869591496884823, + 0.03180287405848503, + -0.1553175300359726, + 0.1808881163597107, + 0.0, + 1.0008161067962646 + ], + [ + 0.3665812909603119, + 0.08605890721082687, + 0.00888714287430048, + 0.028921594843268394, + -0.15054203569889069, + 0.15909425914287567, + 0.0, + 1.0008161067962646 + ], + [ + 0.36174827814102173, + 0.07225444167852402, + 0.009174476377665997, + 0.02452644519507885, + -0.1400516778230667, + 0.1302613765001297, + 0.0, + 1.0008161067962646 + ], + [ + 0.3551529347896576, + 0.0605226531624794, + 0.00848415307700634, + 0.019034547731280327, + -0.1356687843799591, + 0.10183460265398026, + 0.0, + 0.9981546401977539 + ], + [ + 0.34473690390586853, + 0.033012110739946365, + 0.00905432179570198, + 0.010561277158558369, + -0.130037322640419, + 0.0441427044570446, + 0.0, + 0.9981546401977539 + ], + [ + 0.33711177110671997, + 0.006397264078259468, + 0.00970498938113451, + 0.00125759223010391, + -0.1227315217256546, + -0.007131150458008051, + 0.0, + 0.9981546401977539 + ], + [ + 0.33135509490966797, + -0.02223748341202736, + 0.00937146507203579, + -0.02514776587486267, + -0.13987301290035248, + -0.05191995948553085, + 0.0, + 0.9981546401977539 + ], + [ + 0.3248613774776459, + -0.04671735316514969, + 0.008925548754632473, + -0.013138984329998493, + -0.15147416293621063, + -0.09696336090564728, + 0.0, + 0.9981546401977539 + ], + [ + 0.3214029371738434, + -0.0648970827460289, + 0.007262053433805704, + -0.00616541737690568, + -0.18124018609523773, + -0.11499503254890442, + 0.0, + 0.9981546401977539 + ], + [ + 0.3116336762905121, + -0.08474457263946533, + 0.007463083602488041, + -0.0028920164331793785, + -0.18673785030841827, + -0.15939563512802124, + 0.0, + 0.9974852800369263 + ], + [ + 0.3065130114555359, + -0.09070543944835663, + 0.00690061878412962, + -0.0058390418998897076, + -0.17730340361595154, + -0.1675257384777069, + 0.0, + 0.9988223910331726 + ], + [ + 0.30499380826950073, + -0.09086361527442932, + 0.008483914658427238, + -0.010340344160795212, + -0.16571646928787231, + -0.17144528031349182, + 0.0, + 0.9988223910331726 + ], + [ + 0.3055129647254944, + -0.08789019286632538, + 0.009822231717407703, + -0.019505737349390984, + -0.15217621624469757, + -0.1634274423122406, + 0.0, + 0.9994885921478271 + ], + [ + 0.30531027913093567, + -0.08216307312250137, + 0.015198170207440853, + -0.035362906754016876, + -0.13826388120651245, + -0.13937869668006897, + 0.0, + 0.9994885921478271 + ], + [ + 0.3114943206310272, + -0.07970555871725082, + 0.023316457867622375, + -0.04738626629114151, + -0.1500166803598404, + -0.1335352659225464, + 0.0, + 0.9994885921478271 + ], + [ + 0.3147261142730713, + -0.0765235424041748, + 0.04727477580308914, + -0.06104963272809982, + -0.2010810673236847, + -0.11114588379859924, + 0.0, + 0.9994885921478271 + ], + [ + 0.31476953625679016, + -0.07217682898044586, + 0.06272289156913757, + -0.09523577988147736, + -0.2146991491317749, + -0.08209457993507385, + 0.0, + 0.9994885921478271 + ], + [ + 0.31365102529525757, + -0.06835869699716568, + 0.08581250160932541, + -0.11375115811824799, + -0.24117976427078247, + -0.06105726584792137, + 0.0, + 0.9994885921478271 + ], + [ + 0.30930161476135254, + -0.05699889361858368, + 0.10905487835407257, + -0.11981678754091263, + -0.2694477140903473, + -0.01065576821565628, + 0.0, + 0.9994885921478271 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9974852800369263 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2814464271068573, + 0.14621859788894653, + 0.07338215410709381 + ], + [ + 0.2802368402481079, + 0.14262787997722626, + 0.06464499235153198 + ], + [ + 0.29662638902664185, + 0.12301479279994965, + 0.07346806675195694 + ], + [ + 0.3082617521286011, + 0.11209825426340103, + 0.07873686403036118 + ], + [ + 0.31830355525016785, + 0.09160611033439636, + 0.06617516279220581 + ], + [ + 0.3339291214942932, + 0.07652181386947632, + 0.05158126726746559 + ], + [ + 0.34563010931015015, + 0.07688087970018387, + 0.03212909400463104 + ], + [ + 0.35266947746276855, + 0.0807541236281395, + 0.016952043399214745 + ], + [ + 0.3636636435985565, + 0.08934638649225235, + 0.01245773583650589 + ], + [ + 0.36563587188720703, + 0.09069149941205978, + 0.010869591496884823 + ], + [ + 0.3665812909603119, + 0.08605890721082687, + 0.00888714287430048 + ], + [ + 0.36174827814102173, + 0.07225444167852402, + 0.009174476377665997 + ], + [ + 0.3551529347896576, + 0.0605226531624794, + 0.00848415307700634 + ], + [ + 0.34473690390586853, + 0.033012110739946365, + 0.00905432179570198 + ], + [ + 0.33711177110671997, + 0.006397264078259468, + 0.00970498938113451 + ], + [ + 0.33135509490966797, + -0.02223748341202736, + 0.00937146507203579 + ], + [ + 0.3248613774776459, + -0.04671735316514969, + 0.008925548754632473 + ], + [ + 0.3214029371738434, + -0.0648970827460289, + 0.007262053433805704 + ], + [ + 0.3116336762905121, + -0.08474457263946533, + 0.007463083602488041 + ], + [ + 0.3065130114555359, + -0.09070543944835663, + 0.00690061878412962 + ], + [ + 0.30499380826950073, + -0.09086361527442932, + 0.008483914658427238 + ], + [ + 0.3055129647254944, + -0.08789019286632538, + 0.009822231717407703 + ], + [ + 0.30531027913093567, + -0.08216307312250137, + 0.015198170207440853 + ], + [ + 0.3114943206310272, + -0.07970555871725082, + 0.023316457867622375 + ], + [ + 0.3147261142730713, + -0.0765235424041748, + 0.04727477580308914 + ], + [ + 0.31476953625679016, + -0.07217682898044586, + 0.06272289156913757 + ], + [ + 0.31365102529525757, + -0.06835869699716568, + 0.08581250160932541 + ], + [ + 0.30930161476135254, + -0.05699889361858368, + 0.10905487835407257 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9457008822811582, + 0.27461863164496453, + 0.17388055787259904, + 0.2801647503374796, + -0.9599210050753152, + -0.007705626745081219, + 0.16479549120342074, + 0.05600242109627098, + -0.9847366017927734 + ], + [ + 0.9487348461625208, + 0.28145274685962207, + 0.14382817165684694, + 0.2880391704798544, + -0.957243668577398, + -0.02679543315122838, + 0.1301369584178733, + 0.06684990840426107, + -0.9892398403825468 + ], + [ + 0.9567216490744355, + 0.2486891785626065, + 0.1511204111235444, + 0.2564970476338051, + -0.9659374726857067, + -0.034264608806922205, + 0.1374516305739389, + 0.071543632333045, + -0.9879213318504464 + ], + [ + 0.9595893884231379, + 0.22931489529388424, + 0.16310390682648657, + 0.23327055615020484, + -0.9723976196194927, + -0.005264692936801093, + 0.15739457823915803, + 0.04309928253114628, + -0.9865948502735143 + ], + [ + 0.9690969770086432, + 0.19827908875791855, + 0.14675303102164117, + 0.20303443026943863, + -0.9790058751011549, + -0.018014345466497887, + 0.14010021155542118, + 0.04725356577816463, + -0.989009115854538 + ], + [ + 0.9705532492212563, + 0.16477838558620234, + 0.1757113373395897, + 0.1647598727143436, + -0.986222713452627, + 0.014796750092204276, + 0.17572869648755596, + 0.014589143694634106, + -0.9843305248325087 + ], + [ + 0.9747324852596376, + 0.15308053002079902, + 0.1626743172972343, + 0.14932253738325885, + -0.9881633509487212, + 0.03515638876818103, + 0.16613055711998098, + -0.00997713237085073, + -0.9860532920794185 + ], + [ + 0.97506007407194, + 0.1662607630828213, + 0.14702112300598447, + 0.16165114961847618, + -0.9859172537208347, + 0.04284944156686567, + 0.15207484268559307, + -0.018014646116012514, + -0.9882047939306239 + ], + [ + 0.9719423329515718, + 0.18320829587564474, + 0.14752227539933946, + 0.17706905623285946, + -0.9827247518477803, + 0.053838753983757856, + 0.15483749785326809, + -0.026206534071894324, + -0.9875923080049167 + ], + [ + 0.9718431671726618, + 0.18465092263384622, + 0.14637245365942061, + 0.1777376776883187, + -0.9823019649197309, + 0.05909456527295337, + 0.15469381484006797, + -0.03141474948659213, + -0.9874628788794654 + ], + [ + 0.9762039441274283, + 0.16263983096476173, + 0.14343690199459527, + 0.15663218341728416, + -0.9862711941936528, + 0.05230191795489612, + 0.1499740597169645, + -0.028590503450974282, + -0.988276461585741 + ], + [ + 0.9818197115472231, + 0.13324864786880583, + 0.13518451042358046, + 0.12862149566785838, + -0.9907850885342658, + 0.04244312889397481, + 0.1395942866649321, + -0.024283866646035837, + -0.9899109702146082 + ], + [ + 0.9856780385790983, + 0.10420125641266609, + 0.13259299538393443, + 0.10072455317497406, + -0.9943774208282272, + 0.032681942027747796, + 0.13525298019106297, + -0.018858502300688043, + -0.990631610761746 + ], + [ + 0.9905911482881483, + 0.04549404236249694, + 0.12907156558548166, + 0.04375579652200463, + -0.9989097212073605, + 0.016272650311439266, + 0.12967115023740972, + -0.010471914197165205, + -0.9915017558275702 + ], + [ + 0.9924527007048674, + -0.006977129320905857, + 0.12242939406063474, + -0.007077449502159998, + -0.9999748806007183, + 0.00038454664644575753, + 0.12242363567611936, + -0.0012481322118562815, + -0.992477151169649 + ], + [ + 0.9888993305120034, + -0.055381168698246885, + 0.1378805289608662, + -0.051389798330878325, + -0.9981547670681714, + -0.0323442360645065, + 0.13941736886207398, + 0.024899540813058927, + -0.9899206079918105 + ], + [ + 0.9839062278542461, + -0.0987763811577909, + 0.14890185128130257, + -0.09570297254502365, + -0.9950248911884697, + -0.02768405608686099, + 0.1508955792449692, + 0.012988165411051085, + -0.9884643806043698 + ], + [ + 0.9771244386630678, + -0.11584354004895143, + 0.17834827051673974, + -0.11286238781065834, + -0.9932489604032437, + -0.02680641855139726, + 0.18024958470149594, + 0.00606439500718081, + -0.9836022114290592 + ], + [ + 0.9701588660300076, + -0.15925097702252156, + 0.182841190601958, + -0.15596217330058482, + -0.9872340405695751, + -0.03232258714936606, + 0.18565445096395503, + 0.0028417350408372465, + -0.9826109857818757 + ], + [ + 0.9705427107296754, + -0.16775583943983777, + 0.172930115894627, + -0.1641291863934539, + -0.9858118202392576, + -0.035166251582794385, + 0.17637589637849224, + 0.005747469912656178, + -0.984306105724376 + ], + [ + 0.9718404886406287, + -0.17227819314249926, + 0.1607678102304675, + -0.16826937919427493, + -0.9849955404379857, + -0.03833016231186156, + 0.16495902722893707, + 0.010198504048930385, + -0.9862476919368919 + ], + [ + 0.9752729439741696, + -0.16558726014326894, + 0.1463678381004566, + -0.16082067990020935, + -0.9860066813606796, + -0.04390368126402882, + 0.15158955659408238, + 0.019279097238833788, + -0.9882554946678844 + ], + [ + 0.9808518163577326, + -0.1436665844053993, + 0.1314900257548954, + -0.13760204232414058, + -0.9890063918143536, + -0.05414826773386859, + 0.1378237726082195, + 0.035018130670262354, + -0.9898375312284325 + ], + [ + 0.9799659810167535, + -0.14000573053203658, + 0.14165123179154698, + -0.131643423548163, + -0.9890423327339517, + -0.06682269896301635, + 0.1494546255101888, + 0.046836518640625886, + -0.9876586735483243 + ], + [ + 0.9738052074233668, + -0.12282115588269699, + 0.19135929991189868, + -0.108682341849378, + -0.9906265833200018, + -0.08274733222210151, + 0.19972873244795972, + 0.05978240616919117, + -0.9780258162990144 + ], + [ + 0.9737499922886632, + -0.10182223015513162, + 0.20357599554973008, + -0.08011966686733421, + -0.9904545527309462, + -0.11216335388890931, + 0.21305349445361302, + 0.09290862403876575, + -0.9726130762437484 + ], + [ + 0.9692473831220408, + -0.08768519767658454, + 0.22993654868135685, + -0.05925324527971591, + -0.9900316582291239, + -0.12777467913445534, + 0.23884841057645226, + 0.11022078666254151, + -0.9647812264718841 + ], + [ + 0.9638633376766637, + -0.0423962289162601, + 0.263001950670488, + -0.010271093065904832, + -0.9924351388070409, + -0.12233969064976787, + 0.26619911895052023, + 0.11521742504816469, + -0.9570073009309998 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0012095868587493896, + -0.003590717911720276, + -0.008737161755561829, + -0.010665196925401688, + 0.03504355251789093, + 0.006745696067810059, + 1.0 + ], + [ + 0.016389548778533936, + -0.01961308717727661, + 0.008823074400424957, + -0.004817686975002289, + -0.007381051778793335, + -0.03281936049461365, + 1.0 + ], + [ + 0.011635363101959229, + -0.010916538536548615, + 0.005268797278404236, + 0.028635021299123764, + -0.020163625478744507, + -0.023471519351005554, + 1.0 + ], + [ + 0.010041803121566772, + -0.02049214392900467, + -0.012561701238155365, + -0.00408526137471199, + 0.01748916506767273, + -0.03194676339626312, + 1.0 + ], + [ + 0.015625566244125366, + -0.015084296464920044, + -0.014593895524740219, + 0.03292208909988403, + -0.03608331084251404, + -0.03836613893508911, + 1.0 + ], + [ + 0.011700987815856934, + 0.00035906583070755005, + -0.01945217326283455, + 0.024938205257058144, + 0.009741544723510742, + -0.016144081950187683, + 1.0 + ], + [ + 0.007039368152618408, + 0.0038732439279556274, + -0.015177050605416298, + 0.008109746500849724, + 0.014237195253372192, + 0.012279972434043884, + 1.0 + ], + [ + 0.010994166135787964, + 0.008592262864112854, + -0.004494307562708855, + 0.008301906287670135, + -0.002795770764350891, + 0.01591278612613678, + 1.0 + ], + [ + 0.0019722282886505127, + 0.001345112919807434, + -0.001588144339621067, + 0.005273317918181419, + 0.00014543533325195312, + 0.0006837993860244751, + 1.0 + ], + [ + 0.0009454190731048584, + -0.00463259220123291, + -0.001982448622584343, + -0.0028812792152166367, + 0.004775494337081909, + -0.021793857216835022, + 1.0 + ], + [ + -0.004833012819290161, + -0.013804465532302856, + 0.00028733350336551666, + -0.004395149648189545, + 0.010490357875823975, + -0.02883288264274597, + 1.0 + ], + [ + -0.006595343351364136, + -0.011731788516044617, + -0.0006903233006596565, + -0.005491897463798523, + 0.004382893443107605, + -0.028426773846149445, + 1.0 + ], + [ + -0.010416030883789062, + -0.027510542422533035, + 0.0005701687186956406, + -0.008473270572721958, + 0.0056314617395401, + -0.057691898196935654, + 1.0 + ], + [ + -0.00762513279914856, + -0.026614846661686897, + 0.0006506675854325294, + -0.009303685277700424, + 0.007305800914764404, + -0.051273856312036514, + 1.0 + ], + [ + -0.005756676197052002, + -0.028634747490286827, + -0.00033352430909872055, + -0.02640535868704319, + -0.017141491174697876, + -0.04478880763053894, + 1.0 + ], + [ + -0.006493717432022095, + -0.02447986975312233, + -0.0004459163174033165, + 0.012008781544864178, + -0.011601150035858154, + -0.045043401420116425, + 1.0 + ], + [ + -0.0034584403038024902, + -0.01817972958087921, + -0.0016634953208267689, + 0.0069735669530928135, + -0.0297660231590271, + -0.01803167164325714, + 1.0 + ], + [ + -0.009769260883331299, + -0.019847489893436432, + 0.0002010301686823368, + 0.003273400943726301, + -0.005497664213180542, + -0.04440060257911682, + 1.0 + ], + [ + -0.005120664834976196, + -0.005960866808891296, + -0.0005624648183584213, + -0.002947025466710329, + 0.009434446692466736, + -0.008130103349685669, + 1.0 + ], + [ + -0.0015192031860351562, + -0.00015817582607269287, + 0.0015832958742976189, + -0.004501302260905504, + 0.011586934328079224, + -0.003919541835784912, + 1.0 + ], + [ + 0.0005191564559936523, + 0.002973422408103943, + 0.001338317058980465, + -0.009165393188595772, + 0.013540253043174744, + 0.00801783800125122, + 1.0 + ], + [ + -0.00020268559455871582, + 0.005727119743824005, + 0.00537593849003315, + -0.015857169404625893, + 0.01391233503818512, + 0.02404874563217163, + 1.0 + ], + [ + 0.006184041500091553, + 0.0024575144052505493, + 0.008118287660181522, + -0.012023359537124634, + -0.011752799153327942, + 0.005843430757522583, + 1.0 + ], + [ + 0.0032317936420440674, + 0.0031820163130760193, + 0.023958317935466766, + -0.013663366436958313, + -0.0510643869638443, + 0.022389382123947144, + 1.0 + ], + [ + 4.342198371887207e-05, + 0.004346713423728943, + 0.015448115766048431, + -0.03418614715337753, + -0.01361808180809021, + 0.02905130386352539, + 1.0 + ], + [ + -0.0011185109615325928, + 0.003818131983280182, + 0.023089610040187836, + -0.01851537823677063, + -0.02648061513900757, + 0.02103731408715248, + 1.0 + ], + [ + -0.004349410533905029, + 0.011359803378582, + 0.023242376744747162, + -0.006065629422664642, + -0.02826794981956482, + 0.05040149763226509, + 1.0 + ], + [ + -0.0003590881824493408, + 0.0006896033883094788, + 0.000812239944934845, + 0.0013019442558288574, + -0.0001804828643798828, + 0.00026059895753860474, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9974852800369263 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2802368402481079, + 0.14262787997722626, + 0.06464499235153198 + ], + [ + 0.29662638902664185, + 0.12301479279994965, + 0.07346806675195694 + ], + [ + 0.3082617521286011, + 0.11209825426340103, + 0.07873686403036118 + ], + [ + 0.31830355525016785, + 0.09160611033439636, + 0.06617516279220581 + ], + [ + 0.3339291214942932, + 0.07652181386947632, + 0.05158126726746559 + ], + [ + 0.34563010931015015, + 0.07688087970018387, + 0.03212909400463104 + ], + [ + 0.35266947746276855, + 0.0807541236281395, + 0.016952043399214745 + ], + [ + 0.3636636435985565, + 0.08934638649225235, + 0.01245773583650589 + ], + [ + 0.36563587188720703, + 0.09069149941205978, + 0.010869591496884823 + ], + [ + 0.3665812909603119, + 0.08605890721082687, + 0.00888714287430048 + ], + [ + 0.36174827814102173, + 0.07225444167852402, + 0.009174476377665997 + ], + [ + 0.3551529347896576, + 0.0605226531624794, + 0.00848415307700634 + ], + [ + 0.34473690390586853, + 0.033012110739946365, + 0.00905432179570198 + ], + [ + 0.33711177110671997, + 0.006397264078259468, + 0.00970498938113451 + ], + [ + 0.33135509490966797, + -0.02223748341202736, + 0.00937146507203579 + ], + [ + 0.3248613774776459, + -0.04671735316514969, + 0.008925548754632473 + ], + [ + 0.3214029371738434, + -0.0648970827460289, + 0.007262053433805704 + ], + [ + 0.3116336762905121, + -0.08474457263946533, + 0.007463083602488041 + ], + [ + 0.3065130114555359, + -0.09070543944835663, + 0.00690061878412962 + ], + [ + 0.30499380826950073, + -0.09086361527442932, + 0.008483914658427238 + ], + [ + 0.3055129647254944, + -0.08789019286632538, + 0.009822231717407703 + ], + [ + 0.30531027913093567, + -0.08216307312250137, + 0.015198170207440853 + ], + [ + 0.3114943206310272, + -0.07970555871725082, + 0.023316457867622375 + ], + [ + 0.3147261142730713, + -0.0765235424041748, + 0.04727477580308914 + ], + [ + 0.31476953625679016, + -0.07217682898044586, + 0.06272289156913757 + ], + [ + 0.31365102529525757, + -0.06835869699716568, + 0.08581250160932541 + ], + [ + 0.30930161476135254, + -0.05699889361858368, + 0.10905487835407257 + ], + [ + 0.3089425265789032, + -0.0563092902302742, + 0.10986711829900742 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9487348461625208, + 0.28145274685962207, + 0.14382817165684694, + 0.2880391704798544, + -0.957243668577398, + -0.02679543315122838, + 0.1301369584178733, + 0.06684990840426107, + -0.9892398403825468 + ], + [ + 0.9567216490744355, + 0.2486891785626065, + 0.1511204111235444, + 0.2564970476338051, + -0.9659374726857067, + -0.034264608806922205, + 0.1374516305739389, + 0.071543632333045, + -0.9879213318504464 + ], + [ + 0.9595893884231379, + 0.22931489529388424, + 0.16310390682648657, + 0.23327055615020484, + -0.9723976196194927, + -0.005264692936801093, + 0.15739457823915803, + 0.04309928253114628, + -0.9865948502735143 + ], + [ + 0.9690969770086432, + 0.19827908875791855, + 0.14675303102164117, + 0.20303443026943863, + -0.9790058751011549, + -0.018014345466497887, + 0.14010021155542118, + 0.04725356577816463, + -0.989009115854538 + ], + [ + 0.9705532492212563, + 0.16477838558620234, + 0.1757113373395897, + 0.1647598727143436, + -0.986222713452627, + 0.014796750092204276, + 0.17572869648755596, + 0.014589143694634106, + -0.9843305248325087 + ], + [ + 0.9747324852596376, + 0.15308053002079902, + 0.1626743172972343, + 0.14932253738325885, + -0.9881633509487212, + 0.03515638876818103, + 0.16613055711998098, + -0.00997713237085073, + -0.9860532920794185 + ], + [ + 0.97506007407194, + 0.1662607630828213, + 0.14702112300598447, + 0.16165114961847618, + -0.9859172537208347, + 0.04284944156686567, + 0.15207484268559307, + -0.018014646116012514, + -0.9882047939306239 + ], + [ + 0.9719423329515718, + 0.18320829587564474, + 0.14752227539933946, + 0.17706905623285946, + -0.9827247518477803, + 0.053838753983757856, + 0.15483749785326809, + -0.026206534071894324, + -0.9875923080049167 + ], + [ + 0.9718431671726618, + 0.18465092263384622, + 0.14637245365942061, + 0.1777376776883187, + -0.9823019649197309, + 0.05909456527295337, + 0.15469381484006797, + -0.03141474948659213, + -0.9874628788794654 + ], + [ + 0.9762039441274283, + 0.16263983096476173, + 0.14343690199459527, + 0.15663218341728416, + -0.9862711941936528, + 0.05230191795489612, + 0.1499740597169645, + -0.028590503450974282, + -0.988276461585741 + ], + [ + 0.9818197115472231, + 0.13324864786880583, + 0.13518451042358046, + 0.12862149566785838, + -0.9907850885342658, + 0.04244312889397481, + 0.1395942866649321, + -0.024283866646035837, + -0.9899109702146082 + ], + [ + 0.9856780385790983, + 0.10420125641266609, + 0.13259299538393443, + 0.10072455317497406, + -0.9943774208282272, + 0.032681942027747796, + 0.13525298019106297, + -0.018858502300688043, + -0.990631610761746 + ], + [ + 0.9905911482881483, + 0.04549404236249694, + 0.12907156558548166, + 0.04375579652200463, + -0.9989097212073605, + 0.016272650311439266, + 0.12967115023740972, + -0.010471914197165205, + -0.9915017558275702 + ], + [ + 0.9924527007048674, + -0.006977129320905857, + 0.12242939406063474, + -0.007077449502159998, + -0.9999748806007183, + 0.00038454664644575753, + 0.12242363567611936, + -0.0012481322118562815, + -0.992477151169649 + ], + [ + 0.9888993305120034, + -0.055381168698246885, + 0.1378805289608662, + -0.051389798330878325, + -0.9981547670681714, + -0.0323442360645065, + 0.13941736886207398, + 0.024899540813058927, + -0.9899206079918105 + ], + [ + 0.9839062278542461, + -0.0987763811577909, + 0.14890185128130257, + -0.09570297254502365, + -0.9950248911884697, + -0.02768405608686099, + 0.1508955792449692, + 0.012988165411051085, + -0.9884643806043698 + ], + [ + 0.9771244386630678, + -0.11584354004895143, + 0.17834827051673974, + -0.11286238781065834, + -0.9932489604032437, + -0.02680641855139726, + 0.18024958470149594, + 0.00606439500718081, + -0.9836022114290592 + ], + [ + 0.9701588660300076, + -0.15925097702252156, + 0.182841190601958, + -0.15596217330058482, + -0.9872340405695751, + -0.03232258714936606, + 0.18565445096395503, + 0.0028417350408372465, + -0.9826109857818757 + ], + [ + 0.9705427107296754, + -0.16775583943983777, + 0.172930115894627, + -0.1641291863934539, + -0.9858118202392576, + -0.035166251582794385, + 0.17637589637849224, + 0.005747469912656178, + -0.984306105724376 + ], + [ + 0.9718404886406287, + -0.17227819314249926, + 0.1607678102304675, + -0.16826937919427493, + -0.9849955404379857, + -0.03833016231186156, + 0.16495902722893707, + 0.010198504048930385, + -0.9862476919368919 + ], + [ + 0.9752729439741696, + -0.16558726014326894, + 0.1463678381004566, + -0.16082067990020935, + -0.9860066813606796, + -0.04390368126402882, + 0.15158955659408238, + 0.019279097238833788, + -0.9882554946678844 + ], + [ + 0.9808518163577326, + -0.1436665844053993, + 0.1314900257548954, + -0.13760204232414058, + -0.9890063918143536, + -0.05414826773386859, + 0.1378237726082195, + 0.035018130670262354, + -0.9898375312284325 + ], + [ + 0.9799659810167535, + -0.14000573053203658, + 0.14165123179154698, + -0.131643423548163, + -0.9890423327339517, + -0.06682269896301635, + 0.1494546255101888, + 0.046836518640625886, + -0.9876586735483243 + ], + [ + 0.9738052074233668, + -0.12282115588269699, + 0.19135929991189868, + -0.108682341849378, + -0.9906265833200018, + -0.08274733222210151, + 0.19972873244795972, + 0.05978240616919117, + -0.9780258162990144 + ], + [ + 0.9737499922886632, + -0.10182223015513162, + 0.20357599554973008, + -0.08011966686733421, + -0.9904545527309462, + -0.11216335388890931, + 0.21305349445361302, + 0.09290862403876575, + -0.9726130762437484 + ], + [ + 0.9692473831220408, + -0.08768519767658454, + 0.22993654868135685, + -0.05925324527971591, + -0.9900316582291239, + -0.12777467913445534, + 0.23884841057645226, + 0.11022078666254151, + -0.9647812264718841 + ], + [ + 0.9638633376766637, + -0.0423962289162601, + 0.263001950670488, + -0.010271093065904832, + -0.9924351388070409, + -0.12233969064976787, + 0.26619911895052023, + 0.11521742504816469, + -0.9570073009309998 + ], + [ + 0.9638179241019885, + -0.04181567717848861, + 0.26326119790397795, + -0.010019411355321462, + -0.9926042887499901, + -0.1209807313220533, + 0.2663730853067289, + 0.11396567508346721, + -0.9571087735084991 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006108.json b/json/chunk-0006/episode_0006108.json new file mode 100644 index 0000000000000000000000000000000000000000..d9c83a3d3af4d2fb9d0854182b9ffcd3543732cc --- /dev/null +++ b/json/chunk-0006/episode_0006108.json @@ -0,0 +1,2302 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 37, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPicked up the ice cream scooper and moved it across the table." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006108.mp4", + "start": 0, + "end": 37, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2602138817310333, + -0.05192945525050163, + 0.09044726938009262, + -0.19813959300518036, + -0.061522360891103745, + 1.3046663999557495, + 0.0, + 1.0001531839370728 + ], + [ + 0.25808414816856384, + -0.05121073126792908, + 0.08324670791625977, + -0.1701873540878296, + -0.06017683446407318, + 1.299230933189392, + 0.0, + 0.9994885921478271 + ], + [ + 0.2632797360420227, + -0.0167508777230978, + 0.0815252736210823, + -0.15736114978790283, + -0.09491453319787979, + 1.3086891174316406, + 0.0, + 0.9994885921478271 + ], + [ + 0.266806960105896, + 0.01577710546553135, + 0.08145525306463242, + -0.16227032244205475, + -0.15304499864578247, + 1.3118350505828857, + 0.0, + 1.0001531839370728 + ], + [ + 0.2604391574859619, + 0.05904398113489151, + 0.07661068439483643, + -0.14961321651935577, + -0.1907442808151245, + 1.2930424213409424, + 0.0, + 0.9994885921478271 + ], + [ + 0.25665533542633057, + 0.08631709963083267, + 0.07298746705055237, + -0.16133706271648407, + -0.167586550116539, + 1.2012492418289185, + 0.0, + 0.9994885921478271 + ], + [ + 0.2532949149608612, + 0.10973455756902695, + 0.062314558774232864, + -0.15338373184204102, + -0.1722552329301834, + 1.158058762550354, + 0.0, + 0.9994885921478271 + ], + [ + 0.25627151131629944, + 0.1271926909685135, + 0.04926125705242157, + -0.07483801245689392, + -0.1830378919839859, + 1.1373831033706665, + 0.0, + 0.9994885921478271 + ], + [ + 0.2567577362060547, + 0.13996079564094543, + 0.034833524376153946, + 0.015217301435768604, + -0.18798142671585083, + 1.1603435277938843, + 0.0, + 0.9994885921478271 + ], + [ + 0.2608621418476105, + 0.1445302516222, + 0.027456603944301605, + 0.09698135405778885, + -0.2215409278869629, + 1.151021122932434, + 0.0, + 0.9994885921478271 + ], + [ + 0.259899765253067, + 0.14613313972949982, + 0.022703949362039566, + 0.14091545343399048, + -0.2258356809616089, + 1.1539106369018555, + 0.0, + 0.9994885921478271 + ], + [ + 0.2634563148021698, + 0.14493627846240997, + 0.014872082509100437, + 0.14092907309532166, + -0.2037641853094101, + 1.1477525234222412, + 0.0, + 0.9994885921478271 + ], + [ + 0.2681961953639984, + 0.1435207575559616, + 0.013483446091413498, + 0.12085223197937012, + -0.19606855511665344, + 1.1448559761047363, + 0.0, + 0.9468915462493896 + ], + [ + 0.2720899283885956, + 0.143030047416687, + 0.012800515629351139, + 0.11241492629051208, + -0.19099456071853638, + 1.1502681970596313, + 0.0, + 0.6611326336860657 + ], + [ + 0.2721617519855499, + 0.14046096801757812, + 0.011229674331843853, + 0.09476955235004425, + -0.18272556364536285, + 1.1479532718658447, + 0.0, + 0.43017780780792236 + ], + [ + 0.27146658301353455, + 0.13558925688266754, + 0.010359246283769608, + 0.07686784118413925, + -0.18014933168888092, + 1.1295149326324463, + 0.0, + 0.41573449969291687 + ], + [ + 0.2718784809112549, + 0.12644195556640625, + 0.011952762492001057, + 0.03691694512963295, + -0.16444455087184906, + 1.1114654541015625, + 0.0, + 0.41573449969291687 + ], + [ + 0.2741500735282898, + 0.10876075178384781, + 0.018011054024100304, + 0.011930382810533047, + -0.12246379256248474, + 1.1107257604599, + 0.0, + 0.4148389995098114 + ], + [ + 0.27662062644958496, + 0.09918045997619629, + 0.03156549483537674, + -0.03392258286476135, + -0.10629116743803024, + 1.1711387634277344, + 0.0, + 0.4121573865413666 + ], + [ + 0.284673810005188, + 0.0769781842827797, + 0.05278928950428963, + -0.11290732026100159, + -0.08745759725570679, + 1.2000278234481812, + 0.0, + 0.4068177044391632 + ], + [ + 0.2998964190483093, + 0.05747579038143158, + 0.06626919656991959, + -0.17752109467983246, + -0.0685083419084549, + 1.246073842048645, + 0.0, + 0.4068177044391632 + ], + [ + 0.32447201013565063, + 0.028956569731235504, + 0.08122114092111588, + -0.2616819143295288, + -0.0880470722913742, + 1.2320290803909302, + 0.0, + 0.4068177044391632 + ], + [ + 0.34723779559135437, + 0.01247425191104412, + 0.08955023437738419, + -0.30798250436782837, + -0.10135677456855774, + 1.2843706607818604, + 0.0, + 0.4068177044391632 + ], + [ + 0.37605613470077515, + -0.010892289690673351, + 0.08528483659029007, + -0.3085387051105499, + -0.10979558527469635, + 1.3200318813323975, + 0.0, + 0.4068177044391632 + ], + [ + 0.3979593813419342, + -0.021897660568356514, + 0.07733470946550369, + -0.30545905232429504, + -0.11338280141353607, + 1.3428457975387573, + 0.0, + 0.4068177044391632 + ], + [ + 0.41553908586502075, + -0.03359365463256836, + 0.06262963265180588, + -0.30331844091415405, + -0.1496969312429428, + 1.3553794622421265, + 0.0, + 0.4068177044391632 + ], + [ + 0.4230155944824219, + -0.05043530464172363, + 0.0474926196038723, + -0.28195837140083313, + -0.18399813771247864, + 1.3342763185501099, + 0.0, + 0.4068177044391632 + ], + [ + 0.42950430512428284, + -0.05423499643802643, + 0.036974236369132996, + -0.26991671323776245, + -0.19253848493099213, + 1.3365007638931274, + 0.0, + 0.4068177044391632 + ], + [ + 0.43304315209388733, + -0.058625634759664536, + 0.03062804602086544, + -0.2659476697444916, + -0.19675831496715546, + 1.3337558507919312, + 0.0, + 0.4068177044391632 + ], + [ + 0.43677589297294617, + -0.06173720210790634, + 0.023894263431429863, + -0.24943824112415314, + -0.1895858347415924, + 1.3280974626541138, + 0.0, + 0.4068177044391632 + ], + [ + 0.43973901867866516, + -0.06221282109618187, + 0.025382233783602715, + -0.24388371407985687, + -0.1857662796974182, + 1.3284173011779785, + 0.0, + 0.4059307873249054 + ], + [ + 0.43960002064704895, + -0.056657955050468445, + 0.02673467993736267, + -0.23775987327098846, + -0.16825492680072784, + 1.3754221200942993, + 0.0, + 0.4466742277145386 + ], + [ + 0.4402413070201874, + -0.05086105316877365, + 0.028925705701112747, + -0.2343910187482834, + -0.17765457928180695, + 1.4095008373260498, + 0.0, + 0.7496609687805176 + ], + [ + 0.4382733404636383, + -0.04977935180068016, + 0.028375817462801933, + -0.2250240296125412, + -0.1822720766067505, + 1.4268364906311035, + 0.0, + 0.9941151142120361 + ], + [ + 0.4364495277404785, + -0.04755542427301407, + 0.028526512905955315, + -0.21247196197509766, + -0.20172789692878723, + 1.4311695098876953, + 0.0, + 1.0060625076293945 + ], + [ + 0.4335390031337738, + -0.04943640157580376, + 0.03436824679374695, + -0.21570394933223724, + -0.1864563524723053, + 1.4293721914291382, + 0.0, + 1.0008161067962646 + ], + [ + 0.43141427636146545, + -0.052452754229307175, + 0.06042971462011337, + -0.26474571228027344, + -0.16059641540050507, + 1.4286792278289795, + 0.0, + 1.0008161067962646 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9468915462493896 + ], + [ + 0.6611326336860657 + ], + [ + 0.43017780780792236 + ], + [ + 0.41573449969291687 + ], + [ + 0.41573449969291687 + ], + [ + 0.4148389995098114 + ], + [ + 0.4121573865413666 + ], + [ + 0.4068177044391632 + ], + [ + 0.4068177044391632 + ], + [ + 0.4068177044391632 + ], + [ + 0.4068177044391632 + ], + [ + 0.4068177044391632 + ], + [ + 0.4068177044391632 + ], + [ + 0.4068177044391632 + ], + [ + 0.4068177044391632 + ], + [ + 0.4068177044391632 + ], + [ + 0.4068177044391632 + ], + [ + 0.4068177044391632 + ], + [ + 0.4059307873249054 + ], + [ + 0.4466742277145386 + ], + [ + 0.7496609687805176 + ], + [ + 0.9941151142120361 + ], + [ + 1.0060625076293945 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2602138817310333, + -0.05192945525050163, + 0.09044726938009262 + ], + [ + 0.25808414816856384, + -0.05121073126792908, + 0.08324670791625977 + ], + [ + 0.2632797360420227, + -0.0167508777230978, + 0.0815252736210823 + ], + [ + 0.266806960105896, + 0.01577710546553135, + 0.08145525306463242 + ], + [ + 0.2604391574859619, + 0.05904398113489151, + 0.07661068439483643 + ], + [ + 0.25665533542633057, + 0.08631709963083267, + 0.07298746705055237 + ], + [ + 0.2532949149608612, + 0.10973455756902695, + 0.062314558774232864 + ], + [ + 0.25627151131629944, + 0.1271926909685135, + 0.04926125705242157 + ], + [ + 0.2567577362060547, + 0.13996079564094543, + 0.034833524376153946 + ], + [ + 0.2608621418476105, + 0.1445302516222, + 0.027456603944301605 + ], + [ + 0.259899765253067, + 0.14613313972949982, + 0.022703949362039566 + ], + [ + 0.2634563148021698, + 0.14493627846240997, + 0.014872082509100437 + ], + [ + 0.2681961953639984, + 0.1435207575559616, + 0.013483446091413498 + ], + [ + 0.2720899283885956, + 0.143030047416687, + 0.012800515629351139 + ], + [ + 0.2721617519855499, + 0.14046096801757812, + 0.011229674331843853 + ], + [ + 0.27146658301353455, + 0.13558925688266754, + 0.010359246283769608 + ], + [ + 0.2718784809112549, + 0.12644195556640625, + 0.011952762492001057 + ], + [ + 0.2741500735282898, + 0.10876075178384781, + 0.018011054024100304 + ], + [ + 0.27662062644958496, + 0.09918045997619629, + 0.03156549483537674 + ], + [ + 0.284673810005188, + 0.0769781842827797, + 0.05278928950428963 + ], + [ + 0.2998964190483093, + 0.05747579038143158, + 0.06626919656991959 + ], + [ + 0.32447201013565063, + 0.028956569731235504, + 0.08122114092111588 + ], + [ + 0.34723779559135437, + 0.01247425191104412, + 0.08955023437738419 + ], + [ + 0.37605613470077515, + -0.010892289690673351, + 0.08528483659029007 + ], + [ + 0.3979593813419342, + -0.021897660568356514, + 0.07733470946550369 + ], + [ + 0.41553908586502075, + -0.03359365463256836, + 0.06262963265180588 + ], + [ + 0.4230155944824219, + -0.05043530464172363, + 0.0474926196038723 + ], + [ + 0.42950430512428284, + -0.05423499643802643, + 0.036974236369132996 + ], + [ + 0.43304315209388733, + -0.058625634759664536, + 0.03062804602086544 + ], + [ + 0.43677589297294617, + -0.06173720210790634, + 0.023894263431429863 + ], + [ + 0.43973901867866516, + -0.06221282109618187, + 0.025382233783602715 + ], + [ + 0.43960002064704895, + -0.056657955050468445, + 0.02673467993736267 + ], + [ + 0.4402413070201874, + -0.05086105316877365, + 0.028925705701112747 + ], + [ + 0.4382733404636383, + -0.04977935180068016, + 0.028375817462801933 + ], + [ + 0.4364495277404785, + -0.04755542427301407, + 0.028526512905955315 + ], + [ + 0.4335390031337738, + -0.04943640157580376, + 0.03436824679374695 + ], + [ + 0.43141427636146545, + -0.052452754229307175, + 0.06042971462011337 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.2625020147828337, + 0.9427361953104655, + 0.205769672902741, + 0.9629706456307879, + -0.26953056817781523, + 0.006388150841037346, + 0.06148355787018785, + 0.19647325229987955, + -0.9785795998498699 + ], + [ + 0.26775425475261694, + 0.9467024356604784, + 0.17905908906388593, + 0.9616084321072044, + -0.2741770755213546, + 0.011668528565399502, + 0.06014052179849159, + 0.16906043171917945, + -0.9837691233540165 + ], + [ + 0.25795008190313795, + 0.9500639805120459, + 0.1756137471263897, + 0.961498833487282, + -0.27025951084612454, + 0.049797489894670054, + 0.09477208686507169, + 0.15600714640945337, + -0.9831988719584757 + ], + [ + 0.25308343844998543, + 0.9476505466816556, + 0.19469775180081544, + 0.9553576852728101, + -0.2765207047726666, + 0.10405764278613312, + 0.15244824161829867, + 0.15967072745493222, + -0.975328043491779 + ], + [ + 0.2692233424581056, + 0.9431820578465603, + 0.19474700930184682, + 0.9442322417388859, + -0.29830957895041094, + 0.13941617111076857, + 0.18958972951202854, + 0.14635231758587416, + -0.9708948107806528 + ], + [ + 0.356132889648505, + 0.9107029783543446, + 0.20925928922542908, + 0.9194270268175706, + -0.381488494438874, + 0.09550115689437194, + 0.16680319921394793, + 0.15838754315692644, + -0.9731855315944153 + ], + [ + 0.39518224135725083, + 0.8947674240171773, + 0.20789962249490482, + 0.9024696368547961, + -0.4203979141797151, + 0.09388369564795086, + 0.17140464016773785, + 0.15052192754216676, + -0.9736342222097365 + ], + [ + 0.41295537602827753, + 0.8992819007505249, + 0.14408303297705372, + 0.8923774244099812, + -0.4311461367932136, + 0.1333249456467004, + 0.18201755358413108, + 0.07351919280575878, + -0.9805429814528466 + ], + [ + 0.3919951262934615, + 0.9179687580052027, + 0.06060676767951194, + 0.9007869242498423, + -0.39637090867128916, + 0.17740636927575373, + 0.18687626404303392, + -0.01494864828276124, + -0.9822697184846105 + ], + [ + 0.3975945412037157, + 0.9175609390805041, + 0.0007098441450838766, + 0.8908624602935492, + -0.38621067452998387, + 0.23917648655087148, + 0.2197331509916772, + -0.09446289193539603, + -0.9709758516062439 + ], + [ + 0.39463296560465805, + 0.9180255778483968, + -0.038650496428763836, + 0.8911364949037468, + -0.37214518444217676, + 0.2595837228085818, + 0.22392090100912232, + -0.13688316226846653, + -0.9649468534477157 + ], + [ + 0.40204453780786886, + 0.914472481652936, + -0.04582870190587629, + 0.8929791750807657, + -0.3805497621821431, + 0.2403540542100119, + 0.20235706681737636, + -0.13755711105804344, + -0.9696028355499138 + ], + [ + 0.4052608427366308, + 0.9137126480143187, + -0.02988053217493271, + 0.8932025924928653, + -0.38877566541910974, + 0.22592611788359637, + 0.19481472764762942, + -0.11824837773343802, + -0.9736860598031534 + ], + [ + 0.40081910814388627, + 0.9158051892698557, + -0.025394839104490363, + 0.8962736965126282, + -0.3862258112084556, + 0.21799789837509698, + 0.1898354642481965, + -0.11013844952047297, + -0.9756187874630631 + ], + [ + 0.4035232113938014, + 0.9148898935055135, + -0.012062364109204221, + 0.8967442980806656, + -0.3928329583336832, + 0.20379384364259007, + 0.1817104337297318, + -0.09305240248524595, + -0.9789395122608321 + ], + [ + 0.42018670158004295, + 0.9074117142222702, + 0.006864161091156035, + 0.8895723248159051, + -0.4133960133985433, + 0.194331713901302, + 0.17917649046934148, + -0.0755494341368141, + -0.9809118555021636 + ], + [ + 0.43736741444068444, + 0.8984173771547604, + 0.03944567418401143, + 0.8842570972594804, + -0.4376305308164417, + 0.16299970688181326, + 0.1637044004653148, + -0.03641064300009095, + -0.9858372757938358 + ], + [ + 0.44068599259256, + 0.8966044837496406, + 0.043546017645143445, + 0.8893105753841936, + -0.44267391647327214, + 0.11474538850886251, + 0.12215791600443045, + -0.011840751422754252, + -0.9924400436113003 + ], + [ + 0.3869069772245293, + 0.9192642453751104, + 0.07249991827516797, + 0.915995448413302, + -0.39219369435251866, + 0.08447747981702833, + 0.10609113752378549, + 0.03372466879083761, + -0.9937843414211441 + ], + [ + 0.3609469973306344, + 0.9225488292936967, + 0.13645850170227097, + 0.9284868956871517, + -0.36919712957402373, + 0.04006949028298268, + 0.08734614848541129, + 0.11223696843344982, + -0.9898350939735534 + ], + [ + 0.3182973752018119, + 0.9289883091433483, + 0.18885841896674743, + 0.9455161162459796, + -0.32548849980992767, + 0.007517340660217656, + 0.06845476505515156, + 0.17617592902114998, + -0.9819755532470137 + ], + [ + 0.33103734874638985, + 0.903496153165325, + 0.272229636429284, + 0.9395115745704011, + -0.3424669882250901, + -0.005862015377090191, + 0.08793335535055116, + 0.257703440395147, + -0.96221445729385 + ], + [ + 0.2810753450978988, + 0.9054581467991883, + 0.3180286068470524, + 0.9543367256854384, + -0.2986544615807226, + 0.006850298236236507, + 0.10118332069117818, + 0.30158092939194386, + -0.9480563689153709 + ], + [ + 0.246650369424735, + 0.9147214571604342, + 0.3200753834223028, + 0.9628898631187849, + -0.2686603590446884, + 0.025782222190246007, + 0.1095751192822981, + 0.3018381475033789, + -0.94704119548518 + ], + [ + 0.22453052991294642, + 0.9213491024646405, + 0.3173355834516709, + 0.9678767361951293, + -0.24866518169511442, + 0.03715172869194033, + 0.11314002240266398, + 0.298800031459397, + -0.9475852872066913 + ], + [ + 0.21136411322401588, + 0.922771101999164, + 0.32220910129335795, + 0.9659621790690185, + -0.2475133092798098, + 0.07519461641361248, + 0.1491384599935861, + 0.29534836218371896, + -0.9436774155961007 + ], + [ + 0.23036561908346986, + 0.9218425291179086, + 0.31166974998191127, + 0.955749290957604, + -0.2745576394721062, + 0.10564750560965448, + 0.18296167461609741, + 0.27354058952375304, + -0.9442989841700936 + ], + [ + 0.22786796000075277, + 0.9256148516541092, + 0.30218097094694196, + 0.954704642495033, + -0.27338205766968354, + 0.11747891786495493, + 0.1913510867581534, + 0.261723894479719, + -0.9459838078185283 + ], + [ + 0.2302960125229102, + 0.9257987909905128, + 0.29976715166367435, + 0.9532821866739323, + -0.27651429941106254, + 0.12162612709190118, + 0.19549122534327124, + 0.25775267374309424, + -0.9462276364554527 + ], + [ + 0.2360172433266976, + 0.9294710446828546, + 0.28351267687464976, + 0.9533003942612864, + -0.27804339148834056, + 0.11794164129321458, + 0.18845216675258028, + 0.24243648559122558, + -0.9516881481348989 + ], + [ + 0.23588337127516706, + 0.9313376289408416, + 0.2774333362714601, + 0.9540676401888047, + -0.2762065637543753, + 0.11603823543800526, + 0.18469968354176305, + 0.2373186782742808, + -0.9537116292893366 + ], + [ + 0.19139217817877258, + 0.9457213581585001, + 0.26264071819660206, + 0.967122253984476, + -0.2273636125600526, + 0.11393126669895817, + 0.1674621747738032, + 0.2322001300742191, + -0.9581437885899715 + ], + [ + 0.15806936038745828, + 0.9534394454778967, + 0.25684100356738393, + 0.9714852387161512, + -0.19671660367399973, + 0.13235939254767543, + 0.1767215557404443, + 0.2285952791414722, + -0.9573472150118315 + ], + [ + 0.14108654889913524, + 0.9589027680668331, + 0.24617080881676032, + 0.9732614113725068, + -0.17987334099044944, + 0.142855893592565, + 0.18126447763676337, + 0.21943350381083454, + -0.958640770337029 + ], + [ + 0.13635138836590222, + 0.9621191344007519, + 0.23608276114667634, + 0.9701871842748578, + -0.1778845530646832, + 0.16460228810621252, + 0.2003624874059853, + 0.20660071878124142, + -0.9576904597204468 + ], + [ + 0.1385100776413415, + 0.9614809427307169, + 0.23742231394172106, + 0.9728566261177101, + -0.1769679599429793, + 0.1491050843280876, + 0.1853778395889207, + 0.21032531449940034, + -0.9598949518932125 + ], + [ + 0.1398165850350977, + 0.9495022256924374, + 0.2808858236975141, + 0.9771801684642633, + -0.17812438424933313, + 0.11571785556235474, + 0.15990697579929825, + 0.25829678112764703, + -0.9527394879765503 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0021297335624694824, + 0.0007187239825725555, + -0.007200561463832855, + 0.02795223891735077, + 0.0013455264270305634, + -0.005435466766357422, + 1.0 + ], + [ + 0.005195587873458862, + 0.03445985168218613, + -0.0017214342951774597, + 0.012826204299926758, + -0.03473769873380661, + 0.009458184242248535, + 1.0 + ], + [ + 0.003527224063873291, + 0.03252798318862915, + -7.002055644989014e-05, + -0.0049091726541519165, + -0.05813046544790268, + 0.003145933151245117, + 1.0 + ], + [ + -0.006367802619934082, + 0.04326687753200531, + -0.00484456866979599, + 0.012657105922698975, + -0.03769928216934204, + -0.01879262924194336, + 1.0 + ], + [ + -0.0037838220596313477, + 0.027273118495941162, + -0.0036232173442840576, + -0.011723846197128296, + 0.02315773069858551, + -0.09179317951202393, + 1.0 + ], + [ + -0.0033604204654693604, + 0.023417457938194275, + -0.010672908276319504, + 0.007953330874443054, + -0.004668682813644409, + -0.04319047927856445, + 1.0 + ], + [ + 0.0029765963554382324, + 0.017458133399486542, + -0.013053301721811295, + 0.0785457193851471, + -0.01078265905380249, + -0.0206756591796875, + 1.0 + ], + [ + 0.000486224889755249, + 0.012768104672431946, + -0.014427732676267624, + 0.09005531668663025, + -0.004943534731864929, + 0.022960424423217773, + 1.0 + ], + [ + 0.004104405641555786, + 0.004569455981254578, + -0.007376920431852341, + 0.08176404982805252, + -0.03355950117111206, + -0.009322404861450195, + 1.0 + ], + [ + -0.000962376594543457, + 0.0016028881072998047, + -0.004752654582262039, + 0.04393409937620163, + -0.004294753074645996, + 0.0028895139694213867, + 1.0 + ], + [ + 0.003556549549102783, + -0.0011968612670898438, + -0.007831866852939129, + 1.3619661331176758e-05, + 0.02207149565219879, + -0.006158113479614258, + 1.0 + ], + [ + 0.004739880561828613, + -0.0014155209064483643, + -0.0013886364176869392, + -0.020076841115951538, + 0.007695630192756653, + -0.002896547317504883, + 0.0 + ], + [ + 0.003893733024597168, + -0.0004907101392745972, + -0.0006829304620623589, + -0.008437305688858032, + 0.005073994398117065, + 0.0054122209548950195, + 0.0 + ], + [ + 7.18235969543457e-05, + -0.0025690793991088867, + -0.001570841297507286, + -0.017645373940467834, + 0.008268997073173523, + -0.002314925193786621, + 0.0 + ], + [ + -0.0006951689720153809, + -0.0048717111349105835, + -0.0008704280480742455, + -0.017901711165905, + 0.0025762319564819336, + -0.018438339233398438, + 0.0 + ], + [ + 0.0004118978977203369, + -0.009147301316261292, + 0.0015935162082314491, + -0.0399508960545063, + 0.01570478081703186, + -0.01804947853088379, + 0.0 + ], + [ + 0.002271592617034912, + -0.01768120378255844, + 0.006058291532099247, + -0.02498656138777733, + 0.04198075830936432, + -0.0007396936416625977, + 0.0 + ], + [ + 0.002470552921295166, + -0.00958029180765152, + 0.013554440811276436, + -0.045852966606616974, + 0.0161726251244545, + 0.06041300296783447, + 0.0 + ], + [ + 0.008053183555603027, + -0.022202275693416595, + 0.021223794668912888, + -0.07898473739624023, + 0.018833570182323456, + 0.028889060020446777, + 0.0 + ], + [ + 0.015222609043121338, + -0.019502393901348114, + 0.013479907065629959, + -0.06461377441883087, + 0.018949255347251892, + 0.04604601860046387, + 0.0 + ], + [ + 0.02457559108734131, + -0.028519220650196075, + 0.014951944351196289, + -0.08416081964969635, + -0.01953873038291931, + -0.014044761657714844, + 0.0 + ], + [ + 0.022765785455703735, + -0.016482317820191383, + 0.00832909345626831, + -0.04630059003829956, + -0.013309702277183533, + 0.052341580390930176, + 0.0 + ], + [ + 0.028818339109420776, + -0.023366540670394897, + -0.004265397787094116, + -0.0005562007427215576, + -0.00843881070613861, + 0.03566122055053711, + 0.0 + ], + [ + 0.021903246641159058, + -0.011005370877683163, + -0.007950127124786377, + 0.003079652786254883, + -0.0035872161388397217, + 0.022813916206359863, + 0.0 + ], + [ + 0.017579704523086548, + -0.011695994064211845, + -0.014705076813697815, + 0.002140611410140991, + -0.03631412982940674, + 0.01253366470336914, + 0.0 + ], + [ + 0.007476508617401123, + -0.016841650009155273, + -0.015137013047933578, + 0.021360069513320923, + -0.03430120646953583, + -0.0211031436920166, + 0.0 + ], + [ + 0.006488710641860962, + -0.0037996917963027954, + -0.010518383234739304, + 0.012041658163070679, + -0.008540347218513489, + 0.002224445343017578, + 0.0 + ], + [ + 0.003538846969604492, + -0.004390638321638107, + -0.006346190348267555, + 0.003969043493270874, + -0.00421983003616333, + -0.002744913101196289, + 0.0 + ], + [ + 0.003732740879058838, + -0.003111567348241806, + -0.006733782589435577, + 0.01650942862033844, + 0.007172480225563049, + -0.005658388137817383, + 0.0 + ], + [ + 0.002963125705718994, + -0.00047561898827552795, + 0.0014879703521728516, + 0.005554527044296265, + 0.0038195550441741943, + 0.0003198385238647461, + 1.0 + ], + [ + -0.00013899803161621094, + 0.005554866045713425, + 0.0013524461537599564, + 0.006123840808868408, + 0.01751135289669037, + 0.0470048189163208, + 1.0 + ], + [ + 0.0006412863731384277, + 0.005796901881694794, + 0.0021910257637500763, + 0.003368854522705078, + -0.009399652481079102, + 0.03407871723175049, + 1.0 + ], + [ + -0.0019679665565490723, + 0.0010817013680934906, + -0.0005498882383108139, + 0.009366989135742188, + -0.0046174973249435425, + 0.01733565330505371, + 1.0 + ], + [ + -0.00182381272315979, + 0.002223927527666092, + 0.00015069544315338135, + 0.012552067637443542, + -0.019455820322036743, + 0.004333019256591797, + 1.0 + ], + [ + -0.002910524606704712, + -0.0018809773027896881, + 0.005841733887791634, + -0.0032319873571395874, + 0.015271544456481934, + -0.001797318458557129, + 1.0 + ], + [ + -0.0021247267723083496, + -0.003016352653503418, + 0.026061467826366425, + -0.049041762948036194, + 0.025859937071800232, + -0.0006929636001586914, + 1.0 + ], + [ + -0.008853912353515625, + 0.011348329484462738, + 0.014402203261852264, + -0.040080636739730835, + 0.010624393820762634, + 0.01714956760406494, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9468915462493896 + ], + [ + 0.6611326336860657 + ], + [ + 0.43017780780792236 + ], + [ + 0.41573449969291687 + ], + [ + 0.41573449969291687 + ], + [ + 0.4148389995098114 + ], + [ + 0.4121573865413666 + ], + [ + 0.4068177044391632 + ], + [ + 0.4068177044391632 + ], + [ + 0.4068177044391632 + ], + [ + 0.4068177044391632 + ], + [ + 0.4068177044391632 + ], + [ + 0.4068177044391632 + ], + [ + 0.4068177044391632 + ], + [ + 0.4068177044391632 + ], + [ + 0.4068177044391632 + ], + [ + 0.4068177044391632 + ], + [ + 0.4068177044391632 + ], + [ + 0.4059307873249054 + ], + [ + 0.4466742277145386 + ], + [ + 0.7496609687805176 + ], + [ + 0.9941151142120361 + ], + [ + 1.0060625076293945 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.25808414816856384, + -0.05121073126792908, + 0.08324670791625977 + ], + [ + 0.2632797360420227, + -0.0167508777230978, + 0.0815252736210823 + ], + [ + 0.266806960105896, + 0.01577710546553135, + 0.08145525306463242 + ], + [ + 0.2604391574859619, + 0.05904398113489151, + 0.07661068439483643 + ], + [ + 0.25665533542633057, + 0.08631709963083267, + 0.07298746705055237 + ], + [ + 0.2532949149608612, + 0.10973455756902695, + 0.062314558774232864 + ], + [ + 0.25627151131629944, + 0.1271926909685135, + 0.04926125705242157 + ], + [ + 0.2567577362060547, + 0.13996079564094543, + 0.034833524376153946 + ], + [ + 0.2608621418476105, + 0.1445302516222, + 0.027456603944301605 + ], + [ + 0.259899765253067, + 0.14613313972949982, + 0.022703949362039566 + ], + [ + 0.2634563148021698, + 0.14493627846240997, + 0.014872082509100437 + ], + [ + 0.2681961953639984, + 0.1435207575559616, + 0.013483446091413498 + ], + [ + 0.2720899283885956, + 0.143030047416687, + 0.012800515629351139 + ], + [ + 0.2721617519855499, + 0.14046096801757812, + 0.011229674331843853 + ], + [ + 0.27146658301353455, + 0.13558925688266754, + 0.010359246283769608 + ], + [ + 0.2718784809112549, + 0.12644195556640625, + 0.011952762492001057 + ], + [ + 0.2741500735282898, + 0.10876075178384781, + 0.018011054024100304 + ], + [ + 0.27662062644958496, + 0.09918045997619629, + 0.03156549483537674 + ], + [ + 0.284673810005188, + 0.0769781842827797, + 0.05278928950428963 + ], + [ + 0.2998964190483093, + 0.05747579038143158, + 0.06626919656991959 + ], + [ + 0.32447201013565063, + 0.028956569731235504, + 0.08122114092111588 + ], + [ + 0.34723779559135437, + 0.01247425191104412, + 0.08955023437738419 + ], + [ + 0.37605613470077515, + -0.010892289690673351, + 0.08528483659029007 + ], + [ + 0.3979593813419342, + -0.021897660568356514, + 0.07733470946550369 + ], + [ + 0.41553908586502075, + -0.03359365463256836, + 0.06262963265180588 + ], + [ + 0.4230155944824219, + -0.05043530464172363, + 0.0474926196038723 + ], + [ + 0.42950430512428284, + -0.05423499643802643, + 0.036974236369132996 + ], + [ + 0.43304315209388733, + -0.058625634759664536, + 0.03062804602086544 + ], + [ + 0.43677589297294617, + -0.06173720210790634, + 0.023894263431429863 + ], + [ + 0.43973901867866516, + -0.06221282109618187, + 0.025382233783602715 + ], + [ + 0.43960002064704895, + -0.056657955050468445, + 0.02673467993736267 + ], + [ + 0.4402413070201874, + -0.05086105316877365, + 0.028925705701112747 + ], + [ + 0.4382733404636383, + -0.04977935180068016, + 0.028375817462801933 + ], + [ + 0.4364495277404785, + -0.04755542427301407, + 0.028526512905955315 + ], + [ + 0.4335390031337738, + -0.04943640157580376, + 0.03436824679374695 + ], + [ + 0.43141427636146545, + -0.052452754229307175, + 0.06042971462011337 + ], + [ + 0.42256036400794983, + -0.04110442474484444, + 0.07483191788196564 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.26775425475261694, + 0.9467024356604784, + 0.17905908906388593, + 0.9616084321072044, + -0.2741770755213546, + 0.011668528565399502, + 0.06014052179849159, + 0.16906043171917945, + -0.9837691233540165 + ], + [ + 0.25795008190313795, + 0.9500639805120459, + 0.1756137471263897, + 0.961498833487282, + -0.27025951084612454, + 0.049797489894670054, + 0.09477208686507169, + 0.15600714640945337, + -0.9831988719584757 + ], + [ + 0.25308343844998543, + 0.9476505466816556, + 0.19469775180081544, + 0.9553576852728101, + -0.2765207047726666, + 0.10405764278613312, + 0.15244824161829867, + 0.15967072745493222, + -0.975328043491779 + ], + [ + 0.2692233424581056, + 0.9431820578465603, + 0.19474700930184682, + 0.9442322417388859, + -0.29830957895041094, + 0.13941617111076857, + 0.18958972951202854, + 0.14635231758587416, + -0.9708948107806528 + ], + [ + 0.356132889648505, + 0.9107029783543446, + 0.20925928922542908, + 0.9194270268175706, + -0.381488494438874, + 0.09550115689437194, + 0.16680319921394793, + 0.15838754315692644, + -0.9731855315944153 + ], + [ + 0.39518224135725083, + 0.8947674240171773, + 0.20789962249490482, + 0.9024696368547961, + -0.4203979141797151, + 0.09388369564795086, + 0.17140464016773785, + 0.15052192754216676, + -0.9736342222097365 + ], + [ + 0.41295537602827753, + 0.8992819007505249, + 0.14408303297705372, + 0.8923774244099812, + -0.4311461367932136, + 0.1333249456467004, + 0.18201755358413108, + 0.07351919280575878, + -0.9805429814528466 + ], + [ + 0.3919951262934615, + 0.9179687580052027, + 0.06060676767951194, + 0.9007869242498423, + -0.39637090867128916, + 0.17740636927575373, + 0.18687626404303392, + -0.01494864828276124, + -0.9822697184846105 + ], + [ + 0.3975945412037157, + 0.9175609390805041, + 0.0007098441450838766, + 0.8908624602935492, + -0.38621067452998387, + 0.23917648655087148, + 0.2197331509916772, + -0.09446289193539603, + -0.9709758516062439 + ], + [ + 0.39463296560465805, + 0.9180255778483968, + -0.038650496428763836, + 0.8911364949037468, + -0.37214518444217676, + 0.2595837228085818, + 0.22392090100912232, + -0.13688316226846653, + -0.9649468534477157 + ], + [ + 0.40204453780786886, + 0.914472481652936, + -0.04582870190587629, + 0.8929791750807657, + -0.3805497621821431, + 0.2403540542100119, + 0.20235706681737636, + -0.13755711105804344, + -0.9696028355499138 + ], + [ + 0.4052608427366308, + 0.9137126480143187, + -0.02988053217493271, + 0.8932025924928653, + -0.38877566541910974, + 0.22592611788359637, + 0.19481472764762942, + -0.11824837773343802, + -0.9736860598031534 + ], + [ + 0.40081910814388627, + 0.9158051892698557, + -0.025394839104490363, + 0.8962736965126282, + -0.3862258112084556, + 0.21799789837509698, + 0.1898354642481965, + -0.11013844952047297, + -0.9756187874630631 + ], + [ + 0.4035232113938014, + 0.9148898935055135, + -0.012062364109204221, + 0.8967442980806656, + -0.3928329583336832, + 0.20379384364259007, + 0.1817104337297318, + -0.09305240248524595, + -0.9789395122608321 + ], + [ + 0.42018670158004295, + 0.9074117142222702, + 0.006864161091156035, + 0.8895723248159051, + -0.4133960133985433, + 0.194331713901302, + 0.17917649046934148, + -0.0755494341368141, + -0.9809118555021636 + ], + [ + 0.43736741444068444, + 0.8984173771547604, + 0.03944567418401143, + 0.8842570972594804, + -0.4376305308164417, + 0.16299970688181326, + 0.1637044004653148, + -0.03641064300009095, + -0.9858372757938358 + ], + [ + 0.44068599259256, + 0.8966044837496406, + 0.043546017645143445, + 0.8893105753841936, + -0.44267391647327214, + 0.11474538850886251, + 0.12215791600443045, + -0.011840751422754252, + -0.9924400436113003 + ], + [ + 0.3869069772245293, + 0.9192642453751104, + 0.07249991827516797, + 0.915995448413302, + -0.39219369435251866, + 0.08447747981702833, + 0.10609113752378549, + 0.03372466879083761, + -0.9937843414211441 + ], + [ + 0.3609469973306344, + 0.9225488292936967, + 0.13645850170227097, + 0.9284868956871517, + -0.36919712957402373, + 0.04006949028298268, + 0.08734614848541129, + 0.11223696843344982, + -0.9898350939735534 + ], + [ + 0.3182973752018119, + 0.9289883091433483, + 0.18885841896674743, + 0.9455161162459796, + -0.32548849980992767, + 0.007517340660217656, + 0.06845476505515156, + 0.17617592902114998, + -0.9819755532470137 + ], + [ + 0.33103734874638985, + 0.903496153165325, + 0.272229636429284, + 0.9395115745704011, + -0.3424669882250901, + -0.005862015377090191, + 0.08793335535055116, + 0.257703440395147, + -0.96221445729385 + ], + [ + 0.2810753450978988, + 0.9054581467991883, + 0.3180286068470524, + 0.9543367256854384, + -0.2986544615807226, + 0.006850298236236507, + 0.10118332069117818, + 0.30158092939194386, + -0.9480563689153709 + ], + [ + 0.246650369424735, + 0.9147214571604342, + 0.3200753834223028, + 0.9628898631187849, + -0.2686603590446884, + 0.025782222190246007, + 0.1095751192822981, + 0.3018381475033789, + -0.94704119548518 + ], + [ + 0.22453052991294642, + 0.9213491024646405, + 0.3173355834516709, + 0.9678767361951293, + -0.24866518169511442, + 0.03715172869194033, + 0.11314002240266398, + 0.298800031459397, + -0.9475852872066913 + ], + [ + 0.21136411322401588, + 0.922771101999164, + 0.32220910129335795, + 0.9659621790690185, + -0.2475133092798098, + 0.07519461641361248, + 0.1491384599935861, + 0.29534836218371896, + -0.9436774155961007 + ], + [ + 0.23036561908346986, + 0.9218425291179086, + 0.31166974998191127, + 0.955749290957604, + -0.2745576394721062, + 0.10564750560965448, + 0.18296167461609741, + 0.27354058952375304, + -0.9442989841700936 + ], + [ + 0.22786796000075277, + 0.9256148516541092, + 0.30218097094694196, + 0.954704642495033, + -0.27338205766968354, + 0.11747891786495493, + 0.1913510867581534, + 0.261723894479719, + -0.9459838078185283 + ], + [ + 0.2302960125229102, + 0.9257987909905128, + 0.29976715166367435, + 0.9532821866739323, + -0.27651429941106254, + 0.12162612709190118, + 0.19549122534327124, + 0.25775267374309424, + -0.9462276364554527 + ], + [ + 0.2360172433266976, + 0.9294710446828546, + 0.28351267687464976, + 0.9533003942612864, + -0.27804339148834056, + 0.11794164129321458, + 0.18845216675258028, + 0.24243648559122558, + -0.9516881481348989 + ], + [ + 0.23588337127516706, + 0.9313376289408416, + 0.2774333362714601, + 0.9540676401888047, + -0.2762065637543753, + 0.11603823543800526, + 0.18469968354176305, + 0.2373186782742808, + -0.9537116292893366 + ], + [ + 0.19139217817877258, + 0.9457213581585001, + 0.26264071819660206, + 0.967122253984476, + -0.2273636125600526, + 0.11393126669895817, + 0.1674621747738032, + 0.2322001300742191, + -0.9581437885899715 + ], + [ + 0.15806936038745828, + 0.9534394454778967, + 0.25684100356738393, + 0.9714852387161512, + -0.19671660367399973, + 0.13235939254767543, + 0.1767215557404443, + 0.2285952791414722, + -0.9573472150118315 + ], + [ + 0.14108654889913524, + 0.9589027680668331, + 0.24617080881676032, + 0.9732614113725068, + -0.17987334099044944, + 0.142855893592565, + 0.18126447763676337, + 0.21943350381083454, + -0.958640770337029 + ], + [ + 0.13635138836590222, + 0.9621191344007519, + 0.23608276114667634, + 0.9701871842748578, + -0.1778845530646832, + 0.16460228810621252, + 0.2003624874059853, + 0.20660071878124142, + -0.9576904597204468 + ], + [ + 0.1385100776413415, + 0.9614809427307169, + 0.23742231394172106, + 0.9728566261177101, + -0.1769679599429793, + 0.1491050843280876, + 0.1853778395889207, + 0.21032531449940034, + -0.9598949518932125 + ], + [ + 0.1398165850350977, + 0.9495022256924374, + 0.2808858236975141, + 0.9771801684642633, + -0.17812438424933313, + 0.11571785556235474, + 0.15990697579929825, + 0.25829678112764703, + -0.9527394879765503 + ], + [ + 0.1232434379793449, + 0.9408710630591817, + 0.31555141846126644, + 0.9810645070526898, + -0.16338888697302067, + 0.1040024260062264, + 0.14941046816235629, + 0.29675868026327956, + -0.9431918138384697 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006109.json b/json/chunk-0006/episode_0006109.json new file mode 100644 index 0000000000000000000000000000000000000000..93dbe032d0f2b3e64218fadfb76b4c63bf16e29f --- /dev/null +++ b/json/chunk-0006/episode_0006109.json @@ -0,0 +1,1942 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 31, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPlace the green cloth on the far edge of the table." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006109.mp4", + "start": 0, + "end": 31, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.23494592308998108, + 0.0650332048535347, + 0.11395081132650375, + 0.03858811408281326, + -0.2630319595336914, + 0.2727562487125397, + 0.0, + 1.0008161067962646 + ], + [ + 0.23292763531208038, + 0.06300818175077438, + 0.1077817901968956, + 0.037840377539396286, + -0.24026784300804138, + 0.27266114950180054, + 0.0, + 1.0008161067962646 + ], + [ + 0.2397506982088089, + 0.04037583991885185, + 0.10056430846452713, + 0.0290756206959486, + -0.2271491289138794, + 0.20527413487434387, + 0.0, + 1.0008161067962646 + ], + [ + 0.2499263733625412, + 0.008703397586941719, + 0.09030032157897949, + 0.023928510025143623, + -0.23057769238948822, + 0.13690955936908722, + 0.0, + 0.9461179971694946 + ], + [ + 0.25964275002479553, + -0.02092701382935047, + 0.07842759788036346, + -0.0239479448646307, + -0.19753022491931915, + 0.12608082592487335, + 0.0, + 0.6661520600318909 + ], + [ + 0.2690291106700897, + -0.044995155185461044, + 0.06597548723220825, + -0.05159597471356392, + -0.13739053905010223, + 0.0950448215007782, + 0.0, + 0.37120094895362854 + ], + [ + 0.27512413263320923, + -0.06493959575891495, + 0.05039634555578232, + -0.019712725654244423, + -0.1027708575129509, + 0.02944861352443695, + 0.0, + 0.1660143882036209 + ], + [ + 0.2816239893436432, + -0.07529454678297043, + 0.03663606196641922, + -0.011014922522008419, + -0.08935631066560745, + 0.0020924005657434464, + 0.0, + 0.06833917647600174 + ], + [ + 0.28571227192878723, + -0.08720900118350983, + 0.02151656709611416, + 0.01940518617630005, + -0.06562033295631409, + -0.02845328114926815, + 0.0, + 0.05868057906627655 + ], + [ + 0.2886262834072113, + -0.08695701509714127, + 0.012533171102404594, + 0.0028063661884516478, + -0.055320512503385544, + -0.018296396359801292, + 0.0, + 0.05868057906627655 + ], + [ + 0.2965254485607147, + -0.08296409994363785, + 0.010263606905937195, + -0.009932623244822025, + -0.07207278907299042, + -0.010951998643577099, + 0.0, + 0.05868057906627655 + ], + [ + 0.30684831738471985, + -0.07622518390417099, + 0.009738557040691376, + -0.021456072106957436, + -0.1132802665233612, + 0.0011024355189874768, + 0.0, + 0.05868057906627655 + ], + [ + 0.3197263181209564, + -0.07191392034292221, + 0.010312766768038273, + -0.024220509454607964, + -0.14092302322387695, + 0.007032260298728943, + 0.0, + 0.05868057906627655 + ], + [ + 0.3330322206020355, + -0.0658118724822998, + 0.011225887574255466, + -0.027122169733047485, + -0.14957988262176514, + 0.02154814451932907, + 0.0, + 0.05868057906627655 + ], + [ + 0.34506916999816895, + -0.062258027493953705, + 0.011514942161738873, + -0.007913759909570217, + -0.15206873416900635, + 0.012434535659849644, + 0.0, + 0.05868057906627655 + ], + [ + 0.35615861415863037, + -0.06001010909676552, + 0.011308146640658379, + -0.00327472691424191, + -0.154206782579422, + 0.007439895533025265, + 0.0, + 0.05868057906627655 + ], + [ + 0.3630518615245819, + -0.05636115372180939, + 0.011964449658989906, + -0.002881777472794056, + -0.1523893028497696, + 0.009936508722603321, + 0.0, + 0.05868057906627655 + ], + [ + 0.3716757297515869, + -0.0540403388440609, + 0.01180579885840416, + 0.0008436948992311954, + -0.15268121659755707, + 0.004517848137766123, + 0.0, + 0.05868057906627655 + ], + [ + 0.3740552067756653, + -0.05418055132031441, + 0.011593322269618511, + 0.004716838244348764, + -0.14683711528778076, + -0.005662123207002878, + 0.0, + 0.05868057906627655 + ], + [ + 0.37409326434135437, + -0.053764309734106064, + 0.011864665895700455, + 0.004890452604740858, + -0.1451130509376526, + -0.010754317976534367, + 0.0, + 0.08641935139894485 + ], + [ + 0.3737233281135559, + -0.04911371320486069, + 0.012510516680777073, + -0.012510949745774269, + -0.14228883385658264, + 0.0011137634282931685, + 0.0, + 0.23134081065654755 + ], + [ + 0.3728148639202118, + -0.04588967561721802, + 0.017321282997727394, + -0.0015275718178600073, + -0.16798727214336395, + -0.029200227931141853, + 0.0, + 0.4699908196926117 + ], + [ + 0.3771761357784271, + -0.04355914890766144, + 0.03208303824067116, + 0.0024463580921292305, + -0.23644718527793884, + -0.025537079200148582, + 0.0, + 0.7720533609390259 + ], + [ + 0.37980642914772034, + -0.04434683918952942, + 0.05478840693831444, + -0.013987126760184765, + -0.2886025011539459, + -0.018715789541602135, + 0.0, + 0.9954678416252136 + ], + [ + 0.377156138420105, + -0.0402069091796875, + 0.0763440802693367, + -0.02221621200442314, + -0.32485419511795044, + 0.0007317156996577978, + 0.0, + 1.0008161067962646 + ], + [ + 0.36645400524139404, + -0.032786741852760315, + 0.08421583473682404, + 0.024742038920521736, + -0.27896928787231445, + 0.0021079913713037968, + 0.0, + 1.0008161067962646 + ], + [ + 0.356465220451355, + -0.03265569731593132, + 0.09073705226182938, + 0.020455805584788322, + -0.2550888955593109, + 0.004510176368057728, + 0.0, + 1.0008161067962646 + ], + [ + 0.3398970365524292, + -0.040427643805742264, + 0.09710890799760818, + 0.019304949790239334, + -0.2292785793542862, + -0.008941465057432652, + 0.0, + 1.0008161067962646 + ], + [ + 0.3169857859611511, + -0.053594354540109634, + 0.10476160794496536, + -0.010732099413871765, + -0.2164786010980606, + -0.0032936239149421453, + 0.0, + 1.0008161067962646 + ], + [ + 0.29846349358558655, + -0.07649141550064087, + 0.10848964750766754, + -0.014227225445210934, + -0.21989846229553223, + -0.05881216749548912, + 0.0, + 1.0008161067962646 + ], + [ + 0.28208571672439575, + -0.09675154089927673, + 0.11138229072093964, + -0.014227302744984627, + -0.21777033805847168, + -0.11524879187345505, + 0.0, + 1.0008161067962646 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9461179971694946 + ], + [ + 0.6661520600318909 + ], + [ + 0.37120094895362854 + ], + [ + 0.1660143882036209 + ], + [ + 0.06833917647600174 + ], + [ + 0.05868057906627655 + ], + [ + 0.05868057906627655 + ], + [ + 0.05868057906627655 + ], + [ + 0.05868057906627655 + ], + [ + 0.05868057906627655 + ], + [ + 0.05868057906627655 + ], + [ + 0.05868057906627655 + ], + [ + 0.05868057906627655 + ], + [ + 0.05868057906627655 + ], + [ + 0.05868057906627655 + ], + [ + 0.05868057906627655 + ], + [ + 0.08641935139894485 + ], + [ + 0.23134081065654755 + ], + [ + 0.4699908196926117 + ], + [ + 0.7720533609390259 + ], + [ + 0.9954678416252136 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.23494592308998108, + 0.0650332048535347, + 0.11395081132650375 + ], + [ + 0.23292763531208038, + 0.06300818175077438, + 0.1077817901968956 + ], + [ + 0.2397506982088089, + 0.04037583991885185, + 0.10056430846452713 + ], + [ + 0.2499263733625412, + 0.008703397586941719, + 0.09030032157897949 + ], + [ + 0.25964275002479553, + -0.02092701382935047, + 0.07842759788036346 + ], + [ + 0.2690291106700897, + -0.044995155185461044, + 0.06597548723220825 + ], + [ + 0.27512413263320923, + -0.06493959575891495, + 0.05039634555578232 + ], + [ + 0.2816239893436432, + -0.07529454678297043, + 0.03663606196641922 + ], + [ + 0.28571227192878723, + -0.08720900118350983, + 0.02151656709611416 + ], + [ + 0.2886262834072113, + -0.08695701509714127, + 0.012533171102404594 + ], + [ + 0.2965254485607147, + -0.08296409994363785, + 0.010263606905937195 + ], + [ + 0.30684831738471985, + -0.07622518390417099, + 0.009738557040691376 + ], + [ + 0.3197263181209564, + -0.07191392034292221, + 0.010312766768038273 + ], + [ + 0.3330322206020355, + -0.0658118724822998, + 0.011225887574255466 + ], + [ + 0.34506916999816895, + -0.062258027493953705, + 0.011514942161738873 + ], + [ + 0.35615861415863037, + -0.06001010909676552, + 0.011308146640658379 + ], + [ + 0.3630518615245819, + -0.05636115372180939, + 0.011964449658989906 + ], + [ + 0.3716757297515869, + -0.0540403388440609, + 0.01180579885840416 + ], + [ + 0.3740552067756653, + -0.05418055132031441, + 0.011593322269618511 + ], + [ + 0.37409326434135437, + -0.053764309734106064, + 0.011864665895700455 + ], + [ + 0.3737233281135559, + -0.04911371320486069, + 0.012510516680777073 + ], + [ + 0.3728148639202118, + -0.04588967561721802, + 0.017321282997727394 + ], + [ + 0.3771761357784271, + -0.04355914890766144, + 0.03208303824067116 + ], + [ + 0.37980642914772034, + -0.04434683918952942, + 0.05478840693831444 + ], + [ + 0.377156138420105, + -0.0402069091796875, + 0.0763440802693367 + ], + [ + 0.36645400524139404, + -0.032786741852760315, + 0.08421583473682404 + ], + [ + 0.356465220451355, + -0.03265569731593132, + 0.09073705226182938 + ], + [ + 0.3398970365524292, + -0.040427643805742264, + 0.09710890799760818 + ], + [ + 0.3169857859611511, + -0.053594354540109634, + 0.10476160794496536 + ], + [ + 0.29846349358558655, + -0.07649141550064087, + 0.10848964750766754 + ], + [ + 0.28208571672439575, + -0.09675154089927673, + 0.11138229072093964 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9299096103234449, + 0.2788462391019103, + 0.2398184554341465, + 0.2601215438664386, + -0.9596129886269676, + 0.10714333612017247, + 0.2600094210690065, + -0.03725167106506856, + -0.9648872545319586 + ], + [ + 0.9353931406405798, + 0.2777723307560869, + 0.21882002812558865, + 0.26155952645961283, + -0.9599439387590679, + 0.1004701376427331, + 0.23796278398265447, + -0.03674461465381932, + -0.9705789750108781 + ], + [ + 0.9538568228928564, + 0.21015887136590344, + 0.21445374840966386, + 0.1985994952947973, + -0.9772568534268826, + 0.07434569859003287, + 0.2252008034830194, + -0.028324745654602003, + -0.9739005631450289 + ], + [ + 0.9644246983963772, + 0.14186010954171288, + 0.2230710883191047, + 0.13287018274216963, + -0.989612623761066, + 0.0548850565345526, + 0.22853996512890043, + -0.023293007825349904, + -0.9732558348786453 + ], + [ + 0.9727709466183168, + 0.12104900674615576, + 0.19764570165089043, + 0.12330180841013527, + -0.992368795796237, + 0.0009149714293052811, + 0.196248183324315, + 0.023480014814630842, + -0.9802730943192364 + ], + [ + 0.9861059273801972, + 0.08774399107012719, + 0.14105350763709096, + 0.09400750530513248, + -0.9948321970604899, + -0.03835998746225461, + 0.1369587125083575, + 0.051087099378260684, + -0.9892585199760319 + ], + [ + 0.9942924304143733, + 0.027417314923621726, + 0.10310603116722708, + 0.029289000680328088, + -0.999431758004522, + -0.016682791467193137, + 0.10259004464286967, + 0.019607445891014482, + -0.994530457455077 + ], + [ + 0.9960082002062883, + 0.0011093505755329174, + 0.0892548848138333, + 0.0020840511630203116, + -0.9999392040863737, + -0.010827966653952257, + 0.08923744647052602, + 0.010970755325398209, + -0.9959499589211347 + ], + [ + 0.9974438622806825, + -0.027172219515757927, + 0.06608639863983115, + -0.028388211987617824, + -0.999443232732031, + 0.017530943109079253, + 0.06557324926173236, + -0.01936220629822867, + -0.9976598889143152 + ], + [ + 0.9983030923068733, + -0.018140159255228792, + 0.05533417129341725, + -0.01826738749498459, + -0.9998315273232232, + 0.0017943033797802564, + 0.055292300048400814, + -0.00280206936130201, + -0.9984662788310139 + ], + [ + 0.9973440637800868, + -0.011666437073543225, + 0.07189375973358998, + -0.010923347575473044, + -0.9998828691675895, + -0.010720467477412952, + 0.07201040841689148, + 0.009906674073467738, + -0.9973546805868183 + ], + [ + 0.9935900451773371, + -0.0013229854909250385, + 0.11303571043651522, + 0.001095369400873443, + -0.9997718933645829, + -0.02132982428601476, + 0.11303814528897999, + 0.021316916934384224, + -0.9933619515373234 + ], + [ + 0.9900622917536022, + 0.0036286152469114288, + 0.14058268598584617, + 0.006962490519229109, + -0.9997058996116333, + -0.02323010993225308, + 0.1404570474322125, + 0.023978061495558818, + -0.9897963782483448 + ], + [ + 0.9886042122144191, + 0.017498166801494835, + 0.14951764360935837, + 0.021305884139986696, + -0.9994872258935412, + -0.023902815245217077, + 0.1490227193850706, + 0.026816029426829445, + -0.9884700954873941 + ], + [ + 0.9883833988883656, + 0.011235128466337724, + 0.15156526214877603, + 0.012290722079909616, + -0.9999062869576752, + -0.00602954834708801, + 0.15148331575667578, + 0.007822352003095823, + -0.9884288623145843 + ], + [ + 0.9881063294361628, + 0.006936815747636584, + 0.1536156317419472, + 0.007351543508016987, + -0.9999707044625583, + -0.0021319063547903675, + 0.15359634284788143, + 0.0032358621631959792, + -0.9881283786329679 + ], + [ + 0.9883624083929385, + 0.00949887182236262, + 0.15182068735785884, + 0.009821194923510185, + -0.9999508278817769, + -0.0013732985195304551, + 0.15180017722646047, + 0.002848377196168407, + -0.9884070987914665 + ], + [ + 0.9883567615809576, + 0.004646146297904322, + 0.1520832836368946, + 0.0044652761349770745, + -0.9999888589223255, + 0.0015307972640352385, + 0.15208870157325977, + -0.0008338799695660837, + -0.9883664965476905 + ], + [ + 0.9892229297061066, + -0.004971922883723371, + 0.1463327554804639, + -0.005601161964393505, + -0.9999767536537375, + 0.0038883334194393156, + 0.14631002128465284, + -0.004666062040993993, + -0.9892277824326983 + ], + [ + 0.9894323452125525, + -0.010046845348243443, + 0.1446467944537219, + -0.010641080292487087, + -0.9999378203982126, + 0.00333507833209842, + 0.144604293357416, + -0.004839032529428636, + -0.9894777319913682 + ], + [ + 0.9898933977688609, + -0.00066044419545147, + 0.14181193485417487, + 0.0011025075202193146, + -0.9999230948542088, + -0.012352686118776128, + 0.14180918704649537, + 0.012384191158321121, + -0.9898165417280954 + ], + [ + 0.9855029928559266, + -0.02945134285512244, + 0.16708222369851655, + -0.02878509371846148, + -0.9995650805040539, + -0.006408448840631161, + 0.16719829380597906, + 0.0015060680441553562, + -0.9859221380552398 + ], + [ + 0.971859374628443, + -0.024961354918518038, + 0.2342355368159226, + -0.02482384628359592, + -0.9996855878232298, + -0.003535838544369594, + 0.23425014963175597, + -0.0023782891235558587, + -0.972173447044479 + ], + [ + 0.9584746654311362, + -0.0226929546459989, + 0.28427336409890114, + -0.017940704929446445, + -0.9996525643971693, + -0.01931014243339993, + 0.2846128015977256, + 0.013408217763681103, + -0.9585487848112353 + ], + [ + 0.9476970194191509, + -0.0063586417065411216, + 0.31910801785556137, + 0.000693444911386518, + -0.9997581504687112, + -0.02198089410229746, + 0.31917061036099853, + 0.02105251165607987, + -0.9474634099714658 + ], + [ + 0.9613376349646952, + 0.008919724205982754, + 0.27522788761420197, + 0.00202649444107829, + -0.9996773497776875, + 0.025319748453317102, + 0.2753649304482451, + -0.023783079311732958, + -0.9610455349345758 + ], + [ + 0.9676310266594536, + 0.0096704476809432, + 0.2521838192422776, + 0.0043642161813245185, + -0.9997573403877521, + 0.021591988281090227, + 0.2523314286074849, + -0.019792493083444863, + -0.9674384256139753 + ], + [ + 0.9737916807915318, + -0.0045525944692966225, + 0.22739620996138343, + -0.008707356338711239, + -0.9998129260760508, + 0.01727121295208161, + 0.22727504123153108, + -0.018798583320122186, + -0.9736491508230067 + ], + [ + 0.9766545732393717, + -0.005598537978118855, + 0.21474287169339948, + -0.003216744490770795, + -0.999929395719984, + -0.011439236423312769, + 0.21479175292711164, + 0.010481409617742767, + -0.9766036263126014 + ], + [ + 0.9742322992375895, + -0.06187024290385988, + 0.216895136333799, + -0.05736286533590626, + -0.9979876267517374, + -0.0270221859013956, + 0.21813053156927523, + 0.013884159803613468, + -0.9758208346330043 + ], + [ + 0.9699044865575442, + -0.11803555468795415, + 0.212962190975425, + -0.11227786319912478, + -0.9929122082452378, + -0.038974711711622916, + 0.21605316102983782, + 0.013890808006465277, + -0.9762827853967018 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.002018287777900696, + -0.002025023102760315, + -0.006169021129608154, + -0.0007477365434169769, + 0.022764116525650024, + -9.509921073913574e-05, + 1.0 + ], + [ + 0.006823062896728516, + -0.02263234183192253, + -0.007217481732368469, + -0.008764756843447685, + 0.013118714094161987, + -0.06738701462745667, + 1.0 + ], + [ + 0.0101756751537323, + -0.031672440469264984, + -0.010263986885547638, + -0.005147110670804977, + -0.0034285634756088257, + -0.06836457550525665, + 0.0 + ], + [ + 0.009716376662254333, + -0.02963041141629219, + -0.011872723698616028, + -0.04787645488977432, + 0.03304746747016907, + -0.010828733444213867, + 0.0 + ], + [ + 0.00938636064529419, + -0.024068141356110573, + -0.012452110648155212, + -0.02764802984893322, + 0.06013968586921692, + -0.031036004424095154, + 0.0 + ], + [ + 0.006095021963119507, + -0.019944440573453903, + -0.015579141676425934, + 0.03188324719667435, + 0.03461968153715134, + -0.06559620797634125, + 0.0 + ], + [ + 0.00649985671043396, + -0.010354951024055481, + -0.013760283589363098, + 0.008697803132236004, + 0.013414546847343445, + -0.027356212958693504, + 0.0 + ], + [ + 0.004088282585144043, + -0.011914454400539398, + -0.015119494870305061, + 0.030420109629631042, + 0.023735977709293365, + -0.030545681715011597, + 0.0 + ], + [ + 0.0029140114784240723, + 0.0002519860863685608, + -0.008983395993709564, + -0.016598820686340332, + 0.010299820452928543, + 0.010156884789466858, + 0.0 + ], + [ + 0.007899165153503418, + 0.003992915153503418, + -0.0022695641964673996, + -0.012738989666104317, + -0.016752276569604874, + 0.007344397716224194, + 0.0 + ], + [ + 0.010322868824005127, + 0.006738916039466858, + -0.0005250498652458191, + -0.01152344886213541, + -0.04120747745037079, + 0.012054434046149254, + 0.0 + ], + [ + 0.012878000736236572, + 0.004311263561248779, + 0.0005742097273468971, + -0.002764437347650528, + -0.027642756700515747, + 0.005929824896156788, + 0.0 + ], + [ + 0.013305902481079102, + 0.006102047860622406, + 0.0009131208062171936, + -0.002901660278439522, + -0.008656859397888184, + 0.014515884220600128, + 0.0 + ], + [ + 0.012036949396133423, + 0.0035538449883461, + 0.00028905458748340607, + 0.019208408892154694, + -0.002488851547241211, + -0.009113608859479427, + 0.0 + ], + [ + 0.011089444160461426, + 0.0022479183971881866, + -0.00020679552108049393, + 0.004639033228158951, + -0.0021380484104156494, + -0.004994640126824379, + 0.0 + ], + [ + 0.006893247365951538, + 0.003648955374956131, + 0.0006563030183315277, + 0.00039294944144785404, + 0.0018174797296524048, + 0.0024966131895780563, + 0.0 + ], + [ + 0.008623868227005005, + 0.0023208148777484894, + -0.00015865080058574677, + 0.0037254723720252514, + -0.0002919137477874756, + -0.005418660584837198, + 0.0 + ], + [ + 0.002379477024078369, + -0.00014021247625350952, + -0.00021247658878564835, + 0.003873143345117569, + 0.005844101309776306, + -0.010179971344769001, + 0.0 + ], + [ + 3.8057565689086914e-05, + 0.0004162415862083435, + 0.0002713436260819435, + 0.00017361436039209366, + 0.0017240643501281738, + -0.005092194769531488, + 1.0 + ], + [ + -0.0003699362277984619, + 0.004650596529245377, + 0.0006458507850766182, + -0.017401402816176414, + 0.0028242170810699463, + 0.01186808105558157, + 1.0 + ], + [ + -0.0009084641933441162, + 0.0032240375876426697, + 0.004810766316950321, + 0.010983377695083618, + -0.02569843828678131, + -0.030313991010189056, + 1.0 + ], + [ + 0.004361271858215332, + 0.0023305267095565796, + 0.014761755242943764, + 0.0039739301428198814, + -0.06845991313457489, + 0.003663148730993271, + 1.0 + ], + [ + 0.002630293369293213, + -0.000787690281867981, + 0.02270536869764328, + -0.016433484852313995, + -0.05215531587600708, + 0.006821289658546448, + 1.0 + ], + [ + -0.0026502907276153564, + 0.004139930009841919, + 0.021555673331022263, + -0.008229085244238377, + -0.03625169396400452, + 0.019447505474090576, + 1.0 + ], + [ + -0.010702133178710938, + 0.007420167326927185, + 0.007871754467487335, + 0.04695825278759003, + 0.045884907245635986, + 0.001376275671645999, + 1.0 + ], + [ + -0.009988784790039062, + 0.00013104453682899475, + 0.006521217525005341, + -0.004286233335733414, + 0.02388039231300354, + 0.002402184996753931, + 1.0 + ], + [ + -0.01656818389892578, + -0.007771946489810944, + 0.006371855735778809, + -0.0011508557945489883, + 0.02581031620502472, + -0.01345164142549038, + 1.0 + ], + [ + -0.022911250591278076, + -0.01316671073436737, + 0.007652699947357178, + -0.0300370492041111, + 0.012799978256225586, + 0.0056478409096598625, + 1.0 + ], + [ + -0.018522292375564575, + -0.022897060960531235, + 0.003728039562702179, + -0.0034951260313391685, + -0.0034198611974716187, + -0.05551854521036148, + 1.0 + ], + [ + -0.016377776861190796, + -0.020260125398635864, + 0.0028926432132720947, + -7.729977369308472e-08, + 0.002128124237060547, + -0.05643662437796593, + 1.0 + ], + [ + -0.016039133071899414, + -0.01645372062921524, + 0.014723598957061768, + 0.0031334636732935905, + -0.03160357475280762, + -0.06713887304067612, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9461179971694946 + ], + [ + 0.6661520600318909 + ], + [ + 0.37120094895362854 + ], + [ + 0.1660143882036209 + ], + [ + 0.06833917647600174 + ], + [ + 0.05868057906627655 + ], + [ + 0.05868057906627655 + ], + [ + 0.05868057906627655 + ], + [ + 0.05868057906627655 + ], + [ + 0.05868057906627655 + ], + [ + 0.05868057906627655 + ], + [ + 0.05868057906627655 + ], + [ + 0.05868057906627655 + ], + [ + 0.05868057906627655 + ], + [ + 0.05868057906627655 + ], + [ + 0.05868057906627655 + ], + [ + 0.08641935139894485 + ], + [ + 0.23134081065654755 + ], + [ + 0.4699908196926117 + ], + [ + 0.7720533609390259 + ], + [ + 0.9954678416252136 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.23292763531208038, + 0.06300818175077438, + 0.1077817901968956 + ], + [ + 0.2397506982088089, + 0.04037583991885185, + 0.10056430846452713 + ], + [ + 0.2499263733625412, + 0.008703397586941719, + 0.09030032157897949 + ], + [ + 0.25964275002479553, + -0.02092701382935047, + 0.07842759788036346 + ], + [ + 0.2690291106700897, + -0.044995155185461044, + 0.06597548723220825 + ], + [ + 0.27512413263320923, + -0.06493959575891495, + 0.05039634555578232 + ], + [ + 0.2816239893436432, + -0.07529454678297043, + 0.03663606196641922 + ], + [ + 0.28571227192878723, + -0.08720900118350983, + 0.02151656709611416 + ], + [ + 0.2886262834072113, + -0.08695701509714127, + 0.012533171102404594 + ], + [ + 0.2965254485607147, + -0.08296409994363785, + 0.010263606905937195 + ], + [ + 0.30684831738471985, + -0.07622518390417099, + 0.009738557040691376 + ], + [ + 0.3197263181209564, + -0.07191392034292221, + 0.010312766768038273 + ], + [ + 0.3330322206020355, + -0.0658118724822998, + 0.011225887574255466 + ], + [ + 0.34506916999816895, + -0.062258027493953705, + 0.011514942161738873 + ], + [ + 0.35615861415863037, + -0.06001010909676552, + 0.011308146640658379 + ], + [ + 0.3630518615245819, + -0.05636115372180939, + 0.011964449658989906 + ], + [ + 0.3716757297515869, + -0.0540403388440609, + 0.01180579885840416 + ], + [ + 0.3740552067756653, + -0.05418055132031441, + 0.011593322269618511 + ], + [ + 0.37409326434135437, + -0.053764309734106064, + 0.011864665895700455 + ], + [ + 0.3737233281135559, + -0.04911371320486069, + 0.012510516680777073 + ], + [ + 0.3728148639202118, + -0.04588967561721802, + 0.017321282997727394 + ], + [ + 0.3771761357784271, + -0.04355914890766144, + 0.03208303824067116 + ], + [ + 0.37980642914772034, + -0.04434683918952942, + 0.05478840693831444 + ], + [ + 0.377156138420105, + -0.0402069091796875, + 0.0763440802693367 + ], + [ + 0.36645400524139404, + -0.032786741852760315, + 0.08421583473682404 + ], + [ + 0.356465220451355, + -0.03265569731593132, + 0.09073705226182938 + ], + [ + 0.3398970365524292, + -0.040427643805742264, + 0.09710890799760818 + ], + [ + 0.3169857859611511, + -0.053594354540109634, + 0.10476160794496536 + ], + [ + 0.29846349358558655, + -0.07649141550064087, + 0.10848964750766754 + ], + [ + 0.28208571672439575, + -0.09675154089927673, + 0.11138229072093964 + ], + [ + 0.26604658365249634, + -0.11320526152849197, + 0.1261058896780014 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9353931406405798, + 0.2777723307560869, + 0.21882002812558865, + 0.26155952645961283, + -0.9599439387590679, + 0.1004701376427331, + 0.23796278398265447, + -0.03674461465381932, + -0.9705789750108781 + ], + [ + 0.9538568228928564, + 0.21015887136590344, + 0.21445374840966386, + 0.1985994952947973, + -0.9772568534268826, + 0.07434569859003287, + 0.2252008034830194, + -0.028324745654602003, + -0.9739005631450289 + ], + [ + 0.9644246983963772, + 0.14186010954171288, + 0.2230710883191047, + 0.13287018274216963, + -0.989612623761066, + 0.0548850565345526, + 0.22853996512890043, + -0.023293007825349904, + -0.9732558348786453 + ], + [ + 0.9727709466183168, + 0.12104900674615576, + 0.19764570165089043, + 0.12330180841013527, + -0.992368795796237, + 0.0009149714293052811, + 0.196248183324315, + 0.023480014814630842, + -0.9802730943192364 + ], + [ + 0.9861059273801972, + 0.08774399107012719, + 0.14105350763709096, + 0.09400750530513248, + -0.9948321970604899, + -0.03835998746225461, + 0.1369587125083575, + 0.051087099378260684, + -0.9892585199760319 + ], + [ + 0.9942924304143733, + 0.027417314923621726, + 0.10310603116722708, + 0.029289000680328088, + -0.999431758004522, + -0.016682791467193137, + 0.10259004464286967, + 0.019607445891014482, + -0.994530457455077 + ], + [ + 0.9960082002062883, + 0.0011093505755329174, + 0.0892548848138333, + 0.0020840511630203116, + -0.9999392040863737, + -0.010827966653952257, + 0.08923744647052602, + 0.010970755325398209, + -0.9959499589211347 + ], + [ + 0.9974438622806825, + -0.027172219515757927, + 0.06608639863983115, + -0.028388211987617824, + -0.999443232732031, + 0.017530943109079253, + 0.06557324926173236, + -0.01936220629822867, + -0.9976598889143152 + ], + [ + 0.9983030923068733, + -0.018140159255228792, + 0.05533417129341725, + -0.01826738749498459, + -0.9998315273232232, + 0.0017943033797802564, + 0.055292300048400814, + -0.00280206936130201, + -0.9984662788310139 + ], + [ + 0.9973440637800868, + -0.011666437073543225, + 0.07189375973358998, + -0.010923347575473044, + -0.9998828691675895, + -0.010720467477412952, + 0.07201040841689148, + 0.009906674073467738, + -0.9973546805868183 + ], + [ + 0.9935900451773371, + -0.0013229854909250385, + 0.11303571043651522, + 0.001095369400873443, + -0.9997718933645829, + -0.02132982428601476, + 0.11303814528897999, + 0.021316916934384224, + -0.9933619515373234 + ], + [ + 0.9900622917536022, + 0.0036286152469114288, + 0.14058268598584617, + 0.006962490519229109, + -0.9997058996116333, + -0.02323010993225308, + 0.1404570474322125, + 0.023978061495558818, + -0.9897963782483448 + ], + [ + 0.9886042122144191, + 0.017498166801494835, + 0.14951764360935837, + 0.021305884139986696, + -0.9994872258935412, + -0.023902815245217077, + 0.1490227193850706, + 0.026816029426829445, + -0.9884700954873941 + ], + [ + 0.9883833988883656, + 0.011235128466337724, + 0.15156526214877603, + 0.012290722079909616, + -0.9999062869576752, + -0.00602954834708801, + 0.15148331575667578, + 0.007822352003095823, + -0.9884288623145843 + ], + [ + 0.9881063294361628, + 0.006936815747636584, + 0.1536156317419472, + 0.007351543508016987, + -0.9999707044625583, + -0.0021319063547903675, + 0.15359634284788143, + 0.0032358621631959792, + -0.9881283786329679 + ], + [ + 0.9883624083929385, + 0.00949887182236262, + 0.15182068735785884, + 0.009821194923510185, + -0.9999508278817769, + -0.0013732985195304551, + 0.15180017722646047, + 0.002848377196168407, + -0.9884070987914665 + ], + [ + 0.9883567615809576, + 0.004646146297904322, + 0.1520832836368946, + 0.0044652761349770745, + -0.9999888589223255, + 0.0015307972640352385, + 0.15208870157325977, + -0.0008338799695660837, + -0.9883664965476905 + ], + [ + 0.9892229297061066, + -0.004971922883723371, + 0.1463327554804639, + -0.005601161964393505, + -0.9999767536537375, + 0.0038883334194393156, + 0.14631002128465284, + -0.004666062040993993, + -0.9892277824326983 + ], + [ + 0.9894323452125525, + -0.010046845348243443, + 0.1446467944537219, + -0.010641080292487087, + -0.9999378203982126, + 0.00333507833209842, + 0.144604293357416, + -0.004839032529428636, + -0.9894777319913682 + ], + [ + 0.9898933977688609, + -0.00066044419545147, + 0.14181193485417487, + 0.0011025075202193146, + -0.9999230948542088, + -0.012352686118776128, + 0.14180918704649537, + 0.012384191158321121, + -0.9898165417280954 + ], + [ + 0.9855029928559266, + -0.02945134285512244, + 0.16708222369851655, + -0.02878509371846148, + -0.9995650805040539, + -0.006408448840631161, + 0.16719829380597906, + 0.0015060680441553562, + -0.9859221380552398 + ], + [ + 0.971859374628443, + -0.024961354918518038, + 0.2342355368159226, + -0.02482384628359592, + -0.9996855878232298, + -0.003535838544369594, + 0.23425014963175597, + -0.0023782891235558587, + -0.972173447044479 + ], + [ + 0.9584746654311362, + -0.0226929546459989, + 0.28427336409890114, + -0.017940704929446445, + -0.9996525643971693, + -0.01931014243339993, + 0.2846128015977256, + 0.013408217763681103, + -0.9585487848112353 + ], + [ + 0.9476970194191509, + -0.0063586417065411216, + 0.31910801785556137, + 0.000693444911386518, + -0.9997581504687112, + -0.02198089410229746, + 0.31917061036099853, + 0.02105251165607987, + -0.9474634099714658 + ], + [ + 0.9613376349646952, + 0.008919724205982754, + 0.27522788761420197, + 0.00202649444107829, + -0.9996773497776875, + 0.025319748453317102, + 0.2753649304482451, + -0.023783079311732958, + -0.9610455349345758 + ], + [ + 0.9676310266594536, + 0.0096704476809432, + 0.2521838192422776, + 0.0043642161813245185, + -0.9997573403877521, + 0.021591988281090227, + 0.2523314286074849, + -0.019792493083444863, + -0.9674384256139753 + ], + [ + 0.9737916807915318, + -0.0045525944692966225, + 0.22739620996138343, + -0.008707356338711239, + -0.9998129260760508, + 0.01727121295208161, + 0.22727504123153108, + -0.018798583320122186, + -0.9736491508230067 + ], + [ + 0.9766545732393717, + -0.005598537978118855, + 0.21474287169339948, + -0.003216744490770795, + -0.999929395719984, + -0.011439236423312769, + 0.21479175292711164, + 0.010481409617742767, + -0.9766036263126014 + ], + [ + 0.9742322992375895, + -0.06187024290385988, + 0.216895136333799, + -0.05736286533590626, + -0.9979876267517374, + -0.0270221859013956, + 0.21813053156927523, + 0.013884159803613468, + -0.9758208346330043 + ], + [ + 0.9699044865575442, + -0.11803555468795415, + 0.212962190975425, + -0.11227786319912478, + -0.9929122082452378, + -0.038974711711622916, + 0.21605316102983782, + 0.013890808006465277, + -0.9762827853967018 + ], + [ + 0.952993624757789, + -0.18405944994531034, + 0.2406766919683744, + -0.17576760289120305, + -0.9828563204350934, + -0.055670487286074044, + 0.2467972871505891, + 0.010750454251722493, + -0.9690074957339034 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006110.json b/json/chunk-0006/episode_0006110.json new file mode 100644 index 0000000000000000000000000000000000000000..109ffe1e42d5217d3e4d38f3a8e6e99003a212c9 --- /dev/null +++ b/json/chunk-0006/episode_0006110.json @@ -0,0 +1,2242 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 36, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the object to the right side of the right burner." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006110.mp4", + "start": 0, + "end": 36, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.29845526814460754, + 0.04216167330741882, + 0.06297516822814941, + 0.20561297237873077, + -0.7819586396217346, + -0.07543772459030151, + 0.0, + 0.9988223910331726 + ], + [ + 0.28592464327812195, + 0.04058028385043144, + 0.048211146146059036, + 0.18815602362155914, + -0.7298777103424072, + -0.06531842052936554, + 0.0, + 0.9988223910331726 + ], + [ + 0.2888599932193756, + 0.04131029546260834, + 0.03954189270734787, + 0.15692247450351715, + -0.725566029548645, + -0.04523122310638428, + 0.0, + 0.9988223910331726 + ], + [ + 0.3098219931125641, + 0.04217272624373436, + 0.042664237320423126, + 0.16132992506027222, + -0.7722334265708923, + -0.07137694954872131, + 0.0, + 0.9988223910331726 + ], + [ + 0.3321863114833832, + 0.06218073144555092, + 0.043611299246549606, + 0.11168916523456573, + -0.8206248879432678, + 0.02020113356411457, + 0.0, + 0.9988223910331726 + ], + [ + 0.34346258640289307, + 0.0659116804599762, + 0.03763669356703758, + 0.046438056975603104, + -0.8238167762756348, + 0.07897522300481796, + 0.0, + 0.9988223910331726 + ], + [ + 0.3575694262981415, + 0.0808299332857132, + 0.04063320532441139, + -0.011196739971637726, + -0.8621732592582703, + 0.16135133802890778, + 0.0, + 0.9988223910331726 + ], + [ + 0.3696271777153015, + 0.08193250000476837, + 0.03985675424337387, + -0.031955428421497345, + -0.8456558585166931, + 0.1637057363986969, + 0.0, + 0.9988223910331726 + ], + [ + 0.38301488757133484, + 0.08797421306371689, + 0.03953278809785843, + -0.038686033338308334, + -0.8534421920776367, + 0.1719653308391571, + 0.0, + 0.9988223910331726 + ], + [ + 0.3857704997062683, + 0.09339597076177597, + 0.033337388187646866, + -0.04405790939927101, + -0.8323983550071716, + 0.1826019138097763, + 0.0, + 0.9988223910331726 + ], + [ + 0.38508933782577515, + 0.09441503137350082, + 0.02715546078979969, + -0.014708098024129868, + -0.7918761968612671, + 0.14769388735294342, + 0.0, + 0.9988223910331726 + ], + [ + 0.3846460282802582, + 0.09631384909152985, + 0.026970861479640007, + -0.011127033270895481, + -0.7902848124504089, + 0.15990190207958221, + 0.0, + 0.9367310404777527 + ], + [ + 0.38213425874710083, + 0.09257987141609192, + 0.018865153193473816, + 0.023216580972075462, + -0.7563336491584778, + 0.10713865607976913, + 0.0, + 0.6239634156227112 + ], + [ + 0.38258272409439087, + 0.0929514616727829, + 0.01881188154220581, + 0.010440315119922161, + -0.7600829005241394, + 0.1325237900018692, + 0.0, + 0.316539466381073 + ], + [ + 0.3818313181400299, + 0.09290741384029388, + 0.01768597401678562, + 0.025193601846694946, + -0.7534788250923157, + 0.10744151473045349, + 0.0, + 0.19029754400253296 + ], + [ + 0.3817563056945801, + 0.09280432760715485, + 0.016059430316090584, + 0.03289315849542618, + -0.7459516525268555, + 0.09814818203449249, + 0.0, + 0.17135097086429596 + ], + [ + 0.3812703788280487, + 0.09229885786771774, + 0.015549632720649242, + 0.025399265810847282, + -0.7414385080337524, + 0.10499030351638794, + 0.0, + 0.17135097086429596 + ], + [ + 0.3802110254764557, + 0.08997133374214172, + 0.0181085467338562, + 0.010394929908216, + -0.7351127862930298, + 0.10756294429302216, + 0.0, + 0.17081251740455627 + ], + [ + 0.3711090385913849, + 0.0857849046587944, + 0.025131549686193466, + -0.010754331946372986, + -0.7236886620521545, + 0.1221497505903244, + 0.0, + 0.17081251740455627 + ], + [ + 0.3608260750770569, + 0.08122759312391281, + 0.042501382529735565, + -0.036358945071697235, + -0.7343157529830933, + 0.15459176898002625, + 0.0, + 0.17081251740455627 + ], + [ + 0.34612178802490234, + 0.07362595945596695, + 0.05130669102072716, + -0.07994309067726135, + -0.6993505358695984, + 0.20326051115989685, + 0.0, + 0.17081251740455627 + ], + [ + 0.3285495340824127, + 0.05751286819577217, + 0.06348886340856552, + -0.15770937502384186, + -0.620564877986908, + 0.2911224663257599, + 0.0, + 0.17081251740455627 + ], + [ + 0.3134787976741791, + 0.04396415501832962, + 0.06488312780857086, + -0.21786269545555115, + -0.5441969037055969, + 0.3374498784542084, + 0.0, + 0.17081251740455627 + ], + [ + 0.30524158477783203, + 0.013180477544665337, + 0.06464608013629913, + -0.215899258852005, + -0.4893704652786255, + 0.2749195992946625, + 0.0, + 0.17081251740455627 + ], + [ + 0.2959218919277191, + -0.01188344694674015, + 0.0610773079097271, + -0.23154588043689728, + -0.44944512844085693, + 0.23098725080490112, + 0.0, + 0.17081251740455627 + ], + [ + 0.2917972803115845, + -0.03924667090177536, + 0.05948958545923233, + -0.2206009179353714, + -0.4359276592731476, + 0.14470072090625763, + 0.0, + 0.17081251740455627 + ], + [ + 0.28700149059295654, + -0.05395768582820892, + 0.048434898257255554, + -0.19278252124786377, + -0.40013960003852844, + 0.07734908163547516, + 0.0, + 0.17081251740455627 + ], + [ + 0.28706154227256775, + -0.05679263919591904, + 0.038555797189474106, + -0.1683884561061859, + -0.37246420979499817, + 0.04070397466421127, + 0.0, + 0.17081251740455627 + ], + [ + 0.28494367003440857, + -0.056694239377975464, + 0.028151139616966248, + -0.1613890826702118, + -0.34201258420944214, + 0.03212486580014229, + 0.0, + 0.17081251740455627 + ], + [ + 0.28885725140571594, + -0.060027897357940674, + 0.024790896102786064, + -0.17282967269420624, + -0.33720308542251587, + 0.01683124527335167, + 0.0, + 0.2248985916376114 + ], + [ + 0.2895650565624237, + -0.06214018538594246, + 0.025590302422642708, + -0.19122231006622314, + -0.3379945755004883, + 0.0320434495806694, + 0.0, + 0.4880000650882721 + ], + [ + 0.2893841564655304, + -0.06165929138660431, + 0.025030214339494705, + -0.1796591728925705, + -0.3404243588447571, + 0.006924943532794714, + 0.0, + 0.7950940132141113 + ], + [ + 0.2903461456298828, + -0.06283191591501236, + 0.026008212938904762, + -0.1865825653076172, + -0.3484498858451843, + 0.004786851350218058, + 0.0, + 1.0156210660934448 + ], + [ + 0.2903459072113037, + -0.06253758072853088, + 0.027567047625780106, + -0.18181955814361572, + -0.3525804281234741, + -0.004594617057591677, + 0.0, + 1.0086473226547241 + ], + [ + 0.29366716742515564, + -0.05802365392446518, + 0.05182836949825287, + -0.15765097737312317, + -0.42965349555015564, + -0.004604423884302378, + 0.0, + 0.9988223910331726 + ], + [ + 0.2854926884174347, + -0.06044045835733414, + 0.07747241109609604, + -0.23109355568885803, + -0.5161998867988586, + 0.01693788729608059, + 0.0, + 0.9988223910331726 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9367310404777527 + ], + [ + 0.6239634156227112 + ], + [ + 0.316539466381073 + ], + [ + 0.19029754400253296 + ], + [ + 0.17135097086429596 + ], + [ + 0.17135097086429596 + ], + [ + 0.17081251740455627 + ], + [ + 0.17081251740455627 + ], + [ + 0.17081251740455627 + ], + [ + 0.17081251740455627 + ], + [ + 0.17081251740455627 + ], + [ + 0.17081251740455627 + ], + [ + 0.17081251740455627 + ], + [ + 0.17081251740455627 + ], + [ + 0.17081251740455627 + ], + [ + 0.17081251740455627 + ], + [ + 0.17081251740455627 + ], + [ + 0.17081251740455627 + ], + [ + 0.2248985916376114 + ], + [ + 0.4880000650882721 + ], + [ + 0.7950940132141113 + ], + [ + 1.0156210660934448 + ], + [ + 1.0086473226547241 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.29845526814460754, + 0.04216167330741882, + 0.06297516822814941 + ], + [ + 0.28592464327812195, + 0.04058028385043144, + 0.048211146146059036 + ], + [ + 0.2888599932193756, + 0.04131029546260834, + 0.03954189270734787 + ], + [ + 0.3098219931125641, + 0.04217272624373436, + 0.042664237320423126 + ], + [ + 0.3321863114833832, + 0.06218073144555092, + 0.043611299246549606 + ], + [ + 0.34346258640289307, + 0.0659116804599762, + 0.03763669356703758 + ], + [ + 0.3575694262981415, + 0.0808299332857132, + 0.04063320532441139 + ], + [ + 0.3696271777153015, + 0.08193250000476837, + 0.03985675424337387 + ], + [ + 0.38301488757133484, + 0.08797421306371689, + 0.03953278809785843 + ], + [ + 0.3857704997062683, + 0.09339597076177597, + 0.033337388187646866 + ], + [ + 0.38508933782577515, + 0.09441503137350082, + 0.02715546078979969 + ], + [ + 0.3846460282802582, + 0.09631384909152985, + 0.026970861479640007 + ], + [ + 0.38213425874710083, + 0.09257987141609192, + 0.018865153193473816 + ], + [ + 0.38258272409439087, + 0.0929514616727829, + 0.01881188154220581 + ], + [ + 0.3818313181400299, + 0.09290741384029388, + 0.01768597401678562 + ], + [ + 0.3817563056945801, + 0.09280432760715485, + 0.016059430316090584 + ], + [ + 0.3812703788280487, + 0.09229885786771774, + 0.015549632720649242 + ], + [ + 0.3802110254764557, + 0.08997133374214172, + 0.0181085467338562 + ], + [ + 0.3711090385913849, + 0.0857849046587944, + 0.025131549686193466 + ], + [ + 0.3608260750770569, + 0.08122759312391281, + 0.042501382529735565 + ], + [ + 0.34612178802490234, + 0.07362595945596695, + 0.05130669102072716 + ], + [ + 0.3285495340824127, + 0.05751286819577217, + 0.06348886340856552 + ], + [ + 0.3134787976741791, + 0.04396415501832962, + 0.06488312780857086 + ], + [ + 0.30524158477783203, + 0.013180477544665337, + 0.06464608013629913 + ], + [ + 0.2959218919277191, + -0.01188344694674015, + 0.0610773079097271 + ], + [ + 0.2917972803115845, + -0.03924667090177536, + 0.05948958545923233 + ], + [ + 0.28700149059295654, + -0.05395768582820892, + 0.048434898257255554 + ], + [ + 0.28706154227256775, + -0.05679263919591904, + 0.038555797189474106 + ], + [ + 0.28494367003440857, + -0.056694239377975464, + 0.028151139616966248 + ], + [ + 0.28885725140571594, + -0.060027897357940674, + 0.024790896102786064 + ], + [ + 0.2895650565624237, + -0.06214018538594246, + 0.025590302422642708 + ], + [ + 0.2893841564655304, + -0.06165929138660431, + 0.025030214339494705 + ], + [ + 0.2903461456298828, + -0.06283191591501236, + 0.026008212938904762 + ], + [ + 0.2903459072113037, + -0.06253758072853088, + 0.027567047625780106 + ], + [ + 0.29366716742515564, + -0.05802365392446518, + 0.05182836949825287 + ], + [ + 0.2854926884174347, + -0.06044045835733414, + 0.07747241109609604 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.707516733710323, + 0.06968278182855156, + 0.7032527152002406, + -0.053474930280777114, + -0.9869948339249132, + 0.15159693148939213, + 0.7046704927491587, + -0.14486375572298238, + -0.6945890791874648 + ], + [ + 0.7436666974137354, + 0.060333490898802536, + 0.6658225837516416, + -0.04864433404704002, + -0.9883966490170235, + 0.14389507627795614, + 0.6667785028949775, + -0.13939847232980332, + -0.7321027892237875 + ], + [ + 0.7473587985323378, + 0.05893420568753553, + 0.6618017721767443, + -0.03382702419574572, + -0.9913916238255857, + 0.12648470517231905, + 0.6635590091999056, + -0.1169162418505115, + -0.7389316840555639 + ], + [ + 0.7145300945003049, + 0.04140251789284481, + 0.6983785331505531, + -0.05108776640620867, + -0.9924943477668315, + 0.11110809950006538, + 0.6977369018312062, + -0.1150686802002371, + -0.7070519179381141 + ], + [ + 0.6816250854941767, + 0.10159615609772113, + 0.7246140102780402, + 0.013771472757832387, + -0.9919194156367159, + 0.12611986132642328, + 0.731571998755513, + -0.07598745915664927, + -0.6775162851827106 + ], + [ + 0.6773079078546945, + 0.11276335315229023, + 0.7270064815002326, + 0.05360202958413969, + -0.9931211723495315, + 0.10410167844733775, + 0.7337443835437225, + -0.03153986710409171, + -0.6786931680819386 + ], + [ + 0.6423359009117544, + 0.1522514432165824, + 0.7511485129043075, + 0.10455063498701749, + -0.9883149316126206, + 0.11091781045148869, + 0.7592586878816049, + 0.007286562290183055, + -0.6507481470479152 + ], + [ + 0.6543731262548621, + 0.1393004264910418, + 0.7432302488562021, + 0.10809197015598658, + -0.9900234101385477, + 0.09038679862368265, + 0.7484062650881775, + 0.02119052989084319, + -0.662901971500847 + ], + [ + 0.647696879586969, + 0.14227635681416317, + 0.748495952203479, + 0.11249247915704434, + -0.9895003676491506, + 0.09074395051626404, + 0.7535477385716222, + 0.025425591711603385, + -0.6569013205799707 + ], + [ + 0.6619133381342945, + 0.14938176782290433, + 0.7345446346152277, + 0.12222817513378417, + -0.988335066860303, + 0.09085190596627452, + 0.7395478388876405, + 0.02964596188933177, + -0.6724508241799368 + ], + [ + 0.6948631232399958, + 0.13678858338888264, + 0.7060128351635129, + 0.10337982264081208, + -0.9905463787329016, + 0.09016919568172713, + 0.7116725737527849, + 0.010332232749897599, + -0.7024353299304422 + ], + [ + 0.6946665311374919, + 0.15140617276022494, + 0.7032173073577646, + 0.11203499121868617, + -0.9884406269249941, + 0.10214346668658329, + 0.7105537075126922, + 0.00782929717312851, + -0.7035994107770002 + ], + [ + 0.723186399681661, + 0.12274480392832571, + 0.6796581084810752, + 0.07777904751111644, + -0.9922946146643492, + 0.09644593032571921, + 0.6862593176662447, + -0.01688522480534012, + -0.727160943739096 + ], + [ + 0.7184237209832759, + 0.13925900155342927, + 0.6815235048146809, + 0.09576954449284442, + -0.9902270821823441, + 0.1013830363535948, + 0.6889815320283829, + -0.007566782604463453, + -0.7247393961451519 + ], + [ + 0.7251077135106004, + 0.12433664569353603, + 0.6773176524682559, + 0.0782078383265897, + -0.9920699900540189, + 0.09839039007190131, + 0.6841800478176129, + -0.018372081316469814, + -0.7290817024150242 + ], + [ + 0.7309077490297826, + 0.1201498660022348, + 0.6718168441680084, + 0.07196850780020501, + -0.9924618909217817, + 0.09919641602887622, + 0.6786710516098566, + -0.024153773361673327, + -0.7340450932600562 + ], + [ + 0.7334368528814572, + 0.12182081769526819, + 0.6687526233304808, + 0.07728794745056479, + -0.9923753723373622, + 0.0960088202050236, + 0.6753495065625075, + -0.018729889330640646, + -0.7372599509205959 + ], + [ + 0.7374682768462743, + 0.1142810111525544, + 0.6656428405198521, + 0.0796316032145131, + -0.9934185426785899, + 0.08233108059435157, + 0.6706708197132732, + -0.0077103535779498855, + -0.74171504099137 + ], + [ + 0.7437848220111423, + 0.11477135215877474, + 0.658491970542922, + 0.09130770359790225, + -0.9933592464219015, + 0.0700022200490092, + 0.6621533370825308, + 0.008058800888394582, + -0.7493250388974801 + ], + [ + 0.7334372330207666, + 0.12980745371701913, + 0.6672479675340689, + 0.11429531314032909, + -0.9911720069120757, + 0.06719102699053192, + 0.6700794032150189, + 0.026982914471795145, + -0.7417988377677684 + ], + [ + 0.7495064695967939, + 0.15087111898937733, + 0.6445757965417592, + 0.1544783669705445, + -0.9866626635556304, + 0.051314934311784716, + 0.6437208138398697, + 0.06111214118489178, + -0.7628163737290474 + ], + [ + 0.7793177954186785, + 0.19598087838311395, + 0.5951934719500488, + 0.23351136990913746, + -0.9722476467353318, + 0.014385879909381498, + 0.5814948098366214, + 0.12777327077989464, + -0.803453656042014 + ], + [ + 0.8072924477159271, + 0.2176626631412982, + 0.5485452296165417, + 0.2832548949191117, + -0.9583462633922237, + -0.036593769230909484, + 0.5177311738394644, + 0.18491999490698627, + -0.8353197155092235 + ], + [ + 0.8494836176909616, + 0.16824755022253507, + 0.5000703401710523, + 0.23960689200145974, + -0.9674403168357968, + -0.0815338620822923, + 0.4700703357797398, + 0.18908198011648014, + -0.8621379728414438 + ], + [ + 0.8767667972951314, + 0.12577467004751325, + 0.46417746125299586, + 0.20620238031565385, + -0.9702881496123728, + -0.12657600512717898, + 0.434465834690135, + 0.20669213602901382, + -0.8766514697362728 + ], + [ + 0.897005212999926, + 0.04927207721480869, + 0.4392651935424606, + 0.13071086467898055, + -0.9788915775397841, + -0.15711762878985314, + 0.42225148632755655, + 0.19835206535000027, + -0.8845112438321847 + ], + [ + 0.9182528593283223, + 0.0014301270470804747, + 0.39599197096909605, + 0.07116800190237577, + -0.9843074507566251, + -0.16147432579273266, + 0.38954691866395713, + 0.17645621871054398, + -0.9039449103998501 + ], + [ + 0.9306619202914367, + -0.02082166444803607, + 0.3652873504640817, + 0.03790257403639522, + -0.9875213787046062, + -0.15285588468478742, + 0.36391178189345696, + 0.15610248201411417, + -0.9182593479557732 + ], + [ + 0.9415955102228817, + -0.022162860415254237, + 0.33601592632838817, + 0.03025903930030416, + -0.9882267659149553, + -0.14997416334119132, + 0.3353837886194464, + 0.15138251797179766, + -0.9298392590032885 + ], + [ + 0.9435500464564235, + -0.04030851137313897, + 0.32876820670947343, + 0.015882622088248047, + -0.9859201492404629, + -0.16646081111560654, + 0.33084898692255865, + 0.16228580724310201, + -0.9296247977650831 + ], + [ + 0.9429372495099484, + -0.03153643650873192, + 0.3314736741567018, + 0.03022530786128885, + -0.9832877889907163, + -0.179531486894188, + 0.3315957995079294, + 0.1793058203017359, + -0.9262254847253005 + ], + [ + 0.9425904611092427, + -0.052848847176020126, + 0.3297426602337502, + 0.006527490059652877, + -0.9842942268760569, + -0.17641504134281194, + 0.33388712838231105, + 0.16843952710284654, + -0.9274413788536627 + ], + [ + 0.9398923463680662, + -0.05863351212572807, + 0.3363992991885287, + 0.004499159311821703, + -0.982935842743944, + -0.1838936829114569, + 0.34144126113318224, + 0.17435377915334876, + -0.9235900740538128 + ], + [ + 0.9384748573006437, + -0.06695889075531608, + 0.338794110284334, + -0.0043119629300901255, + -0.9832190383274328, + -0.18237798564017318, + 0.3453206469214161, + 0.16969628640396153, + -0.9230150709443908 + ], + [ + 0.9091005058149577, + -0.06994535671189404, + 0.4106627782030332, + -0.004185913663707783, + -0.987287210038553, + -0.15889129309402023, + 0.4165558167326292, + 0.14272915598691022, + -0.8978360872550603 + ], + [ + 0.8695763577099086, + -0.09654728818175459, + 0.4842680861431181, + 0.014730195027668154, + -0.9751916196507661, + -0.22087174178097715, + 0.4935787469760181, + 0.19919820809350927, + -0.8465814163008298 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.012530624866485596, + -0.001581389456987381, + -0.014764022082090378, + -0.01745694875717163, + 0.05208092927932739, + 0.010119304060935974, + 1.0 + ], + [ + 0.002935349941253662, + 0.0007300116121768951, + -0.008669253438711166, + -0.031233549118041992, + 0.004311680793762207, + 0.020087197422981262, + 1.0 + ], + [ + 0.020961999893188477, + 0.0008624307811260223, + 0.0031223446130752563, + 0.004407450556755066, + -0.046667397022247314, + -0.026145726442337036, + 1.0 + ], + [ + 0.022364318370819092, + 0.02000800520181656, + 0.0009470619261264801, + -0.04964075982570648, + -0.04839146137237549, + 0.09157808125019073, + 1.0 + ], + [ + 0.011276274919509888, + 0.0037309490144252777, + -0.005974605679512024, + -0.06525111198425293, + -0.0031918883323669434, + 0.05877409130334854, + 1.0 + ], + [ + 0.014106839895248413, + 0.014918252825737, + 0.00299651175737381, + -0.05763479694724083, + -0.0383564829826355, + 0.08237611502408981, + 1.0 + ], + [ + 0.012057751417160034, + 0.0011025667190551758, + -0.0007764510810375214, + -0.02075868844985962, + 0.01651740074157715, + 0.0023543983697891235, + 1.0 + ], + [ + 0.013387709856033325, + 0.006041713058948517, + -0.0003239661455154419, + -0.006730604916810989, + -0.0077863335609436035, + 0.008259594440460205, + 1.0 + ], + [ + 0.0027556121349334717, + 0.005421757698059082, + -0.006195399910211563, + -0.005371876060962677, + 0.021043837070465088, + 0.010636582970619202, + 1.0 + ], + [ + -0.0006811618804931641, + 0.0010190606117248535, + -0.006181927397847176, + 0.029349811375141144, + 0.04052215814590454, + -0.034908026456832886, + 1.0 + ], + [ + -0.0004433095455169678, + 0.0018988177180290222, + -0.00018459931015968323, + 0.0035810647532343864, + 0.0015913844108581543, + 0.012208014726638794, + 0.0 + ], + [ + -0.0025117695331573486, + -0.0037339776754379272, + -0.008105708286166191, + 0.03434361517429352, + 0.03395116329193115, + -0.05276324599981308, + 0.0 + ], + [ + 0.00044846534729003906, + 0.000371590256690979, + -5.327165126800537e-05, + -0.012776265852153301, + -0.003749251365661621, + 0.025385133922100067, + 0.0 + ], + [ + -0.0007514059543609619, + -4.404783248901367e-05, + -0.001125907525420189, + 0.014753286726772785, + 0.0066040754318237305, + -0.02508227527141571, + 0.0 + ], + [ + -7.50124454498291e-05, + -0.00010308623313903809, + -0.0016265437006950378, + 0.007699556648731232, + 0.007527172565460205, + -0.009293332695960999, + 0.0 + ], + [ + -0.00048592686653137207, + -0.0005054697394371033, + -0.0005097975954413414, + -0.007493892684578896, + 0.004513144493103027, + 0.006842121481895447, + 0.0 + ], + [ + -0.0010593533515930176, + -0.0023275241255760193, + 0.0025589140132069588, + -0.015004335902631283, + 0.006325721740722656, + 0.0025726407766342163, + 0.0 + ], + [ + -0.0091019868850708, + -0.0041864290833473206, + 0.007023002952337265, + -0.02114926278591156, + 0.011424124240875244, + 0.014586806297302246, + 0.0 + ], + [ + -0.010282963514328003, + -0.004557311534881592, + 0.0173698328435421, + -0.02560461312532425, + -0.01062709093093872, + 0.03244201838970184, + 0.0 + ], + [ + -0.014704287052154541, + -0.007601633667945862, + 0.008805308490991592, + -0.04358414560556412, + 0.03496521711349487, + 0.048668742179870605, + 0.0 + ], + [ + -0.017572253942489624, + -0.01611309126019478, + 0.012182172387838364, + -0.0777662843465805, + 0.07878565788269043, + 0.08786195516586304, + 0.0 + ], + [ + -0.015070736408233643, + -0.01354871317744255, + 0.0013942644000053406, + -0.06015332043170929, + 0.07636797428131104, + 0.046327412128448486, + 0.0 + ], + [ + -0.008237212896347046, + -0.030783677473664284, + -0.00023704767227172852, + 0.0019634366035461426, + 0.054826438426971436, + -0.0625302791595459, + 0.0 + ], + [ + -0.009319692850112915, + -0.025063924491405487, + -0.0035687722265720367, + -0.015646621584892273, + 0.039925336837768555, + -0.04393234848976135, + 0.0 + ], + [ + -0.0041246116161346436, + -0.02736322395503521, + -0.0015877224504947662, + 0.010944962501525879, + 0.01351746916770935, + -0.0862865298986435, + 0.0 + ], + [ + -0.00479578971862793, + -0.014711014926433563, + -0.011054687201976776, + 0.02781839668750763, + 0.03578805923461914, + -0.06735163927078247, + 0.0 + ], + [ + 6.0051679611206055e-05, + -0.0028349533677101135, + -0.009879101067781448, + 0.024394065141677856, + 0.027675390243530273, + -0.036645106971263885, + 0.0 + ], + [ + -0.0021178722381591797, + 9.8399817943573e-05, + -0.010404657572507858, + 0.006999373435974121, + 0.03045162558555603, + -0.008579108864068985, + 0.0 + ], + [ + 0.003913581371307373, + -0.00333365797996521, + -0.0033602435141801834, + -0.011440590023994446, + 0.0048094987869262695, + -0.015293620526790619, + 1.0 + ], + [ + 0.0007078051567077637, + -0.0021122880280017853, + 0.0007994063198566437, + -0.018392637372016907, + -0.0007914900779724121, + 0.015212204307317734, + 1.0 + ], + [ + -0.00018090009689331055, + 0.00048089399933815, + -0.0005600880831480026, + 0.011563137173652649, + -0.002429783344268799, + -0.025118505582213402, + 1.0 + ], + [ + 0.000961989164352417, + -0.0011726245284080505, + 0.000977998599410057, + -0.006923392415046692, + -0.008025527000427246, + -0.0021380921825766563, + 1.0 + ], + [ + -2.384185791015625e-07, + 0.00029433518648147583, + 0.0015588346868753433, + 0.004763007164001465, + -0.004130542278289795, + -0.009381468407809734, + 1.0 + ], + [ + 0.0033212602138519287, + 0.004513926804065704, + 0.024261321872472763, + 0.024168580770492554, + -0.07707306742668152, + -9.806826710700989e-06, + 1.0 + ], + [ + -0.008174479007720947, + -0.0024168044328689575, + 0.02564404159784317, + -0.07344257831573486, + -0.086546391248703, + 0.02154231071472168, + 1.0 + ], + [ + -0.004727840423583984, + 0.006120815873146057, + 0.013638421893119812, + -0.008753910660743713, + -0.07145518064498901, + 0.005313996225595474, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9367310404777527 + ], + [ + 0.6239634156227112 + ], + [ + 0.316539466381073 + ], + [ + 0.19029754400253296 + ], + [ + 0.17135097086429596 + ], + [ + 0.17135097086429596 + ], + [ + 0.17081251740455627 + ], + [ + 0.17081251740455627 + ], + [ + 0.17081251740455627 + ], + [ + 0.17081251740455627 + ], + [ + 0.17081251740455627 + ], + [ + 0.17081251740455627 + ], + [ + 0.17081251740455627 + ], + [ + 0.17081251740455627 + ], + [ + 0.17081251740455627 + ], + [ + 0.17081251740455627 + ], + [ + 0.17081251740455627 + ], + [ + 0.17081251740455627 + ], + [ + 0.2248985916376114 + ], + [ + 0.4880000650882721 + ], + [ + 0.7950940132141113 + ], + [ + 1.0156210660934448 + ], + [ + 1.0086473226547241 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.28592464327812195, + 0.04058028385043144, + 0.048211146146059036 + ], + [ + 0.2888599932193756, + 0.04131029546260834, + 0.03954189270734787 + ], + [ + 0.3098219931125641, + 0.04217272624373436, + 0.042664237320423126 + ], + [ + 0.3321863114833832, + 0.06218073144555092, + 0.043611299246549606 + ], + [ + 0.34346258640289307, + 0.0659116804599762, + 0.03763669356703758 + ], + [ + 0.3575694262981415, + 0.0808299332857132, + 0.04063320532441139 + ], + [ + 0.3696271777153015, + 0.08193250000476837, + 0.03985675424337387 + ], + [ + 0.38301488757133484, + 0.08797421306371689, + 0.03953278809785843 + ], + [ + 0.3857704997062683, + 0.09339597076177597, + 0.033337388187646866 + ], + [ + 0.38508933782577515, + 0.09441503137350082, + 0.02715546078979969 + ], + [ + 0.3846460282802582, + 0.09631384909152985, + 0.026970861479640007 + ], + [ + 0.38213425874710083, + 0.09257987141609192, + 0.018865153193473816 + ], + [ + 0.38258272409439087, + 0.0929514616727829, + 0.01881188154220581 + ], + [ + 0.3818313181400299, + 0.09290741384029388, + 0.01768597401678562 + ], + [ + 0.3817563056945801, + 0.09280432760715485, + 0.016059430316090584 + ], + [ + 0.3812703788280487, + 0.09229885786771774, + 0.015549632720649242 + ], + [ + 0.3802110254764557, + 0.08997133374214172, + 0.0181085467338562 + ], + [ + 0.3711090385913849, + 0.0857849046587944, + 0.025131549686193466 + ], + [ + 0.3608260750770569, + 0.08122759312391281, + 0.042501382529735565 + ], + [ + 0.34612178802490234, + 0.07362595945596695, + 0.05130669102072716 + ], + [ + 0.3285495340824127, + 0.05751286819577217, + 0.06348886340856552 + ], + [ + 0.3134787976741791, + 0.04396415501832962, + 0.06488312780857086 + ], + [ + 0.30524158477783203, + 0.013180477544665337, + 0.06464608013629913 + ], + [ + 0.2959218919277191, + -0.01188344694674015, + 0.0610773079097271 + ], + [ + 0.2917972803115845, + -0.03924667090177536, + 0.05948958545923233 + ], + [ + 0.28700149059295654, + -0.05395768582820892, + 0.048434898257255554 + ], + [ + 0.28706154227256775, + -0.05679263919591904, + 0.038555797189474106 + ], + [ + 0.28494367003440857, + -0.056694239377975464, + 0.028151139616966248 + ], + [ + 0.28885725140571594, + -0.060027897357940674, + 0.024790896102786064 + ], + [ + 0.2895650565624237, + -0.06214018538594246, + 0.025590302422642708 + ], + [ + 0.2893841564655304, + -0.06165929138660431, + 0.025030214339494705 + ], + [ + 0.2903461456298828, + -0.06283191591501236, + 0.026008212938904762 + ], + [ + 0.2903459072113037, + -0.06253758072853088, + 0.027567047625780106 + ], + [ + 0.29366716742515564, + -0.05802365392446518, + 0.05182836949825287 + ], + [ + 0.2854926884174347, + -0.06044045835733414, + 0.07747241109609604 + ], + [ + 0.2807648479938507, + -0.05431964248418808, + 0.09111083298921585 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.7436666974137354, + 0.060333490898802536, + 0.6658225837516416, + -0.04864433404704002, + -0.9883966490170235, + 0.14389507627795614, + 0.6667785028949775, + -0.13939847232980332, + -0.7321027892237875 + ], + [ + 0.7473587985323378, + 0.05893420568753553, + 0.6618017721767443, + -0.03382702419574572, + -0.9913916238255857, + 0.12648470517231905, + 0.6635590091999056, + -0.1169162418505115, + -0.7389316840555639 + ], + [ + 0.7145300945003049, + 0.04140251789284481, + 0.6983785331505531, + -0.05108776640620867, + -0.9924943477668315, + 0.11110809950006538, + 0.6977369018312062, + -0.1150686802002371, + -0.7070519179381141 + ], + [ + 0.6816250854941767, + 0.10159615609772113, + 0.7246140102780402, + 0.013771472757832387, + -0.9919194156367159, + 0.12611986132642328, + 0.731571998755513, + -0.07598745915664927, + -0.6775162851827106 + ], + [ + 0.6773079078546945, + 0.11276335315229023, + 0.7270064815002326, + 0.05360202958413969, + -0.9931211723495315, + 0.10410167844733775, + 0.7337443835437225, + -0.03153986710409171, + -0.6786931680819386 + ], + [ + 0.6423359009117544, + 0.1522514432165824, + 0.7511485129043075, + 0.10455063498701749, + -0.9883149316126206, + 0.11091781045148869, + 0.7592586878816049, + 0.007286562290183055, + -0.6507481470479152 + ], + [ + 0.6543731262548621, + 0.1393004264910418, + 0.7432302488562021, + 0.10809197015598658, + -0.9900234101385477, + 0.09038679862368265, + 0.7484062650881775, + 0.02119052989084319, + -0.662901971500847 + ], + [ + 0.647696879586969, + 0.14227635681416317, + 0.748495952203479, + 0.11249247915704434, + -0.9895003676491506, + 0.09074395051626404, + 0.7535477385716222, + 0.025425591711603385, + -0.6569013205799707 + ], + [ + 0.6619133381342945, + 0.14938176782290433, + 0.7345446346152277, + 0.12222817513378417, + -0.988335066860303, + 0.09085190596627452, + 0.7395478388876405, + 0.02964596188933177, + -0.6724508241799368 + ], + [ + 0.6948631232399958, + 0.13678858338888264, + 0.7060128351635129, + 0.10337982264081208, + -0.9905463787329016, + 0.09016919568172713, + 0.7116725737527849, + 0.010332232749897599, + -0.7024353299304422 + ], + [ + 0.6946665311374919, + 0.15140617276022494, + 0.7032173073577646, + 0.11203499121868617, + -0.9884406269249941, + 0.10214346668658329, + 0.7105537075126922, + 0.00782929717312851, + -0.7035994107770002 + ], + [ + 0.723186399681661, + 0.12274480392832571, + 0.6796581084810752, + 0.07777904751111644, + -0.9922946146643492, + 0.09644593032571921, + 0.6862593176662447, + -0.01688522480534012, + -0.727160943739096 + ], + [ + 0.7184237209832759, + 0.13925900155342927, + 0.6815235048146809, + 0.09576954449284442, + -0.9902270821823441, + 0.1013830363535948, + 0.6889815320283829, + -0.007566782604463453, + -0.7247393961451519 + ], + [ + 0.7251077135106004, + 0.12433664569353603, + 0.6773176524682559, + 0.0782078383265897, + -0.9920699900540189, + 0.09839039007190131, + 0.6841800478176129, + -0.018372081316469814, + -0.7290817024150242 + ], + [ + 0.7309077490297826, + 0.1201498660022348, + 0.6718168441680084, + 0.07196850780020501, + -0.9924618909217817, + 0.09919641602887622, + 0.6786710516098566, + -0.024153773361673327, + -0.7340450932600562 + ], + [ + 0.7334368528814572, + 0.12182081769526819, + 0.6687526233304808, + 0.07728794745056479, + -0.9923753723373622, + 0.0960088202050236, + 0.6753495065625075, + -0.018729889330640646, + -0.7372599509205959 + ], + [ + 0.7374682768462743, + 0.1142810111525544, + 0.6656428405198521, + 0.0796316032145131, + -0.9934185426785899, + 0.08233108059435157, + 0.6706708197132732, + -0.0077103535779498855, + -0.74171504099137 + ], + [ + 0.7437848220111423, + 0.11477135215877474, + 0.658491970542922, + 0.09130770359790225, + -0.9933592464219015, + 0.0700022200490092, + 0.6621533370825308, + 0.008058800888394582, + -0.7493250388974801 + ], + [ + 0.7334372330207666, + 0.12980745371701913, + 0.6672479675340689, + 0.11429531314032909, + -0.9911720069120757, + 0.06719102699053192, + 0.6700794032150189, + 0.026982914471795145, + -0.7417988377677684 + ], + [ + 0.7495064695967939, + 0.15087111898937733, + 0.6445757965417592, + 0.1544783669705445, + -0.9866626635556304, + 0.051314934311784716, + 0.6437208138398697, + 0.06111214118489178, + -0.7628163737290474 + ], + [ + 0.7793177954186785, + 0.19598087838311395, + 0.5951934719500488, + 0.23351136990913746, + -0.9722476467353318, + 0.014385879909381498, + 0.5814948098366214, + 0.12777327077989464, + -0.803453656042014 + ], + [ + 0.8072924477159271, + 0.2176626631412982, + 0.5485452296165417, + 0.2832548949191117, + -0.9583462633922237, + -0.036593769230909484, + 0.5177311738394644, + 0.18491999490698627, + -0.8353197155092235 + ], + [ + 0.8494836176909616, + 0.16824755022253507, + 0.5000703401710523, + 0.23960689200145974, + -0.9674403168357968, + -0.0815338620822923, + 0.4700703357797398, + 0.18908198011648014, + -0.8621379728414438 + ], + [ + 0.8767667972951314, + 0.12577467004751325, + 0.46417746125299586, + 0.20620238031565385, + -0.9702881496123728, + -0.12657600512717898, + 0.434465834690135, + 0.20669213602901382, + -0.8766514697362728 + ], + [ + 0.897005212999926, + 0.04927207721480869, + 0.4392651935424606, + 0.13071086467898055, + -0.9788915775397841, + -0.15711762878985314, + 0.42225148632755655, + 0.19835206535000027, + -0.8845112438321847 + ], + [ + 0.9182528593283223, + 0.0014301270470804747, + 0.39599197096909605, + 0.07116800190237577, + -0.9843074507566251, + -0.16147432579273266, + 0.38954691866395713, + 0.17645621871054398, + -0.9039449103998501 + ], + [ + 0.9306619202914367, + -0.02082166444803607, + 0.3652873504640817, + 0.03790257403639522, + -0.9875213787046062, + -0.15285588468478742, + 0.36391178189345696, + 0.15610248201411417, + -0.9182593479557732 + ], + [ + 0.9415955102228817, + -0.022162860415254237, + 0.33601592632838817, + 0.03025903930030416, + -0.9882267659149553, + -0.14997416334119132, + 0.3353837886194464, + 0.15138251797179766, + -0.9298392590032885 + ], + [ + 0.9435500464564235, + -0.04030851137313897, + 0.32876820670947343, + 0.015882622088248047, + -0.9859201492404629, + -0.16646081111560654, + 0.33084898692255865, + 0.16228580724310201, + -0.9296247977650831 + ], + [ + 0.9429372495099484, + -0.03153643650873192, + 0.3314736741567018, + 0.03022530786128885, + -0.9832877889907163, + -0.179531486894188, + 0.3315957995079294, + 0.1793058203017359, + -0.9262254847253005 + ], + [ + 0.9425904611092427, + -0.052848847176020126, + 0.3297426602337502, + 0.006527490059652877, + -0.9842942268760569, + -0.17641504134281194, + 0.33388712838231105, + 0.16843952710284654, + -0.9274413788536627 + ], + [ + 0.9398923463680662, + -0.05863351212572807, + 0.3363992991885287, + 0.004499159311821703, + -0.982935842743944, + -0.1838936829114569, + 0.34144126113318224, + 0.17435377915334876, + -0.9235900740538128 + ], + [ + 0.9384748573006437, + -0.06695889075531608, + 0.338794110284334, + -0.0043119629300901255, + -0.9832190383274328, + -0.18237798564017318, + 0.3453206469214161, + 0.16969628640396153, + -0.9230150709443908 + ], + [ + 0.9091005058149577, + -0.06994535671189404, + 0.4106627782030332, + -0.004185913663707783, + -0.987287210038553, + -0.15889129309402023, + 0.4165558167326292, + 0.14272915598691022, + -0.8978360872550603 + ], + [ + 0.8695763577099086, + -0.09654728818175459, + 0.4842680861431181, + 0.014730195027668154, + -0.9751916196507661, + -0.22087174178097715, + 0.4935787469760181, + 0.19919820809350927, + -0.8465814163008298 + ], + [ + 0.8320369898973204, + -0.1100570786114949, + 0.5436928240193255, + 0.0185174465676559, + -0.974064138586694, + -0.22551309960172028, + 0.5544109952149399, + 0.1977030433930258, + -0.8084194177640187 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006111.json b/json/chunk-0006/episode_0006111.json new file mode 100644 index 0000000000000000000000000000000000000000..4143642d618c90772e7ff5b851dedfe071c41eb3 --- /dev/null +++ b/json/chunk-0006/episode_0006111.json @@ -0,0 +1,1102 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 17, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nFlip pot upright in sink." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006111.mp4", + "start": 0, + "end": 17, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2769079804420471, + -0.06368740648031235, + 0.05170662701129913, + 0.04423079639673233, + -0.11166292428970337, + 0.03995131701231003, + 0.0, + 1.0112061500549316 + ], + [ + 0.27323755621910095, + -0.06240934506058693, + 0.04342467337846756, + 0.1112835481762886, + -0.09243793785572052, + 0.02145419269800186, + 0.0, + 1.0112061500549316 + ], + [ + 0.27541419863700867, + -0.06810703128576279, + 0.045584287494421005, + 0.1826035976409912, + -0.13782206177711487, + -0.024562155827879906, + 0.0, + 1.0112061500549316 + ], + [ + 0.2793245017528534, + -0.07008596509695053, + 0.037090156227350235, + 0.2538059949874878, + -0.18487504124641418, + -0.03660879284143448, + 0.0, + 1.0112061500549316 + ], + [ + 0.2825310528278351, + -0.07138673216104507, + 0.02673252858221531, + 0.31890684366226196, + -0.21602678298950195, + -0.040165796875953674, + 0.0, + 1.0112061500549316 + ], + [ + 0.2850706875324249, + -0.06735128164291382, + 0.011508765630424023, + 0.4018716514110565, + -0.21635904908180237, + -0.07258792221546173, + 0.0, + 1.0112061500549316 + ], + [ + 0.28764796257019043, + -0.062499240040779114, + 0.004795552231371403, + 0.46409639716148376, + -0.20400045812129974, + -0.11106446385383606, + 0.0, + 1.0112061500549316 + ], + [ + 0.29273319244384766, + -0.0513569675385952, + -0.0011756907915696502, + 0.5733787417411804, + -0.19182980060577393, + -0.16695496439933777, + 0.0, + 1.0112061500549316 + ], + [ + 0.29957476258277893, + -0.0423956923186779, + -0.003981339745223522, + 0.6352877020835876, + -0.19399289786815643, + -0.2159450203180313, + 0.0, + 0.9568231701850891 + ], + [ + 0.30495041608810425, + -0.029979826882481575, + -0.004380031023174524, + 0.6388571262359619, + -0.1909073293209076, + -0.21296347677707672, + 0.0, + 0.7864964604377747 + ], + [ + 0.3095867931842804, + -0.020431678742170334, + -0.0010633032070472836, + 0.6045023202896118, + -0.18150220811367035, + -0.19986718893051147, + 0.0, + 0.5305274724960327 + ], + [ + 0.30947861075401306, + -0.011946056969463825, + 0.002044322667643428, + 0.5110509991645813, + -0.17277032136917114, + -0.15052112936973572, + 0.0, + 0.3703518807888031 + ], + [ + 0.3035769462585449, + -0.008818982169032097, + -0.004203866235911846, + 0.38868701457977295, + -0.15867601335048676, + -0.11393028497695923, + 0.0, + 0.20503154397010803 + ], + [ + 0.2964271903038025, + -0.006363488268107176, + -0.013473276048898697, + 0.26652026176452637, + -0.12146253138780594, + -0.11753330379724503, + 0.0, + 0.07175325602293015 + ], + [ + 0.297200083732605, + 0.011803822591900826, + -0.0166335329413414, + 0.14864255487918854, + -0.1267649382352829, + -0.07380864769220352, + 0.0, + 0.05538023263216019 + ], + [ + 0.29726120829582214, + 0.01447269693017006, + -0.020016305148601532, + 0.08389434963464737, + -0.1565905213356018, + -0.08531314134597778, + 0.0, + 0.14964459836483002 + ], + [ + 0.2977612614631653, + 0.015289298258721828, + -0.022300774231553078, + 0.06420564651489258, + -0.18102127313613892, + -0.09373589605093002, + 0.0, + 0.35690104961395264 + ] + ], + "left_gripper_pos": [ + [ + 1.0112061500549316 + ], + [ + 1.0112061500549316 + ], + [ + 1.0112061500549316 + ], + [ + 1.0112061500549316 + ], + [ + 1.0112061500549316 + ], + [ + 1.0112061500549316 + ], + [ + 1.0112061500549316 + ], + [ + 1.0112061500549316 + ], + [ + 0.9568231701850891 + ], + [ + 0.7864964604377747 + ], + [ + 0.5305274724960327 + ], + [ + 0.3703518807888031 + ], + [ + 0.20503154397010803 + ], + [ + 0.07175325602293015 + ], + [ + 0.05538023263216019 + ], + [ + 0.14964459836483002 + ], + [ + 0.35690104961395264 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2769079804420471, + -0.06368740648031235, + 0.05170662701129913 + ], + [ + 0.27323755621910095, + -0.06240934506058693, + 0.04342467337846756 + ], + [ + 0.27541419863700867, + -0.06810703128576279, + 0.045584287494421005 + ], + [ + 0.2793245017528534, + -0.07008596509695053, + 0.037090156227350235 + ], + [ + 0.2825310528278351, + -0.07138673216104507, + 0.02673252858221531 + ], + [ + 0.2850706875324249, + -0.06735128164291382, + 0.011508765630424023 + ], + [ + 0.28764796257019043, + -0.062499240040779114, + 0.004795552231371403 + ], + [ + 0.29273319244384766, + -0.0513569675385952, + -0.0011756907915696502 + ], + [ + 0.29957476258277893, + -0.0423956923186779, + -0.003981339745223522 + ], + [ + 0.30495041608810425, + -0.029979826882481575, + -0.004380031023174524 + ], + [ + 0.3095867931842804, + -0.020431678742170334, + -0.0010633032070472836 + ], + [ + 0.30947861075401306, + -0.011946056969463825, + 0.002044322667643428 + ], + [ + 0.3035769462585449, + -0.008818982169032097, + -0.004203866235911846 + ], + [ + 0.2964271903038025, + -0.006363488268107176, + -0.013473276048898697 + ], + [ + 0.297200083732605, + 0.011803822591900826, + -0.0166335329413414 + ], + [ + 0.29726120829582214, + 0.01447269693017006, + -0.020016305148601532 + ], + [ + 0.2977612614631653, + 0.015289298258721828, + -0.022300774231553078 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9929791924956134, + 0.04482477161735343, + 0.10946717827829533, + 0.03969194629419928, + -0.9980280196618472, + 0.04862737263342806, + 0.1114310220277028, + -0.04394100384952504, + -0.9928002394795027 + ], + [ + 0.9955015053196838, + 0.03156847988784535, + 0.08933187551940602, + 0.021360958584500732, + -0.9933657548031175, + 0.11299640097270558, + 0.09230635056481865, + -0.11057987277078915, + -0.9895714372309871 + ], + [ + 0.990218789400149, + 0.0007891324901180639, + 0.1395210607357066, + -0.02432680052123462, + -0.9836903336119949, + 0.17821765999676498, + 0.1373861561268229, + -0.17986857654475252, + -0.9740494542252262 + ], + [ + 0.9823006194422571, + 0.010697266744310365, + 0.18700551202453672, + -0.0359769134523537, + -0.9690045739276902, + 0.2444090779935504, + 0.18382370560349373, + -0.24681106983159531, + -0.9514689385717137 + ], + [ + 0.9759690270418935, + 0.02902048784363242, + 0.2159682141895363, + -0.039221667957331056, + -0.9515114682831953, + 0.3051025835488823, + 0.21435045840292646, + -0.30624130520045045, + -0.9275074899813909 + ], + [ + 0.9741135908129401, + 0.01700096345634814, + 0.22541889768844933, + -0.07083333237610534, + -0.9239967105996808, + 0.375782806718809, + 0.21467498973568358, + -0.38202231092244526, + -0.8988735187663827 + ], + [ + 0.9732304104573717, + -0.008989816880255248, + 0.22965572353728694, + -0.10853796451039341, + -0.8987675939122131, + 0.4247779683472193, + 0.20258844592156747, + -0.4383332012587116, + -0.8756836907544718 + ], + [ + 0.9680074328491975, + -0.03761623375685963, + 0.24808593048912647, + -0.16313218391369702, + -0.8455792868830047, + 0.5083144304128864, + 0.19065544975230614, + -0.5325229465031329, + -0.8246634531294371 + ], + [ + 0.9584523146375529, + -0.060727079332881545, + 0.2787138001635639, + -0.21025137503950178, + -0.8107184480638966, + 0.5463789502377133, + 0.1927784216656934, + -0.5822781292514468, + -0.7898029249980777 + ], + [ + 0.9596517538644903, + -0.05908531618333365, + 0.2749135077007366, + -0.2075175118886328, + -0.8085558391858558, + 0.5506123293007591, + 0.18974981835131915, + -0.5854454546155191, + -0.7881932669756 + ], + [ + 0.9639935980410135, + -0.0628055485918456, + 0.2584024109833691, + -0.19527789016947078, + -0.8267743299611242, + 0.527551659013877, + 0.1805073088462092, + -0.5590166995568301, + -0.8092696961271241 + ], + [ + 0.9739736973575033, + -0.04766348054111061, + 0.2215929364362988, + -0.1477209281273719, + -0.8749769571317987, + 0.4610790082855283, + 0.17191208290560095, + -0.48181274071062674, + -0.8592454356235895 + ], + [ + 0.9810357595127931, + -0.04571020337365703, + 0.18835980427016832, + -0.11225580201454219, + -0.9262156176433819, + 0.3598934072021331, + 0.1580109916152326, + -0.3742127829738415, + -0.9137818774673436 + ], + [ + 0.9857842291490917, + -0.08143114147222656, + 0.14696401858775246, + -0.11639895292490503, + -0.961779770650122, + 0.24785269118204967, + 0.12116409253123125, + -0.2614357320006754, + -0.9575858294243678 + ], + [ + 0.9892753029979655, + -0.05425636436447584, + 0.13561202676839967, + -0.07314995398032667, + -0.9876610947801632, + 0.13847254634159803, + 0.12642570589464786, + -0.14690748375627147, + -0.9810375793543492 + ], + [ + 0.9841722761538552, + -0.07188943374306696, + 0.16197790024024905, + -0.08416712642041234, + -0.9939722930882712, + 0.07024938008960196, + 0.1559513567759807, + -0.0827707067080149, + -0.9842907011806957 + ], + [ + 0.9793420793114935, + -0.0819052661552087, + 0.18488001261868459, + -0.09206931860846272, + -0.9946397618297262, + 0.04706362457651517, + 0.18003425302095688, + -0.06311316473882614, + -0.9816335345615675 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.003670424222946167, + 0.001278061419725418, + -0.008281953632831573, + 0.06705275177955627, + 0.01922498643398285, + -0.018497124314308167, + 1.0 + ], + [ + 0.002176642417907715, + -0.0056976862251758575, + 0.0021596141159534454, + 0.0713200494647026, + -0.04538412392139435, + -0.046016350388526917, + 1.0 + ], + [ + 0.0039103031158447266, + -0.001978933811187744, + -0.00849413126707077, + 0.07120239734649658, + -0.047052979469299316, + -0.012046637013554573, + 1.0 + ], + [ + 0.0032065510749816895, + -0.0013007670640945435, + -0.010357627645134926, + 0.06510084867477417, + -0.03115174174308777, + -0.0035570040345191956, + 1.0 + ], + [ + 0.0025396347045898438, + 0.004035450518131256, + -0.015223762951791286, + 0.08296480774879456, + -0.00033226609230041504, + -0.03242212533950806, + 1.0 + ], + [ + 0.002577275037765503, + 0.004852041602134705, + -0.00671321339905262, + 0.062224745750427246, + 0.012358590960502625, + -0.03847654163837433, + 1.0 + ], + [ + 0.0050852298736572266, + 0.011142272502183914, + -0.005971243139356375, + 0.10928234457969666, + 0.012170657515525818, + -0.05589050054550171, + 1.0 + ], + [ + 0.006841570138931274, + 0.008961275219917297, + -0.00280564883723855, + 0.06190896034240723, + -0.0021630972623825073, + -0.04899005591869354, + 0.0 + ], + [ + 0.005375653505325317, + 0.012415865436196327, + -0.0003986912779510021, + 0.0035694241523742676, + 0.0030855685472488403, + 0.00298154354095459, + 0.0 + ], + [ + 0.0046363770961761475, + 0.009548148140311241, + 0.0033167279325425625, + -0.0343548059463501, + 0.009405121207237244, + 0.013096287846565247, + 0.0 + ], + [ + -0.00010818243026733398, + 0.008485621772706509, + 0.0031076259911060333, + -0.09345132112503052, + 0.008731886744499207, + 0.04934605956077576, + 0.0 + ], + [ + -0.00590166449546814, + 0.0031270748004317284, + -0.006248189136385918, + -0.12236398458480835, + 0.014094308018684387, + 0.03659084439277649, + 0.0 + ], + [ + -0.007149755954742432, + 0.002455493900924921, + -0.00926940981298685, + -0.12216675281524658, + 0.03721348196268082, + -0.003603018820285797, + 0.0 + ], + [ + 0.0007728934288024902, + 0.01816731132566929, + -0.0031602568924427032, + -0.11787770688533783, + -0.005302406847476959, + 0.043724656105041504, + 0.0 + ], + [ + 6.112456321716309e-05, + 0.0026688743382692337, + -0.003382772207260132, + -0.06474820524454117, + -0.02982558310031891, + -0.011504493653774261, + 1.0 + ], + [ + 0.0005000531673431396, + 0.0008166013285517693, + -0.0022844690829515457, + -0.01968870311975479, + -0.02443075180053711, + -0.00842275470495224, + 1.0 + ], + [ + -5.066394805908203e-06, + -0.00010472442954778671, + -5.938112735748291e-06, + -0.0009144172072410583, + -0.00011044740676879883, + 0.0014023706316947937, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0112061500549316 + ], + [ + 1.0112061500549316 + ], + [ + 1.0112061500549316 + ], + [ + 1.0112061500549316 + ], + [ + 1.0112061500549316 + ], + [ + 1.0112061500549316 + ], + [ + 1.0112061500549316 + ], + [ + 0.9568231701850891 + ], + [ + 0.7864964604377747 + ], + [ + 0.5305274724960327 + ], + [ + 0.3703518807888031 + ], + [ + 0.20503154397010803 + ], + [ + 0.07175325602293015 + ], + [ + 0.05538023263216019 + ], + [ + 0.14964459836483002 + ], + [ + 0.35690104961395264 + ], + [ + 0.6651484370231628 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.27323755621910095, + -0.06240934506058693, + 0.04342467337846756 + ], + [ + 0.27541419863700867, + -0.06810703128576279, + 0.045584287494421005 + ], + [ + 0.2793245017528534, + -0.07008596509695053, + 0.037090156227350235 + ], + [ + 0.2825310528278351, + -0.07138673216104507, + 0.02673252858221531 + ], + [ + 0.2850706875324249, + -0.06735128164291382, + 0.011508765630424023 + ], + [ + 0.28764796257019043, + -0.062499240040779114, + 0.004795552231371403 + ], + [ + 0.29273319244384766, + -0.0513569675385952, + -0.0011756907915696502 + ], + [ + 0.29957476258277893, + -0.0423956923186779, + -0.003981339745223522 + ], + [ + 0.30495041608810425, + -0.029979826882481575, + -0.004380031023174524 + ], + [ + 0.3095867931842804, + -0.020431678742170334, + -0.0010633032070472836 + ], + [ + 0.30947861075401306, + -0.011946056969463825, + 0.002044322667643428 + ], + [ + 0.3035769462585449, + -0.008818982169032097, + -0.004203866235911846 + ], + [ + 0.2964271903038025, + -0.006363488268107176, + -0.013473276048898697 + ], + [ + 0.297200083732605, + 0.011803822591900826, + -0.0166335329413414 + ], + [ + 0.29726120829582214, + 0.01447269693017006, + -0.020016305148601532 + ], + [ + 0.2977612614631653, + 0.015289298258721828, + -0.022300774231553078 + ], + [ + 0.2977561950683594, + 0.015184573829174042, + -0.022306712344288826 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9955015053196838, + 0.03156847988784535, + 0.08933187551940602, + 0.021360958584500732, + -0.9933657548031175, + 0.11299640097270558, + 0.09230635056481865, + -0.11057987277078915, + -0.9895714372309871 + ], + [ + 0.990218789400149, + 0.0007891324901180639, + 0.1395210607357066, + -0.02432680052123462, + -0.9836903336119949, + 0.17821765999676498, + 0.1373861561268229, + -0.17986857654475252, + -0.9740494542252262 + ], + [ + 0.9823006194422571, + 0.010697266744310365, + 0.18700551202453672, + -0.0359769134523537, + -0.9690045739276902, + 0.2444090779935504, + 0.18382370560349373, + -0.24681106983159531, + -0.9514689385717137 + ], + [ + 0.9759690270418935, + 0.02902048784363242, + 0.2159682141895363, + -0.039221667957331056, + -0.9515114682831953, + 0.3051025835488823, + 0.21435045840292646, + -0.30624130520045045, + -0.9275074899813909 + ], + [ + 0.9741135908129401, + 0.01700096345634814, + 0.22541889768844933, + -0.07083333237610534, + -0.9239967105996808, + 0.375782806718809, + 0.21467498973568358, + -0.38202231092244526, + -0.8988735187663827 + ], + [ + 0.9732304104573717, + -0.008989816880255248, + 0.22965572353728694, + -0.10853796451039341, + -0.8987675939122131, + 0.4247779683472193, + 0.20258844592156747, + -0.4383332012587116, + -0.8756836907544718 + ], + [ + 0.9680074328491975, + -0.03761623375685963, + 0.24808593048912647, + -0.16313218391369702, + -0.8455792868830047, + 0.5083144304128864, + 0.19065544975230614, + -0.5325229465031329, + -0.8246634531294371 + ], + [ + 0.9584523146375529, + -0.060727079332881545, + 0.2787138001635639, + -0.21025137503950178, + -0.8107184480638966, + 0.5463789502377133, + 0.1927784216656934, + -0.5822781292514468, + -0.7898029249980777 + ], + [ + 0.9596517538644903, + -0.05908531618333365, + 0.2749135077007366, + -0.2075175118886328, + -0.8085558391858558, + 0.5506123293007591, + 0.18974981835131915, + -0.5854454546155191, + -0.7881932669756 + ], + [ + 0.9639935980410135, + -0.0628055485918456, + 0.2584024109833691, + -0.19527789016947078, + -0.8267743299611242, + 0.527551659013877, + 0.1805073088462092, + -0.5590166995568301, + -0.8092696961271241 + ], + [ + 0.9739736973575033, + -0.04766348054111061, + 0.2215929364362988, + -0.1477209281273719, + -0.8749769571317987, + 0.4610790082855283, + 0.17191208290560095, + -0.48181274071062674, + -0.8592454356235895 + ], + [ + 0.9810357595127931, + -0.04571020337365703, + 0.18835980427016832, + -0.11225580201454219, + -0.9262156176433819, + 0.3598934072021331, + 0.1580109916152326, + -0.3742127829738415, + -0.9137818774673436 + ], + [ + 0.9857842291490917, + -0.08143114147222656, + 0.14696401858775246, + -0.11639895292490503, + -0.961779770650122, + 0.24785269118204967, + 0.12116409253123125, + -0.2614357320006754, + -0.9575858294243678 + ], + [ + 0.9892753029979655, + -0.05425636436447584, + 0.13561202676839967, + -0.07314995398032667, + -0.9876610947801632, + 0.13847254634159803, + 0.12642570589464786, + -0.14690748375627147, + -0.9810375793543492 + ], + [ + 0.9841722761538552, + -0.07188943374306696, + 0.16197790024024905, + -0.08416712642041234, + -0.9939722930882712, + 0.07024938008960196, + 0.1559513567759807, + -0.0827707067080149, + -0.9842907011806957 + ], + [ + 0.9793420793114935, + -0.0819052661552087, + 0.18488001261868459, + -0.09206931860846272, + -0.9946397618297262, + 0.04706362457651517, + 0.18003425302095688, + -0.06311316473882614, + -0.9816335345615675 + ], + [ + 0.9794504259805492, + -0.08067245354287045, + 0.18484809516436426, + -0.09069399401993392, + -0.9947971357823528, + 0.04640321204333846, + 0.1801428946565272, + -0.06221425784014664, + -0.9816709854254464 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006113.json b/json/chunk-0006/episode_0006113.json new file mode 100644 index 0000000000000000000000000000000000000000..cf49f6f15566f28fc5122a28c2fca658b20c78b1 --- /dev/null +++ b/json/chunk-0006/episode_0006113.json @@ -0,0 +1,2602 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 42, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut the green cube on top of the yellow rectangle." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006113.mp4", + "start": 0, + "end": 42, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.24082288146018982, + -0.04822494089603424, + 0.08334078639745712, + -0.05594640225172043, + 0.05869314819574356, + 0.09256717562675476, + 0.0, + 0.9988223910331726 + ], + [ + 0.23679381608963013, + -0.04842422530055046, + 0.07593762874603271, + -0.05045763775706291, + 0.09199903905391693, + 0.09135394543409348, + 0.0, + 0.9988223910331726 + ], + [ + 0.23482748866081238, + -0.04931759461760521, + 0.06524106115102768, + -0.05817585438489914, + 0.12549883127212524, + 0.08537649363279343, + 0.0, + 0.9988223910331726 + ], + [ + 0.23342151939868927, + -0.0450681671500206, + 0.05759868770837784, + -0.06053956225514412, + 0.14335815608501434, + 0.09153442829847336, + 0.0, + 0.9988223910331726 + ], + [ + 0.23283077776432037, + -0.04687267914414406, + 0.0479513481259346, + -0.07058205455541611, + 0.15665306150913239, + 0.08514193445444107, + 0.0, + 0.9988223910331726 + ], + [ + 0.22900961339473724, + -0.04572831094264984, + 0.03077150136232376, + -0.05642462149262428, + 0.21882091462612152, + 0.08149636536836624, + 0.0, + 0.9988223910331726 + ], + [ + 0.22730568051338196, + -0.046055447310209274, + 0.028416579589247704, + -0.05164233222603798, + 0.23379136621952057, + 0.08105975389480591, + 0.0, + 0.9988223910331726 + ], + [ + 0.22358928620815277, + -0.04689638689160347, + 0.018700523301959038, + -0.050988756120204926, + 0.27763715386390686, + 0.09127742052078247, + 0.0, + 0.9613274931907654 + ], + [ + 0.22366178035736084, + -0.04984714090824127, + 0.013685507699847221, + -0.07048927247524261, + 0.2664811611175537, + 0.10965864360332489, + 0.0, + 0.680191159248352 + ], + [ + 0.22554700076580048, + -0.04992823675274849, + 0.013209816068410873, + -0.07008678466081619, + 0.25492051243782043, + 0.11845866590738297, + 0.0, + 0.562038779258728 + ], + [ + 0.22578155994415283, + -0.050211407244205475, + 0.012857773341238499, + -0.06958919018507004, + 0.24917291104793549, + 0.1223086342215538, + 0.0, + 0.562038779258728 + ], + [ + 0.22324645519256592, + -0.048545438796281815, + 0.013945339247584343, + -0.06198837608098984, + 0.2392200529575348, + 0.12880535423755646, + 0.0, + 0.562038779258728 + ], + [ + 0.22288550436496735, + -0.0470476970076561, + 0.018457451835274696, + -0.05320635810494423, + 0.2335096299648285, + 0.13260410726070404, + 0.0, + 0.562038779258728 + ], + [ + 0.22626473009586334, + -0.04541413113474846, + 0.030940670520067215, + -0.03851814568042755, + 0.2093781977891922, + 0.1310243010520935, + 0.0, + 0.561048150062561 + ], + [ + 0.23496903479099274, + -0.04193446785211563, + 0.04999550059437752, + -0.023536043241620064, + 0.16950209438800812, + 0.11911901086568832, + 0.0, + 0.562038779258728 + ], + [ + 0.2489483803510666, + -0.029524050652980804, + 0.0707252249121666, + -0.03360038995742798, + 0.11660521477460861, + 0.13789649307727814, + 0.0, + 0.561048150062561 + ], + [ + 0.2595925033092499, + -0.0027522926684468985, + 0.08685750514268875, + -0.05136769264936447, + 0.09393983334302902, + 0.18252865970134735, + 0.0, + 0.562038779258728 + ], + [ + 0.2635359764099121, + 0.01942278817296028, + 0.10027126222848892, + -0.0408301055431366, + 0.06362276524305344, + 0.23204299807548523, + 0.0, + 0.561048150062561 + ], + [ + 0.2641892731189728, + 0.047006577253341675, + 0.10447908937931061, + -0.035431910306215286, + 0.02084038220345974, + 0.2728304862976074, + 0.0, + 0.562038779258728 + ], + [ + 0.2620750069618225, + 0.07433029264211655, + 0.10586444288492203, + -0.0578409768640995, + -0.010005952790379524, + 0.33516180515289307, + 0.0, + 0.562038779258728 + ], + [ + 0.26679718494415283, + 0.0913127139210701, + 0.10469627380371094, + -0.06508544087409973, + -0.02677519991993904, + 0.34753406047821045, + 0.0, + 0.562038779258728 + ], + [ + 0.275484174489975, + 0.10190650075674057, + 0.08915193378925323, + -0.06346862018108368, + 0.007668974809348583, + 0.3053492605686188, + 0.0, + 0.562038779258728 + ], + [ + 0.2849160134792328, + 0.10721669346094131, + 0.07881128042936325, + -0.05829385295510292, + 0.02071639895439148, + 0.22361169755458832, + 0.0, + 0.562038779258728 + ], + [ + 0.29050615429878235, + 0.11362695693969727, + 0.06923286616802216, + -0.03899852931499481, + 0.0301002599298954, + 0.21108750998973846, + 0.0, + 0.562038779258728 + ], + [ + 0.29869380593299866, + 0.120149627327919, + 0.06427721679210663, + -0.03543568402528763, + 0.026026025414466858, + 0.2161044478416443, + 0.0, + 0.561048150062561 + ], + [ + 0.30227047204971313, + 0.12776072323322296, + 0.06189399212598801, + -0.012833031825721264, + 0.04438549652695656, + 0.21041247248649597, + 0.0, + 0.561048150062561 + ], + [ + 0.3013067841529846, + 0.12848347425460815, + 0.057611119002103806, + -0.00864599272608757, + 0.07332821935415268, + 0.20709440112113953, + 0.0, + 0.562038779258728 + ], + [ + 0.30116358399391174, + 0.12158001214265823, + 0.05496318265795708, + -0.008499530144035816, + 0.09521342068910599, + 0.18655352294445038, + 0.0, + 0.562038779258728 + ], + [ + 0.29837074875831604, + 0.10982608050107956, + 0.052885085344314575, + -0.02264407090842724, + 0.12688979506492615, + 0.15213650465011597, + 0.0, + 0.561048150062561 + ], + [ + 0.2966785430908203, + 0.10605430603027344, + 0.05149959400296211, + -0.04118632525205612, + 0.13558582961559296, + 0.14445723593235016, + 0.0, + 0.561048150062561 + ], + [ + 0.2946627736091614, + 0.1045541763305664, + 0.05186313018202782, + -0.04738881066441536, + 0.14980894327163696, + 0.1320040076971054, + 0.0, + 0.562038779258728 + ], + [ + 0.2939981520175934, + 0.10128871351480484, + 0.04510603845119476, + -0.05623960122466087, + 0.17453493177890778, + 0.12139180302619934, + 0.0, + 0.561048150062561 + ], + [ + 0.29685282707214355, + 0.10229012370109558, + 0.04493369907140732, + -0.058102380484342575, + 0.17715565860271454, + 0.11488985270261765, + 0.0, + 0.561048150062561 + ], + [ + 0.2981667220592499, + 0.09986426681280136, + 0.04351293295621872, + -0.054721102118492126, + 0.18891167640686035, + 0.09612839668989182, + 0.0, + 0.562038779258728 + ], + [ + 0.2992125153541565, + 0.09943835437297821, + 0.04279421269893646, + -0.053859494626522064, + 0.1922781616449356, + 0.09390480816364288, + 0.0, + 0.561048150062561 + ], + [ + 0.3001396954059601, + 0.0981874167919159, + 0.04329125955700874, + -0.050729118287563324, + 0.19460529088974, + 0.09126108139753342, + 0.0, + 0.562038779258728 + ], + [ + 0.30131107568740845, + 0.09703969955444336, + 0.04272378608584404, + -0.05017358064651489, + 0.19633139669895172, + 0.09126754850149155, + 0.0, + 0.6269758939743042 + ], + [ + 0.2989646792411804, + 0.09293622523546219, + 0.03706328943371773, + -0.06440523266792297, + 0.18203899264335632, + 0.0897940918803215, + 0.0, + 0.9231109023094177 + ], + [ + 0.29176443815231323, + 0.0875147357583046, + 0.056760553270578384, + -0.06609676033258438, + 0.08951076120138168, + 0.11815985292196274, + 0.0, + 1.0008161067962646 + ], + [ + 0.2721642851829529, + 0.08342881500720978, + 0.07860667258501053, + -0.06761389970779419, + 0.03620512783527374, + 0.16896311938762665, + 0.0, + 0.9988223910331726 + ], + [ + 0.24558719992637634, + 0.07690098881721497, + 0.1007058396935463, + -0.03820479288697243, + 0.023102950304746628, + 0.20986424386501312, + 0.0, + 0.9988223910331726 + ], + [ + 0.22794528305530548, + 0.063016876578331, + 0.10719726979732513, + -0.023025719448924065, + 0.05191262811422348, + 0.20013394951820374, + 0.0, + 0.9988223910331726 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9613274931907654 + ], + [ + 0.680191159248352 + ], + [ + 0.562038779258728 + ], + [ + 0.562038779258728 + ], + [ + 0.562038779258728 + ], + [ + 0.562038779258728 + ], + [ + 0.561048150062561 + ], + [ + 0.562038779258728 + ], + [ + 0.561048150062561 + ], + [ + 0.562038779258728 + ], + [ + 0.561048150062561 + ], + [ + 0.562038779258728 + ], + [ + 0.562038779258728 + ], + [ + 0.562038779258728 + ], + [ + 0.562038779258728 + ], + [ + 0.562038779258728 + ], + [ + 0.562038779258728 + ], + [ + 0.561048150062561 + ], + [ + 0.561048150062561 + ], + [ + 0.562038779258728 + ], + [ + 0.562038779258728 + ], + [ + 0.561048150062561 + ], + [ + 0.561048150062561 + ], + [ + 0.562038779258728 + ], + [ + 0.561048150062561 + ], + [ + 0.561048150062561 + ], + [ + 0.562038779258728 + ], + [ + 0.561048150062561 + ], + [ + 0.562038779258728 + ], + [ + 0.6269758939743042 + ], + [ + 0.9231109023094177 + ], + [ + 1.0008161067962646 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.24082288146018982, + -0.04822494089603424, + 0.08334078639745712 + ], + [ + 0.23679381608963013, + -0.04842422530055046, + 0.07593762874603271 + ], + [ + 0.23482748866081238, + -0.04931759461760521, + 0.06524106115102768 + ], + [ + 0.23342151939868927, + -0.0450681671500206, + 0.05759868770837784 + ], + [ + 0.23283077776432037, + -0.04687267914414406, + 0.0479513481259346 + ], + [ + 0.22900961339473724, + -0.04572831094264984, + 0.03077150136232376 + ], + [ + 0.22730568051338196, + -0.046055447310209274, + 0.028416579589247704 + ], + [ + 0.22358928620815277, + -0.04689638689160347, + 0.018700523301959038 + ], + [ + 0.22366178035736084, + -0.04984714090824127, + 0.013685507699847221 + ], + [ + 0.22554700076580048, + -0.04992823675274849, + 0.013209816068410873 + ], + [ + 0.22578155994415283, + -0.050211407244205475, + 0.012857773341238499 + ], + [ + 0.22324645519256592, + -0.048545438796281815, + 0.013945339247584343 + ], + [ + 0.22288550436496735, + -0.0470476970076561, + 0.018457451835274696 + ], + [ + 0.22626473009586334, + -0.04541413113474846, + 0.030940670520067215 + ], + [ + 0.23496903479099274, + -0.04193446785211563, + 0.04999550059437752 + ], + [ + 0.2489483803510666, + -0.029524050652980804, + 0.0707252249121666 + ], + [ + 0.2595925033092499, + -0.0027522926684468985, + 0.08685750514268875 + ], + [ + 0.2635359764099121, + 0.01942278817296028, + 0.10027126222848892 + ], + [ + 0.2641892731189728, + 0.047006577253341675, + 0.10447908937931061 + ], + [ + 0.2620750069618225, + 0.07433029264211655, + 0.10586444288492203 + ], + [ + 0.26679718494415283, + 0.0913127139210701, + 0.10469627380371094 + ], + [ + 0.275484174489975, + 0.10190650075674057, + 0.08915193378925323 + ], + [ + 0.2849160134792328, + 0.10721669346094131, + 0.07881128042936325 + ], + [ + 0.29050615429878235, + 0.11362695693969727, + 0.06923286616802216 + ], + [ + 0.29869380593299866, + 0.120149627327919, + 0.06427721679210663 + ], + [ + 0.30227047204971313, + 0.12776072323322296, + 0.06189399212598801 + ], + [ + 0.3013067841529846, + 0.12848347425460815, + 0.057611119002103806 + ], + [ + 0.30116358399391174, + 0.12158001214265823, + 0.05496318265795708 + ], + [ + 0.29837074875831604, + 0.10982608050107956, + 0.052885085344314575 + ], + [ + 0.2966785430908203, + 0.10605430603027344, + 0.05149959400296211 + ], + [ + 0.2946627736091614, + 0.1045541763305664, + 0.05186313018202782 + ], + [ + 0.2939981520175934, + 0.10128871351480484, + 0.04510603845119476 + ], + [ + 0.29685282707214355, + 0.10229012370109558, + 0.04493369907140732 + ], + [ + 0.2981667220592499, + 0.09986426681280136, + 0.04351293295621872 + ], + [ + 0.2992125153541565, + 0.09943835437297821, + 0.04279421269893646 + ], + [ + 0.3001396954059601, + 0.0981874167919159, + 0.04329125955700874 + ], + [ + 0.30131107568740845, + 0.09703969955444336, + 0.04272378608584404 + ], + [ + 0.2989646792411804, + 0.09293622523546219, + 0.03706328943371773 + ], + [ + 0.29176443815231323, + 0.0875147357583046, + 0.056760553270578384 + ], + [ + 0.2721642851829529, + 0.08342881500720978, + 0.07860667258501053 + ], + [ + 0.24558719992637634, + 0.07690098881721497, + 0.1007058396935463 + ], + [ + 0.22794528305530548, + 0.063016876578331, + 0.10719726979732513 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9940041411242166, + 0.09555644354350763, + -0.05314822222074142, + 0.092275867440981, + -0.993857630310755, + -0.06109152937278188, + -0.05865945546903224, + 0.055820934875791955, + -0.9967161539343433 + ], + [ + 0.9916188360144017, + 0.09572504673769969, + -0.08676865498847086, + 0.09084113997032331, + -0.9941400162234626, + -0.0585962066358031, + -0.0918693166967906, + 0.050222938686210056, + -0.9945037380922135 + ], + [ + 0.9885216384539439, + 0.09237978869483945, + -0.11954474036538285, + 0.08460217051227137, + -0.9940514707893913, + -0.06858677836187071, + -0.12516965707767413, + 0.05768577001431663, + -0.9904569192473304 + ], + [ + 0.9855983989139677, + 0.09984688227909723, + -0.13647855566852682, + 0.09046899359700607, + -0.9931992514843613, + -0.07328443251092977, + -0.14286762143945683, + 0.05988194176918653, + -0.9879286390191264 + ], + [ + 0.9841769519022586, + 0.09579009780645756, + -0.14906369278469064, + 0.08399779854177578, + -0.992961104484605, + -0.08350218452740449, + -0.1560131314489732, + 0.0696599034089393, + -0.9852955905070024 + ], + [ + 0.9729142354450993, + 0.0934780895760993, + -0.21142312370571104, + 0.0794649783410169, + -0.9940982622193364, + -0.07385094630238016, + -0.21707880524256473, + 0.055049903012612825, + -0.974600585107952 + ], + [ + 0.9696008381297235, + 0.09278232686570748, + -0.22641920086318534, + 0.07876820124611653, + -0.9944193711552217, + -0.07018322266543034, + -0.2316674020456692, + 0.050215078339469976, + -0.9714981527191763 + ], + [ + 0.957702263390523, + 0.1049432604717504, + -0.2679426930860909, + 0.08766017644960608, + -0.9932695748309145, + -0.07570498781479196, + -0.27408405309593026, + 0.04901493442586885, + -0.9604558647026601 + ], + [ + 0.9589090340145724, + 0.1276029902484374, + -0.25339877932795385, + 0.10557618884651448, + -0.9894953060713905, + -0.09875579786185004, + -0.2633384378207727, + 0.06794494935124068, + -0.9623078255027195 + ], + [ + 0.9609017919841284, + 0.13542712755380062, + -0.24151032956007878, + 0.11436257468871533, + -0.9884671068734675, + -0.09926721583566975, + -0.2521684906411966, + 0.06776630247935952, + -0.9653076093018313 + ], + [ + 0.9618770439470538, + 0.13872755195919337, + -0.23568457449541902, + 0.1182360364913945, + -0.9880353451758824, + -0.09902725058275687, + -0.24660249796480782, + 0.06738562911024719, + -0.9667711130287938 + ], + [ + 0.9634750291810499, + 0.14275961026842465, + -0.22657352409445886, + 0.1247916388067087, + -0.9879258628100679, + -0.09181250718131237, + -0.23694496202390708, + 0.06018457665374149, + -0.9696571052204479 + ], + [ + 0.9643194950545316, + 0.14422648659641052, + -0.22200592789794696, + 0.12862753341514338, + -0.9881912298697136, + -0.08326494374056154, + -0.23139332122018816, + 0.0517379335945892, + -0.9714835650293074 + ], + [ + 0.9697761322926707, + 0.13848830214407626, + -0.20088614537772348, + 0.12779638743968913, + -0.9896474834818549, + -0.06531417759871794, + -0.2078517178010172, + 0.037667606869604006, + -0.9774348135808769 + ], + [ + 0.978684151672189, + 0.1227464280361017, + -0.1646531070768653, + 0.11713443293427117, + -0.9921669375576189, + -0.04340843971744165, + -0.1686915999297366, + 0.023196603671963294, + -0.9853958908434881 + ], + [ + 0.9837811083766401, + 0.14125356508803774, + -0.11055388347384859, + 0.13652643401686096, + -0.9894110087959777, + -0.04925838495084786, + -0.11634115185895968, + 0.0333659410663882, + -0.9926487044069947 + ], + [ + 0.9790519853980997, + 0.18601362944464622, + -0.08280180885022148, + 0.18071647814587005, + -0.9812164930128618, + -0.06749628409100213, + -0.09380172927292993, + 0.05111871966677026, + -0.9942776835899706 + ], + [ + 0.9712295860178374, + 0.2323002779713065, + -0.052437315893111805, + 0.22950096678001566, + -0.9717906898408567, + -0.054333795980677675, + -0.06357985129471773, + 0.040736175484272975, + -0.9971450077678051 + ], + [ + 0.9628029361348253, + 0.27000008274495374, + -0.01051006602630733, + 0.2693997912295572, + -0.9622087119075926, + -0.03972590105462763, + -0.020838873665104236, + 0.03541680458270098, + -0.9991553389225922 + ], + [ + 0.9443098270313693, + 0.3278256755336033, + 0.028447794869229426, + 0.32890551047675487, + -0.9429680862731207, + -0.05130646595151016, + 0.01000578582673194, + 0.05780583648166332, + -0.9982777016034389 + ], + [ + 0.9398784157412159, + 0.33822207853629876, + 0.04726932635831168, + 0.340458255293176, + -0.9388177251538944, + -0.052052428757879035, + 0.026772000793914723, + 0.06501618665727237, + -0.997525014947514 + ], + [ + 0.9537139676678573, + 0.3004849074572684, + 0.01176810373976636, + 0.3006174576660412, + -0.9516754684795959, + -0.0627928884552016, + -0.007668899636777195, + 0.0634241522177343, + -0.9979571959226621 + ], + [ + 0.9748936720996656, + 0.22255298893709527, + -0.0072453581826819125, + 0.22170525547734818, + -0.9731789649415924, + -0.061396106463971034, + -0.020714917179510343, + 0.058248341696366335, + -0.9980871820116066 + ], + [ + 0.9773607100552001, + 0.21051143053895907, + -0.021236290938761594, + 0.20942848513749504, + -0.9768143119574012, + -0.04442420025394232, + -0.030095714867880194, + 0.03897098366258352, + -0.9987870195286688 + ], + [ + 0.9764093865306092, + 0.21519221372708142, + -0.017805084839968854, + 0.21435370026752726, + -0.9759293001759795, + -0.04018074463773604, + -0.02602308737524171, + 0.03541627040305032, + -0.9990337765632349 + ], + [ + 0.9769816946659067, + 0.20940293437389818, + -0.04070846795610986, + 0.2086575888250795, + -0.9777453950922232, + -0.02181634711990097, + -0.044370924189572565, + 0.01282004101213563, + -0.998932864428341 + ], + [ + 0.9760025979232827, + 0.20622945787623628, + -0.06991666146976025, + 0.20506470116127642, + -0.9784656665394963, + -0.023524619891848283, + -0.07326252237426567, + 0.00862265083911114, + -0.9972754146713271 + ], + [ + 0.9781985128797925, + 0.18626064291564942, + -0.09184030869074578, + 0.1846332468311171, + -0.982463936005826, + -0.02598419928610984, + -0.09506962482497933, + 0.008460930716500361, + -0.9954346684172942 + ], + [ + 0.980502694506364, + 0.15434370766127956, + -0.12162436421675281, + 0.15033188269822692, + -0.987761896326679, + -0.041554316376634426, + -0.12654955989716604, + 0.022460099520980673, + -0.9917059810343695 + ], + [ + 0.9805020926725995, + 0.14934090456235774, + -0.12772212216037618, + 0.1426341633190427, + -0.9879437817208265, + -0.06018786932122344, + -0.1351707872246439, + 0.040796793791286715, + -0.989982060391713 + ], + [ + 0.9801971681362996, + 0.1384818027465998, + -0.14154964459732852, + 0.1301467724936797, + -0.9892566692935827, + -0.06658122759190585, + -0.14924921838005237, + 0.04684050134465485, + -0.9876895454780942 + ], + [ + 0.9775602644951616, + 0.13059147035732074, + -0.16529306443424163, + 0.11925415455538822, + -0.9898896821836859, + -0.07679103937023278, + -0.1736501537616046, + 0.055355984104648336, + -0.983250394926123 + ], + [ + 0.9778595318219211, + 0.12461000434852372, + -0.1681162777403605, + 0.11284307244842022, + -0.9905579159938903, + -0.07785535345909975, + -0.17623046565623582, + 0.05716084217453124, + -0.9826878757247819 + ], + [ + 0.977674551792495, + 0.10606028251190758, + -0.1813937354233566, + 0.09427284757616167, + -0.9929074969487637, + -0.07243847536235763, + -0.18779004496305476, + 0.05372074996158798, + -0.9807389968979201 + ], + [ + 0.9772468114906774, + 0.10387290098537666, + -0.18492995936890866, + 0.09203886992161395, + -0.9931858881552166, + -0.07148872633419516, + -0.19109556733440025, + 0.052841385392657515, + -0.9801480868393959 + ], + [ + 0.97704122180784, + 0.1007821635571965, + -0.18770563762703904, + 0.08941420768489504, + -0.9936638625089993, + -0.06809719383189429, + -0.1933792914257503, + 0.04975021459678959, + -0.9798619115953267 + ], + [ + 0.9767067843103836, + 0.10076886342122529, + -0.18944522598066238, + 0.08938997091015011, + -0.993693148926056, + -0.06770050869898792, + -0.19507252646836848, + 0.04918904290808742, + -0.9795545658486994 + ], + [ + 0.9795143956540222, + 0.10109216924866114, + -0.17416062133311386, + 0.08819176259165225, + -0.9928614356278468, + -0.08030182223330534, + -0.18103524993081835, + 0.06329725870534816, + -0.981437565677448 + ], + [ + 0.9890517436282005, + 0.12349068277790079, + -0.08078799225790977, + 0.11741314888897109, + -0.9901628589160316, + -0.07610299134204175, + -0.08939127974244758, + 0.06578422371874924, + -0.9938217320101874 + ], + [ + 0.9851136570934664, + 0.17018683177805108, + -0.024238912873431762, + 0.1680501233809377, + -0.9830960004271218, + -0.07267330992770682, + -0.03619721867199304, + 0.06751811781697017, + -0.9970612143328342 + ], + [ + 0.9777981992842185, + 0.20903809570628074, + -0.014620397396508396, + 0.20827152978433566, + -0.9771616841126048, + -0.04216649124020988, + -0.023100895173836726, + 0.03818530667298527, + -0.9990036191107906 + ], + [ + 0.9787196888190599, + 0.1999187476569089, + -0.04626299874862781, + 0.19853279264850546, + -0.9795426644811389, + -0.0328770239586315, + -0.05188931451761428, + 0.022992668320229212, + -0.9983881190410911 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.004029065370559692, + -0.0001992844045162201, + -0.007403157651424408, + 0.0054887644946575165, + 0.03330589085817337, + -0.0012132301926612854, + 1.0 + ], + [ + -0.001966327428817749, + -0.0008933693170547485, + -0.010696567595005035, + -0.007718216627836227, + 0.03349979221820831, + -0.005977451801300049, + 1.0 + ], + [ + -0.001405969262123108, + 0.00424942746758461, + -0.007642373442649841, + -0.00236370787024498, + 0.0178593248128891, + 0.006157934665679932, + 1.0 + ], + [ + -0.0005907416343688965, + -0.0018045119941234589, + -0.009647339582443237, + -0.010042492300271988, + 0.013294905424118042, + -0.006392493844032288, + 1.0 + ], + [ + -0.00382116436958313, + 0.001144368201494217, + -0.01717984676361084, + 0.014157433062791824, + 0.062167853116989136, + -0.003645569086074829, + 1.0 + ], + [ + -0.0017039328813552856, + -0.000327136367559433, + -0.0023549217730760574, + 0.004782289266586304, + 0.014970451593399048, + -0.00043661147356033325, + 1.0 + ], + [ + -0.003716394305229187, + -0.0008409395813941956, + -0.009716056287288666, + 0.0006535761058330536, + 0.04384578764438629, + 0.010217666625976562, + 0.0 + ], + [ + 7.249414920806885e-05, + -0.002950754016637802, + -0.005015015602111816, + -0.01950051635503769, + -0.01115599274635315, + 0.01838122308254242, + 0.0 + ], + [ + 0.0018852204084396362, + -8.109584450721741e-05, + -0.00047569163143634796, + 0.0004024878144264221, + -0.011560648679733276, + 0.008800022304058075, + 0.0 + ], + [ + 0.00023455917835235596, + -0.0002831704914569855, + -0.0003520427271723747, + 0.0004975944757461548, + -0.005747601389884949, + 0.0038499683141708374, + 0.0 + ], + [ + -0.002535104751586914, + 0.0016659684479236603, + 0.0010875659063458443, + 0.0076008141040802, + -0.009952858090400696, + 0.006496720016002655, + 0.0 + ], + [ + -0.0003609508275985718, + 0.0014977417886257172, + 0.004512112587690353, + 0.008782017976045609, + -0.005710422992706299, + 0.003798753023147583, + 0.0 + ], + [ + 0.003379225730895996, + 0.0016335658729076385, + 0.012483218684792519, + 0.014688212424516678, + -0.02413143217563629, + -0.0015798062086105347, + 0.0 + ], + [ + 0.008704304695129395, + 0.0034796632826328278, + 0.019054830074310303, + 0.014982102438807487, + -0.03987610340118408, + -0.011905290186405182, + 0.0 + ], + [ + 0.013979345560073853, + 0.012410417199134827, + 0.020729724317789078, + -0.010064346715807915, + -0.052896879613399506, + 0.018777482211589813, + 0.0 + ], + [ + 0.010644122958183289, + 0.026771757751703262, + 0.016132280230522156, + -0.017767302691936493, + -0.02266538143157959, + 0.044632166624069214, + 0.0 + ], + [ + 0.0039434731006622314, + 0.022175081074237823, + 0.013413757085800171, + 0.010537587106227875, + -0.030317068099975586, + 0.04951433837413788, + 0.0 + ], + [ + 0.0006532967090606689, + 0.027583789080381393, + 0.004207827150821686, + 0.00539819523692131, + -0.04278238117694855, + 0.04078748822212219, + 0.0 + ], + [ + -0.0021142661571502686, + 0.027323715388774872, + 0.0013853535056114197, + -0.022409066557884216, + -0.030846334993839264, + 0.062331318855285645, + 0.0 + ], + [ + 0.004722177982330322, + 0.016982421278953552, + -0.00116816908121109, + -0.007244464010000229, + -0.016769247129559517, + 0.012372255325317383, + 0.0 + ], + [ + 0.008686989545822144, + 0.010593786835670471, + -0.015544340014457703, + 0.0016168206930160522, + 0.0344441756606102, + -0.042184799909591675, + 0.0 + ], + [ + 0.009431838989257812, + 0.005310192704200745, + -0.010340653359889984, + 0.005174767225980759, + 0.013047424145042896, + -0.08173756301403046, + 0.0 + ], + [ + 0.0055901408195495605, + 0.006410263478755951, + -0.009578414261341095, + 0.01929532364010811, + 0.009383860975503922, + -0.012524187564849854, + 0.0 + ], + [ + 0.008187651634216309, + 0.006522670388221741, + -0.004955649375915527, + 0.003562845289707184, + -0.004074234515428543, + 0.005016937851905823, + 0.0 + ], + [ + 0.0035766661167144775, + 0.007611095905303955, + -0.002383224666118622, + 0.02260265126824379, + 0.0183594711124897, + -0.005691975355148315, + 0.0 + ], + [ + -0.0009636878967285156, + 0.0007227510213851929, + -0.004282873123884201, + 0.004187039099633694, + 0.02894272282719612, + -0.0033180713653564453, + 0.0 + ], + [ + -0.00014320015907287598, + -0.006903462111949921, + -0.0026479363441467285, + 0.000146462582051754, + 0.021885201334953308, + -0.020540878176689148, + 0.0 + ], + [ + -0.002792835235595703, + -0.011753931641578674, + -0.002078097313642502, + -0.014144540764391422, + 0.03167637437582016, + -0.03441701829433441, + 0.0 + ], + [ + -0.0016922056674957275, + -0.003771774470806122, + -0.0013854913413524628, + -0.018542254343628883, + 0.008696034550666809, + -0.007679268717765808, + 0.0 + ], + [ + -0.0020157694816589355, + -0.0015001296997070312, + 0.00036353617906570435, + -0.006202485412359238, + 0.014223113656044006, + -0.012453228235244751, + 0.0 + ], + [ + -0.0006646215915679932, + -0.003265462815761566, + -0.006757091730833054, + -0.008850790560245514, + 0.024725988507270813, + -0.010612204670906067, + 0.0 + ], + [ + 0.002854675054550171, + 0.001001410186290741, + -0.00017233937978744507, + -0.0018627792596817017, + 0.0026207268238067627, + -0.0065019503235816956, + 0.0 + ], + [ + 0.0013138949871063232, + -0.00242585688829422, + -0.0014207661151885986, + 0.0033812783658504486, + 0.011756017804145813, + -0.01876145601272583, + 0.0 + ], + [ + 0.0010457932949066162, + -0.00042591243982315063, + -0.0007187202572822571, + 0.0008616074919700623, + 0.0033664852380752563, + -0.002223588526248932, + 0.0 + ], + [ + 0.0009271800518035889, + -0.001250937581062317, + 0.0004970468580722809, + 0.0031303763389587402, + 0.0023271292448043823, + -0.0026437267661094666, + 0.0 + ], + [ + 0.0011713802814483643, + -0.0011477172374725342, + -0.0005674734711647034, + 0.0005555376410484314, + 0.001726105809211731, + 6.467103958129883e-06, + 1.0 + ], + [ + -0.0023463964462280273, + -0.004103474318981171, + -0.005660496652126312, + -0.014231652021408081, + -0.014292404055595398, + -0.001473456621170044, + 1.0 + ], + [ + -0.0072002410888671875, + -0.005421489477157593, + 0.019697263836860657, + -0.0016915276646614075, + -0.09252823144197464, + 0.028365761041641235, + 1.0 + ], + [ + -0.01960015296936035, + -0.004085920751094818, + 0.021846119314432144, + -0.0015171393752098083, + -0.05330563336610794, + 0.05080326646566391, + 1.0 + ], + [ + -0.026577085256576538, + -0.006527826189994812, + 0.022099167108535767, + 0.029409106820821762, + -0.013102177530527115, + 0.040901124477386475, + 1.0 + ], + [ + -0.017641916871070862, + -0.013884112238883972, + 0.006491430103778839, + 0.015179073438048363, + 0.028809677809476852, + -0.009730294346809387, + 1.0 + ], + [ + -0.0030918121337890625, + -0.01006956398487091, + -0.008250050246715546, + -0.005006624385714531, + 0.02295766770839691, + -0.021165281534194946, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9613274931907654 + ], + [ + 0.680191159248352 + ], + [ + 0.562038779258728 + ], + [ + 0.562038779258728 + ], + [ + 0.562038779258728 + ], + [ + 0.562038779258728 + ], + [ + 0.561048150062561 + ], + [ + 0.562038779258728 + ], + [ + 0.561048150062561 + ], + [ + 0.562038779258728 + ], + [ + 0.561048150062561 + ], + [ + 0.562038779258728 + ], + [ + 0.562038779258728 + ], + [ + 0.562038779258728 + ], + [ + 0.562038779258728 + ], + [ + 0.562038779258728 + ], + [ + 0.562038779258728 + ], + [ + 0.561048150062561 + ], + [ + 0.561048150062561 + ], + [ + 0.562038779258728 + ], + [ + 0.562038779258728 + ], + [ + 0.561048150062561 + ], + [ + 0.561048150062561 + ], + [ + 0.562038779258728 + ], + [ + 0.561048150062561 + ], + [ + 0.561048150062561 + ], + [ + 0.562038779258728 + ], + [ + 0.561048150062561 + ], + [ + 0.562038779258728 + ], + [ + 0.6269758939743042 + ], + [ + 0.9231109023094177 + ], + [ + 1.0008161067962646 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.23679381608963013, + -0.04842422530055046, + 0.07593762874603271 + ], + [ + 0.23482748866081238, + -0.04931759461760521, + 0.06524106115102768 + ], + [ + 0.23342151939868927, + -0.0450681671500206, + 0.05759868770837784 + ], + [ + 0.23283077776432037, + -0.04687267914414406, + 0.0479513481259346 + ], + [ + 0.22900961339473724, + -0.04572831094264984, + 0.03077150136232376 + ], + [ + 0.22730568051338196, + -0.046055447310209274, + 0.028416579589247704 + ], + [ + 0.22358928620815277, + -0.04689638689160347, + 0.018700523301959038 + ], + [ + 0.22366178035736084, + -0.04984714090824127, + 0.013685507699847221 + ], + [ + 0.22554700076580048, + -0.04992823675274849, + 0.013209816068410873 + ], + [ + 0.22578155994415283, + -0.050211407244205475, + 0.012857773341238499 + ], + [ + 0.22324645519256592, + -0.048545438796281815, + 0.013945339247584343 + ], + [ + 0.22288550436496735, + -0.0470476970076561, + 0.018457451835274696 + ], + [ + 0.22626473009586334, + -0.04541413113474846, + 0.030940670520067215 + ], + [ + 0.23496903479099274, + -0.04193446785211563, + 0.04999550059437752 + ], + [ + 0.2489483803510666, + -0.029524050652980804, + 0.0707252249121666 + ], + [ + 0.2595925033092499, + -0.0027522926684468985, + 0.08685750514268875 + ], + [ + 0.2635359764099121, + 0.01942278817296028, + 0.10027126222848892 + ], + [ + 0.2641892731189728, + 0.047006577253341675, + 0.10447908937931061 + ], + [ + 0.2620750069618225, + 0.07433029264211655, + 0.10586444288492203 + ], + [ + 0.26679718494415283, + 0.0913127139210701, + 0.10469627380371094 + ], + [ + 0.275484174489975, + 0.10190650075674057, + 0.08915193378925323 + ], + [ + 0.2849160134792328, + 0.10721669346094131, + 0.07881128042936325 + ], + [ + 0.29050615429878235, + 0.11362695693969727, + 0.06923286616802216 + ], + [ + 0.29869380593299866, + 0.120149627327919, + 0.06427721679210663 + ], + [ + 0.30227047204971313, + 0.12776072323322296, + 0.06189399212598801 + ], + [ + 0.3013067841529846, + 0.12848347425460815, + 0.057611119002103806 + ], + [ + 0.30116358399391174, + 0.12158001214265823, + 0.05496318265795708 + ], + [ + 0.29837074875831604, + 0.10982608050107956, + 0.052885085344314575 + ], + [ + 0.2966785430908203, + 0.10605430603027344, + 0.05149959400296211 + ], + [ + 0.2946627736091614, + 0.1045541763305664, + 0.05186313018202782 + ], + [ + 0.2939981520175934, + 0.10128871351480484, + 0.04510603845119476 + ], + [ + 0.29685282707214355, + 0.10229012370109558, + 0.04493369907140732 + ], + [ + 0.2981667220592499, + 0.09986426681280136, + 0.04351293295621872 + ], + [ + 0.2992125153541565, + 0.09943835437297821, + 0.04279421269893646 + ], + [ + 0.3001396954059601, + 0.0981874167919159, + 0.04329125955700874 + ], + [ + 0.30131107568740845, + 0.09703969955444336, + 0.04272378608584404 + ], + [ + 0.2989646792411804, + 0.09293622523546219, + 0.03706328943371773 + ], + [ + 0.29176443815231323, + 0.0875147357583046, + 0.056760553270578384 + ], + [ + 0.2721642851829529, + 0.08342881500720978, + 0.07860667258501053 + ], + [ + 0.24558719992637634, + 0.07690098881721497, + 0.1007058396935463 + ], + [ + 0.22794528305530548, + 0.063016876578331, + 0.10719726979732513 + ], + [ + 0.22485347092151642, + 0.05294731259346008, + 0.09894721955060959 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9916188360144017, + 0.09572504673769969, + -0.08676865498847086, + 0.09084113997032331, + -0.9941400162234626, + -0.0585962066358031, + -0.0918693166967906, + 0.050222938686210056, + -0.9945037380922135 + ], + [ + 0.9885216384539439, + 0.09237978869483945, + -0.11954474036538285, + 0.08460217051227137, + -0.9940514707893913, + -0.06858677836187071, + -0.12516965707767413, + 0.05768577001431663, + -0.9904569192473304 + ], + [ + 0.9855983989139677, + 0.09984688227909723, + -0.13647855566852682, + 0.09046899359700607, + -0.9931992514843613, + -0.07328443251092977, + -0.14286762143945683, + 0.05988194176918653, + -0.9879286390191264 + ], + [ + 0.9841769519022586, + 0.09579009780645756, + -0.14906369278469064, + 0.08399779854177578, + -0.992961104484605, + -0.08350218452740449, + -0.1560131314489732, + 0.0696599034089393, + -0.9852955905070024 + ], + [ + 0.9729142354450993, + 0.0934780895760993, + -0.21142312370571104, + 0.0794649783410169, + -0.9940982622193364, + -0.07385094630238016, + -0.21707880524256473, + 0.055049903012612825, + -0.974600585107952 + ], + [ + 0.9696008381297235, + 0.09278232686570748, + -0.22641920086318534, + 0.07876820124611653, + -0.9944193711552217, + -0.07018322266543034, + -0.2316674020456692, + 0.050215078339469976, + -0.9714981527191763 + ], + [ + 0.957702263390523, + 0.1049432604717504, + -0.2679426930860909, + 0.08766017644960608, + -0.9932695748309145, + -0.07570498781479196, + -0.27408405309593026, + 0.04901493442586885, + -0.9604558647026601 + ], + [ + 0.9589090340145724, + 0.1276029902484374, + -0.25339877932795385, + 0.10557618884651448, + -0.9894953060713905, + -0.09875579786185004, + -0.2633384378207727, + 0.06794494935124068, + -0.9623078255027195 + ], + [ + 0.9609017919841284, + 0.13542712755380062, + -0.24151032956007878, + 0.11436257468871533, + -0.9884671068734675, + -0.09926721583566975, + -0.2521684906411966, + 0.06776630247935952, + -0.9653076093018313 + ], + [ + 0.9618770439470538, + 0.13872755195919337, + -0.23568457449541902, + 0.1182360364913945, + -0.9880353451758824, + -0.09902725058275687, + -0.24660249796480782, + 0.06738562911024719, + -0.9667711130287938 + ], + [ + 0.9634750291810499, + 0.14275961026842465, + -0.22657352409445886, + 0.1247916388067087, + -0.9879258628100679, + -0.09181250718131237, + -0.23694496202390708, + 0.06018457665374149, + -0.9696571052204479 + ], + [ + 0.9643194950545316, + 0.14422648659641052, + -0.22200592789794696, + 0.12862753341514338, + -0.9881912298697136, + -0.08326494374056154, + -0.23139332122018816, + 0.0517379335945892, + -0.9714835650293074 + ], + [ + 0.9697761322926707, + 0.13848830214407626, + -0.20088614537772348, + 0.12779638743968913, + -0.9896474834818549, + -0.06531417759871794, + -0.2078517178010172, + 0.037667606869604006, + -0.9774348135808769 + ], + [ + 0.978684151672189, + 0.1227464280361017, + -0.1646531070768653, + 0.11713443293427117, + -0.9921669375576189, + -0.04340843971744165, + -0.1686915999297366, + 0.023196603671963294, + -0.9853958908434881 + ], + [ + 0.9837811083766401, + 0.14125356508803774, + -0.11055388347384859, + 0.13652643401686096, + -0.9894110087959777, + -0.04925838495084786, + -0.11634115185895968, + 0.0333659410663882, + -0.9926487044069947 + ], + [ + 0.9790519853980997, + 0.18601362944464622, + -0.08280180885022148, + 0.18071647814587005, + -0.9812164930128618, + -0.06749628409100213, + -0.09380172927292993, + 0.05111871966677026, + -0.9942776835899706 + ], + [ + 0.9712295860178374, + 0.2323002779713065, + -0.052437315893111805, + 0.22950096678001566, + -0.9717906898408567, + -0.054333795980677675, + -0.06357985129471773, + 0.040736175484272975, + -0.9971450077678051 + ], + [ + 0.9628029361348253, + 0.27000008274495374, + -0.01051006602630733, + 0.2693997912295572, + -0.9622087119075926, + -0.03972590105462763, + -0.020838873665104236, + 0.03541680458270098, + -0.9991553389225922 + ], + [ + 0.9443098270313693, + 0.3278256755336033, + 0.028447794869229426, + 0.32890551047675487, + -0.9429680862731207, + -0.05130646595151016, + 0.01000578582673194, + 0.05780583648166332, + -0.9982777016034389 + ], + [ + 0.9398784157412159, + 0.33822207853629876, + 0.04726932635831168, + 0.340458255293176, + -0.9388177251538944, + -0.052052428757879035, + 0.026772000793914723, + 0.06501618665727237, + -0.997525014947514 + ], + [ + 0.9537139676678573, + 0.3004849074572684, + 0.01176810373976636, + 0.3006174576660412, + -0.9516754684795959, + -0.0627928884552016, + -0.007668899636777195, + 0.0634241522177343, + -0.9979571959226621 + ], + [ + 0.9748936720996656, + 0.22255298893709527, + -0.0072453581826819125, + 0.22170525547734818, + -0.9731789649415924, + -0.061396106463971034, + -0.020714917179510343, + 0.058248341696366335, + -0.9980871820116066 + ], + [ + 0.9773607100552001, + 0.21051143053895907, + -0.021236290938761594, + 0.20942848513749504, + -0.9768143119574012, + -0.04442420025394232, + -0.030095714867880194, + 0.03897098366258352, + -0.9987870195286688 + ], + [ + 0.9764093865306092, + 0.21519221372708142, + -0.017805084839968854, + 0.21435370026752726, + -0.9759293001759795, + -0.04018074463773604, + -0.02602308737524171, + 0.03541627040305032, + -0.9990337765632349 + ], + [ + 0.9769816946659067, + 0.20940293437389818, + -0.04070846795610986, + 0.2086575888250795, + -0.9777453950922232, + -0.02181634711990097, + -0.044370924189572565, + 0.01282004101213563, + -0.998932864428341 + ], + [ + 0.9760025979232827, + 0.20622945787623628, + -0.06991666146976025, + 0.20506470116127642, + -0.9784656665394963, + -0.023524619891848283, + -0.07326252237426567, + 0.00862265083911114, + -0.9972754146713271 + ], + [ + 0.9781985128797925, + 0.18626064291564942, + -0.09184030869074578, + 0.1846332468311171, + -0.982463936005826, + -0.02598419928610984, + -0.09506962482497933, + 0.008460930716500361, + -0.9954346684172942 + ], + [ + 0.980502694506364, + 0.15434370766127956, + -0.12162436421675281, + 0.15033188269822692, + -0.987761896326679, + -0.041554316376634426, + -0.12654955989716604, + 0.022460099520980673, + -0.9917059810343695 + ], + [ + 0.9805020926725995, + 0.14934090456235774, + -0.12772212216037618, + 0.1426341633190427, + -0.9879437817208265, + -0.06018786932122344, + -0.1351707872246439, + 0.040796793791286715, + -0.989982060391713 + ], + [ + 0.9801971681362996, + 0.1384818027465998, + -0.14154964459732852, + 0.1301467724936797, + -0.9892566692935827, + -0.06658122759190585, + -0.14924921838005237, + 0.04684050134465485, + -0.9876895454780942 + ], + [ + 0.9775602644951616, + 0.13059147035732074, + -0.16529306443424163, + 0.11925415455538822, + -0.9898896821836859, + -0.07679103937023278, + -0.1736501537616046, + 0.055355984104648336, + -0.983250394926123 + ], + [ + 0.9778595318219211, + 0.12461000434852372, + -0.1681162777403605, + 0.11284307244842022, + -0.9905579159938903, + -0.07785535345909975, + -0.17623046565623582, + 0.05716084217453124, + -0.9826878757247819 + ], + [ + 0.977674551792495, + 0.10606028251190758, + -0.1813937354233566, + 0.09427284757616167, + -0.9929074969487637, + -0.07243847536235763, + -0.18779004496305476, + 0.05372074996158798, + -0.9807389968979201 + ], + [ + 0.9772468114906774, + 0.10387290098537666, + -0.18492995936890866, + 0.09203886992161395, + -0.9931858881552166, + -0.07148872633419516, + -0.19109556733440025, + 0.052841385392657515, + -0.9801480868393959 + ], + [ + 0.97704122180784, + 0.1007821635571965, + -0.18770563762703904, + 0.08941420768489504, + -0.9936638625089993, + -0.06809719383189429, + -0.1933792914257503, + 0.04975021459678959, + -0.9798619115953267 + ], + [ + 0.9767067843103836, + 0.10076886342122529, + -0.18944522598066238, + 0.08938997091015011, + -0.993693148926056, + -0.06770050869898792, + -0.19507252646836848, + 0.04918904290808742, + -0.9795545658486994 + ], + [ + 0.9795143956540222, + 0.10109216924866114, + -0.17416062133311386, + 0.08819176259165225, + -0.9928614356278468, + -0.08030182223330534, + -0.18103524993081835, + 0.06329725870534816, + -0.981437565677448 + ], + [ + 0.9890517436282005, + 0.12349068277790079, + -0.08078799225790977, + 0.11741314888897109, + -0.9901628589160316, + -0.07610299134204175, + -0.08939127974244758, + 0.06578422371874924, + -0.9938217320101874 + ], + [ + 0.9851136570934664, + 0.17018683177805108, + -0.024238912873431762, + 0.1680501233809377, + -0.9830960004271218, + -0.07267330992770682, + -0.03619721867199304, + 0.06751811781697017, + -0.9970612143328342 + ], + [ + 0.9777981992842185, + 0.20903809570628074, + -0.014620397396508396, + 0.20827152978433566, + -0.9771616841126048, + -0.04216649124020988, + -0.023100895173836726, + 0.03818530667298527, + -0.9990036191107906 + ], + [ + 0.9787196888190599, + 0.1999187476569089, + -0.04626299874862781, + 0.19853279264850546, + -0.9795426644811389, + -0.0328770239586315, + -0.05188931451761428, + 0.022992668320229212, + -0.9983881190410911 + ], + [ + 0.9812710825167091, + 0.18000793878416405, + -0.06858720428157174, + 0.17751610546669666, + -0.9832679853573881, + -0.04089133491535052, + -0.07480036708748185, + 0.02795015108902596, + -0.9968067486417206 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006114.json b/json/chunk-0006/episode_0006114.json new file mode 100644 index 0000000000000000000000000000000000000000..d15d4cd507f5068cc51265b67dccc6fae8e6db9b --- /dev/null +++ b/json/chunk-0006/episode_0006114.json @@ -0,0 +1,2362 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 38, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nOpen the drawer." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006114.mp4", + "start": 0, + "end": 38, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3066004812717438, + 0.21434594690799713, + 0.13498392701148987, + -0.012355858460068703, + 0.059365447610616684, + -1.2217297554016113, + 0.0, + 0.9994885921478271 + ], + [ + 0.3053235709667206, + 0.21068380773067474, + 0.11921191960573196, + -0.05083882436156273, + 0.04232724756002426, + -1.2243677377700806, + 0.0, + 0.9994885921478271 + ], + [ + 0.30210021138191223, + 0.17411364614963531, + 0.09645137190818787, + -0.07089293003082275, + 0.0008143198792822659, + -1.2765133380889893, + 0.0, + 0.9994885921478271 + ], + [ + 0.30012935400009155, + 0.13332928717136383, + 0.09231835603713989, + 0.010492783039808273, + -0.038366466760635376, + -1.3151967525482178, + 0.0, + 0.9994885921478271 + ], + [ + 0.29798591136932373, + 0.09414952248334885, + 0.07938103377819061, + 0.05476780980825424, + -0.09441456943750381, + -1.2950116395950317, + 0.0, + 0.9988223910331726 + ], + [ + 0.3021514117717743, + 0.06407670676708221, + 0.070683054625988, + 0.0877900943160057, + -0.14956840872764587, + -1.1968116760253906, + 0.0, + 0.9988223910331726 + ], + [ + 0.31005048751831055, + 0.04353563115000725, + 0.07247795164585114, + 0.07793363928794861, + -0.2646162509918213, + -1.0028471946716309, + 0.0, + 0.9994885921478271 + ], + [ + 0.31650856137275696, + 0.023590268567204475, + 0.07920321077108383, + 0.025482507422566414, + -0.33131998777389526, + -0.7901595234870911, + 0.0, + 0.9994885921478271 + ], + [ + 0.3230530619621277, + 0.012567267753183842, + 0.08418342471122742, + -0.027456101030111313, + -0.3457600176334381, + -0.6270191669464111, + 0.0, + 0.9994885921478271 + ], + [ + 0.330329567193985, + 0.0032222524750977755, + 0.07713360339403152, + -0.07367996126413345, + -0.33071815967559814, + -0.5418179631233215, + 0.0, + 0.9994885921478271 + ], + [ + 0.3357258141040802, + -0.009879608638584614, + 0.06114985793828964, + -0.06865368038415909, + -0.2994021475315094, + -0.5310577750205994, + 0.0, + 0.9994885921478271 + ], + [ + 0.3390539884567261, + -0.019418204203248024, + 0.04540608450770378, + -0.05190494284033775, + -0.2742791473865509, + -0.5310420393943787, + 0.0, + 0.9994885921478271 + ], + [ + 0.3403838276863098, + -0.02434258908033371, + 0.03439130634069443, + -0.04903869330883026, + -0.2597920298576355, + -0.5272175073623657, + 0.0, + 0.9476637244224548 + ], + [ + 0.3424755036830902, + -0.02502313256263733, + 0.030288157984614372, + -0.03828838840126991, + -0.26871442794799805, + -0.5426385998725891, + 0.0, + 0.7161149382591248 + ], + [ + 0.3417530059814453, + -0.02101733535528183, + 0.026208672672510147, + -0.030013220384716988, + -0.25584062933921814, + -0.5742332935333252, + 0.0, + 0.3396349251270294 + ], + [ + 0.34207385778427124, + -0.005558742675930262, + 0.025411833077669144, + -0.05100741609930992, + -0.24935197830200195, + -0.5455211997032166, + 0.0, + 0.16973881423473358 + ], + [ + 0.3510202467441559, + 0.01731407269835472, + 0.02863624133169651, + -0.048680126667022705, + -0.2627832591533661, + -0.5160587430000305, + 0.0, + 0.152132049202919 + ], + [ + 0.35782989859580994, + 0.0399920716881752, + 0.038548946380615234, + -0.028199978172779083, + -0.27293530106544495, + -0.5085023045539856, + 0.0, + 0.15163248777389526 + ], + [ + 0.3617469072341919, + 0.052195243537425995, + 0.04194503650069237, + -0.0364166684448719, + -0.26990586519241333, + -0.4898277819156647, + 0.0, + 0.1511339694261551 + ], + [ + 0.3616427481174469, + 0.06485959887504578, + 0.04496951773762703, + -0.036518681794404984, + -0.2728167772293091, + -0.46427708864212036, + 0.0, + 0.1511339694261551 + ], + [ + 0.3630705773830414, + 0.06502806395292282, + 0.04604446515440941, + -0.04368985816836357, + -0.2635248899459839, + -0.47680553793907166, + 0.0, + 0.1511339694261551 + ], + [ + 0.3637908101081848, + 0.0673406794667244, + 0.04819611832499504, + -0.0485152006149292, + -0.26413044333457947, + -0.4757833182811737, + 0.0, + 0.1511339694261551 + ], + [ + 0.36553460359573364, + 0.07098536193370819, + 0.04836871102452278, + -0.051902394741773605, + -0.26177600026130676, + -0.47636064887046814, + 0.0, + 0.1511339694261551 + ], + [ + 0.36968883872032166, + 0.07264403998851776, + 0.04862622916698456, + -0.0496654137969017, + -0.2619006931781769, + -0.4909294843673706, + 0.0, + 0.1511339694261551 + ], + [ + 0.3686601519584656, + 0.07523644715547562, + 0.048919979482889175, + -0.05463279411196709, + -0.25690504908561707, + -0.4867751896381378, + 0.0, + 0.1511339694261551 + ], + [ + 0.37202000617980957, + 0.07984087616205215, + 0.05019717290997505, + -0.051664430648088455, + -0.25933703780174255, + -0.48274344205856323, + 0.0, + 0.1511339694261551 + ], + [ + 0.3713364601135254, + 0.08079636842012405, + 0.049360014498233795, + -0.058050673454999924, + -0.2529835104942322, + -0.4809783101081848, + 0.0, + 0.1511339694261551 + ], + [ + 0.3727579116821289, + 0.08652207255363464, + 0.04976832866668701, + -0.05940372124314308, + -0.2530840039253235, + -0.47048795223236084, + 0.0, + 0.1511339694261551 + ], + [ + 0.37199026346206665, + 0.09054191410541534, + 0.05011283606290817, + -0.05950648710131645, + -0.25326505303382874, + -0.46008720993995667, + 0.0, + 0.1511339694261551 + ], + [ + 0.37144404649734497, + 0.09148801118135452, + 0.05015597864985466, + -0.054984044283628464, + -0.2467864453792572, + -0.46632760763168335, + 0.0, + 0.196108877658844 + ], + [ + 0.37394002079963684, + 0.09370722621679306, + 0.05011263117194176, + -0.05185108259320259, + -0.24157291650772095, + -0.5034375190734863, + 0.0, + 0.4411471486091614 + ], + [ + 0.3758997619152069, + 0.09390991181135178, + 0.05485249310731888, + -0.03491645306348801, + -0.24693477153778076, + -0.5819625854492188, + 0.0, + 0.7594308853149414 + ], + [ + 0.3812771439552307, + 0.09398975968360901, + 0.07560764998197556, + -0.020109592005610466, + -0.24257811903953552, + -0.7530083656311035, + 0.0, + 0.9927561283111572 + ], + [ + 0.3743218183517456, + 0.09154447168111801, + 0.088669054210186, + -0.045677490532398224, + -0.22546470165252686, + -0.8964970707893372, + 0.0, + 1.0041072368621826 + ], + [ + 0.355148047208786, + 0.09183169901371002, + 0.11605839431285858, + -0.029908662661910057, + -0.18326620757579803, + -1.0429680347442627, + 0.0, + 1.0001531839370728 + ], + [ + 0.3216865658760071, + 0.08328383415937424, + 0.10934263467788696, + -0.04431791231036186, + -0.15947091579437256, + -1.09840726852417, + 0.0, + 1.0001531839370728 + ], + [ + 0.2947257459163666, + 0.07524118572473526, + 0.1119784563779831, + 0.023101884871721268, + -0.13451090455055237, + -1.1132596731185913, + 0.0, + 0.9994885921478271 + ], + [ + 0.2546226978302002, + 0.06667320430278778, + 0.12426291406154633, + 0.16701668500900269, + -0.13747164607048035, + -1.0310046672821045, + 0.0, + 0.9994885921478271 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9476637244224548 + ], + [ + 0.7161149382591248 + ], + [ + 0.3396349251270294 + ], + [ + 0.16973881423473358 + ], + [ + 0.152132049202919 + ], + [ + 0.15163248777389526 + ], + [ + 0.1511339694261551 + ], + [ + 0.1511339694261551 + ], + [ + 0.1511339694261551 + ], + [ + 0.1511339694261551 + ], + [ + 0.1511339694261551 + ], + [ + 0.1511339694261551 + ], + [ + 0.1511339694261551 + ], + [ + 0.1511339694261551 + ], + [ + 0.1511339694261551 + ], + [ + 0.1511339694261551 + ], + [ + 0.1511339694261551 + ], + [ + 0.196108877658844 + ], + [ + 0.4411471486091614 + ], + [ + 0.7594308853149414 + ], + [ + 0.9927561283111572 + ], + [ + 1.0041072368621826 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3066004812717438, + 0.21434594690799713, + 0.13498392701148987 + ], + [ + 0.3053235709667206, + 0.21068380773067474, + 0.11921191960573196 + ], + [ + 0.30210021138191223, + 0.17411364614963531, + 0.09645137190818787 + ], + [ + 0.30012935400009155, + 0.13332928717136383, + 0.09231835603713989 + ], + [ + 0.29798591136932373, + 0.09414952248334885, + 0.07938103377819061 + ], + [ + 0.3021514117717743, + 0.06407670676708221, + 0.070683054625988 + ], + [ + 0.31005048751831055, + 0.04353563115000725, + 0.07247795164585114 + ], + [ + 0.31650856137275696, + 0.023590268567204475, + 0.07920321077108383 + ], + [ + 0.3230530619621277, + 0.012567267753183842, + 0.08418342471122742 + ], + [ + 0.330329567193985, + 0.0032222524750977755, + 0.07713360339403152 + ], + [ + 0.3357258141040802, + -0.009879608638584614, + 0.06114985793828964 + ], + [ + 0.3390539884567261, + -0.019418204203248024, + 0.04540608450770378 + ], + [ + 0.3403838276863098, + -0.02434258908033371, + 0.03439130634069443 + ], + [ + 0.3424755036830902, + -0.02502313256263733, + 0.030288157984614372 + ], + [ + 0.3417530059814453, + -0.02101733535528183, + 0.026208672672510147 + ], + [ + 0.34207385778427124, + -0.005558742675930262, + 0.025411833077669144 + ], + [ + 0.3510202467441559, + 0.01731407269835472, + 0.02863624133169651 + ], + [ + 0.35782989859580994, + 0.0399920716881752, + 0.038548946380615234 + ], + [ + 0.3617469072341919, + 0.052195243537425995, + 0.04194503650069237 + ], + [ + 0.3616427481174469, + 0.06485959887504578, + 0.04496951773762703 + ], + [ + 0.3630705773830414, + 0.06502806395292282, + 0.04604446515440941 + ], + [ + 0.3637908101081848, + 0.0673406794667244, + 0.04819611832499504 + ], + [ + 0.36553460359573364, + 0.07098536193370819, + 0.04836871102452278 + ], + [ + 0.36968883872032166, + 0.07264403998851776, + 0.04862622916698456 + ], + [ + 0.3686601519584656, + 0.07523644715547562, + 0.048919979482889175 + ], + [ + 0.37202000617980957, + 0.07984087616205215, + 0.05019717290997505 + ], + [ + 0.3713364601135254, + 0.08079636842012405, + 0.049360014498233795 + ], + [ + 0.3727579116821289, + 0.08652207255363464, + 0.04976832866668701 + ], + [ + 0.37199026346206665, + 0.09054191410541534, + 0.05011283606290817 + ], + [ + 0.37144404649734497, + 0.09148801118135452, + 0.05015597864985466 + ], + [ + 0.37394002079963684, + 0.09370722621679306, + 0.05011263117194176 + ], + [ + 0.3758997619152069, + 0.09390991181135178, + 0.05485249310731888 + ], + [ + 0.3812771439552307, + 0.09398975968360901, + 0.07560764998197556 + ], + [ + 0.3743218183517456, + 0.09154447168111801, + 0.088669054210186 + ], + [ + 0.355148047208786, + 0.09183169901371002, + 0.11605839431285858 + ], + [ + 0.3216865658760071, + 0.08328383415937424, + 0.10934263467788696 + ], + [ + 0.2947257459163666, + 0.07524118572473526, + 0.1119784563779831 + ], + [ + 0.2546226978302002, + 0.06667320430278778, + 0.12426291406154633 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.34141831329089734, + -0.9393699226384624, + -0.03190115659043741, + -0.9380370020219264, + -0.34268356592085836, + 0.051522388196597824, + -0.05933058391179771, + 0.012333778414324651, + -0.9981621910905618 + ], + [ + 0.33923662725675613, + -0.9386459766032444, + -0.062146933423956975, + -0.9397488943991927, + -0.34112460224292945, + 0.022494915427657136, + -0.042314609805065774, + 0.05077141273535944, + -0.9978134782843436 + ], + [ + 0.2900536413349811, + -0.9545897615696316, + -0.06802405644146946, + -0.9570100428060299, + -0.28938036707011316, + -0.019768184609813635, + -0.0008143197892840626, + 0.07083353909554904, + -0.9974878177814905 + ], + [ + 0.2526394942700032, + -0.9673568681996875, + 0.01984881562938104, + -0.966799887396009, + -0.2532010210671435, + -0.03445606857463579, + 0.03835705497116611, + -0.010484868976201198, + -0.9992090891582655 + ], + [ + 0.2710892919403467, + -0.9593638518880139, + 0.07830450488876349, + -0.957926375321474, + -0.2768593804082865, + -0.07566996064094647, + 0.09427436161939352, + -0.05449663448812774, + -0.994053550655458 + ], + [ + 0.3612488442523664, + -0.922521173661309, + 0.13584534100546083, + -0.9204862210070259, + -0.37608251119287556, + -0.10614641638352448, + 0.14901137360125724, + -0.08669849434344878, + -0.9850274014544189 + ], + [ + 0.5191814191259367, + -0.829494316303368, + 0.20588791429995712, + -0.813663357987313, + -0.5534369220474062, + -0.1779312035127698, + 0.26153889558378884, + -0.07514487697176153, + -0.9622632974200517 + ], + [ + 0.6654586705822906, + -0.7044021080343236, + 0.24694620455405214, + -0.6718260126184946, + -0.7093920983763048, + -0.2131024625160338, + 0.32529151005826284, + -0.02409400253308769, + -0.9453067822278389 + ], + [ + 0.7618557724154348, + -0.5940466283239898, + 0.2582331996745978, + -0.5520095694342793, + -0.8040158706353484, + -0.22100659496825914, + 0.3389118134415835, + 0.02582795275243721, + -0.9404635556821727 + ], + [ + 0.8103435509483037, + -0.5347754690322517, + 0.23949640322524574, + -0.4877486259293922, + -0.842120937602251, + -0.23007304134968912, + 0.3247223542358673, + 0.06962416371663768, + -0.9432432711057498 + ], + [ + 0.823911956144778, + -0.5226993786426275, + 0.21898504078657205, + -0.48391546141340475, + -0.8499934258475018, + -0.20817541214341095, + 0.2949490036035671, + 0.06554796398545581, + -0.9532620571965634 + ], + [ + 0.8300483944295496, + -0.517867120580997, + 0.20696209393527543, + -0.48750206282968, + -0.8540019953787852, + -0.18172047387639018, + 0.27085309974547733, + 0.0499423398550778, + -0.9613242746586951 + ], + [ + 0.8352104289943372, + -0.5134079199403004, + 0.19706812791943099, + -0.486247290823708, + -0.8568360400754174, + -0.17145137093205745, + 0.25687956607270157, + 0.04737412975930768, + -0.9652816067676048 + ], + [ + 0.8256172999294968, + -0.524721768450525, + 0.20742020097203753, + -0.4978653988198982, + -0.8504734349095164, + -0.16977921301240512, + 0.26549221968831865, + 0.0369053143512099, + -0.9634063935108628 + ], + [ + 0.8122805069967729, + -0.5493225478189303, + 0.19607426248945686, + -0.5255108363500547, + -0.8351059117608326, + -0.1625929796171238, + 0.2530587655698406, + 0.029031958249958634, + -0.9670152049313604 + ], + [ + 0.8284184215736172, + -0.5289446478510355, + 0.18422941759453124, + -0.5028165761808391, + -0.8472168341572115, + -0.1714617352017937, + 0.24677603107930593, + 0.04940845504947123, + -0.9678121693047517 + ], + [ + 0.8399121575457279, + -0.50386585011087, + 0.20166004239544078, + -0.4765159974488514, + -0.8625028154292749, + -0.17035667745028582, + 0.2597692664312061, + 0.04699040826195007, + -0.9645267387424615 + ], + [ + 0.8411419637579772, + -0.49331491265605515, + 0.22163166235112433, + -0.46884753624338754, + -0.8694269017185648, + -0.15581672030485894, + 0.26955924128821757, + 0.027152523256705544, + -0.9626009328464807 + ], + [ + 0.8504669838431171, + -0.47872848890948205, + 0.21800216351962048, + -0.4534408898264448, + -0.8772614729746322, + -0.15749180127162485, + 0.26664071111927623, + 0.03509048219707154, + -0.9631569909588904 + ], + [ + 0.8610762020121313, + -0.4562742227632078, + 0.2244139210704049, + -0.43121585183424166, + -0.88914430240285, + -0.1532165090041497, + 0.26944510285999385, + 0.03516024952101384, + -0.9623736765926152 + ], + [ + 0.8577937420959185, + -0.46861343246819875, + 0.21116663309210007, + -0.4430996164380546, + -0.8823963374596531, + -0.15823853370857202, + 0.2604853660640642, + 0.04216816984602218, + -0.9645564885056279 + ], + [ + 0.858105863115479, + -0.4687506692655231, + 0.20958801909928687, + -0.44215020096790614, + -0.8820891279776395, + -0.162548362303924, + 0.2610699666198299, + 0.046814317967601285, + -0.9641840551276241 + ], + [ + 0.8583943175208928, + -0.46986193560339595, + 0.20588578658778509, + -0.44292616860519907, + -0.881316391448107, + -0.16461417718290777, + 0.25879645440492327, + 0.050111671653590116, + -0.9646311292673088 + ], + [ + 0.8518220659528135, + -0.4822002883561096, + 0.20465104413407065, + -0.45536930975978696, + -0.8747476662047009, + -0.16569644594355135, + 0.25891689725619654, + 0.047952084195723145, + -0.9647085766885823 + ], + [ + 0.8548390073586931, + -0.4793432221769222, + 0.19869662012991016, + -0.4524260807935097, + -0.8760369898471363, + -0.1669426064172741, + 0.2540883958700763, + 0.05281351884332355, + -0.9657379661748611 + ], + [ + 0.8561062648147064, + -0.47532103781579627, + 0.20285949412025653, + -0.44868773597337763, + -0.8783953817631632, + -0.16462341535830094, + 0.25643981541893335, + 0.049914570085912366, + -0.9652705096298355 + ], + [ + 0.8583240605564599, + -0.47474137521284215, + 0.1946803372990969, + -0.44792065563498445, + -0.8783310339265442, + -0.16703796304150104, + 0.25029361423215823, + 0.056171358382609664, + -0.9665391275949755 + ], + [ + 0.8629531702373965, + -0.4657719060926565, + 0.19587842523371551, + -0.4388806435955416, + -0.8830361592439833, + -0.16622551592579754, + 0.25039090769113387, + 0.05747758660945961, + -0.9664371269685172 + ], + [ + 0.8674304644073991, + -0.456592291666399, + 0.19770652141188966, + -0.42986157793013763, + -0.8878111792406188, + -0.16434820910126788, + 0.25056618534306685, + 0.057574206084043685, + -0.9663859464812266 + ], + [ + 0.8661629179512947, + -0.4609213411978805, + 0.1931665519556793, + -0.43598700365256565, + -0.8858394631087998, + -0.15875697857156212, + 0.2442890341627246, + 0.05329130161162115, + -0.968237008671112 + ], + [ + 0.8504948863614323, + -0.49265148473183645, + 0.18426329766009203, + -0.4684307593338651, + -0.8687704635008755, + -0.16065648277729946, + 0.23923016528638918, + 0.050322920622627804, + -0.9696579457092361 + ], + [ + 0.810045094711677, + -0.5564578195065712, + 0.18488277270622772, + -0.5329911065571507, + -0.8301860296221115, + -0.16343694977347906, + 0.2444328637162656, + 0.03385042585059893, + -0.969075189964741 + ], + [ + 0.7082726334410501, + -0.6872228186936142, + 0.16147654376188492, + -0.6638154307673372, + -0.7261844024399393, + -0.17890021667992184, + 0.24020605861146532, + 0.01951950613494631, + -0.9705256505041961 + ], + [ + 0.6085479891642068, + -0.7867033057384222, + 0.10376537777331633, + -0.7613741343372159, + -0.6157248826609343, + -0.20295885404296604, + 0.22355932645822602, + 0.044505927834585846, + -0.9736736876084959 + ], + [ + 0.49522397025116305, + -0.8662613810771852, + 0.06591235804402037, + -0.8494357270121963, + -0.4987250330637434, + -0.17243052824494248, + 0.18224205048214578, + 0.029403419015755078, + -0.9828139569553576 + ], + [ + 0.4492415134407099, + -0.892810547116134, + 0.032732087615809424, + -0.8791848145247753, + -0.44830350114573575, + -0.16142500664243745, + 0.15879585797663656, + 0.043741259911711176, + -0.9863420186075411 + ], + [ + 0.43774925969770917, + -0.8955355565780885, + 0.07994781134265436, + -0.8890395156461486, + -0.4444007889639202, + -0.11007578474808427, + 0.13410564959675977, + -0.022891170188924816, + -0.990702613842122 + ], + [ + 0.5091084296756634, + -0.8341706178994993, + 0.21205656572327217, + -0.8497228396931967, + -0.5263479956036037, + -0.03047758566224322, + 0.13703905478698644, + -0.16467291142515567, + -0.9767820277348744 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0012769103050231934, + -0.0036621391773223877, + -0.015772007405757904, + -0.03848296403884888, + -0.017038200050592422, + -0.0026379823684692383, + 1.0 + ], + [ + -0.0032233595848083496, + -0.03657016158103943, + -0.022760547697544098, + -0.020054105669260025, + -0.041512928903102875, + -0.05214560031890869, + 1.0 + ], + [ + -0.0019708573818206787, + -0.040784358978271484, + -0.004133015871047974, + 0.08138571679592133, + -0.03918078541755676, + -0.038683414459228516, + 1.0 + ], + [ + -0.0021434426307678223, + -0.039179764688014984, + -0.01293732225894928, + 0.04427502676844597, + -0.05604810267686844, + 0.020185112953186035, + 1.0 + ], + [ + 0.0041655004024505615, + -0.030072815716266632, + -0.008697979152202606, + 0.033022284507751465, + -0.05515383929014206, + 0.09819996356964111, + 1.0 + ], + [ + 0.007899075746536255, + -0.020541075617074966, + 0.0017948970198631287, + -0.009856455028057098, + -0.11504784226417542, + 0.19396448135375977, + 1.0 + ], + [ + 0.006458073854446411, + -0.019945362582802773, + 0.0067252591252326965, + -0.052451133728027344, + -0.06670373678207397, + 0.2126876711845398, + 1.0 + ], + [ + 0.0065445005893707275, + -0.011023000814020634, + 0.004980213940143585, + -0.052938610315322876, + -0.014440029859542847, + 0.16314035654067993, + 1.0 + ], + [ + 0.0072765052318573, + -0.00934501551091671, + -0.007049821317195892, + -0.04622386023402214, + 0.015041857957839966, + 0.0852012038230896, + 1.0 + ], + [ + 0.005396246910095215, + -0.013101860880851746, + -0.015983745455741882, + 0.005026280879974365, + 0.031316012144088745, + 0.010760188102722168, + 1.0 + ], + [ + 0.003328174352645874, + -0.00953859556466341, + -0.01574377343058586, + 0.016748737543821335, + 0.025123000144958496, + 1.5735626220703125e-05, + 1.0 + ], + [ + 0.0013298392295837402, + -0.004924384877085686, + -0.011014778167009354, + 0.002866249531507492, + 0.014487117528915405, + 0.0038245320320129395, + 0.0 + ], + [ + 0.0020916759967803955, + -0.0006805434823036194, + -0.004103148356080055, + 0.010750304907560349, + -0.008922398090362549, + -0.015421092510223389, + 0.0 + ], + [ + -0.0007224977016448975, + 0.004005797207355499, + -0.004079485312104225, + 0.008275168016552925, + 0.012873798608779907, + -0.031594693660736084, + 0.0 + ], + [ + 0.00032085180282592773, + 0.015458593145012856, + -0.0007968395948410034, + -0.020994195714592934, + 0.0064886510372161865, + 0.028712093830108643, + 0.0 + ], + [ + 0.008946388959884644, + 0.022872814908623695, + 0.0032244082540273666, + 0.002327289432287216, + -0.013431280851364136, + 0.029462456703186035, + 0.0 + ], + [ + 0.006809651851654053, + 0.02267799898982048, + 0.009912705048918724, + 0.020480148494243622, + -0.010152041912078857, + 0.007556438446044922, + 0.0 + ], + [ + 0.003917008638381958, + 0.012203171849250793, + 0.003396090120077133, + -0.00821669027209282, + 0.003029435873031616, + 0.018674522638320923, + 0.0 + ], + [ + -0.00010415911674499512, + 0.012664355337619781, + 0.003024481236934662, + -0.00010201334953308105, + -0.002910912036895752, + 0.02555069327354431, + 0.0 + ], + [ + 0.0014278292655944824, + 0.00016846507787704468, + 0.0010749474167823792, + -0.007171176373958588, + 0.009291887283325195, + -0.012528449296951294, + 0.0 + ], + [ + 0.0007202327251434326, + 0.0023126155138015747, + 0.0021516531705856323, + -0.004825342446565628, + -0.0006055533885955811, + 0.0010222196578979492, + 0.0 + ], + [ + 0.0017437934875488281, + 0.003644682466983795, + 0.00017259269952774048, + -0.003387194126844406, + 0.002354443073272705, + -0.0005773305892944336, + 0.0 + ], + [ + 0.004154235124588013, + 0.0016586780548095703, + 0.00025751814246177673, + 0.0022369809448719025, + -0.0001246929168701172, + -0.014568835496902466, + 0.0 + ], + [ + -0.001028686761856079, + 0.0025924071669578552, + 0.0002937503159046173, + -0.004967380315065384, + 0.0049956440925598145, + 0.004154294729232788, + 0.0 + ], + [ + 0.003359854221343994, + 0.004604429006576538, + 0.0012771934270858765, + 0.0029683634638786316, + -0.0024319887161254883, + 0.004031747579574585, + 0.0 + ], + [ + -0.0006835460662841797, + 0.0009554922580718994, + -0.0008371584117412567, + -0.0063862428069114685, + 0.006353527307510376, + 0.001765131950378418, + 0.0 + ], + [ + 0.0014214515686035156, + 0.00572570413351059, + 0.00040831416845321655, + -0.001353047788143158, + -0.0001004934310913086, + 0.010490357875823975, + 0.0 + ], + [ + -0.0007676482200622559, + 0.004019841551780701, + 0.0003445073962211609, + -0.00010276585817337036, + -0.00018104910850524902, + 0.010400742292404175, + 0.0 + ], + [ + -0.0005462169647216797, + 0.0009460970759391785, + 4.314258694648743e-05, + 0.004522442817687988, + 0.006478607654571533, + -0.006240397691726685, + 1.0 + ], + [ + 0.00249597430229187, + 0.0022192150354385376, + -4.334747791290283e-05, + 0.003132961690425873, + 0.005213528871536255, + -0.03710991144180298, + 1.0 + ], + [ + 0.0019597411155700684, + 0.00020268559455871582, + 0.004739861935377121, + 0.016934629529714584, + -0.0053618550300598145, + -0.07852506637573242, + 1.0 + ], + [ + 0.005377382040023804, + 7.984787225723267e-05, + 0.020755156874656677, + 0.01480686105787754, + 0.004356652498245239, + -0.17104578018188477, + 1.0 + ], + [ + -0.006955325603485107, + -0.0024452880024909973, + 0.01306140422821045, + -0.025567898526787758, + 0.017113417387008667, + -0.14348870515823364, + 1.0 + ], + [ + -0.019173771142959595, + 0.0002872273325920105, + 0.027389340102672577, + 0.015768827870488167, + 0.04219849407672882, + -0.14647096395492554, + 1.0 + ], + [ + -0.03346148133277893, + -0.008547864854335785, + -0.006715759634971619, + -0.014409249648451805, + 0.023795291781425476, + -0.05543923377990723, + 1.0 + ], + [ + -0.026960819959640503, + -0.008042648434638977, + 0.0026358217000961304, + 0.06741979718208313, + 0.02496001124382019, + -0.014852404594421387, + 1.0 + ], + [ + -0.04010304808616638, + -0.00856798142194748, + 0.012284457683563232, + 0.14391480386257172, + -0.0029607415199279785, + 0.08225500583648682, + 1.0 + ], + [ + -0.021910950541496277, + -0.0030187442898750305, + 0.003313899040222168, + 0.03839942812919617, + -0.014573782682418823, + 0.06371927261352539, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9476637244224548 + ], + [ + 0.7161149382591248 + ], + [ + 0.3396349251270294 + ], + [ + 0.16973881423473358 + ], + [ + 0.152132049202919 + ], + [ + 0.15163248777389526 + ], + [ + 0.1511339694261551 + ], + [ + 0.1511339694261551 + ], + [ + 0.1511339694261551 + ], + [ + 0.1511339694261551 + ], + [ + 0.1511339694261551 + ], + [ + 0.1511339694261551 + ], + [ + 0.1511339694261551 + ], + [ + 0.1511339694261551 + ], + [ + 0.1511339694261551 + ], + [ + 0.1511339694261551 + ], + [ + 0.1511339694261551 + ], + [ + 0.196108877658844 + ], + [ + 0.4411471486091614 + ], + [ + 0.7594308853149414 + ], + [ + 0.9927561283111572 + ], + [ + 1.0041072368621826 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3053235709667206, + 0.21068380773067474, + 0.11921191960573196 + ], + [ + 0.30210021138191223, + 0.17411364614963531, + 0.09645137190818787 + ], + [ + 0.30012935400009155, + 0.13332928717136383, + 0.09231835603713989 + ], + [ + 0.29798591136932373, + 0.09414952248334885, + 0.07938103377819061 + ], + [ + 0.3021514117717743, + 0.06407670676708221, + 0.070683054625988 + ], + [ + 0.31005048751831055, + 0.04353563115000725, + 0.07247795164585114 + ], + [ + 0.31650856137275696, + 0.023590268567204475, + 0.07920321077108383 + ], + [ + 0.3230530619621277, + 0.012567267753183842, + 0.08418342471122742 + ], + [ + 0.330329567193985, + 0.0032222524750977755, + 0.07713360339403152 + ], + [ + 0.3357258141040802, + -0.009879608638584614, + 0.06114985793828964 + ], + [ + 0.3390539884567261, + -0.019418204203248024, + 0.04540608450770378 + ], + [ + 0.3403838276863098, + -0.02434258908033371, + 0.03439130634069443 + ], + [ + 0.3424755036830902, + -0.02502313256263733, + 0.030288157984614372 + ], + [ + 0.3417530059814453, + -0.02101733535528183, + 0.026208672672510147 + ], + [ + 0.34207385778427124, + -0.005558742675930262, + 0.025411833077669144 + ], + [ + 0.3510202467441559, + 0.01731407269835472, + 0.02863624133169651 + ], + [ + 0.35782989859580994, + 0.0399920716881752, + 0.038548946380615234 + ], + [ + 0.3617469072341919, + 0.052195243537425995, + 0.04194503650069237 + ], + [ + 0.3616427481174469, + 0.06485959887504578, + 0.04496951773762703 + ], + [ + 0.3630705773830414, + 0.06502806395292282, + 0.04604446515440941 + ], + [ + 0.3637908101081848, + 0.0673406794667244, + 0.04819611832499504 + ], + [ + 0.36553460359573364, + 0.07098536193370819, + 0.04836871102452278 + ], + [ + 0.36968883872032166, + 0.07264403998851776, + 0.04862622916698456 + ], + [ + 0.3686601519584656, + 0.07523644715547562, + 0.048919979482889175 + ], + [ + 0.37202000617980957, + 0.07984087616205215, + 0.05019717290997505 + ], + [ + 0.3713364601135254, + 0.08079636842012405, + 0.049360014498233795 + ], + [ + 0.3727579116821289, + 0.08652207255363464, + 0.04976832866668701 + ], + [ + 0.37199026346206665, + 0.09054191410541534, + 0.05011283606290817 + ], + [ + 0.37144404649734497, + 0.09148801118135452, + 0.05015597864985466 + ], + [ + 0.37394002079963684, + 0.09370722621679306, + 0.05011263117194176 + ], + [ + 0.3758997619152069, + 0.09390991181135178, + 0.05485249310731888 + ], + [ + 0.3812771439552307, + 0.09398975968360901, + 0.07560764998197556 + ], + [ + 0.3743218183517456, + 0.09154447168111801, + 0.088669054210186 + ], + [ + 0.355148047208786, + 0.09183169901371002, + 0.11605839431285858 + ], + [ + 0.3216865658760071, + 0.08328383415937424, + 0.10934263467788696 + ], + [ + 0.2947257459163666, + 0.07524118572473526, + 0.1119784563779831 + ], + [ + 0.2546226978302002, + 0.06667320430278778, + 0.12426291406154633 + ], + [ + 0.23271174728870392, + 0.06365446001291275, + 0.1275768131017685 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.33923662725675613, + -0.9386459766032444, + -0.062146933423956975, + -0.9397488943991927, + -0.34112460224292945, + 0.022494915427657136, + -0.042314609805065774, + 0.05077141273535944, + -0.9978134782843436 + ], + [ + 0.2900536413349811, + -0.9545897615696316, + -0.06802405644146946, + -0.9570100428060299, + -0.28938036707011316, + -0.019768184609813635, + -0.0008143197892840626, + 0.07083353909554904, + -0.9974878177814905 + ], + [ + 0.2526394942700032, + -0.9673568681996875, + 0.01984881562938104, + -0.966799887396009, + -0.2532010210671435, + -0.03445606857463579, + 0.03835705497116611, + -0.010484868976201198, + -0.9992090891582655 + ], + [ + 0.2710892919403467, + -0.9593638518880139, + 0.07830450488876349, + -0.957926375321474, + -0.2768593804082865, + -0.07566996064094647, + 0.09427436161939352, + -0.05449663448812774, + -0.994053550655458 + ], + [ + 0.3612488442523664, + -0.922521173661309, + 0.13584534100546083, + -0.9204862210070259, + -0.37608251119287556, + -0.10614641638352448, + 0.14901137360125724, + -0.08669849434344878, + -0.9850274014544189 + ], + [ + 0.5191814191259367, + -0.829494316303368, + 0.20588791429995712, + -0.813663357987313, + -0.5534369220474062, + -0.1779312035127698, + 0.26153889558378884, + -0.07514487697176153, + -0.9622632974200517 + ], + [ + 0.6654586705822906, + -0.7044021080343236, + 0.24694620455405214, + -0.6718260126184946, + -0.7093920983763048, + -0.2131024625160338, + 0.32529151005826284, + -0.02409400253308769, + -0.9453067822278389 + ], + [ + 0.7618557724154348, + -0.5940466283239898, + 0.2582331996745978, + -0.5520095694342793, + -0.8040158706353484, + -0.22100659496825914, + 0.3389118134415835, + 0.02582795275243721, + -0.9404635556821727 + ], + [ + 0.8103435509483037, + -0.5347754690322517, + 0.23949640322524574, + -0.4877486259293922, + -0.842120937602251, + -0.23007304134968912, + 0.3247223542358673, + 0.06962416371663768, + -0.9432432711057498 + ], + [ + 0.823911956144778, + -0.5226993786426275, + 0.21898504078657205, + -0.48391546141340475, + -0.8499934258475018, + -0.20817541214341095, + 0.2949490036035671, + 0.06554796398545581, + -0.9532620571965634 + ], + [ + 0.8300483944295496, + -0.517867120580997, + 0.20696209393527543, + -0.48750206282968, + -0.8540019953787852, + -0.18172047387639018, + 0.27085309974547733, + 0.0499423398550778, + -0.9613242746586951 + ], + [ + 0.8352104289943372, + -0.5134079199403004, + 0.19706812791943099, + -0.486247290823708, + -0.8568360400754174, + -0.17145137093205745, + 0.25687956607270157, + 0.04737412975930768, + -0.9652816067676048 + ], + [ + 0.8256172999294968, + -0.524721768450525, + 0.20742020097203753, + -0.4978653988198982, + -0.8504734349095164, + -0.16977921301240512, + 0.26549221968831865, + 0.0369053143512099, + -0.9634063935108628 + ], + [ + 0.8122805069967729, + -0.5493225478189303, + 0.19607426248945686, + -0.5255108363500547, + -0.8351059117608326, + -0.1625929796171238, + 0.2530587655698406, + 0.029031958249958634, + -0.9670152049313604 + ], + [ + 0.8284184215736172, + -0.5289446478510355, + 0.18422941759453124, + -0.5028165761808391, + -0.8472168341572115, + -0.1714617352017937, + 0.24677603107930593, + 0.04940845504947123, + -0.9678121693047517 + ], + [ + 0.8399121575457279, + -0.50386585011087, + 0.20166004239544078, + -0.4765159974488514, + -0.8625028154292749, + -0.17035667745028582, + 0.2597692664312061, + 0.04699040826195007, + -0.9645267387424615 + ], + [ + 0.8411419637579772, + -0.49331491265605515, + 0.22163166235112433, + -0.46884753624338754, + -0.8694269017185648, + -0.15581672030485894, + 0.26955924128821757, + 0.027152523256705544, + -0.9626009328464807 + ], + [ + 0.8504669838431171, + -0.47872848890948205, + 0.21800216351962048, + -0.4534408898264448, + -0.8772614729746322, + -0.15749180127162485, + 0.26664071111927623, + 0.03509048219707154, + -0.9631569909588904 + ], + [ + 0.8610762020121313, + -0.4562742227632078, + 0.2244139210704049, + -0.43121585183424166, + -0.88914430240285, + -0.1532165090041497, + 0.26944510285999385, + 0.03516024952101384, + -0.9623736765926152 + ], + [ + 0.8577937420959185, + -0.46861343246819875, + 0.21116663309210007, + -0.4430996164380546, + -0.8823963374596531, + -0.15823853370857202, + 0.2604853660640642, + 0.04216816984602218, + -0.9645564885056279 + ], + [ + 0.858105863115479, + -0.4687506692655231, + 0.20958801909928687, + -0.44215020096790614, + -0.8820891279776395, + -0.162548362303924, + 0.2610699666198299, + 0.046814317967601285, + -0.9641840551276241 + ], + [ + 0.8583943175208928, + -0.46986193560339595, + 0.20588578658778509, + -0.44292616860519907, + -0.881316391448107, + -0.16461417718290777, + 0.25879645440492327, + 0.050111671653590116, + -0.9646311292673088 + ], + [ + 0.8518220659528135, + -0.4822002883561096, + 0.20465104413407065, + -0.45536930975978696, + -0.8747476662047009, + -0.16569644594355135, + 0.25891689725619654, + 0.047952084195723145, + -0.9647085766885823 + ], + [ + 0.8548390073586931, + -0.4793432221769222, + 0.19869662012991016, + -0.4524260807935097, + -0.8760369898471363, + -0.1669426064172741, + 0.2540883958700763, + 0.05281351884332355, + -0.9657379661748611 + ], + [ + 0.8561062648147064, + -0.47532103781579627, + 0.20285949412025653, + -0.44868773597337763, + -0.8783953817631632, + -0.16462341535830094, + 0.25643981541893335, + 0.049914570085912366, + -0.9652705096298355 + ], + [ + 0.8583240605564599, + -0.47474137521284215, + 0.1946803372990969, + -0.44792065563498445, + -0.8783310339265442, + -0.16703796304150104, + 0.25029361423215823, + 0.056171358382609664, + -0.9665391275949755 + ], + [ + 0.8629531702373965, + -0.4657719060926565, + 0.19587842523371551, + -0.4388806435955416, + -0.8830361592439833, + -0.16622551592579754, + 0.25039090769113387, + 0.05747758660945961, + -0.9664371269685172 + ], + [ + 0.8674304644073991, + -0.456592291666399, + 0.19770652141188966, + -0.42986157793013763, + -0.8878111792406188, + -0.16434820910126788, + 0.25056618534306685, + 0.057574206084043685, + -0.9663859464812266 + ], + [ + 0.8661629179512947, + -0.4609213411978805, + 0.1931665519556793, + -0.43598700365256565, + -0.8858394631087998, + -0.15875697857156212, + 0.2442890341627246, + 0.05329130161162115, + -0.968237008671112 + ], + [ + 0.8504948863614323, + -0.49265148473183645, + 0.18426329766009203, + -0.4684307593338651, + -0.8687704635008755, + -0.16065648277729946, + 0.23923016528638918, + 0.050322920622627804, + -0.9696579457092361 + ], + [ + 0.810045094711677, + -0.5564578195065712, + 0.18488277270622772, + -0.5329911065571507, + -0.8301860296221115, + -0.16343694977347906, + 0.2444328637162656, + 0.03385042585059893, + -0.969075189964741 + ], + [ + 0.7082726334410501, + -0.6872228186936142, + 0.16147654376188492, + -0.6638154307673372, + -0.7261844024399393, + -0.17890021667992184, + 0.24020605861146532, + 0.01951950613494631, + -0.9705256505041961 + ], + [ + 0.6085479891642068, + -0.7867033057384222, + 0.10376537777331633, + -0.7613741343372159, + -0.6157248826609343, + -0.20295885404296604, + 0.22355932645822602, + 0.044505927834585846, + -0.9736736876084959 + ], + [ + 0.49522397025116305, + -0.8662613810771852, + 0.06591235804402037, + -0.8494357270121963, + -0.4987250330637434, + -0.17243052824494248, + 0.18224205048214578, + 0.029403419015755078, + -0.9828139569553576 + ], + [ + 0.4492415134407099, + -0.892810547116134, + 0.032732087615809424, + -0.8791848145247753, + -0.44830350114573575, + -0.16142500664243745, + 0.15879585797663656, + 0.043741259911711176, + -0.9863420186075411 + ], + [ + 0.43774925969770917, + -0.8955355565780885, + 0.07994781134265436, + -0.8890395156461486, + -0.4444007889639202, + -0.11007578474808427, + 0.13410564959675977, + -0.022891170188924816, + -0.990702613842122 + ], + [ + 0.5091084296756634, + -0.8341706178994993, + 0.21205656572327217, + -0.8497228396931967, + -0.5263479956036037, + -0.03047758566224322, + 0.13703905478698644, + -0.16467291142515567, + -0.9767820277348744 + ], + [ + 0.560989209594328, + -0.7885046971381704, + 0.25209412787642105, + -0.8138494274303889, + -0.5810414532709833, + -0.0063197351188197665, + 0.1514602792482552, + -0.20162135842163625, + -0.9676820819041008 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006115.json b/json/chunk-0006/episode_0006115.json new file mode 100644 index 0000000000000000000000000000000000000000..c3410b326a404499466143193e636e82da4eb1ca --- /dev/null +++ b/json/chunk-0006/episode_0006115.json @@ -0,0 +1,2422 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 39, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the yellow knife to the upper right side of the left burner." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006115.mp4", + "start": 0, + "end": 39, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3808552324771881, + -0.019822243601083755, + 0.07891519367694855, + -0.1683977246284485, + -0.021865908056497574, + 1.2912579774856567, + 0.0, + 1.0001531839370728 + ], + [ + 0.3777899146080017, + -0.020290028303861618, + 0.06642337888479233, + -0.1380244493484497, + -0.010342341847717762, + 1.2927467823028564, + 0.0, + 1.0001531839370728 + ], + [ + 0.36391058564186096, + -0.022737910971045494, + 0.06354323774576187, + -0.16177068650722504, + 0.018195653334259987, + 1.3167939186096191, + 0.0, + 1.0001531839370728 + ], + [ + 0.35304558277130127, + -0.017689194530248642, + 0.08269679546356201, + -0.24262869358062744, + 0.016632135957479477, + 1.4396892786026, + 0.0, + 1.0001531839370728 + ], + [ + 0.32969170808792114, + -0.018034998327493668, + 0.0965973362326622, + -0.3068793714046478, + 0.0539470836520195, + 1.6969135999679565, + 0.0, + 1.0001531839370728 + ], + [ + 0.3107585906982422, + -0.02928849309682846, + 0.09846349060535431, + -0.2952072322368622, + 0.1244444027543068, + 1.9512673616409302, + 0.0, + 1.0001531839370728 + ], + [ + 0.301052063703537, + -0.03549610450863838, + 0.0961804911494255, + -0.22861060500144958, + 0.11237222701311111, + 2.208066463470459, + 0.0, + 1.0001531839370728 + ], + [ + 0.2965778708457947, + -0.037660133093595505, + 0.08287809789180756, + -0.2124011218547821, + 0.09997674077749252, + 2.4534080028533936, + 0.0, + 1.0001531839370728 + ], + [ + 0.29399293661117554, + -0.04277977719902992, + 0.05999412015080452, + -0.1141955628991127, + 0.031415797770023346, + 2.5288236141204834, + 0.0, + 1.0001531839370728 + ], + [ + 0.2896828055381775, + -0.036054063588380814, + 0.04903470724821091, + -0.037160422652959824, + 0.03218008205294609, + 2.5808444023132324, + 0.0, + 1.0001531839370728 + ], + [ + 0.2856684625148773, + -0.036285776644945145, + 0.03606447950005531, + 0.014590570703148842, + 0.02857866883277893, + 2.5524473190307617, + 0.0, + 1.0001531839370728 + ], + [ + 0.282863050699234, + -0.038801539689302444, + 0.021039964631199837, + 0.06480090320110321, + 0.030698316171765327, + 2.527540922164917, + 0.0, + 1.0001531839370728 + ], + [ + 0.28363320231437683, + -0.04196375235915184, + 0.013452847488224506, + 0.02695169672369957, + 0.0466059073805809, + 2.502718210220337, + 0.0, + 1.0001531839370728 + ], + [ + 0.27822092175483704, + -0.0473443940281868, + -0.0062039936892688274, + 0.032032452523708344, + 0.02598068304359913, + 2.486827850341797, + 0.0, + 1.0001531839370728 + ], + [ + 0.27550581097602844, + -0.05320703983306885, + -0.018746735528111458, + 0.015913885086774826, + 0.025327883660793304, + 2.510077714920044, + 0.0, + 1.0001531839370728 + ], + [ + 0.27573782205581665, + -0.056457530707120895, + -0.03306354209780693, + 0.0065362839959561825, + 0.0031007917132228613, + 2.505709648132324, + 0.0, + 1.0001531839370728 + ], + [ + 0.2778835892677307, + -0.058410897850990295, + -0.04497581720352173, + 0.002365350490435958, + -0.017515329644083977, + 2.4912805557250977, + 0.0, + 1.0001531839370728 + ], + [ + 0.2832576632499695, + -0.059987787157297134, + -0.044816311448812485, + 0.0008964777807705104, + -0.008066068403422832, + 2.485886812210083, + 0.0, + 0.9745318293571472 + ], + [ + 0.28745418787002563, + -0.06259585916996002, + -0.04460926353931427, + 0.0035755583085119724, + 0.010444958694279194, + 2.4641478061676025, + 0.0, + 0.6991904973983765 + ], + [ + 0.2866668403148651, + -0.0641404464840889, + -0.04564973711967468, + 0.010184570215642452, + 0.026485798880457878, + 2.450914144515991, + 0.0, + 0.41842639446258545 + ], + [ + 0.2844439148902893, + -0.06259757280349731, + -0.04010254144668579, + 0.002034659730270505, + 0.026067718863487244, + 2.4144277572631836, + 0.0, + 0.39886748790740967 + ], + [ + 0.2861626446247101, + -0.066792331635952, + -0.027567993849515915, + -0.0046755108051002026, + 0.06754884123802185, + 2.310309410095215, + 0.0, + 0.39886748790740967 + ], + [ + 0.28743845224380493, + -0.06962570548057556, + -0.0031533516012132168, + -0.046746376901865005, + 0.11880037933588028, + 2.1408851146698, + 0.0, + 0.39886748790740967 + ], + [ + 0.28834614157676697, + -0.06979112327098846, + 0.02534184791147709, + -0.09100101888179779, + 0.14270339906215668, + 1.9521656036376953, + 0.0, + 0.39798861742019653 + ], + [ + 0.29282790422439575, + -0.06455386430025101, + 0.052137043327093124, + -0.12960463762283325, + 0.08830779790878296, + 1.73430597782135, + 0.0, + 0.39798861742019653 + ], + [ + 0.3148059844970703, + -0.03672626242041588, + 0.07863371074199677, + -0.1610758900642395, + -0.011341390199959278, + 1.566688895225525, + 0.0, + 0.39798861742019653 + ], + [ + 0.3318781852722168, + 0.0008562594885006547, + 0.08011852949857712, + -0.13779807090759277, + -0.055289916694164276, + 1.4747693538665771, + 0.0, + 0.39798861742019653 + ], + [ + 0.34498700499534607, + 0.031032532453536987, + 0.07806548476219177, + -0.1259278506040573, + -0.09344134479761124, + 1.4051275253295898, + 0.0, + 0.39798861742019653 + ], + [ + 0.3598483204841614, + 0.06187620386481285, + 0.06399025022983551, + -0.11520758271217346, + -0.11392924934625626, + 1.3651018142700195, + 0.0, + 0.39798861742019653 + ], + [ + 0.37531325221061707, + 0.07708147168159485, + 0.036087147891521454, + -0.08004205673933029, + -0.09393724054098129, + 1.3575085401535034, + 0.0, + 0.39798861742019653 + ], + [ + 0.38964077830314636, + 0.08454272150993347, + 0.0065738847479224205, + -0.023521872237324715, + -0.08857269585132599, + 1.32548189163208, + 0.0, + 0.39798861742019653 + ], + [ + 0.39904239773750305, + 0.08872281759977341, + -0.016706202179193497, + 0.0064667160622775555, + -0.09537403285503387, + 1.33045494556427, + 0.0, + 0.39798861742019653 + ], + [ + 0.40745049715042114, + 0.0901048332452774, + -0.032997265458106995, + 0.01900080218911171, + -0.09263769537210464, + 1.3403799533843994, + 0.0, + 0.39798861742019653 + ], + [ + 0.4123821258544922, + 0.08863480389118195, + -0.038319773972034454, + 0.011257719248533249, + -0.07546272873878479, + 1.3384870290756226, + 0.0, + 0.39798861742019653 + ], + [ + 0.41378870606422424, + 0.08759487420320511, + -0.03869527578353882, + -0.0014533520443364978, + -0.07162860035896301, + 1.357469081878662, + 0.0, + 0.44944798946380615 + ], + [ + 0.4121813178062439, + 0.087354376912117, + -0.04126898571848869, + -0.04070369526743889, + -0.08278348296880722, + 1.437447428703308, + 0.0, + 0.748681366443634 + ], + [ + 0.4107600450515747, + 0.08609135448932648, + -0.04101022705435753, + -0.04352661594748497, + -0.07615470141172409, + 1.4524848461151123, + 0.0, + 0.9837720394134521 + ], + [ + 0.4110379219055176, + 0.08682303875684738, + -0.02734478749334812, + -0.05129416659474373, + -0.08626069128513336, + 1.4646121263504028, + 0.0, + 1.002137303352356 + ], + [ + 0.412541925907135, + 0.08368964493274689, + -0.00481917941942811, + -0.06247659772634506, + -0.06724429130554199, + 1.4673761129379272, + 0.0, + 0.9994885921478271 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9745318293571472 + ], + [ + 0.6991904973983765 + ], + [ + 0.41842639446258545 + ], + [ + 0.39886748790740967 + ], + [ + 0.39886748790740967 + ], + [ + 0.39886748790740967 + ], + [ + 0.39798861742019653 + ], + [ + 0.39798861742019653 + ], + [ + 0.39798861742019653 + ], + [ + 0.39798861742019653 + ], + [ + 0.39798861742019653 + ], + [ + 0.39798861742019653 + ], + [ + 0.39798861742019653 + ], + [ + 0.39798861742019653 + ], + [ + 0.39798861742019653 + ], + [ + 0.39798861742019653 + ], + [ + 0.39798861742019653 + ], + [ + 0.44944798946380615 + ], + [ + 0.748681366443634 + ], + [ + 0.9837720394134521 + ], + [ + 1.002137303352356 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3808552324771881, + -0.019822243601083755, + 0.07891519367694855 + ], + [ + 0.3777899146080017, + -0.020290028303861618, + 0.06642337888479233 + ], + [ + 0.36391058564186096, + -0.022737910971045494, + 0.06354323774576187 + ], + [ + 0.35304558277130127, + -0.017689194530248642, + 0.08269679546356201 + ], + [ + 0.32969170808792114, + -0.018034998327493668, + 0.0965973362326622 + ], + [ + 0.3107585906982422, + -0.02928849309682846, + 0.09846349060535431 + ], + [ + 0.301052063703537, + -0.03549610450863838, + 0.0961804911494255 + ], + [ + 0.2965778708457947, + -0.037660133093595505, + 0.08287809789180756 + ], + [ + 0.29399293661117554, + -0.04277977719902992, + 0.05999412015080452 + ], + [ + 0.2896828055381775, + -0.036054063588380814, + 0.04903470724821091 + ], + [ + 0.2856684625148773, + -0.036285776644945145, + 0.03606447950005531 + ], + [ + 0.282863050699234, + -0.038801539689302444, + 0.021039964631199837 + ], + [ + 0.28363320231437683, + -0.04196375235915184, + 0.013452847488224506 + ], + [ + 0.27822092175483704, + -0.0473443940281868, + -0.0062039936892688274 + ], + [ + 0.27550581097602844, + -0.05320703983306885, + -0.018746735528111458 + ], + [ + 0.27573782205581665, + -0.056457530707120895, + -0.03306354209780693 + ], + [ + 0.2778835892677307, + -0.058410897850990295, + -0.04497581720352173 + ], + [ + 0.2832576632499695, + -0.059987787157297134, + -0.044816311448812485 + ], + [ + 0.28745418787002563, + -0.06259585916996002, + -0.04460926353931427 + ], + [ + 0.2866668403148651, + -0.0641404464840889, + -0.04564973711967468 + ], + [ + 0.2844439148902893, + -0.06259757280349731, + -0.04010254144668579 + ], + [ + 0.2861626446247101, + -0.066792331635952, + -0.027567993849515915 + ], + [ + 0.28743845224380493, + -0.06962570548057556, + -0.0031533516012132168 + ], + [ + 0.28834614157676697, + -0.06979112327098846, + 0.02534184791147709 + ], + [ + 0.29282790422439575, + -0.06455386430025101, + 0.052137043327093124 + ], + [ + 0.3148059844970703, + -0.03672626242041588, + 0.07863371074199677 + ], + [ + 0.3318781852722168, + 0.0008562594885006547, + 0.08011852949857712 + ], + [ + 0.34498700499534607, + 0.031032532453536987, + 0.07806548476219177 + ], + [ + 0.3598483204841614, + 0.06187620386481285, + 0.06399025022983551 + ], + [ + 0.37531325221061707, + 0.07708147168159485, + 0.036087147891521454 + ], + [ + 0.38964077830314636, + 0.08454272150993347, + 0.0065738847479224205 + ], + [ + 0.39904239773750305, + 0.08872281759977341, + -0.016706202179193497 + ], + [ + 0.40745049715042114, + 0.0901048332452774, + -0.032997265458106995 + ], + [ + 0.4123821258544922, + 0.08863480389118195, + -0.038319773972034454 + ], + [ + 0.41378870606422424, + 0.08759487420320511, + -0.03869527578353882 + ], + [ + 0.4121813178062439, + 0.087354376912117, + -0.04126898571848869 + ], + [ + 0.4107600450515747, + 0.08609135448932648, + -0.04101022705435753 + ], + [ + 0.4110379219055176, + 0.08682303875684738, + -0.02734478749334812 + ], + [ + 0.412541925907135, + 0.08368964493274689, + -0.00481917941942811 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.2758459906270118, + 0.9465754990724208, + 0.16704434743744012, + 0.9609531454311028, + -0.27553131000299474, + -0.025525467558964662, + 0.021864165684349415, + 0.16756288898151428, + -0.9856189103781929 + ], + [ + 0.2744659485661162, + 0.9520570615195078, + 0.13511400626338727, + 0.9615412018507169, + -0.27323853661231806, + -0.027914498982394093, + 0.010342157472268125, + 0.13757926341131335, + -0.9904367653000465 + ], + [ + 0.25123835433383623, + 0.9560133919699755, + 0.151385876770882, + 0.9677542270887477, + -0.24516263523433257, + -0.05785359311934909, + -0.01819464930927038, + 0.16103936369416183, + -0.9867802582528153 + ], + [ + 0.13071368814686535, + 0.9629012968015845, + 0.23608266422774704, + 0.991280651123217, + -0.12294112693688841, + -0.04741466035119446, + -0.01663136914914959, + 0.24022192224132044, + -0.9705755125877172 + ], + [ + -0.1256002228857459, + 0.9436608658175243, + 0.3061515218573502, + 0.9906145155102539, + 0.13606608067675519, + -0.012996282147291871, + -0.05392092053587591, + 0.3016458055630599, + -0.9518940814580038 + ], + [ + -0.3684860707319019, + 0.8749145181489449, + 0.3142333553408415, + 0.9213096028860425, + 0.3888234664293901, + -0.0022198161626380553, + -0.12412345187967798, + 0.2886882364871017, + -0.9493431786279611 + ], + [ + -0.5912508493887356, + 0.7676912585749717, + 0.24712863979044244, + 0.7986538534829196, + 0.599947727900191, + 0.04706108906815788, + -0.11213587924469773, + 0.2251951493593366, + -0.9678391856558837 + ], + [ + -0.7685432900499154, + 0.6046110978263428, + 0.20925255483380936, + 0.6319644931511847, + 0.7684063127762286, + 0.1008593965964851, + -0.09981027359654968, + 0.2097549972488507, + -0.9726462617075731 + ], + [ + -0.8176549256885459, + 0.568460946853278, + 0.09106357339756353, + 0.5748511066325386, + 0.8147888826186982, + 0.07526806736139506, + -0.03141063037579164, + 0.11389130196660473, + -0.9929965476454323 + ], + [ + -0.8464189661082294, + 0.5304405709443386, + 0.046986535396002053, + 0.5315446674945506, + 0.8469084767789717, + 0.014363092216834007, + -0.03217452828532572, + 0.037132635998078645, + -0.998792254211781 + ], + [ + -0.8310763757758166, + 0.555938123339906, + 0.01564802366552945, + 0.555423747823029, + 0.831095726846171, + -0.028006305937326743, + -0.02857477876648998, + -0.014584095286930426, + -0.9994852606132357 + ], + [ + -0.8169351056664567, + 0.5765989074105222, + -0.01227734102838677, + 0.5759122698012293, + 0.8144595556071448, + -0.07057400210139828, + -0.03069349478523689, + -0.06472505120279251, + -0.9974309886526809 + ], + [ + -0.8018957349341558, + 0.5970835764075705, + 0.02131743602675299, + 0.5956447699127362, + 0.8017272360210683, + -0.049403917836762595, + -0.0465890370153046, + -0.026919171725052635, + -0.998551360633805 + ], + [ + -0.7929234931055441, + 0.6093202305437135, + 0.0010912064231037542, + 0.6087671887095865, + 0.7922776165831332, + -0.04121514541981302, + -0.025977760333189995, + -0.032016166408636394, + -0.9991496990224067 + ], + [ + -0.8068751881568432, + 0.5906187182331197, + 0.011043568695209945, + 0.590178842563166, + 0.8067939400647324, + -0.027793381687499556, + -0.02532517576761881, + -0.015908109488310347, + -0.999552683716495 + ], + [ + -0.8045437358794727, + 0.5938917855670615, + -0.0013871168188202298, + 0.5938853106271179, + 0.8045183808010092, + -0.007100195395506745, + -0.0031007867442534305, + -0.006536206031796376, + -0.9999738312237361 + ], + [ + -0.7957728005058617, + 0.6054001665202635, + -0.015371673698561265, + 0.6053419649866856, + 0.7959177377223012, + 0.008721250201217454, + 0.017514434079246213, + -0.002364985465286105, + -0.9998438135242086 + ], + [ + -0.7925919764892081, + 0.6097128811777384, + -0.0069398365162261595, + 0.6096990230896124, + 0.7926218511409032, + 0.004207414590971527, + 0.00806598093867692, + -0.0008964484977770524, + -0.9999670676235232 + ], + [ + -0.7791343382054148, + 0.626829248872615, + 0.005897099880777801, + 0.6267699656448327, + 0.7791484515737466, + -0.009332768925074425, + -0.010444768776089831, + -0.003575355650382673, + -0.9999390599617496 + ], + [ + -0.7705435950070774, + 0.6372351901157798, + 0.013924103981053084, + 0.6368368980114338, + 0.7706021433512484, + -0.024720477212961382, + -0.026482702368599405, + -0.010180822195083296, + -0.9995974276350896 + ], + [ + -0.7468082399220646, + 0.6647925539386671, + 0.018119409819647866, + 0.6645284649451296, + 0.7470252493762757, + -0.018846646173324665, + -0.0260647666818163, + -0.0020339670639722, + -0.9996581870398525 + ], + [ + -0.672391328153222, + 0.7385760370182275, + 0.04894220435162418, + 0.7371119260366457, + 0.6741540453737228, + -0.04671543214818134, + -0.06749748379675252, + 0.004664831046737417, + -0.9977085391197233 + ], + [ + -0.5359026904070485, + 0.8379442873115919, + 0.10323602944881119, + 0.8359192836079719, + 0.5437797467056171, + -0.0744482260709423, + -0.11852112768119619, + 0.04639998313193158, + -0.9918668176013019 + ], + [ + -0.36840844261959765, + 0.9195051024888853, + 0.1370605191275273, + 0.9187212955367018, + 0.38264742505285926, + -0.09763262378826426, + -0.1422195504632432, + 0.08995173482107527, + -0.9857394609473196 + ], + [ + -0.16214774497426826, + 0.9765315545017427, + 0.14175412467427273, + 0.9828174253406089, + 0.17266302824228602, + -0.06524865611688674, + -0.08819306801906755, + 0.12873850139182574, + -0.9877491488291805 + ], + [ + 0.004107155859975953, + 0.9870395058951364, + 0.1604248891943725, + 0.9999272521808569, + -0.00587313151019192, + 0.010535495826242497, + 0.011341147066441182, + 0.16036994771012686, + -0.9869918227901731 + ], + [ + 0.09573294740836669, + 0.9852296723175715, + 0.14197779955161266, + 0.9938718939857805, + -0.10252652051832778, + 0.041315504783590924, + 0.05526175101844777, + 0.13715248949769712, + -0.9890072464339983 + ], + [ + 0.16419258905148149, + 0.9765657021391712, + 0.13914101877591298, + 0.982005545298261, + -0.17516443927709635, + 0.07058702583481956, + 0.09330542698062311, + 0.12504738549113317, + -0.9877536376434133 + ], + [ + 0.20292296336860827, + 0.9697609182333791, + 0.1355951046493066, + 0.9725731124297545, + -0.21568581374975027, + 0.08706991860458263, + 0.11368294470325384, + 0.11420766705550894, + -0.9869309990416429 + ], + [ + 0.21074108208273662, + 0.972623623094758, + 0.09793612265463508, + 0.9730313027726103, + -0.2183265335966586, + 0.0744554131833558, + 0.09379914790249638, + 0.07960409867396007, + -0.9924036010248414 + ], + [ + 0.2419093421685965, + 0.9692873958303901, + 0.044292374692459294, + 0.9662583720668462, + -0.24481236946381357, + 0.08007285537709638, + 0.08845693066280923, + 0.023427506095475954, + -0.9958044604117121 + ], + [ + 0.23695242538893546, + 0.9713830486251676, + 0.016386608739354644, + 0.9668427425661765, + -0.2374311147294167, + 0.094029659711503, + 0.09522950829136664, + -0.006437282192220381, + -0.9954345293129844 + ], + [ + 0.22740365148829905, + 0.9737970461998189, + 0.002625281374639944, + 0.9693969039471686, + -0.2266305690335016, + 0.0943834084847282, + 0.09250525340450697, + -0.01891819209277277, + -0.9955324605960916 + ], + [ + 0.22957018678137076, + 0.9732710616239896, + 0.006400777021489237, + 0.9703678206159431, + -0.22938489495254144, + 0.07595302943712315, + 0.07539112715851594, + -0.0112254431059002, + -0.997090852115716 + ], + [ + 0.21117000747727888, + 0.9773088522213619, + 0.016572124541217093, + 0.974825799872623, + -0.2118143195293809, + 0.06963730282690096, + 0.07156736578040405, + 0.0014496248028264686, + -0.9974347150280987 + ], + [ + 0.13249873529799272, + 0.9898539089888629, + 0.05131592349261699, + 0.9877280095302263, + -0.13617887070859003, + 0.07647675700492396, + 0.08268896137870838, + 0.040553101385723635, + -0.9957499593944805 + ], + [ + 0.11769355007282661, + 0.9916780863331868, + 0.05218046912211065, + 0.9901312501922569, + -0.12121123054770316, + 0.07034163050306638, + 0.07608111239968444, + 0.04338675691567697, + -0.996157243441198 + ], + [ + 0.10559070662905401, + 0.9925917423189717, + 0.06010187812178104, + 0.9906705472609637, + -0.11023774474531733, + 0.08012182239021633, + 0.08615375478317909, + 0.05108104064772605, + -0.9949714859347003 + ], + [ + 0.10300263517187636, + 0.9922831856197751, + 0.06902562338668138, + 0.9924089247226349, + -0.10720741956589519, + 0.06025857051810622, + 0.06719362528181373, + 0.06229485312843075, + -0.9957933359865361 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0030653178691864014, + -0.00046778470277786255, + -0.01249181479215622, + 0.03037327527999878, + 0.011523566208779812, + 0.001488804817199707, + 1.0 + ], + [ + -0.013879328966140747, + -0.002447882667183876, + -0.0028801411390304565, + -0.02374623715877533, + 0.028537996113300323, + 0.024047136306762695, + 1.0 + ], + [ + -0.010865002870559692, + 0.005048716440796852, + 0.01915355771780014, + -0.0808580070734024, + -0.00156351737678051, + 0.12289535999298096, + 1.0 + ], + [ + -0.023353874683380127, + -0.00034580379724502563, + 0.01390054076910019, + -0.06425067782402039, + 0.037314947694540024, + 0.25722432136535645, + 1.0 + ], + [ + -0.018933117389678955, + -0.011253494769334793, + 0.0018661543726921082, + 0.011672139167785645, + 0.07049731910228729, + 0.25435376167297363, + 1.0 + ], + [ + -0.0097065269947052, + -0.006207611411809921, + -0.0022829994559288025, + 0.0665966272354126, + -0.012072175741195679, + 0.2567991018295288, + 1.0 + ], + [ + -0.00447419285774231, + -0.002164028584957123, + -0.01330239325761795, + 0.01620948314666748, + -0.012395486235618591, + 0.24534153938293457, + 1.0 + ], + [ + -0.0025849342346191406, + -0.005119644105434418, + -0.022883977741003036, + 0.0982055589556694, + -0.06856094300746918, + 0.07541561126708984, + 1.0 + ], + [ + -0.004310131072998047, + 0.006725713610649109, + -0.010959412902593613, + 0.07703514397144318, + 0.0007642842829227448, + 0.05202078819274902, + 1.0 + ], + [ + -0.004014343023300171, + -0.00023171305656433105, + -0.012970227748155594, + 0.051750995218753815, + -0.00360141322016716, + -0.028397083282470703, + 1.0 + ], + [ + -0.0028054118156433105, + -0.0025157630443573, + -0.015024514868855476, + 0.05021033436059952, + 0.002119647338986397, + -0.024906396865844727, + 1.0 + ], + [ + 0.0007701516151428223, + -0.0031622126698493958, + -0.00758711714297533, + -0.03784920647740364, + 0.015907591208815575, + -0.024822711944580078, + 1.0 + ], + [ + -0.005412280559539795, + -0.005380641669034958, + -0.019656840711832047, + 0.005080755800008774, + -0.020625224336981773, + -0.01589035987854004, + 1.0 + ], + [ + -0.0027151107788085938, + -0.0058626458048820496, + -0.012542741373181343, + -0.016118567436933517, + -0.0006527993828058243, + 0.02324986457824707, + 1.0 + ], + [ + 0.000232011079788208, + -0.0032504908740520477, + -0.014316806569695473, + -0.009377600625157356, + -0.0222270917147398, + -0.0043680667877197266, + 1.0 + ], + [ + 0.0021457672119140625, + -0.0019533671438694, + -0.011912275105714798, + -0.004170933738350868, + -0.02061612159013748, + -0.014429092407226562, + 1.0 + ], + [ + 0.0053740739822387695, + -0.001576889306306839, + 0.00015950575470924377, + -0.0014688726514577866, + 0.009449261240661144, + -0.0053937435150146484, + 0.0 + ], + [ + 0.004196524620056152, + -0.0026080720126628876, + 0.00020704790949821472, + 0.002679080469533801, + 0.018511027097702026, + -0.02173900604248047, + 0.0 + ], + [ + -0.0007873475551605225, + -0.0015445873141288757, + -0.0010404735803604126, + 0.00660901190713048, + 0.01604083925485611, + -0.013233661651611328, + 0.0 + ], + [ + -0.0022229254245758057, + 0.0015428736805915833, + 0.005547195672988892, + -0.008149910718202591, + -0.00041808001697063446, + -0.03648638725280762, + 0.0 + ], + [ + 0.0017187297344207764, + -0.004194758832454681, + 0.012534547597169876, + -0.006710170768201351, + 0.04148112237453461, + -0.10411834716796875, + 0.0 + ], + [ + 0.0012758076190948486, + -0.0028333738446235657, + 0.02441464178264141, + -0.042070865631103516, + 0.05125153809785843, + -0.16942429542541504, + 0.0 + ], + [ + 0.0009076893329620361, + -0.00016541779041290283, + 0.028495199978351593, + -0.044254641979932785, + 0.023903019726276398, + -0.1887195110321045, + 0.0 + ], + [ + 0.004481762647628784, + 0.005237258970737457, + 0.026795195415616035, + -0.03860361874103546, + -0.05439560115337372, + -0.21785962581634521, + 0.0 + ], + [ + 0.02197808027267456, + 0.02782760187983513, + 0.02649666741490364, + -0.03147125244140625, + -0.09964919090270996, + -0.1676170825958252, + 0.0 + ], + [ + 0.017072200775146484, + 0.03758252039551735, + 0.0014848187565803528, + 0.02327781915664673, + -0.04394852742552757, + -0.09191954135894775, + 0.0 + ], + [ + 0.013108819723129272, + 0.030176272615790367, + -0.0020530447363853455, + 0.011870220303535461, + -0.03815142810344696, + -0.0696418285369873, + 0.0 + ], + [ + 0.014861315488815308, + 0.030843671411275864, + -0.014075234532356262, + 0.01072026789188385, + -0.02048790454864502, + -0.04002571105957031, + 0.0 + ], + [ + 0.015464931726455688, + 0.015205267816781998, + -0.027903102338314056, + 0.03516552597284317, + 0.019992008805274963, + -0.007593274116516113, + 0.0 + ], + [ + 0.014327526092529297, + 0.007461249828338623, + -0.02951326221227646, + 0.056520186364650726, + 0.005364544689655304, + -0.03202664852142334, + 0.0 + ], + [ + 0.00940161943435669, + 0.004180096089839935, + -0.023280087858438492, + 0.029988588765263557, + -0.006801337003707886, + 0.004973053932189941, + 0.0 + ], + [ + 0.00840809941291809, + 0.0013820156455039978, + -0.016291063278913498, + 0.012534085661172867, + 0.0027363374829292297, + 0.009925007820129395, + 0.0 + ], + [ + 0.004931628704071045, + -0.001470029354095459, + -0.00532250851392746, + -0.007743082940578461, + 0.017174966633319855, + -0.0018929243087768555, + 0.0 + ], + [ + 0.0014065802097320557, + -0.0010399296879768372, + -0.000375501811504364, + -0.012711071409285069, + 0.0038341283798217773, + 0.01898205280303955, + 1.0 + ], + [ + -0.0016073882579803467, + -0.00024049729108810425, + -0.002573709934949875, + -0.039250344038009644, + -0.011154882609844208, + 0.079978346824646, + 1.0 + ], + [ + -0.0014212727546691895, + -0.0012630224227905273, + 0.00025875866413116455, + -0.0028229206800460815, + 0.00662878155708313, + 0.0150374174118042, + 1.0 + ], + [ + 0.0002778768539428711, + 0.0007316842675209045, + 0.013665439561009407, + -0.0077675506472587585, + -0.010105989873409271, + 0.012127280235290527, + 1.0 + ], + [ + 0.0015040040016174316, + -0.0031333938241004944, + 0.0225256085395813, + -0.011182431131601334, + 0.01901639997959137, + 0.002763986587524414, + 1.0 + ], + [ + 0.003108501434326172, + -0.00568641722202301, + 0.031390029937028885, + -0.02443573623895645, + -0.026859596371650696, + -0.022851109504699707, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9745318293571472 + ], + [ + 0.6991904973983765 + ], + [ + 0.41842639446258545 + ], + [ + 0.39886748790740967 + ], + [ + 0.39886748790740967 + ], + [ + 0.39886748790740967 + ], + [ + 0.39798861742019653 + ], + [ + 0.39798861742019653 + ], + [ + 0.39798861742019653 + ], + [ + 0.39798861742019653 + ], + [ + 0.39798861742019653 + ], + [ + 0.39798861742019653 + ], + [ + 0.39798861742019653 + ], + [ + 0.39798861742019653 + ], + [ + 0.39798861742019653 + ], + [ + 0.39798861742019653 + ], + [ + 0.39798861742019653 + ], + [ + 0.44944798946380615 + ], + [ + 0.748681366443634 + ], + [ + 0.9837720394134521 + ], + [ + 1.002137303352356 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3777899146080017, + -0.020290028303861618, + 0.06642337888479233 + ], + [ + 0.36391058564186096, + -0.022737910971045494, + 0.06354323774576187 + ], + [ + 0.35304558277130127, + -0.017689194530248642, + 0.08269679546356201 + ], + [ + 0.32969170808792114, + -0.018034998327493668, + 0.0965973362326622 + ], + [ + 0.3107585906982422, + -0.02928849309682846, + 0.09846349060535431 + ], + [ + 0.301052063703537, + -0.03549610450863838, + 0.0961804911494255 + ], + [ + 0.2965778708457947, + -0.037660133093595505, + 0.08287809789180756 + ], + [ + 0.29399293661117554, + -0.04277977719902992, + 0.05999412015080452 + ], + [ + 0.2896828055381775, + -0.036054063588380814, + 0.04903470724821091 + ], + [ + 0.2856684625148773, + -0.036285776644945145, + 0.03606447950005531 + ], + [ + 0.282863050699234, + -0.038801539689302444, + 0.021039964631199837 + ], + [ + 0.28363320231437683, + -0.04196375235915184, + 0.013452847488224506 + ], + [ + 0.27822092175483704, + -0.0473443940281868, + -0.0062039936892688274 + ], + [ + 0.27550581097602844, + -0.05320703983306885, + -0.018746735528111458 + ], + [ + 0.27573782205581665, + -0.056457530707120895, + -0.03306354209780693 + ], + [ + 0.2778835892677307, + -0.058410897850990295, + -0.04497581720352173 + ], + [ + 0.2832576632499695, + -0.059987787157297134, + -0.044816311448812485 + ], + [ + 0.28745418787002563, + -0.06259585916996002, + -0.04460926353931427 + ], + [ + 0.2866668403148651, + -0.0641404464840889, + -0.04564973711967468 + ], + [ + 0.2844439148902893, + -0.06259757280349731, + -0.04010254144668579 + ], + [ + 0.2861626446247101, + -0.066792331635952, + -0.027567993849515915 + ], + [ + 0.28743845224380493, + -0.06962570548057556, + -0.0031533516012132168 + ], + [ + 0.28834614157676697, + -0.06979112327098846, + 0.02534184791147709 + ], + [ + 0.29282790422439575, + -0.06455386430025101, + 0.052137043327093124 + ], + [ + 0.3148059844970703, + -0.03672626242041588, + 0.07863371074199677 + ], + [ + 0.3318781852722168, + 0.0008562594885006547, + 0.08011852949857712 + ], + [ + 0.34498700499534607, + 0.031032532453536987, + 0.07806548476219177 + ], + [ + 0.3598483204841614, + 0.06187620386481285, + 0.06399025022983551 + ], + [ + 0.37531325221061707, + 0.07708147168159485, + 0.036087147891521454 + ], + [ + 0.38964077830314636, + 0.08454272150993347, + 0.0065738847479224205 + ], + [ + 0.39904239773750305, + 0.08872281759977341, + -0.016706202179193497 + ], + [ + 0.40745049715042114, + 0.0901048332452774, + -0.032997265458106995 + ], + [ + 0.4123821258544922, + 0.08863480389118195, + -0.038319773972034454 + ], + [ + 0.41378870606422424, + 0.08759487420320511, + -0.03869527578353882 + ], + [ + 0.4121813178062439, + 0.087354376912117, + -0.04126898571848869 + ], + [ + 0.4107600450515747, + 0.08609135448932648, + -0.04101022705435753 + ], + [ + 0.4110379219055176, + 0.08682303875684738, + -0.02734478749334812 + ], + [ + 0.412541925907135, + 0.08368964493274689, + -0.00481917941942811 + ], + [ + 0.4156504273414612, + 0.07800322771072388, + 0.026570850983262062 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.2744659485661162, + 0.9520570615195078, + 0.13511400626338727, + 0.9615412018507169, + -0.27323853661231806, + -0.027914498982394093, + 0.010342157472268125, + 0.13757926341131335, + -0.9904367653000465 + ], + [ + 0.25123835433383623, + 0.9560133919699755, + 0.151385876770882, + 0.9677542270887477, + -0.24516263523433257, + -0.05785359311934909, + -0.01819464930927038, + 0.16103936369416183, + -0.9867802582528153 + ], + [ + 0.13071368814686535, + 0.9629012968015845, + 0.23608266422774704, + 0.991280651123217, + -0.12294112693688841, + -0.04741466035119446, + -0.01663136914914959, + 0.24022192224132044, + -0.9705755125877172 + ], + [ + -0.1256002228857459, + 0.9436608658175243, + 0.3061515218573502, + 0.9906145155102539, + 0.13606608067675519, + -0.012996282147291871, + -0.05392092053587591, + 0.3016458055630599, + -0.9518940814580038 + ], + [ + -0.3684860707319019, + 0.8749145181489449, + 0.3142333553408415, + 0.9213096028860425, + 0.3888234664293901, + -0.0022198161626380553, + -0.12412345187967798, + 0.2886882364871017, + -0.9493431786279611 + ], + [ + -0.5912508493887356, + 0.7676912585749717, + 0.24712863979044244, + 0.7986538534829196, + 0.599947727900191, + 0.04706108906815788, + -0.11213587924469773, + 0.2251951493593366, + -0.9678391856558837 + ], + [ + -0.7685432900499154, + 0.6046110978263428, + 0.20925255483380936, + 0.6319644931511847, + 0.7684063127762286, + 0.1008593965964851, + -0.09981027359654968, + 0.2097549972488507, + -0.9726462617075731 + ], + [ + -0.8176549256885459, + 0.568460946853278, + 0.09106357339756353, + 0.5748511066325386, + 0.8147888826186982, + 0.07526806736139506, + -0.03141063037579164, + 0.11389130196660473, + -0.9929965476454323 + ], + [ + -0.8464189661082294, + 0.5304405709443386, + 0.046986535396002053, + 0.5315446674945506, + 0.8469084767789717, + 0.014363092216834007, + -0.03217452828532572, + 0.037132635998078645, + -0.998792254211781 + ], + [ + -0.8310763757758166, + 0.555938123339906, + 0.01564802366552945, + 0.555423747823029, + 0.831095726846171, + -0.028006305937326743, + -0.02857477876648998, + -0.014584095286930426, + -0.9994852606132357 + ], + [ + -0.8169351056664567, + 0.5765989074105222, + -0.01227734102838677, + 0.5759122698012293, + 0.8144595556071448, + -0.07057400210139828, + -0.03069349478523689, + -0.06472505120279251, + -0.9974309886526809 + ], + [ + -0.8018957349341558, + 0.5970835764075705, + 0.02131743602675299, + 0.5956447699127362, + 0.8017272360210683, + -0.049403917836762595, + -0.0465890370153046, + -0.026919171725052635, + -0.998551360633805 + ], + [ + -0.7929234931055441, + 0.6093202305437135, + 0.0010912064231037542, + 0.6087671887095865, + 0.7922776165831332, + -0.04121514541981302, + -0.025977760333189995, + -0.032016166408636394, + -0.9991496990224067 + ], + [ + -0.8068751881568432, + 0.5906187182331197, + 0.011043568695209945, + 0.590178842563166, + 0.8067939400647324, + -0.027793381687499556, + -0.02532517576761881, + -0.015908109488310347, + -0.999552683716495 + ], + [ + -0.8045437358794727, + 0.5938917855670615, + -0.0013871168188202298, + 0.5938853106271179, + 0.8045183808010092, + -0.007100195395506745, + -0.0031007867442534305, + -0.006536206031796376, + -0.9999738312237361 + ], + [ + -0.7957728005058617, + 0.6054001665202635, + -0.015371673698561265, + 0.6053419649866856, + 0.7959177377223012, + 0.008721250201217454, + 0.017514434079246213, + -0.002364985465286105, + -0.9998438135242086 + ], + [ + -0.7925919764892081, + 0.6097128811777384, + -0.0069398365162261595, + 0.6096990230896124, + 0.7926218511409032, + 0.004207414590971527, + 0.00806598093867692, + -0.0008964484977770524, + -0.9999670676235232 + ], + [ + -0.7791343382054148, + 0.626829248872615, + 0.005897099880777801, + 0.6267699656448327, + 0.7791484515737466, + -0.009332768925074425, + -0.010444768776089831, + -0.003575355650382673, + -0.9999390599617496 + ], + [ + -0.7705435950070774, + 0.6372351901157798, + 0.013924103981053084, + 0.6368368980114338, + 0.7706021433512484, + -0.024720477212961382, + -0.026482702368599405, + -0.010180822195083296, + -0.9995974276350896 + ], + [ + -0.7468082399220646, + 0.6647925539386671, + 0.018119409819647866, + 0.6645284649451296, + 0.7470252493762757, + -0.018846646173324665, + -0.0260647666818163, + -0.0020339670639722, + -0.9996581870398525 + ], + [ + -0.672391328153222, + 0.7385760370182275, + 0.04894220435162418, + 0.7371119260366457, + 0.6741540453737228, + -0.04671543214818134, + -0.06749748379675252, + 0.004664831046737417, + -0.9977085391197233 + ], + [ + -0.5359026904070485, + 0.8379442873115919, + 0.10323602944881119, + 0.8359192836079719, + 0.5437797467056171, + -0.0744482260709423, + -0.11852112768119619, + 0.04639998313193158, + -0.9918668176013019 + ], + [ + -0.36840844261959765, + 0.9195051024888853, + 0.1370605191275273, + 0.9187212955367018, + 0.38264742505285926, + -0.09763262378826426, + -0.1422195504632432, + 0.08995173482107527, + -0.9857394609473196 + ], + [ + -0.16214774497426826, + 0.9765315545017427, + 0.14175412467427273, + 0.9828174253406089, + 0.17266302824228602, + -0.06524865611688674, + -0.08819306801906755, + 0.12873850139182574, + -0.9877491488291805 + ], + [ + 0.004107155859975953, + 0.9870395058951364, + 0.1604248891943725, + 0.9999272521808569, + -0.00587313151019192, + 0.010535495826242497, + 0.011341147066441182, + 0.16036994771012686, + -0.9869918227901731 + ], + [ + 0.09573294740836669, + 0.9852296723175715, + 0.14197779955161266, + 0.9938718939857805, + -0.10252652051832778, + 0.041315504783590924, + 0.05526175101844777, + 0.13715248949769712, + -0.9890072464339983 + ], + [ + 0.16419258905148149, + 0.9765657021391712, + 0.13914101877591298, + 0.982005545298261, + -0.17516443927709635, + 0.07058702583481956, + 0.09330542698062311, + 0.12504738549113317, + -0.9877536376434133 + ], + [ + 0.20292296336860827, + 0.9697609182333791, + 0.1355951046493066, + 0.9725731124297545, + -0.21568581374975027, + 0.08706991860458263, + 0.11368294470325384, + 0.11420766705550894, + -0.9869309990416429 + ], + [ + 0.21074108208273662, + 0.972623623094758, + 0.09793612265463508, + 0.9730313027726103, + -0.2183265335966586, + 0.0744554131833558, + 0.09379914790249638, + 0.07960409867396007, + -0.9924036010248414 + ], + [ + 0.2419093421685965, + 0.9692873958303901, + 0.044292374692459294, + 0.9662583720668462, + -0.24481236946381357, + 0.08007285537709638, + 0.08845693066280923, + 0.023427506095475954, + -0.9958044604117121 + ], + [ + 0.23695242538893546, + 0.9713830486251676, + 0.016386608739354644, + 0.9668427425661765, + -0.2374311147294167, + 0.094029659711503, + 0.09522950829136664, + -0.006437282192220381, + -0.9954345293129844 + ], + [ + 0.22740365148829905, + 0.9737970461998189, + 0.002625281374639944, + 0.9693969039471686, + -0.2266305690335016, + 0.0943834084847282, + 0.09250525340450697, + -0.01891819209277277, + -0.9955324605960916 + ], + [ + 0.22957018678137076, + 0.9732710616239896, + 0.006400777021489237, + 0.9703678206159431, + -0.22938489495254144, + 0.07595302943712315, + 0.07539112715851594, + -0.0112254431059002, + -0.997090852115716 + ], + [ + 0.21117000747727888, + 0.9773088522213619, + 0.016572124541217093, + 0.974825799872623, + -0.2118143195293809, + 0.06963730282690096, + 0.07156736578040405, + 0.0014496248028264686, + -0.9974347150280987 + ], + [ + 0.13249873529799272, + 0.9898539089888629, + 0.05131592349261699, + 0.9877280095302263, + -0.13617887070859003, + 0.07647675700492396, + 0.08268896137870838, + 0.040553101385723635, + -0.9957499593944805 + ], + [ + 0.11769355007282661, + 0.9916780863331868, + 0.05218046912211065, + 0.9901312501922569, + -0.12121123054770316, + 0.07034163050306638, + 0.07608111239968444, + 0.04338675691567697, + -0.996157243441198 + ], + [ + 0.10559070662905401, + 0.9925917423189717, + 0.06010187812178104, + 0.9906705472609637, + -0.11023774474531733, + 0.08012182239021633, + 0.08615375478317909, + 0.05108104064772605, + -0.9949714859347003 + ], + [ + 0.10300263517187636, + 0.9922831856197751, + 0.06902562338668138, + 0.9924089247226349, + -0.10720741956589519, + 0.06025857051810622, + 0.06719362528181373, + 0.06229485312843075, + -0.9957933359865361 + ], + [ + 0.12537883183412918, + 0.9872667243700787, + 0.09790078385530991, + 0.9876490855626961, + -0.13355219704730886, + 0.08193347576544596, + 0.09396505901173742, + 0.08641889617098644, + -0.9918176959852596 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006116.json b/json/chunk-0006/episode_0006116.json new file mode 100644 index 0000000000000000000000000000000000000000..42b2be1eeabb99c307ac180173fa9a22272cab94 --- /dev/null +++ b/json/chunk-0006/episode_0006116.json @@ -0,0 +1,1102 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 17, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut the blue towel on the left side of the table." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006116.mp4", + "start": 0, + "end": 17, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3370375633239746, + 0.043177638202905655, + 0.06947178393602371, + -0.03243360295891762, + -0.11314520984888077, + 0.08480404317378998, + 0.0, + 1.0008161067962646 + ], + [ + 0.3349972367286682, + 0.04296141490340233, + 0.05538278445601463, + -0.03816814348101616, + -0.06585860252380371, + 0.08801824599504471, + 0.0, + 1.0008161067962646 + ], + [ + 0.35671207308769226, + 0.06846078485250473, + 0.05017184093594551, + -0.06587844341993332, + -0.03252280130982399, + 0.14285995066165924, + 0.0, + 1.0008161067962646 + ], + [ + 0.3798549473285675, + 0.10179338604211807, + 0.044179413467645645, + -0.06915915757417679, + -0.010524540208280087, + 0.22083593904972076, + 0.0, + 1.0008161067962646 + ], + [ + 0.40013015270233154, + 0.12385309487581253, + 0.02577943354845047, + -0.05813580006361008, + -0.001553929760120809, + 0.22845135629177094, + 0.0, + 1.0008161067962646 + ], + [ + 0.4108836352825165, + 0.1510944664478302, + 0.01319805160164833, + -0.030415626242756844, + -0.032910916954278946, + 0.21185432374477386, + 0.0, + 1.0008161067962646 + ], + [ + 0.4102117121219635, + 0.16027550399303436, + 0.0055681262165308, + -0.019202079623937607, + -0.04114392027258873, + 0.19951777160167694, + 0.0, + 1.0008161067962646 + ], + [ + 0.4067896902561188, + 0.1584564447402954, + 0.0009348137537017465, + -0.023027151823043823, + -0.032885950058698654, + 0.18744920194149017, + 0.0, + 1.0008161067962646 + ], + [ + 0.3952726125717163, + 0.15107008814811707, + -0.002443142468109727, + -0.051740214228630066, + -0.013029832392930984, + 0.1808445304632187, + 0.0, + 0.9981546401977539 + ], + [ + 0.37239399552345276, + 0.15070967376232147, + -0.002470537554472685, + -0.06798435747623444, + 0.013636048883199692, + 0.19121691584587097, + 0.0, + 0.9981546401977539 + ], + [ + 0.34327664971351624, + 0.1616736352443695, + -0.0014856200432404876, + -0.07519172877073288, + 0.03924550488591194, + 0.20780132710933685, + 0.0, + 0.9994885921478271 + ], + [ + 0.3114081919193268, + 0.17511501908302307, + -0.00031656186911277473, + -0.07930901646614075, + 0.056070417165756226, + 0.2353622019290924, + 0.0, + 1.0008161067962646 + ], + [ + 0.28754737973213196, + 0.1749749481678009, + -0.0026725544594228268, + -0.06523068994283676, + 0.0788283422589302, + 0.21661245822906494, + 0.0, + 0.9994885921478271 + ], + [ + 0.27965235710144043, + 0.17271295189857483, + -0.00398175697773695, + -0.05055984854698181, + 0.07936207950115204, + 0.2108432650566101, + 0.0, + 0.9994885921478271 + ], + [ + 0.27787044644355774, + 0.17037272453308105, + -0.002451896434649825, + -0.04719814285635948, + 0.0609612762928009, + 0.2115313857793808, + 0.0, + 0.9994885921478271 + ], + [ + 0.28149691224098206, + 0.1602737158536911, + 0.014322229661047459, + -0.08193731307983398, + -0.009204188361763954, + 0.21327638626098633, + 0.0, + 0.9994885921478271 + ], + [ + 0.282912015914917, + 0.15460194647312164, + 0.041338540613651276, + -0.09537845104932785, + -0.09088589996099472, + 0.18992194533348083, + 0.0, + 0.9994885921478271 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9994885921478271 + ], + [ + 1.0008161067962646 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3370375633239746, + 0.043177638202905655, + 0.06947178393602371 + ], + [ + 0.3349972367286682, + 0.04296141490340233, + 0.05538278445601463 + ], + [ + 0.35671207308769226, + 0.06846078485250473, + 0.05017184093594551 + ], + [ + 0.3798549473285675, + 0.10179338604211807, + 0.044179413467645645 + ], + [ + 0.40013015270233154, + 0.12385309487581253, + 0.02577943354845047 + ], + [ + 0.4108836352825165, + 0.1510944664478302, + 0.01319805160164833 + ], + [ + 0.4102117121219635, + 0.16027550399303436, + 0.0055681262165308 + ], + [ + 0.4067896902561188, + 0.1584564447402954, + 0.0009348137537017465 + ], + [ + 0.3952726125717163, + 0.15107008814811707, + -0.002443142468109727 + ], + [ + 0.37239399552345276, + 0.15070967376232147, + -0.002470537554472685 + ], + [ + 0.34327664971351624, + 0.1616736352443695, + -0.0014856200432404876 + ], + [ + 0.3114081919193268, + 0.17511501908302307, + -0.00031656186911277473 + ], + [ + 0.28754737973213196, + 0.1749749481678009, + -0.0026725544594228268 + ], + [ + 0.27965235710144043, + 0.17271295189857483, + -0.00398175697773695 + ], + [ + 0.27787044644355774, + 0.17037272453308105, + -0.002451896434649825 + ], + [ + 0.28149691224098206, + 0.1602737158536911, + 0.014322229661047459 + ], + [ + 0.282912015914917, + 0.15460194647312164, + 0.041338540613651276 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9900351766184833, + 0.08100980225847637, + 0.1151857673328209, + 0.08416083654318324, + -0.99619237440472, + -0.022753170553516024, + 0.1129039532096188, + 0.03222056976417939, + -0.9930833460660345 + ], + [ + 0.9939693924747384, + 0.0853390657994732, + 0.06886283955714603, + 0.08771407273587942, + -0.9956241512038907, + -0.032230280538921824, + 0.06581100415192667, + 0.038076152484277204, + -0.997105369730055 + ], + [ + 0.9892894281629857, + 0.1399468523766393, + 0.04148862295646469, + 0.1422992185504817, + -0.9879705290589448, + -0.06054061538265613, + 0.03251706820847802, + 0.06579598939798365, + -0.9973031274664015 + ], + [ + 0.9756606442310773, + 0.21781208784202422, + 0.025381128589915633, + 0.21903320625339373, + -0.9735415014483061, + -0.06512602794687085, + 0.01052434591591303, + 0.06910021235623405, + -0.9975542084495288 + ], + [ + 0.9740171072715489, + 0.22599884663858724, + 0.01466956237902426, + 0.22646911499497666, + -0.9723932147662199, + -0.05624211793672189, + 0.0015539291347424489, + 0.05810298782889238, + -0.9983093849652018 + ], + [ + 0.9771132728003036, + 0.2091975721100583, + 0.03854903294165112, + 0.2101592602337265, + -0.97740091676213, + -0.0228151977979741, + 0.03290497615091643, + 0.030394468835707705, + -0.9989962156128034 + ], + [ + 0.9793327646917159, + 0.19738604335124715, + 0.04411446351730615, + 0.19802895956386501, + -0.9801381020511867, + -0.010669211852359316, + 0.04113231303164533, + 0.01918465005250289, + -0.9989695100587553 + ], + [ + 0.9819515580931408, + 0.18556017938306893, + 0.036586300520494344, + 0.18625262860272088, + -0.9823633935416605, + -0.01649610159671403, + 0.03288002276504026, + 0.023012667308147265, + -0.9991943360759881 + ], + [ + 0.9836086432840482, + 0.17895684403422443, + 0.022101692926666507, + 0.17984512763078306, + -0.9824969416169304, + -0.0485333883099644, + 0.013029463702767634, + 0.05171274201479467, + -0.9985770002302926 + ], + [ + 0.9816824076920387, + 0.19052415072625198, + -0.00044544135663206197, + 0.19003610215777159, + -0.9793296938899999, + -0.06927936591799962, + -0.013635626301816549, + 0.0679256847986054, + -0.9975971987931791 + ], + [ + 0.977733444744842, + 0.20861008077042337, + -0.022784758685193186, + 0.2061501684691432, + -0.9751140304621897, + -0.08157656303085876, + -0.03923543127746809, + 0.07506305214112492, + -0.9964066033180079 + ], + [ + 0.9709017346015144, + 0.23677970519345362, + -0.03584958795121037, + 0.2328287425787928, + -0.9683379268051252, + -0.09006906316782817, + -0.05604104189742195, + 0.07910139517892961, + -0.9952900938438994 + ], + [ + 0.973598333685405, + 0.21947850128169355, + -0.06273334137557837, + 0.2142550753773793, + -0.973450833165903, + -0.08054960014577016, + -0.07874672894817109, + 0.06498201969584806, + -0.9947744919308156 + ], + [ + 0.9747769652218092, + 0.21293501408212534, + -0.06684719777825453, + 0.20862583813682745, + -0.9757666790510386, + -0.0659897546245916, + -0.07927879751021878, + 0.050379240085104623, + -0.995578627951495 + ], + [ + 0.9758943763732875, + 0.2125339242384269, + -0.04959331820726412, + 0.20956738832021923, + -0.9760182284477492, + -0.05890609043519757, + -0.06092352514123564, + 0.04709298021501568, + -0.9970308798120715 + ], + [ + 0.9773012728433254, + 0.2102168115142275, + 0.02628905201043548, + 0.2116542166074606, + -0.9742231508292484, + -0.0780496315213166, + 0.009204058403648923, + 0.08184219293935675, + -0.9966027998976217 + ], + [ + 0.9779659049947949, + 0.17943612541245818, + 0.10670222848973994, + 0.1880030869796409, + -0.9791873621540388, + -0.07646534564063012, + 0.0907608283007469, + 0.09484084929385672, + -0.9913464002816486 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0020403265953063965, + -0.00021622329950332642, + -0.014088999480009079, + -0.005734540522098541, + 0.04728660732507706, + 0.0032142028212547302, + 1.0 + ], + [ + 0.021714836359024048, + 0.0254993699491024, + -0.005210943520069122, + -0.02771029993891716, + 0.03333580121397972, + 0.05484170466661453, + 1.0 + ], + [ + 0.023142874240875244, + 0.03333260118961334, + -0.005992427468299866, + -0.0032807141542434692, + 0.02199826017022133, + 0.07797598838806152, + 1.0 + ], + [ + 0.020275205373764038, + 0.022059708833694458, + -0.018399979919195175, + 0.011023357510566711, + 0.008970610797405243, + 0.007615417242050171, + 1.0 + ], + [ + 0.010753482580184937, + 0.02724137157201767, + -0.01258138194680214, + 0.027720173820853233, + -0.03135698661208153, + -0.01659703254699707, + 1.0 + ], + [ + -0.0006719231605529785, + 0.009181037545204163, + -0.007629925385117531, + 0.011213546618819237, + -0.008233003318309784, + -0.012336552143096924, + 1.0 + ], + [ + -0.0034220218658447266, + -0.0018190592527389526, + -0.004633312579244375, + -0.0038250721991062164, + 0.008257970213890076, + -0.012068569660186768, + 1.0 + ], + [ + -0.011517077684402466, + -0.007386356592178345, + -0.003377956338226795, + -0.028713062405586243, + 0.01985611766576767, + -0.006604671478271484, + 1.0 + ], + [ + -0.02287861704826355, + -0.00036041438579559326, + -2.7395086362957954e-05, + -0.01624414324760437, + 0.026665881276130676, + 0.010372385382652283, + 1.0 + ], + [ + -0.029117345809936523, + 0.010963961482048035, + 0.0009849175112321973, + -0.007207371294498444, + 0.02560945600271225, + 0.01658441126346588, + 1.0 + ], + [ + -0.03186845779418945, + 0.013441383838653564, + 0.0011690581450238824, + -0.004117287695407867, + 0.016824912279844284, + 0.027560874819755554, + 1.0 + ], + [ + -0.023860812187194824, + -0.00014007091522216797, + -0.0023559925612062216, + 0.014078326523303986, + 0.02275792509317398, + -0.018749743700027466, + 1.0 + ], + [ + -0.007895022630691528, + -0.0022619962692260742, + -0.0013092025183141232, + 0.01467084139585495, + 0.0005337372422218323, + -0.005769193172454834, + 1.0 + ], + [ + -0.0017819106578826904, + -0.0023402273654937744, + 0.0015298605430871248, + 0.0033617056906223297, + -0.018400803208351135, + 0.0006881207227706909, + 1.0 + ], + [ + 0.0036264657974243164, + -0.010099008679389954, + 0.016774125397205353, + -0.0347391702234745, + -0.07016546279191971, + 0.0017450004816055298, + 1.0 + ], + [ + 0.0014151036739349365, + -0.005671769380569458, + 0.02701631188392639, + -0.013441137969493866, + -0.08168171346187592, + -0.023354440927505493, + 1.0 + ], + [ + -0.006513655185699463, + 0.004284888505935669, + 0.003597170114517212, + 0.00218258798122406, + -0.005906708538532257, + -0.002558395266532898, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9994885921478271 + ], + [ + 1.0008161067962646 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3349972367286682, + 0.04296141490340233, + 0.05538278445601463 + ], + [ + 0.35671207308769226, + 0.06846078485250473, + 0.05017184093594551 + ], + [ + 0.3798549473285675, + 0.10179338604211807, + 0.044179413467645645 + ], + [ + 0.40013015270233154, + 0.12385309487581253, + 0.02577943354845047 + ], + [ + 0.4108836352825165, + 0.1510944664478302, + 0.01319805160164833 + ], + [ + 0.4102117121219635, + 0.16027550399303436, + 0.0055681262165308 + ], + [ + 0.4067896902561188, + 0.1584564447402954, + 0.0009348137537017465 + ], + [ + 0.3952726125717163, + 0.15107008814811707, + -0.002443142468109727 + ], + [ + 0.37239399552345276, + 0.15070967376232147, + -0.002470537554472685 + ], + [ + 0.34327664971351624, + 0.1616736352443695, + -0.0014856200432404876 + ], + [ + 0.3114081919193268, + 0.17511501908302307, + -0.00031656186911277473 + ], + [ + 0.28754737973213196, + 0.1749749481678009, + -0.0026725544594228268 + ], + [ + 0.27965235710144043, + 0.17271295189857483, + -0.00398175697773695 + ], + [ + 0.27787044644355774, + 0.17037272453308105, + -0.002451896434649825 + ], + [ + 0.28149691224098206, + 0.1602737158536911, + 0.014322229661047459 + ], + [ + 0.282912015914917, + 0.15460194647312164, + 0.041338540613651276 + ], + [ + 0.27639836072921753, + 0.1588868349790573, + 0.04493571072816849 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9939693924747384, + 0.0853390657994732, + 0.06886283955714603, + 0.08771407273587942, + -0.9956241512038907, + -0.032230280538921824, + 0.06581100415192667, + 0.038076152484277204, + -0.997105369730055 + ], + [ + 0.9892894281629857, + 0.1399468523766393, + 0.04148862295646469, + 0.1422992185504817, + -0.9879705290589448, + -0.06054061538265613, + 0.03251706820847802, + 0.06579598939798365, + -0.9973031274664015 + ], + [ + 0.9756606442310773, + 0.21781208784202422, + 0.025381128589915633, + 0.21903320625339373, + -0.9735415014483061, + -0.06512602794687085, + 0.01052434591591303, + 0.06910021235623405, + -0.9975542084495288 + ], + [ + 0.9740171072715489, + 0.22599884663858724, + 0.01466956237902426, + 0.22646911499497666, + -0.9723932147662199, + -0.05624211793672189, + 0.0015539291347424489, + 0.05810298782889238, + -0.9983093849652018 + ], + [ + 0.9771132728003036, + 0.2091975721100583, + 0.03854903294165112, + 0.2101592602337265, + -0.97740091676213, + -0.0228151977979741, + 0.03290497615091643, + 0.030394468835707705, + -0.9989962156128034 + ], + [ + 0.9793327646917159, + 0.19738604335124715, + 0.04411446351730615, + 0.19802895956386501, + -0.9801381020511867, + -0.010669211852359316, + 0.04113231303164533, + 0.01918465005250289, + -0.9989695100587553 + ], + [ + 0.9819515580931408, + 0.18556017938306893, + 0.036586300520494344, + 0.18625262860272088, + -0.9823633935416605, + -0.01649610159671403, + 0.03288002276504026, + 0.023012667308147265, + -0.9991943360759881 + ], + [ + 0.9836086432840482, + 0.17895684403422443, + 0.022101692926666507, + 0.17984512763078306, + -0.9824969416169304, + -0.0485333883099644, + 0.013029463702767634, + 0.05171274201479467, + -0.9985770002302926 + ], + [ + 0.9816824076920387, + 0.19052415072625198, + -0.00044544135663206197, + 0.19003610215777159, + -0.9793296938899999, + -0.06927936591799962, + -0.013635626301816549, + 0.0679256847986054, + -0.9975971987931791 + ], + [ + 0.977733444744842, + 0.20861008077042337, + -0.022784758685193186, + 0.2061501684691432, + -0.9751140304621897, + -0.08157656303085876, + -0.03923543127746809, + 0.07506305214112492, + -0.9964066033180079 + ], + [ + 0.9709017346015144, + 0.23677970519345362, + -0.03584958795121037, + 0.2328287425787928, + -0.9683379268051252, + -0.09006906316782817, + -0.05604104189742195, + 0.07910139517892961, + -0.9952900938438994 + ], + [ + 0.973598333685405, + 0.21947850128169355, + -0.06273334137557837, + 0.2142550753773793, + -0.973450833165903, + -0.08054960014577016, + -0.07874672894817109, + 0.06498201969584806, + -0.9947744919308156 + ], + [ + 0.9747769652218092, + 0.21293501408212534, + -0.06684719777825453, + 0.20862583813682745, + -0.9757666790510386, + -0.0659897546245916, + -0.07927879751021878, + 0.050379240085104623, + -0.995578627951495 + ], + [ + 0.9758943763732875, + 0.2125339242384269, + -0.04959331820726412, + 0.20956738832021923, + -0.9760182284477492, + -0.05890609043519757, + -0.06092352514123564, + 0.04709298021501568, + -0.9970308798120715 + ], + [ + 0.9773012728433254, + 0.2102168115142275, + 0.02628905201043548, + 0.2116542166074606, + -0.9742231508292484, + -0.0780496315213166, + 0.009204058403648923, + 0.08184219293935675, + -0.9966027998976217 + ], + [ + 0.9779659049947949, + 0.17943612541245818, + 0.10670222848973994, + 0.1880030869796409, + -0.9791873621540388, + -0.07646534564063012, + 0.0907608283007469, + 0.09484084929385672, + -0.9913464002816486 + ], + [ + 0.9778999092756026, + 0.17662474302504913, + 0.11187255065521207, + 0.18539735717879943, + -0.9799103183772488, + -0.07350910072171152, + 0.09664154070524905, + 0.09262541815902053, + -0.9909999720085675 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006117.json b/json/chunk-0006/episode_0006117.json new file mode 100644 index 0000000000000000000000000000000000000000..d1912881652916860628237dec3f66d38365c4a4 --- /dev/null +++ b/json/chunk-0006/episode_0006117.json @@ -0,0 +1,2302 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 37, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the orange cloth at the edge of the table." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006117.mp4", + "start": 0, + "end": 37, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3360568881034851, + -0.024542616680264473, + 0.18386419117450714, + 0.1362784206867218, + 0.266487717628479, + -2.353257417678833, + 0.0, + 0.9994885921478271 + ], + [ + 0.3374025523662567, + -0.024757467210292816, + 0.1734866201877594, + 0.11206541210412979, + 0.25030115246772766, + -2.3659470081329346, + 0.0, + 0.9994885921478271 + ], + [ + 0.3431583344936371, + 0.002246235031634569, + 0.17034266889095306, + 0.11509358882904053, + 0.28970903158187866, + -2.3711986541748047, + 0.0, + 0.9994885921478271 + ], + [ + 0.34815460443496704, + 0.0281282439827919, + 0.17358258366584778, + 0.13392162322998047, + 0.3321569263935089, + -2.3905768394470215, + 0.0, + 0.9994885921478271 + ], + [ + 0.34805700182914734, + 0.06627495586872101, + 0.17513243854045868, + 0.13365237414836884, + 0.3612794876098633, + -2.3846237659454346, + 0.0, + 0.9994885921478271 + ], + [ + 0.3434186577796936, + 0.09351159632205963, + 0.1744976043701172, + 0.13877396285533905, + 0.3670513927936554, + -2.404569625854492, + 0.0, + 0.9994885921478271 + ], + [ + 0.33735916018486023, + 0.1142277866601944, + 0.16998519003391266, + 0.11544489115476608, + 0.38162168860435486, + -2.4334263801574707, + 0.0, + 0.9994885921478271 + ], + [ + 0.3323715627193451, + 0.11341919004917145, + 0.15433740615844727, + 0.09575121104717255, + 0.3795906603336334, + -2.4972078800201416, + 0.0, + 0.9994885921478271 + ], + [ + 0.32695096731185913, + 0.09154848009347916, + 0.14267592132091522, + 0.09091585874557495, + 0.364489883184433, + -2.5663139820098877, + 0.0, + 0.9994885921478271 + ], + [ + 0.3296830952167511, + 0.06337049603462219, + 0.13803631067276, + 0.09448181092739105, + 0.3458385467529297, + -2.5954434871673584, + 0.0, + 0.9994885921478271 + ], + [ + 0.33387988805770874, + 0.05412530526518822, + 0.12877948582172394, + 0.08380914479494095, + 0.33070653676986694, + -2.5969412326812744, + 0.0, + 0.9994885921478271 + ], + [ + 0.3374953269958496, + 0.04763220250606537, + 0.10990848392248154, + 0.051009830087423325, + 0.29789745807647705, + -2.602792978286743, + 0.0, + 0.9994885921478271 + ], + [ + 0.3465043306350708, + 0.048672907054424286, + 0.09406357258558273, + 0.021661119535565376, + 0.2798551321029663, + -2.583244800567627, + 0.0, + 0.9994885921478271 + ], + [ + 0.35193461179733276, + 0.04792295768857002, + 0.0773366391658783, + 0.006975644268095493, + 0.2541258931159973, + -2.572239398956299, + 0.0, + 0.9994885921478271 + ], + [ + 0.3555186688899994, + 0.04415499046444893, + 0.06496774405241013, + -0.004196946509182453, + 0.23968733847141266, + -2.57564377784729, + 0.0, + 0.9994885921478271 + ], + [ + 0.3583398759365082, + 0.03982852026820183, + 0.05208335444331169, + -0.008177903480827808, + 0.2302025556564331, + -2.5866477489471436, + 0.0, + 0.9994885921478271 + ], + [ + 0.3591275215148926, + 0.030081385746598244, + 0.037333063781261444, + -0.02497926726937294, + 0.213450625538826, + -2.5927960872650146, + 0.0, + 0.9994885921478271 + ], + [ + 0.35954734683036804, + 0.031225141137838364, + 0.025929003953933716, + -0.03840167075395584, + 0.2074449509382248, + -2.582001209259033, + 0.0, + 0.9994885921478271 + ], + [ + 0.35892587900161743, + 0.03183766454458237, + 0.01671164110302925, + -0.05122371017932892, + 0.197122722864151, + -2.572166919708252, + 0.0, + 0.9994885921478271 + ], + [ + 0.36236372590065, + 0.031222892925143242, + 0.01588248647749424, + -0.04561932012438774, + 0.20338411629199982, + -2.569082260131836, + 0.0, + 0.9994885921478271 + ], + [ + 0.36168164014816284, + 0.02548518031835556, + 0.013933267444372177, + -0.03647058829665184, + 0.20117072761058807, + -2.5758397579193115, + 0.0, + 0.9994885921478271 + ], + [ + 0.3510962724685669, + 0.014329773373901844, + 0.009602118283510208, + -0.04031646251678467, + 0.1925632655620575, + -2.610210657119751, + 0.0, + 0.9994885921478271 + ], + [ + 0.33245849609375, + 0.0009834177326411009, + 0.009662609547376633, + -0.04193548858165741, + 0.1784101128578186, + -2.6505494117736816, + 0.0, + 0.9994885921478271 + ], + [ + 0.3154820501804352, + -0.009299459867179394, + 0.009298156946897507, + -0.04342881590127945, + 0.15645548701286316, + -2.6807384490966797, + 0.0, + 0.9994885921478271 + ], + [ + 0.2968336045742035, + -0.0173635296523571, + 0.0114280479028821, + -0.04742978885769844, + 0.14577250182628632, + -2.726625680923462, + 0.0, + 0.9994885921478271 + ], + [ + 0.2768112123012543, + -0.022746492177248, + 0.011959192343056202, + -0.05510995537042618, + 0.1389942616224289, + -2.7661967277526855, + 0.0, + 0.9994885921478271 + ], + [ + 0.25902286171913147, + -0.027510980144143105, + 0.010996582917869091, + -0.060400206595659256, + 0.13089513778686523, + -2.812972068786621, + 0.0, + 0.9994885921478271 + ], + [ + 0.2484179139137268, + -0.030528908595442772, + 0.010998068377375603, + -0.060218341648578644, + 0.1241975873708725, + -2.8364624977111816, + 0.0, + 0.9994885921478271 + ], + [ + 0.2466716170310974, + -0.03269379585981369, + 0.012894688174128532, + -0.049880433827638626, + 0.113956019282341, + -2.827692985534668, + 0.0, + 0.9994885921478271 + ], + [ + 0.25501570105552673, + -0.03315778821706772, + 0.01827048696577549, + -0.03706677258014679, + 0.12675920128822327, + -2.8214941024780273, + 0.0, + 0.9988223910331726 + ], + [ + 0.26907169818878174, + -0.022131305187940598, + 0.027123594656586647, + -0.020077407360076904, + 0.149845689535141, + -2.769240379333496, + 0.0, + 0.9988223910331726 + ], + [ + 0.28443169593811035, + -0.015535363927483559, + 0.04602542147040367, + 0.02235230803489685, + 0.17250026762485504, + -2.70467472076416, + 0.0, + 0.9988223910331726 + ], + [ + 0.2989642322063446, + -0.010668703354895115, + 0.07608768343925476, + 0.07457476854324341, + 0.1887410432100296, + -2.646723985671997, + 0.0, + 0.9988223910331726 + ], + [ + 0.30992618203163147, + -0.003165128407999873, + 0.1118735522031784, + 0.10792116075754166, + 0.19691960513591766, + -2.606119394302368, + 0.0, + 0.9988223910331726 + ], + [ + 0.31194207072257996, + 0.004547471646219492, + 0.14273706078529358, + 0.14324621856212616, + 0.21895314753055573, + -2.5763814449310303, + 0.0, + 0.9988223910331726 + ], + [ + 0.3122142255306244, + 0.009485880844295025, + 0.16016705334186554, + 0.17242807149887085, + 0.24459196627140045, + -2.542015790939331, + 0.0, + 0.9988223910331726 + ], + [ + 0.31107795238494873, + 0.014062651433050632, + 0.1652383953332901, + 0.1608588695526123, + 0.26818376779556274, + -2.5100746154785156, + 0.0, + 0.9988223910331726 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3360568881034851, + -0.024542616680264473, + 0.18386419117450714 + ], + [ + 0.3374025523662567, + -0.024757467210292816, + 0.1734866201877594 + ], + [ + 0.3431583344936371, + 0.002246235031634569, + 0.17034266889095306 + ], + [ + 0.34815460443496704, + 0.0281282439827919, + 0.17358258366584778 + ], + [ + 0.34805700182914734, + 0.06627495586872101, + 0.17513243854045868 + ], + [ + 0.3434186577796936, + 0.09351159632205963, + 0.1744976043701172 + ], + [ + 0.33735916018486023, + 0.1142277866601944, + 0.16998519003391266 + ], + [ + 0.3323715627193451, + 0.11341919004917145, + 0.15433740615844727 + ], + [ + 0.32695096731185913, + 0.09154848009347916, + 0.14267592132091522 + ], + [ + 0.3296830952167511, + 0.06337049603462219, + 0.13803631067276 + ], + [ + 0.33387988805770874, + 0.05412530526518822, + 0.12877948582172394 + ], + [ + 0.3374953269958496, + 0.04763220250606537, + 0.10990848392248154 + ], + [ + 0.3465043306350708, + 0.048672907054424286, + 0.09406357258558273 + ], + [ + 0.35193461179733276, + 0.04792295768857002, + 0.0773366391658783 + ], + [ + 0.3555186688899994, + 0.04415499046444893, + 0.06496774405241013 + ], + [ + 0.3583398759365082, + 0.03982852026820183, + 0.05208335444331169 + ], + [ + 0.3591275215148926, + 0.030081385746598244, + 0.037333063781261444 + ], + [ + 0.35954734683036804, + 0.031225141137838364, + 0.025929003953933716 + ], + [ + 0.35892587900161743, + 0.03183766454458237, + 0.01671164110302925 + ], + [ + 0.36236372590065, + 0.031222892925143242, + 0.01588248647749424 + ], + [ + 0.36168164014816284, + 0.02548518031835556, + 0.013933267444372177 + ], + [ + 0.3510962724685669, + 0.014329773373901844, + 0.009602118283510208 + ], + [ + 0.33245849609375, + 0.0009834177326411009, + 0.009662609547376633 + ], + [ + 0.3154820501804352, + -0.009299459867179394, + 0.009298156946897507 + ], + [ + 0.2968336045742035, + -0.0173635296523571, + 0.0114280479028821 + ], + [ + 0.2768112123012543, + -0.022746492177248, + 0.011959192343056202 + ], + [ + 0.25902286171913147, + -0.027510980144143105, + 0.010996582917869091 + ], + [ + 0.2484179139137268, + -0.030528908595442772, + 0.010998068377375603 + ], + [ + 0.2466716170310974, + -0.03269379585981369, + 0.012894688174128532 + ], + [ + 0.25501570105552673, + -0.03315778821706772, + 0.01827048696577549 + ], + [ + 0.26907169818878174, + -0.022131305187940598, + 0.027123594656586647 + ], + [ + 0.28443169593811035, + -0.015535363927483559, + 0.04602542147040367 + ], + [ + 0.2989642322063446, + -0.010668703354895115, + 0.07608768343925476 + ], + [ + 0.30992618203163147, + -0.003165128407999873, + 0.1118735522031784 + ], + [ + 0.31194207072257996, + 0.004547471646219492, + 0.14273706078529358 + ], + [ + 0.3122142255306244, + 0.009485880844295025, + 0.16016705334186554 + ], + [ + 0.31107795238494873, + 0.014062651433050632, + 0.1652383953332901 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + -0.6801407196113728, + -0.6773814476769185, + 0.2802908772501274, + -0.6841477452841876, + 0.7238627374801808, + 0.08924460717747185, + -0.2633447629042323, + -0.13106148034728166, + -0.9557575132951311 + ], + [ + -0.6917203192902388, + -0.6760081612600879, + 0.2540392996974382, + -0.678358180506772, + 0.7288855109082986, + 0.09249914014459809, + -0.2476957383980426, + -0.10834610236507483, + -0.9627605846116389 + ], + [ + -0.6877303052265813, + -0.6682673343223583, + 0.28362968312685916, + -0.6673962384239288, + 0.7357356169213012, + 0.11521876119375085, + -0.28567339429940514, + -0.11005394982062983, + -0.9519867855796817 + ], + [ + -0.6910407097495691, + -0.6444446234680439, + 0.3273436493227612, + -0.6450835093992018, + 0.7541609553482321, + 0.12291671704634666, + -0.3260828167352912, + -0.12622353469687414, + -0.9368765211694684 + ], + [ + -0.6799947367844255, + -0.6463576522610497, + 0.3461631743976592, + -0.6423901603752282, + 0.7527838427117888, + 0.14370583845189425, + -0.353471412986353, + -0.12465260332482939, + -0.9271028468761027 + ], + [ + -0.691149407667698, + -0.6288672177659813, + 0.3561439578314701, + -0.6273185425919063, + 0.7667172798444019, + 0.13644067908203864, + -0.35886479682598693, + -0.12911481405042166, + -0.9244162603458294 + ], + [ + -0.7049148758611172, + -0.6135280992800826, + 0.3559189362530109, + -0.6036504806893036, + 0.782403473734008, + 0.15313687162969716, + -0.37242598587273473, + -0.10690217810094779, + -0.9218843796073317 + ], + [ + -0.7425603647402924, + -0.5696334724070313, + 0.3523092559531637, + -0.5579462263313968, + 0.8170877328632785, + 0.14513319856911144, + -0.37054029907598124, + -0.08879945899528524, + -0.9245618112613277 + ], + [ + -0.7839205472199504, + -0.5146665785585155, + 0.3472562289740026, + -0.5083264347501085, + 0.853183932393375, + 0.11696757345529857, + -0.3564727358166641, + -0.08482623662905467, + -0.9304470421247705 + ], + [ + -0.803935504197777, + -0.4897556588202033, + 0.3373827199840774, + -0.48864752566859065, + 0.8673303038925936, + 0.09466646506310987, + -0.33898569401706286, + -0.08875549900242592, + -0.9365955160305864 + ], + [ + -0.8089615128070725, + -0.4930524893905897, + 0.3201257776290984, + -0.49004469462500516, + 0.8663893798535373, + 0.09605019389302938, + -0.3247113611606129, + -0.07917502878272614, + -0.942493420003809 + ], + [ + -0.8205208788851743, + -0.4995934627047764, + 0.277762235259137, + -0.4905067045416552, + 0.8648876169647097, + 0.10664231252552105, + -0.2935109199215361, + -0.04874199466329525, + -0.954712290610662 + ], + [ + -0.8151353868565492, + -0.5245872923671068, + 0.24568775667739756, + -0.5091746170482055, + 0.8511021293209953, + 0.12793113311106732, + -0.2762164195844223, + -0.020816775740160054, + -0.9608699971378785 + ], + [ + -0.8151996165447679, + -0.5375973055212997, + 0.2154964553803655, + -0.5217737929902302, + 0.8431746874714776, + 0.12964781276969062, + -0.2513994712282665, + -0.006751555644043519, + -0.9678598671101791 + ], + [ + -0.8199498222913328, + -0.5370532592159363, + 0.19813148586217177, + -0.5208877462346122, + 0.8435384847281979, + 0.13083875803859468, + -0.23739891479751535, + 0.004076953273702819, + -0.9714036924497282 + ], + [ + -0.8275084990079519, + -0.5284647980842856, + 0.1896170911477703, + -0.5129970485983788, + 0.8489178773097442, + 0.12717100972026024, + -0.2281747404928055, + 0.007962083248322274, + -0.9735876401389797 + ], + [ + -0.8337912808364967, + -0.5260120958876374, + 0.1676406125642859, + -0.5098222050416422, + 0.8501267167420186, + 0.1317796825307804, + -0.21183347055532045, + 0.02440984353351045, + -0.9770008906296644 + ], + [ + -0.8293025525393117, + -0.537149834545504, + 0.15403678651387093, + -0.5194589772573676, + 0.842649759214725, + 0.14178770836040708, + -0.20596030515250213, + 0.03756911687947825, + -0.9778388999003795 + ], + [ + -0.8259005994975528, + -0.546886752429439, + 0.1371243223019319, + -0.5287074142388932, + 0.8356996233627954, + 0.1485752659095887, + -0.19584858916623837, + 0.050209755311722615, + -0.9793479006936864 + ], + [ + -0.8232188934135649, + -0.5489226576232537, + 0.14489502915825075, + -0.53057777512735, + 0.8346790301440818, + 0.14764193570475354, + -0.20198484613420203, + 0.04466354873450669, + -0.9783697099494564 + ], + [ + -0.8271608338626397, + -0.5418456645879073, + 0.1490242620882646, + -0.5252411704424524, + 0.8397183126791874, + 0.13782187135379204, + -0.19981658538746302, + 0.035727176189949174, + -0.9791817507927664 + ], + [ + -0.8461731926481717, + -0.5129633481552865, + 0.14442829187149456, + -0.4973594079846516, + 0.8574984342198313, + 0.13164366524711163, + -0.1913754094254436, + 0.03956057077261464, + -0.9807193349309413 + ], + [ + -0.8678440092433598, + -0.47769236984354047, + 0.1365898071368186, + -0.4640613074655867, + 0.8775578598776937, + 0.1205790424585148, + -0.17746514737756627, + 0.04125775515153843, + -0.9832618771752082 + ], + [ + -0.8847330072223426, + -0.45035314928087056, + 0.12012304884622488, + -0.43928153290947947, + 0.891820008578165, + 0.1081147868903223, + -0.1558179732123624, + 0.0428848834957476, + -0.9868544198571275 + ], + [ + -0.905423762182125, + -0.40900874097868256, + 0.11366468527647515, + -0.3988837904245571, + 0.9113239714344866, + 0.10188395764502484, + -0.14525678164032535, + 0.046909155736467895, + -0.9882813357013208 + ], + [ + -0.9213899664082633, + -0.37318431639740585, + 0.10850804485005124, + -0.3631049684804695, + 0.926152077936495, + 0.10196622185169973, + -0.13854714600805412, + 0.054550843521559915, + -0.9888523114217358 + ], + [ + -0.9383916563116063, + -0.32960635047677916, + 0.10383040542220225, + -0.3199768611915312, + 0.9422197077271365, + 0.09918079790264475, + -0.1305216750841632, + 0.05984710599492909, + -0.9896375175978607 + ], + [ + -0.946461048062204, + -0.30698367065436855, + 0.0998624576733638, + -0.2981033235018474, + 0.949839322822839, + 0.0945498246249211, + -0.12387854139497739, + 0.05971839558310811, + -0.9904987734524622 + ], + [ + -0.9449676660647657, + -0.3137785506315408, + 0.09262359988511794, + -0.30676742063984586, + 0.9482031268892128, + 0.08248987690313721, + -0.1137095410512448, + 0.04953636362399265, + -0.9922783324011596 + ], + [ + -0.9415887596087356, + -0.3188909053710404, + 0.10825524583187951, + -0.3121355276019763, + 0.9470782556584927, + 0.07492789912644236, + -0.12642001497831898, + 0.036760959325139966, + -0.9912954209933467 + ], + [ + -0.9210361664349411, + -0.3665258847849099, + 0.13172378639207963, + -0.359730737904293, + 0.9301960600103794, + 0.07300059005240579, + -0.14928555297033982, + 0.01985108873098625, + -0.9885948401395458 + ], + [ + -0.8926130146254851, + -0.41956725932664424, + 0.164940355954302, + -0.41686885457485995, + 0.9074571560861335, + 0.05236284898199206, + -0.17164604337603484, + -0.02201873677564462, + -0.9849125905501246 + ], + [ + -0.864402812413681, + -0.46129419543753475, + 0.2000386041416906, + -0.46648214984370234, + 0.8842239432636366, + 0.023289955699886823, + -0.18762244473547446, + -0.07318253490377696, + -0.9795111713587248 + ], + [ + -0.8434062794169467, + -0.48915557454060493, + 0.22224462138804135, + -0.5003870099722635, + 0.8657765860629824, + 0.006613869982472577, + -0.1956494009474118, + -0.10563014210431515, + -0.9749685046133238 + ], + [ + -0.8243139560492762, + -0.5039231020254428, + 0.25800776947109094, + -0.5228070747516443, + 0.8524338594813886, + -0.005410896348422664, + -0.21720788303379107, + -0.13934856459511846, + -0.9661276898491522 + ], + [ + -0.8010022418443628, + -0.5216238182241214, + 0.2937754258299928, + -0.5474976914828439, + 0.8367777069562279, + -0.007024739285827614, + -0.24216045585780838, + -0.16646819937263058, + -0.9558486554974969 + ], + [ + -0.7782802850389119, + -0.5484936499255963, + 0.30567059706659383, + -0.5692671583480085, + 0.821768083126013, + 0.025141996376229936, + -0.26498056597821307, + -0.15444071207649937, + -0.9518053194362649 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + 0.0013456642627716064, + -0.0002148505300283432, + -0.010377570986747742, + -0.02421300858259201, + -0.016186565160751343, + -0.012689590454101562, + 1.0 + ], + [ + 0.005755782127380371, + 0.027003701776266098, + -0.0031439512968063354, + 0.003028176724910736, + 0.039407879114151, + -0.005251646041870117, + 1.0 + ], + [ + 0.004996269941329956, + 0.02588200941681862, + 0.0032399147748947144, + 0.01882803440093994, + 0.04244789481163025, + -0.019378185272216797, + 1.0 + ], + [ + -9.760260581970215e-05, + 0.03814671188592911, + 0.0015498548746109009, + -0.0002692490816116333, + 0.02912256121635437, + 0.005953073501586914, + 1.0 + ], + [ + -0.004638344049453735, + 0.027236640453338623, + -0.0006348341703414917, + 0.005121588706970215, + 0.005771905183792114, + -0.019945859909057617, + 1.0 + ], + [ + -0.006059497594833374, + 0.020716190338134766, + -0.004512414336204529, + -0.023329071700572968, + 0.014570295810699463, + -0.028856754302978516, + 1.0 + ], + [ + -0.004987597465515137, + -0.0008085966110229492, + -0.015647783875465393, + -0.019693680107593536, + -0.0020310282707214355, + -0.0637814998626709, + 1.0 + ], + [ + -0.005420595407485962, + -0.02187070995569229, + -0.011661484837532043, + -0.004835352301597595, + -0.01510077714920044, + -0.0691061019897461, + 1.0 + ], + [ + 0.0027321279048919678, + -0.028177984058856964, + -0.004639610648155212, + 0.003565952181816101, + -0.018651336431503296, + -0.029129505157470703, + 1.0 + ], + [ + 0.004196792840957642, + -0.009245190769433975, + -0.009256824851036072, + -0.010672666132450104, + -0.015132009983062744, + -0.0014977455139160156, + 1.0 + ], + [ + 0.003615438938140869, + -0.0064931027591228485, + -0.0188710018992424, + -0.032799314707517624, + -0.03280907869338989, + -0.00585174560546875, + 1.0 + ], + [ + 0.009009003639221191, + 0.0010407045483589172, + -0.015844911336898804, + -0.02934871055185795, + -0.018042325973510742, + 0.01954817771911621, + 1.0 + ], + [ + 0.005430281162261963, + -0.0007499493658542633, + -0.016726933419704437, + -0.014685475267469883, + -0.025729238986968994, + 0.011005401611328125, + 1.0 + ], + [ + 0.003584057092666626, + -0.0037679672241210938, + -0.01236889511346817, + -0.011172590777277946, + -0.014438554644584656, + -0.003404378890991211, + 1.0 + ], + [ + 0.002821207046508789, + -0.004326470196247101, + -0.012884389609098434, + -0.003980956971645355, + -0.009484782814979553, + -0.011003971099853516, + 1.0 + ], + [ + 0.0007876455783843994, + -0.009747134521603584, + -0.014750290662050247, + -0.016801364719867706, + -0.016751930117607117, + -0.006148338317871094, + 1.0 + ], + [ + 0.00041982531547546387, + 0.00114375539124012, + -0.011404059827327728, + -0.013422403484582901, + -0.006005674600601196, + 0.010794878005981445, + 1.0 + ], + [ + -0.0006214678287506104, + 0.0006125234067440033, + -0.009217362850904465, + -0.012822039425373077, + -0.010322228074073792, + 0.00983428955078125, + 1.0 + ], + [ + 0.0034378468990325928, + -0.0006147716194391251, + -0.0008291546255350113, + 0.005604390054941177, + 0.006261393427848816, + 0.0030846595764160156, + 1.0 + ], + [ + -0.0006820857524871826, + -0.005737712606787682, + -0.0019492190331220627, + 0.009148731827735901, + -0.002213388681411743, + -0.006757497787475586, + 1.0 + ], + [ + -0.010585367679595947, + -0.011155406944453716, + -0.004331149160861969, + -0.0038458742201328278, + -0.008607462048530579, + -0.03437089920043945, + 1.0 + ], + [ + -0.018637776374816895, + -0.0133463554084301, + 6.049126386642456e-05, + -0.0016190260648727417, + -0.014153152704238892, + -0.040338754653930664, + 1.0 + ], + [ + -0.01697644591331482, + -0.010282877832651138, + -0.000364452600479126, + -0.0014933273196220398, + -0.021954625844955444, + -0.030189037322998047, + 1.0 + ], + [ + -0.01864844560623169, + -0.008064069785177708, + 0.0021298909559845924, + -0.004000972956418991, + -0.010682985186576843, + -0.04588723182678223, + 1.0 + ], + [ + -0.02002239227294922, + -0.0053829625248909, + 0.0005311444401741028, + -0.007680166512727737, + -0.006778240203857422, + -0.03957104682922363, + 1.0 + ], + [ + -0.017788350582122803, + -0.0047644879668951035, + -0.0009626094251871109, + -0.005290251225233078, + -0.00809912383556366, + -0.04677534103393555, + 1.0 + ], + [ + -0.010604947805404663, + -0.0030179284512996674, + 1.4854595065116882e-06, + 0.00018186494708061218, + -0.006697550415992737, + -0.023490428924560547, + 1.0 + ], + [ + -0.0017462968826293945, + -0.0021648872643709183, + 0.0018966197967529297, + 0.010337907820940018, + -0.010241568088531494, + 0.008769512176513672, + 1.0 + ], + [ + 0.008344084024429321, + -0.0004639923572540283, + 0.005375798791646957, + 0.012813661247491837, + 0.012803182005882263, + 0.006198883056640625, + 1.0 + ], + [ + 0.014055997133255005, + 0.011026483029127121, + 0.008853107690811157, + 0.016989365220069885, + 0.023086488246917725, + 0.05225372314453125, + 1.0 + ], + [ + 0.015359997749328613, + 0.006595941260457039, + 0.018901826813817024, + 0.042429715394973755, + 0.02265457808971405, + 0.06456565856933594, + 1.0 + ], + [ + 0.014532536268234253, + 0.004866660572588444, + 0.03006226196885109, + 0.05222246050834656, + 0.01624077558517456, + 0.057950735092163086, + 1.0 + ], + [ + 0.010961949825286865, + 0.007503574714064598, + 0.035785868763923645, + 0.03334639221429825, + 0.008178561925888062, + 0.040604591369628906, + 1.0 + ], + [ + 0.0020158886909484863, + 0.0077125998213887215, + 0.030863508582115173, + 0.0353250578045845, + 0.02203354239463806, + 0.02973794937133789, + 1.0 + ], + [ + 0.0002721548080444336, + 0.004938409198075533, + 0.01742999255657196, + 0.02918185293674469, + 0.025638818740844727, + 0.03436565399169922, + 1.0 + ], + [ + -0.0011362731456756592, + 0.004576770588755608, + 0.0050713419914245605, + -0.011569201946258545, + 0.023591801524162292, + 0.03194117546081543, + 1.0 + ], + [ + 5.552172660827637e-05, + -0.0013793008401989937, + -5.751848220825195e-06, + 0.0034112781286239624, + -0.002184063196182251, + 0.0013508796691894531, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3374025523662567, + -0.024757467210292816, + 0.1734866201877594 + ], + [ + 0.3431583344936371, + 0.002246235031634569, + 0.17034266889095306 + ], + [ + 0.34815460443496704, + 0.0281282439827919, + 0.17358258366584778 + ], + [ + 0.34805700182914734, + 0.06627495586872101, + 0.17513243854045868 + ], + [ + 0.3434186577796936, + 0.09351159632205963, + 0.1744976043701172 + ], + [ + 0.33735916018486023, + 0.1142277866601944, + 0.16998519003391266 + ], + [ + 0.3323715627193451, + 0.11341919004917145, + 0.15433740615844727 + ], + [ + 0.32695096731185913, + 0.09154848009347916, + 0.14267592132091522 + ], + [ + 0.3296830952167511, + 0.06337049603462219, + 0.13803631067276 + ], + [ + 0.33387988805770874, + 0.05412530526518822, + 0.12877948582172394 + ], + [ + 0.3374953269958496, + 0.04763220250606537, + 0.10990848392248154 + ], + [ + 0.3465043306350708, + 0.048672907054424286, + 0.09406357258558273 + ], + [ + 0.35193461179733276, + 0.04792295768857002, + 0.0773366391658783 + ], + [ + 0.3555186688899994, + 0.04415499046444893, + 0.06496774405241013 + ], + [ + 0.3583398759365082, + 0.03982852026820183, + 0.05208335444331169 + ], + [ + 0.3591275215148926, + 0.030081385746598244, + 0.037333063781261444 + ], + [ + 0.35954734683036804, + 0.031225141137838364, + 0.025929003953933716 + ], + [ + 0.35892587900161743, + 0.03183766454458237, + 0.01671164110302925 + ], + [ + 0.36236372590065, + 0.031222892925143242, + 0.01588248647749424 + ], + [ + 0.36168164014816284, + 0.02548518031835556, + 0.013933267444372177 + ], + [ + 0.3510962724685669, + 0.014329773373901844, + 0.009602118283510208 + ], + [ + 0.33245849609375, + 0.0009834177326411009, + 0.009662609547376633 + ], + [ + 0.3154820501804352, + -0.009299459867179394, + 0.009298156946897507 + ], + [ + 0.2968336045742035, + -0.0173635296523571, + 0.0114280479028821 + ], + [ + 0.2768112123012543, + -0.022746492177248, + 0.011959192343056202 + ], + [ + 0.25902286171913147, + -0.027510980144143105, + 0.010996582917869091 + ], + [ + 0.2484179139137268, + -0.030528908595442772, + 0.010998068377375603 + ], + [ + 0.2466716170310974, + -0.03269379585981369, + 0.012894688174128532 + ], + [ + 0.25501570105552673, + -0.03315778821706772, + 0.01827048696577549 + ], + [ + 0.26907169818878174, + -0.022131305187940598, + 0.027123594656586647 + ], + [ + 0.28443169593811035, + -0.015535363927483559, + 0.04602542147040367 + ], + [ + 0.2989642322063446, + -0.010668703354895115, + 0.07608768343925476 + ], + [ + 0.30992618203163147, + -0.003165128407999873, + 0.1118735522031784 + ], + [ + 0.31194207072257996, + 0.004547471646219492, + 0.14273706078529358 + ], + [ + 0.3122142255306244, + 0.009485880844295025, + 0.16016705334186554 + ], + [ + 0.31107795238494873, + 0.014062651433050632, + 0.1652383953332901 + ], + [ + 0.311133474111557, + 0.012683350592851639, + 0.16523264348506927 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + -0.6917203192902388, + -0.6760081612600879, + 0.2540392996974382, + -0.678358180506772, + 0.7288855109082986, + 0.09249914014459809, + -0.2476957383980426, + -0.10834610236507483, + -0.9627605846116389 + ], + [ + -0.6877303052265813, + -0.6682673343223583, + 0.28362968312685916, + -0.6673962384239288, + 0.7357356169213012, + 0.11521876119375085, + -0.28567339429940514, + -0.11005394982062983, + -0.9519867855796817 + ], + [ + -0.6910407097495691, + -0.6444446234680439, + 0.3273436493227612, + -0.6450835093992018, + 0.7541609553482321, + 0.12291671704634666, + -0.3260828167352912, + -0.12622353469687414, + -0.9368765211694684 + ], + [ + -0.6799947367844255, + -0.6463576522610497, + 0.3461631743976592, + -0.6423901603752282, + 0.7527838427117888, + 0.14370583845189425, + -0.353471412986353, + -0.12465260332482939, + -0.9271028468761027 + ], + [ + -0.691149407667698, + -0.6288672177659813, + 0.3561439578314701, + -0.6273185425919063, + 0.7667172798444019, + 0.13644067908203864, + -0.35886479682598693, + -0.12911481405042166, + -0.9244162603458294 + ], + [ + -0.7049148758611172, + -0.6135280992800826, + 0.3559189362530109, + -0.6036504806893036, + 0.782403473734008, + 0.15313687162969716, + -0.37242598587273473, + -0.10690217810094779, + -0.9218843796073317 + ], + [ + -0.7425603647402924, + -0.5696334724070313, + 0.3523092559531637, + -0.5579462263313968, + 0.8170877328632785, + 0.14513319856911144, + -0.37054029907598124, + -0.08879945899528524, + -0.9245618112613277 + ], + [ + -0.7839205472199504, + -0.5146665785585155, + 0.3472562289740026, + -0.5083264347501085, + 0.853183932393375, + 0.11696757345529857, + -0.3564727358166641, + -0.08482623662905467, + -0.9304470421247705 + ], + [ + -0.803935504197777, + -0.4897556588202033, + 0.3373827199840774, + -0.48864752566859065, + 0.8673303038925936, + 0.09466646506310987, + -0.33898569401706286, + -0.08875549900242592, + -0.9365955160305864 + ], + [ + -0.8089615128070725, + -0.4930524893905897, + 0.3201257776290984, + -0.49004469462500516, + 0.8663893798535373, + 0.09605019389302938, + -0.3247113611606129, + -0.07917502878272614, + -0.942493420003809 + ], + [ + -0.8205208788851743, + -0.4995934627047764, + 0.277762235259137, + -0.4905067045416552, + 0.8648876169647097, + 0.10664231252552105, + -0.2935109199215361, + -0.04874199466329525, + -0.954712290610662 + ], + [ + -0.8151353868565492, + -0.5245872923671068, + 0.24568775667739756, + -0.5091746170482055, + 0.8511021293209953, + 0.12793113311106732, + -0.2762164195844223, + -0.020816775740160054, + -0.9608699971378785 + ], + [ + -0.8151996165447679, + -0.5375973055212997, + 0.2154964553803655, + -0.5217737929902302, + 0.8431746874714776, + 0.12964781276969062, + -0.2513994712282665, + -0.006751555644043519, + -0.9678598671101791 + ], + [ + -0.8199498222913328, + -0.5370532592159363, + 0.19813148586217177, + -0.5208877462346122, + 0.8435384847281979, + 0.13083875803859468, + -0.23739891479751535, + 0.004076953273702819, + -0.9714036924497282 + ], + [ + -0.8275084990079519, + -0.5284647980842856, + 0.1896170911477703, + -0.5129970485983788, + 0.8489178773097442, + 0.12717100972026024, + -0.2281747404928055, + 0.007962083248322274, + -0.9735876401389797 + ], + [ + -0.8337912808364967, + -0.5260120958876374, + 0.1676406125642859, + -0.5098222050416422, + 0.8501267167420186, + 0.1317796825307804, + -0.21183347055532045, + 0.02440984353351045, + -0.9770008906296644 + ], + [ + -0.8293025525393117, + -0.537149834545504, + 0.15403678651387093, + -0.5194589772573676, + 0.842649759214725, + 0.14178770836040708, + -0.20596030515250213, + 0.03756911687947825, + -0.9778388999003795 + ], + [ + -0.8259005994975528, + -0.546886752429439, + 0.1371243223019319, + -0.5287074142388932, + 0.8356996233627954, + 0.1485752659095887, + -0.19584858916623837, + 0.050209755311722615, + -0.9793479006936864 + ], + [ + -0.8232188934135649, + -0.5489226576232537, + 0.14489502915825075, + -0.53057777512735, + 0.8346790301440818, + 0.14764193570475354, + -0.20198484613420203, + 0.04466354873450669, + -0.9783697099494564 + ], + [ + -0.8271608338626397, + -0.5418456645879073, + 0.1490242620882646, + -0.5252411704424524, + 0.8397183126791874, + 0.13782187135379204, + -0.19981658538746302, + 0.035727176189949174, + -0.9791817507927664 + ], + [ + -0.8461731926481717, + -0.5129633481552865, + 0.14442829187149456, + -0.4973594079846516, + 0.8574984342198313, + 0.13164366524711163, + -0.1913754094254436, + 0.03956057077261464, + -0.9807193349309413 + ], + [ + -0.8678440092433598, + -0.47769236984354047, + 0.1365898071368186, + -0.4640613074655867, + 0.8775578598776937, + 0.1205790424585148, + -0.17746514737756627, + 0.04125775515153843, + -0.9832618771752082 + ], + [ + -0.8847330072223426, + -0.45035314928087056, + 0.12012304884622488, + -0.43928153290947947, + 0.891820008578165, + 0.1081147868903223, + -0.1558179732123624, + 0.0428848834957476, + -0.9868544198571275 + ], + [ + -0.905423762182125, + -0.40900874097868256, + 0.11366468527647515, + -0.3988837904245571, + 0.9113239714344866, + 0.10188395764502484, + -0.14525678164032535, + 0.046909155736467895, + -0.9882813357013208 + ], + [ + -0.9213899664082633, + -0.37318431639740585, + 0.10850804485005124, + -0.3631049684804695, + 0.926152077936495, + 0.10196622185169973, + -0.13854714600805412, + 0.054550843521559915, + -0.9888523114217358 + ], + [ + -0.9383916563116063, + -0.32960635047677916, + 0.10383040542220225, + -0.3199768611915312, + 0.9422197077271365, + 0.09918079790264475, + -0.1305216750841632, + 0.05984710599492909, + -0.9896375175978607 + ], + [ + -0.946461048062204, + -0.30698367065436855, + 0.0998624576733638, + -0.2981033235018474, + 0.949839322822839, + 0.0945498246249211, + -0.12387854139497739, + 0.05971839558310811, + -0.9904987734524622 + ], + [ + -0.9449676660647657, + -0.3137785506315408, + 0.09262359988511794, + -0.30676742063984586, + 0.9482031268892128, + 0.08248987690313721, + -0.1137095410512448, + 0.04953636362399265, + -0.9922783324011596 + ], + [ + -0.9415887596087356, + -0.3188909053710404, + 0.10825524583187951, + -0.3121355276019763, + 0.9470782556584927, + 0.07492789912644236, + -0.12642001497831898, + 0.036760959325139966, + -0.9912954209933467 + ], + [ + -0.9210361664349411, + -0.3665258847849099, + 0.13172378639207963, + -0.359730737904293, + 0.9301960600103794, + 0.07300059005240579, + -0.14928555297033982, + 0.01985108873098625, + -0.9885948401395458 + ], + [ + -0.8926130146254851, + -0.41956725932664424, + 0.164940355954302, + -0.41686885457485995, + 0.9074571560861335, + 0.05236284898199206, + -0.17164604337603484, + -0.02201873677564462, + -0.9849125905501246 + ], + [ + -0.864402812413681, + -0.46129419543753475, + 0.2000386041416906, + -0.46648214984370234, + 0.8842239432636366, + 0.023289955699886823, + -0.18762244473547446, + -0.07318253490377696, + -0.9795111713587248 + ], + [ + -0.8434062794169467, + -0.48915557454060493, + 0.22224462138804135, + -0.5003870099722635, + 0.8657765860629824, + 0.006613869982472577, + -0.1956494009474118, + -0.10563014210431515, + -0.9749685046133238 + ], + [ + -0.8243139560492762, + -0.5039231020254428, + 0.25800776947109094, + -0.5228070747516443, + 0.8524338594813886, + -0.005410896348422664, + -0.21720788303379107, + -0.13934856459511846, + -0.9661276898491522 + ], + [ + -0.8010022418443628, + -0.5216238182241214, + 0.2937754258299928, + -0.5474976914828439, + 0.8367777069562279, + -0.007024739285827614, + -0.24216045585780838, + -0.16646819937263058, + -0.9558486554974969 + ], + [ + -0.7782802850389119, + -0.5484936499255963, + 0.30567059706659383, + -0.5692671583480085, + 0.821768083126013, + 0.025141996376229936, + -0.26498056597821307, + -0.15444071207649937, + -0.9518053194362649 + ], + [ + -0.7779753620571146, + -0.5488352351770585, + 0.30583364867235396, + -0.5706589395801596, + 0.8209050236645596, + 0.02152479499407879, + -0.26287394452351054, + -0.15778094546057292, + -0.9518416163103074 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006118.json b/json/chunk-0006/episode_0006118.json new file mode 100644 index 0000000000000000000000000000000000000000..f3b44e9a00b8c9367ac58091cc692e00c9e76470 --- /dev/null +++ b/json/chunk-0006/episode_0006118.json @@ -0,0 +1,2782 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 45, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the silver pot to the upper right of table." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006118.mp4", + "start": 0, + "end": 45, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.332806259393692, + 0.012357670813798904, + 0.14723750948905945, + -0.05079541727900505, + -0.19306586682796478, + -0.6235893368721008, + 0.0, + 1.0001531839370728 + ], + [ + 0.33130496740341187, + 0.01121359784156084, + 0.13743415474891663, + -0.07480776309967041, + -0.17134873569011688, + -0.6215801239013672, + 0.0, + 1.0001531839370728 + ], + [ + 0.3158351182937622, + 0.004286306444555521, + 0.13511957228183746, + -0.08434316515922546, + -0.17031274735927582, + -0.6578511595726013, + 0.0, + 1.0001531839370728 + ], + [ + 0.30256545543670654, + -0.005121730733662844, + 0.14622683823108673, + -0.05670509114861488, + -0.19685547053813934, + -0.711262583732605, + 0.0, + 1.0001531839370728 + ], + [ + 0.2839716672897339, + -0.024218033999204636, + 0.14329402148723602, + -0.039884649217128754, + -0.19580388069152832, + -0.7850562930107117, + 0.0, + 1.0001531839370728 + ], + [ + 0.26794418692588806, + -0.05013028159737587, + 0.13267497718334198, + -0.022749802097678185, + -0.16420161724090576, + -0.8838109970092773, + 0.0, + 1.0001531839370728 + ], + [ + 0.25309935212135315, + -0.08101751655340195, + 0.11834204196929932, + -0.025757815688848495, + -0.1405913084745407, + -0.9758514165878296, + 0.0, + 1.0001531839370728 + ], + [ + 0.24353571236133575, + -0.11037924885749817, + 0.09951046854257584, + -0.03409728407859802, + -0.10679009556770325, + -1.060149073600769, + 0.0, + 1.0001531839370728 + ], + [ + 0.24392497539520264, + -0.11522936075925827, + 0.07693503797054291, + -0.053764794021844864, + -0.06533362716436386, + -1.0673110485076904, + 0.0, + 1.0001531839370728 + ], + [ + 0.2433577924966812, + -0.10893916338682175, + 0.06178091838955879, + -0.06467220932245255, + -0.04060492664575577, + -1.0518330335617065, + 0.0, + 1.0001531839370728 + ], + [ + 0.24126356840133667, + -0.09801638126373291, + 0.05401118844747543, + -0.06845954805612564, + -0.029744191095232964, + -1.0177948474884033, + 0.0, + 1.0001531839370728 + ], + [ + 0.23273663222789764, + -0.0896671786904335, + 0.045164983719587326, + -0.07811175286769867, + -0.012671355158090591, + -0.9859640598297119, + 0.0, + 1.0001531839370728 + ], + [ + 0.22338993847370148, + -0.08472730219364166, + 0.04421490803360939, + -0.08169275522232056, + -0.007689879275858402, + -0.9552693963050842, + 0.0, + 1.0001531839370728 + ], + [ + 0.2167070508003235, + -0.08044850081205368, + 0.03746679425239563, + -0.07392124086618423, + 0.010684492066502571, + -0.9558933973312378, + 0.0, + 1.0001531839370728 + ], + [ + 0.21760347485542297, + -0.07561221718788147, + 0.02883821539580822, + -0.012639048509299755, + 0.0020467492286115885, + -0.9656423330307007, + 0.0, + 1.0001531839370728 + ], + [ + 0.22184817492961884, + -0.07059141993522644, + 0.02305164746940136, + 0.04966433718800545, + -0.017336510121822357, + -0.9640663862228394, + 0.0, + 1.0001531839370728 + ], + [ + 0.2274075150489807, + -0.07084976136684418, + 0.021687999367713928, + 0.07933187484741211, + -0.05292650684714317, + -0.9587469696998596, + 0.0, + 1.0001531839370728 + ], + [ + 0.23295913636684418, + -0.06994672119617462, + 0.01939457841217518, + 0.07581865787506104, + -0.058786746114492416, + -0.9509891271591187, + 0.0, + 0.9994885921478271 + ], + [ + 0.24377304315567017, + -0.06562357395887375, + 0.018159126862883568, + 0.07284943014383316, + -0.07777100056409836, + -0.918857216835022, + 0.0, + 0.9994885921478271 + ], + [ + 0.2549324333667755, + -0.06011281907558441, + 0.020379269495606422, + 0.08321104198694229, + -0.09097249060869217, + -0.8970789909362793, + 0.0, + 0.9988223910331726 + ], + [ + 0.2650895118713379, + -0.05458321049809456, + 0.020564483478665352, + 0.09044573456048965, + -0.09705479443073273, + -0.8708077073097229, + 0.0, + 0.9988223910331726 + ], + [ + 0.26985713839530945, + -0.04983356222510338, + 0.02303887903690338, + 0.09503224492073059, + -0.1013055294752121, + -0.8507661819458008, + 0.0, + 0.9988223910331726 + ], + [ + 0.27549007534980774, + -0.04402630031108856, + 0.02745729684829712, + 0.10095919668674469, + -0.10446623712778091, + -0.8317198753356934, + 0.0, + 0.9988223910331726 + ], + [ + 0.27752360701560974, + -0.03924405574798584, + 0.028046242892742157, + 0.10156067460775375, + -0.10211662203073502, + -0.8138411641120911, + 0.0, + 0.9988223910331726 + ], + [ + 0.28150996565818787, + -0.03316039219498634, + 0.0264141783118248, + 0.10575266182422638, + -0.09331869333982468, + -0.7945082187652588, + 0.0, + 0.9988223910331726 + ], + [ + 0.28497350215911865, + -0.028955603018403053, + 0.022003699094057083, + 0.10592613369226456, + -0.0781848356127739, + -0.7805352807044983, + 0.0, + 0.9988223910331726 + ], + [ + 0.28915226459503174, + -0.022592755034565926, + 0.019805610179901123, + 0.11418885737657547, + -0.07462133467197418, + -0.7568904757499695, + 0.0, + 0.9988223910331726 + ], + [ + 0.2953185439109802, + -0.01745506562292576, + 0.020100710913538933, + 0.11785662919282913, + -0.08156745135784149, + -0.7346606254577637, + 0.0, + 0.9988223910331726 + ], + [ + 0.2992931008338928, + -0.013135992921888828, + 0.02131686545908451, + 0.12031962722539902, + -0.0858389139175415, + -0.7132182121276855, + 0.0, + 0.9988223910331726 + ], + [ + 0.305031955242157, + -0.010225081816315651, + 0.022508529946208, + 0.13013438880443573, + -0.08835122734308243, + -0.7078903913497925, + 0.0, + 0.9988223910331726 + ], + [ + 0.3113923966884613, + -0.004860433749854565, + 0.027953803539276123, + 0.13645103573799133, + -0.0971233919262886, + -0.6880547404289246, + 0.0, + 0.9988223910331726 + ], + [ + 0.31692007184028625, + 0.0002464360441081226, + 0.025884512811899185, + 0.1359875351190567, + -0.10093234479427338, + -0.6728375554084778, + 0.0, + 0.9988223910331726 + ], + [ + 0.32125145196914673, + 0.006661097984761, + 0.02991282381117344, + 0.14113709330558777, + -0.10671523213386536, + -0.6527374386787415, + 0.0, + 0.9988223910331726 + ], + [ + 0.3241618573665619, + 0.01034726481884718, + 0.02967499941587448, + 0.14155520498752594, + -0.10439765453338623, + -0.6441709995269775, + 0.0, + 0.9988223910331726 + ], + [ + 0.3246602416038513, + 0.015791764482855797, + 0.0297969002276659, + 0.1445106863975525, + -0.10773596167564392, + -0.6308978796005249, + 0.0, + 0.9988223910331726 + ], + [ + 0.3247658312320709, + 0.01691543497145176, + 0.02937815710902214, + 0.1479145735502243, + -0.10532287508249283, + -0.6306751370429993, + 0.0, + 0.9988223910331726 + ], + [ + 0.32505935430526733, + 0.017360640689730644, + 0.029482953250408173, + 0.15320026874542236, + -0.10408814251422882, + -0.6266139149665833, + 0.0, + 0.9988223910331726 + ], + [ + 0.3254251480102539, + 0.020355941727757454, + 0.02976986952126026, + 0.16911746561527252, + -0.09668946266174316, + -0.6166238188743591, + 0.0, + 0.9988223910331726 + ], + [ + 0.3231202960014343, + 0.017044739797711372, + 0.031220009550452232, + 0.1352788507938385, + -0.08773726224899292, + -0.6079668998718262, + 0.0, + 0.9988223910331726 + ], + [ + 0.309987872838974, + -0.007219610270112753, + 0.030006427317857742, + 0.05397932603955269, + -0.04338086023926735, + -0.6280302405357361, + 0.0, + 0.9981546401977539 + ], + [ + 0.3068224787712097, + -0.023785807192325592, + 0.04195869341492653, + 0.0112429428845644, + -0.05308462679386139, + -0.6373885869979858, + 0.0, + 0.9981546401977539 + ], + [ + 0.29995524883270264, + -0.0303395614027977, + 0.05774116516113281, + -0.038419730961322784, + -0.05890602245926857, + -0.6115901470184326, + 0.0, + 0.9981546401977539 + ], + [ + 0.29894545674324036, + -0.021092889830470085, + 0.07972998172044754, + -0.044765669852495193, + -0.061176128685474396, + -0.558561384677887, + 0.0, + 0.9981546401977539 + ], + [ + 0.2958328425884247, + -0.014967236667871475, + 0.09554484486579895, + -0.005842798855155706, + -0.0817735493183136, + -0.5468630790710449, + 0.0, + 0.9981546401977539 + ], + [ + 0.28782907128334045, + -0.011347329244017601, + 0.10931548476219177, + 0.0015170940896496177, + -0.09410360455513, + -0.547473669052124, + 0.0, + 0.9981546401977539 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.332806259393692, + 0.012357670813798904, + 0.14723750948905945 + ], + [ + 0.33130496740341187, + 0.01121359784156084, + 0.13743415474891663 + ], + [ + 0.3158351182937622, + 0.004286306444555521, + 0.13511957228183746 + ], + [ + 0.30256545543670654, + -0.005121730733662844, + 0.14622683823108673 + ], + [ + 0.2839716672897339, + -0.024218033999204636, + 0.14329402148723602 + ], + [ + 0.26794418692588806, + -0.05013028159737587, + 0.13267497718334198 + ], + [ + 0.25309935212135315, + -0.08101751655340195, + 0.11834204196929932 + ], + [ + 0.24353571236133575, + -0.11037924885749817, + 0.09951046854257584 + ], + [ + 0.24392497539520264, + -0.11522936075925827, + 0.07693503797054291 + ], + [ + 0.2433577924966812, + -0.10893916338682175, + 0.06178091838955879 + ], + [ + 0.24126356840133667, + -0.09801638126373291, + 0.05401118844747543 + ], + [ + 0.23273663222789764, + -0.0896671786904335, + 0.045164983719587326 + ], + [ + 0.22338993847370148, + -0.08472730219364166, + 0.04421490803360939 + ], + [ + 0.2167070508003235, + -0.08044850081205368, + 0.03746679425239563 + ], + [ + 0.21760347485542297, + -0.07561221718788147, + 0.02883821539580822 + ], + [ + 0.22184817492961884, + -0.07059141993522644, + 0.02305164746940136 + ], + [ + 0.2274075150489807, + -0.07084976136684418, + 0.021687999367713928 + ], + [ + 0.23295913636684418, + -0.06994672119617462, + 0.01939457841217518 + ], + [ + 0.24377304315567017, + -0.06562357395887375, + 0.018159126862883568 + ], + [ + 0.2549324333667755, + -0.06011281907558441, + 0.020379269495606422 + ], + [ + 0.2650895118713379, + -0.05458321049809456, + 0.020564483478665352 + ], + [ + 0.26985713839530945, + -0.04983356222510338, + 0.02303887903690338 + ], + [ + 0.27549007534980774, + -0.04402630031108856, + 0.02745729684829712 + ], + [ + 0.27752360701560974, + -0.03924405574798584, + 0.028046242892742157 + ], + [ + 0.28150996565818787, + -0.03316039219498634, + 0.0264141783118248 + ], + [ + 0.28497350215911865, + -0.028955603018403053, + 0.022003699094057083 + ], + [ + 0.28915226459503174, + -0.022592755034565926, + 0.019805610179901123 + ], + [ + 0.2953185439109802, + -0.01745506562292576, + 0.020100710913538933 + ], + [ + 0.2992931008338928, + -0.013135992921888828, + 0.02131686545908451 + ], + [ + 0.305031955242157, + -0.010225081816315651, + 0.022508529946208 + ], + [ + 0.3113923966884613, + -0.004860433749854565, + 0.027953803539276123 + ], + [ + 0.31692007184028625, + 0.0002464360441081226, + 0.025884512811899185 + ], + [ + 0.32125145196914673, + 0.006661097984761, + 0.02991282381117344 + ], + [ + 0.3241618573665619, + 0.01034726481884718, + 0.02967499941587448 + ], + [ + 0.3246602416038513, + 0.015791764482855797, + 0.0297969002276659 + ], + [ + 0.3247658312320709, + 0.01691543497145176, + 0.02937815710902214 + ], + [ + 0.32505935430526733, + 0.017360640689730644, + 0.029482953250408173 + ], + [ + 0.3254251480102539, + 0.020355941727757454, + 0.02976986952126026 + ], + [ + 0.3231202960014343, + 0.017044739797711372, + 0.031220009550452232 + ], + [ + 0.309987872838974, + -0.007219610270112753, + 0.030006427317857742 + ], + [ + 0.3068224787712097, + -0.023785807192325592, + 0.04195869341492653 + ], + [ + 0.29995524883270264, + -0.0303395614027977, + 0.05774116516113281 + ], + [ + 0.29894545674324036, + -0.021092889830470085, + 0.07972998172044754 + ], + [ + 0.2958328425884247, + -0.014967236667871475, + 0.09554484486579895 + ], + [ + 0.28782907128334045, + -0.011347329244017601, + 0.10931548476219177 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.7967051630683297, + -0.5911078294326718, + 0.1259063823785807, + -0.5731032073711434, + -0.8050518503421809, + -0.15311509383969582, + 0.19186869687672903, + 0.04983023423611524, + -0.9801547586553868 + ], + [ + 0.8010541035578465, + -0.5910519329461661, + 0.094709744660916, + -0.5737927810514769, + -0.8032647409949885, + -0.1597735907071819, + 0.17051148813598163, + 0.07364352269449757, + -0.9825998493683978 + ], + [ + 0.7798591017859615, + -0.6205430501287379, + 0.08213467171978077, + -0.6025717589743635, + -0.7797648873493436, + -0.1699234996803189, + 0.16949057982122484, + 0.08302435422205039, + -0.9820284618878807 + ], + [ + 0.7429075258396801, + -0.6601386803974844, + 0.11092939508459124, + -0.6401830417536415, + -0.7490846235107813, + -0.17040510517812155, + 0.1955865054184994, + 0.055580117513183674, + -0.9791101926930392 + ], + [ + 0.6938321721467127, + -0.7117902414563576, + 0.10932323203086684, + -0.6933579329105438, + -0.7013022830930309, + -0.16561969870314386, + 0.19455511754819604, + 0.03911214512146481, + -0.9801114968919633 + ], + [ + 0.6256786047284726, + -0.7753196774101654, + 0.08605626883399281, + -0.7627617993744062, + -0.6311701518790795, + -0.14077882224275468, + 0.16346473931753375, + 0.022441862612900418, + -0.9862938922057228 + ], + [ + 0.5549332151918984, + -0.8299273729016499, + 0.05718113662168438, + -0.8200079867930563, + -0.5572883116422768, + -0.13044784131023163, + 0.14012861332497673, + 0.025500851269443285, + -0.9898048688060455 + ], + [ + 0.4859578412137344, + -0.8736971545419744, + 0.022321709346370983, + -0.867458435626317, + -0.485287864194358, + -0.10959722316929857, + 0.10658723668258555, + 0.033896474904263896, + -0.9937254097412598 + ], + [ + 0.481451874816579, + -0.8763334040930033, + -0.015615924768344946, + -0.874037573137985, + -0.47871098306045484, + -0.08303081018727382, + 0.06528715783876116, + 0.05362424421903203, + -0.996424622062941 + ], + [ + 0.4955713769788153, + -0.8678197480215504, + -0.03602631348242096, + -0.8676180935116695, + -0.4926653028773214, + -0.067229035036754, + 0.04059376960195759, + 0.06457386688599302, + -0.9970869378268343 + ], + [ + 0.5250113765259994, + -0.8500270931249806, + -0.04262622985640116, + -0.8505754513807638, + -0.5222821910863193, + -0.06117772783034072, + 0.029739805424465467, + 0.06837582780170874, + -0.9972162704979026 + ], + [ + 0.5520152138635658, + -0.8318081305568377, + -0.058089909646173714, + -0.8337377579400813, + -0.5495517853229049, + -0.0536114375246022, + 0.01267101606850305, + 0.07802608017801925, + -0.996870792110916 + ], + [ + 0.5773717533585057, + -0.8141087061958513, + -0.06220026462839212, + -0.816445175958593, + -0.5749508978288363, + -0.0533735865363855, + 0.007689803486883844, + 0.0815995072407435, + -0.9966355338539766 + ], + [ + 0.5768463074471777, + -0.8141435418271871, + -0.06647278304418361, + -0.8167828252098689, + -0.575948358694669, + -0.033901394648325756, + -0.0106842887802952, + 0.07384972185458719, + -0.9972121462132614 + ], + [ + 0.5688875381197259, + -0.8223340982550539, + -0.01155853879713398, + -0.8224127794456518, + -0.5688645660216725, + -0.005506880192257525, + -0.0020467477995775776, + 0.012638685533775024, + -0.999918033866488 + ], + [ + 0.570098420656349, + -0.8200132904688532, + 0.05065564351166561, + -0.8213934905340711, + -0.5701880610798231, + 0.014082212549410101, + 0.017335641706943784, + -0.049636462973062304, + -0.9986168920412534 + ], + [ + 0.5737414817699027, + -0.8134893656228658, + 0.09516177864554604, + -0.8173261965670614, + -0.5761703512760504, + 0.0023695391227022203, + 0.052901800552512424, + -0.07913771748629167, + -0.995459000245295 + ], + [ + 0.5798747995291569, + -0.8090669047228681, + 0.0956867835867477, + -0.8125843430422263, + -0.5828319538988065, + -0.003687676386636536, + 0.05875289195991205, + -0.07561519157323182, + -0.9954046616776968 + ], + [ + 0.6048950375817914, + -0.7893694395852958, + 0.10487078409985749, + -0.792506056281744, + -0.6096148024661359, + -0.017433971748611388, + 0.07769262684245067, + -0.07256500853007611, + -0.9943330303632428 + ], + [ + 0.6213155207631761, + -0.7740929091678557, + 0.12143801560808365, + -0.7782761946286958, + -0.627637690563434, + -0.018896937806839646, + 0.09084706122412442, + -0.08277135591643356, + -0.9924191221992326 + ], + [ + 0.6411772576945871, + -0.75608482985371, + 0.13125339721445622, + -0.7612500446421393, + -0.6482701497936945, + -0.015626337344430537, + 0.09690249608544724, + -0.08989740236262475, + -0.9912256873693611 + ], + [ + 0.6560265414022857, + -0.7420657497443927, + 0.1377229103382851, + -0.7479314320793865, + -0.6636463969914111, + -0.013116122445139385, + 0.1011323384651657, + -0.09440276911516085, + -0.9903839494357511 + ], + [ + 0.6699333594914043, + -0.7282480449939144, + 0.1443747858980307, + -0.7350617257704701, + -0.677943260738574, + -0.008786041571009026, + 0.10427633071746703, + -0.1002383169336514, + -0.9894840709533479 + ], + [ + 0.683133912233493, + -0.7160872174234331, + 0.14334278844548634, + -0.723143450134183, + -0.6906857158645565, + -0.00409785659775469, + 0.10193923917997882, + -0.1008580137789273, + -0.9896646162069134 + ], + [ + 0.6975872586728624, + -0.7026415124162331, + 0.14023880192981283, + -0.7104145883188884, + -0.7037397643896011, + 0.00783943368954982, + 0.09318330988425437, + -0.10509637979634287, + -0.9900866738385673 + ], + [ + 0.7083663807540731, + -0.6938483359871462, + 0.12958224131895119, + -0.701510261985168, + -0.7123652411050797, + 0.020472312883550225, + 0.07810520435205177, + -0.10540517023926821, + -0.9913573155729242 + ], + [ + 0.7249516374775726, + -0.676017035889853, + 0.13208364965158628, + -0.6847533187530475, + -0.7280732128878935, + 0.03197325650894996, + 0.07455210107886302, + -0.11362378211359227, + -0.9907227767458108 + ], + [ + 0.7395911099035783, + -0.6585759933276, + 0.13886198602986316, + -0.6681066405812127, + -0.7433326666661199, + 0.0330161093758991, + 0.08147703334608623, + -0.11719303596886632, + -0.9897612264367203 + ], + [ + 0.7534757402006981, + -0.6417584539829098, + 0.1428999498616975, + -0.6518620018008809, + -0.7575255073305281, + 0.03508612762580351, + 0.0857335379951067, + -0.1195875933577201, + -0.9891150428427171 + ], + [ + 0.7567720061170715, + -0.6360352904016586, + 0.15084840112251963, + -0.6476962877409271, + -0.7607566228939718, + 0.041699874934835325, + 0.08823632814303244, + -0.1292612474279766, + -0.9876770121396965 + ], + [ + 0.7688422511484293, + -0.6189434239471524, + 0.16059461635307384, + -0.6320429277452831, + -0.7736791429496256, + 0.04407177386835547, + 0.09697077052486555, + -0.13538693333297827, + -0.9860360277122259 + ], + [ + 0.7780762745149529, + -0.60677119418206, + 0.16256084690911438, + -0.6200359020326481, + -0.7833494857511912, + 0.04380711544834493, + 0.10076106007526925, + -0.13487883853377863, + -0.9857255742285917 + ], + [ + 0.7899049413556875, + -0.5894212639345546, + 0.16921216635827455, + -0.6039082771261397, + -0.7956251001544852, + 0.047702125976768976, + 0.10651279942056704, + -0.1398687728764286, + -0.98442457808287 + ], + [ + 0.7952444853580145, + -0.5827734091555402, + 0.16721651260834278, + -0.5972661683586463, + -0.8004292021899725, + 0.050854856363038686, + 0.10420812176528191, + -0.1403148098482606, + -0.9846077500687259 + ], + [ + 0.802816401798502, + -0.5712175111640968, + 0.17086948218684425, + -0.5864500199470745, + -0.8082152960293361, + 0.053520177207179456, + 0.10752766670667327, + -0.14317328732590717, + -0.9838390166530859 + ], + [ + 0.8031542298106611, + -0.5707381756744981, + 0.17088363866968043, + -0.5864224859591946, + -0.8079469987266948, + 0.05770888328468092, + 0.10512826022855393, + -0.14655914190616792, + -0.9835997493010282 + ], + [ + 0.8056337223181649, + -0.5666941000213988, + 0.1726618153058615, + -0.5832315451205783, + -0.8098283226316494, + 0.0633959986108931, + 0.10390028989392354, + -0.15177577166513248, + -0.9829388815666071 + ], + [ + 0.8120249017320291, + -0.5567778112429106, + 0.17496864826202982, + -0.5755830124014024, + -0.8135928964886525, + 0.08228483832475642, + 0.09653887715327444, + -0.1675263193971568, + -0.9811295416545291 + ], + [ + 0.8176538153329994, + -0.5562811735412209, + 0.1483020371909685, + -0.5690027618593198, + -0.8200621365788657, + 0.06110604835997773, + 0.08762474118566904, + -0.1343478623324832, + -0.9870524588991391 + ], + [ + 0.8084251293050929, + -0.5848028758505847, + 0.0667413417974903, + -0.5869992261421045, + -0.8093825624073883, + 0.01821472424772368, + 0.04336725511966585, + -0.053902356792035144, + -0.9976040382414507 + ], + [ + 0.8025204735640911, + -0.5945817866617031, + 0.049329387596483455, + -0.5942605135069305, + -0.8039567503198607, + -0.022538538142668846, + 0.05305969842494867, + -0.011226868900371735, + -0.9985282298551942 + ], + [ + 0.8173159751097326, + -0.5755977874035543, + 0.026110993212807958, + -0.5731742221516423, + -0.8168334903506473, + -0.06522545593890643, + 0.058871961843362554, + 0.0383436588983262, + -0.9975288747354645 + ], + [ + 0.8464320390698912, + -0.5317559973023241, + 0.028077794945416745, + -0.5289753784453256, + -0.8457188764164437, + -0.07031807073243944, + 0.06113797702419285, + 0.044667005786357475, + -0.9971293829586363 + ], + [ + 0.8513056975847044, + -0.5204091325151742, + 0.06673038329444701, + -0.5182726961222043, + -0.8538971979422884, + -0.04746564863698485, + 0.08168244434418655, + 0.005823241460937701, + -0.996641393955141 + ], + [ + 0.8500644749160224, + -0.5204094870511008, + 0.08102070274292278, + -0.5182287228071562, + -0.8539155019883158, + -0.047616240104676424, + 0.09396477714234575, + -0.0015103811613461082, + -0.9955743766315687 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0015012919902801514, + -0.0011440729722380638, + -0.009803354740142822, + -0.02401234582066536, + 0.0217171311378479, + 0.0020092129707336426, + 1.0 + ], + [ + -0.015469849109649658, + -0.00692729139700532, + -0.0023145824670791626, + -0.009535402059555054, + 0.0010359883308410645, + -0.03627103567123413, + 1.0 + ], + [ + -0.013269662857055664, + -0.009408037178218365, + 0.011107265949249268, + 0.02763807401061058, + -0.026542723178863525, + -0.05341142416000366, + 1.0 + ], + [ + -0.018593788146972656, + -0.01909630373120308, + -0.002932816743850708, + 0.01682044193148613, + 0.001051589846611023, + -0.07379370927810669, + 1.0 + ], + [ + -0.016027480363845825, + -0.025912247598171234, + -0.010619044303894043, + 0.01713484711945057, + 0.03160226345062256, + -0.09875470399856567, + 1.0 + ], + [ + -0.014844834804534912, + -0.030887234956026077, + -0.014332935214042664, + -0.003008013591170311, + 0.02361030876636505, + -0.09204041957855225, + 1.0 + ], + [ + -0.009563639760017395, + -0.029361732304096222, + -0.01883157342672348, + -0.008339468389749527, + 0.03380121290683746, + -0.08429765701293945, + 1.0 + ], + [ + 0.0003892630338668823, + -0.004850111901760101, + -0.02257543057203293, + -0.01966750994324684, + 0.041456468403339386, + -0.007161974906921387, + 1.0 + ], + [ + -0.0005671828985214233, + 0.0062901973724365234, + -0.015154119580984116, + -0.010907415300607681, + 0.024728700518608093, + 0.015478014945983887, + 1.0 + ], + [ + -0.0020942240953445435, + 0.010922782123088837, + -0.007769729942083359, + -0.0037873387336730957, + 0.010860735550522804, + 0.03403818607330322, + 1.0 + ], + [ + -0.008526936173439026, + 0.008349202573299408, + -0.008846204727888107, + -0.009652204811573029, + 0.017072835937142372, + 0.031830787658691406, + 1.0 + ], + [ + -0.009346693754196167, + 0.00493987649679184, + -0.0009500756859779358, + -0.003581002354621887, + 0.004981475882232189, + 0.030694663524627686, + 1.0 + ], + [ + -0.006682887673377991, + 0.004278801381587982, + -0.00674811378121376, + 0.007771514356136322, + 0.018374372273683548, + -0.0006240010261535645, + 1.0 + ], + [ + 0.0008964240550994873, + 0.004836283624172211, + -0.00862857885658741, + 0.061282191425561905, + -0.008637743070721626, + -0.00974893569946289, + 1.0 + ], + [ + 0.004244700074195862, + 0.005020797252655029, + -0.00578656792640686, + 0.06230338662862778, + -0.019383259117603302, + 0.0015759468078613281, + 1.0 + ], + [ + 0.0055593401193618774, + -0.0002583414316177368, + -0.0013636481016874313, + 0.029667537659406662, + -0.035589996725320816, + 0.005319416522979736, + 1.0 + ], + [ + 0.005551621317863464, + 0.0009030401706695557, + -0.0022934209555387497, + -0.0035132169723510742, + -0.005860239267349243, + 0.007757842540740967, + 1.0 + ], + [ + 0.010813906788825989, + 0.004323147237300873, + -0.0012354515492916107, + -0.0029692277312278748, + -0.018984254449605942, + 0.03213191032409668, + 1.0 + ], + [ + 0.011159390211105347, + 0.005510754883289337, + 0.0022201426327228546, + 0.01036161184310913, + -0.013201490044593811, + 0.021778225898742676, + 1.0 + ], + [ + 0.010157078504562378, + 0.005529608577489853, + 0.00018521398305892944, + 0.007234692573547363, + -0.006082303822040558, + 0.026271283626556396, + 1.0 + ], + [ + 0.004767626523971558, + 0.00474964827299118, + 0.0024743955582380295, + 0.004586510360240936, + -0.00425073504447937, + 0.02004152536392212, + 1.0 + ], + [ + 0.005632936954498291, + 0.005807261914014816, + 0.004418417811393738, + 0.005926951766014099, + -0.003160707652568817, + 0.019046306610107422, + 1.0 + ], + [ + 0.002033531665802002, + 0.004782244563102722, + 0.0005889460444450378, + 0.0006014779210090637, + 0.0023496150970458984, + 0.017878711223602295, + 1.0 + ], + [ + 0.003986358642578125, + 0.0060836635529994965, + -0.0016320645809173584, + 0.004191987216472626, + 0.00879792869091034, + 0.019332945346832275, + 1.0 + ], + [ + 0.003463536500930786, + 0.00420478917658329, + -0.0044104792177677155, + 0.0001734718680381775, + 0.015133857727050781, + 0.013972938060760498, + 1.0 + ], + [ + 0.004178762435913086, + 0.006362847983837128, + -0.00219808891415596, + 0.008262723684310913, + 0.003563500940799713, + 0.02364480495452881, + 1.0 + ], + [ + 0.006166279315948486, + 0.005137689411640167, + 0.00029510073363780975, + 0.003667771816253662, + -0.00694611668586731, + 0.02222985029220581, + 1.0 + ], + [ + 0.003974556922912598, + 0.00431907270103693, + 0.001216154545545578, + 0.0024629980325698853, + -0.004271462559700012, + 0.021442413330078125, + 1.0 + ], + [ + 0.00573885440826416, + 0.0029109111055731773, + 0.0011916644871234894, + 0.009814761579036713, + -0.002512313425540924, + 0.005327820777893066, + 1.0 + ], + [ + 0.006360441446304321, + 0.005364648066461086, + 0.005445273593068123, + 0.006316646933555603, + -0.008772164583206177, + 0.01983565092086792, + 1.0 + ], + [ + 0.005527675151824951, + 0.0051068696193397045, + -0.002069290727376938, + -0.00046350061893463135, + -0.0038089528679847717, + 0.015217185020446777, + 1.0 + ], + [ + 0.004331380128860474, + 0.00641466211527586, + 0.004028310999274254, + 0.005149558186531067, + -0.00578288733959198, + 0.020100116729736328, + 1.0 + ], + [ + 0.002910405397415161, + 0.0036861668340861797, + -0.00023782439529895782, + 0.0004181116819381714, + 0.002317577600479126, + 0.008566439151763916, + 1.0 + ], + [ + 0.0004983842372894287, + 0.005444499664008617, + 0.00012190081179141998, + 0.0029554814100265503, + -0.0033383071422576904, + 0.013273119926452637, + 1.0 + ], + [ + 0.00010558962821960449, + 0.0011236704885959625, + -0.0004187431186437607, + 0.003403887152671814, + 0.0024130865931510925, + 0.00022274255752563477, + 1.0 + ], + [ + 0.00029352307319641113, + 0.0004452057182788849, + 0.0001047961413860321, + 0.005285695195198059, + 0.0012347325682640076, + 0.004061222076416016, + 1.0 + ], + [ + 0.00036579370498657227, + 0.0029953010380268097, + 0.00028691627085208893, + 0.01591719686985016, + 0.007398679852485657, + 0.009990096092224121, + 1.0 + ], + [ + -0.00230485200881958, + -0.0033112019300460815, + 0.0014501400291919708, + -0.03383861482143402, + 0.008952200412750244, + 0.008656919002532959, + 1.0 + ], + [ + -0.013132423162460327, + -0.024264350533485413, + -0.00121358223259449, + -0.08129952847957611, + 0.04435640200972557, + -0.020063340663909912, + 1.0 + ], + [ + -0.0031653940677642822, + -0.016566196456551552, + 0.011952266097068787, + -0.04273638129234314, + -0.00970376655459404, + -0.009358346462249756, + 1.0 + ], + [ + -0.00686722993850708, + -0.006553754210472107, + 0.015782471746206284, + -0.049662671983242035, + -0.005821395665407181, + 0.025798439979553223, + 1.0 + ], + [ + -0.0010097920894622803, + 0.009246671572327614, + 0.021988816559314728, + -0.006345938891172409, + -0.002270106226205826, + 0.053028762340545654, + 1.0 + ], + [ + -0.003112614154815674, + 0.00612565316259861, + 0.01581486314535141, + 0.03892287239432335, + -0.020597420632839203, + 0.011698305606842041, + 1.0 + ], + [ + -0.008003771305084229, + 0.003619907423853874, + 0.013770639896392822, + 0.007359893061220646, + -0.012330055236816406, + -0.0006105899810791016, + 1.0 + ], + [ + -0.006007075309753418, + 0.0019030701369047165, + 0.01574885845184326, + 0.01268341951072216, + -0.02059386670589447, + -0.017668187618255615, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.33130496740341187, + 0.01121359784156084, + 0.13743415474891663 + ], + [ + 0.3158351182937622, + 0.004286306444555521, + 0.13511957228183746 + ], + [ + 0.30256545543670654, + -0.005121730733662844, + 0.14622683823108673 + ], + [ + 0.2839716672897339, + -0.024218033999204636, + 0.14329402148723602 + ], + [ + 0.26794418692588806, + -0.05013028159737587, + 0.13267497718334198 + ], + [ + 0.25309935212135315, + -0.08101751655340195, + 0.11834204196929932 + ], + [ + 0.24353571236133575, + -0.11037924885749817, + 0.09951046854257584 + ], + [ + 0.24392497539520264, + -0.11522936075925827, + 0.07693503797054291 + ], + [ + 0.2433577924966812, + -0.10893916338682175, + 0.06178091838955879 + ], + [ + 0.24126356840133667, + -0.09801638126373291, + 0.05401118844747543 + ], + [ + 0.23273663222789764, + -0.0896671786904335, + 0.045164983719587326 + ], + [ + 0.22338993847370148, + -0.08472730219364166, + 0.04421490803360939 + ], + [ + 0.2167070508003235, + -0.08044850081205368, + 0.03746679425239563 + ], + [ + 0.21760347485542297, + -0.07561221718788147, + 0.02883821539580822 + ], + [ + 0.22184817492961884, + -0.07059141993522644, + 0.02305164746940136 + ], + [ + 0.2274075150489807, + -0.07084976136684418, + 0.021687999367713928 + ], + [ + 0.23295913636684418, + -0.06994672119617462, + 0.01939457841217518 + ], + [ + 0.24377304315567017, + -0.06562357395887375, + 0.018159126862883568 + ], + [ + 0.2549324333667755, + -0.06011281907558441, + 0.020379269495606422 + ], + [ + 0.2650895118713379, + -0.05458321049809456, + 0.020564483478665352 + ], + [ + 0.26985713839530945, + -0.04983356222510338, + 0.02303887903690338 + ], + [ + 0.27549007534980774, + -0.04402630031108856, + 0.02745729684829712 + ], + [ + 0.27752360701560974, + -0.03924405574798584, + 0.028046242892742157 + ], + [ + 0.28150996565818787, + -0.03316039219498634, + 0.0264141783118248 + ], + [ + 0.28497350215911865, + -0.028955603018403053, + 0.022003699094057083 + ], + [ + 0.28915226459503174, + -0.022592755034565926, + 0.019805610179901123 + ], + [ + 0.2953185439109802, + -0.01745506562292576, + 0.020100710913538933 + ], + [ + 0.2992931008338928, + -0.013135992921888828, + 0.02131686545908451 + ], + [ + 0.305031955242157, + -0.010225081816315651, + 0.022508529946208 + ], + [ + 0.3113923966884613, + -0.004860433749854565, + 0.027953803539276123 + ], + [ + 0.31692007184028625, + 0.0002464360441081226, + 0.025884512811899185 + ], + [ + 0.32125145196914673, + 0.006661097984761, + 0.02991282381117344 + ], + [ + 0.3241618573665619, + 0.01034726481884718, + 0.02967499941587448 + ], + [ + 0.3246602416038513, + 0.015791764482855797, + 0.0297969002276659 + ], + [ + 0.3247658312320709, + 0.01691543497145176, + 0.02937815710902214 + ], + [ + 0.32505935430526733, + 0.017360640689730644, + 0.029482953250408173 + ], + [ + 0.3254251480102539, + 0.020355941727757454, + 0.02976986952126026 + ], + [ + 0.3231202960014343, + 0.017044739797711372, + 0.031220009550452232 + ], + [ + 0.309987872838974, + -0.007219610270112753, + 0.030006427317857742 + ], + [ + 0.3068224787712097, + -0.023785807192325592, + 0.04195869341492653 + ], + [ + 0.29995524883270264, + -0.0303395614027977, + 0.05774116516113281 + ], + [ + 0.29894545674324036, + -0.021092889830470085, + 0.07972998172044754 + ], + [ + 0.2958328425884247, + -0.014967236667871475, + 0.09554484486579895 + ], + [ + 0.28782907128334045, + -0.011347329244017601, + 0.10931548476219177 + ], + [ + 0.28182199597358704, + -0.009444259107112885, + 0.12506434321403503 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8010541035578465, + -0.5910519329461661, + 0.094709744660916, + -0.5737927810514769, + -0.8032647409949885, + -0.1597735907071819, + 0.17051148813598163, + 0.07364352269449757, + -0.9825998493683978 + ], + [ + 0.7798591017859615, + -0.6205430501287379, + 0.08213467171978077, + -0.6025717589743635, + -0.7797648873493436, + -0.1699234996803189, + 0.16949057982122484, + 0.08302435422205039, + -0.9820284618878807 + ], + [ + 0.7429075258396801, + -0.6601386803974844, + 0.11092939508459124, + -0.6401830417536415, + -0.7490846235107813, + -0.17040510517812155, + 0.1955865054184994, + 0.055580117513183674, + -0.9791101926930392 + ], + [ + 0.6938321721467127, + -0.7117902414563576, + 0.10932323203086684, + -0.6933579329105438, + -0.7013022830930309, + -0.16561969870314386, + 0.19455511754819604, + 0.03911214512146481, + -0.9801114968919633 + ], + [ + 0.6256786047284726, + -0.7753196774101654, + 0.08605626883399281, + -0.7627617993744062, + -0.6311701518790795, + -0.14077882224275468, + 0.16346473931753375, + 0.022441862612900418, + -0.9862938922057228 + ], + [ + 0.5549332151918984, + -0.8299273729016499, + 0.05718113662168438, + -0.8200079867930563, + -0.5572883116422768, + -0.13044784131023163, + 0.14012861332497673, + 0.025500851269443285, + -0.9898048688060455 + ], + [ + 0.4859578412137344, + -0.8736971545419744, + 0.022321709346370983, + -0.867458435626317, + -0.485287864194358, + -0.10959722316929857, + 0.10658723668258555, + 0.033896474904263896, + -0.9937254097412598 + ], + [ + 0.481451874816579, + -0.8763334040930033, + -0.015615924768344946, + -0.874037573137985, + -0.47871098306045484, + -0.08303081018727382, + 0.06528715783876116, + 0.05362424421903203, + -0.996424622062941 + ], + [ + 0.4955713769788153, + -0.8678197480215504, + -0.03602631348242096, + -0.8676180935116695, + -0.4926653028773214, + -0.067229035036754, + 0.04059376960195759, + 0.06457386688599302, + -0.9970869378268343 + ], + [ + 0.5250113765259994, + -0.8500270931249806, + -0.04262622985640116, + -0.8505754513807638, + -0.5222821910863193, + -0.06117772783034072, + 0.029739805424465467, + 0.06837582780170874, + -0.9972162704979026 + ], + [ + 0.5520152138635658, + -0.8318081305568377, + -0.058089909646173714, + -0.8337377579400813, + -0.5495517853229049, + -0.0536114375246022, + 0.01267101606850305, + 0.07802608017801925, + -0.996870792110916 + ], + [ + 0.5773717533585057, + -0.8141087061958513, + -0.06220026462839212, + -0.816445175958593, + -0.5749508978288363, + -0.0533735865363855, + 0.007689803486883844, + 0.0815995072407435, + -0.9966355338539766 + ], + [ + 0.5768463074471777, + -0.8141435418271871, + -0.06647278304418361, + -0.8167828252098689, + -0.575948358694669, + -0.033901394648325756, + -0.0106842887802952, + 0.07384972185458719, + -0.9972121462132614 + ], + [ + 0.5688875381197259, + -0.8223340982550539, + -0.01155853879713398, + -0.8224127794456518, + -0.5688645660216725, + -0.005506880192257525, + -0.0020467477995775776, + 0.012638685533775024, + -0.999918033866488 + ], + [ + 0.570098420656349, + -0.8200132904688532, + 0.05065564351166561, + -0.8213934905340711, + -0.5701880610798231, + 0.014082212549410101, + 0.017335641706943784, + -0.049636462973062304, + -0.9986168920412534 + ], + [ + 0.5737414817699027, + -0.8134893656228658, + 0.09516177864554604, + -0.8173261965670614, + -0.5761703512760504, + 0.0023695391227022203, + 0.052901800552512424, + -0.07913771748629167, + -0.995459000245295 + ], + [ + 0.5798747995291569, + -0.8090669047228681, + 0.0956867835867477, + -0.8125843430422263, + -0.5828319538988065, + -0.003687676386636536, + 0.05875289195991205, + -0.07561519157323182, + -0.9954046616776968 + ], + [ + 0.6048950375817914, + -0.7893694395852958, + 0.10487078409985749, + -0.792506056281744, + -0.6096148024661359, + -0.017433971748611388, + 0.07769262684245067, + -0.07256500853007611, + -0.9943330303632428 + ], + [ + 0.6213155207631761, + -0.7740929091678557, + 0.12143801560808365, + -0.7782761946286958, + -0.627637690563434, + -0.018896937806839646, + 0.09084706122412442, + -0.08277135591643356, + -0.9924191221992326 + ], + [ + 0.6411772576945871, + -0.75608482985371, + 0.13125339721445622, + -0.7612500446421393, + -0.6482701497936945, + -0.015626337344430537, + 0.09690249608544724, + -0.08989740236262475, + -0.9912256873693611 + ], + [ + 0.6560265414022857, + -0.7420657497443927, + 0.1377229103382851, + -0.7479314320793865, + -0.6636463969914111, + -0.013116122445139385, + 0.1011323384651657, + -0.09440276911516085, + -0.9903839494357511 + ], + [ + 0.6699333594914043, + -0.7282480449939144, + 0.1443747858980307, + -0.7350617257704701, + -0.677943260738574, + -0.008786041571009026, + 0.10427633071746703, + -0.1002383169336514, + -0.9894840709533479 + ], + [ + 0.683133912233493, + -0.7160872174234331, + 0.14334278844548634, + -0.723143450134183, + -0.6906857158645565, + -0.00409785659775469, + 0.10193923917997882, + -0.1008580137789273, + -0.9896646162069134 + ], + [ + 0.6975872586728624, + -0.7026415124162331, + 0.14023880192981283, + -0.7104145883188884, + -0.7037397643896011, + 0.00783943368954982, + 0.09318330988425437, + -0.10509637979634287, + -0.9900866738385673 + ], + [ + 0.7083663807540731, + -0.6938483359871462, + 0.12958224131895119, + -0.701510261985168, + -0.7123652411050797, + 0.020472312883550225, + 0.07810520435205177, + -0.10540517023926821, + -0.9913573155729242 + ], + [ + 0.7249516374775726, + -0.676017035889853, + 0.13208364965158628, + -0.6847533187530475, + -0.7280732128878935, + 0.03197325650894996, + 0.07455210107886302, + -0.11362378211359227, + -0.9907227767458108 + ], + [ + 0.7395911099035783, + -0.6585759933276, + 0.13886198602986316, + -0.6681066405812127, + -0.7433326666661199, + 0.0330161093758991, + 0.08147703334608623, + -0.11719303596886632, + -0.9897612264367203 + ], + [ + 0.7534757402006981, + -0.6417584539829098, + 0.1428999498616975, + -0.6518620018008809, + -0.7575255073305281, + 0.03508612762580351, + 0.0857335379951067, + -0.1195875933577201, + -0.9891150428427171 + ], + [ + 0.7567720061170715, + -0.6360352904016586, + 0.15084840112251963, + -0.6476962877409271, + -0.7607566228939718, + 0.041699874934835325, + 0.08823632814303244, + -0.1292612474279766, + -0.9876770121396965 + ], + [ + 0.7688422511484293, + -0.6189434239471524, + 0.16059461635307384, + -0.6320429277452831, + -0.7736791429496256, + 0.04407177386835547, + 0.09697077052486555, + -0.13538693333297827, + -0.9860360277122259 + ], + [ + 0.7780762745149529, + -0.60677119418206, + 0.16256084690911438, + -0.6200359020326481, + -0.7833494857511912, + 0.04380711544834493, + 0.10076106007526925, + -0.13487883853377863, + -0.9857255742285917 + ], + [ + 0.7899049413556875, + -0.5894212639345546, + 0.16921216635827455, + -0.6039082771261397, + -0.7956251001544852, + 0.047702125976768976, + 0.10651279942056704, + -0.1398687728764286, + -0.98442457808287 + ], + [ + 0.7952444853580145, + -0.5827734091555402, + 0.16721651260834278, + -0.5972661683586463, + -0.8004292021899725, + 0.050854856363038686, + 0.10420812176528191, + -0.1403148098482606, + -0.9846077500687259 + ], + [ + 0.802816401798502, + -0.5712175111640968, + 0.17086948218684425, + -0.5864500199470745, + -0.8082152960293361, + 0.053520177207179456, + 0.10752766670667327, + -0.14317328732590717, + -0.9838390166530859 + ], + [ + 0.8031542298106611, + -0.5707381756744981, + 0.17088363866968043, + -0.5864224859591946, + -0.8079469987266948, + 0.05770888328468092, + 0.10512826022855393, + -0.14655914190616792, + -0.9835997493010282 + ], + [ + 0.8056337223181649, + -0.5666941000213988, + 0.1726618153058615, + -0.5832315451205783, + -0.8098283226316494, + 0.0633959986108931, + 0.10390028989392354, + -0.15177577166513248, + -0.9829388815666071 + ], + [ + 0.8120249017320291, + -0.5567778112429106, + 0.17496864826202982, + -0.5755830124014024, + -0.8135928964886525, + 0.08228483832475642, + 0.09653887715327444, + -0.1675263193971568, + -0.9811295416545291 + ], + [ + 0.8176538153329994, + -0.5562811735412209, + 0.1483020371909685, + -0.5690027618593198, + -0.8200621365788657, + 0.06110604835997773, + 0.08762474118566904, + -0.1343478623324832, + -0.9870524588991391 + ], + [ + 0.8084251293050929, + -0.5848028758505847, + 0.0667413417974903, + -0.5869992261421045, + -0.8093825624073883, + 0.01821472424772368, + 0.04336725511966585, + -0.053902356792035144, + -0.9976040382414507 + ], + [ + 0.8025204735640911, + -0.5945817866617031, + 0.049329387596483455, + -0.5942605135069305, + -0.8039567503198607, + -0.022538538142668846, + 0.05305969842494867, + -0.011226868900371735, + -0.9985282298551942 + ], + [ + 0.8173159751097326, + -0.5755977874035543, + 0.026110993212807958, + -0.5731742221516423, + -0.8168334903506473, + -0.06522545593890643, + 0.058871961843362554, + 0.0383436588983262, + -0.9975288747354645 + ], + [ + 0.8464320390698912, + -0.5317559973023241, + 0.028077794945416745, + -0.5289753784453256, + -0.8457188764164437, + -0.07031807073243944, + 0.06113797702419285, + 0.044667005786357475, + -0.9971293829586363 + ], + [ + 0.8513056975847044, + -0.5204091325151742, + 0.06673038329444701, + -0.5182726961222043, + -0.8538971979422884, + -0.04746564863698485, + 0.08168244434418655, + 0.005823241460937701, + -0.996641393955141 + ], + [ + 0.8500644749160224, + -0.5204094870511008, + 0.08102070274292278, + -0.5182287228071562, + -0.8539155019883158, + -0.047616240104676424, + 0.09396477714234575, + -0.0015103811613461082, + -0.9955743766315687 + ], + [ + 0.8389637296511736, + -0.5341091746154232, + 0.1042461026677912, + -0.5320168591947942, + -0.84529781121678, + -0.04929170198549816, + 0.11444615267582749, + -0.014106733986008636, + -0.9933292899104249 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006119.json b/json/chunk-0006/episode_0006119.json new file mode 100644 index 0000000000000000000000000000000000000000..0fc815d2e45f287ffd79e5de773bccecc98f605b --- /dev/null +++ b/json/chunk-0006/episode_0006119.json @@ -0,0 +1,2002 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 32, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the red fork above the left burner." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006119.mp4", + "start": 0, + "end": 32, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3422805666923523, + -0.008163826540112495, + 0.1192878857254982, + 0.2486386001110077, + -0.26143133640289307, + -0.6295169591903687, + 0.0, + 1.0001531839370728 + ], + [ + 0.34079164266586304, + -0.00804857537150383, + 0.10944519937038422, + 0.23151107132434845, + -0.23356643319129944, + -0.6279406547546387, + 0.0, + 1.0008161067962646 + ], + [ + 0.33382120728492737, + 0.015632417052984238, + 0.10704570263624191, + 0.2526668608188629, + -0.15954303741455078, + -0.6665029525756836, + 0.0, + 1.0008161067962646 + ], + [ + 0.33003807067871094, + 0.03457771986722946, + 0.11070184409618378, + 0.26199212670326233, + -0.10265984386205673, + -0.737507164478302, + 0.0, + 1.0008161067962646 + ], + [ + 0.32406002283096313, + 0.06492573767900467, + 0.1232096329331398, + 0.2910842001438141, + -0.0863422080874443, + -0.8420186638832092, + 0.0, + 1.0008161067962646 + ], + [ + 0.3155028223991394, + 0.09883883595466614, + 0.1249285489320755, + 0.30336183309555054, + -0.024285243824124336, + -0.9873850345611572, + 0.0, + 1.0001531839370728 + ], + [ + 0.3072298765182495, + 0.13041715323925018, + 0.12508726119995117, + 0.32059720158576965, + 0.046292636543512344, + -1.1191438436508179, + 0.0, + 1.0008161067962646 + ], + [ + 0.30767497420310974, + 0.15874606370925903, + 0.10921953618526459, + 0.32879069447517395, + 0.14735320210456848, + -1.1757034063339233, + 0.0, + 1.0008161067962646 + ], + [ + 0.3094717860221863, + 0.17643457651138306, + 0.08609626442193985, + 0.26590901613235474, + 0.13778246939182281, + -1.22021484375, + 0.0, + 1.0008161067962646 + ], + [ + 0.3119630515575409, + 0.1818712055683136, + 0.07078012824058533, + 0.2508202791213989, + 0.1562120020389557, + -1.2532674074172974, + 0.0, + 1.0001531839370728 + ], + [ + 0.31936806440353394, + 0.18379054963588715, + 0.052191633731126785, + 0.21724705398082733, + 0.13770169019699097, + -1.2790203094482422, + 0.0, + 1.0008161067962646 + ], + [ + 0.3213070333003998, + 0.18525783717632294, + 0.04027947410941124, + 0.1884259432554245, + 0.13607163727283478, + -1.3044153451919556, + 0.0, + 1.0008161067962646 + ], + [ + 0.32298001646995544, + 0.18616366386413574, + 0.028675468638539314, + 0.1613372564315796, + 0.1322217434644699, + -1.3183566331863403, + 0.0, + 1.0008161067962646 + ], + [ + 0.3226478695869446, + 0.18709902465343475, + 0.01889261230826378, + 0.13918724656105042, + 0.10910983383655548, + -1.3225871324539185, + 0.0, + 0.9499720335006714 + ], + [ + 0.3253750503063202, + 0.187111958861351, + 0.016249917447566986, + 0.1411399394273758, + 0.07861554622650146, + -1.3366737365722656, + 0.0, + 0.7845786809921265 + ], + [ + 0.32772159576416016, + 0.18522241711616516, + 0.016354110091924667, + 0.1514960080385208, + 0.06680519878864288, + -1.3581807613372803, + 0.0, + 0.48514097929000854 + ], + [ + 0.32566380500793457, + 0.1850280612707138, + 0.014698807150125504, + 0.14868299663066864, + 0.07125258445739746, + -1.3570200204849243, + 0.0, + 0.38924968242645264 + ], + [ + 0.32334980368614197, + 0.18470163643360138, + 0.014658007770776749, + 0.14577744901180267, + 0.07598169893026352, + -1.3573359251022339, + 0.0, + 0.3883807957172394 + ], + [ + 0.3220283091068268, + 0.1833730936050415, + 0.019309330731630325, + 0.13926321268081665, + 0.07721496373414993, + -1.3553133010864258, + 0.0, + 0.3866458535194397 + ], + [ + 0.33598634600639343, + 0.1784600466489792, + 0.04326081648468971, + 0.22110217809677124, + 0.06962389498949051, + -1.3784116506576538, + 0.0, + 0.37802740931510925 + ], + [ + 0.3512001931667328, + 0.1768222153186798, + 0.057910166680812836, + 0.2695477306842804, + 0.0607808455824852, + -1.4070696830749512, + 0.0, + 0.37802740931510925 + ], + [ + 0.3702918589115143, + 0.17241083085536957, + 0.07287472486495972, + 0.32289594411849976, + 0.05527143552899361, + -1.4602205753326416, + 0.0, + 0.37717074155807495 + ], + [ + 0.3872917890548706, + 0.16318367421627045, + 0.061633072793483734, + 0.3067673146724701, + 0.028693903237581253, + -1.516027569770813, + 0.0, + 0.37802740931510925 + ], + [ + 0.39830783009529114, + 0.16259659826755524, + 0.04847906529903412, + 0.2824292480945587, + 0.03255148231983185, + -1.542428970336914, + 0.0, + 0.37717074155807495 + ], + [ + 0.4042900800704956, + 0.16196537017822266, + 0.03748156502842903, + 0.26419368386268616, + 0.013178224675357342, + -1.5451915264129639, + 0.0, + 0.37717074155807495 + ], + [ + 0.40842336416244507, + 0.16261504590511322, + 0.027940649539232254, + 0.25382766127586365, + 0.008630333468317986, + -1.5560239553451538, + 0.0, + 0.37717074155807495 + ], + [ + 0.40955692529678345, + 0.16345597803592682, + 0.021597184240818024, + 0.24164848029613495, + -3.6950830690329894e-05, + -1.5326437950134277, + 0.0, + 0.43108752369880676 + ], + [ + 0.41101112961769104, + 0.16305477917194366, + 0.020237892866134644, + 0.2424827218055725, + -0.013304770924150944, + -1.5040231943130493, + 0.0, + 0.7398436665534973 + ], + [ + 0.4104129672050476, + 0.16472040116786957, + 0.021319258958101273, + 0.23513571918010712, + -0.002250055084004998, + -1.5103038549423218, + 0.0, + 0.9872581958770752 + ], + [ + 0.410533607006073, + 0.16578206419944763, + 0.021974071860313416, + 0.23424974083900452, + 0.003949491307139397, + -1.5108774900436401, + 0.0, + 1.0041072368621826 + ], + [ + 0.41057026386260986, + 0.16091549396514893, + 0.023850664496421814, + 0.2504449486732483, + -0.02518247626721859, + -1.5118696689605713, + 0.0, + 1.0001531839370728 + ], + [ + 0.41105926036834717, + 0.16615724563598633, + 0.04839230701327324, + 0.30190685391426086, + -0.017341630533337593, + -1.4970993995666504, + 0.0, + 1.0008161067962646 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9499720335006714 + ], + [ + 0.7845786809921265 + ], + [ + 0.48514097929000854 + ], + [ + 0.38924968242645264 + ], + [ + 0.3883807957172394 + ], + [ + 0.3866458535194397 + ], + [ + 0.37802740931510925 + ], + [ + 0.37802740931510925 + ], + [ + 0.37717074155807495 + ], + [ + 0.37802740931510925 + ], + [ + 0.37717074155807495 + ], + [ + 0.37717074155807495 + ], + [ + 0.37717074155807495 + ], + [ + 0.43108752369880676 + ], + [ + 0.7398436665534973 + ], + [ + 0.9872581958770752 + ], + [ + 1.0041072368621826 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3422805666923523, + -0.008163826540112495, + 0.1192878857254982 + ], + [ + 0.34079164266586304, + -0.00804857537150383, + 0.10944519937038422 + ], + [ + 0.33382120728492737, + 0.015632417052984238, + 0.10704570263624191 + ], + [ + 0.33003807067871094, + 0.03457771986722946, + 0.11070184409618378 + ], + [ + 0.32406002283096313, + 0.06492573767900467, + 0.1232096329331398 + ], + [ + 0.3155028223991394, + 0.09883883595466614, + 0.1249285489320755 + ], + [ + 0.3072298765182495, + 0.13041715323925018, + 0.12508726119995117 + ], + [ + 0.30767497420310974, + 0.15874606370925903, + 0.10921953618526459 + ], + [ + 0.3094717860221863, + 0.17643457651138306, + 0.08609626442193985 + ], + [ + 0.3119630515575409, + 0.1818712055683136, + 0.07078012824058533 + ], + [ + 0.31936806440353394, + 0.18379054963588715, + 0.052191633731126785 + ], + [ + 0.3213070333003998, + 0.18525783717632294, + 0.04027947410941124 + ], + [ + 0.32298001646995544, + 0.18616366386413574, + 0.028675468638539314 + ], + [ + 0.3226478695869446, + 0.18709902465343475, + 0.01889261230826378 + ], + [ + 0.3253750503063202, + 0.187111958861351, + 0.016249917447566986 + ], + [ + 0.32772159576416016, + 0.18522241711616516, + 0.016354110091924667 + ], + [ + 0.32566380500793457, + 0.1850280612707138, + 0.014698807150125504 + ], + [ + 0.32334980368614197, + 0.18470163643360138, + 0.014658007770776749 + ], + [ + 0.3220283091068268, + 0.1833730936050415, + 0.019309330731630325 + ], + [ + 0.33598634600639343, + 0.1784600466489792, + 0.04326081648468971 + ], + [ + 0.3512001931667328, + 0.1768222153186798, + 0.057910166680812836 + ], + [ + 0.3702918589115143, + 0.17241083085536957, + 0.07287472486495972 + ], + [ + 0.3872917890548706, + 0.16318367421627045, + 0.061633072793483734 + ], + [ + 0.39830783009529114, + 0.16259659826755524, + 0.04847906529903412 + ], + [ + 0.4042900800704956, + 0.16196537017822266, + 0.03748156502842903 + ], + [ + 0.40842336416244507, + 0.16261504590511322, + 0.027940649539232254 + ], + [ + 0.40955692529678345, + 0.16345597803592682, + 0.021597184240818024 + ], + [ + 0.41101112961769104, + 0.16305477917194366, + 0.020237892866134644 + ], + [ + 0.4104129672050476, + 0.16472040116786957, + 0.021319258958101273 + ], + [ + 0.410533607006073, + 0.16578206419944763, + 0.021974071860313416 + ], + [ + 0.41057026386260986, + 0.16091549396514893, + 0.023850664496421814 + ], + [ + 0.41105926036834717, + 0.16615724563598633, + 0.04839230701327324 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.7808463775387082, + -0.5192374048174524, + 0.3473779672390207, + -0.5687491054454721, + -0.8209021364708707, + 0.05142117649893958, + 0.25846351723145067, + -0.23772294751663509, + -0.9363142690808203 + ], + [ + 0.7872658902759986, + -0.5288309387483134, + 0.31709660394037165, + -0.5715277523356974, + -0.8188476067760869, + 0.05333502776956822, + 0.2314485824498499, + -0.2232183574432277, + -0.9468923479373473 + ], + [ + 0.7760064187701616, + -0.5673961727413089, + 0.27545529798140295, + -0.6103894609043959, + -0.7855859757827295, + 0.1013872806141781, + 0.15886706406410916, + -0.24681219137638202, + -0.9559524037020037 + ], + [ + 0.7362503539944223, + -0.6298528312684009, + 0.24742842841166726, + -0.6689045855182194, + -0.7327388545995654, + 0.12514162550013544, + 0.10247961609894543, + -0.2576415764260428, + -0.9607906881214642 + ], + [ + 0.6634774727006132, + -0.6981261032832146, + 0.2691051599902936, + -0.7432100466739026, + -0.6564058306791103, + 0.12949985317923268, + 0.08623496820769742, + -0.28592189381903194, + -0.9543648154103104 + ], + [ + 0.550711723760097, + -0.7924829598075962, + 0.2620827268779351, + -0.8343422200635413, + -0.5317740492195432, + 0.14522196939888998, + 0.024282856764058655, + -0.2986421252791419, + -0.9540561953449773 + ], + [ + 0.43598533563789543, + -0.8602485116083546, + 0.26436581735224934, + -0.8987632109189078, + -0.4010936465515975, + 0.1770552947377676, + -0.046276104065135784, + -0.3147957829634211, + -0.9480306625953614 + ], + [ + 0.3807229130660733, + -0.8917681573253435, + 0.24453960220595017, + -0.9129588128748025, + -0.3205206593105674, + 0.2525325977955132, + -0.14682053487409186, + -0.3193995312076715, + -0.9361771573818736 + ], + [ + 0.3401891610047716, + -0.9185608997155111, + 0.20128886767206078, + -0.9302726229788957, + -0.29747580832804943, + 0.2147114118893992, + -0.13734693906613016, + -0.2602960179745445, + -0.9557101031985381 + ], + [ + 0.3084182801823921, + -0.9323393261810033, + 0.18873670895108774, + -0.9384422300473236, + -0.2657665491707148, + 0.22066790026122013, + -0.15557745759955477, + -0.24517651232987664, + -0.9569138584473611 + ], + [ + 0.28493072873386704, + -0.9437332588062581, + 0.16787500125422922, + -0.9486686835419162, + -0.252555881149059, + 0.19037661559096394, + -0.13726692496750548, + -0.2135019042536678, + -0.9672511195082809 + ], + [ + 0.26080852542215915, + -0.9543432675931312, + 0.1456291202568503, + -0.9558124373114354, + -0.23406928632686952, + 0.17785992769368608, + -0.1356521203221396, + -0.18558150984970234, + -0.9732204300434781 + ], + [ + 0.24758696143417458, + -0.9610204754160085, + 0.12304609851182129, + -0.959854025467596, + -0.22601661637485526, + 0.16612266225928446, + -0.13183681701802166, + -0.15923609814878598, + -0.9783981391667231 + ], + [ + 0.24420754389893135, + -0.9636908620719558, + 0.10799350842463645, + -0.9635895845197926, + -0.22864789069661123, + 0.13861909927915309, + -0.10889347137374522, + -0.13791324968617427, + -0.9844400171941274 + ], + [ + 0.23127307680631515, + -0.9656087587900621, + 0.11879599695468067, + -0.9697139175104297, + -0.21893655783904065, + 0.1082668085249052, + -0.07853459193958005, + -0.14023732951503545, + -0.9869983836255132 + ], + [ + 0.21054658467370818, + -0.9684125535648698, + 0.13359364423581516, + -0.9753019206426616, + -0.1987526837027926, + 0.09635109917210649, + -0.06675551867053726, + -0.15058053266908775, + -0.9863413222146385 + ], + [ + 0.21161343694627832, + -0.9686922915410406, + 0.12982679851537243, + -0.9747571022773646, + -0.19950502082567323, + 0.10023142334209892, + -0.0711923090201381, + -0.14775990990223067, + -0.9864576342459244 + ], + [ + 0.21123181093496685, + -0.9692736211375304, + 0.12605462869753728, + -0.974483968542232, + -0.19881971461908304, + 0.10417157065614771, + -0.07590861020540954, + -0.14484256434393156, + -0.9865386532979625 + ], + [ + 0.2131822132805966, + -0.969705211002293, + 0.11926922359009892, + -0.9739625418777085, + -0.2012890312866158, + 0.10430576639289402, + -0.07713825873001937, + -0.1383998903131595, + -0.9873677933786409 + ], + [ + 0.19073688498574692, + -0.9605735720495651, + 0.20228161900151154, + -0.979173009023904, + -0.17157052929299843, + 0.10855308322288051, + -0.06956765847006206, + -0.2187737784974678, + -0.973292543245315 + ], + [ + 0.16269514961382264, + -0.953637607129516, + 0.253190842173303, + -0.9848048152673964, + -0.14115119831088513, + 0.1011722048862743, + -0.06074342860165985, + -0.26580378756460893, + -0.9621115228485848 + ], + [ + 0.110182040496698, + -0.9444632089030284, + 0.3095951630445448, + -0.9923749775002842, + -0.08722526570732758, + 0.08708419519979706, + -0.05524329808487419, + -0.31682960728265347, + -0.9468723134434891 + ], + [ + 0.05471884641014524, + -0.9523595843241158, + 0.30002844864035855, + -0.9980895419263217, + -0.04353500445558511, + 0.04384027468387133, + -0.02868996592622647, + -0.3018541461253258, + -0.9529223264894691 + ], + [ + 0.028348526374214034, + -0.9602521417869234, + 0.2776908087172447, + -0.9990681339369889, + -0.01817331974026193, + 0.039148361412472577, + -0.03254573403802494, + -0.27854183643259967, + -0.959872502238022 + ], + [ + 0.025599779636213682, + -0.9650750570116828, + 0.26071974535212106, + -0.9995854119233625, + -0.021273683846014413, + 0.019401923760853854, + -0.01317784324460794, + -0.26110833902715047, + -0.9652195500184937 + ], + [ + 0.01477128405786643, + -0.9678847469458297, + 0.25096000836166915, + -0.9998536534717023, + -0.01213161356465442, + 0.012062155346653516, + -0.008630226333690816, + -0.2511014547586794, + -0.9679222998833658 + ], + [ + 0.038143276525133774, + -0.9702378943252195, + 0.23913075684924237, + -0.9992722797569056, + -0.03704385232399793, + 0.009091969777476436, + 3.6950830681919955e-05, + -0.23930353407411714, + -0.9709448064716522 + ], + [ + 0.06671761834819467, + -0.9683683776779243, + 0.24044010587955034, + -0.9976831926605517, + -0.06795895715354527, + 0.0031348405463206552, + 0.013304378399342731, + -0.24009220157270275, + -0.9706589144799422 + ], + [ + 0.060455431821598626, + -0.970672260395208, + 0.23268112012477804, + -0.9981683615622801, + -0.059315259520119956, + 0.01190050268409, + 0.0022500531854285494, + -0.2329743824700865, + -0.9724802694005388 + ], + [ + 0.05988252204206518, + -0.970998072719634, + 0.23146668513770646, + -0.9981976182867803, + -0.0573324285557309, + 0.017734358812811962, + -0.003949481039469474, + -0.23211147194970475, + -0.9726811739665062 + ], + [ + 0.05887388883319861, + -0.9667532041359931, + 0.24884153091163672, + -0.9979478153406219, + -0.06328485494496966, + -0.009756279591833228, + 0.02517981474387851, + -0.2477564720191685, + -0.9684950735559159 + ], + [ + 0.07361916321615791, + -0.9517999708466767, + 0.2977533111547508, + -0.9971356561688072, + -0.07544215988457115, + 0.005381794194604855, + 0.01734076134876944, + -0.2972966464799358, + -0.9546276771535744 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0014889240264892578, + 0.00011525116860866547, + -0.009842686355113983, + -0.01712752878665924, + 0.027864903211593628, + 0.0015763044357299805, + 1.0 + ], + [ + -0.006970435380935669, + 0.023680992424488068, + -0.0023994967341423035, + 0.021155789494514465, + 0.07402339577674866, + -0.03856229782104492, + 1.0 + ], + [ + -0.0037831366062164307, + 0.018945302814245224, + 0.003656141459941864, + 0.009325265884399414, + 0.05688319355249405, + -0.07100421190261841, + 1.0 + ], + [ + -0.005978047847747803, + 0.030348017811775208, + 0.012507788836956024, + 0.029092073440551758, + 0.016317635774612427, + -0.10451149940490723, + 1.0 + ], + [ + -0.00855720043182373, + 0.03391309827566147, + 0.0017189159989356995, + 0.01227763295173645, + 0.06205696612596512, + -0.145366370677948, + 1.0 + ], + [ + -0.008272945880889893, + 0.031578317284584045, + 0.0001587122678756714, + 0.017235368490219116, + 0.07057788223028183, + -0.13175880908966064, + 1.0 + ], + [ + 0.0004450976848602295, + 0.02832891047000885, + -0.015867725014686584, + 0.008193492889404297, + 0.10106056928634644, + -0.05655956268310547, + 1.0 + ], + [ + 0.001796811819076538, + 0.017688512802124023, + -0.023123271763324738, + -0.06288167834281921, + -0.009570732712745667, + -0.04451143741607666, + 1.0 + ], + [ + 0.0024912655353546143, + 0.005436629056930542, + -0.015316136181354523, + -0.01508873701095581, + 0.018429532647132874, + -0.03305256366729736, + 1.0 + ], + [ + 0.007405012845993042, + 0.0019193440675735474, + -0.018588494509458542, + -0.033573225140571594, + -0.01851031184196472, + -0.025752902030944824, + 1.0 + ], + [ + 0.0019389688968658447, + 0.001467287540435791, + -0.011912159621715546, + -0.028821110725402832, + -0.001630052924156189, + -0.02539503574371338, + 1.0 + ], + [ + 0.001672983169555664, + 0.0009058266878128052, + -0.011604005470871925, + -0.02708868682384491, + -0.003849893808364868, + -0.013941287994384766, + 1.0 + ], + [ + -0.00033214688301086426, + 0.0009353607892990112, + -0.009782856330275536, + -0.022150009870529175, + -0.02311190962791443, + -0.004230499267578125, + 0.0 + ], + [ + 0.0027271807193756104, + 1.2934207916259766e-05, + -0.0026426948606967926, + 0.0019526928663253784, + -0.030494287610054016, + -0.014086604118347168, + 0.0 + ], + [ + 0.002346545457839966, + -0.001889541745185852, + 0.00010419264435768127, + 0.01035606861114502, + -0.011810347437858582, + -0.02150702476501465, + 0.0 + ], + [ + -0.002057790756225586, + -0.00019435584545135498, + -0.0016553029417991638, + -0.002813011407852173, + 0.004447385668754578, + 0.001160740852355957, + 0.0 + ], + [ + -0.0023140013217926025, + -0.00032642483711242676, + -4.079937934875488e-05, + -0.002905547618865967, + 0.004729114472866058, + -0.0003159046173095703, + 0.0 + ], + [ + -0.0013214945793151855, + -0.0013285428285598755, + 0.004651322960853577, + -0.006514236330986023, + 0.0012332648038864136, + 0.0020226240158081055, + 0.0 + ], + [ + 0.01395803689956665, + -0.004913046956062317, + 0.023951485753059387, + 0.08183896541595459, + -0.007591068744659424, + -0.023098349571228027, + 0.0 + ], + [ + 0.015213847160339355, + -0.0016378313302993774, + 0.014649350196123123, + 0.048445552587509155, + -0.00884304940700531, + -0.028658032417297363, + 0.0 + ], + [ + 0.019091665744781494, + -0.004411384463310242, + 0.014964558184146881, + 0.05334821343421936, + -0.005509410053491592, + -0.05315089225769043, + 0.0 + ], + [ + 0.016999930143356323, + -0.009227156639099121, + -0.011241652071475983, + -0.016128629446029663, + -0.026577532291412354, + -0.05580699443817139, + 0.0 + ], + [ + 0.011016041040420532, + -0.00058707594871521, + -0.013154007494449615, + -0.024338066577911377, + 0.003857579082250595, + -0.026401400566101074, + 0.0 + ], + [ + 0.005982249975204468, + -0.0006312280893325806, + -0.010997500270605087, + -0.01823556423187256, + -0.019373256713151932, + -0.0027625560760498047, + 0.0 + ], + [ + 0.004133284091949463, + 0.000649675726890564, + -0.009540915489196777, + -0.01036602258682251, + -0.004547891207039356, + -0.010832428932189941, + 0.0 + ], + [ + 0.001133561134338379, + 0.0008409321308135986, + -0.00634346529841423, + -0.012179180979728699, + -0.00866728462278843, + 0.023380160331726074, + 1.0 + ], + [ + 0.0014542043209075928, + -0.0004011988639831543, + -0.0013592913746833801, + 0.000834241509437561, + -0.0132678197696805, + 0.028620600700378418, + 1.0 + ], + [ + -0.0005981624126434326, + 0.0016656219959259033, + 0.001081366091966629, + -0.007347002625465393, + 0.01105471607297659, + -0.006280660629272461, + 1.0 + ], + [ + 0.00012063980102539062, + 0.001061663031578064, + 0.0006548129022121429, + -0.0008859783411026001, + 0.006199546158313751, + -0.0005736351013183594, + 1.0 + ], + [ + 3.6656856536865234e-05, + -0.004866570234298706, + 0.0018765926361083984, + 0.016195207834243774, + -0.029131967574357986, + -0.0009921789169311523, + 1.0 + ], + [ + 0.0004889965057373047, + 0.005241751670837402, + 0.024541642516851425, + 0.05146190524101257, + 0.007840845733880997, + 0.014770269393920898, + 1.0 + ], + [ + -0.0007516741752624512, + 0.0011289119720458984, + 0.02084885910153389, + 0.05128735303878784, + -0.0018831901252269745, + 0.00013530254364013672, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9499720335006714 + ], + [ + 0.7845786809921265 + ], + [ + 0.48514097929000854 + ], + [ + 0.38924968242645264 + ], + [ + 0.3883807957172394 + ], + [ + 0.3866458535194397 + ], + [ + 0.37802740931510925 + ], + [ + 0.37802740931510925 + ], + [ + 0.37717074155807495 + ], + [ + 0.37802740931510925 + ], + [ + 0.37717074155807495 + ], + [ + 0.37717074155807495 + ], + [ + 0.37717074155807495 + ], + [ + 0.43108752369880676 + ], + [ + 0.7398436665534973 + ], + [ + 0.9872581958770752 + ], + [ + 1.0041072368621826 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.34079164266586304, + -0.00804857537150383, + 0.10944519937038422 + ], + [ + 0.33382120728492737, + 0.015632417052984238, + 0.10704570263624191 + ], + [ + 0.33003807067871094, + 0.03457771986722946, + 0.11070184409618378 + ], + [ + 0.32406002283096313, + 0.06492573767900467, + 0.1232096329331398 + ], + [ + 0.3155028223991394, + 0.09883883595466614, + 0.1249285489320755 + ], + [ + 0.3072298765182495, + 0.13041715323925018, + 0.12508726119995117 + ], + [ + 0.30767497420310974, + 0.15874606370925903, + 0.10921953618526459 + ], + [ + 0.3094717860221863, + 0.17643457651138306, + 0.08609626442193985 + ], + [ + 0.3119630515575409, + 0.1818712055683136, + 0.07078012824058533 + ], + [ + 0.31936806440353394, + 0.18379054963588715, + 0.052191633731126785 + ], + [ + 0.3213070333003998, + 0.18525783717632294, + 0.04027947410941124 + ], + [ + 0.32298001646995544, + 0.18616366386413574, + 0.028675468638539314 + ], + [ + 0.3226478695869446, + 0.18709902465343475, + 0.01889261230826378 + ], + [ + 0.3253750503063202, + 0.187111958861351, + 0.016249917447566986 + ], + [ + 0.32772159576416016, + 0.18522241711616516, + 0.016354110091924667 + ], + [ + 0.32566380500793457, + 0.1850280612707138, + 0.014698807150125504 + ], + [ + 0.32334980368614197, + 0.18470163643360138, + 0.014658007770776749 + ], + [ + 0.3220283091068268, + 0.1833730936050415, + 0.019309330731630325 + ], + [ + 0.33598634600639343, + 0.1784600466489792, + 0.04326081648468971 + ], + [ + 0.3512001931667328, + 0.1768222153186798, + 0.057910166680812836 + ], + [ + 0.3702918589115143, + 0.17241083085536957, + 0.07287472486495972 + ], + [ + 0.3872917890548706, + 0.16318367421627045, + 0.061633072793483734 + ], + [ + 0.39830783009529114, + 0.16259659826755524, + 0.04847906529903412 + ], + [ + 0.4042900800704956, + 0.16196537017822266, + 0.03748156502842903 + ], + [ + 0.40842336416244507, + 0.16261504590511322, + 0.027940649539232254 + ], + [ + 0.40955692529678345, + 0.16345597803592682, + 0.021597184240818024 + ], + [ + 0.41101112961769104, + 0.16305477917194366, + 0.020237892866134644 + ], + [ + 0.4104129672050476, + 0.16472040116786957, + 0.021319258958101273 + ], + [ + 0.410533607006073, + 0.16578206419944763, + 0.021974071860313416 + ], + [ + 0.41057026386260986, + 0.16091549396514893, + 0.023850664496421814 + ], + [ + 0.41105926036834717, + 0.16615724563598633, + 0.04839230701327324 + ], + [ + 0.4103075861930847, + 0.16728615760803223, + 0.06924116611480713 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.7872658902759986, + -0.5288309387483134, + 0.31709660394037165, + -0.5715277523356974, + -0.8188476067760869, + 0.05333502776956822, + 0.2314485824498499, + -0.2232183574432277, + -0.9468923479373473 + ], + [ + 0.7760064187701616, + -0.5673961727413089, + 0.27545529798140295, + -0.6103894609043959, + -0.7855859757827295, + 0.1013872806141781, + 0.15886706406410916, + -0.24681219137638202, + -0.9559524037020037 + ], + [ + 0.7362503539944223, + -0.6298528312684009, + 0.24742842841166726, + -0.6689045855182194, + -0.7327388545995654, + 0.12514162550013544, + 0.10247961609894543, + -0.2576415764260428, + -0.9607906881214642 + ], + [ + 0.6634774727006132, + -0.6981261032832146, + 0.2691051599902936, + -0.7432100466739026, + -0.6564058306791103, + 0.12949985317923268, + 0.08623496820769742, + -0.28592189381903194, + -0.9543648154103104 + ], + [ + 0.550711723760097, + -0.7924829598075962, + 0.2620827268779351, + -0.8343422200635413, + -0.5317740492195432, + 0.14522196939888998, + 0.024282856764058655, + -0.2986421252791419, + -0.9540561953449773 + ], + [ + 0.43598533563789543, + -0.8602485116083546, + 0.26436581735224934, + -0.8987632109189078, + -0.4010936465515975, + 0.1770552947377676, + -0.046276104065135784, + -0.3147957829634211, + -0.9480306625953614 + ], + [ + 0.3807229130660733, + -0.8917681573253435, + 0.24453960220595017, + -0.9129588128748025, + -0.3205206593105674, + 0.2525325977955132, + -0.14682053487409186, + -0.3193995312076715, + -0.9361771573818736 + ], + [ + 0.3401891610047716, + -0.9185608997155111, + 0.20128886767206078, + -0.9302726229788957, + -0.29747580832804943, + 0.2147114118893992, + -0.13734693906613016, + -0.2602960179745445, + -0.9557101031985381 + ], + [ + 0.3084182801823921, + -0.9323393261810033, + 0.18873670895108774, + -0.9384422300473236, + -0.2657665491707148, + 0.22066790026122013, + -0.15557745759955477, + -0.24517651232987664, + -0.9569138584473611 + ], + [ + 0.28493072873386704, + -0.9437332588062581, + 0.16787500125422922, + -0.9486686835419162, + -0.252555881149059, + 0.19037661559096394, + -0.13726692496750548, + -0.2135019042536678, + -0.9672511195082809 + ], + [ + 0.26080852542215915, + -0.9543432675931312, + 0.1456291202568503, + -0.9558124373114354, + -0.23406928632686952, + 0.17785992769368608, + -0.1356521203221396, + -0.18558150984970234, + -0.9732204300434781 + ], + [ + 0.24758696143417458, + -0.9610204754160085, + 0.12304609851182129, + -0.959854025467596, + -0.22601661637485526, + 0.16612266225928446, + -0.13183681701802166, + -0.15923609814878598, + -0.9783981391667231 + ], + [ + 0.24420754389893135, + -0.9636908620719558, + 0.10799350842463645, + -0.9635895845197926, + -0.22864789069661123, + 0.13861909927915309, + -0.10889347137374522, + -0.13791324968617427, + -0.9844400171941274 + ], + [ + 0.23127307680631515, + -0.9656087587900621, + 0.11879599695468067, + -0.9697139175104297, + -0.21893655783904065, + 0.1082668085249052, + -0.07853459193958005, + -0.14023732951503545, + -0.9869983836255132 + ], + [ + 0.21054658467370818, + -0.9684125535648698, + 0.13359364423581516, + -0.9753019206426616, + -0.1987526837027926, + 0.09635109917210649, + -0.06675551867053726, + -0.15058053266908775, + -0.9863413222146385 + ], + [ + 0.21161343694627832, + -0.9686922915410406, + 0.12982679851537243, + -0.9747571022773646, + -0.19950502082567323, + 0.10023142334209892, + -0.0711923090201381, + -0.14775990990223067, + -0.9864576342459244 + ], + [ + 0.21123181093496685, + -0.9692736211375304, + 0.12605462869753728, + -0.974483968542232, + -0.19881971461908304, + 0.10417157065614771, + -0.07590861020540954, + -0.14484256434393156, + -0.9865386532979625 + ], + [ + 0.2131822132805966, + -0.969705211002293, + 0.11926922359009892, + -0.9739625418777085, + -0.2012890312866158, + 0.10430576639289402, + -0.07713825873001937, + -0.1383998903131595, + -0.9873677933786409 + ], + [ + 0.19073688498574692, + -0.9605735720495651, + 0.20228161900151154, + -0.979173009023904, + -0.17157052929299843, + 0.10855308322288051, + -0.06956765847006206, + -0.2187737784974678, + -0.973292543245315 + ], + [ + 0.16269514961382264, + -0.953637607129516, + 0.253190842173303, + -0.9848048152673964, + -0.14115119831088513, + 0.1011722048862743, + -0.06074342860165985, + -0.26580378756460893, + -0.9621115228485848 + ], + [ + 0.110182040496698, + -0.9444632089030284, + 0.3095951630445448, + -0.9923749775002842, + -0.08722526570732758, + 0.08708419519979706, + -0.05524329808487419, + -0.31682960728265347, + -0.9468723134434891 + ], + [ + 0.05471884641014524, + -0.9523595843241158, + 0.30002844864035855, + -0.9980895419263217, + -0.04353500445558511, + 0.04384027468387133, + -0.02868996592622647, + -0.3018541461253258, + -0.9529223264894691 + ], + [ + 0.028348526374214034, + -0.9602521417869234, + 0.2776908087172447, + -0.9990681339369889, + -0.01817331974026193, + 0.039148361412472577, + -0.03254573403802494, + -0.27854183643259967, + -0.959872502238022 + ], + [ + 0.025599779636213682, + -0.9650750570116828, + 0.26071974535212106, + -0.9995854119233625, + -0.021273683846014413, + 0.019401923760853854, + -0.01317784324460794, + -0.26110833902715047, + -0.9652195500184937 + ], + [ + 0.01477128405786643, + -0.9678847469458297, + 0.25096000836166915, + -0.9998536534717023, + -0.01213161356465442, + 0.012062155346653516, + -0.008630226333690816, + -0.2511014547586794, + -0.9679222998833658 + ], + [ + 0.038143276525133774, + -0.9702378943252195, + 0.23913075684924237, + -0.9992722797569056, + -0.03704385232399793, + 0.009091969777476436, + 3.6950830681919955e-05, + -0.23930353407411714, + -0.9709448064716522 + ], + [ + 0.06671761834819467, + -0.9683683776779243, + 0.24044010587955034, + -0.9976831926605517, + -0.06795895715354527, + 0.0031348405463206552, + 0.013304378399342731, + -0.24009220157270275, + -0.9706589144799422 + ], + [ + 0.060455431821598626, + -0.970672260395208, + 0.23268112012477804, + -0.9981683615622801, + -0.059315259520119956, + 0.01190050268409, + 0.0022500531854285494, + -0.2329743824700865, + -0.9724802694005388 + ], + [ + 0.05988252204206518, + -0.970998072719634, + 0.23146668513770646, + -0.9981976182867803, + -0.0573324285557309, + 0.017734358812811962, + -0.003949481039469474, + -0.23211147194970475, + -0.9726811739665062 + ], + [ + 0.05887388883319861, + -0.9667532041359931, + 0.24884153091163672, + -0.9979478153406219, + -0.06328485494496966, + -0.009756279591833228, + 0.02517981474387851, + -0.2477564720191685, + -0.9684950735559159 + ], + [ + 0.07361916321615791, + -0.9517999708466767, + 0.2977533111547508, + -0.9971356561688072, + -0.07544215988457115, + 0.005381794194604855, + 0.01734076134876944, + -0.2972966464799358, + -0.9546276771535744 + ], + [ + 0.07375153788135025, + -0.9352259490236844, + 0.34628475989116914, + -0.9970913511116787, + -0.07584311481353467, + 0.007527248744930687, + 0.01922363645158806, + -0.34583268528022315, + -0.9380992514619375 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006120.json b/json/chunk-0006/episode_0006120.json new file mode 100644 index 0000000000000000000000000000000000000000..b8e49123fb185dfcc0d7bfcb1153a2e8f90410c8 --- /dev/null +++ b/json/chunk-0006/episode_0006120.json @@ -0,0 +1,1702 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 27, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nTake bowl off plate cardboard fence." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006120.mp4", + "start": 0, + "end": 27, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.27483075857162476, + 0.013603868894279003, + 0.11365846544504166, + 0.11046653240919113, + -0.23870037496089935, + 0.3886283040046692, + 0.0, + 0.9907060265541077 + ], + [ + 0.26962751150131226, + 0.012738745659589767, + 0.10555346310138702, + 0.11625708639621735, + -0.21031169593334198, + 0.4016750454902649, + 0.0, + 0.9907060265541077 + ], + [ + 0.24508853256702423, + 0.00425642030313611, + 0.09011700749397278, + 0.10051914304494858, + -0.14619579911231995, + 0.5802575945854187, + 0.0, + 0.9907060265541077 + ], + [ + 0.22700899839401245, + -0.004719426389783621, + 0.08147827535867691, + 0.056819040328264236, + -0.1369880586862564, + 0.7618427872657776, + 0.0, + 0.9907060265541077 + ], + [ + 0.21803371608257294, + -0.015893971547484398, + 0.06686379760503769, + 0.018612632527947426, + -0.12897256016731262, + 0.8633917570114136, + 0.0, + 0.9907060265541077 + ], + [ + 0.21809683740139008, + -0.034064359962940216, + 0.055520325899124146, + -0.0011646614875644445, + -0.1309828907251358, + 0.7600249648094177, + 0.0, + 0.9907060265541077 + ], + [ + 0.2227095067501068, + -0.0423954613506794, + 0.04324934259057045, + -0.003731021424755454, + -0.13357609510421753, + 0.7387140989303589, + 0.0, + 0.9907060265541077 + ], + [ + 0.22686241567134857, + -0.04292181506752968, + 0.03181753307580948, + 0.012254397384822369, + -0.16464848816394806, + 0.7494442462921143, + 0.0, + 0.9907060265541077 + ], + [ + 0.2276982069015503, + -0.03734569251537323, + 0.030070992186665535, + 0.015175217762589455, + -0.18984878063201904, + 0.7476181983947754, + 0.0, + 0.9907060265541077 + ], + [ + 0.22827167809009552, + -0.03283720090985298, + 0.028538458049297333, + 0.014682190492749214, + -0.19473989307880402, + 0.7427928447723389, + 0.0, + 0.9907060265541077 + ], + [ + 0.22783268988132477, + -0.030448533594608307, + 0.021514631807804108, + 0.0352063849568367, + -0.18711581826210022, + 0.7252859473228455, + 0.0, + 0.9913908839225769 + ], + [ + 0.22721396386623383, + -0.026508904993534088, + 0.017077891156077385, + 0.04740237817168236, + -0.18990544974803925, + 0.717149555683136, + 0.0, + 0.9367310404777527 + ], + [ + 0.22608710825443268, + -0.02325446903705597, + 0.014527865685522556, + 0.04591377079486847, + -0.19151993095874786, + 0.705906867980957, + 0.0, + 0.7662391662597656 + ], + [ + 0.22128355503082275, + -0.02060087025165558, + 0.01176337618380785, + 0.05199219286441803, + -0.17081806063652039, + 0.7025668621063232, + 0.0, + 0.4634169340133667 + ], + [ + 0.21906854212284088, + -0.0175448190420866, + 0.011064431630074978, + 0.06683634221553802, + -0.17303137481212616, + 0.6873028874397278, + 0.0, + 0.21544429659843445 + ], + [ + 0.2169998288154602, + -0.017084794119000435, + 0.02192044071853161, + 0.05364741012454033, + -0.18151675164699554, + 0.68461674451828, + 0.0, + 0.07821663469076157 + ], + [ + 0.21191880106925964, + -0.025875361636281013, + 0.03354104980826378, + 0.0577128641307354, + -0.1846524327993393, + 0.6350864768028259, + 0.0, + 0.05324139446020126 + ], + [ + 0.20233704149723053, + -0.041282761842012405, + 0.03969721123576164, + 0.06403802335262299, + -0.15316002070903778, + 0.6225723624229431, + 0.0, + 0.05592256039381027 + ], + [ + 0.20511142909526825, + -0.06258806586265564, + 0.03910858556628227, + 0.05276212468743324, + -0.14804275333881378, + 0.60797119140625, + 0.0, + 0.05812275409698486 + ], + [ + 0.20531345903873444, + -0.08067061752080917, + 0.031653616577386856, + 0.05387524142861366, + -0.12874740362167358, + 0.5982022285461426, + 0.0, + 0.05868057906627655 + ], + [ + 0.21168991923332214, + -0.09743978083133698, + 0.027511779218912125, + 0.004132123198360205, + -0.11765006929636002, + 0.6681138873100281, + 0.0, + 0.05868057906627655 + ], + [ + 0.21493786573410034, + -0.11328905075788498, + 0.027788856998085976, + -0.012714211829006672, + -0.09833711385726929, + 0.6976179480552673, + 0.0, + 0.05868057906627655 + ], + [ + 0.21546639502048492, + -0.11846917122602463, + 0.028030872344970703, + -0.010161801241338253, + -0.11153174936771393, + 0.6914528012275696, + 0.0, + 0.0832853764295578 + ], + [ + 0.21494734287261963, + -0.11616665124893188, + 0.02159673161804676, + 0.020232724025845528, + -0.12503944337368011, + 0.6958207488059998, + 0.0, + 0.23591680824756622 + ], + [ + 0.21626731753349304, + -0.11523068696260452, + 0.021164288744330406, + 0.023019110783934593, + -0.13926228880882263, + 0.688813328742981, + 0.0, + 0.49086472392082214 + ], + [ + 0.21926991641521454, + -0.11506012082099915, + 0.02118557319045067, + 0.020072493702173233, + -0.13484229147434235, + 0.6824260354042053, + 0.0, + 0.7950940132141113 + ], + [ + 0.21913178265094757, + -0.11553774029016495, + 0.0385427251458168, + -0.012859783135354519, + -0.11987359821796417, + 0.6943585276603699, + 0.0, + 0.9941151142120361 + ] + ], + "left_gripper_pos": [ + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9913908839225769 + ], + [ + 0.9367310404777527 + ], + [ + 0.7662391662597656 + ], + [ + 0.4634169340133667 + ], + [ + 0.21544429659843445 + ], + [ + 0.07821663469076157 + ], + [ + 0.05324139446020126 + ], + [ + 0.05592256039381027 + ], + [ + 0.05812275409698486 + ], + [ + 0.05868057906627655 + ], + [ + 0.05868057906627655 + ], + [ + 0.05868057906627655 + ], + [ + 0.0832853764295578 + ], + [ + 0.23591680824756622 + ], + [ + 0.49086472392082214 + ], + [ + 0.7950940132141113 + ], + [ + 0.9941151142120361 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.27483075857162476, + 0.013603868894279003, + 0.11365846544504166 + ], + [ + 0.26962751150131226, + 0.012738745659589767, + 0.10555346310138702 + ], + [ + 0.24508853256702423, + 0.00425642030313611, + 0.09011700749397278 + ], + [ + 0.22700899839401245, + -0.004719426389783621, + 0.08147827535867691 + ], + [ + 0.21803371608257294, + -0.015893971547484398, + 0.06686379760503769 + ], + [ + 0.21809683740139008, + -0.034064359962940216, + 0.055520325899124146 + ], + [ + 0.2227095067501068, + -0.0423954613506794, + 0.04324934259057045 + ], + [ + 0.22686241567134857, + -0.04292181506752968, + 0.03181753307580948 + ], + [ + 0.2276982069015503, + -0.03734569251537323, + 0.030070992186665535 + ], + [ + 0.22827167809009552, + -0.03283720090985298, + 0.028538458049297333 + ], + [ + 0.22783268988132477, + -0.030448533594608307, + 0.021514631807804108 + ], + [ + 0.22721396386623383, + -0.026508904993534088, + 0.017077891156077385 + ], + [ + 0.22608710825443268, + -0.02325446903705597, + 0.014527865685522556 + ], + [ + 0.22128355503082275, + -0.02060087025165558, + 0.01176337618380785 + ], + [ + 0.21906854212284088, + -0.0175448190420866, + 0.011064431630074978 + ], + [ + 0.2169998288154602, + -0.017084794119000435, + 0.02192044071853161 + ], + [ + 0.21191880106925964, + -0.025875361636281013, + 0.03354104980826378 + ], + [ + 0.20233704149723053, + -0.041282761842012405, + 0.03969721123576164 + ], + [ + 0.20511142909526825, + -0.06258806586265564, + 0.03910858556628227 + ], + [ + 0.20531345903873444, + -0.08067061752080917, + 0.031653616577386856 + ], + [ + 0.21168991923332214, + -0.09743978083133698, + 0.027511779218912125 + ], + [ + 0.21493786573410034, + -0.11328905075788498, + 0.027788856998085976 + ], + [ + 0.21546639502048492, + -0.11846917122602463, + 0.028030872344970703 + ], + [ + 0.21494734287261963, + -0.11616665124893188, + 0.02159673161804676 + ], + [ + 0.21626731753349304, + -0.11523068696260452, + 0.021164288744330406 + ], + [ + 0.21926991641521454, + -0.11506012082099915, + 0.02118557319045067 + ], + [ + 0.21913178265094757, + -0.11553774029016495, + 0.0385427251458168 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8991901318595583, + 0.4007316677234023, + 0.17570212648118783, + 0.36817551399212245, + -0.9099122201313617, + 0.19106685362001744, + 0.23644005088611164, + -0.10711620857385415, + -0.9657236769375265 + ], + [ + 0.9001270516590614, + 0.41060988490120626, + 0.1455019357018427, + 0.38234614559374175, + -0.9047270286928106, + 0.18783085077347333, + 0.20876473797357212, + -0.11343952562531168, + -0.9713643797281891 + ], + [ + 0.8273999235732207, + 0.5576977822160777, + 0.06620083218734443, + 0.5423909963394505, + -0.8240854156831219, + 0.16338676429954294, + 0.14567557640499246, + -0.09927946096572313, + -0.9843384657065011 + ], + [ + 0.7167867409515516, + 0.694753354062506, + 0.05945203961977394, + 0.6837895368060231, + -0.7170446199073163, + 0.1351994172198108, + 0.1365600137326352, + -0.05625646701375872, + -0.9890331503890413 + ], + [ + 0.6444659028244013, + 0.761475058460086, + 0.06942215381229297, + 0.7537385512396901, + -0.6479313815561786, + 0.10983224103055728, + 0.12861530418975037, + -0.018456980736568714, + -0.991522790151728 + ], + [ + 0.7186100127503494, + 0.6888288173243298, + 0.09546994290617287, + 0.6830380832067631, + -0.7249231180799307, + 0.08913725238362613, + 0.13060867683340927, + 0.0011546847345627331, + -0.9914333261692336 + ], + [ + 0.732748997301281, + 0.6729656996144983, + 0.10097561139372294, + 0.667339644238952, + -0.7396644466169326, + 0.08691550861552572, + 0.13317922578614175, + 0.003697776796340431, + -0.991085072163721 + ], + [ + 0.7221671199121483, + 0.682651234116037, + 0.11163307519567689, + 0.6720190553391671, + -0.7306443484688501, + 0.12062016958859928, + 0.16390558312286252, + -0.012088366737508655, + -0.9864019622906137 + ], + [ + 0.7201347745621615, + 0.6819157223352993, + 0.12805020147673288, + 0.6676782858357838, + -0.7312789333387267, + 0.13941602590220217, + 0.18871039475793125, + -0.014901989360523067, + -0.9819197103752448 + ], + [ + 0.7226596440769579, + 0.6783674908637727, + 0.13259180276983126, + 0.6635634075275754, + -0.7345815596519225, + 0.14168110816104507, + 0.1935113511217297, + -0.014404150739916369, + -0.9809922922370513 + ], + [ + 0.7352479127867629, + 0.6678382727327887, + 0.11576937512137678, + 0.6517705850703588, + -0.7435024811878657, + 0.14966350558679808, + 0.18602583471053372, + -0.03458470674695374, + -0.9819359891965852 + ], + [ + 0.7401325787238652, + 0.6632421433316334, + 0.11096677529973649, + 0.6454232301532211, + -0.7469568678024215, + 0.15963800180839652, + 0.1887660453846064, + -0.046532751387130984, + -0.9809189992849562 + ], + [ + 0.7471090396706159, + 0.6546893991185612, + 0.11493421389746218, + 0.6368630014407182, + -0.7545538593813081, + 0.15828452447631436, + 0.1903512548904523, + -0.045058450645252025, + -0.9806814649961931 + ], + [ + 0.7520786689091229, + 0.6520476918914422, + 0.0959764724863588, + 0.6367743439254945, + -0.7564463599684066, + 0.1493564173673296, + 0.1699885604684562, + -0.051212420266872276, + -0.9841144127184965 + ], + [ + 0.7614177051565737, + 0.6419261302444338, + 0.0904097427465808, + 0.6249806634561336, + -0.7639388798166231, + 0.1606130698618701, + 0.17216924400144118, + -0.06578929406772116, + -0.9828680075198515 + ], + [ + 0.761934566187588, + 0.6389650035934182, + 0.10573287583053334, + 0.6219868679652198, + -0.7674256573017184, + 0.15553197932850144, + 0.18052161346317538, + -0.05274073091916974, + -0.9821559766018652 + ], + [ + 0.7913351512727034, + 0.600784974504969, + 0.11334060512134005, + 0.5831620050968763, + -0.7973973253152631, + 0.1551759691171778, + 0.1836048860232175, + -0.056700264453776295, + -0.9813635034171961 + ], + [ + 0.8028713294293917, + 0.5898629197586753, + 0.08636761125590812, + 0.5763006936361761, + -0.8050228493540271, + 0.14076832929457356, + 0.15256191823237997, + -0.06324514140780918, + -0.9862681750890894 + ], + [ + 0.8118302945553999, + 0.576793507659389, + 0.09077897534159927, + 0.5649553629742136, + -0.8152229768062762, + 0.1274242360533816, + 0.1475025785834501, + -0.05216078612417323, + -0.9876852948698492 + ], + [ + 0.8195100940255748, + 0.5680539186177117, + 0.07561713650526075, + 0.5584968186355318, + -0.8212568488402012, + 0.11669829393376943, + 0.12839201440970907, + -0.053403499661770715, + -0.99028458377362 + ], + [ + 0.7795650388209949, + 0.6198819570445168, + 0.08958074334744529, + 0.6152239888285195, + -0.7846843443273968, + 0.07596001143634357, + 0.11737884740423543, + -0.0041035470197772345, + -0.9930787315635704 + ], + [ + 0.7626720679126112, + 0.6413854336362627, + 0.08340289170720896, + 0.639290434424412, + -0.7671144902346843, + 0.05332072135133469, + 0.09817870074179832, + 0.01265244605613925, + -0.9950883670958317 + ], + [ + 0.7655342683932764, + 0.6367528254442939, + 0.09221238097066524, + 0.6336950736063719, + -0.7710018545956558, + 0.06314027159486743, + 0.11130066308241603, + 0.010098489925094906, + -0.993735469276732 + ], + [ + 0.7615355649159411, + 0.6428209752059877, + 0.08273316870144125, + 0.6360110331348519, + -0.7657533889906734, + 0.09545529309596501, + 0.12471386891158738, + -0.020073392451728823, + -0.9919896722328222 + ], + [ + 0.7645268367911773, + 0.6379197138358876, + 0.09250488919844405, + 0.6294678566367022, + -0.7697654585853511, + 0.10597809316118531, + 0.13881258331748372, + -0.022794242001521497, + -0.9900563060979427 + ], + [ + 0.7690004446066235, + 0.6326445029084932, + 0.09164741750033653, + 0.6249526431881064, + -0.7741869041587912, + 0.10034356581877124, + 0.13443403574621596, + -0.019888950919849845, + -0.9907229277978243 + ], + [ + 0.7629496486157074, + 0.6386579551517293, + 0.10011917897476177, + 0.6353005994165069, + -0.7693848297800454, + 0.06663431612433313, + 0.1195867135521155, + 0.012767146342946758, + -0.9927416672609557 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0052032470703125, + -0.0008651232346892357, + -0.008105002343654633, + 0.005790553987026215, + 0.028388679027557373, + 0.013046741485595703, + 1.0 + ], + [ + -0.024538978934288025, + -0.008482325822114944, + -0.015436455607414246, + -0.01573794335126877, + 0.06411589682102203, + 0.1785825490951538, + 1.0 + ], + [ + -0.01807953417301178, + -0.008975846692919731, + -0.008638732135295868, + -0.04370010271668434, + 0.009207740426063538, + 0.1815851926803589, + 1.0 + ], + [ + -0.008975282311439514, + -0.01117454469203949, + -0.014614477753639221, + -0.03820640593767166, + 0.008015498518943787, + 0.10154896974563599, + 1.0 + ], + [ + 6.312131881713867e-05, + -0.018170388415455818, + -0.011343471705913544, + -0.019777294248342514, + -0.002010330557823181, + -0.10336679220199585, + 1.0 + ], + [ + 0.004612669348716736, + -0.008331101387739182, + -0.012270983308553696, + -0.0025663599371910095, + -0.002593204379081726, + -0.021310865879058838, + 1.0 + ], + [ + 0.00415290892124176, + -0.0005263537168502808, + -0.011431809514760971, + 0.01598541811108589, + -0.03107239305973053, + 0.010730147361755371, + 1.0 + ], + [ + 0.0008357912302017212, + 0.005576122552156448, + -0.0017465408891439438, + 0.002920820377767086, + -0.025200292468070984, + -0.0018260478973388672, + 1.0 + ], + [ + 0.000573471188545227, + 0.004508491605520248, + -0.0015325341373682022, + -0.0004930272698402405, + -0.004891112446784973, + -0.0048253536224365234, + 1.0 + ], + [ + -0.00043898820877075195, + 0.0023886673152446747, + -0.007023826241493225, + 0.020524194464087486, + 0.007624074816703796, + -0.017506897449493408, + 1.0 + ], + [ + -0.0006187260150909424, + 0.003939628601074219, + -0.004436740651726723, + 0.012195993214845657, + -0.002789631485939026, + -0.008136391639709473, + 0.0 + ], + [ + -0.0011268556118011475, + 0.003254435956478119, + -0.0025500254705548286, + -0.0014886073768138885, + -0.0016144812107086182, + -0.011242687702178955, + 0.0 + ], + [ + -0.004803553223609924, + 0.0026535987854003906, + -0.0027644895017147064, + 0.0060784220695495605, + 0.020701870322227478, + -0.003340005874633789, + 0.0 + ], + [ + -0.0022150129079818726, + 0.0030560512095689774, + -0.000698944553732872, + 0.014844149351119995, + -0.002213314175605774, + -0.015263974666595459, + 0.0 + ], + [ + -0.0020687133073806763, + 0.0004600249230861664, + 0.01085600908845663, + -0.013188932090997696, + -0.008485376834869385, + -0.002686142921447754, + 0.0 + ], + [ + -0.0050810277462005615, + -0.008790567517280579, + 0.01162060908973217, + 0.004065454006195068, + -0.00313568115234375, + -0.0495302677154541, + 0.0 + ], + [ + -0.009581759572029114, + -0.015407400205731392, + 0.006156161427497864, + 0.0063251592218875885, + 0.031492412090301514, + -0.012514114379882812, + 0.0 + ], + [ + 0.0027743875980377197, + -0.021305304020643234, + -0.0005886256694793701, + -0.011275898665189743, + 0.005117267370223999, + -0.014601171016693115, + 0.0 + ], + [ + 0.00020202994346618652, + -0.018082551658153534, + -0.007454968988895416, + 0.00111311674118042, + 0.019295349717140198, + -0.009768962860107422, + 0.0 + ], + [ + 0.0063764601945877075, + -0.0167691633105278, + -0.0041418373584747314, + -0.04974311962723732, + 0.011097334325313568, + 0.0699116587638855, + 0.0 + ], + [ + 0.0032479465007781982, + -0.015849269926548004, + 0.000277077779173851, + -0.01684633456170559, + 0.01931295543909073, + 0.029504060745239258, + 0.0 + ], + [ + 0.0005285292863845825, + -0.0051801204681396484, + 0.00024201534688472748, + 0.002552410587668419, + -0.013194635510444641, + -0.006165146827697754, + 1.0 + ], + [ + -0.0005190521478652954, + 0.002302519977092743, + -0.0064341407269239426, + 0.030394524335861206, + -0.013507694005966187, + 0.004367947578430176, + 1.0 + ], + [ + 0.001319974660873413, + 0.0009359642863273621, + -0.00043244287371635437, + 0.0027863867580890656, + -0.014222845435142517, + -0.007007420063018799, + 1.0 + ], + [ + 0.0030025988817214966, + 0.0001705661416053772, + 2.1284446120262146e-05, + -0.00294661708176136, + 0.004419997334480286, + -0.006387293338775635, + 1.0 + ], + [ + -0.00013813376426696777, + -0.000477619469165802, + 0.017357151955366135, + -0.03293227776885033, + 0.014968693256378174, + 0.01193249225616455, + 1.0 + ], + [ + 0.00340995192527771, + 0.002123616635799408, + 0.023841004818677902, + -0.03159740939736366, + 0.010055094957351685, + 0.013054907321929932, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9913908839225769 + ], + [ + 0.9367310404777527 + ], + [ + 0.7662391662597656 + ], + [ + 0.4634169340133667 + ], + [ + 0.21544429659843445 + ], + [ + 0.07821663469076157 + ], + [ + 0.05324139446020126 + ], + [ + 0.05592256039381027 + ], + [ + 0.05812275409698486 + ], + [ + 0.05868057906627655 + ], + [ + 0.05868057906627655 + ], + [ + 0.05868057906627655 + ], + [ + 0.0832853764295578 + ], + [ + 0.23591680824756622 + ], + [ + 0.49086472392082214 + ], + [ + 0.7950940132141113 + ], + [ + 0.9941151142120361 + ], + [ + 0.9968144297599792 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.26962751150131226, + 0.012738745659589767, + 0.10555346310138702 + ], + [ + 0.24508853256702423, + 0.00425642030313611, + 0.09011700749397278 + ], + [ + 0.22700899839401245, + -0.004719426389783621, + 0.08147827535867691 + ], + [ + 0.21803371608257294, + -0.015893971547484398, + 0.06686379760503769 + ], + [ + 0.21809683740139008, + -0.034064359962940216, + 0.055520325899124146 + ], + [ + 0.2227095067501068, + -0.0423954613506794, + 0.04324934259057045 + ], + [ + 0.22686241567134857, + -0.04292181506752968, + 0.03181753307580948 + ], + [ + 0.2276982069015503, + -0.03734569251537323, + 0.030070992186665535 + ], + [ + 0.22827167809009552, + -0.03283720090985298, + 0.028538458049297333 + ], + [ + 0.22783268988132477, + -0.030448533594608307, + 0.021514631807804108 + ], + [ + 0.22721396386623383, + -0.026508904993534088, + 0.017077891156077385 + ], + [ + 0.22608710825443268, + -0.02325446903705597, + 0.014527865685522556 + ], + [ + 0.22128355503082275, + -0.02060087025165558, + 0.01176337618380785 + ], + [ + 0.21906854212284088, + -0.0175448190420866, + 0.011064431630074978 + ], + [ + 0.2169998288154602, + -0.017084794119000435, + 0.02192044071853161 + ], + [ + 0.21191880106925964, + -0.025875361636281013, + 0.03354104980826378 + ], + [ + 0.20233704149723053, + -0.041282761842012405, + 0.03969721123576164 + ], + [ + 0.20511142909526825, + -0.06258806586265564, + 0.03910858556628227 + ], + [ + 0.20531345903873444, + -0.08067061752080917, + 0.031653616577386856 + ], + [ + 0.21168991923332214, + -0.09743978083133698, + 0.027511779218912125 + ], + [ + 0.21493786573410034, + -0.11328905075788498, + 0.027788856998085976 + ], + [ + 0.21546639502048492, + -0.11846917122602463, + 0.028030872344970703 + ], + [ + 0.21494734287261963, + -0.11616665124893188, + 0.02159673161804676 + ], + [ + 0.21626731753349304, + -0.11523068696260452, + 0.021164288744330406 + ], + [ + 0.21926991641521454, + -0.11506012082099915, + 0.02118557319045067 + ], + [ + 0.21913178265094757, + -0.11553774029016495, + 0.0385427251458168 + ], + [ + 0.22254173457622528, + -0.11341412365436554, + 0.062383729964494705 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9001270516590614, + 0.41060988490120626, + 0.1455019357018427, + 0.38234614559374175, + -0.9047270286928106, + 0.18783085077347333, + 0.20876473797357212, + -0.11343952562531168, + -0.9713643797281891 + ], + [ + 0.8273999235732207, + 0.5576977822160777, + 0.06620083218734443, + 0.5423909963394505, + -0.8240854156831219, + 0.16338676429954294, + 0.14567557640499246, + -0.09927946096572313, + -0.9843384657065011 + ], + [ + 0.7167867409515516, + 0.694753354062506, + 0.05945203961977394, + 0.6837895368060231, + -0.7170446199073163, + 0.1351994172198108, + 0.1365600137326352, + -0.05625646701375872, + -0.9890331503890413 + ], + [ + 0.6444659028244013, + 0.761475058460086, + 0.06942215381229297, + 0.7537385512396901, + -0.6479313815561786, + 0.10983224103055728, + 0.12861530418975037, + -0.018456980736568714, + -0.991522790151728 + ], + [ + 0.7186100127503494, + 0.6888288173243298, + 0.09546994290617287, + 0.6830380832067631, + -0.7249231180799307, + 0.08913725238362613, + 0.13060867683340927, + 0.0011546847345627331, + -0.9914333261692336 + ], + [ + 0.732748997301281, + 0.6729656996144983, + 0.10097561139372294, + 0.667339644238952, + -0.7396644466169326, + 0.08691550861552572, + 0.13317922578614175, + 0.003697776796340431, + -0.991085072163721 + ], + [ + 0.7221671199121483, + 0.682651234116037, + 0.11163307519567689, + 0.6720190553391671, + -0.7306443484688501, + 0.12062016958859928, + 0.16390558312286252, + -0.012088366737508655, + -0.9864019622906137 + ], + [ + 0.7201347745621615, + 0.6819157223352993, + 0.12805020147673288, + 0.6676782858357838, + -0.7312789333387267, + 0.13941602590220217, + 0.18871039475793125, + -0.014901989360523067, + -0.9819197103752448 + ], + [ + 0.7226596440769579, + 0.6783674908637727, + 0.13259180276983126, + 0.6635634075275754, + -0.7345815596519225, + 0.14168110816104507, + 0.1935113511217297, + -0.014404150739916369, + -0.9809922922370513 + ], + [ + 0.7352479127867629, + 0.6678382727327887, + 0.11576937512137678, + 0.6517705850703588, + -0.7435024811878657, + 0.14966350558679808, + 0.18602583471053372, + -0.03458470674695374, + -0.9819359891965852 + ], + [ + 0.7401325787238652, + 0.6632421433316334, + 0.11096677529973649, + 0.6454232301532211, + -0.7469568678024215, + 0.15963800180839652, + 0.1887660453846064, + -0.046532751387130984, + -0.9809189992849562 + ], + [ + 0.7471090396706159, + 0.6546893991185612, + 0.11493421389746218, + 0.6368630014407182, + -0.7545538593813081, + 0.15828452447631436, + 0.1903512548904523, + -0.045058450645252025, + -0.9806814649961931 + ], + [ + 0.7520786689091229, + 0.6520476918914422, + 0.0959764724863588, + 0.6367743439254945, + -0.7564463599684066, + 0.1493564173673296, + 0.1699885604684562, + -0.051212420266872276, + -0.9841144127184965 + ], + [ + 0.7614177051565737, + 0.6419261302444338, + 0.0904097427465808, + 0.6249806634561336, + -0.7639388798166231, + 0.1606130698618701, + 0.17216924400144118, + -0.06578929406772116, + -0.9828680075198515 + ], + [ + 0.761934566187588, + 0.6389650035934182, + 0.10573287583053334, + 0.6219868679652198, + -0.7674256573017184, + 0.15553197932850144, + 0.18052161346317538, + -0.05274073091916974, + -0.9821559766018652 + ], + [ + 0.7913351512727034, + 0.600784974504969, + 0.11334060512134005, + 0.5831620050968763, + -0.7973973253152631, + 0.1551759691171778, + 0.1836048860232175, + -0.056700264453776295, + -0.9813635034171961 + ], + [ + 0.8028713294293917, + 0.5898629197586753, + 0.08636761125590812, + 0.5763006936361761, + -0.8050228493540271, + 0.14076832929457356, + 0.15256191823237997, + -0.06324514140780918, + -0.9862681750890894 + ], + [ + 0.8118302945553999, + 0.576793507659389, + 0.09077897534159927, + 0.5649553629742136, + -0.8152229768062762, + 0.1274242360533816, + 0.1475025785834501, + -0.05216078612417323, + -0.9876852948698492 + ], + [ + 0.8195100940255748, + 0.5680539186177117, + 0.07561713650526075, + 0.5584968186355318, + -0.8212568488402012, + 0.11669829393376943, + 0.12839201440970907, + -0.053403499661770715, + -0.99028458377362 + ], + [ + 0.7795650388209949, + 0.6198819570445168, + 0.08958074334744529, + 0.6152239888285195, + -0.7846843443273968, + 0.07596001143634357, + 0.11737884740423543, + -0.0041035470197772345, + -0.9930787315635704 + ], + [ + 0.7626720679126112, + 0.6413854336362627, + 0.08340289170720896, + 0.639290434424412, + -0.7671144902346843, + 0.05332072135133469, + 0.09817870074179832, + 0.01265244605613925, + -0.9950883670958317 + ], + [ + 0.7655342683932764, + 0.6367528254442939, + 0.09221238097066524, + 0.6336950736063719, + -0.7710018545956558, + 0.06314027159486743, + 0.11130066308241603, + 0.010098489925094906, + -0.993735469276732 + ], + [ + 0.7615355649159411, + 0.6428209752059877, + 0.08273316870144125, + 0.6360110331348519, + -0.7657533889906734, + 0.09545529309596501, + 0.12471386891158738, + -0.020073392451728823, + -0.9919896722328222 + ], + [ + 0.7645268367911773, + 0.6379197138358876, + 0.09250488919844405, + 0.6294678566367022, + -0.7697654585853511, + 0.10597809316118531, + 0.13881258331748372, + -0.022794242001521497, + -0.9900563060979427 + ], + [ + 0.7690004446066235, + 0.6326445029084932, + 0.09164741750033653, + 0.6249526431881064, + -0.7741869041587912, + 0.10034356581877124, + 0.13443403574621596, + -0.019888950919849845, + -0.9907229277978243 + ], + [ + 0.7629496486157074, + 0.6386579551517293, + 0.10011917897476177, + 0.6353005994165069, + -0.7693848297800454, + 0.06663431612433313, + 0.1195867135521155, + 0.012767146342946758, + -0.9927416672609557 + ], + [ + 0.7554668390776951, + 0.6455258943512797, + 0.11209895082442042, + 0.6459552271917249, + -0.7624597722027951, + 0.037375663688396225, + 0.10959789923918459, + 0.04417482874263883, + -0.9929938997737677 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006121.json b/json/chunk-0006/episode_0006121.json new file mode 100644 index 0000000000000000000000000000000000000000..5d2666414892e3a21c932f31827dce74be838656 --- /dev/null +++ b/json/chunk-0006/episode_0006121.json @@ -0,0 +1,5782 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 95, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nSweep into pile." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006121.mp4", + "start": 0, + "end": 95, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3509292006492615, + 0.23791730403900146, + 0.1481095403432846, + -0.16768984496593475, + -0.1733042150735855, + 0.23606862127780914, + 0.0, + 0.9994885921478271 + ], + [ + 0.34866297245025635, + 0.23528362810611725, + 0.12770605087280273, + -0.1915261149406433, + -0.12323395907878876, + 0.23909156024456024, + 0.0, + 0.9994885921478271 + ], + [ + 0.3415180742740631, + 0.22990092635154724, + 0.10403274744749069, + -0.20549888908863068, + -0.0891801044344902, + 0.23976914584636688, + 0.0, + 0.9994885921478271 + ], + [ + 0.3367885947227478, + 0.2247953563928604, + 0.09692425280809402, + -0.18446668982505798, + -0.09264273196458817, + 0.21777799725532532, + 0.0, + 0.9994885921478271 + ], + [ + 0.3364003896713257, + 0.21025066077709198, + 0.10315538197755814, + -0.16835808753967285, + -0.1200474202632904, + 0.17886358499526978, + 0.0, + 0.9994885921478271 + ], + [ + 0.3329811692237854, + 0.20067866146564484, + 0.10844264924526215, + -0.1543407440185547, + -0.1421596258878708, + 0.15024058520793915, + 0.0, + 0.9994885921478271 + ], + [ + 0.3338909447193146, + 0.19487638771533966, + 0.11825542896986008, + -0.14003093540668488, + -0.1674705296754837, + 0.1282958984375, + 0.0, + 0.9994885921478271 + ], + [ + 0.32911404967308044, + 0.1902599334716797, + 0.10328691452741623, + -0.13452473282814026, + -0.14389733970165253, + 0.11801173537969589, + 0.0, + 0.9994885921478271 + ], + [ + 0.3265487253665924, + 0.18532560765743256, + 0.08871059864759445, + -0.12403002381324768, + -0.14361758530139923, + 0.10114658623933792, + 0.0, + 0.9994885921478271 + ], + [ + 0.3240029513835907, + 0.17648617923259735, + 0.0933905765414238, + -0.09944192320108414, + -0.17036890983581543, + 0.07982958108186722, + 0.0, + 0.9994885921478271 + ], + [ + 0.3225994110107422, + 0.16911762952804565, + 0.08665397763252258, + -0.11109168082475662, + -0.16468024253845215, + 0.08118709921836853, + 0.0, + 0.9994885921478271 + ], + [ + 0.32541409134864807, + 0.16258762776851654, + 0.08215256780385971, + -0.08724421262741089, + -0.1748848557472229, + 0.0752113088965416, + 0.0, + 0.9994885921478271 + ], + [ + 0.3292745351791382, + 0.16220177710056305, + 0.0807979628443718, + -0.05016951262950897, + -0.1903122216463089, + 0.06858308613300323, + 0.0, + 0.9445669651031494 + ], + [ + 0.328607976436615, + 0.16282424330711365, + 0.07689844071865082, + -0.03117108903825283, + -0.19221487641334534, + 0.06292560696601868, + 0.0, + 0.6561112403869629 + ], + [ + 0.32688385248184204, + 0.16227738559246063, + 0.07117000222206116, + -0.008013298735022545, + -0.18782657384872437, + 0.05807200074195862, + 0.0, + 0.3577343225479126 + ], + [ + 0.32797297835350037, + 0.1644746959209442, + 0.0709410309791565, + 0.019082702696323395, + -0.1908717006444931, + 0.050993479788303375, + 0.0, + 0.32440370321273804 + ], + [ + 0.3273286521434784, + 0.1656486839056015, + 0.07088764011859894, + 0.023546714335680008, + -0.18859057128429413, + 0.051955826580524445, + 0.0, + 0.37205085158348083 + ], + [ + 0.32423868775367737, + 0.16380496323108673, + 0.07028286159038544, + 0.012361529283225536, + -0.16820843517780304, + 0.05544544756412506, + 0.0, + 0.6831957101821899 + ], + [ + 0.3233204185962677, + 0.1639503836631775, + 0.07013383507728577, + 0.013268361799418926, + -0.1624273955821991, + 0.05748516693711281, + 0.0, + 0.8879486322402954 + ], + [ + 0.32215890288352966, + 0.16304397583007812, + 0.06775283813476562, + 0.005898403003811836, + -0.1506085842847824, + 0.05884592980146408, + 0.0, + 0.5988990664482117 + ], + [ + 0.3239074647426605, + 0.16339029371738434, + 0.0680326595902443, + 0.009264197200536728, + -0.161790132522583, + 0.04746363312005997, + 0.0, + 0.35109609365463257 + ], + [ + 0.3245936632156372, + 0.16473591327667236, + 0.06786052137613297, + 0.017834758386015892, + -0.16762059926986694, + 0.04850746691226959, + 0.0, + 0.34288913011550903 + ], + [ + 0.326054185628891, + 0.16119807958602905, + 0.06736360490322113, + 0.02450694888830185, + -0.1670999526977539, + 0.04336344823241234, + 0.0, + 0.34288913011550903 + ], + [ + 0.32611721754074097, + 0.15055342018604279, + 0.06667383015155792, + 0.00847579911351204, + -0.1540243923664093, + 0.05309766158461571, + 0.0, + 0.34288913011550903 + ], + [ + 0.321552574634552, + 0.1302821934223175, + 0.0662471130490303, + -0.03442136198282242, + -0.11214792728424072, + 0.06771262735128403, + 0.0, + 0.34288913011550903 + ], + [ + 0.31842324137687683, + 0.10548276454210281, + 0.06947214901447296, + -0.059991929680109024, + -0.0840945616364479, + 0.05001448467373848, + 0.0, + 0.34288913011550903 + ], + [ + 0.3159503638744354, + 0.08854757994413376, + 0.07212008535861969, + -0.0874437764286995, + -0.06479865312576294, + 0.05863771215081215, + 0.0, + 0.34288913011550903 + ], + [ + 0.31269779801368713, + 0.06975984573364258, + 0.07508950680494308, + -0.10269656777381897, + -0.05165756493806839, + 0.0550716295838356, + 0.0, + 0.34288913011550903 + ], + [ + 0.31257230043411255, + 0.05454043298959732, + 0.07191967964172363, + -0.10423598438501358, + -0.07196425646543503, + 0.05937513709068298, + 0.0, + 0.34288913011550903 + ], + [ + 0.312030553817749, + 0.04191356897354126, + 0.06866706907749176, + -0.08911336213350296, + -0.10942654311656952, + 0.04498054459691048, + 0.0, + 0.34288913011550903 + ], + [ + 0.31172797083854675, + 0.02969234436750412, + 0.06762344390153885, + -0.07871994376182556, + -0.14651402831077576, + 0.032591741532087326, + 0.0, + 0.34288913011550903 + ], + [ + 0.3041864037513733, + 0.010438735596835613, + 0.06827901303768158, + -0.10224737226963043, + -0.1274247169494629, + 0.021254519000649452, + 0.0, + 0.34288913011550903 + ], + [ + 0.29393270611763, + -0.009030403569340706, + 0.0696941614151001, + -0.13751529157161713, + -0.08154165744781494, + 0.016042819246649742, + 0.0, + 0.34288913011550903 + ], + [ + 0.28979361057281494, + -0.027646388858556747, + 0.07764806598424911, + -0.17581364512443542, + -0.07823662459850311, + 0.007302998565137386, + 0.0, + 0.34288913011550903 + ], + [ + 0.2877854108810425, + -0.044500578194856644, + 0.0793573185801506, + -0.20754361152648926, + -0.06980421394109726, + 0.006338750012218952, + 0.0, + 0.34288913011550903 + ], + [ + 0.285479336977005, + -0.05763701722025871, + 0.08860260248184204, + -0.24654215574264526, + -0.10374311357736588, + -0.016386400908231735, + 0.0, + 0.34288913011550903 + ], + [ + 0.2826177775859833, + -0.058329034596681595, + 0.10208684206008911, + -0.25839361548423767, + -0.15352055430412292, + -0.04314887151122093, + 0.0, + 0.34288913011550903 + ], + [ + 0.27988994121551514, + -0.015248795039951801, + 0.10729728639125824, + -0.23712939023971558, + -0.12819702923297882, + -0.025186296552419662, + 0.0, + 0.34288913011550903 + ], + [ + 0.2998582720756531, + 0.011219088919460773, + 0.1279333084821701, + -0.1974334865808487, + -0.21246592700481415, + -0.023679668083786964, + 0.0, + 0.34288913011550903 + ], + [ + 0.30798307061195374, + 0.04957091063261032, + 0.13716375827789307, + -0.23805294930934906, + -0.16042429208755493, + -0.034094806760549545, + 0.0, + 0.34288913011550903 + ], + [ + 0.3168294429779053, + 0.08258049190044403, + 0.14728385210037231, + -0.26872894167900085, + -0.12861187756061554, + -0.047612741589546204, + 0.0, + 0.34207403659820557 + ], + [ + 0.32942941784858704, + 0.10605715960264206, + 0.13943316042423248, + -0.2528451979160309, + -0.1160864308476448, + -0.04400026425719261, + 0.0, + 0.34288913011550903 + ], + [ + 0.3407438397407532, + 0.12144371122121811, + 0.12348423153162003, + -0.22035200893878937, + -0.11098823696374893, + -0.023466793820261955, + 0.0, + 0.34288913011550903 + ], + [ + 0.34758657217025757, + 0.1307392567396164, + 0.10870034247636795, + -0.1791534125804901, + -0.11486316472291946, + -0.011631689965724945, + 0.0, + 0.34288913011550903 + ], + [ + 0.35480135679244995, + 0.1366732269525528, + 0.09693625569343567, + -0.13122129440307617, + -0.12270321696996689, + -0.00294167036190629, + 0.0, + 0.34288913011550903 + ], + [ + 0.3639059066772461, + 0.1321268528699875, + 0.0920042172074318, + -0.07550934702157974, + -0.14347857236862183, + -0.0206015482544899, + 0.0, + 0.34288913011550903 + ], + [ + 0.36657261848449707, + 0.12215316295623779, + 0.08043047785758972, + -0.03949673846364021, + -0.14293955266475677, + -0.0328630656003952, + 0.0, + 0.34288913011550903 + ], + [ + 0.36884763836860657, + 0.1125018373131752, + 0.07113812118768692, + 0.001925561111420393, + -0.14550644159317017, + -0.03847832605242729, + 0.0, + 0.34288913011550903 + ], + [ + 0.3720763325691223, + 0.11173877120018005, + 0.06697823852300644, + 0.03179227188229561, + -0.1466042399406433, + -0.036595530807971954, + 0.0, + 0.34288913011550903 + ], + [ + 0.37106814980506897, + 0.10277622938156128, + 0.06470827013254166, + 0.027589550241827965, + -0.13659335672855377, + -0.05292418971657753, + 0.0, + 0.34288913011550903 + ], + [ + 0.365368127822876, + 0.08461586385965347, + 0.06322862952947617, + 0.019161539152264595, + -0.13072419166564941, + -0.06574758887290955, + 0.0, + 0.34207403659820557 + ], + [ + 0.35645589232444763, + 0.05978676304221153, + 0.06290269643068314, + -0.022256698459386826, + -0.10754913836717606, + -0.0595305897295475, + 0.0, + 0.34288913011550903 + ], + [ + 0.35421404242515564, + 0.032245878130197525, + 0.0628521740436554, + -0.04886307939887047, + -0.09703464806079865, + -0.05293684080243111, + 0.0, + 0.34207403659820557 + ], + [ + 0.355333536863327, + 0.0209556482732296, + 0.06283112615346909, + -0.05911737680435181, + -0.10013692080974579, + -0.032892435789108276, + 0.0, + 0.34288913011550903 + ], + [ + 0.356401264667511, + -0.010010922327637672, + 0.06236879155039787, + -0.09181728214025497, + -0.10089177638292313, + -0.04530331492424011, + 0.0, + 0.34288913011550903 + ], + [ + 0.35616105794906616, + -0.021245364099740982, + 0.06216844916343689, + -0.11295396089553833, + -0.09977490454912186, + -0.04941564053297043, + 0.0, + 0.34207403659820557 + ], + [ + 0.3570905029773712, + -0.024519063532352448, + 0.06228996813297272, + -0.1311214566230774, + -0.1066727414727211, + -0.039554107934236526, + 0.0, + 0.34207403659820557 + ], + [ + 0.3601619005203247, + -0.052038658410310745, + 0.06209674850106239, + -0.17919625341892242, + -0.12817232310771942, + -0.036350786685943604, + 0.0, + 0.34207403659820557 + ], + [ + 0.35722044110298157, + -0.07256796956062317, + 0.06177026405930519, + -0.24008238315582275, + -0.11656206846237183, + -0.04390140622854233, + 0.0, + 0.34207403659820557 + ], + [ + 0.3548041582107544, + -0.08554459363222122, + 0.06202005594968796, + -0.3219454884529114, + -0.09723970293998718, + -0.04337736964225769, + 0.0, + 0.34207403659820557 + ], + [ + 0.3492392599582672, + -0.10196418315172195, + 0.06403734534978867, + -0.4107707142829895, + -0.08008828014135361, + -0.07352130860090256, + 0.0, + 0.34207403659820557 + ], + [ + 0.34434574842453003, + -0.11020805686712265, + 0.06599603593349457, + -0.444023996591568, + -0.05779097601771355, + -0.08464468270540237, + 0.0, + 0.34207403659820557 + ], + [ + 0.3422885537147522, + -0.10427559912204742, + 0.07110730558633804, + -0.45142415165901184, + -0.05852331593632698, + -0.09754206240177155, + 0.0, + 0.34207403659820557 + ], + [ + 0.3487313687801361, + -0.07389650493860245, + 0.10408888012170792, + -0.43269771337509155, + -0.15724368393421173, + -0.06465353071689606, + 0.0, + 0.34207403659820557 + ], + [ + 0.34277117252349854, + -0.0312004666775465, + 0.1255374550819397, + -0.3667724132537842, + -0.2476131170988083, + -0.05683647096157074, + 0.0, + 0.34207403659820557 + ], + [ + 0.3369547128677368, + -0.005051585379987955, + 0.13107897341251373, + -0.2366715967655182, + -0.30847951769828796, + -0.09097003191709518, + 0.0, + 0.34207403659820557 + ], + [ + 0.3270036280155182, + 0.0336492657661438, + 0.10809335112571716, + -0.04683579131960869, + -0.2757963240146637, + -0.02471284382045269, + 0.0, + 0.34207403659820557 + ], + [ + 0.32208725810050964, + 0.04682828485965729, + 0.09546025842428207, + 0.03771653026342392, + -0.27687355875968933, + -0.021270152181386948, + 0.0, + 0.34207403659820557 + ], + [ + 0.3176395297050476, + 0.0512036569416523, + 0.08791729807853699, + 0.06040659919381142, + -0.2581852972507477, + 0.0017527646850794554, + 0.0, + 0.34207403659820557 + ], + [ + 0.30991503596305847, + 0.04874666407704353, + 0.08520334213972092, + 0.042699478566646576, + -0.20893213152885437, + 0.05177656188607216, + 0.0, + 0.34207403659820557 + ], + [ + 0.2987426817417145, + 0.03786145895719528, + 0.07957175374031067, + 0.01930856704711914, + -0.14347605407238007, + 0.06993310153484344, + 0.0, + 0.34207403659820557 + ], + [ + 0.29262807965278625, + 0.03270747512578964, + 0.07376068085432053, + 0.008728724904358387, + -0.12111077457666397, + 0.09554959833621979, + 0.0, + 0.34207403659820557 + ], + [ + 0.2909007966518402, + 0.025485455989837646, + 0.06654056161642075, + 0.011060262098908424, + -0.13534775376319885, + 0.1017969623208046, + 0.0, + 0.34207403659820557 + ], + [ + 0.29741761088371277, + 0.01893555000424385, + 0.06466177105903625, + 0.011481004767119884, + -0.16533739864826202, + 0.11303149163722992, + 0.0, + 0.34207403659820557 + ], + [ + 0.29649272561073303, + 0.0075269159860908985, + 0.06412778049707413, + -0.0019758492708206177, + -0.1573682725429535, + 0.13117487728595734, + 0.0, + 0.34207403659820557 + ], + [ + 0.29267823696136475, + -0.01237371563911438, + 0.06388398259878159, + -0.03750588372349739, + -0.12085119634866714, + 0.16422604024410248, + 0.0, + 0.34207403659820557 + ], + [ + 0.293434739112854, + -0.03585881367325783, + 0.06327822804450989, + -0.0676303505897522, + -0.0639352947473526, + 0.19339442253112793, + 0.0, + 0.34207403659820557 + ], + [ + 0.30094456672668457, + -0.04939557611942291, + 0.06355457752943039, + -0.09160616248846054, + -0.03573346510529518, + 0.22325335443019867, + 0.0, + 0.34207403659820557 + ], + [ + 0.3084906041622162, + -0.0607253834605217, + 0.06387481093406677, + -0.1317586749792099, + -0.01916438899934292, + 0.24868828058242798, + 0.0, + 0.34207403659820557 + ], + [ + 0.31689295172691345, + -0.07891929149627686, + 0.06403040140867233, + -0.17321699857711792, + -0.01095602847635746, + 0.26349011063575745, + 0.0, + 0.34207403659820557 + ], + [ + 0.3201453685760498, + -0.10055920481681824, + 0.06598510593175888, + -0.21443378925323486, + 0.007692544721066952, + 0.26300743222236633, + 0.0, + 0.34207403659820557 + ], + [ + 0.3238236606121063, + -0.1124676764011383, + 0.0742577612400055, + -0.2684694528579712, + 0.037873927503824234, + 0.2727609872817993, + 0.0, + 0.34207403659820557 + ], + [ + 0.32945922017097473, + -0.11957217752933502, + 0.07749633491039276, + -0.32529690861701965, + 0.020843734964728355, + 0.27881696820259094, + 0.0, + 0.34207403659820557 + ], + [ + 0.333140105009079, + -0.11898546665906906, + 0.07190883904695511, + -0.35002678632736206, + -0.033563725650310516, + 0.27119290828704834, + 0.0, + 0.34207403659820557 + ], + [ + 0.3378192186355591, + -0.11147226393222809, + 0.07072728127241135, + -0.3172863721847534, + -0.11930577456951141, + 0.2562033236026764, + 0.0, + 0.34207403659820557 + ], + [ + 0.33836257457733154, + -0.11157985031604767, + 0.07256673276424408, + -0.26180553436279297, + -0.17228737473487854, + 0.2500513195991516, + 0.0, + 0.34207403659820557 + ], + [ + 0.32539981603622437, + -0.06615764647722244, + 0.09380751103162766, + -0.14706513285636902, + -0.06895270943641663, + 0.17266114056110382, + 0.0, + 0.34207403659820557 + ], + [ + 0.3541165888309479, + -0.013739151880145073, + 0.13408605754375458, + -0.12452488392591476, + -0.10252901911735535, + 0.21583443880081177, + 0.0, + 0.34207403659820557 + ], + [ + 0.35855230689048767, + 0.028155602514743805, + 0.13280655443668365, + -0.11422719061374664, + -0.05213474854826927, + 0.23723480105400085, + 0.0, + 0.34207403659820557 + ], + [ + 0.37255507707595825, + 0.08278492838144302, + 0.12810952961444855, + -0.08455521613359451, + -0.06962722539901733, + 0.2752836048603058, + 0.0, + 0.34207403659820557 + ], + [ + 0.37494340538978577, + 0.12197966873645782, + 0.10142192989587784, + -0.014533324167132378, + -0.06862964481115341, + 0.25774675607681274, + 0.0, + 0.34207403659820557 + ], + [ + 0.37590885162353516, + 0.1536668837070465, + 0.08060905337333679, + 0.04050317034125328, + -0.07411796599626541, + 0.25563907623291016, + 0.0, + 0.34207403659820557 + ], + [ + 0.3822025954723358, + 0.15198518335819244, + 0.07855308055877686, + 0.07180070877075195, + -0.10654997080564499, + 0.2366904765367508, + 0.0, + 0.34207403659820557 + ], + [ + 0.3811076581478119, + 0.13412611186504364, + 0.06800266355276108, + 0.07406079769134521, + -0.08597344905138016, + 0.21083755791187286, + 0.0, + 0.34207403659820557 + ], + [ + 0.37878280878067017, + 0.11073022335767746, + 0.06778846681118011, + 0.05651501566171646, + -0.07029478251934052, + 0.19014742970466614, + 0.0, + 0.34207403659820557 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9445669651031494 + ], + [ + 0.6561112403869629 + ], + [ + 0.3577343225479126 + ], + [ + 0.32440370321273804 + ], + [ + 0.37205085158348083 + ], + [ + 0.6831957101821899 + ], + [ + 0.8879486322402954 + ], + [ + 0.5988990664482117 + ], + [ + 0.35109609365463257 + ], + [ + 0.34288913011550903 + ], + [ + 0.34288913011550903 + ], + [ + 0.34288913011550903 + ], + [ + 0.34288913011550903 + ], + [ + 0.34288913011550903 + ], + [ + 0.34288913011550903 + ], + [ + 0.34288913011550903 + ], + [ + 0.34288913011550903 + ], + [ + 0.34288913011550903 + ], + [ + 0.34288913011550903 + ], + [ + 0.34288913011550903 + ], + [ + 0.34288913011550903 + ], + [ + 0.34288913011550903 + ], + [ + 0.34288913011550903 + ], + [ + 0.34288913011550903 + ], + [ + 0.34288913011550903 + ], + [ + 0.34288913011550903 + ], + [ + 0.34288913011550903 + ], + [ + 0.34288913011550903 + ], + [ + 0.34207403659820557 + ], + [ + 0.34288913011550903 + ], + [ + 0.34288913011550903 + ], + [ + 0.34288913011550903 + ], + [ + 0.34288913011550903 + ], + [ + 0.34288913011550903 + ], + [ + 0.34288913011550903 + ], + [ + 0.34288913011550903 + ], + [ + 0.34288913011550903 + ], + [ + 0.34288913011550903 + ], + [ + 0.34207403659820557 + ], + [ + 0.34288913011550903 + ], + [ + 0.34207403659820557 + ], + [ + 0.34288913011550903 + ], + [ + 0.34288913011550903 + ], + [ + 0.34207403659820557 + ], + [ + 0.34207403659820557 + ], + [ + 0.34207403659820557 + ], + [ + 0.34207403659820557 + ], + [ + 0.34207403659820557 + ], + [ + 0.34207403659820557 + ], + [ + 0.34207403659820557 + ], + [ + 0.34207403659820557 + ], + [ + 0.34207403659820557 + ], + [ + 0.34207403659820557 + ], + [ + 0.34207403659820557 + ], + [ + 0.34207403659820557 + ], + [ + 0.34207403659820557 + ], + [ + 0.34207403659820557 + ], + [ + 0.34207403659820557 + ], + [ + 0.34207403659820557 + ], + [ + 0.34207403659820557 + ], + [ + 0.34207403659820557 + ], + [ + 0.34207403659820557 + ], + [ + 0.34207403659820557 + ], + [ + 0.34207403659820557 + ], + [ + 0.34207403659820557 + ], + [ + 0.34207403659820557 + ], + [ + 0.34207403659820557 + ], + [ + 0.34207403659820557 + ], + [ + 0.34207403659820557 + ], + [ + 0.34207403659820557 + ], + [ + 0.34207403659820557 + ], + [ + 0.34207403659820557 + ], + [ + 0.34207403659820557 + ], + [ + 0.34207403659820557 + ], + [ + 0.34207403659820557 + ], + [ + 0.34207403659820557 + ], + [ + 0.34207403659820557 + ], + [ + 0.34207403659820557 + ], + [ + 0.34207403659820557 + ], + [ + 0.34207403659820557 + ], + [ + 0.34207403659820557 + ], + [ + 0.34207403659820557 + ], + [ + 0.34207403659820557 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3509292006492615, + 0.23791730403900146, + 0.1481095403432846 + ], + [ + 0.34866297245025635, + 0.23528362810611725, + 0.12770605087280273 + ], + [ + 0.3415180742740631, + 0.22990092635154724, + 0.10403274744749069 + ], + [ + 0.3367885947227478, + 0.2247953563928604, + 0.09692425280809402 + ], + [ + 0.3364003896713257, + 0.21025066077709198, + 0.10315538197755814 + ], + [ + 0.3329811692237854, + 0.20067866146564484, + 0.10844264924526215 + ], + [ + 0.3338909447193146, + 0.19487638771533966, + 0.11825542896986008 + ], + [ + 0.32911404967308044, + 0.1902599334716797, + 0.10328691452741623 + ], + [ + 0.3265487253665924, + 0.18532560765743256, + 0.08871059864759445 + ], + [ + 0.3240029513835907, + 0.17648617923259735, + 0.0933905765414238 + ], + [ + 0.3225994110107422, + 0.16911762952804565, + 0.08665397763252258 + ], + [ + 0.32541409134864807, + 0.16258762776851654, + 0.08215256780385971 + ], + [ + 0.3292745351791382, + 0.16220177710056305, + 0.0807979628443718 + ], + [ + 0.328607976436615, + 0.16282424330711365, + 0.07689844071865082 + ], + [ + 0.32688385248184204, + 0.16227738559246063, + 0.07117000222206116 + ], + [ + 0.32797297835350037, + 0.1644746959209442, + 0.0709410309791565 + ], + [ + 0.3273286521434784, + 0.1656486839056015, + 0.07088764011859894 + ], + [ + 0.32423868775367737, + 0.16380496323108673, + 0.07028286159038544 + ], + [ + 0.3233204185962677, + 0.1639503836631775, + 0.07013383507728577 + ], + [ + 0.32215890288352966, + 0.16304397583007812, + 0.06775283813476562 + ], + [ + 0.3239074647426605, + 0.16339029371738434, + 0.0680326595902443 + ], + [ + 0.3245936632156372, + 0.16473591327667236, + 0.06786052137613297 + ], + [ + 0.326054185628891, + 0.16119807958602905, + 0.06736360490322113 + ], + [ + 0.32611721754074097, + 0.15055342018604279, + 0.06667383015155792 + ], + [ + 0.321552574634552, + 0.1302821934223175, + 0.0662471130490303 + ], + [ + 0.31842324137687683, + 0.10548276454210281, + 0.06947214901447296 + ], + [ + 0.3159503638744354, + 0.08854757994413376, + 0.07212008535861969 + ], + [ + 0.31269779801368713, + 0.06975984573364258, + 0.07508950680494308 + ], + [ + 0.31257230043411255, + 0.05454043298959732, + 0.07191967964172363 + ], + [ + 0.312030553817749, + 0.04191356897354126, + 0.06866706907749176 + ], + [ + 0.31172797083854675, + 0.02969234436750412, + 0.06762344390153885 + ], + [ + 0.3041864037513733, + 0.010438735596835613, + 0.06827901303768158 + ], + [ + 0.29393270611763, + -0.009030403569340706, + 0.0696941614151001 + ], + [ + 0.28979361057281494, + -0.027646388858556747, + 0.07764806598424911 + ], + [ + 0.2877854108810425, + -0.044500578194856644, + 0.0793573185801506 + ], + [ + 0.285479336977005, + -0.05763701722025871, + 0.08860260248184204 + ], + [ + 0.2826177775859833, + -0.058329034596681595, + 0.10208684206008911 + ], + [ + 0.27988994121551514, + -0.015248795039951801, + 0.10729728639125824 + ], + [ + 0.2998582720756531, + 0.011219088919460773, + 0.1279333084821701 + ], + [ + 0.30798307061195374, + 0.04957091063261032, + 0.13716375827789307 + ], + [ + 0.3168294429779053, + 0.08258049190044403, + 0.14728385210037231 + ], + [ + 0.32942941784858704, + 0.10605715960264206, + 0.13943316042423248 + ], + [ + 0.3407438397407532, + 0.12144371122121811, + 0.12348423153162003 + ], + [ + 0.34758657217025757, + 0.1307392567396164, + 0.10870034247636795 + ], + [ + 0.35480135679244995, + 0.1366732269525528, + 0.09693625569343567 + ], + [ + 0.3639059066772461, + 0.1321268528699875, + 0.0920042172074318 + ], + [ + 0.36657261848449707, + 0.12215316295623779, + 0.08043047785758972 + ], + [ + 0.36884763836860657, + 0.1125018373131752, + 0.07113812118768692 + ], + [ + 0.3720763325691223, + 0.11173877120018005, + 0.06697823852300644 + ], + [ + 0.37106814980506897, + 0.10277622938156128, + 0.06470827013254166 + ], + [ + 0.365368127822876, + 0.08461586385965347, + 0.06322862952947617 + ], + [ + 0.35645589232444763, + 0.05978676304221153, + 0.06290269643068314 + ], + [ + 0.35421404242515564, + 0.032245878130197525, + 0.0628521740436554 + ], + [ + 0.355333536863327, + 0.0209556482732296, + 0.06283112615346909 + ], + [ + 0.356401264667511, + -0.010010922327637672, + 0.06236879155039787 + ], + [ + 0.35616105794906616, + -0.021245364099740982, + 0.06216844916343689 + ], + [ + 0.3570905029773712, + -0.024519063532352448, + 0.06228996813297272 + ], + [ + 0.3601619005203247, + -0.052038658410310745, + 0.06209674850106239 + ], + [ + 0.35722044110298157, + -0.07256796956062317, + 0.06177026405930519 + ], + [ + 0.3548041582107544, + -0.08554459363222122, + 0.06202005594968796 + ], + [ + 0.3492392599582672, + -0.10196418315172195, + 0.06403734534978867 + ], + [ + 0.34434574842453003, + -0.11020805686712265, + 0.06599603593349457 + ], + [ + 0.3422885537147522, + -0.10427559912204742, + 0.07110730558633804 + ], + [ + 0.3487313687801361, + -0.07389650493860245, + 0.10408888012170792 + ], + [ + 0.34277117252349854, + -0.0312004666775465, + 0.1255374550819397 + ], + [ + 0.3369547128677368, + -0.005051585379987955, + 0.13107897341251373 + ], + [ + 0.3270036280155182, + 0.0336492657661438, + 0.10809335112571716 + ], + [ + 0.32208725810050964, + 0.04682828485965729, + 0.09546025842428207 + ], + [ + 0.3176395297050476, + 0.0512036569416523, + 0.08791729807853699 + ], + [ + 0.30991503596305847, + 0.04874666407704353, + 0.08520334213972092 + ], + [ + 0.2987426817417145, + 0.03786145895719528, + 0.07957175374031067 + ], + [ + 0.29262807965278625, + 0.03270747512578964, + 0.07376068085432053 + ], + [ + 0.2909007966518402, + 0.025485455989837646, + 0.06654056161642075 + ], + [ + 0.29741761088371277, + 0.01893555000424385, + 0.06466177105903625 + ], + [ + 0.29649272561073303, + 0.0075269159860908985, + 0.06412778049707413 + ], + [ + 0.29267823696136475, + -0.01237371563911438, + 0.06388398259878159 + ], + [ + 0.293434739112854, + -0.03585881367325783, + 0.06327822804450989 + ], + [ + 0.30094456672668457, + -0.04939557611942291, + 0.06355457752943039 + ], + [ + 0.3084906041622162, + -0.0607253834605217, + 0.06387481093406677 + ], + [ + 0.31689295172691345, + -0.07891929149627686, + 0.06403040140867233 + ], + [ + 0.3201453685760498, + -0.10055920481681824, + 0.06598510593175888 + ], + [ + 0.3238236606121063, + -0.1124676764011383, + 0.0742577612400055 + ], + [ + 0.32945922017097473, + -0.11957217752933502, + 0.07749633491039276 + ], + [ + 0.333140105009079, + -0.11898546665906906, + 0.07190883904695511 + ], + [ + 0.3378192186355591, + -0.11147226393222809, + 0.07072728127241135 + ], + [ + 0.33836257457733154, + -0.11157985031604767, + 0.07256673276424408 + ], + [ + 0.32539981603622437, + -0.06615764647722244, + 0.09380751103162766 + ], + [ + 0.3541165888309479, + -0.013739151880145073, + 0.13408605754375458 + ], + [ + 0.35855230689048767, + 0.028155602514743805, + 0.13280655443668365 + ], + [ + 0.37255507707595825, + 0.08278492838144302, + 0.12810952961444855 + ], + [ + 0.37494340538978577, + 0.12197966873645782, + 0.10142192989587784 + ], + [ + 0.37590885162353516, + 0.1536668837070465, + 0.08060905337333679 + ], + [ + 0.3822025954723358, + 0.15198518335819244, + 0.07855308055877686 + ], + [ + 0.3811076581478119, + 0.13412611186504364, + 0.06800266355276108 + ], + [ + 0.37878280878067017, + 0.11073022335767746, + 0.06778846681118011 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9577007984476447, + 0.20261889438541666, + 0.20433982551322435, + 0.2303786351986463, + -0.9653582869262045, + -0.12251147826596667, + 0.17243800363247266, + 0.16440487067278373, + -0.9712034665312477 + ], + [ + 0.9641855426593863, + 0.20975630758468047, + 0.16232230516803686, + 0.2350241537613668, + -0.9593299226289089, + -0.15636414773714785, + 0.12292227818982937, + 0.18891371304712662, + -0.9742698407255403 + ], + [ + 0.9675325952458863, + 0.21482798154031962, + 0.133152602242959, + 0.2365346647967878, + -0.9552698775260932, + -0.1775128542972418, + 0.08906194185077473, + 0.20324467874607363, + -0.9750690083656511 + ], + [ + 0.9721929662539828, + 0.19582734981944566, + 0.12842307202747805, + 0.2151341130710358, + -0.963481104124429, + -0.15944113455539052, + 0.09251026839989786, + 0.18263573324479473, + -0.9788186957668489 + ], + [ + 0.9769642852470615, + 0.15564876682708648, + 0.1459939955508642, + 0.1766309674784424, + -0.9737035000348838, + -0.14388535487479848, + 0.11975928640121361, + 0.1663579135629698, + -0.978765936225637 + ], + [ + 0.9787610597337589, + 0.1263617004520464, + 0.16142957785894252, + 0.1481661290810419, + -0.9802421092485465, + -0.13104276191037964, + 0.14168128366862404, + 0.152177948188388, + -0.9781453296638404 + ], + [ + 0.9779059011948754, + 0.10361770263078673, + 0.18155831049488408, + 0.12615423630802702, + -0.9850501605046739, + -0.117308524631653, + 0.16668880307260397, + 0.1376210485036156, + -0.9763581770738587 + ], + [ + 0.9827812088863048, + 0.09757515197476563, + 0.15690820621329832, + 0.11652113987134752, + -0.9863371597384002, + -0.11645527588850464, + 0.14340125321298774, + 0.1327331798620347, + -0.9807231941484088 + ], + [ + 0.984646371179493, + 0.08258279209552312, + 0.15379078702173055, + 0.09993464996942532, + -0.989034311086444, + -0.108739124648174, + 0.14312438457001003, + 0.1224386129595982, + -0.9821019278048411 + ], + [ + 0.9823837046322069, + 0.06257226309385161, + 0.17608795746562225, + 0.07859029632429293, + -0.9932330498141536, + -0.08550832755080102, + 0.169545929460901, + 0.09784079235262284, + -0.9806535357378009 + ], + [ + 0.9832215263733574, + 0.06248329990362494, + 0.17138047528583594, + 0.08000075175539698, + -0.9920360263905172, + -0.0972851584872244, + 0.16393690796955002, + 0.10936342888034685, + -0.9803898870494925 + ], + [ + 0.9819626644540469, + 0.059736709190795795, + 0.1793902204507324, + 0.07399427206937492, + -0.9945195396096548, + -0.0738629341112496, + 0.17399475083815433, + 0.08580449236289305, + -0.9810012312791019 + ], + [ + 0.9796367682111877, + 0.05897905011576454, + 0.19191996773702805, + 0.06729205180775266, + -0.9970439276638762, + -0.03708350134620743, + 0.18916548874528485, + 0.04924304982465619, + -0.9807097123571908 + ], + [ + 0.9796408140338377, + 0.05691156746674572, + 0.19252259339515865, + 0.06172598507497688, + -0.9979104161012375, + -0.01909723024887034, + 0.1910334479761156, + 0.030592072913300378, + -0.9811066949263081 + ], + [ + 0.9807563289729925, + 0.056543764869609055, + 0.18686847201652088, + 0.05701859236683516, + -0.9983690849916136, + 0.0028372975720640527, + 0.18672413690769482, + 0.007872279681141823, + -0.9823808446364871 + ], + [ + 0.9805629547700742, + 0.05457744877693217, + 0.188461120174913, + 0.0500457032679545, + -0.9983337625862333, + 0.028725007655881, + 0.189714836839393, + -0.018735009085023666, + -0.9816604708948948 + ], + [ + 0.9809439680606947, + 0.05632610617615066, + 0.1859470389341333, + 0.05101166338147036, + -0.9981445325708378, + 0.03324608695771227, + 0.18747464288376345, + -0.023127080705900013, + -0.9819971468459715 + ], + [ + 0.9843712697015506, + 0.057479098652828, + 0.16646127659072946, + 0.05463490325923547, + -0.9982723257198594, + 0.021619228656842165, + 0.16741633950128898, + -0.01218675181996053, + -0.9858109617711033 + ], + [ + 0.9852075714947908, + 0.059590528937367826, + 0.16067050112046385, + 0.05669728838058369, + -0.9981370313970348, + 0.02253628283908777, + 0.16171412603611715, + -0.013093334750137556, + -0.9867507821256061 + ], + [ + 0.9869686211135863, + 0.0596944087941889, + 0.14943064777968912, + 0.05814621877816753, + -0.9981996644019672, + 0.014712145649114204, + 0.1500398553016722, + -0.005831598966967401, + -0.9886627505244349 + ], + [ + 0.9858290216506478, + 0.04893440139774618, + 0.16045736016515624, + 0.04682619558093704, + -0.9987601455986543, + 0.016896122962688803, + 0.1610852180640491, + -0.009143080640502087, + -0.986898149049667 + ], + [ + 0.9848247584527978, + 0.05145257099107489, + 0.16574929283950748, + 0.047808857940507876, + -0.998520626065324, + 0.02590120507887042, + 0.16683677124906474, + -0.017583863640331286, + -0.9858277230321053 + ], + [ + 0.985144305189295, + 0.047408682104962394, + 0.16505488424815526, + 0.042746050501517904, + -0.9985832752647318, + 0.031689391412310836, + 0.16632339919453, + -0.024163179067158733, + -0.9857751608037938 + ], + [ + 0.9867690096294067, + 0.05436928451895345, + 0.15274456630563524, + 0.05244442280016832, + -0.9984857706812875, + 0.016605669638775803, + 0.15341611438227962, + -0.00837535956792683, + -0.9881261808088838 + ], + [ + 0.9914407812795296, + 0.06377820521718311, + 0.113918908681179, + 0.06723585037645174, + -0.9973779683810359, + -0.026768052082154548, + 0.11191299138165915, + 0.03419837316879886, + -0.9931293740659454 + ], + [ + 0.9952200910084713, + 0.04487396707093097, + 0.08673694444933477, + 0.0498169651112607, + -0.9972045791327098, + -0.05568929290140514, + 0.08399547868899504, + 0.0597440744850237, + -0.9946735168504962 + ], + [ + 0.9961862107084858, + 0.052734859988245196, + 0.06951307888655747, + 0.0584811224404115, + -0.9947985070255689, + -0.08340197082688747, + 0.06475331584079833, + 0.08714909616123145, + -0.9940885489361109 + ], + [ + 0.9971520080605162, + 0.04946843467831766, + 0.05692755739847819, + 0.05497037019214861, + -0.9935146367944776, + -0.09953353643910759, + 0.05163459326670589, + 0.10237939463394985, + -0.9934044132842211 + ], + [ + 0.9956540656480692, + 0.05155013379364438, + 0.07756007519547324, + 0.05918666535449738, + -0.9932636636329629, + -0.0996204454448927, + 0.07190215714903718, + 0.10377802374434324, + -0.9919980854744799 + ], + [ + 0.99301348312024, + 0.035077744802212804, + 0.11266665061587577, + 0.04469643534141042, + -0.9954616109596048, + -0.08401434266528289, + 0.1092082918517642, + 0.08846317270649572, + -0.990074651763957 + ], + [ + 0.9887606322313831, + 0.021010665373518294, + 0.14802352546118444, + 0.03223684599604993, + -0.9967478686816225, + -0.07385439755945844, + 0.14599040348469086, + 0.07779613241804262, + -0.9862223703968451 + ], + [ + 0.9916684123543843, + 0.008173866411833222, + 0.12855717734306735, + 0.021080609628973464, + -0.9948282720261006, + -0.09935953439521639, + 0.12708016303186817, + 0.10124177539654697, + -0.9867120831723657 + ], + [ + 0.9965490650238897, + 0.004726590742478171, + 0.08287110678616995, + 0.015988828236629147, + -0.9906113136342307, + -0.13577033060092256, + 0.08145132516804889, + 0.13662680791051715, + -0.987268351051806 + ], + [ + 0.9969144908578226, + -0.006479636943600841, + 0.07822731123314913, + 0.007280594530654734, + -0.9846581287457009, + -0.17434265811411553, + 0.07815683502400195, + 0.17437426358294478, + -0.9815727814782443 + ], + [ + 0.99754463408509, + -0.008168990462907668, + 0.06955552172804334, + 0.006323270750872274, + -0.9786114630213257, + -0.20562008824594713, + 0.0697475394193555, + 0.20555503408595188, + -0.9761569590526249 + ], + [ + 0.9944899756425793, + -0.041160143691552235, + 0.09641333371330327, + -0.01629757017552779, + -0.9692177968751249, + -0.24566491696394707, + 0.10355712217320331, + 0.24273999421566286, + -0.9645481935369452 + ], + [ + 0.987319025179387, + -0.08074195001728875, + 0.13668167406873089, + -0.04262816043552156, + -0.9642163200763367, + -0.26166720856143, + 0.15291822146725542, + 0.25252252494748484, + -0.9554309979990383 + ], + [ + 0.9914794531163668, + -0.054502147440478, + 0.11831318596186406, + -0.024976977133117736, + -0.9709517062687364, + -0.23796834812033493, + 0.12784617577918372, + 0.2329856219130391, + -0.9640399656240567 + ], + [ + 0.9772398484920177, + -0.06456893379029069, + 0.20207209433388565, + -0.023145041426347445, + -0.979318961211959, + -0.2009942269521733, + 0.21087101644529146, + 0.19174260090004555, + -0.9585239639275667 + ], + [ + 0.9865858879169122, + -0.07077273340329743, + 0.14710372520716028, + -0.03365049528349111, + -0.969950144748839, + -0.24096547650832031, + 0.15973706498610044, + 0.23278302538701554, + -0.9593206623237582 + ], + [ + 0.9906169737680797, + -0.07990113833925219, + 0.11087749715187138, + -0.04720166367959009, + -0.9613957973065157, + -0.2710906192903908, + 0.12825760885206938, + 0.2633133665681642, + -0.9561464619806366 + ], + [ + 0.9923081923845799, + -0.0715344356885122, + 0.1010310637238554, + -0.043690021294985566, + -0.9659930107445623, + -0.2548503192697621, + 0.1158258751993324, + 0.24847601031766042, + -0.9616881193666306 + ], + [ + 0.9935734871610252, + -0.04709988491823939, + 0.10292388668996294, + -0.023320265074448045, + -0.9749838330509332, + -0.2210490681413681, + 0.1107605112282225, + 0.2172282811468118, + -0.969816468731308 + ], + [ + 0.9933432748296992, + -0.03186713097193784, + 0.11069608987776268, + -0.011554782113138654, + -0.9836907882280883, + -0.17949629568745945, + 0.11461075586927365, + 0.17702236897866708, + -0.9775108467532492 + ], + [ + 0.9924771065856229, + -0.01893115599710101, + 0.12095786140654001, + -0.00291954891068367, + -0.9913514329634789, + -0.13120141994435636, + 0.12239554378157909, + 0.12986126325379194, + -0.9839488722329739 + ], + [ + 0.9895145714337101, + -0.03132568549859608, + 0.1409950862562393, + -0.02038841671656578, + -0.9967167192296865, + -0.07835875236246592, + 0.14298680143339443, + 0.07466246068844534, + -0.9869043983992541 + ], + [ + 0.9892670888997046, + -0.03845346635518, + 0.14096793161983723, + -0.03252205781756755, + -0.9984957636246898, + -0.044142108908145315, + 0.14245329962908848, + 0.03908376835489138, + -0.9890295832157735 + ], + [ + 0.9887002245316868, + -0.038189773301345674, + 0.14496001940598718, + -0.038062316250117904, + -0.9992686882832508, + -0.0036535870521612205, + 0.14499353810659416, + -0.001905211763436051, + -0.9894307677020502 + ], + [ + 0.9886104727324989, + -0.03192856167033018, + 0.14707107177582293, + -0.036194884247718266, + -0.9989953554715708, + 0.026423665539141106, + 0.14607964799355047, + -0.0314459328990895, + -0.988772921224174 + ], + [ + 0.989298506608757, + -0.04912824950128646, + 0.13738587963332746, + -0.052406760908480544, + -0.998418517060339, + 0.020346896621238366, + 0.13616899879475194, + -0.02732910338765895, + -0.990308600323789 + ], + [ + 0.9893255942206012, + -0.0631959702861242, + 0.13130551382044253, + -0.06513966021357814, + -0.9978203183318056, + 0.010556372079194964, + 0.13035218942278914, + -0.018996885634496228, + -0.9912857433903082 + ], + [ + 0.9924609765728697, + -0.061865346963347105, + 0.10580117591563275, + -0.05915167943701458, + -0.9978392188891178, + -0.028600210952651653, + 0.10734192470701583, + 0.022126276050438043, + -0.9939759248132387 + ], + [ + 0.9939015937181958, + -0.057574428252534546, + 0.09404683522492523, + -0.052663212499426446, + -0.997156896870058, + -0.05389535298814442, + 0.09688244450709706, + 0.04861386876057268, + -0.9941078833358374 + ], + [ + 0.9944522889662333, + -0.038732361725067645, + 0.0977980016412287, + -0.032721759603143545, + -0.9975188700674087, + -0.062332899081578005, + 0.09996965248660886, + 0.05878697147020434, + -0.9932523146547749 + ], + [ + 0.9938939384660098, + -0.0543224934753754, + 0.09604116712713046, + -0.04505751952011664, + -0.994347826978687, + -0.09613645987583339, + 0.10072069804770972, + 0.0912220679736061, + -0.9907239147711137 + ], + [ + 0.9938119788238885, + -0.060294423655436115, + 0.09328629707629164, + -0.04914986846242093, + -0.9918599737065393, + -0.1174652416206189, + 0.09960944320833277, + 0.11215335498736738, + -0.9886857861771878 + ], + [ + 0.9935381403823901, + -0.05311406280783348, + 0.1003038380997796, + -0.03931902221042786, + -0.9900899700459445, + -0.134817898317827, + 0.10647055037857726, + 0.1300028751469197, + -0.9857805406659316 + ], + [ + 0.9911419686363425, + -0.0585285595204956, + 0.11921411715116227, + -0.03604466790686443, + -0.9825092411369459, + -0.18269201678230568, + 0.127821672353162, + 0.17677669190523454, + -0.9759157859548551 + ], + [ + 0.9922573563391348, + -0.07025561946376267, + 0.10241819528108245, + -0.043589500717287136, + -0.9691688648312984, + -0.2425111685445223, + 0.11629829843161332, + 0.23616913298603406, + -0.9647273430387138 + ], + [ + 0.9943397373241604, + -0.07182632320021556, + 0.07829090671117289, + -0.04315891494880575, + -0.946397205554164, + -0.32010878991322766, + 0.09708653273529316, + 0.31491793949346125, + -0.9441402949491304 + ], + [ + 0.9941018325098617, + -0.09920466368873729, + 0.0438175912498552, + -0.07321964190557503, + -0.9119899662937709, + -0.40362505548925726, + 0.08000269145318936, + 0.398036098968286, + -0.913874626673897 + ], + [ + 0.994756320417933, + -0.10106848644816716, + 0.01565324361438334, + -0.08440250295658341, + -0.8976996304156919, + -0.4324483680697549, + 0.057758813035228736, + 0.4288595744513662, + -0.9015228144191109 + ], + [ + 0.9935426810830028, + -0.11302662692626878, + 0.009895578409992174, + -0.09722073200858031, + -0.8930644995571047, + -0.4392993613682289, + 0.0584899148068627, + 0.43550060991517336, + -0.8982862286762485 + ], + [ + 0.9855991289987558, + -0.12418110900578462, + 0.11477547247991135, + -0.0638114005810488, + -0.9016986200460573, + -0.42763033541006007, + 0.15659649444600723, + 0.4141481024623063, + -0.8966375450281413 + ], + [ + 0.9679346777306764, + -0.14077632938929152, + 0.20804923631219863, + -0.055073306629598036, + -0.9269895732971196, + -0.3710219156536526, + 0.24509057620254115, + 0.34766701897376107, + -0.9050183718436906 + ], + [ + 0.9488565680493168, + -0.1592048433925898, + 0.27262617466049194, + -0.08655641132093703, + -0.9616371541682401, + -0.2603112970703522, + 0.30361027803569635, + 0.22340054065187345, + -0.9262359297217625 + ], + [ + 0.9619148458339145, + -0.037428682600843914, + 0.27077467215949513, + -0.02377649184730385, + -0.9982833523756914, + -0.053525945157338946, + 0.2723132530740138, + 0.045049329499079645, + -0.9611534997657407 + ], + [ + 0.9616971633899101, + -0.010948399039154868, + 0.27389541523413574, + -0.02045853038927419, + -0.9992819981766327, + 0.03188944424769944, + 0.27334961946582503, + -0.03627148575114369, + -0.9612306512275256 + ], + [ + 0.9668534262537795, + 0.017163565681775877, + 0.2547545174367173, + 0.0016946682766303314, + -0.9981475256761424, + 0.06081648695893902, + 0.2553264190027337, + -0.058368904389940225, + -0.9650914416569853 + ], + [ + 0.9769420013809128, + 0.0605482308287383, + 0.20473943850994245, + 0.0506279474236544, + -0.9972914140374745, + 0.05335397292425807, + 0.20741537280906727, + -0.041758199561817824, + -0.9773613026367635 + ], + [ + 0.9873057480344821, + 0.07261698997256938, + 0.14125909763762298, + 0.06915813237852786, + -0.9971768246038216, + 0.029249499123118083, + 0.1429843090132122, + -0.019108983237289906, + -0.9895404661435788 + ], + [ + 0.9881470711588116, + 0.0964503765938149, + 0.11942650717145817, + 0.0947054428918097, + -0.9953000794837761, + 0.020214620111582968, + 0.12081491980268513, + -0.008664677403153884, + -0.9926372340984245 + ], + [ + 0.9857249739608804, + 0.10309968294034923, + 0.1331042113812378, + 0.10069185909486793, + -0.9946106565790068, + 0.024714192916141964, + 0.13493489252910468, + -0.0109588866713951, + -0.9907938623049108 + ], + [ + 0.9800686419707837, + 0.11466103124781937, + 0.1622291741294718, + 0.11125281759513028, + -0.9933401283930391, + 0.029969983337425152, + 0.16458513785481532, + -0.011324188151362529, + -0.9862978734439328 + ], + [ + 0.9791582103273873, + 0.1304917673806653, + 0.15563128796722697, + 0.12918275210953084, + -0.9914474724140493, + 0.01853984900693978, + 0.15671954474753652, + 0.0019514327205821507, + -0.9876412183604234 + ], + [ + 0.9793496965415949, + 0.15891413541413668, + 0.12498187648400733, + 0.1622964079440496, + -0.9865904424104185, + -0.017296673462653796, + 0.12055723890478279, + 0.037223601518290315, + -0.9920082437347297 + ], + [ + 0.9793524369392405, + 0.18751454252007205, + 0.07554535461998638, + 0.1917984596794025, + -0.9799438983724308, + -0.05406761421823488, + 0.06389174536495312, + 0.06744073239616667, + -0.995675445357617 + ], + [ + 0.9745597782688854, + 0.21728805191696499, + 0.05494671122671346, + 0.22126206505901458, + -0.9718170308339937, + -0.08133115729424631, + 0.035725861029818506, + 0.09141969741325645, + -0.9951713931673013 + ], + [ + 0.9690581305654721, + 0.2415592500524758, + 0.05074907190321985, + 0.2460876078561906, + -0.9614548075767326, + -0.12266027167427128, + 0.019163215924538107, + 0.1313536512689074, + -0.9911503364544433 + ], + [ + 0.9654289093419179, + 0.25473114567535937, + 0.055308809694239805, + 0.26043615580327617, + -0.951530538128753, + -0.16359292087011992, + 0.01095580929399673, + 0.17234174895052137, + -0.9849762899742253 + ], + [ + 0.9655838866032999, + 0.25561191709361647, + 0.04806564024114913, + 0.25997804494804383, + -0.9430714964568926, + -0.20743087695796328, + -0.007692468853255918, + 0.21278792355367107, + -0.9770681273650565 + ], + [ + 0.9623401620888835, + 0.2694138126621653, + 0.036298897746037485, + 0.26919818681103164, + -0.9258273687748957, + -0.2652847893208477, + -0.037864873542565965, + 0.26506580461121215, + -0.9634865700036594 + ], + [ + 0.9611728692196707, + 0.2671886386766595, + 0.0689706230082068, + 0.2751587125714398, + -0.9091296628799651, + -0.312683448503098, + -0.02084222569819388, + 0.31952071518741204, + -0.9473500483950329 + ], + [ + 0.962909399745622, + 0.2405505501827041, + 0.12223305890111713, + 0.2677300639767529, + -0.9081143621807295, + -0.32194552030443024, + 0.033557424283299914, + 0.3427298323868012, + -0.9388344695778833 + ], + [ + 0.9604825941693883, + 0.2048390046901922, + 0.18845203223943677, + 0.25160827638127475, + -0.9284839472938743, + -0.27314983960096006, + 0.11902294549407841, + 0.3097717575491955, + -0.9433318592472091 + ], + [ + 0.9545553624482813, + 0.1960294921925439, + 0.22449164396913343, + 0.24379018219553011, + -0.9468637394342321, + -0.209798489054839, + 0.17143630620816883, + 0.25499313154545267, + -0.9516239256020956 + ], + [ + 0.9827900963059119, + 0.16000406180955806, + 0.09231644927887782, + 0.1713962680567856, + -0.9762315059712768, + -0.1326475255904135, + 0.06889808342198643, + 0.14618736933639662, + -0.986854754838462 + ], + [ + 0.9716683767480682, + 0.20008707782269813, + 0.12580034545321253, + 0.21303790677658924, + -0.9719569422636326, + -0.09957184673279179, + 0.10234947925623927, + 0.12355105695178345, + -0.9870459565907119 + ], + [ + 0.9706709025790662, + 0.2277110051036083, + 0.0771083461179516, + 0.23469646046302972, + -0.9670531400963172, + -0.09861944877141995, + 0.0521111344384949, + 0.11382408525684559, + -0.9921333112455079 + ], + [ + 0.9600163810475476, + 0.2651943981138649, + 0.08966871990496214, + 0.2711612559888449, + -0.9605071013365343, + -0.06243141462950037, + 0.0695709808104053, + 0.08424986344863335, + -0.9940129974693312 + ], + [ + 0.9646904628794286, + 0.2539117911917002, + 0.07000795042919154, + 0.2543023256452, + -0.9671187067069724, + 0.003425537749848595, + 0.06857578290414441, + 0.01449860101028489, + -0.9975405518412914 + ], + [ + 0.9648456376785722, + 0.25555738469872424, + 0.061345892923471215, + 0.2521695354691377, + -0.9659502077647475, + 0.05788541699358177, + 0.0740501237940158, + -0.04038092675001126, + -0.996436631161712 + ], + [ + 0.9666063699762357, + 0.24129912066623221, + 0.08629519040518752, + 0.23315687211219277, + -0.9678256312273645, + 0.09461194705856169, + 0.10634847675553727, + -0.07133219402946048, + -0.991766968388603 + ], + [ + 0.9742443209708935, + 0.21491821344424764, + 0.0682507478779162, + 0.20850602455260595, + -0.973845752267535, + 0.09027562525813114, + 0.08586757700803112, + -0.07371982311706433, + -0.9935754359374824 + ], + [ + 0.9795512322460923, + 0.19259773749052728, + 0.05818500596108819, + 0.18853689452316436, + -0.9796587687491991, + 0.06872071169861631, + 0.07023690489139678, + -0.05634543749349268, + -0.9959377334276193 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.002266228199005127, + -0.0026336759328842163, + -0.020403489470481873, + -0.023836269974708557, + 0.05007025599479675, + 0.0030229389667510986, + 1.0 + ], + [ + -0.007144898176193237, + -0.005382701754570007, + -0.023673303425312042, + -0.013972774147987366, + 0.03405385464429855, + 0.0006775856018066406, + 1.0 + ], + [ + -0.004729479551315308, + -0.005105569958686829, + -0.0071084946393966675, + 0.021032199263572693, + -0.0034626275300979614, + -0.021991148591041565, + 1.0 + ], + [ + -0.00038820505142211914, + -0.014544695615768433, + 0.006231129169464111, + 0.016108602285385132, + -0.02740468829870224, + -0.03891441226005554, + 1.0 + ], + [ + -0.003419220447540283, + -0.009571999311447144, + 0.00528726726770401, + 0.014017343521118164, + -0.022112205624580383, + -0.028622999787330627, + 1.0 + ], + [ + 0.0009097754955291748, + -0.005802273750305176, + 0.009812779724597931, + 0.014309808611869812, + -0.025310903787612915, + -0.021944686770439148, + 1.0 + ], + [ + -0.004776895046234131, + -0.004616454243659973, + -0.014968514442443848, + 0.005506202578544617, + 0.023573189973831177, + -0.010284163057804108, + 1.0 + ], + [ + -0.002565324306488037, + -0.004934325814247131, + -0.014576315879821777, + 0.010494709014892578, + 0.0002797544002532959, + -0.01686514914035797, + 1.0 + ], + [ + -0.002545773983001709, + -0.008839428424835205, + 0.004679977893829346, + 0.024588100612163544, + -0.0267513245344162, + -0.021317005157470703, + 1.0 + ], + [ + -0.0014035403728485107, + -0.007368549704551697, + -0.006736598908901215, + -0.011649757623672485, + 0.005688667297363281, + 0.0013575181365013123, + 1.0 + ], + [ + 0.002814680337905884, + -0.006530001759529114, + -0.004501409828662872, + 0.023847468197345734, + -0.010204613208770752, + -0.005975790321826935, + 1.0 + ], + [ + 0.0038604438304901123, + -0.0003858506679534912, + -0.001354604959487915, + 0.037074699997901917, + -0.015427365899085999, + -0.006628222763538361, + 0.0 + ], + [ + -0.0006665587425231934, + 0.0006224662065505981, + -0.003899522125720978, + 0.01899842359125614, + -0.001902654767036438, + -0.005657479166984558, + 0.0 + ], + [ + -0.0017241239547729492, + -0.0005468577146530151, + -0.005728438496589661, + 0.023157790303230286, + 0.004388302564620972, + -0.004853606224060059, + 0.0 + ], + [ + 0.0010891258716583252, + 0.0021973103284835815, + -0.00022897124290466309, + 0.02709600143134594, + -0.003045126795768738, + -0.007078520953655243, + 0.0 + ], + [ + -0.0006443262100219727, + 0.0011739879846572876, + -5.339086055755615e-05, + 0.004464011639356613, + 0.0022811293601989746, + 0.0009623467922210693, + 1.0 + ], + [ + -0.0030899643898010254, + -0.0018437206745147705, + -0.000604778528213501, + -0.011185185052454472, + 0.02038213610649109, + 0.0034896209836006165, + 1.0 + ], + [ + -0.000918269157409668, + 0.00014542043209075928, + -0.0001490265130996704, + 0.0009068325161933899, + 0.005781039595603943, + 0.002039719372987747, + 0.0 + ], + [ + -0.0011615157127380371, + -0.0009064078330993652, + -0.0023809969425201416, + -0.00736995879560709, + 0.011818811297416687, + 0.0013607628643512726, + 0.0 + ], + [ + 0.0017485618591308594, + 0.0003463178873062134, + 0.0002798214554786682, + 0.0033657941967248917, + -0.011181548237800598, + -0.011382296681404114, + 0.0 + ], + [ + 0.0006861984729766846, + 0.001345619559288025, + -0.00017213821411132812, + 0.008570561185479164, + -0.0058304667472839355, + 0.0010438337922096252, + 0.0 + ], + [ + 0.0014605224132537842, + -0.0035378336906433105, + -0.0004969164729118347, + 0.006672190502285957, + 0.0005206465721130371, + -0.005144018679857254, + 0.0 + ], + [ + 6.303191184997559e-05, + -0.010644659399986267, + -0.000689774751663208, + -0.01603114977478981, + 0.013075560331344604, + 0.00973421335220337, + 0.0 + ], + [ + -0.004564642906188965, + -0.02027122676372528, + -0.0004267171025276184, + -0.04289716109633446, + 0.04187646508216858, + 0.01461496576666832, + 0.0 + ], + [ + -0.003129333257675171, + -0.02479942888021469, + 0.0032250359654426575, + -0.025570567697286606, + 0.028053365647792816, + -0.017698142677545547, + 0.0 + ], + [ + -0.0024728775024414062, + -0.016935184597969055, + 0.0026479363441467285, + -0.02745184674859047, + 0.019295908510684967, + 0.00862322747707367, + 0.0 + ], + [ + -0.003252565860748291, + -0.01878773421049118, + 0.0029694214463233948, + -0.015252791345119476, + 0.01314108818769455, + -0.0035660825669765472, + 0.0 + ], + [ + -0.00012549757957458496, + -0.015219412744045258, + -0.003169827163219452, + -0.0015394166111946106, + -0.020306691527366638, + 0.004303507506847382, + 0.0 + ], + [ + -0.0005417466163635254, + -0.01262686401605606, + -0.0032526105642318726, + 0.01512262225151062, + -0.03746228665113449, + -0.014394592493772507, + 0.0 + ], + [ + -0.0003025829792022705, + -0.01222122460603714, + -0.0010436251759529114, + 0.010393418371677399, + -0.03708748519420624, + -0.01238880306482315, + 0.0 + ], + [ + -0.007541567087173462, + -0.019253607839345932, + 0.0006555691361427307, + -0.02352742850780487, + 0.019089311361312866, + -0.011337222531437874, + 0.0 + ], + [ + -0.010253697633743286, + -0.019469138234853745, + 0.001415148377418518, + -0.035267919301986694, + 0.04588305950164795, + -0.00521169975399971, + 0.0 + ], + [ + -0.0041390955448150635, + -0.01861598528921604, + 0.007953904569149017, + -0.0382983535528183, + 0.0033050328493118286, + -0.008739820681512356, + 0.0 + ], + [ + -0.002008199691772461, + -0.016854189336299896, + 0.0017092525959014893, + -0.03172996640205383, + 0.008432410657405853, + -0.0009642485529184341, + 0.0 + ], + [ + -0.0023060739040374756, + -0.013136439025402069, + 0.009245283901691437, + -0.038998544216156006, + -0.033938899636268616, + -0.022725149989128113, + 0.0 + ], + [ + -0.0028615593910217285, + -0.0006920173764228821, + 0.01348423957824707, + -0.011851459741592407, + -0.04977744072675705, + -0.026762470602989197, + 0.0 + ], + [ + -0.0027278363704681396, + 0.04308024048805237, + 0.005210444331169128, + 0.021264225244522095, + 0.025323525071144104, + 0.01796257495880127, + 0.0 + ], + [ + 0.01996833086013794, + 0.026467883959412575, + 0.020636022090911865, + 0.03969590365886688, + -0.08426889777183533, + 0.001506628468632698, + 0.0 + ], + [ + 0.00812479853630066, + 0.03835182264447212, + 0.009230449795722961, + -0.040619462728500366, + 0.052041634917259216, + -0.010415138676762581, + 0.0 + ], + [ + 0.008846372365951538, + 0.03300958126783371, + 0.010120093822479248, + -0.030675992369651794, + 0.03181241452693939, + -0.013517934828996658, + 0.0 + ], + [ + 0.012599974870681763, + 0.02347666770219803, + -0.007850691676139832, + 0.01588374376296997, + 0.012525446712970734, + 0.003612477332353592, + 0.0 + ], + [ + 0.011314421892166138, + 0.01538655161857605, + -0.015948928892612457, + 0.032493188977241516, + 0.005098193883895874, + 0.020533470436930656, + 0.0 + ], + [ + 0.0068427324295043945, + 0.009295545518398285, + -0.014783889055252075, + 0.041198596358299255, + -0.0038749277591705322, + 0.01183510385453701, + 0.0 + ], + [ + 0.007214784622192383, + 0.005933970212936401, + -0.011764086782932281, + 0.04793211817741394, + -0.007840052247047424, + 0.008690020069479942, + 0.0 + ], + [ + 0.009104549884796143, + -0.004546374082565308, + -0.004932038486003876, + 0.05571194738149643, + -0.020775355398654938, + -0.017659878358244896, + 0.0 + ], + [ + 0.0026667118072509766, + -0.009973689913749695, + -0.011573739349842072, + 0.03601260855793953, + 0.0005390197038650513, + -0.012261517345905304, + 0.0 + ], + [ + 0.002275019884109497, + -0.009651325643062592, + -0.009292356669902802, + 0.04142230004072189, + -0.002566888928413391, + -0.005615260452032089, + 0.0 + ], + [ + 0.003228694200515747, + -0.0007630661129951477, + -0.004159882664680481, + 0.029866710305213928, + -0.0010977983474731445, + 0.0018827952444553375, + 0.0 + ], + [ + -0.0010081827640533447, + -0.008962541818618774, + -0.0022699683904647827, + -0.004202721640467644, + 0.010010883212089539, + -0.016328658908605576, + 0.0 + ], + [ + -0.005700021982192993, + -0.018160365521907806, + -0.0014796406030654907, + -0.00842801108956337, + 0.005869165062904358, + -0.012823399156332016, + 0.0 + ], + [ + -0.008912235498428345, + -0.02482910081744194, + -0.0003259330987930298, + -0.04141823947429657, + 0.023175053298473358, + 0.006216999143362045, + 0.0 + ], + [ + -0.002241849899291992, + -0.027540884912014008, + -5.052238702774048e-05, + -0.026606380939483643, + 0.010514490306377411, + 0.006593748927116394, + 0.0 + ], + [ + 0.0011194944381713867, + -0.011290229856967926, + -2.1047890186309814e-05, + -0.010254297405481339, + -0.0031022727489471436, + 0.02004440501332283, + 0.0 + ], + [ + 0.00106772780418396, + -0.03096657060086727, + -0.00046233460307121277, + -0.03269990533590317, + -0.0007548555731773376, + -0.012410879135131836, + 0.0 + ], + [ + -0.00024020671844482422, + -0.01123444177210331, + -0.00020034238696098328, + -0.021136678755283356, + 0.0011168718338012695, + -0.004112325608730316, + 0.0 + ], + [ + 0.0009294450283050537, + -0.0032736994326114655, + 0.00012151896953582764, + -0.018167495727539062, + -0.006897836923599243, + 0.009861532598733902, + 0.0 + ], + [ + 0.003071397542953491, + -0.027519594877958298, + -0.0001932196319103241, + -0.04807479679584503, + -0.02149958163499832, + 0.003203321248292923, + 0.0 + ], + [ + -0.0029414594173431396, + -0.020529311150312424, + -0.00032648444175720215, + -0.06088612973690033, + 0.011610254645347595, + -0.007550619542598724, + 0.0 + ], + [ + -0.002416282892227173, + -0.012976624071598053, + 0.0002497918903827667, + -0.08186310529708862, + 0.019322365522384644, + 0.0005240365862846375, + 0.0 + ], + [ + -0.005564898252487183, + -0.016419589519500732, + 0.002017289400100708, + -0.08882522583007812, + 0.017151422798633575, + -0.030143938958644867, + 0.0 + ], + [ + -0.004893511533737183, + -0.008243873715400696, + 0.001958690583705902, + -0.03325328230857849, + 0.02229730412364006, + -0.011123374104499817, + 0.0 + ], + [ + -0.002057194709777832, + 0.005932457745075226, + 0.005111269652843475, + -0.007400155067443848, + -0.0007323399186134338, + -0.012897379696369171, + 0.0 + ], + [ + 0.006442815065383911, + 0.030379094183444977, + 0.03298157453536987, + 0.018726438283920288, + -0.09872037172317505, + 0.03288853168487549, + 0.0 + ], + [ + -0.005960196256637573, + 0.0426960363984108, + 0.02144857496023178, + 0.06592530012130737, + -0.09036943316459656, + 0.007817059755325317, + 0.0 + ], + [ + -0.005816459655761719, + 0.026148881763219833, + 0.005541518330574036, + 0.130100816488266, + -0.060866400599479675, + -0.034133560955524445, + 0.0 + ], + [ + -0.009951084852218628, + 0.038700852543115616, + -0.02298562228679657, + 0.1898358017206192, + 0.03268319368362427, + 0.06625718623399734, + 0.0 + ], + [ + -0.004916369915008545, + 0.013179019093513489, + -0.012633092701435089, + 0.08455231785774231, + -0.0010772347450256348, + 0.0034426916390657425, + 0.0 + ], + [ + -0.004447728395462036, + 0.00437537208199501, + -0.007542960345745087, + 0.022690068930387497, + 0.01868826150894165, + 0.023022916167974472, + 0.0 + ], + [ + -0.007724493741989136, + -0.0024569928646087646, + -0.0027139559388160706, + -0.01770712062716484, + 0.04925316572189331, + 0.050023797899484634, + 0.0 + ], + [ + -0.011172354221343994, + -0.010885205119848251, + -0.005631588399410248, + -0.023390911519527435, + 0.0654560774564743, + 0.018156539648771286, + 0.0 + ], + [ + -0.006114602088928223, + -0.00515398383140564, + -0.005811072885990143, + -0.010579842142760754, + 0.022365279495716095, + 0.025616496801376343, + 0.0 + ], + [ + -0.001727283000946045, + -0.007222019135951996, + -0.00722011923789978, + 0.0023315371945500374, + -0.014236979186534882, + 0.006247363984584808, + 0.0 + ], + [ + 0.006516814231872559, + -0.006549905985593796, + -0.001878790557384491, + 0.0004207426682114601, + -0.02998964488506317, + 0.011234529316425323, + 0.0 + ], + [ + -0.0009248852729797363, + -0.01140863448381424, + -0.0005339905619621277, + -0.013456854037940502, + 0.007969126105308533, + 0.018143385648727417, + 0.0 + ], + [ + -0.003814488649368286, + -0.01990063115954399, + -0.0002437978982925415, + -0.03553003445267677, + 0.036517076194286346, + 0.03305116295814514, + 0.0 + ], + [ + 0.0007565021514892578, + -0.023485098034143448, + -0.000605754554271698, + -0.030124466866254807, + 0.056915901601314545, + 0.02916838228702545, + 0.0 + ], + [ + 0.007509827613830566, + -0.013536762446165085, + 0.0002763494849205017, + -0.023975811898708344, + 0.02820182964205742, + 0.02985893189907074, + 0.0 + ], + [ + 0.007546037435531616, + -0.011329807341098785, + 0.00032023340463638306, + -0.04015251249074936, + 0.016569076105952263, + 0.02543492615222931, + 0.0 + ], + [ + 0.008402347564697266, + -0.018193908035755157, + 0.0001555904746055603, + -0.04145832359790802, + 0.008208360522985458, + 0.014801830053329468, + 0.0 + ], + [ + 0.0032524168491363525, + -0.021639913320541382, + 0.001954704523086548, + -0.04121679067611694, + 0.018648572266101837, + -0.0004826784133911133, + 0.0 + ], + [ + 0.0036782920360565186, + -0.011908471584320068, + 0.008272655308246613, + -0.05403566360473633, + 0.030181381851434708, + 0.009753555059432983, + 0.0 + ], + [ + 0.005635559558868408, + -0.007104501128196716, + 0.003238573670387268, + -0.05682745575904846, + -0.01703019253909588, + 0.006055980920791626, + 0.0 + ], + [ + 0.003680884838104248, + 0.0005867108702659607, + -0.005587495863437653, + -0.024729877710342407, + -0.05440746247768402, + -0.0076240599155426025, + 0.0 + ], + [ + 0.0046791136264801025, + 0.007513202726840973, + -0.0011815577745437622, + 0.03274041414260864, + -0.0857420489192009, + -0.014989584684371948, + 0.0 + ], + [ + 0.0005433559417724609, + -0.00010758638381958008, + 0.0018394514918327332, + 0.05548083782196045, + -0.052981600165367126, + -0.00615200400352478, + 0.0 + ], + [ + -0.012962758541107178, + 0.045422203838825226, + 0.021240778267383575, + 0.11474040150642395, + 0.10333466529846191, + -0.07739017903804779, + 0.0 + ], + [ + 0.02871677279472351, + 0.05241849273443222, + 0.04027854651212692, + 0.022540248930454254, + -0.03357630968093872, + 0.04317329823970795, + 0.0 + ], + [ + 0.004435718059539795, + 0.04189475625753403, + -0.0012795031070709229, + 0.010297693312168121, + 0.050394270569086075, + 0.021400362253189087, + 0.0 + ], + [ + 0.014002770185470581, + 0.05462932586669922, + -0.004697024822235107, + 0.02967197448015213, + -0.017492476850748062, + 0.03804880380630493, + 0.0 + ], + [ + 0.0023883283138275146, + 0.0391947403550148, + -0.02668759971857071, + 0.07002189010381699, + 0.0009975805878639221, + -0.017536848783493042, + 0.0 + ], + [ + 0.0009654462337493896, + 0.031687214970588684, + -0.020812876522541046, + 0.05503649264574051, + -0.0054883211851119995, + -0.002107679843902588, + 0.0 + ], + [ + 0.006293743848800659, + -0.001681700348854065, + -0.0020559728145599365, + 0.03129753842949867, + -0.03243200480937958, + -0.018948599696159363, + 0.0 + ], + [ + -0.0010949373245239258, + -0.017859071493148804, + -0.010550417006015778, + 0.0022600889205932617, + 0.02057652175426483, + -0.02585291862487793, + 0.0 + ], + [ + -0.0023248493671417236, + -0.02339588850736618, + -0.00021419674158096313, + -0.017545782029628754, + 0.015678666532039642, + -0.020690128207206726, + 0.0 + ], + [ + 0.001328885555267334, + -0.034037791192531586, + -0.0013387277722358704, + -0.015054445713758469, + 0.024783749133348465, + -0.029149413108825684, + 0.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9445669651031494 + ], + [ + 0.6561112403869629 + ], + [ + 0.3577343225479126 + ], + [ + 0.32440370321273804 + ], + [ + 0.37205085158348083 + ], + [ + 0.6831957101821899 + ], + [ + 0.8879486322402954 + ], + [ + 0.5988990664482117 + ], + [ + 0.35109609365463257 + ], + [ + 0.34288913011550903 + ], + [ + 0.34288913011550903 + ], + [ + 0.34288913011550903 + ], + [ + 0.34288913011550903 + ], + [ + 0.34288913011550903 + ], + [ + 0.34288913011550903 + ], + [ + 0.34288913011550903 + ], + [ + 0.34288913011550903 + ], + [ + 0.34288913011550903 + ], + [ + 0.34288913011550903 + ], + [ + 0.34288913011550903 + ], + [ + 0.34288913011550903 + ], + [ + 0.34288913011550903 + ], + [ + 0.34288913011550903 + ], + [ + 0.34288913011550903 + ], + [ + 0.34288913011550903 + ], + [ + 0.34288913011550903 + ], + [ + 0.34288913011550903 + ], + [ + 0.34288913011550903 + ], + [ + 0.34207403659820557 + ], + [ + 0.34288913011550903 + ], + [ + 0.34288913011550903 + ], + [ + 0.34288913011550903 + ], + [ + 0.34288913011550903 + ], + [ + 0.34288913011550903 + ], + [ + 0.34288913011550903 + ], + [ + 0.34288913011550903 + ], + [ + 0.34288913011550903 + ], + [ + 0.34288913011550903 + ], + [ + 0.34207403659820557 + ], + [ + 0.34288913011550903 + ], + [ + 0.34207403659820557 + ], + [ + 0.34288913011550903 + ], + [ + 0.34288913011550903 + ], + [ + 0.34207403659820557 + ], + [ + 0.34207403659820557 + ], + [ + 0.34207403659820557 + ], + [ + 0.34207403659820557 + ], + [ + 0.34207403659820557 + ], + [ + 0.34207403659820557 + ], + [ + 0.34207403659820557 + ], + [ + 0.34207403659820557 + ], + [ + 0.34207403659820557 + ], + [ + 0.34207403659820557 + ], + [ + 0.34207403659820557 + ], + [ + 0.34207403659820557 + ], + [ + 0.34207403659820557 + ], + [ + 0.34207403659820557 + ], + [ + 0.34207403659820557 + ], + [ + 0.34207403659820557 + ], + [ + 0.34207403659820557 + ], + [ + 0.34207403659820557 + ], + [ + 0.34207403659820557 + ], + [ + 0.34207403659820557 + ], + [ + 0.34207403659820557 + ], + [ + 0.34207403659820557 + ], + [ + 0.34207403659820557 + ], + [ + 0.34207403659820557 + ], + [ + 0.34207403659820557 + ], + [ + 0.34207403659820557 + ], + [ + 0.34207403659820557 + ], + [ + 0.34207403659820557 + ], + [ + 0.34207403659820557 + ], + [ + 0.34207403659820557 + ], + [ + 0.34207403659820557 + ], + [ + 0.34207403659820557 + ], + [ + 0.34207403659820557 + ], + [ + 0.34207403659820557 + ], + [ + 0.34207403659820557 + ], + [ + 0.34207403659820557 + ], + [ + 0.34207403659820557 + ], + [ + 0.34207403659820557 + ], + [ + 0.34207403659820557 + ], + [ + 0.34207403659820557 + ], + [ + 0.34207403659820557 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.34866297245025635, + 0.23528362810611725, + 0.12770605087280273 + ], + [ + 0.3415180742740631, + 0.22990092635154724, + 0.10403274744749069 + ], + [ + 0.3367885947227478, + 0.2247953563928604, + 0.09692425280809402 + ], + [ + 0.3364003896713257, + 0.21025066077709198, + 0.10315538197755814 + ], + [ + 0.3329811692237854, + 0.20067866146564484, + 0.10844264924526215 + ], + [ + 0.3338909447193146, + 0.19487638771533966, + 0.11825542896986008 + ], + [ + 0.32911404967308044, + 0.1902599334716797, + 0.10328691452741623 + ], + [ + 0.3265487253665924, + 0.18532560765743256, + 0.08871059864759445 + ], + [ + 0.3240029513835907, + 0.17648617923259735, + 0.0933905765414238 + ], + [ + 0.3225994110107422, + 0.16911762952804565, + 0.08665397763252258 + ], + [ + 0.32541409134864807, + 0.16258762776851654, + 0.08215256780385971 + ], + [ + 0.3292745351791382, + 0.16220177710056305, + 0.0807979628443718 + ], + [ + 0.328607976436615, + 0.16282424330711365, + 0.07689844071865082 + ], + [ + 0.32688385248184204, + 0.16227738559246063, + 0.07117000222206116 + ], + [ + 0.32797297835350037, + 0.1644746959209442, + 0.0709410309791565 + ], + [ + 0.3273286521434784, + 0.1656486839056015, + 0.07088764011859894 + ], + [ + 0.32423868775367737, + 0.16380496323108673, + 0.07028286159038544 + ], + [ + 0.3233204185962677, + 0.1639503836631775, + 0.07013383507728577 + ], + [ + 0.32215890288352966, + 0.16304397583007812, + 0.06775283813476562 + ], + [ + 0.3239074647426605, + 0.16339029371738434, + 0.0680326595902443 + ], + [ + 0.3245936632156372, + 0.16473591327667236, + 0.06786052137613297 + ], + [ + 0.326054185628891, + 0.16119807958602905, + 0.06736360490322113 + ], + [ + 0.32611721754074097, + 0.15055342018604279, + 0.06667383015155792 + ], + [ + 0.321552574634552, + 0.1302821934223175, + 0.0662471130490303 + ], + [ + 0.31842324137687683, + 0.10548276454210281, + 0.06947214901447296 + ], + [ + 0.3159503638744354, + 0.08854757994413376, + 0.07212008535861969 + ], + [ + 0.31269779801368713, + 0.06975984573364258, + 0.07508950680494308 + ], + [ + 0.31257230043411255, + 0.05454043298959732, + 0.07191967964172363 + ], + [ + 0.312030553817749, + 0.04191356897354126, + 0.06866706907749176 + ], + [ + 0.31172797083854675, + 0.02969234436750412, + 0.06762344390153885 + ], + [ + 0.3041864037513733, + 0.010438735596835613, + 0.06827901303768158 + ], + [ + 0.29393270611763, + -0.009030403569340706, + 0.0696941614151001 + ], + [ + 0.28979361057281494, + -0.027646388858556747, + 0.07764806598424911 + ], + [ + 0.2877854108810425, + -0.044500578194856644, + 0.0793573185801506 + ], + [ + 0.285479336977005, + -0.05763701722025871, + 0.08860260248184204 + ], + [ + 0.2826177775859833, + -0.058329034596681595, + 0.10208684206008911 + ], + [ + 0.27988994121551514, + -0.015248795039951801, + 0.10729728639125824 + ], + [ + 0.2998582720756531, + 0.011219088919460773, + 0.1279333084821701 + ], + [ + 0.30798307061195374, + 0.04957091063261032, + 0.13716375827789307 + ], + [ + 0.3168294429779053, + 0.08258049190044403, + 0.14728385210037231 + ], + [ + 0.32942941784858704, + 0.10605715960264206, + 0.13943316042423248 + ], + [ + 0.3407438397407532, + 0.12144371122121811, + 0.12348423153162003 + ], + [ + 0.34758657217025757, + 0.1307392567396164, + 0.10870034247636795 + ], + [ + 0.35480135679244995, + 0.1366732269525528, + 0.09693625569343567 + ], + [ + 0.3639059066772461, + 0.1321268528699875, + 0.0920042172074318 + ], + [ + 0.36657261848449707, + 0.12215316295623779, + 0.08043047785758972 + ], + [ + 0.36884763836860657, + 0.1125018373131752, + 0.07113812118768692 + ], + [ + 0.3720763325691223, + 0.11173877120018005, + 0.06697823852300644 + ], + [ + 0.37106814980506897, + 0.10277622938156128, + 0.06470827013254166 + ], + [ + 0.365368127822876, + 0.08461586385965347, + 0.06322862952947617 + ], + [ + 0.35645589232444763, + 0.05978676304221153, + 0.06290269643068314 + ], + [ + 0.35421404242515564, + 0.032245878130197525, + 0.0628521740436554 + ], + [ + 0.355333536863327, + 0.0209556482732296, + 0.06283112615346909 + ], + [ + 0.356401264667511, + -0.010010922327637672, + 0.06236879155039787 + ], + [ + 0.35616105794906616, + -0.021245364099740982, + 0.06216844916343689 + ], + [ + 0.3570905029773712, + -0.024519063532352448, + 0.06228996813297272 + ], + [ + 0.3601619005203247, + -0.052038658410310745, + 0.06209674850106239 + ], + [ + 0.35722044110298157, + -0.07256796956062317, + 0.06177026405930519 + ], + [ + 0.3548041582107544, + -0.08554459363222122, + 0.06202005594968796 + ], + [ + 0.3492392599582672, + -0.10196418315172195, + 0.06403734534978867 + ], + [ + 0.34434574842453003, + -0.11020805686712265, + 0.06599603593349457 + ], + [ + 0.3422885537147522, + -0.10427559912204742, + 0.07110730558633804 + ], + [ + 0.3487313687801361, + -0.07389650493860245, + 0.10408888012170792 + ], + [ + 0.34277117252349854, + -0.0312004666775465, + 0.1255374550819397 + ], + [ + 0.3369547128677368, + -0.005051585379987955, + 0.13107897341251373 + ], + [ + 0.3270036280155182, + 0.0336492657661438, + 0.10809335112571716 + ], + [ + 0.32208725810050964, + 0.04682828485965729, + 0.09546025842428207 + ], + [ + 0.3176395297050476, + 0.0512036569416523, + 0.08791729807853699 + ], + [ + 0.30991503596305847, + 0.04874666407704353, + 0.08520334213972092 + ], + [ + 0.2987426817417145, + 0.03786145895719528, + 0.07957175374031067 + ], + [ + 0.29262807965278625, + 0.03270747512578964, + 0.07376068085432053 + ], + [ + 0.2909007966518402, + 0.025485455989837646, + 0.06654056161642075 + ], + [ + 0.29741761088371277, + 0.01893555000424385, + 0.06466177105903625 + ], + [ + 0.29649272561073303, + 0.0075269159860908985, + 0.06412778049707413 + ], + [ + 0.29267823696136475, + -0.01237371563911438, + 0.06388398259878159 + ], + [ + 0.293434739112854, + -0.03585881367325783, + 0.06327822804450989 + ], + [ + 0.30094456672668457, + -0.04939557611942291, + 0.06355457752943039 + ], + [ + 0.3084906041622162, + -0.0607253834605217, + 0.06387481093406677 + ], + [ + 0.31689295172691345, + -0.07891929149627686, + 0.06403040140867233 + ], + [ + 0.3201453685760498, + -0.10055920481681824, + 0.06598510593175888 + ], + [ + 0.3238236606121063, + -0.1124676764011383, + 0.0742577612400055 + ], + [ + 0.32945922017097473, + -0.11957217752933502, + 0.07749633491039276 + ], + [ + 0.333140105009079, + -0.11898546665906906, + 0.07190883904695511 + ], + [ + 0.3378192186355591, + -0.11147226393222809, + 0.07072728127241135 + ], + [ + 0.33836257457733154, + -0.11157985031604767, + 0.07256673276424408 + ], + [ + 0.32539981603622437, + -0.06615764647722244, + 0.09380751103162766 + ], + [ + 0.3541165888309479, + -0.013739151880145073, + 0.13408605754375458 + ], + [ + 0.35855230689048767, + 0.028155602514743805, + 0.13280655443668365 + ], + [ + 0.37255507707595825, + 0.08278492838144302, + 0.12810952961444855 + ], + [ + 0.37494340538978577, + 0.12197966873645782, + 0.10142192989587784 + ], + [ + 0.37590885162353516, + 0.1536668837070465, + 0.08060905337333679 + ], + [ + 0.3822025954723358, + 0.15198518335819244, + 0.07855308055877686 + ], + [ + 0.3811076581478119, + 0.13412611186504364, + 0.06800266355276108 + ], + [ + 0.37878280878067017, + 0.11073022335767746, + 0.06778846681118011 + ], + [ + 0.3801116943359375, + 0.07669243216514587, + 0.06644973903894424 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9641855426593863, + 0.20975630758468047, + 0.16232230516803686, + 0.2350241537613668, + -0.9593299226289089, + -0.15636414773714785, + 0.12292227818982937, + 0.18891371304712662, + -0.9742698407255403 + ], + [ + 0.9675325952458863, + 0.21482798154031962, + 0.133152602242959, + 0.2365346647967878, + -0.9552698775260932, + -0.1775128542972418, + 0.08906194185077473, + 0.20324467874607363, + -0.9750690083656511 + ], + [ + 0.9721929662539828, + 0.19582734981944566, + 0.12842307202747805, + 0.2151341130710358, + -0.963481104124429, + -0.15944113455539052, + 0.09251026839989786, + 0.18263573324479473, + -0.9788186957668489 + ], + [ + 0.9769642852470615, + 0.15564876682708648, + 0.1459939955508642, + 0.1766309674784424, + -0.9737035000348838, + -0.14388535487479848, + 0.11975928640121361, + 0.1663579135629698, + -0.978765936225637 + ], + [ + 0.9787610597337589, + 0.1263617004520464, + 0.16142957785894252, + 0.1481661290810419, + -0.9802421092485465, + -0.13104276191037964, + 0.14168128366862404, + 0.152177948188388, + -0.9781453296638404 + ], + [ + 0.9779059011948754, + 0.10361770263078673, + 0.18155831049488408, + 0.12615423630802702, + -0.9850501605046739, + -0.117308524631653, + 0.16668880307260397, + 0.1376210485036156, + -0.9763581770738587 + ], + [ + 0.9827812088863048, + 0.09757515197476563, + 0.15690820621329832, + 0.11652113987134752, + -0.9863371597384002, + -0.11645527588850464, + 0.14340125321298774, + 0.1327331798620347, + -0.9807231941484088 + ], + [ + 0.984646371179493, + 0.08258279209552312, + 0.15379078702173055, + 0.09993464996942532, + -0.989034311086444, + -0.108739124648174, + 0.14312438457001003, + 0.1224386129595982, + -0.9821019278048411 + ], + [ + 0.9823837046322069, + 0.06257226309385161, + 0.17608795746562225, + 0.07859029632429293, + -0.9932330498141536, + -0.08550832755080102, + 0.169545929460901, + 0.09784079235262284, + -0.9806535357378009 + ], + [ + 0.9832215263733574, + 0.06248329990362494, + 0.17138047528583594, + 0.08000075175539698, + -0.9920360263905172, + -0.0972851584872244, + 0.16393690796955002, + 0.10936342888034685, + -0.9803898870494925 + ], + [ + 0.9819626644540469, + 0.059736709190795795, + 0.1793902204507324, + 0.07399427206937492, + -0.9945195396096548, + -0.0738629341112496, + 0.17399475083815433, + 0.08580449236289305, + -0.9810012312791019 + ], + [ + 0.9796367682111877, + 0.05897905011576454, + 0.19191996773702805, + 0.06729205180775266, + -0.9970439276638762, + -0.03708350134620743, + 0.18916548874528485, + 0.04924304982465619, + -0.9807097123571908 + ], + [ + 0.9796408140338377, + 0.05691156746674572, + 0.19252259339515865, + 0.06172598507497688, + -0.9979104161012375, + -0.01909723024887034, + 0.1910334479761156, + 0.030592072913300378, + -0.9811066949263081 + ], + [ + 0.9807563289729925, + 0.056543764869609055, + 0.18686847201652088, + 0.05701859236683516, + -0.9983690849916136, + 0.0028372975720640527, + 0.18672413690769482, + 0.007872279681141823, + -0.9823808446364871 + ], + [ + 0.9805629547700742, + 0.05457744877693217, + 0.188461120174913, + 0.0500457032679545, + -0.9983337625862333, + 0.028725007655881, + 0.189714836839393, + -0.018735009085023666, + -0.9816604708948948 + ], + [ + 0.9809439680606947, + 0.05632610617615066, + 0.1859470389341333, + 0.05101166338147036, + -0.9981445325708378, + 0.03324608695771227, + 0.18747464288376345, + -0.023127080705900013, + -0.9819971468459715 + ], + [ + 0.9843712697015506, + 0.057479098652828, + 0.16646127659072946, + 0.05463490325923547, + -0.9982723257198594, + 0.021619228656842165, + 0.16741633950128898, + -0.01218675181996053, + -0.9858109617711033 + ], + [ + 0.9852075714947908, + 0.059590528937367826, + 0.16067050112046385, + 0.05669728838058369, + -0.9981370313970348, + 0.02253628283908777, + 0.16171412603611715, + -0.013093334750137556, + -0.9867507821256061 + ], + [ + 0.9869686211135863, + 0.0596944087941889, + 0.14943064777968912, + 0.05814621877816753, + -0.9981996644019672, + 0.014712145649114204, + 0.1500398553016722, + -0.005831598966967401, + -0.9886627505244349 + ], + [ + 0.9858290216506478, + 0.04893440139774618, + 0.16045736016515624, + 0.04682619558093704, + -0.9987601455986543, + 0.016896122962688803, + 0.1610852180640491, + -0.009143080640502087, + -0.986898149049667 + ], + [ + 0.9848247584527978, + 0.05145257099107489, + 0.16574929283950748, + 0.047808857940507876, + -0.998520626065324, + 0.02590120507887042, + 0.16683677124906474, + -0.017583863640331286, + -0.9858277230321053 + ], + [ + 0.985144305189295, + 0.047408682104962394, + 0.16505488424815526, + 0.042746050501517904, + -0.9985832752647318, + 0.031689391412310836, + 0.16632339919453, + -0.024163179067158733, + -0.9857751608037938 + ], + [ + 0.9867690096294067, + 0.05436928451895345, + 0.15274456630563524, + 0.05244442280016832, + -0.9984857706812875, + 0.016605669638775803, + 0.15341611438227962, + -0.00837535956792683, + -0.9881261808088838 + ], + [ + 0.9914407812795296, + 0.06377820521718311, + 0.113918908681179, + 0.06723585037645174, + -0.9973779683810359, + -0.026768052082154548, + 0.11191299138165915, + 0.03419837316879886, + -0.9931293740659454 + ], + [ + 0.9952200910084713, + 0.04487396707093097, + 0.08673694444933477, + 0.0498169651112607, + -0.9972045791327098, + -0.05568929290140514, + 0.08399547868899504, + 0.0597440744850237, + -0.9946735168504962 + ], + [ + 0.9961862107084858, + 0.052734859988245196, + 0.06951307888655747, + 0.0584811224404115, + -0.9947985070255689, + -0.08340197082688747, + 0.06475331584079833, + 0.08714909616123145, + -0.9940885489361109 + ], + [ + 0.9971520080605162, + 0.04946843467831766, + 0.05692755739847819, + 0.05497037019214861, + -0.9935146367944776, + -0.09953353643910759, + 0.05163459326670589, + 0.10237939463394985, + -0.9934044132842211 + ], + [ + 0.9956540656480692, + 0.05155013379364438, + 0.07756007519547324, + 0.05918666535449738, + -0.9932636636329629, + -0.0996204454448927, + 0.07190215714903718, + 0.10377802374434324, + -0.9919980854744799 + ], + [ + 0.99301348312024, + 0.035077744802212804, + 0.11266665061587577, + 0.04469643534141042, + -0.9954616109596048, + -0.08401434266528289, + 0.1092082918517642, + 0.08846317270649572, + -0.990074651763957 + ], + [ + 0.9887606322313831, + 0.021010665373518294, + 0.14802352546118444, + 0.03223684599604993, + -0.9967478686816225, + -0.07385439755945844, + 0.14599040348469086, + 0.07779613241804262, + -0.9862223703968451 + ], + [ + 0.9916684123543843, + 0.008173866411833222, + 0.12855717734306735, + 0.021080609628973464, + -0.9948282720261006, + -0.09935953439521639, + 0.12708016303186817, + 0.10124177539654697, + -0.9867120831723657 + ], + [ + 0.9965490650238897, + 0.004726590742478171, + 0.08287110678616995, + 0.015988828236629147, + -0.9906113136342307, + -0.13577033060092256, + 0.08145132516804889, + 0.13662680791051715, + -0.987268351051806 + ], + [ + 0.9969144908578226, + -0.006479636943600841, + 0.07822731123314913, + 0.007280594530654734, + -0.9846581287457009, + -0.17434265811411553, + 0.07815683502400195, + 0.17437426358294478, + -0.9815727814782443 + ], + [ + 0.99754463408509, + -0.008168990462907668, + 0.06955552172804334, + 0.006323270750872274, + -0.9786114630213257, + -0.20562008824594713, + 0.0697475394193555, + 0.20555503408595188, + -0.9761569590526249 + ], + [ + 0.9944899756425793, + -0.041160143691552235, + 0.09641333371330327, + -0.01629757017552779, + -0.9692177968751249, + -0.24566491696394707, + 0.10355712217320331, + 0.24273999421566286, + -0.9645481935369452 + ], + [ + 0.987319025179387, + -0.08074195001728875, + 0.13668167406873089, + -0.04262816043552156, + -0.9642163200763367, + -0.26166720856143, + 0.15291822146725542, + 0.25252252494748484, + -0.9554309979990383 + ], + [ + 0.9914794531163668, + -0.054502147440478, + 0.11831318596186406, + -0.024976977133117736, + -0.9709517062687364, + -0.23796834812033493, + 0.12784617577918372, + 0.2329856219130391, + -0.9640399656240567 + ], + [ + 0.9772398484920177, + -0.06456893379029069, + 0.20207209433388565, + -0.023145041426347445, + -0.979318961211959, + -0.2009942269521733, + 0.21087101644529146, + 0.19174260090004555, + -0.9585239639275667 + ], + [ + 0.9865858879169122, + -0.07077273340329743, + 0.14710372520716028, + -0.03365049528349111, + -0.969950144748839, + -0.24096547650832031, + 0.15973706498610044, + 0.23278302538701554, + -0.9593206623237582 + ], + [ + 0.9906169737680797, + -0.07990113833925219, + 0.11087749715187138, + -0.04720166367959009, + -0.9613957973065157, + -0.2710906192903908, + 0.12825760885206938, + 0.2633133665681642, + -0.9561464619806366 + ], + [ + 0.9923081923845799, + -0.0715344356885122, + 0.1010310637238554, + -0.043690021294985566, + -0.9659930107445623, + -0.2548503192697621, + 0.1158258751993324, + 0.24847601031766042, + -0.9616881193666306 + ], + [ + 0.9935734871610252, + -0.04709988491823939, + 0.10292388668996294, + -0.023320265074448045, + -0.9749838330509332, + -0.2210490681413681, + 0.1107605112282225, + 0.2172282811468118, + -0.969816468731308 + ], + [ + 0.9933432748296992, + -0.03186713097193784, + 0.11069608987776268, + -0.011554782113138654, + -0.9836907882280883, + -0.17949629568745945, + 0.11461075586927365, + 0.17702236897866708, + -0.9775108467532492 + ], + [ + 0.9924771065856229, + -0.01893115599710101, + 0.12095786140654001, + -0.00291954891068367, + -0.9913514329634789, + -0.13120141994435636, + 0.12239554378157909, + 0.12986126325379194, + -0.9839488722329739 + ], + [ + 0.9895145714337101, + -0.03132568549859608, + 0.1409950862562393, + -0.02038841671656578, + -0.9967167192296865, + -0.07835875236246592, + 0.14298680143339443, + 0.07466246068844534, + -0.9869043983992541 + ], + [ + 0.9892670888997046, + -0.03845346635518, + 0.14096793161983723, + -0.03252205781756755, + -0.9984957636246898, + -0.044142108908145315, + 0.14245329962908848, + 0.03908376835489138, + -0.9890295832157735 + ], + [ + 0.9887002245316868, + -0.038189773301345674, + 0.14496001940598718, + -0.038062316250117904, + -0.9992686882832508, + -0.0036535870521612205, + 0.14499353810659416, + -0.001905211763436051, + -0.9894307677020502 + ], + [ + 0.9886104727324989, + -0.03192856167033018, + 0.14707107177582293, + -0.036194884247718266, + -0.9989953554715708, + 0.026423665539141106, + 0.14607964799355047, + -0.0314459328990895, + -0.988772921224174 + ], + [ + 0.989298506608757, + -0.04912824950128646, + 0.13738587963332746, + -0.052406760908480544, + -0.998418517060339, + 0.020346896621238366, + 0.13616899879475194, + -0.02732910338765895, + -0.990308600323789 + ], + [ + 0.9893255942206012, + -0.0631959702861242, + 0.13130551382044253, + -0.06513966021357814, + -0.9978203183318056, + 0.010556372079194964, + 0.13035218942278914, + -0.018996885634496228, + -0.9912857433903082 + ], + [ + 0.9924609765728697, + -0.061865346963347105, + 0.10580117591563275, + -0.05915167943701458, + -0.9978392188891178, + -0.028600210952651653, + 0.10734192470701583, + 0.022126276050438043, + -0.9939759248132387 + ], + [ + 0.9939015937181958, + -0.057574428252534546, + 0.09404683522492523, + -0.052663212499426446, + -0.997156896870058, + -0.05389535298814442, + 0.09688244450709706, + 0.04861386876057268, + -0.9941078833358374 + ], + [ + 0.9944522889662333, + -0.038732361725067645, + 0.0977980016412287, + -0.032721759603143545, + -0.9975188700674087, + -0.062332899081578005, + 0.09996965248660886, + 0.05878697147020434, + -0.9932523146547749 + ], + [ + 0.9938939384660098, + -0.0543224934753754, + 0.09604116712713046, + -0.04505751952011664, + -0.994347826978687, + -0.09613645987583339, + 0.10072069804770972, + 0.0912220679736061, + -0.9907239147711137 + ], + [ + 0.9938119788238885, + -0.060294423655436115, + 0.09328629707629164, + -0.04914986846242093, + -0.9918599737065393, + -0.1174652416206189, + 0.09960944320833277, + 0.11215335498736738, + -0.9886857861771878 + ], + [ + 0.9935381403823901, + -0.05311406280783348, + 0.1003038380997796, + -0.03931902221042786, + -0.9900899700459445, + -0.134817898317827, + 0.10647055037857726, + 0.1300028751469197, + -0.9857805406659316 + ], + [ + 0.9911419686363425, + -0.0585285595204956, + 0.11921411715116227, + -0.03604466790686443, + -0.9825092411369459, + -0.18269201678230568, + 0.127821672353162, + 0.17677669190523454, + -0.9759157859548551 + ], + [ + 0.9922573563391348, + -0.07025561946376267, + 0.10241819528108245, + -0.043589500717287136, + -0.9691688648312984, + -0.2425111685445223, + 0.11629829843161332, + 0.23616913298603406, + -0.9647273430387138 + ], + [ + 0.9943397373241604, + -0.07182632320021556, + 0.07829090671117289, + -0.04315891494880575, + -0.946397205554164, + -0.32010878991322766, + 0.09708653273529316, + 0.31491793949346125, + -0.9441402949491304 + ], + [ + 0.9941018325098617, + -0.09920466368873729, + 0.0438175912498552, + -0.07321964190557503, + -0.9119899662937709, + -0.40362505548925726, + 0.08000269145318936, + 0.398036098968286, + -0.913874626673897 + ], + [ + 0.994756320417933, + -0.10106848644816716, + 0.01565324361438334, + -0.08440250295658341, + -0.8976996304156919, + -0.4324483680697549, + 0.057758813035228736, + 0.4288595744513662, + -0.9015228144191109 + ], + [ + 0.9935426810830028, + -0.11302662692626878, + 0.009895578409992174, + -0.09722073200858031, + -0.8930644995571047, + -0.4392993613682289, + 0.0584899148068627, + 0.43550060991517336, + -0.8982862286762485 + ], + [ + 0.9855991289987558, + -0.12418110900578462, + 0.11477547247991135, + -0.0638114005810488, + -0.9016986200460573, + -0.42763033541006007, + 0.15659649444600723, + 0.4141481024623063, + -0.8966375450281413 + ], + [ + 0.9679346777306764, + -0.14077632938929152, + 0.20804923631219863, + -0.055073306629598036, + -0.9269895732971196, + -0.3710219156536526, + 0.24509057620254115, + 0.34766701897376107, + -0.9050183718436906 + ], + [ + 0.9488565680493168, + -0.1592048433925898, + 0.27262617466049194, + -0.08655641132093703, + -0.9616371541682401, + -0.2603112970703522, + 0.30361027803569635, + 0.22340054065187345, + -0.9262359297217625 + ], + [ + 0.9619148458339145, + -0.037428682600843914, + 0.27077467215949513, + -0.02377649184730385, + -0.9982833523756914, + -0.053525945157338946, + 0.2723132530740138, + 0.045049329499079645, + -0.9611534997657407 + ], + [ + 0.9616971633899101, + -0.010948399039154868, + 0.27389541523413574, + -0.02045853038927419, + -0.9992819981766327, + 0.03188944424769944, + 0.27334961946582503, + -0.03627148575114369, + -0.9612306512275256 + ], + [ + 0.9668534262537795, + 0.017163565681775877, + 0.2547545174367173, + 0.0016946682766303314, + -0.9981475256761424, + 0.06081648695893902, + 0.2553264190027337, + -0.058368904389940225, + -0.9650914416569853 + ], + [ + 0.9769420013809128, + 0.0605482308287383, + 0.20473943850994245, + 0.0506279474236544, + -0.9972914140374745, + 0.05335397292425807, + 0.20741537280906727, + -0.041758199561817824, + -0.9773613026367635 + ], + [ + 0.9873057480344821, + 0.07261698997256938, + 0.14125909763762298, + 0.06915813237852786, + -0.9971768246038216, + 0.029249499123118083, + 0.1429843090132122, + -0.019108983237289906, + -0.9895404661435788 + ], + [ + 0.9881470711588116, + 0.0964503765938149, + 0.11942650717145817, + 0.0947054428918097, + -0.9953000794837761, + 0.020214620111582968, + 0.12081491980268513, + -0.008664677403153884, + -0.9926372340984245 + ], + [ + 0.9857249739608804, + 0.10309968294034923, + 0.1331042113812378, + 0.10069185909486793, + -0.9946106565790068, + 0.024714192916141964, + 0.13493489252910468, + -0.0109588866713951, + -0.9907938623049108 + ], + [ + 0.9800686419707837, + 0.11466103124781937, + 0.1622291741294718, + 0.11125281759513028, + -0.9933401283930391, + 0.029969983337425152, + 0.16458513785481532, + -0.011324188151362529, + -0.9862978734439328 + ], + [ + 0.9791582103273873, + 0.1304917673806653, + 0.15563128796722697, + 0.12918275210953084, + -0.9914474724140493, + 0.01853984900693978, + 0.15671954474753652, + 0.0019514327205821507, + -0.9876412183604234 + ], + [ + 0.9793496965415949, + 0.15891413541413668, + 0.12498187648400733, + 0.1622964079440496, + -0.9865904424104185, + -0.017296673462653796, + 0.12055723890478279, + 0.037223601518290315, + -0.9920082437347297 + ], + [ + 0.9793524369392405, + 0.18751454252007205, + 0.07554535461998638, + 0.1917984596794025, + -0.9799438983724308, + -0.05406761421823488, + 0.06389174536495312, + 0.06744073239616667, + -0.995675445357617 + ], + [ + 0.9745597782688854, + 0.21728805191696499, + 0.05494671122671346, + 0.22126206505901458, + -0.9718170308339937, + -0.08133115729424631, + 0.035725861029818506, + 0.09141969741325645, + -0.9951713931673013 + ], + [ + 0.9690581305654721, + 0.2415592500524758, + 0.05074907190321985, + 0.2460876078561906, + -0.9614548075767326, + -0.12266027167427128, + 0.019163215924538107, + 0.1313536512689074, + -0.9911503364544433 + ], + [ + 0.9654289093419179, + 0.25473114567535937, + 0.055308809694239805, + 0.26043615580327617, + -0.951530538128753, + -0.16359292087011992, + 0.01095580929399673, + 0.17234174895052137, + -0.9849762899742253 + ], + [ + 0.9655838866032999, + 0.25561191709361647, + 0.04806564024114913, + 0.25997804494804383, + -0.9430714964568926, + -0.20743087695796328, + -0.007692468853255918, + 0.21278792355367107, + -0.9770681273650565 + ], + [ + 0.9623401620888835, + 0.2694138126621653, + 0.036298897746037485, + 0.26919818681103164, + -0.9258273687748957, + -0.2652847893208477, + -0.037864873542565965, + 0.26506580461121215, + -0.9634865700036594 + ], + [ + 0.9611728692196707, + 0.2671886386766595, + 0.0689706230082068, + 0.2751587125714398, + -0.9091296628799651, + -0.312683448503098, + -0.02084222569819388, + 0.31952071518741204, + -0.9473500483950329 + ], + [ + 0.962909399745622, + 0.2405505501827041, + 0.12223305890111713, + 0.2677300639767529, + -0.9081143621807295, + -0.32194552030443024, + 0.033557424283299914, + 0.3427298323868012, + -0.9388344695778833 + ], + [ + 0.9604825941693883, + 0.2048390046901922, + 0.18845203223943677, + 0.25160827638127475, + -0.9284839472938743, + -0.27314983960096006, + 0.11902294549407841, + 0.3097717575491955, + -0.9433318592472091 + ], + [ + 0.9545553624482813, + 0.1960294921925439, + 0.22449164396913343, + 0.24379018219553011, + -0.9468637394342321, + -0.209798489054839, + 0.17143630620816883, + 0.25499313154545267, + -0.9516239256020956 + ], + [ + 0.9827900963059119, + 0.16000406180955806, + 0.09231644927887782, + 0.1713962680567856, + -0.9762315059712768, + -0.1326475255904135, + 0.06889808342198643, + 0.14618736933639662, + -0.986854754838462 + ], + [ + 0.9716683767480682, + 0.20008707782269813, + 0.12580034545321253, + 0.21303790677658924, + -0.9719569422636326, + -0.09957184673279179, + 0.10234947925623927, + 0.12355105695178345, + -0.9870459565907119 + ], + [ + 0.9706709025790662, + 0.2277110051036083, + 0.0771083461179516, + 0.23469646046302972, + -0.9670531400963172, + -0.09861944877141995, + 0.0521111344384949, + 0.11382408525684559, + -0.9921333112455079 + ], + [ + 0.9600163810475476, + 0.2651943981138649, + 0.08966871990496214, + 0.2711612559888449, + -0.9605071013365343, + -0.06243141462950037, + 0.0695709808104053, + 0.08424986344863335, + -0.9940129974693312 + ], + [ + 0.9646904628794286, + 0.2539117911917002, + 0.07000795042919154, + 0.2543023256452, + -0.9671187067069724, + 0.003425537749848595, + 0.06857578290414441, + 0.01449860101028489, + -0.9975405518412914 + ], + [ + 0.9648456376785722, + 0.25555738469872424, + 0.061345892923471215, + 0.2521695354691377, + -0.9659502077647475, + 0.05788541699358177, + 0.0740501237940158, + -0.04038092675001126, + -0.996436631161712 + ], + [ + 0.9666063699762357, + 0.24129912066623221, + 0.08629519040518752, + 0.23315687211219277, + -0.9678256312273645, + 0.09461194705856169, + 0.10634847675553727, + -0.07133219402946048, + -0.991766968388603 + ], + [ + 0.9742443209708935, + 0.21491821344424764, + 0.0682507478779162, + 0.20850602455260595, + -0.973845752267535, + 0.09027562525813114, + 0.08586757700803112, + -0.07371982311706433, + -0.9935754359374824 + ], + [ + 0.9795512322460923, + 0.19259773749052728, + 0.05818500596108819, + 0.18853689452316436, + -0.9796587687491991, + 0.06872071169861631, + 0.07023690489139678, + -0.05634543749349268, + -0.9959377334276193 + ], + [ + 0.9860457318278085, + 0.16202697214065218, + 0.03822401134226713, + 0.16013741043458937, + -0.9859172491248652, + 0.048199457023520076, + 0.0454953241934301, + -0.041405774681686824, + -0.9981060751741491 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006122.json b/json/chunk-0006/episode_0006122.json new file mode 100644 index 0000000000000000000000000000000000000000..ac97b95c8fe959a75dad7640095b35775ded4078 --- /dev/null +++ b/json/chunk-0006/episode_0006122.json @@ -0,0 +1,1522 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 24, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the silver pot to the upper left side of the table." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006122.mp4", + "start": 0, + "end": 24, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.242887943983078, + -0.030108071863651276, + 0.10476670414209366, + 0.10021980851888657, + -0.04547863081097603, + -0.30785584449768066, + 0.0, + 1.0008161067962646 + ], + [ + 0.24068845808506012, + -0.029975609853863716, + 0.09955330193042755, + 0.09352168440818787, + -0.024388480931520462, + -0.3071976900100708, + 0.0, + 1.0008161067962646 + ], + [ + 0.24312223494052887, + -0.009264001622796059, + 0.09908513724803925, + 0.08756498247385025, + -0.023823793977499008, + -0.2471015453338623, + 0.0, + 1.0008161067962646 + ], + [ + 0.2480272799730301, + 0.014477990567684174, + 0.09376198053359985, + 0.07694126665592194, + -0.005939782131463289, + -0.17244498431682587, + 0.0, + 1.0008161067962646 + ], + [ + 0.25819632411003113, + 0.032876886427402496, + 0.08915777504444122, + 0.09090256690979004, + -0.005611439235508442, + -0.16121035814285278, + 0.0, + 1.0008161067962646 + ], + [ + 0.2663140296936035, + 0.05285318195819855, + 0.07931133359670639, + 0.12483816593885422, + 0.0017501089023426175, + -0.15932607650756836, + 0.0, + 1.0008161067962646 + ], + [ + 0.271436482667923, + 0.06592459231615067, + 0.07695969194173813, + 0.17910826206207275, + -0.01752857305109501, + -0.1506766527891159, + 0.0, + 1.0008161067962646 + ], + [ + 0.2726944088935852, + 0.07288298010826111, + 0.06752581149339676, + 0.20461505651474, + -0.012946097180247307, + -0.13121992349624634, + 0.0, + 1.0008161067962646 + ], + [ + 0.2711033225059509, + 0.07672907412052155, + 0.05778294429183006, + 0.20012512803077698, + -0.007395888678729534, + -0.09746569395065308, + 0.0, + 0.9453431367874146 + ], + [ + 0.2660250961780548, + 0.08324217051267624, + 0.05039358511567116, + 0.16784119606018066, + -0.029324615374207497, + -0.06206865236163139, + 0.0, + 0.6871993541717529 + ], + [ + 0.2661564350128174, + 0.08348985016345978, + 0.05037729814648628, + 0.1670360267162323, + -0.030392242595553398, + -0.06437058001756668, + 0.0, + 0.37205085158348083 + ], + [ + 0.2645646035671234, + 0.08267678320407867, + 0.04960495978593826, + 0.16207255423069, + -0.022984838113188744, + -0.06679411232471466, + 0.0, + 0.1531343013048172 + ], + [ + 0.2599969804286957, + 0.08214844018220901, + 0.0496249794960022, + 0.16412247717380524, + 0.010471383109688759, + -0.08115693181753159, + 0.0, + 0.07494325935840607 + ], + [ + 0.2609896659851074, + 0.07748638838529587, + 0.06694026291370392, + 0.18795053660869598, + 0.016578102484345436, + -0.09048837423324585, + 0.0, + 0.06772904843091965 + ], + [ + 0.2845420837402344, + 0.06775330007076263, + 0.1061914935708046, + 0.2570238411426544, + -0.05798795446753502, + -0.11904796212911606, + 0.0, + 0.05868057906627655 + ], + [ + 0.311148464679718, + 0.06008453667163849, + 0.1265929490327835, + 0.2960246801376343, + -0.10451644659042358, + -0.13739748299121857, + 0.0, + 0.05784503370523453 + ], + [ + 0.33556756377220154, + 0.057371094822883606, + 0.111775703728199, + 0.30456435680389404, + -0.06588128209114075, + -0.1443255990743637, + 0.0, + 0.05592256039381027 + ], + [ + 0.3526547849178314, + 0.059324052184820175, + 0.09159750491380692, + 0.31206685304641724, + -0.027489326894283295, + -0.12732084095478058, + 0.0, + 0.05565106123685837 + ], + [ + 0.3666587471961975, + 0.05769942328333855, + 0.08175508677959442, + 0.31266695261001587, + -0.008578144945204258, + -0.11393746733665466, + 0.0, + 0.05538023263216019 + ], + [ + 0.3743879795074463, + 0.04982561618089676, + 0.07560431957244873, + 0.2958507239818573, + -0.0025256124790757895, + -0.11778818070888519, + 0.0, + 0.05538023263216019 + ], + [ + 0.3761088252067566, + 0.039138611406087875, + 0.07465674728155136, + 0.27798742055892944, + -0.0032162785064429045, + -0.1253175586462021, + 0.0, + 0.07722585648298264 + ], + [ + 0.3792766034603119, + 0.039285581558942795, + 0.08466995507478714, + 0.27853089570999146, + -0.00592745840549469, + -0.09771161526441574, + 0.0, + 0.22426052391529083 + ], + [ + 0.3799609839916229, + 0.03877313435077667, + 0.09216931462287903, + 0.25899168848991394, + 0.0011749733239412308, + -0.07604122161865234, + 0.0, + 0.4813377559185028 + ], + [ + 0.37669897079467773, + 0.04868156462907791, + 0.09594276547431946, + 0.21693231165409088, + 0.01435362920165062, + -0.024550219997763634, + 0.0, + 0.788411557674408 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9453431367874146 + ], + [ + 0.6871993541717529 + ], + [ + 0.37205085158348083 + ], + [ + 0.1531343013048172 + ], + [ + 0.07494325935840607 + ], + [ + 0.06772904843091965 + ], + [ + 0.05868057906627655 + ], + [ + 0.05784503370523453 + ], + [ + 0.05592256039381027 + ], + [ + 0.05565106123685837 + ], + [ + 0.05538023263216019 + ], + [ + 0.05538023263216019 + ], + [ + 0.07722585648298264 + ], + [ + 0.22426052391529083 + ], + [ + 0.4813377559185028 + ], + [ + 0.788411557674408 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.242887943983078, + -0.030108071863651276, + 0.10476670414209366 + ], + [ + 0.24068845808506012, + -0.029975609853863716, + 0.09955330193042755 + ], + [ + 0.24312223494052887, + -0.009264001622796059, + 0.09908513724803925 + ], + [ + 0.2480272799730301, + 0.014477990567684174, + 0.09376198053359985 + ], + [ + 0.25819632411003113, + 0.032876886427402496, + 0.08915777504444122 + ], + [ + 0.2663140296936035, + 0.05285318195819855, + 0.07931133359670639 + ], + [ + 0.271436482667923, + 0.06592459231615067, + 0.07695969194173813 + ], + [ + 0.2726944088935852, + 0.07288298010826111, + 0.06752581149339676 + ], + [ + 0.2711033225059509, + 0.07672907412052155, + 0.05778294429183006 + ], + [ + 0.2660250961780548, + 0.08324217051267624, + 0.05039358511567116 + ], + [ + 0.2661564350128174, + 0.08348985016345978, + 0.05037729814648628 + ], + [ + 0.2645646035671234, + 0.08267678320407867, + 0.04960495978593826 + ], + [ + 0.2599969804286957, + 0.08214844018220901, + 0.0496249794960022 + ], + [ + 0.2609896659851074, + 0.07748638838529587, + 0.06694026291370392 + ], + [ + 0.2845420837402344, + 0.06775330007076263, + 0.1061914935708046 + ], + [ + 0.311148464679718, + 0.06008453667163849, + 0.1265929490327835 + ], + [ + 0.33556756377220154, + 0.057371094822883606, + 0.111775703728199 + ], + [ + 0.3526547849178314, + 0.059324052184820175, + 0.09159750491380692 + ], + [ + 0.3666587471961975, + 0.05769942328333855, + 0.08175508677959442 + ], + [ + 0.3743879795074463, + 0.04982561618089676, + 0.07560431957244873 + ], + [ + 0.3761088252067566, + 0.039138611406087875, + 0.07465674728155136 + ], + [ + 0.3792766034603119, + 0.039285581558942795, + 0.08466995507478714 + ], + [ + 0.3799609839916229, + 0.03877313435077667, + 0.09216931462287903 + ], + [ + 0.37669897079467773, + 0.04868156462907791, + 0.09594276547431946 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9520001105424697, + -0.29716069907572995, + 0.07342552997390718, + -0.30270267464385436, + -0.9495818983312652, + 0.08164134445884598, + 0.045462955145728845, + -0.09994867325990141, + -0.9939534105897535 + ], + [ + 0.9529012361974297, + -0.29889658975839684, + 0.05138154030593725, + -0.30229878261437304, + -0.9497079439764621, + 0.08167170365474812, + 0.02438606330013278, + -0.0933576444582958, + -0.9953339490532411 + ], + [ + 0.9693502862611215, + -0.24163745463139039, + 0.04440003428765191, + -0.24452516585749942, + -0.9664200079892843, + 0.0789924769858129, + 0.023821540417116538, + -0.08742830592693952, + -0.9958859500640128 + ], + [ + 0.9851507944317456, + -0.17063413402092928, + 0.019023788724331747, + -0.17158855332931114, + -0.98233187619702, + 0.07470912510260438, + 0.005939747204604355, + -0.07686401833218193, + -0.9970238924363726 + ], + [ + 0.9870181882647392, + -0.15934747867723686, + 0.020086738754690248, + -0.1605104610759054, + -0.9830402328308996, + 0.08870339633278244, + 0.005611409786487613, + -0.09077599724033865, + -0.9958555268738684 + ], + [ + 0.9873329154201641, + -0.15763334470880952, + 0.01804003225697243, + -0.15865261185960977, + -0.979616251390365, + 0.12321261608298524, + -0.0017501080089468227, + -0.1245139696893595, + -0.9922163113324403 + ], + [ + 0.9885178529250964, + -0.14461866751641453, + 0.043793783281807046, + -0.1500840932329611, + -0.9733226573673671, + 0.17354471934854834, + 0.01752767545332183, + -0.1781248036100063, + -0.9838517850428993 + ], + [ + 0.9913199330677828, + -0.1255063479538821, + 0.039152866124535814, + -0.13083271086960807, + -0.9710658028339637, + 0.19978490516788106, + 0.012945735552539653, + -0.203173234432365, + -0.9790572224039282 + ], + [ + 0.9952267584715815, + -0.09390603147933806, + 0.026558548039194472, + -0.09730879225499738, + -0.9755334818744545, + 0.19714315786193842, + 0.007395821254086051, + -0.19878652618752857, + -0.9800149074551228 + ], + [ + 0.99764525170895, + -0.05626849108130627, + 0.03921490346818764, + -0.062002138208614305, + -0.9843529440364854, + 0.16493943259349556, + 0.029320412687174252, + -0.16698244961114125, + -0.9855238073845386 + ], + [ + 0.9974680772802326, + -0.05838905304533239, + 0.04059745424709251, + -0.06429642884295667, + -0.9843646353308209, + 0.16398851773237716, + 0.03038756398459771, + -0.166183582806753, + -0.9856265077404283 + ], + [ + 0.9975065517551681, + -0.06216944086906099, + 0.03340119500171189, + -0.06672682706739189, + -0.9849418214053929, + 0.1594902473386554, + 0.022982814340990365, + -0.16132132242408448, + -0.9866342894792943 + ], + [ + 0.996653939384897, + -0.08168371270117175, + 0.0029489299617175774, + -0.08106342733918787, + -0.983176228543838, + 0.1636863597687345, + -0.010471191746448533, + -0.16337770565676277, + -0.9865080229971482 + ], + [ + 0.995771868477864, + -0.09185827670386784, + 0.0006655442128922877, + -0.09035251874194691, + -0.9780901051849957, + 0.18755310846848236, + -0.01657734312517531, + -0.1868202428544611, + -0.9822542382472628 + ], + [ + 0.9912532227614999, + -0.10023736848910965, + 0.08584589869829931, + -0.11856733464514836, + -0.9620551981160662, + 0.2457469896723089, + 0.05795546152077144, + -0.253776014895488, + -0.9655251932206013 + ], + [ + 0.9851703587002998, + -0.10086084430144775, + 0.13880365422106963, + -0.1362181870861219, + -0.9516578682049663, + 0.2753033007258532, + 0.10432626632489746, + -0.2901282336663883, + -0.951284204738168 + ], + [ + 0.9874562946739541, + -0.11766913250066068, + 0.10528077395862384, + -0.14351306098275257, + -0.9468986969406018, + 0.28772705653023145, + 0.06583363453543808, + -0.29922705925222104, + -0.9519081361009171 + ], + [ + 0.991530895480179, + -0.11247368680116548, + 0.06493191115027491, + -0.12692915558780396, + -0.9450691642471177, + 0.30121962793121754, + 0.027485864913459068, + -0.3069103200718532, + -0.9513414648081683 + ], + [ + 0.9934795921311079, + -0.10555750434893484, + 0.043080312146406466, + -0.11368692648314897, + -0.9456470953938595, + 0.3046749968736715, + 0.008578039742405792, + -0.3075860599064614, + -0.9514815988685206 + ], + [ + 0.9930678216683276, + -0.1116792076275264, + 0.03666137136837387, + -0.11751562816106709, + -0.950013013348994, + 0.28924963544570503, + 0.002525609794048183, + -0.2915527894760249, + -0.9565514059599287 + ], + [ + 0.9921528940032595, + -0.11931571815916633, + 0.03736835989335058, + -0.12498916156689238, + -0.9541790784042272, + 0.27188231981220157, + 0.0032162729613417797, + -0.2744194704021954, + -0.9616047056105831 + ], + [ + 0.9952125335407569, + -0.09217449470988479, + 0.0324942396181998, + -0.09755449108944511, + -0.9570332346225606, + 0.2730760134031511, + 0.005927423695581142, + -0.2749386301574516, + -0.9614435060342739 + ], + [ + 0.9971095708615499, + -0.07373437915085966, + 0.018323346515663613, + -0.07596790858394849, + -0.963832479759541, + 0.2554522026249823, + -0.0011749730535872676, + -0.2561058224480877, + -0.9666480368502861 + ], + [ + 0.9995956779593432, + -0.027060775705575205, + -0.008728976069008671, + -0.024545225245453557, + -0.9761922027847815, + 0.21551407179078982, + -0.014353136334987015, + -0.21521268001771718, + -0.9764617195962885 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0021994858980178833, + 0.0001324620097875595, + -0.005213402211666107, + -0.0066981241106987, + 0.021090149879455566, + 0.0006581544876098633, + 1.0 + ], + [ + 0.00243377685546875, + 0.020711608231067657, + -0.00046816468238830566, + -0.005956701934337616, + 0.0005646869540214539, + 0.060096144676208496, + 1.0 + ], + [ + 0.004905045032501221, + 0.023741992190480232, + -0.005323156714439392, + -0.010623715817928314, + 0.017884012311697006, + 0.07465656101703644, + 1.0 + ], + [ + 0.010169044137001038, + 0.018398895859718323, + -0.00460420548915863, + 0.013961300253868103, + 0.00032834289595484734, + 0.011234626173973083, + 1.0 + ], + [ + 0.008117705583572388, + 0.01997629553079605, + -0.009846441447734833, + 0.03393559902906418, + 0.007361548021435738, + 0.0018842816352844238, + 1.0 + ], + [ + 0.005122452974319458, + 0.013071410357952118, + -0.0023516416549682617, + 0.054270096123218536, + -0.01927868276834488, + 0.008649423718452454, + 1.0 + ], + [ + 0.0012579262256622314, + 0.006958387792110443, + -0.00943388044834137, + 0.025506794452667236, + 0.004582475870847702, + 0.019456729292869568, + 1.0 + ], + [ + -0.0015910863876342773, + 0.003846094012260437, + -0.009742867201566696, + -0.004489928483963013, + 0.005550208501517773, + 0.03375422954559326, + 0.0 + ], + [ + -0.005078226327896118, + 0.006513096392154694, + -0.007389359176158905, + -0.032283931970596313, + -0.021928727626800537, + 0.03539704158902168, + 0.0 + ], + [ + 0.00013133883476257324, + 0.0002476796507835388, + -1.6286969184875488e-05, + -0.0008051693439483643, + -0.0010676272213459015, + -0.0023019276559352875, + 0.0 + ], + [ + -0.0015918314456939697, + -0.0008130669593811035, + -0.0007723383605480194, + -0.004963472485542297, + 0.0074074044823646545, + -0.0024235323071479797, + 0.0 + ], + [ + -0.004567623138427734, + -0.0005283430218696594, + 2.0019710063934326e-05, + 0.0020499229431152344, + 0.0334562212228775, + -0.014362819492816925, + 0.0 + ], + [ + 0.0009926855564117432, + -0.004662051796913147, + 0.01731528341770172, + 0.023828059434890747, + 0.006106719374656677, + -0.009331442415714264, + 0.0 + ], + [ + 0.023552417755126953, + -0.009733088314533234, + 0.03925123065710068, + 0.06907330453395844, + -0.0745660588145256, + -0.02855958789587021, + 0.0 + ], + [ + 0.026606380939483643, + -0.0076687633991241455, + 0.020401455461978912, + 0.03900083899497986, + -0.046528492122888565, + -0.01834952086210251, + 0.0 + ], + [ + 0.02441909909248352, + -0.002713441848754883, + -0.014817245304584503, + 0.008539676666259766, + 0.03863516449928284, + -0.006928116083145142, + 0.0 + ], + [ + 0.017087221145629883, + 0.0019529573619365692, + -0.02017819881439209, + 0.007502496242523193, + 0.03839195519685745, + 0.01700475811958313, + 0.0 + ], + [ + 0.014003962278366089, + -0.0016246289014816284, + -0.009842418134212494, + 0.0006000995635986328, + 0.01891118288040161, + 0.013383373618125916, + 0.0 + ], + [ + 0.007729232311248779, + -0.007873807102441788, + -0.006150767207145691, + -0.01681622862815857, + 0.006052532233297825, + -0.00385071337223053, + 0.0 + ], + [ + 0.0017208456993103027, + -0.010687004774808884, + -0.0009475722908973694, + -0.017863303422927856, + -0.000690666027367115, + -0.0075293779373168945, + 1.0 + ], + [ + 0.003167778253555298, + 0.00014697015285491943, + 0.010013207793235779, + 0.0005434751510620117, + -0.0027111798990517855, + 0.027605943381786346, + 1.0 + ], + [ + 0.0006843805313110352, + -0.0005124472081661224, + 0.007499359548091888, + -0.019539207220077515, + 0.007102431729435921, + 0.021670393645763397, + 1.0 + ], + [ + -0.0032620131969451904, + 0.009908430278301239, + 0.0037734508514404297, + -0.04205937683582306, + 0.013178655877709389, + 0.05149099975824356, + 1.0 + ], + [ + -0.0028715431690216064, + -0.005898736417293549, + 0.010953031480312347, + -0.04672938585281372, + -0.026449277997016907, + 0.005726801231503487, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9453431367874146 + ], + [ + 0.6871993541717529 + ], + [ + 0.37205085158348083 + ], + [ + 0.1531343013048172 + ], + [ + 0.07494325935840607 + ], + [ + 0.06772904843091965 + ], + [ + 0.05868057906627655 + ], + [ + 0.05784503370523453 + ], + [ + 0.05592256039381027 + ], + [ + 0.05565106123685837 + ], + [ + 0.05538023263216019 + ], + [ + 0.05538023263216019 + ], + [ + 0.07722585648298264 + ], + [ + 0.22426052391529083 + ], + [ + 0.4813377559185028 + ], + [ + 0.788411557674408 + ], + [ + 1.0014774799346924 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.24068845808506012, + -0.029975609853863716, + 0.09955330193042755 + ], + [ + 0.24312223494052887, + -0.009264001622796059, + 0.09908513724803925 + ], + [ + 0.2480272799730301, + 0.014477990567684174, + 0.09376198053359985 + ], + [ + 0.25819632411003113, + 0.032876886427402496, + 0.08915777504444122 + ], + [ + 0.2663140296936035, + 0.05285318195819855, + 0.07931133359670639 + ], + [ + 0.271436482667923, + 0.06592459231615067, + 0.07695969194173813 + ], + [ + 0.2726944088935852, + 0.07288298010826111, + 0.06752581149339676 + ], + [ + 0.2711033225059509, + 0.07672907412052155, + 0.05778294429183006 + ], + [ + 0.2660250961780548, + 0.08324217051267624, + 0.05039358511567116 + ], + [ + 0.2661564350128174, + 0.08348985016345978, + 0.05037729814648628 + ], + [ + 0.2645646035671234, + 0.08267678320407867, + 0.04960495978593826 + ], + [ + 0.2599969804286957, + 0.08214844018220901, + 0.0496249794960022 + ], + [ + 0.2609896659851074, + 0.07748638838529587, + 0.06694026291370392 + ], + [ + 0.2845420837402344, + 0.06775330007076263, + 0.1061914935708046 + ], + [ + 0.311148464679718, + 0.06008453667163849, + 0.1265929490327835 + ], + [ + 0.33556756377220154, + 0.057371094822883606, + 0.111775703728199 + ], + [ + 0.3526547849178314, + 0.059324052184820175, + 0.09159750491380692 + ], + [ + 0.3666587471961975, + 0.05769942328333855, + 0.08175508677959442 + ], + [ + 0.3743879795074463, + 0.04982561618089676, + 0.07560431957244873 + ], + [ + 0.3761088252067566, + 0.039138611406087875, + 0.07465674728155136 + ], + [ + 0.3792766034603119, + 0.039285581558942795, + 0.08466995507478714 + ], + [ + 0.3799609839916229, + 0.03877313435077667, + 0.09216931462287903 + ], + [ + 0.37669897079467773, + 0.04868156462907791, + 0.09594276547431946 + ], + [ + 0.37382742762565613, + 0.04278282821178436, + 0.1068957969546318 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9529012361974297, + -0.29889658975839684, + 0.05138154030593725, + -0.30229878261437304, + -0.9497079439764621, + 0.08167170365474812, + 0.02438606330013278, + -0.0933576444582958, + -0.9953339490532411 + ], + [ + 0.9693502862611215, + -0.24163745463139039, + 0.04440003428765191, + -0.24452516585749942, + -0.9664200079892843, + 0.0789924769858129, + 0.023821540417116538, + -0.08742830592693952, + -0.9958859500640128 + ], + [ + 0.9851507944317456, + -0.17063413402092928, + 0.019023788724331747, + -0.17158855332931114, + -0.98233187619702, + 0.07470912510260438, + 0.005939747204604355, + -0.07686401833218193, + -0.9970238924363726 + ], + [ + 0.9870181882647392, + -0.15934747867723686, + 0.020086738754690248, + -0.1605104610759054, + -0.9830402328308996, + 0.08870339633278244, + 0.005611409786487613, + -0.09077599724033865, + -0.9958555268738684 + ], + [ + 0.9873329154201641, + -0.15763334470880952, + 0.01804003225697243, + -0.15865261185960977, + -0.979616251390365, + 0.12321261608298524, + -0.0017501080089468227, + -0.1245139696893595, + -0.9922163113324403 + ], + [ + 0.9885178529250964, + -0.14461866751641453, + 0.043793783281807046, + -0.1500840932329611, + -0.9733226573673671, + 0.17354471934854834, + 0.01752767545332183, + -0.1781248036100063, + -0.9838517850428993 + ], + [ + 0.9913199330677828, + -0.1255063479538821, + 0.039152866124535814, + -0.13083271086960807, + -0.9710658028339637, + 0.19978490516788106, + 0.012945735552539653, + -0.203173234432365, + -0.9790572224039282 + ], + [ + 0.9952267584715815, + -0.09390603147933806, + 0.026558548039194472, + -0.09730879225499738, + -0.9755334818744545, + 0.19714315786193842, + 0.007395821254086051, + -0.19878652618752857, + -0.9800149074551228 + ], + [ + 0.99764525170895, + -0.05626849108130627, + 0.03921490346818764, + -0.062002138208614305, + -0.9843529440364854, + 0.16493943259349556, + 0.029320412687174252, + -0.16698244961114125, + -0.9855238073845386 + ], + [ + 0.9974680772802326, + -0.05838905304533239, + 0.04059745424709251, + -0.06429642884295667, + -0.9843646353308209, + 0.16398851773237716, + 0.03038756398459771, + -0.166183582806753, + -0.9856265077404283 + ], + [ + 0.9975065517551681, + -0.06216944086906099, + 0.03340119500171189, + -0.06672682706739189, + -0.9849418214053929, + 0.1594902473386554, + 0.022982814340990365, + -0.16132132242408448, + -0.9866342894792943 + ], + [ + 0.996653939384897, + -0.08168371270117175, + 0.0029489299617175774, + -0.08106342733918787, + -0.983176228543838, + 0.1636863597687345, + -0.010471191746448533, + -0.16337770565676277, + -0.9865080229971482 + ], + [ + 0.995771868477864, + -0.09185827670386784, + 0.0006655442128922877, + -0.09035251874194691, + -0.9780901051849957, + 0.18755310846848236, + -0.01657734312517531, + -0.1868202428544611, + -0.9822542382472628 + ], + [ + 0.9912532227614999, + -0.10023736848910965, + 0.08584589869829931, + -0.11856733464514836, + -0.9620551981160662, + 0.2457469896723089, + 0.05795546152077144, + -0.253776014895488, + -0.9655251932206013 + ], + [ + 0.9851703587002998, + -0.10086084430144775, + 0.13880365422106963, + -0.1362181870861219, + -0.9516578682049663, + 0.2753033007258532, + 0.10432626632489746, + -0.2901282336663883, + -0.951284204738168 + ], + [ + 0.9874562946739541, + -0.11766913250066068, + 0.10528077395862384, + -0.14351306098275257, + -0.9468986969406018, + 0.28772705653023145, + 0.06583363453543808, + -0.29922705925222104, + -0.9519081361009171 + ], + [ + 0.991530895480179, + -0.11247368680116548, + 0.06493191115027491, + -0.12692915558780396, + -0.9450691642471177, + 0.30121962793121754, + 0.027485864913459068, + -0.3069103200718532, + -0.9513414648081683 + ], + [ + 0.9934795921311079, + -0.10555750434893484, + 0.043080312146406466, + -0.11368692648314897, + -0.9456470953938595, + 0.3046749968736715, + 0.008578039742405792, + -0.3075860599064614, + -0.9514815988685206 + ], + [ + 0.9930678216683276, + -0.1116792076275264, + 0.03666137136837387, + -0.11751562816106709, + -0.950013013348994, + 0.28924963544570503, + 0.002525609794048183, + -0.2915527894760249, + -0.9565514059599287 + ], + [ + 0.9921528940032595, + -0.11931571815916633, + 0.03736835989335058, + -0.12498916156689238, + -0.9541790784042272, + 0.27188231981220157, + 0.0032162729613417797, + -0.2744194704021954, + -0.9616047056105831 + ], + [ + 0.9952125335407569, + -0.09217449470988479, + 0.0324942396181998, + -0.09755449108944511, + -0.9570332346225606, + 0.2730760134031511, + 0.005927423695581142, + -0.2749386301574516, + -0.9614435060342739 + ], + [ + 0.9971095708615499, + -0.07373437915085966, + 0.018323346515663613, + -0.07596790858394849, + -0.963832479759541, + 0.2554522026249823, + -0.0011749730535872676, + -0.2561058224480877, + -0.9666480368502861 + ], + [ + 0.9995956779593432, + -0.027060775705575205, + -0.008728976069008671, + -0.024545225245453557, + -0.9761922027847815, + 0.21551407179078982, + -0.014353136334987015, + -0.21521268001771718, + -0.9764617195962885 + ], + [ + 0.9997497061863071, + -0.016501956361100332, + 0.015106634855220675, + -0.01882093031770689, + -0.9854143816577149, + 0.16912796635719193, + 0.012095352924518138, + -0.1693699555954354, + -0.9854783207048401 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006124.json b/json/chunk-0006/episode_0006124.json new file mode 100644 index 0000000000000000000000000000000000000000..d5e36876e3c8e5cf7824b14f907830bd048558f0 --- /dev/null +++ b/json/chunk-0006/episode_0006124.json @@ -0,0 +1,2542 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 41, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nFold the cloth from top left to bottom right with blue figure inside." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006124.mp4", + "start": 0, + "end": 41, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.23587235808372498, + 0.07217398285865784, + 0.16765309870243073, + -0.21112073957920074, + -0.4670107364654541, + 0.8376543521881104, + 0.0, + 1.0008161067962646 + ], + [ + 0.23643681406974792, + 0.07078329473733902, + 0.16477073729038239, + -0.21129296720027924, + -0.4533580243587494, + 0.8320892453193665, + 0.0, + 1.0008161067962646 + ], + [ + 0.25448763370513916, + 0.11466219276189804, + 0.1668185591697693, + -0.22186322510242462, + -0.43503764271736145, + 0.8890578150749207, + 0.0, + 1.0008161067962646 + ], + [ + 0.2741171419620514, + 0.14315098524093628, + 0.17588599026203156, + -0.18656013906002045, + -0.46724599599838257, + 0.8486616611480713, + 0.0, + 1.0008161067962646 + ], + [ + 0.2894355356693268, + 0.1780112385749817, + 0.17241644859313965, + -0.07183956354856491, + -0.48718610405921936, + 0.6303244829177856, + 0.0, + 1.0008161067962646 + ], + [ + 0.29905545711517334, + 0.1920139342546463, + 0.17457924783229828, + -0.012867964804172516, + -0.5642995238304138, + 0.4970885217189789, + 0.0, + 1.0008161067962646 + ], + [ + 0.3092862367630005, + 0.20471124351024628, + 0.1753968447446823, + 0.05666912719607353, + -0.6423166990280151, + 0.38397979736328125, + 0.0, + 1.0008161067962646 + ], + [ + 0.3289624750614166, + 0.2184218019247055, + 0.17582394182682037, + 0.09820094704627991, + -0.655488133430481, + 0.2944321632385254, + 0.0, + 1.0008161067962646 + ], + [ + 0.3449721336364746, + 0.23663343489170074, + 0.16702432930469513, + 0.14741191267967224, + -0.6008932590484619, + 0.25091710686683655, + 0.0, + 1.0008161067962646 + ], + [ + 0.36129266023635864, + 0.24483121931552887, + 0.1596171110868454, + 0.16884590685367584, + -0.5778608918190002, + 0.2290245145559311, + 0.0, + 1.0008161067962646 + ], + [ + 0.373064249753952, + 0.24376347661018372, + 0.14785723388195038, + 0.11483550071716309, + -0.5864150524139404, + 0.2454557567834854, + 0.0, + 1.0008161067962646 + ], + [ + 0.3833315372467041, + 0.2462836503982544, + 0.1450142115354538, + 0.11226917803287506, + -0.6405578255653381, + 0.24131345748901367, + 0.0, + 1.0008161067962646 + ], + [ + 0.39105358719825745, + 0.24633418023586273, + 0.13730964064598083, + 0.11266381293535233, + -0.6721371412277222, + 0.21040509641170502, + 0.0, + 1.0008161067962646 + ], + [ + 0.3991852104663849, + 0.2423476129770279, + 0.12699061632156372, + 0.11298175156116486, + -0.7180150747299194, + 0.1421286165714264, + 0.0, + 1.0008161067962646 + ], + [ + 0.4061669111251831, + 0.24372531473636627, + 0.11943352222442627, + 0.12932944297790527, + -0.756305992603302, + 0.06740688532590866, + 0.0, + 1.0008161067962646 + ], + [ + 0.40678319334983826, + 0.2446739226579666, + 0.0993761345744133, + 0.10747146606445312, + -0.7216774821281433, + 0.07530827075242996, + 0.0, + 1.0008161067962646 + ], + [ + 0.41049063205718994, + 0.2460440844297409, + 0.09767038375139236, + 0.10604217648506165, + -0.7216467261314392, + 0.06644736975431442, + 0.0, + 1.0008161067962646 + ], + [ + 0.4092807471752167, + 0.2466863989830017, + 0.08744914829730988, + 0.09220951795578003, + -0.7034150958061218, + 0.06901592761278152, + 0.0, + 1.0008161067962646 + ], + [ + 0.4094635248184204, + 0.24959559738636017, + 0.0830937847495079, + 0.09523334354162216, + -0.6906545162200928, + 0.0734173059463501, + 0.0, + 0.9907060265541077 + ], + [ + 0.41074055433273315, + 0.2521058917045593, + 0.0823511853814125, + 0.07529666274785995, + -0.6713330149650574, + 0.10412734001874924, + 0.0, + 0.8870869278907776 + ], + [ + 0.41232553124427795, + 0.25399890542030334, + 0.08088335394859314, + 0.06050597131252289, + -0.6626147627830505, + 0.12779314815998077, + 0.0, + 0.5988990664482117 + ], + [ + 0.4113658666610718, + 0.2572077512741089, + 0.08161704242229462, + 0.0530792661011219, + -0.674206554889679, + 0.1419515311717987, + 0.0, + 0.3315716087818146 + ], + [ + 0.40909838676452637, + 0.25852957367897034, + 0.081422358751297, + 0.022060202434659004, + -0.6852542757987976, + 0.164438396692276, + 0.0, + 0.14964459836483002 + ], + [ + 0.40174633264541626, + 0.25164780020713806, + 0.08378659933805466, + -0.057736463844776154, + -0.6999054551124573, + 0.18868757784366608, + 0.0, + 0.06384159624576569 + ], + [ + 0.3905313014984131, + 0.23662540316581726, + 0.10586373507976532, + -0.10056766867637634, + -0.7897964715957642, + 0.14406028389930725, + 0.0, + 0.05271430313587189 + ], + [ + 0.36791300773620605, + 0.21353751420974731, + 0.12174724042415619, + -0.1131289154291153, + -0.8918953537940979, + 0.06396152079105377, + 0.0, + 0.052451856434345245 + ], + [ + 0.339307576417923, + 0.1895870864391327, + 0.1344033181667328, + -0.09422483295202255, + -0.9581713676452637, + -0.039047855883836746, + 0.0, + 0.052451856434345245 + ], + [ + 0.3078446388244629, + 0.16462653875350952, + 0.13486777245998383, + -0.02925536409020424, + -0.9845246076583862, + -0.17610466480255127, + 0.0, + 0.052451856434345245 + ], + [ + 0.2804489731788635, + 0.14561833441257477, + 0.1344520002603531, + 0.021715912967920303, + -0.9954439997673035, + -0.2869895100593567, + 0.0, + 0.052451856434345245 + ], + [ + 0.258263498544693, + 0.12834390997886658, + 0.13888125121593475, + 0.04638319090008736, + -0.9933652877807617, + -0.3425936996936798, + 0.0, + 0.052451856434345245 + ], + [ + 0.2441006898880005, + 0.11400565505027771, + 0.14607445895671844, + 0.07379990071058273, + -0.9924517869949341, + -0.3709560036659241, + 0.0, + 0.052451856434345245 + ], + [ + 0.2336469292640686, + 0.10143724083900452, + 0.1470351368188858, + 0.03458534553647041, + -0.9735092520713806, + -0.3298102915287018, + 0.0, + 0.052451856434345245 + ], + [ + 0.22549645602703094, + 0.08856663107872009, + 0.1441732794046402, + 0.01021068636327982, + -0.9667856693267822, + -0.3125253915786743, + 0.0, + 0.052451856434345245 + ], + [ + 0.21575218439102173, + 0.07544567435979843, + 0.14081580936908722, + 0.01961856707930565, + -0.9681613445281982, + -0.33232322335243225, + 0.0, + 0.05115113407373428 + ], + [ + 0.20722699165344238, + 0.06485439836978912, + 0.13715194165706635, + 0.04072360694408417, + -0.9652289748191833, + -0.36040395498275757, + 0.0, + 0.05115113407373428 + ], + [ + 0.19762486219406128, + 0.048068396747112274, + 0.13055559992790222, + 0.06205891817808151, + -0.9524850249290466, + -0.3914252817630768, + 0.0, + 0.05701649188995361 + ], + [ + 0.18863828480243683, + 0.04003918543457985, + 0.11603482067584991, + 0.08120263367891312, + -0.9255922436714172, + -0.41514888405799866, + 0.0, + 0.103162482380867 + ], + [ + 0.18256019055843353, + 0.035504620522260666, + 0.10263707488775253, + 0.08405818790197372, + -0.8991623520851135, + -0.4350223243236542, + 0.0, + 0.2673496901988983 + ], + [ + 0.1789800375699997, + 0.03736637905240059, + 0.09312593936920166, + 0.10111674666404724, + -0.8670213222503662, + -0.4368093013763428, + 0.0, + 0.5521479845046997 + ], + [ + 0.17770850658416748, + 0.04219275340437889, + 0.09967005997896194, + 0.10041554272174835, + -0.7971035242080688, + -0.44403764605522156, + 0.0, + 0.8544629216194153 + ], + [ + 0.1805640161037445, + 0.057700514793395996, + 0.12471534311771393, + 0.08930806815624237, + -0.6937977075576782, + -0.4477779269218445, + 0.0, + 1.0054124593734741 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9907060265541077 + ], + [ + 0.8870869278907776 + ], + [ + 0.5988990664482117 + ], + [ + 0.3315716087818146 + ], + [ + 0.14964459836483002 + ], + [ + 0.06384159624576569 + ], + [ + 0.05271430313587189 + ], + [ + 0.052451856434345245 + ], + [ + 0.052451856434345245 + ], + [ + 0.052451856434345245 + ], + [ + 0.052451856434345245 + ], + [ + 0.052451856434345245 + ], + [ + 0.052451856434345245 + ], + [ + 0.052451856434345245 + ], + [ + 0.052451856434345245 + ], + [ + 0.05115113407373428 + ], + [ + 0.05115113407373428 + ], + [ + 0.05701649188995361 + ], + [ + 0.103162482380867 + ], + [ + 0.2673496901988983 + ], + [ + 0.5521479845046997 + ], + [ + 0.8544629216194153 + ], + [ + 1.0054124593734741 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.23587235808372498, + 0.07217398285865784, + 0.16765309870243073 + ], + [ + 0.23643681406974792, + 0.07078329473733902, + 0.16477073729038239 + ], + [ + 0.25448763370513916, + 0.11466219276189804, + 0.1668185591697693 + ], + [ + 0.2741171419620514, + 0.14315098524093628, + 0.17588599026203156 + ], + [ + 0.2894355356693268, + 0.1780112385749817, + 0.17241644859313965 + ], + [ + 0.29905545711517334, + 0.1920139342546463, + 0.17457924783229828 + ], + [ + 0.3092862367630005, + 0.20471124351024628, + 0.1753968447446823 + ], + [ + 0.3289624750614166, + 0.2184218019247055, + 0.17582394182682037 + ], + [ + 0.3449721336364746, + 0.23663343489170074, + 0.16702432930469513 + ], + [ + 0.36129266023635864, + 0.24483121931552887, + 0.1596171110868454 + ], + [ + 0.373064249753952, + 0.24376347661018372, + 0.14785723388195038 + ], + [ + 0.3833315372467041, + 0.2462836503982544, + 0.1450142115354538 + ], + [ + 0.39105358719825745, + 0.24633418023586273, + 0.13730964064598083 + ], + [ + 0.3991852104663849, + 0.2423476129770279, + 0.12699061632156372 + ], + [ + 0.4061669111251831, + 0.24372531473636627, + 0.11943352222442627 + ], + [ + 0.40678319334983826, + 0.2446739226579666, + 0.0993761345744133 + ], + [ + 0.41049063205718994, + 0.2460440844297409, + 0.09767038375139236 + ], + [ + 0.4092807471752167, + 0.2466863989830017, + 0.08744914829730988 + ], + [ + 0.4094635248184204, + 0.24959559738636017, + 0.0830937847495079 + ], + [ + 0.41074055433273315, + 0.2521058917045593, + 0.0823511853814125 + ], + [ + 0.41232553124427795, + 0.25399890542030334, + 0.08088335394859314 + ], + [ + 0.4113658666610718, + 0.2572077512741089, + 0.08161704242229462 + ], + [ + 0.40909838676452637, + 0.25852957367897034, + 0.081422358751297 + ], + [ + 0.40174633264541626, + 0.25164780020713806, + 0.08378659933805466 + ], + [ + 0.3905313014984131, + 0.23662540316581726, + 0.10586373507976532 + ], + [ + 0.36791300773620605, + 0.21353751420974731, + 0.12174724042415619 + ], + [ + 0.339307576417923, + 0.1895870864391327, + 0.1344033181667328 + ], + [ + 0.3078446388244629, + 0.16462653875350952, + 0.13486777245998383 + ], + [ + 0.2804489731788635, + 0.14561833441257477, + 0.1344520002603531 + ], + [ + 0.258263498544693, + 0.12834390997886658, + 0.13888125121593475 + ], + [ + 0.2441006898880005, + 0.11400565505027771, + 0.14607445895671844 + ], + [ + 0.2336469292640686, + 0.10143724083900452, + 0.1470351368188858 + ], + [ + 0.22549645602703094, + 0.08856663107872009, + 0.1441732794046402 + ], + [ + 0.21575218439102173, + 0.07544567435979843, + 0.14081580936908722 + ], + [ + 0.20722699165344238, + 0.06485439836978912, + 0.13715194165706635 + ], + [ + 0.19762486219406128, + 0.048068396747112274, + 0.13055559992790222 + ], + [ + 0.18863828480243683, + 0.04003918543457985, + 0.11603482067584991 + ], + [ + 0.18256019055843353, + 0.035504620522260666, + 0.10263707488775253 + ], + [ + 0.1789800375699997, + 0.03736637905240059, + 0.09312593936920166 + ], + [ + 0.17770850658416748, + 0.04219275340437889, + 0.09967005997896194 + ], + [ + 0.1805640161037445, + 0.057700514793395996, + 0.12471534311771393 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.5975476304606673, + 0.6634395795122554, + 0.4503162818147305, + 0.6635055096202036, + -0.7244552681629183, + 0.18688232429694446, + 0.4502191333500566, + 0.18711624399713683, + -0.8730923451719916 + ], + [ + 0.6053134574873754, + 0.6610472904384298, + 0.4434096277582268, + 0.6646526775690315, + -0.7262711712120729, + 0.17540525666741247, + 0.437986799327327, + 0.18853823397458103, + -0.878988565309441 + ], + [ + 0.5714486219422061, + 0.6990080460824938, + 0.4299235094668444, + 0.7041526636806333, + -0.6867074561242453, + 0.18055995108228326, + 0.42144453812076205, + 0.19955104914608154, + -0.8846264070628209 + ], + [ + 0.5901381413873292, + 0.6821530334699423, + 0.43174554196617326, + 0.6699630738568304, + -0.712210873376411, + 0.20953556145131394, + 0.45042918838394147, + 0.16559864363021168, + -0.8773201442344853 + ], + [ + 0.713847498486149, + 0.5607416005347238, + 0.419512343483268, + 0.5208315779916634, + -0.8255579390493115, + 0.2172292720591929, + 0.4681412353892585, + 0.06342670338594918, + -0.881374402297803 + ], + [ + 0.7427014664417961, + 0.47077994487293945, + 0.47619405209498095, + 0.40293640359416544, + -0.8821836706580746, + 0.24370930610636404, + 0.5348240705164691, + 0.010872659733375159, + -0.8448934837401203 + ], + [ + 0.7424032543563543, + 0.4054709397148555, + 0.5333204711689273, + 0.2999567426165738, + -0.9129822453611104, + 0.27656712063121364, + 0.5990520515614225, + -0.04535125910201164, + -0.799424732428209 + ], + [ + 0.7586361152010725, + 0.34598851098682215, + 0.5520536160353873, + 0.23005341214585506, + -0.9350138839706442, + 0.26986008289886126, + 0.6095462839462436, + -0.0777237868818329, + -0.7889311381103379 + ], + [ + 0.7990014313061289, + 0.3260412990780025, + 0.505266052754671, + 0.2047992894896795, + -0.9375605285102898, + 0.28113609943233653, + 0.5653794865356186, + -0.12115001723084753, + -0.8158852306113192 + ], + [ + 0.8157610128478243, + 0.31319397728304316, + 0.48625456554270036, + 0.1901658286335963, + -0.9391997633477077, + 0.28590341401897845, + 0.546233400239851, + -0.14075985621347575, + -0.8257213424280446 + ], + [ + 0.8079641850779203, + 0.3029053552994414, + 0.5054129216415935, + 0.20240066190600944, + -0.9482297108209239, + 0.24473329887139683, + 0.5533785753816112, + -0.09543983050795067, + -0.8274438899775817 + ], + [ + 0.778531373416773, + 0.30248967344280747, + 0.5498989889663892, + 0.19160378539262551, + -0.9489107454548397, + 0.25071175996262596, + 0.5976427779443252, + -0.0898242429459017, + -0.7967149523827112 + ], + [ + 0.7652359509003664, + 0.2759910492102998, + 0.5815865199653525, + 0.16342836639449299, + -0.9571258156721416, + 0.23916802050350416, + 0.622659705222073, + -0.08797223271996162, + -0.7775318499991017 + ], + [ + 0.7455192260097739, + 0.21417123303511215, + 0.6311352997495918, + 0.1066789094428855, + -0.9730988966846283, + 0.2042012427759325, + 0.6578910957976738, + -0.08490712697635205, + -0.7483114898615131 + ], + [ + 0.7257240812970739, + 0.1550960754887558, + 0.6702758873728818, + 0.04899302542332133, + -0.9834353356485518, + 0.17451253266653927, + 0.6862392012158645, + -0.09380910385355096, + -0.7213013314481028 + ], + [ + 0.7485708399919443, + 0.14546605166974955, + 0.6469013258027602, + 0.056480388968078415, + -0.9860809300800453, + 0.156378914801477, + 0.660644884318171, + -0.08052345710466483, + -0.7463674093100151 + ], + [ + 0.7490621871361799, + 0.13579375862184045, + 0.64843341595118, + 0.049846595496643276, + -0.9875456253090958, + 0.14922786217815015, + 0.660621795523094, + -0.0794587506333965, + -0.7465019425477895 + ], + [ + 0.7608220899423068, + 0.12808541791239164, + 0.6361948390029809, + 0.05259237144446259, + -0.9892739147744207, + 0.1362760581053771, + 0.6468259347936417, + -0.07022284005293739, + -0.7593977632395499 + ], + [ + 0.7687527352596154, + 0.13343177536815287, + 0.6254719764729374, + 0.05654137919631753, + -0.9883437679674998, + 0.1413494561658564, + 0.6370418388688753, + -0.07329773285653465, + -0.7673363916097387 + ], + [ + 0.7787522171251162, + 0.15018388211635242, + 0.60908930861999, + 0.08138374422833877, + -0.9869019527688095, + 0.13928826869656585, + 0.6220302810137881, + -0.0589010795620246, + -0.7807746104531934 + ], + [ + 0.7819575300014843, + 0.16410842229069045, + 0.6013408742196379, + 0.10047637377194246, + -0.9852896591548085, + 0.13823453214100362, + 0.6151803959714733, + -0.047672982871451025, + -0.7869436873859015 + ], + [ + 0.7733450264527181, + 0.1740635437429457, + 0.6096223033981716, + 0.110520850218294, + -0.9838618277937616, + 0.14071618768764318, + 0.6242776719760768, + -0.041446188606025364, + -0.7801023020874657 + ], + [ + 0.7638137503065121, + 0.17743028910770517, + 0.6205699375170032, + 0.12674476538110088, + -0.9839851642536419, + 0.1253353939524789, + 0.6328699070829572, + -0.01707890616783004, + -0.7740697589190005 + ], + [ + 0.7513270190783777, + 0.15074708764031935, + 0.6424819265712938, + 0.14347281821646218, + -0.9875865171700717, + 0.06394076584553927, + 0.6441453724399682, + 0.04413826765800805, + -0.7636285435290675 + ], + [ + 0.6966974235650667, + 0.07227192655060233, + 0.7137152573894313, + 0.10106655491860031, + -0.9948774796592841, + 0.0020861312701145954, + 0.7102100051919032, + 0.07067933997608455, + -0.7004328514753299 + ], + [ + 0.6266540376473042, + -0.02416741341028923, + 0.7789227517728491, + 0.04013649400929599, + -0.9971915747876745, + -0.06322993769662796, + 0.7782633095225374, + 0.07088652411801469, + -0.6239241314050077 + ], + [ + 0.5745787079391574, + -0.11578131116196139, + 0.8102184868099377, + -0.022447476559484314, + -0.9918002809198729, + -0.12581062579675914, + 0.8181414420374263, + 0.054100746324591775, + -0.5724663222129686 + ], + [ + 0.544702259167866, + -0.19911050463819446, + 0.8146498976862064, + -0.09692869841294038, + -0.9798434066681255, + -0.17467605970188302, + 0.8330091693861457, + 0.01618349009719766, + -0.5530224392977899 + ], + [ + 0.5218757038214634, + -0.26552629414101325, + 0.8106426690475851, + -0.15402490514667, + -0.9640312154597528, + -0.21661058195238533, + 0.8390006426430267, + -0.011815360296319799, + -0.5440021313429356 + ], + [ + 0.5141506997949501, + -0.2989785006739544, + 0.8039035477189517, + -0.18337586428151254, + -0.9539241303693482, + -0.2374911490942151, + 0.8378677403381579, + -0.025310267360039385, + -0.5452862001433669 + ], + [ + 0.5094567716708989, + -0.3039777837395618, + 0.8050163382139829, + -0.19816003436355906, + -0.951826136171832, + -0.23400770773894164, + 0.8373687351338707, + -0.04030525391292089, + -0.545150518597677 + ], + [ + 0.5320900302756866, + -0.29661916850723224, + 0.7930304335618509, + -0.18214128962950457, + -0.9547978238143237, + -0.23491629626642074, + 0.8268644086507292, + -0.019446966691748738, + -0.5620650008612617 + ], + [ + 0.5404367379252571, + -0.29944982636105943, + 0.7862937961048899, + -0.17462283105597678, + -0.9540944254327097, + -0.24333247673137082, + 0.8230643955212147, + -0.005799038761611253, + -0.5679184553919151 + ], + [ + 0.5358030735128458, + -0.310899869696925, + 0.7850199598969589, + -0.18491782002610202, + -0.9503776250486542, + -0.2501754777024998, + 0.8238449285217346, + -0.011119389790579887, + -0.5667061786496623 + ], + [ + 0.5326582230964348, + -0.32103751372928374, + 0.7830773474863572, + -0.2007397665236101, + -0.9467828953928793, + -0.2516062303034704, + 0.8221792769851327, + -0.023174636350900307, + -0.5687566902694053 + ], + [ + 0.5358180799698401, + -0.3340573746815036, + 0.7754383635069493, + -0.22114390911889087, + -0.9418669062970794, + -0.25294683686890523, + 0.8148584887187773, + -0.03594998252114111, + -0.5785440710262961 + ], + [ + 0.550279626231807, + -0.3426944113468689, + 0.7614150467293156, + -0.2425448354089888, + -0.9381797265402158, + -0.24696316228407975, + 0.7989770558474188, + -0.04877849055218089, + -0.5993799488545154 + ], + [ + 0.56430845087912, + -0.3603403398799056, + 0.74277238217481, + -0.262241921501761, + -0.9313567000662426, + -0.2525942830880842, + 0.7828059445823543, + -0.05224496814960389, + -0.6200687997549746 + ], + [ + 0.5863415951203235, + -0.3511551338317794, + 0.729995620408328, + -0.27375614400561127, + -0.9340359778371632, + -0.22942180743110147, + 0.7624048186173364, + -0.0653212376594281, + -0.6437950205303756 + ], + [ + 0.6310168946722192, + -0.3626690521195527, + 0.6857760839172904, + -0.30018891886387955, + -0.9292814763106735, + -0.21522674270914902, + 0.715335090450318, + -0.0700506703790926, + -0.6952615421191332 + ], + [ + 0.6930258891220461, + -0.3798277384040253, + 0.6127364899738554, + -0.33287240924670636, + -0.9225122901390914, + -0.19536384953368868, + 0.6394615517518552, + -0.06857086612557735, + -0.7657590744809345 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + 0.0005644559860229492, + -0.0013906881213188171, + -0.00288236141204834, + -0.0001722276210784912, + 0.013652712106704712, + -0.0055651068687438965, + 1.0 + ], + [ + 0.018050819635391235, + 0.04387889802455902, + 0.002047821879386902, + -0.010570257902145386, + 0.01832038164138794, + 0.0569685697555542, + 1.0 + ], + [ + 0.01962950825691223, + 0.02848879247903824, + 0.009067431092262268, + 0.035303086042404175, + -0.03220835328102112, + -0.040396153926849365, + 1.0 + ], + [ + 0.01531839370727539, + 0.03486025333404541, + -0.0034695416688919067, + 0.11472057551145554, + -0.019940108060836792, + -0.21833717823028564, + 1.0 + ], + [ + 0.009619921445846558, + 0.014002695679664612, + 0.0021627992391586304, + 0.058971598744392395, + -0.07711341977119446, + -0.13323596119880676, + 1.0 + ], + [ + 0.010230779647827148, + 0.012697309255599976, + 0.0008175969123840332, + 0.06953708827495575, + -0.07801717519760132, + -0.11310872435569763, + 1.0 + ], + [ + 0.019676238298416138, + 0.013710558414459229, + 0.0004270970821380615, + 0.041531819850206375, + -0.01317143440246582, + -0.08954763412475586, + 1.0 + ], + [ + 0.016009658575057983, + 0.01821163296699524, + -0.008799612522125244, + 0.049210965633392334, + 0.05459487438201904, + -0.04351505637168884, + 1.0 + ], + [ + 0.016320526599884033, + 0.008197784423828125, + -0.0074072182178497314, + 0.0214339941740036, + 0.02303236722946167, + -0.021892592310905457, + 1.0 + ], + [ + 0.011771589517593384, + -0.0010677427053451538, + -0.01175987720489502, + -0.054010406136512756, + -0.008554160594940186, + 0.01643124222755432, + 1.0 + ], + [ + 0.010267287492752075, + 0.0025201737880706787, + -0.002843022346496582, + -0.002566322684288025, + -0.054142773151397705, + -0.004142299294471741, + 1.0 + ], + [ + 0.007722049951553345, + 5.05298376083374e-05, + -0.007704570889472961, + 0.0003946349024772644, + -0.03157931566238403, + -0.030908361077308655, + 1.0 + ], + [ + 0.008131623268127441, + -0.003986567258834839, + -0.010319024324417114, + 0.0003179386258125305, + -0.045877933502197266, + -0.06827647984027863, + 1.0 + ], + [ + 0.006981700658798218, + 0.001377701759338379, + -0.007557094097137451, + 0.016347691416740417, + -0.03829091787338257, + -0.07472173124551773, + 1.0 + ], + [ + 0.0006162822246551514, + 0.0009486079216003418, + -0.02005738765001297, + -0.02185797691345215, + 0.03462851047515869, + 0.007901385426521301, + 1.0 + ], + [ + 0.0037074387073516846, + 0.001370161771774292, + -0.001705750823020935, + -0.0014292895793914795, + 3.075599670410156e-05, + -0.00886090099811554, + 1.0 + ], + [ + -0.0012098848819732666, + 0.0006423145532608032, + -0.010221235454082489, + -0.013832658529281616, + 0.018231630325317383, + 0.002568557858467102, + 1.0 + ], + [ + 0.00018277764320373535, + 0.0029091984033584595, + -0.0043553635478019714, + 0.0030238255858421326, + 0.012760579586029053, + 0.004401378333568573, + 0.0 + ], + [ + 0.0012770295143127441, + 0.0025102943181991577, + -0.000742599368095398, + -0.019936680793762207, + 0.0193215012550354, + 0.03071003407239914, + 0.0 + ], + [ + 0.0015849769115447998, + 0.0018930137157440186, + -0.0014678314328193665, + -0.014790691435337067, + 0.008718252182006836, + 0.023665808141231537, + 0.0 + ], + [ + -0.0009596645832061768, + 0.003208845853805542, + 0.000733688473701477, + -0.007426705211400986, + -0.011591792106628418, + 0.014158383011817932, + 0.0 + ], + [ + -0.00226747989654541, + 0.0013218224048614502, + -0.00019468367099761963, + -0.031019063666462898, + -0.011047720909118652, + 0.022486865520477295, + 0.0 + ], + [ + -0.007352054119110107, + -0.006881773471832275, + 0.00236424058675766, + -0.07979666441679001, + -0.014651179313659668, + 0.024249181151390076, + 0.0 + ], + [ + -0.011215031147003174, + -0.0150223970413208, + 0.022077135741710663, + -0.04283120483160019, + -0.08989101648330688, + -0.044627293944358826, + 0.0 + ], + [ + -0.02261829376220703, + -0.023087888956069946, + 0.01588350534439087, + -0.012561246752738953, + -0.10209888219833374, + -0.08009876310825348, + 0.0 + ], + [ + -0.02860543131828308, + -0.023950427770614624, + 0.012656077742576599, + 0.018904082477092743, + -0.06627601385116577, + -0.10300937294960022, + 0.0 + ], + [ + -0.03146293759346008, + -0.02496054768562317, + 0.0004644542932510376, + 0.06496946513652802, + -0.02635324001312256, + -0.13705681264400482, + 0.0 + ], + [ + -0.027395665645599365, + -0.019008204340934753, + -0.0004157721996307373, + 0.05097127705812454, + -0.010919392108917236, + -0.11088484525680542, + 0.0 + ], + [ + -0.022185474634170532, + -0.01727442443370819, + 0.004429250955581665, + 0.024667277932167053, + 0.002078711986541748, + -0.05560418963432312, + 0.0 + ], + [ + -0.014162808656692505, + -0.014338254928588867, + 0.007193207740783691, + 0.027416709810495377, + 0.0009135007858276367, + -0.028362303972244263, + 0.0 + ], + [ + -0.010453760623931885, + -0.012568414211273193, + 0.0009606778621673584, + -0.03921455517411232, + 0.018942534923553467, + 0.04114571213722229, + 0.0 + ], + [ + -0.008150473237037659, + -0.012870609760284424, + -0.0028618574142456055, + -0.02437466010451317, + 0.006723582744598389, + 0.017284899950027466, + 0.0 + ], + [ + -0.009744271636009216, + -0.013120956718921661, + -0.0033574700355529785, + 0.00940788071602583, + -0.0013756752014160156, + -0.019797831773757935, + 0.0 + ], + [ + -0.008525192737579346, + -0.010591275990009308, + -0.003663867712020874, + 0.02110503986477852, + 0.0029323697090148926, + -0.028080731630325317, + 0.0 + ], + [ + -0.009602129459381104, + -0.01678600162267685, + -0.0065963417291641235, + 0.021335311233997345, + 0.012743949890136719, + -0.031021326780319214, + 1.0 + ], + [ + -0.00898657739162445, + -0.008029211312532425, + -0.014520779252052307, + 0.019143715500831604, + 0.026892781257629395, + -0.023723602294921875, + 1.0 + ], + [ + -0.006078094244003296, + -0.004534564912319183, + -0.013397745788097382, + 0.002855554223060608, + 0.02642989158630371, + -0.019873440265655518, + 1.0 + ], + [ + -0.003580152988433838, + 0.001861758530139923, + -0.009511135518550873, + 0.017058558762073517, + 0.032141029834747314, + -0.0017869770526885986, + 1.0 + ], + [ + -0.0012715309858322144, + 0.004826374351978302, + 0.006544120609760284, + -0.0007012039422988892, + 0.06991779804229736, + -0.007228344678878784, + 1.0 + ], + [ + 0.0028555095195770264, + 0.015507761389017105, + 0.025045283138751984, + -0.011107474565505981, + 0.10330581665039062, + -0.003740280866622925, + 1.0 + ], + [ + 0.0030711591243743896, + 0.01482120156288147, + 0.030917242169380188, + 0.012852050364017487, + -0.017062008380889893, + 0.05097416043281555, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9907060265541077 + ], + [ + 0.8870869278907776 + ], + [ + 0.5988990664482117 + ], + [ + 0.3315716087818146 + ], + [ + 0.14964459836483002 + ], + [ + 0.06384159624576569 + ], + [ + 0.05271430313587189 + ], + [ + 0.052451856434345245 + ], + [ + 0.052451856434345245 + ], + [ + 0.052451856434345245 + ], + [ + 0.052451856434345245 + ], + [ + 0.052451856434345245 + ], + [ + 0.052451856434345245 + ], + [ + 0.052451856434345245 + ], + [ + 0.052451856434345245 + ], + [ + 0.05115113407373428 + ], + [ + 0.05115113407373428 + ], + [ + 0.05701649188995361 + ], + [ + 0.103162482380867 + ], + [ + 0.2673496901988983 + ], + [ + 0.5521479845046997 + ], + [ + 0.8544629216194153 + ], + [ + 1.0054124593734741 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.23643681406974792, + 0.07078329473733902, + 0.16477073729038239 + ], + [ + 0.25448763370513916, + 0.11466219276189804, + 0.1668185591697693 + ], + [ + 0.2741171419620514, + 0.14315098524093628, + 0.17588599026203156 + ], + [ + 0.2894355356693268, + 0.1780112385749817, + 0.17241644859313965 + ], + [ + 0.29905545711517334, + 0.1920139342546463, + 0.17457924783229828 + ], + [ + 0.3092862367630005, + 0.20471124351024628, + 0.1753968447446823 + ], + [ + 0.3289624750614166, + 0.2184218019247055, + 0.17582394182682037 + ], + [ + 0.3449721336364746, + 0.23663343489170074, + 0.16702432930469513 + ], + [ + 0.36129266023635864, + 0.24483121931552887, + 0.1596171110868454 + ], + [ + 0.373064249753952, + 0.24376347661018372, + 0.14785723388195038 + ], + [ + 0.3833315372467041, + 0.2462836503982544, + 0.1450142115354538 + ], + [ + 0.39105358719825745, + 0.24633418023586273, + 0.13730964064598083 + ], + [ + 0.3991852104663849, + 0.2423476129770279, + 0.12699061632156372 + ], + [ + 0.4061669111251831, + 0.24372531473636627, + 0.11943352222442627 + ], + [ + 0.40678319334983826, + 0.2446739226579666, + 0.0993761345744133 + ], + [ + 0.41049063205718994, + 0.2460440844297409, + 0.09767038375139236 + ], + [ + 0.4092807471752167, + 0.2466863989830017, + 0.08744914829730988 + ], + [ + 0.4094635248184204, + 0.24959559738636017, + 0.0830937847495079 + ], + [ + 0.41074055433273315, + 0.2521058917045593, + 0.0823511853814125 + ], + [ + 0.41232553124427795, + 0.25399890542030334, + 0.08088335394859314 + ], + [ + 0.4113658666610718, + 0.2572077512741089, + 0.08161704242229462 + ], + [ + 0.40909838676452637, + 0.25852957367897034, + 0.081422358751297 + ], + [ + 0.40174633264541626, + 0.25164780020713806, + 0.08378659933805466 + ], + [ + 0.3905313014984131, + 0.23662540316581726, + 0.10586373507976532 + ], + [ + 0.36791300773620605, + 0.21353751420974731, + 0.12174724042415619 + ], + [ + 0.339307576417923, + 0.1895870864391327, + 0.1344033181667328 + ], + [ + 0.3078446388244629, + 0.16462653875350952, + 0.13486777245998383 + ], + [ + 0.2804489731788635, + 0.14561833441257477, + 0.1344520002603531 + ], + [ + 0.258263498544693, + 0.12834390997886658, + 0.13888125121593475 + ], + [ + 0.2441006898880005, + 0.11400565505027771, + 0.14607445895671844 + ], + [ + 0.2336469292640686, + 0.10143724083900452, + 0.1470351368188858 + ], + [ + 0.22549645602703094, + 0.08856663107872009, + 0.1441732794046402 + ], + [ + 0.21575218439102173, + 0.07544567435979843, + 0.14081580936908722 + ], + [ + 0.20722699165344238, + 0.06485439836978912, + 0.13715194165706635 + ], + [ + 0.19762486219406128, + 0.048068396747112274, + 0.13055559992790222 + ], + [ + 0.18863828480243683, + 0.04003918543457985, + 0.11603482067584991 + ], + [ + 0.18256019055843353, + 0.035504620522260666, + 0.10263707488775253 + ], + [ + 0.1789800375699997, + 0.03736637905240059, + 0.09312593936920166 + ], + [ + 0.17770850658416748, + 0.04219275340437889, + 0.09967005997896194 + ], + [ + 0.1805640161037445, + 0.057700514793395996, + 0.12471534311771393 + ], + [ + 0.1836351752281189, + 0.07252171635627747, + 0.15563258528709412 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.6053134574873754, + 0.6610472904384298, + 0.4434096277582268, + 0.6646526775690315, + -0.7262711712120729, + 0.17540525666741247, + 0.437986799327327, + 0.18853823397458103, + -0.878988565309441 + ], + [ + 0.5714486219422061, + 0.6990080460824938, + 0.4299235094668444, + 0.7041526636806333, + -0.6867074561242453, + 0.18055995108228326, + 0.42144453812076205, + 0.19955104914608154, + -0.8846264070628209 + ], + [ + 0.5901381413873292, + 0.6821530334699423, + 0.43174554196617326, + 0.6699630738568304, + -0.712210873376411, + 0.20953556145131394, + 0.45042918838394147, + 0.16559864363021168, + -0.8773201442344853 + ], + [ + 0.713847498486149, + 0.5607416005347238, + 0.419512343483268, + 0.5208315779916634, + -0.8255579390493115, + 0.2172292720591929, + 0.4681412353892585, + 0.06342670338594918, + -0.881374402297803 + ], + [ + 0.7427014664417961, + 0.47077994487293945, + 0.47619405209498095, + 0.40293640359416544, + -0.8821836706580746, + 0.24370930610636404, + 0.5348240705164691, + 0.010872659733375159, + -0.8448934837401203 + ], + [ + 0.7424032543563543, + 0.4054709397148555, + 0.5333204711689273, + 0.2999567426165738, + -0.9129822453611104, + 0.27656712063121364, + 0.5990520515614225, + -0.04535125910201164, + -0.799424732428209 + ], + [ + 0.7586361152010725, + 0.34598851098682215, + 0.5520536160353873, + 0.23005341214585506, + -0.9350138839706442, + 0.26986008289886126, + 0.6095462839462436, + -0.0777237868818329, + -0.7889311381103379 + ], + [ + 0.7990014313061289, + 0.3260412990780025, + 0.505266052754671, + 0.2047992894896795, + -0.9375605285102898, + 0.28113609943233653, + 0.5653794865356186, + -0.12115001723084753, + -0.8158852306113192 + ], + [ + 0.8157610128478243, + 0.31319397728304316, + 0.48625456554270036, + 0.1901658286335963, + -0.9391997633477077, + 0.28590341401897845, + 0.546233400239851, + -0.14075985621347575, + -0.8257213424280446 + ], + [ + 0.8079641850779203, + 0.3029053552994414, + 0.5054129216415935, + 0.20240066190600944, + -0.9482297108209239, + 0.24473329887139683, + 0.5533785753816112, + -0.09543983050795067, + -0.8274438899775817 + ], + [ + 0.778531373416773, + 0.30248967344280747, + 0.5498989889663892, + 0.19160378539262551, + -0.9489107454548397, + 0.25071175996262596, + 0.5976427779443252, + -0.0898242429459017, + -0.7967149523827112 + ], + [ + 0.7652359509003664, + 0.2759910492102998, + 0.5815865199653525, + 0.16342836639449299, + -0.9571258156721416, + 0.23916802050350416, + 0.622659705222073, + -0.08797223271996162, + -0.7775318499991017 + ], + [ + 0.7455192260097739, + 0.21417123303511215, + 0.6311352997495918, + 0.1066789094428855, + -0.9730988966846283, + 0.2042012427759325, + 0.6578910957976738, + -0.08490712697635205, + -0.7483114898615131 + ], + [ + 0.7257240812970739, + 0.1550960754887558, + 0.6702758873728818, + 0.04899302542332133, + -0.9834353356485518, + 0.17451253266653927, + 0.6862392012158645, + -0.09380910385355096, + -0.7213013314481028 + ], + [ + 0.7485708399919443, + 0.14546605166974955, + 0.6469013258027602, + 0.056480388968078415, + -0.9860809300800453, + 0.156378914801477, + 0.660644884318171, + -0.08052345710466483, + -0.7463674093100151 + ], + [ + 0.7490621871361799, + 0.13579375862184045, + 0.64843341595118, + 0.049846595496643276, + -0.9875456253090958, + 0.14922786217815015, + 0.660621795523094, + -0.0794587506333965, + -0.7465019425477895 + ], + [ + 0.7608220899423068, + 0.12808541791239164, + 0.6361948390029809, + 0.05259237144446259, + -0.9892739147744207, + 0.1362760581053771, + 0.6468259347936417, + -0.07022284005293739, + -0.7593977632395499 + ], + [ + 0.7687527352596154, + 0.13343177536815287, + 0.6254719764729374, + 0.05654137919631753, + -0.9883437679674998, + 0.1413494561658564, + 0.6370418388688753, + -0.07329773285653465, + -0.7673363916097387 + ], + [ + 0.7787522171251162, + 0.15018388211635242, + 0.60908930861999, + 0.08138374422833877, + -0.9869019527688095, + 0.13928826869656585, + 0.6220302810137881, + -0.0589010795620246, + -0.7807746104531934 + ], + [ + 0.7819575300014843, + 0.16410842229069045, + 0.6013408742196379, + 0.10047637377194246, + -0.9852896591548085, + 0.13823453214100362, + 0.6151803959714733, + -0.047672982871451025, + -0.7869436873859015 + ], + [ + 0.7733450264527181, + 0.1740635437429457, + 0.6096223033981716, + 0.110520850218294, + -0.9838618277937616, + 0.14071618768764318, + 0.6242776719760768, + -0.041446188606025364, + -0.7801023020874657 + ], + [ + 0.7638137503065121, + 0.17743028910770517, + 0.6205699375170032, + 0.12674476538110088, + -0.9839851642536419, + 0.1253353939524789, + 0.6328699070829572, + -0.01707890616783004, + -0.7740697589190005 + ], + [ + 0.7513270190783777, + 0.15074708764031935, + 0.6424819265712938, + 0.14347281821646218, + -0.9875865171700717, + 0.06394076584553927, + 0.6441453724399682, + 0.04413826765800805, + -0.7636285435290675 + ], + [ + 0.6966974235650667, + 0.07227192655060233, + 0.7137152573894313, + 0.10106655491860031, + -0.9948774796592841, + 0.0020861312701145954, + 0.7102100051919032, + 0.07067933997608455, + -0.7004328514753299 + ], + [ + 0.6266540376473042, + -0.02416741341028923, + 0.7789227517728491, + 0.04013649400929599, + -0.9971915747876745, + -0.06322993769662796, + 0.7782633095225374, + 0.07088652411801469, + -0.6239241314050077 + ], + [ + 0.5745787079391574, + -0.11578131116196139, + 0.8102184868099377, + -0.022447476559484314, + -0.9918002809198729, + -0.12581062579675914, + 0.8181414420374263, + 0.054100746324591775, + -0.5724663222129686 + ], + [ + 0.544702259167866, + -0.19911050463819446, + 0.8146498976862064, + -0.09692869841294038, + -0.9798434066681255, + -0.17467605970188302, + 0.8330091693861457, + 0.01618349009719766, + -0.5530224392977899 + ], + [ + 0.5218757038214634, + -0.26552629414101325, + 0.8106426690475851, + -0.15402490514667, + -0.9640312154597528, + -0.21661058195238533, + 0.8390006426430267, + -0.011815360296319799, + -0.5440021313429356 + ], + [ + 0.5141506997949501, + -0.2989785006739544, + 0.8039035477189517, + -0.18337586428151254, + -0.9539241303693482, + -0.2374911490942151, + 0.8378677403381579, + -0.025310267360039385, + -0.5452862001433669 + ], + [ + 0.5094567716708989, + -0.3039777837395618, + 0.8050163382139829, + -0.19816003436355906, + -0.951826136171832, + -0.23400770773894164, + 0.8373687351338707, + -0.04030525391292089, + -0.545150518597677 + ], + [ + 0.5320900302756866, + -0.29661916850723224, + 0.7930304335618509, + -0.18214128962950457, + -0.9547978238143237, + -0.23491629626642074, + 0.8268644086507292, + -0.019446966691748738, + -0.5620650008612617 + ], + [ + 0.5404367379252571, + -0.29944982636105943, + 0.7862937961048899, + -0.17462283105597678, + -0.9540944254327097, + -0.24333247673137082, + 0.8230643955212147, + -0.005799038761611253, + -0.5679184553919151 + ], + [ + 0.5358030735128458, + -0.310899869696925, + 0.7850199598969589, + -0.18491782002610202, + -0.9503776250486542, + -0.2501754777024998, + 0.8238449285217346, + -0.011119389790579887, + -0.5667061786496623 + ], + [ + 0.5326582230964348, + -0.32103751372928374, + 0.7830773474863572, + -0.2007397665236101, + -0.9467828953928793, + -0.2516062303034704, + 0.8221792769851327, + -0.023174636350900307, + -0.5687566902694053 + ], + [ + 0.5358180799698401, + -0.3340573746815036, + 0.7754383635069493, + -0.22114390911889087, + -0.9418669062970794, + -0.25294683686890523, + 0.8148584887187773, + -0.03594998252114111, + -0.5785440710262961 + ], + [ + 0.550279626231807, + -0.3426944113468689, + 0.7614150467293156, + -0.2425448354089888, + -0.9381797265402158, + -0.24696316228407975, + 0.7989770558474188, + -0.04877849055218089, + -0.5993799488545154 + ], + [ + 0.56430845087912, + -0.3603403398799056, + 0.74277238217481, + -0.262241921501761, + -0.9313567000662426, + -0.2525942830880842, + 0.7828059445823543, + -0.05224496814960389, + -0.6200687997549746 + ], + [ + 0.5863415951203235, + -0.3511551338317794, + 0.729995620408328, + -0.27375614400561127, + -0.9340359778371632, + -0.22942180743110147, + 0.7624048186173364, + -0.0653212376594281, + -0.6437950205303756 + ], + [ + 0.6310168946722192, + -0.3626690521195527, + 0.6857760839172904, + -0.30018891886387955, + -0.9292814763106735, + -0.21522674270914902, + 0.715335090450318, + -0.0700506703790926, + -0.6952615421191332 + ], + [ + 0.6930258891220461, + -0.3798277384040253, + 0.6127364899738554, + -0.33287240924670636, + -0.9225122901390914, + -0.19536384953368868, + 0.6394615517518552, + -0.06857086612557735, + -0.7657590744809345 + ], + [ + 0.6989207771871165, + -0.32308558821543454, + 0.6380638290199844, + -0.2928692743857716, + -0.9432089497104712, + -0.15679434079972893, + 0.6524855058443128, + -0.07728246808660169, + -0.7538501739666409 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006125.json b/json/chunk-0006/episode_0006125.json new file mode 100644 index 0000000000000000000000000000000000000000..e748a5f4cdfe09a1ee460a3759cda8041488a976 --- /dev/null +++ b/json/chunk-0006/episode_0006125.json @@ -0,0 +1,2602 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 42, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nUnfold the cloth from top left to bottom right." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006125.mp4", + "start": 0, + "end": 42, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3591901659965515, + 0.2762460708618164, + 0.10246841609477997, + 0.15163062512874603, + -0.22822043299674988, + -0.8518446087837219, + 0.0, + 1.002137303352356 + ], + [ + 0.3585188388824463, + 0.27499258518218994, + 0.08329249918460846, + 0.10458315908908844, + -0.22789737582206726, + -0.8374143242835999, + 0.0, + 1.002137303352356 + ], + [ + 0.3579212725162506, + 0.27276134490966797, + 0.07356054335832596, + 0.06737112998962402, + -0.22864004969596863, + -0.8095047473907471, + 0.0, + 1.002137303352356 + ], + [ + 0.3581444323062897, + 0.27007895708084106, + 0.07347697019577026, + 0.05495520681142807, + -0.22957554459571838, + -0.7999628186225891, + 0.0, + 1.002137303352356 + ], + [ + 0.3580605685710907, + 0.2654553949832916, + 0.07437123358249664, + 0.031031547114253044, + -0.23779600858688354, + -0.7878981232643127, + 0.0, + 1.002137303352356 + ], + [ + 0.36514708399772644, + 0.2660062611103058, + 0.08484015613794327, + 0.05339255928993225, + -0.2414572834968567, + -0.7803571224212646, + 0.0, + 1.002137303352356 + ], + [ + 0.3769005835056305, + 0.26070713996887207, + 0.08445869386196136, + 0.04088854044675827, + -0.23286734521389008, + -0.763313353061676, + 0.0, + 1.002137303352356 + ], + [ + 0.3864646852016449, + 0.2582589387893677, + 0.08186566084623337, + 0.040151841938495636, + -0.22215229272842407, + -0.7501635551452637, + 0.0, + 1.002137303352356 + ], + [ + 0.3899516761302948, + 0.2595948576927185, + 0.0793398842215538, + 0.03172353282570839, + -0.2152087688446045, + -0.733657717704773, + 0.0, + 1.002137303352356 + ], + [ + 0.39377734065055847, + 0.25256937742233276, + 0.07863626629114151, + 0.02906120754778385, + -0.20586654543876648, + -0.7482637763023376, + 0.0, + 1.002137303352356 + ], + [ + 0.39420846104621887, + 0.24624216556549072, + 0.06941862404346466, + 0.020561430603265762, + -0.19229115545749664, + -0.7692960500717163, + 0.0, + 1.002137303352356 + ], + [ + 0.38901346921920776, + 0.2424720823764801, + 0.05475099757313728, + -0.0036317449994385242, + -0.1834849864244461, + -0.7699412107467651, + 0.0, + 1.002137303352356 + ], + [ + 0.39036932587623596, + 0.24116142094135284, + 0.05471983924508095, + -0.0006025799084454775, + -0.1824396401643753, + -0.7733271718025208, + 0.0, + 0.9650423526763916 + ], + [ + 0.3912781774997711, + 0.2390863597393036, + 0.05278904363512993, + 0.0025390710216015577, + -0.1971464455127716, + -0.7830804586410522, + 0.0, + 0.6821943521499634 + ], + [ + 0.3901573121547699, + 0.23633992671966553, + 0.052414532750844955, + -0.0013601017417386174, + -0.20635023713111877, + -0.798986554145813, + 0.0, + 0.4094836115837097 + ], + [ + 0.38954228162765503, + 0.23556123673915863, + 0.05289332568645477, + -0.006936974823474884, + -0.22049885988235474, + -0.8110434412956238, + 0.0, + 0.1845952719449997 + ], + [ + 0.38570529222488403, + 0.23510652780532837, + 0.053750067949295044, + -0.02967270277440548, + -0.23223759233951569, + -0.8146215081214905, + 0.0, + 0.0936371386051178 + ], + [ + 0.38341715931892395, + 0.23655694723129272, + 0.0582902655005455, + -0.040802061557769775, + -0.24163369834423065, + -0.8215998411178589, + 0.0, + 0.08571679890155792 + ], + [ + 0.38095319271087646, + 0.23843276500701904, + 0.06293865293264389, + -0.05351153761148453, + -0.2616525888442993, + -0.8185959458351135, + 0.0, + 0.0853668823838234 + ], + [ + 0.37986403703689575, + 0.24377359449863434, + 0.07971390336751938, + -0.05483764037489891, + -0.2982236444950104, + -0.8217750191688538, + 0.0, + 0.0853668823838234 + ], + [ + 0.3762834668159485, + 0.2492300122976303, + 0.09223625808954239, + -0.05762689933180809, + -0.31999412178993225, + -0.825610876083374, + 0.0, + 0.0853668823838234 + ], + [ + 0.3722711205482483, + 0.24608373641967773, + 0.09198082238435745, + -0.07586222887039185, + -0.3475400507450104, + -0.843234658241272, + 0.0, + 0.0853668823838234 + ], + [ + 0.3582588732242584, + 0.2334001064300537, + 0.10920097678899765, + -0.029422730207443237, + -0.3578028380870819, + -0.8975059390068054, + 0.0, + 0.0853668823838234 + ], + [ + 0.3409068286418915, + 0.2055392563343048, + 0.1203419640660286, + 0.04324938729405403, + -0.34763702750205994, + -0.977360188961029, + 0.0, + 0.08501782268285751 + ], + [ + 0.33022043108940125, + 0.18129801750183105, + 0.1261155903339386, + 0.08314049243927002, + -0.3405322730541229, + -1.0416374206542969, + 0.0, + 0.08501782268285751 + ], + [ + 0.31893670558929443, + 0.16681143641471863, + 0.13063353300094604, + 0.11844956129789352, + -0.32714131474494934, + -1.082962989807129, + 0.0, + 0.08501782268285751 + ], + [ + 0.3081260323524475, + 0.15631072223186493, + 0.12975473701953888, + 0.1212548315525055, + -0.3212096691131592, + -1.1214237213134766, + 0.0, + 0.08501782268285751 + ], + [ + 0.29416805505752563, + 0.1447833627462387, + 0.13056154549121857, + 0.1438976675271988, + -0.3219548761844635, + -1.1758520603179932, + 0.0, + 0.08501782268285751 + ], + [ + 0.2695064842700958, + 0.1270488053560257, + 0.12867207825183868, + 0.17689521610736847, + -0.30002361536026, + -1.2458842992782593, + 0.0, + 0.08501782268285751 + ], + [ + 0.2493104338645935, + 0.11209128051996231, + 0.12520252168178558, + 0.20637106895446777, + -0.2762395739555359, + -1.2976207733154297, + 0.0, + 0.08501782268285751 + ], + [ + 0.23511232435703278, + 0.09867320954799652, + 0.12130413204431534, + 0.21142633259296417, + -0.2559069097042084, + -1.328643798828125, + 0.0, + 0.08501782268285751 + ], + [ + 0.2263340801000595, + 0.0853920429944992, + 0.11342974007129669, + 0.19118915498256683, + -0.2371806502342224, + -1.3091704845428467, + 0.0, + 0.08501782268285751 + ], + [ + 0.2244747281074524, + 0.07353974133729935, + 0.11281148344278336, + 0.1841631829738617, + -0.2480953484773636, + -1.2468578815460205, + 0.0, + 0.08501782268285751 + ], + [ + 0.2182774692773819, + 0.0687127485871315, + 0.12063797563314438, + 0.16616995632648468, + -0.2421436905860901, + -1.2023968696594238, + 0.0, + 0.08501782268285751 + ], + [ + 0.2251981794834137, + 0.04899246618151665, + 0.11413085460662842, + 0.17769427597522736, + -0.22583487629890442, + -1.1947317123413086, + 0.0, + 0.11493317037820816 + ], + [ + 0.23042912781238556, + 0.04399716481566429, + 0.11122534424066544, + 0.18572764098644257, + -0.20573309063911438, + -1.187339186668396, + 0.0, + 0.3026532232761383 + ], + [ + 0.22912251949310303, + 0.043865639716386795, + 0.10755331814289093, + 0.18624307215213776, + -0.19981588423252106, + -1.1781145334243774, + 0.0, + 0.5958979725837708 + ], + [ + 0.2273116260766983, + 0.042267728596925735, + 0.10639912635087967, + 0.17853426933288574, + -0.20329661667346954, + -1.197893738746643, + 0.0, + 0.8922415375709534 + ], + [ + 0.22878983616828918, + 0.04631130024790764, + 0.10786046832799911, + 0.10291650891304016, + -0.22929368913173676, + -1.2226111888885498, + 0.0, + 1.0086473226547241 + ], + [ + 0.24216905236244202, + 0.06858179718255997, + 0.11958809942007065, + 0.13407033681869507, + -0.264060378074646, + -1.1908111572265625, + 0.0, + 1.0041072368621826 + ], + [ + 0.25987687706947327, + 0.09579750150442123, + 0.13460960984230042, + 0.1503160297870636, + -0.2838898301124573, + -1.1472593545913696, + 0.0, + 1.0008161067962646 + ], + [ + 0.27077481150627136, + 0.10930830240249634, + 0.13721852004528046, + 0.2351955771446228, + -0.15641222894191742, + -1.1173697710037231, + 0.0, + 1.0001531839370728 + ] + ], + "left_gripper_pos": [ + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 0.9650423526763916 + ], + [ + 0.6821943521499634 + ], + [ + 0.4094836115837097 + ], + [ + 0.1845952719449997 + ], + [ + 0.0936371386051178 + ], + [ + 0.08571679890155792 + ], + [ + 0.0853668823838234 + ], + [ + 0.0853668823838234 + ], + [ + 0.0853668823838234 + ], + [ + 0.0853668823838234 + ], + [ + 0.0853668823838234 + ], + [ + 0.08501782268285751 + ], + [ + 0.08501782268285751 + ], + [ + 0.08501782268285751 + ], + [ + 0.08501782268285751 + ], + [ + 0.08501782268285751 + ], + [ + 0.08501782268285751 + ], + [ + 0.08501782268285751 + ], + [ + 0.08501782268285751 + ], + [ + 0.08501782268285751 + ], + [ + 0.08501782268285751 + ], + [ + 0.08501782268285751 + ], + [ + 0.11493317037820816 + ], + [ + 0.3026532232761383 + ], + [ + 0.5958979725837708 + ], + [ + 0.8922415375709534 + ], + [ + 1.0086473226547241 + ], + [ + 1.0041072368621826 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3591901659965515, + 0.2762460708618164, + 0.10246841609477997 + ], + [ + 0.3585188388824463, + 0.27499258518218994, + 0.08329249918460846 + ], + [ + 0.3579212725162506, + 0.27276134490966797, + 0.07356054335832596 + ], + [ + 0.3581444323062897, + 0.27007895708084106, + 0.07347697019577026 + ], + [ + 0.3580605685710907, + 0.2654553949832916, + 0.07437123358249664 + ], + [ + 0.36514708399772644, + 0.2660062611103058, + 0.08484015613794327 + ], + [ + 0.3769005835056305, + 0.26070713996887207, + 0.08445869386196136 + ], + [ + 0.3864646852016449, + 0.2582589387893677, + 0.08186566084623337 + ], + [ + 0.3899516761302948, + 0.2595948576927185, + 0.0793398842215538 + ], + [ + 0.39377734065055847, + 0.25256937742233276, + 0.07863626629114151 + ], + [ + 0.39420846104621887, + 0.24624216556549072, + 0.06941862404346466 + ], + [ + 0.38901346921920776, + 0.2424720823764801, + 0.05475099757313728 + ], + [ + 0.39036932587623596, + 0.24116142094135284, + 0.05471983924508095 + ], + [ + 0.3912781774997711, + 0.2390863597393036, + 0.05278904363512993 + ], + [ + 0.3901573121547699, + 0.23633992671966553, + 0.052414532750844955 + ], + [ + 0.38954228162765503, + 0.23556123673915863, + 0.05289332568645477 + ], + [ + 0.38570529222488403, + 0.23510652780532837, + 0.053750067949295044 + ], + [ + 0.38341715931892395, + 0.23655694723129272, + 0.0582902655005455 + ], + [ + 0.38095319271087646, + 0.23843276500701904, + 0.06293865293264389 + ], + [ + 0.37986403703689575, + 0.24377359449863434, + 0.07971390336751938 + ], + [ + 0.3762834668159485, + 0.2492300122976303, + 0.09223625808954239 + ], + [ + 0.3722711205482483, + 0.24608373641967773, + 0.09198082238435745 + ], + [ + 0.3582588732242584, + 0.2334001064300537, + 0.10920097678899765 + ], + [ + 0.3409068286418915, + 0.2055392563343048, + 0.1203419640660286 + ], + [ + 0.33022043108940125, + 0.18129801750183105, + 0.1261155903339386 + ], + [ + 0.31893670558929443, + 0.16681143641471863, + 0.13063353300094604 + ], + [ + 0.3081260323524475, + 0.15631072223186493, + 0.12975473701953888 + ], + [ + 0.29416805505752563, + 0.1447833627462387, + 0.13056154549121857 + ], + [ + 0.2695064842700958, + 0.1270488053560257, + 0.12867207825183868 + ], + [ + 0.2493104338645935, + 0.11209128051996231, + 0.12520252168178558 + ], + [ + 0.23511232435703278, + 0.09867320954799652, + 0.12130413204431534 + ], + [ + 0.2263340801000595, + 0.0853920429944992, + 0.11342974007129669 + ], + [ + 0.2244747281074524, + 0.07353974133729935, + 0.11281148344278336 + ], + [ + 0.2182774692773819, + 0.0687127485871315, + 0.12063797563314438 + ], + [ + 0.2251981794834137, + 0.04899246618151665, + 0.11413085460662842 + ], + [ + 0.23042912781238556, + 0.04399716481566429, + 0.11122534424066544 + ], + [ + 0.22912251949310303, + 0.043865639716386795, + 0.10755331814289093 + ], + [ + 0.2273116260766983, + 0.042267728596925735, + 0.10639912635087967 + ], + [ + 0.22878983616828918, + 0.04631130024790764, + 0.10786046832799911 + ], + [ + 0.24216905236244202, + 0.06858179718255997, + 0.11958809942007065 + ], + [ + 0.25987687706947327, + 0.09579750150442123, + 0.13460960984230042 + ], + [ + 0.27077481150627136, + 0.10930830240249634, + 0.13721852004528046 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.6415191708921585, + -0.7213554042014356, + 0.2609588745515685, + -0.732984718944597, + -0.6767555577296515, + -0.06881363873345628, + 0.22624445887479278, + -0.1471335988529204, + -0.9628941524991417 + ], + [ + 0.6520780815579896, + -0.7230678899810481, + 0.22796272070232557, + -0.7237056833540236, + -0.6832505247372125, + -0.09705052461171472, + 0.22592976659293293, + -0.10169339666211562, + -0.9688210328242178 + ], + [ + 0.6719038911141126, + -0.7117772159647022, + 0.20473972731068157, + -0.7051053107660976, + -0.6993382624481077, + -0.11727103395769281, + 0.22665317521526007, + -0.06556820502041519, + -0.9717659948028854 + ], + [ + 0.6784532387011903, + -0.7075384126615917, + 0.19771342267074538, + -0.6985096465864072, + -0.7046478535720349, + -0.12472239607246446, + 0.22756422504778306, + -0.053486419441195136, + -0.9722930249743451 + ], + [ + 0.6854883105297916, + -0.7033759644256755, + 0.18806389551230393, + -0.6889242940398005, + -0.7101781616358468, + -0.14501826028915, + 0.2355612302752185, + -0.0301534642086098, + -0.9713916179314322 + ], + [ + 0.6900464076867624, + -0.6934618933596953, + 0.20723551263376938, + -0.6831241400517855, + -0.7186274343601994, + -0.1300616002645897, + 0.2391178883252006, + -0.051819041315562815, + -0.969606839105435 + ], + [ + 0.7030468508994647, + -0.6839255579535426, + 0.19486137795438557, + -0.6726596923215324, + -0.7284667970200108, + -0.12986556112113895, + 0.23076842021006178, + -0.03977382075363813, + -0.9721954430136003 + ], + [ + 0.7135992219616752, + -0.6747386805324613, + 0.18842468895822734, + -0.6650045468347143, + -0.7370173876447164, + -0.12072416079026593, + 0.22032953298377372, + -0.03915460768122802, + -0.9746393248748386 + ], + [ + 0.7255967774921886, + -0.6642230421867226, + 0.1797694821741638, + -0.6541445727669049, + -0.746891950097662, + -0.1193620241069814, + 0.21355138588301212, + -0.03098653106637546, + -0.9764402902788873 + ], + [ + 0.7173960925127185, + -0.6757270211301812, + 0.1695164869917206, + -0.6660008680676898, + -0.7366029847819633, + -0.1177237722101443, + 0.2044154841996231, + -0.028443553308856284, + -0.9784708856652811 + ], + [ + 0.7051596619595164, + -0.6926599240545325, + 0.15156543390202665, + -0.682808509417003, + -0.720981938220184, + -0.11814222034479159, + 0.19110832167352354, + -0.020181039840304157, + -0.9813614701108319 + ], + [ + 0.7058999174496268, + -0.6965641822910354, + 0.12846651896051225, + -0.6844082779015231, + -0.7174856023102499, + -0.12961373236416607, + 0.18245716123101868, + 0.003570773966435292, + -0.9832073198917912 + ], + [ + 0.7037145964228481, + -0.6985980987904149, + 0.12940812628210582, + -0.6869273537726902, + -0.7155140426406786, + -0.12716314490779962, + 0.18142926285546387, + 0.0005925794550032809, + -0.9834038191044979 + ], + [ + 0.6950150249789376, + -0.7051112637242456, + 0.1406137291402379, + -0.6918007896138467, + -0.7090923115085418, + -0.13638094166389786, + 0.19587185235042093, + -0.002489885272579151, + -0.9806263396055321 + ], + [ + 0.68263746355313, + -0.7168433388037151, + 0.14192153101799096, + -0.7014460893481652, + -0.6972329993581379, + -0.14778202984199496, + 0.2048889384322988, + 0.0013312470831983308, + -0.9787843228665285 + ], + [ + 0.6720667959913993, + -0.7260337592918101, + 0.14560632573640905, + -0.7074527150998199, + -0.6876257422987453, + -0.1633447104316303, + 0.2187164319929998, + 0.006768965703997307, + -0.9757649837330453 + ], + [ + 0.6677234548513307, + -0.7318309397348588, + 0.1362676171663552, + -0.7079362815049313, + -0.6808743576634668, + -0.18771342627881538, + 0.2301556194629489, + 0.02887186733058414, + -0.9727254525848861 + ], + [ + 0.6612649695693105, + -0.7382744944876791, + 0.13296394552456878, + -0.7109636611789696, + -0.6733365867864834, + -0.20285096346264553, + 0.23928918175190036, + 0.03960570266628312, + -0.9701402351272808 + ], + [ + 0.6599919748022891, + -0.7385951850751842, + 0.13743269545609849, + -0.705334442589028, + -0.6721665152488946, + -0.22515661188555536, + 0.25867724541250153, + 0.051665543275105405, + -0.964581128959036 + ], + [ + 0.6508663761934069, + -0.7422206448618485, + 0.15962917866644574, + -0.7000294044955333, + -0.6681045686520642, + -0.2521807252504998, + 0.2938227240743837, + 0.05239083590763492, + -0.9544230755437588 + ], + [ + 0.6436854999654547, + -0.7460275256068104, + 0.17062212099022345, + -0.6976534716382551, + -0.6636670677212746, + -0.2698622921664593, + 0.3145609808054919, + 0.05467132940787922, + -0.9476615614740644 + ], + [ + 0.6252895410270083, + -0.7618171671244524, + 0.16925600065199375, + -0.7021496931796968, + -0.6438609014133612, + -0.30402129530483885, + 0.340585963084052, + 0.07125828727697929, + -0.9375091776854563 + ], + [ + 0.5840706424693066, + -0.7878602425542893, + 0.19528881895230926, + -0.7322632655328225, + -0.6152373036195595, + -0.29201638684522646, + 0.3502170677689744, + 0.02755537038819092, + -0.9362631611924455 + ], + [ + 0.5257610346710554, + -0.8200118977067388, + 0.226176528492712, + -0.7794321140934799, + -0.570901131382364, + -0.25798735958590197, + 0.340677140327011, + -0.04064954865346125, + -0.9393011765418374 + ], + [ + 0.47581991494807163, + -0.8462488585434707, + 0.23970456389623304, + -0.8136626193309469, + -0.5270063821018842, + -0.2453923697415747, + 0.3339888477813486, + -0.07827606682604947, + -0.9393211947571136 + ], + [ + 0.44385478222030095, + -0.8593622910565927, + 0.2539476028832189, + -0.8365018175360724, + -0.4989725651213064, + -0.2264753596202264, + 0.32133727072815016, + -0.11190545994824141, + -0.9403294776166256 + ], + [ + 0.4121827521718132, + -0.8775174418391904, + 0.24508879631691166, + -0.8546517863278438, + -0.46560783702433284, + -0.22973825590908425, + 0.3157145909499514, + -0.11477143098143094, + -0.9418873688991585 + ], + [ + 0.36498743147676715, + -0.8960197595652984, + 0.2528492937157181, + -0.8755921130279772, + -0.4226623959325023, + -0.23386951632865544, + 0.31642159608218084, + -0.1360334132966674, + -0.93881429686582 + ], + [ + 0.30496546163028476, + -0.9162878597103264, + 0.25963941411137137, + -0.9053455362300994, + -0.36353059733485166, + -0.21953351641514635, + 0.29554276719429406, + -0.16811324441826364, + -0.940421400123532 + ], + [ + 0.25956225283700257, + -0.9274090374286464, + 0.26933234896285857, + -0.926412693770618, + -0.31788046751621063, + -0.2017709820374132, + 0.27273972523790274, + -0.19714077626748464, + -0.9416732748728758 + ], + [ + 0.2319838426240493, + -0.9364687577464578, + 0.26307748388295427, + -0.9392083370185712, + -0.2860225651433495, + -0.18994418102070884, + 0.2531228880132923, + -0.20302058514747748, + -0.9458918783720398 + ], + [ + 0.2514102767461446, + -0.9368211500989969, + 0.24322624339001678, + -0.9389276829342079, + -0.2970683580043869, + -0.173681308413937, + 0.23496314384649072, + -0.18470658732099973, + -0.9542933498846167 + ], + [ + 0.30855679582328643, + -0.9176452120016944, + 0.25043955087332437, + -0.9189635125890506, + -0.35554883212373667, + -0.17056110490214596, + 0.24555807109777653, + -0.1775170213410888, + -0.9529894757304127 + ], + [ + 0.34961658446353894, + -0.9057715160561978, + 0.2394706758025001, + -0.9056885339455437, + -0.3921629544020404, + -0.16104811912666003, + 0.23978432673471567, + -0.1605807519471749, + -0.9574535491377423 + ], + [ + 0.35793722907911385, + -0.9009350466623917, + 0.24535073208490665, + -0.9064991568340784, + -0.3982942621598543, + -0.14007483496203646, + 0.22392011677888718, + -0.17227223347356627, + -0.9592612047173378 + ], + [ + 0.3662389512492944, + -0.8973143919776998, + 0.24636540450620945, + -0.9078197687058227, + -0.40267853699568434, + -0.11710364379438512, + 0.20428484558264218, + -0.1807674688452169, + -0.9620763088615008 + ], + [ + 0.37505357886264007, + -0.8938447320652045, + 0.2457161124989731, + -0.9055037144133753, + -0.41000629042969267, + -0.1093520232627763, + 0.1984888817186133, + -0.18148398487846004, + -0.9631540515757222 + ], + [ + 0.35681737505228, + -0.9034086458146099, + 0.2377691727878393, + -0.9120954414981884, + -0.3919197877309782, + -0.12033613581601223, + 0.2018991492280868, + -0.1739301545227792, + -0.9638386975467714 + ], + [ + 0.3322624425162924, + -0.9270527087038071, + 0.17370936813552132, + -0.9153911930460795, + -0.361336492094905, + -0.17746803423215152, + 0.22728975556936773, + -0.10004606321831583, + -0.9686744304706996 + ], + [ + 0.35805039218766516, + -0.9073961072609263, + 0.22007321777530445, + -0.896480730456871, + -0.3999775717264142, + -0.19063116753394738, + 0.26100233059069394, + -0.12903583472647662, + -0.9566752514739092 + ], + [ + 0.39453695028160934, + -0.8841227201445379, + 0.2503349967278048, + -0.8751509170302734, + -0.4445908962065917, + -0.19091832659881344, + 0.2800918907850751, + -0.14375656762194475, + -0.9491483456141083 + ], + [ + 0.4327009420537271, + -0.8583006526799537, + 0.27584394928107964, + -0.8879774593435747, + -0.4586210565747699, + -0.03409923993246766, + 0.1557752433589733, + -0.23018843601581612, + -0.9605973961452557 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0006713271141052246, + -0.0012534856796264648, + -0.01917591691017151, + -0.04704746603965759, + 0.0003230571746826172, + 0.01443028450012207, + 1.0 + ], + [ + -0.0005975663661956787, + -0.0022312402725219727, + -0.009731955826282501, + -0.037212029099464417, + -0.0007426738739013672, + 0.027909576892852783, + 1.0 + ], + [ + 0.0002231597900390625, + -0.0026823878288269043, + -8.357316255569458e-05, + -0.012415923178195953, + -0.0009354948997497559, + 0.009541928768157959, + 1.0 + ], + [ + -8.386373519897461e-05, + -0.0046235620975494385, + 0.0008942633867263794, + -0.023923659697175026, + -0.008220463991165161, + 0.012064695358276367, + 1.0 + ], + [ + 0.007086515426635742, + 0.0005508661270141602, + 0.010468922555446625, + 0.022361012175679207, + -0.0036612749099731445, + 0.007541000843048096, + 1.0 + ], + [ + 0.011753499507904053, + -0.005299121141433716, + -0.0003814622759819031, + -0.01250401884317398, + 0.008589938282966614, + 0.017043769359588623, + 1.0 + ], + [ + 0.009564101696014404, + -0.0024482011795043945, + -0.002593033015727997, + -0.0007366985082626343, + 0.010715052485466003, + 0.013149797916412354, + 1.0 + ], + [ + 0.0034869909286499023, + 0.00133591890335083, + -0.0025257766246795654, + -0.008428309112787247, + 0.00694352388381958, + 0.016505837440490723, + 1.0 + ], + [ + 0.003825664520263672, + -0.007025480270385742, + -0.0007036179304122925, + -0.0026623252779245377, + 0.009342223405838013, + -0.014606058597564697, + 1.0 + ], + [ + 0.0004311203956604004, + -0.006327211856842041, + -0.00921764224767685, + -0.00849977694451809, + 0.013575389981269836, + -0.021032273769378662, + 1.0 + ], + [ + -0.005194991827011108, + -0.00377008318901062, + -0.014667626470327377, + -0.024193175137043, + 0.008806169033050537, + -0.0006451606750488281, + 1.0 + ], + [ + 0.0013558566570281982, + -0.0013106614351272583, + -3.115832805633545e-05, + 0.0030291650909930468, + 0.0010453462600708008, + -0.0033859610557556152, + 0.0 + ], + [ + 0.0009088516235351562, + -0.0020750612020492554, + -0.0019307956099510193, + 0.0031416509300470352, + -0.014706805348396301, + -0.009753286838531494, + 0.0 + ], + [ + -0.0011208653450012207, + -0.0027464330196380615, + -0.00037451088428497314, + -0.003899172879755497, + -0.009203791618347168, + -0.015906095504760742, + 0.0 + ], + [ + -0.0006150305271148682, + -0.000778689980506897, + 0.0004787929356098175, + -0.0055768731981515884, + -0.014148622751235962, + -0.012056887149810791, + 0.0 + ], + [ + -0.003836989402770996, + -0.00045470893383026123, + 0.000856742262840271, + -0.022735727950930595, + -0.01173873245716095, + -0.0035780668258666992, + 0.0 + ], + [ + -0.002288132905960083, + 0.0014504194259643555, + 0.004540197551250458, + -0.011129358783364296, + -0.009396106004714966, + -0.006978332996368408, + 0.0 + ], + [ + -0.0024639666080474854, + 0.0018758177757263184, + 0.004648387432098389, + -0.012709476053714752, + -0.020018890500068665, + 0.0030038952827453613, + 0.0 + ], + [ + -0.0010891556739807129, + 0.005340829491615295, + 0.01677525043487549, + -0.001326102763414383, + -0.03657105565071106, + -0.0031790733337402344, + 0.0 + ], + [ + -0.0035805702209472656, + 0.005456417798995972, + 0.01252235472202301, + -0.0027892589569091797, + -0.021770477294921875, + -0.0038358569145202637, + 0.0 + ], + [ + -0.004012346267700195, + -0.0031462758779525757, + -0.0002554357051849365, + -0.018235329538583755, + -0.027545928955078125, + -0.01762378215789795, + 0.0 + ], + [ + -0.014012247323989868, + -0.012683629989624023, + 0.017220154404640198, + 0.04643949866294861, + -0.010262787342071533, + -0.05427128076553345, + 0.0 + ], + [ + -0.017352044582366943, + -0.0278608500957489, + 0.011140987277030945, + 0.07267211377620697, + 0.010165810585021973, + -0.07985424995422363, + 0.0 + ], + [ + -0.010686397552490234, + -0.024241238832473755, + 0.005773626267910004, + 0.03989110514521599, + 0.007104754447937012, + -0.06427723169326782, + 0.0 + ], + [ + -0.011283725500106812, + -0.014486581087112427, + 0.004517942667007446, + 0.035309068858623505, + 0.013390958309173584, + -0.04132556915283203, + 0.0 + ], + [ + -0.010810673236846924, + -0.010500714182853699, + -0.0008787959814071655, + 0.002805270254611969, + 0.005931645631790161, + -0.038460731506347656, + 0.0 + ], + [ + -0.013957977294921875, + -0.01152735948562622, + 0.0008068084716796875, + 0.0226428359746933, + -0.0007452070713043213, + -0.0544283390045166, + 0.0 + ], + [ + -0.02466157078742981, + -0.017734557390213013, + -0.0018894672393798828, + 0.03299754858016968, + 0.02193126082420349, + -0.07003223896026611, + 0.0 + ], + [ + -0.02019605040550232, + -0.014957524836063385, + -0.0034695565700531006, + 0.029475852847099304, + 0.02378404140472412, + -0.05173647403717041, + 0.0 + ], + [ + -0.01419810950756073, + -0.01341807097196579, + -0.0038983896374702454, + 0.005055263638496399, + 0.020332664251327515, + -0.031023025512695312, + 0.0 + ], + [ + -0.008778244256973267, + -0.013281166553497314, + -0.007874391973018646, + -0.02023717761039734, + 0.018726259469985962, + 0.01947331428527832, + 0.0 + ], + [ + -0.0018593519926071167, + -0.01185230165719986, + -0.0006182566285133362, + -0.007025972008705139, + -0.010914698243141174, + 0.06231260299682617, + 0.0 + ], + [ + -0.006197258830070496, + -0.004826992750167847, + 0.007826492190361023, + -0.017993226647377014, + 0.0059516578912734985, + 0.04446101188659668, + 0.0 + ], + [ + 0.006920710206031799, + -0.019720282405614853, + -0.006507121026515961, + 0.011524319648742676, + 0.01630881428718567, + 0.007665157318115234, + 1.0 + ], + [ + 0.005230948328971863, + -0.004995301365852356, + -0.002905510365962982, + 0.00803336501121521, + 0.02010178565979004, + 0.007392525672912598, + 1.0 + ], + [ + -0.0013066083192825317, + -0.00013152509927749634, + -0.0036720260977745056, + 0.0005154311656951904, + 0.005917206406593323, + 0.009224653244018555, + 1.0 + ], + [ + -0.0018108934164047241, + -0.0015979111194610596, + -0.001154191792011261, + -0.007708802819252014, + -0.0034807324409484863, + -0.019779205322265625, + 1.0 + ], + [ + 0.0014782100915908813, + 0.004043571650981903, + 0.0014613419771194458, + -0.07561776041984558, + -0.025997072458267212, + -0.02471745014190674, + 1.0 + ], + [ + 0.013379216194152832, + 0.02227049693465233, + 0.011727631092071533, + 0.031153827905654907, + -0.03476668894290924, + 0.031800031661987305, + 1.0 + ], + [ + 0.01770782470703125, + 0.027215704321861267, + 0.015021510422229767, + 0.01624569296836853, + -0.01982945203781128, + 0.04355180263519287, + 1.0 + ], + [ + 0.010897934436798096, + 0.013510800898075104, + 0.0026089102029800415, + 0.0848795473575592, + 0.12747760117053986, + 0.029889583587646484, + 1.0 + ], + [ + 0.004105359315872192, + -0.0011347383260726929, + 0.004699915647506714, + -0.0663941353559494, + 0.06285736709833145, + -0.147621750831604, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 0.9650423526763916 + ], + [ + 0.6821943521499634 + ], + [ + 0.4094836115837097 + ], + [ + 0.1845952719449997 + ], + [ + 0.0936371386051178 + ], + [ + 0.08571679890155792 + ], + [ + 0.0853668823838234 + ], + [ + 0.0853668823838234 + ], + [ + 0.0853668823838234 + ], + [ + 0.0853668823838234 + ], + [ + 0.0853668823838234 + ], + [ + 0.08501782268285751 + ], + [ + 0.08501782268285751 + ], + [ + 0.08501782268285751 + ], + [ + 0.08501782268285751 + ], + [ + 0.08501782268285751 + ], + [ + 0.08501782268285751 + ], + [ + 0.08501782268285751 + ], + [ + 0.08501782268285751 + ], + [ + 0.08501782268285751 + ], + [ + 0.08501782268285751 + ], + [ + 0.08501782268285751 + ], + [ + 0.11493317037820816 + ], + [ + 0.3026532232761383 + ], + [ + 0.5958979725837708 + ], + [ + 0.8922415375709534 + ], + [ + 1.0086473226547241 + ], + [ + 1.0041072368621826 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3585188388824463, + 0.27499258518218994, + 0.08329249918460846 + ], + [ + 0.3579212725162506, + 0.27276134490966797, + 0.07356054335832596 + ], + [ + 0.3581444323062897, + 0.27007895708084106, + 0.07347697019577026 + ], + [ + 0.3580605685710907, + 0.2654553949832916, + 0.07437123358249664 + ], + [ + 0.36514708399772644, + 0.2660062611103058, + 0.08484015613794327 + ], + [ + 0.3769005835056305, + 0.26070713996887207, + 0.08445869386196136 + ], + [ + 0.3864646852016449, + 0.2582589387893677, + 0.08186566084623337 + ], + [ + 0.3899516761302948, + 0.2595948576927185, + 0.0793398842215538 + ], + [ + 0.39377734065055847, + 0.25256937742233276, + 0.07863626629114151 + ], + [ + 0.39420846104621887, + 0.24624216556549072, + 0.06941862404346466 + ], + [ + 0.38901346921920776, + 0.2424720823764801, + 0.05475099757313728 + ], + [ + 0.39036932587623596, + 0.24116142094135284, + 0.05471983924508095 + ], + [ + 0.3912781774997711, + 0.2390863597393036, + 0.05278904363512993 + ], + [ + 0.3901573121547699, + 0.23633992671966553, + 0.052414532750844955 + ], + [ + 0.38954228162765503, + 0.23556123673915863, + 0.05289332568645477 + ], + [ + 0.38570529222488403, + 0.23510652780532837, + 0.053750067949295044 + ], + [ + 0.38341715931892395, + 0.23655694723129272, + 0.0582902655005455 + ], + [ + 0.38095319271087646, + 0.23843276500701904, + 0.06293865293264389 + ], + [ + 0.37986403703689575, + 0.24377359449863434, + 0.07971390336751938 + ], + [ + 0.3762834668159485, + 0.2492300122976303, + 0.09223625808954239 + ], + [ + 0.3722711205482483, + 0.24608373641967773, + 0.09198082238435745 + ], + [ + 0.3582588732242584, + 0.2334001064300537, + 0.10920097678899765 + ], + [ + 0.3409068286418915, + 0.2055392563343048, + 0.1203419640660286 + ], + [ + 0.33022043108940125, + 0.18129801750183105, + 0.1261155903339386 + ], + [ + 0.31893670558929443, + 0.16681143641471863, + 0.13063353300094604 + ], + [ + 0.3081260323524475, + 0.15631072223186493, + 0.12975473701953888 + ], + [ + 0.29416805505752563, + 0.1447833627462387, + 0.13056154549121857 + ], + [ + 0.2695064842700958, + 0.1270488053560257, + 0.12867207825183868 + ], + [ + 0.2493104338645935, + 0.11209128051996231, + 0.12520252168178558 + ], + [ + 0.23511232435703278, + 0.09867320954799652, + 0.12130413204431534 + ], + [ + 0.2263340801000595, + 0.0853920429944992, + 0.11342974007129669 + ], + [ + 0.2244747281074524, + 0.07353974133729935, + 0.11281148344278336 + ], + [ + 0.2182774692773819, + 0.0687127485871315, + 0.12063797563314438 + ], + [ + 0.2251981794834137, + 0.04899246618151665, + 0.11413085460662842 + ], + [ + 0.23042912781238556, + 0.04399716481566429, + 0.11122534424066544 + ], + [ + 0.22912251949310303, + 0.043865639716386795, + 0.10755331814289093 + ], + [ + 0.2273116260766983, + 0.042267728596925735, + 0.10639912635087967 + ], + [ + 0.22878983616828918, + 0.04631130024790764, + 0.10786046832799911 + ], + [ + 0.24216905236244202, + 0.06858179718255997, + 0.11958809942007065 + ], + [ + 0.25987687706947327, + 0.09579750150442123, + 0.13460960984230042 + ], + [ + 0.27077481150627136, + 0.10930830240249634, + 0.13721852004528046 + ], + [ + 0.27488017082214355, + 0.10817356407642365, + 0.14191843569278717 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.6520780815579896, + -0.7230678899810481, + 0.22796272070232557, + -0.7237056833540236, + -0.6832505247372125, + -0.09705052461171472, + 0.22592976659293293, + -0.10169339666211562, + -0.9688210328242178 + ], + [ + 0.6719038911141126, + -0.7117772159647022, + 0.20473972731068157, + -0.7051053107660976, + -0.6993382624481077, + -0.11727103395769281, + 0.22665317521526007, + -0.06556820502041519, + -0.9717659948028854 + ], + [ + 0.6784532387011903, + -0.7075384126615917, + 0.19771342267074538, + -0.6985096465864072, + -0.7046478535720349, + -0.12472239607246446, + 0.22756422504778306, + -0.053486419441195136, + -0.9722930249743451 + ], + [ + 0.6854883105297916, + -0.7033759644256755, + 0.18806389551230393, + -0.6889242940398005, + -0.7101781616358468, + -0.14501826028915, + 0.2355612302752185, + -0.0301534642086098, + -0.9713916179314322 + ], + [ + 0.6900464076867624, + -0.6934618933596953, + 0.20723551263376938, + -0.6831241400517855, + -0.7186274343601994, + -0.1300616002645897, + 0.2391178883252006, + -0.051819041315562815, + -0.969606839105435 + ], + [ + 0.7030468508994647, + -0.6839255579535426, + 0.19486137795438557, + -0.6726596923215324, + -0.7284667970200108, + -0.12986556112113895, + 0.23076842021006178, + -0.03977382075363813, + -0.9721954430136003 + ], + [ + 0.7135992219616752, + -0.6747386805324613, + 0.18842468895822734, + -0.6650045468347143, + -0.7370173876447164, + -0.12072416079026593, + 0.22032953298377372, + -0.03915460768122802, + -0.9746393248748386 + ], + [ + 0.7255967774921886, + -0.6642230421867226, + 0.1797694821741638, + -0.6541445727669049, + -0.746891950097662, + -0.1193620241069814, + 0.21355138588301212, + -0.03098653106637546, + -0.9764402902788873 + ], + [ + 0.7173960925127185, + -0.6757270211301812, + 0.1695164869917206, + -0.6660008680676898, + -0.7366029847819633, + -0.1177237722101443, + 0.2044154841996231, + -0.028443553308856284, + -0.9784708856652811 + ], + [ + 0.7051596619595164, + -0.6926599240545325, + 0.15156543390202665, + -0.682808509417003, + -0.720981938220184, + -0.11814222034479159, + 0.19110832167352354, + -0.020181039840304157, + -0.9813614701108319 + ], + [ + 0.7058999174496268, + -0.6965641822910354, + 0.12846651896051225, + -0.6844082779015231, + -0.7174856023102499, + -0.12961373236416607, + 0.18245716123101868, + 0.003570773966435292, + -0.9832073198917912 + ], + [ + 0.7037145964228481, + -0.6985980987904149, + 0.12940812628210582, + -0.6869273537726902, + -0.7155140426406786, + -0.12716314490779962, + 0.18142926285546387, + 0.0005925794550032809, + -0.9834038191044979 + ], + [ + 0.6950150249789376, + -0.7051112637242456, + 0.1406137291402379, + -0.6918007896138467, + -0.7090923115085418, + -0.13638094166389786, + 0.19587185235042093, + -0.002489885272579151, + -0.9806263396055321 + ], + [ + 0.68263746355313, + -0.7168433388037151, + 0.14192153101799096, + -0.7014460893481652, + -0.6972329993581379, + -0.14778202984199496, + 0.2048889384322988, + 0.0013312470831983308, + -0.9787843228665285 + ], + [ + 0.6720667959913993, + -0.7260337592918101, + 0.14560632573640905, + -0.7074527150998199, + -0.6876257422987453, + -0.1633447104316303, + 0.2187164319929998, + 0.006768965703997307, + -0.9757649837330453 + ], + [ + 0.6677234548513307, + -0.7318309397348588, + 0.1362676171663552, + -0.7079362815049313, + -0.6808743576634668, + -0.18771342627881538, + 0.2301556194629489, + 0.02887186733058414, + -0.9727254525848861 + ], + [ + 0.6612649695693105, + -0.7382744944876791, + 0.13296394552456878, + -0.7109636611789696, + -0.6733365867864834, + -0.20285096346264553, + 0.23928918175190036, + 0.03960570266628312, + -0.9701402351272808 + ], + [ + 0.6599919748022891, + -0.7385951850751842, + 0.13743269545609849, + -0.705334442589028, + -0.6721665152488946, + -0.22515661188555536, + 0.25867724541250153, + 0.051665543275105405, + -0.964581128959036 + ], + [ + 0.6508663761934069, + -0.7422206448618485, + 0.15962917866644574, + -0.7000294044955333, + -0.6681045686520642, + -0.2521807252504998, + 0.2938227240743837, + 0.05239083590763492, + -0.9544230755437588 + ], + [ + 0.6436854999654547, + -0.7460275256068104, + 0.17062212099022345, + -0.6976534716382551, + -0.6636670677212746, + -0.2698622921664593, + 0.3145609808054919, + 0.05467132940787922, + -0.9476615614740644 + ], + [ + 0.6252895410270083, + -0.7618171671244524, + 0.16925600065199375, + -0.7021496931796968, + -0.6438609014133612, + -0.30402129530483885, + 0.340585963084052, + 0.07125828727697929, + -0.9375091776854563 + ], + [ + 0.5840706424693066, + -0.7878602425542893, + 0.19528881895230926, + -0.7322632655328225, + -0.6152373036195595, + -0.29201638684522646, + 0.3502170677689744, + 0.02755537038819092, + -0.9362631611924455 + ], + [ + 0.5257610346710554, + -0.8200118977067388, + 0.226176528492712, + -0.7794321140934799, + -0.570901131382364, + -0.25798735958590197, + 0.340677140327011, + -0.04064954865346125, + -0.9393011765418374 + ], + [ + 0.47581991494807163, + -0.8462488585434707, + 0.23970456389623304, + -0.8136626193309469, + -0.5270063821018842, + -0.2453923697415747, + 0.3339888477813486, + -0.07827606682604947, + -0.9393211947571136 + ], + [ + 0.44385478222030095, + -0.8593622910565927, + 0.2539476028832189, + -0.8365018175360724, + -0.4989725651213064, + -0.2264753596202264, + 0.32133727072815016, + -0.11190545994824141, + -0.9403294776166256 + ], + [ + 0.4121827521718132, + -0.8775174418391904, + 0.24508879631691166, + -0.8546517863278438, + -0.46560783702433284, + -0.22973825590908425, + 0.3157145909499514, + -0.11477143098143094, + -0.9418873688991585 + ], + [ + 0.36498743147676715, + -0.8960197595652984, + 0.2528492937157181, + -0.8755921130279772, + -0.4226623959325023, + -0.23386951632865544, + 0.31642159608218084, + -0.1360334132966674, + -0.93881429686582 + ], + [ + 0.30496546163028476, + -0.9162878597103264, + 0.25963941411137137, + -0.9053455362300994, + -0.36353059733485166, + -0.21953351641514635, + 0.29554276719429406, + -0.16811324441826364, + -0.940421400123532 + ], + [ + 0.25956225283700257, + -0.9274090374286464, + 0.26933234896285857, + -0.926412693770618, + -0.31788046751621063, + -0.2017709820374132, + 0.27273972523790274, + -0.19714077626748464, + -0.9416732748728758 + ], + [ + 0.2319838426240493, + -0.9364687577464578, + 0.26307748388295427, + -0.9392083370185712, + -0.2860225651433495, + -0.18994418102070884, + 0.2531228880132923, + -0.20302058514747748, + -0.9458918783720398 + ], + [ + 0.2514102767461446, + -0.9368211500989969, + 0.24322624339001678, + -0.9389276829342079, + -0.2970683580043869, + -0.173681308413937, + 0.23496314384649072, + -0.18470658732099973, + -0.9542933498846167 + ], + [ + 0.30855679582328643, + -0.9176452120016944, + 0.25043955087332437, + -0.9189635125890506, + -0.35554883212373667, + -0.17056110490214596, + 0.24555807109777653, + -0.1775170213410888, + -0.9529894757304127 + ], + [ + 0.34961658446353894, + -0.9057715160561978, + 0.2394706758025001, + -0.9056885339455437, + -0.3921629544020404, + -0.16104811912666003, + 0.23978432673471567, + -0.1605807519471749, + -0.9574535491377423 + ], + [ + 0.35793722907911385, + -0.9009350466623917, + 0.24535073208490665, + -0.9064991568340784, + -0.3982942621598543, + -0.14007483496203646, + 0.22392011677888718, + -0.17227223347356627, + -0.9592612047173378 + ], + [ + 0.3662389512492944, + -0.8973143919776998, + 0.24636540450620945, + -0.9078197687058227, + -0.40267853699568434, + -0.11710364379438512, + 0.20428484558264218, + -0.1807674688452169, + -0.9620763088615008 + ], + [ + 0.37505357886264007, + -0.8938447320652045, + 0.2457161124989731, + -0.9055037144133753, + -0.41000629042969267, + -0.1093520232627763, + 0.1984888817186133, + -0.18148398487846004, + -0.9631540515757222 + ], + [ + 0.35681737505228, + -0.9034086458146099, + 0.2377691727878393, + -0.9120954414981884, + -0.3919197877309782, + -0.12033613581601223, + 0.2018991492280868, + -0.1739301545227792, + -0.9638386975467714 + ], + [ + 0.3322624425162924, + -0.9270527087038071, + 0.17370936813552132, + -0.9153911930460795, + -0.361336492094905, + -0.17746803423215152, + 0.22728975556936773, + -0.10004606321831583, + -0.9686744304706996 + ], + [ + 0.35805039218766516, + -0.9073961072609263, + 0.22007321777530445, + -0.896480730456871, + -0.3999775717264142, + -0.19063116753394738, + 0.26100233059069394, + -0.12903583472647662, + -0.9566752514739092 + ], + [ + 0.39453695028160934, + -0.8841227201445379, + 0.2503349967278048, + -0.8751509170302734, + -0.4445908962065917, + -0.19091832659881344, + 0.2800918907850751, + -0.14375656762194475, + -0.9491483456141083 + ], + [ + 0.4327009420537271, + -0.8583006526799537, + 0.27584394928107964, + -0.8879774593435747, + -0.4586210565747699, + -0.03409923993246766, + 0.1557752433589733, + -0.23018843601581612, + -0.9605973961452557 + ], + [ + 0.29974418042916673, + -0.9353262564335582, + 0.187931424527229, + -0.9494347896684264, + -0.31174795845668435, + -0.03723963701972692, + 0.09341844821082579, + -0.1672662680401396, + -0.9814759238564164 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006126.json b/json/chunk-0006/episode_0006126.json new file mode 100644 index 0000000000000000000000000000000000000000..6425672a17d051688377ce01d642439d180c1aaf --- /dev/null +++ b/json/chunk-0006/episode_0006126.json @@ -0,0 +1,1522 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 24, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the orange cloth." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006126.mp4", + "start": 0, + "end": 24, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.25565534830093384, + 0.22154578566551208, + 0.1285863220691681, + 0.15010787546634674, + -0.12733763456344604, + -0.12049279361963272, + 0.0, + 1.0001531839370728 + ], + [ + 0.2552650570869446, + 0.21911369264125824, + 0.11991221457719803, + 0.12516047060489655, + -0.11347531527280807, + -0.12123928219079971, + 0.0, + 1.0001531839370728 + ], + [ + 0.24654218554496765, + 0.1931709349155426, + 0.1121826022863388, + 0.0760422945022583, + -0.10207958519458771, + -0.22031059861183167, + 0.0, + 1.0001531839370728 + ], + [ + 0.23383156955242157, + 0.15584027767181396, + 0.11471855640411377, + 0.06591416150331497, + -0.12330841273069382, + -0.39206740260124207, + 0.0, + 0.9994885921478271 + ], + [ + 0.2206847369670868, + 0.11251373589038849, + 0.10849121958017349, + 0.06780354678630829, + -0.11566417664289474, + -0.6150038838386536, + 0.0, + 1.0001531839370728 + ], + [ + 0.21208800375461578, + 0.08870235830545425, + 0.09773581475019455, + 0.05798511579632759, + -0.08961348980665207, + -0.7550163865089417, + 0.0, + 1.0001531839370728 + ], + [ + 0.20618894696235657, + 0.07869069278240204, + 0.08005808293819427, + 0.051983147859573364, + -0.03732190653681755, + -0.8531064391136169, + 0.0, + 1.0001531839370728 + ], + [ + 0.20163123309612274, + 0.08097269386053085, + 0.060509972274303436, + 0.04090246930718422, + 0.010739149525761604, + -0.8870384693145752, + 0.0, + 1.0001531839370728 + ], + [ + 0.19980654120445251, + 0.0913858562707901, + 0.04906100034713745, + 0.04520389065146446, + 0.05116639286279678, + -0.8571467995643616, + 0.0, + 1.0001531839370728 + ], + [ + 0.1994113028049469, + 0.09702454507350922, + 0.039287228137254715, + 0.0996365025639534, + 0.0637538954615593, + -0.820408284664154, + 0.0, + 1.0014774799346924 + ], + [ + 0.20327717065811157, + 0.0958162471652031, + 0.036383237689733505, + 0.10613182932138443, + 0.06242380291223526, + -0.8313224911689758, + 0.0, + 1.0014774799346924 + ], + [ + 0.21373815834522247, + 0.08892542868852615, + 0.0366256907582283, + 0.10357244312763214, + 0.042713433504104614, + -0.8427891731262207, + 0.0, + 1.0014774799346924 + ], + [ + 0.22893954813480377, + 0.07617489248514175, + 0.03788910433650017, + 0.09884391725063324, + 0.019981801509857178, + -0.8579911589622498, + 0.0, + 1.0014774799346924 + ], + [ + 0.2480001598596573, + 0.049078356474637985, + 0.03928703814744949, + 0.06658223271369934, + -0.02271612361073494, + -0.8676471710205078, + 0.0, + 1.0014774799346924 + ], + [ + 0.26125675439834595, + 0.022521646693348885, + 0.03887057304382324, + 0.04597730189561844, + -0.04192813113331795, + -0.9014018774032593, + 0.0, + 1.0014774799346924 + ], + [ + 0.27084487676620483, + 0.002806121949106455, + 0.03872730955481529, + 0.048807933926582336, + -0.04802846908569336, + -0.940521776676178, + 0.0, + 1.0014774799346924 + ], + [ + 0.2728330194950104, + -0.006855084095150232, + 0.038110293447971344, + 0.038233958184719086, + -0.04916549101471901, + -0.9506312012672424, + 0.0, + 1.0014774799346924 + ], + [ + 0.2719288766384125, + -0.012041384354233742, + 0.03807171434164047, + 0.03349202871322632, + -0.047646455466747284, + -0.9617922902107239, + 0.0, + 1.0014774799346924 + ], + [ + 0.2685270607471466, + -0.01089222077280283, + 0.039235636591911316, + 0.04283818602561951, + -0.05304566025733948, + -0.9584165811538696, + 0.0, + 1.0014774799346924 + ], + [ + 0.26442211866378784, + -0.0099754324182868, + 0.045560769736766815, + 0.018348874524235725, + -0.07734020799398422, + -0.9646911025047302, + 0.0, + 1.0008161067962646 + ], + [ + 0.26333969831466675, + -0.006189292296767235, + 0.06698383390903473, + 0.014073503203690052, + -0.12771354615688324, + -0.9405755996704102, + 0.0, + 1.0008161067962646 + ], + [ + 0.26522696018218994, + -0.002497058594599366, + 0.08846746385097504, + 0.00807209126651287, + -0.1805480718612671, + -0.9186854362487793, + 0.0, + 1.0008161067962646 + ], + [ + 0.2637431025505066, + -0.0011867439607158303, + 0.11448569595813751, + 0.01720159687101841, + -0.23630420863628387, + -0.9117760062217712, + 0.0, + 1.0001531839370728 + ], + [ + 0.2612472176551819, + 0.0020622331649065018, + 0.12542948126792908, + 0.012761702761054039, + -0.25679802894592285, + -0.9112066626548767, + 0.0, + 1.0001531839370728 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.25565534830093384, + 0.22154578566551208, + 0.1285863220691681 + ], + [ + 0.2552650570869446, + 0.21911369264125824, + 0.11991221457719803 + ], + [ + 0.24654218554496765, + 0.1931709349155426, + 0.1121826022863388 + ], + [ + 0.23383156955242157, + 0.15584027767181396, + 0.11471855640411377 + ], + [ + 0.2206847369670868, + 0.11251373589038849, + 0.10849121958017349 + ], + [ + 0.21208800375461578, + 0.08870235830545425, + 0.09773581475019455 + ], + [ + 0.20618894696235657, + 0.07869069278240204, + 0.08005808293819427 + ], + [ + 0.20163123309612274, + 0.08097269386053085, + 0.060509972274303436 + ], + [ + 0.19980654120445251, + 0.0913858562707901, + 0.04906100034713745 + ], + [ + 0.1994113028049469, + 0.09702454507350922, + 0.039287228137254715 + ], + [ + 0.20327717065811157, + 0.0958162471652031, + 0.036383237689733505 + ], + [ + 0.21373815834522247, + 0.08892542868852615, + 0.0366256907582283 + ], + [ + 0.22893954813480377, + 0.07617489248514175, + 0.03788910433650017 + ], + [ + 0.2480001598596573, + 0.049078356474637985, + 0.03928703814744949 + ], + [ + 0.26125675439834595, + 0.022521646693348885, + 0.03887057304382324 + ], + [ + 0.27084487676620483, + 0.002806121949106455, + 0.03872730955481529 + ], + [ + 0.2728330194950104, + -0.006855084095150232, + 0.038110293447971344 + ], + [ + 0.2719288766384125, + -0.012041384354233742, + 0.03807171434164047 + ], + [ + 0.2685270607471466, + -0.01089222077280283, + 0.039235636591911316 + ], + [ + 0.26442211866378784, + -0.0099754324182868, + 0.045560769736766815 + ], + [ + 0.26333969831466675, + -0.006189292296767235, + 0.06698383390903473 + ], + [ + 0.26522696018218994, + -0.002497058594599366, + 0.08846746385097504 + ], + [ + 0.2637431025505066, + -0.0011867439607158303, + 0.11448569595813751 + ], + [ + 0.2612472176551819, + 0.0020622331649065018, + 0.12542948126792908 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9847117378799305, + -0.09999620733790382, + 0.1426308234552467, + -0.11922823302762295, + -0.9838687821722127, + 0.13336734201474368, + 0.126993786188922, + -0.14833400818760925, + -0.9807495094489725 + ], + [ + 0.9862753081313737, + -0.10596499893840172, + 0.12661925434288573, + -0.12016465344536045, + -0.9866041290486368, + 0.1103301799442794, + 0.11323194175108138, + -0.12403109103835688, + -0.9857965387559009 + ], + [ + 0.970749843523571, + -0.21034689119666247, + 0.11575373282474026, + -0.2173951313826811, + -0.97470140114902, + 0.051928175870555926, + 0.1019023952126187, + -0.07557356655627684, + -0.9919196226952539 + ], + [ + 0.91710436461843, + -0.3737834106219209, + 0.13858407679697693, + -0.37919853287412564, + -0.9252098167822985, + 0.013973818224678074, + 0.12299616686684407, + -0.06536632828536562, + -0.9902520820793832 + ], + [ + 0.8113138293173198, + -0.5692496518365984, + 0.13313415881124777, + -0.5731066402035982, + -0.8194056932079782, + -0.011094543383846765, + 0.11540645264893233, + -0.06729891397537063, + -0.9910359261221185 + ], + [ + 0.7253380945093425, + -0.6803717997420683, + 0.10478006856885891, + -0.6825507635474709, + -0.7305905869221675, + -0.019022341640480375, + 0.08949359661070971, + -0.05772008676761925, + -0.994313475594703 + ], + [ + 0.657188185770848, + -0.7510343301464962, + 0.06364843615223648, + -0.7528023714109756, + -0.6582183371368575, + 0.006100020885385374, + 0.03731324270595149, + -0.05192355533083438, + -0.9979537395694116 + ], + [ + 0.6316741578261116, + -0.774833347907476, + 0.024920700334552275, + -0.7751596180372697, + -0.6308418158215655, + 0.03414923096153032, + -0.01073894310379413, + -0.04088870726058685, + -0.9991059947370806 + ], + [ + 0.6537404057132924, + -0.7567185526497272, + 0.0007169473631741877, + -0.7549885866837979, + -0.6521812425053141, + 0.06820455191133358, + -0.05114407018434169, + -0.04512935851445808, + -0.99767110065645 + ], + [ + 0.6805372466942862, + -0.7321183557369322, + 0.02952573546604519, + -0.7299383539533717, + -0.6739052242208825, + 0.11420047371024426, + -0.06371071565759115, + -0.09926964269530057, + -0.9930188733098404 + ], + [ + 0.67258668664305, + -0.7391195222204571, + 0.03646204633762128, + -0.7373842123723949, + -0.6652249746031956, + 0.11721884024388039, + -0.06238326934736831, + -0.10572636869192516, + -0.9924365282821631 + ], + [ + 0.6647764108909414, + -0.7454389707420579, + 0.048918957695142005, + -0.7458210210065996, + -0.6585220440750663, + 0.1004973735570701, + -0.042700446691235856, + -0.10329307027200475, + -0.9937339752097396 + ], + [ + 0.6538279864936922, + -0.75412713525045, + 0.061654099268043744, + -0.7563793656774868, + -0.6492748328943121, + 0.07957667087398307, + -0.01998047183945634, + -0.09866334298518731, + -0.994920260873232 + ], + [ + 0.6464562672523544, + -0.7601422347178838, + 0.06540701436584945, + -0.7626128513287785, + -0.6463431134761497, + 0.02573360934940475, + 0.02271416999018882, + -0.06651588276538929, + -0.9975267935356915 + ], + [ + 0.6199658899231026, + -0.7821734301053389, + 0.062024354644798774, + -0.7835083643847063, + -0.621366247447274, + -0.004316187263715153, + 0.041915847493014566, + -0.04592071178173932, + -0.9980653034538376 + ], + [ + 0.5886869545238846, + -0.8055231681087185, + 0.06767640071315167, + -0.8069341415871081, + -0.5905570157279689, + -0.009985104684102974, + 0.04801000639940488, + -0.04873229744808544, + -0.9976573572479484 + ], + [ + 0.5804672714706082, + -0.8120959948380243, + 0.05964764806350125, + -0.8127991438904597, + -0.5822735618597376, + -0.017749671831065475, + 0.04914568589818851, + -0.03817845370381596, + -0.9980616750634114 + ], + [ + 0.5714016289684394, + -0.818845834035024, + 0.054696238405393435, + -0.819287319007588, + -0.5730381724403684, + -0.019888233696356596, + 0.04762842980376594, + -0.033447765391551504, + -0.9983049532406113 + ], + [ + 0.5740078582752327, + -0.8162265255730735, + 0.06549227121721317, + -0.81713143056175, + -0.5761470530613518, + -0.01872961389958509, + 0.05302078673867565, + -0.04276484770963665, + -0.9976772844833058 + ], + [ + 0.5679678819781003, + -0.8209270629571511, + 0.05908673578610067, + -0.8194161908983663, + -0.570739978900043, + -0.05303755819031142, + 0.07726312920742286, + -0.018292998379823375, + -0.9968429039098151 + ], + [ + 0.584523475471215, + -0.8067611184571479, + 0.08642224464120135, + -0.8013176924940748, + -0.5907128406892739, + -0.09459543086629406, + 0.12736664523737465, + -0.013958423642382645, + -0.9917574804811893 + ], + [ + 0.5970011604908632, + -0.7938990103296332, + 0.11538620268555513, + -0.7818853327235643, + -0.6079977838338226, + -0.1378187988807107, + 0.17956876355403276, + -0.007940796609262737, + -0.9837133743651585 + ], + [ + 0.5953255184556585, + -0.7880097124503558, + 0.15693380821036854, + -0.7686218167063863, + -0.6154356531363916, + -0.17452638692059497, + 0.23411114872742697, + -0.01672273699160899, + -0.9720660060453887 + ], + [ + 0.5926980567484573, + -0.7881932213387284, + 0.16571197712380528, + -0.7643302237389975, + -0.6153040703121286, + -0.19287355997238437, + 0.25398488656944984, + -0.012342888357480472, + -0.9671294279988063 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0003902912139892578, + -0.002432093024253845, + -0.008674107491970062, + -0.024947404861450195, + 0.01386231929063797, + -0.0007464885711669922, + 1.0 + ], + [ + -0.008722871541976929, + -0.025942757725715637, + -0.007729612290859222, + -0.049118176102638245, + 0.011395730078220367, + -0.09907131642103195, + 1.0 + ], + [ + -0.012710615992546082, + -0.03733065724372864, + 0.0025359541177749634, + -0.010128132998943329, + -0.02122882753610611, + -0.1717568039894104, + 1.0 + ], + [ + -0.013146832585334778, + -0.043326541781425476, + -0.006227336823940277, + 0.0018893852829933167, + 0.007644236087799072, + -0.2229364812374115, + 1.0 + ], + [ + -0.008596733212471008, + -0.023811377584934235, + -0.010755404829978943, + -0.009818430989980698, + 0.026050686836242676, + -0.14001250267028809, + 1.0 + ], + [ + -0.005899056792259216, + -0.010011665523052216, + -0.017677731812000275, + -0.006001967936754227, + 0.05229158326983452, + -0.09809005260467529, + 1.0 + ], + [ + -0.004557713866233826, + 0.0022820010781288147, + -0.01954811066389084, + -0.011080678552389145, + 0.048061057925224304, + -0.03393203020095825, + 1.0 + ], + [ + -0.001824691891670227, + 0.010413162410259247, + -0.011448971927165985, + 0.004301421344280243, + 0.04042724519968033, + 0.029891669750213623, + 1.0 + ], + [ + -0.00039523839950561523, + 0.005638688802719116, + -0.009773772209882736, + 0.05443261191248894, + 0.012587502598762512, + 0.03673851490020752, + 1.0 + ], + [ + 0.003865867853164673, + -0.0012082979083061218, + -0.0029039904475212097, + 0.00649532675743103, + -0.0013300925493240356, + -0.010914206504821777, + 1.0 + ], + [ + 0.010460987687110901, + -0.006890818476676941, + 0.00024245306849479675, + -0.002559386193752289, + -0.019710369408130646, + -0.011466681957244873, + 1.0 + ], + [ + 0.015201389789581299, + -0.0127505362033844, + 0.0012634135782718658, + -0.004728525876998901, + -0.022731631994247437, + -0.015201985836029053, + 1.0 + ], + [ + 0.019060611724853516, + -0.02709653601050377, + 0.0013979338109493256, + -0.0322616845369339, + -0.04269792512059212, + -0.009656012058258057, + 1.0 + ], + [ + 0.01325659453868866, + -0.0265567097812891, + -0.0004164651036262512, + -0.020604930818080902, + -0.019212007522583008, + -0.033754706382751465, + 1.0 + ], + [ + 0.009588122367858887, + -0.019715525209903717, + -0.00014326348900794983, + 0.0028306320309638977, + -0.006100337952375412, + -0.0391198992729187, + 1.0 + ], + [ + 0.001988142728805542, + -0.009661206044256687, + -0.0006170161068439484, + -0.01057397574186325, + -0.00113702192902565, + -0.010109424591064453, + 1.0 + ], + [ + -0.0009041428565979004, + -0.0051863002590835094, + -3.857910633087158e-05, + -0.004741929471492767, + 0.0015190355479717255, + -0.011161088943481445, + 1.0 + ], + [ + -0.003401815891265869, + 0.001149163581430912, + 0.0011639222502708435, + 0.009346157312393188, + -0.005399204790592194, + 0.003375709056854248, + 1.0 + ], + [ + -0.004104942083358765, + 0.0009167883545160294, + 0.006325133144855499, + -0.02448931150138378, + -0.024294547736644745, + -0.006274521350860596, + 1.0 + ], + [ + -0.0010824203491210938, + 0.0037861401215195656, + 0.021423064172267914, + -0.004275371320545673, + -0.05037333816289902, + 0.02411550283432007, + 1.0 + ], + [ + 0.0018872618675231934, + 0.0036922337021678686, + 0.021483629941940308, + -0.006001411937177181, + -0.05283452570438385, + 0.02189016342163086, + 1.0 + ], + [ + -0.0014838576316833496, + 0.0013103146338835359, + 0.026018232107162476, + 0.009129505604505539, + -0.055756136775016785, + 0.006909430027008057, + 1.0 + ], + [ + -0.002495884895324707, + 0.0032489770092070103, + 0.010943785309791565, + -0.004439894109964371, + -0.020493820309638977, + 0.0005693435668945312, + 1.0 + ], + [ + -0.004397273063659668, + 0.003074360080063343, + 0.0034379810094833374, + 0.01257302239537239, + 0.014501944184303284, + -0.016041219234466553, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2552650570869446, + 0.21911369264125824, + 0.11991221457719803 + ], + [ + 0.24654218554496765, + 0.1931709349155426, + 0.1121826022863388 + ], + [ + 0.23383156955242157, + 0.15584027767181396, + 0.11471855640411377 + ], + [ + 0.2206847369670868, + 0.11251373589038849, + 0.10849121958017349 + ], + [ + 0.21208800375461578, + 0.08870235830545425, + 0.09773581475019455 + ], + [ + 0.20618894696235657, + 0.07869069278240204, + 0.08005808293819427 + ], + [ + 0.20163123309612274, + 0.08097269386053085, + 0.060509972274303436 + ], + [ + 0.19980654120445251, + 0.0913858562707901, + 0.04906100034713745 + ], + [ + 0.1994113028049469, + 0.09702454507350922, + 0.039287228137254715 + ], + [ + 0.20327717065811157, + 0.0958162471652031, + 0.036383237689733505 + ], + [ + 0.21373815834522247, + 0.08892542868852615, + 0.0366256907582283 + ], + [ + 0.22893954813480377, + 0.07617489248514175, + 0.03788910433650017 + ], + [ + 0.2480001598596573, + 0.049078356474637985, + 0.03928703814744949 + ], + [ + 0.26125675439834595, + 0.022521646693348885, + 0.03887057304382324 + ], + [ + 0.27084487676620483, + 0.002806121949106455, + 0.03872730955481529 + ], + [ + 0.2728330194950104, + -0.006855084095150232, + 0.038110293447971344 + ], + [ + 0.2719288766384125, + -0.012041384354233742, + 0.03807171434164047 + ], + [ + 0.2685270607471466, + -0.01089222077280283, + 0.039235636591911316 + ], + [ + 0.26442211866378784, + -0.0099754324182868, + 0.045560769736766815 + ], + [ + 0.26333969831466675, + -0.006189292296767235, + 0.06698383390903473 + ], + [ + 0.26522696018218994, + -0.002497058594599366, + 0.08846746385097504 + ], + [ + 0.2637431025505066, + -0.0011867439607158303, + 0.11448569595813751 + ], + [ + 0.2612472176551819, + 0.0020622331649065018, + 0.12542948126792908 + ], + [ + 0.2568499445915222, + 0.005136593244969845, + 0.12886746227741241 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9862753081313737, + -0.10596499893840172, + 0.12661925434288573, + -0.12016465344536045, + -0.9866041290486368, + 0.1103301799442794, + 0.11323194175108138, + -0.12403109103835688, + -0.9857965387559009 + ], + [ + 0.970749843523571, + -0.21034689119666247, + 0.11575373282474026, + -0.2173951313826811, + -0.97470140114902, + 0.051928175870555926, + 0.1019023952126187, + -0.07557356655627684, + -0.9919196226952539 + ], + [ + 0.91710436461843, + -0.3737834106219209, + 0.13858407679697693, + -0.37919853287412564, + -0.9252098167822985, + 0.013973818224678074, + 0.12299616686684407, + -0.06536632828536562, + -0.9902520820793832 + ], + [ + 0.8113138293173198, + -0.5692496518365984, + 0.13313415881124777, + -0.5731066402035982, + -0.8194056932079782, + -0.011094543383846765, + 0.11540645264893233, + -0.06729891397537063, + -0.9910359261221185 + ], + [ + 0.7253380945093425, + -0.6803717997420683, + 0.10478006856885891, + -0.6825507635474709, + -0.7305905869221675, + -0.019022341640480375, + 0.08949359661070971, + -0.05772008676761925, + -0.994313475594703 + ], + [ + 0.657188185770848, + -0.7510343301464962, + 0.06364843615223648, + -0.7528023714109756, + -0.6582183371368575, + 0.006100020885385374, + 0.03731324270595149, + -0.05192355533083438, + -0.9979537395694116 + ], + [ + 0.6316741578261116, + -0.774833347907476, + 0.024920700334552275, + -0.7751596180372697, + -0.6308418158215655, + 0.03414923096153032, + -0.01073894310379413, + -0.04088870726058685, + -0.9991059947370806 + ], + [ + 0.6537404057132924, + -0.7567185526497272, + 0.0007169473631741877, + -0.7549885866837979, + -0.6521812425053141, + 0.06820455191133358, + -0.05114407018434169, + -0.04512935851445808, + -0.99767110065645 + ], + [ + 0.6805372466942862, + -0.7321183557369322, + 0.02952573546604519, + -0.7299383539533717, + -0.6739052242208825, + 0.11420047371024426, + -0.06371071565759115, + -0.09926964269530057, + -0.9930188733098404 + ], + [ + 0.67258668664305, + -0.7391195222204571, + 0.03646204633762128, + -0.7373842123723949, + -0.6652249746031956, + 0.11721884024388039, + -0.06238326934736831, + -0.10572636869192516, + -0.9924365282821631 + ], + [ + 0.6647764108909414, + -0.7454389707420579, + 0.048918957695142005, + -0.7458210210065996, + -0.6585220440750663, + 0.1004973735570701, + -0.042700446691235856, + -0.10329307027200475, + -0.9937339752097396 + ], + [ + 0.6538279864936922, + -0.75412713525045, + 0.061654099268043744, + -0.7563793656774868, + -0.6492748328943121, + 0.07957667087398307, + -0.01998047183945634, + -0.09866334298518731, + -0.994920260873232 + ], + [ + 0.6464562672523544, + -0.7601422347178838, + 0.06540701436584945, + -0.7626128513287785, + -0.6463431134761497, + 0.02573360934940475, + 0.02271416999018882, + -0.06651588276538929, + -0.9975267935356915 + ], + [ + 0.6199658899231026, + -0.7821734301053389, + 0.062024354644798774, + -0.7835083643847063, + -0.621366247447274, + -0.004316187263715153, + 0.041915847493014566, + -0.04592071178173932, + -0.9980653034538376 + ], + [ + 0.5886869545238846, + -0.8055231681087185, + 0.06767640071315167, + -0.8069341415871081, + -0.5905570157279689, + -0.009985104684102974, + 0.04801000639940488, + -0.04873229744808544, + -0.9976573572479484 + ], + [ + 0.5804672714706082, + -0.8120959948380243, + 0.05964764806350125, + -0.8127991438904597, + -0.5822735618597376, + -0.017749671831065475, + 0.04914568589818851, + -0.03817845370381596, + -0.9980616750634114 + ], + [ + 0.5714016289684394, + -0.818845834035024, + 0.054696238405393435, + -0.819287319007588, + -0.5730381724403684, + -0.019888233696356596, + 0.04762842980376594, + -0.033447765391551504, + -0.9983049532406113 + ], + [ + 0.5740078582752327, + -0.8162265255730735, + 0.06549227121721317, + -0.81713143056175, + -0.5761470530613518, + -0.01872961389958509, + 0.05302078673867565, + -0.04276484770963665, + -0.9976772844833058 + ], + [ + 0.5679678819781003, + -0.8209270629571511, + 0.05908673578610067, + -0.8194161908983663, + -0.570739978900043, + -0.05303755819031142, + 0.07726312920742286, + -0.018292998379823375, + -0.9968429039098151 + ], + [ + 0.584523475471215, + -0.8067611184571479, + 0.08642224464120135, + -0.8013176924940748, + -0.5907128406892739, + -0.09459543086629406, + 0.12736664523737465, + -0.013958423642382645, + -0.9917574804811893 + ], + [ + 0.5970011604908632, + -0.7938990103296332, + 0.11538620268555513, + -0.7818853327235643, + -0.6079977838338226, + -0.1378187988807107, + 0.17956876355403276, + -0.007940796609262737, + -0.9837133743651585 + ], + [ + 0.5953255184556585, + -0.7880097124503558, + 0.15693380821036854, + -0.7686218167063863, + -0.6154356531363916, + -0.17452638692059497, + 0.23411114872742697, + -0.01672273699160899, + -0.9720660060453887 + ], + [ + 0.5926980567484573, + -0.7881932213387284, + 0.16571197712380528, + -0.7643302237389975, + -0.6153040703121286, + -0.19287355997238437, + 0.25398488656944984, + -0.012342888357480472, + -0.9671294279988063 + ], + [ + 0.5825105397758862, + -0.7960678700407117, + 0.16418714121041744, + -0.7766041306897239, + -0.6047075135928425, + -0.1766772401867875, + 0.23993227220543567, + -0.024592057522827712, + -0.970478096332488 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006127.json b/json/chunk-0006/episode_0006127.json new file mode 100644 index 0000000000000000000000000000000000000000..e0d7c51c7eb95964528d7dabfee823239abdf6b3 --- /dev/null +++ b/json/chunk-0006/episode_0006127.json @@ -0,0 +1,4342 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 71, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nSweep into pile." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006127.mp4", + "start": 0, + "end": 71, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3458012044429779, + 0.003219910431653261, + 0.033187419176101685, + 0.06773681938648224, + -0.18163076043128967, + 0.23102539777755737, + 0.0, + 1.0008161067962646 + ], + [ + 0.3431682586669922, + 0.0031623318791389465, + 0.0238522756844759, + 0.07411453127861023, + -0.15471656620502472, + 0.23087920248508453, + 0.0, + 1.0008161067962646 + ], + [ + 0.3414575755596161, + 0.002920938888564706, + 0.02278227172791958, + 0.07517383992671967, + -0.14741399884223938, + 0.22220627963542938, + 0.0, + 1.0008161067962646 + ], + [ + 0.33763670921325684, + 0.0030317429918795824, + 0.019872020930051804, + 0.07710016518831253, + -0.13729244470596313, + 0.2261003702878952, + 0.0, + 0.9553104043006897 + ], + [ + 0.33286717534065247, + 0.003582367207854986, + 0.015880217775702477, + 0.07919146865606308, + -0.12962427735328674, + 0.24754710495471954, + 0.0, + 0.6671556830406189 + ], + [ + 0.3278619647026062, + 0.005287496373057365, + 0.013392514549195766, + 0.09105649590492249, + -0.12439001351594925, + 0.2763647735118866, + 0.0, + 0.3953573703765869 + ], + [ + 0.3259282410144806, + -0.006981932558119297, + 0.02149869129061699, + 0.06224413961172104, + -0.1438704878091812, + 0.32862725853919983, + 0.0, + 0.3840504586696625 + ], + [ + 0.3376883268356323, + -0.013817914761602879, + 0.03918016701936722, + -0.0027494430541992188, + -0.16424857079982758, + 0.4899234175682068, + 0.0, + 0.3840504586696625 + ], + [ + 0.35747048258781433, + -0.016549991443753242, + 0.05971216410398483, + -0.07177896797657013, + -0.19120043516159058, + 0.6811069250106812, + 0.0, + 0.3840504586696625 + ], + [ + 0.3688758909702301, + -0.01407738495618105, + 0.07358688861131668, + -0.12414385378360748, + -0.1937474012374878, + 0.8879889249801636, + 0.0, + 0.3840504586696625 + ], + [ + 0.37763264775276184, + 0.0003451988741289824, + 0.07633907347917557, + -0.15960416197776794, + -0.17383262515068054, + 1.107998251914978, + 0.0, + 0.3840504586696625 + ], + [ + 0.385625958442688, + 0.01356634870171547, + 0.08056005090475082, + -0.1836087852716446, + -0.1622570902109146, + 1.32368803024292, + 0.0, + 0.3840504586696625 + ], + [ + 0.38866105675697327, + 0.026440640911459923, + 0.08315642923116684, + -0.20237290859222412, + -0.14725220203399658, + 1.4829363822937012, + 0.0, + 0.3840504586696625 + ], + [ + 0.3893740773200989, + 0.04539208114147186, + 0.08663478493690491, + -0.22422707080841064, + -0.11755609512329102, + 1.6638410091400146, + 0.0, + 0.3840504586696625 + ], + [ + 0.3947407007217407, + 0.05515452101826668, + 0.08479123562574387, + -0.21494950354099274, + -0.09581773728132248, + 1.778954029083252, + 0.0, + 0.3840504586696625 + ], + [ + 0.39917638897895813, + 0.07707954943180084, + 0.08736690133810043, + -0.23478959500789642, + -0.07118859142065048, + 1.9061412811279297, + 0.0, + 0.3840504586696625 + ], + [ + 0.4012738764286041, + 0.0916656032204628, + 0.08103013783693314, + -0.22828340530395508, + -0.05663244053721428, + 1.9840830564498901, + 0.0, + 0.3840504586696625 + ], + [ + 0.40034645795822144, + 0.11028333008289337, + 0.08418387919664383, + -0.23971763253211975, + -0.047488365322351456, + 2.041368007659912, + 0.0, + 0.3840504586696625 + ], + [ + 0.39686888456344604, + 0.1257428675889969, + 0.08408559858798981, + -0.24779395759105682, + -0.040817741304636, + 2.09688401222229, + 0.0, + 0.3840504586696625 + ], + [ + 0.3932599723339081, + 0.13871678709983826, + 0.08451878279447556, + -0.2568306028842926, + -0.0515194796025753, + 2.14159893989563, + 0.0, + 0.3840504586696625 + ], + [ + 0.3903467059135437, + 0.15002673864364624, + 0.07308793067932129, + -0.2466040551662445, + -0.06290289759635925, + 2.1876320838928223, + 0.0, + 0.3840504586696625 + ], + [ + 0.3941088318824768, + 0.15719720721244812, + 0.06710612773895264, + -0.24702176451683044, + -0.0513501912355423, + 2.1921114921569824, + 0.0, + 0.3840504586696625 + ], + [ + 0.3997444808483124, + 0.16720031201839447, + 0.06202247366309166, + -0.23403091728687286, + -0.03698766976594925, + 2.1171061992645264, + 0.0, + 0.3840504586696625 + ], + [ + 0.4097228944301605, + 0.17244285345077515, + 0.049260690808296204, + -0.20283225178718567, + -0.0443992018699646, + 2.005300283432007, + 0.0, + 0.3840504586696625 + ], + [ + 0.4191056787967682, + 0.1756109595298767, + 0.047897133976221085, + -0.19794678688049316, + -0.05314980447292328, + 1.9664415121078491, + 0.0, + 0.3840504586696625 + ], + [ + 0.424113392829895, + 0.17903827130794525, + 0.03509359061717987, + -0.17016486823558807, + -0.06829363852739334, + 1.9544763565063477, + 0.0, + 0.3840504586696625 + ], + [ + 0.42803290486335754, + 0.18320541083812714, + 0.03612874820828438, + -0.17594140768051147, + -0.08250764012336731, + 1.9627575874328613, + 0.0, + 0.3840504586696625 + ], + [ + 0.42943719029426575, + 0.18092553317546844, + 0.033969052135944366, + -0.17316719889640808, + -0.09576914459466934, + 1.9632562398910522, + 0.0, + 0.3840504586696625 + ], + [ + 0.4296335279941559, + 0.17569074034690857, + 0.03018597885966301, + -0.17167016863822937, + -0.11158841103315353, + 1.9620087146759033, + 0.0, + 0.3840504586696625 + ], + [ + 0.42544957995414734, + 0.17231573164463043, + 0.022018253803253174, + -0.15853627026081085, + -0.11708469688892365, + 1.966880202293396, + 0.0, + 0.3840504586696625 + ], + [ + 0.4217100441455841, + 0.17116521298885345, + 0.017811613157391548, + -0.155857652425766, + -0.11824850738048553, + 1.967077612876892, + 0.0, + 0.3840504586696625 + ], + [ + 0.41735100746154785, + 0.1675209403038025, + 0.017443837597966194, + -0.16392408311367035, + -0.11338035762310028, + 1.9687856435775757, + 0.0, + 0.3840504586696625 + ], + [ + 0.41185086965560913, + 0.16118937730789185, + 0.02023632824420929, + -0.1843482255935669, + -0.09319564700126648, + 1.9733175039291382, + 0.0, + 0.3840504586696625 + ], + [ + 0.40709203481674194, + 0.15394003689289093, + 0.019139686599373817, + -0.18997478485107422, + -0.07856975495815277, + 1.9753936529159546, + 0.0, + 0.3840504586696625 + ], + [ + 0.4048999547958374, + 0.14486286044120789, + 0.0195037592202425, + -0.19165028631687164, + -0.08625879138708115, + 1.9587666988372803, + 0.0, + 0.3840504586696625 + ], + [ + 0.4000272750854492, + 0.1429063379764557, + 0.020750747993588448, + -0.19664525985717773, + -0.0897807851433754, + 1.9663182497024536, + 0.0, + 0.3840504586696625 + ], + [ + 0.3954222500324249, + 0.13926048576831818, + 0.01942497491836548, + -0.20882582664489746, + -0.08816502243280411, + 1.9596883058547974, + 0.0, + 0.3840504586696625 + ], + [ + 0.38901302218437195, + 0.1312415897846222, + 0.022797558456659317, + -0.21490274369716644, + -0.09155856817960739, + 1.9602067470550537, + 0.0, + 0.3840504586696625 + ], + [ + 0.3895467221736908, + 0.1288325935602188, + 0.022168446332216263, + -0.2205379605293274, + -0.09078262746334076, + 1.9395314455032349, + 0.0, + 0.3840504586696625 + ], + [ + 0.396439790725708, + 0.1320265382528305, + 0.03154737874865532, + -0.23623470962047577, + -0.1043476089835167, + 1.926209807395935, + 0.0, + 0.3840504586696625 + ], + [ + 0.4059301018714905, + 0.13502830266952515, + 0.04268435388803482, + -0.26655739545822144, + -0.111158087849617, + 1.9167276620864868, + 0.0, + 0.3840504586696625 + ], + [ + 0.41388702392578125, + 0.1373567134141922, + 0.05267339199781418, + -0.29197317361831665, + -0.10369955003261566, + 1.9134351015090942, + 0.0, + 0.3840504586696625 + ], + [ + 0.41323980689048767, + 0.1451192945241928, + 0.05236515775322914, + -0.28755658864974976, + -0.1037612184882164, + 1.9228436946868896, + 0.0, + 0.3840504586696625 + ], + [ + 0.4062610864639282, + 0.15976190567016602, + 0.0468430295586586, + -0.273385614156723, + -0.10535266995429993, + 1.955248236656189, + 0.0, + 0.3840504586696625 + ], + [ + 0.4022468626499176, + 0.16493727266788483, + 0.03679386153817177, + -0.24833828210830688, + -0.10919519513845444, + 1.9615027904510498, + 0.0, + 0.3840504586696625 + ], + [ + 0.4006109833717346, + 0.1656937599182129, + 0.03210505098104477, + -0.23502102494239807, + -0.1133955791592598, + 1.9628996849060059, + 0.0, + 0.3840504586696625 + ], + [ + 0.4007572829723358, + 0.17013628780841827, + 0.02286929078400135, + -0.218144491314888, + -0.12011276930570602, + 1.9647648334503174, + 0.0, + 0.3840504586696625 + ], + [ + 0.404755562543869, + 0.17363527417182922, + 0.022120099514722824, + -0.21520738303661346, + -0.12897127866744995, + 1.9619659185409546, + 0.0, + 0.3840504586696625 + ], + [ + 0.40797898173332214, + 0.17416806519031525, + 0.02066008746623993, + -0.21661122143268585, + -0.12947914004325867, + 1.9595922231674194, + 0.0, + 0.3840504586696625 + ], + [ + 0.4044475555419922, + 0.1737450808286667, + 0.018313171342015266, + -0.2116064876317978, + -0.13191746175289154, + 1.9738576412200928, + 0.0, + 0.3840504586696625 + ], + [ + 0.3999605178833008, + 0.17093037068843842, + 0.018265530467033386, + -0.21829038858413696, + -0.12553934752941132, + 1.9888969659805298, + 0.0, + 0.3840504586696625 + ], + [ + 0.39136025309562683, + 0.1613912135362625, + 0.01670103706419468, + -0.20947708189487457, + -0.10856401920318604, + 2.0175395011901855, + 0.0, + 0.3840504586696625 + ], + [ + 0.3868473470211029, + 0.15196911990642548, + 0.016251638531684875, + -0.2042517513036728, + -0.11040327697992325, + 2.001659870147705, + 0.0, + 0.3840504586696625 + ], + [ + 0.3817577660083771, + 0.1419922411441803, + 0.015994034707546234, + -0.20918554067611694, + -0.10416670143604279, + 2.001297950744629, + 0.0, + 0.3840504586696625 + ], + [ + 0.3740549683570862, + 0.12958571314811707, + 0.01705116778612137, + -0.20725587010383606, + -0.10764285176992416, + 1.9855444431304932, + 0.0, + 0.3840504586696625 + ], + [ + 0.3680199980735779, + 0.12217120826244354, + 0.015325631946325302, + -0.20260488986968994, + -0.11079675704240799, + 1.973178744316101, + 0.0, + 0.3840504586696625 + ], + [ + 0.36244720220565796, + 0.11327394098043442, + 0.01589941419661045, + -0.2102086842060089, + -0.10944510251283646, + 1.9701440334320068, + 0.0, + 0.3840504586696625 + ], + [ + 0.3557138741016388, + 0.10426648706197739, + 0.015617238357663155, + -0.20744773745536804, + -0.11002326756715775, + 1.9586254358291626, + 0.0, + 0.3840504586696625 + ], + [ + 0.3540255129337311, + 0.10215206444263458, + 0.015278294682502747, + -0.2072179764509201, + -0.11078847199678421, + 1.9505589008331299, + 0.0, + 0.3840504586696625 + ], + [ + 0.3570898175239563, + 0.10370217263698578, + 0.01983504742383957, + -0.20367643237113953, + -0.12740367650985718, + 1.9309459924697876, + 0.0, + 0.3840504586696625 + ], + [ + 0.3721507787704468, + 0.10754898190498352, + 0.034212034195661545, + -0.2439449429512024, + -0.13024233281612396, + 1.913028597831726, + 0.0, + 0.3840504586696625 + ], + [ + 0.3824051320552826, + 0.11058082431554794, + 0.04491201043128967, + -0.2753389775753021, + -0.12870854139328003, + 1.9128961563110352, + 0.0, + 0.3840504586696625 + ], + [ + 0.3886900246143341, + 0.11317802220582962, + 0.05222855880856514, + -0.29420581459999084, + -0.1185436025261879, + 1.9181761741638184, + 0.0, + 0.3840504586696625 + ], + [ + 0.38744595646858215, + 0.12432408332824707, + 0.05355352535843849, + -0.2906912565231323, + -0.10524755716323853, + 1.9399369955062866, + 0.0, + 0.3840504586696625 + ], + [ + 0.39026594161987305, + 0.13086539506912231, + 0.038430631160736084, + -0.24361713230609894, + -0.09254150092601776, + 1.9420511722564697, + 0.0, + 0.3840504586696625 + ], + [ + 0.39652541279792786, + 0.13782067596912384, + 0.02778697945177555, + -0.21302784979343414, + -0.06840939074754715, + 1.9447118043899536, + 0.0, + 0.3840504586696625 + ], + [ + 0.4043295085430145, + 0.14185874164104462, + 0.01851453073322773, + -0.1828196793794632, + -0.05689287558197975, + 1.9408005475997925, + 0.0, + 0.3840504586696625 + ], + [ + 0.4126424789428711, + 0.1429646611213684, + 0.015869420021772385, + -0.1608801633119583, + -0.046294767409563065, + 1.9279004335403442, + 0.0, + 0.3840504586696625 + ], + [ + 0.41510453820228577, + 0.14336082339286804, + 0.014811215922236443, + -0.13034357130527496, + -0.05298144370317459, + 1.8974659442901611, + 0.0, + 0.457809716463089 + ], + [ + 0.41620540618896484, + 0.14131896197795868, + 0.015009650960564613, + -0.11293640732765198, + -0.07052991539239883, + 1.8697539567947388, + 0.0, + 0.7730204463005066 + ], + [ + 0.41410088539123535, + 0.13385015726089478, + 0.01766146346926689, + -0.08466490358114243, + -0.10682343691587448, + 1.8238706588745117, + 0.0, + 1.0027955770492554 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9553104043006897 + ], + [ + 0.6671556830406189 + ], + [ + 0.3953573703765869 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.457809716463089 + ], + [ + 0.7730204463005066 + ], + [ + 1.0027955770492554 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3458012044429779, + 0.003219910431653261, + 0.033187419176101685 + ], + [ + 0.3431682586669922, + 0.0031623318791389465, + 0.0238522756844759 + ], + [ + 0.3414575755596161, + 0.002920938888564706, + 0.02278227172791958 + ], + [ + 0.33763670921325684, + 0.0030317429918795824, + 0.019872020930051804 + ], + [ + 0.33286717534065247, + 0.003582367207854986, + 0.015880217775702477 + ], + [ + 0.3278619647026062, + 0.005287496373057365, + 0.013392514549195766 + ], + [ + 0.3259282410144806, + -0.006981932558119297, + 0.02149869129061699 + ], + [ + 0.3376883268356323, + -0.013817914761602879, + 0.03918016701936722 + ], + [ + 0.35747048258781433, + -0.016549991443753242, + 0.05971216410398483 + ], + [ + 0.3688758909702301, + -0.01407738495618105, + 0.07358688861131668 + ], + [ + 0.37763264775276184, + 0.0003451988741289824, + 0.07633907347917557 + ], + [ + 0.385625958442688, + 0.01356634870171547, + 0.08056005090475082 + ], + [ + 0.38866105675697327, + 0.026440640911459923, + 0.08315642923116684 + ], + [ + 0.3893740773200989, + 0.04539208114147186, + 0.08663478493690491 + ], + [ + 0.3947407007217407, + 0.05515452101826668, + 0.08479123562574387 + ], + [ + 0.39917638897895813, + 0.07707954943180084, + 0.08736690133810043 + ], + [ + 0.4012738764286041, + 0.0916656032204628, + 0.08103013783693314 + ], + [ + 0.40034645795822144, + 0.11028333008289337, + 0.08418387919664383 + ], + [ + 0.39686888456344604, + 0.1257428675889969, + 0.08408559858798981 + ], + [ + 0.3932599723339081, + 0.13871678709983826, + 0.08451878279447556 + ], + [ + 0.3903467059135437, + 0.15002673864364624, + 0.07308793067932129 + ], + [ + 0.3941088318824768, + 0.15719720721244812, + 0.06710612773895264 + ], + [ + 0.3997444808483124, + 0.16720031201839447, + 0.06202247366309166 + ], + [ + 0.4097228944301605, + 0.17244285345077515, + 0.049260690808296204 + ], + [ + 0.4191056787967682, + 0.1756109595298767, + 0.047897133976221085 + ], + [ + 0.424113392829895, + 0.17903827130794525, + 0.03509359061717987 + ], + [ + 0.42803290486335754, + 0.18320541083812714, + 0.03612874820828438 + ], + [ + 0.42943719029426575, + 0.18092553317546844, + 0.033969052135944366 + ], + [ + 0.4296335279941559, + 0.17569074034690857, + 0.03018597885966301 + ], + [ + 0.42544957995414734, + 0.17231573164463043, + 0.022018253803253174 + ], + [ + 0.4217100441455841, + 0.17116521298885345, + 0.017811613157391548 + ], + [ + 0.41735100746154785, + 0.1675209403038025, + 0.017443837597966194 + ], + [ + 0.41185086965560913, + 0.16118937730789185, + 0.02023632824420929 + ], + [ + 0.40709203481674194, + 0.15394003689289093, + 0.019139686599373817 + ], + [ + 0.4048999547958374, + 0.14486286044120789, + 0.0195037592202425 + ], + [ + 0.4000272750854492, + 0.1429063379764557, + 0.020750747993588448 + ], + [ + 0.3954222500324249, + 0.13926048576831818, + 0.01942497491836548 + ], + [ + 0.38901302218437195, + 0.1312415897846222, + 0.022797558456659317 + ], + [ + 0.3895467221736908, + 0.1288325935602188, + 0.022168446332216263 + ], + [ + 0.396439790725708, + 0.1320265382528305, + 0.03154737874865532 + ], + [ + 0.4059301018714905, + 0.13502830266952515, + 0.04268435388803482 + ], + [ + 0.41388702392578125, + 0.1373567134141922, + 0.05267339199781418 + ], + [ + 0.41323980689048767, + 0.1451192945241928, + 0.05236515775322914 + ], + [ + 0.4062610864639282, + 0.15976190567016602, + 0.0468430295586586 + ], + [ + 0.4022468626499176, + 0.16493727266788483, + 0.03679386153817177 + ], + [ + 0.4006109833717346, + 0.1656937599182129, + 0.03210505098104477 + ], + [ + 0.4007572829723358, + 0.17013628780841827, + 0.02286929078400135 + ], + [ + 0.404755562543869, + 0.17363527417182922, + 0.022120099514722824 + ], + [ + 0.40797898173332214, + 0.17416806519031525, + 0.02066008746623993 + ], + [ + 0.4044475555419922, + 0.1737450808286667, + 0.018313171342015266 + ], + [ + 0.3999605178833008, + 0.17093037068843842, + 0.018265530467033386 + ], + [ + 0.39136025309562683, + 0.1613912135362625, + 0.01670103706419468 + ], + [ + 0.3868473470211029, + 0.15196911990642548, + 0.016251638531684875 + ], + [ + 0.3817577660083771, + 0.1419922411441803, + 0.015994034707546234 + ], + [ + 0.3740549683570862, + 0.12958571314811707, + 0.01705116778612137 + ], + [ + 0.3680199980735779, + 0.12217120826244354, + 0.015325631946325302 + ], + [ + 0.36244720220565796, + 0.11327394098043442, + 0.01589941419661045 + ], + [ + 0.3557138741016388, + 0.10426648706197739, + 0.015617238357663155 + ], + [ + 0.3540255129337311, + 0.10215206444263458, + 0.015278294682502747 + ], + [ + 0.3570898175239563, + 0.10370217263698578, + 0.01983504742383957 + ], + [ + 0.3721507787704468, + 0.10754898190498352, + 0.034212034195661545 + ], + [ + 0.3824051320552826, + 0.11058082431554794, + 0.04491201043128967 + ], + [ + 0.3886900246143341, + 0.11317802220582962, + 0.05222855880856514 + ], + [ + 0.38744595646858215, + 0.12432408332824707, + 0.05355352535843849 + ], + [ + 0.39026594161987305, + 0.13086539506912231, + 0.038430631160736084 + ], + [ + 0.39652541279792786, + 0.13782067596912384, + 0.02778697945177555 + ], + [ + 0.4043295085430145, + 0.14185874164104462, + 0.01851453073322773 + ], + [ + 0.4126424789428711, + 0.1429646611213684, + 0.015869420021772385 + ], + [ + 0.41510453820228577, + 0.14336082339286804, + 0.014811215922236443 + ], + [ + 0.41620540618896484, + 0.14131896197795868, + 0.015009650960564613 + ], + [ + 0.41410088539123535, + 0.13385015726089478, + 0.01766146346926689 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9574195761564523, + 0.24035207425506364, + 0.1599332222950795, + 0.22520924551753244, + -0.9684002771727499, + 0.1071526896776964, + 0.1806337480257295, + -0.06657164240898131, + -0.9812948922220821 + ], + [ + 0.9618377750032923, + 0.2393131126581061, + 0.13265492334099072, + 0.22610012590999082, + -0.9681820708696971, + 0.10724835994060922, + 0.15410005723620546, + -0.07316222902804964, + -0.9853428137472992 + ], + [ + 0.9648344762440595, + 0.23051975484133475, + 0.12631340419267525, + 0.2179919757657458, + -0.9702277364107514, + 0.10553500841434477, + 0.14688067249504858, + -0.07428850602320825, + -0.9863606267082248 + ], + [ + 0.9653777026458324, + 0.2337861746735554, + 0.1157148035722352, + 0.22206938012835786, + -0.9692896799979376, + 0.10565371105125981, + 0.1368615418722952, + -0.07629902214971082, + -0.9876473953670594 + ], + [ + 0.9613826339914724, + 0.25417266358373153, + 0.10554472107296439, + 0.24297093381781798, + -0.9639723193272878, + 0.10827046176343287, + 0.12926158121930945, + -0.07844504227496281, + -0.9885028168716381 + ], + [ + 0.9546204247452359, + 0.28258340411860683, + 0.09405564510418851, + 0.27075193080025795, + -0.9549897912862625, + 0.12119360753337054, + 0.12406948306153809, + -0.09022814558529076, + -0.9881627624622787 + ], + [ + 0.9367076379564276, + 0.3305602562568922, + 0.11536341698072339, + 0.3194096155019108, + -0.9417749859242108, + 0.10505890448874067, + 0.1433746787930561, + -0.06156129360913871, + -0.9877519469027423 + ], + [ + 0.8704935366326829, + 0.4701598559169728, + 0.14557030110862268, + 0.46422530690186464, + -0.8825771085710686, + 0.07451517871012237, + 0.16351106113224667, + 0.0027124362597564025, + -0.9865377719970702 + ], + [ + 0.7627190566042545, + 0.617443953622319, + 0.19241259009731132, + 0.6181790636123204, + -0.7834572966614671, + 0.06363418593257014, + 0.19003759102901435, + 0.07041042851130752, + -0.9792487352826877 + ], + [ + 0.619167742982425, + 0.7547907850394043, + 0.21661527386047708, + 0.761288780840713, + -0.6446135110995362, + 0.07009146505808628, + 0.19253752417674463, + 0.12150840352637296, + -0.973737649295929 + ], + [ + 0.4397251381624338, + 0.8711619928998721, + 0.2184458399575323, + 0.881321263252845, + -0.46537559167077774, + 0.08184369013847845, + 0.1729584742255731, + 0.1565322356698353, + -0.9724109344252382 + ], + [ + 0.24138832807015764, + 0.9461110991369525, + 0.21588298488153576, + 0.9568879482935236, + -0.2690886276204919, + 0.10934699308134113, + 0.16154605993989632, + 0.1801807386353705, + -0.9702771624348929 + ], + [ + 0.08679735078888406, + 0.9732262490003778, + 0.21283065604533102, + 0.985362510473059, + -0.11533251821008372, + 0.12553538623651722, + 0.1467206285777915, + 0.19881921059086644, + -0.9689912170137366 + ], + [ + -0.09226924136171266, + 0.973172002349783, + 0.21076679278540963, + 0.9888025552903512, + 0.06461862536556173, + 0.13451371642749588, + 0.11728552233675568, + 0.22081822184407462, + -0.9682372742008103 + ], + [ + -0.20570978229205678, + 0.9601143944133469, + 0.18937749367241796, + 0.9739253100094766, + 0.18193596994456834, + 0.13553152165925758, + 0.09567118684483478, + 0.2123196940479644, + -0.9725057179919712 + ], + [ + -0.328261384646692, + 0.9238340681027465, + 0.19691388463632165, + 0.9419050923192479, + 0.30444017312366817, + 0.14188367788967146, + 0.07112847821305912, + 0.23204912325014507, + -0.9700999659756377 + ], + [ + -0.4009776229485023, + 0.8971908960157488, + 0.1851092704351306, + 0.9143375415508807, + 0.37947103008295496, + 0.14138103634671983, + 0.056602173149625415, + 0.22594298713223798, + -0.9724947097853547 + ], + [ + -0.4528847632276727, + 0.8709324537107664, + 0.190714583368863, + 0.8903044092397062, + 0.4303852636101022, + 0.14875007144738128, + 0.047470518477820675, + 0.23716067536715885, + -0.9703099318953922 + ], + [ + -0.5017356500215349, + 0.8433901156025105, + 0.19223540361091424, + 0.8640579694498587, + 0.4781609782354064, + 0.15737186636481718, + 0.0408064079239331, + 0.24506160816607434, + -0.9686483599714617 + ], + [ + -0.5395906966429113, + 0.8209351442438328, + 0.18683513866983031, + 0.8403510997473915, + 0.5115782189388199, + 0.17915846354759285, + 0.05149669163904738, + 0.25367935440776757, + -0.9659165988311263 + ], + [ + -0.5773129123623087, + 0.7999117151069604, + 0.16386289773585186, + 0.8140996515350578, + 0.5484395817692235, + 0.19093397424056438, + 0.06286142370521441, + 0.2436293766840121, + -0.9678291007333438 + ], + [ + -0.5813377515587155, + 0.7957371951659623, + 0.1698491531979614, + 0.8120418051452395, + 0.5542302424172818, + 0.18280302264060672, + 0.05132762715262013, + 0.24419491112529013, + -0.968366831356482 + ], + [ + -0.5191824070445824, + 0.8356101508469609, + 0.17945836290603093, + 0.8538630828621667, + 0.4980475939294807, + 0.1512165001121618, + 0.036979236613400746, + 0.23174181750943063, + -0.9720742081121769 + ], + [ + -0.4205456533985594, + 0.8922476390746841, + 0.16442476690946295, + 0.9061850579585913, + 0.40422057871950146, + 0.1242351177093501, + 0.04438461603037085, + 0.20124580568380512, + -0.9785346859230454 + ], + [ + -0.3848593769759434, + 0.9087555073121112, + 0.16138986301374839, + 0.9214450701261079, + 0.3682373495030864, + 0.1238557110965581, + 0.05312478417820602, + 0.1963789254498801, + -0.9790878790717256 + ], + [ + -0.3734628485294657, + 0.9182262157103128, + 0.13185642779392837, + 0.9251317345265379, + 0.3582129086967633, + 0.12575685196013645, + 0.06824056374457028, + 0.16895007790860103, + -0.9832594248897393 + ], + [ + -0.38070216771133825, + 0.9154051153079253, + 0.1307644231737835, + 0.9210177969004788, + 0.36277304630661833, + 0.14185180529695438, + 0.0824140600412147, + 0.1744396507147972, + -0.9812128876885092 + ], + [ + -0.3807098775547868, + 0.916453602745936, + 0.12317785168695294, + 0.9197370635201234, + 0.3615189053756951, + 0.15293075244482174, + 0.09562281694030683, + 0.1715134836389049, + -0.9805301636413065 + ], + [ + -0.37893791859875303, + 0.9181124503167776, + 0.11608437630175454, + 0.9186978167600778, + 0.3581188686522504, + 0.1665688968430144, + 0.11135697251771608, + 0.16976573414135948, + -0.979172722344293 + ], + [ + -0.38316690563610245, + 0.9181244642392625, + 0.10114638199471929, + 0.9162624218861664, + 0.3639556318652808, + 0.1673304284128904, + 0.11681736456773611, + 0.15679211140523538, + -0.9806986984474575 + ], + [ + -0.3832950417945755, + 0.9183893968875478, + 0.09821316928100866, + 0.9160607251214141, + 0.36441833050856154, + 0.16742768074419848, + 0.11797312755760549, + 0.15414342695644942, + -0.9809801960796141 + ], + [ + -0.3850771636606509, + 0.9166400146235941, + 0.10717584437701053, + 0.9159232843324386, + 0.3653500879612175, + 0.16614406533008974, + 0.1131375943033383, + 0.16214313681925469, + -0.9802599083598521 + ], + [ + -0.3900392793955535, + 0.9111689601579223, + 0.1328174934763029, + 0.9160835378738394, + 0.3694064019827029, + 0.1559803250757711, + 0.09306079821894285, + 0.18251037290774513, + -0.9787898914557346 + ], + [ + -0.3924342177170672, + 0.9085569769129581, + 0.14324665604327425, + 0.9164250491695024, + 0.3729417693920365, + 0.14518803634395044, + 0.07848894202031713, + 0.1882515772723397, + -0.9789794837661348 + ], + [ + -0.37690386023754713, + 0.9149388789999201, + 0.1443271555612641, + 0.922237136977656, + 0.3561934939692774, + 0.1503491204936519, + 0.0861518619490717, + 0.18977102663032647, + -0.9780413151469523 + ], + [ + -0.3837380804916723, + 0.9117605106035137, + 0.1464167233774437, + 0.9190789577815833, + 0.3616989976548172, + 0.15642156008242264, + 0.08966021940462385, + 0.19459343873707702, + -0.9767775789077031 + ], + [ + -0.37769068574657316, + 0.9121481941392187, + 0.15917103325933812, + 0.921735750673502, + 0.3540351263188095, + 0.1583108816941529, + 0.08805084798364385, + 0.20650617729498225, + -0.9744753700881179 + ], + [ + -0.378052884372883, + 0.9112545540554577, + 0.16337427683246913, + 0.9212580766429856, + 0.3528720903328961, + 0.16359964573359864, + 0.0914306996441027, + 0.21235918999958803, + -0.9729049293663327 + ], + [ + -0.358951615922087, + 0.9173399966834409, + 0.17216581516592613, + 0.9289428765039817, + 0.33320723870475477, + 0.1613631564740274, + 0.09065798155392243, + 0.2178537733425289, + -0.9717617320212766 + ], + [ + -0.34608528639838104, + 0.9199474539722122, + 0.18417832790150643, + 0.9324033531494643, + 0.31545927054526574, + 0.1763786712238301, + 0.1041583485573084, + 0.23277055345789127, + -0.966937902798686 + ], + [ + -0.33698032997773664, + 0.9174434054437997, + 0.21152270567430875, + 0.934953979714042, + 0.29960898043449113, + 0.18998819610670606, + 0.11092931544443618, + 0.2617862804859896, + -0.9587296961731916 + ], + [ + -0.33416880108263763, + 0.9120198538844689, + 0.23780453844185706, + 0.9368116710917177, + 0.29369081086707355, + 0.19007788014017957, + 0.10351379274925698, + 0.2862961643696838, + -0.9525331495427709 + ], + [ + -0.3429657586425968, + 0.9102557773185531, + 0.23196747241133714, + 0.9336202016349662, + 0.30308856905605863, + 0.19102522976464595, + 0.10357512972617011, + 0.2820846312115342, + -0.9537821833817508 + ], + [ + -0.37297165485897965, + 0.9032257611704385, + 0.2123096065415706, + 0.921864395045665, + 0.3348031954892303, + 0.19512267279147913, + 0.10515788995051507, + 0.26849589316837325, + -0.957523771784739 + ], + [ + -0.37857348950463654, + 0.9064756024194573, + 0.18704035730976654, + 0.9191331991589091, + 0.34439077708304955, + 0.19128291838019157, + 0.10897832467143431, + 0.2443296438797708, + -0.9635490386448384 + ], + [ + -0.37967877967991714, + 0.9087719908528653, + 0.17314009617095752, + 0.9181723621677602, + 0.3472785151807932, + 0.1906754998553789, + 0.11315271809392805, + 0.23136789218718978, + -0.9662636083661708 + ], + [ + -0.3810902873283433, + 0.9114634427115662, + 0.15493413279319657, + 0.9167400735310267, + 0.3508132249445833, + 0.19109609830216015, + 0.11982416486806119, + 0.21485919529859646, + -0.9692665761849579 + ], + [ + -0.3781033698439705, + 0.9136101317067513, + 0.1495137751359607, + 0.9167858376646099, + 0.34708394726211467, + 0.19757646977955015, + 0.12861403333320032, + 0.2117764406059431, + -0.9688184399742008 + ], + [ + -0.37590132748623833, + 0.9142610077620466, + 0.151079454857406, + 0.9176201947567539, + 0.34453697138527367, + 0.1981601713847664, + 0.12911766017342755, + 0.21312223026843133, + -0.9684562689129277 + ], + [ + -0.3888282274969342, + 0.9101828430113382, + 0.14275784317994641, + 0.9118723071619325, + 0.358074664451785, + 0.20067742800055013, + 0.131535185151224, + 0.20820597245405661, + -0.9692000660863029 + ], + [ + -0.40283012672784685, + 0.9031846310049662, + 0.14827478314551643, + 0.9066699406702258, + 0.37161021598692806, + 0.19963833814976015, + 0.12520985458611547, + 0.21485662589404061, + -0.9685861462069092 + ], + [ + -0.42948714481400346, + 0.891878358349713, + 0.14175255322898378, + 0.896549428577724, + 0.4022662098188741, + 0.18542119230258863, + 0.10835088627450767, + 0.2067241890669259, + -0.972381198449533 + ], + [ + -0.41511278501607374, + 0.899052092214738, + 0.1392361705897602, + 0.9030736042512024, + 0.3886681504795254, + 0.18274335585067758, + 0.11017913151292028, + 0.2015996138069882, + -0.9732513317185503 + ], + [ + -0.4150646116944903, + 0.8979570956594878, + 0.1462683235484673, + 0.9038306564862926, + 0.38860681797927704, + 0.17909462698690373, + 0.10397842331204615, + 0.2065376367028495, + -0.9728980892728396 + ], + [ + -0.4006271260144636, + 0.9045399405575848, + 0.1459637004103136, + 0.9099206591844705, + 0.37410262403517147, + 0.1791413427416956, + 0.10743509617759735, + 0.2045842677873346, + -0.9729352380725196 + ], + [ + -0.38921034836641594, + 0.9100230460308274, + 0.1427352809128418, + 0.914488673496562, + 0.3631293691772756, + 0.17845875514362455, + 0.11057020742944931, + 0.19998779196163088, + -0.9735394764955965 + ], + [ + -0.3864911084946775, + 0.9098960765865627, + 0.15071082531435978, + 0.9158024581069479, + 0.35926025118395566, + 0.17954924016690513, + 0.10922674022338727, + 0.20741552914770175, + -0.9721359562780052 + ], + [ + -0.37589299730869136, + 0.9144368642138396, + 0.1500322496700227, + 0.9201348276414989, + 0.3491359200266935, + 0.177358417641406, + 0.1098014277477179, + 0.20471768539594745, + -0.9726429538893955 + ], + [ + -0.36842729431044585, + 0.9173161797725783, + 0.1509713719038393, + 0.9230587082593061, + 0.3416434408522737, + 0.17675514258227487, + 0.11056197318131378, + 0.20447685847073777, + -0.9726074564983515 + ], + [ + -0.34955802657294477, + 0.925556980263817, + 0.14544229901700562, + 0.9282591890644065, + 0.3210781505623095, + 0.18773305289420036, + 0.12705929315055298, + 0.2006317460333996, + -0.9713922166188437 + ], + [ + -0.3327484408560068, + 0.9246446865296067, + 0.18523141952828198, + 0.934029500803933, + 0.29610504270795274, + 0.1997766135233992, + 0.12987442679701316, + 0.23948696698460914, + -0.96217390627093 + ], + [ + -0.3326911672896135, + 0.918274500785455, + 0.21468238962406094, + 0.9342601206245943, + 0.28995628363133114, + 0.20756536462816969, + 0.12835347372779737, + 0.2696243586731914, + -0.9543731403345745 + ], + [ + -0.33804613484263557, + 0.9115423607199827, + 0.23412675056685855, + 0.9336690671012812, + 0.293561454209867, + 0.20514323225593364, + 0.11826615685046359, + 0.2879447815384566, + -0.9503162204911544 + ], + [ + -0.3588175867650243, + 0.9043738949114443, + 0.23099306836099845, + 0.9274770784837058, + 0.3175949618656271, + 0.19728078741960986, + 0.10505335937253366, + 0.28502859225045385, + -0.9527447156947502 + ], + [ + -0.36123274911938186, + 0.9124429947536719, + 0.19224641033997072, + 0.927885440469006, + 0.3313007734760933, + 0.171080118248091, + 0.09240947099346572, + 0.24018238657131585, + -0.9663192592780167 + ], + [ + -0.36440880334852, + 0.9151401733656994, + 0.17240848915960322, + 0.928726910917052, + 0.3435531813358681, + 0.13941856595329744, + 0.0683560456768056, + 0.2109257563366822, + -0.9751091099632023 + ], + [ + -0.3610342803207387, + 0.920526905626829, + 0.14927981930046968, + 0.9308173504637494, + 0.3459548528011156, + 0.11787408493389745, + 0.05686218874552352, + 0.18150883130154577, + -0.9817439766306769 + ], + [ + -0.3491879774051612, + 0.9274057515800204, + 0.13411311782219468, + 0.9359092272323454, + 0.3381029886993579, + 0.09879416690227966, + 0.04627823264825748, + 0.1600154397827257, + -0.9860290990706584 + ], + [ + -0.32044028439158667, + 0.9412908756590039, + 0.1062521131090784, + 0.9457872996917125, + 0.3116495034913237, + 0.09143834379225207, + 0.05295666040166977, + 0.1297924280330586, + -0.9901260110432334 + ], + [ + -0.2937919849931108, + 0.9518951201488532, + 0.08707439227814542, + 0.9532680858849565, + 0.2850583386282906, + 0.10010844126101603, + 0.07047145512219308, + 0.11241629692922364, + -0.9911590942919717 + ], + [ + -0.24895431912772864, + 0.9669369001857956, + 0.0552700465599027, + 0.9626286095075015, + 0.2407556614865814, + 0.12402770504936694, + 0.10662038803766949, + 0.08408176093091388, + -0.990738285488884 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0026329457759857178, + -5.757855251431465e-05, + -0.009335143491625786, + 0.006377711892127991, + 0.026914194226264954, + -0.00014619529247283936, + 1.0 + ], + [ + -0.0017106831073760986, + -0.00024139299057424068, + -0.0010700039565563202, + 0.001059308648109436, + 0.007302567362785339, + -0.008672922849655151, + 1.0 + ], + [ + -0.003820866346359253, + 0.00011080410331487656, + -0.002910250797867775, + 0.001926325261592865, + 0.010121554136276245, + 0.0038940906524658203, + 0.0 + ], + [ + -0.00476953387260437, + 0.0005506242159754038, + -0.003991803154349327, + 0.0020913034677505493, + 0.007668167352676392, + 0.02144673466682434, + 0.0 + ], + [ + -0.005005210638046265, + 0.0017051291652023792, + -0.00248770322650671, + 0.011865027248859406, + 0.005234263837337494, + 0.028817668557167053, + 0.0 + ], + [ + -0.0019337236881256104, + -0.012269428931176662, + 0.008106176741421223, + -0.028812356293201447, + -0.019480474293231964, + 0.05226248502731323, + 0.0 + ], + [ + 0.011760085821151733, + -0.0068359822034835815, + 0.01768147572875023, + -0.06499358266592026, + -0.020378082990646362, + 0.16129615902900696, + 0.0 + ], + [ + 0.019782155752182007, + -0.002732076682150364, + 0.020531997084617615, + -0.06902952492237091, + -0.026951864361763, + 0.19118350744247437, + 0.0 + ], + [ + 0.011405408382415771, + 0.002472606487572193, + 0.013874724507331848, + -0.052364885807037354, + -0.002546966075897217, + 0.20688199996948242, + 0.0 + ], + [ + 0.008756756782531738, + 0.014422583393752575, + 0.0027521848678588867, + -0.03546030819416046, + 0.01991477608680725, + 0.22000932693481445, + 0.0 + ], + [ + 0.007993310689926147, + 0.013221150264143944, + 0.004220977425575256, + -0.024004623293876648, + 0.01157553493976593, + 0.2156897783279419, + 0.0 + ], + [ + 0.0030350983142852783, + 0.012874292209744453, + 0.0025963783264160156, + -0.01876412332057953, + 0.01500488817691803, + 0.15924835205078125, + 0.0 + ], + [ + 0.0007130205631256104, + 0.01895144023001194, + 0.0034783557057380676, + -0.021854162216186523, + 0.029696106910705566, + 0.18090462684631348, + 0.0 + ], + [ + 0.005366623401641846, + 0.009762439876794815, + -0.0018435493111610413, + 0.009277567267417908, + 0.021738357841968536, + 0.1151130199432373, + 0.0 + ], + [ + 0.004435688257217407, + 0.021925028413534164, + 0.0025756657123565674, + -0.019840091466903687, + 0.024629145860671997, + 0.12718725204467773, + 0.0 + ], + [ + 0.002097487449645996, + 0.014586053788661957, + -0.006336763501167297, + 0.006506189703941345, + 0.014556150883436203, + 0.07794177532196045, + 0.0 + ], + [ + -0.0009274184703826904, + 0.018617726862430573, + 0.0031537413597106934, + -0.011434227228164673, + 0.009144075214862823, + 0.05728495121002197, + 0.0 + ], + [ + -0.0034775733947753906, + 0.015459537506103516, + -9.828060865402222e-05, + -0.008076325058937073, + 0.006670624017715454, + 0.05551600456237793, + 0.0 + ], + [ + -0.003608912229537964, + 0.01297391951084137, + 0.0004331842064857483, + -0.009036645293235779, + -0.0107017382979393, + 0.044714927673339844, + 0.0 + ], + [ + -0.00291326642036438, + 0.011309951543807983, + -0.011430852115154266, + 0.010226547718048096, + -0.01138341799378395, + 0.04603314399719238, + 0.0 + ], + [ + 0.0037621259689331055, + 0.00717046856880188, + -0.005981802940368652, + -0.0004177093505859375, + 0.011552706360816956, + 0.004479408264160156, + 0.0 + ], + [ + 0.005635648965835571, + 0.01000310480594635, + -0.005083654075860977, + 0.01299084722995758, + 0.014362521469593048, + -0.07500529289245605, + 0.0 + ], + [ + 0.009978413581848145, + 0.005242541432380676, + -0.012761782854795456, + 0.031198665499687195, + -0.00741153210401535, + -0.11180591583251953, + 0.0 + ], + [ + 0.009382784366607666, + 0.0031681060791015625, + -0.001363556832075119, + 0.004885464906692505, + -0.00875060260295868, + -0.038858771324157715, + 0.0 + ], + [ + 0.005007714033126831, + 0.0034273117780685425, + -0.012803543359041214, + 0.02778191864490509, + -0.015143834054470062, + -0.011965155601501465, + 0.0 + ], + [ + 0.003919512033462524, + 0.004167139530181885, + 0.0010351575911045074, + -0.005776539444923401, + -0.014214001595973969, + 0.008281230926513672, + 0.0 + ], + [ + 0.0014042854309082031, + -0.0022798776626586914, + -0.0021596960723400116, + 0.0027742087841033936, + -0.013261504471302032, + 0.000498652458190918, + 0.0 + ], + [ + 0.00019633769989013672, + -0.0052347928285598755, + -0.003783073276281357, + 0.001497030258178711, + -0.015819266438484192, + -0.0012475252151489258, + 0.0 + ], + [ + -0.004183948040008545, + -0.003375008702278137, + -0.008167725056409836, + 0.013133898377418518, + -0.005496285855770111, + 0.004871487617492676, + 0.0 + ], + [ + -0.0037395358085632324, + -0.0011505186557769775, + -0.004206640645861626, + 0.002678617835044861, + -0.0011638104915618896, + 0.00019741058349609375, + 0.0 + ], + [ + -0.004359036684036255, + -0.0036442726850509644, + -0.000367775559425354, + -0.008066430687904358, + 0.004868149757385254, + 0.0017080307006835938, + 0.0 + ], + [ + -0.005500137805938721, + -0.0063315629959106445, + 0.0027924906462430954, + -0.020424142479896545, + 0.0201847106218338, + 0.0045318603515625, + 0.0 + ], + [ + -0.0047588348388671875, + -0.0072493404150009155, + -0.001096641644835472, + -0.005626559257507324, + 0.014625892043113708, + 0.0020761489868164062, + 0.0 + ], + [ + -0.002192080020904541, + -0.009077176451683044, + 0.00036407262086868286, + -0.0016755014657974243, + -0.007689036428928375, + -0.016626954078674316, + 0.0 + ], + [ + -0.004872679710388184, + -0.0019565224647521973, + 0.0012469887733459473, + -0.004994973540306091, + -0.0035219937562942505, + 0.00755155086517334, + 0.0 + ], + [ + -0.004605025053024292, + -0.003645852208137512, + -0.001325773075222969, + -0.012180566787719727, + 0.001615762710571289, + -0.00662994384765625, + 0.0 + ], + [ + -0.0064092278480529785, + -0.008018895983695984, + 0.0033725835382938385, + -0.006076917052268982, + -0.0033935457468032837, + 0.0005184412002563477, + 0.0 + ], + [ + 0.0005336999893188477, + -0.0024089962244033813, + -0.0006291121244430542, + -0.00563521683216095, + 0.0007759407162666321, + -0.020675301551818848, + 0.0 + ], + [ + 0.006893068552017212, + 0.0031939446926116943, + 0.009378932416439056, + -0.015696749091148376, + -0.013564981520175934, + -0.013321638107299805, + 0.0 + ], + [ + 0.00949031114578247, + 0.003001764416694641, + 0.011136975139379501, + -0.030322685837745667, + -0.006810478866100311, + -0.009482145309448242, + 0.0 + ], + [ + 0.007956922054290771, + 0.0023284107446670532, + 0.009989038109779358, + -0.025415778160095215, + 0.007458537817001343, + -0.003292560577392578, + 0.0 + ], + [ + -0.0006472170352935791, + 0.00776258111000061, + -0.00030823424458503723, + 0.0044165849685668945, + -6.166845560073853e-05, + 0.00940859317779541, + 0.0 + ], + [ + -0.006978720426559448, + 0.014642611145973206, + -0.005522128194570541, + 0.014170974493026733, + -0.0015914514660835266, + 0.032404541969299316, + 0.0 + ], + [ + -0.00401422381401062, + 0.005175366997718811, + -0.010049168020486832, + 0.025047332048416138, + -0.0038425251841545105, + 0.00625455379486084, + 0.0 + ], + [ + -0.0016358792781829834, + 0.000756487250328064, + -0.004688810557126999, + 0.013317257165908813, + -0.004200384020805359, + 0.0013968944549560547, + 0.0 + ], + [ + 0.0001462996006011963, + 0.004442527890205383, + -0.009235760197043419, + 0.01687653362751007, + -0.006717190146446228, + 0.0018651485443115234, + 0.0 + ], + [ + 0.003998279571533203, + 0.0034989863634109497, + -0.0007491912692785263, + 0.002937108278274536, + -0.008858509361743927, + -0.002798914909362793, + 0.0 + ], + [ + 0.003223419189453125, + 0.000532791018486023, + -0.001460012048482895, + -0.0014038383960723877, + -0.0005078613758087158, + -0.0023736953735351562, + 0.0 + ], + [ + -0.003531426191329956, + -0.00042298436164855957, + -0.0023469161242246628, + 0.0050047338008880615, + -0.0024383217096328735, + 0.01426541805267334, + 0.0 + ], + [ + -0.004487037658691406, + -0.0028147101402282715, + -4.764087498188019e-05, + -0.006683900952339172, + 0.006378114223480225, + 0.015039324760437012, + 0.0 + ], + [ + -0.00860026478767395, + -0.009539157152175903, + -0.001564493402838707, + 0.00881330668926239, + 0.01697532832622528, + 0.02864253520965576, + 0.0 + ], + [ + -0.004512906074523926, + -0.009422093629837036, + -0.00044939853250980377, + 0.005225330591201782, + -0.0018392577767372131, + -0.01587963104248047, + 0.0 + ], + [ + -0.00508958101272583, + -0.009976878762245178, + -0.00025760382413864136, + -0.004933789372444153, + 0.006236575543880463, + -0.0003619194030761719, + 0.0 + ], + [ + -0.0077027976512908936, + -0.012406527996063232, + 0.0010571330785751343, + 0.0019296705722808838, + -0.003476150333881378, + -0.015753507614135742, + 0.0 + ], + [ + -0.006034970283508301, + -0.007414504885673523, + -0.0017255358397960663, + 0.004650980234146118, + -0.0031539052724838257, + -0.01236569881439209, + 0.0 + ], + [ + -0.005572795867919922, + -0.008897267282009125, + 0.0005737822502851486, + -0.00760379433631897, + 0.0013516545295715332, + -0.0030347108840942383, + 0.0 + ], + [ + -0.006733328104019165, + -0.009007453918457031, + -0.00028217583894729614, + 0.002760946750640869, + -0.0005781650543212891, + -0.011518597602844238, + 0.0 + ], + [ + -0.0016883611679077148, + -0.002114422619342804, + -0.000338943675160408, + 0.000229761004447937, + -0.0007652044296264648, + -0.008066534996032715, + 0.0 + ], + [ + 0.0030643045902252197, + 0.0015501081943511963, + 0.0045567527413368225, + 0.0035415440797805786, + -0.016615204513072968, + -0.019612908363342285, + 0.0 + ], + [ + 0.015060961246490479, + 0.0038468092679977417, + 0.014376986771821976, + -0.040268510580062866, + -0.0028386563062667847, + -0.017917394638061523, + 0.0 + ], + [ + 0.010254353284835815, + 0.0030318424105644226, + 0.010699976235628128, + -0.03139403462409973, + 0.001533791422843933, + -0.00013244152069091797, + 0.0 + ], + [ + 0.006284892559051514, + 0.0025971978902816772, + 0.007316548377275467, + -0.01886683702468872, + 0.010164938867092133, + 0.005280017852783203, + 0.0 + ], + [ + -0.0012440681457519531, + 0.01114606112241745, + 0.001324966549873352, + 0.0035145580768585205, + 0.013296045362949371, + 0.02176082134246826, + 0.0 + ], + [ + 0.0028199851512908936, + 0.006541311740875244, + -0.015122894197702408, + 0.047074124217033386, + 0.012706056237220764, + 0.0021141767501831055, + 0.0 + ], + [ + 0.00625947117805481, + 0.006955280900001526, + -0.010643651708960533, + 0.030589282512664795, + 0.02413211017847061, + 0.0026606321334838867, + 0.0 + ], + [ + 0.00780409574508667, + 0.004038065671920776, + -0.009272448718547821, + 0.030208170413970947, + 0.011516515165567398, + -0.003911256790161133, + 0.0 + ], + [ + 0.008312970399856567, + 0.0011059194803237915, + -0.002645110711455345, + 0.021939516067504883, + 0.010598108172416687, + -0.012900114059448242, + 0.0 + ], + [ + 0.002462059259414673, + 0.0003961622714996338, + -0.001058204099535942, + 0.03053659200668335, + -0.0066866762936115265, + -0.030434489250183105, + 1.0 + ], + [ + 0.0011008679866790771, + -0.002041861414909363, + 0.00019843503832817078, + 0.017407163977622986, + -0.017548471689224243, + -0.027711987495422363, + 1.0 + ], + [ + -0.002104520797729492, + -0.007468804717063904, + 0.002651812508702278, + 0.028271503746509552, + -0.03629352152347565, + -0.04588329792022705, + 1.0 + ], + [ + 0.005187541246414185, + 0.002426743507385254, + 0.02358267828822136, + -0.0584462508559227, + -0.03447205573320389, + -0.012408852577209473, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9553104043006897 + ], + [ + 0.6671556830406189 + ], + [ + 0.3953573703765869 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.457809716463089 + ], + [ + 0.7730204463005066 + ], + [ + 1.0027955770492554 + ], + [ + 1.0086473226547241 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3431682586669922, + 0.0031623318791389465, + 0.0238522756844759 + ], + [ + 0.3414575755596161, + 0.002920938888564706, + 0.02278227172791958 + ], + [ + 0.33763670921325684, + 0.0030317429918795824, + 0.019872020930051804 + ], + [ + 0.33286717534065247, + 0.003582367207854986, + 0.015880217775702477 + ], + [ + 0.3278619647026062, + 0.005287496373057365, + 0.013392514549195766 + ], + [ + 0.3259282410144806, + -0.006981932558119297, + 0.02149869129061699 + ], + [ + 0.3376883268356323, + -0.013817914761602879, + 0.03918016701936722 + ], + [ + 0.35747048258781433, + -0.016549991443753242, + 0.05971216410398483 + ], + [ + 0.3688758909702301, + -0.01407738495618105, + 0.07358688861131668 + ], + [ + 0.37763264775276184, + 0.0003451988741289824, + 0.07633907347917557 + ], + [ + 0.385625958442688, + 0.01356634870171547, + 0.08056005090475082 + ], + [ + 0.38866105675697327, + 0.026440640911459923, + 0.08315642923116684 + ], + [ + 0.3893740773200989, + 0.04539208114147186, + 0.08663478493690491 + ], + [ + 0.3947407007217407, + 0.05515452101826668, + 0.08479123562574387 + ], + [ + 0.39917638897895813, + 0.07707954943180084, + 0.08736690133810043 + ], + [ + 0.4012738764286041, + 0.0916656032204628, + 0.08103013783693314 + ], + [ + 0.40034645795822144, + 0.11028333008289337, + 0.08418387919664383 + ], + [ + 0.39686888456344604, + 0.1257428675889969, + 0.08408559858798981 + ], + [ + 0.3932599723339081, + 0.13871678709983826, + 0.08451878279447556 + ], + [ + 0.3903467059135437, + 0.15002673864364624, + 0.07308793067932129 + ], + [ + 0.3941088318824768, + 0.15719720721244812, + 0.06710612773895264 + ], + [ + 0.3997444808483124, + 0.16720031201839447, + 0.06202247366309166 + ], + [ + 0.4097228944301605, + 0.17244285345077515, + 0.049260690808296204 + ], + [ + 0.4191056787967682, + 0.1756109595298767, + 0.047897133976221085 + ], + [ + 0.424113392829895, + 0.17903827130794525, + 0.03509359061717987 + ], + [ + 0.42803290486335754, + 0.18320541083812714, + 0.03612874820828438 + ], + [ + 0.42943719029426575, + 0.18092553317546844, + 0.033969052135944366 + ], + [ + 0.4296335279941559, + 0.17569074034690857, + 0.03018597885966301 + ], + [ + 0.42544957995414734, + 0.17231573164463043, + 0.022018253803253174 + ], + [ + 0.4217100441455841, + 0.17116521298885345, + 0.017811613157391548 + ], + [ + 0.41735100746154785, + 0.1675209403038025, + 0.017443837597966194 + ], + [ + 0.41185086965560913, + 0.16118937730789185, + 0.02023632824420929 + ], + [ + 0.40709203481674194, + 0.15394003689289093, + 0.019139686599373817 + ], + [ + 0.4048999547958374, + 0.14486286044120789, + 0.0195037592202425 + ], + [ + 0.4000272750854492, + 0.1429063379764557, + 0.020750747993588448 + ], + [ + 0.3954222500324249, + 0.13926048576831818, + 0.01942497491836548 + ], + [ + 0.38901302218437195, + 0.1312415897846222, + 0.022797558456659317 + ], + [ + 0.3895467221736908, + 0.1288325935602188, + 0.022168446332216263 + ], + [ + 0.396439790725708, + 0.1320265382528305, + 0.03154737874865532 + ], + [ + 0.4059301018714905, + 0.13502830266952515, + 0.04268435388803482 + ], + [ + 0.41388702392578125, + 0.1373567134141922, + 0.05267339199781418 + ], + [ + 0.41323980689048767, + 0.1451192945241928, + 0.05236515775322914 + ], + [ + 0.4062610864639282, + 0.15976190567016602, + 0.0468430295586586 + ], + [ + 0.4022468626499176, + 0.16493727266788483, + 0.03679386153817177 + ], + [ + 0.4006109833717346, + 0.1656937599182129, + 0.03210505098104477 + ], + [ + 0.4007572829723358, + 0.17013628780841827, + 0.02286929078400135 + ], + [ + 0.404755562543869, + 0.17363527417182922, + 0.022120099514722824 + ], + [ + 0.40797898173332214, + 0.17416806519031525, + 0.02066008746623993 + ], + [ + 0.4044475555419922, + 0.1737450808286667, + 0.018313171342015266 + ], + [ + 0.3999605178833008, + 0.17093037068843842, + 0.018265530467033386 + ], + [ + 0.39136025309562683, + 0.1613912135362625, + 0.01670103706419468 + ], + [ + 0.3868473470211029, + 0.15196911990642548, + 0.016251638531684875 + ], + [ + 0.3817577660083771, + 0.1419922411441803, + 0.015994034707546234 + ], + [ + 0.3740549683570862, + 0.12958571314811707, + 0.01705116778612137 + ], + [ + 0.3680199980735779, + 0.12217120826244354, + 0.015325631946325302 + ], + [ + 0.36244720220565796, + 0.11327394098043442, + 0.01589941419661045 + ], + [ + 0.3557138741016388, + 0.10426648706197739, + 0.015617238357663155 + ], + [ + 0.3540255129337311, + 0.10215206444263458, + 0.015278294682502747 + ], + [ + 0.3570898175239563, + 0.10370217263698578, + 0.01983504742383957 + ], + [ + 0.3721507787704468, + 0.10754898190498352, + 0.034212034195661545 + ], + [ + 0.3824051320552826, + 0.11058082431554794, + 0.04491201043128967 + ], + [ + 0.3886900246143341, + 0.11317802220582962, + 0.05222855880856514 + ], + [ + 0.38744595646858215, + 0.12432408332824707, + 0.05355352535843849 + ], + [ + 0.39026594161987305, + 0.13086539506912231, + 0.038430631160736084 + ], + [ + 0.39652541279792786, + 0.13782067596912384, + 0.02778697945177555 + ], + [ + 0.4043295085430145, + 0.14185874164104462, + 0.01851453073322773 + ], + [ + 0.4126424789428711, + 0.1429646611213684, + 0.015869420021772385 + ], + [ + 0.41510453820228577, + 0.14336082339286804, + 0.014811215922236443 + ], + [ + 0.41620540618896484, + 0.14131896197795868, + 0.015009650960564613 + ], + [ + 0.41410088539123535, + 0.13385015726089478, + 0.01766146346926689 + ], + [ + 0.41928842663764954, + 0.13627690076828003, + 0.04124414175748825 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9618377750032923, + 0.2393131126581061, + 0.13265492334099072, + 0.22610012590999082, + -0.9681820708696971, + 0.10724835994060922, + 0.15410005723620546, + -0.07316222902804964, + -0.9853428137472992 + ], + [ + 0.9648344762440595, + 0.23051975484133475, + 0.12631340419267525, + 0.2179919757657458, + -0.9702277364107514, + 0.10553500841434477, + 0.14688067249504858, + -0.07428850602320825, + -0.9863606267082248 + ], + [ + 0.9653777026458324, + 0.2337861746735554, + 0.1157148035722352, + 0.22206938012835786, + -0.9692896799979376, + 0.10565371105125981, + 0.1368615418722952, + -0.07629902214971082, + -0.9876473953670594 + ], + [ + 0.9613826339914724, + 0.25417266358373153, + 0.10554472107296439, + 0.24297093381781798, + -0.9639723193272878, + 0.10827046176343287, + 0.12926158121930945, + -0.07844504227496281, + -0.9885028168716381 + ], + [ + 0.9546204247452359, + 0.28258340411860683, + 0.09405564510418851, + 0.27075193080025795, + -0.9549897912862625, + 0.12119360753337054, + 0.12406948306153809, + -0.09022814558529076, + -0.9881627624622787 + ], + [ + 0.9367076379564276, + 0.3305602562568922, + 0.11536341698072339, + 0.3194096155019108, + -0.9417749859242108, + 0.10505890448874067, + 0.1433746787930561, + -0.06156129360913871, + -0.9877519469027423 + ], + [ + 0.8704935366326829, + 0.4701598559169728, + 0.14557030110862268, + 0.46422530690186464, + -0.8825771085710686, + 0.07451517871012237, + 0.16351106113224667, + 0.0027124362597564025, + -0.9865377719970702 + ], + [ + 0.7627190566042545, + 0.617443953622319, + 0.19241259009731132, + 0.6181790636123204, + -0.7834572966614671, + 0.06363418593257014, + 0.19003759102901435, + 0.07041042851130752, + -0.9792487352826877 + ], + [ + 0.619167742982425, + 0.7547907850394043, + 0.21661527386047708, + 0.761288780840713, + -0.6446135110995362, + 0.07009146505808628, + 0.19253752417674463, + 0.12150840352637296, + -0.973737649295929 + ], + [ + 0.4397251381624338, + 0.8711619928998721, + 0.2184458399575323, + 0.881321263252845, + -0.46537559167077774, + 0.08184369013847845, + 0.1729584742255731, + 0.1565322356698353, + -0.9724109344252382 + ], + [ + 0.24138832807015764, + 0.9461110991369525, + 0.21588298488153576, + 0.9568879482935236, + -0.2690886276204919, + 0.10934699308134113, + 0.16154605993989632, + 0.1801807386353705, + -0.9702771624348929 + ], + [ + 0.08679735078888406, + 0.9732262490003778, + 0.21283065604533102, + 0.985362510473059, + -0.11533251821008372, + 0.12553538623651722, + 0.1467206285777915, + 0.19881921059086644, + -0.9689912170137366 + ], + [ + -0.09226924136171266, + 0.973172002349783, + 0.21076679278540963, + 0.9888025552903512, + 0.06461862536556173, + 0.13451371642749588, + 0.11728552233675568, + 0.22081822184407462, + -0.9682372742008103 + ], + [ + -0.20570978229205678, + 0.9601143944133469, + 0.18937749367241796, + 0.9739253100094766, + 0.18193596994456834, + 0.13553152165925758, + 0.09567118684483478, + 0.2123196940479644, + -0.9725057179919712 + ], + [ + -0.328261384646692, + 0.9238340681027465, + 0.19691388463632165, + 0.9419050923192479, + 0.30444017312366817, + 0.14188367788967146, + 0.07112847821305912, + 0.23204912325014507, + -0.9700999659756377 + ], + [ + -0.4009776229485023, + 0.8971908960157488, + 0.1851092704351306, + 0.9143375415508807, + 0.37947103008295496, + 0.14138103634671983, + 0.056602173149625415, + 0.22594298713223798, + -0.9724947097853547 + ], + [ + -0.4528847632276727, + 0.8709324537107664, + 0.190714583368863, + 0.8903044092397062, + 0.4303852636101022, + 0.14875007144738128, + 0.047470518477820675, + 0.23716067536715885, + -0.9703099318953922 + ], + [ + -0.5017356500215349, + 0.8433901156025105, + 0.19223540361091424, + 0.8640579694498587, + 0.4781609782354064, + 0.15737186636481718, + 0.0408064079239331, + 0.24506160816607434, + -0.9686483599714617 + ], + [ + -0.5395906966429113, + 0.8209351442438328, + 0.18683513866983031, + 0.8403510997473915, + 0.5115782189388199, + 0.17915846354759285, + 0.05149669163904738, + 0.25367935440776757, + -0.9659165988311263 + ], + [ + -0.5773129123623087, + 0.7999117151069604, + 0.16386289773585186, + 0.8140996515350578, + 0.5484395817692235, + 0.19093397424056438, + 0.06286142370521441, + 0.2436293766840121, + -0.9678291007333438 + ], + [ + -0.5813377515587155, + 0.7957371951659623, + 0.1698491531979614, + 0.8120418051452395, + 0.5542302424172818, + 0.18280302264060672, + 0.05132762715262013, + 0.24419491112529013, + -0.968366831356482 + ], + [ + -0.5191824070445824, + 0.8356101508469609, + 0.17945836290603093, + 0.8538630828621667, + 0.4980475939294807, + 0.1512165001121618, + 0.036979236613400746, + 0.23174181750943063, + -0.9720742081121769 + ], + [ + -0.4205456533985594, + 0.8922476390746841, + 0.16442476690946295, + 0.9061850579585913, + 0.40422057871950146, + 0.1242351177093501, + 0.04438461603037085, + 0.20124580568380512, + -0.9785346859230454 + ], + [ + -0.3848593769759434, + 0.9087555073121112, + 0.16138986301374839, + 0.9214450701261079, + 0.3682373495030864, + 0.1238557110965581, + 0.05312478417820602, + 0.1963789254498801, + -0.9790878790717256 + ], + [ + -0.3734628485294657, + 0.9182262157103128, + 0.13185642779392837, + 0.9251317345265379, + 0.3582129086967633, + 0.12575685196013645, + 0.06824056374457028, + 0.16895007790860103, + -0.9832594248897393 + ], + [ + -0.38070216771133825, + 0.9154051153079253, + 0.1307644231737835, + 0.9210177969004788, + 0.36277304630661833, + 0.14185180529695438, + 0.0824140600412147, + 0.1744396507147972, + -0.9812128876885092 + ], + [ + -0.3807098775547868, + 0.916453602745936, + 0.12317785168695294, + 0.9197370635201234, + 0.3615189053756951, + 0.15293075244482174, + 0.09562281694030683, + 0.1715134836389049, + -0.9805301636413065 + ], + [ + -0.37893791859875303, + 0.9181124503167776, + 0.11608437630175454, + 0.9186978167600778, + 0.3581188686522504, + 0.1665688968430144, + 0.11135697251771608, + 0.16976573414135948, + -0.979172722344293 + ], + [ + -0.38316690563610245, + 0.9181244642392625, + 0.10114638199471929, + 0.9162624218861664, + 0.3639556318652808, + 0.1673304284128904, + 0.11681736456773611, + 0.15679211140523538, + -0.9806986984474575 + ], + [ + -0.3832950417945755, + 0.9183893968875478, + 0.09821316928100866, + 0.9160607251214141, + 0.36441833050856154, + 0.16742768074419848, + 0.11797312755760549, + 0.15414342695644942, + -0.9809801960796141 + ], + [ + -0.3850771636606509, + 0.9166400146235941, + 0.10717584437701053, + 0.9159232843324386, + 0.3653500879612175, + 0.16614406533008974, + 0.1131375943033383, + 0.16214313681925469, + -0.9802599083598521 + ], + [ + -0.3900392793955535, + 0.9111689601579223, + 0.1328174934763029, + 0.9160835378738394, + 0.3694064019827029, + 0.1559803250757711, + 0.09306079821894285, + 0.18251037290774513, + -0.9787898914557346 + ], + [ + -0.3924342177170672, + 0.9085569769129581, + 0.14324665604327425, + 0.9164250491695024, + 0.3729417693920365, + 0.14518803634395044, + 0.07848894202031713, + 0.1882515772723397, + -0.9789794837661348 + ], + [ + -0.37690386023754713, + 0.9149388789999201, + 0.1443271555612641, + 0.922237136977656, + 0.3561934939692774, + 0.1503491204936519, + 0.0861518619490717, + 0.18977102663032647, + -0.9780413151469523 + ], + [ + -0.3837380804916723, + 0.9117605106035137, + 0.1464167233774437, + 0.9190789577815833, + 0.3616989976548172, + 0.15642156008242264, + 0.08966021940462385, + 0.19459343873707702, + -0.9767775789077031 + ], + [ + -0.37769068574657316, + 0.9121481941392187, + 0.15917103325933812, + 0.921735750673502, + 0.3540351263188095, + 0.1583108816941529, + 0.08805084798364385, + 0.20650617729498225, + -0.9744753700881179 + ], + [ + -0.378052884372883, + 0.9112545540554577, + 0.16337427683246913, + 0.9212580766429856, + 0.3528720903328961, + 0.16359964573359864, + 0.0914306996441027, + 0.21235918999958803, + -0.9729049293663327 + ], + [ + -0.358951615922087, + 0.9173399966834409, + 0.17216581516592613, + 0.9289428765039817, + 0.33320723870475477, + 0.1613631564740274, + 0.09065798155392243, + 0.2178537733425289, + -0.9717617320212766 + ], + [ + -0.34608528639838104, + 0.9199474539722122, + 0.18417832790150643, + 0.9324033531494643, + 0.31545927054526574, + 0.1763786712238301, + 0.1041583485573084, + 0.23277055345789127, + -0.966937902798686 + ], + [ + -0.33698032997773664, + 0.9174434054437997, + 0.21152270567430875, + 0.934953979714042, + 0.29960898043449113, + 0.18998819610670606, + 0.11092931544443618, + 0.2617862804859896, + -0.9587296961731916 + ], + [ + -0.33416880108263763, + 0.9120198538844689, + 0.23780453844185706, + 0.9368116710917177, + 0.29369081086707355, + 0.19007788014017957, + 0.10351379274925698, + 0.2862961643696838, + -0.9525331495427709 + ], + [ + -0.3429657586425968, + 0.9102557773185531, + 0.23196747241133714, + 0.9336202016349662, + 0.30308856905605863, + 0.19102522976464595, + 0.10357512972617011, + 0.2820846312115342, + -0.9537821833817508 + ], + [ + -0.37297165485897965, + 0.9032257611704385, + 0.2123096065415706, + 0.921864395045665, + 0.3348031954892303, + 0.19512267279147913, + 0.10515788995051507, + 0.26849589316837325, + -0.957523771784739 + ], + [ + -0.37857348950463654, + 0.9064756024194573, + 0.18704035730976654, + 0.9191331991589091, + 0.34439077708304955, + 0.19128291838019157, + 0.10897832467143431, + 0.2443296438797708, + -0.9635490386448384 + ], + [ + -0.37967877967991714, + 0.9087719908528653, + 0.17314009617095752, + 0.9181723621677602, + 0.3472785151807932, + 0.1906754998553789, + 0.11315271809392805, + 0.23136789218718978, + -0.9662636083661708 + ], + [ + -0.3810902873283433, + 0.9114634427115662, + 0.15493413279319657, + 0.9167400735310267, + 0.3508132249445833, + 0.19109609830216015, + 0.11982416486806119, + 0.21485919529859646, + -0.9692665761849579 + ], + [ + -0.3781033698439705, + 0.9136101317067513, + 0.1495137751359607, + 0.9167858376646099, + 0.34708394726211467, + 0.19757646977955015, + 0.12861403333320032, + 0.2117764406059431, + -0.9688184399742008 + ], + [ + -0.37590132748623833, + 0.9142610077620466, + 0.151079454857406, + 0.9176201947567539, + 0.34453697138527367, + 0.1981601713847664, + 0.12911766017342755, + 0.21312223026843133, + -0.9684562689129277 + ], + [ + -0.3888282274969342, + 0.9101828430113382, + 0.14275784317994641, + 0.9118723071619325, + 0.358074664451785, + 0.20067742800055013, + 0.131535185151224, + 0.20820597245405661, + -0.9692000660863029 + ], + [ + -0.40283012672784685, + 0.9031846310049662, + 0.14827478314551643, + 0.9066699406702258, + 0.37161021598692806, + 0.19963833814976015, + 0.12520985458611547, + 0.21485662589404061, + -0.9685861462069092 + ], + [ + -0.42948714481400346, + 0.891878358349713, + 0.14175255322898378, + 0.896549428577724, + 0.4022662098188741, + 0.18542119230258863, + 0.10835088627450767, + 0.2067241890669259, + -0.972381198449533 + ], + [ + -0.41511278501607374, + 0.899052092214738, + 0.1392361705897602, + 0.9030736042512024, + 0.3886681504795254, + 0.18274335585067758, + 0.11017913151292028, + 0.2015996138069882, + -0.9732513317185503 + ], + [ + -0.4150646116944903, + 0.8979570956594878, + 0.1462683235484673, + 0.9038306564862926, + 0.38860681797927704, + 0.17909462698690373, + 0.10397842331204615, + 0.2065376367028495, + -0.9728980892728396 + ], + [ + -0.4006271260144636, + 0.9045399405575848, + 0.1459637004103136, + 0.9099206591844705, + 0.37410262403517147, + 0.1791413427416956, + 0.10743509617759735, + 0.2045842677873346, + -0.9729352380725196 + ], + [ + -0.38921034836641594, + 0.9100230460308274, + 0.1427352809128418, + 0.914488673496562, + 0.3631293691772756, + 0.17845875514362455, + 0.11057020742944931, + 0.19998779196163088, + -0.9735394764955965 + ], + [ + -0.3864911084946775, + 0.9098960765865627, + 0.15071082531435978, + 0.9158024581069479, + 0.35926025118395566, + 0.17954924016690513, + 0.10922674022338727, + 0.20741552914770175, + -0.9721359562780052 + ], + [ + -0.37589299730869136, + 0.9144368642138396, + 0.1500322496700227, + 0.9201348276414989, + 0.3491359200266935, + 0.177358417641406, + 0.1098014277477179, + 0.20471768539594745, + -0.9726429538893955 + ], + [ + -0.36842729431044585, + 0.9173161797725783, + 0.1509713719038393, + 0.9230587082593061, + 0.3416434408522737, + 0.17675514258227487, + 0.11056197318131378, + 0.20447685847073777, + -0.9726074564983515 + ], + [ + -0.34955802657294477, + 0.925556980263817, + 0.14544229901700562, + 0.9282591890644065, + 0.3210781505623095, + 0.18773305289420036, + 0.12705929315055298, + 0.2006317460333996, + -0.9713922166188437 + ], + [ + -0.3327484408560068, + 0.9246446865296067, + 0.18523141952828198, + 0.934029500803933, + 0.29610504270795274, + 0.1997766135233992, + 0.12987442679701316, + 0.23948696698460914, + -0.96217390627093 + ], + [ + -0.3326911672896135, + 0.918274500785455, + 0.21468238962406094, + 0.9342601206245943, + 0.28995628363133114, + 0.20756536462816969, + 0.12835347372779737, + 0.2696243586731914, + -0.9543731403345745 + ], + [ + -0.33804613484263557, + 0.9115423607199827, + 0.23412675056685855, + 0.9336690671012812, + 0.293561454209867, + 0.20514323225593364, + 0.11826615685046359, + 0.2879447815384566, + -0.9503162204911544 + ], + [ + -0.3588175867650243, + 0.9043738949114443, + 0.23099306836099845, + 0.9274770784837058, + 0.3175949618656271, + 0.19728078741960986, + 0.10505335937253366, + 0.28502859225045385, + -0.9527447156947502 + ], + [ + -0.36123274911938186, + 0.9124429947536719, + 0.19224641033997072, + 0.927885440469006, + 0.3313007734760933, + 0.171080118248091, + 0.09240947099346572, + 0.24018238657131585, + -0.9663192592780167 + ], + [ + -0.36440880334852, + 0.9151401733656994, + 0.17240848915960322, + 0.928726910917052, + 0.3435531813358681, + 0.13941856595329744, + 0.0683560456768056, + 0.2109257563366822, + -0.9751091099632023 + ], + [ + -0.3610342803207387, + 0.920526905626829, + 0.14927981930046968, + 0.9308173504637494, + 0.3459548528011156, + 0.11787408493389745, + 0.05686218874552352, + 0.18150883130154577, + -0.9817439766306769 + ], + [ + -0.3491879774051612, + 0.9274057515800204, + 0.13411311782219468, + 0.9359092272323454, + 0.3381029886993579, + 0.09879416690227966, + 0.04627823264825748, + 0.1600154397827257, + -0.9860290990706584 + ], + [ + -0.32044028439158667, + 0.9412908756590039, + 0.1062521131090784, + 0.9457872996917125, + 0.3116495034913237, + 0.09143834379225207, + 0.05295666040166977, + 0.1297924280330586, + -0.9901260110432334 + ], + [ + -0.2937919849931108, + 0.9518951201488532, + 0.08707439227814542, + 0.9532680858849565, + 0.2850583386282906, + 0.10010844126101603, + 0.07047145512219308, + 0.11241629692922364, + -0.9911590942919717 + ], + [ + -0.24895431912772864, + 0.9669369001857956, + 0.0552700465599027, + 0.9626286095075015, + 0.2407556614865814, + 0.12402770504936694, + 0.10662038803766949, + 0.08408176093091388, + -0.990738285488884 + ], + [ + -0.23597368586697354, + 0.9660385116610657, + 0.10529013992785617, + 0.9615011749776858, + 0.21640619068902034, + 0.169363074924839, + 0.1408258147318318, + 0.14120182229397735, + -0.9799133304971289 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006128.json b/json/chunk-0006/episode_0006128.json new file mode 100644 index 0000000000000000000000000000000000000000..5327dc95eceec052a4c89aa5b4b5528f670b33aa --- /dev/null +++ b/json/chunk-0006/episode_0006128.json @@ -0,0 +1,2062 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 33, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPICK UP THE SPOON AND PUT ANOTHER SIDE OF THE TABLE." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006128.mp4", + "start": 0, + "end": 33, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3694678246974945, + 0.14915820956230164, + 0.08405125886201859, + -0.2320883870124817, + -0.33030015230178833, + 1.6331253051757812, + 0.0, + 1.0001531839370728 + ], + [ + 0.3674779236316681, + 0.14805863797664642, + 0.06966932862997055, + -0.18821914494037628, + -0.31540894508361816, + 1.6257730722427368, + 0.0, + 1.0001531839370728 + ], + [ + 0.38373902440071106, + 0.14954881370067596, + 0.06472763419151306, + -0.13553479313850403, + -0.2752167880535126, + 1.6444604396820068, + 0.0, + 1.0008161067962646 + ], + [ + 0.39639362692832947, + 0.1548324078321457, + 0.06882653385400772, + -0.1271994411945343, + -0.23890329897403717, + 1.6434340476989746, + 0.0, + 1.0001531839370728 + ], + [ + 0.41029927134513855, + 0.1695009469985962, + 0.06467228382825851, + -0.13997119665145874, + -0.2354176640510559, + 1.6507469415664673, + 0.0, + 0.9994885921478271 + ], + [ + 0.41939201951026917, + 0.1787443310022354, + 0.0621434710919857, + -0.13580496609210968, + -0.22829098999500275, + 1.658473014831543, + 0.0, + 0.9994885921478271 + ], + [ + 0.4249780774116516, + 0.1907890886068344, + 0.05270541086792946, + -0.14154769480228424, + -0.21697640419006348, + 1.6619497537612915, + 0.0, + 0.9994885921478271 + ], + [ + 0.4276926815509796, + 0.198792964220047, + 0.04937778040766716, + -0.15322725474834442, + -0.23988305032253265, + 1.6521751880645752, + 0.0, + 0.9994885921478271 + ], + [ + 0.43116655945777893, + 0.20024777948856354, + 0.03399994224309921, + -0.12846733629703522, + -0.242623433470726, + 1.6234513521194458, + 0.0, + 0.9907060265541077 + ], + [ + 0.431842565536499, + 0.20168927311897278, + 0.032342541962862015, + -0.1289151906967163, + -0.2523486912250519, + 1.6144415140151978, + 0.0, + 0.8810233473777771 + ], + [ + 0.4332354664802551, + 0.1985403299331665, + 0.020331406965851784, + -0.11190328747034073, + -0.257821261882782, + 1.6015381813049316, + 0.0, + 0.5869058966636658 + ], + [ + 0.43333813548088074, + 0.19854900240898132, + 0.019642595201730728, + -0.11149980872869492, + -0.2578657269477844, + 1.5996226072311401, + 0.0, + 0.442066490650177 + ], + [ + 0.4336172640323639, + 0.19808463752269745, + 0.020926671102643013, + -0.11098267883062363, + -0.2549901306629181, + 1.594645380973816, + 0.0, + 0.4411471486091614 + ], + [ + 0.43230435252189636, + 0.19668163359165192, + 0.019795753061771393, + -0.10235844552516937, + -0.23761974275112152, + 1.5876175165176392, + 0.0, + 0.4411471486091614 + ], + [ + 0.42809364199638367, + 0.19408436119556427, + 0.028310168534517288, + -0.09785433113574982, + -0.2272181361913681, + 1.599698781967163, + 0.0, + 0.4411471486091614 + ], + [ + 0.4246746003627777, + 0.17837199568748474, + 0.06237975135445595, + -0.1597779095172882, + -0.19108060002326965, + 1.5752393007278442, + 0.0, + 0.44022873044013977 + ], + [ + 0.41541817784309387, + 0.14880648255348206, + 0.07974407821893692, + -0.19532020390033722, + -0.15350060164928436, + 1.4852557182312012, + 0.0, + 0.44022873044013977 + ], + [ + 0.39778390526771545, + 0.11355812847614288, + 0.09214738756418228, + -0.22144876420497894, + -0.12997472286224365, + 1.3447821140289307, + 0.0, + 0.44022873044013977 + ], + [ + 0.37817540764808655, + 0.08172492682933807, + 0.09247767180204391, + -0.22130370140075684, + -0.1313880831003189, + 1.1470367908477783, + 0.0, + 0.44022873044013977 + ], + [ + 0.3621203303337097, + 0.05208822339773178, + 0.08191899210214615, + -0.20766478776931763, + -0.13148854672908783, + 0.8937954902648926, + 0.0, + 0.44022873044013977 + ], + [ + 0.34621739387512207, + 0.02283945493400097, + 0.07684271782636642, + -0.20712468028068542, + -0.15214122831821442, + 0.6997416615486145, + 0.0, + 0.44022873044013977 + ], + [ + 0.3345346450805664, + -0.0015071891248226166, + 0.0655045285820961, + -0.18961629271507263, + -0.14695115387439728, + 0.5530233383178711, + 0.0, + 0.44022873044013977 + ], + [ + 0.3275679647922516, + -0.023177295923233032, + 0.056017182767391205, + -0.17983897030353546, + -0.16050362586975098, + 0.4387277662754059, + 0.0, + 0.44022873044013977 + ], + [ + 0.3303215503692627, + -0.04550422355532646, + 0.05518634617328644, + -0.18872672319412231, + -0.1991749256849289, + 0.3524799644947052, + 0.0, + 0.44022873044013977 + ], + [ + 0.3325272500514984, + -0.06252069771289825, + 0.036844972521066666, + -0.1724870502948761, + -0.1875258833169937, + 0.28290992975234985, + 0.0, + 0.44022873044013977 + ], + [ + 0.3420131802558899, + -0.07233556360006332, + 0.021930845454335213, + -0.165580153465271, + -0.18520192801952362, + 0.24281226098537445, + 0.0, + 0.44022873044013977 + ], + [ + 0.3462759256362915, + -0.07672390341758728, + 0.013743476942181587, + -0.17493341863155365, + -0.17316682636737823, + 0.20095273852348328, + 0.0, + 0.44022873044013977 + ], + [ + 0.34756943583488464, + -0.07639338821172714, + 0.013158856891095638, + -0.18326616287231445, + -0.1584029346704483, + 0.15989375114440918, + 0.0, + 0.48038846254348755 + ], + [ + 0.3464544117450714, + -0.07538725435733795, + 0.012856430374085903, + -0.17822259664535522, + -0.15921248495578766, + 0.16054905951023102, + 0.0, + 0.7749528288841248 + ], + [ + 0.3413431942462921, + -0.07163017988204956, + 0.01809096336364746, + -0.19705833494663239, + -0.15844103693962097, + 0.1732337325811386, + 0.0, + 1.0008161067962646 + ], + [ + 0.3411884009838104, + -0.07040932029485703, + 0.027421696111559868, + -0.21412335336208344, + -0.16285179555416107, + 0.17774319648742676, + 0.0, + 1.0067112445831299 + ], + [ + 0.34105923771858215, + -0.06415002793073654, + 0.0394994392991066, + -0.22829744219779968, + -0.16707101464271545, + 0.2044961154460907, + 0.0, + 1.0014774799346924 + ], + [ + 0.3437836468219757, + -0.059392932802438736, + 0.06706474721431732, + -0.2761833667755127, + -0.21389207243919373, + 0.22922773659229279, + 0.0, + 1.0008161067962646 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9907060265541077 + ], + [ + 0.8810233473777771 + ], + [ + 0.5869058966636658 + ], + [ + 0.442066490650177 + ], + [ + 0.4411471486091614 + ], + [ + 0.4411471486091614 + ], + [ + 0.4411471486091614 + ], + [ + 0.44022873044013977 + ], + [ + 0.44022873044013977 + ], + [ + 0.44022873044013977 + ], + [ + 0.44022873044013977 + ], + [ + 0.44022873044013977 + ], + [ + 0.44022873044013977 + ], + [ + 0.44022873044013977 + ], + [ + 0.44022873044013977 + ], + [ + 0.44022873044013977 + ], + [ + 0.44022873044013977 + ], + [ + 0.44022873044013977 + ], + [ + 0.44022873044013977 + ], + [ + 0.48038846254348755 + ], + [ + 0.7749528288841248 + ], + [ + 1.0008161067962646 + ], + [ + 1.0067112445831299 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3694678246974945, + 0.14915820956230164, + 0.08405125886201859 + ], + [ + 0.3674779236316681, + 0.14805863797664642, + 0.06966932862997055 + ], + [ + 0.38373902440071106, + 0.14954881370067596, + 0.06472763419151306 + ], + [ + 0.39639362692832947, + 0.1548324078321457, + 0.06882653385400772 + ], + [ + 0.41029927134513855, + 0.1695009469985962, + 0.06467228382825851 + ], + [ + 0.41939201951026917, + 0.1787443310022354, + 0.0621434710919857 + ], + [ + 0.4249780774116516, + 0.1907890886068344, + 0.05270541086792946 + ], + [ + 0.4276926815509796, + 0.198792964220047, + 0.04937778040766716 + ], + [ + 0.43116655945777893, + 0.20024777948856354, + 0.03399994224309921 + ], + [ + 0.431842565536499, + 0.20168927311897278, + 0.032342541962862015 + ], + [ + 0.4332354664802551, + 0.1985403299331665, + 0.020331406965851784 + ], + [ + 0.43333813548088074, + 0.19854900240898132, + 0.019642595201730728 + ], + [ + 0.4336172640323639, + 0.19808463752269745, + 0.020926671102643013 + ], + [ + 0.43230435252189636, + 0.19668163359165192, + 0.019795753061771393 + ], + [ + 0.42809364199638367, + 0.19408436119556427, + 0.028310168534517288 + ], + [ + 0.4246746003627777, + 0.17837199568748474, + 0.06237975135445595 + ], + [ + 0.41541817784309387, + 0.14880648255348206, + 0.07974407821893692 + ], + [ + 0.39778390526771545, + 0.11355812847614288, + 0.09214738756418228 + ], + [ + 0.37817540764808655, + 0.08172492682933807, + 0.09247767180204391 + ], + [ + 0.3621203303337097, + 0.05208822339773178, + 0.08191899210214615 + ], + [ + 0.34621739387512207, + 0.02283945493400097, + 0.07684271782636642 + ], + [ + 0.3345346450805664, + -0.0015071891248226166, + 0.0655045285820961 + ], + [ + 0.3275679647922516, + -0.023177295923233032, + 0.056017182767391205 + ], + [ + 0.3303215503692627, + -0.04550422355532646, + 0.05518634617328644 + ], + [ + 0.3325272500514984, + -0.06252069771289825, + 0.036844972521066666 + ], + [ + 0.3420131802558899, + -0.07233556360006332, + 0.021930845454335213 + ], + [ + 0.3462759256362915, + -0.07672390341758728, + 0.013743476942181587 + ], + [ + 0.34756943583488464, + -0.07639338821172714, + 0.013158856891095638 + ], + [ + 0.3464544117450714, + -0.07538725435733795, + 0.012856430374085903 + ], + [ + 0.3413431942462921, + -0.07163017988204956, + 0.01809096336364746 + ], + [ + 0.3411884009838104, + -0.07040932029485703, + 0.027421696111559868 + ], + [ + 0.34105923771858215, + -0.06415002793073654, + 0.0394994392991066 + ], + [ + 0.3437836468219757, + -0.059392932802438736, + 0.06706474721431732 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + -0.05892161978330673, + 0.9759450520064328, + 0.2099035449588042, + 0.9441081817651802, + -0.013835167742431043, + 0.3293453039859294, + 0.3243269705808583, + 0.21757721295599888, + -0.9205825180591597 + ], + [ + -0.052238396812087695, + 0.9840442277400517, + 0.17008264976177995, + 0.9492332911870472, + -0.0039761487816742935, + 0.31454784873381747, + 0.3102052688151982, + 0.17787958874573392, + -0.9338798333334644 + ], + [ + -0.07082776304571048, + 0.9908445848295183, + 0.11493666384561699, + 0.9597563944054462, + 0.03630247221970123, + 0.27847763628089683, + 0.27175557285877017, + 0.13003514611349307, + -0.9535406490524903 + ], + [ + -0.07051262502577266, + 0.991483993291061, + 0.10948726300162222, + 0.9690360145813076, + 0.042047681790423674, + 0.24331295670479058, + 0.23663721633832413, + 0.12325373626654436, + -0.9637485897992206 + ], + [ + -0.07766253793524636, + 0.9896558623544734, + 0.120622569649632, + 0.9693107677481102, + 0.0466466727647209, + 0.2413725822200001, + 0.23324914947117406, + 0.13566636291802378, + -0.9629067827383757 + ], + [ + -0.08529250544705291, + 0.9896698762065296, + 0.11523334866225622, + 0.97031310948833, + 0.056235789143382786, + 0.23522331001520463, + 0.22631318580598114, + 0.1318752143079724, + -0.9650861463007196 + ], + [ + -0.08889291614032468, + 0.9886533006154199, + 0.12108963887263348, + 0.9724985710370462, + 0.05987251701586893, + 0.2250817874397823, + 0.21527791059691204, + 0.13776767722662703, + -0.9667861647337571 + ], + [ + -0.07896141873050327, + 0.9879607679257325, + 0.13303614317794765, + 0.9681510979879255, + 0.04419384268100607, + 0.24643529725642166, + 0.23758902713896646, + 0.1482579687864492, + -0.959984910753537 + ], + [ + -0.05108919863608674, + 0.9920048243432046, + 0.11539637023117369, + 0.9693656735943011, + 0.02146019156130985, + 0.24468275590081684, + 0.24025004607656023, + 0.12436192607852099, + -0.9627118087476911 + ], + [ + -0.04224946978017752, + 0.9921580336691231, + 0.11763255726673941, + 0.9674065349116867, + 0.01120151448770318, + 0.252980478067666, + 0.2496789508818413, + 0.12448679568131166, + -0.9602934234844797 + ], + [ + -0.029721086546630138, + 0.994150993697824, + 0.10382898797598308, + 0.9664909185705061, + 0.0020852512782805754, + 0.2566923373376111, + 0.25497443270890363, + 0.10797894913702184, + -0.9608998830305044 + ], + [ + -0.0278693214041556, + 0.9941953122404305, + 0.1039181506938245, + 0.9665347445464695, + 0.00027958615734202663, + 0.2565355909344186, + 0.2550174278533971, + 0.10758997606995348, + -0.9609321040220812 + ], + [ + -0.02307572609978098, + 0.9942313086542215, + 0.10474548084133524, + 0.9673906049722832, + -0.004228353081622893, + 0.25325390113792395, + 0.2522358584268465, + 0.10717381173557171, + -0.9617124548438273 + ], + [ + -0.016347760418364332, + 0.9950297799592679, + 0.09822671593570985, + 0.9717635184686567, + -0.007316334701697236, + 0.23584345532566628, + 0.2353899209879653, + 0.09930865138920988, + -0.9668140342674676 + ], + [ + -0.028155650066787774, + 0.9954364403009951, + 0.0911786855037951, + 0.9738899170898262, + 0.006761084836593656, + 0.226920067694781, + 0.2252680375909734, + 0.09518708448479636, + -0.9696358750516587 + ], + [ + -0.0043620955939300265, + 0.9873871465474672, + 0.15826431990464565, + 0.981789890534878, + -0.025829396575080488, + 0.1882058796001852, + 0.1899199383043855, + 0.15620328135291467, + -0.9692940482273893 + ], + [ + 0.08443175805469966, + 0.9748634382075568, + 0.20618572956907918, + 0.9846285217659948, + -0.11337794559094011, + 0.13286126440196816, + 0.15289850344821734, + 0.19179863998401714, + -0.9694510453568952 + ], + [ + 0.22220469353277322, + 0.9443891703962791, + 0.24239259272971642, + 0.9663470188717539, + -0.24636630390446052, + 0.07400732003071929, + 0.12960907873170235, + 0.2177905855143487, + -0.9673514085231059 + ], + [ + 0.40764630251459577, + 0.8774941324844502, + 0.25264310697412795, + 0.9036928517963133, + -0.4273757239242981, + 0.026253003874384007, + 0.13101038759741535, + 0.21760982986883676, + -0.9672033086616436 + ], + [ + 0.6210504379702073, + 0.7457743141315577, + 0.2410747309002301, + 0.7727266822216391, + -0.6340686693664782, + -0.029161569068924476, + 0.13110998466841353, + 0.20439568221816326, + -0.970068336258235 + ], + [ + 0.7561718439633862, + 0.6064120833287077, + 0.24590349243137888, + 0.6365808924109353, + -0.7687295438756865, + -0.06180336390502322, + 0.15155497291184478, + 0.20327142830613437, + -0.9673219818757736 + ], + [ + 0.8417690138937003, + 0.49236351511945425, + 0.22136642976666943, + 0.5196010792884543, + -0.8501848792560641, + -0.0848551087832935, + 0.14642283172613585, + 0.18645063706934895, + -0.9714919012970377 + ], + [ + 0.8936570255870879, + 0.3920582731671308, + 0.2183287224806807, + 0.41932823070483205, + -0.9028358680182684, + -0.09513795432767422, + 0.15981537958780373, + 0.17657209819477973, + -0.9712267184269073 + ], + [ + 0.9199650724022884, + 0.3042583549341529, + 0.24716617691871828, + 0.3384012920743553, + -0.9346699242105438, + -0.10898026563861513, + 0.19786063550453625, + 0.18389939159502217, + -0.9628251049327295 + ], + [ + 0.9434126097778524, + 0.2442834004702634, + 0.22427275350970832, + 0.27425713791428746, + -0.9549301308479375, + -0.11354059847386787, + 0.18642872636802782, + 0.16862403581170002, + -0.9678895931517031 + ], + [ + 0.9540663836096912, + 0.2076836286678406, + 0.21592787233075006, + 0.23632170904795294, + -0.9646873017480782, + -0.1163205041197282, + 0.18414501214689705, + 0.16200592652545626, + -0.969455875361044 + ], + [ + 0.9652218683971922, + 0.16717212535727785, + 0.2009980728050998, + 0.1966177362805501, + -0.9709077935236061, + -0.13667304875151845, + 0.17230267133084637, + 0.17143960154717305, + -0.9700104393632065 + ], + [ + 0.9748843676216944, + 0.12816667523708802, + 0.18213668802720676, + 0.1572200374222032, + -0.9752884445395125, + -0.15522341891821434, + 0.15774133763795165, + 0.17996042149975433, + -0.9709438279807028 + ], + [ + 0.97465475400801, + 0.12958336232989862, + 0.18236299706043266, + 0.15783838769648625, + -0.9759967712414038, + -0.15005780851301384, + 0.1585407009539155, + 0.17503843787475035, + -0.9717131219693435 + ], + [ + 0.972694454856586, + 0.13860421805002515, + 0.18615683772021366, + 0.17020956611920252, + -0.9712935561619744, + -0.16618523207474883, + 0.15777896276995138, + 0.1933331282966434, + -0.9683636199332727 + ], + [ + 0.9712226008187111, + 0.1388620155764063, + 0.19350452265773216, + 0.17446940758479876, + -0.9678594368366104, + -0.18113126826511552, + 0.16213292532964502, + 0.20967940088711093, + -0.9642341330650324 + ], + [ + 0.9655296326083176, + 0.16095310505822638, + 0.20456448012145959, + 0.2002462152344607, + -0.9614000447541973, + -0.18870984932138987, + 0.1662948641405426, + 0.22316821440057985, + -0.9604904821192844 + ], + [ + 0.9516504117640341, + 0.1622468757073141, + 0.26083988405257386, + 0.22204755153338473, + -0.9500888202672165, + -0.2191486218557584, + 0.21226487850648698, + 0.266471733822679, + -0.9401789385144522 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.001989901065826416, + -0.0010995715856552124, + -0.014381930232048035, + 0.04386924207210541, + 0.014891207218170166, + -0.007352232933044434, + 1.0 + ], + [ + 0.01626110076904297, + 0.001490175724029541, + -0.004941694438457489, + 0.05268435180187225, + 0.04019215703010559, + 0.01868736743927002, + 1.0 + ], + [ + 0.012654602527618408, + 0.0052835941314697266, + 0.004098899662494659, + 0.008335351943969727, + 0.0363134890794754, + -0.0010263919830322266, + 1.0 + ], + [ + 0.013905644416809082, + 0.0146685391664505, + -0.0041542500257492065, + -0.012771755456924438, + 0.003485634922981262, + 0.007312893867492676, + 1.0 + ], + [ + 0.009092748165130615, + 0.009243384003639221, + -0.002528812736272812, + 0.00416623055934906, + 0.007126674056053162, + 0.007726073265075684, + 1.0 + ], + [ + 0.005586057901382446, + 0.012044757604598999, + -0.009438060224056244, + -0.0057427287101745605, + 0.01131458580493927, + 0.003476738929748535, + 1.0 + ], + [ + 0.002714604139328003, + 0.008003875613212585, + -0.0033276304602622986, + -0.01167955994606018, + -0.022906646132469177, + -0.009774565696716309, + 1.0 + ], + [ + 0.0034738779067993164, + 0.0014548152685165405, + -0.015377838164567947, + 0.024759918451309204, + -0.0027403831481933594, + -0.028723835945129395, + 0.0 + ], + [ + 0.0006760060787200928, + 0.0014414936304092407, + -0.0016574002802371979, + -0.0004478543996810913, + -0.009725257754325867, + -0.009009838104248047, + 0.0 + ], + [ + 0.0013929009437561035, + -0.0031489431858062744, + -0.012011134997010231, + 0.01701190322637558, + -0.0054725706577301025, + -0.012903332710266113, + 0.0 + ], + [ + 0.00010266900062561035, + 8.672475814819336e-06, + -0.0006888117641210556, + 0.000403478741645813, + -4.4465065002441406e-05, + -0.001915574073791504, + 0.0 + ], + [ + 0.0002791285514831543, + -0.0004643648862838745, + 0.0012840759009122849, + 0.0005171298980712891, + 0.002875596284866333, + -0.004977226257324219, + 0.0 + ], + [ + -0.0013129115104675293, + -0.0014030039310455322, + -0.0011309180408716202, + 0.008624233305454254, + 0.01737038791179657, + -0.007027864456176758, + 0.0 + ], + [ + -0.004210710525512695, + -0.0025972723960876465, + 0.008514415472745895, + 0.004504114389419556, + 0.010401606559753418, + 0.012081265449523926, + 0.0 + ], + [ + -0.003419041633605957, + -0.01571236550807953, + 0.03406958281993866, + -0.06192357838153839, + 0.03613753616809845, + -0.024459481239318848, + 0.0 + ], + [ + -0.009256422519683838, + -0.029565513134002686, + 0.017364326864480972, + -0.03554229438304901, + 0.03757999837398529, + -0.08998358249664307, + 0.0 + ], + [ + -0.017634272575378418, + -0.03524835407733917, + 0.012403309345245361, + -0.026128560304641724, + 0.02352587878704071, + -0.1404736042022705, + 0.0 + ], + [ + -0.019608497619628906, + -0.03183320164680481, + 0.0003302842378616333, + 0.00014506280422210693, + -0.0014133602380752563, + -0.19774532318115234, + 0.0 + ], + [ + -0.01605507731437683, + -0.029636703431606293, + -0.010558679699897766, + 0.013638913631439209, + -0.0001004636287689209, + -0.25324130058288574, + 0.0 + ], + [ + -0.015902936458587646, + -0.029248768463730812, + -0.005076274275779724, + 0.0005401074886322021, + -0.020652681589126587, + -0.19405382871627808, + 0.0 + ], + [ + -0.011682748794555664, + -0.024346644058823586, + -0.011338189244270325, + 0.017508387565612793, + 0.005190074443817139, + -0.1467183232307434, + 0.0 + ], + [ + -0.006966680288314819, + -0.021670106798410416, + -0.009487345814704895, + 0.00977732241153717, + -0.013552471995353699, + -0.11429557204246521, + 0.0 + ], + [ + 0.0027535855770111084, + -0.02232692763209343, + -0.0008308365941047668, + -0.008887752890586853, + -0.03867129981517792, + -0.08624780178070068, + 0.0 + ], + [ + 0.0022056996822357178, + -0.017016474157571793, + -0.018341373652219772, + 0.016239672899246216, + 0.01164904236793518, + -0.06957003474235535, + 0.0 + ], + [ + 0.00948593020439148, + -0.00981486588716507, + -0.014914127066731453, + 0.0069068968296051025, + 0.0023239552974700928, + -0.0400976687669754, + 0.0 + ], + [ + 0.004262745380401611, + -0.004388339817523956, + -0.008187368512153625, + -0.009353265166282654, + 0.012035101652145386, + -0.041859522461891174, + 1.0 + ], + [ + 0.0012935101985931396, + 0.00033051520586013794, + -0.0005846200510859489, + -0.008332744240760803, + 0.014763891696929932, + -0.0410589873790741, + 1.0 + ], + [ + -0.0011150240898132324, + 0.0010061338543891907, + -0.0003024265170097351, + 0.0050435662269592285, + -0.0008095502853393555, + 0.0006553083658218384, + 1.0 + ], + [ + -0.005111217498779297, + 0.003757074475288391, + 0.005234532989561558, + -0.01883573830127716, + 0.000771448016166687, + 0.012684673070907593, + 1.0 + ], + [ + -0.00015479326248168945, + 0.0012208595871925354, + 0.009330732747912407, + -0.01706501841545105, + -0.0044107586145401, + 0.004509463906288147, + 1.0 + ], + [ + -0.00012916326522827148, + 0.006259292364120483, + 0.01207774318754673, + -0.014174088835716248, + -0.004219219088554382, + 0.02675291895866394, + 1.0 + ], + [ + 0.0027244091033935547, + 0.004757095128297806, + 0.027565307915210724, + -0.04788592457771301, + -0.04682105779647827, + 0.024731621146202087, + 1.0 + ], + [ + -0.0028261542320251465, + 0.01258067786693573, + 0.026220321655273438, + -0.06394234299659729, + -0.059087008237838745, + 0.025181427597999573, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9907060265541077 + ], + [ + 0.8810233473777771 + ], + [ + 0.5869058966636658 + ], + [ + 0.442066490650177 + ], + [ + 0.4411471486091614 + ], + [ + 0.4411471486091614 + ], + [ + 0.4411471486091614 + ], + [ + 0.44022873044013977 + ], + [ + 0.44022873044013977 + ], + [ + 0.44022873044013977 + ], + [ + 0.44022873044013977 + ], + [ + 0.44022873044013977 + ], + [ + 0.44022873044013977 + ], + [ + 0.44022873044013977 + ], + [ + 0.44022873044013977 + ], + [ + 0.44022873044013977 + ], + [ + 0.44022873044013977 + ], + [ + 0.44022873044013977 + ], + [ + 0.44022873044013977 + ], + [ + 0.48038846254348755 + ], + [ + 0.7749528288841248 + ], + [ + 1.0008161067962646 + ], + [ + 1.0067112445831299 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3674779236316681, + 0.14805863797664642, + 0.06966932862997055 + ], + [ + 0.38373902440071106, + 0.14954881370067596, + 0.06472763419151306 + ], + [ + 0.39639362692832947, + 0.1548324078321457, + 0.06882653385400772 + ], + [ + 0.41029927134513855, + 0.1695009469985962, + 0.06467228382825851 + ], + [ + 0.41939201951026917, + 0.1787443310022354, + 0.0621434710919857 + ], + [ + 0.4249780774116516, + 0.1907890886068344, + 0.05270541086792946 + ], + [ + 0.4276926815509796, + 0.198792964220047, + 0.04937778040766716 + ], + [ + 0.43116655945777893, + 0.20024777948856354, + 0.03399994224309921 + ], + [ + 0.431842565536499, + 0.20168927311897278, + 0.032342541962862015 + ], + [ + 0.4332354664802551, + 0.1985403299331665, + 0.020331406965851784 + ], + [ + 0.43333813548088074, + 0.19854900240898132, + 0.019642595201730728 + ], + [ + 0.4336172640323639, + 0.19808463752269745, + 0.020926671102643013 + ], + [ + 0.43230435252189636, + 0.19668163359165192, + 0.019795753061771393 + ], + [ + 0.42809364199638367, + 0.19408436119556427, + 0.028310168534517288 + ], + [ + 0.4246746003627777, + 0.17837199568748474, + 0.06237975135445595 + ], + [ + 0.41541817784309387, + 0.14880648255348206, + 0.07974407821893692 + ], + [ + 0.39778390526771545, + 0.11355812847614288, + 0.09214738756418228 + ], + [ + 0.37817540764808655, + 0.08172492682933807, + 0.09247767180204391 + ], + [ + 0.3621203303337097, + 0.05208822339773178, + 0.08191899210214615 + ], + [ + 0.34621739387512207, + 0.02283945493400097, + 0.07684271782636642 + ], + [ + 0.3345346450805664, + -0.0015071891248226166, + 0.0655045285820961 + ], + [ + 0.3275679647922516, + -0.023177295923233032, + 0.056017182767391205 + ], + [ + 0.3303215503692627, + -0.04550422355532646, + 0.05518634617328644 + ], + [ + 0.3325272500514984, + -0.06252069771289825, + 0.036844972521066666 + ], + [ + 0.3420131802558899, + -0.07233556360006332, + 0.021930845454335213 + ], + [ + 0.3462759256362915, + -0.07672390341758728, + 0.013743476942181587 + ], + [ + 0.34756943583488464, + -0.07639338821172714, + 0.013158856891095638 + ], + [ + 0.3464544117450714, + -0.07538725435733795, + 0.012856430374085903 + ], + [ + 0.3413431942462921, + -0.07163017988204956, + 0.01809096336364746 + ], + [ + 0.3411884009838104, + -0.07040932029485703, + 0.027421696111559868 + ], + [ + 0.34105923771858215, + -0.06415002793073654, + 0.0394994392991066 + ], + [ + 0.3437836468219757, + -0.059392932802438736, + 0.06706474721431732 + ], + [ + 0.34095749258995056, + -0.046812254935503006, + 0.09328506886959076 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + -0.052238396812087695, + 0.9840442277400517, + 0.17008264976177995, + 0.9492332911870472, + -0.0039761487816742935, + 0.31454784873381747, + 0.3102052688151982, + 0.17787958874573392, + -0.9338798333334644 + ], + [ + -0.07082776304571048, + 0.9908445848295183, + 0.11493666384561699, + 0.9597563944054462, + 0.03630247221970123, + 0.27847763628089683, + 0.27175557285877017, + 0.13003514611349307, + -0.9535406490524903 + ], + [ + -0.07051262502577266, + 0.991483993291061, + 0.10948726300162222, + 0.9690360145813076, + 0.042047681790423674, + 0.24331295670479058, + 0.23663721633832413, + 0.12325373626654436, + -0.9637485897992206 + ], + [ + -0.07766253793524636, + 0.9896558623544734, + 0.120622569649632, + 0.9693107677481102, + 0.0466466727647209, + 0.2413725822200001, + 0.23324914947117406, + 0.13566636291802378, + -0.9629067827383757 + ], + [ + -0.08529250544705291, + 0.9896698762065296, + 0.11523334866225622, + 0.97031310948833, + 0.056235789143382786, + 0.23522331001520463, + 0.22631318580598114, + 0.1318752143079724, + -0.9650861463007196 + ], + [ + -0.08889291614032468, + 0.9886533006154199, + 0.12108963887263348, + 0.9724985710370462, + 0.05987251701586893, + 0.2250817874397823, + 0.21527791059691204, + 0.13776767722662703, + -0.9667861647337571 + ], + [ + -0.07896141873050327, + 0.9879607679257325, + 0.13303614317794765, + 0.9681510979879255, + 0.04419384268100607, + 0.24643529725642166, + 0.23758902713896646, + 0.1482579687864492, + -0.959984910753537 + ], + [ + -0.05108919863608674, + 0.9920048243432046, + 0.11539637023117369, + 0.9693656735943011, + 0.02146019156130985, + 0.24468275590081684, + 0.24025004607656023, + 0.12436192607852099, + -0.9627118087476911 + ], + [ + -0.04224946978017752, + 0.9921580336691231, + 0.11763255726673941, + 0.9674065349116867, + 0.01120151448770318, + 0.252980478067666, + 0.2496789508818413, + 0.12448679568131166, + -0.9602934234844797 + ], + [ + -0.029721086546630138, + 0.994150993697824, + 0.10382898797598308, + 0.9664909185705061, + 0.0020852512782805754, + 0.2566923373376111, + 0.25497443270890363, + 0.10797894913702184, + -0.9608998830305044 + ], + [ + -0.0278693214041556, + 0.9941953122404305, + 0.1039181506938245, + 0.9665347445464695, + 0.00027958615734202663, + 0.2565355909344186, + 0.2550174278533971, + 0.10758997606995348, + -0.9609321040220812 + ], + [ + -0.02307572609978098, + 0.9942313086542215, + 0.10474548084133524, + 0.9673906049722832, + -0.004228353081622893, + 0.25325390113792395, + 0.2522358584268465, + 0.10717381173557171, + -0.9617124548438273 + ], + [ + -0.016347760418364332, + 0.9950297799592679, + 0.09822671593570985, + 0.9717635184686567, + -0.007316334701697236, + 0.23584345532566628, + 0.2353899209879653, + 0.09930865138920988, + -0.9668140342674676 + ], + [ + -0.028155650066787774, + 0.9954364403009951, + 0.0911786855037951, + 0.9738899170898262, + 0.006761084836593656, + 0.226920067694781, + 0.2252680375909734, + 0.09518708448479636, + -0.9696358750516587 + ], + [ + -0.0043620955939300265, + 0.9873871465474672, + 0.15826431990464565, + 0.981789890534878, + -0.025829396575080488, + 0.1882058796001852, + 0.1899199383043855, + 0.15620328135291467, + -0.9692940482273893 + ], + [ + 0.08443175805469966, + 0.9748634382075568, + 0.20618572956907918, + 0.9846285217659948, + -0.11337794559094011, + 0.13286126440196816, + 0.15289850344821734, + 0.19179863998401714, + -0.9694510453568952 + ], + [ + 0.22220469353277322, + 0.9443891703962791, + 0.24239259272971642, + 0.9663470188717539, + -0.24636630390446052, + 0.07400732003071929, + 0.12960907873170235, + 0.2177905855143487, + -0.9673514085231059 + ], + [ + 0.40764630251459577, + 0.8774941324844502, + 0.25264310697412795, + 0.9036928517963133, + -0.4273757239242981, + 0.026253003874384007, + 0.13101038759741535, + 0.21760982986883676, + -0.9672033086616436 + ], + [ + 0.6210504379702073, + 0.7457743141315577, + 0.2410747309002301, + 0.7727266822216391, + -0.6340686693664782, + -0.029161569068924476, + 0.13110998466841353, + 0.20439568221816326, + -0.970068336258235 + ], + [ + 0.7561718439633862, + 0.6064120833287077, + 0.24590349243137888, + 0.6365808924109353, + -0.7687295438756865, + -0.06180336390502322, + 0.15155497291184478, + 0.20327142830613437, + -0.9673219818757736 + ], + [ + 0.8417690138937003, + 0.49236351511945425, + 0.22136642976666943, + 0.5196010792884543, + -0.8501848792560641, + -0.0848551087832935, + 0.14642283172613585, + 0.18645063706934895, + -0.9714919012970377 + ], + [ + 0.8936570255870879, + 0.3920582731671308, + 0.2183287224806807, + 0.41932823070483205, + -0.9028358680182684, + -0.09513795432767422, + 0.15981537958780373, + 0.17657209819477973, + -0.9712267184269073 + ], + [ + 0.9199650724022884, + 0.3042583549341529, + 0.24716617691871828, + 0.3384012920743553, + -0.9346699242105438, + -0.10898026563861513, + 0.19786063550453625, + 0.18389939159502217, + -0.9628251049327295 + ], + [ + 0.9434126097778524, + 0.2442834004702634, + 0.22427275350970832, + 0.27425713791428746, + -0.9549301308479375, + -0.11354059847386787, + 0.18642872636802782, + 0.16862403581170002, + -0.9678895931517031 + ], + [ + 0.9540663836096912, + 0.2076836286678406, + 0.21592787233075006, + 0.23632170904795294, + -0.9646873017480782, + -0.1163205041197282, + 0.18414501214689705, + 0.16200592652545626, + -0.969455875361044 + ], + [ + 0.9652218683971922, + 0.16717212535727785, + 0.2009980728050998, + 0.1966177362805501, + -0.9709077935236061, + -0.13667304875151845, + 0.17230267133084637, + 0.17143960154717305, + -0.9700104393632065 + ], + [ + 0.9748843676216944, + 0.12816667523708802, + 0.18213668802720676, + 0.1572200374222032, + -0.9752884445395125, + -0.15522341891821434, + 0.15774133763795165, + 0.17996042149975433, + -0.9709438279807028 + ], + [ + 0.97465475400801, + 0.12958336232989862, + 0.18236299706043266, + 0.15783838769648625, + -0.9759967712414038, + -0.15005780851301384, + 0.1585407009539155, + 0.17503843787475035, + -0.9717131219693435 + ], + [ + 0.972694454856586, + 0.13860421805002515, + 0.18615683772021366, + 0.17020956611920252, + -0.9712935561619744, + -0.16618523207474883, + 0.15777896276995138, + 0.1933331282966434, + -0.9683636199332727 + ], + [ + 0.9712226008187111, + 0.1388620155764063, + 0.19350452265773216, + 0.17446940758479876, + -0.9678594368366104, + -0.18113126826511552, + 0.16213292532964502, + 0.20967940088711093, + -0.9642341330650324 + ], + [ + 0.9655296326083176, + 0.16095310505822638, + 0.20456448012145959, + 0.2002462152344607, + -0.9614000447541973, + -0.18870984932138987, + 0.1662948641405426, + 0.22316821440057985, + -0.9604904821192844 + ], + [ + 0.9516504117640341, + 0.1622468757073141, + 0.26083988405257386, + 0.22204755153338473, + -0.9500888202672165, + -0.2191486218557584, + 0.21226487850648698, + 0.266471733822679, + -0.9401789385144522 + ], + [ + 0.9319760198259196, + 0.1502103942221973, + 0.32993565423738186, + 0.24235466477989978, + -0.9350045130582083, + -0.2589030262863013, + 0.26960140008697936, + 0.3212528568408301, + -0.9078059743374383 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006131.json b/json/chunk-0006/episode_0006131.json new file mode 100644 index 0000000000000000000000000000000000000000..853ba5c78bbf5ea2709a70ae7e332bdd26047152 --- /dev/null +++ b/json/chunk-0006/episode_0006131.json @@ -0,0 +1,2722 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 44, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nUnfold the cloth before top right to bottom left." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006131.mp4", + "start": 0, + "end": 44, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3584262430667877, + 0.060350291430950165, + 0.09533772617578506, + 0.06535462290048599, + 0.18661685287952423, + 0.008978080004453659, + 0.0, + 1.0001531839370728 + ], + [ + 0.3561322093009949, + 0.05949106812477112, + 0.08054876327514648, + 0.060541775077581406, + 0.22764381766319275, + 0.007695802487432957, + 0.0, + 1.0001531839370728 + ], + [ + 0.3560101389884949, + 0.03848938271403313, + 0.07234957069158554, + 0.06635835021734238, + 0.23016753792762756, + -0.05922339856624603, + 0.0, + 1.0001531839370728 + ], + [ + 0.36059245467185974, + 0.01966702751815319, + 0.07055222243070602, + 0.04931437969207764, + 0.20301096141338348, + -0.07048990577459335, + 0.0, + 1.0001531839370728 + ], + [ + 0.36378273367881775, + 0.015641506761312485, + 0.0698222890496254, + 0.04207815229892731, + 0.18053878843784332, + -0.040771204978227615, + 0.0, + 1.0001531839370728 + ], + [ + 0.3689301311969757, + 0.010532982647418976, + 0.06923528015613556, + 0.07590678334236145, + 0.14554396271705627, + 0.012591729871928692, + 0.0, + 1.0001531839370728 + ], + [ + 0.371401309967041, + 0.008150803856551647, + 0.06550174206495285, + 0.0823586955666542, + 0.1176014319062233, + 0.068386010825634, + 0.0, + 1.0001531839370728 + ], + [ + 0.3754439353942871, + 0.007924496196210384, + 0.06406380236148834, + 0.09303665906190872, + 0.08571697771549225, + 0.09965590387582779, + 0.0, + 1.0001531839370728 + ], + [ + 0.37816235423088074, + 0.006548463366925716, + 0.06386356055736542, + 0.09583263844251633, + 0.06541743874549866, + 0.127811461687088, + 0.0, + 1.0001531839370728 + ], + [ + 0.3786102533340454, + 0.006509079597890377, + 0.05795904994010925, + 0.09792252629995346, + 0.07143265753984451, + 0.1440759003162384, + 0.0, + 1.0001531839370728 + ], + [ + 0.37976282835006714, + 0.0066739353351294994, + 0.05176158249378204, + 0.10040491819381714, + 0.07492831349372864, + 0.15191712975502014, + 0.0, + 1.0001531839370728 + ], + [ + 0.3810606598854065, + 0.007055958267301321, + 0.04352087527513504, + 0.10467536747455597, + 0.08134189993143082, + 0.15760236978530884, + 0.0, + 1.0001531839370728 + ], + [ + 0.3807874917984009, + 0.008654194884002209, + 0.03894282132387161, + 0.1163649782538414, + 0.08803728222846985, + 0.1599651724100113, + 0.0, + 1.0001531839370728 + ], + [ + 0.3825392723083496, + 0.008573162369430065, + 0.03506818413734436, + 0.1160982996225357, + 0.08611598610877991, + 0.16362643241882324, + 0.0, + 0.9968144297599792 + ], + [ + 0.3831951916217804, + 0.009010128676891327, + 0.0319380983710289, + 0.12028858065605164, + 0.08924506604671478, + 0.17012231051921844, + 0.0, + 0.9422301650047302 + ], + [ + 0.383567750453949, + 0.009205766953527927, + 0.03011442720890045, + 0.12144597619771957, + 0.08905301988124847, + 0.16911418735980988, + 0.0, + 0.748681366443634 + ], + [ + 0.38500145077705383, + 0.008898667059838772, + 0.029933156445622444, + 0.11757897585630417, + 0.0809410884976387, + 0.16400493681430817, + 0.0, + 0.8643063306808472 + ], + [ + 0.38495776057243347, + 0.009072353132069111, + 0.029111649841070175, + 0.11698485910892487, + 0.07737428694963455, + 0.15328247845172882, + 0.0, + 1.0008161067962646 + ], + [ + 0.3847901225090027, + 0.007915632799267769, + 0.02828957512974739, + 0.10947342216968536, + 0.07744502276182175, + 0.15260367095470428, + 0.0, + 1.0001531839370728 + ], + [ + 0.3854658007621765, + 0.006786290090531111, + 0.029202479869127274, + 0.1026458591222763, + 0.07692302763462067, + 0.1572355180978775, + 0.0, + 0.9583302736282349 + ], + [ + 0.38722044229507446, + 0.005574322771281004, + 0.027334053069353104, + 0.10321485251188278, + 0.0781000629067421, + 0.15738308429718018, + 0.0, + 0.6861988306045532 + ], + [ + 0.3885299563407898, + -5.343755219655577e-06, + 0.02644127979874611, + 0.1029762402176857, + 0.08278682082891464, + 0.14486640691757202, + 0.0, + 0.40415963530540466 + ], + [ + 0.38957080245018005, + -0.0005493407952599227, + 0.026339298114180565, + 0.09685654938220978, + 0.08712126314640045, + 0.14828595519065857, + 0.0, + 0.20806095004081726 + ], + [ + 0.38846608996391296, + 0.0006585669470950961, + 0.02674321085214615, + 0.0658799335360527, + 0.09930616617202759, + 0.14146779477596283, + 0.0, + 0.0925319567322731 + ], + [ + 0.38109761476516724, + 0.007600761484354734, + 0.03594483062624931, + 0.011219493113458157, + 0.10370783507823944, + 0.12790271639823914, + 0.0, + 0.05511022359132767 + ], + [ + 0.37240004539489746, + 0.020062711089849472, + 0.06663992255926132, + -0.06695061177015305, + 0.054567430168390274, + 0.1075240820646286, + 0.0, + 0.051409780979156494 + ], + [ + 0.3593491017818451, + 0.03399048373103142, + 0.08339311182498932, + -0.1458217054605484, + 0.03538927063345909, + 0.06279008835554123, + 0.0, + 0.05115113407373428 + ], + [ + 0.3476206362247467, + 0.05330318212509155, + 0.08429164439439774, + -0.20227232575416565, + 0.04106205701828003, + 0.004061906132847071, + 0.0, + 0.05115113407373428 + ], + [ + 0.33940091729164124, + 0.07474830001592636, + 0.08171539753675461, + -0.1984703242778778, + 0.0473230816423893, + -0.014408083632588387, + 0.0, + 0.05115113407373428 + ], + [ + 0.32880720496177673, + 0.09805729240179062, + 0.06932111829519272, + -0.1958392858505249, + 0.09788461029529572, + 0.005979553796350956, + 0.0, + 0.050636038184165955 + ], + [ + 0.318640798330307, + 0.11715497076511383, + 0.06259617954492569, + -0.19448909163475037, + 0.13455986976623535, + 0.04278235137462616, + 0.0, + 0.050636038184165955 + ], + [ + 0.3118342161178589, + 0.13085821270942688, + 0.06252241134643555, + -0.20019425451755524, + 0.1391935646533966, + 0.07896710187196732, + 0.0, + 0.050636038184165955 + ], + [ + 0.30003345012664795, + 0.14391139149665833, + 0.06315968930721283, + -0.22782382369041443, + 0.14969247579574585, + 0.10919032245874405, + 0.0, + 0.050636038184165955 + ], + [ + 0.29112038016319275, + 0.15647560358047485, + 0.07318922877311707, + -0.22578538954257965, + 0.14044809341430664, + 0.1432352364063263, + 0.0, + 0.050636038184165955 + ], + [ + 0.2830972671508789, + 0.1702166348695755, + 0.07568133622407913, + -0.19624260067939758, + 0.14581309258937836, + 0.18806728720664978, + 0.0, + 0.050636038184165955 + ], + [ + 0.27940258383750916, + 0.18287459015846252, + 0.08233240246772766, + -0.18374066054821014, + 0.1425420194864273, + 0.19716788828372955, + 0.0, + 0.050636038184165955 + ], + [ + 0.274152934551239, + 0.19094473123550415, + 0.08332889527082443, + -0.15665842592716217, + 0.1549082100391388, + 0.2012753188610077, + 0.0, + 0.050636038184165955 + ], + [ + 0.26978588104248047, + 0.207289919257164, + 0.08656763285398483, + -0.14610716700553894, + 0.15544399619102478, + 0.2230915129184723, + 0.0, + 0.050636038184165955 + ], + [ + 0.26232725381851196, + 0.21907028555870056, + 0.07966526597738266, + -0.15704643726348877, + 0.1889495551586151, + 0.2772520184516907, + 0.0, + 0.050636038184165955 + ], + [ + 0.257964164018631, + 0.22520898282527924, + 0.08374182134866714, + -0.14549459517002106, + 0.20147980749607086, + 0.3298322558403015, + 0.0, + 0.06472665071487427 + ], + [ + 0.25521236658096313, + 0.2274419665336609, + 0.08324817568063736, + -0.12805695831775665, + 0.2155863642692566, + 0.3724724352359772, + 0.0, + 0.19669602811336517 + ], + [ + 0.2567313015460968, + 0.2302224040031433, + 0.08383511751890182, + -0.12001129239797592, + 0.21960046887397766, + 0.398166298866272, + 0.0, + 0.43931102752685547 + ], + [ + 0.25932252407073975, + 0.23515327274799347, + 0.08057072013616562, + -0.08477838337421417, + 0.1918293982744217, + 0.4214142858982086, + 0.0, + 0.7437760233879089 + ], + [ + 0.260810911655426, + 0.23217186331748962, + 0.08001207560300827, + -0.07412087172269821, + 0.17473819851875305, + 0.4372541606426239, + 0.0, + 0.9809558987617493 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9968144297599792 + ], + [ + 0.9422301650047302 + ], + [ + 0.748681366443634 + ], + [ + 0.8643063306808472 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 0.9583302736282349 + ], + [ + 0.6861988306045532 + ], + [ + 0.40415963530540466 + ], + [ + 0.20806095004081726 + ], + [ + 0.0925319567322731 + ], + [ + 0.05511022359132767 + ], + [ + 0.051409780979156494 + ], + [ + 0.05115113407373428 + ], + [ + 0.05115113407373428 + ], + [ + 0.05115113407373428 + ], + [ + 0.050636038184165955 + ], + [ + 0.050636038184165955 + ], + [ + 0.050636038184165955 + ], + [ + 0.050636038184165955 + ], + [ + 0.050636038184165955 + ], + [ + 0.050636038184165955 + ], + [ + 0.050636038184165955 + ], + [ + 0.050636038184165955 + ], + [ + 0.050636038184165955 + ], + [ + 0.050636038184165955 + ], + [ + 0.06472665071487427 + ], + [ + 0.19669602811336517 + ], + [ + 0.43931102752685547 + ], + [ + 0.7437760233879089 + ], + [ + 0.9809558987617493 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3584262430667877, + 0.060350291430950165, + 0.09533772617578506 + ], + [ + 0.3561322093009949, + 0.05949106812477112, + 0.08054876327514648 + ], + [ + 0.3560101389884949, + 0.03848938271403313, + 0.07234957069158554 + ], + [ + 0.36059245467185974, + 0.01966702751815319, + 0.07055222243070602 + ], + [ + 0.36378273367881775, + 0.015641506761312485, + 0.0698222890496254 + ], + [ + 0.3689301311969757, + 0.010532982647418976, + 0.06923528015613556 + ], + [ + 0.371401309967041, + 0.008150803856551647, + 0.06550174206495285 + ], + [ + 0.3754439353942871, + 0.007924496196210384, + 0.06406380236148834 + ], + [ + 0.37816235423088074, + 0.006548463366925716, + 0.06386356055736542 + ], + [ + 0.3786102533340454, + 0.006509079597890377, + 0.05795904994010925 + ], + [ + 0.37976282835006714, + 0.0066739353351294994, + 0.05176158249378204 + ], + [ + 0.3810606598854065, + 0.007055958267301321, + 0.04352087527513504 + ], + [ + 0.3807874917984009, + 0.008654194884002209, + 0.03894282132387161 + ], + [ + 0.3825392723083496, + 0.008573162369430065, + 0.03506818413734436 + ], + [ + 0.3831951916217804, + 0.009010128676891327, + 0.0319380983710289 + ], + [ + 0.383567750453949, + 0.009205766953527927, + 0.03011442720890045 + ], + [ + 0.38500145077705383, + 0.008898667059838772, + 0.029933156445622444 + ], + [ + 0.38495776057243347, + 0.009072353132069111, + 0.029111649841070175 + ], + [ + 0.3847901225090027, + 0.007915632799267769, + 0.02828957512974739 + ], + [ + 0.3854658007621765, + 0.006786290090531111, + 0.029202479869127274 + ], + [ + 0.38722044229507446, + 0.005574322771281004, + 0.027334053069353104 + ], + [ + 0.3885299563407898, + -5.343755219655577e-06, + 0.02644127979874611 + ], + [ + 0.38957080245018005, + -0.0005493407952599227, + 0.026339298114180565 + ], + [ + 0.38846608996391296, + 0.0006585669470950961, + 0.02674321085214615 + ], + [ + 0.38109761476516724, + 0.007600761484354734, + 0.03594483062624931 + ], + [ + 0.37240004539489746, + 0.020062711089849472, + 0.06663992255926132 + ], + [ + 0.3593491017818451, + 0.03399048373103142, + 0.08339311182498932 + ], + [ + 0.3476206362247467, + 0.05330318212509155, + 0.08429164439439774 + ], + [ + 0.33940091729164124, + 0.07474830001592636, + 0.08171539753675461 + ], + [ + 0.32880720496177673, + 0.09805729240179062, + 0.06932111829519272 + ], + [ + 0.318640798330307, + 0.11715497076511383, + 0.06259617954492569 + ], + [ + 0.3118342161178589, + 0.13085821270942688, + 0.06252241134643555 + ], + [ + 0.30003345012664795, + 0.14391139149665833, + 0.06315968930721283 + ], + [ + 0.29112038016319275, + 0.15647560358047485, + 0.07318922877311707 + ], + [ + 0.2830972671508789, + 0.1702166348695755, + 0.07568133622407913 + ], + [ + 0.27940258383750916, + 0.18287459015846252, + 0.08233240246772766 + ], + [ + 0.274152934551239, + 0.19094473123550415, + 0.08332889527082443 + ], + [ + 0.26978588104248047, + 0.207289919257164, + 0.08656763285398483 + ], + [ + 0.26232725381851196, + 0.21907028555870056, + 0.07966526597738266 + ], + [ + 0.257964164018631, + 0.22520898282527924, + 0.08374182134866714 + ], + [ + 0.25521236658096313, + 0.2274419665336609, + 0.08324817568063736 + ], + [ + 0.2567313015460968, + 0.2302224040031433, + 0.08383511751890182 + ], + [ + 0.25932252407073975, + 0.23515327274799347, + 0.08057072013616562 + ], + [ + 0.260810911655426, + 0.23217186331748962, + 0.08001207560300827 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9825979485390156, + -0.0031576951413087935, + -0.18571833643534805, + 0.008822080032763219, + -0.9979337157367897, + 0.06364330208011046, + -0.18553555570513727, + -0.06417420008974967, + -0.9805397644216307 + ], + [ + 0.9741719998595545, + -0.005972858014065932, + -0.2257282429311411, + 0.007497183308124357, + -0.9982434324437255, + 0.058769395312646626, + -0.2256827572768483, + -0.058943825377333274, + -0.9724160213189651 + ], + [ + 0.9719212283880356, + -0.07415992202690808, + -0.22331464746777052, + -0.05762786891575994, + -0.995154354437664, + 0.07966705447036444, + -0.2281406463848994, + -0.06456095421165133, + -0.9714853208661267 + ], + [ + 0.9770315645265639, + -0.08025994373455837, + -0.19740228810857316, + -0.06898515922525027, + -0.9956039282715469, + 0.0633550772782359, + -0.20161936842833691, + -0.048282081997257545, + -0.9782732086858806 + ], + [ + 0.9829295671392443, + -0.04827086254974791, + -0.17753700986600326, + -0.040097443198617105, + -0.9979766781433875, + 0.049343134586518844, + -0.1795596310209833, + -0.04138204575166604, + -0.9828763224317775 + ], + [ + 0.9893487243628472, + 0.0015577693286150385, + -0.14555643220526449, + 0.012458270319758777, + -0.9971798998669437, + 0.07400701859953335, + -0.14503066262775866, + -0.07503213082453866, + -0.9865780690050242 + ], + [ + 0.9907716501928812, + 0.05847139357942741, + -0.12228096052515697, + 0.06786074069033068, + -0.9949405158168213, + 0.07408299304913081, + -0.11733054609535831, + -0.08169740582807732, + -0.9897267687770841 + ], + [ + 0.9913852233816378, + 0.09114664451160713, + -0.09406183101989549, + 0.09912575717768733, + -0.9915264364582506, + 0.08396076505340758, + -0.08561205011264958, + -0.09256141203913248, + -0.9920196378483803 + ], + [ + 0.9897217174375054, + 0.12067485408855656, + -0.07673657291839597, + 0.12719112310870262, + -0.9880895157551906, + 0.08661135639752936, + -0.06537079037996693, + -0.09548135129635828, + -0.9932824227377226 + ], + [ + 0.9871152040481183, + 0.13598468545966755, + -0.08433112863870103, + 0.14321180955875498, + -0.9858999150881236, + 0.0865548094107862, + -0.07137192403143373, + -0.09751678188735471, + -0.9926714087301927 + ], + [ + 0.9857092709598777, + 0.14315420048152844, + -0.08879249984227829, + 0.15090884575829733, + -0.9846399651555315, + 0.08781035981256698, + -0.07485822209781005, + -0.09995505941676193, + -0.9921719773715376 + ], + [ + 0.9843409813487207, + 0.14770731281828792, + -0.09620489684749753, + 0.156431798547414, + -0.9835332480014445, + 0.09050658804170122, + -0.0812522297580717, + -0.10413884873441506, + -0.991238203129607 + ], + [ + 0.9834094966611926, + 0.14812879952493574, + -0.10470730933359702, + 0.158666952689419, + -0.9821823988369052, + 0.1007101461583525, + -0.08792360320661259, + -0.11565290383853075, + -0.9893906436958468 + ], + [ + 0.9829868426178602, + 0.1519705935150853, + -0.10315912924624294, + 0.16229361733878844, + -0.9816240821396944, + 0.1003740162317604, + -0.08600958674043989, + -0.11540840554342435, + -0.989587414490839 + ], + [ + 0.9816418189821967, + 0.15753883183220144, + -0.1075214196812394, + 0.16862912071873606, + -0.9802531363923389, + 0.10328605055189281, + -0.089126645123385, + -0.1195211489985248, + -0.9888231065621 + ], + [ + 0.9818281731941259, + 0.15644894995745257, + -0.10741119298981903, + 0.16764229710643858, + -0.9802872316212333, + 0.10456100487875578, + -0.08893536160134631, + -0.12066759953520712, + -0.98870108317896 + ], + [ + 0.9833512985392088, + 0.15278598666383045, + -0.09837004595104847, + 0.16273616245538022, + -0.9813180816133051, + 0.10262438369158913, + -0.08085273706280861, + -0.11692418474354324, + -0.9898442149810797 + ], + [ + 0.9853184068135098, + 0.14272316519100484, + -0.09368956885559916, + 0.15222612968965624, + -0.9828979365887173, + 0.10362843089302246, + -0.07729710624722548, + -0.1163690008872772, + -0.9901936239939652 + ], + [ + 0.9854161054392565, + 0.14274751895762924, + -0.09261881543385009, + 0.15155642161669772, + -0.9837469006039831, + 0.09629479019551936, + -0.07736763023170654, + -0.10892741337009067, + -0.9910343426989963 + ], + [ + 0.9847433043977812, + 0.14798716722700472, + -0.0915446491055897, + 0.15612537896190737, + -0.9836984195817212, + 0.08923163876352946, + -0.0768471891986937, + -0.10216270184637216, + -0.9917949847945944 + ], + [ + 0.9846302388043962, + 0.14796079300299542, + -0.09279491670303201, + 0.1562564069455598, + -0.9836445975947622, + 0.0895948710089037, + -0.07802069033571492, + -0.1027176195039742, + -0.9916460369118486 + ], + [ + 0.986136202975148, + 0.13518424743436855, + -0.09623205509268375, + 0.14386582192763545, + -0.9855104249492055, + 0.08984335032445395, + -0.08269228780753247, + -0.10244228405321748, + -0.9912959013206483 + ], + [ + 0.9852747330419719, + 0.13872857229282914, + -0.09994040053283797, + 0.14718277682087078, + -0.9856334478457334, + 0.08284887865885351, + -0.08701109490386007, + -0.09633841247044175, + -0.9915381886978969 + ], + [ + 0.9851325207936589, + 0.13422892433018588, + -0.1072217904527461, + 0.14030173571325097, + -0.9887827389720285, + 0.05122614632023809, + -0.09914302512320491, + -0.06550794596180372, + -0.9929145832272206 + ], + [ + 0.9865026404897265, + 0.12639429129395968, + -0.1041010251395015, + 0.12686894392048637, + -0.9919173152677095, + -0.0020762323087296754, + -0.10352203328421418, + -0.011158978465656649, + -0.994564560913119 + ], + [ + 0.9927450162706554, + 0.1107042954365598, + -0.04692431823341928, + 0.10715727897616528, + -0.9916058599194498, + -0.07235424062093952, + -0.05454035416277206, + 0.06680102952278065, + -0.9962745466097667 + ], + [ + 0.9974044489925439, + 0.067213923425398, + -0.02581963647390441, + 0.06270954793541061, + -0.9871145032831112, + -0.14721572608207603, + -0.03538188417278368, + 0.14521448242479515, + -0.9887673519926123 + ], + [ + 0.9991488296089409, + 0.012225894226880422, + -0.03939725626787334, + 0.004058471078988354, + -0.979571027226274, + -0.2010575326401952, + -0.04105051891979404, + 0.20072650579635787, + -0.9787868638100944 + ], + [ + 0.9987767934844749, + -0.004798516979535061, + -0.049212712094214406, + -0.01439145543912691, + -0.9804019561698156, + -0.19648127225957926, + -0.04730542048449149, + 0.19694917764031514, + -0.9792717797524798 + ], + [ + 0.9951953335428866, + 0.024881827006619166, + -0.094694998702546, + 0.005950894959842114, + -0.9807534505944796, + -0.19515956547450727, + -0.0977283732783854, + 0.19365836886598584, + -0.9761893265266355 + ], + [ + 0.990053718671929, + 0.06786657229516278, + -0.12323864048580935, + 0.042382687323342105, + -0.9791398702201632, + -0.1987179467498951, + -0.13415417235083277, + 0.19151825738072017, + -0.9722774373247153 + ], + [ + 0.9872420650380666, + 0.10481427732000996, + -0.119862722684154, + 0.07812209694232262, + -0.9747974301040324, + -0.20896628491675123, + -0.1387445241755822, + 0.1969363794032442, + -0.9705493390234384 + ], + [ + 0.9829282428636764, + 0.13964017084387068, + -0.11980272145331278, + 0.10775482915924878, + -0.9646881817296382, + -0.24034477074408217, + -0.14913405437319321, + 0.22333234140593905, + -0.9632661621319178 + ], + [ + 0.9800135641286909, + 0.17014104519122777, + -0.10307976942648371, + 0.14134039472673152, + -0.960164331319261, + -0.24105466118855312, + -0.13998680988676104, + 0.22166750236214827, + -0.965021870971977 + ], + [ + 0.9719426192802344, + 0.2112033574085748, + -0.10354074872253402, + 0.18497660267375446, + -0.95821524474379, + -0.21819074500050256, + -0.14529694177770258, + 0.192916268261503, + -0.9703979143372592 + ], + [ + 0.9706798730361802, + 0.2180480980649481, + -0.10117119655674801, + 0.1939061490130131, + -0.9590340490720126, + -0.20652868589008133, + -0.1420598094374638, + 0.18085552148275563, + -0.9731959159859809 + ], + [ + 0.968079843578395, + 0.22105692224319784, + -0.11813235621790744, + 0.19752517484219684, + -0.9630013226072771, + -0.18333646107687981, + -0.15428940910117375, + 0.1541502182450595, + -0.9759264769716062 + ], + [ + 0.9634598141654864, + 0.2408694338962732, + -0.11716271720430482, + 0.2185779925798726, + -0.9598406753370703, + -0.17586795935653182, + -0.15481875741640666, + 0.14383251990758716, + -0.9774166760236261 + ], + [ + 0.9446929887914653, + 0.2985998426258267, + -0.1356218673816279, + 0.2688421120350107, + -0.9419339826182442, + -0.20120708532625806, + -0.18782724968652204, + 0.15361805353787314, + -0.9701146416287263 + ], + [ + 0.9269585815405749, + 0.3479120165566027, + -0.14037455910457441, + 0.3173326406205646, + -0.926703455802648, + -0.2012975414658839, + -0.2001194226082642, + 0.14204905398821865, + -0.9694195598171037 + ], + [ + 0.9098688614654092, + 0.38638554133190756, + -0.1511451897523973, + 0.3554951183382465, + -0.9138618100812157, + -0.19616272049693784, + -0.21392025564054365, + 0.12475097404322094, + -0.9688525784152879 + ], + [ + 0.8996367261246497, + 0.4089802425608493, + -0.15293437220778833, + 0.3784172620964893, + -0.9050313019330929, + -0.19421307440202695, + -0.2178397042669642, + 0.11684820801432588, + -0.968964581152852 + ], + [ + 0.8957732277201746, + 0.4223139399782695, + -0.13871287106757804, + 0.40154822198416906, + -0.9026302653000802, + -0.1549762226461181, + -0.19065505480089548, + 0.0831236444360884, + -0.9781314379031737 + ], + [ + 0.8921225746528251, + 0.4339538003582538, + -0.12570366323000765, + 0.4170052457508072, + -0.8979788375518212, + -0.14050136058198412, + -0.17385032876334522, + 0.07292534856761859, + -0.9820682037033721 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0022940337657928467, + -0.0008592233061790466, + -0.01478896290063858, + -0.004812847822904587, + 0.04102696478366852, + -0.0012822775170207024, + 1.0 + ], + [ + -0.0001220703125, + -0.02100168541073799, + -0.008199192583560944, + 0.005816575139760971, + 0.0025237202644348145, + -0.06691920012235641, + 1.0 + ], + [ + 0.004582315683364868, + -0.018822355195879936, + -0.0017973482608795166, + -0.01704397052526474, + -0.02715657651424408, + -0.01126650720834732, + 1.0 + ], + [ + 0.003190279006958008, + -0.004025520756840706, + -0.0007299333810806274, + -0.00723622739315033, + -0.02247217297554016, + 0.029718700796365738, + 1.0 + ], + [ + 0.005147397518157959, + -0.005108524113893509, + -0.0005870088934898376, + 0.03382863104343414, + -0.03499482572078705, + 0.05336293578147888, + 1.0 + ], + [ + 0.0024711787700653076, + -0.0023821787908673286, + -0.0037335380911827087, + 0.006451912224292755, + -0.027942530810832977, + 0.055794280022382736, + 1.0 + ], + [ + 0.004042625427246094, + -0.00022630766034126282, + -0.001437939703464508, + 0.010677963495254517, + -0.03188445419073105, + 0.03126989305019379, + 1.0 + ], + [ + 0.002718418836593628, + -0.001376032829284668, + -0.0002002418041229248, + 0.002795979380607605, + -0.02029953896999359, + 0.028155557811260223, + 1.0 + ], + [ + 0.00044789910316467285, + -3.9383769035339355e-05, + -0.0059045106172561646, + 0.002089887857437134, + 0.006015218794345856, + 0.01626443862915039, + 1.0 + ], + [ + 0.0011525750160217285, + 0.0001648557372391224, + -0.0061974674463272095, + 0.002482391893863678, + 0.0034956559538841248, + 0.007841229438781738, + 1.0 + ], + [ + 0.0012978315353393555, + 0.0003820229321718216, + -0.008240707218647003, + 0.004270449280738831, + 0.006413586437702179, + 0.005685240030288696, + 1.0 + ], + [ + -0.00027316808700561523, + 0.0015982366167008877, + -0.004578053951263428, + 0.011689610779285431, + 0.006695382297039032, + 0.0023628026247024536, + 1.0 + ], + [ + 0.0017517805099487305, + -8.103251457214355e-05, + -0.003874637186527252, + -0.0002666786313056946, + -0.0019212961196899414, + 0.0036612600088119507, + 1.0 + ], + [ + 0.0006559193134307861, + 0.00043696630746126175, + -0.00313008576631546, + 0.00419028103351593, + 0.0031290799379348755, + 0.006495878100395203, + 1.0 + ], + [ + 0.0003725588321685791, + 0.0001956382766366005, + -0.0018236711621284485, + 0.0011573955416679382, + -0.0001920461654663086, + -0.0010081231594085693, + 1.0 + ], + [ + 0.0014337003231048584, + -0.0003070998936891556, + -0.0001812707632780075, + -0.0038670003414154053, + -0.008111931383609772, + -0.005109250545501709, + 1.0 + ], + [ + -4.369020462036133e-05, + 0.00017368607223033905, + -0.000821506604552269, + -0.000594116747379303, + -0.0035668015480041504, + -0.010722458362579346, + 1.0 + ], + [ + -0.00016763806343078613, + -0.001156720332801342, + -0.0008220747113227844, + -0.007511436939239502, + 7.073581218719482e-05, + -0.0006788074970245361, + 1.0 + ], + [ + 0.0006756782531738281, + -0.001129342708736658, + 0.0009129047393798828, + -0.006827563047409058, + -0.0005219951272010803, + 0.004631847143173218, + 0.0 + ], + [ + 0.0017546415328979492, + -0.0012119673192501068, + -0.00186842679977417, + 0.0005689933896064758, + 0.0011770352721214294, + 0.00014756619930267334, + 0.0 + ], + [ + 0.001309514045715332, + -0.005579666700214148, + -0.0008927732706069946, + -0.00023861229419708252, + 0.004686757922172546, + -0.012516677379608154, + 0.0 + ], + [ + 0.0010408461093902588, + -0.0005439970409497619, + -0.00010198168456554413, + -0.006119690835475922, + 0.004334442317485809, + 0.003419548273086548, + 0.0 + ], + [ + -0.0011047124862670898, + 0.001207907684147358, + 0.0004039127379655838, + -0.030976615846157074, + 0.012184903025627136, + -0.00681816041469574, + 0.0 + ], + [ + -0.0073684751987457275, + 0.0069421944208443165, + 0.009201619774103165, + -0.05466043949127197, + 0.004401668906211853, + -0.013565078377723694, + 0.0 + ], + [ + -0.008697569370269775, + 0.01246194913983345, + 0.03069509193301201, + -0.07817010581493378, + -0.04914040490984917, + -0.020378634333610535, + 0.0 + ], + [ + -0.013050943613052368, + 0.013927772641181946, + 0.016753189265727997, + -0.07887109369039536, + -0.019178159534931183, + -0.04473399370908737, + 0.0 + ], + [ + -0.011728465557098389, + 0.019312698394060135, + 0.0008985325694084167, + -0.05645062029361725, + 0.005672786384820938, + -0.0587281808257103, + 0.0 + ], + [ + -0.008219718933105469, + 0.02144511789083481, + -0.0025762468576431274, + 0.003802001476287842, + 0.006261024624109268, + -0.01846998929977417, + 0.0 + ], + [ + -0.010593712329864502, + 0.023308992385864258, + -0.01239427924156189, + 0.0026310384273529053, + 0.05056152865290642, + 0.020387638360261917, + 0.0 + ], + [ + -0.010166406631469727, + 0.01909767836332321, + -0.006724938750267029, + 0.0013501942157745361, + 0.036675259470939636, + 0.03680279850959778, + 0.0 + ], + [ + -0.00680658221244812, + 0.01370324194431305, + -7.376819849014282e-05, + -0.005705162882804871, + 0.004633694887161255, + 0.036184750497341156, + 0.0 + ], + [ + -0.011800765991210938, + 0.013053178787231445, + 0.0006372779607772827, + -0.027629569172859192, + 0.010498911142349243, + 0.030223220586776733, + 0.0 + ], + [ + -0.0089130699634552, + 0.012564212083816528, + 0.010029539465904236, + 0.002038434147834778, + -0.009244382381439209, + 0.034044913947582245, + 0.0 + ], + [ + -0.008023113012313843, + 0.013741031289100647, + 0.0024921074509620667, + 0.029542788863182068, + 0.005364999175071716, + 0.044832050800323486, + 0.0 + ], + [ + -0.003694683313369751, + 0.012657955288887024, + 0.006651066243648529, + 0.012501940131187439, + -0.00327107310295105, + 0.009100601077079773, + 0.0 + ], + [ + -0.005249649286270142, + 0.008070141077041626, + 0.0009964928030967712, + 0.027082234621047974, + 0.012366190552711487, + 0.004107430577278137, + 0.0 + ], + [ + -0.004367053508758545, + 0.01634518802165985, + 0.0032387375831604004, + 0.01055125892162323, + 0.0005357861518859863, + 0.0218161940574646, + 0.0 + ], + [ + -0.007458627223968506, + 0.01178036630153656, + -0.006902366876602173, + -0.010939270257949829, + 0.03350555896759033, + 0.054160505533218384, + 0.0 + ], + [ + -0.0043630897998809814, + 0.006138697266578674, + 0.004076555371284485, + 0.011551842093467712, + 0.01253025233745575, + 0.05258023738861084, + 1.0 + ], + [ + -0.0027517974376678467, + 0.002232983708381653, + -0.0004936456680297852, + 0.017437636852264404, + 0.01410655677318573, + 0.04264017939567566, + 1.0 + ], + [ + 0.001518934965133667, + 0.002780437469482422, + 0.0005869418382644653, + 0.008045665919780731, + 0.004014104604721069, + 0.0256938636302948, + 1.0 + ], + [ + 0.0025912225246429443, + 0.004930868744850159, + -0.003264397382736206, + 0.03523290902376175, + -0.02777107059955597, + 0.023247987031936646, + 1.0 + ], + [ + 0.0014883875846862793, + -0.002981409430503845, + -0.0005586445331573486, + 0.01065751165151596, + -0.01709119975566864, + 0.015839874744415283, + 1.0 + ], + [ + 0.017057299613952637, + -0.0346810519695282, + 0.017780214548110962, + -0.0371830016374588, + -0.048342928290367126, + -0.10473459959030151, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9968144297599792 + ], + [ + 0.9422301650047302 + ], + [ + 0.748681366443634 + ], + [ + 0.8643063306808472 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 0.9583302736282349 + ], + [ + 0.6861988306045532 + ], + [ + 0.40415963530540466 + ], + [ + 0.20806095004081726 + ], + [ + 0.0925319567322731 + ], + [ + 0.05511022359132767 + ], + [ + 0.051409780979156494 + ], + [ + 0.05115113407373428 + ], + [ + 0.05115113407373428 + ], + [ + 0.05115113407373428 + ], + [ + 0.050636038184165955 + ], + [ + 0.050636038184165955 + ], + [ + 0.050636038184165955 + ], + [ + 0.050636038184165955 + ], + [ + 0.050636038184165955 + ], + [ + 0.050636038184165955 + ], + [ + 0.050636038184165955 + ], + [ + 0.050636038184165955 + ], + [ + 0.050636038184165955 + ], + [ + 0.050636038184165955 + ], + [ + 0.06472665071487427 + ], + [ + 0.19669602811336517 + ], + [ + 0.43931102752685547 + ], + [ + 0.7437760233879089 + ], + [ + 0.9809558987617493 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3561322093009949, + 0.05949106812477112, + 0.08054876327514648 + ], + [ + 0.3560101389884949, + 0.03848938271403313, + 0.07234957069158554 + ], + [ + 0.36059245467185974, + 0.01966702751815319, + 0.07055222243070602 + ], + [ + 0.36378273367881775, + 0.015641506761312485, + 0.0698222890496254 + ], + [ + 0.3689301311969757, + 0.010532982647418976, + 0.06923528015613556 + ], + [ + 0.371401309967041, + 0.008150803856551647, + 0.06550174206495285 + ], + [ + 0.3754439353942871, + 0.007924496196210384, + 0.06406380236148834 + ], + [ + 0.37816235423088074, + 0.006548463366925716, + 0.06386356055736542 + ], + [ + 0.3786102533340454, + 0.006509079597890377, + 0.05795904994010925 + ], + [ + 0.37976282835006714, + 0.0066739353351294994, + 0.05176158249378204 + ], + [ + 0.3810606598854065, + 0.007055958267301321, + 0.04352087527513504 + ], + [ + 0.3807874917984009, + 0.008654194884002209, + 0.03894282132387161 + ], + [ + 0.3825392723083496, + 0.008573162369430065, + 0.03506818413734436 + ], + [ + 0.3831951916217804, + 0.009010128676891327, + 0.0319380983710289 + ], + [ + 0.383567750453949, + 0.009205766953527927, + 0.03011442720890045 + ], + [ + 0.38500145077705383, + 0.008898667059838772, + 0.029933156445622444 + ], + [ + 0.38495776057243347, + 0.009072353132069111, + 0.029111649841070175 + ], + [ + 0.3847901225090027, + 0.007915632799267769, + 0.02828957512974739 + ], + [ + 0.3854658007621765, + 0.006786290090531111, + 0.029202479869127274 + ], + [ + 0.38722044229507446, + 0.005574322771281004, + 0.027334053069353104 + ], + [ + 0.3885299563407898, + -5.343755219655577e-06, + 0.02644127979874611 + ], + [ + 0.38957080245018005, + -0.0005493407952599227, + 0.026339298114180565 + ], + [ + 0.38846608996391296, + 0.0006585669470950961, + 0.02674321085214615 + ], + [ + 0.38109761476516724, + 0.007600761484354734, + 0.03594483062624931 + ], + [ + 0.37240004539489746, + 0.020062711089849472, + 0.06663992255926132 + ], + [ + 0.3593491017818451, + 0.03399048373103142, + 0.08339311182498932 + ], + [ + 0.3476206362247467, + 0.05330318212509155, + 0.08429164439439774 + ], + [ + 0.33940091729164124, + 0.07474830001592636, + 0.08171539753675461 + ], + [ + 0.32880720496177673, + 0.09805729240179062, + 0.06932111829519272 + ], + [ + 0.318640798330307, + 0.11715497076511383, + 0.06259617954492569 + ], + [ + 0.3118342161178589, + 0.13085821270942688, + 0.06252241134643555 + ], + [ + 0.30003345012664795, + 0.14391139149665833, + 0.06315968930721283 + ], + [ + 0.29112038016319275, + 0.15647560358047485, + 0.07318922877311707 + ], + [ + 0.2830972671508789, + 0.1702166348695755, + 0.07568133622407913 + ], + [ + 0.27940258383750916, + 0.18287459015846252, + 0.08233240246772766 + ], + [ + 0.274152934551239, + 0.19094473123550415, + 0.08332889527082443 + ], + [ + 0.26978588104248047, + 0.207289919257164, + 0.08656763285398483 + ], + [ + 0.26232725381851196, + 0.21907028555870056, + 0.07966526597738266 + ], + [ + 0.257964164018631, + 0.22520898282527924, + 0.08374182134866714 + ], + [ + 0.25521236658096313, + 0.2274419665336609, + 0.08324817568063736 + ], + [ + 0.2567313015460968, + 0.2302224040031433, + 0.08383511751890182 + ], + [ + 0.25932252407073975, + 0.23515327274799347, + 0.08057072013616562 + ], + [ + 0.260810911655426, + 0.23217186331748962, + 0.08001207560300827 + ], + [ + 0.27786821126937866, + 0.19749081134796143, + 0.09779229015111923 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9741719998595545, + -0.005972858014065932, + -0.2257282429311411, + 0.007497183308124357, + -0.9982434324437255, + 0.058769395312646626, + -0.2256827572768483, + -0.058943825377333274, + -0.9724160213189651 + ], + [ + 0.9719212283880356, + -0.07415992202690808, + -0.22331464746777052, + -0.05762786891575994, + -0.995154354437664, + 0.07966705447036444, + -0.2281406463848994, + -0.06456095421165133, + -0.9714853208661267 + ], + [ + 0.9770315645265639, + -0.08025994373455837, + -0.19740228810857316, + -0.06898515922525027, + -0.9956039282715469, + 0.0633550772782359, + -0.20161936842833691, + -0.048282081997257545, + -0.9782732086858806 + ], + [ + 0.9829295671392443, + -0.04827086254974791, + -0.17753700986600326, + -0.040097443198617105, + -0.9979766781433875, + 0.049343134586518844, + -0.1795596310209833, + -0.04138204575166604, + -0.9828763224317775 + ], + [ + 0.9893487243628472, + 0.0015577693286150385, + -0.14555643220526449, + 0.012458270319758777, + -0.9971798998669437, + 0.07400701859953335, + -0.14503066262775866, + -0.07503213082453866, + -0.9865780690050242 + ], + [ + 0.9907716501928812, + 0.05847139357942741, + -0.12228096052515697, + 0.06786074069033068, + -0.9949405158168213, + 0.07408299304913081, + -0.11733054609535831, + -0.08169740582807732, + -0.9897267687770841 + ], + [ + 0.9913852233816378, + 0.09114664451160713, + -0.09406183101989549, + 0.09912575717768733, + -0.9915264364582506, + 0.08396076505340758, + -0.08561205011264958, + -0.09256141203913248, + -0.9920196378483803 + ], + [ + 0.9897217174375054, + 0.12067485408855656, + -0.07673657291839597, + 0.12719112310870262, + -0.9880895157551906, + 0.08661135639752936, + -0.06537079037996693, + -0.09548135129635828, + -0.9932824227377226 + ], + [ + 0.9871152040481183, + 0.13598468545966755, + -0.08433112863870103, + 0.14321180955875498, + -0.9858999150881236, + 0.0865548094107862, + -0.07137192403143373, + -0.09751678188735471, + -0.9926714087301927 + ], + [ + 0.9857092709598777, + 0.14315420048152844, + -0.08879249984227829, + 0.15090884575829733, + -0.9846399651555315, + 0.08781035981256698, + -0.07485822209781005, + -0.09995505941676193, + -0.9921719773715376 + ], + [ + 0.9843409813487207, + 0.14770731281828792, + -0.09620489684749753, + 0.156431798547414, + -0.9835332480014445, + 0.09050658804170122, + -0.0812522297580717, + -0.10413884873441506, + -0.991238203129607 + ], + [ + 0.9834094966611926, + 0.14812879952493574, + -0.10470730933359702, + 0.158666952689419, + -0.9821823988369052, + 0.1007101461583525, + -0.08792360320661259, + -0.11565290383853075, + -0.9893906436958468 + ], + [ + 0.9829868426178602, + 0.1519705935150853, + -0.10315912924624294, + 0.16229361733878844, + -0.9816240821396944, + 0.1003740162317604, + -0.08600958674043989, + -0.11540840554342435, + -0.989587414490839 + ], + [ + 0.9816418189821967, + 0.15753883183220144, + -0.1075214196812394, + 0.16862912071873606, + -0.9802531363923389, + 0.10328605055189281, + -0.089126645123385, + -0.1195211489985248, + -0.9888231065621 + ], + [ + 0.9818281731941259, + 0.15644894995745257, + -0.10741119298981903, + 0.16764229710643858, + -0.9802872316212333, + 0.10456100487875578, + -0.08893536160134631, + -0.12066759953520712, + -0.98870108317896 + ], + [ + 0.9833512985392088, + 0.15278598666383045, + -0.09837004595104847, + 0.16273616245538022, + -0.9813180816133051, + 0.10262438369158913, + -0.08085273706280861, + -0.11692418474354324, + -0.9898442149810797 + ], + [ + 0.9853184068135098, + 0.14272316519100484, + -0.09368956885559916, + 0.15222612968965624, + -0.9828979365887173, + 0.10362843089302246, + -0.07729710624722548, + -0.1163690008872772, + -0.9901936239939652 + ], + [ + 0.9854161054392565, + 0.14274751895762924, + -0.09261881543385009, + 0.15155642161669772, + -0.9837469006039831, + 0.09629479019551936, + -0.07736763023170654, + -0.10892741337009067, + -0.9910343426989963 + ], + [ + 0.9847433043977812, + 0.14798716722700472, + -0.0915446491055897, + 0.15612537896190737, + -0.9836984195817212, + 0.08923163876352946, + -0.0768471891986937, + -0.10216270184637216, + -0.9917949847945944 + ], + [ + 0.9846302388043962, + 0.14796079300299542, + -0.09279491670303201, + 0.1562564069455598, + -0.9836445975947622, + 0.0895948710089037, + -0.07802069033571492, + -0.1027176195039742, + -0.9916460369118486 + ], + [ + 0.986136202975148, + 0.13518424743436855, + -0.09623205509268375, + 0.14386582192763545, + -0.9855104249492055, + 0.08984335032445395, + -0.08269228780753247, + -0.10244228405321748, + -0.9912959013206483 + ], + [ + 0.9852747330419719, + 0.13872857229282914, + -0.09994040053283797, + 0.14718277682087078, + -0.9856334478457334, + 0.08284887865885351, + -0.08701109490386007, + -0.09633841247044175, + -0.9915381886978969 + ], + [ + 0.9851325207936589, + 0.13422892433018588, + -0.1072217904527461, + 0.14030173571325097, + -0.9887827389720285, + 0.05122614632023809, + -0.09914302512320491, + -0.06550794596180372, + -0.9929145832272206 + ], + [ + 0.9865026404897265, + 0.12639429129395968, + -0.1041010251395015, + 0.12686894392048637, + -0.9919173152677095, + -0.0020762323087296754, + -0.10352203328421418, + -0.011158978465656649, + -0.994564560913119 + ], + [ + 0.9927450162706554, + 0.1107042954365598, + -0.04692431823341928, + 0.10715727897616528, + -0.9916058599194498, + -0.07235424062093952, + -0.05454035416277206, + 0.06680102952278065, + -0.9962745466097667 + ], + [ + 0.9974044489925439, + 0.067213923425398, + -0.02581963647390441, + 0.06270954793541061, + -0.9871145032831112, + -0.14721572608207603, + -0.03538188417278368, + 0.14521448242479515, + -0.9887673519926123 + ], + [ + 0.9991488296089409, + 0.012225894226880422, + -0.03939725626787334, + 0.004058471078988354, + -0.979571027226274, + -0.2010575326401952, + -0.04105051891979404, + 0.20072650579635787, + -0.9787868638100944 + ], + [ + 0.9987767934844749, + -0.004798516979535061, + -0.049212712094214406, + -0.01439145543912691, + -0.9804019561698156, + -0.19648127225957926, + -0.04730542048449149, + 0.19694917764031514, + -0.9792717797524798 + ], + [ + 0.9951953335428866, + 0.024881827006619166, + -0.094694998702546, + 0.005950894959842114, + -0.9807534505944796, + -0.19515956547450727, + -0.0977283732783854, + 0.19365836886598584, + -0.9761893265266355 + ], + [ + 0.990053718671929, + 0.06786657229516278, + -0.12323864048580935, + 0.042382687323342105, + -0.9791398702201632, + -0.1987179467498951, + -0.13415417235083277, + 0.19151825738072017, + -0.9722774373247153 + ], + [ + 0.9872420650380666, + 0.10481427732000996, + -0.119862722684154, + 0.07812209694232262, + -0.9747974301040324, + -0.20896628491675123, + -0.1387445241755822, + 0.1969363794032442, + -0.9705493390234384 + ], + [ + 0.9829282428636764, + 0.13964017084387068, + -0.11980272145331278, + 0.10775482915924878, + -0.9646881817296382, + -0.24034477074408217, + -0.14913405437319321, + 0.22333234140593905, + -0.9632661621319178 + ], + [ + 0.9800135641286909, + 0.17014104519122777, + -0.10307976942648371, + 0.14134039472673152, + -0.960164331319261, + -0.24105466118855312, + -0.13998680988676104, + 0.22166750236214827, + -0.965021870971977 + ], + [ + 0.9719426192802344, + 0.2112033574085748, + -0.10354074872253402, + 0.18497660267375446, + -0.95821524474379, + -0.21819074500050256, + -0.14529694177770258, + 0.192916268261503, + -0.9703979143372592 + ], + [ + 0.9706798730361802, + 0.2180480980649481, + -0.10117119655674801, + 0.1939061490130131, + -0.9590340490720126, + -0.20652868589008133, + -0.1420598094374638, + 0.18085552148275563, + -0.9731959159859809 + ], + [ + 0.968079843578395, + 0.22105692224319784, + -0.11813235621790744, + 0.19752517484219684, + -0.9630013226072771, + -0.18333646107687981, + -0.15428940910117375, + 0.1541502182450595, + -0.9759264769716062 + ], + [ + 0.9634598141654864, + 0.2408694338962732, + -0.11716271720430482, + 0.2185779925798726, + -0.9598406753370703, + -0.17586795935653182, + -0.15481875741640666, + 0.14383251990758716, + -0.9774166760236261 + ], + [ + 0.9446929887914653, + 0.2985998426258267, + -0.1356218673816279, + 0.2688421120350107, + -0.9419339826182442, + -0.20120708532625806, + -0.18782724968652204, + 0.15361805353787314, + -0.9701146416287263 + ], + [ + 0.9269585815405749, + 0.3479120165566027, + -0.14037455910457441, + 0.3173326406205646, + -0.926703455802648, + -0.2012975414658839, + -0.2001194226082642, + 0.14204905398821865, + -0.9694195598171037 + ], + [ + 0.9098688614654092, + 0.38638554133190756, + -0.1511451897523973, + 0.3554951183382465, + -0.9138618100812157, + -0.19616272049693784, + -0.21392025564054365, + 0.12475097404322094, + -0.9688525784152879 + ], + [ + 0.8996367261246497, + 0.4089802425608493, + -0.15293437220778833, + 0.3784172620964893, + -0.9050313019330929, + -0.19421307440202695, + -0.2178397042669642, + 0.11684820801432588, + -0.968964581152852 + ], + [ + 0.8957732277201746, + 0.4223139399782695, + -0.13871287106757804, + 0.40154822198416906, + -0.9026302653000802, + -0.1549762226461181, + -0.19065505480089548, + 0.0831236444360884, + -0.9781314379031737 + ], + [ + 0.8921225746528251, + 0.4339538003582538, + -0.12570366323000765, + 0.4170052457508072, + -0.8979788375518212, + -0.14050136058198412, + -0.17385032876334522, + 0.07292534856761859, + -0.9820682037033721 + ], + [ + 0.9376826127673198, + 0.3376406434215125, + -0.08215907511504425, + 0.3238216289584645, + -0.9348033864182984, + -0.14588413676465228, + -0.12605899544474786, + 0.11018813298530972, + -0.9858842249557869 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006132.json b/json/chunk-0006/episode_0006132.json new file mode 100644 index 0000000000000000000000000000000000000000..fb6f5535c74cbc869f198551a785fc94027ccb55 --- /dev/null +++ b/json/chunk-0006/episode_0006132.json @@ -0,0 +1,1282 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 20, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut the blue towel on the bottom left of the table." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006132.mp4", + "start": 0, + "end": 20, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3913125991821289, + 0.11498530209064484, + 0.08797834068536758, + 0.007342403754591942, + -0.16026829183101654, + 0.036924008280038834, + 0.0, + 1.0008161067962646 + ], + [ + 0.3855997323989868, + 0.11219673603773117, + 0.06661125272512436, + -0.0067410715855658054, + -0.11792754381895065, + 0.03923698887228966, + 0.0, + 1.0008161067962646 + ], + [ + 0.34835347533226013, + 0.07767963409423828, + 0.05041408911347389, + -0.02913367561995983, + -0.10420671850442886, + -0.018905077129602432, + 0.0, + 1.0008161067962646 + ], + [ + 0.31352555751800537, + 0.04349222779273987, + 0.05754422768950462, + -0.022957492619752884, + -0.12963154911994934, + -0.09546833485364914, + 0.0, + 1.0008161067962646 + ], + [ + 0.2786826193332672, + 0.02034192904829979, + 0.04381146281957626, + -0.03000366874039173, + -0.0959920659661293, + -0.14643867313861847, + 0.0, + 1.0008161067962646 + ], + [ + 0.2625540494918823, + -0.0058068339712917805, + 0.03094046376645565, + -0.03204406797885895, + -0.06531015783548355, + -0.19329284131526947, + 0.0, + 1.0001531839370728 + ], + [ + 0.2633571922779083, + -0.01994638331234455, + 0.024354495108127594, + -0.04135298356413841, + -0.07430776208639145, + -0.19215212762355804, + 0.0, + 1.0008161067962646 + ], + [ + 0.26424187421798706, + -0.03105093538761139, + 0.012638635002076626, + -0.027973825111985207, + -0.056321509182453156, + -0.2091628760099411, + 0.0, + 1.0001531839370728 + ], + [ + 0.27265024185180664, + -0.026518989354372025, + 0.00455611664801836, + -0.010407143272459507, + -0.06132766231894493, + -0.18702569603919983, + 0.0, + 1.0008161067962646 + ], + [ + 0.28128647804260254, + -0.010949431918561459, + 0.002617419697344303, + 0.01951996609568596, + -0.05962863937020302, + -0.15982362627983093, + 0.0, + 1.0008161067962646 + ], + [ + 0.2849629819393158, + 0.016460299491882324, + 0.0033340926747769117, + 0.056027647107839584, + -0.05730414018034935, + -0.13242727518081665, + 0.0, + 1.0008161067962646 + ], + [ + 0.2828640639781952, + 0.051608748733997345, + 0.004630899056792259, + 0.0956154391169548, + -0.04857281595468521, + -0.087831050157547, + 0.0, + 1.0008161067962646 + ], + [ + 0.2754611670970917, + 0.09718436002731323, + 0.006958107464015484, + 0.1288643330335617, + -0.028094720095396042, + -0.0418490394949913, + 0.0, + 1.0008161067962646 + ], + [ + 0.27473121881484985, + 0.1290738582611084, + 0.006089469883590937, + 0.14532603323459625, + -0.008694569580256939, + -0.0707441195845604, + 0.0, + 1.0008161067962646 + ], + [ + 0.2715905010700226, + 0.176417276263237, + 0.00694168359041214, + 0.14577382802963257, + -0.022206081077456474, + -0.07008849084377289, + 0.0, + 1.0008161067962646 + ], + [ + 0.2787323594093323, + 0.21462762355804443, + 0.0050369915552437305, + 0.1282164603471756, + -0.047339994460344315, + -0.07668627053499222, + 0.0, + 1.0008161067962646 + ], + [ + 0.2822483777999878, + 0.2306000292301178, + 0.004956521093845367, + 0.11435908824205399, + -0.05208918824791908, + -0.08923211693763733, + 0.0, + 1.0008161067962646 + ], + [ + 0.2794484496116638, + 0.22029314935207367, + 0.0032465418335050344, + 0.08990912139415741, + -0.05232127010822296, + -0.11505381762981415, + 0.0, + 1.0008161067962646 + ], + [ + 0.28624409437179565, + 0.20117802917957306, + 0.01293188612908125, + 0.06037953123450279, + -0.07767486572265625, + -0.1031579077243805, + 0.0, + 1.0001531839370728 + ], + [ + 0.298039048910141, + 0.19615574181079865, + 0.0455419085919857, + 0.05960295721888542, + -0.13525864481925964, + -0.06805708259344101, + 0.0, + 1.0001531839370728 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3913125991821289, + 0.11498530209064484, + 0.08797834068536758 + ], + [ + 0.3855997323989868, + 0.11219673603773117, + 0.06661125272512436 + ], + [ + 0.34835347533226013, + 0.07767963409423828, + 0.05041408911347389 + ], + [ + 0.31352555751800537, + 0.04349222779273987, + 0.05754422768950462 + ], + [ + 0.2786826193332672, + 0.02034192904829979, + 0.04381146281957626 + ], + [ + 0.2625540494918823, + -0.0058068339712917805, + 0.03094046376645565 + ], + [ + 0.2633571922779083, + -0.01994638331234455, + 0.024354495108127594 + ], + [ + 0.26424187421798706, + -0.03105093538761139, + 0.012638635002076626 + ], + [ + 0.27265024185180664, + -0.026518989354372025, + 0.00455611664801836 + ], + [ + 0.28128647804260254, + -0.010949431918561459, + 0.002617419697344303 + ], + [ + 0.2849629819393158, + 0.016460299491882324, + 0.0033340926747769117 + ], + [ + 0.2828640639781952, + 0.051608748733997345, + 0.004630899056792259 + ], + [ + 0.2754611670970917, + 0.09718436002731323, + 0.006958107464015484 + ], + [ + 0.27473121881484985, + 0.1290738582611084, + 0.006089469883590937 + ], + [ + 0.2715905010700226, + 0.176417276263237, + 0.00694168359041214 + ], + [ + 0.2787323594093323, + 0.21462762355804443, + 0.0050369915552437305 + ], + [ + 0.2822483777999878, + 0.2306000292301178, + 0.004956521093845367 + ], + [ + 0.2794484496116638, + 0.22029314935207367, + 0.0032465418335050344 + ], + [ + 0.28624409437179565, + 0.20117802917957306, + 0.01293188612908125 + ], + [ + 0.298039048910141, + 0.19615574181079865, + 0.0455419085919857 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9865116255436379, + 0.03808553764093865, + 0.15919894625860376, + 0.036442526635108316, + -0.999248194799129, + 0.013228281941786917, + 0.15958306589265225, + -0.007248242082231418, + -0.9871578941927268 + ], + [ + 0.9922902756699702, + 0.038433530261297165, + 0.11782560232168818, + 0.03895447523103366, + -0.9992387359477567, + -0.002120717096703445, + 0.11765439928149496, + 0.006694201459727704, + -0.9930320387563168 + ], + [ + 0.9943976651181531, + -0.021925392093004144, + 0.10340483929262798, + -0.01880140449608159, + -0.9993397456140768, + -0.03108987013430203, + 0.10401822338677444, + 0.02897153805998352, + -0.9941533378638825 + ], + [ + 0.987094155803585, + -0.09825217653686519, + 0.12645804594479676, + -0.09452357906574912, + -0.994901181799236, + -0.035170036324749084, + 0.1292687919762876, + 0.02276287021119649, + -0.9913482895333704 + ], + [ + 0.9847425762586701, + -0.1486946696942756, + 0.09039885899693383, + -0.1452441021855064, + -0.9884321991394758, + -0.04365705538198815, + 0.0958447144278881, + 0.02986106007512261, + -0.9949482940371457 + ], + [ + 0.9792847828903316, + -0.1940448538662114, + 0.05786111550494261, + -0.1916819199303279, + -0.9804715681275278, + -0.043972100988803664, + 0.06526373856330181, + 0.03197027966075447, + -0.9973557768655845 + ], + [ + 0.9788867493372457, + -0.19382124975661472, + 0.06491575397963442, + -0.1904448577293242, + -0.9801702138429667, + -0.05474584970105472, + 0.0742393974680419, + 0.04122711532252759, + -0.996387894760753 + ], + [ + 0.9766540006491318, + -0.2091000298269601, + 0.04923556176596842, + -0.207311850361205, + -0.9774954351567363, + -0.03904447396951752, + 0.056291737545215735, + 0.027925826292293857, + -0.9980237414561006 + ], + [ + 0.9807144459818942, + -0.18655392706097756, + 0.05828213912129858, + -0.18558773170475712, + -0.9823898077696847, + -0.02162081013573762, + 0.061289226484840156, + 0.010387390835526748, + -0.9980659962289671 + ], + [ + 0.9855007574741178, + -0.15796540374261123, + 0.061928896634557515, + -0.15886124267586374, + -0.98725240112979, + 0.009787851600047047, + 0.05959330997201129, + -0.019484036642801544, + -0.9980325694698955 + ], + [ + 0.9896172541889396, + -0.12865426243120112, + 0.064076290231466, + -0.13182381623244546, + -0.9901123940217104, + 0.04795757164944458, + 0.057272783112555965, + -0.0559064214816223, + -0.9967920045584541 + ], + [ + 0.9949704512632619, + -0.08269995339642541, + 0.05652007449757016, + -0.08761471075573865, + -0.9920018746268315, + 0.0908622209504095, + 0.04855371841754318, + -0.09535721496080851, + -0.9942582853478008 + ], + [ + 0.9987301715650958, + -0.03788317415691104, + 0.0332100816221693, + -0.04182031513855313, + -0.9909912194156455, + 0.12722996613535592, + 0.02809102431856309, + -0.12845726198580154, + -0.991317116868182 + ], + [ + 0.997460975248444, + -0.06868407599885826, + 0.01881755990042841, + -0.07068245341747306, + -0.9870727880876222, + 0.14384471417405345, + 0.008694460035556979, + -0.14480956018547755, + -0.9894213448493917 + ], + [ + 0.997298867474241, + -0.06607092786297927, + 0.03208740291642169, + -0.07001385537842619, + -0.9871905193793878, + 0.14336296070639312, + 0.022204256115542782, + -0.14522228113749966, + -0.9891498673464886 + ], + [ + 0.995944012961836, + -0.06994916382372066, + 0.05659185034823176, + -0.07652530045000905, + -0.9893402625454506, + 0.12389400024833691, + 0.04732231436130545, + -0.12772219614014374, + -0.9906803920420695 + ], + [ + 0.9946705167833119, + -0.08261409582888832, + 0.061688525775821366, + -0.08899287944135859, + -0.990045009139585, + 0.10904653725146096, + 0.05206563598722997, + -0.11395521509862419, + -0.9921206471498671 + ], + [ + 0.9920292093789328, + -0.10967182464255808, + 0.062049485240261076, + -0.11464305263887205, + -0.9899152734082783, + 0.08321491425612419, + 0.05229740166251283, + -0.08966516800065273, + -0.9945979787968424 + ], + [ + 0.9916847927162795, + -0.09812987551841201, + 0.08325742865360954, + -0.10266455709677458, + -0.9933535085281262, + 0.05204609313853475, + 0.0775967822231891, + -0.06016090612351913, + -0.9951680284067632 + ], + [ + 0.9885726414630752, + -0.05986989660958604, + 0.1383464059188959, + -0.06738343682975535, + -0.9964596373091487, + 0.050275875474529934, + 0.13484659799835075, + -0.05902361132358431, + -0.9891069751622389 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.00571286678314209, + -0.0027885660529136658, + -0.021367087960243225, + -0.01408347487449646, + 0.04234074801206589, + 0.002312980592250824, + 1.0 + ], + [ + -0.037246257066726685, + -0.03451710194349289, + -0.016197163611650467, + -0.022392604500055313, + 0.01372082531452179, + -0.05814206600189209, + 1.0 + ], + [ + -0.03482791781425476, + -0.03418740630149841, + 0.007130138576030731, + 0.006176183000206947, + -0.025424830615520477, + -0.07656325399875641, + 1.0 + ], + [ + -0.03484293818473816, + -0.02315029874444008, + -0.01373276486992836, + -0.007046176120638847, + 0.03363948315382004, + -0.05097033828496933, + 1.0 + ], + [ + -0.016128569841384888, + -0.026148762553930283, + -0.012870999053120613, + -0.0020403992384672165, + 0.030681908130645752, + -0.046854168176651, + 1.0 + ], + [ + 0.000803142786026001, + -0.014139549806714058, + -0.006585968658328056, + -0.009308915585279465, + -0.008997604250907898, + 0.0011407136917114258, + 1.0 + ], + [ + 0.0008846819400787354, + -0.011104552075266838, + -0.011715860106050968, + 0.013379158452153206, + 0.017986252903938293, + -0.017010748386383057, + 1.0 + ], + [ + 0.00840836763381958, + 0.004531946033239365, + -0.008082518354058266, + 0.017566680908203125, + -0.0050061531364917755, + 0.022137179970741272, + 1.0 + ], + [ + 0.008636236190795898, + 0.015569557435810566, + -0.001938696950674057, + 0.02992710843682289, + 0.0016990229487419128, + 0.027202069759368896, + 1.0 + ], + [ + 0.003676503896713257, + 0.027409732341766357, + 0.0007166729774326086, + 0.036507681012153625, + 0.002324499189853668, + 0.027396351099014282, + 1.0 + ], + [ + -0.0020989179611206055, + 0.03514844924211502, + 0.0012968063820153475, + 0.03958779200911522, + 0.008731324225664139, + 0.04459622502326965, + 1.0 + ], + [ + -0.007402896881103516, + 0.04557561129331589, + 0.0023272084072232246, + 0.0332488939166069, + 0.02047809585928917, + 0.045982010662555695, + 1.0 + ], + [ + -0.0007299482822418213, + 0.031889498233795166, + -0.0008686375804245472, + 0.016461700201034546, + 0.01940014958381653, + -0.028895080089569092, + 1.0 + ], + [ + -0.0031407177448272705, + 0.0473434180021286, + 0.0008522137068212032, + 0.0004477947950363159, + -0.013511511497199535, + 0.0006556287407875061, + 1.0 + ], + [ + 0.007141858339309692, + 0.038210347294807434, + -0.0019046920351684093, + -0.01755736768245697, + -0.02513391338288784, + -0.00659777969121933, + 1.0 + ], + [ + 0.0035160183906555176, + 0.015972405672073364, + -8.047046139836311e-05, + -0.013857372105121613, + -0.004749193787574768, + -0.012545846402645111, + 1.0 + ], + [ + -0.0027999281883239746, + -0.010306879878044128, + -0.001709979260340333, + -0.024449966847896576, + -0.00023208186030387878, + -0.02582170069217682, + 1.0 + ], + [ + 0.006795644760131836, + -0.01911512017250061, + 0.009685344062745571, + -0.029529590159654617, + -0.02535359561443329, + 0.011895909905433655, + 1.0 + ], + [ + 0.011794954538345337, + -0.005022287368774414, + 0.03261002153158188, + -0.0007765740156173706, + -0.057583779096603394, + 0.035100825130939484, + 1.0 + ], + [ + 0.003554612398147583, + -0.0012685805559158325, + 0.020771194249391556, + -0.01503768190741539, + -0.037572383880615234, + 0.016384389251470566, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3855997323989868, + 0.11219673603773117, + 0.06661125272512436 + ], + [ + 0.34835347533226013, + 0.07767963409423828, + 0.05041408911347389 + ], + [ + 0.31352555751800537, + 0.04349222779273987, + 0.05754422768950462 + ], + [ + 0.2786826193332672, + 0.02034192904829979, + 0.04381146281957626 + ], + [ + 0.2625540494918823, + -0.0058068339712917805, + 0.03094046376645565 + ], + [ + 0.2633571922779083, + -0.01994638331234455, + 0.024354495108127594 + ], + [ + 0.26424187421798706, + -0.03105093538761139, + 0.012638635002076626 + ], + [ + 0.27265024185180664, + -0.026518989354372025, + 0.00455611664801836 + ], + [ + 0.28128647804260254, + -0.010949431918561459, + 0.002617419697344303 + ], + [ + 0.2849629819393158, + 0.016460299491882324, + 0.0033340926747769117 + ], + [ + 0.2828640639781952, + 0.051608748733997345, + 0.004630899056792259 + ], + [ + 0.2754611670970917, + 0.09718436002731323, + 0.006958107464015484 + ], + [ + 0.27473121881484985, + 0.1290738582611084, + 0.006089469883590937 + ], + [ + 0.2715905010700226, + 0.176417276263237, + 0.00694168359041214 + ], + [ + 0.2787323594093323, + 0.21462762355804443, + 0.0050369915552437305 + ], + [ + 0.2822483777999878, + 0.2306000292301178, + 0.004956521093845367 + ], + [ + 0.2794484496116638, + 0.22029314935207367, + 0.0032465418335050344 + ], + [ + 0.28624409437179565, + 0.20117802917957306, + 0.01293188612908125 + ], + [ + 0.298039048910141, + 0.19615574181079865, + 0.0455419085919857 + ], + [ + 0.3015936613082886, + 0.1948871612548828, + 0.06631310284137726 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9922902756699702, + 0.038433530261297165, + 0.11782560232168818, + 0.03895447523103366, + -0.9992387359477567, + -0.002120717096703445, + 0.11765439928149496, + 0.006694201459727704, + -0.9930320387563168 + ], + [ + 0.9943976651181531, + -0.021925392093004144, + 0.10340483929262798, + -0.01880140449608159, + -0.9993397456140768, + -0.03108987013430203, + 0.10401822338677444, + 0.02897153805998352, + -0.9941533378638825 + ], + [ + 0.987094155803585, + -0.09825217653686519, + 0.12645804594479676, + -0.09452357906574912, + -0.994901181799236, + -0.035170036324749084, + 0.1292687919762876, + 0.02276287021119649, + -0.9913482895333704 + ], + [ + 0.9847425762586701, + -0.1486946696942756, + 0.09039885899693383, + -0.1452441021855064, + -0.9884321991394758, + -0.04365705538198815, + 0.0958447144278881, + 0.02986106007512261, + -0.9949482940371457 + ], + [ + 0.9792847828903316, + -0.1940448538662114, + 0.05786111550494261, + -0.1916819199303279, + -0.9804715681275278, + -0.043972100988803664, + 0.06526373856330181, + 0.03197027966075447, + -0.9973557768655845 + ], + [ + 0.9788867493372457, + -0.19382124975661472, + 0.06491575397963442, + -0.1904448577293242, + -0.9801702138429667, + -0.05474584970105472, + 0.0742393974680419, + 0.04122711532252759, + -0.996387894760753 + ], + [ + 0.9766540006491318, + -0.2091000298269601, + 0.04923556176596842, + -0.207311850361205, + -0.9774954351567363, + -0.03904447396951752, + 0.056291737545215735, + 0.027925826292293857, + -0.9980237414561006 + ], + [ + 0.9807144459818942, + -0.18655392706097756, + 0.05828213912129858, + -0.18558773170475712, + -0.9823898077696847, + -0.02162081013573762, + 0.061289226484840156, + 0.010387390835526748, + -0.9980659962289671 + ], + [ + 0.9855007574741178, + -0.15796540374261123, + 0.061928896634557515, + -0.15886124267586374, + -0.98725240112979, + 0.009787851600047047, + 0.05959330997201129, + -0.019484036642801544, + -0.9980325694698955 + ], + [ + 0.9896172541889396, + -0.12865426243120112, + 0.064076290231466, + -0.13182381623244546, + -0.9901123940217104, + 0.04795757164944458, + 0.057272783112555965, + -0.0559064214816223, + -0.9967920045584541 + ], + [ + 0.9949704512632619, + -0.08269995339642541, + 0.05652007449757016, + -0.08761471075573865, + -0.9920018746268315, + 0.0908622209504095, + 0.04855371841754318, + -0.09535721496080851, + -0.9942582853478008 + ], + [ + 0.9987301715650958, + -0.03788317415691104, + 0.0332100816221693, + -0.04182031513855313, + -0.9909912194156455, + 0.12722996613535592, + 0.02809102431856309, + -0.12845726198580154, + -0.991317116868182 + ], + [ + 0.997460975248444, + -0.06868407599885826, + 0.01881755990042841, + -0.07068245341747306, + -0.9870727880876222, + 0.14384471417405345, + 0.008694460035556979, + -0.14480956018547755, + -0.9894213448493917 + ], + [ + 0.997298867474241, + -0.06607092786297927, + 0.03208740291642169, + -0.07001385537842619, + -0.9871905193793878, + 0.14336296070639312, + 0.022204256115542782, + -0.14522228113749966, + -0.9891498673464886 + ], + [ + 0.995944012961836, + -0.06994916382372066, + 0.05659185034823176, + -0.07652530045000905, + -0.9893402625454506, + 0.12389400024833691, + 0.04732231436130545, + -0.12772219614014374, + -0.9906803920420695 + ], + [ + 0.9946705167833119, + -0.08261409582888832, + 0.061688525775821366, + -0.08899287944135859, + -0.990045009139585, + 0.10904653725146096, + 0.05206563598722997, + -0.11395521509862419, + -0.9921206471498671 + ], + [ + 0.9920292093789328, + -0.10967182464255808, + 0.062049485240261076, + -0.11464305263887205, + -0.9899152734082783, + 0.08321491425612419, + 0.05229740166251283, + -0.08966516800065273, + -0.9945979787968424 + ], + [ + 0.9916847927162795, + -0.09812987551841201, + 0.08325742865360954, + -0.10266455709677458, + -0.9933535085281262, + 0.05204609313853475, + 0.0775967822231891, + -0.06016090612351913, + -0.9951680284067632 + ], + [ + 0.9885726414630752, + -0.05986989660958604, + 0.1383464059188959, + -0.06738343682975535, + -0.9964596373091487, + 0.050275875474529934, + 0.13484659799835075, + -0.05902361132358431, + -0.9891069751622389 + ], + [ + 0.9837870063744474, + -0.043947208327456515, + 0.1738728528811398, + -0.050880216890482756, + -0.9980694320611183, + 0.035617584342208713, + 0.17197188612671777, + -0.04388680514027028, + -0.9841237822126846 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006133.json b/json/chunk-0006/episode_0006133.json new file mode 100644 index 0000000000000000000000000000000000000000..335326289c0b740cea32a548a344e433fbacb058 --- /dev/null +++ b/json/chunk-0006/episode_0006133.json @@ -0,0 +1,2182 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 35, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nClose fridge." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006133.mp4", + "start": 0, + "end": 35, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2389906644821167, + -0.052853237837553024, + 0.055493246763944626, + 0.004614613950252533, + -0.009604424238204956, + 0.0942094624042511, + 0.0, + 0.9900195002555847 + ], + [ + 0.2318544089794159, + -0.05223851278424263, + 0.04938223212957382, + 0.007916842587292194, + 0.020000696182250977, + 0.09732318669557571, + 0.0, + 0.9900195002555847 + ], + [ + 0.20800794661045074, + -0.052492912858724594, + 0.07300970703363419, + -0.03442913293838501, + -0.012264159508049488, + 0.07007493078708649, + 0.0, + 0.9900195002555847 + ], + [ + 0.1840398907661438, + -0.05087050050497055, + 0.08960661292076111, + -0.08741208910942078, + 0.0003717781219165772, + -0.04761270433664322, + 0.0, + 0.9900195002555847 + ], + [ + 0.160927414894104, + -0.0433533675968647, + 0.10235535353422165, + -0.1342497020959854, + 0.015253023244440556, + -0.09651962667703629, + 0.0, + 0.9900195002555847 + ], + [ + 0.13756075501441956, + -0.032265715301036835, + 0.11542002111673355, + -0.1404058039188385, + 0.05842386931180954, + -0.111448734998703, + 0.0, + 0.9900195002555847 + ], + [ + 0.1145271584391594, + -0.017519589513540268, + 0.12106731534004211, + -0.10481386631727219, + 0.07200982421636581, + -0.100502148270607, + 0.0, + 0.9900195002555847 + ], + [ + 0.09746767580509186, + -0.005980738438665867, + 0.12401681393384933, + -0.07581751048564911, + 0.0685085579752922, + -0.11490727216005325, + 0.0, + 0.9900195002555847 + ], + [ + 0.09019903838634491, + 0.012417678721249104, + 0.12874315679073334, + -0.042892247438430786, + 0.05393967777490616, + -0.1291760504245758, + 0.0, + 0.9900195002555847 + ], + [ + 0.09072977304458618, + 0.03403394669294357, + 0.128325954079628, + -0.035540539771318436, + 0.01344318874180317, + -0.11245087534189224, + 0.0, + 0.9900195002555847 + ], + [ + 0.09637799113988876, + 0.053087539970874786, + 0.12360748648643494, + -0.022023191675543785, + -0.02327488176524639, + -0.11678402125835419, + 0.0, + 0.9900195002555847 + ], + [ + 0.10448561608791351, + 0.07473333179950714, + 0.1141723245382309, + -0.02104237489402294, + -0.037684425711631775, + -0.09546106308698654, + 0.0, + 0.9900195002555847 + ], + [ + 0.11851780861616135, + 0.09588253498077393, + 0.11260245740413666, + -0.026389311999082565, + -0.031112724915146828, + -0.06250102818012238, + 0.0, + 0.9900195002555847 + ], + [ + 0.12735311686992645, + 0.11231332272291183, + 0.11140915006399155, + -0.014142516069114208, + -0.020436612889170647, + -0.029062341898679733, + 0.0, + 0.9900195002555847 + ], + [ + 0.13653600215911865, + 0.12528355419635773, + 0.10999514162540436, + 0.018165694549679756, + -0.02079552598297596, + 0.024354808032512665, + 0.0, + 0.9900195002555847 + ], + [ + 0.14358365535736084, + 0.135094553232193, + 0.112838976085186, + 0.029617762193083763, + -0.011378100141882896, + 0.05022647976875305, + 0.0, + 0.9900195002555847 + ], + [ + 0.14993157982826233, + 0.1408240795135498, + 0.1130836009979248, + 0.04151267185807228, + -0.003513112897053361, + 0.0836988314986229, + 0.0, + 0.9900195002555847 + ], + [ + 0.1570463478565216, + 0.1484294980764389, + 0.11393815279006958, + 0.05484980717301369, + 0.007563003338873386, + 0.11472215503454208, + 0.0, + 0.9907060265541077 + ], + [ + 0.15914633870124817, + 0.1506800353527069, + 0.11153892427682877, + 0.062320783734321594, + 0.017847495153546333, + 0.13377393782138824, + 0.0, + 0.9900195002555847 + ], + [ + 0.16506431996822357, + 0.14768052101135254, + 0.11106137931346893, + 0.08372674882411957, + 0.010434807278215885, + 0.12316561490297318, + 0.0, + 0.9900195002555847 + ], + [ + 0.16674545407295227, + 0.12907762825489044, + 0.10167359560728073, + 0.05342470109462738, + 0.035705599933862686, + 0.07879047840833664, + 0.0, + 0.9900195002555847 + ], + [ + 0.17129051685333252, + 0.10028606653213501, + 0.09877794235944748, + 0.006045865826308727, + 0.08329860866069794, + 0.029367810115218163, + 0.0, + 0.9907060265541077 + ], + [ + 0.18383927643299103, + 0.06238410621881485, + 0.09180700778961182, + -0.02671000361442566, + 0.08658462762832642, + -0.023039687424898148, + 0.0, + 0.9907060265541077 + ], + [ + 0.19386354088783264, + 0.028176844120025635, + 0.08140575885772705, + -0.05864949896931648, + 0.09552036225795746, + -0.032816432416439056, + 0.0, + 0.9907060265541077 + ], + [ + 0.21978935599327087, + 0.00044746982166543603, + 0.07114546746015549, + -0.09367821365594864, + 0.12649087607860565, + 0.026722028851509094, + 0.0, + 0.9907060265541077 + ], + [ + 0.24907614290714264, + -0.017528804019093513, + 0.0734838917851448, + -0.12700611352920532, + 0.08576969802379608, + 0.08269003033638, + 0.0, + 0.9907060265541077 + ], + [ + 0.27709653973579407, + -0.027129260823130608, + 0.07638422399759293, + -0.13119694590568542, + 0.045220889151096344, + 0.13638868927955627, + 0.0, + 0.9907060265541077 + ], + [ + 0.2950889766216278, + -0.03418920561671257, + 0.078243687748909, + -0.13717660307884216, + 0.03750983998179436, + 0.1438770443201065, + 0.0, + 0.9907060265541077 + ], + [ + 0.32191595435142517, + -0.03820965439081192, + 0.08254223316907883, + -0.16093145310878754, + 0.016580108553171158, + 0.18659332394599915, + 0.0, + 0.9907060265541077 + ], + [ + 0.3432685434818268, + -0.039468370378017426, + 0.08816666156053543, + -0.1706925332546234, + -0.006230591330677271, + 0.224010169506073, + 0.0, + 0.9907060265541077 + ], + [ + 0.3571045696735382, + -0.04038713127374649, + 0.0916021391749382, + -0.17820331454277039, + -0.01953909546136856, + 0.24529002606868744, + 0.0, + 0.9907060265541077 + ], + [ + 0.3666498363018036, + -0.041806578636169434, + 0.0911976769566536, + -0.18539521098136902, + -0.015980223193764687, + 0.2633199691772461, + 0.0, + 0.9907060265541077 + ], + [ + 0.37636327743530273, + -0.04255582019686699, + 0.09090287983417511, + -0.18852296471595764, + -0.027002587914466858, + 0.27489110827445984, + 0.0, + 0.9907060265541077 + ], + [ + 0.38072797656059265, + -0.04322940483689308, + 0.09631309658288956, + -0.19714099168777466, + -0.04062412679195404, + 0.2828880250453949, + 0.0, + 0.9907060265541077 + ], + [ + 0.3819540739059448, + -0.043664880096912384, + 0.09534642100334167, + -0.19614611566066742, + -0.02876140922307968, + 0.28686046600341797, + 0.0, + 0.9907060265541077 + ] + ], + "left_gripper_pos": [ + [ + 0.9900195002555847 + ], + [ + 0.9900195002555847 + ], + [ + 0.9900195002555847 + ], + [ + 0.9900195002555847 + ], + [ + 0.9900195002555847 + ], + [ + 0.9900195002555847 + ], + [ + 0.9900195002555847 + ], + [ + 0.9900195002555847 + ], + [ + 0.9900195002555847 + ], + [ + 0.9900195002555847 + ], + [ + 0.9900195002555847 + ], + [ + 0.9900195002555847 + ], + [ + 0.9900195002555847 + ], + [ + 0.9900195002555847 + ], + [ + 0.9900195002555847 + ], + [ + 0.9900195002555847 + ], + [ + 0.9900195002555847 + ], + [ + 0.9907060265541077 + ], + [ + 0.9900195002555847 + ], + [ + 0.9900195002555847 + ], + [ + 0.9900195002555847 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2389906644821167, + -0.052853237837553024, + 0.055493246763944626 + ], + [ + 0.2318544089794159, + -0.05223851278424263, + 0.04938223212957382 + ], + [ + 0.20800794661045074, + -0.052492912858724594, + 0.07300970703363419 + ], + [ + 0.1840398907661438, + -0.05087050050497055, + 0.08960661292076111 + ], + [ + 0.160927414894104, + -0.0433533675968647, + 0.10235535353422165 + ], + [ + 0.13756075501441956, + -0.032265715301036835, + 0.11542002111673355 + ], + [ + 0.1145271584391594, + -0.017519589513540268, + 0.12106731534004211 + ], + [ + 0.09746767580509186, + -0.005980738438665867, + 0.12401681393384933 + ], + [ + 0.09019903838634491, + 0.012417678721249104, + 0.12874315679073334 + ], + [ + 0.09072977304458618, + 0.03403394669294357, + 0.128325954079628 + ], + [ + 0.09637799113988876, + 0.053087539970874786, + 0.12360748648643494 + ], + [ + 0.10448561608791351, + 0.07473333179950714, + 0.1141723245382309 + ], + [ + 0.11851780861616135, + 0.09588253498077393, + 0.11260245740413666 + ], + [ + 0.12735311686992645, + 0.11231332272291183, + 0.11140915006399155 + ], + [ + 0.13653600215911865, + 0.12528355419635773, + 0.10999514162540436 + ], + [ + 0.14358365535736084, + 0.135094553232193, + 0.112838976085186 + ], + [ + 0.14993157982826233, + 0.1408240795135498, + 0.1130836009979248 + ], + [ + 0.1570463478565216, + 0.1484294980764389, + 0.11393815279006958 + ], + [ + 0.15914633870124817, + 0.1506800353527069, + 0.11153892427682877 + ], + [ + 0.16506431996822357, + 0.14768052101135254, + 0.11106137931346893 + ], + [ + 0.16674545407295227, + 0.12907762825489044, + 0.10167359560728073 + ], + [ + 0.17129051685333252, + 0.10028606653213501, + 0.09877794235944748 + ], + [ + 0.18383927643299103, + 0.06238410621881485, + 0.09180700778961182 + ], + [ + 0.19386354088783264, + 0.028176844120025635, + 0.08140575885772705 + ], + [ + 0.21978935599327087, + 0.00044746982166543603, + 0.07114546746015549 + ], + [ + 0.24907614290714264, + -0.017528804019093513, + 0.0734838917851448 + ], + [ + 0.27709653973579407, + -0.027129260823130608, + 0.07638422399759293 + ], + [ + 0.2950889766216278, + -0.03418920561671257, + 0.078243687748909 + ], + [ + 0.32191595435142517, + -0.03820965439081192, + 0.08254223316907883 + ], + [ + 0.3432685434818268, + -0.039468370378017426, + 0.08816666156053543 + ], + [ + 0.3571045696735382, + -0.04038713127374649, + 0.0916021391749382 + ], + [ + 0.3666498363018036, + -0.041806578636169434, + 0.0911976769566536 + ], + [ + 0.37636327743530273, + -0.04255582019686699, + 0.09090287983417511 + ], + [ + 0.38072797656059265, + -0.04322940483689308, + 0.09631309658288956 + ], + [ + 0.3819540739059448, + -0.043664880096912384, + 0.09534642100334167 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9955196522370479, + 0.0941132878426991, + 0.009127489318801498, + 0.09406582738286587, + -0.9955508005646585, + 0.005497600735293724, + 0.009604276578923134, + -0.004614384737436412, + -0.9999432310510885 + ], + [ + 0.9950687748234247, + 0.09700899575719456, + -0.020673367253289453, + 0.09715018714108982, + -0.9952520307557773, + 0.005936026865902304, + -0.019999362736347403, + -0.007915176478265886, + -0.9997686609768572 + ], + [ + 0.9974707372872316, + 0.0695549859905401, + 0.014636672419734254, + 0.07001232882923904, + -0.9969841449238006, + -0.03347967416903656, + 0.012263852069123345, + 0.03441974279994146, + -0.9993322166517062 + ], + [ + 0.9988666602768312, + -0.04738058034897802, + -0.004524996486555322, + -0.04759471366069694, + -0.9950545962422136, + -0.08718425161003181, + -0.00037177811335211254, + 0.08730080814654069, + -0.996181926496358 + ], + [ + 0.9952298122210407, + -0.09347071336660487, + -0.027943632713197792, + -0.09635862281371738, + -0.9865862491515439, + -0.13176717646869274, + -0.015252431803350171, + 0.13383123225848986, + -0.9908867566963736 + ], + [ + 0.9921004115898475, + -0.10200291968616423, + -0.07302176181627162, + -0.11102840492487367, + -0.984925170794401, + -0.13264652741575153, + -0.05839063814596193, + 0.13970616418439583, + -0.9884698888007613 + ], + [ + 0.9923753988117224, + -0.09229309804554646, + -0.0816887500603952, + -0.10007302182531362, + -0.9902488925947996, + -0.096915019566231, + -0.07194760688184751, + 0.10435092126056089, + -0.9919346889266687 + ], + [ + 0.9910750962193962, + -0.10917427459988803, + -0.07649268866567095, + -0.11438561659009193, + -0.9911460912244867, + -0.06741925962012853, + -0.06845498061514228, + 0.07556721257271602, + -0.9947881744436705 + ], + [ + 0.9902260948325811, + -0.12640612205014481, + -0.05893872598606007, + -0.12862975117827866, + -0.9910540951991899, + -0.0355832474730599, + -0.05391352543128763, + 0.04281673384506108, + -0.9976272144836521 + ], + [ + 0.9935942724508381, + -0.11166852186098655, + -0.017336752241188712, + -0.11220389171312747, + -0.9931101505689962, + -0.03380111715986105, + -0.013442783838132593, + 0.035529847483605326, + -0.999278200252799 + ], + [ + 0.992919490085812, + -0.11699949496699427, + 0.020542745317978155, + -0.11648718341392547, + -0.9928879283542748, + -0.024582469946022655, + 0.02327278041020277, + 0.022015446982173736, + -0.9994867171634416 + ], + [ + 0.9947403103378766, + -0.0960841557131291, + 0.03549013961369921, + -0.09524847066231142, + -0.9951511177898832, + -0.02453531328588277, + 0.03767550696932296, + 0.02102588363043929, + -0.9990688006299483 + ], + [ + 0.9975644296571453, + -0.06325780970323369, + 0.029388062106303698, + -0.06243011559542249, + -0.9976486801990078, + -0.028277050127627837, + 0.031107705629902633, + 0.026373479268531577, + -0.9991680290330129 + ], + [ + 0.9993689877406484, + -0.029344218370815762, + 0.020013575153819164, + -0.029052183014117546, + -0.9994693606810463, + -0.014729824232992069, + 0.020435190342786368, + 0.014139091485187407, + -0.9996911968641254 + ], + [ + 0.9994872812868761, + 0.024725987611312096, + 0.020342076649507504, + 0.024347134945580974, + -0.9995292952411042, + 0.018665609413128687, + 0.020794027164329362, + -0.018160767920631805, + -0.9996188248241539 + ], + [ + 0.9986742672566439, + 0.05051985837512684, + 0.009871769302578489, + 0.050202114927579984, + -0.9982839786700967, + 0.030147065983291053, + 0.011377854639792843, + -0.029611515333734274, + -0.9994967246486787 + ], + [ + 0.9964931478264004, + 0.08367440191122283, + 2.8281283407281593e-05, + 0.08360062454060371, + -0.9956285971648127, + 0.041648914560266224, + 0.003513105670606708, + -0.04150049364075683, + -0.9991323071125869 + ], + [ + 0.9933982163804181, + 0.11388663288875392, + -0.013777464986942519, + 0.11446740043902479, + -0.9919801012251747, + 0.053597509364003926, + -0.007562931239683672, + -0.054820740806329246, + -0.9984675700534842 + ], + [ + 0.9909077630764779, + 0.13201481995702075, + -0.02595943732992403, + 0.1333540618473505, + -0.9892898807783687, + 0.05934834436051448, + -0.017846547665693494, + -0.06227053156378701, + -0.9978997352616041 + ], + [ + 0.9923706695252632, + 0.12155806256197575, + -0.020593486644059463, + 0.12284776357339676, + -0.9890554059145917, + 0.08171799689258455, + -0.01043461791322883, + -0.08362440706695884, + -0.9964427114950984 + ], + [ + 0.9962622358580003, + 0.07669634907182006, + -0.03973949474102066, + 0.07865881530944398, + -0.9956253409721609, + 0.05042788105981754, + -0.0356980136328741, + -0.0533652551115597, + -0.9979367722303579 + ], + [ + 0.9961029684526569, + 0.028860242131924424, + -0.08334244215219518, + 0.029261775767511163, + -0.999565299223602, + 0.0036001481862424937, + -0.08320231197951895, + -0.006024866149359902, + -0.9965144636527586 + ], + [ + 0.9959894847217214, + -0.020720532240668534, + -0.08703795647546142, + -0.022951347616700868, + -0.9994312076079013, + -0.024708235509452784, + -0.08647648215751066, + 0.0266067811483584, + -0.9958985376184595 + ], + [ + 0.9949054414926898, + -0.027166638787602143, + -0.0970831407877821, + -0.03266097242226818, + -0.997926553348558, + -0.05546039129234526, + -0.09537517165734596, + 0.058348674868005004, + -0.9937298469767727 + ], + [ + 0.9916565301490778, + 0.03839807338545808, + -0.12305654867976686, + 0.02650538358149001, + -0.9949446590432443, + -0.09686377074283409, + -0.12615383804660457, + 0.09279392976702311, + -0.9876611239410528 + ], + [ + 0.9929197211447243, + 0.09274418842574422, + -0.07422225323400726, + 0.08229220894782885, + -0.9876599847910673, + -0.13325069151413654, + -0.08566457674190615, + 0.12619932628884656, + -0.9882992008171773 + ], + [ + 0.9897006750329231, + 0.1406566458291799, + -0.026613564651529975, + 0.13582723789815995, + -0.9813952183425557, + -0.1356996199675017, + -0.04520547847698517, + 0.13068715850630616, + -0.9903925137627074 + ], + [ + 0.9889713969388452, + 0.14710941089531912, + -0.017158008709088235, + 0.1432803115903378, + -0.9796353580378119, + -0.14066029145677061, + -0.03750104461751297, + 0.13665060010171964, + -0.989909230760293 + ], + [ + 0.9825068556197626, + 0.1857258509673553, + 0.01364503362468888, + 0.18548693714009137, + -0.969451828431641, + -0.16049220697883154, + -0.01657934891830655, + 0.160215669124465, + -0.9869427868708729 + ], + [ + 0.9749955418788694, + 0.21788116465509116, + 0.04372060618142167, + 0.22213706028111369, + -0.9610800424450993, + -0.16425674556434855, + 0.006230551018550967, + 0.1698615615796209, + -0.9854482381798335 + ], + [ + 0.9698817681465473, + 0.235632401044264, + 0.061698682279629456, + 0.2427913263429621, + -0.9555457505677335, + -0.1672862529455793, + 0.01953785222466372, + 0.1772277916977532, + -0.9839759052844664 + ], + [ + 0.9654078742983, + 0.25298303315257614, + 0.06314444694318408, + 0.2602542803611519, + -0.9497520067033084, + -0.17389317213950065, + 0.015979543064085746, + 0.184311450268185, + -0.9827379831386908 + ], + [ + 0.9621039004425028, + 0.2617628371770591, + 0.07639569245931968, + 0.2713431815928738, + -0.9467755664317283, + -0.1731730481655177, + 0.02699930659071108, + 0.1873399153434645, + -0.9819240263700264 + ], + [ + 0.9594610559553592, + 0.2660849105852362, + 0.09291556631627367, + 0.27889974915613525, + -0.9438741496789398, + -0.1769647408059104, + 0.04061295391462978, + 0.19570490521881423, + -0.9798215031563775 + ], + [ + 0.9587402275973032, + 0.2721414046024182, + 0.08219630093680376, + 0.2828253620132407, + -0.9423311745239973, + -0.17894628278425492, + 0.02875744405801757, + 0.19481019845286882, + -0.9804192960106423 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.007136255502700806, + 0.0006147250533103943, + -0.006111014634370804, + 0.0033022286370396614, + 0.029605120420455933, + 0.0031137242913246155, + 1.0 + ], + [ + -0.02384646236896515, + -0.0002544000744819641, + 0.023627474904060364, + -0.04234597459435463, + -0.03226485475897789, + -0.027248255908489227, + 1.0 + ], + [ + -0.023968055844306946, + 0.0016224123537540436, + 0.016596905887126923, + -0.05298295617103577, + 0.01263593789190054, + -0.1176876351237297, + 1.0 + ], + [ + -0.023112475872039795, + 0.00751713290810585, + 0.01274874061346054, + -0.046837612986564636, + 0.014881244860589504, + -0.048906922340393066, + 1.0 + ], + [ + -0.023366659879684448, + 0.011087652295827866, + 0.013064667582511902, + -0.006156101822853088, + 0.04317084699869156, + -0.014929108321666718, + 1.0 + ], + [ + -0.023033596575260162, + 0.014746125787496567, + 0.005647294223308563, + 0.035591937601566315, + 0.013585954904556274, + 0.010946586728096008, + 1.0 + ], + [ + -0.017059482634067535, + 0.011538851074874401, + 0.0029494985938072205, + 0.028996355831623077, + -0.0035012662410736084, + -0.014405123889446259, + 1.0 + ], + [ + -0.007268637418746948, + 0.01839841715991497, + 0.004726342856884003, + 0.03292526304721832, + -0.014568880200386047, + -0.014268778264522552, + 1.0 + ], + [ + 0.000530734658241272, + 0.021616268903017044, + -0.0004172027111053467, + 0.0073517076671123505, + -0.04049649089574814, + 0.016725175082683563, + 1.0 + ], + [ + 0.005648218095302582, + 0.019053593277931213, + -0.004718467593193054, + 0.01351734809577465, + -0.03671807050704956, + -0.004333145916461945, + 1.0 + ], + [ + 0.00810762494802475, + 0.021645791828632355, + -0.00943516194820404, + 0.0009808167815208435, + -0.014409543946385384, + 0.021322958171367645, + 1.0 + ], + [ + 0.014032192528247833, + 0.021149203181266785, + -0.0015698671340942383, + -0.005346937105059624, + 0.006571700796484947, + 0.032960034906864166, + 1.0 + ], + [ + 0.008835308253765106, + 0.01643078774213791, + -0.001193307340145111, + 0.012246795929968357, + 0.010676112025976181, + 0.03343868628144264, + 1.0 + ], + [ + 0.0091828852891922, + 0.012970231473445892, + -0.0014140084385871887, + 0.03230820968747139, + -0.0003589130938053131, + 0.0534171499311924, + 1.0 + ], + [ + 0.0070476531982421875, + 0.009810999035835266, + 0.0028438344597816467, + 0.011452067643404007, + 0.009417425841093063, + 0.025871671736240387, + 1.0 + ], + [ + 0.006347924470901489, + 0.0057295262813568115, + 0.00024462491273880005, + 0.011894909664988518, + 0.00786498747766018, + 0.03347235172986984, + 1.0 + ], + [ + 0.007114768028259277, + 0.007605418562889099, + 0.0008545517921447754, + 0.013337135314941406, + 0.011076116003096104, + 0.03102332353591919, + 1.0 + ], + [ + 0.0020999908447265625, + 0.0022505372762680054, + -0.002399228513240814, + 0.007470976561307907, + 0.010284491814672947, + 0.01905178278684616, + 1.0 + ], + [ + 0.005917981266975403, + -0.00299951434135437, + -0.00047754496335983276, + 0.021405965089797974, + -0.007412687875330448, + -0.01060832291841507, + 1.0 + ], + [ + 0.0016811341047286987, + -0.018602892756462097, + -0.009387783706188202, + -0.030302047729492188, + 0.025270793586969376, + -0.044375136494636536, + 1.0 + ], + [ + 0.004545062780380249, + -0.028791561722755432, + -0.002895653247833252, + -0.04737883433699608, + 0.04759300872683525, + -0.04942266643047333, + 1.0 + ], + [ + 0.012548759579658508, + -0.03790196031332016, + -0.006970934569835663, + -0.03275587037205696, + 0.003286018967628479, + -0.05240749567747116, + 1.0 + ], + [ + 0.010024264454841614, + -0.034207262098789215, + -0.010401248931884766, + -0.03193949535489082, + 0.008935734629631042, + -0.009776744991540909, + 1.0 + ], + [ + 0.025925815105438232, + -0.027729373425245285, + -0.010260291397571564, + -0.035028714686632156, + 0.030970513820648193, + 0.05953846126794815, + 1.0 + ], + [ + 0.029286786913871765, + -0.017976274713873863, + 0.002338424324989319, + -0.03332789987325668, + -0.04072117805480957, + 0.05596800148487091, + 1.0 + ], + [ + 0.028020396828651428, + -0.009600456804037094, + 0.00290033221244812, + -0.0041908323764801025, + -0.04054880887269974, + 0.05369865894317627, + 1.0 + ], + [ + 0.01799243688583374, + -0.007059944793581963, + 0.0018594637513160706, + -0.005979657173156738, + -0.007711049169301987, + 0.007488355040550232, + 1.0 + ], + [ + 0.026826977729797363, + -0.00402044877409935, + 0.00429854542016983, + -0.023754850029945374, + -0.0209297314286232, + 0.04271627962589264, + 1.0 + ], + [ + 0.02135258913040161, + -0.0012587159872055054, + 0.005624428391456604, + -0.009761080145835876, + -0.02281069941818714, + 0.03741684556007385, + 1.0 + ], + [ + 0.013836026191711426, + -0.0009187608957290649, + 0.003435477614402771, + -0.007510781288146973, + -0.013308504596352577, + 0.02127985656261444, + 1.0 + ], + [ + 0.00954526662826538, + -0.0014194473624229431, + -0.00040446221828460693, + -0.007191896438598633, + 0.003558872267603874, + 0.018029943108558655, + 1.0 + ], + [ + 0.009713441133499146, + -0.0007492415606975555, + -0.0002947971224784851, + -0.003127753734588623, + -0.011022364720702171, + 0.011571139097213745, + 1.0 + ], + [ + 0.004364699125289917, + -0.0006735846400260925, + 0.005410216748714447, + -0.008618026971817017, + -0.013621538877487183, + 0.007996916770935059, + 1.0 + ], + [ + 0.0012260973453521729, + -0.00043547526001930237, + -0.0009666755795478821, + 0.0009948760271072388, + 0.011862717568874359, + 0.003972440958023071, + 1.0 + ], + [ + 0.0027821362018585205, + -0.000682491809129715, + 0.0008431822061538696, + -0.0032744407653808594, + 0.0051399823278188705, + 0.012599855661392212, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9900195002555847 + ], + [ + 0.9900195002555847 + ], + [ + 0.9900195002555847 + ], + [ + 0.9900195002555847 + ], + [ + 0.9900195002555847 + ], + [ + 0.9900195002555847 + ], + [ + 0.9900195002555847 + ], + [ + 0.9900195002555847 + ], + [ + 0.9900195002555847 + ], + [ + 0.9900195002555847 + ], + [ + 0.9900195002555847 + ], + [ + 0.9900195002555847 + ], + [ + 0.9900195002555847 + ], + [ + 0.9900195002555847 + ], + [ + 0.9900195002555847 + ], + [ + 0.9900195002555847 + ], + [ + 0.9907060265541077 + ], + [ + 0.9900195002555847 + ], + [ + 0.9900195002555847 + ], + [ + 0.9900195002555847 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2318544089794159, + -0.05223851278424263, + 0.04938223212957382 + ], + [ + 0.20800794661045074, + -0.052492912858724594, + 0.07300970703363419 + ], + [ + 0.1840398907661438, + -0.05087050050497055, + 0.08960661292076111 + ], + [ + 0.160927414894104, + -0.0433533675968647, + 0.10235535353422165 + ], + [ + 0.13756075501441956, + -0.032265715301036835, + 0.11542002111673355 + ], + [ + 0.1145271584391594, + -0.017519589513540268, + 0.12106731534004211 + ], + [ + 0.09746767580509186, + -0.005980738438665867, + 0.12401681393384933 + ], + [ + 0.09019903838634491, + 0.012417678721249104, + 0.12874315679073334 + ], + [ + 0.09072977304458618, + 0.03403394669294357, + 0.128325954079628 + ], + [ + 0.09637799113988876, + 0.053087539970874786, + 0.12360748648643494 + ], + [ + 0.10448561608791351, + 0.07473333179950714, + 0.1141723245382309 + ], + [ + 0.11851780861616135, + 0.09588253498077393, + 0.11260245740413666 + ], + [ + 0.12735311686992645, + 0.11231332272291183, + 0.11140915006399155 + ], + [ + 0.13653600215911865, + 0.12528355419635773, + 0.10999514162540436 + ], + [ + 0.14358365535736084, + 0.135094553232193, + 0.112838976085186 + ], + [ + 0.14993157982826233, + 0.1408240795135498, + 0.1130836009979248 + ], + [ + 0.1570463478565216, + 0.1484294980764389, + 0.11393815279006958 + ], + [ + 0.15914633870124817, + 0.1506800353527069, + 0.11153892427682877 + ], + [ + 0.16506431996822357, + 0.14768052101135254, + 0.11106137931346893 + ], + [ + 0.16674545407295227, + 0.12907762825489044, + 0.10167359560728073 + ], + [ + 0.17129051685333252, + 0.10028606653213501, + 0.09877794235944748 + ], + [ + 0.18383927643299103, + 0.06238410621881485, + 0.09180700778961182 + ], + [ + 0.19386354088783264, + 0.028176844120025635, + 0.08140575885772705 + ], + [ + 0.21978935599327087, + 0.00044746982166543603, + 0.07114546746015549 + ], + [ + 0.24907614290714264, + -0.017528804019093513, + 0.0734838917851448 + ], + [ + 0.27709653973579407, + -0.027129260823130608, + 0.07638422399759293 + ], + [ + 0.2950889766216278, + -0.03418920561671257, + 0.078243687748909 + ], + [ + 0.32191595435142517, + -0.03820965439081192, + 0.08254223316907883 + ], + [ + 0.3432685434818268, + -0.039468370378017426, + 0.08816666156053543 + ], + [ + 0.3571045696735382, + -0.04038713127374649, + 0.0916021391749382 + ], + [ + 0.3666498363018036, + -0.041806578636169434, + 0.0911976769566536 + ], + [ + 0.37636327743530273, + -0.04255582019686699, + 0.09090287983417511 + ], + [ + 0.38072797656059265, + -0.04322940483689308, + 0.09631309658288956 + ], + [ + 0.3819540739059448, + -0.043664880096912384, + 0.09534642100334167 + ], + [ + 0.38473621010780334, + -0.0443473719060421, + 0.09618960320949554 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9950687748234247, + 0.09700899575719456, + -0.020673367253289453, + 0.09715018714108982, + -0.9952520307557773, + 0.005936026865902304, + -0.019999362736347403, + -0.007915176478265886, + -0.9997686609768572 + ], + [ + 0.9974707372872316, + 0.0695549859905401, + 0.014636672419734254, + 0.07001232882923904, + -0.9969841449238006, + -0.03347967416903656, + 0.012263852069123345, + 0.03441974279994146, + -0.9993322166517062 + ], + [ + 0.9988666602768312, + -0.04738058034897802, + -0.004524996486555322, + -0.04759471366069694, + -0.9950545962422136, + -0.08718425161003181, + -0.00037177811335211254, + 0.08730080814654069, + -0.996181926496358 + ], + [ + 0.9952298122210407, + -0.09347071336660487, + -0.027943632713197792, + -0.09635862281371738, + -0.9865862491515439, + -0.13176717646869274, + -0.015252431803350171, + 0.13383123225848986, + -0.9908867566963736 + ], + [ + 0.9921004115898475, + -0.10200291968616423, + -0.07302176181627162, + -0.11102840492487367, + -0.984925170794401, + -0.13264652741575153, + -0.05839063814596193, + 0.13970616418439583, + -0.9884698888007613 + ], + [ + 0.9923753988117224, + -0.09229309804554646, + -0.0816887500603952, + -0.10007302182531362, + -0.9902488925947996, + -0.096915019566231, + -0.07194760688184751, + 0.10435092126056089, + -0.9919346889266687 + ], + [ + 0.9910750962193962, + -0.10917427459988803, + -0.07649268866567095, + -0.11438561659009193, + -0.9911460912244867, + -0.06741925962012853, + -0.06845498061514228, + 0.07556721257271602, + -0.9947881744436705 + ], + [ + 0.9902260948325811, + -0.12640612205014481, + -0.05893872598606007, + -0.12862975117827866, + -0.9910540951991899, + -0.0355832474730599, + -0.05391352543128763, + 0.04281673384506108, + -0.9976272144836521 + ], + [ + 0.9935942724508381, + -0.11166852186098655, + -0.017336752241188712, + -0.11220389171312747, + -0.9931101505689962, + -0.03380111715986105, + -0.013442783838132593, + 0.035529847483605326, + -0.999278200252799 + ], + [ + 0.992919490085812, + -0.11699949496699427, + 0.020542745317978155, + -0.11648718341392547, + -0.9928879283542748, + -0.024582469946022655, + 0.02327278041020277, + 0.022015446982173736, + -0.9994867171634416 + ], + [ + 0.9947403103378766, + -0.0960841557131291, + 0.03549013961369921, + -0.09524847066231142, + -0.9951511177898832, + -0.02453531328588277, + 0.03767550696932296, + 0.02102588363043929, + -0.9990688006299483 + ], + [ + 0.9975644296571453, + -0.06325780970323369, + 0.029388062106303698, + -0.06243011559542249, + -0.9976486801990078, + -0.028277050127627837, + 0.031107705629902633, + 0.026373479268531577, + -0.9991680290330129 + ], + [ + 0.9993689877406484, + -0.029344218370815762, + 0.020013575153819164, + -0.029052183014117546, + -0.9994693606810463, + -0.014729824232992069, + 0.020435190342786368, + 0.014139091485187407, + -0.9996911968641254 + ], + [ + 0.9994872812868761, + 0.024725987611312096, + 0.020342076649507504, + 0.024347134945580974, + -0.9995292952411042, + 0.018665609413128687, + 0.020794027164329362, + -0.018160767920631805, + -0.9996188248241539 + ], + [ + 0.9986742672566439, + 0.05051985837512684, + 0.009871769302578489, + 0.050202114927579984, + -0.9982839786700967, + 0.030147065983291053, + 0.011377854639792843, + -0.029611515333734274, + -0.9994967246486787 + ], + [ + 0.9964931478264004, + 0.08367440191122283, + 2.8281283407281593e-05, + 0.08360062454060371, + -0.9956285971648127, + 0.041648914560266224, + 0.003513105670606708, + -0.04150049364075683, + -0.9991323071125869 + ], + [ + 0.9933982163804181, + 0.11388663288875392, + -0.013777464986942519, + 0.11446740043902479, + -0.9919801012251747, + 0.053597509364003926, + -0.007562931239683672, + -0.054820740806329246, + -0.9984675700534842 + ], + [ + 0.9909077630764779, + 0.13201481995702075, + -0.02595943732992403, + 0.1333540618473505, + -0.9892898807783687, + 0.05934834436051448, + -0.017846547665693494, + -0.06227053156378701, + -0.9978997352616041 + ], + [ + 0.9923706695252632, + 0.12155806256197575, + -0.020593486644059463, + 0.12284776357339676, + -0.9890554059145917, + 0.08171799689258455, + -0.01043461791322883, + -0.08362440706695884, + -0.9964427114950984 + ], + [ + 0.9962622358580003, + 0.07669634907182006, + -0.03973949474102066, + 0.07865881530944398, + -0.9956253409721609, + 0.05042788105981754, + -0.0356980136328741, + -0.0533652551115597, + -0.9979367722303579 + ], + [ + 0.9961029684526569, + 0.028860242131924424, + -0.08334244215219518, + 0.029261775767511163, + -0.999565299223602, + 0.0036001481862424937, + -0.08320231197951895, + -0.006024866149359902, + -0.9965144636527586 + ], + [ + 0.9959894847217214, + -0.020720532240668534, + -0.08703795647546142, + -0.022951347616700868, + -0.9994312076079013, + -0.024708235509452784, + -0.08647648215751066, + 0.0266067811483584, + -0.9958985376184595 + ], + [ + 0.9949054414926898, + -0.027166638787602143, + -0.0970831407877821, + -0.03266097242226818, + -0.997926553348558, + -0.05546039129234526, + -0.09537517165734596, + 0.058348674868005004, + -0.9937298469767727 + ], + [ + 0.9916565301490778, + 0.03839807338545808, + -0.12305654867976686, + 0.02650538358149001, + -0.9949446590432443, + -0.09686377074283409, + -0.12615383804660457, + 0.09279392976702311, + -0.9876611239410528 + ], + [ + 0.9929197211447243, + 0.09274418842574422, + -0.07422225323400726, + 0.08229220894782885, + -0.9876599847910673, + -0.13325069151413654, + -0.08566457674190615, + 0.12619932628884656, + -0.9882992008171773 + ], + [ + 0.9897006750329231, + 0.1406566458291799, + -0.026613564651529975, + 0.13582723789815995, + -0.9813952183425557, + -0.1356996199675017, + -0.04520547847698517, + 0.13068715850630616, + -0.9903925137627074 + ], + [ + 0.9889713969388452, + 0.14710941089531912, + -0.017158008709088235, + 0.1432803115903378, + -0.9796353580378119, + -0.14066029145677061, + -0.03750104461751297, + 0.13665060010171964, + -0.989909230760293 + ], + [ + 0.9825068556197626, + 0.1857258509673553, + 0.01364503362468888, + 0.18548693714009137, + -0.969451828431641, + -0.16049220697883154, + -0.01657934891830655, + 0.160215669124465, + -0.9869427868708729 + ], + [ + 0.9749955418788694, + 0.21788116465509116, + 0.04372060618142167, + 0.22213706028111369, + -0.9610800424450993, + -0.16425674556434855, + 0.006230551018550967, + 0.1698615615796209, + -0.9854482381798335 + ], + [ + 0.9698817681465473, + 0.235632401044264, + 0.061698682279629456, + 0.2427913263429621, + -0.9555457505677335, + -0.1672862529455793, + 0.01953785222466372, + 0.1772277916977532, + -0.9839759052844664 + ], + [ + 0.9654078742983, + 0.25298303315257614, + 0.06314444694318408, + 0.2602542803611519, + -0.9497520067033084, + -0.17389317213950065, + 0.015979543064085746, + 0.184311450268185, + -0.9827379831386908 + ], + [ + 0.9621039004425028, + 0.2617628371770591, + 0.07639569245931968, + 0.2713431815928738, + -0.9467755664317283, + -0.1731730481655177, + 0.02699930659071108, + 0.1873399153434645, + -0.9819240263700264 + ], + [ + 0.9594610559553592, + 0.2660849105852362, + 0.09291556631627367, + 0.27889974915613525, + -0.9438741496789398, + -0.1769647408059104, + 0.04061295391462978, + 0.19570490521881423, + -0.9798215031563775 + ], + [ + 0.9587402275973032, + 0.2721414046024182, + 0.08219630093680376, + 0.2828253620132407, + -0.9423311745239973, + -0.17894628278425492, + 0.02875744405801757, + 0.19481019845286882, + -0.9804192960106423 + ], + [ + 0.955229278373683, + 0.28468728234948293, + 0.08056163482798843, + 0.29492229094952616, + -0.9379396984832634, + -0.18245537621623426, + 0.023619230274830035, + 0.19804613926454184, + -0.9799080868549018 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006135.json b/json/chunk-0006/episode_0006135.json new file mode 100644 index 0000000000000000000000000000000000000000..308b39e9ff9818a398d4edf67aa891a640bf6519 --- /dev/null +++ b/json/chunk-0006/episode_0006135.json @@ -0,0 +1,1342 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 21, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the sushi to the right side of the silver pot." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006135.mp4", + "start": 0, + "end": 21, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3322126865386963, + -0.08569624274969101, + 0.07794416695833206, + 0.0442558191716671, + -0.12157056480646133, + -0.3469584286212921, + 0.0, + 0.9994885921478271 + ], + [ + 0.33002546429634094, + -0.08355025947093964, + 0.0656062439084053, + 0.037629079073667526, + -0.08188899606466293, + -0.3440357446670532, + 0.0, + 1.0001531839370728 + ], + [ + 0.33434441685676575, + -0.04323873296380043, + 0.06467800587415695, + 0.030659928917884827, + -0.06308116763830185, + -0.2527011036872864, + 0.0, + 0.9994885921478271 + ], + [ + 0.3376290798187256, + 0.00016110365686472505, + 0.07025964558124542, + 0.035798266530036926, + -0.085798479616642, + -0.1811288297176361, + 0.0, + 0.9994885921478271 + ], + [ + 0.33147355914115906, + 0.041187167167663574, + 0.07215046882629395, + 0.08051800727844238, + -0.13033995032310486, + -0.2219460904598236, + 0.0, + 1.0001531839370728 + ], + [ + 0.32568275928497314, + 0.07719483971595764, + 0.06533155590295792, + 0.12095095217227936, + -0.14004439115524292, + -0.3101480007171631, + 0.0, + 1.0001531839370728 + ], + [ + 0.3189265727996826, + 0.0958566665649414, + 0.05567040294408798, + 0.1242600530385971, + -0.1330307275056839, + -0.3271118402481079, + 0.0, + 1.0001531839370728 + ], + [ + 0.31132155656814575, + 0.10580559819936752, + 0.03349093347787857, + 0.11170194298028946, + -0.09572005271911621, + -0.2591537535190582, + 0.0, + 1.0001531839370728 + ], + [ + 0.3114093244075775, + 0.10832510888576508, + 0.010699872858822346, + 0.09860890358686447, + -0.043103497475385666, + -0.17563274502754211, + 0.0, + 1.0001531839370728 + ], + [ + 0.3122768998146057, + 0.11121468991041183, + -0.0036344232503324747, + 0.1089734211564064, + 0.010212933644652367, + -0.14782102406024933, + 0.0, + 1.0001531839370728 + ], + [ + 0.3097553849220276, + 0.11222502589225769, + -0.009891188703477383, + 0.10260239988565445, + 0.041119158267974854, + -0.12359469383955002, + 0.0, + 0.9367310404777527 + ], + [ + 0.30872008204460144, + 0.10616299510002136, + -0.0009112671250477433, + 0.1010870561003685, + 0.044725172221660614, + -0.10322485864162445, + 0.0, + 0.6561112403869629 + ], + [ + 0.317950040102005, + 0.07799419015645981, + 0.035039424896240234, + 0.06316536664962769, + 0.019262880086898804, + -0.0397811233997345, + 0.0, + 0.5928986668586731 + ], + [ + 0.343095064163208, + 0.032225169241428375, + 0.06689125299453735, + 0.022910797968506813, + 0.007975238375365734, + -0.0020714611746370792, + 0.0, + 0.5928986668586731 + ], + [ + 0.38298267126083374, + -0.011030465364456177, + 0.07465054094791412, + -0.002939097583293915, + -0.01993115432560444, + -0.023421186953783035, + 0.0, + 0.5928986668586731 + ], + [ + 0.41273075342178345, + -0.033798836171627045, + 0.04673280939459801, + -0.012226402759552002, + 0.018959026783704758, + -0.030865998938679695, + 0.0, + 0.5928986668586731 + ], + [ + 0.41860681772232056, + -0.04354027286171913, + 0.02987133339047432, + 0.009239885956048965, + 0.050108809024095535, + -0.03857626020908356, + 0.0, + 0.5928986668586731 + ], + [ + 0.4142586588859558, + -0.04642348363995552, + 0.007452436722815037, + 0.018897712230682373, + 0.09099983423948288, + -0.05318111553788185, + 0.0, + 0.5928986668586731 + ], + [ + 0.41259875893592834, + -0.047857992351055145, + -0.0010741850128397346, + 0.007537919096648693, + 0.10254032909870148, + -0.07132793217897415, + 0.0, + 0.6159340739250183 + ], + [ + 0.4116949141025543, + -0.048215076327323914, + -0.002287025097757578, + 0.001981303095817566, + 0.08588023483753204, + -0.0934877023100853, + 0.0, + 0.7051732540130615 + ], + [ + 0.41374367475509644, + -0.047172583639621735, + 0.018142307177186012, + 0.021917225793004036, + 0.04823468625545502, + -0.0841778963804245, + 0.0, + 0.9568231701850891 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9367310404777527 + ], + [ + 0.6561112403869629 + ], + [ + 0.5928986668586731 + ], + [ + 0.5928986668586731 + ], + [ + 0.5928986668586731 + ], + [ + 0.5928986668586731 + ], + [ + 0.5928986668586731 + ], + [ + 0.5928986668586731 + ], + [ + 0.6159340739250183 + ], + [ + 0.7051732540130615 + ], + [ + 0.9568231701850891 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3322126865386963, + -0.08569624274969101, + 0.07794416695833206 + ], + [ + 0.33002546429634094, + -0.08355025947093964, + 0.0656062439084053 + ], + [ + 0.33434441685676575, + -0.04323873296380043, + 0.06467800587415695 + ], + [ + 0.3376290798187256, + 0.00016110365686472505, + 0.07025964558124542 + ], + [ + 0.33147355914115906, + 0.041187167167663574, + 0.07215046882629395 + ], + [ + 0.32568275928497314, + 0.07719483971595764, + 0.06533155590295792 + ], + [ + 0.3189265727996826, + 0.0958566665649414, + 0.05567040294408798 + ], + [ + 0.31132155656814575, + 0.10580559819936752, + 0.03349093347787857 + ], + [ + 0.3114093244075775, + 0.10832510888576508, + 0.010699872858822346 + ], + [ + 0.3122768998146057, + 0.11121468991041183, + -0.0036344232503324747 + ], + [ + 0.3097553849220276, + 0.11222502589225769, + -0.009891188703477383 + ], + [ + 0.30872008204460144, + 0.10616299510002136, + -0.0009112671250477433 + ], + [ + 0.317950040102005, + 0.07799419015645981, + 0.035039424896240234 + ], + [ + 0.343095064163208, + 0.032225169241428375, + 0.06689125299453735 + ], + [ + 0.38298267126083374, + -0.011030465364456177, + 0.07465054094791412 + ], + [ + 0.41273075342178345, + -0.033798836171627045, + 0.04673280939459801 + ], + [ + 0.41860681772232056, + -0.04354027286171913, + 0.02987133339047432 + ], + [ + 0.4142586588859558, + -0.04642348363995552, + 0.007452436722815037 + ], + [ + 0.41259875893592834, + -0.047857992351055145, + -0.0010741850128397346 + ], + [ + 0.4116949141025543, + -0.048215076327323914, + -0.002287025097757578 + ], + [ + 0.41374367475509644, + -0.047172583639621735, + 0.018142307177186012 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9334705104530346, + -0.33466061009369563, + 0.1289770606203531, + -0.33752936287534885, + -0.9413149113573538, + 0.0004084767534704402, + 0.12127132930545423, + -0.04391484610029328, + -0.9916474933062027 + ], + [ + 0.938246459038546, + -0.33415340374540914, + 0.08963863490140635, + -0.3361588171014781, + -0.9417726332540649, + 0.0078458230058822, + 0.0817975047697976, + -0.03749413312856016, + -0.9959434513035229 + ], + [ + 0.9663148350633785, + -0.2480315777076422, + 0.06867296408553863, + -0.24952290701768318, + -0.9682687303684169, + 0.013927837742401982, + 0.06303934017643636, + -0.030594153862983215, + -0.9975419987847769 + ], + [ + 0.9800227154749317, + -0.177007795936583, + 0.09068471387623389, + -0.1794774181596846, + -0.983563255822704, + 0.019778224545598584, + 0.0856932524991037, + -0.03565896763950664, + -0.9956832350215654 + ], + [ + 0.9671967357463159, + -0.20921791705580592, + 0.14407754004181478, + -0.21826121308410792, + -0.9746117135754843, + 0.049940470807868315, + 0.12997121690868507, + -0.07974879901470505, + -0.9883054243658624 + ], + [ + 0.9429653172826089, + -0.2869314030662905, + 0.16878027235586213, + -0.3022116144644039, + -0.9504715093521285, + 0.07260888370375558, + 0.13958707133874387, + -0.1194750176576548, + -0.9829756709455102 + ], + [ + 0.9386072503418775, + -0.3032643474941645, + 0.16446022359403148, + -0.3184704158640504, + -0.9449548838653365, + 0.07507903621136428, + 0.13263869655963514, + -0.12284544353775279, + -0.9835222281051781 + ], + [ + 0.9621823793191882, + -0.24436772648452537, + 0.12037226915054183, + -0.2550895705962696, + -0.9633132397358417, + 0.08340811185159328, + 0.09557394990622231, + -0.11095952596519729, + -0.9892186834552318 + ], + [ + 0.9837016524780885, + -0.16970542475510003, + 0.05942329274425263, + -0.1745688911117364, + -0.9805742323592328, + 0.08944203200464491, + 0.043090151634645975, + -0.09835773300453955, + -0.9942177805643545 + ], + [ + 0.9890427696564192, + -0.14750823096577, + 0.005976753944067924, + -0.1472755899771608, + -0.9830637219681994, + 0.1090670396907783, + -0.0102127561039166, + -0.10875219697725491, + -0.9940164280661472 + ], + [ + 0.9915330679601203, + -0.12681015936619539, + -0.027952792760494508, + -0.12317606369866438, + -0.9866339479147466, + 0.10668228603598301, + -0.0411075719703025, + -0.10233589938863513, + -0.9939001615972427 + ], + [ + 0.9936823624793388, + -0.10700353618754552, + -0.03384679808846209, + -0.10293859771541355, + -0.9891343523767656, + 0.10496131691524022, + -0.044710262780090416, + -0.10081406742889543, + -0.9939001540449514 + ], + [ + 0.999023458697904, + -0.04090621917976957, + -0.016697610718120013, + -0.03976325331986903, + -0.9971677890533768, + 0.06383795234670553, + -0.019261688832943723, + -0.06311166062477658, + -0.9978205778778496 + ], + [ + 0.99996605254829, + -0.00225361681937817, + -0.007925589077306679, + -0.0020713938165597954, + -0.9997350357782793, + 0.022925260414217198, + -0.007975153832223233, + -0.022908065143839015, + -0.9997057654493738 + ], + [ + 0.9995271721312806, + -0.023477504152088723, + 0.01985545189699941, + -0.023414394258036663, + -0.999720046793183, + -0.0034050229610350035, + 0.019929834740273697, + 0.0029385095923975704, + -0.9997970628325535 + ], + [ + 0.9993440515098285, + -0.03062712087429331, + -0.019324755596712043, + -0.03085555185217068, + -0.9994561299593864, + -0.0116352570450396, + -0.018957891017178912, + 0.012223900914093023, + -0.9997455549361663 + ], + [ + 0.9980017784605582, + -0.039027501925968974, + -0.04969209477352894, + -0.038518284901694136, + -0.9991955240161048, + 0.011164520339610089, + -0.05008784201575085, + -0.009228156890741171, + -0.9987021824360879 + ], + [ + 0.9944544390013269, + -0.05486134588056279, + -0.08972514407193842, + -0.05293611101405988, + -0.9983166334059176, + 0.023699527754419285, + -0.09087429175109966, + -0.018818400390272754, + -0.995684553915289 + ], + [ + 0.9922179429163617, + -0.07203505829836682, + -0.10156034723638423, + -0.07089312196624628, + -0.9973739151205447, + 0.014813463301868213, + -0.10236072983670531, + -0.0074982540012833825, + -0.9947190845531364 + ], + [ + 0.991963858778921, + -0.0935206023945644, + -0.08521502100093808, + -0.09300754037461427, + -0.9956153877137682, + 0.009979838727509866, + -0.08577470670248322, + -0.0019739998278636515, + -0.9963126030592919 + ], + [ + 0.995300183790618, + -0.08511125974777153, + -0.046191098823358465, + -0.08398072970087159, + -0.9961309663662454, + 0.02589082627416725, + -0.04821598474853589, + -0.021889981964298914, + -0.9985970396032283 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0021872222423553467, + 0.0021459832787513733, + -0.012337923049926758, + -0.006626740097999573, + 0.0396815687417984, + 0.0029226839542388916, + 1.0 + ], + [ + 0.004318952560424805, + 0.040311526507139206, + -0.000928238034248352, + -0.0069691501557827, + 0.018807828426361084, + 0.09133464097976685, + 1.0 + ], + [ + 0.003284662961959839, + 0.043399836868047714, + 0.0055816397070884705, + 0.0051383376121521, + -0.02271731197834015, + 0.07157227396965027, + 1.0 + ], + [ + -0.006155520677566528, + 0.04102606326341629, + 0.001890823245048523, + 0.04471974074840546, + -0.04454147070646286, + -0.0408172607421875, + 1.0 + ], + [ + -0.005790799856185913, + 0.03600767254829407, + -0.006818912923336029, + 0.040432944893836975, + -0.009704440832138062, + -0.08820191025733948, + 1.0 + ], + [ + -0.006756186485290527, + 0.018661826848983765, + -0.009661152958869934, + 0.003309100866317749, + 0.007013663649559021, + -0.016963839530944824, + 1.0 + ], + [ + -0.007605016231536865, + 0.009948931634426117, + -0.02217946946620941, + -0.012558110058307648, + 0.03731067478656769, + 0.06795808672904968, + 1.0 + ], + [ + 8.77678394317627e-05, + 0.0025195106863975525, + -0.0227910615503788, + -0.013093039393424988, + 0.052616555243730545, + 0.08352100849151611, + 1.0 + ], + [ + 0.0008675754070281982, + 0.002889581024646759, + -0.014334295876324177, + 0.010364517569541931, + 0.05331642925739288, + 0.027811720967292786, + 1.0 + ], + [ + -0.002521514892578125, + 0.0010103359818458557, + -0.006256765685975552, + -0.006371021270751953, + 0.030906224623322487, + 0.02422633022069931, + 0.0 + ], + [ + -0.0010353028774261475, + -0.006062030792236328, + 0.008979921229183674, + -0.0015153437852859497, + 0.0036060139536857605, + 0.020369835197925568, + 0.0 + ], + [ + 0.009229958057403564, + -0.028168804943561554, + 0.035950690507888794, + -0.037921689450740814, + -0.02546229213476181, + 0.06344373524188995, + 0.0 + ], + [ + 0.025145024061203003, + -0.04576902091503143, + 0.03185182809829712, + -0.04025457054376602, + -0.01128764171153307, + 0.037709660828113556, + 0.0 + ], + [ + 0.03988760709762573, + -0.04325563460588455, + 0.00775928795337677, + -0.025849895551800728, + -0.0279063917696476, + -0.021349726244807243, + 0.0 + ], + [ + 0.029748082160949707, + -0.022768370807170868, + -0.027917731553316116, + -0.009287305176258087, + 0.038890182971954346, + -0.00744481198489666, + 0.0 + ], + [ + 0.005876064300537109, + -0.009741436690092087, + -0.016861476004123688, + 0.021466288715600967, + 0.031149782240390778, + -0.007710261270403862, + 0.0 + ], + [ + -0.004348158836364746, + -0.002883210778236389, + -0.022418897598981857, + 0.009657826274633408, + 0.040891025215387344, + -0.014604855328798294, + 0.0 + ], + [ + -0.0016598999500274658, + -0.0014345087110996246, + -0.008526621386408806, + -0.01135979313403368, + 0.011540494859218597, + -0.0181468166410923, + 1.0 + ], + [ + -0.0009038448333740234, + -0.0003570839762687683, + -0.0012128400849178433, + -0.005556616000831127, + -0.016660094261169434, + -0.022159770131111145, + 1.0 + ], + [ + 0.0020487606525421143, + 0.001042492687702179, + 0.020429331809282303, + 0.01993592269718647, + -0.037645548582077026, + 0.009309805929660797, + 1.0 + ], + [ + 0.0011911094188690186, + -0.0017662905156612396, + 0.04409106820821762, + 0.0095438901335001, + -0.10679371654987335, + 0.0016322284936904907, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9367310404777527 + ], + [ + 0.6561112403869629 + ], + [ + 0.5928986668586731 + ], + [ + 0.5928986668586731 + ], + [ + 0.5928986668586731 + ], + [ + 0.5928986668586731 + ], + [ + 0.5928986668586731 + ], + [ + 0.5928986668586731 + ], + [ + 0.6159340739250183 + ], + [ + 0.7051732540130615 + ], + [ + 0.9568231701850891 + ], + [ + 1.002137303352356 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.33002546429634094, + -0.08355025947093964, + 0.0656062439084053 + ], + [ + 0.33434441685676575, + -0.04323873296380043, + 0.06467800587415695 + ], + [ + 0.3376290798187256, + 0.00016110365686472505, + 0.07025964558124542 + ], + [ + 0.33147355914115906, + 0.041187167167663574, + 0.07215046882629395 + ], + [ + 0.32568275928497314, + 0.07719483971595764, + 0.06533155590295792 + ], + [ + 0.3189265727996826, + 0.0958566665649414, + 0.05567040294408798 + ], + [ + 0.31132155656814575, + 0.10580559819936752, + 0.03349093347787857 + ], + [ + 0.3114093244075775, + 0.10832510888576508, + 0.010699872858822346 + ], + [ + 0.3122768998146057, + 0.11121468991041183, + -0.0036344232503324747 + ], + [ + 0.3097553849220276, + 0.11222502589225769, + -0.009891188703477383 + ], + [ + 0.30872008204460144, + 0.10616299510002136, + -0.0009112671250477433 + ], + [ + 0.317950040102005, + 0.07799419015645981, + 0.035039424896240234 + ], + [ + 0.343095064163208, + 0.032225169241428375, + 0.06689125299453735 + ], + [ + 0.38298267126083374, + -0.011030465364456177, + 0.07465054094791412 + ], + [ + 0.41273075342178345, + -0.033798836171627045, + 0.04673280939459801 + ], + [ + 0.41860681772232056, + -0.04354027286171913, + 0.02987133339047432 + ], + [ + 0.4142586588859558, + -0.04642348363995552, + 0.007452436722815037 + ], + [ + 0.41259875893592834, + -0.047857992351055145, + -0.0010741850128397346 + ], + [ + 0.4116949141025543, + -0.048215076327323914, + -0.002287025097757578 + ], + [ + 0.41374367475509644, + -0.047172583639621735, + 0.018142307177186012 + ], + [ + 0.41493478417396545, + -0.048938874155282974, + 0.06223337724804878 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.938246459038546, + -0.33415340374540914, + 0.08963863490140635, + -0.3361588171014781, + -0.9417726332540649, + 0.0078458230058822, + 0.0817975047697976, + -0.03749413312856016, + -0.9959434513035229 + ], + [ + 0.9663148350633785, + -0.2480315777076422, + 0.06867296408553863, + -0.24952290701768318, + -0.9682687303684169, + 0.013927837742401982, + 0.06303934017643636, + -0.030594153862983215, + -0.9975419987847769 + ], + [ + 0.9800227154749317, + -0.177007795936583, + 0.09068471387623389, + -0.1794774181596846, + -0.983563255822704, + 0.019778224545598584, + 0.0856932524991037, + -0.03565896763950664, + -0.9956832350215654 + ], + [ + 0.9671967357463159, + -0.20921791705580592, + 0.14407754004181478, + -0.21826121308410792, + -0.9746117135754843, + 0.049940470807868315, + 0.12997121690868507, + -0.07974879901470505, + -0.9883054243658624 + ], + [ + 0.9429653172826089, + -0.2869314030662905, + 0.16878027235586213, + -0.3022116144644039, + -0.9504715093521285, + 0.07260888370375558, + 0.13958707133874387, + -0.1194750176576548, + -0.9829756709455102 + ], + [ + 0.9386072503418775, + -0.3032643474941645, + 0.16446022359403148, + -0.3184704158640504, + -0.9449548838653365, + 0.07507903621136428, + 0.13263869655963514, + -0.12284544353775279, + -0.9835222281051781 + ], + [ + 0.9621823793191882, + -0.24436772648452537, + 0.12037226915054183, + -0.2550895705962696, + -0.9633132397358417, + 0.08340811185159328, + 0.09557394990622231, + -0.11095952596519729, + -0.9892186834552318 + ], + [ + 0.9837016524780885, + -0.16970542475510003, + 0.05942329274425263, + -0.1745688911117364, + -0.9805742323592328, + 0.08944203200464491, + 0.043090151634645975, + -0.09835773300453955, + -0.9942177805643545 + ], + [ + 0.9890427696564192, + -0.14750823096577, + 0.005976753944067924, + -0.1472755899771608, + -0.9830637219681994, + 0.1090670396907783, + -0.0102127561039166, + -0.10875219697725491, + -0.9940164280661472 + ], + [ + 0.9915330679601203, + -0.12681015936619539, + -0.027952792760494508, + -0.12317606369866438, + -0.9866339479147466, + 0.10668228603598301, + -0.0411075719703025, + -0.10233589938863513, + -0.9939001615972427 + ], + [ + 0.9936823624793388, + -0.10700353618754552, + -0.03384679808846209, + -0.10293859771541355, + -0.9891343523767656, + 0.10496131691524022, + -0.044710262780090416, + -0.10081406742889543, + -0.9939001540449514 + ], + [ + 0.999023458697904, + -0.04090621917976957, + -0.016697610718120013, + -0.03976325331986903, + -0.9971677890533768, + 0.06383795234670553, + -0.019261688832943723, + -0.06311166062477658, + -0.9978205778778496 + ], + [ + 0.99996605254829, + -0.00225361681937817, + -0.007925589077306679, + -0.0020713938165597954, + -0.9997350357782793, + 0.022925260414217198, + -0.007975153832223233, + -0.022908065143839015, + -0.9997057654493738 + ], + [ + 0.9995271721312806, + -0.023477504152088723, + 0.01985545189699941, + -0.023414394258036663, + -0.999720046793183, + -0.0034050229610350035, + 0.019929834740273697, + 0.0029385095923975704, + -0.9997970628325535 + ], + [ + 0.9993440515098285, + -0.03062712087429331, + -0.019324755596712043, + -0.03085555185217068, + -0.9994561299593864, + -0.0116352570450396, + -0.018957891017178912, + 0.012223900914093023, + -0.9997455549361663 + ], + [ + 0.9980017784605582, + -0.039027501925968974, + -0.04969209477352894, + -0.038518284901694136, + -0.9991955240161048, + 0.011164520339610089, + -0.05008784201575085, + -0.009228156890741171, + -0.9987021824360879 + ], + [ + 0.9944544390013269, + -0.05486134588056279, + -0.08972514407193842, + -0.05293611101405988, + -0.9983166334059176, + 0.023699527754419285, + -0.09087429175109966, + -0.018818400390272754, + -0.995684553915289 + ], + [ + 0.9922179429163617, + -0.07203505829836682, + -0.10156034723638423, + -0.07089312196624628, + -0.9973739151205447, + 0.014813463301868213, + -0.10236072983670531, + -0.0074982540012833825, + -0.9947190845531364 + ], + [ + 0.991963858778921, + -0.0935206023945644, + -0.08521502100093808, + -0.09300754037461427, + -0.9956153877137682, + 0.009979838727509866, + -0.08577470670248322, + -0.0019739998278636515, + -0.9963126030592919 + ], + [ + 0.995300183790618, + -0.08511125974777153, + -0.046191098823358465, + -0.08398072970087159, + -0.9961309663662454, + 0.02589082627416725, + -0.04821598474853589, + -0.021889981964298914, + -0.9985970396032283 + ], + [ + 0.9948867869230588, + -0.08057644881937683, + 0.060891026445372656, + -0.08231062831305315, + -0.9962536573576171, + 0.02652566056260535, + 0.05852556426573895, + -0.031402007853487485, + -0.9977918982584228 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006136.json b/json/chunk-0006/episode_0006136.json new file mode 100644 index 0000000000000000000000000000000000000000..ffd07da52cd4cfaba263181e2645fb335e8c40b5 --- /dev/null +++ b/json/chunk-0006/episode_0006136.json @@ -0,0 +1,1402 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 22, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut corn into bowl." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006136.mp4", + "start": 0, + "end": 22, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.38984858989715576, + -0.08200595527887344, + 0.03195379674434662, + 0.09781935811042786, + -0.12723451852798462, + 0.03789454698562622, + 0.0, + 0.9981546401977539 + ], + [ + 0.3814850449562073, + -0.07308908551931381, + 0.019096113741397858, + 0.14874176681041718, + -0.08305735141038895, + -0.01063926424831152, + 0.0, + 0.9981546401977539 + ], + [ + 0.37339574098587036, + -0.04903152212500572, + 0.02843986265361309, + 0.22664456069469452, + -0.014735101722180843, + -0.13931410014629364, + 0.0, + 0.9974852800369263 + ], + [ + 0.3627192974090576, + -4.421587800607085e-05, + 0.061914991587400436, + 0.29127973318099976, + 0.000724400975741446, + -0.18687273561954498, + 0.0, + 0.9981546401977539 + ], + [ + 0.34311214089393616, + 0.04616473242640495, + 0.07738606631755829, + 0.3504343628883362, + 0.022649111226201057, + -0.22003981471061707, + 0.0, + 0.9981546401977539 + ], + [ + 0.32929280400276184, + 0.09423260390758514, + 0.09124016761779785, + 0.38152000308036804, + 0.028008293360471725, + -0.26828452944755554, + 0.0, + 0.9981546401977539 + ], + [ + 0.3179193139076233, + 0.14059869945049286, + 0.09186505526304245, + 0.4039015769958496, + 0.021036658436059952, + -0.31715789437294006, + 0.0, + 0.9981546401977539 + ], + [ + 0.31761404871940613, + 0.1765628457069397, + 0.08894279599189758, + 0.4182213842868805, + -0.0563487783074379, + -0.3664812743663788, + 0.0, + 0.9981546401977539 + ], + [ + 0.31512632966041565, + 0.19799496233463287, + 0.07021387666463852, + 0.37367647886276245, + -0.11185478419065475, + -0.3724828064441681, + 0.0, + 0.9981546401977539 + ], + [ + 0.32207807898521423, + 0.19193042814731598, + 0.05449531972408295, + 0.3395439386367798, + -0.16475741565227509, + -0.39332738518714905, + 0.0, + 0.9981546401977539 + ], + [ + 0.3230660557746887, + 0.1859653741121292, + 0.04516110196709633, + 0.3242330253124237, + -0.19549812376499176, + -0.40418174862861633, + 0.0, + 0.9981546401977539 + ], + [ + 0.32270577549934387, + 0.1813153624534607, + 0.041302748024463654, + 0.3008559048175812, + -0.203905388712883, + -0.4230237901210785, + 0.0, + 0.9981546401977539 + ], + [ + 0.3205954134464264, + 0.17857998609542847, + 0.027647122740745544, + 0.23261845111846924, + -0.1904308795928955, + -0.4272214472293854, + 0.0, + 0.7969971895217896 + ], + [ + 0.32214513421058655, + 0.18178437650203705, + 0.02687457948923111, + 0.18606500327587128, + -0.17878717184066772, + -0.4142321050167084, + 0.0, + 0.657115638256073 + ], + [ + 0.32122161984443665, + 0.17522980272769928, + 0.04191990941762924, + 0.16793854534626007, + -0.10237502306699753, + -0.41987916827201843, + 0.0, + 0.657115638256073 + ], + [ + 0.339158833026886, + 0.12867261469364166, + 0.08550921082496643, + 0.25494274497032166, + -0.11087313294410706, + -0.4413175582885742, + 0.0, + 0.657115638256073 + ], + [ + 0.3539412319660187, + 0.08186415582895279, + 0.0958356112241745, + 0.31098639965057373, + -0.21375222504138947, + -0.40004101395606995, + 0.0, + 0.657115638256073 + ], + [ + 0.3766489624977112, + 0.039131131023168564, + 0.0885341465473175, + 0.31928542256355286, + -0.32103657722473145, + -0.3735579252243042, + 0.0, + 0.657115638256073 + ], + [ + 0.40658804774284363, + 0.001537793898023665, + 0.07648360729217529, + 0.3849935531616211, + -0.36627596616744995, + -0.4641803503036499, + 0.0, + 0.657115638256073 + ], + [ + 0.4309752881526947, + -0.01161338109523058, + 0.07096526026725769, + 0.4470362961292267, + -0.39374831318855286, + -0.5367240309715271, + 0.0, + 0.657115638256073 + ], + [ + 0.45353105664253235, + -0.024569503962993622, + 0.07380816340446472, + 0.4820207953453064, + -0.43753257393836975, + -0.5942459106445312, + 0.0, + 0.657115638256073 + ], + [ + 0.46264415979385376, + -0.026871096342802048, + 0.06785041093826294, + 0.49873101711273193, + -0.4437149167060852, + -0.6217257380485535, + 0.0, + 0.8562611937522888 + ] + ], + "left_gripper_pos": [ + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9974852800369263 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.7969971895217896 + ], + [ + 0.657115638256073 + ], + [ + 0.657115638256073 + ], + [ + 0.657115638256073 + ], + [ + 0.657115638256073 + ], + [ + 0.657115638256073 + ], + [ + 0.657115638256073 + ], + [ + 0.657115638256073 + ], + [ + 0.657115638256073 + ], + [ + 0.8562611937522888 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.38984858989715576, + -0.08200595527887344, + 0.03195379674434662 + ], + [ + 0.3814850449562073, + -0.07308908551931381, + 0.019096113741397858 + ], + [ + 0.37339574098587036, + -0.04903152212500572, + 0.02843986265361309 + ], + [ + 0.3627192974090576, + -4.421587800607085e-05, + 0.061914991587400436 + ], + [ + 0.34311214089393616, + 0.04616473242640495, + 0.07738606631755829 + ], + [ + 0.32929280400276184, + 0.09423260390758514, + 0.09124016761779785 + ], + [ + 0.3179193139076233, + 0.14059869945049286, + 0.09186505526304245 + ], + [ + 0.31761404871940613, + 0.1765628457069397, + 0.08894279599189758 + ], + [ + 0.31512632966041565, + 0.19799496233463287, + 0.07021387666463852 + ], + [ + 0.32207807898521423, + 0.19193042814731598, + 0.05449531972408295 + ], + [ + 0.3230660557746887, + 0.1859653741121292, + 0.04516110196709633 + ], + [ + 0.32270577549934387, + 0.1813153624534607, + 0.041302748024463654 + ], + [ + 0.3205954134464264, + 0.17857998609542847, + 0.027647122740745544 + ], + [ + 0.32214513421058655, + 0.18178437650203705, + 0.02687457948923111 + ], + [ + 0.32122161984443665, + 0.17522980272769928, + 0.04191990941762924 + ], + [ + 0.339158833026886, + 0.12867261469364166, + 0.08550921082496643 + ], + [ + 0.3539412319660187, + 0.08186415582895279, + 0.0958356112241745 + ], + [ + 0.3766489624977112, + 0.039131131023168564, + 0.0885341465473175 + ], + [ + 0.40658804774284363, + 0.001537793898023665, + 0.07648360729217529 + ], + [ + 0.4309752881526947, + -0.01161338109523058, + 0.07096526026725769 + ], + [ + 0.45353105664253235, + -0.024569503962993622, + 0.07380816340446472 + ], + [ + 0.46264415979385376, + -0.026871096342802048, + 0.06785041093826294 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9912044931448991, + 0.050088129832437794, + 0.12249421218674882, + 0.03757923484574771, + -0.9940355180167098, + 0.10237768325987613, + 0.1268915043561685, + -0.09687398087794387, + -0.9871747453977376 + ], + [ + 0.9964963192993341, + 0.001772160426068022, + 0.08361785138535881, + -0.010602387708540228, + -0.9890331530986565, + 0.1473126316600427, + 0.08296188882708415, + -0.14768304411527375, + -0.9855491075959071 + ], + [ + 0.9902039680148759, + -0.13203365660553126, + 0.045422629282847744, + -0.1388488178507151, + -0.9654449057878915, + 0.2205382952452201, + 0.014734568505840614, + -0.22468477343064788, + -0.9743200937471037 + ], + [ + 0.982589786149402, + -0.17816552220532658, + 0.052672182906879514, + -0.18578694087096279, + -0.9411618996717576, + 0.2823074409363979, + -0.0007244009123857226, + -0.2871782117493451, + -0.9578768970696424 + ], + [ + 0.9756384637072022, + -0.21259036751138297, + 0.05417493679207322, + -0.2182124964493091, + -0.9148808173373726, + 0.3396710121006221, + -0.02264717484390225, + -0.34321775261410337, + -0.9389827899179588 + ], + [ + 0.9638488717355223, + -0.2560725779014897, + 0.07363550299309746, + -0.2649737591987607, + -0.8921349264407579, + 0.36590187203760105, + -0.028004631585474317, + -0.3721855825679298, + -0.9277357558800527 + ], + [ + 0.9499153875024265, + -0.29462761373551816, + 0.10418889485270982, + -0.31179846193487304, + -0.8710952128790488, + 0.37944017872947, + -0.021035106873088183, + -0.39292200157756363, + -0.9193311834997868 + ], + [ + 0.9321122220995679, + -0.30609466142760045, + 0.19357908889683467, + -0.3577638603506388, + -0.861326286390935, + 0.36072433879488897, + 0.056318963410334696, + -0.4054911671263923, + -0.9123623664656832 + ], + [ + 0.9256059555187646, + -0.30086259653862335, + 0.22964170595131944, + -0.3616548279017483, + -0.8819791871054381, + 0.302189508368817, + 0.11162168500587843, + -0.3627594402863529, + -0.9251735988016413 + ], + [ + 0.9111311490112212, + -0.31092759213175336, + 0.2704885612232825, + -0.3780737403700096, + -0.8918413346068031, + 0.24835313714424126, + 0.16401303650662025, + -0.3285469012757628, + -0.9301379776774905 + ], + [ + 0.9019104044730124, + -0.31587588223651103, + 0.2945845368050275, + -0.38577524788846657, + -0.8958559706031113, + 0.2204983855980565, + 0.19425519406162342, + -0.3125132108504581, + -0.9298389175679935 + ], + [ + 0.8929611574151545, + -0.3373628403312915, + 0.2980045055219662, + -0.4020149323188871, + -0.8955283799803333, + 0.19082168336549354, + 0.20249534695994542, + -0.2901986123560959, + -0.9352969581080481 + ], + [ + 0.8936680773175781, + -0.3634710771755513, + 0.26314662004355593, + -0.4068534022438491, + -0.9036871122929053, + 0.13349124375147126, + 0.18928200301694809, + -0.22635896079579965, + -0.9554757685055847 + ], + [ + 0.9008338658790165, + -0.36542395543225853, + 0.23444333831804473, + -0.3960714947539376, + -0.9128664404445739, + 0.09900622684172584, + 0.1778362087114095, + -0.1820444855146578, + -0.9670750168238532 + ], + [ + 0.9083572430303094, + -0.38631671662469197, + 0.16014528869340103, + -0.40551576689567265, + -0.9072551938869857, + 0.11155705250723584, + 0.10219629070269518, + -0.16627509621529366, + -0.9807693462507915 + ], + [ + 0.8986378340647598, + -0.3880949443114744, + 0.2045296002716271, + -0.42450851639295717, + -0.8868828221836005, + 0.1822947591827675, + 0.11064611469567452, + -0.2506415247231121, + -0.9617360674255833 + ], + [ + 0.900083734589983, + -0.3109890112435885, + 0.30518044762449054, + -0.38059281491614955, + -0.9021444166262377, + 0.20318602507137912, + 0.2121282158524669, + -0.2990339218815162, + -0.9303656988536328 + ], + [ + 0.8834671921968718, + -0.2542699991000319, + 0.39348759557252233, + -0.346285573852977, + -0.9201257474440613, + 0.1829068348417341, + 0.3155503472555363, + -0.2978512656481029, + -0.9009509431144035 + ], + [ + 0.8348750761825843, + -0.29465025494584807, + 0.4649353013371542, + -0.4179936518210261, + -0.888949692702122, + 0.1872157869468416, + 0.35814091389625735, + -0.35064179885625324, + -0.8653238784919806 + ], + [ + 0.7936258234417933, + -0.3185463208856291, + 0.5183495864921329, + -0.47219566533212703, + -0.8597417534398389, + 0.19461595780855412, + 0.3836525850400141, + -0.39921467763901275, + -0.8327294489506744 + ], + [ + 0.7505194570994422, + -0.3333449916221096, + 0.5706151602223812, + -0.5071429492775813, + -0.8441345938952274, + 0.17390461864877504, + 0.4237057628982579, + -0.41990225523304225, + -0.8025929993072516 + ], + [ + 0.7341582763576573, + -0.3445780827102328, + 0.5850449300449445, + -0.5260372609700396, + -0.8334552935694401, + 0.16922492042313694, + 0.4292975952957255, + -0.43199330843986283, + -0.793149012567304 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.008363544940948486, + 0.008916869759559631, + -0.012857683002948761, + 0.05092240869998932, + 0.04417716711759567, + -0.048533812165260315, + 1.0 + ], + [ + -0.008089303970336914, + 0.02405756339430809, + 0.009343748912215233, + 0.07790279388427734, + 0.06832224875688553, + -0.12867483496665955, + 1.0 + ], + [ + -0.010676443576812744, + 0.04898730665445328, + 0.033475130796432495, + 0.06463517248630524, + 0.015459503047168255, + -0.04755863547325134, + 1.0 + ], + [ + -0.01960715651512146, + 0.0462089478969574, + 0.015471074730157852, + 0.059154629707336426, + 0.021924709901213646, + -0.03316707909107208, + 1.0 + ], + [ + -0.013819336891174316, + 0.04806787148118019, + 0.013854101300239563, + 0.03108564019203186, + 0.005359182134270668, + -0.04824471473693848, + 1.0 + ], + [ + -0.01137349009513855, + 0.046366095542907715, + 0.0006248876452445984, + 0.022381573915481567, + -0.006971634924411774, + -0.04887336492538452, + 1.0 + ], + [ + -0.0003052651882171631, + 0.03596414625644684, + -0.002922259271144867, + 0.014319807291030884, + -0.07738544046878815, + -0.04932337999343872, + 1.0 + ], + [ + -0.0024877190589904785, + 0.021432116627693176, + -0.018728919327259064, + -0.04454490542411804, + -0.05550600588321686, + -0.006001532077789307, + 1.0 + ], + [ + 0.006951749324798584, + -0.0060645341873168945, + -0.015718556940555573, + -0.034132540225982666, + -0.05290263146162033, + -0.020844578742980957, + 1.0 + ], + [ + 0.0009879767894744873, + -0.005965054035186768, + -0.009334217756986618, + -0.015310913324356079, + -0.030740708112716675, + -0.010854363441467285, + 1.0 + ], + [ + -0.00036028027534484863, + -0.004650011658668518, + -0.003858353942632675, + -0.02337712049484253, + -0.008407264947891235, + -0.018842041492462158, + 1.0 + ], + [ + -0.0021103620529174805, + -0.0027353763580322266, + -0.013655625283718109, + -0.06823745369911194, + 0.013474509119987488, + -0.004197657108306885, + 0.0 + ], + [ + 0.0015497207641601562, + 0.0032043904066085815, + -0.0007725432515144348, + -0.04655344784259796, + 0.011643707752227783, + 0.012989342212677002, + 0.0 + ], + [ + -0.0009235143661499023, + -0.0065545737743377686, + 0.015045329928398132, + -0.018126457929611206, + 0.0764121487736702, + -0.005647063255310059, + 0.0 + ], + [ + 0.01793721318244934, + -0.04655718803405762, + 0.04358930140733719, + 0.08700419962406158, + -0.008498109877109528, + -0.021438390016555786, + 0.0 + ], + [ + 0.01478239893913269, + -0.04680845886468887, + 0.010326400399208069, + 0.056043654680252075, + -0.10287909209728241, + 0.04127654433250427, + 0.0 + ], + [ + 0.022707730531692505, + -0.042733024805784225, + -0.007301464676856995, + 0.008299022912979126, + -0.10728435218334198, + 0.026483088731765747, + 0.0 + ], + [ + 0.029939085245132446, + -0.03759333863854408, + -0.012050539255142212, + 0.06570813059806824, + -0.045239388942718506, + -0.0906224250793457, + 0.0 + ], + [ + 0.024387240409851074, + -0.01315117534250021, + -0.0055183470249176025, + 0.06204274296760559, + -0.027472347021102905, + -0.0725436806678772, + 0.0 + ], + [ + 0.022555768489837646, + -0.012956122867763042, + 0.0028429031372070312, + 0.03498449921607971, + -0.043784260749816895, + -0.05752187967300415, + 0.0 + ], + [ + 0.009113103151321411, + -0.002301592379808426, + -0.005957752466201782, + 0.016710221767425537, + -0.006182342767715454, + -0.027479827404022217, + 1.0 + ], + [ + 0.005651682615280151, + -0.0009705051779747009, + 0.00684066116809845, + 0.022380411624908447, + -0.021870523691177368, + -0.02183246612548828, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9981546401977539 + ], + [ + 0.9974852800369263 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.7969971895217896 + ], + [ + 0.657115638256073 + ], + [ + 0.657115638256073 + ], + [ + 0.657115638256073 + ], + [ + 0.657115638256073 + ], + [ + 0.657115638256073 + ], + [ + 0.657115638256073 + ], + [ + 0.657115638256073 + ], + [ + 0.657115638256073 + ], + [ + 0.8562611937522888 + ], + [ + 0.9981546401977539 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3814850449562073, + -0.07308908551931381, + 0.019096113741397858 + ], + [ + 0.37339574098587036, + -0.04903152212500572, + 0.02843986265361309 + ], + [ + 0.3627192974090576, + -4.421587800607085e-05, + 0.061914991587400436 + ], + [ + 0.34311214089393616, + 0.04616473242640495, + 0.07738606631755829 + ], + [ + 0.32929280400276184, + 0.09423260390758514, + 0.09124016761779785 + ], + [ + 0.3179193139076233, + 0.14059869945049286, + 0.09186505526304245 + ], + [ + 0.31761404871940613, + 0.1765628457069397, + 0.08894279599189758 + ], + [ + 0.31512632966041565, + 0.19799496233463287, + 0.07021387666463852 + ], + [ + 0.32207807898521423, + 0.19193042814731598, + 0.05449531972408295 + ], + [ + 0.3230660557746887, + 0.1859653741121292, + 0.04516110196709633 + ], + [ + 0.32270577549934387, + 0.1813153624534607, + 0.041302748024463654 + ], + [ + 0.3205954134464264, + 0.17857998609542847, + 0.027647122740745544 + ], + [ + 0.32214513421058655, + 0.18178437650203705, + 0.02687457948923111 + ], + [ + 0.32122161984443665, + 0.17522980272769928, + 0.04191990941762924 + ], + [ + 0.339158833026886, + 0.12867261469364166, + 0.08550921082496643 + ], + [ + 0.3539412319660187, + 0.08186415582895279, + 0.0958356112241745 + ], + [ + 0.3766489624977112, + 0.039131131023168564, + 0.0885341465473175 + ], + [ + 0.40658804774284363, + 0.001537793898023665, + 0.07648360729217529 + ], + [ + 0.4309752881526947, + -0.01161338109523058, + 0.07096526026725769 + ], + [ + 0.45353105664253235, + -0.024569503962993622, + 0.07380816340446472 + ], + [ + 0.46264415979385376, + -0.026871096342802048, + 0.06785041093826294 + ], + [ + 0.4682958424091339, + -0.02784160152077675, + 0.07469107210636139 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9964963192993341, + 0.001772160426068022, + 0.08361785138535881, + -0.010602387708540228, + -0.9890331530986565, + 0.1473126316600427, + 0.08296188882708415, + -0.14768304411527375, + -0.9855491075959071 + ], + [ + 0.9902039680148759, + -0.13203365660553126, + 0.045422629282847744, + -0.1388488178507151, + -0.9654449057878915, + 0.2205382952452201, + 0.014734568505840614, + -0.22468477343064788, + -0.9743200937471037 + ], + [ + 0.982589786149402, + -0.17816552220532658, + 0.052672182906879514, + -0.18578694087096279, + -0.9411618996717576, + 0.2823074409363979, + -0.0007244009123857226, + -0.2871782117493451, + -0.9578768970696424 + ], + [ + 0.9756384637072022, + -0.21259036751138297, + 0.05417493679207322, + -0.2182124964493091, + -0.9148808173373726, + 0.3396710121006221, + -0.02264717484390225, + -0.34321775261410337, + -0.9389827899179588 + ], + [ + 0.9638488717355223, + -0.2560725779014897, + 0.07363550299309746, + -0.2649737591987607, + -0.8921349264407579, + 0.36590187203760105, + -0.028004631585474317, + -0.3721855825679298, + -0.9277357558800527 + ], + [ + 0.9499153875024265, + -0.29462761373551816, + 0.10418889485270982, + -0.31179846193487304, + -0.8710952128790488, + 0.37944017872947, + -0.021035106873088183, + -0.39292200157756363, + -0.9193311834997868 + ], + [ + 0.9321122220995679, + -0.30609466142760045, + 0.19357908889683467, + -0.3577638603506388, + -0.861326286390935, + 0.36072433879488897, + 0.056318963410334696, + -0.4054911671263923, + -0.9123623664656832 + ], + [ + 0.9256059555187646, + -0.30086259653862335, + 0.22964170595131944, + -0.3616548279017483, + -0.8819791871054381, + 0.302189508368817, + 0.11162168500587843, + -0.3627594402863529, + -0.9251735988016413 + ], + [ + 0.9111311490112212, + -0.31092759213175336, + 0.2704885612232825, + -0.3780737403700096, + -0.8918413346068031, + 0.24835313714424126, + 0.16401303650662025, + -0.3285469012757628, + -0.9301379776774905 + ], + [ + 0.9019104044730124, + -0.31587588223651103, + 0.2945845368050275, + -0.38577524788846657, + -0.8958559706031113, + 0.2204983855980565, + 0.19425519406162342, + -0.3125132108504581, + -0.9298389175679935 + ], + [ + 0.8929611574151545, + -0.3373628403312915, + 0.2980045055219662, + -0.4020149323188871, + -0.8955283799803333, + 0.19082168336549354, + 0.20249534695994542, + -0.2901986123560959, + -0.9352969581080481 + ], + [ + 0.8936680773175781, + -0.3634710771755513, + 0.26314662004355593, + -0.4068534022438491, + -0.9036871122929053, + 0.13349124375147126, + 0.18928200301694809, + -0.22635896079579965, + -0.9554757685055847 + ], + [ + 0.9008338658790165, + -0.36542395543225853, + 0.23444333831804473, + -0.3960714947539376, + -0.9128664404445739, + 0.09900622684172584, + 0.1778362087114095, + -0.1820444855146578, + -0.9670750168238532 + ], + [ + 0.9083572430303094, + -0.38631671662469197, + 0.16014528869340103, + -0.40551576689567265, + -0.9072551938869857, + 0.11155705250723584, + 0.10219629070269518, + -0.16627509621529366, + -0.9807693462507915 + ], + [ + 0.8986378340647598, + -0.3880949443114744, + 0.2045296002716271, + -0.42450851639295717, + -0.8868828221836005, + 0.1822947591827675, + 0.11064611469567452, + -0.2506415247231121, + -0.9617360674255833 + ], + [ + 0.900083734589983, + -0.3109890112435885, + 0.30518044762449054, + -0.38059281491614955, + -0.9021444166262377, + 0.20318602507137912, + 0.2121282158524669, + -0.2990339218815162, + -0.9303656988536328 + ], + [ + 0.8834671921968718, + -0.2542699991000319, + 0.39348759557252233, + -0.346285573852977, + -0.9201257474440613, + 0.1829068348417341, + 0.3155503472555363, + -0.2978512656481029, + -0.9009509431144035 + ], + [ + 0.8348750761825843, + -0.29465025494584807, + 0.4649353013371542, + -0.4179936518210261, + -0.888949692702122, + 0.1872157869468416, + 0.35814091389625735, + -0.35064179885625324, + -0.8653238784919806 + ], + [ + 0.7936258234417933, + -0.3185463208856291, + 0.5183495864921329, + -0.47219566533212703, + -0.8597417534398389, + 0.19461595780855412, + 0.3836525850400141, + -0.39921467763901275, + -0.8327294489506744 + ], + [ + 0.7505194570994422, + -0.3333449916221096, + 0.5706151602223812, + -0.5071429492775813, + -0.8441345938952274, + 0.17390461864877504, + 0.4237057628982579, + -0.41990225523304225, + -0.8025929993072516 + ], + [ + 0.7341582763576573, + -0.3445780827102328, + 0.5850449300449445, + -0.5260372609700396, + -0.8334552935694401, + 0.16922492042313694, + 0.4292975952957255, + -0.43199330843986283, + -0.793149012567304 + ], + [ + 0.7148164980833429, + -0.34160292265432124, + 0.6102006369235388, + -0.5361761461686201, + -0.8278967537999635, + 0.1646271706834855, + 0.44894600382187744, + -0.4448532435326382, + -0.7749535969145884 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006137.json b/json/chunk-0006/episode_0006137.json new file mode 100644 index 0000000000000000000000000000000000000000..2ac98db58c9a37b1151ad932e1ded4b61f20a5be --- /dev/null +++ b/json/chunk-0006/episode_0006137.json @@ -0,0 +1,1522 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 24, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nUnfold the cloth from bottom right to top left." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006137.mp4", + "start": 0, + "end": 24, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.28200069069862366, + -0.05402509123086929, + 0.07441623508930206, + 0.3793328106403351, + -0.1065923273563385, + -0.45645415782928467, + 0.0, + 1.0014774799346924 + ], + [ + 0.27963313460350037, + -0.05304866284132004, + 0.06745997816324234, + 0.3772770166397095, + -0.08226611465215683, + -0.4520024359226227, + 0.0, + 1.0014774799346924 + ], + [ + 0.27608782052993774, + -0.04624733701348305, + 0.06494323909282684, + 0.4037908613681793, + -0.06768535822629929, + -0.44291234016418457, + 0.0, + 1.0014774799346924 + ], + [ + 0.2713334858417511, + -0.027317844331264496, + 0.05731700733304024, + 0.420296847820282, + -0.06268972903490067, + -0.39592400193214417, + 0.0, + 1.0014774799346924 + ], + [ + 0.2727944850921631, + -0.0163489431142807, + 0.05507495999336243, + 0.41645336151123047, + -0.07134941965341568, + -0.371692955493927, + 0.0, + 1.0014774799346924 + ], + [ + 0.2720187306404114, + -0.008913937956094742, + 0.05078905448317528, + 0.40210285782814026, + -0.0836169421672821, + -0.3479207456111908, + 0.0, + 1.0014774799346924 + ], + [ + 0.27210113406181335, + -0.008096870966255665, + 0.047039128839969635, + 0.37856653332710266, + -0.07923464477062225, + -0.34728604555130005, + 0.0, + 1.0014774799346924 + ], + [ + 0.27462878823280334, + -0.012680696323513985, + 0.03656390309333801, + 0.32968807220458984, + -0.06691284477710724, + -0.3419259190559387, + 0.0, + 1.0014774799346924 + ], + [ + 0.2777295708656311, + -0.016165167093276978, + 0.023983437567949295, + 0.27214521169662476, + -0.046625081449747086, + -0.341651052236557, + 0.0, + 1.0014774799346924 + ], + [ + 0.2798326015472412, + -0.015543777495622635, + 0.01747008226811886, + 0.2582337558269501, + -0.044723931699991226, + -0.3521333336830139, + 0.0, + 0.9635607004165649 + ], + [ + 0.2827610969543457, + -0.014171424321830273, + 0.018622074276208878, + 0.255763441324234, + -0.05056450888514519, + -0.35365787148475647, + 0.0, + 0.6961957812309265 + ], + [ + 0.28438931703567505, + -0.01102433167397976, + 0.02172100357711315, + 0.273460328578949, + -0.03816881775856018, + -0.35453712940216064, + 0.0, + 0.3823249042034149 + ], + [ + 0.28192368149757385, + -0.015613943338394165, + 0.026238298043608665, + 0.2996433675289154, + -0.007414144463837147, + -0.37017184495925903, + 0.0, + 0.16548661887645721 + ], + [ + 0.28491827845573425, + -0.015502408146858215, + 0.04223219305276871, + 0.34539324045181274, + -0.013363359495997429, + -0.3790092468261719, + 0.0, + 0.07143880426883698 + ], + [ + 0.30056554079055786, + 0.0031985598616302013, + 0.06046486645936966, + 0.41565367579460144, + -0.012864472344517708, + -0.4084926247596741, + 0.0, + 0.062092870473861694 + ], + [ + 0.3313528895378113, + 0.04764276370406151, + 0.0878031849861145, + 0.49075740575790405, + -0.057996850460767746, + -0.437735915184021, + 0.0, + 0.062092870473861694 + ], + [ + 0.3629412055015564, + 0.09614168107509613, + 0.08653932064771652, + 0.4953427314758301, + -0.05723853036761284, + -0.46215739846229553, + 0.0, + 0.062092870473861694 + ], + [ + 0.38747355341911316, + 0.1297501176595688, + 0.07531417906284332, + 0.47757381200790405, + -0.08154775202274323, + -0.4728453457355499, + 0.0, + 0.062092870473861694 + ], + [ + 0.3926222622394562, + 0.15648065507411957, + 0.0389871671795845, + 0.40990886092185974, + -0.0897522047162056, + -0.4424822926521301, + 0.0, + 0.061804234981536865 + ], + [ + 0.39766865968704224, + 0.16726075112819672, + 0.027158867567777634, + 0.3870096206665039, + -0.11850877851247787, + -0.4344639480113983, + 0.0, + 0.07788556814193726 + ], + [ + 0.3980308175086975, + 0.16960646212100983, + 0.02384772337973118, + 0.3881895840167999, + -0.1271064132452011, + -0.43536823987960815, + 0.0, + 0.228750541806221 + ], + [ + 0.39618921279907227, + 0.1704515516757965, + 0.023725444450974464, + 0.39117881655693054, + -0.10973222553730011, + -0.4374316334724426, + 0.0, + 0.48514097929000854 + ], + [ + 0.3987831175327301, + 0.1638137847185135, + 0.04756958782672882, + 0.43060505390167236, + -0.11579529196023941, + -0.4369001090526581, + 0.0, + 0.788411557674408 + ], + [ + 0.39882993698120117, + 0.15020260214805603, + 0.07326162606477737, + 0.4314451813697815, + -0.11392538249492645, + -0.37880781292915344, + 0.0, + 0.9994885921478271 + ] + ], + "left_gripper_pos": [ + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 0.9635607004165649 + ], + [ + 0.6961957812309265 + ], + [ + 0.3823249042034149 + ], + [ + 0.16548661887645721 + ], + [ + 0.07143880426883698 + ], + [ + 0.062092870473861694 + ], + [ + 0.062092870473861694 + ], + [ + 0.062092870473861694 + ], + [ + 0.062092870473861694 + ], + [ + 0.061804234981536865 + ], + [ + 0.07788556814193726 + ], + [ + 0.228750541806221 + ], + [ + 0.48514097929000854 + ], + [ + 0.788411557674408 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.28200069069862366, + -0.05402509123086929, + 0.07441623508930206 + ], + [ + 0.27963313460350037, + -0.05304866284132004, + 0.06745997816324234 + ], + [ + 0.27608782052993774, + -0.04624733701348305, + 0.06494323909282684 + ], + [ + 0.2713334858417511, + -0.027317844331264496, + 0.05731700733304024 + ], + [ + 0.2727944850921631, + -0.0163489431142807, + 0.05507495999336243 + ], + [ + 0.2720187306404114, + -0.008913937956094742, + 0.05078905448317528 + ], + [ + 0.27210113406181335, + -0.008096870966255665, + 0.047039128839969635 + ], + [ + 0.27462878823280334, + -0.012680696323513985, + 0.03656390309333801 + ], + [ + 0.2777295708656311, + -0.016165167093276978, + 0.023983437567949295 + ], + [ + 0.2798326015472412, + -0.015543777495622635, + 0.01747008226811886 + ], + [ + 0.2827610969543457, + -0.014171424321830273, + 0.018622074276208878 + ], + [ + 0.28438931703567505, + -0.01102433167397976, + 0.02172100357711315 + ], + [ + 0.28192368149757385, + -0.015613943338394165, + 0.026238298043608665 + ], + [ + 0.28491827845573425, + -0.015502408146858215, + 0.04223219305276871 + ], + [ + 0.30056554079055786, + 0.0031985598616302013, + 0.06046486645936966 + ], + [ + 0.3313528895378113, + 0.04764276370406151, + 0.0878031849861145 + ], + [ + 0.3629412055015564, + 0.09614168107509613, + 0.08653932064771652 + ], + [ + 0.38747355341911316, + 0.1297501176595688, + 0.07531417906284332 + ], + [ + 0.3926222622394562, + 0.15648065507411957, + 0.0389871671795845 + ], + [ + 0.39766865968704224, + 0.16726075112819672, + 0.027158867567777634 + ], + [ + 0.3980308175086975, + 0.16960646212100983, + 0.02384772337973118 + ], + [ + 0.39618921279907227, + 0.1704515516757965, + 0.023725444450974464 + ], + [ + 0.3987831175327301, + 0.1638137847185135, + 0.04756958782672882 + ], + [ + 0.39882993698120117, + 0.15020260214805603, + 0.07326162606477737 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8925265064137217, + -0.374071553648221, + 0.25192639421093393, + -0.43826644529246506, + -0.8511755883725605, + 0.2888297780515925, + 0.10639059300343928, + -0.3681991180188128, + -0.9236397843372408 + ], + [ + 0.8965319927694686, + -0.37881859995302597, + 0.22962328773544366, + -0.43529062230507415, + -0.8495301041563246, + 0.2980279789976192, + 0.0821733537959012, + -0.36714448172589126, + -0.9265271013112136 + ], + [ + 0.9014385148558185, + -0.3700964102703015, + 0.22458239254129658, + -0.4275912628562396, + -0.842234399078199, + 0.32833965483686467, + 0.06763368882104966, + -0.39200747966642413, + -0.9174725173115735 + ], + [ + 0.9208282107891531, + -0.32851086047314093, + 0.21013334044373683, + -0.3849032991505692, + -0.8521997249078346, + 0.354408068714608, + 0.06264867530805691, + -0.40722996380203574, + -0.9111744619247941 + ], + [ + 0.9293432606699311, + -0.30528241329591743, + 0.20766259167120366, + -0.3622692325392848, + -0.8625533252513673, + 0.3532177292453005, + 0.07128889817340432, + -0.40349028393510233, + -0.9122025453632501 + ], + [ + 0.9367991327420969, + -0.2830228884990383, + 0.2056828371044023, + -0.3397526626083704, + -0.8762466445976628, + 0.3417015453313903, + 0.083519537499785, + -0.38998700288214516, + -0.9170248766739231 + ], + [ + 0.9373497432772587, + -0.28874181797248144, + 0.19494517519549792, + -0.3392793202571638, + -0.8836786728639334, + 0.32249270684974274, + 0.07915176323932337, + -0.3684293225021369, + -0.9262801048801179 + ], + [ + 0.9400023655958492, + -0.29685028314998324, + 0.16815309116392324, + -0.3345517927734641, + -0.898629944678763, + 0.2837945039614137, + 0.0668629241528446, + -0.32302342317611965, + -0.9440260682064414 + ], + [ + 0.9411788352536585, + -0.31090829960235633, + 0.1323572034644817, + -0.33467906518285084, + -0.9117238899570397, + 0.2382214763826658, + 0.04660819025557513, + -0.26850619679995347, + -0.9621497278912077 + ], + [ + 0.9377004697953265, + -0.3227480767521557, + 0.12865266378279422, + -0.3445561378983078, + -0.9114540747733435, + 0.22479443368480156, + 0.044709023498913016, + -0.25511791103694187, + -0.9658757449516582 + ], + [ + 0.9369131423235225, + -0.32307036238735237, + 0.13348896841450186, + -0.3458889597305667, + -0.9120241706365226, + 0.22039224058770682, + 0.05054296467333003, + -0.2526607470931487, + -0.9662339031520073 + ], + [ + 0.9371242343377445, + -0.3245921154950545, + 0.12821126305961214, + -0.3469034708812221, + -0.9065380126116096, + 0.2405136453109347, + 0.03815955067158156, + -0.26986809787123445, + -0.9621408724526282 + ], + [ + 0.9322395670749495, + -0.34361533157091856, + 0.11339265183122807, + -0.36176569910508255, + -0.8915168902915449, + 0.27262284070837484, + 0.0074140765386743746, + -0.2951713709598217, + -0.9554155604943733 + ], + [ + 0.9289487186499201, + -0.34394570557617954, + 0.13695119471686262, + -0.36996717337028373, + -0.8758392527070376, + 0.30988690525090073, + 0.013362961762813187, + -0.3385364899582944, + -0.9408583720303729 + ], + [ + 0.917644696609258, + -0.3586366338605511, + 0.17119572318862347, + -0.39719356146026763, + -0.8416424242701267, + 0.3658897435064454, + 0.012864117513898612, + -0.40375462167246684, + -0.9147768689460352 + ], + [ + 0.9041908884705825, + -0.3491183056176981, + 0.2460797551392762, + -0.4231772349719146, + -0.8103978195933506, + 0.4051868726894643, + 0.057964342559055346, + -0.47050162877610824, + -0.8804932437621118 + ], + [ + 0.8936267669623756, + -0.36794819589418293, + 0.25699285302628205, + -0.4451500066087297, + -0.7996323478764666, + 0.40302553249864653, + 0.05720728087070823, + -0.474554773833101, + -0.8783650116253461 + ], + [ + 0.8873175190197273, + -0.37113353395670384, + 0.2737289177516401, + -0.4539078238021634, + -0.8077163919371009, + 0.37624714973976364, + 0.08145739949114658, + -0.4580983848136992, + -0.8851613197034877 + ], + [ + 0.9000541883203429, + -0.36043165433972046, + 0.24493158358394906, + -0.4264605570890987, + -0.8441221564291487, + 0.32494488497691354, + 0.08963175405103023, + -0.3969216642806691, + -0.9134655664503176 + ], + [ + 0.9007334846123602, + -0.34931602988685073, + 0.25818113982660323, + -0.41797186969911615, + -0.8587915933807527, + 0.2962710166026593, + 0.11823157716236532, + -0.37477367890853397, + -0.9195466185893257 + ], + [ + 0.8994001961571078, + -0.3468587739657082, + 0.26602307808827685, + -0.4183420437120301, + -0.8594875975067067, + 0.29371926085122657, + 0.12676443355846168, + -0.37545979898672865, + -0.9181289221723969 + ], + [ + 0.9003944180734134, + -0.353791491477721, + 0.2532221800321, + -0.42106648276713093, + -0.8551033699157253, + 0.30249172525688683, + 0.1095121408445522, + -0.3789852336394389, + -0.9189000400973455 + ], + [ + 0.8999999377591115, + -0.340809124063512, + 0.27175219040268467, + -0.42029916141684326, + -0.8437623974905145, + 0.33378680545125977, + 0.11553669090766627, + -0.4146253218703852, + -0.9026278942720448 + ], + [ + 0.9230832693945124, + -0.29175568792304374, + 0.25059109387304596, + -0.36741575813149574, + -0.8615455340392151, + 0.35034975874651614, + 0.11367910291956224, + -0.41547311747167875, + -0.9024739055605809 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.002367556095123291, + 0.0009764283895492554, + -0.006956256926059723, + -0.0020557940006256104, + 0.02432621270418167, + 0.004451721906661987, + 1.0 + ], + [ + -0.003545314073562622, + 0.00680132582783699, + -0.002516739070415497, + 0.02651384472846985, + 0.014580756425857544, + 0.00909009575843811, + 1.0 + ], + [ + -0.0047543346881866455, + 0.01892949268221855, + -0.007626231759786606, + 0.01650598645210266, + 0.004995629191398621, + 0.046988338232040405, + 1.0 + ], + [ + 0.0014609992504119873, + 0.010968901216983795, + -0.0022420473396778107, + -0.0038434863090515137, + -0.008659690618515015, + 0.024231046438217163, + 1.0 + ], + [ + -0.000775754451751709, + 0.007435005158185959, + -0.004285905510187149, + -0.01435050368309021, + -0.012267522513866425, + 0.023772209882736206, + 1.0 + ], + [ + 8.240342140197754e-05, + 0.000817066989839077, + -0.0037499256432056427, + -0.023536324501037598, + 0.004382297396659851, + 0.0006347000598907471, + 1.0 + ], + [ + 0.0025276541709899902, + -0.00458382535725832, + -0.010475225746631622, + -0.04887846112251282, + 0.012321799993515015, + 0.005360126495361328, + 1.0 + ], + [ + 0.003100782632827759, + -0.003484470769762993, + -0.012580465525388718, + -0.05754286050796509, + 0.020287763327360153, + 0.00027486681938171387, + 1.0 + ], + [ + 0.0021030306816101074, + 0.0006213895976543427, + -0.006513355299830437, + -0.013911455869674683, + 0.0019011497497558594, + -0.01048228144645691, + 0.0 + ], + [ + 0.002928495407104492, + 0.0013723531737923622, + 0.0011519920080900192, + -0.0024703145027160645, + -0.005840577185153961, + -0.0015245378017425537, + 0.0 + ], + [ + 0.0016282200813293457, + 0.0031470926478505135, + 0.003098929300904274, + 0.017696887254714966, + 0.012395691126585007, + -0.0008792579174041748, + 0.0 + ], + [ + -0.0024656355381011963, + -0.004589611664414406, + 0.004517294466495514, + 0.02618303894996643, + 0.03075467422604561, + -0.01563471555709839, + 0.0 + ], + [ + 0.0029945969581604004, + 0.00011153519153594971, + 0.015993895009160042, + 0.04574987292289734, + -0.005949215032160282, + -0.008837401866912842, + 0.0 + ], + [ + 0.01564726233482361, + 0.018700968474149704, + 0.018232673406600952, + 0.0702604353427887, + 0.0004988871514797211, + -0.029483377933502197, + 0.0 + ], + [ + 0.030787348747253418, + 0.04444420337677002, + 0.027338318526744843, + 0.07510372996330261, + -0.04513237625360489, + -0.029243290424346924, + 0.0 + ], + [ + 0.03158831596374512, + 0.04849891737103462, + -0.0012638643383979797, + 0.004585325717926025, + 0.0007583200931549072, + -0.024421483278274536, + 0.0 + ], + [ + 0.024532347917556763, + 0.033608436584472656, + -0.0112251415848732, + -0.017768919467926025, + -0.024309221655130386, + -0.010687947273254395, + 0.0 + ], + [ + 0.005148708820343018, + 0.02673053741455078, + -0.03632701188325882, + -0.06766495108604431, + -0.008204452693462372, + 0.0303630530834198, + 0.0 + ], + [ + 0.00504639744758606, + 0.010780096054077148, + -0.01182829961180687, + -0.022899240255355835, + -0.028756573796272278, + 0.008018344640731812, + 1.0 + ], + [ + 0.00036215782165527344, + 0.0023457109928131104, + -0.0033111441880464554, + 0.0011799633502960205, + -0.008597634732723236, + -0.0009042918682098389, + 1.0 + ], + [ + -0.0018416047096252441, + 0.0008450895547866821, + -0.00012227892875671387, + 0.0029892325401306152, + 0.017374187707901, + -0.0020633935928344727, + 1.0 + ], + [ + 0.002593904733657837, + -0.00663776695728302, + 0.023844143375754356, + 0.03942623734474182, + -0.0060630664229393005, + 0.0005315244197845459, + 1.0 + ], + [ + 4.6819448471069336e-05, + -0.013611182570457458, + 0.025692038238048553, + 0.0008401274681091309, + 0.0018699094653129578, + 0.05809229612350464, + 1.0 + ], + [ + -0.008870065212249756, + -0.01901116967201233, + 0.021705262362957, + -0.05739837884902954, + -0.014450356364250183, + 0.14344970881938934, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 0.9635607004165649 + ], + [ + 0.6961957812309265 + ], + [ + 0.3823249042034149 + ], + [ + 0.16548661887645721 + ], + [ + 0.07143880426883698 + ], + [ + 0.062092870473861694 + ], + [ + 0.062092870473861694 + ], + [ + 0.062092870473861694 + ], + [ + 0.062092870473861694 + ], + [ + 0.061804234981536865 + ], + [ + 0.07788556814193726 + ], + [ + 0.228750541806221 + ], + [ + 0.48514097929000854 + ], + [ + 0.788411557674408 + ], + [ + 0.9994885921478271 + ], + [ + 1.0041072368621826 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.27963313460350037, + -0.05304866284132004, + 0.06745997816324234 + ], + [ + 0.27608782052993774, + -0.04624733701348305, + 0.06494323909282684 + ], + [ + 0.2713334858417511, + -0.027317844331264496, + 0.05731700733304024 + ], + [ + 0.2727944850921631, + -0.0163489431142807, + 0.05507495999336243 + ], + [ + 0.2720187306404114, + -0.008913937956094742, + 0.05078905448317528 + ], + [ + 0.27210113406181335, + -0.008096870966255665, + 0.047039128839969635 + ], + [ + 0.27462878823280334, + -0.012680696323513985, + 0.03656390309333801 + ], + [ + 0.2777295708656311, + -0.016165167093276978, + 0.023983437567949295 + ], + [ + 0.2798326015472412, + -0.015543777495622635, + 0.01747008226811886 + ], + [ + 0.2827610969543457, + -0.014171424321830273, + 0.018622074276208878 + ], + [ + 0.28438931703567505, + -0.01102433167397976, + 0.02172100357711315 + ], + [ + 0.28192368149757385, + -0.015613943338394165, + 0.026238298043608665 + ], + [ + 0.28491827845573425, + -0.015502408146858215, + 0.04223219305276871 + ], + [ + 0.30056554079055786, + 0.0031985598616302013, + 0.06046486645936966 + ], + [ + 0.3313528895378113, + 0.04764276370406151, + 0.0878031849861145 + ], + [ + 0.3629412055015564, + 0.09614168107509613, + 0.08653932064771652 + ], + [ + 0.38747355341911316, + 0.1297501176595688, + 0.07531417906284332 + ], + [ + 0.3926222622394562, + 0.15648065507411957, + 0.0389871671795845 + ], + [ + 0.39766865968704224, + 0.16726075112819672, + 0.027158867567777634 + ], + [ + 0.3980308175086975, + 0.16960646212100983, + 0.02384772337973118 + ], + [ + 0.39618921279907227, + 0.1704515516757965, + 0.023725444450974464 + ], + [ + 0.3987831175327301, + 0.1638137847185135, + 0.04756958782672882 + ], + [ + 0.39882993698120117, + 0.15020260214805603, + 0.07326162606477737 + ], + [ + 0.3899598717689514, + 0.1311914324760437, + 0.09496688842773438 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8965319927694686, + -0.37881859995302597, + 0.22962328773544366, + -0.43529062230507415, + -0.8495301041563246, + 0.2980279789976192, + 0.0821733537959012, + -0.36714448172589126, + -0.9265271013112136 + ], + [ + 0.9014385148558185, + -0.3700964102703015, + 0.22458239254129658, + -0.4275912628562396, + -0.842234399078199, + 0.32833965483686467, + 0.06763368882104966, + -0.39200747966642413, + -0.9174725173115735 + ], + [ + 0.9208282107891531, + -0.32851086047314093, + 0.21013334044373683, + -0.3849032991505692, + -0.8521997249078346, + 0.354408068714608, + 0.06264867530805691, + -0.40722996380203574, + -0.9111744619247941 + ], + [ + 0.9293432606699311, + -0.30528241329591743, + 0.20766259167120366, + -0.3622692325392848, + -0.8625533252513673, + 0.3532177292453005, + 0.07128889817340432, + -0.40349028393510233, + -0.9122025453632501 + ], + [ + 0.9367991327420969, + -0.2830228884990383, + 0.2056828371044023, + -0.3397526626083704, + -0.8762466445976628, + 0.3417015453313903, + 0.083519537499785, + -0.38998700288214516, + -0.9170248766739231 + ], + [ + 0.9373497432772587, + -0.28874181797248144, + 0.19494517519549792, + -0.3392793202571638, + -0.8836786728639334, + 0.32249270684974274, + 0.07915176323932337, + -0.3684293225021369, + -0.9262801048801179 + ], + [ + 0.9400023655958492, + -0.29685028314998324, + 0.16815309116392324, + -0.3345517927734641, + -0.898629944678763, + 0.2837945039614137, + 0.0668629241528446, + -0.32302342317611965, + -0.9440260682064414 + ], + [ + 0.9411788352536585, + -0.31090829960235633, + 0.1323572034644817, + -0.33467906518285084, + -0.9117238899570397, + 0.2382214763826658, + 0.04660819025557513, + -0.26850619679995347, + -0.9621497278912077 + ], + [ + 0.9377004697953265, + -0.3227480767521557, + 0.12865266378279422, + -0.3445561378983078, + -0.9114540747733435, + 0.22479443368480156, + 0.044709023498913016, + -0.25511791103694187, + -0.9658757449516582 + ], + [ + 0.9369131423235225, + -0.32307036238735237, + 0.13348896841450186, + -0.3458889597305667, + -0.9120241706365226, + 0.22039224058770682, + 0.05054296467333003, + -0.2526607470931487, + -0.9662339031520073 + ], + [ + 0.9371242343377445, + -0.3245921154950545, + 0.12821126305961214, + -0.3469034708812221, + -0.9065380126116096, + 0.2405136453109347, + 0.03815955067158156, + -0.26986809787123445, + -0.9621408724526282 + ], + [ + 0.9322395670749495, + -0.34361533157091856, + 0.11339265183122807, + -0.36176569910508255, + -0.8915168902915449, + 0.27262284070837484, + 0.0074140765386743746, + -0.2951713709598217, + -0.9554155604943733 + ], + [ + 0.9289487186499201, + -0.34394570557617954, + 0.13695119471686262, + -0.36996717337028373, + -0.8758392527070376, + 0.30988690525090073, + 0.013362961762813187, + -0.3385364899582944, + -0.9408583720303729 + ], + [ + 0.917644696609258, + -0.3586366338605511, + 0.17119572318862347, + -0.39719356146026763, + -0.8416424242701267, + 0.3658897435064454, + 0.012864117513898612, + -0.40375462167246684, + -0.9147768689460352 + ], + [ + 0.9041908884705825, + -0.3491183056176981, + 0.2460797551392762, + -0.4231772349719146, + -0.8103978195933506, + 0.4051868726894643, + 0.057964342559055346, + -0.47050162877610824, + -0.8804932437621118 + ], + [ + 0.8936267669623756, + -0.36794819589418293, + 0.25699285302628205, + -0.4451500066087297, + -0.7996323478764666, + 0.40302553249864653, + 0.05720728087070823, + -0.474554773833101, + -0.8783650116253461 + ], + [ + 0.8873175190197273, + -0.37113353395670384, + 0.2737289177516401, + -0.4539078238021634, + -0.8077163919371009, + 0.37624714973976364, + 0.08145739949114658, + -0.4580983848136992, + -0.8851613197034877 + ], + [ + 0.9000541883203429, + -0.36043165433972046, + 0.24493158358394906, + -0.4264605570890987, + -0.8441221564291487, + 0.32494488497691354, + 0.08963175405103023, + -0.3969216642806691, + -0.9134655664503176 + ], + [ + 0.9007334846123602, + -0.34931602988685073, + 0.25818113982660323, + -0.41797186969911615, + -0.8587915933807527, + 0.2962710166026593, + 0.11823157716236532, + -0.37477367890853397, + -0.9195466185893257 + ], + [ + 0.8994001961571078, + -0.3468587739657082, + 0.26602307808827685, + -0.4183420437120301, + -0.8594875975067067, + 0.29371926085122657, + 0.12676443355846168, + -0.37545979898672865, + -0.9181289221723969 + ], + [ + 0.9003944180734134, + -0.353791491477721, + 0.2532221800321, + -0.42106648276713093, + -0.8551033699157253, + 0.30249172525688683, + 0.1095121408445522, + -0.3789852336394389, + -0.9189000400973455 + ], + [ + 0.8999999377591115, + -0.340809124063512, + 0.27175219040268467, + -0.42029916141684326, + -0.8437623974905145, + 0.33378680545125977, + 0.11553669090766627, + -0.4146253218703852, + -0.9026278942720448 + ], + [ + 0.9230832693945124, + -0.29175568792304374, + 0.25059109387304596, + -0.36741575813149574, + -0.8615455340392151, + 0.35034975874651614, + 0.11367910291956224, + -0.41547311747167875, + -0.9024739055605809 + ], + [ + 0.9644289044311052, + -0.17157927053269742, + 0.2010906318585864, + -0.23127233520228171, + -0.9161016484673542, + 0.3275223299951923, + 0.12802341687324836, + -0.36237870191122384, + -0.9231964477473008 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006138.json b/json/chunk-0006/episode_0006138.json new file mode 100644 index 0000000000000000000000000000000000000000..9d5a7313d89bfece16b44599124ab34dc0385ec0 --- /dev/null +++ b/json/chunk-0006/episode_0006138.json @@ -0,0 +1,982 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 15, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut corn in pan which is on stove." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006138.mp4", + "start": 0, + "end": 15, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.4152897596359253, + 0.03777387738227844, + 0.05815490707755089, + 0.1370222270488739, + 0.2563802897930145, + -1.4561368227005005, + 0.0, + 1.002137303352356 + ], + [ + 0.41177281737327576, + 0.036029260605573654, + 0.03555997088551521, + 0.10100073367357254, + 0.24582625925540924, + -1.478392481803894, + 0.0, + 1.002137303352356 + ], + [ + 0.4151327610015869, + 0.03620286285877228, + 0.032856203615665436, + 0.12635011970996857, + 0.2258952558040619, + -1.4851969480514526, + 0.0, + 1.002137303352356 + ], + [ + 0.4154227375984192, + 0.04460771754384041, + 0.024288665503263474, + 0.12654848396778107, + 0.21185357868671417, + -1.476073145866394, + 0.0, + 0.8251956701278687 + ], + [ + 0.4164012670516968, + 0.04350638389587402, + 0.016808336600661278, + 0.13579875230789185, + 0.16808919608592987, + -1.4732351303100586, + 0.0, + 0.5561000108718872 + ], + [ + 0.4162382185459137, + 0.04720866680145264, + 0.015074480324983597, + 0.1477801501750946, + 0.1462651938199997, + -1.4581278562545776, + 0.0, + 0.5413121581077576 + ], + [ + 0.4131419360637665, + 0.04916491359472275, + 0.01744234748184681, + 0.12660391628742218, + 0.18043343722820282, + -1.4582418203353882, + 0.0, + 0.5413121581077576 + ], + [ + 0.40912044048309326, + 0.04850151017308235, + 0.02894291840493679, + 0.06670299172401428, + 0.2700969874858856, + -1.4876115322113037, + 0.0, + 0.5413121581077576 + ], + [ + 0.40788209438323975, + 0.05026673525571823, + 0.0453583262860775, + 0.0694226622581482, + 0.3396821618080139, + -1.5020813941955566, + 0.0, + 0.5413121581077576 + ], + [ + 0.39474788308143616, + 0.05619879812002182, + 0.061231184750795364, + 0.08225027471780777, + 0.37360823154449463, + -1.4867039918899536, + 0.0, + 0.5413121581077576 + ], + [ + 0.37683430314064026, + 0.061170000582933426, + 0.06814726442098618, + 0.07278431951999664, + 0.40320855379104614, + -1.474117398262024, + 0.0, + 0.5413121581077576 + ], + [ + 0.35898497700691223, + 0.07215151190757751, + 0.07775668799877167, + 0.0864679217338562, + 0.4208942949771881, + -1.460598111152649, + 0.0, + 0.5403295159339905 + ], + [ + 0.34420397877693176, + 0.08255169540643692, + 0.08399704098701477, + 0.09524119645357132, + 0.4431127607822418, + -1.4410583972930908, + 0.0, + 0.5413121581077576 + ], + [ + 0.3328263461589813, + 0.08539111912250519, + 0.09296953678131104, + 0.11652057617902756, + 0.4585028886795044, + -1.4430389404296875, + 0.0, + 0.5413121581077576 + ], + [ + 0.3231249451637268, + 0.09594991058111191, + 0.08534867316484451, + 0.11184333264827728, + 0.4341714680194855, + -1.4473670721054077, + 0.0, + 0.5413121581077576 + ] + ], + "left_gripper_pos": [ + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 0.8251956701278687 + ], + [ + 0.5561000108718872 + ], + [ + 0.5413121581077576 + ], + [ + 0.5413121581077576 + ], + [ + 0.5413121581077576 + ], + [ + 0.5413121581077576 + ], + [ + 0.5413121581077576 + ], + [ + 0.5413121581077576 + ], + [ + 0.5403295159339905 + ], + [ + 0.5413121581077576 + ], + [ + 0.5413121581077576 + ], + [ + 0.5413121581077576 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.4152897596359253, + 0.03777387738227844, + 0.05815490707755089 + ], + [ + 0.41177281737327576, + 0.036029260605573654, + 0.03555997088551521 + ], + [ + 0.4151327610015869, + 0.03620286285877228, + 0.032856203615665436 + ], + [ + 0.4154227375984192, + 0.04460771754384041, + 0.024288665503263474 + ], + [ + 0.4164012670516968, + 0.04350638389587402, + 0.016808336600661278 + ], + [ + 0.4162382185459137, + 0.04720866680145264, + 0.015074480324983597 + ], + [ + 0.4131419360637665, + 0.04916491359472275, + 0.01744234748184681 + ], + [ + 0.40912044048309326, + 0.04850151017308235, + 0.02894291840493679 + ], + [ + 0.40788209438323975, + 0.05026673525571823, + 0.0453583262860775 + ], + [ + 0.39474788308143616, + 0.05619879812002182, + 0.061231184750795364 + ], + [ + 0.37683430314064026, + 0.061170000582933426, + 0.06814726442098618 + ], + [ + 0.35898497700691223, + 0.07215151190757751, + 0.07775668799877167 + ], + [ + 0.34420397877693176, + 0.08255169540643692, + 0.08399704098701477 + ], + [ + 0.3328263461589813, + 0.08539111912250519, + 0.09296953678131104 + ], + [ + 0.3231249451637268, + 0.09594991058111191, + 0.08534867316484451 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.11066890392690676, + -0.9880853065490892, + 0.10695709740550025, + -0.9609626213123917, + -0.07892595323614715, + 0.2651820777243109, + -0.2535808236914496, + -0.1321291825735636, + -0.9582476949977016 + ], + [ + 0.08949837913610798, + -0.9929234423320789, + 0.07805816933175493, + -0.9657986375253219, + -0.06736929216581805, + 0.25038843868539384, + -0.24335782684401597, + -0.09779783300509325, + -0.9649935502236617 + ], + [ + 0.0833227975486937, + -0.9908092867771032, + 0.10655641062323296, + -0.9710256102087493, + -0.05669216459184684, + 0.23215353280236023, + -0.22397896268932266, + -0.12281268546098396, + -0.9668249420461162 + ], + [ + 0.09246701811494967, + -0.9900664528633885, + 0.10591633243007259, + -0.9732601755018371, + -0.06740554831397888, + 0.21959308467851474, + -0.21027239795813202, + -0.12338926602828926, + -0.9698250397292996 + ], + [ + 0.09603367880448072, + -0.9882881502824852, + 0.11859200878011059, + -0.9812179421690423, + -0.07396823244154022, + 0.1781573758086484, + -0.1672987821259543, + -0.13347371501797003, + -0.9768295065662556 + ], + [ + 0.11122975327130036, + -0.9852418288488068, + 0.13010180888006084, + -0.9830496229930107, + -0.08988106992715761, + 0.1597962202370528, + -0.1457442304878822, + -0.14567062832090633, + -0.9785390576385222 + ], + [ + 0.1104936531323561, + -0.9882645042278309, + 0.10547237695617884, + -0.9775411499693629, + -0.08890226149398367, + 0.19107508476468338, + -0.17945599107871035, + -0.12421617279796965, + -0.9758923555809742 + ], + [ + 0.08007650606112421, + -0.9958037308051175, + 0.04430217705318949, + -0.9604125264874128, + -0.06518079015484973, + 0.27084911585762006, + -0.2668249091503786, + -0.06423701666016922, + -0.961601826926038 + ], + [ + 0.06473762965314556, + -0.9968238596641286, + 0.046381376771301774, + -0.9406355163162414, + -0.04543784056378852, + 0.3363632383144406, + -0.3331874318628624, + -0.06540332903766458, + -0.9405894640061736 + ], + [ + 0.07819910970303434, + -0.9956162125339185, + 0.051315266551663075, + -0.9277265752812582, + -0.05382963514546135, + 0.36935859526619197, + -0.36497712360990636, + -0.07649004980859889, + -0.9278690486926036 + ], + [ + 0.0887874701468524, + -0.9954492584513849, + 0.03460576532183318, + -0.9155115005102946, + -0.06787277460249264, + 0.39652487803560094, + -0.3923716064884292, + -0.06688841690716879, + -0.9173714962354903 + ], + [ + 0.10037710150196161, + -0.9941014134154473, + 0.04107088189308203, + -0.9071876246706203, + -0.07449368770520087, + 0.41407886221897194, + -0.40857686074781974, + -0.07882303177048319, + -0.9093139603701059 + ], + [ + 0.11687949676890258, + -0.9923769223900346, + 0.039079753616559076, + -0.8958289298522469, + -0.08835731270656338, + 0.43552670840150787, + -0.42875367249135676, + -0.08591291636859644, + -0.8993271146397268 + ], + [ + 0.1142507175112199, + -0.9916805653687807, + 0.05929949256129158, + -0.8894080033554627, + -0.07550944256840836, + 0.4508344792163277, + -0.44260611960909507, + -0.10424960600819302, + -0.8906356396033767 + ], + [ + 0.11169324200302377, + -0.991972143571472, + 0.05929490761501072, + -0.900317011578749, + -0.07575418247808896, + 0.4285913934028386, + -0.42065888597860895, + -0.10125497624954091, + -0.9015506261058999 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.003516942262649536, + -0.0017446167767047882, + -0.022594936192035675, + -0.03602149337530136, + -0.010554030537605286, + -0.022255659103393555, + 1.0 + ], + [ + 0.0033599436283111572, + 0.00017360225319862366, + -0.0027037672698497772, + 0.025349386036396027, + -0.01993100345134735, + -0.006804466247558594, + 1.0 + ], + [ + 0.0002899765968322754, + 0.00840485468506813, + -0.008567538112401962, + 0.0001983642578125, + -0.014041677117347717, + 0.009123802185058594, + 0.0 + ], + [ + 0.0009785294532775879, + -0.0011013336479663849, + -0.007480328902602196, + 0.009250268340110779, + -0.0437643826007843, + 0.0028380155563354492, + 0.0 + ], + [ + -0.00016304850578308105, + 0.0037022829055786133, + -0.001733856275677681, + 0.011981397867202759, + -0.021824002265930176, + 0.015107274055480957, + 0.0 + ], + [ + -0.003096282482147217, + 0.001956246793270111, + 0.0023678671568632126, + -0.021176233887672424, + 0.034168243408203125, + -0.00011396408081054688, + 0.0 + ], + [ + -0.004021495580673218, + -0.0006634034216403961, + 0.011500570923089981, + -0.0599009245634079, + 0.0896635502576828, + -0.029369711875915527, + 0.0 + ], + [ + -0.0012383460998535156, + 0.0017652250826358795, + 0.01641540788114071, + 0.002719670534133911, + 0.0695851743221283, + -0.01446986198425293, + 0.0 + ], + [ + -0.013134211301803589, + 0.005932062864303589, + 0.015872858464717865, + 0.012827612459659576, + 0.03392606973648071, + 0.015377402305603027, + 0.0 + ], + [ + -0.0179135799407959, + 0.004971202462911606, + 0.006916079670190811, + -0.009465955197811127, + 0.029600322246551514, + 0.012586593627929688, + 0.0 + ], + [ + -0.017849326133728027, + 0.010981511324644089, + 0.009609423577785492, + 0.013683602213859558, + 0.017685741186141968, + 0.013519287109375, + 0.0 + ], + [ + -0.014780998229980469, + 0.010400183498859406, + 0.006240352988243103, + 0.008773274719715118, + 0.02221846580505371, + 0.019539713859558105, + 0.0 + ], + [ + -0.01137763261795044, + 0.002839423716068268, + 0.008972495794296265, + 0.021279379725456238, + 0.015390127897262573, + -0.0019805431365966797, + 0.0 + ], + [ + -0.009701400995254517, + 0.01055879145860672, + -0.007620863616466522, + -0.004677243530750275, + -0.02433142066001892, + -0.004328131675720215, + 0.0 + ], + [ + -0.005632638931274414, + 0.007470376789569855, + -0.011846065521240234, + 0.00015959888696670532, + -0.0396389365196228, + -0.0072716474533081055, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 0.8251956701278687 + ], + [ + 0.5561000108718872 + ], + [ + 0.5413121581077576 + ], + [ + 0.5413121581077576 + ], + [ + 0.5413121581077576 + ], + [ + 0.5413121581077576 + ], + [ + 0.5413121581077576 + ], + [ + 0.5413121581077576 + ], + [ + 0.5403295159339905 + ], + [ + 0.5413121581077576 + ], + [ + 0.5413121581077576 + ], + [ + 0.5413121581077576 + ], + [ + 0.7535749077796936 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.41177281737327576, + 0.036029260605573654, + 0.03555997088551521 + ], + [ + 0.4151327610015869, + 0.03620286285877228, + 0.032856203615665436 + ], + [ + 0.4154227375984192, + 0.04460771754384041, + 0.024288665503263474 + ], + [ + 0.4164012670516968, + 0.04350638389587402, + 0.016808336600661278 + ], + [ + 0.4162382185459137, + 0.04720866680145264, + 0.015074480324983597 + ], + [ + 0.4131419360637665, + 0.04916491359472275, + 0.01744234748184681 + ], + [ + 0.40912044048309326, + 0.04850151017308235, + 0.02894291840493679 + ], + [ + 0.40788209438323975, + 0.05026673525571823, + 0.0453583262860775 + ], + [ + 0.39474788308143616, + 0.05619879812002182, + 0.061231184750795364 + ], + [ + 0.37683430314064026, + 0.061170000582933426, + 0.06814726442098618 + ], + [ + 0.35898497700691223, + 0.07215151190757751, + 0.07775668799877167 + ], + [ + 0.34420397877693176, + 0.08255169540643692, + 0.08399704098701477 + ], + [ + 0.3328263461589813, + 0.08539111912250519, + 0.09296953678131104 + ], + [ + 0.3231249451637268, + 0.09594991058111191, + 0.08534867316484451 + ], + [ + 0.3174923062324524, + 0.10342028737068176, + 0.07350260764360428 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.08949837913610798, + -0.9929234423320789, + 0.07805816933175493, + -0.9657986375253219, + -0.06736929216581805, + 0.25038843868539384, + -0.24335782684401597, + -0.09779783300509325, + -0.9649935502236617 + ], + [ + 0.0833227975486937, + -0.9908092867771032, + 0.10655641062323296, + -0.9710256102087493, + -0.05669216459184684, + 0.23215353280236023, + -0.22397896268932266, + -0.12281268546098396, + -0.9668249420461162 + ], + [ + 0.09246701811494967, + -0.9900664528633885, + 0.10591633243007259, + -0.9732601755018371, + -0.06740554831397888, + 0.21959308467851474, + -0.21027239795813202, + -0.12338926602828926, + -0.9698250397292996 + ], + [ + 0.09603367880448072, + -0.9882881502824852, + 0.11859200878011059, + -0.9812179421690423, + -0.07396823244154022, + 0.1781573758086484, + -0.1672987821259543, + -0.13347371501797003, + -0.9768295065662556 + ], + [ + 0.11122975327130036, + -0.9852418288488068, + 0.13010180888006084, + -0.9830496229930107, + -0.08988106992715761, + 0.1597962202370528, + -0.1457442304878822, + -0.14567062832090633, + -0.9785390576385222 + ], + [ + 0.1104936531323561, + -0.9882645042278309, + 0.10547237695617884, + -0.9775411499693629, + -0.08890226149398367, + 0.19107508476468338, + -0.17945599107871035, + -0.12421617279796965, + -0.9758923555809742 + ], + [ + 0.08007650606112421, + -0.9958037308051175, + 0.04430217705318949, + -0.9604125264874128, + -0.06518079015484973, + 0.27084911585762006, + -0.2668249091503786, + -0.06423701666016922, + -0.961601826926038 + ], + [ + 0.06473762965314556, + -0.9968238596641286, + 0.046381376771301774, + -0.9406355163162414, + -0.04543784056378852, + 0.3363632383144406, + -0.3331874318628624, + -0.06540332903766458, + -0.9405894640061736 + ], + [ + 0.07819910970303434, + -0.9956162125339185, + 0.051315266551663075, + -0.9277265752812582, + -0.05382963514546135, + 0.36935859526619197, + -0.36497712360990636, + -0.07649004980859889, + -0.9278690486926036 + ], + [ + 0.0887874701468524, + -0.9954492584513849, + 0.03460576532183318, + -0.9155115005102946, + -0.06787277460249264, + 0.39652487803560094, + -0.3923716064884292, + -0.06688841690716879, + -0.9173714962354903 + ], + [ + 0.10037710150196161, + -0.9941014134154473, + 0.04107088189308203, + -0.9071876246706203, + -0.07449368770520087, + 0.41407886221897194, + -0.40857686074781974, + -0.07882303177048319, + -0.9093139603701059 + ], + [ + 0.11687949676890258, + -0.9923769223900346, + 0.039079753616559076, + -0.8958289298522469, + -0.08835731270656338, + 0.43552670840150787, + -0.42875367249135676, + -0.08591291636859644, + -0.8993271146397268 + ], + [ + 0.1142507175112199, + -0.9916805653687807, + 0.05929949256129158, + -0.8894080033554627, + -0.07550944256840836, + 0.4508344792163277, + -0.44260611960909507, + -0.10424960600819302, + -0.8906356396033767 + ], + [ + 0.11169324200302377, + -0.991972143571472, + 0.05929490761501072, + -0.900317011578749, + -0.07575418247808896, + 0.4285913934028386, + -0.42065888597860895, + -0.10125497624954091, + -0.9015506261058999 + ], + [ + 0.10699297445072092, + -0.9920168107224003, + 0.06674691500245539, + -0.9169553288823293, + -0.07249853458805017, + 0.3923479161622815, + -0.38437667495893496, + -0.10318240996770192, + -0.9173919347916519 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006139.json b/json/chunk-0006/episode_0006139.json new file mode 100644 index 0000000000000000000000000000000000000000..96004e0233e1479f3f1b5211a38ab2aa1bcee29a --- /dev/null +++ b/json/chunk-0006/episode_0006139.json @@ -0,0 +1,4582 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 75, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut potato on plate and strawberry in pot or pan in sink." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006139.mp4", + "start": 0, + "end": 75, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3187706172466278, + -0.016155553981661797, + 0.09530104696750641, + 0.032400500029325485, + -0.1902250051498413, + 0.1714152693748474, + 0.0, + 1.0041072368621826 + ], + [ + 0.31535518169403076, + -0.016022495925426483, + 0.0843118280172348, + 0.036367107182741165, + -0.15935057401657104, + 0.17212539911270142, + 0.0, + 1.0047606229782104 + ], + [ + 0.31859636306762695, + -0.01923764869570732, + 0.0738842561841011, + 0.012058432213962078, + -0.1835319548845291, + 0.16592015326023102, + 0.0, + 1.0047606229782104 + ], + [ + 0.32179397344589233, + -0.02086174115538597, + 0.06594177335500717, + -0.003334475215524435, + -0.2034406214952469, + 0.17385564744472504, + 0.0, + 1.0047606229782104 + ], + [ + 0.3232737183570862, + -0.02002759836614132, + 0.05973537638783455, + -0.013502855785191059, + -0.217209592461586, + 0.1661045402288437, + 0.0, + 1.0047606229782104 + ], + [ + 0.3236694037914276, + -0.01981033757328987, + 0.055242687463760376, + -0.032969385385513306, + -0.23530104756355286, + 0.16388893127441406, + 0.0, + 1.0047606229782104 + ], + [ + 0.3248937726020813, + -0.01898730918765068, + 0.05104529485106468, + -0.042497843503952026, + -0.2517668604850769, + 0.1648070365190506, + 0.0, + 1.0047606229782104 + ], + [ + 0.32282668352127075, + -0.019303619861602783, + 0.046065907925367355, + -0.05532821640372276, + -0.2629236578941345, + 0.1714206486940384, + 0.0, + 1.0041072368621826 + ], + [ + 0.32134002447128296, + -0.02030063234269619, + 0.04377349093556404, + -0.06101737916469574, + -0.26475343108177185, + 0.1750524938106537, + 0.0, + 0.9507390260696411 + ], + [ + 0.3193371891975403, + -0.02165287546813488, + 0.041611284017562866, + -0.06560707092285156, + -0.2620953619480133, + 0.1893497109413147, + 0.0, + 0.67718505859375 + ], + [ + 0.31919991970062256, + -0.023538189008831978, + 0.04092981293797493, + -0.08005402237176895, + -0.2633320391178131, + 0.18601399660110474, + 0.0, + 0.651088297367096 + ], + [ + 0.31572720408439636, + -0.022447636350989342, + 0.04223351180553436, + -0.0944724902510643, + -0.22169508039951324, + 0.1849643737077713, + 0.0, + 0.6741776466369629 + ], + [ + 0.31476718187332153, + -0.021370310336351395, + 0.048263560980558395, + -0.07790163159370422, + -0.18427196145057678, + 0.17924970388412476, + 0.0, + 0.6741776466369629 + ], + [ + 0.3130556046962738, + -0.01739967055618763, + 0.07765991985797882, + -0.04923097416758537, + -0.1462891399860382, + 0.175685852766037, + 0.0, + 0.6741776466369629 + ], + [ + 0.3110821843147278, + -0.013164759613573551, + 0.0929798111319542, + -0.02507266402244568, + -0.12641188502311707, + 0.16344358026981354, + 0.0, + 0.6741776466369629 + ], + [ + 0.31215807795524597, + -0.007731440477073193, + 0.09440039098262787, + -0.020248200744390488, + -0.12884342670440674, + 0.15016013383865356, + 0.0, + 0.6741776466369629 + ], + [ + 0.31905925273895264, + 0.0025342244189232588, + 0.09704793989658356, + -0.02158787101507187, + -0.1673855185508728, + 0.12297091633081436, + 0.0, + 0.6741776466369629 + ], + [ + 0.33390533924102783, + 0.017385302111506462, + 0.09536822140216827, + -0.01864827610552311, + -0.19422182440757751, + 0.10154109448194504, + 0.0, + 0.6741776466369629 + ], + [ + 0.35052579641342163, + 0.030785927549004555, + 0.09386797249317169, + -0.02804381400346756, + -0.20984533429145813, + 0.07569275796413422, + 0.0, + 0.6741776466369629 + ], + [ + 0.3607772886753082, + 0.041723594069480896, + 0.08896028995513916, + -0.02212543413043022, + -0.2160273790359497, + 0.05540778860449791, + 0.0, + 0.6741776466369629 + ], + [ + 0.36898747086524963, + 0.05162236839532852, + 0.08453217148780823, + -0.020766830071806908, + -0.21990138292312622, + 0.03243854641914368, + 0.0, + 0.6741776466369629 + ], + [ + 0.3724079132080078, + 0.062289487570524216, + 0.08424732834100723, + -0.014866298995912075, + -0.2210649847984314, + 0.020649811252951622, + 0.0, + 0.6741776466369629 + ], + [ + 0.3716756999492645, + 0.06658384948968887, + 0.08533403277397156, + -0.011033172719180584, + -0.2117919921875, + 0.014920169487595558, + 0.0, + 0.6741776466369629 + ], + [ + 0.3709717094898224, + 0.06430703401565552, + 0.08381374180316925, + -0.014333155937492847, + -0.20825640857219696, + 0.02853628620505333, + 0.0, + 0.7378748655319214 + ], + [ + 0.3665924072265625, + 0.05485423281788826, + 0.07813067734241486, + -0.014963607303798199, + -0.18295837938785553, + 0.045015446841716766, + 0.0, + 0.9879508018493652 + ], + [ + 0.358997642993927, + 0.04797893017530441, + 0.07267638295888901, + -0.021877039223909378, + -0.15958528220653534, + 0.05667075887322426, + 0.0, + 1.0001531839370728 + ], + [ + 0.35179394483566284, + 0.04649179428815842, + 0.08885368704795837, + -0.013163992203772068, + -0.17005231976509094, + 0.03325273096561432, + 0.0, + 1.0008161067962646 + ], + [ + 0.34640949964523315, + 0.05539551377296448, + 0.0906897634267807, + -0.009374569170176983, + -0.14934992790222168, + 0.015317333862185478, + 0.0, + 1.0001531839370728 + ], + [ + 0.34486517310142517, + 0.06468266993761063, + 0.09682421386241913, + -0.009954569861292839, + -0.17874553799629211, + -0.00975988432765007, + 0.0, + 1.0001531839370728 + ], + [ + 0.33932775259017944, + 0.07334961742162704, + 0.09052938967943192, + -0.006472183857113123, + -0.18540529906749725, + -0.026885412633419037, + 0.0, + 1.0001531839370728 + ], + [ + 0.33773455023765564, + 0.08120138943195343, + 0.09101708233356476, + 0.007967213168740273, + -0.18529081344604492, + -0.029640676453709602, + 0.0, + 1.0008161067962646 + ], + [ + 0.33244702219963074, + 0.08950439840555191, + 0.08768881112337112, + 0.010938074439764023, + -0.17105315625667572, + -0.029586056247353554, + 0.0, + 1.0001531839370728 + ], + [ + 0.3226986527442932, + 0.0971842110157013, + 0.09467090666294098, + 0.05301117151975632, + -0.18453288078308105, + -0.024861570447683334, + 0.0, + 1.0008161067962646 + ], + [ + 0.31586456298828125, + 0.1017523929476738, + 0.09501359611749649, + 0.051041409373283386, + -0.18439224362373352, + -0.049930255860090256, + 0.0, + 1.0001531839370728 + ], + [ + 0.31602606177330017, + 0.10201804339885712, + 0.0950557291507721, + 0.06234324350953102, + -0.18239335715770721, + -0.10228931158781052, + 0.0, + 1.0008161067962646 + ], + [ + 0.3158048987388611, + 0.1026899516582489, + 0.09505200386047363, + 0.06448069959878922, + -0.18152543902397156, + -0.1062956303358078, + 0.0, + 1.0008161067962646 + ], + [ + 0.3159620463848114, + 0.10220538824796677, + 0.09505200386047363, + 0.06448069959878922, + -0.18152543902397156, + -0.10782961547374725, + 0.0, + 1.0008161067962646 + ], + [ + 0.3161877393722534, + 0.1022833064198494, + 0.09509851783514023, + 0.06514039635658264, + -0.18291521072387695, + -0.10792132467031479, + 0.0, + 1.0008161067962646 + ], + [ + 0.31508827209472656, + 0.10310903191566467, + 0.09431616216897964, + 0.06322671473026276, + -0.18061192333698273, + -0.11223513633012772, + 0.0, + 1.0001531839370728 + ], + [ + 0.2916148006916046, + 0.11488578468561172, + 0.09608855098485947, + 0.050955742597579956, + -0.16977770626544952, + -0.16144844889640808, + 0.0, + 1.0001531839370728 + ], + [ + 0.27575790882110596, + 0.12796549499034882, + 0.10506440699100494, + 0.057987526059150696, + -0.16114328801631927, + -0.16413265466690063, + 0.0, + 1.0001531839370728 + ], + [ + 0.2689650058746338, + 0.12791723012924194, + 0.1118294969201088, + 0.060974813997745514, + -0.1677280068397522, + -0.1695028841495514, + 0.0, + 1.0008161067962646 + ], + [ + 0.26140183210372925, + 0.12853124737739563, + 0.10503099858760834, + 0.07873009890317917, + -0.16875328123569489, + -0.1488453596830368, + 0.0, + 1.0008161067962646 + ], + [ + 0.2544328272342682, + 0.126759871840477, + 0.09234105050563812, + 0.10081028193235397, + -0.1458403617143631, + -0.07095842063426971, + 0.0, + 1.0001531839370728 + ], + [ + 0.24665720760822296, + 0.12452781200408936, + 0.09049815684556961, + 0.1316973865032196, + -0.1647113859653473, + -0.032954487949609756, + 0.0, + 1.0001531839370728 + ], + [ + 0.24051249027252197, + 0.12235109508037567, + 0.08617522567510605, + 0.15720465779304504, + -0.1662432700395584, + 0.0007639582618139684, + 0.0, + 1.0001531839370728 + ], + [ + 0.2411285787820816, + 0.12063110619783401, + 0.08410758525133133, + 0.14935727417469025, + -0.18149149417877197, + 0.0087886406108737, + 0.0, + 1.0008161067962646 + ], + [ + 0.24169808626174927, + 0.11783140152692795, + 0.07711604982614517, + 0.14526157081127167, + -0.2125028520822525, + 0.002348648849874735, + 0.0, + 1.0008161067962646 + ], + [ + 0.24401059746742249, + 0.11828475445508957, + 0.06953464448451996, + 0.1392803192138672, + -0.2578081488609314, + 0.003590040374547243, + 0.0, + 1.0008161067962646 + ], + [ + 0.2475569248199463, + 0.11879916489124298, + 0.060304805636405945, + 0.126998633146286, + -0.2767486870288849, + -0.006797322072088718, + 0.0, + 1.0008161067962646 + ], + [ + 0.24973542988300323, + 0.11997371166944504, + 0.05506568029522896, + 0.12011798471212387, + -0.29113680124282837, + -0.014846138656139374, + 0.0, + 1.0008161067962646 + ], + [ + 0.2498350292444229, + 0.12282329052686691, + 0.05240768939256668, + 0.11281780898571014, + -0.29721999168395996, + -0.027164924889802933, + 0.0, + 1.0008161067962646 + ], + [ + 0.2491227686405182, + 0.12404386699199677, + 0.05244231969118118, + 0.10891909152269363, + -0.29937922954559326, + -0.03422536700963974, + 0.0, + 1.0001531839370728 + ], + [ + 0.2502906620502472, + 0.12280520796775818, + 0.0517028383910656, + 0.09843295067548752, + -0.3180455267429352, + -0.030807780101895332, + 0.0, + 1.0008161067962646 + ], + [ + 0.2511821687221527, + 0.12281382083892822, + 0.049795962870121, + 0.10175344347953796, + -0.3244141936302185, + -0.03853953257203102, + 0.0, + 1.0001531839370728 + ], + [ + 0.25236839056015015, + 0.12365157157182693, + 0.04646364226937294, + 0.09107290208339691, + -0.3308727443218231, + -0.031129984185099602, + 0.0, + 1.0008161067962646 + ], + [ + 0.2553957998752594, + 0.12666942179203033, + 0.03750406578183174, + 0.08092144876718521, + -0.34490421414375305, + -0.04320130869746208, + 0.0, + 1.0008161067962646 + ], + [ + 0.253642201423645, + 0.12815354764461517, + 0.03422122076153755, + 0.06775955855846405, + -0.3361195921897888, + -0.05019163712859154, + 0.0, + 1.0008161067962646 + ], + [ + 0.2524729371070862, + 0.12937648594379425, + 0.03486690670251846, + 0.06258711218833923, + -0.3283999264240265, + -0.052382539957761765, + 0.0, + 0.9492040276527405 + ], + [ + 0.2497759908437729, + 0.1285986304283142, + 0.0354733020067215, + 0.0486929826438427, + -0.2979331612586975, + -0.04413340613245964, + 0.0, + 0.7594308853149414 + ], + [ + 0.24908603727817535, + 0.1260930448770523, + 0.03839368000626564, + 0.01820424571633339, + -0.2724539637565613, + -0.0412607416510582, + 0.0, + 0.778810441493988 + ], + [ + 0.24438481032848358, + 0.12442513555288315, + 0.0398290790617466, + 0.00512518547475338, + -0.2414841651916504, + -0.03769208863377571, + 0.0, + 0.7893680930137634 + ], + [ + 0.24276573956012726, + 0.12794269621372223, + 0.06320465356111526, + 0.02879404090344906, + -0.2303047776222229, + -0.0451187938451767, + 0.0, + 0.7893680930137634 + ], + [ + 0.24497108161449432, + 0.13578134775161743, + 0.07902099192142487, + 0.04733675345778465, + -0.20145143568515778, + -0.07506689429283142, + 0.0, + 0.7893680930137634 + ], + [ + 0.25081223249435425, + 0.15616048872470856, + 0.0889519527554512, + 0.08610405027866364, + -0.23431938886642456, + -0.12909111380577087, + 0.0, + 0.7893680930137634 + ], + [ + 0.25861114263534546, + 0.17862416803836823, + 0.08598726987838745, + 0.10006721317768097, + -0.23638631403446198, + -0.17924386262893677, + 0.0, + 0.7893680930137634 + ], + [ + 0.2641872763633728, + 0.19274190068244934, + 0.08006277680397034, + 0.09949136525392532, + -0.2423402965068817, + -0.2024264931678772, + 0.0, + 0.7893680930137634 + ], + [ + 0.26960766315460205, + 0.19964657723903656, + 0.07400891929864883, + 0.09633614867925644, + -0.2558120787143707, + -0.22371287643909454, + 0.0, + 0.7893680930137634 + ], + [ + 0.27461716532707214, + 0.20426088571548462, + 0.06501030176877975, + 0.09219870716333389, + -0.2747287154197693, + -0.23155467212200165, + 0.0, + 0.7893680930137634 + ], + [ + 0.28132450580596924, + 0.20695756375789642, + 0.05162261798977852, + 0.0808504968881607, + -0.29105663299560547, + -0.23789291083812714, + 0.0, + 0.7893680930137634 + ], + [ + 0.2839250862598419, + 0.2072397619485855, + 0.04845893383026123, + 0.07522675395011902, + -0.30359673500061035, + -0.23528020083904266, + 0.0, + 0.7893680930137634 + ], + [ + 0.2838138937950134, + 0.20896194875240326, + 0.04844627156853676, + 0.0840114951133728, + -0.29786109924316406, + -0.23975351452827454, + 0.0, + 0.7893680930137634 + ], + [ + 0.2806732654571533, + 0.21372799575328827, + 0.04837289825081825, + 0.1005488708615303, + -0.2804010808467865, + -0.22687804698944092, + 0.0, + 0.7893680930137634 + ], + [ + 0.2753097116947174, + 0.21670174598693848, + 0.04657219722867012, + 0.08739837259054184, + -0.2866615056991577, + -0.2102503776550293, + 0.0, + 0.7893680930137634 + ], + [ + 0.27023234963417053, + 0.21470721065998077, + 0.04156634584069252, + 0.07441981136798859, + -0.2826858162879944, + -0.2003287822008133, + 0.0, + 0.7893680930137634 + ] + ], + "left_gripper_pos": [ + [ + 1.0041072368621826 + ], + [ + 1.0047606229782104 + ], + [ + 1.0047606229782104 + ], + [ + 1.0047606229782104 + ], + [ + 1.0047606229782104 + ], + [ + 1.0047606229782104 + ], + [ + 1.0047606229782104 + ], + [ + 1.0041072368621826 + ], + [ + 0.9507390260696411 + ], + [ + 0.67718505859375 + ], + [ + 0.651088297367096 + ], + [ + 0.6741776466369629 + ], + [ + 0.6741776466369629 + ], + [ + 0.6741776466369629 + ], + [ + 0.6741776466369629 + ], + [ + 0.6741776466369629 + ], + [ + 0.6741776466369629 + ], + [ + 0.6741776466369629 + ], + [ + 0.6741776466369629 + ], + [ + 0.6741776466369629 + ], + [ + 0.6741776466369629 + ], + [ + 0.6741776466369629 + ], + [ + 0.6741776466369629 + ], + [ + 0.7378748655319214 + ], + [ + 0.9879508018493652 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9492040276527405 + ], + [ + 0.7594308853149414 + ], + [ + 0.778810441493988 + ], + [ + 0.7893680930137634 + ], + [ + 0.7893680930137634 + ], + [ + 0.7893680930137634 + ], + [ + 0.7893680930137634 + ], + [ + 0.7893680930137634 + ], + [ + 0.7893680930137634 + ], + [ + 0.7893680930137634 + ], + [ + 0.7893680930137634 + ], + [ + 0.7893680930137634 + ], + [ + 0.7893680930137634 + ], + [ + 0.7893680930137634 + ], + [ + 0.7893680930137634 + ], + [ + 0.7893680930137634 + ], + [ + 0.7893680930137634 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3187706172466278, + -0.016155553981661797, + 0.09530104696750641 + ], + [ + 0.31535518169403076, + -0.016022495925426483, + 0.0843118280172348 + ], + [ + 0.31859636306762695, + -0.01923764869570732, + 0.0738842561841011 + ], + [ + 0.32179397344589233, + -0.02086174115538597, + 0.06594177335500717 + ], + [ + 0.3232737183570862, + -0.02002759836614132, + 0.05973537638783455 + ], + [ + 0.3236694037914276, + -0.01981033757328987, + 0.055242687463760376 + ], + [ + 0.3248937726020813, + -0.01898730918765068, + 0.05104529485106468 + ], + [ + 0.32282668352127075, + -0.019303619861602783, + 0.046065907925367355 + ], + [ + 0.32134002447128296, + -0.02030063234269619, + 0.04377349093556404 + ], + [ + 0.3193371891975403, + -0.02165287546813488, + 0.041611284017562866 + ], + [ + 0.31919991970062256, + -0.023538189008831978, + 0.04092981293797493 + ], + [ + 0.31572720408439636, + -0.022447636350989342, + 0.04223351180553436 + ], + [ + 0.31476718187332153, + -0.021370310336351395, + 0.048263560980558395 + ], + [ + 0.3130556046962738, + -0.01739967055618763, + 0.07765991985797882 + ], + [ + 0.3110821843147278, + -0.013164759613573551, + 0.0929798111319542 + ], + [ + 0.31215807795524597, + -0.007731440477073193, + 0.09440039098262787 + ], + [ + 0.31905925273895264, + 0.0025342244189232588, + 0.09704793989658356 + ], + [ + 0.33390533924102783, + 0.017385302111506462, + 0.09536822140216827 + ], + [ + 0.35052579641342163, + 0.030785927549004555, + 0.09386797249317169 + ], + [ + 0.3607772886753082, + 0.041723594069480896, + 0.08896028995513916 + ], + [ + 0.36898747086524963, + 0.05162236839532852, + 0.08453217148780823 + ], + [ + 0.3724079132080078, + 0.062289487570524216, + 0.08424732834100723 + ], + [ + 0.3716756999492645, + 0.06658384948968887, + 0.08533403277397156 + ], + [ + 0.3709717094898224, + 0.06430703401565552, + 0.08381374180316925 + ], + [ + 0.3665924072265625, + 0.05485423281788826, + 0.07813067734241486 + ], + [ + 0.358997642993927, + 0.04797893017530441, + 0.07267638295888901 + ], + [ + 0.35179394483566284, + 0.04649179428815842, + 0.08885368704795837 + ], + [ + 0.34640949964523315, + 0.05539551377296448, + 0.0906897634267807 + ], + [ + 0.34486517310142517, + 0.06468266993761063, + 0.09682421386241913 + ], + [ + 0.33932775259017944, + 0.07334961742162704, + 0.09052938967943192 + ], + [ + 0.33773455023765564, + 0.08120138943195343, + 0.09101708233356476 + ], + [ + 0.33244702219963074, + 0.08950439840555191, + 0.08768881112337112 + ], + [ + 0.3226986527442932, + 0.0971842110157013, + 0.09467090666294098 + ], + [ + 0.31586456298828125, + 0.1017523929476738, + 0.09501359611749649 + ], + [ + 0.31602606177330017, + 0.10201804339885712, + 0.0950557291507721 + ], + [ + 0.3158048987388611, + 0.1026899516582489, + 0.09505200386047363 + ], + [ + 0.3159620463848114, + 0.10220538824796677, + 0.09505200386047363 + ], + [ + 0.3161877393722534, + 0.1022833064198494, + 0.09509851783514023 + ], + [ + 0.31508827209472656, + 0.10310903191566467, + 0.09431616216897964 + ], + [ + 0.2916148006916046, + 0.11488578468561172, + 0.09608855098485947 + ], + [ + 0.27575790882110596, + 0.12796549499034882, + 0.10506440699100494 + ], + [ + 0.2689650058746338, + 0.12791723012924194, + 0.1118294969201088 + ], + [ + 0.26140183210372925, + 0.12853124737739563, + 0.10503099858760834 + ], + [ + 0.2544328272342682, + 0.126759871840477, + 0.09234105050563812 + ], + [ + 0.24665720760822296, + 0.12452781200408936, + 0.09049815684556961 + ], + [ + 0.24051249027252197, + 0.12235109508037567, + 0.08617522567510605 + ], + [ + 0.2411285787820816, + 0.12063110619783401, + 0.08410758525133133 + ], + [ + 0.24169808626174927, + 0.11783140152692795, + 0.07711604982614517 + ], + [ + 0.24401059746742249, + 0.11828475445508957, + 0.06953464448451996 + ], + [ + 0.2475569248199463, + 0.11879916489124298, + 0.060304805636405945 + ], + [ + 0.24973542988300323, + 0.11997371166944504, + 0.05506568029522896 + ], + [ + 0.2498350292444229, + 0.12282329052686691, + 0.05240768939256668 + ], + [ + 0.2491227686405182, + 0.12404386699199677, + 0.05244231969118118 + ], + [ + 0.2502906620502472, + 0.12280520796775818, + 0.0517028383910656 + ], + [ + 0.2511821687221527, + 0.12281382083892822, + 0.049795962870121 + ], + [ + 0.25236839056015015, + 0.12365157157182693, + 0.04646364226937294 + ], + [ + 0.2553957998752594, + 0.12666942179203033, + 0.03750406578183174 + ], + [ + 0.253642201423645, + 0.12815354764461517, + 0.03422122076153755 + ], + [ + 0.2524729371070862, + 0.12937648594379425, + 0.03486690670251846 + ], + [ + 0.2497759908437729, + 0.1285986304283142, + 0.0354733020067215 + ], + [ + 0.24908603727817535, + 0.1260930448770523, + 0.03839368000626564 + ], + [ + 0.24438481032848358, + 0.12442513555288315, + 0.0398290790617466 + ], + [ + 0.24276573956012726, + 0.12794269621372223, + 0.06320465356111526 + ], + [ + 0.24497108161449432, + 0.13578134775161743, + 0.07902099192142487 + ], + [ + 0.25081223249435425, + 0.15616048872470856, + 0.0889519527554512 + ], + [ + 0.25861114263534546, + 0.17862416803836823, + 0.08598726987838745 + ], + [ + 0.2641872763633728, + 0.19274190068244934, + 0.08006277680397034 + ], + [ + 0.26960766315460205, + 0.19964657723903656, + 0.07400891929864883 + ], + [ + 0.27461716532707214, + 0.20426088571548462, + 0.06501030176877975 + ], + [ + 0.28132450580596924, + 0.20695756375789642, + 0.05162261798977852 + ], + [ + 0.2839250862598419, + 0.2072397619485855, + 0.04845893383026123 + ], + [ + 0.2838138937950134, + 0.20896194875240326, + 0.04844627156853676 + ], + [ + 0.2806732654571533, + 0.21372799575328827, + 0.04837289825081825 + ], + [ + 0.2753097116947174, + 0.21670174598693848, + 0.04657219722867012 + ], + [ + 0.27023234963417053, + 0.21470721065998077, + 0.04156634584069252 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.967570420303547, + 0.17652296044009494, + 0.18068515763914242, + 0.16750012988977372, + -0.9837823628897036, + 0.06415581777251615, + 0.18907984620399396, + -0.03181048419336063, + -0.9814463331506506 + ], + [ + 0.9727407187280609, + 0.17684757552476968, + 0.15000143052460005, + 0.16910674281736313, + -0.9835833655257391, + 0.06298152582116741, + 0.1586770420133856, + -0.035898441359912214, + -0.986677707382614 + ], + [ + 0.9697026794956382, + 0.16731833879277402, + 0.17799237872056978, + 0.16238609508815155, + -0.9858316375668533, + 0.04203258847940402, + 0.18250334106805294, + -0.011855626338730838, + -0.9831337521533451 + ], + [ + 0.9646132528907203, + 0.17231664698529725, + 0.19957015187479216, + 0.16941379943989993, + -0.9850361964695993, + 0.03166474702318493, + 0.20204018636627846, + 0.0032657030559102383, + -0.979371787564166 + ], + [ + 0.9630623396010594, + 0.1624568937154776, + 0.2147526198360604, + 0.161456667437322, + -0.9866275431463332, + 0.02231223084014989, + 0.21550562540724424, + 0.013185173087530784, + -0.9764135786788731 + ], + [ + 0.9594136835772417, + 0.15548561201169914, + 0.23526497449067058, + 0.1586603502938405, + -0.9873179307218578, + 0.005495172403551525, + 0.23313574802973552, + 0.03205507966697787, + -0.9719157344431458 + ], + [ + 0.9553509922333974, + 0.15347357738789677, + 0.2524883020704611, + 0.15888973118559616, + -0.9872957488847349, + -0.001075898647290175, + 0.24911550526298462, + 0.0411456592837144, + -0.9675993487801013 + ], + [ + 0.9514813415930984, + 0.1561592391835572, + 0.2651368488494382, + 0.16472015443615243, + -0.9862873711135424, + -0.010222147742391757, + 0.25990484282276727, + 0.05339956553708804, + -0.9641566050583912 + ], + [ + 0.9504069391128318, + 0.15812298804887084, + 0.2678129398230701, + 0.16809158721411047, + -0.985663853014994, + -0.014559779101273172, + 0.2616712983764551, + 0.0588548172211369, + -0.9633609095743129 + ], + [ + 0.9485864036383022, + 0.1711320238155419, + 0.26626615492275474, + 0.18179239201505368, + -0.983211203305124, + -0.01572437282484786, + 0.25910492283628395, + 0.06332108748344874, + -0.9637712793198998 + ], + [ + 0.9488719053111534, + 0.1638941740794811, + 0.2697791819506951, + 0.1785677754654731, + -0.9834515885470078, + -0.030602655925248592, + 0.2602991680288162, + 0.07721186882320302, + -0.9624358006830037 + ], + [ + 0.9588863896701229, + 0.16270315795600976, + 0.23251790059378025, + 0.17941048866085135, + -0.9823743607122094, + -0.05246419706573724, + 0.21988353340773803, + 0.092023354679232, + -0.9711760571233768 + ], + [ + 0.9673189096140489, + 0.1637195468642519, + 0.19362344144666907, + 0.17527286046845061, + -0.983535889968358, + -0.044006562321513176, + 0.1832308693596543, + 0.07650531431681207, + -0.9800884579439711 + ], + [ + 0.974090124135763, + 0.16750872903765754, + 0.15195149146146034, + 0.17291657899456833, + -0.984667736842045, + -0.023006623637120444, + 0.1457679209222277, + 0.04868545695126551, + -0.9881201543898684 + ], + [ + 0.9787998003263054, + 0.15954711589227558, + 0.1284354650851603, + 0.16141847728351408, + -0.9868769939452462, + -0.0042277669124886185, + 0.12607547768165023, + 0.024869994613016533, + -0.991708857122539 + ], + [ + 0.980551570213708, + 0.14699361696247887, + 0.13004420296083966, + 0.1483564853732396, + -0.9889336229234581, + -0.0008016852148433288, + 0.1284872421648615, + 0.02007899459066615, + -0.9915078731795812 + ], + [ + 0.9785778624908404, + 0.11906343498570915, + 0.16795614157351413, + 0.12094687863852929, + -0.9926584853440571, + -0.0009919788505232102, + 0.16660498068922003, + 0.02128449961466857, + -0.9857939695928853 + ], + [ + 0.9761441337700453, + 0.09776864013502058, + 0.19386573475598176, + 0.09946081226011273, + -0.9950409678337271, + 0.0010095330991407511, + 0.193003049019663, + 0.018296593635660576, + -0.9810275519731569 + ], + [ + 0.9752626277479549, + 0.06976648754104463, + 0.2097509097342357, + 0.07396162376699468, + -0.9971862941170478, + -0.012213641343121154, + 0.20830862950896623, + 0.02742502582121179, + -0.9776785682578925 + ], + [ + 0.9752577407397593, + 0.050630942505756685, + 0.21519490418724913, + 0.05409224087504673, + -0.998483620987209, + -0.010221941957750797, + 0.21435104059531995, + 0.021609402612068274, + -0.9765176215073915 + ], + [ + 0.9754055508746103, + 0.027898634163855948, + 0.21864509492506232, + 0.03165184099971118, + -0.9994053153595438, + -0.013681249665880251, + 0.21813338186606648, + 0.02026528664693583, + -0.9757085353079528 + ], + [ + 0.9754564732657438, + 0.01738716129801349, + 0.21950479581538546, + 0.02014585563617446, + -0.9997436276471733, + -0.010335544473156284, + 0.21926881507556795, + 0.014503985689010984, + -0.9755566724360453 + ], + [ + 0.9775469693974486, + 0.012599705666730413, + 0.2103406048269705, + 0.014586248836929844, + -0.9998624407510739, + -0.007895626648510378, + 0.2102121879595262, + 0.01078642630426157, + -0.9775962812126751 + ], + [ + 0.9779945615345546, + 0.025567348980460397, + 0.20705783799447247, + 0.027915910617672866, + -0.9995747429580785, + -0.008428236747802752, + 0.2067542975205593, + 0.01402297780081906, + -0.9782923982891707 + ], + [ + 0.982313634340473, + 0.042275597493836824, + 0.18240805257814233, + 0.04424917993234843, + -0.9989976437960453, + -0.006761491349124306, + 0.1819393686482557, + 0.014713311880359459, + -0.9831996666951149 + ], + [ + 0.9857083116755383, + 0.05315628072604658, + 0.15985472815382765, + 0.05592071539370503, + -0.9983526256408914, + -0.012841669120283703, + 0.1589087722047359, + 0.02159733074507902, + -0.9870570183231927 + ], + [ + 0.9850310668035526, + 0.031017224462293675, + 0.1695633486886564, + 0.03276705127230142, + -0.99943464713041, + -0.00753036959460565, + 0.16923391439889807, + 0.012973738935583767, + -0.9854905196475803 + ], + [ + 0.9887520123721896, + 0.013921353838585556, + 0.14891492180854887, + 0.015146229238660311, + -0.9998601210177156, + -0.007094373706588728, + 0.1487953284542068, + 0.009270075821679413, + -0.9888245627635192 + ], + [ + 0.9840206359303056, + -0.01152900742069524, + 0.17768080946239057, + -0.009604232536122258, + -0.9998855555284192, + -0.011689078792469089, + 0.17779523835218108, + 0.00979580693552165, + -0.9840187474767811 + ], + [ + 0.98250641926116, + -0.02807428539526702, + 0.18410043620306532, + -0.02642145683708789, + -0.999585598846808, + -0.011425287597002655, + 0.18434490155472089, + 0.0063612166771316765, + -0.9828410309878027 + ], + [ + 0.9824509810651159, + -0.02816823745705323, + 0.18438172415604093, + -0.02912904279254144, + -0.9995725234828511, + 0.002503829889444519, + 0.18423237682389487, + -0.007830753264408815, + -0.9828515201357376 + ], + [ + 0.9849747963126059, + -0.0277189409590695, + 0.17045911809301678, + -0.029150025565503525, + -0.9995576471997915, + 0.005897960151495357, + 0.17022022981558893, + -0.010778229749163626, + -0.9853470977909272 + ], + [ + 0.9827182821647902, + -0.015104767778668413, + 0.1844901728803904, + -0.024436954818146922, + -0.998528325428122, + 0.048415065392151894, + 0.18348736506446348, + -0.052086747912141705, + -0.9816411551853546 + ], + [ + 0.9818227341957823, + -0.040501837165934924, + 0.18542847624489092, + -0.049063439321757656, + -0.9979199070560851, + 0.04181671942051636, + 0.18334911381906974, + -0.050154364589316436, + -0.9817676110844171 + ], + [ + 0.9782721052607073, + -0.09067099678903069, + 0.18644693188697697, + -0.10041725008504991, + -0.9939943810652567, + 0.043491910696743824, + 0.18138374776737853, + -0.06126941122599909, + -0.9815019079420474 + ], + [ + 0.9780181213112736, + -0.0943081010084659, + 0.18597455866581167, + -0.10435236652830829, + -0.9935236781515887, + 0.04495869829164961, + 0.18053015810857762, + -0.06337730695063468, + -0.9815254347071076 + ], + [ + 0.9778568957026075, + -0.09583204000856653, + 0.18604330580447329, + -0.10585250842635811, + -0.9933778420477688, + 0.044673363298124866, + 0.18053015810857767, + -0.06337730695063469, + -0.981525434707108 + ], + [ + 0.9775968036538062, + -0.09571193488236546, + 0.18746657037172273, + -0.1059150596818498, + -0.9933489563877818, + 0.04516470940785161, + 0.1818969203105221, + -0.06400840854434141, + -0.9812320999728703 + ], + [ + 0.9775445440423588, + -0.1004973231200748, + 0.18522136069772457, + -0.11017786091024313, + -0.9929938650723281, + 0.04270858103429063, + 0.17963157678498629, + -0.062156833690421624, + -0.9817683151575637 + ], + [ + 0.9728048086828729, + -0.15204533535281442, + 0.17473700295280725, + -0.158436809077287, + -0.9870977847575401, + 0.02314607647452306, + 0.16896325557021702, + -0.05020138767212881, + -0.9843430494207323 + ], + [ + 0.9737790556302497, + -0.15394833723554457, + 0.1674940604268401, + -0.16127981658968316, + -0.9864216082988042, + 0.03100373271073236, + 0.16044678736782822, + -0.05720419690557172, + -0.985385461776117 + ], + [ + 0.9718364684316013, + -0.15835168224834437, + 0.1745239907735125, + -0.16632505141653206, + -0.9855530994984465, + 0.031954113041887285, + 0.16694267248873684, + -0.06008188410931472, + -0.9841342953602388 + ], + [ + 0.9748949558020253, + -0.1347737121093645, + 0.1772452303336521, + -0.1461897970806902, + -0.9878384994026239, + 0.052949431795619714, + 0.16795347088189003, + -0.07753157822612981, + -0.9827413118397393 + ], + [ + 0.9868943527740238, + -0.05595039167624488, + 0.15135749117243855, + -0.07014623518735136, + -0.993456149866698, + 0.09013536476365598, + 0.14532392147124581, + -0.09957124064362817, + -0.9843609733654151 + ], + [ + 0.9859301182292436, + -0.011143153652677252, + 0.16678618676360144, + -0.032502588970811694, + -0.991511616942542, + 0.125890012225676, + 0.1639676299720911, + -0.12953973751192802, + -0.9779233470608403 + ], + [ + 0.9862130952405814, + 0.026661518555954406, + 0.16331838293432388, + 0.0007534257885926966, + -0.9876486945654139, + 0.15668276380257917, + 0.16547858811814004, + -0.15439954517913657, + -0.9740521635533195 + ], + [ + 0.9835375914690833, + 0.035548034364960755, + 0.1771726373342738, + 0.008644180979285604, + -0.9885926858754559, + 0.15036548662758173, + 0.18049677089186916, + -0.14635859621607358, + -0.9726253528524065 + ], + [ + 0.977503411617315, + 0.03285289481778759, + 0.20834530851113758, + 0.0022958164848023085, + -0.9893936459987553, + 0.14524098073187625, + 0.21090711107778665, + -0.14149523157824268, + -0.9672110886137737 + ], + [ + 0.9669449073989286, + 0.0389514914264518, + 0.2519927129322046, + 0.0034713861710639546, + -0.9901827100630461, + 0.1397360016969604, + 0.2549617530794154, + -0.13424225120228214, + -0.9575873445586124 + ], + [ + 0.9619266531022924, + 0.027863244203552066, + 0.27188371351347124, + -0.00653862597383161, + -0.9921588212038498, + 0.12481233864390853, + 0.2732295013753025, + -0.12183806108864581, + -0.9542018268942704 + ], + [ + 0.9578126211636564, + 0.019653565100339603, + 0.2867206307862281, + -0.014220863792338959, + -0.9931957256161599, + 0.1155855425682175, + 0.2870413729283735, + -0.11478670653275226, + -0.9510159106086281 + ], + [ + 0.95580157777139, + 0.005969066438075356, + 0.2939518909202314, + -0.025970666589226567, + -0.9941717409392337, + 0.10463304446858357, + 0.29286322474259724, + -0.10764255554245819, + -0.9500758979311369 + ], + [ + 0.9549601735475552, + -0.0019749717675230528, + 0.29672742782651657, + -0.03269663009617134, + -0.9945890585313478, + 0.09860798664449753, + 0.2949271050927284, + -0.10386868698623637, + -0.9498575148649285 + ], + [ + 0.9493976925102777, + 6.297034316828619e-05, + 0.31407645166566667, + -0.029258092399393164, + -0.9956337773390525, + 0.0886416688173146, + 0.31271070574143855, + -0.09334547367872635, + -0.9452505683988692 + ], + [ + 0.9471337945372452, + -0.005976407367904019, + 0.32078319438594627, + -0.03652017660079407, + -0.9953364054690492, + 0.08928447036858504, + 0.31875359126843694, + -0.09627939812298782, + -0.942935006005477 + ], + [ + 0.9453009573452573, + -0.0014644419428390884, + 0.32619619165762226, + -0.029436713269976704, + -0.9962928509460991, + 0.08083337841235796, + 0.3248685579646041, + -0.08601401376223722, + -0.9418396941531549 + ], + [ + 0.9402297595708877, + -0.01574182563953029, + 0.34017671017106016, + -0.04064444486464264, + -0.9969780016829072, + 0.06620342334050652, + 0.33810653397844276, + -0.07607272235099732, + -0.9380282045840586 + ], + [ + 0.9428527649816225, + -0.0277517700759113, + 0.3320519580188669, + -0.04736310291008329, + -0.9975691518775509, + 0.051112852640336465, + 0.32982631800576256, + -0.0639189054971817, + -0.9418752430501632 + ], + [ + 0.9452612749627225, + -0.03211076830407177, + 0.3247306893639254, + -0.049560525012558136, + -0.9977293284611924, + 0.045606375528617835, + 0.32252887687202153, + -0.05920376413117609, + -0.9447063236246342 + ], + [ + 0.9550144171153672, + -0.029792763793281225, + 0.29505906921725555, + -0.04217542518995913, + -0.9984725349704661, + 0.03569076098512923, + 0.29354505039574696, + -0.04652943299900841, + -0.9548121884710884 + ], + [ + 0.9622937364983847, + -0.03634795615650331, + 0.26957297857764284, + -0.03972750049178453, + -0.9991853995039188, + 0.007089648994784534, + 0.269095690044736, + -0.017531785460668352, + -0.9629538649893402 + ], + [ + 0.9702944614340836, + -0.0364578881253797, + 0.23916412879815088, + -0.03658975409176286, + -0.9993227993596236, + -0.003890061124120397, + 0.23914399011023782, + -0.0049764518969209765, + -0.9709713625646597 + ], + [ + 0.9726060571604568, + -0.03851944895998851, + 0.22924595880104234, + -0.043912613947762795, + -0.9988646434581787, + 0.018469065635276807, + 0.22827426467095477, + -0.02802991439487917, + -0.9731932922025052 + ], + [ + 0.9770179447683915, + -0.06547091742705927, + 0.20285338195802272, + -0.07347977511683795, + -0.9967768605898276, + 0.03219647250036073, + 0.20009162463563335, + -0.046362152279060015, + -0.9786796680153962 + ], + [ + 0.9645792814088552, + -0.10845506657396556, + 0.2404668551198133, + -0.1252149365086196, + -0.9905758816878601, + 0.05550353406280521, + 0.23218102754514408, + -0.08364760099820741, + -0.9690691664145165 + ], + [ + 0.9566149361208814, + -0.15437280069477916, + 0.2470969493864557, + -0.17332758812396643, + -0.9832275070773034, + 0.05675576201303845, + 0.23419097161413227, + -0.09712212792253885, + -0.9673271840914156 + ], + [ + 0.9509572889842082, + -0.17670325849290774, + 0.25388224232071294, + -0.19517208207249137, + -0.9795295825628411, + 0.049291533388143, + 0.23997519227472927, + -0.0964248687956294, + -0.9659783391828473 + ], + [ + 0.9433495266728485, + -0.19709097114512222, + 0.26692099883520815, + -0.21463203540466516, + -0.9759587726692809, + 0.037915213673686755, + 0.2530311441387466, + -0.09305709614501931, + -0.9629722825465401 + ], + [ + 0.9368104935832462, + -0.2042060931770223, + 0.28405276027824894, + -0.22088479888572413, + -0.9749088003507744, + 0.027617686721148036, + 0.27128583585128113, + -0.08861547555586197, + -0.9584108162779051 + ], + [ + 0.930962388570026, + -0.21236235960414396, + 0.2970038034964397, + -0.22574401962119722, + -0.9741235965480376, + 0.011084054022801916, + 0.28696457738413644, + -0.07736566985217735, + -0.9548119628780671 + ], + [ + 0.927976440539823, + -0.21060703580874346, + 0.30741568318954554, + -0.22245449987694144, + -0.9749364580418804, + 0.0035914154942904217, + 0.29895437994373025, + -0.07171875102514982, + -0.9515685469076058 + ], + [ + 0.9286224410903261, + -0.21270371279383432, + 0.3040024547058166, + -0.22700683705411429, + -0.9738183849995075, + 0.012068511409373525, + 0.29347616229283574, + -0.08021772622475296, + -0.9525948029278766 + ], + [ + 0.936318763847871, + -0.19673331600362068, + 0.29086624905721564, + -0.21615166687186313, + -0.9757005856797693, + 0.03587232934547671, + 0.2767410872546933, + -0.09645915963958412, + -0.956091000452737 + ], + [ + 0.9380704934516194, + -0.18377110653074236, + 0.29368678846673085, + -0.20018819313726344, + -0.9793968882462972, + 0.026578612114031692, + 0.2827515457851177, + -0.08372523931250943, + -0.9555321280094092 + ], + [ + 0.9411046957840009, + -0.17811632457522478, + 0.28739611426238265, + -0.19109352068060778, + -0.9814156090594619, + 0.017511957295968245, + 0.2789358670504628, + -0.07140012054792955, + -0.9576517137553443 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.003415435552597046, + 0.00013305805623531342, + -0.010989218950271606, + 0.00396660715341568, + 0.030874431133270264, + 0.0007101297378540039, + 1.0 + ], + [ + 0.0032411813735961914, + -0.003215152770280838, + -0.010427571833133698, + -0.024308674037456512, + -0.02418138086795807, + -0.006205245852470398, + 1.0 + ], + [ + 0.003197610378265381, + -0.00162409245967865, + -0.007942482829093933, + -0.015392906963825226, + -0.019908666610717773, + 0.007935494184494019, + 1.0 + ], + [ + 0.0014797449111938477, + 0.0008341427892446518, + -0.006206396967172623, + -0.010168381035327911, + -0.013768970966339111, + -0.007751107215881348, + 1.0 + ], + [ + 0.00039568543434143066, + 0.00021726079285144806, + -0.004492688924074173, + -0.01946653053164482, + -0.018091455101966858, + -0.0022156089544296265, + 1.0 + ], + [ + 0.0012243688106536865, + 0.0008230283856391907, + -0.004197392612695694, + -0.00952845811843872, + -0.016465812921524048, + 0.0009181052446365356, + 1.0 + ], + [ + -0.002067089080810547, + -0.00031631067395210266, + -0.004979386925697327, + -0.012830372899770737, + -0.011156797409057617, + 0.006613612174987793, + 1.0 + ], + [ + -0.001486659049987793, + -0.0009970124810934067, + -0.002292416989803314, + -0.005689162760972977, + -0.001829773187637329, + 0.0036318451166152954, + 0.0 + ], + [ + -0.0020028352737426758, + -0.0013522431254386902, + -0.002162206918001175, + -0.004589691758155823, + 0.002658069133758545, + 0.01429721713066101, + 0.0 + ], + [ + -0.0001372694969177246, + -0.0018853135406970978, + -0.0006814710795879364, + -0.014446951448917389, + -0.0012366771697998047, + -0.003335714340209961, + 0.0 + ], + [ + -0.0034727156162261963, + 0.001090552657842636, + 0.001303698867559433, + -0.014418467879295349, + 0.041636958718299866, + -0.001049622893333435, + 0.0 + ], + [ + -0.0009600222110748291, + 0.001077326014637947, + 0.006030049175024033, + 0.016570858657360077, + 0.03742311894893646, + -0.005714669823646545, + 0.0 + ], + [ + -0.0017115771770477295, + 0.003970639780163765, + 0.029396358877420425, + 0.02867065742611885, + 0.037982821464538574, + -0.0035638511180877686, + 0.0 + ], + [ + -0.0019734203815460205, + 0.0042349109426140785, + 0.015319891273975372, + 0.024158310145139694, + 0.019877254962921143, + -0.01224227249622345, + 0.0 + ], + [ + 0.0010758936405181885, + 0.005433319136500359, + 0.0014205798506736755, + 0.004824463278055191, + -0.002431541681289673, + -0.013283446431159973, + 0.0 + ], + [ + 0.006901174783706665, + 0.010265665128827095, + 0.0026475489139556885, + -0.0013396702706813812, + -0.038542091846466064, + -0.027189217507839203, + 0.0 + ], + [ + 0.014846086502075195, + 0.01485107745975256, + -0.0016797184944152832, + 0.0029395949095487595, + -0.026836305856704712, + -0.021429821848869324, + 0.0 + ], + [ + 0.0166204571723938, + 0.013400625437498093, + -0.001500248908996582, + -0.00939553789794445, + -0.015623509883880615, + -0.02584833651781082, + 0.0 + ], + [ + 0.010251492261886597, + 0.010937666520476341, + -0.004907682538032532, + 0.005918379873037338, + -0.006182044744491577, + -0.020284969359636307, + 0.0 + ], + [ + 0.008210182189941406, + 0.009898774325847626, + -0.004428118467330933, + 0.001358604058623314, + -0.0038740038871765137, + -0.022969242185354233, + 0.0 + ], + [ + 0.0034204423427581787, + 0.010667119175195694, + -0.0002848431468009949, + 0.005900531075894833, + -0.0011636018753051758, + -0.011788735166192055, + 0.0 + ], + [ + -0.0007322132587432861, + 0.004294361919164658, + 0.001086704432964325, + 0.003833126276731491, + 0.009272992610931396, + -0.005729641765356064, + 0.0 + ], + [ + -0.0007039904594421387, + -0.0022768154740333557, + -0.0015202909708023071, + -0.0032999832183122635, + 0.0035355836153030396, + 0.013616116717457771, + 1.0 + ], + [ + -0.004379302263259888, + -0.009452801197767258, + -0.0056830644607543945, + -0.0006304513663053513, + 0.02529802918434143, + 0.016479160636663437, + 1.0 + ], + [ + -0.007594764232635498, + -0.006875302642583847, + -0.005454294383525848, + -0.006913431920111179, + 0.02337309718132019, + 0.011655312031507492, + 1.0 + ], + [ + -0.00720369815826416, + -0.001487135887145996, + 0.016177304089069366, + 0.00871304702013731, + -0.010467037558555603, + -0.02341802790760994, + 1.0 + ], + [ + -0.0053844451904296875, + 0.00890371948480606, + 0.0018360763788223267, + 0.003789423033595085, + 0.020702391862869263, + -0.01793539710342884, + 1.0 + ], + [ + -0.0015443265438079834, + 0.009287156164646149, + 0.006134450435638428, + -0.0005800006911158562, + -0.029395610094070435, + -0.02507721818983555, + 1.0 + ], + [ + -0.0055374205112457275, + 0.008666947484016418, + -0.006294824182987213, + 0.003482386004179716, + -0.006659761071205139, + -0.017125528305768967, + 1.0 + ], + [ + -0.0015932023525238037, + 0.007851772010326385, + 0.000487692654132843, + 0.014439396560192108, + 0.00011448562145233154, + -0.0027552638202905655, + 1.0 + ], + [ + -0.005287528038024902, + 0.00830300897359848, + -0.003328271210193634, + 0.0029708612710237503, + 0.014237657189369202, + 5.4620206356048584e-05, + 1.0 + ], + [ + -0.009748369455337524, + 0.0076798126101493835, + 0.006982095539569855, + 0.042073097079992294, + -0.013479724526405334, + 0.004724485799670219, + 1.0 + ], + [ + -0.006834089756011963, + 0.004568181931972504, + 0.0003426894545555115, + -0.001969762146472931, + 0.00014063715934753418, + -0.02506868541240692, + 1.0 + ], + [ + 0.0001614987850189209, + 0.0002656504511833191, + 4.213303327560425e-05, + 0.011301834136247635, + 0.001998886466026306, + -0.05235905572772026, + 1.0 + ], + [ + -0.00022116303443908691, + 0.0006719082593917847, + -3.725290298461914e-06, + 0.002137456089258194, + 0.0008679181337356567, + -0.004006318747997284, + 1.0 + ], + [ + 0.00015714764595031738, + -0.000484563410282135, + 0.0, + 0.0, + 0.0, + -0.0015339851379394531, + 1.0 + ], + [ + 0.0002256929874420166, + 7.79181718826294e-05, + 4.651397466659546e-05, + 0.0006596967577934265, + -0.0013897716999053955, + -9.17091965675354e-05, + 1.0 + ], + [ + -0.0010994672775268555, + 0.0008257254958152771, + -0.0007823556661605835, + -0.0019136816263198853, + 0.002303287386894226, + -0.004313811659812927, + 1.0 + ], + [ + -0.023473471403121948, + 0.011776752769947052, + 0.0017723888158798218, + -0.0122709721326828, + 0.010834217071533203, + -0.049213312566280365, + 1.0 + ], + [ + -0.015856891870498657, + 0.013079710304737091, + 0.008975856006145477, + 0.00703178346157074, + 0.008634418249130249, + -0.0026842057704925537, + 1.0 + ], + [ + -0.006792902946472168, + -4.826486110687256e-05, + 0.006765089929103851, + 0.002987287938594818, + -0.006584718823432922, + -0.005370229482650757, + 1.0 + ], + [ + -0.007563173770904541, + 0.0006140172481536865, + -0.006798498332500458, + 0.017755284905433655, + -0.001025274395942688, + 0.020657524466514587, + 1.0 + ], + [ + -0.00696900486946106, + -0.0017713755369186401, + -0.012689948081970215, + 0.022080183029174805, + 0.022912919521331787, + 0.07788693904876709, + 1.0 + ], + [ + -0.007775619626045227, + -0.0022320598363876343, + -0.001842893660068512, + 0.03088710457086563, + -0.018871024250984192, + 0.03800393268465996, + 1.0 + ], + [ + -0.006144717335700989, + -0.002176716923713684, + -0.004322931170463562, + 0.02550727128982544, + -0.0015318840742111206, + 0.03371844440698624, + 1.0 + ], + [ + 0.0006160885095596313, + -0.0017199888825416565, + -0.0020676404237747192, + -0.007847383618354797, + -0.015248224139213562, + 0.00802468229085207, + 1.0 + ], + [ + 0.0005695074796676636, + -0.002799704670906067, + -0.006991535425186157, + -0.004095703363418579, + -0.03101135790348053, + -0.006439991760998964, + 1.0 + ], + [ + 0.0023125112056732178, + 0.0004533529281616211, + -0.007581405341625214, + -0.00598125159740448, + -0.045305296778678894, + 0.0012413915246725082, + 1.0 + ], + [ + 0.0035463273525238037, + 0.0005144104361534119, + -0.009229838848114014, + -0.012281686067581177, + -0.01894053816795349, + -0.010387362912297249, + 1.0 + ], + [ + 0.002178505063056946, + 0.0011745467782020569, + -0.005239125341176987, + -0.00688064843416214, + -0.014388114213943481, + -0.008048816584050655, + 1.0 + ], + [ + 9.959936141967773e-05, + 0.002849578857421875, + -0.0026579909026622772, + -0.007300175726413727, + -0.006083190441131592, + -0.012318786233663559, + 1.0 + ], + [ + -0.0007122606039047241, + 0.0012205764651298523, + 3.463029861450195e-05, + -0.00389871746301651, + -0.0021592378616333008, + -0.007060442119836807, + 1.0 + ], + [ + 0.001167893409729004, + -0.0012386590242385864, + -0.0007394813001155853, + -0.010486140847206116, + -0.01866629719734192, + 0.0034175869077444077, + 1.0 + ], + [ + 0.0008915066719055176, + 8.612871170043945e-06, + -0.0019068755209445953, + 0.0033204928040504456, + -0.006368666887283325, + -0.007731752470135689, + 1.0 + ], + [ + 0.0011862218379974365, + 0.0008377507328987122, + -0.003332320600748062, + -0.010680541396141052, + -0.006458550691604614, + 0.007409548386931419, + 1.0 + ], + [ + 0.003027409315109253, + 0.0030178502202033997, + -0.008959576487541199, + -0.0101514533162117, + -0.014031469821929932, + -0.01207132451236248, + 1.0 + ], + [ + -0.0017535984516143799, + 0.0014841258525848389, + -0.0032828450202941895, + -0.013161890208721161, + 0.008784621953964233, + -0.006990328431129456, + 1.0 + ], + [ + -0.0011692643165588379, + 0.0012229382991790771, + 0.0006456859409809113, + -0.005172446370124817, + 0.007719665765762329, + -0.002190902829170227, + 0.0 + ], + [ + -0.0026969462633132935, + -0.0007778555154800415, + 0.0006063953042030334, + -0.013894129544496536, + 0.03046676516532898, + 0.008249133825302124, + 0.0 + ], + [ + -0.0006899535655975342, + -0.002505585551261902, + 0.0029203779995441437, + -0.030488736927509308, + 0.02547919750213623, + 0.0028726644814014435, + 0.0 + ], + [ + -0.0047012269496917725, + -0.001667909324169159, + 0.001435399055480957, + -0.01307906024158001, + 0.03096979856491089, + 0.003568653017282486, + 0.0 + ], + [ + -0.0016190707683563232, + 0.003517560660839081, + 0.023375574499368668, + 0.02366885542869568, + 0.01117938756942749, + -0.007426705211400986, + 0.0 + ], + [ + 0.0022053420543670654, + 0.007838651537895203, + 0.0158163383603096, + 0.018542712554335594, + 0.028853341937065125, + -0.029948100447654724, + 0.0 + ], + [ + 0.005841150879859924, + 0.020379140973091125, + 0.009930960834026337, + 0.03876729682087898, + -0.032867953181266785, + -0.05402421951293945, + 0.0 + ], + [ + 0.007798910140991211, + 0.022463679313659668, + -0.0029646828770637512, + 0.013963162899017334, + -0.0020669251680374146, + -0.050152748823165894, + 0.0 + ], + [ + 0.005576133728027344, + 0.014117732644081116, + -0.005924493074417114, + -0.0005758479237556458, + -0.005953982472419739, + -0.02318263053894043, + 0.0 + ], + [ + 0.005420386791229248, + 0.006904676556587219, + -0.006053857505321503, + -0.0031552165746688843, + -0.013471782207489014, + -0.021286383271217346, + 0.0 + ], + [ + 0.005009502172470093, + 0.004614308476448059, + -0.00899861752986908, + -0.004137441515922546, + -0.01891663670539856, + -0.007841795682907104, + 0.0 + ], + [ + 0.006707340478897095, + 0.002696678042411804, + -0.013387683779001236, + -0.011348210275173187, + -0.01632791757583618, + -0.006338238716125488, + 0.0 + ], + [ + 0.0026005804538726807, + 0.0002821981906890869, + -0.003163684159517288, + -0.005623742938041687, + -0.012540102005004883, + 0.0026127099990844727, + 0.0 + ], + [ + -0.00011119246482849121, + 0.001722186803817749, + -1.2662261724472046e-05, + 0.008784741163253784, + 0.005735635757446289, + -0.0044733136892318726, + 0.0 + ], + [ + -0.0031406283378601074, + 0.00476604700088501, + -7.337331771850586e-05, + 0.0165373757481575, + 0.017460018396377563, + 0.012875467538833618, + 0.0 + ], + [ + -0.005363553762435913, + 0.0029737502336502075, + -0.0018007010221481323, + -0.013150498270988464, + -0.006260424852371216, + 0.01662766933441162, + 0.0 + ], + [ + -0.005077362060546875, + -0.0019945353269577026, + -0.0050058513879776, + -0.012978561222553253, + 0.00397568941116333, + 0.009921595454216003, + 0.0 + ], + [ + -0.001758873462677002, + -0.000878065824508667, + -0.0021122582256793976, + -0.006754256784915924, + -0.009351402521133423, + 0.00017255544662475586, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0047606229782104 + ], + [ + 1.0047606229782104 + ], + [ + 1.0047606229782104 + ], + [ + 1.0047606229782104 + ], + [ + 1.0047606229782104 + ], + [ + 1.0047606229782104 + ], + [ + 1.0041072368621826 + ], + [ + 0.9507390260696411 + ], + [ + 0.67718505859375 + ], + [ + 0.651088297367096 + ], + [ + 0.6741776466369629 + ], + [ + 0.6741776466369629 + ], + [ + 0.6741776466369629 + ], + [ + 0.6741776466369629 + ], + [ + 0.6741776466369629 + ], + [ + 0.6741776466369629 + ], + [ + 0.6741776466369629 + ], + [ + 0.6741776466369629 + ], + [ + 0.6741776466369629 + ], + [ + 0.6741776466369629 + ], + [ + 0.6741776466369629 + ], + [ + 0.6741776466369629 + ], + [ + 0.7378748655319214 + ], + [ + 0.9879508018493652 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9492040276527405 + ], + [ + 0.7594308853149414 + ], + [ + 0.778810441493988 + ], + [ + 0.7893680930137634 + ], + [ + 0.7893680930137634 + ], + [ + 0.7893680930137634 + ], + [ + 0.7893680930137634 + ], + [ + 0.7893680930137634 + ], + [ + 0.7893680930137634 + ], + [ + 0.7893680930137634 + ], + [ + 0.7893680930137634 + ], + [ + 0.7893680930137634 + ], + [ + 0.7893680930137634 + ], + [ + 0.7893680930137634 + ], + [ + 0.7893680930137634 + ], + [ + 0.7893680930137634 + ], + [ + 0.7893680930137634 + ], + [ + 0.8344376683235168 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.31535518169403076, + -0.016022495925426483, + 0.0843118280172348 + ], + [ + 0.31859636306762695, + -0.01923764869570732, + 0.0738842561841011 + ], + [ + 0.32179397344589233, + -0.02086174115538597, + 0.06594177335500717 + ], + [ + 0.3232737183570862, + -0.02002759836614132, + 0.05973537638783455 + ], + [ + 0.3236694037914276, + -0.01981033757328987, + 0.055242687463760376 + ], + [ + 0.3248937726020813, + -0.01898730918765068, + 0.05104529485106468 + ], + [ + 0.32282668352127075, + -0.019303619861602783, + 0.046065907925367355 + ], + [ + 0.32134002447128296, + -0.02030063234269619, + 0.04377349093556404 + ], + [ + 0.3193371891975403, + -0.02165287546813488, + 0.041611284017562866 + ], + [ + 0.31919991970062256, + -0.023538189008831978, + 0.04092981293797493 + ], + [ + 0.31572720408439636, + -0.022447636350989342, + 0.04223351180553436 + ], + [ + 0.31476718187332153, + -0.021370310336351395, + 0.048263560980558395 + ], + [ + 0.3130556046962738, + -0.01739967055618763, + 0.07765991985797882 + ], + [ + 0.3110821843147278, + -0.013164759613573551, + 0.0929798111319542 + ], + [ + 0.31215807795524597, + -0.007731440477073193, + 0.09440039098262787 + ], + [ + 0.31905925273895264, + 0.0025342244189232588, + 0.09704793989658356 + ], + [ + 0.33390533924102783, + 0.017385302111506462, + 0.09536822140216827 + ], + [ + 0.35052579641342163, + 0.030785927549004555, + 0.09386797249317169 + ], + [ + 0.3607772886753082, + 0.041723594069480896, + 0.08896028995513916 + ], + [ + 0.36898747086524963, + 0.05162236839532852, + 0.08453217148780823 + ], + [ + 0.3724079132080078, + 0.062289487570524216, + 0.08424732834100723 + ], + [ + 0.3716756999492645, + 0.06658384948968887, + 0.08533403277397156 + ], + [ + 0.3709717094898224, + 0.06430703401565552, + 0.08381374180316925 + ], + [ + 0.3665924072265625, + 0.05485423281788826, + 0.07813067734241486 + ], + [ + 0.358997642993927, + 0.04797893017530441, + 0.07267638295888901 + ], + [ + 0.35179394483566284, + 0.04649179428815842, + 0.08885368704795837 + ], + [ + 0.34640949964523315, + 0.05539551377296448, + 0.0906897634267807 + ], + [ + 0.34486517310142517, + 0.06468266993761063, + 0.09682421386241913 + ], + [ + 0.33932775259017944, + 0.07334961742162704, + 0.09052938967943192 + ], + [ + 0.33773455023765564, + 0.08120138943195343, + 0.09101708233356476 + ], + [ + 0.33244702219963074, + 0.08950439840555191, + 0.08768881112337112 + ], + [ + 0.3226986527442932, + 0.0971842110157013, + 0.09467090666294098 + ], + [ + 0.31586456298828125, + 0.1017523929476738, + 0.09501359611749649 + ], + [ + 0.31602606177330017, + 0.10201804339885712, + 0.0950557291507721 + ], + [ + 0.3158048987388611, + 0.1026899516582489, + 0.09505200386047363 + ], + [ + 0.3159620463848114, + 0.10220538824796677, + 0.09505200386047363 + ], + [ + 0.3161877393722534, + 0.1022833064198494, + 0.09509851783514023 + ], + [ + 0.31508827209472656, + 0.10310903191566467, + 0.09431616216897964 + ], + [ + 0.2916148006916046, + 0.11488578468561172, + 0.09608855098485947 + ], + [ + 0.27575790882110596, + 0.12796549499034882, + 0.10506440699100494 + ], + [ + 0.2689650058746338, + 0.12791723012924194, + 0.1118294969201088 + ], + [ + 0.26140183210372925, + 0.12853124737739563, + 0.10503099858760834 + ], + [ + 0.2544328272342682, + 0.126759871840477, + 0.09234105050563812 + ], + [ + 0.24665720760822296, + 0.12452781200408936, + 0.09049815684556961 + ], + [ + 0.24051249027252197, + 0.12235109508037567, + 0.08617522567510605 + ], + [ + 0.2411285787820816, + 0.12063110619783401, + 0.08410758525133133 + ], + [ + 0.24169808626174927, + 0.11783140152692795, + 0.07711604982614517 + ], + [ + 0.24401059746742249, + 0.11828475445508957, + 0.06953464448451996 + ], + [ + 0.2475569248199463, + 0.11879916489124298, + 0.060304805636405945 + ], + [ + 0.24973542988300323, + 0.11997371166944504, + 0.05506568029522896 + ], + [ + 0.2498350292444229, + 0.12282329052686691, + 0.05240768939256668 + ], + [ + 0.2491227686405182, + 0.12404386699199677, + 0.05244231969118118 + ], + [ + 0.2502906620502472, + 0.12280520796775818, + 0.0517028383910656 + ], + [ + 0.2511821687221527, + 0.12281382083892822, + 0.049795962870121 + ], + [ + 0.25236839056015015, + 0.12365157157182693, + 0.04646364226937294 + ], + [ + 0.2553957998752594, + 0.12666942179203033, + 0.03750406578183174 + ], + [ + 0.253642201423645, + 0.12815354764461517, + 0.03422122076153755 + ], + [ + 0.2524729371070862, + 0.12937648594379425, + 0.03486690670251846 + ], + [ + 0.2497759908437729, + 0.1285986304283142, + 0.0354733020067215 + ], + [ + 0.24908603727817535, + 0.1260930448770523, + 0.03839368000626564 + ], + [ + 0.24438481032848358, + 0.12442513555288315, + 0.0398290790617466 + ], + [ + 0.24276573956012726, + 0.12794269621372223, + 0.06320465356111526 + ], + [ + 0.24497108161449432, + 0.13578134775161743, + 0.07902099192142487 + ], + [ + 0.25081223249435425, + 0.15616048872470856, + 0.0889519527554512 + ], + [ + 0.25861114263534546, + 0.17862416803836823, + 0.08598726987838745 + ], + [ + 0.2641872763633728, + 0.19274190068244934, + 0.08006277680397034 + ], + [ + 0.26960766315460205, + 0.19964657723903656, + 0.07400891929864883 + ], + [ + 0.27461716532707214, + 0.20426088571548462, + 0.06501030176877975 + ], + [ + 0.28132450580596924, + 0.20695756375789642, + 0.05162261798977852 + ], + [ + 0.2839250862598419, + 0.2072397619485855, + 0.04845893383026123 + ], + [ + 0.2838138937950134, + 0.20896194875240326, + 0.04844627156853676 + ], + [ + 0.2806732654571533, + 0.21372799575328827, + 0.04837289825081825 + ], + [ + 0.2753097116947174, + 0.21670174598693848, + 0.04657219722867012 + ], + [ + 0.27023234963417053, + 0.21470721065998077, + 0.04156634584069252 + ], + [ + 0.26847347617149353, + 0.2138291448354721, + 0.03945408761501312 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9727407187280609, + 0.17684757552476968, + 0.15000143052460005, + 0.16910674281736313, + -0.9835833655257391, + 0.06298152582116741, + 0.1586770420133856, + -0.035898441359912214, + -0.986677707382614 + ], + [ + 0.9697026794956382, + 0.16731833879277402, + 0.17799237872056978, + 0.16238609508815155, + -0.9858316375668533, + 0.04203258847940402, + 0.18250334106805294, + -0.011855626338730838, + -0.9831337521533451 + ], + [ + 0.9646132528907203, + 0.17231664698529725, + 0.19957015187479216, + 0.16941379943989993, + -0.9850361964695993, + 0.03166474702318493, + 0.20204018636627846, + 0.0032657030559102383, + -0.979371787564166 + ], + [ + 0.9630623396010594, + 0.1624568937154776, + 0.2147526198360604, + 0.161456667437322, + -0.9866275431463332, + 0.02231223084014989, + 0.21550562540724424, + 0.013185173087530784, + -0.9764135786788731 + ], + [ + 0.9594136835772417, + 0.15548561201169914, + 0.23526497449067058, + 0.1586603502938405, + -0.9873179307218578, + 0.005495172403551525, + 0.23313574802973552, + 0.03205507966697787, + -0.9719157344431458 + ], + [ + 0.9553509922333974, + 0.15347357738789677, + 0.2524883020704611, + 0.15888973118559616, + -0.9872957488847349, + -0.001075898647290175, + 0.24911550526298462, + 0.0411456592837144, + -0.9675993487801013 + ], + [ + 0.9514813415930984, + 0.1561592391835572, + 0.2651368488494382, + 0.16472015443615243, + -0.9862873711135424, + -0.010222147742391757, + 0.25990484282276727, + 0.05339956553708804, + -0.9641566050583912 + ], + [ + 0.9504069391128318, + 0.15812298804887084, + 0.2678129398230701, + 0.16809158721411047, + -0.985663853014994, + -0.014559779101273172, + 0.2616712983764551, + 0.0588548172211369, + -0.9633609095743129 + ], + [ + 0.9485864036383022, + 0.1711320238155419, + 0.26626615492275474, + 0.18179239201505368, + -0.983211203305124, + -0.01572437282484786, + 0.25910492283628395, + 0.06332108748344874, + -0.9637712793198998 + ], + [ + 0.9488719053111534, + 0.1638941740794811, + 0.2697791819506951, + 0.1785677754654731, + -0.9834515885470078, + -0.030602655925248592, + 0.2602991680288162, + 0.07721186882320302, + -0.9624358006830037 + ], + [ + 0.9588863896701229, + 0.16270315795600976, + 0.23251790059378025, + 0.17941048866085135, + -0.9823743607122094, + -0.05246419706573724, + 0.21988353340773803, + 0.092023354679232, + -0.9711760571233768 + ], + [ + 0.9673189096140489, + 0.1637195468642519, + 0.19362344144666907, + 0.17527286046845061, + -0.983535889968358, + -0.044006562321513176, + 0.1832308693596543, + 0.07650531431681207, + -0.9800884579439711 + ], + [ + 0.974090124135763, + 0.16750872903765754, + 0.15195149146146034, + 0.17291657899456833, + -0.984667736842045, + -0.023006623637120444, + 0.1457679209222277, + 0.04868545695126551, + -0.9881201543898684 + ], + [ + 0.9787998003263054, + 0.15954711589227558, + 0.1284354650851603, + 0.16141847728351408, + -0.9868769939452462, + -0.0042277669124886185, + 0.12607547768165023, + 0.024869994613016533, + -0.991708857122539 + ], + [ + 0.980551570213708, + 0.14699361696247887, + 0.13004420296083966, + 0.1483564853732396, + -0.9889336229234581, + -0.0008016852148433288, + 0.1284872421648615, + 0.02007899459066615, + -0.9915078731795812 + ], + [ + 0.9785778624908404, + 0.11906343498570915, + 0.16795614157351413, + 0.12094687863852929, + -0.9926584853440571, + -0.0009919788505232102, + 0.16660498068922003, + 0.02128449961466857, + -0.9857939695928853 + ], + [ + 0.9761441337700453, + 0.09776864013502058, + 0.19386573475598176, + 0.09946081226011273, + -0.9950409678337271, + 0.0010095330991407511, + 0.193003049019663, + 0.018296593635660576, + -0.9810275519731569 + ], + [ + 0.9752626277479549, + 0.06976648754104463, + 0.2097509097342357, + 0.07396162376699468, + -0.9971862941170478, + -0.012213641343121154, + 0.20830862950896623, + 0.02742502582121179, + -0.9776785682578925 + ], + [ + 0.9752577407397593, + 0.050630942505756685, + 0.21519490418724913, + 0.05409224087504673, + -0.998483620987209, + -0.010221941957750797, + 0.21435104059531995, + 0.021609402612068274, + -0.9765176215073915 + ], + [ + 0.9754055508746103, + 0.027898634163855948, + 0.21864509492506232, + 0.03165184099971118, + -0.9994053153595438, + -0.013681249665880251, + 0.21813338186606648, + 0.02026528664693583, + -0.9757085353079528 + ], + [ + 0.9754564732657438, + 0.01738716129801349, + 0.21950479581538546, + 0.02014585563617446, + -0.9997436276471733, + -0.010335544473156284, + 0.21926881507556795, + 0.014503985689010984, + -0.9755566724360453 + ], + [ + 0.9775469693974486, + 0.012599705666730413, + 0.2103406048269705, + 0.014586248836929844, + -0.9998624407510739, + -0.007895626648510378, + 0.2102121879595262, + 0.01078642630426157, + -0.9775962812126751 + ], + [ + 0.9779945615345546, + 0.025567348980460397, + 0.20705783799447247, + 0.027915910617672866, + -0.9995747429580785, + -0.008428236747802752, + 0.2067542975205593, + 0.01402297780081906, + -0.9782923982891707 + ], + [ + 0.982313634340473, + 0.042275597493836824, + 0.18240805257814233, + 0.04424917993234843, + -0.9989976437960453, + -0.006761491349124306, + 0.1819393686482557, + 0.014713311880359459, + -0.9831996666951149 + ], + [ + 0.9857083116755383, + 0.05315628072604658, + 0.15985472815382765, + 0.05592071539370503, + -0.9983526256408914, + -0.012841669120283703, + 0.1589087722047359, + 0.02159733074507902, + -0.9870570183231927 + ], + [ + 0.9850310668035526, + 0.031017224462293675, + 0.1695633486886564, + 0.03276705127230142, + -0.99943464713041, + -0.00753036959460565, + 0.16923391439889807, + 0.012973738935583767, + -0.9854905196475803 + ], + [ + 0.9887520123721896, + 0.013921353838585556, + 0.14891492180854887, + 0.015146229238660311, + -0.9998601210177156, + -0.007094373706588728, + 0.1487953284542068, + 0.009270075821679413, + -0.9888245627635192 + ], + [ + 0.9840206359303056, + -0.01152900742069524, + 0.17768080946239057, + -0.009604232536122258, + -0.9998855555284192, + -0.011689078792469089, + 0.17779523835218108, + 0.00979580693552165, + -0.9840187474767811 + ], + [ + 0.98250641926116, + -0.02807428539526702, + 0.18410043620306532, + -0.02642145683708789, + -0.999585598846808, + -0.011425287597002655, + 0.18434490155472089, + 0.0063612166771316765, + -0.9828410309878027 + ], + [ + 0.9824509810651159, + -0.02816823745705323, + 0.18438172415604093, + -0.02912904279254144, + -0.9995725234828511, + 0.002503829889444519, + 0.18423237682389487, + -0.007830753264408815, + -0.9828515201357376 + ], + [ + 0.9849747963126059, + -0.0277189409590695, + 0.17045911809301678, + -0.029150025565503525, + -0.9995576471997915, + 0.005897960151495357, + 0.17022022981558893, + -0.010778229749163626, + -0.9853470977909272 + ], + [ + 0.9827182821647902, + -0.015104767778668413, + 0.1844901728803904, + -0.024436954818146922, + -0.998528325428122, + 0.048415065392151894, + 0.18348736506446348, + -0.052086747912141705, + -0.9816411551853546 + ], + [ + 0.9818227341957823, + -0.040501837165934924, + 0.18542847624489092, + -0.049063439321757656, + -0.9979199070560851, + 0.04181671942051636, + 0.18334911381906974, + -0.050154364589316436, + -0.9817676110844171 + ], + [ + 0.9782721052607073, + -0.09067099678903069, + 0.18644693188697697, + -0.10041725008504991, + -0.9939943810652567, + 0.043491910696743824, + 0.18138374776737853, + -0.06126941122599909, + -0.9815019079420474 + ], + [ + 0.9780181213112736, + -0.0943081010084659, + 0.18597455866581167, + -0.10435236652830829, + -0.9935236781515887, + 0.04495869829164961, + 0.18053015810857762, + -0.06337730695063468, + -0.9815254347071076 + ], + [ + 0.9778568957026075, + -0.09583204000856653, + 0.18604330580447329, + -0.10585250842635811, + -0.9933778420477688, + 0.044673363298124866, + 0.18053015810857767, + -0.06337730695063469, + -0.981525434707108 + ], + [ + 0.9775968036538062, + -0.09571193488236546, + 0.18746657037172273, + -0.1059150596818498, + -0.9933489563877818, + 0.04516470940785161, + 0.1818969203105221, + -0.06400840854434141, + -0.9812320999728703 + ], + [ + 0.9775445440423588, + -0.1004973231200748, + 0.18522136069772457, + -0.11017786091024313, + -0.9929938650723281, + 0.04270858103429063, + 0.17963157678498629, + -0.062156833690421624, + -0.9817683151575637 + ], + [ + 0.9728048086828729, + -0.15204533535281442, + 0.17473700295280725, + -0.158436809077287, + -0.9870977847575401, + 0.02314607647452306, + 0.16896325557021702, + -0.05020138767212881, + -0.9843430494207323 + ], + [ + 0.9737790556302497, + -0.15394833723554457, + 0.1674940604268401, + -0.16127981658968316, + -0.9864216082988042, + 0.03100373271073236, + 0.16044678736782822, + -0.05720419690557172, + -0.985385461776117 + ], + [ + 0.9718364684316013, + -0.15835168224834437, + 0.1745239907735125, + -0.16632505141653206, + -0.9855530994984465, + 0.031954113041887285, + 0.16694267248873684, + -0.06008188410931472, + -0.9841342953602388 + ], + [ + 0.9748949558020253, + -0.1347737121093645, + 0.1772452303336521, + -0.1461897970806902, + -0.9878384994026239, + 0.052949431795619714, + 0.16795347088189003, + -0.07753157822612981, + -0.9827413118397393 + ], + [ + 0.9868943527740238, + -0.05595039167624488, + 0.15135749117243855, + -0.07014623518735136, + -0.993456149866698, + 0.09013536476365598, + 0.14532392147124581, + -0.09957124064362817, + -0.9843609733654151 + ], + [ + 0.9859301182292436, + -0.011143153652677252, + 0.16678618676360144, + -0.032502588970811694, + -0.991511616942542, + 0.125890012225676, + 0.1639676299720911, + -0.12953973751192802, + -0.9779233470608403 + ], + [ + 0.9862130952405814, + 0.026661518555954406, + 0.16331838293432388, + 0.0007534257885926966, + -0.9876486945654139, + 0.15668276380257917, + 0.16547858811814004, + -0.15439954517913657, + -0.9740521635533195 + ], + [ + 0.9835375914690833, + 0.035548034364960755, + 0.1771726373342738, + 0.008644180979285604, + -0.9885926858754559, + 0.15036548662758173, + 0.18049677089186916, + -0.14635859621607358, + -0.9726253528524065 + ], + [ + 0.977503411617315, + 0.03285289481778759, + 0.20834530851113758, + 0.0022958164848023085, + -0.9893936459987553, + 0.14524098073187625, + 0.21090711107778665, + -0.14149523157824268, + -0.9672110886137737 + ], + [ + 0.9669449073989286, + 0.0389514914264518, + 0.2519927129322046, + 0.0034713861710639546, + -0.9901827100630461, + 0.1397360016969604, + 0.2549617530794154, + -0.13424225120228214, + -0.9575873445586124 + ], + [ + 0.9619266531022924, + 0.027863244203552066, + 0.27188371351347124, + -0.00653862597383161, + -0.9921588212038498, + 0.12481233864390853, + 0.2732295013753025, + -0.12183806108864581, + -0.9542018268942704 + ], + [ + 0.9578126211636564, + 0.019653565100339603, + 0.2867206307862281, + -0.014220863792338959, + -0.9931957256161599, + 0.1155855425682175, + 0.2870413729283735, + -0.11478670653275226, + -0.9510159106086281 + ], + [ + 0.95580157777139, + 0.005969066438075356, + 0.2939518909202314, + -0.025970666589226567, + -0.9941717409392337, + 0.10463304446858357, + 0.29286322474259724, + -0.10764255554245819, + -0.9500758979311369 + ], + [ + 0.9549601735475552, + -0.0019749717675230528, + 0.29672742782651657, + -0.03269663009617134, + -0.9945890585313478, + 0.09860798664449753, + 0.2949271050927284, + -0.10386868698623637, + -0.9498575148649285 + ], + [ + 0.9493976925102777, + 6.297034316828619e-05, + 0.31407645166566667, + -0.029258092399393164, + -0.9956337773390525, + 0.0886416688173146, + 0.31271070574143855, + -0.09334547367872635, + -0.9452505683988692 + ], + [ + 0.9471337945372452, + -0.005976407367904019, + 0.32078319438594627, + -0.03652017660079407, + -0.9953364054690492, + 0.08928447036858504, + 0.31875359126843694, + -0.09627939812298782, + -0.942935006005477 + ], + [ + 0.9453009573452573, + -0.0014644419428390884, + 0.32619619165762226, + -0.029436713269976704, + -0.9962928509460991, + 0.08083337841235796, + 0.3248685579646041, + -0.08601401376223722, + -0.9418396941531549 + ], + [ + 0.9402297595708877, + -0.01574182563953029, + 0.34017671017106016, + -0.04064444486464264, + -0.9969780016829072, + 0.06620342334050652, + 0.33810653397844276, + -0.07607272235099732, + -0.9380282045840586 + ], + [ + 0.9428527649816225, + -0.0277517700759113, + 0.3320519580188669, + -0.04736310291008329, + -0.9975691518775509, + 0.051112852640336465, + 0.32982631800576256, + -0.0639189054971817, + -0.9418752430501632 + ], + [ + 0.9452612749627225, + -0.03211076830407177, + 0.3247306893639254, + -0.049560525012558136, + -0.9977293284611924, + 0.045606375528617835, + 0.32252887687202153, + -0.05920376413117609, + -0.9447063236246342 + ], + [ + 0.9550144171153672, + -0.029792763793281225, + 0.29505906921725555, + -0.04217542518995913, + -0.9984725349704661, + 0.03569076098512923, + 0.29354505039574696, + -0.04652943299900841, + -0.9548121884710884 + ], + [ + 0.9622937364983847, + -0.03634795615650331, + 0.26957297857764284, + -0.03972750049178453, + -0.9991853995039188, + 0.007089648994784534, + 0.269095690044736, + -0.017531785460668352, + -0.9629538649893402 + ], + [ + 0.9702944614340836, + -0.0364578881253797, + 0.23916412879815088, + -0.03658975409176286, + -0.9993227993596236, + -0.003890061124120397, + 0.23914399011023782, + -0.0049764518969209765, + -0.9709713625646597 + ], + [ + 0.9726060571604568, + -0.03851944895998851, + 0.22924595880104234, + -0.043912613947762795, + -0.9988646434581787, + 0.018469065635276807, + 0.22827426467095477, + -0.02802991439487917, + -0.9731932922025052 + ], + [ + 0.9770179447683915, + -0.06547091742705927, + 0.20285338195802272, + -0.07347977511683795, + -0.9967768605898276, + 0.03219647250036073, + 0.20009162463563335, + -0.046362152279060015, + -0.9786796680153962 + ], + [ + 0.9645792814088552, + -0.10845506657396556, + 0.2404668551198133, + -0.1252149365086196, + -0.9905758816878601, + 0.05550353406280521, + 0.23218102754514408, + -0.08364760099820741, + -0.9690691664145165 + ], + [ + 0.9566149361208814, + -0.15437280069477916, + 0.2470969493864557, + -0.17332758812396643, + -0.9832275070773034, + 0.05675576201303845, + 0.23419097161413227, + -0.09712212792253885, + -0.9673271840914156 + ], + [ + 0.9509572889842082, + -0.17670325849290774, + 0.25388224232071294, + -0.19517208207249137, + -0.9795295825628411, + 0.049291533388143, + 0.23997519227472927, + -0.0964248687956294, + -0.9659783391828473 + ], + [ + 0.9433495266728485, + -0.19709097114512222, + 0.26692099883520815, + -0.21463203540466516, + -0.9759587726692809, + 0.037915213673686755, + 0.2530311441387466, + -0.09305709614501931, + -0.9629722825465401 + ], + [ + 0.9368104935832462, + -0.2042060931770223, + 0.28405276027824894, + -0.22088479888572413, + -0.9749088003507744, + 0.027617686721148036, + 0.27128583585128113, + -0.08861547555586197, + -0.9584108162779051 + ], + [ + 0.930962388570026, + -0.21236235960414396, + 0.2970038034964397, + -0.22574401962119722, + -0.9741235965480376, + 0.011084054022801916, + 0.28696457738413644, + -0.07736566985217735, + -0.9548119628780671 + ], + [ + 0.927976440539823, + -0.21060703580874346, + 0.30741568318954554, + -0.22245449987694144, + -0.9749364580418804, + 0.0035914154942904217, + 0.29895437994373025, + -0.07171875102514982, + -0.9515685469076058 + ], + [ + 0.9286224410903261, + -0.21270371279383432, + 0.3040024547058166, + -0.22700683705411429, + -0.9738183849995075, + 0.012068511409373525, + 0.29347616229283574, + -0.08021772622475296, + -0.9525948029278766 + ], + [ + 0.936318763847871, + -0.19673331600362068, + 0.29086624905721564, + -0.21615166687186313, + -0.9757005856797693, + 0.03587232934547671, + 0.2767410872546933, + -0.09645915963958412, + -0.956091000452737 + ], + [ + 0.9380704934516194, + -0.18377110653074236, + 0.29368678846673085, + -0.20018819313726344, + -0.9793968882462972, + 0.026578612114031692, + 0.2827515457851177, + -0.08372523931250943, + -0.9555321280094092 + ], + [ + 0.9411046957840009, + -0.17811632457522478, + 0.28739611426238265, + -0.19109352068060778, + -0.9814156090594619, + 0.017511957295968245, + 0.2789358670504628, + -0.07140012054792955, + -0.9576517137553443 + ], + [ + 0.9385401775002409, + -0.1792897758633928, + 0.29495340562310907, + -0.19040416765258344, + -0.9816631141869706, + 0.00915331553401006, + 0.2879037828135345, + -0.06475111207996845, + -0.9554677939763664 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006141.json b/json/chunk-0006/episode_0006141.json new file mode 100644 index 0000000000000000000000000000000000000000..ebc37dcea199f1e41d716eb58a2356c32da4ec6c --- /dev/null +++ b/json/chunk-0006/episode_0006141.json @@ -0,0 +1,1402 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 22, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPlace the orange towel behind the chicken wing." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006141.mp4", + "start": 0, + "end": 22, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.34540078043937683, + 0.05618736147880554, + 0.06905718147754669, + 0.07787444442510605, + 0.10505471378564835, + -0.10137876868247986, + 0.0, + 0.9994885921478271 + ], + [ + 0.3421466648578644, + 0.0540531650185585, + 0.05365028232336044, + 0.06440778821706772, + 0.15019911527633667, + -0.09799207001924515, + 0.0, + 0.9994885921478271 + ], + [ + 0.3545100688934326, + 0.026345308870077133, + 0.050258904695510864, + 0.045963287353515625, + 0.14560675621032715, + -0.1284254491329193, + 0.0, + 0.9994885921478271 + ], + [ + 0.3761914372444153, + -0.01191137358546257, + 0.0432952456176281, + 0.050199270248413086, + 0.13683092594146729, + -0.15593308210372925, + 0.0, + 0.9994885921478271 + ], + [ + 0.3984491527080536, + -0.045692797750234604, + 0.028766781091690063, + 0.06089051812887192, + 0.11427704989910126, + -0.13400903344154358, + 0.0, + 1.0001531839370728 + ], + [ + 0.4187769889831543, + -0.06789436936378479, + 0.020619604736566544, + 0.05480683222413063, + 0.07629241049289703, + -0.11997685581445694, + 0.0, + 1.0001531839370728 + ], + [ + 0.43174344301223755, + -0.0736297145485878, + 0.020254822447896004, + 0.0547497496008873, + 0.05051387473940849, + -0.10404026508331299, + 0.0, + 1.0001531839370728 + ], + [ + 0.4344010353088379, + -0.07222660630941391, + 0.020350661128759384, + 0.07039084285497665, + 0.035419244319200516, + -0.08783190697431564, + 0.0, + 1.0001531839370728 + ], + [ + 0.4295307695865631, + -0.06804107874631882, + 0.011357405222952366, + 0.09581126272678375, + 0.048322245478630066, + -0.097270667552948, + 0.0, + 1.0001531839370728 + ], + [ + 0.41919687390327454, + -0.06109695881605148, + 0.008715540170669556, + 0.12902431190013885, + 0.03429809957742691, + -0.11232171952724457, + 0.0, + 1.0001531839370728 + ], + [ + 0.4102485477924347, + -0.04826449230313301, + 0.006367874797433615, + 0.12572701275348663, + 0.04251566156744957, + -0.10044709593057632, + 0.0, + 0.9994885921478271 + ], + [ + 0.40990716218948364, + -0.03543880581855774, + 0.005044108256697655, + 0.12551595270633698, + 0.050179097801446915, + -0.08193938434123993, + 0.0, + 0.9994885921478271 + ], + [ + 0.4053811728954315, + -0.0030001564882695675, + 0.004897684324532747, + 0.12558509409427643, + 0.08140095323324203, + -0.018517987802624702, + 0.0, + 0.9994885921478271 + ], + [ + 0.392404168844223, + 0.05271623283624649, + 0.004553372040390968, + 0.12354417890310287, + 0.11463121324777603, + 0.08880054950714111, + 0.0, + 1.0001531839370728 + ], + [ + 0.37061595916748047, + 0.08845267444849014, + 0.005802617873996496, + 0.1289655864238739, + 0.13191655278205872, + 0.1252378225326538, + 0.0, + 1.0001531839370728 + ], + [ + 0.3436901271343231, + 0.10775656253099442, + 0.006268141325563192, + 0.1333286315202713, + 0.14938931167125702, + 0.14338931441307068, + 0.0, + 1.0001531839370728 + ], + [ + 0.3277871012687683, + 0.11886494606733322, + 0.00648038974031806, + 0.13679134845733643, + 0.15881159901618958, + 0.1565377414226532, + 0.0, + 1.0001531839370728 + ], + [ + 0.3260795772075653, + 0.11871084570884705, + 0.00622950866818428, + 0.12102673947811127, + 0.15875664353370667, + 0.13314831256866455, + 0.0, + 1.0001531839370728 + ], + [ + 0.3222176730632782, + 0.11380063742399216, + 0.008978989906609058, + 0.09878581017255783, + 0.15321213006973267, + 0.10915543138980865, + 0.0, + 1.0001531839370728 + ], + [ + 0.32049626111984253, + 0.1002449169754982, + 0.02711731195449829, + 0.077386274933815, + 0.11289068311452866, + 0.0776296928524971, + 0.0, + 0.9994885921478271 + ], + [ + 0.32221683859825134, + 0.09176575392484665, + 0.0723167359828949, + 0.057366687804460526, + 0.02573183923959732, + 0.05921393260359764, + 0.0, + 0.9994885921478271 + ], + [ + 0.3156498670578003, + 0.09230487048625946, + 0.08018811792135239, + 0.056670915335416794, + 0.03344009816646576, + 0.0654824748635292, + 0.0, + 0.9994885921478271 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.34540078043937683, + 0.05618736147880554, + 0.06905718147754669 + ], + [ + 0.3421466648578644, + 0.0540531650185585, + 0.05365028232336044 + ], + [ + 0.3545100688934326, + 0.026345308870077133, + 0.050258904695510864 + ], + [ + 0.3761914372444153, + -0.01191137358546257, + 0.0432952456176281 + ], + [ + 0.3984491527080536, + -0.045692797750234604, + 0.028766781091690063 + ], + [ + 0.4187769889831543, + -0.06789436936378479, + 0.020619604736566544 + ], + [ + 0.43174344301223755, + -0.0736297145485878, + 0.020254822447896004 + ], + [ + 0.4344010353088379, + -0.07222660630941391, + 0.020350661128759384 + ], + [ + 0.4295307695865631, + -0.06804107874631882, + 0.011357405222952366 + ], + [ + 0.41919687390327454, + -0.06109695881605148, + 0.008715540170669556 + ], + [ + 0.4102485477924347, + -0.04826449230313301, + 0.006367874797433615 + ], + [ + 0.40990716218948364, + -0.03543880581855774, + 0.005044108256697655 + ], + [ + 0.4053811728954315, + -0.0030001564882695675, + 0.004897684324532747 + ], + [ + 0.392404168844223, + 0.05271623283624649, + 0.004553372040390968 + ], + [ + 0.37061595916748047, + 0.08845267444849014, + 0.005802617873996496 + ], + [ + 0.3436901271343231, + 0.10775656253099442, + 0.006268141325563192 + ], + [ + 0.3277871012687683, + 0.11886494606733322, + 0.00648038974031806 + ], + [ + 0.3260795772075653, + 0.11871084570884705, + 0.00622950866818428 + ], + [ + 0.3222176730632782, + 0.11380063742399216, + 0.008978989906609058 + ], + [ + 0.32049626111984253, + 0.1002449169754982, + 0.02711731195449829 + ], + [ + 0.32221683859825134, + 0.09176575392484665, + 0.0723167359828949 + ], + [ + 0.3156498670578003, + 0.09230487048625946, + 0.08018811792135239 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9893807062318588, + -0.1090143816568648, + -0.09613367114658315, + -0.10064724010193565, + -0.9910248403365444, + 0.08797669518565547, + -0.10486158112488715, + -0.07736685613295811, + -0.991472853070668 + ], + [ + 0.9839979330269495, + -0.10721725431867135, + -0.14231137753200454, + -0.09673381983212442, + -0.9921968486385405, + 0.07866372513703843, + -0.14963500893633638, + -0.06363861978480354, + -0.9866911827783342 + ], + [ + 0.9812699767599179, + -0.1345491499200881, + -0.13786137590120037, + -0.1267174590957172, + -0.9898635427428484, + 0.06413152351927028, + -0.14509279192956367, + -0.04546089533169283, + -0.988373101984127 + ], + [ + 0.9786337006330442, + -0.16186777021141235, + -0.1267868484980143, + -0.15385035884608583, + -0.9855596490150985, + 0.0707265531195046, + -0.13640435135362672, + -0.04970918627397655, + -0.9894053010428917 + ], + [ + 0.9845701794523619, + -0.14023743525931112, + -0.10466624806992186, + -0.13273683233648728, + -0.9882704770164538, + 0.07551422117022881, + -0.11402848361010143, + -0.06045598406743112, + -0.9916363138348754 + ], + [ + 0.9899234621883949, + -0.12365469938103019, + -0.06900039369400779, + -0.11934107094192475, + -0.9908209551325396, + 0.06349443799795101, + -0.07621842162742218, + -0.05462005301378074, + -0.9955939945647502 + ], + [ + 0.9933240346346093, + -0.10644518370185414, + -0.04446105131348196, + -0.10372020172711711, + -0.9928154492097381, + 0.05966241332825886, + -0.05049239517895427, + -0.054652599912029726, + -0.9972279635830255 + ], + [ + 0.9955204789327036, + -0.08998280355049325, + -0.02901846120651946, + -0.08766400446547741, + -0.9934599164679576, + 0.07316021249665558, + -0.035411839075056385, + -0.0702886152706993, + -0.9968979447348912 + ], + [ + 0.994111162831965, + -0.10127102593777897, + -0.03856391108780676, + -0.09700398666398526, + -0.9902594556470736, + 0.09988211588094756, + -0.04830344194953335, + -0.09555307324765314, + -0.9942516722081773 + ], + [ + 0.9931141287259314, + -0.1155383757622079, + -0.019370365282178163, + -0.11201977009422903, + -0.9849442878737035, + 0.13166746330433832, + -0.03429137548962184, + -0.12859095423549066, + -0.9911046705852191 + ], + [ + 0.9940603310429452, + -0.10478957399482355, + -0.02938032383711653, + -0.10018765204730187, + -0.9865715299676014, + 0.12899244409900582, + -0.04250285430461355, + -0.12528272602146626, + -0.9912102430547172 + ], + [ + 0.9953903628753352, + -0.08746189473629075, + -0.039350253671937147, + -0.08174470180442901, + -0.9882905182604865, + 0.12883964934492517, + -0.05015804244398685, + -0.1250290705618349, + -0.9908844041020276 + ], + [ + 0.99651788607777, + -0.02855399402852541, + -0.07833755263034042, + -0.018455615682230753, + -0.9917658599259938, + 0.12672753976560783, + -0.08131108766264425, + -0.12484049227022796, + -0.9888393997575363 + ], + [ + 0.9895227145048375, + 0.07396838409748903, + -0.12398982068292534, + 0.08810185947147163, + -0.9897179814644819, + 0.11267821228409884, + -0.11438032976279931, + -0.12242138424261388, + -0.9858651757940714 + ], + [ + 0.9835476582842221, + 0.10708944799817663, + -0.14548489272453222, + 0.12382542548172354, + -0.986041529335772, + 0.11130753087478687, + -0.13153428407792758, + -0.1274909900840735, + -0.983079233612169 + ], + [ + 0.9787138115547587, + 0.122048139546792, + -0.16499553540966705, + 0.14130687898200328, + -0.9837805977942327, + 0.11049027720115136, + -0.14883427368829194, + -0.1314533644939854, + -0.9800859002857298 + ], + [ + 0.9753427521320872, + 0.13314114538454977, + -0.17601122483834847, + 0.15393737415311678, + -0.9819078630668981, + 0.110273447784317, + -0.15814487251330284, + -0.13464911382213898, + -0.9781921158160413 + ], + [ + 0.9786847676761624, + 0.11286658497863251, + -0.1715728985414569, + 0.13108579277791943, + -0.9864326302625652, + 0.09882904879164646, + -0.1580906083562218, + -0.11921325408082105, + -0.9802017953467649 + ], + [ + 0.9824041384198905, + 0.0934457307721965, + -0.16170962932343474, + 0.10766268456730138, + -0.9908418189115916, + 0.081493780423602, + -0.15261341738927892, + -0.09746991995697266, + -0.9834677216545273 + ], + [ + 0.9906421101123886, + 0.06863692863944791, + -0.11797110535642774, + 0.07705809847742422, + -0.9946799119685835, + 0.06836608943924186, + -0.1126510502885687, + -0.07681695615626905, + -0.9906608380852491 + ], + [ + 0.9979169019784484, + 0.05760939149127195, + -0.029034716422596113, + 0.05915974408170545, + -0.9966925332305133, + 0.05571462000883186, + -0.02572899970699067, + -0.05731624738716566, + -0.9980244818437723 + ], + [ + 0.9972989189584993, + 0.06344098383214652, + -0.03701496744044649, + 0.0653991042525702, + -0.9963787792373624, + 0.05433493764074999, + -0.033433866171435296, + -0.05660892028534071, + -0.9978364629221352 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.003254115581512451, + -0.00213419646024704, + -0.015406899154186249, + -0.01346665620803833, + 0.045144401490688324, + 0.0033866986632347107, + 1.0 + ], + [ + 0.012363404035568237, + -0.02770785614848137, + -0.003391377627849579, + -0.018444500863552094, + -0.0045923590660095215, + -0.030433379113674164, + 1.0 + ], + [ + 0.021681368350982666, + -0.0382566824555397, + -0.006963659077882767, + 0.004235982894897461, + -0.008775830268859863, + -0.027507632970809937, + 1.0 + ], + [ + 0.022257715463638306, + -0.033781424164772034, + -0.014528464525938034, + 0.010691247880458832, + -0.022553876042366028, + 0.02192404866218567, + 1.0 + ], + [ + 0.020327836275100708, + -0.022201571613550186, + -0.00814717635512352, + -0.006083685904741287, + -0.037984639406204224, + 0.01403217762708664, + 1.0 + ], + [ + 0.012966454029083252, + -0.005735345184803009, + -0.00036478228867053986, + -5.708262324333191e-05, + -0.02577853575348854, + 0.01593659073114395, + 1.0 + ], + [ + 0.002657592296600342, + 0.0014031082391738892, + 9.583868086338043e-05, + 0.015641093254089355, + -0.015094630420207977, + 0.016208358108997345, + 1.0 + ], + [ + -0.00487026572227478, + 0.004185527563095093, + -0.008993255905807018, + 0.0254204198718071, + 0.01290300115942955, + -0.009438760578632355, + 1.0 + ], + [ + -0.010333895683288574, + 0.006944119930267334, + -0.00264186505228281, + 0.0332130491733551, + -0.014024145901203156, + -0.01505105197429657, + 1.0 + ], + [ + -0.008948326110839844, + 0.012832466512918472, + -0.002347665373235941, + -0.0032972991466522217, + 0.00821756199002266, + 0.011874623596668243, + 1.0 + ], + [ + -0.0003413856029510498, + 0.012825686484575272, + -0.00132376654073596, + -0.0002110600471496582, + 0.007663436233997345, + 0.018507711589336395, + 1.0 + ], + [ + -0.004525989294052124, + 0.032438650727272034, + -0.00014642393216490746, + 6.914138793945312e-05, + 0.03122185543179512, + 0.06342139840126038, + 1.0 + ], + [ + -0.012977004051208496, + 0.055716387927532196, + -0.00034431228414177895, + -0.0020409151911735535, + 0.033230260014534, + 0.10731853544712067, + 1.0 + ], + [ + -0.021788209676742554, + 0.03573644161224365, + 0.0012492458336055279, + 0.005421407520771027, + 0.017285339534282684, + 0.036437273025512695, + 1.0 + ], + [ + -0.02692583203315735, + 0.019303888082504272, + 0.00046552345156669617, + 0.0043630450963974, + 0.017472758889198303, + 0.01815149188041687, + 1.0 + ], + [ + -0.01590302586555481, + 0.011108383536338806, + 0.00021224841475486755, + 0.0034627169370651245, + 0.009422287344932556, + 0.01314842700958252, + 1.0 + ], + [ + -0.001707524061203003, + -0.00015410035848617554, + -0.0002508810721337795, + -0.01576460897922516, + -5.4955482482910156e-05, + -0.023389428853988647, + 1.0 + ], + [ + -0.0038619041442871094, + -0.004910208284854889, + 0.002749481238424778, + -0.022240929305553436, + -0.005544513463973999, + -0.023992881178855896, + 1.0 + ], + [ + -0.001721411943435669, + -0.013555720448493958, + 0.018138322979211807, + -0.02139953523874283, + -0.04032144695520401, + -0.031525738537311554, + 1.0 + ], + [ + 0.0017205774784088135, + -0.00847916305065155, + 0.045199424028396606, + -0.020019587129354477, + -0.08715884387493134, + -0.01841576024889946, + 1.0 + ], + [ + -0.00656697154045105, + 0.0005391165614128113, + 0.007871381938457489, + -0.0006957724690437317, + 0.007708258926868439, + 0.006268542259931564, + 1.0 + ], + [ + -0.0031395554542541504, + 0.0016833916306495667, + -0.0012778490781784058, + 0.0032593123614788055, + 0.013214163482189178, + 0.0010138824582099915, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3421466648578644, + 0.0540531650185585, + 0.05365028232336044 + ], + [ + 0.3545100688934326, + 0.026345308870077133, + 0.050258904695510864 + ], + [ + 0.3761914372444153, + -0.01191137358546257, + 0.0432952456176281 + ], + [ + 0.3984491527080536, + -0.045692797750234604, + 0.028766781091690063 + ], + [ + 0.4187769889831543, + -0.06789436936378479, + 0.020619604736566544 + ], + [ + 0.43174344301223755, + -0.0736297145485878, + 0.020254822447896004 + ], + [ + 0.4344010353088379, + -0.07222660630941391, + 0.020350661128759384 + ], + [ + 0.4295307695865631, + -0.06804107874631882, + 0.011357405222952366 + ], + [ + 0.41919687390327454, + -0.06109695881605148, + 0.008715540170669556 + ], + [ + 0.4102485477924347, + -0.04826449230313301, + 0.006367874797433615 + ], + [ + 0.40990716218948364, + -0.03543880581855774, + 0.005044108256697655 + ], + [ + 0.4053811728954315, + -0.0030001564882695675, + 0.004897684324532747 + ], + [ + 0.392404168844223, + 0.05271623283624649, + 0.004553372040390968 + ], + [ + 0.37061595916748047, + 0.08845267444849014, + 0.005802617873996496 + ], + [ + 0.3436901271343231, + 0.10775656253099442, + 0.006268141325563192 + ], + [ + 0.3277871012687683, + 0.11886494606733322, + 0.00648038974031806 + ], + [ + 0.3260795772075653, + 0.11871084570884705, + 0.00622950866818428 + ], + [ + 0.3222176730632782, + 0.11380063742399216, + 0.008978989906609058 + ], + [ + 0.32049626111984253, + 0.1002449169754982, + 0.02711731195449829 + ], + [ + 0.32221683859825134, + 0.09176575392484665, + 0.0723167359828949 + ], + [ + 0.3156498670578003, + 0.09230487048625946, + 0.08018811792135239 + ], + [ + 0.31251031160354614, + 0.09398826211690903, + 0.07891026884317398 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9839979330269495, + -0.10721725431867135, + -0.14231137753200454, + -0.09673381983212442, + -0.9921968486385405, + 0.07866372513703843, + -0.14963500893633638, + -0.06363861978480354, + -0.9866911827783342 + ], + [ + 0.9812699767599179, + -0.1345491499200881, + -0.13786137590120037, + -0.1267174590957172, + -0.9898635427428484, + 0.06413152351927028, + -0.14509279192956367, + -0.04546089533169283, + -0.988373101984127 + ], + [ + 0.9786337006330442, + -0.16186777021141235, + -0.1267868484980143, + -0.15385035884608583, + -0.9855596490150985, + 0.0707265531195046, + -0.13640435135362672, + -0.04970918627397655, + -0.9894053010428917 + ], + [ + 0.9845701794523619, + -0.14023743525931112, + -0.10466624806992186, + -0.13273683233648728, + -0.9882704770164538, + 0.07551422117022881, + -0.11402848361010143, + -0.06045598406743112, + -0.9916363138348754 + ], + [ + 0.9899234621883949, + -0.12365469938103019, + -0.06900039369400779, + -0.11934107094192475, + -0.9908209551325396, + 0.06349443799795101, + -0.07621842162742218, + -0.05462005301378074, + -0.9955939945647502 + ], + [ + 0.9933240346346093, + -0.10644518370185414, + -0.04446105131348196, + -0.10372020172711711, + -0.9928154492097381, + 0.05966241332825886, + -0.05049239517895427, + -0.054652599912029726, + -0.9972279635830255 + ], + [ + 0.9955204789327036, + -0.08998280355049325, + -0.02901846120651946, + -0.08766400446547741, + -0.9934599164679576, + 0.07316021249665558, + -0.035411839075056385, + -0.0702886152706993, + -0.9968979447348912 + ], + [ + 0.994111162831965, + -0.10127102593777897, + -0.03856391108780676, + -0.09700398666398526, + -0.9902594556470736, + 0.09988211588094756, + -0.04830344194953335, + -0.09555307324765314, + -0.9942516722081773 + ], + [ + 0.9931141287259314, + -0.1155383757622079, + -0.019370365282178163, + -0.11201977009422903, + -0.9849442878737035, + 0.13166746330433832, + -0.03429137548962184, + -0.12859095423549066, + -0.9911046705852191 + ], + [ + 0.9940603310429452, + -0.10478957399482355, + -0.02938032383711653, + -0.10018765204730187, + -0.9865715299676014, + 0.12899244409900582, + -0.04250285430461355, + -0.12528272602146626, + -0.9912102430547172 + ], + [ + 0.9953903628753352, + -0.08746189473629075, + -0.039350253671937147, + -0.08174470180442901, + -0.9882905182604865, + 0.12883964934492517, + -0.05015804244398685, + -0.1250290705618349, + -0.9908844041020276 + ], + [ + 0.99651788607777, + -0.02855399402852541, + -0.07833755263034042, + -0.018455615682230753, + -0.9917658599259938, + 0.12672753976560783, + -0.08131108766264425, + -0.12484049227022796, + -0.9888393997575363 + ], + [ + 0.9895227145048375, + 0.07396838409748903, + -0.12398982068292534, + 0.08810185947147163, + -0.9897179814644819, + 0.11267821228409884, + -0.11438032976279931, + -0.12242138424261388, + -0.9858651757940714 + ], + [ + 0.9835476582842221, + 0.10708944799817663, + -0.14548489272453222, + 0.12382542548172354, + -0.986041529335772, + 0.11130753087478687, + -0.13153428407792758, + -0.1274909900840735, + -0.983079233612169 + ], + [ + 0.9787138115547587, + 0.122048139546792, + -0.16499553540966705, + 0.14130687898200328, + -0.9837805977942327, + 0.11049027720115136, + -0.14883427368829194, + -0.1314533644939854, + -0.9800859002857298 + ], + [ + 0.9753427521320872, + 0.13314114538454977, + -0.17601122483834847, + 0.15393737415311678, + -0.9819078630668981, + 0.110273447784317, + -0.15814487251330284, + -0.13464911382213898, + -0.9781921158160413 + ], + [ + 0.9786847676761624, + 0.11286658497863251, + -0.1715728985414569, + 0.13108579277791943, + -0.9864326302625652, + 0.09882904879164646, + -0.1580906083562218, + -0.11921325408082105, + -0.9802017953467649 + ], + [ + 0.9824041384198905, + 0.0934457307721965, + -0.16170962932343474, + 0.10766268456730138, + -0.9908418189115916, + 0.081493780423602, + -0.15261341738927892, + -0.09746991995697266, + -0.9834677216545273 + ], + [ + 0.9906421101123886, + 0.06863692863944791, + -0.11797110535642774, + 0.07705809847742422, + -0.9946799119685835, + 0.06836608943924186, + -0.1126510502885687, + -0.07681695615626905, + -0.9906608380852491 + ], + [ + 0.9979169019784484, + 0.05760939149127195, + -0.029034716422596113, + 0.05915974408170545, + -0.9966925332305133, + 0.05571462000883186, + -0.02572899970699067, + -0.05731624738716566, + -0.9980244818437723 + ], + [ + 0.9972989189584993, + 0.06344098383214652, + -0.03701496744044649, + 0.0653991042525702, + -0.9963787792373624, + 0.05433493764074999, + -0.033433866171435296, + -0.05660892028534071, + -0.9978364629221352 + ], + [ + 0.9967042239055738, + 0.0635409312830266, + -0.050430547294999656, + 0.06637506072030822, + -0.9961842291174587, + 0.05666862422919293, + -0.04663733872298999, + -0.059829187771018325, + -0.997118562121625 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006143.json b/json/chunk-0006/episode_0006143.json new file mode 100644 index 0000000000000000000000000000000000000000..d9d59b09904bec20f71825d8d900c923fe04afd7 --- /dev/null +++ b/json/chunk-0006/episode_0006143.json @@ -0,0 +1,1822 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 29, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nUnfold the cloth from right to left." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006143.mp4", + "start": 0, + "end": 29, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.23251186311244965, + 0.2797035276889801, + 0.07939852774143219, + -0.11641602963209152, + 0.0842326283454895, + 1.024910569190979, + 0.0, + 0.9994885921478271 + ], + [ + 0.23069344460964203, + 0.2761251628398895, + 0.06645209342241287, + -0.11820954084396362, + 0.12156782299280167, + 1.016182541847229, + 0.0, + 0.9994885921478271 + ], + [ + 0.22280468046665192, + 0.25899186730384827, + 0.0676008015871048, + -0.16228121519088745, + 0.11200239509344101, + 0.8806567192077637, + 0.0, + 1.0001531839370728 + ], + [ + 0.21966074407100677, + 0.24513554573059082, + 0.0841529369354248, + -0.18772387504577637, + 0.0263918936252594, + 0.8092012405395508, + 0.0, + 1.0001531839370728 + ], + [ + 0.23320189118385315, + 0.22896018624305725, + 0.08393383026123047, + -0.18689824640750885, + -0.013756569474935532, + 0.7634817361831665, + 0.0, + 1.0001531839370728 + ], + [ + 0.24711519479751587, + 0.21798792481422424, + 0.07796672731637955, + -0.17951177060604095, + -0.04159677028656006, + 0.7479633688926697, + 0.0, + 1.0001531839370728 + ], + [ + 0.2618962228298187, + 0.2084777057170868, + 0.0766942948102951, + -0.17315377295017242, + -0.07252620160579681, + 0.7337440848350525, + 0.0, + 1.0001531839370728 + ], + [ + 0.2703703045845032, + 0.2016642987728119, + 0.07724839448928833, + -0.18914127349853516, + -0.08078984171152115, + 0.7476664781570435, + 0.0, + 1.0001531839370728 + ], + [ + 0.27107372879981995, + 0.19864077866077423, + 0.07737073302268982, + -0.19727963209152222, + -0.07015834003686905, + 0.7528247237205505, + 0.0, + 1.0001531839370728 + ], + [ + 0.27685603499412537, + 0.19573049247264862, + 0.07763119041919708, + -0.18901221454143524, + -0.08423386514186859, + 0.7579770684242249, + 0.0, + 1.0001531839370728 + ], + [ + 0.2813895642757416, + 0.19287613034248352, + 0.07635390758514404, + -0.17417551577091217, + -0.09413626790046692, + 0.7539893984794617, + 0.0, + 1.0001531839370728 + ], + [ + 0.28924450278282166, + 0.19552715122699738, + 0.07632360607385635, + -0.16800761222839355, + -0.10122036188840866, + 0.7618852853775024, + 0.0, + 1.0001531839370728 + ], + [ + 0.29517143964767456, + 0.19840872287750244, + 0.06905490905046463, + -0.16045249998569489, + -0.09441978484392166, + 0.7686700224876404, + 0.0, + 0.9752515554428101 + ], + [ + 0.29959654808044434, + 0.20453552901744843, + 0.06342171877622604, + -0.14893163740634918, + -0.09503596276044846, + 0.7876175045967102, + 0.0, + 0.6851980090141296 + ], + [ + 0.2997373342514038, + 0.20820772647857666, + 0.05981667339801788, + -0.13280335068702698, + -0.10258684307336807, + 0.7956878542900085, + 0.0, + 0.4068177044391632 + ], + [ + 0.29976382851600647, + 0.20895740389823914, + 0.059892021119594574, + -0.12869368493556976, + -0.10333797335624695, + 0.791415274143219, + 0.0, + 0.17624500393867493 + ], + [ + 0.299898236989975, + 0.20669321715831757, + 0.06210799142718315, + -0.14776642620563507, + -0.08730509877204895, + 0.781503438949585, + 0.0, + 0.06296365708112717 + ], + [ + 0.2895174026489258, + 0.2214602828025818, + 0.07022012770175934, + -0.1904813051223755, + -0.06720449030399323, + 0.8029365539550781, + 0.0, + 0.050379663705825806 + ], + [ + 0.2771206796169281, + 0.23771336674690247, + 0.07905630767345428, + -0.23815301060676575, + -0.057058509439229965, + 0.818328857421875, + 0.0, + 0.05012403428554535 + ], + [ + 0.2627866268157959, + 0.25351518392562866, + 0.08600857108831406, + -0.271008163690567, + -0.05568535625934601, + 0.8283914923667908, + 0.0, + 0.0498691126704216 + ], + [ + 0.2462923377752304, + 0.26671531796455383, + 0.08740375936031342, + -0.29414102435112, + -0.05785244703292847, + 0.8371514081954956, + 0.0, + 0.0498691126704216 + ], + [ + 0.22730940580368042, + 0.28265830874443054, + 0.08710997551679611, + -0.29284438490867615, + -0.07029001414775848, + 0.8612484931945801, + 0.0, + 0.0498691126704216 + ], + [ + 0.20955875515937805, + 0.2949694097042084, + 0.08602748811244965, + -0.28979185223579407, + -0.08082062005996704, + 0.8758772611618042, + 0.0, + 0.0498691126704216 + ], + [ + 0.18874560296535492, + 0.3053528666496277, + 0.07571437209844589, + -0.2837734520435333, + -0.06656457483768463, + 0.9113391041755676, + 0.0, + 0.0498691126704216 + ], + [ + 0.17424322664737701, + 0.3095262944698334, + 0.06825476884841919, + -0.28473523259162903, + -0.054068196564912796, + 0.9498000741004944, + 0.0, + 0.0498691126704216 + ], + [ + 0.1613728255033493, + 0.31249889731407166, + 0.062209345400333405, + -0.28697532415390015, + -0.05591550096869469, + 0.9739994406700134, + 0.0, + 0.0498691126704216 + ], + [ + 0.15660160779953003, + 0.3152516186237335, + 0.06822873651981354, + -0.25765931606292725, + -0.09590911865234375, + 0.9646908044815063, + 0.0, + 0.0498691126704216 + ], + [ + 0.15249787271022797, + 0.31699511408805847, + 0.08504553884267807, + -0.15082599222660065, + -0.16120098531246185, + 0.9579378366470337, + 0.0, + 0.0498691126704216 + ], + [ + 0.16407012939453125, + 0.3063642382621765, + 0.0933130532503128, + -0.005677199922502041, + -0.1922694444656372, + 0.9388760924339294, + 0.0, + 0.0609428733587265 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9752515554428101 + ], + [ + 0.6851980090141296 + ], + [ + 0.4068177044391632 + ], + [ + 0.17624500393867493 + ], + [ + 0.06296365708112717 + ], + [ + 0.050379663705825806 + ], + [ + 0.05012403428554535 + ], + [ + 0.0498691126704216 + ], + [ + 0.0498691126704216 + ], + [ + 0.0498691126704216 + ], + [ + 0.0498691126704216 + ], + [ + 0.0498691126704216 + ], + [ + 0.0498691126704216 + ], + [ + 0.0498691126704216 + ], + [ + 0.0498691126704216 + ], + [ + 0.0498691126704216 + ], + [ + 0.0609428733587265 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.23251186311244965, + 0.2797035276889801, + 0.07939852774143219 + ], + [ + 0.23069344460964203, + 0.2761251628398895, + 0.06645209342241287 + ], + [ + 0.22280468046665192, + 0.25899186730384827, + 0.0676008015871048 + ], + [ + 0.21966074407100677, + 0.24513554573059082, + 0.0841529369354248 + ], + [ + 0.23320189118385315, + 0.22896018624305725, + 0.08393383026123047 + ], + [ + 0.24711519479751587, + 0.21798792481422424, + 0.07796672731637955 + ], + [ + 0.2618962228298187, + 0.2084777057170868, + 0.0766942948102951 + ], + [ + 0.2703703045845032, + 0.2016642987728119, + 0.07724839448928833 + ], + [ + 0.27107372879981995, + 0.19864077866077423, + 0.07737073302268982 + ], + [ + 0.27685603499412537, + 0.19573049247264862, + 0.07763119041919708 + ], + [ + 0.2813895642757416, + 0.19287613034248352, + 0.07635390758514404 + ], + [ + 0.28924450278282166, + 0.19552715122699738, + 0.07632360607385635 + ], + [ + 0.29517143964767456, + 0.19840872287750244, + 0.06905490905046463 + ], + [ + 0.29959654808044434, + 0.20453552901744843, + 0.06342171877622604 + ], + [ + 0.2997373342514038, + 0.20820772647857666, + 0.05981667339801788 + ], + [ + 0.29976382851600647, + 0.20895740389823914, + 0.059892021119594574 + ], + [ + 0.299898236989975, + 0.20669321715831757, + 0.06210799142718315 + ], + [ + 0.2895174026489258, + 0.2214602828025818, + 0.07022012770175934 + ], + [ + 0.2771206796169281, + 0.23771336674690247, + 0.07905630767345428 + ], + [ + 0.2627866268157959, + 0.25351518392562866, + 0.08600857108831406 + ], + [ + 0.2462923377752304, + 0.26671531796455383, + 0.08740375936031342 + ], + [ + 0.22730940580368042, + 0.28265830874443054, + 0.08710997551679611 + ], + [ + 0.20955875515937805, + 0.2949694097042084, + 0.08602748811244965 + ], + [ + 0.18874560296535492, + 0.3053528666496277, + 0.07571437209844589 + ], + [ + 0.17424322664737701, + 0.3095262944698334, + 0.06825476884841919 + ], + [ + 0.1613728255033493, + 0.31249889731407166, + 0.062209345400333405 + ], + [ + 0.15660160779953003, + 0.3152516186237335, + 0.06822873651981354 + ], + [ + 0.15249787271022797, + 0.31699511408805847, + 0.08504553884267807 + ], + [ + 0.16407012939453125, + 0.3063642382621765, + 0.0933130532503128 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.5173346015951104, + 0.8539563276036745, + 0.05588828623311273, + 0.8516375630306366, + -0.507309088828334, + -0.1317230034102016, + -0.0841330566880045, + 0.11574143137965481, + -0.9897098311295699 + ], + [ + 0.5227284546037374, + 0.8517028552983348, + 0.03684031791736084, + 0.8438298925301251, + -0.5107820040635308, + -0.16447752672459728, + -0.1212686077275805, + 0.1170640448707759, + -0.9856926164775239 + ], + [ + 0.6326558132121752, + 0.7725219091401204, + 0.05437390833243623, + 0.7663252918807336, + -0.6143542817515686, + -0.18792116303764772, + -0.111768372238076, + 0.16055751739491125, + -0.9806778852279852 + ], + [ + 0.6898364278322544, + 0.7144197506947035, + 0.11717560604900605, + 0.7234841618794804, + -0.6743889368976352, + -0.14754737984668692, + -0.026388829932001492, + 0.18655825258453262, + -0.9820894297605616 + ], + [ + 0.7223646227735488, + 0.6775531390897226, + 0.13824288580209504, + 0.6913755278420487, + -0.7116193904754371, + -0.12489084274075274, + 0.013756135589494442, + 0.18579447464612603, + -0.9824923317383262 + ], + [ + 0.7324414714232113, + 0.6637748365432714, + 0.1514346635065928, + 0.6795588255480507, + -0.7263458372564193, + -0.10306079429164935, + 0.04158477556938099, + 0.17839476189682493, + -0.9830798621519108 + ], + [ + 0.7407199778705358, + 0.6503691855105934, + 0.16838597602460864, + 0.6678945131580797, + -0.7399270284438354, + -0.08015554797771038, + 0.0724626364190848, + 0.1718368852038544, + -0.9824567426643438 + ], + [ + 0.7308857450005964, + 0.6566774791879418, + 0.18595890966096235, + 0.6777117510037295, + -0.7305169862792421, + -0.08397449201366577, + 0.08070198452567806, + 0.1874022974375298, + -0.9789624960174692 + ], + [ + 0.7279652368156971, + 0.660414491471061, + 0.18417196703865046, + 0.6820208882478376, + -0.7249996702279604, + -0.09603637937250256, + 0.07010079872224323, + 0.19552027420287785, + -0.9781910347136364 + ], + [ + 0.7236532713018698, + 0.6637302684261309, + 0.18917736045594558, + 0.685016324135315, + -0.7241614608931356, + -0.07964178692910415, + 0.08413428909929382, + 0.18722261971272605, + -0.9787078788206728 + ], + [ + 0.7257362034869572, + 0.6623205191381534, + 0.1861141931097798, + 0.681521438626985, + -0.7290852523327805, + -0.06295413824880894, + 0.09399729591930947, + 0.1725289099235613, + -0.9805091960815283 + ], + [ + 0.719832557483104, + 0.6683418312890317, + 0.1875107616553162, + 0.686753573178231, + -0.7250122273971757, + -0.05221876914977631, + 0.10104760716744107, + 0.16636245572186334, + -0.980873546596056 + ], + [ + 0.7156340130715717, + 0.6754227847828717, + 0.17796634831121302, + 0.6920833223471162, + -0.7200736878817648, + -0.0501453781452721, + 0.09427955379643602, + 0.15905327980430098, + -0.9827580678475449 + ], + [ + 0.7023519863080687, + 0.6908952335130101, + 0.17136354232482984, + 0.705476443072699, + -0.707703970597999, + -0.03818479107340598, + 0.09489296917371401, + 0.14771210616882416, + -0.9844676013422518 + ], + [ + 0.696114459692969, + 0.698565790044297, + 0.16562154445045155, + 0.7105895196839038, + -0.7033181522265622, + -0.020152202460604195, + 0.10240699937877643, + 0.1317171732478395, + -0.9859834647446345 + ], + [ + 0.6990898870551551, + 0.6961614591081398, + 0.1631948304010786, + 0.7075539207755055, + -0.7064443736892324, + -0.01742974692983639, + 0.10315415169744994, + 0.12765410191315604, + -0.9864398872979161 + ], + [ + 0.7071517923229378, + 0.6875589378740949, + 0.16492134356687288, + 0.7016648121073008, + -0.7111617621829451, + -0.043765733848225956, + 0.0871942318326297, + 0.14666852067943514, + -0.985335227715331 + ], + [ + 0.693029189401279, + 0.6975559508310274, + 0.18200614851709596, + 0.7177749608674211, + -0.6911808207570103, + -0.0840724602318595, + 0.06715391417913018, + 0.18890412509494547, + -0.9796966792495191 + ], + [ + 0.6823298726528799, + 0.700206065806971, + 0.2100890532432116, + 0.7288167142631826, + -0.6739731378891004, + -0.12077419597968239, + 0.057027553832544084, + 0.23552425524995088, + -0.9701938895359179 + ], + [ + 0.6750139393691359, + 0.6998782030952148, + 0.23350949121946632, + 0.7357027433273723, + -0.6623651786511215, + -0.1414702921854857, + 0.05565658198218157, + 0.2672879925149677, + -0.9620080425544162 + ], + [ + 0.668461098984691, + 0.6996150157202292, + 0.25238579382160675, + 0.7414961805541282, + -0.6532744126472921, + -0.15302273035067399, + 0.0578201813194916, + 0.28943284464469266, + -0.9554503938316536 + ], + [ + 0.6498820553976055, + 0.7131494053495618, + 0.26281407824116, + 0.7567831653902023, + -0.6391359411070983, + -0.13705651887863646, + 0.07023214829527771, + 0.2879638422349422, + -0.9550624434617455 + ], + [ + 0.6382331265444444, + 0.7213061304614101, + 0.2690277724326813, + 0.7655982715470173, + -0.6313438289970235, + -0.12354859850114337, + 0.08073266244539876, + 0.2848200058741741, + -0.9551752726428343 + ], + [ + 0.6113311108900298, + 0.7473063872733834, + 0.2603986105922341, + 0.7885746448446407, + -0.6029022181467834, + -0.12107412961420468, + 0.06651542953413779, + 0.27936012402290417, + -0.9578797517119759 + ], + [ + 0.5809954327338085, + 0.7717198340403386, + 0.25863643380468965, + 0.8121106974111865, + -0.570764620525577, + -0.12125989900462157, + 0.054041856859027404, + 0.2804928621285166, + -0.9583335703199498 + ], + [ + 0.5611176139367954, + 0.7844235193679977, + 0.2642475460476441, + 0.825847284397958, + -0.5520971229276577, + -0.11473896333644013, + 0.05588636848459208, + 0.28261017164519603, + -0.9576054535664869 + ], + [ + 0.5670529544564715, + 0.7808409764009934, + 0.2621799313741047, + 0.8180956898360252, + -0.5709209164288664, + -0.06905613264397058, + 0.09576214864916666, + 0.2536467558577614, + -0.9625450296629912 + ], + [ + 0.5677506334053641, + 0.7948485701109416, + 0.2141844272126231, + 0.8074018632064461, + -0.5884053446089069, + 0.043374897422733295, + 0.16050373689907316, + 0.1483067801156278, + -0.9758297235753622 + ], + [ + 0.579810591374437, + 0.8062409140417628, + 0.1174532530632016, + 0.7920261564091464, + -0.5915611000866922, + 0.1508311387876427, + 0.19108701079293722, + 0.005572556803255468, + -0.9815572835636719 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0018184185028076172, + -0.003578364849090576, + -0.012946434319019318, + -0.0017935112118721008, + 0.037335194647312164, + -0.00872802734375, + 1.0 + ], + [ + -0.007888764142990112, + -0.01713329553604126, + 0.001148708164691925, + -0.04407167434692383, + -0.009565427899360657, + -0.13552582263946533, + 1.0 + ], + [ + -0.0031439363956451416, + -0.013856321573257446, + 0.016552135348320007, + -0.025442659854888916, + -0.08561050146818161, + -0.07145547866821289, + 1.0 + ], + [ + 0.013541147112846375, + -0.01617535948753357, + -0.00021910667419433594, + 0.0008256286382675171, + -0.04014846310019493, + -0.04571950435638428, + 1.0 + ], + [ + 0.01391330361366272, + -0.010972261428833008, + -0.005967102944850922, + 0.0073864758014678955, + -0.027840200811624527, + -0.015518367290496826, + 1.0 + ], + [ + 0.014781028032302856, + -0.009510219097137451, + -0.0012724325060844421, + 0.00635799765586853, + -0.030929431319236755, + -0.014219284057617188, + 1.0 + ], + [ + 0.008474081754684448, + -0.006813406944274902, + 0.0005540996789932251, + -0.015987500548362732, + -0.008263640105724335, + 0.013922393321990967, + 1.0 + ], + [ + 0.0007034242153167725, + -0.0030235201120376587, + 0.00012233853340148926, + -0.00813835859298706, + 0.0106315016746521, + 0.00515824556350708, + 1.0 + ], + [ + 0.00578230619430542, + -0.0029102861881256104, + 0.0002604573965072632, + 0.008267417550086975, + -0.014075525104999542, + 0.005152344703674316, + 1.0 + ], + [ + 0.004533529281616211, + -0.0028543621301651, + -0.0012772828340530396, + 0.014836698770523071, + -0.009902402758598328, + -0.003987669944763184, + 1.0 + ], + [ + 0.007854938507080078, + 0.002651020884513855, + -3.030151128768921e-05, + 0.006167903542518616, + -0.007084093987941742, + 0.007895886898040771, + 1.0 + ], + [ + 0.005926936864852905, + 0.002881571650505066, + -0.007268697023391724, + 0.007555112242698669, + 0.0068005770444869995, + 0.0067847371101379395, + 0.0 + ], + [ + 0.004425108432769775, + 0.006126806139945984, + -0.005633190274238586, + 0.011520862579345703, + -0.0006161779165267944, + 0.018947482109069824, + 0.0 + ], + [ + 0.00014078617095947266, + 0.003672197461128235, + -0.0036050453782081604, + 0.016128286719322205, + -0.007550880312919617, + 0.00807034969329834, + 0.0 + ], + [ + 2.6494264602661133e-05, + 0.0007496774196624756, + 7.534772157669067e-05, + 0.004109665751457214, + -0.0007511302828788757, + -0.004272580146789551, + 0.0 + ], + [ + 0.00013440847396850586, + -0.00226418673992157, + 0.0022159703075885773, + -0.019072741270065308, + 0.016032874584197998, + -0.009911835193634033, + 0.0 + ], + [ + -0.010380834341049194, + 0.014767065644264221, + 0.008112136274576187, + -0.04271487891674042, + 0.020100608468055725, + 0.021433115005493164, + 0.0 + ], + [ + -0.01239672303199768, + 0.01625308394432068, + 0.008836179971694946, + -0.04767170548439026, + 0.01014598086476326, + 0.015392303466796875, + 0.0 + ], + [ + -0.014334052801132202, + 0.015801817178726196, + 0.006952263414859772, + -0.03285515308380127, + 0.001373153179883957, + 0.010062634944915771, + 0.0 + ], + [ + -0.01649428904056549, + 0.013200134038925171, + 0.0013951882719993591, + -0.02313286066055298, + -0.0021670907735824585, + 0.008759915828704834, + 0.0 + ], + [ + -0.018982931971549988, + 0.01594299077987671, + -0.00029378384351730347, + 0.0012966394424438477, + -0.012437567114830017, + 0.024097084999084473, + 0.0 + ], + [ + -0.017750650644302368, + 0.012311100959777832, + -0.001082487404346466, + 0.00305253267288208, + -0.010530605912208557, + 0.014628767967224121, + 0.0 + ], + [ + -0.020813152194023132, + 0.010383456945419312, + -0.010313116014003754, + 0.006018400192260742, + 0.01425604522228241, + 0.03546184301376343, + 0.0 + ], + [ + -0.014502376317977905, + 0.0041734278202056885, + -0.007459603250026703, + -0.0009617805480957031, + 0.012496378272771835, + 0.03846096992492676, + 0.0 + ], + [ + -0.01287040114402771, + 0.0029726028442382812, + -0.006045423448085785, + -0.002240091562271118, + -0.0018473044037818909, + 0.024199366569519043, + 0.0 + ], + [ + -0.004771217703819275, + 0.0027527213096618652, + 0.006019391119480133, + 0.0293160080909729, + -0.03999361768364906, + -0.00930863618850708, + 0.0 + ], + [ + -0.004103735089302063, + 0.0017434954643249512, + 0.016816802322864532, + 0.1068333238363266, + -0.0652918666601181, + -0.006752967834472656, + 0.0 + ], + [ + 0.011572256684303284, + -0.010630875825881958, + 0.008267514407634735, + 0.14514879882335663, + -0.031068459153175354, + -0.019061744213104248, + 1.0 + ], + [ + 0.0048988014459609985, + -0.004260987043380737, + 0.002297326922416687, + 0.048463914543390274, + 0.009313851594924927, + -0.03434652090072632, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9752515554428101 + ], + [ + 0.6851980090141296 + ], + [ + 0.4068177044391632 + ], + [ + 0.17624500393867493 + ], + [ + 0.06296365708112717 + ], + [ + 0.050379663705825806 + ], + [ + 0.05012403428554535 + ], + [ + 0.0498691126704216 + ], + [ + 0.0498691126704216 + ], + [ + 0.0498691126704216 + ], + [ + 0.0498691126704216 + ], + [ + 0.0498691126704216 + ], + [ + 0.0498691126704216 + ], + [ + 0.0498691126704216 + ], + [ + 0.0498691126704216 + ], + [ + 0.0498691126704216 + ], + [ + 0.0609428733587265 + ], + [ + 0.1885753720998764 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.23069344460964203, + 0.2761251628398895, + 0.06645209342241287 + ], + [ + 0.22280468046665192, + 0.25899186730384827, + 0.0676008015871048 + ], + [ + 0.21966074407100677, + 0.24513554573059082, + 0.0841529369354248 + ], + [ + 0.23320189118385315, + 0.22896018624305725, + 0.08393383026123047 + ], + [ + 0.24711519479751587, + 0.21798792481422424, + 0.07796672731637955 + ], + [ + 0.2618962228298187, + 0.2084777057170868, + 0.0766942948102951 + ], + [ + 0.2703703045845032, + 0.2016642987728119, + 0.07724839448928833 + ], + [ + 0.27107372879981995, + 0.19864077866077423, + 0.07737073302268982 + ], + [ + 0.27685603499412537, + 0.19573049247264862, + 0.07763119041919708 + ], + [ + 0.2813895642757416, + 0.19287613034248352, + 0.07635390758514404 + ], + [ + 0.28924450278282166, + 0.19552715122699738, + 0.07632360607385635 + ], + [ + 0.29517143964767456, + 0.19840872287750244, + 0.06905490905046463 + ], + [ + 0.29959654808044434, + 0.20453552901744843, + 0.06342171877622604 + ], + [ + 0.2997373342514038, + 0.20820772647857666, + 0.05981667339801788 + ], + [ + 0.29976382851600647, + 0.20895740389823914, + 0.059892021119594574 + ], + [ + 0.299898236989975, + 0.20669321715831757, + 0.06210799142718315 + ], + [ + 0.2895174026489258, + 0.2214602828025818, + 0.07022012770175934 + ], + [ + 0.2771206796169281, + 0.23771336674690247, + 0.07905630767345428 + ], + [ + 0.2627866268157959, + 0.25351518392562866, + 0.08600857108831406 + ], + [ + 0.2462923377752304, + 0.26671531796455383, + 0.08740375936031342 + ], + [ + 0.22730940580368042, + 0.28265830874443054, + 0.08710997551679611 + ], + [ + 0.20955875515937805, + 0.2949694097042084, + 0.08602748811244965 + ], + [ + 0.18874560296535492, + 0.3053528666496277, + 0.07571437209844589 + ], + [ + 0.17424322664737701, + 0.3095262944698334, + 0.06825476884841919 + ], + [ + 0.1613728255033493, + 0.31249889731407166, + 0.062209345400333405 + ], + [ + 0.15660160779953003, + 0.3152516186237335, + 0.06822873651981354 + ], + [ + 0.15249787271022797, + 0.31699511408805847, + 0.08504553884267807 + ], + [ + 0.16407012939453125, + 0.3063642382621765, + 0.0933130532503128 + ], + [ + 0.16896893084049225, + 0.3021032512187958, + 0.09561038017272949 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.5227284546037374, + 0.8517028552983348, + 0.03684031791736084, + 0.8438298925301251, + -0.5107820040635308, + -0.16447752672459728, + -0.1212686077275805, + 0.1170640448707759, + -0.9856926164775239 + ], + [ + 0.6326558132121752, + 0.7725219091401204, + 0.05437390833243623, + 0.7663252918807336, + -0.6143542817515686, + -0.18792116303764772, + -0.111768372238076, + 0.16055751739491125, + -0.9806778852279852 + ], + [ + 0.6898364278322544, + 0.7144197506947035, + 0.11717560604900605, + 0.7234841618794804, + -0.6743889368976352, + -0.14754737984668692, + -0.026388829932001492, + 0.18655825258453262, + -0.9820894297605616 + ], + [ + 0.7223646227735488, + 0.6775531390897226, + 0.13824288580209504, + 0.6913755278420487, + -0.7116193904754371, + -0.12489084274075274, + 0.013756135589494442, + 0.18579447464612603, + -0.9824923317383262 + ], + [ + 0.7324414714232113, + 0.6637748365432714, + 0.1514346635065928, + 0.6795588255480507, + -0.7263458372564193, + -0.10306079429164935, + 0.04158477556938099, + 0.17839476189682493, + -0.9830798621519108 + ], + [ + 0.7407199778705358, + 0.6503691855105934, + 0.16838597602460864, + 0.6678945131580797, + -0.7399270284438354, + -0.08015554797771038, + 0.0724626364190848, + 0.1718368852038544, + -0.9824567426643438 + ], + [ + 0.7308857450005964, + 0.6566774791879418, + 0.18595890966096235, + 0.6777117510037295, + -0.7305169862792421, + -0.08397449201366577, + 0.08070198452567806, + 0.1874022974375298, + -0.9789624960174692 + ], + [ + 0.7279652368156971, + 0.660414491471061, + 0.18417196703865046, + 0.6820208882478376, + -0.7249996702279604, + -0.09603637937250256, + 0.07010079872224323, + 0.19552027420287785, + -0.9781910347136364 + ], + [ + 0.7236532713018698, + 0.6637302684261309, + 0.18917736045594558, + 0.685016324135315, + -0.7241614608931356, + -0.07964178692910415, + 0.08413428909929382, + 0.18722261971272605, + -0.9787078788206728 + ], + [ + 0.7257362034869572, + 0.6623205191381534, + 0.1861141931097798, + 0.681521438626985, + -0.7290852523327805, + -0.06295413824880894, + 0.09399729591930947, + 0.1725289099235613, + -0.9805091960815283 + ], + [ + 0.719832557483104, + 0.6683418312890317, + 0.1875107616553162, + 0.686753573178231, + -0.7250122273971757, + -0.05221876914977631, + 0.10104760716744107, + 0.16636245572186334, + -0.980873546596056 + ], + [ + 0.7156340130715717, + 0.6754227847828717, + 0.17796634831121302, + 0.6920833223471162, + -0.7200736878817648, + -0.0501453781452721, + 0.09427955379643602, + 0.15905327980430098, + -0.9827580678475449 + ], + [ + 0.7023519863080687, + 0.6908952335130101, + 0.17136354232482984, + 0.705476443072699, + -0.707703970597999, + -0.03818479107340598, + 0.09489296917371401, + 0.14771210616882416, + -0.9844676013422518 + ], + [ + 0.696114459692969, + 0.698565790044297, + 0.16562154445045155, + 0.7105895196839038, + -0.7033181522265622, + -0.020152202460604195, + 0.10240699937877643, + 0.1317171732478395, + -0.9859834647446345 + ], + [ + 0.6990898870551551, + 0.6961614591081398, + 0.1631948304010786, + 0.7075539207755055, + -0.7064443736892324, + -0.01742974692983639, + 0.10315415169744994, + 0.12765410191315604, + -0.9864398872979161 + ], + [ + 0.7071517923229378, + 0.6875589378740949, + 0.16492134356687288, + 0.7016648121073008, + -0.7111617621829451, + -0.043765733848225956, + 0.0871942318326297, + 0.14666852067943514, + -0.985335227715331 + ], + [ + 0.693029189401279, + 0.6975559508310274, + 0.18200614851709596, + 0.7177749608674211, + -0.6911808207570103, + -0.0840724602318595, + 0.06715391417913018, + 0.18890412509494547, + -0.9796966792495191 + ], + [ + 0.6823298726528799, + 0.700206065806971, + 0.2100890532432116, + 0.7288167142631826, + -0.6739731378891004, + -0.12077419597968239, + 0.057027553832544084, + 0.23552425524995088, + -0.9701938895359179 + ], + [ + 0.6750139393691359, + 0.6998782030952148, + 0.23350949121946632, + 0.7357027433273723, + -0.6623651786511215, + -0.1414702921854857, + 0.05565658198218157, + 0.2672879925149677, + -0.9620080425544162 + ], + [ + 0.668461098984691, + 0.6996150157202292, + 0.25238579382160675, + 0.7414961805541282, + -0.6532744126472921, + -0.15302273035067399, + 0.0578201813194916, + 0.28943284464469266, + -0.9554503938316536 + ], + [ + 0.6498820553976055, + 0.7131494053495618, + 0.26281407824116, + 0.7567831653902023, + -0.6391359411070983, + -0.13705651887863646, + 0.07023214829527771, + 0.2879638422349422, + -0.9550624434617455 + ], + [ + 0.6382331265444444, + 0.7213061304614101, + 0.2690277724326813, + 0.7655982715470173, + -0.6313438289970235, + -0.12354859850114337, + 0.08073266244539876, + 0.2848200058741741, + -0.9551752726428343 + ], + [ + 0.6113311108900298, + 0.7473063872733834, + 0.2603986105922341, + 0.7885746448446407, + -0.6029022181467834, + -0.12107412961420468, + 0.06651542953413779, + 0.27936012402290417, + -0.9578797517119759 + ], + [ + 0.5809954327338085, + 0.7717198340403386, + 0.25863643380468965, + 0.8121106974111865, + -0.570764620525577, + -0.12125989900462157, + 0.054041856859027404, + 0.2804928621285166, + -0.9583335703199498 + ], + [ + 0.5611176139367954, + 0.7844235193679977, + 0.2642475460476441, + 0.825847284397958, + -0.5520971229276577, + -0.11473896333644013, + 0.05588636848459208, + 0.28261017164519603, + -0.9576054535664869 + ], + [ + 0.5670529544564715, + 0.7808409764009934, + 0.2621799313741047, + 0.8180956898360252, + -0.5709209164288664, + -0.06905613264397058, + 0.09576214864916666, + 0.2536467558577614, + -0.9625450296629912 + ], + [ + 0.5677506334053641, + 0.7948485701109416, + 0.2141844272126231, + 0.8074018632064461, + -0.5884053446089069, + 0.043374897422733295, + 0.16050373689907316, + 0.1483067801156278, + -0.9758297235753622 + ], + [ + 0.579810591374437, + 0.8062409140417628, + 0.1174532530632016, + 0.7920261564091464, + -0.5915611000866922, + 0.1508311387876427, + 0.19108701079293722, + 0.005572556803255468, + -0.9815572835636719 + ], + [ + 0.6077402819402041, + 0.79022477817032, + 0.0787181660921403, + 0.7730141090996034, + -0.6113720430248692, + 0.16933225369238925, + 0.18193662863807145, + -0.04205977856891234, + -0.9824103206840543 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006144.json b/json/chunk-0006/episode_0006144.json new file mode 100644 index 0000000000000000000000000000000000000000..0eb200b45b0f7958c8c0dfe1e4bcf15c38b7d7ce --- /dev/null +++ b/json/chunk-0006/episode_0006144.json @@ -0,0 +1,1282 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 20, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut spatula in pan." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006144.mp4", + "start": 0, + "end": 20, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.31205010414123535, + 0.040965884923934937, + 0.05184175819158554, + 0.19953326880931854, + -0.07946624606847763, + -0.009167589247226715, + 0.0, + 1.0014774799346924 + ], + [ + 0.31252166628837585, + 0.042161304503679276, + 0.04516759142279625, + 0.20855441689491272, + -0.04008680582046509, + -0.1109713539481163, + 0.0, + 1.0014774799346924 + ], + [ + 0.32558611035346985, + 0.04679284617304802, + 0.05342290550470352, + 0.22608686983585358, + -0.04978850856423378, + -0.3006015121936798, + 0.0, + 1.0014774799346924 + ], + [ + 0.3347724676132202, + 0.05129488557577133, + 0.05633143335580826, + 0.2205149382352829, + -0.07202561944723129, + -0.479054719209671, + 0.0, + 1.0014774799346924 + ], + [ + 0.34036779403686523, + 0.05721190571784973, + 0.0544704869389534, + 0.20608431100845337, + -0.12842126190662384, + -0.5960832834243774, + 0.0, + 1.0014774799346924 + ], + [ + 0.33869805932044983, + 0.060574352741241455, + 0.04581171274185181, + 0.20069174468517303, + -0.1708746701478958, + -0.6482856869697571, + 0.0, + 1.0014774799346924 + ], + [ + 0.3359416127204895, + 0.06098765507340431, + 0.03330222889780998, + 0.19128207862377167, + -0.18383097648620605, + -0.6893662810325623, + 0.0, + 1.0014774799346924 + ], + [ + 0.3359523117542267, + 0.06335294246673584, + 0.02549677900969982, + 0.18788398802280426, + -0.20874141156673431, + -0.7400968074798584, + 0.0, + 1.0014774799346924 + ], + [ + 0.3366992175579071, + 0.06460148096084595, + 0.015039416961371899, + 0.17708992958068848, + -0.22465071082115173, + -0.7852681279182434, + 0.0, + 1.0014774799346924 + ], + [ + 0.3387194573879242, + 0.06427858024835587, + 0.010204438120126724, + 0.171587273478508, + -0.24797432124614716, + -0.7974035143852234, + 0.0, + 1.0014774799346924 + ], + [ + 0.34017282724380493, + 0.06294398754835129, + 0.007490573916584253, + 0.16058482229709625, + -0.2746635675430298, + -0.7869768738746643, + 0.0, + 0.8344376683235168 + ], + [ + 0.3453752100467682, + 0.06253703683614731, + 0.005291694775223732, + 0.15436211228370667, + -0.2817699909210205, + -0.8034624457359314, + 0.0, + 0.5178548097610474 + ], + [ + 0.34651580452919006, + 0.06265828758478165, + 0.004738402087241411, + 0.12898825109004974, + -0.2703240215778351, + -0.8175886869430542, + 0.0, + 0.3315716087818146 + ], + [ + 0.3418775498867035, + 0.06669235974550247, + 0.008767731487751007, + 0.07298804819583893, + -0.19969093799591064, + -0.8194742202758789, + 0.0, + 0.3299713730812073 + ], + [ + 0.32867664098739624, + 0.07354025542736053, + 0.019119050353765488, + 0.0010511132422834635, + -0.08752264082431793, + -0.8229246139526367, + 0.0, + 0.3299713730812073 + ], + [ + 0.3217833936214447, + 0.07879585027694702, + 0.05554066598415375, + -0.034359898418188095, + -0.012057684361934662, + -0.8164564371109009, + 0.0, + 0.3299713730812073 + ], + [ + 0.31048786640167236, + 0.0728401243686676, + 0.0776619240641594, + -0.06713467836380005, + 0.03142264485359192, + -0.78281170129776, + 0.0, + 0.3299713730812073 + ], + [ + 0.2900484502315521, + 0.05837887525558472, + 0.0902862548828125, + -0.07847539335489273, + 0.05395527184009552, + -0.7229194641113281, + 0.0, + 0.3299713730812073 + ], + [ + 0.2714541256427765, + 0.046128049492836, + 0.0945669561624527, + -0.07432008534669876, + 0.07790125906467438, + -0.6668844819068909, + 0.0, + 0.3299713730812073 + ], + [ + 0.25617700815200806, + 0.04237361252307892, + 0.09665516018867493, + -0.07618699967861176, + 0.1265297383069992, + -0.6212984919548035, + 0.0, + 0.3299713730812073 + ] + ], + "left_gripper_pos": [ + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 0.8344376683235168 + ], + [ + 0.5178548097610474 + ], + [ + 0.3315716087818146 + ], + [ + 0.3299713730812073 + ], + [ + 0.3299713730812073 + ], + [ + 0.3299713730812073 + ], + [ + 0.3299713730812073 + ], + [ + 0.3299713730812073 + ], + [ + 0.3299713730812073 + ], + [ + 0.3299713730812073 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.31205010414123535, + 0.040965884923934937, + 0.05184175819158554 + ], + [ + 0.31252166628837585, + 0.042161304503679276, + 0.04516759142279625 + ], + [ + 0.32558611035346985, + 0.04679284617304802, + 0.05342290550470352 + ], + [ + 0.3347724676132202, + 0.05129488557577133, + 0.05633143335580826 + ], + [ + 0.34036779403686523, + 0.05721190571784973, + 0.0544704869389534 + ], + [ + 0.33869805932044983, + 0.060574352741241455, + 0.04581171274185181 + ], + [ + 0.3359416127204895, + 0.06098765507340431, + 0.03330222889780998 + ], + [ + 0.3359523117542267, + 0.06335294246673584, + 0.02549677900969982 + ], + [ + 0.3366992175579071, + 0.06460148096084595, + 0.015039416961371899 + ], + [ + 0.3387194573879242, + 0.06427858024835587, + 0.010204438120126724 + ], + [ + 0.34017282724380493, + 0.06294398754835129, + 0.007490573916584253 + ], + [ + 0.3453752100467682, + 0.06253703683614731, + 0.005291694775223732 + ], + [ + 0.34651580452919006, + 0.06265828758478165, + 0.004738402087241411 + ], + [ + 0.3418775498867035, + 0.06669235974550247, + 0.008767731487751007 + ], + [ + 0.32867664098739624, + 0.07354025542736053, + 0.019119050353765488 + ], + [ + 0.3217833936214447, + 0.07879585027694702, + 0.05554066598415375 + ], + [ + 0.31048786640167236, + 0.0728401243686676, + 0.0776619240641594 + ], + [ + 0.2900484502315521, + 0.05837887525558472, + 0.0902862548828125 + ], + [ + 0.2714541256427765, + 0.046128049492836, + 0.0945669561624527 + ], + [ + 0.25617700815200806, + 0.04237361252307892, + 0.09665516018867493 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.996802329652045, + 0.006748349357673775, + 0.07962145050928683, + -0.009138530335354054, + -0.98026225412315, + 0.1974902539486712, + 0.07938263578116968, + -0.1975863682604334, + -0.9770660285846022 + ], + [ + 0.9930505685867533, + -0.10009750670522302, + 0.061895536033900786, + -0.11065476405985827, + -0.9732324244107077, + 0.20143031367327346, + 0.04007607042092791, + -0.20687952346004201, + -0.9775452784155642 + ], + [ + 0.9539749326718657, + -0.27790349360175404, + 0.1127008255411182, + -0.2957278814713742, + -0.9341540812146523, + 0.19975277888045007, + 0.04976794102796035, + -0.2238879201608452, + -0.9733433881482366 + ], + [ + 0.8851301738515369, + -0.4358100258576928, + 0.16313858127207426, + -0.4597454186686426, + -0.8731973718365303, + 0.16174207810885433, + 0.07196336116901868, + -0.21816500906353725, + -0.9732550043383101 + ], + [ + 0.8207262862683915, + -0.5278390771423699, + 0.2186190103115129, + -0.5567825478940817, + -0.8247422664770503, + 0.09896154933544879, + 0.1280685651854844, + -0.20294359444877577, + -0.9707792437436752 + ], + [ + 0.7855111776986927, + -0.5646807675854809, + 0.253195221972068, + -0.5950269827217004, + -0.8015892805226812, + 0.058288207934704725, + 0.17004434581461939, + -0.196444027830327, + -0.9656576331113816 + ], + [ + 0.7586474319176993, + -0.5976304653810327, + 0.25940682507044777, + -0.6253312796211332, + -0.7796799610503188, + 0.032556858938929165, + 0.18279733250809674, + -0.186914379289084, + -0.9652192238258108 + ], + [ + 0.7223743938512296, + -0.6339109306785345, + 0.2762827665171007, + -0.6597207446631984, + -0.7515105718843913, + 0.0006319865743660003, + 0.20722879666953542, + -0.18272600338285003, + -0.961076185075162 + ], + [ + 0.6894282178340224, + -0.668204370546969, + 0.2796277018396657, + -0.6892489408880086, + -0.7238843912474118, + -0.03045136438852479, + 0.22276586349564975, + -0.17173906745494233, + -0.9596254804718061 + ], + [ + 0.6771989139055894, + -0.6757612498123535, + 0.29111572313623935, + -0.6936573148005316, + -0.7182956563794831, + -0.053766901064535216, + 0.24544074769444046, + -0.16552366380192626, + -0.955175772354377 + ], + [ + 0.6795266232952908, + -0.6684932789583243, + 0.30225867104261545, + -0.6816755692435533, + -0.7276200130374679, + -0.07673027384176756, + 0.27122313052056884, + -0.15390208775355552, + -0.9501327069708313 + ], + [ + 0.6668420673931652, + -0.6815273438512298, + 0.3014002931947756, + -0.6913800442173322, + -0.7167350466069111, + -0.0910192695171117, + 0.27805627418357054, + -0.1476866701787144, + -0.9491434853796736 + ], + [ + 0.6591430311509292, + -0.6999435454008684, + 0.27497181262236187, + -0.7030064892820573, + -0.7033584155241598, + -0.1052084375830182, + 0.26704370524781434, + -0.12395956019204638, + -0.9556786525420105 + ], + [ + 0.6690407511420993, + -0.7189671018247511, + 0.1883368785048048, + -0.7162647811662793, + -0.6913593536862983, + -0.09479982769649974, + 0.1983664199708149, + -0.07147412513757635, + -0.9775183951536566 + ], + [ + 0.6774768571275687, + -0.7330750437471714, + 0.060217009985839676, + -0.7303317294575711, + -0.680146957530615, + -0.06336940199623836, + 0.08741094327408405, + -0.001047089743257082, + -0.9961717876947752 + ], + [ + 0.6847579990993359, + -0.7285772800557763, + -0.016781825168943252, + -0.7286707774866724, + -0.6841017325448846, + -0.03230661799160839, + 0.012057392190787615, + 0.03435064068709966, + -0.9993371066751917 + ], + [ + 0.7085833534241259, + -0.7021925880769705, + -0.06953560598705169, + -0.7049273534007964, + -0.7088227658648553, + -0.02545020666017443, + -0.03141747408002914, + 0.06705114347617633, + -0.9972547751106375 + ], + [ + 0.7487862319242017, + -0.6563703455419077, + -0.0921799781620298, + -0.6606139806256062, + -0.7503666354923926, + -0.0232181166725028, + -0.053929096810041544, + 0.07828078840317981, + -0.9954716322850339 + ], + [ + 0.7833695458715146, + -0.6122930721666908, + -0.10690813055016853, + -0.6166650748193874, + -0.7871577169125503, + -0.010339932447557203, + -0.0778224909589487, + 0.07402649851030557, + -0.994215136386108 + ], + [ + 0.8066230201249555, + -0.5725929536050075, + -0.14661723256967255, + -0.5774381215220997, + -0.8163555150602547, + 0.011352922255303703, + -0.12619238969733657, + 0.07550485092098366, + -0.9891281505800326 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + 0.00047156214714050293, + 0.001195419579744339, + -0.006674166768789291, + 0.009021148085594177, + 0.03937944024801254, + -0.10180376470088959, + 1.0 + ], + [ + 0.013064444065093994, + 0.004631541669368744, + 0.008255314081907272, + 0.017532452940940857, + -0.009701702743768692, + -0.1896301507949829, + 1.0 + ], + [ + 0.009186357259750366, + 0.004502039402723312, + 0.0029085278511047363, + -0.005571931600570679, + -0.022237110882997513, + -0.1784532070159912, + 1.0 + ], + [ + 0.0055953264236450195, + 0.0059170201420784, + -0.0018609464168548584, + -0.014430627226829529, + -0.05639564245939255, + -0.11702856421470642, + 1.0 + ], + [ + -0.0016697347164154053, + 0.0033624470233917236, + -0.008658774197101593, + -0.0053925663232803345, + -0.04245340824127197, + -0.05220240354537964, + 1.0 + ], + [ + -0.002756446599960327, + 0.00041330233216285706, + -0.012509483844041824, + -0.009409666061401367, + -0.012956306338310242, + -0.041080594062805176, + 1.0 + ], + [ + 1.0699033737182617e-05, + 0.0023652873933315277, + -0.007805449888110161, + -0.0033980906009674072, + -0.02491043508052826, + -0.05073052644729614, + 1.0 + ], + [ + 0.0007469058036804199, + 0.0012485384941101074, + -0.010457362048327923, + -0.010794058442115784, + -0.01590929925441742, + -0.04517132043838501, + 1.0 + ], + [ + 0.00202023983001709, + -0.0003229007124900818, + -0.004834978841245174, + -0.005502656102180481, + -0.023323610424995422, + -0.01213538646697998, + 1.0 + ], + [ + 0.0014533698558807373, + -0.0013345927000045776, + -0.002713864203542471, + -0.011002451181411743, + -0.02668924629688263, + 0.010426640510559082, + 0.0 + ], + [ + 0.005202382802963257, + -0.0004069507122039795, + -0.0021988791413605213, + -0.006222710013389587, + -0.007106423377990723, + -0.01648557186126709, + 0.0 + ], + [ + 0.001140594482421875, + 0.00012125074863433838, + -0.0005532926879823208, + -0.02537386119365692, + 0.011445969343185425, + -0.014126241207122803, + 0.0 + ], + [ + -0.004638254642486572, + 0.004034072160720825, + 0.004029329400509596, + -0.056000202894210815, + 0.07063308358192444, + -0.001885533332824707, + 0.0 + ], + [ + -0.013200908899307251, + 0.006847895681858063, + 0.01035131886601448, + -0.07193693518638611, + 0.11216829717159271, + -0.0034503936767578125, + 0.0 + ], + [ + -0.006893247365951538, + 0.005255594849586487, + 0.03642161563038826, + -0.035411011427640915, + 0.07546495646238327, + 0.00646817684173584, + 0.0 + ], + [ + -0.011295527219772339, + -0.005955725908279419, + 0.022121258080005646, + -0.032774779945611954, + 0.04348032921552658, + 0.03364473581314087, + 0.0 + ], + [ + -0.02043941617012024, + -0.014461249113082886, + 0.012624330818653107, + -0.011340714991092682, + 0.0225326269865036, + 0.059892237186431885, + 0.0 + ], + [ + -0.018594324588775635, + -0.012250825762748718, + 0.004280701279640198, + 0.00415530800819397, + 0.023945987224578857, + 0.056034982204437256, + 0.0 + ], + [ + -0.015277117490768433, + -0.00375443696975708, + 0.002088204026222229, + -0.0018669143319129944, + 0.04862847924232483, + 0.0455859899520874, + 0.0 + ], + [ + -0.01232282817363739, + -0.0005049630999565125, + 0.005136743187904358, + 0.012190289795398712, + 0.009330689907073975, + 0.03235810995101929, + 0.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 0.8344376683235168 + ], + [ + 0.5178548097610474 + ], + [ + 0.3315716087818146 + ], + [ + 0.3299713730812073 + ], + [ + 0.3299713730812073 + ], + [ + 0.3299713730812073 + ], + [ + 0.3299713730812073 + ], + [ + 0.3299713730812073 + ], + [ + 0.3299713730812073 + ], + [ + 0.3299713730812073 + ], + [ + 0.3299713730812073 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.31252166628837585, + 0.042161304503679276, + 0.04516759142279625 + ], + [ + 0.32558611035346985, + 0.04679284617304802, + 0.05342290550470352 + ], + [ + 0.3347724676132202, + 0.05129488557577133, + 0.05633143335580826 + ], + [ + 0.34036779403686523, + 0.05721190571784973, + 0.0544704869389534 + ], + [ + 0.33869805932044983, + 0.060574352741241455, + 0.04581171274185181 + ], + [ + 0.3359416127204895, + 0.06098765507340431, + 0.03330222889780998 + ], + [ + 0.3359523117542267, + 0.06335294246673584, + 0.02549677900969982 + ], + [ + 0.3366992175579071, + 0.06460148096084595, + 0.015039416961371899 + ], + [ + 0.3387194573879242, + 0.06427858024835587, + 0.010204438120126724 + ], + [ + 0.34017282724380493, + 0.06294398754835129, + 0.007490573916584253 + ], + [ + 0.3453752100467682, + 0.06253703683614731, + 0.005291694775223732 + ], + [ + 0.34651580452919006, + 0.06265828758478165, + 0.004738402087241411 + ], + [ + 0.3418775498867035, + 0.06669235974550247, + 0.008767731487751007 + ], + [ + 0.32867664098739624, + 0.07354025542736053, + 0.019119050353765488 + ], + [ + 0.3217833936214447, + 0.07879585027694702, + 0.05554066598415375 + ], + [ + 0.31048786640167236, + 0.0728401243686676, + 0.0776619240641594 + ], + [ + 0.2900484502315521, + 0.05837887525558472, + 0.0902862548828125 + ], + [ + 0.2714541256427765, + 0.046128049492836, + 0.0945669561624527 + ], + [ + 0.25617700815200806, + 0.04237361252307892, + 0.09665516018867493 + ], + [ + 0.24385417997837067, + 0.041868649423122406, + 0.10179190337657928 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9930505685867533, + -0.10009750670522302, + 0.061895536033900786, + -0.11065476405985827, + -0.9732324244107077, + 0.20143031367327346, + 0.04007607042092791, + -0.20687952346004201, + -0.9775452784155642 + ], + [ + 0.9539749326718657, + -0.27790349360175404, + 0.1127008255411182, + -0.2957278814713742, + -0.9341540812146523, + 0.19975277888045007, + 0.04976794102796035, + -0.2238879201608452, + -0.9733433881482366 + ], + [ + 0.8851301738515369, + -0.4358100258576928, + 0.16313858127207426, + -0.4597454186686426, + -0.8731973718365303, + 0.16174207810885433, + 0.07196336116901868, + -0.21816500906353725, + -0.9732550043383101 + ], + [ + 0.8207262862683915, + -0.5278390771423699, + 0.2186190103115129, + -0.5567825478940817, + -0.8247422664770503, + 0.09896154933544879, + 0.1280685651854844, + -0.20294359444877577, + -0.9707792437436752 + ], + [ + 0.7855111776986927, + -0.5646807675854809, + 0.253195221972068, + -0.5950269827217004, + -0.8015892805226812, + 0.058288207934704725, + 0.17004434581461939, + -0.196444027830327, + -0.9656576331113816 + ], + [ + 0.7586474319176993, + -0.5976304653810327, + 0.25940682507044777, + -0.6253312796211332, + -0.7796799610503188, + 0.032556858938929165, + 0.18279733250809674, + -0.186914379289084, + -0.9652192238258108 + ], + [ + 0.7223743938512296, + -0.6339109306785345, + 0.2762827665171007, + -0.6597207446631984, + -0.7515105718843913, + 0.0006319865743660003, + 0.20722879666953542, + -0.18272600338285003, + -0.961076185075162 + ], + [ + 0.6894282178340224, + -0.668204370546969, + 0.2796277018396657, + -0.6892489408880086, + -0.7238843912474118, + -0.03045136438852479, + 0.22276586349564975, + -0.17173906745494233, + -0.9596254804718061 + ], + [ + 0.6771989139055894, + -0.6757612498123535, + 0.29111572313623935, + -0.6936573148005316, + -0.7182956563794831, + -0.053766901064535216, + 0.24544074769444046, + -0.16552366380192626, + -0.955175772354377 + ], + [ + 0.6795266232952908, + -0.6684932789583243, + 0.30225867104261545, + -0.6816755692435533, + -0.7276200130374679, + -0.07673027384176756, + 0.27122313052056884, + -0.15390208775355552, + -0.9501327069708313 + ], + [ + 0.6668420673931652, + -0.6815273438512298, + 0.3014002931947756, + -0.6913800442173322, + -0.7167350466069111, + -0.0910192695171117, + 0.27805627418357054, + -0.1476866701787144, + -0.9491434853796736 + ], + [ + 0.6591430311509292, + -0.6999435454008684, + 0.27497181262236187, + -0.7030064892820573, + -0.7033584155241598, + -0.1052084375830182, + 0.26704370524781434, + -0.12395956019204638, + -0.9556786525420105 + ], + [ + 0.6690407511420993, + -0.7189671018247511, + 0.1883368785048048, + -0.7162647811662793, + -0.6913593536862983, + -0.09479982769649974, + 0.1983664199708149, + -0.07147412513757635, + -0.9775183951536566 + ], + [ + 0.6774768571275687, + -0.7330750437471714, + 0.060217009985839676, + -0.7303317294575711, + -0.680146957530615, + -0.06336940199623836, + 0.08741094327408405, + -0.001047089743257082, + -0.9961717876947752 + ], + [ + 0.6847579990993359, + -0.7285772800557763, + -0.016781825168943252, + -0.7286707774866724, + -0.6841017325448846, + -0.03230661799160839, + 0.012057392190787615, + 0.03435064068709966, + -0.9993371066751917 + ], + [ + 0.7085833534241259, + -0.7021925880769705, + -0.06953560598705169, + -0.7049273534007964, + -0.7088227658648553, + -0.02545020666017443, + -0.03141747408002914, + 0.06705114347617633, + -0.9972547751106375 + ], + [ + 0.7487862319242017, + -0.6563703455419077, + -0.0921799781620298, + -0.6606139806256062, + -0.7503666354923926, + -0.0232181166725028, + -0.053929096810041544, + 0.07828078840317981, + -0.9954716322850339 + ], + [ + 0.7833695458715146, + -0.6122930721666908, + -0.10690813055016853, + -0.6166650748193874, + -0.7871577169125503, + -0.010339932447557203, + -0.0778224909589487, + 0.07402649851030557, + -0.994215136386108 + ], + [ + 0.8066230201249555, + -0.5725929536050075, + -0.14661723256967255, + -0.5774381215220997, + -0.8163555150602547, + 0.011352922255303703, + -0.12619238969733657, + 0.07550485092098366, + -0.9891281505800326 + ], + [ + 0.8238673283885434, + -0.5471404170150181, + -0.14791886046936775, + -0.5503615690994742, + -0.8346390856698369, + 0.02190296625080133, + -0.13544286054380655, + 0.06336371785849527, + -0.988756932105591 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006145.json b/json/chunk-0006/episode_0006145.json new file mode 100644 index 0000000000000000000000000000000000000000..799ce5315630792474e375232fda06c2d905e667 --- /dev/null +++ b/json/chunk-0006/episode_0006145.json @@ -0,0 +1,2302 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 37, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the pot between the hot dog and the spoon." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006145.mp4", + "start": 0, + "end": 37, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2801000475883484, + -0.015987824648618698, + 0.14131148159503937, + -0.00997571088373661, + -0.1749655306339264, + -0.128920778632164, + 0.0, + 1.0014774799346924 + ], + [ + 0.2785647511482239, + -0.01633436046540737, + 0.1328711360692978, + -0.01407712884247303, + -0.15537527203559875, + -0.13005053997039795, + 0.0, + 1.0014774799346924 + ], + [ + 0.26755180954933167, + -0.02266949601471424, + 0.1109832152724266, + -0.03710814192891121, + -0.2305014580488205, + -0.19103631377220154, + 0.0, + 1.0014774799346924 + ], + [ + 0.26513853669166565, + -0.028431078419089317, + 0.097555972635746, + -0.051669612526893616, + -0.28078263998031616, + -0.24127541482448578, + 0.0, + 1.0014774799346924 + ], + [ + 0.26257455348968506, + -0.031717002391815186, + 0.0867624282836914, + -0.043362393975257874, + -0.2892546057701111, + -0.2735079824924469, + 0.0, + 1.0014774799346924 + ], + [ + 0.2651006877422333, + -0.03380783274769783, + 0.06693202257156372, + -0.06130699813365936, + -0.2626233696937561, + -0.27453792095184326, + 0.0, + 1.0014774799346924 + ], + [ + 0.2642613351345062, + -0.030084684491157532, + 0.05096345394849777, + -0.07439715415239334, + -0.20665132999420166, + -0.24256226420402527, + 0.0, + 1.0014774799346924 + ], + [ + 0.26737651228904724, + -0.029633088037371635, + 0.043390218168497086, + -0.07849406450986862, + -0.18442733585834503, + -0.22138170897960663, + 0.0, + 1.0014774799346924 + ], + [ + 0.27130433917045593, + -0.028969360515475273, + 0.03252950683236122, + -0.07904358953237534, + -0.14202506840229034, + -0.21322830021381378, + 0.0, + 1.0014774799346924 + ], + [ + 0.27443942427635193, + -0.03781873360276222, + 0.02094358764588833, + -0.08672526478767395, + -0.10584965348243713, + -0.24074091017246246, + 0.0, + 0.9628177285194397 + ], + [ + 0.2774297297000885, + -0.043488115072250366, + 0.016135843470692635, + -0.09447452425956726, + -0.09214901924133301, + -0.24378716945648193, + 0.0, + 0.6591242551803589 + ], + [ + 0.2790586054325104, + -0.04814508929848671, + 0.01810978725552559, + -0.09471739083528519, + -0.09555704146623611, + -0.2615126371383667, + 0.0, + 0.347801148891449 + ], + [ + 0.27793529629707336, + -0.04878908023238182, + 0.019405547529459, + -0.10089084506034851, + -0.08250856399536133, + -0.272197425365448, + 0.0, + 0.14915025234222412 + ], + [ + 0.2772673964500427, + -0.052733536809682846, + 0.02289959415793419, + -0.10655537247657776, + -0.08818793296813965, + -0.27814042568206787, + 0.0, + 0.07591649144887924 + ], + [ + 0.27527448534965515, + -0.05211512744426727, + 0.03946293890476227, + -0.10185711085796356, + -0.09087296575307846, + -0.26799479126930237, + 0.0, + 0.07462053745985031 + ], + [ + 0.27664679288864136, + -0.051841456443071365, + 0.060961369425058365, + -0.09258169680833817, + -0.10517663508653641, + -0.258529931306839, + 0.0, + 0.07397755235433578 + ], + [ + 0.28849878907203674, + -0.04159615933895111, + 0.09217225760221481, + -0.05491335317492485, + -0.18535804748535156, + -0.21005164086818695, + 0.0, + 0.07397755235433578 + ], + [ + 0.30443325638771057, + -0.012978839688003063, + 0.10388097167015076, + -0.053016409277915955, + -0.23904509842395782, + -0.1354885995388031, + 0.0, + 0.07397755235433578 + ], + [ + 0.32061782479286194, + 0.014459280297160149, + 0.09732729941606522, + -0.04876912385225296, + -0.22706259787082672, + -0.09390862286090851, + 0.0, + 0.07397755235433578 + ], + [ + 0.3308087885379791, + 0.041031960397958755, + 0.0894300639629364, + -0.0697251707315445, + -0.20825247466564178, + -0.050609949976205826, + 0.0, + 0.07397755235433578 + ], + [ + 0.336681067943573, + 0.06137685477733612, + 0.0769294947385788, + -0.08954522758722305, + -0.19122947752475739, + -0.009779134765267372, + 0.0, + 0.07397755235433578 + ], + [ + 0.336792916059494, + 0.07775427401065826, + 0.05830119177699089, + -0.10376831889152527, + -0.15300613641738892, + 0.018296902999281883, + 0.0, + 0.07397755235433578 + ], + [ + 0.3353880047798157, + 0.08697620034217834, + 0.04800653085112572, + -0.10095349699258804, + -0.13138094544410706, + 0.03727417811751366, + 0.0, + 0.07397755235433578 + ], + [ + 0.33956673741340637, + 0.09558069705963135, + 0.03836286813020706, + -0.09183365106582642, + -0.11755035072565079, + 0.05488067865371704, + 0.0, + 0.07397755235433578 + ], + [ + 0.35123980045318604, + 0.10128320753574371, + 0.033150769770145416, + -0.08142846822738647, + -0.11663307249546051, + 0.056103210896253586, + 0.0, + 0.07397755235433578 + ], + [ + 0.3626166582107544, + 0.10627569258213043, + 0.02705204300582409, + -0.08592350780963898, + -0.11777093261480331, + 0.06428725272417068, + 0.0, + 0.07397755235433578 + ], + [ + 0.3672242760658264, + 0.10822945833206177, + 0.022908058017492294, + -0.09154998511075974, + -0.10445118695497513, + 0.07029436528682709, + 0.0, + 0.07397755235433578 + ], + [ + 0.36766862869262695, + 0.10852736979722977, + 0.0204482302069664, + -0.09291756898164749, + -0.09655707329511642, + 0.0721108615398407, + 0.0, + 0.09326785057783127 + ], + [ + 0.3674754798412323, + 0.10714884847402573, + 0.020553573966026306, + -0.10217154771089554, + -0.09409920126199722, + 0.0787959024310112, + 0.0, + 0.2759375274181366 + ], + [ + 0.3669547438621521, + 0.1067914217710495, + 0.021478749811649323, + -0.10502604395151138, + -0.08705836534500122, + 0.07749015092849731, + 0.0, + 0.562038779258728 + ], + [ + 0.3652399182319641, + 0.1067662388086319, + 0.031957853585481644, + -0.10352224856615067, + -0.09421960264444351, + 0.08030478656291962, + 0.0, + 0.8775349855422974 + ], + [ + 0.35835134983062744, + 0.10440103709697723, + 0.09123927354812622, + -0.03223806619644165, + -0.1954759955406189, + 0.08123143017292023, + 0.0, + 1.0131081342697144 + ], + [ + 0.3485589027404785, + 0.06476173549890518, + 0.14580833911895752, + 0.0035784421488642693, + -0.2381225824356079, + 0.02159505896270275, + 0.0, + 1.0086473226547241 + ], + [ + 0.3397640883922577, + 0.03500496223568916, + 0.1564977616071701, + -0.0226436834782362, + -0.24616271257400513, + -0.06084762141108513, + 0.0, + 1.002137303352356 + ], + [ + 0.33058297634124756, + -0.003286892082542181, + 0.14585432410240173, + -0.03075745701789856, + -0.18562676012516022, + -0.13790862262248993, + 0.0, + 1.0014774799346924 + ], + [ + 0.32560625672340393, + -0.0114816939458251, + 0.14062492549419403, + -0.02080199308693409, + -0.15920448303222656, + -0.14358407258987427, + 0.0, + 1.0014774799346924 + ], + [ + 0.32415759563446045, + -0.01692894473671913, + 0.13987089693546295, + -0.01210245955735445, + -0.14810724556446075, + -0.14887425303459167, + 0.0, + 1.0014774799346924 + ] + ], + "left_gripper_pos": [ + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 0.9628177285194397 + ], + [ + 0.6591242551803589 + ], + [ + 0.347801148891449 + ], + [ + 0.14915025234222412 + ], + [ + 0.07591649144887924 + ], + [ + 0.07462053745985031 + ], + [ + 0.07397755235433578 + ], + [ + 0.07397755235433578 + ], + [ + 0.07397755235433578 + ], + [ + 0.07397755235433578 + ], + [ + 0.07397755235433578 + ], + [ + 0.07397755235433578 + ], + [ + 0.07397755235433578 + ], + [ + 0.07397755235433578 + ], + [ + 0.07397755235433578 + ], + [ + 0.07397755235433578 + ], + [ + 0.07397755235433578 + ], + [ + 0.07397755235433578 + ], + [ + 0.09326785057783127 + ], + [ + 0.2759375274181366 + ], + [ + 0.562038779258728 + ], + [ + 0.8775349855422974 + ], + [ + 1.0131081342697144 + ], + [ + 1.0086473226547241 + ], + [ + 1.002137303352356 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2801000475883484, + -0.015987824648618698, + 0.14131148159503937 + ], + [ + 0.2785647511482239, + -0.01633436046540737, + 0.1328711360692978 + ], + [ + 0.26755180954933167, + -0.02266949601471424, + 0.1109832152724266 + ], + [ + 0.26513853669166565, + -0.028431078419089317, + 0.097555972635746 + ], + [ + 0.26257455348968506, + -0.031717002391815186, + 0.0867624282836914 + ], + [ + 0.2651006877422333, + -0.03380783274769783, + 0.06693202257156372 + ], + [ + 0.2642613351345062, + -0.030084684491157532, + 0.05096345394849777 + ], + [ + 0.26737651228904724, + -0.029633088037371635, + 0.043390218168497086 + ], + [ + 0.27130433917045593, + -0.028969360515475273, + 0.03252950683236122 + ], + [ + 0.27443942427635193, + -0.03781873360276222, + 0.02094358764588833 + ], + [ + 0.2774297297000885, + -0.043488115072250366, + 0.016135843470692635 + ], + [ + 0.2790586054325104, + -0.04814508929848671, + 0.01810978725552559 + ], + [ + 0.27793529629707336, + -0.04878908023238182, + 0.019405547529459 + ], + [ + 0.2772673964500427, + -0.052733536809682846, + 0.02289959415793419 + ], + [ + 0.27527448534965515, + -0.05211512744426727, + 0.03946293890476227 + ], + [ + 0.27664679288864136, + -0.051841456443071365, + 0.060961369425058365 + ], + [ + 0.28849878907203674, + -0.04159615933895111, + 0.09217225760221481 + ], + [ + 0.30443325638771057, + -0.012978839688003063, + 0.10388097167015076 + ], + [ + 0.32061782479286194, + 0.014459280297160149, + 0.09732729941606522 + ], + [ + 0.3308087885379791, + 0.041031960397958755, + 0.0894300639629364 + ], + [ + 0.336681067943573, + 0.06137685477733612, + 0.0769294947385788 + ], + [ + 0.336792916059494, + 0.07775427401065826, + 0.05830119177699089 + ], + [ + 0.3353880047798157, + 0.08697620034217834, + 0.04800653085112572 + ], + [ + 0.33956673741340637, + 0.09558069705963135, + 0.03836286813020706 + ], + [ + 0.35123980045318604, + 0.10128320753574371, + 0.033150769770145416 + ], + [ + 0.3626166582107544, + 0.10627569258213043, + 0.02705204300582409 + ], + [ + 0.3672242760658264, + 0.10822945833206177, + 0.022908058017492294 + ], + [ + 0.36766862869262695, + 0.10852736979722977, + 0.0204482302069664 + ], + [ + 0.3674754798412323, + 0.10714884847402573, + 0.020553573966026306 + ], + [ + 0.3669547438621521, + 0.1067914217710495, + 0.021478749811649323 + ], + [ + 0.3652399182319641, + 0.1067662388086319, + 0.031957853585481644 + ], + [ + 0.35835134983062744, + 0.10440103709697723, + 0.09123927354812622 + ], + [ + 0.3485589027404785, + 0.06476173549890518, + 0.14580833911895752 + ], + [ + 0.3397640883922577, + 0.03500496223568916, + 0.1564977616071701 + ], + [ + 0.33058297634124756, + -0.003286892082542181, + 0.14585432410240173 + ], + [ + 0.32560625672340393, + -0.0114816939458251, + 0.14062492549419403 + ], + [ + 0.32415759563446045, + -0.01692894473671913, + 0.13987089693546295 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9765604611874139, + -0.13027962992433798, + 0.1713385060989007, + -0.12660110751116257, + -0.9914286267303585, + -0.03227131352304304, + 0.1740741945906186, + 0.009823244185757633, + -0.9846835423887689 + ], + [ + 0.9796105957763035, + -0.13183138692453802, + 0.1516033181178722, + -0.12812201803223264, + -0.9911745952535526, + -0.03402455318303242, + 0.15475086151018436, + 0.013907089757008592, + -0.9878556391074288 + ], + [ + 0.9558410853392824, + -0.19806754006779112, + 0.2171107301561046, + -0.18485459611410968, + -0.9795226948801573, + -0.07977511209771983, + 0.22846574770173383, + 0.03611841339550126, + -0.972881730911255 + ], + [ + 0.9330072135319254, + -0.2525195327409624, + 0.2563814054912678, + -0.2295840775255536, + -0.9663184443438212, + -0.1162747413141724, + 0.2771077242592354, + 0.04962408392326383, + -0.9595565431232513 + ], + [ + 0.9228302277676429, + -0.28176189142171804, + 0.26266824562701907, + -0.2588894062256376, + -0.9585843749391982, + -0.11871087341336174, + 0.2852378762760248, + 0.04154795620583955, + -0.9575558058268252 + ], + [ + 0.9295468644021656, + -0.2859034355908926, + 0.2328129128665892, + -0.2618067035562801, + -0.9564300248769902, + -0.12922405924127944, + 0.25961486254275934, + 0.05916783781011382, + -0.9638979666519585 + ], + [ + 0.9500720774982707, + -0.25433079302887285, + 0.18077304908482483, + -0.23508024956972004, + -0.9643773683030774, + -0.12129949615340045, + 0.20518363438724346, + 0.0727470908156148, + -0.976016156094512 + ], + [ + 0.9590502912055997, + -0.2329305335303929, + 0.16113939768939603, + -0.21585409455422155, + -0.9694335815800592, + -0.11664279132906634, + 0.18338361105243842, + 0.07708370420591786, + -0.9800145681280779 + ], + [ + 0.9675122554691136, + -0.22187915066102956, + 0.12120098192262409, + -0.2094855028920932, + -0.9719360452197859, + -0.10703339703367527, + 0.1415480822728267, + 0.07816627472549591, + -0.986840500739822 + ], + [ + 0.965726150111117, + -0.24641349641449645, + 0.0815683258154985, + -0.2370878227743451, + -0.9653298398807774, + -0.10921384769283375, + 0.10565210496568969, + 0.08613181189627729, + -0.9906659092225709 + ], + [ + 0.9663135275341255, + -0.24872694436146583, + 0.06612921936000019, + -0.24035542935996415, + -0.9640079591263411, + -0.11365703813778397, + 0.09201866159503752, + 0.09393381653949057, + -0.9913168030597398 + ], + [ + 0.9615930134639156, + -0.26610001679855444, + 0.06730273038439898, + -0.25736255961357324, + -0.9593370729328343, + -0.11591761473482737, + 0.09541168359554296, + 0.09414436550570068, + -0.990976008325627 + ], + [ + 0.9599057962193936, + -0.27547666815303223, + 0.05189862895796228, + -0.2679340092803439, + -0.9560528419078429, + -0.11905599586286163, + 0.08241498077032282, + 0.10037713277057324, + -0.9915302326007948 + ], + [ + 0.9578309933280288, + -0.2820177419980509, + 0.055007103346403505, + -0.2735010364863765, + -0.9535421293542523, + -0.12631148240534404, + 0.0880736695109207, + 0.10594055288169196, + -0.9904643496835219 + ], + [ + 0.9603249895628814, + -0.27232387058627805, + 0.06013005845631736, + -0.2637057535423397, + -0.9568624834146872, + -0.12195680949477401, + 0.09074794746835232, + 0.10126152942942306, + -0.9907123258988431 + ], + [ + 0.9614245396294017, + -0.2639477823743809, + 0.07742365774128514, + -0.2542468487794204, + -0.9601452275288136, + -0.11610203245153605, + 0.10498282947286054, + 0.09193862209805778, + -0.9902150752652592 + ], + [ + 0.961266982094761, + -0.21808913253555692, + 0.16853165697968692, + -0.20493869066122308, + -0.9744367625721225, + -0.09204959977112658, + 0.18429845958253177, + 0.05394558385863803, + -0.9813887872691723 + ], + [ + 0.9626605651101596, + -0.14731675532276212, + 0.22711761266568867, + -0.13123354133500065, + -0.9877484981483265, + -0.08444324741742457, + 0.2367749860320195, + 0.05148473566892564, + -0.9701994269131673 + ], + [ + 0.9700387783066993, + -0.10458519274433942, + 0.2192868122798907, + -0.09136373756535879, + -0.9933810105563446, + -0.06961921662977927, + 0.22511649437421258, + 0.047498477077536495, + -0.9731733959762671 + ], + [ + 0.9771409648483163, + -0.06485101683260988, + 0.20245957727674557, + -0.04949532112975036, + -0.9955642096897965, + -0.0800132337241429, + 0.2067504486127294, + 0.06816340660873679, + -0.9760163943284599 + ], + [ + 0.9817243514576918, + -0.02673576369058877, + 0.18842106223789257, + -0.009600720780902723, + -0.9957796693965005, + -0.09127253791301887, + 0.19006610406766888, + 0.08779549508076892, + -0.9778378327350916 + ], + [ + 0.9881519513326832, + 0.0024131645408475497, + 0.15345975926707722, + 0.0180821382730698, + -0.9947432501760781, + -0.1007913811027807, + 0.15240983351767062, + 0.10237208050064818, + -0.9830011189114103 + ], + [ + 0.9906933150095307, + 0.023882192013155747, + 0.13400147946971663, + 0.03694439040819115, + -0.9947094660984966, + -0.09585504718798335, + 0.131003311457357, + 0.09991355743186267, + -0.9863343314660177 + ], + [ + 0.9916037332157658, + 0.043883087093849756, + 0.12164008771646669, + 0.054474587287102326, + -0.9948769814883832, + -0.08516050166868944, + 0.1172798175836575, + 0.09107176495312136, + -0.9889142419926347 + ], + [ + 0.9916433870838472, + 0.04643761122373759, + 0.1203617095122383, + 0.05569282270216368, + -0.9956491279966131, + -0.07470691680861695, + 0.11636882036155903, + 0.08078590337068252, + -0.9899151152822359 + ], + [ + 0.9910216110296763, + 0.05394331037426327, + 0.12233677181457459, + 0.0637979701537678, + -0.994900546755186, + -0.07811991468563821, + 0.11749887436228632, + 0.08522336142219657, + -0.9894094163648827 + ], + [ + 0.9920937604659958, + 0.060434096007470205, + 0.10998950169993257, + 0.06985369508628744, + -0.994022416872313, + -0.08390408832779261, + 0.10426136258092725, + 0.09092389562203063, + -0.9903849824576718 + ], + [ + 0.9927552302966811, + 0.06281580198036472, + 0.10242669447046937, + 0.07171277965336019, + -0.9937430916200477, + -0.08562677788996685, + 0.09640710530335347, + 0.09235173457489963, + -0.9910483475431635 + ], + [ + 0.9924868717797939, + 0.06875024664454342, + 0.10120875916181153, + 0.07836615232307194, + -0.9924527664256896, + -0.09431994796474917, + 0.0939603933305742, + 0.10154265113887047, + -0.9903840338398301 + ], + [ + 0.9932233185247147, + 0.0678983482460287, + 0.0943252556011107, + 0.07711944700462273, + -0.9922111299570177, + -0.0978246619371617, + 0.0869484354802031, + 0.10443604691331342, + -0.9907235142423267 + ], + [ + 0.9923562128722796, + 0.07009835823823826, + 0.1015645949437614, + 0.07986270214978175, + -0.9922207973917705, + -0.09549784305718144, + 0.09408026136826976, + 0.10287910086865275, + -0.9902347171379801 + ], + [ + 0.9777206666116374, + 0.07485997990741791, + 0.1961078312784993, + 0.07959679948364959, + -0.9966926537030538, + -0.016373868398273983, + 0.1942334873096167, + 0.031618625248819754, + -0.9804456205955125 + ], + [ + 0.9715559449206769, + 0.022437121604289297, + 0.23574482277115938, + 0.020984069967240004, + -0.9997422081942279, + 0.008670983942987404, + 0.23587860160875335, + -0.003477460142676538, + -0.9717763078888348 + ], + [ + 0.968059788925173, + -0.0663017163336147, + 0.24179397733890318, + -0.05897693956823367, + -0.9975579560750173, + -0.03741450080648372, + 0.24368415144468064, + 0.021959204963985998, + -0.9696060167160863 + ], + [ + 0.9734895403471941, + -0.14302876745917226, + 0.17849618066983483, + -0.135110233954008, + -0.9892569248064649, + -0.05582079722960948, + 0.1845625626054794, + 0.03022430150666821, + -0.9823559192486866 + ], + [ + 0.977193352581567, + -0.14632388534445337, + 0.15389110516238283, + -0.14128164396555734, + -0.989023525492974, + -0.043266188875809214, + 0.1585328002300653, + 0.020537443831961405, + -0.9871400937314128 + ], + [ + 0.978111934789508, + -0.15008018783189248, + 0.1441283464231396, + -0.1467010938057025, + -0.9886013676826926, + -0.03385446635408085, + 0.1475663650651297, + 0.011969671518174536, + -0.9889797241931764 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0015352964401245117, + -0.0003465358167886734, + -0.008440345525741577, + -0.00410141795873642, + 0.019590258598327637, + -0.0011297613382339478, + 1.0 + ], + [ + -0.011012941598892212, + -0.0063351355493068695, + -0.021887920796871185, + -0.02303101308643818, + -0.07512618601322174, + -0.06098577380180359, + 1.0 + ], + [ + -0.0024132728576660156, + -0.005761582404375076, + -0.013427242636680603, + -0.014561470597982407, + -0.050281181931495667, + -0.05023910105228424, + 1.0 + ], + [ + -0.002563983201980591, + -0.0032859239727258682, + -0.010793544352054596, + 0.008307218551635742, + -0.008471965789794922, + -0.03223256766796112, + 1.0 + ], + [ + 0.0025261342525482178, + -0.0020908303558826447, + -0.019830405712127686, + -0.01794460415840149, + 0.02663123607635498, + -0.0010299384593963623, + 1.0 + ], + [ + -0.0008393526077270508, + 0.0037231482565402985, + -0.01596856862306595, + -0.013090156018733978, + 0.05597203969955444, + 0.03197565674781799, + 1.0 + ], + [ + 0.0031151771545410156, + 0.0004515964537858963, + -0.007573235780000687, + -0.004096910357475281, + 0.02222399413585663, + 0.02118055522441864, + 1.0 + ], + [ + 0.003927826881408691, + 0.0006637275218963623, + -0.010860711336135864, + -0.0005495250225067139, + 0.04240226745605469, + 0.008153408765792847, + 1.0 + ], + [ + 0.003135085105895996, + -0.00884937308728695, + -0.011585919186472893, + -0.0076816752552986145, + 0.03617541491985321, + -0.02751260995864868, + 0.0 + ], + [ + 0.0029903054237365723, + -0.005669381469488144, + -0.004807744175195694, + -0.0077492594718933105, + 0.013700634241104126, + -0.00304625928401947, + 0.0 + ], + [ + 0.001628875732421875, + -0.004656974226236343, + 0.0019739437848329544, + -0.00024286657571792603, + -0.0034080222249031067, + -0.017725467681884766, + 0.0 + ], + [ + -0.0011233091354370117, + -0.0006439909338951111, + 0.0012957602739334106, + -0.006173454225063324, + 0.013048477470874786, + -0.010684788227081299, + 0.0 + ], + [ + -0.0006678998470306396, + -0.003944456577301025, + 0.003494046628475189, + -0.005664527416229248, + -0.00567936897277832, + -0.005943000316619873, + 0.0 + ], + [ + -0.0019929111003875732, + 0.0006184093654155731, + 0.01656334474682808, + 0.004698261618614197, + -0.0026850327849388123, + 0.010145634412765503, + 0.0 + ], + [ + 0.001372307538986206, + 0.0002736710011959076, + 0.021498430520296097, + 0.009275414049625397, + -0.014303669333457947, + 0.009464859962463379, + 0.0 + ], + [ + 0.011851996183395386, + 0.010245297104120255, + 0.03121088817715645, + 0.037668343633413315, + -0.08018141239881516, + 0.04847829043865204, + 0.0 + ], + [ + 0.015934467315673828, + 0.028617318719625473, + 0.011708714067935944, + 0.0018969438970088959, + -0.05368705093860626, + 0.07456304132938385, + 0.0 + ], + [ + 0.016184568405151367, + 0.027438119053840637, + -0.006553672254085541, + 0.004247285425662994, + 0.011982500553131104, + 0.04157997667789459, + 0.0 + ], + [ + 0.010190963745117188, + 0.026572680100798607, + -0.007897235453128815, + -0.020956046879291534, + 0.018810123205184937, + 0.04329867288470268, + 0.0 + ], + [ + 0.005872279405593872, + 0.020344894379377365, + -0.012500569224357605, + -0.01982005685567856, + 0.0170229971408844, + 0.040830813348293304, + 0.0 + ], + [ + 0.00011184811592102051, + 0.016377419233322144, + -0.018628302961587906, + -0.014223091304302216, + 0.03822334110736847, + 0.028076037764549255, + 0.0 + ], + [ + -0.0014049112796783447, + 0.00922192633152008, + -0.010294660925865173, + 0.0028148218989372253, + 0.02162519097328186, + 0.018977275118231773, + 0.0 + ], + [ + 0.004178732633590698, + 0.008604496717453003, + -0.009643662720918655, + 0.009119845926761627, + 0.013830594718456268, + 0.017606500536203384, + 0.0 + ], + [ + 0.011673063039779663, + 0.005702510476112366, + -0.0052120983600616455, + 0.010405182838439941, + 0.0009172782301902771, + 0.0012225322425365448, + 0.0 + ], + [ + 0.01137685775756836, + 0.004992485046386719, + -0.006098726764321327, + -0.0044950395822525024, + -0.001137860119342804, + 0.008184041827917099, + 0.0 + ], + [ + 0.0046076178550720215, + 0.0019537657499313354, + -0.004143984988331795, + -0.005626477301120758, + 0.013319745659828186, + 0.006007112562656403, + 0.0 + ], + [ + 0.0004443526268005371, + 0.00029791146516799927, + -0.002459827810525894, + -0.0013675838708877563, + 0.007894113659858704, + 0.0018164962530136108, + 1.0 + ], + [ + -0.00019314885139465332, + -0.0013785213232040405, + 0.000105343759059906, + -0.009253978729248047, + 0.0024578720331192017, + 0.006685040891170502, + 1.0 + ], + [ + -0.0005207359790802002, + -0.0003574267029762268, + 0.0009251758456230164, + -0.0028544962406158447, + 0.007040835916996002, + -0.0013057515025138855, + 1.0 + ], + [ + -0.0017148256301879883, + -2.518296241760254e-05, + 0.010479103773832321, + 0.0015037953853607178, + -0.007161237299442291, + 0.0028146356344223022, + 1.0 + ], + [ + -0.00688856840133667, + -0.002365201711654663, + 0.05928141996264458, + 0.07128418236970901, + -0.10125639289617538, + 0.0009266436100006104, + 1.0 + ], + [ + -0.009792447090148926, + -0.03963930159807205, + 0.0545690655708313, + 0.035816509276628494, + -0.042646586894989014, + -0.05963636934757233, + 1.0 + ], + [ + -0.008794814348220825, + -0.02975677326321602, + 0.010689422488212585, + -0.026222124695777893, + -0.008040130138397217, + -0.08244267851114273, + 1.0 + ], + [ + -0.009181112051010132, + -0.03829185292124748, + -0.010643437504768372, + -0.008113773539662361, + 0.06053595244884491, + -0.0770609974861145, + 1.0 + ], + [ + -0.004976719617843628, + -0.008194802328944206, + -0.005229398608207703, + 0.00995546393096447, + 0.026422277092933655, + -0.005675449967384338, + 1.0 + ], + [ + -0.0014486610889434814, + -0.0054472507908940315, + -0.0007540285587310791, + 0.00869953352957964, + 0.011097237467765808, + -0.005290180444717407, + 1.0 + ], + [ + -0.004006057977676392, + 0.001919829286634922, + -0.0013272464275360107, + 0.023111088201403618, + 0.027412645518779755, + 0.021948441863059998, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 0.9628177285194397 + ], + [ + 0.6591242551803589 + ], + [ + 0.347801148891449 + ], + [ + 0.14915025234222412 + ], + [ + 0.07591649144887924 + ], + [ + 0.07462053745985031 + ], + [ + 0.07397755235433578 + ], + [ + 0.07397755235433578 + ], + [ + 0.07397755235433578 + ], + [ + 0.07397755235433578 + ], + [ + 0.07397755235433578 + ], + [ + 0.07397755235433578 + ], + [ + 0.07397755235433578 + ], + [ + 0.07397755235433578 + ], + [ + 0.07397755235433578 + ], + [ + 0.07397755235433578 + ], + [ + 0.07397755235433578 + ], + [ + 0.07397755235433578 + ], + [ + 0.09326785057783127 + ], + [ + 0.2759375274181366 + ], + [ + 0.562038779258728 + ], + [ + 0.8775349855422974 + ], + [ + 1.0131081342697144 + ], + [ + 1.0086473226547241 + ], + [ + 1.002137303352356 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2785647511482239, + -0.01633436046540737, + 0.1328711360692978 + ], + [ + 0.26755180954933167, + -0.02266949601471424, + 0.1109832152724266 + ], + [ + 0.26513853669166565, + -0.028431078419089317, + 0.097555972635746 + ], + [ + 0.26257455348968506, + -0.031717002391815186, + 0.0867624282836914 + ], + [ + 0.2651006877422333, + -0.03380783274769783, + 0.06693202257156372 + ], + [ + 0.2642613351345062, + -0.030084684491157532, + 0.05096345394849777 + ], + [ + 0.26737651228904724, + -0.029633088037371635, + 0.043390218168497086 + ], + [ + 0.27130433917045593, + -0.028969360515475273, + 0.03252950683236122 + ], + [ + 0.27443942427635193, + -0.03781873360276222, + 0.02094358764588833 + ], + [ + 0.2774297297000885, + -0.043488115072250366, + 0.016135843470692635 + ], + [ + 0.2790586054325104, + -0.04814508929848671, + 0.01810978725552559 + ], + [ + 0.27793529629707336, + -0.04878908023238182, + 0.019405547529459 + ], + [ + 0.2772673964500427, + -0.052733536809682846, + 0.02289959415793419 + ], + [ + 0.27527448534965515, + -0.05211512744426727, + 0.03946293890476227 + ], + [ + 0.27664679288864136, + -0.051841456443071365, + 0.060961369425058365 + ], + [ + 0.28849878907203674, + -0.04159615933895111, + 0.09217225760221481 + ], + [ + 0.30443325638771057, + -0.012978839688003063, + 0.10388097167015076 + ], + [ + 0.32061782479286194, + 0.014459280297160149, + 0.09732729941606522 + ], + [ + 0.3308087885379791, + 0.041031960397958755, + 0.0894300639629364 + ], + [ + 0.336681067943573, + 0.06137685477733612, + 0.0769294947385788 + ], + [ + 0.336792916059494, + 0.07775427401065826, + 0.05830119177699089 + ], + [ + 0.3353880047798157, + 0.08697620034217834, + 0.04800653085112572 + ], + [ + 0.33956673741340637, + 0.09558069705963135, + 0.03836286813020706 + ], + [ + 0.35123980045318604, + 0.10128320753574371, + 0.033150769770145416 + ], + [ + 0.3626166582107544, + 0.10627569258213043, + 0.02705204300582409 + ], + [ + 0.3672242760658264, + 0.10822945833206177, + 0.022908058017492294 + ], + [ + 0.36766862869262695, + 0.10852736979722977, + 0.0204482302069664 + ], + [ + 0.3674754798412323, + 0.10714884847402573, + 0.020553573966026306 + ], + [ + 0.3669547438621521, + 0.1067914217710495, + 0.021478749811649323 + ], + [ + 0.3652399182319641, + 0.1067662388086319, + 0.031957853585481644 + ], + [ + 0.35835134983062744, + 0.10440103709697723, + 0.09123927354812622 + ], + [ + 0.3485589027404785, + 0.06476173549890518, + 0.14580833911895752 + ], + [ + 0.3397640883922577, + 0.03500496223568916, + 0.1564977616071701 + ], + [ + 0.33058297634124756, + -0.003286892082542181, + 0.14585432410240173 + ], + [ + 0.32560625672340393, + -0.0114816939458251, + 0.14062492549419403 + ], + [ + 0.32415759563446045, + -0.01692894473671913, + 0.13987089693546295 + ], + [ + 0.32015153765678406, + -0.01500911545008421, + 0.13854365050792694 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9796105957763035, + -0.13183138692453802, + 0.1516033181178722, + -0.12812201803223264, + -0.9911745952535526, + -0.03402455318303242, + 0.15475086151018436, + 0.013907089757008592, + -0.9878556391074288 + ], + [ + 0.9558410853392824, + -0.19806754006779112, + 0.2171107301561046, + -0.18485459611410968, + -0.9795226948801573, + -0.07977511209771983, + 0.22846574770173383, + 0.03611841339550126, + -0.972881730911255 + ], + [ + 0.9330072135319254, + -0.2525195327409624, + 0.2563814054912678, + -0.2295840775255536, + -0.9663184443438212, + -0.1162747413141724, + 0.2771077242592354, + 0.04962408392326383, + -0.9595565431232513 + ], + [ + 0.9228302277676429, + -0.28176189142171804, + 0.26266824562701907, + -0.2588894062256376, + -0.9585843749391982, + -0.11871087341336174, + 0.2852378762760248, + 0.04154795620583955, + -0.9575558058268252 + ], + [ + 0.9295468644021656, + -0.2859034355908926, + 0.2328129128665892, + -0.2618067035562801, + -0.9564300248769902, + -0.12922405924127944, + 0.25961486254275934, + 0.05916783781011382, + -0.9638979666519585 + ], + [ + 0.9500720774982707, + -0.25433079302887285, + 0.18077304908482483, + -0.23508024956972004, + -0.9643773683030774, + -0.12129949615340045, + 0.20518363438724346, + 0.0727470908156148, + -0.976016156094512 + ], + [ + 0.9590502912055997, + -0.2329305335303929, + 0.16113939768939603, + -0.21585409455422155, + -0.9694335815800592, + -0.11664279132906634, + 0.18338361105243842, + 0.07708370420591786, + -0.9800145681280779 + ], + [ + 0.9675122554691136, + -0.22187915066102956, + 0.12120098192262409, + -0.2094855028920932, + -0.9719360452197859, + -0.10703339703367527, + 0.1415480822728267, + 0.07816627472549591, + -0.986840500739822 + ], + [ + 0.965726150111117, + -0.24641349641449645, + 0.0815683258154985, + -0.2370878227743451, + -0.9653298398807774, + -0.10921384769283375, + 0.10565210496568969, + 0.08613181189627729, + -0.9906659092225709 + ], + [ + 0.9663135275341255, + -0.24872694436146583, + 0.06612921936000019, + -0.24035542935996415, + -0.9640079591263411, + -0.11365703813778397, + 0.09201866159503752, + 0.09393381653949057, + -0.9913168030597398 + ], + [ + 0.9615930134639156, + -0.26610001679855444, + 0.06730273038439898, + -0.25736255961357324, + -0.9593370729328343, + -0.11591761473482737, + 0.09541168359554296, + 0.09414436550570068, + -0.990976008325627 + ], + [ + 0.9599057962193936, + -0.27547666815303223, + 0.05189862895796228, + -0.2679340092803439, + -0.9560528419078429, + -0.11905599586286163, + 0.08241498077032282, + 0.10037713277057324, + -0.9915302326007948 + ], + [ + 0.9578309933280288, + -0.2820177419980509, + 0.055007103346403505, + -0.2735010364863765, + -0.9535421293542523, + -0.12631148240534404, + 0.0880736695109207, + 0.10594055288169196, + -0.9904643496835219 + ], + [ + 0.9603249895628814, + -0.27232387058627805, + 0.06013005845631736, + -0.2637057535423397, + -0.9568624834146872, + -0.12195680949477401, + 0.09074794746835232, + 0.10126152942942306, + -0.9907123258988431 + ], + [ + 0.9614245396294017, + -0.2639477823743809, + 0.07742365774128514, + -0.2542468487794204, + -0.9601452275288136, + -0.11610203245153605, + 0.10498282947286054, + 0.09193862209805778, + -0.9902150752652592 + ], + [ + 0.961266982094761, + -0.21808913253555692, + 0.16853165697968692, + -0.20493869066122308, + -0.9744367625721225, + -0.09204959977112658, + 0.18429845958253177, + 0.05394558385863803, + -0.9813887872691723 + ], + [ + 0.9626605651101596, + -0.14731675532276212, + 0.22711761266568867, + -0.13123354133500065, + -0.9877484981483265, + -0.08444324741742457, + 0.2367749860320195, + 0.05148473566892564, + -0.9701994269131673 + ], + [ + 0.9700387783066993, + -0.10458519274433942, + 0.2192868122798907, + -0.09136373756535879, + -0.9933810105563446, + -0.06961921662977927, + 0.22511649437421258, + 0.047498477077536495, + -0.9731733959762671 + ], + [ + 0.9771409648483163, + -0.06485101683260988, + 0.20245957727674557, + -0.04949532112975036, + -0.9955642096897965, + -0.0800132337241429, + 0.2067504486127294, + 0.06816340660873679, + -0.9760163943284599 + ], + [ + 0.9817243514576918, + -0.02673576369058877, + 0.18842106223789257, + -0.009600720780902723, + -0.9957796693965005, + -0.09127253791301887, + 0.19006610406766888, + 0.08779549508076892, + -0.9778378327350916 + ], + [ + 0.9881519513326832, + 0.0024131645408475497, + 0.15345975926707722, + 0.0180821382730698, + -0.9947432501760781, + -0.1007913811027807, + 0.15240983351767062, + 0.10237208050064818, + -0.9830011189114103 + ], + [ + 0.9906933150095307, + 0.023882192013155747, + 0.13400147946971663, + 0.03694439040819115, + -0.9947094660984966, + -0.09585504718798335, + 0.131003311457357, + 0.09991355743186267, + -0.9863343314660177 + ], + [ + 0.9916037332157658, + 0.043883087093849756, + 0.12164008771646669, + 0.054474587287102326, + -0.9948769814883832, + -0.08516050166868944, + 0.1172798175836575, + 0.09107176495312136, + -0.9889142419926347 + ], + [ + 0.9916433870838472, + 0.04643761122373759, + 0.1203617095122383, + 0.05569282270216368, + -0.9956491279966131, + -0.07470691680861695, + 0.11636882036155903, + 0.08078590337068252, + -0.9899151152822359 + ], + [ + 0.9910216110296763, + 0.05394331037426327, + 0.12233677181457459, + 0.0637979701537678, + -0.994900546755186, + -0.07811991468563821, + 0.11749887436228632, + 0.08522336142219657, + -0.9894094163648827 + ], + [ + 0.9920937604659958, + 0.060434096007470205, + 0.10998950169993257, + 0.06985369508628744, + -0.994022416872313, + -0.08390408832779261, + 0.10426136258092725, + 0.09092389562203063, + -0.9903849824576718 + ], + [ + 0.9927552302966811, + 0.06281580198036472, + 0.10242669447046937, + 0.07171277965336019, + -0.9937430916200477, + -0.08562677788996685, + 0.09640710530335347, + 0.09235173457489963, + -0.9910483475431635 + ], + [ + 0.9924868717797939, + 0.06875024664454342, + 0.10120875916181153, + 0.07836615232307194, + -0.9924527664256896, + -0.09431994796474917, + 0.0939603933305742, + 0.10154265113887047, + -0.9903840338398301 + ], + [ + 0.9932233185247147, + 0.0678983482460287, + 0.0943252556011107, + 0.07711944700462273, + -0.9922111299570177, + -0.0978246619371617, + 0.0869484354802031, + 0.10443604691331342, + -0.9907235142423267 + ], + [ + 0.9923562128722796, + 0.07009835823823826, + 0.1015645949437614, + 0.07986270214978175, + -0.9922207973917705, + -0.09549784305718144, + 0.09408026136826976, + 0.10287910086865275, + -0.9902347171379801 + ], + [ + 0.9777206666116374, + 0.07485997990741791, + 0.1961078312784993, + 0.07959679948364959, + -0.9966926537030538, + -0.016373868398273983, + 0.1942334873096167, + 0.031618625248819754, + -0.9804456205955125 + ], + [ + 0.9715559449206769, + 0.022437121604289297, + 0.23574482277115938, + 0.020984069967240004, + -0.9997422081942279, + 0.008670983942987404, + 0.23587860160875335, + -0.003477460142676538, + -0.9717763078888348 + ], + [ + 0.968059788925173, + -0.0663017163336147, + 0.24179397733890318, + -0.05897693956823367, + -0.9975579560750173, + -0.03741450080648372, + 0.24368415144468064, + 0.021959204963985998, + -0.9696060167160863 + ], + [ + 0.9734895403471941, + -0.14302876745917226, + 0.17849618066983483, + -0.135110233954008, + -0.9892569248064649, + -0.05582079722960948, + 0.1845625626054794, + 0.03022430150666821, + -0.9823559192486866 + ], + [ + 0.977193352581567, + -0.14632388534445337, + 0.15389110516238283, + -0.14128164396555734, + -0.989023525492974, + -0.043266188875809214, + 0.1585328002300653, + 0.020537443831961405, + -0.9871400937314128 + ], + [ + 0.978111934789508, + -0.15008018783189248, + 0.1441283464231396, + -0.1467010938057025, + -0.9886013676826926, + -0.03385446635408085, + 0.1475663650651297, + 0.011969671518174536, + -0.9889797241931764 + ], + [ + 0.9847394918518995, + -0.12526284639642948, + 0.12081950380599826, + -0.1256644093234297, + -0.992063400732507, + -0.004320319021425413, + 0.12040178327855708, + -0.010928322822734081, + -0.9926650907247749 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006146.json b/json/chunk-0006/episode_0006146.json new file mode 100644 index 0000000000000000000000000000000000000000..6142d3b20a0a40bf58f61d68b49467b69fd22ae1 --- /dev/null +++ b/json/chunk-0006/episode_0006146.json @@ -0,0 +1,1822 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 29, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nOpened the drawer." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006146.mp4", + "start": 0, + "end": 29, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.22522315382957458, + 0.1089569628238678, + 0.14841587841510773, + -0.06080026924610138, + -0.007135861553251743, + -0.34085536003112793, + 0.0, + 1.0001531839370728 + ], + [ + 0.22525276243686676, + 0.1072499081492424, + 0.14124681055545807, + -0.08092247694730759, + 0.012192896567285061, + -0.34085044264793396, + 0.0, + 1.0001531839370728 + ], + [ + 0.24194523692131042, + 0.07483160495758057, + 0.11695395410060883, + -0.1197393387556076, + 0.04283712059259415, + -0.4457135498523712, + 0.0, + 1.0001531839370728 + ], + [ + 0.24908964335918427, + 0.055194128304719925, + 0.10683456808328629, + -0.12218792736530304, + 0.04476497322320938, + -0.495910108089447, + 0.0, + 1.0001531839370728 + ], + [ + 0.25453466176986694, + 0.031022358685731888, + 0.09197715669870377, + -0.12753747403621674, + 0.01981961913406849, + -0.5582536458969116, + 0.0, + 1.0001531839370728 + ], + [ + 0.2647686302661896, + 0.011125640012323856, + 0.08303739130496979, + -0.08547498285770416, + -0.052668701857328415, + -0.6074429154396057, + 0.0, + 1.0001531839370728 + ], + [ + 0.2724956274032593, + 0.002533856313675642, + 0.07974318414926529, + -0.07106079161167145, + -0.10866754502058029, + -0.6089057326316833, + 0.0, + 1.0001531839370728 + ], + [ + 0.2773497700691223, + -0.0031446698121726513, + 0.07140016555786133, + -0.10696379840373993, + -0.12550988793373108, + -0.6174923181533813, + 0.0, + 1.0001531839370728 + ], + [ + 0.29049667716026306, + -0.005129412282258272, + 0.06700368225574493, + -0.13473151624202728, + -0.12741127610206604, + -0.6128212213516235, + 0.0, + 1.0001531839370728 + ], + [ + 0.30528873205184937, + -0.013104759156703949, + 0.059898942708969116, + -0.1833561211824417, + -0.15755663812160492, + -0.5885322690010071, + 0.0, + 1.0001531839370728 + ], + [ + 0.32399982213974, + -0.02502710185945034, + 0.057926807552576065, + -0.1656361222267151, + -0.19523872435092926, + -0.5777192711830139, + 0.0, + 1.0001531839370728 + ], + [ + 0.33431658148765564, + -0.041612617671489716, + 0.05515063554048538, + -0.1736278235912323, + -0.22691980004310608, + -0.5430862307548523, + 0.0, + 1.0001531839370728 + ], + [ + 0.3397165536880493, + -0.0514124259352684, + 0.041803862899541855, + -0.16662108898162842, + -0.22212398052215576, + -0.5240975022315979, + 0.0, + 0.9461179971694946 + ], + [ + 0.3409007787704468, + -0.056074660271406174, + 0.019420551136136055, + -0.14389079809188843, + -0.14842265844345093, + -0.5495474934577942, + 0.0, + 0.6601285338401794 + ], + [ + 0.3411685526371002, + -0.0501512736082077, + 0.012461259961128235, + -0.1127949133515358, + -0.09666411578655243, + -0.5509099960327148, + 0.0, + 0.365278422832489 + ], + [ + 0.3400686979293823, + -0.046192679554224014, + 0.012650014832615852, + -0.11487052589654922, + -0.0605689212679863, + -0.5563961863517761, + 0.0, + 0.19260896742343903 + ], + [ + 0.34404948353767395, + -0.03391794115304947, + 0.019554421305656433, + -0.12958446145057678, + -0.043104615062475204, + -0.5368107557296753, + 0.0, + 0.1649598330259323 + ], + [ + 0.3493273854255676, + -0.015784379094839096, + 0.02437523752450943, + -0.12724974751472473, + -0.04741489514708519, + -0.5123075246810913, + 0.0, + 0.15923498570919037 + ], + [ + 0.3532707691192627, + 0.009987935423851013, + 0.02929166704416275, + -0.10345105081796646, + -0.045385073870420456, + -0.49044203758239746, + 0.0, + 0.15872089564800262 + ], + [ + 0.35199540853500366, + 0.019589588046073914, + 0.02925536036491394, + -0.09904516488313675, + -0.03462003543972969, + -0.4842797517776489, + 0.0, + 0.15872089564800262 + ], + [ + 0.35186436772346497, + 0.03663815185427666, + 0.03136449307203293, + -0.08979272097349167, + -0.02850998193025589, + -0.4499368965625763, + 0.0, + 0.15872089564800262 + ], + [ + 0.35161012411117554, + 0.0526791512966156, + 0.034306857734918594, + -0.08892591297626495, + -0.029342908412218094, + -0.4197099506855011, + 0.0, + 0.15872089564800262 + ], + [ + 0.3533762991428375, + 0.0668608695268631, + 0.03608914464712143, + -0.08553819358348846, + -0.025392724201083183, + -0.4099564254283905, + 0.0, + 0.15872089564800262 + ], + [ + 0.35295724868774414, + 0.08330181986093521, + 0.03680010512471199, + -0.08448172360658646, + -0.021488774567842484, + -0.37652587890625, + 0.0, + 0.15872089564800262 + ], + [ + 0.3572680652141571, + 0.08742807060480118, + 0.036612369120121, + -0.0922427773475647, + -0.013942158780992031, + -0.4085336923599243, + 0.0, + 0.15872089564800262 + ], + [ + 0.359866738319397, + 0.089884914457798, + 0.03614715486764908, + -0.10569623857736588, + -0.007167852483689785, + -0.43825313448905945, + 0.0, + 0.19377118349075317 + ], + [ + 0.3540414571762085, + 0.09458822757005692, + 0.042309265583753586, + -0.14105744659900665, + 0.007138378452509642, + -0.5468001365661621, + 0.0, + 0.44298648834228516 + ], + [ + 0.3468475341796875, + 0.09162244200706482, + 0.04619041830301285, + -0.19709624350070953, + -0.005417609121650457, + -0.5774800181388855, + 0.0, + 0.7506401538848877 + ], + [ + 0.33376020193099976, + 0.09327346831560135, + 0.08131378144025803, + -0.17474858462810516, + -0.07018323242664337, + -0.5919544696807861, + 0.0, + 0.9893313646316528 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9461179971694946 + ], + [ + 0.6601285338401794 + ], + [ + 0.365278422832489 + ], + [ + 0.19260896742343903 + ], + [ + 0.1649598330259323 + ], + [ + 0.15923498570919037 + ], + [ + 0.15872089564800262 + ], + [ + 0.15872089564800262 + ], + [ + 0.15872089564800262 + ], + [ + 0.15872089564800262 + ], + [ + 0.15872089564800262 + ], + [ + 0.15872089564800262 + ], + [ + 0.15872089564800262 + ], + [ + 0.19377118349075317 + ], + [ + 0.44298648834228516 + ], + [ + 0.7506401538848877 + ], + [ + 0.9893313646316528 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.22522315382957458, + 0.1089569628238678, + 0.14841587841510773 + ], + [ + 0.22525276243686676, + 0.1072499081492424, + 0.14124681055545807 + ], + [ + 0.24194523692131042, + 0.07483160495758057, + 0.11695395410060883 + ], + [ + 0.24908964335918427, + 0.055194128304719925, + 0.10683456808328629 + ], + [ + 0.25453466176986694, + 0.031022358685731888, + 0.09197715669870377 + ], + [ + 0.2647686302661896, + 0.011125640012323856, + 0.08303739130496979 + ], + [ + 0.2724956274032593, + 0.002533856313675642, + 0.07974318414926529 + ], + [ + 0.2773497700691223, + -0.0031446698121726513, + 0.07140016555786133 + ], + [ + 0.29049667716026306, + -0.005129412282258272, + 0.06700368225574493 + ], + [ + 0.30528873205184937, + -0.013104759156703949, + 0.059898942708969116 + ], + [ + 0.32399982213974, + -0.02502710185945034, + 0.057926807552576065 + ], + [ + 0.33431658148765564, + -0.041612617671489716, + 0.05515063554048538 + ], + [ + 0.3397165536880493, + -0.0514124259352684, + 0.041803862899541855 + ], + [ + 0.3409007787704468, + -0.056074660271406174, + 0.019420551136136055 + ], + [ + 0.3411685526371002, + -0.0501512736082077, + 0.012461259961128235 + ], + [ + 0.3400686979293823, + -0.046192679554224014, + 0.012650014832615852 + ], + [ + 0.34404948353767395, + -0.03391794115304947, + 0.019554421305656433 + ], + [ + 0.3493273854255676, + -0.015784379094839096, + 0.02437523752450943 + ], + [ + 0.3532707691192627, + 0.009987935423851013, + 0.02929166704416275 + ], + [ + 0.35199540853500366, + 0.019589588046073914, + 0.02925536036491394 + ], + [ + 0.35186436772346497, + 0.03663815185427666, + 0.03136449307203293 + ], + [ + 0.35161012411117554, + 0.0526791512966156, + 0.034306857734918594 + ], + [ + 0.3533762991428375, + 0.0668608695268631, + 0.03608914464712143 + ], + [ + 0.35295724868774414, + 0.08330181986093521, + 0.03680010512471199 + ], + [ + 0.3572680652141571, + 0.08742807060480118, + 0.036612369120121 + ], + [ + 0.359866738319397, + 0.089884914457798, + 0.03614715486764908 + ], + [ + 0.3540414571762085, + 0.09458822757005692, + 0.042309265583753586 + ], + [ + 0.3468475341796875, + 0.09162244200706482, + 0.04619041830301285 + ], + [ + 0.33376020193099976, + 0.09327346831560135, + 0.08131378144025803 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9424450737489847, + -0.3340843148927651, + -0.0135997613546406, + -0.3342848535462804, + -0.9405826591474593, + -0.05964811816509271, + 0.0071358009931089825, + 0.06076126935578933, + -0.9981268198432804 + ], + [ + 0.9424006568419032, + -0.3322659124928827, + -0.03847551662058864, + -0.33426388172276084, + -0.9397160044737449, + -0.07212134435472338, + -0.012192594456527147, + 0.08082817782909897, + -0.9966534735349323 + ], + [ + 0.9014755372818373, + -0.4233993454403056, + -0.08986016894677915, + -0.43070634884875486, + -0.8980479072186563, + -0.08945388421732407, + -0.042824020640262, + 0.119343833610759, + -0.9919290058443144 + ], + [ + 0.87865491010786, + -0.4674874079970432, + -0.09706220844157093, + -0.4753556398111473, + -0.8755738324831366, + -0.08606671581121007, + -0.04475002394506258, + 0.12176201063960339, + -0.9915500230053539 + ], + [ + 0.8480148730562467, + -0.5232655332920527, + -0.0840473482269462, + -0.5296017458479804, + -0.842627871358719, + -0.09746928338838473, + -0.019818321577999343, + 0.12716702433436827, + -0.991683307337465 + ], + [ + 0.8199715936879609, + -0.5723762495181023, + -0.0056581386000270455, + -0.5699782078744716, + -0.8155473193493558, + -0.10003705538592189, + 0.052644354806869464, + 0.08525255943179397, + -0.9949676241050748 + ], + [ + 0.8154360005896651, + -0.5768430724813427, + 0.04812690175583592, + -0.5685964313717469, + -0.8137998664127715, + -0.12011609241841642, + 0.10845380202485211, + 0.07058220141678515, + -0.9915926208224395 + ], + [ + 0.8089195124722288, + -0.5865796803374687, + 0.0396673790019558, + -0.5744380149519531, + -0.8029353622442211, + -0.15910930530864967, + 0.12518062677487862, + 0.10592017122783762, + -0.9864637489575144 + ], + [ + 0.8113977617120302, + -0.5839272405590875, + 0.02574198946773435, + -0.5705152870093754, + -0.8007979093014039, + -0.18230473319996465, + 0.12706683114533648, + 0.13323545395858338, + -0.982905048430993 + ], + [ + 0.8214539117499963, + -0.5696306125089735, + 0.02710048271306592, + -0.5482646348750605, + -0.8019320577791903, + -0.23729910419415862, + 0.15690557993884763, + 0.18007204113544456, + -0.9710585456013292 + ], + [ + 0.8217950303806909, + -0.5654361343758973, + 0.07024888599572879, + -0.5357393443001355, + -0.808776725181809, + -0.24261814394856987, + 0.1940007294070302, + 0.16174729285595515, + -0.9675750773161272 + ], + [ + 0.8341704120439459, + -0.5422847642148678, + 0.1004338497263671, + -0.5035324332499893, + -0.8231603317350956, + -0.26241599974679924, + 0.22497735960709098, + 0.16832796190233018, + -0.9597139599412051 + ], + [ + 0.8445053184376099, + -0.5251344074400673, + 0.10509339300432025, + -0.4881371044492359, + -0.8355011758727823, + -0.25230923957539475, + 0.2203019164476489, + 0.16177651015449548, + -0.9619227756799013 + ], + [ + 0.8433853273860548, + -0.5349864922528332, + 0.049906338845142055, + -0.5165589925274808, + -0.8328727643064652, + -0.1987203203386634, + 0.1478783175077095, + 0.14181823431250365, + -0.9787847524494712 + ], + [ + 0.8480708745745196, + -0.5293923633089261, + 0.022792923651859594, + -0.5210191045683488, + -0.8409476238461546, + -0.14610334226944524, + 0.09651364863689266, + 0.11203044058512217, + -0.9890067219231111 + ], + [ + 0.8476067583340545, + -0.5305403794488027, + -0.009470427696557177, + -0.5271609554998974, + -0.8399034115070997, + -0.12908751424971493, + 0.0605318942613768, + 0.11440788920811173, + -0.9915879813027553 + ], + [ + 0.8585458114930417, + -0.5118953363590891, + -0.029364164922045875, + -0.5109229219501473, + -0.8492913635119748, + -0.13289826067294522, + 0.04309126818368037, + 0.12910206999806526, + -0.9906946038656598 + ], + [ + 0.8706361164731993, + -0.4914692548352096, + -0.021230267171894517, + -0.48963891253173203, + -0.861619907017384, + -0.13365953451249846, + 0.047397131001876626, + 0.12676398298838176, + -0.9907998812019068 + ], + [ + 0.8812163915762027, + -0.4726305701361726, + -0.00883263212031947, + -0.47053084932264055, + -0.8752018618301458, + -0.11234954777283643, + 0.045369494741852485, + 0.10316028897692547, + -0.9936294901647525 + ], + [ + 0.8844801950473398, + -0.4663183959682393, + -0.015554361144970018, + -0.4652920765248897, + -0.8790796095372739, + -0.1035486533903274, + 0.03461312023172667, + 0.09882405414372733, + -0.9945027592874852 + ], + [ + 0.9001086117255754, + -0.4354584097749189, + -0.013433557003131612, + -0.4347319728624466, + -0.8957351286695108, + -0.09309506452299288, + 0.02850611984438664, + 0.0896356660248255, + -0.9955665967215371 + ], + [ + 0.9128140621966275, + -0.4082648477710221, + -0.00950273279619559, + -0.4073201795445919, + -0.90853706993309, + -0.09300894523193705, + 0.029338697855447494, + 0.08877052794649877, + -0.9956199245576833 + ], + [ + 0.9168425260939712, + -0.3991015563946356, + -0.010850346953213786, + -0.3984408745049437, + -0.9129204226596255, + -0.08843738697353173, + 0.02538999545807968, + 0.08540637900268344, + -0.9960226395801898 + ], + [ + 0.9297329498422974, + -0.3680666837140223, + -0.011115678895249063, + -0.36760705327444976, + -0.9259643652040663, + -0.08634262420789918, + 0.02148712080331597, + 0.08436178466576255, + -0.9962034897186375 + ], + [ + 0.9176151286010008, + -0.39675372498132044, + -0.02385282951802296, + -0.3972255084530546, + -0.9132926729005667, + -0.09004659382981206, + 0.01394170709710119, + 0.09210306911056576, + -0.9956518736303535 + ], + [ + 0.9054710801666273, + -0.4226748752082857, + -0.03831543878831768, + -0.4243474351902585, + -0.9001201959685303, + -0.09855398042201943, + 0.007167791105396153, + 0.10549683728545853, + -0.9943938053374201 + ], + [ + 0.8541709191875893, + -0.5139350777872286, + -0.07913770677789876, + -0.5199433480993984, + -0.8462305574569943, + -0.116416314978671, + -0.007138317828263643, + 0.14058655499677242, + -0.9900426581580829 + ], + [ + 0.8378287074458259, + -0.5362339156320908, + -0.10245118206020211, + -0.5459063168513543, + -0.8210406894356639, + -0.166968498564247, + 0.005417582620110231, + 0.19581974879180575, + -0.9806249414438063 + ], + [ + 0.8278087462494564, + -0.5596036873070358, + -0.03970381323339579, + -0.5566103445594988, + -0.8104103076929443, + -0.18281153550688065, + 0.07012562985285205, + 0.17343254117205528, + -0.9823459419676677 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + 2.9608607292175293e-05, + -0.0017070546746253967, + -0.007169067859649658, + -0.020122207701206207, + 0.019328758120536804, + 4.9173831939697266e-06, + 1.0 + ], + [ + 0.016692474484443665, + -0.032418303191661835, + -0.024292856454849243, + -0.03881686180830002, + 0.03064422309398651, + -0.10486310720443726, + 1.0 + ], + [ + 0.00714440643787384, + -0.01963747665286064, + -0.01011938601732254, + -0.0024485886096954346, + 0.0019278526306152344, + -0.050196558237075806, + 1.0 + ], + [ + 0.005445018410682678, + -0.024171769618988037, + -0.01485741138458252, + -0.005349546670913696, + -0.024945354089140892, + -0.0623435378074646, + 1.0 + ], + [ + 0.010233968496322632, + -0.019896719604730606, + -0.008939765393733978, + 0.04206249117851257, + -0.07248832285404205, + -0.04918926954269409, + 1.0 + ], + [ + 0.007726997137069702, + -0.008591784164309502, + -0.0032942071557044983, + 0.014414191246032715, + -0.05599884316325188, + -0.0014628171920776367, + 1.0 + ], + [ + 0.004854142665863037, + -0.005678526125848293, + -0.008343018591403961, + -0.03590300679206848, + -0.016842342913150787, + -0.008586585521697998, + 1.0 + ], + [ + 0.013146907091140747, + -0.001984742470085621, + -0.004396483302116394, + -0.027767717838287354, + -0.001901388168334961, + 0.0046710968017578125, + 1.0 + ], + [ + 0.014792054891586304, + -0.007975347340106964, + -0.007104739546775818, + -0.04862460494041443, + -0.03014536201953888, + 0.024288952350616455, + 1.0 + ], + [ + 0.018711090087890625, + -0.011922342702746391, + -0.001972135156393051, + 0.017719998955726624, + -0.03768208622932434, + 0.010812997817993164, + 1.0 + ], + [ + 0.01031675934791565, + -0.016585515812039375, + -0.002776172012090683, + -0.007991701364517212, + -0.03168107569217682, + 0.03463304042816162, + 1.0 + ], + [ + 0.005399972200393677, + -0.009799808263778687, + -0.013346772640943527, + 0.007006734609603882, + 0.004795819520950317, + 0.018988728523254395, + 0.0 + ], + [ + 0.001184225082397461, + -0.004662234336137772, + -0.0223833117634058, + 0.02273029088973999, + 0.07370132207870483, + -0.02544999122619629, + 0.0 + ], + [ + 0.0002677738666534424, + 0.005923386663198471, + -0.00695929117500782, + 0.03109588474035263, + 0.0517585426568985, + -0.0013625025749206543, + 0.0 + ], + [ + -0.0010998547077178955, + 0.003958594053983688, + 0.0001887548714876175, + -0.0020756125450134277, + 0.03609519451856613, + -0.005486190319061279, + 0.0 + ], + [ + 0.003980785608291626, + 0.012274738401174545, + 0.006904406473040581, + -0.014713935554027557, + 0.017464306205511093, + 0.01958543062210083, + 0.0 + ], + [ + 0.005277901887893677, + 0.018133562058210373, + 0.004820816218852997, + 0.0023347139358520508, + -0.004310280084609985, + 0.024503231048583984, + 0.0 + ], + [ + 0.003943383693695068, + 0.02577231451869011, + 0.00491642951965332, + 0.02379869669675827, + 0.002029821276664734, + 0.021865487098693848, + 0.0 + ], + [ + -0.0012753605842590332, + 0.0096016526222229, + -3.6306679248809814e-05, + 0.004405885934829712, + 0.010765038430690765, + 0.006162285804748535, + 0.0 + ], + [ + -0.0001310408115386963, + 0.017048563808202744, + 0.002109132707118988, + 0.00925244390964508, + 0.006110053509473801, + 0.03434285521507263, + 0.0 + ], + [ + -0.0002542436122894287, + 0.016040999442338943, + 0.002942364662885666, + 0.0008668079972267151, + -0.000832926481962204, + 0.030226945877075195, + 0.0 + ], + [ + 0.0017661750316619873, + 0.014181718230247498, + 0.001782286912202835, + 0.0033877193927764893, + 0.003950184211134911, + 0.009753525257110596, + 0.0 + ], + [ + -0.0004190504550933838, + 0.016440950334072113, + 0.0007109604775905609, + 0.001056469976902008, + 0.0039039496332406998, + 0.0334305465221405, + 0.0 + ], + [ + 0.004310816526412964, + 0.004126250743865967, + -0.00018773600459098816, + -0.007761053740978241, + 0.007546615786850452, + -0.032007813453674316, + 0.0 + ], + [ + 0.002598673105239868, + 0.002456843852996826, + -0.00046521425247192383, + -0.013453461229801178, + 0.006774306297302246, + -0.029719442129135132, + 1.0 + ], + [ + -0.0058252811431884766, + 0.004703313112258911, + 0.0061621107161045074, + -0.03536120802164078, + 0.01430623047053814, + -0.10854700207710266, + 1.0 + ], + [ + -0.007193922996520996, + -0.002965785562992096, + 0.003881152719259262, + -0.05603879690170288, + -0.012555987574160099, + -0.03067988157272339, + 1.0 + ], + [ + -0.013087332248687744, + 0.0016510263085365295, + 0.03512336313724518, + 0.02234765887260437, + -0.06476562470197678, + -0.014474451541900635, + 1.0 + ], + [ + -0.01993522047996521, + 0.01096673309803009, + 0.030848607420921326, + 0.038655027747154236, + -0.0300925150513649, + 0.039252638816833496, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9461179971694946 + ], + [ + 0.6601285338401794 + ], + [ + 0.365278422832489 + ], + [ + 0.19260896742343903 + ], + [ + 0.1649598330259323 + ], + [ + 0.15923498570919037 + ], + [ + 0.15872089564800262 + ], + [ + 0.15872089564800262 + ], + [ + 0.15872089564800262 + ], + [ + 0.15872089564800262 + ], + [ + 0.15872089564800262 + ], + [ + 0.15872089564800262 + ], + [ + 0.15872089564800262 + ], + [ + 0.19377118349075317 + ], + [ + 0.44298648834228516 + ], + [ + 0.7506401538848877 + ], + [ + 0.9893313646316528 + ], + [ + 1.0014774799346924 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.22525276243686676, + 0.1072499081492424, + 0.14124681055545807 + ], + [ + 0.24194523692131042, + 0.07483160495758057, + 0.11695395410060883 + ], + [ + 0.24908964335918427, + 0.055194128304719925, + 0.10683456808328629 + ], + [ + 0.25453466176986694, + 0.031022358685731888, + 0.09197715669870377 + ], + [ + 0.2647686302661896, + 0.011125640012323856, + 0.08303739130496979 + ], + [ + 0.2724956274032593, + 0.002533856313675642, + 0.07974318414926529 + ], + [ + 0.2773497700691223, + -0.0031446698121726513, + 0.07140016555786133 + ], + [ + 0.29049667716026306, + -0.005129412282258272, + 0.06700368225574493 + ], + [ + 0.30528873205184937, + -0.013104759156703949, + 0.059898942708969116 + ], + [ + 0.32399982213974, + -0.02502710185945034, + 0.057926807552576065 + ], + [ + 0.33431658148765564, + -0.041612617671489716, + 0.05515063554048538 + ], + [ + 0.3397165536880493, + -0.0514124259352684, + 0.041803862899541855 + ], + [ + 0.3409007787704468, + -0.056074660271406174, + 0.019420551136136055 + ], + [ + 0.3411685526371002, + -0.0501512736082077, + 0.012461259961128235 + ], + [ + 0.3400686979293823, + -0.046192679554224014, + 0.012650014832615852 + ], + [ + 0.34404948353767395, + -0.03391794115304947, + 0.019554421305656433 + ], + [ + 0.3493273854255676, + -0.015784379094839096, + 0.02437523752450943 + ], + [ + 0.3532707691192627, + 0.009987935423851013, + 0.02929166704416275 + ], + [ + 0.35199540853500366, + 0.019589588046073914, + 0.02925536036491394 + ], + [ + 0.35186436772346497, + 0.03663815185427666, + 0.03136449307203293 + ], + [ + 0.35161012411117554, + 0.0526791512966156, + 0.034306857734918594 + ], + [ + 0.3533762991428375, + 0.0668608695268631, + 0.03608914464712143 + ], + [ + 0.35295724868774414, + 0.08330181986093521, + 0.03680010512471199 + ], + [ + 0.3572680652141571, + 0.08742807060480118, + 0.036612369120121 + ], + [ + 0.359866738319397, + 0.089884914457798, + 0.03614715486764908 + ], + [ + 0.3540414571762085, + 0.09458822757005692, + 0.042309265583753586 + ], + [ + 0.3468475341796875, + 0.09162244200706482, + 0.04619041830301285 + ], + [ + 0.33376020193099976, + 0.09327346831560135, + 0.08131378144025803 + ], + [ + 0.31382498145103455, + 0.10424020141363144, + 0.11216238886117935 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9424006568419032, + -0.3322659124928827, + -0.03847551662058864, + -0.33426388172276084, + -0.9397160044737449, + -0.07212134435472338, + -0.012192594456527147, + 0.08082817782909897, + -0.9966534735349323 + ], + [ + 0.9014755372818373, + -0.4233993454403056, + -0.08986016894677915, + -0.43070634884875486, + -0.8980479072186563, + -0.08945388421732407, + -0.042824020640262, + 0.119343833610759, + -0.9919290058443144 + ], + [ + 0.87865491010786, + -0.4674874079970432, + -0.09706220844157093, + -0.4753556398111473, + -0.8755738324831366, + -0.08606671581121007, + -0.04475002394506258, + 0.12176201063960339, + -0.9915500230053539 + ], + [ + 0.8480148730562467, + -0.5232655332920527, + -0.0840473482269462, + -0.5296017458479804, + -0.842627871358719, + -0.09746928338838473, + -0.019818321577999343, + 0.12716702433436827, + -0.991683307337465 + ], + [ + 0.8199715936879609, + -0.5723762495181023, + -0.0056581386000270455, + -0.5699782078744716, + -0.8155473193493558, + -0.10003705538592189, + 0.052644354806869464, + 0.08525255943179397, + -0.9949676241050748 + ], + [ + 0.8154360005896651, + -0.5768430724813427, + 0.04812690175583592, + -0.5685964313717469, + -0.8137998664127715, + -0.12011609241841642, + 0.10845380202485211, + 0.07058220141678515, + -0.9915926208224395 + ], + [ + 0.8089195124722288, + -0.5865796803374687, + 0.0396673790019558, + -0.5744380149519531, + -0.8029353622442211, + -0.15910930530864967, + 0.12518062677487862, + 0.10592017122783762, + -0.9864637489575144 + ], + [ + 0.8113977617120302, + -0.5839272405590875, + 0.02574198946773435, + -0.5705152870093754, + -0.8007979093014039, + -0.18230473319996465, + 0.12706683114533648, + 0.13323545395858338, + -0.982905048430993 + ], + [ + 0.8214539117499963, + -0.5696306125089735, + 0.02710048271306592, + -0.5482646348750605, + -0.8019320577791903, + -0.23729910419415862, + 0.15690557993884763, + 0.18007204113544456, + -0.9710585456013292 + ], + [ + 0.8217950303806909, + -0.5654361343758973, + 0.07024888599572879, + -0.5357393443001355, + -0.808776725181809, + -0.24261814394856987, + 0.1940007294070302, + 0.16174729285595515, + -0.9675750773161272 + ], + [ + 0.8341704120439459, + -0.5422847642148678, + 0.1004338497263671, + -0.5035324332499893, + -0.8231603317350956, + -0.26241599974679924, + 0.22497735960709098, + 0.16832796190233018, + -0.9597139599412051 + ], + [ + 0.8445053184376099, + -0.5251344074400673, + 0.10509339300432025, + -0.4881371044492359, + -0.8355011758727823, + -0.25230923957539475, + 0.2203019164476489, + 0.16177651015449548, + -0.9619227756799013 + ], + [ + 0.8433853273860548, + -0.5349864922528332, + 0.049906338845142055, + -0.5165589925274808, + -0.8328727643064652, + -0.1987203203386634, + 0.1478783175077095, + 0.14181823431250365, + -0.9787847524494712 + ], + [ + 0.8480708745745196, + -0.5293923633089261, + 0.022792923651859594, + -0.5210191045683488, + -0.8409476238461546, + -0.14610334226944524, + 0.09651364863689266, + 0.11203044058512217, + -0.9890067219231111 + ], + [ + 0.8476067583340545, + -0.5305403794488027, + -0.009470427696557177, + -0.5271609554998974, + -0.8399034115070997, + -0.12908751424971493, + 0.0605318942613768, + 0.11440788920811173, + -0.9915879813027553 + ], + [ + 0.8585458114930417, + -0.5118953363590891, + -0.029364164922045875, + -0.5109229219501473, + -0.8492913635119748, + -0.13289826067294522, + 0.04309126818368037, + 0.12910206999806526, + -0.9906946038656598 + ], + [ + 0.8706361164731993, + -0.4914692548352096, + -0.021230267171894517, + -0.48963891253173203, + -0.861619907017384, + -0.13365953451249846, + 0.047397131001876626, + 0.12676398298838176, + -0.9907998812019068 + ], + [ + 0.8812163915762027, + -0.4726305701361726, + -0.00883263212031947, + -0.47053084932264055, + -0.8752018618301458, + -0.11234954777283643, + 0.045369494741852485, + 0.10316028897692547, + -0.9936294901647525 + ], + [ + 0.8844801950473398, + -0.4663183959682393, + -0.015554361144970018, + -0.4652920765248897, + -0.8790796095372739, + -0.1035486533903274, + 0.03461312023172667, + 0.09882405414372733, + -0.9945027592874852 + ], + [ + 0.9001086117255754, + -0.4354584097749189, + -0.013433557003131612, + -0.4347319728624466, + -0.8957351286695108, + -0.09309506452299288, + 0.02850611984438664, + 0.0896356660248255, + -0.9955665967215371 + ], + [ + 0.9128140621966275, + -0.4082648477710221, + -0.00950273279619559, + -0.4073201795445919, + -0.90853706993309, + -0.09300894523193705, + 0.029338697855447494, + 0.08877052794649877, + -0.9956199245576833 + ], + [ + 0.9168425260939712, + -0.3991015563946356, + -0.010850346953213786, + -0.3984408745049437, + -0.9129204226596255, + -0.08843738697353173, + 0.02538999545807968, + 0.08540637900268344, + -0.9960226395801898 + ], + [ + 0.9297329498422974, + -0.3680666837140223, + -0.011115678895249063, + -0.36760705327444976, + -0.9259643652040663, + -0.08634262420789918, + 0.02148712080331597, + 0.08436178466576255, + -0.9962034897186375 + ], + [ + 0.9176151286010008, + -0.39675372498132044, + -0.02385282951802296, + -0.3972255084530546, + -0.9132926729005667, + -0.09004659382981206, + 0.01394170709710119, + 0.09210306911056576, + -0.9956518736303535 + ], + [ + 0.9054710801666273, + -0.4226748752082857, + -0.03831543878831768, + -0.4243474351902585, + -0.9001201959685303, + -0.09855398042201943, + 0.007167791105396153, + 0.10549683728545853, + -0.9943938053374201 + ], + [ + 0.8541709191875893, + -0.5139350777872286, + -0.07913770677789876, + -0.5199433480993984, + -0.8462305574569943, + -0.116416314978671, + -0.007138317828263643, + 0.14058655499677242, + -0.9900426581580829 + ], + [ + 0.8378287074458259, + -0.5362339156320908, + -0.10245118206020211, + -0.5459063168513543, + -0.8210406894356639, + -0.166968498564247, + 0.005417582620110231, + 0.19581974879180575, + -0.9806249414438063 + ], + [ + 0.8278087462494564, + -0.5596036873070358, + -0.03970381323339579, + -0.5566103445594988, + -0.8104103076929443, + -0.18281153550688065, + 0.07012562985285205, + 0.17343254117205528, + -0.9823459419676677 + ], + [ + 0.8468337365112594, + -0.5316941882767814, + 0.013187602476309242, + -0.5223514664877025, + -0.8361090664166161, + -0.16754275428702037, + 0.10010778273703391, + 0.1349922931453083, + -0.9857766038138893 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006148.json b/json/chunk-0006/episode_0006148.json new file mode 100644 index 0000000000000000000000000000000000000000..10c21467947b98f97c94dfe231084e89929f6233 --- /dev/null +++ b/json/chunk-0006/episode_0006148.json @@ -0,0 +1,2122 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 34, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the silver pot to the right of the cloth." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006148.mp4", + "start": 0, + "end": 34, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.4211771488189697, + 0.17120704054832458, + 0.10959906876087189, + 0.054207418113946915, + -0.17507295310497284, + 0.30546069145202637, + 0.0, + 0.9988223910331726 + ], + [ + 0.41851794719696045, + 0.1689259111881256, + 0.09043272584676743, + 0.04799960181117058, + -0.1278172880411148, + 0.30521124601364136, + 0.0, + 0.9988223910331726 + ], + [ + 0.4062981903553009, + 0.14920493960380554, + 0.07028351724147797, + 0.014623315073549747, + -0.06979595124721527, + 0.28480619192123413, + 0.0, + 0.9988223910331726 + ], + [ + 0.39740341901779175, + 0.12652482092380524, + 0.07255043834447861, + 0.0037955029401928186, + -0.07212844491004944, + 0.19771398603916168, + 0.0, + 0.9988223910331726 + ], + [ + 0.3823126256465912, + 0.10572676360607147, + 0.06953287869691849, + -0.023957587778568268, + -0.06953869014978409, + 0.11972010135650635, + 0.0, + 0.9988223910331726 + ], + [ + 0.3716823160648346, + 0.07334057241678238, + 0.06774428486824036, + -0.02942419797182083, + -0.08040942996740341, + -0.0248552318662405, + 0.0, + 0.9988223910331726 + ], + [ + 0.3666955828666687, + 0.041050706058740616, + 0.06703799217939377, + -0.029704125598073006, + -0.08121362328529358, + -0.14901086688041687, + 0.0, + 0.9988223910331726 + ], + [ + 0.36056455969810486, + 0.013024712912738323, + 0.060801055282354355, + -0.02944149635732174, + -0.08325258642435074, + -0.25830191373825073, + 0.0, + 0.9988223910331726 + ], + [ + 0.35037198662757874, + -0.015514234080910683, + 0.05290553346276283, + -0.02836480736732483, + -0.07104358077049255, + -0.360876202583313, + 0.0, + 0.9988223910331726 + ], + [ + 0.34013631939888, + -0.02822362631559372, + 0.04157886654138565, + -0.017374925315380096, + -0.04652233421802521, + -0.4348132014274597, + 0.0, + 0.9988223910331726 + ], + [ + 0.3373802900314331, + -0.04054943472146988, + 0.037767089903354645, + -0.0170449111610651, + -0.05382152274250984, + -0.4897270202636719, + 0.0, + 0.9988223910331726 + ], + [ + 0.33516836166381836, + -0.0439869686961174, + 0.030106548219919205, + 0.007582478225231171, + -0.0019300527637824416, + -0.5151572227478027, + 0.0, + 0.9716382026672363 + ], + [ + 0.33750003576278687, + -0.044094353914260864, + 0.0285956971347332, + 0.0225390437990427, + -0.009273500181734562, + -0.518644392490387, + 0.0, + 0.6951970458030701 + ], + [ + 0.3392254710197449, + -0.043170299381017685, + 0.027091078460216522, + 0.03217398002743721, + -0.013817086815834045, + -0.5181214809417725, + 0.0, + 0.3840504586696625 + ], + [ + 0.33965328335762024, + -0.04283854365348816, + 0.027632560580968857, + 0.0353829599916935, + -0.016282176598906517, + -0.5046302080154419, + 0.0, + 0.1628633439540863 + ], + [ + 0.33987000584602356, + -0.04286375269293785, + 0.027948083356022835, + 0.035534463822841644, + -0.016000421717762947, + -0.5122541785240173, + 0.0, + 0.07591649144887924 + ], + [ + 0.3394346237182617, + -0.03311541676521301, + 0.02786465920507908, + -0.0035021002404391766, + -0.021306781098246574, + -0.47521671652793884, + 0.0, + 0.06833917647600174 + ], + [ + 0.34066739678382874, + -0.021049775183200836, + 0.0445907823741436, + -0.05641791969537735, + -0.06979434937238693, + -0.4470890164375305, + 0.0, + 0.06384159624576569 + ], + [ + 0.3460632264614105, + -0.004667738452553749, + 0.07249697297811508, + -0.13173018395900726, + -0.13157504796981812, + -0.3578861951828003, + 0.0, + 0.05812275409698486 + ], + [ + 0.35297733545303345, + 0.009902307763695717, + 0.08920155465602875, + -0.1721859574317932, + -0.15826065838336945, + -0.3060680627822876, + 0.0, + 0.05812275409698486 + ], + [ + 0.3649783432483673, + 0.02792559377849102, + 0.10868748277425766, + -0.17897531390190125, + -0.18652962148189545, + -0.24732926487922668, + 0.0, + 0.05812275409698486 + ], + [ + 0.3819667100906372, + 0.04811597615480423, + 0.10260201245546341, + -0.19037577509880066, + -0.15062503516674042, + -0.17967236042022705, + 0.0, + 0.05812275409698486 + ], + [ + 0.4016377031803131, + 0.06546882539987564, + 0.09399349242448807, + -0.18027934432029724, + -0.11407246440649033, + -0.11357826739549637, + 0.0, + 0.05812275409698486 + ], + [ + 0.4147084057331085, + 0.07476126402616501, + 0.07762274146080017, + -0.1755572110414505, + -0.0660230815410614, + -0.07579613476991653, + 0.0, + 0.05784503370523453 + ], + [ + 0.4209275245666504, + 0.08018892258405685, + 0.06211026385426521, + -0.15304388105869293, + -0.030294016003608704, + -0.05688994750380516, + 0.0, + 0.05812275409698486 + ], + [ + 0.4218956232070923, + 0.07980094850063324, + 0.04315493628382683, + -0.13843576610088348, + 0.01165102981030941, + -0.04858012869954109, + 0.0, + 0.05784503370523453 + ], + [ + 0.4250328540802002, + 0.08022148162126541, + 0.03682611510157585, + -0.13092321157455444, + 0.010734496638178825, + -0.039477165788412094, + 0.0, + 0.05784503370523453 + ], + [ + 0.4254918694496155, + 0.08087295293807983, + 0.03345334529876709, + -0.12108027189970016, + 0.02160622365772724, + -0.031175874173641205, + 0.0, + 0.07270156592130661 + ], + [ + 0.42520734667778015, + 0.0804409384727478, + 0.03329457715153694, + -0.11060567200183868, + 0.029796184971928596, + -0.0023231811355799437, + 0.0, + 0.2148229479789734 + ], + [ + 0.4249819815158844, + 0.08040246367454529, + 0.03256164863705635, + -0.1106957346200943, + 0.029156671836972237, + -0.008116928860545158, + 0.0, + 0.4709327220916748 + ], + [ + 0.42135128378868103, + 0.07958193868398666, + 0.028699325397610664, + -0.11397676169872284, + 0.04462862014770508, + -0.003516123630106449, + 0.0, + 0.7730204463005066 + ], + [ + 0.42087599635124207, + 0.0819116085767746, + 0.03576310724020004, + -0.09476436674594879, + 0.029347959905862808, + 0.0008605560287833214, + 0.0, + 1.0041072368621826 + ], + [ + 0.4209236204624176, + 0.08267451822757721, + 0.06060289964079857, + -0.08037468045949936, + -0.03193313628435135, + 0.0025450445245951414, + 0.0, + 1.0099300146102905 + ], + [ + 0.41861239075660706, + 0.08203186839818954, + 0.08391878008842468, + -0.07231497019529343, + -0.10641603916883469, + 0.0011382534867152572, + 0.0, + 1.0047606229782104 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9716382026672363 + ], + [ + 0.6951970458030701 + ], + [ + 0.3840504586696625 + ], + [ + 0.1628633439540863 + ], + [ + 0.07591649144887924 + ], + [ + 0.06833917647600174 + ], + [ + 0.06384159624576569 + ], + [ + 0.05812275409698486 + ], + [ + 0.05812275409698486 + ], + [ + 0.05812275409698486 + ], + [ + 0.05812275409698486 + ], + [ + 0.05812275409698486 + ], + [ + 0.05784503370523453 + ], + [ + 0.05812275409698486 + ], + [ + 0.05784503370523453 + ], + [ + 0.05784503370523453 + ], + [ + 0.07270156592130661 + ], + [ + 0.2148229479789734 + ], + [ + 0.4709327220916748 + ], + [ + 0.7730204463005066 + ], + [ + 1.0041072368621826 + ], + [ + 1.0099300146102905 + ], + [ + 1.0047606229782104 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.4211771488189697, + 0.17120704054832458, + 0.10959906876087189 + ], + [ + 0.41851794719696045, + 0.1689259111881256, + 0.09043272584676743 + ], + [ + 0.4062981903553009, + 0.14920493960380554, + 0.07028351724147797 + ], + [ + 0.39740341901779175, + 0.12652482092380524, + 0.07255043834447861 + ], + [ + 0.3823126256465912, + 0.10572676360607147, + 0.06953287869691849 + ], + [ + 0.3716823160648346, + 0.07334057241678238, + 0.06774428486824036 + ], + [ + 0.3666955828666687, + 0.041050706058740616, + 0.06703799217939377 + ], + [ + 0.36056455969810486, + 0.013024712912738323, + 0.060801055282354355 + ], + [ + 0.35037198662757874, + -0.015514234080910683, + 0.05290553346276283 + ], + [ + 0.34013631939888, + -0.02822362631559372, + 0.04157886654138565 + ], + [ + 0.3373802900314331, + -0.04054943472146988, + 0.037767089903354645 + ], + [ + 0.33516836166381836, + -0.0439869686961174, + 0.030106548219919205 + ], + [ + 0.33750003576278687, + -0.044094353914260864, + 0.0285956971347332 + ], + [ + 0.3392254710197449, + -0.043170299381017685, + 0.027091078460216522 + ], + [ + 0.33965328335762024, + -0.04283854365348816, + 0.027632560580968857 + ], + [ + 0.33987000584602356, + -0.04286375269293785, + 0.027948083356022835 + ], + [ + 0.3394346237182617, + -0.03311541676521301, + 0.02786465920507908 + ], + [ + 0.34066739678382874, + -0.021049775183200836, + 0.0445907823741436 + ], + [ + 0.3460632264614105, + -0.004667738452553749, + 0.07249697297811508 + ], + [ + 0.35297733545303345, + 0.009902307763695717, + 0.08920155465602875 + ], + [ + 0.3649783432483673, + 0.02792559377849102, + 0.10868748277425766 + ], + [ + 0.3819667100906372, + 0.04811597615480423, + 0.10260201245546341 + ], + [ + 0.4016377031803131, + 0.06546882539987564, + 0.09399349242448807 + ], + [ + 0.4147084057331085, + 0.07476126402616501, + 0.07762274146080017 + ], + [ + 0.4209275245666504, + 0.08018892258405685, + 0.06211026385426521 + ], + [ + 0.4218956232070923, + 0.07980094850063324, + 0.04315493628382683 + ], + [ + 0.4250328540802002, + 0.08022148162126541, + 0.03682611510157585 + ], + [ + 0.4254918694496155, + 0.08087295293807983, + 0.03345334529876709 + ], + [ + 0.42520734667778015, + 0.0804409384727478, + 0.03329457715153694 + ], + [ + 0.4249819815158844, + 0.08040246367454529, + 0.03256164863705635 + ], + [ + 0.42135128378868103, + 0.07958193868398666, + 0.028699325397610664 + ], + [ + 0.42087599635124207, + 0.0819116085767746, + 0.03576310724020004 + ], + [ + 0.4209236204624176, + 0.08267451822757721, + 0.06060289964079857 + ], + [ + 0.41861239075660706, + 0.08203186839818954, + 0.08391878008842468 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9391299628007055, + 0.3092911979742646, + 0.14957896852696329, + 0.2961355246073903, + -0.9494695618537311, + 0.1039774118681072, + 0.1741799759887792, + -0.05335265662484455, + -0.9832674254726534 + ], + [ + 0.9460029928252015, + 0.3059820387463693, + 0.10702022953805146, + 0.2980433752787144, + -0.9508470992778048, + 0.08402345058051314, + 0.12746954153143128, + -0.04758976528204222, + -0.9907001212385951 + ], + [ + 0.9573794575706005, + 0.2819201172526442, + 0.06281418398799522, + 0.2802873609303963, + -0.9593269835384062, + 0.033626387819328585, + 0.06973929684543793, + -0.014587191071535905, + -0.9974585927907714 + ], + [ + 0.9779687039892224, + 0.1966951498747763, + 0.06991589256656994, + 0.19591762871722376, + -0.9804573866612889, + 0.0178772396956616, + 0.07206591965319603, + -0.0037856250547803035, + -0.9973926870934456 + ], + [ + 0.9904425631745126, + 0.1177474793054733, + 0.07182659792520603, + 0.11914566311092736, + -0.9927559848194967, + -0.015487593968376491, + 0.06948265980918893, + 0.023897399906245557, + -0.9972968837129503 + ], + [ + 0.9964610259172273, + -0.027204278290632242, + 0.07953207573472018, + -0.02477237136788409, + -0.9991996686634886, + -0.031406237590430666, + 0.08032280774972367, + 0.02932489361380155, + -0.996337441417184 + ], + [ + 0.9856589194087834, + -0.1507772169961547, + 0.07578077213122034, + -0.14797070694632203, + -0.9881244660044135, + -0.04140905177975363, + 0.08112437658136515, + 0.02960186680577951, + -0.9962643047936114 + ], + [ + 0.963476535174517, + -0.25769515690080014, + 0.07284347793714668, + -0.25455445609873495, + -0.9657808483395383, + -0.04969287535290035, + 0.08315644922905754, + 0.029335287461241012, + -0.9961046360002455 + ], + [ + 0.9332277488834585, + -0.354835599482765, + 0.05637079078405141, + -0.3522034412236842, + -0.9345006172591864, + -0.05158810262448508, + 0.07098383410402206, + 0.028289462382773793, + -0.9970762265814918 + ], + [ + 0.9059674552514465, + -0.4219102151868608, + 0.034853125343286065, + -0.4207852224491234, + -0.9064714918388107, + -0.035344462818981945, + 0.046505554438794255, + 0.017355252936720637, + -0.9987672544701506 + ], + [ + 0.8811834679071211, + -0.4711258081456919, + 0.03944830523923662, + -0.4697038807189749, + -0.8819018158135052, + -0.040341686905444214, + 0.05379554186653608, + 0.01701940550990652, + -0.9984069208050267 + ], + [ + 0.8702136530390983, + -0.49264477489467584, + 0.005415148504133726, + -0.49267075513501113, + -0.8701974678824045, + 0.0056474707391161285, + 0.0019300515655082257, + -0.007582391445017452, + -0.9999693906519983 + ], + [ + 0.8684546126007218, + -0.4953958434591605, + 0.01922353078694501, + -0.49568194491234835, + -0.8683749647965224, + 0.014977650101058048, + 0.009273367265528411, + -0.022536166444738846, + -0.9997030188318594 + ], + [ + 0.8686681206108869, + -0.49460661215377894, + 0.02792839859552245, + -0.4952017735177045, + -0.868521553507488, + 0.021107216724601655, + 0.013816647179008703, + -0.03216535879949849, + -0.9993870571275325 + ], + [ + 0.8752372931183969, + -0.4826769829235425, + 0.031346624867880216, + -0.48341968814560893, + -0.8750838990693655, + 0.023099235977816907, + 0.01628145718243774, + -0.0353708883883756, + -0.9992416196329261 + ], + [ + 0.8715302789071802, + -0.48933844703774215, + 0.03135055340282486, + -0.49008058653625236, + -0.871370208702957, + 0.023129593278914215, + 0.015999739005854212, + -0.03552243848127426, + -0.9992407941612915 + ], + [ + 0.8889917580033081, + -0.45759470025000154, + 0.017341986774844956, + -0.45742731004632237, + -0.8891539974684987, + -0.012861757639407372, + 0.02130516899659201, + 0.0035012981735930123, + -0.999766888172001 + ], + [ + 0.8995141277039704, + -0.435200475889943, + 0.03840416443736887, + -0.4312899111006276, + -0.8985746509553977, + -0.0809481886344476, + 0.06973769887068289, + 0.056250710622644876, + -0.9959781678885685 + ], + [ + 0.9285435137227208, + -0.36340086594130366, + 0.07580734632325689, + -0.34726736279682907, + -0.9224879782625109, + -0.16858620553675427, + 0.13119573872500234, + 0.13021421041597528, + -0.9827674890563612 + ], + [ + 0.9416093696273741, + -0.3226039746733966, + 0.09642857748025502, + -0.2975462484218668, + -0.9312892494603919, + -0.21015842569255325, + 0.15760084098764132, + 0.16919518126833924, + -0.9729002855152021 + ], + [ + 0.9527512999472886, + -0.2729142478789411, + 0.13335206692595128, + -0.2405687385717681, + -0.9460000734264413, + -0.21727987274286545, + 0.1854498381523688, + 0.1749333426818324, + -0.9669574360577722 + ], + [ + 0.9727620444185421, + -0.20341626215085856, + 0.11115677771162397, + -0.1766838017693157, + -0.9610519721410979, + -0.2125133902511731, + 0.1500561199385062, + 0.1870853578885302, + -0.9708152397509637 + ], + [ + 0.9870995829411888, + -0.131775361334163, + 0.0909377122132631, + -0.11259764802022769, + -0.9751419021373304, + -0.19084035306062047, + 0.11382523014536103, + 0.17813906040293392, + -0.9773997606614787 + ], + [ + 0.9949563713772971, + -0.08604958184450226, + 0.05154889446058268, + -0.07555859874236626, + -0.980929787226695, + -0.17907442778766847, + 0.06597512570516312, + 0.1742762806459247, + -0.9824841275015138 + ], + [ + 0.9979241170159591, + -0.0608047324928556, + 0.021218887444696154, + -0.05683317674684619, + -0.9864501895577288, + -0.15390261057689197, + 0.03028938260810468, + 0.15237718998588007, + -0.9878581605034332 + ], + [ + 0.9987524251965929, + -0.04649060305026602, + -0.01822682067575629, + -0.04855772657921753, + -0.989342640560836, + -0.1372708518133771, + -0.011650766214353967, + 0.13798464913219435, + -0.990365839601954 + ], + [ + 0.9991633086162268, + -0.0377288821529475, + -0.01578651850673253, + -0.039464638891936334, + -0.9907246444089418, + -0.13002777102567178, + -0.010734290484399753, + 0.13054198716223245, + -0.9913846703452358 + ], + [ + 0.9992807798423472, + -0.028334385508629722, + -0.02520090545038193, + -0.0311635488267264, + -0.9922777044211247, + -0.12005744680471728, + -0.021604542628692124, + 0.12075644871637967, + -0.9924470383003889 + ], + [ + 0.9995534291354734, + 0.0009794330019562056, + -0.029866084686661028, + -0.002322147848249302, + -0.9938943835126105, + -0.11031120546643858, + -0.02979177626270378, + 0.11033129716033721, + -0.9934482648502792 + ], + [ + 0.999542046269941, + -0.0048467910663943055, + -0.029869823482193178, + -0.008113389865783315, + -0.9938728804576785, + -0.11023098654934702, + -0.02915254094216254, + 0.11042285138102184, + -0.9934570565703884 + ], + [ + 0.9989981330079676, + 0.001580600866564061, + -0.044723952726652014, + -0.003512615417548413, + -0.9935233765471712, + -0.11357359634719884, + -0.04461380705032454, + 0.1136169087557335, + -0.992522446227423 + ], + [ + 0.9995690094150285, + 0.0036332752782834918, + -0.029130649285771564, + 0.0008601853495757543, + -0.9955104586013959, + -0.0946476988436727, + -0.029343747174190016, + 0.09458184881884261, + -0.9950845282566635 + ], + [ + 0.9994869437557394, + -2.6583469267696912e-05, + 0.03202887065025283, + 0.0025437442657694808, + -0.9967749896963491, + -0.0802069154185194, + 0.03192770939046254, + 0.0802472380157867, + -0.9962635204422151 + ], + [ + 0.9943425105343608, + -0.006538980448599947, + 0.10601987303764007, + 0.0011318143184057806, + -0.9973945009490802, + -0.07213132795730144, + 0.10621530370230622, + 0.07184324053958001, + -0.9917443511551749 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0026592016220092773, + -0.0022811293601989746, + -0.01916634291410446, + -0.006207816302776337, + 0.04725566506385803, + -0.00024944543838500977, + 1.0 + ], + [ + -0.012219756841659546, + -0.01972097158432007, + -0.02014920860528946, + -0.033376287668943405, + 0.058021336793899536, + -0.020405054092407227, + 1.0 + ], + [ + -0.008894771337509155, + -0.022680118680000305, + 0.002266921103000641, + -0.010827812366187572, + -0.0023324936628341675, + -0.08709220588207245, + 1.0 + ], + [ + -0.015090793371200562, + -0.020798057317733765, + -0.0030175596475601196, + -0.027753090485930443, + 0.0025897547602653503, + -0.07799388468265533, + 1.0 + ], + [ + -0.010630309581756592, + -0.03238619118928909, + -0.001788593828678131, + -0.0054666101932525635, + -0.010870739817619324, + -0.1445753276348114, + 1.0 + ], + [ + -0.0049867331981658936, + -0.03228986635804176, + -0.0007062926888465881, + -0.0002799276262521744, + -0.0008041933178901672, + -0.12415563315153122, + 1.0 + ], + [ + -0.006131023168563843, + -0.028025992214679718, + -0.0062369368970394135, + 0.0002626292407512665, + -0.0020389631390571594, + -0.10929104685783386, + 1.0 + ], + [ + -0.010192573070526123, + -0.02853894606232643, + -0.007895521819591522, + 0.00107668898999691, + 0.012209005653858185, + -0.10257428884506226, + 1.0 + ], + [ + -0.01023566722869873, + -0.012709392234683037, + -0.011326666921377182, + 0.010989882051944733, + 0.024521246552467346, + -0.07393699884414673, + 1.0 + ], + [ + -0.0027560293674468994, + -0.01232580840587616, + -0.003811776638031006, + 0.0003300141543149948, + -0.007299188524484634, + -0.05491381883621216, + 1.0 + ], + [ + -0.002211928367614746, + -0.003437533974647522, + -0.00766054168343544, + 0.024627389386296272, + 0.05189146846532822, + -0.02543020248413086, + 0.0 + ], + [ + 0.002331674098968506, + -0.00010738521814346313, + -0.0015108510851860046, + 0.014956565573811531, + -0.0073434473015367985, + -0.0034871697425842285, + 0.0 + ], + [ + 0.0017254352569580078, + 0.0009240545332431793, + -0.0015046186745166779, + 0.009634936228394508, + -0.0045435866340994835, + 0.000522911548614502, + 0.0 + ], + [ + 0.0004278123378753662, + 0.00033175572752952576, + 0.0005414821207523346, + 0.0032089799642562866, + -0.0024650897830724716, + 0.013491272926330566, + 0.0 + ], + [ + 0.0002167224884033203, + -2.5209039449691772e-05, + 0.00031552277505397797, + 0.00015150383114814758, + 0.00028175488114356995, + -0.0076239705085754395, + 0.0 + ], + [ + -0.0004353821277618408, + 0.009748335927724838, + -8.34241509437561e-05, + -0.03903656452894211, + -0.005306359380483627, + 0.03703746199607849, + 0.0 + ], + [ + 0.0012327730655670166, + 0.012065641582012177, + 0.016726123169064522, + -0.052915818989276886, + -0.04848756641149521, + 0.028127700090408325, + 0.0 + ], + [ + 0.005395829677581787, + 0.016382036730647087, + 0.02790619060397148, + -0.07531226426362991, + -0.06178069859743118, + 0.08920282125473022, + 0.0 + ], + [ + 0.006914108991622925, + 0.014570046216249466, + 0.016704581677913666, + -0.04045577347278595, + -0.02668561041355133, + 0.051818132400512695, + 0.0 + ], + [ + 0.012001007795333862, + 0.018023286014795303, + 0.019485928118228912, + -0.006789356470108032, + -0.028268963098526, + 0.05873879790306091, + 0.0 + ], + [ + 0.016988366842269897, + 0.02019038237631321, + -0.0060854703187942505, + -0.011400461196899414, + 0.03590458631515503, + 0.06765690445899963, + 0.0 + ], + [ + 0.019670993089675903, + 0.01735284924507141, + -0.008608520030975342, + 0.010096430778503418, + 0.03655257076025009, + 0.06609409302473068, + 0.0 + ], + [ + 0.01307070255279541, + 0.009292438626289368, + -0.016370750963687897, + 0.004722133278846741, + 0.048049382865428925, + 0.037782132625579834, + 0.0 + ], + [ + 0.00621911883354187, + 0.005427658557891846, + -0.015512477606534958, + 0.02251332998275757, + 0.0357290655374527, + 0.018906187266111374, + 0.0 + ], + [ + 0.0009680986404418945, + -0.0003879740834236145, + -0.018955327570438385, + 0.014608114957809448, + 0.04194504767656326, + 0.008309818804264069, + 0.0 + ], + [ + 0.00313723087310791, + 0.00042053312063217163, + -0.0063288211822509766, + 0.0075125545263290405, + -0.0009165331721305847, + 0.009102962911128998, + 0.0 + ], + [ + 0.0004590153694152832, + 0.0006514713168144226, + -0.0033727698028087616, + 0.009842939674854279, + 0.010871727019548416, + 0.00830129161477089, + 1.0 + ], + [ + -0.00028452277183532715, + -0.00043201446533203125, + -0.00015876814723014832, + 0.01047459989786148, + 0.008189961314201355, + 0.028852693736553192, + 1.0 + ], + [ + -0.00022536516189575195, + -3.847479820251465e-05, + -0.0007329285144805908, + -9.006261825561523e-05, + -0.0006395131349563599, + -0.005793747492134571, + 1.0 + ], + [ + -0.003630697727203369, + -0.0008205249905586243, + -0.0038623232394456863, + -0.00328102707862854, + 0.015471948310732841, + 0.004600805230438709, + 1.0 + ], + [ + -0.00047528743743896484, + 0.0023296698927879333, + 0.007063781842589378, + 0.019212394952774048, + -0.01528066024184227, + 0.0043766796588897705, + 1.0 + ], + [ + 4.762411117553711e-05, + 0.0007629096508026123, + 0.024839792400598526, + 0.014389686286449432, + -0.06128109619021416, + 0.00168448849581182, + 1.0 + ], + [ + -0.002311229705810547, + -0.0006426498293876648, + 0.023315880447626114, + 0.008059710264205933, + -0.07448290288448334, + -0.0014067910378798842, + 1.0 + ], + [ + -0.0005936920642852783, + 0.0029921457171440125, + 0.000957190990447998, + -0.0007312372326850891, + -0.003308914601802826, + 0.008262958377599716, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9716382026672363 + ], + [ + 0.6951970458030701 + ], + [ + 0.3840504586696625 + ], + [ + 0.1628633439540863 + ], + [ + 0.07591649144887924 + ], + [ + 0.06833917647600174 + ], + [ + 0.06384159624576569 + ], + [ + 0.05812275409698486 + ], + [ + 0.05812275409698486 + ], + [ + 0.05812275409698486 + ], + [ + 0.05812275409698486 + ], + [ + 0.05812275409698486 + ], + [ + 0.05784503370523453 + ], + [ + 0.05812275409698486 + ], + [ + 0.05784503370523453 + ], + [ + 0.05784503370523453 + ], + [ + 0.07270156592130661 + ], + [ + 0.2148229479789734 + ], + [ + 0.4709327220916748 + ], + [ + 0.7730204463005066 + ], + [ + 1.0041072368621826 + ], + [ + 1.0099300146102905 + ], + [ + 1.0047606229782104 + ], + [ + 1.0014774799346924 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.41851794719696045, + 0.1689259111881256, + 0.09043272584676743 + ], + [ + 0.4062981903553009, + 0.14920493960380554, + 0.07028351724147797 + ], + [ + 0.39740341901779175, + 0.12652482092380524, + 0.07255043834447861 + ], + [ + 0.3823126256465912, + 0.10572676360607147, + 0.06953287869691849 + ], + [ + 0.3716823160648346, + 0.07334057241678238, + 0.06774428486824036 + ], + [ + 0.3666955828666687, + 0.041050706058740616, + 0.06703799217939377 + ], + [ + 0.36056455969810486, + 0.013024712912738323, + 0.060801055282354355 + ], + [ + 0.35037198662757874, + -0.015514234080910683, + 0.05290553346276283 + ], + [ + 0.34013631939888, + -0.02822362631559372, + 0.04157886654138565 + ], + [ + 0.3373802900314331, + -0.04054943472146988, + 0.037767089903354645 + ], + [ + 0.33516836166381836, + -0.0439869686961174, + 0.030106548219919205 + ], + [ + 0.33750003576278687, + -0.044094353914260864, + 0.0285956971347332 + ], + [ + 0.3392254710197449, + -0.043170299381017685, + 0.027091078460216522 + ], + [ + 0.33965328335762024, + -0.04283854365348816, + 0.027632560580968857 + ], + [ + 0.33987000584602356, + -0.04286375269293785, + 0.027948083356022835 + ], + [ + 0.3394346237182617, + -0.03311541676521301, + 0.02786465920507908 + ], + [ + 0.34066739678382874, + -0.021049775183200836, + 0.0445907823741436 + ], + [ + 0.3460632264614105, + -0.004667738452553749, + 0.07249697297811508 + ], + [ + 0.35297733545303345, + 0.009902307763695717, + 0.08920155465602875 + ], + [ + 0.3649783432483673, + 0.02792559377849102, + 0.10868748277425766 + ], + [ + 0.3819667100906372, + 0.04811597615480423, + 0.10260201245546341 + ], + [ + 0.4016377031803131, + 0.06546882539987564, + 0.09399349242448807 + ], + [ + 0.4147084057331085, + 0.07476126402616501, + 0.07762274146080017 + ], + [ + 0.4209275245666504, + 0.08018892258405685, + 0.06211026385426521 + ], + [ + 0.4218956232070923, + 0.07980094850063324, + 0.04315493628382683 + ], + [ + 0.4250328540802002, + 0.08022148162126541, + 0.03682611510157585 + ], + [ + 0.4254918694496155, + 0.08087295293807983, + 0.03345334529876709 + ], + [ + 0.42520734667778015, + 0.0804409384727478, + 0.03329457715153694 + ], + [ + 0.4249819815158844, + 0.08040246367454529, + 0.03256164863705635 + ], + [ + 0.42135128378868103, + 0.07958193868398666, + 0.028699325397610664 + ], + [ + 0.42087599635124207, + 0.0819116085767746, + 0.03576310724020004 + ], + [ + 0.4209236204624176, + 0.08267451822757721, + 0.06060289964079857 + ], + [ + 0.41861239075660706, + 0.08203186839818954, + 0.08391878008842468 + ], + [ + 0.4180186986923218, + 0.08502401411533356, + 0.08487597107887268 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9460029928252015, + 0.3059820387463693, + 0.10702022953805146, + 0.2980433752787144, + -0.9508470992778048, + 0.08402345058051314, + 0.12746954153143128, + -0.04758976528204222, + -0.9907001212385951 + ], + [ + 0.9573794575706005, + 0.2819201172526442, + 0.06281418398799522, + 0.2802873609303963, + -0.9593269835384062, + 0.033626387819328585, + 0.06973929684543793, + -0.014587191071535905, + -0.9974585927907714 + ], + [ + 0.9779687039892224, + 0.1966951498747763, + 0.06991589256656994, + 0.19591762871722376, + -0.9804573866612889, + 0.0178772396956616, + 0.07206591965319603, + -0.0037856250547803035, + -0.9973926870934456 + ], + [ + 0.9904425631745126, + 0.1177474793054733, + 0.07182659792520603, + 0.11914566311092736, + -0.9927559848194967, + -0.015487593968376491, + 0.06948265980918893, + 0.023897399906245557, + -0.9972968837129503 + ], + [ + 0.9964610259172273, + -0.027204278290632242, + 0.07953207573472018, + -0.02477237136788409, + -0.9991996686634886, + -0.031406237590430666, + 0.08032280774972367, + 0.02932489361380155, + -0.996337441417184 + ], + [ + 0.9856589194087834, + -0.1507772169961547, + 0.07578077213122034, + -0.14797070694632203, + -0.9881244660044135, + -0.04140905177975363, + 0.08112437658136515, + 0.02960186680577951, + -0.9962643047936114 + ], + [ + 0.963476535174517, + -0.25769515690080014, + 0.07284347793714668, + -0.25455445609873495, + -0.9657808483395383, + -0.04969287535290035, + 0.08315644922905754, + 0.029335287461241012, + -0.9961046360002455 + ], + [ + 0.9332277488834585, + -0.354835599482765, + 0.05637079078405141, + -0.3522034412236842, + -0.9345006172591864, + -0.05158810262448508, + 0.07098383410402206, + 0.028289462382773793, + -0.9970762265814918 + ], + [ + 0.9059674552514465, + -0.4219102151868608, + 0.034853125343286065, + -0.4207852224491234, + -0.9064714918388107, + -0.035344462818981945, + 0.046505554438794255, + 0.017355252936720637, + -0.9987672544701506 + ], + [ + 0.8811834679071211, + -0.4711258081456919, + 0.03944830523923662, + -0.4697038807189749, + -0.8819018158135052, + -0.040341686905444214, + 0.05379554186653608, + 0.01701940550990652, + -0.9984069208050267 + ], + [ + 0.8702136530390983, + -0.49264477489467584, + 0.005415148504133726, + -0.49267075513501113, + -0.8701974678824045, + 0.0056474707391161285, + 0.0019300515655082257, + -0.007582391445017452, + -0.9999693906519983 + ], + [ + 0.8684546126007218, + -0.4953958434591605, + 0.01922353078694501, + -0.49568194491234835, + -0.8683749647965224, + 0.014977650101058048, + 0.009273367265528411, + -0.022536166444738846, + -0.9997030188318594 + ], + [ + 0.8686681206108869, + -0.49460661215377894, + 0.02792839859552245, + -0.4952017735177045, + -0.868521553507488, + 0.021107216724601655, + 0.013816647179008703, + -0.03216535879949849, + -0.9993870571275325 + ], + [ + 0.8752372931183969, + -0.4826769829235425, + 0.031346624867880216, + -0.48341968814560893, + -0.8750838990693655, + 0.023099235977816907, + 0.01628145718243774, + -0.0353708883883756, + -0.9992416196329261 + ], + [ + 0.8715302789071802, + -0.48933844703774215, + 0.03135055340282486, + -0.49008058653625236, + -0.871370208702957, + 0.023129593278914215, + 0.015999739005854212, + -0.03552243848127426, + -0.9992407941612915 + ], + [ + 0.8889917580033081, + -0.45759470025000154, + 0.017341986774844956, + -0.45742731004632237, + -0.8891539974684987, + -0.012861757639407372, + 0.02130516899659201, + 0.0035012981735930123, + -0.999766888172001 + ], + [ + 0.8995141277039704, + -0.435200475889943, + 0.03840416443736887, + -0.4312899111006276, + -0.8985746509553977, + -0.0809481886344476, + 0.06973769887068289, + 0.056250710622644876, + -0.9959781678885685 + ], + [ + 0.9285435137227208, + -0.36340086594130366, + 0.07580734632325689, + -0.34726736279682907, + -0.9224879782625109, + -0.16858620553675427, + 0.13119573872500234, + 0.13021421041597528, + -0.9827674890563612 + ], + [ + 0.9416093696273741, + -0.3226039746733966, + 0.09642857748025502, + -0.2975462484218668, + -0.9312892494603919, + -0.21015842569255325, + 0.15760084098764132, + 0.16919518126833924, + -0.9729002855152021 + ], + [ + 0.9527512999472886, + -0.2729142478789411, + 0.13335206692595128, + -0.2405687385717681, + -0.9460000734264413, + -0.21727987274286545, + 0.1854498381523688, + 0.1749333426818324, + -0.9669574360577722 + ], + [ + 0.9727620444185421, + -0.20341626215085856, + 0.11115677771162397, + -0.1766838017693157, + -0.9610519721410979, + -0.2125133902511731, + 0.1500561199385062, + 0.1870853578885302, + -0.9708152397509637 + ], + [ + 0.9870995829411888, + -0.131775361334163, + 0.0909377122132631, + -0.11259764802022769, + -0.9751419021373304, + -0.19084035306062047, + 0.11382523014536103, + 0.17813906040293392, + -0.9773997606614787 + ], + [ + 0.9949563713772971, + -0.08604958184450226, + 0.05154889446058268, + -0.07555859874236626, + -0.980929787226695, + -0.17907442778766847, + 0.06597512570516312, + 0.1742762806459247, + -0.9824841275015138 + ], + [ + 0.9979241170159591, + -0.0608047324928556, + 0.021218887444696154, + -0.05683317674684619, + -0.9864501895577288, + -0.15390261057689197, + 0.03028938260810468, + 0.15237718998588007, + -0.9878581605034332 + ], + [ + 0.9987524251965929, + -0.04649060305026602, + -0.01822682067575629, + -0.04855772657921753, + -0.989342640560836, + -0.1372708518133771, + -0.011650766214353967, + 0.13798464913219435, + -0.990365839601954 + ], + [ + 0.9991633086162268, + -0.0377288821529475, + -0.01578651850673253, + -0.039464638891936334, + -0.9907246444089418, + -0.13002777102567178, + -0.010734290484399753, + 0.13054198716223245, + -0.9913846703452358 + ], + [ + 0.9992807798423472, + -0.028334385508629722, + -0.02520090545038193, + -0.0311635488267264, + -0.9922777044211247, + -0.12005744680471728, + -0.021604542628692124, + 0.12075644871637967, + -0.9924470383003889 + ], + [ + 0.9995534291354734, + 0.0009794330019562056, + -0.029866084686661028, + -0.002322147848249302, + -0.9938943835126105, + -0.11031120546643858, + -0.02979177626270378, + 0.11033129716033721, + -0.9934482648502792 + ], + [ + 0.999542046269941, + -0.0048467910663943055, + -0.029869823482193178, + -0.008113389865783315, + -0.9938728804576785, + -0.11023098654934702, + -0.02915254094216254, + 0.11042285138102184, + -0.9934570565703884 + ], + [ + 0.9989981330079676, + 0.001580600866564061, + -0.044723952726652014, + -0.003512615417548413, + -0.9935233765471712, + -0.11357359634719884, + -0.04461380705032454, + 0.1136169087557335, + -0.992522446227423 + ], + [ + 0.9995690094150285, + 0.0036332752782834918, + -0.029130649285771564, + 0.0008601853495757543, + -0.9955104586013959, + -0.0946476988436727, + -0.029343747174190016, + 0.09458184881884261, + -0.9950845282566635 + ], + [ + 0.9994869437557394, + -2.6583469267696912e-05, + 0.03202887065025283, + 0.0025437442657694808, + -0.9967749896963491, + -0.0802069154185194, + 0.03192770939046254, + 0.0802472380157867, + -0.9962635204422151 + ], + [ + 0.9943425105343608, + -0.006538980448599947, + 0.10601987303764007, + 0.0011318143184057806, + -0.9973945009490802, + -0.07213132795730144, + 0.10621530370230622, + 0.07184324053958001, + -0.9917443511551749 + ], + [ + 0.9939423291577393, + 0.0013845493641834782, + 0.10989417332846414, + 0.009344537370538197, + -0.997364370180552, + -0.07195132184804834, + 0.10950491281133919, + 0.07254237463309954, + -0.9913356030894744 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006149.json b/json/chunk-0006/episode_0006149.json new file mode 100644 index 0000000000000000000000000000000000000000..d115daff4b1e12a49ab80250080d4d13e1a10204 --- /dev/null +++ b/json/chunk-0006/episode_0006149.json @@ -0,0 +1,2842 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 46, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the spoon inside the orange tin." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006149.mp4", + "start": 0, + "end": 46, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.25362974405288696, + 0.1433565467596054, + 0.10561171919107437, + 0.059535134583711624, + -0.2522071301937103, + 0.3593936860561371, + 0.0, + 0.9988223910331726 + ], + [ + 0.25022485852241516, + 0.1406317949295044, + 0.09809890389442444, + 0.053676895797252655, + -0.22635984420776367, + 0.3485300540924072, + 0.0, + 0.9988223910331726 + ], + [ + 0.23852913081645966, + 0.12071333080530167, + 0.08747812360525131, + 0.03915023058652878, + -0.20955538749694824, + 0.11454317718744278, + 0.0, + 0.9988223910331726 + ], + [ + 0.22441315650939941, + 0.09889530390501022, + 0.08669188618659973, + 0.06300827115774155, + -0.25555676221847534, + -0.14485925436019897, + 0.0, + 0.9988223910331726 + ], + [ + 0.21148987114429474, + 0.07735501229763031, + 0.08072192966938019, + 0.06251538544893265, + -0.27845513820648193, + -0.4035680294036865, + 0.0, + 0.9988223910331726 + ], + [ + 0.1944187581539154, + 0.04845940321683884, + 0.06669637560844421, + 0.06836744397878647, + -0.2160320281982422, + -0.6499776244163513, + 0.0, + 0.9988223910331726 + ], + [ + 0.18665704131126404, + 0.033775780349969864, + 0.05837664008140564, + 0.04234274849295616, + -0.1589861363172531, + -0.8961364030838013, + 0.0, + 0.9988223910331726 + ], + [ + 0.17817547917366028, + 0.02212631143629551, + 0.0419287383556366, + 0.0492253378033638, + -0.128292053937912, + -1.06063973903656, + 0.0, + 0.9988223910331726 + ], + [ + 0.17824341356754303, + 0.019738726317882538, + 0.029875498265028, + 0.022427113726735115, + -0.11439339071512222, + -1.1005438566207886, + 0.0, + 0.9988223910331726 + ], + [ + 0.17965592443943024, + 0.016811659559607506, + 0.023382097482681274, + 0.012885176576673985, + -0.10610473901033401, + -1.1046289205551147, + 0.0, + 0.9988223910331726 + ], + [ + 0.1758214831352234, + 0.014716770499944687, + 0.018458906561136246, + 0.008201024495065212, + -0.10455658286809921, + -1.1212735176086426, + 0.0, + 0.9687211513519287 + ], + [ + 0.1747787892818451, + 0.011528977192938328, + 0.01459016464650631, + 0.014570546336472034, + -0.11207376420497894, + -1.128258466720581, + 0.0, + 0.7950940132141113 + ], + [ + 0.1751996874809265, + 0.007961904630064964, + 0.011186602525413036, + 0.0053229983896017075, + -0.10965748876333237, + -1.1155400276184082, + 0.0, + 0.898204505443573 + ], + [ + 0.17303429543972015, + 0.003519749268889427, + 0.005824416410177946, + -0.027046380564570427, + -0.10020002722740173, + -1.1064783334732056, + 0.0, + 0.7565051317214966 + ], + [ + 0.17377521097660065, + 0.0022821754682809114, + 0.004140308126807213, + -0.031516604125499725, + -0.09680715948343277, + -1.0944898128509521, + 0.0, + 0.9015869498252869 + ], + [ + 0.17706796526908875, + -0.00028180229128338397, + 0.002534541068598628, + -0.01616608537733555, + -0.09929639101028442, + -1.084157943725586, + 0.0, + 0.8660832643508911 + ], + [ + 0.1862771064043045, + -0.001732601784169674, + -0.0001473407755838707, + 0.05161280557513237, + -0.11374218016862869, + -1.0769386291503906, + 0.0, + 0.6951970458030701 + ], + [ + 0.19473281502723694, + -0.001903083291836083, + -0.0021777756046503782, + 0.08791498839855194, + -0.12434346973896027, + -1.078240990638733, + 0.0, + 0.4265471398830414 + ], + [ + 0.19447408616542816, + -0.003373031970113516, + -0.0019716033712029457, + 0.07229504734277725, + -0.128789484500885, + -1.0649774074554443, + 0.0, + 0.26948168873786926 + ], + [ + 0.19590890407562256, + -0.0036045496817678213, + -0.002238340675830841, + 0.043514449149370193, + -0.12125783413648605, + -1.057357668876648, + 0.0, + 0.1778956800699234 + ], + [ + 0.1916164755821228, + -0.0019517767941579223, + -0.001783197047188878, + 0.009286796674132347, + -0.12660913169384003, + -1.0513813495635986, + 0.0, + 0.16707322001457214 + ], + [ + 0.15885291993618011, + -0.0010258808033540845, + 0.010622689500451088, + -0.15394115447998047, + -0.09714412689208984, + -1.0676814317703247, + 0.0, + 0.16707322001457214 + ], + [ + 0.14476390182971954, + 0.005421553738415241, + 0.03019753098487854, + -0.18922187387943268, + -0.0948047861456871, + -1.1359080076217651, + 0.0, + 0.1660143882036209 + ], + [ + 0.141866996884346, + 0.015668388456106186, + 0.04836953803896904, + -0.16340509057044983, + -0.17013530433177948, + -1.1099424362182617, + 0.0, + 0.1660143882036209 + ], + [ + 0.1613648533821106, + 0.033999744802713394, + 0.0685400664806366, + -0.08088959008455276, + -0.23434986174106598, + -0.9716382026672363, + 0.0, + 0.1660143882036209 + ], + [ + 0.19370193779468536, + 0.061900366097688675, + 0.07962337881326675, + 0.03449253737926483, + -0.25903087854385376, + -0.7547342777252197, + 0.0, + 0.1660143882036209 + ], + [ + 0.23522476851940155, + 0.08292492479085922, + 0.08974414318799973, + 0.07457201182842255, + -0.3115922510623932, + -0.5121833086013794, + 0.0, + 0.1660143882036209 + ], + [ + 0.2738773226737976, + 0.08122003823518753, + 0.0891197919845581, + 0.0895654708147049, + -0.36736372113227844, + -0.25761353969573975, + 0.0, + 0.1660143882036209 + ], + [ + 0.2982894778251648, + 0.06572498381137848, + 0.08570171147584915, + 0.11078660190105438, + -0.385542094707489, + -0.21448914706707, + 0.0, + 0.1660143882036209 + ], + [ + 0.31218254566192627, + 0.04339001327753067, + 0.0870690792798996, + 0.15564996004104614, + -0.42977026104927063, + -0.27053317427635193, + 0.0, + 0.1660143882036209 + ], + [ + 0.31815052032470703, + 0.027814606204628944, + 0.07677830755710602, + 0.14709821343421936, + -0.40694963932037354, + -0.2484518438577652, + 0.0, + 0.1660143882036209 + ], + [ + 0.31894341111183167, + 0.02597806416451931, + 0.07789476960897446, + 0.15750545263290405, + -0.32735922932624817, + -0.24731430411338806, + 0.0, + 0.1660143882036209 + ], + [ + 0.3072151839733124, + 0.03193607181310654, + 0.07583814859390259, + 0.18039706349372864, + -0.23897302150726318, + -0.20040620863437653, + 0.0, + 0.1660143882036209 + ], + [ + 0.3038661479949951, + 0.035332560539245605, + 0.07954390347003937, + 0.23122535645961761, + -0.16261523962020874, + -0.14358097314834595, + 0.0, + 0.1660143882036209 + ], + [ + 0.30272242426872253, + 0.03598867356777191, + 0.07831691205501556, + 0.24068978428840637, + -0.12736624479293823, + -0.12219583243131638, + 0.0, + 0.1660143882036209 + ], + [ + 0.30741631984710693, + 0.032176289707422256, + 0.07256904244422913, + 0.25383174419403076, + -0.12544719874858856, + -0.09356935322284698, + 0.0, + 0.1660143882036209 + ], + [ + 0.31145042181015015, + 0.02516542747616768, + 0.06863422691822052, + 0.23948702216148376, + -0.11834092438220978, + -0.08913811296224594, + 0.0, + 0.1660143882036209 + ], + [ + 0.3167838752269745, + 0.021091127768158913, + 0.0638813003897667, + 0.2506435513496399, + -0.07790879905223846, + -0.08117539435625076, + 0.0, + 0.1660143882036209 + ], + [ + 0.3132918179035187, + 0.019260235130786896, + 0.061635859310626984, + 0.2666943073272705, + -0.03545469790697098, + -0.07455047965049744, + 0.0, + 0.21544429659843445 + ], + [ + 0.3181834816932678, + 0.017866333946585655, + 0.06305569410324097, + 0.25888556241989136, + -0.07514136284589767, + -0.05925609916448593, + 0.0, + 0.4522285461425781 + ], + [ + 0.31973716616630554, + 0.023188913241028786, + 0.07312066107988358, + 0.2539665699005127, + -0.11395137757062912, + -0.053036414086818695, + 0.0, + 0.7437760233879089 + ], + [ + 0.31615564227104187, + 0.026590151712298393, + 0.07855167984962463, + 0.24132834374904633, + -0.13138031959533691, + -0.04376624897122383, + 0.0, + 0.9816622138023376 + ], + [ + 0.3092530369758606, + 0.03263116627931595, + 0.09717420488595963, + 0.20041333138942719, + -0.2302679717540741, + -0.062413718551397324, + 0.0, + 0.9994885921478271 + ], + [ + 0.2848922312259674, + 0.049511708319187164, + 0.1061900332570076, + 0.16431131958961487, + -0.3397091031074524, + -0.09778416901826859, + 0.0, + 0.9994885921478271 + ], + [ + 0.2602275311946869, + 0.08011578023433685, + 0.10546623170375824, + 0.13644210994243622, + -0.4029378294944763, + -0.07855921238660812, + 0.0, + 0.9994885921478271 + ], + [ + 0.24848029017448425, + 0.11852849274873734, + 0.1022651195526123, + 0.15459099411964417, + -0.418773353099823, + -0.037113916128873825, + 0.0, + 0.9994885921478271 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9687211513519287 + ], + [ + 0.7950940132141113 + ], + [ + 0.898204505443573 + ], + [ + 0.7565051317214966 + ], + [ + 0.9015869498252869 + ], + [ + 0.8660832643508911 + ], + [ + 0.6951970458030701 + ], + [ + 0.4265471398830414 + ], + [ + 0.26948168873786926 + ], + [ + 0.1778956800699234 + ], + [ + 0.16707322001457214 + ], + [ + 0.16707322001457214 + ], + [ + 0.1660143882036209 + ], + [ + 0.1660143882036209 + ], + [ + 0.1660143882036209 + ], + [ + 0.1660143882036209 + ], + [ + 0.1660143882036209 + ], + [ + 0.1660143882036209 + ], + [ + 0.1660143882036209 + ], + [ + 0.1660143882036209 + ], + [ + 0.1660143882036209 + ], + [ + 0.1660143882036209 + ], + [ + 0.1660143882036209 + ], + [ + 0.1660143882036209 + ], + [ + 0.1660143882036209 + ], + [ + 0.1660143882036209 + ], + [ + 0.1660143882036209 + ], + [ + 0.1660143882036209 + ], + [ + 0.21544429659843445 + ], + [ + 0.4522285461425781 + ], + [ + 0.7437760233879089 + ], + [ + 0.9816622138023376 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.25362974405288696, + 0.1433565467596054, + 0.10561171919107437 + ], + [ + 0.25022485852241516, + 0.1406317949295044, + 0.09809890389442444 + ], + [ + 0.23852913081645966, + 0.12071333080530167, + 0.08747812360525131 + ], + [ + 0.22441315650939941, + 0.09889530390501022, + 0.08669188618659973 + ], + [ + 0.21148987114429474, + 0.07735501229763031, + 0.08072192966938019 + ], + [ + 0.1944187581539154, + 0.04845940321683884, + 0.06669637560844421 + ], + [ + 0.18665704131126404, + 0.033775780349969864, + 0.05837664008140564 + ], + [ + 0.17817547917366028, + 0.02212631143629551, + 0.0419287383556366 + ], + [ + 0.17824341356754303, + 0.019738726317882538, + 0.029875498265028 + ], + [ + 0.17965592443943024, + 0.016811659559607506, + 0.023382097482681274 + ], + [ + 0.1758214831352234, + 0.014716770499944687, + 0.018458906561136246 + ], + [ + 0.1747787892818451, + 0.011528977192938328, + 0.01459016464650631 + ], + [ + 0.1751996874809265, + 0.007961904630064964, + 0.011186602525413036 + ], + [ + 0.17303429543972015, + 0.003519749268889427, + 0.005824416410177946 + ], + [ + 0.17377521097660065, + 0.0022821754682809114, + 0.004140308126807213 + ], + [ + 0.17706796526908875, + -0.00028180229128338397, + 0.002534541068598628 + ], + [ + 0.1862771064043045, + -0.001732601784169674, + -0.0001473407755838707 + ], + [ + 0.19473281502723694, + -0.001903083291836083, + -0.0021777756046503782 + ], + [ + 0.19447408616542816, + -0.003373031970113516, + -0.0019716033712029457 + ], + [ + 0.19590890407562256, + -0.0036045496817678213, + -0.002238340675830841 + ], + [ + 0.1916164755821228, + -0.0019517767941579223, + -0.001783197047188878 + ], + [ + 0.15885291993618011, + -0.0010258808033540845, + 0.010622689500451088 + ], + [ + 0.14476390182971954, + 0.005421553738415241, + 0.03019753098487854 + ], + [ + 0.141866996884346, + 0.015668388456106186, + 0.04836953803896904 + ], + [ + 0.1613648533821106, + 0.033999744802713394, + 0.0685400664806366 + ], + [ + 0.19370193779468536, + 0.061900366097688675, + 0.07962337881326675 + ], + [ + 0.23522476851940155, + 0.08292492479085922, + 0.08974414318799973 + ], + [ + 0.2738773226737976, + 0.08122003823518753, + 0.0891197919845581 + ], + [ + 0.2982894778251648, + 0.06572498381137848, + 0.08570171147584915 + ], + [ + 0.31218254566192627, + 0.04339001327753067, + 0.0870690792798996 + ], + [ + 0.31815052032470703, + 0.027814606204628944, + 0.07677830755710602 + ], + [ + 0.31894341111183167, + 0.02597806416451931, + 0.07789476960897446 + ], + [ + 0.3072151839733124, + 0.03193607181310654, + 0.07583814859390259 + ], + [ + 0.3038661479949951, + 0.035332560539245605, + 0.07954390347003937 + ], + [ + 0.30272242426872253, + 0.03598867356777191, + 0.07831691205501556 + ], + [ + 0.30741631984710693, + 0.032176289707422256, + 0.07256904244422913 + ], + [ + 0.31145042181015015, + 0.02516542747616768, + 0.06863422691822052 + ], + [ + 0.3167838752269745, + 0.021091127768158913, + 0.0638813003897667 + ], + [ + 0.3132918179035187, + 0.019260235130786896, + 0.061635859310626984 + ], + [ + 0.3181834816932678, + 0.017866333946585655, + 0.06305569410324097 + ], + [ + 0.31973716616630554, + 0.023188913241028786, + 0.07312066107988358 + ], + [ + 0.31615564227104187, + 0.026590151712298393, + 0.07855167984962463 + ], + [ + 0.3092530369758606, + 0.03263116627931595, + 0.09717420488595963 + ], + [ + 0.2848922312259674, + 0.049511708319187164, + 0.1061900332570076 + ], + [ + 0.2602275311946869, + 0.08011578023433685, + 0.10546623170375824 + ], + [ + 0.24848029017448425, + 0.11852849274873734, + 0.1022651195526123 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9064954656665024, + 0.36498272096326706, + 0.21225829577267658, + 0.3405801307420953, + -0.9292296928340137, + 0.14330859185443873, + 0.2495418707747628, + -0.05761763058174763, + -0.9666483659409854 + ], + [ + 0.9158993359707834, + 0.352341795249576, + 0.1923113769088652, + 0.33280445884522725, + -0.9344098684515477, + 0.1269621593747391, + 0.2244317235620071, + -0.052282473742804904, + -0.9730862985359108 + ], + [ + 0.9717139560069914, + 0.12229408461067517, + 0.2020300585815876, + 0.11179254326439345, + -0.9917552590340776, + 0.06264130784656638, + 0.20802503448316365, + -0.03828397899234873, + -0.9773739928915604 + ], + [ + 0.9573890973821197, + -0.1283164666645224, + 0.25872958971981314, + -0.13966495948862406, + -0.9898603146622117, + 0.025889313391215307, + 0.2527841278737479, + -0.06092160404618446, + -0.9656027873072597 + ], + [ + 0.8842412803917383, + -0.37614218996268284, + 0.27682920904640085, + -0.37757581948390834, + -0.9246128169401258, + -0.0502756331745337, + 0.27487062155172926, + -0.06006822521202194, + -0.9596030167353808 + ], + [ + 0.777592609103336, + -0.5920971572265328, + 0.21159085677818074, + -0.5911018684328115, + -0.8030993461906301, + -0.07503346775553842, + 0.2143555816933752, + -0.06672628082278191, + -0.9744738519039152 + ], + [ + 0.6167541138558271, + -0.7760334432145991, + 0.13185771897923498, + -0.7710706995722693, + -0.629305306767912, + -0.09708144588372963, + 0.15831721101334706, + -0.04179624248946029, + -0.9865032867713708 + ], + [ + 0.4843008677945792, + -0.8685368567287809, + 0.10533944160240702, + -0.8654963421928111, + -0.4932161623782849, + -0.08748656365237886, + 0.12794042013485019, + -0.04880108269830374, + -0.990580488008517 + ], + [ + 0.4501499236819579, + -0.8900699067056959, + 0.07169802916428103, + -0.8856275620573995, + -0.4552792793120148, + -0.09156745684685214, + 0.11414406481896114, + -0.022278667061721054, + -0.9932143743727022 + ], + [ + 0.44693822903531255, + -0.8926099792748615, + 0.05910705817167187, + -0.8882737131971842, + -0.4506476099805211, + -0.08880620508573947, + 0.1059057593791046, + -0.012812358009945776, + -0.9942936254510335 + ], + [ + 0.43216277269513703, + -0.9002523547725594, + 0.05273552524544701, + -0.8957360312268952, + -0.4352920571252962, + -0.0904311194529776, + 0.10436618349993532, + -0.008156146767298492, + -0.9945054937060771 + ], + [ + 0.4255476138003041, + -0.902874044473786, + 0.061054796735512645, + -0.8979984413860894, + -0.4296612960170832, + -0.09481545218514884, + 0.11183929388645616, + -0.01447862287884795, + -0.9936208239678306 + ], + [ + 0.4370515713293661, + -0.8978795044888718, + 0.052899143824361526, + -0.892753762394587, + -0.440209496400664, + -0.09594956492336684, + 0.10943785327226391, + -0.005291001558524626, + -0.9939795579254467 + ], + [ + 0.4455669531956461, + -0.8950115925715061, + 0.020599499570736965, + -0.8896424004356376, + -0.4452305457181134, + -0.10151926175198019, + 0.10003244257272266, + 0.026907439903617783, + -0.9946202793582923 + ], + [ + 0.45635316223954947, + -0.8896495949972666, + 0.01629077761074422, + -0.8845334388375089, + -0.4555654808123655, + -0.10030298236088883, + 0.09665602356942873, + 0.03136384564108069, + -0.9948235633992333 + ], + [ + 0.46535356639202957, + -0.8845438686838109, + 0.032065598701667614, + -0.8795559376473189, + -0.4661795715363682, + -0.09517331365206386, + 0.09913329811705485, + 0.016085753201067247, + -0.9949441380039332 + ], + [ + 0.47096315025162255, + -0.876562670887827, + 0.099154400361591, + -0.8748211945925156, + -0.47855057356262226, + -0.07534736912865124, + 0.11349708629207879, + -0.05125653664543016, + -0.9922152885610684 + ], + [ + 0.46922805219317754, + -0.8725750276895206, + 0.13578606735460438, + -0.8743244571653095, + -0.4806477385318769, + -0.06733865937765132, + 0.124023298769157, + -0.08712389165335144, + -0.9884470895630132 + ], + [ + 0.4805111920037731, + -0.8679979841974863, + 0.12525371766224325, + -0.8675331503857555, + -0.49137367484989547, + -0.07705935794097293, + 0.12843374689262482, + -0.0716338683417915, + -0.9891275759807285 + ], + [ + 0.48756885724702786, + -0.8676516177228383, + 0.0972485460342138, + -0.8646647153133856, + -0.4952938978469001, + -0.08389806224011287, + 0.12096090085167478, + -0.043181304039662305, + -0.9917176188041559 + ], + [ + 0.4923992777077709, + -0.8674902178311352, + 0.07073664736298609, + -0.8611611629050362, + -0.4973689324165339, + -0.10500284077530231, + 0.1262711479987082, + -0.009212330548089613, + -0.9919529878723898 + ], + [ + 0.47988352217620145, + -0.8728954210062592, + -0.088121445347137, + -0.871954397870842, + -0.4634258185785003, + -0.15789882427853677, + 0.09699140775068918, + 0.1526109257594365, + -0.983515415314568 + ], + [ + 0.4194171843150439, + -0.898231093148991, + -0.13141586206242067, + -0.9028444902136197, + -0.3976409438421065, + -0.16356499097076904, + 0.09466283321425367, + 0.18725005495520508, + -0.9777404384227559 + ], + [ + 0.43829224917686127, + -0.8959911037123685, + -0.07141320872065776, + -0.8827412404373074, + -0.4141185851057174, + -0.22197680036716158, + 0.16931570140625507, + 0.16033009554768815, + -0.9724332644037725 + ], + [ + 0.5485322308329006, + -0.8336917794152086, + 0.06379975449000252, + -0.80323757233177, + -0.5466088160490226, + -0.23670277694199218, + 0.23221066756728925, + 0.07859274236842087, + -0.9694851142307266 + ], + [ + 0.7041514300229663, + -0.6782529762570975, + 0.21010393569612382, + -0.662239439541513, + -0.7340719746809762, + -0.1502573149757283, + 0.2561438820513863, + -0.033335209409296726, + -0.9660637015752553 + ], + [ + 0.8297024241588343, + -0.46880981080124395, + 0.30300371060674475, + -0.46648247554831335, + -0.8804478261363952, + -0.0848865446228885, + 0.30657460323919744, + -0.07091534917208137, + -0.9492012567946435 + ], + [ + 0.9024799577604186, + -0.22268744974036692, + 0.36870072629286377, + -0.23777442171486107, + -0.9713093072389963, + -0.004642633849978296, + 0.3591563033261662, + -0.08347771797930945, + -0.9295365621545235 + ], + [ + 0.905362027251512, + -0.1709187632710026, + 0.38872403575408593, + -0.1972241169124119, + -0.9799448544576785, + 0.028473319617476282, + 0.37606149406600003, + -0.10244441704568696, + -0.9209141621763766 + ], + [ + 0.8759976078514614, + -0.20177195477308962, + 0.4380824914391849, + -0.24294237307228872, + -0.9692410920877749, + 0.0393790397864429, + 0.41666196659225097, + -0.14092474472406769, + -0.8980718356122377 + ], + [ + 0.890134397462527, + -0.1870161586582311, + 0.4155547026021279, + -0.22582128976066337, + -0.9730920915795369, + 0.04578784113923963, + 0.39580992855770325, + -0.13459843129130844, + -0.908414972767988 + ], + [ + 0.9180839583411814, + -0.1928694876199334, + 0.34629930144574655, + -0.23180065903281893, + -0.9699183594976362, + 0.07434265519447739, + 0.3215436205377717, + -0.1485252054522683, + -0.9351737610929975 + ], + [ + 0.9521361459541708, + -0.1542174086069944, + 0.2639199697826635, + -0.19341024379709787, + -0.972537429279344, + 0.12947365077525655, + 0.23670495804246658, + -0.1743213685503566, + -0.9558152663066466 + ], + [ + 0.9766529547502275, + -0.10255925458755963, + 0.18876070903684936, + -0.14120042343140965, + -0.9686790540925939, + 0.20426289576197643, + 0.1618994947504179, + -0.22614705273498825, + -0.9605446705587605 + ], + [ + 0.9845036530381434, + -0.08832544857593952, + 0.15149644315432267, + -0.1209046187015308, + -0.9676228192240836, + 0.22155846382721334, + 0.1270221647240721, + -0.23644173669362228, + -0.9633071549708926 + ], + [ + 0.9878017696837363, + -0.05915739247339119, + 0.14404189225856334, + -0.09269866325450546, + -0.966658647015695, + 0.23870068701328356, + 0.12511843045893045, + -0.24914145192146353, + -0.9603509334060953 + ], + [ + 0.9890634770899436, + -0.05858514634351602, + 0.13535589722896946, + -0.08839749987737641, + -0.9700959742761903, + 0.2260523893007065, + 0.11806489868788167, + -0.23554528507494635, + -0.9646652778952824 + ], + [ + 0.9936837193533616, + -0.05931215879525733, + 0.09526139675186358, + -0.08084031008576908, + -0.967128271756672, + 0.24109697267736405, + 0.07783000807726083, + -0.247275097387503, + -0.9658144314798234 + ], + [ + 0.9965956934118501, + -0.06253235822801496, + 0.053728279773290255, + -0.07443463504205435, + -0.9626637558403824, + 0.2602652076199289, + 0.035447270404220355, + -0.26337842995532446, + -0.9640411265372231 + ], + [ + 0.9954280394763674, + -0.03806330824529336, + 0.08760252730177759, + -0.05905431765573084, + -0.9661173753442654, + 0.25125645190546436, + 0.07507067197282133, + -0.2552810248007687, + -0.9639481275391418 + ], + [ + 0.9921175822821691, + -0.022783470676128518, + 0.12322181783488556, + -0.052667750537255975, + -0.9680768835833887, + 0.24505765755189024, + 0.11370492944428179, + -0.24961582669258797, + -0.9616460513539516 + ], + [ + 0.9904326757093944, + -0.011205692576977365, + 0.13754107510485533, + -0.04337522146709262, + -0.9714613537087426, + 0.23319825988428244, + 0.1310026910021693, + -0.23693305110145974, + -0.9626531172992392 + ], + [ + 0.9717095578613685, + -0.01577680559362494, + 0.23565149599806276, + -0.060726880636771556, + -0.9809102621615582, + 0.18473576685165913, + 0.22823843043841527, + -0.19381989059795754, + -0.9541179533368003 + ], + [ + 0.9383475737542941, + -0.042069239324599814, + 0.34312389880636407, + -0.09204910826475853, + -0.9871397149517978, + 0.13069867953635617, + 0.33321283363203946, + -0.1542250377452828, + -0.9301525924467305 + ], + [ + 0.9170757914008408, + -0.024577385105943313, + 0.3979547021557552, + -0.07219332791907238, + -0.9918364224627354, + 0.10511248489257495, + 0.39212257806774015, + -0.1251257895786343, + -0.9113634952925384 + ], + [ + 0.9129592956688865, + 0.025906793719507097, + 0.4072274088159411, + -0.033899060830102794, + -0.9897174336716151, + 0.13896134412601616, + 0.4066401088513131, + -0.14067067756162618, + -0.9026935151798451 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0034048855304718018, + -0.002724751830101013, + -0.007512815296649933, + -0.005858238786458969, + 0.025847285985946655, + -0.010863631963729858, + 1.0 + ], + [ + -0.011695727705955505, + -0.01991846412420273, + -0.010620780289173126, + -0.014526665210723877, + 0.01680445671081543, + -0.23398688435554504, + 1.0 + ], + [ + -0.014115974307060242, + -0.021818026900291443, + -0.0007862374186515808, + 0.02385804057121277, + -0.0460013747215271, + -0.25940242409706116, + 1.0 + ], + [ + -0.012923285365104675, + -0.021540291607379913, + -0.0059699565172195435, + -0.0004928857088088989, + -0.022898375988006592, + -0.25870877504348755, + 1.0 + ], + [ + -0.017071112990379333, + -0.028895609080791473, + -0.014025554060935974, + 0.005852058529853821, + 0.062423110008239746, + -0.2464095950126648, + 1.0 + ], + [ + -0.007761716842651367, + -0.014683622866868973, + -0.008319735527038574, + -0.026024695485830307, + 0.057045891880989075, + -0.24615877866744995, + 1.0 + ], + [ + -0.00848156213760376, + -0.011649468913674355, + -0.016447901725769043, + 0.0068825893104076385, + 0.030694082379341125, + -0.1645033359527588, + 1.0 + ], + [ + 6.793439388275146e-05, + -0.0023875851184129715, + -0.012053240090608597, + -0.026798224076628685, + 0.013898663222789764, + -0.039904117584228516, + 1.0 + ], + [ + 0.001412510871887207, + -0.002927066758275032, + -0.0064934007823467255, + -0.00954193715006113, + 0.008288651704788208, + -0.004085063934326172, + 1.0 + ], + [ + -0.003834441304206848, + -0.002094889059662819, + -0.004923190921545029, + -0.004684152081608772, + 0.0015481561422348022, + -0.016644597053527832, + 0.0 + ], + [ + -0.001042693853378296, + -0.003187793307006359, + -0.0038687419146299362, + 0.006369521841406822, + -0.00751718133687973, + -0.0069849491119384766, + 0.0 + ], + [ + 0.0004208981990814209, + -0.0035670725628733635, + -0.003403562121093273, + -0.009247547946870327, + 0.002416275441646576, + 0.012718439102172852, + 0.0 + ], + [ + -0.00216539204120636, + -0.004442155361175537, + -0.00536218611523509, + -0.032369378954172134, + 0.009457461535930634, + 0.009061694145202637, + 0.0 + ], + [ + 0.0007409155368804932, + -0.0012375738006085157, + -0.0016841082833707333, + -0.004470223560929298, + 0.0033928677439689636, + 0.011988520622253418, + 0.0 + ], + [ + 0.003292754292488098, + -0.0025639778468757868, + -0.0016057670582085848, + 0.015350518748164177, + -0.002489231526851654, + 0.010331869125366211, + 0.0 + ], + [ + 0.00920914113521576, + -0.0014507995219901204, + -0.0026818818878382444, + 0.06777889281511307, + -0.014445789158344269, + 0.0072193145751953125, + 0.0 + ], + [ + 0.008455708622932434, + -0.00017048150766640902, + -0.002030434785410762, + 0.03630218282341957, + -0.010601289570331573, + -0.0013023614883422852, + 0.0 + ], + [ + -0.00025872886180877686, + -0.001469948678277433, + 0.00020617223344743252, + -0.015619941055774689, + -0.004446014761924744, + 0.013263583183288574, + 0.0 + ], + [ + 0.001434817910194397, + -0.00023151771165430546, + -0.00026673730462789536, + -0.02878059819340706, + 0.007531650364398956, + 0.007619738578796387, + 0.0 + ], + [ + -0.004292428493499756, + 0.001652772887609899, + 0.000455143628641963, + -0.034227654337882996, + -0.005351297557353973, + 0.005976319313049316, + 0.0 + ], + [ + -0.03276355564594269, + 0.0009258959908038378, + 0.012405886314809322, + -0.16322794556617737, + 0.029465004801750183, + -0.016300082206726074, + 0.0 + ], + [ + -0.014089018106460571, + 0.006447434425354004, + 0.019574841484427452, + -0.03528071939945221, + 0.0023393407464027405, + -0.06822657585144043, + 0.0 + ], + [ + -0.002896904945373535, + 0.010246834717690945, + 0.0181720070540905, + 0.02581678330898285, + -0.07533051818609238, + 0.025965571403503418, + 0.0 + ], + [ + 0.019497856497764587, + 0.018331356346607208, + 0.020170528441667557, + 0.08251550048589706, + -0.0642145574092865, + 0.1383042335510254, + 0.0 + ], + [ + 0.03233708441257477, + 0.02790062129497528, + 0.011083312332630157, + 0.1153821274638176, + -0.02468101680278778, + 0.2169039249420166, + 0.0 + ], + [ + 0.041522830724716187, + 0.021024558693170547, + 0.010120764374732971, + 0.040079474449157715, + -0.05256137251853943, + 0.24255096912384033, + 0.0 + ], + [ + 0.03865255415439606, + -0.001704886555671692, + -0.0006243512034416199, + 0.014993458986282349, + -0.055771470069885254, + 0.25456976890563965, + 0.0 + ], + [ + 0.024412155151367188, + -0.015495054423809052, + -0.003418080508708954, + 0.021221131086349487, + -0.01817837357521057, + 0.04312439262866974, + 0.0 + ], + [ + 0.013893067836761475, + -0.02233497053384781, + 0.0013673678040504456, + 0.04486335813999176, + -0.044228166341781616, + -0.05604402720928192, + 0.0 + ], + [ + 0.005967974662780762, + -0.015575407072901726, + -0.010290771722793579, + -0.008551746606826782, + 0.022820621728897095, + 0.02208133041858673, + 0.0 + ], + [ + 0.0007928907871246338, + -0.0018365420401096344, + 0.0011164620518684387, + 0.010407239198684692, + 0.07959040999412537, + 0.0011375397443771362, + 0.0 + ], + [ + -0.011728227138519287, + 0.005958007648587227, + -0.002056621015071869, + 0.022891610860824585, + 0.08838620781898499, + 0.046908095479011536, + 0.0 + ], + [ + -0.0033490359783172607, + 0.0033964887261390686, + 0.00370575487613678, + 0.05082829296588898, + 0.07635778188705444, + 0.05682523548603058, + 0.0 + ], + [ + -0.001143723726272583, + 0.0006561130285263062, + -0.0012269914150238037, + 0.009464427828788757, + 0.03524899482727051, + 0.02138514071702957, + 0.0 + ], + [ + 0.004693895578384399, + -0.003812383860349655, + -0.005747869610786438, + 0.01314195990562439, + 0.0019190460443496704, + 0.02862647920846939, + 0.0 + ], + [ + 0.004034101963043213, + -0.007010862231254578, + -0.003934815526008606, + -0.014344722032546997, + 0.007106274366378784, + 0.004431240260601044, + 0.0 + ], + [ + 0.005333453416824341, + -0.004074299708008766, + -0.004752926528453827, + 0.011156529188156128, + 0.040432125329971313, + 0.007962718605995178, + 0.0 + ], + [ + -0.0034920573234558105, + -0.001830892637372017, + -0.0022454410791397095, + 0.016050755977630615, + 0.04245410114526749, + 0.006624914705753326, + 1.0 + ], + [ + 0.0048916637897491455, + -0.0013939011842012405, + 0.0014198347926139832, + -0.00780874490737915, + -0.0396866649389267, + 0.015294380486011505, + 1.0 + ], + [ + 0.0015536844730377197, + 0.0053225792944431305, + 0.010064966976642609, + -0.004918992519378662, + -0.038810014724731445, + 0.006219685077667236, + 1.0 + ], + [ + -0.003581523895263672, + 0.0034012384712696075, + 0.005431018769741058, + -0.01263822615146637, + -0.017428942024707794, + 0.009270165115594864, + 1.0 + ], + [ + -0.006902605295181274, + 0.006041014567017555, + 0.01862252503633499, + -0.04091501235961914, + -0.09888765215873718, + -0.018647469580173492, + 1.0 + ], + [ + -0.02436080574989319, + 0.016880542039871216, + 0.009015828371047974, + -0.03610201179981232, + -0.1094411313533783, + -0.03537045046687126, + 1.0 + ], + [ + -0.024664700031280518, + 0.03060407191514969, + -0.0007238015532493591, + -0.02786920964717865, + -0.06322872638702393, + 0.01922495663166046, + 1.0 + ], + [ + -0.011747241020202637, + 0.03841271251440048, + -0.003201112151145935, + 0.018148884177207947, + -0.01583552360534668, + 0.0414452962577343, + 1.0 + ], + [ + -0.0009373575448989868, + 0.031747110188007355, + -0.012034840881824493, + 0.03053326904773712, + 0.010214745998382568, + 0.09103395789861679, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9687211513519287 + ], + [ + 0.7950940132141113 + ], + [ + 0.898204505443573 + ], + [ + 0.7565051317214966 + ], + [ + 0.9015869498252869 + ], + [ + 0.8660832643508911 + ], + [ + 0.6951970458030701 + ], + [ + 0.4265471398830414 + ], + [ + 0.26948168873786926 + ], + [ + 0.1778956800699234 + ], + [ + 0.16707322001457214 + ], + [ + 0.16707322001457214 + ], + [ + 0.1660143882036209 + ], + [ + 0.1660143882036209 + ], + [ + 0.1660143882036209 + ], + [ + 0.1660143882036209 + ], + [ + 0.1660143882036209 + ], + [ + 0.1660143882036209 + ], + [ + 0.1660143882036209 + ], + [ + 0.1660143882036209 + ], + [ + 0.1660143882036209 + ], + [ + 0.1660143882036209 + ], + [ + 0.1660143882036209 + ], + [ + 0.1660143882036209 + ], + [ + 0.1660143882036209 + ], + [ + 0.1660143882036209 + ], + [ + 0.1660143882036209 + ], + [ + 0.1660143882036209 + ], + [ + 0.21544429659843445 + ], + [ + 0.4522285461425781 + ], + [ + 0.7437760233879089 + ], + [ + 0.9816622138023376 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.25022485852241516, + 0.1406317949295044, + 0.09809890389442444 + ], + [ + 0.23852913081645966, + 0.12071333080530167, + 0.08747812360525131 + ], + [ + 0.22441315650939941, + 0.09889530390501022, + 0.08669188618659973 + ], + [ + 0.21148987114429474, + 0.07735501229763031, + 0.08072192966938019 + ], + [ + 0.1944187581539154, + 0.04845940321683884, + 0.06669637560844421 + ], + [ + 0.18665704131126404, + 0.033775780349969864, + 0.05837664008140564 + ], + [ + 0.17817547917366028, + 0.02212631143629551, + 0.0419287383556366 + ], + [ + 0.17824341356754303, + 0.019738726317882538, + 0.029875498265028 + ], + [ + 0.17965592443943024, + 0.016811659559607506, + 0.023382097482681274 + ], + [ + 0.1758214831352234, + 0.014716770499944687, + 0.018458906561136246 + ], + [ + 0.1747787892818451, + 0.011528977192938328, + 0.01459016464650631 + ], + [ + 0.1751996874809265, + 0.007961904630064964, + 0.011186602525413036 + ], + [ + 0.17303429543972015, + 0.003519749268889427, + 0.005824416410177946 + ], + [ + 0.17377521097660065, + 0.0022821754682809114, + 0.004140308126807213 + ], + [ + 0.17706796526908875, + -0.00028180229128338397, + 0.002534541068598628 + ], + [ + 0.1862771064043045, + -0.001732601784169674, + -0.0001473407755838707 + ], + [ + 0.19473281502723694, + -0.001903083291836083, + -0.0021777756046503782 + ], + [ + 0.19447408616542816, + -0.003373031970113516, + -0.0019716033712029457 + ], + [ + 0.19590890407562256, + -0.0036045496817678213, + -0.002238340675830841 + ], + [ + 0.1916164755821228, + -0.0019517767941579223, + -0.001783197047188878 + ], + [ + 0.15885291993618011, + -0.0010258808033540845, + 0.010622689500451088 + ], + [ + 0.14476390182971954, + 0.005421553738415241, + 0.03019753098487854 + ], + [ + 0.141866996884346, + 0.015668388456106186, + 0.04836953803896904 + ], + [ + 0.1613648533821106, + 0.033999744802713394, + 0.0685400664806366 + ], + [ + 0.19370193779468536, + 0.061900366097688675, + 0.07962337881326675 + ], + [ + 0.23522476851940155, + 0.08292492479085922, + 0.08974414318799973 + ], + [ + 0.2738773226737976, + 0.08122003823518753, + 0.0891197919845581 + ], + [ + 0.2982894778251648, + 0.06572498381137848, + 0.08570171147584915 + ], + [ + 0.31218254566192627, + 0.04339001327753067, + 0.0870690792798996 + ], + [ + 0.31815052032470703, + 0.027814606204628944, + 0.07677830755710602 + ], + [ + 0.31894341111183167, + 0.02597806416451931, + 0.07789476960897446 + ], + [ + 0.3072151839733124, + 0.03193607181310654, + 0.07583814859390259 + ], + [ + 0.3038661479949951, + 0.035332560539245605, + 0.07954390347003937 + ], + [ + 0.30272242426872253, + 0.03598867356777191, + 0.07831691205501556 + ], + [ + 0.30741631984710693, + 0.032176289707422256, + 0.07256904244422913 + ], + [ + 0.31145042181015015, + 0.02516542747616768, + 0.06863422691822052 + ], + [ + 0.3167838752269745, + 0.021091127768158913, + 0.0638813003897667 + ], + [ + 0.3132918179035187, + 0.019260235130786896, + 0.061635859310626984 + ], + [ + 0.3181834816932678, + 0.017866333946585655, + 0.06305569410324097 + ], + [ + 0.31973716616630554, + 0.023188913241028786, + 0.07312066107988358 + ], + [ + 0.31615564227104187, + 0.026590151712298393, + 0.07855167984962463 + ], + [ + 0.3092530369758606, + 0.03263116627931595, + 0.09717420488595963 + ], + [ + 0.2848922312259674, + 0.049511708319187164, + 0.1061900332570076 + ], + [ + 0.2602275311946869, + 0.08011578023433685, + 0.10546623170375824 + ], + [ + 0.24848029017448425, + 0.11852849274873734, + 0.1022651195526123 + ], + [ + 0.24754293262958527, + 0.1502756029367447, + 0.09023027867078781 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9158993359707834, + 0.352341795249576, + 0.1923113769088652, + 0.33280445884522725, + -0.9344098684515477, + 0.1269621593747391, + 0.2244317235620071, + -0.052282473742804904, + -0.9730862985359108 + ], + [ + 0.9717139560069914, + 0.12229408461067517, + 0.2020300585815876, + 0.11179254326439345, + -0.9917552590340776, + 0.06264130784656638, + 0.20802503448316365, + -0.03828397899234873, + -0.9773739928915604 + ], + [ + 0.9573890973821197, + -0.1283164666645224, + 0.25872958971981314, + -0.13966495948862406, + -0.9898603146622117, + 0.025889313391215307, + 0.2527841278737479, + -0.06092160404618446, + -0.9656027873072597 + ], + [ + 0.8842412803917383, + -0.37614218996268284, + 0.27682920904640085, + -0.37757581948390834, + -0.9246128169401258, + -0.0502756331745337, + 0.27487062155172926, + -0.06006822521202194, + -0.9596030167353808 + ], + [ + 0.777592609103336, + -0.5920971572265328, + 0.21159085677818074, + -0.5911018684328115, + -0.8030993461906301, + -0.07503346775553842, + 0.2143555816933752, + -0.06672628082278191, + -0.9744738519039152 + ], + [ + 0.6167541138558271, + -0.7760334432145991, + 0.13185771897923498, + -0.7710706995722693, + -0.629305306767912, + -0.09708144588372963, + 0.15831721101334706, + -0.04179624248946029, + -0.9865032867713708 + ], + [ + 0.4843008677945792, + -0.8685368567287809, + 0.10533944160240702, + -0.8654963421928111, + -0.4932161623782849, + -0.08748656365237886, + 0.12794042013485019, + -0.04880108269830374, + -0.990580488008517 + ], + [ + 0.4501499236819579, + -0.8900699067056959, + 0.07169802916428103, + -0.8856275620573995, + -0.4552792793120148, + -0.09156745684685214, + 0.11414406481896114, + -0.022278667061721054, + -0.9932143743727022 + ], + [ + 0.44693822903531255, + -0.8926099792748615, + 0.05910705817167187, + -0.8882737131971842, + -0.4506476099805211, + -0.08880620508573947, + 0.1059057593791046, + -0.012812358009945776, + -0.9942936254510335 + ], + [ + 0.43216277269513703, + -0.9002523547725594, + 0.05273552524544701, + -0.8957360312268952, + -0.4352920571252962, + -0.0904311194529776, + 0.10436618349993532, + -0.008156146767298492, + -0.9945054937060771 + ], + [ + 0.4255476138003041, + -0.902874044473786, + 0.061054796735512645, + -0.8979984413860894, + -0.4296612960170832, + -0.09481545218514884, + 0.11183929388645616, + -0.01447862287884795, + -0.9936208239678306 + ], + [ + 0.4370515713293661, + -0.8978795044888718, + 0.052899143824361526, + -0.892753762394587, + -0.440209496400664, + -0.09594956492336684, + 0.10943785327226391, + -0.005291001558524626, + -0.9939795579254467 + ], + [ + 0.4455669531956461, + -0.8950115925715061, + 0.020599499570736965, + -0.8896424004356376, + -0.4452305457181134, + -0.10151926175198019, + 0.10003244257272266, + 0.026907439903617783, + -0.9946202793582923 + ], + [ + 0.45635316223954947, + -0.8896495949972666, + 0.01629077761074422, + -0.8845334388375089, + -0.4555654808123655, + -0.10030298236088883, + 0.09665602356942873, + 0.03136384564108069, + -0.9948235633992333 + ], + [ + 0.46535356639202957, + -0.8845438686838109, + 0.032065598701667614, + -0.8795559376473189, + -0.4661795715363682, + -0.09517331365206386, + 0.09913329811705485, + 0.016085753201067247, + -0.9949441380039332 + ], + [ + 0.47096315025162255, + -0.876562670887827, + 0.099154400361591, + -0.8748211945925156, + -0.47855057356262226, + -0.07534736912865124, + 0.11349708629207879, + -0.05125653664543016, + -0.9922152885610684 + ], + [ + 0.46922805219317754, + -0.8725750276895206, + 0.13578606735460438, + -0.8743244571653095, + -0.4806477385318769, + -0.06733865937765132, + 0.124023298769157, + -0.08712389165335144, + -0.9884470895630132 + ], + [ + 0.4805111920037731, + -0.8679979841974863, + 0.12525371766224325, + -0.8675331503857555, + -0.49137367484989547, + -0.07705935794097293, + 0.12843374689262482, + -0.0716338683417915, + -0.9891275759807285 + ], + [ + 0.48756885724702786, + -0.8676516177228383, + 0.0972485460342138, + -0.8646647153133856, + -0.4952938978469001, + -0.08389806224011287, + 0.12096090085167478, + -0.043181304039662305, + -0.9917176188041559 + ], + [ + 0.4923992777077709, + -0.8674902178311352, + 0.07073664736298609, + -0.8611611629050362, + -0.4973689324165339, + -0.10500284077530231, + 0.1262711479987082, + -0.009212330548089613, + -0.9919529878723898 + ], + [ + 0.47988352217620145, + -0.8728954210062592, + -0.088121445347137, + -0.871954397870842, + -0.4634258185785003, + -0.15789882427853677, + 0.09699140775068918, + 0.1526109257594365, + -0.983515415314568 + ], + [ + 0.4194171843150439, + -0.898231093148991, + -0.13141586206242067, + -0.9028444902136197, + -0.3976409438421065, + -0.16356499097076904, + 0.09466283321425367, + 0.18725005495520508, + -0.9777404384227559 + ], + [ + 0.43829224917686127, + -0.8959911037123685, + -0.07141320872065776, + -0.8827412404373074, + -0.4141185851057174, + -0.22197680036716158, + 0.16931570140625507, + 0.16033009554768815, + -0.9724332644037725 + ], + [ + 0.5485322308329006, + -0.8336917794152086, + 0.06379975449000252, + -0.80323757233177, + -0.5466088160490226, + -0.23670277694199218, + 0.23221066756728925, + 0.07859274236842087, + -0.9694851142307266 + ], + [ + 0.7041514300229663, + -0.6782529762570975, + 0.21010393569612382, + -0.662239439541513, + -0.7340719746809762, + -0.1502573149757283, + 0.2561438820513863, + -0.033335209409296726, + -0.9660637015752553 + ], + [ + 0.8297024241588343, + -0.46880981080124395, + 0.30300371060674475, + -0.46648247554831335, + -0.8804478261363952, + -0.0848865446228885, + 0.30657460323919744, + -0.07091534917208137, + -0.9492012567946435 + ], + [ + 0.9024799577604186, + -0.22268744974036692, + 0.36870072629286377, + -0.23777442171486107, + -0.9713093072389963, + -0.004642633849978296, + 0.3591563033261662, + -0.08347771797930945, + -0.9295365621545235 + ], + [ + 0.905362027251512, + -0.1709187632710026, + 0.38872403575408593, + -0.1972241169124119, + -0.9799448544576785, + 0.028473319617476282, + 0.37606149406600003, + -0.10244441704568696, + -0.9209141621763766 + ], + [ + 0.8759976078514614, + -0.20177195477308962, + 0.4380824914391849, + -0.24294237307228872, + -0.9692410920877749, + 0.0393790397864429, + 0.41666196659225097, + -0.14092474472406769, + -0.8980718356122377 + ], + [ + 0.890134397462527, + -0.1870161586582311, + 0.4155547026021279, + -0.22582128976066337, + -0.9730920915795369, + 0.04578784113923963, + 0.39580992855770325, + -0.13459843129130844, + -0.908414972767988 + ], + [ + 0.9180839583411814, + -0.1928694876199334, + 0.34629930144574655, + -0.23180065903281893, + -0.9699183594976362, + 0.07434265519447739, + 0.3215436205377717, + -0.1485252054522683, + -0.9351737610929975 + ], + [ + 0.9521361459541708, + -0.1542174086069944, + 0.2639199697826635, + -0.19341024379709787, + -0.972537429279344, + 0.12947365077525655, + 0.23670495804246658, + -0.1743213685503566, + -0.9558152663066466 + ], + [ + 0.9766529547502275, + -0.10255925458755963, + 0.18876070903684936, + -0.14120042343140965, + -0.9686790540925939, + 0.20426289576197643, + 0.1618994947504179, + -0.22614705273498825, + -0.9605446705587605 + ], + [ + 0.9845036530381434, + -0.08832544857593952, + 0.15149644315432267, + -0.1209046187015308, + -0.9676228192240836, + 0.22155846382721334, + 0.1270221647240721, + -0.23644173669362228, + -0.9633071549708926 + ], + [ + 0.9878017696837363, + -0.05915739247339119, + 0.14404189225856334, + -0.09269866325450546, + -0.966658647015695, + 0.23870068701328356, + 0.12511843045893045, + -0.24914145192146353, + -0.9603509334060953 + ], + [ + 0.9890634770899436, + -0.05858514634351602, + 0.13535589722896946, + -0.08839749987737641, + -0.9700959742761903, + 0.2260523893007065, + 0.11806489868788167, + -0.23554528507494635, + -0.9646652778952824 + ], + [ + 0.9936837193533616, + -0.05931215879525733, + 0.09526139675186358, + -0.08084031008576908, + -0.967128271756672, + 0.24109697267736405, + 0.07783000807726083, + -0.247275097387503, + -0.9658144314798234 + ], + [ + 0.9965956934118501, + -0.06253235822801496, + 0.053728279773290255, + -0.07443463504205435, + -0.9626637558403824, + 0.2602652076199289, + 0.035447270404220355, + -0.26337842995532446, + -0.9640411265372231 + ], + [ + 0.9954280394763674, + -0.03806330824529336, + 0.08760252730177759, + -0.05905431765573084, + -0.9661173753442654, + 0.25125645190546436, + 0.07507067197282133, + -0.2552810248007687, + -0.9639481275391418 + ], + [ + 0.9921175822821691, + -0.022783470676128518, + 0.12322181783488556, + -0.052667750537255975, + -0.9680768835833887, + 0.24505765755189024, + 0.11370492944428179, + -0.24961582669258797, + -0.9616460513539516 + ], + [ + 0.9904326757093944, + -0.011205692576977365, + 0.13754107510485533, + -0.04337522146709262, + -0.9714613537087426, + 0.23319825988428244, + 0.1310026910021693, + -0.23693305110145974, + -0.9626531172992392 + ], + [ + 0.9717095578613685, + -0.01577680559362494, + 0.23565149599806276, + -0.060726880636771556, + -0.9809102621615582, + 0.18473576685165913, + 0.22823843043841527, + -0.19381989059795754, + -0.9541179533368003 + ], + [ + 0.9383475737542941, + -0.042069239324599814, + 0.34312389880636407, + -0.09204910826475853, + -0.9871397149517978, + 0.13069867953635617, + 0.33321283363203946, + -0.1542250377452828, + -0.9301525924467305 + ], + [ + 0.9170757914008408, + -0.024577385105943313, + 0.3979547021557552, + -0.07219332791907238, + -0.9918364224627354, + 0.10511248489257495, + 0.39212257806774015, + -0.1251257895786343, + -0.9113634952925384 + ], + [ + 0.9129592956688865, + 0.025906793719507097, + 0.4072274088159411, + -0.033899060830102794, + -0.9897174336716151, + 0.13896134412601616, + 0.4066401088513131, + -0.14067067756162618, + -0.9026935151798451 + ], + [ + 0.9163607067103827, + 0.12599486236936785, + 0.38001098649088094, + 0.04945814793487073, + -0.9775437253194277, + 0.2048466662932747, + 0.3972869829230513, + -0.16891879630502893, + -0.9020141315161087 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006150.json b/json/chunk-0006/episode_0006150.json new file mode 100644 index 0000000000000000000000000000000000000000..3c47109a639f1e416c0a3d00e1d2ea6b6a8e4a70 --- /dev/null +++ b/json/chunk-0006/episode_0006150.json @@ -0,0 +1,1162 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 18, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPick up bit holder." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006150.mp4", + "start": 0, + "end": 18, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.25213706493377686, + 0.15468741953372955, + 0.10945470631122589, + 0.10664700716733932, + -0.05995858088135719, + -0.008682282641530037, + 0.0, + 0.9947922229766846 + ], + [ + 0.2522587478160858, + 0.14993487298488617, + 0.1005043163895607, + 0.08061148971319199, + -0.03552408888936043, + 0.03402506560087204, + 0.0, + 0.9947922229766846 + ], + [ + 0.27603697776794434, + 0.11661624163389206, + 0.10314832627773285, + 0.03299853950738907, + -0.0475979708135128, + 0.22409899532794952, + 0.0, + 0.9947922229766846 + ], + [ + 0.2895679771900177, + 0.09914524108171463, + 0.09607712179422379, + 0.012410436756908894, + -0.04199451580643654, + 0.4545842707157135, + 0.0, + 0.9947922229766846 + ], + [ + 0.3196922540664673, + 0.07465531677007675, + 0.09302014112472534, + -0.017347510904073715, + -0.13672861456871033, + 0.6538589000701904, + 0.0, + 0.9947922229766846 + ], + [ + 0.34080544114112854, + 0.05600599944591522, + 0.08019926398992538, + -0.07235106080770493, + -0.29802024364471436, + 0.7720260620117188, + 0.0, + 0.9947922229766846 + ], + [ + 0.35519808530807495, + 0.04504195600748062, + 0.05881833657622337, + -0.07694124430418015, + -0.33850494027137756, + 0.7733686566352844, + 0.0, + 0.9947922229766846 + ], + [ + 0.3686958849430084, + 0.04152236133813858, + 0.04732971265912056, + -0.12260163575410843, + -0.33470991253852844, + 0.7967734336853027, + 0.0, + 0.9947922229766846 + ], + [ + 0.3726864755153656, + 0.036502938717603683, + 0.034854039549827576, + -0.14753863215446472, + -0.31505492329597473, + 0.7918119430541992, + 0.0, + 0.9947922229766846 + ], + [ + 0.3794728219509125, + 0.03273555636405945, + 0.027212653309106827, + -0.18743646144866943, + -0.3209393322467804, + 0.7850371599197388, + 0.0, + 0.9947922229766846 + ], + [ + 0.38344117999076843, + 0.0345013402402401, + 0.01772487536072731, + -0.20930242538452148, + -0.3312636911869049, + 0.7719208002090454, + 0.0, + 0.9947922229766846 + ], + [ + 0.38240349292755127, + 0.03632616251707077, + 0.005056244321167469, + -0.21568824350833893, + -0.30292174220085144, + 0.7521634697914124, + 0.0, + 0.9947922229766846 + ], + [ + 0.3894965946674347, + 0.03540757670998573, + -0.002808251418173313, + -0.2428869903087616, + -0.27857890725135803, + 0.7257360219955444, + 0.0, + 0.9947922229766846 + ], + [ + 0.39090970158576965, + 0.036660704761743546, + -0.010254362598061562, + -0.2575799822807312, + -0.22731080651283264, + 0.7279394865036011, + 0.0, + 0.9082958698272705 + ], + [ + 0.3880474269390106, + 0.0396399162709713, + -0.012342100031673908, + -0.23488964140415192, + -0.2218732386827469, + 0.7226821184158325, + 0.0, + 0.5719637274742126 + ], + [ + 0.3833483159542084, + 0.044369205832481384, + -0.008969930931925774, + -0.18449907004833221, + -0.22201138734817505, + 0.7614982724189758, + 0.0, + 0.36359503865242004 + ], + [ + 0.374892920255661, + 0.049827370792627335, + 0.0043795169331133366, + -0.11402270197868347, + -0.24538952112197876, + 0.8214688897132874, + 0.0, + 0.22426052391529083 + ], + [ + 0.36500149965286255, + 0.04077119380235672, + 0.02728942222893238, + -0.0459478385746479, + -0.2679816782474518, + 0.8296052813529968, + 0.0, + 0.19669602811336517 + ] + ], + "left_gripper_pos": [ + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9082958698272705 + ], + [ + 0.5719637274742126 + ], + [ + 0.36359503865242004 + ], + [ + 0.22426052391529083 + ], + [ + 0.19669602811336517 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.25213706493377686, + 0.15468741953372955, + 0.10945470631122589 + ], + [ + 0.2522587478160858, + 0.14993487298488617, + 0.1005043163895607 + ], + [ + 0.27603697776794434, + 0.11661624163389206, + 0.10314832627773285 + ], + [ + 0.2895679771900177, + 0.09914524108171463, + 0.09607712179422379 + ], + [ + 0.3196922540664673, + 0.07465531677007675, + 0.09302014112472534 + ], + [ + 0.34080544114112854, + 0.05600599944591522, + 0.08019926398992538 + ], + [ + 0.35519808530807495, + 0.04504195600748062, + 0.05881833657622337 + ], + [ + 0.3686958849430084, + 0.04152236133813858, + 0.04732971265912056 + ], + [ + 0.3726864755153656, + 0.036502938717603683, + 0.034854039549827576 + ], + [ + 0.3794728219509125, + 0.03273555636405945, + 0.027212653309106827 + ], + [ + 0.38344117999076843, + 0.0345013402402401, + 0.01772487536072731 + ], + [ + 0.38240349292755127, + 0.03632616251707077, + 0.005056244321167469 + ], + [ + 0.3894965946674347, + 0.03540757670998573, + -0.002808251418173313 + ], + [ + 0.39090970158576965, + 0.036660704761743546, + -0.010254362598061562 + ], + [ + 0.3880474269390106, + 0.0396399162709713, + -0.012342100031673908 + ], + [ + 0.3833483159542084, + 0.044369205832481384, + -0.008969930931925774 + ], + [ + 0.374892920255661, + 0.049827370792627335, + 0.0043795169331133366 + ], + [ + 0.36500149965286255, + 0.04077119380235672, + 0.02728942222893238 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9981653996855818, + -0.002254621551232296, + 0.06050414491738301, + -0.008666571892093263, + -0.9943364981238625, + 0.1059236471729215, + 0.05992266184142811, + -0.10625368313820986, + -0.99253182791153 + ], + [ + 0.9987906543768669, + 0.03676632329577896, + 0.032641479757217255, + 0.03399703806405191, + -0.9960784446498488, + 0.08168190440244454, + 0.03551661769231366, + -0.08047340911909313, + -0.9961237876350758 + ], + [ + 0.97389048188664, + 0.22363752887722313, + 0.03903312655037226, + 0.2219762890024766, + -0.9741150914930439, + 0.04273541442630155, + 0.04758000011871755, + -0.03295518476944041, + -0.9983236446090591 + ], + [ + 0.8976515439550967, + 0.4395231213594589, + 0.032266568231993344, + 0.4387017240948966, + -0.898145693193455, + 0.029582276352805456, + 0.04198217373120073, + -0.012399176927801063, + -0.9990414193116904 + ], + [ + 0.7863346798776423, + 0.6062856553870852, + 0.11872436689062092, + 0.6025771856175783, + -0.7950612482738283, + 0.06912558763917273, + 0.13630299554641023, + 0.017184748037576365, + -0.990518136047978 + ], + [ + 0.6849152843570001, + 0.6805550602427796, + 0.26026114429955993, + 0.6668384193101183, + -0.7294311452544096, + 0.15250156348320962, + 0.29362829527508494, + 0.06910147835457156, + -0.9534188008965736 + ], + [ + 0.6749550120969889, + 0.6782181307559262, + 0.2906129707344312, + 0.6589085177136328, + -0.7312752028934479, + 0.17628426735693245, + 0.3320772454257854, + 0.07250341196857224, + -0.9404615666380731 + ], + [ + 0.6602261383716717, + 0.6816548966279448, + 0.3153538458842323, + 0.6754201310521992, + -0.7224987822531959, + 0.1476589184982711, + 0.3284951944553529, + 0.11550805835869231, + -0.9374160205980826 + ], + [ + 0.6679767350008025, + 0.671893421018433, + 0.3199473586229684, + 0.6766006765030802, + -0.7273403922967905, + 0.11483674624929477, + 0.3098686916312161, + 0.1397683244719545, + -0.9404500036796536 + ], + [ + 0.6712437574604835, + 0.6528904024523843, + 0.3509500540759258, + 0.6707592896723258, + -0.7365233272171087, + 0.08726605172297447, + 0.31545806914486846, + 0.17682621652516195, + -0.9323189882013494 + ], + [ + 0.6776136816703326, + 0.6338664960024492, + 0.37289806067979786, + 0.6595906026272857, + -0.7480697935893078, + 0.07301931830018911, + 0.32523827471401795, + 0.196481167455885, + -0.9249947110639182 + ], + [ + 0.6969651341521454, + 0.6207695922848365, + 0.3590051741560268, + 0.6521124391970797, + -0.756912637669585, + 0.042809176358649656, + 0.2983101882616757, + 0.20427523645950996, + -0.9323532910590783 + ], + [ + 0.7191732093140168, + 0.5947345198971472, + 0.35927808985198006, + 0.6380992111850521, + -0.7699492367985756, + -0.002751261220877446, + 0.27498962105867186, + 0.2312336990925003, + -0.9332264916481998 + ], + [ + 0.7273427026917498, + 0.6005251866270864, + 0.3321778033938509, + 0.648217724366954, + -0.760113244137072, + -0.04518448742592475, + 0.22535832502392378, + 0.24818814700528896, + -0.9421338912429021 + ], + [ + 0.7316488400237788, + 0.604823585359525, + 0.31444936871412077, + 0.6451858238485058, + -0.7633122160202293, + -0.03301081003569517, + 0.2200573279779262, + 0.22703059588332414, + -0.9487001006303726 + ], + [ + 0.7060383691087808, + 0.649057938200548, + 0.28325538689505453, + 0.6730715160262287, + -0.739391738951774, + 0.016570778015113682, + 0.22019208809666052, + 0.17895152759539573, + -0.9589013479555168 + ], + [ + 0.6607412371409849, + 0.7085660055378499, + 0.24769988562277648, + 0.7102140482048785, + -0.696960010654458, + 0.09921063088689741, + 0.24293419535717722, + 0.11036738351829128, + -0.9637437508910174 + ], + [ + 0.6510684386123734, + 0.728674969519337, + 0.21246806122059714, + 0.7113356619666727, + -0.6834259182185471, + 0.16410542441239134, + 0.2647856949634582, + 0.04429224653513253, + -0.9632895372833598 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + 0.00012168288230895996, + -0.004752546548843384, + -0.008950389921665192, + -0.02603551745414734, + 0.024434491991996765, + 0.04270734637975693, + 1.0 + ], + [ + 0.02377822995185852, + -0.03331863135099411, + 0.0026440098881721497, + -0.04761295020580292, + -0.012073881924152374, + 0.19007393717765808, + 1.0 + ], + [ + 0.013530999422073364, + -0.01747100055217743, + -0.007071204483509064, + -0.02058810368180275, + 0.005603455007076263, + 0.23048527538776398, + 1.0 + ], + [ + 0.030124276876449585, + -0.02448992431163788, + -0.0030569806694984436, + -0.029757946729660034, + -0.09473410248756409, + 0.19927462935447693, + 1.0 + ], + [ + 0.021113187074661255, + -0.01864931732416153, + -0.012820877134799957, + -0.05500354990363121, + -0.16129162907600403, + 0.11816716194152832, + 1.0 + ], + [ + 0.014392644166946411, + -0.0109640434384346, + -0.02138092741370201, + -0.00459018349647522, + -0.04048469662666321, + 0.0013425946235656738, + 1.0 + ], + [ + 0.013497799634933472, + -0.003519594669342041, + -0.011488623917102814, + -0.045660391449928284, + 0.003795027732849121, + 0.02340477705001831, + 1.0 + ], + [ + 0.003990590572357178, + -0.005019422620534897, + -0.012475673109292984, + -0.024936996400356293, + 0.01965498924255371, + -0.004961490631103516, + 1.0 + ], + [ + 0.006786346435546875, + -0.0037673823535442352, + -0.007641386240720749, + -0.03989782929420471, + -0.005884408950805664, + -0.006774783134460449, + 1.0 + ], + [ + 0.003968358039855957, + 0.0017657838761806488, + -0.009487777948379517, + -0.02186596393585205, + -0.010324358940124512, + -0.01311635971069336, + 1.0 + ], + [ + -0.001037687063217163, + 0.0018248222768306732, + -0.012668631039559841, + -0.006385818123817444, + 0.028341948986053467, + -0.019757330417633057, + 1.0 + ], + [ + 0.007093101739883423, + -0.0009185858070850372, + -0.007864495739340782, + -0.02719874680042267, + 0.024342834949493408, + -0.02642744779586792, + 1.0 + ], + [ + 0.001413106918334961, + 0.0012531280517578125, + -0.0074461111798882484, + -0.014692991971969604, + 0.05126810073852539, + 0.0022034645080566406, + 0.0 + ], + [ + -0.002862274646759033, + 0.0029792115092277527, + -0.0020877374336123466, + 0.022690340876579285, + 0.005437567830085754, + -0.005257368087768555, + 0.0 + ], + [ + -0.004699110984802246, + 0.004729289561510086, + 0.0033721690997481346, + 0.0503905713558197, + -0.00013814866542816162, + 0.03881615400314331, + 0.0 + ], + [ + -0.008455395698547363, + 0.00545816496014595, + 0.013349447399377823, + 0.07047636806964874, + -0.02337813377380371, + 0.05997061729431152, + 0.0 + ], + [ + -0.009891420602798462, + -0.009056176990270615, + 0.02290990576148033, + 0.06807486712932587, + -0.022592157125473022, + 0.008136391639709473, + 0.0 + ], + [ + -0.010617375373840332, + 0.018965639173984528, + 0.03221895545721054, + 0.04049341008067131, + -0.041294991970062256, + 0.058101773262023926, + 0.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9082958698272705 + ], + [ + 0.5719637274742126 + ], + [ + 0.36359503865242004 + ], + [ + 0.22426052391529083 + ], + [ + 0.19669602811336517 + ], + [ + 0.19669602811336517 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2522587478160858, + 0.14993487298488617, + 0.1005043163895607 + ], + [ + 0.27603697776794434, + 0.11661624163389206, + 0.10314832627773285 + ], + [ + 0.2895679771900177, + 0.09914524108171463, + 0.09607712179422379 + ], + [ + 0.3196922540664673, + 0.07465531677007675, + 0.09302014112472534 + ], + [ + 0.34080544114112854, + 0.05600599944591522, + 0.08019926398992538 + ], + [ + 0.35519808530807495, + 0.04504195600748062, + 0.05881833657622337 + ], + [ + 0.3686958849430084, + 0.04152236133813858, + 0.04732971265912056 + ], + [ + 0.3726864755153656, + 0.036502938717603683, + 0.034854039549827576 + ], + [ + 0.3794728219509125, + 0.03273555636405945, + 0.027212653309106827 + ], + [ + 0.38344117999076843, + 0.0345013402402401, + 0.01772487536072731 + ], + [ + 0.38240349292755127, + 0.03632616251707077, + 0.005056244321167469 + ], + [ + 0.3894965946674347, + 0.03540757670998573, + -0.002808251418173313 + ], + [ + 0.39090970158576965, + 0.036660704761743546, + -0.010254362598061562 + ], + [ + 0.3880474269390106, + 0.0396399162709713, + -0.012342100031673908 + ], + [ + 0.3833483159542084, + 0.044369205832481384, + -0.008969930931925774 + ], + [ + 0.374892920255661, + 0.049827370792627335, + 0.0043795169331133366 + ], + [ + 0.36500149965286255, + 0.04077119380235672, + 0.02728942222893238 + ], + [ + 0.3543841242790222, + 0.05973683297634125, + 0.05950837954878807 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9987906543768669, + 0.03676632329577896, + 0.032641479757217255, + 0.03399703806405191, + -0.9960784446498488, + 0.08168190440244454, + 0.03551661769231366, + -0.08047340911909313, + -0.9961237876350758 + ], + [ + 0.97389048188664, + 0.22363752887722313, + 0.03903312655037226, + 0.2219762890024766, + -0.9741150914930439, + 0.04273541442630155, + 0.04758000011871755, + -0.03295518476944041, + -0.9983236446090591 + ], + [ + 0.8976515439550967, + 0.4395231213594589, + 0.032266568231993344, + 0.4387017240948966, + -0.898145693193455, + 0.029582276352805456, + 0.04198217373120073, + -0.012399176927801063, + -0.9990414193116904 + ], + [ + 0.7863346798776423, + 0.6062856553870852, + 0.11872436689062092, + 0.6025771856175783, + -0.7950612482738283, + 0.06912558763917273, + 0.13630299554641023, + 0.017184748037576365, + -0.990518136047978 + ], + [ + 0.6849152843570001, + 0.6805550602427796, + 0.26026114429955993, + 0.6668384193101183, + -0.7294311452544096, + 0.15250156348320962, + 0.29362829527508494, + 0.06910147835457156, + -0.9534188008965736 + ], + [ + 0.6749550120969889, + 0.6782181307559262, + 0.2906129707344312, + 0.6589085177136328, + -0.7312752028934479, + 0.17628426735693245, + 0.3320772454257854, + 0.07250341196857224, + -0.9404615666380731 + ], + [ + 0.6602261383716717, + 0.6816548966279448, + 0.3153538458842323, + 0.6754201310521992, + -0.7224987822531959, + 0.1476589184982711, + 0.3284951944553529, + 0.11550805835869231, + -0.9374160205980826 + ], + [ + 0.6679767350008025, + 0.671893421018433, + 0.3199473586229684, + 0.6766006765030802, + -0.7273403922967905, + 0.11483674624929477, + 0.3098686916312161, + 0.1397683244719545, + -0.9404500036796536 + ], + [ + 0.6712437574604835, + 0.6528904024523843, + 0.3509500540759258, + 0.6707592896723258, + -0.7365233272171087, + 0.08726605172297447, + 0.31545806914486846, + 0.17682621652516195, + -0.9323189882013494 + ], + [ + 0.6776136816703326, + 0.6338664960024492, + 0.37289806067979786, + 0.6595906026272857, + -0.7480697935893078, + 0.07301931830018911, + 0.32523827471401795, + 0.196481167455885, + -0.9249947110639182 + ], + [ + 0.6969651341521454, + 0.6207695922848365, + 0.3590051741560268, + 0.6521124391970797, + -0.756912637669585, + 0.042809176358649656, + 0.2983101882616757, + 0.20427523645950996, + -0.9323532910590783 + ], + [ + 0.7191732093140168, + 0.5947345198971472, + 0.35927808985198006, + 0.6380992111850521, + -0.7699492367985756, + -0.002751261220877446, + 0.27498962105867186, + 0.2312336990925003, + -0.9332264916481998 + ], + [ + 0.7273427026917498, + 0.6005251866270864, + 0.3321778033938509, + 0.648217724366954, + -0.760113244137072, + -0.04518448742592475, + 0.22535832502392378, + 0.24818814700528896, + -0.9421338912429021 + ], + [ + 0.7316488400237788, + 0.604823585359525, + 0.31444936871412077, + 0.6451858238485058, + -0.7633122160202293, + -0.03301081003569517, + 0.2200573279779262, + 0.22703059588332414, + -0.9487001006303726 + ], + [ + 0.7060383691087808, + 0.649057938200548, + 0.28325538689505453, + 0.6730715160262287, + -0.739391738951774, + 0.016570778015113682, + 0.22019208809666052, + 0.17895152759539573, + -0.9589013479555168 + ], + [ + 0.6607412371409849, + 0.7085660055378499, + 0.24769988562277648, + 0.7102140482048785, + -0.696960010654458, + 0.09921063088689741, + 0.24293419535717722, + 0.11036738351829128, + -0.9637437508910174 + ], + [ + 0.6510684386123734, + 0.728674969519337, + 0.21246806122059714, + 0.7113356619666727, + -0.6834259182185471, + 0.16410542441239134, + 0.2647856949634582, + 0.04429224653513253, + -0.9632895372833598 + ], + [ + 0.6012445971526583, + 0.7745670841869206, + 0.19634349107854276, + 0.7388261072740332, + -0.6324704243701553, + 0.2326309212192889, + 0.3043697054653055, + 0.005195612688410414, + -0.9525398091438255 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006151.json b/json/chunk-0006/episode_0006151.json new file mode 100644 index 0000000000000000000000000000000000000000..a6b6e21cb9e3bb34665bf7e1e621947161257dfb --- /dev/null +++ b/json/chunk-0006/episode_0006151.json @@ -0,0 +1,1462 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 23, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut banana in pot cardboard fence." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006151.mp4", + "start": 0, + "end": 23, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2770644724369049, + 0.030561860650777817, + 0.09893497079610825, + 0.18446938693523407, + -0.17643818259239197, + 0.13519498705863953, + 0.0, + 0.9858682155609131 + ], + [ + 0.27145346999168396, + 0.030869631096720695, + 0.0912880152463913, + 0.1818980723619461, + -0.14381134510040283, + 0.125483900308609, + 0.0, + 0.9858682155609131 + ], + [ + 0.25160783529281616, + 0.03888721764087677, + 0.10120146721601486, + 0.12546603381633759, + -0.14394962787628174, + -0.04190400242805481, + 0.0, + 0.9858682155609131 + ], + [ + 0.23172776401042938, + 0.05615846812725067, + 0.09770748764276505, + 0.09223093837499619, + -0.1008034497499466, + -0.10652630776166916, + 0.0, + 0.9858682155609131 + ], + [ + 0.21809010207653046, + 0.06899388879537582, + 0.09087157994508743, + 0.09673499315977097, + -0.08175761252641678, + -0.13638180494308472, + 0.0, + 0.9858682155609131 + ], + [ + 0.21046392619609833, + 0.08114560693502426, + 0.07748705893754959, + 0.11598490178585052, + -0.0633155107498169, + -0.16126447916030884, + 0.0, + 0.9858682155609131 + ], + [ + 0.20291869342327118, + 0.08868452906608582, + 0.0515078529715538, + 0.09583448618650436, + -0.0019902384374290705, + -0.19635693728923798, + 0.0, + 0.9858682155609131 + ], + [ + 0.20027194917201996, + 0.09482267498970032, + 0.03054874949157238, + 0.08654694259166718, + 0.0026636214461177588, + -0.19774675369262695, + 0.0, + 0.9858682155609131 + ], + [ + 0.1974290907382965, + 0.0971822664141655, + 0.019060008227825165, + 0.08413421362638474, + -0.001963479910045862, + -0.18696676194667816, + 0.0, + 0.9858682155609131 + ], + [ + 0.19778403639793396, + 0.0982244685292244, + 0.011683340184390545, + 0.08966520428657532, + -0.00027410476468503475, + -0.19411532580852509, + 0.0, + 0.9858682155609131 + ], + [ + 0.1965131014585495, + 0.0990419089794159, + 0.00553447101265192, + 0.08705003559589386, + 0.013686183840036392, + -0.19109198451042175, + 0.0, + 0.9383087754249573 + ], + [ + 0.19066695868968964, + 0.09676870703697205, + 0.0022850192617625, + 0.08199775218963623, + 0.024574611335992813, + -0.20793665945529938, + 0.0, + 0.6631406545639038 + ], + [ + 0.19019077718257904, + 0.09534057974815369, + 0.009258780628442764, + 0.08264703303575516, + 0.009121131151914597, + -0.2242276966571808, + 0.0, + 0.3936077654361725 + ], + [ + 0.1872822493314743, + 0.09075690805912018, + 0.0287382323294878, + 0.0728050172328949, + 0.009123965166509151, + -0.21088938415050507, + 0.0, + 0.3552374839782715 + ], + [ + 0.20022046566009521, + 0.08466483652591705, + 0.05887757986783981, + 0.05099514499306679, + -0.035575587302446365, + -0.16955088078975677, + 0.0, + 0.3831871449947357 + ], + [ + 0.21948979794979095, + 0.07444775104522705, + 0.08502957224845886, + 0.032276321202516556, + -0.08153606951236725, + -0.11844870448112488, + 0.0, + 0.3831871449947357 + ], + [ + 0.24586445093154907, + 0.06285373121500015, + 0.09352036565542221, + 0.01270038727670908, + -0.08469390869140625, + -0.05820852145552635, + 0.0, + 0.3831871449947357 + ], + [ + 0.26842546463012695, + 0.04830307513475418, + 0.08777912706136703, + 0.048644810914993286, + -0.10294011980295181, + -0.04380708560347557, + 0.0, + 0.3831871449947357 + ], + [ + 0.2785928547382355, + 0.03529619798064232, + 0.07747115194797516, + 0.07012470066547394, + -0.08413464576005936, + -0.04888174310326576, + 0.0, + 0.3831871449947357 + ], + [ + 0.2864336371421814, + 0.029679153114557266, + 0.062241461127996445, + 0.09510882198810577, + -0.05314459279179573, + -0.03416356444358826, + 0.0, + 0.4513009488582611 + ], + [ + 0.28901806473731995, + 0.028060665354132652, + 0.060418520122766495, + 0.10805218666791916, + -0.04129192233085632, + -0.04163368046283722, + 0.0, + 0.7368898391723633 + ], + [ + 0.2872023284435272, + 0.027792522683739662, + 0.05907149612903595, + 0.10685469210147858, + -0.033485013991594315, + -0.05750934034585953, + 0.0, + 0.9701826572418213 + ], + [ + 0.2827877402305603, + 0.03094884380698204, + 0.08363717794418335, + 0.08149388432502747, + -0.07691773027181625, + -0.05037107318639755, + 0.0, + 0.9886419177055359 + ] + ], + "left_gripper_pos": [ + [ + 0.9858682155609131 + ], + [ + 0.9858682155609131 + ], + [ + 0.9858682155609131 + ], + [ + 0.9858682155609131 + ], + [ + 0.9858682155609131 + ], + [ + 0.9858682155609131 + ], + [ + 0.9858682155609131 + ], + [ + 0.9858682155609131 + ], + [ + 0.9858682155609131 + ], + [ + 0.9858682155609131 + ], + [ + 0.9383087754249573 + ], + [ + 0.6631406545639038 + ], + [ + 0.3936077654361725 + ], + [ + 0.3552374839782715 + ], + [ + 0.3831871449947357 + ], + [ + 0.3831871449947357 + ], + [ + 0.3831871449947357 + ], + [ + 0.3831871449947357 + ], + [ + 0.3831871449947357 + ], + [ + 0.4513009488582611 + ], + [ + 0.7368898391723633 + ], + [ + 0.9701826572418213 + ], + [ + 0.9886419177055359 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2770644724369049, + 0.030561860650777817, + 0.09893497079610825 + ], + [ + 0.27145346999168396, + 0.030869631096720695, + 0.0912880152463913 + ], + [ + 0.25160783529281616, + 0.03888721764087677, + 0.10120146721601486 + ], + [ + 0.23172776401042938, + 0.05615846812725067, + 0.09770748764276505 + ], + [ + 0.21809010207653046, + 0.06899388879537582, + 0.09087157994508743 + ], + [ + 0.21046392619609833, + 0.08114560693502426, + 0.07748705893754959 + ], + [ + 0.20291869342327118, + 0.08868452906608582, + 0.0515078529715538 + ], + [ + 0.20027194917201996, + 0.09482267498970032, + 0.03054874949157238 + ], + [ + 0.1974290907382965, + 0.0971822664141655, + 0.019060008227825165 + ], + [ + 0.19778403639793396, + 0.0982244685292244, + 0.011683340184390545 + ], + [ + 0.1965131014585495, + 0.0990419089794159, + 0.00553447101265192 + ], + [ + 0.19066695868968964, + 0.09676870703697205, + 0.0022850192617625 + ], + [ + 0.19019077718257904, + 0.09534057974815369, + 0.009258780628442764 + ], + [ + 0.1872822493314743, + 0.09075690805912018, + 0.0287382323294878 + ], + [ + 0.20022046566009521, + 0.08466483652591705, + 0.05887757986783981 + ], + [ + 0.21948979794979095, + 0.07444775104522705, + 0.08502957224845886 + ], + [ + 0.24586445093154907, + 0.06285373121500015, + 0.09352036565542221 + ], + [ + 0.26842546463012695, + 0.04830307513475418, + 0.08777912706136703 + ], + [ + 0.2785928547382355, + 0.03529619798064232, + 0.07747115194797516 + ], + [ + 0.2864336371421814, + 0.029679153114557266, + 0.062241461127996445 + ], + [ + 0.28901806473731995, + 0.028060665354132652, + 0.060418520122766495 + ], + [ + 0.2872023284435272, + 0.027792522683739662, + 0.05907149612903595 + ], + [ + 0.2827877402305603, + 0.03094884380698204, + 0.08363717794418335 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9754918537554298, + 0.16439847670820254, + 0.1462490482458522, + 0.13269102356461357, + -0.969724177293744, + 0.20500759068226265, + 0.17552417361198477, + -0.1805772987614821, + -0.9677722374866082 + ], + [ + 0.9818953471486123, + 0.14881161862607348, + 0.11720336774083964, + 0.12386286487454609, + -0.9725243590083358, + 0.19711509795166793, + 0.14331614686760305, + -0.17902925263016034, + -0.9733493765086152 + ], + [ + 0.9887883659965685, + -0.02362691157930444, + 0.1474426543407981, + -0.04145845919455063, + -0.9920205239141489, + 0.11906500868984043, + 0.14345300077394726, + -0.12384284065831874, + -0.9818778882257347 + ], + [ + 0.9892838451318313, + -0.09665727114212146, + 0.10942963810840926, + -0.10578520342009719, + -0.9910907226595237, + 0.08092385430509341, + 0.10063282018580054, + -0.0916326982773166, + -0.9906949500768998 + ], + [ + 0.9874051319411269, + -0.12750932236130838, + 0.09366150824797485, + -0.13550527024453776, + -0.9871550444609397, + 0.08463592577194684, + 0.08166656079620536, + -0.09626157544046143, + -0.9920001421075703 + ], + [ + 0.9850472808888157, + -0.15226031963914916, + 0.08061420145938797, + -0.16024467111062862, + -0.981569217505258, + 0.10413220744208648, + 0.06327321545644041, + -0.11549314399348296, + -0.9912909935514916 + ], + [ + 0.9807818949367685, + -0.19401556750167623, + 0.02061150482724939, + -0.19509718993474343, + -0.9763205567293692, + 0.09346259672842776, + 0.0019902371235239868, + -0.09568766939714117, + -0.9954094177179232 + ], + [ + 0.9805082621380933, + -0.19595092821720506, + 0.014379902981318006, + -0.19645980000118912, + -0.9767965994508848, + 0.08527573092434086, + -0.0026636182964401393, + -0.08643863159492736, + -0.9962536163575857 + ], + [ + 0.9825706767155367, + -0.18505976102594413, + 0.017542807865114488, + -0.1858790198230264, + -0.9791276895522765, + 0.08220679741755918, + 0.0019634786484273503, + -0.08403482850009933, + -0.9964608835024864 + ], + [ + 0.9812186690110285, + -0.19209954973276652, + 0.01754099702678446, + -0.19289854444968, + -0.9772816574770133, + 0.0878106685327925, + 0.00027410476125262935, + -0.08954510009737816, + -0.9959827307313767 + ], + [ + 0.9817054690834078, + -0.19038013192037434, + 0.003126874111217837, + -0.18991332770120828, + -0.9778538917566462, + 0.08794711102608822, + -0.013685756580475014, + -0.0869319949521606, + -0.9961202378831874 + ], + [ + 0.9781635198108636, + -0.20771706677621968, + -0.007053274495296568, + -0.2063791136448351, + -0.9747559155740808, + 0.08519722122527175, + -0.02457213792885625, + -0.0818811652531836, + -0.996339141464585 + ], + [ + 0.9749255662435198, + -0.22232861130228654, + 0.009493623183439064, + -0.2223442096353629, + -0.9714708237430051, + 0.08250752121905595, + -0.009121004680305413, + -0.08254954398713506, + -0.9965452222860426 + ], + [ + 0.9778044260770653, + -0.20942409509895638, + 0.006328723100617706, + -0.20932094953377767, + -0.9751157762309848, + 0.07303398545692082, + -0.009123838576976183, + -0.07273768856258285, + -0.9973093723775958 + ], + [ + 0.9850369792267342, + -0.16673331421206028, + 0.04361366170975338, + -0.16863291786370388, + -0.9846852479671293, + 0.044248180173723485, + 0.03556808356720571, + -0.05094079276744106, + -0.9980681074273343 + ], + [ + 0.989694204354789, + -0.11550047939240901, + 0.08464644780889931, + -0.11777933065268006, + -0.9927865571631513, + 0.02242501253385138, + 0.08144575579824691, + -0.03216350690239539, + -0.996158670938617 + ], + [ + 0.9947280472178274, + -0.05709845301544069, + 0.08518144599295933, + -0.05796713236890976, + -0.9982883499700289, + 0.007757698050489029, + 0.08459269261072867, + -0.012654523987917509, + -0.9963352545099998 + ], + [ + 0.9937520446171462, + -0.03874937293328696, + 0.10466785522078077, + -0.04356125001456541, + -0.9980776529411609, + 0.04408419440833411, + 0.10275841238755005, + -0.04836822093834256, + -0.9935296794192158 + ], + [ + 0.9952725185955299, + -0.042861091656371635, + 0.087152398421008, + -0.04868944167053157, + -0.996638439198644, + 0.06588747818441779, + 0.08403542109326229, + -0.06981939797588013, + -0.9940137321324908 + ], + [ + 0.9980054644943184, + -0.028960965313793753, + 0.05609238208146809, + -0.03410869501192119, + -0.9950719891918969, + 0.09310388418463257, + 0.05311957985586775, + -0.09483142313481839, + -0.9940751035118833 + ], + [ + 0.9982817918497127, + -0.03693103528468544, + 0.04549244656124713, + -0.041586175895185415, + -0.9934918259638431, + 0.10604047207289868, + 0.04128018938596705, + -0.10775012935412107, + -0.9933206207405686 + ], + [ + 0.9977871496417875, + -0.05358516402807798, + 0.03936285312068497, + -0.057445424964683696, + -0.9928579173753779, + 0.10456184321086577, + 0.03347875685182377, + -0.10659167932400145, + -0.9937390938966552 + ], + [ + 0.9957786854181567, + -0.043935392394343714, + 0.08058840463765703, + -0.050200905556471845, + -0.9957320146072545, + 0.07744432947278053, + 0.07684190749973539, + -0.08116302348565775, + -0.9937343130185596 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.005611002445220947, + 0.0003077704459428787, + -0.0076469555497169495, + -0.002571314573287964, + 0.032626837491989136, + -0.009711086750030518, + 1.0 + ], + [ + -0.019845634698867798, + 0.008017586544156075, + 0.009913451969623566, + -0.05643203854560852, + -0.00013828277587890625, + -0.16738790273666382, + 1.0 + ], + [ + -0.01988007128238678, + 0.0172712504863739, + -0.003493979573249817, + -0.0332350954413414, + 0.043146178126335144, + -0.06462230533361435, + 1.0 + ], + [ + -0.013637661933898926, + 0.012835420668125153, + -0.006835907697677612, + 0.00450405478477478, + 0.019045837223529816, + -0.029855497181415558, + 1.0 + ], + [ + -0.007626175880432129, + 0.012151718139648438, + -0.013384521007537842, + 0.01924990862607956, + 0.018442101776599884, + -0.02488267421722412, + 1.0 + ], + [ + -0.0075452327728271484, + 0.007538922131061554, + -0.02597920596599579, + -0.02015041559934616, + 0.06132527068257332, + -0.03509245812892914, + 1.0 + ], + [ + -0.0026467442512512207, + 0.006138145923614502, + -0.020959103479981422, + -0.009287543594837189, + 0.004653859883546829, + -0.001389816403388977, + 1.0 + ], + [ + -0.0028428584337234497, + 0.0023595914244651794, + -0.011488741263747215, + -0.00241272896528244, + -0.004627101123332977, + 0.010779991745948792, + 1.0 + ], + [ + 0.00035494565963745117, + 0.001042202115058899, + -0.00737666804343462, + 0.005530990660190582, + 0.0016893751453608274, + -0.007148563861846924, + 1.0 + ], + [ + -0.0012709349393844604, + 0.0008174404501914978, + -0.006148869171738625, + -0.0026151686906814575, + 0.01396028883755207, + 0.0030233412981033325, + 0.0 + ], + [ + -0.005846142768859863, + -0.0022732019424438477, + -0.0032494517508894205, + -0.005052283406257629, + 0.010888427495956421, + -0.016844674944877625, + 0.0 + ], + [ + -0.0004761815071105957, + -0.0014281272888183594, + 0.006973761133849621, + 0.000649280846118927, + -0.015453480184078217, + -0.01629103720188141, + 0.0 + ], + [ + -0.0029085278511047363, + -0.004583671689033508, + 0.019479451701045036, + -0.00984201580286026, + 2.834014594554901e-06, + 0.01333831250667572, + 0.0 + ], + [ + 0.01293821632862091, + -0.006092071533203125, + 0.030139347538352013, + -0.02180987223982811, + -0.04469955340027809, + 0.04133850336074829, + 0.0 + ], + [ + 0.01926933228969574, + -0.010217085480690002, + 0.02615199238061905, + -0.018718823790550232, + -0.04596048220992088, + 0.0511021763086319, + 0.0 + ], + [ + 0.026374652981758118, + -0.011594019830226898, + 0.008490793406963348, + -0.01957593485713005, + -0.0031578391790390015, + 0.060240183025598526, + 0.0 + ], + [ + 0.02256101369857788, + -0.014550656080245972, + -0.005741238594055176, + 0.03594442456960678, + -0.018246211111545563, + 0.014401435852050781, + 0.0 + ], + [ + 0.01016739010810852, + -0.013006877154111862, + -0.010307975113391876, + 0.021479889750480652, + 0.018805474042892456, + -0.005074657499790192, + 0.0 + ], + [ + 0.007840782403945923, + -0.0056170448660850525, + -0.015229690819978714, + 0.024984121322631836, + 0.030990052968263626, + 0.014718178659677505, + 1.0 + ], + [ + 0.00258442759513855, + -0.001618487760424614, + -0.00182294100522995, + 0.012943364679813385, + 0.011852670460939407, + -0.007470116019248962, + 1.0 + ], + [ + -0.0018157362937927246, + -0.0002681426703929901, + -0.001347023993730545, + -0.0011974945664405823, + 0.007806908339262009, + -0.01587565988302231, + 1.0 + ], + [ + -0.004414588212966919, + 0.0031563211232423782, + 0.0245656818151474, + -0.02536080777645111, + -0.04343271628022194, + 0.007138267159461975, + 1.0 + ], + [ + -0.001327425241470337, + 0.00506133958697319, + 0.0458599328994751, + -0.07655840367078781, + -0.057924263179302216, + 0.007454775273799896, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9858682155609131 + ], + [ + 0.9858682155609131 + ], + [ + 0.9858682155609131 + ], + [ + 0.9858682155609131 + ], + [ + 0.9858682155609131 + ], + [ + 0.9858682155609131 + ], + [ + 0.9858682155609131 + ], + [ + 0.9858682155609131 + ], + [ + 0.9858682155609131 + ], + [ + 0.9383087754249573 + ], + [ + 0.6631406545639038 + ], + [ + 0.3936077654361725 + ], + [ + 0.3552374839782715 + ], + [ + 0.3831871449947357 + ], + [ + 0.3831871449947357 + ], + [ + 0.3831871449947357 + ], + [ + 0.3831871449947357 + ], + [ + 0.3831871449947357 + ], + [ + 0.4513009488582611 + ], + [ + 0.7368898391723633 + ], + [ + 0.9701826572418213 + ], + [ + 0.9886419177055359 + ], + [ + 0.9872581958770752 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.27145346999168396, + 0.030869631096720695, + 0.0912880152463913 + ], + [ + 0.25160783529281616, + 0.03888721764087677, + 0.10120146721601486 + ], + [ + 0.23172776401042938, + 0.05615846812725067, + 0.09770748764276505 + ], + [ + 0.21809010207653046, + 0.06899388879537582, + 0.09087157994508743 + ], + [ + 0.21046392619609833, + 0.08114560693502426, + 0.07748705893754959 + ], + [ + 0.20291869342327118, + 0.08868452906608582, + 0.0515078529715538 + ], + [ + 0.20027194917201996, + 0.09482267498970032, + 0.03054874949157238 + ], + [ + 0.1974290907382965, + 0.0971822664141655, + 0.019060008227825165 + ], + [ + 0.19778403639793396, + 0.0982244685292244, + 0.011683340184390545 + ], + [ + 0.1965131014585495, + 0.0990419089794159, + 0.00553447101265192 + ], + [ + 0.19066695868968964, + 0.09676870703697205, + 0.0022850192617625 + ], + [ + 0.19019077718257904, + 0.09534057974815369, + 0.009258780628442764 + ], + [ + 0.1872822493314743, + 0.09075690805912018, + 0.0287382323294878 + ], + [ + 0.20022046566009521, + 0.08466483652591705, + 0.05887757986783981 + ], + [ + 0.21948979794979095, + 0.07444775104522705, + 0.08502957224845886 + ], + [ + 0.24586445093154907, + 0.06285373121500015, + 0.09352036565542221 + ], + [ + 0.26842546463012695, + 0.04830307513475418, + 0.08777912706136703 + ], + [ + 0.2785928547382355, + 0.03529619798064232, + 0.07747115194797516 + ], + [ + 0.2864336371421814, + 0.029679153114557266, + 0.062241461127996445 + ], + [ + 0.28901806473731995, + 0.028060665354132652, + 0.060418520122766495 + ], + [ + 0.2872023284435272, + 0.027792522683739662, + 0.05907149612903595 + ], + [ + 0.2827877402305603, + 0.03094884380698204, + 0.08363717794418335 + ], + [ + 0.28146031498908997, + 0.03601018339395523, + 0.12949711084365845 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9818953471486123, + 0.14881161862607348, + 0.11720336774083964, + 0.12386286487454609, + -0.9725243590083358, + 0.19711509795166793, + 0.14331614686760305, + -0.17902925263016034, + -0.9733493765086152 + ], + [ + 0.9887883659965685, + -0.02362691157930444, + 0.1474426543407981, + -0.04145845919455063, + -0.9920205239141489, + 0.11906500868984043, + 0.14345300077394726, + -0.12384284065831874, + -0.9818778882257347 + ], + [ + 0.9892838451318313, + -0.09665727114212146, + 0.10942963810840926, + -0.10578520342009719, + -0.9910907226595237, + 0.08092385430509341, + 0.10063282018580054, + -0.0916326982773166, + -0.9906949500768998 + ], + [ + 0.9874051319411269, + -0.12750932236130838, + 0.09366150824797485, + -0.13550527024453776, + -0.9871550444609397, + 0.08463592577194684, + 0.08166656079620536, + -0.09626157544046143, + -0.9920001421075703 + ], + [ + 0.9850472808888157, + -0.15226031963914916, + 0.08061420145938797, + -0.16024467111062862, + -0.981569217505258, + 0.10413220744208648, + 0.06327321545644041, + -0.11549314399348296, + -0.9912909935514916 + ], + [ + 0.9807818949367685, + -0.19401556750167623, + 0.02061150482724939, + -0.19509718993474343, + -0.9763205567293692, + 0.09346259672842776, + 0.0019902371235239868, + -0.09568766939714117, + -0.9954094177179232 + ], + [ + 0.9805082621380933, + -0.19595092821720506, + 0.014379902981318006, + -0.19645980000118912, + -0.9767965994508848, + 0.08527573092434086, + -0.0026636182964401393, + -0.08643863159492736, + -0.9962536163575857 + ], + [ + 0.9825706767155367, + -0.18505976102594413, + 0.017542807865114488, + -0.1858790198230264, + -0.9791276895522765, + 0.08220679741755918, + 0.0019634786484273503, + -0.08403482850009933, + -0.9964608835024864 + ], + [ + 0.9812186690110285, + -0.19209954973276652, + 0.01754099702678446, + -0.19289854444968, + -0.9772816574770133, + 0.0878106685327925, + 0.00027410476125262935, + -0.08954510009737816, + -0.9959827307313767 + ], + [ + 0.9817054690834078, + -0.19038013192037434, + 0.003126874111217837, + -0.18991332770120828, + -0.9778538917566462, + 0.08794711102608822, + -0.013685756580475014, + -0.0869319949521606, + -0.9961202378831874 + ], + [ + 0.9781635198108636, + -0.20771706677621968, + -0.007053274495296568, + -0.2063791136448351, + -0.9747559155740808, + 0.08519722122527175, + -0.02457213792885625, + -0.0818811652531836, + -0.996339141464585 + ], + [ + 0.9749255662435198, + -0.22232861130228654, + 0.009493623183439064, + -0.2223442096353629, + -0.9714708237430051, + 0.08250752121905595, + -0.009121004680305413, + -0.08254954398713506, + -0.9965452222860426 + ], + [ + 0.9778044260770653, + -0.20942409509895638, + 0.006328723100617706, + -0.20932094953377767, + -0.9751157762309848, + 0.07303398545692082, + -0.009123838576976183, + -0.07273768856258285, + -0.9973093723775958 + ], + [ + 0.9850369792267342, + -0.16673331421206028, + 0.04361366170975338, + -0.16863291786370388, + -0.9846852479671293, + 0.044248180173723485, + 0.03556808356720571, + -0.05094079276744106, + -0.9980681074273343 + ], + [ + 0.989694204354789, + -0.11550047939240901, + 0.08464644780889931, + -0.11777933065268006, + -0.9927865571631513, + 0.02242501253385138, + 0.08144575579824691, + -0.03216350690239539, + -0.996158670938617 + ], + [ + 0.9947280472178274, + -0.05709845301544069, + 0.08518144599295933, + -0.05796713236890976, + -0.9982883499700289, + 0.007757698050489029, + 0.08459269261072867, + -0.012654523987917509, + -0.9963352545099998 + ], + [ + 0.9937520446171462, + -0.03874937293328696, + 0.10466785522078077, + -0.04356125001456541, + -0.9980776529411609, + 0.04408419440833411, + 0.10275841238755005, + -0.04836822093834256, + -0.9935296794192158 + ], + [ + 0.9952725185955299, + -0.042861091656371635, + 0.087152398421008, + -0.04868944167053157, + -0.996638439198644, + 0.06588747818441779, + 0.08403542109326229, + -0.06981939797588013, + -0.9940137321324908 + ], + [ + 0.9980054644943184, + -0.028960965313793753, + 0.05609238208146809, + -0.03410869501192119, + -0.9950719891918969, + 0.09310388418463257, + 0.05311957985586775, + -0.09483142313481839, + -0.9940751035118833 + ], + [ + 0.9982817918497127, + -0.03693103528468544, + 0.04549244656124713, + -0.041586175895185415, + -0.9934918259638431, + 0.10604047207289868, + 0.04128018938596705, + -0.10775012935412107, + -0.9933206207405686 + ], + [ + 0.9977871496417875, + -0.05358516402807798, + 0.03936285312068497, + -0.057445424964683696, + -0.9928579173753779, + 0.10456184321086577, + 0.03347875685182377, + -0.10659167932400145, + -0.9937390938966552 + ], + [ + 0.9957786854181567, + -0.043935392394343714, + 0.08058840463765703, + -0.050200905556471845, + -0.9957320146072545, + 0.07744432947278053, + 0.07684190749973539, + -0.08116302348565775, + -0.9937343130185596 + ], + [ + 0.9900101801554255, + -0.042239721329926504, + 0.13452006962008423, + -0.042513675718342504, + -0.9990955346743448, + -0.0008366425169902009, + 0.13443374042827855, + -0.004890658008465959, + -0.9909105160904828 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006153.json b/json/chunk-0006/episode_0006153.json new file mode 100644 index 0000000000000000000000000000000000000000..4dd09acd817432ac3dc45c1dbb1a11ddcbd724ec --- /dev/null +++ b/json/chunk-0006/episode_0006153.json @@ -0,0 +1,1342 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 21, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the can to the top right corner of the stove." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006153.mp4", + "start": 0, + "end": 21, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.31788820028305054, + -0.0020963368006050587, + 0.08506687730550766, + -0.30869466066360474, + 0.1262858659029007, + 2.0806093215942383, + 0.0, + 1.0001531839370728 + ], + [ + 0.3139519691467285, + -0.001757165533490479, + 0.0756240040063858, + -0.27707645297050476, + 0.11004214733839035, + 2.087772846221924, + 0.0, + 1.0001531839370728 + ], + [ + 0.30547526478767395, + 0.01238136924803257, + 0.07956314831972122, + -0.2574046552181244, + 0.11833591759204865, + 2.1549267768859863, + 0.0, + 1.0001531839370728 + ], + [ + 0.29306453466415405, + 0.03190292418003082, + 0.09524071216583252, + -0.2824724316596985, + 0.1392395794391632, + 2.22318959236145, + 0.0, + 1.0001531839370728 + ], + [ + 0.2799111306667328, + 0.05417094752192497, + 0.09602530300617218, + -0.28840401768684387, + 0.11224497854709625, + 2.325967788696289, + 0.0, + 1.0001531839370728 + ], + [ + 0.27124711871147156, + 0.08277463167905807, + 0.07440075278282166, + -0.2342233657836914, + 0.05724230036139488, + 2.441494941711426, + 0.0, + 1.0001531839370728 + ], + [ + 0.2739201486110687, + 0.10334146022796631, + 0.04742612689733505, + -0.19512858986854553, + 0.0017324649961665273, + 2.5053670406341553, + 0.0, + 1.0001531839370728 + ], + [ + 0.28019750118255615, + 0.11042672395706177, + 0.023636939004063606, + -0.16522447764873505, + -0.029394075274467468, + 2.522373676300049, + 0.0, + 1.0001531839370728 + ], + [ + 0.2892571985721588, + 0.11076948046684265, + 0.012841473333537579, + -0.1459846794605255, + -0.023883230984210968, + 2.524397611618042, + 0.0, + 1.0001531839370728 + ], + [ + 0.30049270391464233, + 0.10204150527715683, + 0.013320611789822578, + -0.14076738059520721, + 0.0014454986667260528, + 2.509152412414551, + 0.0, + 1.0001531839370728 + ], + [ + 0.31477341055870056, + 0.08909021317958832, + 0.019477736204862595, + -0.15370242297649384, + 0.036260902881622314, + 2.476517915725708, + 0.0, + 1.0001531839370728 + ], + [ + 0.3245311975479126, + 0.07034136354923248, + 0.020715216174721718, + -0.15052564442157745, + 0.0564720593392849, + 2.4261794090270996, + 0.0, + 1.0001531839370728 + ], + [ + 0.3344449996948242, + 0.05677223205566406, + 0.016079828143119812, + -0.1445232331752777, + 0.05998785048723221, + 2.3997180461883545, + 0.0, + 1.0001531839370728 + ], + [ + 0.34933918714523315, + 0.039991606026887894, + 0.013821380212903023, + -0.15007758140563965, + 0.06726083159446716, + 2.342802047729492, + 0.0, + 1.0001531839370728 + ], + [ + 0.3619903326034546, + 0.023627549409866333, + 0.01208224706351757, + -0.1408790796995163, + 0.08512917906045914, + 2.3056628704071045, + 0.0, + 1.0001531839370728 + ], + [ + 0.3778053820133209, + -0.00024246599059551954, + 0.008233380503952503, + -0.12463711202144623, + 0.10231328755617142, + 2.266463041305542, + 0.0, + 1.0001531839370728 + ], + [ + 0.3886556625366211, + -0.018493009731173515, + 0.010032208636403084, + -0.10784067958593369, + 0.11535819619894028, + 2.226963996887207, + 0.0, + 1.0001531839370728 + ], + [ + 0.3964817225933075, + -0.0223388709127903, + 0.018762683495879173, + -0.10992574691772461, + 0.1321277767419815, + 2.2259392738342285, + 0.0, + 1.0001531839370728 + ], + [ + 0.3938949406147003, + -0.021591857075691223, + 0.01602442003786564, + -0.10409216582775116, + 0.12903180718421936, + 2.23751163482666, + 0.0, + 1.0001531839370728 + ], + [ + 0.38036811351776123, + -0.008571429178118706, + 0.03329125791788101, + -0.12496961653232574, + 0.1090533509850502, + 2.268676996231079, + 0.0, + 1.0001531839370728 + ], + [ + 0.37184956669807434, + 0.004780184011906385, + 0.06603434681892395, + -0.14431308209896088, + 0.14797711372375488, + 2.302140235900879, + 0.0, + 1.0001531839370728 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.31788820028305054, + -0.0020963368006050587, + 0.08506687730550766 + ], + [ + 0.3139519691467285, + -0.001757165533490479, + 0.0756240040063858 + ], + [ + 0.30547526478767395, + 0.01238136924803257, + 0.07956314831972122 + ], + [ + 0.29306453466415405, + 0.03190292418003082, + 0.09524071216583252 + ], + [ + 0.2799111306667328, + 0.05417094752192497, + 0.09602530300617218 + ], + [ + 0.27124711871147156, + 0.08277463167905807, + 0.07440075278282166 + ], + [ + 0.2739201486110687, + 0.10334146022796631, + 0.04742612689733505 + ], + [ + 0.28019750118255615, + 0.11042672395706177, + 0.023636939004063606 + ], + [ + 0.2892571985721588, + 0.11076948046684265, + 0.012841473333537579 + ], + [ + 0.30049270391464233, + 0.10204150527715683, + 0.013320611789822578 + ], + [ + 0.31477341055870056, + 0.08909021317958832, + 0.019477736204862595 + ], + [ + 0.3245311975479126, + 0.07034136354923248, + 0.020715216174721718 + ], + [ + 0.3344449996948242, + 0.05677223205566406, + 0.016079828143119812 + ], + [ + 0.34933918714523315, + 0.039991606026887894, + 0.013821380212903023 + ], + [ + 0.3619903326034546, + 0.023627549409866333, + 0.01208224706351757 + ], + [ + 0.3778053820133209, + -0.00024246599059551954, + 0.008233380503952503 + ], + [ + 0.3886556625366211, + -0.018493009731173515, + 0.010032208636403084 + ], + [ + 0.3964817225933075, + -0.0223388709127903, + 0.018762683495879173 + ], + [ + 0.3938949406147003, + -0.021591857075691223, + 0.01602442003786564 + ], + [ + 0.38036811351776123, + -0.008571429178118706, + 0.03329125791788101 + ], + [ + 0.37184956669807434, + 0.004780184011906385, + 0.06603434681892395 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + -0.48412774647475, + 0.812903492433187, + 0.3237410030922992, + 0.8658849842417766, + 0.49834572580375136, + 0.04352851522566395, + -0.12595046311109298, + 0.3013958353445849, + -0.9451439209342889 + ], + [ + -0.4912645260516342, + 0.8213133551072901, + 0.29000610022147777, + 0.8640594253737551, + 0.5015177681172407, + 0.0433732369725605, + -0.10982019334366315, + 0.27189023701690385, + -0.9560414343263856 + ], + [ + -0.5476174690569465, + 0.7901342011276924, + 0.27532354020673094, + 0.8283579909922085, + 0.558376703622785, + 0.0451497022216579, + -0.11805992691432689, + 0.2527912202978093, + -0.9602908166786394 + ], + [ + -0.601214386088874, + 0.7396558953477261, + 0.30240770234425657, + 0.7869425467156956, + 0.6137709288274521, + 0.06329830246461964, + -0.13879009376895057, + 0.27603333748596537, + -0.951074606152412 + ], + [ + -0.6811003204235484, + 0.6762446557113031, + 0.28070539563898816, + 0.7235718627495933, + 0.6803028204387094, + 0.11675543644824869, + -0.11200943244219856, + 0.28263269118245765, + -0.9526660741933336 + ], + [ + -0.7635266092304038, + 0.6165452176712384, + 0.19209141460213094, + 0.6432371361812032, + 0.7524517475467531, + 0.14164164024481637, + -0.057211044690049756, + 0.23170749271562815, + -0.971101711554928 + ], + [ + -0.8043428788560179, + 0.5826179885132438, + 0.11657106285178628, + 0.594162883224502, + 0.7892794299580534, + 0.15494660255532156, + -0.0017324641295198215, + 0.19389239517286855, + -0.9810212727877862 + ], + [ + -0.8139802391932911, + 0.5764314992534985, + 0.07185330104592642, + 0.5801486079890597, + 0.8004364287861123, + 0.15076178600856108, + 0.029389842653355217, + 0.1644027072176694, + -0.9859553676553074 + ], + [ + -0.8152724575174154, + 0.5754268750795981, + 0.06492096309854811, + 0.578584928716944, + 0.8048201145967043, + 0.13230292287835782, + 0.023880960515088576, + 0.14542521987838464, + -0.989080990186446 + ], + [ + -0.8065866059633097, + 0.5851042619891864, + 0.08408953372850811, + 0.5911141663127759, + 0.7987290698792188, + 0.11232059167503343, + -0.001445498163339283, + 0.14030279944451313, + -0.9901075875899004 + ], + [ + -0.7863534122708034, + 0.60547542023298, + 0.12266958263465322, + 0.6167122782228287, + 0.7810194228911054, + 0.09835968155729644, + -0.03625295711072347, + 0.15299730899771022, + -0.9875614140600001 + ], + [ + -0.7536189668899039, + 0.642123643592487, + 0.14048373245078447, + 0.6548837667268462, + 0.7518387503354419, + 0.07658815555749779, + -0.05644204834564768, + 0.14971880253846087, + -0.9871162927158065 + ], + [ + -0.7358772060533698, + 0.6622617391617073, + 0.14104654002703146, + 0.6744557137696002, + 0.7353516115311136, + 0.06608704549405367, + -0.05995187882481445, + 0.14376159522315016, + -0.9877947033489649 + ], + [ + -0.6959964420146487, + 0.7014491388430708, + 0.15348634570952588, + 0.7148928250954911, + 0.6969328505550352, + 0.05668201164585094, + -0.06721012817974042, + 0.14917676572961133, + -0.9865237408377537 + ], + [ + -0.6680601083389351, + 0.7265651334980588, + 0.160620043677986, + 0.7392335245628513, + 0.6727032637403568, + 0.03168777548923422, + -0.08502639477570789, + 0.13990505972987438, + -0.9865075197145867 + ], + [ + -0.637545835245021, + 0.7535345919649172, + 0.16037745064065032, + 0.7636123195777664, + 0.6456722792812328, + 0.0018796693434693437, + -0.10213487822870197, + 0.12366457245324233, + -0.9870539702413262 + ], + [ + -0.6060299897091703, + 0.7801751225152261, + 0.15509490572373646, + 0.7870699228623909, + 0.6163567622725861, + -0.025005561906197633, + -0.11510251126058402, + 0.10691641505964608, + -0.9875830557944484 + ], + [ + -0.6039620693467314, + 0.7793689868962825, + 0.16677470148279716, + 0.7860492505113543, + 0.6170557440841307, + -0.036997087227479526, + -0.1317436699084703, + 0.10874829174309752, + -0.9853006721209551 + ], + [ + -0.6132671657925756, + 0.7733355891107986, + 0.16079629963216113, + 0.7793243034352059, + 0.6255675151724277, + -0.03631685608950393, + -0.1286740589084408, + 0.10304052880128571, + -0.9863192363471263 + ], + [ + -0.6387779985606153, + 0.7515130514854844, + 0.16489633713903512, + 0.7616541901741021, + 0.6479783146845864, + -0.002645427896605927, + -0.10883732422807646, + 0.12390414498917715, + -0.9863073555993455 + ], + [ + -0.6605715571213753, + 0.7223795697022758, + 0.20448221242689235, + 0.7361435697791753, + 0.6767091346538039, + -0.012545586828555402, + -0.147437656638372, + 0.14224100798593592, + -0.9787898819726994 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0039362311363220215, + 0.0003391712671145797, + -0.009442873299121857, + 0.031618207693099976, + -0.016243718564510345, + 0.007163524627685547, + 1.0 + ], + [ + -0.008476704359054565, + 0.014138534665107727, + 0.003939144313335419, + 0.01967179775238037, + 0.008293770253658295, + 0.0671539306640625, + 1.0 + ], + [ + -0.012410730123519897, + 0.019521554931998253, + 0.015677563846111298, + -0.025067776441574097, + 0.020903661847114563, + 0.06826281547546387, + 1.0 + ], + [ + -0.013153403997421265, + 0.02226802334189415, + 0.0007845908403396606, + -0.005931586027145386, + -0.026994600892066956, + 0.10277819633483887, + 1.0 + ], + [ + -0.00866401195526123, + 0.028603684157133102, + -0.021624550223350525, + 0.054180651903152466, + -0.05500267818570137, + 0.11552715301513672, + 1.0 + ], + [ + 0.002673029899597168, + 0.020566828548908234, + -0.026974625885486603, + 0.039094775915145874, + -0.05550983548164368, + 0.06387209892272949, + 1.0 + ], + [ + 0.006277352571487427, + 0.007085263729095459, + -0.023789187893271446, + 0.029904112219810486, + -0.031126540154218674, + 0.017006635665893555, + 1.0 + ], + [ + 0.009059697389602661, + 0.0003427565097808838, + -0.010795465670526028, + 0.019239798188209534, + 0.0055108442902565, + 0.002023935317993164, + 1.0 + ], + [ + 0.01123550534248352, + -0.008727975189685822, + 0.00047913845628499985, + 0.005217298865318298, + 0.025328729301691055, + -0.015245199203491211, + 1.0 + ], + [ + 0.014280706644058228, + -0.012951292097568512, + 0.006157124415040016, + -0.012935042381286621, + 0.03481540456414223, + -0.03263449668884277, + 1.0 + ], + [ + 0.009757786989212036, + -0.018748849630355835, + 0.0012374799698591232, + 0.003176778554916382, + 0.020211156457662582, + -0.0503385066986084, + 1.0 + ], + [ + 0.009913802146911621, + -0.01356913149356842, + -0.004635388031601906, + 0.006002411246299744, + 0.0035157911479473114, + -0.026461362838745117, + 1.0 + ], + [ + 0.014894187450408936, + -0.01678062602877617, + -0.0022584479302167892, + -0.0055543482303619385, + 0.007272981107234955, + -0.056915998458862305, + 1.0 + ], + [ + 0.012651145458221436, + -0.01636405661702156, + -0.0017391331493854523, + 0.009198501706123352, + 0.017868347465991974, + -0.037139177322387695, + 1.0 + ], + [ + 0.015815049409866333, + -0.023870015516877174, + -0.0038488665595650673, + 0.01624196767807007, + 0.01718410849571228, + -0.0391998291015625, + 1.0 + ], + [ + 0.010850280523300171, + -0.018250543624162674, + 0.0017988281324505806, + 0.016796432435512543, + 0.01304490864276886, + -0.03949904441833496, + 1.0 + ], + [ + 0.007826060056686401, + -0.003845861181616783, + 0.00873047485947609, + -0.002085067331790924, + 0.01676958054304123, + -0.0010247230529785156, + 1.0 + ], + [ + -0.0025867819786071777, + 0.0007470138370990753, + -0.0027382634580135345, + 0.00583358108997345, + -0.003095969557762146, + 0.01157236099243164, + 1.0 + ], + [ + -0.013526827096939087, + 0.013020427897572517, + 0.017266837880015373, + -0.020877450704574585, + -0.01997845619916916, + 0.031165361404418945, + 1.0 + ], + [ + -0.00851854681968689, + 0.013351613655686378, + 0.03274308890104294, + -0.019343465566635132, + 0.03892376273870468, + 0.033463239669799805, + 1.0 + ], + [ + -0.011683017015457153, + 0.004438537638634443, + 0.028304167091846466, + -0.05004480481147766, + 0.033891066908836365, + 0.04539227485656738, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3139519691467285, + -0.001757165533490479, + 0.0756240040063858 + ], + [ + 0.30547526478767395, + 0.01238136924803257, + 0.07956314831972122 + ], + [ + 0.29306453466415405, + 0.03190292418003082, + 0.09524071216583252 + ], + [ + 0.2799111306667328, + 0.05417094752192497, + 0.09602530300617218 + ], + [ + 0.27124711871147156, + 0.08277463167905807, + 0.07440075278282166 + ], + [ + 0.2739201486110687, + 0.10334146022796631, + 0.04742612689733505 + ], + [ + 0.28019750118255615, + 0.11042672395706177, + 0.023636939004063606 + ], + [ + 0.2892571985721588, + 0.11076948046684265, + 0.012841473333537579 + ], + [ + 0.30049270391464233, + 0.10204150527715683, + 0.013320611789822578 + ], + [ + 0.31477341055870056, + 0.08909021317958832, + 0.019477736204862595 + ], + [ + 0.3245311975479126, + 0.07034136354923248, + 0.020715216174721718 + ], + [ + 0.3344449996948242, + 0.05677223205566406, + 0.016079828143119812 + ], + [ + 0.34933918714523315, + 0.039991606026887894, + 0.013821380212903023 + ], + [ + 0.3619903326034546, + 0.023627549409866333, + 0.01208224706351757 + ], + [ + 0.3778053820133209, + -0.00024246599059551954, + 0.008233380503952503 + ], + [ + 0.3886556625366211, + -0.018493009731173515, + 0.010032208636403084 + ], + [ + 0.3964817225933075, + -0.0223388709127903, + 0.018762683495879173 + ], + [ + 0.3938949406147003, + -0.021591857075691223, + 0.01602442003786564 + ], + [ + 0.38036811351776123, + -0.008571429178118706, + 0.03329125791788101 + ], + [ + 0.37184956669807434, + 0.004780184011906385, + 0.06603434681892395 + ], + [ + 0.3601665496826172, + 0.009218721650540829, + 0.09433851391077042 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + -0.4912645260516342, + 0.8213133551072901, + 0.29000610022147777, + 0.8640594253737551, + 0.5015177681172407, + 0.0433732369725605, + -0.10982019334366315, + 0.27189023701690385, + -0.9560414343263856 + ], + [ + -0.5476174690569465, + 0.7901342011276924, + 0.27532354020673094, + 0.8283579909922085, + 0.558376703622785, + 0.0451497022216579, + -0.11805992691432689, + 0.2527912202978093, + -0.9602908166786394 + ], + [ + -0.601214386088874, + 0.7396558953477261, + 0.30240770234425657, + 0.7869425467156956, + 0.6137709288274521, + 0.06329830246461964, + -0.13879009376895057, + 0.27603333748596537, + -0.951074606152412 + ], + [ + -0.6811003204235484, + 0.6762446557113031, + 0.28070539563898816, + 0.7235718627495933, + 0.6803028204387094, + 0.11675543644824869, + -0.11200943244219856, + 0.28263269118245765, + -0.9526660741933336 + ], + [ + -0.7635266092304038, + 0.6165452176712384, + 0.19209141460213094, + 0.6432371361812032, + 0.7524517475467531, + 0.14164164024481637, + -0.057211044690049756, + 0.23170749271562815, + -0.971101711554928 + ], + [ + -0.8043428788560179, + 0.5826179885132438, + 0.11657106285178628, + 0.594162883224502, + 0.7892794299580534, + 0.15494660255532156, + -0.0017324641295198215, + 0.19389239517286855, + -0.9810212727877862 + ], + [ + -0.8139802391932911, + 0.5764314992534985, + 0.07185330104592642, + 0.5801486079890597, + 0.8004364287861123, + 0.15076178600856108, + 0.029389842653355217, + 0.1644027072176694, + -0.9859553676553074 + ], + [ + -0.8152724575174154, + 0.5754268750795981, + 0.06492096309854811, + 0.578584928716944, + 0.8048201145967043, + 0.13230292287835782, + 0.023880960515088576, + 0.14542521987838464, + -0.989080990186446 + ], + [ + -0.8065866059633097, + 0.5851042619891864, + 0.08408953372850811, + 0.5911141663127759, + 0.7987290698792188, + 0.11232059167503343, + -0.001445498163339283, + 0.14030279944451313, + -0.9901075875899004 + ], + [ + -0.7863534122708034, + 0.60547542023298, + 0.12266958263465322, + 0.6167122782228287, + 0.7810194228911054, + 0.09835968155729644, + -0.03625295711072347, + 0.15299730899771022, + -0.9875614140600001 + ], + [ + -0.7536189668899039, + 0.642123643592487, + 0.14048373245078447, + 0.6548837667268462, + 0.7518387503354419, + 0.07658815555749779, + -0.05644204834564768, + 0.14971880253846087, + -0.9871162927158065 + ], + [ + -0.7358772060533698, + 0.6622617391617073, + 0.14104654002703146, + 0.6744557137696002, + 0.7353516115311136, + 0.06608704549405367, + -0.05995187882481445, + 0.14376159522315016, + -0.9877947033489649 + ], + [ + -0.6959964420146487, + 0.7014491388430708, + 0.15348634570952588, + 0.7148928250954911, + 0.6969328505550352, + 0.05668201164585094, + -0.06721012817974042, + 0.14917676572961133, + -0.9865237408377537 + ], + [ + -0.6680601083389351, + 0.7265651334980588, + 0.160620043677986, + 0.7392335245628513, + 0.6727032637403568, + 0.03168777548923422, + -0.08502639477570789, + 0.13990505972987438, + -0.9865075197145867 + ], + [ + -0.637545835245021, + 0.7535345919649172, + 0.16037745064065032, + 0.7636123195777664, + 0.6456722792812328, + 0.0018796693434693437, + -0.10213487822870197, + 0.12366457245324233, + -0.9870539702413262 + ], + [ + -0.6060299897091703, + 0.7801751225152261, + 0.15509490572373646, + 0.7870699228623909, + 0.6163567622725861, + -0.025005561906197633, + -0.11510251126058402, + 0.10691641505964608, + -0.9875830557944484 + ], + [ + -0.6039620693467314, + 0.7793689868962825, + 0.16677470148279716, + 0.7860492505113543, + 0.6170557440841307, + -0.036997087227479526, + -0.1317436699084703, + 0.10874829174309752, + -0.9853006721209551 + ], + [ + -0.6132671657925756, + 0.7733355891107986, + 0.16079629963216113, + 0.7793243034352059, + 0.6255675151724277, + -0.03631685608950393, + -0.1286740589084408, + 0.10304052880128571, + -0.9863192363471263 + ], + [ + -0.6387779985606153, + 0.7515130514854844, + 0.16489633713903512, + 0.7616541901741021, + 0.6479783146845864, + -0.002645427896605927, + -0.10883732422807646, + 0.12390414498917715, + -0.9863073555993455 + ], + [ + -0.6605715571213753, + 0.7223795697022758, + 0.20448221242689235, + 0.7361435697791753, + 0.6767091346538039, + -0.012545586828555402, + -0.147437656638372, + 0.14224100798593592, + -0.9787898819726994 + ], + [ + -0.6893948913625498, + 0.67529098714989, + 0.2621388304645938, + 0.7014425984104593, + 0.7126714567375059, + 0.008813392469662742, + -0.18086725767369022, + 0.18995125012952224, + -0.964989926204326 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006154.json b/json/chunk-0006/episode_0006154.json new file mode 100644 index 0000000000000000000000000000000000000000..10094b6bcad98ad91812462c193c6e4f213743ea --- /dev/null +++ b/json/chunk-0006/episode_0006154.json @@ -0,0 +1,1282 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 20, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nTurn faucet right." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006154.mp4", + "start": 0, + "end": 20, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.24236330389976501, + -0.045932549983263016, + 0.2246582806110382, + -0.010181252844631672, + -0.9962007403373718, + 0.47935110330581665, + 0.0, + 0.9994885921478271 + ], + [ + 0.24537570774555206, + -0.04551047459244728, + 0.21403785049915314, + 0.0678800493478775, + -0.970248818397522, + 0.4247584640979767, + 0.0, + 0.9994885921478271 + ], + [ + 0.27713534235954285, + -0.0474015474319458, + 0.1941782683134079, + 0.03733625262975693, + -0.914543628692627, + 0.42097947001457214, + 0.0, + 0.9994885921478271 + ], + [ + 0.3248446583747864, + -0.0496722087264061, + 0.18912358582019806, + -0.10081792622804642, + -0.9076558351516724, + 0.4923543632030487, + 0.0, + 0.9994885921478271 + ], + [ + 0.3588138520717621, + -0.06811028718948364, + 0.1926976889371872, + -0.17610079050064087, + -0.9253012537956238, + 0.5104539394378662, + 0.0, + 0.9988223910331726 + ], + [ + 0.3638344407081604, + -0.07624177634716034, + 0.19152779877185822, + -0.19469541311264038, + -0.9271676540374756, + 0.5166126489639282, + 0.0, + 0.9994885921478271 + ], + [ + 0.3633124530315399, + -0.07913174480199814, + 0.19179420173168182, + -0.2225492000579834, + -0.9186316132545471, + 0.5381360650062561, + 0.0, + 0.9994885921478271 + ], + [ + 0.3608594238758087, + -0.08495250344276428, + 0.19058914482593536, + -0.26061883568763733, + -0.9010776877403259, + 0.5716421604156494, + 0.0, + 0.9994885921478271 + ], + [ + 0.36042287945747375, + -0.09463828802108765, + 0.18802548944950104, + -0.40590840578079224, + -0.8423210978507996, + 0.6938862800598145, + 0.0, + 0.9994885921478271 + ], + [ + 0.3597969710826874, + -0.10444372892379761, + 0.1866724193096161, + -0.5150154829025269, + -0.7365710735321045, + 0.8018000721931458, + 0.0, + 0.9994885921478271 + ], + [ + 0.36113765835762024, + -0.11430715769529343, + 0.18840153515338898, + -0.5532051920890808, + -0.6579861044883728, + 0.826945424079895, + 0.0, + 0.9994885921478271 + ], + [ + 0.35735321044921875, + -0.130690336227417, + 0.18979552388191223, + -0.5641461610794067, + -0.5668619871139526, + 0.7660722732543945, + 0.0, + 0.9994885921478271 + ], + [ + 0.3496350049972534, + -0.1941366195678711, + 0.20463687181472778, + -0.6377288699150085, + -0.5135555267333984, + 0.5703098773956299, + 0.0, + 0.9994885921478271 + ], + [ + 0.3303821086883545, + -0.20866599678993225, + 0.19966359436511993, + -0.5771295428276062, + -0.41743192076683044, + 0.5104790925979614, + 0.0, + 0.9994885921478271 + ], + [ + 0.318985253572464, + -0.20630085468292236, + 0.21265049278736115, + -0.5841901302337646, + -0.3902614414691925, + 0.5287613272666931, + 0.0, + 0.9994885921478271 + ], + [ + 0.31847402453422546, + -0.20271119475364685, + 0.2218572199344635, + -0.6030581593513489, + -0.4082464873790741, + 0.5437195301055908, + 0.0, + 0.9994885921478271 + ], + [ + 0.3170795738697052, + -0.20454610884189606, + 0.2216993272304535, + -0.6015437245368958, + -0.4076099991798401, + 0.5371068716049194, + 0.0, + 0.9994885921478271 + ], + [ + 0.3170795738697052, + -0.20454610884189606, + 0.2216993272304535, + -0.6015437245368958, + -0.4076099991798401, + 0.5371068716049194, + 0.0, + 0.9994885921478271 + ], + [ + 0.31698355078697205, + -0.2046852558851242, + 0.2216857373714447, + -0.602247416973114, + -0.40622571110725403, + 0.5375239849090576, + 0.0, + 0.9994885921478271 + ], + [ + 0.3167654275894165, + -0.20503225922584534, + 0.2216993272304535, + -0.6015437245368958, + -0.4076099991798401, + 0.53557288646698, + 0.0, + 0.9994885921478271 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.24236330389976501, + -0.045932549983263016, + 0.2246582806110382 + ], + [ + 0.24537570774555206, + -0.04551047459244728, + 0.21403785049915314 + ], + [ + 0.27713534235954285, + -0.0474015474319458, + 0.1941782683134079 + ], + [ + 0.3248446583747864, + -0.0496722087264061, + 0.18912358582019806 + ], + [ + 0.3588138520717621, + -0.06811028718948364, + 0.1926976889371872 + ], + [ + 0.3638344407081604, + -0.07624177634716034, + 0.19152779877185822 + ], + [ + 0.3633124530315399, + -0.07913174480199814, + 0.19179420173168182 + ], + [ + 0.3608594238758087, + -0.08495250344276428, + 0.19058914482593536 + ], + [ + 0.36042287945747375, + -0.09463828802108765, + 0.18802548944950104 + ], + [ + 0.3597969710826874, + -0.10444372892379761, + 0.1866724193096161 + ], + [ + 0.36113765835762024, + -0.11430715769529343, + 0.18840153515338898 + ], + [ + 0.35735321044921875, + -0.130690336227417, + 0.18979552388191223 + ], + [ + 0.3496350049972534, + -0.1941366195678711, + 0.20463687181472778 + ], + [ + 0.3303821086883545, + -0.20866599678993225, + 0.19966359436511993 + ], + [ + 0.318985253572464, + -0.20630085468292236, + 0.21265049278736115 + ], + [ + 0.31847402453422546, + -0.20271119475364685, + 0.2218572199344635 + ], + [ + 0.3170795738697052, + -0.20454610884189606, + 0.2216993272304535 + ], + [ + 0.3170795738697052, + -0.20454610884189606, + 0.2216993272304535 + ], + [ + 0.31698355078697205, + -0.2046852558851242, + 0.2216857373714447 + ], + [ + 0.3167654275894165, + -0.20503225922584534, + 0.2216993272304535 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.4822403849829688, + 0.4535966826375038, + 0.7494626478962977, + 0.2506619703891448, + -0.8911898963393241, + 0.3780861611634794, + 0.8394121679437997, + 0.0055333681385427436, + -0.5434671969355039 + ], + [ + 0.5148790278102148, + 0.4621388127500318, + 0.7220299886231865, + 0.23287575491979068, + -0.8859788891488537, + 0.401011584312848, + 0.8250263447258792, + -0.038329175996280745, + -0.5637928740022354 + ], + [ + 0.556879283819107, + 0.43536171701411125, + 0.7073511423696459, + 0.24934150959577334, + -0.8999674725988978, + 0.3576134223661813, + 0.7922842134269867, + -0.022775504878636527, + -0.6097269893418724 + ], + [ + 0.5424759106913315, + 0.40040628426362307, + 0.7385084250310274, + 0.2909928346813246, + -0.9142406824246481, + 0.2819346462637052, + 0.7880628505923479, + 0.06195790604847727, + -0.6124689064714633 + ], + [ + 0.5249044706675396, + 0.35891313361123106, + 0.7717879625872617, + 0.2939227968120777, + -0.9274014075789794, + 0.23137851830862288, + 0.7988020319124107, + 0.10539445783291586, + -0.5922898969851754 + ], + [ + 0.5217871120761173, + 0.35004269668597127, + 0.7779513610554832, + 0.2964130152874977, + -0.929511062146823, + 0.21942768675547492, + 0.7999234551126998, + 0.1161003696957864, + -0.5887641039644508 + ], + [ + 0.5211312057511528, + 0.3492696078567982, + 0.7787380865348171, + 0.31106257651525543, + -0.9273978971024979, + 0.20778164967473844, + 0.7947718791477468, + 0.13395477400012007, + -0.5919406884465167 + ], + [ + 0.5220722138038353, + 0.35284342674108854, + 0.7764934769716803, + 0.3358426971993867, + -0.9219083346226132, + 0.1931183711903186, + 0.7839963560577334, + 0.15995792809037845, + -0.5998026133064358 + ], + [ + 0.511792908445369, + 0.3610579015795377, + 0.7795544949341326, + 0.4257557593930566, + -0.8947280025917035, + 0.13488452365598502, + 0.7461903592305863, + 0.2628668733127877, + -0.6116379277857832 + ], + [ + 0.5151464212549539, + 0.39530286652588303, + 0.7604997096545363, + 0.5323285510377208, + -0.8429750272001655, + 0.07758490360219264, + 0.6717517982248316, + 0.3648681230709264, + -0.6446865706282433 + ], + [ + 0.5357598124520773, + 0.40854367901246547, + 0.7389543190889913, + 0.5822362307193691, + -0.8125676580558421, + 0.02710669141274874, + 0.611524647908011, + 0.4157233015126816, + -0.6732100278370632 + ], + [ + 0.6079242964207865, + 0.378965527799911, + 0.6977199857827107, + 0.5848696218903736, + -0.8080391569909837, + -0.07071241870499975, + 0.5369875000510743, + 0.45106302165954004, + -0.7128720609480093 + ], + [ + 0.7331528161363146, + 0.18757588866172933, + 0.6536835887370536, + 0.4702484877752071, + -0.8342057493689055, + -0.28804014905042885, + 0.4912772210641582, + 0.5185711655237156, + -0.6998075723731867 + ], + [ + 0.797590742098677, + 0.21645724734012667, + 0.5630233282843766, + 0.446641145927639, + -0.8392704299121951, + -0.3100594011466909, + 0.40541422629568297, + 0.49876989238418784, + -0.76607303801148 + ], + [ + 0.798510783301555, + 0.23964106507058844, + 0.5522252157254063, + 0.4665333674764748, + -0.8260849549635277, + -0.3161174848279784, + 0.38043021171063424, + 0.5100547099231029, + -0.7714382975345868 + ], + [ + 0.7854601652971664, + 0.23337607157246867, + 0.5732259048130585, + 0.47480828287970467, + -0.8213158794409053, + -0.3162235296226993, + 0.39700053304772015, + 0.5205533934147522, + -0.7559197982353763 + ], + [ + 0.788799660810968, + 0.22908867869713495, + 0.570362579765979, + 0.46973315224245976, + -0.8231556596932692, + -0.3190070933369681, + 0.39641627210403974, + 0.5195508995351079, + -0.7569154523481445 + ], + [ + 0.788799660810968, + 0.22908867869713495, + 0.570362579765979, + 0.46973315224245976, + -0.8231556596932692, + -0.3190070933369681, + 0.39641627210403974, + 0.5195508995351079, + -0.7569154523481445 + ], + [ + 0.7890742729849828, + 0.22964910025362012, + 0.5697570381012628, + 0.4703426478261636, + -0.8224667832050464, + -0.31988464195740446, + 0.39514501812511127, + 0.5203937752097407, + -0.7570011448960031 + ], + [ + 0.7895192961365493, + 0.22782570110874636, + 0.5698725567548909, + 0.4685225930936353, + -0.8235061096959565, + -0.31988164538505093, + 0.39641627210403974, + 0.5195508995351079, + -0.7569154523481447 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + 0.0030124038457870483, + 0.00042207539081573486, + -0.01062043011188507, + 0.0780613049864769, + 0.025951921939849854, + -0.054592639207839966, + 1.0 + ], + [ + 0.031759634613990784, + -0.00189107283949852, + -0.01985958218574524, + -0.030543796718120575, + 0.05570518970489502, + -0.003778994083404541, + 1.0 + ], + [ + 0.04770931601524353, + -0.0022706612944602966, + -0.005054682493209839, + -0.13815417885780334, + 0.00688779354095459, + 0.07137489318847656, + 1.0 + ], + [ + 0.03396919369697571, + -0.018438078463077545, + 0.0035741031169891357, + -0.07528286427259445, + -0.017645418643951416, + 0.018099576234817505, + 1.0 + ], + [ + 0.005020588636398315, + -0.008131489157676697, + -0.0011698901653289795, + -0.01859462261199951, + -0.0018664002418518066, + 0.006158709526062012, + 1.0 + ], + [ + -0.0005219876766204834, + -0.002889968454837799, + 0.0002664029598236084, + -0.027853786945343018, + 0.008536040782928467, + 0.02152341604232788, + 1.0 + ], + [ + -0.002453029155731201, + -0.005820758640766144, + -0.00120505690574646, + -0.03806963562965393, + 0.01755392551422119, + 0.03350609540939331, + 1.0 + ], + [ + -0.00043654441833496094, + -0.009685784578323364, + -0.002563655376434326, + -0.1452895700931549, + 0.05875658988952637, + 0.12224411964416504, + 1.0 + ], + [ + -0.000625908374786377, + -0.009805440902709961, + -0.0013530701398849487, + -0.10910707712173462, + 0.10575002431869507, + 0.1079137921333313, + 1.0 + ], + [ + 0.0013406872749328613, + -0.009863428771495819, + 0.0017291158437728882, + -0.038189709186553955, + 0.07858496904373169, + 0.025145351886749268, + 1.0 + ], + [ + -0.0037844479084014893, + -0.016383178532123566, + 0.0013939887285232544, + -0.010940968990325928, + 0.09112411737442017, + -0.06087315082550049, + 1.0 + ], + [ + -0.007718205451965332, + -0.0634462833404541, + 0.014841347932815552, + -0.0735827088356018, + 0.0533064603805542, + -0.19576239585876465, + 1.0 + ], + [ + -0.019252896308898926, + -0.014529377222061157, + -0.004973277449607849, + 0.060599327087402344, + 0.096123605966568, + -0.05983078479766846, + 1.0 + ], + [ + -0.011396855115890503, + 0.0023651421070098877, + 0.012986898422241211, + -0.007060587406158447, + 0.02717047929763794, + 0.01828223466873169, + 1.0 + ], + [ + -0.0005112290382385254, + 0.0035896599292755127, + 0.009206727147102356, + -0.01886802911758423, + -0.017985045909881592, + 0.014958202838897705, + 1.0 + ], + [ + -0.0013944506645202637, + -0.0018349140882492065, + -0.00015789270401000977, + 0.001514434814453125, + 0.0006364881992340088, + -0.006612658500671387, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + -9.60230827331543e-05, + -0.00013914704322814941, + -1.3589859008789062e-05, + -0.0007036924362182617, + 0.0013842880725860596, + 0.0004171133041381836, + 1.0 + ], + [ + -0.000218123197555542, + -0.00034700334072113037, + 1.3589859008789062e-05, + 0.0007036924362182617, + -0.0013842880725860596, + -0.0019510984420776367, + 1.0 + ], + [ + 0.0006360113620758057, + 0.0002675056457519531, + -3.865361213684082e-05, + 0.0, + 0.0, + 0.0015339851379394531, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.24537570774555206, + -0.04551047459244728, + 0.21403785049915314 + ], + [ + 0.27713534235954285, + -0.0474015474319458, + 0.1941782683134079 + ], + [ + 0.3248446583747864, + -0.0496722087264061, + 0.18912358582019806 + ], + [ + 0.3588138520717621, + -0.06811028718948364, + 0.1926976889371872 + ], + [ + 0.3638344407081604, + -0.07624177634716034, + 0.19152779877185822 + ], + [ + 0.3633124530315399, + -0.07913174480199814, + 0.19179420173168182 + ], + [ + 0.3608594238758087, + -0.08495250344276428, + 0.19058914482593536 + ], + [ + 0.36042287945747375, + -0.09463828802108765, + 0.18802548944950104 + ], + [ + 0.3597969710826874, + -0.10444372892379761, + 0.1866724193096161 + ], + [ + 0.36113765835762024, + -0.11430715769529343, + 0.18840153515338898 + ], + [ + 0.35735321044921875, + -0.130690336227417, + 0.18979552388191223 + ], + [ + 0.3496350049972534, + -0.1941366195678711, + 0.20463687181472778 + ], + [ + 0.3303821086883545, + -0.20866599678993225, + 0.19966359436511993 + ], + [ + 0.318985253572464, + -0.20630085468292236, + 0.21265049278736115 + ], + [ + 0.31847402453422546, + -0.20271119475364685, + 0.2218572199344635 + ], + [ + 0.3170795738697052, + -0.20454610884189606, + 0.2216993272304535 + ], + [ + 0.3170795738697052, + -0.20454610884189606, + 0.2216993272304535 + ], + [ + 0.31698355078697205, + -0.2046852558851242, + 0.2216857373714447 + ], + [ + 0.3167654275894165, + -0.20503225922584534, + 0.2216993272304535 + ], + [ + 0.3174014389514923, + -0.20476475358009338, + 0.22166067361831665 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.5148790278102148, + 0.4621388127500318, + 0.7220299886231865, + 0.23287575491979068, + -0.8859788891488537, + 0.401011584312848, + 0.8250263447258792, + -0.038329175996280745, + -0.5637928740022354 + ], + [ + 0.556879283819107, + 0.43536171701411125, + 0.7073511423696459, + 0.24934150959577334, + -0.8999674725988978, + 0.3576134223661813, + 0.7922842134269867, + -0.022775504878636527, + -0.6097269893418724 + ], + [ + 0.5424759106913315, + 0.40040628426362307, + 0.7385084250310274, + 0.2909928346813246, + -0.9142406824246481, + 0.2819346462637052, + 0.7880628505923479, + 0.06195790604847727, + -0.6124689064714633 + ], + [ + 0.5249044706675396, + 0.35891313361123106, + 0.7717879625872617, + 0.2939227968120777, + -0.9274014075789794, + 0.23137851830862288, + 0.7988020319124107, + 0.10539445783291586, + -0.5922898969851754 + ], + [ + 0.5217871120761173, + 0.35004269668597127, + 0.7779513610554832, + 0.2964130152874977, + -0.929511062146823, + 0.21942768675547492, + 0.7999234551126998, + 0.1161003696957864, + -0.5887641039644508 + ], + [ + 0.5211312057511528, + 0.3492696078567982, + 0.7787380865348171, + 0.31106257651525543, + -0.9273978971024979, + 0.20778164967473844, + 0.7947718791477468, + 0.13395477400012007, + -0.5919406884465167 + ], + [ + 0.5220722138038353, + 0.35284342674108854, + 0.7764934769716803, + 0.3358426971993867, + -0.9219083346226132, + 0.1931183711903186, + 0.7839963560577334, + 0.15995792809037845, + -0.5998026133064358 + ], + [ + 0.511792908445369, + 0.3610579015795377, + 0.7795544949341326, + 0.4257557593930566, + -0.8947280025917035, + 0.13488452365598502, + 0.7461903592305863, + 0.2628668733127877, + -0.6116379277857832 + ], + [ + 0.5151464212549539, + 0.39530286652588303, + 0.7604997096545363, + 0.5323285510377208, + -0.8429750272001655, + 0.07758490360219264, + 0.6717517982248316, + 0.3648681230709264, + -0.6446865706282433 + ], + [ + 0.5357598124520773, + 0.40854367901246547, + 0.7389543190889913, + 0.5822362307193691, + -0.8125676580558421, + 0.02710669141274874, + 0.611524647908011, + 0.4157233015126816, + -0.6732100278370632 + ], + [ + 0.6079242964207865, + 0.378965527799911, + 0.6977199857827107, + 0.5848696218903736, + -0.8080391569909837, + -0.07071241870499975, + 0.5369875000510743, + 0.45106302165954004, + -0.7128720609480093 + ], + [ + 0.7331528161363146, + 0.18757588866172933, + 0.6536835887370536, + 0.4702484877752071, + -0.8342057493689055, + -0.28804014905042885, + 0.4912772210641582, + 0.5185711655237156, + -0.6998075723731867 + ], + [ + 0.797590742098677, + 0.21645724734012667, + 0.5630233282843766, + 0.446641145927639, + -0.8392704299121951, + -0.3100594011466909, + 0.40541422629568297, + 0.49876989238418784, + -0.76607303801148 + ], + [ + 0.798510783301555, + 0.23964106507058844, + 0.5522252157254063, + 0.4665333674764748, + -0.8260849549635277, + -0.3161174848279784, + 0.38043021171063424, + 0.5100547099231029, + -0.7714382975345868 + ], + [ + 0.7854601652971664, + 0.23337607157246867, + 0.5732259048130585, + 0.47480828287970467, + -0.8213158794409053, + -0.3162235296226993, + 0.39700053304772015, + 0.5205533934147522, + -0.7559197982353763 + ], + [ + 0.788799660810968, + 0.22908867869713495, + 0.570362579765979, + 0.46973315224245976, + -0.8231556596932692, + -0.3190070933369681, + 0.39641627210403974, + 0.5195508995351079, + -0.7569154523481445 + ], + [ + 0.788799660810968, + 0.22908867869713495, + 0.570362579765979, + 0.46973315224245976, + -0.8231556596932692, + -0.3190070933369681, + 0.39641627210403974, + 0.5195508995351079, + -0.7569154523481445 + ], + [ + 0.7890742729849828, + 0.22964910025362012, + 0.5697570381012628, + 0.4703426478261636, + -0.8224667832050464, + -0.31988464195740446, + 0.39514501812511127, + 0.5203937752097407, + -0.7570011448960031 + ], + [ + 0.7895192961365493, + 0.22782570110874636, + 0.5698725567548909, + 0.4685225930936353, + -0.8235061096959565, + -0.31988164538505093, + 0.39641627210403974, + 0.5195508995351079, + -0.7569154523481447 + ], + [ + 0.788799660810968, + 0.22908867869713495, + 0.570362579765979, + 0.46973315224245976, + -0.8231556596932692, + -0.3190070933369681, + 0.39641627210403974, + 0.5195508995351079, + -0.7569154523481445 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006155.json b/json/chunk-0006/episode_0006155.json new file mode 100644 index 0000000000000000000000000000000000000000..cda27c90c99a8d8a2d2b592ac0bf7c21ea376fb9 --- /dev/null +++ b/json/chunk-0006/episode_0006155.json @@ -0,0 +1,2122 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 34, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove bowl to upper right corner." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006155.mp4", + "start": 0, + "end": 34, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.31911373138427734, + 0.14934638142585754, + 0.08996561914682388, + -0.02334170788526535, + -0.14186331629753113, + 0.0672193169593811, + 0.0, + 0.9994885921478271 + ], + [ + 0.316738098859787, + 0.14753073453903198, + 0.08017416298389435, + -0.035513948649168015, + -0.11365887522697449, + 0.06723644584417343, + 0.0, + 0.9988223910331726 + ], + [ + 0.2961639165878296, + 0.13570605218410492, + 0.0676441416144371, + -0.06498623639345169, + -0.06291040033102036, + 0.054744210094213486, + 0.0, + 0.9994885921478271 + ], + [ + 0.26802873611450195, + 0.1205890104174614, + 0.08335023373365402, + -0.07059033215045929, + -0.05292319878935814, + 0.02463669143617153, + 0.0, + 0.9988223910331726 + ], + [ + 0.2434173971414566, + 0.0998966246843338, + 0.09164580702781677, + -0.12429825961589813, + -0.014488964341580868, + -0.003575526410713792, + 0.0, + 0.9988223910331726 + ], + [ + 0.2309114634990692, + 0.07646937668323517, + 0.08197049051523209, + -0.15487974882125854, + 0.023469623178243637, + -0.05412108451128006, + 0.0, + 0.9994885921478271 + ], + [ + 0.22523638606071472, + 0.06412474066019058, + 0.06300665438175201, + -0.12100943177938461, + 0.04748520255088806, + -0.08124266564846039, + 0.0, + 0.9988223910331726 + ], + [ + 0.2224561870098114, + 0.05792838707566261, + 0.039185892790555954, + -0.060127243399620056, + 0.08902794122695923, + -0.071998730301857, + 0.0, + 0.9994885921478271 + ], + [ + 0.22105346620082855, + 0.060339007526636124, + 0.0304994136095047, + -0.008866564370691776, + 0.11435533314943314, + -0.057849615812301636, + 0.0, + 1.0001531839370728 + ], + [ + 0.22080162167549133, + 0.05748758837580681, + 0.03258975222706795, + -0.021520743146538734, + 0.10263080894947052, + -0.06661657243967056, + 0.0, + 0.9994885921478271 + ], + [ + 0.22036048769950867, + 0.055964332073926926, + 0.036684464663267136, + -0.02926628105342388, + 0.09375520050525665, + -0.08151804655790329, + 0.0, + 0.9988223910331726 + ], + [ + 0.2229209989309311, + 0.05982374772429466, + 0.03634840250015259, + -0.0102839982137084, + 0.09647828340530396, + -0.06487912684679031, + 0.0, + 0.9988223910331726 + ], + [ + 0.2285640686750412, + 0.06688866019248962, + 0.030407462269067764, + 0.0016004313947632909, + 0.11129738390445709, + -0.05411988124251366, + 0.0, + 0.9988223910331726 + ], + [ + 0.23531153798103333, + 0.07544928789138794, + 0.02810624986886978, + 0.0028263526037335396, + 0.1230456531047821, + -0.03611702471971512, + 0.0, + 0.9988223910331726 + ], + [ + 0.23733723163604736, + 0.07654783129692078, + 0.020510666072368622, + -0.006720892619341612, + 0.16568663716316223, + -0.012324103154242039, + 0.0, + 0.9635607004165649 + ], + [ + 0.23727306723594666, + 0.07673121243715286, + 0.019597282633185387, + 0.00047510256990790367, + 0.16284815967082977, + -0.01530678104609251, + 0.0, + 0.680191159248352 + ], + [ + 0.23753169178962708, + 0.07473430782556534, + 0.017470311373472214, + 0.008599071763455868, + 0.15505337715148926, + -0.01777181215584278, + 0.0, + 0.37120094895362854 + ], + [ + 0.2375883311033249, + 0.07217373698949814, + 0.017179109156131744, + 0.014771224930882454, + 0.15360312163829803, + -0.03476124256849289, + 0.0, + 0.18743279576301575 + ], + [ + 0.23780930042266846, + 0.07037043571472168, + 0.022992733865976334, + 0.009020856581628323, + 0.12597818672657013, + -0.052131932228803635, + 0.0, + 0.10874665528535843 + ], + [ + 0.23466850817203522, + 0.06556124985218048, + 0.04389040544629097, + -0.01815878227353096, + 0.061928000301122665, + -0.07389101386070251, + 0.0, + 0.08191495388746262 + ], + [ + 0.22903035581111908, + 0.05957484617829323, + 0.0772351324558258, + -0.05290790647268295, + -0.00992199219763279, + -0.08036743849515915, + 0.0, + 0.06591799855232239 + ], + [ + 0.2333029806613922, + 0.04013718292117119, + 0.09830101579427719, + -0.09947046637535095, + -0.06198728084564209, + -0.09555453062057495, + 0.0, + 0.06384159624576569 + ], + [ + 0.25810956954956055, + 0.0025887200608849525, + 0.09725296497344971, + -0.15757732093334198, + -0.09108433127403259, + -0.16091111302375793, + 0.0, + 0.06384159624576569 + ], + [ + 0.2923629581928253, + -0.02769450657069683, + 0.0874662771821022, + -0.16820605099201202, + -0.11138281971216202, + -0.19531883299350739, + 0.0, + 0.06384159624576569 + ], + [ + 0.32006582617759705, + -0.053747691214084625, + 0.07517435401678085, + -0.16886016726493835, + -0.11986289918422699, + -0.22128064930438995, + 0.0, + 0.06384159624576569 + ], + [ + 0.3425688147544861, + -0.0716278925538063, + 0.0629589855670929, + -0.17764465510845184, + -0.1097794771194458, + -0.22833281755447388, + 0.0, + 0.06384159624576569 + ], + [ + 0.35709312558174133, + -0.07837998867034912, + 0.05786949023604393, + -0.17728932201862335, + -0.11308278143405914, + -0.23660725355148315, + 0.0, + 0.06384159624576569 + ], + [ + 0.36193913221359253, + -0.08040481060743332, + 0.05206611752510071, + -0.17147816717624664, + -0.10417193174362183, + -0.25238531827926636, + 0.0, + 0.07988496869802475 + ], + [ + 0.3570343852043152, + -0.08046445995569229, + 0.047483332455158234, + -0.15416491031646729, + -0.08869417011737823, + -0.2939538359642029, + 0.0, + 0.23988260328769684 + ], + [ + 0.34750282764434814, + -0.08482223749160767, + 0.043186064809560776, + -0.17939548194408417, + -0.06299714744091034, + -0.34507644176483154, + 0.0, + 0.5130034685134888 + ], + [ + 0.3414537310600281, + -0.0850788950920105, + 0.049583785235881805, + -0.25775519013404846, + -0.050143156200647354, + -0.38934001326560974, + 0.0, + 0.8251956701278687 + ], + [ + 0.3471556007862091, + -0.027771268039941788, + 0.09325151890516281, + -0.23802602291107178, + -0.12104562669992447, + -0.23966582119464874, + 0.0, + 1.0099300146102905 + ], + [ + 0.3439517319202423, + 0.015313791111111641, + 0.11805623769760132, + -0.12518645823001862, + -0.13865064084529877, + -0.059379711747169495, + 0.0, + 1.0073583126068115 + ], + [ + 0.3376276195049286, + 0.0570857897400856, + 0.11724794656038284, + -0.02682950161397457, + -0.13452887535095215, + 0.04504571482539177, + 0.0, + 1.0008161067962646 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9635607004165649 + ], + [ + 0.680191159248352 + ], + [ + 0.37120094895362854 + ], + [ + 0.18743279576301575 + ], + [ + 0.10874665528535843 + ], + [ + 0.08191495388746262 + ], + [ + 0.06591799855232239 + ], + [ + 0.06384159624576569 + ], + [ + 0.06384159624576569 + ], + [ + 0.06384159624576569 + ], + [ + 0.06384159624576569 + ], + [ + 0.06384159624576569 + ], + [ + 0.06384159624576569 + ], + [ + 0.07988496869802475 + ], + [ + 0.23988260328769684 + ], + [ + 0.5130034685134888 + ], + [ + 0.8251956701278687 + ], + [ + 1.0099300146102905 + ], + [ + 1.0073583126068115 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.31911373138427734, + 0.14934638142585754, + 0.08996561914682388 + ], + [ + 0.316738098859787, + 0.14753073453903198, + 0.08017416298389435 + ], + [ + 0.2961639165878296, + 0.13570605218410492, + 0.0676441416144371 + ], + [ + 0.26802873611450195, + 0.1205890104174614, + 0.08335023373365402 + ], + [ + 0.2434173971414566, + 0.0998966246843338, + 0.09164580702781677 + ], + [ + 0.2309114634990692, + 0.07646937668323517, + 0.08197049051523209 + ], + [ + 0.22523638606071472, + 0.06412474066019058, + 0.06300665438175201 + ], + [ + 0.2224561870098114, + 0.05792838707566261, + 0.039185892790555954 + ], + [ + 0.22105346620082855, + 0.060339007526636124, + 0.0304994136095047 + ], + [ + 0.22080162167549133, + 0.05748758837580681, + 0.03258975222706795 + ], + [ + 0.22036048769950867, + 0.055964332073926926, + 0.036684464663267136 + ], + [ + 0.2229209989309311, + 0.05982374772429466, + 0.03634840250015259 + ], + [ + 0.2285640686750412, + 0.06688866019248962, + 0.030407462269067764 + ], + [ + 0.23531153798103333, + 0.07544928789138794, + 0.02810624986886978 + ], + [ + 0.23733723163604736, + 0.07654783129692078, + 0.020510666072368622 + ], + [ + 0.23727306723594666, + 0.07673121243715286, + 0.019597282633185387 + ], + [ + 0.23753169178962708, + 0.07473430782556534, + 0.017470311373472214 + ], + [ + 0.2375883311033249, + 0.07217373698949814, + 0.017179109156131744 + ], + [ + 0.23780930042266846, + 0.07037043571472168, + 0.022992733865976334 + ], + [ + 0.23466850817203522, + 0.06556124985218048, + 0.04389040544629097 + ], + [ + 0.22903035581111908, + 0.05957484617829323, + 0.0772351324558258 + ], + [ + 0.2333029806613922, + 0.04013718292117119, + 0.09830101579427719 + ], + [ + 0.25810956954956055, + 0.0025887200608849525, + 0.09725296497344971 + ], + [ + 0.2923629581928253, + -0.02769450657069683, + 0.0874662771821022 + ], + [ + 0.32006582617759705, + -0.053747691214084625, + 0.07517435401678085 + ], + [ + 0.3425688147544861, + -0.0716278925538063, + 0.0629589855670929 + ], + [ + 0.35709312558174133, + -0.07837998867034912, + 0.05786949023604393 + ], + [ + 0.36193913221359253, + -0.08040481060743332, + 0.05206611752510071 + ], + [ + 0.3570343852043152, + -0.08046445995569229, + 0.047483332455158234 + ], + [ + 0.34750282764434814, + -0.08482223749160767, + 0.043186064809560776 + ], + [ + 0.3414537310600281, + -0.0850788950920105, + 0.049583785235881805 + ], + [ + 0.3471556007862091, + -0.027771268039941788, + 0.09325151890516281 + ], + [ + 0.3439517319202423, + 0.015313791111111641, + 0.11805623769760132 + ], + [ + 0.3376276195049286, + 0.0570857897400856, + 0.11724794656038284 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9877185836434856, + 0.06385792600032764, + 0.1425979130711375, + 0.06649394828414551, + -0.9976914946433054, + -0.013792619692896357, + 0.14138795693725964, + 0.023105125044980128, + -0.9896845956312363 + ], + [ + 0.9913028410277133, + 0.06312558853528588, + 0.11547223667383495, + 0.06675230003821547, + -0.9973819057674697, + -0.027811229517202645, + 0.11341431924581848, + 0.03527738822141244, + -0.9929212950029239 + ], + [ + 0.9965266667838212, + 0.05052474781284426, + 0.0661955606304152, + 0.05460862883279037, + -0.9966176044590206, + -0.061410488838350735, + 0.0628689115996851, + 0.06481203854849155, + -0.9959151066298068 + ], + [ + 0.9982968513077051, + 0.02084295884972099, + 0.054488234835706945, + 0.024599708755682563, + -0.9972987355091847, + -0.06921045066258004, + 0.05289849712664722, + 0.07043296968161054, + -0.9961129181892844 + ], + [ + 0.9998886452756162, + -0.005344178180416964, + 0.013933298549508864, + -0.003575143494310641, + -0.992272146799103, + -0.12402904916065124, + 0.014488457401976197, + 0.12396542439840275, + -0.9921807588115362 + ], + [ + 0.9982608158248167, + -0.04983233762350362, + -0.03149732870813121, + -0.054079769827713196, + -0.9867792550727721, + -0.15278115149914956, + -0.023467468635378682, + 0.15421880522491954, + -0.9877579855566065 + ], + [ + 0.9955781370015848, + -0.07484878206164756, + -0.056761192273785975, + -0.08106184631640666, + -0.9898780459558966, + -0.11649219375696922, + -0.047467359271703584, + 0.1205782482806247, + -0.9915683213199922 + ], + [ + 0.9934591010668162, + -0.06647767157185976, + -0.09284252091524361, + -0.07165164637000514, + -0.9959911310131068, + -0.05355098986666934, + -0.08891038229577708, + 0.05985303773089834, + -0.9942396883017709 + ], + [ + 0.9918066547966046, + -0.05680505738302427, + -0.11442353323019075, + -0.057439723746426544, + -0.9983464304157218, + -0.002254553641189402, + -0.11410625590695475, + 0.008808537443759777, + -0.9934295002822288 + ], + [ + 0.9925316875116972, + -0.06435214171418895, + -0.1036322881247912, + -0.0662170399988642, + -0.9976976452963863, + -0.01465306056205176, + -0.10245073400894508, + 0.021405850294797447, + -0.9945077358543699 + ], + [ + 0.9923020272862237, + -0.07866256326359462, + -0.09564981852806392, + -0.08107017809516841, + -0.996475506507753, + -0.021545095816335295, + -0.09361790890245447, + 0.029133590079466132, + -0.9951818532619119 + ], + [ + 0.9932554509772368, + -0.06384164972866802, + -0.09678766896628668, + -0.06453211685098728, + -0.9979075449208576, + -0.004017173727431144, + -0.09632868211875398, + 0.010235992865760619, + -0.9952969453642041 + ], + [ + 0.9923577722932142, + -0.054270892641414936, + -0.11081841896161918, + -0.05375878083865339, + -0.9985249823768666, + 0.007606119379779253, + -0.11106775072896083, + -0.0015905285856702266, + -0.9938115641140564 + ], + [ + 0.9917922116924995, + -0.0364556957524613, + -0.12255280932440323, + -0.03583616721878849, + -0.9993313336097401, + 0.0072563616809437435, + -0.12273539809348642, + -0.0028049800323022844, + -0.992435465983482 + ], + [ + 0.9862304402522388, + -0.01121513121748068, + -0.16499618041533565, + -0.012155021068209306, + -0.9999151363044498, + -0.004687819544845222, + -0.1649296037183946, + 0.006628802382658221, + -0.9862830652486462 + ], + [ + 0.9866539195193699, + -0.015383200640544563, + -0.16210305436702313, + -0.01510367511744914, + -0.9998815616606501, + 0.00295662797903418, + -0.16212933755188128, + -0.00046881671536899466, + -0.9867694047323701 + ], + [ + 0.9878472689540911, + -0.019097972620847833, + -0.15424992921138408, + -0.01755768459871174, + -0.9997815204903544, + 0.011341913309809095, + -0.1544328363123459, + -0.008495806481341876, + -0.9879667607469169 + ], + [ + 0.9876292185023103, + -0.03700899826475552, + -0.1523773631743082, + -0.03434505349286341, + -0.9992083206391403, + 0.020078577292262357, + -0.15299981719298897, + -0.014596780910472217, + -0.9881184088589604 + ], + [ + 0.9907274422120861, + -0.053238074181319046, + -0.12499937081986542, + -0.05169537586383507, + -0.9985417459648636, + 0.015555374625473723, + -0.12564522817120702, + -0.008949247058070526, + -0.9920348721768298 + ], + [ + 0.9953596057561666, + -0.0726909315242589, + -0.06304985093609684, + -0.07368227810788361, + -0.9971898445988421, + -0.013540152206286597, + -0.06188842478009136, + 0.01812297721326201, + -0.9979185240164481 + ], + [ + 0.996723211594873, + -0.08069161977113233, + 0.005630449956525046, + -0.08027700025115096, + -0.9953353717175928, + -0.05350795303950623, + 0.009921829401810602, + 0.052880623166830246, + -0.9985515494929688 + ], + [ + 0.9935263035928003, + -0.10106130194524618, + 0.05188542491257574, + -0.09522594166893644, + -0.9899306410352333, + -0.10473464552303705, + 0.06194759157942353, + 0.09911578677841232, + -0.9931457882450114 + ], + [ + 0.9829899564388656, + -0.1723219301361383, + 0.06352871739987617, + -0.15955346421627756, + -0.97256522693966, + -0.16929138018337808, + 0.09095843884380658, + 0.15627549949356706, + -0.9835164109770278 + ], + [ + 0.9749070088162232, + -0.20959489763019312, + 0.07500868648625433, + -0.19287667273656595, + -0.9635293518220149, + -0.18549872584877564, + 0.11115265752592676, + 0.16637658208064154, + -0.9797774847689078 + ], + [ + 0.9686171585150158, + -0.2359633917669935, + 0.07811579850525252, + -0.21790447132175572, + -0.9573303227093779, + -0.18983228018212459, + 0.11957609129037047, + 0.16685302204927202, + -0.9787040550772957 + ], + [ + 0.9681816452553658, + -0.24164960403516844, + 0.06503668703323524, + -0.22499134121391084, + -0.9543339234661485, + -0.19653411637797774, + 0.10955910810780743, + 0.17564803269992307, + -0.9783376566601473 + ], + [ + 0.9659297510766357, + -0.2500781031512575, + 0.06663826460298669, + -0.2329086005923575, + -0.9522360137066874, + -0.1974845765372759, + 0.1128419237479508, + 0.1752356029015409, + -0.9780384367296591 + ], + [ + 0.963070277463127, + -0.26323354537144095, + 0.05660160119888079, + -0.24836071819694683, + -0.9496869284782243, + -0.19081847796870366, + 0.10398362526759854, + 0.16971399019755984, + -0.9799921260946081 + ], + [ + 0.9533436366363838, + -0.2993206008015965, + 0.03928216415481936, + -0.2885998287229876, + -0.941813703950432, + -0.17232842456260827, + 0.08857792809711182, + 0.1529513811213865, + -0.9842559756826897 + ], + [ + 0.9391828711795956, + -0.34341122364038323, + -0.0020654202152998805, + -0.3375976024143418, + -0.922147465300952, + -0.18887009049375048, + 0.06295548686920863, + 0.178080834782534, + -0.9819999098555033 + ], + [ + 0.9239969400701977, + -0.37885886700529214, + -0.0519192992284961, + -0.3791008114158826, + -0.8897470519577413, + -0.2542297353110532, + 0.05012214605073469, + 0.2545901459679363, + -0.9657492573392402 + ], + [ + 0.9643094161799843, + -0.258342501826766, + 0.058021561651724195, + -0.2356410984173908, + -0.9372701306532363, + -0.2569007102401834, + 0.12075024887453842, + 0.23405950938842995, + -0.964694523391516 + ], + [ + 0.9886578449425052, + -0.07610646872445542, + 0.12947382380981656, + -0.058775313701860094, + -0.9894016564473191, + -0.1327773501714419, + 0.13820683099213973, + 0.12366150426707276, + -0.9826528910197718 + ], + [ + 0.9899594087356779, + 0.04141989249731424, + 0.13514718480685067, + 0.04462361546863631, + -0.998788110108567, + -0.02076160033001825, + 0.13412345804598613, + 0.026583897593600966, + -0.990607992290855 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0023756325244903564, + -0.0018156468868255615, + -0.009791456162929535, + -0.012172240763902664, + 0.02820444107055664, + 1.712888479232788e-05, + 1.0 + ], + [ + -0.020574182271957397, + -0.011824682354927063, + -0.012530021369457245, + -0.029472287744283676, + 0.05074847489595413, + -0.012492235749959946, + 1.0 + ], + [ + -0.028135180473327637, + -0.015117041766643524, + 0.01570609211921692, + -0.005604095757007599, + 0.009987201541662216, + -0.030107518658041954, + 1.0 + ], + [ + -0.02461133897304535, + -0.020692385733127594, + 0.00829557329416275, + -0.05370792746543884, + 0.0384342335164547, + -0.02821221761405468, + 1.0 + ], + [ + -0.01250593364238739, + -0.023427248001098633, + -0.009675316512584686, + -0.030581489205360413, + 0.03795858845114708, + -0.05054555833339691, + 1.0 + ], + [ + -0.005675077438354492, + -0.012344636023044586, + -0.018963836133480072, + 0.03387031704187393, + 0.024015579372644424, + -0.02712158113718033, + 1.0 + ], + [ + -0.0027801990509033203, + -0.006196353584527969, + -0.02382076159119606, + 0.06088218837976456, + 0.04154273867607117, + 0.009243935346603394, + 1.0 + ], + [ + -0.0014027208089828491, + 0.0024106204509735107, + -0.008686479181051254, + 0.051260679960250854, + 0.025327391922473907, + 0.014149114489555359, + 1.0 + ], + [ + -0.00025184452533721924, + -0.002851419150829315, + 0.0020903386175632477, + -0.012654178775846958, + -0.011724524199962616, + -0.008766956627368927, + 1.0 + ], + [ + -0.000441133975982666, + -0.0015232563018798828, + 0.004094712436199188, + -0.007745537906885147, + -0.008875608444213867, + -0.014901474118232727, + 1.0 + ], + [ + 0.0025605112314224243, + 0.003859415650367737, + -0.00033606216311454773, + 0.018982283771038055, + 0.0027230829000473022, + 0.016638919711112976, + 1.0 + ], + [ + 0.005643069744110107, + 0.0070649124681949615, + -0.005940940231084824, + 0.01188442949205637, + 0.014819100499153137, + 0.010759245604276657, + 1.0 + ], + [ + 0.0067474693059921265, + 0.008560627698898315, + -0.002301212400197983, + 0.0012259212089702487, + 0.011748269200325012, + 0.018002856522798538, + 1.0 + ], + [ + 0.002025693655014038, + 0.001098543405532837, + -0.00759558379650116, + -0.009547244757413864, + 0.04264098405838013, + 0.023792922496795654, + 0.0 + ], + [ + -6.416440010070801e-05, + 0.00018338114023208618, + -0.0009133834391832352, + 0.0071959951892495155, + -0.0028384774923324585, + -0.0029826778918504715, + 0.0 + ], + [ + 0.0002586245536804199, + -0.0019969046115875244, + -0.002126971259713173, + 0.008123969659209251, + -0.007794782519340515, + -0.002465031109750271, + 0.0 + ], + [ + 5.663931369781494e-05, + -0.0025605708360671997, + -0.00029120221734046936, + 0.006172153167426586, + -0.0014502555131912231, + -0.01698943041265011, + 0.0 + ], + [ + 0.0002209693193435669, + -0.0018033012747764587, + 0.005813624709844589, + -0.005750368349254131, + -0.027624934911727905, + -0.017370689660310745, + 0.0 + ], + [ + -0.0031407922506332397, + -0.004809185862541199, + 0.020897671580314636, + -0.027179639786481857, + -0.06405018270015717, + -0.02175908163189888, + 0.0 + ], + [ + -0.005638152360916138, + -0.005986403673887253, + 0.033344727009534836, + -0.03474912419915199, + -0.0718499943614006, + -0.0064764246344566345, + 0.0 + ], + [ + 0.004272624850273132, + -0.01943766325712204, + 0.021065883338451385, + -0.046562559902668, + -0.05206529051065445, + -0.015187092125415802, + 0.0 + ], + [ + 0.024806588888168335, + -0.03754846379160881, + -0.0010480508208274841, + -0.05810685455799103, + -0.029097050428390503, + -0.06535658240318298, + 0.0 + ], + [ + 0.03425338864326477, + -0.030283227562904358, + -0.009786687791347504, + -0.010628730058670044, + -0.020298488438129425, + -0.03440771996974945, + 0.0 + ], + [ + 0.02770286798477173, + -0.026053184643387794, + -0.01229192316532135, + -0.0006541162729263306, + -0.008480079472064972, + -0.02596181631088257, + 0.0 + ], + [ + 0.022502988576889038, + -0.01788020133972168, + -0.012215368449687958, + -0.008784487843513489, + 0.010083422064781189, + -0.007052168250083923, + 0.0 + ], + [ + 0.014524310827255249, + -0.006752096116542816, + -0.0050894953310489655, + 0.0003553330898284912, + -0.0033033043146133423, + -0.008274435997009277, + 0.0 + ], + [ + 0.004846006631851196, + -0.002024821937084198, + -0.005803372710943222, + 0.005811154842376709, + 0.008910849690437317, + -0.015778064727783203, + 1.0 + ], + [ + -0.004904747009277344, + -5.964934825897217e-05, + -0.004582785069942474, + 0.017313256859779358, + 0.015477761626243591, + -0.04156851768493652, + 1.0 + ], + [ + -0.009531557559967041, + -0.004357777535915375, + -0.004297267645597458, + -0.025230571627616882, + 0.025697022676467896, + -0.05112260580062866, + 1.0 + ], + [ + -0.006049096584320068, + -0.00025665760040283203, + 0.00639772042632103, + -0.0783597081899643, + 0.012853991240262985, + -0.0442635715007782, + 1.0 + ], + [ + 0.00570186972618103, + 0.05730762705206871, + 0.043667733669281006, + 0.019729167222976685, + -0.07090246677398682, + 0.149674192070961, + 1.0 + ], + [ + -0.003203868865966797, + 0.04308506101369858, + 0.024804718792438507, + 0.11283956468105316, + -0.017605014145374298, + 0.18028610944747925, + 1.0 + ], + [ + -0.006324112415313721, + 0.04177200049161911, + -0.0008082911372184753, + 0.0983569547533989, + 0.004121765494346619, + 0.10442543029785156, + 1.0 + ], + [ + -0.006328284740447998, + 0.046132221817970276, + -0.008616223931312561, + -0.019315408542752266, + -0.006457850337028503, + 0.03192465379834175, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9635607004165649 + ], + [ + 0.680191159248352 + ], + [ + 0.37120094895362854 + ], + [ + 0.18743279576301575 + ], + [ + 0.10874665528535843 + ], + [ + 0.08191495388746262 + ], + [ + 0.06591799855232239 + ], + [ + 0.06384159624576569 + ], + [ + 0.06384159624576569 + ], + [ + 0.06384159624576569 + ], + [ + 0.06384159624576569 + ], + [ + 0.06384159624576569 + ], + [ + 0.06384159624576569 + ], + [ + 0.07988496869802475 + ], + [ + 0.23988260328769684 + ], + [ + 0.5130034685134888 + ], + [ + 0.8251956701278687 + ], + [ + 1.0099300146102905 + ], + [ + 1.0073583126068115 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.316738098859787, + 0.14753073453903198, + 0.08017416298389435 + ], + [ + 0.2961639165878296, + 0.13570605218410492, + 0.0676441416144371 + ], + [ + 0.26802873611450195, + 0.1205890104174614, + 0.08335023373365402 + ], + [ + 0.2434173971414566, + 0.0998966246843338, + 0.09164580702781677 + ], + [ + 0.2309114634990692, + 0.07646937668323517, + 0.08197049051523209 + ], + [ + 0.22523638606071472, + 0.06412474066019058, + 0.06300665438175201 + ], + [ + 0.2224561870098114, + 0.05792838707566261, + 0.039185892790555954 + ], + [ + 0.22105346620082855, + 0.060339007526636124, + 0.0304994136095047 + ], + [ + 0.22080162167549133, + 0.05748758837580681, + 0.03258975222706795 + ], + [ + 0.22036048769950867, + 0.055964332073926926, + 0.036684464663267136 + ], + [ + 0.2229209989309311, + 0.05982374772429466, + 0.03634840250015259 + ], + [ + 0.2285640686750412, + 0.06688866019248962, + 0.030407462269067764 + ], + [ + 0.23531153798103333, + 0.07544928789138794, + 0.02810624986886978 + ], + [ + 0.23733723163604736, + 0.07654783129692078, + 0.020510666072368622 + ], + [ + 0.23727306723594666, + 0.07673121243715286, + 0.019597282633185387 + ], + [ + 0.23753169178962708, + 0.07473430782556534, + 0.017470311373472214 + ], + [ + 0.2375883311033249, + 0.07217373698949814, + 0.017179109156131744 + ], + [ + 0.23780930042266846, + 0.07037043571472168, + 0.022992733865976334 + ], + [ + 0.23466850817203522, + 0.06556124985218048, + 0.04389040544629097 + ], + [ + 0.22903035581111908, + 0.05957484617829323, + 0.0772351324558258 + ], + [ + 0.2333029806613922, + 0.04013718292117119, + 0.09830101579427719 + ], + [ + 0.25810956954956055, + 0.0025887200608849525, + 0.09725296497344971 + ], + [ + 0.2923629581928253, + -0.02769450657069683, + 0.0874662771821022 + ], + [ + 0.32006582617759705, + -0.053747691214084625, + 0.07517435401678085 + ], + [ + 0.3425688147544861, + -0.0716278925538063, + 0.0629589855670929 + ], + [ + 0.35709312558174133, + -0.07837998867034912, + 0.05786949023604393 + ], + [ + 0.36193913221359253, + -0.08040481060743332, + 0.05206611752510071 + ], + [ + 0.3570343852043152, + -0.08046445995569229, + 0.047483332455158234 + ], + [ + 0.34750282764434814, + -0.08482223749160767, + 0.043186064809560776 + ], + [ + 0.3414537310600281, + -0.0850788950920105, + 0.049583785235881805 + ], + [ + 0.3471556007862091, + -0.027771268039941788, + 0.09325151890516281 + ], + [ + 0.3439517319202423, + 0.015313791111111641, + 0.11805623769760132 + ], + [ + 0.3376276195049286, + 0.0570857897400856, + 0.11724794656038284 + ], + [ + 0.3312993347644806, + 0.10321801155805588, + 0.10863172262907028 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9913028410277133, + 0.06312558853528588, + 0.11547223667383495, + 0.06675230003821547, + -0.9973819057674697, + -0.027811229517202645, + 0.11341431924581848, + 0.03527738822141244, + -0.9929212950029239 + ], + [ + 0.9965266667838212, + 0.05052474781284426, + 0.0661955606304152, + 0.05460862883279037, + -0.9966176044590206, + -0.061410488838350735, + 0.0628689115996851, + 0.06481203854849155, + -0.9959151066298068 + ], + [ + 0.9982968513077051, + 0.02084295884972099, + 0.054488234835706945, + 0.024599708755682563, + -0.9972987355091847, + -0.06921045066258004, + 0.05289849712664722, + 0.07043296968161054, + -0.9961129181892844 + ], + [ + 0.9998886452756162, + -0.005344178180416964, + 0.013933298549508864, + -0.003575143494310641, + -0.992272146799103, + -0.12402904916065124, + 0.014488457401976197, + 0.12396542439840275, + -0.9921807588115362 + ], + [ + 0.9982608158248167, + -0.04983233762350362, + -0.03149732870813121, + -0.054079769827713196, + -0.9867792550727721, + -0.15278115149914956, + -0.023467468635378682, + 0.15421880522491954, + -0.9877579855566065 + ], + [ + 0.9955781370015848, + -0.07484878206164756, + -0.056761192273785975, + -0.08106184631640666, + -0.9898780459558966, + -0.11649219375696922, + -0.047467359271703584, + 0.1205782482806247, + -0.9915683213199922 + ], + [ + 0.9934591010668162, + -0.06647767157185976, + -0.09284252091524361, + -0.07165164637000514, + -0.9959911310131068, + -0.05355098986666934, + -0.08891038229577708, + 0.05985303773089834, + -0.9942396883017709 + ], + [ + 0.9918066547966046, + -0.05680505738302427, + -0.11442353323019075, + -0.057439723746426544, + -0.9983464304157218, + -0.002254553641189402, + -0.11410625590695475, + 0.008808537443759777, + -0.9934295002822288 + ], + [ + 0.9925316875116972, + -0.06435214171418895, + -0.1036322881247912, + -0.0662170399988642, + -0.9976976452963863, + -0.01465306056205176, + -0.10245073400894508, + 0.021405850294797447, + -0.9945077358543699 + ], + [ + 0.9923020272862237, + -0.07866256326359462, + -0.09564981852806392, + -0.08107017809516841, + -0.996475506507753, + -0.021545095816335295, + -0.09361790890245447, + 0.029133590079466132, + -0.9951818532619119 + ], + [ + 0.9932554509772368, + -0.06384164972866802, + -0.09678766896628668, + -0.06453211685098728, + -0.9979075449208576, + -0.004017173727431144, + -0.09632868211875398, + 0.010235992865760619, + -0.9952969453642041 + ], + [ + 0.9923577722932142, + -0.054270892641414936, + -0.11081841896161918, + -0.05375878083865339, + -0.9985249823768666, + 0.007606119379779253, + -0.11106775072896083, + -0.0015905285856702266, + -0.9938115641140564 + ], + [ + 0.9917922116924995, + -0.0364556957524613, + -0.12255280932440323, + -0.03583616721878849, + -0.9993313336097401, + 0.0072563616809437435, + -0.12273539809348642, + -0.0028049800323022844, + -0.992435465983482 + ], + [ + 0.9862304402522388, + -0.01121513121748068, + -0.16499618041533565, + -0.012155021068209306, + -0.9999151363044498, + -0.004687819544845222, + -0.1649296037183946, + 0.006628802382658221, + -0.9862830652486462 + ], + [ + 0.9866539195193699, + -0.015383200640544563, + -0.16210305436702313, + -0.01510367511744914, + -0.9998815616606501, + 0.00295662797903418, + -0.16212933755188128, + -0.00046881671536899466, + -0.9867694047323701 + ], + [ + 0.9878472689540911, + -0.019097972620847833, + -0.15424992921138408, + -0.01755768459871174, + -0.9997815204903544, + 0.011341913309809095, + -0.1544328363123459, + -0.008495806481341876, + -0.9879667607469169 + ], + [ + 0.9876292185023103, + -0.03700899826475552, + -0.1523773631743082, + -0.03434505349286341, + -0.9992083206391403, + 0.020078577292262357, + -0.15299981719298897, + -0.014596780910472217, + -0.9881184088589604 + ], + [ + 0.9907274422120861, + -0.053238074181319046, + -0.12499937081986542, + -0.05169537586383507, + -0.9985417459648636, + 0.015555374625473723, + -0.12564522817120702, + -0.008949247058070526, + -0.9920348721768298 + ], + [ + 0.9953596057561666, + -0.0726909315242589, + -0.06304985093609684, + -0.07368227810788361, + -0.9971898445988421, + -0.013540152206286597, + -0.06188842478009136, + 0.01812297721326201, + -0.9979185240164481 + ], + [ + 0.996723211594873, + -0.08069161977113233, + 0.005630449956525046, + -0.08027700025115096, + -0.9953353717175928, + -0.05350795303950623, + 0.009921829401810602, + 0.052880623166830246, + -0.9985515494929688 + ], + [ + 0.9935263035928003, + -0.10106130194524618, + 0.05188542491257574, + -0.09522594166893644, + -0.9899306410352333, + -0.10473464552303705, + 0.06194759157942353, + 0.09911578677841232, + -0.9931457882450114 + ], + [ + 0.9829899564388656, + -0.1723219301361383, + 0.06352871739987617, + -0.15955346421627756, + -0.97256522693966, + -0.16929138018337808, + 0.09095843884380658, + 0.15627549949356706, + -0.9835164109770278 + ], + [ + 0.9749070088162232, + -0.20959489763019312, + 0.07500868648625433, + -0.19287667273656595, + -0.9635293518220149, + -0.18549872584877564, + 0.11115265752592676, + 0.16637658208064154, + -0.9797774847689078 + ], + [ + 0.9686171585150158, + -0.2359633917669935, + 0.07811579850525252, + -0.21790447132175572, + -0.9573303227093779, + -0.18983228018212459, + 0.11957609129037047, + 0.16685302204927202, + -0.9787040550772957 + ], + [ + 0.9681816452553658, + -0.24164960403516844, + 0.06503668703323524, + -0.22499134121391084, + -0.9543339234661485, + -0.19653411637797774, + 0.10955910810780743, + 0.17564803269992307, + -0.9783376566601473 + ], + [ + 0.9659297510766357, + -0.2500781031512575, + 0.06663826460298669, + -0.2329086005923575, + -0.9522360137066874, + -0.1974845765372759, + 0.1128419237479508, + 0.1752356029015409, + -0.9780384367296591 + ], + [ + 0.963070277463127, + -0.26323354537144095, + 0.05660160119888079, + -0.24836071819694683, + -0.9496869284782243, + -0.19081847796870366, + 0.10398362526759854, + 0.16971399019755984, + -0.9799921260946081 + ], + [ + 0.9533436366363838, + -0.2993206008015965, + 0.03928216415481936, + -0.2885998287229876, + -0.941813703950432, + -0.17232842456260827, + 0.08857792809711182, + 0.1529513811213865, + -0.9842559756826897 + ], + [ + 0.9391828711795956, + -0.34341122364038323, + -0.0020654202152998805, + -0.3375976024143418, + -0.922147465300952, + -0.18887009049375048, + 0.06295548686920863, + 0.178080834782534, + -0.9819999098555033 + ], + [ + 0.9239969400701977, + -0.37885886700529214, + -0.0519192992284961, + -0.3791008114158826, + -0.8897470519577413, + -0.2542297353110532, + 0.05012214605073469, + 0.2545901459679363, + -0.9657492573392402 + ], + [ + 0.9643094161799843, + -0.258342501826766, + 0.058021561651724195, + -0.2356410984173908, + -0.9372701306532363, + -0.2569007102401834, + 0.12075024887453842, + 0.23405950938842995, + -0.964694523391516 + ], + [ + 0.9886578449425052, + -0.07610646872445542, + 0.12947382380981656, + -0.058775313701860094, + -0.9894016564473191, + -0.1327773501714419, + 0.13820683099213973, + 0.12366150426707276, + -0.9826528910197718 + ], + [ + 0.9899594087356779, + 0.04141989249731424, + 0.13514718480685067, + 0.04462361546863631, + -0.998788110108567, + -0.02076160033001825, + 0.13412345804598613, + 0.026583897593600966, + -0.990607992290855 + ], + [ + 0.987146443903704, + 0.07034974133408822, + 0.14350195881066635, + 0.07613143039124523, + -0.9964763360318796, + -0.0351982532956336, + 0.140520118114291, + 0.045670839960608126, + -0.9890238979834806 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006156.json b/json/chunk-0006/episode_0006156.json new file mode 100644 index 0000000000000000000000000000000000000000..eaf1c3354fa52c5358928aad84fe3f402c277758 --- /dev/null +++ b/json/chunk-0006/episode_0006156.json @@ -0,0 +1,2062 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 33, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut the blue object on the bottom right edge of the cloth." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006156.mp4", + "start": 0, + "end": 33, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3173307776451111, + 0.1981712430715561, + 0.22016558051109314, + 0.0734829381108284, + -0.062076009809970856, + 1.0017297267913818, + 0.0, + 1.0014774799346924 + ], + [ + 0.32030588388442993, + 0.1978713870048523, + 0.20287896692752838, + 0.08420847356319427, + -0.025600939989089966, + 0.9923111796379089, + 0.0, + 1.0014774799346924 + ], + [ + 0.3143862187862396, + 0.1542733758687973, + 0.18044383823871613, + 0.057613253593444824, + 0.0017476154025644064, + 0.8418856859207153, + 0.0, + 1.0014774799346924 + ], + [ + 0.30901309847831726, + 0.11874790489673615, + 0.17582030594348907, + 0.03304494172334671, + -0.05438947677612305, + 0.7471715211868286, + 0.0, + 1.0014774799346924 + ], + [ + 0.30233103036880493, + 0.0929991602897644, + 0.15652567148208618, + 0.028962967917323112, + -0.07397142797708511, + 0.6928291320800781, + 0.0, + 1.0014774799346924 + ], + [ + 0.30060604214668274, + 0.07502350211143494, + 0.14911271631717682, + 0.00921937357634306, + -0.1155645102262497, + 0.6627660989761353, + 0.0, + 1.0014774799346924 + ], + [ + 0.2993052303791046, + 0.05571361631155014, + 0.13885019719600677, + -0.027868006378412247, + -0.13176608085632324, + 0.6617531180381775, + 0.0, + 1.0014774799346924 + ], + [ + 0.29163476824760437, + 0.025448443368077278, + 0.13188350200653076, + -0.08194383233785629, + -0.15903395414352417, + 0.6482300758361816, + 0.0, + 1.0014774799346924 + ], + [ + 0.28316161036491394, + 0.0015694672474637628, + 0.12122002243995667, + -0.09437734633684158, + -0.16373680531978607, + 0.6444969177246094, + 0.0, + 1.0014774799346924 + ], + [ + 0.27426964044570923, + -0.01425729040056467, + 0.1111270934343338, + -0.08658992499113083, + -0.14505885541439056, + 0.6927495002746582, + 0.0, + 1.0014774799346924 + ], + [ + 0.26981309056282043, + -0.022285757586359978, + 0.10624776035547256, + -0.08631563186645508, + -0.13107168674468994, + 0.7222685813903809, + 0.0, + 1.0014774799346924 + ], + [ + 0.2660394012928009, + -0.032013051211833954, + 0.10356610268354416, + -0.07671989500522614, + -0.12687064707279205, + 0.7531052231788635, + 0.0, + 1.0014774799346924 + ], + [ + 0.2592596411705017, + -0.038478948175907135, + 0.09485897421836853, + -0.04582498222589493, + -0.11575252562761307, + 0.7492164969444275, + 0.0, + 1.0014774799346924 + ], + [ + 0.2544667720794678, + -0.04198167473077774, + 0.08334830403327942, + -0.020382510498166084, + -0.12533718347549438, + 0.7417274117469788, + 0.0, + 1.0014774799346924 + ], + [ + 0.25239890813827515, + -0.04133942350745201, + 0.0731935128569603, + -0.0007379925227724016, + -0.11830216646194458, + 0.7461848855018616, + 0.0, + 0.9590815901756287 + ], + [ + 0.2513788938522339, + -0.041949279606342316, + 0.07318554818630219, + -0.00821585115045309, + -0.10934105515480042, + 0.7366316318511963, + 0.0, + 0.8111810088157654 + ], + [ + 0.2494531124830246, + -0.03371955826878548, + 0.08410991728305817, + -0.03322093188762665, + -0.09721390157938004, + 0.7490004301071167, + 0.0, + 0.8111810088157654 + ], + [ + 0.2529366612434387, + -0.019772863015532494, + 0.10722152888774872, + -0.0921878069639206, + -0.08587271720170975, + 0.7834622263908386, + 0.0, + 0.8111810088157654 + ], + [ + 0.25826746225357056, + 0.0029702680185437202, + 0.13210903108119965, + -0.1444891095161438, + -0.0786222368478775, + 0.8436506390571594, + 0.0, + 0.8102405071258545 + ], + [ + 0.2583898603916168, + 0.032831281423568726, + 0.15505638718605042, + -0.13711072504520416, + -0.06036240607500076, + 0.8247106075286865, + 0.0, + 0.8102405071258545 + ], + [ + 0.2510194182395935, + 0.06595626473426819, + 0.16371305286884308, + -0.10400967299938202, + -0.040619462728500366, + 0.7750793099403381, + 0.0, + 0.8102405071258545 + ], + [ + 0.23905402421951294, + 0.09439592808485031, + 0.1677478402853012, + -0.05889265239238739, + -0.051596321165561676, + 0.689297080039978, + 0.0, + 0.8102405071258545 + ], + [ + 0.22599723935127258, + 0.11980277299880981, + 0.16714811325073242, + -0.01807904615998268, + -0.05482739582657814, + 0.6299168467521667, + 0.0, + 0.8102405071258545 + ], + [ + 0.21975889801979065, + 0.12969425320625305, + 0.16302388906478882, + -0.01671457476913929, + -0.059012021869421005, + 0.596994161605835, + 0.0, + 0.8102405071258545 + ], + [ + 0.21131333708763123, + 0.1093403622508049, + 0.1406320333480835, + -0.014943708665668964, + -0.036159154027700424, + 0.5349344611167908, + 0.0, + 0.8102405071258545 + ], + [ + 0.21659356355667114, + 0.08797559887170792, + 0.12542542815208435, + -0.049201566725969315, + -0.04777869954705238, + 0.5179672241210938, + 0.0, + 0.8102405071258545 + ], + [ + 0.22569827735424042, + 0.07620097696781158, + 0.11781240254640579, + -0.06997696310281754, + -0.09222337603569031, + 0.5190941095352173, + 0.0, + 0.8102405071258545 + ], + [ + 0.23402494192123413, + 0.07116074860095978, + 0.10845037549734116, + -0.06225331500172615, + -0.11916720867156982, + 0.5234996676445007, + 0.0, + 0.8102405071258545 + ], + [ + 0.2400735318660736, + 0.07145773619413376, + 0.0973392203450203, + -0.028322739526629448, + -0.1462433785200119, + 0.5196995735168457, + 0.0, + 0.8102405071258545 + ], + [ + 0.23886556923389435, + 0.07071644812822342, + 0.08522973954677582, + 0.0005478985258378088, + -0.14441458880901337, + 0.5091501474380493, + 0.0, + 0.8102405071258545 + ], + [ + 0.2364012897014618, + 0.06977811455726624, + 0.0809754878282547, + 0.01228959672152996, + -0.14645543694496155, + 0.5056350827217102, + 0.0, + 0.8651953339576721 + ], + [ + 0.23557239770889282, + 0.0660741925239563, + 0.08504834771156311, + -0.008102319203317165, + -0.14516118168830872, + 0.49723008275032043, + 0.0, + 1.0118417739868164 + ], + [ + 0.23319555819034576, + 0.06016629561781883, + 0.09949885308742523, + -0.04779156297445297, + -0.15123330056667328, + 0.4884888231754303, + 0.0, + 1.00800359249115 + ] + ], + "left_gripper_pos": [ + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 0.9590815901756287 + ], + [ + 0.8111810088157654 + ], + [ + 0.8111810088157654 + ], + [ + 0.8111810088157654 + ], + [ + 0.8102405071258545 + ], + [ + 0.8102405071258545 + ], + [ + 0.8102405071258545 + ], + [ + 0.8102405071258545 + ], + [ + 0.8102405071258545 + ], + [ + 0.8102405071258545 + ], + [ + 0.8102405071258545 + ], + [ + 0.8102405071258545 + ], + [ + 0.8102405071258545 + ], + [ + 0.8102405071258545 + ], + [ + 0.8102405071258545 + ], + [ + 0.8102405071258545 + ], + [ + 0.8651953339576721 + ], + [ + 1.0118417739868164 + ], + [ + 1.00800359249115 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3173307776451111, + 0.1981712430715561, + 0.22016558051109314 + ], + [ + 0.32030588388442993, + 0.1978713870048523, + 0.20287896692752838 + ], + [ + 0.3143862187862396, + 0.1542733758687973, + 0.18044383823871613 + ], + [ + 0.30901309847831726, + 0.11874790489673615, + 0.17582030594348907 + ], + [ + 0.30233103036880493, + 0.0929991602897644, + 0.15652567148208618 + ], + [ + 0.30060604214668274, + 0.07502350211143494, + 0.14911271631717682 + ], + [ + 0.2993052303791046, + 0.05571361631155014, + 0.13885019719600677 + ], + [ + 0.29163476824760437, + 0.025448443368077278, + 0.13188350200653076 + ], + [ + 0.28316161036491394, + 0.0015694672474637628, + 0.12122002243995667 + ], + [ + 0.27426964044570923, + -0.01425729040056467, + 0.1111270934343338 + ], + [ + 0.26981309056282043, + -0.022285757586359978, + 0.10624776035547256 + ], + [ + 0.2660394012928009, + -0.032013051211833954, + 0.10356610268354416 + ], + [ + 0.2592596411705017, + -0.038478948175907135, + 0.09485897421836853 + ], + [ + 0.2544667720794678, + -0.04198167473077774, + 0.08334830403327942 + ], + [ + 0.25239890813827515, + -0.04133942350745201, + 0.0731935128569603 + ], + [ + 0.2513788938522339, + -0.041949279606342316, + 0.07318554818630219 + ], + [ + 0.2494531124830246, + -0.03371955826878548, + 0.08410991728305817 + ], + [ + 0.2529366612434387, + -0.019772863015532494, + 0.10722152888774872 + ], + [ + 0.25826746225357056, + 0.0029702680185437202, + 0.13210903108119965 + ], + [ + 0.2583898603916168, + 0.032831281423568726, + 0.15505638718605042 + ], + [ + 0.2510194182395935, + 0.06595626473426819, + 0.16371305286884308 + ], + [ + 0.23905402421951294, + 0.09439592808485031, + 0.1677478402853012 + ], + [ + 0.22599723935127258, + 0.11980277299880981, + 0.16714811325073242 + ], + [ + 0.21975889801979065, + 0.12969425320625305, + 0.16302388906478882 + ], + [ + 0.21131333708763123, + 0.1093403622508049, + 0.1406320333480835 + ], + [ + 0.21659356355667114, + 0.08797559887170792, + 0.12542542815208435 + ], + [ + 0.22569827735424042, + 0.07620097696781158, + 0.11781240254640579 + ], + [ + 0.23402494192123413, + 0.07116074860095978, + 0.10845037549734116 + ], + [ + 0.2400735318660736, + 0.07145773619413376, + 0.0973392203450203 + ], + [ + 0.23886556923389435, + 0.07071644812822342, + 0.08522973954677582 + ], + [ + 0.2364012897014618, + 0.06977811455726624, + 0.0809754878282547 + ], + [ + 0.23557239770889282, + 0.0660741925239563, + 0.08504834771156311 + ], + [ + 0.23319555819034576, + 0.06016629561781883, + 0.09949885308742523 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.5378081138449333, + 0.8425851135936757, + -0.0285089290028233, + 0.840781748606451, + -0.5335550952603074, + 0.09167884997120615, + 0.06203614988725556, + -0.07327541656037792, + -0.9953804445713554 + ], + [ + 0.5465770262163965, + 0.835502157560376, + -0.056477421368166546, + 0.8370174965066195, + -0.5430160757153022, + 0.06734428005810758, + 0.025598143570037736, + -0.08408142616957681, + -0.9961300360992325 + ], + [ + 0.6660564598179115, + 0.7445958087665748, + -0.04411206073265127, + 0.7458992815242181, + -0.665027424723543, + 0.03705112936507335, + -0.0017476145129818148, + -0.05758129846419348, + -0.998339290978118 + ], + [ + 0.7325291137536782, + 0.6805131033349896, + 0.017407288491682216, + 0.6785615655055319, + -0.7319928765645161, + 0.061160693893112864, + 0.05436266477953844, + -0.03299007196395966, + -0.9979761298898288 + ], + [ + 0.7673379369469083, + 0.6400954568623934, + 0.03834444713626163, + 0.6369699295756498, + -0.7677524128873159, + 0.06946611635967151, + 0.07390398729739514, + -0.02887972662314243, + -0.9968471106702965 + ], + [ + 0.7830352354585414, + 0.6161115443576014, + 0.08521962766685831, + 0.6111955592419166, + -0.7876056757909257, + 0.07821309241348322, + 0.11530745159506195, + -0.00915774924369911, + -0.9932876357004763 + ], + [ + 0.7820773557334364, + 0.6113740592391612, + 0.12073429230515517, + 0.6091739984698159, + -0.7908594929698887, + 0.05872224423255277, + 0.13138511802062255, + 0.027622854103826984, + -0.9909464812460186 + ], + [ + 0.7870941886330171, + 0.5914173875108266, + 0.17523758720663182, + 0.5961572333925058, + -0.8023052559608999, + 0.030047118519231655, + 0.15836442559465938, + 0.08081924280382885, + -0.9840675579952273 + ], + [ + 0.7887101554998985, + 0.5858428385492821, + 0.1863450002866886, + 0.5927607289689786, + -0.8050735788476968, + 0.02216417906277878, + 0.16300616185743233, + 0.0929768850945302, + -0.9822343356015547 + ], + [ + 0.7614112662486318, + 0.6266431222681941, + 0.16604602055943488, + 0.631947773340503, + -0.7745938144990389, + 0.02542507246417922, + 0.14455066724036683, + 0.08557347634517233, + -0.9857901829225968 + ], + [ + 0.743872084628522, + 0.6501735076309078, + 0.15468914533779918, + 0.6554179515838116, + -0.7549632144005353, + 0.021397514895226677, + 0.1306967117111106, + 0.08546902875856875, + -0.9877314486594873 + ], + [ + 0.7237049481490161, + 0.6748205159625839, + 0.14445905738520504, + 0.6784107634290067, + -0.7340551185676184, + 0.0303631185544575, + 0.1265305658262152, + 0.07602864026583554, + -0.9890448229332309 + ], + [ + 0.727322788102003, + 0.6764763538821371, + 0.11567758877958338, + 0.676507685960679, + -0.7350573272199143, + 0.04503417076446423, + 0.11549421086641522, + 0.04550239926251513, + -0.9922653974203165 + ], + [ + 0.7315189672668434, + 0.6735436996362815, + 0.10591923908866578, + 0.6702631428815123, + -0.7388707511431459, + 0.06940700540839538, + 0.12500927894939895, + 0.020221221165753856, + -0.9919494858061662 + ], + [ + 0.7291517569357692, + 0.6787781864171467, + 0.08716587062451715, + 0.6740975311372801, + -0.73434299656104, + 0.07957940635852927, + 0.1180264117564555, + 0.0007328342251914505, + -0.993010185789599 + ], + [ + 0.7363121049389277, + 0.6711098917677906, + 0.0863481168979958, + 0.6677848353223971, + -0.7413129017139556, + 0.06722049885172263, + 0.10912331480414557, + 0.008166696018570542, + -0.9939946716367727 + ], + [ + 0.7289119271202864, + 0.6781702881062022, + 0.09366142659462862, + 0.6776921080196843, + -0.734160901452171, + 0.04172741912426449, + 0.09706085322943961, + 0.03305799614142127, + -0.9947292896368775 + ], + [ + 0.7058637855041936, + 0.6971460253425341, + 0.12547404378115995, + 0.7031360471780763, + -0.7110381245476216, + -0.004948191446438731, + 0.08576721677004345, + 0.09171807231351642, + -0.992084562796243 + ], + [ + 0.662686488595468, + 0.7317725120989301, + 0.1592344446702099, + 0.7447670025001328, + -0.6662617052663412, + -0.03764906482974806, + 0.07854126189447266, + 0.14354208662273432, + -0.9865226502964926 + ], + [ + 0.6775332961276677, + 0.7218627871305737, + 0.14093526597150213, + 0.7330139396657335, + -0.678454318901714, + -0.04889070892645598, + 0.06032575647348627, + 0.1364325977165689, + -0.9888108764501988 + ], + [ + 0.7137762879883964, + 0.692979273225158, + 0.10150437224985535, + 0.6991955214304345, + -0.7134552847953562, + -0.04590402388897394, + 0.040608293698802964, + 0.10373660625790906, + -0.9937754691100816 + ], + [ + 0.7706662936585765, + 0.6325497885096193, + 0.07716364995895747, + 0.6351485220196608, + -0.7722859852469062, + -0.012677222387246563, + 0.051573431093858646, + 0.05878028621613914, + -0.996937841170429 + ], + [ + 0.806862242558972, + 0.5881807554479418, + 0.0549246798206023, + 0.5881923912219672, + -0.8085280230516194, + 0.0176676780824449, + 0.05479993103363821, + 0.0180508964023695, + -0.9983341788688695 + ], + [ + 0.8255894949268999, + 0.5612653377332548, + 0.058165337835535666, + 0.5611805482000469, + -0.8274677282855611, + 0.019327466668648985, + 0.05897777707104039, + 0.016684702727600427, + -0.9981198537784179 + ], + [ + 0.8597396873578786, + 0.5092629899937685, + 0.03871533293650581, + 0.5094514258503456, + -0.8604813775136103, + 0.0055716829890123725, + 0.036151274954384416, + 0.01493338457574302, + -0.9992347468659635 + ], + [ + 0.8678359391617225, + 0.49247503816370153, + 0.06579604459959625, + 0.4945500127440622, + -0.8689390156636249, + -0.01911208916834994, + 0.047760523386361914, + 0.049125592547996755, + -0.9976500431326956 + ], + [ + 0.8645791795208061, + 0.489288771803894, + 0.11445234871232193, + 0.4939856034905186, + -0.8693383530818563, + -0.015134444325255809, + 0.0920927026600814, + 0.06962273800679661, + -0.9933134492541612 + ], + [ + 0.8599327385519535, + 0.49254008960433865, + 0.13386539993249846, + 0.4963687696905585, + -0.8680947488320194, + 0.00543613154317539, + 0.11888536344907664, + 0.06177189638357734, + -0.9909846129858716 + ], + [ + 0.8587032721986988, + 0.4928383680047531, + 0.1404956701740608, + 0.49131822696575655, + -0.8696697129831663, + 0.04775971284463419, + 0.14572264809037824, + 0.02801666186732768, + -0.9889287014195407 + ], + [ + 0.8640697679070924, + 0.48750414177222445, + 0.12539197719116732, + 0.48236132218867867, + -0.8731205058750205, + 0.07062674477092801, + 0.14391313715353823, + -0.000542195052465104, + -0.9895901752640595 + ], + [ + 0.8655012021082922, + 0.4858955651943882, + 0.12170936230844247, + 0.47917782942960524, + -0.8739323139948693, + 0.08143045093026152, + 0.14593243961585034, + -0.012157725116140779, + -0.9892198505831588 + ], + [ + 0.8696633475338889, + 0.4759471328294437, + 0.13099614004840873, + 0.47197614829157164, + -0.879437350925556, + 0.061874560530906675, + 0.14465191806541258, + 0.008017016182614693, + -0.9894501250955122 + ], + [ + 0.8729640175141116, + 0.46240052538148824, + 0.15530479146679668, + 0.4639355027637597, + -0.8854124811807567, + 0.028435672045393746, + 0.15065747044524228, + 0.047228088001308545, + -0.9874572569497786 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + 0.0029751062393188477, + -0.0002998560667037964, + -0.01728661358356476, + 0.010725535452365875, + 0.03647506982088089, + -0.0094185471534729, + 1.0 + ], + [ + -0.005919665098190308, + -0.04359801113605499, + -0.022435128688812256, + -0.02659521996974945, + 0.027348555624485016, + -0.1504254937171936, + 1.0 + ], + [ + -0.005373120307922363, + -0.03552547097206116, + -0.004623532295227051, + -0.024568311870098114, + -0.0561370924115181, + -0.09471416473388672, + 1.0 + ], + [ + -0.006682068109512329, + -0.02574874460697174, + -0.019294634461402893, + -0.004081973806023598, + -0.019581951200962067, + -0.05434238910675049, + 1.0 + ], + [ + -0.0017249882221221924, + -0.017975658178329468, + -0.007412955164909363, + -0.019743595272302628, + -0.04159308224916458, + -0.03006303310394287, + 1.0 + ], + [ + -0.001300811767578125, + -0.019309885799884796, + -0.010262519121170044, + -0.03708738088607788, + -0.016201570630073547, + -0.0010129809379577637, + 1.0 + ], + [ + -0.007670462131500244, + -0.030265172943472862, + -0.006966695189476013, + -0.054075825959444046, + -0.027267873287200928, + -0.01352304220199585, + 1.0 + ], + [ + -0.00847315788269043, + -0.023878976702690125, + -0.010663479566574097, + -0.01243351399898529, + -0.004702851176261902, + -0.0037331581115722656, + 1.0 + ], + [ + -0.008891969919204712, + -0.0158267579972744, + -0.010092929005622864, + 0.007787421345710754, + 0.018677949905395508, + 0.04825258255004883, + 1.0 + ], + [ + -0.004456549882888794, + -0.008028467185795307, + -0.004879333078861237, + 0.00027429312467575073, + 0.013987168669700623, + 0.029519081115722656, + 1.0 + ], + [ + -0.0037736892700195312, + -0.009727293625473976, + -0.0026816576719284058, + 0.009595736861228943, + 0.004201039671897888, + 0.030836641788482666, + 1.0 + ], + [ + -0.006779760122299194, + -0.006465896964073181, + -0.008707128465175629, + 0.030894912779331207, + 0.011118121445178986, + -0.003888726234436035, + 1.0 + ], + [ + -0.0047928690910339355, + -0.0035027265548706055, + -0.011510670185089111, + 0.025442471727728844, + -0.009584657847881317, + -0.0074890851974487305, + 1.0 + ], + [ + -0.002067863941192627, + 0.0006422512233257294, + -0.010154791176319122, + 0.019644517451524734, + 0.007035017013549805, + 0.0044574737548828125, + 0.0 + ], + [ + -0.0010200142860412598, + -0.0006098560988903046, + -7.964670658111572e-06, + -0.007477858569473028, + 0.008961111307144165, + -0.009553253650665283, + 0.0 + ], + [ + -0.0019257813692092896, + 0.008229721337556839, + 0.010924369096755981, + -0.025005079805850983, + 0.01212715357542038, + 0.01236879825592041, + 0.0 + ], + [ + 0.0034835487604141235, + 0.013946695253252983, + 0.023111611604690552, + -0.058966875076293945, + 0.011341184377670288, + 0.034461796283721924, + 0.0 + ], + [ + 0.005330801010131836, + 0.02274313196539879, + 0.024887502193450928, + -0.052301302552223206, + 0.007250480353832245, + 0.0601884126663208, + 0.0 + ], + [ + 0.00012239813804626465, + 0.02986101433634758, + 0.02294735610485077, + 0.007378384470939636, + 0.01825983077287674, + -0.0189400315284729, + 0.0 + ], + [ + -0.007370442152023315, + 0.03312498331069946, + 0.008656665682792664, + 0.033101052045822144, + 0.019742943346500397, + -0.04963129758834839, + 0.0 + ], + [ + -0.011965394020080566, + 0.028439663350582123, + 0.00403478741645813, + 0.04511702060699463, + -0.01097685843706131, + -0.08578222990036011, + 0.0 + ], + [ + -0.013056784868240356, + 0.025406844913959503, + -0.0005997270345687866, + 0.04081360623240471, + -0.0032310746610164642, + -0.05938023328781128, + 0.0 + ], + [ + -0.006238341331481934, + 0.009891480207443237, + -0.0041242241859436035, + 0.0013644713908433914, + -0.004184626042842865, + -0.03292268514633179, + 0.0 + ], + [ + -0.008445560932159424, + -0.02035389095544815, + -0.022391855716705322, + 0.0017708661034703255, + 0.02285286784172058, + -0.06205970048904419, + 0.0 + ], + [ + 0.005280226469039917, + -0.021364763379096985, + -0.015206605195999146, + -0.034257858991622925, + -0.01161954551935196, + -0.01696723699569702, + 0.0 + ], + [ + 0.009104713797569275, + -0.011774621903896332, + -0.007613025605678558, + -0.02077539637684822, + -0.044444676488637924, + 0.0011268854141235352, + 0.0 + ], + [ + 0.008326664566993713, + -0.005040228366851807, + -0.009362027049064636, + 0.007723648101091385, + -0.026943832635879517, + 0.004405558109283447, + 0.0 + ], + [ + 0.0060485899448394775, + 0.0002969875931739807, + -0.011111155152320862, + 0.03393057733774185, + -0.027076169848442078, + -0.0038000941276550293, + 0.0 + ], + [ + -0.0012079626321792603, + -0.0007412880659103394, + -0.012109480798244476, + 0.028870638459920883, + 0.0018287897109985352, + -0.010549426078796387, + 1.0 + ], + [ + -0.002464279532432556, + -0.0009383335709571838, + -0.004254251718521118, + 0.011741697788238525, + -0.002040848135948181, + -0.0035150647163391113, + 1.0 + ], + [ + -0.0008288919925689697, + -0.0037039220333099365, + 0.004072859883308411, + -0.02039191499352455, + 0.001294255256652832, + -0.00840499997138977, + 1.0 + ], + [ + -0.002376839518547058, + -0.005907896906137466, + 0.014450505375862122, + -0.03968924283981323, + -0.006072118878364563, + -0.008741259574890137, + 1.0 + ], + [ + 0.004468366503715515, + 0.00725211575627327, + 0.03549824655056, + -0.0686279907822609, + -0.04619133472442627, + 0.07095977663993835, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 0.9590815901756287 + ], + [ + 0.8111810088157654 + ], + [ + 0.8111810088157654 + ], + [ + 0.8111810088157654 + ], + [ + 0.8102405071258545 + ], + [ + 0.8102405071258545 + ], + [ + 0.8102405071258545 + ], + [ + 0.8102405071258545 + ], + [ + 0.8102405071258545 + ], + [ + 0.8102405071258545 + ], + [ + 0.8102405071258545 + ], + [ + 0.8102405071258545 + ], + [ + 0.8102405071258545 + ], + [ + 0.8102405071258545 + ], + [ + 0.8102405071258545 + ], + [ + 0.8102405071258545 + ], + [ + 0.8651953339576721 + ], + [ + 1.0118417739868164 + ], + [ + 1.00800359249115 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.32030588388442993, + 0.1978713870048523, + 0.20287896692752838 + ], + [ + 0.3143862187862396, + 0.1542733758687973, + 0.18044383823871613 + ], + [ + 0.30901309847831726, + 0.11874790489673615, + 0.17582030594348907 + ], + [ + 0.30233103036880493, + 0.0929991602897644, + 0.15652567148208618 + ], + [ + 0.30060604214668274, + 0.07502350211143494, + 0.14911271631717682 + ], + [ + 0.2993052303791046, + 0.05571361631155014, + 0.13885019719600677 + ], + [ + 0.29163476824760437, + 0.025448443368077278, + 0.13188350200653076 + ], + [ + 0.28316161036491394, + 0.0015694672474637628, + 0.12122002243995667 + ], + [ + 0.27426964044570923, + -0.01425729040056467, + 0.1111270934343338 + ], + [ + 0.26981309056282043, + -0.022285757586359978, + 0.10624776035547256 + ], + [ + 0.2660394012928009, + -0.032013051211833954, + 0.10356610268354416 + ], + [ + 0.2592596411705017, + -0.038478948175907135, + 0.09485897421836853 + ], + [ + 0.2544667720794678, + -0.04198167473077774, + 0.08334830403327942 + ], + [ + 0.25239890813827515, + -0.04133942350745201, + 0.0731935128569603 + ], + [ + 0.2513788938522339, + -0.041949279606342316, + 0.07318554818630219 + ], + [ + 0.2494531124830246, + -0.03371955826878548, + 0.08410991728305817 + ], + [ + 0.2529366612434387, + -0.019772863015532494, + 0.10722152888774872 + ], + [ + 0.25826746225357056, + 0.0029702680185437202, + 0.13210903108119965 + ], + [ + 0.2583898603916168, + 0.032831281423568726, + 0.15505638718605042 + ], + [ + 0.2510194182395935, + 0.06595626473426819, + 0.16371305286884308 + ], + [ + 0.23905402421951294, + 0.09439592808485031, + 0.1677478402853012 + ], + [ + 0.22599723935127258, + 0.11980277299880981, + 0.16714811325073242 + ], + [ + 0.21975889801979065, + 0.12969425320625305, + 0.16302388906478882 + ], + [ + 0.21131333708763123, + 0.1093403622508049, + 0.1406320333480835 + ], + [ + 0.21659356355667114, + 0.08797559887170792, + 0.12542542815208435 + ], + [ + 0.22569827735424042, + 0.07620097696781158, + 0.11781240254640579 + ], + [ + 0.23402494192123413, + 0.07116074860095978, + 0.10845037549734116 + ], + [ + 0.2400735318660736, + 0.07145773619413376, + 0.0973392203450203 + ], + [ + 0.23886556923389435, + 0.07071644812822342, + 0.08522973954677582 + ], + [ + 0.2364012897014618, + 0.06977811455726624, + 0.0809754878282547 + ], + [ + 0.23557239770889282, + 0.0660741925239563, + 0.08504834771156311 + ], + [ + 0.23319555819034576, + 0.06016629561781883, + 0.09949885308742523 + ], + [ + 0.23766392469406128, + 0.0674184113740921, + 0.13499709963798523 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.5465770262163965, + 0.835502157560376, + -0.056477421368166546, + 0.8370174965066195, + -0.5430160757153022, + 0.06734428005810758, + 0.025598143570037736, + -0.08408142616957681, + -0.9961300360992325 + ], + [ + 0.6660564598179115, + 0.7445958087665748, + -0.04411206073265127, + 0.7458992815242181, + -0.665027424723543, + 0.03705112936507335, + -0.0017476145129818148, + -0.05758129846419348, + -0.998339290978118 + ], + [ + 0.7325291137536782, + 0.6805131033349896, + 0.017407288491682216, + 0.6785615655055319, + -0.7319928765645161, + 0.061160693893112864, + 0.05436266477953844, + -0.03299007196395966, + -0.9979761298898288 + ], + [ + 0.7673379369469083, + 0.6400954568623934, + 0.03834444713626163, + 0.6369699295756498, + -0.7677524128873159, + 0.06946611635967151, + 0.07390398729739514, + -0.02887972662314243, + -0.9968471106702965 + ], + [ + 0.7830352354585414, + 0.6161115443576014, + 0.08521962766685831, + 0.6111955592419166, + -0.7876056757909257, + 0.07821309241348322, + 0.11530745159506195, + -0.00915774924369911, + -0.9932876357004763 + ], + [ + 0.7820773557334364, + 0.6113740592391612, + 0.12073429230515517, + 0.6091739984698159, + -0.7908594929698887, + 0.05872224423255277, + 0.13138511802062255, + 0.027622854103826984, + -0.9909464812460186 + ], + [ + 0.7870941886330171, + 0.5914173875108266, + 0.17523758720663182, + 0.5961572333925058, + -0.8023052559608999, + 0.030047118519231655, + 0.15836442559465938, + 0.08081924280382885, + -0.9840675579952273 + ], + [ + 0.7887101554998985, + 0.5858428385492821, + 0.1863450002866886, + 0.5927607289689786, + -0.8050735788476968, + 0.02216417906277878, + 0.16300616185743233, + 0.0929768850945302, + -0.9822343356015547 + ], + [ + 0.7614112662486318, + 0.6266431222681941, + 0.16604602055943488, + 0.631947773340503, + -0.7745938144990389, + 0.02542507246417922, + 0.14455066724036683, + 0.08557347634517233, + -0.9857901829225968 + ], + [ + 0.743872084628522, + 0.6501735076309078, + 0.15468914533779918, + 0.6554179515838116, + -0.7549632144005353, + 0.021397514895226677, + 0.1306967117111106, + 0.08546902875856875, + -0.9877314486594873 + ], + [ + 0.7237049481490161, + 0.6748205159625839, + 0.14445905738520504, + 0.6784107634290067, + -0.7340551185676184, + 0.0303631185544575, + 0.1265305658262152, + 0.07602864026583554, + -0.9890448229332309 + ], + [ + 0.727322788102003, + 0.6764763538821371, + 0.11567758877958338, + 0.676507685960679, + -0.7350573272199143, + 0.04503417076446423, + 0.11549421086641522, + 0.04550239926251513, + -0.9922653974203165 + ], + [ + 0.7315189672668434, + 0.6735436996362815, + 0.10591923908866578, + 0.6702631428815123, + -0.7388707511431459, + 0.06940700540839538, + 0.12500927894939895, + 0.020221221165753856, + -0.9919494858061662 + ], + [ + 0.7291517569357692, + 0.6787781864171467, + 0.08716587062451715, + 0.6740975311372801, + -0.73434299656104, + 0.07957940635852927, + 0.1180264117564555, + 0.0007328342251914505, + -0.993010185789599 + ], + [ + 0.7363121049389277, + 0.6711098917677906, + 0.0863481168979958, + 0.6677848353223971, + -0.7413129017139556, + 0.06722049885172263, + 0.10912331480414557, + 0.008166696018570542, + -0.9939946716367727 + ], + [ + 0.7289119271202864, + 0.6781702881062022, + 0.09366142659462862, + 0.6776921080196843, + -0.734160901452171, + 0.04172741912426449, + 0.09706085322943961, + 0.03305799614142127, + -0.9947292896368775 + ], + [ + 0.7058637855041936, + 0.6971460253425341, + 0.12547404378115995, + 0.7031360471780763, + -0.7110381245476216, + -0.004948191446438731, + 0.08576721677004345, + 0.09171807231351642, + -0.992084562796243 + ], + [ + 0.662686488595468, + 0.7317725120989301, + 0.1592344446702099, + 0.7447670025001328, + -0.6662617052663412, + -0.03764906482974806, + 0.07854126189447266, + 0.14354208662273432, + -0.9865226502964926 + ], + [ + 0.6775332961276677, + 0.7218627871305737, + 0.14093526597150213, + 0.7330139396657335, + -0.678454318901714, + -0.04889070892645598, + 0.06032575647348627, + 0.1364325977165689, + -0.9888108764501988 + ], + [ + 0.7137762879883964, + 0.692979273225158, + 0.10150437224985535, + 0.6991955214304345, + -0.7134552847953562, + -0.04590402388897394, + 0.040608293698802964, + 0.10373660625790906, + -0.9937754691100816 + ], + [ + 0.7706662936585765, + 0.6325497885096193, + 0.07716364995895747, + 0.6351485220196608, + -0.7722859852469062, + -0.012677222387246563, + 0.051573431093858646, + 0.05878028621613914, + -0.996937841170429 + ], + [ + 0.806862242558972, + 0.5881807554479418, + 0.0549246798206023, + 0.5881923912219672, + -0.8085280230516194, + 0.0176676780824449, + 0.05479993103363821, + 0.0180508964023695, + -0.9983341788688695 + ], + [ + 0.8255894949268999, + 0.5612653377332548, + 0.058165337835535666, + 0.5611805482000469, + -0.8274677282855611, + 0.019327466668648985, + 0.05897777707104039, + 0.016684702727600427, + -0.9981198537784179 + ], + [ + 0.8597396873578786, + 0.5092629899937685, + 0.03871533293650581, + 0.5094514258503456, + -0.8604813775136103, + 0.0055716829890123725, + 0.036151274954384416, + 0.01493338457574302, + -0.9992347468659635 + ], + [ + 0.8678359391617225, + 0.49247503816370153, + 0.06579604459959625, + 0.4945500127440622, + -0.8689390156636249, + -0.01911208916834994, + 0.047760523386361914, + 0.049125592547996755, + -0.9976500431326956 + ], + [ + 0.8645791795208061, + 0.489288771803894, + 0.11445234871232193, + 0.4939856034905186, + -0.8693383530818563, + -0.015134444325255809, + 0.0920927026600814, + 0.06962273800679661, + -0.9933134492541612 + ], + [ + 0.8599327385519535, + 0.49254008960433865, + 0.13386539993249846, + 0.4963687696905585, + -0.8680947488320194, + 0.00543613154317539, + 0.11888536344907664, + 0.06177189638357734, + -0.9909846129858716 + ], + [ + 0.8587032721986988, + 0.4928383680047531, + 0.1404956701740608, + 0.49131822696575655, + -0.8696697129831663, + 0.04775971284463419, + 0.14572264809037824, + 0.02801666186732768, + -0.9889287014195407 + ], + [ + 0.8640697679070924, + 0.48750414177222445, + 0.12539197719116732, + 0.48236132218867867, + -0.8731205058750205, + 0.07062674477092801, + 0.14391313715353823, + -0.000542195052465104, + -0.9895901752640595 + ], + [ + 0.8655012021082922, + 0.4858955651943882, + 0.12170936230844247, + 0.47917782942960524, + -0.8739323139948693, + 0.08143045093026152, + 0.14593243961585034, + -0.012157725116140779, + -0.9892198505831588 + ], + [ + 0.8696633475338889, + 0.4759471328294437, + 0.13099614004840873, + 0.47197614829157164, + -0.879437350925556, + 0.061874560530906675, + 0.14465191806541258, + 0.008017016182614693, + -0.9894501250955122 + ], + [ + 0.8729640175141116, + 0.46240052538148824, + 0.15530479146679668, + 0.4639355027637597, + -0.8854124811807567, + 0.028435672045393746, + 0.15065747044524228, + 0.047228088001308545, + -0.9874572569497786 + ], + [ + 0.8310842380405122, + 0.5078163201317574, + 0.22676325603691105, + 0.5204097108785826, + -0.8539023852401794, + 0.004944623787751755, + 0.19614464587107988, + 0.11390040161901421, + -0.973937357537504 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006157.json b/json/chunk-0006/episode_0006157.json new file mode 100644 index 0000000000000000000000000000000000000000..1e15d71c6a07cb0f3536c4104b1910a12e7e52da --- /dev/null +++ b/json/chunk-0006/episode_0006157.json @@ -0,0 +1,2782 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 45, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nRemove the green arch from the tower and put into the blue block." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006157.mp4", + "start": 0, + "end": 45, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2745625972747803, + -0.0032847528345882893, + 0.15024486184120178, + -0.0650012418627739, + 0.11569365113973618, + 0.27223876118659973, + 0.0, + 0.9988223910331726 + ], + [ + 0.2722998261451721, + -0.003375047817826271, + 0.14169125258922577, + -0.056915849447250366, + 0.14861789345741272, + 0.27482232451438904, + 0.0, + 0.9994885921478271 + ], + [ + 0.2753415107727051, + -0.01296279113739729, + 0.14511358737945557, + -0.057205114513635635, + 0.1351425051689148, + 0.2637580931186676, + 0.0, + 0.9988223910331726 + ], + [ + 0.27911823987960815, + -0.025569526478648186, + 0.14930284023284912, + -0.04881902411580086, + 0.09832799434661865, + 0.27536630630493164, + 0.0, + 0.9988223910331726 + ], + [ + 0.27853238582611084, + -0.040125083178281784, + 0.16669034957885742, + -0.005395409185439348, + 0.033519960939884186, + 0.33089590072631836, + 0.0, + 0.9994885921478271 + ], + [ + 0.2632203698158264, + -0.06275336444377899, + 0.17633219063282013, + 0.04395125061273575, + 0.02757931686937809, + 0.4362393915653229, + 0.0, + 0.9994885921478271 + ], + [ + 0.24820271134376526, + -0.08047490566968918, + 0.17452137172222137, + 0.04657306522130966, + 0.039992548525333405, + 0.522337019443512, + 0.0, + 0.9988223910331726 + ], + [ + 0.2382563203573227, + -0.08576099574565887, + 0.1621078997850418, + 0.07148939371109009, + 0.06459682434797287, + 0.6608746647834778, + 0.0, + 0.9988223910331726 + ], + [ + 0.22947293519973755, + -0.08775363117456436, + 0.15165789425373077, + 0.04004213586449623, + 0.0662875771522522, + 0.8354201912879944, + 0.0, + 0.9988223910331726 + ], + [ + 0.22734612226486206, + -0.08387822657823563, + 0.14758826792240143, + -0.030849426984786987, + 0.048070259392261505, + 0.9612221121788025, + 0.0, + 0.9988223910331726 + ], + [ + 0.23037630319595337, + -0.07813119888305664, + 0.14542411267757416, + -0.06276635825634003, + 0.03604898974299431, + 1.0377938747406006, + 0.0, + 0.9994885921478271 + ], + [ + 0.23175716400146484, + -0.07698093354701996, + 0.14320287108421326, + -0.05518510192632675, + 0.03800981491804123, + 1.0473483800888062, + 0.0, + 0.9994885921478271 + ], + [ + 0.2364073246717453, + -0.07884397357702255, + 0.1409786492586136, + -0.0475686751306057, + 0.04230467602610588, + 1.033146858215332, + 0.0, + 0.9988223910331726 + ], + [ + 0.23870766162872314, + -0.0799289420247078, + 0.1394028514623642, + -0.04181782901287079, + 0.04362565279006958, + 1.0272667407989502, + 0.0, + 0.9988223910331726 + ], + [ + 0.23952607810497284, + -0.08540982007980347, + 0.13796763122081757, + -0.049539342522621155, + 0.04904886707663536, + 1.0143681764602661, + 0.0, + 0.9994885921478271 + ], + [ + 0.2410232573747635, + -0.08790614455938339, + 0.1327526718378067, + -0.045884355902671814, + 0.06746544688940048, + 1.0084881782531738, + 0.0, + 0.9994885921478271 + ], + [ + 0.23779866099357605, + -0.08627662807703018, + 0.12640608847141266, + -0.041709054261446, + 0.08732324093580246, + 1.0119398832321167, + 0.0, + 0.9545519351959229 + ], + [ + 0.23843179643154144, + -0.08590582758188248, + 0.11966484040021896, + -0.024813907220959663, + 0.10384795069694519, + 1.004461407661438, + 0.0, + 0.6701657772064209 + ], + [ + 0.2396899163722992, + -0.08712835609912872, + 0.11946883797645569, + -0.03420668840408325, + 0.11431701481342316, + 1.0013772249221802, + 0.0, + 0.5809218287467957 + ], + [ + 0.24269254505634308, + -0.08532694727182388, + 0.11897145211696625, + -0.03966260328888893, + 0.14064450562000275, + 0.9683812260627747, + 0.0, + 0.5799254179000854 + ], + [ + 0.24814853072166443, + -0.08075984567403793, + 0.12483727186918259, + -0.017090631648898125, + 0.14317451417446136, + 0.9643191695213318, + 0.0, + 0.5799254179000854 + ], + [ + 0.25584059953689575, + -0.06614825129508972, + 0.1423722356557846, + -0.0008444992126896977, + 0.12154369056224823, + 0.990164577960968, + 0.0, + 0.5799254179000854 + ], + [ + 0.2582607865333557, + -0.0442139133810997, + 0.1511499434709549, + 0.009629970416426659, + 0.11659916490316391, + 1.050160527229309, + 0.0, + 0.5799254179000854 + ], + [ + 0.26440829038619995, + -0.013508441857993603, + 0.158651202917099, + 0.003318348666653037, + 0.12558574974536896, + 1.125982403755188, + 0.0, + 0.5799254179000854 + ], + [ + 0.26515334844589233, + 0.018500111997127533, + 0.14444829523563385, + -0.005625223275274038, + 0.11826914548873901, + 1.2720301151275635, + 0.0, + 0.5799254179000854 + ], + [ + 0.2679097354412079, + 0.04540370777249336, + 0.12966203689575195, + -0.03284408524632454, + 0.13677799701690674, + 1.406666874885559, + 0.0, + 0.5799254179000854 + ], + [ + 0.2741037905216217, + 0.06004921346902847, + 0.11285935342311859, + 2.754063461907208e-05, + 0.12690642476081848, + 1.4775478839874268, + 0.0, + 0.5799254179000854 + ], + [ + 0.2874208986759186, + 0.07148037850856781, + 0.10123518109321594, + 0.0037855638656765223, + 0.10282425582408905, + 1.5068717002868652, + 0.0, + 0.5799254179000854 + ], + [ + 0.3060588240623474, + 0.07912911474704742, + 0.0813363641500473, + 0.029781144112348557, + 0.10072321444749832, + 1.4924042224884033, + 0.0, + 0.5799254179000854 + ], + [ + 0.3128555119037628, + 0.08050969988107681, + 0.0665988102555275, + 0.05427080765366554, + 0.11687745153903961, + 1.4730885028839111, + 0.0, + 0.5799254179000854 + ], + [ + 0.3144845962524414, + 0.0780642032623291, + 0.05857318267226219, + 0.03781422972679138, + 0.1319081336259842, + 1.483272671699524, + 0.0, + 0.5799254179000854 + ], + [ + 0.3104892373085022, + 0.07847373187541962, + 0.05558602511882782, + 0.05483359098434448, + 0.12694106996059418, + 1.495558500289917, + 0.0, + 0.5799254179000854 + ], + [ + 0.30505263805389404, + 0.07874926924705505, + 0.05232284218072891, + 0.07301968336105347, + 0.12790502607822418, + 1.5008889436721802, + 0.0, + 0.5799254179000854 + ], + [ + 0.3025255799293518, + 0.0801006406545639, + 0.04970140755176544, + 0.0770447626709938, + 0.1347188949584961, + 1.5143299102783203, + 0.0, + 0.5799254179000854 + ], + [ + 0.3022242784500122, + 0.07993209362030029, + 0.04934411495923996, + 0.07266419380903244, + 0.14238697290420532, + 1.525888442993164, + 0.0, + 0.5799254179000854 + ], + [ + 0.30255231261253357, + 0.08225581049919128, + 0.049036767333745956, + 0.06341178715229034, + 0.14755003154277802, + 1.5348540544509888, + 0.0, + 0.5799254179000854 + ], + [ + 0.3021053373813629, + 0.0860285758972168, + 0.04945940524339676, + 0.05822344869375229, + 0.15367376804351807, + 1.5443509817123413, + 0.0, + 0.5799254179000854 + ], + [ + 0.3006696105003357, + 0.0882384330034256, + 0.049113836139440536, + 0.0622575581073761, + 0.1513034850358963, + 1.5470021963119507, + 0.0, + 0.5799254179000854 + ], + [ + 0.30053389072418213, + 0.08869954943656921, + 0.049113836139440536, + 0.06202404946088791, + 0.15139874815940857, + 1.5469874143600464, + 0.0, + 0.6460646390914917 + ], + [ + 0.30147066712379456, + 0.0858585461974144, + 0.05007828027009964, + 0.05176476761698723, + 0.17937076091766357, + 1.5380231142044067, + 0.0, + 0.9383087754249573 + ], + [ + 0.2999873161315918, + 0.08447729051113129, + 0.0504266619682312, + 0.057786695659160614, + 0.18959589302539825, + 1.5217663049697876, + 0.0, + 1.002137303352356 + ], + [ + 0.30192843079566956, + 0.08711190521717072, + 0.06291069835424423, + 0.06512593477964401, + 0.1860876977443695, + 1.4591550827026367, + 0.0, + 0.9994885921478271 + ], + [ + 0.2932971119880676, + 0.08219817280769348, + 0.11763506382703781, + 0.10418255627155304, + 0.10770579427480698, + 1.3436444997787476, + 0.0, + 0.9994885921478271 + ], + [ + 0.2742607891559601, + 0.04470352828502655, + 0.17109908163547516, + 0.196894109249115, + 0.0331290028989315, + 1.1464896202087402, + 0.0, + 0.9994885921478271 + ], + [ + 0.2589148283004761, + 0.004371928982436657, + 0.19106878340244293, + 0.12783943116664886, + 0.017213283106684685, + 0.9779929518699646, + 0.0, + 0.9994885921478271 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9545519351959229 + ], + [ + 0.6701657772064209 + ], + [ + 0.5809218287467957 + ], + [ + 0.5799254179000854 + ], + [ + 0.5799254179000854 + ], + [ + 0.5799254179000854 + ], + [ + 0.5799254179000854 + ], + [ + 0.5799254179000854 + ], + [ + 0.5799254179000854 + ], + [ + 0.5799254179000854 + ], + [ + 0.5799254179000854 + ], + [ + 0.5799254179000854 + ], + [ + 0.5799254179000854 + ], + [ + 0.5799254179000854 + ], + [ + 0.5799254179000854 + ], + [ + 0.5799254179000854 + ], + [ + 0.5799254179000854 + ], + [ + 0.5799254179000854 + ], + [ + 0.5799254179000854 + ], + [ + 0.5799254179000854 + ], + [ + 0.5799254179000854 + ], + [ + 0.5799254179000854 + ], + [ + 0.6460646390914917 + ], + [ + 0.9383087754249573 + ], + [ + 1.002137303352356 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2745625972747803, + -0.0032847528345882893, + 0.15024486184120178 + ], + [ + 0.2722998261451721, + -0.003375047817826271, + 0.14169125258922577 + ], + [ + 0.2753415107727051, + -0.01296279113739729, + 0.14511358737945557 + ], + [ + 0.27911823987960815, + -0.025569526478648186, + 0.14930284023284912 + ], + [ + 0.27853238582611084, + -0.040125083178281784, + 0.16669034957885742 + ], + [ + 0.2632203698158264, + -0.06275336444377899, + 0.17633219063282013 + ], + [ + 0.24820271134376526, + -0.08047490566968918, + 0.17452137172222137 + ], + [ + 0.2382563203573227, + -0.08576099574565887, + 0.1621078997850418 + ], + [ + 0.22947293519973755, + -0.08775363117456436, + 0.15165789425373077 + ], + [ + 0.22734612226486206, + -0.08387822657823563, + 0.14758826792240143 + ], + [ + 0.23037630319595337, + -0.07813119888305664, + 0.14542411267757416 + ], + [ + 0.23175716400146484, + -0.07698093354701996, + 0.14320287108421326 + ], + [ + 0.2364073246717453, + -0.07884397357702255, + 0.1409786492586136 + ], + [ + 0.23870766162872314, + -0.0799289420247078, + 0.1394028514623642 + ], + [ + 0.23952607810497284, + -0.08540982007980347, + 0.13796763122081757 + ], + [ + 0.2410232573747635, + -0.08790614455938339, + 0.1327526718378067 + ], + [ + 0.23779866099357605, + -0.08627662807703018, + 0.12640608847141266 + ], + [ + 0.23843179643154144, + -0.08590582758188248, + 0.11966484040021896 + ], + [ + 0.2396899163722992, + -0.08712835609912872, + 0.11946883797645569 + ], + [ + 0.24269254505634308, + -0.08532694727182388, + 0.11897145211696625 + ], + [ + 0.24814853072166443, + -0.08075984567403793, + 0.12483727186918259 + ], + [ + 0.25584059953689575, + -0.06614825129508972, + 0.1423722356557846 + ], + [ + 0.2582607865333557, + -0.0442139133810997, + 0.1511499434709549 + ], + [ + 0.26440829038619995, + -0.013508441857993603, + 0.158651202917099 + ], + [ + 0.26515334844589233, + 0.018500111997127533, + 0.14444829523563385 + ], + [ + 0.2679097354412079, + 0.04540370777249336, + 0.12966203689575195 + ], + [ + 0.2741037905216217, + 0.06004921346902847, + 0.11285935342311859 + ], + [ + 0.2874208986759186, + 0.07148037850856781, + 0.10123518109321594 + ], + [ + 0.3060588240623474, + 0.07912911474704742, + 0.0813363641500473 + ], + [ + 0.3128555119037628, + 0.08050969988107681, + 0.0665988102555275 + ], + [ + 0.3144845962524414, + 0.0780642032623291, + 0.05857318267226219 + ], + [ + 0.3104892373085022, + 0.07847373187541962, + 0.05558602511882782 + ], + [ + 0.30505263805389404, + 0.07874926924705505, + 0.05232284218072891 + ], + [ + 0.3025255799293518, + 0.0801006406545639, + 0.04970140755176544 + ], + [ + 0.3022242784500122, + 0.07993209362030029, + 0.04934411495923996 + ], + [ + 0.30255231261253357, + 0.08225581049919128, + 0.049036767333745956 + ], + [ + 0.3021053373813629, + 0.0860285758972168, + 0.04945940524339676 + ], + [ + 0.3006696105003357, + 0.0882384330034256, + 0.049113836139440536 + ], + [ + 0.30053389072418213, + 0.08869954943656921, + 0.049113836139440536 + ], + [ + 0.30147066712379456, + 0.0858585461974144, + 0.05007828027009964 + ], + [ + 0.2999873161315918, + 0.08447729051113129, + 0.0504266619682312 + ], + [ + 0.30192843079566956, + 0.08711190521717072, + 0.06291069835424423 + ], + [ + 0.2932971119880676, + 0.08219817280769348, + 0.11763506382703781 + ], + [ + 0.2742607891559601, + 0.04470352828502655, + 0.17109908163547516 + ], + [ + 0.2589148283004761, + 0.004371928982436657, + 0.19106878340244293 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9567324862390021, + 0.2755426057731834, + -0.09348380703983866, + 0.26709088711139445, + -0.9591210982043217, + -0.09353703545325992, + -0.11543573015746084, + 0.0645212475318021, + -0.9912172319022474 + ], + [ + 0.9518637702367491, + 0.2790434742395401, + -0.12684676738099795, + 0.2683844676283813, + -0.9586291096848987, + -0.09486836986356066, + -0.14807140320302312, + 0.05625806208061297, + -0.9873752528823184 + ], + [ + 0.9566144874939074, + 0.2677207818402506, + -0.11495349184610781, + 0.25833338986626464, + -0.9618295400289926, + -0.09026514060156707, + -0.13473151820184015, + 0.05665261598956456, + -0.9892612896017743 + ], + [ + 0.9576773386069531, + 0.27618567449511194, + -0.08109000137121422, + 0.270586104207256, + -0.959876564514553, + -0.07362160760048143, + -0.09816962528523493, + 0.04856391766959658, + -0.993984039394968 + ], + [ + 0.945220385763484, + 0.32505673944053987, + -0.029942252443918845, + 0.32470795387421864, + -0.9456791415073336, + -0.01599081013491013, + -0.03351368418942766, + 0.005392352198940173, + -0.999423711700805 + ], + [ + 0.9060023829988539, + 0.4210278714757532, + -0.043534049214315154, + 0.42237336103121464, + -0.9059837363363841, + 0.028181791730839123, + -0.027575820778229093, + -0.04392039315126625, + -0.9986543812420016 + ], + [ + 0.865962618511965, + 0.49675271215853245, + -0.05784017896793797, + 0.498507965751984, + -0.8666445206645145, + 0.020422607179119548, + -0.03998188867124239, + -0.046519004345709075, + -0.9981169424536206 + ], + [ + 0.7878091298895344, + 0.6085997008597305, + -0.0946740670729917, + 0.6125274082564977, + -0.7902693409288046, + 0.016868400117689537, + -0.0645519093232145, + -0.07127954055266694, + -0.9953653992887879 + ], + [ + 0.6693927694149779, + 0.7392051372266342, + -0.0740883617898195, + 0.739949801994549, + -0.6722947868462246, + -0.02222633815132973, + -0.06623904274047193, + -0.03994351858740506, + -0.9970039641544479 + ], + [ + 0.5718570679854961, + 0.8203503016863251, + -0.0022082387070884307, + 0.8189447620344416, + -0.5710308169993494, + -0.05703755581551324, + -0.04805174847374518, + 0.030808903911226697, + -0.998369591338 + ], + [ + 0.5077914717656483, + 0.8607380392216868, + 0.035747014405161245, + 0.8607257718744323, + -0.505173924137755, + -0.06285262128523038, + -0.036041182461728286, + 0.0626844016328449, + -0.9973824236263104 + ], + [ + 0.4995083239867953, + 0.8658300626151404, + 0.02880515474294675, + 0.8654752358487695, + -0.49729306315511373, + -0.06043364518478911, + -0.038000663157630094, + 0.055117256913478796, + -0.9977565021536638 + ], + [ + 0.5116603047890487, + 0.8589730995555827, + 0.019207986439306726, + 0.8581463245233678, + -0.5098119121693554, + -0.06063579732517687, + -0.04229205847688528, + 0.04750819350491275, + -0.9979751266137284 + ], + [ + 0.5166680884571251, + 0.8560833015921042, + 0.013246399707937694, + 0.8550743218395506, + -0.515147545037726, + -0.05891443772316489, + -0.04361181606735686, + 0.04176586616803439, + -0.9981751459150546 + ], + [ + 0.5275213581381406, + 0.8493875683503728, + 0.016185655375439992, + 0.8481257890225934, + -0.5254469657689131, + -0.06773575244319759, + -0.049029202552104176, + 0.049459527859487276, + -0.9975719986051239 + ], + [ + 0.5319275147476676, + 0.8467849169307238, + 0.0029023288919826293, + 0.8441021466549459, + -0.5299631770321195, + -0.08142847783505959, + -0.06741427939896899, + 0.04576390989250999, + -0.9966749618027273 + ], + [ + 0.5281967064778732, + 0.849052743397797, + -0.010847958084442166, + 0.8446314303544813, + -0.526672598795557, + -0.09598812705369875, + -0.08721230488451766, + 0.04153808621745547, + -0.9953233651784333 + ], + [ + 0.5336522500116165, + 0.8449933031154988, + -0.034664012282160206, + 0.8393268679305976, + -0.5342071968300757, + -0.10076249115998298, + -0.1036613950675564, + 0.02467769326560723, + -0.9943064550870302 + ], + [ + 0.5356238717458861, + 0.8438248846795874, + -0.03265933268497095, + 0.836717106647623, + -0.5355419139673383, + -0.11445235614626004, + -0.11406818776143032, + 0.03397679178028782, + -0.9928917494677565 + ], + [ + 0.561039065774223, + 0.8264711573762025, + -0.04669681681257493, + 0.8158335454618926, + -0.5616084272397701, + -0.13788256072596583, + -0.14018128539239738, + 0.039260673434265925, + -0.9893471618937525 + ], + [ + 0.5641444362829122, + 0.8229309250982452, + -0.0672736763376423, + 0.8132538349706756, + -0.5678895820614839, + -0.12696307530744005, + -0.14268586095519303, + 0.01691493727389711, + -0.9896234788951279 + ], + [ + 0.5445054020868216, + 0.8361721382018809, + -0.06580290565896688, + 0.8299479508550643, + -0.5484664553097672, + -0.10183784302222093, + -0.12124465336561457, + 0.0008382689505003829, + -0.9926223004423274 + ], + [ + 0.4940542421460155, + 0.8669055976923505, + -0.06622001591055982, + 0.8616127554213857, + -0.4983805837593516, + -0.09612623693277084, + -0.11633514306817855, + -0.009564435234577034, + -0.9931639623274447 + ], + [ + 0.42690115613977087, + 0.9025069315624766, + -0.05689148766037154, + 0.8955815789376019, + -0.43066274489728495, + -0.111638862521829, + -0.1252558914948067, + -0.003292208866286915, + -0.9921190064738312 + ], + [ + 0.2922851346109118, + 0.9558806158552728, + -0.029353846726193636, + 0.9490241858698703, + -0.2937023084277138, + -0.11442049055244218, + -0.11799362152044725, + 0.005585897991892241, + -0.9929986420051706 + ], + [ + 0.16186752433924356, + 0.9867605031132882, + 0.010129859816141215, + 0.9773469493009559, + -0.15888804812506974, + -0.13981247746578396, + -0.13635191695168497, + 0.032531487187274694, + -0.9901261824055483 + ], + [ + 0.0923645639884994, + 0.9956551884234935, + -0.011812412310454365, + 0.9876486322669683, + -0.09311683531478826, + -0.12601362689068862, + -0.12656605587755937, + -2.7319157825847484e-05, + -0.9919581809498131 + ], + [ + 0.06354369443037994, + 0.997925544404341, + -0.010334733834871539, + 0.9926865468943636, + -0.06426840887922008, + -0.10219095476155016, + -0.10264316106337679, + -0.003765560440694253, + -0.9947111148677713 + ], + [ + 0.07791493061784499, + 0.9962523718644346, + -0.03755629296542315, + 0.9918761814935088, + -0.08126205795562819, + -0.09786786256311177, + -0.10055299186335737, + -0.0296258247362738, + -0.9944905260162227 + ], + [ + 0.09688689013923152, + 0.9931480428503668, + -0.06534443741921972, + 0.9884405294585396, + -0.10370413117037264, + -0.11059282482114312, + -0.11661153563378873, + -0.05387409545119058, + -0.9917153480694174 + ], + [ + 0.0866525823740732, + 0.9950254686020776, + -0.04914922991380563, + 0.9875182315196833, + -0.09230279908300637, + -0.12762419714803006, + -0.13152593806600105, + -0.037476794348741016, + -0.9906040669718656 + ], + [ + 0.07456205515525255, + 0.9951506933330421, + -0.06415292269094497, + 0.989147528421042, + -0.08197273682044187, + -0.12193292187391344, + -0.12660042239095562, + -0.05436513567473058, + -0.9904629044408979 + ], + [ + 0.06927986939222486, + 0.9942492109083466, + -0.08166275959779079, + 0.9894087238560433, + -0.0789474580655739, + -0.12180999968204868, + -0.12755656335348847, + -0.07235886589157374, + -0.9891883125433362 + ], + [ + 0.05592505128030467, + 0.994861016128282, + -0.0844034787641913, + 0.9893597627823028, + -0.06659030374673192, + -0.1293560637707546, + -0.1343117583335161, + -0.07627116122834363, + -0.9879995250698448 + ], + [ + 0.044438479894757854, + 0.995893084663696, + -0.07888083052092865, + 0.9888821031768433, + -0.05506637480312221, + -0.13812994021060365, + -0.14190633361899702, + -0.07186555701495903, + -0.9872679140910756 + ], + [ + 0.03554407776495294, + 0.9970108151996183, + -0.06860067718930885, + 0.9884953925730243, + -0.04517254601283016, + -0.14434784358840144, + -0.14701522845522447, + -0.06268074235131174, + -0.9871462136586185 + ], + [ + 0.026130651396825855, + 0.9977209018075982, + -0.062210860416894775, + 0.9878698684483317, + -0.0353015489988035, + -0.1512181326764772, + -0.15306963144090063, + -0.05750480618624739, + -0.9865408684874787 + ], + [ + 0.023520073689731358, + 0.997556989425978, + -0.06577886424231669, + 0.9882956145707772, + -0.03312096196912434, + -0.14891198775924597, + -0.15072685345949344, + -0.06150654213674625, + -0.9866602054003097 + ], + [ + 0.023534340685622213, + 0.9975716940084302, + -0.06555036324570576, + 0.988280907664476, + -0.0331067705525554, + -0.14901271519390466, + -0.15082102756039145, + -0.06127525648033926, + -0.9866602052322249 + ], + [ + 0.03224163167329569, + 0.997821745563007, + -0.05755207440777127, + 0.9834277721938363, + -0.04194974949198221, + -0.17638037134394643, + -0.1784104651216179, + -0.05091151735269775, + -0.9826381446575001 + ], + [ + 0.048132137184677515, + 0.9965976332598546, + -0.06690631323643112, + 0.9809002778251646, + -0.059800030877161514, + -0.18509079196330977, + -0.18846204480624226, + -0.05671960585147415, + -0.9804411986343206 + ], + [ + 0.10948605804924944, + 0.9903263809012154, + -0.08524354746218049, + 0.9766176554276761, + -0.12313913161309903, + -0.17622346430745395, + -0.1850155620475883, + -0.06395634102004683, + -0.9806522463358467 + ], + [ + 0.22389845404567948, + 0.9665113735239339, + -0.12540034738721345, + 0.9686659549737118, + -0.23487431930927521, + -0.08074850960774348, + -0.10749767416470911, + -0.10339158078820383, + -0.9888146596158931 + ], + [ + 0.4114631654891518, + 0.8910489758716962, + -0.19165016578038274, + 0.9108243157044387, + -0.4096398461443344, + 0.05093390199451474, + -0.03312294321445047, + -0.1955170556469366, + -0.9801407815125156 + ], + [ + 0.558605505113093, + 0.8213837180930837, + -0.11527652540273392, + 0.8292548593797159, + -0.555949205974487, + 0.05706889320343124, + -0.017212433078256234, + -0.12747261677677424, + -0.99169272666467 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0022627711296081543, + -9.02949832379818e-05, + -0.008553609251976013, + 0.008085392415523529, + 0.032924242317676544, + 0.0025835633277893066, + 1.0 + ], + [ + 0.003041684627532959, + -0.009587743319571018, + 0.0034223347902297974, + -0.00028926506638526917, + -0.013475388288497925, + -0.011064231395721436, + 1.0 + ], + [ + 0.003776729106903076, + -0.012606735341250896, + 0.004189252853393555, + 0.008386090397834778, + -0.03681451082229614, + 0.011608213186264038, + 1.0 + ], + [ + -0.0005858540534973145, + -0.014555556699633598, + 0.0173875093460083, + 0.0434236153960228, + -0.06480803340673447, + 0.05552959442138672, + 1.0 + ], + [ + -0.015312016010284424, + -0.022628281265497208, + 0.009641841053962708, + 0.04934665933251381, + -0.005940644070506096, + 0.10534349083900452, + 1.0 + ], + [ + -0.015017658472061157, + -0.017721541225910187, + -0.0018108189105987549, + 0.0026218146085739136, + 0.012413231655955315, + 0.08609762787818909, + 1.0 + ], + [ + -0.009946390986442566, + -0.005286090075969696, + -0.012413471937179565, + 0.024916328489780426, + 0.024604275822639465, + 0.13853764533996582, + 1.0 + ], + [ + -0.008783385157585144, + -0.001992635428905487, + -0.010450005531311035, + -0.03144725784659386, + 0.0016907528042793274, + 0.1745455265045166, + 1.0 + ], + [ + -0.0021268129348754883, + 0.0038754045963287354, + -0.004069626331329346, + -0.07089155912399292, + -0.018217317759990692, + 0.1258019208908081, + 1.0 + ], + [ + 0.0030301809310913086, + 0.005747027695178986, + -0.0021641552448272705, + -0.03191693127155304, + -0.012021269649267197, + 0.0765717625617981, + 1.0 + ], + [ + 0.0013808608055114746, + 0.0011502653360366821, + -0.002221241593360901, + 0.007581256330013275, + 0.0019608251750469208, + 0.009554505348205566, + 1.0 + ], + [ + 0.0046501606702804565, + -0.001863040030002594, + -0.0022242218255996704, + 0.007616426795721054, + 0.0042948611080646515, + -0.014201521873474121, + 1.0 + ], + [ + 0.0023003369569778442, + -0.0010849684476852417, + -0.0015757977962493896, + 0.005750846117734909, + 0.0013209767639636993, + -0.005880117416381836, + 1.0 + ], + [ + 0.0008184164762496948, + -0.005480878055095673, + -0.0014352202415466309, + -0.007721513509750366, + 0.005423214286565781, + -0.012898564338684082, + 1.0 + ], + [ + 0.0014971792697906494, + -0.0024963244795799255, + -0.005214959383010864, + 0.003654986619949341, + 0.01841657981276512, + -0.005879998207092285, + 1.0 + ], + [ + -0.003224596381187439, + 0.0016295164823532104, + -0.006346583366394043, + 0.004175301641225815, + 0.019857794046401978, + 0.003451704978942871, + 0.0 + ], + [ + 0.0006331354379653931, + 0.0003708004951477051, + -0.006741248071193695, + 0.016895147040486336, + 0.01652470976114273, + -0.007478475570678711, + 0.0 + ], + [ + 0.0012581199407577515, + -0.0012225285172462463, + -0.00019600242376327515, + -0.009392781183123589, + 0.010469064116477966, + -0.0030841827392578125, + 0.0 + ], + [ + 0.0030026286840438843, + 0.00180140882730484, + -0.0004973858594894409, + -0.005455914884805679, + 0.02632749080657959, + -0.03299599885940552, + 0.0 + ], + [ + 0.00545598566532135, + 0.00456710159778595, + 0.005865819752216339, + 0.022571971639990807, + 0.002530008554458618, + -0.004062056541442871, + 0.0 + ], + [ + 0.007692068815231323, + 0.014611594378948212, + 0.01753496378660202, + 0.01624613255262375, + -0.021630823612213135, + 0.02584540843963623, + 0.0 + ], + [ + 0.002420186996459961, + 0.02193433791399002, + 0.008777707815170288, + 0.010474469512701035, + -0.00494452565908432, + 0.059995949268341064, + 0.0 + ], + [ + 0.006147503852844238, + 0.030705470591783524, + 0.007501259446144104, + -0.006311621516942978, + 0.008986584842205048, + 0.0758218765258789, + 0.0 + ], + [ + 0.0007450580596923828, + 0.03200855478644371, + -0.014202907681465149, + -0.008943571709096432, + -0.007316604256629944, + 0.1460477113723755, + 0.0 + ], + [ + 0.0027563869953155518, + 0.02690359577536583, + -0.014786258339881897, + -0.027218861505389214, + 0.018508851528167725, + 0.1346367597579956, + 0.0 + ], + [ + 0.006194055080413818, + 0.01464550569653511, + -0.016802683472633362, + 0.03287162631750107, + -0.009871572256088257, + 0.07088100910186768, + 0.0 + ], + [ + 0.013317108154296875, + 0.011431165039539337, + -0.011624172329902649, + 0.0037580232601612806, + -0.02408216893672943, + 0.029323816299438477, + 0.0 + ], + [ + 0.018637925386428833, + 0.007648736238479614, + -0.01989881694316864, + 0.025995580479502678, + -0.0021010413765907288, + -0.014467477798461914, + 0.0 + ], + [ + 0.006796687841415405, + 0.0013805851340293884, + -0.014737553894519806, + 0.024489663541316986, + 0.01615423709154129, + -0.019315719604492188, + 0.0 + ], + [ + 0.0016290843486785889, + -0.002445496618747711, + -0.008025627583265305, + -0.01645657792687416, + 0.01503068208694458, + 0.010184168815612793, + 0.0 + ], + [ + -0.003995358943939209, + 0.00040952861309051514, + -0.002987157553434372, + 0.0170193612575531, + -0.004967063665390015, + 0.012285828590393066, + 0.0 + ], + [ + -0.005436599254608154, + 0.000275537371635437, + -0.0032631829380989075, + 0.018186092376708984, + 0.0009639561176300049, + 0.005330443382263184, + 0.0 + ], + [ + -0.0025270581245422363, + 0.00135137140750885, + -0.0026214346289634705, + 0.004025079309940338, + 0.006813868880271912, + 0.013440966606140137, + 0.0 + ], + [ + -0.0003013014793395996, + -0.00016854703426361084, + -0.0003572925925254822, + -0.004380568861961365, + 0.0076680779457092285, + 0.01155853271484375, + 0.0 + ], + [ + 0.0003280341625213623, + 0.002323716878890991, + -0.0003073476254940033, + -0.009252406656742096, + 0.005163058638572693, + 0.008965611457824707, + 0.0 + ], + [ + -0.0004469752311706543, + 0.0037727653980255127, + 0.0004226379096508026, + -0.005188338458538055, + 0.006123736500740051, + 0.009496927261352539, + 0.0 + ], + [ + -0.0014357268810272217, + 0.0022098571062088013, + -0.00034556910395622253, + 0.00403410941362381, + -0.002370283007621765, + 0.002651214599609375, + 0.0 + ], + [ + -0.00013571977615356445, + 0.0004611164331436157, + 0.0, + -0.0002335086464881897, + 9.526312351226807e-05, + -1.4781951904296875e-05, + 1.0 + ], + [ + 0.0009367763996124268, + -0.0028410032391548157, + 0.0009644441306591034, + -0.01025928184390068, + 0.027972012758255005, + -0.008964300155639648, + 1.0 + ], + [ + -0.0014833509922027588, + -0.0013812556862831116, + 0.0003483816981315613, + 0.006021928042173386, + 0.01022513210773468, + -0.01625680923461914, + 1.0 + ], + [ + 0.0019411146640777588, + 0.0026346147060394287, + 0.012484036386013031, + 0.0073392391204833984, + -0.0035081952810287476, + -0.06261122226715088, + 1.0 + ], + [ + -0.008631318807601929, + -0.004913732409477234, + 0.05472436547279358, + 0.03905662149190903, + -0.07838190346956253, + -0.11551058292388916, + 1.0 + ], + [ + -0.019036322832107544, + -0.03749464452266693, + 0.05346401780843735, + 0.09271155297756195, + -0.07457679510116577, + -0.19715487957000732, + 1.0 + ], + [ + -0.015345960855484009, + -0.04033159837126732, + 0.019969701766967773, + -0.06905467808246613, + -0.01591571979224682, + -0.16849666833877563, + 1.0 + ], + [ + -0.007105022668838501, + -0.040747422724962234, + -0.006319090723991394, + -0.01721677929162979, + 0.024008074775338173, + -0.07429522275924683, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9545519351959229 + ], + [ + 0.6701657772064209 + ], + [ + 0.5809218287467957 + ], + [ + 0.5799254179000854 + ], + [ + 0.5799254179000854 + ], + [ + 0.5799254179000854 + ], + [ + 0.5799254179000854 + ], + [ + 0.5799254179000854 + ], + [ + 0.5799254179000854 + ], + [ + 0.5799254179000854 + ], + [ + 0.5799254179000854 + ], + [ + 0.5799254179000854 + ], + [ + 0.5799254179000854 + ], + [ + 0.5799254179000854 + ], + [ + 0.5799254179000854 + ], + [ + 0.5799254179000854 + ], + [ + 0.5799254179000854 + ], + [ + 0.5799254179000854 + ], + [ + 0.5799254179000854 + ], + [ + 0.5799254179000854 + ], + [ + 0.5799254179000854 + ], + [ + 0.5799254179000854 + ], + [ + 0.6460646390914917 + ], + [ + 0.9383087754249573 + ], + [ + 1.002137303352356 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2722998261451721, + -0.003375047817826271, + 0.14169125258922577 + ], + [ + 0.2753415107727051, + -0.01296279113739729, + 0.14511358737945557 + ], + [ + 0.27911823987960815, + -0.025569526478648186, + 0.14930284023284912 + ], + [ + 0.27853238582611084, + -0.040125083178281784, + 0.16669034957885742 + ], + [ + 0.2632203698158264, + -0.06275336444377899, + 0.17633219063282013 + ], + [ + 0.24820271134376526, + -0.08047490566968918, + 0.17452137172222137 + ], + [ + 0.2382563203573227, + -0.08576099574565887, + 0.1621078997850418 + ], + [ + 0.22947293519973755, + -0.08775363117456436, + 0.15165789425373077 + ], + [ + 0.22734612226486206, + -0.08387822657823563, + 0.14758826792240143 + ], + [ + 0.23037630319595337, + -0.07813119888305664, + 0.14542411267757416 + ], + [ + 0.23175716400146484, + -0.07698093354701996, + 0.14320287108421326 + ], + [ + 0.2364073246717453, + -0.07884397357702255, + 0.1409786492586136 + ], + [ + 0.23870766162872314, + -0.0799289420247078, + 0.1394028514623642 + ], + [ + 0.23952607810497284, + -0.08540982007980347, + 0.13796763122081757 + ], + [ + 0.2410232573747635, + -0.08790614455938339, + 0.1327526718378067 + ], + [ + 0.23779866099357605, + -0.08627662807703018, + 0.12640608847141266 + ], + [ + 0.23843179643154144, + -0.08590582758188248, + 0.11966484040021896 + ], + [ + 0.2396899163722992, + -0.08712835609912872, + 0.11946883797645569 + ], + [ + 0.24269254505634308, + -0.08532694727182388, + 0.11897145211696625 + ], + [ + 0.24814853072166443, + -0.08075984567403793, + 0.12483727186918259 + ], + [ + 0.25584059953689575, + -0.06614825129508972, + 0.1423722356557846 + ], + [ + 0.2582607865333557, + -0.0442139133810997, + 0.1511499434709549 + ], + [ + 0.26440829038619995, + -0.013508441857993603, + 0.158651202917099 + ], + [ + 0.26515334844589233, + 0.018500111997127533, + 0.14444829523563385 + ], + [ + 0.2679097354412079, + 0.04540370777249336, + 0.12966203689575195 + ], + [ + 0.2741037905216217, + 0.06004921346902847, + 0.11285935342311859 + ], + [ + 0.2874208986759186, + 0.07148037850856781, + 0.10123518109321594 + ], + [ + 0.3060588240623474, + 0.07912911474704742, + 0.0813363641500473 + ], + [ + 0.3128555119037628, + 0.08050969988107681, + 0.0665988102555275 + ], + [ + 0.3144845962524414, + 0.0780642032623291, + 0.05857318267226219 + ], + [ + 0.3104892373085022, + 0.07847373187541962, + 0.05558602511882782 + ], + [ + 0.30505263805389404, + 0.07874926924705505, + 0.05232284218072891 + ], + [ + 0.3025255799293518, + 0.0801006406545639, + 0.04970140755176544 + ], + [ + 0.3022242784500122, + 0.07993209362030029, + 0.04934411495923996 + ], + [ + 0.30255231261253357, + 0.08225581049919128, + 0.049036767333745956 + ], + [ + 0.3021053373813629, + 0.0860285758972168, + 0.04945940524339676 + ], + [ + 0.3006696105003357, + 0.0882384330034256, + 0.049113836139440536 + ], + [ + 0.30053389072418213, + 0.08869954943656921, + 0.049113836139440536 + ], + [ + 0.30147066712379456, + 0.0858585461974144, + 0.05007828027009964 + ], + [ + 0.2999873161315918, + 0.08447729051113129, + 0.0504266619682312 + ], + [ + 0.30192843079566956, + 0.08711190521717072, + 0.06291069835424423 + ], + [ + 0.2932971119880676, + 0.08219817280769348, + 0.11763506382703781 + ], + [ + 0.2742607891559601, + 0.04470352828502655, + 0.17109908163547516 + ], + [ + 0.2589148283004761, + 0.004371928982436657, + 0.19106878340244293 + ], + [ + 0.2518098056316376, + -0.036375492811203, + 0.18474969267845154 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9518637702367491, + 0.2790434742395401, + -0.12684676738099795, + 0.2683844676283813, + -0.9586291096848987, + -0.09486836986356066, + -0.14807140320302312, + 0.05625806208061297, + -0.9873752528823184 + ], + [ + 0.9566144874939074, + 0.2677207818402506, + -0.11495349184610781, + 0.25833338986626464, + -0.9618295400289926, + -0.09026514060156707, + -0.13473151820184015, + 0.05665261598956456, + -0.9892612896017743 + ], + [ + 0.9576773386069531, + 0.27618567449511194, + -0.08109000137121422, + 0.270586104207256, + -0.959876564514553, + -0.07362160760048143, + -0.09816962528523493, + 0.04856391766959658, + -0.993984039394968 + ], + [ + 0.945220385763484, + 0.32505673944053987, + -0.029942252443918845, + 0.32470795387421864, + -0.9456791415073336, + -0.01599081013491013, + -0.03351368418942766, + 0.005392352198940173, + -0.999423711700805 + ], + [ + 0.9060023829988539, + 0.4210278714757532, + -0.043534049214315154, + 0.42237336103121464, + -0.9059837363363841, + 0.028181791730839123, + -0.027575820778229093, + -0.04392039315126625, + -0.9986543812420016 + ], + [ + 0.865962618511965, + 0.49675271215853245, + -0.05784017896793797, + 0.498507965751984, + -0.8666445206645145, + 0.020422607179119548, + -0.03998188867124239, + -0.046519004345709075, + -0.9981169424536206 + ], + [ + 0.7878091298895344, + 0.6085997008597305, + -0.0946740670729917, + 0.6125274082564977, + -0.7902693409288046, + 0.016868400117689537, + -0.0645519093232145, + -0.07127954055266694, + -0.9953653992887879 + ], + [ + 0.6693927694149779, + 0.7392051372266342, + -0.0740883617898195, + 0.739949801994549, + -0.6722947868462246, + -0.02222633815132973, + -0.06623904274047193, + -0.03994351858740506, + -0.9970039641544479 + ], + [ + 0.5718570679854961, + 0.8203503016863251, + -0.0022082387070884307, + 0.8189447620344416, + -0.5710308169993494, + -0.05703755581551324, + -0.04805174847374518, + 0.030808903911226697, + -0.998369591338 + ], + [ + 0.5077914717656483, + 0.8607380392216868, + 0.035747014405161245, + 0.8607257718744323, + -0.505173924137755, + -0.06285262128523038, + -0.036041182461728286, + 0.0626844016328449, + -0.9973824236263104 + ], + [ + 0.4995083239867953, + 0.8658300626151404, + 0.02880515474294675, + 0.8654752358487695, + -0.49729306315511373, + -0.06043364518478911, + -0.038000663157630094, + 0.055117256913478796, + -0.9977565021536638 + ], + [ + 0.5116603047890487, + 0.8589730995555827, + 0.019207986439306726, + 0.8581463245233678, + -0.5098119121693554, + -0.06063579732517687, + -0.04229205847688528, + 0.04750819350491275, + -0.9979751266137284 + ], + [ + 0.5166680884571251, + 0.8560833015921042, + 0.013246399707937694, + 0.8550743218395506, + -0.515147545037726, + -0.05891443772316489, + -0.04361181606735686, + 0.04176586616803439, + -0.9981751459150546 + ], + [ + 0.5275213581381406, + 0.8493875683503728, + 0.016185655375439992, + 0.8481257890225934, + -0.5254469657689131, + -0.06773575244319759, + -0.049029202552104176, + 0.049459527859487276, + -0.9975719986051239 + ], + [ + 0.5319275147476676, + 0.8467849169307238, + 0.0029023288919826293, + 0.8441021466549459, + -0.5299631770321195, + -0.08142847783505959, + -0.06741427939896899, + 0.04576390989250999, + -0.9966749618027273 + ], + [ + 0.5281967064778732, + 0.849052743397797, + -0.010847958084442166, + 0.8446314303544813, + -0.526672598795557, + -0.09598812705369875, + -0.08721230488451766, + 0.04153808621745547, + -0.9953233651784333 + ], + [ + 0.5336522500116165, + 0.8449933031154988, + -0.034664012282160206, + 0.8393268679305976, + -0.5342071968300757, + -0.10076249115998298, + -0.1036613950675564, + 0.02467769326560723, + -0.9943064550870302 + ], + [ + 0.5356238717458861, + 0.8438248846795874, + -0.03265933268497095, + 0.836717106647623, + -0.5355419139673383, + -0.11445235614626004, + -0.11406818776143032, + 0.03397679178028782, + -0.9928917494677565 + ], + [ + 0.561039065774223, + 0.8264711573762025, + -0.04669681681257493, + 0.8158335454618926, + -0.5616084272397701, + -0.13788256072596583, + -0.14018128539239738, + 0.039260673434265925, + -0.9893471618937525 + ], + [ + 0.5641444362829122, + 0.8229309250982452, + -0.0672736763376423, + 0.8132538349706756, + -0.5678895820614839, + -0.12696307530744005, + -0.14268586095519303, + 0.01691493727389711, + -0.9896234788951279 + ], + [ + 0.5445054020868216, + 0.8361721382018809, + -0.06580290565896688, + 0.8299479508550643, + -0.5484664553097672, + -0.10183784302222093, + -0.12124465336561457, + 0.0008382689505003829, + -0.9926223004423274 + ], + [ + 0.4940542421460155, + 0.8669055976923505, + -0.06622001591055982, + 0.8616127554213857, + -0.4983805837593516, + -0.09612623693277084, + -0.11633514306817855, + -0.009564435234577034, + -0.9931639623274447 + ], + [ + 0.42690115613977087, + 0.9025069315624766, + -0.05689148766037154, + 0.8955815789376019, + -0.43066274489728495, + -0.111638862521829, + -0.1252558914948067, + -0.003292208866286915, + -0.9921190064738312 + ], + [ + 0.2922851346109118, + 0.9558806158552728, + -0.029353846726193636, + 0.9490241858698703, + -0.2937023084277138, + -0.11442049055244218, + -0.11799362152044725, + 0.005585897991892241, + -0.9929986420051706 + ], + [ + 0.16186752433924356, + 0.9867605031132882, + 0.010129859816141215, + 0.9773469493009559, + -0.15888804812506974, + -0.13981247746578396, + -0.13635191695168497, + 0.032531487187274694, + -0.9901261824055483 + ], + [ + 0.0923645639884994, + 0.9956551884234935, + -0.011812412310454365, + 0.9876486322669683, + -0.09311683531478826, + -0.12601362689068862, + -0.12656605587755937, + -2.7319157825847484e-05, + -0.9919581809498131 + ], + [ + 0.06354369443037994, + 0.997925544404341, + -0.010334733834871539, + 0.9926865468943636, + -0.06426840887922008, + -0.10219095476155016, + -0.10264316106337679, + -0.003765560440694253, + -0.9947111148677713 + ], + [ + 0.07791493061784499, + 0.9962523718644346, + -0.03755629296542315, + 0.9918761814935088, + -0.08126205795562819, + -0.09786786256311177, + -0.10055299186335737, + -0.0296258247362738, + -0.9944905260162227 + ], + [ + 0.09688689013923152, + 0.9931480428503668, + -0.06534443741921972, + 0.9884405294585396, + -0.10370413117037264, + -0.11059282482114312, + -0.11661153563378873, + -0.05387409545119058, + -0.9917153480694174 + ], + [ + 0.0866525823740732, + 0.9950254686020776, + -0.04914922991380563, + 0.9875182315196833, + -0.09230279908300637, + -0.12762419714803006, + -0.13152593806600105, + -0.037476794348741016, + -0.9906040669718656 + ], + [ + 0.07456205515525255, + 0.9951506933330421, + -0.06415292269094497, + 0.989147528421042, + -0.08197273682044187, + -0.12193292187391344, + -0.12660042239095562, + -0.05436513567473058, + -0.9904629044408979 + ], + [ + 0.06927986939222486, + 0.9942492109083466, + -0.08166275959779079, + 0.9894087238560433, + -0.0789474580655739, + -0.12180999968204868, + -0.12755656335348847, + -0.07235886589157374, + -0.9891883125433362 + ], + [ + 0.05592505128030467, + 0.994861016128282, + -0.0844034787641913, + 0.9893597627823028, + -0.06659030374673192, + -0.1293560637707546, + -0.1343117583335161, + -0.07627116122834363, + -0.9879995250698448 + ], + [ + 0.044438479894757854, + 0.995893084663696, + -0.07888083052092865, + 0.9888821031768433, + -0.05506637480312221, + -0.13812994021060365, + -0.14190633361899702, + -0.07186555701495903, + -0.9872679140910756 + ], + [ + 0.03554407776495294, + 0.9970108151996183, + -0.06860067718930885, + 0.9884953925730243, + -0.04517254601283016, + -0.14434784358840144, + -0.14701522845522447, + -0.06268074235131174, + -0.9871462136586185 + ], + [ + 0.026130651396825855, + 0.9977209018075982, + -0.062210860416894775, + 0.9878698684483317, + -0.0353015489988035, + -0.1512181326764772, + -0.15306963144090063, + -0.05750480618624739, + -0.9865408684874787 + ], + [ + 0.023520073689731358, + 0.997556989425978, + -0.06577886424231669, + 0.9882956145707772, + -0.03312096196912434, + -0.14891198775924597, + -0.15072685345949344, + -0.06150654213674625, + -0.9866602054003097 + ], + [ + 0.023534340685622213, + 0.9975716940084302, + -0.06555036324570576, + 0.988280907664476, + -0.0331067705525554, + -0.14901271519390466, + -0.15082102756039145, + -0.06127525648033926, + -0.9866602052322249 + ], + [ + 0.03224163167329569, + 0.997821745563007, + -0.05755207440777127, + 0.9834277721938363, + -0.04194974949198221, + -0.17638037134394643, + -0.1784104651216179, + -0.05091151735269775, + -0.9826381446575001 + ], + [ + 0.048132137184677515, + 0.9965976332598546, + -0.06690631323643112, + 0.9809002778251646, + -0.059800030877161514, + -0.18509079196330977, + -0.18846204480624226, + -0.05671960585147415, + -0.9804411986343206 + ], + [ + 0.10948605804924944, + 0.9903263809012154, + -0.08524354746218049, + 0.9766176554276761, + -0.12313913161309903, + -0.17622346430745395, + -0.1850155620475883, + -0.06395634102004683, + -0.9806522463358467 + ], + [ + 0.22389845404567948, + 0.9665113735239339, + -0.12540034738721345, + 0.9686659549737118, + -0.23487431930927521, + -0.08074850960774348, + -0.10749767416470911, + -0.10339158078820383, + -0.9888146596158931 + ], + [ + 0.4114631654891518, + 0.8910489758716962, + -0.19165016578038274, + 0.9108243157044387, + -0.4096398461443344, + 0.05093390199451474, + -0.03312294321445047, + -0.1955170556469366, + -0.9801407815125156 + ], + [ + 0.558605505113093, + 0.8213837180930837, + -0.11527652540273392, + 0.8292548593797159, + -0.555949205974487, + 0.05706889320343124, + -0.017212433078256234, + -0.12747261677677424, + -0.99169272666467 + ], + [ + 0.6181836134505547, + 0.7780032563735945, + -0.11207119671574098, + 0.7849527259171903, + -0.6185014920547267, + 0.03612647784173028, + -0.04120968498286992, + -0.11030338797226477, + -0.9930432641458542 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006160.json b/json/chunk-0006/episode_0006160.json new file mode 100644 index 0000000000000000000000000000000000000000..13784b72a0b14a69343387bb4355dd4c86329f61 --- /dev/null +++ b/json/chunk-0006/episode_0006160.json @@ -0,0 +1,1282 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 20, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nZip zipper bag." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006160.mp4", + "start": 0, + "end": 20, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2907111644744873, + -0.11625778675079346, + 0.1495283842086792, + -0.028650647029280663, + -0.06616885960102081, + 0.0285599734634161, + 0.0, + 0.9988223910331726 + ], + [ + 0.2861512303352356, + -0.11392538249492645, + 0.13978211581707, + -0.011917456984519958, + -0.028271039947867393, + 0.020110219717025757, + 0.0, + 0.9988223910331726 + ], + [ + 0.26979169249534607, + -0.09445646405220032, + 0.14576900005340576, + 0.0013422765769064426, + 0.009227350354194641, + -0.030328141525387764, + 0.0, + 0.9988223910331726 + ], + [ + 0.2436811476945877, + -0.06390180438756943, + 0.16116733849048615, + -0.015137103386223316, + 0.0007628783350810409, + -0.09382713586091995, + 0.0, + 0.9988223910331726 + ], + [ + 0.21924719214439392, + -0.028389332816004753, + 0.16120922565460205, + -0.010668800212442875, + 0.004367535002529621, + -0.14232492446899414, + 0.0, + 0.9988223910331726 + ], + [ + 0.20401135087013245, + -0.004728330299258232, + 0.14830906689167023, + -0.017689116299152374, + 0.03771013393998146, + -0.15885938704013824, + 0.0, + 0.9988223910331726 + ], + [ + 0.20032408833503723, + 0.0015364967985078692, + 0.1400497853755951, + -0.003620535135269165, + 0.019610445946455002, + -0.1749093234539032, + 0.0, + 0.9988223910331726 + ], + [ + 0.20125199854373932, + 0.004247207194566727, + 0.12893475592136383, + -0.0032144119031727314, + 0.021284501999616623, + -0.19836755096912384, + 0.0, + 0.9988223910331726 + ], + [ + 0.19904156029224396, + 0.003969763405621052, + 0.11886812746524811, + -0.00422625383362174, + 0.01791616901755333, + -0.21172721683979034, + 0.0, + 0.9988223910331726 + ], + [ + 0.20036926865577698, + 0.004142478108406067, + 0.1117691695690155, + -0.000400528428144753, + 0.014091882854700089, + -0.21435444056987762, + 0.0, + 0.9988223910331726 + ], + [ + 0.20106695592403412, + 0.0026765265502035618, + 0.10323910415172577, + -0.008900336921215057, + 0.0008964312728494406, + -0.22787946462631226, + 0.0, + 0.9988223910331726 + ], + [ + 0.20453394949436188, + -0.0013739864807575941, + 0.09785335510969162, + -0.015712711960077286, + -0.0055272020399570465, + -0.23587431013584137, + 0.0, + 0.9988223910331726 + ], + [ + 0.20950259268283844, + -0.007026981562376022, + 0.09428330510854721, + -0.026049191132187843, + -0.003104369854554534, + -0.2430693507194519, + 0.0, + 0.9157527089118958 + ], + [ + 0.21159015595912933, + -0.010942503809928894, + 0.0908011719584465, + -0.0321662612259388, + 0.007442563772201538, + -0.2254800647497177, + 0.0, + 0.7171077728271484 + ], + [ + 0.21134988963603973, + -0.011694030836224556, + 0.09274990111589432, + -0.03306654468178749, + -0.00181088806129992, + -0.21640460193157196, + 0.0, + 0.4550158977508545 + ], + [ + 0.2108611762523651, + -0.011797546409070492, + 0.09792919456958771, + -0.03218526765704155, + -0.02299511432647705, + -0.19982178509235382, + 0.0, + 0.25545796751976013 + ], + [ + 0.2097381055355072, + -0.01189068891108036, + 0.09983841329813004, + -0.03127223253250122, + -0.023538323119282722, + -0.17778316140174866, + 0.0, + 0.18743279576301575 + ], + [ + 0.2059229165315628, + -0.01197435799986124, + 0.09757339209318161, + -0.03336431458592415, + -0.020075267180800438, + -0.15846703946590424, + 0.0, + 0.16920356452465057 + ], + [ + 0.19525760412216187, + -0.010987631976604462, + 0.08648797124624252, + -0.037562426179647446, + -0.07112143188714981, + -0.09740758687257767, + 0.0, + 0.18234474956989288 + ], + [ + 0.1739630550146103, + -0.009557340294122696, + 0.07333745062351227, + -0.07944627106189728, + -0.0728001818060875, + -0.06601126492023468, + 0.0, + 0.18914839625358582 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9157527089118958 + ], + [ + 0.7171077728271484 + ], + [ + 0.4550158977508545 + ], + [ + 0.25545796751976013 + ], + [ + 0.18743279576301575 + ], + [ + 0.16920356452465057 + ], + [ + 0.18234474956989288 + ], + [ + 0.18914839625358582 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2907111644744873, + -0.11625778675079346, + 0.1495283842086792 + ], + [ + 0.2861512303352356, + -0.11392538249492645, + 0.13978211581707 + ], + [ + 0.26979169249534607, + -0.09445646405220032, + 0.14576900005340576 + ], + [ + 0.2436811476945877, + -0.06390180438756943, + 0.16116733849048615 + ], + [ + 0.21924719214439392, + -0.028389332816004753, + 0.16120922565460205 + ], + [ + 0.20401135087013245, + -0.004728330299258232, + 0.14830906689167023 + ], + [ + 0.20032408833503723, + 0.0015364967985078692, + 0.1400497853755951 + ], + [ + 0.20125199854373932, + 0.004247207194566727, + 0.12893475592136383 + ], + [ + 0.19904156029224396, + 0.003969763405621052, + 0.11886812746524811 + ], + [ + 0.20036926865577698, + 0.004142478108406067, + 0.1117691695690155 + ], + [ + 0.20106695592403412, + 0.0026765265502035618, + 0.10323910415172577 + ], + [ + 0.20453394949436188, + -0.0013739864807575941, + 0.09785335510969162 + ], + [ + 0.20950259268283844, + -0.007026981562376022, + 0.09428330510854721 + ], + [ + 0.21159015595912933, + -0.010942503809928894, + 0.0908011719584465 + ], + [ + 0.21134988963603973, + -0.011694030836224556, + 0.09274990111589432 + ], + [ + 0.2108611762523651, + -0.011797546409070492, + 0.09792919456958771 + ], + [ + 0.2097381055355072, + -0.01189068891108036, + 0.09983841329813004 + ], + [ + 0.2059229165315628, + -0.01197435799986124, + 0.09757339209318161 + ], + [ + 0.19525760412216187, + -0.010987631976604462, + 0.08648797124624252 + ], + [ + 0.1739630550146103, + -0.009557340294122696, + 0.07333745062351227 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9974047237395752, + 0.026651005609568897, + 0.0668845345500733, + 0.02849360000829818, + -0.9992360465195174, + -0.026747674564561008, + 0.06612058545225029, + 0.02858403813395303, + -0.9974021360230827 + ], + [ + 0.9993982779128726, + 0.019770638339620904, + 0.028499192346953212, + 0.020100828758706817, + -0.9997335726487574, + -0.011346382778879146, + 0.02826727415223954, + 0.011912412794879647, + -0.9995294170925668 + ], + [ + 0.9994975850476909, + -0.030335844918611105, + -0.00918226534726056, + -0.03032220153199587, + -0.9995388611560567, + 0.0016214601770870283, + -0.009227219412507362, + -0.0013422190308695896, + -0.9999565274900636 + ], + [ + 0.9956011728857606, + -0.09366729813054575, + -0.002177569613579066, + -0.09368950082723937, + -0.9954884846120926, + -0.014998481238534443, + -0.0007628782610839612, + 0.015136520922702748, + -0.9998851452797546 + ], + [ + 0.9898794518806332, + -0.14179071608797167, + -0.005836400924984512, + -0.14184355996585862, + -0.989839166745248, + -0.009941251092530313, + -0.00436752111715766, + 0.010668496067069487, + -0.9999335517677952 + ], + [ + 0.9867063706474769, + -0.1575088409618541, + -0.040018784870818086, + -0.1580795934758786, + -0.9873593760778754, + -0.011502373564141844, + -0.03770119693304742, + 0.01767561851708345, + -0.9991327200426646 + ], + [ + 0.9845529774735956, + -0.17394779235960678, + -0.019939911762505598, + -0.17398538517086448, + -0.9847482228245982, + -0.00015294031971192193, + -0.019609189040430026, + 0.003619831075420724, + -0.9998011684970978 + ], + [ + 0.9801675247926859, + -0.19700106966432643, + -0.021498881200906234, + -0.1970245206169616, + -0.9803980063336515, + 0.0010428099816067783, + -0.02128289494960566, + 0.0032136782839089365, + -0.9997683284913818 + ], + [ + 0.9775124941657193, + -0.21007295950738014, + -0.018403136518703924, + -0.21011513267932436, + -0.9776765806243372, + -0.000367039309319702, + -0.017915210550404983, + 0.004225562982053158, + -0.9998305805727389 + ], + [ + 0.9770169024621255, + -0.21271115565862597, + -0.013854117138421836, + -0.2126955671503304, + -0.977115041265466, + 0.0026061173008498093, + -0.014091416462251354, + 0.00040048864939450915, + -0.9999006308583512 + ], + [ + 0.9741472485114329, + -0.2258955984317586, + -0.002883890906819267, + -0.22591222770977465, + -0.9741108585613881, + -0.008467620917491593, + -0.0008964311527890562, + 0.008900215837443793, + -0.999959990484237 + ], + [ + 0.9722955406873188, + -0.2337487666349984, + 0.0017016627666414537, + -0.23368960590548868, + -0.9721700739267185, + -0.016568507870536313, + 0.005527173897364293, + 0.015711825417044717, + -0.9998612848244364 + ], + [ + 0.9705991309229282, + -0.24067970481719994, + -0.0032567991589346162, + -0.24068171922773904, + -0.9702550589076191, + -0.026027498799384537, + 0.0031043648683635066, + 0.026046119735532034, + -0.9996559220879382 + ], + [ + 0.974659894562259, + -0.2232253509229286, + -0.014440659168519429, + -0.22356810863610216, + -0.9742362077198403, + -0.029683536995108124, + -0.007442495062946367, + 0.03215982389565148, + -0.999455029000424 + ], + [ + 0.976674160940509, + -0.21466057673836725, + -0.0053310548210304155, + -0.21471912825635114, + -0.9761290091215203, + -0.03267802797403772, + 0.0018108870715545134, + 0.03306046499659223, + -0.9994517128617189 + ], + [ + 0.979842852684163, + -0.19911705273251903, + 0.01613639844813436, + -0.1984421879424916, + -0.9794475039358194, + -0.036101039853305594, + 0.022993087838708452, + 0.032171203661168005, + -0.9992178599117578 + ], + [ + 0.983965507352282, + -0.17748595386279134, + 0.017624316224496332, + -0.17679912330925449, + -0.9836267808319826, + -0.034934596422310484, + 0.02353614960109164, + 0.03125847423540993, + -0.9992341854892821 + ], + [ + 0.9872713751601068, + -0.15837805349018388, + 0.014547300853836808, + -0.15777284168990754, + -0.9868151174765823, + -0.036106153835188004, + 0.02007391876448037, + 0.03335140315398058, + -0.9992420736203503 + ], + [ + 0.9927435517524674, + -0.09984098502100032, + 0.06702251982679108, + -0.09700775890887046, + -0.9942980573283198, + -0.04428168814090155, + 0.07106148862340753, + 0.03745865591777137, + -0.9967683351368358 + ], + [ + 0.9951790532864778, + -0.07151521994046939, + 0.06711352484183838, + -0.065788613578763, + -0.9942939471605152, + -0.08397264413692575, + 0.0727358936372818, + 0.07915251074241965, + -0.9942053961933406 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.004559934139251709, + 0.0023324042558670044, + -0.009746268391609192, + 0.016733190044760704, + 0.03789781779050827, + -0.008449753746390343, + 1.0 + ], + [ + -0.016359537839889526, + 0.019468918442726135, + 0.005986884236335754, + 0.013259733095765114, + 0.037498392164707184, + -0.05043835937976837, + 1.0 + ], + [ + -0.026110544800758362, + 0.03055465966463089, + 0.015398338437080383, + -0.016479380428791046, + -0.008464472368359566, + -0.06349899619817734, + 1.0 + ], + [ + -0.024433955550193787, + 0.035512469708919525, + 4.188716411590576e-05, + 0.004468303173780441, + 0.0036046565510332584, + -0.04849778860807419, + 1.0 + ], + [ + -0.015235841274261475, + 0.02366100251674652, + -0.012900158762931824, + -0.007020316086709499, + 0.033342599868774414, + -0.016534462571144104, + 1.0 + ], + [ + -0.003687262535095215, + 0.006264827214181423, + -0.008259281516075134, + 0.01406858116388321, + -0.01809968799352646, + -0.016049936413764954, + 1.0 + ], + [ + 0.0009279102087020874, + 0.0027107102796435356, + -0.011115029454231262, + 0.00040612323209643364, + 0.001674056053161621, + -0.023458227515220642, + 1.0 + ], + [ + -0.0022104382514953613, + -0.0002774437889456749, + -0.010066628456115723, + -0.001011841930449009, + -0.0033683329820632935, + -0.013359665870666504, + 1.0 + ], + [ + 0.00132770836353302, + 0.0001727147027850151, + -0.007098957896232605, + 0.003825725521892309, + -0.003824286162853241, + -0.0026272237300872803, + 1.0 + ], + [ + 0.0006976872682571411, + -0.0014659515582025051, + -0.008530065417289734, + -0.008499808609485626, + -0.013195451349020004, + -0.013525024056434631, + 1.0 + ], + [ + 0.003466993570327759, + -0.004050512798130512, + -0.005385749042034149, + -0.006812375038862228, + -0.006423633545637131, + -0.007994845509529114, + 1.0 + ], + [ + 0.0049686431884765625, + -0.005652994848787785, + -0.003570050001144409, + -0.010336479172110558, + 0.0024228321854025126, + -0.007195040583610535, + 0.0 + ], + [ + 0.0020875632762908936, + -0.003915522247552872, + -0.003482133150100708, + -0.006117070093750954, + 0.010546933859586716, + 0.017589285969734192, + 0.0 + ], + [ + -0.0002402663230895996, + -0.0007515270262956619, + 0.001948729157447815, + -0.0009002834558486938, + -0.009253451600670815, + 0.009075462818145752, + 0.0 + ], + [ + -0.0004887133836746216, + -0.00010351557284593582, + 0.00517929345369339, + 0.0008812770247459412, + -0.021184226498007774, + 0.01658281683921814, + 0.0 + ], + [ + -0.0011230707168579102, + -9.314250200986862e-05, + 0.0019092187285423279, + 0.000913035124540329, + -0.0005432087928056717, + 0.022038623690605164, + 0.0 + ], + [ + -0.003815189003944397, + -8.366908878087997e-05, + -0.0022650212049484253, + -0.002092082053422928, + 0.0034630559384822845, + 0.01931612193584442, + 0.0 + ], + [ + -0.01066531240940094, + 0.0009867260232567787, + -0.011085420846939087, + -0.004198111593723297, + -0.051046162843704224, + 0.06105945259332657, + 0.0 + ], + [ + -0.021294549107551575, + 0.0014302916824817657, + -0.013150520622730255, + -0.04188384488224983, + -0.001678749918937683, + 0.03139632195234299, + 0.0 + ], + [ + -0.008717194199562073, + 0.002886414062231779, + -0.008416831493377686, + 0.02002715691924095, + 0.017708443105220795, + -0.009661801159381866, + 0.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9157527089118958 + ], + [ + 0.7171077728271484 + ], + [ + 0.4550158977508545 + ], + [ + 0.25545796751976013 + ], + [ + 0.18743279576301575 + ], + [ + 0.16920356452465057 + ], + [ + 0.18234474956989288 + ], + [ + 0.18914839625358582 + ], + [ + 0.1897224336862564 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2861512303352356, + -0.11392538249492645, + 0.13978211581707 + ], + [ + 0.26979169249534607, + -0.09445646405220032, + 0.14576900005340576 + ], + [ + 0.2436811476945877, + -0.06390180438756943, + 0.16116733849048615 + ], + [ + 0.21924719214439392, + -0.028389332816004753, + 0.16120922565460205 + ], + [ + 0.20401135087013245, + -0.004728330299258232, + 0.14830906689167023 + ], + [ + 0.20032408833503723, + 0.0015364967985078692, + 0.1400497853755951 + ], + [ + 0.20125199854373932, + 0.004247207194566727, + 0.12893475592136383 + ], + [ + 0.19904156029224396, + 0.003969763405621052, + 0.11886812746524811 + ], + [ + 0.20036926865577698, + 0.004142478108406067, + 0.1117691695690155 + ], + [ + 0.20106695592403412, + 0.0026765265502035618, + 0.10323910415172577 + ], + [ + 0.20453394949436188, + -0.0013739864807575941, + 0.09785335510969162 + ], + [ + 0.20950259268283844, + -0.007026981562376022, + 0.09428330510854721 + ], + [ + 0.21159015595912933, + -0.010942503809928894, + 0.0908011719584465 + ], + [ + 0.21134988963603973, + -0.011694030836224556, + 0.09274990111589432 + ], + [ + 0.2108611762523651, + -0.011797546409070492, + 0.09792919456958771 + ], + [ + 0.2097381055355072, + -0.01189068891108036, + 0.09983841329813004 + ], + [ + 0.2059229165315628, + -0.01197435799986124, + 0.09757339209318161 + ], + [ + 0.19525760412216187, + -0.010987631976604462, + 0.08648797124624252 + ], + [ + 0.1739630550146103, + -0.009557340294122696, + 0.07333745062351227 + ], + [ + 0.16524586081504822, + -0.006670926231890917, + 0.06492061913013458 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9993982779128726, + 0.019770638339620904, + 0.028499192346953212, + 0.020100828758706817, + -0.9997335726487574, + -0.011346382778879146, + 0.02826727415223954, + 0.011912412794879647, + -0.9995294170925668 + ], + [ + 0.9994975850476909, + -0.030335844918611105, + -0.00918226534726056, + -0.03032220153199587, + -0.9995388611560567, + 0.0016214601770870283, + -0.009227219412507362, + -0.0013422190308695896, + -0.9999565274900636 + ], + [ + 0.9956011728857606, + -0.09366729813054575, + -0.002177569613579066, + -0.09368950082723937, + -0.9954884846120926, + -0.014998481238534443, + -0.0007628782610839612, + 0.015136520922702748, + -0.9998851452797546 + ], + [ + 0.9898794518806332, + -0.14179071608797167, + -0.005836400924984512, + -0.14184355996585862, + -0.989839166745248, + -0.009941251092530313, + -0.00436752111715766, + 0.010668496067069487, + -0.9999335517677952 + ], + [ + 0.9867063706474769, + -0.1575088409618541, + -0.040018784870818086, + -0.1580795934758786, + -0.9873593760778754, + -0.011502373564141844, + -0.03770119693304742, + 0.01767561851708345, + -0.9991327200426646 + ], + [ + 0.9845529774735956, + -0.17394779235960678, + -0.019939911762505598, + -0.17398538517086448, + -0.9847482228245982, + -0.00015294031971192193, + -0.019609189040430026, + 0.003619831075420724, + -0.9998011684970978 + ], + [ + 0.9801675247926859, + -0.19700106966432643, + -0.021498881200906234, + -0.1970245206169616, + -0.9803980063336515, + 0.0010428099816067783, + -0.02128289494960566, + 0.0032136782839089365, + -0.9997683284913818 + ], + [ + 0.9775124941657193, + -0.21007295950738014, + -0.018403136518703924, + -0.21011513267932436, + -0.9776765806243372, + -0.000367039309319702, + -0.017915210550404983, + 0.004225562982053158, + -0.9998305805727389 + ], + [ + 0.9770169024621255, + -0.21271115565862597, + -0.013854117138421836, + -0.2126955671503304, + -0.977115041265466, + 0.0026061173008498093, + -0.014091416462251354, + 0.00040048864939450915, + -0.9999006308583512 + ], + [ + 0.9741472485114329, + -0.2258955984317586, + -0.002883890906819267, + -0.22591222770977465, + -0.9741108585613881, + -0.008467620917491593, + -0.0008964311527890562, + 0.008900215837443793, + -0.999959990484237 + ], + [ + 0.9722955406873188, + -0.2337487666349984, + 0.0017016627666414537, + -0.23368960590548868, + -0.9721700739267185, + -0.016568507870536313, + 0.005527173897364293, + 0.015711825417044717, + -0.9998612848244364 + ], + [ + 0.9705991309229282, + -0.24067970481719994, + -0.0032567991589346162, + -0.24068171922773904, + -0.9702550589076191, + -0.026027498799384537, + 0.0031043648683635066, + 0.026046119735532034, + -0.9996559220879382 + ], + [ + 0.974659894562259, + -0.2232253509229286, + -0.014440659168519429, + -0.22356810863610216, + -0.9742362077198403, + -0.029683536995108124, + -0.007442495062946367, + 0.03215982389565148, + -0.999455029000424 + ], + [ + 0.976674160940509, + -0.21466057673836725, + -0.0053310548210304155, + -0.21471912825635114, + -0.9761290091215203, + -0.03267802797403772, + 0.0018108870715545134, + 0.03306046499659223, + -0.9994517128617189 + ], + [ + 0.979842852684163, + -0.19911705273251903, + 0.01613639844813436, + -0.1984421879424916, + -0.9794475039358194, + -0.036101039853305594, + 0.022993087838708452, + 0.032171203661168005, + -0.9992178599117578 + ], + [ + 0.983965507352282, + -0.17748595386279134, + 0.017624316224496332, + -0.17679912330925449, + -0.9836267808319826, + -0.034934596422310484, + 0.02353614960109164, + 0.03125847423540993, + -0.9992341854892821 + ], + [ + 0.9872713751601068, + -0.15837805349018388, + 0.014547300853836808, + -0.15777284168990754, + -0.9868151174765823, + -0.036106153835188004, + 0.02007391876448037, + 0.03335140315398058, + -0.9992420736203503 + ], + [ + 0.9927435517524674, + -0.09984098502100032, + 0.06702251982679108, + -0.09700775890887046, + -0.9942980573283198, + -0.04428168814090155, + 0.07106148862340753, + 0.03745865591777137, + -0.9967683351368358 + ], + [ + 0.9951790532864778, + -0.07151521994046939, + 0.06711352484183838, + -0.065788613578763, + -0.9942939471605152, + -0.08397264413692575, + 0.0727358936372818, + 0.07915251074241965, + -0.9942053961933406 + ], + [ + 0.9956253354374597, + -0.07872800782344119, + 0.050319898839302254, + -0.07548616515378434, + -0.995131205022679, + -0.06336973773407803, + 0.055063874776672087, + 0.05929406019377001, + -0.9967207152057772 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006161.json b/json/chunk-0006/episode_0006161.json new file mode 100644 index 0000000000000000000000000000000000000000..6f186adc7b6a4689d60bbc608067698bb5a6b97e --- /dev/null +++ b/json/chunk-0006/episode_0006161.json @@ -0,0 +1,2182 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 35, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nClose microwave." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006161.mp4", + "start": 0, + "end": 35, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.22213418781757355, + -0.10604672133922577, + -0.004855074919760227, + -0.14717452228069305, + -0.17801311612129211, + 0.06904635578393936, + 0.0, + 1.0067112445831299 + ], + [ + 0.21756431460380554, + -0.10363619029521942, + -0.008386196568608284, + -0.13176605105400085, + -0.1584019809961319, + 0.05667896196246147, + 0.0, + 1.0067112445831299 + ], + [ + 0.21537905931472778, + -0.08902910351753235, + 0.009959678165614605, + -0.06760672479867935, + -0.1926822066307068, + -0.0667266845703125, + 0.0, + 1.0067112445831299 + ], + [ + 0.21055005490779877, + -0.07249892503023148, + 0.03368678689002991, + 0.019952543079853058, + -0.1762530654668808, + -0.11817853152751923, + 0.0, + 1.0067112445831299 + ], + [ + 0.20766162872314453, + -0.05350103601813316, + 0.060102429240942, + 0.09560595452785492, + -0.2053499072790146, + -0.17123250663280487, + 0.0, + 1.0067112445831299 + ], + [ + 0.2024255394935608, + -0.022871756926178932, + 0.09238656610250473, + 0.1990567445755005, + -0.14268706738948822, + -0.25565510988235474, + 0.0, + 1.0067112445831299 + ], + [ + 0.20231492817401886, + 0.0018028547056019306, + 0.11967617273330688, + 0.22355975210666656, + -0.07376565784215927, + -0.30840548872947693, + 0.0, + 1.0067112445831299 + ], + [ + 0.19838471710681915, + 0.022141242399811745, + 0.14216572046279907, + 0.262867271900177, + -0.02968134917318821, + -0.33576032519340515, + 0.0, + 1.0067112445831299 + ], + [ + 0.1924518346786499, + 0.03839680179953575, + 0.156840980052948, + 0.3038557171821594, + 0.014745647087693214, + -0.3577194809913635, + 0.0, + 1.0067112445831299 + ], + [ + 0.18487221002578735, + 0.05409466475248337, + 0.16499067842960358, + 0.3554185926914215, + 0.06363046914339066, + -0.39061564207077026, + 0.0, + 1.0067112445831299 + ], + [ + 0.1826101690530777, + 0.07089865207672119, + 0.17325109243392944, + 0.37075674533843994, + 0.11802275478839874, + -0.438641756772995, + 0.0, + 1.0067112445831299 + ], + [ + 0.18230275809764862, + 0.08540309220552444, + 0.1757499873638153, + 0.3958362638950348, + 0.1507791131734848, + -0.48690807819366455, + 0.0, + 1.0067112445831299 + ], + [ + 0.1838161200284958, + 0.10022246837615967, + 0.18017494678497314, + 0.4001087546348572, + 0.16384142637252808, + -0.5344694256782532, + 0.0, + 1.0067112445831299 + ], + [ + 0.18242089450359344, + 0.10872069001197815, + 0.1809188276529312, + 0.4051394462585449, + 0.17065183818340302, + -0.5506369471549988, + 0.0, + 1.0067112445831299 + ], + [ + 0.1819934993982315, + 0.11786116659641266, + 0.18260587751865387, + 0.41913291811943054, + 0.17078763246536255, + -0.573596715927124, + 0.0, + 1.0067112445831299 + ], + [ + 0.1783495843410492, + 0.1233968660235405, + 0.17289912700653076, + 0.40441474318504333, + 0.15261659026145935, + -0.5652726292610168, + 0.0, + 1.0067112445831299 + ], + [ + 0.17583948373794556, + 0.12347640097141266, + 0.16198375821113586, + 0.3926500976085663, + 0.13467004895210266, + -0.5508002638816833, + 0.0, + 1.0067112445831299 + ], + [ + 0.17494678497314453, + 0.12003859132528305, + 0.14801213145256042, + 0.3650384545326233, + 0.10246007889509201, + -0.5354567170143127, + 0.0, + 1.0067112445831299 + ], + [ + 0.1807565689086914, + 0.10808136314153671, + 0.13100796937942505, + 0.33414870500564575, + 0.004943531006574631, + -0.5114027857780457, + 0.0, + 1.0067112445831299 + ], + [ + 0.19370822608470917, + 0.0918545350432396, + 0.11271505057811737, + 0.25252822041511536, + -0.1274525225162506, + -0.48103246092796326, + 0.0, + 1.0067112445831299 + ], + [ + 0.209601491689682, + 0.06477759778499603, + 0.1098560243844986, + 0.22324809432029724, + -0.2552558481693268, + -0.44041311740875244, + 0.0, + 1.0067112445831299 + ], + [ + 0.22736211121082306, + 0.04093949869275093, + 0.1049821600317955, + 0.16364575922489166, + -0.3487377464771271, + -0.4052879214286804, + 0.0, + 1.0067112445831299 + ], + [ + 0.24252602458000183, + 0.021683327853679657, + 0.09647375345230103, + 0.12093907594680786, + -0.4535071849822998, + -0.38343045115470886, + 0.0, + 1.0067112445831299 + ], + [ + 0.26254382729530334, + 0.005412946920841932, + 0.0885685458779335, + 0.08791688829660416, + -0.5407633185386658, + -0.38448962569236755, + 0.0, + 1.0067112445831299 + ], + [ + 0.2817794680595398, + -0.004319792613387108, + 0.08107484877109528, + 0.09297551214694977, + -0.5891480445861816, + -0.41698622703552246, + 0.0, + 1.0067112445831299 + ], + [ + 0.29607000946998596, + -0.007676387671381235, + 0.07629399746656418, + 0.08534219861030579, + -0.6002997756004333, + -0.4508156180381775, + 0.0, + 1.0067112445831299 + ], + [ + 0.307538777589798, + -0.007693336345255375, + 0.07806874811649323, + 0.12925010919570923, + -0.6268085837364197, + -0.5122890472412109, + 0.0, + 1.0067112445831299 + ], + [ + 0.32252243161201477, + -0.008505254983901978, + 0.08275658637285233, + 0.14879898726940155, + -0.6434887647628784, + -0.5369182229042053, + 0.0, + 1.0067112445831299 + ], + [ + 0.33497729897499084, + -0.010858756490051746, + 0.08242575079202652, + 0.175307497382164, + -0.6466895937919617, + -0.5905225276947021, + 0.0, + 1.0067112445831299 + ], + [ + 0.3403625786304474, + -0.011172641068696976, + 0.08438233286142349, + 0.19215182960033417, + -0.653399646282196, + -0.6170456409454346, + 0.0, + 1.0067112445831299 + ], + [ + 0.34340018033981323, + -0.012730694375932217, + 0.08088613301515579, + 0.18830431997776031, + -0.6490971446037292, + -0.6348578333854675, + 0.0, + 1.0067112445831299 + ], + [ + 0.3415181636810303, + -0.01438404992222786, + 0.07788116484880447, + 0.188078835606575, + -0.6259610652923584, + -0.6467829942703247, + 0.0, + 1.0067112445831299 + ], + [ + 0.3289273977279663, + -0.01834210753440857, + 0.07413384318351746, + 0.15685120224952698, + -0.5452432036399841, + -0.5136805176734924, + 0.0, + 1.0067112445831299 + ], + [ + 0.32892656326293945, + -0.021377820521593094, + 0.07603064924478531, + 0.17238636314868927, + -0.5457860231399536, + -0.5400377511978149, + 0.0, + 1.0067112445831299 + ], + [ + 0.3289300203323364, + -0.017236996442079544, + 0.07587078213691711, + 0.17370358109474182, + -0.543430507183075, + -0.5306726694107056, + 0.0, + 1.0067112445831299 + ] + ], + "left_gripper_pos": [ + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.22213418781757355, + -0.10604672133922577, + -0.004855074919760227 + ], + [ + 0.21756431460380554, + -0.10363619029521942, + -0.008386196568608284 + ], + [ + 0.21537905931472778, + -0.08902910351753235, + 0.009959678165614605 + ], + [ + 0.21055005490779877, + -0.07249892503023148, + 0.03368678689002991 + ], + [ + 0.20766162872314453, + -0.05350103601813316, + 0.060102429240942 + ], + [ + 0.2024255394935608, + -0.022871756926178932, + 0.09238656610250473 + ], + [ + 0.20231492817401886, + 0.0018028547056019306, + 0.11967617273330688 + ], + [ + 0.19838471710681915, + 0.022141242399811745, + 0.14216572046279907 + ], + [ + 0.1924518346786499, + 0.03839680179953575, + 0.156840980052948 + ], + [ + 0.18487221002578735, + 0.05409466475248337, + 0.16499067842960358 + ], + [ + 0.1826101690530777, + 0.07089865207672119, + 0.17325109243392944 + ], + [ + 0.18230275809764862, + 0.08540309220552444, + 0.1757499873638153 + ], + [ + 0.1838161200284958, + 0.10022246837615967, + 0.18017494678497314 + ], + [ + 0.18242089450359344, + 0.10872069001197815, + 0.1809188276529312 + ], + [ + 0.1819934993982315, + 0.11786116659641266, + 0.18260587751865387 + ], + [ + 0.1783495843410492, + 0.1233968660235405, + 0.17289912700653076 + ], + [ + 0.17583948373794556, + 0.12347640097141266, + 0.16198375821113586 + ], + [ + 0.17494678497314453, + 0.12003859132528305, + 0.14801213145256042 + ], + [ + 0.1807565689086914, + 0.10808136314153671, + 0.13100796937942505 + ], + [ + 0.19370822608470917, + 0.0918545350432396, + 0.11271505057811737 + ], + [ + 0.209601491689682, + 0.06477759778499603, + 0.1098560243844986 + ], + [ + 0.22736211121082306, + 0.04093949869275093, + 0.1049821600317955 + ], + [ + 0.24252602458000183, + 0.021683327853679657, + 0.09647375345230103 + ], + [ + 0.26254382729530334, + 0.005412946920841932, + 0.0885685458779335 + ], + [ + 0.2817794680595398, + -0.004319792613387108, + 0.08107484877109528 + ], + [ + 0.29607000946998596, + -0.007676387671381235, + 0.07629399746656418 + ], + [ + 0.307538777589798, + -0.007693336345255375, + 0.07806874811649323 + ], + [ + 0.32252243161201477, + -0.008505254983901978, + 0.08275658637285233 + ], + [ + 0.33497729897499084, + -0.010858756490051746, + 0.08242575079202652 + ], + [ + 0.3403625786304474, + -0.011172641068696976, + 0.08438233286142349 + ], + [ + 0.34340018033981323, + -0.012730694375932217, + 0.08088613301515579 + ], + [ + 0.3415181636810303, + -0.01438404992222786, + 0.07788116484880447 + ], + [ + 0.3289273977279663, + -0.01834210753440857, + 0.07413384318351746 + ], + [ + 0.32892656326293945, + -0.021377820521593094, + 0.07603064924478531 + ], + [ + 0.3289300203323364, + -0.017236996442079544, + 0.07587078213691711 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.981852362336599, + 0.042340670982146125, + 0.18485996363415522, + 0.0679012659957101, + -0.9886238642056845, + -0.1342098103686902, + 0.17707443816152393, + 0.14432644492192556, + -0.9735576616954841 + ], + [ + 0.9858948977696507, + 0.035466100474510764, + 0.1635646852743654, + 0.055939414120070224, + -0.990913532514358, + -0.1223157922257788, + 0.15774039590312172, + 0.12974022813702968, + -0.978920548718474 + ], + [ + 0.9793099283544907, + -0.07943236661013141, + 0.1861251282364521, + -0.06544326115401573, + -0.9946326644114732, + -0.08014388595058684, + 0.1914921507421371, + 0.06630506783381689, + -0.9792519564359845 + ], + [ + 0.9776406966518423, + -0.11440628705768785, + 0.17643658841570908, + -0.11607702936159889, + -0.9932398443135639, + -0.0008572762411643755, + 0.17534192740096965, + -0.01964212691235559, + -0.9843116352790269 + ], + [ + 0.9646724601678667, + -0.15043816793165235, + 0.21627621742356173, + -0.16681686791280834, + -0.9841923453251928, + 0.05947739051990336, + 0.20390972800098683, + -0.09345472183182824, + -0.9745188750321356 + ], + [ + 0.957665604167368, + -0.22067979075251082, + 0.18487028032698635, + -0.25030938446576423, + -0.9555041399119126, + 0.1560674554786063, + 0.1422033847808156, + -0.19573520011644452, + -0.9702916720204575 + ], + [ + 0.9502276329015419, + -0.2804177036882214, + 0.1357694999937659, + -0.30271428071118345, + -0.9340669253138555, + 0.189428200878937, + 0.0736987783063138, + -0.22109927745911997, + -0.972462646883268 + ], + [ + 0.9437442014849778, + -0.31088792004464444, + 0.1126746792043177, + -0.32934200818359266, + -0.9142679816424796, + 0.2358980699136485, + 0.02967699124034511, + -0.2597359407430958, + -0.9652235581859879 + ], + [ + 0.9365959242017379, + -0.3382315890910327, + 0.0915831147627515, + -0.35010092319129626, + -0.8922428555478117, + 0.2851877106477222, + -0.01474511272573236, + -0.29916898045225493, + -0.9540862134974301 + ], + [ + 0.9228035274827866, + -0.37742136552323513, + 0.07737417212418479, + -0.37998720303734623, + -0.8584583191529317, + 0.3444692145968613, + -0.06358753960628641, + -0.34727860159200774, + -0.935603654162979 + ], + [ + 0.8990313395033, + -0.4344765739101678, + 0.05452299803005352, + -0.4217556588029491, + -0.8256959623501333, + 0.3746309410958714, + -0.11774894843943658, + -0.35980033974688014, + -0.9255695007180375 + ], + [ + 0.8737566745758848, + -0.48290168039183046, + 0.05792443965061407, + -0.4625869590664372, + -0.7883454262673606, + 0.40561656054086326, + -0.15020845161227614, + -0.38120526748469774, + -0.9122060979330069 + ], + [ + 0.8490146710771885, + -0.52382623924215, + 0.06913869666922781, + -0.5025628493686038, + -0.7602091729160311, + 0.41171907394342827, + -0.16310938271664063, + -0.38430207454000315, + -0.9086843482607404 + ], + [ + 0.8398127292884618, + -0.5379155226960254, + 0.07322206066293316, + -0.5156298404482288, + -0.7481814684107208, + 0.4175528205701785, + -0.16982475486335505, + -0.3884216533220558, + -0.9056976161314337 + ], + [ + 0.8277343051383318, + -0.5537832573658783, + 0.09044348488642201, + -0.5347616318114414, + -0.7297156060247126, + 0.42608113249280444, + -0.16995857506912526, + -0.40104767570106137, + -0.9001526784802947 + ], + [ + 0.8346273684068507, + -0.542950593845549, + 0.0927459354851789, + -0.529420067587834, + -0.7442820845594162, + 0.40713458541271524, + -0.152024826727573, + -0.38890722704348896, + -0.9086471376787557 + ], + [ + 0.8443907260260793, + -0.5273163347219522, + 0.09456101171496231, + -0.5186305557631948, + -0.7603715053825304, + 0.3909699738228817, + -0.13426335475441853, + -0.37917365010996107, + -0.9155330112193544 + ], + [ + 0.8555252779774445, + -0.5080168769865475, + 0.09997675449048724, + -0.5075579928116413, + -0.7847379122600835, + 0.35576859472795397, + -0.10228090083018399, + -0.3551130267372916, + -0.929211146923478 + ], + [ + 0.8720481851918339, + -0.46374606139777164, + 0.15643386219640276, + -0.4893950596439398, + -0.8230316677125658, + 0.28829039099209897, + -0.004943510871186427, + -0.3279610715928445, + -0.9446783035615561 + ], + [ + 0.8793270617518243, + -0.41986558709893196, + 0.22471494663456015, + -0.4589417611323273, + -0.8730951018346929, + 0.1645521286432529, + 0.12710774311450052, + -0.24782621314610168, + -0.9604300025082524 + ], + [ + 0.8752662217468337, + -0.3651664419881318, + 0.317115926302591, + -0.41250010728976544, + -0.9059587479055624, + 0.09530167144031115, + 0.2524929752586277, + -0.2142246875108315, + -0.9435862868365203 + ], + [ + 0.8636701805310507, + -0.33785519105454787, + 0.3740690967441146, + -0.3705494022057587, + -0.92866104455367, + 0.01678704421397295, + 0.34171180808748425, + -0.1531095496890445, + -0.9272488910791972 + ], + [ + 0.83364284551882, + -0.3223527245004817, + 0.44847332933230405, + -0.33628811221704624, + -0.9403868774973863, + -0.050821513281393664, + 0.4381208870811571, + -0.10844925835538069, + -0.8923501816357677 + ], + [ + 0.7947233315968092, + -0.33173700333885126, + 0.5082965540227744, + -0.32156728564618997, + -0.9403638448249176, + -0.1109518821302278, + 0.5147905467447997, + -0.07527549376694442, + -0.8540048553845188 + ], + [ + 0.7601735419375291, + -0.3560901415378947, + 0.5434482470646805, + -0.33672844333750357, + -0.9312580402362954, + -0.1391848337382928, + 0.5556528966771014, + -0.07718985422176075, + -0.8278234019521131 + ], + [ + 0.7427256265700947, + -0.3907742773316166, + 0.5437408461868699, + -0.3595248054739558, + -0.9177953494882429, + -0.1685040376568713, + 0.5648898634999345, + -0.07033605500528795, + -0.8221631720536493 + ], + [ + 0.7059320288986692, + -0.4201881499079658, + 0.5701770683322238, + -0.3969934583291891, + -0.9014127097117479, + -0.17277534781893716, + 0.5865630099305947, + -0.1043889143877123, + -0.8031480498227683 + ], + [ + 0.6874376109237293, + -0.4294054781905857, + 0.5856965651148976, + -0.4091960182039883, + -0.8952902436025646, + -0.17610791690341943, + 0.5999901247299629, + -0.11860149665992781, + -0.791167198016038 + ], + [ + 0.6629273973473055, + -0.4609673626934204, + 0.5899460622614577, + -0.44436864695981493, + -0.8764325515857339, + -0.18547907731068483, + 0.6025477337484811, + -0.13919437148244276, + -0.7858505936258984 + ], + [ + 0.6475974076381444, + -0.4732971524128065, + 0.5971661436637914, + -0.4594433463862552, + -0.8677536841812373, + -0.189513469313633, + 0.6078893066025712, + -0.15163557995344779, + -0.7794082638838435 + ], + [ + 0.6414113341072247, + -0.4914742263517299, + 0.5891049017880925, + -0.47245174354065766, + -0.8580298053969806, + -0.20143039263182597, + 0.6044674106220964, + -0.14912390111041066, + -0.7825478973286106 + ], + [ + 0.6467210692852823, + -0.5045773914714382, + 0.5719733512659314, + -0.48836534774161106, + -0.8499662893809468, + -0.19762741217047877, + 0.5858763911165193, + -0.15152215327094595, + -0.7961092207733933 + ], + [ + 0.7446563179599957, + -0.4147953921477453, + 0.5229070192445879, + -0.4201356844168609, + -0.9000593558802558, + -0.11566833003028451, + 0.5186260452405351, + -0.13355874567177237, + -0.8445052318681898 + ], + [ + 0.7330837779249006, + -0.43017753901474204, + 0.5268163432075501, + -0.4394697523816819, + -0.890759126222504, + -0.11582105073303715, + 0.5190900801257314, + -0.14661331446543868, + -0.8420510820232465 + ], + [ + 0.7382197543742374, + -0.42142138910188554, + 0.5267215650218605, + -0.433202828631998, + -0.8947176992379605, + -0.10869934652778022, + 0.517075336403581, + -0.1479332669745648, + -0.8430592179706926 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.004569873213768005, + 0.0024105310440063477, + -0.003531121648848057, + 0.0154084712266922, + 0.019611135125160217, + -0.01236739382147789, + 1.0 + ], + [ + -0.002185255289077759, + 0.014607086777687073, + 0.018345873802900314, + 0.0641593262553215, + -0.03428022563457489, + -0.12340565025806427, + 1.0 + ], + [ + -0.004829004406929016, + 0.016530178487300873, + 0.023727107793092728, + 0.08755926787853241, + 0.01642914116382599, + -0.051451846957206726, + 1.0 + ], + [ + -0.002888426184654236, + 0.018997889012098312, + 0.026415642350912094, + 0.07565341144800186, + -0.02909684181213379, + -0.053053975105285645, + 1.0 + ], + [ + -0.00523608922958374, + 0.03062927909195423, + 0.03228413686156273, + 0.10345079004764557, + 0.06266283988952637, + -0.08442260324954987, + 1.0 + ], + [ + -0.00011061131954193115, + 0.024674611166119576, + 0.027289606630802155, + 0.024503007531166077, + 0.06892140954732895, + -0.05275037884712219, + 1.0 + ], + [ + -0.003930211067199707, + 0.0203383881598711, + 0.022489547729492188, + 0.03930751979351044, + 0.04408431053161621, + -0.027354836463928223, + 1.0 + ], + [ + -0.0059328824281692505, + 0.016255559399724007, + 0.014675259590148926, + 0.04098844528198242, + 0.044426996260881424, + -0.021959155797958374, + 1.0 + ], + [ + -0.007579624652862549, + 0.015697862952947617, + 0.008149698376655579, + 0.051562875509262085, + 0.04888482391834259, + -0.03289616107940674, + 1.0 + ], + [ + -0.0022620409727096558, + 0.016803987324237823, + 0.008260414004325867, + 0.015338152647018433, + 0.05439228564500809, + -0.04802611470222473, + 1.0 + ], + [ + -0.00030741095542907715, + 0.014504440128803253, + 0.0024988949298858643, + 0.02507951855659485, + 0.03275635838508606, + -0.048266321420669556, + 1.0 + ], + [ + 0.001513361930847168, + 0.014819376170635223, + 0.004424959421157837, + 0.004272490739822388, + 0.013062313199043274, + -0.04756134748458862, + 1.0 + ], + [ + -0.0013952255249023438, + 0.008498221635818481, + 0.0007438808679580688, + 0.005030691623687744, + 0.006810411810874939, + -0.016167521476745605, + 1.0 + ], + [ + -0.0004273951053619385, + 0.00914047658443451, + 0.0016870498657226562, + 0.01399347186088562, + 0.0001357942819595337, + -0.022959768772125244, + 1.0 + ], + [ + -0.003643915057182312, + 0.005535699427127838, + -0.009706750512123108, + -0.014718174934387207, + -0.018171042203903198, + 0.008324086666107178, + 1.0 + ], + [ + -0.0025101006031036377, + 7.953494787216187e-05, + -0.010915368795394897, + -0.01176464557647705, + -0.01794654130935669, + 0.014472365379333496, + 1.0 + ], + [ + -0.0008926987648010254, + -0.003437809646129608, + -0.01397162675857544, + -0.027611643075942993, + -0.03220997005701065, + 0.015343546867370605, + 1.0 + ], + [ + 0.005809783935546875, + -0.011957228183746338, + -0.017004162073135376, + -0.03088974952697754, + -0.09751655161380768, + 0.02405393123626709, + 1.0 + ], + [ + 0.012951657176017761, + -0.01622682809829712, + -0.018292918801307678, + -0.0816204845905304, + -0.13239605724811554, + 0.030370324850082397, + 1.0 + ], + [ + 0.01589326560497284, + -0.02707693725824356, + -0.0028590261936187744, + -0.029280126094818115, + -0.12780332565307617, + 0.040619343519210815, + 1.0 + ], + [ + 0.017760619521141052, + -0.023838099092245102, + -0.0048738643527030945, + -0.05960233509540558, + -0.09348189830780029, + 0.03512519598007202, + 1.0 + ], + [ + 0.015163913369178772, + -0.019256170839071274, + -0.008508406579494476, + -0.0427066832780838, + -0.10476943850517273, + 0.021857470273971558, + 1.0 + ], + [ + 0.020017802715301514, + -0.016270380467176437, + -0.007905207574367523, + -0.033022187650203705, + -0.08725613355636597, + -0.0010591745376586914, + 1.0 + ], + [ + 0.01923564076423645, + -0.009732739999890327, + -0.007493697106838226, + 0.005058623850345612, + -0.04838472604751587, + -0.03249660134315491, + 1.0 + ], + [ + 0.014290541410446167, + -0.0033565950579941273, + -0.004780851304531097, + -0.007633313536643982, + -0.011151731014251709, + -0.03382939100265503, + 1.0 + ], + [ + 0.011468768119812012, + -1.6948673874139786e-05, + 0.0017747506499290466, + 0.04390791058540344, + -0.026508808135986328, + -0.06147342920303345, + 1.0 + ], + [ + 0.014983654022216797, + -0.0008119186386466026, + 0.0046878382563591, + 0.019548878073692322, + -0.01668018102645874, + -0.024629175662994385, + 1.0 + ], + [ + 0.012454867362976074, + -0.002353501506149769, + -0.00033083558082580566, + 0.02650851011276245, + -0.003200829029083252, + -0.053604304790496826, + 1.0 + ], + [ + 0.005385279655456543, + -0.00031388457864522934, + 0.0019565820693969727, + 0.016844332218170166, + -0.006710052490234375, + -0.026523113250732422, + 1.0 + ], + [ + 0.0030376017093658447, + -0.001558053307235241, + -0.0034961998462677, + -0.0038475096225738525, + 0.004302501678466797, + -0.01781219244003296, + 1.0 + ], + [ + -0.001882016658782959, + -0.0016533555462956429, + -0.0030049681663513184, + -0.00022548437118530273, + 0.02313607931137085, + -0.011925160884857178, + 1.0 + ], + [ + -0.012590765953063965, + -0.00395805761218071, + -0.003747321665287018, + -0.031227633357048035, + 0.08071786165237427, + 0.13310247659683228, + 1.0 + ], + [ + -8.344650268554688e-07, + -0.0030357129871845245, + 0.0018968060612678528, + 0.015535160899162292, + -0.0005428194999694824, + -0.02635723352432251, + 1.0 + ], + [ + 3.4570693969726562e-06, + 0.00414082407951355, + -0.00015986710786819458, + 0.0013172179460525513, + 0.002355515956878662, + 0.009365081787109375, + 1.0 + ], + [ + 0.00020056962966918945, + -0.0009428132325410843, + 0.0006227046251296997, + 0.002053365111351013, + -0.0024467110633850098, + -0.0037705302238464355, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.21756431460380554, + -0.10363619029521942, + -0.008386196568608284 + ], + [ + 0.21537905931472778, + -0.08902910351753235, + 0.009959678165614605 + ], + [ + 0.21055005490779877, + -0.07249892503023148, + 0.03368678689002991 + ], + [ + 0.20766162872314453, + -0.05350103601813316, + 0.060102429240942 + ], + [ + 0.2024255394935608, + -0.022871756926178932, + 0.09238656610250473 + ], + [ + 0.20231492817401886, + 0.0018028547056019306, + 0.11967617273330688 + ], + [ + 0.19838471710681915, + 0.022141242399811745, + 0.14216572046279907 + ], + [ + 0.1924518346786499, + 0.03839680179953575, + 0.156840980052948 + ], + [ + 0.18487221002578735, + 0.05409466475248337, + 0.16499067842960358 + ], + [ + 0.1826101690530777, + 0.07089865207672119, + 0.17325109243392944 + ], + [ + 0.18230275809764862, + 0.08540309220552444, + 0.1757499873638153 + ], + [ + 0.1838161200284958, + 0.10022246837615967, + 0.18017494678497314 + ], + [ + 0.18242089450359344, + 0.10872069001197815, + 0.1809188276529312 + ], + [ + 0.1819934993982315, + 0.11786116659641266, + 0.18260587751865387 + ], + [ + 0.1783495843410492, + 0.1233968660235405, + 0.17289912700653076 + ], + [ + 0.17583948373794556, + 0.12347640097141266, + 0.16198375821113586 + ], + [ + 0.17494678497314453, + 0.12003859132528305, + 0.14801213145256042 + ], + [ + 0.1807565689086914, + 0.10808136314153671, + 0.13100796937942505 + ], + [ + 0.19370822608470917, + 0.0918545350432396, + 0.11271505057811737 + ], + [ + 0.209601491689682, + 0.06477759778499603, + 0.1098560243844986 + ], + [ + 0.22736211121082306, + 0.04093949869275093, + 0.1049821600317955 + ], + [ + 0.24252602458000183, + 0.021683327853679657, + 0.09647375345230103 + ], + [ + 0.26254382729530334, + 0.005412946920841932, + 0.0885685458779335 + ], + [ + 0.2817794680595398, + -0.004319792613387108, + 0.08107484877109528 + ], + [ + 0.29607000946998596, + -0.007676387671381235, + 0.07629399746656418 + ], + [ + 0.307538777589798, + -0.007693336345255375, + 0.07806874811649323 + ], + [ + 0.32252243161201477, + -0.008505254983901978, + 0.08275658637285233 + ], + [ + 0.33497729897499084, + -0.010858756490051746, + 0.08242575079202652 + ], + [ + 0.3403625786304474, + -0.011172641068696976, + 0.08438233286142349 + ], + [ + 0.34340018033981323, + -0.012730694375932217, + 0.08088613301515579 + ], + [ + 0.3415181636810303, + -0.01438404992222786, + 0.07788116484880447 + ], + [ + 0.3289273977279663, + -0.01834210753440857, + 0.07413384318351746 + ], + [ + 0.32892656326293945, + -0.021377820521593094, + 0.07603064924478531 + ], + [ + 0.3289300203323364, + -0.017236996442079544, + 0.07587078213691711 + ], + [ + 0.3291305899620056, + -0.01817980967462063, + 0.07649348676204681 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9858948977696507, + 0.035466100474510764, + 0.1635646852743654, + 0.055939414120070224, + -0.990913532514358, + -0.1223157922257788, + 0.15774039590312172, + 0.12974022813702968, + -0.978920548718474 + ], + [ + 0.9793099283544907, + -0.07943236661013141, + 0.1861251282364521, + -0.06544326115401573, + -0.9946326644114732, + -0.08014388595058684, + 0.1914921507421371, + 0.06630506783381689, + -0.9792519564359845 + ], + [ + 0.9776406966518423, + -0.11440628705768785, + 0.17643658841570908, + -0.11607702936159889, + -0.9932398443135639, + -0.0008572762411643755, + 0.17534192740096965, + -0.01964212691235559, + -0.9843116352790269 + ], + [ + 0.9646724601678667, + -0.15043816793165235, + 0.21627621742356173, + -0.16681686791280834, + -0.9841923453251928, + 0.05947739051990336, + 0.20390972800098683, + -0.09345472183182824, + -0.9745188750321356 + ], + [ + 0.957665604167368, + -0.22067979075251082, + 0.18487028032698635, + -0.25030938446576423, + -0.9555041399119126, + 0.1560674554786063, + 0.1422033847808156, + -0.19573520011644452, + -0.9702916720204575 + ], + [ + 0.9502276329015419, + -0.2804177036882214, + 0.1357694999937659, + -0.30271428071118345, + -0.9340669253138555, + 0.189428200878937, + 0.0736987783063138, + -0.22109927745911997, + -0.972462646883268 + ], + [ + 0.9437442014849778, + -0.31088792004464444, + 0.1126746792043177, + -0.32934200818359266, + -0.9142679816424796, + 0.2358980699136485, + 0.02967699124034511, + -0.2597359407430958, + -0.9652235581859879 + ], + [ + 0.9365959242017379, + -0.3382315890910327, + 0.0915831147627515, + -0.35010092319129626, + -0.8922428555478117, + 0.2851877106477222, + -0.01474511272573236, + -0.29916898045225493, + -0.9540862134974301 + ], + [ + 0.9228035274827866, + -0.37742136552323513, + 0.07737417212418479, + -0.37998720303734623, + -0.8584583191529317, + 0.3444692145968613, + -0.06358753960628641, + -0.34727860159200774, + -0.935603654162979 + ], + [ + 0.8990313395033, + -0.4344765739101678, + 0.05452299803005352, + -0.4217556588029491, + -0.8256959623501333, + 0.3746309410958714, + -0.11774894843943658, + -0.35980033974688014, + -0.9255695007180375 + ], + [ + 0.8737566745758848, + -0.48290168039183046, + 0.05792443965061407, + -0.4625869590664372, + -0.7883454262673606, + 0.40561656054086326, + -0.15020845161227614, + -0.38120526748469774, + -0.9122060979330069 + ], + [ + 0.8490146710771885, + -0.52382623924215, + 0.06913869666922781, + -0.5025628493686038, + -0.7602091729160311, + 0.41171907394342827, + -0.16310938271664063, + -0.38430207454000315, + -0.9086843482607404 + ], + [ + 0.8398127292884618, + -0.5379155226960254, + 0.07322206066293316, + -0.5156298404482288, + -0.7481814684107208, + 0.4175528205701785, + -0.16982475486335505, + -0.3884216533220558, + -0.9056976161314337 + ], + [ + 0.8277343051383318, + -0.5537832573658783, + 0.09044348488642201, + -0.5347616318114414, + -0.7297156060247126, + 0.42608113249280444, + -0.16995857506912526, + -0.40104767570106137, + -0.9001526784802947 + ], + [ + 0.8346273684068507, + -0.542950593845549, + 0.0927459354851789, + -0.529420067587834, + -0.7442820845594162, + 0.40713458541271524, + -0.152024826727573, + -0.38890722704348896, + -0.9086471376787557 + ], + [ + 0.8443907260260793, + -0.5273163347219522, + 0.09456101171496231, + -0.5186305557631948, + -0.7603715053825304, + 0.3909699738228817, + -0.13426335475441853, + -0.37917365010996107, + -0.9155330112193544 + ], + [ + 0.8555252779774445, + -0.5080168769865475, + 0.09997675449048724, + -0.5075579928116413, + -0.7847379122600835, + 0.35576859472795397, + -0.10228090083018399, + -0.3551130267372916, + -0.929211146923478 + ], + [ + 0.8720481851918339, + -0.46374606139777164, + 0.15643386219640276, + -0.4893950596439398, + -0.8230316677125658, + 0.28829039099209897, + -0.004943510871186427, + -0.3279610715928445, + -0.9446783035615561 + ], + [ + 0.8793270617518243, + -0.41986558709893196, + 0.22471494663456015, + -0.4589417611323273, + -0.8730951018346929, + 0.1645521286432529, + 0.12710774311450052, + -0.24782621314610168, + -0.9604300025082524 + ], + [ + 0.8752662217468337, + -0.3651664419881318, + 0.317115926302591, + -0.41250010728976544, + -0.9059587479055624, + 0.09530167144031115, + 0.2524929752586277, + -0.2142246875108315, + -0.9435862868365203 + ], + [ + 0.8636701805310507, + -0.33785519105454787, + 0.3740690967441146, + -0.3705494022057587, + -0.92866104455367, + 0.01678704421397295, + 0.34171180808748425, + -0.1531095496890445, + -0.9272488910791972 + ], + [ + 0.83364284551882, + -0.3223527245004817, + 0.44847332933230405, + -0.33628811221704624, + -0.9403868774973863, + -0.050821513281393664, + 0.4381208870811571, + -0.10844925835538069, + -0.8923501816357677 + ], + [ + 0.7947233315968092, + -0.33173700333885126, + 0.5082965540227744, + -0.32156728564618997, + -0.9403638448249176, + -0.1109518821302278, + 0.5147905467447997, + -0.07527549376694442, + -0.8540048553845188 + ], + [ + 0.7601735419375291, + -0.3560901415378947, + 0.5434482470646805, + -0.33672844333750357, + -0.9312580402362954, + -0.1391848337382928, + 0.5556528966771014, + -0.07718985422176075, + -0.8278234019521131 + ], + [ + 0.7427256265700947, + -0.3907742773316166, + 0.5437408461868699, + -0.3595248054739558, + -0.9177953494882429, + -0.1685040376568713, + 0.5648898634999345, + -0.07033605500528795, + -0.8221631720536493 + ], + [ + 0.7059320288986692, + -0.4201881499079658, + 0.5701770683322238, + -0.3969934583291891, + -0.9014127097117479, + -0.17277534781893716, + 0.5865630099305947, + -0.1043889143877123, + -0.8031480498227683 + ], + [ + 0.6874376109237293, + -0.4294054781905857, + 0.5856965651148976, + -0.4091960182039883, + -0.8952902436025646, + -0.17610791690341943, + 0.5999901247299629, + -0.11860149665992781, + -0.791167198016038 + ], + [ + 0.6629273973473055, + -0.4609673626934204, + 0.5899460622614577, + -0.44436864695981493, + -0.8764325515857339, + -0.18547907731068483, + 0.6025477337484811, + -0.13919437148244276, + -0.7858505936258984 + ], + [ + 0.6475974076381444, + -0.4732971524128065, + 0.5971661436637914, + -0.4594433463862552, + -0.8677536841812373, + -0.189513469313633, + 0.6078893066025712, + -0.15163557995344779, + -0.7794082638838435 + ], + [ + 0.6414113341072247, + -0.4914742263517299, + 0.5891049017880925, + -0.47245174354065766, + -0.8580298053969806, + -0.20143039263182597, + 0.6044674106220964, + -0.14912390111041066, + -0.7825478973286106 + ], + [ + 0.6467210692852823, + -0.5045773914714382, + 0.5719733512659314, + -0.48836534774161106, + -0.8499662893809468, + -0.19762741217047877, + 0.5858763911165193, + -0.15152215327094595, + -0.7961092207733933 + ], + [ + 0.7446563179599957, + -0.4147953921477453, + 0.5229070192445879, + -0.4201356844168609, + -0.9000593558802558, + -0.11566833003028451, + 0.5186260452405351, + -0.13355874567177237, + -0.8445052318681898 + ], + [ + 0.7330837779249006, + -0.43017753901474204, + 0.5268163432075501, + -0.4394697523816819, + -0.890759126222504, + -0.11582105073303715, + 0.5190900801257314, + -0.14661331446543868, + -0.8420510820232465 + ], + [ + 0.7382197543742374, + -0.42142138910188554, + 0.5267215650218605, + -0.433202828631998, + -0.8947176992379605, + -0.10869934652778022, + 0.517075336403581, + -0.1479332669745648, + -0.8430592179706926 + ], + [ + 0.7354901886266153, + -0.4233954604711901, + 0.5289522345981484, + -0.43533750708570756, + -0.89353413628034, + -0.10989996463215167, + 0.5191680242064097, + -0.14944240146001272, + -0.8415055147100802 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006162.json b/json/chunk-0006/episode_0006162.json new file mode 100644 index 0000000000000000000000000000000000000000..d1e4cf6945e299dc9e84b19cff23cafaa2f4623b --- /dev/null +++ b/json/chunk-0006/episode_0006162.json @@ -0,0 +1,2782 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 45, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the fork to the bottom-right corner of the counter." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006162.mp4", + "start": 0, + "end": 45, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.25876158475875854, + -0.15434621274471283, + 0.07523404061794281, + -0.04783790186047554, + -0.1486484557390213, + -0.06261090934276581, + 0.0, + 0.9994885921478271 + ], + [ + 0.2561367452144623, + -0.15227195620536804, + 0.06831007450819016, + -0.03411650285124779, + -0.1250595599412918, + -0.052301082760095596, + 0.0, + 0.9994885921478271 + ], + [ + 0.2661087214946747, + -0.12544550001621246, + 0.07129506766796112, + -0.01675969734787941, + -0.1308990716934204, + 0.12253005057573318, + 0.0, + 0.9994885921478271 + ], + [ + 0.2750391364097595, + -0.0919971689581871, + 0.08269993215799332, + -0.036864154040813446, + -0.155755877494812, + 0.35660937428474426, + 0.0, + 0.9994885921478271 + ], + [ + 0.27870258688926697, + -0.06016860157251358, + 0.0826212465763092, + -0.028025971725583076, + -0.13652604818344116, + 0.591420590877533, + 0.0, + 0.9994885921478271 + ], + [ + 0.2856387794017792, + -0.019261162728071213, + 0.08292009681463242, + -0.058446869254112244, + -0.12090019136667252, + 0.8039731383323669, + 0.0, + 0.9994885921478271 + ], + [ + 0.2867315113544464, + -0.004827083554118872, + 0.08643293380737305, + -0.037635937333106995, + -0.1356605589389801, + 0.8673264980316162, + 0.0, + 0.9994885921478271 + ], + [ + 0.29151374101638794, + 0.018036337569355965, + 0.09323927760124207, + -0.03402232751250267, + -0.16475020349025726, + 0.9516168236732483, + 0.0, + 0.9994885921478271 + ], + [ + 0.2993702292442322, + 0.03818851336836815, + 0.07927015423774719, + -0.04258149117231369, + -0.14186935126781464, + 1.0253247022628784, + 0.0, + 0.9994885921478271 + ], + [ + 0.3065924346446991, + 0.055796895176172256, + 0.07434393465518951, + -0.07794171571731567, + -0.1756022423505783, + 1.1040940284729004, + 0.0, + 0.9994885921478271 + ], + [ + 0.3097444772720337, + 0.07349879294633865, + 0.0658748522400856, + -0.08657699078321457, + -0.19865867495536804, + 1.1629482507705688, + 0.0, + 0.9994885921478271 + ], + [ + 0.31013786792755127, + 0.08932875841856003, + 0.05183042958378792, + -0.0877641811966896, + -0.19251231849193573, + 1.2184531688690186, + 0.0, + 0.9994885921478271 + ], + [ + 0.30728408694267273, + 0.10054820775985718, + 0.03565585985779762, + -0.0719791054725647, + -0.17466489970684052, + 1.281233310699463, + 0.0, + 0.9994885921478271 + ], + [ + 0.3098617196083069, + 0.10307122766971588, + 0.032369937747716904, + -0.08783015608787537, + -0.1764022409915924, + 1.321122407913208, + 0.0, + 0.9994885921478271 + ], + [ + 0.3105454444885254, + 0.10617022216320038, + 0.0225237924605608, + -0.0884782075881958, + -0.17115643620491028, + 1.3521268367767334, + 0.0, + 0.9994885921478271 + ], + [ + 0.31121838092803955, + 0.10684128105640411, + 0.01371227577328682, + -0.08652812987565994, + -0.16266298294067383, + 1.374528408050537, + 0.0, + 0.9994885921478271 + ], + [ + 0.31562328338623047, + 0.10894862562417984, + 0.01646209880709648, + -0.09735816717147827, + -0.16583774983882904, + 1.3834565877914429, + 0.0, + 0.9994885921478271 + ], + [ + 0.3162717819213867, + 0.1104826033115387, + 0.009617523290216923, + -0.07260333746671677, + -0.1556798815727234, + 1.3796827793121338, + 0.0, + 0.9406655430793762 + ], + [ + 0.31937989592552185, + 0.11708690971136093, + 0.009186114184558392, + -0.07391764968633652, + -0.15891264379024506, + 1.3902308940887451, + 0.0, + 0.7230578064918518 + ], + [ + 0.3202390670776367, + 0.1211845651268959, + 0.00946812517940998, + -0.08842740952968597, + -0.16623981297016144, + 1.3838555812835693, + 0.0, + 0.4283607602119446 + ], + [ + 0.31859689950942993, + 0.12327611446380615, + 0.01095967460423708, + -0.10062871128320694, + -0.16731366515159607, + 1.3631802797317505, + 0.0, + 0.4050447642803192 + ], + [ + 0.3131010830402374, + 0.12642763555049896, + 0.012020735070109367, + -0.09836361557245255, + -0.1827360987663269, + 1.367742896080017, + 0.0, + 0.4050447642803192 + ], + [ + 0.3084399700164795, + 0.12724122405052185, + 0.025407083332538605, + -0.11539896577596664, + -0.2095092087984085, + 1.3728418350219727, + 0.0, + 0.4050447642803192 + ], + [ + 0.3029383420944214, + 0.12730398774147034, + 0.03925716504454613, + -0.12319130450487137, + -0.23025555908679962, + 1.3920484781265259, + 0.0, + 0.4050447642803192 + ], + [ + 0.2947961688041687, + 0.11437860876321793, + 0.05502789095044136, + -0.13136087357997894, + -0.2509727478027344, + 1.4005802869796753, + 0.0, + 0.4050447642803192 + ], + [ + 0.29121318459510803, + 0.09605829417705536, + 0.05978085473179817, + -0.14073123037815094, + -0.2520975172519684, + 1.3697577714920044, + 0.0, + 0.4050447642803192 + ], + [ + 0.28764501214027405, + 0.06382569670677185, + 0.06036846712231636, + -0.07650667428970337, + -0.26661714911460876, + 1.2560988664627075, + 0.0, + 0.4050447642803192 + ], + [ + 0.2792836129665375, + 0.03647184371948242, + 0.062394578009843826, + -0.08918935060501099, + -0.2350851148366928, + 1.2411463260650635, + 0.0, + 0.4050447642803192 + ], + [ + 0.2696264684200287, + 0.010029256343841553, + 0.06682652235031128, + -0.11277195066213608, + -0.22211283445358276, + 1.2424390316009521, + 0.0, + 0.4050447642803192 + ], + [ + 0.2577640116214752, + -0.012327342294156551, + 0.06401632726192474, + -0.14939181506633759, + -0.2080165296792984, + 1.271382212638855, + 0.0, + 0.4050447642803192 + ], + [ + 0.25281304121017456, + -0.032428011298179626, + 0.057265568524599075, + -0.18119846284389496, + -0.2284904569387436, + 1.2598034143447876, + 0.0, + 0.4050447642803192 + ], + [ + 0.2497706264257431, + -0.04603275656700134, + 0.047605033963918686, + -0.18911884725093842, + -0.21087215840816498, + 1.240438461303711, + 0.0, + 0.4050447642803192 + ], + [ + 0.24792931973934174, + -0.05635992810130119, + 0.038824621587991714, + -0.19863955676555634, + -0.18517407774925232, + 1.2209231853485107, + 0.0, + 0.4050447642803192 + ], + [ + 0.24919798970222473, + -0.06488059461116791, + 0.030766917392611504, + -0.2008415013551712, + -0.17507438361644745, + 1.1820051670074463, + 0.0, + 0.4050447642803192 + ], + [ + 0.24771437048912048, + -0.0751187726855278, + 0.021189704537391663, + -0.19489428400993347, + -0.16247011721134186, + 1.1742832660675049, + 0.0, + 0.4050447642803192 + ], + [ + 0.24543166160583496, + -0.0835011675953865, + 0.017614126205444336, + -0.1835526078939438, + -0.1607789546251297, + 1.2009884119033813, + 0.0, + 0.4050447642803192 + ], + [ + 0.24485476315021515, + -0.08475661277770996, + 0.016806140542030334, + -0.18633916974067688, + -0.14918182790279388, + 1.2149410247802734, + 0.0, + 0.4050447642803192 + ], + [ + 0.24477794766426086, + -0.0849984809756279, + 0.015864793211221695, + -0.18059970438480377, + -0.1504332572221756, + 1.1999716758728027, + 0.0, + 0.4050447642803192 + ], + [ + 0.24389126896858215, + -0.08465640991926193, + 0.012735651805996895, + -0.1701289266347885, + -0.15021835267543793, + 1.2010955810546875, + 0.0, + 0.4050447642803192 + ], + [ + 0.2465563267469406, + -0.08450322598218918, + 0.0095414649695158, + -0.1666761338710785, + -0.1568738967180252, + 1.2110623121261597, + 0.0, + 0.4050447642803192 + ], + [ + 0.24768590927124023, + -0.08517114073038101, + 0.009357420727610588, + -0.1727578192949295, + -0.1575004905462265, + 1.2003669738769531, + 0.0, + 0.48038846254348755 + ], + [ + 0.24990470707416534, + -0.08544167876243591, + 0.009998949244618416, + -0.18323743343353271, + -0.14660334587097168, + 1.1923909187316895, + 0.0, + 0.7874543070793152 + ], + [ + 0.24995356798171997, + -0.08150165528059006, + 0.015420311130583286, + -0.1816353052854538, + -0.14521557092666626, + 1.1758155822753906, + 0.0, + 0.9974852800369263 + ], + [ + 0.2508533000946045, + -0.07981182634830475, + 0.024261582642793655, + -0.1939748078584671, + -0.1572658121585846, + 1.155706524848938, + 0.0, + 1.0014774799346924 + ], + [ + 0.24751053750514984, + -0.07588261365890503, + 0.035409025847911835, + -0.17716160416603088, + -0.1770240217447281, + 1.1266008615493774, + 0.0, + 1.0014774799346924 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9406655430793762 + ], + [ + 0.7230578064918518 + ], + [ + 0.4283607602119446 + ], + [ + 0.4050447642803192 + ], + [ + 0.4050447642803192 + ], + [ + 0.4050447642803192 + ], + [ + 0.4050447642803192 + ], + [ + 0.4050447642803192 + ], + [ + 0.4050447642803192 + ], + [ + 0.4050447642803192 + ], + [ + 0.4050447642803192 + ], + [ + 0.4050447642803192 + ], + [ + 0.4050447642803192 + ], + [ + 0.4050447642803192 + ], + [ + 0.4050447642803192 + ], + [ + 0.4050447642803192 + ], + [ + 0.4050447642803192 + ], + [ + 0.4050447642803192 + ], + [ + 0.4050447642803192 + ], + [ + 0.4050447642803192 + ], + [ + 0.4050447642803192 + ], + [ + 0.4050447642803192 + ], + [ + 0.4050447642803192 + ], + [ + 0.48038846254348755 + ], + [ + 0.7874543070793152 + ], + [ + 0.9974852800369263 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.25876158475875854, + -0.15434621274471283, + 0.07523404061794281 + ], + [ + 0.2561367452144623, + -0.15227195620536804, + 0.06831007450819016 + ], + [ + 0.2661087214946747, + -0.12544550001621246, + 0.07129506766796112 + ], + [ + 0.2750391364097595, + -0.0919971689581871, + 0.08269993215799332 + ], + [ + 0.27870258688926697, + -0.06016860157251358, + 0.0826212465763092 + ], + [ + 0.2856387794017792, + -0.019261162728071213, + 0.08292009681463242 + ], + [ + 0.2867315113544464, + -0.004827083554118872, + 0.08643293380737305 + ], + [ + 0.29151374101638794, + 0.018036337569355965, + 0.09323927760124207 + ], + [ + 0.2993702292442322, + 0.03818851336836815, + 0.07927015423774719 + ], + [ + 0.3065924346446991, + 0.055796895176172256, + 0.07434393465518951 + ], + [ + 0.3097444772720337, + 0.07349879294633865, + 0.0658748522400856 + ], + [ + 0.31013786792755127, + 0.08932875841856003, + 0.05183042958378792 + ], + [ + 0.30728408694267273, + 0.10054820775985718, + 0.03565585985779762 + ], + [ + 0.3098617196083069, + 0.10307122766971588, + 0.032369937747716904 + ], + [ + 0.3105454444885254, + 0.10617022216320038, + 0.0225237924605608 + ], + [ + 0.31121838092803955, + 0.10684128105640411, + 0.01371227577328682 + ], + [ + 0.31562328338623047, + 0.10894862562417984, + 0.01646209880709648 + ], + [ + 0.3162717819213867, + 0.1104826033115387, + 0.009617523290216923 + ], + [ + 0.31937989592552185, + 0.11708690971136093, + 0.009186114184558392 + ], + [ + 0.3202390670776367, + 0.1211845651268959, + 0.00946812517940998 + ], + [ + 0.31859689950942993, + 0.12327611446380615, + 0.01095967460423708 + ], + [ + 0.3131010830402374, + 0.12642763555049896, + 0.012020735070109367 + ], + [ + 0.3084399700164795, + 0.12724122405052185, + 0.025407083332538605 + ], + [ + 0.3029383420944214, + 0.12730398774147034, + 0.03925716504454613 + ], + [ + 0.2947961688041687, + 0.11437860876321793, + 0.05502789095044136 + ], + [ + 0.29121318459510803, + 0.09605829417705536, + 0.05978085473179817 + ], + [ + 0.28764501214027405, + 0.06382569670677185, + 0.06036846712231636 + ], + [ + 0.2792836129665375, + 0.03647184371948242, + 0.062394578009843826 + ], + [ + 0.2696264684200287, + 0.010029256343841553, + 0.06682652235031128 + ], + [ + 0.2577640116214752, + -0.012327342294156551, + 0.06401632726192474 + ], + [ + 0.25281304121017456, + -0.032428011298179626, + 0.057265568524599075 + ], + [ + 0.2497706264257431, + -0.04603275656700134, + 0.047605033963918686 + ], + [ + 0.24792931973934174, + -0.05635992810130119, + 0.038824621587991714 + ], + [ + 0.24919798970222473, + -0.06488059461116791, + 0.030766917392611504 + ], + [ + 0.24771437048912048, + -0.0751187726855278, + 0.021189704537391663 + ], + [ + 0.24543166160583496, + -0.0835011675953865, + 0.017614126205444336 + ], + [ + 0.24485476315021515, + -0.08475661277770996, + 0.016806140542030334 + ], + [ + 0.24477794766426086, + -0.0849984809756279, + 0.015864793211221695 + ], + [ + 0.24389126896858215, + -0.08465640991926193, + 0.012735651805996895 + ], + [ + 0.2465563267469406, + -0.08450322598218918, + 0.0095414649695158 + ], + [ + 0.24768590927124023, + -0.08517114073038101, + 0.009357420727610588 + ], + [ + 0.24990470707416534, + -0.08544167876243591, + 0.009998949244618416 + ], + [ + 0.24995356798171997, + -0.08150165528059006, + 0.015420311130583286 + ], + [ + 0.2508533000946045, + -0.07981182634830475, + 0.024261582642793655 + ], + [ + 0.24751053750514984, + -0.07588261365890503, + 0.035409025847911835 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9870343325107056, + -0.06956672153874852, + 0.14465025993580446, + -0.06187999737900571, + -0.9964556732132516, + -0.05698207828343581, + 0.14810162851744682, + 0.047292309897863774, + -0.9878407488330314 + ], + [ + 0.990833528947339, + -0.056495659971964804, + 0.12270761312198437, + -0.05186896920822884, + -0.9978290726632023, + -0.040580189518647385, + 0.12473382839886805, + 0.03384349497947375, + -0.9916128730006161 + ], + [ + 0.9840116641188387, + 0.12003544599994045, + 0.1315771126817639, + 0.12117804694348355, + -0.9926305534071415, + -0.0006821888267998268, + 0.13052557533693196, + 0.01661553929994138, + -0.9913057036236276 + ], + [ + 0.9257420313156758, + 0.3435041335298519, + 0.1581347580496843, + 0.3448729409679703, + -0.9384451223660395, + 0.01958077872537959, + 0.1551268707981613, + 0.036409649205877366, + -0.9872233746225196 + ], + [ + 0.8224247611011233, + 0.5541558331391107, + 0.1285644776976046, + 0.5523528506924648, + -0.8319498836875657, + 0.05259010709394738, + 0.1361023168783963, + 0.027761549491037575, + -0.9903057385020995 + ], + [ + 0.6887862759774038, + 0.71400071132543, + 0.12560434010001195, + 0.714862006681343, + -0.6977395416998291, + 0.046171889197168116, + 0.1206058764269088, + 0.0579872069968217, + -0.991005401799609 + ], + [ + 0.6409243910070805, + 0.7587704051013993, + 0.11611803199530046, + 0.7555956331806566, + -0.6502903764993991, + 0.07872525230567748, + 0.13524483032828194, + 0.03728134351828571, + -0.9901105682169775 + ], + [ + 0.572508633893124, + 0.8106459053375646, + 0.1228294764186045, + 0.803328028681139, + -0.5845744322152224, + 0.11374010522030026, + 0.16400592200619898, + 0.033555168896759746, + -0.9858884866896489 + ], + [ + 0.5136089472213461, + 0.8509850274072708, + 0.10968287224005112, + 0.8462940420040654, + -0.5234965358547519, + 0.0986801470230769, + 0.14139393127925268, + 0.042140954862478174, + -0.9890560631838201 + ], + [ + 0.44302424498510595, + 0.8842252133495165, + 0.14790297641487235, + 0.8793230501589768, + -0.46072571744116364, + 0.1205105254632898, + 0.17470115000906536, + 0.0766654117925844, + -0.9816322747445619 + ], + [ + 0.38883388831706805, + 0.9077696590449137, + 0.1573609017949218, + 0.8999218761192548, + -0.4108145507478043, + 0.14619172950574288, + 0.19735456462476464, + 0.08476821934758878, + -0.9766603937963332 + ], + [ + 0.338722851720516, + 0.9291670293467396, + 0.14803871553507808, + 0.9212282125489204, + -0.35950948260513443, + 0.1486321375776756, + 0.1913254037660494, + 0.08603233980279176, + -0.9777489587730659 + ], + [ + 0.2811890197511829, + 0.9523186798215162, + 0.11841396553773828, + 0.9437869946434032, + -0.29677141330632956, + 0.1455775978168893, + 0.17377814567240932, + 0.07082273863080649, + -0.9822348475693023 + ], + [ + 0.2432535494303345, + 0.9614544495701447, + 0.12819146653078495, + 0.9539556568906151, + -0.26105167570207666, + 0.1477180669367576, + 0.1754887898868142, + 0.08635603056479225, + -0.980686657709359 + ], + [ + 0.21376129303592994, + 0.9691036067375243, + 0.12306221600446474, + 0.9619233469320756, + -0.2307741736821145, + 0.14644710781825376, + 0.170322001592869, + 0.08707169557129057, + -0.9815339706824922 + ], + [ + 0.19243603881356186, + 0.9744025463797288, + 0.11622413077518018, + 0.9678541559120937, + -0.20800745222274653, + 0.14139035576548703, + 0.16194660802077482, + 0.0852794079980782, + -0.9831076841943935 + ], + [ + 0.18369062503627115, + 0.9748618960254699, + 0.12610328287324468, + 0.9690236298534544, + -0.20112947913622464, + 0.14331830800015113, + 0.16507864507385334, + 0.09587083133057994, + -0.9816098128281745 + ], + [ + 0.18765506806726157, + 0.9770703555530876, + 0.10059371614586354, + 0.9699198505465899, + -0.2004944761779121, + 0.13804871798689583, + 0.15505179439255873, + 0.07166230055969292, + -0.9853037378058301 + ], + [ + 0.17732304895915052, + 0.9789573186846043, + 0.10099061590900693, + 0.9713470896958503, + -0.1905918823263999, + 0.14198438551714615, + 0.1582446449243467, + 0.0729198367053135, + -0.9847036761217244 + ], + [ + 0.18329162599118587, + 0.9760223518576477, + 0.11740761694103778, + 0.9690315500914904, + -0.19948652961158153, + 0.14554373717481295, + 0.16547517870904582, + 0.0870947367973165, + -0.982360662920404 + ], + [ + 0.20324929862676244, + 0.9701264477523313, + 0.13245526784228911, + 0.9648606665138222, + -0.22145554644450216, + 0.14142607667424606, + 0.1665341311030022, + 0.09905612712200268, + -0.9810475354728525 + ], + [ + 0.1983033442344519, + 0.9711220721577186, + 0.1326563403442565, + 0.9631476194708274, + -0.21816544323887893, + 0.1573229242165991, + 0.18172079345278774, + 0.09656997641338766, + -0.9785968490049448 + ], + [ + 0.19236374772872444, + 0.9692401203782274, + 0.15352451794081284, + 0.9590310547554225, + -0.2188359103169666, + 0.17991742653352472, + 0.2079798657910456, + 0.11262518992189928, + -0.9716274708038029 + ], + [ + 0.17310509831021526, + 0.9716231513494247, + 0.16119266950089015, + 0.9580956947050343, + -0.20404769313696647, + 0.2010402415268133, + 0.22822634538257794, + 0.11963691189300593, + -0.9662296541640691 + ], + [ + 0.16408833733650763, + 0.9715469608652352, + 0.17079672240317262, + 0.9546722517431354, + -0.1999950017608263, + 0.22046063372488794, + 0.24834634948360446, + 0.12687987273091433, + -0.9603257721179594 + ], + [ + 0.1933752392122866, + 0.9631859472044504, + 0.18675879622512215, + 0.948887683779376, + -0.23199588723586861, + 0.21398614879812441, + 0.24943572404810394, + 0.13583349886352739, + -0.9588175426821781 + ], + [ + 0.29859243665749835, + 0.9418753712238334, + 0.15399136941044414, + 0.9172929271896765, + -0.3277719408123828, + 0.22613986942571324, + 0.2634696234838707, + 0.0737315393712209, + -0.9618458387929001 + ], + [ + 0.31480804319780903, + 0.9356789433942695, + 0.15937631827391996, + 0.9201312331589439, + -0.34205508544875, + 0.19067467656731385, + 0.23292576006824117, + 0.08662120645218307, + -0.9686291121422071 + ], + [ + 0.3145663312550788, + 0.9325662210184047, + 0.1771108880226504, + 0.9233200306956408, + -0.34390565047866695, + 0.17090647876849444, + 0.22029104420498102, + 0.10976860655167645, + -0.9692382105853969 + ], + [ + 0.288601817771835, + 0.9358003856359126, + 0.20245154734520915, + 0.9349110371270827, + -0.3210452722857372, + 0.15123255536073996, + 0.2065195957693965, + 0.14562819571310295, + -0.9675443582475125 + ], + [ + 0.29805084878226906, + 0.9239533188009639, + 0.23974143616999777, + 0.9272863938492069, + -0.33985482450923965, + 0.15696700939983338, + 0.22650747299438584, + 0.1755248214198723, + -0.9580633599836804 + ], + [ + 0.31719610083046346, + 0.916296468145115, + 0.24451465412678036, + 0.9249728524105311, + -0.3558196119137069, + 0.13348268082828282, + 0.20931281834010246, + 0.18382923119669384, + -0.9604139512919188 + ], + [ + 0.3369185672587317, + 0.908489298664534, + 0.24725103285597452, + 0.9233561471002111, + -0.3701700348431183, + 0.10191943345847918, + 0.1841176380702735, + 0.19396221156778795, + -0.9635763362781156 + ], + [ + 0.3732754480849409, + 0.8935952165132176, + 0.2493050919690219, + 0.911222412534011, + -0.4036052168352831, + 0.08231976578587158, + 0.17418138463304056, + 0.19644443990105703, + -0.9649199071836362 + ], + [ + 0.3811182718191859, + 0.8928519738563309, + 0.23992543772266098, + 0.9102657672810118, + -0.4077884179714787, + 0.07158798142585805, + 0.1617562852005062, + 0.19111242489480368, + -0.968148204175869 + ], + [ + 0.3567748520617574, + 0.9061728291872169, + 0.2270737954479693, + 0.92037155813921, + -0.38260908551671624, + 0.08078664894934642, + 0.16008716346014118, + 0.18016961820156355, + -0.9705209986251657 + ], + [ + 0.34452262122575567, + 0.9115293088954921, + 0.22454060320628164, + 0.9269377297307795, + -0.3681715030148685, + 0.07236151994894038, + 0.1486290976400069, + 0.18320497643972175, + -0.9717743194499626 + ], + [ + 0.35829147386211735, + 0.9071154430009123, + 0.22083657493035524, + 0.9215027122829114, + -0.38157963542076456, + 0.07231689351316442, + 0.14986651064513923, + 0.17759097640762925, + -0.9726260710497304 + ], + [ + 0.35726719542653135, + 0.9098184145529902, + 0.2111648730550235, + 0.9219348254951194, + -0.3797456783379613, + 0.07635048999794006, + 0.14965402971969913, + 0.16740272495967662, + -0.9744639547283063 + ], + [ + 0.3477025928589408, + 0.9138948550672689, + 0.2095211225646364, + 0.9244969987608173, + -0.3714073182460439, + 0.08580153399283293, + 0.15623125872056165, + 0.16386823314742116, + -0.9740323382535774 + ], + [ + 0.3575348165639729, + 0.9085352533103994, + 0.21617712283397159, + 0.9206339622358404, + -0.38176057947748865, + 0.08180444691426544, + 0.15685012758204256, + 0.16977206321777408, + -0.9729211088409361 + ], + [ + 0.36547616972851305, + 0.9038646414777654, + 0.2223867784892924, + 0.9192867693003115, + -0.3879888539150229, + 0.06615500757389914, + 0.14607876351465582, + 0.1802591443560562, + -0.9727114863750974 + ], + [ + 0.38074039470978993, + 0.8977620127018421, + 0.22149519269223625, + 0.913289111989167, + -0.4025872206272325, + 0.06185893395200586, + 0.1447057350566038, + 0.17873695291454836, + -0.9731974886448025 + ], + [ + 0.3982954069873147, + 0.8857437881676596, + 0.23836675627111603, + 0.9037872876581036, + -0.4233352016929851, + 0.0628955139510614, + 0.15661834962870053, + 0.19038184979131784, + -0.9691364423184273 + ], + [ + 0.42301576765336957, + 0.8754866314312013, + 0.23362538068856753, + 0.8888453958524765, + -0.4510289488090504, + 0.08078830118313579, + 0.17610088752895176, + 0.1734821187369195, + -0.9689646184923701 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0026248395442962646, + 0.0020742565393447876, + -0.006923966109752655, + 0.013721399009227753, + 0.023588895797729492, + 0.010309826582670212, + 1.0 + ], + [ + 0.009971976280212402, + 0.02682645618915558, + 0.0029849931597709656, + 0.017356805503368378, + -0.005839511752128601, + 0.17483113706111908, + 1.0 + ], + [ + 0.008930414915084839, + 0.03344833105802536, + 0.011404864490032196, + -0.020104456692934036, + -0.0248568058013916, + 0.23407933115959167, + 1.0 + ], + [ + 0.0036634504795074463, + 0.03182856738567352, + -7.868558168411255e-05, + 0.00883818231523037, + 0.01922982931137085, + 0.2348112165927887, + 1.0 + ], + [ + 0.006936192512512207, + 0.04090743884444237, + 0.00029885023832321167, + -0.030420897528529167, + 0.015625856816768646, + 0.21255254745483398, + 1.0 + ], + [ + 0.0010927319526672363, + 0.014434078708291054, + 0.003512836992740631, + 0.02081093192100525, + -0.014760367572307587, + 0.06335335969924927, + 1.0 + ], + [ + 0.004782229661941528, + 0.022863421589136124, + 0.0068063437938690186, + 0.0036136098206043243, + -0.02908964455127716, + 0.08429032564163208, + 1.0 + ], + [ + 0.007856488227844238, + 0.020152175799012184, + -0.013969123363494873, + -0.00855916365981102, + 0.022880852222442627, + 0.07370787858963013, + 1.0 + ], + [ + 0.007222205400466919, + 0.017608381807804108, + -0.004926219582557678, + -0.035360224545001984, + -0.03373289108276367, + 0.07876932621002197, + 1.0 + ], + [ + 0.0031520426273345947, + 0.017701897770166397, + -0.008469082415103912, + -0.008635275065898895, + -0.023056432604789734, + 0.05885422229766846, + 1.0 + ], + [ + 0.0003933906555175781, + 0.015829965472221375, + -0.014044422656297684, + -0.0011871904134750366, + 0.006146356463432312, + 0.05550491809844971, + 1.0 + ], + [ + -0.00285378098487854, + 0.01121944934129715, + -0.016174569725990295, + 0.01578507572412491, + 0.017847418785095215, + 0.06278014183044434, + 1.0 + ], + [ + 0.0025776326656341553, + 0.0025230199098587036, + -0.003285922110080719, + -0.01585105061531067, + -0.001737341284751892, + 0.03988909721374512, + 1.0 + ], + [ + 0.0006837248802185059, + 0.003098994493484497, + -0.009846145287156105, + -0.0006480515003204346, + 0.005245804786682129, + 0.03100442886352539, + 1.0 + ], + [ + 0.0006729364395141602, + 0.0006710588932037354, + -0.00881151668727398, + 0.0019500777125358582, + 0.00849345326423645, + 0.02240157127380371, + 1.0 + ], + [ + 0.004404902458190918, + 0.0021073445677757263, + 0.002749823033809662, + -0.010830037295818329, + -0.0031747668981552124, + 0.008928179740905762, + 1.0 + ], + [ + 0.00064849853515625, + 0.0015339776873588562, + -0.0068445755168795586, + 0.024754829704761505, + 0.010157868266105652, + -0.003773808479309082, + 0.0 + ], + [ + 0.003108114004135132, + 0.006604306399822235, + -0.0004314091056585312, + -0.001314312219619751, + -0.0032327622175216675, + 0.010548114776611328, + 0.0 + ], + [ + 0.0008591711521148682, + 0.004097655415534973, + 0.0002820109948515892, + -0.014509759843349457, + -0.007327169179916382, + -0.006375312805175781, + 0.0 + ], + [ + -0.0016421675682067871, + 0.002091549336910248, + 0.0014915494248270988, + -0.012201301753520966, + -0.0010738521814346313, + -0.020675301551818848, + 0.0 + ], + [ + -0.005495816469192505, + 0.00315152108669281, + 0.0010610604658722878, + 0.0022650957107543945, + -0.015422433614730835, + 0.0045626163482666016, + 0.0 + ], + [ + -0.004661113023757935, + 0.0008135885000228882, + 0.013386348262429237, + -0.0170353502035141, + -0.026773110032081604, + 0.005098938941955566, + 0.0 + ], + [ + -0.0055016279220581055, + 6.276369094848633e-05, + 0.013850081712007523, + -0.007792338728904724, + -0.020746350288391113, + 0.019206643104553223, + 0.0 + ], + [ + -0.008142173290252686, + -0.012925378978252411, + 0.015770725905895233, + -0.008169569075107574, + -0.020717188715934753, + 0.008531808853149414, + 0.0 + ], + [ + -0.003582984209060669, + -0.018320314586162567, + 0.0047529637813568115, + -0.009370356798171997, + -0.0011247694492340088, + -0.0308225154876709, + 0.0 + ], + [ + -0.0035681724548339844, + -0.03223259747028351, + 0.0005876123905181885, + 0.06422455608844757, + -0.01451963186264038, + -0.11365890502929688, + 0.0 + ], + [ + -0.008361399173736572, + -0.02735385298728943, + 0.002026110887527466, + -0.012682676315307617, + 0.031532034277915955, + -0.014952540397644043, + 0.0 + ], + [ + -0.009657144546508789, + -0.02644258737564087, + 0.004431944340467453, + -0.02358260005712509, + 0.012972280383110046, + 0.0012927055358886719, + 0.0 + ], + [ + -0.011862456798553467, + -0.02235659956932068, + -0.0028101950883865356, + -0.03661986440420151, + 0.014096304774284363, + 0.028943181037902832, + 0.0 + ], + [ + -0.004950970411300659, + -0.0201006680727005, + -0.006750758737325668, + -0.03180664777755737, + -0.02047392725944519, + -0.011578798294067383, + 0.0 + ], + [ + -0.0030424147844314575, + -0.013604745268821716, + -0.00966053456068039, + -0.007920384407043457, + 0.017618298530578613, + -0.01936495304107666, + 0.0 + ], + [ + -0.0018413066864013672, + -0.01032717153429985, + -0.008780412375926971, + -0.00952070951461792, + 0.02569808065891266, + -0.019515275955200195, + 0.0 + ], + [ + 0.0012686699628829956, + -0.008520666509866714, + -0.008057704195380211, + -0.002201944589614868, + 0.01009969413280487, + -0.03891801834106445, + 0.0 + ], + [ + -0.001483619213104248, + -0.010238178074359894, + -0.009577212855219841, + 0.005947217345237732, + 0.01260426640510559, + -0.007721900939941406, + 0.0 + ], + [ + -0.0022827088832855225, + -0.008382394909858704, + -0.0035755783319473267, + 0.011341676115989685, + 0.0016911625862121582, + 0.026705145835876465, + 0.0 + ], + [ + -0.000576898455619812, + -0.0012554451823234558, + -0.0008079856634140015, + -0.0027865618467330933, + 0.011597126722335815, + 0.01395261287689209, + 0.0 + ], + [ + -7.681548595428467e-05, + -0.00024186819791793823, + -0.0009413473308086395, + 0.005739465355873108, + -0.0012514293193817139, + -0.014969348907470703, + 0.0 + ], + [ + -0.0008866786956787109, + 0.0003420710563659668, + -0.0031291414052248, + 0.010470777750015259, + 0.0002149045467376709, + 0.0011239051818847656, + 0.0 + ], + [ + 0.0026650577783584595, + 0.0001531839370727539, + -0.0031941868364810944, + 0.003452792763710022, + -0.00665554404258728, + 0.009966731071472168, + 0.0 + ], + [ + 0.0011295825242996216, + -0.0006679147481918335, + -0.0001840442419052124, + -0.006081685423851013, + -0.0006265938282012939, + -0.010695338249206543, + 1.0 + ], + [ + 0.00221879780292511, + -0.0002705380320549011, + 0.0006415285170078278, + -0.01047961413860321, + 0.010897144675254822, + -0.007976055145263672, + 1.0 + ], + [ + 4.8860907554626465e-05, + 0.003940023481845856, + 0.0054213618859648705, + 0.0016021281480789185, + 0.00138777494430542, + -0.016575336456298828, + 1.0 + ], + [ + 0.0008997321128845215, + 0.0016898289322853088, + 0.008841271512210369, + -0.012339502573013306, + -0.012050241231918335, + -0.020109057426452637, + 1.0 + ], + [ + -0.003342762589454651, + 0.003929212689399719, + 0.01114744320511818, + 0.016813203692436218, + -0.019758209586143494, + -0.029105663299560547, + 1.0 + ], + [ + 0.004618003964424133, + 0.0029692277312278748, + 0.022693004459142685, + 0.01681254804134369, + -0.051110878586769104, + -0.10947775840759277, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9406655430793762 + ], + [ + 0.7230578064918518 + ], + [ + 0.4283607602119446 + ], + [ + 0.4050447642803192 + ], + [ + 0.4050447642803192 + ], + [ + 0.4050447642803192 + ], + [ + 0.4050447642803192 + ], + [ + 0.4050447642803192 + ], + [ + 0.4050447642803192 + ], + [ + 0.4050447642803192 + ], + [ + 0.4050447642803192 + ], + [ + 0.4050447642803192 + ], + [ + 0.4050447642803192 + ], + [ + 0.4050447642803192 + ], + [ + 0.4050447642803192 + ], + [ + 0.4050447642803192 + ], + [ + 0.4050447642803192 + ], + [ + 0.4050447642803192 + ], + [ + 0.4050447642803192 + ], + [ + 0.4050447642803192 + ], + [ + 0.4050447642803192 + ], + [ + 0.4050447642803192 + ], + [ + 0.4050447642803192 + ], + [ + 0.48038846254348755 + ], + [ + 0.7874543070793152 + ], + [ + 0.9974852800369263 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2561367452144623, + -0.15227195620536804, + 0.06831007450819016 + ], + [ + 0.2661087214946747, + -0.12544550001621246, + 0.07129506766796112 + ], + [ + 0.2750391364097595, + -0.0919971689581871, + 0.08269993215799332 + ], + [ + 0.27870258688926697, + -0.06016860157251358, + 0.0826212465763092 + ], + [ + 0.2856387794017792, + -0.019261162728071213, + 0.08292009681463242 + ], + [ + 0.2867315113544464, + -0.004827083554118872, + 0.08643293380737305 + ], + [ + 0.29151374101638794, + 0.018036337569355965, + 0.09323927760124207 + ], + [ + 0.2993702292442322, + 0.03818851336836815, + 0.07927015423774719 + ], + [ + 0.3065924346446991, + 0.055796895176172256, + 0.07434393465518951 + ], + [ + 0.3097444772720337, + 0.07349879294633865, + 0.0658748522400856 + ], + [ + 0.31013786792755127, + 0.08932875841856003, + 0.05183042958378792 + ], + [ + 0.30728408694267273, + 0.10054820775985718, + 0.03565585985779762 + ], + [ + 0.3098617196083069, + 0.10307122766971588, + 0.032369937747716904 + ], + [ + 0.3105454444885254, + 0.10617022216320038, + 0.0225237924605608 + ], + [ + 0.31121838092803955, + 0.10684128105640411, + 0.01371227577328682 + ], + [ + 0.31562328338623047, + 0.10894862562417984, + 0.01646209880709648 + ], + [ + 0.3162717819213867, + 0.1104826033115387, + 0.009617523290216923 + ], + [ + 0.31937989592552185, + 0.11708690971136093, + 0.009186114184558392 + ], + [ + 0.3202390670776367, + 0.1211845651268959, + 0.00946812517940998 + ], + [ + 0.31859689950942993, + 0.12327611446380615, + 0.01095967460423708 + ], + [ + 0.3131010830402374, + 0.12642763555049896, + 0.012020735070109367 + ], + [ + 0.3084399700164795, + 0.12724122405052185, + 0.025407083332538605 + ], + [ + 0.3029383420944214, + 0.12730398774147034, + 0.03925716504454613 + ], + [ + 0.2947961688041687, + 0.11437860876321793, + 0.05502789095044136 + ], + [ + 0.29121318459510803, + 0.09605829417705536, + 0.05978085473179817 + ], + [ + 0.28764501214027405, + 0.06382569670677185, + 0.06036846712231636 + ], + [ + 0.2792836129665375, + 0.03647184371948242, + 0.062394578009843826 + ], + [ + 0.2696264684200287, + 0.010029256343841553, + 0.06682652235031128 + ], + [ + 0.2577640116214752, + -0.012327342294156551, + 0.06401632726192474 + ], + [ + 0.25281304121017456, + -0.032428011298179626, + 0.057265568524599075 + ], + [ + 0.2497706264257431, + -0.04603275656700134, + 0.047605033963918686 + ], + [ + 0.24792931973934174, + -0.05635992810130119, + 0.038824621587991714 + ], + [ + 0.24919798970222473, + -0.06488059461116791, + 0.030766917392611504 + ], + [ + 0.24771437048912048, + -0.0751187726855278, + 0.021189704537391663 + ], + [ + 0.24543166160583496, + -0.0835011675953865, + 0.017614126205444336 + ], + [ + 0.24485476315021515, + -0.08475661277770996, + 0.016806140542030334 + ], + [ + 0.24477794766426086, + -0.0849984809756279, + 0.015864793211221695 + ], + [ + 0.24389126896858215, + -0.08465640991926193, + 0.012735651805996895 + ], + [ + 0.2465563267469406, + -0.08450322598218918, + 0.0095414649695158 + ], + [ + 0.24768590927124023, + -0.08517114073038101, + 0.009357420727610588 + ], + [ + 0.24990470707416534, + -0.08544167876243591, + 0.009998949244618416 + ], + [ + 0.24995356798171997, + -0.08150165528059006, + 0.015420311130583286 + ], + [ + 0.2508533000946045, + -0.07981182634830475, + 0.024261582642793655 + ], + [ + 0.24751053750514984, + -0.07588261365890503, + 0.035409025847911835 + ], + [ + 0.252128541469574, + -0.07291338592767715, + 0.05810203030705452 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.990833528947339, + -0.056495659971964804, + 0.12270761312198437, + -0.05186896920822884, + -0.9978290726632023, + -0.040580189518647385, + 0.12473382839886805, + 0.03384349497947375, + -0.9916128730006161 + ], + [ + 0.9840116641188387, + 0.12003544599994045, + 0.1315771126817639, + 0.12117804694348355, + -0.9926305534071415, + -0.0006821888267998268, + 0.13052557533693196, + 0.01661553929994138, + -0.9913057036236276 + ], + [ + 0.9257420313156758, + 0.3435041335298519, + 0.1581347580496843, + 0.3448729409679703, + -0.9384451223660395, + 0.01958077872537959, + 0.1551268707981613, + 0.036409649205877366, + -0.9872233746225196 + ], + [ + 0.8224247611011233, + 0.5541558331391107, + 0.1285644776976046, + 0.5523528506924648, + -0.8319498836875657, + 0.05259010709394738, + 0.1361023168783963, + 0.027761549491037575, + -0.9903057385020995 + ], + [ + 0.6887862759774038, + 0.71400071132543, + 0.12560434010001195, + 0.714862006681343, + -0.6977395416998291, + 0.046171889197168116, + 0.1206058764269088, + 0.0579872069968217, + -0.991005401799609 + ], + [ + 0.6409243910070805, + 0.7587704051013993, + 0.11611803199530046, + 0.7555956331806566, + -0.6502903764993991, + 0.07872525230567748, + 0.13524483032828194, + 0.03728134351828571, + -0.9901105682169775 + ], + [ + 0.572508633893124, + 0.8106459053375646, + 0.1228294764186045, + 0.803328028681139, + -0.5845744322152224, + 0.11374010522030026, + 0.16400592200619898, + 0.033555168896759746, + -0.9858884866896489 + ], + [ + 0.5136089472213461, + 0.8509850274072708, + 0.10968287224005112, + 0.8462940420040654, + -0.5234965358547519, + 0.0986801470230769, + 0.14139393127925268, + 0.042140954862478174, + -0.9890560631838201 + ], + [ + 0.44302424498510595, + 0.8842252133495165, + 0.14790297641487235, + 0.8793230501589768, + -0.46072571744116364, + 0.1205105254632898, + 0.17470115000906536, + 0.0766654117925844, + -0.9816322747445619 + ], + [ + 0.38883388831706805, + 0.9077696590449137, + 0.1573609017949218, + 0.8999218761192548, + -0.4108145507478043, + 0.14619172950574288, + 0.19735456462476464, + 0.08476821934758878, + -0.9766603937963332 + ], + [ + 0.338722851720516, + 0.9291670293467396, + 0.14803871553507808, + 0.9212282125489204, + -0.35950948260513443, + 0.1486321375776756, + 0.1913254037660494, + 0.08603233980279176, + -0.9777489587730659 + ], + [ + 0.2811890197511829, + 0.9523186798215162, + 0.11841396553773828, + 0.9437869946434032, + -0.29677141330632956, + 0.1455775978168893, + 0.17377814567240932, + 0.07082273863080649, + -0.9822348475693023 + ], + [ + 0.2432535494303345, + 0.9614544495701447, + 0.12819146653078495, + 0.9539556568906151, + -0.26105167570207666, + 0.1477180669367576, + 0.1754887898868142, + 0.08635603056479225, + -0.980686657709359 + ], + [ + 0.21376129303592994, + 0.9691036067375243, + 0.12306221600446474, + 0.9619233469320756, + -0.2307741736821145, + 0.14644710781825376, + 0.170322001592869, + 0.08707169557129057, + -0.9815339706824922 + ], + [ + 0.19243603881356186, + 0.9744025463797288, + 0.11622413077518018, + 0.9678541559120937, + -0.20800745222274653, + 0.14139035576548703, + 0.16194660802077482, + 0.0852794079980782, + -0.9831076841943935 + ], + [ + 0.18369062503627115, + 0.9748618960254699, + 0.12610328287324468, + 0.9690236298534544, + -0.20112947913622464, + 0.14331830800015113, + 0.16507864507385334, + 0.09587083133057994, + -0.9816098128281745 + ], + [ + 0.18765506806726157, + 0.9770703555530876, + 0.10059371614586354, + 0.9699198505465899, + -0.2004944761779121, + 0.13804871798689583, + 0.15505179439255873, + 0.07166230055969292, + -0.9853037378058301 + ], + [ + 0.17732304895915052, + 0.9789573186846043, + 0.10099061590900693, + 0.9713470896958503, + -0.1905918823263999, + 0.14198438551714615, + 0.1582446449243467, + 0.0729198367053135, + -0.9847036761217244 + ], + [ + 0.18329162599118587, + 0.9760223518576477, + 0.11740761694103778, + 0.9690315500914904, + -0.19948652961158153, + 0.14554373717481295, + 0.16547517870904582, + 0.0870947367973165, + -0.982360662920404 + ], + [ + 0.20324929862676244, + 0.9701264477523313, + 0.13245526784228911, + 0.9648606665138222, + -0.22145554644450216, + 0.14142607667424606, + 0.1665341311030022, + 0.09905612712200268, + -0.9810475354728525 + ], + [ + 0.1983033442344519, + 0.9711220721577186, + 0.1326563403442565, + 0.9631476194708274, + -0.21816544323887893, + 0.1573229242165991, + 0.18172079345278774, + 0.09656997641338766, + -0.9785968490049448 + ], + [ + 0.19236374772872444, + 0.9692401203782274, + 0.15352451794081284, + 0.9590310547554225, + -0.2188359103169666, + 0.17991742653352472, + 0.2079798657910456, + 0.11262518992189928, + -0.9716274708038029 + ], + [ + 0.17310509831021526, + 0.9716231513494247, + 0.16119266950089015, + 0.9580956947050343, + -0.20404769313696647, + 0.2010402415268133, + 0.22822634538257794, + 0.11963691189300593, + -0.9662296541640691 + ], + [ + 0.16408833733650763, + 0.9715469608652352, + 0.17079672240317262, + 0.9546722517431354, + -0.1999950017608263, + 0.22046063372488794, + 0.24834634948360446, + 0.12687987273091433, + -0.9603257721179594 + ], + [ + 0.1933752392122866, + 0.9631859472044504, + 0.18675879622512215, + 0.948887683779376, + -0.23199588723586861, + 0.21398614879812441, + 0.24943572404810394, + 0.13583349886352739, + -0.9588175426821781 + ], + [ + 0.29859243665749835, + 0.9418753712238334, + 0.15399136941044414, + 0.9172929271896765, + -0.3277719408123828, + 0.22613986942571324, + 0.2634696234838707, + 0.0737315393712209, + -0.9618458387929001 + ], + [ + 0.31480804319780903, + 0.9356789433942695, + 0.15937631827391996, + 0.9201312331589439, + -0.34205508544875, + 0.19067467656731385, + 0.23292576006824117, + 0.08662120645218307, + -0.9686291121422071 + ], + [ + 0.3145663312550788, + 0.9325662210184047, + 0.1771108880226504, + 0.9233200306956408, + -0.34390565047866695, + 0.17090647876849444, + 0.22029104420498102, + 0.10976860655167645, + -0.9692382105853969 + ], + [ + 0.288601817771835, + 0.9358003856359126, + 0.20245154734520915, + 0.9349110371270827, + -0.3210452722857372, + 0.15123255536073996, + 0.2065195957693965, + 0.14562819571310295, + -0.9675443582475125 + ], + [ + 0.29805084878226906, + 0.9239533188009639, + 0.23974143616999777, + 0.9272863938492069, + -0.33985482450923965, + 0.15696700939983338, + 0.22650747299438584, + 0.1755248214198723, + -0.9580633599836804 + ], + [ + 0.31719610083046346, + 0.916296468145115, + 0.24451465412678036, + 0.9249728524105311, + -0.3558196119137069, + 0.13348268082828282, + 0.20931281834010246, + 0.18382923119669384, + -0.9604139512919188 + ], + [ + 0.3369185672587317, + 0.908489298664534, + 0.24725103285597452, + 0.9233561471002111, + -0.3701700348431183, + 0.10191943345847918, + 0.1841176380702735, + 0.19396221156778795, + -0.9635763362781156 + ], + [ + 0.3732754480849409, + 0.8935952165132176, + 0.2493050919690219, + 0.911222412534011, + -0.4036052168352831, + 0.08231976578587158, + 0.17418138463304056, + 0.19644443990105703, + -0.9649199071836362 + ], + [ + 0.3811182718191859, + 0.8928519738563309, + 0.23992543772266098, + 0.9102657672810118, + -0.4077884179714787, + 0.07158798142585805, + 0.1617562852005062, + 0.19111242489480368, + -0.968148204175869 + ], + [ + 0.3567748520617574, + 0.9061728291872169, + 0.2270737954479693, + 0.92037155813921, + -0.38260908551671624, + 0.08078664894934642, + 0.16008716346014118, + 0.18016961820156355, + -0.9705209986251657 + ], + [ + 0.34452262122575567, + 0.9115293088954921, + 0.22454060320628164, + 0.9269377297307795, + -0.3681715030148685, + 0.07236151994894038, + 0.1486290976400069, + 0.18320497643972175, + -0.9717743194499626 + ], + [ + 0.35829147386211735, + 0.9071154430009123, + 0.22083657493035524, + 0.9215027122829114, + -0.38157963542076456, + 0.07231689351316442, + 0.14986651064513923, + 0.17759097640762925, + -0.9726260710497304 + ], + [ + 0.35726719542653135, + 0.9098184145529902, + 0.2111648730550235, + 0.9219348254951194, + -0.3797456783379613, + 0.07635048999794006, + 0.14965402971969913, + 0.16740272495967662, + -0.9744639547283063 + ], + [ + 0.3477025928589408, + 0.9138948550672689, + 0.2095211225646364, + 0.9244969987608173, + -0.3714073182460439, + 0.08580153399283293, + 0.15623125872056165, + 0.16386823314742116, + -0.9740323382535774 + ], + [ + 0.3575348165639729, + 0.9085352533103994, + 0.21617712283397159, + 0.9206339622358404, + -0.38176057947748865, + 0.08180444691426544, + 0.15685012758204256, + 0.16977206321777408, + -0.9729211088409361 + ], + [ + 0.36547616972851305, + 0.9038646414777654, + 0.2223867784892924, + 0.9192867693003115, + -0.3879888539150229, + 0.06615500757389914, + 0.14607876351465582, + 0.1802591443560562, + -0.9727114863750974 + ], + [ + 0.38074039470978993, + 0.8977620127018421, + 0.22149519269223625, + 0.913289111989167, + -0.4025872206272325, + 0.06185893395200586, + 0.1447057350566038, + 0.17873695291454836, + -0.9731974886448025 + ], + [ + 0.3982954069873147, + 0.8857437881676596, + 0.23836675627111603, + 0.9037872876581036, + -0.4233352016929851, + 0.0628955139510614, + 0.15661834962870053, + 0.19038184979131784, + -0.9691364423184273 + ], + [ + 0.42301576765336957, + 0.8754866314312013, + 0.23362538068856753, + 0.8888453958524765, + -0.4510289488090504, + 0.08078830118313579, + 0.17610088752895176, + 0.1734821187369195, + -0.9689646184923701 + ], + [ + 0.5121912853759545, + 0.8207000814358227, + 0.2532024160946374, + 0.8285597289833186, + -0.5497845630680539, + 0.1059514498209391, + 0.22616114319665395, + 0.1555259159860615, + -0.9615938990887367 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006163.json b/json/chunk-0006/episode_0006163.json new file mode 100644 index 0000000000000000000000000000000000000000..f92db270e5db1dc0d9aa22936b2cb83b07676fef --- /dev/null +++ b/json/chunk-0006/episode_0006163.json @@ -0,0 +1,2782 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 45, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the red hexagon to the left side of the table." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006163.mp4", + "start": 0, + "end": 45, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.29438483715057373, + 0.009743035770952702, + 0.15418167412281036, + -0.0728096142411232, + -0.054993562400341034, + 0.12594689428806305, + 0.0, + 1.0001531839370728 + ], + [ + 0.2923712730407715, + 0.010050284676253796, + 0.14352765679359436, + -0.07068698108196259, + -0.01670275256037712, + 0.12740479409694672, + 0.0, + 1.0001531839370728 + ], + [ + 0.2820514440536499, + 0.019935226067900658, + 0.13791808485984802, + -0.0961877852678299, + -0.006559363100677729, + 0.16543057560920715, + 0.0, + 1.0001531839370728 + ], + [ + 0.27584755420684814, + 0.03577272221446037, + 0.14220882952213287, + -0.10819382965564728, + -0.021828453987836838, + 0.21660852432250977, + 0.0, + 1.0001531839370728 + ], + [ + 0.27291005849838257, + 0.036618683487176895, + 0.15052857995033264, + -0.06939920783042908, + -0.04826211929321289, + 0.17287226021289825, + 0.0, + 1.0001531839370728 + ], + [ + 0.2737201154232025, + 0.017157571390271187, + 0.1675923764705658, + -0.03847809135913849, + -0.10326917469501495, + 0.043562792241573334, + 0.0, + 1.0001531839370728 + ], + [ + 0.2773190140724182, + -0.003922768868505955, + 0.17809635400772095, + -0.012163459323346615, + -0.12063784152269363, + -0.06319420039653778, + 0.0, + 1.0001531839370728 + ], + [ + 0.28043827414512634, + -0.0265391543507576, + 0.19147321581840515, + -0.005945407319813967, + -0.14029031991958618, + -0.15087579190731049, + 0.0, + 1.0001531839370728 + ], + [ + 0.2855706512928009, + -0.03604298084974289, + 0.18527956306934357, + -0.005596979986876249, + -0.12487403303384781, + -0.18164564669132233, + 0.0, + 1.0001531839370728 + ], + [ + 0.2924920916557312, + -0.04077736660838127, + 0.1774575412273407, + -0.010895931161940098, + -0.09772850573062897, + -0.20205099880695343, + 0.0, + 1.0001531839370728 + ], + [ + 0.29722896218299866, + -0.047927722334861755, + 0.1666254848241806, + -0.01623920165002346, + -0.058352068066596985, + -0.2320048063993454, + 0.0, + 1.0001531839370728 + ], + [ + 0.29918283224105835, + -0.048914480954408646, + 0.16806037724018097, + -0.012063862755894661, + -0.054899729788303375, + -0.23617322742938995, + 0.0, + 1.0001531839370728 + ], + [ + 0.29749393463134766, + -0.05310891196131706, + 0.16989587247371674, + -0.01136202272027731, + -0.047100409865379333, + -0.2489374279975891, + 0.0, + 1.0001531839370728 + ], + [ + 0.2976319193840027, + -0.054546888917684555, + 0.16384099423885345, + -0.0134434187784791, + -0.022575300186872482, + -0.24893760681152344, + 0.0, + 1.0001531839370728 + ], + [ + 0.29880502820014954, + -0.05759803578257561, + 0.1610010713338852, + -0.014528224244713783, + -0.008766213431954384, + -0.2551501393318176, + 0.0, + 1.0001531839370728 + ], + [ + 0.29885002970695496, + -0.060239169746637344, + 0.15914607048034668, + -0.019405890256166458, + -0.004414076451212168, + -0.2558809816837311, + 0.0, + 1.0001531839370728 + ], + [ + 0.29862838983535767, + -0.06376732885837555, + 0.15586543083190918, + -0.018590513616800308, + 0.006486774422228336, + -0.2638119161128998, + 0.0, + 1.0001531839370728 + ], + [ + 0.2975984215736389, + -0.06810616701841354, + 0.14933381974697113, + -0.02164148911833763, + 0.03408033773303032, + -0.2713758051395416, + 0.0, + 1.0001531839370728 + ], + [ + 0.2967676520347595, + -0.06720451265573502, + 0.13988186419010162, + -0.021234309300780296, + 0.07278480380773544, + -0.2549436390399933, + 0.0, + 0.9499720335006714 + ], + [ + 0.29479339718818665, + -0.06849635392427444, + 0.13684861361980438, + -0.03148914501070976, + 0.08333183079957962, + -0.24555060267448425, + 0.0, + 0.6851980090141296 + ], + [ + 0.29371893405914307, + -0.06784228980541229, + 0.13556142151355743, + -0.03998672962188721, + 0.08636613935232162, + -0.2316880226135254, + 0.0, + 0.562038779258728 + ], + [ + 0.29372256994247437, + -0.0669550970196724, + 0.1356428563594818, + -0.048722606152296066, + 0.08783460408449173, + -0.2195247858762741, + 0.0, + 0.562038779258728 + ], + [ + 0.29270967841148376, + -0.06752464920282364, + 0.14621742069721222, + -0.05575885996222496, + 0.06636208295822144, + -0.21449577808380127, + 0.0, + 0.562038779258728 + ], + [ + 0.2981717884540558, + -0.05988878756761551, + 0.16318929195404053, + -0.0684891939163208, + 0.007648633327335119, + -0.18044771254062653, + 0.0, + 0.562038779258728 + ], + [ + 0.30070239305496216, + -0.044331908226013184, + 0.16388100385665894, + -0.08678080886602402, + 0.0064112418331205845, + -0.12729838490486145, + 0.0, + 0.562038779258728 + ], + [ + 0.30279913544654846, + -0.026903018355369568, + 0.16556955873966217, + -0.07285924255847931, + -0.001852513523772359, + -0.07076019793748856, + 0.0, + 0.562038779258728 + ], + [ + 0.2974747121334076, + -0.004979149904102087, + 0.1672445684671402, + -0.0832163542509079, + -0.0177141185849905, + 0.024310637265443802, + 0.0, + 0.562038779258728 + ], + [ + 0.2883937954902649, + 0.027915116399526596, + 0.15765748918056488, + -0.0816783532500267, + 0.01122355181723833, + 0.13539640605449677, + 0.0, + 0.562038779258728 + ], + [ + 0.2800368070602417, + 0.042315948754549026, + 0.1472739428281784, + -0.08358357846736908, + 0.03773324191570282, + 0.17838436365127563, + 0.0, + 0.562038779258728 + ], + [ + 0.27290162444114685, + 0.0522964708507061, + 0.1277841478586197, + -0.09972827881574631, + 0.07520228624343872, + 0.19223366677761078, + 0.0, + 0.562038779258728 + ], + [ + 0.2760283946990967, + 0.05164371430873871, + 0.10921771824359894, + -0.11623529344797134, + 0.1151719018816948, + 0.19384068250656128, + 0.0, + 0.562038779258728 + ], + [ + 0.27988675236701965, + 0.04554831236600876, + 0.09524550288915634, + -0.09722691774368286, + 0.08881217986345291, + 0.29816433787345886, + 0.0, + 0.562038779258728 + ], + [ + 0.2856580317020416, + 0.03541963919997215, + 0.08360417932271957, + -0.08332860469818115, + 0.052161213010549545, + 0.5385513305664062, + 0.0, + 0.562038779258728 + ], + [ + 0.29296356439590454, + 0.030097603797912598, + 0.07293882966041565, + -0.14659170806407928, + 0.09629686176776886, + 0.7533729076385498, + 0.0, + 0.562038779258728 + ], + [ + 0.298273503780365, + 0.037702854722738266, + 0.06910864263772964, + -0.16427230834960938, + 0.12960225343704224, + 1.0039843320846558, + 0.0, + 0.562038779258728 + ], + [ + 0.30790454149246216, + 0.04596174508333206, + 0.06287846714258194, + -0.193112313747406, + 0.16084398329257965, + 1.2342774868011475, + 0.0, + 0.562038779258728 + ], + [ + 0.31173864006996155, + 0.05549677833914757, + 0.056593045592308044, + -0.20452338457107544, + 0.19595295190811157, + 1.3253377676010132, + 0.0, + 0.562038779258728 + ], + [ + 0.32015982270240784, + 0.07314424216747284, + 0.054136570543050766, + -0.1400955468416214, + 0.1544400155544281, + 1.4310075044631958, + 0.0, + 0.562038779258728 + ], + [ + 0.3246256113052368, + 0.08345867693424225, + 0.0448601208627224, + -0.042563244700431824, + 0.0982128158211708, + 1.4677140712738037, + 0.0, + 0.562038779258728 + ], + [ + 0.32956987619400024, + 0.07876359671354294, + 0.022781455889344215, + 0.03362881764769554, + 0.08363007754087448, + 1.4678913354873657, + 0.0, + 0.562038779258728 + ], + [ + 0.3390182554721832, + 0.06601870805025101, + 0.012771807610988617, + 0.04561201110482216, + 0.0987582802772522, + 1.4760416746139526, + 0.0, + 0.562038779258728 + ], + [ + 0.34830620884895325, + 0.06069526821374893, + 0.011335802264511585, + 0.023771315813064575, + 0.12384133785963058, + 1.4976682662963867, + 0.0, + 0.562038779258728 + ], + [ + 0.35226675868034363, + 0.057407353073358536, + 0.01071311254054308, + 0.00884732324630022, + 0.130839005112648, + 1.5121241807937622, + 0.0, + 0.6269758939743042 + ], + [ + 0.348435640335083, + 0.052942074835300446, + 0.007506380323320627, + 0.03466146066784859, + 0.16027528047561646, + 1.5304726362228394, + 0.0, + 0.9165752530097961 + ], + [ + 0.3452526926994324, + 0.0607588104903698, + 0.027812644839286804, + 0.006617760751396418, + 0.09534820169210434, + 1.5046242475509644, + 0.0, + 1.003452181816101 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9499720335006714 + ], + [ + 0.6851980090141296 + ], + [ + 0.562038779258728 + ], + [ + 0.562038779258728 + ], + [ + 0.562038779258728 + ], + [ + 0.562038779258728 + ], + [ + 0.562038779258728 + ], + [ + 0.562038779258728 + ], + [ + 0.562038779258728 + ], + [ + 0.562038779258728 + ], + [ + 0.562038779258728 + ], + [ + 0.562038779258728 + ], + [ + 0.562038779258728 + ], + [ + 0.562038779258728 + ], + [ + 0.562038779258728 + ], + [ + 0.562038779258728 + ], + [ + 0.562038779258728 + ], + [ + 0.562038779258728 + ], + [ + 0.562038779258728 + ], + [ + 0.562038779258728 + ], + [ + 0.562038779258728 + ], + [ + 0.562038779258728 + ], + [ + 0.562038779258728 + ], + [ + 0.562038779258728 + ], + [ + 0.6269758939743042 + ], + [ + 0.9165752530097961 + ], + [ + 1.003452181816101 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.29438483715057373, + 0.009743035770952702, + 0.15418167412281036 + ], + [ + 0.2923712730407715, + 0.010050284676253796, + 0.14352765679359436 + ], + [ + 0.2820514440536499, + 0.019935226067900658, + 0.13791808485984802 + ], + [ + 0.27584755420684814, + 0.03577272221446037, + 0.14220882952213287 + ], + [ + 0.27291005849838257, + 0.036618683487176895, + 0.15052857995033264 + ], + [ + 0.2737201154232025, + 0.017157571390271187, + 0.1675923764705658 + ], + [ + 0.2773190140724182, + -0.003922768868505955, + 0.17809635400772095 + ], + [ + 0.28043827414512634, + -0.0265391543507576, + 0.19147321581840515 + ], + [ + 0.2855706512928009, + -0.03604298084974289, + 0.18527956306934357 + ], + [ + 0.2924920916557312, + -0.04077736660838127, + 0.1774575412273407 + ], + [ + 0.29722896218299866, + -0.047927722334861755, + 0.1666254848241806 + ], + [ + 0.29918283224105835, + -0.048914480954408646, + 0.16806037724018097 + ], + [ + 0.29749393463134766, + -0.05310891196131706, + 0.16989587247371674 + ], + [ + 0.2976319193840027, + -0.054546888917684555, + 0.16384099423885345 + ], + [ + 0.29880502820014954, + -0.05759803578257561, + 0.1610010713338852 + ], + [ + 0.29885002970695496, + -0.060239169746637344, + 0.15914607048034668 + ], + [ + 0.29862838983535767, + -0.06376732885837555, + 0.15586543083190918 + ], + [ + 0.2975984215736389, + -0.06810616701841354, + 0.14933381974697113 + ], + [ + 0.2967676520347595, + -0.06720451265573502, + 0.13988186419010162 + ], + [ + 0.29479339718818665, + -0.06849635392427444, + 0.13684861361980438 + ], + [ + 0.29371893405914307, + -0.06784228980541229, + 0.13556142151355743 + ], + [ + 0.29372256994247437, + -0.0669550970196724, + 0.1356428563594818 + ], + [ + 0.29270967841148376, + -0.06752464920282364, + 0.14621742069721222 + ], + [ + 0.2981717884540558, + -0.05988878756761551, + 0.16318929195404053 + ], + [ + 0.30070239305496216, + -0.044331908226013184, + 0.16388100385665894 + ], + [ + 0.30279913544654846, + -0.026903018355369568, + 0.16556955873966217 + ], + [ + 0.2974747121334076, + -0.004979149904102087, + 0.1672445684671402 + ], + [ + 0.2883937954902649, + 0.027915116399526596, + 0.15765748918056488 + ], + [ + 0.2800368070602417, + 0.042315948754549026, + 0.1472739428281784 + ], + [ + 0.27290162444114685, + 0.0522964708507061, + 0.1277841478586197 + ], + [ + 0.2760283946990967, + 0.05164371430873871, + 0.10921771824359894 + ], + [ + 0.27988675236701965, + 0.04554831236600876, + 0.09524550288915634 + ], + [ + 0.2856580317020416, + 0.03541963919997215, + 0.08360417932271957 + ], + [ + 0.29296356439590454, + 0.030097603797912598, + 0.07293882966041565 + ], + [ + 0.298273503780365, + 0.037702854722738266, + 0.06910864263772964 + ], + [ + 0.30790454149246216, + 0.04596174508333206, + 0.06287846714258194 + ], + [ + 0.31173864006996155, + 0.05549677833914757, + 0.056593045592308044 + ], + [ + 0.32015982270240784, + 0.07314424216747284, + 0.054136570543050766 + ], + [ + 0.3246256113052368, + 0.08345867693424225, + 0.0448601208627224 + ], + [ + 0.32956987619400024, + 0.07876359671354294, + 0.022781455889344215 + ], + [ + 0.3390182554721832, + 0.06601870805025101, + 0.012771807610988617 + ], + [ + 0.34830620884895325, + 0.06069526821374893, + 0.011335802264511585 + ], + [ + 0.35226675868034363, + 0.057407353073358536, + 0.01071311254054308 + ], + [ + 0.348435640335083, + 0.052942074835300446, + 0.007506380323320627 + ], + [ + 0.3452526926994324, + 0.0607588104903698, + 0.027812644839286804 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.990579378188693, + 0.1213145396565708, + 0.06352383785018237, + 0.1254242845433458, + -0.9899529744876945, + -0.06528290089874762, + 0.054965847160684936, + 0.07263532729244214, + -0.9958427912451984 + ], + [ + 0.9917566243220591, + 0.1255730273002289, + 0.02549927308708687, + 0.1270426783128299, + -0.9895678216631469, + -0.06793882701340108, + 0.016701975943482918, + 0.07061827768722477, + -0.9973635760624474 + ], + [ + 0.9863263220164944, + 0.163294473973322, + 0.022255364908060488, + 0.16467350081352497, + -0.9818919085742979, + -0.09365317937016752, + 0.0065593160644122905, + 0.09603746480462115, + -0.9953561074945331 + ], + [ + 0.9763992916934097, + 0.211360124457176, + 0.044399560471412705, + 0.21486744157846877, + -0.9714278938168379, + -0.10079598039656805, + 0.02182672055373608, + 0.10795714383045284, + -0.9939159166478015 + ], + [ + 0.9839477318369757, + 0.16830293939370009, + 0.059337859788769855, + 0.17181221357479656, + -0.983298931730092, + -0.06003144280282205, + 0.048243385861687645, + 0.06926277102383735, + -0.9964312541619216 + ], + [ + 0.9937288218083287, + 0.03955497980921719, + 0.10458696037137429, + 0.04331700681433239, + -0.9984844997760421, + -0.033946143045036126, + 0.10308571980676119, + 0.038263654808177866, + -0.9939362288862614 + ], + [ + 0.9907504948408503, + -0.06460833500169005, + 0.11932820295688293, + -0.06269316273497613, + -0.9978376437356329, + -0.01973839128210396, + 0.12034543746605209, + 0.012074758483258707, + -0.9926586401622035 + ], + [ + 0.9789268731066074, + -0.15112327698377123, + 0.1373460311163239, + -0.14882736212390427, + -0.9884973944509551, + -0.026894561660547732, + 0.13983058818785007, + 0.0058869616407026745, + -0.9901579420929171 + ], + [ + 0.9758892132975777, + -0.1813311898470176, + 0.12148762471173932, + -0.17924174618709995, + -0.9834064061605201, + -0.028004227292500235, + 0.12454974826644491, + 0.005553369348029375, + -0.9921978231661518 + ], + [ + 0.9749824844240484, + -0.20170861524170894, + 0.09339587573112021, + -0.1997214606739168, + -0.979385546227999, + -0.030253759864875905, + 0.09757301477656477, + 0.010843725234286325, + -0.9951692923369652 + ], + [ + 0.971550989902475, + -0.2308203986713964, + 0.05301525796126089, + -0.22953773766142968, + -0.972861322028275, + -0.02921087281595728, + 0.05831895925678101, + 0.016210850026293668, + -0.9981663725715425 + ], + [ + 0.9707757053990977, + -0.23461035766830993, + 0.050522370110989964, + -0.23363128276254921, + -0.9720148602431818, + -0.0245669530294945, + 0.0548721561596585, + 0.012045395019479162, + -0.998420730422408 + ], + [ + 0.968099925730673, + -0.2468768345402782, + 0.04282945677494735, + -0.24610104674777267, + -0.9689804047193286, + -0.02261083942751039, + 0.04708299682385975, + 0.011349177826527957, + -0.9988265052413987 + ], + [ + 0.9689277585095024, + -0.24664629136322685, + 0.01856355964026133, + -0.24631167488449218, + -0.9690123757825782, + -0.018589631405697225, + 0.022573382674015804, + 0.013439588422629132, + -0.999654850364706 + ], + [ + 0.9675882337511129, + -0.25248728307097634, + 0.004814747536281262, + -0.25238099250321555, + -0.9674911543036333, + -0.016269633287656005, + 0.008766101156918716, + 0.014527154974722312, + -0.9998560482583715 + ], + [ + 0.9674312717906247, + -0.25313301351361683, + -0.0006417406714494486, + -0.2530953385923965, + -0.9672368600813361, + -0.019889848737429817, + 0.004414062117196364, + 0.019404483232303888, + -0.9998019714354002 + ], + [ + 0.965382678695347, + -0.26060100051834495, + -0.01110865445648528, + -0.2607569865272658, + -0.9652676135072119, + -0.0162551004706394, + -0.006486728930312953, + 0.018589051695253645, + -0.9998061659666114 + ], + [ + 0.9628435864481439, + -0.26728401022382614, + -0.038619760671775145, + -0.2679014897615379, + -0.9633750674710237, + -0.011716277512464743, + -0.03407374090445935, + 0.021627234078125904, + -0.9991852895869243 + ], + [ + 0.9651154447408833, + -0.2506398689712791, + -0.07570887929871459, + -0.25152315798920466, + -0.967848754744561, + -0.0022110935169151486, + -0.07272055636300431, + 0.021176496911977462, + -0.9971275127388635 + ], + [ + 0.9666376275942478, + -0.24042796684039786, + -0.08835207796060746, + -0.24224690289607398, + -0.9701597918040303, + -0.010315832686750577, + -0.0832354188805752, + 0.0313746892853694, + -0.9960358898734634 + ], + [ + 0.9696525305771851, + -0.22608106759802182, + -0.09306621738848118, + -0.2287649177451162, + -0.9732939715430898, + -0.019116939267301857, + -0.08625881029976924, + 0.0398270741031546, + -0.9954763793350652 + ], + [ + 0.9722385809354425, + -0.21333760526285847, + -0.09612079858878231, + -0.21692635536881014, + -0.9757731829554944, + -0.02845438052931864, + -0.08772170818583719, + 0.04851558106022586, + -0.9949628838842919 + ], + [ + 0.9749331314305202, + -0.20891303275532147, + -0.07655543079399095, + -0.21238626190156112, + -0.9763519717744086, + -0.040359670064379044, + -0.06631338473159877, + 0.0556073012939671, + -0.9962481433098084 + ], + [ + 0.9837346646783022, + -0.17853433743104902, + -0.019788882442554178, + -0.179464785011701, + -0.9815509790695945, + -0.06595503338051514, + -0.007648558751349167, + 0.06843366017960209, + -0.9976263497439563 + ], + [ + 0.9918881106347305, + -0.1259259367727378, + -0.017338812801720883, + -0.12695224504828198, + -0.9882463985871202, + -0.08515975080275733, + -0.006411197911906793, + 0.0866701455375218, + -0.9962164335192625 + ], + [ + 0.9974958299986022, + -0.07064810459808463, + -0.0033037027859906492, + -0.070701041951092, + -0.994841585837536, + -0.07274325917421352, + 0.0018525124641945927, + 0.07279467291605181, + -0.9973452279890928 + ], + [ + 0.9995476664748524, + 0.02275223290131107, + 0.019667189496260253, + 0.024304428967751743, + -0.9962808400786403, + -0.08266669477335034, + 0.017713192180655115, + 0.08310730166599839, + -0.9963831688826181 + ], + [ + 0.9907854939715284, + 0.13544039262232196, + -7.058261835102015e-05, + 0.1349745980154551, + -0.9874209880258316, + -0.08235077593233095, + -0.01122331618377738, + 0.08158242735051435, + -0.9966034039282814 + ], + [ + 0.9834311362994715, + 0.17991983547518958, + -0.022182266775766388, + 0.17731350263345386, + -0.9801371389937701, + -0.08883192302862378, + -0.03772428847025092, + 0.08342686358534585, + -0.9957995965512969 + ], + [ + 0.9788056400681289, + 0.19744512995577282, + -0.05435935639398862, + 0.19051191091630612, + -0.9752735898051598, + -0.11201177093312352, + -0.07513142331833017, + 0.09928164828056131, + -0.9922189393197738 + ], + [ + 0.974770766130486, + 0.2044070582799946, + -0.08966441893362101, + 0.19135290032678576, + -0.9720830556924135, + -0.13578880797851886, + -0.11491745313011512, + 0.11520541376610197, + -0.9866720283889012 + ], + [ + 0.9521100410439731, + 0.3006087432652529, + -0.05586459715892659, + 0.2926082410815031, + -0.9488335952700685, + -0.11872331589904694, + -0.08869547335931449, + 0.09669121966011793, + -0.9913545889570523 + ], + [ + 0.8572850234129491, + 0.5148385461613656, + -0.0019131174326008603, + 0.5121953369214687, + -0.8532482071935789, + -0.09809910171274186, + -0.05213756292504142, + 0.08311900088063584, + -0.9951748118922837 + ], + [ + 0.7260063915711581, + 0.6870091201306647, + 0.030548130141076643, + 0.6809333754247522, + -0.7119550994363048, + -0.17160907499108205, + -0.09614810258387714, + 0.1453905266650177, + -0.9846913918205993 + ], + [ + 0.5324421681554723, + 0.8436083720255463, + 0.06950001595904086, + 0.8365419455395846, + -0.5118867877796524, + -0.19537013551071583, + -0.12923974204069738, + 0.1621629771095622, + -0.9782638999432707 + ], + [ + 0.32594109053007986, + 0.936513089991781, + 0.1292502912109235, + 0.9317263276317577, + -0.2950538963971652, + -0.21172918697876603, + -0.16015135310668047, + 0.1894371412761952, + -0.9687440908739532 + ], + [ + 0.23835074783835575, + 0.9594178377066185, + 0.150686209373164, + 0.9514621957553335, + -0.19957786007037137, + -0.23428266649107987, + -0.1947013380882007, + 0.1992136804039515, + -0.9604193347109253 + ], + [ + 0.13767562256013566, + 0.9835365678589336, + 0.1170523072687932, + 0.978459369271935, + -0.11669840031334455, + -0.17029018189042303, + -0.15382680402532597, + 0.13797573354969087, + -0.9784170947580477 + ], + [ + 0.10240392021502737, + 0.9942201833346226, + 0.032243823821998994, + 0.9898983046848423, + -0.09865646912157794, + -0.10182459173764791, + -0.09805500245612073, + 0.04234534390618336, + -0.9942796831590182 + ], + [ + 0.10236445565171254, + 0.9938590411704533, + -0.04202052478105904, + 0.9912334833176872, + -0.10545910696029898, + -0.07958993849112067, + -0.08353262697301415, + -0.033504970420569505, + -0.995941623383672 + ], + [ + 0.09415190985423144, + 0.9940534038780044, + -0.05471058498457088, + 0.9906633570652585, + -0.09899004110182746, + -0.09373945130440492, + -0.09859782370312783, + -0.045374023418821664, + -0.994092383614217 + ], + [ + 0.0725033445860096, + 0.9968310472051551, + -0.032728097282243754, + 0.9896892605566705, + -0.07597048665713291, + -0.12142344376548198, + -0.12352502808189571, + -0.0235870406145419, + -0.9920610963808705 + ], + [ + 0.05813729341665125, + 0.9981725293175587, + -0.016482015349276083, + 0.989746771712307, + -0.059788468333403066, + -0.12971764313081072, + -0.13046602239377464, + -0.008771588803246293, + -0.991413978230393 + ], + [ + 0.039796090720047195, + 0.9983639998239514, + -0.04105599857418742, + 0.9863809174168702, + -0.045814567978939236, + -0.15796743688734596, + -0.1595899649704086, + -0.03421036708989054, + -0.9865904387659143 + ], + [ + 0.06582345073065893, + 0.9977479172995836, + -0.012898327730838939, + 0.9932791706506947, + -0.06675100258264471, + -0.09455576558666288, + -0.09520379449043354, + -0.00658765349387512, + -0.9954360051435089 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.002013564109802246, + 0.00030724890530109406, + -0.010654017329216003, + 0.002122633159160614, + 0.03829080983996391, + 0.001457899808883667, + 1.0 + ], + [ + -0.010319828987121582, + 0.009884941391646862, + -0.005609571933746338, + -0.02550080418586731, + 0.01014338992536068, + 0.03802578151226044, + 1.0 + ], + [ + -0.006203889846801758, + 0.015837496146559715, + 0.004290744662284851, + -0.012006044387817383, + -0.015269091352820396, + 0.05117794871330261, + 1.0 + ], + [ + -0.002937495708465576, + 0.0008459612727165222, + 0.008319750428199768, + 0.0387946218252182, + -0.026433665305376053, + -0.04373626410961151, + 1.0 + ], + [ + 0.0008100569248199463, + -0.01946111209690571, + 0.017063796520233154, + 0.03092111647129059, + -0.05500705540180206, + -0.12930947542190552, + 1.0 + ], + [ + 0.0035988986492156982, + -0.021080341190099716, + 0.010503977537155151, + 0.0263146311044693, + -0.01736866682767868, + -0.10675699263811111, + 1.0 + ], + [ + 0.00311926007270813, + -0.02261638641357422, + 0.013376861810684204, + 0.006218052003532648, + -0.019652478396892548, + -0.0876815915107727, + 1.0 + ], + [ + 0.0051323771476745605, + -0.00950382649898529, + -0.0061936527490615845, + 0.00034842733293771744, + 0.015416286885738373, + -0.03076985478401184, + 1.0 + ], + [ + 0.006921440362930298, + -0.004734385758638382, + -0.007822021842002869, + -0.0052989511750638485, + 0.02714552730321884, + -0.020405352115631104, + 1.0 + ], + [ + 0.004736870527267456, + -0.007150355726480484, + -0.010832056403160095, + -0.005343270488083363, + 0.03937643766403198, + -0.029953807592391968, + 1.0 + ], + [ + 0.0019538700580596924, + -0.0009867586195468903, + 0.0014348924160003662, + 0.0041753388941287994, + 0.0034523382782936096, + -0.004168421030044556, + 1.0 + ], + [ + -0.0016888976097106934, + -0.004194431006908417, + 0.0018354952335357666, + 0.0007018400356173515, + 0.007799319922924042, + -0.012764200568199158, + 1.0 + ], + [ + 0.0001379847526550293, + -0.0014379769563674927, + -0.006054878234863281, + -0.00208139605820179, + 0.02452510967850685, + -1.7881393432617188e-07, + 1.0 + ], + [ + 0.0011731088161468506, + -0.0030511468648910522, + -0.0028399229049682617, + -0.001084805466234684, + 0.013809086754918098, + -0.0062125325202941895, + 1.0 + ], + [ + 4.500150680541992e-05, + -0.002641133964061737, + -0.0018550008535385132, + -0.004877666011452675, + 0.004352136980742216, + -0.0007308423519134521, + 1.0 + ], + [ + -0.00022163987159729004, + -0.003528159111738205, + -0.0032806396484375, + 0.0008153766393661499, + 0.010900851339101791, + -0.007930934429168701, + 1.0 + ], + [ + -0.00102996826171875, + -0.004338838160037994, + -0.006531611084938049, + -0.003050975501537323, + 0.027593564242124557, + -0.007563889026641846, + 1.0 + ], + [ + -0.0008307695388793945, + 0.0009016543626785278, + -0.009451955556869507, + 0.0004071798175573349, + 0.038704466074705124, + 0.01643216609954834, + 0.0 + ], + [ + -0.001974254846572876, + -0.0012918412685394287, + -0.003033250570297241, + -0.010254835709929466, + 0.010547026991844177, + 0.009393036365509033, + 0.0 + ], + [ + -0.001074463129043579, + 0.0006540641188621521, + -0.0012871921062469482, + -0.008497584611177444, + 0.0030343085527420044, + 0.013862580060958862, + 0.0 + ], + [ + 3.635883331298828e-06, + 0.0008871927857398987, + 8.143484592437744e-05, + -0.00873587653040886, + 0.001468464732170105, + 0.012163236737251282, + 0.0 + ], + [ + -0.0010128915309906006, + -0.0005695521831512451, + 0.010574564337730408, + -0.007036253809928894, + -0.021472521126270294, + 0.005029007792472839, + 0.0 + ], + [ + 0.0054621100425720215, + 0.00763586163520813, + 0.016971871256828308, + -0.01273033395409584, + -0.05871345102787018, + 0.034048065543174744, + 0.0 + ], + [ + 0.002530604600906372, + 0.015556879341602325, + 0.0006917119026184082, + -0.018291614949703217, + -0.0012373914942145348, + 0.053149327635765076, + 0.0 + ], + [ + 0.0020967423915863037, + 0.017428889870643616, + 0.0016885548830032349, + 0.013921566307544708, + -0.008263755589723587, + 0.056538186967372894, + 0.0 + ], + [ + -0.005324423313140869, + 0.021923867985606194, + 0.0016750097274780273, + -0.010357111692428589, + -0.01586160436272621, + 0.09507083892822266, + 0.0 + ], + [ + -0.0090809166431427, + 0.03289426490664482, + -0.009587079286575317, + 0.001538001000881195, + 0.028937671333551407, + 0.11108577251434326, + 0.0 + ], + [ + -0.008356988430023193, + 0.01440083235502243, + -0.010383546352386475, + -0.0019052252173423767, + 0.026509691029787064, + 0.04298795759677887, + 0.0 + ], + [ + -0.007135182619094849, + 0.009980522096157074, + -0.019489794969558716, + -0.016144700348377228, + 0.0374690443277359, + 0.013849303126335144, + 0.0 + ], + [ + 0.003126770257949829, + -0.000652756541967392, + -0.018566429615020752, + -0.016507014632225037, + 0.03996961563825607, + 0.0016070157289505005, + 0.0 + ], + [ + 0.0038583576679229736, + -0.00609540194272995, + -0.013972215354442596, + 0.019008375704288483, + -0.026359722018241882, + 0.10432365536689758, + 0.0 + ], + [ + 0.005771279335021973, + -0.010128673166036606, + -0.011641323566436768, + 0.013898313045501709, + -0.036650966852903366, + 0.2403869926929474, + 0.0 + ], + [ + 0.007305532693862915, + -0.005322035402059555, + -0.010665349662303925, + -0.06326310336589813, + 0.044135648757219315, + 0.21482157707214355, + 0.0 + ], + [ + 0.005309939384460449, + 0.007605250924825668, + -0.0038301870226860046, + -0.01768060028553009, + 0.033305391669273376, + 0.25061142444610596, + 0.0 + ], + [ + 0.009631037712097168, + 0.008258890360593796, + -0.006230175495147705, + -0.02884000539779663, + 0.031241729855537415, + 0.2302931547164917, + 0.0 + ], + [ + 0.0038340985774993896, + 0.009535033255815506, + -0.006285421550273895, + -0.011411070823669434, + 0.03510896861553192, + 0.09106028079986572, + 0.0 + ], + [ + 0.008421182632446289, + 0.01764746382832527, + -0.0024564750492572784, + 0.06442783772945404, + -0.04151293635368347, + 0.10566973686218262, + 0.0 + ], + [ + 0.0044657886028289795, + 0.01031443476676941, + -0.00927644968032837, + 0.09753230214118958, + -0.056227199733257294, + 0.03670656681060791, + 0.0 + ], + [ + 0.004944264888763428, + -0.00469508022069931, + -0.02207866497337818, + 0.07619206607341766, + -0.014582738280296326, + 0.00017726421356201172, + 0.0 + ], + [ + 0.009448379278182983, + -0.012744888663291931, + -0.010009648278355598, + 0.011983193457126617, + 0.015128202736377716, + 0.008150339126586914, + 0.0 + ], + [ + 0.00928795337677002, + -0.005323439836502075, + -0.0014360053464770317, + -0.021840695291757584, + 0.025083057582378387, + 0.021626591682434082, + 0.0 + ], + [ + 0.003960549831390381, + -0.003287915140390396, + -0.0006226897239685059, + -0.014923992566764355, + 0.0069976672530174255, + 0.014455914497375488, + 1.0 + ], + [ + -0.00383111834526062, + -0.00446527823805809, + -0.003206732217222452, + 0.02581413835287094, + 0.029436275362968445, + 0.01834845542907715, + 1.0 + ], + [ + -0.0031829476356506348, + 0.007816735655069351, + 0.020306264981627464, + -0.028043700382113457, + -0.06492707878351212, + -0.025848388671875, + 1.0 + ], + [ + -0.0018942952156066895, + 0.0032028965651988983, + 0.03374939784407616, + -0.06294851750135422, + -0.05951022356748581, + -0.018776893615722656, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9499720335006714 + ], + [ + 0.6851980090141296 + ], + [ + 0.562038779258728 + ], + [ + 0.562038779258728 + ], + [ + 0.562038779258728 + ], + [ + 0.562038779258728 + ], + [ + 0.562038779258728 + ], + [ + 0.562038779258728 + ], + [ + 0.562038779258728 + ], + [ + 0.562038779258728 + ], + [ + 0.562038779258728 + ], + [ + 0.562038779258728 + ], + [ + 0.562038779258728 + ], + [ + 0.562038779258728 + ], + [ + 0.562038779258728 + ], + [ + 0.562038779258728 + ], + [ + 0.562038779258728 + ], + [ + 0.562038779258728 + ], + [ + 0.562038779258728 + ], + [ + 0.562038779258728 + ], + [ + 0.562038779258728 + ], + [ + 0.562038779258728 + ], + [ + 0.562038779258728 + ], + [ + 0.562038779258728 + ], + [ + 0.6269758939743042 + ], + [ + 0.9165752530097961 + ], + [ + 1.003452181816101 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2923712730407715, + 0.010050284676253796, + 0.14352765679359436 + ], + [ + 0.2820514440536499, + 0.019935226067900658, + 0.13791808485984802 + ], + [ + 0.27584755420684814, + 0.03577272221446037, + 0.14220882952213287 + ], + [ + 0.27291005849838257, + 0.036618683487176895, + 0.15052857995033264 + ], + [ + 0.2737201154232025, + 0.017157571390271187, + 0.1675923764705658 + ], + [ + 0.2773190140724182, + -0.003922768868505955, + 0.17809635400772095 + ], + [ + 0.28043827414512634, + -0.0265391543507576, + 0.19147321581840515 + ], + [ + 0.2855706512928009, + -0.03604298084974289, + 0.18527956306934357 + ], + [ + 0.2924920916557312, + -0.04077736660838127, + 0.1774575412273407 + ], + [ + 0.29722896218299866, + -0.047927722334861755, + 0.1666254848241806 + ], + [ + 0.29918283224105835, + -0.048914480954408646, + 0.16806037724018097 + ], + [ + 0.29749393463134766, + -0.05310891196131706, + 0.16989587247371674 + ], + [ + 0.2976319193840027, + -0.054546888917684555, + 0.16384099423885345 + ], + [ + 0.29880502820014954, + -0.05759803578257561, + 0.1610010713338852 + ], + [ + 0.29885002970695496, + -0.060239169746637344, + 0.15914607048034668 + ], + [ + 0.29862838983535767, + -0.06376732885837555, + 0.15586543083190918 + ], + [ + 0.2975984215736389, + -0.06810616701841354, + 0.14933381974697113 + ], + [ + 0.2967676520347595, + -0.06720451265573502, + 0.13988186419010162 + ], + [ + 0.29479339718818665, + -0.06849635392427444, + 0.13684861361980438 + ], + [ + 0.29371893405914307, + -0.06784228980541229, + 0.13556142151355743 + ], + [ + 0.29372256994247437, + -0.0669550970196724, + 0.1356428563594818 + ], + [ + 0.29270967841148376, + -0.06752464920282364, + 0.14621742069721222 + ], + [ + 0.2981717884540558, + -0.05988878756761551, + 0.16318929195404053 + ], + [ + 0.30070239305496216, + -0.044331908226013184, + 0.16388100385665894 + ], + [ + 0.30279913544654846, + -0.026903018355369568, + 0.16556955873966217 + ], + [ + 0.2974747121334076, + -0.004979149904102087, + 0.1672445684671402 + ], + [ + 0.2883937954902649, + 0.027915116399526596, + 0.15765748918056488 + ], + [ + 0.2800368070602417, + 0.042315948754549026, + 0.1472739428281784 + ], + [ + 0.27290162444114685, + 0.0522964708507061, + 0.1277841478586197 + ], + [ + 0.2760283946990967, + 0.05164371430873871, + 0.10921771824359894 + ], + [ + 0.27988675236701965, + 0.04554831236600876, + 0.09524550288915634 + ], + [ + 0.2856580317020416, + 0.03541963919997215, + 0.08360417932271957 + ], + [ + 0.29296356439590454, + 0.030097603797912598, + 0.07293882966041565 + ], + [ + 0.298273503780365, + 0.037702854722738266, + 0.06910864263772964 + ], + [ + 0.30790454149246216, + 0.04596174508333206, + 0.06287846714258194 + ], + [ + 0.31173864006996155, + 0.05549677833914757, + 0.056593045592308044 + ], + [ + 0.32015982270240784, + 0.07314424216747284, + 0.054136570543050766 + ], + [ + 0.3246256113052368, + 0.08345867693424225, + 0.0448601208627224 + ], + [ + 0.32956987619400024, + 0.07876359671354294, + 0.022781455889344215 + ], + [ + 0.3390182554721832, + 0.06601870805025101, + 0.012771807610988617 + ], + [ + 0.34830620884895325, + 0.06069526821374893, + 0.011335802264511585 + ], + [ + 0.35226675868034363, + 0.057407353073358536, + 0.01071311254054308 + ], + [ + 0.348435640335083, + 0.052942074835300446, + 0.007506380323320627 + ], + [ + 0.3452526926994324, + 0.0607588104903698, + 0.027812644839286804 + ], + [ + 0.3433583974838257, + 0.0639617070555687, + 0.06156204268336296 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9917566243220591, + 0.1255730273002289, + 0.02549927308708687, + 0.1270426783128299, + -0.9895678216631469, + -0.06793882701340108, + 0.016701975943482918, + 0.07061827768722477, + -0.9973635760624474 + ], + [ + 0.9863263220164944, + 0.163294473973322, + 0.022255364908060488, + 0.16467350081352497, + -0.9818919085742979, + -0.09365317937016752, + 0.0065593160644122905, + 0.09603746480462115, + -0.9953561074945331 + ], + [ + 0.9763992916934097, + 0.211360124457176, + 0.044399560471412705, + 0.21486744157846877, + -0.9714278938168379, + -0.10079598039656805, + 0.02182672055373608, + 0.10795714383045284, + -0.9939159166478015 + ], + [ + 0.9839477318369757, + 0.16830293939370009, + 0.059337859788769855, + 0.17181221357479656, + -0.983298931730092, + -0.06003144280282205, + 0.048243385861687645, + 0.06926277102383735, + -0.9964312541619216 + ], + [ + 0.9937288218083287, + 0.03955497980921719, + 0.10458696037137429, + 0.04331700681433239, + -0.9984844997760421, + -0.033946143045036126, + 0.10308571980676119, + 0.038263654808177866, + -0.9939362288862614 + ], + [ + 0.9907504948408503, + -0.06460833500169005, + 0.11932820295688293, + -0.06269316273497613, + -0.9978376437356329, + -0.01973839128210396, + 0.12034543746605209, + 0.012074758483258707, + -0.9926586401622035 + ], + [ + 0.9789268731066074, + -0.15112327698377123, + 0.1373460311163239, + -0.14882736212390427, + -0.9884973944509551, + -0.026894561660547732, + 0.13983058818785007, + 0.0058869616407026745, + -0.9901579420929171 + ], + [ + 0.9758892132975777, + -0.1813311898470176, + 0.12148762471173932, + -0.17924174618709995, + -0.9834064061605201, + -0.028004227292500235, + 0.12454974826644491, + 0.005553369348029375, + -0.9921978231661518 + ], + [ + 0.9749824844240484, + -0.20170861524170894, + 0.09339587573112021, + -0.1997214606739168, + -0.979385546227999, + -0.030253759864875905, + 0.09757301477656477, + 0.010843725234286325, + -0.9951692923369652 + ], + [ + 0.971550989902475, + -0.2308203986713964, + 0.05301525796126089, + -0.22953773766142968, + -0.972861322028275, + -0.02921087281595728, + 0.05831895925678101, + 0.016210850026293668, + -0.9981663725715425 + ], + [ + 0.9707757053990977, + -0.23461035766830993, + 0.050522370110989964, + -0.23363128276254921, + -0.9720148602431818, + -0.0245669530294945, + 0.0548721561596585, + 0.012045395019479162, + -0.998420730422408 + ], + [ + 0.968099925730673, + -0.2468768345402782, + 0.04282945677494735, + -0.24610104674777267, + -0.9689804047193286, + -0.02261083942751039, + 0.04708299682385975, + 0.011349177826527957, + -0.9988265052413987 + ], + [ + 0.9689277585095024, + -0.24664629136322685, + 0.01856355964026133, + -0.24631167488449218, + -0.9690123757825782, + -0.018589631405697225, + 0.022573382674015804, + 0.013439588422629132, + -0.999654850364706 + ], + [ + 0.9675882337511129, + -0.25248728307097634, + 0.004814747536281262, + -0.25238099250321555, + -0.9674911543036333, + -0.016269633287656005, + 0.008766101156918716, + 0.014527154974722312, + -0.9998560482583715 + ], + [ + 0.9674312717906247, + -0.25313301351361683, + -0.0006417406714494486, + -0.2530953385923965, + -0.9672368600813361, + -0.019889848737429817, + 0.004414062117196364, + 0.019404483232303888, + -0.9998019714354002 + ], + [ + 0.965382678695347, + -0.26060100051834495, + -0.01110865445648528, + -0.2607569865272658, + -0.9652676135072119, + -0.0162551004706394, + -0.006486728930312953, + 0.018589051695253645, + -0.9998061659666114 + ], + [ + 0.9628435864481439, + -0.26728401022382614, + -0.038619760671775145, + -0.2679014897615379, + -0.9633750674710237, + -0.011716277512464743, + -0.03407374090445935, + 0.021627234078125904, + -0.9991852895869243 + ], + [ + 0.9651154447408833, + -0.2506398689712791, + -0.07570887929871459, + -0.25152315798920466, + -0.967848754744561, + -0.0022110935169151486, + -0.07272055636300431, + 0.021176496911977462, + -0.9971275127388635 + ], + [ + 0.9666376275942478, + -0.24042796684039786, + -0.08835207796060746, + -0.24224690289607398, + -0.9701597918040303, + -0.010315832686750577, + -0.0832354188805752, + 0.0313746892853694, + -0.9960358898734634 + ], + [ + 0.9696525305771851, + -0.22608106759802182, + -0.09306621738848118, + -0.2287649177451162, + -0.9732939715430898, + -0.019116939267301857, + -0.08625881029976924, + 0.0398270741031546, + -0.9954763793350652 + ], + [ + 0.9722385809354425, + -0.21333760526285847, + -0.09612079858878231, + -0.21692635536881014, + -0.9757731829554944, + -0.02845438052931864, + -0.08772170818583719, + 0.04851558106022586, + -0.9949628838842919 + ], + [ + 0.9749331314305202, + -0.20891303275532147, + -0.07655543079399095, + -0.21238626190156112, + -0.9763519717744086, + -0.040359670064379044, + -0.06631338473159877, + 0.0556073012939671, + -0.9962481433098084 + ], + [ + 0.9837346646783022, + -0.17853433743104902, + -0.019788882442554178, + -0.179464785011701, + -0.9815509790695945, + -0.06595503338051514, + -0.007648558751349167, + 0.06843366017960209, + -0.9976263497439563 + ], + [ + 0.9918881106347305, + -0.1259259367727378, + -0.017338812801720883, + -0.12695224504828198, + -0.9882463985871202, + -0.08515975080275733, + -0.006411197911906793, + 0.0866701455375218, + -0.9962164335192625 + ], + [ + 0.9974958299986022, + -0.07064810459808463, + -0.0033037027859906492, + -0.070701041951092, + -0.994841585837536, + -0.07274325917421352, + 0.0018525124641945927, + 0.07279467291605181, + -0.9973452279890928 + ], + [ + 0.9995476664748524, + 0.02275223290131107, + 0.019667189496260253, + 0.024304428967751743, + -0.9962808400786403, + -0.08266669477335034, + 0.017713192180655115, + 0.08310730166599839, + -0.9963831688826181 + ], + [ + 0.9907854939715284, + 0.13544039262232196, + -7.058261835102015e-05, + 0.1349745980154551, + -0.9874209880258316, + -0.08235077593233095, + -0.01122331618377738, + 0.08158242735051435, + -0.9966034039282814 + ], + [ + 0.9834311362994715, + 0.17991983547518958, + -0.022182266775766388, + 0.17731350263345386, + -0.9801371389937701, + -0.08883192302862378, + -0.03772428847025092, + 0.08342686358534585, + -0.9957995965512969 + ], + [ + 0.9788056400681289, + 0.19744512995577282, + -0.05435935639398862, + 0.19051191091630612, + -0.9752735898051598, + -0.11201177093312352, + -0.07513142331833017, + 0.09928164828056131, + -0.9922189393197738 + ], + [ + 0.974770766130486, + 0.2044070582799946, + -0.08966441893362101, + 0.19135290032678576, + -0.9720830556924135, + -0.13578880797851886, + -0.11491745313011512, + 0.11520541376610197, + -0.9866720283889012 + ], + [ + 0.9521100410439731, + 0.3006087432652529, + -0.05586459715892659, + 0.2926082410815031, + -0.9488335952700685, + -0.11872331589904694, + -0.08869547335931449, + 0.09669121966011793, + -0.9913545889570523 + ], + [ + 0.8572850234129491, + 0.5148385461613656, + -0.0019131174326008603, + 0.5121953369214687, + -0.8532482071935789, + -0.09809910171274186, + -0.05213756292504142, + 0.08311900088063584, + -0.9951748118922837 + ], + [ + 0.7260063915711581, + 0.6870091201306647, + 0.030548130141076643, + 0.6809333754247522, + -0.7119550994363048, + -0.17160907499108205, + -0.09614810258387714, + 0.1453905266650177, + -0.9846913918205993 + ], + [ + 0.5324421681554723, + 0.8436083720255463, + 0.06950001595904086, + 0.8365419455395846, + -0.5118867877796524, + -0.19537013551071583, + -0.12923974204069738, + 0.1621629771095622, + -0.9782638999432707 + ], + [ + 0.32594109053007986, + 0.936513089991781, + 0.1292502912109235, + 0.9317263276317577, + -0.2950538963971652, + -0.21172918697876603, + -0.16015135310668047, + 0.1894371412761952, + -0.9687440908739532 + ], + [ + 0.23835074783835575, + 0.9594178377066185, + 0.150686209373164, + 0.9514621957553335, + -0.19957786007037137, + -0.23428266649107987, + -0.1947013380882007, + 0.1992136804039515, + -0.9604193347109253 + ], + [ + 0.13767562256013566, + 0.9835365678589336, + 0.1170523072687932, + 0.978459369271935, + -0.11669840031334455, + -0.17029018189042303, + -0.15382680402532597, + 0.13797573354969087, + -0.9784170947580477 + ], + [ + 0.10240392021502737, + 0.9942201833346226, + 0.032243823821998994, + 0.9898983046848423, + -0.09865646912157794, + -0.10182459173764791, + -0.09805500245612073, + 0.04234534390618336, + -0.9942796831590182 + ], + [ + 0.10236445565171254, + 0.9938590411704533, + -0.04202052478105904, + 0.9912334833176872, + -0.10545910696029898, + -0.07958993849112067, + -0.08353262697301415, + -0.033504970420569505, + -0.995941623383672 + ], + [ + 0.09415190985423144, + 0.9940534038780044, + -0.05471058498457088, + 0.9906633570652585, + -0.09899004110182746, + -0.09373945130440492, + -0.09859782370312783, + -0.045374023418821664, + -0.994092383614217 + ], + [ + 0.0725033445860096, + 0.9968310472051551, + -0.032728097282243754, + 0.9896892605566705, + -0.07597048665713291, + -0.12142344376548198, + -0.12352502808189571, + -0.0235870406145419, + -0.9920610963808705 + ], + [ + 0.05813729341665125, + 0.9981725293175587, + -0.016482015349276083, + 0.989746771712307, + -0.059788468333403066, + -0.12971764313081072, + -0.13046602239377464, + -0.008771588803246293, + -0.991413978230393 + ], + [ + 0.039796090720047195, + 0.9983639998239514, + -0.04105599857418742, + 0.9863809174168702, + -0.045814567978939236, + -0.15796743688734596, + -0.1595899649704086, + -0.03421036708989054, + -0.9865904387659143 + ], + [ + 0.06582345073065893, + 0.9977479172995836, + -0.012898327730838939, + 0.9932791706506947, + -0.06675100258264471, + -0.09455576558666288, + -0.09520379449043354, + -0.00658765349387512, + -0.9954360051435089 + ], + [ + 0.08479235863539752, + 0.9949847273796332, + 0.05306268178600604, + 0.9957542091337669, + -0.08270225261587111, + -0.0404214349652143, + -0.03583030713561547, + 0.05626481754646903, + -0.9977727493758436 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006164.json b/json/chunk-0006/episode_0006164.json new file mode 100644 index 0000000000000000000000000000000000000000..460901c2bdf52c317f6c3e2e02b9879c8d605ec4 --- /dev/null +++ b/json/chunk-0006/episode_0006164.json @@ -0,0 +1,1702 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 27, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the pot to bottom right of the burner." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006164.mp4", + "start": 0, + "end": 27, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.34539324045181274, + -0.04318811371922493, + 0.09845438599586487, + 0.11183509230613708, + -0.192962184548378, + -0.31782880425453186, + 0.0, + 0.9988223910331726 + ], + [ + 0.3447287976741791, + -0.04306638613343239, + 0.08934584259986877, + 0.10752882808446884, + -0.16568496823310852, + -0.316923052072525, + 0.0, + 0.9988223910331726 + ], + [ + 0.355371356010437, + 0.001813824288547039, + 0.09636610001325607, + 0.14275282621383667, + -0.16922211647033691, + -0.21940067410469055, + 0.0, + 0.9988223910331726 + ], + [ + 0.37282606959342957, + 0.05294192209839821, + 0.09372752159833908, + 0.11690512299537659, + -0.1658230870962143, + -0.08401427417993546, + 0.0, + 0.9988223910331726 + ], + [ + 0.3849826157093048, + 0.09166645258665085, + 0.08129226416349411, + 0.10948764532804489, + -0.14326150715351105, + -0.025029558688402176, + 0.0, + 0.9988223910331726 + ], + [ + 0.38817545771598816, + 0.0999993160367012, + 0.057351503521203995, + 0.07413076609373093, + -0.09568716585636139, + -0.01906740851700306, + 0.0, + 0.9988223910331726 + ], + [ + 0.3920644223690033, + 0.0973178818821907, + 0.042645614594221115, + 0.06452210247516632, + -0.06784288585186005, + -0.029124068096280098, + 0.0, + 0.9988223910331726 + ], + [ + 0.394673615694046, + 0.08729458600282669, + 0.029135659337043762, + 0.04606688767671585, + -0.03915739431977272, + -0.048640135675668716, + 0.0, + 0.9988223910331726 + ], + [ + 0.3949907124042511, + 0.08461224287748337, + 0.017171844840049744, + 0.028266413137316704, + -0.007416150998324156, + -0.041358038783073425, + 0.0, + 0.9530308246612549 + ], + [ + 0.39660489559173584, + 0.08383345603942871, + 0.013382501900196075, + 0.015930166468024254, + -0.00253311637789011, + -0.03398371487855911, + 0.0, + 0.6751802563667297 + ], + [ + 0.3975372612476349, + 0.0833788737654686, + 0.01457812637090683, + 0.018063554540276527, + -0.01143841166049242, + -0.03871471807360649, + 0.0, + 0.40415963530540466 + ], + [ + 0.39421573281288147, + 0.08501513302326202, + 0.02637317217886448, + 0.03756685182452202, + -0.04432612657546997, + -0.05158977210521698, + 0.0, + 0.228750541806221 + ], + [ + 0.38875851035118103, + 0.09161426872015, + 0.04628545418381691, + 0.06439463049173355, + -0.08389388024806976, + -0.06972137093544006, + 0.0, + 0.10394904017448425 + ], + [ + 0.3843759596347809, + 0.09527196735143661, + 0.08991333842277527, + 0.11564166098833084, + -0.1970275193452835, + -0.10013528913259506, + 0.0, + 0.07270156592130661 + ], + [ + 0.37201520800590515, + 0.07554503530263901, + 0.1261180192232132, + 0.12349958717823029, + -0.25787702202796936, + -0.13010884821414948, + 0.0, + 0.07206849008798599 + ], + [ + 0.35243961215019226, + 0.024261105805635452, + 0.1344674527645111, + 0.09943997114896774, + -0.25511011481285095, + -0.20961397886276245, + 0.0, + 0.07175325602293015 + ], + [ + 0.331351637840271, + -0.006803392898291349, + 0.11407128721475601, + 0.04327882453799248, + -0.2010832130908966, + -0.21113421022891998, + 0.0, + 0.07143880426883698 + ], + [ + 0.31271669268608093, + -0.04359223693609238, + 0.09557425230741501, + 0.03611176833510399, + -0.14752241969108582, + -0.25393742322921753, + 0.0, + 0.07143880426883698 + ], + [ + 0.3008996844291687, + -0.05016786977648735, + 0.08555851131677628, + 0.04816565662622452, + -0.10859543830156326, + -0.24144165217876434, + 0.0, + 0.07143880426883698 + ], + [ + 0.28867051005363464, + -0.06566858291625977, + 0.0676664412021637, + 0.04402696341276169, + -0.044590193778276443, + -0.2588919401168823, + 0.0, + 0.07143880426883698 + ], + [ + 0.28019577264785767, + -0.06840824335813522, + 0.05784979090094566, + 0.0666830912232399, + -0.00232626567594707, + -0.2631569504737854, + 0.0, + 0.07143880426883698 + ], + [ + 0.2697612941265106, + -0.07119159400463104, + 0.04491596668958664, + 0.07927020639181137, + 0.04121973365545273, + -0.2669256031513214, + 0.0, + 0.07143880426883698 + ], + [ + 0.26976779103279114, + -0.07254822552204132, + 0.043219029903411865, + 0.07381170243024826, + 0.04002731665968895, + -0.2671111226081848, + 0.0, + 0.09813859313726425 + ], + [ + 0.2696693241596222, + -0.0774383544921875, + 0.03997737914323807, + 0.0437382273375988, + 0.03642323613166809, + -0.2739599347114563, + 0.0, + 0.27305713295936584 + ], + [ + 0.2700093686580658, + -0.0774683728814125, + 0.042462173849344254, + 0.05843249335885048, + -0.03098403289914131, + -0.2802056074142456, + 0.0, + 0.5531353950500488 + ], + [ + 0.2695305645465851, + -0.07699322700500488, + 0.05867868289351463, + 0.10584509372711182, + -0.157119482755661, + -0.26224634051322937, + 0.0, + 0.8553624749183655 + ], + [ + 0.26688599586486816, + -0.06759034842252731, + 0.06845300644636154, + 0.13942855596542358, + -0.21323652565479279, + -0.19733579456806183, + 0.0, + 1.0086473226547241 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9530308246612549 + ], + [ + 0.6751802563667297 + ], + [ + 0.40415963530540466 + ], + [ + 0.228750541806221 + ], + [ + 0.10394904017448425 + ], + [ + 0.07270156592130661 + ], + [ + 0.07206849008798599 + ], + [ + 0.07175325602293015 + ], + [ + 0.07143880426883698 + ], + [ + 0.07143880426883698 + ], + [ + 0.07143880426883698 + ], + [ + 0.07143880426883698 + ], + [ + 0.07143880426883698 + ], + [ + 0.07143880426883698 + ], + [ + 0.09813859313726425 + ], + [ + 0.27305713295936584 + ], + [ + 0.5531353950500488 + ], + [ + 0.8553624749183655 + ], + [ + 1.0086473226547241 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.34539324045181274, + -0.04318811371922493, + 0.09845438599586487 + ], + [ + 0.3447287976741791, + -0.04306638613343239, + 0.08934584259986877 + ], + [ + 0.355371356010437, + 0.001813824288547039, + 0.09636610001325607 + ], + [ + 0.37282606959342957, + 0.05294192209839821, + 0.09372752159833908 + ], + [ + 0.3849826157093048, + 0.09166645258665085, + 0.08129226416349411 + ], + [ + 0.38817545771598816, + 0.0999993160367012, + 0.057351503521203995 + ], + [ + 0.3920644223690033, + 0.0973178818821907, + 0.042645614594221115 + ], + [ + 0.394673615694046, + 0.08729458600282669, + 0.029135659337043762 + ], + [ + 0.3949907124042511, + 0.08461224287748337, + 0.017171844840049744 + ], + [ + 0.39660489559173584, + 0.08383345603942871, + 0.013382501900196075 + ], + [ + 0.3975372612476349, + 0.0833788737654686, + 0.01457812637090683 + ], + [ + 0.39421573281288147, + 0.08501513302326202, + 0.02637317217886448 + ], + [ + 0.38875851035118103, + 0.09161426872015, + 0.04628545418381691 + ], + [ + 0.3843759596347809, + 0.09527196735143661, + 0.08991333842277527 + ], + [ + 0.37201520800590515, + 0.07554503530263901, + 0.1261180192232132 + ], + [ + 0.35243961215019226, + 0.024261105805635452, + 0.1344674527645111 + ], + [ + 0.331351637840271, + -0.006803392898291349, + 0.11407128721475601 + ], + [ + 0.31271669268608093, + -0.04359223693609238, + 0.09557425230741501 + ], + [ + 0.3008996844291687, + -0.05016786977648735, + 0.08555851131677628 + ], + [ + 0.28867051005363464, + -0.06566858291625977, + 0.0676664412021637 + ], + [ + 0.28019577264785767, + -0.06840824335813522, + 0.05784979090094566 + ], + [ + 0.2697612941265106, + -0.07119159400463104, + 0.04491596668958664 + ], + [ + 0.26976779103279114, + -0.07254822552204132, + 0.043219029903411865 + ], + [ + 0.2696693241596222, + -0.0774383544921875, + 0.03997737914323807 + ], + [ + 0.2700093686580658, + -0.0774683728814125, + 0.042462173849344254 + ], + [ + 0.2695305645465851, + -0.07699322700500488, + 0.05867868289351463 + ], + [ + 0.26688599586486816, + -0.06759034842252731, + 0.06845300644636154 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9322861897419594, + -0.2902228958029063, + 0.215900743787961, + -0.3067049089435996, + -0.9506701145744696, + 0.046458929011151825, + 0.19176693992009594, + -0.1095308358716409, + -0.9753094056487623 + ], + [ + 0.9371864406694856, + -0.2930255220419516, + 0.18925543283431023, + -0.3073765511759012, + -0.9502270212210364, + 0.050874983327804636, + 0.164927957643539, + -0.10585202678001734, + -0.9806090542178841 + ], + [ + 0.9620865509658031, + -0.19204498328774056, + 0.19367031998924428, + -0.21453588222771058, + -0.9713148296244012, + 0.10257610339888099, + 0.16841562780069647, + -0.14023632249075657, + -0.9756894742523183 + ], + [ + 0.9828040856707005, + -0.06415768227154776, + 0.17314710795887253, + -0.08276439162430611, + -0.9912869444915832, + 0.10247072342674027, + 0.1650641834803566, + -0.11503906069715683, + -0.979550830659583 + ], + [ + 0.9894455952094233, + -0.009281422077684221, + 0.14460729347057946, + -0.02477055955387118, + -0.9940912995861043, + 0.10568305193643308, + 0.1427719632843176, + -0.10814963380162952, + -0.9838291636298018 + ], + [ + 0.9952445291384888, + -0.011939117084877222, + 0.0966735987906803, + -0.018979034111411674, + -0.9972072084551404, + 0.07223281573706067, + 0.09554121353691139, + -0.07372408621569942, + -0.992691611542857 + ], + [ + 0.9972764538385381, + -0.024690236822619737, + 0.06949868218083892, + -0.02905296216762925, + -0.9976232604777083, + 0.062480041158061245, + 0.06779085490327295, + -0.06432901646589723, + -0.9956235119923665 + ], + [ + 0.9980516555930135, + -0.04676874863007388, + 0.04129863096546702, + -0.04858368809722277, + -0.9978453170293275, + 0.04409476764325416, + 0.03914738840480477, + -0.04601529565500761, + -0.9981733689829967 + ], + [ + 0.9991174022076821, + -0.04112031394767761, + 0.008575335947759239, + -0.04134511238880201, + -0.9987544174485429, + 0.02793197645314015, + 0.0074160830179975665, + -0.028261871980919378, + -0.9995730430062648 + ], + [ + 0.9994194026483402, + -0.03393253497458681, + 0.0030725689956451084, + -0.03397706498765304, + -0.9992971709959115, + 0.01583423804268072, + 0.0025331136688587098, + -0.015929441602451674, + -0.9998699096509377 + ], + [ + 0.9991853100029272, + -0.03849228545029404, + 0.01212683945500865, + -0.0387025156684897, + -0.9990956561461525, + 0.01760639516822549, + 0.0114381622337149, + -0.018061390608214153, + -0.9997714511897272 + ], + [ + 0.9976886077553462, + -0.0498684656187922, + 0.046158185536550135, + -0.05151623958677852, + -0.9980507508627161, + 0.035224647070005576, + 0.04431161263186976, + -0.03752112523893918, + -0.9983128999200437 + ], + [ + 0.9940619663831213, + -0.064141357842883, + 0.08790161093286608, + -0.06941988452366762, + -0.9958785179993066, + 0.05836828779589962, + 0.08379550479138115, + -0.06412381462121186, + -0.9944176435357438 + ], + [ + 0.9757403547153888, + -0.07682644564804823, + 0.205008432580162, + -0.0980339263291672, + -0.9906030405392743, + 0.09536752782175036, + 0.19575522845731286, + -0.11315172700154603, + -0.9741029602707266 + ], + [ + 0.9587608384668856, + -0.0976035464391578, + 0.26692920848939167, + -0.12545196528150182, + -0.9880717297901688, + 0.08930879685939282, + 0.2550283494619428, + -0.11911257075541017, + -0.9595690368382851 + ], + [ + 0.9464552417928798, + -0.18255023101311013, + 0.26626657401904896, + -0.20134786558999979, + -0.9784923529596994, + 0.04485256092735947, + 0.25235196116759806, + -0.09606314775423107, + -0.9628553158904073 + ], + [ + 0.9580920861749802, + -0.20092329656478988, + 0.20417978182575164, + -0.20534640967645193, + -0.978689233360672, + 0.00048635058414137414, + 0.19973083498014227, + -0.042393553772211795, + -0.978933286877455 + ], + [ + 0.957417393909432, + -0.24591661286987984, + 0.15125129207473725, + -0.2484884025897897, + -0.9686328969284412, + -0.0019557009972607092, + 0.14698791657155513, + -0.03571176980522975, + -0.9884934101344997 + ], + [ + 0.96527445269419, + -0.2337584953419003, + 0.11662845635359582, + -0.23769422997878342, + -0.9711158835438425, + 0.020866091240462143, + 0.10838212034613944, + -0.04786341592858624, + -0.9929563985417094 + ], + [ + 0.9657133925420222, + -0.25386499027166853, + 0.054315837279232185, + -0.25575510844181615, + -0.9662397706119159, + 0.031145307732421294, + 0.044575418908780196, + -0.04396899364549991, + -0.9980379550031697 + ], + [ + 0.9655709606274472, + -0.25940230238905865, + 0.01957461387215387, + -0.2601294072010217, + -0.9634679142734196, + 0.06373593707533644, + 0.002326263577845201, + -0.06663350269107542, + -0.9977748066657549 + ], + [ + 0.9637670464699882, + -0.26608646651958073, + -0.018736928073716713, + -0.26354311934389735, + -0.960696635651969, + 0.08721810874741664, + -0.041208062135993206, + -0.07911995059472643, + -0.9960130164977183 + ], + [ + 0.963764847024624, + -0.26607379031958595, + -0.019027815023595414, + -0.2637346944271863, + -0.9611322313634341, + 0.0816629952288359, + -0.04001662898098557, + -0.07368562912342667, + -0.9964783477154348 + ], + [ + 0.9620685854565335, + -0.2718199140107077, + -0.0231942067093601, + -0.2703663649794895, + -0.9613556348160612, + 0.051936231045252884, + -0.036415183171892705, + -0.04369528297905756, + -0.998381017788268 + ], + [ + 0.9605373498555269, + -0.2743426563791845, + 0.04587053981951938, + -0.2764205064844047, + -0.9598587957745286, + 0.04756885293106379, + 0.03097907563867263, + -0.05837121777969592, + -0.9978141599553941 + ], + [ + 0.9539133040085269, + -0.24183399817277992, + 0.17766745836900918, + -0.25605731921204, + -0.964690719719933, + 0.061696552287636784, + 0.15647382437161553, + -0.10434621513981965, + -0.9821546770608565 + ], + [ + 0.958383063243467, + -0.1653147503239214, + 0.2327508053979788, + -0.19161704420542763, + -0.9768425484215563, + 0.09519214233987035, + 0.21162422464841654, + -0.1358295583391865, + -0.9678664776834341 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.000664442777633667, + 0.0001217275857925415, + -0.009108543395996094, + -0.004306264221668243, + 0.02727721631526947, + 0.0009057521820068359, + 1.0 + ], + [ + 0.010642558336257935, + 0.044880211353302, + 0.007020257413387299, + 0.03522399812936783, + -0.0035371482372283936, + 0.09752237796783447, + 1.0 + ], + [ + 0.017454713582992554, + 0.051128096878528595, + -0.002638578414916992, + -0.025847703218460083, + 0.0033990293741226196, + 0.1353864073753357, + 1.0 + ], + [ + 0.012156546115875244, + 0.03872453048825264, + -0.01243525743484497, + -0.0074174776673316956, + 0.022561579942703247, + 0.05898471549153328, + 1.0 + ], + [ + 0.0031928420066833496, + 0.008332863450050354, + -0.023940760642290115, + -0.035356879234313965, + 0.04757434129714966, + 0.0059621501713991165, + 1.0 + ], + [ + 0.0038889646530151367, + -0.002681434154510498, + -0.01470588892698288, + -0.009608663618564606, + 0.027844280004501343, + -0.010056659579277039, + 1.0 + ], + [ + 0.0026091933250427246, + -0.010023295879364014, + -0.013509955257177353, + -0.01845521479845047, + 0.028685491532087326, + -0.01951606757938862, + 1.0 + ], + [ + 0.0003170967102050781, + -0.0026823431253433228, + -0.011963814496994019, + -0.017800474539399147, + 0.03174124285578728, + 0.007282096892595291, + 0.0 + ], + [ + 0.0016141831874847412, + -0.000778786838054657, + -0.003789342939853668, + -0.01233624666929245, + 0.004883034620434046, + 0.007374323904514313, + 0.0 + ], + [ + 0.0009323656558990479, + -0.0004545822739601135, + 0.0011956244707107544, + 0.0021333880722522736, + -0.00890529528260231, + -0.0047310031950473785, + 0.0 + ], + [ + -0.003321528434753418, + 0.0016362592577934265, + 0.01179504580795765, + 0.01950329728424549, + -0.032887715846300125, + -0.012875054031610489, + 0.0 + ], + [ + -0.0054572224617004395, + 0.00659913569688797, + 0.01991228200495243, + 0.026827778667211533, + -0.03956775367259979, + -0.018131598830223083, + 0.0 + ], + [ + -0.0043825507164001465, + 0.003657698631286621, + 0.04362788423895836, + 0.05124703049659729, + -0.11313363909721375, + -0.030413918197155, + 0.0 + ], + [ + -0.012360751628875732, + -0.019726932048797607, + 0.03620468080043793, + 0.007857926189899445, + -0.06084950268268585, + -0.029973559081554413, + 0.0 + ], + [ + -0.01957559585571289, + -0.051283929497003555, + 0.008349433541297913, + -0.024059616029262543, + 0.002766907215118408, + -0.07950513064861298, + 0.0 + ], + [ + -0.021087974309921265, + -0.03106449916958809, + -0.020396165549755096, + -0.056161146610975266, + 0.054026901721954346, + -0.0015202313661575317, + 0.0 + ], + [ + -0.018634945154190063, + -0.03678884357213974, + -0.018497034907341003, + -0.007167056202888489, + 0.05356079339981079, + -0.042803213000297546, + 0.0 + ], + [ + -0.011817008256912231, + -0.006575632840394974, + -0.010015740990638733, + 0.01205388829112053, + 0.03892698138952255, + 0.012495771050453186, + 0.0 + ], + [ + -0.012229174375534058, + -0.015500713139772415, + -0.01789207011461258, + -0.00413869321346283, + 0.06400524079799652, + -0.01745028793811798, + 0.0 + ], + [ + -0.008474737405776978, + -0.0027396604418754578, + -0.009816650301218033, + 0.02265612781047821, + 0.042263928800821304, + -0.004265010356903076, + 0.0 + ], + [ + -0.010434478521347046, + -0.002783350646495819, + -0.012933824211359024, + 0.012587115168571472, + 0.04354599863290787, + -0.0037686526775360107, + 0.0 + ], + [ + 6.496906280517578e-06, + -0.0013566315174102783, + -0.0016969367861747742, + -0.00545850396156311, + -0.0011924169957637787, + -0.00018551945686340332, + 1.0 + ], + [ + -9.846687316894531e-05, + -0.004890128970146179, + -0.0032416507601737976, + -0.03007347509264946, + -0.0036040805280208588, + -0.006848812103271484, + 1.0 + ], + [ + 0.0003400444984436035, + -3.0018389225006104e-05, + 0.002484794706106186, + 0.014694266021251678, + -0.0674072653055191, + -0.006245672702789307, + 1.0 + ], + [ + -0.0004788041114807129, + 0.0004751458764076233, + 0.01621650904417038, + 0.04741260036826134, + -0.12613545358181, + 0.017959266901016235, + 1.0 + ], + [ + -0.002644568681716919, + 0.00940287858247757, + 0.009774323552846909, + 0.03358346223831177, + -0.056117042899131775, + 0.06491054594516754, + 1.0 + ], + [ + -0.0007293820381164551, + 0.0006423443555831909, + 0.000104464590549469, + -0.00760418176651001, + 0.0033610016107559204, + 0.016713649034500122, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9530308246612549 + ], + [ + 0.6751802563667297 + ], + [ + 0.40415963530540466 + ], + [ + 0.228750541806221 + ], + [ + 0.10394904017448425 + ], + [ + 0.07270156592130661 + ], + [ + 0.07206849008798599 + ], + [ + 0.07175325602293015 + ], + [ + 0.07143880426883698 + ], + [ + 0.07143880426883698 + ], + [ + 0.07143880426883698 + ], + [ + 0.07143880426883698 + ], + [ + 0.07143880426883698 + ], + [ + 0.07143880426883698 + ], + [ + 0.09813859313726425 + ], + [ + 0.27305713295936584 + ], + [ + 0.5531353950500488 + ], + [ + 0.8553624749183655 + ], + [ + 1.0086473226547241 + ], + [ + 1.0054124593734741 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3447287976741791, + -0.04306638613343239, + 0.08934584259986877 + ], + [ + 0.355371356010437, + 0.001813824288547039, + 0.09636610001325607 + ], + [ + 0.37282606959342957, + 0.05294192209839821, + 0.09372752159833908 + ], + [ + 0.3849826157093048, + 0.09166645258665085, + 0.08129226416349411 + ], + [ + 0.38817545771598816, + 0.0999993160367012, + 0.057351503521203995 + ], + [ + 0.3920644223690033, + 0.0973178818821907, + 0.042645614594221115 + ], + [ + 0.394673615694046, + 0.08729458600282669, + 0.029135659337043762 + ], + [ + 0.3949907124042511, + 0.08461224287748337, + 0.017171844840049744 + ], + [ + 0.39660489559173584, + 0.08383345603942871, + 0.013382501900196075 + ], + [ + 0.3975372612476349, + 0.0833788737654686, + 0.01457812637090683 + ], + [ + 0.39421573281288147, + 0.08501513302326202, + 0.02637317217886448 + ], + [ + 0.38875851035118103, + 0.09161426872015, + 0.04628545418381691 + ], + [ + 0.3843759596347809, + 0.09527196735143661, + 0.08991333842277527 + ], + [ + 0.37201520800590515, + 0.07554503530263901, + 0.1261180192232132 + ], + [ + 0.35243961215019226, + 0.024261105805635452, + 0.1344674527645111 + ], + [ + 0.331351637840271, + -0.006803392898291349, + 0.11407128721475601 + ], + [ + 0.31271669268608093, + -0.04359223693609238, + 0.09557425230741501 + ], + [ + 0.3008996844291687, + -0.05016786977648735, + 0.08555851131677628 + ], + [ + 0.28867051005363464, + -0.06566858291625977, + 0.0676664412021637 + ], + [ + 0.28019577264785767, + -0.06840824335813522, + 0.05784979090094566 + ], + [ + 0.2697612941265106, + -0.07119159400463104, + 0.04491596668958664 + ], + [ + 0.26976779103279114, + -0.07254822552204132, + 0.043219029903411865 + ], + [ + 0.2696693241596222, + -0.0774383544921875, + 0.03997737914323807 + ], + [ + 0.2700093686580658, + -0.0774683728814125, + 0.042462173849344254 + ], + [ + 0.2695305645465851, + -0.07699322700500488, + 0.05867868289351463 + ], + [ + 0.26688599586486816, + -0.06759034842252731, + 0.06845300644636154 + ], + [ + 0.2661566138267517, + -0.06694800406694412, + 0.06855747103691101 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9371864406694856, + -0.2930255220419516, + 0.18925543283431023, + -0.3073765511759012, + -0.9502270212210364, + 0.050874983327804636, + 0.164927957643539, + -0.10585202678001734, + -0.9806090542178841 + ], + [ + 0.9620865509658031, + -0.19204498328774056, + 0.19367031998924428, + -0.21453588222771058, + -0.9713148296244012, + 0.10257610339888099, + 0.16841562780069647, + -0.14023632249075657, + -0.9756894742523183 + ], + [ + 0.9828040856707005, + -0.06415768227154776, + 0.17314710795887253, + -0.08276439162430611, + -0.9912869444915832, + 0.10247072342674027, + 0.1650641834803566, + -0.11503906069715683, + -0.979550830659583 + ], + [ + 0.9894455952094233, + -0.009281422077684221, + 0.14460729347057946, + -0.02477055955387118, + -0.9940912995861043, + 0.10568305193643308, + 0.1427719632843176, + -0.10814963380162952, + -0.9838291636298018 + ], + [ + 0.9952445291384888, + -0.011939117084877222, + 0.0966735987906803, + -0.018979034111411674, + -0.9972072084551404, + 0.07223281573706067, + 0.09554121353691139, + -0.07372408621569942, + -0.992691611542857 + ], + [ + 0.9972764538385381, + -0.024690236822619737, + 0.06949868218083892, + -0.02905296216762925, + -0.9976232604777083, + 0.062480041158061245, + 0.06779085490327295, + -0.06432901646589723, + -0.9956235119923665 + ], + [ + 0.9980516555930135, + -0.04676874863007388, + 0.04129863096546702, + -0.04858368809722277, + -0.9978453170293275, + 0.04409476764325416, + 0.03914738840480477, + -0.04601529565500761, + -0.9981733689829967 + ], + [ + 0.9991174022076821, + -0.04112031394767761, + 0.008575335947759239, + -0.04134511238880201, + -0.9987544174485429, + 0.02793197645314015, + 0.0074160830179975665, + -0.028261871980919378, + -0.9995730430062648 + ], + [ + 0.9994194026483402, + -0.03393253497458681, + 0.0030725689956451084, + -0.03397706498765304, + -0.9992971709959115, + 0.01583423804268072, + 0.0025331136688587098, + -0.015929441602451674, + -0.9998699096509377 + ], + [ + 0.9991853100029272, + -0.03849228545029404, + 0.01212683945500865, + -0.0387025156684897, + -0.9990956561461525, + 0.01760639516822549, + 0.0114381622337149, + -0.018061390608214153, + -0.9997714511897272 + ], + [ + 0.9976886077553462, + -0.0498684656187922, + 0.046158185536550135, + -0.05151623958677852, + -0.9980507508627161, + 0.035224647070005576, + 0.04431161263186976, + -0.03752112523893918, + -0.9983128999200437 + ], + [ + 0.9940619663831213, + -0.064141357842883, + 0.08790161093286608, + -0.06941988452366762, + -0.9958785179993066, + 0.05836828779589962, + 0.08379550479138115, + -0.06412381462121186, + -0.9944176435357438 + ], + [ + 0.9757403547153888, + -0.07682644564804823, + 0.205008432580162, + -0.0980339263291672, + -0.9906030405392743, + 0.09536752782175036, + 0.19575522845731286, + -0.11315172700154603, + -0.9741029602707266 + ], + [ + 0.9587608384668856, + -0.0976035464391578, + 0.26692920848939167, + -0.12545196528150182, + -0.9880717297901688, + 0.08930879685939282, + 0.2550283494619428, + -0.11911257075541017, + -0.9595690368382851 + ], + [ + 0.9464552417928798, + -0.18255023101311013, + 0.26626657401904896, + -0.20134786558999979, + -0.9784923529596994, + 0.04485256092735947, + 0.25235196116759806, + -0.09606314775423107, + -0.9628553158904073 + ], + [ + 0.9580920861749802, + -0.20092329656478988, + 0.20417978182575164, + -0.20534640967645193, + -0.978689233360672, + 0.00048635058414137414, + 0.19973083498014227, + -0.042393553772211795, + -0.978933286877455 + ], + [ + 0.957417393909432, + -0.24591661286987984, + 0.15125129207473725, + -0.2484884025897897, + -0.9686328969284412, + -0.0019557009972607092, + 0.14698791657155513, + -0.03571176980522975, + -0.9884934101344997 + ], + [ + 0.96527445269419, + -0.2337584953419003, + 0.11662845635359582, + -0.23769422997878342, + -0.9711158835438425, + 0.020866091240462143, + 0.10838212034613944, + -0.04786341592858624, + -0.9929563985417094 + ], + [ + 0.9657133925420222, + -0.25386499027166853, + 0.054315837279232185, + -0.25575510844181615, + -0.9662397706119159, + 0.031145307732421294, + 0.044575418908780196, + -0.04396899364549991, + -0.9980379550031697 + ], + [ + 0.9655709606274472, + -0.25940230238905865, + 0.01957461387215387, + -0.2601294072010217, + -0.9634679142734196, + 0.06373593707533644, + 0.002326263577845201, + -0.06663350269107542, + -0.9977748066657549 + ], + [ + 0.9637670464699882, + -0.26608646651958073, + -0.018736928073716713, + -0.26354311934389735, + -0.960696635651969, + 0.08721810874741664, + -0.041208062135993206, + -0.07911995059472643, + -0.9960130164977183 + ], + [ + 0.963764847024624, + -0.26607379031958595, + -0.019027815023595414, + -0.2637346944271863, + -0.9611322313634341, + 0.0816629952288359, + -0.04001662898098557, + -0.07368562912342667, + -0.9964783477154348 + ], + [ + 0.9620685854565335, + -0.2718199140107077, + -0.0231942067093601, + -0.2703663649794895, + -0.9613556348160612, + 0.051936231045252884, + -0.036415183171892705, + -0.04369528297905756, + -0.998381017788268 + ], + [ + 0.9605373498555269, + -0.2743426563791845, + 0.04587053981951938, + -0.2764205064844047, + -0.9598587957745286, + 0.04756885293106379, + 0.03097907563867263, + -0.05837121777969592, + -0.9978141599553941 + ], + [ + 0.9539133040085269, + -0.24183399817277992, + 0.17766745836900918, + -0.25605731921204, + -0.964690719719933, + 0.061696552287636784, + 0.15647382437161553, + -0.10434621513981965, + -0.9821546770608565 + ], + [ + 0.958383063243467, + -0.1653147503239214, + 0.2327508053979788, + -0.19161704420542763, + -0.9768425484215563, + 0.09519214233987035, + 0.21162422464841654, + -0.1358295583391865, + -0.9678664776834341 + ], + [ + 0.9621459437771425, + -0.15114393184961053, + 0.22678336521498219, + -0.17569973037366746, + -0.9801164161460363, + 0.09220312113844273, + 0.20833815689837584, + -0.1285586351284505, + -0.9695709822978912 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006165.json b/json/chunk-0006/episode_0006165.json new file mode 100644 index 0000000000000000000000000000000000000000..31a0c8a105d284d7c6c8f94641bfe192bafe4f8a --- /dev/null +++ b/json/chunk-0006/episode_0006165.json @@ -0,0 +1,2242 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 36, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut the white object inside the orange pan." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006165.mp4", + "start": 0, + "end": 36, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.31145474314689636, + 0.067984938621521, + 0.12259253859519958, + 0.06305132806301117, + -0.08612839132547379, + -0.16552872955799103, + 0.0, + 1.0014774799346924 + ], + [ + 0.3087905943393707, + 0.06717457622289658, + 0.11271317303180695, + 0.05187532305717468, + -0.05449937656521797, + -0.1591348648071289, + 0.0, + 1.0014774799346924 + ], + [ + 0.3044843375682831, + 0.06094742193818092, + 0.10216325521469116, + 0.09111832082271576, + -0.02422936260700226, + -0.13057489693164825, + 0.0, + 1.0014774799346924 + ], + [ + 0.29031142592430115, + 0.04619930684566498, + 0.0887424498796463, + 0.11418206989765167, + 0.007590433117002249, + -0.09171823412179947, + 0.0, + 1.0014774799346924 + ], + [ + 0.2782055735588074, + 0.03435918316245079, + 0.09109284728765488, + 0.11878549307584763, + -0.021730739623308182, + -0.08793893456459045, + 0.0, + 1.0014774799346924 + ], + [ + 0.26679402589797974, + 0.02826652117073536, + 0.0820963978767395, + 0.11123224347829819, + -0.06180291250348091, + -0.07009636610746384, + 0.0, + 1.0014774799346924 + ], + [ + 0.2584633529186249, + 0.02125517837703228, + 0.07012376189231873, + 0.10968539118766785, + -0.0937080979347229, + -0.06175084039568901, + 0.0, + 1.0014774799346924 + ], + [ + 0.2518453001976013, + 0.016901593655347824, + 0.06202606484293938, + 0.1009414941072464, + -0.135996475815773, + -0.05461490899324417, + 0.0, + 1.0014774799346924 + ], + [ + 0.24931050837039948, + 0.011770063079893589, + 0.056190866976976395, + 0.11195574700832367, + -0.15380029380321503, + -0.04591667652130127, + 0.0, + 1.0014774799346924 + ], + [ + 0.24754247069358826, + 0.005161150824278593, + 0.05107789859175682, + 0.12952664494514465, + -0.17572015523910522, + -0.0422121100127697, + 0.0, + 1.0014774799346924 + ], + [ + 0.24392108619213104, + 0.006066258065402508, + 0.044524677097797394, + 0.14428222179412842, + -0.19091305136680603, + -0.05541446432471275, + 0.0, + 1.0014774799346924 + ], + [ + 0.24175246059894562, + 0.007976241409778595, + 0.03904176503419876, + 0.15900632739067078, + -0.21240617334842682, + -0.07380888611078262, + 0.0, + 1.0014774799346924 + ], + [ + 0.2410496175289154, + 0.01232292503118515, + 0.03226197138428688, + 0.18631333112716675, + -0.2594100534915924, + -0.11759047210216522, + 0.0, + 1.0014774799346924 + ], + [ + 0.2446032613515854, + 0.018763918429613113, + 0.022783618420362473, + 0.20149707794189453, + -0.30139824748039246, + -0.13307823240756989, + 0.0, + 1.0008161067962646 + ], + [ + 0.250698983669281, + 0.020730527117848396, + 0.020856421440839767, + 0.20372523367404938, + -0.34592950344085693, + -0.1367845982313156, + 0.0, + 0.9575772881507874 + ], + [ + 0.2543928623199463, + 0.024494310840964317, + 0.020509425550699234, + 0.19427619874477386, + -0.3347478210926056, + -0.12159571796655655, + 0.0, + 0.8344376683235168 + ], + [ + 0.25477442145347595, + 0.025205403566360474, + 0.03046618029475212, + 0.12599793076515198, + -0.19907280802726746, + -0.08041170239448547, + 0.0, + 0.8335172533988953 + ], + [ + 0.2783430516719818, + 0.025244178250432014, + 0.07080309092998505, + 0.09946785867214203, + -0.1396988183259964, + -0.014964238740503788, + 0.0, + 0.8335172533988953 + ], + [ + 0.3098340630531311, + 0.03405950963497162, + 0.10270557552576065, + 0.09805630892515182, + -0.09623197466135025, + -0.02907000295817852, + 0.0, + 0.8335172533988953 + ], + [ + 0.3483002781867981, + 0.05962760001420975, + 0.1134558618068695, + 0.15214122831821442, + -0.07501529157161713, + -0.11051921546459198, + 0.0, + 0.8335172533988953 + ], + [ + 0.3706536889076233, + 0.0861421525478363, + 0.10751067101955414, + 0.1482178419828415, + -0.12089145928621292, + -0.19822683930397034, + 0.0, + 0.8335172533988953 + ], + [ + 0.3853362798690796, + 0.11306148767471313, + 0.08370659500360489, + 0.12111708521842957, + -0.15435923635959625, + -0.2909854054450989, + 0.0, + 0.8335172533988953 + ], + [ + 0.39124464988708496, + 0.12360462546348572, + 0.07962315529584885, + 0.15231481194496155, + -0.21086975932121277, + -0.2921561002731323, + 0.0, + 0.8335172533988953 + ], + [ + 0.39317911863327026, + 0.11946077644824982, + 0.06803429126739502, + 0.15896975994110107, + -0.24164587259292603, + -0.29169923067092896, + 0.0, + 0.8335172533988953 + ], + [ + 0.3948742747306824, + 0.11841779947280884, + 0.0637250766158104, + 0.17002364993095398, + -0.26597487926483154, + -0.2652856409549713, + 0.0, + 0.8922415375709534 + ], + [ + 0.3950153589248657, + 0.11642084270715714, + 0.062442485243082047, + 0.17397405207157135, + -0.2657166123390198, + -0.25990086793899536, + 0.0, + 1.0067112445831299 + ], + [ + 0.39246633648872375, + 0.11330365389585495, + 0.06408888846635818, + 0.1617380827665329, + -0.2363576740026474, + -0.23714306950569153, + 0.0, + 1.0001531839370728 + ], + [ + 0.3931408226490021, + 0.10712146013975143, + 0.07409866899251938, + 0.15858720242977142, + -0.19275841116905212, + -0.23391412198543549, + 0.0, + 1.0001531839370728 + ], + [ + 0.39152032136917114, + 0.10349879413843155, + 0.08563651889562607, + 0.1322174370288849, + -0.1519378125667572, + -0.21566155552864075, + 0.0, + 1.0001531839370728 + ], + [ + 0.3903372585773468, + 0.10196879506111145, + 0.0924907773733139, + 0.11670687794685364, + -0.13042011857032776, + -0.21134606003761292, + 0.0, + 1.0001531839370728 + ], + [ + 0.3859662115573883, + 0.100582554936409, + 0.09176865965127945, + 0.10185390710830688, + -0.10521156340837479, + -0.20717857778072357, + 0.0, + 1.0001531839370728 + ], + [ + 0.3792719841003418, + 0.10114311426877975, + 0.09150775521993637, + 0.09781906753778458, + -0.07161379605531693, + -0.1818392276763916, + 0.0, + 1.0001531839370728 + ], + [ + 0.3535822331905365, + 0.09624096751213074, + 0.09392648190259933, + 0.12181342393159866, + -0.059269923716783524, + -0.16869233548641205, + 0.0, + 1.0001531839370728 + ], + [ + 0.33449819684028625, + 0.09005992859601974, + 0.10324307531118393, + 0.14457561075687408, + -0.055288683623075485, + -0.15162670612335205, + 0.0, + 1.0001531839370728 + ], + [ + 0.318878710269928, + 0.08426383882761002, + 0.1074029803276062, + 0.1621558517217636, + -0.054373301565647125, + -0.1379132717847824, + 0.0, + 1.0001531839370728 + ], + [ + 0.3043990135192871, + 0.08240839093923569, + 0.10735128819942474, + 0.17859825491905212, + -0.0649222731590271, + -0.13981014490127563, + 0.0, + 1.0001531839370728 + ] + ], + "left_gripper_pos": [ + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 0.9575772881507874 + ], + [ + 0.8344376683235168 + ], + [ + 0.8335172533988953 + ], + [ + 0.8335172533988953 + ], + [ + 0.8335172533988953 + ], + [ + 0.8335172533988953 + ], + [ + 0.8335172533988953 + ], + [ + 0.8335172533988953 + ], + [ + 0.8335172533988953 + ], + [ + 0.8335172533988953 + ], + [ + 0.8922415375709534 + ], + [ + 1.0067112445831299 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.31145474314689636, + 0.067984938621521, + 0.12259253859519958 + ], + [ + 0.3087905943393707, + 0.06717457622289658, + 0.11271317303180695 + ], + [ + 0.3044843375682831, + 0.06094742193818092, + 0.10216325521469116 + ], + [ + 0.29031142592430115, + 0.04619930684566498, + 0.0887424498796463 + ], + [ + 0.2782055735588074, + 0.03435918316245079, + 0.09109284728765488 + ], + [ + 0.26679402589797974, + 0.02826652117073536, + 0.0820963978767395 + ], + [ + 0.2584633529186249, + 0.02125517837703228, + 0.07012376189231873 + ], + [ + 0.2518453001976013, + 0.016901593655347824, + 0.06202606484293938 + ], + [ + 0.24931050837039948, + 0.011770063079893589, + 0.056190866976976395 + ], + [ + 0.24754247069358826, + 0.005161150824278593, + 0.05107789859175682 + ], + [ + 0.24392108619213104, + 0.006066258065402508, + 0.044524677097797394 + ], + [ + 0.24175246059894562, + 0.007976241409778595, + 0.03904176503419876 + ], + [ + 0.2410496175289154, + 0.01232292503118515, + 0.03226197138428688 + ], + [ + 0.2446032613515854, + 0.018763918429613113, + 0.022783618420362473 + ], + [ + 0.250698983669281, + 0.020730527117848396, + 0.020856421440839767 + ], + [ + 0.2543928623199463, + 0.024494310840964317, + 0.020509425550699234 + ], + [ + 0.25477442145347595, + 0.025205403566360474, + 0.03046618029475212 + ], + [ + 0.2783430516719818, + 0.025244178250432014, + 0.07080309092998505 + ], + [ + 0.3098340630531311, + 0.03405950963497162, + 0.10270557552576065 + ], + [ + 0.3483002781867981, + 0.05962760001420975, + 0.1134558618068695 + ], + [ + 0.3706536889076233, + 0.0861421525478363, + 0.10751067101955414 + ], + [ + 0.3853362798690796, + 0.11306148767471313, + 0.08370659500360489 + ], + [ + 0.39124464988708496, + 0.12360462546348572, + 0.07962315529584885 + ], + [ + 0.39317911863327026, + 0.11946077644824982, + 0.06803429126739502 + ], + [ + 0.3948742747306824, + 0.11841779947280884, + 0.0637250766158104 + ], + [ + 0.3950153589248657, + 0.11642084270715714, + 0.062442485243082047 + ], + [ + 0.39246633648872375, + 0.11330365389585495, + 0.06408888846635818 + ], + [ + 0.3931408226490021, + 0.10712146013975143, + 0.07409866899251938 + ], + [ + 0.39152032136917114, + 0.10349879413843155, + 0.08563651889562607 + ], + [ + 0.3903372585773468, + 0.10196879506111145, + 0.0924907773733139 + ], + [ + 0.3859662115573883, + 0.100582554936409, + 0.09176865965127945 + ], + [ + 0.3792719841003418, + 0.10114311426877975, + 0.09150775521993637 + ], + [ + 0.3535822331905365, + 0.09624096751213074, + 0.09392648190259933 + ], + [ + 0.33449819684028625, + 0.09005992859601974, + 0.10324307531118393 + ], + [ + 0.318878710269928, + 0.08426383882761002, + 0.1074029803276062 + ], + [ + 0.3043990135192871, + 0.08240839093923569, + 0.10735128819942474 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9826752810772856, + -0.15910032008392333, + 0.09505987644043715, + -0.16416307979989042, + -0.9852645645355089, + 0.04800230308296807, + 0.08602194598062085, + -0.0627759987562719, + -0.9943135314325456 + ], + [ + 0.9858987820782077, + -0.15546207468365242, + 0.06192846544006345, + -0.1582287867198806, + -0.9864841028001337, + 0.04257658952722545, + 0.05447240172657334, + -0.051775073709940646, + -0.997172050948315 + ], + [ + 0.9911961855903296, + -0.12747832450419905, + 0.03576867977411531, + -0.13016594996561004, + -0.9876611463923063, + 0.08707631926411391, + 0.024226991986860076, + -0.09096557969164887, + -0.9955592981689394 + ], + [ + 0.9957681443908765, + -0.09185445777756769, + 0.0029259533044509326, + -0.09158705720745806, + -0.9892333001743441, + 0.1141459100373467, + -0.00759036023048948, + -0.11393084048037774, + -0.9934596871635035 + ], + [ + 0.9959006721580423, + -0.08464167702162366, + 0.03190043426235905, + -0.08780490008005322, + -0.9893425408614854, + 0.11615350344984197, + 0.021729029363775507, + -0.11847836660212584, + -0.9927188554319903 + ], + [ + 0.9956397518047003, + -0.06276703450486688, + 0.06900568096714572, + -0.06990525925175282, + -0.9918596848431551, + 0.10643129385562368, + 0.061763576282626916, + -0.11079108701651837, + -0.9919226762618537 + ], + [ + 0.9937149930417817, + -0.05111746951456765, + 0.0995867306140679, + -0.06144085052055316, + -0.9927281623963768, + 0.10351723273167476, + 0.09357101309317285, + -0.10898531963315022, + -0.9896295597915299 + ], + [ + 0.9892894668348182, + -0.04066808434587049, + 0.1401872238305539, + -0.05408373834221786, + -0.9941720859202862, + 0.0932567039082841, + 0.13557765323463586, + -0.0998397240207725, + -0.9857234548547805 + ], + [ + 0.9871544862913257, + -0.028516005469691654, + 0.1572032366936552, + -0.04535873493464862, + -0.9934777094381754, + 0.10461656663552334, + 0.15319466492028094, + -0.11040325303870861, + -0.9820094278358197 + ], + [ + 0.9837238173478995, + -0.019285960646797287, + 0.17864910552366792, + -0.04154973956938996, + -0.9916926849414356, + 0.1217342916986108, + 0.17481724836008694, + -0.127175745940713, + -0.9763530403087968 + ], + [ + 0.9803242879816395, + -0.027569046800172022, + 0.19545904443596804, + -0.054379819191069156, + -0.9896014491926756, + 0.13316083140512225, + 0.1897554364386919, + -0.1411698247299567, + -0.9716295358456716 + ], + [ + 0.9748650410968113, + -0.039523056418952304, + 0.21926258152867154, + -0.07208465011465703, + -0.9871582773582266, + 0.14255644026485254, + 0.2108126060394883, + -0.15477875647014128, + -0.9651951003193068 + ], + [ + 0.9598667349484074, + -0.06810214712631085, + 0.2720623985343625, + -0.11339431899202826, + -0.9814820145238681, + 0.1543851792967959, + 0.2565103887951093, + -0.17903952838118176, + -0.9498143332868935 + ], + [ + 0.9464790672878328, + -0.07111498152671517, + 0.3148333441495817, + -0.12670461769315808, + -0.9789881733746494, + 0.1597751427719532, + 0.2968557141797756, + -0.1911146666141098, + -0.9356024097680558 + ], + [ + 0.9319735759229739, + -0.06557874797818182, + 0.3565454832065041, + -0.12828067579033497, + -0.9795266791118875, + 0.15515009870062266, + 0.3390712638961319, + -0.19033368782654345, + -0.9213054679519861 + ], + [ + 0.9375193764127138, + -0.05605772592866866, + 0.34338746368267814, + -0.11456352607050878, + -0.9816361289566906, + 0.15253100937584918, + 0.3285309990625058, + -0.1823404554415443, + -0.9267250622295493 + ], + [ + 0.9770828985018138, + -0.054917077417441854, + 0.20565292135834456, + -0.07873868165504168, + -0.9908632942045532, + 0.1094995534663387, + 0.19776053566503293, + -0.12318298099180854, + -0.9724796777966374 + ], + [ + 0.9901471077356147, + -0.0010637034674278187, + 0.14002704587946743, + -0.014817903774917963, + -0.9951526523758473, + 0.09721948465731113, + 0.13924487340837496, + -0.09833649884071156, + -0.9853632823609961 + ], + [ + 0.9949527277204658, + -0.019523756052272478, + 0.09842709256711794, + -0.02893142884391704, + -0.9950492663166112, + 0.09507854662237555, + 0.096083515894528, + -0.09744629573454924, + -0.9905918318969528 + ], + [ + 0.9911037957019733, + -0.09773135099949617, + 0.0903429531117663, + -0.10998417948983161, + -0.983671024153491, + 0.1424598066219765, + 0.07494495584820923, + -0.1511287506486959, + -0.9856689882106845 + ], + [ + 0.973261756228765, + -0.17731148719714954, + 0.1460211983598088, + -0.19549390595448632, + -0.9731750510559735, + 0.12129489987984349, + 0.12059720808193701, + -0.1465979416981626, + -0.9818173745115247 + ], + [ + 0.9465717062644933, + -0.2669996321071937, + 0.18086791134457664, + -0.28348521877534205, + -0.9562732358984837, + 0.07195574362161779, + 0.1537469857767068, + -0.11938465043240161, + -0.9808716376803394 + ], + [ + 0.9364129781708668, + -0.25427089121911783, + 0.24182028077025136, + -0.2816378178774952, + -0.9556850610464861, + 0.08570999728022866, + 0.2093104723953642, + -0.14836569000685265, + -0.9665281931606651 + ], + [ + 0.9299293886705877, + -0.24767261138493102, + 0.2718264329613956, + -0.2792245733895713, + -0.9565741337677183, + 0.08366339834091988, + 0.23930100230078238, + -0.15370167265293005, + -0.9587026786869496 + ], + [ + 0.9310844563492982, + -0.21548458028660955, + 0.29436054559576375, + -0.252965643397985, + -0.9627636934179529, + 0.09536484622996862, + 0.26284999221033933, + -0.16325583081447903, + -0.9509245055734439 + ], + [ + 0.9324986880685852, + -0.20917646863504696, + 0.2944340362793319, + -0.24796575897014916, + -0.9635084744569652, + 0.10081865912602536, + 0.26260079803520325, + -0.16702282664050147, + -0.9503389901778688 + ], + [ + 0.9449885405582544, + -0.19520770602058402, + 0.2624702073069652, + -0.2283950256095636, + -0.9681859113406576, + 0.1022338170972148, + 0.23416312794799016, + -0.15655667533401835, + -0.9595090603626271 + ], + [ + 0.9547505310544594, + -0.19944921780546426, + 0.2206160306233807, + -0.22749402020353593, + -0.9675719503548282, + 0.10977700878684568, + 0.191566944494245, + -0.1549984851646702, + -0.9691633378196869 + ], + [ + 0.9655815465285018, + -0.19263481702366372, + 0.17476871651953654, + -0.21152842086471466, + -0.972579119413728, + 0.09667255891356771, + 0.15135390371611387, + -0.13031378956456097, + -0.9798521888934149 + ], + [ + 0.9694457401650034, + -0.19354276042951718, + 0.15071880029130763, + -0.20799464193706146, + -0.9742749886941, + 0.08675526111184648, + 0.13005070473243174, + -0.11545322122155616, + -0.9847625946938501 + ], + [ + 0.9732037919337271, + -0.1941839533584177, + 0.12315425946312447, + -0.204562192172759, + -0.9757398311040929, + 0.07801340609428187, + 0.1050175647179554, + -0.10111564792381034, + -0.9893163987550484 + ], + [ + 0.9809918402599181, + -0.1731014494509991, + 0.08769776246531426, + -0.18037526121446545, + -0.9800748090627504, + 0.08317531955109572, + 0.07155259943057861, + -0.09741281660324133, + -0.9926686096961819 + ], + [ + 0.9840741355383381, + -0.15955364375643502, + 0.07836281342905667, + -0.1675985785306545, + -0.9797087229306473, + 0.1099160347178894, + 0.05923522802333562, + -0.12129902298718175, + -0.9908469784903109 + ], + [ + 0.98701617950497, + -0.14160035289473924, + 0.07581821321752588, + -0.15081557062636966, + -0.9794160740300305, + 0.13415967198918038, + 0.05526051983157055, + -0.1438523339806737, + -0.9880550495575929 + ], + [ + 0.9890411971112573, + -0.12698229219107549, + 0.07531937258522023, + -0.13727332912550017, + -0.9787173349321071, + 0.15253986827775703, + 0.05434651348093086, + -0.16120755495104347, + -0.9854230465638466 + ], + [ + 0.9881563169724755, + -0.12572558562344502, + 0.08797823791730743, + -0.13906153366999355, + -0.9760974756640649, + 0.1670197828270339, + 0.06487667593782685, + -0.17727604215426884, + -0.9820204793166872 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0026641488075256348, + -0.0008103623986244202, + -0.00987936556339264, + -0.011176005005836487, + 0.031629014760255814, + 0.006393864750862122, + 1.0 + ], + [ + -0.0043062567710876465, + -0.0062271542847156525, + -0.010549917817115784, + 0.03924299776554108, + 0.030270013958215714, + 0.028559967875480652, + 1.0 + ], + [ + -0.014172911643981934, + -0.014748115092515945, + -0.01342080533504486, + 0.023063749074935913, + 0.031819794327020645, + 0.038856662809848785, + 1.0 + ], + [ + -0.012105852365493774, + -0.011840123683214188, + 0.0023503974080085754, + 0.004603423178195953, + -0.029321173205971718, + 0.003779299557209015, + 1.0 + ], + [ + -0.011411547660827637, + -0.006092661991715431, + -0.008996449410915375, + -0.0075532495975494385, + -0.04007217288017273, + 0.017842568457126617, + 1.0 + ], + [ + -0.008330672979354858, + -0.007011342793703079, + -0.011972635984420776, + -0.0015468522906303406, + -0.03190518543124199, + 0.008345525711774826, + 1.0 + ], + [ + -0.00661805272102356, + -0.004353584721684456, + -0.008097697049379349, + -0.008743897080421448, + -0.04228837788105011, + 0.0071359314024448395, + 1.0 + ], + [ + -0.0025347918272018433, + -0.005131530575454235, + -0.005835197865962982, + 0.01101425290107727, + -0.017803817987442017, + 0.008698232471942902, + 1.0 + ], + [ + -0.0017680376768112183, + -0.006608912255614996, + -0.005112968385219574, + 0.017570897936820984, + -0.021919861435890198, + 0.0037045665085315704, + 1.0 + ], + [ + -0.0036213845014572144, + 0.0009051072411239147, + -0.006553221493959427, + 0.014755576848983765, + -0.015192896127700806, + -0.013202354311943054, + 1.0 + ], + [ + -0.002168625593185425, + 0.0019099833443760872, + -0.005482912063598633, + 0.014724105596542358, + -0.02149312198162079, + -0.01839442178606987, + 1.0 + ], + [ + -0.0007028430700302124, + 0.004346683621406555, + -0.0067797936499118805, + 0.02730700373649597, + -0.04700388014316559, + -0.0437815859913826, + 1.0 + ], + [ + 0.003553643822669983, + 0.006440993398427963, + -0.009478352963924408, + 0.015183746814727783, + -0.04198819398880005, + -0.015487760305404663, + 1.0 + ], + [ + 0.006095722317695618, + 0.001966608688235283, + -0.001927196979522705, + 0.002228155732154846, + -0.04453125596046448, + -0.0037063658237457275, + 0.0 + ], + [ + 0.003693878650665283, + 0.003763783723115921, + -0.00034699589014053345, + -0.009449034929275513, + 0.011181682348251343, + 0.015188880264759064, + 0.0 + ], + [ + 0.0003815591335296631, + 0.0007110927253961563, + 0.009956754744052887, + -0.06827826797962189, + 0.13567501306533813, + 0.041184015572071075, + 0.0 + ], + [ + 0.02356863021850586, + 3.877468407154083e-05, + 0.040336910635232925, + -0.02653007209300995, + 0.05937398970127106, + 0.06544746458530426, + 0.0 + ], + [ + 0.03149101138114929, + 0.008815331384539604, + 0.031902484595775604, + -0.0014115497469902039, + 0.04346684366464615, + -0.014105764217674732, + 0.0 + ], + [ + 0.03846621513366699, + 0.02556809037923813, + 0.010750286281108856, + 0.05408491939306259, + 0.021216683089733124, + -0.08144921064376831, + 0.0 + ], + [ + 0.022353410720825195, + 0.026514552533626556, + -0.005945190787315369, + -0.003923386335372925, + -0.045876167714595795, + -0.08770762383937836, + 0.0 + ], + [ + 0.014682590961456299, + 0.02691933512687683, + -0.02380407601594925, + -0.027100756764411926, + -0.03346777707338333, + -0.09275856614112854, + 0.0 + ], + [ + 0.005908370018005371, + 0.010543137788772583, + -0.0040834397077560425, + 0.031197726726531982, + -0.056510522961616516, + -0.0011706948280334473, + 0.0 + ], + [ + 0.0019344687461853027, + -0.004143849015235901, + -0.011588864028453827, + 0.006654947996139526, + -0.030776113271713257, + 0.00045686960220336914, + 0.0 + ], + [ + 0.0016951560974121094, + -0.001042976975440979, + -0.004309214651584625, + 0.011053889989852905, + -0.024329006671905518, + 0.02641358971595764, + 1.0 + ], + [ + 0.0001410841941833496, + -0.001996956765651703, + -0.0012825913727283478, + 0.003950402140617371, + 0.0002582669258117676, + 0.005384773015975952, + 1.0 + ], + [ + -0.0025490224361419678, + -0.003117188811302185, + 0.0016464032232761383, + -0.012235969305038452, + 0.029358938336372375, + 0.022757798433303833, + 1.0 + ], + [ + 0.0006744861602783203, + -0.006182193756103516, + 0.010009780526161194, + -0.0031508803367614746, + 0.043599262833595276, + 0.0032289475202560425, + 1.0 + ], + [ + -0.0016205012798309326, + -0.0036226660013198853, + 0.01153784990310669, + -0.026369765400886536, + 0.04082059860229492, + 0.01825256645679474, + 1.0 + ], + [ + -0.0011830627918243408, + -0.0015299990773200989, + 0.006854258477687836, + -0.01551055908203125, + 0.021517693996429443, + 0.004315495491027832, + 1.0 + ], + [ + -0.004371047019958496, + -0.0013862401247024536, + -0.0007221177220344543, + -0.014852970838546753, + 0.025208555161952972, + 0.004167482256889343, + 1.0 + ], + [ + -0.006694227457046509, + 0.0005605593323707581, + -0.0002609044313430786, + -0.004034839570522308, + 0.03359776735305786, + 0.02533935010433197, + 1.0 + ], + [ + -0.025689750909805298, + -0.004902146756649017, + 0.002418726682662964, + 0.023994356393814087, + 0.012343872338533401, + 0.013146892189979553, + 1.0 + ], + [ + -0.019084036350250244, + -0.006181038916110992, + 0.009316593408584595, + 0.02276218682527542, + 0.003981240093708038, + 0.017065629363059998, + 1.0 + ], + [ + -0.015619486570358276, + -0.005796089768409729, + 0.004159905016422272, + 0.017580240964889526, + 0.00091538205742836, + 0.013713434338569641, + 1.0 + ], + [ + -0.01447969675064087, + -0.0018554478883743286, + -5.169212818145752e-05, + 0.016442403197288513, + -0.010548971593379974, + -0.001896873116493225, + 1.0 + ], + [ + -0.014650225639343262, + -0.0005562156438827515, + 0.0008737370371818542, + 0.01164892315864563, + 0.007877681404352188, + -0.01797737181186676, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 0.9575772881507874 + ], + [ + 0.8344376683235168 + ], + [ + 0.8335172533988953 + ], + [ + 0.8335172533988953 + ], + [ + 0.8335172533988953 + ], + [ + 0.8335172533988953 + ], + [ + 0.8335172533988953 + ], + [ + 0.8335172533988953 + ], + [ + 0.8335172533988953 + ], + [ + 0.8335172533988953 + ], + [ + 0.8922415375709534 + ], + [ + 1.0067112445831299 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3087905943393707, + 0.06717457622289658, + 0.11271317303180695 + ], + [ + 0.3044843375682831, + 0.06094742193818092, + 0.10216325521469116 + ], + [ + 0.29031142592430115, + 0.04619930684566498, + 0.0887424498796463 + ], + [ + 0.2782055735588074, + 0.03435918316245079, + 0.09109284728765488 + ], + [ + 0.26679402589797974, + 0.02826652117073536, + 0.0820963978767395 + ], + [ + 0.2584633529186249, + 0.02125517837703228, + 0.07012376189231873 + ], + [ + 0.2518453001976013, + 0.016901593655347824, + 0.06202606484293938 + ], + [ + 0.24931050837039948, + 0.011770063079893589, + 0.056190866976976395 + ], + [ + 0.24754247069358826, + 0.005161150824278593, + 0.05107789859175682 + ], + [ + 0.24392108619213104, + 0.006066258065402508, + 0.044524677097797394 + ], + [ + 0.24175246059894562, + 0.007976241409778595, + 0.03904176503419876 + ], + [ + 0.2410496175289154, + 0.01232292503118515, + 0.03226197138428688 + ], + [ + 0.2446032613515854, + 0.018763918429613113, + 0.022783618420362473 + ], + [ + 0.250698983669281, + 0.020730527117848396, + 0.020856421440839767 + ], + [ + 0.2543928623199463, + 0.024494310840964317, + 0.020509425550699234 + ], + [ + 0.25477442145347595, + 0.025205403566360474, + 0.03046618029475212 + ], + [ + 0.2783430516719818, + 0.025244178250432014, + 0.07080309092998505 + ], + [ + 0.3098340630531311, + 0.03405950963497162, + 0.10270557552576065 + ], + [ + 0.3483002781867981, + 0.05962760001420975, + 0.1134558618068695 + ], + [ + 0.3706536889076233, + 0.0861421525478363, + 0.10751067101955414 + ], + [ + 0.3853362798690796, + 0.11306148767471313, + 0.08370659500360489 + ], + [ + 0.39124464988708496, + 0.12360462546348572, + 0.07962315529584885 + ], + [ + 0.39317911863327026, + 0.11946077644824982, + 0.06803429126739502 + ], + [ + 0.3948742747306824, + 0.11841779947280884, + 0.0637250766158104 + ], + [ + 0.3950153589248657, + 0.11642084270715714, + 0.062442485243082047 + ], + [ + 0.39246633648872375, + 0.11330365389585495, + 0.06408888846635818 + ], + [ + 0.3931408226490021, + 0.10712146013975143, + 0.07409866899251938 + ], + [ + 0.39152032136917114, + 0.10349879413843155, + 0.08563651889562607 + ], + [ + 0.3903372585773468, + 0.10196879506111145, + 0.0924907773733139 + ], + [ + 0.3859662115573883, + 0.100582554936409, + 0.09176865965127945 + ], + [ + 0.3792719841003418, + 0.10114311426877975, + 0.09150775521993637 + ], + [ + 0.3535822331905365, + 0.09624096751213074, + 0.09392648190259933 + ], + [ + 0.33449819684028625, + 0.09005992859601974, + 0.10324307531118393 + ], + [ + 0.318878710269928, + 0.08426383882761002, + 0.1074029803276062 + ], + [ + 0.3043990135192871, + 0.08240839093923569, + 0.10735128819942474 + ], + [ + 0.28974878787994385, + 0.08185217529535294, + 0.1082250252366066 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9858987820782077, + -0.15546207468365242, + 0.06192846544006345, + -0.1582287867198806, + -0.9864841028001337, + 0.04257658952722545, + 0.05447240172657334, + -0.051775073709940646, + -0.997172050948315 + ], + [ + 0.9911961855903296, + -0.12747832450419905, + 0.03576867977411531, + -0.13016594996561004, + -0.9876611463923063, + 0.08707631926411391, + 0.024226991986860076, + -0.09096557969164887, + -0.9955592981689394 + ], + [ + 0.9957681443908765, + -0.09185445777756769, + 0.0029259533044509326, + -0.09158705720745806, + -0.9892333001743441, + 0.1141459100373467, + -0.00759036023048948, + -0.11393084048037774, + -0.9934596871635035 + ], + [ + 0.9959006721580423, + -0.08464167702162366, + 0.03190043426235905, + -0.08780490008005322, + -0.9893425408614854, + 0.11615350344984197, + 0.021729029363775507, + -0.11847836660212584, + -0.9927188554319903 + ], + [ + 0.9956397518047003, + -0.06276703450486688, + 0.06900568096714572, + -0.06990525925175282, + -0.9918596848431551, + 0.10643129385562368, + 0.061763576282626916, + -0.11079108701651837, + -0.9919226762618537 + ], + [ + 0.9937149930417817, + -0.05111746951456765, + 0.0995867306140679, + -0.06144085052055316, + -0.9927281623963768, + 0.10351723273167476, + 0.09357101309317285, + -0.10898531963315022, + -0.9896295597915299 + ], + [ + 0.9892894668348182, + -0.04066808434587049, + 0.1401872238305539, + -0.05408373834221786, + -0.9941720859202862, + 0.0932567039082841, + 0.13557765323463586, + -0.0998397240207725, + -0.9857234548547805 + ], + [ + 0.9871544862913257, + -0.028516005469691654, + 0.1572032366936552, + -0.04535873493464862, + -0.9934777094381754, + 0.10461656663552334, + 0.15319466492028094, + -0.11040325303870861, + -0.9820094278358197 + ], + [ + 0.9837238173478995, + -0.019285960646797287, + 0.17864910552366792, + -0.04154973956938996, + -0.9916926849414356, + 0.1217342916986108, + 0.17481724836008694, + -0.127175745940713, + -0.9763530403087968 + ], + [ + 0.9803242879816395, + -0.027569046800172022, + 0.19545904443596804, + -0.054379819191069156, + -0.9896014491926756, + 0.13316083140512225, + 0.1897554364386919, + -0.1411698247299567, + -0.9716295358456716 + ], + [ + 0.9748650410968113, + -0.039523056418952304, + 0.21926258152867154, + -0.07208465011465703, + -0.9871582773582266, + 0.14255644026485254, + 0.2108126060394883, + -0.15477875647014128, + -0.9651951003193068 + ], + [ + 0.9598667349484074, + -0.06810214712631085, + 0.2720623985343625, + -0.11339431899202826, + -0.9814820145238681, + 0.1543851792967959, + 0.2565103887951093, + -0.17903952838118176, + -0.9498143332868935 + ], + [ + 0.9464790672878328, + -0.07111498152671517, + 0.3148333441495817, + -0.12670461769315808, + -0.9789881733746494, + 0.1597751427719532, + 0.2968557141797756, + -0.1911146666141098, + -0.9356024097680558 + ], + [ + 0.9319735759229739, + -0.06557874797818182, + 0.3565454832065041, + -0.12828067579033497, + -0.9795266791118875, + 0.15515009870062266, + 0.3390712638961319, + -0.19033368782654345, + -0.9213054679519861 + ], + [ + 0.9375193764127138, + -0.05605772592866866, + 0.34338746368267814, + -0.11456352607050878, + -0.9816361289566906, + 0.15253100937584918, + 0.3285309990625058, + -0.1823404554415443, + -0.9267250622295493 + ], + [ + 0.9770828985018138, + -0.054917077417441854, + 0.20565292135834456, + -0.07873868165504168, + -0.9908632942045532, + 0.1094995534663387, + 0.19776053566503293, + -0.12318298099180854, + -0.9724796777966374 + ], + [ + 0.9901471077356147, + -0.0010637034674278187, + 0.14002704587946743, + -0.014817903774917963, + -0.9951526523758473, + 0.09721948465731113, + 0.13924487340837496, + -0.09833649884071156, + -0.9853632823609961 + ], + [ + 0.9949527277204658, + -0.019523756052272478, + 0.09842709256711794, + -0.02893142884391704, + -0.9950492663166112, + 0.09507854662237555, + 0.096083515894528, + -0.09744629573454924, + -0.9905918318969528 + ], + [ + 0.9911037957019733, + -0.09773135099949617, + 0.0903429531117663, + -0.10998417948983161, + -0.983671024153491, + 0.1424598066219765, + 0.07494495584820923, + -0.1511287506486959, + -0.9856689882106845 + ], + [ + 0.973261756228765, + -0.17731148719714954, + 0.1460211983598088, + -0.19549390595448632, + -0.9731750510559735, + 0.12129489987984349, + 0.12059720808193701, + -0.1465979416981626, + -0.9818173745115247 + ], + [ + 0.9465717062644933, + -0.2669996321071937, + 0.18086791134457664, + -0.28348521877534205, + -0.9562732358984837, + 0.07195574362161779, + 0.1537469857767068, + -0.11938465043240161, + -0.9808716376803394 + ], + [ + 0.9364129781708668, + -0.25427089121911783, + 0.24182028077025136, + -0.2816378178774952, + -0.9556850610464861, + 0.08570999728022866, + 0.2093104723953642, + -0.14836569000685265, + -0.9665281931606651 + ], + [ + 0.9299293886705877, + -0.24767261138493102, + 0.2718264329613956, + -0.2792245733895713, + -0.9565741337677183, + 0.08366339834091988, + 0.23930100230078238, + -0.15370167265293005, + -0.9587026786869496 + ], + [ + 0.9310844563492982, + -0.21548458028660955, + 0.29436054559576375, + -0.252965643397985, + -0.9627636934179529, + 0.09536484622996862, + 0.26284999221033933, + -0.16325583081447903, + -0.9509245055734439 + ], + [ + 0.9324986880685852, + -0.20917646863504696, + 0.2944340362793319, + -0.24796575897014916, + -0.9635084744569652, + 0.10081865912602536, + 0.26260079803520325, + -0.16702282664050147, + -0.9503389901778688 + ], + [ + 0.9449885405582544, + -0.19520770602058402, + 0.2624702073069652, + -0.2283950256095636, + -0.9681859113406576, + 0.1022338170972148, + 0.23416312794799016, + -0.15655667533401835, + -0.9595090603626271 + ], + [ + 0.9547505310544594, + -0.19944921780546426, + 0.2206160306233807, + -0.22749402020353593, + -0.9675719503548282, + 0.10977700878684568, + 0.191566944494245, + -0.1549984851646702, + -0.9691633378196869 + ], + [ + 0.9655815465285018, + -0.19263481702366372, + 0.17476871651953654, + -0.21152842086471466, + -0.972579119413728, + 0.09667255891356771, + 0.15135390371611387, + -0.13031378956456097, + -0.9798521888934149 + ], + [ + 0.9694457401650034, + -0.19354276042951718, + 0.15071880029130763, + -0.20799464193706146, + -0.9742749886941, + 0.08675526111184648, + 0.13005070473243174, + -0.11545322122155616, + -0.9847625946938501 + ], + [ + 0.9732037919337271, + -0.1941839533584177, + 0.12315425946312447, + -0.204562192172759, + -0.9757398311040929, + 0.07801340609428187, + 0.1050175647179554, + -0.10111564792381034, + -0.9893163987550484 + ], + [ + 0.9809918402599181, + -0.1731014494509991, + 0.08769776246531426, + -0.18037526121446545, + -0.9800748090627504, + 0.08317531955109572, + 0.07155259943057861, + -0.09741281660324133, + -0.9926686096961819 + ], + [ + 0.9840741355383381, + -0.15955364375643502, + 0.07836281342905667, + -0.1675985785306545, + -0.9797087229306473, + 0.1099160347178894, + 0.05923522802333562, + -0.12129902298718175, + -0.9908469784903109 + ], + [ + 0.98701617950497, + -0.14160035289473924, + 0.07581821321752588, + -0.15081557062636966, + -0.9794160740300305, + 0.13415967198918038, + 0.05526051983157055, + -0.1438523339806737, + -0.9880550495575929 + ], + [ + 0.9890411971112573, + -0.12698229219107549, + 0.07531937258522023, + -0.13727332912550017, + -0.9787173349321071, + 0.15253986827775703, + 0.05434651348093086, + -0.16120755495104347, + -0.9854230465638466 + ], + [ + 0.9881563169724755, + -0.12572558562344502, + 0.08797823791730743, + -0.13906153366999355, + -0.9760974756640649, + 0.1670197828270339, + 0.06487667593782685, + -0.17727604215426884, + -0.9820204793166872 + ], + [ + 0.9859709608109587, + -0.14365107338035807, + 0.08500372670763137, + -0.15687800084352074, + -0.9714531305278757, + 0.17795535406087115, + 0.05701365879203871, + -0.1887940261349937, + -0.98036026970032 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006169.json b/json/chunk-0006/episode_0006169.json new file mode 100644 index 0000000000000000000000000000000000000000..67173a8579f7d2458f12a8a7e381c42f0661d26b --- /dev/null +++ b/json/chunk-0006/episode_0006169.json @@ -0,0 +1,1282 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 20, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nTurn lever vertical to front." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006169.mp4", + "start": 0, + "end": 20, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3023563325405121, + -0.09918145835399628, + 0.19884230196475983, + -0.09857290983200073, + -0.19709818065166473, + 0.3714182376861572, + 0.0, + 0.9988223910331726 + ], + [ + 0.3077746331691742, + -0.0986696183681488, + 0.18822848796844482, + -0.07379675656557083, + -0.1918293982744217, + 0.36630865931510925, + 0.0, + 0.9988223910331726 + ], + [ + 0.3175455927848816, + -0.09722087532281876, + 0.18409550189971924, + -0.07212565839290619, + -0.2377084493637085, + 0.361621230840683, + 0.0, + 0.9988223910331726 + ], + [ + 0.3254683017730713, + -0.09411349892616272, + 0.1808827966451645, + -0.0607868991792202, + -0.28479161858558655, + 0.35028764605522156, + 0.0, + 0.9988223910331726 + ], + [ + 0.32790693640708923, + -0.09145966917276382, + 0.1784629225730896, + -0.0393553227186203, + -0.2956783175468445, + 0.34077560901641846, + 0.0, + 0.9988223910331726 + ], + [ + 0.3299269378185272, + -0.0915350392460823, + 0.1776086688041687, + -0.03391404449939728, + -0.3012344241142273, + 0.3258727192878723, + 0.0, + 0.9988223910331726 + ], + [ + 0.33238935470581055, + -0.09204314649105072, + 0.17630477249622345, + -0.030591757968068123, + -0.30690184235572815, + 0.3112269937992096, + 0.0, + 0.9988223910331726 + ], + [ + 0.3377544581890106, + -0.0892912894487381, + 0.17602065205574036, + -0.02829219028353691, + -0.3155767023563385, + 0.30058109760284424, + 0.0, + 0.9988223910331726 + ], + [ + 0.34109288454055786, + -0.08636412769556046, + 0.17564542591571808, + -0.03528129681944847, + -0.31461578607559204, + 0.29242587089538574, + 0.0, + 0.9994885921478271 + ], + [ + 0.34279966354370117, + -0.083421990275383, + 0.17528824508190155, + -0.04682697728276253, + -0.3136277496814728, + 0.2971387803554535, + 0.0, + 0.8242669105529785 + ], + [ + 0.3426068127155304, + -0.07904407382011414, + 0.1728624850511551, + -0.047580327838659286, + -0.3086300492286682, + 0.30654019117355347, + 0.0, + 0.5511609315872192 + ], + [ + 0.3424930274486542, + -0.07457852363586426, + 0.1715262532234192, + -0.05097022280097008, + -0.30205127596855164, + 0.3193897604942322, + 0.0, + 0.29885798692703247 + ], + [ + 0.3398950397968292, + -0.07340564578771591, + 0.17121468484401703, + -0.06340423971414566, + -0.3111554682254791, + 0.328217089176178, + 0.0, + 0.1506364643573761 + ], + [ + 0.33556675910949707, + -0.07156683504581451, + 0.17024631798267365, + -0.08157933503389359, + -0.33709099888801575, + 0.3454892039299011, + 0.0, + 0.08259850740432739 + ], + [ + 0.3247835636138916, + -0.07199110835790634, + 0.16865020990371704, + -0.0954984724521637, + -0.3419434428215027, + 0.3767073154449463, + 0.0, + 0.08123486489057541 + ], + [ + 0.3154239058494568, + -0.07138663530349731, + 0.16488929092884064, + -0.10415523499250412, + -0.32340946793556213, + 0.40126150846481323, + 0.0, + 0.08123486489057541 + ], + [ + 0.3109895884990692, + -0.07360820472240448, + 0.16292737424373627, + -0.12008482962846756, + -0.3032362759113312, + 0.41255804896354675, + 0.0, + 0.08123486489057541 + ], + [ + 0.29341959953308105, + -0.0779993087053299, + 0.15606927871704102, + -0.1596289873123169, + -0.22450557351112366, + 0.4559251070022583, + 0.0, + 0.0665184035897255 + ], + [ + 0.2881326973438263, + -0.07866962999105453, + 0.1485115885734558, + -0.18573321402072906, + -0.19513697922229767, + 0.4773712456226349, + 0.0, + 0.062092870473861694 + ], + [ + 0.28603577613830566, + -0.08024002611637115, + 0.1483631432056427, + -0.20783135294914246, + -0.19820721447467804, + 0.4830324947834015, + 0.0, + 0.062092870473861694 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.8242669105529785 + ], + [ + 0.5511609315872192 + ], + [ + 0.29885798692703247 + ], + [ + 0.1506364643573761 + ], + [ + 0.08259850740432739 + ], + [ + 0.08123486489057541 + ], + [ + 0.08123486489057541 + ], + [ + 0.08123486489057541 + ], + [ + 0.0665184035897255 + ], + [ + 0.062092870473861694 + ], + [ + 0.062092870473861694 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3023563325405121, + -0.09918145835399628, + 0.19884230196475983 + ], + [ + 0.3077746331691742, + -0.0986696183681488, + 0.18822848796844482 + ], + [ + 0.3175455927848816, + -0.09722087532281876, + 0.18409550189971924 + ], + [ + 0.3254683017730713, + -0.09411349892616272, + 0.1808827966451645 + ], + [ + 0.32790693640708923, + -0.09145966917276382, + 0.1784629225730896 + ], + [ + 0.3299269378185272, + -0.0915350392460823, + 0.1776086688041687 + ], + [ + 0.33238935470581055, + -0.09204314649105072, + 0.17630477249622345 + ], + [ + 0.3377544581890106, + -0.0892912894487381, + 0.17602065205574036 + ], + [ + 0.34109288454055786, + -0.08636412769556046, + 0.17564542591571808 + ], + [ + 0.34279966354370117, + -0.083421990275383, + 0.17528824508190155 + ], + [ + 0.3426068127155304, + -0.07904407382011414, + 0.1728624850511551 + ], + [ + 0.3424930274486542, + -0.07457852363586426, + 0.1715262532234192 + ], + [ + 0.3398950397968292, + -0.07340564578771591, + 0.17121468484401703 + ], + [ + 0.33556675910949707, + -0.07156683504581451, + 0.17024631798267365 + ], + [ + 0.3247835636138916, + -0.07199110835790634, + 0.16865020990371704 + ], + [ + 0.3154239058494568, + -0.07138663530349731, + 0.16488929092884064 + ], + [ + 0.3109895884990692, + -0.07360820472240448, + 0.16292737424373627 + ], + [ + 0.29341959953308105, + -0.0779993087053299, + 0.15606927871704102 + ], + [ + 0.2881326973438263, + -0.07866962999105453, + 0.1485115885734558 + ], + [ + 0.28603577613830566, + -0.08024002611637115, + 0.1483631432056427 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9137726657155306, + 0.3432178189942588, + 0.2173040361244076, + 0.35591048299510725, + -0.934284614343112, + -0.0209758789072673, + 0.19582452217565385, + 0.09650796923864394, + -0.9758785623160857 + ], + [ + 0.9165298750925702, + 0.34407222636214957, + 0.20392962293151665, + 0.35160153319015036, + -0.9361494639281169, + -0.000736916164921983, + 0.19065505480089542, + 0.07237737376620017, + -0.9789852735590943 + ], + [ + 0.9090232749783516, + 0.33699958209629693, + 0.24516926237714406, + 0.34384251600534205, + -0.9388962336207197, + 0.01569033715197078, + 0.2354761341086348, + 0.0700367343595321, + -0.9693533133514859 + ], + [ + 0.9014402888829378, + 0.3265026384489312, + 0.2842559281079859, + 0.3293452685076776, + -0.943396441631745, + 0.0391771365488556, + 0.2809574695398784, + 0.058302495679417005, + -0.957947660004084 + ], + [ + 0.901595849396127, + 0.32315394007121273, + 0.28756991387856784, + 0.3197147044559246, + -0.945597657214109, + 0.06022938174885034, + 0.2913887988690311, + 0.0376377694296437, + -0.9558639893865779 + ], + [ + 0.9047124643798634, + 0.3104207260970857, + 0.29177787716869924, + 0.3057202954096879, + -0.9500476102792771, + 0.0628063625538692, + 0.2966992716039721, + 0.03238071975718021, + -0.9544218308576558 + ], + [ + 0.907477444881522, + 0.29728702811292457, + 0.29682504939288695, + 0.2919181911332284, + -0.9543428349525905, + 0.06335237217466344, + 0.30210669757026004, + 0.029157782673555913, + -0.9528280888978629 + ], + [ + 0.9079962325398974, + 0.28757072743540374, + 0.30470628220571033, + 0.28145437643842447, + -0.9573818077695339, + 0.06483446718835342, + 0.3103647461890782, + 0.026891464709322292, + -0.9502371143292483 + ], + [ + 0.9105464905361119, + 0.2776443794799641, + 0.3062983629005479, + 0.27412603131474633, + -0.9600981693355323, + 0.055375303106944655, + 0.30945113916092915, + 0.03354256671372923, + -0.9503235705223027 + ], + [ + 0.9095363584994471, + 0.2786560955700588, + 0.3083737877466493, + 0.2785036772078729, + -0.9593582075088853, + 0.045470116197690626, + 0.30851144930011626, + 0.04452650993496766, + -0.9501779178468384 + ], + [ + 0.9083365148310338, + 0.2876466468005004, + 0.3036184816657893, + 0.28750385261516637, + -0.9566639691362874, + 0.04621238889996084, + 0.3037537004812415, + 0.04531508292867489, + -0.9516723347366569 + ], + [ + 0.9064450056491815, + 0.2991899291755196, + 0.29806515732906996, + 0.29977250059656174, + -0.9529529771187212, + 0.04491181678189885, + 0.29747924233421735, + 0.04864164553665958, + -0.9534883799500371 + ], + [ + 0.9011623799544733, + 0.30334484097132197, + 0.3096583155848922, + 0.30687642399431647, + -0.9509697713685428, + 0.038514339403939356, + 0.30615882373573655, + 0.06031916278716692, + -0.9500675624656414 + ], + [ + 0.88795622698949, + 0.31217142365155137, + 0.33776136724905836, + 0.3195976651785575, + -0.9469081104485022, + 0.03496230511939974, + 0.3307432106075714, + 0.07690274781963881, + -0.9405822111941012 + ], + [ + 0.876045255654366, + 0.33645270578030806, + 0.34546242461168775, + 0.3465632876461302, + -0.937405798564491, + 0.034121202698242606, + 0.33531865098944647, + 0.0898328758906135, + -0.9378120583079743 + ], + [ + 0.8728443144329991, + 0.35804693797578724, + 0.3315798440317966, + 0.3703312771985089, + -0.9284852965467166, + 0.027745255902168163, + 0.3178011137339027, + 0.09857709826688152, + -0.9430190919630274 + ], + [ + 0.8743012768885647, + 0.36529549916086546, + 0.31961926650913847, + 0.3826605734883063, + -0.9238439712392407, + 0.00912152961459433, + 0.2986103861700495, + 0.11433072683108203, + -0.9475021489018643 + ], + [ + 0.8753218150606847, + 0.40292339125842264, + 0.2673283764505388, + 0.4292436482708795, + -0.902019532370893, + -0.04594185064297503, + 0.22262437085362957, + 0.1549629116860161, + -0.9625096807325203 + ], + [ + 0.8713486086823897, + 0.4197398284355844, + 0.25410643158355894, + 0.45072612172891496, + -0.8893810531123189, + -0.07646767654397554, + 0.193900916290963, + 0.18116240997979952, + -0.9641486482238287 + ], + [ + 0.8682516813261182, + 0.41848986382948766, + 0.26646810643367086, + 0.4553731399487457, + -0.885404728407369, + -0.09324038999861443, + 0.1969119632922017, + 0.20229854370669714, + -0.9593231874225497 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + 0.005418300628662109, + 0.0005118399858474731, + -0.010613813996315002, + 0.0247761532664299, + 0.005268782377243042, + -0.005109578371047974, + 1.0 + ], + [ + 0.009770959615707397, + 0.0014487430453300476, + -0.004132986068725586, + 0.0016710981726646423, + -0.045879051089286804, + -0.0046874284744262695, + 1.0 + ], + [ + 0.007922708988189697, + 0.0031073763966560364, + -0.0032127052545547485, + 0.01133875921368599, + -0.04708316922187805, + -0.011333584785461426, + 1.0 + ], + [ + 0.0024386346340179443, + 0.0026538297533988953, + -0.00241987407207489, + 0.0214315764605999, + -0.010886698961257935, + -0.0095120370388031, + 1.0 + ], + [ + 0.0020200014114379883, + -7.537007331848145e-05, + -0.0008542537689208984, + 0.0054412782192230225, + -0.0055561065673828125, + -0.014902889728546143, + 1.0 + ], + [ + 0.002462416887283325, + -0.0005081072449684143, + -0.0013038963079452515, + 0.003322286531329155, + -0.0056674182415008545, + -0.01464572548866272, + 1.0 + ], + [ + 0.005365103483200073, + 0.002751857042312622, + -0.00028412044048309326, + 0.002299567684531212, + -0.008674860000610352, + -0.010645896196365356, + 1.0 + ], + [ + 0.003338426351547241, + 0.002927161753177643, + -0.00037522614002227783, + -0.00698910653591156, + 0.00096091628074646, + -0.008155226707458496, + 1.0 + ], + [ + 0.0017067790031433105, + 0.0029421374201774597, + -0.0003571808338165283, + -0.011545680463314056, + 0.0009880363941192627, + 0.004712909460067749, + 0.0 + ], + [ + -0.00019285082817077637, + 0.00437791645526886, + -0.00242576003074646, + -0.000753350555896759, + 0.004997700452804565, + 0.009401410818099976, + 0.0 + ], + [ + -0.0001137852668762207, + 0.004465550184249878, + -0.0013362318277359009, + -0.003389894962310791, + 0.006578773260116577, + 0.012849569320678711, + 0.0 + ], + [ + -0.002597987651824951, + 0.001172877848148346, + -0.00031156837940216064, + -0.012434016913175583, + -0.00910419225692749, + 0.0088273286819458, + 0.0 + ], + [ + -0.004328280687332153, + 0.0018388107419013977, + -0.0009683668613433838, + -0.018175095319747925, + -0.02593553066253662, + 0.017272114753723145, + 0.0 + ], + [ + -0.010783195495605469, + -0.0004242733120918274, + -0.001596108078956604, + -0.013919137418270111, + -0.0048524439334869385, + 0.031218111515045166, + 0.0 + ], + [ + -0.009359657764434814, + 0.0006044730544090271, + -0.003760918974876404, + -0.008656762540340424, + 0.018533974885940552, + 0.024554193019866943, + 0.0 + ], + [ + -0.004434317350387573, + -0.0022215694189071655, + -0.00196191668510437, + -0.01592959463596344, + 0.020173192024230957, + 0.01129654049873352, + 0.0 + ], + [ + -0.01756998896598816, + -0.004391103982925415, + -0.0068580955266952515, + -0.039544157683849335, + 0.07873070240020752, + 0.04336705803871155, + 0.0 + ], + [ + -0.005286902189254761, + -0.0006703212857246399, + -0.007557690143585205, + -0.02610422670841217, + 0.02936859428882599, + 0.021446138620376587, + 0.0 + ], + [ + -0.00209692120552063, + -0.0015703961253166199, + -0.00014844536781311035, + -0.02209813892841339, + -0.003070235252380371, + 0.0056612491607666016, + 0.0 + ], + [ + -0.006098955869674683, + -0.0010208263993263245, + -0.0006399750709533691, + -0.025710374116897583, + 0.02044452726840973, + 0.03202524781227112, + 0.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.8242669105529785 + ], + [ + 0.5511609315872192 + ], + [ + 0.29885798692703247 + ], + [ + 0.1506364643573761 + ], + [ + 0.08259850740432739 + ], + [ + 0.08123486489057541 + ], + [ + 0.08123486489057541 + ], + [ + 0.08123486489057541 + ], + [ + 0.0665184035897255 + ], + [ + 0.062092870473861694 + ], + [ + 0.062092870473861694 + ], + [ + 0.062092870473861694 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3077746331691742, + -0.0986696183681488, + 0.18822848796844482 + ], + [ + 0.3175455927848816, + -0.09722087532281876, + 0.18409550189971924 + ], + [ + 0.3254683017730713, + -0.09411349892616272, + 0.1808827966451645 + ], + [ + 0.32790693640708923, + -0.09145966917276382, + 0.1784629225730896 + ], + [ + 0.3299269378185272, + -0.0915350392460823, + 0.1776086688041687 + ], + [ + 0.33238935470581055, + -0.09204314649105072, + 0.17630477249622345 + ], + [ + 0.3377544581890106, + -0.0892912894487381, + 0.17602065205574036 + ], + [ + 0.34109288454055786, + -0.08636412769556046, + 0.17564542591571808 + ], + [ + 0.34279966354370117, + -0.083421990275383, + 0.17528824508190155 + ], + [ + 0.3426068127155304, + -0.07904407382011414, + 0.1728624850511551 + ], + [ + 0.3424930274486542, + -0.07457852363586426, + 0.1715262532234192 + ], + [ + 0.3398950397968292, + -0.07340564578771591, + 0.17121468484401703 + ], + [ + 0.33556675910949707, + -0.07156683504581451, + 0.17024631798267365 + ], + [ + 0.3247835636138916, + -0.07199110835790634, + 0.16865020990371704 + ], + [ + 0.3154239058494568, + -0.07138663530349731, + 0.16488929092884064 + ], + [ + 0.3109895884990692, + -0.07360820472240448, + 0.16292737424373627 + ], + [ + 0.29341959953308105, + -0.0779993087053299, + 0.15606927871704102 + ], + [ + 0.2881326973438263, + -0.07866962999105453, + 0.1485115885734558 + ], + [ + 0.28603577613830566, + -0.08024002611637115, + 0.1483631432056427 + ], + [ + 0.279936820268631, + -0.08126085251569748, + 0.14772316813468933 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9165298750925702, + 0.34407222636214957, + 0.20392962293151665, + 0.35160153319015036, + -0.9361494639281169, + -0.000736916164921983, + 0.19065505480089542, + 0.07237737376620017, + -0.9789852735590943 + ], + [ + 0.9090232749783516, + 0.33699958209629693, + 0.24516926237714406, + 0.34384251600534205, + -0.9388962336207197, + 0.01569033715197078, + 0.2354761341086348, + 0.0700367343595321, + -0.9693533133514859 + ], + [ + 0.9014402888829378, + 0.3265026384489312, + 0.2842559281079859, + 0.3293452685076776, + -0.943396441631745, + 0.0391771365488556, + 0.2809574695398784, + 0.058302495679417005, + -0.957947660004084 + ], + [ + 0.901595849396127, + 0.32315394007121273, + 0.28756991387856784, + 0.3197147044559246, + -0.945597657214109, + 0.06022938174885034, + 0.2913887988690311, + 0.0376377694296437, + -0.9558639893865779 + ], + [ + 0.9047124643798634, + 0.3104207260970857, + 0.29177787716869924, + 0.3057202954096879, + -0.9500476102792771, + 0.0628063625538692, + 0.2966992716039721, + 0.03238071975718021, + -0.9544218308576558 + ], + [ + 0.907477444881522, + 0.29728702811292457, + 0.29682504939288695, + 0.2919181911332284, + -0.9543428349525905, + 0.06335237217466344, + 0.30210669757026004, + 0.029157782673555913, + -0.9528280888978629 + ], + [ + 0.9079962325398974, + 0.28757072743540374, + 0.30470628220571033, + 0.28145437643842447, + -0.9573818077695339, + 0.06483446718835342, + 0.3103647461890782, + 0.026891464709322292, + -0.9502371143292483 + ], + [ + 0.9105464905361119, + 0.2776443794799641, + 0.3062983629005479, + 0.27412603131474633, + -0.9600981693355323, + 0.055375303106944655, + 0.30945113916092915, + 0.03354256671372923, + -0.9503235705223027 + ], + [ + 0.9095363584994471, + 0.2786560955700588, + 0.3083737877466493, + 0.2785036772078729, + -0.9593582075088853, + 0.045470116197690626, + 0.30851144930011626, + 0.04452650993496766, + -0.9501779178468384 + ], + [ + 0.9083365148310338, + 0.2876466468005004, + 0.3036184816657893, + 0.28750385261516637, + -0.9566639691362874, + 0.04621238889996084, + 0.3037537004812415, + 0.04531508292867489, + -0.9516723347366569 + ], + [ + 0.9064450056491815, + 0.2991899291755196, + 0.29806515732906996, + 0.29977250059656174, + -0.9529529771187212, + 0.04491181678189885, + 0.29747924233421735, + 0.04864164553665958, + -0.9534883799500371 + ], + [ + 0.9011623799544733, + 0.30334484097132197, + 0.3096583155848922, + 0.30687642399431647, + -0.9509697713685428, + 0.038514339403939356, + 0.30615882373573655, + 0.06031916278716692, + -0.9500675624656414 + ], + [ + 0.88795622698949, + 0.31217142365155137, + 0.33776136724905836, + 0.3195976651785575, + -0.9469081104485022, + 0.03496230511939974, + 0.3307432106075714, + 0.07690274781963881, + -0.9405822111941012 + ], + [ + 0.876045255654366, + 0.33645270578030806, + 0.34546242461168775, + 0.3465632876461302, + -0.937405798564491, + 0.034121202698242606, + 0.33531865098944647, + 0.0898328758906135, + -0.9378120583079743 + ], + [ + 0.8728443144329991, + 0.35804693797578724, + 0.3315798440317966, + 0.3703312771985089, + -0.9284852965467166, + 0.027745255902168163, + 0.3178011137339027, + 0.09857709826688152, + -0.9430190919630274 + ], + [ + 0.8743012768885647, + 0.36529549916086546, + 0.31961926650913847, + 0.3826605734883063, + -0.9238439712392407, + 0.00912152961459433, + 0.2986103861700495, + 0.11433072683108203, + -0.9475021489018643 + ], + [ + 0.8753218150606847, + 0.40292339125842264, + 0.2673283764505388, + 0.4292436482708795, + -0.902019532370893, + -0.04594185064297503, + 0.22262437085362957, + 0.1549629116860161, + -0.9625096807325203 + ], + [ + 0.8713486086823897, + 0.4197398284355844, + 0.25410643158355894, + 0.45072612172891496, + -0.8893810531123189, + -0.07646767654397554, + 0.193900916290963, + 0.18116240997979952, + -0.9641486482238287 + ], + [ + 0.8682516813261182, + 0.41848986382948766, + 0.26646810643367086, + 0.4553731399487457, + -0.885404728407369, + -0.09324038999861443, + 0.1969119632922017, + 0.20229854370669714, + -0.9593231874225497 + ], + [ + 0.8565504604909301, + 0.4435995796078389, + 0.263705748144639, + 0.48482283444861685, + -0.8667968211365275, + -0.11666229067192022, + 0.1768279611090515, + 0.22777770707283698, + -0.9575224218422544 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006170.json b/json/chunk-0006/episode_0006170.json new file mode 100644 index 0000000000000000000000000000000000000000..d2094b7bb56800ed6f3f953df9d435e9c66b6864 --- /dev/null +++ b/json/chunk-0006/episode_0006170.json @@ -0,0 +1,2302 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 37, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nFold the cloth from top right to left." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006170.mp4", + "start": 0, + "end": 37, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.32976043224334717, + 0.0684245154261589, + 0.15894384682178497, + -0.07399676740169525, + -0.11983642727136612, + 0.07665403187274933, + 0.0, + 1.0001531839370728 + ], + [ + 0.3305962383747101, + 0.0678744688630104, + 0.14902587234973907, + -0.08088793605566025, + -0.09224607795476913, + 0.08401047438383102, + 0.0, + 1.0001531839370728 + ], + [ + 0.33291077613830566, + 0.04248252138495445, + 0.13528668880462646, + -0.09818030148744583, + -0.08288534730672836, + 0.04717342555522919, + 0.0, + 1.0001531839370728 + ], + [ + 0.33657947182655334, + 0.01333670224994421, + 0.11878281086683273, + -0.08246934413909912, + -0.07771173864603043, + -0.002284108893945813, + 0.0, + 1.0001531839370728 + ], + [ + 0.3385646641254425, + -0.0030751631129533052, + 0.10497897863388062, + -0.07489378750324249, + -0.0755951926112175, + -0.020088734105229378, + 0.0, + 1.0001531839370728 + ], + [ + 0.3412074148654938, + -0.016330020502209663, + 0.08602020889520645, + -0.05238993093371391, + -0.05695578083395958, + -0.04219113290309906, + 0.0, + 1.0001531839370728 + ], + [ + 0.3413752019405365, + -0.0160871259868145, + 0.06500338762998581, + -0.03529808297753334, + -0.009800070896744728, + -0.03832300752401352, + 0.0, + 1.0001531839370728 + ], + [ + 0.342060923576355, + -0.016417982056736946, + 0.05036555230617523, + -0.03433886542916298, + 0.028453882783651352, + -0.043636780232191086, + 0.0, + 0.9665181636810303 + ], + [ + 0.3425697684288025, + -0.018485963344573975, + 0.05062931403517723, + -0.020867859944701195, + 0.025587670505046844, + -0.06297233700752258, + 0.0, + 0.6931989789009094 + ], + [ + 0.34279870986938477, + -0.020306676626205444, + 0.050313398241996765, + -0.029035285115242004, + 0.02208145149052143, + -0.07084035128355026, + 0.0, + 0.38577979803085327 + ], + [ + 0.3426643908023834, + -0.0210499819368124, + 0.049679938703775406, + -0.03719368577003479, + 0.019916795194149017, + -0.077092744410038, + 0.0, + 0.16973881423473358 + ], + [ + 0.34202662110328674, + -0.019893184304237366, + 0.04960948973894119, + -0.0468486025929451, + 0.02059568651020527, + -0.07660583406686783, + 0.0, + 0.06803370267152786 + ], + [ + 0.3396247923374176, + -0.020020628347992897, + 0.05773916468024254, + -0.06848951429128647, + 0.019047066569328308, + -0.09180708974599838, + 0.0, + 0.05538023263216019 + ], + [ + 0.3385715186595917, + -0.015707576647400856, + 0.07429061830043793, + -0.09589610248804092, + -0.0046574510633945465, + -0.09130550175905228, + 0.0, + 0.05511022359132767 + ], + [ + 0.34071022272109985, + -0.0008094647782854736, + 0.10735154896974564, + -0.14024624228477478, + -0.059886615723371506, + -0.07465838640928268, + 0.0, + 0.05511022359132767 + ], + [ + 0.33409583568573, + 0.023578640073537827, + 0.13936813175678253, + -0.12382618337869644, + -0.12716521322727203, + -0.0285499170422554, + 0.0, + 0.05511022359132767 + ], + [ + 0.3255844712257385, + 0.057193905115127563, + 0.16066090762615204, + -0.11806126683950424, + -0.18200108408927917, + 0.05927749350667, + 0.0, + 0.05511022359132767 + ], + [ + 0.31418576836586, + 0.08914001286029816, + 0.16272403299808502, + -0.12627366185188293, + -0.20677079260349274, + 0.14198051393032074, + 0.0, + 0.05511022359132767 + ], + [ + 0.2988058924674988, + 0.11715251952409744, + 0.14697638154029846, + -0.0946771502494812, + -0.19564443826675415, + 0.1846417486667633, + 0.0, + 0.054840996861457825 + ], + [ + 0.28688615560531616, + 0.1357371062040329, + 0.12408945709466934, + -0.07157748192548752, + -0.17121703922748566, + 0.2157617062330246, + 0.0, + 0.054572440683841705 + ], + [ + 0.2784363925457001, + 0.14388030767440796, + 0.09437794238328934, + -0.0339953638613224, + -0.1373860388994217, + 0.21343004703521729, + 0.0, + 0.054572440683841705 + ], + [ + 0.27260056138038635, + 0.14570197463035583, + 0.062242377549409866, + -0.008912807330489159, + -0.10967078059911728, + 0.17409339547157288, + 0.0, + 0.054572440683841705 + ], + [ + 0.2704472243785858, + 0.14833424985408783, + 0.04241681098937988, + 0.011576801538467407, + -0.08930180966854095, + 0.15022620558738708, + 0.0, + 0.06956923007965088 + ], + [ + 0.27412962913513184, + 0.14585444331169128, + 0.041181862354278564, + 0.03801923990249634, + -0.09056704491376877, + 0.11291451752185822, + 0.0, + 0.2117326408624649 + ], + [ + 0.2744338810443878, + 0.13861975073814392, + 0.04193027317523956, + 0.041840940713882446, + -0.05964590981602669, + 0.09037517756223679, + 0.0, + 0.4550158977508545 + ], + [ + 0.273244708776474, + 0.13495215773582458, + 0.04268629103899002, + 0.03675764054059982, + -0.045079249888658524, + 0.07718764245510101, + 0.0, + 0.7565051317214966 + ], + [ + 0.27343660593032837, + 0.13136571645736694, + 0.05057374760508537, + 0.035086095333099365, + -0.04887974262237549, + 0.06193959712982178, + 0.0, + 0.9907060265541077 + ], + [ + 0.2767989933490753, + 0.1264062225818634, + 0.07134857028722763, + 0.0399908572435379, + -0.09144315868616104, + 0.05087771266698837, + 0.0, + 1.0047606229782104 + ], + [ + 0.2818601429462433, + 0.12186501175165176, + 0.10042427480220795, + 0.019564924761652946, + -0.13929754495620728, + 0.05037428066134453, + 0.0, + 1.0001531839370728 + ], + [ + 0.2828608751296997, + 0.1173393651843071, + 0.13338495790958405, + 0.005761523265391588, + -0.187070831656456, + 0.04352594166994095, + 0.0, + 1.0001531839370728 + ], + [ + 0.2797873914241791, + 0.11557929217815399, + 0.15943609178066254, + 0.022474629804491997, + -0.24403899908065796, + 0.0350709967315197, + 0.0, + 1.0001531839370728 + ], + [ + 0.2790836989879608, + 0.11627652496099472, + 0.1617548167705536, + 0.025910906493663788, + -0.25107938051223755, + 0.035810116678476334, + 0.0, + 1.0001531839370728 + ], + [ + 0.2790836989879608, + 0.11627652496099472, + 0.1617548167705536, + 0.025910906493663788, + -0.25107938051223755, + 0.035810116678476334, + 0.0, + 1.0001531839370728 + ], + [ + 0.2788005769252777, + 0.1161457970738411, + 0.1613209992647171, + 0.02529914118349552, + -0.2496645301580429, + 0.035961687564849854, + 0.0, + 1.0001531839370728 + ], + [ + 0.2788708209991455, + 0.1161782294511795, + 0.16085797548294067, + 0.024687819182872772, + -0.2482495903968811, + 0.03611231595277786, + 0.0, + 1.0001531839370728 + ], + [ + 0.27898862957954407, + 0.11647424846887589, + 0.16173779964447021, + 0.027342261746525764, + -0.25049787759780884, + 0.03515101969242096, + 0.0, + 1.0001531839370728 + ], + [ + 0.2790836989879608, + 0.11627652496099472, + 0.1617548167705536, + 0.025910906493663788, + -0.25107938051223755, + 0.035810116678476334, + 0.0, + 1.0001531839370728 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9665181636810303 + ], + [ + 0.6931989789009094 + ], + [ + 0.38577979803085327 + ], + [ + 0.16973881423473358 + ], + [ + 0.06803370267152786 + ], + [ + 0.05538023263216019 + ], + [ + 0.05511022359132767 + ], + [ + 0.05511022359132767 + ], + [ + 0.05511022359132767 + ], + [ + 0.05511022359132767 + ], + [ + 0.05511022359132767 + ], + [ + 0.054840996861457825 + ], + [ + 0.054572440683841705 + ], + [ + 0.054572440683841705 + ], + [ + 0.054572440683841705 + ], + [ + 0.06956923007965088 + ], + [ + 0.2117326408624649 + ], + [ + 0.4550158977508545 + ], + [ + 0.7565051317214966 + ], + [ + 0.9907060265541077 + ], + [ + 1.0047606229782104 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.32976043224334717, + 0.0684245154261589, + 0.15894384682178497 + ], + [ + 0.3305962383747101, + 0.0678744688630104, + 0.14902587234973907 + ], + [ + 0.33291077613830566, + 0.04248252138495445, + 0.13528668880462646 + ], + [ + 0.33657947182655334, + 0.01333670224994421, + 0.11878281086683273 + ], + [ + 0.3385646641254425, + -0.0030751631129533052, + 0.10497897863388062 + ], + [ + 0.3412074148654938, + -0.016330020502209663, + 0.08602020889520645 + ], + [ + 0.3413752019405365, + -0.0160871259868145, + 0.06500338762998581 + ], + [ + 0.342060923576355, + -0.016417982056736946, + 0.05036555230617523 + ], + [ + 0.3425697684288025, + -0.018485963344573975, + 0.05062931403517723 + ], + [ + 0.34279870986938477, + -0.020306676626205444, + 0.050313398241996765 + ], + [ + 0.3426643908023834, + -0.0210499819368124, + 0.049679938703775406 + ], + [ + 0.34202662110328674, + -0.019893184304237366, + 0.04960948973894119 + ], + [ + 0.3396247923374176, + -0.020020628347992897, + 0.05773916468024254 + ], + [ + 0.3385715186595917, + -0.015707576647400856, + 0.07429061830043793 + ], + [ + 0.34071022272109985, + -0.0008094647782854736, + 0.10735154896974564 + ], + [ + 0.33409583568573, + 0.023578640073537827, + 0.13936813175678253 + ], + [ + 0.3255844712257385, + 0.057193905115127563, + 0.16066090762615204 + ], + [ + 0.31418576836586, + 0.08914001286029816, + 0.16272403299808502 + ], + [ + 0.2988058924674988, + 0.11715251952409744, + 0.14697638154029846 + ], + [ + 0.28688615560531616, + 0.1357371062040329, + 0.12408945709466934 + ], + [ + 0.2784363925457001, + 0.14388030767440796, + 0.09437794238328934 + ], + [ + 0.27260056138038635, + 0.14570197463035583, + 0.062242377549409866 + ], + [ + 0.2704472243785858, + 0.14833424985408783, + 0.04241681098937988 + ], + [ + 0.27412962913513184, + 0.14585444331169128, + 0.041181862354278564 + ], + [ + 0.2744338810443878, + 0.13861975073814392, + 0.04193027317523956 + ], + [ + 0.273244708776474, + 0.13495215773582458, + 0.04268629103899002 + ], + [ + 0.27343660593032837, + 0.13136571645736694, + 0.05057374760508537 + ], + [ + 0.2767989933490753, + 0.1264062225818634, + 0.07134857028722763 + ], + [ + 0.2818601429462433, + 0.12186501175165176, + 0.10042427480220795 + ], + [ + 0.2828608751296997, + 0.1173393651843071, + 0.13338495790958405 + ], + [ + 0.2797873914241791, + 0.11557929217815399, + 0.15943609178066254 + ], + [ + 0.2790836989879608, + 0.11627652496099472, + 0.1617548167705536 + ], + [ + 0.2790836989879608, + 0.11627652496099472, + 0.1617548167705536 + ], + [ + 0.2788005769252777, + 0.1161457970738411, + 0.1613209992647171 + ], + [ + 0.2788708209991455, + 0.1161782294511795, + 0.16085797548294067 + ], + [ + 0.27898862957954407, + 0.11647424846887589, + 0.16173779964447021 + ], + [ + 0.2790836989879608, + 0.11627652496099472, + 0.1617548167705536 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9899127820534243, + 0.06755715149010205, + 0.1245339921860419, + 0.07602977726275428, + -0.9950118644857453, + -0.06458221505938629, + 0.11954980927055349, + 0.07339905186815597, + -0.9901113181295474 + ], + [ + 0.9922365365898292, + 0.07622068178269673, + 0.0982703573047399, + 0.08355492488860533, + -0.9938396265855483, + -0.07281051541609425, + 0.09211530808220686, + 0.08045622596715969, + -0.9924926023502851 + ], + [ + 0.9954583350614238, + 0.03882252367655666, + 0.08692246436981269, + 0.046994043952826976, + -0.9944597686871085, + -0.09402833772721067, + 0.08279047644323545, + 0.0976861306336054, + -0.9917676930068534 + ], + [ + 0.9969793614505359, + -0.008671459906885746, + 0.07718133598717114, + -0.002277213386761515, + -0.9965841236678871, + -0.08255240003961443, + 0.07763354391545244, + 0.08212728070618587, + -0.9935935500107348 + ], + [ + 0.9969428482957352, + -0.0256808665189846, + 0.07379329459253474, + -0.020030014289096867, + -0.9968820522772047, + -0.07632150663585595, + 0.07552321338214561, + 0.07461009946664408, + -0.9943488207354662 + ], + [ + 0.9974899871448138, + -0.04509902554603531, + 0.05458757588167229, + -0.04211022226853366, + -0.9976135369998224, + -0.0547170903392977, + 0.05692499210657799, + 0.05228105478567001, + -0.9970086441872829 + ], + [ + 0.9992177783631223, + -0.03863535405367582, + 0.008434501776241323, + -0.0383117878478049, + -0.998630057502112, + -0.03564007807557949, + 0.0097999140287602, + 0.035289058792715475, + -0.9993290969518266 + ], + [ + 0.9986436676896614, + -0.04262139585956967, + -0.02990387263086173, + -0.04360527503637236, + -0.9985017157597247, + -0.033059092756579075, + -0.02845004345063932, + 0.03431822023164423, + -0.9990059333096021 + ], + [ + 0.9976911997749817, + -0.06238421924369854, + -0.026841741391195335, + -0.06291012547419604, + -0.9978341995678897, + -0.019215261786658926, + -0.025584878431967696, + 0.02085951490478812, + -0.9994549988036271 + ], + [ + 0.9972486975691456, + -0.07011189061427361, + -0.024069856483468485, + -0.07076386040718585, + -0.9971168049811389, + -0.027396227559238727, + -0.022079657083273554, + 0.029024128215975914, + -0.9993348231320609 + ], + [ + 0.996832082141644, + -0.07622477834862042, + -0.022706456765839298, + -0.077001128114554, + -0.9963973098716002, + -0.03554190695115768, + -0.019915478458758785, + 0.03717773589586104, + -0.9991101989627654 + ], + [ + 0.9968557461036007, + -0.07548533091212019, + -0.024095358003594677, + -0.07651469878977717, + -0.9960470413916162, + -0.04511975403432369, + -0.020594230486797885, + 0.04682153513177358, + -0.9986909539585112 + ], + [ + 0.9956080623187313, + -0.09016530210815335, + -0.02519532777493791, + -0.09166154794294831, + -0.9935735673005868, + -0.06640577527812504, + -0.019045914906974333, + 0.06842356799620795, + -0.9974745452732238 + ], + [ + 0.9958237469953976, + -0.09120385699946723, + -0.004113561530781887, + -0.09117770136652867, + -0.9912185165293068, + -0.09577306125919131, + 0.0046574342252908504, + 0.0957481538091541, + -0.9953946952584065 + ], + [ + 0.9954266831582406, + -0.08219976319058792, + 0.048671525433201225, + -0.07445533628884726, + -0.9867992731128837, + -0.14381793171228183, + 0.05985082584808792, + 0.1395363519492149, + -0.9884065383889397 + ], + [ + 0.9915211636477994, + -0.043984965361495224, + 0.12227471063413646, + -0.02831554069716566, + -0.9914917863211284, + -0.12705222474543665, + 0.12682275897306797, + 0.12251269517844204, + -0.9843305477971174 + ], + [ + 0.9817560833241638, + 0.03754858978082906, + 0.18640036550787278, + 0.058264299290141666, + -0.9925577014912218, + -0.10693213099294063, + 0.180997967624574, + 0.11584175678887831, + -0.9766373037621694 + ], + [ + 0.9688509993258189, + 0.11478228034619661, + 0.21943739249245814, + 0.13848979645044315, + -0.9857144873908262, + -0.09585158124389713, + 0.2053005537851197, + 0.12325574009500619, + -0.9709066407998018 + ], + [ + 0.9642489579887332, + 0.16470689856842205, + 0.2075947604868997, + 0.18009187914934674, + -0.9819737079921844, + -0.057398187049217085, + 0.19439871934274364, + 0.09273227257029432, + -0.9765294995758446 + ], + [ + 0.9625307665854829, + 0.2016407827527039, + 0.18131607239083922, + 0.21096111792324604, + -0.976921122005256, + -0.03347429020257969, + 0.1703817187991055, + 0.07047067553861758, + -0.9828550014056977 + ], + [ + 0.9681013067247088, + 0.20714168241628603, + 0.14096873172325058, + 0.20981752076605295, + -0.9777314314220208, + -0.004225634749151894, + 0.13695425476230455, + 0.03366855231810256, + -0.9900050306373727 + ], + [ + 0.978966980897183, + 0.17224767110431943, + 0.10933613360729698, + 0.17217466313568408, + -0.9850138351184957, + 0.010179882085116294, + 0.1094510652628297, + 0.008859143541638886, + -0.9939527050562016 + ], + [ + 0.9847973708220302, + 0.15067256997291628, + 0.08644023993356971, + 0.14906542824785612, + -0.9885164774693572, + 0.024792576970872733, + 0.08918316277919115, + -0.011530413233273279, + -0.9959484991942956 + ], + [ + 0.9895596326810314, + 0.11600917391828984, + 0.08551961725228656, + 0.11221294769310715, + -0.9925265353905373, + 0.04795133903948767, + 0.09044328464958364, + -0.03785430110901365, + -0.9951819251520507 + ], + [ + 0.9941479098309066, + 0.09265647080550023, + 0.055540181820993025, + 0.09009170739602664, + -0.9948222719060162, + 0.04703330286319503, + 0.05961054971486338, + -0.04175434992455031, + -0.9973480619247576 + ], + [ + 0.9960096401628978, + 0.07871007320217129, + 0.04206567578303032, + 0.07703268195031644, + -0.9962213364598224, + 0.0401125253972646, + 0.04506398355799872, + -0.03671203016333532, + -0.9983093028852181 + ], + [ + 0.9968902699615373, + 0.0635725807659168, + 0.046565186897235794, + 0.061826067451957935, + -0.9973619882618552, + 0.03803421819605618, + 0.048860280795749264, + -0.03503699965922093, + -0.9981909043942648 + ], + [ + 0.994533401565741, + 0.054461203680826, + 0.08909147245226391, + 0.050643289606699775, + -0.9977218497702468, + 0.04456868529415493, + 0.09131577294141933, + -0.039813160948021606, + -0.9950257995788041 + ], + [ + 0.98905754599493, + 0.05305626355374473, + 0.13765973851566965, + 0.049865248371391925, + -0.9984035627484124, + 0.026528906802515812, + 0.1388474980521664, + -0.01937417840819976, + -0.9901242414443053 + ], + [ + 0.9816226406726782, + 0.04458199413151163, + 0.18555171009197474, + 0.042753051870911614, + -0.9989896892341521, + 0.013848370285909259, + 0.1859816331644647, + -0.005660971922768746, + -0.9825369130584196 + ], + [ + 0.969773269667704, + 0.04048156439229185, + 0.24062636676466537, + 0.034024866224310654, + -0.9989422923093829, + 0.030929033513723857, + 0.2416239100677503, + -0.021806870019056332, + -0.9701249128352202 + ], + [ + 0.9680238028560162, + 0.04222315413598019, + 0.24727944184461811, + 0.034679870673131864, + -0.9987929781791984, + 0.03478352066743902, + 0.24844964011700935, + -0.02509565688991957, + -0.9683196705277612 + ], + [ + 0.9680238028560162, + 0.04222315413598019, + 0.24727944184461811, + 0.034679870673131864, + -0.9987929781791984, + 0.03478352066743902, + 0.24844964011700935, + -0.02509565688991957, + -0.9683196705277612 + ], + [ + 0.968368858056244, + 0.042188607592815695, + 0.24593063277319802, + 0.03483919813199866, + -0.9988089289761981, + 0.034160703607209, + 0.2470789044422156, + -0.024512135500597547, + -0.9686852792279003 + ], + [ + 0.9687120036567062, + 0.0421548792158809, + 0.24458131598653204, + 0.03499764873660241, + -0.9988245042300746, + 0.033537655440634265, + 0.24570758749847088, + -0.02392855841541245, + -0.9690486084494632 + ], + [ + 0.9681906712583561, + 0.04190338755233641, + 0.24667981311800283, + 0.03404691322932217, + -0.998770554169319, + 0.03603037362929517, + 0.24788632836009553, + -0.02648558543718261, + -0.9684270142742822 + ], + [ + 0.9680238028560162, + 0.04222315413598019, + 0.24727944184461811, + 0.034679870673131864, + -0.9987929781791984, + 0.03478352066743902, + 0.24844964011700935, + -0.02509565688991957, + -0.9683196705277612 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + 0.000835806131362915, + -0.0005500465631484985, + -0.009917974472045898, + -0.006891168653964996, + 0.027590349316596985, + 0.0073564425110816956, + 1.0 + ], + [ + 0.002314537763595581, + -0.025391947478055954, + -0.01373918354511261, + -0.017292365431785583, + 0.009360730648040771, + -0.03683704882860184, + 1.0 + ], + [ + 0.0036686956882476807, + -0.029145818203687668, + -0.01650387793779373, + 0.01571095734834671, + 0.005173608660697937, + -0.04945753514766693, + 1.0 + ], + [ + 0.00198519229888916, + -0.01641186513006687, + -0.013803832232952118, + 0.007575556635856628, + 0.0021165460348129272, + -0.017804624512791634, + 1.0 + ], + [ + 0.0026427507400512695, + -0.013254857622087002, + -0.018958769738674164, + 0.02250385656952858, + 0.01863941177725792, + -0.022102398797869682, + 1.0 + ], + [ + 0.0001677870750427246, + 0.0002428945153951645, + -0.021016821265220642, + 0.017091847956180573, + 0.0471557080745697, + 0.0038681253790855408, + 1.0 + ], + [ + 0.0006857216358184814, + -0.0003308560699224472, + -0.014637835323810577, + 0.0009592175483703613, + 0.03825395554304123, + -0.0053137727081775665, + 0.0 + ], + [ + 0.0005088448524475098, + -0.0020679812878370285, + 0.0002637617290019989, + 0.013471005484461784, + -0.0028662122786045074, + -0.019335556775331497, + 0.0 + ], + [ + 0.0002289414405822754, + -0.0018207132816314697, + -0.0003159157931804657, + -0.00816742517054081, + -0.0035062190145254135, + -0.00786801427602768, + 0.0 + ], + [ + -0.00013431906700134277, + -0.0007433053106069565, + -0.0006334595382213593, + -0.008158400654792786, + -0.0021646562963724136, + -0.006252393126487732, + 0.0 + ], + [ + -0.0006377696990966797, + 0.001156797632575035, + -7.044896483421326e-05, + -0.009654916822910309, + 0.0006788913160562515, + 0.000486910343170166, + 0.0 + ], + [ + -0.0024018287658691406, + -0.0001274440437555313, + 0.008129674941301346, + -0.02164091169834137, + -0.0015486199408769608, + -0.015201255679130554, + 0.0 + ], + [ + -0.0010532736778259277, + 0.004313051700592041, + 0.01655145362019539, + -0.027406588196754456, + -0.023704517632722855, + 0.000501587986946106, + 0.0 + ], + [ + 0.0021387040615081787, + 0.014898112043738365, + 0.03306093066930771, + -0.044350139796733856, + -0.05522916465997696, + 0.016647115349769592, + 0.0 + ], + [ + -0.006614387035369873, + 0.024388104677200317, + 0.032016582787036896, + 0.01642005890607834, + -0.06727859377861023, + 0.04610846936702728, + 0.0 + ], + [ + -0.008511364459991455, + 0.03361526504158974, + 0.021292775869369507, + 0.0057649165391922, + -0.05483587086200714, + 0.0878274142742157, + 0.0 + ], + [ + -0.01139870285987854, + 0.03194610774517059, + 0.0020631253719329834, + -0.008212395012378693, + -0.024769708514213562, + 0.08270302414894104, + 0.0 + ], + [ + -0.015379875898361206, + 0.028012506663799286, + -0.01574765145778656, + 0.03159651160240173, + 0.011126354336738586, + 0.042661234736442566, + 0.0 + ], + [ + -0.011919736862182617, + 0.018584586679935455, + -0.02288692444562912, + 0.023099668323993683, + 0.024427399039268494, + 0.03111995756626129, + 0.0 + ], + [ + -0.008449763059616089, + 0.008143201470375061, + -0.029711514711380005, + 0.037582118064165115, + 0.033831000328063965, + -0.002331659197807312, + 0.0 + ], + [ + -0.005835831165313721, + 0.001821666955947876, + -0.03213556483387947, + 0.025082556530833244, + 0.027715258300304413, + -0.03933665156364441, + 0.0 + ], + [ + -0.002153337001800537, + 0.0026322752237319946, + -0.019825566560029984, + 0.020489608868956566, + 0.020368970930576324, + -0.02386718988418579, + 1.0 + ], + [ + 0.0036824047565460205, + -0.0024798065423965454, + -0.0012349486351013184, + 0.02644243836402893, + -0.0012652352452278137, + -0.03731168806552887, + 1.0 + ], + [ + 0.00030425190925598145, + -0.007234692573547363, + 0.0007484108209609985, + 0.0038217008113861084, + 0.03092113509774208, + -0.02253933995962143, + 1.0 + ], + [ + -0.0011891722679138184, + -0.003667593002319336, + 0.0007560178637504578, + -0.005083300173282623, + 0.014566659927368164, + -0.013187535107135773, + 1.0 + ], + [ + 0.00019189715385437012, + -0.0035864412784576416, + 0.007887456566095352, + -0.0016715452075004578, + -0.0038004927337169647, + -0.015248045325279236, + 1.0 + ], + [ + 0.0033623874187469482, + -0.00495949387550354, + 0.020774822682142258, + 0.004904761910438538, + -0.04256341606378555, + -0.011061884462833405, + 1.0 + ], + [ + 0.005061149597167969, + -0.004541210830211639, + 0.029075704514980316, + -0.020425932481884956, + -0.047854386270046234, + -0.0005034320056438446, + 1.0 + ], + [ + 0.001000732183456421, + -0.0045256465673446655, + 0.0329606831073761, + -0.013803401961922646, + -0.04777328670024872, + -0.00684833899140358, + 1.0 + ], + [ + -0.00307348370552063, + -0.0017600730061531067, + 0.02605113387107849, + 0.016713107004761696, + -0.056968167424201965, + -0.00845494493842125, + 1.0 + ], + [ + -0.0007036924362182617, + 0.0006972327828407288, + 0.0023187249898910522, + 0.003436276689171791, + -0.00704038143157959, + 0.0007391199469566345, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + -0.00028312206268310547, + -0.0001307278871536255, + -0.0004338175058364868, + -0.0006117653101682663, + 0.0014148503541946411, + 0.0001515708863735199, + 1.0 + ], + [ + 7.024407386779785e-05, + 3.2432377338409424e-05, + -0.0004630237817764282, + -0.0006113220006227493, + 0.0014149397611618042, + 0.00015062838792800903, + 1.0 + ], + [ + 0.00011780858039855957, + 0.0002960190176963806, + 0.000879824161529541, + 0.0026544425636529922, + -0.0022482872009277344, + -0.0009612962603569031, + 1.0 + ], + [ + 9.506940841674805e-05, + -0.00019772350788116455, + 1.7017126083374023e-05, + -0.0014313552528619766, + -0.0005815029144287109, + 0.0006590969860553741, + 1.0 + ], + [ + 7.086992263793945e-05, + 3.271549940109253e-05, + -0.00046350061893463135, + -0.0006117634475231171, + 0.0014148354530334473, + 0.0001515708863735199, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9665181636810303 + ], + [ + 0.6931989789009094 + ], + [ + 0.38577979803085327 + ], + [ + 0.16973881423473358 + ], + [ + 0.06803370267152786 + ], + [ + 0.05538023263216019 + ], + [ + 0.05511022359132767 + ], + [ + 0.05511022359132767 + ], + [ + 0.05511022359132767 + ], + [ + 0.05511022359132767 + ], + [ + 0.05511022359132767 + ], + [ + 0.054840996861457825 + ], + [ + 0.054572440683841705 + ], + [ + 0.054572440683841705 + ], + [ + 0.054572440683841705 + ], + [ + 0.06956923007965088 + ], + [ + 0.2117326408624649 + ], + [ + 0.4550158977508545 + ], + [ + 0.7565051317214966 + ], + [ + 0.9907060265541077 + ], + [ + 1.0047606229782104 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3305962383747101, + 0.0678744688630104, + 0.14902587234973907 + ], + [ + 0.33291077613830566, + 0.04248252138495445, + 0.13528668880462646 + ], + [ + 0.33657947182655334, + 0.01333670224994421, + 0.11878281086683273 + ], + [ + 0.3385646641254425, + -0.0030751631129533052, + 0.10497897863388062 + ], + [ + 0.3412074148654938, + -0.016330020502209663, + 0.08602020889520645 + ], + [ + 0.3413752019405365, + -0.0160871259868145, + 0.06500338762998581 + ], + [ + 0.342060923576355, + -0.016417982056736946, + 0.05036555230617523 + ], + [ + 0.3425697684288025, + -0.018485963344573975, + 0.05062931403517723 + ], + [ + 0.34279870986938477, + -0.020306676626205444, + 0.050313398241996765 + ], + [ + 0.3426643908023834, + -0.0210499819368124, + 0.049679938703775406 + ], + [ + 0.34202662110328674, + -0.019893184304237366, + 0.04960948973894119 + ], + [ + 0.3396247923374176, + -0.020020628347992897, + 0.05773916468024254 + ], + [ + 0.3385715186595917, + -0.015707576647400856, + 0.07429061830043793 + ], + [ + 0.34071022272109985, + -0.0008094647782854736, + 0.10735154896974564 + ], + [ + 0.33409583568573, + 0.023578640073537827, + 0.13936813175678253 + ], + [ + 0.3255844712257385, + 0.057193905115127563, + 0.16066090762615204 + ], + [ + 0.31418576836586, + 0.08914001286029816, + 0.16272403299808502 + ], + [ + 0.2988058924674988, + 0.11715251952409744, + 0.14697638154029846 + ], + [ + 0.28688615560531616, + 0.1357371062040329, + 0.12408945709466934 + ], + [ + 0.2784363925457001, + 0.14388030767440796, + 0.09437794238328934 + ], + [ + 0.27260056138038635, + 0.14570197463035583, + 0.062242377549409866 + ], + [ + 0.2704472243785858, + 0.14833424985408783, + 0.04241681098937988 + ], + [ + 0.27412962913513184, + 0.14585444331169128, + 0.041181862354278564 + ], + [ + 0.2744338810443878, + 0.13861975073814392, + 0.04193027317523956 + ], + [ + 0.273244708776474, + 0.13495215773582458, + 0.04268629103899002 + ], + [ + 0.27343660593032837, + 0.13136571645736694, + 0.05057374760508537 + ], + [ + 0.2767989933490753, + 0.1264062225818634, + 0.07134857028722763 + ], + [ + 0.2818601429462433, + 0.12186501175165176, + 0.10042427480220795 + ], + [ + 0.2828608751296997, + 0.1173393651843071, + 0.13338495790958405 + ], + [ + 0.2797873914241791, + 0.11557929217815399, + 0.15943609178066254 + ], + [ + 0.2790836989879608, + 0.11627652496099472, + 0.1617548167705536 + ], + [ + 0.2790836989879608, + 0.11627652496099472, + 0.1617548167705536 + ], + [ + 0.2788005769252777, + 0.1161457970738411, + 0.1613209992647171 + ], + [ + 0.2788708209991455, + 0.1161782294511795, + 0.16085797548294067 + ], + [ + 0.27898862957954407, + 0.11647424846887589, + 0.16173779964447021 + ], + [ + 0.2790836989879608, + 0.11627652496099472, + 0.1617548167705536 + ], + [ + 0.27915456891059875, + 0.11630924046039581, + 0.16129131615161896 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9922365365898292, + 0.07622068178269673, + 0.0982703573047399, + 0.08355492488860533, + -0.9938396265855483, + -0.07281051541609425, + 0.09211530808220686, + 0.08045622596715969, + -0.9924926023502851 + ], + [ + 0.9954583350614238, + 0.03882252367655666, + 0.08692246436981269, + 0.046994043952826976, + -0.9944597686871085, + -0.09402833772721067, + 0.08279047644323545, + 0.0976861306336054, + -0.9917676930068534 + ], + [ + 0.9969793614505359, + -0.008671459906885746, + 0.07718133598717114, + -0.002277213386761515, + -0.9965841236678871, + -0.08255240003961443, + 0.07763354391545244, + 0.08212728070618587, + -0.9935935500107348 + ], + [ + 0.9969428482957352, + -0.0256808665189846, + 0.07379329459253474, + -0.020030014289096867, + -0.9968820522772047, + -0.07632150663585595, + 0.07552321338214561, + 0.07461009946664408, + -0.9943488207354662 + ], + [ + 0.9974899871448138, + -0.04509902554603531, + 0.05458757588167229, + -0.04211022226853366, + -0.9976135369998224, + -0.0547170903392977, + 0.05692499210657799, + 0.05228105478567001, + -0.9970086441872829 + ], + [ + 0.9992177783631223, + -0.03863535405367582, + 0.008434501776241323, + -0.0383117878478049, + -0.998630057502112, + -0.03564007807557949, + 0.0097999140287602, + 0.035289058792715475, + -0.9993290969518266 + ], + [ + 0.9986436676896614, + -0.04262139585956967, + -0.02990387263086173, + -0.04360527503637236, + -0.9985017157597247, + -0.033059092756579075, + -0.02845004345063932, + 0.03431822023164423, + -0.9990059333096021 + ], + [ + 0.9976911997749817, + -0.06238421924369854, + -0.026841741391195335, + -0.06291012547419604, + -0.9978341995678897, + -0.019215261786658926, + -0.025584878431967696, + 0.02085951490478812, + -0.9994549988036271 + ], + [ + 0.9972486975691456, + -0.07011189061427361, + -0.024069856483468485, + -0.07076386040718585, + -0.9971168049811389, + -0.027396227559238727, + -0.022079657083273554, + 0.029024128215975914, + -0.9993348231320609 + ], + [ + 0.996832082141644, + -0.07622477834862042, + -0.022706456765839298, + -0.077001128114554, + -0.9963973098716002, + -0.03554190695115768, + -0.019915478458758785, + 0.03717773589586104, + -0.9991101989627654 + ], + [ + 0.9968557461036007, + -0.07548533091212019, + -0.024095358003594677, + -0.07651469878977717, + -0.9960470413916162, + -0.04511975403432369, + -0.020594230486797885, + 0.04682153513177358, + -0.9986909539585112 + ], + [ + 0.9956080623187313, + -0.09016530210815335, + -0.02519532777493791, + -0.09166154794294831, + -0.9935735673005868, + -0.06640577527812504, + -0.019045914906974333, + 0.06842356799620795, + -0.9974745452732238 + ], + [ + 0.9958237469953976, + -0.09120385699946723, + -0.004113561530781887, + -0.09117770136652867, + -0.9912185165293068, + -0.09577306125919131, + 0.0046574342252908504, + 0.0957481538091541, + -0.9953946952584065 + ], + [ + 0.9954266831582406, + -0.08219976319058792, + 0.048671525433201225, + -0.07445533628884726, + -0.9867992731128837, + -0.14381793171228183, + 0.05985082584808792, + 0.1395363519492149, + -0.9884065383889397 + ], + [ + 0.9915211636477994, + -0.043984965361495224, + 0.12227471063413646, + -0.02831554069716566, + -0.9914917863211284, + -0.12705222474543665, + 0.12682275897306797, + 0.12251269517844204, + -0.9843305477971174 + ], + [ + 0.9817560833241638, + 0.03754858978082906, + 0.18640036550787278, + 0.058264299290141666, + -0.9925577014912218, + -0.10693213099294063, + 0.180997967624574, + 0.11584175678887831, + -0.9766373037621694 + ], + [ + 0.9688509993258189, + 0.11478228034619661, + 0.21943739249245814, + 0.13848979645044315, + -0.9857144873908262, + -0.09585158124389713, + 0.2053005537851197, + 0.12325574009500619, + -0.9709066407998018 + ], + [ + 0.9642489579887332, + 0.16470689856842205, + 0.2075947604868997, + 0.18009187914934674, + -0.9819737079921844, + -0.057398187049217085, + 0.19439871934274364, + 0.09273227257029432, + -0.9765294995758446 + ], + [ + 0.9625307665854829, + 0.2016407827527039, + 0.18131607239083922, + 0.21096111792324604, + -0.976921122005256, + -0.03347429020257969, + 0.1703817187991055, + 0.07047067553861758, + -0.9828550014056977 + ], + [ + 0.9681013067247088, + 0.20714168241628603, + 0.14096873172325058, + 0.20981752076605295, + -0.9777314314220208, + -0.004225634749151894, + 0.13695425476230455, + 0.03366855231810256, + -0.9900050306373727 + ], + [ + 0.978966980897183, + 0.17224767110431943, + 0.10933613360729698, + 0.17217466313568408, + -0.9850138351184957, + 0.010179882085116294, + 0.1094510652628297, + 0.008859143541638886, + -0.9939527050562016 + ], + [ + 0.9847973708220302, + 0.15067256997291628, + 0.08644023993356971, + 0.14906542824785612, + -0.9885164774693572, + 0.024792576970872733, + 0.08918316277919115, + -0.011530413233273279, + -0.9959484991942956 + ], + [ + 0.9895596326810314, + 0.11600917391828984, + 0.08551961725228656, + 0.11221294769310715, + -0.9925265353905373, + 0.04795133903948767, + 0.09044328464958364, + -0.03785430110901365, + -0.9951819251520507 + ], + [ + 0.9941479098309066, + 0.09265647080550023, + 0.055540181820993025, + 0.09009170739602664, + -0.9948222719060162, + 0.04703330286319503, + 0.05961054971486338, + -0.04175434992455031, + -0.9973480619247576 + ], + [ + 0.9960096401628978, + 0.07871007320217129, + 0.04206567578303032, + 0.07703268195031644, + -0.9962213364598224, + 0.0401125253972646, + 0.04506398355799872, + -0.03671203016333532, + -0.9983093028852181 + ], + [ + 0.9968902699615373, + 0.0635725807659168, + 0.046565186897235794, + 0.061826067451957935, + -0.9973619882618552, + 0.03803421819605618, + 0.048860280795749264, + -0.03503699965922093, + -0.9981909043942648 + ], + [ + 0.994533401565741, + 0.054461203680826, + 0.08909147245226391, + 0.050643289606699775, + -0.9977218497702468, + 0.04456868529415493, + 0.09131577294141933, + -0.039813160948021606, + -0.9950257995788041 + ], + [ + 0.98905754599493, + 0.05305626355374473, + 0.13765973851566965, + 0.049865248371391925, + -0.9984035627484124, + 0.026528906802515812, + 0.1388474980521664, + -0.01937417840819976, + -0.9901242414443053 + ], + [ + 0.9816226406726782, + 0.04458199413151163, + 0.18555171009197474, + 0.042753051870911614, + -0.9989896892341521, + 0.013848370285909259, + 0.1859816331644647, + -0.005660971922768746, + -0.9825369130584196 + ], + [ + 0.969773269667704, + 0.04048156439229185, + 0.24062636676466537, + 0.034024866224310654, + -0.9989422923093829, + 0.030929033513723857, + 0.2416239100677503, + -0.021806870019056332, + -0.9701249128352202 + ], + [ + 0.9680238028560162, + 0.04222315413598019, + 0.24727944184461811, + 0.034679870673131864, + -0.9987929781791984, + 0.03478352066743902, + 0.24844964011700935, + -0.02509565688991957, + -0.9683196705277612 + ], + [ + 0.9680238028560162, + 0.04222315413598019, + 0.24727944184461811, + 0.034679870673131864, + -0.9987929781791984, + 0.03478352066743902, + 0.24844964011700935, + -0.02509565688991957, + -0.9683196705277612 + ], + [ + 0.968368858056244, + 0.042188607592815695, + 0.24593063277319802, + 0.03483919813199866, + -0.9988089289761981, + 0.034160703607209, + 0.2470789044422156, + -0.024512135500597547, + -0.9686852792279003 + ], + [ + 0.9687120036567062, + 0.0421548792158809, + 0.24458131598653204, + 0.03499764873660241, + -0.9988245042300746, + 0.033537655440634265, + 0.24570758749847088, + -0.02392855841541245, + -0.9690486084494632 + ], + [ + 0.9681906712583561, + 0.04190338755233641, + 0.24667981311800283, + 0.03404691322932217, + -0.998770554169319, + 0.03603037362929517, + 0.24788632836009553, + -0.02648558543718261, + -0.9684270142742822 + ], + [ + 0.9680238028560162, + 0.04222315413598019, + 0.24727944184461811, + 0.034679870673131864, + -0.9987929781791984, + 0.03478352066743902, + 0.24844964011700935, + -0.02509565688991957, + -0.9683196705277612 + ], + [ + 0.9683688543768618, + 0.04218860841592035, + 0.24593064711981844, + 0.034839197999624795, + -0.9988089288994364, + 0.03416070598661399, + 0.24707891888137173, + -0.02451213721177898, + -0.9686852755016584 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006171.json b/json/chunk-0006/episode_0006171.json new file mode 100644 index 0000000000000000000000000000000000000000..750a40118ef730fbbdf574f7524c661f1a29c333 --- /dev/null +++ b/json/chunk-0006/episode_0006171.json @@ -0,0 +1,2482 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 40, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the pot to the top of the cloth on the right." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006171.mp4", + "start": 0, + "end": 40, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2565145492553711, + 0.013279411010444164, + 0.11020713299512863, + -0.011743903160095215, + -0.11958027631044388, + 0.06753916293382645, + 0.0, + 1.0001531839370728 + ], + [ + 0.25450512766838074, + 0.01316214632242918, + 0.10517706722021103, + -0.010791528038680553, + -0.09972506016492844, + 0.05981120094656944, + 0.0, + 1.0001531839370728 + ], + [ + 0.2518939673900604, + 0.044999342411756516, + 0.10594940185546875, + 0.0007655419176444411, + -0.10474518686532974, + 0.0861394852399826, + 0.0, + 1.0001531839370728 + ], + [ + 0.261796772480011, + 0.0774102509021759, + 0.11036742478609085, + 0.0024720525834709406, + -0.1748604029417038, + 0.04433221369981766, + 0.0, + 1.0001531839370728 + ], + [ + 0.2738335132598877, + 0.1076277419924736, + 0.10148055851459503, + 0.0015012538060545921, + -0.2230777144432068, + -0.005670104641467333, + 0.0, + 1.0001531839370728 + ], + [ + 0.2806842625141144, + 0.13721102476119995, + 0.07931306958198547, + -0.027283018454909325, + -0.21229000389575958, + 0.04612154886126518, + 0.0, + 1.0001531839370728 + ], + [ + 0.2837039828300476, + 0.14668382704257965, + 0.059884313493967056, + -0.017437081784009933, + -0.19979964196681976, + 0.095998115837574, + 0.0, + 1.0001531839370728 + ], + [ + 0.28171321749687195, + 0.15121744573116302, + 0.04663907364010811, + 0.002257870277389884, + -0.16269727051258087, + 0.13947440683841705, + 0.0, + 1.0001531839370728 + ], + [ + 0.28396958112716675, + 0.15187594294548035, + 0.044966407120227814, + 0.01732245646417141, + -0.16730359196662903, + 0.16593796014785767, + 0.0, + 1.0001531839370728 + ], + [ + 0.2880362570285797, + 0.15186630189418793, + 0.042803552001714706, + 0.005892390385270119, + -0.18826507031917572, + 0.194707989692688, + 0.0, + 1.0001531839370728 + ], + [ + 0.2896834909915924, + 0.15193884074687958, + 0.04312169551849365, + 0.00012356069055385888, + -0.198785662651062, + 0.21601717174053192, + 0.0, + 1.0001531839370728 + ], + [ + 0.29219284653663635, + 0.1478273868560791, + 0.043263040482997894, + -0.011220499873161316, + -0.20294415950775146, + 0.22545629739761353, + 0.0, + 1.0001531839370728 + ], + [ + 0.2978542447090149, + 0.14502622187137604, + 0.04595831036567688, + -0.018200397491455078, + -0.2183213233947754, + 0.23171985149383545, + 0.0, + 1.0001531839370728 + ], + [ + 0.30268532037734985, + 0.13895264267921448, + 0.0464102067053318, + -0.026304611936211586, + -0.2303445041179657, + 0.2327997386455536, + 0.0, + 1.0001531839370728 + ], + [ + 0.30922001600265503, + 0.13242825865745544, + 0.03769238665699959, + -0.03277476131916046, + -0.2180119752883911, + 0.22355082631111145, + 0.0, + 1.0001531839370728 + ], + [ + 0.3125726282596588, + 0.13213583827018738, + 0.024325372651219368, + -0.04002555087208748, + -0.1883995532989502, + 0.21849913895130157, + 0.0, + 1.0001531839370728 + ], + [ + 0.3125368058681488, + 0.13140736520290375, + 0.016295382753014565, + -0.040131598711013794, + -0.16404026746749878, + 0.21834862232208252, + 0.0, + 0.9383087754249573 + ], + [ + 0.3127760887145996, + 0.13032972812652588, + 0.015735359862446785, + -0.03897997736930847, + -0.16132183372974396, + 0.22269496321678162, + 0.0, + 0.6450598835945129 + ], + [ + 0.3122439682483673, + 0.126039057970047, + 0.015863461419939995, + -0.03523126244544983, + -0.14765527844429016, + 0.2063763588666916, + 0.0, + 0.35856863856315613 + ], + [ + 0.31173571944236755, + 0.1232311800122261, + 0.015619038604199886, + -0.03339766710996628, + -0.1372300535440445, + 0.20194438099861145, + 0.0, + 0.16078366339206696 + ], + [ + 0.3089017868041992, + 0.12160956114530563, + 0.025296220555901527, + -0.02399728074669838, + -0.1418340504169464, + 0.23452045023441315, + 0.0, + 0.10394904017448425 + ], + [ + 0.2936433255672455, + 0.1064404547214508, + 0.054730139672756195, + 0.035081896930933, + -0.1228024885058403, + 0.3552588224411011, + 0.0, + 0.0832853764295578 + ], + [ + 0.28647759556770325, + 0.07298022508621216, + 0.09909829497337341, + 0.05978995934128761, + -0.15064406394958496, + 0.4161700904369354, + 0.0, + 0.0832853764295578 + ], + [ + 0.29495522379875183, + 0.032996442168951035, + 0.12074851244688034, + 0.061981528997421265, + -0.19676899909973145, + 0.36303821206092834, + 0.0, + 0.08294149488210678 + ], + [ + 0.3232736587524414, + -0.017787393182516098, + 0.12850183248519897, + 0.021205797791481018, + -0.22462674975395203, + 0.19848686456680298, + 0.0, + 0.08294149488210678 + ], + [ + 0.36039799451828003, + -0.06518308818340302, + 0.09914114326238632, + 0.0032363180071115494, + -0.17654690146446228, + 0.09395002573728561, + 0.0, + 0.08294149488210678 + ], + [ + 0.38057586550712585, + -0.10039649903774261, + 0.08481168746948242, + 0.0017979696858674288, + -0.16570799052715302, + 0.08155394345521927, + 0.0, + 0.08259850740432739 + ], + [ + 0.3838074207305908, + -0.11044999212026596, + 0.06201324239373207, + 0.037211958318948746, + -0.11893578618764877, + 0.06884057819843292, + 0.0, + 0.08259850740432739 + ], + [ + 0.38079461455345154, + -0.11136684566736221, + 0.05654256045818329, + 0.06302177160978317, + -0.1047937348484993, + 0.06598558276891708, + 0.0, + 0.08259850740432739 + ], + [ + 0.37098583579063416, + -0.1052829921245575, + 0.03771594911813736, + 0.09655347466468811, + -0.1041376069188118, + 0.07777328789234161, + 0.0, + 0.08259850740432739 + ], + [ + 0.3686087131500244, + -0.10276924073696136, + 0.024313991889357567, + 0.07861599326133728, + -0.1338527500629425, + 0.08434383571147919, + 0.0, + 0.08259850740432739 + ], + [ + 0.3678712248802185, + -0.09721918404102325, + 0.01610225811600685, + 0.061374176293611526, + -0.15256904065608978, + 0.09832816570997238, + 0.0, + 0.08259850740432739 + ], + [ + 0.36811724305152893, + -0.09608565270900726, + 0.016213256865739822, + 0.029255418106913567, + -0.178459033370018, + 0.09230246394872665, + 0.0, + 0.11746759712696075 + ], + [ + 0.36608457565307617, + -0.09335799515247345, + 0.02006322145462036, + -0.002835553605109453, + -0.20516528189182281, + 0.10436443984508514, + 0.0, + 0.30570894479751587 + ], + [ + 0.36181390285491943, + -0.09354826807975769, + 0.05176416411995888, + -0.0936218872666359, + -0.2763153612613678, + 0.18999114632606506, + 0.0, + 0.590900182723999 + ], + [ + 0.3604964017868042, + -0.07384839653968811, + 0.10208339989185333, + -0.18658818304538727, + -0.36862096190452576, + 0.2973494529724121, + 0.0, + 0.8888095021247864 + ], + [ + 0.34235090017318726, + -0.06882017105817795, + 0.13864658772945404, + -0.21784670650959015, + -0.39985883235931396, + 0.31665530800819397, + 0.0, + 1.013738751411438 + ], + [ + 0.3073572516441345, + -0.05448869988322258, + 0.16498520970344543, + -0.24569831788539886, + -0.3402968645095825, + 0.3174532353878021, + 0.0, + 1.0092895030975342 + ], + [ + 0.2744860053062439, + -0.05776908993721008, + 0.15960313379764557, + -0.24117812514305115, + -0.2683022618293762, + 0.22625133395195007, + 0.0, + 1.0027955770492554 + ], + [ + 0.24918866157531738, + -0.05315959081053734, + 0.15224500000476837, + -0.17660902440547943, + -0.21670988202095032, + 0.128581702709198, + 0.0, + 1.0008161067962646 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9383087754249573 + ], + [ + 0.6450598835945129 + ], + [ + 0.35856863856315613 + ], + [ + 0.16078366339206696 + ], + [ + 0.10394904017448425 + ], + [ + 0.0832853764295578 + ], + [ + 0.0832853764295578 + ], + [ + 0.08294149488210678 + ], + [ + 0.08294149488210678 + ], + [ + 0.08294149488210678 + ], + [ + 0.08259850740432739 + ], + [ + 0.08259850740432739 + ], + [ + 0.08259850740432739 + ], + [ + 0.08259850740432739 + ], + [ + 0.08259850740432739 + ], + [ + 0.08259850740432739 + ], + [ + 0.11746759712696075 + ], + [ + 0.30570894479751587 + ], + [ + 0.590900182723999 + ], + [ + 0.8888095021247864 + ], + [ + 1.013738751411438 + ], + [ + 1.0092895030975342 + ], + [ + 1.0027955770492554 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2565145492553711, + 0.013279411010444164, + 0.11020713299512863 + ], + [ + 0.25450512766838074, + 0.01316214632242918, + 0.10517706722021103 + ], + [ + 0.2518939673900604, + 0.044999342411756516, + 0.10594940185546875 + ], + [ + 0.261796772480011, + 0.0774102509021759, + 0.11036742478609085 + ], + [ + 0.2738335132598877, + 0.1076277419924736, + 0.10148055851459503 + ], + [ + 0.2806842625141144, + 0.13721102476119995, + 0.07931306958198547 + ], + [ + 0.2837039828300476, + 0.14668382704257965, + 0.059884313493967056 + ], + [ + 0.28171321749687195, + 0.15121744573116302, + 0.04663907364010811 + ], + [ + 0.28396958112716675, + 0.15187594294548035, + 0.044966407120227814 + ], + [ + 0.2880362570285797, + 0.15186630189418793, + 0.042803552001714706 + ], + [ + 0.2896834909915924, + 0.15193884074687958, + 0.04312169551849365 + ], + [ + 0.29219284653663635, + 0.1478273868560791, + 0.043263040482997894 + ], + [ + 0.2978542447090149, + 0.14502622187137604, + 0.04595831036567688 + ], + [ + 0.30268532037734985, + 0.13895264267921448, + 0.0464102067053318 + ], + [ + 0.30922001600265503, + 0.13242825865745544, + 0.03769238665699959 + ], + [ + 0.3125726282596588, + 0.13213583827018738, + 0.024325372651219368 + ], + [ + 0.3125368058681488, + 0.13140736520290375, + 0.016295382753014565 + ], + [ + 0.3127760887145996, + 0.13032972812652588, + 0.015735359862446785 + ], + [ + 0.3122439682483673, + 0.126039057970047, + 0.015863461419939995 + ], + [ + 0.31173571944236755, + 0.1232311800122261, + 0.015619038604199886 + ], + [ + 0.3089017868041992, + 0.12160956114530563, + 0.025296220555901527 + ], + [ + 0.2936433255672455, + 0.1064404547214508, + 0.054730139672756195 + ], + [ + 0.28647759556770325, + 0.07298022508621216, + 0.09909829497337341 + ], + [ + 0.29495522379875183, + 0.032996442168951035, + 0.12074851244688034 + ], + [ + 0.3232736587524414, + -0.017787393182516098, + 0.12850183248519897 + ], + [ + 0.36039799451828003, + -0.06518308818340302, + 0.09914114326238632 + ], + [ + 0.38057586550712585, + -0.10039649903774261, + 0.08481168746948242 + ], + [ + 0.3838074207305908, + -0.11044999212026596, + 0.06201324239373207 + ], + [ + 0.38079461455345154, + -0.11136684566736221, + 0.05654256045818329 + ], + [ + 0.37098583579063416, + -0.1052829921245575, + 0.03771594911813736 + ], + [ + 0.3686087131500244, + -0.10276924073696136, + 0.024313991889357567 + ], + [ + 0.3678712248802185, + -0.09721918404102325, + 0.01610225811600685 + ], + [ + 0.36811724305152893, + -0.09608565270900726, + 0.016213256865739822 + ], + [ + 0.36608457565307617, + -0.09335799515247345, + 0.02006322145462036 + ], + [ + 0.36181390285491943, + -0.09354826807975769, + 0.05176416411995888 + ], + [ + 0.3604964017868042, + -0.07384839653968811, + 0.10208339989185333 + ], + [ + 0.34235090017318726, + -0.06882017105817795, + 0.13864658772945404 + ], + [ + 0.3073572516441345, + -0.05448869988322258, + 0.16498520970344543 + ], + [ + 0.2744860053062439, + -0.05776908993721008, + 0.15960313379764557 + ], + [ + 0.24918866157531738, + -0.05315959081053734, + 0.15224500000476837 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9905951732909551, + 0.06608540524164773, + 0.11980785394417649, + 0.06700588311264828, + -0.9977458438845955, + -0.0036664205036899137, + 0.11929549145276215, + 0.011659769511570953, + -0.9927903280622653 + ], + [ + 0.9932523034669476, + 0.05869960462672801, + 0.10002108814779548, + 0.05947855582820127, + -0.9982179412115709, + -0.004821124342400316, + 0.09955984659587824, + 0.010737702733785777, + -0.9949736371813108 + ], + [ + 0.9908318457946147, + 0.08611271706587573, + 0.104100208063045, + 0.08556147226561209, + -0.9962851099517973, + 0.009757773930362187, + 0.10455375566175383, + -0.0007613460892366654, + -0.9945189452841784 + ], + [ + 0.9837833051214755, + 0.04474720002824605, + 0.17368965615113172, + 0.04364188592025708, + -0.9989953763723478, + 0.010179576611764657, + 0.17397067096953298, + -0.0024343533645827357, + -0.9847478253675441 + ], + [ + 0.9752055032415053, + -0.005337947773459647, + 0.22123682505642986, + -0.005529576509229119, + -0.9999846813124563, + 0.0002468279829801421, + 0.22123211844375154, + -0.0014640539581647024, + -0.9752200809637263 + ], + [ + 0.9765114391156339, + 0.040346359994262074, + 0.21165438930371144, + 0.045070182308612, + -0.9988298303191255, + -0.017539918224877788, + 0.2106990458995534, + 0.026667232700082154, + -0.977187172836984 + ], + [ + 0.9755936775278073, + 0.09239148475340335, + 0.1992003762868681, + 0.09394391670463, + -0.9955760987423907, + 0.0016649705927099991, + 0.19847296259682767, + 0.01708932877390689, + -0.9799573653787675 + ], + [ + 0.9772114118702522, + 0.1393844692524959, + 0.16009317987268756, + 0.13718670720330298, + -0.9902358332844176, + 0.024754834805158825, + 0.1619804428851332, + -0.002228050878124008, + -0.9867914531004112 + ], + [ + 0.9724930200938596, + 0.1679975406494966, + 0.1613510217025107, + 0.1628711673617874, + -0.9856394416733583, + 0.044585579059138576, + 0.16652419857465756, + -0.017079735172150216, + -0.9858894329160429 + ], + [ + 0.9637685042912385, + 0.19455863725202263, + 0.1824752224464045, + 0.19006133826917385, + -0.9808738109151339, + 0.041991127112198864, + 0.1871549033062174, + -0.005788240791298343, + -0.9823133606120719 + ], + [ + 0.9575236695577659, + 0.21436490245354184, + 0.19286293275980715, + 0.21012007472096983, + -0.9767536403434753, + 0.04244856034099519, + 0.19747905315725123, + -0.00012112742275790025, + -0.9803070992766824 + ], + [ + 0.9546890009589115, + 0.2213328073620798, + 0.19894898801777283, + 0.21896328814886393, + -0.9751364050128823, + 0.03411847097379438, + 0.20155393792013354, + 0.010989995622043091, + -0.9794157595756332 + ], + [ + 0.9501697164985841, + 0.22577723884875825, + 0.2149468498648697, + 0.2242003683845514, + -0.9740169190111109, + 0.03201931130324848, + 0.21659110015241048, + 0.01776738297931513, + -0.9761007199243501 + ], + [ + 0.9473245879072849, + 0.22477982520487338, + 0.22814503134444808, + 0.2246092732365943, + -0.9740730553000178, + 0.02706210107544259, + 0.22831294208261949, + 0.025606895933617573, + -0.9732509888811947 + ], + [ + 0.9520347801790782, + 0.21466323288977834, + 0.21805841826144345, + 0.21644585719620757, + -0.9761639869704416, + 0.0159706432109007, + 0.21628908486554, + 0.03199323346083897, + -0.9758050342054744 + ], + [ + 0.9589498311116113, + 0.20927500141340932, + 0.19136142556541869, + 0.21292909129587628, + -0.9770665015191969, + 0.0015012291460862644, + 0.18728700833459894, + 0.03930681101862883, + -0.9815184924985475 + ], + [ + 0.9631507810831265, + 0.2100469503162828, + 0.16799062938685733, + 0.21370977451177436, + -0.9768897204817535, + -0.0038218183117676857, + 0.16330555770423116, + 0.039582226818493174, + -0.9857811837030566 + ], + [ + 0.9626422480555331, + 0.2145861428598405, + 0.16514445056109345, + 0.21799116621727604, + -0.9759473855477797, + -0.002559705781006172, + 0.16062301737242157, + 0.03846411229951258, + -0.9862660687437185 + ], + [ + 0.9681295276949424, + 0.19971518268637795, + 0.1511259852233067, + 0.20268478005253932, + -0.9792343804588065, + -0.004348340201948202, + 0.1471193309535568, + 0.03484069362117826, + -0.9885049461321748 + ], + [ + 0.9704682091226242, + 0.1959876113556474, + 0.14064249456488834, + 0.19868891990539145, + -0.9800483318568011, + -0.00528964380000551, + 0.1367997375332127, + 0.03307753648338548, + -0.990046316285776 + ], + [ + 0.9628591709576213, + 0.22901062837377256, + 0.14302569347726465, + 0.23004315739536862, + -0.9731340494331406, + 0.009500924661729783, + 0.14135898499342828, + 0.023754029673048183, + -0.9896733720960265 + ], + [ + 0.930495985428368, + 0.351647171462399, + 0.10257430430758108, + 0.34521359232413806, + -0.9354851637279603, + 0.07546578111657344, + 0.12249406833130272, + -0.03481056229601816, + -0.9918585725678237 + ], + [ + 0.9042852401608852, + 0.4117402425635101, + 0.11286353299853889, + 0.3996820221626855, + -0.9093843024706754, + 0.11521489304716656, + 0.15007493324042157, + -0.059077602131986706, + -0.986907975111772 + ], + [ + 0.9167832958708807, + 0.3657545995158291, + 0.160411849141954, + 0.34826351001997125, + -0.9287267767183236, + 0.12719709821754158, + 0.1955017033191654, + -0.060746581298118864, + -0.9788201759566956 + ], + [ + 0.9557366401111799, + 0.20177214212585243, + 0.21413892082229782, + 0.19223228515634033, + -0.9792143236668387, + 0.0646997439660124, + 0.22274250445876956, + -0.020671501823547322, + -0.9746581276118281 + ], + [ + 0.9801145240904834, + 0.09437727621088196, + 0.174552139493907, + 0.09235366797900774, + -0.995531405377541, + 0.019698246567685568, + 0.17563120359921433, + -0.00318600722425841, + -0.9844508772306816 + ], + [ + 0.9830236673399136, + 0.081759029084108, + 0.16425568669854382, + 0.08034766761860725, + -0.9966505488028988, + 0.015229441195589742, + 0.16495066461774568, + -0.0017733398163055037, + -0.9863002248342334 + ], + [ + 0.9905836289010344, + 0.07314253023009505, + 0.11573350605938128, + 0.06830027611315327, + -0.9966371286920788, + 0.04527146999242584, + 0.11865557903497094, + -0.03694054661138244, + -0.9922480786476371 + ], + [ + 0.9923498395095838, + 0.07238031405191879, + 0.10001442977415212, + 0.06557598484468834, + -0.9954084596684329, + 0.06972652746384836, + 0.1046020374416885, + -0.06263456360719055, + -0.992539835575774 + ], + [ + 0.9915761357615986, + 0.08732383508438123, + 0.09566250474585852, + 0.07727400114921919, + -0.9915550064800553, + 0.10415084191079729, + 0.103949486456096, + -0.09588126485655687, + -0.9899501438532249 + ], + [ + 0.9875320522911266, + 0.09442718104803433, + 0.1259521860747066, + 0.08349031523663916, + -0.9924845600115357, + 0.08946376585185303, + 0.13345341119417814, + -0.07783254857725214, + -0.9879940695280552 + ], + [ + 0.9836096918605663, + 0.10726159418511007, + 0.14493765725590482, + 0.09702944592976175, + -0.9923808651039214, + 0.07593092385948923, + 0.15197782963486753, + -0.06062317204222219, + -0.9865229699865148 + ], + [ + 0.9799291598627384, + 0.09730239434610032, + 0.17398587789020148, + 0.09070762432129574, + -0.9948384645825108, + 0.04548138385207312, + 0.17751329116630898, + -0.02878668861868149, + -0.9836972898293849 + ], + [ + 0.9737004112165984, + 0.1036001285818478, + 0.2029150624139367, + 0.10199025761463973, + -0.9946151550894158, + 0.01840327737543048, + 0.2037289781752381, + 0.00277608074129832, + -0.9790233893157974 + ], + [ + 0.9447556566349263, + 0.16297814505192343, + 0.28438507958706877, + 0.18168658049058595, + -0.9825218044327679, + -0.040507903967197174, + 0.27281263850112786, + 0.08993902406415158, + -0.957853974374195 + ], + [ + 0.8918894361363882, + 0.22399117775445881, + 0.3928882614643585, + 0.27330564617815484, + -0.9591053388903796, + -0.07362725500187647, + 0.3603293735951275, + 0.17304595112322202, + -0.9166339734727285 + ], + [ + 0.8753201312136966, + 0.2240772932284997, + 0.42849041360504914, + 0.28682621244749645, + -0.9540215087777033, + -0.08702691906840287, + 0.38928831442140766, + 0.19907869662247563, + -0.8993454735562055 + ], + [ + 0.8955543890812692, + 0.225646614301662, + 0.38349177520707206, + 0.29424812781844045, + -0.946843017215629, + -0.13002438242632267, + 0.3337669478432777, + 0.22928564325792591, + -0.9143455136452422 + ], + [ + 0.9396483341461493, + 0.1561300040728376, + 0.30444117652607766, + 0.21630012310401714, + -0.960512711208794, + -0.17501310908477424, + 0.2650948224344521, + 0.23030144036576883, + -0.9363151081147302 + ], + [ + 0.9685480121455543, + 0.08876801994836248, + 0.2324542681977312, + 0.1252284590982843, + -0.9811623369253711, + -0.1470996316481255, + 0.2150176299766253, + 0.17158294563735638, + -0.9614191133764938 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0020094215869903564, + -0.00011726468801498413, + -0.0050300657749176025, + 0.0009523751214146614, + 0.019855216145515442, + -0.007727961987257004, + 1.0 + ], + [ + -0.0026111602783203125, + 0.03183719515800476, + 0.000772334635257721, + 0.011557069607079029, + -0.005020126700401306, + 0.026328284293413162, + 1.0 + ], + [ + 0.009902805089950562, + 0.03241090849041939, + 0.004418022930622101, + 0.0017065106658264995, + -0.07011521607637405, + -0.04180727154016495, + 1.0 + ], + [ + 0.012036740779876709, + 0.0302174910902977, + -0.008886866271495819, + -0.0009707987774163485, + -0.04821731150150299, + -0.0500023178756237, + 1.0 + ], + [ + 0.006850749254226685, + 0.02958328276872635, + -0.022167488932609558, + -0.028784271329641342, + 0.010787710547447205, + 0.05179165303707123, + 1.0 + ], + [ + 0.0030197203159332275, + 0.0094728022813797, + -0.019428756088018417, + 0.009845936670899391, + 0.01249036192893982, + 0.04987656697630882, + 1.0 + ], + [ + -0.001990765333175659, + 0.004533618688583374, + -0.013245239853858948, + 0.01969495229423046, + 0.03710237145423889, + 0.04347629100084305, + 1.0 + ], + [ + 0.0022563636302948, + 0.0006584972143173218, + -0.0016726665198802948, + 0.015064585953950882, + -0.004606321454048157, + 0.026463553309440613, + 1.0 + ], + [ + 0.004066675901412964, + -9.641051292419434e-06, + -0.0021628551185131073, + -0.011430066078901291, + -0.020961478352546692, + 0.028770029544830322, + 1.0 + ], + [ + 0.0016472339630126953, + 7.253885269165039e-05, + 0.0003181435167789459, + -0.005768829490989447, + -0.010520592331886292, + 0.021309182047843933, + 1.0 + ], + [ + 0.0025093555450439453, + -0.004111453890800476, + 0.00014134496450424194, + -0.0113440603017807, + -0.004158496856689453, + 0.009439125657081604, + 1.0 + ], + [ + 0.00566139817237854, + -0.002801164984703064, + 0.0026952698826789856, + -0.006979897618293762, + -0.015377163887023926, + 0.006263554096221924, + 1.0 + ], + [ + 0.004831075668334961, + -0.00607357919216156, + 0.0004518963396549225, + -0.008104214444756508, + -0.012023180723190308, + 0.0010798871517181396, + 1.0 + ], + [ + 0.006534695625305176, + -0.006524384021759033, + -0.008717820048332214, + -0.006470149382948875, + 0.012332528829574585, + -0.009248912334442139, + 1.0 + ], + [ + 0.003352612257003784, + -0.0002924203872680664, + -0.01336701400578022, + -0.007250789552927017, + 0.029612421989440918, + -0.0050516873598098755, + 1.0 + ], + [ + -3.5822391510009766e-05, + -0.0007284730672836304, + -0.008029989898204803, + -0.00010604783892631531, + 0.024359285831451416, + -0.00015051662921905518, + 0.0 + ], + [ + 0.00023928284645080566, + -0.0010776370763778687, + -0.0005600228905677795, + 0.0011516213417053223, + 0.0027184337377548218, + 0.004346340894699097, + 0.0 + ], + [ + -0.0005321204662322998, + -0.004290670156478882, + 0.00012810155749320984, + 0.0037487149238586426, + 0.013666555285453796, + -0.016318604350090027, + 0.0 + ], + [ + -0.0005082488059997559, + -0.0028078779578208923, + -0.0002444228157401085, + 0.001833595335483551, + 0.010425224900245667, + -0.004431977868080139, + 0.0 + ], + [ + -0.002833932638168335, + -0.0016216188669204712, + 0.009677181951701641, + 0.009400386363267899, + -0.0046039968729019165, + 0.0325760692358017, + 0.0 + ], + [ + -0.015258461236953735, + -0.015169106423854828, + 0.029433919116854668, + 0.05907917767763138, + 0.01903156191110611, + 0.12073837220668793, + 0.0 + ], + [ + -0.007165729999542236, + -0.03346022963523865, + 0.04436815530061722, + 0.024708062410354614, + -0.02784157544374466, + 0.06091126799583435, + 0.0 + ], + [ + 0.008477628231048584, + -0.039983782917261124, + 0.021650217473506927, + 0.0021915696561336517, + -0.046124935150146484, + -0.05313187837600708, + 0.0 + ], + [ + 0.028318434953689575, + -0.05078383535146713, + 0.007753320038318634, + -0.04077573120594025, + -0.02785775065422058, + -0.16455134749412537, + 0.0 + ], + [ + 0.03712433576583862, + -0.04739569500088692, + -0.029360689222812653, + -0.01796947978436947, + 0.048079848289489746, + -0.10453683882951736, + 0.0 + ], + [ + 0.020177870988845825, + -0.0352134108543396, + -0.0143294557929039, + -0.0014383483212441206, + 0.010838910937309265, + -0.012396082282066345, + 0.0 + ], + [ + 0.003231555223464966, + -0.010053493082523346, + -0.02279844507575035, + 0.035413987934589386, + 0.04677220433950424, + -0.012713365256786346, + 0.0 + ], + [ + -0.0030128061771392822, + -0.0009168535470962524, + -0.005470681935548782, + 0.025809813290834427, + 0.014142051339149475, + -0.0028549954295158386, + 0.0 + ], + [ + -0.009808778762817383, + 0.006083853542804718, + -0.01882661134004593, + 0.03353170305490494, + 0.0006561279296875, + 0.01178770512342453, + 0.0 + ], + [ + -0.002377122640609741, + 0.0025137513875961304, + -0.013401957228779793, + -0.01793748140335083, + -0.029715143144130707, + 0.006570547819137573, + 0.0 + ], + [ + -0.0007374882698059082, + 0.00555005669593811, + -0.008211733773350716, + -0.017241816967725754, + -0.018716290593147278, + 0.013984329998493195, + 0.0 + ], + [ + 0.0002460181713104248, + 0.0011335313320159912, + 0.00011099874973297119, + -0.03211876004934311, + -0.025889992713928223, + -0.0060257017612457275, + 1.0 + ], + [ + -0.002032667398452759, + 0.0027276575565338135, + 0.003849964588880539, + -0.03209097310900688, + -0.02670624852180481, + 0.01206197589635849, + 1.0 + ], + [ + -0.004270672798156738, + -0.00019027292728424072, + 0.031700942665338516, + -0.09078633040189743, + -0.07115007936954498, + 0.08562670648097992, + 1.0 + ], + [ + -0.0013175010681152344, + 0.01969987154006958, + 0.050319235771894455, + -0.09296629577875137, + -0.09230560064315796, + 0.10735830664634705, + 1.0 + ], + [ + -0.018145501613616943, + 0.005028225481510162, + 0.03656318783760071, + -0.03125852346420288, + -0.031237870454788208, + 0.01930585503578186, + 1.0 + ], + [ + -0.034993648529052734, + 0.014331471174955368, + 0.026338621973991394, + -0.027851611375808716, + 0.059561967849731445, + 0.0007979273796081543, + 1.0 + ], + [ + -0.032871246337890625, + -0.003280390053987503, + -0.005382075905799866, + 0.004520192742347717, + 0.0719946026802063, + -0.09120190143585205, + 1.0 + ], + [ + -0.025297343730926514, + 0.004609499126672745, + -0.007358133792877197, + 0.06456910073757172, + 0.0515923798084259, + -0.09766963124275208, + 1.0 + ], + [ + 0.0005249381065368652, + -0.0016684718430042267, + -0.007476866245269775, + 0.02893155813217163, + 0.01291780173778534, + -0.11453014612197876, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9383087754249573 + ], + [ + 0.6450598835945129 + ], + [ + 0.35856863856315613 + ], + [ + 0.16078366339206696 + ], + [ + 0.10394904017448425 + ], + [ + 0.0832853764295578 + ], + [ + 0.0832853764295578 + ], + [ + 0.08294149488210678 + ], + [ + 0.08294149488210678 + ], + [ + 0.08294149488210678 + ], + [ + 0.08259850740432739 + ], + [ + 0.08259850740432739 + ], + [ + 0.08259850740432739 + ], + [ + 0.08259850740432739 + ], + [ + 0.08259850740432739 + ], + [ + 0.08259850740432739 + ], + [ + 0.11746759712696075 + ], + [ + 0.30570894479751587 + ], + [ + 0.590900182723999 + ], + [ + 0.8888095021247864 + ], + [ + 1.013738751411438 + ], + [ + 1.0092895030975342 + ], + [ + 1.0027955770492554 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.25450512766838074, + 0.01316214632242918, + 0.10517706722021103 + ], + [ + 0.2518939673900604, + 0.044999342411756516, + 0.10594940185546875 + ], + [ + 0.261796772480011, + 0.0774102509021759, + 0.11036742478609085 + ], + [ + 0.2738335132598877, + 0.1076277419924736, + 0.10148055851459503 + ], + [ + 0.2806842625141144, + 0.13721102476119995, + 0.07931306958198547 + ], + [ + 0.2837039828300476, + 0.14668382704257965, + 0.059884313493967056 + ], + [ + 0.28171321749687195, + 0.15121744573116302, + 0.04663907364010811 + ], + [ + 0.28396958112716675, + 0.15187594294548035, + 0.044966407120227814 + ], + [ + 0.2880362570285797, + 0.15186630189418793, + 0.042803552001714706 + ], + [ + 0.2896834909915924, + 0.15193884074687958, + 0.04312169551849365 + ], + [ + 0.29219284653663635, + 0.1478273868560791, + 0.043263040482997894 + ], + [ + 0.2978542447090149, + 0.14502622187137604, + 0.04595831036567688 + ], + [ + 0.30268532037734985, + 0.13895264267921448, + 0.0464102067053318 + ], + [ + 0.30922001600265503, + 0.13242825865745544, + 0.03769238665699959 + ], + [ + 0.3125726282596588, + 0.13213583827018738, + 0.024325372651219368 + ], + [ + 0.3125368058681488, + 0.13140736520290375, + 0.016295382753014565 + ], + [ + 0.3127760887145996, + 0.13032972812652588, + 0.015735359862446785 + ], + [ + 0.3122439682483673, + 0.126039057970047, + 0.015863461419939995 + ], + [ + 0.31173571944236755, + 0.1232311800122261, + 0.015619038604199886 + ], + [ + 0.3089017868041992, + 0.12160956114530563, + 0.025296220555901527 + ], + [ + 0.2936433255672455, + 0.1064404547214508, + 0.054730139672756195 + ], + [ + 0.28647759556770325, + 0.07298022508621216, + 0.09909829497337341 + ], + [ + 0.29495522379875183, + 0.032996442168951035, + 0.12074851244688034 + ], + [ + 0.3232736587524414, + -0.017787393182516098, + 0.12850183248519897 + ], + [ + 0.36039799451828003, + -0.06518308818340302, + 0.09914114326238632 + ], + [ + 0.38057586550712585, + -0.10039649903774261, + 0.08481168746948242 + ], + [ + 0.3838074207305908, + -0.11044999212026596, + 0.06201324239373207 + ], + [ + 0.38079461455345154, + -0.11136684566736221, + 0.05654256045818329 + ], + [ + 0.37098583579063416, + -0.1052829921245575, + 0.03771594911813736 + ], + [ + 0.3686087131500244, + -0.10276924073696136, + 0.024313991889357567 + ], + [ + 0.3678712248802185, + -0.09721918404102325, + 0.01610225811600685 + ], + [ + 0.36811724305152893, + -0.09608565270900726, + 0.016213256865739822 + ], + [ + 0.36608457565307617, + -0.09335799515247345, + 0.02006322145462036 + ], + [ + 0.36181390285491943, + -0.09354826807975769, + 0.05176416411995888 + ], + [ + 0.3604964017868042, + -0.07384839653968811, + 0.10208339989185333 + ], + [ + 0.34235090017318726, + -0.06882017105817795, + 0.13864658772945404 + ], + [ + 0.3073572516441345, + -0.05448869988322258, + 0.16498520970344543 + ], + [ + 0.2744860053062439, + -0.05776908993721008, + 0.15960313379764557 + ], + [ + 0.24918866157531738, + -0.05315959081053734, + 0.15224500000476837 + ], + [ + 0.24971359968185425, + -0.054828062653541565, + 0.1447681337594986 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9932523034669476, + 0.05869960462672801, + 0.10002108814779548, + 0.05947855582820127, + -0.9982179412115709, + -0.004821124342400316, + 0.09955984659587824, + 0.010737702733785777, + -0.9949736371813108 + ], + [ + 0.9908318457946147, + 0.08611271706587573, + 0.104100208063045, + 0.08556147226561209, + -0.9962851099517973, + 0.009757773930362187, + 0.10455375566175383, + -0.0007613460892366654, + -0.9945189452841784 + ], + [ + 0.9837833051214755, + 0.04474720002824605, + 0.17368965615113172, + 0.04364188592025708, + -0.9989953763723478, + 0.010179576611764657, + 0.17397067096953298, + -0.0024343533645827357, + -0.9847478253675441 + ], + [ + 0.9752055032415053, + -0.005337947773459647, + 0.22123682505642986, + -0.005529576509229119, + -0.9999846813124563, + 0.0002468279829801421, + 0.22123211844375154, + -0.0014640539581647024, + -0.9752200809637263 + ], + [ + 0.9765114391156339, + 0.040346359994262074, + 0.21165438930371144, + 0.045070182308612, + -0.9988298303191255, + -0.017539918224877788, + 0.2106990458995534, + 0.026667232700082154, + -0.977187172836984 + ], + [ + 0.9755936775278073, + 0.09239148475340335, + 0.1992003762868681, + 0.09394391670463, + -0.9955760987423907, + 0.0016649705927099991, + 0.19847296259682767, + 0.01708932877390689, + -0.9799573653787675 + ], + [ + 0.9772114118702522, + 0.1393844692524959, + 0.16009317987268756, + 0.13718670720330298, + -0.9902358332844176, + 0.024754834805158825, + 0.1619804428851332, + -0.002228050878124008, + -0.9867914531004112 + ], + [ + 0.9724930200938596, + 0.1679975406494966, + 0.1613510217025107, + 0.1628711673617874, + -0.9856394416733583, + 0.044585579059138576, + 0.16652419857465756, + -0.017079735172150216, + -0.9858894329160429 + ], + [ + 0.9637685042912385, + 0.19455863725202263, + 0.1824752224464045, + 0.19006133826917385, + -0.9808738109151339, + 0.041991127112198864, + 0.1871549033062174, + -0.005788240791298343, + -0.9823133606120719 + ], + [ + 0.9575236695577659, + 0.21436490245354184, + 0.19286293275980715, + 0.21012007472096983, + -0.9767536403434753, + 0.04244856034099519, + 0.19747905315725123, + -0.00012112742275790025, + -0.9803070992766824 + ], + [ + 0.9546890009589115, + 0.2213328073620798, + 0.19894898801777283, + 0.21896328814886393, + -0.9751364050128823, + 0.03411847097379438, + 0.20155393792013354, + 0.010989995622043091, + -0.9794157595756332 + ], + [ + 0.9501697164985841, + 0.22577723884875825, + 0.2149468498648697, + 0.2242003683845514, + -0.9740169190111109, + 0.03201931130324848, + 0.21659110015241048, + 0.01776738297931513, + -0.9761007199243501 + ], + [ + 0.9473245879072849, + 0.22477982520487338, + 0.22814503134444808, + 0.2246092732365943, + -0.9740730553000178, + 0.02706210107544259, + 0.22831294208261949, + 0.025606895933617573, + -0.9732509888811947 + ], + [ + 0.9520347801790782, + 0.21466323288977834, + 0.21805841826144345, + 0.21644585719620757, + -0.9761639869704416, + 0.0159706432109007, + 0.21628908486554, + 0.03199323346083897, + -0.9758050342054744 + ], + [ + 0.9589498311116113, + 0.20927500141340932, + 0.19136142556541869, + 0.21292909129587628, + -0.9770665015191969, + 0.0015012291460862644, + 0.18728700833459894, + 0.03930681101862883, + -0.9815184924985475 + ], + [ + 0.9631507810831265, + 0.2100469503162828, + 0.16799062938685733, + 0.21370977451177436, + -0.9768897204817535, + -0.0038218183117676857, + 0.16330555770423116, + 0.039582226818493174, + -0.9857811837030566 + ], + [ + 0.9626422480555331, + 0.2145861428598405, + 0.16514445056109345, + 0.21799116621727604, + -0.9759473855477797, + -0.002559705781006172, + 0.16062301737242157, + 0.03846411229951258, + -0.9862660687437185 + ], + [ + 0.9681295276949424, + 0.19971518268637795, + 0.1511259852233067, + 0.20268478005253932, + -0.9792343804588065, + -0.004348340201948202, + 0.1471193309535568, + 0.03484069362117826, + -0.9885049461321748 + ], + [ + 0.9704682091226242, + 0.1959876113556474, + 0.14064249456488834, + 0.19868891990539145, + -0.9800483318568011, + -0.00528964380000551, + 0.1367997375332127, + 0.03307753648338548, + -0.990046316285776 + ], + [ + 0.9628591709576213, + 0.22901062837377256, + 0.14302569347726465, + 0.23004315739536862, + -0.9731340494331406, + 0.009500924661729783, + 0.14135898499342828, + 0.023754029673048183, + -0.9896733720960265 + ], + [ + 0.930495985428368, + 0.351647171462399, + 0.10257430430758108, + 0.34521359232413806, + -0.9354851637279603, + 0.07546578111657344, + 0.12249406833130272, + -0.03481056229601816, + -0.9918585725678237 + ], + [ + 0.9042852401608852, + 0.4117402425635101, + 0.11286353299853889, + 0.3996820221626855, + -0.9093843024706754, + 0.11521489304716656, + 0.15007493324042157, + -0.059077602131986706, + -0.986907975111772 + ], + [ + 0.9167832958708807, + 0.3657545995158291, + 0.160411849141954, + 0.34826351001997125, + -0.9287267767183236, + 0.12719709821754158, + 0.1955017033191654, + -0.060746581298118864, + -0.9788201759566956 + ], + [ + 0.9557366401111799, + 0.20177214212585243, + 0.21413892082229782, + 0.19223228515634033, + -0.9792143236668387, + 0.0646997439660124, + 0.22274250445876956, + -0.020671501823547322, + -0.9746581276118281 + ], + [ + 0.9801145240904834, + 0.09437727621088196, + 0.174552139493907, + 0.09235366797900774, + -0.995531405377541, + 0.019698246567685568, + 0.17563120359921433, + -0.00318600722425841, + -0.9844508772306816 + ], + [ + 0.9830236673399136, + 0.081759029084108, + 0.16425568669854382, + 0.08034766761860725, + -0.9966505488028988, + 0.015229441195589742, + 0.16495066461774568, + -0.0017733398163055037, + -0.9863002248342334 + ], + [ + 0.9905836289010344, + 0.07314253023009505, + 0.11573350605938128, + 0.06830027611315327, + -0.9966371286920788, + 0.04527146999242584, + 0.11865557903497094, + -0.03694054661138244, + -0.9922480786476371 + ], + [ + 0.9923498395095838, + 0.07238031405191879, + 0.10001442977415212, + 0.06557598484468834, + -0.9954084596684329, + 0.06972652746384836, + 0.1046020374416885, + -0.06263456360719055, + -0.992539835575774 + ], + [ + 0.9915761357615986, + 0.08732383508438123, + 0.09566250474585852, + 0.07727400114921919, + -0.9915550064800553, + 0.10415084191079729, + 0.103949486456096, + -0.09588126485655687, + -0.9899501438532249 + ], + [ + 0.9875320522911266, + 0.09442718104803433, + 0.1259521860747066, + 0.08349031523663916, + -0.9924845600115357, + 0.08946376585185303, + 0.13345341119417814, + -0.07783254857725214, + -0.9879940695280552 + ], + [ + 0.9836096918605663, + 0.10726159418511007, + 0.14493765725590482, + 0.09702944592976175, + -0.9923808651039214, + 0.07593092385948923, + 0.15197782963486753, + -0.06062317204222219, + -0.9865229699865148 + ], + [ + 0.9799291598627384, + 0.09730239434610032, + 0.17398587789020148, + 0.09070762432129574, + -0.9948384645825108, + 0.04548138385207312, + 0.17751329116630898, + -0.02878668861868149, + -0.9836972898293849 + ], + [ + 0.9737004112165984, + 0.1036001285818478, + 0.2029150624139367, + 0.10199025761463973, + -0.9946151550894158, + 0.01840327737543048, + 0.2037289781752381, + 0.00277608074129832, + -0.9790233893157974 + ], + [ + 0.9447556566349263, + 0.16297814505192343, + 0.28438507958706877, + 0.18168658049058595, + -0.9825218044327679, + -0.040507903967197174, + 0.27281263850112786, + 0.08993902406415158, + -0.957853974374195 + ], + [ + 0.8918894361363882, + 0.22399117775445881, + 0.3928882614643585, + 0.27330564617815484, + -0.9591053388903796, + -0.07362725500187647, + 0.3603293735951275, + 0.17304595112322202, + -0.9166339734727285 + ], + [ + 0.8753201312136966, + 0.2240772932284997, + 0.42849041360504914, + 0.28682621244749645, + -0.9540215087777033, + -0.08702691906840287, + 0.38928831442140766, + 0.19907869662247563, + -0.8993454735562055 + ], + [ + 0.8955543890812692, + 0.225646614301662, + 0.38349177520707206, + 0.29424812781844045, + -0.946843017215629, + -0.13002438242632267, + 0.3337669478432777, + 0.22928564325792591, + -0.9143455136452422 + ], + [ + 0.9396483341461493, + 0.1561300040728376, + 0.30444117652607766, + 0.21630012310401714, + -0.960512711208794, + -0.17501310908477424, + 0.2650948224344521, + 0.23030144036576883, + -0.9363151081147302 + ], + [ + 0.9685480121455543, + 0.08876801994836248, + 0.2324542681977312, + 0.1252284590982843, + -0.9811623369253711, + -0.1470996316481255, + 0.2150176299766253, + 0.17158294563735638, + -0.9614191133764938 + ], + [ + 0.9792094844419695, + -0.01587800401202361, + 0.20222926239168906, + 0.013760321310385683, + -0.9894362678356525, + -0.14431398216697522, + 0.202384384615828, + 0.1440963597043633, + -0.9686468912785627 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006172.json b/json/chunk-0006/episode_0006172.json new file mode 100644 index 0000000000000000000000000000000000000000..63d0000f8efd4447bc3f1cc563a088e3dde51f9e --- /dev/null +++ b/json/chunk-0006/episode_0006172.json @@ -0,0 +1,1282 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 20, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove faucet front to left." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006172.mp4", + "start": 0, + "end": 20, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2038159817457199, + -0.042931899428367615, + 0.22230440378189087, + -0.007127291988581419, + 0.05510365962982178, + 0.10501393675804138, + 0.0, + 0.9823668599128723 + ], + [ + 0.20524394512176514, + -0.04386313259601593, + 0.21733734011650085, + -0.0008627573843114078, + 0.07564989477396011, + 0.10239049047231674, + 0.0, + 0.9823668599128723 + ], + [ + 0.2181439846754074, + -0.04945940896868706, + 0.21036872267723083, + -0.013936462812125683, + 0.09084684401750565, + 0.10000082105398178, + 0.0, + 0.9823668599128723 + ], + [ + 0.2391139417886734, + -0.05459349602460861, + 0.20567335188388824, + -0.018636366352438927, + 0.09701894223690033, + 0.09867750853300095, + 0.0, + 0.9823668599128723 + ], + [ + 0.26478856801986694, + -0.05969683453440666, + 0.19761288166046143, + -0.02511623315513134, + 0.11331073939800262, + 0.10328658670186996, + 0.0, + 0.9823668599128723 + ], + [ + 0.2890605926513672, + -0.06454778462648392, + 0.18959233164787292, + -0.04251378774642944, + 0.12982821464538574, + 0.11433032155036926, + 0.0, + 0.9823668599128723 + ], + [ + 0.3069476783275604, + -0.06776896864175797, + 0.18424831330776215, + -0.050752535462379456, + 0.13401761651039124, + 0.1196359395980835, + 0.0, + 0.9823668599128723 + ], + [ + 0.3252953886985779, + -0.07024852931499481, + 0.17903919517993927, + -0.06870082765817642, + 0.14904369413852692, + 0.1300790160894394, + 0.0, + 0.9823668599128723 + ], + [ + 0.34227731823921204, + -0.06729590892791748, + 0.18298427760601044, + -0.07128679007291794, + 0.13522344827651978, + 0.14188583195209503, + 0.0, + 0.9823668599128723 + ], + [ + 0.34737733006477356, + -0.051696840673685074, + 0.1891520470380783, + -0.04199263080954552, + 0.12622421979904175, + 0.1726502776145935, + 0.0, + 0.9823668599128723 + ], + [ + 0.3376133143901825, + -0.03057045303285122, + 0.18816815316677094, + -0.005708134733140469, + 0.1409875899553299, + 0.21963554620742798, + 0.0, + 0.9823668599128723 + ], + [ + 0.318290650844574, + -0.009726033546030521, + 0.2037787139415741, + 0.01568233221769333, + 0.11806456744670868, + 0.2371055781841278, + 0.0, + 0.9823668599128723 + ], + [ + 0.3131851851940155, + 0.0021631624549627304, + 0.20475560426712036, + 0.01706353947520256, + 0.12045701593160629, + 0.24076847732067108, + 0.0, + 0.9816622138023376 + ], + [ + 0.31604433059692383, + 0.025016451254487038, + 0.2094784826040268, + 0.022968266159296036, + 0.09704781323671341, + 0.29581254720687866, + 0.0, + 0.9823668599128723 + ], + [ + 0.31285351514816284, + 0.07977943122386932, + 0.2237527221441269, + 0.12001051008701324, + 0.025159908458590508, + 0.5238295197486877, + 0.0, + 0.9823668599128723 + ], + [ + 0.28969186544418335, + 0.14278589189052582, + 0.22829216718673706, + 0.19907337427139282, + -0.027218453586101532, + 0.7744367122650146, + 0.0, + 0.9823668599128723 + ], + [ + 0.26457875967025757, + 0.17122375965118408, + 0.22359655797481537, + 0.18001671135425568, + -0.0005191481322981417, + 0.8322967886924744, + 0.0, + 0.9823668599128723 + ], + [ + 0.25204265117645264, + 0.157388836145401, + 0.21874065697193146, + 0.08409811556339264, + 0.051700856536626816, + 0.6833125948905945, + 0.0, + 0.9823668599128723 + ], + [ + 0.24637901782989502, + 0.10123296082019806, + 0.2208310067653656, + -0.02057189680635929, + 0.06976421922445297, + 0.4358316957950592, + 0.0, + 0.9823668599128723 + ], + [ + 0.22853396832942963, + 0.054773978888988495, + 0.23187974095344543, + -0.03441572189331055, + 0.0649491548538208, + 0.3145237863063812, + 0.0, + 0.9823668599128723 + ] + ], + "left_gripper_pos": [ + [ + 0.9823668599128723 + ], + [ + 0.9823668599128723 + ], + [ + 0.9823668599128723 + ], + [ + 0.9823668599128723 + ], + [ + 0.9823668599128723 + ], + [ + 0.9823668599128723 + ], + [ + 0.9823668599128723 + ], + [ + 0.9823668599128723 + ], + [ + 0.9823668599128723 + ], + [ + 0.9823668599128723 + ], + [ + 0.9823668599128723 + ], + [ + 0.9823668599128723 + ], + [ + 0.9816622138023376 + ], + [ + 0.9823668599128723 + ], + [ + 0.9823668599128723 + ], + [ + 0.9823668599128723 + ], + [ + 0.9823668599128723 + ], + [ + 0.9823668599128723 + ], + [ + 0.9823668599128723 + ], + [ + 0.9823668599128723 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2038159817457199, + -0.042931899428367615, + 0.22230440378189087 + ], + [ + 0.20524394512176514, + -0.04386313259601593, + 0.21733734011650085 + ], + [ + 0.2181439846754074, + -0.04945940896868706, + 0.21036872267723083 + ], + [ + 0.2391139417886734, + -0.05459349602460861, + 0.20567335188388824 + ], + [ + 0.26478856801986694, + -0.05969683453440666, + 0.19761288166046143 + ], + [ + 0.2890605926513672, + -0.06454778462648392, + 0.18959233164787292 + ], + [ + 0.3069476783275604, + -0.06776896864175797, + 0.18424831330776215 + ], + [ + 0.3252953886985779, + -0.07024852931499481, + 0.17903919517993927 + ], + [ + 0.34227731823921204, + -0.06729590892791748, + 0.18298427760601044 + ], + [ + 0.34737733006477356, + -0.051696840673685074, + 0.1891520470380783 + ], + [ + 0.3376133143901825, + -0.03057045303285122, + 0.18816815316677094 + ], + [ + 0.318290650844574, + -0.009726033546030521, + 0.2037787139415741 + ], + [ + 0.3131851851940155, + 0.0021631624549627304, + 0.20475560426712036 + ], + [ + 0.31604433059692383, + 0.025016451254487038, + 0.2094784826040268 + ], + [ + 0.31285351514816284, + 0.07977943122386932, + 0.2237527221441269 + ], + [ + 0.28969186544418335, + 0.14278589189052582, + 0.22829216718673706 + ], + [ + 0.26457875967025757, + 0.17122375965118408, + 0.22359655797481537 + ], + [ + 0.25204265117645264, + 0.157388836145401, + 0.21874065697193146 + ], + [ + 0.24637901782989502, + 0.10123296082019806, + 0.2208310067653656 + ], + [ + 0.22853396832942963, + 0.054773978888988495, + 0.23187974095344543 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.992981640976701, + 0.10520874184194993, + -0.05402389585407113, + 0.1046619291014891, + -0.9944246966437614, + -0.012860921495663261, + -0.05507577761568567, + 0.0071164137735712125, + -0.9984568169805996 + ], + [ + 0.9919175620541992, + 0.10227650283211061, + -0.07509372182071485, + 0.10191934262946066, + -0.9947556367621346, + -0.008583165379897579, + -0.07557775920488936, + 0.0008602897147691707, + -0.9971395399918581 + ], + [ + 0.9909009479448969, + 0.10108252418175577, + -0.08886863713903381, + 0.09942254345482944, + -0.9947812369274021, + -0.02292266367943503, + -0.09072193348290727, + 0.01387854323164717, + -0.9957795523221443 + ], + [ + 0.9904555536808963, + 0.10029669693679384, + -0.09454294667629928, + 0.09805415242751629, + -0.9947846787992008, + -0.02808604667965408, + -0.0968668125540943, + 0.018547652410459886, + -0.9951245174427521 + ], + [ + 0.9882920605925043, + 0.10589494216134676, + -0.10984108609471803, + 0.10244186026909022, + -0.9940641990138404, + -0.03663377544808384, + -0.11306842279978273, + 0.02495254423134965, + -0.9932738304727214 + ], + [ + 0.9851104969582447, + 0.11944474285216107, + -0.12365379972997749, + 0.11312131542936647, + -0.9919460144846427, + -0.056979578302780866, + -0.1294638048962336, + 0.04214330021502918, + -0.9906881777172755 + ], + [ + 0.9839493190994946, + 0.1259271060125606, + -0.12643615548941003, + 0.11828054744727044, + -0.990764706058102, + -0.06629486650696924, + -0.13361680111129345, + 0.05027585107090864, + -0.9897569849512964 + ], + [ + 0.9805588441572524, + 0.13951391904117877, + -0.13798630199684453, + 0.1282744384762194, + -0.9878903743135335, + -0.0872827404031111, + -0.1484924967080949, + 0.06788574763849689, + -0.9865807132155779 + ], + [ + 0.9809140474636241, + 0.15055675489406634, + -0.12304590624762644, + 0.14011934510764473, + -0.9860789324217685, + -0.08952601946110796, + -0.1348117228401759, + 0.07057621830130849, + -0.9883545906177348 + ], + [ + 0.9772954984281237, + 0.17684867750310235, + -0.11669641818637339, + 0.17042708400599216, + -0.9833565631709321, + -0.06296410648827784, + -0.12588930768472642, + 0.041646307568095495, + -0.9911697469538726 + ], + [ + 0.9662929852593749, + 0.21865322878977178, + -0.13589934576124102, + 0.21571212891047653, + -0.975786260647931, + -0.03618633680877524, + -0.1405209738061745, + 0.0056514662288543824, + -0.9900615722519628 + ], + [ + 0.965255158149876, + 0.23306581574857418, + -0.11816431438683053, + 0.23325497811152687, + -0.972336270084965, + -0.012421475896568723, + -0.11779047012067301, + -0.01557252088486642, + -0.9929163619067023 + ], + [ + 0.9641178566391816, + 0.23642308028896258, + -0.12075133794765462, + 0.236721163367905, + -0.9715025450027327, + -0.012078736149049566, + -0.12016592413498749, + -0.016939071990267993, + -0.9926092980205717 + ], + [ + 0.9520645206569169, + 0.2893116393901611, + -0.09935755542329228, + 0.2901454830491423, + -0.9569620049425164, + -0.006270547231252326, + -0.096895547743408, + -0.02285818036889426, + -0.9950320378850764 + ], + [ + 0.8656359535057354, + 0.49399404035844036, + -0.08151247811568402, + 0.5000415068423398, + -0.8611883932292235, + 0.09117588936835516, + -0.025157254084230217, + -0.11968475031352946, + -0.9924931602330213 + ], + [ + 0.7145502952223857, + 0.689349468061183, + -0.1192274569105855, + 0.6990545145508772, + -0.6969338768730686, + 0.1600186143944253, + 0.027215092938273545, + -0.19768784016837868, + -0.9798871652215487 + ], + [ + 0.6731790183521176, + 0.7275925733249737, + -0.13205701985438648, + 0.7394793707303267, + -0.6622322707935631, + 0.12090773252311306, + 0.0005191481089784622, + -0.17904599063353366, + -0.9838405682443153 + ], + [ + 0.7744493224976131, + 0.6257677099148319, + -0.09296784449977827, + 0.630521727676801, + -0.7754855131825592, + 0.03262774542387199, + -0.0516778270678064, + -0.08388678127053063, + -0.9951343678708018 + ], + [ + 0.904314102468891, + 0.423375041657405, + -0.05449383614203172, + 0.42113756507360056, + -0.9057220804303061, + -0.048069369715828224, + -0.06970764204707315, + 0.02052040746643948, + -0.9973563844071227 + ], + [ + 0.9489387877029496, + 0.31130416499761876, + -0.05103816266277611, + 0.30871137451308167, + -0.9496898072275638, + -0.05278785176834534, + -0.06490350097722371, + 0.03433637871424877, + -0.9973006310324342 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + 0.001427963376045227, + -0.0009312331676483154, + -0.004967063665390015, + 0.006264534778892994, + 0.020546235144138336, + -0.00262344628572464, + 1.0 + ], + [ + 0.012900039553642273, + -0.005596276372671127, + -0.0069686174392700195, + -0.01307370513677597, + 0.015196949243545532, + -0.002389669418334961, + 1.0 + ], + [ + 0.02096995711326599, + -0.0051340870559215546, + -0.00469537079334259, + -0.004699903540313244, + 0.006172098219394684, + -0.001323312520980835, + 1.0 + ], + [ + 0.025674626231193542, + -0.00510333850979805, + -0.008060470223426819, + -0.006479866802692413, + 0.016291797161102295, + 0.0046090781688690186, + 1.0 + ], + [ + 0.024272024631500244, + -0.004850950092077255, + -0.008020550012588501, + -0.017397554591298103, + 0.016517475247383118, + 0.011043734848499298, + 1.0 + ], + [ + 0.017887085676193237, + -0.003221184015274048, + -0.005344018340110779, + -0.008238747715950012, + 0.004189401865005493, + 0.005305618047714233, + 1.0 + ], + [ + 0.018347710371017456, + -0.002479560673236847, + -0.005209118127822876, + -0.017948292195796967, + 0.015026077628135681, + 0.010443076491355896, + 1.0 + ], + [ + 0.016981929540634155, + 0.0029526203870773315, + 0.003945082426071167, + -0.002585962414741516, + -0.013820245862007141, + 0.01180681586265564, + 1.0 + ], + [ + 0.0051000118255615234, + 0.015599068254232407, + 0.006167769432067871, + 0.02929415926337242, + -0.008999228477478027, + 0.030764445662498474, + 1.0 + ], + [ + -0.009764015674591064, + 0.021126387640833855, + -0.000983893871307373, + 0.036284495145082474, + 0.014763370156288147, + 0.04698526859283447, + 1.0 + ], + [ + -0.01932266354560852, + 0.020844418555498123, + 0.015610560774803162, + 0.021390467882156372, + -0.022923022508621216, + 0.01747003197669983, + 1.0 + ], + [ + -0.005105465650558472, + 0.011889196000993252, + 0.0009768903255462646, + 0.0013812072575092316, + 0.0023924484848976135, + 0.003662899136543274, + 1.0 + ], + [ + 0.002859145402908325, + 0.022853288799524307, + 0.004722878336906433, + 0.005904726684093475, + -0.023409202694892883, + 0.05504406988620758, + 1.0 + ], + [ + -0.0031908154487609863, + 0.054762981832027435, + 0.014274239540100098, + 0.09704224765300751, + -0.07188790291547775, + 0.22801697254180908, + 1.0 + ], + [ + -0.023161649703979492, + 0.0630064606666565, + 0.0045394450426101685, + 0.07906286418437958, + -0.05237836390733719, + 0.2506071925163269, + 1.0 + ], + [ + -0.02511310577392578, + 0.028437867760658264, + -0.004695609211921692, + -0.019056662917137146, + 0.026699304580688477, + 0.05786007642745972, + 1.0 + ], + [ + -0.012536108493804932, + -0.013834923505783081, + -0.004855901002883911, + -0.09591859579086304, + 0.05222000554203987, + -0.14898419380187988, + 1.0 + ], + [ + -0.005663633346557617, + -0.05615587532520294, + 0.002090349793434143, + -0.10467001050710678, + 0.018063362687826157, + -0.24748089909553528, + 1.0 + ], + [ + -0.017845049500465393, + -0.046458981931209564, + 0.011048734188079834, + -0.013843825086951256, + -0.004815064370632172, + -0.12130790948867798, + 1.0 + ], + [ + -0.026356786489486694, + -0.0517084077000618, + 0.01576496660709381, + 0.010483559221029282, + -0.02666763961315155, + -0.06032136082649231, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9823668599128723 + ], + [ + 0.9823668599128723 + ], + [ + 0.9823668599128723 + ], + [ + 0.9823668599128723 + ], + [ + 0.9823668599128723 + ], + [ + 0.9823668599128723 + ], + [ + 0.9823668599128723 + ], + [ + 0.9823668599128723 + ], + [ + 0.9823668599128723 + ], + [ + 0.9823668599128723 + ], + [ + 0.9823668599128723 + ], + [ + 0.9816622138023376 + ], + [ + 0.9823668599128723 + ], + [ + 0.9823668599128723 + ], + [ + 0.9823668599128723 + ], + [ + 0.9823668599128723 + ], + [ + 0.9823668599128723 + ], + [ + 0.9823668599128723 + ], + [ + 0.9823668599128723 + ], + [ + 0.9823668599128723 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.20524394512176514, + -0.04386313259601593, + 0.21733734011650085 + ], + [ + 0.2181439846754074, + -0.04945940896868706, + 0.21036872267723083 + ], + [ + 0.2391139417886734, + -0.05459349602460861, + 0.20567335188388824 + ], + [ + 0.26478856801986694, + -0.05969683453440666, + 0.19761288166046143 + ], + [ + 0.2890605926513672, + -0.06454778462648392, + 0.18959233164787292 + ], + [ + 0.3069476783275604, + -0.06776896864175797, + 0.18424831330776215 + ], + [ + 0.3252953886985779, + -0.07024852931499481, + 0.17903919517993927 + ], + [ + 0.34227731823921204, + -0.06729590892791748, + 0.18298427760601044 + ], + [ + 0.34737733006477356, + -0.051696840673685074, + 0.1891520470380783 + ], + [ + 0.3376133143901825, + -0.03057045303285122, + 0.18816815316677094 + ], + [ + 0.318290650844574, + -0.009726033546030521, + 0.2037787139415741 + ], + [ + 0.3131851851940155, + 0.0021631624549627304, + 0.20475560426712036 + ], + [ + 0.31604433059692383, + 0.025016451254487038, + 0.2094784826040268 + ], + [ + 0.31285351514816284, + 0.07977943122386932, + 0.2237527221441269 + ], + [ + 0.28969186544418335, + 0.14278589189052582, + 0.22829216718673706 + ], + [ + 0.26457875967025757, + 0.17122375965118408, + 0.22359655797481537 + ], + [ + 0.25204265117645264, + 0.157388836145401, + 0.21874065697193146 + ], + [ + 0.24637901782989502, + 0.10123296082019806, + 0.2208310067653656 + ], + [ + 0.22853396832942963, + 0.054773978888988495, + 0.23187974095344543 + ], + [ + 0.20217718183994293, + 0.0030655714217573404, + 0.24764470756053925 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9919175620541992, + 0.10227650283211061, + -0.07509372182071485, + 0.10191934262946066, + -0.9947556367621346, + -0.008583165379897579, + -0.07557775920488936, + 0.0008602897147691707, + -0.9971395399918581 + ], + [ + 0.9909009479448969, + 0.10108252418175577, + -0.08886863713903381, + 0.09942254345482944, + -0.9947812369274021, + -0.02292266367943503, + -0.09072193348290727, + 0.01387854323164717, + -0.9957795523221443 + ], + [ + 0.9904555536808963, + 0.10029669693679384, + -0.09454294667629928, + 0.09805415242751629, + -0.9947846787992008, + -0.02808604667965408, + -0.0968668125540943, + 0.018547652410459886, + -0.9951245174427521 + ], + [ + 0.9882920605925043, + 0.10589494216134676, + -0.10984108609471803, + 0.10244186026909022, + -0.9940641990138404, + -0.03663377544808384, + -0.11306842279978273, + 0.02495254423134965, + -0.9932738304727214 + ], + [ + 0.9851104969582447, + 0.11944474285216107, + -0.12365379972997749, + 0.11312131542936647, + -0.9919460144846427, + -0.056979578302780866, + -0.1294638048962336, + 0.04214330021502918, + -0.9906881777172755 + ], + [ + 0.9839493190994946, + 0.1259271060125606, + -0.12643615548941003, + 0.11828054744727044, + -0.990764706058102, + -0.06629486650696924, + -0.13361680111129345, + 0.05027585107090864, + -0.9897569849512964 + ], + [ + 0.9805588441572524, + 0.13951391904117877, + -0.13798630199684453, + 0.1282744384762194, + -0.9878903743135335, + -0.0872827404031111, + -0.1484924967080949, + 0.06788574763849689, + -0.9865807132155779 + ], + [ + 0.9809140474636241, + 0.15055675489406634, + -0.12304590624762644, + 0.14011934510764473, + -0.9860789324217685, + -0.08952601946110796, + -0.1348117228401759, + 0.07057621830130849, + -0.9883545906177348 + ], + [ + 0.9772954984281237, + 0.17684867750310235, + -0.11669641818637339, + 0.17042708400599216, + -0.9833565631709321, + -0.06296410648827784, + -0.12588930768472642, + 0.041646307568095495, + -0.9911697469538726 + ], + [ + 0.9662929852593749, + 0.21865322878977178, + -0.13589934576124102, + 0.21571212891047653, + -0.975786260647931, + -0.03618633680877524, + -0.1405209738061745, + 0.0056514662288543824, + -0.9900615722519628 + ], + [ + 0.965255158149876, + 0.23306581574857418, + -0.11816431438683053, + 0.23325497811152687, + -0.972336270084965, + -0.012421475896568723, + -0.11779047012067301, + -0.01557252088486642, + -0.9929163619067023 + ], + [ + 0.9641178566391816, + 0.23642308028896258, + -0.12075133794765462, + 0.236721163367905, + -0.9715025450027327, + -0.012078736149049566, + -0.12016592413498749, + -0.016939071990267993, + -0.9926092980205717 + ], + [ + 0.9520645206569169, + 0.2893116393901611, + -0.09935755542329228, + 0.2901454830491423, + -0.9569620049425164, + -0.006270547231252326, + -0.096895547743408, + -0.02285818036889426, + -0.9950320378850764 + ], + [ + 0.8656359535057354, + 0.49399404035844036, + -0.08151247811568402, + 0.5000415068423398, + -0.8611883932292235, + 0.09117588936835516, + -0.025157254084230217, + -0.11968475031352946, + -0.9924931602330213 + ], + [ + 0.7145502952223857, + 0.689349468061183, + -0.1192274569105855, + 0.6990545145508772, + -0.6969338768730686, + 0.1600186143944253, + 0.027215092938273545, + -0.19768784016837868, + -0.9798871652215487 + ], + [ + 0.6731790183521176, + 0.7275925733249737, + -0.13205701985438648, + 0.7394793707303267, + -0.6622322707935631, + 0.12090773252311306, + 0.0005191481089784622, + -0.17904599063353366, + -0.9838405682443153 + ], + [ + 0.7744493224976131, + 0.6257677099148319, + -0.09296784449977827, + 0.630521727676801, + -0.7754855131825592, + 0.03262774542387199, + -0.0516778270678064, + -0.08388678127053063, + -0.9951343678708018 + ], + [ + 0.904314102468891, + 0.423375041657405, + -0.05449383614203172, + 0.42113756507360056, + -0.9057220804303061, + -0.048069369715828224, + -0.06970764204707315, + 0.02052040746643948, + -0.9973563844071227 + ], + [ + 0.9489387877029496, + 0.31130416499761876, + -0.05103816266277611, + 0.30871137451308167, + -0.9496898072275638, + -0.05278785176834534, + -0.06490350097722371, + 0.03433637871424877, + -0.9973006310324342 + ], + [ + 0.9671550689165584, + 0.2522879495238045, + -0.031013919360207583, + 0.25128930337714195, + -0.9673567026859919, + -0.03278255293164699, + -0.03827216582894046, + 0.02391234604884635, + -0.9989812015394496 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006173.json b/json/chunk-0006/episode_0006173.json new file mode 100644 index 0000000000000000000000000000000000000000..a224104a672c3f357e60d03859936d98de447d10 --- /dev/null +++ b/json/chunk-0006/episode_0006173.json @@ -0,0 +1,2602 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 42, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the silver pot on the lower right corner of the stove." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006173.mp4", + "start": 0, + "end": 42, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.14969894289970398, + -0.07289092987775803, + 0.20885097980499268, + 0.14515277743339539, + -0.0024053652305155993, + 0.39772045612335205, + 0.0, + 0.9988223910331726 + ], + [ + 0.14908121526241302, + -0.07391761243343353, + 0.2072763890028, + 0.14683586359024048, + 0.006971829105168581, + 0.40658923983573914, + 0.0, + 0.9988223910331726 + ], + [ + 0.14756295084953308, + -0.07528912276029587, + 0.20131368935108185, + 0.112581767141819, + 0.051764700561761856, + 0.5179413557052612, + 0.0, + 0.9988223910331726 + ], + [ + 0.19642847776412964, + -0.02524016611278057, + 0.1480410397052765, + 0.1934761106967926, + 0.04715200886130333, + 0.6415137648582458, + 0.0, + 0.9988223910331726 + ], + [ + 0.2432546466588974, + 0.02158694714307785, + 0.14357911050319672, + 0.1362658590078354, + 0.06545130163431168, + 0.7220882773399353, + 0.0, + 0.9988223910331726 + ], + [ + 0.28483232855796814, + 0.044933874160051346, + 0.11945978552103043, + 0.05215120315551758, + 0.058341722935438156, + 0.886629045009613, + 0.0, + 0.9988223910331726 + ], + [ + 0.3330216407775879, + 0.0501101091504097, + 0.10199601203203201, + 0.041840843856334686, + 0.04083528369665146, + 0.8692649602890015, + 0.0, + 0.9988223910331726 + ], + [ + 0.36049994826316833, + 0.03664851561188698, + 0.08568129688501358, + 0.032148342579603195, + 0.005758605431765318, + 0.6265252232551575, + 0.0, + 0.9988223910331726 + ], + [ + 0.37034472823143005, + 0.022238725796341896, + 0.08318516612052917, + -0.05515791475772858, + 0.0006627776892855763, + 0.5330777764320374, + 0.0, + 0.9988223910331726 + ], + [ + 0.38587382435798645, + 0.007454099133610725, + 0.07660673558712006, + -0.06739293783903122, + -0.015806203708052635, + 0.49116986989974976, + 0.0, + 0.9988223910331726 + ], + [ + 0.3915504217147827, + 0.0027833725325763226, + 0.049233585596084595, + 0.04334161430597305, + -0.0203563142567873, + 0.44822049140930176, + 0.0, + 0.9988223910331726 + ], + [ + 0.3980512022972107, + 0.008426462300121784, + 0.035865891724824905, + 0.079860158264637, + -0.037024687975645065, + 0.46893128752708435, + 0.0, + 0.9988223910331726 + ], + [ + 0.3998606204986572, + 0.012176111340522766, + 0.028046930208802223, + 0.1306692659854889, + -0.09948933869600296, + 0.4776257574558258, + 0.0, + 0.9988223910331726 + ], + [ + 0.4025844931602478, + 0.008718486875295639, + 0.019945628941059113, + 0.1054791659116745, + -0.09959102421998978, + 0.4896843135356903, + 0.0, + 0.9560673832893372 + ], + [ + 0.40379583835601807, + 0.013061188161373138, + 0.019599674269557, + 0.0843556672334671, + -0.09765838831663132, + 0.5051855444908142, + 0.0, + 0.6751802563667297 + ], + [ + 0.4040350019931793, + 0.011232346296310425, + 0.017822518944740295, + 0.07197634130716324, + -0.10166054219007492, + 0.5249377489089966, + 0.0, + 0.36275482177734375 + ], + [ + 0.4028675854206085, + 0.019203972071409225, + 0.014747977256774902, + 0.05681474134325981, + -0.06639771163463593, + 0.5328363180160522, + 0.0, + 0.16338585317134857 + ], + [ + 0.4018195867538452, + 0.024238115176558495, + 0.02007312700152397, + 0.12905210256576538, + -0.0836145356297493, + 0.5217087268829346, + 0.0, + 0.08397578448057175 + ], + [ + 0.4037783741950989, + 0.01687266305088997, + 0.03209560364484787, + 0.16175492107868195, + -0.07610069960355759, + 0.5152142643928528, + 0.0, + 0.08157449960708618 + ], + [ + 0.40395480394363403, + 0.014023832976818085, + 0.03956763818860054, + 0.22857490181922913, + -0.05552983283996582, + 0.5531343221664429, + 0.0, + 0.08157449960708618 + ], + [ + 0.3991685211658478, + 0.004277952015399933, + 0.04856974259018898, + 0.25728750228881836, + -0.020170774310827255, + 0.5927144885063171, + 0.0, + 0.08157449960708618 + ], + [ + 0.3804205358028412, + -0.0021568909287452698, + 0.03493497520685196, + 0.2744686007499695, + 0.03512590005993843, + 0.7156050205230713, + 0.0, + 0.08157449960708618 + ], + [ + 0.3621143102645874, + -0.012371232733130455, + 0.04221648722887039, + 0.23444882035255432, + 0.017441008239984512, + 0.8986800312995911, + 0.0, + 0.08123486489057541 + ], + [ + 0.33891043066978455, + -0.033170945942401886, + 0.035749323666095734, + 0.23806428909301758, + 0.008822077885270119, + 0.9690811038017273, + 0.0, + 0.08123486489057541 + ], + [ + 0.32307860255241394, + -0.04984994977712631, + 0.03549628704786301, + 0.2305188775062561, + 0.002912936732172966, + 0.927927553653717, + 0.0, + 0.08123486489057541 + ], + [ + 0.310372918844223, + -0.06755483895540237, + 0.030460312962532043, + 0.23420339822769165, + -0.025140393525362015, + 0.8578169941902161, + 0.0, + 0.08123486489057541 + ], + [ + 0.3023187518119812, + -0.08428164571523666, + 0.023919235914945602, + 0.1999824047088623, + -0.010473703034222126, + 0.7769013047218323, + 0.0, + 0.08123486489057541 + ], + [ + 0.31019607186317444, + -0.09405785799026489, + 0.02125532738864422, + 0.11930715292692184, + 0.0007836146978661418, + 0.7141702771186829, + 0.0, + 0.08123486489057541 + ], + [ + 0.311417818069458, + -0.10114476084709167, + 0.011960997246205807, + 0.12377437949180603, + -0.022955939173698425, + 0.6743399500846863, + 0.0, + 0.08123486489057541 + ], + [ + 0.30828237533569336, + -0.09940467774868011, + 0.011949035339057446, + 0.1210615411400795, + -0.03802774101495743, + 0.6529804468154907, + 0.0, + 0.11535319685935974 + ], + [ + 0.3046283721923828, + -0.096658855676651, + 0.011401073075830936, + 0.11982215195894241, + -0.017947806045413017, + 0.6548293828964233, + 0.0, + 0.2981022000312805 + ], + [ + 0.3086971938610077, + -0.0836496576666832, + 0.0224190391600132, + 0.02720450609922409, + 0.041347652673721313, + 0.6101840734481812, + 0.0, + 0.5799254179000854 + ], + [ + 0.30910104513168335, + -0.07997283339500427, + 0.030074317008256912, + 0.011728467419743538, + 0.09695672988891602, + 0.5859306454658508, + 0.0, + 0.8731510639190674 + ], + [ + 0.31266844272613525, + -0.0729643926024437, + 0.054353270679712296, + 0.01331566646695137, + 0.026426123455166817, + 0.6137471795082092, + 0.0, + 1.0162451267242432 + ], + [ + 0.3134117126464844, + -0.061342496424913406, + 0.08122849464416504, + -0.03443866968154907, + -0.03053075447678566, + 0.652467668056488, + 0.0, + 1.0092895030975342 + ], + [ + 0.31569790840148926, + -0.03982740640640259, + 0.09323353320360184, + 0.01627693884074688, + -0.03981567546725273, + 0.701238751411438, + 0.0, + 1.0060625076293945 + ], + [ + 0.31682854890823364, + -0.018646404147148132, + 0.09842664748430252, + 0.08263319730758667, + -0.06094804406166077, + 0.7315418124198914, + 0.0, + 1.0054124593734741 + ], + [ + 0.3125803470611572, + 0.0003986853116657585, + 0.09676188975572586, + 0.1546323448419571, + -0.054409969598054886, + 0.6559733152389526, + 0.0, + 1.0054124593734741 + ], + [ + 0.30841147899627686, + 0.025982538238167763, + 0.09274371713399887, + 0.1775602549314499, + 0.006605247966945171, + 0.5717487931251526, + 0.0, + 1.0047606229782104 + ], + [ + 0.3117586672306061, + 0.04507062956690788, + 0.09839390963315964, + 0.16377349197864532, + 2.572234188846778e-05, + 0.5873197317123413, + 0.0, + 1.0027955770492554 + ], + [ + 0.3165784478187561, + 0.06392282247543335, + 0.09170836955308914, + 0.16760867834091187, + 0.04473656788468361, + 0.6715253591537476, + 0.0, + 1.0027955770492554 + ], + [ + 0.3246091604232788, + 0.07037261128425598, + 0.0917566642165184, + 0.1523209810256958, + 0.041648026555776596, + 0.6942958235740662, + 0.0, + 1.0027955770492554 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9560673832893372 + ], + [ + 0.6751802563667297 + ], + [ + 0.36275482177734375 + ], + [ + 0.16338585317134857 + ], + [ + 0.08397578448057175 + ], + [ + 0.08157449960708618 + ], + [ + 0.08157449960708618 + ], + [ + 0.08157449960708618 + ], + [ + 0.08157449960708618 + ], + [ + 0.08123486489057541 + ], + [ + 0.08123486489057541 + ], + [ + 0.08123486489057541 + ], + [ + 0.08123486489057541 + ], + [ + 0.08123486489057541 + ], + [ + 0.08123486489057541 + ], + [ + 0.08123486489057541 + ], + [ + 0.11535319685935974 + ], + [ + 0.2981022000312805 + ], + [ + 0.5799254179000854 + ], + [ + 0.8731510639190674 + ], + [ + 1.0162451267242432 + ], + [ + 1.0092895030975342 + ], + [ + 1.0060625076293945 + ], + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 1.0047606229782104 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.14969894289970398, + -0.07289092987775803, + 0.20885097980499268 + ], + [ + 0.14908121526241302, + -0.07391761243343353, + 0.2072763890028 + ], + [ + 0.14756295084953308, + -0.07528912276029587, + 0.20131368935108185 + ], + [ + 0.19642847776412964, + -0.02524016611278057, + 0.1480410397052765 + ], + [ + 0.2432546466588974, + 0.02158694714307785, + 0.14357911050319672 + ], + [ + 0.28483232855796814, + 0.044933874160051346, + 0.11945978552103043 + ], + [ + 0.3330216407775879, + 0.0501101091504097, + 0.10199601203203201 + ], + [ + 0.36049994826316833, + 0.03664851561188698, + 0.08568129688501358 + ], + [ + 0.37034472823143005, + 0.022238725796341896, + 0.08318516612052917 + ], + [ + 0.38587382435798645, + 0.007454099133610725, + 0.07660673558712006 + ], + [ + 0.3915504217147827, + 0.0027833725325763226, + 0.049233585596084595 + ], + [ + 0.3980512022972107, + 0.008426462300121784, + 0.035865891724824905 + ], + [ + 0.3998606204986572, + 0.012176111340522766, + 0.028046930208802223 + ], + [ + 0.4025844931602478, + 0.008718486875295639, + 0.019945628941059113 + ], + [ + 0.40379583835601807, + 0.013061188161373138, + 0.019599674269557 + ], + [ + 0.4040350019931793, + 0.011232346296310425, + 0.017822518944740295 + ], + [ + 0.4028675854206085, + 0.019203972071409225, + 0.014747977256774902 + ], + [ + 0.4018195867538452, + 0.024238115176558495, + 0.02007312700152397 + ], + [ + 0.4037783741950989, + 0.01687266305088997, + 0.03209560364484787 + ], + [ + 0.40395480394363403, + 0.014023832976818085, + 0.03956763818860054 + ], + [ + 0.3991685211658478, + 0.004277952015399933, + 0.04856974259018898 + ], + [ + 0.3804205358028412, + -0.0021568909287452698, + 0.03493497520685196 + ], + [ + 0.3621143102645874, + -0.012371232733130455, + 0.04221648722887039 + ], + [ + 0.33891043066978455, + -0.033170945942401886, + 0.035749323666095734 + ], + [ + 0.32307860255241394, + -0.04984994977712631, + 0.03549628704786301 + ], + [ + 0.310372918844223, + -0.06755483895540237, + 0.030460312962532043 + ], + [ + 0.3023187518119812, + -0.08428164571523666, + 0.023919235914945602 + ], + [ + 0.31019607186317444, + -0.09405785799026489, + 0.02125532738864422 + ], + [ + 0.311417818069458, + -0.10114476084709167, + 0.011960997246205807 + ], + [ + 0.30828237533569336, + -0.09940467774868011, + 0.011949035339057446 + ], + [ + 0.3046283721923828, + -0.096658855676651, + 0.011401073075830936 + ], + [ + 0.3086971938610077, + -0.0836496576666832, + 0.0224190391600132 + ], + [ + 0.30910104513168335, + -0.07997283339500427, + 0.030074317008256912 + ], + [ + 0.31266844272613525, + -0.0729643926024437, + 0.054353270679712296 + ], + [ + 0.3134117126464844, + -0.061342496424913406, + 0.08122849464416504 + ], + [ + 0.31569790840148926, + -0.03982740640640259, + 0.09323353320360184 + ], + [ + 0.31682854890823364, + -0.018646404147148132, + 0.09842664748430252 + ], + [ + 0.3125803470611572, + 0.0003986853116657585, + 0.09676188975572586 + ], + [ + 0.30841147899627686, + 0.025982538238167763, + 0.09274371713399887 + ], + [ + 0.3117586672306061, + 0.04507062956690788, + 0.09839390963315964 + ], + [ + 0.3165784478187561, + 0.06392282247543335, + 0.09170836955308914 + ], + [ + 0.3246091604232788, + 0.07037261128425598, + 0.0917566642165184 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.921943629280022, + 0.38356539395696965, + -0.05382873757219257, + 0.3873166129399145, + -0.9121161866510732, + 0.13427547575732912, + 0.002405362911029843, + -0.14464318375830676, + -0.9894809566745218 + ], + [ + 0.9184527246460097, + 0.39028630212169774, + -0.0641965339133837, + 0.39546932495045933, + -0.9089947100181693, + 0.13165344728571493, + -0.006971772626052232, + -0.1463052272994898, + -0.9892149285424758 + ], + [ + 0.8676764341122568, + 0.4869078561872228, + -0.10029130206254767, + 0.4944293822150803, + -0.8662178324135271, + 0.07215436792893913, + -0.05174158567972649, + -0.11219361119053715, + -0.9923383505233354 + ], + [ + 0.800300342201408, + 0.5799828254695871, + -0.1521160229319176, + 0.5977438394074914, + -0.7916652066741474, + 0.12636654221735483, + -0.047134538532802556, + -0.1920576025620802, + -0.9802510966968646 + ], + [ + 0.7488203193484243, + 0.6481588482776219, + -0.13841328234801364, + 0.6595379974962017, + -0.7493432510293474, + 0.05911279045578273, + -0.06540458080000697, + -0.13555367769336096, + -0.9886088413898493 + ], + [ + 0.6309525898438162, + 0.7719709866042407, + -0.07719860886477568, + 0.7736271277787302, + -0.6335240730350227, + -0.012178507706110231, + -0.05830863172990354, + -0.052038877066966915, + -0.9969413517050018 + ], + [ + 0.6448501609054096, + 0.7620841604252038, + -0.05827522980889922, + 0.7632179742736567, + -0.6461277068084146, + -0.0041605576688364156, + -0.04082393569811325, + -0.04179376656287448, + -0.9982918848466137 + ], + [ + 0.8100563410679509, + 0.5858805840553051, + -0.023508839244376654, + 0.586323769879446, + -0.8097597270547949, + 0.022663215007987705, + -0.005758573604450701, + -0.03214227227745958, + -0.9994667143846679 + ], + [ + 0.8612468786498286, + 0.5074450827599493, + 0.027446347638177056, + 0.5081863582798405, + -0.8599187042368261, + -0.047816810453349484, + -0.0006627776407620491, + 0.05512993820426544, + -0.9984789685513625 + ], + [ + 0.8816715357522649, + 0.46964854902986897, + 0.04566775052903449, + 0.4715988632025224, + -0.8802820213227973, + -0.05194299916195906, + 0.015805545556289945, + 0.06733352307721209, + -0.9976053234619787 + ], + [ + 0.9010329840979995, + 0.4337503421416206, + -0.0004497326774270897, + 0.4332727077384047, + -0.8999911660292299, + 0.04786085873005134, + 0.020354908412592486, + -0.04331906925793822, + -0.9988539112113146 + ], + [ + 0.8914404294504151, + 0.4531270395769111, + -0.003137952441269208, + 0.45162347093175953, + -0.8878741508883646, + 0.08783924343831367, + 0.03701622947855872, + -0.0797206258663947, + -0.996129720752604 + ], + [ + 0.8836972131483123, + 0.4672467125040426, + 0.027563474528267344, + 0.4573988648210766, + -0.874568752239965, + 0.1609837757844581, + 0.0993252935273608, + -0.1296534120630643, + -0.9865720849517832 + ], + [ + 0.8781086115149096, + 0.4769710437067755, + 0.03773446499722692, + 0.46801671157379926, + -0.8726531660011223, + 0.13941595875603696, + 0.09942647570443632, + -0.10476199374528475, + -0.9895146793229033 + ], + [ + 0.8709150952679345, + 0.48943789631321793, + 0.04424299364798848, + 0.4816638004283172, + -0.8679971308264689, + 0.12075166348323246, + 0.09750323169718261, + -0.08385419804344496, + -0.9916963210978933 + ], + [ + 0.8608873262049421, + 0.5061771251167181, + 0.05155317243662372, + 0.49857165971167444, + -0.8594569964696415, + 0.1129600431645158, + 0.10148552464293711, + -0.0715429187827652, + -0.9922612050564059 + ], + [ + 0.8594717045738708, + 0.5104041353258805, + 0.028213608048688447, + 0.5068591597958846, + -0.8580660639144668, + 0.08256162600956803, + 0.06634893494167593, + -0.05665905576846523, + -0.9961865137771797 + ], + [ + 0.8639399870061468, + 0.5035363896296339, + 0.007668322539636785, + 0.49662116978966075, + -0.8544029693818441, + 0.15284953263990053, + 0.08351713937011582, + -0.12824457193285244, + -0.9882197211152951 + ], + [ + 0.8676686208212199, + 0.4969441805150337, + -0.014058659055673293, + 0.4912952463794639, + -0.852794904901659, + 0.17711530441695889, + 0.0760272669977286, + -0.16058434427431512, + -0.9840896925823601 + ], + [ + 0.849570530109947, + 0.5223930837430524, + -0.07304368847564914, + 0.524546966612988, + -0.8221439777707138, + 0.22120072249534048, + 0.055501298956117065, + -0.22624046029119552, + -0.9724890024783887 + ], + [ + 0.8292586592346171, + 0.5444839018874955, + -0.12596569640094032, + 0.5585009141653255, + -0.7992587848637066, + 0.22195072357324558, + 0.020169406557987518, + -0.2544065160398997, + -0.966887025270036 + ], + [ + 0.7542309057884802, + 0.624333361582483, + -0.20333124297216465, + 0.6556694435914666, + -0.7326924522111506, + 0.1823714649095836, + -0.03511867728069441, + -0.27086827811304776, + -0.9619755996999753 + ], + [ + 0.6225486952895014, + 0.7585757307178175, + -0.19234339801321088, + 0.7823867100528122, + -0.6087797384924089, + 0.1313707194691822, + -0.017440124026963558, + -0.23227158837671721, + -0.9724946021993545 + ], + [ + 0.5660352490291468, + 0.7999380940780252, + -0.19925647417167747, + 0.8243338339637636, + -0.5518073761358324, + 0.1264213187112452, + -0.00882196345004653, + -0.23581277591535335, + -0.9717584615921703 + ], + [ + 0.5994914681459023, + 0.7788085908722944, + -0.1845729080980789, + 0.8003758457399026, + -0.5841688750835741, + 0.13470423504748136, + -0.0029129326126993843, + -0.22848173705375857, + -0.9735438411579065 + ], + [ + 0.6538835924433695, + 0.7395816951184923, + -0.15954674480857142, + 0.7561774535738629, + -0.6318206202431489, + 0.17028905584949214, + 0.025137745322568017, + -0.23199487080799994, + -0.9723921398689304 + ], + [ + 0.7130502580346291, + 0.6885844485747468, + -0.13194994012033825, + 0.7010346889225181, + -0.6974189090209746, + 0.1488530492375012, + 0.010473511543765163, + -0.1986411903936478, + -0.9800163177391166 + ], + [ + 0.7556367300027769, + 0.6502640891800016, + -0.07854773449064664, + 0.6549904718534776, + -0.7503264860620207, + 0.08942955940279913, + -0.0007836146176694522, + -0.11902427750977056, + -0.9928910349637606 + ], + [ + 0.780913438285018, + 0.6218187642300391, + -0.05929271757390241, + 0.6242173654454205, + -0.7733740580587078, + 0.11065824414920376, + 0.022953923025266047, + -0.12342605386721843, + -0.9920882655512646 + ], + [ + 0.7937023034401078, + 0.6067564967234059, + -0.04339593526825586, + 0.6071171562144636, + -0.7856737211690012, + 0.11885100964870775, + 0.038018576300669946, + -0.12067873693569224, + -0.991963321049562 + ], + [ + 0.7930241064523115, + 0.6063587095421547, + -0.058667554473370666, + 0.6089258390231814, + -0.7861583487236802, + 0.10566159804759313, + 0.017946842491858787, + -0.11951638420915127, + -0.9926700079835912 + ], + [ + 0.8188420974678298, + 0.5718848177820539, + -0.049450729063100385, + 0.5725285714156105, + -0.8198835995636109, + -0.0013849474418049044, + -0.041335872160693926, + -0.027177901997827048, + -0.9987756040851775 + ], + [ + 0.8292846072222715, + 0.5519910324694701, + -0.0871374792927335, + 0.5503779183402111, + -0.8337683361973338, + -0.043755097511331574, + -0.09680489258141428, + -0.011673115608891109, + -0.9952349225907834 + ], + [ + 0.8172102028455074, + 0.5755961218174412, + -0.029267540278037615, + 0.5757337118050216, + -0.8176257896120235, + -0.004331426154059985, + -0.026423047826047763, + -0.013310623953707868, + -0.9995622290950904 + ], + [ + 0.7942176773975473, + 0.6059538556867246, + 0.04514649142112918, + 0.6068660836828503, + -0.7947549788206913, + -0.00883629533021008, + 0.030526011607900642, + 0.03441581639472029, + -0.9989412966722317 + ], + [ + 0.7634380405336462, + 0.6455741860225624, + 0.019908003602891515, + 0.6446533237243713, + -0.763524377309071, + 0.03811321904426625, + 0.0398051564155663, + -0.01626332057426349, + -0.99907509924261 + ], + [ + 0.7427636319886168, + 0.6694795458465511, + -0.00996617720963298, + 0.6667774142988193, + -0.7382477196278081, + 0.10197148741349873, + 0.06091031748446825, + -0.08238593422081478, + -0.9947373980435763 + ], + [ + 0.7912819288154656, + 0.6092908160553194, + -0.051357673240903685, + 0.6090282297206129, + -0.7778905257496721, + 0.15482553197801438, + 0.054383127286436884, + -0.153788918389921, + -0.9866060227096759 + ], + [ + 0.8409376383492753, + 0.5316149442050401, + -0.10104177109203819, + 0.5410917295074288, + -0.8283653838638279, + 0.14501907141749606, + -0.0066051999366583194, + -0.1766248621061187, + -0.9842560791886386 + ], + [ + 0.8324288891756983, + 0.5467135923034132, + -0.09036809423911993, + 0.5541318830423623, + -0.8212925408135374, + 0.1357071059302711, + -2.572234188564365e-05, + -0.16304235767045758, + -0.9866190698256445 + ], + [ + 0.7820902522896409, + 0.6076211768447637, + -0.13831609712289583, + 0.6215583734124679, + -0.7765446419315164, + 0.10316786092722971, + -0.044721647044503744, + -0.1666581067252277, + -0.9850000252529892 + ], + [ + 0.7678380441750179, + 0.6275809861855679, + -0.12871225153742374, + 0.6392895920213799, + -0.7636486240164886, + 0.0902751160113399, + -0.041635987446204566, + -0.15160107128933295, + -0.9875644585207114 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0006177276372909546, + -0.0010266825556755066, + -0.001574590802192688, + 0.0016830861568450928, + 0.009377194568514824, + 0.008868783712387085, + 1.0 + ], + [ + -0.0015182644128799438, + -0.0013715103268623352, + -0.00596269965171814, + -0.03425409644842148, + 0.04479287192225456, + 0.1113521158695221, + 1.0 + ], + [ + 0.04886552691459656, + 0.05004895478487015, + -0.05327264964580536, + 0.0808943435549736, + -0.004612691700458527, + 0.12357240915298462, + 1.0 + ], + [ + 0.04682616889476776, + 0.04682711511850357, + -0.004461929202079773, + -0.057210251688957214, + 0.018299292773008347, + 0.08057451248168945, + 1.0 + ], + [ + 0.04157768189907074, + 0.023346927016973495, + -0.02411932498216629, + -0.08411465585231781, + -0.00710957869887352, + 0.16454076766967773, + 1.0 + ], + [ + 0.04818931221961975, + 0.005176234990358353, + -0.017463773488998413, + -0.010310359299182892, + -0.017506439238786697, + -0.017364084720611572, + 1.0 + ], + [ + 0.027478307485580444, + -0.01346159353852272, + -0.016314715147018433, + -0.009692501276731491, + -0.035076677799224854, + -0.242739737033844, + 1.0 + ], + [ + 0.009844779968261719, + -0.014409789815545082, + -0.0024961307644844055, + -0.08730626106262207, + -0.005095827858895063, + -0.09344744682312012, + 1.0 + ], + [ + 0.015529096126556396, + -0.01478462666273117, + -0.006578430533409119, + -0.012235023081302643, + -0.01646898128092289, + -0.0419079065322876, + 1.0 + ], + [ + 0.005676597356796265, + -0.004670726601034403, + -0.02737314999103546, + 0.11073455214500427, + -0.004550110548734665, + -0.042949378490448, + 1.0 + ], + [ + 0.0065007805824279785, + 0.005643089767545462, + -0.01336769387125969, + 0.03651854395866394, + -0.016668373718857765, + 0.020710796117782593, + 1.0 + ], + [ + 0.0018094182014465332, + 0.003749649040400982, + -0.007818961516022682, + 0.0508091077208519, + -0.062464650720357895, + 0.008694469928741455, + 1.0 + ], + [ + 0.002723872661590576, + -0.003457624465227127, + -0.00810130126774311, + -0.025190100073814392, + -0.0001016855239868164, + 0.012058556079864502, + 0.0 + ], + [ + 0.0012113451957702637, + 0.004342701286077499, + -0.00034595467150211334, + -0.021123498678207397, + 0.0019326359033584595, + 0.015501230955123901, + 0.0 + ], + [ + 0.00023916363716125488, + -0.0018288418650627136, + -0.0017771553248167038, + -0.012379325926303864, + -0.0040021538734436035, + 0.019752204418182373, + 0.0 + ], + [ + -0.0011674165725708008, + 0.0079716257750988, + -0.003074541687965393, + -0.015161599963903427, + 0.035262830555438995, + 0.007898569107055664, + 0.0 + ], + [ + -0.0010479986667633057, + 0.005034143105149269, + 0.005325149744749069, + 0.07223735749721527, + -0.017216823995113373, + -0.011127591133117676, + 0.0 + ], + [ + 0.001958787441253662, + -0.007365452125668526, + 0.012022476643323898, + 0.032702818512916565, + 0.007513836026191711, + -0.006494462490081787, + 0.0 + ], + [ + 0.00017642974853515625, + -0.002848830074071884, + 0.00747203454375267, + 0.06681998074054718, + 0.020570866763591766, + 0.03792005777359009, + 0.0 + ], + [ + -0.004786282777786255, + -0.009745880961418152, + 0.00900210440158844, + 0.028712600469589233, + 0.035359058529138565, + 0.03958016633987427, + 0.0 + ], + [ + -0.018747985363006592, + -0.006434842944145203, + -0.013634767383337021, + 0.017181098461151123, + 0.055296674370765686, + 0.12289053201675415, + 0.0 + ], + [ + -0.018306225538253784, + -0.010214341804385185, + 0.007281512022018433, + -0.04001978039741516, + -0.01768489181995392, + 0.18307501077651978, + 0.0 + ], + [ + -0.023203879594802856, + -0.02079971320927143, + -0.006467163562774658, + 0.003615468740463257, + -0.008618930354714394, + 0.07040107250213623, + 0.0 + ], + [ + -0.015831828117370605, + -0.016679003834724426, + -0.00025303661823272705, + -0.007545411586761475, + -0.005909141153097153, + -0.041153550148010254, + 0.0 + ], + [ + -0.012705683708190918, + -0.017704889178276062, + -0.005035974085330963, + 0.003684520721435547, + -0.02805333025753498, + -0.07011055946350098, + 0.0 + ], + [ + -0.008054167032241821, + -0.01672680675983429, + -0.006541077047586441, + -0.034220993518829346, + 0.014666690491139889, + -0.08091568946838379, + 0.0 + ], + [ + 0.007877320051193237, + -0.009776212275028229, + -0.002663908526301384, + -0.08067525178194046, + 0.01125731784850359, + -0.06273102760314941, + 0.0 + ], + [ + 0.0012217462062835693, + -0.007086902856826782, + -0.009294330142438412, + 0.004467226564884186, + -0.02373955398797989, + -0.03983032703399658, + 0.0 + ], + [ + -0.0031354427337646484, + 0.00174008309841156, + -1.1961907148361206e-05, + -0.002712838351726532, + -0.015071801841259003, + -0.021359503269195557, + 1.0 + ], + [ + -0.003654003143310547, + 0.0027458220720291138, + -0.0005479622632265091, + -0.001239389181137085, + 0.02007993496954441, + 0.0018489360809326172, + 1.0 + ], + [ + 0.004068821668624878, + 0.013009198009967804, + 0.011017966084182262, + -0.09261764585971832, + 0.05929546058177948, + -0.04464530944824219, + 1.0 + ], + [ + 0.0004038512706756592, + 0.0036768242716789246, + 0.007655277848243713, + -0.015476038679480553, + 0.0556090772151947, + -0.024253427982330322, + 1.0 + ], + [ + 0.0035673975944519043, + 0.007008440792560577, + 0.024278953671455383, + 0.0015871990472078323, + -0.07053060829639435, + 0.0278165340423584, + 1.0 + ], + [ + 0.0007432699203491211, + 0.011621896177530289, + 0.026875223964452744, + -0.04775433614850044, + -0.056956879794597626, + 0.03872048854827881, + 1.0 + ], + [ + 0.002286195755004883, + 0.02151509001851082, + 0.012005038559436798, + 0.0507156103849411, + -0.009284920990467072, + 0.04877108335494995, + 1.0 + ], + [ + 0.0011306405067443848, + 0.021181002259254456, + 0.005193114280700684, + 0.06635625660419464, + -0.021132368594408035, + 0.03030306100845337, + 1.0 + ], + [ + -0.004248201847076416, + 0.019045090302824974, + -0.0016647577285766602, + 0.07199914753437042, + 0.006538074463605881, + -0.07556849718093872, + 1.0 + ], + [ + -0.004168868064880371, + 0.02558385208249092, + -0.00401817262172699, + 0.022927910089492798, + 0.06101521849632263, + -0.08422452211380005, + 1.0 + ], + [ + 0.0033471882343292236, + 0.01908809132874012, + 0.005650192499160767, + -0.013786762952804565, + -0.0065795257687568665, + 0.01557093858718872, + 1.0 + ], + [ + 0.004819780588150024, + 0.018852192908525467, + -0.006685540080070496, + 0.0038351863622665405, + 0.04471084475517273, + 0.08420562744140625, + 1.0 + ], + [ + 0.008030712604522705, + 0.006449788808822632, + 4.8294663429260254e-05, + -0.015287697315216064, + -0.003088541328907013, + 0.022770464420318604, + 1.0 + ], + [ + 0.008352309465408325, + 0.010097086429595947, + 0.00039227306842803955, + -0.01708701252937317, + -0.009672362357378006, + 0.05132406949996948, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9560673832893372 + ], + [ + 0.6751802563667297 + ], + [ + 0.36275482177734375 + ], + [ + 0.16338585317134857 + ], + [ + 0.08397578448057175 + ], + [ + 0.08157449960708618 + ], + [ + 0.08157449960708618 + ], + [ + 0.08157449960708618 + ], + [ + 0.08157449960708618 + ], + [ + 0.08123486489057541 + ], + [ + 0.08123486489057541 + ], + [ + 0.08123486489057541 + ], + [ + 0.08123486489057541 + ], + [ + 0.08123486489057541 + ], + [ + 0.08123486489057541 + ], + [ + 0.08123486489057541 + ], + [ + 0.11535319685935974 + ], + [ + 0.2981022000312805 + ], + [ + 0.5799254179000854 + ], + [ + 0.8731510639190674 + ], + [ + 1.0162451267242432 + ], + [ + 1.0092895030975342 + ], + [ + 1.0060625076293945 + ], + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 1.0047606229782104 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.002137303352356 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.14908121526241302, + -0.07391761243343353, + 0.2072763890028 + ], + [ + 0.14756295084953308, + -0.07528912276029587, + 0.20131368935108185 + ], + [ + 0.19642847776412964, + -0.02524016611278057, + 0.1480410397052765 + ], + [ + 0.2432546466588974, + 0.02158694714307785, + 0.14357911050319672 + ], + [ + 0.28483232855796814, + 0.044933874160051346, + 0.11945978552103043 + ], + [ + 0.3330216407775879, + 0.0501101091504097, + 0.10199601203203201 + ], + [ + 0.36049994826316833, + 0.03664851561188698, + 0.08568129688501358 + ], + [ + 0.37034472823143005, + 0.022238725796341896, + 0.08318516612052917 + ], + [ + 0.38587382435798645, + 0.007454099133610725, + 0.07660673558712006 + ], + [ + 0.3915504217147827, + 0.0027833725325763226, + 0.049233585596084595 + ], + [ + 0.3980512022972107, + 0.008426462300121784, + 0.035865891724824905 + ], + [ + 0.3998606204986572, + 0.012176111340522766, + 0.028046930208802223 + ], + [ + 0.4025844931602478, + 0.008718486875295639, + 0.019945628941059113 + ], + [ + 0.40379583835601807, + 0.013061188161373138, + 0.019599674269557 + ], + [ + 0.4040350019931793, + 0.011232346296310425, + 0.017822518944740295 + ], + [ + 0.4028675854206085, + 0.019203972071409225, + 0.014747977256774902 + ], + [ + 0.4018195867538452, + 0.024238115176558495, + 0.02007312700152397 + ], + [ + 0.4037783741950989, + 0.01687266305088997, + 0.03209560364484787 + ], + [ + 0.40395480394363403, + 0.014023832976818085, + 0.03956763818860054 + ], + [ + 0.3991685211658478, + 0.004277952015399933, + 0.04856974259018898 + ], + [ + 0.3804205358028412, + -0.0021568909287452698, + 0.03493497520685196 + ], + [ + 0.3621143102645874, + -0.012371232733130455, + 0.04221648722887039 + ], + [ + 0.33891043066978455, + -0.033170945942401886, + 0.035749323666095734 + ], + [ + 0.32307860255241394, + -0.04984994977712631, + 0.03549628704786301 + ], + [ + 0.310372918844223, + -0.06755483895540237, + 0.030460312962532043 + ], + [ + 0.3023187518119812, + -0.08428164571523666, + 0.023919235914945602 + ], + [ + 0.31019607186317444, + -0.09405785799026489, + 0.02125532738864422 + ], + [ + 0.311417818069458, + -0.10114476084709167, + 0.011960997246205807 + ], + [ + 0.30828237533569336, + -0.09940467774868011, + 0.011949035339057446 + ], + [ + 0.3046283721923828, + -0.096658855676651, + 0.011401073075830936 + ], + [ + 0.3086971938610077, + -0.0836496576666832, + 0.0224190391600132 + ], + [ + 0.30910104513168335, + -0.07997283339500427, + 0.030074317008256912 + ], + [ + 0.31266844272613525, + -0.0729643926024437, + 0.054353270679712296 + ], + [ + 0.3134117126464844, + -0.061342496424913406, + 0.08122849464416504 + ], + [ + 0.31569790840148926, + -0.03982740640640259, + 0.09323353320360184 + ], + [ + 0.31682854890823364, + -0.018646404147148132, + 0.09842664748430252 + ], + [ + 0.3125803470611572, + 0.0003986853116657585, + 0.09676188975572586 + ], + [ + 0.30841147899627686, + 0.025982538238167763, + 0.09274371713399887 + ], + [ + 0.3117586672306061, + 0.04507062956690788, + 0.09839390963315964 + ], + [ + 0.3165784478187561, + 0.06392282247543335, + 0.09170836955308914 + ], + [ + 0.3246091604232788, + 0.07037261128425598, + 0.0917566642165184 + ], + [ + 0.33296146988868713, + 0.08046969771385193, + 0.09214893728494644 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9184527246460097, + 0.39028630212169774, + -0.0641965339133837, + 0.39546932495045933, + -0.9089947100181693, + 0.13165344728571493, + -0.006971772626052232, + -0.1463052272994898, + -0.9892149285424758 + ], + [ + 0.8676764341122568, + 0.4869078561872228, + -0.10029130206254767, + 0.4944293822150803, + -0.8662178324135271, + 0.07215436792893913, + -0.05174158567972649, + -0.11219361119053715, + -0.9923383505233354 + ], + [ + 0.800300342201408, + 0.5799828254695871, + -0.1521160229319176, + 0.5977438394074914, + -0.7916652066741474, + 0.12636654221735483, + -0.047134538532802556, + -0.1920576025620802, + -0.9802510966968646 + ], + [ + 0.7488203193484243, + 0.6481588482776219, + -0.13841328234801364, + 0.6595379974962017, + -0.7493432510293474, + 0.05911279045578273, + -0.06540458080000697, + -0.13555367769336096, + -0.9886088413898493 + ], + [ + 0.6309525898438162, + 0.7719709866042407, + -0.07719860886477568, + 0.7736271277787302, + -0.6335240730350227, + -0.012178507706110231, + -0.05830863172990354, + -0.052038877066966915, + -0.9969413517050018 + ], + [ + 0.6448501609054096, + 0.7620841604252038, + -0.05827522980889922, + 0.7632179742736567, + -0.6461277068084146, + -0.0041605576688364156, + -0.04082393569811325, + -0.04179376656287448, + -0.9982918848466137 + ], + [ + 0.8100563410679509, + 0.5858805840553051, + -0.023508839244376654, + 0.586323769879446, + -0.8097597270547949, + 0.022663215007987705, + -0.005758573604450701, + -0.03214227227745958, + -0.9994667143846679 + ], + [ + 0.8612468786498286, + 0.5074450827599493, + 0.027446347638177056, + 0.5081863582798405, + -0.8599187042368261, + -0.047816810453349484, + -0.0006627776407620491, + 0.05512993820426544, + -0.9984789685513625 + ], + [ + 0.8816715357522649, + 0.46964854902986897, + 0.04566775052903449, + 0.4715988632025224, + -0.8802820213227973, + -0.05194299916195906, + 0.015805545556289945, + 0.06733352307721209, + -0.9976053234619787 + ], + [ + 0.9010329840979995, + 0.4337503421416206, + -0.0004497326774270897, + 0.4332727077384047, + -0.8999911660292299, + 0.04786085873005134, + 0.020354908412592486, + -0.04331906925793822, + -0.9988539112113146 + ], + [ + 0.8914404294504151, + 0.4531270395769111, + -0.003137952441269208, + 0.45162347093175953, + -0.8878741508883646, + 0.08783924343831367, + 0.03701622947855872, + -0.0797206258663947, + -0.996129720752604 + ], + [ + 0.8836972131483123, + 0.4672467125040426, + 0.027563474528267344, + 0.4573988648210766, + -0.874568752239965, + 0.1609837757844581, + 0.0993252935273608, + -0.1296534120630643, + -0.9865720849517832 + ], + [ + 0.8781086115149096, + 0.4769710437067755, + 0.03773446499722692, + 0.46801671157379926, + -0.8726531660011223, + 0.13941595875603696, + 0.09942647570443632, + -0.10476199374528475, + -0.9895146793229033 + ], + [ + 0.8709150952679345, + 0.48943789631321793, + 0.04424299364798848, + 0.4816638004283172, + -0.8679971308264689, + 0.12075166348323246, + 0.09750323169718261, + -0.08385419804344496, + -0.9916963210978933 + ], + [ + 0.8608873262049421, + 0.5061771251167181, + 0.05155317243662372, + 0.49857165971167444, + -0.8594569964696415, + 0.1129600431645158, + 0.10148552464293711, + -0.0715429187827652, + -0.9922612050564059 + ], + [ + 0.8594717045738708, + 0.5104041353258805, + 0.028213608048688447, + 0.5068591597958846, + -0.8580660639144668, + 0.08256162600956803, + 0.06634893494167593, + -0.05665905576846523, + -0.9961865137771797 + ], + [ + 0.8639399870061468, + 0.5035363896296339, + 0.007668322539636785, + 0.49662116978966075, + -0.8544029693818441, + 0.15284953263990053, + 0.08351713937011582, + -0.12824457193285244, + -0.9882197211152951 + ], + [ + 0.8676686208212199, + 0.4969441805150337, + -0.014058659055673293, + 0.4912952463794639, + -0.852794904901659, + 0.17711530441695889, + 0.0760272669977286, + -0.16058434427431512, + -0.9840896925823601 + ], + [ + 0.849570530109947, + 0.5223930837430524, + -0.07304368847564914, + 0.524546966612988, + -0.8221439777707138, + 0.22120072249534048, + 0.055501298956117065, + -0.22624046029119552, + -0.9724890024783887 + ], + [ + 0.8292586592346171, + 0.5444839018874955, + -0.12596569640094032, + 0.5585009141653255, + -0.7992587848637066, + 0.22195072357324558, + 0.020169406557987518, + -0.2544065160398997, + -0.966887025270036 + ], + [ + 0.7542309057884802, + 0.624333361582483, + -0.20333124297216465, + 0.6556694435914666, + -0.7326924522111506, + 0.1823714649095836, + -0.03511867728069441, + -0.27086827811304776, + -0.9619755996999753 + ], + [ + 0.6225486952895014, + 0.7585757307178175, + -0.19234339801321088, + 0.7823867100528122, + -0.6087797384924089, + 0.1313707194691822, + -0.017440124026963558, + -0.23227158837671721, + -0.9724946021993545 + ], + [ + 0.5660352490291468, + 0.7999380940780252, + -0.19925647417167747, + 0.8243338339637636, + -0.5518073761358324, + 0.1264213187112452, + -0.00882196345004653, + -0.23581277591535335, + -0.9717584615921703 + ], + [ + 0.5994914681459023, + 0.7788085908722944, + -0.1845729080980789, + 0.8003758457399026, + -0.5841688750835741, + 0.13470423504748136, + -0.0029129326126993843, + -0.22848173705375857, + -0.9735438411579065 + ], + [ + 0.6538835924433695, + 0.7395816951184923, + -0.15954674480857142, + 0.7561774535738629, + -0.6318206202431489, + 0.17028905584949214, + 0.025137745322568017, + -0.23199487080799994, + -0.9723921398689304 + ], + [ + 0.7130502580346291, + 0.6885844485747468, + -0.13194994012033825, + 0.7010346889225181, + -0.6974189090209746, + 0.1488530492375012, + 0.010473511543765163, + -0.1986411903936478, + -0.9800163177391166 + ], + [ + 0.7556367300027769, + 0.6502640891800016, + -0.07854773449064664, + 0.6549904718534776, + -0.7503264860620207, + 0.08942955940279913, + -0.0007836146176694522, + -0.11902427750977056, + -0.9928910349637606 + ], + [ + 0.780913438285018, + 0.6218187642300391, + -0.05929271757390241, + 0.6242173654454205, + -0.7733740580587078, + 0.11065824414920376, + 0.022953923025266047, + -0.12342605386721843, + -0.9920882655512646 + ], + [ + 0.7937023034401078, + 0.6067564967234059, + -0.04339593526825586, + 0.6071171562144636, + -0.7856737211690012, + 0.11885100964870775, + 0.038018576300669946, + -0.12067873693569224, + -0.991963321049562 + ], + [ + 0.7930241064523115, + 0.6063587095421547, + -0.058667554473370666, + 0.6089258390231814, + -0.7861583487236802, + 0.10566159804759313, + 0.017946842491858787, + -0.11951638420915127, + -0.9926700079835912 + ], + [ + 0.8188420974678298, + 0.5718848177820539, + -0.049450729063100385, + 0.5725285714156105, + -0.8198835995636109, + -0.0013849474418049044, + -0.041335872160693926, + -0.027177901997827048, + -0.9987756040851775 + ], + [ + 0.8292846072222715, + 0.5519910324694701, + -0.0871374792927335, + 0.5503779183402111, + -0.8337683361973338, + -0.043755097511331574, + -0.09680489258141428, + -0.011673115608891109, + -0.9952349225907834 + ], + [ + 0.8172102028455074, + 0.5755961218174412, + -0.029267540278037615, + 0.5757337118050216, + -0.8176257896120235, + -0.004331426154059985, + -0.026423047826047763, + -0.013310623953707868, + -0.9995622290950904 + ], + [ + 0.7942176773975473, + 0.6059538556867246, + 0.04514649142112918, + 0.6068660836828503, + -0.7947549788206913, + -0.00883629533021008, + 0.030526011607900642, + 0.03441581639472029, + -0.9989412966722317 + ], + [ + 0.7634380405336462, + 0.6455741860225624, + 0.019908003602891515, + 0.6446533237243713, + -0.763524377309071, + 0.03811321904426625, + 0.0398051564155663, + -0.01626332057426349, + -0.99907509924261 + ], + [ + 0.7427636319886168, + 0.6694795458465511, + -0.00996617720963298, + 0.6667774142988193, + -0.7382477196278081, + 0.10197148741349873, + 0.06091031748446825, + -0.08238593422081478, + -0.9947373980435763 + ], + [ + 0.7912819288154656, + 0.6092908160553194, + -0.051357673240903685, + 0.6090282297206129, + -0.7778905257496721, + 0.15482553197801438, + 0.054383127286436884, + -0.153788918389921, + -0.9866060227096759 + ], + [ + 0.8409376383492753, + 0.5316149442050401, + -0.10104177109203819, + 0.5410917295074288, + -0.8283653838638279, + 0.14501907141749606, + -0.0066051999366583194, + -0.1766248621061187, + -0.9842560791886386 + ], + [ + 0.8324288891756983, + 0.5467135923034132, + -0.09036809423911993, + 0.5541318830423623, + -0.8212925408135374, + 0.1357071059302711, + -2.572234188564365e-05, + -0.16304235767045758, + -0.9866190698256445 + ], + [ + 0.7820902522896409, + 0.6076211768447637, + -0.13831609712289583, + 0.6215583734124679, + -0.7765446419315164, + 0.10316786092722971, + -0.044721647044503744, + -0.1666581067252277, + -0.9850000252529892 + ], + [ + 0.7678380441750179, + 0.6275809861855679, + -0.12871225153742374, + 0.6392895920213799, + -0.7636486240164886, + 0.0902751160113399, + -0.041635987446204566, + -0.15160107128933295, + -0.9875644585207114 + ], + [ + 0.7342919452889952, + 0.6690665560227297, + -0.11474006578169017, + 0.6780805589298159, + -0.73088406119752, + 0.07755800854101462, + -0.03197021559407422, + -0.13475322890121447, + -0.9903633033465876 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006175.json b/json/chunk-0006/episode_0006175.json new file mode 100644 index 0000000000000000000000000000000000000000..6998d71bfaa600b5098dcbf6e5986cc2cb6d5a41 --- /dev/null +++ b/json/chunk-0006/episode_0006175.json @@ -0,0 +1,2362 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 38, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nClose the drawer." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006175.mp4", + "start": 0, + "end": 38, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.22034452855587006, + 0.20307022333145142, + 0.12677031755447388, + -0.06810811161994934, + -0.31874245405197144, + 0.013554169796407223, + 0.0, + 1.0001531839370728 + ], + [ + 0.21941937506198883, + 0.2013075351715088, + 0.11909564584493637, + -0.08785321563482285, + -0.302708238363266, + 0.018978001549839973, + 0.0, + 0.9994885921478271 + ], + [ + 0.21398136019706726, + 0.18995723128318787, + 0.1044759750366211, + -0.09032189100980759, + -0.2684224843978882, + -0.01099118310958147, + 0.0, + 0.9994885921478271 + ], + [ + 0.20803479850292206, + 0.18058796226978302, + 0.10201534628868103, + -0.06408516317605972, + -0.26944032311439514, + -0.03393274545669556, + 0.0, + 0.9994885921478271 + ], + [ + 0.20424747467041016, + 0.16320402920246124, + 0.09576761722564697, + -0.048347584903240204, + -0.2540509104728699, + -0.08010604232549667, + 0.0, + 0.9994885921478271 + ], + [ + 0.19727490842342377, + 0.14266066253185272, + 0.08989070355892181, + -0.02261735498905182, + -0.24575728178024292, + -0.1201450452208519, + 0.0, + 0.9994885921478271 + ], + [ + 0.1888894885778427, + 0.12087500840425491, + 0.08507633954286575, + -0.018073009327054024, + -0.23776786029338837, + -0.1548222303390503, + 0.0, + 0.9994885921478271 + ], + [ + 0.18041309714317322, + 0.10781710594892502, + 0.0788165032863617, + -0.01702764444053173, + -0.22453780472278595, + -0.17341528832912445, + 0.0, + 0.9994885921478271 + ], + [ + 0.16640077531337738, + 0.09771556407213211, + 0.07532202452421188, + -0.007597942836582661, + -0.21810951828956604, + -0.1905120611190796, + 0.0, + 0.9994885921478271 + ], + [ + 0.1548997014760971, + 0.08683417737483978, + 0.0791841447353363, + -0.008195256814360619, + -0.22821708023548126, + -0.2180534303188324, + 0.0, + 0.9994885921478271 + ], + [ + 0.14144471287727356, + 0.07287924736738205, + 0.07597226649522781, + -0.0055085886269807816, + -0.2283530980348587, + -0.24093984067440033, + 0.0, + 0.9994885921478271 + ], + [ + 0.1312716156244278, + 0.054376233369112015, + 0.06919650733470917, + 0.022063449025154114, + -0.2212139070034027, + -0.289969265460968, + 0.0, + 0.9994885921478271 + ], + [ + 0.12650389969348907, + 0.04556553438305855, + 0.05875926464796066, + 0.024061892181634903, + -0.19735383987426758, + -0.30129578709602356, + 0.0, + 0.9994885921478271 + ], + [ + 0.1257530152797699, + 0.039625804871320724, + 0.05333946645259857, + 0.026064638048410416, + -0.1908348947763443, + -0.3076688051223755, + 0.0, + 0.9994885921478271 + ], + [ + 0.12678058445453644, + 0.03579442575573921, + 0.04533010721206665, + 0.024834617972373962, + -0.17626835405826569, + -0.30972906947135925, + 0.0, + 0.9994885921478271 + ], + [ + 0.12938816845417023, + 0.032743990421295166, + 0.040250301361083984, + 0.027711227536201477, + -0.16845890879631042, + -0.31368350982666016, + 0.0, + 0.9994885921478271 + ], + [ + 0.13324962556362152, + 0.0291233379393816, + 0.030827097594738007, + 0.01868799515068531, + -0.14419879019260406, + -0.30733221769332886, + 0.0, + 1.0001531839370728 + ], + [ + 0.13641700148582458, + 0.026473592966794968, + 0.025571098551154137, + 0.010495539754629135, + -0.1350221484899521, + -0.2913001775741577, + 0.0, + 1.0001531839370728 + ], + [ + 0.14443740248680115, + 0.027739886194467545, + 0.02594679407775402, + 0.011113188229501247, + -0.14040353894233704, + -0.27711570262908936, + 0.0, + 1.0001531839370728 + ], + [ + 0.1546163558959961, + 0.028441743925213814, + 0.029764113947749138, + 0.009121415205299854, + -0.15679533779621124, + -0.2636494040489197, + 0.0, + 1.0001531839370728 + ], + [ + 0.16347253322601318, + 0.028748389333486557, + 0.03351880982518196, + 0.008009850978851318, + -0.1663609743118286, + -0.25136277079582214, + 0.0, + 1.0001531839370728 + ], + [ + 0.16740286350250244, + 0.028841735795140266, + 0.026825830340385437, + 0.005664121359586716, + -0.1552538126707077, + -0.24081166088581085, + 0.0, + 1.0001531839370728 + ], + [ + 0.17763075232505798, + 0.030229417607188225, + 0.021894853562116623, + 0.02490750141441822, + -0.1514964997768402, + -0.24674399197101593, + 0.0, + 1.0001531839370728 + ], + [ + 0.18528492748737335, + 0.029744544997811317, + 0.02039697952568531, + 0.026872670277953148, + -0.1554960012435913, + -0.22789420187473297, + 0.0, + 0.9994885921478271 + ], + [ + 0.19616104662418365, + 0.02846660651266575, + 0.021489329636096954, + 0.027345478534698486, + -0.1629469394683838, + -0.22811579704284668, + 0.0, + 0.9994885921478271 + ], + [ + 0.20699194073677063, + 0.02863365225493908, + 0.022820061072707176, + 0.021114196628332138, + -0.1625489741563797, + -0.20509886741638184, + 0.0, + 0.9994885921478271 + ], + [ + 0.21737807989120483, + 0.029754526913166046, + 0.022987671196460724, + 0.015623325482010841, + -0.1613871306180954, + -0.20013116300106049, + 0.0, + 1.0001531839370728 + ], + [ + 0.22674855589866638, + 0.03170819208025932, + 0.021889790892601013, + 0.015003588981926441, + -0.16290241479873657, + -0.19084791839122772, + 0.0, + 0.9994885921478271 + ], + [ + 0.2322397381067276, + 0.0338561050593853, + 0.0190780907869339, + 0.01604362018406391, + -0.16038517653942108, + -0.18037515878677368, + 0.0, + 0.9994885921478271 + ], + [ + 0.24034000933170319, + 0.03546101227402687, + 0.0190531387925148, + 0.02263003960251808, + -0.18036691844463348, + -0.1699315756559372, + 0.0, + 0.9994885921478271 + ], + [ + 0.24768392741680145, + 0.03675074130296707, + 0.0196805689483881, + 0.023793984204530716, + -0.18927232921123505, + -0.15951749682426453, + 0.0, + 0.9994885921478271 + ], + [ + 0.25409236550331116, + 0.038835588842630386, + 0.02034713141620159, + 0.03018583357334137, + -0.20067626237869263, + -0.14123475551605225, + 0.0, + 0.9994885921478271 + ], + [ + 0.2585747241973877, + 0.04074950888752937, + 0.018045524135231972, + 0.043758321553468704, + -0.21323823928833008, + -0.13047073781490326, + 0.0, + 0.9994885921478271 + ], + [ + 0.25900766253471375, + 0.04027201235294342, + 0.016588803380727768, + 0.0560891330242157, + -0.23630394041538239, + -0.1212189570069313, + 0.0, + 0.9994885921478271 + ], + [ + 0.2428474873304367, + 0.03105524741113186, + 0.021100077778100967, + 0.05658331140875816, + -0.237818643450737, + -0.1507786363363266, + 0.0, + 0.9994885921478271 + ], + [ + 0.22192449867725372, + 0.026570409536361694, + 0.03574717417359352, + 0.05051774904131889, + -0.2554963529109955, + -0.17689256370067596, + 0.0, + 0.9994885921478271 + ], + [ + 0.2047535926103592, + 0.029552340507507324, + 0.054709773510694504, + 0.04029379040002823, + -0.28582239151000977, + -0.18531982600688934, + 0.0, + 0.9994885921478271 + ], + [ + 0.1877400279045105, + 0.03711109980940819, + 0.07503439486026764, + 0.034111760556697845, + -0.3037585914134979, + -0.18274898827075958, + 0.0, + 0.9994885921478271 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.22034452855587006, + 0.20307022333145142, + 0.12677031755447388 + ], + [ + 0.21941937506198883, + 0.2013075351715088, + 0.11909564584493637 + ], + [ + 0.21398136019706726, + 0.18995723128318787, + 0.1044759750366211 + ], + [ + 0.20803479850292206, + 0.18058796226978302, + 0.10201534628868103 + ], + [ + 0.20424747467041016, + 0.16320402920246124, + 0.09576761722564697 + ], + [ + 0.19727490842342377, + 0.14266066253185272, + 0.08989070355892181 + ], + [ + 0.1888894885778427, + 0.12087500840425491, + 0.08507633954286575 + ], + [ + 0.18041309714317322, + 0.10781710594892502, + 0.0788165032863617 + ], + [ + 0.16640077531337738, + 0.09771556407213211, + 0.07532202452421188 + ], + [ + 0.1548997014760971, + 0.08683417737483978, + 0.0791841447353363 + ], + [ + 0.14144471287727356, + 0.07287924736738205, + 0.07597226649522781 + ], + [ + 0.1312716156244278, + 0.054376233369112015, + 0.06919650733470917 + ], + [ + 0.12650389969348907, + 0.04556553438305855, + 0.05875926464796066 + ], + [ + 0.1257530152797699, + 0.039625804871320724, + 0.05333946645259857 + ], + [ + 0.12678058445453644, + 0.03579442575573921, + 0.04533010721206665 + ], + [ + 0.12938816845417023, + 0.032743990421295166, + 0.040250301361083984 + ], + [ + 0.13324962556362152, + 0.0291233379393816, + 0.030827097594738007 + ], + [ + 0.13641700148582458, + 0.026473592966794968, + 0.025571098551154137 + ], + [ + 0.14443740248680115, + 0.027739886194467545, + 0.02594679407775402 + ], + [ + 0.1546163558959961, + 0.028441743925213814, + 0.029764113947749138 + ], + [ + 0.16347253322601318, + 0.028748389333486557, + 0.03351880982518196 + ], + [ + 0.16740286350250244, + 0.028841735795140266, + 0.026825830340385437 + ], + [ + 0.17763075232505798, + 0.030229417607188225, + 0.021894853562116623 + ], + [ + 0.18528492748737335, + 0.029744544997811317, + 0.02039697952568531 + ], + [ + 0.19616104662418365, + 0.02846660651266575, + 0.021489329636096954 + ], + [ + 0.20699194073677063, + 0.02863365225493908, + 0.022820061072707176 + ], + [ + 0.21737807989120483, + 0.029754526913166046, + 0.022987671196460724 + ], + [ + 0.22674855589866638, + 0.03170819208025932, + 0.021889790892601013 + ], + [ + 0.2322397381067276, + 0.0338561050593853, + 0.0190780907869339 + ], + [ + 0.24034000933170319, + 0.03546101227402687, + 0.0190531387925148 + ], + [ + 0.24768392741680145, + 0.03675074130296707, + 0.0196805689483881 + ], + [ + 0.25409236550331116, + 0.038835588842630386, + 0.02034713141620159 + ], + [ + 0.2585747241973877, + 0.04074950888752937, + 0.018045524135231972 + ], + [ + 0.25900766253471375, + 0.04027201235294342, + 0.016588803380727768 + ], + [ + 0.2428474873304367, + 0.03105524741113186, + 0.021100077778100967 + ], + [ + 0.22192449867725372, + 0.026570409536361694, + 0.03574717417359352 + ], + [ + 0.2047535926103592, + 0.029552340507507324, + 0.054709773510694504 + ], + [ + 0.1877400279045105, + 0.03711109980940819, + 0.07503439486026764 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9495430197396381, + -0.00780242941620872, + 0.3135397514812662, + 0.012871055532413345, + -0.9978789527334578, + -0.06381168874946581, + 0.3133726050458314, + 0.06462753118278812, + -0.9474285686108515 + ], + [ + 0.9543607582131097, + -0.007247543295232632, + 0.2985682774493672, + 0.018114034678365643, + -0.9964603628049802, + -0.0820891412200089, + 0.2981063986743149, + 0.08375093118736845, + -0.9508513851252883 + ], + [ + 0.9641322305340773, + -0.034866493883447175, + 0.26312234730189726, + -0.01059738063384942, + -0.9956006707303007, + -0.09309672370753216, + 0.2652107418056177, + 0.08696914421592758, + -0.960260188899479 + ], + [ + 0.96336513827459, + -0.05089406160756335, + 0.26331996667602964, + -0.032702176418072965, + -0.9967944198141053, + -0.07301679454058578, + 0.2661919946480379, + 0.061730698364318146, + -0.9619413406568782 + ], + [ + 0.9647984198409163, + -0.09203425620179936, + 0.24636092376400168, + -0.07745192306758747, + -0.9946565037283486, + -0.06826154996797233, + 0.25132689606487246, + 0.046777508230762224, + -0.9667712532125257 + ], + [ + 0.9629612233963832, + -0.12528801821013463, + 0.23876472672469282, + -0.11625493223722813, + -0.9918778797711134, + -0.05160486751535686, + 0.24329092248881332, + 0.021935909229776875, + -0.9697052866313582 + ], + [ + 0.960241609568208, + -0.15838493599183673, + 0.22989185132300524, + -0.14986609174419002, + -0.9872212175444873, + -0.054170307136861925, + 0.23553387399518352, + 0.017563589634289292, + -0.9717074222830548 + ], + [ + 0.9602748478748645, + -0.17625665660050463, + 0.21634649879976658, + -0.16821597529576313, + -0.9842042729759033, + -0.05518455138232661, + 0.22265579308475408, + 0.01659939938627995, + -0.9747557939021515 + ], + [ + 0.9586443085056489, + -0.1909705651432635, + 0.21102448440545712, + -0.18487540864703889, + -0.9815677350836255, + -0.04843412764148867, + 0.21638431793297047, + 0.007417863011959666, + -0.9762800839211149 + ], + [ + 0.9510056931611562, + -0.21813247385353274, + 0.2191036180112198, + -0.21072041700678973, + -0.975886520424921, + -0.05694212069658876, + 0.22624119304749368, + 0.007982675208105014, + -0.9740386026564699 + ], + [ + 0.9459045358337017, + -0.23982277663621557, + 0.21851692130296266, + -0.23242109454869828, + -0.9708018575161275, + -0.059364873890387415, + 0.22637368199067306, + 0.0053655614554668045, + -0.9740257526637852 + ], + [ + 0.9349017901815103, + -0.2812146281135618, + 0.21651091346710066, + -0.2789553561400353, + -0.9594034854667441, + -0.041579578581906355, + 0.21941411074995443, + -0.02152405652320239, + -0.975394362806446 + ], + [ + 0.9364160312303041, + -0.29216699146255604, + 0.19432824178334204, + -0.29099746138261834, + -0.9560762735493878, + -0.03519426977205078, + 0.1960752251656437, + -0.023592546611907735, + -0.9803050024459772 + ], + [ + 0.9357408112381824, + -0.29802365364210637, + 0.18860285271733718, + -0.2973400834536887, + -0.9542154510504233, + -0.03258447096993056, + 0.18967869926552433, + -0.025588568667406966, + -0.9815127183070486 + ], + [ + 0.9376584159660403, + -0.3005593463349345, + 0.1745301529787128, + -0.3000776980113197, + -0.953449741375028, + -0.029781971528409272, + 0.17535697911484213, + -0.02444729029174167, + -0.9842013309649138 + ], + [ + 0.9377384956814704, + -0.30402714835087374, + 0.1679702556486971, + -0.30419654943297236, + -0.9522716832444247, + -0.025359428303950698, + 0.1676632727526397, + -0.027315460026619078, + -0.9854658251879707 + ], + [ + 0.9432516686495415, + -0.2999046327551747, + 0.14259558493108804, + -0.2993772199803119, + -0.9537899252896577, + -0.02565265235426504, + 0.14369958158155954, + -0.018492962659688514, + -0.9894485537840518 + ], + [ + 0.9491530678913043, + -0.2858287692590419, + 0.13194835495900298, + -0.2845838957568474, + -0.9582242735207633, + -0.028605032974311613, + 0.1346122579425122, + -0.010399822088240614, + -0.9908437736152718 + ], + [ + 0.9523835615333563, + -0.2720697940751568, + 0.13763567441961172, + -0.27089037288284673, + -0.9622146059276684, + -0.02759452878477898, + 0.1399426939873314, + -0.011003603562628177, + -0.9900984613199864 + ], + [ + 0.9536020179952307, + -0.25921963281187305, + 0.15312861666031294, + -0.25740867215543145, + -0.965776378232535, + -0.03188671741061784, + 0.1561536639807116, + -0.0090093958135204, + -0.9876916846933935 + ], + [ + 0.9552021313554462, + -0.2474314636436275, + 0.16237782808371862, + -0.24529022405783996, + -0.9688731979612549, + -0.033428016004334794, + 0.16559466850013047, + -0.0078991816983562, + -0.9861622628618623 + ], + [ + 0.9594640985155575, + -0.2376365488332491, + 0.15151737299185097, + -0.23562245119791794, + -0.9713380234668144, + -0.03137681722334733, + 0.1546308641611165, + -0.005595965171922778, + -0.9879564671697743 + ], + [ + 0.9586060692764543, + -0.240527350952771, + 0.15238437383796422, + -0.24145033394172327, + -0.9703300804988823, + -0.01269925661065694, + 0.15091766028459436, + -0.024619673488401973, + -0.9882397135774035 + ], + [ + 0.9623911001298624, + -0.22179142361717177, + 0.15688191355507333, + -0.22320083244694913, + -0.9747327397850326, + -0.008801953541849431, + 0.15487013522891427, + -0.02654525194893027, + -0.987578144155259 + ], + [ + 0.9611908794765295, + -0.22173727943374016, + 0.16414832353837716, + -0.22314693688396303, + -0.9747331249018127, + -0.010038913210714043, + 0.1622268096537713, + -0.026979883774231803, + -0.9863845842779014 + ], + [ + 0.9661351161753262, + -0.20027342901168776, + 0.1627067636110716, + -0.20097925352881485, + -0.9795184963600182, + -0.012282301885607461, + 0.1618341031547091, + -0.020834320735490717, + -0.9865980205410922 + ], + [ + 0.967305216650667, + -0.19631335119019205, + 0.16056676488265725, + -0.19621456643489427, + -0.9804199618858419, + -0.01662955966136116, + 0.16068746609232681, + -0.015419678344266056, + -0.9868848827297877 + ], + [ + 0.9688448392645703, + -0.18728108084780357, + 0.1620662648020483, + -0.18718010741142097, + -0.9821948007355739, + -0.016030620619790725, + 0.16218287461954203, + -0.014804396795722739, + -0.9866496566743724 + ], + [ + 0.9711505189930265, + -0.17685510434809, + 0.159965438534709, + -0.17709622814748804, + -0.9841094758237127, + -0.012863342097236588, + 0.15969845157517473, + -0.015837034444739634, + -0.9870388001008308 + ], + [ + 0.969607935166179, + -0.16507080859996573, + 0.1805881508043423, + -0.16637151799693847, + -0.9860304632894488, + -0.008027668689539205, + 0.1793905517639454, + -0.022261033519316183, + -0.9835260425247919 + ], + [ + 0.969672174256871, + -0.15437743675880852, + 0.18948214029752827, + -0.15600515511739307, + -0.9877355907567976, + -0.006387043848135742, + 0.18814426924238284, + -0.023366851993795783, + -0.9818633938482224 + ], + [ + 0.9701747591969634, + -0.13474536742391177, + 0.20150588719665224, + -0.13794079706479698, + -0.9904387772485848, + 0.0018344011168535748, + 0.19933206747095017, + -0.02957557235496932, + -0.9794855855997235 + ], + [ + 0.9690440065724982, + -0.12079759784210839, + 0.2153175647305548, + -0.12715420559125526, + -0.9917560545110261, + 0.015866201220830108, + 0.21162589946974164, + -0.04275358109327604, + -0.9764151831968427 + ], + [ + 0.9650758000058727, + -0.10770426160303348, + 0.23880639077623136, + -0.11756186618716472, + -0.992687938542533, + 0.0273836500628995, + 0.23411088796041926, + -0.05450182294860868, + -0.9706810204354789 + ], + [ + 0.9608279285823442, + -0.13679577563420364, + 0.24103237837435595, + -0.1459802530601822, + -0.9890733853132277, + 0.020581646715387977, + 0.23558322812256235, + -0.054961388571145894, + -0.9702988139710801 + ], + [ + 0.9524397998897594, + -0.16318442692909887, + 0.2573504816272482, + -0.17025909149386206, + -0.9853851181815624, + 0.005292506966738112, + 0.2527256800359626, + -0.04885705347367833, + -0.966303637050089 + ], + [ + 0.9430021394280825, + -0.17294818105682774, + 0.28431653434718496, + -0.17678544792765327, + -0.9841723483198574, + -0.012316420080377848, + 0.2819465737246656, + -0.038648615391913804, + -0.9586513516879898 + ], + [ + 0.9383291829250572, + -0.17159646610686233, + 0.3001549554660587, + -0.17341352914967104, + -0.9846296538989759, + -0.020789241704295122, + 0.2991088303261063, + -0.03254377793710881, + -0.9536638874040105 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0009251534938812256, + -0.001762688159942627, + -0.007674671709537506, + -0.019745104014873505, + 0.016034215688705444, + 0.005423831753432751, + 1.0 + ], + [ + -0.00543801486492157, + -0.011350303888320923, + -0.014619670808315277, + -0.002468675374984741, + 0.03428575396537781, + -0.02996918559074402, + 1.0 + ], + [ + -0.005946561694145203, + -0.009369269013404846, + -0.0024606287479400635, + 0.026236727833747864, + -0.001017838716506958, + -0.02294156327843666, + 1.0 + ], + [ + -0.003787323832511902, + -0.017383933067321777, + -0.006247729063034058, + 0.01573757827281952, + 0.015389412641525269, + -0.04617329686880112, + 1.0 + ], + [ + -0.006972566246986389, + -0.02054336667060852, + -0.005876913666725159, + 0.025730229914188385, + 0.008293628692626953, + -0.040039002895355225, + 1.0 + ], + [ + -0.008385419845581055, + -0.02178565412759781, + -0.004814364016056061, + 0.004544345661997795, + 0.007989421486854553, + -0.034677185118198395, + 1.0 + ], + [ + -0.008476391434669495, + -0.013057902455329895, + -0.006259836256504059, + 0.001045364886522293, + 0.013230055570602417, + -0.018593057990074158, + 1.0 + ], + [ + -0.014012321829795837, + -0.010101541876792908, + -0.003494478762149811, + 0.00942970160394907, + 0.00642828643321991, + -0.01709677278995514, + 1.0 + ], + [ + -0.011501073837280273, + -0.010881386697292328, + 0.00386212021112442, + -0.0005973139777779579, + -0.010107561945915222, + -0.027541369199752808, + 1.0 + ], + [ + -0.013454988598823547, + -0.013954930007457733, + -0.00321187824010849, + 0.002686668187379837, + -0.0001360177993774414, + -0.022886410355567932, + 1.0 + ], + [ + -0.010173097252845764, + -0.018503013998270035, + -0.006775759160518646, + 0.027572037652134895, + 0.007139191031455994, + -0.04902942478656769, + 1.0 + ], + [ + -0.004767715930938721, + -0.008810698986053467, + -0.010437242686748505, + 0.001998443156480789, + 0.023860067129135132, + -0.011326521635055542, + 1.0 + ], + [ + -0.0007508844137191772, + -0.0059397295117378235, + -0.005419798195362091, + 0.0020027458667755127, + 0.006518945097923279, + -0.006373018026351929, + 1.0 + ], + [ + 0.0010275691747665405, + -0.0038313791155815125, + -0.008009359240531921, + -0.0012300200760364532, + 0.014566540718078613, + -0.0020602643489837646, + 1.0 + ], + [ + 0.002607583999633789, + -0.003050435334444046, + -0.005079805850982666, + 0.0028766095638275146, + 0.007809445261955261, + -0.003954440355300903, + 1.0 + ], + [ + 0.003861457109451294, + -0.0036206524819135666, + -0.009423203766345978, + -0.009023232385516167, + 0.02426011860370636, + 0.006351292133331299, + 1.0 + ], + [ + 0.003167375922203064, + -0.0026497449725866318, + -0.00525599904358387, + -0.008192455396056175, + 0.009176641702651978, + 0.016032040119171143, + 1.0 + ], + [ + 0.008020401000976562, + 0.001266293227672577, + 0.00037569552659988403, + 0.0006176484748721123, + -0.005381390452384949, + 0.01418447494506836, + 1.0 + ], + [ + 0.010178953409194946, + 0.0007018577307462692, + 0.003817319869995117, + -0.001991773024201393, + -0.016391798853874207, + 0.013466298580169678, + 1.0 + ], + [ + 0.00885617733001709, + 0.0003066454082727432, + 0.003754695877432823, + -0.001111564226448536, + -0.00956563651561737, + 0.012286633253097534, + 1.0 + ], + [ + 0.003930330276489258, + 9.334646165370941e-05, + -0.006692979484796524, + -0.0023457296192646027, + 0.01110716164112091, + 0.010551109910011292, + 1.0 + ], + [ + 0.010227888822555542, + 0.0013876818120479584, + -0.004930976778268814, + 0.019243380054831505, + 0.0037573128938674927, + -0.005932331085205078, + 1.0 + ], + [ + 0.007654175162315369, + -0.00048487260937690735, + -0.0014978740364313126, + 0.0019651688635349274, + -0.003999501466751099, + 0.01884979009628296, + 1.0 + ], + [ + 0.010876119136810303, + -0.0012779384851455688, + 0.001092350110411644, + 0.00047280825674533844, + -0.0074509382247924805, + -0.0002215951681137085, + 1.0 + ], + [ + 0.010830894112586975, + 0.0001670457422733307, + 0.0013307314366102219, + -0.006231281906366348, + 0.00039796531200408936, + 0.023016929626464844, + 1.0 + ], + [ + 0.010386139154434204, + 0.0011208746582269669, + 0.00016761012375354767, + -0.005490871146321297, + 0.0011618435382843018, + 0.00496770441532135, + 1.0 + ], + [ + 0.009370476007461548, + 0.001953665167093277, + -0.0010978803038597107, + -0.0006197365000844002, + -0.0015152841806411743, + 0.009283244609832764, + 1.0 + ], + [ + 0.005491182208061218, + 0.0021479129791259766, + -0.0028117001056671143, + 0.0010400312021374702, + 0.0025172382593154907, + 0.01047275960445404, + 1.0 + ], + [ + 0.008100271224975586, + 0.001604907214641571, + -2.49519944190979e-05, + 0.00658641941845417, + -0.019981741905212402, + 0.010443583130836487, + 1.0 + ], + [ + 0.007343918085098267, + 0.0012897290289402008, + 0.0006274301558732986, + 0.0011639446020126343, + -0.008905410766601562, + 0.010414078831672668, + 1.0 + ], + [ + 0.006408438086509705, + 0.002084847539663315, + 0.0006665624678134918, + 0.006391849368810654, + -0.01140393316745758, + 0.01828274130821228, + 1.0 + ], + [ + 0.004482358694076538, + 0.0019139200448989868, + -0.0023016072809696198, + 0.013572487980127335, + -0.012561976909637451, + 0.010764017701148987, + 1.0 + ], + [ + 0.0004329383373260498, + -0.00047749653458595276, + -0.0014567207545042038, + 0.012330811470746994, + -0.023065701127052307, + 0.009251780807971954, + 1.0 + ], + [ + -0.01616017520427704, + -0.009216764941811562, + 0.0045112743973731995, + 0.0004941783845424652, + -0.0015147030353546143, + -0.029559679329395294, + 1.0 + ], + [ + -0.020922988653182983, + -0.0044848378747701645, + 0.014647096395492554, + -0.00606556236743927, + -0.017677709460258484, + -0.026113927364349365, + 1.0 + ], + [ + -0.01717090606689453, + 0.00298193097114563, + 0.018962599337100983, + -0.010223958641290665, + -0.030326038599014282, + -0.008427262306213379, + 1.0 + ], + [ + -0.017013564705848694, + 0.007558759301900864, + 0.020324621349573135, + -0.006182029843330383, + -0.01793619990348816, + 0.0025708377361297607, + 1.0 + ], + [ + -0.021084100008010864, + 0.00902826339006424, + 0.033364370465278625, + -0.004302624613046646, + -0.01601797342300415, + 0.01871544122695923, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.21941937506198883, + 0.2013075351715088, + 0.11909564584493637 + ], + [ + 0.21398136019706726, + 0.18995723128318787, + 0.1044759750366211 + ], + [ + 0.20803479850292206, + 0.18058796226978302, + 0.10201534628868103 + ], + [ + 0.20424747467041016, + 0.16320402920246124, + 0.09576761722564697 + ], + [ + 0.19727490842342377, + 0.14266066253185272, + 0.08989070355892181 + ], + [ + 0.1888894885778427, + 0.12087500840425491, + 0.08507633954286575 + ], + [ + 0.18041309714317322, + 0.10781710594892502, + 0.0788165032863617 + ], + [ + 0.16640077531337738, + 0.09771556407213211, + 0.07532202452421188 + ], + [ + 0.1548997014760971, + 0.08683417737483978, + 0.0791841447353363 + ], + [ + 0.14144471287727356, + 0.07287924736738205, + 0.07597226649522781 + ], + [ + 0.1312716156244278, + 0.054376233369112015, + 0.06919650733470917 + ], + [ + 0.12650389969348907, + 0.04556553438305855, + 0.05875926464796066 + ], + [ + 0.1257530152797699, + 0.039625804871320724, + 0.05333946645259857 + ], + [ + 0.12678058445453644, + 0.03579442575573921, + 0.04533010721206665 + ], + [ + 0.12938816845417023, + 0.032743990421295166, + 0.040250301361083984 + ], + [ + 0.13324962556362152, + 0.0291233379393816, + 0.030827097594738007 + ], + [ + 0.13641700148582458, + 0.026473592966794968, + 0.025571098551154137 + ], + [ + 0.14443740248680115, + 0.027739886194467545, + 0.02594679407775402 + ], + [ + 0.1546163558959961, + 0.028441743925213814, + 0.029764113947749138 + ], + [ + 0.16347253322601318, + 0.028748389333486557, + 0.03351880982518196 + ], + [ + 0.16740286350250244, + 0.028841735795140266, + 0.026825830340385437 + ], + [ + 0.17763075232505798, + 0.030229417607188225, + 0.021894853562116623 + ], + [ + 0.18528492748737335, + 0.029744544997811317, + 0.02039697952568531 + ], + [ + 0.19616104662418365, + 0.02846660651266575, + 0.021489329636096954 + ], + [ + 0.20699194073677063, + 0.02863365225493908, + 0.022820061072707176 + ], + [ + 0.21737807989120483, + 0.029754526913166046, + 0.022987671196460724 + ], + [ + 0.22674855589866638, + 0.03170819208025932, + 0.021889790892601013 + ], + [ + 0.2322397381067276, + 0.0338561050593853, + 0.0190780907869339 + ], + [ + 0.24034000933170319, + 0.03546101227402687, + 0.0190531387925148 + ], + [ + 0.24768392741680145, + 0.03675074130296707, + 0.0196805689483881 + ], + [ + 0.25409236550331116, + 0.038835588842630386, + 0.02034713141620159 + ], + [ + 0.2585747241973877, + 0.04074950888752937, + 0.018045524135231972 + ], + [ + 0.25900766253471375, + 0.04027201235294342, + 0.016588803380727768 + ], + [ + 0.2428474873304367, + 0.03105524741113186, + 0.021100077778100967 + ], + [ + 0.22192449867725372, + 0.026570409536361694, + 0.03574717417359352 + ], + [ + 0.2047535926103592, + 0.029552340507507324, + 0.054709773510694504 + ], + [ + 0.1877400279045105, + 0.03711109980940819, + 0.07503439486026764 + ], + [ + 0.16665592789649963, + 0.04613936319947243, + 0.10839876532554626 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9543607582131097, + -0.007247543295232632, + 0.2985682774493672, + 0.018114034678365643, + -0.9964603628049802, + -0.0820891412200089, + 0.2981063986743149, + 0.08375093118736845, + -0.9508513851252883 + ], + [ + 0.9641322305340773, + -0.034866493883447175, + 0.26312234730189726, + -0.01059738063384942, + -0.9956006707303007, + -0.09309672370753216, + 0.2652107418056177, + 0.08696914421592758, + -0.960260188899479 + ], + [ + 0.96336513827459, + -0.05089406160756335, + 0.26331996667602964, + -0.032702176418072965, + -0.9967944198141053, + -0.07301679454058578, + 0.2661919946480379, + 0.061730698364318146, + -0.9619413406568782 + ], + [ + 0.9647984198409163, + -0.09203425620179936, + 0.24636092376400168, + -0.07745192306758747, + -0.9946565037283486, + -0.06826154996797233, + 0.25132689606487246, + 0.046777508230762224, + -0.9667712532125257 + ], + [ + 0.9629612233963832, + -0.12528801821013463, + 0.23876472672469282, + -0.11625493223722813, + -0.9918778797711134, + -0.05160486751535686, + 0.24329092248881332, + 0.021935909229776875, + -0.9697052866313582 + ], + [ + 0.960241609568208, + -0.15838493599183673, + 0.22989185132300524, + -0.14986609174419002, + -0.9872212175444873, + -0.054170307136861925, + 0.23553387399518352, + 0.017563589634289292, + -0.9717074222830548 + ], + [ + 0.9602748478748645, + -0.17625665660050463, + 0.21634649879976658, + -0.16821597529576313, + -0.9842042729759033, + -0.05518455138232661, + 0.22265579308475408, + 0.01659939938627995, + -0.9747557939021515 + ], + [ + 0.9586443085056489, + -0.1909705651432635, + 0.21102448440545712, + -0.18487540864703889, + -0.9815677350836255, + -0.04843412764148867, + 0.21638431793297047, + 0.007417863011959666, + -0.9762800839211149 + ], + [ + 0.9510056931611562, + -0.21813247385353274, + 0.2191036180112198, + -0.21072041700678973, + -0.975886520424921, + -0.05694212069658876, + 0.22624119304749368, + 0.007982675208105014, + -0.9740386026564699 + ], + [ + 0.9459045358337017, + -0.23982277663621557, + 0.21851692130296266, + -0.23242109454869828, + -0.9708018575161275, + -0.059364873890387415, + 0.22637368199067306, + 0.0053655614554668045, + -0.9740257526637852 + ], + [ + 0.9349017901815103, + -0.2812146281135618, + 0.21651091346710066, + -0.2789553561400353, + -0.9594034854667441, + -0.041579578581906355, + 0.21941411074995443, + -0.02152405652320239, + -0.975394362806446 + ], + [ + 0.9364160312303041, + -0.29216699146255604, + 0.19432824178334204, + -0.29099746138261834, + -0.9560762735493878, + -0.03519426977205078, + 0.1960752251656437, + -0.023592546611907735, + -0.9803050024459772 + ], + [ + 0.9357408112381824, + -0.29802365364210637, + 0.18860285271733718, + -0.2973400834536887, + -0.9542154510504233, + -0.03258447096993056, + 0.18967869926552433, + -0.025588568667406966, + -0.9815127183070486 + ], + [ + 0.9376584159660403, + -0.3005593463349345, + 0.1745301529787128, + -0.3000776980113197, + -0.953449741375028, + -0.029781971528409272, + 0.17535697911484213, + -0.02444729029174167, + -0.9842013309649138 + ], + [ + 0.9377384956814704, + -0.30402714835087374, + 0.1679702556486971, + -0.30419654943297236, + -0.9522716832444247, + -0.025359428303950698, + 0.1676632727526397, + -0.027315460026619078, + -0.9854658251879707 + ], + [ + 0.9432516686495415, + -0.2999046327551747, + 0.14259558493108804, + -0.2993772199803119, + -0.9537899252896577, + -0.02565265235426504, + 0.14369958158155954, + -0.018492962659688514, + -0.9894485537840518 + ], + [ + 0.9491530678913043, + -0.2858287692590419, + 0.13194835495900298, + -0.2845838957568474, + -0.9582242735207633, + -0.028605032974311613, + 0.1346122579425122, + -0.010399822088240614, + -0.9908437736152718 + ], + [ + 0.9523835615333563, + -0.2720697940751568, + 0.13763567441961172, + -0.27089037288284673, + -0.9622146059276684, + -0.02759452878477898, + 0.1399426939873314, + -0.011003603562628177, + -0.9900984613199864 + ], + [ + 0.9536020179952307, + -0.25921963281187305, + 0.15312861666031294, + -0.25740867215543145, + -0.965776378232535, + -0.03188671741061784, + 0.1561536639807116, + -0.0090093958135204, + -0.9876916846933935 + ], + [ + 0.9552021313554462, + -0.2474314636436275, + 0.16237782808371862, + -0.24529022405783996, + -0.9688731979612549, + -0.033428016004334794, + 0.16559466850013047, + -0.0078991816983562, + -0.9861622628618623 + ], + [ + 0.9594640985155575, + -0.2376365488332491, + 0.15151737299185097, + -0.23562245119791794, + -0.9713380234668144, + -0.03137681722334733, + 0.1546308641611165, + -0.005595965171922778, + -0.9879564671697743 + ], + [ + 0.9586060692764543, + -0.240527350952771, + 0.15238437383796422, + -0.24145033394172327, + -0.9703300804988823, + -0.01269925661065694, + 0.15091766028459436, + -0.024619673488401973, + -0.9882397135774035 + ], + [ + 0.9623911001298624, + -0.22179142361717177, + 0.15688191355507333, + -0.22320083244694913, + -0.9747327397850326, + -0.008801953541849431, + 0.15487013522891427, + -0.02654525194893027, + -0.987578144155259 + ], + [ + 0.9611908794765295, + -0.22173727943374016, + 0.16414832353837716, + -0.22314693688396303, + -0.9747331249018127, + -0.010038913210714043, + 0.1622268096537713, + -0.026979883774231803, + -0.9863845842779014 + ], + [ + 0.9661351161753262, + -0.20027342901168776, + 0.1627067636110716, + -0.20097925352881485, + -0.9795184963600182, + -0.012282301885607461, + 0.1618341031547091, + -0.020834320735490717, + -0.9865980205410922 + ], + [ + 0.967305216650667, + -0.19631335119019205, + 0.16056676488265725, + -0.19621456643489427, + -0.9804199618858419, + -0.01662955966136116, + 0.16068746609232681, + -0.015419678344266056, + -0.9868848827297877 + ], + [ + 0.9688448392645703, + -0.18728108084780357, + 0.1620662648020483, + -0.18718010741142097, + -0.9821948007355739, + -0.016030620619790725, + 0.16218287461954203, + -0.014804396795722739, + -0.9866496566743724 + ], + [ + 0.9711505189930265, + -0.17685510434809, + 0.159965438534709, + -0.17709622814748804, + -0.9841094758237127, + -0.012863342097236588, + 0.15969845157517473, + -0.015837034444739634, + -0.9870388001008308 + ], + [ + 0.969607935166179, + -0.16507080859996573, + 0.1805881508043423, + -0.16637151799693847, + -0.9860304632894488, + -0.008027668689539205, + 0.1793905517639454, + -0.022261033519316183, + -0.9835260425247919 + ], + [ + 0.969672174256871, + -0.15437743675880852, + 0.18948214029752827, + -0.15600515511739307, + -0.9877355907567976, + -0.006387043848135742, + 0.18814426924238284, + -0.023366851993795783, + -0.9818633938482224 + ], + [ + 0.9701747591969634, + -0.13474536742391177, + 0.20150588719665224, + -0.13794079706479698, + -0.9904387772485848, + 0.0018344011168535748, + 0.19933206747095017, + -0.02957557235496932, + -0.9794855855997235 + ], + [ + 0.9690440065724982, + -0.12079759784210839, + 0.2153175647305548, + -0.12715420559125526, + -0.9917560545110261, + 0.015866201220830108, + 0.21162589946974164, + -0.04275358109327604, + -0.9764151831968427 + ], + [ + 0.9650758000058727, + -0.10770426160303348, + 0.23880639077623136, + -0.11756186618716472, + -0.992687938542533, + 0.0273836500628995, + 0.23411088796041926, + -0.05450182294860868, + -0.9706810204354789 + ], + [ + 0.9608279285823442, + -0.13679577563420364, + 0.24103237837435595, + -0.1459802530601822, + -0.9890733853132277, + 0.020581646715387977, + 0.23558322812256235, + -0.054961388571145894, + -0.9702988139710801 + ], + [ + 0.9524397998897594, + -0.16318442692909887, + 0.2573504816272482, + -0.17025909149386206, + -0.9853851181815624, + 0.005292506966738112, + 0.2527256800359626, + -0.04885705347367833, + -0.966303637050089 + ], + [ + 0.9430021394280825, + -0.17294818105682774, + 0.28431653434718496, + -0.17678544792765327, + -0.9841723483198574, + -0.012316420080377848, + 0.2819465737246656, + -0.038648615391913804, + -0.9586513516879898 + ], + [ + 0.9383291829250572, + -0.17159646610686233, + 0.3001549554660587, + -0.17341352914967104, + -0.9846296538989759, + -0.020789241704295122, + 0.2991088303261063, + -0.03254377793710881, + -0.9536638874040105 + ], + [ + 0.9365628046926678, + -0.15398290008627544, + 0.3148640648712132, + -0.1550205993464919, + -0.9876683288686353, + -0.02190629882228754, + 0.31435446019494917, + -0.028293791383570875, + -0.9488839416518149 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006176.json b/json/chunk-0006/episode_0006176.json new file mode 100644 index 0000000000000000000000000000000000000000..625a587abd57934ca46941ebfec01c9bc293c6be --- /dev/null +++ b/json/chunk-0006/episode_0006176.json @@ -0,0 +1,1822 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 29, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the blue spoon to the bottom right corner of the burner." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006176.mp4", + "start": 0, + "end": 29, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.35979411005973816, + -0.07467292994260788, + 0.046881984919309616, + 0.05398409068584442, + -0.0886622965335846, + -0.25035062432289124, + 0.0, + 1.0014774799346924 + ], + [ + 0.3567465543746948, + -0.07460247725248337, + 0.03461231663823128, + 0.04945334419608116, + -0.056313809007406235, + -0.25244662165641785, + 0.0, + 1.003452181816101 + ], + [ + 0.3616279363632202, + -0.07433716952800751, + 0.034492127597332, + 0.0243721604347229, + -0.08740919083356857, + -0.2907146215438843, + 0.0, + 0.9994885921478271 + ], + [ + 0.36957523226737976, + -0.06685367971658707, + 0.04190469905734062, + 0.013257165439426899, + -0.13898831605911255, + -0.2906450927257538, + 0.0, + 0.9994885921478271 + ], + [ + 0.3739534616470337, + -0.05424731224775314, + 0.07438262552022934, + 0.02254226617515087, + -0.2369977831840515, + -0.28048479557037354, + 0.0, + 1.0001531839370728 + ], + [ + 0.354159951210022, + -0.027391724288463593, + 0.08980462700128555, + 0.04018033295869827, + -0.25929778814315796, + -0.22474226355552673, + 0.0, + 1.0001531839370728 + ], + [ + 0.3259795010089874, + 0.0006825219606980681, + 0.09500917047262192, + 0.040032561868429184, + -0.2624152898788452, + -0.14727063477039337, + 0.0, + 1.0001531839370728 + ], + [ + 0.29695215821266174, + 0.04723770543932915, + 0.08460059762001038, + 0.038605719804763794, + -0.2315894067287445, + -0.02170385979115963, + 0.0, + 1.0001531839370728 + ], + [ + 0.28234362602233887, + 0.09178729355335236, + 0.07728360593318939, + 0.019238440319895744, + -0.24179424345493317, + 0.07575852423906326, + 0.0, + 1.0001531839370728 + ], + [ + 0.2790399193763733, + 0.13213449716567993, + 0.06437525898218155, + 0.027513032779097557, + -0.22218197584152222, + 0.12930621206760406, + 0.0, + 1.0001531839370728 + ], + [ + 0.27984824776649475, + 0.16242825984954834, + 0.049242932349443436, + 0.03327983245253563, + -0.16967716813087463, + 0.14370672404766083, + 0.0, + 1.0001531839370728 + ], + [ + 0.2751252055168152, + 0.1799173206090927, + 0.03232593461871147, + 0.040557611733675, + -0.10472793132066727, + 0.14286288619041443, + 0.0, + 1.0001531839370728 + ], + [ + 0.27095574140548706, + 0.18493269383907318, + 0.01382038090378046, + 0.027101365849375725, + -0.046582214534282684, + 0.15332739055156708, + 0.0, + 1.0001531839370728 + ], + [ + 0.26686006784439087, + 0.18249061703681946, + 0.007633545435965061, + 0.024489624425768852, + -0.0008066903101280332, + 0.15884298086166382, + 0.0, + 0.9665181636810303 + ], + [ + 0.26307323575019836, + 0.18001893162727356, + 0.00573061453178525, + 0.02434535324573517, + 0.022469284012913704, + 0.15573780238628387, + 0.0, + 0.7011857628822327 + ], + [ + 0.26082393527030945, + 0.1788758635520935, + 0.004011544864624739, + 0.020630737766623497, + 0.02757279947400093, + 0.1565665751695633, + 0.0, + 0.4121573865413666 + ], + [ + 0.2578725516796112, + 0.17960628867149353, + 0.005050551146268845, + 0.028932727873325348, + 0.05090952664613724, + 0.15731628239154816, + 0.0, + 0.2981022000312805 + ], + [ + 0.24682524800300598, + 0.17724117636680603, + 0.012541414238512516, + 0.043049491941928864, + 0.08621922880411148, + 0.18030408024787903, + 0.0, + 0.2981022000312805 + ], + [ + 0.228903129696846, + 0.16867123544216156, + 0.06895521283149719, + 0.14629654586315155, + 0.0207945816218853, + 0.2638689875602722, + 0.0, + 0.2981022000312805 + ], + [ + 0.2104784995317459, + 0.1327037215232849, + 0.1141674667596817, + 0.18500176072120667, + -0.04963703453540802, + 0.3018711507320404, + 0.0, + 0.2981022000312805 + ], + [ + 0.2129725068807602, + 0.08893422782421112, + 0.11474034935235977, + 0.12503203749656677, + -0.10928725451231003, + 0.20222561061382294, + 0.0, + 0.2981022000312805 + ], + [ + 0.2339826077222824, + 0.0377957746386528, + 0.09008345752954483, + 0.06217554956674576, + -0.09079903364181519, + 0.03312034159898758, + 0.0, + 0.2981022000312805 + ], + [ + 0.23627664148807526, + 0.0156951192766428, + 0.05126110464334488, + 0.020692383870482445, + -0.031231582164764404, + -0.0034341926220804453, + 0.0, + 0.2981022000312805 + ], + [ + 0.2462177872657776, + 0.005862049292773008, + 0.01622988097369671, + -0.010839167051017284, + 0.0023683535400778055, + -0.02886785753071308, + 0.0, + 0.2981022000312805 + ], + [ + 0.25771209597587585, + 0.005107494071125984, + 0.008138928562402725, + -0.017397454008460045, + -0.004434057977050543, + -0.03755791485309601, + 0.0, + 0.2981022000312805 + ], + [ + 0.2615766227245331, + 0.0053255800157785416, + 0.0040761553682386875, + -0.015600364655256271, + -0.021239805966615677, + -0.03854869678616524, + 0.0, + 0.36865687370300293 + ], + [ + 0.26257482171058655, + 0.004675010684877634, + 0.004132528323680162, + -0.01747187413275242, + -0.044926002621650696, + -0.05674672871828079, + 0.0, + 0.6430501937866211 + ], + [ + 0.25996387004852295, + 0.0033078559208661318, + 0.007128053344786167, + -0.007882180623710155, + -0.05963682383298874, + -0.0880410447716713, + 0.0, + 0.907461404800415 + ], + [ + 0.26051846146583557, + 0.0032527362927794456, + 0.029906604439020157, + 0.005285346880555153, + -0.12763842940330505, + -0.09954680502414703, + 0.0, + 1.0092895030975342 + ] + ], + "left_gripper_pos": [ + [ + 1.0014774799346924 + ], + [ + 1.003452181816101 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9665181636810303 + ], + [ + 0.7011857628822327 + ], + [ + 0.4121573865413666 + ], + [ + 0.2981022000312805 + ], + [ + 0.2981022000312805 + ], + [ + 0.2981022000312805 + ], + [ + 0.2981022000312805 + ], + [ + 0.2981022000312805 + ], + [ + 0.2981022000312805 + ], + [ + 0.2981022000312805 + ], + [ + 0.2981022000312805 + ], + [ + 0.2981022000312805 + ], + [ + 0.36865687370300293 + ], + [ + 0.6430501937866211 + ], + [ + 0.907461404800415 + ], + [ + 1.0092895030975342 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.35979411005973816, + -0.07467292994260788, + 0.046881984919309616 + ], + [ + 0.3567465543746948, + -0.07460247725248337, + 0.03461231663823128 + ], + [ + 0.3616279363632202, + -0.07433716952800751, + 0.034492127597332 + ], + [ + 0.36957523226737976, + -0.06685367971658707, + 0.04190469905734062 + ], + [ + 0.3739534616470337, + -0.05424731224775314, + 0.07438262552022934 + ], + [ + 0.354159951210022, + -0.027391724288463593, + 0.08980462700128555 + ], + [ + 0.3259795010089874, + 0.0006825219606980681, + 0.09500917047262192 + ], + [ + 0.29695215821266174, + 0.04723770543932915, + 0.08460059762001038 + ], + [ + 0.28234362602233887, + 0.09178729355335236, + 0.07728360593318939 + ], + [ + 0.2790399193763733, + 0.13213449716567993, + 0.06437525898218155 + ], + [ + 0.27984824776649475, + 0.16242825984954834, + 0.049242932349443436 + ], + [ + 0.2751252055168152, + 0.1799173206090927, + 0.03232593461871147 + ], + [ + 0.27095574140548706, + 0.18493269383907318, + 0.01382038090378046 + ], + [ + 0.26686006784439087, + 0.18249061703681946, + 0.007633545435965061 + ], + [ + 0.26307323575019836, + 0.18001893162727356, + 0.00573061453178525 + ], + [ + 0.26082393527030945, + 0.1788758635520935, + 0.004011544864624739 + ], + [ + 0.2578725516796112, + 0.17960628867149353, + 0.005050551146268845 + ], + [ + 0.24682524800300598, + 0.17724117636680603, + 0.012541414238512516 + ], + [ + 0.228903129696846, + 0.16867123544216156, + 0.06895521283149719 + ], + [ + 0.2104784995317459, + 0.1327037215232849, + 0.1141674667596817 + ], + [ + 0.2129725068807602, + 0.08893422782421112, + 0.11474034935235977 + ], + [ + 0.2339826077222824, + 0.0377957746386528, + 0.09008345752954483 + ], + [ + 0.23627664148807526, + 0.0156951192766428, + 0.05126110464334488 + ], + [ + 0.2462177872657776, + 0.005862049292773008, + 0.01622988097369671 + ], + [ + 0.25771209597587585, + 0.005107494071125984, + 0.008138928562402725 + ], + [ + 0.2615766227245331, + 0.0053255800157785416, + 0.0040761553682386875 + ], + [ + 0.26257482171058655, + 0.004675010684877634, + 0.004132528323680162 + ], + [ + 0.25996387004852295, + 0.0033078559208661318, + 0.007128053344786167 + ], + [ + 0.26051846146583557, + 0.0032527362927794456, + 0.029906604439020157 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9650201397401003, + -0.24275393875322662, + 0.09902855707214851, + -0.2467705491883457, + -0.9685979042466173, + 0.03037097203486911, + 0.08854617975542102, + -0.0537459310911556, + -0.9946210076918067 + ], + [ + 0.9667692592089399, + -0.24677430034517792, + 0.06678056706666853, + -0.2493778362478883, + -0.967815346896294, + 0.03382527310056569, + 0.05628404957818236, + -0.04935482753646676, + -0.9971941670316401 + ], + [ + 0.9543817271845559, + -0.28451364644915084, + 0.09059527471359333, + -0.28554262512467804, + -0.9583645581590149, + -0.0016682031002834777, + 0.08729792696926686, + -0.02427671000946762, + -0.9958863957791495 + ], + [ + 0.9488203225816396, + -0.2847855576919201, + 0.13651806322305984, + -0.283806827522143, + -0.958501339137867, + -0.02699754660580068, + 0.13854125778225737, + -0.0131289375433753, + -0.9902696354483925 + ], + [ + 0.9340609369960073, + -0.2716658638854873, + 0.23179263227612085, + -0.2690836031996886, + -0.9621421919435968, + -0.043317628871437794, + 0.23478539236335305, + -0.021910291675898527, + -0.9718002668508914 + ], + [ + 0.9422625473079926, + -0.2126347199821171, + 0.25870401581494634, + -0.2154051272977021, + -0.9763600595498844, + -0.017935028564444896, + 0.25640187806354714, + -0.03882666575786978, + -0.9657901257269164 + ], + [ + 0.9553120730856517, + -0.13635145025264872, + 0.2622729971438041, + -0.14171543823104343, + -0.9899062191103126, + 0.0015530401504085696, + 0.2594139117005441, + -0.03865177073207546, + -0.9649924678646447 + ], + [ + 0.973073584492014, + -0.012829303121803417, + 0.23013736798979822, + -0.02112276942832033, + -0.9992118020960009, + 0.033609569526248446, + 0.22952478684347127, + -0.037565722853029164, + -0.9725776003440486 + ], + [ + 0.9681250496569973, + 0.08026512475393771, + 0.2372580830548695, + 0.07348436311883372, + -0.9965985427958027, + 0.037301378986600124, + 0.23944505967686186, + -0.018677640255594284, + -0.9707302453054745 + ], + [ + 0.967275761035502, + 0.13490873454032934, + 0.21488889095976413, + 0.12577654597619606, + -0.990494626324173, + 0.05568353172379301, + 0.22035848655200072, + -0.02683334805170185, + -0.9750497981317917 + ], + [ + 0.9754793104212413, + 0.1486941205073267, + 0.16226574951804293, + 0.141155976507542, + -0.9883392586929225, + 0.05710078828288448, + 0.16886416208391256, + -0.03279585725174988, + -0.9850935623131546 + ], + [ + 0.9843893006429941, + 0.1464557424181044, + 0.09761362759552983, + 0.14159733455589643, + -0.988394993426811, + 0.055004834473705584, + 0.10453659467508239, + -0.040324341055695774, + -0.9937031990952638 + ], + [ + 0.987196336992777, + 0.15391826954431284, + 0.04186357042259857, + 0.15256165493236332, + -0.9877127387509066, + 0.03388933686990408, + 0.0465653698830162, + -0.027068653636034393, + -0.9985484236220046 + ], + [ + 0.9874106354729874, + 0.15814793429748206, + -0.0030769842818928316, + 0.1581758079028409, + -0.9871117512471649, + 0.024306467123777566, + 0.0008066902226358493, + -0.024487168623485215, + -0.9996998188574858 + ], + [ + 0.9876479911177493, + 0.15452274708724079, + -0.025964712085591077, + 0.15506986127370354, + -0.9876894454327739, + 0.020564471917715793, + -0.022467393387515223, + -0.024336803679053623, + -0.9994513175843326 + ], + [ + 0.9873930141944584, + 0.1553327429063389, + -0.030442971293472103, + 0.15586843456691016, + -0.9876469488042899, + 0.016079042982615827, + -0.027569305860735676, + -0.020621432995046176, + -0.9994071692136233 + ], + [ + 0.9863716817898494, + 0.15514869646134513, + -0.054770314490691405, + 0.15646521592287702, + -0.9874685716041639, + 0.020602337251859264, + -0.050887538447750916, + -0.028891211126868, + -0.9982864099797969 + ], + [ + 0.9801348484131869, + 0.17551671124921941, + -0.09235563327874359, + 0.17866260241722004, + -0.9835423244427252, + 0.026910416706325286, + -0.08611244639171507, + -0.04287633498866056, + -0.995362379475121 + ], + [ + 0.9651793897439662, + 0.2551052422413784, + -0.05787971142319613, + 0.26076118060883113, + -0.955866141366341, + 0.13536442101568175, + -0.020793083007418386, + -0.14574373115297212, + -0.9891038431472485 + ], + [ + 0.9536058830938039, + 0.3009481898976263, + -0.008124452364849995, + 0.29694108399044405, + -0.9357758937639532, + 0.19013013777109267, + 0.04961665413413648, + -0.1837217016239967, + -0.9817252792838314 + ], + [ + 0.9737776531864375, + 0.21260672570742156, + 0.08096580968954567, + 0.19965182990563368, + -0.9692428336695601, + 0.14390092492938844, + 0.10906983528935232, + -0.1239625329047885, + -0.9862743337762485 + ], + [ + 0.9953344299185997, + 0.03868130480228726, + 0.08839190730722239, + 0.03297787564355011, + -0.9973337854551919, + 0.06509823428984497, + 0.09067432016097275, + -0.061879536588516505, + -0.9939562820441026 + ], + [ + 0.9995064398212878, + -0.0027873497708496126, + 0.031290692498397756, + -0.0034325111353448938, + -0.9997822435360809, + 0.020583570566508717, + 0.0312265051371439, + -0.02068081698617478, + -0.9992983584424145 + ], + [ + 0.9995805489571283, + -0.02883649286539355, + -0.0026800794373912536, + -0.028863767227497217, + -0.9995253745637839, + -0.010766083065116675, + -0.002368351326023716, + 0.01083892440937943, + -0.9999384524207702 + ], + [ + 0.9992849609333034, + -0.03762048603236662, + 0.0037770204150078647, + -0.03754871650579594, + -0.9991406628249518, + -0.017550777147573797, + 0.0044340434474918105, + 0.017396405387462656, + -0.9998388391827462 + ], + [ + 0.999031702360663, + -0.03886552492024198, + 0.020618648137787247, + -0.03853045751101726, + -0.9991227297506671, + -0.016406545631768077, + 0.021238209019301072, + 0.015596213266355533, + -0.9996527880266243 + ], + [ + 0.9973829574381972, + -0.05749099568707425, + 0.04384086708477042, + -0.05665905083363387, + -0.9981934510637178, + -0.01998965262672661, + 0.04491089144592199, + 0.017453356938260216, + -0.9988385215644812 + ], + [ + 0.9943560269848911, + -0.0883925850199446, + 0.05867574040703842, + -0.08777103847008094, + -0.9960546391270327, + -0.013092008226394908, + 0.05960147988687754, + 0.0078680866167249, + -0.9981912426024813 + ], + [ + 0.9869548482892827, + -0.09871163815022259, + 0.12718545487585847, + -0.09857402578046946, + -0.995102271374694, + -0.007391275015636571, + 0.12729213989760269, + -0.005242327596111651, + -0.9918514148407839 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.003047555685043335, + 7.045269012451172e-05, + -0.012269668281078339, + -0.00453074648976326, + 0.03234848752617836, + -0.0020959973335266113, + 1.0 + ], + [ + 0.004881381988525391, + 0.0002653077244758606, + -0.00012018904089927673, + -0.02508118376135826, + -0.031095381826162338, + -0.03826799988746643, + 1.0 + ], + [ + 0.007947295904159546, + 0.007483489811420441, + 0.007412571460008621, + -0.011114994995296001, + -0.051579125225543976, + 6.952881813049316e-05, + 1.0 + ], + [ + 0.004378229379653931, + 0.012606367468833923, + 0.03247792646288872, + 0.009285100735723972, + -0.09800946712493896, + 0.010160297155380249, + 1.0 + ], + [ + -0.01979351043701172, + 0.02685558795928955, + 0.015422001481056213, + 0.0176380667835474, + -0.022300004959106445, + 0.0557425320148468, + 1.0 + ], + [ + -0.028180450201034546, + 0.028074245899915695, + 0.005204543471336365, + -0.00014777109026908875, + -0.003117501735687256, + 0.07747162878513336, + 1.0 + ], + [ + -0.029027342796325684, + 0.046555183827877045, + -0.010408572852611542, + -0.00142684206366539, + 0.030825883150100708, + 0.1255667805671692, + 1.0 + ], + [ + -0.014608532190322876, + 0.04454958811402321, + -0.007316991686820984, + -0.01936727948486805, + -0.01020483672618866, + 0.09746238589286804, + 1.0 + ], + [ + -0.003303706645965576, + 0.040347203612327576, + -0.012908346951007843, + 0.008274592459201813, + 0.01961226761341095, + 0.0535476878285408, + 1.0 + ], + [ + 0.00080832839012146, + 0.030293762683868408, + -0.015132326632738113, + 0.005766799673438072, + 0.05250480771064758, + 0.014400511980056763, + 1.0 + ], + [ + -0.004723042249679565, + 0.017489060759544373, + -0.016916997730731964, + 0.007277779281139374, + 0.06494923681020737, + -0.0008438378572463989, + 1.0 + ], + [ + -0.004169464111328125, + 0.005015373229980469, + -0.018505554646253586, + -0.013456245884299278, + 0.05814571678638458, + 0.010464504361152649, + 1.0 + ], + [ + -0.004095673561096191, + -0.002442076802253723, + -0.006186835467815399, + -0.0026117414236068726, + 0.04577552527189255, + 0.005515590310096741, + 0.0 + ], + [ + -0.003786832094192505, + -0.0024716854095458984, + -0.0019029309041798115, + -0.00014427118003368378, + 0.02327597513794899, + -0.003105178475379944, + 0.0 + ], + [ + -0.002249300479888916, + -0.0011430680751800537, + -0.001719069667160511, + -0.0037146154791116714, + 0.005103515461087227, + 0.0008287727832794189, + 0.0 + ], + [ + -0.002951383590698242, + 0.0007304251194000244, + 0.001039006281644106, + 0.008301990106701851, + 0.023336727172136307, + 0.0007497072219848633, + 0.0 + ], + [ + -0.011047303676605225, + -0.0023651123046875, + 0.007490863092243671, + 0.014116764068603516, + 0.03530970215797424, + 0.02298779785633087, + 0.0 + ], + [ + -0.017922118306159973, + -0.00856994092464447, + 0.05641379952430725, + 0.10324705392122269, + -0.06542465090751648, + 0.08356490731239319, + 0.0 + ], + [ + -0.018424630165100098, + -0.03596751391887665, + 0.04521225392818451, + 0.038705214858055115, + -0.07043161988258362, + 0.03800216317176819, + 0.0 + ], + [ + 0.0024940073490142822, + -0.04376949369907379, + 0.0005728825926780701, + -0.05996972322463989, + -0.05965021997690201, + -0.09964554011821747, + 0.0 + ], + [ + 0.021010100841522217, + -0.05113845318555832, + -0.02465689182281494, + -0.06285648792982101, + 0.018488220870494843, + -0.16910526156425476, + 0.0 + ], + [ + 0.0022940337657928467, + -0.022100655362010002, + -0.03882235288619995, + -0.041483163833618164, + 0.05956745147705078, + -0.03655453398823738, + 0.0 + ], + [ + 0.009941145777702332, + -0.009833069518208504, + -0.03503122180700302, + -0.031531549990177155, + 0.033599935472011566, + -0.02543366514146328, + 0.0 + ], + [ + 0.011494308710098267, + -0.0007545552216470242, + -0.008090952411293983, + -0.0065582869574427605, + -0.006802411749958992, + -0.008690057322382927, + 0.0 + ], + [ + 0.0038645267486572266, + 0.00021808594465255737, + -0.004062773194164038, + 0.0017970893532037735, + -0.016805747523903847, + -0.0009907819330692291, + 1.0 + ], + [ + 0.0009981989860534668, + -0.0006505693309009075, + 5.6372955441474915e-05, + -0.0018715094774961472, + -0.02368619665503502, + -0.018198031932115555, + 1.0 + ], + [ + -0.0026109516620635986, + -0.0013671547640115023, + 0.0029955250211060047, + 0.009589693509042263, + -0.014710821211338043, + -0.0312943160533905, + 1.0 + ], + [ + 0.0005545914173126221, + -5.5119628086686134e-05, + 0.022778552025556564, + 0.013167527504265308, + -0.06800160557031631, + -0.011505760252475739, + 1.0 + ], + [ + 0.00034758448600769043, + -9.357044473290443e-05, + 0.016820866614580154, + 0.00432968232780695, + -0.04907351732254028, + -0.008409440517425537, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.003452181816101 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9665181636810303 + ], + [ + 0.7011857628822327 + ], + [ + 0.4121573865413666 + ], + [ + 0.2981022000312805 + ], + [ + 0.2981022000312805 + ], + [ + 0.2981022000312805 + ], + [ + 0.2981022000312805 + ], + [ + 0.2981022000312805 + ], + [ + 0.2981022000312805 + ], + [ + 0.2981022000312805 + ], + [ + 0.2981022000312805 + ], + [ + 0.2981022000312805 + ], + [ + 0.36865687370300293 + ], + [ + 0.6430501937866211 + ], + [ + 0.907461404800415 + ], + [ + 1.0092895030975342 + ], + [ + 1.0047606229782104 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3567465543746948, + -0.07460247725248337, + 0.03461231663823128 + ], + [ + 0.3616279363632202, + -0.07433716952800751, + 0.034492127597332 + ], + [ + 0.36957523226737976, + -0.06685367971658707, + 0.04190469905734062 + ], + [ + 0.3739534616470337, + -0.05424731224775314, + 0.07438262552022934 + ], + [ + 0.354159951210022, + -0.027391724288463593, + 0.08980462700128555 + ], + [ + 0.3259795010089874, + 0.0006825219606980681, + 0.09500917047262192 + ], + [ + 0.29695215821266174, + 0.04723770543932915, + 0.08460059762001038 + ], + [ + 0.28234362602233887, + 0.09178729355335236, + 0.07728360593318939 + ], + [ + 0.2790399193763733, + 0.13213449716567993, + 0.06437525898218155 + ], + [ + 0.27984824776649475, + 0.16242825984954834, + 0.049242932349443436 + ], + [ + 0.2751252055168152, + 0.1799173206090927, + 0.03232593461871147 + ], + [ + 0.27095574140548706, + 0.18493269383907318, + 0.01382038090378046 + ], + [ + 0.26686006784439087, + 0.18249061703681946, + 0.007633545435965061 + ], + [ + 0.26307323575019836, + 0.18001893162727356, + 0.00573061453178525 + ], + [ + 0.26082393527030945, + 0.1788758635520935, + 0.004011544864624739 + ], + [ + 0.2578725516796112, + 0.17960628867149353, + 0.005050551146268845 + ], + [ + 0.24682524800300598, + 0.17724117636680603, + 0.012541414238512516 + ], + [ + 0.228903129696846, + 0.16867123544216156, + 0.06895521283149719 + ], + [ + 0.2104784995317459, + 0.1327037215232849, + 0.1141674667596817 + ], + [ + 0.2129725068807602, + 0.08893422782421112, + 0.11474034935235977 + ], + [ + 0.2339826077222824, + 0.0377957746386528, + 0.09008345752954483 + ], + [ + 0.23627664148807526, + 0.0156951192766428, + 0.05126110464334488 + ], + [ + 0.2462177872657776, + 0.005862049292773008, + 0.01622988097369671 + ], + [ + 0.25771209597587585, + 0.005107494071125984, + 0.008138928562402725 + ], + [ + 0.2615766227245331, + 0.0053255800157785416, + 0.0040761553682386875 + ], + [ + 0.26257482171058655, + 0.004675010684877634, + 0.004132528323680162 + ], + [ + 0.25996387004852295, + 0.0033078559208661318, + 0.007128053344786167 + ], + [ + 0.26051846146583557, + 0.0032527362927794456, + 0.029906604439020157 + ], + [ + 0.26086604595184326, + 0.003159165848046541, + 0.04672747105360031 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9667692592089399, + -0.24677430034517792, + 0.06678056706666853, + -0.2493778362478883, + -0.967815346896294, + 0.03382527310056569, + 0.05628404957818236, + -0.04935482753646676, + -0.9971941670316401 + ], + [ + 0.9543817271845559, + -0.28451364644915084, + 0.09059527471359333, + -0.28554262512467804, + -0.9583645581590149, + -0.0016682031002834777, + 0.08729792696926686, + -0.02427671000946762, + -0.9958863957791495 + ], + [ + 0.9488203225816396, + -0.2847855576919201, + 0.13651806322305984, + -0.283806827522143, + -0.958501339137867, + -0.02699754660580068, + 0.13854125778225737, + -0.0131289375433753, + -0.9902696354483925 + ], + [ + 0.9340609369960073, + -0.2716658638854873, + 0.23179263227612085, + -0.2690836031996886, + -0.9621421919435968, + -0.043317628871437794, + 0.23478539236335305, + -0.021910291675898527, + -0.9718002668508914 + ], + [ + 0.9422625473079926, + -0.2126347199821171, + 0.25870401581494634, + -0.2154051272977021, + -0.9763600595498844, + -0.017935028564444896, + 0.25640187806354714, + -0.03882666575786978, + -0.9657901257269164 + ], + [ + 0.9553120730856517, + -0.13635145025264872, + 0.2622729971438041, + -0.14171543823104343, + -0.9899062191103126, + 0.0015530401504085696, + 0.2594139117005441, + -0.03865177073207546, + -0.9649924678646447 + ], + [ + 0.973073584492014, + -0.012829303121803417, + 0.23013736798979822, + -0.02112276942832033, + -0.9992118020960009, + 0.033609569526248446, + 0.22952478684347127, + -0.037565722853029164, + -0.9725776003440486 + ], + [ + 0.9681250496569973, + 0.08026512475393771, + 0.2372580830548695, + 0.07348436311883372, + -0.9965985427958027, + 0.037301378986600124, + 0.23944505967686186, + -0.018677640255594284, + -0.9707302453054745 + ], + [ + 0.967275761035502, + 0.13490873454032934, + 0.21488889095976413, + 0.12577654597619606, + -0.990494626324173, + 0.05568353172379301, + 0.22035848655200072, + -0.02683334805170185, + -0.9750497981317917 + ], + [ + 0.9754793104212413, + 0.1486941205073267, + 0.16226574951804293, + 0.141155976507542, + -0.9883392586929225, + 0.05710078828288448, + 0.16886416208391256, + -0.03279585725174988, + -0.9850935623131546 + ], + [ + 0.9843893006429941, + 0.1464557424181044, + 0.09761362759552983, + 0.14159733455589643, + -0.988394993426811, + 0.055004834473705584, + 0.10453659467508239, + -0.040324341055695774, + -0.9937031990952638 + ], + [ + 0.987196336992777, + 0.15391826954431284, + 0.04186357042259857, + 0.15256165493236332, + -0.9877127387509066, + 0.03388933686990408, + 0.0465653698830162, + -0.027068653636034393, + -0.9985484236220046 + ], + [ + 0.9874106354729874, + 0.15814793429748206, + -0.0030769842818928316, + 0.1581758079028409, + -0.9871117512471649, + 0.024306467123777566, + 0.0008066902226358493, + -0.024487168623485215, + -0.9996998188574858 + ], + [ + 0.9876479911177493, + 0.15452274708724079, + -0.025964712085591077, + 0.15506986127370354, + -0.9876894454327739, + 0.020564471917715793, + -0.022467393387515223, + -0.024336803679053623, + -0.9994513175843326 + ], + [ + 0.9873930141944584, + 0.1553327429063389, + -0.030442971293472103, + 0.15586843456691016, + -0.9876469488042899, + 0.016079042982615827, + -0.027569305860735676, + -0.020621432995046176, + -0.9994071692136233 + ], + [ + 0.9863716817898494, + 0.15514869646134513, + -0.054770314490691405, + 0.15646521592287702, + -0.9874685716041639, + 0.020602337251859264, + -0.050887538447750916, + -0.028891211126868, + -0.9982864099797969 + ], + [ + 0.9801348484131869, + 0.17551671124921941, + -0.09235563327874359, + 0.17866260241722004, + -0.9835423244427252, + 0.026910416706325286, + -0.08611244639171507, + -0.04287633498866056, + -0.995362379475121 + ], + [ + 0.9651793897439662, + 0.2551052422413784, + -0.05787971142319613, + 0.26076118060883113, + -0.955866141366341, + 0.13536442101568175, + -0.020793083007418386, + -0.14574373115297212, + -0.9891038431472485 + ], + [ + 0.9536058830938039, + 0.3009481898976263, + -0.008124452364849995, + 0.29694108399044405, + -0.9357758937639532, + 0.19013013777109267, + 0.04961665413413648, + -0.1837217016239967, + -0.9817252792838314 + ], + [ + 0.9737776531864375, + 0.21260672570742156, + 0.08096580968954567, + 0.19965182990563368, + -0.9692428336695601, + 0.14390092492938844, + 0.10906983528935232, + -0.1239625329047885, + -0.9862743337762485 + ], + [ + 0.9953344299185997, + 0.03868130480228726, + 0.08839190730722239, + 0.03297787564355011, + -0.9973337854551919, + 0.06509823428984497, + 0.09067432016097275, + -0.061879536588516505, + -0.9939562820441026 + ], + [ + 0.9995064398212878, + -0.0027873497708496126, + 0.031290692498397756, + -0.0034325111353448938, + -0.9997822435360809, + 0.020583570566508717, + 0.0312265051371439, + -0.02068081698617478, + -0.9992983584424145 + ], + [ + 0.9995805489571283, + -0.02883649286539355, + -0.0026800794373912536, + -0.028863767227497217, + -0.9995253745637839, + -0.010766083065116675, + -0.002368351326023716, + 0.01083892440937943, + -0.9999384524207702 + ], + [ + 0.9992849609333034, + -0.03762048603236662, + 0.0037770204150078647, + -0.03754871650579594, + -0.9991406628249518, + -0.017550777147573797, + 0.0044340434474918105, + 0.017396405387462656, + -0.9998388391827462 + ], + [ + 0.999031702360663, + -0.03886552492024198, + 0.020618648137787247, + -0.03853045751101726, + -0.9991227297506671, + -0.016406545631768077, + 0.021238209019301072, + 0.015596213266355533, + -0.9996527880266243 + ], + [ + 0.9973829574381972, + -0.05749099568707425, + 0.04384086708477042, + -0.05665905083363387, + -0.9981934510637178, + -0.01998965262672661, + 0.04491089144592199, + 0.017453356938260216, + -0.9988385215644812 + ], + [ + 0.9943560269848911, + -0.0883925850199446, + 0.05867574040703842, + -0.08777103847008094, + -0.9960546391270327, + -0.013092008226394908, + 0.05960147988687754, + 0.0078680866167249, + -0.9981912426024813 + ], + [ + 0.9869548482892827, + -0.09871163815022259, + 0.12718545487585847, + -0.09857402578046946, + -0.995102271374694, + -0.007391275015636571, + 0.12729213989760269, + -0.005242327596111651, + -0.9918514148407839 + ], + [ + 0.9786960739167992, + -0.10606129486115469, + 0.17579817016174573, + -0.10606873534142862, + -0.9943145441408731, + -0.009381401441016816, + 0.17579368100962242, + -0.009465148826233083, + -0.9843815280036415 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006177.json b/json/chunk-0006/episode_0006177.json new file mode 100644 index 0000000000000000000000000000000000000000..d2641dad1609042662976fdc7932c50350c9f15d --- /dev/null +++ b/json/chunk-0006/episode_0006177.json @@ -0,0 +1,1522 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 24, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nTakes the strawberry from the drawer and moves it to the bottom of the table." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006177.mp4", + "start": 0, + "end": 24, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3696292042732239, + 0.13353276252746582, + 0.1395174264907837, + 0.09175999462604523, + -0.13714446127414703, + 0.2550638020038605, + 0.0, + 0.9994885921478271 + ], + [ + 0.3700963854789734, + 0.13067229092121124, + 0.12678229808807373, + 0.08639482408761978, + -0.10236325860023499, + 0.253248393535614, + 0.0, + 0.9994885921478271 + ], + [ + 0.38259780406951904, + 0.08833587914705276, + 0.12451524287462234, + 0.0768059715628624, + -0.1000010073184967, + 0.14983266592025757, + 0.0, + 0.9994885921478271 + ], + [ + 0.3977501690387726, + 0.03574802726507187, + 0.11958993226289749, + 0.0770004466176033, + -0.0913168266415596, + 0.03950128331780434, + 0.0, + 0.9994885921478271 + ], + [ + 0.4108467996120453, + 0.005738541018217802, + 0.1141025573015213, + 0.06888395547866821, + -0.08895613253116608, + -0.02182834781706333, + 0.0, + 0.9994885921478271 + ], + [ + 0.4190281927585602, + -0.0040357294492423534, + 0.10235267132520676, + 0.09572499990463257, + -0.0725615993142128, + -0.03822349011898041, + 0.0, + 0.9994885921478271 + ], + [ + 0.42017170786857605, + 0.0007779056904837489, + 0.08363718539476395, + 0.12293106317520142, + -0.028590688481926918, + -0.04050276055932045, + 0.0, + 0.9994885921478271 + ], + [ + 0.42055684328079224, + 0.012642083689570427, + 0.08310539275407791, + 0.14929744601249695, + -0.032720547169446945, + -0.022798316553235054, + 0.0, + 0.9994885921478271 + ], + [ + 0.41484829783439636, + 0.015943624079227448, + 0.07222066074609756, + 0.16147658228874207, + -0.013943125493824482, + -0.027872705832123756, + 0.0, + 1.0001531839370728 + ], + [ + 0.4059351086616516, + 0.021290600299835205, + 0.05967895686626434, + 0.17024651169776917, + 0.016898350790143013, + -0.024220675230026245, + 0.0, + 0.9994885921478271 + ], + [ + 0.40296822786331177, + 0.024328002706170082, + 0.05245474353432655, + 0.18538063764572144, + 0.016895383596420288, + -0.030224911868572235, + 0.0, + 0.9492040276527405 + ], + [ + 0.4023986756801605, + 0.024297920987010002, + 0.05264369770884514, + 0.16154007613658905, + 0.007986415177583694, + -0.03616928309202194, + 0.0, + 0.7574808597564697 + ], + [ + 0.39965248107910156, + 0.02696794830262661, + 0.059189073741436005, + 0.12378907948732376, + 0.008177797310054302, + -0.00822585728019476, + 0.0, + 0.7555288672447205 + ], + [ + 0.404353529214859, + 0.028605224564671516, + 0.09463662654161453, + 0.053572289645671844, + -0.058104000985622406, + 0.009754922240972519, + 0.0, + 0.7555288672447205 + ], + [ + 0.38762420415878296, + 0.04407450184226036, + 0.1520092487335205, + -0.016423586755990982, + -0.16784848272800446, + 0.038513775914907455, + 0.0, + 0.7555288672447205 + ], + [ + 0.35299575328826904, + 0.06171964854001999, + 0.15901941061019897, + -0.025151215493679047, + -0.15236623585224152, + 0.05642584711313248, + 0.0, + 0.7555288672447205 + ], + [ + 0.3086604177951813, + 0.083281509578228, + 0.1400928497314453, + 0.006906894501298666, + -0.1033913791179657, + 0.07729683816432953, + 0.0, + 0.7555288672447205 + ], + [ + 0.2780480682849884, + 0.08311699330806732, + 0.10785387456417084, + 0.028917603194713593, + -0.07430140674114227, + 0.10079371929168701, + 0.0, + 0.7555288672447205 + ], + [ + 0.2649790644645691, + 0.07354603707790375, + 0.06935819983482361, + 0.02680809423327446, + -0.053494032472372055, + 0.18039141595363617, + 0.0, + 0.7555288672447205 + ], + [ + 0.2618817389011383, + 0.07300138473510742, + 0.03178876265883446, + 0.07722204178571701, + -0.029501313343644142, + 0.21633650362491608, + 0.0, + 0.7545521855354309 + ], + [ + 0.25855109095573425, + 0.07545418292284012, + 0.0155296316370368, + 0.10519677400588989, + -0.01787451095879078, + 0.19266682863235474, + 0.0, + 0.7545521855354309 + ], + [ + 0.25550100207328796, + 0.07616963982582092, + 0.011723826639354229, + 0.09349661320447922, + -0.02096724882721901, + 0.19576211273670197, + 0.0, + 0.8307508826255798 + ], + [ + 0.2540919780731201, + 0.07946605980396271, + 0.020669428631663322, + 0.06710672378540039, + -0.03543287143111229, + 0.23213274776935577, + 0.0, + 1.0118417739868164 + ], + [ + 0.25388234853744507, + 0.07956355065107346, + 0.0384649932384491, + 0.03655342757701874, + -0.06825824826955795, + 0.20310096442699432, + 0.0, + 1.0086473226547241 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9492040276527405 + ], + [ + 0.7574808597564697 + ], + [ + 0.7555288672447205 + ], + [ + 0.7555288672447205 + ], + [ + 0.7555288672447205 + ], + [ + 0.7555288672447205 + ], + [ + 0.7555288672447205 + ], + [ + 0.7555288672447205 + ], + [ + 0.7555288672447205 + ], + [ + 0.7545521855354309 + ], + [ + 0.7545521855354309 + ], + [ + 0.8307508826255798 + ], + [ + 1.0118417739868164 + ], + [ + 1.0086473226547241 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3696292042732239, + 0.13353276252746582, + 0.1395174264907837 + ], + [ + 0.3700963854789734, + 0.13067229092121124, + 0.12678229808807373 + ], + [ + 0.38259780406951904, + 0.08833587914705276, + 0.12451524287462234 + ], + [ + 0.3977501690387726, + 0.03574802726507187, + 0.11958993226289749 + ], + [ + 0.4108467996120453, + 0.005738541018217802, + 0.1141025573015213 + ], + [ + 0.4190281927585602, + -0.0040357294492423534, + 0.10235267132520676 + ], + [ + 0.42017170786857605, + 0.0007779056904837489, + 0.08363718539476395 + ], + [ + 0.42055684328079224, + 0.012642083689570427, + 0.08310539275407791 + ], + [ + 0.41484829783439636, + 0.015943624079227448, + 0.07222066074609756 + ], + [ + 0.4059351086616516, + 0.021290600299835205, + 0.05967895686626434 + ], + [ + 0.40296822786331177, + 0.024328002706170082, + 0.05245474353432655 + ], + [ + 0.4023986756801605, + 0.024297920987010002, + 0.05264369770884514 + ], + [ + 0.39965248107910156, + 0.02696794830262661, + 0.059189073741436005 + ], + [ + 0.404353529214859, + 0.028605224564671516, + 0.09463662654161453 + ], + [ + 0.38762420415878296, + 0.04407450184226036, + 0.1520092487335205 + ], + [ + 0.35299575328826904, + 0.06171964854001999, + 0.15901941061019897 + ], + [ + 0.3086604177951813, + 0.083281509578228, + 0.1400928497314453 + ], + [ + 0.2780480682849884, + 0.08311699330806732, + 0.10785387456417084 + ], + [ + 0.2649790644645691, + 0.07354603707790375, + 0.06935819983482361 + ], + [ + 0.2618817389011383, + 0.07300138473510742, + 0.03178876265883446 + ], + [ + 0.25855109095573425, + 0.07545418292284012, + 0.0155296316370368 + ], + [ + 0.25550100207328796, + 0.07616963982582092, + 0.011723826639354229 + ], + [ + 0.2540919780731201, + 0.07946605980396271, + 0.020669428631663322 + ], + [ + 0.25388234853744507, + 0.07956355065107346, + 0.0384649932384491 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9585614081413086, + 0.2633677625476022, + 0.10861605992127299, + 0.24993809117874854, + -0.9604155688929051, + 0.12301579413246615, + 0.1367149494388793, + -0.09077090215915852, + -0.9864429359679846 + ], + [ + 0.963036063378176, + 0.2581515810269462, + 0.07693699920294342, + 0.24923854165071385, + -0.9622837375810361, + 0.10904199990323399, + 0.10218458782463755, + -0.08583571284937017, + -0.991055266072861 + ], + [ + 0.9838561090069468, + 0.1564071170110515, + 0.08697109012771014, + 0.14852691865801884, + -0.9847374920405968, + 0.09072941200928093, + 0.09983441893287749, + -0.07634713824294166, + -0.9920706644581564 + ], + [ + 0.9950566909872235, + 0.04638325649146717, + 0.08781102003053691, + 0.03932647276808057, + -0.9959821483795639, + 0.08045488579849747, + 0.09118996798539851, + -0.07660387474843958, + -0.9928827907222215 + ], + [ + 0.9958087246936994, + -0.015661574442238257, + 0.09010937193154853, + -0.021740312229472855, + -0.9975242382965606, + 0.06687864259262119, + 0.08883885775983924, + -0.06855734166999738, + -0.9936838271075313 + ], + [ + 0.9966400554582192, + -0.031115022998526504, + 0.07576579175352877, + -0.03811362490268788, + -0.9949595714946234, + 0.09275129480504679, + 0.07249794102603971, + -0.09532736456567262, + -0.9928024688284918 + ], + [ + 0.998771524598656, + -0.03668363086233562, + 0.033312953601152426, + -0.04047513913445978, + -0.9917814900027079, + 0.12137231644841921, + 0.028586793505441622, + -0.12257155997524462, + -0.9920478859018413 + ], + [ + 0.9992049993935173, + -0.017677917622116814, + 0.035733183674936705, + -0.02278413946723688, + -0.9887297719780124, + 0.14796729703905842, + 0.03271470885914485, + -0.1486638127886309, + -0.988346507350235 + ], + [ + 0.9995144152385635, + -0.025265773610130233, + 0.01823662288347083, + -0.027866387996334018, + -0.9866700676231948, + 0.16032979160617064, + 0.013942673715971996, + -0.16076012671157605, + -0.9868950215242389 + ], + [ + 0.9995639619291405, + -0.02673021609004306, + -0.012545180759938225, + -0.02421484942075922, + -0.9851846317276701, + 0.16977892235240827, + -0.016897546568951306, + -0.169401112615575, + -0.9854023218790159 + ], + [ + 0.9994006037127234, + -0.03281511807783628, + -0.01102729904291521, + -0.030215996956355448, + -0.9823231435919535, + 0.18473828810389076, + -0.016894579798791522, + -0.18429435582556586, + -0.9827258842547408 + ], + [ + 0.9993140924007304, + -0.036974271787146566, + -0.002061056795589571, + -0.0361602441638214, + -0.9862887787635575, + 0.1610182648866375, + -0.007986330278497662, + -0.16083329291816656, + -0.9869492744907319 + ], + [ + 0.9999327309599836, + -0.009172513370856127, + -0.007099193853571002, + -0.008225489460678106, + -0.992306031875314, + 0.12353574554355021, + -0.008177706160127553, + -0.12346904106831791, + -0.992314728813207 + ], + [ + 0.9982649388087035, + 0.012850150182862076, + 0.05746290617027614, + 0.009738305750142678, + -0.9984875047461255, + 0.054109779771992245, + 0.05807131259385143, + -0.053456304643462335, + -0.9968802065180616 + ], + [ + 0.9852153420085522, + 0.03575747205732839, + 0.1675474054202001, + 0.03796313514429396, + -0.9992293133808019, + -0.009978960394115626, + 0.16706145647930762, + 0.016192049672621292, + -0.9858135154715681 + ], + [ + 0.9868416267029632, + 0.05256716481913536, + 0.15290617053973787, + 0.055742546436772795, + -0.9983079746641044, + -0.016551623449018477, + 0.15177737750730103, + 0.024857210320784744, + -0.9881020932940454 + ], + [ + 0.9916899026704624, + 0.0779287546692775, + 0.10236330464157876, + 0.07680752477841292, + -0.9969352601337277, + 0.014855680378576624, + 0.10320727241266762, + -0.006869956171075858, + -0.9946361458459798 + ], + [ + 0.9921795357224229, + 0.10271651959025281, + 0.07091604541218102, + 0.10034551184418482, + -0.9942926775770308, + 0.036233266060722476, + 0.07423305965919683, + -0.028833798222983893, + -0.9968239889437204 + ], + [ + 0.9823662891793057, + 0.18076014683901778, + 0.04777282908534172, + 0.1791580055132154, + -0.9831629171497156, + 0.03595952449891208, + 0.05346852293272396, + -0.026766539865995042, + -0.9982107339630217 + ], + [ + 0.9762653927032562, + 0.21623578948329358, + 0.01216414224240964, + 0.21455956744372479, + -0.9732912522867596, + 0.08165984472452123, + 0.02949703422919917, + -0.0771117472802163, + -0.9965860240857652 + ], + [ + 0.9813403003392955, + 0.19226060582786922, + -0.002659770042968767, + 0.19144646983653055, + -0.9757119358368409, + 0.10646345594923298, + 0.017873559161822313, + -0.104986083421683, + -0.9943130584331394 + ], + [ + 0.9806841063398584, + 0.19558456478342104, + 0.002315510931562889, + 0.19447139241741782, + -0.9762347744844971, + 0.09563755861812212, + 0.02096571257136501, + -0.09333993307092009, + -0.9954135300420083 + ], + [ + 0.972567119506368, + 0.23184756778805687, + 0.01897111925660753, + 0.22990918860782517, + -0.9704410295473617, + 0.07338918969949233, + 0.035425457636811604, + -0.06701427819367274, + -0.9971229229485217 + ], + [ + 0.9771649746439228, + 0.20401412897687718, + 0.059387267212323604, + 0.20123780805548178, + -0.9782887559736547, + 0.049542451943199194, + 0.06820525594238964, + -0.03646018531666082, + -0.9970048635530862 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + 0.0004671812057495117, + -0.0028604716062545776, + -0.012735128402709961, + -0.0053651705384254456, + 0.03478120267391205, + -0.00181540846824646, + 1.0 + ], + [ + 0.012501418590545654, + -0.04233641177415848, + -0.0022670552134513855, + -0.009588852524757385, + 0.0023622512817382812, + -0.10341572761535645, + 1.0 + ], + [ + 0.01515236496925354, + -0.052587851881980896, + -0.0049253106117248535, + 0.00019447505474090576, + 0.008684180676937103, + -0.11033138632774353, + 1.0 + ], + [ + 0.013096630573272705, + -0.03000948578119278, + -0.00548737496137619, + -0.008116491138935089, + 0.002360694110393524, + -0.06132963299751282, + 1.0 + ], + [ + 0.008181393146514893, + -0.009774270467460155, + -0.011749885976314545, + 0.026841044425964355, + 0.016394533216953278, + -0.016395142301917076, + 1.0 + ], + [ + 0.0011435151100158691, + 0.004813635256141424, + -0.01871548593044281, + 0.027206063270568848, + 0.04397091269493103, + -0.002279270440340042, + 1.0 + ], + [ + 0.0003851354122161865, + 0.011864177882671356, + -0.0005317926406860352, + 0.026366382837295532, + -0.004129858687520027, + 0.017704444006085396, + 1.0 + ], + [ + -0.005708545446395874, + 0.0033015403896570206, + -0.010884732007980347, + 0.012179136276245117, + 0.018777422606945038, + -0.005074389278888702, + 1.0 + ], + [ + -0.008913189172744751, + 0.005346976220607758, + -0.012541703879833221, + 0.0087699294090271, + 0.03084147721529007, + 0.0036520306020975113, + 1.0 + ], + [ + -0.0029668807983398438, + 0.003037402406334877, + -0.00722421333193779, + 0.01513412594795227, + -2.9671937227249146e-06, + -0.00600423663854599, + 0.0 + ], + [ + -0.0005695521831512451, + -3.0081719160079956e-05, + 0.0001889541745185852, + -0.023840561509132385, + -0.008908968418836594, + -0.005944371223449707, + 0.0 + ], + [ + -0.00274619460105896, + 0.0026700273156166077, + 0.006545376032590866, + -0.03775099664926529, + 0.00019138213247060776, + 0.027943424880504608, + 0.0 + ], + [ + 0.004701048135757446, + 0.0016372762620449066, + 0.03544755280017853, + -0.07021678984165192, + -0.06628179550170898, + 0.017980780452489853, + 0.0 + ], + [ + -0.01672932505607605, + 0.015469277277588844, + 0.057372622191905975, + -0.06999588012695312, + -0.10974448174238205, + 0.028758853673934937, + 0.0 + ], + [ + -0.034628450870513916, + 0.01764514669775963, + 0.007010161876678467, + -0.008727628737688065, + 0.01548224687576294, + 0.01791207119822502, + 0.0 + ], + [ + -0.04433533549308777, + 0.021561861038208008, + -0.018926560878753662, + 0.03205810859799385, + 0.04897485673427582, + 0.020870991051197052, + 0.0 + ], + [ + -0.03061234951019287, + -0.00016451627016067505, + -0.032238975167274475, + 0.02201070822775364, + 0.029089972376823425, + 0.023496881127357483, + 0.0 + ], + [ + -0.013069003820419312, + -0.009570956230163574, + -0.03849567472934723, + -0.0021095089614391327, + 0.020807374268770218, + 0.07959769666194916, + 0.0 + ], + [ + -0.003097325563430786, + -0.0005446523427963257, + -0.03756943717598915, + 0.05041394755244255, + 0.023992719128727913, + 0.03594508767127991, + 0.0 + ], + [ + -0.0033306479454040527, + 0.0024527981877326965, + -0.016259130090475082, + 0.027974732220172882, + 0.011626802384853363, + -0.02366967499256134, + 0.0 + ], + [ + -0.003050088882446289, + 0.0007154569029808044, + -0.0038058049976825714, + -0.011700160801410675, + -0.0030927378684282303, + 0.003095284104347229, + 1.0 + ], + [ + -0.0014090240001678467, + 0.0032964199781417847, + 0.008945601992309093, + -0.026389889419078827, + -0.01446562260389328, + 0.03637063503265381, + 1.0 + ], + [ + -0.00020962953567504883, + 9.749084711074829e-05, + 0.017795564606785774, + -0.030553296208381653, + -0.03282537683844566, + -0.02903178334236145, + 1.0 + ], + [ + -0.001216888427734375, + -0.0010779723525047302, + 0.026523582637310028, + 0.004316605627536774, + -0.05394892394542694, + -0.03398527204990387, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9492040276527405 + ], + [ + 0.7574808597564697 + ], + [ + 0.7555288672447205 + ], + [ + 0.7555288672447205 + ], + [ + 0.7555288672447205 + ], + [ + 0.7555288672447205 + ], + [ + 0.7555288672447205 + ], + [ + 0.7555288672447205 + ], + [ + 0.7555288672447205 + ], + [ + 0.7545521855354309 + ], + [ + 0.7545521855354309 + ], + [ + 0.8307508826255798 + ], + [ + 1.0118417739868164 + ], + [ + 1.0086473226547241 + ], + [ + 1.002137303352356 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3700963854789734, + 0.13067229092121124, + 0.12678229808807373 + ], + [ + 0.38259780406951904, + 0.08833587914705276, + 0.12451524287462234 + ], + [ + 0.3977501690387726, + 0.03574802726507187, + 0.11958993226289749 + ], + [ + 0.4108467996120453, + 0.005738541018217802, + 0.1141025573015213 + ], + [ + 0.4190281927585602, + -0.0040357294492423534, + 0.10235267132520676 + ], + [ + 0.42017170786857605, + 0.0007779056904837489, + 0.08363718539476395 + ], + [ + 0.42055684328079224, + 0.012642083689570427, + 0.08310539275407791 + ], + [ + 0.41484829783439636, + 0.015943624079227448, + 0.07222066074609756 + ], + [ + 0.4059351086616516, + 0.021290600299835205, + 0.05967895686626434 + ], + [ + 0.40296822786331177, + 0.024328002706170082, + 0.05245474353432655 + ], + [ + 0.4023986756801605, + 0.024297920987010002, + 0.05264369770884514 + ], + [ + 0.39965248107910156, + 0.02696794830262661, + 0.059189073741436005 + ], + [ + 0.404353529214859, + 0.028605224564671516, + 0.09463662654161453 + ], + [ + 0.38762420415878296, + 0.04407450184226036, + 0.1520092487335205 + ], + [ + 0.35299575328826904, + 0.06171964854001999, + 0.15901941061019897 + ], + [ + 0.3086604177951813, + 0.083281509578228, + 0.1400928497314453 + ], + [ + 0.2780480682849884, + 0.08311699330806732, + 0.10785387456417084 + ], + [ + 0.2649790644645691, + 0.07354603707790375, + 0.06935819983482361 + ], + [ + 0.2618817389011383, + 0.07300138473510742, + 0.03178876265883446 + ], + [ + 0.25855109095573425, + 0.07545418292284012, + 0.0155296316370368 + ], + [ + 0.25550100207328796, + 0.07616963982582092, + 0.011723826639354229 + ], + [ + 0.2540919780731201, + 0.07946605980396271, + 0.020669428631663322 + ], + [ + 0.25388234853744507, + 0.07956355065107346, + 0.0384649932384491 + ], + [ + 0.2526654601097107, + 0.07848557829856873, + 0.06498857587575912 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.963036063378176, + 0.2581515810269462, + 0.07693699920294342, + 0.24923854165071385, + -0.9622837375810361, + 0.10904199990323399, + 0.10218458782463755, + -0.08583571284937017, + -0.991055266072861 + ], + [ + 0.9838561090069468, + 0.1564071170110515, + 0.08697109012771014, + 0.14852691865801884, + -0.9847374920405968, + 0.09072941200928093, + 0.09983441893287749, + -0.07634713824294166, + -0.9920706644581564 + ], + [ + 0.9950566909872235, + 0.04638325649146717, + 0.08781102003053691, + 0.03932647276808057, + -0.9959821483795639, + 0.08045488579849747, + 0.09118996798539851, + -0.07660387474843958, + -0.9928827907222215 + ], + [ + 0.9958087246936994, + -0.015661574442238257, + 0.09010937193154853, + -0.021740312229472855, + -0.9975242382965606, + 0.06687864259262119, + 0.08883885775983924, + -0.06855734166999738, + -0.9936838271075313 + ], + [ + 0.9966400554582192, + -0.031115022998526504, + 0.07576579175352877, + -0.03811362490268788, + -0.9949595714946234, + 0.09275129480504679, + 0.07249794102603971, + -0.09532736456567262, + -0.9928024688284918 + ], + [ + 0.998771524598656, + -0.03668363086233562, + 0.033312953601152426, + -0.04047513913445978, + -0.9917814900027079, + 0.12137231644841921, + 0.028586793505441622, + -0.12257155997524462, + -0.9920478859018413 + ], + [ + 0.9992049993935173, + -0.017677917622116814, + 0.035733183674936705, + -0.02278413946723688, + -0.9887297719780124, + 0.14796729703905842, + 0.03271470885914485, + -0.1486638127886309, + -0.988346507350235 + ], + [ + 0.9995144152385635, + -0.025265773610130233, + 0.01823662288347083, + -0.027866387996334018, + -0.9866700676231948, + 0.16032979160617064, + 0.013942673715971996, + -0.16076012671157605, + -0.9868950215242389 + ], + [ + 0.9995639619291405, + -0.02673021609004306, + -0.012545180759938225, + -0.02421484942075922, + -0.9851846317276701, + 0.16977892235240827, + -0.016897546568951306, + -0.169401112615575, + -0.9854023218790159 + ], + [ + 0.9994006037127234, + -0.03281511807783628, + -0.01102729904291521, + -0.030215996956355448, + -0.9823231435919535, + 0.18473828810389076, + -0.016894579798791522, + -0.18429435582556586, + -0.9827258842547408 + ], + [ + 0.9993140924007304, + -0.036974271787146566, + -0.002061056795589571, + -0.0361602441638214, + -0.9862887787635575, + 0.1610182648866375, + -0.007986330278497662, + -0.16083329291816656, + -0.9869492744907319 + ], + [ + 0.9999327309599836, + -0.009172513370856127, + -0.007099193853571002, + -0.008225489460678106, + -0.992306031875314, + 0.12353574554355021, + -0.008177706160127553, + -0.12346904106831791, + -0.992314728813207 + ], + [ + 0.9982649388087035, + 0.012850150182862076, + 0.05746290617027614, + 0.009738305750142678, + -0.9984875047461255, + 0.054109779771992245, + 0.05807131259385143, + -0.053456304643462335, + -0.9968802065180616 + ], + [ + 0.9852153420085522, + 0.03575747205732839, + 0.1675474054202001, + 0.03796313514429396, + -0.9992293133808019, + -0.009978960394115626, + 0.16706145647930762, + 0.016192049672621292, + -0.9858135154715681 + ], + [ + 0.9868416267029632, + 0.05256716481913536, + 0.15290617053973787, + 0.055742546436772795, + -0.9983079746641044, + -0.016551623449018477, + 0.15177737750730103, + 0.024857210320784744, + -0.9881020932940454 + ], + [ + 0.9916899026704624, + 0.0779287546692775, + 0.10236330464157876, + 0.07680752477841292, + -0.9969352601337277, + 0.014855680378576624, + 0.10320727241266762, + -0.006869956171075858, + -0.9946361458459798 + ], + [ + 0.9921795357224229, + 0.10271651959025281, + 0.07091604541218102, + 0.10034551184418482, + -0.9942926775770308, + 0.036233266060722476, + 0.07423305965919683, + -0.028833798222983893, + -0.9968239889437204 + ], + [ + 0.9823662891793057, + 0.18076014683901778, + 0.04777282908534172, + 0.1791580055132154, + -0.9831629171497156, + 0.03595952449891208, + 0.05346852293272396, + -0.026766539865995042, + -0.9982107339630217 + ], + [ + 0.9762653927032562, + 0.21623578948329358, + 0.01216414224240964, + 0.21455956744372479, + -0.9732912522867596, + 0.08165984472452123, + 0.02949703422919917, + -0.0771117472802163, + -0.9965860240857652 + ], + [ + 0.9813403003392955, + 0.19226060582786922, + -0.002659770042968767, + 0.19144646983653055, + -0.9757119358368409, + 0.10646345594923298, + 0.017873559161822313, + -0.104986083421683, + -0.9943130584331394 + ], + [ + 0.9806841063398584, + 0.19558456478342104, + 0.002315510931562889, + 0.19447139241741782, + -0.9762347744844971, + 0.09563755861812212, + 0.02096571257136501, + -0.09333993307092009, + -0.9954135300420083 + ], + [ + 0.972567119506368, + 0.23184756778805687, + 0.01897111925660753, + 0.22990918860782517, + -0.9704410295473617, + 0.07338918969949233, + 0.035425457636811604, + -0.06701427819367274, + -0.9971229229485217 + ], + [ + 0.9771649746439228, + 0.20401412897687718, + 0.059387267212323604, + 0.20123780805548178, + -0.9782887559736547, + 0.049542451943199194, + 0.06820525594238964, + -0.03646018531666082, + -0.9970048635530862 + ], + [ + 0.9783823790975872, + 0.17307991809011833, + 0.11318684652053423, + 0.16705546024446602, + -0.9840725179324616, + 0.06077625072817884, + 0.1219032135501549, + -0.0405539320409595, + -0.9917131566749341 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006178.json b/json/chunk-0006/episode_0006178.json new file mode 100644 index 0000000000000000000000000000000000000000..a1b02778161acb1b9b517a666b5f4328562a646a --- /dev/null +++ b/json/chunk-0006/episode_0006178.json @@ -0,0 +1,2002 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 32, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the white basket to the right of the blue towel." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006178.mp4", + "start": 0, + "end": 32, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.24534502625465393, + -0.03403438627719879, + 0.020940417423844337, + -0.05163343995809555, + -0.16104726493358612, + 0.12488029897212982, + 0.0, + 0.9988223910331726 + ], + [ + 0.24337704479694366, + -0.032969795167446136, + 0.015478434041142464, + -0.041320763528347015, + -0.13826434314250946, + 0.13014444708824158, + 0.0, + 0.9988223910331726 + ], + [ + 0.24543756246566772, + -0.013592335395514965, + 0.0008193899993784726, + 0.05225040391087532, + -0.08677588403224945, + 0.2021934688091278, + 0.0, + 0.9988223910331726 + ], + [ + 0.25079941749572754, + 0.0033925636671483517, + -0.006602808367460966, + 0.07707637548446655, + -0.07658138871192932, + 0.2159716784954071, + 0.0, + 0.9988223910331726 + ], + [ + 0.25676727294921875, + 0.020820172503590584, + -0.015019976533949375, + 0.11314518004655838, + -0.05988379567861557, + 0.2458854615688324, + 0.0, + 0.9988223910331726 + ], + [ + 0.2571932077407837, + 0.040657542645931244, + -0.015396653674542904, + 0.12470534443855286, + -0.07088132947683334, + 0.28562745451927185, + 0.0, + 0.9988223910331726 + ], + [ + 0.25816062092781067, + 0.052135102450847626, + -0.024526448920369148, + 0.14537416398525238, + -0.05202702060341835, + 0.3171502947807312, + 0.0, + 0.9988223910331726 + ], + [ + 0.2602905333042145, + 0.05756470561027527, + -0.02724853716790676, + 0.15824098885059357, + -0.05076010525226593, + 0.3249713182449341, + 0.0, + 0.9468915462493896 + ], + [ + 0.2638907730579376, + 0.0581892728805542, + -0.04861035570502281, + 0.15831249952316284, + -0.05873763933777809, + 0.30688297748565674, + 0.0, + 0.6601285338401794 + ], + [ + 0.2654483914375305, + 0.06256210803985596, + -0.047869402915239334, + 0.19325163960456848, + -0.09067421406507492, + 0.3491145074367523, + 0.0, + 0.35357794165611267 + ], + [ + 0.26520293951034546, + 0.05673933029174805, + -0.047069963067770004, + 0.20886766910552979, + -0.0833764597773552, + 0.32237014174461365, + 0.0, + 0.1556580364704132 + ], + [ + 0.2625676095485687, + 0.056002236902713776, + -0.04704992100596428, + 0.20958229899406433, + -0.07776900380849838, + 0.31762227416038513, + 0.0, + 0.09966801106929779 + ], + [ + 0.2613503932952881, + 0.05551799014210701, + -0.03797856345772743, + 0.20254568755626678, + -0.09639782458543777, + 0.3165368139743805, + 0.0, + 0.09587175399065018 + ], + [ + 0.25659921765327454, + 0.05319963023066521, + -0.029270939528942108, + 0.1897733509540558, + -0.09614637494087219, + 0.31639355421066284, + 0.0, + 0.0936371386051178 + ], + [ + 0.2518126666545868, + 0.05275607109069824, + -0.011306645348668098, + 0.14658622443675995, + -0.10358136892318726, + 0.300129234790802, + 0.0, + 0.08998419344425201 + ], + [ + 0.24356991052627563, + 0.04164927080273628, + 0.014845441095530987, + 0.10309835523366928, + -0.1294594258069992, + 0.3199879825115204, + 0.0, + 0.08998419344425201 + ], + [ + 0.23736172914505005, + 0.014776360243558884, + 0.032702185213565826, + 0.06841301172971725, + -0.1408717781305313, + 0.29302042722702026, + 0.0, + 0.08998419344425201 + ], + [ + 0.235370934009552, + -0.014779405668377876, + 0.0459601916372776, + 0.042797356843948364, + -0.16236338019371033, + 0.25662946701049805, + 0.0, + 0.08998419344425201 + ], + [ + 0.24070020020008087, + -0.062154825776815414, + 0.049717944115400314, + -0.013212810270488262, + -0.17491021752357483, + 0.19311228394508362, + 0.0, + 0.08998419344425201 + ], + [ + 0.24902576208114624, + -0.10057362169027328, + 0.045133303850889206, + -0.03276877850294113, + -0.16294361650943756, + 0.14638155698776245, + 0.0, + 0.08998419344425201 + ], + [ + 0.2555142641067505, + -0.14425283670425415, + 0.03414382413029671, + -0.041619304567575455, + -0.1482570469379425, + 0.09021206945180893, + 0.0, + 0.08998419344425201 + ], + [ + 0.26184314489364624, + -0.16330158710479736, + 0.01634293794631958, + -0.05677318572998047, + -0.13960954546928406, + 0.08082227408885956, + 0.0, + 0.08998419344425201 + ], + [ + 0.26710963249206543, + -0.17332112789154053, + -0.0006427726475521922, + -0.05079864338040352, + -0.13017615675926208, + 0.08627914637327194, + 0.0, + 0.08962377160787582 + ], + [ + 0.27207592129707336, + -0.17349384725093842, + -0.017063919454813004, + -0.010249977000057697, + -0.10564114898443222, + 0.09236468374729156, + 0.0, + 0.08962377160787582 + ], + [ + 0.27449992299079895, + -0.17788951098918915, + -0.02617855928838253, + -0.019701290875673294, + -0.07416602224111557, + 0.10189636796712875, + 0.0, + 0.12220374494791031 + ], + [ + 0.2766544818878174, + -0.17063425481319427, + -0.02997395768761635, + -0.014231454581022263, + -0.06184447184205055, + 0.10731469839811325, + 0.0, + 0.32045841217041016 + ], + [ + 0.2764286696910858, + -0.16986216604709625, + -0.030492277815937996, + -0.016217224299907684, + -0.060012396425008774, + 0.10622498393058777, + 0.0, + 0.6259716749191284 + ], + [ + 0.27320507168769836, + -0.1676231473684311, + -0.03210324048995972, + -0.006750510074198246, + -0.049890145659446716, + 0.10466737300157547, + 0.0, + 0.9255412817001343 + ], + [ + 0.2682887613773346, + -0.16773900389671326, + -0.02608230523765087, + -0.029047898948192596, + -0.051291756331920624, + 0.09588637202978134, + 0.0, + 1.0073583126068115 + ], + [ + 0.2682133615016937, + -0.1644832193851471, + -0.010508754290640354, + -0.05729992315173149, + -0.07404401153326035, + 0.09036831557750702, + 0.0, + 1.0027955770492554 + ], + [ + 0.26799023151397705, + -0.15662674605846405, + 0.006168175954371691, + -0.08087475597858429, + -0.09522226452827454, + 0.0912376195192337, + 0.0, + 0.9994885921478271 + ], + [ + 0.26234790682792664, + -0.1467309147119522, + 0.02615068107843399, + -0.12650756537914276, + -0.11675354838371277, + 0.09356458485126495, + 0.0, + 0.9994885921478271 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9468915462493896 + ], + [ + 0.6601285338401794 + ], + [ + 0.35357794165611267 + ], + [ + 0.1556580364704132 + ], + [ + 0.09966801106929779 + ], + [ + 0.09587175399065018 + ], + [ + 0.0936371386051178 + ], + [ + 0.08998419344425201 + ], + [ + 0.08998419344425201 + ], + [ + 0.08998419344425201 + ], + [ + 0.08998419344425201 + ], + [ + 0.08998419344425201 + ], + [ + 0.08998419344425201 + ], + [ + 0.08998419344425201 + ], + [ + 0.08998419344425201 + ], + [ + 0.08962377160787582 + ], + [ + 0.08962377160787582 + ], + [ + 0.12220374494791031 + ], + [ + 0.32045841217041016 + ], + [ + 0.6259716749191284 + ], + [ + 0.9255412817001343 + ], + [ + 1.0073583126068115 + ], + [ + 1.0027955770492554 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.24534502625465393, + -0.03403438627719879, + 0.020940417423844337 + ], + [ + 0.24337704479694366, + -0.032969795167446136, + 0.015478434041142464 + ], + [ + 0.24543756246566772, + -0.013592335395514965, + 0.0008193899993784726 + ], + [ + 0.25079941749572754, + 0.0033925636671483517, + -0.006602808367460966 + ], + [ + 0.25676727294921875, + 0.020820172503590584, + -0.015019976533949375 + ], + [ + 0.2571932077407837, + 0.040657542645931244, + -0.015396653674542904 + ], + [ + 0.25816062092781067, + 0.052135102450847626, + -0.024526448920369148 + ], + [ + 0.2602905333042145, + 0.05756470561027527, + -0.02724853716790676 + ], + [ + 0.2638907730579376, + 0.0581892728805542, + -0.04861035570502281 + ], + [ + 0.2654483914375305, + 0.06256210803985596, + -0.047869402915239334 + ], + [ + 0.26520293951034546, + 0.05673933029174805, + -0.047069963067770004 + ], + [ + 0.2625676095485687, + 0.056002236902713776, + -0.04704992100596428 + ], + [ + 0.2613503932952881, + 0.05551799014210701, + -0.03797856345772743 + ], + [ + 0.25659921765327454, + 0.05319963023066521, + -0.029270939528942108 + ], + [ + 0.2518126666545868, + 0.05275607109069824, + -0.011306645348668098 + ], + [ + 0.24356991052627563, + 0.04164927080273628, + 0.014845441095530987 + ], + [ + 0.23736172914505005, + 0.014776360243558884, + 0.032702185213565826 + ], + [ + 0.235370934009552, + -0.014779405668377876, + 0.0459601916372776 + ], + [ + 0.24070020020008087, + -0.062154825776815414, + 0.049717944115400314 + ], + [ + 0.24902576208114624, + -0.10057362169027328, + 0.045133303850889206 + ], + [ + 0.2555142641067505, + -0.14425283670425415, + 0.03414382413029671 + ], + [ + 0.26184314489364624, + -0.16330158710479736, + 0.01634293794631958 + ], + [ + 0.26710963249206543, + -0.17332112789154053, + -0.0006427726475521922 + ], + [ + 0.27207592129707336, + -0.17349384725093842, + -0.017063919454813004 + ], + [ + 0.27449992299079895, + -0.17788951098918915, + -0.02617855928838253 + ], + [ + 0.2766544818878174, + -0.17063425481319427, + -0.02997395768761635 + ], + [ + 0.2764286696910858, + -0.16986216604709625, + -0.030492277815937996 + ], + [ + 0.27320507168769836, + -0.1676231473684311, + -0.03210324048995972 + ], + [ + 0.2682887613773346, + -0.16773900389671326, + -0.02608230523765087 + ], + [ + 0.2682133615016937, + -0.1644832193851471, + -0.010508754290640354 + ], + [ + 0.26799023151397705, + -0.15662674605846405, + 0.006168175954371691 + ], + [ + 0.26234790682792664, + -0.1467309147119522, + 0.02615068107843399 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9793732474658412, + 0.1161785685470706, + 0.1653196369417917, + 0.12294419797368422, + -0.9919210584027475, + -0.031262406845617055, + 0.1603520075734, + 0.050942655089099564, + -0.9857444291294034 + ], + [ + 0.9820805677854405, + 0.12402136004476104, + 0.1419029972582499, + 0.12853886558426747, + -0.9914356675424769, + -0.023088463762521577, + 0.1378242301358391, + 0.04091478189177361, + -0.9896112682312244 + ], + [ + 0.9759424318010916, + 0.2049786493785075, + 0.07429753097603255, + 0.2000629834972388, + -0.9773825350440267, + 0.068543291612641, + 0.08666702051158313, + -0.05203012098654864, + -0.9948777281986817 + ], + [ + 0.9739057955421727, + 0.21941456106758653, + 0.05800648068006027, + 0.21366854772880353, + -0.9726062624061017, + 0.09155768695143783, + 0.07650655606437838, + -0.07677440146267388, + -0.9941088663517776 + ], + [ + 0.9681835861261694, + 0.2484126669425477, + 0.03019421233219073, + 0.24297892738291488, + -0.962075625408197, + 0.12398278849612532, + 0.0598480108584966, + -0.11270154345845329, + -0.9918248724943148 + ], + [ + 0.9570757546433318, + 0.28802360759506146, + 0.03237902626427909, + 0.28105203333523526, + -0.9495520131918744, + 0.13914283596861202, + 0.07082199116112631, + -0.12407004356888206, + -0.9897428301618502 + ], + [ + 0.9488423662099134, + 0.3157283414546656, + 0.003711938504216687, + 0.31143826772905064, + -0.9377564591605649, + 0.1536848356103105, + 0.05200355256231226, + -0.14466664337339852, + -0.9881129453741475 + ], + [ + 0.9464392817994911, + 0.32286943443562083, + -0.002830931663941872, + 0.3188703651286359, + -0.9332670314046994, + 0.16533099629467654, + 0.050738310078223325, + -0.15737844960566336, + -0.9862340733771694 + ], + [ + 0.9516358291303831, + 0.30713341160466523, + 0.007636503873305785, + 0.3015677442453255, + -0.938563026478057, + 0.16779851298249177, + 0.0587038699415437, + -0.15738015378194542, + -0.9857917340135578 + ], + [ + 0.9358157038141245, + 0.35203946418308335, + 0.017809664583090072, + 0.3406606279695285, + -0.9162352553782334, + 0.2108632100518954, + 0.09055001406008242, + -0.19126205180241795, + -0.9773533253097612 + ], + [ + 0.9451923267262632, + 0.32630867570949695, + 0.011580744989279954, + 0.31571494252706134, + -0.922402222663877, + 0.22248194239055324, + 0.08327989290895342, + -0.20663201054399444, + -0.9748680278148522 + ], + [ + 0.9471093845820718, + 0.32082983183386327, + 0.0072133655129809, + 0.31136470367641456, + -0.9241450725480016, + 0.22137729375377935, + 0.07769063612216978, + -0.20742252503212755, + -0.9751615564449968 + ], + [ + 0.9459071046635393, + 0.32331387317076526, + 0.02697941367706106, + 0.30983214309174417, + -0.9248655093628979, + 0.22051719365637693, + 0.09624859715453835, + -0.20022969062110998, + -0.9750098863804191 + ], + [ + 0.9459744519255129, + 0.3227651598057936, + 0.030902878826495103, + 0.30970414983114697, + -0.9276674608683633, + 0.20860590026029802, + 0.095998311868444, + -0.18776510235286908, + -0.9775114272768501 + ], + [ + 0.950178124575553, + 0.3069001739409133, + 0.05453269490060504, + 0.29405908919103774, + -0.940588275542961, + 0.16977322514241325, + 0.10339624578398697, + -0.14527897007535664, + -0.9839731892747999 + ], + [ + 0.9412957992557985, + 0.3254967039652598, + 0.0895215840517787, + 0.3119229008209424, + -0.9400195508975041, + 0.13808456783400302, + 0.12909811093442147, + -0.10205459146068277, + -0.9863663305866422 + ], + [ + 0.9478920137893626, + 0.29735855382241566, + 0.11436179721825114, + 0.28598391259293215, + -0.9523638861537821, + 0.10590670464188813, + 0.14040631015871402, + -0.0676824853171596, + -0.9877778845716823 + ], + [ + 0.9545296978999706, + 0.26027905777736066, + 0.1453542841113395, + 0.2504835827962631, + -0.9646098429245169, + 0.08237612325598986, + 0.16165095290946557, + -0.042221594186716505, + -0.9859443728769862 + ], + [ + 0.9664374815778111, + 0.18964101552034968, + 0.17330573976054045, + 0.1889860557480177, + -0.9817672857970162, + 0.020427120980857246, + 0.17401972570471666, + 0.013010832839212002, + -0.9846562107123911 + ], + [ + 0.9762010334540668, + 0.1405229714129885, + 0.1651812240797262, + 0.1439273023672075, + -0.9895494602482592, + -0.008763410048474463, + 0.1622235307115177, + 0.03232893792941073, + -0.9862242979443601 + ], + [ + 0.9850082973875574, + 0.0838907350261668, + 0.15073486210705958, + 0.0891014772413599, + -0.9956249049197753, + -0.028142058504938637, + 0.14771452478030797, + 0.041150860018442335, + -0.9881735808493718 + ], + [ + 0.987037824239699, + 0.07273389771744504, + 0.14305982539829146, + 0.07994879900411625, + -0.9957672396737984, + -0.04534086380103149, + 0.1391564696949474, + 0.056190608781650615, + -0.9886749174661947 + ], + [ + 0.9878507777532537, + 0.07949422341965354, + 0.13353467465493044, + 0.08544304240457895, + -0.9955630718799615, + -0.039416448515613725, + 0.1298088109372443, + 0.050347178191442965, + -0.9902599831616029 + ], + [ + 0.9901863388845185, + 0.09115238334075086, + 0.1059351560992596, + 0.09171922258177582, + -0.9957847923942674, + -0.00048108762234517956, + 0.10544476514018303, + 0.01019265655295579, + -0.9943729236342496 + ], + [ + 0.9920782755213492, + 0.10024822859044094, + 0.07570328858817646, + 0.10144049742985589, + -0.9947684820284702, + -0.012062033160153711, + 0.07409804801591893, + 0.019645860308267177, + -0.9970574303684712 + ], + [ + 0.9923465396975073, + 0.10622350352592215, + 0.06296755076277248, + 0.10690406996763789, + -0.994240826094788, + -0.007529910405067295, + 0.061805056223081856, + 0.014203767987135003, + -0.9979871682542966 + ], + [ + 0.9925733730154402, + 0.10504425974758437, + 0.061349838425486435, + 0.1058344601333517, + -0.9943357954691292, + -0.00976692874222747, + 0.05997638059297392, + 0.016187320434703886, + -0.9980685369392779 + ], + [ + 0.9932899235724034, + 0.10413918814272546, + 0.050300668211292615, + 0.10434637269650349, + -0.9945398806113903, + -0.0015034555409185746, + 0.04986945191809218, + 0.006742059511392224, + -0.9987329885404475 + ], + [ + 0.9940973303672072, + 0.09421690278412564, + 0.053792871149978556, + 0.09561359628157684, + -0.9951290616682504, + -0.024003975282666273, + 0.05126926918627974, + 0.029005617611659904, + -0.9982635604809337 + ], + [ + 0.9931907365779324, + 0.08587802366325252, + 0.07872182561067652, + 0.08999809518258901, + -0.9946673935090524, + -0.05036982383742603, + 0.07397637216902146, + 0.0571116567926507, + -0.995623299757046 + ], + [ + 0.9913293619907163, + 0.08316416917850925, + 0.10173405044490891, + 0.09069833774327193, + -0.9932855790284134, + -0.07181622396643113, + 0.09507842860337118, + 0.08042064075246798, + -0.9922160112371075 + ], + [ + 0.9888478476216129, + 0.0780483946949447, + 0.12683998714776443, + 0.0927920740341496, + -0.9890427155812803, + -0.11482220060618456, + 0.11648847690026605, + 0.12531143140650863, + -0.9852550329271642 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.001967981457710266, + 0.001064591109752655, + -0.005461983382701874, + 0.010312676429748535, + 0.02278292179107666, + 0.005264148116111755, + 1.0 + ], + [ + 0.00206051766872406, + 0.019377458840608597, + -0.014659044332802296, + 0.09357117116451263, + 0.05148845911026001, + 0.07204902172088623, + 1.0 + ], + [ + 0.0053618550300598145, + 0.01698489859700203, + -0.007422198541462421, + 0.024825971573591232, + 0.01019449532032013, + 0.013778209686279297, + 1.0 + ], + [ + 0.005967855453491211, + 0.017427608370780945, + -0.008417168632149696, + 0.03606880456209183, + 0.01669759303331375, + 0.029913783073425293, + 1.0 + ], + [ + 0.0004259347915649414, + 0.01983737014234066, + -0.00037667714059352875, + 0.011560164391994476, + -0.010997533798217773, + 0.03974199295043945, + 1.0 + ], + [ + 0.0009674131870269775, + 0.011477559804916382, + -0.009129795245826244, + 0.020668819546699524, + 0.018854308873414993, + 0.03152284026145935, + 1.0 + ], + [ + 0.0021299123764038086, + 0.005429603159427643, + -0.002722088247537613, + 0.012866824865341187, + 0.00126691535115242, + 0.00782102346420288, + 0.0 + ], + [ + 0.0036002397537231445, + 0.0006245672702789307, + -0.02136181853711605, + 7.15106725692749e-05, + -0.007977534085512161, + -0.018088340759277344, + 0.0 + ], + [ + 0.0015576183795928955, + 0.004372835159301758, + 0.0007409527897834778, + 0.03493914008140564, + -0.03193657472729683, + 0.04223152995109558, + 0.0 + ], + [ + -0.0002454519271850586, + -0.00582277774810791, + 0.0007994398474693298, + 0.015616029500961304, + 0.0072977542877197266, + -0.026744365692138672, + 0.0 + ], + [ + -0.0026353299617767334, + -0.0007370933890342712, + 2.0042061805725098e-05, + 0.0007146298885345459, + 0.0056074559688568115, + -0.004747867584228516, + 0.0 + ], + [ + -0.0012172162532806396, + -0.00048424676060676575, + 0.009071357548236847, + -0.007036611437797546, + -0.018628820776939392, + -0.0010854601860046387, + 0.0 + ], + [ + -0.00475117564201355, + -0.002318359911441803, + 0.008707623928785324, + -0.012772336602210999, + 0.0002514496445655823, + -0.00014325976371765137, + 0.0 + ], + [ + -0.004786550998687744, + -0.0004435591399669647, + 0.01796429418027401, + -0.04318712651729584, + -0.0074349939823150635, + -0.01626431941986084, + 0.0 + ], + [ + -0.008242756128311157, + -0.01110680028796196, + 0.02615208551287651, + -0.04348786920309067, + -0.02587805688381195, + 0.019858747720718384, + 0.0 + ], + [ + -0.006208181381225586, + -0.0268729105591774, + 0.017856743186712265, + -0.034685343503952026, + -0.011412352323532104, + -0.026967555284500122, + 0.0 + ], + [ + -0.001990795135498047, + -0.02955576591193676, + 0.013258006423711777, + -0.02561565488576889, + -0.021491602063179016, + -0.03639096021652222, + 0.0 + ], + [ + 0.00532926619052887, + -0.04737541824579239, + 0.003757752478122711, + -0.0560101680457592, + -0.012546837329864502, + -0.06351718306541443, + 0.0 + ], + [ + 0.008325561881065369, + -0.03841879591345787, + -0.004584640264511108, + -0.019555967301130295, + 0.011966601014137268, + -0.04673072695732117, + 0.0 + ], + [ + 0.006488502025604248, + -0.043679215013980865, + -0.010989479720592499, + -0.008850526064634323, + 0.014686569571495056, + -0.05616948753595352, + 0.0 + ], + [ + 0.006328880786895752, + -0.019048750400543213, + -0.017800886183977127, + -0.015153881162405014, + 0.008647501468658447, + -0.009389795362949371, + 0.0 + ], + [ + 0.0052664875984191895, + -0.010019540786743164, + -0.016985710710287094, + 0.00597454234957695, + 0.009433388710021973, + 0.005456872284412384, + 0.0 + ], + [ + 0.004966288805007935, + -0.00017271935939788818, + -0.01642114669084549, + 0.040548667311668396, + 0.024535007774829865, + 0.006085537374019623, + 0.0 + ], + [ + 0.002424001693725586, + -0.004395663738250732, + -0.009114639833569527, + -0.009451313875615597, + 0.03147512674331665, + 0.009531684219837189, + 1.0 + ], + [ + 0.0021545588970184326, + 0.007255256175994873, + -0.003795398399233818, + 0.0054698362946510315, + 0.012321550399065018, + 0.005418330430984497, + 1.0 + ], + [ + -0.00022581219673156738, + 0.0007720887660980225, + -0.0005183201283216476, + -0.0019857697188854218, + 0.0018320754170417786, + -0.0010897144675254822, + 1.0 + ], + [ + -0.003223598003387451, + 0.002239018678665161, + -0.0016109626740217209, + 0.009466714225709438, + 0.010122250765562057, + -0.0015576109290122986, + 1.0 + ], + [ + -0.0049163103103637695, + -0.00011585652828216553, + 0.0060209352523088455, + -0.022297389805316925, + -0.0014016106724739075, + -0.008781000971794128, + 1.0 + ], + [ + -7.539987564086914e-05, + 0.003255784511566162, + 0.015573550947010517, + -0.028252024203538895, + -0.02275225520133972, + -0.0055180564522743225, + 1.0 + ], + [ + -0.0002231299877166748, + 0.007856473326683044, + 0.016676930710673332, + -0.0235748328268528, + -0.02117825299501419, + 0.0008693039417266846, + 1.0 + ], + [ + -0.005642324686050415, + 0.00989583134651184, + 0.019982505589723587, + -0.04563280940055847, + -0.021531283855438232, + 0.00232696533203125, + 1.0 + ], + [ + -0.0010995864868164062, + 0.022364310920238495, + 0.010411396622657776, + -0.06907589733600616, + 0.028075017035007477, + -0.005966514348983765, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9468915462493896 + ], + [ + 0.6601285338401794 + ], + [ + 0.35357794165611267 + ], + [ + 0.1556580364704132 + ], + [ + 0.09966801106929779 + ], + [ + 0.09587175399065018 + ], + [ + 0.0936371386051178 + ], + [ + 0.08998419344425201 + ], + [ + 0.08998419344425201 + ], + [ + 0.08998419344425201 + ], + [ + 0.08998419344425201 + ], + [ + 0.08998419344425201 + ], + [ + 0.08998419344425201 + ], + [ + 0.08998419344425201 + ], + [ + 0.08998419344425201 + ], + [ + 0.08962377160787582 + ], + [ + 0.08962377160787582 + ], + [ + 0.12220374494791031 + ], + [ + 0.32045841217041016 + ], + [ + 0.6259716749191284 + ], + [ + 0.9255412817001343 + ], + [ + 1.0073583126068115 + ], + [ + 1.0027955770492554 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.24337704479694366, + -0.032969795167446136, + 0.015478434041142464 + ], + [ + 0.24543756246566772, + -0.013592335395514965, + 0.0008193899993784726 + ], + [ + 0.25079941749572754, + 0.0033925636671483517, + -0.006602808367460966 + ], + [ + 0.25676727294921875, + 0.020820172503590584, + -0.015019976533949375 + ], + [ + 0.2571932077407837, + 0.040657542645931244, + -0.015396653674542904 + ], + [ + 0.25816062092781067, + 0.052135102450847626, + -0.024526448920369148 + ], + [ + 0.2602905333042145, + 0.05756470561027527, + -0.02724853716790676 + ], + [ + 0.2638907730579376, + 0.0581892728805542, + -0.04861035570502281 + ], + [ + 0.2654483914375305, + 0.06256210803985596, + -0.047869402915239334 + ], + [ + 0.26520293951034546, + 0.05673933029174805, + -0.047069963067770004 + ], + [ + 0.2625676095485687, + 0.056002236902713776, + -0.04704992100596428 + ], + [ + 0.2613503932952881, + 0.05551799014210701, + -0.03797856345772743 + ], + [ + 0.25659921765327454, + 0.05319963023066521, + -0.029270939528942108 + ], + [ + 0.2518126666545868, + 0.05275607109069824, + -0.011306645348668098 + ], + [ + 0.24356991052627563, + 0.04164927080273628, + 0.014845441095530987 + ], + [ + 0.23736172914505005, + 0.014776360243558884, + 0.032702185213565826 + ], + [ + 0.235370934009552, + -0.014779405668377876, + 0.0459601916372776 + ], + [ + 0.24070020020008087, + -0.062154825776815414, + 0.049717944115400314 + ], + [ + 0.24902576208114624, + -0.10057362169027328, + 0.045133303850889206 + ], + [ + 0.2555142641067505, + -0.14425283670425415, + 0.03414382413029671 + ], + [ + 0.26184314489364624, + -0.16330158710479736, + 0.01634293794631958 + ], + [ + 0.26710963249206543, + -0.17332112789154053, + -0.0006427726475521922 + ], + [ + 0.27207592129707336, + -0.17349384725093842, + -0.017063919454813004 + ], + [ + 0.27449992299079895, + -0.17788951098918915, + -0.02617855928838253 + ], + [ + 0.2766544818878174, + -0.17063425481319427, + -0.02997395768761635 + ], + [ + 0.2764286696910858, + -0.16986216604709625, + -0.030492277815937996 + ], + [ + 0.27320507168769836, + -0.1676231473684311, + -0.03210324048995972 + ], + [ + 0.2682887613773346, + -0.16773900389671326, + -0.02608230523765087 + ], + [ + 0.2682133615016937, + -0.1644832193851471, + -0.010508754290640354 + ], + [ + 0.26799023151397705, + -0.15662674605846405, + 0.006168175954371691 + ], + [ + 0.26234790682792664, + -0.1467309147119522, + 0.02615068107843399 + ], + [ + 0.26124832034111023, + -0.12436660379171371, + 0.036562077701091766 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9820805677854405, + 0.12402136004476104, + 0.1419029972582499, + 0.12853886558426747, + -0.9914356675424769, + -0.023088463762521577, + 0.1378242301358391, + 0.04091478189177361, + -0.9896112682312244 + ], + [ + 0.9759424318010916, + 0.2049786493785075, + 0.07429753097603255, + 0.2000629834972388, + -0.9773825350440267, + 0.068543291612641, + 0.08666702051158313, + -0.05203012098654864, + -0.9948777281986817 + ], + [ + 0.9739057955421727, + 0.21941456106758653, + 0.05800648068006027, + 0.21366854772880353, + -0.9726062624061017, + 0.09155768695143783, + 0.07650655606437838, + -0.07677440146267388, + -0.9941088663517776 + ], + [ + 0.9681835861261694, + 0.2484126669425477, + 0.03019421233219073, + 0.24297892738291488, + -0.962075625408197, + 0.12398278849612532, + 0.0598480108584966, + -0.11270154345845329, + -0.9918248724943148 + ], + [ + 0.9570757546433318, + 0.28802360759506146, + 0.03237902626427909, + 0.28105203333523526, + -0.9495520131918744, + 0.13914283596861202, + 0.07082199116112631, + -0.12407004356888206, + -0.9897428301618502 + ], + [ + 0.9488423662099134, + 0.3157283414546656, + 0.003711938504216687, + 0.31143826772905064, + -0.9377564591605649, + 0.1536848356103105, + 0.05200355256231226, + -0.14466664337339852, + -0.9881129453741475 + ], + [ + 0.9464392817994911, + 0.32286943443562083, + -0.002830931663941872, + 0.3188703651286359, + -0.9332670314046994, + 0.16533099629467654, + 0.050738310078223325, + -0.15737844960566336, + -0.9862340733771694 + ], + [ + 0.9516358291303831, + 0.30713341160466523, + 0.007636503873305785, + 0.3015677442453255, + -0.938563026478057, + 0.16779851298249177, + 0.0587038699415437, + -0.15738015378194542, + -0.9857917340135578 + ], + [ + 0.9358157038141245, + 0.35203946418308335, + 0.017809664583090072, + 0.3406606279695285, + -0.9162352553782334, + 0.2108632100518954, + 0.09055001406008242, + -0.19126205180241795, + -0.9773533253097612 + ], + [ + 0.9451923267262632, + 0.32630867570949695, + 0.011580744989279954, + 0.31571494252706134, + -0.922402222663877, + 0.22248194239055324, + 0.08327989290895342, + -0.20663201054399444, + -0.9748680278148522 + ], + [ + 0.9471093845820718, + 0.32082983183386327, + 0.0072133655129809, + 0.31136470367641456, + -0.9241450725480016, + 0.22137729375377935, + 0.07769063612216978, + -0.20742252503212755, + -0.9751615564449968 + ], + [ + 0.9459071046635393, + 0.32331387317076526, + 0.02697941367706106, + 0.30983214309174417, + -0.9248655093628979, + 0.22051719365637693, + 0.09624859715453835, + -0.20022969062110998, + -0.9750098863804191 + ], + [ + 0.9459744519255129, + 0.3227651598057936, + 0.030902878826495103, + 0.30970414983114697, + -0.9276674608683633, + 0.20860590026029802, + 0.095998311868444, + -0.18776510235286908, + -0.9775114272768501 + ], + [ + 0.950178124575553, + 0.3069001739409133, + 0.05453269490060504, + 0.29405908919103774, + -0.940588275542961, + 0.16977322514241325, + 0.10339624578398697, + -0.14527897007535664, + -0.9839731892747999 + ], + [ + 0.9412957992557985, + 0.3254967039652598, + 0.0895215840517787, + 0.3119229008209424, + -0.9400195508975041, + 0.13808456783400302, + 0.12909811093442147, + -0.10205459146068277, + -0.9863663305866422 + ], + [ + 0.9478920137893626, + 0.29735855382241566, + 0.11436179721825114, + 0.28598391259293215, + -0.9523638861537821, + 0.10590670464188813, + 0.14040631015871402, + -0.0676824853171596, + -0.9877778845716823 + ], + [ + 0.9545296978999706, + 0.26027905777736066, + 0.1453542841113395, + 0.2504835827962631, + -0.9646098429245169, + 0.08237612325598986, + 0.16165095290946557, + -0.042221594186716505, + -0.9859443728769862 + ], + [ + 0.9664374815778111, + 0.18964101552034968, + 0.17330573976054045, + 0.1889860557480177, + -0.9817672857970162, + 0.020427120980857246, + 0.17401972570471666, + 0.013010832839212002, + -0.9846562107123911 + ], + [ + 0.9762010334540668, + 0.1405229714129885, + 0.1651812240797262, + 0.1439273023672075, + -0.9895494602482592, + -0.008763410048474463, + 0.1622235307115177, + 0.03232893792941073, + -0.9862242979443601 + ], + [ + 0.9850082973875574, + 0.0838907350261668, + 0.15073486210705958, + 0.0891014772413599, + -0.9956249049197753, + -0.028142058504938637, + 0.14771452478030797, + 0.041150860018442335, + -0.9881735808493718 + ], + [ + 0.987037824239699, + 0.07273389771744504, + 0.14305982539829146, + 0.07994879900411625, + -0.9957672396737984, + -0.04534086380103149, + 0.1391564696949474, + 0.056190608781650615, + -0.9886749174661947 + ], + [ + 0.9878507777532537, + 0.07949422341965354, + 0.13353467465493044, + 0.08544304240457895, + -0.9955630718799615, + -0.039416448515613725, + 0.1298088109372443, + 0.050347178191442965, + -0.9902599831616029 + ], + [ + 0.9901863388845185, + 0.09115238334075086, + 0.1059351560992596, + 0.09171922258177582, + -0.9957847923942674, + -0.00048108762234517956, + 0.10544476514018303, + 0.01019265655295579, + -0.9943729236342496 + ], + [ + 0.9920782755213492, + 0.10024822859044094, + 0.07570328858817646, + 0.10144049742985589, + -0.9947684820284702, + -0.012062033160153711, + 0.07409804801591893, + 0.019645860308267177, + -0.9970574303684712 + ], + [ + 0.9923465396975073, + 0.10622350352592215, + 0.06296755076277248, + 0.10690406996763789, + -0.994240826094788, + -0.007529910405067295, + 0.061805056223081856, + 0.014203767987135003, + -0.9979871682542966 + ], + [ + 0.9925733730154402, + 0.10504425974758437, + 0.061349838425486435, + 0.1058344601333517, + -0.9943357954691292, + -0.00976692874222747, + 0.05997638059297392, + 0.016187320434703886, + -0.9980685369392779 + ], + [ + 0.9932899235724034, + 0.10413918814272546, + 0.050300668211292615, + 0.10434637269650349, + -0.9945398806113903, + -0.0015034555409185746, + 0.04986945191809218, + 0.006742059511392224, + -0.9987329885404475 + ], + [ + 0.9940973303672072, + 0.09421690278412564, + 0.053792871149978556, + 0.09561359628157684, + -0.9951290616682504, + -0.024003975282666273, + 0.05126926918627974, + 0.029005617611659904, + -0.9982635604809337 + ], + [ + 0.9931907365779324, + 0.08587802366325252, + 0.07872182561067652, + 0.08999809518258901, + -0.9946673935090524, + -0.05036982383742603, + 0.07397637216902146, + 0.0571116567926507, + -0.995623299757046 + ], + [ + 0.9913293619907163, + 0.08316416917850925, + 0.10173405044490891, + 0.09069833774327193, + -0.9932855790284134, + -0.07181622396643113, + 0.09507842860337118, + 0.08042064075246798, + -0.9922160112371075 + ], + [ + 0.9888478476216129, + 0.0780483946949447, + 0.12683998714776443, + 0.0927920740341496, + -0.9890427155812803, + -0.11482220060618456, + 0.11648847690026605, + 0.12531143140650863, + -0.9852550329271642 + ], + [ + 0.9922514430432289, + 0.06867299483028211, + 0.10354271369666808, + 0.08714231923257762, + -0.9786790237108325, + -0.18599350727157, + 0.08856235078969878, + 0.19357527819804904, + -0.9770799975913694 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006179.json b/json/chunk-0006/episode_0006179.json new file mode 100644 index 0000000000000000000000000000000000000000..960e6e83ddb9f2525858beec747b3d3761be2dc7 --- /dev/null +++ b/json/chunk-0006/episode_0006179.json @@ -0,0 +1,1702 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 27, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the spatula to the right side of the stove." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006179.mp4", + "start": 0, + "end": 27, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.30352583527565, + -0.04973580688238144, + 0.07210884988307953, + 0.03809889405965805, + -0.17768818140029907, + -0.11531487852334976, + 0.0, + 1.0001531839370728 + ], + [ + 0.29992979764938354, + -0.0492716021835804, + 0.06328929215669632, + 0.0367724783718586, + -0.14039741456508636, + -0.11596722155809402, + 0.0, + 1.0001531839370728 + ], + [ + 0.3048805594444275, + -0.018173592165112495, + 0.06819184869527817, + 0.030072622001171112, + -0.12783919274806976, + -0.031373169273138046, + 0.0, + 1.0001531839370728 + ], + [ + 0.3137742280960083, + 0.01803540624678135, + 0.0731876939535141, + 0.039648234844207764, + -0.11912836134433746, + 0.046840086579322815, + 0.0, + 1.0001531839370728 + ], + [ + 0.3214447796344757, + 0.059500858187675476, + 0.0814509317278862, + 0.08132711052894592, + -0.11243533343076706, + 0.10734347254037857, + 0.0, + 1.0001531839370728 + ], + [ + 0.32563063502311707, + 0.10125280916690826, + 0.07795261591672897, + 0.09149959683418274, + -0.10206333547830582, + 0.19351543486118317, + 0.0, + 1.0001531839370728 + ], + [ + 0.3317420184612274, + 0.12603908777236938, + 0.056773871183395386, + 0.06877975165843964, + -0.05082005634903908, + 0.2493629902601242, + 0.0, + 1.0001531839370728 + ], + [ + 0.33292868733406067, + 0.12727293372154236, + 0.040245525538921356, + 0.049850158393383026, + -0.014955091290175915, + 0.2588295042514801, + 0.0, + 0.9994885921478271 + ], + [ + 0.3378676474094391, + 0.12904776632785797, + 0.03280596807599068, + 0.048929888755083084, + -0.004855044651776552, + 0.27116990089416504, + 0.0, + 1.0001531839370728 + ], + [ + 0.3399036228656769, + 0.13218653202056885, + 0.027803344652056694, + 0.05868592485785484, + 0.009617387317121029, + 0.26842108368873596, + 0.0, + 1.0001531839370728 + ], + [ + 0.33676087856292725, + 0.14126688241958618, + 0.024999339133501053, + 0.06200239807367325, + 0.019290562719106674, + 0.2878376841545105, + 0.0, + 1.0001531839370728 + ], + [ + 0.33552059531211853, + 0.14266745746135712, + 0.023366188630461693, + 0.0654226765036583, + 0.025831202045083046, + 0.2871403098106384, + 0.0, + 0.9255412817001343 + ], + [ + 0.33588409423828125, + 0.14236082136631012, + 0.019823919981718063, + 0.06192087382078171, + 0.03372848778963089, + 0.28100842237472534, + 0.0, + 0.6591242551803589 + ], + [ + 0.3371252417564392, + 0.14154261350631714, + 0.020325375720858574, + 0.0582047700881958, + 0.02770768664777279, + 0.27387118339538574, + 0.0, + 0.3669656813144684 + ], + [ + 0.33784055709838867, + 0.13979224860668182, + 0.020313024520874023, + 0.05707857012748718, + 0.027232330292463303, + 0.27617642283439636, + 0.0, + 0.32124534249305725 + ], + [ + 0.33902716636657715, + 0.1345071941614151, + 0.021144652739167213, + 0.05840589851140976, + 0.030141424387693405, + 0.26492545008659363, + 0.0, + 0.32124534249305725 + ], + [ + 0.3426903486251831, + 0.12318580597639084, + 0.060478802770376205, + 0.0586213581264019, + -0.06827279925346375, + 0.23848924040794373, + 0.0, + 0.32124534249305725 + ], + [ + 0.35146257281303406, + 0.08926229923963547, + 0.07569357752799988, + 0.023118097335100174, + -0.10748467594385147, + 0.16274496912956238, + 0.0, + 0.32124534249305725 + ], + [ + 0.3578532934188843, + 0.04037164896726608, + 0.07356953620910645, + 0.004195698536932468, + -0.08737898617982864, + 0.03496795520186424, + 0.0, + 0.32124534249305725 + ], + [ + 0.36007019877433777, + 0.0005978671251796186, + 0.05355173349380493, + -0.004312582314014435, + -0.032627131789922714, + -0.06836407631635666, + 0.0, + 0.32124534249305725 + ], + [ + 0.3642564117908478, + -0.02272670902311802, + 0.04182584211230278, + 0.0017430417938157916, + -0.007588800974190235, + -0.11579792946577072, + 0.0, + 0.32124534249305725 + ], + [ + 0.36709582805633545, + -0.03232727199792862, + 0.029025208204984665, + -0.008636632934212685, + 0.019679341465234756, + -0.11367082595825195, + 0.0, + 0.32124534249305725 + ], + [ + 0.36883366107940674, + -0.03441862761974335, + 0.0206784475594759, + -0.021218130365014076, + 0.04393262416124344, + -0.10571945458650589, + 0.0, + 0.41037410497665405 + ], + [ + 0.3687269985675812, + -0.031779877841472626, + 0.021561354398727417, + -0.010769269429147243, + 0.05522032454609871, + -0.07874676585197449, + 0.0, + 0.6902000904083252 + ], + [ + 0.368339478969574, + -0.031179381534457207, + 0.02124437317252159, + -0.010329288430511951, + 0.056835196912288666, + -0.06953070312738419, + 0.0, + 0.9635607004165649 + ], + [ + 0.3616696000099182, + -0.030244434252381325, + 0.02550402842462063, + -0.0005158200510777533, + 0.05830444023013115, + -0.06830008327960968, + 0.0, + 1.0041072368621826 + ], + [ + 0.3538992404937744, + -0.031197847798466682, + 0.04792502894997597, + 0.023091405630111694, + 0.0037204676773399115, + -0.06606318056583405, + 0.0, + 1.0001531839370728 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9255412817001343 + ], + [ + 0.6591242551803589 + ], + [ + 0.3669656813144684 + ], + [ + 0.32124534249305725 + ], + [ + 0.32124534249305725 + ], + [ + 0.32124534249305725 + ], + [ + 0.32124534249305725 + ], + [ + 0.32124534249305725 + ], + [ + 0.32124534249305725 + ], + [ + 0.32124534249305725 + ], + [ + 0.32124534249305725 + ], + [ + 0.41037410497665405 + ], + [ + 0.6902000904083252 + ], + [ + 0.9635607004165649 + ], + [ + 1.0041072368621826 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.30352583527565, + -0.04973580688238144, + 0.07210884988307953 + ], + [ + 0.29992979764938354, + -0.0492716021835804, + 0.06328929215669632 + ], + [ + 0.3048805594444275, + -0.018173592165112495, + 0.06819184869527817 + ], + [ + 0.3137742280960083, + 0.01803540624678135, + 0.0731876939535141 + ], + [ + 0.3214447796344757, + 0.059500858187675476, + 0.0814509317278862 + ], + [ + 0.32563063502311707, + 0.10125280916690826, + 0.07795261591672897 + ], + [ + 0.3317420184612274, + 0.12603908777236938, + 0.056773871183395386 + ], + [ + 0.33292868733406067, + 0.12727293372154236, + 0.040245525538921356 + ], + [ + 0.3378676474094391, + 0.12904776632785797, + 0.03280596807599068 + ], + [ + 0.3399036228656769, + 0.13218653202056885, + 0.027803344652056694 + ], + [ + 0.33676087856292725, + 0.14126688241958618, + 0.024999339133501053 + ], + [ + 0.33552059531211853, + 0.14266745746135712, + 0.023366188630461693 + ], + [ + 0.33588409423828125, + 0.14236082136631012, + 0.019823919981718063 + ], + [ + 0.3371252417564392, + 0.14154261350631714, + 0.020325375720858574 + ], + [ + 0.33784055709838867, + 0.13979224860668182, + 0.020313024520874023 + ], + [ + 0.33902716636657715, + 0.1345071941614151, + 0.021144652739167213 + ], + [ + 0.3426903486251831, + 0.12318580597639084, + 0.060478802770376205 + ], + [ + 0.35146257281303406, + 0.08926229923963547, + 0.07569357752799988 + ], + [ + 0.3578532934188843, + 0.04037164896726608, + 0.07356953620910645 + ], + [ + 0.36007019877433777, + 0.0005978671251796186, + 0.05355173349380493 + ], + [ + 0.3642564117908478, + -0.02272670902311802, + 0.04182584211230278 + ], + [ + 0.36709582805633545, + -0.03232727199792862, + 0.029025208204984665 + ], + [ + 0.36883366107940674, + -0.03441862761974335, + 0.0206784475594759 + ], + [ + 0.3687269985675812, + -0.031779877841472626, + 0.021561354398727417 + ], + [ + 0.368339478969574, + -0.031179381534457207, + 0.02124437317252159 + ], + [ + 0.3616696000099182, + -0.030244434252381325, + 0.02550402842462063 + ], + [ + 0.3538992404937744, + -0.031197847798466682, + 0.04792502894997597 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9777181201732708, + -0.10828817209728872, + 0.1798358953843027, + -0.11324786377783305, + -0.9934123892655686, + 0.017514171502870143, + 0.17675462889158874, + -0.03748995382102461, + -0.9835406979519934 + ], + [ + 0.9835098846345136, + -0.11051914341695782, + 0.14315664764371722, + -0.1145689593466854, + -0.9932071187091335, + 0.020336491824272183, + 0.1399366298737505, + -0.036402448872061476, + -0.9894910819889655 + ], + [ + 0.9913516112052201, + -0.027522307500809372, + 0.12831408944712744, + -0.03111205018958994, + -0.9991762245403978, + 0.026055952222041222, + 0.12749126751983827, + -0.029822724607717354, + -0.9913912354883705 + ], + [ + 0.9918235816091368, + 0.0514918272606282, + 0.11676718155965528, + 0.04649110780751484, + -0.9978976022946193, + 0.04515475865819369, + 0.11884679153790355, + -0.03935691883279626, + -0.9921322860793991 + ], + [ + 0.9879663665251666, + 0.11584560047375626, + 0.102480512615498, + 0.10646095808391388, + -0.9899814874646788, + 0.09275084302084385, + 0.11219858741943024, + -0.08072453981347266, + -0.9904014467139008 + ], + [ + 0.9762274404595673, + 0.200641204540478, + 0.08199446038792992, + 0.19130912318914717, + -0.9754388432120993, + 0.10917821457434262, + 0.10188623007237753, + -0.09089648064467382, + -0.9906346581500421 + ], + [ + 0.9678186954360566, + 0.24958635230802848, + 0.03215004674991878, + 0.2464680857238807, + -0.9659169951406977, + 0.07910651817625886, + 0.050798183865715704, + -0.0686368067434498, + -0.996347596612752 + ], + [ + 0.9665821273341465, + 0.2563516202042833, + 0.0016846177119443388, + 0.2559205990849864, + -0.9652986178409417, + 0.051992550989057175, + 0.014954533833528853, + -0.04982394216646197, + -0.9986460517644955 + ], + [ + 0.9634468325145501, + 0.2677669732267221, + -0.008429054910274032, + 0.26785561342692404, + -0.9622414875899246, + 0.04842199826953998, + 0.004855025578385056, + -0.048909790530414, + -0.998791400201716 + ], + [ + 0.9641462508210024, + 0.264208953041734, + -0.024812016451625542, + 0.26519712619235547, + -0.9626805604756489, + 0.054005765818166365, + -0.009617239059147102, + -0.058649532094310675, + -0.9982323081818169 + ], + [ + 0.9586815511358387, + 0.28218799902959596, + -0.036050197162492685, + 0.2838267144908632, + -0.9573567715709134, + 0.053948198011051676, + -0.019289366321987807, + -0.061951151167596544, + -0.9978927673933233 + ], + [ + 0.9587377426866154, + 0.2809854861145633, + -0.04323305842912186, + 0.2831162979127869, + -0.9574841952821418, + 0.05540015921518114, + -0.02582832949169169, + -0.06535420704034205, + -0.997527806638891 + ], + [ + 0.9602298235175944, + 0.27478825262895695, + -0.04949850749764072, + 0.277166928870571, + -0.9595136653770957, + 0.050120050828652334, + -0.033722093170877016, + -0.061846116868687705, + -0.9975158536386474 + ], + [ + 0.962361582732098, + 0.26845081957713995, + -0.04235966890489975, + 0.27035655091833427, + -0.9615366781680047, + 0.04852372526075072, + -0.027704141511929327, + -0.05814958302516487, + -0.9979233971288007 + ], + [ + 0.9617483512741994, + 0.2707404166999523, + -0.04171013769451251, + 0.2725778646799897, + -0.9609618166474471, + 0.047473093770425176, + -0.027228964502093084, + -0.057026429931870445, + -0.9980012874647854 + ], + [ + 0.9646736519293961, + 0.2596930546653093, + -0.04432000261511144, + 0.2617183885460695, + -0.9639269890223454, + 0.04845869304020104, + -0.03013686065354846, + -0.058346184047600884, + -0.9978414164771037 + ], + [ + 0.969432234707021, + 0.23971282631808188, + 0.05233453171232266, + 0.23568454526780785, + -0.9690826624542666, + 0.07301772697404611, + 0.06821977303434554, + -0.05845129792525423, + -0.9959565795445077 + ], + [ + 0.9810915779485323, + 0.16443128635256202, + 0.10208656986548469, + 0.16109246382261247, + -0.9861207585520761, + 0.04018790430263548, + 0.10727783451402732, + -0.02298263738388706, + -0.9939634121037159 + ], + [ + 0.9955759003017093, + 0.035326446322462846, + 0.08706703698109279, + 0.03482744981878824, + -0.999367085945905, + 0.007244050462959754, + 0.087267837589576, + -0.004179679200162581, + -0.9961761163590618 + ], + [ + 0.9971331120828498, + -0.06845055510413085, + 0.03225024486583667, + -0.06827448093323597, + -0.9976451989792697, + -0.0065308657090673, + 0.032621343339403995, + 0.004310273720892689, + -0.99945848813204 + ], + [ + 0.9932743063467793, + -0.11552599635650082, + 0.007739284021290317, + -0.11553598381726052, + -0.993302927685802, + 0.0008545725201983279, + 0.007588728134684819, + -0.001742990720663994, + -0.9999696861348576 + ], + [ + 0.9933540426994621, + -0.11325310919625389, + -0.020529956405625088, + -0.11340422992069624, + -0.9935286470789902, + -0.006348863637329701, + -0.019678071265480716, + 0.008634853257174446, + -0.9997690797481678 + ], + [ + 0.9934574058823955, + -0.10457228507309499, + -0.04590228634842592, + -0.10542081693221605, + -0.9942913878463047, + -0.016464732369941434, + -0.04391849331165316, + 0.02119606683469749, + -0.9988102385818707 + ], + [ + 0.9953815441256547, + -0.07806831697133582, + -0.05586519040771782, + -0.07854549948494172, + -0.9968900232618914, + -0.006394218604884364, + -0.05519226508024968, + 0.010752646472802357, + -0.9984178456283435 + ], + [ + 0.9959729308196983, + -0.06888566288274739, + -0.05738193551654664, + -0.0693625123390294, + -0.9975712602660861, + -0.006357874892671304, + -0.056804603303241476, + 0.010312426500942669, + -0.9983320544304005 + ], + [ + 0.9959731952731466, + -0.06821699691166455, + -0.05817074548045642, + -0.06813102664982706, + -0.9976703745052817, + 0.0034622308026895855, + -0.05827141241671294, + 0.0005149435352414266, + -0.9983006447599423 + ], + [ + 0.9978117157823091, + -0.0660832536372861, + -0.0021871068274126977, + -0.06601468042558437, + -0.9975469376021171, + 0.023284528102276783, + -0.0037204590943014917, + -0.023089193778645926, + -0.9997264862525048 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0035960376262664795, + 0.00046420469880104065, + -0.00881955772638321, + -0.0013264156877994537, + 0.03729076683521271, + -0.0006523430347442627, + 1.0 + ], + [ + 0.004950761795043945, + 0.031098010018467903, + 0.004902556538581848, + -0.006699856370687485, + 0.012558221817016602, + 0.08459405601024628, + 1.0 + ], + [ + 0.00889366865158081, + 0.036208998411893845, + 0.004995845258235931, + 0.009575612843036652, + 0.0087108314037323, + 0.07821325957775116, + 1.0 + ], + [ + 0.007670551538467407, + 0.041465453803539276, + 0.0082632377743721, + 0.04167887568473816, + 0.006693027913570404, + 0.060503385961055756, + 1.0 + ], + [ + 0.004185855388641357, + 0.04175195097923279, + -0.0034983158111572266, + 0.010172486305236816, + 0.010371997952461243, + 0.0861719623208046, + 1.0 + ], + [ + 0.0061113834381103516, + 0.02478627860546112, + -0.021178744733333588, + -0.022719845175743103, + 0.05124327912926674, + 0.05584755539894104, + 1.0 + ], + [ + 0.001186668872833252, + 0.0012338459491729736, + -0.01652834564447403, + -0.01892959326505661, + 0.03586496412754059, + 0.009466513991355896, + 1.0 + ], + [ + 0.004938960075378418, + 0.0017748326063156128, + -0.007439557462930679, + -0.000920269638299942, + 0.010100046172738075, + 0.012340396642684937, + 1.0 + ], + [ + 0.002035975456237793, + 0.0031387656927108765, + -0.005002623423933983, + 0.009756036102771759, + 0.014472432434558868, + -0.002748817205429077, + 1.0 + ], + [ + -0.003142744302749634, + 0.009080350399017334, + -0.002804005518555641, + 0.003316473215818405, + 0.009673175401985645, + 0.019416600465774536, + 1.0 + ], + [ + -0.0012402832508087158, + 0.001400575041770935, + -0.00163315050303936, + 0.0034202784299850464, + 0.006540639325976372, + -0.0006973743438720703, + 0.0 + ], + [ + 0.0003634989261627197, + -0.00030663609504699707, + -0.0035422686487436295, + -0.003501802682876587, + 0.007897285744547844, + -0.006131887435913086, + 0.0 + ], + [ + 0.001241147518157959, + -0.000818207859992981, + 0.0005014557391405106, + -0.003716103732585907, + -0.006020801141858101, + -0.0071372389793396, + 0.0 + ], + [ + 0.0007153153419494629, + -0.001750364899635315, + -1.2351199984550476e-05, + -0.0011261999607086182, + -0.0004753563553094864, + 0.00230523943901062, + 0.0 + ], + [ + 0.0011866092681884766, + -0.005285054445266724, + 0.00083162821829319, + 0.001327328383922577, + 0.0029090940952301025, + -0.011250972747802734, + 0.0 + ], + [ + 0.003663182258605957, + -0.011321388185024261, + 0.03933414816856384, + 0.00021545961499214172, + -0.09841422736644745, + -0.026436209678649902, + 0.0 + ], + [ + 0.008772224187850952, + -0.03392350673675537, + 0.015214774757623672, + -0.03550326079130173, + -0.039211876690387726, + -0.07574427127838135, + 0.0 + ], + [ + 0.00639072060585022, + -0.048890650272369385, + -0.0021240413188934326, + -0.01892239972949028, + 0.020105689764022827, + -0.12777701020240784, + 0.0 + ], + [ + 0.002216905355453491, + -0.03977378085255623, + -0.020017802715301514, + -0.008508280850946903, + 0.05475185438990593, + -0.1033320277929306, + 0.0 + ], + [ + 0.00418621301651001, + -0.023324575275182724, + -0.011725891381502151, + 0.006055624224245548, + 0.025038331747055054, + -0.04743385314941406, + 0.0 + ], + [ + 0.002839416265487671, + -0.0096005629748106, + -0.012800633907318115, + -0.010379674844443798, + 0.027268141508102417, + 0.0021271035075187683, + 0.0 + ], + [ + 0.001737833023071289, + -0.002091355621814728, + -0.008346760645508766, + -0.012581497430801392, + 0.024253282696008682, + 0.007951371371746063, + 1.0 + ], + [ + -0.00010666251182556152, + 0.0026387497782707214, + 0.0008829068392515182, + 0.010448860935866833, + 0.01128770038485527, + 0.026972688734531403, + 1.0 + ], + [ + -0.00038751959800720215, + 0.000600496307015419, + -0.0003169812262058258, + 0.00043998099863529205, + 0.0016148723661899567, + 0.009216062724590302, + 1.0 + ], + [ + -0.006669878959655762, + 0.000934947282075882, + 0.004259655252099037, + 0.009813467971980572, + 0.0014692433178424835, + 0.0012306198477745056, + 1.0 + ], + [ + -0.007770359516143799, + -0.0009534135460853577, + 0.02242100052535534, + 0.023607226088643074, + -0.05458397418260574, + 0.0022369027137756348, + 1.0 + ], + [ + -0.005904942750930786, + 0.0010526888072490692, + 0.010225344449281693, + 0.006564004346728325, + -0.060941074043512344, + 0.01843593642115593, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9255412817001343 + ], + [ + 0.6591242551803589 + ], + [ + 0.3669656813144684 + ], + [ + 0.32124534249305725 + ], + [ + 0.32124534249305725 + ], + [ + 0.32124534249305725 + ], + [ + 0.32124534249305725 + ], + [ + 0.32124534249305725 + ], + [ + 0.32124534249305725 + ], + [ + 0.32124534249305725 + ], + [ + 0.32124534249305725 + ], + [ + 0.41037410497665405 + ], + [ + 0.6902000904083252 + ], + [ + 0.9635607004165649 + ], + [ + 1.0041072368621826 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.29992979764938354, + -0.0492716021835804, + 0.06328929215669632 + ], + [ + 0.3048805594444275, + -0.018173592165112495, + 0.06819184869527817 + ], + [ + 0.3137742280960083, + 0.01803540624678135, + 0.0731876939535141 + ], + [ + 0.3214447796344757, + 0.059500858187675476, + 0.0814509317278862 + ], + [ + 0.32563063502311707, + 0.10125280916690826, + 0.07795261591672897 + ], + [ + 0.3317420184612274, + 0.12603908777236938, + 0.056773871183395386 + ], + [ + 0.33292868733406067, + 0.12727293372154236, + 0.040245525538921356 + ], + [ + 0.3378676474094391, + 0.12904776632785797, + 0.03280596807599068 + ], + [ + 0.3399036228656769, + 0.13218653202056885, + 0.027803344652056694 + ], + [ + 0.33676087856292725, + 0.14126688241958618, + 0.024999339133501053 + ], + [ + 0.33552059531211853, + 0.14266745746135712, + 0.023366188630461693 + ], + [ + 0.33588409423828125, + 0.14236082136631012, + 0.019823919981718063 + ], + [ + 0.3371252417564392, + 0.14154261350631714, + 0.020325375720858574 + ], + [ + 0.33784055709838867, + 0.13979224860668182, + 0.020313024520874023 + ], + [ + 0.33902716636657715, + 0.1345071941614151, + 0.021144652739167213 + ], + [ + 0.3426903486251831, + 0.12318580597639084, + 0.060478802770376205 + ], + [ + 0.35146257281303406, + 0.08926229923963547, + 0.07569357752799988 + ], + [ + 0.3578532934188843, + 0.04037164896726608, + 0.07356953620910645 + ], + [ + 0.36007019877433777, + 0.0005978671251796186, + 0.05355173349380493 + ], + [ + 0.3642564117908478, + -0.02272670902311802, + 0.04182584211230278 + ], + [ + 0.36709582805633545, + -0.03232727199792862, + 0.029025208204984665 + ], + [ + 0.36883366107940674, + -0.03441862761974335, + 0.0206784475594759 + ], + [ + 0.3687269985675812, + -0.031779877841472626, + 0.021561354398727417 + ], + [ + 0.368339478969574, + -0.031179381534457207, + 0.02124437317252159 + ], + [ + 0.3616696000099182, + -0.030244434252381325, + 0.02550402842462063 + ], + [ + 0.3538992404937744, + -0.031197847798466682, + 0.04792502894997597 + ], + [ + 0.34799429774284363, + -0.030145158991217613, + 0.05815037339925766 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9835098846345136, + -0.11051914341695782, + 0.14315664764371722, + -0.1145689593466854, + -0.9932071187091335, + 0.020336491824272183, + 0.1399366298737505, + -0.036402448872061476, + -0.9894910819889655 + ], + [ + 0.9913516112052201, + -0.027522307500809372, + 0.12831408944712744, + -0.03111205018958994, + -0.9991762245403978, + 0.026055952222041222, + 0.12749126751983827, + -0.029822724607717354, + -0.9913912354883705 + ], + [ + 0.9918235816091368, + 0.0514918272606282, + 0.11676718155965528, + 0.04649110780751484, + -0.9978976022946193, + 0.04515475865819369, + 0.11884679153790355, + -0.03935691883279626, + -0.9921322860793991 + ], + [ + 0.9879663665251666, + 0.11584560047375626, + 0.102480512615498, + 0.10646095808391388, + -0.9899814874646788, + 0.09275084302084385, + 0.11219858741943024, + -0.08072453981347266, + -0.9904014467139008 + ], + [ + 0.9762274404595673, + 0.200641204540478, + 0.08199446038792992, + 0.19130912318914717, + -0.9754388432120993, + 0.10917821457434262, + 0.10188623007237753, + -0.09089648064467382, + -0.9906346581500421 + ], + [ + 0.9678186954360566, + 0.24958635230802848, + 0.03215004674991878, + 0.2464680857238807, + -0.9659169951406977, + 0.07910651817625886, + 0.050798183865715704, + -0.0686368067434498, + -0.996347596612752 + ], + [ + 0.9665821273341465, + 0.2563516202042833, + 0.0016846177119443388, + 0.2559205990849864, + -0.9652986178409417, + 0.051992550989057175, + 0.014954533833528853, + -0.04982394216646197, + -0.9986460517644955 + ], + [ + 0.9634468325145501, + 0.2677669732267221, + -0.008429054910274032, + 0.26785561342692404, + -0.9622414875899246, + 0.04842199826953998, + 0.004855025578385056, + -0.048909790530414, + -0.998791400201716 + ], + [ + 0.9641462508210024, + 0.264208953041734, + -0.024812016451625542, + 0.26519712619235547, + -0.9626805604756489, + 0.054005765818166365, + -0.009617239059147102, + -0.058649532094310675, + -0.9982323081818169 + ], + [ + 0.9586815511358387, + 0.28218799902959596, + -0.036050197162492685, + 0.2838267144908632, + -0.9573567715709134, + 0.053948198011051676, + -0.019289366321987807, + -0.061951151167596544, + -0.9978927673933233 + ], + [ + 0.9587377426866154, + 0.2809854861145633, + -0.04323305842912186, + 0.2831162979127869, + -0.9574841952821418, + 0.05540015921518114, + -0.02582832949169169, + -0.06535420704034205, + -0.997527806638891 + ], + [ + 0.9602298235175944, + 0.27478825262895695, + -0.04949850749764072, + 0.277166928870571, + -0.9595136653770957, + 0.050120050828652334, + -0.033722093170877016, + -0.061846116868687705, + -0.9975158536386474 + ], + [ + 0.962361582732098, + 0.26845081957713995, + -0.04235966890489975, + 0.27035655091833427, + -0.9615366781680047, + 0.04852372526075072, + -0.027704141511929327, + -0.05814958302516487, + -0.9979233971288007 + ], + [ + 0.9617483512741994, + 0.2707404166999523, + -0.04171013769451251, + 0.2725778646799897, + -0.9609618166474471, + 0.047473093770425176, + -0.027228964502093084, + -0.057026429931870445, + -0.9980012874647854 + ], + [ + 0.9646736519293961, + 0.2596930546653093, + -0.04432000261511144, + 0.2617183885460695, + -0.9639269890223454, + 0.04845869304020104, + -0.03013686065354846, + -0.058346184047600884, + -0.9978414164771037 + ], + [ + 0.969432234707021, + 0.23971282631808188, + 0.05233453171232266, + 0.23568454526780785, + -0.9690826624542666, + 0.07301772697404611, + 0.06821977303434554, + -0.05845129792525423, + -0.9959565795445077 + ], + [ + 0.9810915779485323, + 0.16443128635256202, + 0.10208656986548469, + 0.16109246382261247, + -0.9861207585520761, + 0.04018790430263548, + 0.10727783451402732, + -0.02298263738388706, + -0.9939634121037159 + ], + [ + 0.9955759003017093, + 0.035326446322462846, + 0.08706703698109279, + 0.03482744981878824, + -0.999367085945905, + 0.007244050462959754, + 0.087267837589576, + -0.004179679200162581, + -0.9961761163590618 + ], + [ + 0.9971331120828498, + -0.06845055510413085, + 0.03225024486583667, + -0.06827448093323597, + -0.9976451989792697, + -0.0065308657090673, + 0.032621343339403995, + 0.004310273720892689, + -0.99945848813204 + ], + [ + 0.9932743063467793, + -0.11552599635650082, + 0.007739284021290317, + -0.11553598381726052, + -0.993302927685802, + 0.0008545725201983279, + 0.007588728134684819, + -0.001742990720663994, + -0.9999696861348576 + ], + [ + 0.9933540426994621, + -0.11325310919625389, + -0.020529956405625088, + -0.11340422992069624, + -0.9935286470789902, + -0.006348863637329701, + -0.019678071265480716, + 0.008634853257174446, + -0.9997690797481678 + ], + [ + 0.9934574058823955, + -0.10457228507309499, + -0.04590228634842592, + -0.10542081693221605, + -0.9942913878463047, + -0.016464732369941434, + -0.04391849331165316, + 0.02119606683469749, + -0.9988102385818707 + ], + [ + 0.9953815441256547, + -0.07806831697133582, + -0.05586519040771782, + -0.07854549948494172, + -0.9968900232618914, + -0.006394218604884364, + -0.05519226508024968, + 0.010752646472802357, + -0.9984178456283435 + ], + [ + 0.9959729308196983, + -0.06888566288274739, + -0.05738193551654664, + -0.0693625123390294, + -0.9975712602660861, + -0.006357874892671304, + -0.056804603303241476, + 0.010312426500942669, + -0.9983320544304005 + ], + [ + 0.9959731952731466, + -0.06821699691166455, + -0.05817074548045642, + -0.06813102664982706, + -0.9976703745052817, + 0.0034622308026895855, + -0.05827141241671294, + 0.0005149435352414266, + -0.9983006447599423 + ], + [ + 0.9978117157823091, + -0.0660832536372861, + -0.0021871068274126977, + -0.06601468042558437, + -0.9975469376021171, + 0.023284528102276783, + -0.0037204590943014917, + -0.023089193778645926, + -0.9997264862525048 + ], + [ + 0.9972312407310006, + -0.04589450371730645, + 0.05851108475025965, + -0.047531320500131084, + -0.9985075785648901, + 0.026895894110330408, + 0.057189387840959977, + -0.02960253497628932, + -0.9979243778169539 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006180.json b/json/chunk-0006/episode_0006180.json new file mode 100644 index 0000000000000000000000000000000000000000..bace879e11d0fb4420031e77c4bcad86f08efe43 --- /dev/null +++ b/json/chunk-0006/episode_0006180.json @@ -0,0 +1,1462 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 23, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPlace the spoon in the front of the microwave." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006180.mp4", + "start": 0, + "end": 23, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2829265296459198, + 0.006795557681471109, + 0.07962609082460403, + -0.02851862460374832, + -0.07276713103055954, + 0.0783829540014267, + 0.0, + 1.0008161067962646 + ], + [ + 0.28242218494415283, + 0.006541612092405558, + 0.06849469989538193, + -0.025890538468956947, + -0.032769348472356796, + 0.08355303853750229, + 0.0, + 1.0008161067962646 + ], + [ + 0.3121311068534851, + 0.0034849958028644323, + 0.057232435792684555, + -0.006024941336363554, + -0.010305972769856453, + 0.092232845723629, + 0.0, + 1.0008161067962646 + ], + [ + 0.3495263159275055, + 0.001682757050730288, + 0.05618453398346901, + 0.0070947022177278996, + -0.03319760411977768, + 0.10740461200475693, + 0.0, + 1.0008161067962646 + ], + [ + 0.3784085512161255, + 0.001537779695354402, + 0.046418651938438416, + 0.00842940155416727, + -0.04572483152151108, + 0.10761240124702454, + 0.0, + 1.0008161067962646 + ], + [ + 0.3894748091697693, + -0.002879553474485874, + 0.01794028840959072, + 0.028305353596806526, + 0.012655867263674736, + 0.0714113712310791, + 0.0, + 1.0008161067962646 + ], + [ + 0.3981040120124817, + -0.005393673200160265, + 0.009232708252966404, + 0.03364234045147896, + 0.028001224622130394, + 0.048454638570547104, + 0.0, + 0.9445669651031494 + ], + [ + 0.4006143808364868, + -0.007002211641520262, + 0.007961864583194256, + 0.02269776165485382, + 0.01707163080573082, + 0.028473306447267532, + 0.0, + 0.672171950340271 + ], + [ + 0.3977472186088562, + -0.007387903984636068, + 0.006895615719258785, + 0.019386474043130875, + 0.012909355573356152, + 0.01574614644050598, + 0.0, + 0.4220271706581116 + ], + [ + 0.39307665824890137, + -0.009649490937590599, + 0.009284567087888718, + 0.00023527839221060276, + 0.007666326593607664, + 0.0061368257738649845, + 0.0, + 0.4068177044391632 + ], + [ + 0.38716453313827515, + -0.0020400327630341053, + 0.03065415658056736, + -0.046776093542575836, + -0.02791842445731163, + 0.020556766539812088, + 0.0, + 0.4059307873249054 + ], + [ + 0.37769410014152527, + 0.029785215854644775, + 0.07971011102199554, + -0.0678899809718132, + -0.12660694122314453, + 0.07412701845169067, + 0.0, + 0.4059307873249054 + ], + [ + 0.3602565824985504, + 0.0831955298781395, + 0.10054740309715271, + -0.05999867990612984, + -0.17357085645198822, + 0.14884048700332642, + 0.0, + 0.4059307873249054 + ], + [ + 0.3497026562690735, + 0.12503184378147125, + 0.09981292486190796, + -0.04617178812623024, + -0.16664397716522217, + 0.1680440604686737, + 0.0, + 0.4059307873249054 + ], + [ + 0.3515726625919342, + 0.16554304957389832, + 0.06827124953269958, + -0.04965049400925636, + -0.10777479410171509, + 0.1278662085533142, + 0.0, + 0.4059307873249054 + ], + [ + 0.3619687855243683, + 0.18749582767486572, + 0.0416678786277771, + -0.020499885082244873, + -0.07508433610200882, + 0.08142158389091492, + 0.0, + 0.4059307873249054 + ], + [ + 0.35917454957962036, + 0.19476687908172607, + 0.01651403121650219, + -0.004989870358258486, + -0.03772978484630585, + 0.08001842349767685, + 0.0, + 0.4059307873249054 + ], + [ + 0.3640775680541992, + 0.19895026087760925, + 0.013629059307277203, + 0.005876899231225252, + -0.049883030354976654, + 0.0654025599360466, + 0.0, + 0.4059307873249054 + ], + [ + 0.3644559979438782, + 0.19846579432487488, + 0.011986863799393177, + 0.005520304199308157, + -0.05705999210476875, + 0.057069260627031326, + 0.0, + 0.48038846254348755 + ], + [ + 0.3613061308860779, + 0.1936178356409073, + 0.012440003454685211, + 0.024403652176260948, + -0.06151380017399788, + 0.03765858709812164, + 0.0, + 0.7720533609390259 + ], + [ + 0.3500784933567047, + 0.19100172817707062, + 0.03418559208512306, + 0.059376444667577744, + -0.09675796329975128, + 0.09797591716051102, + 0.0, + 0.9961419701576233 + ], + [ + 0.3372289836406708, + 0.19238106906414032, + 0.07648124545812607, + 0.056186169385910034, + -0.17718087136745453, + 0.17121507227420807, + 0.0, + 1.0027955770492554 + ], + [ + 0.32602840662002563, + 0.19252382218837738, + 0.08705178648233414, + 0.038972120732069016, + -0.14575894176959991, + 0.19641302525997162, + 0.0, + 1.0001531839370728 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9445669651031494 + ], + [ + 0.672171950340271 + ], + [ + 0.4220271706581116 + ], + [ + 0.4068177044391632 + ], + [ + 0.4059307873249054 + ], + [ + 0.4059307873249054 + ], + [ + 0.4059307873249054 + ], + [ + 0.4059307873249054 + ], + [ + 0.4059307873249054 + ], + [ + 0.4059307873249054 + ], + [ + 0.4059307873249054 + ], + [ + 0.4059307873249054 + ], + [ + 0.48038846254348755 + ], + [ + 0.7720533609390259 + ], + [ + 0.9961419701576233 + ], + [ + 1.0027955770492554 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2829265296459198, + 0.006795557681471109, + 0.07962609082460403 + ], + [ + 0.28242218494415283, + 0.006541612092405558, + 0.06849469989538193 + ], + [ + 0.3121311068534851, + 0.0034849958028644323, + 0.057232435792684555 + ], + [ + 0.3495263159275055, + 0.001682757050730288, + 0.05618453398346901 + ], + [ + 0.3784085512161255, + 0.001537779695354402, + 0.046418651938438416 + ], + [ + 0.3894748091697693, + -0.002879553474485874, + 0.01794028840959072 + ], + [ + 0.3981040120124817, + -0.005393673200160265, + 0.009232708252966404 + ], + [ + 0.4006143808364868, + -0.007002211641520262, + 0.007961864583194256 + ], + [ + 0.3977472186088562, + -0.007387903984636068, + 0.006895615719258785 + ], + [ + 0.39307665824890137, + -0.009649490937590599, + 0.009284567087888718 + ], + [ + 0.38716453313827515, + -0.0020400327630341053, + 0.03065415658056736 + ], + [ + 0.37769410014152527, + 0.029785215854644775, + 0.07971011102199554 + ], + [ + 0.3602565824985504, + 0.0831955298781395, + 0.10054740309715271 + ], + [ + 0.3497026562690735, + 0.12503184378147125, + 0.09981292486190796 + ], + [ + 0.3515726625919342, + 0.16554304957389832, + 0.06827124953269958 + ], + [ + 0.3619687855243683, + 0.18749582767486572, + 0.0416678786277771 + ], + [ + 0.35917454957962036, + 0.19476687908172607, + 0.01651403121650219 + ], + [ + 0.3640775680541992, + 0.19895026087760925, + 0.013629059307277203 + ], + [ + 0.3644559979438782, + 0.19846579432487488, + 0.011986863799393177 + ], + [ + 0.3613061308860779, + 0.1936178356409073, + 0.012440003454685211 + ], + [ + 0.3500784933567047, + 0.19100172817707062, + 0.03418559208512306 + ], + [ + 0.3372289836406708, + 0.19238106906414032, + 0.07648124545812607 + ], + [ + 0.32602840662002563, + 0.19252382218837738, + 0.08705178648233414 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9942913944003453, + 0.07620413453834955, + 0.07468301614609511, + 0.0780954988309563, + -0.9966865787041032, + -0.022736686070171062, + 0.07270293036570731, + 0.028439298696882956, + -0.9969480880195661 + ], + [ + 0.9959764808846454, + 0.08258267685037066, + 0.03479872136824777, + 0.0834110522696982, + -0.9962482876554345, + -0.023063948119878518, + 0.03276348400123778, + 0.025873747850708215, + -0.9991281716017514 + ], + [ + 0.9956966851911143, + 0.09203863296592088, + 0.01081670657783544, + 0.09209724091983407, + -0.9957372115263274, + -0.005050128387229897, + 0.010305790332649315, + 0.006024584926612422, + -0.9999287449924025 + ], + [ + 0.9936898523923616, + 0.10742965934005455, + 0.032238882526013, + 0.10713916713531868, + -0.994187401746151, + 0.01061174230687183, + 0.03319150671476794, + -0.007090733623330838, + -0.9994238567188028 + ], + [ + 0.9931762192537902, + 0.10778407138308753, + 0.044537528723905435, + 0.10729256254610108, + -0.9941386670278887, + 0.013289723183860873, + 0.04570889991061038, + -0.008420491440417987, + -0.9989193119531045 + ], + [ + 0.9973714111111452, + 0.07096485253208741, + -0.014637554551963925, + 0.07134497791270798, + -0.9970772983559767, + 0.027326822533575507, + -0.012655529415944713, + -0.028299307557701974, + -0.9995193778846694 + ], + [ + 0.9984347550896868, + 0.04746765207022976, + -0.029578063424381774, + 0.048416692869463186, + -0.9983067307771715, + 0.03224120246796342, + -0.02799756561883928, + -0.03362280910238986, + -0.99904236297941 + ], + [ + 0.9994490051102513, + 0.02807484731940256, + -0.017705624307598845, + 0.028465310769411292, + -0.9993482141562237, + 0.022200742004897467, + -0.017070801590154984, + -0.02269250560778637, + -0.9995967376508943 + ], + [ + 0.999792717753677, + 0.015492323760370609, + -0.013210201785743475, + 0.01574418377563642, + -0.9996920837100719, + 0.019179636197107025, + -0.012908997015848703, + -0.01938364444366042, + -0.9997287792817241 + ], + [ + 0.9999517841593614, + 0.006134983415282926, + -0.007667550782647273, + 0.006136606918006909, + -0.9999811531353113, + 0.0001882278065016971, + -0.007666251498883995, + -0.00023527147611673757, + -0.9999705861850581 + ], + [ + 0.999399105551624, + 0.019227842003665133, + 0.02883952001153161, + 0.020547308472790647, + -0.9987219764340273, + -0.04617598837311266, + 0.02791479781652425, + 0.04674081599193516, + -0.9985169303438326 + ], + [ + 0.9892718717378214, + 0.06534625406637191, + 0.13065615510889805, + 0.073466385003308, + -0.9955909137328541, + -0.058321717799856856, + 0.12626897506075263, + 0.06729487032511165, + -0.9897108397734327 + ], + [ + 0.9740841755493146, + 0.13778360606876638, + 0.1793758535675825, + 0.1460633638811954, + -0.9886998493997943, + -0.033735760381727896, + 0.17270064468936214, + 0.05906171090910648, + -0.9832020146584157 + ], + [ + 0.9722559235836989, + 0.15952791139564818, + 0.17108262489847215, + 0.16493730812597976, + -0.9861435695547375, + -0.017791700705571775, + 0.16587375755243716, + 0.04551599401950114, + -0.9850960312801248 + ], + [ + 0.9860815314487158, + 0.1220659759351972, + 0.11288538813656764, + 0.12677819234388243, + -0.9912947345937045, + -0.03552518983503014, + 0.10756627390485, + 0.049342139047524464, + -0.9929727337809644 + ], + [ + 0.993878923096454, + 0.07978198841477101, + 0.07641675568367493, + 0.08110249768298274, + -0.9966027354570515, + -0.01433082513689999, + 0.07501380602405733, + 0.020440694804922055, + -0.9969729720015871 + ], + [ + 0.9960908271467555, + 0.07974444438715328, + 0.037998521859101325, + 0.07987617145864925, + -0.9968028693864677, + -0.0019587792149918454, + 0.037720833861419986, + 0.004986298455651909, + -0.9992758755821689 + ], + [ + 0.9966207738904533, + 0.06564722255165424, + 0.04937079320050566, + 0.06527464710483881, + -0.9978256313070925, + 0.009123045102428905, + 0.049862345465614404, + -0.005869555166771225, + -0.9987388521664768 + ], + [ + 0.996747161513876, + 0.057351721931628456, + 0.05662045571618353, + 0.056945458865017166, + -0.9983388230714549, + 0.008764077986578576, + 0.05702903408513746, + -0.005511292024503986, + -0.9983573082476719 + ], + [ + 0.9974009629060644, + 0.03913747872413548, + 0.060494437373808004, + 0.03757847692571624, + -0.9989369789581085, + 0.02669775537364881, + 0.06147501334688061, + -0.024355078098122047, + -0.9978114315364579 + ], + [ + 0.9905492290828259, + 0.10335217962545122, + 0.0901695720855331, + 0.09736170285481284, + -0.9928896067473323, + 0.0684903469865608, + 0.09660705761294468, + -0.05906399732321573, + -0.9935685787300104 + ], + [ + 0.9699518680959766, + 0.17986409373218276, + 0.163836141809509, + 0.1677123982429592, + -0.9821371142304287, + 0.08531846416058243, + 0.17625528375830335, + -0.05527745143389025, + -0.9827911671918168 + ], + [ + 0.9703727378188474, + 0.20055460635998512, + 0.1347390053612764, + 0.1930831802840724, + -0.9789238054349778, + 0.06653622054257592, + 0.14524336538838203, + -0.038549098828550094, + -0.9886446944125902 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0005043447017669678, + -0.00025394558906555176, + -0.011131390929222107, + 0.002628086134791374, + 0.039997782558202744, + 0.005170084536075592, + 1.0 + ], + [ + 0.029708921909332275, + -0.0030566162895411253, + -0.011262264102697372, + 0.019865596666932106, + 0.022463375702500343, + 0.008679807186126709, + 1.0 + ], + [ + 0.037395209074020386, + -0.0018022387521341443, + -0.0010479018092155457, + 0.013119643554091454, + -0.022891631349921227, + 0.01517176628112793, + 1.0 + ], + [ + 0.028882235288619995, + -0.00014497735537588596, + -0.009765882045030594, + 0.0013346993364393711, + -0.012527227401733398, + 0.00020778924226760864, + 1.0 + ], + [ + 0.011066257953643799, + -0.004417333286255598, + -0.028478363528847694, + 0.01987595111131668, + 0.05838070064783096, + -0.036201030015945435, + 1.0 + ], + [ + 0.008629202842712402, + -0.002514119725674391, + -0.008707580156624317, + 0.005336986854672432, + 0.015345357358455658, + -0.022956732660531998, + 0.0 + ], + [ + 0.002510368824005127, + -0.0016085384413599968, + -0.0012708436697721481, + -0.010944578796625137, + -0.010929593816399574, + -0.01998133212327957, + 0.0 + ], + [ + -0.0028671622276306152, + -0.0003856923431158066, + -0.0010662488639354706, + -0.003311287611722946, + -0.004162275232374668, + -0.012727160006761551, + 0.0 + ], + [ + -0.004670560359954834, + -0.0022615869529545307, + 0.0023889513686299324, + -0.019151195883750916, + -0.0052430289797484875, + -0.009609321132302284, + 0.0 + ], + [ + -0.005912125110626221, + 0.007609458174556494, + 0.021369589492678642, + -0.047011371701955795, + -0.03558475151658058, + 0.01441994123160839, + 0.0 + ], + [ + -0.009470432996749878, + 0.03182524815201759, + 0.049055956304073334, + -0.021113887429237366, + -0.0986885130405426, + 0.053570251911878586, + 0.0 + ], + [ + -0.017437517642974854, + 0.05341031402349472, + 0.020837292075157166, + 0.007891301065683365, + -0.04696391522884369, + 0.07471346855163574, + 0.0 + ], + [ + -0.010553926229476929, + 0.04183631390333176, + -0.000734478235244751, + 0.013826891779899597, + 0.006926879286766052, + 0.01920357346534729, + 0.0 + ], + [ + 0.0018700063228607178, + 0.04051120579242706, + -0.031541675329208374, + -0.003478705883026123, + 0.05886918306350708, + -0.0401778519153595, + 0.0 + ], + [ + 0.010396122932434082, + 0.021952778100967407, + -0.026603370904922485, + 0.02915060892701149, + 0.03269045799970627, + -0.04644462466239929, + 0.0 + ], + [ + -0.002794235944747925, + 0.0072710514068603516, + -0.02515384741127491, + 0.015510015189647675, + 0.03735455125570297, + -0.0014031603932380676, + 0.0 + ], + [ + 0.004903018474578857, + 0.004183381795883179, + -0.002884971909224987, + 0.010866769589483738, + -0.012153245508670807, + -0.014615863561630249, + 0.0 + ], + [ + 0.0003784298896789551, + -0.000484466552734375, + -0.0016421955078840256, + -0.0003565950319170952, + -0.007176961749792099, + -0.008333299309015274, + 1.0 + ], + [ + -0.003149867057800293, + -0.00484795868396759, + 0.00045313965529203415, + 0.018883347511291504, + -0.004453808069229126, + -0.019410673528909683, + 1.0 + ], + [ + -0.011227637529373169, + -0.00261610746383667, + 0.02174558863043785, + 0.034972794353961945, + -0.0352441631257534, + 0.060317330062389374, + 1.0 + ], + [ + -0.012849509716033936, + 0.0013793408870697021, + 0.042295653373003006, + -0.0031902752816677094, + -0.08042290806770325, + 0.07323915511369705, + 1.0 + ], + [ + -0.011200577020645142, + 0.00014275312423706055, + 0.010570541024208069, + -0.01721404865384102, + 0.031421929597854614, + 0.02519795298576355, + 1.0 + ], + [ + -0.004371285438537598, + -0.005716890096664429, + -0.001218356192111969, + -0.00215144082903862, + 0.043236009776592255, + -0.015758678317070007, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9445669651031494 + ], + [ + 0.672171950340271 + ], + [ + 0.4220271706581116 + ], + [ + 0.4068177044391632 + ], + [ + 0.4059307873249054 + ], + [ + 0.4059307873249054 + ], + [ + 0.4059307873249054 + ], + [ + 0.4059307873249054 + ], + [ + 0.4059307873249054 + ], + [ + 0.4059307873249054 + ], + [ + 0.4059307873249054 + ], + [ + 0.4059307873249054 + ], + [ + 0.48038846254348755 + ], + [ + 0.7720533609390259 + ], + [ + 0.9961419701576233 + ], + [ + 1.0027955770492554 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.28242218494415283, + 0.006541612092405558, + 0.06849469989538193 + ], + [ + 0.3121311068534851, + 0.0034849958028644323, + 0.057232435792684555 + ], + [ + 0.3495263159275055, + 0.001682757050730288, + 0.05618453398346901 + ], + [ + 0.3784085512161255, + 0.001537779695354402, + 0.046418651938438416 + ], + [ + 0.3894748091697693, + -0.002879553474485874, + 0.01794028840959072 + ], + [ + 0.3981040120124817, + -0.005393673200160265, + 0.009232708252966404 + ], + [ + 0.4006143808364868, + -0.007002211641520262, + 0.007961864583194256 + ], + [ + 0.3977472186088562, + -0.007387903984636068, + 0.006895615719258785 + ], + [ + 0.39307665824890137, + -0.009649490937590599, + 0.009284567087888718 + ], + [ + 0.38716453313827515, + -0.0020400327630341053, + 0.03065415658056736 + ], + [ + 0.37769410014152527, + 0.029785215854644775, + 0.07971011102199554 + ], + [ + 0.3602565824985504, + 0.0831955298781395, + 0.10054740309715271 + ], + [ + 0.3497026562690735, + 0.12503184378147125, + 0.09981292486190796 + ], + [ + 0.3515726625919342, + 0.16554304957389832, + 0.06827124953269958 + ], + [ + 0.3619687855243683, + 0.18749582767486572, + 0.0416678786277771 + ], + [ + 0.35917454957962036, + 0.19476687908172607, + 0.01651403121650219 + ], + [ + 0.3640775680541992, + 0.19895026087760925, + 0.013629059307277203 + ], + [ + 0.3644559979438782, + 0.19846579432487488, + 0.011986863799393177 + ], + [ + 0.3613061308860779, + 0.1936178356409073, + 0.012440003454685211 + ], + [ + 0.3500784933567047, + 0.19100172817707062, + 0.03418559208512306 + ], + [ + 0.3372289836406708, + 0.19238106906414032, + 0.07648124545812607 + ], + [ + 0.32602840662002563, + 0.19252382218837738, + 0.08705178648233414 + ], + [ + 0.32165712118148804, + 0.18680693209171295, + 0.08583343029022217 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9959764808846454, + 0.08258267685037066, + 0.03479872136824777, + 0.0834110522696982, + -0.9962482876554345, + -0.023063948119878518, + 0.03276348400123778, + 0.025873747850708215, + -0.9991281716017514 + ], + [ + 0.9956966851911143, + 0.09203863296592088, + 0.01081670657783544, + 0.09209724091983407, + -0.9957372115263274, + -0.005050128387229897, + 0.010305790332649315, + 0.006024584926612422, + -0.9999287449924025 + ], + [ + 0.9936898523923616, + 0.10742965934005455, + 0.032238882526013, + 0.10713916713531868, + -0.994187401746151, + 0.01061174230687183, + 0.03319150671476794, + -0.007090733623330838, + -0.9994238567188028 + ], + [ + 0.9931762192537902, + 0.10778407138308753, + 0.044537528723905435, + 0.10729256254610108, + -0.9941386670278887, + 0.013289723183860873, + 0.04570889991061038, + -0.008420491440417987, + -0.9989193119531045 + ], + [ + 0.9973714111111452, + 0.07096485253208741, + -0.014637554551963925, + 0.07134497791270798, + -0.9970772983559767, + 0.027326822533575507, + -0.012655529415944713, + -0.028299307557701974, + -0.9995193778846694 + ], + [ + 0.9984347550896868, + 0.04746765207022976, + -0.029578063424381774, + 0.048416692869463186, + -0.9983067307771715, + 0.03224120246796342, + -0.02799756561883928, + -0.03362280910238986, + -0.99904236297941 + ], + [ + 0.9994490051102513, + 0.02807484731940256, + -0.017705624307598845, + 0.028465310769411292, + -0.9993482141562237, + 0.022200742004897467, + -0.017070801590154984, + -0.02269250560778637, + -0.9995967376508943 + ], + [ + 0.999792717753677, + 0.015492323760370609, + -0.013210201785743475, + 0.01574418377563642, + -0.9996920837100719, + 0.019179636197107025, + -0.012908997015848703, + -0.01938364444366042, + -0.9997287792817241 + ], + [ + 0.9999517841593614, + 0.006134983415282926, + -0.007667550782647273, + 0.006136606918006909, + -0.9999811531353113, + 0.0001882278065016971, + -0.007666251498883995, + -0.00023527147611673757, + -0.9999705861850581 + ], + [ + 0.999399105551624, + 0.019227842003665133, + 0.02883952001153161, + 0.020547308472790647, + -0.9987219764340273, + -0.04617598837311266, + 0.02791479781652425, + 0.04674081599193516, + -0.9985169303438326 + ], + [ + 0.9892718717378214, + 0.06534625406637191, + 0.13065615510889805, + 0.073466385003308, + -0.9955909137328541, + -0.058321717799856856, + 0.12626897506075263, + 0.06729487032511165, + -0.9897108397734327 + ], + [ + 0.9740841755493146, + 0.13778360606876638, + 0.1793758535675825, + 0.1460633638811954, + -0.9886998493997943, + -0.033735760381727896, + 0.17270064468936214, + 0.05906171090910648, + -0.9832020146584157 + ], + [ + 0.9722559235836989, + 0.15952791139564818, + 0.17108262489847215, + 0.16493730812597976, + -0.9861435695547375, + -0.017791700705571775, + 0.16587375755243716, + 0.04551599401950114, + -0.9850960312801248 + ], + [ + 0.9860815314487158, + 0.1220659759351972, + 0.11288538813656764, + 0.12677819234388243, + -0.9912947345937045, + -0.03552518983503014, + 0.10756627390485, + 0.049342139047524464, + -0.9929727337809644 + ], + [ + 0.993878923096454, + 0.07978198841477101, + 0.07641675568367493, + 0.08110249768298274, + -0.9966027354570515, + -0.01433082513689999, + 0.07501380602405733, + 0.020440694804922055, + -0.9969729720015871 + ], + [ + 0.9960908271467555, + 0.07974444438715328, + 0.037998521859101325, + 0.07987617145864925, + -0.9968028693864677, + -0.0019587792149918454, + 0.037720833861419986, + 0.004986298455651909, + -0.9992758755821689 + ], + [ + 0.9966207738904533, + 0.06564722255165424, + 0.04937079320050566, + 0.06527464710483881, + -0.9978256313070925, + 0.009123045102428905, + 0.049862345465614404, + -0.005869555166771225, + -0.9987388521664768 + ], + [ + 0.996747161513876, + 0.057351721931628456, + 0.05662045571618353, + 0.056945458865017166, + -0.9983388230714549, + 0.008764077986578576, + 0.05702903408513746, + -0.005511292024503986, + -0.9983573082476719 + ], + [ + 0.9974009629060644, + 0.03913747872413548, + 0.060494437373808004, + 0.03757847692571624, + -0.9989369789581085, + 0.02669775537364881, + 0.06147501334688061, + -0.024355078098122047, + -0.9978114315364579 + ], + [ + 0.9905492290828259, + 0.10335217962545122, + 0.0901695720855331, + 0.09736170285481284, + -0.9928896067473323, + 0.0684903469865608, + 0.09660705761294468, + -0.05906399732321573, + -0.9935685787300104 + ], + [ + 0.9699518680959766, + 0.17986409373218276, + 0.163836141809509, + 0.1677123982429592, + -0.9821371142304287, + 0.08531846416058243, + 0.17625528375830335, + -0.05527745143389025, + -0.9827911671918168 + ], + [ + 0.9703727378188474, + 0.20055460635998512, + 0.1347390053612764, + 0.1930831802840724, + -0.9789238054349778, + 0.06653622054257592, + 0.14524336538838203, + -0.038549098828550094, + -0.9886446944125902 + ], + [ + 0.9785609116161719, + 0.18325771869437213, + 0.09399548284817104, + 0.1787298682401129, + -0.9823826406935057, + 0.05458920646910202, + 0.10234342409651108, + -0.03661906338218851, + -0.994074880349168 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006181.json b/json/chunk-0006/episode_0006181.json new file mode 100644 index 0000000000000000000000000000000000000000..8a026953ba7c7c7768d5f9700fbcc0fe782d3102 --- /dev/null +++ b/json/chunk-0006/episode_0006181.json @@ -0,0 +1,2602 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 42, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nFold the cloth from the bottom right to the top left." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006181.mp4", + "start": 0, + "end": 42, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2913511395454407, + 0.0469755083322525, + 0.11621221899986267, + -0.11271081119775772, + -0.038122668862342834, + 0.1920110285282135, + 0.0, + 1.0001531839370728 + ], + [ + 0.2864851951599121, + 0.04633823409676552, + 0.10791586339473724, + -0.11365846544504166, + -0.00557457422837615, + 0.19661371409893036, + 0.0, + 1.0001531839370728 + ], + [ + 0.27659401297569275, + 0.03577819839119911, + 0.09816017746925354, + -0.10348808765411377, + 0.021701091900467873, + 0.16678139567375183, + 0.0, + 1.0001531839370728 + ], + [ + 0.2675337493419647, + 0.012723359279334545, + 0.10629343241453171, + -0.10120975971221924, + -0.006865279283374548, + 0.10718272626399994, + 0.0, + 1.0001531839370728 + ], + [ + 0.2560915946960449, + 0.0029157495591789484, + 0.09254530817270279, + -0.07299745082855225, + 0.019876724109053612, + 0.07346934080123901, + 0.0, + 1.0001531839370728 + ], + [ + 0.24601908028125763, + -0.0019947579130530357, + 0.08150511234998703, + -0.06671389937400818, + 0.020856471732258797, + 0.06734270602464676, + 0.0, + 1.0001531839370728 + ], + [ + 0.2415468394756317, + -0.005463944748044014, + 0.07197695970535278, + -0.026622097939252853, + 0.01245594210922718, + 0.06746082752943039, + 0.0, + 1.0001531839370728 + ], + [ + 0.23318858444690704, + -0.005208445712924004, + 0.05833688750863075, + 0.000227505894144997, + 0.01844889111816883, + 0.05918053165078163, + 0.0, + 1.0001531839370728 + ], + [ + 0.22605805099010468, + -0.013735422864556313, + 0.04964853450655937, + 0.0014666607603430748, + 0.027599554508924484, + 0.03777032345533371, + 0.0, + 1.0001531839370728 + ], + [ + 0.22569163143634796, + -0.017225487157702446, + 0.04589170962572098, + 0.011058530770242214, + 0.03269228711724281, + 0.031288549304008484, + 0.0, + 1.0001531839370728 + ], + [ + 0.22464001178741455, + -0.021542903035879135, + 0.04275865480303764, + 0.009066670201718807, + 0.04526054859161377, + 0.02033308707177639, + 0.0, + 1.0001531839370728 + ], + [ + 0.2292289435863495, + -0.027590671554207802, + 0.03848424181342125, + -0.008872652426362038, + 0.06115022674202919, + 0.006190295331180096, + 0.0, + 1.0001531839370728 + ], + [ + 0.2332899421453476, + -0.030442016199231148, + 0.036340486258268356, + 0.002950673457235098, + 0.05219196155667305, + -0.0015827049501240253, + 0.0, + 1.0001531839370728 + ], + [ + 0.23660042881965637, + -0.02889818139374256, + 0.027176201343536377, + 0.031089717522263527, + 0.0637889951467514, + -0.005987323354929686, + 0.0, + 1.0001531839370728 + ], + [ + 0.2427911013364792, + -0.029995931312441826, + 0.02678235061466694, + 0.03926744684576988, + 0.045298442244529724, + -0.009239873848855495, + 0.0, + 0.9398812651634216 + ], + [ + 0.24647502601146698, + -0.02845773659646511, + 0.024904431775212288, + 0.049503933638334274, + 0.022987093776464462, + -0.002647140296176076, + 0.0, + 0.6259716749191284 + ], + [ + 0.24626979231834412, + -0.02823462523519993, + 0.02492048405110836, + 0.05103425681591034, + 0.024024706333875656, + 0.0025283407885581255, + 0.0, + 0.3259891867637634 + ], + [ + 0.2442682534456253, + -0.027781806886196136, + 0.023566585034132004, + 0.052669137716293335, + 0.02844196744263172, + 0.001369878533296287, + 0.0, + 0.12572182714939117 + ], + [ + 0.24288855493068695, + -0.0275814700871706, + 0.02314251847565174, + 0.05292043462395668, + 0.03180265426635742, + -0.00474714208394289, + 0.0, + 0.0483553409576416 + ], + [ + 0.2394220381975174, + -0.028174135833978653, + 0.03564150631427765, + 0.03913808614015579, + 0.019336681813001633, + -0.018305355682969093, + 0.0, + 0.04810556024312973 + ], + [ + 0.2357800453901291, + -0.0255949217826128, + 0.049841541796922684, + 0.019438931718468666, + 0.01937674731016159, + -0.011282538063824177, + 0.0, + 0.04810556024312973 + ], + [ + 0.24915362894535065, + -0.015768134966492653, + 0.07512678951025009, + -0.018961261957883835, + 0.01074319239705801, + 0.03470743075013161, + 0.0, + 0.04810556024312973 + ], + [ + 0.27044883370399475, + -0.005802873056381941, + 0.10231339931488037, + -0.04867906868457794, + -0.021793844178318977, + 0.07455606013536453, + 0.0, + 0.04810556024312973 + ], + [ + 0.3026999235153198, + 0.008528770878911018, + 0.11559923738241196, + -0.06960297375917435, + -0.002074135234579444, + 0.13522803783416748, + 0.0, + 0.04810556024312973 + ], + [ + 0.3353379964828491, + 0.0260770283639431, + 0.11895453929901123, + -0.06570205092430115, + 0.011311737820506096, + 0.19649775326251984, + 0.0, + 0.04810556024312973 + ], + [ + 0.36442458629608154, + 0.0382419191300869, + 0.10977889597415924, + -0.04774436727166176, + 0.05219738930463791, + 0.22540070116519928, + 0.0, + 0.04810556024312973 + ], + [ + 0.38860026001930237, + 0.053993724286556244, + 0.09585488587617874, + -0.02185242809355259, + 0.07947292923927307, + 0.2593458294868469, + 0.0, + 0.04810556024312973 + ], + [ + 0.40030667185783386, + 0.06302755326032639, + 0.0793110728263855, + -0.0148320896551013, + 0.09097913652658463, + 0.2708457410335541, + 0.0, + 0.04810556024312973 + ], + [ + 0.4078984260559082, + 0.06384553015232086, + 0.06441707164049149, + -0.02064245566725731, + 0.07413040846586227, + 0.25402069091796875, + 0.0, + 0.04810556024312973 + ], + [ + 0.40691429376602173, + 0.06430211663246155, + 0.042090822011232376, + -0.021354496479034424, + 0.03192724287509918, + 0.22575420141220093, + 0.0, + 0.04810556024312973 + ], + [ + 0.40742942690849304, + 0.06380009651184082, + 0.033048905432224274, + -0.02675860933959484, + 0.003959040157496929, + 0.20450665056705475, + 0.0, + 0.04810556024312973 + ], + [ + 0.40815794467926025, + 0.06051631271839142, + 0.032541368156671524, + -0.047961052507162094, + 0.004362075589597225, + 0.202697291970253, + 0.0, + 0.0686454325914383 + ], + [ + 0.40681561827659607, + 0.06415490806102753, + 0.03233199194073677, + -0.023826634511351585, + 0.005530055146664381, + 0.20949770510196686, + 0.0, + 0.2142026573419571 + ], + [ + 0.4056738018989563, + 0.06647229939699173, + 0.03199668601155281, + -0.008507409133017063, + -0.0011412171879783273, + 0.21381892263889313, + 0.0, + 0.4121573865413666 + ], + [ + 0.40335774421691895, + 0.0670340284705162, + 0.03200294449925423, + 0.0020834049209952354, + 0.012175834737718105, + 0.21877187490463257, + 0.0, + 0.608914315700531 + ], + [ + 0.3997836709022522, + 0.0727844089269638, + 0.04844537749886513, + 0.03887113183736801, + -0.02658473700284958, + 0.24473504722118378, + 0.0, + 0.8687413334846497 + ], + [ + 0.3971737325191498, + 0.06988470256328583, + 0.06152205169200897, + 0.021771974861621857, + -0.039278220385313034, + 0.26256293058395386, + 0.0, + 1.0211780071258545 + ], + [ + 0.3902485966682434, + 0.07104475796222687, + 0.09682630002498627, + 0.02647418901324272, + -0.08218751847743988, + 0.2848275899887085, + 0.0, + 1.0060625076293945 + ], + [ + 0.37990397214889526, + 0.06955786794424057, + 0.12736628949642181, + -0.020409878343343735, + -0.11813755333423615, + 0.29463309049606323, + 0.0, + 0.9994885921478271 + ], + [ + 0.36984753608703613, + 0.08557132631540298, + 0.14942620694637299, + -0.039686523377895355, + -0.15507030487060547, + 0.3325441777706146, + 0.0, + 0.9994885921478271 + ], + [ + 0.36477214097976685, + 0.08240436762571335, + 0.155440092086792, + -0.06465353071689606, + -0.162953183054924, + 0.3252977132797241, + 0.0, + 0.9994885921478271 + ], + [ + 0.36470505595207214, + 0.08238767087459564, + 0.15601354837417603, + -0.064271479845047, + -0.1646798998117447, + 0.322214812040329, + 0.0, + 0.9994885921478271 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9398812651634216 + ], + [ + 0.6259716749191284 + ], + [ + 0.3259891867637634 + ], + [ + 0.12572182714939117 + ], + [ + 0.0483553409576416 + ], + [ + 0.04810556024312973 + ], + [ + 0.04810556024312973 + ], + [ + 0.04810556024312973 + ], + [ + 0.04810556024312973 + ], + [ + 0.04810556024312973 + ], + [ + 0.04810556024312973 + ], + [ + 0.04810556024312973 + ], + [ + 0.04810556024312973 + ], + [ + 0.04810556024312973 + ], + [ + 0.04810556024312973 + ], + [ + 0.04810556024312973 + ], + [ + 0.04810556024312973 + ], + [ + 0.0686454325914383 + ], + [ + 0.2142026573419571 + ], + [ + 0.4121573865413666 + ], + [ + 0.608914315700531 + ], + [ + 0.8687413334846497 + ], + [ + 1.0211780071258545 + ], + [ + 1.0060625076293945 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2913511395454407, + 0.0469755083322525, + 0.11621221899986267 + ], + [ + 0.2864851951599121, + 0.04633823409676552, + 0.10791586339473724 + ], + [ + 0.27659401297569275, + 0.03577819839119911, + 0.09816017746925354 + ], + [ + 0.2675337493419647, + 0.012723359279334545, + 0.10629343241453171 + ], + [ + 0.2560915946960449, + 0.0029157495591789484, + 0.09254530817270279 + ], + [ + 0.24601908028125763, + -0.0019947579130530357, + 0.08150511234998703 + ], + [ + 0.2415468394756317, + -0.005463944748044014, + 0.07197695970535278 + ], + [ + 0.23318858444690704, + -0.005208445712924004, + 0.05833688750863075 + ], + [ + 0.22605805099010468, + -0.013735422864556313, + 0.04964853450655937 + ], + [ + 0.22569163143634796, + -0.017225487157702446, + 0.04589170962572098 + ], + [ + 0.22464001178741455, + -0.021542903035879135, + 0.04275865480303764 + ], + [ + 0.2292289435863495, + -0.027590671554207802, + 0.03848424181342125 + ], + [ + 0.2332899421453476, + -0.030442016199231148, + 0.036340486258268356 + ], + [ + 0.23660042881965637, + -0.02889818139374256, + 0.027176201343536377 + ], + [ + 0.2427911013364792, + -0.029995931312441826, + 0.02678235061466694 + ], + [ + 0.24647502601146698, + -0.02845773659646511, + 0.024904431775212288 + ], + [ + 0.24626979231834412, + -0.02823462523519993, + 0.02492048405110836 + ], + [ + 0.2442682534456253, + -0.027781806886196136, + 0.023566585034132004 + ], + [ + 0.24288855493068695, + -0.0275814700871706, + 0.02314251847565174 + ], + [ + 0.2394220381975174, + -0.028174135833978653, + 0.03564150631427765 + ], + [ + 0.2357800453901291, + -0.0255949217826128, + 0.049841541796922684 + ], + [ + 0.24915362894535065, + -0.015768134966492653, + 0.07512678951025009 + ], + [ + 0.27044883370399475, + -0.005802873056381941, + 0.10231339931488037 + ], + [ + 0.3026999235153198, + 0.008528770878911018, + 0.11559923738241196 + ], + [ + 0.3353379964828491, + 0.0260770283639431, + 0.11895453929901123 + ], + [ + 0.36442458629608154, + 0.0382419191300869, + 0.10977889597415924 + ], + [ + 0.38860026001930237, + 0.053993724286556244, + 0.09585488587617874 + ], + [ + 0.40030667185783386, + 0.06302755326032639, + 0.0793110728263855 + ], + [ + 0.4078984260559082, + 0.06384553015232086, + 0.06441707164049149 + ], + [ + 0.40691429376602173, + 0.06430211663246155, + 0.042090822011232376 + ], + [ + 0.40742942690849304, + 0.06380009651184082, + 0.033048905432224274 + ], + [ + 0.40815794467926025, + 0.06051631271839142, + 0.032541368156671524 + ], + [ + 0.40681561827659607, + 0.06415490806102753, + 0.03233199194073677 + ], + [ + 0.4056738018989563, + 0.06647229939699173, + 0.03199668601155281 + ], + [ + 0.40335774421691895, + 0.0670340284705162, + 0.03200294449925423 + ], + [ + 0.3997836709022522, + 0.0727844089269638, + 0.04844537749886513 + ], + [ + 0.3971737325191498, + 0.06988470256328583, + 0.06152205169200897 + ], + [ + 0.3902485966682434, + 0.07104475796222687, + 0.09682630002498627 + ], + [ + 0.37990397214889526, + 0.06955786794424057, + 0.12736628949642181 + ], + [ + 0.36984753608703613, + 0.08557132631540298, + 0.14942620694637299 + ], + [ + 0.36477214097976685, + 0.08240436762571335, + 0.155440092086792 + ], + [ + 0.36470505595207214, + 0.08238767087459564, + 0.15601354837417603 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9809092208613324, + 0.1854145581971259, + 0.05863908285246698, + 0.1906946944077719, + -0.9762119617976954, + -0.10317819133819564, + 0.03811343534687432, + 0.11239060126033418, + -0.9929328873566431 + ], + [ + 0.980718469995233, + 0.19346893398583, + 0.027587210670804937, + 0.19534637712095712, + -0.9745293509375724, + -0.1101468887754454, + 0.0055745453559564, + 0.1134121498940043, + -0.9935323893565292 + ], + [ + 0.9858919997103266, + 0.1673316198904825, + -0.004134476024927272, + 0.1659701823828632, + -0.9804761843989291, + -0.10545307196244394, + -0.02169938863131291, + 0.10327914025273607, + -0.9944156855770544 + ], + [ + 0.9942379978411388, + 0.10574052023814862, + 0.01759960308101757, + 0.10697510144738032, + -0.9892476616990209, + -0.09972658368430158, + 0.006865225354376202, + 0.10103467821884225, + -0.9948592174162375 + ], + [ + 0.997105339054292, + 0.07465343739371905, + -0.01441551645719481, + 0.0733887640982974, + -0.994539992024958, + -0.07419092644738305, + -0.019875415305095904, + 0.07291823193343773, + -0.9971398594571131 + ], + [ + 0.9975163414344933, + 0.06852925599033949, + -0.016275430702548832, + 0.0672771820691549, + -0.9954202774293384, + -0.0679135631176313, + -0.020854959697317363, + 0.06664992390025085, + -0.997558448563348 + ], + [ + 0.9976479834209592, + 0.06771658553044717, + -0.01062850978224265, + 0.06740444129277463, + -0.9973494900456426, + -0.027397737127465783, + -0.012455620020797576, + 0.026616888431866926, + -0.9995681061238915 + ], + [ + 0.9980794653299293, + 0.0591418015120671, + -0.018429004330923444, + 0.05913592746220648, + -0.9982495657763095, + -0.0008640084453409877, + -0.01844784458701317, + -0.00022746717614770148, + -0.9998297981600551 + ], + [ + 0.9989062142226015, + 0.03772085781110276, + -0.027631722231244125, + 0.037746962425434884, + -0.999287239702328, + 0.00042355136010441274, + -0.0275960507160512, + -0.0014661016664635589, + -0.9996180813344567 + ], + [ + 0.9989764695820819, + 0.03092025163489768, + -0.033014409886507494, + 0.031266728285602306, + -0.9994607458885443, + 0.010030410272219807, + -0.03268646392062061, + -0.011052396425632926, + -0.999404542520003 + ], + [ + 0.9987694178050354, + 0.01992071840241992, + -0.04541822360818227, + 0.02031086468426266, + -0.9997605368287319, + 0.008144800531870366, + -0.04524509733848441, + -0.009057261079259677, + -0.9989348563287668 + ], + [ + 0.9981117834207683, + 0.006732221264834704, + -0.061053623917459894, + 0.006178685635016276, + -0.999938122737385, + -0.009250650801870304, + -0.06111212351438106, + 0.008855952420593035, + -0.9980916192746472 + ], + [ + 0.998637057948824, + -0.0017366285118074732, + -0.052163307149076465, + -0.0015805491347279151, + -0.99999415066673, + 0.0030332320646026764, + -0.05216826962579481, + -0.002946651275091835, + -0.9986339614145481 + ], + [ + 0.9979482843200703, + -0.007965876656462935, + -0.06352768397888996, + -0.005975110468560467, + -0.9994869744354697, + 0.03146563186587606, + -0.06374574399531464, + -0.031021488406012283, + -0.9974839083311365 + ], + [ + 0.9989315574483225, + -0.011010232863244774, + -0.0448833856361863, + -0.009230264254722115, + -0.9991700530561479, + 0.03967376081950548, + -0.045282952152631235, + -0.039217086175192234, + -0.9982041246139343 + ], + [ + 0.9997323056453564, + -0.003781276956205063, + -0.022825840479597178, + -0.0026464378531726998, + -0.9987684202913252, + 0.049544313452303076, + -0.022985069408397254, + -0.04947064355101152, + -0.9985110625380872 + ], + [ + 0.9997082252940335, + 0.0012996172145614546, + -0.024120018129138252, + 0.002527608468588653, + -0.998697941151041, + 0.05095128591214968, + -0.02402239527782068, + -0.05099738557776976, + -0.9984098312763896 + ], + [ + 0.9995946166056624, + -0.0001291396361168465, + -0.028470788115766494, + 0.0013693240638296095, + -0.9986144154623707, + 0.052605837911353925, + -0.028438132930744663, + -0.05262349811350257, + -0.998209416926985 + ], + [ + 0.9994830762519966, + -0.00642240079673936, + -0.03150131828751449, + -0.004744723814867971, + -0.9985808043015586, + 0.05304587520602009, + -0.0317972936232925, + -0.05286898947831397, + -0.9980950866875239 + ], + [ + 0.9996455451694133, + -0.01904674960368862, + -0.01860121911275035, + -0.018300911433574645, + -0.9990529444896035, + 0.039475191542962126, + -0.01933547681456597, + -0.03912078010709244, + -0.999047398225012 + ], + [ + 0.9997486414961172, + -0.011656759137756916, + -0.01915133919788772, + -0.011280180745368792, + -0.9997431856897113, + 0.019655029619399043, + -0.019375534806039322, + -0.0194340585928921, + -0.9996233820882684 + ], + [ + 0.9993400848019145, + 0.03489779100023331, + -0.01007666072694486, + 0.034698460563140354, + -0.9992110384209605, + -0.019321426765475935, + -0.01074298574187418, + 0.01895903164746266, + -0.9997625434953742 + ], + [ + 0.9969851674219418, + 0.07334131599477127, + 0.02533036337674636, + 0.07446931912651077, + -0.9961196691408255, + -0.04690336085619347, + 0.0217921189762906, + 0.04864828998975719, + -0.998578212976628 + ], + [ + 0.9908684823774931, + 0.13434690618825443, + 0.011426260480478772, + 0.13481598050721297, + -0.9884908567592704, + -0.06863291851001455, + 0.002074133747412019, + 0.06954663831536284, + -0.9975765449669663 + ], + [ + 0.9806936089505902, + 0.19554280582143316, + 0.0017482719893097782, + 0.19522319382794542, + -0.9784952790011469, + -0.06659499653941489, + -0.011311496589036255, + 0.06565059073572382, + -0.9977785575872871 + ], + [ + 0.9733771070324053, + 0.22566932705275522, + -0.04012932011362672, + 0.22319254821539125, + -0.973037389897812, + -0.05816635008296205, + -0.05217368998207413, + 0.04766122835607622, + -0.9975000317720518 + ], + [ + 0.9635071879414091, + 0.25806378339339353, + -0.07111246364685571, + 0.2556388823528265, + -0.9658823118347282, + -0.04147434766452916, + -0.07938929785956943, + 0.02178172136191665, + -0.9966056873206555 + ], + [ + 0.9595599870565638, + 0.26881539078008676, + -0.0835638493593761, + 0.26643993719518755, + -0.9630784634106259, + -0.038595766374723776, + -0.09085367965818324, + 0.014770206307867828, + -0.9957547137213016 + ], + [ + 0.9652515895515535, + 0.25272377492609815, + -0.06648355026096513, + 0.2506074823454602, + -0.9673194819335359, + -0.038586392216762785, + -0.07406253209733828, + 0.020584301274001633, + -0.9970411365036009 + ], + [ + 0.9741288631878705, + 0.22445478092969526, + -0.02632506832108288, + 0.22372741311019848, + -0.9742507740409797, + -0.027954854740644915, + -0.031921818985229576, + 0.021341991433661375, + -0.9992624864740595 + ], + [ + 0.9791536214331773, + 0.2031151319811694, + 0.001558459035740963, + 0.20308252440132932, + -0.9787892531524716, + -0.027001596175233355, + -0.003959029815173144, + 0.02675520647461031, + -0.9996341755909626 + ], + [ + 0.9795178250609206, + 0.20128548701486376, + 0.005383595927744258, + 0.20131021535222438, + -0.9783586750724778, + -0.04783827029969958, + -0.004362061756230263, + 0.04794221133422171, + -0.9988405862747167 + ], + [ + 0.9781205432930747, + 0.2080384524758717, + -0.00045285704704678496, + 0.20796543364193262, + -0.9778304651421339, + -0.024453217580540552, + -0.0055300269604680865, + 0.0238240158529752, + -0.9997008727966851 + ], + [ + 0.9772270561932208, + 0.21217622866115152, + 0.0029203826910599697, + 0.2121932568858557, + -0.9771943889632765, + -0.008071425578035404, + 0.0011412169402625696, + 0.008507300971475298, + -0.9999631610484837 + ], + [ + 0.9760923687903266, + 0.2170057017075141, + -0.012337463909534028, + 0.21701484733469156, + -0.9761681133391457, + -0.000608716842160366, + -0.012175533893433822, + -0.0020832489824379142, + -0.9999237053136042 + ], + [ + 0.9698587329617901, + 0.24311846111162075, + 0.01635395867882783, + 0.2422136584469263, + -0.9692183845298726, + 0.04413917478906937, + 0.026581605660817187, + -0.03884761197321705, + -0.9988915262852476 + ], + [ + 0.9649830689106946, + 0.2603205589749291, + 0.03226272292720928, + 0.25935630191779524, + -0.9652771588479392, + 0.031214023482654292, + 0.039268121564735976, + -0.021753463665142768, + -0.9989918925833914 + ], + [ + 0.9564706176087111, + 0.28297911588953395, + 0.07132164903862269, + 0.2800435052290845, + -0.9587631738740887, + 0.048464539633548506, + 0.08209502317569857, + -0.026381743559927534, + -0.9962752685761701 + ], + [ + 0.9502389761048482, + 0.2880265405661441, + 0.11868698420934433, + 0.2883647236990057, + -0.9574079551528026, + 0.014689912733749663, + 0.11786294760104178, + 0.02026621177300797, + -0.9928230488073722 + ], + [ + 0.9338729189428089, + 0.32039959271339685, + 0.15882528845976498, + 0.32253171067824155, + -0.9464710557821058, + 0.012877739462860334, + 0.15444956093238096, + 0.03920001984432679, + -0.9872227162965809 + ], + [ + 0.9350028630151026, + 0.30899124898466696, + 0.17405187216590698, + 0.3153571141200104, + -0.9489257160915713, + -0.009480290818206078, + 0.1622329705314565, + 0.06375259517066385, + -0.9846908499024175 + ], + [ + 0.9357035239962875, + 0.3060270173678977, + 0.1755174630110562, + 0.31238392442157814, + -0.9499122013119978, + -0.00911556699104668, + 0.16393656987964228, + 0.06335830205665953, + -0.9844341149191216 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0048659443855285645, + -0.0006372742354869843, + -0.008296355605125427, + -0.0009476542472839355, + 0.032548096030950546, + 0.004602685570716858, + 1.0 + ], + [ + -0.00989118218421936, + -0.010560035705566406, + -0.009755685925483704, + 0.010170377790927887, + 0.02727566659450531, + -0.029832318425178528, + 1.0 + ], + [ + -0.009060263633728027, + -0.023054838180541992, + 0.008133254945278168, + 0.0022783279418945312, + -0.028566371649503708, + -0.05959866940975189, + 1.0 + ], + [ + -0.0114421546459198, + -0.00980760995298624, + -0.013748124241828918, + 0.028212308883666992, + 0.026742003858089447, + -0.033713385462760925, + 1.0 + ], + [ + -0.010072514414787292, + -0.0049105072394013405, + -0.01104019582271576, + 0.006283551454544067, + 0.000979747623205185, + -0.006126634776592255, + 1.0 + ], + [ + -0.0044722408056259155, + -0.0034691868349909782, + -0.009528152644634247, + 0.040091801434755325, + -0.008400529623031616, + 0.00011812150478363037, + 1.0 + ], + [ + -0.00835825502872467, + 0.0002554990351200104, + -0.01364007219672203, + 0.02684960328042507, + 0.00599294900894165, + -0.008280295878648758, + 1.0 + ], + [ + -0.007130533456802368, + -0.008526977151632309, + -0.00868835300207138, + 0.0012391548370942473, + 0.009150663390755653, + -0.021410208195447922, + 1.0 + ], + [ + -0.00036641955375671387, + -0.0034900642931461334, + -0.003756824880838394, + 0.00959187000989914, + 0.005092732608318329, + -0.006481774151325226, + 1.0 + ], + [ + -0.0010516196489334106, + -0.004317415878176689, + -0.0031330548226833344, + -0.001991860568523407, + 0.012568261474370956, + -0.010955462232232094, + 1.0 + ], + [ + 0.0045889317989349365, + -0.006047768518328667, + -0.004274412989616394, + -0.01793932169675827, + 0.01588967815041542, + -0.014142791740596294, + 1.0 + ], + [ + 0.004060998558998108, + -0.002851344645023346, + -0.002143755555152893, + 0.011823326349258423, + -0.00895826518535614, + -0.007773000281304121, + 1.0 + ], + [ + 0.003310486674308777, + 0.0015438348054885864, + -0.00916428491473198, + 0.02813904359936714, + 0.011597033590078354, + -0.00440461840480566, + 1.0 + ], + [ + 0.006190672516822815, + -0.0010977499186992645, + -0.00039385072886943817, + 0.008177729323506355, + -0.01849055290222168, + -0.00325255049392581, + 0.0 + ], + [ + 0.003683924674987793, + 0.001538194715976715, + -0.0018779188394546509, + 0.010236486792564392, + -0.022311348468065262, + 0.006592733785510063, + 0.0 + ], + [ + -0.00020523369312286377, + 0.0002231113612651825, + 1.6052275896072388e-05, + 0.001530323177576065, + 0.0010376125574111938, + 0.005175481084734201, + 0.0 + ], + [ + -0.002001538872718811, + 0.0004528183490037918, + -0.0013538990169763565, + 0.0016348809003829956, + 0.004417261108756065, + -0.0011584622552618384, + 0.0 + ], + [ + -0.0013796985149383545, + 0.00020033679902553558, + -0.00042406655848026276, + 0.00025129690766334534, + 0.0033606868237257004, + -0.006117020733654499, + 0.0 + ], + [ + -0.0034665167331695557, + -0.0005926657468080521, + 0.012498987838625908, + -0.013782348483800888, + -0.01246597245335579, + -0.013558213599026203, + 0.0 + ], + [ + -0.0036419928073883057, + 0.0025792140513658524, + 0.014200035482645035, + -0.019699154421687126, + 4.0065497159957886e-05, + 0.0070228176191449165, + 0.0 + ], + [ + 0.013373583555221558, + 0.009826786816120148, + 0.025285247713327408, + -0.03840019553899765, + -0.00863355491310358, + 0.04598996788263321, + 0.0 + ], + [ + 0.021295204758644104, + 0.009965261444449425, + 0.02718660980463028, + -0.029717806726694107, + -0.03253703564405441, + 0.039848629385232925, + 0.0 + ], + [ + 0.03225108981132507, + 0.014331644400954247, + 0.013285838067531586, + -0.020923905074596405, + 0.01971970871090889, + 0.06067197769880295, + 0.0 + ], + [ + 0.0326380729675293, + 0.01754825748503208, + 0.0033553019165992737, + 0.0039009228348731995, + 0.013385873287916183, + 0.061269715428352356, + 0.0 + ], + [ + 0.029086589813232422, + 0.012164890766143799, + -0.00917564332485199, + 0.01795768365263939, + 0.040885649621486664, + 0.028902947902679443, + 0.0 + ], + [ + 0.024175673723220825, + 0.015751805156469345, + -0.0139240100979805, + 0.02589193917810917, + 0.027275539934635162, + 0.033945128321647644, + 0.0 + ], + [ + 0.011706411838531494, + 0.009033828973770142, + -0.016543813049793243, + 0.00702033843845129, + 0.011506207287311554, + 0.011499911546707153, + 0.0 + ], + [ + 0.007591754198074341, + 0.0008179768919944763, + -0.014894001185894012, + -0.00581036601215601, + -0.01684872806072235, + -0.016825050115585327, + 0.0 + ], + [ + -0.0009841322898864746, + 0.00045658648014068604, + -0.02232624962925911, + -0.0007120408117771149, + -0.04220316559076309, + -0.028266489505767822, + 0.0 + ], + [ + 0.0005151331424713135, + -0.0005020201206207275, + -0.009041916579008102, + -0.005404112860560417, + -0.02796820178627968, + -0.02124755084514618, + 0.0 + ], + [ + 0.0007285177707672119, + -0.003283783793449402, + -0.0005075372755527496, + -0.021202443167567253, + 0.000403035432100296, + -0.0018093585968017578, + 1.0 + ], + [ + -0.0013423264026641846, + 0.0036385953426361084, + -0.00020937621593475342, + 0.02413441799581051, + 0.0011679795570671558, + 0.006800413131713867, + 1.0 + ], + [ + -0.0011418163776397705, + 0.002317391335964203, + -0.00033530592918395996, + 0.015319225378334522, + -0.0066712722182273865, + 0.0043212175369262695, + 1.0 + ], + [ + -0.0023160576820373535, + 0.0005617290735244751, + 6.258487701416016e-06, + 0.010590814054012299, + 0.013317052274942398, + 0.004952952265739441, + 1.0 + ], + [ + -0.003574073314666748, + 0.005750380456447601, + 0.0164424329996109, + 0.0367877259850502, + -0.03876057267189026, + 0.02596317231655121, + 1.0 + ], + [ + -0.002609938383102417, + -0.0028997063636779785, + 0.013076674193143845, + -0.017099156975746155, + -0.012693483382463455, + 0.01782788336277008, + 1.0 + ], + [ + -0.006925135850906372, + 0.00116005539894104, + 0.035304248332977295, + 0.004702214151620865, + -0.042909298092126846, + 0.02226465940475464, + 1.0 + ], + [ + -0.010344624519348145, + -0.0014868900179862976, + 0.030539989471435547, + -0.046884067356586456, + -0.035950034856796265, + 0.009805500507354736, + 1.0 + ], + [ + -0.01005643606185913, + 0.016013458371162415, + 0.022059917449951172, + -0.01927664503455162, + -0.036932751536369324, + 0.03791108727455139, + 1.0 + ], + [ + -0.005075395107269287, + -0.0031669586896896362, + 0.006013885140419006, + -0.024967007339000702, + -0.007882878184318542, + -0.007246464490890503, + 1.0 + ], + [ + -6.708502769470215e-05, + -1.66967511177063e-05, + 0.0005734562873840332, + 0.00038205087184906006, + -0.0017267167568206787, + -0.0030829012393951416, + 1.0 + ], + [ + -0.0002822279930114746, + -7.0229172706604e-05, + -0.0004207491874694824, + 0.00012161582708358765, + 0.0015292763710021973, + -1.9848346710205078e-05, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9398812651634216 + ], + [ + 0.6259716749191284 + ], + [ + 0.3259891867637634 + ], + [ + 0.12572182714939117 + ], + [ + 0.0483553409576416 + ], + [ + 0.04810556024312973 + ], + [ + 0.04810556024312973 + ], + [ + 0.04810556024312973 + ], + [ + 0.04810556024312973 + ], + [ + 0.04810556024312973 + ], + [ + 0.04810556024312973 + ], + [ + 0.04810556024312973 + ], + [ + 0.04810556024312973 + ], + [ + 0.04810556024312973 + ], + [ + 0.04810556024312973 + ], + [ + 0.04810556024312973 + ], + [ + 0.04810556024312973 + ], + [ + 0.0686454325914383 + ], + [ + 0.2142026573419571 + ], + [ + 0.4121573865413666 + ], + [ + 0.608914315700531 + ], + [ + 0.8687413334846497 + ], + [ + 1.0211780071258545 + ], + [ + 1.0060625076293945 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2864851951599121, + 0.04633823409676552, + 0.10791586339473724 + ], + [ + 0.27659401297569275, + 0.03577819839119911, + 0.09816017746925354 + ], + [ + 0.2675337493419647, + 0.012723359279334545, + 0.10629343241453171 + ], + [ + 0.2560915946960449, + 0.0029157495591789484, + 0.09254530817270279 + ], + [ + 0.24601908028125763, + -0.0019947579130530357, + 0.08150511234998703 + ], + [ + 0.2415468394756317, + -0.005463944748044014, + 0.07197695970535278 + ], + [ + 0.23318858444690704, + -0.005208445712924004, + 0.05833688750863075 + ], + [ + 0.22605805099010468, + -0.013735422864556313, + 0.04964853450655937 + ], + [ + 0.22569163143634796, + -0.017225487157702446, + 0.04589170962572098 + ], + [ + 0.22464001178741455, + -0.021542903035879135, + 0.04275865480303764 + ], + [ + 0.2292289435863495, + -0.027590671554207802, + 0.03848424181342125 + ], + [ + 0.2332899421453476, + -0.030442016199231148, + 0.036340486258268356 + ], + [ + 0.23660042881965637, + -0.02889818139374256, + 0.027176201343536377 + ], + [ + 0.2427911013364792, + -0.029995931312441826, + 0.02678235061466694 + ], + [ + 0.24647502601146698, + -0.02845773659646511, + 0.024904431775212288 + ], + [ + 0.24626979231834412, + -0.02823462523519993, + 0.02492048405110836 + ], + [ + 0.2442682534456253, + -0.027781806886196136, + 0.023566585034132004 + ], + [ + 0.24288855493068695, + -0.0275814700871706, + 0.02314251847565174 + ], + [ + 0.2394220381975174, + -0.028174135833978653, + 0.03564150631427765 + ], + [ + 0.2357800453901291, + -0.0255949217826128, + 0.049841541796922684 + ], + [ + 0.24915362894535065, + -0.015768134966492653, + 0.07512678951025009 + ], + [ + 0.27044883370399475, + -0.005802873056381941, + 0.10231339931488037 + ], + [ + 0.3026999235153198, + 0.008528770878911018, + 0.11559923738241196 + ], + [ + 0.3353379964828491, + 0.0260770283639431, + 0.11895453929901123 + ], + [ + 0.36442458629608154, + 0.0382419191300869, + 0.10977889597415924 + ], + [ + 0.38860026001930237, + 0.053993724286556244, + 0.09585488587617874 + ], + [ + 0.40030667185783386, + 0.06302755326032639, + 0.0793110728263855 + ], + [ + 0.4078984260559082, + 0.06384553015232086, + 0.06441707164049149 + ], + [ + 0.40691429376602173, + 0.06430211663246155, + 0.042090822011232376 + ], + [ + 0.40742942690849304, + 0.06380009651184082, + 0.033048905432224274 + ], + [ + 0.40815794467926025, + 0.06051631271839142, + 0.032541368156671524 + ], + [ + 0.40681561827659607, + 0.06415490806102753, + 0.03233199194073677 + ], + [ + 0.4056738018989563, + 0.06647229939699173, + 0.03199668601155281 + ], + [ + 0.40335774421691895, + 0.0670340284705162, + 0.03200294449925423 + ], + [ + 0.3997836709022522, + 0.0727844089269638, + 0.04844537749886513 + ], + [ + 0.3971737325191498, + 0.06988470256328583, + 0.06152205169200897 + ], + [ + 0.3902485966682434, + 0.07104475796222687, + 0.09682630002498627 + ], + [ + 0.37990397214889526, + 0.06955786794424057, + 0.12736628949642181 + ], + [ + 0.36984753608703613, + 0.08557132631540298, + 0.14942620694637299 + ], + [ + 0.36477214097976685, + 0.08240436762571335, + 0.155440092086792 + ], + [ + 0.36470505595207214, + 0.08238767087459564, + 0.15601354837417603 + ], + [ + 0.36442282795906067, + 0.08231744170188904, + 0.15559279918670654 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.980718469995233, + 0.19346893398583, + 0.027587210670804937, + 0.19534637712095712, + -0.9745293509375724, + -0.1101468887754454, + 0.0055745453559564, + 0.1134121498940043, + -0.9935323893565292 + ], + [ + 0.9858919997103266, + 0.1673316198904825, + -0.004134476024927272, + 0.1659701823828632, + -0.9804761843989291, + -0.10545307196244394, + -0.02169938863131291, + 0.10327914025273607, + -0.9944156855770544 + ], + [ + 0.9942379978411388, + 0.10574052023814862, + 0.01759960308101757, + 0.10697510144738032, + -0.9892476616990209, + -0.09972658368430158, + 0.006865225354376202, + 0.10103467821884225, + -0.9948592174162375 + ], + [ + 0.997105339054292, + 0.07465343739371905, + -0.01441551645719481, + 0.0733887640982974, + -0.994539992024958, + -0.07419092644738305, + -0.019875415305095904, + 0.07291823193343773, + -0.9971398594571131 + ], + [ + 0.9975163414344933, + 0.06852925599033949, + -0.016275430702548832, + 0.0672771820691549, + -0.9954202774293384, + -0.0679135631176313, + -0.020854959697317363, + 0.06664992390025085, + -0.997558448563348 + ], + [ + 0.9976479834209592, + 0.06771658553044717, + -0.01062850978224265, + 0.06740444129277463, + -0.9973494900456426, + -0.027397737127465783, + -0.012455620020797576, + 0.026616888431866926, + -0.9995681061238915 + ], + [ + 0.9980794653299293, + 0.0591418015120671, + -0.018429004330923444, + 0.05913592746220648, + -0.9982495657763095, + -0.0008640084453409877, + -0.01844784458701317, + -0.00022746717614770148, + -0.9998297981600551 + ], + [ + 0.9989062142226015, + 0.03772085781110276, + -0.027631722231244125, + 0.037746962425434884, + -0.999287239702328, + 0.00042355136010441274, + -0.0275960507160512, + -0.0014661016664635589, + -0.9996180813344567 + ], + [ + 0.9989764695820819, + 0.03092025163489768, + -0.033014409886507494, + 0.031266728285602306, + -0.9994607458885443, + 0.010030410272219807, + -0.03268646392062061, + -0.011052396425632926, + -0.999404542520003 + ], + [ + 0.9987694178050354, + 0.01992071840241992, + -0.04541822360818227, + 0.02031086468426266, + -0.9997605368287319, + 0.008144800531870366, + -0.04524509733848441, + -0.009057261079259677, + -0.9989348563287668 + ], + [ + 0.9981117834207683, + 0.006732221264834704, + -0.061053623917459894, + 0.006178685635016276, + -0.999938122737385, + -0.009250650801870304, + -0.06111212351438106, + 0.008855952420593035, + -0.9980916192746472 + ], + [ + 0.998637057948824, + -0.0017366285118074732, + -0.052163307149076465, + -0.0015805491347279151, + -0.99999415066673, + 0.0030332320646026764, + -0.05216826962579481, + -0.002946651275091835, + -0.9986339614145481 + ], + [ + 0.9979482843200703, + -0.007965876656462935, + -0.06352768397888996, + -0.005975110468560467, + -0.9994869744354697, + 0.03146563186587606, + -0.06374574399531464, + -0.031021488406012283, + -0.9974839083311365 + ], + [ + 0.9989315574483225, + -0.011010232863244774, + -0.0448833856361863, + -0.009230264254722115, + -0.9991700530561479, + 0.03967376081950548, + -0.045282952152631235, + -0.039217086175192234, + -0.9982041246139343 + ], + [ + 0.9997323056453564, + -0.003781276956205063, + -0.022825840479597178, + -0.0026464378531726998, + -0.9987684202913252, + 0.049544313452303076, + -0.022985069408397254, + -0.04947064355101152, + -0.9985110625380872 + ], + [ + 0.9997082252940335, + 0.0012996172145614546, + -0.024120018129138252, + 0.002527608468588653, + -0.998697941151041, + 0.05095128591214968, + -0.02402239527782068, + -0.05099738557776976, + -0.9984098312763896 + ], + [ + 0.9995946166056624, + -0.0001291396361168465, + -0.028470788115766494, + 0.0013693240638296095, + -0.9986144154623707, + 0.052605837911353925, + -0.028438132930744663, + -0.05262349811350257, + -0.998209416926985 + ], + [ + 0.9994830762519966, + -0.00642240079673936, + -0.03150131828751449, + -0.004744723814867971, + -0.9985808043015586, + 0.05304587520602009, + -0.0317972936232925, + -0.05286898947831397, + -0.9980950866875239 + ], + [ + 0.9996455451694133, + -0.01904674960368862, + -0.01860121911275035, + -0.018300911433574645, + -0.9990529444896035, + 0.039475191542962126, + -0.01933547681456597, + -0.03912078010709244, + -0.999047398225012 + ], + [ + 0.9997486414961172, + -0.011656759137756916, + -0.01915133919788772, + -0.011280180745368792, + -0.9997431856897113, + 0.019655029619399043, + -0.019375534806039322, + -0.0194340585928921, + -0.9996233820882684 + ], + [ + 0.9993400848019145, + 0.03489779100023331, + -0.01007666072694486, + 0.034698460563140354, + -0.9992110384209605, + -0.019321426765475935, + -0.01074298574187418, + 0.01895903164746266, + -0.9997625434953742 + ], + [ + 0.9969851674219418, + 0.07334131599477127, + 0.02533036337674636, + 0.07446931912651077, + -0.9961196691408255, + -0.04690336085619347, + 0.0217921189762906, + 0.04864828998975719, + -0.998578212976628 + ], + [ + 0.9908684823774931, + 0.13434690618825443, + 0.011426260480478772, + 0.13481598050721297, + -0.9884908567592704, + -0.06863291851001455, + 0.002074133747412019, + 0.06954663831536284, + -0.9975765449669663 + ], + [ + 0.9806936089505902, + 0.19554280582143316, + 0.0017482719893097782, + 0.19522319382794542, + -0.9784952790011469, + -0.06659499653941489, + -0.011311496589036255, + 0.06565059073572382, + -0.9977785575872871 + ], + [ + 0.9733771070324053, + 0.22566932705275522, + -0.04012932011362672, + 0.22319254821539125, + -0.973037389897812, + -0.05816635008296205, + -0.05217368998207413, + 0.04766122835607622, + -0.9975000317720518 + ], + [ + 0.9635071879414091, + 0.25806378339339353, + -0.07111246364685571, + 0.2556388823528265, + -0.9658823118347282, + -0.04147434766452916, + -0.07938929785956943, + 0.02178172136191665, + -0.9966056873206555 + ], + [ + 0.9595599870565638, + 0.26881539078008676, + -0.0835638493593761, + 0.26643993719518755, + -0.9630784634106259, + -0.038595766374723776, + -0.09085367965818324, + 0.014770206307867828, + -0.9957547137213016 + ], + [ + 0.9652515895515535, + 0.25272377492609815, + -0.06648355026096513, + 0.2506074823454602, + -0.9673194819335359, + -0.038586392216762785, + -0.07406253209733828, + 0.020584301274001633, + -0.9970411365036009 + ], + [ + 0.9741288631878705, + 0.22445478092969526, + -0.02632506832108288, + 0.22372741311019848, + -0.9742507740409797, + -0.027954854740644915, + -0.031921818985229576, + 0.021341991433661375, + -0.9992624864740595 + ], + [ + 0.9791536214331773, + 0.2031151319811694, + 0.001558459035740963, + 0.20308252440132932, + -0.9787892531524716, + -0.027001596175233355, + -0.003959029815173144, + 0.02675520647461031, + -0.9996341755909626 + ], + [ + 0.9795178250609206, + 0.20128548701486376, + 0.005383595927744258, + 0.20131021535222438, + -0.9783586750724778, + -0.04783827029969958, + -0.004362061756230263, + 0.04794221133422171, + -0.9988405862747167 + ], + [ + 0.9781205432930747, + 0.2080384524758717, + -0.00045285704704678496, + 0.20796543364193262, + -0.9778304651421339, + -0.024453217580540552, + -0.0055300269604680865, + 0.0238240158529752, + -0.9997008727966851 + ], + [ + 0.9772270561932208, + 0.21217622866115152, + 0.0029203826910599697, + 0.2121932568858557, + -0.9771943889632765, + -0.008071425578035404, + 0.0011412169402625696, + 0.008507300971475298, + -0.9999631610484837 + ], + [ + 0.9760923687903266, + 0.2170057017075141, + -0.012337463909534028, + 0.21701484733469156, + -0.9761681133391457, + -0.000608716842160366, + -0.012175533893433822, + -0.0020832489824379142, + -0.9999237053136042 + ], + [ + 0.9698587329617901, + 0.24311846111162075, + 0.01635395867882783, + 0.2422136584469263, + -0.9692183845298726, + 0.04413917478906937, + 0.026581605660817187, + -0.03884761197321705, + -0.9988915262852476 + ], + [ + 0.9649830689106946, + 0.2603205589749291, + 0.03226272292720928, + 0.25935630191779524, + -0.9652771588479392, + 0.031214023482654292, + 0.039268121564735976, + -0.021753463665142768, + -0.9989918925833914 + ], + [ + 0.9564706176087111, + 0.28297911588953395, + 0.07132164903862269, + 0.2800435052290845, + -0.9587631738740887, + 0.048464539633548506, + 0.08209502317569857, + -0.026381743559927534, + -0.9962752685761701 + ], + [ + 0.9502389761048482, + 0.2880265405661441, + 0.11868698420934433, + 0.2883647236990057, + -0.9574079551528026, + 0.014689912733749663, + 0.11786294760104178, + 0.02026621177300797, + -0.9928230488073722 + ], + [ + 0.9338729189428089, + 0.32039959271339685, + 0.15882528845976498, + 0.32253171067824155, + -0.9464710557821058, + 0.012877739462860334, + 0.15444956093238096, + 0.03920001984432679, + -0.9872227162965809 + ], + [ + 0.9350028630151026, + 0.30899124898466696, + 0.17405187216590698, + 0.3153571141200104, + -0.9489257160915713, + -0.009480290818206078, + 0.1622329705314565, + 0.06375259517066385, + -0.9846908499024175 + ], + [ + 0.9357035239962875, + 0.3060270173678977, + 0.1755174630110562, + 0.31238392442157814, + -0.9499122013119978, + -0.00911556699104668, + 0.16393656987964228, + 0.06335830205665953, + -0.9844341149191216 + ], + [ + 0.9359464336057656, + 0.3061212510219167, + 0.17405186897423677, + 0.31244437225685795, + -0.9498887504473523, + -0.009480296334272435, + 0.1624277921590581, + 0.06325457648537638, + -0.9846908504134633 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006182.json b/json/chunk-0006/episode_0006182.json new file mode 100644 index 0000000000000000000000000000000000000000..2c736d67dee2b1102fbc78a7991f42576e9fdc30 --- /dev/null +++ b/json/chunk-0006/episode_0006182.json @@ -0,0 +1,2782 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 45, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nOpen the drawer." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006182.mp4", + "start": 0, + "end": 45, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.25328293442726135, + -0.027299122884869576, + 0.15012143552303314, + -0.03455423563718796, + -0.037484366446733475, + 0.03740980476140976, + 0.0, + 0.9988223910331726 + ], + [ + 0.25145572423934937, + -0.027525626122951508, + 0.14357388019561768, + -0.031285203993320465, + -0.01156654953956604, + 0.03732846677303314, + 0.0, + 0.9988223910331726 + ], + [ + 0.262929230928421, + -0.02654588595032692, + 0.12709206342697144, + -0.045961134135723114, + -0.0016476211603730917, + 0.09960295259952545, + 0.0, + 0.9988223910331726 + ], + [ + 0.2737409472465515, + -0.018635792657732964, + 0.11338681727647781, + -0.052122898399829865, + 0.0025644588749855757, + 0.19814877212047577, + 0.0, + 0.9988223910331726 + ], + [ + 0.29095807671546936, + -0.005500706844031811, + 0.10986689478158951, + -0.06430937349796295, + -0.033919285982847214, + 0.30567774176597595, + 0.0, + 0.9988223910331726 + ], + [ + 0.3007381558418274, + 0.006066017784178257, + 0.10855183750391006, + -0.08079881221055984, + -0.06894681602716446, + 0.4308241605758667, + 0.0, + 0.9988223910331726 + ], + [ + 0.3091414272785187, + 0.02112588658928871, + 0.10394278168678284, + -0.09846650063991547, + -0.10090682655572891, + 0.5509824752807617, + 0.0, + 0.9988223910331726 + ], + [ + 0.3171963095664978, + 0.03266189992427826, + 0.09371870756149292, + -0.10118309408426285, + -0.10391176491975784, + 0.6342578530311584, + 0.0, + 0.9988223910331726 + ], + [ + 0.32477423548698425, + 0.03729703277349472, + 0.07714878767728806, + -0.08566735684871674, + -0.07993410527706146, + 0.6650386452674866, + 0.0, + 0.9988223910331726 + ], + [ + 0.33013761043548584, + 0.04042341187596321, + 0.05510878562927246, + -0.06186734884977341, + -0.0466025173664093, + 0.6963661313056946, + 0.0, + 0.9988223910331726 + ], + [ + 0.3336043953895569, + 0.04441876709461212, + 0.04170922189950943, + -0.04576687142252922, + -0.033872928470373154, + 0.7424822449684143, + 0.0, + 0.9988223910331726 + ], + [ + 0.3401840925216675, + 0.04687771573662758, + 0.03795374929904938, + -0.041861727833747864, + -0.035920534282922745, + 0.777987003326416, + 0.0, + 0.9988223910331726 + ], + [ + 0.3487734794616699, + 0.05514494329690933, + 0.031021956354379654, + -0.05987301468849182, + -0.03917904198169708, + 0.8295878767967224, + 0.0, + 0.9988223910331726 + ], + [ + 0.35224294662475586, + 0.06421729922294617, + 0.033601000905036926, + -0.06640291959047318, + -0.04141303896903992, + 0.8695608973503113, + 0.0, + 0.9988223910331726 + ], + [ + 0.3564043641090393, + 0.06477609276771545, + 0.036206938326358795, + -0.08242332935333252, + -0.04593588039278984, + 0.8852213621139526, + 0.0, + 0.9643021821975708 + ], + [ + 0.35473471879959106, + 0.06872201710939407, + 0.03621109575033188, + -0.07810313999652863, + -0.03714413940906525, + 0.9068913459777832, + 0.0, + 0.6781873106956482 + ], + [ + 0.3536406457424164, + 0.07239943742752075, + 0.03560836985707283, + -0.08467631042003632, + -0.030335603281855583, + 0.9473035931587219, + 0.0, + 0.4813377559185028 + ], + [ + 0.34990108013153076, + 0.06757021695375443, + 0.03492186218500137, + -0.09613532572984695, + -0.03630346804857254, + 0.9462243914604187, + 0.0, + 0.457809716463089 + ], + [ + 0.3390495181083679, + 0.0635918527841568, + 0.03471270948648453, + -0.10322703421115875, + -0.03796544671058655, + 0.9500339031219482, + 0.0, + 0.4568776488304138 + ], + [ + 0.3180857002735138, + 0.05707938224077225, + 0.03627326712012291, + -0.09629011154174805, + -0.029693566262722015, + 0.945635199546814, + 0.0, + 0.4568776488304138 + ], + [ + 0.3010190725326538, + 0.04641403257846832, + 0.03683420270681381, + -0.10117737948894501, + -0.02856483869254589, + 0.938965916633606, + 0.0, + 0.4568776488304138 + ], + [ + 0.29014989733695984, + 0.04374367743730545, + 0.038836345076560974, + -0.10239702463150024, + -0.023154666647315025, + 0.9430610537528992, + 0.0, + 0.4568776488304138 + ], + [ + 0.2882561981678009, + 0.038937754929065704, + 0.03894565626978874, + -0.11176933348178864, + -0.028969930484890938, + 0.9334465265274048, + 0.0, + 0.4568776488304138 + ], + [ + 0.2843623459339142, + 0.038104359060525894, + 0.04071202501654625, + -0.11369746178388596, + -0.029243236407637596, + 0.9344602227210999, + 0.0, + 0.4568776488304138 + ], + [ + 0.2797117829322815, + 0.03701309487223625, + 0.039666548371315, + -0.111985944211483, + -0.024607647210359573, + 0.935127854347229, + 0.0, + 0.4568776488304138 + ], + [ + 0.27569687366485596, + 0.037604011595249176, + 0.03775535896420479, + -0.10152151435613632, + -0.026234149932861328, + 0.9268155097961426, + 0.0, + 0.4568776488304138 + ], + [ + 0.2744790315628052, + 0.038621868938207626, + 0.03705625981092453, + -0.0934128388762474, + -0.029660766944289207, + 0.9197133779525757, + 0.0, + 0.4568776488304138 + ], + [ + 0.2747883200645447, + 0.03952775523066521, + 0.03760409355163574, + -0.08877784013748169, + -0.0346861258149147, + 0.902288556098938, + 0.0, + 0.4568776488304138 + ], + [ + 0.27440428733825684, + 0.04045096039772034, + 0.03812853991985321, + -0.08503849059343338, + -0.03187830373644829, + 0.903904914855957, + 0.0, + 0.4568776488304138 + ], + [ + 0.2723191976547241, + 0.04129868745803833, + 0.03798714652657509, + -0.07717439532279968, + -0.02247101068496704, + 0.907741904258728, + 0.0, + 0.4568776488304138 + ], + [ + 0.27169090509414673, + 0.043749336153268814, + 0.037971146404743195, + -0.07612649351358414, + -0.02152811363339424, + 0.9137955904006958, + 0.0, + 0.4568776488304138 + ], + [ + 0.2691009044647217, + 0.04368249699473381, + 0.03682510182261467, + -0.07059574872255325, + -0.017728837206959724, + 0.8876200318336487, + 0.0, + 0.4568776488304138 + ], + [ + 0.26312750577926636, + 0.04567737504839897, + 0.03411657363176346, + -0.06132990121841431, + -0.01134822890162468, + 0.8621627688407898, + 0.0, + 0.4568776488304138 + ], + [ + 0.2554447054862976, + 0.04540502279996872, + 0.031319499015808105, + -0.05355878919363022, + -0.0019145093392580748, + 0.8654432892799377, + 0.0, + 0.4568776488304138 + ], + [ + 0.2542917728424072, + 0.04535864293575287, + 0.03083639033138752, + -0.05166076123714447, + -0.0016809407388791442, + 0.8598832488059998, + 0.0, + 0.5043045878410339 + ], + [ + 0.2472904622554779, + 0.04444238170981407, + 0.02939269319176674, + -0.027224285528063774, + 0.006948545109480619, + 0.7336008548736572, + 0.0, + 0.8186774849891663 + ], + [ + 0.2514325976371765, + 0.03849073499441147, + 0.03554568439722061, + -0.04004229977726936, + 0.02928311564028263, + 0.6793778538703918, + 0.0, + 1.0124757289886475 + ], + [ + 0.26650819182395935, + 0.03251750022172928, + 0.052168961614370346, + -0.07408828288316727, + 0.025718117132782936, + 0.646869957447052, + 0.0, + 1.0041072368621826 + ], + [ + 0.28117188811302185, + 0.02379162423312664, + 0.08429629355669022, + -0.09880511462688446, + 0.002433666493743658, + 0.5830023884773254, + 0.0, + 0.9981546401977539 + ], + [ + 0.29424265027046204, + 0.007667724974453449, + 0.12548303604125977, + -0.1273520141839981, + -0.0176469087600708, + 0.42800310254096985, + 0.0, + 0.9981546401977539 + ], + [ + 0.2862371504306793, + -0.01743789203464985, + 0.14057208597660065, + -0.023748032748699188, + 0.016385653987526894, + 0.17987538874149323, + 0.0, + 0.9981546401977539 + ], + [ + 0.27610546350479126, + -0.02867763489484787, + 0.1431812345981598, + 0.03324403986334801, + 0.047581251710653305, + 0.0350368358194828, + 0.0, + 0.9981546401977539 + ], + [ + 0.2682521343231201, + -0.026717359200119972, + 0.14569143950939178, + 0.07268627732992172, + 0.08773813396692276, + -0.005311812274158001, + 0.0, + 0.9981546401977539 + ], + [ + 0.26768332719802856, + -0.026637999340891838, + 0.14536646008491516, + 0.0731065422296524, + 0.0907745510339737, + -0.005182948894798756, + 0.0, + 0.9981546401977539 + ], + [ + 0.2679767608642578, + -0.026920504868030548, + 0.14570099115371704, + 0.0714230015873909, + 0.08944661915302277, + -0.004972001537680626, + 0.0, + 0.9981546401977539 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9643021821975708 + ], + [ + 0.6781873106956482 + ], + [ + 0.4813377559185028 + ], + [ + 0.457809716463089 + ], + [ + 0.4568776488304138 + ], + [ + 0.4568776488304138 + ], + [ + 0.4568776488304138 + ], + [ + 0.4568776488304138 + ], + [ + 0.4568776488304138 + ], + [ + 0.4568776488304138 + ], + [ + 0.4568776488304138 + ], + [ + 0.4568776488304138 + ], + [ + 0.4568776488304138 + ], + [ + 0.4568776488304138 + ], + [ + 0.4568776488304138 + ], + [ + 0.4568776488304138 + ], + [ + 0.4568776488304138 + ], + [ + 0.4568776488304138 + ], + [ + 0.4568776488304138 + ], + [ + 0.4568776488304138 + ], + [ + 0.5043045878410339 + ], + [ + 0.8186774849891663 + ], + [ + 1.0124757289886475 + ], + [ + 1.0041072368621826 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.25328293442726135, + -0.027299122884869576, + 0.15012143552303314 + ], + [ + 0.25145572423934937, + -0.027525626122951508, + 0.14357388019561768 + ], + [ + 0.262929230928421, + -0.02654588595032692, + 0.12709206342697144 + ], + [ + 0.2737409472465515, + -0.018635792657732964, + 0.11338681727647781 + ], + [ + 0.29095807671546936, + -0.005500706844031811, + 0.10986689478158951 + ], + [ + 0.3007381558418274, + 0.006066017784178257, + 0.10855183750391006 + ], + [ + 0.3091414272785187, + 0.02112588658928871, + 0.10394278168678284 + ], + [ + 0.3171963095664978, + 0.03266189992427826, + 0.09371870756149292 + ], + [ + 0.32477423548698425, + 0.03729703277349472, + 0.07714878767728806 + ], + [ + 0.33013761043548584, + 0.04042341187596321, + 0.05510878562927246 + ], + [ + 0.3336043953895569, + 0.04441876709461212, + 0.04170922189950943 + ], + [ + 0.3401840925216675, + 0.04687771573662758, + 0.03795374929904938 + ], + [ + 0.3487734794616699, + 0.05514494329690933, + 0.031021956354379654 + ], + [ + 0.35224294662475586, + 0.06421729922294617, + 0.033601000905036926 + ], + [ + 0.3564043641090393, + 0.06477609276771545, + 0.036206938326358795 + ], + [ + 0.35473471879959106, + 0.06872201710939407, + 0.03621109575033188 + ], + [ + 0.3536406457424164, + 0.07239943742752075, + 0.03560836985707283 + ], + [ + 0.34990108013153076, + 0.06757021695375443, + 0.03492186218500137 + ], + [ + 0.3390495181083679, + 0.0635918527841568, + 0.03471270948648453 + ], + [ + 0.3180857002735138, + 0.05707938224077225, + 0.03627326712012291 + ], + [ + 0.3010190725326538, + 0.04641403257846832, + 0.03683420270681381 + ], + [ + 0.29014989733695984, + 0.04374367743730545, + 0.038836345076560974 + ], + [ + 0.2882561981678009, + 0.038937754929065704, + 0.03894565626978874 + ], + [ + 0.2843623459339142, + 0.038104359060525894, + 0.04071202501654625 + ], + [ + 0.2797117829322815, + 0.03701309487223625, + 0.039666548371315 + ], + [ + 0.27569687366485596, + 0.037604011595249176, + 0.03775535896420479 + ], + [ + 0.2744790315628052, + 0.038621868938207626, + 0.03705625981092453 + ], + [ + 0.2747883200645447, + 0.03952775523066521, + 0.03760409355163574 + ], + [ + 0.27440428733825684, + 0.04045096039772034, + 0.03812853991985321 + ], + [ + 0.2723191976547241, + 0.04129868745803833, + 0.03798714652657509 + ], + [ + 0.27169090509414673, + 0.043749336153268814, + 0.037971146404743195 + ], + [ + 0.2691009044647217, + 0.04368249699473381, + 0.03682510182261467 + ], + [ + 0.26312750577926636, + 0.04567737504839897, + 0.03411657363176346 + ], + [ + 0.2554447054862976, + 0.04540502279996872, + 0.031319499015808105 + ], + [ + 0.2542917728424072, + 0.04535864293575287, + 0.03083639033138752 + ], + [ + 0.2472904622554779, + 0.04444238170981407, + 0.02939269319176674 + ], + [ + 0.2514325976371765, + 0.03849073499441147, + 0.03554568439722061 + ], + [ + 0.26650819182395935, + 0.03251750022172928, + 0.052168961614370346 + ], + [ + 0.28117188811302185, + 0.02379162423312664, + 0.08429629355669022 + ], + [ + 0.29424265027046204, + 0.007667724974453449, + 0.12548303604125977 + ], + [ + 0.2862371504306793, + -0.01743789203464985, + 0.14057208597660065 + ], + [ + 0.27610546350479126, + -0.02867763489484787, + 0.1431812345981598 + ], + [ + 0.2682521343231201, + -0.026717359200119972, + 0.14569143950939178 + ], + [ + 0.26768332719802856, + -0.026637999340891838, + 0.14536646008491516 + ], + [ + 0.2679767608642578, + -0.026920504868030548, + 0.14570099115371704 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9985983697343703, + 0.036084976630884606, + 0.03871912221895385, + 0.03737480694010722, + -0.998752236841946, + -0.03312239739811954, + 0.03747558898866683, + 0.03452309176127994, + -0.9987010245139406 + ], + [ + 0.9992365284908071, + 0.036939993493010616, + 0.012719945376326975, + 0.03731730198488246, + -0.998827874596986, + -0.03082686978330388, + 0.0115662916360213, + 0.03127800838934633, + -0.9994437988646419 + ], + [ + 0.9950423748458652, + 0.09925801073744306, + 0.006206413259416746, + 0.09943821000032818, + -0.9940004598654081, + -0.045553574824466266, + 0.0016476204149192225, + 0.04594489190109443, + -0.9989426170982822 + ], + [ + 0.9804294565885096, + 0.19671831038225274, + 0.007745128398646165, + 0.1968540175324215, + -0.9790748628731961, + -0.05158399626994151, + -0.0025644560641475303, + 0.0520991290731804, + -0.9986386254871735 + ], + [ + 0.9530946730620217, + 0.2982391088114177, + 0.051613739994014404, + 0.30076646651855754, + -0.952327772593379, + -0.05110133232387597, + 0.03391278223236467, + 0.06422808982606554, + -0.9973588500026234 + ], + [ + 0.9064630866234854, + 0.4112050725404358, + 0.09609922427386672, + 0.41662757567741293, + -0.9079796541285406, + -0.044658827501151716, + 0.06889220401602464, + 0.08051916545538085, + -0.9943694123514579 + ], + [ + 0.8476765969174077, + 0.5125511359276487, + 0.13687848661422153, + 0.520861508935623, + -0.8530680200374217, + -0.031276855640216567, + 0.1007356716750746, + 0.09780739363008373, + -0.9900939542303353 + ], + [ + 0.8011667926259171, + 0.5811094441819828, + 0.14298106264819757, + 0.5893835107247141, + -0.8076004337503302, + -0.02021426951659109, + 0.10372486528943645, + 0.10046568214462809, + -0.9895189735583158 + ], + [ + 0.7843803654422081, + 0.6094504261665504, + 0.11540199458483383, + 0.6151191575125595, + -0.7882232520296836, + -0.018235323435270137, + 0.07984900982345938, + 0.08528940734440599, + -0.9931514751663278 + ], + [ + 0.7663452088396886, + 0.6379972313335718, + 0.0753296336055808, + 0.6407376983126514, + -0.767557907247329, + -0.01760854858034977, + 0.04658565068194181, + 0.06176076289034714, + -0.9970032022605256 + ], + [ + 0.7363698892622859, + 0.6742693129028827, + 0.055859465315409, + 0.675731048317975, + -0.7370686195409251, + -0.010835147766673908, + 0.03386645134848627, + 0.04572465161714906, + -0.9983798474065625 + ], + [ + 0.7118682923748929, + 0.7001614775879365, + 0.0549312262117979, + 0.7013941861589396, + -0.7127585729081383, + -0.004627350040049834, + 0.035912810161457295, + 0.04182250647476776, + -0.9984794179243132 + ], + [ + 0.6746616880619069, + 0.7347489462520673, + 0.07053788090760163, + 0.7370871010781073, + -0.6756988847346939, + -0.011559523889977247, + 0.0391690194634787, + 0.05979133005518085, + -0.9974421210097868 + ], + [ + 0.6446089436485039, + 0.7605895143795068, + 0.07734921062496747, + 0.7633906275304724, + -0.6458391956532842, + -0.011246473071603407, + 0.04140120248243242, + 0.06629723956443821, + -0.996940628352132 + ], + [ + 0.6324503150231578, + 0.769033780783254, + 0.0927019041946965, + 0.7732386291975645, + -0.6338951821490523, + -0.016700909103739725, + 0.045919727174494704, + 0.08224318854734439, + -0.9955538341012936 + ], + [ + 0.6157720432737874, + 0.7834056247613433, + 0.08426397696948662, + 0.7870487520004273, + -0.6166006126669645, + -0.018919472331271593, + 0.037135598783305676, + 0.0779699400475162, + -0.9962638384243363 + ], + [ + 0.5836056371392109, + 0.8074375609611429, + 0.08630785276239926, + 0.8114705747740917, + -0.5838648888061179, + -0.024845480378221815, + 0.030330950778713683, + 0.08453624529478372, + -0.9959586621222385 + ], + [ + 0.5843647837260922, + 0.8054305580118194, + 0.09899199847223193, + 0.8106789972836715, + -0.5848762171953544, + -0.02682114692538802, + 0.03629549426441507, + 0.09592406778291585, + -0.9947267013185481 + ], + [ + 0.5812363702546582, + 0.8068302120876726, + 0.10577944391870792, + 0.8128490629489257, + -0.5817407331281175, + -0.029225336313096734, + 0.037956326959324334, + 0.10296955026667617, + -0.9939600540070186 + ], + [ + 0.5849699525170948, + 0.8054421846324602, + 0.09525251632706508, + 0.8105113854108079, + -0.584831487648671, + -0.0323020924104827, + 0.02968920294653799, + 0.09609900243567798, + -0.9949289084951081 + ], + [ + 0.5903818489902054, + 0.801117168897147, + 0.09828811770059713, + 0.80661858661578, + -0.5899301866245875, + -0.03672642965278077, + 0.028560954270956743, + 0.1009636400259985, + -0.9944800728440126 + ], + [ + 0.5871558533440674, + 0.8037303188571555, + 0.09625787465747977, + 0.8091427322198873, + -0.5861523860769007, + -0.04139346798821717, + 0.023152597684399756, + 0.10219077671752463, + -0.994495350604684 + ], + [ + 0.5948179428338363, + 0.7967384169516961, + 0.10676848709346909, + 0.803338404888242, + -0.5939510772572257, + -0.04323800477121654, + 0.02896587845272123, + 0.11148996716425294, + -0.9933433269052427 + ], + [ + 0.5939985696652524, + 0.797114245338186, + 0.10851073271602564, + 0.8039345595895081, + -0.5930837872536296, + -0.04405502462279653, + 0.029239068611331173, + 0.11340414972930149, + -0.9931186110887844 + ], + [ + 0.5935358009425189, + 0.7980020838702964, + 0.10444102229577772, + 0.8044313761366861, + -0.5922091859302137, + -0.04667377407828648, + 0.024605163814937783, + 0.11171819117108073, + -0.9934352679843322 + ], + [ + 0.6001771081395058, + 0.7939983661400597, + 0.09671625216175253, + 0.7994369056499971, + -0.5994183882977477, + -0.03997786456638275, + 0.026231140845519772, + 0.10131234049930071, + -0.9945087917723483 + ], + [ + 0.6057815994643582, + 0.7902835445160196, + 0.09209002669996469, + 0.7950780783153403, + -0.605606278273373, + -0.03304368469555575, + 0.029656418070787616, + 0.09323601762768602, + -0.9952022617961337 + ], + [ + 0.6194428332287316, + 0.7797512347503565, + 0.09098674775403054, + 0.7842754181186843, + -0.6197875806067534, + -0.02784642634862845, + 0.03467917092901965, + 0.08860793887074118, + -0.9954627005934247 + ], + [ + 0.6182321469625942, + 0.7812343870756501, + 0.08638197099253236, + 0.7853490500439054, + -0.6184383811029965, + -0.027583298820846102, + 0.03187290474927952, + 0.08489288091022797, + -0.9958801718648711 + ], + [ + 0.6153715607655783, + 0.7847037418335805, + 0.07455118881220887, + 0.787916861644852, + -0.6150601320223209, + -0.029800220341673168, + 0.02246911962368205, + 0.07707834682362197, + -0.9967718229937452 + ], + [ + 0.6106031806022391, + 0.7885343845994758, + 0.07332994028877457, + 0.7916440915939961, + -0.6102721916104793, + -0.02945308797492909, + 0.02152645076983111, + 0.07603536316259818, + -0.9968727278173406 + ], + [ + 0.6311604447393759, + 0.7728503640848913, + 0.06586962676563643, + 0.7754496851871892, + -0.6306571116486424, + -0.03081222598387407, + 0.01772790849148734, + 0.07052603959420253, + -0.9973523945926408 + ], + [ + 0.6507550001393572, + 0.7573717479737914, + 0.053907004783687616, + 0.759202972216666, + -0.650101435105725, + -0.03128851308158613, + 0.011347985328024772, + 0.06128751458984155, + -0.9980556416274567 + ], + [ + 0.6483014784691811, + 0.7602245108263461, + 0.041998644662852025, + 0.761381328686974, + -0.6474510804240614, + -0.03325012457981908, + 0.0019145081697017619, + 0.053533088800835536, + -0.998564240828756 + ], + [ + 0.652525020865336, + 0.7566987940418634, + 0.04022477147581925, + 0.7577653143194044, + -0.6517211687209166, + -0.032422934096967046, + 0.0016809399472789387, + 0.05163771234893924, + -0.9986644687302444 + ], + [ + 0.7427503445398905, + 0.6694409545350788, + 0.013066525055909243, + 0.6695324071199169, + -0.7423663957460739, + -0.02486946487549943, + -0.006948489194349842, + 0.02722026557817553, + -0.9996053099297592 + ], + [ + 0.7776302409191703, + 0.628717332512769, + 0.0023925313000164837, + 0.6280397699357464, + -0.7766037345836694, + -0.04952460812315827, + -0.029278930770231155, + 0.040014437753465484, + -0.9987700380889618 + ], + [ + 0.7977102708734847, + 0.6025572268686279, + 0.02414771399823908, + 0.6024923634432156, + -0.7946378884780158, + -0.07452233348338562, + -0.02571528214039621, + 0.07399604410770556, + -0.9969269329900012 + ], + [ + 0.83481102937162, + 0.5480481709152056, + 0.052285252184470304, + 0.5505312184777411, + -0.8306097377653083, + -0.08368297921835437, + -0.0024336640914183923, + 0.0986441376156907, + -0.9951197975083939 + ], + [ + 0.9096547273612324, + 0.40965459632611934, + 0.0686395563669087, + 0.41499023593975426, + -0.9033587825473639, + -0.10828672157384611, + 0.017645992860388992, + 0.1269882738816022, + -0.9917472446306782 + ], + [ + 0.9837339182836304, + 0.1792393231621098, + -0.011867731490234647, + 0.17888295723677808, + -0.9835189644146154, + -0.026293235765639758, + -0.01638492076760135, + 0.023742612939422883, + -0.9995838247502048 + ], + [ + 0.9982551932482977, + 0.03343037805712962, + -0.04867215811694843, + 0.03499002216588365, + -0.9988894583325746, + 0.03155231181524803, + -0.04756329994475586, + -0.03320029901993438, + -0.9983163189307045 + ], + [ + 0.9961394250349823, + -0.0116612442903406, + -0.08700724839101584, + -0.005291355390581255, + -0.9973116430553716, + 0.07308548545590944, + -0.08762560955055032, + -0.07234294718765875, + -0.9935231504817078 + ], + [ + 0.9958694425952981, + -0.011790194639183422, + -0.0900280212783792, + -0.00516158664544316, + -0.9972811939419317, + 0.07350903504370494, + -0.09064993837963548, + -0.07274071432234654, + -0.9932227228329217 + ], + [ + 0.9959900066203257, + -0.011333833660860226, + -0.0887437373958973, + -0.004952104651159764, + -0.9974064382275994, + 0.07180441241078613, + -0.08932739429742698, + -0.07107700891766792, + -0.9934629713438494 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0018272101879119873, + -0.00022650323808193207, + -0.006547555327415466, + 0.0032690316438674927, + 0.025917816907167435, + -8.133798837661743e-05, + 1.0 + ], + [ + 0.011473506689071655, + 0.000979740172624588, + -0.01648181676864624, + -0.014675930142402649, + 0.009918928146362305, + 0.06227448582649231, + 1.0 + ], + [ + 0.010811716318130493, + 0.007910093292593956, + -0.013705246150493622, + -0.0061617642641067505, + 0.004212080035358667, + 0.09854581952095032, + 1.0 + ], + [ + 0.017217129468917847, + 0.013135085813701153, + -0.0035199224948883057, + -0.012186475098133087, + -0.03648374602198601, + 0.10752896964550018, + 1.0 + ], + [ + 0.009780079126358032, + 0.011566724628210068, + -0.0013150572776794434, + -0.016489438712596893, + -0.035027530044317245, + 0.12514641880989075, + 1.0 + ], + [ + 0.008403271436691284, + 0.015059868805110455, + -0.004609055817127228, + -0.01766768842935562, + -0.03196001052856445, + 0.12015831470489502, + 1.0 + ], + [ + 0.008054882287979126, + 0.011536013334989548, + -0.010224074125289917, + -0.0027165934443473816, + -0.0030049383640289307, + 0.08327537775039673, + 1.0 + ], + [ + 0.00757792592048645, + 0.004635132849216461, + -0.016569919884204865, + 0.015515737235546112, + 0.02397765964269638, + 0.030780792236328125, + 1.0 + ], + [ + 0.005363374948501587, + 0.0031263791024684906, + -0.022040002048015594, + 0.02380000799894333, + 0.03333158791065216, + 0.03132748603820801, + 1.0 + ], + [ + 0.003466784954071045, + 0.0039953552186489105, + -0.013399563729763031, + 0.016100477427244186, + 0.012729588896036148, + 0.04611611366271973, + 1.0 + ], + [ + 0.006579697132110596, + 0.002458948642015457, + -0.0037554726004600525, + 0.003905143588781357, + -0.002047605812549591, + 0.03550475835800171, + 1.0 + ], + [ + 0.008589386940002441, + 0.008267227560281754, + -0.0069317929446697235, + -0.018011286854743958, + -0.0032585076987743378, + 0.051600873470306396, + 1.0 + ], + [ + 0.0034694671630859375, + 0.009072355926036835, + 0.0025790445506572723, + -0.006529904901981354, + -0.0022339969873428345, + 0.03997302055358887, + 1.0 + ], + [ + 0.004161417484283447, + 0.0005587935447692871, + 0.002605937421321869, + -0.016020409762859344, + -0.004522841423749924, + 0.015660464763641357, + 0.0 + ], + [ + -0.0016696453094482422, + 0.003945924341678619, + 4.157423973083496e-06, + 0.004320189356803894, + 0.008791740983724594, + 0.021669983863830566, + 0.0 + ], + [ + -0.0010940730571746826, + 0.0036774203181266785, + -0.0006027258932590485, + -0.00657317042350769, + 0.006808536127209663, + 0.04041224718093872, + 0.0 + ], + [ + -0.00373956561088562, + -0.004829220473766327, + -0.0006865076720714569, + -0.011459015309810638, + -0.005967864766716957, + -0.0010792016983032227, + 0.0 + ], + [ + -0.010851562023162842, + -0.003978364169597626, + -0.0002091526985168457, + -0.007091708481311798, + -0.0016619786620140076, + 0.003809511661529541, + 0.0 + ], + [ + -0.020963817834854126, + -0.006512470543384552, + 0.001560557633638382, + 0.006936922669410706, + 0.008271880447864532, + -0.004398703575134277, + 0.0 + ], + [ + -0.017066627740859985, + -0.010665349662303925, + 0.0005609355866909027, + -0.0048872679471969604, + 0.0011287275701761246, + -0.006669282913208008, + 0.0 + ], + [ + -0.01086917519569397, + -0.0026703551411628723, + 0.002002142369747162, + -0.0012196451425552368, + 0.0054101720452308655, + 0.004095137119293213, + 0.0 + ], + [ + -0.0018936991691589355, + -0.004805922508239746, + 0.00010931119322776794, + -0.009372308850288391, + -0.0058152638375759125, + -0.009614527225494385, + 0.0 + ], + [ + -0.0038938522338867188, + -0.0008333958685398102, + 0.0017663687467575073, + -0.0019281283020973206, + -0.0002733059227466583, + 0.0010136961936950684, + 0.0 + ], + [ + -0.00465056300163269, + -0.0010912641882896423, + -0.001045476645231247, + 0.001711517572402954, + 0.004635589197278023, + 0.0006676316261291504, + 0.0 + ], + [ + -0.004014909267425537, + 0.0005909167230129242, + -0.0019111894071102142, + 0.01046442985534668, + -0.0016265027225017548, + -0.008312344551086426, + 0.0 + ], + [ + -0.0012178421020507812, + 0.0010178573429584503, + -0.0006990991532802582, + 0.008108675479888916, + -0.0034266170114278793, + -0.0071021318435668945, + 0.0 + ], + [ + 0.00030928850173950195, + 0.0009058862924575806, + 0.0005478337407112122, + 0.0046349987387657166, + -0.005025358870625496, + -0.017424821853637695, + 0.0 + ], + [ + -0.0003840327262878418, + 0.00092320516705513, + 0.0005244463682174683, + 0.0037393495440483093, + 0.0028078220784664154, + 0.001616358757019043, + 0.0 + ], + [ + -0.002085089683532715, + 0.0008477270603179932, + -0.00014139339327812195, + 0.007864095270633698, + 0.009407293051481247, + 0.003836989402770996, + 0.0 + ], + [ + -0.0006282925605773926, + 0.002450648695230484, + -1.600012183189392e-05, + 0.0010479018092155457, + 0.0009428970515727997, + 0.0060536861419677734, + 0.0 + ], + [ + -0.002590000629425049, + -6.683915853500366e-05, + -0.0011460445821285248, + 0.005530744791030884, + 0.003799276426434517, + -0.02617555856704712, + 0.0 + ], + [ + -0.005973398685455322, + 0.001994878053665161, + -0.0027085281908512115, + 0.009265847504138947, + 0.006380608305335045, + -0.025457262992858887, + 0.0 + ], + [ + -0.00768280029296875, + -0.0002723522484302521, + -0.002797074615955353, + 0.007771112024784088, + 0.009433719329535961, + 0.0032805204391479492, + 0.0 + ], + [ + -0.0011529326438903809, + -4.637986421585083e-05, + -0.00048310868442058563, + 0.0018980279564857483, + 0.00023356860037893057, + -0.005560040473937988, + 1.0 + ], + [ + -0.007001310586929321, + -0.000916261225938797, + -0.001443697139620781, + 0.024436475709080696, + 0.008629485964775085, + -0.12628239393234253, + 1.0 + ], + [ + 0.004142135381698608, + -0.005951646715402603, + 0.006152991205453873, + -0.01281801424920559, + 0.022334570065140724, + -0.05422300100326538, + 1.0 + ], + [ + 0.015075594186782837, + -0.00597323477268219, + 0.016623277217149734, + -0.0340459831058979, + -0.003564998507499695, + -0.032507896423339844, + 1.0 + ], + [ + 0.0146636962890625, + -0.008725875988602638, + 0.03212733194231987, + -0.024716831743717194, + -0.02328445017337799, + -0.06386756896972656, + 1.0 + ], + [ + 0.013070762157440186, + -0.016123898327350616, + 0.04118674248456955, + -0.028546899557113647, + -0.020080575719475746, + -0.1549992859363556, + 1.0 + ], + [ + -0.008005499839782715, + -0.025105617940425873, + 0.015089049935340881, + 0.10360398143529892, + 0.034032560884952545, + -0.24812771379947662, + 1.0 + ], + [ + -0.010131686925888062, + -0.011239742860198021, + 0.002609148621559143, + 0.056992072612047195, + 0.03119559772312641, + -0.14483855664730072, + 1.0 + ], + [ + -0.007853329181671143, + 0.0019602756947278976, + 0.0025102049112319946, + 0.039442237466573715, + 0.040156882256269455, + -0.04034864902496338, + 1.0 + ], + [ + -0.0005688071250915527, + 7.935985922813416e-05, + -0.00032497942447662354, + 0.0004202648997306824, + 0.003036417067050934, + 0.0001288633793592453, + 1.0 + ], + [ + 0.00029343366622924805, + -0.00028250552713871, + 0.0003345310688018799, + -0.0016835406422615051, + -0.0013279318809509277, + 0.00021094735711812973, + 1.0 + ], + [ + 0.0002753734588623047, + 0.00020314566791057587, + -9.551644325256348e-06, + 0.0012632757425308228, + -0.001708485186100006, + -0.00033981073647737503, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9643021821975708 + ], + [ + 0.6781873106956482 + ], + [ + 0.4813377559185028 + ], + [ + 0.457809716463089 + ], + [ + 0.4568776488304138 + ], + [ + 0.4568776488304138 + ], + [ + 0.4568776488304138 + ], + [ + 0.4568776488304138 + ], + [ + 0.4568776488304138 + ], + [ + 0.4568776488304138 + ], + [ + 0.4568776488304138 + ], + [ + 0.4568776488304138 + ], + [ + 0.4568776488304138 + ], + [ + 0.4568776488304138 + ], + [ + 0.4568776488304138 + ], + [ + 0.4568776488304138 + ], + [ + 0.4568776488304138 + ], + [ + 0.4568776488304138 + ], + [ + 0.4568776488304138 + ], + [ + 0.4568776488304138 + ], + [ + 0.5043045878410339 + ], + [ + 0.8186774849891663 + ], + [ + 1.0124757289886475 + ], + [ + 1.0041072368621826 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.25145572423934937, + -0.027525626122951508, + 0.14357388019561768 + ], + [ + 0.262929230928421, + -0.02654588595032692, + 0.12709206342697144 + ], + [ + 0.2737409472465515, + -0.018635792657732964, + 0.11338681727647781 + ], + [ + 0.29095807671546936, + -0.005500706844031811, + 0.10986689478158951 + ], + [ + 0.3007381558418274, + 0.006066017784178257, + 0.10855183750391006 + ], + [ + 0.3091414272785187, + 0.02112588658928871, + 0.10394278168678284 + ], + [ + 0.3171963095664978, + 0.03266189992427826, + 0.09371870756149292 + ], + [ + 0.32477423548698425, + 0.03729703277349472, + 0.07714878767728806 + ], + [ + 0.33013761043548584, + 0.04042341187596321, + 0.05510878562927246 + ], + [ + 0.3336043953895569, + 0.04441876709461212, + 0.04170922189950943 + ], + [ + 0.3401840925216675, + 0.04687771573662758, + 0.03795374929904938 + ], + [ + 0.3487734794616699, + 0.05514494329690933, + 0.031021956354379654 + ], + [ + 0.35224294662475586, + 0.06421729922294617, + 0.033601000905036926 + ], + [ + 0.3564043641090393, + 0.06477609276771545, + 0.036206938326358795 + ], + [ + 0.35473471879959106, + 0.06872201710939407, + 0.03621109575033188 + ], + [ + 0.3536406457424164, + 0.07239943742752075, + 0.03560836985707283 + ], + [ + 0.34990108013153076, + 0.06757021695375443, + 0.03492186218500137 + ], + [ + 0.3390495181083679, + 0.0635918527841568, + 0.03471270948648453 + ], + [ + 0.3180857002735138, + 0.05707938224077225, + 0.03627326712012291 + ], + [ + 0.3010190725326538, + 0.04641403257846832, + 0.03683420270681381 + ], + [ + 0.29014989733695984, + 0.04374367743730545, + 0.038836345076560974 + ], + [ + 0.2882561981678009, + 0.038937754929065704, + 0.03894565626978874 + ], + [ + 0.2843623459339142, + 0.038104359060525894, + 0.04071202501654625 + ], + [ + 0.2797117829322815, + 0.03701309487223625, + 0.039666548371315 + ], + [ + 0.27569687366485596, + 0.037604011595249176, + 0.03775535896420479 + ], + [ + 0.2744790315628052, + 0.038621868938207626, + 0.03705625981092453 + ], + [ + 0.2747883200645447, + 0.03952775523066521, + 0.03760409355163574 + ], + [ + 0.27440428733825684, + 0.04045096039772034, + 0.03812853991985321 + ], + [ + 0.2723191976547241, + 0.04129868745803833, + 0.03798714652657509 + ], + [ + 0.27169090509414673, + 0.043749336153268814, + 0.037971146404743195 + ], + [ + 0.2691009044647217, + 0.04368249699473381, + 0.03682510182261467 + ], + [ + 0.26312750577926636, + 0.04567737504839897, + 0.03411657363176346 + ], + [ + 0.2554447054862976, + 0.04540502279996872, + 0.031319499015808105 + ], + [ + 0.2542917728424072, + 0.04535864293575287, + 0.03083639033138752 + ], + [ + 0.2472904622554779, + 0.04444238170981407, + 0.02939269319176674 + ], + [ + 0.2514325976371765, + 0.03849073499441147, + 0.03554568439722061 + ], + [ + 0.26650819182395935, + 0.03251750022172928, + 0.052168961614370346 + ], + [ + 0.28117188811302185, + 0.02379162423312664, + 0.08429629355669022 + ], + [ + 0.29424265027046204, + 0.007667724974453449, + 0.12548303604125977 + ], + [ + 0.2862371504306793, + -0.01743789203464985, + 0.14057208597660065 + ], + [ + 0.27610546350479126, + -0.02867763489484787, + 0.1431812345981598 + ], + [ + 0.2682521343231201, + -0.026717359200119972, + 0.14569143950939178 + ], + [ + 0.26768332719802856, + -0.026637999340891838, + 0.14536646008491516 + ], + [ + 0.2679767608642578, + -0.026920504868030548, + 0.14570099115371704 + ], + [ + 0.2682521343231201, + -0.026717359200119972, + 0.14569143950939178 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9992365284908071, + 0.036939993493010616, + 0.012719945376326975, + 0.03731730198488246, + -0.998827874596986, + -0.03082686978330388, + 0.0115662916360213, + 0.03127800838934633, + -0.9994437988646419 + ], + [ + 0.9950423748458652, + 0.09925801073744306, + 0.006206413259416746, + 0.09943821000032818, + -0.9940004598654081, + -0.045553574824466266, + 0.0016476204149192225, + 0.04594489190109443, + -0.9989426170982822 + ], + [ + 0.9804294565885096, + 0.19671831038225274, + 0.007745128398646165, + 0.1968540175324215, + -0.9790748628731961, + -0.05158399626994151, + -0.0025644560641475303, + 0.0520991290731804, + -0.9986386254871735 + ], + [ + 0.9530946730620217, + 0.2982391088114177, + 0.051613739994014404, + 0.30076646651855754, + -0.952327772593379, + -0.05110133232387597, + 0.03391278223236467, + 0.06422808982606554, + -0.9973588500026234 + ], + [ + 0.9064630866234854, + 0.4112050725404358, + 0.09609922427386672, + 0.41662757567741293, + -0.9079796541285406, + -0.044658827501151716, + 0.06889220401602464, + 0.08051916545538085, + -0.9943694123514579 + ], + [ + 0.8476765969174077, + 0.5125511359276487, + 0.13687848661422153, + 0.520861508935623, + -0.8530680200374217, + -0.031276855640216567, + 0.1007356716750746, + 0.09780739363008373, + -0.9900939542303353 + ], + [ + 0.8011667926259171, + 0.5811094441819828, + 0.14298106264819757, + 0.5893835107247141, + -0.8076004337503302, + -0.02021426951659109, + 0.10372486528943645, + 0.10046568214462809, + -0.9895189735583158 + ], + [ + 0.7843803654422081, + 0.6094504261665504, + 0.11540199458483383, + 0.6151191575125595, + -0.7882232520296836, + -0.018235323435270137, + 0.07984900982345938, + 0.08528940734440599, + -0.9931514751663278 + ], + [ + 0.7663452088396886, + 0.6379972313335718, + 0.0753296336055808, + 0.6407376983126514, + -0.767557907247329, + -0.01760854858034977, + 0.04658565068194181, + 0.06176076289034714, + -0.9970032022605256 + ], + [ + 0.7363698892622859, + 0.6742693129028827, + 0.055859465315409, + 0.675731048317975, + -0.7370686195409251, + -0.010835147766673908, + 0.03386645134848627, + 0.04572465161714906, + -0.9983798474065625 + ], + [ + 0.7118682923748929, + 0.7001614775879365, + 0.0549312262117979, + 0.7013941861589396, + -0.7127585729081383, + -0.004627350040049834, + 0.035912810161457295, + 0.04182250647476776, + -0.9984794179243132 + ], + [ + 0.6746616880619069, + 0.7347489462520673, + 0.07053788090760163, + 0.7370871010781073, + -0.6756988847346939, + -0.011559523889977247, + 0.0391690194634787, + 0.05979133005518085, + -0.9974421210097868 + ], + [ + 0.6446089436485039, + 0.7605895143795068, + 0.07734921062496747, + 0.7633906275304724, + -0.6458391956532842, + -0.011246473071603407, + 0.04140120248243242, + 0.06629723956443821, + -0.996940628352132 + ], + [ + 0.6324503150231578, + 0.769033780783254, + 0.0927019041946965, + 0.7732386291975645, + -0.6338951821490523, + -0.016700909103739725, + 0.045919727174494704, + 0.08224318854734439, + -0.9955538341012936 + ], + [ + 0.6157720432737874, + 0.7834056247613433, + 0.08426397696948662, + 0.7870487520004273, + -0.6166006126669645, + -0.018919472331271593, + 0.037135598783305676, + 0.0779699400475162, + -0.9962638384243363 + ], + [ + 0.5836056371392109, + 0.8074375609611429, + 0.08630785276239926, + 0.8114705747740917, + -0.5838648888061179, + -0.024845480378221815, + 0.030330950778713683, + 0.08453624529478372, + -0.9959586621222385 + ], + [ + 0.5843647837260922, + 0.8054305580118194, + 0.09899199847223193, + 0.8106789972836715, + -0.5848762171953544, + -0.02682114692538802, + 0.03629549426441507, + 0.09592406778291585, + -0.9947267013185481 + ], + [ + 0.5812363702546582, + 0.8068302120876726, + 0.10577944391870792, + 0.8128490629489257, + -0.5817407331281175, + -0.029225336313096734, + 0.037956326959324334, + 0.10296955026667617, + -0.9939600540070186 + ], + [ + 0.5849699525170948, + 0.8054421846324602, + 0.09525251632706508, + 0.8105113854108079, + -0.584831487648671, + -0.0323020924104827, + 0.02968920294653799, + 0.09609900243567798, + -0.9949289084951081 + ], + [ + 0.5903818489902054, + 0.801117168897147, + 0.09828811770059713, + 0.80661858661578, + -0.5899301866245875, + -0.03672642965278077, + 0.028560954270956743, + 0.1009636400259985, + -0.9944800728440126 + ], + [ + 0.5871558533440674, + 0.8037303188571555, + 0.09625787465747977, + 0.8091427322198873, + -0.5861523860769007, + -0.04139346798821717, + 0.023152597684399756, + 0.10219077671752463, + -0.994495350604684 + ], + [ + 0.5948179428338363, + 0.7967384169516961, + 0.10676848709346909, + 0.803338404888242, + -0.5939510772572257, + -0.04323800477121654, + 0.02896587845272123, + 0.11148996716425294, + -0.9933433269052427 + ], + [ + 0.5939985696652524, + 0.797114245338186, + 0.10851073271602564, + 0.8039345595895081, + -0.5930837872536296, + -0.04405502462279653, + 0.029239068611331173, + 0.11340414972930149, + -0.9931186110887844 + ], + [ + 0.5935358009425189, + 0.7980020838702964, + 0.10444102229577772, + 0.8044313761366861, + -0.5922091859302137, + -0.04667377407828648, + 0.024605163814937783, + 0.11171819117108073, + -0.9934352679843322 + ], + [ + 0.6001771081395058, + 0.7939983661400597, + 0.09671625216175253, + 0.7994369056499971, + -0.5994183882977477, + -0.03997786456638275, + 0.026231140845519772, + 0.10131234049930071, + -0.9945087917723483 + ], + [ + 0.6057815994643582, + 0.7902835445160196, + 0.09209002669996469, + 0.7950780783153403, + -0.605606278273373, + -0.03304368469555575, + 0.029656418070787616, + 0.09323601762768602, + -0.9952022617961337 + ], + [ + 0.6194428332287316, + 0.7797512347503565, + 0.09098674775403054, + 0.7842754181186843, + -0.6197875806067534, + -0.02784642634862845, + 0.03467917092901965, + 0.08860793887074118, + -0.9954627005934247 + ], + [ + 0.6182321469625942, + 0.7812343870756501, + 0.08638197099253236, + 0.7853490500439054, + -0.6184383811029965, + -0.027583298820846102, + 0.03187290474927952, + 0.08489288091022797, + -0.9958801718648711 + ], + [ + 0.6153715607655783, + 0.7847037418335805, + 0.07455118881220887, + 0.787916861644852, + -0.6150601320223209, + -0.029800220341673168, + 0.02246911962368205, + 0.07707834682362197, + -0.9967718229937452 + ], + [ + 0.6106031806022391, + 0.7885343845994758, + 0.07332994028877457, + 0.7916440915939961, + -0.6102721916104793, + -0.02945308797492909, + 0.02152645076983111, + 0.07603536316259818, + -0.9968727278173406 + ], + [ + 0.6311604447393759, + 0.7728503640848913, + 0.06586962676563643, + 0.7754496851871892, + -0.6306571116486424, + -0.03081222598387407, + 0.01772790849148734, + 0.07052603959420253, + -0.9973523945926408 + ], + [ + 0.6507550001393572, + 0.7573717479737914, + 0.053907004783687616, + 0.759202972216666, + -0.650101435105725, + -0.03128851308158613, + 0.011347985328024772, + 0.06128751458984155, + -0.9980556416274567 + ], + [ + 0.6483014784691811, + 0.7602245108263461, + 0.041998644662852025, + 0.761381328686974, + -0.6474510804240614, + -0.03325012457981908, + 0.0019145081697017619, + 0.053533088800835536, + -0.998564240828756 + ], + [ + 0.652525020865336, + 0.7566987940418634, + 0.04022477147581925, + 0.7577653143194044, + -0.6517211687209166, + -0.032422934096967046, + 0.0016809399472789387, + 0.05163771234893924, + -0.9986644687302444 + ], + [ + 0.7427503445398905, + 0.6694409545350788, + 0.013066525055909243, + 0.6695324071199169, + -0.7423663957460739, + -0.02486946487549943, + -0.006948489194349842, + 0.02722026557817553, + -0.9996053099297592 + ], + [ + 0.7776302409191703, + 0.628717332512769, + 0.0023925313000164837, + 0.6280397699357464, + -0.7766037345836694, + -0.04952460812315827, + -0.029278930770231155, + 0.040014437753465484, + -0.9987700380889618 + ], + [ + 0.7977102708734847, + 0.6025572268686279, + 0.02414771399823908, + 0.6024923634432156, + -0.7946378884780158, + -0.07452233348338562, + -0.02571528214039621, + 0.07399604410770556, + -0.9969269329900012 + ], + [ + 0.83481102937162, + 0.5480481709152056, + 0.052285252184470304, + 0.5505312184777411, + -0.8306097377653083, + -0.08368297921835437, + -0.0024336640914183923, + 0.0986441376156907, + -0.9951197975083939 + ], + [ + 0.9096547273612324, + 0.40965459632611934, + 0.0686395563669087, + 0.41499023593975426, + -0.9033587825473639, + -0.10828672157384611, + 0.017645992860388992, + 0.1269882738816022, + -0.9917472446306782 + ], + [ + 0.9837339182836304, + 0.1792393231621098, + -0.011867731490234647, + 0.17888295723677808, + -0.9835189644146154, + -0.026293235765639758, + -0.01638492076760135, + 0.023742612939422883, + -0.9995838247502048 + ], + [ + 0.9982551932482977, + 0.03343037805712962, + -0.04867215811694843, + 0.03499002216588365, + -0.9988894583325746, + 0.03155231181524803, + -0.04756329994475586, + -0.03320029901993438, + -0.9983163189307045 + ], + [ + 0.9961394250349823, + -0.0116612442903406, + -0.08700724839101584, + -0.005291355390581255, + -0.9973116430553716, + 0.07308548545590944, + -0.08762560955055032, + -0.07234294718765875, + -0.9935231504817078 + ], + [ + 0.9958694425952981, + -0.011790194639183422, + -0.0900280212783792, + -0.00516158664544316, + -0.9972811939419317, + 0.07350903504370494, + -0.09064993837963548, + -0.07274071432234654, + -0.9932227228329217 + ], + [ + 0.9959900066203257, + -0.011333833660860226, + -0.0887437373958973, + -0.004952104651159764, + -0.9974064382275994, + 0.07180441241078613, + -0.08932739429742698, + -0.07107700891766792, + -0.9934629713438494 + ], + [ + 0.9961394250349823, + -0.0116612442903406, + -0.08700724839101584, + -0.005291355390581255, + -0.9973116430553716, + 0.07308548545590944, + -0.08762560955055032, + -0.07234294718765875, + -0.9935231504817078 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006183.json b/json/chunk-0006/episode_0006183.json new file mode 100644 index 0000000000000000000000000000000000000000..66de4a19062996fbfe258a97c3e3e59474f43ddc --- /dev/null +++ b/json/chunk-0006/episode_0006183.json @@ -0,0 +1,1882 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 30, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut knife in pot cardboard fence." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006183.mp4", + "start": 0, + "end": 30, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3167255222797394, + 0.14023831486701965, + 0.11523077636957169, + 0.12050862610340118, + -0.0855102688074112, + 0.6491042971611023, + 0.0, + 0.9941151142120361 + ], + [ + 0.31324243545532227, + 0.13886326551437378, + 0.1023465171456337, + 0.131973996758461, + -0.03429320827126503, + 0.6283536553382874, + 0.0, + 0.9941151142120361 + ], + [ + 0.30758923292160034, + 0.12988057732582092, + 0.09452705085277557, + 0.1226181834936142, + 0.11477631330490112, + 0.3833242654800415, + 0.0, + 0.9941151142120361 + ], + [ + 0.28809788823127747, + 0.12356206774711609, + 0.07159164547920227, + 0.10965463519096375, + 0.14878588914871216, + 0.1343311369419098, + 0.0, + 0.9941151142120361 + ], + [ + 0.26471421122550964, + 0.11879269778728485, + 0.06904231756925583, + 0.1046842411160469, + 0.1724787950515747, + -0.11826512962579727, + 0.0, + 0.9941151142120361 + ], + [ + 0.24633899331092834, + 0.11890504509210587, + 0.05417124554514885, + 0.060093894600868225, + 0.2256416380405426, + -0.3885525166988373, + 0.0, + 0.9941151142120361 + ], + [ + 0.23043449223041534, + 0.12326264381408691, + 0.05090445280075073, + 0.04914925992488861, + 0.24576014280319214, + -0.6354910731315613, + 0.0, + 0.9941151142120361 + ], + [ + 0.2176596075296402, + 0.1294475644826889, + 0.03985054790973663, + 0.005147602874785662, + 0.28117766976356506, + -0.8834894895553589, + 0.0, + 0.9941151142120361 + ], + [ + 0.21931611001491547, + 0.13110579550266266, + 0.03783567622303963, + 0.07110720127820969, + 0.22248028218746185, + -0.9802764058113098, + 0.0, + 0.9941151142120361 + ], + [ + 0.21935738623142242, + 0.13113637268543243, + 0.03691014647483826, + 0.0692247822880745, + 0.19486050307750702, + -0.9663383960723877, + 0.0, + 0.9941151142120361 + ], + [ + 0.2214927077293396, + 0.13120467960834503, + 0.03566231578588486, + 0.0778113380074501, + 0.18818089365959167, + -0.9687889218330383, + 0.0, + 0.9941151142120361 + ], + [ + 0.2211158722639084, + 0.13018356263637543, + 0.023018840700387955, + 0.05327163264155388, + 0.2103787362575531, + -0.9656177163124084, + 0.0, + 0.9941151142120361 + ], + [ + 0.22389177978038788, + 0.12915319204330444, + 0.01172297727316618, + 0.055788397789001465, + 0.23271743953227997, + -0.9555773735046387, + 0.0, + 0.9941151142120361 + ], + [ + 0.22519032657146454, + 0.12761618196964264, + 0.0016461454797536135, + 0.059468258172273636, + 0.24545352160930634, + -0.9434199333190918, + 0.0, + 0.9476637244224548 + ], + [ + 0.22707988321781158, + 0.1271997094154358, + 0.0004889998235739768, + 0.06004565954208374, + 0.23021645843982697, + -0.9292898774147034, + 0.0, + 0.6881998181343079 + ], + [ + 0.22317686676979065, + 0.12577618658542633, + 0.0013050445122644305, + 0.019002404063940048, + 0.21090653538703918, + -0.9080817699432373, + 0.0, + 0.5023775696754456 + ], + [ + 0.2181078940629959, + 0.1215849220752716, + 0.009917124174535275, + -0.04051864892244339, + 0.197588711977005, + -0.8940368890762329, + 0.0, + 0.5188266634941101 + ], + [ + 0.23022668063640594, + 0.1139327809214592, + 0.0443275049328804, + -0.048573851585388184, + 0.12495515495538712, + -0.770874559879303, + 0.0, + 0.5315056443214417 + ], + [ + 0.24071910977363586, + 0.09968113899230957, + 0.07517007738351822, + -0.12435813248157501, + 0.0841769203543663, + -0.7324591279029846, + 0.0, + 0.5315056443214417 + ], + [ + 0.24835199117660522, + 0.07581857591867447, + 0.08630935847759247, + -0.13898171484470367, + 0.051316890865564346, + -0.6639279127120972, + 0.0, + 0.5315056443214417 + ], + [ + 0.26323655247688293, + 0.04221906140446663, + 0.08980110287666321, + -0.14760532975196838, + 0.07778987288475037, + -0.5954622030258179, + 0.0, + 0.5315056443214417 + ], + [ + 0.2784964144229889, + 0.01375679299235344, + 0.08006692677736282, + -0.1604207158088684, + 0.10326216369867325, + -0.5882078409194946, + 0.0, + 0.5315056443214417 + ], + [ + 0.2900329530239105, + -0.009783213958144188, + 0.0642441064119339, + -0.1389707624912262, + 0.11712826043367386, + -0.5975461602210999, + 0.0, + 0.5315056443214417 + ], + [ + 0.2956518530845642, + -0.024922695010900497, + 0.04574669525027275, + -0.10697285830974579, + 0.1329861283302307, + -0.6014485955238342, + 0.0, + 0.5315056443214417 + ], + [ + 0.3017612397670746, + -0.03190075233578682, + 0.03953980281949043, + -0.09369529783725739, + 0.1344032734632492, + -0.5864165425300598, + 0.0, + 0.5315056443214417 + ], + [ + 0.30533528327941895, + -0.04073596000671387, + 0.03850683197379112, + -0.07681479305028915, + 0.1089535728096962, + -0.59319669008255, + 0.0, + 0.5315056443214417 + ], + [ + 0.30617445707321167, + -0.04363393783569336, + 0.038319285959005356, + -0.0956444963812828, + 0.13124939799308777, + -0.5667416453361511, + 0.0, + 0.5958979725837708 + ], + [ + 0.3033617436885834, + -0.0400569923222065, + 0.039343323558568954, + -0.10224694758653641, + 0.14974962174892426, + -0.5790354013442993, + 0.0, + 0.8801529407501221 + ], + [ + 0.30128541588783264, + -0.038542333990335464, + 0.05746633559465408, + -0.13120192289352417, + 0.11475686728954315, + -0.5683166980743408, + 0.0, + 0.9994885921478271 + ], + [ + 0.2987118363380432, + -0.033511944115161896, + 0.09156876802444458, + -0.15278282761573792, + 0.01304895430803299, + -0.579863965511322, + 0.0, + 0.9988223910331726 + ] + ], + "left_gripper_pos": [ + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9476637244224548 + ], + [ + 0.6881998181343079 + ], + [ + 0.5023775696754456 + ], + [ + 0.5188266634941101 + ], + [ + 0.5315056443214417 + ], + [ + 0.5315056443214417 + ], + [ + 0.5315056443214417 + ], + [ + 0.5315056443214417 + ], + [ + 0.5315056443214417 + ], + [ + 0.5315056443214417 + ], + [ + 0.5315056443214417 + ], + [ + 0.5315056443214417 + ], + [ + 0.5315056443214417 + ], + [ + 0.5958979725837708 + ], + [ + 0.8801529407501221 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3167255222797394, + 0.14023831486701965, + 0.11523077636957169 + ], + [ + 0.31324243545532227, + 0.13886326551437378, + 0.1023465171456337 + ], + [ + 0.30758923292160034, + 0.12988057732582092, + 0.09452705085277557 + ], + [ + 0.28809788823127747, + 0.12356206774711609, + 0.07159164547920227 + ], + [ + 0.26471421122550964, + 0.11879269778728485, + 0.06904231756925583 + ], + [ + 0.24633899331092834, + 0.11890504509210587, + 0.05417124554514885 + ], + [ + 0.23043449223041534, + 0.12326264381408691, + 0.05090445280075073 + ], + [ + 0.2176596075296402, + 0.1294475644826889, + 0.03985054790973663 + ], + [ + 0.21931611001491547, + 0.13110579550266266, + 0.03783567622303963 + ], + [ + 0.21935738623142242, + 0.13113637268543243, + 0.03691014647483826 + ], + [ + 0.2214927077293396, + 0.13120467960834503, + 0.03566231578588486 + ], + [ + 0.2211158722639084, + 0.13018356263637543, + 0.023018840700387955 + ], + [ + 0.22389177978038788, + 0.12915319204330444, + 0.01172297727316618 + ], + [ + 0.22519032657146454, + 0.12761618196964264, + 0.0016461454797536135 + ], + [ + 0.22707988321781158, + 0.1271997094154358, + 0.0004889998235739768 + ], + [ + 0.22317686676979065, + 0.12577618658542633, + 0.0013050445122644305 + ], + [ + 0.2181078940629959, + 0.1215849220752716, + 0.009917124174535275 + ], + [ + 0.23022668063640594, + 0.1139327809214592, + 0.0443275049328804 + ], + [ + 0.24071910977363586, + 0.09968113899230957, + 0.07517007738351822 + ], + [ + 0.24835199117660522, + 0.07581857591867447, + 0.08630935847759247 + ], + [ + 0.26323655247688293, + 0.04221906140446663, + 0.08980110287666321 + ], + [ + 0.2784964144229889, + 0.01375679299235344, + 0.08006692677736282 + ], + [ + 0.2900329530239105, + -0.009783213958144188, + 0.0642441064119339 + ], + [ + 0.2956518530845642, + -0.024922695010900497, + 0.04574669525027275 + ], + [ + 0.3017612397670746, + -0.03190075233578682, + 0.03953980281949043 + ], + [ + 0.30533528327941895, + -0.04073596000671387, + 0.03850683197379112 + ], + [ + 0.30617445707321167, + -0.04363393783569336, + 0.038319285959005356 + ], + [ + 0.3033617436885834, + -0.0400569923222065, + 0.039343323558568954 + ], + [ + 0.30128541588783264, + -0.038542333990335464, + 0.05746633559465408 + ], + [ + 0.2987118363380432, + -0.033511944115161896, + 0.09156876802444458 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.7937148551313494, + 0.6082684154912323, + -0.00512478873779474, + 0.6022644993001127, + -0.7846418202761161, + 0.14701934143699627, + 0.08540609829869236, + -0.11977791361335868, + -0.9891203414063555 + ], + [ + 0.8085206951450847, + 0.5863521091664331, + -0.04985468481681693, + 0.5874680606868866, + -0.7993092698962533, + 0.12643563077988348, + 0.03428648705973532, + -0.13151385909475008, + -0.990721222984099 + ], + [ + 0.9213243981576186, + 0.35820639762910045, + -0.1511606101373116, + 0.37154474519385805, + -0.9257020972790542, + 0.07092340524813498, + -0.11452447632856758, + -0.12150639403234242, + -0.985961632382784 + ], + [ + 0.9800424475474198, + 0.11704689571010318, + -0.16067615009668246, + 0.13244784361255596, + -0.9872118145815378, + 0.08871528545302479, + -0.14823754493260916, + -0.10822595509052335, + -0.9830120919485665 + ], + [ + 0.9782808412990383, + -0.1351520668537719, + -0.15716397288310002, + -0.11623894730444177, + -0.9854626916395204, + 0.12390234265802623, + -0.17162488944439686, + -0.10294271325230021, + -0.9797692050230266 + ], + [ + 0.901998733256052, + -0.390600589235788, + -0.18392787959722975, + -0.3692456842143833, + -0.9186973368601105, + 0.14018854423665555, + -0.22373178114324702, + -0.05853531357049349, + -0.9728914159204378 + ], + [ + 0.7805988042436609, + -0.6024754558906488, + -0.16639961497167383, + -0.5757375127151657, + -0.7967135566864598, + 0.18377656282716054, + -0.24329369754664976, + -0.04765326475033882, + -0.9687813701205825 + ], + [ + 0.6095421942070423, + -0.7738535252067478, + -0.17207276079134037, + -0.7426029440956587, + -0.6333452962135535, + 0.21774894531231626, + -0.2774872625936627, + -0.0049454311496210795, + -0.9607165876620535 + ], + [ + 0.5430697934258332, + -0.8372807948395751, + -0.06353007210158607, + -0.8101783874575701, + -0.5423641827375607, + 0.2223782223601709, + -0.22064945040737066, + -0.06929620390921583, + -0.9728884088931773 + ], + [ + 0.5575605803895112, + -0.8284512011891738, + -0.05286592895170625, + -0.8072383453722884, + -0.5559348578670495, + 0.19824905439611457, + -0.1936296799468553, + -0.06786045281722508, + -0.978724938880746 + ], + [ + 0.556300783643792, + -0.8299415531593619, + -0.04155064929371048, + -0.8096501868767065, + -0.5525993877067542, + 0.19773844238446497, + -0.18707221335039836, + -0.07636055948947951, + -0.9793738060345685 + ], + [ + 0.5563656088825484, + -0.8275598083410983, + -0.07484699640730784, + -0.8042681236883501, + -0.5589572639021716, + 0.2017908876778594, + -0.2088303006547939, + -0.05207245672562803, + -0.9765645727646409 + ], + [ + 0.5615796171595122, + -0.8227982202869268, + -0.08735801213192305, + -0.7946329777283099, + -0.5657378676003368, + 0.220225102723697, + -0.23062255808488208, + -0.0542563715676722, + -0.9715294549557907 + ], + [ + 0.569428082059219, + -0.8166171313793343, + -0.09427682695204664, + -0.7853053343806217, + -0.574293241053951, + 0.2312634970614439, + -0.2429962780696428, + -0.05765183446808485, + -0.9683124882117163 + ], + [ + 0.5826154261531817, + -0.807945512867797, + -0.08822308907048501, + -0.7800572899958311, + -0.5863534851774417, + 0.2184037883019144, + -0.22818827650145876, + -0.05842635241960578, + -0.9718623728750043 + ], + [ + 0.6016258736249279, + -0.7906300638496682, + -0.11379986960498625, + -0.7708569120669841, + -0.6120121546969725, + 0.17669392638606107, + -0.20934643370164216, + -0.01858022174890754, + -0.9776649968451183 + ], + [ + 0.6140844799939061, + -0.7739863892160197, + -0.1544193017046831, + -0.7644373023690973, + -0.6319552505657838, + 0.12754674448606962, + -0.19630553272200768, + 0.03971939816620401, + -0.9797379788658003 + ], + [ + 0.7117089672895978, + -0.6916003401310634, + -0.12312317170285816, + -0.6913303476833007, + -0.7206719259374388, + 0.051906892969135546, + -0.12463023811122562, + 0.04817618391093252, + -0.9910329757642372 + ], + [ + 0.7408995450028264, + -0.6557819036919016, + -0.1449757186732663, + -0.6663323723639759, + -0.7447640343136129, + -0.036437655422749245, + -0.08407754607741716, + 0.12359865688241461, + -0.9887640457978145 + ], + [ + 0.7865410886213051, + -0.6046767593412091, + -0.12537596509309795, + -0.6154039351923185, + -0.7843625717551541, + -0.07780329414265989, + -0.05129437064845229, + 0.13835234997011858, + -0.9890538482800242 + ], + [ + 0.8253857158195059, + -0.5453304277562959, + -0.14612715245380428, + -0.5591952716959244, + -0.8252973912229203, + -0.0786439072882538, + -0.07771144210502873, + 0.14662517043051507, + -0.9861348747317374 + ], + [ + 0.827504871487858, + -0.5340485591720286, + -0.17328538342902272, + -0.5519152650127764, + -0.8303905315867854, + -0.07642712409146436, + -0.10307874615913776, + 0.1588826658175635, + -0.9819017621905789 + ], + [ + 0.8210542622947362, + -0.5438084998693963, + -0.17361513136084505, + -0.5587606746939185, + -0.8278559674696825, + -0.04940653337801795, + -0.11686062974006119, + 0.13757475275148784, + -0.9835734749484267 + ], + [ + 0.8172366316946947, + -0.5509303863954084, + -0.16911533686368077, + -0.5608413222030523, + -0.8278143023811704, + -0.01343473418823836, + -0.13259449131031872, + 0.10582622604715076, + -0.9855046984945204 + ], + [ + 0.8254172389391133, + -0.5405103924503085, + -0.16289535694839144, + -0.5483891431746095, + -0.8362132115163596, + -0.004100308977766524, + -0.1339989899601781, + 0.09271451093927591, + -0.9866348312070391 + ], + [ + 0.8242413717591307, + -0.550447113992949, + -0.13279358334445324, + -0.5556997196090727, + -0.8313775850547024, + -0.0030220349120110984, + -0.10873813823596942, + 0.07628424323177668, + -0.9911391080607861 + ], + [ + 0.8363986713526735, + -0.5238880032345502, + -0.16117885291314896, + -0.5322683040590784, + -0.8465090405913626, + -0.010625285462684653, + -0.13087289655828307, + 0.09467736933400175, + -0.986868015837193 + ], + [ + 0.827623669398239, + -0.5316134420840153, + -0.1800727909690411, + -0.5410926338018862, + -0.8409524208893185, + -0.004217516536127418, + -0.14919056101889439, + 0.10092657725287249, + -0.9836442459074762 + ], + [ + 0.8372647045340311, + -0.5209628969150887, + -0.1660887551262287, + -0.5346740907117374, + -0.8436270916098305, + -0.049162455426019984, + -0.11450515823803935, + 0.12996534284099484, + -0.9848845507962364 + ], + [ + 0.8364659725696049, + -0.5398665124086136, + -0.09417444193062868, + -0.5478634968575488, + -0.8278807650721778, + -0.12024569694805798, + -0.013048583992283126, + 0.1521761729156897, + -0.98826724465224 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0034830868244171143, + -0.001375049352645874, + -0.012884259223937988, + 0.011465370655059814, + 0.051217060536146164, + -0.02075064182281494, + 1.0 + ], + [ + -0.005653202533721924, + -0.008982688188552856, + -0.007819466292858124, + -0.009355813264846802, + 0.14906951785087585, + -0.24502938985824585, + 1.0 + ], + [ + -0.019491344690322876, + -0.006318509578704834, + -0.022935405373573303, + -0.012963548302650452, + 0.034009575843811035, + -0.2489931285381317, + 1.0 + ], + [ + -0.023383677005767822, + -0.004769369959831238, + -0.0025493279099464417, + -0.00497039407491684, + 0.02369290590286255, + -0.25259625911712646, + 1.0 + ], + [ + -0.0183752179145813, + 0.0001123473048210144, + -0.01487107202410698, + -0.04459034651517868, + 0.053162842988967896, + -0.2702873945236206, + 1.0 + ], + [ + -0.015904501080513, + 0.004357598721981049, + -0.003266792744398117, + -0.010944634675979614, + 0.020118504762649536, + -0.246938556432724, + 1.0 + ], + [ + -0.012774884700775146, + 0.00618492066860199, + -0.011053904891014099, + -0.044001657515764236, + 0.035417526960372925, + -0.2479984164237976, + 1.0 + ], + [ + 0.0016565024852752686, + 0.0016582310199737549, + -0.0020148716866970062, + 0.06595959514379501, + -0.05869738757610321, + -0.09678691625595093, + 1.0 + ], + [ + 4.127621650695801e-05, + 3.057718276977539e-05, + -0.0009255297482013702, + -0.0018824189901351929, + -0.027619779109954834, + 0.01393800973892212, + 1.0 + ], + [ + 0.0021353214979171753, + 6.830692291259766e-05, + -0.0012478306889533997, + 0.00858655571937561, + -0.006679609417915344, + -0.0024505257606506348, + 1.0 + ], + [ + -0.0003768354654312134, + -0.0010211169719696045, + -0.012643475085496902, + -0.024539705365896225, + 0.022197842597961426, + 0.003171205520629883, + 1.0 + ], + [ + 0.002775907516479492, + -0.0010303705930709839, + -0.011295863427221775, + 0.002516765147447586, + 0.022338703274726868, + 0.010040342807769775, + 1.0 + ], + [ + 0.0012985467910766602, + -0.0015370100736618042, + -0.01007683202624321, + 0.003679860383272171, + 0.012736082077026367, + 0.012157440185546875, + 0.0 + ], + [ + 0.001889556646347046, + -0.00041647255420684814, + -0.0011571457143872976, + 0.0005774013698101044, + -0.01523706316947937, + 0.014130055904388428, + 0.0 + ], + [ + -0.003903016448020935, + -0.0014235228300094604, + 0.0008160446886904538, + -0.04104325547814369, + -0.01930992305278778, + 0.021208107471466064, + 0.0 + ], + [ + -0.005068972706794739, + -0.004191264510154724, + 0.008612079545855522, + -0.05952105298638344, + -0.01331782341003418, + 0.014044880867004395, + 0.0 + ], + [ + 0.012118786573410034, + -0.0076521411538124084, + 0.03441037982702255, + -0.008055202662944794, + -0.07263355702161789, + 0.12316232919692993, + 0.0 + ], + [ + 0.01049242913722992, + -0.014251641929149628, + 0.030842572450637817, + -0.07578428089618683, + -0.04077823460102081, + 0.03841543197631836, + 0.0 + ], + [ + 0.00763288140296936, + -0.0238625630736351, + 0.01113928109407425, + -0.014623582363128662, + -0.032860029488801956, + 0.06853121519088745, + 0.0 + ], + [ + 0.01488456130027771, + -0.03359951451420784, + 0.0034917443990707397, + -0.00862361490726471, + 0.02647298201918602, + 0.0684657096862793, + 0.0 + ], + [ + 0.015259861946105957, + -0.02846226841211319, + -0.009734176099300385, + -0.012815386056900024, + 0.025472290813922882, + 0.007254362106323242, + 0.0 + ], + [ + 0.01153653860092163, + -0.023540006950497627, + -0.015822820365428925, + 0.021449953317642212, + 0.01386609673500061, + -0.009338319301605225, + 0.0 + ], + [ + 0.0056189000606536865, + -0.01513948105275631, + -0.018497411161661148, + 0.03199790418148041, + 0.015857867896556854, + -0.003902435302734375, + 0.0 + ], + [ + 0.006109386682510376, + -0.006978057324886322, + -0.006206892430782318, + 0.013277560472488403, + 0.0014171451330184937, + 0.015032052993774414, + 0.0 + ], + [ + 0.0035740435123443604, + -0.008835207670927048, + -0.0010329708456993103, + 0.01688050478696823, + -0.02544970065355301, + -0.006780147552490234, + 0.0 + ], + [ + 0.0008391737937927246, + -0.002897977828979492, + -0.0001875460147857666, + -0.018829703330993652, + 0.02229582518339157, + 0.026455044746398926, + 1.0 + ], + [ + -0.002812713384628296, + 0.003576945513486862, + 0.0010240375995635986, + -0.006602451205253601, + 0.018500223755836487, + -0.012293756008148193, + 1.0 + ], + [ + -0.0020763278007507324, + 0.0015146583318710327, + 0.01812301203608513, + -0.028954975306987762, + -0.034992754459381104, + 0.010718703269958496, + 1.0 + ], + [ + -0.0025735795497894287, + 0.005030389875173569, + 0.0341024324297905, + -0.021580904722213745, + -0.10170791298151016, + -0.011547267436981201, + 1.0 + ], + [ + -0.008257567882537842, + 0.01220300979912281, + 0.03166985511779785, + -0.0225207656621933, + -0.06945592910051346, + 0.026492059230804443, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9476637244224548 + ], + [ + 0.6881998181343079 + ], + [ + 0.5023775696754456 + ], + [ + 0.5188266634941101 + ], + [ + 0.5315056443214417 + ], + [ + 0.5315056443214417 + ], + [ + 0.5315056443214417 + ], + [ + 0.5315056443214417 + ], + [ + 0.5315056443214417 + ], + [ + 0.5315056443214417 + ], + [ + 0.5315056443214417 + ], + [ + 0.5315056443214417 + ], + [ + 0.5315056443214417 + ], + [ + 0.5958979725837708 + ], + [ + 0.8801529407501221 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.31324243545532227, + 0.13886326551437378, + 0.1023465171456337 + ], + [ + 0.30758923292160034, + 0.12988057732582092, + 0.09452705085277557 + ], + [ + 0.28809788823127747, + 0.12356206774711609, + 0.07159164547920227 + ], + [ + 0.26471421122550964, + 0.11879269778728485, + 0.06904231756925583 + ], + [ + 0.24633899331092834, + 0.11890504509210587, + 0.05417124554514885 + ], + [ + 0.23043449223041534, + 0.12326264381408691, + 0.05090445280075073 + ], + [ + 0.2176596075296402, + 0.1294475644826889, + 0.03985054790973663 + ], + [ + 0.21931611001491547, + 0.13110579550266266, + 0.03783567622303963 + ], + [ + 0.21935738623142242, + 0.13113637268543243, + 0.03691014647483826 + ], + [ + 0.2214927077293396, + 0.13120467960834503, + 0.03566231578588486 + ], + [ + 0.2211158722639084, + 0.13018356263637543, + 0.023018840700387955 + ], + [ + 0.22389177978038788, + 0.12915319204330444, + 0.01172297727316618 + ], + [ + 0.22519032657146454, + 0.12761618196964264, + 0.0016461454797536135 + ], + [ + 0.22707988321781158, + 0.1271997094154358, + 0.0004889998235739768 + ], + [ + 0.22317686676979065, + 0.12577618658542633, + 0.0013050445122644305 + ], + [ + 0.2181078940629959, + 0.1215849220752716, + 0.009917124174535275 + ], + [ + 0.23022668063640594, + 0.1139327809214592, + 0.0443275049328804 + ], + [ + 0.24071910977363586, + 0.09968113899230957, + 0.07517007738351822 + ], + [ + 0.24835199117660522, + 0.07581857591867447, + 0.08630935847759247 + ], + [ + 0.26323655247688293, + 0.04221906140446663, + 0.08980110287666321 + ], + [ + 0.2784964144229889, + 0.01375679299235344, + 0.08006692677736282 + ], + [ + 0.2900329530239105, + -0.009783213958144188, + 0.0642441064119339 + ], + [ + 0.2956518530845642, + -0.024922695010900497, + 0.04574669525027275 + ], + [ + 0.3017612397670746, + -0.03190075233578682, + 0.03953980281949043 + ], + [ + 0.30533528327941895, + -0.04073596000671387, + 0.03850683197379112 + ], + [ + 0.30617445707321167, + -0.04363393783569336, + 0.038319285959005356 + ], + [ + 0.3033617436885834, + -0.0400569923222065, + 0.039343323558568954 + ], + [ + 0.30128541588783264, + -0.038542333990335464, + 0.05746633559465408 + ], + [ + 0.2987118363380432, + -0.033511944115161896, + 0.09156876802444458 + ], + [ + 0.29045426845550537, + -0.021308934316039085, + 0.12323862314224243 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8085206951450847, + 0.5863521091664331, + -0.04985468481681693, + 0.5874680606868866, + -0.7993092698962533, + 0.12643563077988348, + 0.03428648705973532, + -0.13151385909475008, + -0.990721222984099 + ], + [ + 0.9213243981576186, + 0.35820639762910045, + -0.1511606101373116, + 0.37154474519385805, + -0.9257020972790542, + 0.07092340524813498, + -0.11452447632856758, + -0.12150639403234242, + -0.985961632382784 + ], + [ + 0.9800424475474198, + 0.11704689571010318, + -0.16067615009668246, + 0.13244784361255596, + -0.9872118145815378, + 0.08871528545302479, + -0.14823754493260916, + -0.10822595509052335, + -0.9830120919485665 + ], + [ + 0.9782808412990383, + -0.1351520668537719, + -0.15716397288310002, + -0.11623894730444177, + -0.9854626916395204, + 0.12390234265802623, + -0.17162488944439686, + -0.10294271325230021, + -0.9797692050230266 + ], + [ + 0.901998733256052, + -0.390600589235788, + -0.18392787959722975, + -0.3692456842143833, + -0.9186973368601105, + 0.14018854423665555, + -0.22373178114324702, + -0.05853531357049349, + -0.9728914159204378 + ], + [ + 0.7805988042436609, + -0.6024754558906488, + -0.16639961497167383, + -0.5757375127151657, + -0.7967135566864598, + 0.18377656282716054, + -0.24329369754664976, + -0.04765326475033882, + -0.9687813701205825 + ], + [ + 0.6095421942070423, + -0.7738535252067478, + -0.17207276079134037, + -0.7426029440956587, + -0.6333452962135535, + 0.21774894531231626, + -0.2774872625936627, + -0.0049454311496210795, + -0.9607165876620535 + ], + [ + 0.5430697934258332, + -0.8372807948395751, + -0.06353007210158607, + -0.8101783874575701, + -0.5423641827375607, + 0.2223782223601709, + -0.22064945040737066, + -0.06929620390921583, + -0.9728884088931773 + ], + [ + 0.5575605803895112, + -0.8284512011891738, + -0.05286592895170625, + -0.8072383453722884, + -0.5559348578670495, + 0.19824905439611457, + -0.1936296799468553, + -0.06786045281722508, + -0.978724938880746 + ], + [ + 0.556300783643792, + -0.8299415531593619, + -0.04155064929371048, + -0.8096501868767065, + -0.5525993877067542, + 0.19773844238446497, + -0.18707221335039836, + -0.07636055948947951, + -0.9793738060345685 + ], + [ + 0.5563656088825484, + -0.8275598083410983, + -0.07484699640730784, + -0.8042681236883501, + -0.5589572639021716, + 0.2017908876778594, + -0.2088303006547939, + -0.05207245672562803, + -0.9765645727646409 + ], + [ + 0.5615796171595122, + -0.8227982202869268, + -0.08735801213192305, + -0.7946329777283099, + -0.5657378676003368, + 0.220225102723697, + -0.23062255808488208, + -0.0542563715676722, + -0.9715294549557907 + ], + [ + 0.569428082059219, + -0.8166171313793343, + -0.09427682695204664, + -0.7853053343806217, + -0.574293241053951, + 0.2312634970614439, + -0.2429962780696428, + -0.05765183446808485, + -0.9683124882117163 + ], + [ + 0.5826154261531817, + -0.807945512867797, + -0.08822308907048501, + -0.7800572899958311, + -0.5863534851774417, + 0.2184037883019144, + -0.22818827650145876, + -0.05842635241960578, + -0.9718623728750043 + ], + [ + 0.6016258736249279, + -0.7906300638496682, + -0.11379986960498625, + -0.7708569120669841, + -0.6120121546969725, + 0.17669392638606107, + -0.20934643370164216, + -0.01858022174890754, + -0.9776649968451183 + ], + [ + 0.6140844799939061, + -0.7739863892160197, + -0.1544193017046831, + -0.7644373023690973, + -0.6319552505657838, + 0.12754674448606962, + -0.19630553272200768, + 0.03971939816620401, + -0.9797379788658003 + ], + [ + 0.7117089672895978, + -0.6916003401310634, + -0.12312317170285816, + -0.6913303476833007, + -0.7206719259374388, + 0.051906892969135546, + -0.12463023811122562, + 0.04817618391093252, + -0.9910329757642372 + ], + [ + 0.7408995450028264, + -0.6557819036919016, + -0.1449757186732663, + -0.6663323723639759, + -0.7447640343136129, + -0.036437655422749245, + -0.08407754607741716, + 0.12359865688241461, + -0.9887640457978145 + ], + [ + 0.7865410886213051, + -0.6046767593412091, + -0.12537596509309795, + -0.6154039351923185, + -0.7843625717551541, + -0.07780329414265989, + -0.05129437064845229, + 0.13835234997011858, + -0.9890538482800242 + ], + [ + 0.8253857158195059, + -0.5453304277562959, + -0.14612715245380428, + -0.5591952716959244, + -0.8252973912229203, + -0.0786439072882538, + -0.07771144210502873, + 0.14662517043051507, + -0.9861348747317374 + ], + [ + 0.827504871487858, + -0.5340485591720286, + -0.17328538342902272, + -0.5519152650127764, + -0.8303905315867854, + -0.07642712409146436, + -0.10307874615913776, + 0.1588826658175635, + -0.9819017621905789 + ], + [ + 0.8210542622947362, + -0.5438084998693963, + -0.17361513136084505, + -0.5587606746939185, + -0.8278559674696825, + -0.04940653337801795, + -0.11686062974006119, + 0.13757475275148784, + -0.9835734749484267 + ], + [ + 0.8172366316946947, + -0.5509303863954084, + -0.16911533686368077, + -0.5608413222030523, + -0.8278143023811704, + -0.01343473418823836, + -0.13259449131031872, + 0.10582622604715076, + -0.9855046984945204 + ], + [ + 0.8254172389391133, + -0.5405103924503085, + -0.16289535694839144, + -0.5483891431746095, + -0.8362132115163596, + -0.004100308977766524, + -0.1339989899601781, + 0.09271451093927591, + -0.9866348312070391 + ], + [ + 0.8242413717591307, + -0.550447113992949, + -0.13279358334445324, + -0.5556997196090727, + -0.8313775850547024, + -0.0030220349120110984, + -0.10873813823596942, + 0.07628424323177668, + -0.9911391080607861 + ], + [ + 0.8363986713526735, + -0.5238880032345502, + -0.16117885291314896, + -0.5322683040590784, + -0.8465090405913626, + -0.010625285462684653, + -0.13087289655828307, + 0.09467736933400175, + -0.986868015837193 + ], + [ + 0.827623669398239, + -0.5316134420840153, + -0.1800727909690411, + -0.5410926338018862, + -0.8409524208893185, + -0.004217516536127418, + -0.14919056101889439, + 0.10092657725287249, + -0.9836442459074762 + ], + [ + 0.8372647045340311, + -0.5209628969150887, + -0.1660887551262287, + -0.5346740907117374, + -0.8436270916098305, + -0.049162455426019984, + -0.11450515823803935, + 0.12996534284099484, + -0.9848845507962364 + ], + [ + 0.8364659725696049, + -0.5398665124086136, + -0.09417444193062868, + -0.5478634968575488, + -0.8278807650721778, + -0.12024569694805798, + -0.013048583992283126, + 0.1521761729156897, + -0.98826724465224 + ], + [ + 0.8494041383363218, + -0.5258690993230306, + -0.044433097509804564, + -0.5247230088769554, + -0.8325506218807341, + -0.17755344536538253, + 0.056377067432119524, + 0.17412969988829569, + -0.9831075596721687 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006184.json b/json/chunk-0006/episode_0006184.json new file mode 100644 index 0000000000000000000000000000000000000000..abf58dd1f36792dcb5883b17fc439025a9dab9f3 --- /dev/null +++ b/json/chunk-0006/episode_0006184.json @@ -0,0 +1,2482 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 40, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut the sushi near the grapes." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006184.mp4", + "start": 0, + "end": 40, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.24898771941661835, + -0.0013862969353795052, + 0.1664782017469406, + 0.063804991543293, + -0.21227912604808807, + -0.1829593926668167, + 0.0, + 0.9994885921478271 + ], + [ + 0.24833707511425018, + -0.0018256936455145478, + 0.1605665236711502, + 0.056951966136693954, + -0.1932346075773239, + -0.17811746895313263, + 0.0, + 1.0001531839370728 + ], + [ + 0.25740286707878113, + -0.009434105828404427, + 0.14580608904361725, + 0.02616025134921074, + -0.17450107634067535, + -0.17206613719463348, + 0.0, + 0.9994885921478271 + ], + [ + 0.27049118280410767, + -0.014928671531379223, + 0.14390799403190613, + 0.02362881600856781, + -0.17640581727027893, + -0.17496424913406372, + 0.0, + 0.9994885921478271 + ], + [ + 0.2794572412967682, + -0.01974436827003956, + 0.14058279991149902, + 0.021910320967435837, + -0.17353318631649017, + -0.18248125910758972, + 0.0, + 0.9994885921478271 + ], + [ + 0.2908651530742645, + -0.022801797837018967, + 0.1384451538324356, + 0.01833484321832657, + -0.1785467565059662, + -0.181116983294487, + 0.0, + 0.9994885921478271 + ], + [ + 0.2995791435241699, + -0.030898630619049072, + 0.12778079509735107, + 0.016851142048835754, + -0.16944392025470734, + -0.20238260924816132, + 0.0, + 1.0001531839370728 + ], + [ + 0.30579593777656555, + -0.03372989594936371, + 0.11536893248558044, + 0.04424812272191048, + -0.1544867306947708, + -0.22895415127277374, + 0.0, + 0.9994885921478271 + ], + [ + 0.3094789981842041, + -0.03447699919342995, + 0.10847059637308121, + 0.06359326094388962, + -0.1513032764196396, + -0.24142135679721832, + 0.0, + 1.0001531839370728 + ], + [ + 0.3111133277416229, + -0.033168353140354156, + 0.09925489872694016, + 0.09398874640464783, + -0.12982676923274994, + -0.264260858297348, + 0.0, + 0.9994885921478271 + ], + [ + 0.3111102879047394, + -0.033921338617801666, + 0.09735878556966782, + 0.09951574355363846, + -0.13540026545524597, + -0.27193683385849, + 0.0, + 0.9994885921478271 + ], + [ + 0.3126925826072693, + -0.03408988192677498, + 0.0964827686548233, + 0.10092141479253769, + -0.14635509252548218, + -0.26961880922317505, + 0.0, + 0.9994885921478271 + ], + [ + 0.3120571970939636, + -0.03685043007135391, + 0.09312153607606888, + 0.10343395173549652, + -0.14023935794830322, + -0.27871090173721313, + 0.0, + 0.9994885921478271 + ], + [ + 0.3109554648399353, + -0.04036682844161987, + 0.09108361601829529, + 0.11326172202825546, + -0.14521630108356476, + -0.28793656826019287, + 0.0, + 1.0001531839370728 + ], + [ + 0.30755293369293213, + -0.04696261137723923, + 0.08726031333208084, + 0.12504281103610992, + -0.14385904371738434, + -0.3131954073905945, + 0.0, + 0.9994885921478271 + ], + [ + 0.30063727498054504, + -0.05460410565137863, + 0.07441473007202148, + 0.12220641225576401, + -0.10772829502820969, + -0.3271922171115875, + 0.0, + 0.9968144297599792 + ], + [ + 0.30134034156799316, + -0.054875411093235016, + 0.07331494241952896, + 0.12522190809249878, + -0.11724377423524857, + -0.32720106840133667, + 0.0, + 0.9947922229766846 + ], + [ + 0.2991200387477875, + -0.05500969663262367, + 0.07083490490913391, + 0.12108907848596573, + -0.11224040389060974, + -0.3311793804168701, + 0.0, + 0.9214844703674316 + ], + [ + 0.2955811321735382, + -0.05421038717031479, + 0.0660606250166893, + 0.11354810744524002, + -0.10878195613622665, + -0.31996938586235046, + 0.0, + 0.6289845705032349 + ], + [ + 0.29467296600341797, + -0.05080043151974678, + 0.06472194939851761, + 0.11659083515405655, + -0.1029062420129776, + -0.3219946026802063, + 0.0, + 0.49277758598327637 + ], + [ + 0.29415613412857056, + -0.04744766280055046, + 0.07019948959350586, + 0.11279696226119995, + -0.10719954967498779, + -0.32411256432533264, + 0.0, + 0.49277758598327637 + ], + [ + 0.29888883233070374, + -0.04241209477186203, + 0.09802783280611038, + 0.09715794771909714, + -0.1648532599210739, + -0.3040451407432556, + 0.0, + 0.49277758598327637 + ], + [ + 0.30636146664619446, + -0.0345955453813076, + 0.13678501546382904, + 0.07115904241800308, + -0.2601722776889801, + -0.2693192660808563, + 0.0, + 0.49277758598327637 + ], + [ + 0.3082147538661957, + -0.01429250743240118, + 0.1638166457414627, + 0.047029945999383926, + -0.3266338109970093, + -0.20894452929496765, + 0.0, + 0.49277758598327637 + ], + [ + 0.30775076150894165, + 0.021064518019557, + 0.16639891266822815, + 0.0559593066573143, + -0.32395172119140625, + -0.14018619060516357, + 0.0, + 0.49277758598327637 + ], + [ + 0.3110537528991699, + 0.06386362016201019, + 0.15486325323581696, + 0.0843719094991684, + -0.2890942096710205, + -0.05930355563759804, + 0.0, + 0.49277758598327637 + ], + [ + 0.3134029507637024, + 0.09842510521411896, + 0.1327987015247345, + 0.13175028562545776, + -0.22341935336589813, + 0.0010213111527264118, + 0.0, + 0.49277758598327637 + ], + [ + 0.31737029552459717, + 0.11896225064992905, + 0.11871690303087234, + 0.20876263082027435, + -0.1898963898420334, + 0.028856201097369194, + 0.0, + 0.49277758598327637 + ], + [ + 0.3204331398010254, + 0.1290164738893509, + 0.09593868255615234, + 0.23182745277881622, + -0.13576091825962067, + 0.03867388144135475, + 0.0, + 0.49277758598327637 + ], + [ + 0.32136890292167664, + 0.14329305291175842, + 0.06723665446043015, + 0.3066658675670624, + -0.07317216694355011, + 0.07604941725730896, + 0.0, + 0.49277758598327637 + ], + [ + 0.325247198343277, + 0.15002363920211792, + 0.045124392956495285, + 0.36824214458465576, + -0.007324697449803352, + 0.07145461440086365, + 0.0, + 0.49277758598327637 + ], + [ + 0.32355350255966187, + 0.15267257392406464, + 0.02797643095254898, + 0.3835301995277405, + 0.0530661977827549, + 0.0892803817987442, + 0.0, + 0.4918208718299866 + ], + [ + 0.3265344500541687, + 0.15450738370418549, + 0.02135014906525612, + 0.39083385467529297, + 0.07030931115150452, + 0.0856211856007576, + 0.0, + 0.5413121581077576 + ], + [ + 0.3246988356113434, + 0.1501971036195755, + 0.013185940682888031, + 0.39041194319725037, + 0.09845899790525436, + 0.08280759304761887, + 0.0, + 0.8472316861152649 + ], + [ + 0.3232679069042206, + 0.14887799322605133, + 0.016571208834648132, + 0.3882172405719757, + 0.09875232726335526, + 0.09641488641500473, + 0.0, + 1.00800359249115 + ], + [ + 0.3257966637611389, + 0.1408940702676773, + 0.03668956086039543, + 0.3354843258857727, + 0.0471978522837162, + 0.10131759196519852, + 0.0, + 1.0047606229782104 + ], + [ + 0.32512786984443665, + 0.1317872703075409, + 0.06413740664720535, + 0.11841215193271637, + -0.061836473643779755, + 0.11944279074668884, + 0.0, + 1.0001531839370728 + ], + [ + 0.31414204835891724, + 0.13783882558345795, + 0.09135539829730988, + -0.0341247133910656, + -0.17198343575000763, + 0.16410167515277863, + 0.0, + 1.0001531839370728 + ], + [ + 0.3034290671348572, + 0.12800507247447968, + 0.11045562475919724, + -0.05610939487814903, + -0.22725091874599457, + 0.09693364799022675, + 0.0, + 1.0001531839370728 + ], + [ + 0.2836088240146637, + 0.12843585014343262, + 0.12260722368955612, + -0.014538156799972057, + -0.2519139349460602, + 0.04418807849287987, + 0.0, + 1.0001531839370728 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9968144297599792 + ], + [ + 0.9947922229766846 + ], + [ + 0.9214844703674316 + ], + [ + 0.6289845705032349 + ], + [ + 0.49277758598327637 + ], + [ + 0.49277758598327637 + ], + [ + 0.49277758598327637 + ], + [ + 0.49277758598327637 + ], + [ + 0.49277758598327637 + ], + [ + 0.49277758598327637 + ], + [ + 0.49277758598327637 + ], + [ + 0.49277758598327637 + ], + [ + 0.49277758598327637 + ], + [ + 0.49277758598327637 + ], + [ + 0.49277758598327637 + ], + [ + 0.49277758598327637 + ], + [ + 0.4918208718299866 + ], + [ + 0.5413121581077576 + ], + [ + 0.8472316861152649 + ], + [ + 1.00800359249115 + ], + [ + 1.0047606229782104 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.24898771941661835, + -0.0013862969353795052, + 0.1664782017469406 + ], + [ + 0.24833707511425018, + -0.0018256936455145478, + 0.1605665236711502 + ], + [ + 0.25740286707878113, + -0.009434105828404427, + 0.14580608904361725 + ], + [ + 0.27049118280410767, + -0.014928671531379223, + 0.14390799403190613 + ], + [ + 0.2794572412967682, + -0.01974436827003956, + 0.14058279991149902 + ], + [ + 0.2908651530742645, + -0.022801797837018967, + 0.1384451538324356 + ], + [ + 0.2995791435241699, + -0.030898630619049072, + 0.12778079509735107 + ], + [ + 0.30579593777656555, + -0.03372989594936371, + 0.11536893248558044 + ], + [ + 0.3094789981842041, + -0.03447699919342995, + 0.10847059637308121 + ], + [ + 0.3111133277416229, + -0.033168353140354156, + 0.09925489872694016 + ], + [ + 0.3111102879047394, + -0.033921338617801666, + 0.09735878556966782 + ], + [ + 0.3126925826072693, + -0.03408988192677498, + 0.0964827686548233 + ], + [ + 0.3120571970939636, + -0.03685043007135391, + 0.09312153607606888 + ], + [ + 0.3109554648399353, + -0.04036682844161987, + 0.09108361601829529 + ], + [ + 0.30755293369293213, + -0.04696261137723923, + 0.08726031333208084 + ], + [ + 0.30063727498054504, + -0.05460410565137863, + 0.07441473007202148 + ], + [ + 0.30134034156799316, + -0.054875411093235016, + 0.07331494241952896 + ], + [ + 0.2991200387477875, + -0.05500969663262367, + 0.07083490490913391 + ], + [ + 0.2955811321735382, + -0.05421038717031479, + 0.0660606250166893 + ], + [ + 0.29467296600341797, + -0.05080043151974678, + 0.06472194939851761 + ], + [ + 0.29415613412857056, + -0.04744766280055046, + 0.07019948959350586 + ], + [ + 0.29888883233070374, + -0.04241209477186203, + 0.09802783280611038 + ], + [ + 0.30636146664619446, + -0.0345955453813076, + 0.13678501546382904 + ], + [ + 0.3082147538661957, + -0.01429250743240118, + 0.1638166457414627 + ], + [ + 0.30775076150894165, + 0.021064518019557, + 0.16639891266822815 + ], + [ + 0.3110537528991699, + 0.06386362016201019, + 0.15486325323581696 + ], + [ + 0.3134029507637024, + 0.09842510521411896, + 0.1327987015247345 + ], + [ + 0.31737029552459717, + 0.11896225064992905, + 0.11871690303087234 + ], + [ + 0.3204331398010254, + 0.1290164738893509, + 0.09593868255615234 + ], + [ + 0.32136890292167664, + 0.14329305291175842, + 0.06723665446043015 + ], + [ + 0.325247198343277, + 0.15002363920211792, + 0.045124392956495285 + ], + [ + 0.32355350255966187, + 0.15267257392406464, + 0.02797643095254898 + ], + [ + 0.3265344500541687, + 0.15450738370418549, + 0.02135014906525612 + ], + [ + 0.3246988356113434, + 0.1501971036195755, + 0.013185940682888031 + ], + [ + 0.3232679069042206, + 0.14887799322605133, + 0.016571208834648132 + ], + [ + 0.3257966637611389, + 0.1408940702676773, + 0.03668956086039543 + ], + [ + 0.32512786984443665, + 0.1317872703075409, + 0.06413740664720535 + ], + [ + 0.31414204835891724, + 0.13783882558345795, + 0.09135539829730988 + ], + [ + 0.3034290671348572, + 0.12800507247447968, + 0.11045562475919724 + ], + [ + 0.2836088240146637, + 0.12843585014343262, + 0.12260722368955612 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9612374807809134, + -0.16836050786943663, + 0.21835119631434957, + -0.1778563985108118, + -0.9837528411182033, + 0.024442771950529935, + 0.210688412236472, + -0.06233046592002725, + -0.9755640962886375 + ], + [ + 0.9658616500267728, + -0.1661319963789166, + 0.19877482935904173, + -0.1738795580587846, + -0.9845199954572985, + 0.02205170818878352, + 0.1920342997926211, + -0.055861778739287826, + -0.9797970654065266 + ], + [ + 0.9702706531177789, + -0.16668547586893873, + 0.17547310857434426, + -0.1686180953794847, + -0.9856735632383878, + -0.003945205132108718, + 0.17361681257583658, + -0.025760024597908722, + -0.9844763194326828 + ], + [ + 0.9694504997647121, + -0.16994135335465343, + 0.17687754217519816, + -0.1713714602936643, + -0.9851796339204961, + -0.007274029495024176, + 0.17549231066564489, + -0.023259951166463455, + -0.9842059863509095 + ], + [ + 0.9686266806112044, + -0.17770663138563203, + 0.1737317091658601, + -0.17874466539631106, + -0.9838468770444057, + -0.009780957127544215, + 0.1726635404492816, + -0.021579520187927238, + -0.9847444471069529 + ], + [ + 0.9680059617686335, + -0.1768953033435369, + 0.17796772076806722, + -0.17726486623551171, + -0.9840642890053727, + -0.013951426552731372, + 0.1775996204356553, + -0.018042360137969157, + -0.9839374208056947 + ], + [ + 0.9655614299638653, + -0.19819179172336387, + 0.16855604011609354, + -0.19812524217361188, + -0.9800225272727944, + -0.01738489147197745, + 0.16863425921141595, + -0.016609025598376917, + -0.9855387495623342 + ], + [ + 0.9623057148568896, + -0.2201081951176661, + 0.15975009732646195, + -0.22425615357365836, + -0.9744958133201213, + 0.008190690197000888, + 0.1538729629860892, + -0.04370689034464618, + -0.9871235074691934 + ], + [ + 0.9599059336213781, + -0.2292987804848036, + 0.1612534274570697, + -0.23635159490535376, + -0.9713264988334126, + 0.025744052705825783, + 0.15072664722658083, + -0.06282437371121685, + -0.9865772021913072 + ], + [ + 0.9571623036043548, + -0.24831470044243967, + 0.1489299637513767, + -0.25899771984734005, + -0.9641989068027768, + 0.05692670053857889, + 0.12946237164784088, + -0.093060612852655, + -0.9872077879873136 + ], + [ + 0.9544361906168354, + -0.2543503486504841, + 0.15606876107088646, + -0.26613922756174924, + -0.9620888864346627, + 0.05962286601419284, + 0.13498692378767552, + -0.0984422406301691, + -0.9859450571233939 + ], + [ + 0.9535679306956351, + -0.25084680358854006, + 0.1666855802949283, + -0.26351639125062576, + -0.9628816942898679, + 0.05846327346052928, + 0.14583316869317386, + -0.09967308528828585, + -0.984275349167103 + ], + [ + 0.9519723023690679, + -0.25977084045260485, + 0.1620735819702981, + -0.272415586371264, + -0.9602431549365176, + 0.06101501208361117, + 0.13978012671383583, + -0.10223597140004172, + -0.9848905128631068 + ], + [ + 0.9487398166295503, + -0.2664734592149789, + 0.16995486423086134, + -0.2809854115275703, + -0.9573327081911838, + 0.06753728108249538, + 0.1447064575283685, + -0.11183014513688597, + -0.9831348126214704 + ], + [ + 0.9415265523611446, + -0.2886845312500209, + 0.17374979889453873, + -0.30491753022176926, + -0.9494348576356828, + 0.07482480116757578, + 0.14336335292672725, + -0.12342889662986761, + -0.981943102483204 + ], + [ + 0.9414589168128207, + -0.3065769940205189, + 0.14023428500539145, + -0.3195223747766834, + -0.944098580397184, + 0.08113767626134472, + 0.10752004450659108, + -0.12119578057574781, + -0.9867882360465877 + ], + [ + 0.9404446572198633, + -0.30504281245773623, + 0.15004242491538047, + -0.31918742753308904, + -0.944226448439568, + 0.0809678959341787, + 0.11697535129856314, + -0.12403748076719924, + -0.9853585492365222 + ], + [ + 0.9397091005929855, + -0.30998337646824714, + 0.14441991751855812, + -0.32311253712394306, + -0.9431343016905325, + 0.07807673999367516, + 0.11200488657219677, + -0.12003330907734079, + -0.9864314016169056 + ], + [ + 0.943634131895616, + -0.3008351649155742, + 0.1380319842349098, + -0.31267829298887134, + -0.9470014074118784, + 0.07362485622048398, + 0.10856753757533907, + -0.11263453249399435, + -0.9876874768238618 + ], + [ + 0.9435878013762947, + -0.302975328568611, + 0.133596449700554, + -0.3147851557061435, + -0.9459475691738626, + 0.0780608872683346, + 0.10272471387601627, + -0.11571148021178748, + -0.9879567229926056 + ], + [ + 0.9424922276875886, + -0.3050278469663633, + 0.1366250830687823, + -0.31663955842596303, + -0.9457450826318174, + 0.07283974682512359, + 0.10699434932882199, + -0.11191180122222041, + -0.9879412725252956 + ], + [ + 0.9411975433455166, + -0.28278120857814243, + 0.18488367282010038, + -0.295323358190033, + -0.9543993974815217, + 0.04365666265611973, + 0.16410758211528875, + -0.09569001077434319, + -0.9817902644303824 + ], + [ + 0.9315110835720767, + -0.24777124261031297, + 0.266263990276035, + -0.25712071854387425, + -0.966379256480334, + 0.0002621831386219811, + 0.2572470355083938, + -0.06870621500168536, + -0.9639001082800462 + ], + [ + 0.9265281150457115, + -0.19244191683230863, + 0.3232827874721257, + -0.19646034674674487, + -0.9802976381771237, + -0.020490796482857544, + 0.3208566411748237, + -0.04452694948298074, + -0.9460805285934969 + ], + [ + 0.9386851957051686, + -0.12188001202481391, + 0.32251413307447574, + -0.13245954647031155, + -0.9911276643888545, + 0.010973669940987342, + 0.31831520842213745, + -0.05302089731347039, + -0.9465010367322614 + ], + [ + 0.9568175047306745, + -0.03507563778026054, + 0.28856535182740384, + -0.05680929350316037, + -0.9961150213931733, + 0.06728720774820016, + 0.285084139882662, + -0.08077477198473312, + -0.955092911395628 + ], + [ + 0.9751450329329215, + 0.030119355575826248, + 0.21951079510117052, + 0.0009959268439361287, + -0.9913032340038922, + 0.13159371711121287, + 0.22156527903977338, + -0.12810434291280426, + -0.9666944214439772 + ], + [ + 0.9816149699602924, + 0.06732930983504316, + 0.17860239300466105, + 0.02833354367156726, + -0.9767521422428401, + 0.21249108905324565, + 0.18875714834905202, + -0.20352399529578752, + -0.9607022027069443 + ], + [ + 0.9900577710201033, + 0.06870287089494867, + 0.12274170266660263, + 0.03830847769670022, + -0.9713181015659288, + 0.23467766426935768, + 0.13534426688731996, + -0.22764239741566586, + -0.9642929369852202 + ], + [ + 0.9944414820410961, + 0.09443734086664705, + 0.04655886001552749, + 0.07577282929588088, + -0.9489131004354097, + 0.3063044337951309, + 0.0731068884333485, + -0.30107393854682135, + -0.9507943344338454 + ], + [ + 0.9974214480324501, + 0.0692376583743173, + -0.01888389969503617, + 0.07139190970688719, + -0.9303926023343819, + 0.359545269402701, + 0.007324631953519954, + -0.3599663209028013, + -0.932936545314014 + ], + [ + 0.9946150796548894, + 0.06291534578942744, + -0.08235595052754294, + 0.089036308936863, + -0.9254256099024383, + 0.3683204803260332, + -0.05304129536500607, + -0.3736697737319639, + -0.9260440168723651 + ], + [ + 0.9938751142163025, + 0.052403049142555225, + -0.09729428442665275, + 0.08530532499094806, + -0.9234933770622826, + 0.37400933684908055, + -0.07025139763535096, + -0.3800182929316209, + -0.9223073447433975 + ], + [ + 0.9917468328536323, + 0.03920725123196778, + -0.12206969720460045, + 0.08231239557738394, + -0.9246779085145728, + 0.3717464660752373, + -0.09829999521414914, + -0.3787262295589634, + -0.9202736299519559 + ], + [ + 0.9905062618029042, + 0.051954471195189846, + -0.12727167105080625, + 0.09579656906118358, + -0.9248793787747468, + 0.3679961305140917, + -0.09859189969435792, + -0.3766946610187974, + -0.9210758761766541 + ], + [ + 0.9937638609075128, + 0.08005228024257063, + -0.07762100992745347, + 0.10103170356555688, + -0.9409797004061017, + 0.3230321939037714, + -0.04718033095299709, + -0.32885990307668594, + -0.9431994383583769 + ], + [ + 0.990977538283234, + 0.12557299388235804, + 0.04685020624845975, + 0.11893124210228229, + -0.9850526346477839, + 0.12460604570191704, + 0.06179707331346899, + -0.11790983920301644, + -0.9910995870996057 + ], + [ + 0.9720109708861799, + 0.1575106095920977, + 0.17431316743961528, + 0.16095604352356505, + -0.9869450116742081, + -0.00571804027942679, + 0.17113685906357462, + 0.03361475564871312, + -0.9846736635416483 + ], + [ + 0.9697157505087097, + 0.08405411088617294, + 0.22931696330290202, + 0.09429360208868422, + -0.9949621014023446, + -0.03404604790825311, + 0.22529997740894353, + 0.0546381113890764, + -0.9727561857749166 + ], + [ + 0.9674918075873834, + 0.04054894534686945, + 0.24963049750091465, + 0.042779451083118744, + -0.9990783605727628, + -0.003513972149554758, + 0.24925794032753423, + 0.01407879492347943, + -0.9683347906159202 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0006506443023681641, + -0.00043939671013504267, + -0.005911678075790405, + -0.006853025406599045, + 0.01904451847076416, + 0.004841923713684082, + 1.0 + ], + [ + 0.009065791964530945, + -0.007608412299305201, + -0.014760434627532959, + -0.030791714787483215, + 0.01873353123664856, + 0.0060513317584991455, + 1.0 + ], + [ + 0.013088315725326538, + -0.005494565702974796, + -0.0018980950117111206, + -0.002531435340642929, + -0.0019047409296035767, + -0.002898111939430237, + 1.0 + ], + [ + 0.008966058492660522, + -0.0048156967386603355, + -0.0033251941204071045, + -0.0017184950411319733, + 0.0028726309537887573, + -0.007517009973526001, + 1.0 + ], + [ + 0.011407911777496338, + -0.0030574295669794083, + -0.0021376460790634155, + -0.003575477749109268, + -0.005013570189476013, + 0.0013642758131027222, + 1.0 + ], + [ + 0.008713990449905396, + -0.008096832782030106, + -0.010664358735084534, + -0.0014837011694908142, + 0.00910283625125885, + -0.021265625953674316, + 1.0 + ], + [ + 0.00621679425239563, + -0.0028312653303146362, + -0.01241186261177063, + 0.027396980673074722, + 0.014957189559936523, + -0.026571542024612427, + 1.0 + ], + [ + 0.00368306040763855, + -0.0007471032440662384, + -0.006898336112499237, + 0.01934513822197914, + 0.0031834542751312256, + -0.01246720552444458, + 1.0 + ], + [ + 0.0016343295574188232, + 0.0013086460530757904, + -0.009215697646141052, + 0.03039548546075821, + 0.02147650718688965, + -0.0228395015001297, + 1.0 + ], + [ + -3.039836883544922e-06, + -0.0007529854774475098, + -0.0018961131572723389, + 0.005526997148990631, + -0.005573496222496033, + -0.007675975561141968, + 1.0 + ], + [ + 0.0015822947025299072, + -0.00016854330897331238, + -0.0008760169148445129, + 0.001405671238899231, + -0.010954827070236206, + 0.0023180246353149414, + 1.0 + ], + [ + -0.0006353855133056641, + -0.0027605481445789337, + -0.003361232578754425, + 0.002512536942958832, + 0.006115734577178955, + -0.009092092514038086, + 1.0 + ], + [ + -0.0011017322540283203, + -0.0035163983702659607, + -0.00203792005777359, + 0.009827770292758942, + -0.004976943135261536, + -0.009225666522979736, + 1.0 + ], + [ + -0.003402531147003174, + -0.006595782935619354, + -0.003823302686214447, + 0.011781089007854462, + 0.00135725736618042, + -0.02525883913040161, + 1.0 + ], + [ + -0.006915658712387085, + -0.007641494274139404, + -0.012845583260059357, + -0.0028363987803459167, + 0.03613074868917465, + -0.013996809720993042, + 1.0 + ], + [ + 0.0007030665874481201, + -0.0002713054418563843, + -0.0010997876524925232, + 0.0030154958367347717, + -0.00951547920703888, + -8.851289749145508e-06, + 1.0 + ], + [ + -0.0022203028202056885, + -0.00013428553938865662, + -0.00248003751039505, + -0.0041328296065330505, + 0.0050033703446388245, + -0.003978312015533447, + 0.0 + ], + [ + -0.0035389065742492676, + 0.0007993094623088837, + -0.004774279892444611, + -0.007540971040725708, + 0.003458447754383087, + 0.011209994554519653, + 0.0 + ], + [ + -0.0009081661701202393, + 0.0034099556505680084, + -0.001338675618171692, + 0.0030427277088165283, + 0.005875714123249054, + -0.002025216817855835, + 0.0 + ], + [ + -0.0005168318748474121, + 0.0033527687191963196, + 0.005477540194988251, + -0.003793872892856598, + -0.004293307662010193, + -0.0021179616451263428, + 0.0 + ], + [ + 0.004732698202133179, + 0.005035568028688431, + 0.027828343212604523, + -0.015639014542102814, + -0.05765371024608612, + 0.020067423582077026, + 0.0 + ], + [ + 0.007472634315490723, + 0.007816549390554428, + 0.03875718265771866, + -0.025998905301094055, + -0.09531901776790619, + 0.03472587466239929, + 0.0 + ], + [ + 0.0018532872200012207, + 0.020303037017583847, + 0.027031630277633667, + -0.024129096418619156, + -0.06646153330802917, + 0.06037473678588867, + 0.0 + ], + [ + -0.0004639923572540283, + 0.035357024520635605, + 0.002582266926765442, + 0.008929360657930374, + 0.0026820898056030273, + 0.06875833868980408, + 0.0 + ], + [ + 0.0033029913902282715, + 0.042799100279808044, + -0.011535659432411194, + 0.028412602841854095, + 0.03485751152038574, + 0.08088263869285583, + 0.0 + ], + [ + 0.0023491978645324707, + 0.034561485052108765, + -0.02206455171108246, + 0.04737837612628937, + 0.06567485630512238, + 0.06032486632466316, + 0.0 + ], + [ + 0.003967344760894775, + 0.02053714543581009, + -0.014081798493862152, + 0.07701234519481659, + 0.033522963523864746, + 0.02783489041030407, + 0.0 + ], + [ + 0.0030628442764282227, + 0.010054223239421844, + -0.02277822047472, + 0.02306482195854187, + 0.05413547158241272, + 0.009817680343985558, + 0.0 + ], + [ + 0.0009357631206512451, + 0.014276579022407532, + -0.0287020280957222, + 0.07483841478824615, + 0.06258875131607056, + 0.03737553581595421, + 0.0 + ], + [ + 0.003878295421600342, + 0.006730586290359497, + -0.02211226150393486, + 0.061576277017593384, + 0.0658474713563919, + -0.0045948028564453125, + 0.0 + ], + [ + -0.0016936957836151123, + 0.0026489347219467163, + -0.017147962003946304, + 0.015288054943084717, + 0.0603908970952034, + 0.017825767397880554, + 0.0 + ], + [ + 0.002980947494506836, + 0.0018348097801208496, + -0.006626281887292862, + 0.00730365514755249, + 0.01724311336874962, + -0.003659196197986603, + 1.0 + ], + [ + -0.0018356144428253174, + -0.004310280084609985, + -0.008164208382368088, + -0.00042191147804260254, + 0.028149686753749847, + -0.002813592553138733, + 1.0 + ], + [ + -0.0014309287071228027, + -0.00131911039352417, + 0.0033852681517601013, + -0.002194702625274658, + 0.0002933293581008911, + 0.013607293367385864, + 1.0 + ], + [ + 0.002528756856918335, + -0.007983922958374023, + 0.0201183520257473, + -0.052732914686203, + -0.05155447497963905, + 0.004902705550193787, + 1.0 + ], + [ + -0.0006687939167022705, + -0.009106799960136414, + 0.02744784578680992, + -0.21707217395305634, + -0.10903432965278625, + 0.018125198781490326, + 1.0 + ], + [ + -0.01098582148551941, + 0.006051555275917053, + 0.027217991650104523, + -0.15253686904907227, + -0.11014696210622787, + 0.04465888440608978, + 1.0 + ], + [ + -0.010712981224060059, + -0.009833753108978271, + 0.01910022646188736, + -0.021984681487083435, + -0.05526748299598694, + -0.06716802716255188, + 1.0 + ], + [ + -0.01982024312019348, + 0.0004307776689529419, + 0.012151598930358887, + 0.0415712371468544, + -0.024663016200065613, + -0.05274556949734688, + 1.0 + ], + [ + -0.014972209930419922, + -0.004027858376502991, + 0.009893514215946198, + 0.03105907514691353, + 0.002703562378883362, + -0.0329522080719471, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9968144297599792 + ], + [ + 0.9947922229766846 + ], + [ + 0.9214844703674316 + ], + [ + 0.6289845705032349 + ], + [ + 0.49277758598327637 + ], + [ + 0.49277758598327637 + ], + [ + 0.49277758598327637 + ], + [ + 0.49277758598327637 + ], + [ + 0.49277758598327637 + ], + [ + 0.49277758598327637 + ], + [ + 0.49277758598327637 + ], + [ + 0.49277758598327637 + ], + [ + 0.49277758598327637 + ], + [ + 0.49277758598327637 + ], + [ + 0.49277758598327637 + ], + [ + 0.49277758598327637 + ], + [ + 0.4918208718299866 + ], + [ + 0.5413121581077576 + ], + [ + 0.8472316861152649 + ], + [ + 1.00800359249115 + ], + [ + 1.0047606229782104 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.24833707511425018, + -0.0018256936455145478, + 0.1605665236711502 + ], + [ + 0.25740286707878113, + -0.009434105828404427, + 0.14580608904361725 + ], + [ + 0.27049118280410767, + -0.014928671531379223, + 0.14390799403190613 + ], + [ + 0.2794572412967682, + -0.01974436827003956, + 0.14058279991149902 + ], + [ + 0.2908651530742645, + -0.022801797837018967, + 0.1384451538324356 + ], + [ + 0.2995791435241699, + -0.030898630619049072, + 0.12778079509735107 + ], + [ + 0.30579593777656555, + -0.03372989594936371, + 0.11536893248558044 + ], + [ + 0.3094789981842041, + -0.03447699919342995, + 0.10847059637308121 + ], + [ + 0.3111133277416229, + -0.033168353140354156, + 0.09925489872694016 + ], + [ + 0.3111102879047394, + -0.033921338617801666, + 0.09735878556966782 + ], + [ + 0.3126925826072693, + -0.03408988192677498, + 0.0964827686548233 + ], + [ + 0.3120571970939636, + -0.03685043007135391, + 0.09312153607606888 + ], + [ + 0.3109554648399353, + -0.04036682844161987, + 0.09108361601829529 + ], + [ + 0.30755293369293213, + -0.04696261137723923, + 0.08726031333208084 + ], + [ + 0.30063727498054504, + -0.05460410565137863, + 0.07441473007202148 + ], + [ + 0.30134034156799316, + -0.054875411093235016, + 0.07331494241952896 + ], + [ + 0.2991200387477875, + -0.05500969663262367, + 0.07083490490913391 + ], + [ + 0.2955811321735382, + -0.05421038717031479, + 0.0660606250166893 + ], + [ + 0.29467296600341797, + -0.05080043151974678, + 0.06472194939851761 + ], + [ + 0.29415613412857056, + -0.04744766280055046, + 0.07019948959350586 + ], + [ + 0.29888883233070374, + -0.04241209477186203, + 0.09802783280611038 + ], + [ + 0.30636146664619446, + -0.0345955453813076, + 0.13678501546382904 + ], + [ + 0.3082147538661957, + -0.01429250743240118, + 0.1638166457414627 + ], + [ + 0.30775076150894165, + 0.021064518019557, + 0.16639891266822815 + ], + [ + 0.3110537528991699, + 0.06386362016201019, + 0.15486325323581696 + ], + [ + 0.3134029507637024, + 0.09842510521411896, + 0.1327987015247345 + ], + [ + 0.31737029552459717, + 0.11896225064992905, + 0.11871690303087234 + ], + [ + 0.3204331398010254, + 0.1290164738893509, + 0.09593868255615234 + ], + [ + 0.32136890292167664, + 0.14329305291175842, + 0.06723665446043015 + ], + [ + 0.325247198343277, + 0.15002363920211792, + 0.045124392956495285 + ], + [ + 0.32355350255966187, + 0.15267257392406464, + 0.02797643095254898 + ], + [ + 0.3265344500541687, + 0.15450738370418549, + 0.02135014906525612 + ], + [ + 0.3246988356113434, + 0.1501971036195755, + 0.013185940682888031 + ], + [ + 0.3232679069042206, + 0.14887799322605133, + 0.016571208834648132 + ], + [ + 0.3257966637611389, + 0.1408940702676773, + 0.03668956086039543 + ], + [ + 0.32512786984443665, + 0.1317872703075409, + 0.06413740664720535 + ], + [ + 0.31414204835891724, + 0.13783882558345795, + 0.09135539829730988 + ], + [ + 0.3034290671348572, + 0.12800507247447968, + 0.11045562475919724 + ], + [ + 0.2836088240146637, + 0.12843585014343262, + 0.12260722368955612 + ], + [ + 0.2686366140842438, + 0.12440799176692963, + 0.13250073790550232 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9658616500267728, + -0.1661319963789166, + 0.19877482935904173, + -0.1738795580587846, + -0.9845199954572985, + 0.02205170818878352, + 0.1920342997926211, + -0.055861778739287826, + -0.9797970654065266 + ], + [ + 0.9702706531177789, + -0.16668547586893873, + 0.17547310857434426, + -0.1686180953794847, + -0.9856735632383878, + -0.003945205132108718, + 0.17361681257583658, + -0.025760024597908722, + -0.9844763194326828 + ], + [ + 0.9694504997647121, + -0.16994135335465343, + 0.17687754217519816, + -0.1713714602936643, + -0.9851796339204961, + -0.007274029495024176, + 0.17549231066564489, + -0.023259951166463455, + -0.9842059863509095 + ], + [ + 0.9686266806112044, + -0.17770663138563203, + 0.1737317091658601, + -0.17874466539631106, + -0.9838468770444057, + -0.009780957127544215, + 0.1726635404492816, + -0.021579520187927238, + -0.9847444471069529 + ], + [ + 0.9680059617686335, + -0.1768953033435369, + 0.17796772076806722, + -0.17726486623551171, + -0.9840642890053727, + -0.013951426552731372, + 0.1775996204356553, + -0.018042360137969157, + -0.9839374208056947 + ], + [ + 0.9655614299638653, + -0.19819179172336387, + 0.16855604011609354, + -0.19812524217361188, + -0.9800225272727944, + -0.01738489147197745, + 0.16863425921141595, + -0.016609025598376917, + -0.9855387495623342 + ], + [ + 0.9623057148568896, + -0.2201081951176661, + 0.15975009732646195, + -0.22425615357365836, + -0.9744958133201213, + 0.008190690197000888, + 0.1538729629860892, + -0.04370689034464618, + -0.9871235074691934 + ], + [ + 0.9599059336213781, + -0.2292987804848036, + 0.1612534274570697, + -0.23635159490535376, + -0.9713264988334126, + 0.025744052705825783, + 0.15072664722658083, + -0.06282437371121685, + -0.9865772021913072 + ], + [ + 0.9571623036043548, + -0.24831470044243967, + 0.1489299637513767, + -0.25899771984734005, + -0.9641989068027768, + 0.05692670053857889, + 0.12946237164784088, + -0.093060612852655, + -0.9872077879873136 + ], + [ + 0.9544361906168354, + -0.2543503486504841, + 0.15606876107088646, + -0.26613922756174924, + -0.9620888864346627, + 0.05962286601419284, + 0.13498692378767552, + -0.0984422406301691, + -0.9859450571233939 + ], + [ + 0.9535679306956351, + -0.25084680358854006, + 0.1666855802949283, + -0.26351639125062576, + -0.9628816942898679, + 0.05846327346052928, + 0.14583316869317386, + -0.09967308528828585, + -0.984275349167103 + ], + [ + 0.9519723023690679, + -0.25977084045260485, + 0.1620735819702981, + -0.272415586371264, + -0.9602431549365176, + 0.06101501208361117, + 0.13978012671383583, + -0.10223597140004172, + -0.9848905128631068 + ], + [ + 0.9487398166295503, + -0.2664734592149789, + 0.16995486423086134, + -0.2809854115275703, + -0.9573327081911838, + 0.06753728108249538, + 0.1447064575283685, + -0.11183014513688597, + -0.9831348126214704 + ], + [ + 0.9415265523611446, + -0.2886845312500209, + 0.17374979889453873, + -0.30491753022176926, + -0.9494348576356828, + 0.07482480116757578, + 0.14336335292672725, + -0.12342889662986761, + -0.981943102483204 + ], + [ + 0.9414589168128207, + -0.3065769940205189, + 0.14023428500539145, + -0.3195223747766834, + -0.944098580397184, + 0.08113767626134472, + 0.10752004450659108, + -0.12119578057574781, + -0.9867882360465877 + ], + [ + 0.9404446572198633, + -0.30504281245773623, + 0.15004242491538047, + -0.31918742753308904, + -0.944226448439568, + 0.0809678959341787, + 0.11697535129856314, + -0.12403748076719924, + -0.9853585492365222 + ], + [ + 0.9397091005929855, + -0.30998337646824714, + 0.14441991751855812, + -0.32311253712394306, + -0.9431343016905325, + 0.07807673999367516, + 0.11200488657219677, + -0.12003330907734079, + -0.9864314016169056 + ], + [ + 0.943634131895616, + -0.3008351649155742, + 0.1380319842349098, + -0.31267829298887134, + -0.9470014074118784, + 0.07362485622048398, + 0.10856753757533907, + -0.11263453249399435, + -0.9876874768238618 + ], + [ + 0.9435878013762947, + -0.302975328568611, + 0.133596449700554, + -0.3147851557061435, + -0.9459475691738626, + 0.0780608872683346, + 0.10272471387601627, + -0.11571148021178748, + -0.9879567229926056 + ], + [ + 0.9424922276875886, + -0.3050278469663633, + 0.1366250830687823, + -0.31663955842596303, + -0.9457450826318174, + 0.07283974682512359, + 0.10699434932882199, + -0.11191180122222041, + -0.9879412725252956 + ], + [ + 0.9411975433455166, + -0.28278120857814243, + 0.18488367282010038, + -0.295323358190033, + -0.9543993974815217, + 0.04365666265611973, + 0.16410758211528875, + -0.09569001077434319, + -0.9817902644303824 + ], + [ + 0.9315110835720767, + -0.24777124261031297, + 0.266263990276035, + -0.25712071854387425, + -0.966379256480334, + 0.0002621831386219811, + 0.2572470355083938, + -0.06870621500168536, + -0.9639001082800462 + ], + [ + 0.9265281150457115, + -0.19244191683230863, + 0.3232827874721257, + -0.19646034674674487, + -0.9802976381771237, + -0.020490796482857544, + 0.3208566411748237, + -0.04452694948298074, + -0.9460805285934969 + ], + [ + 0.9386851957051686, + -0.12188001202481391, + 0.32251413307447574, + -0.13245954647031155, + -0.9911276643888545, + 0.010973669940987342, + 0.31831520842213745, + -0.05302089731347039, + -0.9465010367322614 + ], + [ + 0.9568175047306745, + -0.03507563778026054, + 0.28856535182740384, + -0.05680929350316037, + -0.9961150213931733, + 0.06728720774820016, + 0.285084139882662, + -0.08077477198473312, + -0.955092911395628 + ], + [ + 0.9751450329329215, + 0.030119355575826248, + 0.21951079510117052, + 0.0009959268439361287, + -0.9913032340038922, + 0.13159371711121287, + 0.22156527903977338, + -0.12810434291280426, + -0.9666944214439772 + ], + [ + 0.9816149699602924, + 0.06732930983504316, + 0.17860239300466105, + 0.02833354367156726, + -0.9767521422428401, + 0.21249108905324565, + 0.18875714834905202, + -0.20352399529578752, + -0.9607022027069443 + ], + [ + 0.9900577710201033, + 0.06870287089494867, + 0.12274170266660263, + 0.03830847769670022, + -0.9713181015659288, + 0.23467766426935768, + 0.13534426688731996, + -0.22764239741566586, + -0.9642929369852202 + ], + [ + 0.9944414820410961, + 0.09443734086664705, + 0.04655886001552749, + 0.07577282929588088, + -0.9489131004354097, + 0.3063044337951309, + 0.0731068884333485, + -0.30107393854682135, + -0.9507943344338454 + ], + [ + 0.9974214480324501, + 0.0692376583743173, + -0.01888389969503617, + 0.07139190970688719, + -0.9303926023343819, + 0.359545269402701, + 0.007324631953519954, + -0.3599663209028013, + -0.932936545314014 + ], + [ + 0.9946150796548894, + 0.06291534578942744, + -0.08235595052754294, + 0.089036308936863, + -0.9254256099024383, + 0.3683204803260332, + -0.05304129536500607, + -0.3736697737319639, + -0.9260440168723651 + ], + [ + 0.9938751142163025, + 0.052403049142555225, + -0.09729428442665275, + 0.08530532499094806, + -0.9234933770622826, + 0.37400933684908055, + -0.07025139763535096, + -0.3800182929316209, + -0.9223073447433975 + ], + [ + 0.9917468328536323, + 0.03920725123196778, + -0.12206969720460045, + 0.08231239557738394, + -0.9246779085145728, + 0.3717464660752373, + -0.09829999521414914, + -0.3787262295589634, + -0.9202736299519559 + ], + [ + 0.9905062618029042, + 0.051954471195189846, + -0.12727167105080625, + 0.09579656906118358, + -0.9248793787747468, + 0.3679961305140917, + -0.09859189969435792, + -0.3766946610187974, + -0.9210758761766541 + ], + [ + 0.9937638609075128, + 0.08005228024257063, + -0.07762100992745347, + 0.10103170356555688, + -0.9409797004061017, + 0.3230321939037714, + -0.04718033095299709, + -0.32885990307668594, + -0.9431994383583769 + ], + [ + 0.990977538283234, + 0.12557299388235804, + 0.04685020624845975, + 0.11893124210228229, + -0.9850526346477839, + 0.12460604570191704, + 0.06179707331346899, + -0.11790983920301644, + -0.9910995870996057 + ], + [ + 0.9720109708861799, + 0.1575106095920977, + 0.17431316743961528, + 0.16095604352356505, + -0.9869450116742081, + -0.00571804027942679, + 0.17113685906357462, + 0.03361475564871312, + -0.9846736635416483 + ], + [ + 0.9697157505087097, + 0.08405411088617294, + 0.22931696330290202, + 0.09429360208868422, + -0.9949621014023446, + -0.03404604790825311, + 0.22529997740894353, + 0.0546381113890764, + -0.9727561857749166 + ], + [ + 0.9674918075873834, + 0.04054894534686945, + 0.24963049750091465, + 0.042779451083118744, + -0.9990783605727628, + -0.003513972149554758, + 0.24925794032753423, + 0.01407879492347943, + -0.9683347906159202 + ], + [ + 0.9690463048511785, + 0.015308356522719491, + 0.2464039635940351, + 0.010888536021437144, + -0.9997546399009054, + 0.01928988802251777, + 0.24663880237624236, + -0.016009816275795313, + -0.9689752251452193 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006185.json b/json/chunk-0006/episode_0006185.json new file mode 100644 index 0000000000000000000000000000000000000000..413b5dcf3e32d3c90bbfc9e1785d8504da0df73f --- /dev/null +++ b/json/chunk-0006/episode_0006185.json @@ -0,0 +1,1822 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 29, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nUnfold the cloth from top left to bottom right." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006185.mp4", + "start": 0, + "end": 29, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3272853493690491, + 0.09039731323719025, + 0.08275443315505981, + 0.0010730422800406814, + -0.3546430468559265, + -0.14280235767364502, + 0.0, + 1.0008161067962646 + ], + [ + 0.32618248462677, + 0.0890519842505455, + 0.07139786332845688, + -0.02354959025979042, + -0.3253404498100281, + -0.13132256269454956, + 0.0, + 1.0008161067962646 + ], + [ + 0.33307763934135437, + 0.09611944854259491, + 0.05908215045928955, + -0.07888995856046677, + -0.3053833246231079, + -0.11199597269296646, + 0.0, + 1.0014774799346924 + ], + [ + 0.3390454649925232, + 0.10576317459344864, + 0.048211630433797836, + -0.10482951998710632, + -0.30029553174972534, + -0.09313642978668213, + 0.0, + 1.0008161067962646 + ], + [ + 0.34170058369636536, + 0.1137409657239914, + 0.033071089535951614, + -0.12365689873695374, + -0.27551379799842834, + -0.07701561599969864, + 0.0, + 1.0008161067962646 + ], + [ + 0.34438133239746094, + 0.11546710133552551, + 0.017008766531944275, + -0.1618354171514511, + -0.26410627365112305, + -0.07250311970710754, + 0.0, + 1.0008161067962646 + ], + [ + 0.3419409990310669, + 0.11555350571870804, + 0.009355660527944565, + -0.16173993051052094, + -0.24094262719154358, + -0.07736964523792267, + 0.0, + 1.0014774799346924 + ], + [ + 0.33958858251571655, + 0.11779829859733582, + 0.0024820775724947453, + -0.1449667364358902, + -0.21984820067882538, + -0.0925656408071518, + 0.0, + 0.9476637244224548 + ], + [ + 0.34165260195732117, + 0.11473949998617172, + 0.0010454854927957058, + -0.12098836898803711, + -0.21597178280353546, + -0.1121944934129715, + 0.0, + 0.6611326336860657 + ], + [ + 0.3415587842464447, + 0.11349549144506454, + 0.000724486424587667, + -0.12211308628320694, + -0.21446114778518677, + -0.11353472620248795, + 0.0, + 0.35606881976127625 + ], + [ + 0.3419075608253479, + 0.11370773613452911, + 0.0012926599010825157, + -0.12063466757535934, + -0.21670974791049957, + -0.11200647801160812, + 0.0, + 0.14669357240200043 + ], + [ + 0.3424818515777588, + 0.11332336813211441, + 0.0014688618248328567, + -0.12443241477012634, + -0.21977171301841736, + -0.10386443138122559, + 0.0, + 0.06325549632310867 + ], + [ + 0.3451881408691406, + 0.11122465133666992, + 0.009679263457655907, + -0.14224493503570557, + -0.24388138949871063, + -0.07317384332418442, + 0.0, + 0.056741900742053986 + ], + [ + 0.35206690430641174, + 0.10046495497226715, + 0.030225815251469612, + -0.16052648425102234, + -0.29596593976020813, + -0.06584716588258743, + 0.0, + 0.056741900742053986 + ], + [ + 0.3618464767932892, + 0.06593871861696243, + 0.05364387482404709, + -0.16569684445858002, + -0.35324913263320923, + -0.13881900906562805, + 0.0, + 0.056468017399311066 + ], + [ + 0.3614198565483093, + 0.035251159220933914, + 0.06519442796707153, + -0.1931273192167282, + -0.3818579912185669, + -0.1802280843257904, + 0.0, + 0.056741900742053986 + ], + [ + 0.3518684208393097, + -0.0013683454599231482, + 0.0583241805434227, + -0.18897254765033722, + -0.3676953911781311, + -0.27557000517845154, + 0.0, + 0.056468017399311066 + ], + [ + 0.34039780497550964, + -0.016885485500097275, + 0.04478371515870094, + -0.17215582728385925, + -0.34981775283813477, + -0.34239858388900757, + 0.0, + 0.05565106123685837 + ], + [ + 0.3292733430862427, + -0.03333611786365509, + 0.03349790349602699, + -0.15391094982624054, + -0.33337894082069397, + -0.4228205680847168, + 0.0, + 0.05538023263216019 + ], + [ + 0.3211127817630768, + -0.04170805215835571, + 0.012436266988515854, + -0.16042901575565338, + -0.28111961483955383, + -0.4665580093860626, + 0.0, + 0.07954961806535721 + ], + [ + 0.31871113181114197, + -0.04095913842320442, + 0.002599025145173073, + -0.15668119490146637, + -0.2418638914823532, + -0.47395551204681396, + 0.0, + 0.2352597415447235 + ], + [ + 0.3193357288837433, + -0.03935939818620682, + 0.0020485222339630127, + -0.14742130041122437, + -0.23793956637382507, + -0.47118574380874634, + 0.0, + 0.49949145317077637 + ], + [ + 0.32032883167266846, + -0.03945760428905487, + 0.0021108498331159353, + -0.1452242136001587, + -0.2479659914970398, + -0.4780667722225189, + 0.0, + 0.8092992901802063 + ], + [ + 0.3217609226703644, + -0.03750891238451004, + 0.0027604014612734318, + -0.1485457420349121, + -0.25584664940834045, + -0.46907946467399597, + 0.0, + 1.0047606229782104 + ], + [ + 0.3193747401237488, + -0.03551480174064636, + 0.00822456181049347, + -0.16207469999790192, + -0.26805442571640015, + -0.46161961555480957, + 0.0, + 1.003452181816101 + ], + [ + 0.3229350745677948, + -0.03705518692731857, + 0.03354627266526222, + -0.13812656700611115, + -0.3278682827949524, + -0.4823463261127472, + 0.0, + 0.9994885921478271 + ], + [ + 0.32335561513900757, + -0.040791966021060944, + 0.06113837659358978, + -0.1327866166830063, + -0.40623176097869873, + -0.4968923032283783, + 0.0, + 0.9994885921478271 + ], + [ + 0.32023975253105164, + -0.042250920087099075, + 0.0865074023604393, + -0.11626222729682922, + -0.4759364724159241, + -0.5091679692268372, + 0.0, + 0.9994885921478271 + ], + [ + 0.3158879578113556, + -0.03807224705815315, + 0.1055009737610817, + -0.13372822105884552, + -0.5148678421974182, + -0.4974750578403473, + 0.0, + 0.9994885921478271 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 0.9476637244224548 + ], + [ + 0.6611326336860657 + ], + [ + 0.35606881976127625 + ], + [ + 0.14669357240200043 + ], + [ + 0.06325549632310867 + ], + [ + 0.056741900742053986 + ], + [ + 0.056741900742053986 + ], + [ + 0.056468017399311066 + ], + [ + 0.056741900742053986 + ], + [ + 0.056468017399311066 + ], + [ + 0.05565106123685837 + ], + [ + 0.05538023263216019 + ], + [ + 0.07954961806535721 + ], + [ + 0.2352597415447235 + ], + [ + 0.49949145317077637 + ], + [ + 0.8092992901802063 + ], + [ + 1.0047606229782104 + ], + [ + 1.003452181816101 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3272853493690491, + 0.09039731323719025, + 0.08275443315505981 + ], + [ + 0.32618248462677, + 0.0890519842505455, + 0.07139786332845688 + ], + [ + 0.33307763934135437, + 0.09611944854259491, + 0.05908215045928955 + ], + [ + 0.3390454649925232, + 0.10576317459344864, + 0.048211630433797836 + ], + [ + 0.34170058369636536, + 0.1137409657239914, + 0.033071089535951614 + ], + [ + 0.34438133239746094, + 0.11546710133552551, + 0.017008766531944275 + ], + [ + 0.3419409990310669, + 0.11555350571870804, + 0.009355660527944565 + ], + [ + 0.33958858251571655, + 0.11779829859733582, + 0.0024820775724947453 + ], + [ + 0.34165260195732117, + 0.11473949998617172, + 0.0010454854927957058 + ], + [ + 0.3415587842464447, + 0.11349549144506454, + 0.000724486424587667 + ], + [ + 0.3419075608253479, + 0.11370773613452911, + 0.0012926599010825157 + ], + [ + 0.3424818515777588, + 0.11332336813211441, + 0.0014688618248328567 + ], + [ + 0.3451881408691406, + 0.11122465133666992, + 0.009679263457655907 + ], + [ + 0.35206690430641174, + 0.10046495497226715, + 0.030225815251469612 + ], + [ + 0.3618464767932892, + 0.06593871861696243, + 0.05364387482404709 + ], + [ + 0.3614198565483093, + 0.035251159220933914, + 0.06519442796707153 + ], + [ + 0.3518684208393097, + -0.0013683454599231482, + 0.0583241805434227 + ], + [ + 0.34039780497550964, + -0.016885485500097275, + 0.04478371515870094 + ], + [ + 0.3292733430862427, + -0.03333611786365509, + 0.03349790349602699 + ], + [ + 0.3211127817630768, + -0.04170805215835571, + 0.012436266988515854 + ], + [ + 0.31871113181114197, + -0.04095913842320442, + 0.002599025145173073 + ], + [ + 0.3193357288837433, + -0.03935939818620682, + 0.0020485222339630127 + ], + [ + 0.32032883167266846, + -0.03945760428905487, + 0.0021108498331159353 + ], + [ + 0.3217609226703644, + -0.03750891238451004, + 0.0027604014612734318 + ], + [ + 0.3193747401237488, + -0.03551480174064636, + 0.00822456181049347 + ], + [ + 0.3229350745677948, + -0.03705518692731857, + 0.03354627266526222 + ], + [ + 0.32335561513900757, + -0.040791966021060944, + 0.06113837659358978 + ], + [ + 0.32023975253105164, + -0.042250920087099075, + 0.0865074023604393 + ], + [ + 0.3158879578113556, + -0.03807224705815315, + 0.1055009737610817 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.928224991771593, + -0.14194859350023384, + 0.34387346721422385, + -0.13346115582073534, + -0.9898735193092185, + -0.048358408342046535, + 0.3472556472364703, + -0.0010062672051105725, + -0.9377699626713859 + ], + [ + 0.9393832260346955, + -0.1383708096177075, + 0.3137079433013896, + -0.12407629131823832, + -0.990129126149394, + -0.06518732609448376, + 0.31963139485563585, + 0.022312162521303244, + -0.9472792295971991 + ], + [ + 0.9477566466948287, + -0.13496030676927265, + 0.28903815361041485, + -0.1065909609185869, + -0.9879961606078521, + -0.11181213563203211, + 0.30065878616169894, + 0.07516184019093387, + -0.9507654769094672 + ], + [ + 0.9511090020017116, + -0.12330922230980991, + 0.28317221262803666, + -0.08883992297235584, + -0.9873215452780323, + -0.13154327925083853, + 0.29580252601621576, + 0.09995499949051115, + -0.9500051913959616 + ], + [ + 0.9594331079471426, + -0.10980667752179592, + 0.25967403594990074, + -0.0740377724092479, + -0.9868409823036973, + -0.14374729180944423, + 0.27204139323191684, + 0.11869022376547034, + -0.9549377525006222 + ], + [ + 0.9627900856506325, + -0.11344497631802222, + 0.24528654329386018, + -0.06992785777299249, + -0.9812933487780604, + -0.17936961379012759, + 0.26104663506762066, + 0.15554292331103584, + -0.9527124714874521 + ], + [ + 0.9682083552605486, + -0.11459478022093048, + 0.22235246153298974, + -0.0750597675737256, + -0.9810260489448439, + -0.17875660151011694, + 0.23861813027396164, + 0.15638391105796365, + -0.9584390748851871 + ], + [ + 0.9717524690907782, + -0.1228330178810034, + 0.20151721647100274, + -0.09020868527142903, + -0.9823624569100181, + -0.1637876562971482, + 0.21808147999675748, + 0.14098245625593842, + -0.9656937480953607 + ], + [ + 0.9706274631050309, + -0.13684241406428668, + 0.1978799676049875, + -0.10935829501874553, + -0.9835528514289633, + -0.14375170175183807, + 0.21429673627212714, + 0.11788953371277154, + -0.9696282621005333 + ], + [ + 0.9708005583659554, + -0.138204127510834, + 0.19607624796318, + -0.11069561191242189, + -0.983226333113431, + -0.1449567500175514, + 0.21282095145845906, + 0.11901931360617715, + -0.9698152636502637 + ], + [ + 0.9704905901436739, + -0.13667367475182085, + 0.19866635616635558, + -0.10915809436354866, + -0.983619638076349, + -0.14344656853850146, + 0.2150174990029936, + 0.11752750410174584, + -0.969512640919195 + ], + [ + 0.9706878019480164, + -0.12978753297556028, + 0.20228788256701397, + -0.10118405032249507, + -0.984115647731344, + -0.1458704214385214, + 0.21800683271325, + 0.12112633146609747, + -0.9684014832268184 + ], + [ + 0.9678112211010426, + -0.10651088347423107, + 0.2280282263502659, + -0.07094513502812297, + -0.9847485770218559, + -0.15886166267942586, + 0.24147096746141292, + 0.13757060643527402, + -0.9606071518150803 + ], + [ + 0.9544479428400222, + -0.11147155725265986, + 0.27677286054112366, + -0.06293868253640866, + -0.9819364802323727, + -0.17843618195153133, + 0.29166392757595255, + 0.15288832758757553, + -0.9442231265111247 + ], + [ + 0.9292277342749222, + -0.19299002505109683, + 0.3151042178154265, + -0.12982951594968226, + -0.9689198439469345, + -0.210567406770657, + 0.34594813866035756, + 0.15475524623296344, + -0.925402992820322 + ], + [ + 0.9129433187142826, + -0.24628441761530165, + 0.32538973932016324, + -0.1663429977777736, + -0.9526922682608191, + -0.2543765891082735, + 0.3726452789252209, + 0.17810510277908237, + -0.9107217294315519 + ], + [ + 0.8979504311457801, + -0.33222944285017936, + 0.28863232755283474, + -0.2539081423937128, + -0.9267662831313465, + -0.276830113385598, + 0.35946582373193925, + 0.17529362154501904, + -0.9165459441917518 + ], + [ + 0.8849029096362742, + -0.38608759556207944, + 0.26054406358685006, + -0.31541292871176635, + -0.9083156972317544, + -0.27473128428313087, + 0.3427266037510403, + 0.1609315466758598, + -0.9255482226041998 + ], + [ + 0.8617258865371523, + -0.4512326574583785, + 0.23198617483550188, + -0.38774208300443036, + -0.8805700896327486, + -0.27249292525046953, + 0.3272377935678331, + 0.14486340492761543, + -0.9337719316694165 + ], + [ + 0.8580627153296652, + -0.48361952013390463, + 0.17274413537522373, + -0.43215754829636066, + -0.861718498529228, + -0.26585914079266, + 0.27743148705862597, + 0.1534711342174303, + -0.9484083408271222 + ], + [ + 0.8638715977978593, + -0.4840726624506396, + 0.13928215961178653, + -0.44312474330748797, + -0.8618130238247541, + -0.2468172883626817, + 0.23951268105644635, + 0.15149907403671933, + -0.9590003681851066 + ], + [ + 0.8659264744529267, + -0.47986817817682065, + 0.14105981856922778, + -0.4411536005160624, + -0.8656495434975268, + -0.23671579709482315, + 0.23570074584786277, + 0.14274942877567726, + -0.9612844318883867 + ], + [ + 0.8607287875035422, + -0.4867562760606995, + 0.14904456406793737, + -0.44599188055278993, + -0.8621992831362741, + -0.2402158167987285, + 0.24543267273056246, + 0.1402880033175125, + -0.9592090904914932 + ], + [ + 0.8629501545514675, + -0.48049495396768155, + 0.1563381910193215, + -0.4373503677903467, + -0.8652302325761365, + -0.24515566571036695, + 0.2530645896865991, + 0.14318255427195137, + -0.9567952077633504 + ], + [ + 0.8633582062742284, + -0.47782704360973427, + 0.16215401337656749, + -0.4294927111542133, + -0.8645628435919211, + -0.2608967239074782, + 0.26485584517686295, + 0.15560336074594444, + -0.9516506582776145 + ], + [ + 0.8387174772520799, + -0.4987214474228018, + 0.218700505789108, + -0.4391497546298677, + -0.8569042783269754, + -0.26993064070877903, + 0.32202559892100674, + 0.13035327255359005, + -0.937713995829291 + ], + [ + 0.807526461233854, + -0.5184894219709038, + 0.281193409793698, + -0.4379007158888182, + -0.8463904858315218, + -0.3030942238280707, + 0.3951505756432464, + 0.12162181053642547, + -0.9105296029073697 + ], + [ + 0.7761119838749189, + -0.5305664754498186, + 0.34080698879937105, + -0.4332776042625403, + -0.8413488093206059, + -0.3231140645334279, + 0.45817104462225805, + 0.10310866202000539, + -0.8828634649175336 + ], + [ + 0.7648619852143712, + -0.5306438996060254, + 0.36524402169623726, + -0.4153418541593089, + -0.8396133965788719, + -0.3500578358911528, + 0.4924198287614323, + 0.1160448021076356, + -0.8625869904805898 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0011028647422790527, + -0.0013453289866447449, + -0.011356569826602936, + -0.024622632190585136, + 0.029302597045898438, + 0.011479794979095459, + 1.0 + ], + [ + 0.006895154714584351, + 0.007067464292049408, + -0.012315712869167328, + -0.055340368300676346, + 0.019957125186920166, + 0.0193265900015831, + 1.0 + ], + [ + 0.005967825651168823, + 0.00964372605085373, + -0.010870520025491714, + -0.025939561426639557, + 0.005087792873382568, + 0.018859542906284332, + 1.0 + ], + [ + 0.002655118703842163, + 0.007977791130542755, + -0.015140540897846222, + -0.018827378749847412, + 0.024781733751296997, + 0.01612081378698349, + 1.0 + ], + [ + 0.002680748701095581, + 0.0017261356115341187, + -0.01606232300400734, + -0.038178518414497375, + 0.011407524347305298, + 0.004512496292591095, + 1.0 + ], + [ + -0.002440333366394043, + 8.640438318252563e-05, + -0.00765310600399971, + 9.548664093017578e-05, + 0.023163646459579468, + -0.0048665255308151245, + 1.0 + ], + [ + -0.002352416515350342, + 0.002244792878627777, + -0.0068735829554498196, + 0.016773194074630737, + 0.0210944265127182, + -0.015195995569229126, + 0.0 + ], + [ + 0.0020640194416046143, + -0.003058798611164093, + -0.0014365920796990395, + 0.02397836744785309, + 0.003876417875289917, + -0.019628852605819702, + 0.0 + ], + [ + -9.381771087646484e-05, + -0.0012440085411071777, + -0.0003209990682080388, + -0.0011247172951698303, + 0.0015106350183486938, + -0.001340232789516449, + 0.0 + ], + [ + 0.00034877657890319824, + 0.0002122446894645691, + 0.0005681734764948487, + 0.0014784187078475952, + -0.002248600125312805, + 0.0015282481908798218, + 0.0 + ], + [ + 0.0005742907524108887, + -0.00038436800241470337, + 0.00017620192375034094, + -0.0037977471947669983, + -0.0030619651079177856, + 0.008142046630382538, + 0.0 + ], + [ + 0.002706289291381836, + -0.0020987167954444885, + 0.008210401982069016, + -0.017812520265579224, + -0.024109676480293274, + 0.030690588057041168, + 0.0 + ], + [ + 0.006878763437271118, + -0.010759696364402771, + 0.020546551793813705, + -0.018281549215316772, + -0.0520845502614975, + 0.007326677441596985, + 0.0 + ], + [ + 0.009779572486877441, + -0.03452623635530472, + 0.023418059572577477, + -0.005170360207557678, + -0.0572831928730011, + -0.07297184318304062, + 0.0 + ], + [ + -0.0004266202449798584, + -0.03068755939602852, + 0.011550553143024445, + -0.027430474758148193, + -0.028608858585357666, + -0.041409075260162354, + 0.0 + ], + [ + -0.009551435708999634, + -0.03661950305104256, + -0.006870247423648834, + 0.004154771566390991, + 0.014162600040435791, + -0.09534192085266113, + 0.0 + ], + [ + -0.011470615863800049, + -0.015517139807343483, + -0.013540465384721756, + 0.016816720366477966, + 0.017877638339996338, + -0.06682857871055603, + 0.0 + ], + [ + -0.011124461889266968, + -0.016450632363557816, + -0.01128581166267395, + 0.018244877457618713, + 0.016438812017440796, + -0.08042198419570923, + 0.0 + ], + [ + -0.008160561323165894, + -0.008371934294700623, + -0.02106163650751114, + -0.006518065929412842, + 0.05225932598114014, + -0.043737441301345825, + 1.0 + ], + [ + -0.0024016499519348145, + 0.0007489137351512909, + -0.009837241843342781, + 0.0037478208541870117, + 0.03925572335720062, + -0.007397502660751343, + 1.0 + ], + [ + 0.0006245970726013184, + 0.0015997402369976044, + -0.0005505029112100601, + 0.009259894490242004, + 0.003924325108528137, + 0.002769768238067627, + 1.0 + ], + [ + 0.000993102788925171, + -9.820610284805298e-05, + 6.232759915292263e-05, + 0.002197086811065674, + -0.010026425123214722, + -0.006881028413772583, + 1.0 + ], + [ + 0.0014320909976959229, + 0.0019486919045448303, + 0.0006495516281574965, + -0.003321528434753418, + -0.00788065791130066, + 0.00898730754852295, + 1.0 + ], + [ + -0.0023861825466156006, + 0.001994110643863678, + 0.0054641603492200375, + -0.013528957962989807, + -0.012207776308059692, + 0.007459849119186401, + 1.0 + ], + [ + 0.0035603344440460205, + -0.0015403851866722107, + 0.025321710854768753, + 0.02394813299179077, + -0.059813857078552246, + -0.020726710557937622, + 1.0 + ], + [ + 0.00042054057121276855, + -0.0037367790937423706, + 0.02759210392832756, + 0.005339950323104858, + -0.07836347818374634, + -0.014545977115631104, + 1.0 + ], + [ + -0.0031158626079559326, + -0.0014589540660381317, + 0.025369025766849518, + 0.016524389386177063, + -0.06970471143722534, + -0.012275665998458862, + 1.0 + ], + [ + -0.004351794719696045, + 0.004178673028945923, + 0.018993571400642395, + -0.017465993762016296, + -0.03893136978149414, + 0.011692911386489868, + 1.0 + ], + [ + -0.0001475512981414795, + 0.000377606600522995, + 0.00043258070945739746, + 0.004075214266777039, + -0.001418471336364746, + -0.007808476686477661, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 0.9476637244224548 + ], + [ + 0.6611326336860657 + ], + [ + 0.35606881976127625 + ], + [ + 0.14669357240200043 + ], + [ + 0.06325549632310867 + ], + [ + 0.056741900742053986 + ], + [ + 0.056741900742053986 + ], + [ + 0.056468017399311066 + ], + [ + 0.056741900742053986 + ], + [ + 0.056468017399311066 + ], + [ + 0.05565106123685837 + ], + [ + 0.05538023263216019 + ], + [ + 0.07954961806535721 + ], + [ + 0.2352597415447235 + ], + [ + 0.49949145317077637 + ], + [ + 0.8092992901802063 + ], + [ + 1.0047606229782104 + ], + [ + 1.003452181816101 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.32618248462677, + 0.0890519842505455, + 0.07139786332845688 + ], + [ + 0.33307763934135437, + 0.09611944854259491, + 0.05908215045928955 + ], + [ + 0.3390454649925232, + 0.10576317459344864, + 0.048211630433797836 + ], + [ + 0.34170058369636536, + 0.1137409657239914, + 0.033071089535951614 + ], + [ + 0.34438133239746094, + 0.11546710133552551, + 0.017008766531944275 + ], + [ + 0.3419409990310669, + 0.11555350571870804, + 0.009355660527944565 + ], + [ + 0.33958858251571655, + 0.11779829859733582, + 0.0024820775724947453 + ], + [ + 0.34165260195732117, + 0.11473949998617172, + 0.0010454854927957058 + ], + [ + 0.3415587842464447, + 0.11349549144506454, + 0.000724486424587667 + ], + [ + 0.3419075608253479, + 0.11370773613452911, + 0.0012926599010825157 + ], + [ + 0.3424818515777588, + 0.11332336813211441, + 0.0014688618248328567 + ], + [ + 0.3451881408691406, + 0.11122465133666992, + 0.009679263457655907 + ], + [ + 0.35206690430641174, + 0.10046495497226715, + 0.030225815251469612 + ], + [ + 0.3618464767932892, + 0.06593871861696243, + 0.05364387482404709 + ], + [ + 0.3614198565483093, + 0.035251159220933914, + 0.06519442796707153 + ], + [ + 0.3518684208393097, + -0.0013683454599231482, + 0.0583241805434227 + ], + [ + 0.34039780497550964, + -0.016885485500097275, + 0.04478371515870094 + ], + [ + 0.3292733430862427, + -0.03333611786365509, + 0.03349790349602699 + ], + [ + 0.3211127817630768, + -0.04170805215835571, + 0.012436266988515854 + ], + [ + 0.31871113181114197, + -0.04095913842320442, + 0.002599025145173073 + ], + [ + 0.3193357288837433, + -0.03935939818620682, + 0.0020485222339630127 + ], + [ + 0.32032883167266846, + -0.03945760428905487, + 0.0021108498331159353 + ], + [ + 0.3217609226703644, + -0.03750891238451004, + 0.0027604014612734318 + ], + [ + 0.3193747401237488, + -0.03551480174064636, + 0.00822456181049347 + ], + [ + 0.3229350745677948, + -0.03705518692731857, + 0.03354627266526222 + ], + [ + 0.32335561513900757, + -0.040791966021060944, + 0.06113837659358978 + ], + [ + 0.32023975253105164, + -0.042250920087099075, + 0.0865074023604393 + ], + [ + 0.3158879578113556, + -0.03807224705815315, + 0.1055009737610817 + ], + [ + 0.3157404065132141, + -0.03769464045763016, + 0.10593355447053909 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9393832260346955, + -0.1383708096177075, + 0.3137079433013896, + -0.12407629131823832, + -0.990129126149394, + -0.06518732609448376, + 0.31963139485563585, + 0.022312162521303244, + -0.9472792295971991 + ], + [ + 0.9477566466948287, + -0.13496030676927265, + 0.28903815361041485, + -0.1065909609185869, + -0.9879961606078521, + -0.11181213563203211, + 0.30065878616169894, + 0.07516184019093387, + -0.9507654769094672 + ], + [ + 0.9511090020017116, + -0.12330922230980991, + 0.28317221262803666, + -0.08883992297235584, + -0.9873215452780323, + -0.13154327925083853, + 0.29580252601621576, + 0.09995499949051115, + -0.9500051913959616 + ], + [ + 0.9594331079471426, + -0.10980667752179592, + 0.25967403594990074, + -0.0740377724092479, + -0.9868409823036973, + -0.14374729180944423, + 0.27204139323191684, + 0.11869022376547034, + -0.9549377525006222 + ], + [ + 0.9627900856506325, + -0.11344497631802222, + 0.24528654329386018, + -0.06992785777299249, + -0.9812933487780604, + -0.17936961379012759, + 0.26104663506762066, + 0.15554292331103584, + -0.9527124714874521 + ], + [ + 0.9682083552605486, + -0.11459478022093048, + 0.22235246153298974, + -0.0750597675737256, + -0.9810260489448439, + -0.17875660151011694, + 0.23861813027396164, + 0.15638391105796365, + -0.9584390748851871 + ], + [ + 0.9717524690907782, + -0.1228330178810034, + 0.20151721647100274, + -0.09020868527142903, + -0.9823624569100181, + -0.1637876562971482, + 0.21808147999675748, + 0.14098245625593842, + -0.9656937480953607 + ], + [ + 0.9706274631050309, + -0.13684241406428668, + 0.1978799676049875, + -0.10935829501874553, + -0.9835528514289633, + -0.14375170175183807, + 0.21429673627212714, + 0.11788953371277154, + -0.9696282621005333 + ], + [ + 0.9708005583659554, + -0.138204127510834, + 0.19607624796318, + -0.11069561191242189, + -0.983226333113431, + -0.1449567500175514, + 0.21282095145845906, + 0.11901931360617715, + -0.9698152636502637 + ], + [ + 0.9704905901436739, + -0.13667367475182085, + 0.19866635616635558, + -0.10915809436354866, + -0.983619638076349, + -0.14344656853850146, + 0.2150174990029936, + 0.11752750410174584, + -0.969512640919195 + ], + [ + 0.9706878019480164, + -0.12978753297556028, + 0.20228788256701397, + -0.10118405032249507, + -0.984115647731344, + -0.1458704214385214, + 0.21800683271325, + 0.12112633146609747, + -0.9684014832268184 + ], + [ + 0.9678112211010426, + -0.10651088347423107, + 0.2280282263502659, + -0.07094513502812297, + -0.9847485770218559, + -0.15886166267942586, + 0.24147096746141292, + 0.13757060643527402, + -0.9606071518150803 + ], + [ + 0.9544479428400222, + -0.11147155725265986, + 0.27677286054112366, + -0.06293868253640866, + -0.9819364802323727, + -0.17843618195153133, + 0.29166392757595255, + 0.15288832758757553, + -0.9442231265111247 + ], + [ + 0.9292277342749222, + -0.19299002505109683, + 0.3151042178154265, + -0.12982951594968226, + -0.9689198439469345, + -0.210567406770657, + 0.34594813866035756, + 0.15475524623296344, + -0.925402992820322 + ], + [ + 0.9129433187142826, + -0.24628441761530165, + 0.32538973932016324, + -0.1663429977777736, + -0.9526922682608191, + -0.2543765891082735, + 0.3726452789252209, + 0.17810510277908237, + -0.9107217294315519 + ], + [ + 0.8979504311457801, + -0.33222944285017936, + 0.28863232755283474, + -0.2539081423937128, + -0.9267662831313465, + -0.276830113385598, + 0.35946582373193925, + 0.17529362154501904, + -0.9165459441917518 + ], + [ + 0.8849029096362742, + -0.38608759556207944, + 0.26054406358685006, + -0.31541292871176635, + -0.9083156972317544, + -0.27473128428313087, + 0.3427266037510403, + 0.1609315466758598, + -0.9255482226041998 + ], + [ + 0.8617258865371523, + -0.4512326574583785, + 0.23198617483550188, + -0.38774208300443036, + -0.8805700896327486, + -0.27249292525046953, + 0.3272377935678331, + 0.14486340492761543, + -0.9337719316694165 + ], + [ + 0.8580627153296652, + -0.48361952013390463, + 0.17274413537522373, + -0.43215754829636066, + -0.861718498529228, + -0.26585914079266, + 0.27743148705862597, + 0.1534711342174303, + -0.9484083408271222 + ], + [ + 0.8638715977978593, + -0.4840726624506396, + 0.13928215961178653, + -0.44312474330748797, + -0.8618130238247541, + -0.2468172883626817, + 0.23951268105644635, + 0.15149907403671933, + -0.9590003681851066 + ], + [ + 0.8659264744529267, + -0.47986817817682065, + 0.14105981856922778, + -0.4411536005160624, + -0.8656495434975268, + -0.23671579709482315, + 0.23570074584786277, + 0.14274942877567726, + -0.9612844318883867 + ], + [ + 0.8607287875035422, + -0.4867562760606995, + 0.14904456406793737, + -0.44599188055278993, + -0.8621992831362741, + -0.2402158167987285, + 0.24543267273056246, + 0.1402880033175125, + -0.9592090904914932 + ], + [ + 0.8629501545514675, + -0.48049495396768155, + 0.1563381910193215, + -0.4373503677903467, + -0.8652302325761365, + -0.24515566571036695, + 0.2530645896865991, + 0.14318255427195137, + -0.9567952077633504 + ], + [ + 0.8633582062742284, + -0.47782704360973427, + 0.16215401337656749, + -0.4294927111542133, + -0.8645628435919211, + -0.2608967239074782, + 0.26485584517686295, + 0.15560336074594444, + -0.9516506582776145 + ], + [ + 0.8387174772520799, + -0.4987214474228018, + 0.218700505789108, + -0.4391497546298677, + -0.8569042783269754, + -0.26993064070877903, + 0.32202559892100674, + 0.13035327255359005, + -0.937713995829291 + ], + [ + 0.807526461233854, + -0.5184894219709038, + 0.281193409793698, + -0.4379007158888182, + -0.8463904858315218, + -0.3030942238280707, + 0.3951505756432464, + 0.12162181053642547, + -0.9105296029073697 + ], + [ + 0.7761119838749189, + -0.5305664754498186, + 0.34080698879937105, + -0.4332776042625403, + -0.8413488093206059, + -0.3231140645334279, + 0.45817104462225805, + 0.10310866202000539, + -0.8828634649175336 + ], + [ + 0.7648619852143712, + -0.5306438996060254, + 0.36524402169623726, + -0.4153418541593089, + -0.8396133965788719, + -0.3500578358911528, + 0.4924198287614323, + 0.1160448021076356, + -0.8625869904805898 + ], + [ + 0.7609835484078612, + -0.5358416539294488, + 0.36575642300133687, + -0.4209630098258019, + -0.8367982868089097, + -0.35008394929227354, + 0.49365391055979885, + 0.11243820128331013, + -0.8623592450256399 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006186.json b/json/chunk-0006/episode_0006186.json new file mode 100644 index 0000000000000000000000000000000000000000..3658c996d074cc87abe945941fb52878d44f6dce --- /dev/null +++ b/json/chunk-0006/episode_0006186.json @@ -0,0 +1,1282 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 20, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut cup from sink to drying rack." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006186.mp4", + "start": 0, + "end": 20, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3860633969306946, + -0.039113402366638184, + 0.1105029508471489, + 0.07119058072566986, + 0.10852506756782532, + -0.212940514087677, + 0.0, + 0.9605803489685059 + ], + [ + 0.3821234703063965, + -0.04421090707182884, + 0.0917024165391922, + 0.0325237475335598, + 0.1502114236354828, + -0.21312591433525085, + 0.0, + 0.9605803489685059 + ], + [ + 0.3816976845264435, + -0.05216434225440025, + 0.08914496004581451, + -0.0015477602137252688, + 0.13987769186496735, + -0.2164221853017807, + 0.0, + 0.9605803489685059 + ], + [ + 0.38008567690849304, + -0.06156543269753456, + 0.08368010073900223, + -0.024702291935682297, + 0.14427290856838226, + -0.23089289665222168, + 0.0, + 0.9605803489685059 + ], + [ + 0.37541675567626953, + -0.06626198440790176, + 0.07673119753599167, + -0.02175266481935978, + 0.15840497612953186, + -0.24036282300949097, + 0.0, + 0.9605803489685059 + ], + [ + 0.3674561083316803, + -0.06297510117292404, + 0.06124788150191307, + 0.0030657644383609295, + 0.17983944714069366, + -0.22535507380962372, + 0.0, + 0.7893680930137634 + ], + [ + 0.36361467838287354, + -0.05990815535187721, + 0.05373963341116905, + 0.020375486463308334, + 0.1695622056722641, + -0.21376539766788483, + 0.0, + 0.5948979258537292 + ], + [ + 0.3589267134666443, + -0.058156464248895645, + 0.053986046463251114, + 0.026764381676912308, + 0.15591183304786682, + -0.21296559274196625, + 0.0, + 0.47187528014183044 + ], + [ + 0.35358354449272156, + -0.056372903287410736, + 0.05534951388835907, + 0.035500138998031616, + 0.14852964878082275, + -0.2160755842924118, + 0.0, + 0.34125998616218567 + ], + [ + 0.3486000895500183, + -0.054881270974874496, + 0.05577683076262474, + 0.04327333718538284, + 0.14549268782138824, + -0.21424175798892975, + 0.0, + 0.18743279576301575 + ], + [ + 0.34477463364601135, + -0.052804525941610336, + 0.05910204350948334, + 0.05200827866792679, + 0.13653892278671265, + -0.21591216325759888, + 0.0, + 0.09851961582899094 + ], + [ + 0.34311342239379883, + -0.040692251175642014, + 0.07446612417697906, + 0.08203329145908356, + 0.12514498829841614, + -0.19950993359088898, + 0.0, + 0.09179956465959549 + ], + [ + 0.3600689470767975, + -0.016063988208770752, + 0.14164702594280243, + 0.11993962526321411, + -0.03366926684975624, + -0.13541153073310852, + 0.0, + 0.09179956465959549 + ], + [ + 0.37087392807006836, + 0.019821086898446083, + 0.1730138212442398, + 0.1329554319381714, + -0.09235227853059769, + -0.04380898177623749, + 0.0, + 0.09179956465959549 + ], + [ + 0.3750056028366089, + 0.050340961664915085, + 0.17843393981456757, + 0.156829833984375, + -0.10122381150722504, + 0.010693535208702087, + 0.0, + 0.09179956465959549 + ], + [ + 0.3755009174346924, + 0.07751161605119705, + 0.1474715620279312, + 0.17198136448860168, + -0.018777335062623024, + 0.0617971308529377, + 0.0, + 0.09179956465959549 + ], + [ + 0.37701430916786194, + 0.09007374942302704, + 0.13048401474952698, + 0.17264848947525024, + 0.008225327357649803, + 0.08590546250343323, + 0.0, + 0.09179956465959549 + ], + [ + 0.3797736167907715, + 0.08986318111419678, + 0.11677166074514389, + 0.17052339017391205, + 0.029811039566993713, + 0.08196336776018143, + 0.0, + 0.09179956465959549 + ], + [ + 0.3796398341655731, + 0.08842102438211441, + 0.10858975350856781, + 0.1524411141872406, + 0.049659863114356995, + 0.08938004076480865, + 0.0, + 0.20867010951042175 + ], + [ + 0.37856751680374146, + 0.08851205557584763, + 0.10813943296670914, + 0.1314941644668579, + 0.05204714089632034, + 0.1071457788348198, + 0.0, + 0.2958413064479828 + ] + ], + "left_gripper_pos": [ + [ + 0.9605803489685059 + ], + [ + 0.9605803489685059 + ], + [ + 0.9605803489685059 + ], + [ + 0.9605803489685059 + ], + [ + 0.9605803489685059 + ], + [ + 0.7893680930137634 + ], + [ + 0.5948979258537292 + ], + [ + 0.47187528014183044 + ], + [ + 0.34125998616218567 + ], + [ + 0.18743279576301575 + ], + [ + 0.09851961582899094 + ], + [ + 0.09179956465959549 + ], + [ + 0.09179956465959549 + ], + [ + 0.09179956465959549 + ], + [ + 0.09179956465959549 + ], + [ + 0.09179956465959549 + ], + [ + 0.09179956465959549 + ], + [ + 0.09179956465959549 + ], + [ + 0.20867010951042175 + ], + [ + 0.2958413064479828 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3860633969306946, + -0.039113402366638184, + 0.1105029508471489 + ], + [ + 0.3821234703063965, + -0.04421090707182884, + 0.0917024165391922 + ], + [ + 0.3816976845264435, + -0.05216434225440025, + 0.08914496004581451 + ], + [ + 0.38008567690849304, + -0.06156543269753456, + 0.08368010073900223 + ], + [ + 0.37541675567626953, + -0.06626198440790176, + 0.07673119753599167 + ], + [ + 0.3674561083316803, + -0.06297510117292404, + 0.06124788150191307 + ], + [ + 0.36361467838287354, + -0.05990815535187721, + 0.05373963341116905 + ], + [ + 0.3589267134666443, + -0.058156464248895645, + 0.053986046463251114 + ], + [ + 0.35358354449272156, + -0.056372903287410736, + 0.05534951388835907 + ], + [ + 0.3486000895500183, + -0.054881270974874496, + 0.05577683076262474 + ], + [ + 0.34477463364601135, + -0.052804525941610336, + 0.05910204350948334 + ], + [ + 0.34311342239379883, + -0.040692251175642014, + 0.07446612417697906 + ], + [ + 0.3600689470767975, + -0.016063988208770752, + 0.14164702594280243 + ], + [ + 0.37087392807006836, + 0.019821086898446083, + 0.1730138212442398 + ], + [ + 0.3750056028366089, + 0.050340961664915085, + 0.17843393981456757 + ], + [ + 0.3755009174346924, + 0.07751161605119705, + 0.1474715620279312 + ], + [ + 0.37701430916786194, + 0.09007374942302704, + 0.13048401474952698 + ], + [ + 0.3797736167907715, + 0.08986318111419678, + 0.11677166074514389 + ], + [ + 0.3796398341655731, + 0.08842102438211441, + 0.10858975350856781 + ], + [ + 0.37856751680374146, + 0.08851205557584763, + 0.10813943296670914 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9716635170257174, + -0.21832988406007656, + -0.09056528809387958, + -0.21009161058361933, + -0.9733097529484549, + 0.09235605003354706, + -0.10831216387643051, + -0.0707119971555868, + -0.9915988546860439 + ], + [ + 0.9663687459619347, + -0.21616038508713495, + -0.13930590348918914, + -0.2091343317886271, + -0.9758283388352695, + 0.06341832852829504, + -0.1496471787080605, + -0.03215184357046793, + -0.9882165657687276 + ], + [ + 0.9671328861731637, + -0.21452563858459503, + -0.13650176142540288, + -0.21263933268494492, + -0.9767171552686995, + 0.028427324867460205, + -0.1394220021290299, + 0.001532642714568289, + -0.9902318699822996 + ], + [ + 0.9633488565547959, + -0.2253200773968946, + -0.1455673153438808, + -0.2264692585835393, + -0.9739781282637763, + 0.008847631344777384, + -0.1437729303144003, + 0.02444316644071528, + -0.9893087870443495 + ], + [ + 0.9590917357412805, + -0.2346662852878524, + -0.15835017203014992, + -0.23507461974270485, + -0.971838671270032, + 0.016417069681323088, + -0.1577433535385898, + 0.02147863061973368, + -0.9872465258693496 + ], + [ + 0.9589950387760339, + -0.22398593336486414, + -0.173662941520705, + -0.2198487251533249, + -0.9745877094906665, + 0.04295735743960177, + -0.17887161220107278, + -0.0030163163638034472, + -0.9838678001561909 + ], + [ + 0.9632242090571187, + -0.21545694124568618, + -0.1605535099440092, + -0.20909871806665667, + -0.9763068289710419, + 0.05570190129061589, + -0.1687508494472515, + -0.020081886703236646, + -0.9854541433457316 + ], + [ + 0.9655527869657391, + -0.2153453457320734, + -0.14606230743839402, + -0.20879570475934958, + -0.9761800495657497, + 0.05896494300732502, + -0.15528093655288364, + -0.026436582633622377, + -0.987516550667337 + ], + [ + 0.9659921203241159, + -0.21939325812337734, + -0.13684232445310307, + -0.2120375451015637, + -0.9750048486911211, + 0.06637487850163305, + -0.14798413069995564, + -0.03510189907702044, + -0.9883666089777443 + ], + [ + 0.9668140259522009, + -0.21853597269776737, + -0.13233543689857885, + -0.21036030808377731, + -0.9748897122536536, + 0.07306565352398452, + -0.14497992966267909, + -0.04280277536596576, + -0.9885083421074278 + ], + [ + 0.9676905088386121, + -0.22086045059069198, + -0.12163774277971787, + -0.2122445909041935, + -0.9739447144640825, + 0.07989947934366423, + -0.13611507166945117, + -0.05150101486721986, + -0.9893534923029619 + ], + [ + 0.9724985289772781, + -0.2075474495024011, + -0.1056913778038603, + -0.19663908804122784, + -0.9748406458777723, + 0.10497039677414684, + -0.1248185891257561, + -0.08130050030384707, + -0.9888430352988282 + ], + [ + 0.9902842911930989, + -0.13003726948084854, + 0.0492679526888145, + -0.13492157494505225, + -0.9842712365927954, + 0.11404517276253562, + 0.033662905853903004, + -0.11958445284423525, + -0.9922531770709614 + ], + [ + 0.994783187123662, + -0.031194986074426737, + 0.09712509181414275, + -0.043608340185800384, + -0.9907588489381361, + 0.12843370241887123, + 0.0922210566103471, + -0.13199915187074493, + -0.9869506069824747 + ], + [ + 0.9948243602720843, + 0.026344127006173942, + 0.09813500487349582, + 0.010638594839920548, + -0.987502141157642, + 0.15724611762744664, + 0.10105103912909795, + -0.15538824981753077, + -0.9826714503380947 + ], + [ + 0.99791521242416, + 0.06405386448453797, + 0.007895014695389852, + 0.061746918449002784, + -0.9831685010590656, + 0.17195062252670945, + 0.018776231637263517, + -0.17110464917665785, + -0.9850739323297705 + ], + [ + 0.9962786913225187, + 0.08311645579302798, + -0.02281280327131729, + 0.0857969389448977, + -0.9816216879924932, + 0.1704633301635709, + -0.008225234609158371, + -0.17178625218327198, + -0.9850999081699532 + ], + [ + 0.9962000587160822, + 0.07564301888202203, + -0.043169163861345554, + 0.08183525013245783, + -0.9826017754121079, + 0.1667235520037007, + -0.029806624260920647, + -0.16962277161804273, + -0.9850582117310533 + ], + [ + 0.9947803860317819, + 0.08071822008105096, + -0.062422371898273925, + 0.08915104102118855, + -0.9851307241490501, + 0.14686574897642654, + -0.04963945458300032, + -0.15166418589935923, + -0.9871848354103638 + ], + [ + 0.9929189992208645, + 0.0992356835364637, + -0.06530038360750991, + 0.10679607334846467, + -0.9864114345268009, + 0.12484823007206927, + -0.052023645619914766, + -0.13093800421508575, + -0.9900246357281136 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.003939926624298096, + -0.005097504705190659, + -0.018800534307956696, + -0.03866683319211006, + 0.04168635606765747, + -0.00018540024757385254, + 1.0 + ], + [ + -0.00042578577995300293, + -0.007953435182571411, + -0.0025574564933776855, + -0.034071508795022964, + -0.010333731770515442, + -0.003296270966529846, + 1.0 + ], + [ + -0.0016120076179504395, + -0.009401090443134308, + -0.005464859306812286, + -0.02315453253686428, + 0.004395216703414917, + -0.014470711350440979, + 1.0 + ], + [ + -0.004668921232223511, + -0.004696551710367203, + -0.006948903203010559, + 0.0029496271163225174, + 0.014132067561149597, + -0.009469926357269287, + 1.0 + ], + [ + -0.007960647344589233, + 0.003286883234977722, + -0.015483316034078598, + 0.024818429723381996, + 0.021434471011161804, + 0.015007749199867249, + 0.0 + ], + [ + -0.0038414299488067627, + 0.0030669458210468292, + -0.0075082480907440186, + 0.017309721559286118, + -0.010277241468429565, + 0.011589676141738892, + 0.0 + ], + [ + -0.004687964916229248, + 0.0017516911029815674, + 0.00024641305208206177, + 0.006388895213603973, + -0.013650372624397278, + 0.0007998049259185791, + 0.0 + ], + [ + -0.0053431689739227295, + 0.001783560961484909, + 0.001363467425107956, + 0.008735757321119308, + -0.007382184267044067, + -0.0031099915504455566, + 0.0 + ], + [ + -0.004983454942703247, + 0.0014916323125362396, + 0.0004273168742656708, + 0.007773198187351227, + -0.0030369609594345093, + 0.0018338263034820557, + 0.0 + ], + [ + -0.003825455904006958, + 0.00207674503326416, + 0.003325212746858597, + 0.008734941482543945, + -0.008953765034675598, + -0.0016704052686691284, + 0.0 + ], + [ + -0.0016612112522125244, + 0.012112274765968323, + 0.015364080667495728, + 0.03002501279115677, + -0.011393934488296509, + 0.0164022296667099, + 0.0 + ], + [ + 0.016955524682998657, + 0.02462826296687126, + 0.06718090176582336, + 0.037906333804130554, + -0.15881425142288208, + 0.06409840285778046, + 0.0 + ], + [ + 0.010804980993270874, + 0.035885073244571686, + 0.03136679530143738, + 0.013015806674957275, + -0.058683011680841446, + 0.09160254895687103, + 0.0 + ], + [ + 0.004131674766540527, + 0.030519874766469002, + 0.005420118570327759, + 0.023874402046203613, + -0.00887153297662735, + 0.054502516984939575, + 0.0 + ], + [ + 0.0004953145980834961, + 0.027170654386281967, + -0.030962377786636353, + 0.015151530504226685, + 0.08244647830724716, + 0.05110359564423561, + 0.0 + ], + [ + 0.0015133917331695557, + 0.012562133371829987, + -0.016987547278404236, + 0.0006671249866485596, + 0.027002662420272827, + 0.02410833165049553, + 0.0 + ], + [ + 0.002759307622909546, + -0.00021056830883026123, + -0.013712354004383087, + -0.002125099301338196, + 0.02158571220934391, + -0.0039420947432518005, + 0.0 + ], + [ + -0.00013378262519836426, + -0.001442156732082367, + -0.00818190723657608, + -0.018082275986671448, + 0.01984882354736328, + 0.007416673004627228, + 1.0 + ], + [ + -0.001072317361831665, + 9.103119373321533e-05, + -0.0004503205418586731, + -0.02094694972038269, + 0.0023872777819633484, + 0.01776573807001114, + 1.0 + ], + [ + 0.0005445182323455811, + -0.003178998827934265, + -0.0013789981603622437, + -0.0016100257635116577, + 0.0012524612247943878, + -0.006323181092739105, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9605803489685059 + ], + [ + 0.9605803489685059 + ], + [ + 0.9605803489685059 + ], + [ + 0.9605803489685059 + ], + [ + 0.7893680930137634 + ], + [ + 0.5948979258537292 + ], + [ + 0.47187528014183044 + ], + [ + 0.34125998616218567 + ], + [ + 0.18743279576301575 + ], + [ + 0.09851961582899094 + ], + [ + 0.09179956465959549 + ], + [ + 0.09179956465959549 + ], + [ + 0.09179956465959549 + ], + [ + 0.09179956465959549 + ], + [ + 0.09179956465959549 + ], + [ + 0.09179956465959549 + ], + [ + 0.09179956465959549 + ], + [ + 0.20867010951042175 + ], + [ + 0.2958413064479828 + ], + [ + 0.33559030294418335 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3821234703063965, + -0.04421090707182884, + 0.0917024165391922 + ], + [ + 0.3816976845264435, + -0.05216434225440025, + 0.08914496004581451 + ], + [ + 0.38008567690849304, + -0.06156543269753456, + 0.08368010073900223 + ], + [ + 0.37541675567626953, + -0.06626198440790176, + 0.07673119753599167 + ], + [ + 0.3674561083316803, + -0.06297510117292404, + 0.06124788150191307 + ], + [ + 0.36361467838287354, + -0.05990815535187721, + 0.05373963341116905 + ], + [ + 0.3589267134666443, + -0.058156464248895645, + 0.053986046463251114 + ], + [ + 0.35358354449272156, + -0.056372903287410736, + 0.05534951388835907 + ], + [ + 0.3486000895500183, + -0.054881270974874496, + 0.05577683076262474 + ], + [ + 0.34477463364601135, + -0.052804525941610336, + 0.05910204350948334 + ], + [ + 0.34311342239379883, + -0.040692251175642014, + 0.07446612417697906 + ], + [ + 0.3600689470767975, + -0.016063988208770752, + 0.14164702594280243 + ], + [ + 0.37087392807006836, + 0.019821086898446083, + 0.1730138212442398 + ], + [ + 0.3750056028366089, + 0.050340961664915085, + 0.17843393981456757 + ], + [ + 0.3755009174346924, + 0.07751161605119705, + 0.1474715620279312 + ], + [ + 0.37701430916786194, + 0.09007374942302704, + 0.13048401474952698 + ], + [ + 0.3797736167907715, + 0.08986318111419678, + 0.11677166074514389 + ], + [ + 0.3796398341655731, + 0.08842102438211441, + 0.10858975350856781 + ], + [ + 0.37856751680374146, + 0.08851205557584763, + 0.10813943296670914 + ], + [ + 0.37911203503608704, + 0.08533305674791336, + 0.1067604348063469 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9663687459619347, + -0.21616038508713495, + -0.13930590348918914, + -0.2091343317886271, + -0.9758283388352695, + 0.06341832852829504, + -0.1496471787080605, + -0.03215184357046793, + -0.9882165657687276 + ], + [ + 0.9671328861731637, + -0.21452563858459503, + -0.13650176142540288, + -0.21263933268494492, + -0.9767171552686995, + 0.028427324867460205, + -0.1394220021290299, + 0.001532642714568289, + -0.9902318699822996 + ], + [ + 0.9633488565547959, + -0.2253200773968946, + -0.1455673153438808, + -0.2264692585835393, + -0.9739781282637763, + 0.008847631344777384, + -0.1437729303144003, + 0.02444316644071528, + -0.9893087870443495 + ], + [ + 0.9590917357412805, + -0.2346662852878524, + -0.15835017203014992, + -0.23507461974270485, + -0.971838671270032, + 0.016417069681323088, + -0.1577433535385898, + 0.02147863061973368, + -0.9872465258693496 + ], + [ + 0.9589950387760339, + -0.22398593336486414, + -0.173662941520705, + -0.2198487251533249, + -0.9745877094906665, + 0.04295735743960177, + -0.17887161220107278, + -0.0030163163638034472, + -0.9838678001561909 + ], + [ + 0.9632242090571187, + -0.21545694124568618, + -0.1605535099440092, + -0.20909871806665667, + -0.9763068289710419, + 0.05570190129061589, + -0.1687508494472515, + -0.020081886703236646, + -0.9854541433457316 + ], + [ + 0.9655527869657391, + -0.2153453457320734, + -0.14606230743839402, + -0.20879570475934958, + -0.9761800495657497, + 0.05896494300732502, + -0.15528093655288364, + -0.026436582633622377, + -0.987516550667337 + ], + [ + 0.9659921203241159, + -0.21939325812337734, + -0.13684232445310307, + -0.2120375451015637, + -0.9750048486911211, + 0.06637487850163305, + -0.14798413069995564, + -0.03510189907702044, + -0.9883666089777443 + ], + [ + 0.9668140259522009, + -0.21853597269776737, + -0.13233543689857885, + -0.21036030808377731, + -0.9748897122536536, + 0.07306565352398452, + -0.14497992966267909, + -0.04280277536596576, + -0.9885083421074278 + ], + [ + 0.9676905088386121, + -0.22086045059069198, + -0.12163774277971787, + -0.2122445909041935, + -0.9739447144640825, + 0.07989947934366423, + -0.13611507166945117, + -0.05150101486721986, + -0.9893534923029619 + ], + [ + 0.9724985289772781, + -0.2075474495024011, + -0.1056913778038603, + -0.19663908804122784, + -0.9748406458777723, + 0.10497039677414684, + -0.1248185891257561, + -0.08130050030384707, + -0.9888430352988282 + ], + [ + 0.9902842911930989, + -0.13003726948084854, + 0.0492679526888145, + -0.13492157494505225, + -0.9842712365927954, + 0.11404517276253562, + 0.033662905853903004, + -0.11958445284423525, + -0.9922531770709614 + ], + [ + 0.994783187123662, + -0.031194986074426737, + 0.09712509181414275, + -0.043608340185800384, + -0.9907588489381361, + 0.12843370241887123, + 0.0922210566103471, + -0.13199915187074493, + -0.9869506069824747 + ], + [ + 0.9948243602720843, + 0.026344127006173942, + 0.09813500487349582, + 0.010638594839920548, + -0.987502141157642, + 0.15724611762744664, + 0.10105103912909795, + -0.15538824981753077, + -0.9826714503380947 + ], + [ + 0.99791521242416, + 0.06405386448453797, + 0.007895014695389852, + 0.061746918449002784, + -0.9831685010590656, + 0.17195062252670945, + 0.018776231637263517, + -0.17110464917665785, + -0.9850739323297705 + ], + [ + 0.9962786913225187, + 0.08311645579302798, + -0.02281280327131729, + 0.0857969389448977, + -0.9816216879924932, + 0.1704633301635709, + -0.008225234609158371, + -0.17178625218327198, + -0.9850999081699532 + ], + [ + 0.9962000587160822, + 0.07564301888202203, + -0.043169163861345554, + 0.08183525013245783, + -0.9826017754121079, + 0.1667235520037007, + -0.029806624260920647, + -0.16962277161804273, + -0.9850582117310533 + ], + [ + 0.9947803860317819, + 0.08071822008105096, + -0.062422371898273925, + 0.08915104102118855, + -0.9851307241490501, + 0.14686574897642654, + -0.04963945458300032, + -0.15166418589935923, + -0.9871848354103638 + ], + [ + 0.9929189992208645, + 0.0992356835364637, + -0.06530038360750991, + 0.10679607334846467, + -0.9864114345268009, + 0.12484823007206927, + -0.052023645619914766, + -0.13093800421508575, + -0.9900246357281136 + ], + [ + 0.9935088299655047, + 0.09293905453001071, + -0.06559372625214477, + 0.10050893648764579, + -0.9872358911161322, + 0.12354452225112467, + -0.053274369697782376, + -0.129335329416227, + -0.9901687806117196 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006189.json b/json/chunk-0006/episode_0006189.json new file mode 100644 index 0000000000000000000000000000000000000000..d9a82c2406970c5a6ec4b0a87dd02871ff3859a0 --- /dev/null +++ b/json/chunk-0006/episode_0006189.json @@ -0,0 +1,2302 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 37, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the cylinder to the top of the green arch." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006189.mp4", + "start": 0, + "end": 37, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2505314350128174, + -0.039652056992053986, + 0.07512503117322922, + -0.005615560803562403, + 0.12503403425216675, + 0.018298698589205742, + 0.0, + 0.9988223910331726 + ], + [ + 0.24664536118507385, + -0.03909996151924133, + 0.06766258180141449, + -0.00019637891091406345, + 0.1568378508090973, + 0.02057899534702301, + 0.0, + 0.9988223910331726 + ], + [ + 0.2366187572479248, + -0.03730521351099014, + 0.059541068971157074, + -0.011006733402609825, + 0.19043640792369843, + 0.0622594952583313, + 0.0, + 0.9988223910331726 + ], + [ + 0.22560089826583862, + -0.035203881561756134, + 0.052935052663087845, + 0.0057740588672459126, + 0.21524013578891754, + 0.09798891097307205, + 0.0, + 0.9988223910331726 + ], + [ + 0.21598117053508759, + -0.034185152500867844, + 0.04839504137635231, + 0.01191150676459074, + 0.2363055795431137, + 0.10955620557069778, + 0.0, + 0.9988223910331726 + ], + [ + 0.2151069939136505, + -0.03627467527985573, + 0.04261385276913643, + -0.0006213863962329924, + 0.2395121455192566, + 0.12392832338809967, + 0.0, + 0.9988223910331726 + ], + [ + 0.21410049498081207, + -0.03582870215177536, + 0.04067932441830635, + 0.009081580676138401, + 0.2474673092365265, + 0.1366419494152069, + 0.0, + 0.9988223910331726 + ], + [ + 0.21272432804107666, + -0.03946530446410179, + 0.040846552699804306, + 0.018776072189211845, + 0.251211017370224, + 0.1476580798625946, + 0.0, + 0.9988223910331726 + ], + [ + 0.21216514706611633, + -0.04282781854271889, + 0.04089914262294769, + 0.015001881867647171, + 0.2527889311313629, + 0.14839771389961243, + 0.0, + 0.9988223910331726 + ], + [ + 0.2076307088136673, + -0.045407067984342575, + 0.03917462006211281, + 0.012812869623303413, + 0.26504749059677124, + 0.14919821918010712, + 0.0, + 0.9988223910331726 + ], + [ + 0.20512954890727997, + -0.04830627888441086, + 0.02724291756749153, + 0.016550669446587563, + 0.3062695562839508, + 0.1307348757982254, + 0.0, + 0.9988223910331726 + ], + [ + 0.2039298564195633, + -0.048518106341362, + 0.019886178895831108, + 0.02535461261868477, + 0.33533039689064026, + 0.12362052500247955, + 0.0, + 0.9988223910331726 + ], + [ + 0.2050640732049942, + -0.04910070076584816, + 0.01422331016510725, + 0.027147581800818443, + 0.34757304191589355, + 0.12554462254047394, + 0.0, + 0.9643021821975708 + ], + [ + 0.2067648023366928, + -0.05057831108570099, + 0.011384549550712109, + 0.02137380838394165, + 0.3402390778064728, + 0.1373019814491272, + 0.0, + 0.6831957101821899 + ], + [ + 0.20823253691196442, + -0.04961055517196655, + 0.010262537747621536, + 0.03381387144327164, + 0.34841829538345337, + 0.14276224374771118, + 0.0, + 0.5403295159339905 + ], + [ + 0.20914191007614136, + -0.046222884207963943, + 0.01057832594960928, + 0.03378203883767128, + 0.34669163823127747, + 0.15550924837589264, + 0.0, + 0.5403295159339905 + ], + [ + 0.22681300342082977, + -0.03562013804912567, + 0.03722206503152847, + 0.05091388523578644, + 0.27115753293037415, + 0.15400588512420654, + 0.0, + 0.5403295159339905 + ], + [ + 0.25036677718162537, + -0.02103651687502861, + 0.06216986104846001, + 0.07526582479476929, + 0.2260906845331192, + 0.17725710570812225, + 0.0, + 0.5403295159339905 + ], + [ + 0.26521220803260803, + -0.008250447921454906, + 0.07337626814842224, + 0.06423415243625641, + 0.21835695207118988, + 0.18352586030960083, + 0.0, + 0.5403295159339905 + ], + [ + 0.2732824981212616, + 0.0009340801043435931, + 0.05543634295463562, + 0.06167188659310341, + 0.27723678946495056, + 0.20086278021335602, + 0.0, + 0.5403295159339905 + ], + [ + 0.2739189565181732, + 0.012849482707679272, + 0.041824910789728165, + 0.062406763434410095, + 0.33812111616134644, + 0.22782166302204132, + 0.0, + 0.5403295159339905 + ], + [ + 0.2775217890739441, + 0.016258886083960533, + 0.03732163831591606, + 0.04759509488940239, + 0.3467596769332886, + 0.23389266431331635, + 0.0, + 0.5403295159339905 + ], + [ + 0.2779434621334076, + 0.016863862052559853, + 0.03701779246330261, + 0.042808160185813904, + 0.3490420877933502, + 0.23662644624710083, + 0.0, + 0.5403295159339905 + ], + [ + 0.27817413210868835, + 0.01668659597635269, + 0.036389224231243134, + 0.04439298436045647, + 0.3503462076187134, + 0.23474736511707306, + 0.0, + 0.5978984832763672 + ], + [ + 0.2779885530471802, + 0.01785479672253132, + 0.033040598034858704, + 0.05351290479302406, + 0.3442862927913666, + 0.242148756980896, + 0.0, + 0.9124506115913391 + ], + [ + 0.27375271916389465, + 0.016642184928059578, + 0.05637012794613838, + 0.03928523138165474, + 0.2612066864967346, + 0.26345735788345337, + 0.0, + 1.003452181816101 + ], + [ + 0.27017641067504883, + 0.01756245084106922, + 0.08310266584157944, + 0.03565214201807976, + 0.18224406242370605, + 0.28570258617401123, + 0.0, + 0.9994885921478271 + ], + [ + 0.26327383518218994, + 0.012972744181752205, + 0.09973087161779404, + 0.026689190417528152, + 0.1543601006269455, + 0.27309149503707886, + 0.0, + 0.9994885921478271 + ], + [ + 0.2490151822566986, + 0.0064871227368712425, + 0.10776688158512115, + 0.012826318852603436, + 0.15249863266944885, + 0.2497243881225586, + 0.0, + 0.9988223910331726 + ], + [ + 0.22890040278434753, + -0.007291564717888832, + 0.1104646548628807, + -0.019043561071157455, + 0.1497415155172348, + 0.21795648336410522, + 0.0, + 0.9994885921478271 + ], + [ + 0.21403765678405762, + -0.015047678723931313, + 0.10548863559961319, + -0.05715356767177582, + 0.15021629631519318, + 0.2008596807718277, + 0.0, + 0.9994885921478271 + ], + [ + 0.216352179646492, + -0.018357867375016212, + 0.09259837865829468, + -0.055244989693164825, + 0.17122726142406464, + 0.1840604692697525, + 0.0, + 0.9988223910331726 + ], + [ + 0.2209911346435547, + -0.016946271061897278, + 0.07440456748008728, + -0.028676483780145645, + 0.2441829890012741, + 0.18199855089187622, + 0.0, + 0.9994885921478271 + ], + [ + 0.22662636637687683, + -0.014243635348975658, + 0.0639798492193222, + -0.0044295708648860455, + 0.2591285705566406, + 0.19399599730968475, + 0.0, + 0.9994885921478271 + ], + [ + 0.2302558869123459, + -0.01111385878175497, + 0.05938428267836571, + -0.004540497902780771, + 0.26654937863349915, + 0.20076236128807068, + 0.0, + 0.9994885921478271 + ], + [ + 0.23088385164737701, + -0.010764388367533684, + 0.0603436715900898, + -0.0042920662090182304, + 0.2620694935321808, + 0.2068033367395401, + 0.0, + 0.9994885921478271 + ], + [ + 0.2298966944217682, + -0.012363341636955738, + 0.0761023610830307, + -0.03227062150835991, + 0.17334868013858795, + 0.1983211636543274, + 0.0, + 0.9994885921478271 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9643021821975708 + ], + [ + 0.6831957101821899 + ], + [ + 0.5403295159339905 + ], + [ + 0.5403295159339905 + ], + [ + 0.5403295159339905 + ], + [ + 0.5403295159339905 + ], + [ + 0.5403295159339905 + ], + [ + 0.5403295159339905 + ], + [ + 0.5403295159339905 + ], + [ + 0.5403295159339905 + ], + [ + 0.5403295159339905 + ], + [ + 0.5978984832763672 + ], + [ + 0.9124506115913391 + ], + [ + 1.003452181816101 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2505314350128174, + -0.039652056992053986, + 0.07512503117322922 + ], + [ + 0.24664536118507385, + -0.03909996151924133, + 0.06766258180141449 + ], + [ + 0.2366187572479248, + -0.03730521351099014, + 0.059541068971157074 + ], + [ + 0.22560089826583862, + -0.035203881561756134, + 0.052935052663087845 + ], + [ + 0.21598117053508759, + -0.034185152500867844, + 0.04839504137635231 + ], + [ + 0.2151069939136505, + -0.03627467527985573, + 0.04261385276913643 + ], + [ + 0.21410049498081207, + -0.03582870215177536, + 0.04067932441830635 + ], + [ + 0.21272432804107666, + -0.03946530446410179, + 0.040846552699804306 + ], + [ + 0.21216514706611633, + -0.04282781854271889, + 0.04089914262294769 + ], + [ + 0.2076307088136673, + -0.045407067984342575, + 0.03917462006211281 + ], + [ + 0.20512954890727997, + -0.04830627888441086, + 0.02724291756749153 + ], + [ + 0.2039298564195633, + -0.048518106341362, + 0.019886178895831108 + ], + [ + 0.2050640732049942, + -0.04910070076584816, + 0.01422331016510725 + ], + [ + 0.2067648023366928, + -0.05057831108570099, + 0.011384549550712109 + ], + [ + 0.20823253691196442, + -0.04961055517196655, + 0.010262537747621536 + ], + [ + 0.20914191007614136, + -0.046222884207963943, + 0.01057832594960928 + ], + [ + 0.22681300342082977, + -0.03562013804912567, + 0.03722206503152847 + ], + [ + 0.25036677718162537, + -0.02103651687502861, + 0.06216986104846001 + ], + [ + 0.26521220803260803, + -0.008250447921454906, + 0.07337626814842224 + ], + [ + 0.2732824981212616, + 0.0009340801043435931, + 0.05543634295463562 + ], + [ + 0.2739189565181732, + 0.012849482707679272, + 0.041824910789728165 + ], + [ + 0.2775217890739441, + 0.016258886083960533, + 0.03732163831591606 + ], + [ + 0.2779434621334076, + 0.016863862052559853, + 0.03701779246330261 + ], + [ + 0.27817413210868835, + 0.01668659597635269, + 0.036389224231243134 + ], + [ + 0.2779885530471802, + 0.01785479672253132, + 0.033040598034858704 + ], + [ + 0.27375271916389465, + 0.016642184928059578, + 0.05637012794613838 + ], + [ + 0.27017641067504883, + 0.01756245084106922, + 0.08310266584157944 + ], + [ + 0.26327383518218994, + 0.012972744181752205, + 0.09973087161779404 + ], + [ + 0.2490151822566986, + 0.0064871227368712425, + 0.10776688158512115 + ], + [ + 0.22890040278434753, + -0.007291564717888832, + 0.1104646548628807 + ], + [ + 0.21403765678405762, + -0.015047678723931313, + 0.10548863559961319 + ], + [ + 0.216352179646492, + -0.018357867375016212, + 0.09259837865829468 + ], + [ + 0.2209911346435547, + -0.016946271061897278, + 0.07440456748008728 + ], + [ + 0.22662636637687683, + -0.014243635348975658, + 0.0639798492193222 + ], + [ + 0.2302558869123459, + -0.01111385878175497, + 0.05938428267836571 + ], + [ + 0.23088385164737701, + -0.010764388367533684, + 0.0603436715900898 + ], + [ + 0.2298966944217682, + -0.012363341636955738, + 0.0761023610830307 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9920273138797585, + 0.018997576158822384, + -0.12458290659878234, + 0.018154835190194455, + -0.9998040049603778, + -0.007896431118277559, + -0.12470850201861965, + 0.00557169321468514, + -0.9921777793112448 + ], + [ + 0.9875169935597962, + 0.020608209501559237, + -0.15615853845294825, + 0.0203249768722774, + -0.9997876094837987, + -0.003410460058717294, + -0.15619565533574375, + 0.00019396858137545395, + -0.987726115697275 + ], + [ + 0.9800192522850643, + 0.06429486969926874, + -0.18822442689772517, + 0.06109446342841844, + -0.9978724201890122, + -0.022761800555241428, + -0.18928743140794285, + 0.010807532395371376, + -0.9818622436750004 + ], + [ + 0.9722387524015111, + 0.09660323083420223, + -0.21311880283341067, + 0.09557470981037379, + -0.9953069864415108, + -0.015148517596792081, + -0.21358202914434343, + -0.0056407918869000205, + -0.9769088485081261 + ], + [ + 0.9663808483580824, + 0.10655757313089442, + -0.23399474253744904, + 0.10629864493784355, + -0.9942390972136459, + -0.013755568187924342, + -0.23411248153631461, + -0.011580206399216642, + -0.9721405478677763 + ], + [ + 0.9640034609336555, + 0.12375760325446798, + -0.23533249445124152, + 0.12008271563880109, + -0.9923122952204202, + -0.02994077753152314, + -0.23722872657573482, + 0.0006036481516747665, + -0.9714536359992503 + ], + [ + 0.9604988719139748, + 0.13400776053775143, + -0.2438930855265044, + 0.13206740770158637, + -0.9909411665964273, + -0.024368097330219392, + -0.24494921284822513, + -0.008804797565461063, + -0.9694959301951022 + ], + [ + 0.9580719915943202, + 0.1424799261627551, + -0.24859108906625924, + 0.142504248185109, + -0.9896306140842295, + -0.017994080039498192, + -0.24857714732390387, + -0.018185662152555113, + -0.968441368137681 + ], + [ + 0.9575772137703266, + 0.1441263377699547, + -0.24954654561600192, + 0.14315466040975428, + -0.9894526951806135, + -0.02213836495290327, + -0.25010522359764165, + -0.01452455716505424, + -0.9681097119481514 + ], + [ + 0.9543585786766741, + 0.1453140873774757, + -0.2609281880439333, + 0.14345462187624392, + -0.989308303890506, + -0.02626502076211671, + -0.26195510067296407, + -0.012365106669248881, + -0.9650008442320015 + ], + [ + 0.9453284192385347, + 0.12539764620676275, + -0.3010475213413603, + 0.12429634312556567, + -0.9919810630324586, + -0.02289082066255289, + -0.3015038952743146, + -0.01577976269774287, + -0.9533343590910893 + ], + [ + 0.9370953930287877, + 0.1149871060769478, + -0.32959094314054027, + 0.11643796595917429, + -0.9930784710399103, + -0.015406181886645741, + -0.32908118215345017, + -0.02393983694771109, + -0.9439981248707039 + ], + [ + 0.9328023954229618, + 0.11599592600983867, + -0.34121054532693484, + 0.1177274942921634, + -0.9929217590766899, + -0.015704058065999386, + -0.34061698163901466, + -0.02552107954557717, + -0.9398557050515549 + ], + [ + 0.9338032840668499, + 0.129774684234787, + -0.33342159197887467, + 0.12902484700861422, + -0.9913388063447821, + -0.024494078658035393, + -0.3337124743253832, + -0.020147018803377714, + -0.9424595917666532 + ], + [ + 0.9303519374428165, + 0.13077164074484787, + -0.3425551787278926, + 0.13372887891764135, + -0.9909031533138145, + -0.015084021220161182, + -0.34141156898943664, + -0.03177607165210782, + -0.9393766134147324 + ], + [ + 0.9291527599592794, + 0.14345678921062494, + -0.3407276013026122, + 0.14566798053628394, + -0.9891466366644969, + -0.019229420734763025, + -0.3397881518042299, + -0.03176603224660038, + -0.9399653882397869 + ], + [ + 0.9520584653351482, + 0.13972914766111538, + -0.2721404855540258, + 0.14779289978832472, + -0.9889750205127769, + 0.009255677928227051, + -0.2678468542952127, + -0.04903237803381641, + -0.9622130162019781 + ], + [ + 0.9592800108767616, + 0.1592388598663106, + -0.23329133340258915, + 0.1718427506164858, + -0.9845165653692662, + 0.034600600776057755, + -0.22416942207366455, + -0.07328108911568772, + -0.9717911052202415 + ], + [ + 0.9598598095182267, + 0.16844929002426293, + -0.22426319974965891, + 0.17816389338666513, + -0.983716339643321, + 0.02365988613775684, + -0.21662588295247331, + -0.06266577861216083, + -0.9742413597389473 + ], + [ + 0.9424779111920759, + 0.1826058551170143, + -0.27998301482769616, + 0.19189644392379937, + -0.9813975021656878, + 0.005890462829816239, + -0.2736989983986461, + -0.05927937600829904, + -0.9599868821268576 + ], + [ + 0.9190033130993496, + 0.20526306687883922, + -0.33660062966059934, + 0.21306794965608783, + -0.9769367989636203, + -0.01401926032520117, + -0.3317151780394886, + -0.0588350593286699, + -0.941543135736235 + ], + [ + 0.9148711254601469, + 0.2157745566018038, + -0.34125088208322524, + 0.21797097440053045, + -0.9754174492638821, + -0.03239527728582496, + -0.33985214155301074, + -0.04474528349264491, + -0.9394138499548511 + ], + [ + 0.9135153743426452, + 0.2199816667592297, + -0.34219545164926995, + 0.22028880197355366, + -0.9746747427953476, + -0.038496616499106226, + -0.3419978136840543, + -0.04021457505251051, + -0.9388398603535497 + ], + [ + 0.9134931512164286, + 0.21755419872879134, + -0.3438028989059754, + 0.2184679189161422, + -0.9751577986040363, + -0.03659284392035303, + -0.34322300488913715, + -0.041682591536551045, + -0.9383285834278245 + ], + [ + 0.9138536444615376, + 0.22191937880757345, + -0.34003427152866056, + 0.22571759383904966, + -0.97376424925942, + -0.028892121689977644, + -0.3375249388354525, + -0.05034854688965102, + -0.9399691162427759 + ], + [ + 0.9327448726763687, + 0.2504265383789358, + -0.25937145442682746, + 0.25158646771985205, + -0.9673917959614862, + -0.029280750787124867, + -0.2582464941798674, + -0.037942877881800834, + -0.9653336657663267 + ], + [ + 0.9435746408042113, + 0.275454283346213, + -0.18382555594211467, + 0.2771643435905077, + -0.9606748326600031, + -0.016846143051682798, + -0.18123692745477213, + -0.03505429616892841, + -0.9828145157896552 + ], + [ + 0.9514924284023917, + 0.2656627261023491, + -0.15519495691802426, + 0.2665028338678024, + -0.963705352338883, + -0.015755424901272044, + -0.1537478397680751, + -0.02636872832082211, + -0.9877582153206282 + ], + [ + 0.9577351660155992, + 0.24522864480853138, + -0.15035379457281506, + 0.24426878363635848, + -0.9693823819719096, + -0.025110931151211064, + -0.15190823913760243, + -0.012677116700501038, + -0.9883132993106362 + ], + [ + 0.9654157874262891, + 0.21896928361994097, + -0.1415090464212371, + 0.2138151666864996, + -0.9755500548757352, + -0.05084451717514942, + -0.1491825455034951, + 0.01882931923675194, + -0.9886303782780387 + ], + [ + 0.9688605584147937, + 0.20756266067560109, + -0.1350072599582679, + 0.19726504578016713, + -0.9765899054690412, + -0.08578262207065972, + -0.1496519965169948, + 0.05647918580534194, + -0.9871242989154116 + ], + [ + 0.9687320465543567, + 0.19199331365760908, + -0.15715212212814475, + 0.18034649805716435, + -0.9798868211441014, + -0.08542223590275409, + -0.17039179151920905, + 0.05440942251926129, + -0.9838730874071084 + ], + [ + 0.9543090472405705, + 0.1877385529804661, + -0.2324832855918794, + 0.17562627665718317, + -0.9818249196007276, + -0.0719391284250755, + -0.24176363105795953, + 0.02782198727312051, + -0.9699362266261866 + ], + [ + 0.9484816267230372, + 0.19389330267141355, + -0.25057531990998777, + 0.18634519140016628, + -0.9810132794639038, + -0.05374397787205411, + -0.2562383137059259, + 0.004281669609868224, + -0.96660415574034 + ], + [ + 0.9453096779023223, + 0.20058634303456005, + -0.2572056217352742, + 0.19237415519510495, + -0.9796662357059179, + -0.056975881131985415, + -0.2634042468852332, + 0.004380137648323026, + -0.9646756020118911 + ], + [ + 0.9452757080259034, + 0.20641880427704742, + -0.2526759051768902, + 0.19832151084966207, + -0.9784549514575923, + -0.05739761582529358, + -0.25907993776136773, + 0.004145504668266374, + -0.9658469861425313 + ], + [ + 0.965705204249749, + 0.20237714489946232, + -0.16265592429202452, + 0.1940708280658647, + -0.9787918217473273, + -0.06559789153912131, + -0.17248180245689798, + 0.03178145532996822, + -0.9844998562307306 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0038860738277435303, + 0.0005520954728126526, + -0.007462449371814728, + 0.005419181659817696, + 0.03180381655693054, + 0.0022802967578172684, + 1.0 + ], + [ + -0.010026603937149048, + 0.0017947480082511902, + -0.008121512830257416, + -0.010810354724526405, + 0.033598557114601135, + 0.04168049991130829, + 1.0 + ], + [ + -0.011017858982086182, + 0.002101331949234009, + -0.006606016308069229, + 0.01678079180419445, + 0.024803727865219116, + 0.03572941571474075, + 1.0 + ], + [ + -0.009619727730751038, + 0.0010187290608882904, + -0.004540011286735535, + 0.006137447897344828, + 0.021065443754196167, + 0.011567294597625732, + 1.0 + ], + [ + -0.0008741766214370728, + -0.0020895227789878845, + -0.005781188607215881, + -0.012532893568277359, + 0.0032065659761428833, + 0.014372117817401886, + 1.0 + ], + [ + -0.00100649893283844, + 0.00044597312808036804, + -0.0019345283508300781, + 0.00970296747982502, + 0.007955163717269897, + 0.012713626027107239, + 1.0 + ], + [ + -0.0013761669397354126, + -0.0036366023123264313, + 0.00016722828149795532, + 0.009694491513073444, + 0.0037437081336975098, + 0.011016130447387695, + 1.0 + ], + [ + -0.0005591809749603271, + -0.003362514078617096, + 5.258992314338684e-05, + -0.0037741903215646744, + 0.001577913761138916, + 0.0007396340370178223, + 1.0 + ], + [ + -0.004534438252449036, + -0.0025792494416236877, + -0.0017245225608348846, + -0.0021890122443437576, + 0.012258559465408325, + 0.0008005052804946899, + 1.0 + ], + [ + -0.002501159906387329, + -0.002899210900068283, + -0.011931702494621277, + 0.003737799823284149, + 0.041222065687179565, + -0.018463343381881714, + 1.0 + ], + [ + -0.0011996924877166748, + -0.00021182745695114136, + -0.007356738671660423, + 0.008803943172097206, + 0.029060840606689453, + -0.00711435079574585, + 1.0 + ], + [ + 0.0011342167854309082, + -0.0005825944244861603, + -0.005662868730723858, + 0.0017929691821336746, + 0.012242645025253296, + 0.0019240975379943848, + 0.0 + ], + [ + 0.0017007291316986084, + -0.001477610319852829, + -0.0028387606143951416, + -0.005773773416876793, + -0.007333964109420776, + 0.01175735890865326, + 0.0 + ], + [ + 0.0014677345752716064, + 0.000967755913734436, + -0.0011220118030905724, + 0.012440063059329987, + 0.00817921757698059, + 0.005460262298583984, + 0.0 + ], + [ + 0.0009093731641769409, + 0.0033876709640026093, + 0.0003157882019877434, + -3.1832605600357056e-05, + -0.0017266571521759033, + 0.012747004628181458, + 0.0 + ], + [ + 0.017671093344688416, + 0.010602746158838272, + 0.02664373815059662, + 0.017131846398115158, + -0.07553410530090332, + -0.0015033632516860962, + 0.0 + ], + [ + 0.023553773760795593, + 0.014583621174097061, + 0.024947796016931534, + 0.02435193955898285, + -0.045066848397254944, + 0.02325122058391571, + 0.0 + ], + [ + 0.014845430850982666, + 0.012786068953573704, + 0.011206407099962234, + -0.011031672358512878, + -0.007733732461929321, + 0.006268754601478577, + 0.0 + ], + [ + 0.008070290088653564, + 0.009184528142213821, + -0.01793992519378662, + -0.002562265843153, + 0.05887983739376068, + 0.017336919903755188, + 0.0 + ], + [ + 0.0006364583969116211, + 0.011915402486920357, + -0.013611432164907455, + 0.0007348768413066864, + 0.060884326696395874, + 0.026958882808685303, + 0.0 + ], + [ + 0.003602832555770874, + 0.0034094033762812614, + -0.004503272473812103, + -0.014811668545007706, + 0.008638560771942139, + 0.006071001291275024, + 0.0 + ], + [ + 0.000421673059463501, + 0.0006049759685993195, + -0.0003038458526134491, + -0.004786934703588486, + 0.0022824108600616455, + 0.002733781933784485, + 0.0 + ], + [ + 0.00023066997528076172, + -0.00017726607620716095, + -0.0006285682320594788, + 0.0015848241746425629, + 0.0013041198253631592, + -0.001879081130027771, + 1.0 + ], + [ + -0.0001855790615081787, + 0.001168200746178627, + -0.00334862619638443, + 0.009119920432567596, + -0.006059914827346802, + 0.007401391863822937, + 1.0 + ], + [ + -0.0042358338832855225, + -0.0012126117944717407, + 0.02332952991127968, + -0.014227673411369324, + -0.08307960629463196, + 0.021308600902557373, + 1.0 + ], + [ + -0.003576308488845825, + 0.0009202659130096436, + 0.026732537895441055, + -0.0036330893635749817, + -0.07896262407302856, + 0.02224522829055786, + 1.0 + ], + [ + -0.006902575492858887, + -0.004589706659317017, + 0.0166282057762146, + -0.008962951600551605, + -0.02788396179676056, + -0.012611091136932373, + 1.0 + ], + [ + -0.014258652925491333, + -0.006485621444880962, + 0.008036009967327118, + -0.013862871564924717, + -0.001861467957496643, + -0.023367106914520264, + 1.0 + ], + [ + -0.020114779472351074, + -0.013778687454760075, + 0.002697773277759552, + -0.031869880855083466, + -0.0027571171522140503, + -0.03176790475845337, + 1.0 + ], + [ + -0.014862746000289917, + -0.0077561140060424805, + -0.004976019263267517, + -0.03811000660061836, + 0.000474780797958374, + -0.017096802592277527, + 1.0 + ], + [ + 0.002314522862434387, + -0.0033101886510849, + -0.012890256941318512, + 0.0019085779786109924, + 0.02101096510887146, + -0.016799211502075195, + 1.0 + ], + [ + 0.004638954997062683, + 0.0014115963131189346, + -0.018193811178207397, + 0.02656850591301918, + 0.07295572757720947, + -0.0020619183778762817, + 1.0 + ], + [ + 0.0056352317333221436, + 0.0027026357129216194, + -0.010424718260765076, + 0.024246912449598312, + 0.014945581555366516, + 0.011997446417808533, + 1.0 + ], + [ + 0.003629520535469055, + 0.003129776567220688, + -0.004595566540956497, + -0.0001109270378947258, + 0.0074208080768585205, + 0.006766363978385925, + 1.0 + ], + [ + 0.0006279647350311279, + 0.0003494704142212868, + 0.0009593889117240906, + 0.0002484316937625408, + -0.004479885101318359, + 0.006040975451469421, + 1.0 + ], + [ + -0.0009871572256088257, + -0.0015989532694220543, + 0.015758689492940903, + -0.027978554368019104, + -0.08872081339359283, + -0.008482173085212708, + 1.0 + ], + [ + -0.00687834620475769, + 0.001591091975569725, + 0.006734587252140045, + -0.004409570246934891, + -0.07347326725721359, + 0.009642526507377625, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9643021821975708 + ], + [ + 0.6831957101821899 + ], + [ + 0.5403295159339905 + ], + [ + 0.5403295159339905 + ], + [ + 0.5403295159339905 + ], + [ + 0.5403295159339905 + ], + [ + 0.5403295159339905 + ], + [ + 0.5403295159339905 + ], + [ + 0.5403295159339905 + ], + [ + 0.5403295159339905 + ], + [ + 0.5403295159339905 + ], + [ + 0.5978984832763672 + ], + [ + 0.9124506115913391 + ], + [ + 1.003452181816101 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.24664536118507385, + -0.03909996151924133, + 0.06766258180141449 + ], + [ + 0.2366187572479248, + -0.03730521351099014, + 0.059541068971157074 + ], + [ + 0.22560089826583862, + -0.035203881561756134, + 0.052935052663087845 + ], + [ + 0.21598117053508759, + -0.034185152500867844, + 0.04839504137635231 + ], + [ + 0.2151069939136505, + -0.03627467527985573, + 0.04261385276913643 + ], + [ + 0.21410049498081207, + -0.03582870215177536, + 0.04067932441830635 + ], + [ + 0.21272432804107666, + -0.03946530446410179, + 0.040846552699804306 + ], + [ + 0.21216514706611633, + -0.04282781854271889, + 0.04089914262294769 + ], + [ + 0.2076307088136673, + -0.045407067984342575, + 0.03917462006211281 + ], + [ + 0.20512954890727997, + -0.04830627888441086, + 0.02724291756749153 + ], + [ + 0.2039298564195633, + -0.048518106341362, + 0.019886178895831108 + ], + [ + 0.2050640732049942, + -0.04910070076584816, + 0.01422331016510725 + ], + [ + 0.2067648023366928, + -0.05057831108570099, + 0.011384549550712109 + ], + [ + 0.20823253691196442, + -0.04961055517196655, + 0.010262537747621536 + ], + [ + 0.20914191007614136, + -0.046222884207963943, + 0.01057832594960928 + ], + [ + 0.22681300342082977, + -0.03562013804912567, + 0.03722206503152847 + ], + [ + 0.25036677718162537, + -0.02103651687502861, + 0.06216986104846001 + ], + [ + 0.26521220803260803, + -0.008250447921454906, + 0.07337626814842224 + ], + [ + 0.2732824981212616, + 0.0009340801043435931, + 0.05543634295463562 + ], + [ + 0.2739189565181732, + 0.012849482707679272, + 0.041824910789728165 + ], + [ + 0.2775217890739441, + 0.016258886083960533, + 0.03732163831591606 + ], + [ + 0.2779434621334076, + 0.016863862052559853, + 0.03701779246330261 + ], + [ + 0.27817413210868835, + 0.01668659597635269, + 0.036389224231243134 + ], + [ + 0.2779885530471802, + 0.01785479672253132, + 0.033040598034858704 + ], + [ + 0.27375271916389465, + 0.016642184928059578, + 0.05637012794613838 + ], + [ + 0.27017641067504883, + 0.01756245084106922, + 0.08310266584157944 + ], + [ + 0.26327383518218994, + 0.012972744181752205, + 0.09973087161779404 + ], + [ + 0.2490151822566986, + 0.0064871227368712425, + 0.10776688158512115 + ], + [ + 0.22890040278434753, + -0.007291564717888832, + 0.1104646548628807 + ], + [ + 0.21403765678405762, + -0.015047678723931313, + 0.10548863559961319 + ], + [ + 0.216352179646492, + -0.018357867375016212, + 0.09259837865829468 + ], + [ + 0.2209911346435547, + -0.016946271061897278, + 0.07440456748008728 + ], + [ + 0.22662636637687683, + -0.014243635348975658, + 0.0639798492193222 + ], + [ + 0.2302558869123459, + -0.01111385878175497, + 0.05938428267836571 + ], + [ + 0.23088385164737701, + -0.010764388367533684, + 0.0603436715900898 + ], + [ + 0.2298966944217682, + -0.012363341636955738, + 0.0761023610830307 + ], + [ + 0.2230183482170105, + -0.010772249661386013, + 0.08283694833517075 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9875169935597962, + 0.020608209501559237, + -0.15615853845294825, + 0.0203249768722774, + -0.9997876094837987, + -0.003410460058717294, + -0.15619565533574375, + 0.00019396858137545395, + -0.987726115697275 + ], + [ + 0.9800192522850643, + 0.06429486969926874, + -0.18822442689772517, + 0.06109446342841844, + -0.9978724201890122, + -0.022761800555241428, + -0.18928743140794285, + 0.010807532395371376, + -0.9818622436750004 + ], + [ + 0.9722387524015111, + 0.09660323083420223, + -0.21311880283341067, + 0.09557470981037379, + -0.9953069864415108, + -0.015148517596792081, + -0.21358202914434343, + -0.0056407918869000205, + -0.9769088485081261 + ], + [ + 0.9663808483580824, + 0.10655757313089442, + -0.23399474253744904, + 0.10629864493784355, + -0.9942390972136459, + -0.013755568187924342, + -0.23411248153631461, + -0.011580206399216642, + -0.9721405478677763 + ], + [ + 0.9640034609336555, + 0.12375760325446798, + -0.23533249445124152, + 0.12008271563880109, + -0.9923122952204202, + -0.02994077753152314, + -0.23722872657573482, + 0.0006036481516747665, + -0.9714536359992503 + ], + [ + 0.9604988719139748, + 0.13400776053775143, + -0.2438930855265044, + 0.13206740770158637, + -0.9909411665964273, + -0.024368097330219392, + -0.24494921284822513, + -0.008804797565461063, + -0.9694959301951022 + ], + [ + 0.9580719915943202, + 0.1424799261627551, + -0.24859108906625924, + 0.142504248185109, + -0.9896306140842295, + -0.017994080039498192, + -0.24857714732390387, + -0.018185662152555113, + -0.968441368137681 + ], + [ + 0.9575772137703266, + 0.1441263377699547, + -0.24954654561600192, + 0.14315466040975428, + -0.9894526951806135, + -0.02213836495290327, + -0.25010522359764165, + -0.01452455716505424, + -0.9681097119481514 + ], + [ + 0.9543585786766741, + 0.1453140873774757, + -0.2609281880439333, + 0.14345462187624392, + -0.989308303890506, + -0.02626502076211671, + -0.26195510067296407, + -0.012365106669248881, + -0.9650008442320015 + ], + [ + 0.9453284192385347, + 0.12539764620676275, + -0.3010475213413603, + 0.12429634312556567, + -0.9919810630324586, + -0.02289082066255289, + -0.3015038952743146, + -0.01577976269774287, + -0.9533343590910893 + ], + [ + 0.9370953930287877, + 0.1149871060769478, + -0.32959094314054027, + 0.11643796595917429, + -0.9930784710399103, + -0.015406181886645741, + -0.32908118215345017, + -0.02393983694771109, + -0.9439981248707039 + ], + [ + 0.9328023954229618, + 0.11599592600983867, + -0.34121054532693484, + 0.1177274942921634, + -0.9929217590766899, + -0.015704058065999386, + -0.34061698163901466, + -0.02552107954557717, + -0.9398557050515549 + ], + [ + 0.9338032840668499, + 0.129774684234787, + -0.33342159197887467, + 0.12902484700861422, + -0.9913388063447821, + -0.024494078658035393, + -0.3337124743253832, + -0.020147018803377714, + -0.9424595917666532 + ], + [ + 0.9303519374428165, + 0.13077164074484787, + -0.3425551787278926, + 0.13372887891764135, + -0.9909031533138145, + -0.015084021220161182, + -0.34141156898943664, + -0.03177607165210782, + -0.9393766134147324 + ], + [ + 0.9291527599592794, + 0.14345678921062494, + -0.3407276013026122, + 0.14566798053628394, + -0.9891466366644969, + -0.019229420734763025, + -0.3397881518042299, + -0.03176603224660038, + -0.9399653882397869 + ], + [ + 0.9520584653351482, + 0.13972914766111538, + -0.2721404855540258, + 0.14779289978832472, + -0.9889750205127769, + 0.009255677928227051, + -0.2678468542952127, + -0.04903237803381641, + -0.9622130162019781 + ], + [ + 0.9592800108767616, + 0.1592388598663106, + -0.23329133340258915, + 0.1718427506164858, + -0.9845165653692662, + 0.034600600776057755, + -0.22416942207366455, + -0.07328108911568772, + -0.9717911052202415 + ], + [ + 0.9598598095182267, + 0.16844929002426293, + -0.22426319974965891, + 0.17816389338666513, + -0.983716339643321, + 0.02365988613775684, + -0.21662588295247331, + -0.06266577861216083, + -0.9742413597389473 + ], + [ + 0.9424779111920759, + 0.1826058551170143, + -0.27998301482769616, + 0.19189644392379937, + -0.9813975021656878, + 0.005890462829816239, + -0.2736989983986461, + -0.05927937600829904, + -0.9599868821268576 + ], + [ + 0.9190033130993496, + 0.20526306687883922, + -0.33660062966059934, + 0.21306794965608783, + -0.9769367989636203, + -0.01401926032520117, + -0.3317151780394886, + -0.0588350593286699, + -0.941543135736235 + ], + [ + 0.9148711254601469, + 0.2157745566018038, + -0.34125088208322524, + 0.21797097440053045, + -0.9754174492638821, + -0.03239527728582496, + -0.33985214155301074, + -0.04474528349264491, + -0.9394138499548511 + ], + [ + 0.9135153743426452, + 0.2199816667592297, + -0.34219545164926995, + 0.22028880197355366, + -0.9746747427953476, + -0.038496616499106226, + -0.3419978136840543, + -0.04021457505251051, + -0.9388398603535497 + ], + [ + 0.9134931512164286, + 0.21755419872879134, + -0.3438028989059754, + 0.2184679189161422, + -0.9751577986040363, + -0.03659284392035303, + -0.34322300488913715, + -0.041682591536551045, + -0.9383285834278245 + ], + [ + 0.9138536444615376, + 0.22191937880757345, + -0.34003427152866056, + 0.22571759383904966, + -0.97376424925942, + -0.028892121689977644, + -0.3375249388354525, + -0.05034854688965102, + -0.9399691162427759 + ], + [ + 0.9327448726763687, + 0.2504265383789358, + -0.25937145442682746, + 0.25158646771985205, + -0.9673917959614862, + -0.029280750787124867, + -0.2582464941798674, + -0.037942877881800834, + -0.9653336657663267 + ], + [ + 0.9435746408042113, + 0.275454283346213, + -0.18382555594211467, + 0.2771643435905077, + -0.9606748326600031, + -0.016846143051682798, + -0.18123692745477213, + -0.03505429616892841, + -0.9828145157896552 + ], + [ + 0.9514924284023917, + 0.2656627261023491, + -0.15519495691802426, + 0.2665028338678024, + -0.963705352338883, + -0.015755424901272044, + -0.1537478397680751, + -0.02636872832082211, + -0.9877582153206282 + ], + [ + 0.9577351660155992, + 0.24522864480853138, + -0.15035379457281506, + 0.24426878363635848, + -0.9693823819719096, + -0.025110931151211064, + -0.15190823913760243, + -0.012677116700501038, + -0.9883132993106362 + ], + [ + 0.9654157874262891, + 0.21896928361994097, + -0.1415090464212371, + 0.2138151666864996, + -0.9755500548757352, + -0.05084451717514942, + -0.1491825455034951, + 0.01882931923675194, + -0.9886303782780387 + ], + [ + 0.9688605584147937, + 0.20756266067560109, + -0.1350072599582679, + 0.19726504578016713, + -0.9765899054690412, + -0.08578262207065972, + -0.1496519965169948, + 0.05647918580534194, + -0.9871242989154116 + ], + [ + 0.9687320465543567, + 0.19199331365760908, + -0.15715212212814475, + 0.18034649805716435, + -0.9798868211441014, + -0.08542223590275409, + -0.17039179151920905, + 0.05440942251926129, + -0.9838730874071084 + ], + [ + 0.9543090472405705, + 0.1877385529804661, + -0.2324832855918794, + 0.17562627665718317, + -0.9818249196007276, + -0.0719391284250755, + -0.24176363105795953, + 0.02782198727312051, + -0.9699362266261866 + ], + [ + 0.9484816267230372, + 0.19389330267141355, + -0.25057531990998777, + 0.18634519140016628, + -0.9810132794639038, + -0.05374397787205411, + -0.2562383137059259, + 0.004281669609868224, + -0.96660415574034 + ], + [ + 0.9453096779023223, + 0.20058634303456005, + -0.2572056217352742, + 0.19237415519510495, + -0.9796662357059179, + -0.056975881131985415, + -0.2634042468852332, + 0.004380137648323026, + -0.9646756020118911 + ], + [ + 0.9452757080259034, + 0.20641880427704742, + -0.2526759051768902, + 0.19832151084966207, + -0.9784549514575923, + -0.05739761582529358, + -0.25907993776136773, + 0.004145504668266374, + -0.9658469861425313 + ], + [ + 0.965705204249749, + 0.20237714489946232, + -0.16265592429202452, + 0.1940708280658647, + -0.9787918217473273, + -0.06559789153912131, + -0.17248180245689798, + 0.03178145532996822, + -0.9844998562307306 + ], + [ + 0.9735773467035861, + 0.2099067714961739, + -0.08992384147520897, + 0.20543898201877056, + -0.9770402675436263, + -0.0564547629998631, + -0.09970945117037171, + 0.03648921591830227, + -0.994347304752706 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006190.json b/json/chunk-0006/episode_0006190.json new file mode 100644 index 0000000000000000000000000000000000000000..32ce848433aad3772cfc103490b58578ad16a7e8 --- /dev/null +++ b/json/chunk-0006/episode_0006190.json @@ -0,0 +1,1402 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 22, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the pan to the right of the white item." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006190.mp4", + "start": 0, + "end": 22, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2943553030490875, + 0.22808174788951874, + 0.0880378857254982, + 0.07438311725854874, + -0.11462090164422989, + 0.10025819391012192, + 0.0, + 1.0014774799346924 + ], + [ + 0.2937011420726776, + 0.22506928443908691, + 0.07479098439216614, + 0.050708651542663574, + -0.08770883083343506, + 0.1034577265381813, + 0.0, + 1.0014774799346924 + ], + [ + 0.30378076434135437, + 0.20888526737689972, + 0.06887741386890411, + 0.042989227920770645, + -0.09584641456604004, + 0.07193128019571304, + 0.0, + 1.0014774799346924 + ], + [ + 0.3231106996536255, + 0.18499112129211426, + 0.06842782348394394, + 0.04727007448673248, + -0.11974754929542542, + 0.009090865030884743, + 0.0, + 1.0014774799346924 + ], + [ + 0.3526743948459625, + 0.15354858338832855, + 0.059360966086387634, + 0.029569892212748528, + -0.13353464007377625, + -0.050600629299879074, + 0.0, + 1.0014774799346924 + ], + [ + 0.3839389979839325, + 0.13786210119724274, + 0.04744388535618782, + 0.044225070625543594, + -0.1315125823020935, + -0.06912945210933685, + 0.0, + 1.0014774799346924 + ], + [ + 0.3981182277202606, + 0.1389363706111908, + 0.03930896893143654, + 0.059341009706258774, + -0.11681071668863297, + -0.049791865050792694, + 0.0, + 0.9774019718170166 + ], + [ + 0.4023092985153198, + 0.14189153909683228, + 0.03545429930090904, + 0.06983864307403564, + -0.11141251772642136, + -0.04039687663316727, + 0.0, + 0.8651953339576721 + ], + [ + 0.40371569991111755, + 0.14147816598415375, + 0.035595204681158066, + 0.0704050287604332, + -0.11882338672876358, + -0.06400863826274872, + 0.0, + 0.5630297660827637 + ], + [ + 0.40349820256233215, + 0.14209729433059692, + 0.035595204681158066, + 0.07167961448431015, + -0.11806117743253708, + -0.07326100766658783, + 0.0, + 0.2795628309249878 + ], + [ + 0.4027157425880432, + 0.14115436375141144, + 0.03578545153141022, + 0.06974252313375473, + -0.11034167557954788, + -0.08350160717964172, + 0.0, + 0.11535319685935974 + ], + [ + 0.4032355546951294, + 0.140269473195076, + 0.03678295761346817, + 0.06207570061087608, + -0.11164331436157227, + -0.1050146073102951, + 0.0, + 0.07591649144887924 + ], + [ + 0.39670783281326294, + 0.13744769990444183, + 0.05918752774596214, + 0.0628320649266243, + -0.18256719410419464, + -0.1495366394519806, + 0.0, + 0.06833917647600174 + ], + [ + 0.37635737657546997, + 0.1274537295103073, + 0.08688277751207352, + 0.06935598701238632, + -0.2468881756067276, + -0.22981305420398712, + 0.0, + 0.061804234981536865 + ], + [ + 0.3335340917110443, + 0.1088210791349411, + 0.08926152437925339, + 0.044112659990787506, + -0.22582730650901794, + -0.33268678188323975, + 0.0, + 0.05896064639091492 + ], + [ + 0.2934887707233429, + 0.10899224877357483, + 0.07842791080474854, + 0.01753034070134163, + -0.17400242388248444, + -0.3710378110408783, + 0.0, + 0.05868057906627655 + ], + [ + 0.268921434879303, + 0.1086781844496727, + 0.06819821894168854, + 0.014528387226164341, + -0.13903214037418365, + -0.41248729825019836, + 0.0, + 0.05868057906627655 + ], + [ + 0.25267380475997925, + 0.10771890729665756, + 0.06144170090556145, + 0.012030906043946743, + -0.11032429337501526, + -0.4399823248386383, + 0.0, + 0.05868057906627655 + ], + [ + 0.24708794057369232, + 0.10633616894483566, + 0.055908381938934326, + 0.01611298695206642, + -0.10213726758956909, + -0.45966416597366333, + 0.0, + 0.07143880426883698 + ], + [ + 0.24641402065753937, + 0.10228671133518219, + 0.05359550192952156, + 0.019291864708065987, + -0.09224706888198853, + -0.47744283080101013, + 0.0, + 0.1394769847393036 + ], + [ + 0.24624043703079224, + 0.09819570183753967, + 0.05260206013917923, + 0.023751718923449516, + -0.08004186302423477, + -0.49092021584510803, + 0.0, + 0.35109609365463257 + ], + [ + 0.24503087997436523, + 0.09651640057563782, + 0.05209123343229294, + 0.023523399606347084, + -0.07528220862150192, + -0.4982621967792511, + 0.0, + 0.649078905582428 + ] + ], + "left_gripper_pos": [ + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 0.9774019718170166 + ], + [ + 0.8651953339576721 + ], + [ + 0.5630297660827637 + ], + [ + 0.2795628309249878 + ], + [ + 0.11535319685935974 + ], + [ + 0.07591649144887924 + ], + [ + 0.06833917647600174 + ], + [ + 0.061804234981536865 + ], + [ + 0.05896064639091492 + ], + [ + 0.05868057906627655 + ], + [ + 0.05868057906627655 + ], + [ + 0.05868057906627655 + ], + [ + 0.07143880426883698 + ], + [ + 0.1394769847393036 + ], + [ + 0.35109609365463257 + ], + [ + 0.649078905582428 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2943553030490875, + 0.22808174788951874, + 0.0880378857254982 + ], + [ + 0.2937011420726776, + 0.22506928443908691, + 0.07479098439216614 + ], + [ + 0.30378076434135437, + 0.20888526737689972, + 0.06887741386890411 + ], + [ + 0.3231106996536255, + 0.18499112129211426, + 0.06842782348394394 + ], + [ + 0.3526743948459625, + 0.15354858338832855, + 0.059360966086387634 + ], + [ + 0.3839389979839325, + 0.13786210119724274, + 0.04744388535618782 + ], + [ + 0.3981182277202606, + 0.1389363706111908, + 0.03930896893143654 + ], + [ + 0.4023092985153198, + 0.14189153909683228, + 0.03545429930090904 + ], + [ + 0.40371569991111755, + 0.14147816598415375, + 0.035595204681158066 + ], + [ + 0.40349820256233215, + 0.14209729433059692, + 0.035595204681158066 + ], + [ + 0.4027157425880432, + 0.14115436375141144, + 0.03578545153141022 + ], + [ + 0.4032355546951294, + 0.140269473195076, + 0.03678295761346817 + ], + [ + 0.39670783281326294, + 0.13744769990444183, + 0.05918752774596214 + ], + [ + 0.37635737657546997, + 0.1274537295103073, + 0.08688277751207352 + ], + [ + 0.3335340917110443, + 0.1088210791349411, + 0.08926152437925339 + ], + [ + 0.2934887707233429, + 0.10899224877357483, + 0.07842791080474854 + ], + [ + 0.268921434879303, + 0.1086781844496727, + 0.06819821894168854 + ], + [ + 0.25267380475997925, + 0.10771890729665756, + 0.06144170090556145 + ], + [ + 0.24708794057369232, + 0.10633616894483566, + 0.055908381938934326 + ], + [ + 0.24641402065753937, + 0.10228671133518219, + 0.05359550192952156 + ], + [ + 0.24624043703079224, + 0.09819570183753967, + 0.05260206013917923 + ], + [ + 0.24503087997436523, + 0.09651640057563782, + 0.05209123343229294 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9884495199025239, + 0.10827023277717744, + 0.10604293139500492, + 0.09943354601035707, + -0.9913763888187032, + 0.08535704786714295, + 0.11437008582787772, + -0.07382690828663584, + -0.9906912087429466 + ], + [ + 0.9908296204766083, + 0.10755676936482735, + 0.08178144379981026, + 0.10287628758847504, + -0.9929159535332103, + 0.05945064062942428, + 0.08759641909458149, + -0.05049208436019371, + -0.9948755785417437 + ], + [ + 0.992836177250228, + 0.07590502169366237, + 0.09227541831299636, + 0.07153940406192705, + -0.9961969720837892, + 0.049736369766543886, + 0.09569973254726553, + -0.042778738793642454, + -0.9944905935691937 + ], + [ + 0.9927977999305673, + 0.014725206484097088, + 0.11889363627640506, + 0.009025639441292884, + -0.9987903866721901, + 0.04833530101171202, + 0.11946156823724177, + -0.046914089410514365, + -0.991729802884375 + ], + [ + 0.9898289464686797, + -0.046625659367561745, + 0.13440500221808757, + -0.05012875851548908, + -0.998482558030001, + 0.022796685714414087, + 0.1331381399239144, + -0.02930237530314038, + -0.99066422490125 + ], + [ + 0.9889968133999951, + -0.0632232016560604, + 0.13374651343871588, + -0.06847792523891967, + -0.9970365368616276, + 0.03505592557536277, + 0.1311338127243634, + -0.043828882433043725, + -0.9903953514758852 + ], + [ + 0.9919544690958398, + -0.042780399155195714, + 0.11914767596941499, + -0.049432121011557875, + -0.9973466734936586, + 0.05344228927948507, + 0.11654525581545257, + -0.05890204002626392, + -0.9914372158778664 + ], + [ + 0.9929892579662819, + -0.03253526867953227, + 0.1136388571551281, + -0.040135499403792754, + -0.9970617529569427, + 0.06524570850283468, + 0.11118217146278946, + -0.06934923995531148, + -0.9913774294719644 + ], + [ + 0.9909153898260022, + -0.05548435045674815, + 0.12250786530004881, + -0.06351390950651976, + -0.9960132257051988, + 0.0626389457089002, + 0.11854397287580576, + -0.06985084877592886, + -0.9904888618354588 + ], + [ + 0.9903751553221839, + -0.06459445533426504, + 0.12241163368172928, + -0.0726859678426902, + -0.9953740723406163, + 0.0628267951659895, + 0.11778710370550607, + -0.07111970509027322, + -0.990488862001255 + ], + [ + 0.9904554866300059, + -0.07555490701320794, + 0.11527959503200863, + -0.08289738243316996, + -0.9947332320352377, + 0.06028118338635185, + 0.11011790494850132, + -0.06926220550167111, + -0.9915022914238762 + ], + [ + 0.9882996842682311, + -0.09774636797651305, + 0.11708706855462386, + -0.10416911308687891, + -0.9933000407177867, + 0.05003823526801022, + 0.11141153420543187, + -0.061649628201991706, + -0.9918602690845866 + ], + [ + 0.9724065293066978, + -0.13741324782442618, + 0.1885288866037382, + -0.14650403830069844, + -0.988587316496534, + 0.03509536185551238, + 0.18155469843352948, + -0.06174720224046356, + -0.9814403570733096 + ], + [ + 0.9441838104837188, + -0.2107569447015717, + 0.2531767016937054, + -0.22088819212442817, + -0.9752260244955153, + 0.011941847707713539, + 0.24438768095067015, + -0.06719904319803346, + -0.9673463443838625 + ], + [ + 0.9211697141639948, + -0.31693319763475575, + 0.22583114476093155, + -0.318291443384304, + -0.94747357897, + -0.03137473859836462, + 0.22391273919846624, + -0.04297866204046101, + -0.9736610908493014 + ], + [ + 0.9178788396696304, + -0.35969882088596067, + 0.16767585974129645, + -0.3571077200550065, + -0.9329087237675874, + -0.046426171449375914, + 0.17312571144647576, + -0.01726474360022094, + -0.9847484027225282 + ], + [ + 0.9072864466344308, + -0.3990024628283608, + 0.13277175305903868, + -0.3970209011448378, + -0.9168369697022906, + -0.04224186361018941, + 0.13858465935163514, + -0.014387690711974392, + -0.9902460737353961 + ], + [ + 0.8992586586463771, + -0.42469422463501644, + 0.10473146810381613, + -0.4233340483204367, + -0.9052578827895443, + -0.0360062380709459, + 0.11010062843666547, + -0.011957475028350248, + -0.9938485148194355 + ], + [ + 0.8915310054158262, + -0.44211728178220294, + 0.09851281912402249, + -0.4413350996945172, + -0.8968140287032729, + -0.03078843449472554, + 0.1019597771666689, + -0.01602832088902644, + -0.994659387312864 + ], + [ + 0.8843965847435256, + -0.45784569580099155, + 0.09066421416685433, + -0.4575557552113054, + -0.8888241370694121, + -0.025186985445384145, + 0.09211629479630207, + -0.01920864907587196, + -0.995562964374268 + ], + [ + 0.8790758832370206, + -0.469629992444293, + 0.08169003432381126, + -0.4699282518925633, + -0.8825458843795457, + -0.016739176739764952, + 0.07995642303312296, + -0.023673448449662654, + -0.996517204193811 + ], + [ + 0.8759263913154574, + -0.4762135667077499, + 0.07728904114144416, + -0.47654616197233407, + -0.8790167917502238, + -0.015272044086552958, + 0.07521111956697868, + -0.023454609453732136, + -0.9968917537971986 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0006541609764099121, + -0.0030124634504318237, + -0.013246901333332062, + -0.023674465715885162, + 0.02691207081079483, + 0.003199532628059387, + 1.0 + ], + [ + 0.010079622268676758, + -0.016184017062187195, + -0.005913570523262024, + -0.007719423621892929, + -0.00813758373260498, + -0.03152644634246826, + 1.0 + ], + [ + 0.019329935312271118, + -0.02389414608478546, + -0.00044959038496017456, + 0.004280846565961838, + -0.023901134729385376, + -0.06284041702747345, + 1.0 + ], + [ + 0.029563695192337036, + -0.031442537903785706, + -0.009066857397556305, + -0.017700182273983955, + -0.01378709077835083, + -0.059691496193408966, + 1.0 + ], + [ + 0.03126460313796997, + -0.015686482191085815, + -0.011917080730199814, + 0.014655178412795067, + 0.0020220577716827393, + -0.01852882280945778, + 1.0 + ], + [ + 0.014179229736328125, + 0.001074269413948059, + -0.008134916424751282, + 0.01511593908071518, + 0.01470186561346054, + 0.01933758705854416, + 0.0 + ], + [ + 0.004191070795059204, + 0.0029551684856414795, + -0.0038546696305274963, + 0.01049763336777687, + 0.005398198962211609, + 0.009394988417625427, + 0.0 + ], + [ + 0.0014064013957977295, + -0.00041337311267852783, + 0.00014090538024902344, + 0.0005663856863975525, + -0.007410869002342224, + -0.02361176162958145, + 0.0 + ], + [ + -0.0002174973487854004, + 0.0006191283464431763, + 0.0, + 0.0012745857238769531, + 0.0007622092962265015, + -0.009252369403839111, + 0.0 + ], + [ + -0.0007824599742889404, + -0.0009429305791854858, + 0.0001902468502521515, + -0.00193709135055542, + 0.007719501852989197, + -0.010240599513053894, + 0.0 + ], + [ + 0.0005198121070861816, + -0.0008848905563354492, + 0.0009975060820579529, + -0.007666822522878647, + -0.0013016387820243835, + -0.02151300013065338, + 0.0 + ], + [ + -0.006527721881866455, + -0.0028217732906341553, + 0.022404570132493973, + 0.0007563643157482147, + -0.07092387974262238, + -0.044522032141685486, + 0.0 + ], + [ + -0.02035045623779297, + -0.009993970394134521, + 0.027695249766111374, + 0.006523922085762024, + -0.06432098150253296, + -0.08027641475200653, + 0.0 + ], + [ + -0.04282328486442566, + -0.01863265037536621, + 0.0023787468671798706, + -0.025243327021598816, + 0.021060869097709656, + -0.10287372767925262, + 0.0 + ], + [ + -0.040045320987701416, + 0.00017116963863372803, + -0.010833613574504852, + -0.026582319289445877, + 0.05182488262653351, + -0.03835102915763855, + 0.0 + ], + [ + -0.024567335844039917, + -0.0003140643239021301, + -0.010229691863059998, + -0.003001953475177288, + 0.03497028350830078, + -0.04144948720932007, + 0.0 + ], + [ + -0.01624763011932373, + -0.0009592771530151367, + -0.0067565180361270905, + -0.002497481182217598, + 0.028707846999168396, + -0.02749502658843994, + 0.0 + ], + [ + -0.005585864186286926, + -0.0013827383518218994, + -0.005533318966627121, + 0.0040820809081196785, + 0.008187025785446167, + -0.019681841135025024, + 1.0 + ], + [ + -0.0006739199161529541, + -0.004049457609653473, + -0.0023128800094127655, + 0.003178877755999565, + 0.009890198707580566, + -0.017778664827346802, + 1.0 + ], + [ + -0.00017358362674713135, + -0.004091009497642517, + -0.000993441790342331, + 0.00445985421538353, + 0.012205205857753754, + -0.0134773850440979, + 1.0 + ], + [ + -0.001209557056427002, + -0.0016793012619018555, + -0.0005108267068862915, + -0.00022831931710243225, + 0.004759654402732849, + -0.007341980934143066, + 1.0 + ], + [ + 0.0003786832094192505, + -0.0011785849928855896, + 0.009966664016246796, + 0.015595758333802223, + -0.019692227244377136, + 0.0030913352966308594, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 0.9774019718170166 + ], + [ + 0.8651953339576721 + ], + [ + 0.5630297660827637 + ], + [ + 0.2795628309249878 + ], + [ + 0.11535319685935974 + ], + [ + 0.07591649144887924 + ], + [ + 0.06833917647600174 + ], + [ + 0.061804234981536865 + ], + [ + 0.05896064639091492 + ], + [ + 0.05868057906627655 + ], + [ + 0.05868057906627655 + ], + [ + 0.05868057906627655 + ], + [ + 0.07143880426883698 + ], + [ + 0.1394769847393036 + ], + [ + 0.35109609365463257 + ], + [ + 0.649078905582428 + ], + [ + 0.9398812651634216 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2937011420726776, + 0.22506928443908691, + 0.07479098439216614 + ], + [ + 0.30378076434135437, + 0.20888526737689972, + 0.06887741386890411 + ], + [ + 0.3231106996536255, + 0.18499112129211426, + 0.06842782348394394 + ], + [ + 0.3526743948459625, + 0.15354858338832855, + 0.059360966086387634 + ], + [ + 0.3839389979839325, + 0.13786210119724274, + 0.04744388535618782 + ], + [ + 0.3981182277202606, + 0.1389363706111908, + 0.03930896893143654 + ], + [ + 0.4023092985153198, + 0.14189153909683228, + 0.03545429930090904 + ], + [ + 0.40371569991111755, + 0.14147816598415375, + 0.035595204681158066 + ], + [ + 0.40349820256233215, + 0.14209729433059692, + 0.035595204681158066 + ], + [ + 0.4027157425880432, + 0.14115436375141144, + 0.03578545153141022 + ], + [ + 0.4032355546951294, + 0.140269473195076, + 0.03678295761346817 + ], + [ + 0.39670783281326294, + 0.13744769990444183, + 0.05918752774596214 + ], + [ + 0.37635737657546997, + 0.1274537295103073, + 0.08688277751207352 + ], + [ + 0.3335340917110443, + 0.1088210791349411, + 0.08926152437925339 + ], + [ + 0.2934887707233429, + 0.10899224877357483, + 0.07842791080474854 + ], + [ + 0.268921434879303, + 0.1086781844496727, + 0.06819821894168854 + ], + [ + 0.25267380475997925, + 0.10771890729665756, + 0.06144170090556145 + ], + [ + 0.24708794057369232, + 0.10633616894483566, + 0.055908381938934326 + ], + [ + 0.24641402065753937, + 0.10228671133518219, + 0.05359550192952156 + ], + [ + 0.24624043703079224, + 0.09819570183753967, + 0.05260206013917923 + ], + [ + 0.24503087997436523, + 0.09651640057563782, + 0.05209123343229294 + ], + [ + 0.24540956318378448, + 0.09533781558275223, + 0.062057897448539734 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9908296204766083, + 0.10755676936482735, + 0.08178144379981026, + 0.10287628758847504, + -0.9929159535332103, + 0.05945064062942428, + 0.08759641909458149, + -0.05049208436019371, + -0.9948755785417437 + ], + [ + 0.992836177250228, + 0.07590502169366237, + 0.09227541831299636, + 0.07153940406192705, + -0.9961969720837892, + 0.049736369766543886, + 0.09569973254726553, + -0.042778738793642454, + -0.9944905935691937 + ], + [ + 0.9927977999305673, + 0.014725206484097088, + 0.11889363627640506, + 0.009025639441292884, + -0.9987903866721901, + 0.04833530101171202, + 0.11946156823724177, + -0.046914089410514365, + -0.991729802884375 + ], + [ + 0.9898289464686797, + -0.046625659367561745, + 0.13440500221808757, + -0.05012875851548908, + -0.998482558030001, + 0.022796685714414087, + 0.1331381399239144, + -0.02930237530314038, + -0.99066422490125 + ], + [ + 0.9889968133999951, + -0.0632232016560604, + 0.13374651343871588, + -0.06847792523891967, + -0.9970365368616276, + 0.03505592557536277, + 0.1311338127243634, + -0.043828882433043725, + -0.9903953514758852 + ], + [ + 0.9919544690958398, + -0.042780399155195714, + 0.11914767596941499, + -0.049432121011557875, + -0.9973466734936586, + 0.05344228927948507, + 0.11654525581545257, + -0.05890204002626392, + -0.9914372158778664 + ], + [ + 0.9929892579662819, + -0.03253526867953227, + 0.1136388571551281, + -0.040135499403792754, + -0.9970617529569427, + 0.06524570850283468, + 0.11118217146278946, + -0.06934923995531148, + -0.9913774294719644 + ], + [ + 0.9909153898260022, + -0.05548435045674815, + 0.12250786530004881, + -0.06351390950651976, + -0.9960132257051988, + 0.0626389457089002, + 0.11854397287580576, + -0.06985084877592886, + -0.9904888618354588 + ], + [ + 0.9903751553221839, + -0.06459445533426504, + 0.12241163368172928, + -0.0726859678426902, + -0.9953740723406163, + 0.0628267951659895, + 0.11778710370550607, + -0.07111970509027322, + -0.990488862001255 + ], + [ + 0.9904554866300059, + -0.07555490701320794, + 0.11527959503200863, + -0.08289738243316996, + -0.9947332320352377, + 0.06028118338635185, + 0.11011790494850132, + -0.06926220550167111, + -0.9915022914238762 + ], + [ + 0.9882996842682311, + -0.09774636797651305, + 0.11708706855462386, + -0.10416911308687891, + -0.9933000407177867, + 0.05003823526801022, + 0.11141153420543187, + -0.061649628201991706, + -0.9918602690845866 + ], + [ + 0.9724065293066978, + -0.13741324782442618, + 0.1885288866037382, + -0.14650403830069844, + -0.988587316496534, + 0.03509536185551238, + 0.18155469843352948, + -0.06174720224046356, + -0.9814403570733096 + ], + [ + 0.9441838104837188, + -0.2107569447015717, + 0.2531767016937054, + -0.22088819212442817, + -0.9752260244955153, + 0.011941847707713539, + 0.24438768095067015, + -0.06719904319803346, + -0.9673463443838625 + ], + [ + 0.9211697141639948, + -0.31693319763475575, + 0.22583114476093155, + -0.318291443384304, + -0.94747357897, + -0.03137473859836462, + 0.22391273919846624, + -0.04297866204046101, + -0.9736610908493014 + ], + [ + 0.9178788396696304, + -0.35969882088596067, + 0.16767585974129645, + -0.3571077200550065, + -0.9329087237675874, + -0.046426171449375914, + 0.17312571144647576, + -0.01726474360022094, + -0.9847484027225282 + ], + [ + 0.9072864466344308, + -0.3990024628283608, + 0.13277175305903868, + -0.3970209011448378, + -0.9168369697022906, + -0.04224186361018941, + 0.13858465935163514, + -0.014387690711974392, + -0.9902460737353961 + ], + [ + 0.8992586586463771, + -0.42469422463501644, + 0.10473146810381613, + -0.4233340483204367, + -0.9052578827895443, + -0.0360062380709459, + 0.11010062843666547, + -0.011957475028350248, + -0.9938485148194355 + ], + [ + 0.8915310054158262, + -0.44211728178220294, + 0.09851281912402249, + -0.4413350996945172, + -0.8968140287032729, + -0.03078843449472554, + 0.1019597771666689, + -0.01602832088902644, + -0.994659387312864 + ], + [ + 0.8843965847435256, + -0.45784569580099155, + 0.09066421416685433, + -0.4575557552113054, + -0.8888241370694121, + -0.025186985445384145, + 0.09211629479630207, + -0.01920864907587196, + -0.995562964374268 + ], + [ + 0.8790758832370206, + -0.469629992444293, + 0.08169003432381126, + -0.4699282518925633, + -0.8825458843795457, + -0.016739176739764952, + 0.07995642303312296, + -0.023673448449662654, + -0.996517204193811 + ], + [ + 0.8759263913154574, + -0.4762135667077499, + 0.07728904114144416, + -0.47654616197233407, + -0.8790167917502238, + -0.015272044086552958, + 0.07521111956697868, + -0.023454609453732136, + -0.9968917537971986 + ], + [ + 0.8759221585222717, + -0.4715551370386443, + 0.10196138946753244, + -0.47304050264292835, + -0.8809767192157093, + -0.010616169707156876, + 0.09483171974086577, + -0.03893292863876133, + -0.9947317085519085 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006191.json b/json/chunk-0006/episode_0006191.json new file mode 100644 index 0000000000000000000000000000000000000000..0672b0d8bda3f58913dae220c36106306270b861 --- /dev/null +++ b/json/chunk-0006/episode_0006191.json @@ -0,0 +1,2182 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 35, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nOpen fridge." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006191.mp4", + "start": 0, + "end": 35, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.24114973843097687, + 0.0399181954562664, + 0.11454134434461594, + -0.08266334235668182, + -0.05366705730557442, + 0.25397419929504395, + 0.0, + 0.9994885921478271 + ], + [ + 0.23902255296707153, + 0.037563174962997437, + 0.10790197551250458, + -0.08187606930732727, + -0.026852229610085487, + 0.25556448101997375, + 0.0, + 0.9994885921478271 + ], + [ + 0.2520056366920471, + 0.01665094867348671, + 0.0984436646103859, + -0.08003511279821396, + -0.006925658788532019, + 0.2596031725406647, + 0.0, + 1.0001531839370728 + ], + [ + 0.2739785611629486, + -0.0008500421536155045, + 0.09109058976173401, + -0.09865690767765045, + 0.007208163384348154, + 0.24446114897727966, + 0.0, + 0.9994885921478271 + ], + [ + 0.28989559412002563, + -0.01927269995212555, + 0.08076287806034088, + -0.09376206248998642, + -0.00430133193731308, + 0.1931968629360199, + 0.0, + 0.9994885921478271 + ], + [ + 0.29826322197914124, + -0.03376099094748497, + 0.075404092669487, + -0.08764079958200455, + -0.07000085711479187, + 0.1667214184999466, + 0.0, + 0.9994885921478271 + ], + [ + 0.29190266132354736, + -0.04593885317444801, + 0.061875004321336746, + -0.08237586915493011, + -0.09263734519481659, + 0.17651844024658203, + 0.0, + 1.0001531839370728 + ], + [ + 0.2946302592754364, + -0.05304088443517685, + 0.05854567512869835, + -0.08560560643672943, + -0.13550882041454315, + 0.16745315492153168, + 0.0, + 0.9994885921478271 + ], + [ + 0.3028351068496704, + -0.05454564467072487, + 0.05070013180375099, + -0.0651780292391777, + -0.1758553832769394, + 0.13304978609085083, + 0.0, + 0.9994885921478271 + ], + [ + 0.31411314010620117, + -0.053432244807481766, + 0.042947523295879364, + -0.059785593301057816, + -0.23038914799690247, + 0.11280499398708344, + 0.0, + 0.9994885921478271 + ], + [ + 0.31945469975471497, + -0.05424794182181358, + 0.02709191106259823, + -0.05628680810332298, + -0.23775362968444824, + 0.10485918074846268, + 0.0, + 1.0001531839370728 + ], + [ + 0.33039745688438416, + -0.054530445486307144, + 0.019763605669140816, + -0.05017775297164917, + -0.27865856885910034, + 0.07109373062849045, + 0.0, + 0.9994885921478271 + ], + [ + 0.33563917875289917, + -0.05559056997299194, + 0.006952974479645491, + -0.05968981236219406, + -0.28701716661453247, + 0.043909355998039246, + 0.0, + 0.9343546032905579 + ], + [ + 0.33763572573661804, + -0.0533018559217453, + 0.005611177999526262, + -0.04463000223040581, + -0.3089745342731476, + 0.03478953614830971, + 0.0, + 0.6330026388168335 + ], + [ + 0.336996465921402, + -0.05405150353908539, + 0.004948704969137907, + -0.036890462040901184, + -0.31277477741241455, + 0.03642234206199646, + 0.0, + 0.3831871449947357 + ], + [ + 0.330441415309906, + -0.05449332669377327, + 0.0052129547111690044, + -0.030544407665729523, + -0.2960132956504822, + 0.040660858154296875, + 0.0, + 0.3814634680747986 + ], + [ + 0.3075251281261444, + -0.05506236478686333, + 0.005865823943167925, + -0.025619931519031525, + -0.25122520327568054, + 0.07962552458047867, + 0.0, + 0.4094836115837097 + ], + [ + 0.284374475479126, + -0.054688461124897, + 0.009618747979402542, + -0.03934653103351593, + -0.17752023041248322, + 0.1574946492910385, + 0.0, + 0.4121573865413666 + ], + [ + 0.2591414153575897, + -0.060571350157260895, + 0.0254814513027668, + -0.05719678848981857, + -0.15695475041866302, + 0.22382791340351105, + 0.0, + 0.4860933721065521 + ], + [ + 0.23083503544330597, + -0.0618736706674099, + 0.038182683289051056, + -0.06657697260379791, + -0.09119164943695068, + 0.26111918687820435, + 0.0, + 0.8102405071258545 + ], + [ + 0.21975116431713104, + -0.08029880374670029, + 0.03833804652094841, + -0.09090320765972137, + -0.024852562695741653, + 0.27754127979278564, + 0.0, + 1.0086473226547241 + ], + [ + 0.2269451916217804, + -0.10525813698768616, + 0.03241153806447983, + -0.11965921521186829, + 0.0034760055132210255, + 0.2451406568288803, + 0.0, + 1.002137303352356 + ], + [ + 0.24351713061332703, + -0.13191412389278412, + 0.029555708169937134, + -0.13640131056308746, + -0.005053434520959854, + 0.14137640595436096, + 0.0, + 0.9994885921478271 + ], + [ + 0.2566986680030823, + -0.15921127796173096, + 0.030239900574088097, + -0.10814418643712997, + -0.051757168024778366, + 0.06681322306394577, + 0.0, + 0.9994885921478271 + ], + [ + 0.2636852264404297, + -0.17694994807243347, + 0.027583034709095955, + -0.07150080054998398, + -0.11853454262018204, + 0.00958171859383583, + 0.0, + 0.9994885921478271 + ], + [ + 0.2794450521469116, + -0.17170332372188568, + 0.02806786447763443, + -0.07375847548246384, + -0.16406193375587463, + -0.08033572137355804, + 0.0, + 1.0001531839370728 + ], + [ + 0.29500603675842285, + -0.14551740884780884, + 0.029763290658593178, + -0.05334058403968811, + -0.16828788816928864, + -0.128618985414505, + 0.0, + 0.9994885921478271 + ], + [ + 0.3032505512237549, + -0.1299736648797989, + 0.035003479570150375, + -0.006261295173317194, + -0.1570754200220108, + -0.17427831888198853, + 0.0, + 0.9994885921478271 + ], + [ + 0.3019369840621948, + -0.11570090800523758, + 0.03786909952759743, + 0.008339217863976955, + -0.11681029945611954, + -0.1699613481760025, + 0.0, + 0.9994885921478271 + ], + [ + 0.29273298382759094, + -0.11179840564727783, + 0.04901716485619545, + -0.009390991181135178, + -0.07369817048311234, + -0.11275315284729004, + 0.0, + 0.9994885921478271 + ], + [ + 0.2728925943374634, + -0.10431480407714844, + 0.05777335539460182, + -0.002526787808164954, + -0.03845561668276787, + -0.009279722347855568, + 0.0, + 0.9994885921478271 + ], + [ + 0.2544938027858734, + -0.10074452310800552, + 0.06830234825611115, + -0.030284268781542778, + -0.012402907013893127, + 0.03499274700880051, + 0.0, + 0.9994885921478271 + ], + [ + 0.24451828002929688, + -0.08060681074857712, + 0.07338064163923264, + -0.02618945948779583, + 0.012204758822917938, + 0.09097734838724136, + 0.0, + 0.9994885921478271 + ], + [ + 0.24532277882099152, + -0.05297491326928139, + 0.08066891878843307, + -0.0199875570833683, + -0.002263306174427271, + 0.0828627198934555, + 0.0, + 0.9994885921478271 + ], + [ + 0.2486010044813156, + -0.02443229965865612, + 0.08562051504850388, + -0.011981225572526455, + -0.015137728303670883, + 0.07281412929296494, + 0.0, + 0.9994885921478271 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9343546032905579 + ], + [ + 0.6330026388168335 + ], + [ + 0.3831871449947357 + ], + [ + 0.3814634680747986 + ], + [ + 0.4094836115837097 + ], + [ + 0.4121573865413666 + ], + [ + 0.4860933721065521 + ], + [ + 0.8102405071258545 + ], + [ + 1.0086473226547241 + ], + [ + 1.002137303352356 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.24114973843097687, + 0.0399181954562664, + 0.11454134434461594 + ], + [ + 0.23902255296707153, + 0.037563174962997437, + 0.10790197551250458 + ], + [ + 0.2520056366920471, + 0.01665094867348671, + 0.0984436646103859 + ], + [ + 0.2739785611629486, + -0.0008500421536155045, + 0.09109058976173401 + ], + [ + 0.28989559412002563, + -0.01927269995212555, + 0.08076287806034088 + ], + [ + 0.29826322197914124, + -0.03376099094748497, + 0.075404092669487 + ], + [ + 0.29190266132354736, + -0.04593885317444801, + 0.061875004321336746 + ], + [ + 0.2946302592754364, + -0.05304088443517685, + 0.05854567512869835 + ], + [ + 0.3028351068496704, + -0.05454564467072487, + 0.05070013180375099 + ], + [ + 0.31411314010620117, + -0.053432244807481766, + 0.042947523295879364 + ], + [ + 0.31945469975471497, + -0.05424794182181358, + 0.02709191106259823 + ], + [ + 0.33039745688438416, + -0.054530445486307144, + 0.019763605669140816 + ], + [ + 0.33563917875289917, + -0.05559056997299194, + 0.006952974479645491 + ], + [ + 0.33763572573661804, + -0.0533018559217453, + 0.005611177999526262 + ], + [ + 0.336996465921402, + -0.05405150353908539, + 0.004948704969137907 + ], + [ + 0.330441415309906, + -0.05449332669377327, + 0.0052129547111690044 + ], + [ + 0.3075251281261444, + -0.05506236478686333, + 0.005865823943167925 + ], + [ + 0.284374475479126, + -0.054688461124897, + 0.009618747979402542 + ], + [ + 0.2591414153575897, + -0.060571350157260895, + 0.0254814513027668 + ], + [ + 0.23083503544330597, + -0.0618736706674099, + 0.038182683289051056 + ], + [ + 0.21975116431713104, + -0.08029880374670029, + 0.03833804652094841 + ], + [ + 0.2269451916217804, + -0.10525813698768616, + 0.03241153806447983 + ], + [ + 0.24351713061332703, + -0.13191412389278412, + 0.029555708169937134 + ], + [ + 0.2566986680030823, + -0.15921127796173096, + 0.030239900574088097 + ], + [ + 0.2636852264404297, + -0.17694994807243347, + 0.027583034709095955 + ], + [ + 0.2794450521469116, + -0.17170332372188568, + 0.02806786447763443 + ], + [ + 0.29500603675842285, + -0.14551740884780884, + 0.029763290658593178 + ], + [ + 0.3032505512237549, + -0.1299736648797989, + 0.035003479570150375 + ], + [ + 0.3019369840621948, + -0.11570090800523758, + 0.03786909952759743 + ], + [ + 0.29273298382759094, + -0.11179840564727783, + 0.04901716485619545 + ], + [ + 0.2728925943374634, + -0.10431480407714844, + 0.05777335539460182 + ], + [ + 0.2544938027858734, + -0.10074452310800552, + 0.06830234825611115 + ], + [ + 0.24451828002929688, + -0.08060681074857712, + 0.07338064163923264 + ], + [ + 0.24532277882099152, + -0.05297491326928139, + 0.08066891878843307 + ], + [ + 0.2486010044813156, + -0.02443229965865612, + 0.08562051504850388 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9665279934753033, + 0.246107660281771, + 0.07248901557640842, + 0.25089091019998083, + -0.9657292367195106, + -0.06648904063209837, + 0.053641299458808286, + 0.08245035412770563, + -0.9951505163022258 + ], + [ + 0.9671719630781627, + 0.24982023444039173, + 0.04656441022584518, + 0.25270046474922664, + -0.9648346738549379, + -0.07236385315031572, + 0.026849002794478917, + 0.08175513801213548, + -0.996290734905007 + ], + [ + 0.9664687399855771, + 0.25534018213690884, + 0.0271949630810724, + 0.25669088540090984, + -0.963540214175029, + -0.07549864250194255, + 0.006925603424083127, + 0.07994777704119949, + -0.9967749941503262 + ], + [ + 0.9702426795496365, + 0.24154547339692575, + 0.016879782634749964, + 0.24202724239395948, + -0.965377977924599, + -0.09730454088781201, + -0.0072081009646753945, + 0.09849438572663588, + -0.9951115009187742 + ], + [ + 0.9813863835311862, + 0.19075870291991098, + 0.022178446291230006, + 0.19199548139798994, + -0.9771620578774572, + -0.09106068178663819, + 0.004301318673841106, + 0.09362387465281717, + -0.9955983471022136 + ], + [ + 0.9837190455730972, + 0.15927601950410777, + 0.08323454203443098, + 0.16554370383037179, + -0.9833653263286106, + -0.07475237184696593, + 0.06994370235322503, + 0.08731428626262708, + -0.9937223424657268 + ], + [ + 0.9802398873340482, + 0.16751443795734436, + 0.1052077770659944, + 0.17485023843411315, + -0.9824593630913357, + -0.06481507535829312, + 0.09250490472870468, + 0.08192992707187322, + -0.9923357948049296 + ], + [ + 0.9769733996258823, + 0.15467217362509125, + 0.14696766695275482, + 0.16514374560087383, + -0.9843269284383462, + -0.06187116646746535, + 0.13509448438911226, + 0.0847172748453382, + -0.9872043677123898 + ], + [ + 0.9758754834535963, + 0.12108176872769459, + 0.18167621219076172, + 0.13061164186319232, + -0.990568970162728, + -0.0413970332337167, + 0.17495039240885055, + 0.06412737818221899, + -0.9824866612649068 + ], + [ + 0.9673897988168042, + 0.09880722085201166, + 0.23322544941040435, + 0.10959164527502782, + -0.9934048717360536, + -0.03371100854301719, + 0.22835640659087225, + 0.058171246493234935, + -0.971838184910599 + ], + [ + 0.9665313156220329, + 0.09132446810317613, + 0.23974373286410292, + 0.10172278469458526, + -0.9943191313716585, + -0.031335922872794846, + 0.23552004372435356, + 0.05467455088048425, + -0.9703303573990129 + ], + [ + 0.958996633962871, + 0.0571828891968893, + 0.27758885646037645, + 0.06829374660682364, + -0.9971984575375868, + -0.030515577318160493, + 0.27506621061534653, + 0.04822191895553254, + -0.9602151979165712 + ], + [ + 0.9581681273936721, + 0.026945635226136917, + 0.2849346809168096, + 0.042099605345756554, + -0.9979982381514914, + -0.04719258285208443, + 0.2830926754203218, + 0.0572140663541692, + -0.9573845036006094 + ], + [ + 0.9520694551259665, + 0.021189422541148886, + 0.30514711368210207, + 0.03313542386868198, + -0.9988716373720584, + -0.03402198904687567, + 0.3040818907813944, + 0.04250247552832187, + -0.9516972960310313 + ], + [ + 0.9508523919541515, + 0.025048421249179567, + 0.3086297220100373, + 0.034647593441065064, + -0.9990701070570738, + -0.025660581710291706, + 0.30769997234938434, + 0.03509270263019851, + -0.9508360685408905 + ], + [ + 0.9557164555467368, + 0.031729357470264515, + 0.2925735881307592, + 0.038881681361262806, + -0.9990695381575326, + -0.018662067951229586, + 0.29170922414573075, + 0.029211398463943, + -0.9560608886195885 + ], + [ + 0.9655395986857204, + 0.07316729971714198, + 0.24975954360528432, + 0.07704449236465569, + -0.9970109642016287, + -0.005769181745361507, + 0.24859088793857773, + 0.02481297067745855, + -0.9682907037249036 + ], + [ + 0.9721024561457223, + 0.1498625536314753, + 0.18043843763042108, + 0.15437948984536973, + -0.9879484381937843, + -0.011173924357452545, + 0.17658931980880824, + 0.038718193262546094, + -0.9835228078900595 + ], + [ + 0.9630694341716489, + 0.21288797053170336, + 0.16485137842066114, + 0.21923525952749787, + -0.9754438223958692, + -0.02110095565717221, + 0.15631111906774278, + 0.05646292015675332, + -0.9860926795708208 + ], + [ + 0.9620874242236445, + 0.2517370164446302, + 0.10495838557385181, + 0.2570892785999942, + -0.965525364920901, + -0.04081510165730102, + 0.09106531161560866, + 0.06625137165310054, + -0.9936386993140087 + ], + [ + 0.9614350223674385, + 0.270691068308663, + 0.04867281893662809, + 0.2739072380315893, + -0.958379245041859, + -0.08052358428996202, + 0.024850004411052232, + 0.0907500314650694, + -0.9955636137735547 + ], + [ + 0.9700973374870133, + 0.24135991150920164, + 0.025623210510747597, + 0.2426913126482753, + -0.9630656495522955, + -0.11664253691287901, + -0.0034759985133529184, + 0.11937314509003102, + -0.9928433762007226 + ], + [ + 0.9900103491398548, + 0.1389168516238962, + 0.024116735494003186, + 0.1409041220579008, + -0.980924239217172, + -0.13391663564809597, + 0.005053413012558926, + 0.13597700265529133, + -0.9906991055642513 + ], + [ + 0.9964327113182182, + 0.06080211935064154, + 0.058523107380711197, + 0.06667412179120971, + -0.9923127721358528, + -0.10425892642565208, + 0.05173406323105547, + 0.10778898152654075, + -0.9928268339257736 + ], + [ + 0.9929374206642286, + 0.0011091990747740046, + 0.11863409426501718, + 0.009514338116215767, + -0.9974800673539111, + -0.07030641935020603, + 0.11825716052264566, + 0.07093859957067959, + -0.9904458385374093 + ], + [ + 0.9833901296406722, + -0.09202815315905494, + 0.1564438300203486, + -0.07917174906962779, + -0.9930987996827102, + -0.08652518834429819, + 0.16332693309603927, + 0.07270208452922043, + -0.9838895872152262 + ], + [ + 0.9777296456108602, + -0.13693849605547992, + 0.15903643730832506, + -0.12645266078044454, + -0.9891840441402737, + -0.07432799876115809, + 0.1674946705874767, + 0.05256210722903149, + -0.9844708021106753 + ], + [ + 0.9727274204650407, + -0.17435864799276746, + 0.1529719822240739, + -0.1712627378879582, + -0.9846627939997133, + -0.03329048999036578, + 0.15643030424616802, + 0.006184171958502797, + -0.9876696390649249 + ], + [ + 0.9788749252181383, + -0.16818049494962642, + 0.11627210283504263, + -0.16799160906463104, + -0.9857214234913032, + -0.011493239497854106, + 0.1165448414262091, + -0.008282293690610962, + -0.9931508966658401 + ], + [ + 0.9909528503696219, + -0.11319650470594264, + 0.07210408911205599, + -0.11220897618073108, + -0.9935284803767306, + -0.017615457552292567, + 0.07363147430816477, + 0.0093653618543014, + -0.9972415434530112 + ], + [ + 0.9992176494094633, + -0.009376700489999081, + 0.03842091353087676, + -0.00927272852137815, + -0.9999528500294689, + -0.0028834395625367978, + 0.03844613913509494, + 0.0025249170011771064, + -0.9992574839248098 + ], + [ + 0.9993109483210278, + 0.03459424795878982, + 0.013448664390701094, + 0.03498291513404962, + -0.9989427022872966, + -0.02982739002456046, + 0.012402589022128712, + 0.03027731089643089, + -0.9994645867815573 + ], + [ + 0.9957902455610838, + 0.09113901345722707, + -0.009770725225880126, + 0.09084513252398717, + -0.9954938730982866, + -0.027186587142769517, + -0.012204455829551488, + 0.026184515458865715, + -0.9995826241027246 + ], + [ + 0.9965662962681551, + 0.08270631454251409, + 0.00390930648156254, + 0.08276771469769909, + -0.9963735335408754, + -0.019730358916917566, + 0.0022633042421094335, + 0.019986175073405735, + -0.9997976946661975 + ], + [ + 0.9972359527078921, + 0.07256370591200435, + 0.01596756747595127, + 0.0727414689940903, + -0.9972918322022246, + -0.010848046428355414, + 0.015137150173157142, + 0.01197956622946341, + -0.9998136609776791 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0021271854639053345, + -0.0023550204932689667, + -0.006639368832111359, + 0.0007872730493545532, + 0.02681482769548893, + 0.0015902817249298096, + 1.0 + ], + [ + 0.012983083724975586, + -0.020912226289510727, + -0.009458310902118683, + 0.0018409565091133118, + 0.01992657035589218, + 0.004038691520690918, + 1.0 + ], + [ + 0.02197292447090149, + -0.017500991001725197, + -0.007353074848651886, + -0.018621794879436493, + 0.014133822172880173, + -0.01514202356338501, + 1.0 + ], + [ + 0.015917032957077026, + -0.018422657623887062, + -0.010327711701393127, + 0.004894845187664032, + -0.011509494855999947, + -0.051264286041259766, + 1.0 + ], + [ + 0.0083676278591156, + -0.01448829099535942, + -0.005358785390853882, + 0.0061212629079818726, + -0.06569952517747879, + -0.026475444436073303, + 1.0 + ], + [ + -0.006360560655593872, + -0.012177862226963043, + -0.013529088348150253, + 0.005264930427074432, + -0.02263648808002472, + 0.009797021746635437, + 1.0 + ], + [ + 0.002727597951889038, + -0.007102031260728836, + -0.003329329192638397, + -0.0032297372817993164, + -0.04287147521972656, + -0.009065285325050354, + 1.0 + ], + [ + 0.008204847574234009, + -0.0015047602355480194, + -0.007845543324947357, + 0.020427577197551727, + -0.04034656286239624, + -0.03440336883068085, + 1.0 + ], + [ + 0.011278033256530762, + 0.001113399863243103, + -0.007752608507871628, + 0.005392435938119888, + -0.054533764719963074, + -0.020244792103767395, + 1.0 + ], + [ + 0.005341559648513794, + -0.0008156970143318176, + -0.015855612233281136, + 0.0034987851977348328, + -0.007364481687545776, + -0.007945813238620758, + 1.0 + ], + [ + 0.01094275712966919, + -0.0002825036644935608, + -0.007328305393457413, + 0.006109055131673813, + -0.0409049391746521, + -0.03376545011997223, + 1.0 + ], + [ + 0.005241721868515015, + -0.0010601244866847992, + -0.012810630723834038, + -0.009512059390544891, + -0.008358597755432129, + -0.027184374630451202, + 0.0 + ], + [ + 0.001996546983718872, + 0.002288714051246643, + -0.0013417964801192284, + 0.015059810131788254, + -0.021957367658615112, + -0.009119819849729538, + 0.0 + ], + [ + -0.0006392598152160645, + -0.0007496476173400879, + -0.0006624730303883553, + 0.007739540189504623, + -0.0038002431392669678, + 0.0016328059136867523, + 0.0 + ], + [ + -0.006555050611495972, + -0.00044182315468788147, + 0.0002642497420310974, + 0.006346054375171661, + 0.016761481761932373, + 0.004238516092300415, + 0.0 + ], + [ + -0.022916287183761597, + -0.0005690380930900574, + 0.0006528692319989204, + 0.004924476146697998, + 0.044788092374801636, + 0.03896466642618179, + 0.0 + ], + [ + -0.023150652647018433, + 0.00037390366196632385, + 0.0037529240362346172, + -0.013726599514484406, + 0.07370497286319733, + 0.07786912471055984, + 0.0 + ], + [ + -0.025233060121536255, + -0.005882889032363892, + 0.015862703323364258, + -0.017850257456302643, + 0.02056547999382019, + 0.06633326411247253, + 1.0 + ], + [ + -0.028306379914283752, + -0.001302320510149002, + 0.012701231986284256, + -0.00938018411397934, + 0.06576310098171234, + 0.0372912734746933, + 1.0 + ], + [ + -0.011083871126174927, + -0.01842513307929039, + 0.00015536323189735413, + -0.024326235055923462, + 0.06633909046649933, + 0.0164220929145813, + 1.0 + ], + [ + 0.007194027304649353, + -0.02495933324098587, + -0.005926508456468582, + -0.02875600755214691, + 0.02832856774330139, + -0.032400622963905334, + 1.0 + ], + [ + 0.01657193899154663, + -0.02665598690509796, + -0.002855829894542694, + -0.016742095351219177, + -0.008529439568519592, + -0.10376425087451935, + 1.0 + ], + [ + 0.013181537389755249, + -0.02729715406894684, + 0.0006841924041509628, + 0.02825712412595749, + -0.04670373350381851, + -0.07456318289041519, + 1.0 + ], + [ + 0.006986558437347412, + -0.017738670110702515, + -0.0026568658649921417, + 0.036643385887145996, + -0.06677737832069397, + -0.05723150447010994, + 1.0 + ], + [ + 0.015759825706481934, + 0.0052466243505477905, + 0.00048482976853847504, + -0.0022576749324798584, + -0.045527391135692596, + -0.08991743624210358, + 1.0 + ], + [ + 0.01556098461151123, + 0.026185914874076843, + 0.0016954261809587479, + 0.020417891442775726, + -0.0042259544134140015, + -0.04828326404094696, + 1.0 + ], + [ + 0.008244514465332031, + 0.015543743968009949, + 0.005240188911557198, + 0.047079287469387054, + 0.011212468147277832, + -0.04565933346748352, + 1.0 + ], + [ + -0.0013135671615600586, + 0.01427275687456131, + 0.002865619957447052, + 0.014600513502955437, + 0.040265120565891266, + 0.004316970705986023, + 1.0 + ], + [ + -0.009204000234603882, + 0.0039025023579597473, + 0.011148065328598022, + -0.017730209976434708, + 0.0431121289730072, + 0.05720819532871246, + 1.0 + ], + [ + -0.019840389490127563, + 0.0074836015701293945, + 0.008756190538406372, + 0.00686420314013958, + 0.03524255380034447, + 0.10347343236207962, + 1.0 + ], + [ + -0.018398791551589966, + 0.003570280969142914, + 0.010528992861509323, + -0.02775748074054718, + 0.02605270966887474, + 0.044272467494010925, + 1.0 + ], + [ + -0.009975522756576538, + 0.020137712359428406, + 0.0050782933831214905, + 0.004094809293746948, + 0.024607665836811066, + 0.05598460137844086, + 1.0 + ], + [ + 0.0008044987916946411, + 0.02763189747929573, + 0.0072882771492004395, + 0.006201902404427528, + -0.014468064531683922, + -0.008114628493785858, + 1.0 + ], + [ + 0.0032782256603240967, + 0.028542613610625267, + 0.004951596260070801, + 0.008006331510841846, + -0.0128744225949049, + -0.01004859060049057, + 1.0 + ], + [ + 0.0015667825937271118, + 0.01836615428328514, + 0.0030457377433776855, + -0.007454403676092625, + 0.007032991386950016, + -0.022727862000465393, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9343546032905579 + ], + [ + 0.6330026388168335 + ], + [ + 0.3831871449947357 + ], + [ + 0.3814634680747986 + ], + [ + 0.4094836115837097 + ], + [ + 0.4121573865413666 + ], + [ + 0.4860933721065521 + ], + [ + 0.8102405071258545 + ], + [ + 1.0086473226547241 + ], + [ + 1.002137303352356 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.23902255296707153, + 0.037563174962997437, + 0.10790197551250458 + ], + [ + 0.2520056366920471, + 0.01665094867348671, + 0.0984436646103859 + ], + [ + 0.2739785611629486, + -0.0008500421536155045, + 0.09109058976173401 + ], + [ + 0.28989559412002563, + -0.01927269995212555, + 0.08076287806034088 + ], + [ + 0.29826322197914124, + -0.03376099094748497, + 0.075404092669487 + ], + [ + 0.29190266132354736, + -0.04593885317444801, + 0.061875004321336746 + ], + [ + 0.2946302592754364, + -0.05304088443517685, + 0.05854567512869835 + ], + [ + 0.3028351068496704, + -0.05454564467072487, + 0.05070013180375099 + ], + [ + 0.31411314010620117, + -0.053432244807481766, + 0.042947523295879364 + ], + [ + 0.31945469975471497, + -0.05424794182181358, + 0.02709191106259823 + ], + [ + 0.33039745688438416, + -0.054530445486307144, + 0.019763605669140816 + ], + [ + 0.33563917875289917, + -0.05559056997299194, + 0.006952974479645491 + ], + [ + 0.33763572573661804, + -0.0533018559217453, + 0.005611177999526262 + ], + [ + 0.336996465921402, + -0.05405150353908539, + 0.004948704969137907 + ], + [ + 0.330441415309906, + -0.05449332669377327, + 0.0052129547111690044 + ], + [ + 0.3075251281261444, + -0.05506236478686333, + 0.005865823943167925 + ], + [ + 0.284374475479126, + -0.054688461124897, + 0.009618747979402542 + ], + [ + 0.2591414153575897, + -0.060571350157260895, + 0.0254814513027668 + ], + [ + 0.23083503544330597, + -0.0618736706674099, + 0.038182683289051056 + ], + [ + 0.21975116431713104, + -0.08029880374670029, + 0.03833804652094841 + ], + [ + 0.2269451916217804, + -0.10525813698768616, + 0.03241153806447983 + ], + [ + 0.24351713061332703, + -0.13191412389278412, + 0.029555708169937134 + ], + [ + 0.2566986680030823, + -0.15921127796173096, + 0.030239900574088097 + ], + [ + 0.2636852264404297, + -0.17694994807243347, + 0.027583034709095955 + ], + [ + 0.2794450521469116, + -0.17170332372188568, + 0.02806786447763443 + ], + [ + 0.29500603675842285, + -0.14551740884780884, + 0.029763290658593178 + ], + [ + 0.3032505512237549, + -0.1299736648797989, + 0.035003479570150375 + ], + [ + 0.3019369840621948, + -0.11570090800523758, + 0.03786909952759743 + ], + [ + 0.29273298382759094, + -0.11179840564727783, + 0.04901716485619545 + ], + [ + 0.2728925943374634, + -0.10431480407714844, + 0.05777335539460182 + ], + [ + 0.2544938027858734, + -0.10074452310800552, + 0.06830234825611115 + ], + [ + 0.24451828002929688, + -0.08060681074857712, + 0.07338064163923264 + ], + [ + 0.24532277882099152, + -0.05297491326928139, + 0.08066891878843307 + ], + [ + 0.2486010044813156, + -0.02443229965865612, + 0.08562051504850388 + ], + [ + 0.2501677870750427, + -0.006066145841032267, + 0.08866625279188156 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9671719630781627, + 0.24982023444039173, + 0.04656441022584518, + 0.25270046474922664, + -0.9648346738549379, + -0.07236385315031572, + 0.026849002794478917, + 0.08175513801213548, + -0.996290734905007 + ], + [ + 0.9664687399855771, + 0.25534018213690884, + 0.0271949630810724, + 0.25669088540090984, + -0.963540214175029, + -0.07549864250194255, + 0.006925603424083127, + 0.07994777704119949, + -0.9967749941503262 + ], + [ + 0.9702426795496365, + 0.24154547339692575, + 0.016879782634749964, + 0.24202724239395948, + -0.965377977924599, + -0.09730454088781201, + -0.0072081009646753945, + 0.09849438572663588, + -0.9951115009187742 + ], + [ + 0.9813863835311862, + 0.19075870291991098, + 0.022178446291230006, + 0.19199548139798994, + -0.9771620578774572, + -0.09106068178663819, + 0.004301318673841106, + 0.09362387465281717, + -0.9955983471022136 + ], + [ + 0.9837190455730972, + 0.15927601950410777, + 0.08323454203443098, + 0.16554370383037179, + -0.9833653263286106, + -0.07475237184696593, + 0.06994370235322503, + 0.08731428626262708, + -0.9937223424657268 + ], + [ + 0.9802398873340482, + 0.16751443795734436, + 0.1052077770659944, + 0.17485023843411315, + -0.9824593630913357, + -0.06481507535829312, + 0.09250490472870468, + 0.08192992707187322, + -0.9923357948049296 + ], + [ + 0.9769733996258823, + 0.15467217362509125, + 0.14696766695275482, + 0.16514374560087383, + -0.9843269284383462, + -0.06187116646746535, + 0.13509448438911226, + 0.0847172748453382, + -0.9872043677123898 + ], + [ + 0.9758754834535963, + 0.12108176872769459, + 0.18167621219076172, + 0.13061164186319232, + -0.990568970162728, + -0.0413970332337167, + 0.17495039240885055, + 0.06412737818221899, + -0.9824866612649068 + ], + [ + 0.9673897988168042, + 0.09880722085201166, + 0.23322544941040435, + 0.10959164527502782, + -0.9934048717360536, + -0.03371100854301719, + 0.22835640659087225, + 0.058171246493234935, + -0.971838184910599 + ], + [ + 0.9665313156220329, + 0.09132446810317613, + 0.23974373286410292, + 0.10172278469458526, + -0.9943191313716585, + -0.031335922872794846, + 0.23552004372435356, + 0.05467455088048425, + -0.9703303573990129 + ], + [ + 0.958996633962871, + 0.0571828891968893, + 0.27758885646037645, + 0.06829374660682364, + -0.9971984575375868, + -0.030515577318160493, + 0.27506621061534653, + 0.04822191895553254, + -0.9602151979165712 + ], + [ + 0.9581681273936721, + 0.026945635226136917, + 0.2849346809168096, + 0.042099605345756554, + -0.9979982381514914, + -0.04719258285208443, + 0.2830926754203218, + 0.0572140663541692, + -0.9573845036006094 + ], + [ + 0.9520694551259665, + 0.021189422541148886, + 0.30514711368210207, + 0.03313542386868198, + -0.9988716373720584, + -0.03402198904687567, + 0.3040818907813944, + 0.04250247552832187, + -0.9516972960310313 + ], + [ + 0.9508523919541515, + 0.025048421249179567, + 0.3086297220100373, + 0.034647593441065064, + -0.9990701070570738, + -0.025660581710291706, + 0.30769997234938434, + 0.03509270263019851, + -0.9508360685408905 + ], + [ + 0.9557164555467368, + 0.031729357470264515, + 0.2925735881307592, + 0.038881681361262806, + -0.9990695381575326, + -0.018662067951229586, + 0.29170922414573075, + 0.029211398463943, + -0.9560608886195885 + ], + [ + 0.9655395986857204, + 0.07316729971714198, + 0.24975954360528432, + 0.07704449236465569, + -0.9970109642016287, + -0.005769181745361507, + 0.24859088793857773, + 0.02481297067745855, + -0.9682907037249036 + ], + [ + 0.9721024561457223, + 0.1498625536314753, + 0.18043843763042108, + 0.15437948984536973, + -0.9879484381937843, + -0.011173924357452545, + 0.17658931980880824, + 0.038718193262546094, + -0.9835228078900595 + ], + [ + 0.9630694341716489, + 0.21288797053170336, + 0.16485137842066114, + 0.21923525952749787, + -0.9754438223958692, + -0.02110095565717221, + 0.15631111906774278, + 0.05646292015675332, + -0.9860926795708208 + ], + [ + 0.9620874242236445, + 0.2517370164446302, + 0.10495838557385181, + 0.2570892785999942, + -0.965525364920901, + -0.04081510165730102, + 0.09106531161560866, + 0.06625137165310054, + -0.9936386993140087 + ], + [ + 0.9614350223674385, + 0.270691068308663, + 0.04867281893662809, + 0.2739072380315893, + -0.958379245041859, + -0.08052358428996202, + 0.024850004411052232, + 0.0907500314650694, + -0.9955636137735547 + ], + [ + 0.9700973374870133, + 0.24135991150920164, + 0.025623210510747597, + 0.2426913126482753, + -0.9630656495522955, + -0.11664253691287901, + -0.0034759985133529184, + 0.11937314509003102, + -0.9928433762007226 + ], + [ + 0.9900103491398548, + 0.1389168516238962, + 0.024116735494003186, + 0.1409041220579008, + -0.980924239217172, + -0.13391663564809597, + 0.005053413012558926, + 0.13597700265529133, + -0.9906991055642513 + ], + [ + 0.9964327113182182, + 0.06080211935064154, + 0.058523107380711197, + 0.06667412179120971, + -0.9923127721358528, + -0.10425892642565208, + 0.05173406323105547, + 0.10778898152654075, + -0.9928268339257736 + ], + [ + 0.9929374206642286, + 0.0011091990747740046, + 0.11863409426501718, + 0.009514338116215767, + -0.9974800673539111, + -0.07030641935020603, + 0.11825716052264566, + 0.07093859957067959, + -0.9904458385374093 + ], + [ + 0.9833901296406722, + -0.09202815315905494, + 0.1564438300203486, + -0.07917174906962779, + -0.9930987996827102, + -0.08652518834429819, + 0.16332693309603927, + 0.07270208452922043, + -0.9838895872152262 + ], + [ + 0.9777296456108602, + -0.13693849605547992, + 0.15903643730832506, + -0.12645266078044454, + -0.9891840441402737, + -0.07432799876115809, + 0.1674946705874767, + 0.05256210722903149, + -0.9844708021106753 + ], + [ + 0.9727274204650407, + -0.17435864799276746, + 0.1529719822240739, + -0.1712627378879582, + -0.9846627939997133, + -0.03329048999036578, + 0.15643030424616802, + 0.006184171958502797, + -0.9876696390649249 + ], + [ + 0.9788749252181383, + -0.16818049494962642, + 0.11627210283504263, + -0.16799160906463104, + -0.9857214234913032, + -0.011493239497854106, + 0.1165448414262091, + -0.008282293690610962, + -0.9931508966658401 + ], + [ + 0.9909528503696219, + -0.11319650470594264, + 0.07210408911205599, + -0.11220897618073108, + -0.9935284803767306, + -0.017615457552292567, + 0.07363147430816477, + 0.0093653618543014, + -0.9972415434530112 + ], + [ + 0.9992176494094633, + -0.009376700489999081, + 0.03842091353087676, + -0.00927272852137815, + -0.9999528500294689, + -0.0028834395625367978, + 0.03844613913509494, + 0.0025249170011771064, + -0.9992574839248098 + ], + [ + 0.9993109483210278, + 0.03459424795878982, + 0.013448664390701094, + 0.03498291513404962, + -0.9989427022872966, + -0.02982739002456046, + 0.012402589022128712, + 0.03027731089643089, + -0.9994645867815573 + ], + [ + 0.9957902455610838, + 0.09113901345722707, + -0.009770725225880126, + 0.09084513252398717, + -0.9954938730982866, + -0.027186587142769517, + -0.012204455829551488, + 0.026184515458865715, + -0.9995826241027246 + ], + [ + 0.9965662962681551, + 0.08270631454251409, + 0.00390930648156254, + 0.08276771469769909, + -0.9963735335408754, + -0.019730358916917566, + 0.0022633042421094335, + 0.019986175073405735, + -0.9997976946661975 + ], + [ + 0.9972359527078921, + 0.07256370591200435, + 0.01596756747595127, + 0.0727414689940903, + -0.9972918322022246, + -0.010848046428355414, + 0.015137150173157142, + 0.01197956622946341, + -0.9998136609776791 + ], + [ + 0.998713143097697, + 0.049898561436628686, + 0.009065945646976058, + 0.05006368425982295, + -0.9985652018032631, + -0.019004348606072696, + 0.008104648188026836, + 0.019433767369282123, + -0.9997782971057058 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006193.json b/json/chunk-0006/episode_0006193.json new file mode 100644 index 0000000000000000000000000000000000000000..5193c1be0fd5ac5f711cfe13522cb92f80f0633d --- /dev/null +++ b/json/chunk-0006/episode_0006193.json @@ -0,0 +1,1282 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 20, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nOpen small4fbox flaps." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006193.mp4", + "start": 0, + "end": 20, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3117614686489105, + 0.013791154138743877, + 0.1200350672006607, + 0.1334228366613388, + -0.11601858586072922, + 0.07491572946310043, + 0.0, + 0.9907060265541077 + ], + [ + 0.3090887665748596, + 0.013546967878937721, + 0.11069105565547943, + 0.13225199282169342, + -0.07720964401960373, + 0.07828318327665329, + 0.0, + 0.9907060265541077 + ], + [ + 0.3098847270011902, + 0.005789602175354958, + 0.11644014716148376, + 0.12116452306509018, + -0.05808553099632263, + 0.061856504529714584, + 0.0, + 0.9907060265541077 + ], + [ + 0.31770414113998413, + -0.004906534682959318, + 0.12039822340011597, + 0.1315816193819046, + -0.05601375550031662, + 0.06500835716724396, + 0.0, + 0.9907060265541077 + ], + [ + 0.3241461217403412, + -0.01999572105705738, + 0.12303154915571213, + 0.12350799143314362, + -0.0842413529753685, + 0.0761769562959671, + 0.0, + 0.9907060265541077 + ], + [ + 0.32286059856414795, + -0.032919831573963165, + 0.11298785358667374, + 0.10960983484983444, + -0.1101582795381546, + 0.09714723378419876, + 0.0, + 0.9907060265541077 + ], + [ + 0.3227068781852722, + -0.0368940532207489, + 0.10451427847146988, + 0.09362369775772095, + -0.13066278398036957, + 0.09765223413705826, + 0.0, + 0.9907060265541077 + ], + [ + 0.3223647177219391, + -0.029327083379030228, + 0.09141439199447632, + 0.09120591729879379, + -0.129983052611351, + 0.08468521386384964, + 0.0, + 0.9907060265541077 + ], + [ + 0.3207329213619232, + -0.015888750553131104, + 0.08270914852619171, + 0.11789039522409439, + -0.11941790580749512, + 0.0826479122042656, + 0.0, + 0.9907060265541077 + ], + [ + 0.3182135820388794, + -0.0023989835754036903, + 0.06929527968168259, + 0.18297389149665833, + -0.09860951453447342, + 0.08409319818019867, + 0.0, + 0.9907060265541077 + ], + [ + 0.3140086233615875, + 0.001778500503860414, + 0.07097943872213364, + 0.2337513417005539, + -0.07585162669420242, + 0.07659970223903656, + 0.0, + 0.9907060265541077 + ], + [ + 0.31086859107017517, + 0.004460975527763367, + 0.0785520151257515, + 0.2839977741241455, + -0.042768411338329315, + 0.06851055473089218, + 0.0, + 0.9907060265541077 + ], + [ + 0.30649033188819885, + 0.010320712812244892, + 0.0822058841586113, + 0.35321083664894104, + -0.015548092313110828, + 0.05163139849901199, + 0.0, + 0.9907060265541077 + ], + [ + 0.3068418800830841, + 0.014676782302558422, + 0.08695068955421448, + 0.3781435489654541, + -0.018361495807766914, + 0.028108002617955208, + 0.0, + 0.9900195002555847 + ], + [ + 0.3085730969905853, + 0.021121036261320114, + 0.09358584135770798, + 0.4015084207057953, + -0.02799043618142605, + -0.006868788506835699, + 0.0, + 0.9893313646316528 + ], + [ + 0.30895912647247314, + 0.02560029923915863, + 0.09431522339582443, + 0.43238696455955505, + -0.02507963217794895, + -0.03522651270031929, + 0.0, + 0.9893313646316528 + ], + [ + 0.3082178831100464, + 0.034198492765426636, + 0.10857263207435608, + 0.4697963297367096, + -0.059108916670084, + -0.07039494067430496, + 0.0, + 0.9886419177055359 + ], + [ + 0.3051985800266266, + 0.0539337694644928, + 0.11846357583999634, + 0.5018950700759888, + -0.06327003985643387, + -0.0790831446647644, + 0.0, + 0.9886419177055359 + ], + [ + 0.3029906153678894, + 0.06699027121067047, + 0.11686869710683823, + 0.5147097110748291, + -0.04598682373762131, + -0.08650783449411392, + 0.0, + 0.9886419177055359 + ], + [ + 0.3021917939186096, + 0.07689818739891052, + 0.1123320460319519, + 0.5091509819030762, + -0.051636260002851486, + -0.11154879629611969, + 0.0, + 0.9886419177055359 + ] + ], + "left_gripper_pos": [ + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9900195002555847 + ], + [ + 0.9893313646316528 + ], + [ + 0.9893313646316528 + ], + [ + 0.9886419177055359 + ], + [ + 0.9886419177055359 + ], + [ + 0.9886419177055359 + ], + [ + 0.9886419177055359 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3117614686489105, + 0.013791154138743877, + 0.1200350672006607 + ], + [ + 0.3090887665748596, + 0.013546967878937721, + 0.11069105565547943 + ], + [ + 0.3098847270011902, + 0.005789602175354958, + 0.11644014716148376 + ], + [ + 0.31770414113998413, + -0.004906534682959318, + 0.12039822340011597 + ], + [ + 0.3241461217403412, + -0.01999572105705738, + 0.12303154915571213 + ], + [ + 0.32286059856414795, + -0.032919831573963165, + 0.11298785358667374 + ], + [ + 0.3227068781852722, + -0.0368940532207489, + 0.10451427847146988 + ], + [ + 0.3223647177219391, + -0.029327083379030228, + 0.09141439199447632 + ], + [ + 0.3207329213619232, + -0.015888750553131104, + 0.08270914852619171 + ], + [ + 0.3182135820388794, + -0.0023989835754036903, + 0.06929527968168259 + ], + [ + 0.3140086233615875, + 0.001778500503860414, + 0.07097943872213364 + ], + [ + 0.31086859107017517, + 0.004460975527763367, + 0.0785520151257515 + ], + [ + 0.30649033188819885, + 0.010320712812244892, + 0.0822058841586113 + ], + [ + 0.3068418800830841, + 0.014676782302558422, + 0.08695068955421448 + ], + [ + 0.3085730969905853, + 0.021121036261320114, + 0.09358584135770798 + ], + [ + 0.30895912647247314, + 0.02560029923915863, + 0.09431522339582443 + ], + [ + 0.3082178831100464, + 0.034198492765426636, + 0.10857263207435608 + ], + [ + 0.3051985800266266, + 0.0539337694644928, + 0.11846357583999634 + ], + [ + 0.3029906153678894, + 0.06699027121067047, + 0.11686869710683823 + ], + [ + 0.3021917939186096, + 0.07689818739891052, + 0.1123320460319519 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9904913746413609, + 0.08953632287095621, + 0.10445134584013457, + 0.07434251507109739, + -0.9871798755045664, + 0.14124122575116904, + 0.11575848657429474, + -0.1321330400979896, + -0.9844495073392502 + ], + [ + 0.9939673759118398, + 0.08766046288941584, + 0.06591281263111456, + 0.07797026931291817, + -0.9874361977159705, + 0.13744232442554785, + 0.07713295486497376, + -0.13147394679646565, + -0.9883142762236907 + ], + [ + 0.9964042315644283, + 0.06836718860393352, + 0.050045327882783756, + 0.06171281202677929, + -0.9903363179007494, + 0.12419946166764613, + 0.05805287376391075, + -0.12066443125121783, + -0.9909944292873555 + ], + [ + 0.996322653377069, + 0.0717307903124152, + 0.0468600478961852, + 0.06486069362439836, + -0.9887844131581365, + 0.13453057168570018, + 0.05598446918778796, + -0.1309964809324117, + -0.9898008189494922 + ], + [ + 0.9935640178250789, + 0.08585930839859585, + 0.07388316211831326, + 0.07583342485988348, + -0.9887157380986642, + 0.12919164411847173, + 0.08414175038176087, + -0.1227573557768668, + -0.9888633866441638 + ], + [ + 0.9892522068146261, + 0.10838162977302826, + 0.09815036240449551, + 0.09640658818635459, + -0.9881456201168615, + 0.11947385989466186, + 0.10993562237354282, + -0.10872743798878406, + -0.9879739385033071 + ], + [ + 0.9867521759478883, + 0.10919262906464486, + 0.1199879703139376, + 0.09666601775991468, + -0.9896896075891962, + 0.1056889854260245, + 0.13029130543726758, + -0.09269007707351115, + -0.9871335904220659 + ], + [ + 0.9880106716307747, + 0.09599564405639059, + 0.12091215433489019, + 0.08387048573501661, + -0.9912763120344713, + 0.10167111104886076, + 0.12961733821629698, + -0.09031118159749746, + -0.9874427761203106 + ], + [ + 0.9894890660660017, + 0.09594529314617618, + 0.10819375609953458, + 0.08196591808199326, + -0.9885125018423356, + 0.12698276250886245, + 0.11913427889909448, + -0.11677985453193762, + -0.9859865562809119 + ], + [ + 0.9916254373425155, + 0.10044209155755546, + 0.08118114472467185, + 0.08358607831685858, + -0.9783275481548167, + 0.18944280412037962, + 0.09844978175126877, + -0.1810706899664553, + -0.9785300433344901 + ], + [ + 0.9942007528543229, + 0.09194475538155389, + 0.05577656301461786, + 0.0763047798426279, + -0.9686085420479142, + 0.2365905172338524, + 0.0757789126146945, + -0.23096245199088086, + -0.9700071660422382 + ], + [ + 0.9967417858310493, + 0.07766654867068036, + 0.021765100411322326, + 0.06839437363824287, + -0.9568708894769244, + 0.2823478537660085, + 0.04275537431671642, + -0.2799392935784895, + -0.9590651541359498 + ], + [ + 0.9985466873407016, + 0.05379340195624779, + -0.0032837641335821156, + 0.05160222384381676, + -0.9367389916209903, + 0.34620409020007753, + 0.015547465879816945, + -0.3458703969449602, + -0.9381534761550756 + ], + [ + 0.9994364951585635, + 0.0328947073621856, + 0.0066805967340379515, + 0.028099564124303637, + -0.9287940250747134, + 0.36952952991816057, + 0.018360464078851994, + -0.3691335763826812, + -0.9291949720837605 + ], + [ + 0.99958471252156, + 0.004614697472367542, + 0.028444807266505754, + -0.0068660439658860435, + -0.9205259520460022, + 0.3906210811644192, + 0.02798678140566817, + -0.3906541644178899, + -0.9201119844288039 + ], + [ + 0.9990653281667665, + -0.021476205253255134, + 0.03751323317112407, + -0.03520815202578963, + -0.9077749039305979, + 0.4179774034857896, + 0.025077003129559818, + -0.41890750339629124, + -0.9076825697964714 + ], + [ + 0.995781201103404, + -0.036039491203441854, + 0.0843857488137615, + -0.07021397747381264, + -0.8913331717309756, + 0.4478785263208162, + 0.0590745029295139, + -0.45191407595448513, + -0.8901032923531036 + ], + [ + 0.9948799298168147, + -0.03893470198712738, + 0.09326314507276073, + -0.07884266644226325, + -0.8763355076489464, + 0.47520512621597083, + 0.06322783561030104, + -0.4801251576566639, + -0.8749183240675668 + ], + [ + 0.9952072759693084, + -0.05265973094821565, + 0.08239800115421599, + -0.08630863372812371, + -0.8691359712265008, + 0.4869840687991256, + 0.045970616721262555, + -0.49176174745157686, + -0.8695154318018963 + ], + [ + 0.9924603100334193, + -0.07219609807819796, + 0.09904673861693862, + -0.11116923379922278, + -0.8705324297673115, + 0.4793899145579873, + 0.051613316739603995, + -0.48678641327147154, + -0.8719948700476587 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0026727020740509033, + -0.00024418625980615616, + -0.009344011545181274, + -0.0011708438396453857, + 0.03880894184112549, + 0.0033674538135528564, + 1.0 + ], + [ + 0.0007959604263305664, + -0.007757365703582764, + 0.0057490915060043335, + -0.011087469756603241, + 0.019124113023281097, + -0.016426678746938705, + 1.0 + ], + [ + 0.007819414138793945, + -0.010696137323975563, + 0.003958076238632202, + 0.010417096316814423, + 0.002071775496006012, + 0.003151852637529373, + 1.0 + ], + [ + 0.006441980600357056, + -0.015089185908436775, + 0.002633325755596161, + -0.008073627948760986, + -0.02822759747505188, + 0.011168599128723145, + 1.0 + ], + [ + -0.0012855231761932373, + -0.012924110516905785, + -0.010043695569038391, + -0.013898156583309174, + -0.025916926562786102, + 0.02097027748823166, + 1.0 + ], + [ + -0.00015372037887573242, + -0.003974221646785736, + -0.008473575115203857, + -0.015986137092113495, + -0.020504504442214966, + 0.0005050003528594971, + 1.0 + ], + [ + -0.0003421604633331299, + 0.007566969841718674, + -0.01309988647699356, + -0.0024177804589271545, + 0.0006797313690185547, + -0.012967020273208618, + 1.0 + ], + [ + -0.0016317963600158691, + 0.013438332825899124, + -0.008705243468284607, + 0.026684477925300598, + 0.010565146803855896, + -0.0020373016595840454, + 1.0 + ], + [ + -0.0025193393230438232, + 0.013489766977727413, + -0.013413868844509125, + 0.06508349627256393, + 0.020808391273021698, + 0.001445285975933075, + 1.0 + ], + [ + -0.00420495867729187, + 0.004177484195679426, + 0.0016841590404510498, + 0.05077745020389557, + 0.022757887840270996, + -0.007493495941162109, + 1.0 + ], + [ + -0.0031400322914123535, + 0.002682474907487631, + 0.007572576403617859, + 0.050246432423591614, + 0.03308321535587311, + -0.008089147508144379, + 1.0 + ], + [ + -0.004378259181976318, + 0.005859737284481525, + 0.0036538690328598022, + 0.06921306252479553, + 0.02722031995654106, + -0.016879156231880188, + 1.0 + ], + [ + 0.0003515481948852539, + 0.00435606949031353, + 0.00474480539560318, + 0.02493271231651306, + -0.002813403494656086, + -0.023523395881056786, + 1.0 + ], + [ + 0.0017312169075012207, + 0.006444253958761692, + 0.0066351518034935, + 0.023364871740341187, + -0.009628940373659134, + -0.034976791590452194, + 1.0 + ], + [ + 0.0003860294818878174, + 0.004479262977838516, + 0.0007293820381164551, + 0.030878543853759766, + 0.0029108040034770966, + -0.028357723727822304, + 1.0 + ], + [ + -0.0007412433624267578, + 0.008598193526268005, + 0.014257408678531647, + 0.03740936517715454, + -0.0340292826294899, + -0.03516842797398567, + 1.0 + ], + [ + -0.0030193030834198, + 0.019735276699066162, + 0.009890943765640259, + 0.032098740339279175, + -0.004161123186349869, + -0.008688203990459442, + 1.0 + ], + [ + -0.0022079646587371826, + 0.013056501746177673, + -0.0015948787331581116, + 0.012814640998840332, + 0.01728321611881256, + -0.007424689829349518, + 1.0 + ], + [ + -0.0007988214492797852, + 0.009907916188240051, + -0.004536651074886322, + -0.00555872917175293, + -0.005649436265230179, + -0.025040961802005768, + 1.0 + ], + [ + 0.0026628077030181885, + 0.008267447352409363, + 0.0011866912245750427, + -0.031238466501235962, + -0.03030892089009285, + -0.02028621733188629, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9900195002555847 + ], + [ + 0.9893313646316528 + ], + [ + 0.9893313646316528 + ], + [ + 0.9886419177055359 + ], + [ + 0.9886419177055359 + ], + [ + 0.9886419177055359 + ], + [ + 0.9886419177055359 + ], + [ + 0.9886419177055359 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3090887665748596, + 0.013546967878937721, + 0.11069105565547943 + ], + [ + 0.3098847270011902, + 0.005789602175354958, + 0.11644014716148376 + ], + [ + 0.31770414113998413, + -0.004906534682959318, + 0.12039822340011597 + ], + [ + 0.3241461217403412, + -0.01999572105705738, + 0.12303154915571213 + ], + [ + 0.32286059856414795, + -0.032919831573963165, + 0.11298785358667374 + ], + [ + 0.3227068781852722, + -0.0368940532207489, + 0.10451427847146988 + ], + [ + 0.3223647177219391, + -0.029327083379030228, + 0.09141439199447632 + ], + [ + 0.3207329213619232, + -0.015888750553131104, + 0.08270914852619171 + ], + [ + 0.3182135820388794, + -0.0023989835754036903, + 0.06929527968168259 + ], + [ + 0.3140086233615875, + 0.001778500503860414, + 0.07097943872213364 + ], + [ + 0.31086859107017517, + 0.004460975527763367, + 0.0785520151257515 + ], + [ + 0.30649033188819885, + 0.010320712812244892, + 0.0822058841586113 + ], + [ + 0.3068418800830841, + 0.014676782302558422, + 0.08695068955421448 + ], + [ + 0.3085730969905853, + 0.021121036261320114, + 0.09358584135770798 + ], + [ + 0.30895912647247314, + 0.02560029923915863, + 0.09431522339582443 + ], + [ + 0.3082178831100464, + 0.034198492765426636, + 0.10857263207435608 + ], + [ + 0.3051985800266266, + 0.0539337694644928, + 0.11846357583999634 + ], + [ + 0.3029906153678894, + 0.06699027121067047, + 0.11686869710683823 + ], + [ + 0.3021917939186096, + 0.07689818739891052, + 0.1123320460319519 + ], + [ + 0.3048546016216278, + 0.08516563475131989, + 0.11351873725652695 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9939673759118398, + 0.08766046288941584, + 0.06591281263111456, + 0.07797026931291817, + -0.9874361977159705, + 0.13744232442554785, + 0.07713295486497376, + -0.13147394679646565, + -0.9883142762236907 + ], + [ + 0.9964042315644283, + 0.06836718860393352, + 0.050045327882783756, + 0.06171281202677929, + -0.9903363179007494, + 0.12419946166764613, + 0.05805287376391075, + -0.12066443125121783, + -0.9909944292873555 + ], + [ + 0.996322653377069, + 0.0717307903124152, + 0.0468600478961852, + 0.06486069362439836, + -0.9887844131581365, + 0.13453057168570018, + 0.05598446918778796, + -0.1309964809324117, + -0.9898008189494922 + ], + [ + 0.9935640178250789, + 0.08585930839859585, + 0.07388316211831326, + 0.07583342485988348, + -0.9887157380986642, + 0.12919164411847173, + 0.08414175038176087, + -0.1227573557768668, + -0.9888633866441638 + ], + [ + 0.9892522068146261, + 0.10838162977302826, + 0.09815036240449551, + 0.09640658818635459, + -0.9881456201168615, + 0.11947385989466186, + 0.10993562237354282, + -0.10872743798878406, + -0.9879739385033071 + ], + [ + 0.9867521759478883, + 0.10919262906464486, + 0.1199879703139376, + 0.09666601775991468, + -0.9896896075891962, + 0.1056889854260245, + 0.13029130543726758, + -0.09269007707351115, + -0.9871335904220659 + ], + [ + 0.9880106716307747, + 0.09599564405639059, + 0.12091215433489019, + 0.08387048573501661, + -0.9912763120344713, + 0.10167111104886076, + 0.12961733821629698, + -0.09031118159749746, + -0.9874427761203106 + ], + [ + 0.9894890660660017, + 0.09594529314617618, + 0.10819375609953458, + 0.08196591808199326, + -0.9885125018423356, + 0.12698276250886245, + 0.11913427889909448, + -0.11677985453193762, + -0.9859865562809119 + ], + [ + 0.9916254373425155, + 0.10044209155755546, + 0.08118114472467185, + 0.08358607831685858, + -0.9783275481548167, + 0.18944280412037962, + 0.09844978175126877, + -0.1810706899664553, + -0.9785300433344901 + ], + [ + 0.9942007528543229, + 0.09194475538155389, + 0.05577656301461786, + 0.0763047798426279, + -0.9686085420479142, + 0.2365905172338524, + 0.0757789126146945, + -0.23096245199088086, + -0.9700071660422382 + ], + [ + 0.9967417858310493, + 0.07766654867068036, + 0.021765100411322326, + 0.06839437363824287, + -0.9568708894769244, + 0.2823478537660085, + 0.04275537431671642, + -0.2799392935784895, + -0.9590651541359498 + ], + [ + 0.9985466873407016, + 0.05379340195624779, + -0.0032837641335821156, + 0.05160222384381676, + -0.9367389916209903, + 0.34620409020007753, + 0.015547465879816945, + -0.3458703969449602, + -0.9381534761550756 + ], + [ + 0.9994364951585635, + 0.0328947073621856, + 0.0066805967340379515, + 0.028099564124303637, + -0.9287940250747134, + 0.36952952991816057, + 0.018360464078851994, + -0.3691335763826812, + -0.9291949720837605 + ], + [ + 0.99958471252156, + 0.004614697472367542, + 0.028444807266505754, + -0.0068660439658860435, + -0.9205259520460022, + 0.3906210811644192, + 0.02798678140566817, + -0.3906541644178899, + -0.9201119844288039 + ], + [ + 0.9990653281667665, + -0.021476205253255134, + 0.03751323317112407, + -0.03520815202578963, + -0.9077749039305979, + 0.4179774034857896, + 0.025077003129559818, + -0.41890750339629124, + -0.9076825697964714 + ], + [ + 0.995781201103404, + -0.036039491203441854, + 0.0843857488137615, + -0.07021397747381264, + -0.8913331717309756, + 0.4478785263208162, + 0.0590745029295139, + -0.45191407595448513, + -0.8901032923531036 + ], + [ + 0.9948799298168147, + -0.03893470198712738, + 0.09326314507276073, + -0.07884266644226325, + -0.8763355076489464, + 0.47520512621597083, + 0.06322783561030104, + -0.4801251576566639, + -0.8749183240675668 + ], + [ + 0.9952072759693084, + -0.05265973094821565, + 0.08239800115421599, + -0.08630863372812371, + -0.8691359712265008, + 0.4869840687991256, + 0.045970616721262555, + -0.49176174745157686, + -0.8695154318018963 + ], + [ + 0.9924603100334193, + -0.07219609807819796, + 0.09904673861693862, + -0.11116923379922278, + -0.8705324297673115, + 0.4793899145579873, + 0.051613316739603995, + -0.48678641327147154, + -0.8719948700476587 + ], + [ + 0.9879958350364538, + -0.07940508984211014, + 0.13251060960461725, + -0.1310123440491556, + -0.8852003371932886, + 0.44638114738375134, + 0.08185350119186442, + -0.45838324002962305, + -0.884977293269482 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006194.json b/json/chunk-0006/episode_0006194.json new file mode 100644 index 0000000000000000000000000000000000000000..963da3f6cf5826a8d7c6a4f9fa1b8309d375fb9f --- /dev/null +++ b/json/chunk-0006/episode_0006194.json @@ -0,0 +1,1882 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 30, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nClose the drawer." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006194.mp4", + "start": 0, + "end": 30, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.23553423583507538, + -0.009440157562494278, + 0.20277182757854462, + 0.20941540598869324, + -0.20473863184452057, + -0.9380692839622498, + 0.0, + 0.9994885921478271 + ], + [ + 0.23312780261039734, + -0.010197360999882221, + 0.1971396505832672, + 0.19210278987884521, + -0.19522380828857422, + -0.9505814909934998, + 0.0, + 0.9994885921478271 + ], + [ + 0.21139082312583923, + 0.007277768570929766, + 0.1928354948759079, + 0.22241780161857605, + -0.1830916702747345, + -1.0225664377212524, + 0.0, + 0.9994885921478271 + ], + [ + 0.1961602419614792, + 0.00657096691429615, + 0.18415053188800812, + 0.279423326253891, + -0.13064952194690704, + -1.1687904596328735, + 0.0, + 0.9994885921478271 + ], + [ + 0.19386012852191925, + 0.01402598898857832, + 0.17263056337833405, + 0.3086162805557251, + -0.1460629254579544, + -1.2826859951019287, + 0.0, + 0.9994885921478271 + ], + [ + 0.203500434756279, + 0.01738656684756279, + 0.15543732047080994, + 0.2547525465488434, + -0.16479143500328064, + -1.425689935684204, + 0.0, + 0.9994885921478271 + ], + [ + 0.22689242660999298, + 0.019579630345106125, + 0.13997480273246765, + 0.2445288896560669, + -0.1579677313566208, + -1.5016206502914429, + 0.0, + 0.9994885921478271 + ], + [ + 0.2534235417842865, + 0.019076384603977203, + 0.11963873356580734, + 0.22113434970378876, + -0.1413154900074005, + -1.5006167888641357, + 0.0, + 0.9994885921478271 + ], + [ + 0.2769818603992462, + 0.017324281856417656, + 0.10178490728139877, + 0.20993119478225708, + -0.11596561223268509, + -1.4791245460510254, + 0.0, + 0.9994885921478271 + ], + [ + 0.2924916446208954, + 0.019393976777791977, + 0.09131772071123123, + 0.19650885462760925, + -0.09380423277616501, + -1.460442304611206, + 0.0, + 0.9994885921478271 + ], + [ + 0.3066085875034332, + 0.03706517070531845, + 0.08890579640865326, + 0.2063487023115158, + -0.09817395359277725, + -1.4334336519241333, + 0.0, + 0.9994885921478271 + ], + [ + 0.31072163581848145, + 0.06664703041315079, + 0.0958249419927597, + 0.2249687910079956, + -0.12229730933904648, + -1.4088929891586304, + 0.0, + 0.9994885921478271 + ], + [ + 0.30556434392929077, + 0.09285367280244827, + 0.09547305852174759, + 0.20487475395202637, + -0.12360358983278275, + -1.4009618759155273, + 0.0, + 1.0008161067962646 + ], + [ + 0.2949672043323517, + 0.12571877241134644, + 0.09884432703256607, + 0.20591910183429718, + -0.12988704442977905, + -1.3914965391159058, + 0.0, + 1.0014774799346924 + ], + [ + 0.28637054562568665, + 0.14763623476028442, + 0.09576241672039032, + 0.2256283015012741, + -0.07895419001579285, + -1.384855031967163, + 0.0, + 1.0008161067962646 + ], + [ + 0.27270519733428955, + 0.17215462028980255, + 0.09079065173864365, + 0.23323525488376617, + -0.028763918206095695, + -1.3616080284118652, + 0.0, + 1.0008161067962646 + ], + [ + 0.26943716406822205, + 0.1767626702785492, + 0.08849131315946579, + 0.26479652523994446, + 0.020107105374336243, + -1.3657130002975464, + 0.0, + 1.0014774799346924 + ], + [ + 0.2678324580192566, + 0.18483442068099976, + 0.0854855328798294, + 0.30159512162208557, + 0.09757004678249359, + -1.3839786052703857, + 0.0, + 1.0014774799346924 + ], + [ + 0.27164360880851746, + 0.19243751466274261, + 0.08414725959300995, + 0.31812137365341187, + 0.13012990355491638, + -1.3797184228897095, + 0.0, + 1.0014774799346924 + ], + [ + 0.271610826253891, + 0.2004818469285965, + 0.08124706894159317, + 0.3466516137123108, + 0.21386227011680603, + -1.3814460039138794, + 0.0, + 1.0014774799346924 + ], + [ + 0.27039510011672974, + 0.20845243334770203, + 0.061921339482069016, + 0.2959669530391693, + 0.3453564941883087, + -1.425859808921814, + 0.0, + 1.002137303352356 + ], + [ + 0.27478647232055664, + 0.212969571352005, + 0.060425400733947754, + 0.2788686752319336, + 0.4849993884563446, + -1.428273320198059, + 0.0, + 1.0014774799346924 + ], + [ + 0.27469855546951294, + 0.21006913483142853, + 0.057655997574329376, + 0.25741714239120483, + 0.5079643130302429, + -1.4632189273834229, + 0.0, + 1.0014774799346924 + ], + [ + 0.27596545219421387, + 0.1992751657962799, + 0.05654489994049072, + 0.2927287817001343, + 0.49862128496170044, + -1.5105385780334473, + 0.0, + 1.0014774799346924 + ], + [ + 0.26743948459625244, + 0.18332262337207794, + 0.05467388033866882, + 0.2827450931072235, + 0.43194347620010376, + -1.5616793632507324, + 0.0, + 1.0008161067962646 + ], + [ + 0.26002585887908936, + 0.16442640125751495, + 0.0746801346540451, + 0.367236852645874, + 0.30041617155075073, + -1.4865812063217163, + 0.0, + 1.0008161067962646 + ], + [ + 0.2569730877876282, + 0.1406833976507187, + 0.12254872173070908, + 0.5114645957946777, + 0.14704862236976624, + -1.2864446640014648, + 0.0, + 1.0008161067962646 + ], + [ + 0.25483381748199463, + 0.12056517601013184, + 0.1423204094171524, + 0.49863556027412415, + 0.03541044890880585, + -1.0382109880447388, + 0.0, + 1.0008161067962646 + ], + [ + 0.2638106942176819, + 0.10393055528402328, + 0.15895168483257294, + 0.3328849971294403, + -0.0011249723611399531, + -0.7842934131622314, + 0.0, + 1.0008161067962646 + ], + [ + 0.2727033793926239, + 0.07116769999265671, + 0.1697225421667099, + 0.08541201055049896, + 0.02967585250735283, + -0.5324833989143372, + 0.0, + 1.0008161067962646 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.002137303352356 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.23553423583507538, + -0.009440157562494278, + 0.20277182757854462 + ], + [ + 0.23312780261039734, + -0.010197360999882221, + 0.1971396505832672 + ], + [ + 0.21139082312583923, + 0.007277768570929766, + 0.1928354948759079 + ], + [ + 0.1961602419614792, + 0.00657096691429615, + 0.18415053188800812 + ], + [ + 0.19386012852191925, + 0.01402598898857832, + 0.17263056337833405 + ], + [ + 0.203500434756279, + 0.01738656684756279, + 0.15543732047080994 + ], + [ + 0.22689242660999298, + 0.019579630345106125, + 0.13997480273246765 + ], + [ + 0.2534235417842865, + 0.019076384603977203, + 0.11963873356580734 + ], + [ + 0.2769818603992462, + 0.017324281856417656, + 0.10178490728139877 + ], + [ + 0.2924916446208954, + 0.019393976777791977, + 0.09131772071123123 + ], + [ + 0.3066085875034332, + 0.03706517070531845, + 0.08890579640865326 + ], + [ + 0.31072163581848145, + 0.06664703041315079, + 0.0958249419927597 + ], + [ + 0.30556434392929077, + 0.09285367280244827, + 0.09547305852174759 + ], + [ + 0.2949672043323517, + 0.12571877241134644, + 0.09884432703256607 + ], + [ + 0.28637054562568665, + 0.14763623476028442, + 0.09576241672039032 + ], + [ + 0.27270519733428955, + 0.17215462028980255, + 0.09079065173864365 + ], + [ + 0.26943716406822205, + 0.1767626702785492, + 0.08849131315946579 + ], + [ + 0.2678324580192566, + 0.18483442068099976, + 0.0854855328798294 + ], + [ + 0.27164360880851746, + 0.19243751466274261, + 0.08414725959300995 + ], + [ + 0.271610826253891, + 0.2004818469285965, + 0.08124706894159317 + ], + [ + 0.27039510011672974, + 0.20845243334770203, + 0.061921339482069016 + ], + [ + 0.27478647232055664, + 0.212969571352005, + 0.060425400733947754 + ], + [ + 0.27469855546951294, + 0.21006913483142853, + 0.057655997574329376 + ], + [ + 0.27596545219421387, + 0.1992751657962799, + 0.05654489994049072 + ], + [ + 0.26743948459625244, + 0.18332262337207794, + 0.05467388033866882 + ], + [ + 0.26002585887908936, + 0.16442640125751495, + 0.0746801346540451 + ], + [ + 0.2569730877876282, + 0.1406833976507187, + 0.12254872173070908 + ], + [ + 0.25483381748199463, + 0.12056517601013184, + 0.1423204094171524 + ], + [ + 0.2638106942176819, + 0.10393055528402328, + 0.15895168483257294 + ], + [ + 0.2727033793926239, + 0.07116769999265671, + 0.1697225421667099 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.5789953286045968, + -0.7638059282444528, + 0.28524535654885724, + -0.7895751655104565, + -0.6125107758873183, + -0.037438047906516336, + 0.2033112575908923, + -0.20354619475820504, + -0.9577230701702161 + ], + [ + 0.5701694940701622, + -0.7772585809676484, + 0.2660373025422053, + -0.7982957737054079, + -0.6006571783304003, + -0.043986495703177184, + 0.19398609670762315, + -0.18729669626642959, + -0.9629586397409919 + ], + [ + 0.5124661245477885, + -0.8114935119736314, + 0.28081444267642675, + -0.8391834296048336, + -0.5426159117241972, + -0.036594314044497755, + 0.1820704332604271, + -0.2169014807889053, + -0.9590641818793675 + ], + [ + 0.3879305208566596, + -0.8705262057774493, + 0.3028102310731895, + -0.9124349362788428, + -0.4091561427840996, + -0.007330612516119217, + 0.13027815644115004, + -0.27345086556227083, + -0.9530226786795474 + ], + [ + 0.28111535213544014, + -0.9009234166768818, + 0.3306223768546542, + -0.9485731749557411, + -0.31310217616806457, + -0.04664717604750626, + 0.14554411890609753, + -0.3005062804037143, + -0.9426096142570219 + ], + [ + 0.142638779320656, + -0.9515776257703782, + 0.2723126893244659, + -0.9760854948604999, + -0.18083716048681958, + -0.12064422120432133, + 0.1640465950784903, + -0.24859192167138927, + -0.9546155095759127 + ], + [ + 0.06825990086893496, + -0.9652984980718715, + 0.25207021948963465, + -0.985187117518765, + -0.10505821265789894, + -0.13553270980909082, + 0.15731156794219145, + -0.23908488361524888, + -0.9581709080421158 + ], + [ + 0.06942293889032558, + -0.9710813927307663, + 0.2284324500763963, + -0.9875945366989224, + -0.0992309622969525, + -0.12169735906773718, + 0.14084561277608576, + -0.21715005137852475, + -0.9659235831824549 + ], + [ + 0.09092858779489704, + -0.9717312077267156, + 0.2178771485300933, + -0.9891128064192599, + -0.11354462686754513, + -0.09361342791995972, + 0.11570586890491444, + -0.2069929410378252, + -0.971476234532513 + ], + [ + 0.10964600104475031, + -0.9727743556060502, + 0.20417592299320766, + -0.9895475223290833, + -0.1261874954249942, + -0.0698027008842736, + 0.09366672572086046, + -0.1943881917030989, + -0.976442407630441 + ], + [ + 0.13627176108412836, + -0.9668160497555452, + 0.2160942689339846, + -0.985810735733787, + -0.1539193417677947, + -0.06697782873293669, + 0.09801632743089304, + -0.20390086357063775, + -0.9740725010963547 + ], + [ + 0.15999296381663675, + -0.9576661194261424, + 0.23932792405492972, + -0.9795509369396211, + -0.1839926916077279, + -0.08140424666842831, + 0.12199267793551863, + -0.2214097855520784, + -0.9675202806101295 + ], + [ + 0.16772970236897372, + -0.9607606996101358, + 0.220919951629222, + -0.9780933214233641, + -0.19020602200511366, + -0.08458796474677605, + 0.12328909736966652, + -0.20189241510674072, + -0.971616823234417 + ], + [ + 0.17683838322134016, + -0.9584579718601298, + 0.223800139404399, + -0.9756803788315471, + -0.20063135217982686, + -0.0882884980369606, + 0.12952213935382065, + -0.20274460954674056, + -0.9706279610216 + ], + [ + 0.1842957607453901, + -0.9545912099933417, + 0.234074121540007, + -0.9797011028677952, + -0.19752691157224544, + -0.034188715160944155, + 0.07887218528038738, + -0.22302183975606152, + -0.9716174336542742 + ], + [ + 0.2075800603426815, + -0.9503334092229601, + 0.2318985335503322, + -0.9777951644945366, + -0.20854541719662756, + 0.020625839555921163, + 0.028759952003275815, + -0.23103077777852543, + -0.9725212824816838 + ], + [ + 0.20360757515369665, + -0.9459917821999972, + 0.2522766405161296, + -0.9788461136131463, + -0.19139905634144072, + 0.07229583041950031, + -0.020105750532395786, + -0.2616599878500316, + -0.964950677264828 + ], + [ + 0.18484955339873066, + -0.9436239837264266, + 0.2745986524813226, + -0.9779268376761283, + -0.1489165538914805, + 0.14657066599375584, + -0.09741531071170056, + -0.2956309140014862, + -0.950322376841453 + ], + [ + 0.1883115491831594, + -0.9402462638141733, + 0.2836824348240942, + -0.9734990177326905, + -0.1405392123957474, + 0.1804117298089828, + -0.12976294894046203, + -0.31013818398041687, + -0.9417939710571543 + ], + [ + 0.1839329145368735, + -0.9372775862201088, + 0.29610709096436383, + -0.9597523988800978, + -0.10620624998432598, + 0.2599914716065985, + -0.2122357552201538, + -0.3320104800057879, + -0.9190892368929459 + ], + [ + 0.1359017420609041, + -0.9607522013164342, + 0.24183863250200024, + -0.93108898833586, + -0.040447212260512067, + 0.36254285101220546, + -0.33853214367991197, + -0.27444349270110074, + -0.90004264177288 + ], + [ + 0.1256601455209002, + -0.9698483830042594, + 0.20881485055352217, + -0.8757053145101134, + -0.009522585602656841, + 0.48275203003424416, + -0.46620781843123343, + -0.24352296472296753, + -0.8504979927584349 + ], + [ + 0.09381310487670563, + -0.9747559255252355, + 0.20260796382875454, + -0.8686855176341933, + 0.019281282774404274, + 0.49498858935048906, + -0.4863996019796951, + -0.22243902038090158, + -0.8449475187288137 + ], + [ + 0.05288890896545945, + -0.9640326016606322, + 0.26046862813758614, + -0.8766487531717617, + 0.08008669693725434, + 0.4744186806356553, + -0.4782151470529126, + -0.25343098450882673, + -0.8408822802390641 + ], + [ + 0.008279490890900298, + -0.9613181026544766, + 0.2753161011262965, + -0.9081161129055255, + 0.1080368934426994, + 0.40454067179532166, + -0.418636567337287, + -0.25336837838224496, + -0.8720939681731581 + ], + [ + 0.08034836028137687, + -0.9389522084520714, + 0.3345338417007645, + -0.9518281448881396, + 0.027362124703157187, + 0.3054087371548687, + -0.29591776492616473, + -0.34295781719434093, + -0.8915226368558435 + ], + [ + 0.27750762122260464, + -0.8571296409843363, + 0.43395656315976383, + -0.9494849287008575, + -0.17579994053262193, + 0.25994759294645176, + -0.14651924901970714, + -0.4841726545921293, + -0.8626174993656874 + ], + [ + 0.5074439895051789, + -0.7651945542171885, + 0.3962043559975411, + -0.8609571543484875, + -0.4313493079708463, + 0.2696118559878756, + -0.035403049179737106, + -0.47792789070050135, + -0.8776853396288142 + ], + [ + 0.7078870779701163, + -0.6672901997442526, + 0.23155922388927952, + -0.7063247265108668, + -0.6692866608673861, + 0.23056614301395897, + 0.0011249721238527494, + -0.3267707987416553, + -0.9451029465235312 + ], + [ + 0.8611696338830469, + -0.5080045750915667, + 0.017838535920182565, + -0.5074509473277271, + -0.857123252522577, + 0.08850574016023458, + -0.029671496995116883, + -0.08527063780197361, + -0.9959159204445491 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0024064332246780396, + -0.0007572034373879433, + -0.005632176995277405, + -0.017312616109848022, + 0.00951482355594635, + -0.01251220703125, + 1.0 + ], + [ + -0.021736979484558105, + 0.017475130036473274, + -0.004304155707359314, + 0.030315011739730835, + 0.012132138013839722, + -0.07198494672775269, + 1.0 + ], + [ + -0.015230581164360046, + -0.0007068016566336155, + -0.00868496298789978, + 0.05700552463531494, + 0.052442148327827454, + -0.1462240219116211, + 1.0 + ], + [ + -0.0023001134395599365, + 0.007455022074282169, + -0.011519968509674072, + 0.029192954301834106, + -0.015413403511047363, + -0.11389553546905518, + 1.0 + ], + [ + 0.009640306234359741, + 0.0033605778589844704, + -0.01719324290752411, + -0.053863734006881714, + -0.018728509545326233, + -0.1430039405822754, + 1.0 + ], + [ + 0.02339199185371399, + 0.002193063497543335, + -0.015462517738342285, + -0.01022365689277649, + 0.006823703646659851, + -0.07593071460723877, + 1.0 + ], + [ + 0.026531115174293518, + -0.0005032457411289215, + -0.02033606916666031, + -0.023394539952278137, + 0.016652241349220276, + 0.001003861427307129, + 1.0 + ], + [ + 0.023558318614959717, + -0.0017521027475595474, + -0.01785382628440857, + -0.011203154921531677, + 0.025349877774715424, + 0.02149224281311035, + 1.0 + ], + [ + 0.01550978422164917, + 0.002069694921374321, + -0.010467186570167542, + -0.013422340154647827, + 0.02216137945652008, + 0.018682241439819336, + 1.0 + ], + [ + 0.014116942882537842, + 0.017671193927526474, + -0.0024119243025779724, + 0.009839847683906555, + -0.004369720816612244, + 0.027008652687072754, + 1.0 + ], + [ + 0.004113048315048218, + 0.029581859707832336, + 0.006919145584106445, + 0.018620088696479797, + -0.024123355746269226, + 0.02454066276550293, + 1.0 + ], + [ + -0.005157291889190674, + 0.026206642389297485, + -0.0003518834710121155, + -0.02009403705596924, + -0.001306280493736267, + 0.007931113243103027, + 1.0 + ], + [ + -0.010597139596939087, + 0.03286509960889816, + 0.0033712685108184814, + 0.001044347882270813, + -0.006283454596996307, + 0.009465336799621582, + 1.0 + ], + [ + -0.008596658706665039, + 0.02191746234893799, + -0.0030819103121757507, + 0.01970919966697693, + 0.050932854413986206, + 0.006641507148742676, + 1.0 + ], + [ + -0.013665348291397095, + 0.024518385529518127, + -0.004971764981746674, + 0.007606953382492065, + 0.050190269947052, + 0.02324700355529785, + 1.0 + ], + [ + -0.003268033266067505, + 0.004608049988746643, + -0.0022993385791778564, + 0.031561270356178284, + 0.04887102544307709, + -0.004104971885681152, + 1.0 + ], + [ + -0.001604706048965454, + 0.008071750402450562, + -0.003005780279636383, + 0.03679859638214111, + 0.07746294140815735, + -0.018265604972839355, + 1.0 + ], + [ + 0.0038111507892608643, + 0.007603093981742859, + -0.001338273286819458, + 0.016526252031326294, + 0.03255985677242279, + 0.0042601823806762695, + 1.0 + ], + [ + -3.2782554626464844e-05, + 0.008044332265853882, + -0.0029001906514167786, + 0.028530240058898926, + 0.08373236656188965, + -0.0017275810241699219, + 1.0 + ], + [ + -0.0012157261371612549, + 0.00797058641910553, + -0.019325729459524155, + -0.05068466067314148, + 0.13149422407150269, + -0.04441380500793457, + 1.0 + ], + [ + 0.004391372203826904, + 0.0045171380043029785, + -0.0014959387481212616, + -0.017098277807235718, + 0.1396428942680359, + -0.002413511276245117, + 1.0 + ], + [ + -8.791685104370117e-05, + -0.002900436520576477, + -0.0027694031596183777, + -0.02145153284072876, + 0.022964924573898315, + -0.03494560718536377, + 1.0 + ], + [ + 0.0012668967247009277, + -0.01079396903514862, + -0.0011110976338386536, + 0.03531163930892944, + -0.00934302806854248, + -0.047319650650024414, + 1.0 + ], + [ + -0.008525967597961426, + -0.015952542424201965, + -0.0018710196018218994, + -0.009983688592910767, + -0.06667780876159668, + -0.051140785217285156, + 1.0 + ], + [ + -0.007413625717163086, + -0.01889622211456299, + 0.020006254315376282, + 0.08449175953865051, + -0.13152730464935303, + 0.07509815692901611, + 1.0 + ], + [ + -0.0030527710914611816, + -0.023743003606796265, + 0.04786858707666397, + 0.1442277431488037, + -0.1533675491809845, + 0.20013654232025146, + 1.0 + ], + [ + -0.002139270305633545, + -0.020118221640586853, + 0.01977168768644333, + -0.012829035520553589, + -0.11163817346096039, + 0.24823367595672607, + 1.0 + ], + [ + 0.008976876735687256, + -0.01663462072610855, + 0.016631275415420532, + -0.16575056314468384, + -0.03653541952371597, + 0.2539175748825073, + 1.0 + ], + [ + 0.008892685174942017, + -0.03276285529136658, + 0.010770857334136963, + -0.24747298657894135, + 0.030800824984908104, + 0.2518100142478943, + 1.0 + ], + [ + 0.007382243871688843, + -0.034782201051712036, + 0.005309313535690308, + -0.28430503606796265, + 0.014110475778579712, + 0.02280282974243164, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.002137303352356 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.23312780261039734, + -0.010197360999882221, + 0.1971396505832672 + ], + [ + 0.21139082312583923, + 0.007277768570929766, + 0.1928354948759079 + ], + [ + 0.1961602419614792, + 0.00657096691429615, + 0.18415053188800812 + ], + [ + 0.19386012852191925, + 0.01402598898857832, + 0.17263056337833405 + ], + [ + 0.203500434756279, + 0.01738656684756279, + 0.15543732047080994 + ], + [ + 0.22689242660999298, + 0.019579630345106125, + 0.13997480273246765 + ], + [ + 0.2534235417842865, + 0.019076384603977203, + 0.11963873356580734 + ], + [ + 0.2769818603992462, + 0.017324281856417656, + 0.10178490728139877 + ], + [ + 0.2924916446208954, + 0.019393976777791977, + 0.09131772071123123 + ], + [ + 0.3066085875034332, + 0.03706517070531845, + 0.08890579640865326 + ], + [ + 0.31072163581848145, + 0.06664703041315079, + 0.0958249419927597 + ], + [ + 0.30556434392929077, + 0.09285367280244827, + 0.09547305852174759 + ], + [ + 0.2949672043323517, + 0.12571877241134644, + 0.09884432703256607 + ], + [ + 0.28637054562568665, + 0.14763623476028442, + 0.09576241672039032 + ], + [ + 0.27270519733428955, + 0.17215462028980255, + 0.09079065173864365 + ], + [ + 0.26943716406822205, + 0.1767626702785492, + 0.08849131315946579 + ], + [ + 0.2678324580192566, + 0.18483442068099976, + 0.0854855328798294 + ], + [ + 0.27164360880851746, + 0.19243751466274261, + 0.08414725959300995 + ], + [ + 0.271610826253891, + 0.2004818469285965, + 0.08124706894159317 + ], + [ + 0.27039510011672974, + 0.20845243334770203, + 0.061921339482069016 + ], + [ + 0.27478647232055664, + 0.212969571352005, + 0.060425400733947754 + ], + [ + 0.27469855546951294, + 0.21006913483142853, + 0.057655997574329376 + ], + [ + 0.27596545219421387, + 0.1992751657962799, + 0.05654489994049072 + ], + [ + 0.26743948459625244, + 0.18332262337207794, + 0.05467388033866882 + ], + [ + 0.26002585887908936, + 0.16442640125751495, + 0.0746801346540451 + ], + [ + 0.2569730877876282, + 0.1406833976507187, + 0.12254872173070908 + ], + [ + 0.25483381748199463, + 0.12056517601013184, + 0.1423204094171524 + ], + [ + 0.2638106942176819, + 0.10393055528402328, + 0.15895168483257294 + ], + [ + 0.2727033793926239, + 0.07116769999265671, + 0.1697225421667099 + ], + [ + 0.28008562326431274, + 0.03638549894094467, + 0.1750318557024002 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.5701694940701622, + -0.7772585809676484, + 0.2660373025422053, + -0.7982957737054079, + -0.6006571783304003, + -0.043986495703177184, + 0.19398609670762315, + -0.18729669626642959, + -0.9629586397409919 + ], + [ + 0.5124661245477885, + -0.8114935119736314, + 0.28081444267642675, + -0.8391834296048336, + -0.5426159117241972, + -0.036594314044497755, + 0.1820704332604271, + -0.2169014807889053, + -0.9590641818793675 + ], + [ + 0.3879305208566596, + -0.8705262057774493, + 0.3028102310731895, + -0.9124349362788428, + -0.4091561427840996, + -0.007330612516119217, + 0.13027815644115004, + -0.27345086556227083, + -0.9530226786795474 + ], + [ + 0.28111535213544014, + -0.9009234166768818, + 0.3306223768546542, + -0.9485731749557411, + -0.31310217616806457, + -0.04664717604750626, + 0.14554411890609753, + -0.3005062804037143, + -0.9426096142570219 + ], + [ + 0.142638779320656, + -0.9515776257703782, + 0.2723126893244659, + -0.9760854948604999, + -0.18083716048681958, + -0.12064422120432133, + 0.1640465950784903, + -0.24859192167138927, + -0.9546155095759127 + ], + [ + 0.06825990086893496, + -0.9652984980718715, + 0.25207021948963465, + -0.985187117518765, + -0.10505821265789894, + -0.13553270980909082, + 0.15731156794219145, + -0.23908488361524888, + -0.9581709080421158 + ], + [ + 0.06942293889032558, + -0.9710813927307663, + 0.2284324500763963, + -0.9875945366989224, + -0.0992309622969525, + -0.12169735906773718, + 0.14084561277608576, + -0.21715005137852475, + -0.9659235831824549 + ], + [ + 0.09092858779489704, + -0.9717312077267156, + 0.2178771485300933, + -0.9891128064192599, + -0.11354462686754513, + -0.09361342791995972, + 0.11570586890491444, + -0.2069929410378252, + -0.971476234532513 + ], + [ + 0.10964600104475031, + -0.9727743556060502, + 0.20417592299320766, + -0.9895475223290833, + -0.1261874954249942, + -0.0698027008842736, + 0.09366672572086046, + -0.1943881917030989, + -0.976442407630441 + ], + [ + 0.13627176108412836, + -0.9668160497555452, + 0.2160942689339846, + -0.985810735733787, + -0.1539193417677947, + -0.06697782873293669, + 0.09801632743089304, + -0.20390086357063775, + -0.9740725010963547 + ], + [ + 0.15999296381663675, + -0.9576661194261424, + 0.23932792405492972, + -0.9795509369396211, + -0.1839926916077279, + -0.08140424666842831, + 0.12199267793551863, + -0.2214097855520784, + -0.9675202806101295 + ], + [ + 0.16772970236897372, + -0.9607606996101358, + 0.220919951629222, + -0.9780933214233641, + -0.19020602200511366, + -0.08458796474677605, + 0.12328909736966652, + -0.20189241510674072, + -0.971616823234417 + ], + [ + 0.17683838322134016, + -0.9584579718601298, + 0.223800139404399, + -0.9756803788315471, + -0.20063135217982686, + -0.0882884980369606, + 0.12952213935382065, + -0.20274460954674056, + -0.9706279610216 + ], + [ + 0.1842957607453901, + -0.9545912099933417, + 0.234074121540007, + -0.9797011028677952, + -0.19752691157224544, + -0.034188715160944155, + 0.07887218528038738, + -0.22302183975606152, + -0.9716174336542742 + ], + [ + 0.2075800603426815, + -0.9503334092229601, + 0.2318985335503322, + -0.9777951644945366, + -0.20854541719662756, + 0.020625839555921163, + 0.028759952003275815, + -0.23103077777852543, + -0.9725212824816838 + ], + [ + 0.20360757515369665, + -0.9459917821999972, + 0.2522766405161296, + -0.9788461136131463, + -0.19139905634144072, + 0.07229583041950031, + -0.020105750532395786, + -0.2616599878500316, + -0.964950677264828 + ], + [ + 0.18484955339873066, + -0.9436239837264266, + 0.2745986524813226, + -0.9779268376761283, + -0.1489165538914805, + 0.14657066599375584, + -0.09741531071170056, + -0.2956309140014862, + -0.950322376841453 + ], + [ + 0.1883115491831594, + -0.9402462638141733, + 0.2836824348240942, + -0.9734990177326905, + -0.1405392123957474, + 0.1804117298089828, + -0.12976294894046203, + -0.31013818398041687, + -0.9417939710571543 + ], + [ + 0.1839329145368735, + -0.9372775862201088, + 0.29610709096436383, + -0.9597523988800978, + -0.10620624998432598, + 0.2599914716065985, + -0.2122357552201538, + -0.3320104800057879, + -0.9190892368929459 + ], + [ + 0.1359017420609041, + -0.9607522013164342, + 0.24183863250200024, + -0.93108898833586, + -0.040447212260512067, + 0.36254285101220546, + -0.33853214367991197, + -0.27444349270110074, + -0.90004264177288 + ], + [ + 0.1256601455209002, + -0.9698483830042594, + 0.20881485055352217, + -0.8757053145101134, + -0.009522585602656841, + 0.48275203003424416, + -0.46620781843123343, + -0.24352296472296753, + -0.8504979927584349 + ], + [ + 0.09381310487670563, + -0.9747559255252355, + 0.20260796382875454, + -0.8686855176341933, + 0.019281282774404274, + 0.49498858935048906, + -0.4863996019796951, + -0.22243902038090158, + -0.8449475187288137 + ], + [ + 0.05288890896545945, + -0.9640326016606322, + 0.26046862813758614, + -0.8766487531717617, + 0.08008669693725434, + 0.4744186806356553, + -0.4782151470529126, + -0.25343098450882673, + -0.8408822802390641 + ], + [ + 0.008279490890900298, + -0.9613181026544766, + 0.2753161011262965, + -0.9081161129055255, + 0.1080368934426994, + 0.40454067179532166, + -0.418636567337287, + -0.25336837838224496, + -0.8720939681731581 + ], + [ + 0.08034836028137687, + -0.9389522084520714, + 0.3345338417007645, + -0.9518281448881396, + 0.027362124703157187, + 0.3054087371548687, + -0.29591776492616473, + -0.34295781719434093, + -0.8915226368558435 + ], + [ + 0.27750762122260464, + -0.8571296409843363, + 0.43395656315976383, + -0.9494849287008575, + -0.17579994053262193, + 0.25994759294645176, + -0.14651924901970714, + -0.4841726545921293, + -0.8626174993656874 + ], + [ + 0.5074439895051789, + -0.7651945542171885, + 0.3962043559975411, + -0.8609571543484875, + -0.4313493079708463, + 0.2696118559878756, + -0.035403049179737106, + -0.47792789070050135, + -0.8776853396288142 + ], + [ + 0.7078870779701163, + -0.6672901997442526, + 0.23155922388927952, + -0.7063247265108668, + -0.6692866608673861, + 0.23056614301395897, + 0.0011249721238527494, + -0.3267707987416553, + -0.9451029465235312 + ], + [ + 0.8611696338830469, + -0.5080045750915667, + 0.017838535920182565, + -0.5074509473277271, + -0.857123252522577, + 0.08850574016023458, + -0.029671496995116883, + -0.08527063780197361, + -0.9959159204445491 + ], + [ + 0.8720637547697345, + -0.4707304843291259, + -0.13385670973163372, + -0.4874308053785318, + -0.8599116557852005, + -0.1515359832277161, + -0.043772338125215006, + 0.19739492234609618, + -0.9793463264070736 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006195.json b/json/chunk-0006/episode_0006195.json new file mode 100644 index 0000000000000000000000000000000000000000..dd1fd829249d5a5ce6e6d6840b8044be05015107 --- /dev/null +++ b/json/chunk-0006/episode_0006195.json @@ -0,0 +1,1642 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 26, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the blue berries on the bottom right corner of the burner." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006195.mp4", + "start": 0, + "end": 26, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.27542421221733093, + 0.12938851118087769, + 0.07989434152841568, + 0.08805370330810547, + -0.23691922426223755, + -0.030588755384087563, + 0.0, + 1.0001531839370728 + ], + [ + 0.2733061611652374, + 0.12800233066082, + 0.07105029374361038, + 0.07173637300729752, + -0.2069493681192398, + -0.023534826934337616, + 0.0, + 1.0001531839370728 + ], + [ + 0.29989081621170044, + 0.11611425131559372, + 0.07135633379220963, + 0.07278849929571152, + -0.1925453245639801, + -0.02451881393790245, + 0.0, + 1.0001531839370728 + ], + [ + 0.3261648714542389, + 0.09731646627187729, + 0.08078383654356003, + 0.06084355711936951, + -0.21321968734264374, + -0.05734660476446152, + 0.0, + 1.0001531839370728 + ], + [ + 0.3548303544521332, + 0.07532018423080444, + 0.0818914845585823, + 0.024076128378510475, + -0.23161406815052032, + -0.08342862874269485, + 0.0, + 1.0001531839370728 + ], + [ + 0.36911171674728394, + 0.05941644683480263, + 0.06714749336242676, + 0.01243659108877182, + -0.20525720715522766, + -0.11299104988574982, + 0.0, + 1.0001531839370728 + ], + [ + 0.3757818937301636, + 0.05058135837316513, + 0.06134995073080063, + 0.030144857242703438, + -0.2025865763425827, + -0.14376085996627808, + 0.0, + 1.0001531839370728 + ], + [ + 0.38439202308654785, + 0.040495239198207855, + 0.055704277008771896, + 0.05368490144610405, + -0.20020468533039093, + -0.18517212569713593, + 0.0, + 1.0001531839370728 + ], + [ + 0.39289772510528564, + 0.03537016734480858, + 0.04951516166329384, + 0.07901555299758911, + -0.19461654126644135, + -0.20586223900318146, + 0.0, + 1.0001531839370728 + ], + [ + 0.40036797523498535, + 0.034445151686668396, + 0.031994324177503586, + 0.08567056059837341, + -0.164925217628479, + -0.20036545395851135, + 0.0, + 1.0001531839370728 + ], + [ + 0.4070536196231842, + 0.03464644029736519, + 0.02451552450656891, + 0.08805952221155167, + -0.1535533219575882, + -0.19814059138298035, + 0.0, + 1.0001531839370728 + ], + [ + 0.4063865542411804, + 0.03238808736205101, + 0.014624025672674179, + 0.06603804975748062, + -0.13068269193172455, + -0.18834125995635986, + 0.0, + 0.9499720335006714 + ], + [ + 0.4064309597015381, + 0.02734534442424774, + 0.014509567990899086, + 0.03163895010948181, + -0.14079280197620392, + -0.18583448231220245, + 0.0, + 0.8298270106315613 + ], + [ + 0.403281569480896, + 0.02391008660197258, + 0.017083480954170227, + 0.014265059493482113, + -0.14285223186016083, + -0.20642615854740143, + 0.0, + 0.8298270106315613 + ], + [ + 0.4068218469619751, + 0.02404925227165222, + 0.04745632782578468, + -0.0035645565949380398, + -0.2112019658088684, + -0.21420127153396606, + 0.0, + 0.8298270106315613 + ], + [ + 0.4047795236110687, + 0.03692953661084175, + 0.08465561270713806, + -0.024329619482159615, + -0.27990585565567017, + -0.19602257013320923, + 0.0, + 0.8289023637771606 + ], + [ + 0.37421920895576477, + 0.041294388473033905, + 0.1251596063375473, + -0.008859065361320972, + -0.33713024854660034, + -0.19820623099803925, + 0.0, + 0.8289023637771606 + ], + [ + 0.3315882980823517, + 0.03895564749836922, + 0.10985767096281052, + -0.0003800826088991016, + -0.2606801986694336, + -0.22997279465198517, + 0.0, + 0.8289023637771606 + ], + [ + 0.28648558259010315, + 0.02997428923845291, + 0.08037776499986649, + 0.029448924586176872, + -0.1758577972650528, + -0.29271796345710754, + 0.0, + 0.8289023637771606 + ], + [ + 0.2656395733356476, + 0.008846921846270561, + 0.0575687475502491, + 0.06312702596187592, + -0.12981173396110535, + -0.3931160569190979, + 0.0, + 0.8289023637771606 + ], + [ + 0.25618088245391846, + -0.01610664278268814, + 0.037250928580760956, + 0.14323130249977112, + -0.09079304337501526, + -0.5196648240089417, + 0.0, + 0.8298270106315613 + ], + [ + 0.25818511843681335, + -0.023551827296614647, + 0.01867830753326416, + 0.15707334876060486, + -0.06336849182844162, + -0.5461277365684509, + 0.0, + 0.8289023637771606 + ], + [ + 0.26424992084503174, + -0.026313873007893562, + 0.009087203070521355, + 0.167765274643898, + -0.060550592839717865, + -0.5486329197883606, + 0.0, + 0.8289023637771606 + ], + [ + 0.2706964313983917, + -0.028254956007003784, + 0.007511360105127096, + 0.1600382924079895, + -0.0846729725599289, + -0.5394154787063599, + 0.0, + 0.9066257476806641 + ], + [ + 0.26246678829193115, + -0.021536463871598244, + 0.009594026952981949, + 0.11540034413337708, + -0.07712025940418243, + -0.513638436794281, + 0.0, + 1.0143678188323975 + ], + [ + 0.26188400387763977, + -0.015419292263686657, + 0.05625391751527786, + 0.05959450080990791, + -0.20812775194644928, + -0.43620172142982483, + 0.0, + 1.0092895030975342 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9499720335006714 + ], + [ + 0.8298270106315613 + ], + [ + 0.8298270106315613 + ], + [ + 0.8298270106315613 + ], + [ + 0.8289023637771606 + ], + [ + 0.8289023637771606 + ], + [ + 0.8289023637771606 + ], + [ + 0.8289023637771606 + ], + [ + 0.8289023637771606 + ], + [ + 0.8298270106315613 + ], + [ + 0.8289023637771606 + ], + [ + 0.8289023637771606 + ], + [ + 0.9066257476806641 + ], + [ + 1.0143678188323975 + ], + [ + 1.0092895030975342 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.27542421221733093, + 0.12938851118087769, + 0.07989434152841568 + ], + [ + 0.2733061611652374, + 0.12800233066082, + 0.07105029374361038 + ], + [ + 0.29989081621170044, + 0.11611425131559372, + 0.07135633379220963 + ], + [ + 0.3261648714542389, + 0.09731646627187729, + 0.08078383654356003 + ], + [ + 0.3548303544521332, + 0.07532018423080444, + 0.0818914845585823 + ], + [ + 0.36911171674728394, + 0.05941644683480263, + 0.06714749336242676 + ], + [ + 0.3757818937301636, + 0.05058135837316513, + 0.06134995073080063 + ], + [ + 0.38439202308654785, + 0.040495239198207855, + 0.055704277008771896 + ], + [ + 0.39289772510528564, + 0.03537016734480858, + 0.04951516166329384 + ], + [ + 0.40036797523498535, + 0.034445151686668396, + 0.031994324177503586 + ], + [ + 0.4070536196231842, + 0.03464644029736519, + 0.02451552450656891 + ], + [ + 0.4063865542411804, + 0.03238808736205101, + 0.014624025672674179 + ], + [ + 0.4064309597015381, + 0.02734534442424774, + 0.014509567990899086 + ], + [ + 0.403281569480896, + 0.02391008660197258, + 0.017083480954170227 + ], + [ + 0.4068218469619751, + 0.02404925227165222, + 0.04745632782578468 + ], + [ + 0.4047795236110687, + 0.03692953661084175, + 0.08465561270713806 + ], + [ + 0.37421920895576477, + 0.041294388473033905, + 0.1251596063375473 + ], + [ + 0.3315882980823517, + 0.03895564749836922, + 0.10985767096281052 + ], + [ + 0.28648558259010315, + 0.02997428923845291, + 0.08037776499986649 + ], + [ + 0.2656395733356476, + 0.008846921846270561, + 0.0575687475502491 + ], + [ + 0.25618088245391846, + -0.01610664278268814, + 0.037250928580760956 + ], + [ + 0.25818511843681335, + -0.023551827296614647, + 0.01867830753326416 + ], + [ + 0.26424992084503174, + -0.026313873007893562, + 0.009087203070521355 + ], + [ + 0.2706964313983917, + -0.028254956007003784, + 0.007511360105127096 + ], + [ + 0.26246678829193115, + -0.021536463871598244, + 0.009594026952981949 + ], + [ + 0.26188400387763977, + -0.015419292263686657, + 0.05625391751527786 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9716109407739083, + -0.009834849021815686, + 0.23637989659266384, + -0.029729642371825196, + -0.9962910524330325, + 0.08074829537719909, + 0.23470902865651277, + -0.08548341702691876, + -0.9682996732832856 + ], + [ + 0.9783912750264511, + -0.008748792755257381, + 0.2065767934145583, + -0.023030521599288964, + -0.9974984058095967, + 0.06683206926452273, + 0.20547532218487996, + -0.07014548476301832, + -0.9761452263574212 + ], + [ + 0.9812253307980189, + -0.010539272032363572, + 0.192576670303925, + -0.024063303573609536, + -0.9973934896444898, + 0.06802340946991384, + 0.19135780000157587, + -0.07138032333784355, + -0.9789213665145644 + ], + [ + 0.975748030790652, + -0.04436324665774437, + 0.21435410598854543, + -0.05601725687325003, + -0.997246253515114, + 0.048600172658796924, + 0.21160776767538747, + -0.05942905178490301, + -0.9755461754644862 + ], + [ + 0.9699118821758572, + -0.07780083805372186, + 0.23069020441324364, + -0.08110668229666936, + -0.9966935434474963, + 0.00486688164028762, + 0.22954878980494045, + -0.023430963450357153, + -0.9730150785321238 + ], + [ + 0.9727657490314444, + -0.1102234736429127, + 0.2039058198516722, + -0.11038398017925623, + -0.993832254447946, + -0.010622002574761896, + 0.20381897465907836, + -0.012175215686089789, + -0.9789328831395535 + ], + [ + 0.9694445832003024, + -0.1371993146317716, + 0.20335571830702098, + -0.14033630711391187, + -0.9901033719047494, + 0.0010167833965999198, + 0.20120368040675135, + -0.029523905693826034, + -0.9791043958553961 + ], + [ + 0.9632719326295166, + -0.1733617093669368, + 0.20506804122917338, + -0.1804381722390267, + -0.9834532479907041, + 0.016179462771492785, + 0.19886993188321744, + -0.05258732491683258, + -0.9786139808171842 + ], + [ + 0.9604056052155149, + -0.18883085407482067, + 0.20485112159808833, + -0.2005523720976307, + -0.9789512001852795, + 0.037858865564285124, + 0.1933903294289414, + -0.07744324505839685, + -0.9780606956003247 + ], + [ + 0.9666960136198113, + -0.18453053398682542, + 0.17733386387856845, + -0.19632681027092766, + -0.9791957534726814, + 0.05129775774739895, + 0.16417856382734244, + -0.08440472977034358, + -0.9828129225707131 + ], + [ + 0.9688983393162072, + -0.1828957443119517, + 0.1666887962128011, + -0.19453051409075395, + -0.9792832223247869, + 0.056233882675561155, + 0.15295060365321392, + -0.08691097275809877, + -0.9844046909967253 + ], + [ + 0.9739401016041646, + -0.17837447158205647, + 0.14008292677943274, + -0.1856332685346019, + -0.9817850103349377, + 0.04047818047771919, + 0.1303110436625774, + -0.06542737477118095, + -0.9893120289019646 + ], + [ + 0.9730578303783763, + -0.1803115790709926, + 0.14368783244329372, + -0.18293845584068363, + -0.9831107520578716, + 0.005174027718550911, + 0.1403281159068029, + -0.031320658376401765, + -0.9896095372645292 + ], + [ + 0.9687998825245692, + -0.2029547064142904, + 0.14225390948817693, + -0.2028754846761823, + -0.9790863257064107, + -0.015215272988826578, + 0.14236686882061203, + -0.014119276150341219, + -0.9897132517568941 + ], + [ + 0.9554339489202301, + -0.21329584896084663, + 0.20408539895535702, + -0.20784370713891792, + -0.9769814395354248, + -0.04804435665134062, + 0.2096353086992915, + 0.003485343506915834, + -0.9777734347624668 + ], + [ + 0.9426757966407261, + -0.2013040354805386, + 0.26615602139914646, + -0.18718947246346485, + -0.979249733397947, + -0.07765346765534645, + 0.27626516940545115, + 0.023380439245237677, + -0.9607970187474968 + ], + [ + 0.925231299209445, + -0.19977626501898413, + 0.3225468755053558, + -0.18582644716029664, + -0.9798058736256499, + -0.0738172171275712, + 0.3307802510715903, + 0.008360259789153612, + -0.9436707749831368 + ], + [ + 0.9407769598362001, + -0.22804640064055592, + 0.25086560345380793, + -0.2202496834543976, + -0.97365019606047, + -0.0591216766477876, + 0.257737829546991, + 0.0003672414668268488, + -0.9662148189476866 + ], + [ + 0.9426960100026346, + -0.2834982225008065, + 0.17593462014054048, + -0.2841051940500563, + -0.9585344576718199, + -0.022269534561153253, + 0.17495276916611782, + -0.028990538019736254, + -0.9841499262137013 + ], + [ + 0.9159479639469318, + -0.37476233119775637, + 0.14350094932331797, + -0.3798456024385972, + -0.9250081898555506, + 0.008784475409328186, + 0.12944746289336623, + -0.06255432691174236, + -0.9896111915975332 + ], + [ + 0.8644105636993655, + -0.48027049082230727, + 0.1487771252923172, + -0.49454385735212797, + -0.8655243831987662, + 0.0793341997103024, + 0.09066835456885651, + -0.14215413372004387, + -0.9856832410800545 + ], + [ + 0.8528269471419956, + -0.504523088166957, + 0.1346946611226307, + -0.5183396613396264, + -0.8491671108165334, + 0.10118899836356926, + 0.06332609028500724, + -0.15611428958931933, + -0.985706921389536 + ], + [ + 0.8516746129474194, + -0.5055777438451003, + 0.1379909366203496, + -0.5205655174371353, + -0.8465288657822522, + 0.1113571796195524, + 0.0605135994324483, + -0.1666734061748058, + -0.9841534839433417 + ], + [ + 0.8549351422148491, + -0.49550749886981904, + 0.15348687621374035, + -0.5117944000496238, + -0.8539669847419052, + 0.09384498414227704, + 0.08457183150388439, + -0.15878509859113, + -0.9836843486512753 + ], + [ + 0.8683737763455945, + -0.4803549024587313, + 0.1232321071764746, + -0.4898889995228732, + -0.8695283993292778, + 0.06268277998256265, + 0.07704383623476797, + -0.11480213605907659, + -0.9903962423467203 + ], + [ + 0.886803193640256, + -0.4105955951650894, + 0.21211165215628536, + -0.4133821381936211, + -0.9099535198292295, + -0.03316322621317759, + 0.20662841908099916, + -0.0582739133868867, + -0.9766825725109797 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.002118051052093506, + -0.0013861805200576782, + -0.008844047784805298, + -0.016317330300807953, + 0.02996985614299774, + 0.007053928449749947, + 1.0 + ], + [ + 0.026584655046463013, + -0.011888079345226288, + 0.00030604004859924316, + 0.0010521262884140015, + 0.014404043555259705, + -0.0009839870035648346, + 1.0 + ], + [ + 0.026274055242538452, + -0.01879778504371643, + 0.009427502751350403, + -0.01194494217634201, + -0.020674362778663635, + -0.03282779082655907, + 1.0 + ], + [ + 0.028665482997894287, + -0.021996282041072845, + 0.0011076480150222778, + -0.03676743060350418, + -0.018394380807876587, + -0.026082023978233337, + 1.0 + ], + [ + 0.014281362295150757, + -0.015903737396001816, + -0.014743991196155548, + -0.011639537289738655, + 0.026356860995292664, + -0.029562421143054962, + 1.0 + ], + [ + 0.006670176982879639, + -0.008835088461637497, + -0.005797542631626129, + 0.017708266153931618, + 0.0026706308126449585, + -0.03076981008052826, + 1.0 + ], + [ + 0.008610129356384277, + -0.010086119174957275, + -0.005645673722028732, + 0.023540044203400612, + 0.0023818910121917725, + -0.04141126573085785, + 1.0 + ], + [ + 0.008505702018737793, + -0.005125071853399277, + -0.006189115345478058, + 0.02533065155148506, + 0.005588144063949585, + -0.020690113306045532, + 1.0 + ], + [ + 0.007470250129699707, + -0.0009250156581401825, + -0.017520837485790253, + 0.006655007600784302, + 0.02969132363796234, + 0.005496785044670105, + 1.0 + ], + [ + 0.0066856443881988525, + 0.0002012886106967926, + -0.007478799670934677, + 0.002388961613178253, + 0.011371895670890808, + 0.002224862575531006, + 1.0 + ], + [ + -0.0006670653820037842, + -0.0022583529353141785, + -0.00989149883389473, + -0.022021472454071045, + 0.022870630025863647, + 0.009799331426620483, + 0.0 + ], + [ + 4.4405460357666016e-05, + -0.005042742937803268, + -0.00011445768177509308, + -0.03439909964799881, + -0.01011011004447937, + 0.0025067776441574097, + 0.0 + ], + [ + -0.00314939022064209, + -0.0034352578222751617, + 0.002573912963271141, + -0.017373889684677124, + -0.002059429883956909, + -0.020591676235198975, + 0.0 + ], + [ + 0.0035402774810791016, + 0.00013916566967964172, + 0.030372846871614456, + -0.017829615622758865, + -0.06834973394870758, + -0.007775112986564636, + 0.0 + ], + [ + -0.002042323350906372, + 0.01288028433918953, + 0.03719928488135338, + -0.020765062421560287, + -0.06870388984680176, + 0.018178701400756836, + 0.0 + ], + [ + -0.030560314655303955, + 0.004364851862192154, + 0.04050399363040924, + 0.015470554120838642, + -0.057224392890930176, + -0.002183660864830017, + 0.0 + ], + [ + -0.042630910873413086, + -0.002338740974664688, + -0.015301935374736786, + 0.008478982374072075, + 0.07645004987716675, + -0.03176656365394592, + 0.0 + ], + [ + -0.045102715492248535, + -0.008981358259916306, + -0.02947990596294403, + 0.029829006642103195, + 0.0848224014043808, + -0.06274516880512238, + 0.0 + ], + [ + -0.020846009254455566, + -0.02112736739218235, + -0.022809017449617386, + 0.033678099513053894, + 0.04604606330394745, + -0.10039809346199036, + 0.0 + ], + [ + -0.009458690881729126, + -0.024953564628958702, + -0.020317818969488144, + 0.0801042765378952, + 0.03901869058609009, + -0.12654876708984375, + 0.0 + ], + [ + 0.0020042359828948975, + -0.007445184513926506, + -0.018572621047496796, + 0.01384204626083374, + 0.02742455154657364, + -0.026462912559509277, + 0.0 + ], + [ + 0.006064802408218384, + -0.0027620457112789154, + -0.009591104462742805, + 0.010691925883293152, + 0.002817898988723755, + -0.002505183219909668, + 0.0 + ], + [ + 0.006446510553359985, + -0.0019410829991102219, + -0.0015758429653942585, + -0.007726982235908508, + -0.02412237972021103, + 0.009217441082000732, + 1.0 + ], + [ + -0.008229643106460571, + 0.0067184921354055405, + 0.0020826668478548527, + -0.04463794827461243, + 0.00755271315574646, + 0.025777041912078857, + 1.0 + ], + [ + -0.0005827844142913818, + 0.006117171607911587, + 0.046659890562295914, + -0.05580584332346916, + -0.13100749254226685, + 0.07743671536445618, + 1.0 + ], + [ + -0.011239945888519287, + 0.002276523970067501, + 0.025588959455490112, + -0.02945457398891449, + -0.01656678318977356, + 0.07031518220901489, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9499720335006714 + ], + [ + 0.8298270106315613 + ], + [ + 0.8298270106315613 + ], + [ + 0.8298270106315613 + ], + [ + 0.8289023637771606 + ], + [ + 0.8289023637771606 + ], + [ + 0.8289023637771606 + ], + [ + 0.8289023637771606 + ], + [ + 0.8289023637771606 + ], + [ + 0.8298270106315613 + ], + [ + 0.8289023637771606 + ], + [ + 0.8289023637771606 + ], + [ + 0.9066257476806641 + ], + [ + 1.0143678188323975 + ], + [ + 1.0092895030975342 + ], + [ + 1.0047606229782104 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2733061611652374, + 0.12800233066082, + 0.07105029374361038 + ], + [ + 0.29989081621170044, + 0.11611425131559372, + 0.07135633379220963 + ], + [ + 0.3261648714542389, + 0.09731646627187729, + 0.08078383654356003 + ], + [ + 0.3548303544521332, + 0.07532018423080444, + 0.0818914845585823 + ], + [ + 0.36911171674728394, + 0.05941644683480263, + 0.06714749336242676 + ], + [ + 0.3757818937301636, + 0.05058135837316513, + 0.06134995073080063 + ], + [ + 0.38439202308654785, + 0.040495239198207855, + 0.055704277008771896 + ], + [ + 0.39289772510528564, + 0.03537016734480858, + 0.04951516166329384 + ], + [ + 0.40036797523498535, + 0.034445151686668396, + 0.031994324177503586 + ], + [ + 0.4070536196231842, + 0.03464644029736519, + 0.02451552450656891 + ], + [ + 0.4063865542411804, + 0.03238808736205101, + 0.014624025672674179 + ], + [ + 0.4064309597015381, + 0.02734534442424774, + 0.014509567990899086 + ], + [ + 0.403281569480896, + 0.02391008660197258, + 0.017083480954170227 + ], + [ + 0.4068218469619751, + 0.02404925227165222, + 0.04745632782578468 + ], + [ + 0.4047795236110687, + 0.03692953661084175, + 0.08465561270713806 + ], + [ + 0.37421920895576477, + 0.041294388473033905, + 0.1251596063375473 + ], + [ + 0.3315882980823517, + 0.03895564749836922, + 0.10985767096281052 + ], + [ + 0.28648558259010315, + 0.02997428923845291, + 0.08037776499986649 + ], + [ + 0.2656395733356476, + 0.008846921846270561, + 0.0575687475502491 + ], + [ + 0.25618088245391846, + -0.01610664278268814, + 0.037250928580760956 + ], + [ + 0.25818511843681335, + -0.023551827296614647, + 0.01867830753326416 + ], + [ + 0.26424992084503174, + -0.026313873007893562, + 0.009087203070521355 + ], + [ + 0.2706964313983917, + -0.028254956007003784, + 0.007511360105127096 + ], + [ + 0.26246678829193115, + -0.021536463871598244, + 0.009594026952981949 + ], + [ + 0.26188400387763977, + -0.015419292263686657, + 0.05625391751527786 + ], + [ + 0.2506440579891205, + -0.013142768293619156, + 0.08184287697076797 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9783912750264511, + -0.008748792755257381, + 0.2065767934145583, + -0.023030521599288964, + -0.9974984058095967, + 0.06683206926452273, + 0.20547532218487996, + -0.07014548476301832, + -0.9761452263574212 + ], + [ + 0.9812253307980189, + -0.010539272032363572, + 0.192576670303925, + -0.024063303573609536, + -0.9973934896444898, + 0.06802340946991384, + 0.19135780000157587, + -0.07138032333784355, + -0.9789213665145644 + ], + [ + 0.975748030790652, + -0.04436324665774437, + 0.21435410598854543, + -0.05601725687325003, + -0.997246253515114, + 0.048600172658796924, + 0.21160776767538747, + -0.05942905178490301, + -0.9755461754644862 + ], + [ + 0.9699118821758572, + -0.07780083805372186, + 0.23069020441324364, + -0.08110668229666936, + -0.9966935434474963, + 0.00486688164028762, + 0.22954878980494045, + -0.023430963450357153, + -0.9730150785321238 + ], + [ + 0.9727657490314444, + -0.1102234736429127, + 0.2039058198516722, + -0.11038398017925623, + -0.993832254447946, + -0.010622002574761896, + 0.20381897465907836, + -0.012175215686089789, + -0.9789328831395535 + ], + [ + 0.9694445832003024, + -0.1371993146317716, + 0.20335571830702098, + -0.14033630711391187, + -0.9901033719047494, + 0.0010167833965999198, + 0.20120368040675135, + -0.029523905693826034, + -0.9791043958553961 + ], + [ + 0.9632719326295166, + -0.1733617093669368, + 0.20506804122917338, + -0.1804381722390267, + -0.9834532479907041, + 0.016179462771492785, + 0.19886993188321744, + -0.05258732491683258, + -0.9786139808171842 + ], + [ + 0.9604056052155149, + -0.18883085407482067, + 0.20485112159808833, + -0.2005523720976307, + -0.9789512001852795, + 0.037858865564285124, + 0.1933903294289414, + -0.07744324505839685, + -0.9780606956003247 + ], + [ + 0.9666960136198113, + -0.18453053398682542, + 0.17733386387856845, + -0.19632681027092766, + -0.9791957534726814, + 0.05129775774739895, + 0.16417856382734244, + -0.08440472977034358, + -0.9828129225707131 + ], + [ + 0.9688983393162072, + -0.1828957443119517, + 0.1666887962128011, + -0.19453051409075395, + -0.9792832223247869, + 0.056233882675561155, + 0.15295060365321392, + -0.08691097275809877, + -0.9844046909967253 + ], + [ + 0.9739401016041646, + -0.17837447158205647, + 0.14008292677943274, + -0.1856332685346019, + -0.9817850103349377, + 0.04047818047771919, + 0.1303110436625774, + -0.06542737477118095, + -0.9893120289019646 + ], + [ + 0.9730578303783763, + -0.1803115790709926, + 0.14368783244329372, + -0.18293845584068363, + -0.9831107520578716, + 0.005174027718550911, + 0.1403281159068029, + -0.031320658376401765, + -0.9896095372645292 + ], + [ + 0.9687998825245692, + -0.2029547064142904, + 0.14225390948817693, + -0.2028754846761823, + -0.9790863257064107, + -0.015215272988826578, + 0.14236686882061203, + -0.014119276150341219, + -0.9897132517568941 + ], + [ + 0.9554339489202301, + -0.21329584896084663, + 0.20408539895535702, + -0.20784370713891792, + -0.9769814395354248, + -0.04804435665134062, + 0.2096353086992915, + 0.003485343506915834, + -0.9777734347624668 + ], + [ + 0.9426757966407261, + -0.2013040354805386, + 0.26615602139914646, + -0.18718947246346485, + -0.979249733397947, + -0.07765346765534645, + 0.27626516940545115, + 0.023380439245237677, + -0.9607970187474968 + ], + [ + 0.925231299209445, + -0.19977626501898413, + 0.3225468755053558, + -0.18582644716029664, + -0.9798058736256499, + -0.0738172171275712, + 0.3307802510715903, + 0.008360259789153612, + -0.9436707749831368 + ], + [ + 0.9407769598362001, + -0.22804640064055592, + 0.25086560345380793, + -0.2202496834543976, + -0.97365019606047, + -0.0591216766477876, + 0.257737829546991, + 0.0003672414668268488, + -0.9662148189476866 + ], + [ + 0.9426960100026346, + -0.2834982225008065, + 0.17593462014054048, + -0.2841051940500563, + -0.9585344576718199, + -0.022269534561153253, + 0.17495276916611782, + -0.028990538019736254, + -0.9841499262137013 + ], + [ + 0.9159479639469318, + -0.37476233119775637, + 0.14350094932331797, + -0.3798456024385972, + -0.9250081898555506, + 0.008784475409328186, + 0.12944746289336623, + -0.06255432691174236, + -0.9896111915975332 + ], + [ + 0.8644105636993655, + -0.48027049082230727, + 0.1487771252923172, + -0.49454385735212797, + -0.8655243831987662, + 0.0793341997103024, + 0.09066835456885651, + -0.14215413372004387, + -0.9856832410800545 + ], + [ + 0.8528269471419956, + -0.504523088166957, + 0.1346946611226307, + -0.5183396613396264, + -0.8491671108165334, + 0.10118899836356926, + 0.06332609028500724, + -0.15611428958931933, + -0.985706921389536 + ], + [ + 0.8516746129474194, + -0.5055777438451003, + 0.1379909366203496, + -0.5205655174371353, + -0.8465288657822522, + 0.1113571796195524, + 0.0605135994324483, + -0.1666734061748058, + -0.9841534839433417 + ], + [ + 0.8549351422148491, + -0.49550749886981904, + 0.15348687621374035, + -0.5117944000496238, + -0.8539669847419052, + 0.09384498414227704, + 0.08457183150388439, + -0.15878509859113, + -0.9836843486512753 + ], + [ + 0.8683737763455945, + -0.4803549024587313, + 0.1232321071764746, + -0.4898889995228732, + -0.8695283993292778, + 0.06268277998256265, + 0.07704383623476797, + -0.11480213605907659, + -0.9903962423467203 + ], + [ + 0.886803193640256, + -0.4105955951650894, + 0.21211165215628536, + -0.4133821381936211, + -0.9099535198292295, + -0.03316322621317759, + 0.20662841908099916, + -0.0582739133868867, + -0.9766825725109797 + ], + [ + 0.9103331042578682, + -0.3513448286146903, + 0.21874745872340262, + -0.34878356200989546, + -0.9357851006843115, + -0.051539035778152324, + 0.222808586378358, + -0.02937782740377822, + -0.9744194564421993 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006196.json b/json/chunk-0006/episode_0006196.json new file mode 100644 index 0000000000000000000000000000000000000000..605ce1b7cbc14acfe6319a5f8bc6b8c2ef7df296 --- /dev/null +++ b/json/chunk-0006/episode_0006196.json @@ -0,0 +1,2062 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 33, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut the mango on the top of blue cloth." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006196.mp4", + "start": 0, + "end": 33, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.23540063202381134, + 0.05764789506793022, + 0.08448382467031479, + 0.021044082939624786, + -0.21993547677993774, + 0.1308286190032959, + 0.0, + 1.0014774799346924 + ], + [ + 0.23275798559188843, + 0.05684717372059822, + 0.07779701054096222, + 0.011382129974663258, + -0.1933310329914093, + 0.12945044040679932, + 0.0, + 1.0014774799346924 + ], + [ + 0.24048253893852234, + 0.0847550705075264, + 0.07095315307378769, + -0.040224507451057434, + -0.2043292373418808, + 0.16798615455627441, + 0.0, + 1.0014774799346924 + ], + [ + 0.25632649660110474, + 0.10637849569320679, + 0.06362112611532211, + -0.03210985288023949, + -0.2032378613948822, + 0.13303320109844208, + 0.0, + 1.0014774799346924 + ], + [ + 0.265399694442749, + 0.11355723440647125, + 0.046051111072301865, + -0.036559220403432846, + -0.1601683646440506, + 0.11148632317781448, + 0.0, + 1.0014774799346924 + ], + [ + 0.26501771807670593, + 0.11351768672466278, + 0.0339372456073761, + -0.04333394765853882, + -0.1306600719690323, + 0.08757953345775604, + 0.0, + 1.0014774799346924 + ], + [ + 0.25929757952690125, + 0.11240297555923462, + 0.023574959486722946, + -0.044227879494428635, + -0.09979450702667236, + 0.0791352242231369, + 0.0, + 1.0014774799346924 + ], + [ + 0.2513730525970459, + 0.10667884349822998, + 0.007578358054161072, + -0.06500702351331711, + -0.08434615284204483, + 0.08842083066701889, + 0.0, + 1.0014774799346924 + ], + [ + 0.24720904231071472, + 0.10799575597047806, + -0.009373549371957779, + -0.0599212683737278, + -0.037829671055078506, + 0.10670293867588043, + 0.0, + 1.0014774799346924 + ], + [ + 0.25435134768486023, + 0.11180908977985382, + -0.008809913881123066, + -0.02346985973417759, + -0.05031432583928108, + 0.12650831043720245, + 0.0, + 1.0014774799346924 + ], + [ + 0.2598875164985657, + 0.11465669423341751, + -0.013110481202602386, + -0.006929423660039902, + -0.04553045332431793, + 0.13727954030036926, + 0.0, + 1.0014774799346924 + ], + [ + 0.2693144679069519, + 0.11562343686819077, + -0.018628999590873718, + 0.003488956019282341, + -0.04046331346035004, + 0.13836680352687836, + 0.0, + 1.0014774799346924 + ], + [ + 0.2743982970714569, + 0.11333616077899933, + -0.023212295025587082, + 0.005803600884974003, + -0.028626441955566406, + 0.12809740006923676, + 0.0, + 1.0014774799346924 + ], + [ + 0.2769433557987213, + 0.11339405924081802, + -0.027102524414658546, + 0.002952836686745286, + -0.01827055774629116, + 0.126617893576622, + 0.0, + 1.0014774799346924 + ], + [ + 0.27937179803848267, + 0.11276780813932419, + -0.028829487040638924, + -0.0062309312634170055, + -0.0207919180393219, + 0.12948574125766754, + 0.0, + 0.9453431367874146 + ], + [ + 0.2751080095767975, + 0.11283092200756073, + -0.02948027476668358, + -0.007520296145230532, + -0.04050824046134949, + 0.12894073128700256, + 0.0, + 0.7071652412414551 + ], + [ + 0.2665764391422272, + 0.11214733868837357, + -0.022642720490694046, + -0.009041134268045425, + -0.04708752781152725, + 0.1525839865207672, + 0.0, + 0.7021830081939697 + ], + [ + 0.27062878012657166, + 0.10902875661849976, + 0.013944084756076336, + 0.024224204942584038, + -0.12520812451839447, + 0.14306074380874634, + 0.0, + 0.7021830081939697 + ], + [ + 0.28260302543640137, + 0.07765921205282211, + 0.04016699269413948, + 0.00998474471271038, + -0.14804203808307648, + 0.037811096757650375, + 0.0, + 0.7021830081939697 + ], + [ + 0.2942764163017273, + 0.04852697253227234, + 0.048568591475486755, + -0.0023714848794043064, + -0.14769308269023895, + -0.04806119203567505, + 0.0, + 0.7021830081939697 + ], + [ + 0.3042125701904297, + 0.028267862275242805, + 0.04905622825026512, + -0.002864922396838665, + -0.14423434436321259, + -0.1103648766875267, + 0.0, + 0.7011857628822327 + ], + [ + 0.31189125776290894, + 0.010125325061380863, + 0.045199308544397354, + 0.002651590621098876, + -0.13338404893875122, + -0.175991490483284, + 0.0, + 0.7011857628822327 + ], + [ + 0.32273998856544495, + -0.00677948072552681, + 0.032513879239559174, + 0.00864578876644373, + -0.0974581241607666, + -0.25298112630844116, + 0.0, + 0.7011857628822327 + ], + [ + 0.3290960490703583, + -0.014674054458737373, + 0.02207713946700096, + 7.136030035326257e-06, + -0.06354131549596786, + -0.2930639684200287, + 0.0, + 0.7011857628822327 + ], + [ + 0.3335018754005432, + -0.017245540395379066, + 0.009680983610451221, + -0.022238299250602722, + -0.036849770694971085, + -0.3073027729988098, + 0.0, + 0.7011857628822327 + ], + [ + 0.3347088694572449, + -0.018524933606386185, + 0.0012306955177336931, + -0.046694088727235794, + -0.02589624747633934, + -0.3117540180683136, + 0.0, + 0.7011857628822327 + ], + [ + 0.3361828029155731, + -0.020291713997721672, + -0.00018335309869144112, + -0.054167553782463074, + -0.037840813398361206, + -0.32992103695869446, + 0.0, + 0.7545521855354309 + ], + [ + 0.34037643671035767, + -0.020101331174373627, + 0.0004343355249147862, + -0.06285746395587921, + -0.06741493940353394, + -0.3383924067020416, + 0.0, + 0.8948037624359131 + ], + [ + 0.3396136164665222, + -0.019428709521889687, + 0.00034992408473044634, + -0.059884801506996155, + -0.061985600739717484, + -0.3475363254547119, + 0.0, + 1.0156210660934448 + ], + [ + 0.33075299859046936, + -0.015857167541980743, + 0.008896752260625362, + -0.04361073300242424, + -0.04455890506505966, + -0.33458366990089417, + 0.0, + 1.0092895030975342 + ], + [ + 0.32243379950523376, + -0.006401178892701864, + 0.05138743668794632, + 0.034583624452352524, + -0.09406108409166336, + -0.2819123864173889, + 0.0, + 1.0086473226547241 + ], + [ + 0.30427196621894836, + 0.006360881961882114, + 0.0831463560461998, + 0.09647183120250702, + -0.08855143189430237, + -0.12313472479581833, + 0.0, + 1.0086473226547241 + ], + [ + 0.28843146562576294, + 0.011472300626337528, + 0.08388486504554749, + 0.06728781014680862, + -0.060018979012966156, + 0.0900430902838707, + 0.0, + 1.0086473226547241 + ] + ], + "left_gripper_pos": [ + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 0.9453431367874146 + ], + [ + 0.7071652412414551 + ], + [ + 0.7021830081939697 + ], + [ + 0.7021830081939697 + ], + [ + 0.7021830081939697 + ], + [ + 0.7021830081939697 + ], + [ + 0.7011857628822327 + ], + [ + 0.7011857628822327 + ], + [ + 0.7011857628822327 + ], + [ + 0.7011857628822327 + ], + [ + 0.7011857628822327 + ], + [ + 0.7011857628822327 + ], + [ + 0.7545521855354309 + ], + [ + 0.8948037624359131 + ], + [ + 1.0156210660934448 + ], + [ + 1.0092895030975342 + ], + [ + 1.0086473226547241 + ], + [ + 1.0086473226547241 + ], + [ + 1.0086473226547241 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.23540063202381134, + 0.05764789506793022, + 0.08448382467031479 + ], + [ + 0.23275798559188843, + 0.05684717372059822, + 0.07779701054096222 + ], + [ + 0.24048253893852234, + 0.0847550705075264, + 0.07095315307378769 + ], + [ + 0.25632649660110474, + 0.10637849569320679, + 0.06362112611532211 + ], + [ + 0.265399694442749, + 0.11355723440647125, + 0.046051111072301865 + ], + [ + 0.26501771807670593, + 0.11351768672466278, + 0.0339372456073761 + ], + [ + 0.25929757952690125, + 0.11240297555923462, + 0.023574959486722946 + ], + [ + 0.2513730525970459, + 0.10667884349822998, + 0.007578358054161072 + ], + [ + 0.24720904231071472, + 0.10799575597047806, + -0.009373549371957779 + ], + [ + 0.25435134768486023, + 0.11180908977985382, + -0.008809913881123066 + ], + [ + 0.2598875164985657, + 0.11465669423341751, + -0.013110481202602386 + ], + [ + 0.2693144679069519, + 0.11562343686819077, + -0.018628999590873718 + ], + [ + 0.2743982970714569, + 0.11333616077899933, + -0.023212295025587082 + ], + [ + 0.2769433557987213, + 0.11339405924081802, + -0.027102524414658546 + ], + [ + 0.27937179803848267, + 0.11276780813932419, + -0.028829487040638924 + ], + [ + 0.2751080095767975, + 0.11283092200756073, + -0.02948027476668358 + ], + [ + 0.2665764391422272, + 0.11214733868837357, + -0.022642720490694046 + ], + [ + 0.27062878012657166, + 0.10902875661849976, + 0.013944084756076336 + ], + [ + 0.28260302543640137, + 0.07765921205282211, + 0.04016699269413948 + ], + [ + 0.2942764163017273, + 0.04852697253227234, + 0.048568591475486755 + ], + [ + 0.3042125701904297, + 0.028267862275242805, + 0.04905622825026512 + ], + [ + 0.31189125776290894, + 0.010125325061380863, + 0.045199308544397354 + ], + [ + 0.32273998856544495, + -0.00677948072552681, + 0.032513879239559174 + ], + [ + 0.3290960490703583, + -0.014674054458737373, + 0.02207713946700096 + ], + [ + 0.3335018754005432, + -0.017245540395379066, + 0.009680983610451221 + ], + [ + 0.3347088694572449, + -0.018524933606386185, + 0.0012306955177336931 + ], + [ + 0.3361828029155731, + -0.020291713997721672, + -0.00018335309869144112 + ], + [ + 0.34037643671035767, + -0.020101331174373627, + 0.0004343355249147862 + ], + [ + 0.3396136164665222, + -0.019428709521889687, + 0.00034992408473044634 + ], + [ + 0.33075299859046936, + -0.015857167541980743, + 0.008896752260625362 + ], + [ + 0.32243379950523376, + -0.006401178892701864, + 0.05138743668794632 + ], + [ + 0.30427196621894836, + 0.006360881961882114, + 0.0831463560461998 + ], + [ + 0.28843146562576294, + 0.011472300626337528, + 0.08388486504554749 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9675715209863456, + 0.13497838588203218, + 0.2135092202244463, + 0.12731324599274543, + -0.990635716362301, + 0.04931749042826075, + 0.21816665458075984, + -0.0205356473487476, + -0.9756954432695724 + ], + [ + 0.9731585587337239, + 0.13124933120593926, + 0.18903976465626268, + 0.12668422928368975, + -0.9912864610277539, + 0.036086815235891426, + 0.1921289296646891, + -0.011169836214801556, + -0.9813061240738467 + ], + [ + 0.9654136143228641, + 0.15901703803134384, + 0.20661591152619924, + 0.1637190405154124, + -0.9864902558697848, + -0.005748986578458064, + 0.20291039661086074, + 0.03937710870168951, + -0.9784052403056305 + ], + [ + 0.9707641627638892, + 0.1261500406691042, + 0.20421338725095656, + 0.129911151769577, + -0.9915127176014967, + -0.005061964084914437, + 0.20184160358862524, + 0.03144356967137124, + -0.9789133102512676 + ], + [ + 0.981071741667966, + 0.10538803872262999, + 0.1624549137292594, + 0.10983149797826451, + -0.993776313426088, + -0.018592496473146633, + 0.15948441852555428, + 0.03608323942567978, + -0.9865407848032005 + ], + [ + 0.9876761421705929, + 0.0817629848945301, + 0.13345655655737426, + 0.08672205363256061, + -0.9957258733554469, + -0.03176901862323856, + 0.1302886165432962, + 0.042951128409731455, + -0.9905453432163338 + ], + [ + 0.9919106718160852, + 0.07458419398850301, + 0.10271522352819812, + 0.07865934033986237, + -0.9962438312490598, + -0.03620686227073893, + 0.09962894817601989, + 0.0439934848049107, + -0.9940516314458017 + ], + [ + 0.992552284167641, + 0.08266778227516859, + 0.08947625923843468, + 0.08799173064364015, + -0.9944727371544558, + -0.05728377078074836, + 0.08424617814438425, + 0.06473030843607622, + -0.9943402680359651 + ], + [ + 0.9936012530220035, + 0.10405741085225764, + 0.04391588823909751, + 0.10642437933984727, + -0.9927693196066779, + -0.055524134660723125, + 0.03782064879444481, + 0.059842570920861, + -0.9974910852886602 + ], + [ + 0.9907531050312787, + 0.12496555344958023, + 0.052838388714274154, + 0.12601146369416852, + -0.9918842020565722, + -0.016936372936693086, + 0.05029309981035045, + 0.023438006776123507, + -0.9984594453205543 + ], + [ + 0.98956537073865, + 0.13653305227541476, + 0.04603371233386335, + 0.13670693812945853, + -0.9906113309277271, + -0.0006356924298772746, + 0.04551472401483298, + 0.006922187078942008, + -0.9989396844774451 + ], + [ + 0.9896318716587362, + 0.13806465953404876, + 0.039584193625403864, + 0.13781281590489083, + -0.9904170823155167, + 0.009034978139614694, + 0.04045227273702846, + -0.003486093137861321, + -0.999175390402027 + ], + [ + 0.9914003890457737, + 0.127909963979878, + 0.0276461518941511, + 0.12769502434247984, + -0.9917688174685952, + 0.009412409633949716, + 0.028622532348861772, + -0.005801190533856418, + -0.9995734574458887 + ], + [ + 0.9918290923993607, + 0.12633280424247573, + 0.01775032513766776, + 0.12625876338700454, + -0.9919835211652172, + 0.005236258649233701, + 0.018269541270787743, + -0.002952339562038571, + -0.9998287391112868 + ], + [ + 0.9914140934129256, + 0.1289932411820433, + 0.021420530142321096, + 0.12909629668748673, + -0.9916259055252309, + -0.0034942342283425984, + 0.02079042000064651, + 0.006229544174121027, + -0.9997644478653858 + ], + [ + 0.9908851181829942, + 0.12827808396564283, + 0.04112682503642684, + 0.12847825636522114, + -0.991709772128665, + -0.0022506678705641095, + 0.04049716292317135, + 0.007514056069432229, + -0.9991513993167198 + ], + [ + 0.9872860963769181, + 0.15156577258648074, + 0.047895516294226136, + 0.15182413132240813, + -0.9884059175264405, + -0.0017819503113465731, + 0.047070129052547184, + 0.009030989922436117, + -0.9988507617116773 + ], + [ + 0.9820359227380349, + 0.14552537550634237, + 0.12011582550103311, + 0.14145714725586117, + -0.9890625953326901, + 0.041773891415535655, + 0.12488123134518733, + -0.024032219986955067, + -0.991880602925679 + ], + [ + 0.9883548404239292, + 0.03927189485995941, + 0.14701165832918842, + 0.037388600099925576, + -0.9991797613218469, + 0.015553043026526455, + 0.14750187115137756, + -0.00987536525529214, + -0.9890124747281589 + ], + [ + 0.9879710423832904, + -0.0483911331403181, + 0.14687245366463542, + -0.04751965983765435, + -0.9988257085649024, + -0.009438529479430887, + 0.14715672373693323, + 0.0023456647706936225, + -0.9891104066360819 + ], + [ + 0.9835953985144639, + -0.11054979598246666, + 0.14254414975511226, + -0.10899728838437549, + -0.9938665425599295, + -0.018678509170303465, + 0.1437347666572919, + 0.002835169872657129, + -0.989612185992961 + ], + [ + 0.9758081607786178, + -0.17473659861957289, + 0.13139845684296883, + -0.17352921669841173, + -0.9846117074946937, + -0.0206735680621244, + 0.1329888879188292, + -0.002628034863907256, + -0.9911140444584907 + ], + [ + 0.9635763293680443, + -0.24946746952047832, + 0.09636720984160127, + -0.24910360228688117, + -0.968344949677679, + -0.015982920929298434, + 0.09730391980442171, + -0.008604654832245588, + -0.9952175174834456 + ], + [ + 0.9554312040922194, + -0.28888647342435386, + 0.06079325389656461, + -0.2883039131652035, + -0.9573633612279732, + -0.018337072610105982, + 0.0634985661296605, + -7.121629025318502e-06, + -0.9979819297205534 + ], + [ + 0.9525058445368748, + -0.30319492147990623, + 0.028380551648764685, + -0.30228351765755324, + -0.9526694338964115, + -0.032336120238313046, + 0.036841431509516645, + 0.022221370531189836, + -0.9990740310988195 + ], + [ + 0.9514778996872405, + -0.3075446191759062, + 0.010301146669387584, + -0.3066257338653113, + -0.9503888752702835, + -0.05236072090837511, + 0.025893353168655625, + 0.04666147209885535, + -0.9985751054794281 + ], + [ + 0.9453906586445016, + -0.3254309462349223, + 0.01819894997957238, + -0.3237364031590896, + -0.9440167579353618, + -0.06345945167446938, + 0.037831783163515625, + 0.054102310208086576, + -0.9978184685667113 + ], + [ + 0.9411468514432306, + -0.33530705575740627, + 0.04256503703503089, + -0.33121701463447206, + -0.9400219275962518, + -0.0815724515682557, + 0.067363886728141, + 0.06267339146342059, + -0.9957580794386514 + ], + [ + 0.9384089747290228, + -0.3434577000301119, + 0.037754528709145016, + -0.33992837451436353, + -0.9372665834952327, + -0.07733079375770376, + 0.06194591470021689, + 0.05973407531049278, + -0.9962903913512133 + ], + [ + 0.9436095621629296, + -0.3298980349436954, + 0.027717877533686954, + -0.3280500143134829, + -0.9430113293351223, + -0.055792659503995964, + 0.04454416127404122, + 0.04355363688480568, + -0.9980575626738662 + ], + [ + 0.9562791970668657, + -0.27490736942090455, + 0.09977993533385734, + -0.27696330376797085, + -0.9608542732209804, + 0.007098873073397119, + 0.09392244472478942, + -0.03442388518252741, + -0.9949842061590017 + ], + [ + 0.9885400430146327, + -0.11379885517500438, + 0.09918872878249144, + -0.12234255789140522, + -0.9888601543054708, + 0.08478144700079641, + 0.08843575004044701, + -0.09594485805825693, + -0.99145030249981 + ], + [ + 0.9941555553701934, + 0.09373471324165944, + 0.053558708536391754, + 0.08975955256332907, + -0.9933323959903633, + 0.0723462079149634, + 0.05998295132963411, + -0.06711597879453166, + -0.9959405057232278 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0026426464319229126, + -0.0008007213473320007, + -0.00668681412935257, + -0.009661952964961529, + 0.026604443788528442, + -0.001378178596496582, + 1.0 + ], + [ + 0.007724553346633911, + 0.027907896786928177, + -0.00684385746717453, + -0.05160663649439812, + -0.010998204350471497, + 0.0385357141494751, + 1.0 + ], + [ + 0.015843957662582397, + 0.02162342518568039, + -0.007332026958465576, + 0.008114654570817947, + 0.0010913759469985962, + -0.034952953457832336, + 1.0 + ], + [ + 0.009073197841644287, + 0.007178738713264465, + -0.01757001504302025, + -0.004449367523193359, + 0.043069496750831604, + -0.021546877920627594, + 1.0 + ], + [ + -0.0003819763660430908, + -3.954768180847168e-05, + -0.012113865464925766, + -0.006774727255105972, + 0.02950829267501831, + -0.02390678972005844, + 1.0 + ], + [ + -0.0057201385498046875, + -0.0011147111654281616, + -0.010362286120653152, + -0.0008939318358898163, + 0.030865564942359924, + -0.00844430923461914, + 1.0 + ], + [ + -0.007924526929855347, + -0.005724132061004639, + -0.015996601432561874, + -0.020779144018888474, + 0.015448354184627533, + 0.009285606443881989, + 1.0 + ], + [ + -0.004164010286331177, + 0.0013169124722480774, + -0.01695190742611885, + 0.00508575513958931, + 0.046516481786966324, + 0.018282108008861542, + 1.0 + ], + [ + 0.007142305374145508, + 0.003813333809375763, + 0.000563635490834713, + 0.03645140677690506, + -0.012484654784202576, + 0.01980537176132202, + 1.0 + ], + [ + 0.005536168813705444, + 0.00284760445356369, + -0.0043005673214793205, + 0.016540436074137688, + 0.00478387251496315, + 0.010771229863166809, + 1.0 + ], + [ + 0.00942695140838623, + 0.0009667426347732544, + -0.005518518388271332, + 0.010418379679322243, + 0.0050671398639678955, + 0.0010872632265090942, + 1.0 + ], + [ + 0.005083829164505005, + -0.0022872760891914368, + -0.004583295434713364, + 0.002314644865691662, + 0.01183687150478363, + -0.010269403457641602, + 1.0 + ], + [ + 0.0025450587272644043, + 5.789846181869507e-05, + -0.0038902293890714645, + -0.002850764198228717, + 0.010355884209275246, + -0.001479506492614746, + 1.0 + ], + [ + 0.0024284422397613525, + -0.0006262511014938354, + -0.0017269626259803772, + -0.009183768182992935, + -0.002521360293030739, + 0.0028678476810455322, + 0.0 + ], + [ + -0.004263788461685181, + 6.311386823654175e-05, + -0.0006507877260446548, + -0.0012893648818135262, + -0.019716322422027588, + -0.000545009970664978, + 0.0 + ], + [ + -0.008531570434570312, + -0.0006835833191871643, + 0.0068375542759895325, + -0.0015208381228148937, + -0.006579287350177765, + 0.02364325523376465, + 0.0 + ], + [ + 0.004052340984344482, + -0.00311858206987381, + 0.03658680617809296, + 0.033265337347984314, + -0.07812059670686722, + -0.009523242712020874, + 0.0 + ], + [ + 0.011974245309829712, + -0.03136954456567764, + 0.02622290700674057, + -0.014239460229873657, + -0.022833913564682007, + -0.10524964332580566, + 0.0 + ], + [ + 0.011673390865325928, + -0.029132239520549774, + 0.008401598781347275, + -0.0123562291264534, + 0.0003489553928375244, + -0.08587229251861572, + 0.0 + ], + [ + 0.009936153888702393, + -0.020259110257029533, + 0.0004876367747783661, + -0.0004934375174343586, + 0.003458738327026367, + -0.062303684651851654, + 0.0 + ], + [ + 0.007678687572479248, + -0.018142536282539368, + -0.0038569197058677673, + 0.005516513250768185, + 0.010850295424461365, + -0.0656266137957573, + 0.0 + ], + [ + 0.01084873080253601, + -0.0169048048555851, + -0.01268542930483818, + 0.00599419791251421, + 0.03592592477798462, + -0.07698963582515717, + 0.0 + ], + [ + 0.00635606050491333, + -0.007894573733210564, + -0.010436739772558212, + -0.008638652972877026, + 0.03391680866479874, + -0.040082842111587524, + 0.0 + ], + [ + 0.0044058263301849365, + -0.002571485936641693, + -0.01239615585654974, + -0.022245435044169426, + 0.02669154480099678, + -0.014238804578781128, + 0.0 + ], + [ + 0.0012069940567016602, + -0.0012793932110071182, + -0.008450288325548172, + -0.024455789476633072, + 0.010953523218631744, + -0.004451245069503784, + 0.0 + ], + [ + 0.001473933458328247, + -0.0017667803913354874, + -0.001414048601873219, + -0.00747346505522728, + -0.011944565922021866, + -0.01816701889038086, + 1.0 + ], + [ + 0.004193633794784546, + 0.00019038282334804535, + 0.0006176886381581426, + -0.008689910173416138, + -0.02957412600517273, + -0.008471369743347168, + 1.0 + ], + [ + -0.0007628202438354492, + 0.0006726216524839401, + -8.441144018433988e-05, + 0.0029726624488830566, + 0.005429338663816452, + -0.009143918752670288, + 1.0 + ], + [ + -0.008860617876052856, + 0.003571541979908943, + 0.008546828292310238, + 0.016274068504571915, + 0.01742669567465782, + 0.012952655553817749, + 1.0 + ], + [ + -0.008319199085235596, + 0.009455988183617592, + 0.04249068349599838, + 0.07819435745477676, + -0.0495021790266037, + 0.05267128348350525, + 1.0 + ], + [ + -0.0181618332862854, + 0.012762060388922691, + 0.03175891935825348, + 0.061888206750154495, + 0.005509652197360992, + 0.15877765417099, + 1.0 + ], + [ + -0.015840500593185425, + 0.005111418664455414, + 0.0007385089993476868, + -0.029184021055698395, + 0.028532452881336212, + 0.21317781507968903, + 1.0 + ], + [ + -0.006945371627807617, + 0.00771284569054842, + -0.0011451095342636108, + -0.06563618779182434, + -0.013888292014598846, + 0.03943672031164169, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 0.9453431367874146 + ], + [ + 0.7071652412414551 + ], + [ + 0.7021830081939697 + ], + [ + 0.7021830081939697 + ], + [ + 0.7021830081939697 + ], + [ + 0.7021830081939697 + ], + [ + 0.7011857628822327 + ], + [ + 0.7011857628822327 + ], + [ + 0.7011857628822327 + ], + [ + 0.7011857628822327 + ], + [ + 0.7011857628822327 + ], + [ + 0.7011857628822327 + ], + [ + 0.7545521855354309 + ], + [ + 0.8948037624359131 + ], + [ + 1.0156210660934448 + ], + [ + 1.0092895030975342 + ], + [ + 1.0086473226547241 + ], + [ + 1.0086473226547241 + ], + [ + 1.0086473226547241 + ], + [ + 1.0086473226547241 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.23275798559188843, + 0.05684717372059822, + 0.07779701054096222 + ], + [ + 0.24048253893852234, + 0.0847550705075264, + 0.07095315307378769 + ], + [ + 0.25632649660110474, + 0.10637849569320679, + 0.06362112611532211 + ], + [ + 0.265399694442749, + 0.11355723440647125, + 0.046051111072301865 + ], + [ + 0.26501771807670593, + 0.11351768672466278, + 0.0339372456073761 + ], + [ + 0.25929757952690125, + 0.11240297555923462, + 0.023574959486722946 + ], + [ + 0.2513730525970459, + 0.10667884349822998, + 0.007578358054161072 + ], + [ + 0.24720904231071472, + 0.10799575597047806, + -0.009373549371957779 + ], + [ + 0.25435134768486023, + 0.11180908977985382, + -0.008809913881123066 + ], + [ + 0.2598875164985657, + 0.11465669423341751, + -0.013110481202602386 + ], + [ + 0.2693144679069519, + 0.11562343686819077, + -0.018628999590873718 + ], + [ + 0.2743982970714569, + 0.11333616077899933, + -0.023212295025587082 + ], + [ + 0.2769433557987213, + 0.11339405924081802, + -0.027102524414658546 + ], + [ + 0.27937179803848267, + 0.11276780813932419, + -0.028829487040638924 + ], + [ + 0.2751080095767975, + 0.11283092200756073, + -0.02948027476668358 + ], + [ + 0.2665764391422272, + 0.11214733868837357, + -0.022642720490694046 + ], + [ + 0.27062878012657166, + 0.10902875661849976, + 0.013944084756076336 + ], + [ + 0.28260302543640137, + 0.07765921205282211, + 0.04016699269413948 + ], + [ + 0.2942764163017273, + 0.04852697253227234, + 0.048568591475486755 + ], + [ + 0.3042125701904297, + 0.028267862275242805, + 0.04905622825026512 + ], + [ + 0.31189125776290894, + 0.010125325061380863, + 0.045199308544397354 + ], + [ + 0.32273998856544495, + -0.00677948072552681, + 0.032513879239559174 + ], + [ + 0.3290960490703583, + -0.014674054458737373, + 0.02207713946700096 + ], + [ + 0.3335018754005432, + -0.017245540395379066, + 0.009680983610451221 + ], + [ + 0.3347088694572449, + -0.018524933606386185, + 0.0012306955177336931 + ], + [ + 0.3361828029155731, + -0.020291713997721672, + -0.00018335309869144112 + ], + [ + 0.34037643671035767, + -0.020101331174373627, + 0.0004343355249147862 + ], + [ + 0.3396136164665222, + -0.019428709521889687, + 0.00034992408473044634 + ], + [ + 0.33075299859046936, + -0.015857167541980743, + 0.008896752260625362 + ], + [ + 0.32243379950523376, + -0.006401178892701864, + 0.05138743668794632 + ], + [ + 0.30427196621894836, + 0.006360881961882114, + 0.0831463560461998 + ], + [ + 0.28843146562576294, + 0.011472300626337528, + 0.08388486504554749 + ], + [ + 0.2814860939979553, + 0.019185146316885948, + 0.08273975551128387 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9731585587337239, + 0.13124933120593926, + 0.18903976465626268, + 0.12668422928368975, + -0.9912864610277539, + 0.036086815235891426, + 0.1921289296646891, + -0.011169836214801556, + -0.9813061240738467 + ], + [ + 0.9654136143228641, + 0.15901703803134384, + 0.20661591152619924, + 0.1637190405154124, + -0.9864902558697848, + -0.005748986578458064, + 0.20291039661086074, + 0.03937710870168951, + -0.9784052403056305 + ], + [ + 0.9707641627638892, + 0.1261500406691042, + 0.20421338725095656, + 0.129911151769577, + -0.9915127176014967, + -0.005061964084914437, + 0.20184160358862524, + 0.03144356967137124, + -0.9789133102512676 + ], + [ + 0.981071741667966, + 0.10538803872262999, + 0.1624549137292594, + 0.10983149797826451, + -0.993776313426088, + -0.018592496473146633, + 0.15948441852555428, + 0.03608323942567978, + -0.9865407848032005 + ], + [ + 0.9876761421705929, + 0.0817629848945301, + 0.13345655655737426, + 0.08672205363256061, + -0.9957258733554469, + -0.03176901862323856, + 0.1302886165432962, + 0.042951128409731455, + -0.9905453432163338 + ], + [ + 0.9919106718160852, + 0.07458419398850301, + 0.10271522352819812, + 0.07865934033986237, + -0.9962438312490598, + -0.03620686227073893, + 0.09962894817601989, + 0.0439934848049107, + -0.9940516314458017 + ], + [ + 0.992552284167641, + 0.08266778227516859, + 0.08947625923843468, + 0.08799173064364015, + -0.9944727371544558, + -0.05728377078074836, + 0.08424617814438425, + 0.06473030843607622, + -0.9943402680359651 + ], + [ + 0.9936012530220035, + 0.10405741085225764, + 0.04391588823909751, + 0.10642437933984727, + -0.9927693196066779, + -0.055524134660723125, + 0.03782064879444481, + 0.059842570920861, + -0.9974910852886602 + ], + [ + 0.9907531050312787, + 0.12496555344958023, + 0.052838388714274154, + 0.12601146369416852, + -0.9918842020565722, + -0.016936372936693086, + 0.05029309981035045, + 0.023438006776123507, + -0.9984594453205543 + ], + [ + 0.98956537073865, + 0.13653305227541476, + 0.04603371233386335, + 0.13670693812945853, + -0.9906113309277271, + -0.0006356924298772746, + 0.04551472401483298, + 0.006922187078942008, + -0.9989396844774451 + ], + [ + 0.9896318716587362, + 0.13806465953404876, + 0.039584193625403864, + 0.13781281590489083, + -0.9904170823155167, + 0.009034978139614694, + 0.04045227273702846, + -0.003486093137861321, + -0.999175390402027 + ], + [ + 0.9914003890457737, + 0.127909963979878, + 0.0276461518941511, + 0.12769502434247984, + -0.9917688174685952, + 0.009412409633949716, + 0.028622532348861772, + -0.005801190533856418, + -0.9995734574458887 + ], + [ + 0.9918290923993607, + 0.12633280424247573, + 0.01775032513766776, + 0.12625876338700454, + -0.9919835211652172, + 0.005236258649233701, + 0.018269541270787743, + -0.002952339562038571, + -0.9998287391112868 + ], + [ + 0.9914140934129256, + 0.1289932411820433, + 0.021420530142321096, + 0.12909629668748673, + -0.9916259055252309, + -0.0034942342283425984, + 0.02079042000064651, + 0.006229544174121027, + -0.9997644478653858 + ], + [ + 0.9908851181829942, + 0.12827808396564283, + 0.04112682503642684, + 0.12847825636522114, + -0.991709772128665, + -0.0022506678705641095, + 0.04049716292317135, + 0.007514056069432229, + -0.9991513993167198 + ], + [ + 0.9872860963769181, + 0.15156577258648074, + 0.047895516294226136, + 0.15182413132240813, + -0.9884059175264405, + -0.0017819503113465731, + 0.047070129052547184, + 0.009030989922436117, + -0.9988507617116773 + ], + [ + 0.9820359227380349, + 0.14552537550634237, + 0.12011582550103311, + 0.14145714725586117, + -0.9890625953326901, + 0.041773891415535655, + 0.12488123134518733, + -0.024032219986955067, + -0.991880602925679 + ], + [ + 0.9883548404239292, + 0.03927189485995941, + 0.14701165832918842, + 0.037388600099925576, + -0.9991797613218469, + 0.015553043026526455, + 0.14750187115137756, + -0.00987536525529214, + -0.9890124747281589 + ], + [ + 0.9879710423832904, + -0.0483911331403181, + 0.14687245366463542, + -0.04751965983765435, + -0.9988257085649024, + -0.009438529479430887, + 0.14715672373693323, + 0.0023456647706936225, + -0.9891104066360819 + ], + [ + 0.9835953985144639, + -0.11054979598246666, + 0.14254414975511226, + -0.10899728838437549, + -0.9938665425599295, + -0.018678509170303465, + 0.1437347666572919, + 0.002835169872657129, + -0.989612185992961 + ], + [ + 0.9758081607786178, + -0.17473659861957289, + 0.13139845684296883, + -0.17352921669841173, + -0.9846117074946937, + -0.0206735680621244, + 0.1329888879188292, + -0.002628034863907256, + -0.9911140444584907 + ], + [ + 0.9635763293680443, + -0.24946746952047832, + 0.09636720984160127, + -0.24910360228688117, + -0.968344949677679, + -0.015982920929298434, + 0.09730391980442171, + -0.008604654832245588, + -0.9952175174834456 + ], + [ + 0.9554312040922194, + -0.28888647342435386, + 0.06079325389656461, + -0.2883039131652035, + -0.9573633612279732, + -0.018337072610105982, + 0.0634985661296605, + -7.121629025318502e-06, + -0.9979819297205534 + ], + [ + 0.9525058445368748, + -0.30319492147990623, + 0.028380551648764685, + -0.30228351765755324, + -0.9526694338964115, + -0.032336120238313046, + 0.036841431509516645, + 0.022221370531189836, + -0.9990740310988195 + ], + [ + 0.9514778996872405, + -0.3075446191759062, + 0.010301146669387584, + -0.3066257338653113, + -0.9503888752702835, + -0.05236072090837511, + 0.025893353168655625, + 0.04666147209885535, + -0.9985751054794281 + ], + [ + 0.9453906586445016, + -0.3254309462349223, + 0.01819894997957238, + -0.3237364031590896, + -0.9440167579353618, + -0.06345945167446938, + 0.037831783163515625, + 0.054102310208086576, + -0.9978184685667113 + ], + [ + 0.9411468514432306, + -0.33530705575740627, + 0.04256503703503089, + -0.33121701463447206, + -0.9400219275962518, + -0.0815724515682557, + 0.067363886728141, + 0.06267339146342059, + -0.9957580794386514 + ], + [ + 0.9384089747290228, + -0.3434577000301119, + 0.037754528709145016, + -0.33992837451436353, + -0.9372665834952327, + -0.07733079375770376, + 0.06194591470021689, + 0.05973407531049278, + -0.9962903913512133 + ], + [ + 0.9436095621629296, + -0.3298980349436954, + 0.027717877533686954, + -0.3280500143134829, + -0.9430113293351223, + -0.055792659503995964, + 0.04454416127404122, + 0.04355363688480568, + -0.9980575626738662 + ], + [ + 0.9562791970668657, + -0.27490736942090455, + 0.09977993533385734, + -0.27696330376797085, + -0.9608542732209804, + 0.007098873073397119, + 0.09392244472478942, + -0.03442388518252741, + -0.9949842061590017 + ], + [ + 0.9885400430146327, + -0.11379885517500438, + 0.09918872878249144, + -0.12234255789140522, + -0.9888601543054708, + 0.08478144700079641, + 0.08843575004044701, + -0.09594485805825693, + -0.99145030249981 + ], + [ + 0.9941555553701934, + 0.09373471324165944, + 0.053558708536391754, + 0.08975955256332907, + -0.9933323959903633, + 0.0723462079149634, + 0.05998295132963411, + -0.06711597879453166, + -0.9959405057232278 + ], + [ + 0.9889221459289975, + 0.12923908392769443, + 0.073008550709607, + 0.12876584507543362, + -0.9916120946231444, + 0.011171881627988945, + 0.07384000564190336, + -0.0016471134237603744, + -0.9972687404025924 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006197.json b/json/chunk-0006/episode_0006197.json new file mode 100644 index 0000000000000000000000000000000000000000..44bc0f505c598ca9201b7385038cafd9a03a5b48 --- /dev/null +++ b/json/chunk-0006/episode_0006197.json @@ -0,0 +1,2062 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 33, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nTake the eggplant and put it between the two right burners." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006197.mp4", + "start": 0, + "end": 33, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.24428674578666687, + 0.008021603338420391, + 0.09835436195135117, + 0.18350273370742798, + -0.034265901893377304, + -0.6579251885414124, + 0.0, + 0.9994885921478271 + ], + [ + 0.2405509650707245, + 0.006900230422616005, + 0.0930539071559906, + 0.16703972220420837, + -0.018635233864188194, + -0.6522113084793091, + 0.0, + 0.9994885921478271 + ], + [ + 0.23102356493473053, + -0.008040009066462517, + 0.08741682767868042, + 0.1293576955795288, + 0.0044623431749641895, + -0.6599275469779968, + 0.0, + 0.9994885921478271 + ], + [ + 0.2310888171195984, + -0.02819512039422989, + 0.08602540194988251, + 0.10153359919786453, + -0.03967319056391716, + -0.6236990690231323, + 0.0, + 0.9994885921478271 + ], + [ + 0.23296934366226196, + -0.0552305243909359, + 0.08295734971761703, + 0.09858988970518112, + -0.11812925338745117, + -0.5022420883178711, + 0.0, + 0.9994885921478271 + ], + [ + 0.23046399652957916, + -0.0787782371044159, + 0.07169519364833832, + 0.08247323334217072, + -0.12440963834524155, + -0.3952167332172394, + 0.0, + 0.9687211513519287 + ], + [ + 0.23216335475444794, + -0.09333143383264542, + 0.06753083318471909, + 0.06944882124662399, + -0.1595577448606491, + -0.3684369921684265, + 0.0, + 0.704176664352417 + ], + [ + 0.22915278375148773, + -0.09837745875120163, + 0.05987309664487839, + 0.07490097731351852, + -0.12144853174686432, + -0.3652554154396057, + 0.0, + 0.4077054560184479 + ], + [ + 0.22852520644664764, + -0.10444628447294235, + 0.05222586169838905, + 0.06703455746173859, + -0.1181480810046196, + -0.3093014061450958, + 0.0, + 0.18011163175106049 + ], + [ + 0.23138582706451416, + -0.10948983579874039, + 0.03775802627205849, + 0.05067550390958786, + -0.11110668629407883, + -0.3111845850944519, + 0.0, + 0.05980546772480011 + ], + [ + 0.23455852270126343, + -0.11211111396551132, + 0.018652362748980522, + 0.03638758137822151, + -0.13021770119667053, + -0.2656542956829071, + 0.0, + 0.052190229296684265 + ], + [ + 0.23690246045589447, + -0.11092466115951538, + 0.014513777568936348, + 0.030759526416659355, + -0.17445729672908783, + -0.19203265011310577, + 0.0, + 0.052190229296684265 + ], + [ + 0.2383401244878769, + -0.11101904511451721, + 0.012390448711812496, + 0.03735573589801788, + -0.15003004670143127, + -0.19411683082580566, + 0.0, + 0.052190229296684265 + ], + [ + 0.2422279715538025, + -0.10225159674882889, + 0.010497922077775002, + 0.0573195181787014, + -0.14708317816257477, + -0.19493860006332397, + 0.0, + 0.052190229296684265 + ], + [ + 0.24302679300308228, + -0.0942966416478157, + 0.00861465372145176, + 0.08388565480709076, + -0.14557388424873352, + -0.223954975605011, + 0.0, + 0.052190229296684265 + ], + [ + 0.2436734139919281, + -0.08555571734905243, + 0.008004982024431229, + 0.08216693997383118, + -0.1610979288816452, + -0.23963122069835663, + 0.0, + 0.05192930996417999 + ], + [ + 0.24568842351436615, + -0.06802872568368912, + 0.009562832303345203, + 0.08329686522483826, + -0.17678794264793396, + -0.20275132358074188, + 0.0, + 0.05192930996417999 + ], + [ + 0.2449527531862259, + -0.04665444418787956, + 0.010176818817853928, + 0.09488677978515625, + -0.17827396094799042, + -0.17384175956249237, + 0.0, + 0.052190229296684265 + ], + [ + 0.2465461790561676, + -0.036196354776620865, + 0.010687524452805519, + 0.10170628875494003, + -0.17722901701927185, + -0.16303355991840363, + 0.0, + 0.05192930996417999 + ], + [ + 0.24820475280284882, + -0.02317029982805252, + 0.011034626513719559, + 0.10938335210084915, + -0.17289124429225922, + -0.1624026745557785, + 0.0, + 0.05192930996417999 + ], + [ + 0.2494906187057495, + -0.013248248025774956, + 0.011517302133142948, + 0.10866162925958633, + -0.18068017065525055, + -0.15141336619853973, + 0.0, + 0.05192930996417999 + ], + [ + 0.2473064512014389, + -0.004323699977248907, + 0.012101470492780209, + 0.1038476899266243, + -0.17622603476047516, + -0.12887386977672577, + 0.0, + 0.05192930996417999 + ], + [ + 0.2320661097764969, + 0.002335287630558014, + 0.014431793242692947, + 0.09770310670137405, + -0.16441655158996582, + -0.10376086831092834, + 0.0, + 0.05192930996417999 + ], + [ + 0.2204243391752243, + 0.0020859024953097105, + 0.014662647619843483, + 0.09017323702573776, + -0.12690940499305725, + -0.0870315283536911, + 0.0, + 0.05192930996417999 + ], + [ + 0.217154860496521, + -0.0019693293143063784, + 0.014318613335490227, + 0.10794725269079208, + -0.11719217896461487, + -0.05850740894675255, + 0.0, + 0.05192930996417999 + ], + [ + 0.21649286150932312, + -0.0051760305650532246, + 0.013745260424911976, + 0.1239335685968399, + -0.1233263686299324, + -0.06104188784956932, + 0.0, + 0.05192930996417999 + ], + [ + 0.21788200736045837, + -0.002677677432075143, + 0.015814192593097687, + 0.12433125078678131, + -0.11504890024662018, + -0.04880956932902336, + 0.0, + 0.07081232219934464 + ], + [ + 0.21763071417808533, + -0.0001058018024195917, + 0.02326210029423237, + 0.12370307743549347, + -0.08428999036550522, + -0.0414997898042202, + 0.0, + 0.20806095004081726 + ], + [ + 0.2249533236026764, + -0.001950853387825191, + 0.045175354927778244, + 0.09728652238845825, + -0.1039772629737854, + -0.043912626802921295, + 0.0, + 0.44022873044013977 + ], + [ + 0.22231224179267883, + -0.005026719998568296, + 0.06683801114559174, + 0.053079478442668915, + -0.11692232638597488, + -0.05039851740002632, + 0.0, + 0.7061693072319031 + ], + [ + 0.2213958352804184, + -0.006719410885125399, + 0.08312854915857315, + 0.021242843940854073, + -0.11339130997657776, + -0.05759511888027191, + 0.0, + 0.9766865372657776 + ], + [ + 0.23023171722888947, + -0.012760458514094353, + 0.08657535165548325, + 0.06808819621801376, + -0.125167116522789, + -0.1120648980140686, + 0.0, + 0.9974852800369263 + ], + [ + 0.2457050085067749, + -0.02314581163227558, + 0.08432858437299728, + 0.10266315937042236, + -0.06659836322069168, + -0.1994236558675766, + 0.0, + 0.9974852800369263 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9687211513519287 + ], + [ + 0.704176664352417 + ], + [ + 0.4077054560184479 + ], + [ + 0.18011163175106049 + ], + [ + 0.05980546772480011 + ], + [ + 0.052190229296684265 + ], + [ + 0.052190229296684265 + ], + [ + 0.052190229296684265 + ], + [ + 0.052190229296684265 + ], + [ + 0.052190229296684265 + ], + [ + 0.05192930996417999 + ], + [ + 0.05192930996417999 + ], + [ + 0.052190229296684265 + ], + [ + 0.05192930996417999 + ], + [ + 0.05192930996417999 + ], + [ + 0.05192930996417999 + ], + [ + 0.05192930996417999 + ], + [ + 0.05192930996417999 + ], + [ + 0.05192930996417999 + ], + [ + 0.05192930996417999 + ], + [ + 0.05192930996417999 + ], + [ + 0.07081232219934464 + ], + [ + 0.20806095004081726 + ], + [ + 0.44022873044013977 + ], + [ + 0.7061693072319031 + ], + [ + 0.9766865372657776 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.24428674578666687, + 0.008021603338420391, + 0.09835436195135117 + ], + [ + 0.2405509650707245, + 0.006900230422616005, + 0.0930539071559906 + ], + [ + 0.23102356493473053, + -0.008040009066462517, + 0.08741682767868042 + ], + [ + 0.2310888171195984, + -0.02819512039422989, + 0.08602540194988251 + ], + [ + 0.23296934366226196, + -0.0552305243909359, + 0.08295734971761703 + ], + [ + 0.23046399652957916, + -0.0787782371044159, + 0.07169519364833832 + ], + [ + 0.23216335475444794, + -0.09333143383264542, + 0.06753083318471909 + ], + [ + 0.22915278375148773, + -0.09837745875120163, + 0.05987309664487839 + ], + [ + 0.22852520644664764, + -0.10444628447294235, + 0.05222586169838905 + ], + [ + 0.23138582706451416, + -0.10948983579874039, + 0.03775802627205849 + ], + [ + 0.23455852270126343, + -0.11211111396551132, + 0.018652362748980522 + ], + [ + 0.23690246045589447, + -0.11092466115951538, + 0.014513777568936348 + ], + [ + 0.2383401244878769, + -0.11101904511451721, + 0.012390448711812496 + ], + [ + 0.2422279715538025, + -0.10225159674882889, + 0.010497922077775002 + ], + [ + 0.24302679300308228, + -0.0942966416478157, + 0.00861465372145176 + ], + [ + 0.2436734139919281, + -0.08555571734905243, + 0.008004982024431229 + ], + [ + 0.24568842351436615, + -0.06802872568368912, + 0.009562832303345203 + ], + [ + 0.2449527531862259, + -0.04665444418787956, + 0.010176818817853928 + ], + [ + 0.2465461790561676, + -0.036196354776620865, + 0.010687524452805519 + ], + [ + 0.24820475280284882, + -0.02317029982805252, + 0.011034626513719559 + ], + [ + 0.2494906187057495, + -0.013248248025774956, + 0.011517302133142948 + ], + [ + 0.2473064512014389, + -0.004323699977248907, + 0.012101470492780209 + ], + [ + 0.2320661097764969, + 0.002335287630558014, + 0.014431793242692947 + ], + [ + 0.2204243391752243, + 0.0020859024953097105, + 0.014662647619843483 + ], + [ + 0.217154860496521, + -0.0019693293143063784, + 0.014318613335490227 + ], + [ + 0.21649286150932312, + -0.0051760305650532246, + 0.013745260424911976 + ], + [ + 0.21788200736045837, + -0.002677677432075143, + 0.015814192593097687 + ], + [ + 0.21763071417808533, + -0.0001058018024195917, + 0.02326210029423237 + ], + [ + 0.2249533236026764, + -0.001950853387825191, + 0.045175354927778244 + ], + [ + 0.22231224179267883, + -0.005026719998568296, + 0.06683801114559174 + ], + [ + 0.2213958352804184, + -0.006719410885125399, + 0.08312854915857315 + ], + [ + 0.23023171722888947, + -0.012760458514094353, + 0.08657535165548325 + ], + [ + 0.2457050085067749, + -0.02314581163227558, + 0.08432858437299728 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.7907981461959922, + -0.5962635790793354, + 0.13823182063650785, + -0.6111175004962717, + -0.7818003844847435, + 0.12378836539310516, + 0.03425919672397452, + -0.18236749458993126, + -0.9826334028297734 + ], + [ + 0.7946056073479579, + -0.5960351401660707, + 0.11551640774537536, + -0.6068399270214643, + -0.7855622128956413, + 0.12098476202847787, + 0.018634155300609745, + -0.16623513875747206, + -0.9859100602481533 + ], + [ + 0.7900287858006123, + -0.608392238843033, + 0.07558704467018049, + -0.6130535092730223, + -0.7830829645516291, + 0.10462535733302919, + -0.004462328365572615, + -0.12899594700839911, + -0.9916350807030597 + ], + [ + 0.8110848769222266, + -0.5777706094742894, + 0.09122743696807942, + -0.583582201571266, + -0.8098910976054399, + 0.05923026277748928, + 0.039662784033536624, + -0.10127947890448671, + -0.994067065501893 + ], + [ + 0.8703969444093584, + -0.4688864135035445, + 0.15018219067064845, + -0.47803705667438995, + -0.8778334623051329, + 0.029815849869972905, + 0.11785470550189324, + -0.0977442770149014, + -0.9882086443165209 + ], + [ + 0.9157800362815925, + -0.3742651792532872, + 0.14585095387617364, + -0.3820325327616255, + -0.9237118852302074, + 0.02841649162358871, + 0.12408895623633243, + -0.0817430650450593, + -0.9888983781244748 + ], + [ + 0.9210414974206074, + -0.3490041788184273, + 0.17285439883462855, + -0.35558290463661896, + -0.9346134228835501, + 0.007651646625394949, + 0.15888158470820574, + -0.06851155328242092, + -0.9849176661566386 + ], + [ + 0.927152651537395, + -0.3477186617705199, + 0.13956967078737717, + -0.35455689353230335, + -0.9346519393690453, + 0.026742503293551483, + 0.1211501960208938, + -0.07427977174306247, + -0.989851072391144 + ], + [ + 0.9459058963708722, + -0.2961886110481025, + 0.13241730210290786, + -0.30227122975684345, + -0.9528104446060469, + 0.028006433384368205, + 0.11787340188567763, + -0.06651739122232134, + -0.9907983133780933 + ], + [ + 0.9461016766062157, + -0.30044682354717234, + 0.12092693555747736, + -0.3042985958203279, + -0.9524691286354673, + 0.014315152048464841, + 0.11087823097743169, + -0.05034148604092113, + -0.9925581860417592 + ], + [ + 0.9567515686654581, + -0.25780870232313463, + 0.1347631584026097, + -0.26031790637702873, + -0.9655224058968217, + 0.0010350510585611233, + 0.12985000375689634, + -0.03607154997605044, + -0.9908772980579682 + ], + [ + 0.9667182232448545, + -0.18552421547346418, + 0.17617219507989235, + -0.18795757054374543, + -0.9821728013840803, + -0.0029223101548664174, + 0.17357369766645225, + -0.030287847303892487, + -0.9843550262908659 + ], + [ + 0.9701959842101557, + -0.18728811233293946, + 0.15376252859930317, + -0.19073310283062378, + -0.9816106772606324, + 0.007833375551143515, + 0.1494678417155007, + -0.03692751368135708, + -0.9880767799246288 + ], + [ + 0.97046682503135, + -0.1851514184752177, + 0.15463859075336325, + -0.1916148040819481, + -0.9810746713318179, + 0.02786137340122213, + 0.14655343179266736, + -0.05666958185641119, + -0.987578174182688 + ], + [ + 0.9647136941326206, + -0.20945594279495738, + 0.15954841390897173, + -0.21973849702883425, + -0.9742975006665459, + 0.04959206709174119, + 0.14506026773897124, + -0.08290107491943818, + -0.985943675115724 + ], + [ + 0.9588473252910847, + -0.22375490992071817, + 0.17477284419641606, + -0.23427121064162143, + -0.9712727883924549, + 0.04178720369748534, + 0.16040201571876353, + -0.0810117942939014, + -0.9837216489122524 + ], + [ + 0.9642492014746209, + -0.186334252858542, + 0.18842246062294382, + -0.19822651347860099, + -0.9790665536873056, + 0.046205333079422595, + 0.1758684929419534, + -0.08190378295604728, + -0.9810005318692823 + ], + [ + 0.9693176564161003, + -0.15564148900952518, + 0.19026036859760725, + -0.1702261508811198, + -0.9834030165507104, + 0.06278188110563498, + 0.17733115495083696, + -0.0932428760703021, + -0.9797241589069554 + ], + [ + 0.97128315660042, + -0.1438106861112416, + 0.18954555195134112, + -0.15976982296287068, + -0.9845457594356266, + 0.07171646427243011, + 0.1763026754610876, + -0.09994065307741251, + -0.9792493209023548 + ], + [ + 0.9721293164210294, + -0.14219067214626105, + 0.18640387578957984, + -0.15927917911491982, + -0.9839803960612694, + 0.08007948093978486, + 0.17203120430683466, + -0.10753786738494762, + -0.9792042033319904 + ], + [ + 0.9724668162234328, + -0.1306808826763992, + 0.19295283943797506, + -0.14838013238027298, + -0.9856679641592867, + 0.08026207538370417, + 0.1796987135710005, + -0.10668257277083226, + -0.9779198336305094 + ], + [ + 0.9763480214298239, + -0.10980239001937572, + 0.18624708372509036, + -0.12652699805131767, + -0.9887001952070482, + 0.08039180780195442, + 0.1753153154011074, + -0.10205566688615299, + -0.9792084461656939 + ], + [ + 0.9812082213737251, + -0.08720039014320707, + 0.17212355523716968, + -0.10217797402289425, + -0.9915318722551371, + 0.08015115674024295, + 0.16367677884534285, + -0.09623221010189217, + -0.9818091840096617 + ], + [ + 0.9882033891270523, + -0.07521401189751403, + 0.13340507536105345, + -0.08622265875636428, + -0.9931583769804058, + 0.07875335771019473, + 0.1265690121427488, + -0.08932687528357267, + -0.987927626153496 + ], + [ + 0.9914415185028536, + -0.04555809454895921, + 0.12234449480799661, + -0.058072952998928375, + -0.9932148455334914, + 0.10075615485848542, + 0.11692411008316494, + -0.10699874126806787, + -0.9873601277387642 + ], + [ + 0.9905566051064144, + -0.04535784689012057, + 0.1293842254896151, + -0.060540657641311085, + -0.9914095286137169, + 0.11593953314674554, + 0.123013986409728, + -0.12267767645101585, + -0.9847932508136757 + ], + [ + 0.9922060945943985, + -0.03419462958588685, + 0.11982400910174658, + -0.04846764763270046, + -0.9917936361560226, + 0.11830583423216058, + 0.11479526550639553, + -0.1231913576023053, + -0.9857210236316445 + ], + [ + 0.9955917656070821, + -0.030791746708202578, + 0.08859404376158987, + -0.0413405844289341, + -0.9919350908311048, + 0.1198154065926493, + 0.08419021519420637, + -0.12294976174253286, + -0.9888353572526658 + ], + [ + 0.9936404346781964, + -0.03361920656617006, + 0.10746364744594479, + -0.043661429577841755, + -0.9947545121473838, + 0.09250481138643549, + 0.10379000982630406, + -0.09660853747098144, + -0.9898961684681752 + ], + [ + 0.9919113012097304, + -0.04412495479345039, + 0.11901663285816565, + -0.05003322779055321, + -0.997635458341512, + 0.047118662720622796, + 0.11665610420924423, + -0.052692320353132614, + -0.9917735995309236 + ], + [ + 0.9919305987016561, + -0.055150864836277055, + 0.11415808980175031, + -0.05719361558683196, + -0.9982549614026913, + 0.014694297227721146, + 0.11314847632858112, + -0.021104836950841876, + -0.9933539188837978 + ], + [ + 0.9859531887602432, + -0.10313103687951136, + 0.131378456398548, + -0.11095561310941188, + -0.9923745702985454, + 0.05368020253586944, + 0.12484054426756885, + -0.06750334404260519, + -0.9898778394580025 + ], + [ + 0.9780080014895004, + -0.19037639473400328, + 0.08518906825758962, + -0.19766527409145682, + -0.9763711359328443, + 0.0873375310823265, + 0.06654914305130114, + -0.10225572475558556, + -0.9925295856113546 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.003735780715942383, + -0.0011213729158043861, + -0.005300454795360565, + -0.016463011503219604, + 0.01563066802918911, + 0.0057138800621032715, + 1.0 + ], + [ + -0.009527400135993958, + -0.014940239489078522, + -0.005637079477310181, + -0.037682026624679565, + 0.023097576573491096, + -0.007716238498687744, + 1.0 + ], + [ + 6.525218486785889e-05, + -0.020155111327767372, + -0.0013914257287979126, + -0.027824096381664276, + -0.04413553327322006, + 0.0362284779548645, + 1.0 + ], + [ + 0.0018805265426635742, + -0.02703540399670601, + -0.0030680522322654724, + -0.0029437094926834106, + -0.07845605909824371, + 0.12145698070526123, + 1.0 + ], + [ + -0.0025053471326828003, + -0.023547712713479996, + -0.011262156069278717, + -0.016116656363010406, + -0.006280384957790375, + 0.10702535510063171, + 0.0 + ], + [ + 0.0016993582248687744, + -0.014553196728229523, + -0.004164360463619232, + -0.013024412095546722, + -0.03514810651540756, + 0.026779741048812866, + 0.0 + ], + [ + -0.003010571002960205, + -0.005046024918556213, + -0.007657736539840698, + 0.005452156066894531, + 0.03810921311378479, + 0.0031815767288208008, + 0.0 + ], + [ + -0.0006275773048400879, + -0.006068825721740723, + -0.007647234946489334, + -0.007866419851779938, + 0.0033004507422447205, + 0.05595400929450989, + 0.0 + ], + [ + 0.002860620617866516, + -0.005043551325798035, + -0.014467835426330566, + -0.016359053552150726, + 0.0070413947105407715, + -0.001883178949356079, + 0.0 + ], + [ + 0.0031726956367492676, + -0.002621278166770935, + -0.019105663523077965, + -0.014287922531366348, + -0.019111014902591705, + 0.0455302894115448, + 0.0 + ], + [ + 0.0023439377546310425, + 0.0011864528059959412, + -0.004138585180044174, + -0.005628054961562157, + -0.0442395955324173, + 0.07362164556980133, + 0.0 + ], + [ + 0.0014376640319824219, + -9.438395500183105e-05, + -0.0021233288571238518, + 0.006596209481358528, + 0.024427250027656555, + -0.00208418071269989, + 0.0 + ], + [ + 0.003887847065925598, + 0.008767448365688324, + -0.0018925266340374947, + 0.019963782280683517, + 0.0029468685388565063, + -0.0008217692375183105, + 0.0 + ], + [ + 0.0007988214492797852, + 0.007954955101013184, + -0.0018832683563232422, + 0.02656613662838936, + 0.0015092939138412476, + -0.02901637554168701, + 0.0 + ], + [ + 0.0006466209888458252, + 0.008740924298763275, + -0.0006096716970205307, + -0.0017187148332595825, + -0.015524044632911682, + -0.015676245093345642, + 0.0 + ], + [ + 0.0020150095224380493, + 0.017526991665363312, + 0.0015578502789139748, + 0.00112992525100708, + -0.015690013766288757, + 0.036879897117614746, + 0.0 + ], + [ + -0.0007356703281402588, + 0.021374281495809555, + 0.0006139865145087242, + 0.011589914560317993, + -0.0014860183000564575, + 0.02890956401824951, + 0.0 + ], + [ + 0.0015934258699417114, + 0.010458089411258698, + 0.0005107056349515915, + 0.006819508969783783, + 0.001044943928718567, + 0.010808199644088745, + 0.0 + ], + [ + 0.0016585737466812134, + 0.013026054948568344, + 0.0003471020609140396, + 0.007677063345909119, + 0.004337772727012634, + 0.0006308853626251221, + 0.0 + ], + [ + 0.0012858659029006958, + 0.009922051802277565, + 0.00048267561942338943, + -0.0007217228412628174, + -0.007788926362991333, + 0.01098930835723877, + 0.0 + ], + [ + -0.002184167504310608, + 0.008924547582864761, + 0.0005841683596372604, + -0.004813939332962036, + 0.004454135894775391, + 0.022539496421813965, + 0.0 + ], + [ + -0.015240341424942017, + 0.006658987607806921, + 0.002330322749912739, + -0.006144583225250244, + 0.011809483170509338, + 0.025113001465797424, + 0.0 + ], + [ + -0.011641770601272583, + -0.0002493851352483034, + 0.00023085437715053558, + -0.0075298696756362915, + 0.03750714659690857, + 0.016729339957237244, + 0.0 + ], + [ + -0.003269478678703308, + -0.004055231809616089, + -0.0003440342843532562, + 0.01777401566505432, + 0.009717226028442383, + 0.028524119406938553, + 0.0 + ], + [ + -0.000661998987197876, + -0.003206701250746846, + -0.0005733529105782509, + 0.01598631590604782, + -0.006134189665317535, + -0.0025344789028167725, + 0.0 + ], + [ + 0.001389145851135254, + 0.0024983531329780817, + 0.002068932168185711, + 0.00039768218994140625, + 0.008277468383312225, + 0.01223231852054596, + 1.0 + ], + [ + -0.0002512931823730469, + 0.0025718756951391697, + 0.007447907701134682, + -0.0006281733512878418, + 0.03075890988111496, + 0.007309779524803162, + 1.0 + ], + [ + 0.0073226094245910645, + -0.001845051534473896, + 0.021913254633545876, + -0.026416555047035217, + -0.019687272608280182, + -0.0024128369987010956, + 1.0 + ], + [ + -0.0026410818099975586, + -0.0030758664943277836, + 0.021662656217813492, + -0.04420704394578934, + -0.012945063412189484, + -0.006485890597105026, + 1.0 + ], + [ + -0.000916406512260437, + -0.0016926908865571022, + 0.016290538012981415, + -0.03183663636445999, + 0.0035310164093971252, + -0.00719660148024559, + 1.0 + ], + [ + 0.00883588194847107, + -0.006041047628968954, + 0.003446802496910095, + 0.04684535413980484, + -0.011775806546211243, + -0.05446977913379669, + 1.0 + ], + [ + 0.015473291277885437, + -0.010385353118181229, + -0.002246767282485962, + 0.0345749631524086, + 0.05856875330209732, + -0.087358757853508, + 1.0 + ], + [ + 0.0290529727935791, + -0.009328151121735573, + 0.0067442432045936584, + 0.009397216141223907, + -0.03251565992832184, + 0.004826679825782776, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9687211513519287 + ], + [ + 0.704176664352417 + ], + [ + 0.4077054560184479 + ], + [ + 0.18011163175106049 + ], + [ + 0.05980546772480011 + ], + [ + 0.052190229296684265 + ], + [ + 0.052190229296684265 + ], + [ + 0.052190229296684265 + ], + [ + 0.052190229296684265 + ], + [ + 0.052190229296684265 + ], + [ + 0.05192930996417999 + ], + [ + 0.05192930996417999 + ], + [ + 0.052190229296684265 + ], + [ + 0.05192930996417999 + ], + [ + 0.05192930996417999 + ], + [ + 0.05192930996417999 + ], + [ + 0.05192930996417999 + ], + [ + 0.05192930996417999 + ], + [ + 0.05192930996417999 + ], + [ + 0.05192930996417999 + ], + [ + 0.05192930996417999 + ], + [ + 0.07081232219934464 + ], + [ + 0.20806095004081726 + ], + [ + 0.44022873044013977 + ], + [ + 0.7061693072319031 + ], + [ + 0.9766865372657776 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2405509650707245, + 0.006900230422616005, + 0.0930539071559906 + ], + [ + 0.23102356493473053, + -0.008040009066462517, + 0.08741682767868042 + ], + [ + 0.2310888171195984, + -0.02819512039422989, + 0.08602540194988251 + ], + [ + 0.23296934366226196, + -0.0552305243909359, + 0.08295734971761703 + ], + [ + 0.23046399652957916, + -0.0787782371044159, + 0.07169519364833832 + ], + [ + 0.23216335475444794, + -0.09333143383264542, + 0.06753083318471909 + ], + [ + 0.22915278375148773, + -0.09837745875120163, + 0.05987309664487839 + ], + [ + 0.22852520644664764, + -0.10444628447294235, + 0.05222586169838905 + ], + [ + 0.23138582706451416, + -0.10948983579874039, + 0.03775802627205849 + ], + [ + 0.23455852270126343, + -0.11211111396551132, + 0.018652362748980522 + ], + [ + 0.23690246045589447, + -0.11092466115951538, + 0.014513777568936348 + ], + [ + 0.2383401244878769, + -0.11101904511451721, + 0.012390448711812496 + ], + [ + 0.2422279715538025, + -0.10225159674882889, + 0.010497922077775002 + ], + [ + 0.24302679300308228, + -0.0942966416478157, + 0.00861465372145176 + ], + [ + 0.2436734139919281, + -0.08555571734905243, + 0.008004982024431229 + ], + [ + 0.24568842351436615, + -0.06802872568368912, + 0.009562832303345203 + ], + [ + 0.2449527531862259, + -0.04665444418787956, + 0.010176818817853928 + ], + [ + 0.2465461790561676, + -0.036196354776620865, + 0.010687524452805519 + ], + [ + 0.24820475280284882, + -0.02317029982805252, + 0.011034626513719559 + ], + [ + 0.2494906187057495, + -0.013248248025774956, + 0.011517302133142948 + ], + [ + 0.2473064512014389, + -0.004323699977248907, + 0.012101470492780209 + ], + [ + 0.2320661097764969, + 0.002335287630558014, + 0.014431793242692947 + ], + [ + 0.2204243391752243, + 0.0020859024953097105, + 0.014662647619843483 + ], + [ + 0.217154860496521, + -0.0019693293143063784, + 0.014318613335490227 + ], + [ + 0.21649286150932312, + -0.0051760305650532246, + 0.013745260424911976 + ], + [ + 0.21788200736045837, + -0.002677677432075143, + 0.015814192593097687 + ], + [ + 0.21763071417808533, + -0.0001058018024195917, + 0.02326210029423237 + ], + [ + 0.2249533236026764, + -0.001950853387825191, + 0.045175354927778244 + ], + [ + 0.22231224179267883, + -0.005026719998568296, + 0.06683801114559174 + ], + [ + 0.2213958352804184, + -0.006719410885125399, + 0.08312854915857315 + ], + [ + 0.23023171722888947, + -0.012760458514094353, + 0.08657535165548325 + ], + [ + 0.2457050085067749, + -0.02314581163227558, + 0.08432858437299728 + ], + [ + 0.274757981300354, + -0.032473962754011154, + 0.09107282757759094 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.7946056073479579, + -0.5960351401660707, + 0.11551640774537536, + -0.6068399270214643, + -0.7855622128956413, + 0.12098476202847787, + 0.018634155300609745, + -0.16623513875747206, + -0.9859100602481533 + ], + [ + 0.7900287858006123, + -0.608392238843033, + 0.07558704467018049, + -0.6130535092730223, + -0.7830829645516291, + 0.10462535733302919, + -0.004462328365572615, + -0.12899594700839911, + -0.9916350807030597 + ], + [ + 0.8110848769222266, + -0.5777706094742894, + 0.09122743696807942, + -0.583582201571266, + -0.8098910976054399, + 0.05923026277748928, + 0.039662784033536624, + -0.10127947890448671, + -0.994067065501893 + ], + [ + 0.8703969444093584, + -0.4688864135035445, + 0.15018219067064845, + -0.47803705667438995, + -0.8778334623051329, + 0.029815849869972905, + 0.11785470550189324, + -0.0977442770149014, + -0.9882086443165209 + ], + [ + 0.9157800362815925, + -0.3742651792532872, + 0.14585095387617364, + -0.3820325327616255, + -0.9237118852302074, + 0.02841649162358871, + 0.12408895623633243, + -0.0817430650450593, + -0.9888983781244748 + ], + [ + 0.9210414974206074, + -0.3490041788184273, + 0.17285439883462855, + -0.35558290463661896, + -0.9346134228835501, + 0.007651646625394949, + 0.15888158470820574, + -0.06851155328242092, + -0.9849176661566386 + ], + [ + 0.927152651537395, + -0.3477186617705199, + 0.13956967078737717, + -0.35455689353230335, + -0.9346519393690453, + 0.026742503293551483, + 0.1211501960208938, + -0.07427977174306247, + -0.989851072391144 + ], + [ + 0.9459058963708722, + -0.2961886110481025, + 0.13241730210290786, + -0.30227122975684345, + -0.9528104446060469, + 0.028006433384368205, + 0.11787340188567763, + -0.06651739122232134, + -0.9907983133780933 + ], + [ + 0.9461016766062157, + -0.30044682354717234, + 0.12092693555747736, + -0.3042985958203279, + -0.9524691286354673, + 0.014315152048464841, + 0.11087823097743169, + -0.05034148604092113, + -0.9925581860417592 + ], + [ + 0.9567515686654581, + -0.25780870232313463, + 0.1347631584026097, + -0.26031790637702873, + -0.9655224058968217, + 0.0010350510585611233, + 0.12985000375689634, + -0.03607154997605044, + -0.9908772980579682 + ], + [ + 0.9667182232448545, + -0.18552421547346418, + 0.17617219507989235, + -0.18795757054374543, + -0.9821728013840803, + -0.0029223101548664174, + 0.17357369766645225, + -0.030287847303892487, + -0.9843550262908659 + ], + [ + 0.9701959842101557, + -0.18728811233293946, + 0.15376252859930317, + -0.19073310283062378, + -0.9816106772606324, + 0.007833375551143515, + 0.1494678417155007, + -0.03692751368135708, + -0.9880767799246288 + ], + [ + 0.97046682503135, + -0.1851514184752177, + 0.15463859075336325, + -0.1916148040819481, + -0.9810746713318179, + 0.02786137340122213, + 0.14655343179266736, + -0.05666958185641119, + -0.987578174182688 + ], + [ + 0.9647136941326206, + -0.20945594279495738, + 0.15954841390897173, + -0.21973849702883425, + -0.9742975006665459, + 0.04959206709174119, + 0.14506026773897124, + -0.08290107491943818, + -0.985943675115724 + ], + [ + 0.9588473252910847, + -0.22375490992071817, + 0.17477284419641606, + -0.23427121064162143, + -0.9712727883924549, + 0.04178720369748534, + 0.16040201571876353, + -0.0810117942939014, + -0.9837216489122524 + ], + [ + 0.9642492014746209, + -0.186334252858542, + 0.18842246062294382, + -0.19822651347860099, + -0.9790665536873056, + 0.046205333079422595, + 0.1758684929419534, + -0.08190378295604728, + -0.9810005318692823 + ], + [ + 0.9693176564161003, + -0.15564148900952518, + 0.19026036859760725, + -0.1702261508811198, + -0.9834030165507104, + 0.06278188110563498, + 0.17733115495083696, + -0.0932428760703021, + -0.9797241589069554 + ], + [ + 0.97128315660042, + -0.1438106861112416, + 0.18954555195134112, + -0.15976982296287068, + -0.9845457594356266, + 0.07171646427243011, + 0.1763026754610876, + -0.09994065307741251, + -0.9792493209023548 + ], + [ + 0.9721293164210294, + -0.14219067214626105, + 0.18640387578957984, + -0.15927917911491982, + -0.9839803960612694, + 0.08007948093978486, + 0.17203120430683466, + -0.10753786738494762, + -0.9792042033319904 + ], + [ + 0.9724668162234328, + -0.1306808826763992, + 0.19295283943797506, + -0.14838013238027298, + -0.9856679641592867, + 0.08026207538370417, + 0.1796987135710005, + -0.10668257277083226, + -0.9779198336305094 + ], + [ + 0.9763480214298239, + -0.10980239001937572, + 0.18624708372509036, + -0.12652699805131767, + -0.9887001952070482, + 0.08039180780195442, + 0.1753153154011074, + -0.10205566688615299, + -0.9792084461656939 + ], + [ + 0.9812082213737251, + -0.08720039014320707, + 0.17212355523716968, + -0.10217797402289425, + -0.9915318722551371, + 0.08015115674024295, + 0.16367677884534285, + -0.09623221010189217, + -0.9818091840096617 + ], + [ + 0.9882033891270523, + -0.07521401189751403, + 0.13340507536105345, + -0.08622265875636428, + -0.9931583769804058, + 0.07875335771019473, + 0.1265690121427488, + -0.08932687528357267, + -0.987927626153496 + ], + [ + 0.9914415185028536, + -0.04555809454895921, + 0.12234449480799661, + -0.058072952998928375, + -0.9932148455334914, + 0.10075615485848542, + 0.11692411008316494, + -0.10699874126806787, + -0.9873601277387642 + ], + [ + 0.9905566051064144, + -0.04535784689012057, + 0.1293842254896151, + -0.060540657641311085, + -0.9914095286137169, + 0.11593953314674554, + 0.123013986409728, + -0.12267767645101585, + -0.9847932508136757 + ], + [ + 0.9922060945943985, + -0.03419462958588685, + 0.11982400910174658, + -0.04846764763270046, + -0.9917936361560226, + 0.11830583423216058, + 0.11479526550639553, + -0.1231913576023053, + -0.9857210236316445 + ], + [ + 0.9955917656070821, + -0.030791746708202578, + 0.08859404376158987, + -0.0413405844289341, + -0.9919350908311048, + 0.1198154065926493, + 0.08419021519420637, + -0.12294976174253286, + -0.9888353572526658 + ], + [ + 0.9936404346781964, + -0.03361920656617006, + 0.10746364744594479, + -0.043661429577841755, + -0.9947545121473838, + 0.09250481138643549, + 0.10379000982630406, + -0.09660853747098144, + -0.9898961684681752 + ], + [ + 0.9919113012097304, + -0.04412495479345039, + 0.11901663285816565, + -0.05003322779055321, + -0.997635458341512, + 0.047118662720622796, + 0.11665610420924423, + -0.052692320353132614, + -0.9917735995309236 + ], + [ + 0.9919305987016561, + -0.055150864836277055, + 0.11415808980175031, + -0.05719361558683196, + -0.9982549614026913, + 0.014694297227721146, + 0.11314847632858112, + -0.021104836950841876, + -0.9933539188837978 + ], + [ + 0.9859531887602432, + -0.10313103687951136, + 0.131378456398548, + -0.11095561310941188, + -0.9923745702985454, + 0.05368020253586944, + 0.12484054426756885, + -0.06750334404260519, + -0.9898778394580025 + ], + [ + 0.9780080014895004, + -0.19037639473400328, + 0.08518906825758962, + -0.19766527409145682, + -0.9763711359328443, + 0.0873375310823265, + 0.06654914305130114, + -0.10225572475558556, + -0.9925295856113546 + ], + [ + 0.9763105381810704, + -0.18130173752358725, + 0.11809916598992899, + -0.19242211147694172, + -0.9771115959196409, + 0.09070093789001142, + 0.09895182692272005, + -0.11127717236837285, + -0.9888508112239962 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006198.json b/json/chunk-0006/episode_0006198.json new file mode 100644 index 0000000000000000000000000000000000000000..282dd91844507505ec0f47a23abdd1f412aa2590 --- /dev/null +++ b/json/chunk-0006/episode_0006198.json @@ -0,0 +1,2242 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 36, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut the lid on the pot." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006198.mp4", + "start": 0, + "end": 36, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.27190014719963074, + -0.01958860270678997, + 0.10679705440998077, + 0.019115591421723366, + -0.34704867005348206, + -0.48221245408058167, + 0.0, + 1.0001531839370728 + ], + [ + 0.26862743496894836, + -0.019446684047579765, + 0.10107972472906113, + 0.007954415865242481, + -0.32322055101394653, + -0.47349047660827637, + 0.0, + 1.0001531839370728 + ], + [ + 0.2609839141368866, + -0.02204844541847706, + 0.1046667993068695, + 0.0348392128944397, + -0.29854926466941833, + -0.49721759557724, + 0.0, + 1.0001531839370728 + ], + [ + 0.2437770813703537, + -0.03218306228518486, + 0.09970910102128983, + 0.03365521878004074, + -0.24710847437381744, + -0.537275493144989, + 0.0, + 1.0001531839370728 + ], + [ + 0.22232265770435333, + -0.03979204222559929, + 0.10057041794061661, + 0.04059663787484169, + -0.2296166568994522, + -0.5742001533508301, + 0.0, + 1.0001531839370728 + ], + [ + 0.20933373272418976, + -0.051795296370983124, + 0.09030400216579437, + 0.026438690721988678, + -0.18330661952495575, + -0.6161690950393677, + 0.0, + 1.0001531839370728 + ], + [ + 0.20224596560001373, + -0.053497955203056335, + 0.07327067106962204, + -0.009184678085148335, + -0.14463086426258087, + -0.6188662052154541, + 0.0, + 1.0001531839370728 + ], + [ + 0.2032890021800995, + -0.053406018763780594, + 0.0588763952255249, + -0.012422800064086914, + -0.10433033108711243, + -0.6364349722862244, + 0.0, + 1.0001531839370728 + ], + [ + 0.20418235659599304, + -0.04987665265798569, + 0.04895348846912384, + 0.004791146609932184, + -0.08725402504205704, + -0.6327539086341858, + 0.0, + 1.0001531839370728 + ], + [ + 0.20580308139324188, + -0.048545777797698975, + 0.04174615070223808, + 0.009766503237187862, + -0.07153988629579544, + -0.6399325728416443, + 0.0, + 1.0001531839370728 + ], + [ + 0.20566700398921967, + -0.05043518915772438, + 0.03571639955043793, + 0.008445694111287594, + -0.05697416886687279, + -0.6559475660324097, + 0.0, + 1.0001531839370728 + ], + [ + 0.20692481100559235, + -0.052037663757801056, + 0.029169373214244843, + -0.00111540243960917, + -0.044716961681842804, + -0.6662396788597107, + 0.0, + 1.0008161067962646 + ], + [ + 0.21395786106586456, + -0.05864942446351051, + 0.028136583045125008, + -0.018135199323296547, + -0.08376327902078629, + -0.7056667804718018, + 0.0, + 0.9499720335006714 + ], + [ + 0.21428579092025757, + -0.057766202837228775, + 0.02777070552110672, + -0.0109377047047019, + -0.09001488983631134, + -0.7012132406234741, + 0.0, + 0.6921995282173157 + ], + [ + 0.21485881507396698, + -0.05861416086554527, + 0.029405677691102028, + -0.007755607832223177, + -0.0955529659986496, + -0.7092427015304565, + 0.0, + 0.4880000650882721 + ], + [ + 0.21482017636299133, + -0.05935124680399895, + 0.030665505677461624, + -0.008010094054043293, + -0.0969846099615097, + -0.7049078941345215, + 0.0, + 0.3080119788646698 + ], + [ + 0.21390214562416077, + -0.0588495098054409, + 0.030979225412011147, + -0.00810016505420208, + -0.09334362298250198, + -0.7027177810668945, + 0.0, + 0.28468459844589233 + ], + [ + 0.20953862369060516, + -0.05719403177499771, + 0.03319522738456726, + -0.011274524964392185, + -0.07905233651399612, + -0.699866771697998, + 0.0, + 0.28468459844589233 + ], + [ + 0.20406250655651093, + -0.05453140661120415, + 0.04470114782452583, + 0.008919344283640385, + -0.1009719967842102, + -0.6983108520507812, + 0.0, + 0.28468459844589233 + ], + [ + 0.19794411957263947, + -0.05228862538933754, + 0.05507759004831314, + 0.014015532098710537, + -0.10288920253515244, + -0.6866697669029236, + 0.0, + 0.28468459844589233 + ], + [ + 0.19863232970237732, + -0.06273722648620605, + 0.0677412822842598, + 0.032609257847070694, + -0.1254604458808899, + -0.7226433157920837, + 0.0, + 0.28468459844589233 + ], + [ + 0.2136256843805313, + -0.07952075451612473, + 0.08616965264081955, + 0.04570816457271576, + -0.1826781928539276, + -0.740012526512146, + 0.0, + 0.28468459844589233 + ], + [ + 0.23581376671791077, + -0.0914749801158905, + 0.09793725609779358, + 0.06128859892487526, + -0.20897994935512543, + -0.7482467889785767, + 0.0, + 0.28468459844589233 + ], + [ + 0.2586509883403778, + -0.10488337278366089, + 0.10334675759077072, + 0.05279574915766716, + -0.2324952930212021, + -0.7514078617095947, + 0.0, + 0.28468459844589233 + ], + [ + 0.27409476041793823, + -0.11072388291358948, + 0.0988510400056839, + 0.04555724561214447, + -0.20865319669246674, + -0.7481467127799988, + 0.0, + 0.28468459844589233 + ], + [ + 0.2899118959903717, + -0.12007485330104828, + 0.08470042794942856, + 0.01578507199883461, + -0.18207766115665436, + -0.7570258975028992, + 0.0, + 0.28468459844589233 + ], + [ + 0.29333624243736267, + -0.1222057044506073, + 0.07060027122497559, + -0.0027581818867474794, + -0.14725066721439362, + -0.7631263136863708, + 0.0, + 0.28468459844589233 + ], + [ + 0.2967362105846405, + -0.12412147969007492, + 0.06468305736780167, + -0.01162706408649683, + -0.13606348633766174, + -0.7610601782798767, + 0.0, + 0.28468459844589233 + ], + [ + 0.2990141212940216, + -0.12501749396324158, + 0.06353190541267395, + -0.012728487141430378, + -0.1333099901676178, + -0.7626421451568604, + 0.0, + 0.28468459844589233 + ], + [ + 0.30010002851486206, + -0.12606337666511536, + 0.06398206949234009, + -0.014818287454545498, + -0.1363985240459442, + -0.7677150368690491, + 0.0, + 0.3453405201435089 + ], + [ + 0.29880884289741516, + -0.1266576200723648, + 0.06344810128211975, + -0.024819696322083473, + -0.13192102313041687, + -0.7583643198013306, + 0.0, + 0.6370214223861694 + ], + [ + 0.29645752906799316, + -0.12420453876256943, + 0.062470097094774246, + -0.016970016062259674, + -0.12221422791481018, + -0.7473700642585754, + 0.0, + 0.9206693768501282 + ], + [ + 0.2951039671897888, + -0.12313110381364822, + 0.06347009539604187, + -0.00927790254354477, + -0.12528224289417267, + -0.7458236813545227, + 0.0, + 1.0092895030975342 + ], + [ + 0.29028230905532837, + -0.12316155433654785, + 0.07181547582149506, + 0.0030246300157159567, + -0.13951903581619263, + -0.7478076219558716, + 0.0, + 1.0060625076293945 + ], + [ + 0.28761088848114014, + -0.12033217400312424, + 0.08753853291273117, + 0.031110959127545357, + -0.17740479111671448, + -0.7451803684234619, + 0.0, + 1.0014774799346924 + ], + [ + 0.28452345728874207, + -0.11831178516149521, + 0.102505624294281, + 0.04973437264561653, + -0.20981605350971222, + -0.7518284320831299, + 0.0, + 1.0014774799346924 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 0.9499720335006714 + ], + [ + 0.6921995282173157 + ], + [ + 0.4880000650882721 + ], + [ + 0.3080119788646698 + ], + [ + 0.28468459844589233 + ], + [ + 0.28468459844589233 + ], + [ + 0.28468459844589233 + ], + [ + 0.28468459844589233 + ], + [ + 0.28468459844589233 + ], + [ + 0.28468459844589233 + ], + [ + 0.28468459844589233 + ], + [ + 0.28468459844589233 + ], + [ + 0.28468459844589233 + ], + [ + 0.28468459844589233 + ], + [ + 0.28468459844589233 + ], + [ + 0.28468459844589233 + ], + [ + 0.28468459844589233 + ], + [ + 0.3453405201435089 + ], + [ + 0.6370214223861694 + ], + [ + 0.9206693768501282 + ], + [ + 1.0092895030975342 + ], + [ + 1.0060625076293945 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.27190014719963074, + -0.01958860270678997, + 0.10679705440998077 + ], + [ + 0.26862743496894836, + -0.019446684047579765, + 0.10107972472906113 + ], + [ + 0.2609839141368866, + -0.02204844541847706, + 0.1046667993068695 + ], + [ + 0.2437770813703537, + -0.03218306228518486, + 0.09970910102128983 + ], + [ + 0.22232265770435333, + -0.03979204222559929, + 0.10057041794061661 + ], + [ + 0.20933373272418976, + -0.051795296370983124, + 0.09030400216579437 + ], + [ + 0.20224596560001373, + -0.053497955203056335, + 0.07327067106962204 + ], + [ + 0.2032890021800995, + -0.053406018763780594, + 0.0588763952255249 + ], + [ + 0.20418235659599304, + -0.04987665265798569, + 0.04895348846912384 + ], + [ + 0.20580308139324188, + -0.048545777797698975, + 0.04174615070223808 + ], + [ + 0.20566700398921967, + -0.05043518915772438, + 0.03571639955043793 + ], + [ + 0.20692481100559235, + -0.052037663757801056, + 0.029169373214244843 + ], + [ + 0.21395786106586456, + -0.05864942446351051, + 0.028136583045125008 + ], + [ + 0.21428579092025757, + -0.057766202837228775, + 0.02777070552110672 + ], + [ + 0.21485881507396698, + -0.05861416086554527, + 0.029405677691102028 + ], + [ + 0.21482017636299133, + -0.05935124680399895, + 0.030665505677461624 + ], + [ + 0.21390214562416077, + -0.0588495098054409, + 0.030979225412011147 + ], + [ + 0.20953862369060516, + -0.05719403177499771, + 0.03319522738456726 + ], + [ + 0.20406250655651093, + -0.05453140661120415, + 0.04470114782452583 + ], + [ + 0.19794411957263947, + -0.05228862538933754, + 0.05507759004831314 + ], + [ + 0.19863232970237732, + -0.06273722648620605, + 0.0677412822842598 + ], + [ + 0.2136256843805313, + -0.07952075451612473, + 0.08616965264081955 + ], + [ + 0.23581376671791077, + -0.0914749801158905, + 0.09793725609779358 + ], + [ + 0.2586509883403778, + -0.10488337278366089, + 0.10334675759077072 + ], + [ + 0.27409476041793823, + -0.11072388291358948, + 0.0988510400056839 + ], + [ + 0.2899118959903717, + -0.12007485330104828, + 0.08470042794942856 + ], + [ + 0.29333624243736267, + -0.1222057044506073, + 0.07060027122497559 + ], + [ + 0.2967362105846405, + -0.12412147969007492, + 0.06468305736780167 + ], + [ + 0.2990141212940216, + -0.12501749396324158, + 0.06353190541267395 + ], + [ + 0.30010002851486206, + -0.12606337666511536, + 0.06398206949234009 + ], + [ + 0.29880884289741516, + -0.1266576200723648, + 0.06344810128211975 + ], + [ + 0.29645752906799316, + -0.12420453876256943, + 0.062470097094774246 + ], + [ + 0.2951039671897888, + -0.12313110381364822, + 0.06347009539604187 + ], + [ + 0.29028230905532837, + -0.12316155433654785, + 0.07181547582149506 + ], + [ + 0.28761088848114014, + -0.12033217400312424, + 0.08753853291273117 + ], + [ + 0.28452345728874207, + -0.11831178516149521, + 0.102505624294281 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8331500448267105, + -0.4578958143972799, + 0.31014903830691143, + -0.4360925616617002, + -0.8888241268044227, + -0.14076558270291717, + 0.34012391928323193, + -0.017974837073180323, + -0.9402088197648468 + ], + [ + 0.8438965029737092, + -0.45373257885958407, + 0.2862960690442241, + -0.43238289380844186, + -0.8911059749201619, + -0.13775040690838203, + 0.3176219850869606, + -0.007542436146134007, + -0.9481874214765768 + ], + [ + 0.8400336985691784, + -0.46768770382374963, + 0.2749756297569934, + -0.455882223092368, + -0.8832666067349934, + -0.1095969894441027, + 0.2941339557693856, + -0.03329133699506525, + -0.9551842246103806 + ], + [ + 0.8330098324713332, + -0.5044365085718907, + 0.227240902625125, + -0.49625076934697215, + -0.8628321416751189, + -0.09620742806491227, + 0.2446012937999695, + -0.03262673921996827, + -0.969074663253174 + ], + [ + 0.8175899300933147, + -0.5349598671870429, + 0.21298978076243483, + -0.528907371590967, + -0.8439526579140845, + -0.0894477695445052, + 0.22760425849870078, + -0.03952026946990078, + -0.9729514118465952 + ], + [ + 0.8024257289214533, + -0.5737784855116539, + 0.16398536254442822, + -0.5682308511760159, + -0.8185979649453196, + -0.08373214173280252, + 0.18228178553178395, + -0.0259927172749295, + -0.9829027059236385 + ], + [ + 0.806032273446216, + -0.5811657848789922, + 0.11206384184521637, + -0.5740551685368906, + -0.813734432626457, + -0.09108752183576271, + 0.1441271578822215, + 0.009088654690514529, + -0.9895174372979539 + ], + [ + 0.7998467509026609, + -0.5953267111920777, + 0.0763628313492962, + -0.5911004930645007, + -0.8033887368866924, + -0.0718800705516391, + 0.10414116462456444, + 0.012354933623012269, + -0.9944857834307186 + ], + [ + 0.8033342665128012, + -0.5910242826727845, + 0.07310508557864163, + -0.5891180631752206, + -0.8066396448846824, + -0.04766960185474853, + 0.08714335251191978, + -0.00477290178340644, + -0.9961843481612976 + ], + [ + 0.8000842503817078, + -0.5965529169382652, + 0.06316493951226891, + -0.5956139371770995, + -0.8025146248299595, + -0.034847019591700494, + 0.07147887891912934, + -0.009741366766393438, + -0.9973945436195186 + ], + [ + 0.7911844998946207, + -0.609507567609276, + 0.050275363285837246, + -0.6089208010748539, + -0.7927354087325709, + -0.02803622228407731, + 0.056943350312897614, + -0.008431889979579181, + -0.9983418042366627 + ], + [ + 0.785365359845101, + -0.6180729960875753, + 0.03445320105161526, + -0.6174163727558242, + -0.7861199207953827, + -0.028504259009881155, + 0.0447020604493367, + 0.0011142872112978337, + -0.9989997418195835 + ], + [ + 0.7585105210043024, + -0.6495897330450229, + 0.05191308359438851, + -0.6462676664489755, + -0.7600701488890326, + -0.06805491951651851, + 0.08366536217801143, + 0.018070625066664275, + -0.9963300455578574 + ], + [ + 0.7609666559432957, + -0.6458577900819077, + 0.061623563131258996, + -0.642533212369112, + -0.7633800187810691, + -0.06634770477148577, + 0.08989337876121553, + 0.010893205053111955, + -0.9958918207007041 + ], + [ + 0.7553936117392112, + -0.6518011964228165, + 0.06734754401887816, + -0.6482884204636652, + -0.7583505782955939, + -0.06801855843418168, + 0.09540762671985911, + 0.0077201515867854065, + -0.9954083503885031 + ], + [ + 0.7580918978046295, + -0.6485336660804608, + 0.0685620772965109, + -0.6449186878896995, + -0.7611442211092644, + -0.0688430147698346, + 0.09683264167419811, + 0.007972366788398081, + -0.995268748064656 + ], + [ + 0.7597665278855288, + -0.6468489031549067, + 0.06588869092691162, + -0.6434804328143722, + -0.7625755406927225, + -0.06641895303473516, + 0.09320813102834101, + 0.008064813977771257, + -0.9956139829701608 + ], + [ + 0.7625391314178562, + -0.6447558838283863, + 0.053140599593699475, + -0.6421042034638239, + -0.7643059161292479, + -0.05948662424376891, + 0.07897002564637835, + 0.011239076408121527, + -0.9968136326369653 + ], + [ + 0.762028134497743, + -0.6422106452009252, + 0.08293738255154476, + -0.6396502007978123, + -0.7664768378178354, + -0.05797307744194951, + 0.10080051018327371, + -0.008873797348558608, + -0.9948670830153186 + ], + [ + 0.7692716860708633, + -0.6327897421427127, + 0.08830750392039358, + -0.6306125499194755, + -0.7741981606777875, + -0.054268037436300175, + 0.10270776452512267, + -0.013940955565884115, + -0.9946138772730662 + ], + [ + 0.744164787129351, + -0.6579579801209093, + 0.11536925930221162, + -0.6561713639855765, + -0.7523595906955018, + -0.05825965476901637, + 0.12513157348181866, + -0.03234722064892333, + -0.9916126999157757 + ], + [ + 0.7261726448927317, + -0.6674632172860474, + 0.1648215501069359, + -0.6630773219759082, + -0.7432859290254016, + -0.08862557641055571, + 0.18166385135946056, + -0.04493196282162887, + -0.9823336316273832 + ], + [ + 0.7169375026088932, + -0.6697646827940771, + 0.19343186664733675, + -0.665552457332937, + -0.7401521118999906, + -0.09599363410181554, + 0.20746215050223676, + -0.05991761787432444, + -0.9764063371246903 + ], + [ + 0.7110678708696573, + -0.6728321883509117, + 0.20415515995393166, + -0.6643006672562267, + -0.7380107595221266, + -0.11851051561994613, + 0.23040639422512563, + -0.05135138896365816, + -0.9717386111252752 + ], + [ + 0.717053752569604, + -0.6726613841374672, + 0.1826487837794606, + -0.6655267855712405, + -0.7386078983465614, + -0.10738933926274134, + 0.2071424959129865, + -0.044553729252921934, + -0.9772957339498602 + ], + [ + 0.7148660842967021, + -0.6845995799470426, + 0.14244260829763494, + -0.6754102079618989, + -0.7287540300227022, + -0.11286547171980907, + 0.18107327937375278, + -0.015523493872300835, + -0.9833470845204308 + ], + [ + 0.7148580000957075, + -0.6914739621361581, + 0.10412396163654251, + -0.6837042798988635, + -0.7223962319278504, + -0.10340281303920064, + 0.14671911036787882, + 0.00272832992254414, + -0.9891744329837341 + ], + [ + 0.7174127798618612, + -0.6907848856648632, + 0.09019503882064508, + -0.683315151611183, + -0.7229685653431913, + -0.10196497979302915, + 0.135644044725383, + 0.011519342975569925, + -0.9906906670944007 + ], + [ + 0.7165982269070679, + -0.6920013686376344, + 0.08729883731921806, + -0.6847046477229529, + -0.7217859532056317, + -0.10101773676748349, + 0.13291548660797003, + 0.012615211400465003, + -0.9910470876104163 + ], + [ + 0.7128168234124653, + -0.695866464560291, + 0.087533078093502, + -0.6880426655321663, + -0.7180211400642418, + -0.1050853597235969, + 0.1359759782739344, + 0.014680119931642178, + -0.9906033653340972 + ], + [ + 0.7196540376070583, + -0.6898929481809353, + 0.07839506493444576, + -0.6817592188288579, + -0.7234932519500372, + -0.10845221032613922, + 0.13153871558489558, + 0.024601512818870658, + -0.9910057173746772 + ], + [ + 0.7280080796367973, + -0.6811316023247611, + 0.07787153714962813, + -0.6746422274553161, + -0.7319672575403818, + -0.09529847230119537, + 0.12191021662548235, + 0.016842630534319232, + -0.9923982189015719 + ], + [ + 0.7287723028860368, + -0.6793993938870443, + 0.08548329738668108, + -0.6732586696145425, + -0.733710931198541, + -0.09160258308926775, + 0.12495476915683969, + 0.009205054355453983, + -0.9921197370475372 + ], + [ + 0.7260571920095702, + -0.6797214793942454, + 0.10401761572578166, + -0.6734251019359165, + -0.7334642043186133, + -0.09235200629040996, + 0.13906684009417386, + -0.002995235109600293, + -0.9902784671762077 + ], + [ + 0.7234303192579119, + -0.6737416953109749, + 0.15073387534953606, + -0.6674615365538841, + -0.7383323658294718, + -0.09674923663669574, + 0.1764756935091177, + -0.030617732903478904, + -0.9838286863231462 + ], + [ + 0.7144221857726553, + -0.6745676796864891, + 0.1859015492087368, + -0.6679972947841492, + -0.7366099307914705, + -0.10576116499190005, + 0.2082799909662007, + -0.048623609304242886, + -0.9768598619972817 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.003272712230682373, + 0.00014191865921020508, + -0.005717329680919647, + -0.011161175556480885, + 0.023828119039535522, + 0.008721977472305298, + 1.0 + ], + [ + -0.007643520832061768, + -0.002601761370897293, + 0.00358707457780838, + 0.02688479796051979, + 0.024671286344528198, + -0.023727118968963623, + 1.0 + ], + [ + -0.017206832766532898, + -0.010134616866707802, + -0.004957698285579681, + -0.0011839941143989563, + 0.05144079029560089, + -0.04005789756774902, + 1.0 + ], + [ + -0.021454423666000366, + -0.007608979940414429, + 0.0008613169193267822, + 0.006941419094800949, + 0.017491817474365234, + -0.036924660205841064, + 1.0 + ], + [ + -0.012988924980163574, + -0.012003254145383835, + -0.010266415774822235, + -0.014157947152853012, + 0.04631003737449646, + -0.0419689416885376, + 1.0 + ], + [ + -0.007087767124176025, + -0.0017026588320732117, + -0.017033331096172333, + -0.03562336787581444, + 0.03867575526237488, + -0.0026971101760864258, + 1.0 + ], + [ + 0.0010430365800857544, + 9.193643927574158e-05, + -0.014394275844097137, + -0.0032381219789385796, + 0.040300533175468445, + -0.017568767070770264, + 1.0 + ], + [ + 0.0008933544158935547, + 0.0035293661057949066, + -0.009922906756401062, + 0.01721394620835781, + 0.01707630604505539, + 0.0036810636520385742, + 1.0 + ], + [ + 0.0016207247972488403, + 0.0013308748602867126, + -0.0072073377668857574, + 0.004975356627255678, + 0.015714138746261597, + -0.007178664207458496, + 1.0 + ], + [ + -0.0001360774040222168, + -0.0018894113600254059, + -0.006029751151800156, + -0.0013208091259002686, + 0.014565717428922653, + -0.01601499319076538, + 1.0 + ], + [ + 0.0012578070163726807, + -0.0016024746000766754, + -0.006547026336193085, + -0.00956109631806612, + 0.012257207185029984, + -0.010292112827301025, + 1.0 + ], + [ + 0.007033050060272217, + -0.006611760705709457, + -0.001032790169119835, + -0.01701979711651802, + -0.03904631733894348, + -0.039427101612091064, + 0.0 + ], + [ + 0.00032792985439300537, + 0.0008832216262817383, + -0.00036587752401828766, + 0.0071974946185946465, + -0.006251610815525055, + 0.004453539848327637, + 0.0 + ], + [ + 0.0005730241537094116, + -0.0008479580283164978, + 0.001634972169995308, + 0.0031820968724787235, + -0.005538076162338257, + -0.008029460906982422, + 0.0 + ], + [ + -3.863871097564697e-05, + -0.0007370859384536743, + 0.0012598279863595963, + -0.00025448622182011604, + -0.0014316439628601074, + 0.004334807395935059, + 0.0 + ], + [ + -0.0009180307388305664, + 0.0005017369985580444, + 0.0003137197345495224, + -9.007100015878677e-05, + 0.003640986979007721, + 0.002190113067626953, + 0.0 + ], + [ + -0.004363521933555603, + 0.0016554780304431915, + 0.002216001972556114, + -0.0031743599101901054, + 0.01429128646850586, + 0.0028510093688964844, + 0.0 + ], + [ + -0.005476117134094238, + 0.002662625163793564, + 0.011505920439958572, + 0.02019386924803257, + -0.02191966027021408, + 0.0015559196472167969, + 0.0 + ], + [ + -0.00611838698387146, + 0.0022427812218666077, + 0.010376442223787308, + 0.005096187815070152, + -0.0019172057509422302, + 0.011641085147857666, + 0.0 + ], + [ + 0.000688210129737854, + -0.010448601096868515, + 0.012663692235946655, + 0.018593724817037582, + -0.022571243345737457, + -0.035973548889160156, + 0.0 + ], + [ + 0.014993354678153992, + -0.01678352802991867, + 0.018428370356559753, + 0.013098906725645065, + -0.05721774697303772, + -0.017369210720062256, + 0.0 + ], + [ + 0.022188082337379456, + -0.011954225599765778, + 0.01176760345697403, + 0.0155804343521595, + -0.026301756501197815, + -0.008234262466430664, + 0.0 + ], + [ + 0.02283722162246704, + -0.013408392667770386, + 0.005409501492977142, + -0.0084928497672081, + -0.02351534366607666, + -0.0031610727310180664, + 0.0 + ], + [ + 0.015443772077560425, + -0.005840510129928589, + -0.0044957175850868225, + -0.00723850354552269, + 0.02384209632873535, + 0.0032611489295959473, + 0.0 + ], + [ + 0.01581713557243347, + -0.009350970387458801, + -0.01415061205625534, + -0.02977217361330986, + 0.026575535535812378, + -0.00887918472290039, + 0.0 + ], + [ + 0.003424346446990967, + -0.002130851149559021, + -0.014100156724452972, + -0.01854325458407402, + 0.03482699394226074, + -0.00610041618347168, + 0.0 + ], + [ + 0.003399968147277832, + -0.0019157752394676208, + -0.00591721385717392, + -0.008868882432579994, + 0.011187180876731873, + 0.0020661354064941406, + 0.0 + ], + [ + 0.0022779107093811035, + -0.0008960142731666565, + -0.001151151955127716, + -0.001101423054933548, + 0.0027534961700439453, + -0.0015819668769836426, + 0.0 + ], + [ + 0.001085907220840454, + -0.0010458827018737793, + 0.0004501640796661377, + -0.00208980031311512, + -0.003088533878326416, + -0.005072891712188721, + 1.0 + ], + [ + -0.0012911856174468994, + -0.0005942434072494507, + -0.0005339682102203369, + -0.010001408867537975, + 0.004477500915527344, + 0.009350717067718506, + 1.0 + ], + [ + -0.002351313829421997, + 0.0024530813097953796, + -0.0009780041873455048, + 0.0078496802598238, + 0.00970679521560669, + 0.010994255542755127, + 1.0 + ], + [ + -0.0013535618782043457, + 0.0010734349489212036, + 0.000999998301267624, + 0.007692113518714905, + -0.003068014979362488, + 0.0015463829040527344, + 1.0 + ], + [ + -0.004821658134460449, + -3.0450522899627686e-05, + 0.008345380425453186, + 0.01230253279209137, + -0.014236792922019958, + -0.001983940601348877, + 1.0 + ], + [ + -0.0026714205741882324, + 0.0028293803334236145, + 0.015723057091236115, + 0.028086328878998756, + -0.03788575530052185, + 0.002627253532409668, + 1.0 + ], + [ + -0.0030874311923980713, + 0.0020203888416290283, + 0.014967091381549835, + 0.018623413518071175, + -0.03241126239299774, + -0.006648063659667969, + 1.0 + ], + [ + -0.003338426351547241, + 0.005183547735214233, + 0.017375044524669647, + 0.0199369378387928, + -0.03391331434249878, + -0.007523834705352783, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 0.9499720335006714 + ], + [ + 0.6921995282173157 + ], + [ + 0.4880000650882721 + ], + [ + 0.3080119788646698 + ], + [ + 0.28468459844589233 + ], + [ + 0.28468459844589233 + ], + [ + 0.28468459844589233 + ], + [ + 0.28468459844589233 + ], + [ + 0.28468459844589233 + ], + [ + 0.28468459844589233 + ], + [ + 0.28468459844589233 + ], + [ + 0.28468459844589233 + ], + [ + 0.28468459844589233 + ], + [ + 0.28468459844589233 + ], + [ + 0.28468459844589233 + ], + [ + 0.28468459844589233 + ], + [ + 0.28468459844589233 + ], + [ + 0.3453405201435089 + ], + [ + 0.6370214223861694 + ], + [ + 0.9206693768501282 + ], + [ + 1.0092895030975342 + ], + [ + 1.0060625076293945 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.26862743496894836, + -0.019446684047579765, + 0.10107972472906113 + ], + [ + 0.2609839141368866, + -0.02204844541847706, + 0.1046667993068695 + ], + [ + 0.2437770813703537, + -0.03218306228518486, + 0.09970910102128983 + ], + [ + 0.22232265770435333, + -0.03979204222559929, + 0.10057041794061661 + ], + [ + 0.20933373272418976, + -0.051795296370983124, + 0.09030400216579437 + ], + [ + 0.20224596560001373, + -0.053497955203056335, + 0.07327067106962204 + ], + [ + 0.2032890021800995, + -0.053406018763780594, + 0.0588763952255249 + ], + [ + 0.20418235659599304, + -0.04987665265798569, + 0.04895348846912384 + ], + [ + 0.20580308139324188, + -0.048545777797698975, + 0.04174615070223808 + ], + [ + 0.20566700398921967, + -0.05043518915772438, + 0.03571639955043793 + ], + [ + 0.20692481100559235, + -0.052037663757801056, + 0.029169373214244843 + ], + [ + 0.21395786106586456, + -0.05864942446351051, + 0.028136583045125008 + ], + [ + 0.21428579092025757, + -0.057766202837228775, + 0.02777070552110672 + ], + [ + 0.21485881507396698, + -0.05861416086554527, + 0.029405677691102028 + ], + [ + 0.21482017636299133, + -0.05935124680399895, + 0.030665505677461624 + ], + [ + 0.21390214562416077, + -0.0588495098054409, + 0.030979225412011147 + ], + [ + 0.20953862369060516, + -0.05719403177499771, + 0.03319522738456726 + ], + [ + 0.20406250655651093, + -0.05453140661120415, + 0.04470114782452583 + ], + [ + 0.19794411957263947, + -0.05228862538933754, + 0.05507759004831314 + ], + [ + 0.19863232970237732, + -0.06273722648620605, + 0.0677412822842598 + ], + [ + 0.2136256843805313, + -0.07952075451612473, + 0.08616965264081955 + ], + [ + 0.23581376671791077, + -0.0914749801158905, + 0.09793725609779358 + ], + [ + 0.2586509883403778, + -0.10488337278366089, + 0.10334675759077072 + ], + [ + 0.27409476041793823, + -0.11072388291358948, + 0.0988510400056839 + ], + [ + 0.2899118959903717, + -0.12007485330104828, + 0.08470042794942856 + ], + [ + 0.29333624243736267, + -0.1222057044506073, + 0.07060027122497559 + ], + [ + 0.2967362105846405, + -0.12412147969007492, + 0.06468305736780167 + ], + [ + 0.2990141212940216, + -0.12501749396324158, + 0.06353190541267395 + ], + [ + 0.30010002851486206, + -0.12606337666511536, + 0.06398206949234009 + ], + [ + 0.29880884289741516, + -0.1266576200723648, + 0.06344810128211975 + ], + [ + 0.29645752906799316, + -0.12420453876256943, + 0.062470097094774246 + ], + [ + 0.2951039671897888, + -0.12313110381364822, + 0.06347009539604187 + ], + [ + 0.29028230905532837, + -0.12316155433654785, + 0.07181547582149506 + ], + [ + 0.28761088848114014, + -0.12033217400312424, + 0.08753853291273117 + ], + [ + 0.28452345728874207, + -0.11831178516149521, + 0.102505624294281 + ], + [ + 0.2811850309371948, + -0.11312823742628098, + 0.11988066881895065 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8438965029737092, + -0.45373257885958407, + 0.2862960690442241, + -0.43238289380844186, + -0.8911059749201619, + -0.13775040690838203, + 0.3176219850869606, + -0.007542436146134007, + -0.9481874214765768 + ], + [ + 0.8400336985691784, + -0.46768770382374963, + 0.2749756297569934, + -0.455882223092368, + -0.8832666067349934, + -0.1095969894441027, + 0.2941339557693856, + -0.03329133699506525, + -0.9551842246103806 + ], + [ + 0.8330098324713332, + -0.5044365085718907, + 0.227240902625125, + -0.49625076934697215, + -0.8628321416751189, + -0.09620742806491227, + 0.2446012937999695, + -0.03262673921996827, + -0.969074663253174 + ], + [ + 0.8175899300933147, + -0.5349598671870429, + 0.21298978076243483, + -0.528907371590967, + -0.8439526579140845, + -0.0894477695445052, + 0.22760425849870078, + -0.03952026946990078, + -0.9729514118465952 + ], + [ + 0.8024257289214533, + -0.5737784855116539, + 0.16398536254442822, + -0.5682308511760159, + -0.8185979649453196, + -0.08373214173280252, + 0.18228178553178395, + -0.0259927172749295, + -0.9829027059236385 + ], + [ + 0.806032273446216, + -0.5811657848789922, + 0.11206384184521637, + -0.5740551685368906, + -0.813734432626457, + -0.09108752183576271, + 0.1441271578822215, + 0.009088654690514529, + -0.9895174372979539 + ], + [ + 0.7998467509026609, + -0.5953267111920777, + 0.0763628313492962, + -0.5911004930645007, + -0.8033887368866924, + -0.0718800705516391, + 0.10414116462456444, + 0.012354933623012269, + -0.9944857834307186 + ], + [ + 0.8033342665128012, + -0.5910242826727845, + 0.07310508557864163, + -0.5891180631752206, + -0.8066396448846824, + -0.04766960185474853, + 0.08714335251191978, + -0.00477290178340644, + -0.9961843481612976 + ], + [ + 0.8000842503817078, + -0.5965529169382652, + 0.06316493951226891, + -0.5956139371770995, + -0.8025146248299595, + -0.034847019591700494, + 0.07147887891912934, + -0.009741366766393438, + -0.9973945436195186 + ], + [ + 0.7911844998946207, + -0.609507567609276, + 0.050275363285837246, + -0.6089208010748539, + -0.7927354087325709, + -0.02803622228407731, + 0.056943350312897614, + -0.008431889979579181, + -0.9983418042366627 + ], + [ + 0.785365359845101, + -0.6180729960875753, + 0.03445320105161526, + -0.6174163727558242, + -0.7861199207953827, + -0.028504259009881155, + 0.0447020604493367, + 0.0011142872112978337, + -0.9989997418195835 + ], + [ + 0.7585105210043024, + -0.6495897330450229, + 0.05191308359438851, + -0.6462676664489755, + -0.7600701488890326, + -0.06805491951651851, + 0.08366536217801143, + 0.018070625066664275, + -0.9963300455578574 + ], + [ + 0.7609666559432957, + -0.6458577900819077, + 0.061623563131258996, + -0.642533212369112, + -0.7633800187810691, + -0.06634770477148577, + 0.08989337876121553, + 0.010893205053111955, + -0.9958918207007041 + ], + [ + 0.7553936117392112, + -0.6518011964228165, + 0.06734754401887816, + -0.6482884204636652, + -0.7583505782955939, + -0.06801855843418168, + 0.09540762671985911, + 0.0077201515867854065, + -0.9954083503885031 + ], + [ + 0.7580918978046295, + -0.6485336660804608, + 0.0685620772965109, + -0.6449186878896995, + -0.7611442211092644, + -0.0688430147698346, + 0.09683264167419811, + 0.007972366788398081, + -0.995268748064656 + ], + [ + 0.7597665278855288, + -0.6468489031549067, + 0.06588869092691162, + -0.6434804328143722, + -0.7625755406927225, + -0.06641895303473516, + 0.09320813102834101, + 0.008064813977771257, + -0.9956139829701608 + ], + [ + 0.7625391314178562, + -0.6447558838283863, + 0.053140599593699475, + -0.6421042034638239, + -0.7643059161292479, + -0.05948662424376891, + 0.07897002564637835, + 0.011239076408121527, + -0.9968136326369653 + ], + [ + 0.762028134497743, + -0.6422106452009252, + 0.08293738255154476, + -0.6396502007978123, + -0.7664768378178354, + -0.05797307744194951, + 0.10080051018327371, + -0.008873797348558608, + -0.9948670830153186 + ], + [ + 0.7692716860708633, + -0.6327897421427127, + 0.08830750392039358, + -0.6306125499194755, + -0.7741981606777875, + -0.054268037436300175, + 0.10270776452512267, + -0.013940955565884115, + -0.9946138772730662 + ], + [ + 0.744164787129351, + -0.6579579801209093, + 0.11536925930221162, + -0.6561713639855765, + -0.7523595906955018, + -0.05825965476901637, + 0.12513157348181866, + -0.03234722064892333, + -0.9916126999157757 + ], + [ + 0.7261726448927317, + -0.6674632172860474, + 0.1648215501069359, + -0.6630773219759082, + -0.7432859290254016, + -0.08862557641055571, + 0.18166385135946056, + -0.04493196282162887, + -0.9823336316273832 + ], + [ + 0.7169375026088932, + -0.6697646827940771, + 0.19343186664733675, + -0.665552457332937, + -0.7401521118999906, + -0.09599363410181554, + 0.20746215050223676, + -0.05991761787432444, + -0.9764063371246903 + ], + [ + 0.7110678708696573, + -0.6728321883509117, + 0.20415515995393166, + -0.6643006672562267, + -0.7380107595221266, + -0.11851051561994613, + 0.23040639422512563, + -0.05135138896365816, + -0.9717386111252752 + ], + [ + 0.717053752569604, + -0.6726613841374672, + 0.1826487837794606, + -0.6655267855712405, + -0.7386078983465614, + -0.10738933926274134, + 0.2071424959129865, + -0.044553729252921934, + -0.9772957339498602 + ], + [ + 0.7148660842967021, + -0.6845995799470426, + 0.14244260829763494, + -0.6754102079618989, + -0.7287540300227022, + -0.11286547171980907, + 0.18107327937375278, + -0.015523493872300835, + -0.9833470845204308 + ], + [ + 0.7148580000957075, + -0.6914739621361581, + 0.10412396163654251, + -0.6837042798988635, + -0.7223962319278504, + -0.10340281303920064, + 0.14671911036787882, + 0.00272832992254414, + -0.9891744329837341 + ], + [ + 0.7174127798618612, + -0.6907848856648632, + 0.09019503882064508, + -0.683315151611183, + -0.7229685653431913, + -0.10196497979302915, + 0.135644044725383, + 0.011519342975569925, + -0.9906906670944007 + ], + [ + 0.7165982269070679, + -0.6920013686376344, + 0.08729883731921806, + -0.6847046477229529, + -0.7217859532056317, + -0.10101773676748349, + 0.13291548660797003, + 0.012615211400465003, + -0.9910470876104163 + ], + [ + 0.7128168234124653, + -0.695866464560291, + 0.087533078093502, + -0.6880426655321663, + -0.7180211400642418, + -0.1050853597235969, + 0.1359759782739344, + 0.014680119931642178, + -0.9906033653340972 + ], + [ + 0.7196540376070583, + -0.6898929481809353, + 0.07839506493444576, + -0.6817592188288579, + -0.7234932519500372, + -0.10845221032613922, + 0.13153871558489558, + 0.024601512818870658, + -0.9910057173746772 + ], + [ + 0.7280080796367973, + -0.6811316023247611, + 0.07787153714962813, + -0.6746422274553161, + -0.7319672575403818, + -0.09529847230119537, + 0.12191021662548235, + 0.016842630534319232, + -0.9923982189015719 + ], + [ + 0.7287723028860368, + -0.6793993938870443, + 0.08548329738668108, + -0.6732586696145425, + -0.733710931198541, + -0.09160258308926775, + 0.12495476915683969, + 0.009205054355453983, + -0.9921197370475372 + ], + [ + 0.7260571920095702, + -0.6797214793942454, + 0.10401761572578166, + -0.6734251019359165, + -0.7334642043186133, + -0.09235200629040996, + 0.13906684009417386, + -0.002995235109600293, + -0.9902784671762077 + ], + [ + 0.7234303192579119, + -0.6737416953109749, + 0.15073387534953606, + -0.6674615365538841, + -0.7383323658294718, + -0.09674923663669574, + 0.1764756935091177, + -0.030617732903478904, + -0.9838286863231462 + ], + [ + 0.7144221857726553, + -0.6745676796864891, + 0.1859015492087368, + -0.6679972947841492, + -0.7366099307914705, + -0.10576116499190005, + 0.2082799909662007, + -0.048623609304242886, + -0.9768598619972817 + ], + [ + 0.7038461962009179, + -0.6745970348118795, + 0.22252948729667021, + -0.6681044294173137, + -0.7350883135701767, + -0.11524600923901528, + 0.24132344164308756, + -0.06755747090865251, + -0.968090380407719 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006200.json b/json/chunk-0006/episode_0006200.json new file mode 100644 index 0000000000000000000000000000000000000000..efc31c905d7018cd0fa78c92a9cd3c5b1de9b708 --- /dev/null +++ b/json/chunk-0006/episode_0006200.json @@ -0,0 +1,1822 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 29, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nTake sushi off plate." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006200.mp4", + "start": 0, + "end": 29, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3712162971496582, + -0.01948399841785431, + 0.0976240262389183, + -0.006970853079110384, + -0.1311219334602356, + -0.10794038325548172, + 0.0, + 0.9968144297599792 + ], + [ + 0.36415895819664, + -0.01855125091969967, + 0.08291928470134735, + -0.015607642009854317, + -0.08887013792991638, + -0.11170796304941177, + 0.0, + 0.9968144297599792 + ], + [ + 0.3381826877593994, + -0.005488453898578882, + 0.07817155867815018, + -0.05902537703514099, + -0.09410011768341064, + -0.14977996051311493, + 0.0, + 0.9968144297599792 + ], + [ + 0.312172532081604, + 0.0225052610039711, + 0.09223994612693787, + -0.0015452896477654576, + -0.09574712812900543, + -0.22140243649482727, + 0.0, + 0.9968144297599792 + ], + [ + 0.2869749069213867, + 0.05552807077765465, + 0.09962495416402817, + 0.0571548268198967, + -0.09240371733903885, + -0.22594065964221954, + 0.0, + 0.9968144297599792 + ], + [ + 0.26833629608154297, + 0.08463051170110703, + 0.08921395242214203, + 0.06923157721757889, + -0.08342213183641434, + -0.2661074697971344, + 0.0, + 0.9968144297599792 + ], + [ + 0.2548653483390808, + 0.1160728707909584, + 0.08123607188463211, + 0.11576598882675171, + -0.06943324208259583, + -0.25020739436149597, + 0.0, + 0.9968144297599792 + ], + [ + 0.2496890127658844, + 0.1386418342590332, + 0.06793498992919922, + 0.12929753959178925, + -0.06877326965332031, + -0.23067334294319153, + 0.0, + 0.9968144297599792 + ], + [ + 0.24702264368534088, + 0.1514873206615448, + 0.0587681382894516, + 0.14197556674480438, + -0.07775302231311798, + -0.2215566486120224, + 0.0, + 0.9968144297599792 + ], + [ + 0.24684764444828033, + 0.15780064463615417, + 0.04440029338002205, + 0.14767979085445404, + -0.05773819983005524, + -0.20869609713554382, + 0.0, + 0.9968144297599792 + ], + [ + 0.24510854482650757, + 0.1584363430738449, + 0.03147207945585251, + 0.11122585833072662, + -0.04930493235588074, + -0.19882696866989136, + 0.0, + 0.9968144297599792 + ], + [ + 0.24094486236572266, + 0.1588331013917923, + 0.01736403815448284, + 0.08897722512483597, + -0.033271510154008865, + -0.19864262640476227, + 0.0, + 0.9968144297599792 + ], + [ + 0.24098969995975494, + 0.159335657954216, + 0.0160952340811491, + 0.09182307869195938, + -0.04523210972547531, + -0.1911531686782837, + 0.0, + 0.9620732665061951 + ], + [ + 0.2393117994070053, + 0.1609530746936798, + 0.014728860929608345, + 0.08130595088005066, + -0.06291920691728592, + -0.16750077903270721, + 0.0, + 0.6892001032829285 + ], + [ + 0.23783603310585022, + 0.16112971305847168, + 0.01762532815337181, + 0.08096130192279816, + -0.0735309049487114, + -0.16344687342643738, + 0.0, + 0.5373842120170593 + ], + [ + 0.2389085441827774, + 0.15965460240840912, + 0.030324678868055344, + 0.11051320284605026, + -0.09456998854875565, + -0.16970472037792206, + 0.0, + 0.5689827799797058 + ], + [ + 0.2425420582294464, + 0.15063895285129547, + 0.04930069297552109, + 0.13148553669452667, + -0.13177154958248138, + -0.18845127522945404, + 0.0, + 0.5699762105941772 + ], + [ + 0.24638326466083527, + 0.1244937852025032, + 0.06376243382692337, + 0.11289235949516296, + -0.17515189945697784, + -0.23472310602664948, + 0.0, + 0.5699762105941772 + ], + [ + 0.24918970465660095, + 0.08570709079504013, + 0.06543155014514923, + 0.07197004556655884, + -0.19999948143959045, + -0.33106786012649536, + 0.0, + 0.5699762105941772 + ], + [ + 0.24382829666137695, + 0.04485728591680527, + 0.0592895969748497, + 0.01850828155875206, + -0.2113308161497116, + -0.4272673726081848, + 0.0, + 0.5699762105941772 + ], + [ + 0.2368210256099701, + 0.009993472136557102, + 0.048875004053115845, + -0.02297738939523697, + -0.21337652206420898, + -0.5038082599639893, + 0.0, + 0.5699762105941772 + ], + [ + 0.23142191767692566, + -0.014540664851665497, + 0.04205869883298874, + -0.007974863983690739, + -0.2005622684955597, + -0.5783208012580872, + 0.0, + 0.570969820022583 + ], + [ + 0.2283947467803955, + -0.027684951201081276, + 0.03378738462924957, + -0.008261123672127724, + -0.18775402009487152, + -0.6321939826011658, + 0.0, + 0.5699762105941772 + ], + [ + 0.2261948138475418, + -0.025702981278300285, + 0.02408107928931713, + -0.029151108115911484, + -0.184242382645607, + -0.6362355351448059, + 0.0, + 0.5699762105941772 + ], + [ + 0.2247791737318039, + -0.025120431557297707, + 0.015000014565885067, + -0.05650700628757477, + -0.17101536691188812, + -0.6355913281440735, + 0.0, + 0.6209517121315002 + ], + [ + 0.2276800125837326, + -0.024176286533474922, + 0.007008970249444246, + -0.07359841465950012, + -0.18926118314266205, + -0.6379281282424927, + 0.0, + 0.9032710790634155 + ], + [ + 0.22549475729465485, + -0.02398897521197796, + 0.004683907609432936, + -0.0785590261220932, + -0.19831573963165283, + -0.6325746774673462, + 0.0, + 1.0014774799346924 + ], + [ + 0.2217468023300171, + -0.020880328491330147, + 0.009740329347550869, + -0.07265438139438629, + -0.19785554707050323, + -0.6196727752685547, + 0.0, + 0.9994885921478271 + ], + [ + 0.2236393839120865, + -0.016905704513192177, + 0.036435436457395554, + -0.060250844806432724, + -0.26296013593673706, + -0.5842443704605103, + 0.0, + 0.9994885921478271 + ] + ], + "left_gripper_pos": [ + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9620732665061951 + ], + [ + 0.6892001032829285 + ], + [ + 0.5373842120170593 + ], + [ + 0.5689827799797058 + ], + [ + 0.5699762105941772 + ], + [ + 0.5699762105941772 + ], + [ + 0.5699762105941772 + ], + [ + 0.5699762105941772 + ], + [ + 0.5699762105941772 + ], + [ + 0.570969820022583 + ], + [ + 0.5699762105941772 + ], + [ + 0.5699762105941772 + ], + [ + 0.6209517121315002 + ], + [ + 0.9032710790634155 + ], + [ + 1.0014774799346924 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3712162971496582, + -0.01948399841785431, + 0.0976240262389183 + ], + [ + 0.36415895819664, + -0.01855125091969967, + 0.08291928470134735 + ], + [ + 0.3381826877593994, + -0.005488453898578882, + 0.07817155867815018 + ], + [ + 0.312172532081604, + 0.0225052610039711, + 0.09223994612693787 + ], + [ + 0.2869749069213867, + 0.05552807077765465, + 0.09962495416402817 + ], + [ + 0.26833629608154297, + 0.08463051170110703, + 0.08921395242214203 + ], + [ + 0.2548653483390808, + 0.1160728707909584, + 0.08123607188463211 + ], + [ + 0.2496890127658844, + 0.1386418342590332, + 0.06793498992919922 + ], + [ + 0.24702264368534088, + 0.1514873206615448, + 0.0587681382894516 + ], + [ + 0.24684764444828033, + 0.15780064463615417, + 0.04440029338002205 + ], + [ + 0.24510854482650757, + 0.1584363430738449, + 0.03147207945585251 + ], + [ + 0.24094486236572266, + 0.1588331013917923, + 0.01736403815448284 + ], + [ + 0.24098969995975494, + 0.159335657954216, + 0.0160952340811491 + ], + [ + 0.2393117994070053, + 0.1609530746936798, + 0.014728860929608345 + ], + [ + 0.23783603310585022, + 0.16112971305847168, + 0.01762532815337181 + ], + [ + 0.2389085441827774, + 0.15965460240840912, + 0.030324678868055344 + ], + [ + 0.2425420582294464, + 0.15063895285129547, + 0.04930069297552109 + ], + [ + 0.24638326466083527, + 0.1244937852025032, + 0.06376243382692337 + ], + [ + 0.24918970465660095, + 0.08570709079504013, + 0.06543155014514923 + ], + [ + 0.24382829666137695, + 0.04485728591680527, + 0.0592895969748497 + ], + [ + 0.2368210256099701, + 0.009993472136557102, + 0.048875004053115845 + ], + [ + 0.23142191767692566, + -0.014540664851665497, + 0.04205869883298874 + ], + [ + 0.2283947467803955, + -0.027684951201081276, + 0.03378738462924957 + ], + [ + 0.2261948138475418, + -0.025702981278300285, + 0.02408107928931713 + ], + [ + 0.2247791737318039, + -0.025120431557297707, + 0.015000014565885067 + ], + [ + 0.2276800125837326, + -0.024176286533474922, + 0.007008970249444246 + ], + [ + 0.22549475729465485, + -0.02398897521197796, + 0.004683907609432936 + ], + [ + 0.2217468023300171, + -0.020880328491330147, + 0.009740329347550869 + ], + [ + 0.2236393839120865, + -0.016905704513192177, + 0.036435436457395554 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9856458787359073, + -0.10863438650118948, + 0.1292314659842244, + -0.10680612032553047, + -0.9940577491914053, + -0.02101532615796986, + 0.13074652726527716, + 0.006910958112138132, + -0.9913917410721369 + ], + [ + 0.989845395674904, + -0.11283874120083048, + 0.08644947163172685, + -0.11103585747284178, + -0.9934917002551886, + -0.02540235971962858, + 0.08875320285186057, + 0.01554541759704909, + -0.9959323315242206 + ], + [ + 0.984429319318614, + -0.1544415169540335, + 0.08394482179876889, + -0.14856038603034286, + -0.9862548303752268, + -0.07232718205521382, + 0.09396130569764122, + 0.05873012346717418, + -0.9938420627187826 + ], + [ + 0.9711219830316259, + -0.21974190500363894, + 0.09292787126634293, + -0.21859222707114057, + -0.9755568302726563, + -0.0225013149048321, + 0.09560090133885356, + 0.0015382112141094795, + -0.9954185559700298 + ], + [ + 0.9704260522544093, + -0.2185204389021402, + 0.10257726301641276, + -0.22306748792795292, + -0.9741732298800351, + 0.03503446895005998, + 0.0922722760932822, + -0.0568800137756325, + -0.9941078870512238 + ], + [ + 0.9614466493352928, + -0.2567866867373395, + 0.09839175776658224, + -0.2620633838584038, + -0.9640064648772338, + 0.04488115991795471, + 0.0833254062253598, + -0.06893571780548594, + -0.9941351736499523 + ], + [ + 0.966526601189911, + -0.23818349381104012, + 0.09536746021702422, + -0.24700829211783018, + -0.9643603265818276, + 0.09484758373318831, + 0.06937746620706292, + -0.11522926620853623, + -0.9909132067904488 + ], + [ + 0.9712113326018661, + -0.21809883692312235, + 0.09581985576324359, + -0.22809260617285473, + -0.9674122731897604, + 0.10994206060964813, + 0.06871906893273877, + -0.12863277581783675, + -0.9893084951370911 + ], + [ + 0.9726091661473724, + -0.20681521976829953, + 0.10610784513080551, + -0.21908457374332357, + -0.9681561214051382, + 0.12114319681049156, + 0.07767470292070155, + -0.14107157565558434, + -0.9869475422068953 + ], + [ + 0.976671665292692, + -0.1966224474548658, + 0.0863253808057517, + -0.20683921621994933, + -0.9694124403775614, + 0.13212516442653086, + 0.05770612487350499, + -0.146898378473281, + -0.9874668954218181 + ], + [ + 0.97910764843224, + -0.19093633636653662, + 0.06993946122478908, + -0.19727951153248502, + -0.9753219885135506, + 0.0991353269600577, + 0.04928495826307549, + -0.11086177960369492, + -0.9926130458099514 + ], + [ + 0.979792781076435, + -0.19366035777075882, + 0.05001771664727144, + -0.19722961537358122, + -0.9770405966773162, + 0.08057388698594, + 0.033265371936809195, + -0.08881068782829864, + -0.995492881319284 + ], + [ + 0.980781628036372, + -0.18512020960366754, + 0.061627153938966756, + -0.18979686317431949, + -0.9784374739203853, + 0.08146938294527192, + 0.045216687577835174, + -0.09160031454415926, + -0.9947687336963797 + ], + [ + 0.9840534458550505, + -0.16113264306323974, + 0.07533317357084898, + -0.16638873293481185, + -0.9835986204639419, + 0.06963148263377854, + 0.06287770076226493, + -0.08105569172417769, + -0.9947242681195458 + ], + [ + 0.9840061049458858, + -0.15632498375448214, + 0.08540775657624766, + -0.16228040207689184, + -0.9844071185617532, + 0.0678800119822401, + 0.07346466178366984, + -0.08065435127200289, + -0.9940310956352943 + ], + [ + 0.9812304605608607, + -0.1575961936836823, + 0.11113155719208129, + -0.16813664300625217, + -0.9813808494758296, + 0.09285309666719592, + 0.09442908739424336, + -0.10979557376558861, + -0.9894584778733142 + ], + [ + 0.9737797178091563, + -0.16879951790194814, + 0.15251158624704636, + -0.18571372419889548, + -0.9770437143672056, + 0.1043838726035359, + 0.13139053933863337, + -0.1299703926731181, + -0.9827737395762561 + ], + [ + 0.9576983999861238, + -0.21200091767807763, + 0.19460057956663776, + -0.22901533447171865, + -0.9709533135685849, + 0.06929386298217097, + 0.17425771501091478, + -0.11092913852472669, + -0.9784318959362153 + ], + [ + 0.9268449159459214, + -0.3107015297443887, + 0.21076778975852686, + -0.31857369747568265, + -0.9478912884645581, + 0.003592287526382132, + 0.1986688225713085, + -0.07047456752259444, + -0.9775295567248252 + ], + [ + 0.8898541393286419, + -0.4107813066461416, + 0.1985404966997168, + -0.4051663981322388, + -0.9115543162275759, + -0.07006367383619234, + 0.20976129419945383, + -0.018095487751502284, + -0.9775851639518702 + ], + [ + 0.855889694432879, + -0.48689745995170325, + 0.17430919211611498, + -0.47181573672396276, + -0.8731704684672247, + -0.12232433762891057, + 0.2117610482199627, + 0.022454320058889032, + -0.9770634892203657 + ], + [ + 0.8205961582670133, + -0.5479315763400306, + 0.16245901848450162, + -0.5356614539333083, + -0.8364866494045325, + -0.1155720214326652, + 0.1992203599220539, + 0.007814922744811652, + -0.979923555781276 + ], + [ + 0.7925554101824687, + -0.5921399108577158, + 0.14569230508134212, + -0.5805313360413399, + -0.8057943031266653, + -0.11695686778752386, + 0.18665285870983966, + 0.00811584980318368, + -0.9823924080108806 + ], + [ + 0.7907250317461061, + -0.5982143019244052, + 0.12997527896956373, + -0.5841155945994304, + -0.800823710808141, + -0.13225111097163916, + 0.18320179124635555, + 0.028653676562973608, + -0.9826576568182589 + ], + [ + 0.7929819098810662, + -0.600440449308089, + 0.10320347589144613, + -0.5849935383300988, + -0.7977305318359766, + -0.14631663845482704, + 0.1701829918452703, + 0.0556530808795841, + -0.983839663702985 + ], + [ + 0.7889866609753529, + -0.6050332704093699, + 0.10693357985546759, + -0.5848981978731047, + -0.7929181312143178, + -0.17080671917810566, + 0.1881333222152785, + 0.07221896488690563, + -0.9794846982893127 + ], + [ + 0.790700255236394, + -0.6018697266205801, + 0.11200865389231826, + -0.5796351190267826, + -0.7948792737465252, + -0.17941591055144468, + 0.19701836249423235, + 0.07694005683559378, + -0.9773760752618342 + ], + [ + 0.7981863588126242, + -0.590852508741095, + 0.11743870537347788, + -0.5694382185056366, + -0.8036339570794038, + -0.1729525320254821, + 0.196567168953951, + 0.0711742646133618, + -0.9779036619965055 + ], + [ + 0.8054557110469354, + -0.5636243076824632, + 0.18321773203306613, + -0.532608917555575, + -0.8239823149685752, + -0.19334137053229705, + 0.2599400670965423, + 0.058144513141761556, + -0.9638725938158804 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0070573389530181885, + 0.0009327474981546402, + -0.014704741537570953, + -0.00863678939640522, + 0.042251795530319214, + -0.0037675797939300537, + 1.0 + ], + [ + -0.0259762704372406, + 0.013062797486782074, + -0.004747726023197174, + -0.043417736887931824, + -0.005229979753494263, + -0.038071997463703156, + 1.0 + ], + [ + -0.02601015567779541, + 0.027993714436888695, + 0.01406838744878769, + 0.057480085641145706, + -0.0016470104455947876, + -0.07162247598171234, + 1.0 + ], + [ + -0.025197625160217285, + 0.03302280977368355, + 0.0073850080370903015, + 0.05870011821389198, + 0.0033434107899665833, + -0.004538223147392273, + 1.0 + ], + [ + -0.01863861083984375, + 0.029102440923452377, + -0.010411001741886139, + 0.01207675039768219, + 0.008981585502624512, + -0.040166810154914856, + 1.0 + ], + [ + -0.013470947742462158, + 0.03144235908985138, + -0.007977880537509918, + 0.04653441160917282, + 0.013988889753818512, + 0.015900075435638428, + 1.0 + ], + [ + -0.005176335573196411, + 0.0225689634680748, + -0.013301081955432892, + 0.013531550765037537, + 0.0006599724292755127, + 0.019534051418304443, + 1.0 + ], + [ + -0.002666369080543518, + 0.012845486402511597, + -0.00916685163974762, + 0.012678027153015137, + -0.008979752659797668, + 0.009116694331169128, + 1.0 + ], + [ + -0.00017499923706054688, + 0.006313323974609375, + -0.01436784490942955, + 0.005704224109649658, + 0.020014822483062744, + 0.012860551476478577, + 1.0 + ], + [ + -0.0017390996217727661, + 0.0006356984376907349, + -0.01292821392416954, + -0.03645393252372742, + 0.0084332674741745, + 0.009869128465652466, + 1.0 + ], + [ + -0.004163682460784912, + 0.0003967583179473877, + -0.014108041301369667, + -0.022248633205890656, + 0.016033422201871872, + 0.00018434226512908936, + 1.0 + ], + [ + 4.48375940322876e-05, + 0.0005025565624237061, + -0.0012688040733337402, + 0.002845853567123413, + -0.011960599571466446, + 0.007489457726478577, + 0.0 + ], + [ + -0.0016779005527496338, + 0.0016174167394638062, + -0.0013663731515407562, + -0.010517127811908722, + -0.017687097191810608, + 0.023652389645576477, + 0.0 + ], + [ + -0.0014757663011550903, + 0.00017663836479187012, + 0.002896467223763466, + -0.00034464895725250244, + -0.010611698031425476, + 0.004053905606269836, + 0.0 + ], + [ + 0.001072511076927185, + -0.001475110650062561, + 0.012699350714683533, + 0.029551900923252106, + -0.02103908360004425, + -0.00625784695148468, + 0.0 + ], + [ + 0.0036335140466690063, + -0.009015649557113647, + 0.018976014107465744, + 0.02097233384847641, + -0.03720156103372574, + -0.018746554851531982, + 0.0 + ], + [ + 0.003841206431388855, + -0.026145167648792267, + 0.014461740851402283, + -0.01859317719936371, + -0.04338034987449646, + -0.046271830797195435, + 0.0 + ], + [ + 0.002806439995765686, + -0.038786694407463074, + 0.0016691163182258606, + -0.040922313928604126, + -0.02484758198261261, + -0.09634475409984589, + 0.0 + ], + [ + -0.005361407995223999, + -0.04084980487823486, + -0.00614195317029953, + -0.05346176400780678, + -0.011331334710121155, + -0.09619951248168945, + 0.0 + ], + [ + -0.00700727105140686, + -0.03486381471157074, + -0.010414592921733856, + -0.04148567095398903, + -0.0020457059144973755, + -0.07654088735580444, + 0.0 + ], + [ + -0.005399107933044434, + -0.024534136056900024, + -0.006816305220127106, + 0.01500252541154623, + 0.012814253568649292, + -0.0745125412940979, + 0.0 + ], + [ + -0.0030271708965301514, + -0.013144286349415779, + -0.008271314203739166, + -0.000286259688436985, + 0.012808248400688171, + -0.05387318134307861, + 0.0 + ], + [ + -0.0021999329328536987, + 0.0019819699227809906, + -0.009706305339932442, + -0.02088998444378376, + 0.0035116374492645264, + -0.004041552543640137, + 0.0 + ], + [ + -0.001415640115737915, + 0.0005825497210025787, + -0.009081064723432064, + -0.027355898171663284, + 0.013227015733718872, + 0.0006442070007324219, + 1.0 + ], + [ + 0.002900838851928711, + 0.0009441450238227844, + -0.007991043850779533, + -0.017091408371925354, + -0.018245816230773926, + -0.0023368000984191895, + 1.0 + ], + [ + -0.002185255289077759, + 0.0001873113214969635, + -0.0023250626400113106, + -0.004960611462593079, + -0.009054556488990784, + 0.005353450775146484, + 1.0 + ], + [ + -0.0037479549646377563, + 0.003108646720647812, + 0.005056421738117933, + 0.005904644727706909, + 0.00046019256114959717, + 0.012901902198791504, + 1.0 + ], + [ + 0.001892581582069397, + 0.00397462397813797, + 0.02669510617852211, + 0.012403536587953568, + -0.06510458886623383, + 0.035428404808044434, + 1.0 + ], + [ + -0.0019323676824569702, + 0.0038901036605238914, + 0.026280786842107773, + 0.03596740588545799, + -0.03999483585357666, + 0.035473406314849854, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9620732665061951 + ], + [ + 0.6892001032829285 + ], + [ + 0.5373842120170593 + ], + [ + 0.5689827799797058 + ], + [ + 0.5699762105941772 + ], + [ + 0.5699762105941772 + ], + [ + 0.5699762105941772 + ], + [ + 0.5699762105941772 + ], + [ + 0.5699762105941772 + ], + [ + 0.570969820022583 + ], + [ + 0.5699762105941772 + ], + [ + 0.5699762105941772 + ], + [ + 0.6209517121315002 + ], + [ + 0.9032710790634155 + ], + [ + 1.0014774799346924 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.36415895819664, + -0.01855125091969967, + 0.08291928470134735 + ], + [ + 0.3381826877593994, + -0.005488453898578882, + 0.07817155867815018 + ], + [ + 0.312172532081604, + 0.0225052610039711, + 0.09223994612693787 + ], + [ + 0.2869749069213867, + 0.05552807077765465, + 0.09962495416402817 + ], + [ + 0.26833629608154297, + 0.08463051170110703, + 0.08921395242214203 + ], + [ + 0.2548653483390808, + 0.1160728707909584, + 0.08123607188463211 + ], + [ + 0.2496890127658844, + 0.1386418342590332, + 0.06793498992919922 + ], + [ + 0.24702264368534088, + 0.1514873206615448, + 0.0587681382894516 + ], + [ + 0.24684764444828033, + 0.15780064463615417, + 0.04440029338002205 + ], + [ + 0.24510854482650757, + 0.1584363430738449, + 0.03147207945585251 + ], + [ + 0.24094486236572266, + 0.1588331013917923, + 0.01736403815448284 + ], + [ + 0.24098969995975494, + 0.159335657954216, + 0.0160952340811491 + ], + [ + 0.2393117994070053, + 0.1609530746936798, + 0.014728860929608345 + ], + [ + 0.23783603310585022, + 0.16112971305847168, + 0.01762532815337181 + ], + [ + 0.2389085441827774, + 0.15965460240840912, + 0.030324678868055344 + ], + [ + 0.2425420582294464, + 0.15063895285129547, + 0.04930069297552109 + ], + [ + 0.24638326466083527, + 0.1244937852025032, + 0.06376243382692337 + ], + [ + 0.24918970465660095, + 0.08570709079504013, + 0.06543155014514923 + ], + [ + 0.24382829666137695, + 0.04485728591680527, + 0.0592895969748497 + ], + [ + 0.2368210256099701, + 0.009993472136557102, + 0.048875004053115845 + ], + [ + 0.23142191767692566, + -0.014540664851665497, + 0.04205869883298874 + ], + [ + 0.2283947467803955, + -0.027684951201081276, + 0.03378738462924957 + ], + [ + 0.2261948138475418, + -0.025702981278300285, + 0.02408107928931713 + ], + [ + 0.2247791737318039, + -0.025120431557297707, + 0.015000014565885067 + ], + [ + 0.2276800125837326, + -0.024176286533474922, + 0.007008970249444246 + ], + [ + 0.22549475729465485, + -0.02398897521197796, + 0.004683907609432936 + ], + [ + 0.2217468023300171, + -0.020880328491330147, + 0.009740329347550869 + ], + [ + 0.2236393839120865, + -0.016905704513192177, + 0.036435436457395554 + ], + [ + 0.22170701622962952, + -0.013015600852668285, + 0.06271622329950333 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.989845395674904, + -0.11283874120083048, + 0.08644947163172685, + -0.11103585747284178, + -0.9934917002551886, + -0.02540235971962858, + 0.08875320285186057, + 0.01554541759704909, + -0.9959323315242206 + ], + [ + 0.984429319318614, + -0.1544415169540335, + 0.08394482179876889, + -0.14856038603034286, + -0.9862548303752268, + -0.07232718205521382, + 0.09396130569764122, + 0.05873012346717418, + -0.9938420627187826 + ], + [ + 0.9711219830316259, + -0.21974190500363894, + 0.09292787126634293, + -0.21859222707114057, + -0.9755568302726563, + -0.0225013149048321, + 0.09560090133885356, + 0.0015382112141094795, + -0.9954185559700298 + ], + [ + 0.9704260522544093, + -0.2185204389021402, + 0.10257726301641276, + -0.22306748792795292, + -0.9741732298800351, + 0.03503446895005998, + 0.0922722760932822, + -0.0568800137756325, + -0.9941078870512238 + ], + [ + 0.9614466493352928, + -0.2567866867373395, + 0.09839175776658224, + -0.2620633838584038, + -0.9640064648772338, + 0.04488115991795471, + 0.0833254062253598, + -0.06893571780548594, + -0.9941351736499523 + ], + [ + 0.966526601189911, + -0.23818349381104012, + 0.09536746021702422, + -0.24700829211783018, + -0.9643603265818276, + 0.09484758373318831, + 0.06937746620706292, + -0.11522926620853623, + -0.9909132067904488 + ], + [ + 0.9712113326018661, + -0.21809883692312235, + 0.09581985576324359, + -0.22809260617285473, + -0.9674122731897604, + 0.10994206060964813, + 0.06871906893273877, + -0.12863277581783675, + -0.9893084951370911 + ], + [ + 0.9726091661473724, + -0.20681521976829953, + 0.10610784513080551, + -0.21908457374332357, + -0.9681561214051382, + 0.12114319681049156, + 0.07767470292070155, + -0.14107157565558434, + -0.9869475422068953 + ], + [ + 0.976671665292692, + -0.1966224474548658, + 0.0863253808057517, + -0.20683921621994933, + -0.9694124403775614, + 0.13212516442653086, + 0.05770612487350499, + -0.146898378473281, + -0.9874668954218181 + ], + [ + 0.97910764843224, + -0.19093633636653662, + 0.06993946122478908, + -0.19727951153248502, + -0.9753219885135506, + 0.0991353269600577, + 0.04928495826307549, + -0.11086177960369492, + -0.9926130458099514 + ], + [ + 0.979792781076435, + -0.19366035777075882, + 0.05001771664727144, + -0.19722961537358122, + -0.9770405966773162, + 0.08057388698594, + 0.033265371936809195, + -0.08881068782829864, + -0.995492881319284 + ], + [ + 0.980781628036372, + -0.18512020960366754, + 0.061627153938966756, + -0.18979686317431949, + -0.9784374739203853, + 0.08146938294527192, + 0.045216687577835174, + -0.09160031454415926, + -0.9947687336963797 + ], + [ + 0.9840534458550505, + -0.16113264306323974, + 0.07533317357084898, + -0.16638873293481185, + -0.9835986204639419, + 0.06963148263377854, + 0.06287770076226493, + -0.08105569172417769, + -0.9947242681195458 + ], + [ + 0.9840061049458858, + -0.15632498375448214, + 0.08540775657624766, + -0.16228040207689184, + -0.9844071185617532, + 0.0678800119822401, + 0.07346466178366984, + -0.08065435127200289, + -0.9940310956352943 + ], + [ + 0.9812304605608607, + -0.1575961936836823, + 0.11113155719208129, + -0.16813664300625217, + -0.9813808494758296, + 0.09285309666719592, + 0.09442908739424336, + -0.10979557376558861, + -0.9894584778733142 + ], + [ + 0.9737797178091563, + -0.16879951790194814, + 0.15251158624704636, + -0.18571372419889548, + -0.9770437143672056, + 0.1043838726035359, + 0.13139053933863337, + -0.1299703926731181, + -0.9827737395762561 + ], + [ + 0.9576983999861238, + -0.21200091767807763, + 0.19460057956663776, + -0.22901533447171865, + -0.9709533135685849, + 0.06929386298217097, + 0.17425771501091478, + -0.11092913852472669, + -0.9784318959362153 + ], + [ + 0.9268449159459214, + -0.3107015297443887, + 0.21076778975852686, + -0.31857369747568265, + -0.9478912884645581, + 0.003592287526382132, + 0.1986688225713085, + -0.07047456752259444, + -0.9775295567248252 + ], + [ + 0.8898541393286419, + -0.4107813066461416, + 0.1985404966997168, + -0.4051663981322388, + -0.9115543162275759, + -0.07006367383619234, + 0.20976129419945383, + -0.018095487751502284, + -0.9775851639518702 + ], + [ + 0.855889694432879, + -0.48689745995170325, + 0.17430919211611498, + -0.47181573672396276, + -0.8731704684672247, + -0.12232433762891057, + 0.2117610482199627, + 0.022454320058889032, + -0.9770634892203657 + ], + [ + 0.8205961582670133, + -0.5479315763400306, + 0.16245901848450162, + -0.5356614539333083, + -0.8364866494045325, + -0.1155720214326652, + 0.1992203599220539, + 0.007814922744811652, + -0.979923555781276 + ], + [ + 0.7925554101824687, + -0.5921399108577158, + 0.14569230508134212, + -0.5805313360413399, + -0.8057943031266653, + -0.11695686778752386, + 0.18665285870983966, + 0.00811584980318368, + -0.9823924080108806 + ], + [ + 0.7907250317461061, + -0.5982143019244052, + 0.12997527896956373, + -0.5841155945994304, + -0.800823710808141, + -0.13225111097163916, + 0.18320179124635555, + 0.028653676562973608, + -0.9826576568182589 + ], + [ + 0.7929819098810662, + -0.600440449308089, + 0.10320347589144613, + -0.5849935383300988, + -0.7977305318359766, + -0.14631663845482704, + 0.1701829918452703, + 0.0556530808795841, + -0.983839663702985 + ], + [ + 0.7889866609753529, + -0.6050332704093699, + 0.10693357985546759, + -0.5848981978731047, + -0.7929181312143178, + -0.17080671917810566, + 0.1881333222152785, + 0.07221896488690563, + -0.9794846982893127 + ], + [ + 0.790700255236394, + -0.6018697266205801, + 0.11200865389231826, + -0.5796351190267826, + -0.7948792737465252, + -0.17941591055144468, + 0.19701836249423235, + 0.07694005683559378, + -0.9773760752618342 + ], + [ + 0.7981863588126242, + -0.590852508741095, + 0.11743870537347788, + -0.5694382185056366, + -0.8036339570794038, + -0.1729525320254821, + 0.196567168953951, + 0.0711742646133618, + -0.9779036619965055 + ], + [ + 0.8054557110469354, + -0.5636243076824632, + 0.18321773203306613, + -0.532608917555575, + -0.8239823149685752, + -0.19334137053229705, + 0.2599400670965423, + 0.058144513141761556, + -0.9638725938158804 + ], + [ + 0.8143122897953926, + -0.5276656411225226, + 0.24179426351123837, + -0.497883121407641, + -0.8491359596745152, + -0.17629668007374633, + 0.2983419047092935, + 0.023175270578741095, + -0.9541776641318079 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006201.json b/json/chunk-0006/episode_0006201.json new file mode 100644 index 0000000000000000000000000000000000000000..b2c8c00a2482678b92f98c36d0106f900aadcf10 --- /dev/null +++ b/json/chunk-0006/episode_0006201.json @@ -0,0 +1,2662 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 43, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nTake the red object." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006201.mp4", + "start": 0, + "end": 43, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2818589210510254, + 0.1452804058790207, + 0.10857930034399033, + 0.11870758980512619, + -0.010919987224042416, + 0.02623799256980419, + 0.0, + 1.0001531839370728 + ], + [ + 0.28069961071014404, + 0.1445154994726181, + 0.09824831783771515, + 0.1042264997959137, + 0.020292673259973526, + 0.020638976246118546, + 0.0, + 1.0001531839370728 + ], + [ + 0.2811077833175659, + 0.14397810399532318, + 0.09362141042947769, + 0.0935242548584938, + 0.04953550547361374, + -0.044667188078165054, + 0.0, + 1.0001531839370728 + ], + [ + 0.29344794154167175, + 0.13960188627243042, + 0.08785081654787064, + 0.12090029567480087, + 0.0710681900382042, + -0.16248819231987, + 0.0, + 1.0001531839370728 + ], + [ + 0.30219322443008423, + 0.13900820910930634, + 0.0789308100938797, + 0.1289416402578354, + 0.08005157113075256, + -0.39159873127937317, + 0.0, + 1.0001531839370728 + ], + [ + 0.31057482957839966, + 0.1334884911775589, + 0.06463193148374557, + 0.16031970083713531, + 0.03450337052345276, + -0.6352352499961853, + 0.0, + 1.0001531839370728 + ], + [ + 0.3091297745704651, + 0.12234041094779968, + 0.05397506430745125, + 0.16360005736351013, + 0.05070941522717476, + -0.7593652009963989, + 0.0, + 1.0001531839370728 + ], + [ + 0.30611738562583923, + 0.1188589558005333, + 0.047949906438589096, + 0.16439998149871826, + 0.056247275322675705, + -0.7772769331932068, + 0.0, + 1.0001531839370728 + ], + [ + 0.3067416250705719, + 0.11532741039991379, + 0.04247799515724182, + 0.1429005265235901, + 0.052934661507606506, + -0.7547744512557983, + 0.0, + 0.9844722747802734 + ], + [ + 0.30844491720199585, + 0.1158161386847496, + 0.03240373358130455, + 0.11618069559335709, + 0.06564345210790634, + -0.7315587997436523, + 0.0, + 0.8801529407501221 + ], + [ + 0.3117220401763916, + 0.11742664873600006, + 0.02847355790436268, + 0.11151228845119476, + 0.06689442694187164, + -0.7041116952896118, + 0.0, + 0.5958979725837708 + ], + [ + 0.31279808282852173, + 0.1183428019285202, + 0.028260793536901474, + 0.11957750469446182, + 0.06841729581356049, + -0.6866281032562256, + 0.0, + 0.5373842120170593 + ], + [ + 0.3119300305843353, + 0.11827372759580612, + 0.028536798432469368, + 0.13393737375736237, + 0.059712205082178116, + -0.6775646209716797, + 0.0, + 0.5373842120170593 + ], + [ + 0.3092745840549469, + 0.11105550825595856, + 0.043431542813777924, + 0.1694115698337555, + -0.012011121958494186, + -0.6902676224708557, + 0.0, + 0.5373842120170593 + ], + [ + 0.31216055154800415, + 0.09945284575223923, + 0.047431107610464096, + 0.1600075662136078, + -0.12100423872470856, + -0.7492988109588623, + 0.0, + 0.5373842120170593 + ], + [ + 0.31719356775283813, + 0.09036730974912643, + 0.04692681506276131, + 0.12466637045145035, + -0.20827855169773102, + -0.781670868396759, + 0.0, + 0.5373842120170593 + ], + [ + 0.32069844007492065, + 0.08521270751953125, + 0.03277613967657089, + 0.027860203757882118, + -0.30146050453186035, + -0.7789458632469177, + 0.0, + 0.5373842120170593 + ], + [ + 0.32790154218673706, + 0.08772628009319305, + 0.030475027859210968, + -0.012480655685067177, + -0.44983163475990295, + -0.790634274482727, + 0.0, + 0.5364033579826355 + ], + [ + 0.3249615430831909, + 0.08979566395282745, + 0.028539251536130905, + -0.023397671058773994, + -0.5568466782569885, + -0.8021318316459656, + 0.0, + 0.5354229807853699 + ], + [ + 0.322966605424881, + 0.08881881088018417, + 0.025118039920926094, + -0.032471586018800735, + -0.5596327185630798, + -0.8092916011810303, + 0.0, + 0.5354229807853699 + ], + [ + 0.31846392154693604, + 0.08764833211898804, + 0.02114052325487137, + -0.026706134900450706, + -0.5505533218383789, + -0.8208993077278137, + 0.0, + 0.5354229807853699 + ], + [ + 0.3124573528766632, + 0.08882244676351547, + 0.019507329910993576, + -0.012553100474178791, + -0.540755033493042, + -0.8258353471755981, + 0.0, + 0.5354229807853699 + ], + [ + 0.3058856725692749, + 0.09575025737285614, + 0.019015546888113022, + -0.021647252142429352, + -0.5554667115211487, + -0.7838877439498901, + 0.0, + 0.5354229807853699 + ], + [ + 0.29684996604919434, + 0.10125661641359329, + 0.025585008785128593, + 0.029438890516757965, + -0.5006443858146667, + -0.7681651711463928, + 0.0, + 0.5344430208206177 + ], + [ + 0.2891000211238861, + 0.1090942844748497, + 0.0545303076505661, + 0.14583216607570648, + -0.46299806237220764, + -0.7438381910324097, + 0.0, + 0.5305274724960327 + ], + [ + 0.27614060044288635, + 0.11974187195301056, + 0.08602673560380936, + 0.18769383430480957, + -0.4864019453525543, + -0.6404118537902832, + 0.0, + 0.5305274724960327 + ], + [ + 0.26875919103622437, + 0.12871792912483215, + 0.09743492305278778, + 0.3183779716491699, + -0.27233564853668213, + -0.4610946774482727, + 0.0, + 0.5305274724960327 + ], + [ + 0.26582393050193787, + 0.11959922313690186, + 0.0852145254611969, + 0.49466240406036377, + -0.01770605519413948, + -0.25721651315689087, + 0.0, + 0.5305274724960327 + ], + [ + 0.26523521542549133, + 0.11566174775362015, + 0.08435569703578949, + 0.7521039247512817, + 0.13407765328884125, + -0.04120606929063797, + 0.0, + 0.5305274724960327 + ], + [ + 0.2653923034667969, + 0.11539848148822784, + 0.07026176899671555, + 0.8770779371261597, + 0.25600019097328186, + 0.05224144458770752, + 0.0, + 0.5305274724960327 + ], + [ + 0.26380035281181335, + 0.12033893167972565, + 0.06113648787140846, + 0.7842774391174316, + 0.2625536024570465, + 0.039782095700502396, + 0.0, + 0.5305274724960327 + ], + [ + 0.2628851532936096, + 0.1253071427345276, + 0.06143397092819214, + 0.7942035794258118, + 0.24463790655136108, + 0.06349024921655655, + 0.0, + 0.5305274724960327 + ], + [ + 0.2658942639827728, + 0.12398874014616013, + 0.05873900651931763, + 0.7755472660064697, + 0.21902073919773102, + 0.05812535062432289, + 0.0, + 0.6059080362319946 + ], + [ + 0.26360276341438293, + 0.12346573919057846, + 0.05264151841402054, + 0.670555830001831, + 0.22453196346759796, + 0.04955797642469406, + 0.0, + 0.904950737953186 + ], + [ + 0.2659471333026886, + 0.12063480913639069, + 0.06460034847259521, + 0.5261663198471069, + 0.1192435771226883, + -0.002211592858657241, + 0.0, + 1.00800359249115 + ], + [ + 0.26218464970588684, + 0.11817516386508942, + 0.07720715552568436, + 0.3511088192462921, + 0.019178925082087517, + -0.08111713826656342, + 0.0, + 1.003452181816101 + ], + [ + 0.2608184814453125, + 0.11726387590169907, + 0.08088424801826477, + 0.28829169273376465, + -0.03390749543905258, + -0.07756239920854568, + 0.0, + 1.0001531839370728 + ], + [ + 0.2582198679447174, + 0.12078194320201874, + 0.07894683629274368, + 0.2490931749343872, + -0.040992677211761475, + -0.07458481937646866, + 0.0, + 1.0001531839370728 + ], + [ + 0.2516274154186249, + 0.1221170499920845, + 0.08696506917476654, + 0.18224313855171204, + -0.11219559609889984, + -0.06496673822402954, + 0.0, + 0.9994885921478271 + ], + [ + 0.24064411222934723, + 0.1149282455444336, + 0.10860680043697357, + 0.17832361161708832, + -0.16791336238384247, + -0.03439095988869667, + 0.0, + 1.0001531839370728 + ], + [ + 0.22574229538440704, + 0.10758445411920547, + 0.12261059135198593, + 0.1693536341190338, + -0.18772351741790771, + 0.03899584710597992, + 0.0, + 0.9994885921478271 + ], + [ + 0.21808059513568878, + 0.0991530567407608, + 0.11928020417690277, + 0.20610448718070984, + -0.07994899898767471, + 0.02208167128264904, + 0.0, + 1.0001531839370728 + ], + [ + 0.22044408321380615, + 0.10096945613622665, + 0.10313121974468231, + 0.19062477350234985, + 0.04409120976924896, + 0.03139491006731987, + 0.0, + 0.9994885921478271 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9844722747802734 + ], + [ + 0.8801529407501221 + ], + [ + 0.5958979725837708 + ], + [ + 0.5373842120170593 + ], + [ + 0.5373842120170593 + ], + [ + 0.5373842120170593 + ], + [ + 0.5373842120170593 + ], + [ + 0.5373842120170593 + ], + [ + 0.5373842120170593 + ], + [ + 0.5364033579826355 + ], + [ + 0.5354229807853699 + ], + [ + 0.5354229807853699 + ], + [ + 0.5354229807853699 + ], + [ + 0.5354229807853699 + ], + [ + 0.5354229807853699 + ], + [ + 0.5344430208206177 + ], + [ + 0.5305274724960327 + ], + [ + 0.5305274724960327 + ], + [ + 0.5305274724960327 + ], + [ + 0.5305274724960327 + ], + [ + 0.5305274724960327 + ], + [ + 0.5305274724960327 + ], + [ + 0.5305274724960327 + ], + [ + 0.5305274724960327 + ], + [ + 0.6059080362319946 + ], + [ + 0.904950737953186 + ], + [ + 1.00800359249115 + ], + [ + 1.003452181816101 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2818589210510254, + 0.1452804058790207, + 0.10857930034399033 + ], + [ + 0.28069961071014404, + 0.1445154994726181, + 0.09824831783771515 + ], + [ + 0.2811077833175659, + 0.14397810399532318, + 0.09362141042947769 + ], + [ + 0.29344794154167175, + 0.13960188627243042, + 0.08785081654787064 + ], + [ + 0.30219322443008423, + 0.13900820910930634, + 0.0789308100938797 + ], + [ + 0.31057482957839966, + 0.1334884911775589, + 0.06463193148374557 + ], + [ + 0.3091297745704651, + 0.12234041094779968, + 0.05397506430745125 + ], + [ + 0.30611738562583923, + 0.1188589558005333, + 0.047949906438589096 + ], + [ + 0.3067416250705719, + 0.11532741039991379, + 0.04247799515724182 + ], + [ + 0.30844491720199585, + 0.1158161386847496, + 0.03240373358130455 + ], + [ + 0.3117220401763916, + 0.11742664873600006, + 0.02847355790436268 + ], + [ + 0.31279808282852173, + 0.1183428019285202, + 0.028260793536901474 + ], + [ + 0.3119300305843353, + 0.11827372759580612, + 0.028536798432469368 + ], + [ + 0.3092745840549469, + 0.11105550825595856, + 0.043431542813777924 + ], + [ + 0.31216055154800415, + 0.09945284575223923, + 0.047431107610464096 + ], + [ + 0.31719356775283813, + 0.09036730974912643, + 0.04692681506276131 + ], + [ + 0.32069844007492065, + 0.08521270751953125, + 0.03277613967657089 + ], + [ + 0.32790154218673706, + 0.08772628009319305, + 0.030475027859210968 + ], + [ + 0.3249615430831909, + 0.08979566395282745, + 0.028539251536130905 + ], + [ + 0.322966605424881, + 0.08881881088018417, + 0.025118039920926094 + ], + [ + 0.31846392154693604, + 0.08764833211898804, + 0.02114052325487137 + ], + [ + 0.3124573528766632, + 0.08882244676351547, + 0.019507329910993576 + ], + [ + 0.3058856725692749, + 0.09575025737285614, + 0.019015546888113022 + ], + [ + 0.29684996604919434, + 0.10125661641359329, + 0.025585008785128593 + ], + [ + 0.2891000211238861, + 0.1090942844748497, + 0.0545303076505661 + ], + [ + 0.27614060044288635, + 0.11974187195301056, + 0.08602673560380936 + ], + [ + 0.26875919103622437, + 0.12871792912483215, + 0.09743492305278778 + ], + [ + 0.26582393050193787, + 0.11959922313690186, + 0.0852145254611969 + ], + [ + 0.26523521542549133, + 0.11566174775362015, + 0.08435569703578949 + ], + [ + 0.2653923034667969, + 0.11539848148822784, + 0.07026176899671555 + ], + [ + 0.26380035281181335, + 0.12033893167972565, + 0.06113648787140846 + ], + [ + 0.2628851532936096, + 0.1253071427345276, + 0.06143397092819214 + ], + [ + 0.2658942639827728, + 0.12398874014616013, + 0.05873900651931763 + ], + [ + 0.26360276341438293, + 0.12346573919057846, + 0.05264151841402054 + ], + [ + 0.2659471333026886, + 0.12063480913639069, + 0.06460034847259521 + ], + [ + 0.26218464970588684, + 0.11817516386508942, + 0.07720715552568436 + ], + [ + 0.2608184814453125, + 0.11726387590169907, + 0.08088424801826477 + ], + [ + 0.2582198679447174, + 0.12078194320201874, + 0.07894683629274368 + ], + [ + 0.2516274154186249, + 0.1221170499920845, + 0.08696506917476654 + ], + [ + 0.24064411222934723, + 0.1149282455444336, + 0.10860680043697357 + ], + [ + 0.22574229538440704, + 0.10758445411920547, + 0.12261059135198593 + ], + [ + 0.21808059513568878, + 0.0991530567407608, + 0.11928020417690277 + ], + [ + 0.22044408321380615, + 0.10096945613622665, + 0.10313121974468231 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9995962016737906, + 0.027343126353915094, + 0.007732207997966633, + 0.026233417965650173, + -0.9925868222909758, + 0.11867269271463368, + 0.010919770197650138, + -0.11842193063574077, + -0.9929033210556473 + ], + [ + 0.9995811785109088, + 0.018414905576548783, + -0.022323951696546492, + 0.020633261981131495, + -0.9944050803121494, + 0.1035992507183612, + -0.020291280559909034, + -0.10401647706971555, + -0.9943685616667718 + ], + [ + 0.9977771781650812, + -0.049076713375509645, + -0.0450796953981006, + -0.044597564547638316, + -0.9944302614525659, + 0.09549613784756099, + -0.04951524986654812, + -0.09327342232189838, + -0.9944085220466555 + ], + [ + 0.9843367826348227, + -0.1690444734444117, + -0.05005061787857938, + -0.16136575888701388, + -0.9782389821996461, + 0.130420801883054, + -0.0710083812725237, + -0.12030153657747807, + -0.9901946021293763 + ], + [ + 0.9213400654103459, + -0.3880022530443506, + -0.024222623767196715, + -0.380444354290889, + -0.9127025636688971, + 0.1491178177160974, + -0.07996610005401017, + -0.1281728594700549, + -0.9885227063337602 + ], + [ + 0.8044530478824612, + -0.5901903411593639, + 0.06731014005937176, + -0.5930137296188132, + -0.7913423601798111, + 0.14870099350250232, + -0.03449652498736129, + -0.15953880464401077, + -0.9865887489610636 + ], + [ + 0.7243408911349718, + -0.6852559287805584, + 0.07585898431227033, + -0.6875762008613975, + -0.709905222672663, + 0.15255668727094196, + -0.05068768527761021, + -0.1626618790410685, + -0.985379049740772 + ], + [ + 0.711698670278033, + -0.6984430080841914, + 0.07524870220001398, + -0.700231805752053, + -0.6967619955448997, + 0.15555751276460078, + -0.056217621238357135, + -0.16340160960833877, + -0.9849565944952627 + ], + [ + 0.7274057754359822, + -0.6836297758873784, + 0.05942362646750996, + -0.6841647284903409, + -0.7158387873072913, + 0.13961896316820385, + -0.052909943792403526, + -0.14221518943699055, + -0.9884206481763144 + ], + [ + 0.7425312968160498, + -0.6691852642222861, + 0.02895436748445482, + -0.666591626282422, + -0.7340378530412196, + 0.12978456793006324, + -0.06559631863779888, + -0.11566984244126217, + -0.9911193724929315 + ], + [ + 0.7604821970358516, + -0.6490058258211031, + 0.02140714931493361, + -0.6459091534094179, + -0.7526375204637252, + 0.12782068820087153, + -0.06684454752224, + -0.11103243148055111, + -0.9915662386477585 + ], + [ + 0.7715785840795876, + -0.6357133972373255, + 0.023129313926644548, + -0.6324498884156489, + -0.7626953704472365, + 0.13528824982749274, + -0.06836393225065483, + -0.11901364825653922, + -0.9905362811608147 + ], + [ + 0.7777132111720046, + -0.6274915666522567, + 0.0376363514281875, + -0.6257801925821382, + -0.7671281740023882, + 0.14111525510597434, + -0.05967672695776302, + -0.1332992814386441, + -0.9892775090072301 + ], + [ + 0.7710200159913958, + -0.6260665652228672, + 0.11648515291945609, + -0.6366976321830111, + -0.7613264719637404, + 0.12246684555336139, + 0.012010833159053977, + -0.16859021026526216, + -0.9856130482545064 + ], + [ + 0.7268129822885456, + -0.6583438161430754, + 0.19577106150553225, + -0.6761450928545946, + -0.7359134603591664, + 0.03548509927912763, + 0.12070916363508664, + -0.15816067339376852, + -0.9800073975262369 + ], + [ + 0.6943988388215439, + -0.6807507987061004, + 0.233213641762864, + -0.6892415789268934, + -0.722342069018645, + -0.056284822147945175, + 0.2067759621466048, + -0.12165642353311704, + -0.9707952493144352 + ], + [ + 0.6795616260737647, + -0.6963708698667663, + 0.2307890984621773, + -0.6708482552738659, + -0.717188979047799, + -0.18868647733313162, + 0.29691516425401954, + -0.02660037468494661, + -0.9545332918775696 + ], + [ + 0.6334211457950417, + -0.7145612585511378, + 0.2969509384351413, + -0.6400894496826703, + -0.6994825925820325, + -0.31782007343724383, + 0.4348139239544121, + 0.011238792307581152, + -0.9004501880075512 + ], + [ + 0.5901527776672831, + -0.7272386889263877, + 0.35049049679016886, + -0.6102416549721418, + -0.6860972430817833, + -0.396075366025758, + 0.5285118934787107, + 0.019861076612446127, + -0.8486935348447888 + ], + [ + 0.5847502161430793, + -0.7353095669909167, + 0.34261790001728304, + -0.6133831911956484, + -0.6771726985807197, + -0.4064458107245645, + 0.5308749810259142, + 0.027513214798285446, + -0.847003410578847 + ], + [ + 0.5808523105065362, + -0.7410194907907898, + 0.3368986607978388, + -0.6236308129194265, + -0.6710977753010604, + -0.4008894924582369, + 0.5231588693281171, + 0.022757202247337155, + -0.8519312807904169 + ], + [ + 0.581214368707218, + -0.739437277919458, + 0.33973867844467187, + -0.630228421742334, + -0.6731394334587802, + -0.38690494898742145, + 0.5147834438251069, + 0.010761744554410646, + -0.8572526995103069 + ], + [ + 0.6017031689754855, + -0.7139560281923627, + 0.3580783241871042, + -0.5998882605321803, + -0.6999489637417398, + -0.3875635728916482, + 0.5273399011269047, + 0.0183912469574862, + -0.8494553494532926 + ], + [ + 0.6309234370763577, + -0.6843548360147479, + 0.3655052324809903, + -0.6095443489316462, + -0.7286917530963501, + -0.31219227353485746, + 0.4799909407824806, + -0.02582222671644055, + -0.8768933283895789 + ], + [ + 0.6584003031790897, + -0.6221696084293779, + 0.4235729206648097, + -0.6058287091116951, + -0.7720107915767401, + -0.19227821744834245, + 0.44663252903224554, + -0.13001659907830854, + -0.8852203499549537 + ], + [ + 0.7088515865845084, + -0.5170918331626042, + 0.47973478534828223, + -0.5282249894999447, + -0.8398849026399178, + -0.12478666108730983, + 0.4674481668211015, + -0.16495267925703166, + -0.8684945739275048 + ], + [ + 0.8625601448257397, + -0.34716334748897393, + 0.3680592434900241, + -0.4285310042698507, + -0.8880210672108376, + 0.16667262093456797, + 0.2689817371824193, + -0.3014899572953881, + -0.9147418382868212 + ], + [ + 0.9669502224771299, + -0.21576697418447624, + 0.13583769764945494, + -0.2543497505821255, + -0.8533125849124471, + 0.45515254235129626, + 0.01770513005430096, + -0.47466013660440626, + -0.8799910698913068 + ], + [ + 0.9901838170582951, + -0.12132935454614371, + -0.06939161448821696, + -0.04082469155301532, + -0.725871198497529, + 0.6866180508487687, + -0.13367629930345293, + -0.6770451911927131, + -0.7236991474966352 + ], + [ + 0.9660907051683125, + -0.16103531395941675, + -0.20183254704181175, + 0.05051593790698802, + -0.6486944565955035, + 0.7593705564476688, + -0.2532131303956618, + -0.7438165967765554, + -0.618562835090319 + ], + [ + 0.9649662575081384, + -0.1550226732201753, + -0.21167922113048376, + 0.03840864417597189, + -0.7146297262760595, + 0.6984476575772648, + -0.2595474868368043, + -0.6821087340815065, + -0.6836393617737526 + ], + [ + 0.9682702518598222, + -0.12795067489930245, + -0.2146656566759794, + 0.06155845612280268, + -0.7104025828232392, + 0.701098229064835, + -0.24220502852561385, + -0.692067045242644, + -0.6799852417854543 + ], + [ + 0.9744622267949602, + -0.11037770501955275, + -0.19555083938563034, + 0.056704833149624864, + -0.7216688833382326, + 0.6899120123021646, + -0.21727386047861624, + -0.6833818735201903, + -0.6969801177198341 + ], + [ + 0.9737014953616637, + -0.09937808913258685, + -0.20501071516097874, + 0.0482942189818298, + -0.789368486845716, + 0.612017205957349, + -0.22265009845808603, + -0.6058229009993437, + -0.7638098888344824 + ], + [ + 0.9928964766628473, + -0.061657218234894076, + -0.10175939303100524, + -0.002195886337306, + -0.8646045324285803, + 0.5024481869677209, + -0.11896118994738404, + -0.4986555824850363, + -0.8585981861981842 + ], + [ + 0.9965285033402188, + -0.08265912478519129, + 0.009920237912922306, + -0.08101330730756028, + -0.9353698781423146, + 0.34426738896259346, + -0.019177749335978097, + -0.34387593715434206, + -0.9388192338126806 + ], + [ + 0.9964204688598093, + -0.06467735905084368, + 0.05443425817814909, + -0.07744011583189728, + -0.9565954298206164, + 0.2809416524943422, + 0.03390099846817901, + -0.2841514083592015, + -0.9581798888676083 + ], + [ + 0.9963820949470668, + -0.06214105193513328, + 0.05797594788608537, + -0.07445308805302478, + -0.9671948471578348, + 0.2428803518416047, + 0.04098119749670032, + -0.24631812214233897, + -0.9683222212445652 + ], + [ + 0.9916163409225989, + -0.04359748700455167, + 0.12164000798324444, + -0.06451286744855488, + -0.9826822983112586, + 0.17370547060834696, + 0.11196036061410757, + -0.1800965288743513, + -0.977256423841035 + ], + [ + 0.9853526488904212, + -0.0042117500324609855, + 0.1704770321371606, + -0.03390058965141061, + -0.98457980838382, + 0.17161978599266198, + 0.16712542399622232, + -0.1748852826413489, + -0.9703011030445851 + ], + [ + 0.9816847386893763, + 0.0698587198949536, + 0.1772423004787783, + 0.0383010444388864, + -0.983718268789304, + 0.17558871730571202, + 0.18662289200219132, + -0.16558419883797254, + -0.9683768735755338 + ], + [ + 0.9965627692587977, + 0.037952593873601656, + 0.07363591206402874, + 0.022009348853938956, + -0.9782360458330425, + 0.20632456760153098, + 0.0798638559691525, + -0.20399470397831057, + -0.9757089347026292 + ], + [ + 0.9985358392710545, + 0.02247391560511297, + -0.049204682791635396, + 0.03135924652984551, + -0.9816643430458201, + 0.1880205181609153, + -0.044076925350250706, + -0.1892882476800738, + -0.9809317937256778 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0011593103408813477, + -0.0007649064064025879, + -0.010330982506275177, + -0.014481090009212494, + 0.031212661415338516, + -0.005599016323685646, + 1.0 + ], + [ + 0.000408172607421875, + -0.0005373954772949219, + -0.004626907408237457, + -0.010702244937419891, + 0.029242832213640213, + -0.0653061643242836, + 1.0 + ], + [ + 0.012340158224105835, + -0.004376217722892761, + -0.005770593881607056, + 0.027376040816307068, + 0.021532684564590454, + -0.11782100796699524, + 1.0 + ], + [ + 0.008745282888412476, + -0.0005936771631240845, + -0.008920006453990936, + 0.008041344583034515, + 0.00898338109254837, + -0.22911053895950317, + 1.0 + ], + [ + 0.00838160514831543, + -0.0055197179317474365, + -0.014298878610134125, + 0.03137806057929993, + -0.045548200607299805, + -0.24363651871681213, + 1.0 + ], + [ + -0.0014450550079345703, + -0.011148080229759216, + -0.010656867176294327, + 0.003280356526374817, + 0.016206044703722, + -0.12412995100021362, + 1.0 + ], + [ + -0.0030123889446258545, + -0.003481455147266388, + -0.006025157868862152, + 0.0007999241352081299, + 0.005537860095500946, + -0.01791173219680786, + 1.0 + ], + [ + 0.000624239444732666, + -0.003531545400619507, + -0.005471911281347275, + -0.021499454975128174, + -0.0033126138150691986, + 0.022502481937408447, + 1.0 + ], + [ + 0.0017032921314239502, + 0.0004887282848358154, + -0.010074261575937271, + -0.026719830930233, + 0.012708790600299835, + 0.023215651512145996, + 0.0 + ], + [ + 0.003277122974395752, + 0.0016105100512504578, + -0.003930175676941872, + -0.004668407142162323, + 0.0012509748339653015, + 0.027447104454040527, + 0.0 + ], + [ + 0.001076042652130127, + 0.0009161531925201416, + -0.00021276436746120453, + 0.00806521624326706, + 0.0015228688716888428, + 0.01748359203338623, + 0.0 + ], + [ + -0.0008680522441864014, + -6.907433271408081e-05, + 0.000276004895567894, + 0.014359869062900543, + -0.00870509073138237, + 0.009063482284545898, + 0.0 + ], + [ + -0.0026554465293884277, + -0.007218219339847565, + 0.014894744381308556, + 0.03547419607639313, + -0.0717233270406723, + -0.012703001499176025, + 0.0 + ], + [ + 0.002885967493057251, + -0.01160266250371933, + 0.0039995647966861725, + -0.009404003620147705, + -0.10899311304092407, + -0.05903118848800659, + 0.0 + ], + [ + 0.005033016204833984, + -0.009085536003112793, + -0.0005042925477027893, + -0.03534119576215744, + -0.08727431297302246, + -0.03237205743789673, + 0.0 + ], + [ + 0.0035048723220825195, + -0.005154602229595184, + -0.014150675386190414, + -0.09680616855621338, + -0.09318195283412933, + 0.0027250051498413086, + 0.0 + ], + [ + 0.007203102111816406, + 0.002513572573661804, + -0.0023011118173599243, + -0.040340859442949295, + -0.1483711302280426, + -0.011688411235809326, + 0.0 + ], + [ + -0.0029399991035461426, + 0.0020693838596343994, + -0.0019357763230800629, + -0.010917015373706818, + -0.10701504349708557, + -0.011497557163238525, + 0.0 + ], + [ + -0.0019949376583099365, + -0.00097685307264328, + -0.003421211615204811, + -0.009073914960026741, + -0.0027860403060913086, + -0.007159769535064697, + 0.0 + ], + [ + -0.004502683877944946, + -0.0011704787611961365, + -0.003977516666054726, + 0.005765451118350029, + 0.009079396724700928, + -0.011607706546783447, + 0.0 + ], + [ + -0.006006568670272827, + 0.0011741146445274353, + -0.0016331933438777924, + 0.014153034426271915, + 0.009798288345336914, + -0.004936039447784424, + 0.0 + ], + [ + -0.006571680307388306, + 0.006927810609340668, + -0.0004917830228805542, + -0.00909415166825056, + -0.01471167802810669, + 0.04194760322570801, + 0.0 + ], + [ + -0.009035706520080566, + 0.005506359040737152, + 0.006569461897015572, + 0.05108614265918732, + 0.054822325706481934, + 0.015722572803497314, + 0.0 + ], + [ + -0.0077499449253082275, + 0.007837668061256409, + 0.028945298865437508, + 0.11639327555894852, + 0.037646323442459106, + 0.024326980113983154, + 0.0 + ], + [ + -0.012959420680999756, + 0.010647587478160858, + 0.031496427953243256, + 0.04186166822910309, + -0.02340388298034668, + 0.10342633724212646, + 0.0 + ], + [ + -0.007381409406661987, + 0.008976057171821594, + 0.011408187448978424, + 0.13068413734436035, + 0.2140662968158722, + 0.1793171763420105, + 0.0 + ], + [ + -0.002935260534286499, + -0.009118705987930298, + -0.012220397591590881, + 0.17628443241119385, + 0.25462958216667175, + 0.20387816429138184, + 0.0 + ], + [ + -0.0005887150764465332, + -0.003937475383281708, + -0.0008588284254074097, + 0.25744152069091797, + 0.15178370475769043, + 0.2160104513168335, + 0.0 + ], + [ + 0.000157088041305542, + -0.00026326626539230347, + -0.014093928039073944, + 0.12497401237487793, + 0.12192253768444061, + 0.09344751387834549, + 0.0 + ], + [ + -0.0015919506549835205, + 0.004940450191497803, + -0.009125281125307083, + -0.09280049800872803, + 0.0065534114837646484, + -0.012459348887205124, + 0.0 + ], + [ + -0.0009151995182037354, + 0.004968211054801941, + 0.00029748305678367615, + 0.009926140308380127, + -0.017915695905685425, + 0.023708153516054153, + 0.0 + ], + [ + 0.003009110689163208, + -0.0013184025883674622, + -0.0026949644088745117, + -0.01865631341934204, + -0.025617167353630066, + -0.005364898592233658, + 1.0 + ], + [ + -0.0022915005683898926, + -0.000523000955581665, + -0.006097488105297089, + -0.10499143600463867, + 0.005511224269866943, + -0.00856737419962883, + 1.0 + ], + [ + 0.002344369888305664, + -0.0028309300541877747, + 0.011958830058574677, + -0.14438951015472412, + -0.10528838634490967, + -0.051769569516181946, + 1.0 + ], + [ + -0.003762483596801758, + -0.0024596452713012695, + 0.012606807053089142, + -0.17505750060081482, + -0.10006465017795563, + -0.07890554517507553, + 1.0 + ], + [ + -0.0013661682605743408, + -0.0009112879633903503, + 0.003677092492580414, + -0.06281712651252747, + -0.05308642238378525, + 0.0035547390580177307, + 1.0 + ], + [ + -0.0025986135005950928, + 0.0035180673003196716, + -0.0019374117255210876, + -0.03919851779937744, + -0.007085181772708893, + 0.0029775798320770264, + 1.0 + ], + [ + -0.006592452526092529, + 0.0013351067900657654, + 0.008018232882022858, + -0.06685003638267517, + -0.07120291888713837, + 0.009618081152439117, + 1.0 + ], + [ + -0.010983303189277649, + -0.007188804447650909, + 0.02164173126220703, + -0.003919526934623718, + -0.05571776628494263, + 0.03057577833533287, + 1.0 + ], + [ + -0.014901816844940186, + -0.007343791425228119, + 0.01400379091501236, + -0.008969977498054504, + -0.019810155034065247, + 0.07338680326938629, + 1.0 + ], + [ + -0.007661700248718262, + -0.008431397378444672, + -0.0033303871750831604, + 0.036750853061676025, + 0.107774518430233, + -0.01691417582333088, + 1.0 + ], + [ + 0.0023634880781173706, + 0.0018163993954658508, + -0.01614898443222046, + -0.015479713678359985, + 0.12404020875692368, + 0.00931323878467083, + 1.0 + ], + [ + 0.0017589181661605835, + 0.001658901572227478, + -0.007541820406913757, + -0.004357010126113892, + 0.05256884545087814, + 0.01313110813498497, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9844722747802734 + ], + [ + 0.8801529407501221 + ], + [ + 0.5958979725837708 + ], + [ + 0.5373842120170593 + ], + [ + 0.5373842120170593 + ], + [ + 0.5373842120170593 + ], + [ + 0.5373842120170593 + ], + [ + 0.5373842120170593 + ], + [ + 0.5373842120170593 + ], + [ + 0.5364033579826355 + ], + [ + 0.5354229807853699 + ], + [ + 0.5354229807853699 + ], + [ + 0.5354229807853699 + ], + [ + 0.5354229807853699 + ], + [ + 0.5354229807853699 + ], + [ + 0.5344430208206177 + ], + [ + 0.5305274724960327 + ], + [ + 0.5305274724960327 + ], + [ + 0.5305274724960327 + ], + [ + 0.5305274724960327 + ], + [ + 0.5305274724960327 + ], + [ + 0.5305274724960327 + ], + [ + 0.5305274724960327 + ], + [ + 0.5305274724960327 + ], + [ + 0.6059080362319946 + ], + [ + 0.904950737953186 + ], + [ + 1.00800359249115 + ], + [ + 1.003452181816101 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.28069961071014404, + 0.1445154994726181, + 0.09824831783771515 + ], + [ + 0.2811077833175659, + 0.14397810399532318, + 0.09362141042947769 + ], + [ + 0.29344794154167175, + 0.13960188627243042, + 0.08785081654787064 + ], + [ + 0.30219322443008423, + 0.13900820910930634, + 0.0789308100938797 + ], + [ + 0.31057482957839966, + 0.1334884911775589, + 0.06463193148374557 + ], + [ + 0.3091297745704651, + 0.12234041094779968, + 0.05397506430745125 + ], + [ + 0.30611738562583923, + 0.1188589558005333, + 0.047949906438589096 + ], + [ + 0.3067416250705719, + 0.11532741039991379, + 0.04247799515724182 + ], + [ + 0.30844491720199585, + 0.1158161386847496, + 0.03240373358130455 + ], + [ + 0.3117220401763916, + 0.11742664873600006, + 0.02847355790436268 + ], + [ + 0.31279808282852173, + 0.1183428019285202, + 0.028260793536901474 + ], + [ + 0.3119300305843353, + 0.11827372759580612, + 0.028536798432469368 + ], + [ + 0.3092745840549469, + 0.11105550825595856, + 0.043431542813777924 + ], + [ + 0.31216055154800415, + 0.09945284575223923, + 0.047431107610464096 + ], + [ + 0.31719356775283813, + 0.09036730974912643, + 0.04692681506276131 + ], + [ + 0.32069844007492065, + 0.08521270751953125, + 0.03277613967657089 + ], + [ + 0.32790154218673706, + 0.08772628009319305, + 0.030475027859210968 + ], + [ + 0.3249615430831909, + 0.08979566395282745, + 0.028539251536130905 + ], + [ + 0.322966605424881, + 0.08881881088018417, + 0.025118039920926094 + ], + [ + 0.31846392154693604, + 0.08764833211898804, + 0.02114052325487137 + ], + [ + 0.3124573528766632, + 0.08882244676351547, + 0.019507329910993576 + ], + [ + 0.3058856725692749, + 0.09575025737285614, + 0.019015546888113022 + ], + [ + 0.29684996604919434, + 0.10125661641359329, + 0.025585008785128593 + ], + [ + 0.2891000211238861, + 0.1090942844748497, + 0.0545303076505661 + ], + [ + 0.27614060044288635, + 0.11974187195301056, + 0.08602673560380936 + ], + [ + 0.26875919103622437, + 0.12871792912483215, + 0.09743492305278778 + ], + [ + 0.26582393050193787, + 0.11959922313690186, + 0.0852145254611969 + ], + [ + 0.26523521542549133, + 0.11566174775362015, + 0.08435569703578949 + ], + [ + 0.2653923034667969, + 0.11539848148822784, + 0.07026176899671555 + ], + [ + 0.26380035281181335, + 0.12033893167972565, + 0.06113648787140846 + ], + [ + 0.2628851532936096, + 0.1253071427345276, + 0.06143397092819214 + ], + [ + 0.2658942639827728, + 0.12398874014616013, + 0.05873900651931763 + ], + [ + 0.26360276341438293, + 0.12346573919057846, + 0.05264151841402054 + ], + [ + 0.2659471333026886, + 0.12063480913639069, + 0.06460034847259521 + ], + [ + 0.26218464970588684, + 0.11817516386508942, + 0.07720715552568436 + ], + [ + 0.2608184814453125, + 0.11726387590169907, + 0.08088424801826477 + ], + [ + 0.2582198679447174, + 0.12078194320201874, + 0.07894683629274368 + ], + [ + 0.2516274154186249, + 0.1221170499920845, + 0.08696506917476654 + ], + [ + 0.24064411222934723, + 0.1149282455444336, + 0.10860680043697357 + ], + [ + 0.22574229538440704, + 0.10758445411920547, + 0.12261059135198593 + ], + [ + 0.21808059513568878, + 0.0991530567407608, + 0.11928020417690277 + ], + [ + 0.22044408321380615, + 0.10096945613622665, + 0.10313121974468231 + ], + [ + 0.22220300137996674, + 0.10262835770845413, + 0.09558939933776855 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9995811785109088, + 0.018414905576548783, + -0.022323951696546492, + 0.020633261981131495, + -0.9944050803121494, + 0.1035992507183612, + -0.020291280559909034, + -0.10401647706971555, + -0.9943685616667718 + ], + [ + 0.9977771781650812, + -0.049076713375509645, + -0.0450796953981006, + -0.044597564547638316, + -0.9944302614525659, + 0.09549613784756099, + -0.04951524986654812, + -0.09327342232189838, + -0.9944085220466555 + ], + [ + 0.9843367826348227, + -0.1690444734444117, + -0.05005061787857938, + -0.16136575888701388, + -0.9782389821996461, + 0.130420801883054, + -0.0710083812725237, + -0.12030153657747807, + -0.9901946021293763 + ], + [ + 0.9213400654103459, + -0.3880022530443506, + -0.024222623767196715, + -0.380444354290889, + -0.9127025636688971, + 0.1491178177160974, + -0.07996610005401017, + -0.1281728594700549, + -0.9885227063337602 + ], + [ + 0.8044530478824612, + -0.5901903411593639, + 0.06731014005937176, + -0.5930137296188132, + -0.7913423601798111, + 0.14870099350250232, + -0.03449652498736129, + -0.15953880464401077, + -0.9865887489610636 + ], + [ + 0.7243408911349718, + -0.6852559287805584, + 0.07585898431227033, + -0.6875762008613975, + -0.709905222672663, + 0.15255668727094196, + -0.05068768527761021, + -0.1626618790410685, + -0.985379049740772 + ], + [ + 0.711698670278033, + -0.6984430080841914, + 0.07524870220001398, + -0.700231805752053, + -0.6967619955448997, + 0.15555751276460078, + -0.056217621238357135, + -0.16340160960833877, + -0.9849565944952627 + ], + [ + 0.7274057754359822, + -0.6836297758873784, + 0.05942362646750996, + -0.6841647284903409, + -0.7158387873072913, + 0.13961896316820385, + -0.052909943792403526, + -0.14221518943699055, + -0.9884206481763144 + ], + [ + 0.7425312968160498, + -0.6691852642222861, + 0.02895436748445482, + -0.666591626282422, + -0.7340378530412196, + 0.12978456793006324, + -0.06559631863779888, + -0.11566984244126217, + -0.9911193724929315 + ], + [ + 0.7604821970358516, + -0.6490058258211031, + 0.02140714931493361, + -0.6459091534094179, + -0.7526375204637252, + 0.12782068820087153, + -0.06684454752224, + -0.11103243148055111, + -0.9915662386477585 + ], + [ + 0.7715785840795876, + -0.6357133972373255, + 0.023129313926644548, + -0.6324498884156489, + -0.7626953704472365, + 0.13528824982749274, + -0.06836393225065483, + -0.11901364825653922, + -0.9905362811608147 + ], + [ + 0.7777132111720046, + -0.6274915666522567, + 0.0376363514281875, + -0.6257801925821382, + -0.7671281740023882, + 0.14111525510597434, + -0.05967672695776302, + -0.1332992814386441, + -0.9892775090072301 + ], + [ + 0.7710200159913958, + -0.6260665652228672, + 0.11648515291945609, + -0.6366976321830111, + -0.7613264719637404, + 0.12246684555336139, + 0.012010833159053977, + -0.16859021026526216, + -0.9856130482545064 + ], + [ + 0.7268129822885456, + -0.6583438161430754, + 0.19577106150553225, + -0.6761450928545946, + -0.7359134603591664, + 0.03548509927912763, + 0.12070916363508664, + -0.15816067339376852, + -0.9800073975262369 + ], + [ + 0.6943988388215439, + -0.6807507987061004, + 0.233213641762864, + -0.6892415789268934, + -0.722342069018645, + -0.056284822147945175, + 0.2067759621466048, + -0.12165642353311704, + -0.9707952493144352 + ], + [ + 0.6795616260737647, + -0.6963708698667663, + 0.2307890984621773, + -0.6708482552738659, + -0.717188979047799, + -0.18868647733313162, + 0.29691516425401954, + -0.02660037468494661, + -0.9545332918775696 + ], + [ + 0.6334211457950417, + -0.7145612585511378, + 0.2969509384351413, + -0.6400894496826703, + -0.6994825925820325, + -0.31782007343724383, + 0.4348139239544121, + 0.011238792307581152, + -0.9004501880075512 + ], + [ + 0.5901527776672831, + -0.7272386889263877, + 0.35049049679016886, + -0.6102416549721418, + -0.6860972430817833, + -0.396075366025758, + 0.5285118934787107, + 0.019861076612446127, + -0.8486935348447888 + ], + [ + 0.5847502161430793, + -0.7353095669909167, + 0.34261790001728304, + -0.6133831911956484, + -0.6771726985807197, + -0.4064458107245645, + 0.5308749810259142, + 0.027513214798285446, + -0.847003410578847 + ], + [ + 0.5808523105065362, + -0.7410194907907898, + 0.3368986607978388, + -0.6236308129194265, + -0.6710977753010604, + -0.4008894924582369, + 0.5231588693281171, + 0.022757202247337155, + -0.8519312807904169 + ], + [ + 0.581214368707218, + -0.739437277919458, + 0.33973867844467187, + -0.630228421742334, + -0.6731394334587802, + -0.38690494898742145, + 0.5147834438251069, + 0.010761744554410646, + -0.8572526995103069 + ], + [ + 0.6017031689754855, + -0.7139560281923627, + 0.3580783241871042, + -0.5998882605321803, + -0.6999489637417398, + -0.3875635728916482, + 0.5273399011269047, + 0.0183912469574862, + -0.8494553494532926 + ], + [ + 0.6309234370763577, + -0.6843548360147479, + 0.3655052324809903, + -0.6095443489316462, + -0.7286917530963501, + -0.31219227353485746, + 0.4799909407824806, + -0.02582222671644055, + -0.8768933283895789 + ], + [ + 0.6584003031790897, + -0.6221696084293779, + 0.4235729206648097, + -0.6058287091116951, + -0.7720107915767401, + -0.19227821744834245, + 0.44663252903224554, + -0.13001659907830854, + -0.8852203499549537 + ], + [ + 0.7088515865845084, + -0.5170918331626042, + 0.47973478534828223, + -0.5282249894999447, + -0.8398849026399178, + -0.12478666108730983, + 0.4674481668211015, + -0.16495267925703166, + -0.8684945739275048 + ], + [ + 0.8625601448257397, + -0.34716334748897393, + 0.3680592434900241, + -0.4285310042698507, + -0.8880210672108376, + 0.16667262093456797, + 0.2689817371824193, + -0.3014899572953881, + -0.9147418382868212 + ], + [ + 0.9669502224771299, + -0.21576697418447624, + 0.13583769764945494, + -0.2543497505821255, + -0.8533125849124471, + 0.45515254235129626, + 0.01770513005430096, + -0.47466013660440626, + -0.8799910698913068 + ], + [ + 0.9901838170582951, + -0.12132935454614371, + -0.06939161448821696, + -0.04082469155301532, + -0.725871198497529, + 0.6866180508487687, + -0.13367629930345293, + -0.6770451911927131, + -0.7236991474966352 + ], + [ + 0.9660907051683125, + -0.16103531395941675, + -0.20183254704181175, + 0.05051593790698802, + -0.6486944565955035, + 0.7593705564476688, + -0.2532131303956618, + -0.7438165967765554, + -0.618562835090319 + ], + [ + 0.9649662575081384, + -0.1550226732201753, + -0.21167922113048376, + 0.03840864417597189, + -0.7146297262760595, + 0.6984476575772648, + -0.2595474868368043, + -0.6821087340815065, + -0.6836393617737526 + ], + [ + 0.9682702518598222, + -0.12795067489930245, + -0.2146656566759794, + 0.06155845612280268, + -0.7104025828232392, + 0.701098229064835, + -0.24220502852561385, + -0.692067045242644, + -0.6799852417854543 + ], + [ + 0.9744622267949602, + -0.11037770501955275, + -0.19555083938563034, + 0.056704833149624864, + -0.7216688833382326, + 0.6899120123021646, + -0.21727386047861624, + -0.6833818735201903, + -0.6969801177198341 + ], + [ + 0.9737014953616637, + -0.09937808913258685, + -0.20501071516097874, + 0.0482942189818298, + -0.789368486845716, + 0.612017205957349, + -0.22265009845808603, + -0.6058229009993437, + -0.7638098888344824 + ], + [ + 0.9928964766628473, + -0.061657218234894076, + -0.10175939303100524, + -0.002195886337306, + -0.8646045324285803, + 0.5024481869677209, + -0.11896118994738404, + -0.4986555824850363, + -0.8585981861981842 + ], + [ + 0.9965285033402188, + -0.08265912478519129, + 0.009920237912922306, + -0.08101330730756028, + -0.9353698781423146, + 0.34426738896259346, + -0.019177749335978097, + -0.34387593715434206, + -0.9388192338126806 + ], + [ + 0.9964204688598093, + -0.06467735905084368, + 0.05443425817814909, + -0.07744011583189728, + -0.9565954298206164, + 0.2809416524943422, + 0.03390099846817901, + -0.2841514083592015, + -0.9581798888676083 + ], + [ + 0.9963820949470668, + -0.06214105193513328, + 0.05797594788608537, + -0.07445308805302478, + -0.9671948471578348, + 0.2428803518416047, + 0.04098119749670032, + -0.24631812214233897, + -0.9683222212445652 + ], + [ + 0.9916163409225989, + -0.04359748700455167, + 0.12164000798324444, + -0.06451286744855488, + -0.9826822983112586, + 0.17370547060834696, + 0.11196036061410757, + -0.1800965288743513, + -0.977256423841035 + ], + [ + 0.9853526488904212, + -0.0042117500324609855, + 0.1704770321371606, + -0.03390058965141061, + -0.98457980838382, + 0.17161978599266198, + 0.16712542399622232, + -0.1748852826413489, + -0.9703011030445851 + ], + [ + 0.9816847386893763, + 0.0698587198949536, + 0.1772423004787783, + 0.0383010444388864, + -0.983718268789304, + 0.17558871730571202, + 0.18662289200219132, + -0.16558419883797254, + -0.9683768735755338 + ], + [ + 0.9965627692587977, + 0.037952593873601656, + 0.07363591206402874, + 0.022009348853938956, + -0.9782360458330425, + 0.20632456760153098, + 0.0798638559691525, + -0.20399470397831057, + -0.9757089347026292 + ], + [ + 0.9985358392710545, + 0.02247391560511297, + -0.049204682791635396, + 0.03135924652984551, + -0.9816643430458201, + 0.1880205181609153, + -0.044076925350250706, + -0.1892882476800738, + -0.9809317937256778 + ], + [ + 0.9943455601184873, + 0.02588621921553643, + -0.10298937191466598, + 0.0443035306085564, + -0.9825238290775024, + 0.18078750640047028, + -0.0965096070257718, + -0.1843280471051776, + -0.978115058059185 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006202.json b/json/chunk-0006/episode_0006202.json new file mode 100644 index 0000000000000000000000000000000000000000..8911db8279168a206ae8d3f40040afa03fd4f6d1 --- /dev/null +++ b/json/chunk-0006/episode_0006202.json @@ -0,0 +1,1222 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 19, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nOpen small4fbox flaps." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006202.mp4", + "start": 0, + "end": 19, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2735016345977783, + 0.04320158064365387, + 0.14965873956680298, + 0.06642313301563263, + -0.18621081113815308, + 0.021328920498490334, + 0.0, + 0.9893313646316528 + ], + [ + 0.27012142539024353, + 0.043661054223775864, + 0.14050737023353577, + 0.07443482428789139, + -0.16203458607196808, + 0.03488285094499588, + 0.0, + 0.9893313646316528 + ], + [ + 0.26425597071647644, + 0.043981797993183136, + 0.1323397010564804, + 0.11564936488866806, + -0.16054004430770874, + 0.066740982234478, + 0.0, + 0.9893313646316528 + ], + [ + 0.2575896680355072, + 0.052991606295108795, + 0.13391053676605225, + 0.12884128093719482, + -0.12139058113098145, + 0.10041189938783646, + 0.0, + 0.9893313646316528 + ], + [ + 0.25910118222236633, + 0.06363798677921295, + 0.14157140254974365, + 0.1747211068868637, + -0.12049304693937302, + 0.10844916105270386, + 0.0, + 0.9893313646316528 + ], + [ + 0.2591235339641571, + 0.0695095807313919, + 0.13666114211082458, + 0.17149098217487335, + -0.13657517731189728, + 0.10953900218009949, + 0.0, + 0.9893313646316528 + ], + [ + 0.25885891914367676, + 0.07386380434036255, + 0.1286032646894455, + 0.16369038820266724, + -0.15927495062351227, + 0.11710750311613083, + 0.0, + 0.9893313646316528 + ], + [ + 0.25679734349250793, + 0.0740290954709053, + 0.12036865949630737, + 0.15272442996501923, + -0.15849728882312775, + 0.1189831793308258, + 0.0, + 0.9893313646316528 + ], + [ + 0.25496140122413635, + 0.07798229902982712, + 0.11654330044984818, + 0.1451687514781952, + -0.14350156486034393, + 0.12132464349269867, + 0.0, + 0.9900195002555847 + ], + [ + 0.2486059069633484, + 0.08106271922588348, + 0.11297954618930817, + 0.17258578538894653, + -0.12501519918441772, + 0.13014359772205353, + 0.0, + 0.9900195002555847 + ], + [ + 0.23874431848526, + 0.08962377160787582, + 0.11150943487882614, + 0.21349677443504333, + -0.14113947749137878, + 0.15051665902137756, + 0.0, + 0.9900195002555847 + ], + [ + 0.23666156828403473, + 0.09784696251153946, + 0.10723254084587097, + 0.21411015093326569, + -0.18030062317848206, + 0.15101172029972076, + 0.0, + 0.9900195002555847 + ], + [ + 0.23718951642513275, + 0.10119794309139252, + 0.10695109516382217, + 0.2296355813741684, + -0.18831267952919006, + 0.13526137173175812, + 0.0, + 0.9900195002555847 + ], + [ + 0.23699013888835907, + 0.10607793927192688, + 0.11004723608493805, + 0.26043397188186646, + -0.16924533247947693, + 0.11213310807943344, + 0.0, + 0.9900195002555847 + ], + [ + 0.236943319439888, + 0.11217807233333588, + 0.1168271154165268, + 0.29474082589149475, + -0.1412033587694168, + 0.0987255722284317, + 0.0, + 0.9900195002555847 + ], + [ + 0.2345680296421051, + 0.12623529136180878, + 0.12605811655521393, + 0.3252141773700714, + -0.12109386920928955, + 0.08965632319450378, + 0.0, + 0.9900195002555847 + ], + [ + 0.22970782220363617, + 0.1420285999774933, + 0.13157173991203308, + 0.3456636965274811, + -0.1087024137377739, + 0.0931604877114296, + 0.0, + 0.9900195002555847 + ], + [ + 0.22778910398483276, + 0.15546922385692596, + 0.13327060639858246, + 0.3426424562931061, + -0.11295592039823532, + 0.09095942974090576, + 0.0, + 0.9900195002555847 + ], + [ + 0.2252543419599533, + 0.16457456350326538, + 0.1289098560810089, + 0.3320957124233246, + -0.13994160294532776, + 0.08695398271083832, + 0.0, + 0.9900195002555847 + ] + ], + "left_gripper_pos": [ + [ + 0.9893313646316528 + ], + [ + 0.9893313646316528 + ], + [ + 0.9893313646316528 + ], + [ + 0.9893313646316528 + ], + [ + 0.9893313646316528 + ], + [ + 0.9893313646316528 + ], + [ + 0.9893313646316528 + ], + [ + 0.9893313646316528 + ], + [ + 0.9900195002555847 + ], + [ + 0.9900195002555847 + ], + [ + 0.9900195002555847 + ], + [ + 0.9900195002555847 + ], + [ + 0.9900195002555847 + ], + [ + 0.9900195002555847 + ], + [ + 0.9900195002555847 + ], + [ + 0.9900195002555847 + ], + [ + 0.9900195002555847 + ], + [ + 0.9900195002555847 + ], + [ + 0.9900195002555847 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2735016345977783, + 0.04320158064365387, + 0.14965873956680298 + ], + [ + 0.27012142539024353, + 0.043661054223775864, + 0.14050737023353577 + ], + [ + 0.26425597071647644, + 0.043981797993183136, + 0.1323397010564804 + ], + [ + 0.2575896680355072, + 0.052991606295108795, + 0.13391053676605225 + ], + [ + 0.25910118222236633, + 0.06363798677921295, + 0.14157140254974365 + ], + [ + 0.2591235339641571, + 0.0695095807313919, + 0.13666114211082458 + ], + [ + 0.25885891914367676, + 0.07386380434036255, + 0.1286032646894455 + ], + [ + 0.25679734349250793, + 0.0740290954709053, + 0.12036865949630737 + ], + [ + 0.25496140122413635, + 0.07798229902982712, + 0.11654330044984818 + ], + [ + 0.2486059069633484, + 0.08106271922588348, + 0.11297954618930817 + ], + [ + 0.23874431848526, + 0.08962377160787582, + 0.11150943487882614 + ], + [ + 0.23666156828403473, + 0.09784696251153946, + 0.10723254084587097 + ], + [ + 0.23718951642513275, + 0.10119794309139252, + 0.10695109516382217 + ], + [ + 0.23699013888835907, + 0.10607793927192688, + 0.11004723608493805 + ], + [ + 0.236943319439888, + 0.11217807233333588, + 0.1168271154165268 + ], + [ + 0.2345680296421051, + 0.12623529136180878, + 0.12605811655521393 + ], + [ + 0.22970782220363617, + 0.1420285999774933, + 0.13157173991203308 + ], + [ + 0.22778910398483276, + 0.15546922385692596, + 0.13327060639858246 + ], + [ + 0.2252543419599533, + 0.16457456350326538, + 0.1289098560810089 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9824892848685467, + 0.033565786140692194, + 0.1832706826506884, + 0.020958614128127096, + -0.9973057669527916, + 0.07029895942709642, + 0.18513654855894957, + -0.06522687485585672, + -0.9805457221283557 + ], + [ + 0.9863007173612857, + 0.0467691299197893, + 0.1581883163168489, + 0.03441894251883578, + -0.9962059344033836, + 0.07993167491906353, + 0.16132647435712047, + -0.07339199374610039, + -0.9841683717359921 + ], + [ + 0.9849433762178997, + 0.0846504073555842, + 0.15073438286939866, + 0.06583386663285899, + -0.9898784229542307, + 0.12572434041907746, + 0.15985132983072659, + -0.11390792906632441, + -0.9805470595780549 + ], + [ + 0.9876412325560869, + 0.1148926138092736, + 0.1066043294016081, + 0.09950558039464763, + -0.9851565017496927, + 0.13987603987328215, + 0.12109267205499172, + -0.1275396187558235, + -0.9844136378688592 + ], + [ + 0.9869172381582992, + 0.12736113150719375, + 0.09886105000050359, + 0.10745193246703484, + -0.9767280387985059, + 0.1856244068917774, + 0.1202016939776414, + -0.17257311611613108, + -0.9776349381844298 + ], + [ + 0.9847505082312379, + 0.13081164552856597, + 0.11469415823147897, + 0.10830209978698616, + -0.9768859527778242, + 0.18429457519713444, + 0.13615098868553407, + -0.16906255841986823, + -0.9761561143692541 + ], + [ + 0.9805799809489844, + 0.1409470454335705, + 0.13637019962453886, + 0.11536111650930364, + -0.9768550866445754, + 0.18012760059009822, + 0.15860237627417959, + -0.16089770066774137, + -0.9741443507817604 + ], + [ + 0.9804840465856538, + 0.14116279249296265, + 0.13683603475185283, + 0.11721476827363074, + -0.9785221795003349, + 0.16957311792991697, + 0.15783450981829214, + -0.15022453275515035, + -0.9759717502412231 + ], + [ + 0.9824460530535876, + 0.14028980235885344, + 0.12295740804661204, + 0.11978321779720409, + -0.9797042446488077, + 0.16072203878515426, + 0.14300955763016254, + -0.14317249865537343, + -0.9793109322657448 + ], + [ + 0.9838050387453507, + 0.14908050156598296, + 0.0995120585260566, + 0.1287637217245038, + -0.9740339975793371, + 0.18621942843664285, + 0.12468981396614928, + -0.17039006899596687, + -0.9774557149460206 + ], + [ + 0.9788625101170259, + 0.17601278790076358, + 0.10415221928886736, + 0.14845792950112574, + -0.9617771685310227, + 0.23009763419185267, + 0.14067135264734706, + -0.20977172494845361, + -0.9675781074189909 + ], + [ + 0.9725936919911555, + 0.18467233546410525, + 0.14127150743602418, + 0.14799978298512348, + -0.9603129958924844, + 0.2364212641797641, + 0.17932533154958902, + -0.20903367775130022, + -0.9613258277142022 + ], + [ + 0.9733490950812586, + 0.17353156653743584, + 0.14992776433856006, + 0.13246536699621247, + -0.959109188278004, + 0.2501249517886358, + 0.1872016710690748, + -0.22359865915468302, + -0.9565349831413246 + ], + [ + 0.9795215628591365, + 0.15122537403863878, + 0.13292251179114953, + 0.1102994810465513, + -0.9553564200468886, + 0.27409512063525343, + 0.16843851214866498, + -0.2538207968667391, + -0.9524722939293706 + ], + [ + 0.9852264100798708, + 0.13499807319135157, + 0.1053776120233923, + 0.09758429016632938, + -0.9481884607785975, + 0.3023507055706129, + 0.14073459842506297, + -0.28760070076572536, + -0.9473540044382563 + ], + [ + 0.9886900677705137, + 0.12328437847716311, + 0.0853985475019135, + 0.08888059229949233, + -0.9403206322750219, + 0.32847731859352874, + 0.12079813824901608, + -0.3171719888978261, + -0.9406432582303288 + ], + [ + 0.9897870013789718, + 0.12412218532329598, + 0.07010973549938138, + 0.0924767260590209, + -0.9333515136800824, + 0.34684723877883805, + 0.10848846500263823, + -0.3368213696036355, + -0.9352976092879224 + ], + [ + 0.989519647302975, + 0.12326728491153308, + 0.07520667571389232, + 0.09025519256241396, + -0.9345366174802319, + 0.34423147852009117, + 0.11271587207184801, + -0.33383601821724596, + -0.9358678566570908 + ], + [ + 0.9864829616245229, + 0.12740323987343494, + 0.10305232114931892, + 0.08599546882464627, + -0.9378401705852891, + 0.33624484200978494, + 0.1394852887086651, + -0.32283777490607873, + -0.9361194503521185 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.00338020920753479, + 0.000459473580121994, + -0.009151369333267212, + 0.008011691272258759, + 0.024176225066184998, + 0.013553930446505547, + 1.0 + ], + [ + -0.00586545467376709, + 0.00032074376940727234, + -0.008167669177055359, + 0.04121454060077667, + 0.0014945417642593384, + 0.03185813128948212, + 1.0 + ], + [ + -0.006666302680969238, + 0.00900980830192566, + 0.0015708357095718384, + 0.013191916048526764, + 0.039149463176727295, + 0.03367091715335846, + 1.0 + ], + [ + 0.0015115141868591309, + 0.010646380484104156, + 0.007660865783691406, + 0.045879825949668884, + 0.000897534191608429, + 0.008037261664867401, + 1.0 + ], + [ + 2.2351741790771484e-05, + 0.005871593952178955, + -0.004910260438919067, + -0.0032301247119903564, + -0.01608213037252426, + 0.0010898411273956299, + 1.0 + ], + [ + -0.0002646148204803467, + 0.004354223608970642, + -0.00805787742137909, + -0.007800593972206116, + -0.02269977331161499, + 0.0075685009360313416, + 1.0 + ], + [ + -0.0020615756511688232, + 0.00016529113054275513, + -0.008234605193138123, + -0.01096595823764801, + 0.0007776618003845215, + 0.0018756762146949768, + 1.0 + ], + [ + -0.001835942268371582, + 0.003953203558921814, + -0.003825359046459198, + -0.007555678486824036, + 0.014995723962783813, + 0.0023414641618728638, + 1.0 + ], + [ + -0.006355494260787964, + 0.003080420196056366, + -0.0035637542605400085, + 0.027417033910751343, + 0.01848636567592621, + 0.008818954229354858, + 1.0 + ], + [ + -0.009861588478088379, + 0.00856105238199234, + -0.0014701113104820251, + 0.0409109890460968, + -0.01612427830696106, + 0.020373061299324036, + 1.0 + ], + [ + -0.0020827502012252808, + 0.008223190903663635, + -0.00427689403295517, + 0.0006133764982223511, + -0.03916114568710327, + 0.0004950612783432007, + 1.0 + ], + [ + 0.0005279481410980225, + 0.003350980579853058, + -0.0002814456820487976, + 0.01552543044090271, + -0.008012056350708008, + -0.015750348567962646, + 1.0 + ], + [ + -0.00019937753677368164, + 0.004879996180534363, + 0.0030961409211158752, + 0.03079839050769806, + 0.019067347049713135, + -0.023128263652324677, + 1.0 + ], + [ + -4.6819448471069336e-05, + 0.006100133061408997, + 0.006779879331588745, + 0.034306854009628296, + 0.02804197371006012, + -0.01340753585100174, + 1.0 + ], + [ + -0.002375289797782898, + 0.0140572190284729, + 0.009231001138687134, + 0.03047335147857666, + 0.02010948956012726, + -0.009069249033927917, + 1.0 + ], + [ + -0.004860207438468933, + 0.01579330861568451, + 0.005513623356819153, + 0.020449519157409668, + 0.012391455471515656, + 0.0035041645169258118, + 1.0 + ], + [ + -0.0019187182188034058, + 0.013440623879432678, + 0.0016988664865493774, + -0.003021240234375, + -0.004253506660461426, + -0.0022010579705238342, + 1.0 + ], + [ + -0.0025347620248794556, + 0.009105339646339417, + -0.004360750317573547, + -0.010546743869781494, + -0.026985682547092438, + -0.004005447030067444, + 1.0 + ], + [ + -0.004749283194541931, + 0.010692417621612549, + -0.010603994131088257, + -0.026877611875534058, + -0.018315136432647705, + 0.0045250654220581055, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9893313646316528 + ], + [ + 0.9893313646316528 + ], + [ + 0.9893313646316528 + ], + [ + 0.9893313646316528 + ], + [ + 0.9893313646316528 + ], + [ + 0.9893313646316528 + ], + [ + 0.9893313646316528 + ], + [ + 0.9900195002555847 + ], + [ + 0.9900195002555847 + ], + [ + 0.9900195002555847 + ], + [ + 0.9900195002555847 + ], + [ + 0.9900195002555847 + ], + [ + 0.9900195002555847 + ], + [ + 0.9900195002555847 + ], + [ + 0.9900195002555847 + ], + [ + 0.9900195002555847 + ], + [ + 0.9900195002555847 + ], + [ + 0.9900195002555847 + ], + [ + 0.9900195002555847 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.27012142539024353, + 0.043661054223775864, + 0.14050737023353577 + ], + [ + 0.26425597071647644, + 0.043981797993183136, + 0.1323397010564804 + ], + [ + 0.2575896680355072, + 0.052991606295108795, + 0.13391053676605225 + ], + [ + 0.25910118222236633, + 0.06363798677921295, + 0.14157140254974365 + ], + [ + 0.2591235339641571, + 0.0695095807313919, + 0.13666114211082458 + ], + [ + 0.25885891914367676, + 0.07386380434036255, + 0.1286032646894455 + ], + [ + 0.25679734349250793, + 0.0740290954709053, + 0.12036865949630737 + ], + [ + 0.25496140122413635, + 0.07798229902982712, + 0.11654330044984818 + ], + [ + 0.2486059069633484, + 0.08106271922588348, + 0.11297954618930817 + ], + [ + 0.23874431848526, + 0.08962377160787582, + 0.11150943487882614 + ], + [ + 0.23666156828403473, + 0.09784696251153946, + 0.10723254084587097 + ], + [ + 0.23718951642513275, + 0.10119794309139252, + 0.10695109516382217 + ], + [ + 0.23699013888835907, + 0.10607793927192688, + 0.11004723608493805 + ], + [ + 0.236943319439888, + 0.11217807233333588, + 0.1168271154165268 + ], + [ + 0.2345680296421051, + 0.12623529136180878, + 0.12605811655521393 + ], + [ + 0.22970782220363617, + 0.1420285999774933, + 0.13157173991203308 + ], + [ + 0.22778910398483276, + 0.15546922385692596, + 0.13327060639858246 + ], + [ + 0.2252543419599533, + 0.16457456350326538, + 0.1289098560810089 + ], + [ + 0.22050505876541138, + 0.17526698112487793, + 0.11830586194992065 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9863007173612857, + 0.0467691299197893, + 0.1581883163168489, + 0.03441894251883578, + -0.9962059344033836, + 0.07993167491906353, + 0.16132647435712047, + -0.07339199374610039, + -0.9841683717359921 + ], + [ + 0.9849433762178997, + 0.0846504073555842, + 0.15073438286939866, + 0.06583386663285899, + -0.9898784229542307, + 0.12572434041907746, + 0.15985132983072659, + -0.11390792906632441, + -0.9805470595780549 + ], + [ + 0.9876412325560869, + 0.1148926138092736, + 0.1066043294016081, + 0.09950558039464763, + -0.9851565017496927, + 0.13987603987328215, + 0.12109267205499172, + -0.1275396187558235, + -0.9844136378688592 + ], + [ + 0.9869172381582992, + 0.12736113150719375, + 0.09886105000050359, + 0.10745193246703484, + -0.9767280387985059, + 0.1856244068917774, + 0.1202016939776414, + -0.17257311611613108, + -0.9776349381844298 + ], + [ + 0.9847505082312379, + 0.13081164552856597, + 0.11469415823147897, + 0.10830209978698616, + -0.9768859527778242, + 0.18429457519713444, + 0.13615098868553407, + -0.16906255841986823, + -0.9761561143692541 + ], + [ + 0.9805799809489844, + 0.1409470454335705, + 0.13637019962453886, + 0.11536111650930364, + -0.9768550866445754, + 0.18012760059009822, + 0.15860237627417959, + -0.16089770066774137, + -0.9741443507817604 + ], + [ + 0.9804840465856538, + 0.14116279249296265, + 0.13683603475185283, + 0.11721476827363074, + -0.9785221795003349, + 0.16957311792991697, + 0.15783450981829214, + -0.15022453275515035, + -0.9759717502412231 + ], + [ + 0.9824460530535876, + 0.14028980235885344, + 0.12295740804661204, + 0.11978321779720409, + -0.9797042446488077, + 0.16072203878515426, + 0.14300955763016254, + -0.14317249865537343, + -0.9793109322657448 + ], + [ + 0.9838050387453507, + 0.14908050156598296, + 0.0995120585260566, + 0.1287637217245038, + -0.9740339975793371, + 0.18621942843664285, + 0.12468981396614928, + -0.17039006899596687, + -0.9774557149460206 + ], + [ + 0.9788625101170259, + 0.17601278790076358, + 0.10415221928886736, + 0.14845792950112574, + -0.9617771685310227, + 0.23009763419185267, + 0.14067135264734706, + -0.20977172494845361, + -0.9675781074189909 + ], + [ + 0.9725936919911555, + 0.18467233546410525, + 0.14127150743602418, + 0.14799978298512348, + -0.9603129958924844, + 0.2364212641797641, + 0.17932533154958902, + -0.20903367775130022, + -0.9613258277142022 + ], + [ + 0.9733490950812586, + 0.17353156653743584, + 0.14992776433856006, + 0.13246536699621247, + -0.959109188278004, + 0.2501249517886358, + 0.1872016710690748, + -0.22359865915468302, + -0.9565349831413246 + ], + [ + 0.9795215628591365, + 0.15122537403863878, + 0.13292251179114953, + 0.1102994810465513, + -0.9553564200468886, + 0.27409512063525343, + 0.16843851214866498, + -0.2538207968667391, + -0.9524722939293706 + ], + [ + 0.9852264100798708, + 0.13499807319135157, + 0.1053776120233923, + 0.09758429016632938, + -0.9481884607785975, + 0.3023507055706129, + 0.14073459842506297, + -0.28760070076572536, + -0.9473540044382563 + ], + [ + 0.9886900677705137, + 0.12328437847716311, + 0.0853985475019135, + 0.08888059229949233, + -0.9403206322750219, + 0.32847731859352874, + 0.12079813824901608, + -0.3171719888978261, + -0.9406432582303288 + ], + [ + 0.9897870013789718, + 0.12412218532329598, + 0.07010973549938138, + 0.0924767260590209, + -0.9333515136800824, + 0.34684723877883805, + 0.10848846500263823, + -0.3368213696036355, + -0.9352976092879224 + ], + [ + 0.989519647302975, + 0.12326728491153308, + 0.07520667571389232, + 0.09025519256241396, + -0.9345366174802319, + 0.34423147852009117, + 0.11271587207184801, + -0.33383601821724596, + -0.9358678566570908 + ], + [ + 0.9864829616245229, + 0.12740323987343494, + 0.10305232114931892, + 0.08599546882464627, + -0.9378401705852891, + 0.33624484200978494, + 0.1394852887086651, + -0.32283777490607873, + -0.9361194503521185 + ], + [ + 0.98337447675063, + 0.13428943802984952, + 0.1222333232349167, + 0.0902099396991586, + -0.945467165870698, + 0.31297604547297864, + 0.15759697095724456, + -0.2967459942342222, + -0.9418625216299055 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006204.json b/json/chunk-0006/episode_0006204.json new file mode 100644 index 0000000000000000000000000000000000000000..1870ae5aa2f573ea530b06396e9cfe27f8927e11 --- /dev/null +++ b/json/chunk-0006/episode_0006204.json @@ -0,0 +1,2722 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 44, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the yellow object to the upper left stove." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006204.mp4", + "start": 0, + "end": 44, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.32924050092697144, + -0.008686378598213196, + 0.009231610223650932, + 0.10482218861579895, + -0.059822794049978256, + 0.03682434931397438, + 0.0, + 0.9994885921478271 + ], + [ + 0.322640985250473, + -0.007839677855372429, + -0.0023300289176404476, + 0.1083434596657753, + -0.020078230649232864, + 0.03923751041293144, + 0.0, + 0.9994885921478271 + ], + [ + 0.3253275752067566, + -0.005161349195986986, + -0.01239379495382309, + 0.09690307080745697, + -0.031360793858766556, + 0.04615629464387894, + 0.0, + 0.9994885921478271 + ], + [ + 0.32877281308174133, + -0.007239898666739464, + -0.02896852232515812, + 0.04911983758211136, + -0.03923708200454712, + 0.05788242816925049, + 0.0, + 0.9994885921478271 + ], + [ + 0.3394128382205963, + -0.0062354677356779575, + -0.0366801843047142, + 0.01455630362033844, + -0.04375172033905983, + 0.0947623997926712, + 0.0, + 0.9994885921478271 + ], + [ + 0.34795957803726196, + -0.0029802380595356226, + -0.039932966232299805, + 0.008372041396796703, + -0.05072706937789917, + 0.11451387405395508, + 0.0, + 0.9994885921478271 + ], + [ + 0.3496541976928711, + 0.0013525791000574827, + -0.04184241592884064, + 0.020920846611261368, + -0.03565157949924469, + 0.12474341690540314, + 0.0, + 0.9988223910331726 + ], + [ + 0.3524169921875, + 0.004815438762307167, + -0.04322380945086479, + 0.023242011666297913, + -0.027102550491690636, + 0.14854839444160461, + 0.0, + 0.9994885921478271 + ], + [ + 0.35028496384620667, + 0.008290540426969528, + -0.05053989589214325, + 0.03739895299077034, + 0.010679339058697224, + 0.16001597046852112, + 0.0, + 0.9994885921478271 + ], + [ + 0.34830495715141296, + 0.01383370254188776, + -0.055086661130189896, + 0.045125581324100494, + 0.029413757845759392, + 0.1760171353816986, + 0.0, + 0.9994885921478271 + ], + [ + 0.3485410511493683, + 0.015663929283618927, + -0.0550139881670475, + 0.05769871175289154, + 0.03648141026496887, + 0.1719307154417038, + 0.0, + 0.9994885921478271 + ], + [ + 0.34484416246414185, + 0.014889133162796497, + -0.05460519716143608, + 0.05142372101545334, + 0.062206245958805084, + 0.18967145681381226, + 0.0, + 0.9994885921478271 + ], + [ + 0.3470771312713623, + 0.020135022699832916, + -0.054372478276491165, + 0.08810698986053467, + 0.04112406075000763, + 0.18878214061260223, + 0.0, + 0.9994885921478271 + ], + [ + 0.34194767475128174, + 0.013665433041751385, + -0.04313287511467934, + 0.09348665922880173, + 0.06823181360960007, + 0.2641090750694275, + 0.0, + 0.9994885921478271 + ], + [ + 0.3474126160144806, + 0.0008280312176793814, + -0.022393938153982162, + 0.07044019550085068, + 0.06547227501869202, + 0.5082237124443054, + 0.0, + 0.9994885921478271 + ], + [ + 0.3406698703765869, + -0.010927047580480576, + -0.02095271460711956, + 0.03580471873283386, + 0.15005488693714142, + 0.7259960770606995, + 0.0, + 0.9994885921478271 + ], + [ + 0.3444735109806061, + -0.01184945460408926, + -0.01963311992585659, + 0.007415836211293936, + 0.1828044056892395, + 0.9610030651092529, + 0.0, + 0.9994885921478271 + ], + [ + 0.35638558864593506, + 0.0037219191435724497, + -0.018176959827542305, + 0.013432682491838932, + 0.11570414155721664, + 1.1596741676330566, + 0.0, + 0.9994885921478271 + ], + [ + 0.3666403889656067, + 0.016535243019461632, + -0.02284698560833931, + -0.011335944756865501, + 0.020665423944592476, + 1.1992135047912598, + 0.0, + 0.9994885921478271 + ], + [ + 0.3710267245769501, + 0.022918587550520897, + -0.026150410994887352, + -0.01075110211968422, + -0.01746273972094059, + 1.2080992460250854, + 0.0, + 0.9994885921478271 + ], + [ + 0.37584465742111206, + 0.026484642177820206, + -0.035361528396606445, + 0.002878362312912941, + -0.034065768122673035, + 1.2097411155700684, + 0.0, + 0.9994885921478271 + ], + [ + 0.3770185112953186, + 0.030013110488653183, + -0.04946717619895935, + 0.043589405715465546, + -0.03565547242760658, + 1.203214168548584, + 0.0, + 0.9994885921478271 + ], + [ + 0.377774178981781, + 0.032320573925971985, + -0.05321182683110237, + 0.06727685779333115, + -0.03636332228779793, + 1.2001522779464722, + 0.0, + 0.9560673832893372 + ], + [ + 0.37974002957344055, + 0.03250931203365326, + -0.05475880578160286, + 0.07195176929235458, + -0.034226443618535995, + 1.191352128982544, + 0.0, + 0.6711689233779907 + ], + [ + 0.3799363374710083, + 0.03236408159136772, + -0.05504794418811798, + 0.1124139055609703, + -0.024193737655878067, + 1.120476484298706, + 0.0, + 0.37205085158348083 + ], + [ + 0.38140586018562317, + 0.03073056973516941, + -0.054993629455566406, + 0.12399668991565704, + -0.04168645292520523, + 0.9415000081062317, + 0.0, + 0.2876356244087219 + ], + [ + 0.37128257751464844, + 0.033355455845594406, + -0.044421907514333725, + 0.13553649187088013, + -0.05803154036402702, + 0.6879318356513977, + 0.0, + 0.2868962287902832 + ], + [ + 0.3751257061958313, + 0.041114166378974915, + -0.03527260199189186, + 0.06834959983825684, + -0.09905698895454407, + 0.43428707122802734, + 0.0, + 0.2868962287902832 + ], + [ + 0.3888949453830719, + 0.06878283619880676, + -0.02053430862724781, + 0.01680036075413227, + -0.13319727778434753, + 0.21538960933685303, + 0.0, + 0.2868962287902832 + ], + [ + 0.4118548035621643, + 0.09761754423379898, + -0.012831917963922024, + 0.032700315117836, + -0.23258410394191742, + 0.11926402896642685, + 0.0, + 0.2868962287902832 + ], + [ + 0.4351985454559326, + 0.10798390954732895, + -0.007519030012190342, + 0.04330214485526085, + -0.3087170124053955, + 0.07066398113965988, + 0.0, + 0.2868962287902832 + ], + [ + 0.4626780152320862, + 0.1265278160572052, + -0.0032887833658605814, + 0.09465653449296951, + -0.38015615940093994, + 0.027293646708130836, + 0.0, + 0.2868962287902832 + ], + [ + 0.48590579628944397, + 0.14116016030311584, + -0.004320114850997925, + 0.12224593013525009, + -0.44330984354019165, + -0.012326410040259361, + 0.0, + 0.2868962287902832 + ], + [ + 0.49918001890182495, + 0.1668819785118103, + -0.008287081494927406, + 0.16238228976726532, + -0.4658021926879883, + 0.0036453737411648035, + 0.0, + 0.2868962287902832 + ], + [ + 0.5063238143920898, + 0.1846201866865158, + -0.01731639727950096, + 0.16410113871097565, + -0.459774911403656, + 0.04964247718453407, + 0.0, + 0.2854207158088684 + ], + [ + 0.5114207863807678, + 0.19918113946914673, + -0.02766970917582512, + 0.1742391139268875, + -0.44940561056137085, + 0.06739368289709091, + 0.0, + 0.2854207158088684 + ], + [ + 0.5129680633544922, + 0.20346254110336304, + -0.027848929166793823, + 0.1603846698999405, + -0.4578756093978882, + 0.08815090358257294, + 0.0, + 0.2854207158088684 + ], + [ + 0.5115006566047668, + 0.20015831291675568, + -0.029673593118786812, + 0.12312331795692444, + -0.43733954429626465, + 0.1328074038028717, + 0.0, + 0.34207403659820557 + ], + [ + 0.5053209066390991, + 0.19578024744987488, + -0.04068354517221451, + 0.12048830837011337, + -0.4335877299308777, + 0.14139176905155182, + 0.0, + 0.6611326336860657 + ], + [ + 0.49228769540786743, + 0.18774160742759705, + -0.03802550956606865, + 0.1160445511341095, + -0.432940810918808, + 0.13960890471935272, + 0.0, + 0.9311676621437073 + ], + [ + 0.47949928045272827, + 0.17926011979579926, + -0.011837037280201912, + 0.12526121735572815, + -0.46869197487831116, + 0.12439495325088501, + 0.0, + 0.9994885921478271 + ], + [ + 0.4363701641559601, + 0.16303372383117676, + -0.0011512929340824485, + 0.12945769727230072, + -0.3971859812736511, + 0.11068863421678543, + 0.0, + 0.9988223910331726 + ], + [ + 0.39380183815956116, + 0.13842929899692535, + 0.00555191608145833, + 0.10486263781785965, + -0.29876425862312317, + 0.102140873670578, + 0.0, + 0.9988223910331726 + ], + [ + 0.35639438033103943, + 0.10783503204584122, + 0.012232593260705471, + 0.06250271946191788, + -0.2445680946111679, + 0.09944960474967957, + 0.0, + 0.9988223910331726 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9560673832893372 + ], + [ + 0.6711689233779907 + ], + [ + 0.37205085158348083 + ], + [ + 0.2876356244087219 + ], + [ + 0.2868962287902832 + ], + [ + 0.2868962287902832 + ], + [ + 0.2868962287902832 + ], + [ + 0.2868962287902832 + ], + [ + 0.2868962287902832 + ], + [ + 0.2868962287902832 + ], + [ + 0.2868962287902832 + ], + [ + 0.2868962287902832 + ], + [ + 0.2854207158088684 + ], + [ + 0.2854207158088684 + ], + [ + 0.2854207158088684 + ], + [ + 0.34207403659820557 + ], + [ + 0.6611326336860657 + ], + [ + 0.9311676621437073 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.32924050092697144, + -0.008686378598213196, + 0.009231610223650932 + ], + [ + 0.322640985250473, + -0.007839677855372429, + -0.0023300289176404476 + ], + [ + 0.3253275752067566, + -0.005161349195986986, + -0.01239379495382309 + ], + [ + 0.32877281308174133, + -0.007239898666739464, + -0.02896852232515812 + ], + [ + 0.3394128382205963, + -0.0062354677356779575, + -0.0366801843047142 + ], + [ + 0.34795957803726196, + -0.0029802380595356226, + -0.039932966232299805 + ], + [ + 0.3496541976928711, + 0.0013525791000574827, + -0.04184241592884064 + ], + [ + 0.3524169921875, + 0.004815438762307167, + -0.04322380945086479 + ], + [ + 0.35028496384620667, + 0.008290540426969528, + -0.05053989589214325 + ], + [ + 0.34830495715141296, + 0.01383370254188776, + -0.055086661130189896 + ], + [ + 0.3485410511493683, + 0.015663929283618927, + -0.0550139881670475 + ], + [ + 0.34484416246414185, + 0.014889133162796497, + -0.05460519716143608 + ], + [ + 0.3470771312713623, + 0.020135022699832916, + -0.054372478276491165 + ], + [ + 0.34194767475128174, + 0.013665433041751385, + -0.04313287511467934 + ], + [ + 0.3474126160144806, + 0.0008280312176793814, + -0.022393938153982162 + ], + [ + 0.3406698703765869, + -0.010927047580480576, + -0.02095271460711956 + ], + [ + 0.3444735109806061, + -0.01184945460408926, + -0.01963311992585659 + ], + [ + 0.35638558864593506, + 0.0037219191435724497, + -0.018176959827542305 + ], + [ + 0.3666403889656067, + 0.016535243019461632, + -0.02284698560833931 + ], + [ + 0.3710267245769501, + 0.022918587550520897, + -0.026150410994887352 + ], + [ + 0.37584465742111206, + 0.026484642177820206, + -0.035361528396606445 + ], + [ + 0.3770185112953186, + 0.030013110488653183, + -0.04946717619895935 + ], + [ + 0.377774178981781, + 0.032320573925971985, + -0.05321182683110237 + ], + [ + 0.37974002957344055, + 0.03250931203365326, + -0.05475880578160286 + ], + [ + 0.3799363374710083, + 0.03236408159136772, + -0.05504794418811798 + ], + [ + 0.38140586018562317, + 0.03073056973516941, + -0.054993629455566406 + ], + [ + 0.37128257751464844, + 0.033355455845594406, + -0.044421907514333725 + ], + [ + 0.3751257061958313, + 0.041114166378974915, + -0.03527260199189186 + ], + [ + 0.3888949453830719, + 0.06878283619880676, + -0.02053430862724781 + ], + [ + 0.4118548035621643, + 0.09761754423379898, + -0.012831917963922024 + ], + [ + 0.4351985454559326, + 0.10798390954732895, + -0.007519030012190342 + ], + [ + 0.4626780152320862, + 0.1265278160572052, + -0.0032887833658605814 + ], + [ + 0.48590579628944397, + 0.14116016030311584, + -0.004320114850997925 + ], + [ + 0.49918001890182495, + 0.1668819785118103, + -0.008287081494927406 + ], + [ + 0.5063238143920898, + 0.1846201866865158, + -0.01731639727950096 + ], + [ + 0.5114207863807678, + 0.19918113946914673, + -0.02766970917582512 + ], + [ + 0.5129680633544922, + 0.20346254110336304, + -0.027848929166793823 + ], + [ + 0.5115006566047668, + 0.20015831291675568, + -0.029673593118786812 + ], + [ + 0.5053209066390991, + 0.19578024744987488, + -0.04068354517221451 + ], + [ + 0.49228769540786743, + 0.18774160742759705, + -0.03802550956606865 + ], + [ + 0.47949928045272827, + 0.17926011979579926, + -0.011837037280201912 + ], + [ + 0.4363701641559601, + 0.16303372383117676, + -0.0011512929340824485 + ], + [ + 0.39380183815956116, + 0.13842929899692535, + 0.00555191608145833 + ], + [ + 0.35639438033103943, + 0.10783503204584122, + 0.012232593260705471 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9975344232365314, + 0.042865256289859155, + 0.05556657503720715, + 0.03675016903289277, + -0.9936066599234735, + 0.10674844463397445, + 0.05978711846388561, + -0.10444316712415222, + -0.992732151845029 + ], + [ + 0.9990289018846683, + 0.04116671105969835, + 0.0157020731001195, + 0.03921953624025938, + -0.9932862463055951, + 0.10883134142901947, + 0.02007688163568158, + -0.10810982749347138, + -0.9939362072201209 + ], + [ + 0.9984438016107278, + 0.04895392078730181, + 0.02671120859616037, + 0.04611722037451731, + -0.9941085791246936, + 0.09808840347161421, + 0.031355653557934605, + -0.09670391176282661, + -0.9948191677082431 + ], + [ + 0.9975568933540475, + 0.05970316140103331, + 0.03627364112607916, + 0.05780558645490769, + -0.997009740968634, + 0.05128440882238285, + 0.03922701488038068, + -0.04906229644420728, + -0.998025116102393 + ], + [ + 0.9945607423542674, + 0.09524439424350734, + 0.0421596386715497, + 0.09453008953371095, + -0.9953476978736798, + 0.018628540208890765, + 0.04373776332274978, + -0.014541860360800227, + -0.998937206413281 + ], + [ + 0.9921725313286504, + 0.11468147721689287, + 0.049414844533294144, + 0.11411677761186947, + -0.9933671272725731, + 0.01411068820853855, + 0.05070531672696141, + -0.008361174414324001, + -0.9986786578364594 + ], + [ + 0.9915991114351627, + 0.12513277577672902, + 0.03275653564415458, + 0.12434108532196413, + -0.9919197177428566, + 0.02519063424941564, + 0.035644027577589346, + -0.020906027344826942, + -0.9991458558782624 + ], + [ + 0.9886237542510905, + 0.14858554501709922, + 0.023353979156684017, + 0.14794831571673225, + -0.9886266426691809, + 0.026993652610303565, + 0.027099232591742746, + -0.02323138430303299, + -0.9993627641533895 + ], + [ + 0.9871684437552893, + 0.15882836300020609, + -0.016492869987819073, + 0.1593248872795272, + -0.9865980340749623, + 0.03521220601986733, + -0.010679136066474713, + -0.03738810326954823, + -0.999243756941608 + ], + [ + 0.9841230680282667, + 0.17362521564419756, + -0.03682487565678816, + 0.17503390329056037, + -0.9837789936164408, + 0.03926861874186431, + -0.029409516716579653, + -0.04509075527787296, + -0.9985499006634413 + ], + [ + 0.9846007243944176, + 0.16872792672490375, + -0.04574166880540665, + 0.17097108102822148, + -0.9839765556220487, + 0.05058683067964082, + -0.036473318659389, + -0.05762833269568735, + -0.9976716254844004 + ], + [ + 0.9801667329580184, + 0.1851489268203689, + -0.0706615206436307, + 0.18817159005431525, + -0.9813704787468267, + 0.03877416847148015, + -0.0621661346621719, + -0.05130164072902232, + -0.9967464639313626 + ], + [ + 0.9814030564951595, + 0.18338154585468625, + -0.0567384291455504, + 0.18750414791982822, + -0.9791024055461125, + 0.07874435831648774, + -0.041112470307903215, + -0.08791864474479705, + -0.9952788939244217 + ], + [ + 0.9630792558401193, + 0.25376556781845805, + -0.08989651584025894, + 0.26044190697409875, + -0.9627716343499007, + 0.07239332277853099, + -0.068178882816729, + -0.09313332744510548, + -0.9933165775606818 + ], + [ + 0.8717385251745798, + 0.4813966761498994, + -0.09126436280540859, + 0.48558361428718605, + -0.8736846250996674, + 0.029727586519039544, + -0.06542550926237922, + -0.07023116157577458, + -0.9953828844627959 + ], + [ + 0.7394349612967183, + 0.6594532064949378, + -0.13548950681017902, + 0.656420566022977, + -0.7509118960719515, + -0.07241108229892046, + -0.14949240286447707, + -0.035394812913356, + -0.9881291558822831 + ], + [ + 0.5631555598035574, + 0.8189718400320937, + -0.11018593692839883, + 0.806107283242646, + -0.5737873726237469, + -0.14477257654921394, + -0.18178796265292868, + -0.007292204878121197, + -0.9833107140586403 + ], + [ + 0.39696614725785445, + 0.9159705218228861, + -0.058445539459956855, + 0.9105438288626883, + -0.4010236672945237, + -0.10044876300745008, + -0.11544615043963614, + -0.013342466831929703, + -0.9932241262310879 + ], + [ + 0.36301315865470823, + 0.9317789893652949, + 0.00305967660411564, + 0.9315548548993792, + -0.3628491032188615, + -0.023368367650847877, + -0.02066395308088059, + 0.011333281548524761, + -0.9997222403109844 + ], + [ + 0.3547430424406314, + 0.9348226697919692, + 0.016246534491378847, + 0.9348007582141539, + -0.35495215106025735, + 0.012510511577837934, + 0.017461852198647383, + 0.010749255821282376, + -0.9997897465052746 + ], + [ + 0.3530566497175003, + 0.9355553354146475, + 0.009338975716867048, + 0.9349818042961908, + -0.35316842871529397, + 0.03287988129251153, + 0.03405917975074564, + -0.0028766883662085675, + -0.9994156777531308 + ], + [ + 0.35913175181411644, + 0.9328707556186421, + -0.02786643411755165, + 0.9326058174700144, + -0.35756920041210655, + 0.0488943364586666, + 0.035647918031918836, + -0.04354790727636332, + -0.9984151469763662 + ], + [ + 0.3619763702670727, + 0.9308709036257309, + -0.04952240050007878, + 0.9314780721389727, + -0.35911834134228143, + 0.05816027884932579, + 0.036355309000719926, + -0.06718167677710724, + -0.99707818841497 + ], + [ + 0.3701873245593516, + 0.9273784918985762, + -0.05413388494752763, + 0.9283266411412746, + -0.36716080306443327, + 0.05833174127728405, + 0.03421976158521371, + -0.0718475988255926, + -0.9968284358203513 + ], + [ + 0.43512613434025305, + 0.895806536914037, + -0.09053118598686466, + 0.9000444569408107, + -0.43006309681509247, + 0.07046778191438634, + 0.024191377476885913, + -0.11214446566769405, + -0.9933974008803719 + ], + [ + 0.5880646902875221, + 0.8052685380264606, + -0.0756472187312085, + 0.8077395409722365, + -0.5798901673881985, + 0.10622724564087833, + 0.041674380463315654, + -0.12357174204167239, + -0.9914601709507976 + ], + [ + 0.7712603321952518, + 0.6351722118348306, + -0.04139760011062154, + 0.6338719263267778, + -0.7604996715175794, + 0.14087807010473313, + 0.057998974101701885, + -0.13489444367542774, + -0.9891610627540123 + ], + [ + 0.902723178078786, + 0.4259084972038316, + 0.06076854259326708, + 0.4187011206085304, + -0.9022101603360908, + 0.10347076006044331, + 0.09889507247834373, + -0.0679615964784428, + -0.9927743882895066 + ], + [ + 0.968240219774529, + 0.21587738333559564, + 0.12612625490019036, + 0.21183492292891626, + -0.9762784988746447, + 0.04479127217182357, + 0.13280377343536443, + -0.01665076572553252, + -0.9910024771725253 + ], + [ + 0.9661617682657699, + 0.1264002015114872, + 0.22484311552595035, + 0.11577780399294427, + -0.9914690355671572, + 0.05987196016586096, + 0.2304928147342815, + -0.031814156744859566, + -0.9725538143395878 + ], + [ + 0.9503464964658176, + 0.08365884082811703, + 0.29973777707596644, + 0.06726726827835175, + -0.9956406414102026, + 0.06461290730688997, + 0.3038365535506125, + -0.04124210862184767, + -0.9518310969930063 + ], + [ + 0.9282608434055686, + 0.062226374337958815, + 0.3666874485672157, + 0.025341916587837313, + -0.9941955269698979, + 0.10456118503872244, + 0.3710654846029705, + -0.08776749107613296, + -0.9244497139631573 + ], + [ + 0.9032682911949651, + 0.04006656961734524, + 0.4272014327232836, + -0.011134619272123643, + -0.9931065768650534, + 0.11668482009687765, + 0.42893171295136556, + -0.11015442336317811, + -0.8965955546611488 + ], + [ + 0.8934556200729953, + 0.076209165853414, + 0.4426389250844373, + 0.0032569940834493924, + -0.9865736850762417, + 0.16328427941668144, + 0.4491396742100609, + -0.14444558475429897, + -0.8817080163497827 + ], + [ + 0.8950484012016354, + 0.12135904311013287, + 0.4291390708870362, + 0.044468955240468844, + -0.9817529631149927, + 0.1848881592605443, + 0.4437464045220163, + -0.14640048521205157, + -0.8841131298671332 + ], + [ + 0.8986607953275472, + 0.1414643738089314, + 0.4152067026001712, + 0.06065591970262808, + -0.9775512745560717, + 0.20177800925479406, + 0.4344302410586634, + -0.15614524186361345, + -0.887067657564554 + ], + [ + 0.8935107691699236, + 0.15722626275383586, + 0.4206166992379567, + 0.07896843125468475, + -0.9771181614841851, + 0.19749451983014768, + 0.442043541116196, + -0.14324803942193495, + -0.8854815113593428 + ], + [ + 0.8979045056766379, + 0.18297176845992863, + 0.40036087550138844, + 0.11995444133008787, + -0.9768029358606748, + 0.17738927954967423, + 0.42353090877854294, + -0.1112535682151913, + -0.899024033532257 + ], + [ + 0.8984085385432707, + 0.18989379987518462, + 0.3959828817531231, + 0.12788089313078554, + -0.9757269616252718, + 0.1777733768863833, + 0.4201292361221927, + -0.10907447513730609, + -0.9008852223390637 + ], + [ + 0.8989040620151383, + 0.18632368024903148, + 0.3965538720919783, + 0.12631674487950809, + -0.9768506292228193, + 0.17264683069789394, + 0.41954209235275747, + -0.10510154311635322, + -0.901630799373464 + ], + [ + 0.8852661206387266, + 0.1791012996033946, + 0.4292162859557341, + 0.1106941920664038, + -0.9774963756725731, + 0.1795762550833208, + 0.4517197045647063, + -0.1114610247008293, + -0.8851698980877148 + ], + [ + 0.916509843373006, + 0.15917049807923692, + 0.36698018957648854, + 0.101863572942783, + -0.9800472677838521, + 0.17067854410187785, + 0.3868249210013726, + -0.11904665241246379, + -0.9144366435361543 + ], + [ + 0.9507199804660874, + 0.13205137840550463, + 0.28052442354235235, + 0.09744648388166632, + -0.9861823772818851, + 0.13397201766693795, + 0.2943394324953132, + -0.10003375530217995, + -0.950451232982777 + ], + [ + 0.9654479936874213, + 0.11414154202332884, + 0.23426881966977317, + 0.09633121004939042, + -0.9916143151645469, + 0.08614724563888254, + 0.2421372946395335, + -0.060603286588124944, + -0.9683474439473491 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.006599515676498413, + 0.0008467007428407669, + -0.011561639606952667, + 0.003521271049976349, + 0.03974456340074539, + 0.0024131610989570618, + 1.0 + ], + [ + 0.0026865899562835693, + 0.0026783286593854427, + -0.010063765570521355, + -0.011440388858318329, + -0.011282563209533691, + 0.0069187842309474945, + 1.0 + ], + [ + 0.003445237874984741, + -0.0020785494707524776, + -0.01657472737133503, + -0.04778323322534561, + -0.007876288145780563, + 0.011726133525371552, + 1.0 + ], + [ + 0.01064002513885498, + 0.0010044309310615063, + -0.007711661979556084, + -0.03456353396177292, + -0.004514638334512711, + 0.036879971623420715, + 1.0 + ], + [ + 0.00854673981666565, + 0.003255229676142335, + -0.003252781927585602, + -0.006184262223541737, + -0.00697534903883934, + 0.019751474261283875, + 1.0 + ], + [ + 0.0016946196556091309, + 0.004332817159593105, + -0.0019094496965408325, + 0.012548805214464664, + 0.01507548987865448, + 0.010229542851448059, + 1.0 + ], + [ + 0.0027627944946289062, + 0.0034628596622496843, + -0.0013813935220241547, + 0.002321165055036545, + 0.008549029007554054, + 0.023804977536201477, + 1.0 + ], + [ + -0.002132028341293335, + 0.003475101664662361, + -0.007316086441278458, + 0.014156941324472427, + 0.037781890481710434, + 0.011467576026916504, + 1.0 + ], + [ + -0.001980006694793701, + 0.005543162114918232, + -0.004546765238046646, + 0.007726628333330154, + 0.018734417855739594, + 0.01600116491317749, + 1.0 + ], + [ + 0.00023609399795532227, + 0.0018302267417311668, + 7.267296314239502e-05, + 0.012573130428791046, + 0.00706765241920948, + -0.004086419939994812, + 1.0 + ], + [ + -0.0036968886852264404, + -0.0007747961208224297, + 0.0004087910056114197, + -0.006274990737438202, + 0.025724835693836212, + 0.01774074137210846, + 1.0 + ], + [ + 0.002232968807220459, + 0.005245889537036419, + 0.00023271888494491577, + 0.03668326884508133, + -0.021082185208797455, + -0.000889316201210022, + 1.0 + ], + [ + -0.005129456520080566, + -0.0064695896580815315, + 0.011239603161811829, + 0.005379669368267059, + 0.027107752859592438, + 0.07532693445682526, + 1.0 + ], + [ + 0.0054649412631988525, + -0.01283740159124136, + 0.020738936960697174, + -0.02304646372795105, + -0.0027595385909080505, + 0.24411463737487793, + 1.0 + ], + [ + -0.006742745637893677, + -0.0117550790309906, + 0.0014412235468626022, + -0.034635476768016815, + 0.0845826119184494, + 0.21777236461639404, + 1.0 + ], + [ + 0.003803640604019165, + -0.0009224070236086845, + 0.00131959468126297, + -0.02838888205587864, + 0.032749518752098083, + 0.23500698804855347, + 1.0 + ], + [ + 0.01191207766532898, + 0.015571373514831066, + 0.0014561600983142853, + 0.006016846280544996, + -0.06710026413202286, + 0.1986711025238037, + 1.0 + ], + [ + 0.01025480031967163, + 0.012813324108719826, + -0.004670025780797005, + -0.024768628180027008, + -0.09503871947526932, + 0.039539337158203125, + 1.0 + ], + [ + 0.004386335611343384, + 0.006383344531059265, + -0.0033034253865480423, + 0.000584842637181282, + -0.038128163665533066, + 0.008885741233825684, + 1.0 + ], + [ + 0.004817932844161987, + 0.0035660546272993088, + -0.009211117401719093, + 0.01362946443259716, + -0.016603028401732445, + 0.0016418695449829102, + 1.0 + ], + [ + 0.001173853874206543, + 0.0035284683108329773, + -0.014105647802352905, + 0.040711045265197754, + -0.001589704304933548, + -0.006526947021484375, + 1.0 + ], + [ + 0.0007556676864624023, + 0.002307463437318802, + -0.0037446506321430206, + 0.0236874520778656, + -0.0007078498601913452, + -0.0030618906021118164, + 0.0 + ], + [ + 0.001965850591659546, + 0.00018873810768127441, + -0.0015469789505004883, + 0.0046749114990234375, + 0.0021368786692619324, + -0.008800148963928223, + 0.0 + ], + [ + 0.00019630789756774902, + -0.00014523044228553772, + -0.00028913840651512146, + 0.04046213626861572, + 0.010032705962657928, + -0.07087564468383789, + 0.0 + ], + [ + 0.0014695227146148682, + -0.0016335118561983109, + 5.431473255157471e-05, + 0.011582784354686737, + -0.017492715269327164, + -0.17897647619247437, + 0.0 + ], + [ + -0.010123282670974731, + 0.0026248861104249954, + 0.010571721941232681, + 0.011539801955223083, + -0.016345087438821793, + -0.253568172454834, + 0.0 + ], + [ + 0.0038431286811828613, + 0.007758710533380508, + 0.009149305522441864, + -0.06718689203262329, + -0.041025448590517044, + -0.25364476442337036, + 0.0 + ], + [ + 0.0137692391872406, + 0.027668669819831848, + 0.01473829336464405, + -0.051549240946769714, + -0.03414028882980347, + -0.21889746189117432, + 0.0 + ], + [ + 0.022959858179092407, + 0.028834708034992218, + 0.007702390663325787, + 0.015899954363703728, + -0.09938682615756989, + -0.09612558037042618, + 0.0 + ], + [ + 0.02334374189376831, + 0.010366365313529968, + 0.005312887951731682, + 0.01060182973742485, + -0.07613290846347809, + -0.04860004782676697, + 0.0 + ], + [ + 0.027479469776153564, + 0.01854390650987625, + 0.004230246879160404, + 0.051354389637708664, + -0.07143914699554443, + -0.043370336294174194, + 0.0 + ], + [ + 0.023227781057357788, + 0.014632344245910645, + -0.0010313314851373434, + 0.02758939564228058, + -0.06315368413925171, + -0.0396200567483902, + 0.0 + ], + [ + 0.013274222612380981, + 0.025721818208694458, + -0.0039669666439294815, + 0.04013635963201523, + -0.02249234914779663, + 0.01597178354859352, + 0.0 + ], + [ + 0.007143795490264893, + 0.017738208174705505, + -0.009029315784573555, + 0.0017188489437103271, + 0.006027281284332275, + 0.045997101813554764, + 0.0 + ], + [ + 0.0050969719886779785, + 0.01456095278263092, + -0.010353311896324158, + 0.010137975215911865, + 0.010369300842285156, + 0.01775120571255684, + 0.0 + ], + [ + 0.0015472769737243652, + 0.004281401634216309, + -0.00017921999096870422, + -0.013854444026947021, + -0.008469998836517334, + 0.020757220685482025, + 0.0 + ], + [ + -0.0014674067497253418, + -0.003304228186607361, + -0.0018246639519929886, + -0.03726135194301605, + 0.020536065101623535, + 0.04465650022029877, + 1.0 + ], + [ + -0.006179749965667725, + -0.004378065466880798, + -0.011009952053427696, + -0.0026350095868110657, + 0.003751814365386963, + 0.008584365248680115, + 1.0 + ], + [ + -0.01303321123123169, + -0.008038640022277832, + 0.0026580356061458588, + -0.004443757236003876, + 0.0006469190120697021, + -0.0017828643321990967, + 1.0 + ], + [ + -0.01278841495513916, + -0.00848148763179779, + 0.026188472285866737, + 0.009216666221618652, + -0.035751163959503174, + -0.015213951468467712, + 1.0 + ], + [ + -0.04312911629676819, + -0.016226395964622498, + 0.010685744695365429, + 0.004196479916572571, + 0.07150599360466003, + -0.013706319034099579, + 1.0 + ], + [ + -0.042568325996398926, + -0.024604424834251404, + 0.0067032091319561005, + -0.02459505945444107, + 0.09842172265052795, + -0.008547760546207428, + 1.0 + ], + [ + -0.03740745782852173, + -0.030594266951084137, + 0.006680677179247141, + -0.04235991835594177, + 0.05419616401195526, + -0.0026912689208984375, + 1.0 + ], + [ + -0.020637303590774536, + -0.022088274359703064, + 0.002564806491136551, + -0.02512219548225403, + 0.00970296561717987, + -0.008753299713134766, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9560673832893372 + ], + [ + 0.6711689233779907 + ], + [ + 0.37205085158348083 + ], + [ + 0.2876356244087219 + ], + [ + 0.2868962287902832 + ], + [ + 0.2868962287902832 + ], + [ + 0.2868962287902832 + ], + [ + 0.2868962287902832 + ], + [ + 0.2868962287902832 + ], + [ + 0.2868962287902832 + ], + [ + 0.2868962287902832 + ], + [ + 0.2868962287902832 + ], + [ + 0.2854207158088684 + ], + [ + 0.2854207158088684 + ], + [ + 0.2854207158088684 + ], + [ + 0.34207403659820557 + ], + [ + 0.6611326336860657 + ], + [ + 0.9311676621437073 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.322640985250473, + -0.007839677855372429, + -0.0023300289176404476 + ], + [ + 0.3253275752067566, + -0.005161349195986986, + -0.01239379495382309 + ], + [ + 0.32877281308174133, + -0.007239898666739464, + -0.02896852232515812 + ], + [ + 0.3394128382205963, + -0.0062354677356779575, + -0.0366801843047142 + ], + [ + 0.34795957803726196, + -0.0029802380595356226, + -0.039932966232299805 + ], + [ + 0.3496541976928711, + 0.0013525791000574827, + -0.04184241592884064 + ], + [ + 0.3524169921875, + 0.004815438762307167, + -0.04322380945086479 + ], + [ + 0.35028496384620667, + 0.008290540426969528, + -0.05053989589214325 + ], + [ + 0.34830495715141296, + 0.01383370254188776, + -0.055086661130189896 + ], + [ + 0.3485410511493683, + 0.015663929283618927, + -0.0550139881670475 + ], + [ + 0.34484416246414185, + 0.014889133162796497, + -0.05460519716143608 + ], + [ + 0.3470771312713623, + 0.020135022699832916, + -0.054372478276491165 + ], + [ + 0.34194767475128174, + 0.013665433041751385, + -0.04313287511467934 + ], + [ + 0.3474126160144806, + 0.0008280312176793814, + -0.022393938153982162 + ], + [ + 0.3406698703765869, + -0.010927047580480576, + -0.02095271460711956 + ], + [ + 0.3444735109806061, + -0.01184945460408926, + -0.01963311992585659 + ], + [ + 0.35638558864593506, + 0.0037219191435724497, + -0.018176959827542305 + ], + [ + 0.3666403889656067, + 0.016535243019461632, + -0.02284698560833931 + ], + [ + 0.3710267245769501, + 0.022918587550520897, + -0.026150410994887352 + ], + [ + 0.37584465742111206, + 0.026484642177820206, + -0.035361528396606445 + ], + [ + 0.3770185112953186, + 0.030013110488653183, + -0.04946717619895935 + ], + [ + 0.377774178981781, + 0.032320573925971985, + -0.05321182683110237 + ], + [ + 0.37974002957344055, + 0.03250931203365326, + -0.05475880578160286 + ], + [ + 0.3799363374710083, + 0.03236408159136772, + -0.05504794418811798 + ], + [ + 0.38140586018562317, + 0.03073056973516941, + -0.054993629455566406 + ], + [ + 0.37128257751464844, + 0.033355455845594406, + -0.044421907514333725 + ], + [ + 0.3751257061958313, + 0.041114166378974915, + -0.03527260199189186 + ], + [ + 0.3888949453830719, + 0.06878283619880676, + -0.02053430862724781 + ], + [ + 0.4118548035621643, + 0.09761754423379898, + -0.012831917963922024 + ], + [ + 0.4351985454559326, + 0.10798390954732895, + -0.007519030012190342 + ], + [ + 0.4626780152320862, + 0.1265278160572052, + -0.0032887833658605814 + ], + [ + 0.48590579628944397, + 0.14116016030311584, + -0.004320114850997925 + ], + [ + 0.49918001890182495, + 0.1668819785118103, + -0.008287081494927406 + ], + [ + 0.5063238143920898, + 0.1846201866865158, + -0.01731639727950096 + ], + [ + 0.5114207863807678, + 0.19918113946914673, + -0.02766970917582512 + ], + [ + 0.5129680633544922, + 0.20346254110336304, + -0.027848929166793823 + ], + [ + 0.5115006566047668, + 0.20015831291675568, + -0.029673593118786812 + ], + [ + 0.5053209066390991, + 0.19578024744987488, + -0.04068354517221451 + ], + [ + 0.49228769540786743, + 0.18774160742759705, + -0.03802550956606865 + ], + [ + 0.47949928045272827, + 0.17926011979579926, + -0.011837037280201912 + ], + [ + 0.4363701641559601, + 0.16303372383117676, + -0.0011512929340824485 + ], + [ + 0.39380183815956116, + 0.13842929899692535, + 0.00555191608145833 + ], + [ + 0.35639438033103943, + 0.10783503204584122, + 0.012232593260705471 + ], + [ + 0.3357570767402649, + 0.08574675768613815, + 0.014797399751842022 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9990289018846683, + 0.04116671105969835, + 0.0157020731001195, + 0.03921953624025938, + -0.9932862463055951, + 0.10883134142901947, + 0.02007688163568158, + -0.10810982749347138, + -0.9939362072201209 + ], + [ + 0.9984438016107278, + 0.04895392078730181, + 0.02671120859616037, + 0.04611722037451731, + -0.9941085791246936, + 0.09808840347161421, + 0.031355653557934605, + -0.09670391176282661, + -0.9948191677082431 + ], + [ + 0.9975568933540475, + 0.05970316140103331, + 0.03627364112607916, + 0.05780558645490769, + -0.997009740968634, + 0.05128440882238285, + 0.03922701488038068, + -0.04906229644420728, + -0.998025116102393 + ], + [ + 0.9945607423542674, + 0.09524439424350734, + 0.0421596386715497, + 0.09453008953371095, + -0.9953476978736798, + 0.018628540208890765, + 0.04373776332274978, + -0.014541860360800227, + -0.998937206413281 + ], + [ + 0.9921725313286504, + 0.11468147721689287, + 0.049414844533294144, + 0.11411677761186947, + -0.9933671272725731, + 0.01411068820853855, + 0.05070531672696141, + -0.008361174414324001, + -0.9986786578364594 + ], + [ + 0.9915991114351627, + 0.12513277577672902, + 0.03275653564415458, + 0.12434108532196413, + -0.9919197177428566, + 0.02519063424941564, + 0.035644027577589346, + -0.020906027344826942, + -0.9991458558782624 + ], + [ + 0.9886237542510905, + 0.14858554501709922, + 0.023353979156684017, + 0.14794831571673225, + -0.9886266426691809, + 0.026993652610303565, + 0.027099232591742746, + -0.02323138430303299, + -0.9993627641533895 + ], + [ + 0.9871684437552893, + 0.15882836300020609, + -0.016492869987819073, + 0.1593248872795272, + -0.9865980340749623, + 0.03521220601986733, + -0.010679136066474713, + -0.03738810326954823, + -0.999243756941608 + ], + [ + 0.9841230680282667, + 0.17362521564419756, + -0.03682487565678816, + 0.17503390329056037, + -0.9837789936164408, + 0.03926861874186431, + -0.029409516716579653, + -0.04509075527787296, + -0.9985499006634413 + ], + [ + 0.9846007243944176, + 0.16872792672490375, + -0.04574166880540665, + 0.17097108102822148, + -0.9839765556220487, + 0.05058683067964082, + -0.036473318659389, + -0.05762833269568735, + -0.9976716254844004 + ], + [ + 0.9801667329580184, + 0.1851489268203689, + -0.0706615206436307, + 0.18817159005431525, + -0.9813704787468267, + 0.03877416847148015, + -0.0621661346621719, + -0.05130164072902232, + -0.9967464639313626 + ], + [ + 0.9814030564951595, + 0.18338154585468625, + -0.0567384291455504, + 0.18750414791982822, + -0.9791024055461125, + 0.07874435831648774, + -0.041112470307903215, + -0.08791864474479705, + -0.9952788939244217 + ], + [ + 0.9630792558401193, + 0.25376556781845805, + -0.08989651584025894, + 0.26044190697409875, + -0.9627716343499007, + 0.07239332277853099, + -0.068178882816729, + -0.09313332744510548, + -0.9933165775606818 + ], + [ + 0.8717385251745798, + 0.4813966761498994, + -0.09126436280540859, + 0.48558361428718605, + -0.8736846250996674, + 0.029727586519039544, + -0.06542550926237922, + -0.07023116157577458, + -0.9953828844627959 + ], + [ + 0.7394349612967183, + 0.6594532064949378, + -0.13548950681017902, + 0.656420566022977, + -0.7509118960719515, + -0.07241108229892046, + -0.14949240286447707, + -0.035394812913356, + -0.9881291558822831 + ], + [ + 0.5631555598035574, + 0.8189718400320937, + -0.11018593692839883, + 0.806107283242646, + -0.5737873726237469, + -0.14477257654921394, + -0.18178796265292868, + -0.007292204878121197, + -0.9833107140586403 + ], + [ + 0.39696614725785445, + 0.9159705218228861, + -0.058445539459956855, + 0.9105438288626883, + -0.4010236672945237, + -0.10044876300745008, + -0.11544615043963614, + -0.013342466831929703, + -0.9932241262310879 + ], + [ + 0.36301315865470823, + 0.9317789893652949, + 0.00305967660411564, + 0.9315548548993792, + -0.3628491032188615, + -0.023368367650847877, + -0.02066395308088059, + 0.011333281548524761, + -0.9997222403109844 + ], + [ + 0.3547430424406314, + 0.9348226697919692, + 0.016246534491378847, + 0.9348007582141539, + -0.35495215106025735, + 0.012510511577837934, + 0.017461852198647383, + 0.010749255821282376, + -0.9997897465052746 + ], + [ + 0.3530566497175003, + 0.9355553354146475, + 0.009338975716867048, + 0.9349818042961908, + -0.35316842871529397, + 0.03287988129251153, + 0.03405917975074564, + -0.0028766883662085675, + -0.9994156777531308 + ], + [ + 0.35913175181411644, + 0.9328707556186421, + -0.02786643411755165, + 0.9326058174700144, + -0.35756920041210655, + 0.0488943364586666, + 0.035647918031918836, + -0.04354790727636332, + -0.9984151469763662 + ], + [ + 0.3619763702670727, + 0.9308709036257309, + -0.04952240050007878, + 0.9314780721389727, + -0.35911834134228143, + 0.05816027884932579, + 0.036355309000719926, + -0.06718167677710724, + -0.99707818841497 + ], + [ + 0.3701873245593516, + 0.9273784918985762, + -0.05413388494752763, + 0.9283266411412746, + -0.36716080306443327, + 0.05833174127728405, + 0.03421976158521371, + -0.0718475988255926, + -0.9968284358203513 + ], + [ + 0.43512613434025305, + 0.895806536914037, + -0.09053118598686466, + 0.9000444569408107, + -0.43006309681509247, + 0.07046778191438634, + 0.024191377476885913, + -0.11214446566769405, + -0.9933974008803719 + ], + [ + 0.5880646902875221, + 0.8052685380264606, + -0.0756472187312085, + 0.8077395409722365, + -0.5798901673881985, + 0.10622724564087833, + 0.041674380463315654, + -0.12357174204167239, + -0.9914601709507976 + ], + [ + 0.7712603321952518, + 0.6351722118348306, + -0.04139760011062154, + 0.6338719263267778, + -0.7604996715175794, + 0.14087807010473313, + 0.057998974101701885, + -0.13489444367542774, + -0.9891610627540123 + ], + [ + 0.902723178078786, + 0.4259084972038316, + 0.06076854259326708, + 0.4187011206085304, + -0.9022101603360908, + 0.10347076006044331, + 0.09889507247834373, + -0.0679615964784428, + -0.9927743882895066 + ], + [ + 0.968240219774529, + 0.21587738333559564, + 0.12612625490019036, + 0.21183492292891626, + -0.9762784988746447, + 0.04479127217182357, + 0.13280377343536443, + -0.01665076572553252, + -0.9910024771725253 + ], + [ + 0.9661617682657699, + 0.1264002015114872, + 0.22484311552595035, + 0.11577780399294427, + -0.9914690355671572, + 0.05987196016586096, + 0.2304928147342815, + -0.031814156744859566, + -0.9725538143395878 + ], + [ + 0.9503464964658176, + 0.08365884082811703, + 0.29973777707596644, + 0.06726726827835175, + -0.9956406414102026, + 0.06461290730688997, + 0.3038365535506125, + -0.04124210862184767, + -0.9518310969930063 + ], + [ + 0.9282608434055686, + 0.062226374337958815, + 0.3666874485672157, + 0.025341916587837313, + -0.9941955269698979, + 0.10456118503872244, + 0.3710654846029705, + -0.08776749107613296, + -0.9244497139631573 + ], + [ + 0.9032682911949651, + 0.04006656961734524, + 0.4272014327232836, + -0.011134619272123643, + -0.9931065768650534, + 0.11668482009687765, + 0.42893171295136556, + -0.11015442336317811, + -0.8965955546611488 + ], + [ + 0.8934556200729953, + 0.076209165853414, + 0.4426389250844373, + 0.0032569940834493924, + -0.9865736850762417, + 0.16328427941668144, + 0.4491396742100609, + -0.14444558475429897, + -0.8817080163497827 + ], + [ + 0.8950484012016354, + 0.12135904311013287, + 0.4291390708870362, + 0.044468955240468844, + -0.9817529631149927, + 0.1848881592605443, + 0.4437464045220163, + -0.14640048521205157, + -0.8841131298671332 + ], + [ + 0.8986607953275472, + 0.1414643738089314, + 0.4152067026001712, + 0.06065591970262808, + -0.9775512745560717, + 0.20177800925479406, + 0.4344302410586634, + -0.15614524186361345, + -0.887067657564554 + ], + [ + 0.8935107691699236, + 0.15722626275383586, + 0.4206166992379567, + 0.07896843125468475, + -0.9771181614841851, + 0.19749451983014768, + 0.442043541116196, + -0.14324803942193495, + -0.8854815113593428 + ], + [ + 0.8979045056766379, + 0.18297176845992863, + 0.40036087550138844, + 0.11995444133008787, + -0.9768029358606748, + 0.17738927954967423, + 0.42353090877854294, + -0.1112535682151913, + -0.899024033532257 + ], + [ + 0.8984085385432707, + 0.18989379987518462, + 0.3959828817531231, + 0.12788089313078554, + -0.9757269616252718, + 0.1777733768863833, + 0.4201292361221927, + -0.10907447513730609, + -0.9008852223390637 + ], + [ + 0.8989040620151383, + 0.18632368024903148, + 0.3965538720919783, + 0.12631674487950809, + -0.9768506292228193, + 0.17264683069789394, + 0.41954209235275747, + -0.10510154311635322, + -0.901630799373464 + ], + [ + 0.8852661206387266, + 0.1791012996033946, + 0.4292162859557341, + 0.1106941920664038, + -0.9774963756725731, + 0.1795762550833208, + 0.4517197045647063, + -0.1114610247008293, + -0.8851698980877148 + ], + [ + 0.916509843373006, + 0.15917049807923692, + 0.36698018957648854, + 0.101863572942783, + -0.9800472677838521, + 0.17067854410187785, + 0.3868249210013726, + -0.11904665241246379, + -0.9144366435361543 + ], + [ + 0.9507199804660874, + 0.13205137840550463, + 0.28052442354235235, + 0.09744648388166632, + -0.9861823772818851, + 0.13397201766693795, + 0.2943394324953132, + -0.10003375530217995, + -0.950451232982777 + ], + [ + 0.9654479936874213, + 0.11414154202332884, + 0.23426881966977317, + 0.09633121004939042, + -0.9916143151645469, + 0.08614724563888254, + 0.2421372946395335, + -0.060603286588124944, + -0.9683474439473491 + ], + [ + 0.9685484844773049, + 0.09916986247633539, + 0.22820861419574023, + 0.08808542629040528, + -0.994406516946507, + 0.05828067200670839, + 0.23271181940750896, + -0.036345803481841896, + -0.9718663445542838 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006205.json b/json/chunk-0006/episode_0006205.json new file mode 100644 index 0000000000000000000000000000000000000000..dac25ebd6c551862d42b96fe4fcd526d3490d830 --- /dev/null +++ b/json/chunk-0006/episode_0006205.json @@ -0,0 +1,1282 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 20, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nTurn lever vertical to front." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006205.mp4", + "start": 0, + "end": 20, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2912386953830719, + -0.07560507208108902, + 0.19603650271892548, + -0.0251764003187418, + -0.2662530541419983, + 0.3522935211658478, + 0.0, + 0.9981546401977539 + ], + [ + 0.2963595688343048, + -0.07707992941141129, + 0.18870849907398224, + -0.018542679026722908, + -0.2663307785987854, + 0.32420292496681213, + 0.0, + 0.9981546401977539 + ], + [ + 0.30704301595687866, + -0.07712944597005844, + 0.18223534524440765, + -0.019470110535621643, + -0.29010581970214844, + 0.27058640122413635, + 0.0, + 0.9981546401977539 + ], + [ + 0.3131081759929657, + -0.07944727689027786, + 0.18106617033481598, + -0.025056540966033936, + -0.31204456090927124, + 0.23783104121685028, + 0.0, + 0.9981546401977539 + ], + [ + 0.3198206126689911, + -0.07869905978441238, + 0.17784515023231506, + -0.02742289938032627, + -0.31513240933418274, + 0.21440459787845612, + 0.0, + 0.9981546401977539 + ], + [ + 0.3260623812675476, + -0.07814395427703857, + 0.1730092614889145, + -0.036501023918390274, + -0.3113589584827423, + 0.19355645775794983, + 0.0, + 0.9981546401977539 + ], + [ + 0.32896190881729126, + -0.07994776219129562, + 0.17030803859233856, + -0.043671444058418274, + -0.30624568462371826, + 0.1742115616798401, + 0.0, + 0.9981546401977539 + ], + [ + 0.3322295546531677, + -0.08233632892370224, + 0.1687382310628891, + -0.05868436023592949, + -0.2955110967159271, + 0.16680295765399933, + 0.0, + 0.9981546401977539 + ], + [ + 0.3339664936065674, + -0.08180178701877594, + 0.16931122541427612, + -0.06792917102575302, + -0.29944437742233276, + 0.17203402519226074, + 0.0, + 0.8224069476127625 + ], + [ + 0.33422568440437317, + -0.07761061191558838, + 0.16859060525894165, + -0.06486636400222778, + -0.2992394268512726, + 0.18272320926189423, + 0.0, + 0.5590677857398987 + ], + [ + 0.33151230216026306, + -0.07281717658042908, + 0.1678159534931183, + -0.060646120458841324, + -0.2743840515613556, + 0.20259222388267517, + 0.0, + 0.30494338274002075 + ], + [ + 0.32945361733436584, + -0.07158035784959793, + 0.1683284342288971, + -0.04814897105097771, + -0.2451934814453125, + 0.21261996030807495, + 0.0, + 0.1531343013048172 + ], + [ + 0.3265097141265869, + -0.07093392312526703, + 0.16705061495304108, + -0.044877778738737106, + -0.22357553243637085, + 0.22584840655326843, + 0.0, + 0.08819076418876648 + ], + [ + 0.31670162081718445, + -0.06920837610960007, + 0.16596977412700653, + -0.06619960069656372, + -0.24591021239757538, + 0.25763580203056335, + 0.0, + 0.08641935139894485 + ], + [ + 0.30972981452941895, + -0.06717302650213242, + 0.16579869389533997, + -0.08694544434547424, + -0.2725198566913605, + 0.2764555811882019, + 0.0, + 0.08641935139894485 + ], + [ + 0.3025820553302765, + -0.06306745857000351, + 0.16234759986400604, + -0.12223868817090988, + -0.27350810170173645, + 0.3341399133205414, + 0.0, + 0.08641935139894485 + ], + [ + 0.2804456949234009, + -0.061365675181150436, + 0.1532423496246338, + -0.15077048540115356, + -0.20802396535873413, + 0.3958941102027893, + 0.0, + 0.08123486489057541 + ], + [ + 0.2773243486881256, + -0.061470966786146164, + 0.14707861840724945, + -0.17021384835243225, + -0.18485920131206512, + 0.4265226125717163, + 0.0, + 0.06296365708112717 + ], + [ + 0.27250370383262634, + -0.06104402616620064, + 0.13948026299476624, + -0.17545631527900696, + -0.17111565172672272, + 0.4432847797870636, + 0.0, + 0.05952305346727371 + ], + [ + 0.268947035074234, + -0.06056216359138489, + 0.13678720593452454, + -0.17566169798374176, + -0.15099717676639557, + 0.48977914452552795, + 0.0, + 0.05952305346727371 + ] + ], + "left_gripper_pos": [ + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.8224069476127625 + ], + [ + 0.5590677857398987 + ], + [ + 0.30494338274002075 + ], + [ + 0.1531343013048172 + ], + [ + 0.08819076418876648 + ], + [ + 0.08641935139894485 + ], + [ + 0.08641935139894485 + ], + [ + 0.08641935139894485 + ], + [ + 0.08123486489057541 + ], + [ + 0.06296365708112717 + ], + [ + 0.05952305346727371 + ], + [ + 0.05952305346727371 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2912386953830719, + -0.07560507208108902, + 0.19603650271892548 + ], + [ + 0.2963595688343048, + -0.07707992941141129, + 0.18870849907398224 + ], + [ + 0.30704301595687866, + -0.07712944597005844, + 0.18223534524440765 + ], + [ + 0.3131081759929657, + -0.07944727689027786, + 0.18106617033481598 + ], + [ + 0.3198206126689911, + -0.07869905978441238, + 0.17784515023231506 + ], + [ + 0.3260623812675476, + -0.07814395427703857, + 0.1730092614889145 + ], + [ + 0.32896190881729126, + -0.07994776219129562, + 0.17030803859233856 + ], + [ + 0.3322295546531677, + -0.08233632892370224, + 0.1687382310628891 + ], + [ + 0.3339664936065674, + -0.08180178701877594, + 0.16931122541427612 + ], + [ + 0.33422568440437317, + -0.07761061191558838, + 0.16859060525894165 + ], + [ + 0.33151230216026306, + -0.07281717658042908, + 0.1678159534931183 + ], + [ + 0.32945361733436584, + -0.07158035784959793, + 0.1683284342288971 + ], + [ + 0.3265097141265869, + -0.07093392312526703, + 0.16705061495304108 + ], + [ + 0.31670162081718445, + -0.06920837610960007, + 0.16596977412700653 + ], + [ + 0.30972981452941895, + -0.06717302650213242, + 0.16579869389533997 + ], + [ + 0.3025820553302765, + -0.06306745857000351, + 0.16234759986400604 + ], + [ + 0.2804456949234009, + -0.061365675181150436, + 0.1532423496246338 + ], + [ + 0.2773243486881256, + -0.061470966786146164, + 0.14707861840724945 + ], + [ + 0.27250370383262634, + -0.06104402616620064, + 0.13948026299476624 + ], + [ + 0.268947035074234, + -0.06056216359138489, + 0.13678720593452454 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9055114447629797, + 0.3387251521930849, + 0.2555666149461474, + 0.3328929917336568, + -0.9405718617436686, + 0.06713292002188309, + 0.2631183753710037, + 0.024286707636493567, + -0.9644578147199093 + ], + [ + 0.9144847517860906, + 0.31387276823280696, + 0.25534589112144945, + 0.30732213367241346, + -0.9492965335011349, + 0.0662510198998026, + 0.263193360299548, + 0.0178878965952813, + -0.9645772536451547 + ], + [ + 0.9233483560254913, + 0.2618793780263387, + 0.28079708828540456, + 0.2561271896670459, + -0.9649202917456439, + 0.057686162038769515, + 0.28605362458511935, + 0.01865534620531212, + -0.9580319942046174 + ], + [ + 0.9249184885410738, + 0.22804615402910447, + 0.3041722229057567, + 0.2242178789187159, + -0.9733583177449079, + 0.047957565096602345, + 0.3070051014691571, + 0.02384401202266002, + -0.951409129009479 + ], + [ + 0.9289861390845255, + 0.20438183416394518, + 0.30856574542973536, + 0.20228812400670593, + -0.9785440524812775, + 0.03912866263196805, + 0.3099423628268233, + 0.026069200549699016, + -0.9503978790527815 + ], + [ + 0.9341423497707202, + 0.18125109493447925, + 0.30745098950871796, + 0.18310159465217526, + -0.9828231240079804, + 0.02307624213394118, + 0.30635253614205304, + 0.03473827140555756, + -0.9512840669847707 + ], + [ + 0.9390399169920703, + 0.16020371868387878, + 0.30420191126188284, + 0.16526693528380731, + -0.9862058720669701, + 0.009209668969351388, + 0.30148113439720176, + 0.041626270797223905, + -0.9525630578508137 + ], + [ + 0.9433756574082408, + 0.14890102406438052, + 0.2964301840942454, + 0.1588336779757579, + -0.9872590010491826, + -0.00956700517733769, + 0.2912288305615752, + 0.05610837620131899, + -0.9550066064534782 + ], + [ + 0.9413960205490796, + 0.15106448610854015, + 0.3015842395270679, + 0.16356898604717798, + -0.9863940193476103, + -0.016493192497649415, + 0.29498935455005026, + 0.06485645405068885, + -0.9532968693277639 + ], + [ + 0.9396532860589822, + 0.16253530751052853, + 0.30105477211134574, + 0.1736331873767875, + -0.9847566562820136, + -0.010288058594570045, + 0.29479351797475767, + 0.06194030772224046, + -0.9535513515481693 + ], + [ + 0.9429056161144727, + 0.18475292706102564, + 0.2771197485603835, + 0.19368243335242896, + -0.9810517830239344, + -0.004951165139763666, + 0.27095408118437475, + 0.05834170864778171, + -0.960822632394548 + ], + [ + 0.9482453014419713, + 0.199356756172854, + 0.24715932525693157, + 0.2047100075553739, + -0.978814002878251, + 0.0041183220045726485, + 0.24274402381913174, + 0.04669080785006649, + -0.9689661022772698 + ], + [ + 0.9503474683207986, + 0.21401359177416812, + 0.2259156302520221, + 0.21835981083074213, + -0.975850633606423, + 0.005876555445601662, + 0.22171757366120343, + 0.043746124695365096, + -0.9741291465221265 + ], + [ + 0.9379041270929965, + 0.23866468882365569, + 0.2517439466812104, + 0.24712987962768676, + -0.9689801391212073, + -0.0020766761545981532, + 0.24343925520985635, + 0.06416117437635953, + -0.9677916473732955 + ], + [ + 0.9265259275442784, + 0.24943130954680803, + 0.2816624352056535, + 0.2628746023740163, + -0.9647744936668208, + -0.010349869401706228, + 0.269159151831992, + 0.08363132300576129, + -0.95945773893246 + ], + [ + 0.9095777899672379, + 0.29439537663506465, + 0.29325689457234105, + 0.31576637335903046, + -0.9484451010685155, + -0.027266971133926746, + 0.2701107947750333, + 0.11740209740473727, + -0.9556447593488744 + ], + [ + 0.9027606116443937, + 0.3526375700028628, + 0.2463128544877768, + 0.37731939992157204, + -0.9241477089635731, + -0.05984214618647995, + 0.2065268711482005, + 0.14696175094171726, + -0.9673411472970017 + ], + [ + 0.8948984366798078, + 0.3793824270518953, + 0.23500162142472564, + 0.4066587725919967, + -0.9101342692479603, + -0.07927329067506142, + 0.18380813557078324, + 0.1665070148212844, + -0.9687569268466151 + ], + [ + 0.8901546405347441, + 0.3954729543503983, + 0.22633130210341693, + 0.4226450285179485, + -0.9022274367417569, + -0.08577197828814295, + 0.17028181289709995, + 0.17200812413303881, + -0.9702666177029436 + ], + [ + 0.8723960324072004, + 0.43999405111680634, + 0.21290936480577113, + 0.4650782424116746, + -0.881223778273944, + -0.08453922781681339, + 0.15042403755864073, + 0.17277120010701047, + -0.9734077877940677 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + 0.00512087345123291, + -0.0014748573303222656, + -0.007328003644943237, + 0.00663372129201889, + -7.772445678710938e-05, + -0.028090596199035645, + 1.0 + ], + [ + 0.010683447122573853, + -4.951655864715576e-05, + -0.006473153829574585, + -0.000927431508898735, + -0.023775041103363037, + -0.05361652374267578, + 1.0 + ], + [ + 0.006065160036087036, + -0.0023178309202194214, + -0.0011691749095916748, + -0.0055864304304122925, + -0.021938741207122803, + -0.03275536000728607, + 1.0 + ], + [ + 0.006712436676025391, + 0.0007482171058654785, + -0.0032210201025009155, + -0.0023663584142923355, + -0.003087848424911499, + -0.023426443338394165, + 1.0 + ], + [ + 0.0062417685985565186, + 0.0005551055073738098, + -0.004835888743400574, + -0.009078124538064003, + 0.0037734508514404297, + -0.020848140120506287, + 1.0 + ], + [ + 0.0028995275497436523, + -0.0018038079142570496, + -0.0027012228965759277, + -0.007170420140028, + 0.005113273859024048, + -0.01934489607810974, + 1.0 + ], + [ + 0.003267645835876465, + -0.002388566732406616, + -0.0015698075294494629, + -0.015012916177511215, + 0.010734587907791138, + -0.007408604025840759, + 1.0 + ], + [ + 0.0017369389533996582, + 0.0005345419049263, + 0.0005729943513870239, + -0.009244810789823532, + -0.00393328070640564, + 0.005231067538261414, + 0.0 + ], + [ + 0.00025919079780578613, + 0.004191175103187561, + -0.0007206201553344727, + 0.003062807023525238, + 0.00020495057106018066, + 0.010689184069633484, + 0.0 + ], + [ + -0.0027133822441101074, + 0.004793435335159302, + -0.0007746517658233643, + 0.004220243543386459, + 0.024855375289916992, + 0.019869014620780945, + 0.0 + ], + [ + -0.002058684825897217, + 0.0012368187308311462, + 0.0005124807357788086, + 0.012497149407863617, + 0.02919057011604309, + 0.01002773642539978, + 0.0 + ], + [ + -0.0029439032077789307, + 0.0006464347243309021, + -0.001277819275856018, + 0.0032711923122406006, + 0.02161794900894165, + 0.013228446245193481, + 0.0 + ], + [ + -0.009808093309402466, + 0.0017255470156669617, + -0.001080840826034546, + -0.021321821957826614, + -0.02233467996120453, + 0.03178739547729492, + 0.0 + ], + [ + -0.006971806287765503, + 0.0020353496074676514, + -0.00017108023166656494, + -0.020745843648910522, + -0.026609644293785095, + 0.01881977915763855, + 0.0 + ], + [ + -0.007147759199142456, + 0.004105567932128906, + -0.0034510940313339233, + -0.03529324382543564, + -0.0009882450103759766, + 0.05768433213233948, + 0.0 + ], + [ + -0.02213636040687561, + 0.0017017833888530731, + -0.009105250239372253, + -0.028531797230243683, + 0.06548413634300232, + 0.061754196882247925, + 0.0 + ], + [ + -0.0031213462352752686, + -0.00010529160499572754, + -0.006163731217384338, + -0.019443362951278687, + 0.023164764046669006, + 0.030628502368927002, + 0.0 + ], + [ + -0.004820644855499268, + 0.0004269406199455261, + -0.007598355412483215, + -0.005242466926574707, + 0.013743549585342407, + 0.01676216721534729, + 0.0 + ], + [ + -0.003556668758392334, + 0.0004818625748157501, + -0.0026930570602416992, + -0.00020538270473480225, + 0.02011847496032715, + 0.046494364738464355, + 0.0 + ], + [ + -0.0013778209686279297, + 0.0017556548118591309, + 0.0030900537967681885, + -0.0027079731225967407, + -0.003729790449142456, + 0.038819819688797, + 0.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.8224069476127625 + ], + [ + 0.5590677857398987 + ], + [ + 0.30494338274002075 + ], + [ + 0.1531343013048172 + ], + [ + 0.08819076418876648 + ], + [ + 0.08641935139894485 + ], + [ + 0.08641935139894485 + ], + [ + 0.08641935139894485 + ], + [ + 0.08123486489057541 + ], + [ + 0.06296365708112717 + ], + [ + 0.05952305346727371 + ], + [ + 0.05952305346727371 + ], + [ + 0.05952305346727371 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2963595688343048, + -0.07707992941141129, + 0.18870849907398224 + ], + [ + 0.30704301595687866, + -0.07712944597005844, + 0.18223534524440765 + ], + [ + 0.3131081759929657, + -0.07944727689027786, + 0.18106617033481598 + ], + [ + 0.3198206126689911, + -0.07869905978441238, + 0.17784515023231506 + ], + [ + 0.3260623812675476, + -0.07814395427703857, + 0.1730092614889145 + ], + [ + 0.32896190881729126, + -0.07994776219129562, + 0.17030803859233856 + ], + [ + 0.3322295546531677, + -0.08233632892370224, + 0.1687382310628891 + ], + [ + 0.3339664936065674, + -0.08180178701877594, + 0.16931122541427612 + ], + [ + 0.33422568440437317, + -0.07761061191558838, + 0.16859060525894165 + ], + [ + 0.33151230216026306, + -0.07281717658042908, + 0.1678159534931183 + ], + [ + 0.32945361733436584, + -0.07158035784959793, + 0.1683284342288971 + ], + [ + 0.3265097141265869, + -0.07093392312526703, + 0.16705061495304108 + ], + [ + 0.31670162081718445, + -0.06920837610960007, + 0.16596977412700653 + ], + [ + 0.30972981452941895, + -0.06717302650213242, + 0.16579869389533997 + ], + [ + 0.3025820553302765, + -0.06306745857000351, + 0.16234759986400604 + ], + [ + 0.2804456949234009, + -0.061365675181150436, + 0.1532423496246338 + ], + [ + 0.2773243486881256, + -0.061470966786146164, + 0.14707861840724945 + ], + [ + 0.27250370383262634, + -0.06104402616620064, + 0.13948026299476624 + ], + [ + 0.268947035074234, + -0.06056216359138489, + 0.13678720593452454 + ], + [ + 0.2675692141056061, + -0.05880650877952576, + 0.13987725973129272 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9144847517860906, + 0.31387276823280696, + 0.25534589112144945, + 0.30732213367241346, + -0.9492965335011349, + 0.0662510198998026, + 0.263193360299548, + 0.0178878965952813, + -0.9645772536451547 + ], + [ + 0.9233483560254913, + 0.2618793780263387, + 0.28079708828540456, + 0.2561271896670459, + -0.9649202917456439, + 0.057686162038769515, + 0.28605362458511935, + 0.01865534620531212, + -0.9580319942046174 + ], + [ + 0.9249184885410738, + 0.22804615402910447, + 0.3041722229057567, + 0.2242178789187159, + -0.9733583177449079, + 0.047957565096602345, + 0.3070051014691571, + 0.02384401202266002, + -0.951409129009479 + ], + [ + 0.9289861390845255, + 0.20438183416394518, + 0.30856574542973536, + 0.20228812400670593, + -0.9785440524812775, + 0.03912866263196805, + 0.3099423628268233, + 0.026069200549699016, + -0.9503978790527815 + ], + [ + 0.9341423497707202, + 0.18125109493447925, + 0.30745098950871796, + 0.18310159465217526, + -0.9828231240079804, + 0.02307624213394118, + 0.30635253614205304, + 0.03473827140555756, + -0.9512840669847707 + ], + [ + 0.9390399169920703, + 0.16020371868387878, + 0.30420191126188284, + 0.16526693528380731, + -0.9862058720669701, + 0.009209668969351388, + 0.30148113439720176, + 0.041626270797223905, + -0.9525630578508137 + ], + [ + 0.9433756574082408, + 0.14890102406438052, + 0.2964301840942454, + 0.1588336779757579, + -0.9872590010491826, + -0.00956700517733769, + 0.2912288305615752, + 0.05610837620131899, + -0.9550066064534782 + ], + [ + 0.9413960205490796, + 0.15106448610854015, + 0.3015842395270679, + 0.16356898604717798, + -0.9863940193476103, + -0.016493192497649415, + 0.29498935455005026, + 0.06485645405068885, + -0.9532968693277639 + ], + [ + 0.9396532860589822, + 0.16253530751052853, + 0.30105477211134574, + 0.1736331873767875, + -0.9847566562820136, + -0.010288058594570045, + 0.29479351797475767, + 0.06194030772224046, + -0.9535513515481693 + ], + [ + 0.9429056161144727, + 0.18475292706102564, + 0.2771197485603835, + 0.19368243335242896, + -0.9810517830239344, + -0.004951165139763666, + 0.27095408118437475, + 0.05834170864778171, + -0.960822632394548 + ], + [ + 0.9482453014419713, + 0.199356756172854, + 0.24715932525693157, + 0.2047100075553739, + -0.978814002878251, + 0.0041183220045726485, + 0.24274402381913174, + 0.04669080785006649, + -0.9689661022772698 + ], + [ + 0.9503474683207986, + 0.21401359177416812, + 0.2259156302520221, + 0.21835981083074213, + -0.975850633606423, + 0.005876555445601662, + 0.22171757366120343, + 0.043746124695365096, + -0.9741291465221265 + ], + [ + 0.9379041270929965, + 0.23866468882365569, + 0.2517439466812104, + 0.24712987962768676, + -0.9689801391212073, + -0.0020766761545981532, + 0.24343925520985635, + 0.06416117437635953, + -0.9677916473732955 + ], + [ + 0.9265259275442784, + 0.24943130954680803, + 0.2816624352056535, + 0.2628746023740163, + -0.9647744936668208, + -0.010349869401706228, + 0.269159151831992, + 0.08363132300576129, + -0.95945773893246 + ], + [ + 0.9095777899672379, + 0.29439537663506465, + 0.29325689457234105, + 0.31576637335903046, + -0.9484451010685155, + -0.027266971133926746, + 0.2701107947750333, + 0.11740209740473727, + -0.9556447593488744 + ], + [ + 0.9027606116443937, + 0.3526375700028628, + 0.2463128544877768, + 0.37731939992157204, + -0.9241477089635731, + -0.05984214618647995, + 0.2065268711482005, + 0.14696175094171726, + -0.9673411472970017 + ], + [ + 0.8948984366798078, + 0.3793824270518953, + 0.23500162142472564, + 0.4066587725919967, + -0.9101342692479603, + -0.07927329067506142, + 0.18380813557078324, + 0.1665070148212844, + -0.9687569268466151 + ], + [ + 0.8901546405347441, + 0.3954729543503983, + 0.22633130210341693, + 0.4226450285179485, + -0.9022274367417569, + -0.08577197828814295, + 0.17028181289709995, + 0.17200812413303881, + -0.9702666177029436 + ], + [ + 0.8723960324072004, + 0.43999405111680634, + 0.21290936480577113, + 0.4650782424116746, + -0.881223778273944, + -0.08453922781681339, + 0.15042403755864073, + 0.17277120010701047, + -0.9734077877940677 + ], + [ + 0.8531986428982833, + 0.4727114036852639, + 0.22044501487317703, + 0.4982991879490297, + -0.8636039711128047, + -0.07672092522598752, + 0.15411033400088825, + 0.1753057611834291, + -0.9723774447456262 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006206.json b/json/chunk-0006/episode_0006206.json new file mode 100644 index 0000000000000000000000000000000000000000..c7b42d2bf582699dbd79823875d06e6f28c54a26 --- /dev/null +++ b/json/chunk-0006/episode_0006206.json @@ -0,0 +1,1762 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 28, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the silver pot to the bottom left burner." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006206.mp4", + "start": 0, + "end": 28, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.38024723529815674, + 0.1229105293750763, + 0.06382740288972855, + 0.08147090673446655, + -0.04286845400929451, + 0.10871466994285583, + 0.0, + 0.9994885921478271 + ], + [ + 0.37663134932518005, + 0.1209186315536499, + 0.05049955099821091, + 0.06970323622226715, + -0.00889494176954031, + 0.10805203020572662, + 0.0, + 0.9994885921478271 + ], + [ + 0.3726358711719513, + 0.09581957757472992, + 0.04381463676691055, + 0.042639102786779404, + -0.00249032536521554, + 0.028814539313316345, + 0.0, + 0.9994885921478271 + ], + [ + 0.38487544655799866, + 0.04732435196638107, + 0.05878236144781113, + 0.038867104798555374, + -0.005298418924212456, + -0.12459082156419754, + 0.0, + 0.9994885921478271 + ], + [ + 0.3961904048919678, + 0.013802888803184032, + 0.06942622363567352, + 0.0774758830666542, + -0.0260006096214056, + -0.2579899728298187, + 0.0, + 0.9994885921478271 + ], + [ + 0.40132060647010803, + 0.007759731262922287, + 0.07662906497716904, + 0.09705507010221481, + -0.03711168095469475, + -0.27848026156425476, + 0.0, + 0.9994885921478271 + ], + [ + 0.39918556809425354, + 0.011097543872892857, + 0.07419844716787338, + 0.1152670755982399, + -0.014040295965969563, + -0.2507086992263794, + 0.0, + 0.9994885921478271 + ], + [ + 0.39772215485572815, + 0.026381084695458412, + 0.07255207002162933, + 0.12449497729539871, + -0.005025474354624748, + -0.19917836785316467, + 0.0, + 0.9994885921478271 + ], + [ + 0.3953671455383301, + 0.03358323872089386, + 0.05136048421263695, + 0.10858916491270065, + 0.04715239629149437, + -0.18369022011756897, + 0.0, + 0.9994885921478271 + ], + [ + 0.3930489420890808, + 0.03165484219789505, + 0.0335470549762249, + 0.0880909189581871, + 0.08413013070821762, + -0.18678320944309235, + 0.0, + 0.9994885921478271 + ], + [ + 0.3923496603965759, + 0.02950509823858738, + 0.018675286322832108, + 0.06867481023073196, + 0.10340892523527145, + -0.20084169507026672, + 0.0, + 0.9499720335006714 + ], + [ + 0.3949846029281616, + 0.02718251757323742, + 0.01749865710735321, + 0.06365673243999481, + 0.08897663652896881, + -0.21290482580661774, + 0.0, + 0.6711689233779907 + ], + [ + 0.3967415690422058, + 0.026813115924596786, + 0.012833163142204285, + 0.05863743647933006, + 0.09612172096967697, + -0.2178380787372589, + 0.0, + 0.3703518807888031 + ], + [ + 0.3969130516052246, + 0.02435825765132904, + 0.013001539744436741, + 0.04305482655763626, + 0.09287754446268082, + -0.22223244607448578, + 0.0, + 0.17460396885871887 + ], + [ + 0.39831027388572693, + 0.0211954303085804, + 0.016639389097690582, + 0.014312686398625374, + 0.06079757213592529, + -0.22029727697372437, + 0.0, + 0.09437843412160873 + ], + [ + 0.39319679141044617, + 0.028359796851873398, + 0.04810111224651337, + -0.02574126049876213, + -0.03739459812641144, + -0.1766934096813202, + 0.0, + 0.07821663469076157 + ], + [ + 0.3625403046607971, + 0.05946633964776993, + 0.0783391073346138, + -0.04938497766852379, + -0.10084883123636246, + -0.16410613059997559, + 0.0, + 0.07689721137285233 + ], + [ + 0.3208273649215698, + 0.0951903685927391, + 0.07803240418434143, + -0.03872297704219818, + -0.04416797310113907, + -0.17645446956157684, + 0.0, + 0.07689721137285233 + ], + [ + 0.28601667284965515, + 0.14012488722801208, + 0.0678187757730484, + 0.0336574912071228, + 0.033169202506542206, + -0.12830768525600433, + 0.0, + 0.07689721137285233 + ], + [ + 0.28138095140457153, + 0.16728876531124115, + 0.0641692653298378, + 0.11170943826436996, + 0.07099390029907227, + -0.06944650411605835, + 0.0, + 0.07656946033239365 + ], + [ + 0.28101465106010437, + 0.17855453491210938, + 0.05360427498817444, + 0.13041524589061737, + 0.12398242205381393, + -0.035287074744701385, + 0.0, + 0.07689721137285233 + ], + [ + 0.2750921845436096, + 0.18291935324668884, + 0.03734162822365761, + 0.13689418137073517, + 0.1817304641008377, + -0.015571901574730873, + 0.0, + 0.07689721137285233 + ], + [ + 0.2746661305427551, + 0.18675141036510468, + 0.03222450986504555, + 0.14636574685573578, + 0.2175181359052658, + -0.025436602532863617, + 0.0, + 0.07689721137285233 + ], + [ + 0.271013468503952, + 0.18834178149700165, + 0.03096734546124935, + 0.1566457748413086, + 0.22943904995918274, + -0.013844931498169899, + 0.0, + 0.09737934172153473 + ], + [ + 0.2687395215034485, + 0.1876964420080185, + 0.02953607402741909, + 0.1546609103679657, + 0.23498204350471497, + -0.005393872037529945, + 0.0, + 0.26805928349494934 + ], + [ + 0.2672956883907318, + 0.18606042861938477, + 0.02541167102754116, + 0.14648930728435516, + 0.22424420714378357, + -0.00905277393758297, + 0.0, + 0.5511609315872192 + ], + [ + 0.2662580609321594, + 0.1848706156015396, + 0.04099028930068016, + 0.1303725391626358, + 0.09221791476011276, + -0.029997367411851883, + 0.0, + 0.8544629216194153 + ], + [ + 0.2688814699649811, + 0.17684003710746765, + 0.06009397655725479, + 0.11187337338924408, + -0.02559169940650463, + -0.08257780969142914, + 0.0, + 1.0092895030975342 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9499720335006714 + ], + [ + 0.6711689233779907 + ], + [ + 0.3703518807888031 + ], + [ + 0.17460396885871887 + ], + [ + 0.09437843412160873 + ], + [ + 0.07821663469076157 + ], + [ + 0.07689721137285233 + ], + [ + 0.07689721137285233 + ], + [ + 0.07689721137285233 + ], + [ + 0.07656946033239365 + ], + [ + 0.07689721137285233 + ], + [ + 0.07689721137285233 + ], + [ + 0.07689721137285233 + ], + [ + 0.09737934172153473 + ], + [ + 0.26805928349494934 + ], + [ + 0.5511609315872192 + ], + [ + 0.8544629216194153 + ], + [ + 1.0092895030975342 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.38024723529815674, + 0.1229105293750763, + 0.06382740288972855 + ], + [ + 0.37663134932518005, + 0.1209186315536499, + 0.05049955099821091 + ], + [ + 0.3726358711719513, + 0.09581957757472992, + 0.04381463676691055 + ], + [ + 0.38487544655799866, + 0.04732435196638107, + 0.05878236144781113 + ], + [ + 0.3961904048919678, + 0.013802888803184032, + 0.06942622363567352 + ], + [ + 0.40132060647010803, + 0.007759731262922287, + 0.07662906497716904 + ], + [ + 0.39918556809425354, + 0.011097543872892857, + 0.07419844716787338 + ], + [ + 0.39772215485572815, + 0.026381084695458412, + 0.07255207002162933 + ], + [ + 0.3953671455383301, + 0.03358323872089386, + 0.05136048421263695 + ], + [ + 0.3930489420890808, + 0.03165484219789505, + 0.0335470549762249 + ], + [ + 0.3923496603965759, + 0.02950509823858738, + 0.018675286322832108 + ], + [ + 0.3949846029281616, + 0.02718251757323742, + 0.01749865710735321 + ], + [ + 0.3967415690422058, + 0.026813115924596786, + 0.012833163142204285 + ], + [ + 0.3969130516052246, + 0.02435825765132904, + 0.013001539744436741 + ], + [ + 0.39831027388572693, + 0.0211954303085804, + 0.016639389097690582 + ], + [ + 0.39319679141044617, + 0.028359796851873398, + 0.04810111224651337 + ], + [ + 0.3625403046607971, + 0.05946633964776993, + 0.0783391073346138 + ], + [ + 0.3208273649215698, + 0.0951903685927391, + 0.07803240418434143 + ], + [ + 0.28601667284965515, + 0.14012488722801208, + 0.0678187757730484 + ], + [ + 0.28138095140457153, + 0.16728876531124115, + 0.0641692653298378 + ], + [ + 0.28101465106010437, + 0.17855453491210938, + 0.05360427498817444 + ], + [ + 0.2750921845436096, + 0.18291935324668884, + 0.03734162822365761 + ], + [ + 0.2746661305427551, + 0.18675141036510468, + 0.03222450986504555 + ], + [ + 0.271013468503952, + 0.18834178149700165, + 0.03096734546124935 + ], + [ + 0.2687395215034485, + 0.1876964420080185, + 0.02953607402741909 + ], + [ + 0.2672956883907318, + 0.18606042861938477, + 0.02541167102754116 + ], + [ + 0.2662580609321594, + 0.1848706156015396, + 0.04099028930068016 + ], + [ + 0.2688814699649811, + 0.17684003710746765, + 0.06009397655725479 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9931830904801774, + 0.11160777257074611, + 0.03363114458415208, + 0.10840096806944352, + -0.9904206340415466, + 0.08553477530424877, + 0.0428553252916253, + -0.08130604384999585, + -0.9957674167834633 + ], + [ + 0.9941287277864521, + 0.10819590948844683, + 0.0013106333040814504, + 0.10783763112773749, + -0.9916871236353182, + 0.07019753648574109, + 0.008894824475388374, + -0.06964405204952359, + -0.9975322491587302 + ], + [ + 0.9995817903132497, + 0.028890474860478348, + 0.0012589426098478524, + 0.02881046279660604, + -0.9986733000326425, + 0.04268017145416973, + 0.0024903227911660586, + -0.04262605147381135, + -0.9990879931358139 + ], + [ + 0.9922346705944879, + -0.12397059996220514, + 0.010082103711989768, + -0.12426699276096329, + -0.9915248062621491, + 0.037898193584320804, + 0.005298394133613506, + -0.03885677433625779, + -0.9992307431758624 + ], + [ + 0.9665779537482513, + -0.2524266282391301, + 0.0448091138460446, + -0.25505132807544506, + -0.9645176692038191, + 0.06822379233511079, + 0.025997680181036882, + -0.0773722375885345, + -0.9966632618270567 + ], + [ + 0.9608122844444315, + -0.2701441977238298, + 0.062143917617259625, + -0.274705495719459, + -0.9579378332695873, + 0.08301805955510035, + 0.037103162698059716, + -0.09683604714627837, + -0.9946085336909615 + ], + [ + 0.9686413614752211, + -0.24487999383599152, + 0.04204404188841006, + -0.24806611191712125, + -0.9627090094393098, + 0.10795632108730299, + 0.014039834676801016, + -0.11500065983839977, + -0.9932661935649377 + ], + [ + 0.9802171021062208, + -0.19572095054398378, + 0.029457465210743057, + -0.197861511059136, + -0.9727664710821986, + 0.1207319973316159, + 0.005025453201263581, + -0.12417206713446206, + -0.9922479743308507 + ], + [ + 0.9820835675900786, + -0.18660543164236498, + -0.026273164086391583, + -0.18245592636195934, + -0.9764523415339218, + 0.1151115096257578, + -0.04713492553238078, + -0.10825542755210153, + -0.9930050660498007 + ], + [ + 0.9791313378650001, + -0.19224317991102957, + -0.06591193358103639, + -0.18504223127874853, + -0.977423784733879, + 0.10199077252321487, + -0.08403092201134993, + -0.08766587029280859, + -0.9925993649664134 + ], + [ + 0.9746644499066329, + -0.2059649170586003, + -0.08722191828459616, + -0.19842849159068307, + -0.976176114791441, + 0.08778568582482041, + -0.10322472481555509, + -0.06825427350526683, + -0.992313463747732 + ], + [ + 0.973554756715073, + -0.21639709928955275, + -0.07323544972567807, + -0.2104641630228415, + -0.9742471652334633, + 0.08091537009527515, + -0.08885928066639785, + -0.06336210581749947, + -0.9940267963117605 + ], + [ + 0.9718599201400568, + -0.22123937007514738, + -0.08087914906892742, + -0.21512166502887514, + -0.9734733511213967, + 0.07792498887829237, + -0.09597377173252204, + -0.058333316254345804, + -0.9936731149398195 + ], + [ + 0.9712038052239781, + -0.22409713875669474, + -0.08089277544705772, + -0.2194577543343293, + -0.9736240723651739, + 0.062405606908256944, + -0.09274407140620128, + -0.042856016055128454, + -0.9947672587630154 + ], + [ + 0.9740295802903521, + -0.21934593806512756, + -0.056158135418915726, + -0.21811598753727843, + -0.9755425550294518, + 0.02724223388870061, + -0.06076012425956565, + -0.01428575447563365, + -0.9980501613240809 + ], + [ + 0.9837420789377094, + -0.1766644718144124, + 0.032267422051481295, + -0.17565254861962296, + -0.983935020302203, + -0.03190702095674821, + 0.03738588357581932, + 0.025720424207972832, + -0.9989698471364474 + ], + [ + 0.9815521099633457, + -0.16807454266843783, + 0.09113947297027632, + -0.16254046124723306, + -0.9845500264774413, + -0.06512943897199312, + 0.10067797119549525, + 0.04911408626927036, + -0.993706069542646 + ], + [ + 0.9835121594268773, + -0.1770914056656946, + 0.036639682024126624, + -0.17536901275517242, + -0.9834342053354989, + -0.045857094777275814, + 0.044153613948995085, + 0.03867554544520699, + -0.9982758439227901 + ], + [ + 0.9912343294055536, + -0.12899025710013762, + -0.028566024945083816, + -0.1278855411330615, + -0.9910753553407335, + 0.03761553409620776, + -0.03316312073715003, + -0.033632627156963656, + -0.9988839040716865 + ], + [ + 0.9950766237822045, + -0.07684668051594842, + -0.06258674377125441, + -0.06921590051434906, + -0.990822860428544, + 0.11610003603869266, + -0.07093427886569816, + -0.11119643405198638, + -0.9912636789149118 + ], + [ + 0.9917062740354254, + -0.05105227106053454, + -0.11795054751181075, + -0.03500894540843568, + -0.9903233670011709, + 0.13429073874565578, + -0.1236650305468906, + -0.12904764388018292, + -0.983897182549483 + ], + [ + 0.9834131725444734, + -0.04008653754485566, + -0.17689432318104312, + -0.015314851019551665, + -0.9901404611115898, + 0.13923836614948365, + -0.1807318107148362, + -0.13421973318925057, + -0.9743310914767852 + ], + [ + 0.9761201892857723, + -0.05662581007579347, + -0.20972099013205192, + -0.024834537663931486, + -0.9881871016451949, + 0.1512266440845926, + -0.21580690861908663, + -0.14240705662055322, + -0.9659956565207443 + ], + [ + 0.9737007978360248, + -0.04915221231659096, + -0.22246531486475318, + -0.013481682255943133, + -0.9871702406168024, + 0.159101100826219, + -0.22743130949154472, + -0.15191766212310429, + -0.9618711053971898 + ], + [ + 0.9725043750974209, + -0.041194565222103116, + -0.2292122339940353, + -0.005245615027034151, + -0.9878559957616057, + 0.1552836603150328, + -0.23282552252569447, + -0.149811679898492, + -0.9609103686747422 + ], + [ + 0.9749225006976799, + -0.041412745795591205, + -0.2186574995719366, + -0.00882599411152597, + -0.98895524334626, + 0.1479514396208518, + -0.22236955605775943, + -0.14231131769331976, + -0.9645202275717526 + ], + [ + 0.9953029649062907, + -0.04170461874517705, + -0.0873655127843175, + -0.029865427317631484, + -0.9907083970700941, + 0.13268356426453234, + -0.09208726459116151, + -0.12945113653469573, + -0.9873005312213669 + ], + [ + 0.9962660558887969, + -0.07912134355789399, + 0.034550815871320334, + -0.08245698134644439, + -0.9905980260071622, + 0.1091622512498959, + 0.025588906014370704, + -0.11160360148448159, + -0.9934232954912424 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0036158859729766846, + -0.0019918978214263916, + -0.01332785189151764, + -0.011767670512199402, + 0.033973511308431625, + -0.0006626397371292114, + 1.0 + ], + [ + -0.00399547815322876, + -0.025099053978919983, + -0.006684914231300354, + -0.027064133435487747, + 0.00640461640432477, + -0.07923749089241028, + 1.0 + ], + [ + 0.012239575386047363, + -0.048495225608348846, + 0.014967724680900574, + -0.0037719979882240295, + -0.002808093558996916, + -0.15340536832809448, + 1.0 + ], + [ + 0.011314958333969116, + -0.033521462231874466, + 0.010643862187862396, + 0.03860877826809883, + -0.020702190697193146, + -0.13339915871620178, + 1.0 + ], + [ + 0.005130201578140259, + -0.0060431575402617455, + 0.007202841341495514, + 0.019579187035560608, + -0.011111071333289146, + -0.020490288734436035, + 1.0 + ], + [ + -0.002135038375854492, + 0.0033378126099705696, + -0.0024306178092956543, + 0.018212005496025085, + 0.02307138592004776, + 0.027771562337875366, + 1.0 + ], + [ + -0.0014634132385253906, + 0.015283540822565556, + -0.001646377146244049, + 0.009227901697158813, + 0.009014821611344814, + 0.05153033137321472, + 1.0 + ], + [ + -0.0023550093173980713, + 0.007202154025435448, + -0.021191585808992386, + -0.01590581238269806, + 0.05217786878347397, + 0.015488147735595703, + 1.0 + ], + [ + -0.0023182034492492676, + -0.0019283965229988098, + -0.01781342923641205, + -0.02049824595451355, + 0.03697773441672325, + -0.0030929893255233765, + 1.0 + ], + [ + -0.0006992816925048828, + -0.0021497439593076706, + -0.014871768653392792, + -0.01941610872745514, + 0.019278794527053833, + -0.014058485627174377, + 0.0 + ], + [ + 0.0026349425315856934, + -0.0023225806653499603, + -0.001176629215478897, + -0.005018077790737152, + -0.014432288706302643, + -0.012063130736351013, + 0.0 + ], + [ + 0.0017569661140441895, + -0.00036940164864063263, + -0.004665493965148926, + -0.005019295960664749, + 0.00714508444070816, + -0.004933252930641174, + 0.0 + ], + [ + 0.00017148256301879883, + -0.002454858273267746, + 0.0001683766022324562, + -0.015582609921693802, + -0.003244176506996155, + -0.004394367337226868, + 0.0 + ], + [ + 0.0013972222805023193, + -0.003162827342748642, + 0.0036378493532538414, + -0.028742140159010887, + -0.032079972326755524, + 0.0019351691007614136, + 0.0 + ], + [ + -0.005113482475280762, + 0.007164366543292999, + 0.031461723148822784, + -0.040053948760032654, + -0.09819217026233673, + 0.043603867292404175, + 0.0 + ], + [ + -0.030656486749649048, + 0.03110654279589653, + 0.030237995088100433, + -0.023643717169761658, + -0.06345423310995102, + 0.012587279081344604, + 0.0 + ], + [ + -0.041712939739227295, + 0.03572402894496918, + -0.0003067031502723694, + 0.010662000626325607, + 0.05668085813522339, + -0.012348338961601257, + 0.0 + ], + [ + -0.03481069207191467, + 0.04493451863527298, + -0.01021362841129303, + 0.07238046824932098, + 0.07733717560768127, + 0.04814678430557251, + 0.0 + ], + [ + -0.004635721445083618, + 0.027163878083229065, + -0.003649510443210602, + 0.07805194705724716, + 0.03782469779253006, + 0.058861181139945984, + 0.0 + ], + [ + -0.0003663003444671631, + 0.011265769600868225, + -0.01056499034166336, + 0.018705807626247406, + 0.05298852175474167, + 0.034159429371356964, + 0.0 + ], + [ + -0.005922466516494751, + 0.004364818334579468, + -0.01626264676451683, + 0.006478935480117798, + 0.05774804204702377, + 0.019715173169970512, + 0.0 + ], + [ + -0.0004260540008544922, + 0.0038320571184158325, + -0.0051171183586120605, + 0.00947156548500061, + 0.0357876718044281, + -0.009864700958132744, + 0.0 + ], + [ + -0.0036526620388031006, + 0.0015903711318969727, + -0.001257164403796196, + 0.010280027985572815, + 0.011920914053916931, + 0.011591671034693718, + 1.0 + ], + [ + -0.00227394700050354, + -0.0006453394889831543, + -0.0014312714338302612, + -0.0019848644733428955, + 0.0055429935455322266, + 0.008451059460639954, + 1.0 + ], + [ + -0.0014438331127166748, + -0.001636013388633728, + -0.00412440299987793, + -0.008171603083610535, + -0.010737836360931396, + -0.0036589019000530243, + 1.0 + ], + [ + -0.0010376274585723877, + -0.0011898130178451538, + 0.015578618273139, + -0.01611676812171936, + -0.1320262849330902, + -0.020944593474268913, + 1.0 + ], + [ + 0.0026234090328216553, + -0.00803057849407196, + 0.01910368725657463, + -0.018499165773391724, + -0.11780961602926254, + -0.052580442279577255, + 1.0 + ], + [ + -0.002161085605621338, + -0.004019096493721008, + 0.004072919487953186, + -0.04566234350204468, + -0.0570862740278244, + 0.002956479787826538, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9499720335006714 + ], + [ + 0.6711689233779907 + ], + [ + 0.3703518807888031 + ], + [ + 0.17460396885871887 + ], + [ + 0.09437843412160873 + ], + [ + 0.07821663469076157 + ], + [ + 0.07689721137285233 + ], + [ + 0.07689721137285233 + ], + [ + 0.07689721137285233 + ], + [ + 0.07656946033239365 + ], + [ + 0.07689721137285233 + ], + [ + 0.07689721137285233 + ], + [ + 0.07689721137285233 + ], + [ + 0.09737934172153473 + ], + [ + 0.26805928349494934 + ], + [ + 0.5511609315872192 + ], + [ + 0.8544629216194153 + ], + [ + 1.0092895030975342 + ], + [ + 1.0067112445831299 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.37663134932518005, + 0.1209186315536499, + 0.05049955099821091 + ], + [ + 0.3726358711719513, + 0.09581957757472992, + 0.04381463676691055 + ], + [ + 0.38487544655799866, + 0.04732435196638107, + 0.05878236144781113 + ], + [ + 0.3961904048919678, + 0.013802888803184032, + 0.06942622363567352 + ], + [ + 0.40132060647010803, + 0.007759731262922287, + 0.07662906497716904 + ], + [ + 0.39918556809425354, + 0.011097543872892857, + 0.07419844716787338 + ], + [ + 0.39772215485572815, + 0.026381084695458412, + 0.07255207002162933 + ], + [ + 0.3953671455383301, + 0.03358323872089386, + 0.05136048421263695 + ], + [ + 0.3930489420890808, + 0.03165484219789505, + 0.0335470549762249 + ], + [ + 0.3923496603965759, + 0.02950509823858738, + 0.018675286322832108 + ], + [ + 0.3949846029281616, + 0.02718251757323742, + 0.01749865710735321 + ], + [ + 0.3967415690422058, + 0.026813115924596786, + 0.012833163142204285 + ], + [ + 0.3969130516052246, + 0.02435825765132904, + 0.013001539744436741 + ], + [ + 0.39831027388572693, + 0.0211954303085804, + 0.016639389097690582 + ], + [ + 0.39319679141044617, + 0.028359796851873398, + 0.04810111224651337 + ], + [ + 0.3625403046607971, + 0.05946633964776993, + 0.0783391073346138 + ], + [ + 0.3208273649215698, + 0.0951903685927391, + 0.07803240418434143 + ], + [ + 0.28601667284965515, + 0.14012488722801208, + 0.0678187757730484 + ], + [ + 0.28138095140457153, + 0.16728876531124115, + 0.0641692653298378 + ], + [ + 0.28101465106010437, + 0.17855453491210938, + 0.05360427498817444 + ], + [ + 0.2750921845436096, + 0.18291935324668884, + 0.03734162822365761 + ], + [ + 0.2746661305427551, + 0.18675141036510468, + 0.03222450986504555 + ], + [ + 0.271013468503952, + 0.18834178149700165, + 0.03096734546124935 + ], + [ + 0.2687395215034485, + 0.1876964420080185, + 0.02953607402741909 + ], + [ + 0.2672956883907318, + 0.18606042861938477, + 0.02541167102754116 + ], + [ + 0.2662580609321594, + 0.1848706156015396, + 0.04099028930068016 + ], + [ + 0.2688814699649811, + 0.17684003710746765, + 0.06009397655725479 + ], + [ + 0.26672038435935974, + 0.17282094061374664, + 0.06416689604520798 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9941287277864521, + 0.10819590948844683, + 0.0013106333040814504, + 0.10783763112773749, + -0.9916871236353182, + 0.07019753648574109, + 0.008894824475388374, + -0.06964405204952359, + -0.9975322491587302 + ], + [ + 0.9995817903132497, + 0.028890474860478348, + 0.0012589426098478524, + 0.02881046279660604, + -0.9986733000326425, + 0.04268017145416973, + 0.0024903227911660586, + -0.04262605147381135, + -0.9990879931358139 + ], + [ + 0.9922346705944879, + -0.12397059996220514, + 0.010082103711989768, + -0.12426699276096329, + -0.9915248062621491, + 0.037898193584320804, + 0.005298394133613506, + -0.03885677433625779, + -0.9992307431758624 + ], + [ + 0.9665779537482513, + -0.2524266282391301, + 0.0448091138460446, + -0.25505132807544506, + -0.9645176692038191, + 0.06822379233511079, + 0.025997680181036882, + -0.0773722375885345, + -0.9966632618270567 + ], + [ + 0.9608122844444315, + -0.2701441977238298, + 0.062143917617259625, + -0.274705495719459, + -0.9579378332695873, + 0.08301805955510035, + 0.037103162698059716, + -0.09683604714627837, + -0.9946085336909615 + ], + [ + 0.9686413614752211, + -0.24487999383599152, + 0.04204404188841006, + -0.24806611191712125, + -0.9627090094393098, + 0.10795632108730299, + 0.014039834676801016, + -0.11500065983839977, + -0.9932661935649377 + ], + [ + 0.9802171021062208, + -0.19572095054398378, + 0.029457465210743057, + -0.197861511059136, + -0.9727664710821986, + 0.1207319973316159, + 0.005025453201263581, + -0.12417206713446206, + -0.9922479743308507 + ], + [ + 0.9820835675900786, + -0.18660543164236498, + -0.026273164086391583, + -0.18245592636195934, + -0.9764523415339218, + 0.1151115096257578, + -0.04713492553238078, + -0.10825542755210153, + -0.9930050660498007 + ], + [ + 0.9791313378650001, + -0.19224317991102957, + -0.06591193358103639, + -0.18504223127874853, + -0.977423784733879, + 0.10199077252321487, + -0.08403092201134993, + -0.08766587029280859, + -0.9925993649664134 + ], + [ + 0.9746644499066329, + -0.2059649170586003, + -0.08722191828459616, + -0.19842849159068307, + -0.976176114791441, + 0.08778568582482041, + -0.10322472481555509, + -0.06825427350526683, + -0.992313463747732 + ], + [ + 0.973554756715073, + -0.21639709928955275, + -0.07323544972567807, + -0.2104641630228415, + -0.9742471652334633, + 0.08091537009527515, + -0.08885928066639785, + -0.06336210581749947, + -0.9940267963117605 + ], + [ + 0.9718599201400568, + -0.22123937007514738, + -0.08087914906892742, + -0.21512166502887514, + -0.9734733511213967, + 0.07792498887829237, + -0.09597377173252204, + -0.058333316254345804, + -0.9936731149398195 + ], + [ + 0.9712038052239781, + -0.22409713875669474, + -0.08089277544705772, + -0.2194577543343293, + -0.9736240723651739, + 0.062405606908256944, + -0.09274407140620128, + -0.042856016055128454, + -0.9947672587630154 + ], + [ + 0.9740295802903521, + -0.21934593806512756, + -0.056158135418915726, + -0.21811598753727843, + -0.9755425550294518, + 0.02724223388870061, + -0.06076012425956565, + -0.01428575447563365, + -0.9980501613240809 + ], + [ + 0.9837420789377094, + -0.1766644718144124, + 0.032267422051481295, + -0.17565254861962296, + -0.983935020302203, + -0.03190702095674821, + 0.03738588357581932, + 0.025720424207972832, + -0.9989698471364474 + ], + [ + 0.9815521099633457, + -0.16807454266843783, + 0.09113947297027632, + -0.16254046124723306, + -0.9845500264774413, + -0.06512943897199312, + 0.10067797119549525, + 0.04911408626927036, + -0.993706069542646 + ], + [ + 0.9835121594268773, + -0.1770914056656946, + 0.036639682024126624, + -0.17536901275517242, + -0.9834342053354989, + -0.045857094777275814, + 0.044153613948995085, + 0.03867554544520699, + -0.9982758439227901 + ], + [ + 0.9912343294055536, + -0.12899025710013762, + -0.028566024945083816, + -0.1278855411330615, + -0.9910753553407335, + 0.03761553409620776, + -0.03316312073715003, + -0.033632627156963656, + -0.9988839040716865 + ], + [ + 0.9950766237822045, + -0.07684668051594842, + -0.06258674377125441, + -0.06921590051434906, + -0.990822860428544, + 0.11610003603869266, + -0.07093427886569816, + -0.11119643405198638, + -0.9912636789149118 + ], + [ + 0.9917062740354254, + -0.05105227106053454, + -0.11795054751181075, + -0.03500894540843568, + -0.9903233670011709, + 0.13429073874565578, + -0.1236650305468906, + -0.12904764388018292, + -0.983897182549483 + ], + [ + 0.9834131725444734, + -0.04008653754485566, + -0.17689432318104312, + -0.015314851019551665, + -0.9901404611115898, + 0.13923836614948365, + -0.1807318107148362, + -0.13421973318925057, + -0.9743310914767852 + ], + [ + 0.9761201892857723, + -0.05662581007579347, + -0.20972099013205192, + -0.024834537663931486, + -0.9881871016451949, + 0.1512266440845926, + -0.21580690861908663, + -0.14240705662055322, + -0.9659956565207443 + ], + [ + 0.9737007978360248, + -0.04915221231659096, + -0.22246531486475318, + -0.013481682255943133, + -0.9871702406168024, + 0.159101100826219, + -0.22743130949154472, + -0.15191766212310429, + -0.9618711053971898 + ], + [ + 0.9725043750974209, + -0.041194565222103116, + -0.2292122339940353, + -0.005245615027034151, + -0.9878559957616057, + 0.1552836603150328, + -0.23282552252569447, + -0.149811679898492, + -0.9609103686747422 + ], + [ + 0.9749225006976799, + -0.041412745795591205, + -0.2186574995719366, + -0.00882599411152597, + -0.98895524334626, + 0.1479514396208518, + -0.22236955605775943, + -0.14231131769331976, + -0.9645202275717526 + ], + [ + 0.9953029649062907, + -0.04170461874517705, + -0.0873655127843175, + -0.029865427317631484, + -0.9907083970700941, + 0.13268356426453234, + -0.09208726459116151, + -0.12945113653469573, + -0.9873005312213669 + ], + [ + 0.9962660558887969, + -0.07912134355789399, + 0.034550815871320334, + -0.08245698134644439, + -0.9905980260071622, + 0.1091622512498959, + 0.025588906014370704, + -0.11160360148448159, + -0.9934232954912424 + ], + [ + 0.9934268406714355, + -0.07391629656761729, + 0.08740419518134149, + -0.07926553983270286, + -0.9950822769947146, + 0.05939895795419346, + 0.08258381456799016, + -0.06593665985430182, + -0.9944004577928641 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006208.json b/json/chunk-0006/episode_0006208.json new file mode 100644 index 0000000000000000000000000000000000000000..2b7c5a1a7fb7a18d1426c9a307eaa57fd4e7cdd5 --- /dev/null +++ b/json/chunk-0006/episode_0006208.json @@ -0,0 +1,1162 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 18, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nLever vertical to front." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006208.mp4", + "start": 0, + "end": 18, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3819720447063446, + -0.047240640968084335, + 0.08060286194086075, + 0.22317896783351898, + -0.07936838269233704, + -0.0836271345615387, + 0.0, + 1.002137303352356 + ], + [ + 0.38495150208473206, + -0.046614259481430054, + 0.07059496641159058, + 0.23313523828983307, + -0.07599274814128876, + -0.11069054156541824, + 0.0, + 1.002137303352356 + ], + [ + 0.39351576566696167, + -0.04626718908548355, + 0.07255443185567856, + 0.24660731852054596, + -0.11729856580495834, + -0.14828184247016907, + 0.0, + 1.002137303352356 + ], + [ + 0.40536990761756897, + -0.0468527153134346, + 0.08100831508636475, + 0.26175346970558167, + -0.17141596972942352, + -0.18552348017692566, + 0.0, + 1.002137303352356 + ], + [ + 0.41015690565109253, + -0.04899066686630249, + 0.0821414515376091, + 0.263593852519989, + -0.17487667500972748, + -0.1921459436416626, + 0.0, + 1.0014774799346924 + ], + [ + 0.41351187229156494, + -0.05419556424021721, + 0.07693478465080261, + 0.24275211989879608, + -0.16349731385707855, + -0.18788611888885498, + 0.0, + 1.0014774799346924 + ], + [ + 0.42604291439056396, + -0.056902993470430374, + 0.08122801780700684, + 0.24839912354946136, + -0.18909472227096558, + -0.26001638174057007, + 0.0, + 1.0014774799346924 + ], + [ + 0.4265218675136566, + -0.055842578411102295, + 0.08064155280590057, + 0.24613629281520844, + -0.18879354000091553, + -0.2512739896774292, + 0.0, + 0.8362758755683899 + ], + [ + 0.4265296757221222, + -0.05523550882935524, + 0.08229131996631622, + 0.25237831473350525, + -0.18701592087745667, + -0.24329429864883423, + 0.0, + 0.5324842929840088 + ], + [ + 0.42186346650123596, + -0.0562751404941082, + 0.0794544667005539, + 0.2522289752960205, + -0.1723073124885559, + -0.22931496798992157, + 0.0, + 0.43017780780792236 + ], + [ + 0.4079815149307251, + -0.05584872141480446, + 0.07539630681276321, + 0.23378457129001617, + -0.15965431928634644, + -0.17288252711296082, + 0.0, + 0.4283607602119446 + ], + [ + 0.38791394233703613, + -0.05517445504665375, + 0.062162838876247406, + 0.19932836294174194, + -0.14672237634658813, + -0.09460116922855377, + 0.0, + 0.4202251136302948 + ], + [ + 0.38193172216415405, + -0.055369023233652115, + 0.05317610502243042, + 0.1660584658384323, + -0.13803783059120178, + -0.0731285884976387, + 0.0, + 0.4202251136302948 + ], + [ + 0.38098928332328796, + -0.054087456315755844, + 0.047292765229940414, + 0.12782852351665497, + -0.14257143437862396, + -0.06554260104894638, + 0.0, + 0.4202251136302948 + ], + [ + 0.3808728754520416, + -0.05243021622300148, + 0.044022247195243835, + 0.1075858473777771, + -0.14848513901233673, + -0.05723675340414047, + 0.0, + 0.4202251136302948 + ], + [ + 0.38045528531074524, + -0.05339208245277405, + 0.04163430258631706, + 0.09654081612825394, + -0.15400707721710205, + -0.05574026703834534, + 0.0, + 0.4202251136302948 + ], + [ + 0.3794689178466797, + -0.05163028463721275, + 0.039059966802597046, + 0.0966956838965416, + -0.15741325914859772, + -0.04016265645623207, + 0.0, + 0.438394159078598 + ], + [ + 0.37350550293922424, + -0.04804416373372078, + 0.03840969130396843, + 0.13272351026535034, + -0.12364472448825836, + -0.018196752294898033, + 0.0, + 0.6470694541931152 + ] + ], + "left_gripper_pos": [ + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 0.8362758755683899 + ], + [ + 0.5324842929840088 + ], + [ + 0.43017780780792236 + ], + [ + 0.4283607602119446 + ], + [ + 0.4202251136302948 + ], + [ + 0.4202251136302948 + ], + [ + 0.4202251136302948 + ], + [ + 0.4202251136302948 + ], + [ + 0.4202251136302948 + ], + [ + 0.438394159078598 + ], + [ + 0.6470694541931152 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3819720447063446, + -0.047240640968084335, + 0.08060286194086075 + ], + [ + 0.38495150208473206, + -0.046614259481430054, + 0.07059496641159058 + ], + [ + 0.39351576566696167, + -0.04626718908548355, + 0.07255443185567856 + ], + [ + 0.40536990761756897, + -0.0468527153134346, + 0.08100831508636475 + ], + [ + 0.41015690565109253, + -0.04899066686630249, + 0.0821414515376091 + ], + [ + 0.41351187229156494, + -0.05419556424021721, + 0.07693478465080261 + ], + [ + 0.42604291439056396, + -0.056902993470430374, + 0.08122801780700684 + ], + [ + 0.4265218675136566, + -0.055842578411102295, + 0.08064155280590057 + ], + [ + 0.4265296757221222, + -0.05523550882935524, + 0.08229131996631622 + ], + [ + 0.42186346650123596, + -0.0562751404941082, + 0.0794544667005539 + ], + [ + 0.4079815149307251, + -0.05584872141480446, + 0.07539630681276321 + ], + [ + 0.38791394233703613, + -0.05517445504665375, + 0.062162838876247406 + ], + [ + 0.38193172216415405, + -0.055369023233652115, + 0.05317610502243042 + ], + [ + 0.38098928332328796, + -0.054087456315755844, + 0.047292765229940414 + ], + [ + 0.3808728754520416, + -0.05243021622300148, + 0.044022247195243835 + ], + [ + 0.38045528531074524, + -0.05339208245277405, + 0.04163430258631706 + ], + [ + 0.3794689178466797, + -0.05163028463721275, + 0.039059966802597046 + ], + [ + 0.37350550293922424, + -0.04804416373372078, + 0.03840969130396843 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9933682729648149, + -0.06397114623513861, + 0.0955362063108185, + -0.08326674137887558, + -0.9732565348575656, + 0.2140989657545955, + 0.07928508086042554, + -0.22063410843839745, + -0.9721288320724517 + ], + [ + 0.9910116574353062, + -0.09004392610313482, + 0.0989342519012539, + -0.11014583506729216, + -0.9689299754122498, + 0.22145563385234973, + 0.0759196275323874, + -0.2303623105448248, + -0.9701388643054114 + ], + [ + 0.9822301903527602, + -0.11501412431264478, + 0.1483091513298358, + -0.1467238457221852, + -0.9633252984765157, + 0.22466971850168055, + 0.11702976653857361, + -0.24243786940931378, + -0.9630825059257382 + ], + [ + 0.9684355412017173, + -0.1347941594219469, + 0.2096738827872182, + -0.18175763563394737, + -0.9575043808518322, + 0.22394089072410828, + 0.17057773719361674, + -0.25498214689519055, + -0.9517811409870576 + ], + [ + 0.9666253842497549, + -0.13987149059575785, + 0.21464233655673448, + -0.18805317473808766, + -0.9563491470094672, + 0.22367903899380187, + 0.17398669487906226, + -0.25657800983869467, + -0.9507346395668325 + ], + [ + 0.9693000229266789, + -0.14286895186060466, + 0.20011478743109304, + -0.18429171259143962, + -0.9609053901482496, + 0.20663348192912526, + 0.1627698689083872, + -0.23716933566186868, + -0.9577351805156026 + ], + [ + 0.9491597493846156, + -0.204545936806593, + 0.23928378525100086, + -0.2525135891925172, + -0.9486058821842963, + 0.19074529498382303, + 0.1879698311465074, + -0.24147016383244174, + -0.9520291500565974 + ], + [ + 0.951385814605599, + -0.196852119077587, + 0.23688451824022674, + -0.24422018368115575, + -0.9507738159037629, + 0.19075023689248757, + 0.187674008988947, + -0.23932905006802055, + -0.9526279820284284 + ], + [ + 0.9536265872547809, + -0.18820951249316892, + 0.23489042442782337, + -0.23670071788124952, + -0.9509883250403834, + 0.1989823504519602, + 0.18592768012133226, + -0.24535359187093483, + -0.9514370776466144 + ], + [ + 0.9594017700566767, + -0.1784490986296223, + 0.21841282657021602, + -0.22394441553470143, + -0.9527355981523253, + 0.20528949988772455, + 0.17145594875342443, + -0.24586744235788194, + -0.9540188983586525 + ], + [ + 0.9725648806932268, + -0.13106330551249173, + 0.19219771796332322, + -0.1698348846346457, + -0.9646305210649396, + 0.20160374448685187, + 0.15897693167031016, + -0.22871459896150598, + -0.9604248890041174 + ], + [ + 0.9848322556301665, + -0.06377071370876022, + 0.16136518937947614, + -0.09344520826377745, + -0.9785514510369364, + 0.18358935352042052, + 0.14619651611080925, + -0.1958835208652888, + -0.9696681003985231 + ], + [ + 0.9878406162616185, + -0.04937439786021143, + 0.1474214560361139, + -0.07236843969398385, + -0.9852698190503166, + 0.15493931910530345, + 0.1375998757271406, + -0.1637240132188873, + -0.9768626933686113 + ], + [ + 0.9877285345749066, + -0.046886607548025164, + 0.14897646800466582, + -0.06483115848431804, + -0.9908977864400396, + 0.11797668294121146, + 0.14208892594459635, + -0.12618725316317558, + -0.981777731598677 + ], + [ + 0.9873767648546591, + -0.04101519557155831, + 0.15298652867940618, + -0.056576035801999235, + -0.9934988574880658, + 0.09878852333565655, + 0.1479401108492178, + -0.10619686389971919, + -0.9832781649664486 + ], + [ + 0.9866296265409921, + -0.04068868301108018, + 0.15781765144116938, + -0.05505202579724773, + -0.9946214630229535, + 0.08773494030144867, + 0.1533990041923407, + -0.09525007280261484, + -0.9835629970387737 + ], + [ + 0.9868396542594323, + -0.024841711161192492, + 0.15978230868186902, + -0.03965542622063596, + -0.9951336597708641, + 0.09020225253454524, + 0.1567639753016741, + -0.09535139525790935, + -0.9830224653943501 + ], + [ + 0.9922014321444508, + -0.0017176568367814789, + 0.12463293186590763, + -0.018056836735430605, + -0.9913380250089529, + 0.13008793494578547, + 0.12332991809618182, + -0.1313239118604832, + -0.9836380236022035 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + 0.002979457378387451, + 0.0006263814866542816, + -0.010007895529270172, + 0.009956270456314087, + 0.003375634551048279, + -0.027063407003879547, + 1.0 + ], + [ + 0.008564263582229614, + 0.0003470703959465027, + 0.001959465444087982, + 0.01347208023071289, + -0.041305817663669586, + -0.037591300904750824, + 1.0 + ], + [ + 0.0118541419506073, + -0.0005855262279510498, + 0.008453883230686188, + 0.015146151185035706, + -0.05411740392446518, + -0.03724163770675659, + 1.0 + ], + [ + 0.00478699803352356, + -0.0021379515528678894, + 0.0011331364512443542, + 0.0018403828144073486, + -0.003460705280303955, + -0.0066224634647369385, + 1.0 + ], + [ + 0.003354966640472412, + -0.005204897373914719, + -0.005206666886806488, + -0.020841732621192932, + 0.011379361152648926, + 0.004259824752807617, + 1.0 + ], + [ + 0.012531042098999023, + -0.0027074292302131653, + 0.004293233156204224, + 0.005647003650665283, + -0.025597408413887024, + -0.07213026285171509, + 1.0 + ], + [ + 0.00047895312309265137, + 0.0010604150593280792, + -0.0005864650011062622, + -0.0022628307342529297, + 0.00030118227005004883, + 0.00874239206314087, + 0.0 + ], + [ + 7.808208465576172e-06, + 0.000607069581747055, + 0.0016497671604156494, + 0.006242021918296814, + 0.0017776191234588623, + 0.00797969102859497, + 0.0 + ], + [ + -0.0046662092208862305, + -0.0010396316647529602, + -0.002836853265762329, + -0.0001493394374847412, + 0.014708608388900757, + 0.013979330658912659, + 0.0 + ], + [ + -0.013881951570510864, + 0.00042641907930374146, + -0.00405815988779068, + -0.018444404006004333, + 0.012652993202209473, + 0.056432440876960754, + 0.0 + ], + [ + -0.020067572593688965, + 0.0006742663681507111, + -0.013233467936515808, + -0.03445620834827423, + 0.0129319429397583, + 0.07828135788440704, + 0.0 + ], + [ + -0.00598222017288208, + -0.0001945681869983673, + -0.008986733853816986, + -0.03326989710330963, + 0.008684545755386353, + 0.02147258073091507, + 0.0 + ], + [ + -0.0009424388408660889, + 0.0012815669178962708, + -0.0058833397924900055, + -0.038229942321777344, + -0.00453360378742218, + 0.007585987448692322, + 0.0 + ], + [ + -0.00011640787124633789, + 0.001657240092754364, + -0.003270518034696579, + -0.02024267613887787, + -0.0059137046337127686, + 0.008305847644805908, + 0.0 + ], + [ + -0.0004175901412963867, + -0.0009618662297725677, + -0.002387944608926773, + -0.011045031249523163, + -0.00552193820476532, + 0.0014964863657951355, + 0.0 + ], + [ + -0.0009863674640655518, + 0.0017617978155612946, + -0.0025743357837200165, + 0.0001548677682876587, + -0.0034061819314956665, + 0.015577610582113266, + 1.0 + ], + [ + -0.005963414907455444, + 0.003586120903491974, + -0.0006502754986286163, + 0.036027826368808746, + 0.033768534660339355, + 0.021965904161334038, + 1.0 + ], + [ + -0.010907143354415894, + 0.0031207874417304993, + 0.008163053542375565, + 0.051371216773986816, + 0.025399163365364075, + 0.032944709062576294, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 0.8362758755683899 + ], + [ + 0.5324842929840088 + ], + [ + 0.43017780780792236 + ], + [ + 0.4283607602119446 + ], + [ + 0.4202251136302948 + ], + [ + 0.4202251136302948 + ], + [ + 0.4202251136302948 + ], + [ + 0.4202251136302948 + ], + [ + 0.4202251136302948 + ], + [ + 0.438394159078598 + ], + [ + 0.6470694541931152 + ], + [ + 0.9214844703674316 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.38495150208473206, + -0.046614259481430054, + 0.07059496641159058 + ], + [ + 0.39351576566696167, + -0.04626718908548355, + 0.07255443185567856 + ], + [ + 0.40536990761756897, + -0.0468527153134346, + 0.08100831508636475 + ], + [ + 0.41015690565109253, + -0.04899066686630249, + 0.0821414515376091 + ], + [ + 0.41351187229156494, + -0.05419556424021721, + 0.07693478465080261 + ], + [ + 0.42604291439056396, + -0.056902993470430374, + 0.08122801780700684 + ], + [ + 0.4265218675136566, + -0.055842578411102295, + 0.08064155280590057 + ], + [ + 0.4265296757221222, + -0.05523550882935524, + 0.08229131996631622 + ], + [ + 0.42186346650123596, + -0.0562751404941082, + 0.0794544667005539 + ], + [ + 0.4079815149307251, + -0.05584872141480446, + 0.07539630681276321 + ], + [ + 0.38791394233703613, + -0.05517445504665375, + 0.062162838876247406 + ], + [ + 0.38193172216415405, + -0.055369023233652115, + 0.05317610502243042 + ], + [ + 0.38098928332328796, + -0.054087456315755844, + 0.047292765229940414 + ], + [ + 0.3808728754520416, + -0.05243021622300148, + 0.044022247195243835 + ], + [ + 0.38045528531074524, + -0.05339208245277405, + 0.04163430258631706 + ], + [ + 0.3794689178466797, + -0.05163028463721275, + 0.039059966802597046 + ], + [ + 0.37350550293922424, + -0.04804416373372078, + 0.03840969130396843 + ], + [ + 0.36259835958480835, + -0.04492337629199028, + 0.046572744846343994 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9910116574353062, + -0.09004392610313482, + 0.0989342519012539, + -0.11014583506729216, + -0.9689299754122498, + 0.22145563385234973, + 0.0759196275323874, + -0.2303623105448248, + -0.9701388643054114 + ], + [ + 0.9822301903527602, + -0.11501412431264478, + 0.1483091513298358, + -0.1467238457221852, + -0.9633252984765157, + 0.22466971850168055, + 0.11702976653857361, + -0.24243786940931378, + -0.9630825059257382 + ], + [ + 0.9684355412017173, + -0.1347941594219469, + 0.2096738827872182, + -0.18175763563394737, + -0.9575043808518322, + 0.22394089072410828, + 0.17057773719361674, + -0.25498214689519055, + -0.9517811409870576 + ], + [ + 0.9666253842497549, + -0.13987149059575785, + 0.21464233655673448, + -0.18805317473808766, + -0.9563491470094672, + 0.22367903899380187, + 0.17398669487906226, + -0.25657800983869467, + -0.9507346395668325 + ], + [ + 0.9693000229266789, + -0.14286895186060466, + 0.20011478743109304, + -0.18429171259143962, + -0.9609053901482496, + 0.20663348192912526, + 0.1627698689083872, + -0.23716933566186868, + -0.9577351805156026 + ], + [ + 0.9491597493846156, + -0.204545936806593, + 0.23928378525100086, + -0.2525135891925172, + -0.9486058821842963, + 0.19074529498382303, + 0.1879698311465074, + -0.24147016383244174, + -0.9520291500565974 + ], + [ + 0.951385814605599, + -0.196852119077587, + 0.23688451824022674, + -0.24422018368115575, + -0.9507738159037629, + 0.19075023689248757, + 0.187674008988947, + -0.23932905006802055, + -0.9526279820284284 + ], + [ + 0.9536265872547809, + -0.18820951249316892, + 0.23489042442782337, + -0.23670071788124952, + -0.9509883250403834, + 0.1989823504519602, + 0.18592768012133226, + -0.24535359187093483, + -0.9514370776466144 + ], + [ + 0.9594017700566767, + -0.1784490986296223, + 0.21841282657021602, + -0.22394441553470143, + -0.9527355981523253, + 0.20528949988772455, + 0.17145594875342443, + -0.24586744235788194, + -0.9540188983586525 + ], + [ + 0.9725648806932268, + -0.13106330551249173, + 0.19219771796332322, + -0.1698348846346457, + -0.9646305210649396, + 0.20160374448685187, + 0.15897693167031016, + -0.22871459896150598, + -0.9604248890041174 + ], + [ + 0.9848322556301665, + -0.06377071370876022, + 0.16136518937947614, + -0.09344520826377745, + -0.9785514510369364, + 0.18358935352042052, + 0.14619651611080925, + -0.1958835208652888, + -0.9696681003985231 + ], + [ + 0.9878406162616185, + -0.04937439786021143, + 0.1474214560361139, + -0.07236843969398385, + -0.9852698190503166, + 0.15493931910530345, + 0.1375998757271406, + -0.1637240132188873, + -0.9768626933686113 + ], + [ + 0.9877285345749066, + -0.046886607548025164, + 0.14897646800466582, + -0.06483115848431804, + -0.9908977864400396, + 0.11797668294121146, + 0.14208892594459635, + -0.12618725316317558, + -0.981777731598677 + ], + [ + 0.9873767648546591, + -0.04101519557155831, + 0.15298652867940618, + -0.056576035801999235, + -0.9934988574880658, + 0.09878852333565655, + 0.1479401108492178, + -0.10619686389971919, + -0.9832781649664486 + ], + [ + 0.9866296265409921, + -0.04068868301108018, + 0.15781765144116938, + -0.05505202579724773, + -0.9946214630229535, + 0.08773494030144867, + 0.1533990041923407, + -0.09525007280261484, + -0.9835629970387737 + ], + [ + 0.9868396542594323, + -0.024841711161192492, + 0.15978230868186902, + -0.03965542622063596, + -0.9951336597708641, + 0.09020225253454524, + 0.1567639753016741, + -0.09535139525790935, + -0.9830224653943501 + ], + [ + 0.9922014321444508, + -0.0017176568367814789, + 0.12463293186590763, + -0.018056836735430605, + -0.9913380250089529, + 0.13008793494578547, + 0.12332991809618182, + -0.1313239118604832, + -0.9836380236022035 + ], + [ + 0.9950695607315447, + 0.032451857841893264, + 0.09372004176343467, + 0.014676307848018263, + -0.9827306595162835, + 0.18445882151483187, + 0.09808758990555629, + -0.18217389431337286, + -0.9783616391382173 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006209.json b/json/chunk-0006/episode_0006209.json new file mode 100644 index 0000000000000000000000000000000000000000..b2910b3fd625b2ac8195039d1c5908de1b79dc22 --- /dev/null +++ b/json/chunk-0006/episode_0006209.json @@ -0,0 +1,2122 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 34, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nUnfold the cloth left to to bottom right." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006209.mp4", + "start": 0, + "end": 34, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.26598599553108215, + 0.1408398300409317, + 0.12123048305511475, + 0.024672294035553932, + -0.13821814954280853, + -0.18848657608032227, + 0.0, + 1.0001531839370728 + ], + [ + 0.2643812596797943, + 0.13884355127811432, + 0.11200349777936935, + 0.0015577859012410045, + -0.11270999163389206, + -0.18116630613803864, + 0.0, + 1.0001531839370728 + ], + [ + 0.26320990920066833, + 0.10847529023885727, + 0.1126200333237648, + -0.017854176461696625, + -0.09688635915517807, + -0.2082294523715973, + 0.0, + 1.0001531839370728 + ], + [ + 0.26058197021484375, + 0.08688998967409134, + 0.1204490214586258, + -0.03628816083073616, + -0.12219696491956711, + -0.22148966789245605, + 0.0, + 1.0001531839370728 + ], + [ + 0.2537899315357208, + 0.05586164444684982, + 0.12110786885023117, + -0.05845458433032036, + -0.12594200670719147, + -0.22759516537189484, + 0.0, + 1.0001531839370728 + ], + [ + 0.24404725432395935, + 0.026115233078598976, + 0.12053531408309937, + -0.0941876545548439, + -0.13423720002174377, + -0.18064914643764496, + 0.0, + 1.0001531839370728 + ], + [ + 0.2374916523694992, + 0.0028958884067833424, + 0.11604855209589005, + -0.0993017926812172, + -0.10445070266723633, + -0.18620634078979492, + 0.0, + 1.0001531839370728 + ], + [ + 0.23120439052581787, + -0.00791811291128397, + 0.10767298191785812, + -0.08513955771923065, + -0.07674859464168549, + -0.21544420719146729, + 0.0, + 1.0001531839370728 + ], + [ + 0.2238389551639557, + -0.009448244236409664, + 0.09726960211992264, + -0.0771818682551384, + -0.05617370828986168, + -0.20685440301895142, + 0.0, + 1.0001531839370728 + ], + [ + 0.2227407693862915, + -0.01100506354123354, + 0.09106852114200592, + -0.06568329781293869, + -0.06266893446445465, + -0.220875546336174, + 0.0, + 1.0001531839370728 + ], + [ + 0.22528059780597687, + -0.016306931152939796, + 0.07872777432203293, + -0.07043882459402084, + -0.026771152392029762, + -0.2375253289937973, + 0.0, + 1.0001531839370728 + ], + [ + 0.23055188357830048, + -0.02437415160238743, + 0.07456588745117188, + -0.06639069318771362, + -0.01905762031674385, + -0.24921384453773499, + 0.0, + 0.9994885921478271 + ], + [ + 0.23146381974220276, + -0.031900957226753235, + 0.07406619191169739, + -0.05621480569243431, + -0.02264287695288658, + -0.28224828839302063, + 0.0, + 0.9560673832893372 + ], + [ + 0.2327408641576767, + -0.03284108266234398, + 0.07227709889411926, + -0.054061949253082275, + -0.025153324007987976, + -0.28402331471443176, + 0.0, + 0.672171950340271 + ], + [ + 0.23292475938796997, + -0.032850515097379684, + 0.0719197615981102, + -0.054121702909469604, + -0.024890728294849396, + -0.2793388068675995, + 0.0, + 0.36275482177734375 + ], + [ + 0.23209767043590546, + -0.030492335557937622, + 0.07227974385023117, + -0.05658270791172981, + -0.019671110436320305, + -0.27736127376556396, + 0.0, + 0.1546454280614853 + ], + [ + 0.23090949654579163, + -0.025269292294979095, + 0.07665695995092392, + -0.06291767209768295, + -0.028200440108776093, + -0.2838844358921051, + 0.0, + 0.06712212413549423 + ], + [ + 0.2302655577659607, + -0.019201960414648056, + 0.0953935906291008, + -0.057529859244823456, + -0.0857003703713417, + -0.2754276692867279, + 0.0, + 0.05868057906627655 + ], + [ + 0.24028857052326202, + -0.02615402638912201, + 0.1083899587392807, + -0.05209312587976456, + -0.12004944682121277, + -0.29388728737831116, + 0.0, + 0.05868057906627655 + ], + [ + 0.25511378049850464, + -0.046807367354631424, + 0.1167229488492012, + -0.05543125048279762, + -0.13227027654647827, + -0.3364202380180359, + 0.0, + 0.05868057906627655 + ], + [ + 0.27868959307670593, + -0.08106917887926102, + 0.1212829202413559, + -0.06344404071569443, + -0.14291644096374512, + -0.39991581439971924, + 0.0, + 0.05868057906627655 + ], + [ + 0.29972487688064575, + -0.11298595368862152, + 0.11483863741159439, + -0.06689033657312393, + -0.12717729806900024, + -0.45739829540252686, + 0.0, + 0.05868057906627655 + ], + [ + 0.30833545327186584, + -0.141445592045784, + 0.1038602739572525, + -0.06985301524400711, + -0.1182345524430275, + -0.5100996494293213, + 0.0, + 0.05868057906627655 + ], + [ + 0.3088422119617462, + -0.16247759759426117, + 0.08900423347949982, + -0.0706334337592125, + -0.09539990872144699, + -0.5516499876976013, + 0.0, + 0.05868057906627655 + ], + [ + 0.3063023090362549, + -0.17009931802749634, + 0.08165408670902252, + -0.07128313928842545, + -0.08604047447443008, + -0.572058916091919, + 0.0, + 0.08191495388746262 + ], + [ + 0.30546608567237854, + -0.1702868491411209, + 0.08126739412546158, + -0.07177706807851791, + -0.08289024233818054, + -0.5721532106399536, + 0.0, + 0.23789463937282562 + ], + [ + 0.30273741483688354, + -0.16933485865592957, + 0.07805656641721725, + -0.07541445642709732, + -0.0738542377948761, + -0.5686871409416199, + 0.0, + 0.5071992874145508 + ], + [ + 0.30119064450263977, + -0.16708841919898987, + 0.075447216629982, + -0.0683438777923584, + -0.06475454568862915, + -0.5636879205703735, + 0.0, + 0.8196109533309937 + ], + [ + 0.29970860481262207, + -0.1654723882675171, + 0.07454326748847961, + -0.05441351234912872, + -0.057980045676231384, + -0.5626863241195679, + 0.0, + 1.0067112445831299 + ], + [ + 0.2938816547393799, + -0.16598781943321228, + 0.08170505613088608, + -0.05973216891288757, + -0.0726851224899292, + -0.5713033080101013, + 0.0, + 1.0041072368621826 + ], + [ + 0.28473421931266785, + -0.1655345857143402, + 0.0934024453163147, + -0.06593355536460876, + -0.09240327030420303, + -0.5843991637229919, + 0.0, + 1.0008161067962646 + ], + [ + 0.27095139026641846, + -0.16168184578418732, + 0.11546117812395096, + -0.0791681706905365, + -0.11952347308397293, + -0.5936344861984253, + 0.0, + 1.0001531839370728 + ], + [ + 0.25493091344833374, + -0.1511232703924179, + 0.1379408985376358, + -0.06792426109313965, + -0.14710910618305206, + -0.5755292773246765, + 0.0, + 1.0001531839370728 + ], + [ + 0.245548278093338, + -0.1442250907421112, + 0.14601203799247742, + -0.06834416091442108, + -0.15758442878723145, + -0.5820496678352356, + 0.0, + 1.0008161067962646 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9560673832893372 + ], + [ + 0.672171950340271 + ], + [ + 0.36275482177734375 + ], + [ + 0.1546454280614853 + ], + [ + 0.06712212413549423 + ], + [ + 0.05868057906627655 + ], + [ + 0.05868057906627655 + ], + [ + 0.05868057906627655 + ], + [ + 0.05868057906627655 + ], + [ + 0.05868057906627655 + ], + [ + 0.05868057906627655 + ], + [ + 0.05868057906627655 + ], + [ + 0.08191495388746262 + ], + [ + 0.23789463937282562 + ], + [ + 0.5071992874145508 + ], + [ + 0.8196109533309937 + ], + [ + 1.0067112445831299 + ], + [ + 1.0041072368621826 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.26598599553108215, + 0.1408398300409317, + 0.12123048305511475 + ], + [ + 0.2643812596797943, + 0.13884355127811432, + 0.11200349777936935 + ], + [ + 0.26320990920066833, + 0.10847529023885727, + 0.1126200333237648 + ], + [ + 0.26058197021484375, + 0.08688998967409134, + 0.1204490214586258 + ], + [ + 0.2537899315357208, + 0.05586164444684982, + 0.12110786885023117 + ], + [ + 0.24404725432395935, + 0.026115233078598976, + 0.12053531408309937 + ], + [ + 0.2374916523694992, + 0.0028958884067833424, + 0.11604855209589005 + ], + [ + 0.23120439052581787, + -0.00791811291128397, + 0.10767298191785812 + ], + [ + 0.2238389551639557, + -0.009448244236409664, + 0.09726960211992264 + ], + [ + 0.2227407693862915, + -0.01100506354123354, + 0.09106852114200592 + ], + [ + 0.22528059780597687, + -0.016306931152939796, + 0.07872777432203293 + ], + [ + 0.23055188357830048, + -0.02437415160238743, + 0.07456588745117188 + ], + [ + 0.23146381974220276, + -0.031900957226753235, + 0.07406619191169739 + ], + [ + 0.2327408641576767, + -0.03284108266234398, + 0.07227709889411926 + ], + [ + 0.23292475938796997, + -0.032850515097379684, + 0.0719197615981102 + ], + [ + 0.23209767043590546, + -0.030492335557937622, + 0.07227974385023117 + ], + [ + 0.23090949654579163, + -0.025269292294979095, + 0.07665695995092392 + ], + [ + 0.2302655577659607, + -0.019201960414648056, + 0.0953935906291008 + ], + [ + 0.24028857052326202, + -0.02615402638912201, + 0.1083899587392807 + ], + [ + 0.25511378049850464, + -0.046807367354631424, + 0.1167229488492012 + ], + [ + 0.27868959307670593, + -0.08106917887926102, + 0.1212829202413559 + ], + [ + 0.29972487688064575, + -0.11298595368862152, + 0.11483863741159439 + ], + [ + 0.30833545327186584, + -0.141445592045784, + 0.1038602739572525 + ], + [ + 0.3088422119617462, + -0.16247759759426117, + 0.08900423347949982 + ], + [ + 0.3063023090362549, + -0.17009931802749634, + 0.08165408670902252 + ], + [ + 0.30546608567237854, + -0.1702868491411209, + 0.08126739412546158 + ], + [ + 0.30273741483688354, + -0.16933485865592957, + 0.07805656641721725 + ], + [ + 0.30119064450263977, + -0.16708841919898987, + 0.075447216629982 + ], + [ + 0.29970860481262207, + -0.1654723882675171, + 0.07454326748847961 + ], + [ + 0.2938816547393799, + -0.16598781943321228, + 0.08170505613088608 + ], + [ + 0.28473421931266785, + -0.1655345857143402, + 0.0934024453163147 + ], + [ + 0.27095139026641846, + -0.16168184578418732, + 0.11546117812395096 + ], + [ + 0.25493091344833374, + -0.1511232703924179, + 0.1379408985376358 + ], + [ + 0.245548278093338, + -0.1442250907421112, + 0.14601203799247742 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9729209122546792, + -0.18397669764036717, + 0.13991952409462824, + -0.18558553206046757, + -0.9826268514080196, + -0.0015751767502441595, + 0.1377784772283229, + -0.02443451692393909, + -0.9901616259961491 + ], + [ + 0.9773930122972757, + -0.1800043566548579, + 0.11091136595375878, + -0.179033682847102, + -0.983664595066643, + -0.018732453618815488, + 0.11247150714141421, + -0.0015479010460910398, + -0.9936537445628084 + ], + [ + 0.9738099638858279, + -0.20838469795277093, + 0.09093938583372566, + -0.20575840839049886, + -0.9778855058455281, + -0.037462178711926634, + 0.09673485211283203, + 0.017769499609388832, + -0.9951515529156052 + ], + [ + 0.968296672758863, + -0.22385279042092454, + 0.11086695515292824, + -0.21804501827229478, + -0.9739575105204132, + -0.06215414473318807, + 0.12189308237447444, + 0.03600966428120488, + -0.9918898026230559 + ], + [ + 0.9664958577732028, + -0.2323989989814008, + 0.10897918232251372, + -0.22384827879937044, + -0.9708921191171209, + -0.08520822210811252, + 0.12560933478766664, + 0.057958591327852325, + -0.9903853273880276 + ], + [ + 0.9748773717235, + -0.1912539329167502, + 0.11417549319077135, + -0.1780518468208444, + -0.9771055479405895, + -0.11645723690439606, + 0.13383441241013916, + 0.09320236760724106, + -0.9866112044403496 + ], + [ + 0.9773578272680095, + -0.19437773404693523, + 0.08360008364071905, + -0.1841231820958982, + -0.9759588407217803, + -0.11663187828325522, + 0.1042608809325771, + 0.0985983657256968, + -0.9896504589921561 + ], + [ + 0.9740058538555781, + -0.21937634300713102, + 0.05645012651787671, + -0.21315207292271268, + -0.9719492191818289, + -0.0994027622382009, + 0.07667327085638956, + 0.08478641082538706, + -0.9934447513956335 + ], + [ + 0.9771381036442525, + -0.20900767475978202, + 0.038947635332884145, + -0.205058427129833, + -0.9748791262649299, + -0.08695821200994089, + 0.05614417039687311, + 0.07698364153790097, + -0.9954503257651839 + ], + [ + 0.9737906405326902, + -0.22262234315196777, + 0.04659485744651019, + -0.2186539088388303, + -0.9727014418542457, + -0.07773270331187576, + 0.06262792157204, + 0.06550723123594152, + -0.9958848056353543 + ], + [ + 0.9715749705488271, + -0.23654571885369752, + 0.009391458621155601, + -0.23521384568799864, + -0.9690697831525477, + -0.07468736290254463, + 0.026767954716558785, + 0.07035537131350766, + -0.9971627742388052 + ], + [ + 0.9689306392593156, + -0.2473239874843073, + 0.0020643447863139767, + -0.24659737910196958, + -0.9666598117170266, + -0.06898217908447378, + 0.01905646673898593, + 0.0663298848639519, + -0.9976157564159466 + ], + [ + 0.9601854865827312, + -0.27929747626978313, + 0.006062268982326055, + -0.27844428364320734, + -0.9585602541957863, + -0.0602579453892266, + 0.022640942169115094, + 0.05617080046999397, + -0.9981644297971428 + ], + [ + 0.959632142502476, + -0.28111521447430393, + 0.008965894666648964, + -0.2801313884381577, + -0.9581525113851582, + -0.05890815001359307, + 0.02515067171702019, + 0.054018525686842934, + -0.9982231426864447 + ], + [ + 0.9609402013559292, + -0.2766105748970578, + 0.00897325320858374, + -0.27563473837513813, + -0.959459276161688, + -0.058850559794776935, + 0.024888158206170227, + 0.05407852847858026, + -0.9982264734711738 + ], + [ + 0.9615952426276132, + -0.27445038018559254, + 0.003402671292587452, + -0.2737657514707358, + -0.9599375181041945, + -0.059768508912492295, + 0.019669841829690275, + 0.05654157896577559, + -0.9982064652016895 + ], + [ + 0.9595930128523565, + -0.2812344547730003, + 0.009403782934019668, + -0.2799753482998724, + -0.9575786714414726, + -0.06824142689561238, + 0.02819670245440166, + 0.06285116903381599, + -0.9976245168006751 + ], + [ + 0.9587772748165047, + -0.27624466943998943, + 0.0665959450824683, + -0.2709604159959284, + -0.9593784808883398, + -0.07857088119458895, + 0.08559550372974967, + 0.05728711036849175, + -0.9946816559718381 + ], + [ + 0.9502363582377467, + -0.2952506232023698, + 0.09938779090852613, + -0.2875901509004056, + -0.9540202913172331, + -0.08448188480416012, + 0.11976129837366746, + 0.051694808768324954, + -0.9914559385864101 + ], + [ + 0.9356971211605861, + -0.3365003045943732, + 0.10601152041021342, + -0.3272266243159817, + -0.9400805585517438, + -0.0957667989013339, + 0.13188492632048, + 0.05491892607230399, + -0.9897425310496191 + ], + [ + 0.9117030539532609, + -0.3968752405668388, + 0.10624304606566704, + -0.38537139988209707, + -0.91572476277359, + -0.11374112271366627, + 0.14243042359415517, + 0.06275509754805791, + -0.9878134298370941 + ], + [ + 0.8899585377999372, + -0.4482339726582093, + 0.08402444139676206, + -0.43804879653639794, + -0.8914541654555761, + -0.11585647476475448, + 0.12683474622520294, + 0.06630065344280149, + -0.9897055978941649 + ], + [ + 0.866603073157787, + -0.49425847055718247, + 0.06861251981929885, + -0.48485536420734693, + -0.8665476535245683, + -0.11836570436754551, + 0.11795927005894803, + 0.0693089348752311, + -0.9905967303366293 + ], + [ + 0.8477883291045059, + -0.5285117305062358, + 0.043935176698113074, + -0.5217100566719847, + -0.846014038740135, + -0.10990388083193554, + 0.09525526652896947, + 0.07025380396754112, + -0.9929707131766705 + ], + [ + 0.837677892005179, + -0.545135506546432, + 0.03351162109067696, + -0.539361693051014, + -0.8353394846062691, + -0.10628692077051126, + 0.08593435468369978, + 0.07095931905041174, + -0.9937706283267775 + ], + [ + 0.8378504713487308, + -0.545041490614193, + 0.030600019113854994, + -0.5395845780838767, + -0.8353573629343836, + -0.10500742490584937, + 0.0827953546689337, + 0.07146922204957433, + -0.9940005430304726 + ], + [ + 0.840311771678994, + -0.5416799713692216, + 0.02142276814861928, + -0.5370582721927072, + -0.837219892524248, + -0.10310802020730785, + 0.07378711708079055, + 0.07513760828723394, + -0.994439440676897 + ], + [ + 0.8435187852929023, + -0.5367952040300515, + 0.018082250643149448, + -0.5331873640980899, + -0.8409558960485523, + -0.09221938878190024, + 0.06470930090889106, + 0.06814755924838055, + -0.9955745158170586 + ], + [ + 0.844403816528027, + -0.5353364137324814, + 0.019927838943236856, + -0.5325638686816305, + -0.8428920139902942, + -0.07686857957735804, + 0.05794756602099185, + 0.054295274964134804, + -0.9968420650779198 + ], + [ + 0.8389758564962314, + -0.5434112811976419, + 0.028700029330165282, + -0.5393011055469474, + -0.837352544107518, + -0.08941495642512627, + 0.07262113860478348, + 0.05953903210335556, + -0.9955808725984747 + ], + [ + 0.8304855650412308, + -0.5555700995021253, + 0.04044243807370794, + -0.5493447328121097, + -0.828877485389499, + -0.10574723989765555, + 0.09227183096557119, + 0.06560471594008369, + -0.9935702946730451 + ], + [ + 0.8229992857477009, + -0.5654420422854636, + 0.05429062971469655, + -0.555386544847615, + -0.8210418426371193, + -0.1320457437453856, + 0.11923909367737781, + 0.0785212675336297, + -0.989755752235828 + ], + [ + 0.8298433022157814, + -0.5513697333106017, + 0.08574095262243786, + -0.5384000994881665, + -0.8315550361082569, + -0.1365340792407816, + 0.14657907981270596, + 0.06713895376003064, + -0.986917896407431 + ], + [ + 0.8249871646230496, + -0.557406267956084, + 0.09324393090433156, + -0.5429255966133447, + -0.8274958927430225, + -0.1431165400485629, + 0.1569330263178054, + 0.06744479176851731, + -0.98530362087736 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0016047358512878418, + -0.001996278762817383, + -0.009226985275745392, + -0.023114508017897606, + 0.025508157908916473, + 0.00732026994228363, + 1.0 + ], + [ + -0.0011713504791259766, + -0.03036826103925705, + 0.0006165355443954468, + -0.01941196247935295, + 0.01582363247871399, + -0.027063146233558655, + 1.0 + ], + [ + -0.002627938985824585, + -0.02158530056476593, + 0.007828988134860992, + -0.018433984369039536, + -0.025310605764389038, + -0.013260215520858765, + 1.0 + ], + [ + -0.006792038679122925, + -0.031028345227241516, + 0.0006588473916053772, + -0.022166423499584198, + -0.003745041787624359, + -0.006105497479438782, + 1.0 + ], + [ + -0.009742677211761475, + -0.029746411368250847, + -0.0005725547671318054, + -0.035733070224523544, + -0.008295193314552307, + 0.04694601893424988, + 1.0 + ], + [ + -0.006555601954460144, + -0.02321934513747692, + -0.00448676198720932, + -0.005114138126373291, + 0.029786497354507446, + -0.005557194352149963, + 1.0 + ], + [ + -0.0062872618436813354, + -0.0108140017837286, + -0.008375570178031921, + 0.014162234961986542, + 0.027702108025550842, + -0.029237866401672363, + 1.0 + ], + [ + -0.007365435361862183, + -0.0015301313251256943, + -0.010403379797935486, + 0.007957689464092255, + 0.020574886351823807, + 0.00858980417251587, + 1.0 + ], + [ + -0.0010981857776641846, + -0.0015568193048238754, + -0.0062010809779167175, + 0.011498570442199707, + -0.006495226174592972, + -0.014021143317222595, + 1.0 + ], + [ + 0.0025398284196853638, + -0.005301867611706257, + -0.012340746819972992, + -0.004755526781082153, + 0.03589778393507004, + -0.01664978265762329, + 1.0 + ], + [ + 0.005271285772323608, + -0.008067220449447632, + -0.0041618868708610535, + 0.0040481314063072205, + 0.0077135320752859116, + -0.011688515543937683, + 1.0 + ], + [ + 0.0009119361639022827, + -0.007526805624365807, + -0.0004996955394744873, + 0.010175887495279312, + -0.0035852566361427307, + -0.033034443855285645, + 0.0 + ], + [ + 0.001277044415473938, + -0.000940125435590744, + -0.001789093017578125, + 0.0021528564393520355, + -0.0025104470551013947, + -0.0017750263214111328, + 0.0 + ], + [ + 0.00018389523029327393, + -9.432435035705566e-06, + -0.0003573372960090637, + -5.97536563873291e-05, + 0.0002625957131385803, + 0.004684507846832275, + 0.0 + ], + [ + -0.0008270889520645142, + 0.0023581795394420624, + 0.0003599822521209717, + -0.002461005002260208, + 0.005219617858529091, + 0.0019775331020355225, + 0.0 + ], + [ + -0.0011881738901138306, + 0.005223043262958527, + 0.004377216100692749, + -0.00633496418595314, + -0.008529329672455788, + -0.006523162126541138, + 0.0 + ], + [ + -0.0006439387798309326, + 0.006067331880331039, + 0.01873663067817688, + 0.005387812852859497, + -0.05749993026256561, + 0.008456766605377197, + 0.0 + ], + [ + 0.01002301275730133, + -0.006952065974473953, + 0.012996368110179901, + 0.005436733365058899, + -0.03434907644987106, + -0.018459618091583252, + 0.0 + ], + [ + 0.014825209975242615, + -0.020653340965509415, + 0.008332990109920502, + -0.003338124603033066, + -0.012220829725265503, + -0.04253295063972473, + 0.0 + ], + [ + 0.023575812578201294, + -0.03426181152462959, + 0.004559971392154694, + -0.008012790232896805, + -0.010646164417266846, + -0.06349557638168335, + 0.0 + ], + [ + 0.02103528380393982, + -0.031916774809360504, + -0.006444282829761505, + -0.0034462958574295044, + 0.015739142894744873, + -0.05748248100280762, + 0.0 + ], + [ + 0.008610576391220093, + -0.028459638357162476, + -0.010978363454341888, + -0.0029626786708831787, + 0.008942745625972748, + -0.052701354026794434, + 0.0 + ], + [ + 0.0005067586898803711, + -0.021032005548477173, + -0.014856040477752686, + -0.0007804185152053833, + 0.022834643721580505, + -0.04155033826828003, + 0.0 + ], + [ + -0.002539902925491333, + -0.0076217204332351685, + -0.007350146770477295, + -0.0006497055292129517, + 0.009359434247016907, + -0.020408928394317627, + 1.0 + ], + [ + -0.0008362233638763428, + -0.00018753111362457275, + -0.0003866925835609436, + -0.0004939287900924683, + 0.0031502321362495422, + -9.429454803466797e-05, + 1.0 + ], + [ + -0.002728670835494995, + 0.0009519904851913452, + -0.0032108277082443237, + -0.0036373883485794067, + 0.009036004543304443, + 0.0034660696983337402, + 1.0 + ], + [ + -0.0015467703342437744, + 0.0022464394569396973, + -0.00260934978723526, + 0.007070578634738922, + 0.009099692106246948, + 0.004999220371246338, + 1.0 + ], + [ + -0.0014820396900177002, + 0.0016160309314727783, + -0.0009039491415023804, + 0.013930365443229675, + 0.006774500012397766, + 0.001001596450805664, + 1.0 + ], + [ + -0.0058269500732421875, + -0.0005154311656951904, + 0.007161788642406464, + -0.00531865656375885, + -0.014705076813697815, + -0.008616983890533447, + 1.0 + ], + [ + -0.009147435426712036, + 0.0004532337188720703, + 0.01169738918542862, + -0.006201386451721191, + -0.019718147814273834, + -0.013095855712890625, + 1.0 + ], + [ + -0.01378282904624939, + 0.003852739930152893, + 0.02205873280763626, + -0.013234615325927734, + -0.027120202779769897, + -0.00923532247543335, + 1.0 + ], + [ + -0.016020476818084717, + 0.01055857539176941, + 0.022479720413684845, + 0.01124390959739685, + -0.027585633099079132, + 0.01810520887374878, + 1.0 + ], + [ + -0.009382635354995728, + 0.006898179650306702, + 0.008071139454841614, + -0.0004198998212814331, + -0.010475322604179382, + -0.006520390510559082, + 1.0 + ], + [ + 0.0008318871259689331, + 0.0015345066785812378, + 0.0004363209009170532, + -9.45553183555603e-05, + -0.001422002911567688, + 0.0076621174812316895, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9560673832893372 + ], + [ + 0.672171950340271 + ], + [ + 0.36275482177734375 + ], + [ + 0.1546454280614853 + ], + [ + 0.06712212413549423 + ], + [ + 0.05868057906627655 + ], + [ + 0.05868057906627655 + ], + [ + 0.05868057906627655 + ], + [ + 0.05868057906627655 + ], + [ + 0.05868057906627655 + ], + [ + 0.05868057906627655 + ], + [ + 0.05868057906627655 + ], + [ + 0.08191495388746262 + ], + [ + 0.23789463937282562 + ], + [ + 0.5071992874145508 + ], + [ + 0.8196109533309937 + ], + [ + 1.0067112445831299 + ], + [ + 1.0041072368621826 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2643812596797943, + 0.13884355127811432, + 0.11200349777936935 + ], + [ + 0.26320990920066833, + 0.10847529023885727, + 0.1126200333237648 + ], + [ + 0.26058197021484375, + 0.08688998967409134, + 0.1204490214586258 + ], + [ + 0.2537899315357208, + 0.05586164444684982, + 0.12110786885023117 + ], + [ + 0.24404725432395935, + 0.026115233078598976, + 0.12053531408309937 + ], + [ + 0.2374916523694992, + 0.0028958884067833424, + 0.11604855209589005 + ], + [ + 0.23120439052581787, + -0.00791811291128397, + 0.10767298191785812 + ], + [ + 0.2238389551639557, + -0.009448244236409664, + 0.09726960211992264 + ], + [ + 0.2227407693862915, + -0.01100506354123354, + 0.09106852114200592 + ], + [ + 0.22528059780597687, + -0.016306931152939796, + 0.07872777432203293 + ], + [ + 0.23055188357830048, + -0.02437415160238743, + 0.07456588745117188 + ], + [ + 0.23146381974220276, + -0.031900957226753235, + 0.07406619191169739 + ], + [ + 0.2327408641576767, + -0.03284108266234398, + 0.07227709889411926 + ], + [ + 0.23292475938796997, + -0.032850515097379684, + 0.0719197615981102 + ], + [ + 0.23209767043590546, + -0.030492335557937622, + 0.07227974385023117 + ], + [ + 0.23090949654579163, + -0.025269292294979095, + 0.07665695995092392 + ], + [ + 0.2302655577659607, + -0.019201960414648056, + 0.0953935906291008 + ], + [ + 0.24028857052326202, + -0.02615402638912201, + 0.1083899587392807 + ], + [ + 0.25511378049850464, + -0.046807367354631424, + 0.1167229488492012 + ], + [ + 0.27868959307670593, + -0.08106917887926102, + 0.1212829202413559 + ], + [ + 0.29972487688064575, + -0.11298595368862152, + 0.11483863741159439 + ], + [ + 0.30833545327186584, + -0.141445592045784, + 0.1038602739572525 + ], + [ + 0.3088422119617462, + -0.16247759759426117, + 0.08900423347949982 + ], + [ + 0.3063023090362549, + -0.17009931802749634, + 0.08165408670902252 + ], + [ + 0.30546608567237854, + -0.1702868491411209, + 0.08126739412546158 + ], + [ + 0.30273741483688354, + -0.16933485865592957, + 0.07805656641721725 + ], + [ + 0.30119064450263977, + -0.16708841919898987, + 0.075447216629982 + ], + [ + 0.29970860481262207, + -0.1654723882675171, + 0.07454326748847961 + ], + [ + 0.2938816547393799, + -0.16598781943321228, + 0.08170505613088608 + ], + [ + 0.28473421931266785, + -0.1655345857143402, + 0.0934024453163147 + ], + [ + 0.27095139026641846, + -0.16168184578418732, + 0.11546117812395096 + ], + [ + 0.25493091344833374, + -0.1511232703924179, + 0.1379408985376358 + ], + [ + 0.245548278093338, + -0.1442250907421112, + 0.14601203799247742 + ], + [ + 0.24638016521930695, + -0.14269058406352997, + 0.14644835889339447 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9773930122972757, + -0.1800043566548579, + 0.11091136595375878, + -0.179033682847102, + -0.983664595066643, + -0.018732453618815488, + 0.11247150714141421, + -0.0015479010460910398, + -0.9936537445628084 + ], + [ + 0.9738099638858279, + -0.20838469795277093, + 0.09093938583372566, + -0.20575840839049886, + -0.9778855058455281, + -0.037462178711926634, + 0.09673485211283203, + 0.017769499609388832, + -0.9951515529156052 + ], + [ + 0.968296672758863, + -0.22385279042092454, + 0.11086695515292824, + -0.21804501827229478, + -0.9739575105204132, + -0.06215414473318807, + 0.12189308237447444, + 0.03600966428120488, + -0.9918898026230559 + ], + [ + 0.9664958577732028, + -0.2323989989814008, + 0.10897918232251372, + -0.22384827879937044, + -0.9708921191171209, + -0.08520822210811252, + 0.12560933478766664, + 0.057958591327852325, + -0.9903853273880276 + ], + [ + 0.9748773717235, + -0.1912539329167502, + 0.11417549319077135, + -0.1780518468208444, + -0.9771055479405895, + -0.11645723690439606, + 0.13383441241013916, + 0.09320236760724106, + -0.9866112044403496 + ], + [ + 0.9773578272680095, + -0.19437773404693523, + 0.08360008364071905, + -0.1841231820958982, + -0.9759588407217803, + -0.11663187828325522, + 0.1042608809325771, + 0.0985983657256968, + -0.9896504589921561 + ], + [ + 0.9740058538555781, + -0.21937634300713102, + 0.05645012651787671, + -0.21315207292271268, + -0.9719492191818289, + -0.0994027622382009, + 0.07667327085638956, + 0.08478641082538706, + -0.9934447513956335 + ], + [ + 0.9771381036442525, + -0.20900767475978202, + 0.038947635332884145, + -0.205058427129833, + -0.9748791262649299, + -0.08695821200994089, + 0.05614417039687311, + 0.07698364153790097, + -0.9954503257651839 + ], + [ + 0.9737906405326902, + -0.22262234315196777, + 0.04659485744651019, + -0.2186539088388303, + -0.9727014418542457, + -0.07773270331187576, + 0.06262792157204, + 0.06550723123594152, + -0.9958848056353543 + ], + [ + 0.9715749705488271, + -0.23654571885369752, + 0.009391458621155601, + -0.23521384568799864, + -0.9690697831525477, + -0.07468736290254463, + 0.026767954716558785, + 0.07035537131350766, + -0.9971627742388052 + ], + [ + 0.9689306392593156, + -0.2473239874843073, + 0.0020643447863139767, + -0.24659737910196958, + -0.9666598117170266, + -0.06898217908447378, + 0.01905646673898593, + 0.0663298848639519, + -0.9976157564159466 + ], + [ + 0.9601854865827312, + -0.27929747626978313, + 0.006062268982326055, + -0.27844428364320734, + -0.9585602541957863, + -0.0602579453892266, + 0.022640942169115094, + 0.05617080046999397, + -0.9981644297971428 + ], + [ + 0.959632142502476, + -0.28111521447430393, + 0.008965894666648964, + -0.2801313884381577, + -0.9581525113851582, + -0.05890815001359307, + 0.02515067171702019, + 0.054018525686842934, + -0.9982231426864447 + ], + [ + 0.9609402013559292, + -0.2766105748970578, + 0.00897325320858374, + -0.27563473837513813, + -0.959459276161688, + -0.058850559794776935, + 0.024888158206170227, + 0.05407852847858026, + -0.9982264734711738 + ], + [ + 0.9615952426276132, + -0.27445038018559254, + 0.003402671292587452, + -0.2737657514707358, + -0.9599375181041945, + -0.059768508912492295, + 0.019669841829690275, + 0.05654157896577559, + -0.9982064652016895 + ], + [ + 0.9595930128523565, + -0.2812344547730003, + 0.009403782934019668, + -0.2799753482998724, + -0.9575786714414726, + -0.06824142689561238, + 0.02819670245440166, + 0.06285116903381599, + -0.9976245168006751 + ], + [ + 0.9587772748165047, + -0.27624466943998943, + 0.0665959450824683, + -0.2709604159959284, + -0.9593784808883398, + -0.07857088119458895, + 0.08559550372974967, + 0.05728711036849175, + -0.9946816559718381 + ], + [ + 0.9502363582377467, + -0.2952506232023698, + 0.09938779090852613, + -0.2875901509004056, + -0.9540202913172331, + -0.08448188480416012, + 0.11976129837366746, + 0.051694808768324954, + -0.9914559385864101 + ], + [ + 0.9356971211605861, + -0.3365003045943732, + 0.10601152041021342, + -0.3272266243159817, + -0.9400805585517438, + -0.0957667989013339, + 0.13188492632048, + 0.05491892607230399, + -0.9897425310496191 + ], + [ + 0.9117030539532609, + -0.3968752405668388, + 0.10624304606566704, + -0.38537139988209707, + -0.91572476277359, + -0.11374112271366627, + 0.14243042359415517, + 0.06275509754805791, + -0.9878134298370941 + ], + [ + 0.8899585377999372, + -0.4482339726582093, + 0.08402444139676206, + -0.43804879653639794, + -0.8914541654555761, + -0.11585647476475448, + 0.12683474622520294, + 0.06630065344280149, + -0.9897055978941649 + ], + [ + 0.866603073157787, + -0.49425847055718247, + 0.06861251981929885, + -0.48485536420734693, + -0.8665476535245683, + -0.11836570436754551, + 0.11795927005894803, + 0.0693089348752311, + -0.9905967303366293 + ], + [ + 0.8477883291045059, + -0.5285117305062358, + 0.043935176698113074, + -0.5217100566719847, + -0.846014038740135, + -0.10990388083193554, + 0.09525526652896947, + 0.07025380396754112, + -0.9929707131766705 + ], + [ + 0.837677892005179, + -0.545135506546432, + 0.03351162109067696, + -0.539361693051014, + -0.8353394846062691, + -0.10628692077051126, + 0.08593435468369978, + 0.07095931905041174, + -0.9937706283267775 + ], + [ + 0.8378504713487308, + -0.545041490614193, + 0.030600019113854994, + -0.5395845780838767, + -0.8353573629343836, + -0.10500742490584937, + 0.0827953546689337, + 0.07146922204957433, + -0.9940005430304726 + ], + [ + 0.840311771678994, + -0.5416799713692216, + 0.02142276814861928, + -0.5370582721927072, + -0.837219892524248, + -0.10310802020730785, + 0.07378711708079055, + 0.07513760828723394, + -0.994439440676897 + ], + [ + 0.8435187852929023, + -0.5367952040300515, + 0.018082250643149448, + -0.5331873640980899, + -0.8409558960485523, + -0.09221938878190024, + 0.06470930090889106, + 0.06814755924838055, + -0.9955745158170586 + ], + [ + 0.844403816528027, + -0.5353364137324814, + 0.019927838943236856, + -0.5325638686816305, + -0.8428920139902942, + -0.07686857957735804, + 0.05794756602099185, + 0.054295274964134804, + -0.9968420650779198 + ], + [ + 0.8389758564962314, + -0.5434112811976419, + 0.028700029330165282, + -0.5393011055469474, + -0.837352544107518, + -0.08941495642512627, + 0.07262113860478348, + 0.05953903210335556, + -0.9955808725984747 + ], + [ + 0.8304855650412308, + -0.5555700995021253, + 0.04044243807370794, + -0.5493447328121097, + -0.828877485389499, + -0.10574723989765555, + 0.09227183096557119, + 0.06560471594008369, + -0.9935702946730451 + ], + [ + 0.8229992857477009, + -0.5654420422854636, + 0.05429062971469655, + -0.555386544847615, + -0.8210418426371193, + -0.1320457437453856, + 0.11923909367737781, + 0.0785212675336297, + -0.989755752235828 + ], + [ + 0.8298433022157814, + -0.5513697333106017, + 0.08574095262243786, + -0.5384000994881665, + -0.8315550361082569, + -0.1365340792407816, + 0.14657907981270596, + 0.06713895376003064, + -0.986917896407431 + ], + [ + 0.8249871646230496, + -0.557406267956084, + 0.09324393090433156, + -0.5429255966133447, + -0.8274958927430225, + -0.1431165400485629, + 0.1569330263178054, + 0.06744479176851731, + -0.98530362087736 + ], + [ + 0.8289346810401582, + -0.5511391330564911, + 0.09546177550512511, + -0.5364667834112783, + -0.8316768306930361, + -0.14323770308387307, + 0.15833725040308141, + 0.06752262807479116, + -0.9850736063019178 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006210.json b/json/chunk-0006/episode_0006210.json new file mode 100644 index 0000000000000000000000000000000000000000..58eab746fa39bfb6c7500aa169861c568b837c83 --- /dev/null +++ b/json/chunk-0006/episode_0006210.json @@ -0,0 +1,1582 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 25, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the black to the side." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006210.mp4", + "start": 0, + "end": 25, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.4000002443790436, + 0.02095809578895569, + 0.009361275471746922, + 0.11096909642219543, + -0.10941405594348907, + -0.04020056128501892, + 0.0, + 1.0001531839370728 + ], + [ + 0.39352336525917053, + 0.020888544619083405, + -0.007571213413029909, + 0.10862205177545547, + -0.06345407664775848, + -0.0399978943169117, + 0.0, + 1.0001531839370728 + ], + [ + 0.3861845135688782, + 0.051194868981838226, + -0.015997324138879776, + 0.11667992919683456, + -0.04947279393672943, + 0.01611284352838993, + 0.0, + 1.0001531839370728 + ], + [ + 0.3737070560455322, + 0.09294779598712921, + -0.020348047837615013, + 0.11539915204048157, + -0.04034979268908501, + 0.11436543613672256, + 0.0, + 1.0001531839370728 + ], + [ + 0.3652637004852295, + 0.12222852557897568, + -0.015959378331899643, + 0.11959271132946014, + -0.05626196786761284, + 0.18355992436408997, + 0.0, + 1.0001531839370728 + ], + [ + 0.36208009719848633, + 0.15665026009082794, + -0.003625339362770319, + 0.11582864075899124, + -0.12047373503446579, + 0.27158382534980774, + 0.0, + 1.0001531839370728 + ], + [ + 0.3643845021724701, + 0.1816716194152832, + 0.00627514673396945, + 0.12434912472963333, + -0.16178138554096222, + 0.3252866268157959, + 0.0, + 1.0001531839370728 + ], + [ + 0.3692742884159088, + 0.18946920335292816, + 0.013936179690063, + 0.13825413584709167, + -0.18360701203346252, + 0.3357066512107849, + 0.0, + 1.0001531839370728 + ], + [ + 0.3760630190372467, + 0.19391313195228577, + 0.010746908374130726, + 0.13643504679203033, + -0.1893920600414276, + 0.34822794795036316, + 0.0, + 1.0001531839370728 + ], + [ + 0.37547817826271057, + 0.19544067978858948, + -0.006819985341280699, + 0.13763149082660675, + -0.14794780313968658, + 0.3604627251625061, + 0.0, + 1.0001531839370728 + ], + [ + 0.3806280791759491, + 0.1983940750360489, + -0.01194120291620493, + 0.14395353198051453, + -0.14105020463466644, + 0.3636494278907776, + 0.0, + 1.0001531839370728 + ], + [ + 0.381254106760025, + 0.2023862898349762, + -0.01461730059236288, + 0.1596936732530594, + -0.13711324334144592, + 0.3738144636154175, + 0.0, + 0.9672539830207825 + ], + [ + 0.37954583764076233, + 0.20320771634578705, + -0.018983233720064163, + 0.16751602292060852, + -0.1283196210861206, + 0.3812080919742584, + 0.0, + 0.6961957812309265 + ], + [ + 0.3780091404914856, + 0.20283471047878265, + -0.01903357356786728, + 0.17321400344371796, + -0.11776887625455856, + 0.3790729343891144, + 0.0, + 0.46716928482055664 + ], + [ + 0.3783516585826874, + 0.1968141794204712, + -0.019180934876203537, + 0.17807668447494507, + -0.10128684341907501, + 0.3652966022491455, + 0.0, + 0.365278422832489 + ], + [ + 0.3721402883529663, + 0.17958953976631165, + -0.00040356023237109184, + 0.18811750411987305, + -0.12673619389533997, + 0.3561759293079376, + 0.0, + 0.3275788426399231 + ], + [ + 0.37628090381622314, + 0.13515380024909973, + 0.02228151261806488, + 0.1919470727443695, + -0.18627765774726868, + 0.27748045325279236, + 0.0, + 0.32440370321273804 + ], + [ + 0.3756479322910309, + 0.09511328488588333, + 0.02194720134139061, + 0.18301358819007874, + -0.18210743367671967, + 0.2146565467119217, + 0.0, + 0.32440370321273804 + ], + [ + 0.38408568501472473, + 0.04547680541872978, + 0.020005300641059875, + 0.15120242536067963, + -0.18738992512226105, + 0.12478350102901459, + 0.0, + 0.32440370321273804 + ], + [ + 0.38698914647102356, + 0.005596802569925785, + -0.0034210123121738434, + 0.1110038012266159, + -0.13577432930469513, + 0.07500507682561874, + 0.0, + 0.32440370321273804 + ], + [ + 0.3975147008895874, + -0.005798909347504377, + -0.020183557644486427, + 0.07984385639429092, + -0.10479021817445755, + 0.05515025556087494, + 0.0, + 0.32440370321273804 + ], + [ + 0.40164539217948914, + -0.006131886038929224, + -0.02213183231651783, + 0.0802818089723587, + -0.09656643867492676, + 0.05112049728631973, + 0.0, + 0.36865687370300293 + ], + [ + 0.4016326367855072, + -0.003061035880818963, + -0.02128775045275688, + 0.08147905766963959, + -0.08838535845279694, + 0.05329578369855881, + 0.0, + 0.6831957101821899 + ], + [ + 0.39786115288734436, + 0.0002125030878232792, + -0.021112656220793724, + 0.09112946689128876, + -0.07289693504571915, + 0.05760374665260315, + 0.0, + 0.9553104043006897 + ], + [ + 0.3982228636741638, + -0.0008379294886253774, + 0.014477566815912724, + 0.05520103499293327, + -0.14400742948055267, + 0.06137309595942497, + 0.0, + 0.9968144297599792 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9672539830207825 + ], + [ + 0.6961957812309265 + ], + [ + 0.46716928482055664 + ], + [ + 0.365278422832489 + ], + [ + 0.3275788426399231 + ], + [ + 0.32440370321273804 + ], + [ + 0.32440370321273804 + ], + [ + 0.32440370321273804 + ], + [ + 0.32440370321273804 + ], + [ + 0.32440370321273804 + ], + [ + 0.36865687370300293 + ], + [ + 0.6831957101821899 + ], + [ + 0.9553104043006897 + ], + [ + 0.9968144297599792 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.4000002443790436, + 0.02095809578895569, + 0.009361275471746922 + ], + [ + 0.39352336525917053, + 0.020888544619083405, + -0.007571213413029909 + ], + [ + 0.3861845135688782, + 0.051194868981838226, + -0.015997324138879776 + ], + [ + 0.3737070560455322, + 0.09294779598712921, + -0.020348047837615013 + ], + [ + 0.3652637004852295, + 0.12222852557897568, + -0.015959378331899643 + ], + [ + 0.36208009719848633, + 0.15665026009082794, + -0.003625339362770319 + ], + [ + 0.3643845021724701, + 0.1816716194152832, + 0.00627514673396945 + ], + [ + 0.3692742884159088, + 0.18946920335292816, + 0.013936179690063 + ], + [ + 0.3760630190372467, + 0.19391313195228577, + 0.010746908374130726 + ], + [ + 0.37547817826271057, + 0.19544067978858948, + -0.006819985341280699 + ], + [ + 0.3806280791759491, + 0.1983940750360489, + -0.01194120291620493 + ], + [ + 0.381254106760025, + 0.2023862898349762, + -0.01461730059236288 + ], + [ + 0.37954583764076233, + 0.20320771634578705, + -0.018983233720064163 + ], + [ + 0.3780091404914856, + 0.20283471047878265, + -0.01903357356786728 + ], + [ + 0.3783516585826874, + 0.1968141794204712, + -0.019180934876203537 + ], + [ + 0.3721402883529663, + 0.17958953976631165, + -0.00040356023237109184 + ], + [ + 0.37628090381622314, + 0.13515380024909973, + 0.02228151261806488 + ], + [ + 0.3756479322910309, + 0.09511328488588333, + 0.02194720134139061 + ], + [ + 0.38408568501472473, + 0.04547680541872978, + 0.020005300641059875 + ], + [ + 0.38698914647102356, + 0.005596802569925785, + -0.0034210123121738434 + ], + [ + 0.3975147008895874, + -0.005798909347504377, + -0.020183557644486427 + ], + [ + 0.40164539217948914, + -0.006131886038929224, + -0.02213183231651783 + ], + [ + 0.4016326367855072, + -0.003061035880818963, + -0.02128775045275688 + ], + [ + 0.39786115288734436, + 0.0002125030878232792, + -0.021112656220793724 + ], + [ + 0.3982228636741638, + -0.0008379294886253774, + 0.014477566815912724 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9932171487614951, + -0.0278597927880663, + 0.11288723290032318, + -0.03994940972604974, + -0.9935322760659516, + 0.10629045619315748, + 0.10919587935735489, + -0.1100792821607015, + -0.9879062767137166 + ], + [ + 0.9971892659972154, + -0.03288270972339435, + 0.06732232305247564, + -0.03990675450707085, + -0.9935862139397321, + 0.10580116451921091, + 0.06341150309405451, + -0.10819040100746342, + -0.9921057496079725 + ], + [ + 0.9986468206857536, + 0.021758890270532925, + 0.04723429081113705, + 0.016092432645049677, + -0.9929789315652146, + 0.11719161693213927, + 0.04945261515633625, + -0.1162729210168887, + -0.9919854064916477 + ], + [ + 0.9926587731231429, + 0.11797169564600793, + 0.026669067626426533, + 0.11402340880693246, + -0.9863297102692946, + 0.11896371246786547, + 0.04033884462530372, + -0.1150494748640579, + -0.9925403749711146 + ], + [ + 0.9816444233985634, + 0.18782332313617348, + 0.03311533325495693, + 0.18224202454690355, + -0.9749528446078068, + 0.1274942950888068, + 0.05623229054153937, + -0.11911905841312928, + -0.991286325651283 + ], + [ + 0.956364710438451, + 0.2798404332980618, + 0.08399924118425593, + 0.2663131653082938, + -0.9531662325541705, + 0.14335770332272418, + 0.12018252207145248, + -0.11473214462408449, + -0.9860997395692298 + ], + [ + 0.9351858521477592, + 0.3360432705835213, + 0.11181387319201205, + 0.3154072852810416, + -0.9338580600742146, + 0.16860417558906338, + 0.1610765853074638, + -0.12240932942367751, + -0.9793213414072688 + ], + [ + 0.928307567437413, + 0.35005013446146005, + 0.12533939365557062, + 0.323899134351772, + -0.9268793250205937, + 0.18969466944419153, + 0.18257713713552726, + -0.13549767604236632, + -0.9738100270496871 + ], + [ + 0.9231709846176661, + 0.362130642160309, + 0.12890590044140882, + 0.3351310266768923, + -0.9225062341924628, + 0.1914926704459793, + 0.18826186049898752, + -0.13358011036304243, + -0.9729922024337382 + ], + [ + 0.9255114553607043, + 0.3682963201653717, + 0.08824039068792314, + 0.348854168802713, + -0.9197519830798999, + 0.17988067858877976, + 0.14740866631605998, + -0.13569860048371052, + -0.9797227030755606 + ], + [ + 0.9253233404302513, + 0.3708570725702526, + 0.0790047301091737, + 0.35215500147602896, + -0.9177646166123603, + 0.18356187902117718, + 0.14058296692849742, + -0.14203218022332, + -0.9798281937108113 + ], + [ + 0.9222040318690872, + 0.3807566542782068, + 0.06755807743909317, + 0.3617418983664792, + -0.9111590184890828, + 0.19731204218756623, + 0.13668402456255166, + -0.15752337365888977, + -0.9780101554587796 + ], + [ + 0.9205843658336307, + 0.386639162696259, + 0.05508705158408985, + 0.36898330261450674, + -0.907284570707599, + 0.20170778405311843, + 0.12796776068363383, + -0.16536283024145373, + -0.9778953863272659 + ], + [ + 0.922573103987347, + 0.3833346391780893, + 0.043742681734842866, + 0.36749607101473547, + -0.9076124774977823, + 0.20294390475959137, + 0.11749683224616822, + -0.17115532447616597, + -0.9782128343645743 + ], + [ + 0.9292308866133823, + 0.36830641798002195, + 0.02967055507456804, + 0.35539551107131495, + -0.9128492036251463, + 0.20099841330541707, + 0.10111374819512162, + -0.17622915171918002, + -0.9791421224777698 + ], + [ + 0.9297201878421236, + 0.36469507238386967, + 0.051165188338661766, + 0.34589611465975934, + -0.9124601462451014, + 0.21856888931787827, + 0.12639719214479905, + -0.18551006898088412, + -0.9744792271385874 + ], + [ + 0.9451108373175363, + 0.3028821424805769, + 0.12258838832173774, + 0.26919442006394945, + -0.934407452244648, + 0.23327468228699796, + 0.18520223916405432, + -0.18747032020040247, + -0.9646527922794705 + ], + [ + 0.9608933294964663, + 0.24165759201480705, + 0.13522432307392054, + 0.2094895515605277, + -0.9537118261044669, + 0.21574957829727426, + 0.18110255966209857, + -0.17898424782669492, + -0.9670400725480552 + ], + [ + 0.9748545782773055, + 0.15088280176372498, + 0.1639906440736956, + 0.12228110359737128, + -0.9774115440456574, + 0.1723775080145116, + 0.1862951500033911, + -0.14799004594300433, + -0.971284234087531 + ], + [ + 0.9880111299447343, + 0.08942578453250802, + 0.125845286626377, + 0.07424513142033909, + -0.9899275440064201, + 0.12054508732334868, + 0.1353575545202635, + -0.10975648809142277, + -0.9846988604421818 + ], + [ + 0.9930024776379468, + 0.06327668853712254, + 0.0997102807772343, + 0.0548199308868867, + -0.994838758360155, + 0.08538512775643078, + 0.1045985400589123, + -0.07932153271464834, + -0.9913461755942488 + ], + [ + 0.9940408017161679, + 0.05865572667166125, + 0.09188248065925124, + 0.05086017221216673, + -0.9950818851818969, + 0.08500167448580741, + 0.09641642705486993, + -0.07982197386347813, + -0.9921352352791989 + ], + [ + 0.9946822146278943, + 0.06026785413998712, + 0.08351693038126269, + 0.05306261808005041, + -0.9948845362314381, + 0.08595997981646393, + 0.08827032607529071, + -0.08107123611317034, + -0.9927919239244668 + ], + [ + 0.9956899627324679, + 0.06395000619992466, + 0.06717063957449446, + 0.0574189954879547, + -0.9938172420119561, + 0.09502814549860283, + 0.0728323902599062, + -0.09076169999938846, + -0.9932057977792166 + ], + [ + 0.9877855884932464, + 0.06914413232250136, + 0.13963781769427475, + 0.06069969049049922, + -0.9961112997366738, + 0.06385785864928559, + 0.14351020430411449, + -0.05460190017099187, + -0.9881414138463727 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.006476879119873047, + -6.955116987228394e-05, + -0.016932489350438118, + -0.0023470446467399597, + 0.04595997929573059, + 0.0002026669681072235, + 1.0 + ], + [ + -0.007338851690292358, + 0.030306324362754822, + -0.008426111191511154, + 0.00805787742137909, + 0.013981282711029053, + 0.05611073970794678, + 1.0 + ], + [ + -0.012477457523345947, + 0.041752927005290985, + -0.004350723698735237, + -0.0012807771563529968, + 0.009123001247644424, + 0.09825259447097778, + 1.0 + ], + [ + -0.008443355560302734, + 0.029280729591846466, + 0.00438866950571537, + 0.004193559288978577, + -0.015912175178527832, + 0.0691944882273674, + 1.0 + ], + [ + -0.003183603286743164, + 0.034421734511852264, + 0.012334039434790611, + -0.0037640705704689026, + -0.06421177089214325, + 0.08802390098571777, + 1.0 + ], + [ + 0.0023044049739837646, + 0.02502135932445526, + 0.009900486096739769, + 0.00852048397064209, + -0.04130765050649643, + 0.05370280146598816, + 1.0 + ], + [ + 0.004889786243438721, + 0.0077975839376449585, + 0.00766103295609355, + 0.013905011117458344, + -0.021825626492500305, + 0.010420024394989014, + 1.0 + ], + [ + 0.006788730621337891, + 0.004443928599357605, + -0.003189271315932274, + -0.0018190890550613403, + -0.005785048007965088, + 0.012521296739578247, + 1.0 + ], + [ + -0.0005848407745361328, + 0.001527547836303711, + -0.017566893249750137, + 0.001196444034576416, + 0.04144425690174103, + 0.012234777212142944, + 1.0 + ], + [ + 0.005149900913238525, + 0.0029533952474594116, + -0.005121217574924231, + 0.006322041153907776, + 0.006897598505020142, + 0.0031867027282714844, + 1.0 + ], + [ + 0.0006260275840759277, + 0.003992214798927307, + -0.0026760976761579514, + 0.01574014127254486, + 0.00393696129322052, + 0.010165035724639893, + 0.0 + ], + [ + -0.0017082691192626953, + 0.000821426510810852, + -0.0043659331277012825, + 0.007822349667549133, + 0.008793622255325317, + 0.007393628358840942, + 0.0 + ], + [ + -0.0015366971492767334, + -0.00037300586700439453, + -5.0339847803115845e-05, + 0.005697980523109436, + 0.010550744831562042, + -0.002135157585144043, + 0.0 + ], + [ + 0.0003425180912017822, + -0.006020531058311462, + -0.00014736130833625793, + 0.004862681031227112, + 0.01648203283548355, + -0.013776332139968872, + 0.0 + ], + [ + -0.006211370229721069, + -0.017224639654159546, + 0.018777374178171158, + 0.010040819644927979, + -0.025449350476264954, + -0.009120672941207886, + 0.0 + ], + [ + 0.004140615463256836, + -0.044435739517211914, + 0.02268507331609726, + 0.00382956862449646, + -0.05954146385192871, + -0.07869547605514526, + 0.0 + ], + [ + -0.0006329715251922607, + -0.0400405153632164, + -0.00033431127667427063, + -0.008933484554290771, + 0.004170224070549011, + -0.06282390654087067, + 0.0 + ], + [ + 0.008437752723693848, + -0.04963647946715355, + -0.0019419007003307343, + -0.03181116282939911, + -0.005282491445541382, + -0.0898730456829071, + 0.0 + ], + [ + 0.002903461456298828, + -0.03988000378012657, + -0.02342631295323372, + -0.04019862413406372, + 0.05161559581756592, + -0.049778424203395844, + 0.0 + ], + [ + 0.010525554418563843, + -0.011395711451768875, + -0.016762545332312584, + -0.03115994483232498, + 0.03098411113023758, + -0.019854821264743805, + 0.0 + ], + [ + 0.004130691289901733, + -0.00033297669142484665, + -0.0019482746720314026, + 0.00043795257806777954, + 0.008223779499530792, + -0.004029758274555206, + 1.0 + ], + [ + -1.2755393981933594e-05, + 0.003070850158110261, + 0.0008440818637609482, + 0.0011972486972808838, + 0.008181080222129822, + 0.0021752864122390747, + 1.0 + ], + [ + -0.003771483898162842, + 0.003273539012297988, + 0.00017509423196315765, + 0.00965040922164917, + 0.01548842340707779, + 0.004307962954044342, + 1.0 + ], + [ + 0.000361710786819458, + -0.0010504325618967414, + 0.03559022396802902, + -0.035928431898355484, + -0.07111049443483353, + 0.003769349306821823, + 1.0 + ], + [ + -0.00862056016921997, + 0.004731913562864065, + 0.01298223715275526, + -0.026689710095524788, + -0.013996556401252747, + 0.003733072429895401, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9672539830207825 + ], + [ + 0.6961957812309265 + ], + [ + 0.46716928482055664 + ], + [ + 0.365278422832489 + ], + [ + 0.3275788426399231 + ], + [ + 0.32440370321273804 + ], + [ + 0.32440370321273804 + ], + [ + 0.32440370321273804 + ], + [ + 0.32440370321273804 + ], + [ + 0.32440370321273804 + ], + [ + 0.36865687370300293 + ], + [ + 0.6831957101821899 + ], + [ + 0.9553104043006897 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.39352336525917053, + 0.020888544619083405, + -0.007571213413029909 + ], + [ + 0.3861845135688782, + 0.051194868981838226, + -0.015997324138879776 + ], + [ + 0.3737070560455322, + 0.09294779598712921, + -0.020348047837615013 + ], + [ + 0.3652637004852295, + 0.12222852557897568, + -0.015959378331899643 + ], + [ + 0.36208009719848633, + 0.15665026009082794, + -0.003625339362770319 + ], + [ + 0.3643845021724701, + 0.1816716194152832, + 0.00627514673396945 + ], + [ + 0.3692742884159088, + 0.18946920335292816, + 0.013936179690063 + ], + [ + 0.3760630190372467, + 0.19391313195228577, + 0.010746908374130726 + ], + [ + 0.37547817826271057, + 0.19544067978858948, + -0.006819985341280699 + ], + [ + 0.3806280791759491, + 0.1983940750360489, + -0.01194120291620493 + ], + [ + 0.381254106760025, + 0.2023862898349762, + -0.01461730059236288 + ], + [ + 0.37954583764076233, + 0.20320771634578705, + -0.018983233720064163 + ], + [ + 0.3780091404914856, + 0.20283471047878265, + -0.01903357356786728 + ], + [ + 0.3783516585826874, + 0.1968141794204712, + -0.019180934876203537 + ], + [ + 0.3721402883529663, + 0.17958953976631165, + -0.00040356023237109184 + ], + [ + 0.37628090381622314, + 0.13515380024909973, + 0.02228151261806488 + ], + [ + 0.3756479322910309, + 0.09511328488588333, + 0.02194720134139061 + ], + [ + 0.38408568501472473, + 0.04547680541872978, + 0.020005300641059875 + ], + [ + 0.38698914647102356, + 0.005596802569925785, + -0.0034210123121738434 + ], + [ + 0.3975147008895874, + -0.005798909347504377, + -0.020183557644486427 + ], + [ + 0.40164539217948914, + -0.006131886038929224, + -0.02213183231651783 + ], + [ + 0.4016326367855072, + -0.003061035880818963, + -0.02128775045275688 + ], + [ + 0.39786115288734436, + 0.0002125030878232792, + -0.021112656220793724 + ], + [ + 0.3982228636741638, + -0.0008379294886253774, + 0.014477566815912724 + ], + [ + 0.38960230350494385, + 0.003893984016031027, + 0.027459803968667984 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9971892659972154, + -0.03288270972339435, + 0.06732232305247564, + -0.03990675450707085, + -0.9935862139397321, + 0.10580116451921091, + 0.06341150309405451, + -0.10819040100746342, + -0.9921057496079725 + ], + [ + 0.9986468206857536, + 0.021758890270532925, + 0.04723429081113705, + 0.016092432645049677, + -0.9929789315652146, + 0.11719161693213927, + 0.04945261515633625, + -0.1162729210168887, + -0.9919854064916477 + ], + [ + 0.9926587731231429, + 0.11797169564600793, + 0.026669067626426533, + 0.11402340880693246, + -0.9863297102692946, + 0.11896371246786547, + 0.04033884462530372, + -0.1150494748640579, + -0.9925403749711146 + ], + [ + 0.9816444233985634, + 0.18782332313617348, + 0.03311533325495693, + 0.18224202454690355, + -0.9749528446078068, + 0.1274942950888068, + 0.05623229054153937, + -0.11911905841312928, + -0.991286325651283 + ], + [ + 0.956364710438451, + 0.2798404332980618, + 0.08399924118425593, + 0.2663131653082938, + -0.9531662325541705, + 0.14335770332272418, + 0.12018252207145248, + -0.11473214462408449, + -0.9860997395692298 + ], + [ + 0.9351858521477592, + 0.3360432705835213, + 0.11181387319201205, + 0.3154072852810416, + -0.9338580600742146, + 0.16860417558906338, + 0.1610765853074638, + -0.12240932942367751, + -0.9793213414072688 + ], + [ + 0.928307567437413, + 0.35005013446146005, + 0.12533939365557062, + 0.323899134351772, + -0.9268793250205937, + 0.18969466944419153, + 0.18257713713552726, + -0.13549767604236632, + -0.9738100270496871 + ], + [ + 0.9231709846176661, + 0.362130642160309, + 0.12890590044140882, + 0.3351310266768923, + -0.9225062341924628, + 0.1914926704459793, + 0.18826186049898752, + -0.13358011036304243, + -0.9729922024337382 + ], + [ + 0.9255114553607043, + 0.3682963201653717, + 0.08824039068792314, + 0.348854168802713, + -0.9197519830798999, + 0.17988067858877976, + 0.14740866631605998, + -0.13569860048371052, + -0.9797227030755606 + ], + [ + 0.9253233404302513, + 0.3708570725702526, + 0.0790047301091737, + 0.35215500147602896, + -0.9177646166123603, + 0.18356187902117718, + 0.14058296692849742, + -0.14203218022332, + -0.9798281937108113 + ], + [ + 0.9222040318690872, + 0.3807566542782068, + 0.06755807743909317, + 0.3617418983664792, + -0.9111590184890828, + 0.19731204218756623, + 0.13668402456255166, + -0.15752337365888977, + -0.9780101554587796 + ], + [ + 0.9205843658336307, + 0.386639162696259, + 0.05508705158408985, + 0.36898330261450674, + -0.907284570707599, + 0.20170778405311843, + 0.12796776068363383, + -0.16536283024145373, + -0.9778953863272659 + ], + [ + 0.922573103987347, + 0.3833346391780893, + 0.043742681734842866, + 0.36749607101473547, + -0.9076124774977823, + 0.20294390475959137, + 0.11749683224616822, + -0.17115532447616597, + -0.9782128343645743 + ], + [ + 0.9292308866133823, + 0.36830641798002195, + 0.02967055507456804, + 0.35539551107131495, + -0.9128492036251463, + 0.20099841330541707, + 0.10111374819512162, + -0.17622915171918002, + -0.9791421224777698 + ], + [ + 0.9297201878421236, + 0.36469507238386967, + 0.051165188338661766, + 0.34589611465975934, + -0.9124601462451014, + 0.21856888931787827, + 0.12639719214479905, + -0.18551006898088412, + -0.9744792271385874 + ], + [ + 0.9451108373175363, + 0.3028821424805769, + 0.12258838832173774, + 0.26919442006394945, + -0.934407452244648, + 0.23327468228699796, + 0.18520223916405432, + -0.18747032020040247, + -0.9646527922794705 + ], + [ + 0.9608933294964663, + 0.24165759201480705, + 0.13522432307392054, + 0.2094895515605277, + -0.9537118261044669, + 0.21574957829727426, + 0.18110255966209857, + -0.17898424782669492, + -0.9670400725480552 + ], + [ + 0.9748545782773055, + 0.15088280176372498, + 0.1639906440736956, + 0.12228110359737128, + -0.9774115440456574, + 0.1723775080145116, + 0.1862951500033911, + -0.14799004594300433, + -0.971284234087531 + ], + [ + 0.9880111299447343, + 0.08942578453250802, + 0.125845286626377, + 0.07424513142033909, + -0.9899275440064201, + 0.12054508732334868, + 0.1353575545202635, + -0.10975648809142277, + -0.9846988604421818 + ], + [ + 0.9930024776379468, + 0.06327668853712254, + 0.0997102807772343, + 0.0548199308868867, + -0.994838758360155, + 0.08538512775643078, + 0.1045985400589123, + -0.07932153271464834, + -0.9913461755942488 + ], + [ + 0.9940408017161679, + 0.05865572667166125, + 0.09188248065925124, + 0.05086017221216673, + -0.9950818851818969, + 0.08500167448580741, + 0.09641642705486993, + -0.07982197386347813, + -0.9921352352791989 + ], + [ + 0.9946822146278943, + 0.06026785413998712, + 0.08351693038126269, + 0.05306261808005041, + -0.9948845362314381, + 0.08595997981646393, + 0.08827032607529071, + -0.08107123611317034, + -0.9927919239244668 + ], + [ + 0.9956899627324679, + 0.06395000619992466, + 0.06717063957449446, + 0.0574189954879547, + -0.9938172420119561, + 0.09502814549860283, + 0.0728323902599062, + -0.09076169999938846, + -0.9932057977792166 + ], + [ + 0.9877855884932464, + 0.06914413232250136, + 0.13963781769427475, + 0.06069969049049922, + -0.9961112997366738, + 0.06385785864928559, + 0.14351020430411449, + -0.05460190017099187, + -0.9881414138463727 + ], + [ + 0.9854510513723252, + 0.06950981172000867, + 0.15509549130721959, + 0.06424974864740429, + -0.9971839504555217, + 0.03867995285241607, + 0.1573473709596835, + -0.02815235387261085, + -0.9871419603195415 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006211.json b/json/chunk-0006/episode_0006211.json new file mode 100644 index 0000000000000000000000000000000000000000..1a66898bb0fd97309526cc0f0738d4e2c1dbe1d0 --- /dev/null +++ b/json/chunk-0006/episode_0006211.json @@ -0,0 +1,2722 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 44, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nClose the drawer." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006211.mp4", + "start": 0, + "end": 44, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3440026044845581, + -0.12846647202968597, + 0.05403978377580643, + 0.03562851995229721, + -0.18778657913208008, + -1.1601054668426514, + 0.0, + 1.00800359249115 + ], + [ + 0.3410266041755676, + -0.12752369046211243, + 0.042306412011384964, + 0.009850683622062206, + -0.1655389666557312, + -1.1555745601654053, + 0.0, + 1.0073583126068115 + ], + [ + 0.3395894467830658, + -0.12717373669147491, + 0.043283142149448395, + 0.01300313975661993, + -0.16914165019989014, + -1.1560322046279907, + 0.0, + 1.00800359249115 + ], + [ + 0.3389754891395569, + -0.1277725249528885, + 0.04916272684931755, + 0.020556356757879257, + -0.18215158581733704, + -1.1572058200836182, + 0.0, + 1.00800359249115 + ], + [ + 0.3367263078689575, + -0.12740616500377655, + 0.04840113967657089, + 0.01742844097316265, + -0.18181239068508148, + -1.159177303314209, + 0.0, + 1.0073583126068115 + ], + [ + 0.33428049087524414, + -0.127120241522789, + 0.06578455120325089, + 0.05074483901262283, + -0.21455396711826324, + -1.1640909910202026, + 0.0, + 1.00800359249115 + ], + [ + 0.3208649158477783, + -0.12834560871124268, + 0.08088558167219162, + 0.08187710493803024, + -0.23347172141075134, + -1.1808435916900635, + 0.0, + 1.0073583126068115 + ], + [ + 0.3051587641239166, + -0.13094326853752136, + 0.09588994830846786, + 0.11663081496953964, + -0.25716909766197205, + -1.2018938064575195, + 0.0, + 1.00800359249115 + ], + [ + 0.2855204641819, + -0.12834486365318298, + 0.10135594010353088, + 0.13796448707580566, + -0.27428242564201355, + -1.2143378257751465, + 0.0, + 1.00800359249115 + ], + [ + 0.2638145983219147, + -0.12950371205806732, + 0.09473272413015366, + 0.14490023255348206, + -0.2665652334690094, + -1.2529492378234863, + 0.0, + 1.00800359249115 + ], + [ + 0.25093674659729004, + -0.12612025439739227, + 0.08359041810035706, + 0.12509213387966156, + -0.2623308598995209, + -1.2506976127624512, + 0.0, + 1.00800359249115 + ], + [ + 0.24403947591781616, + -0.12144958972930908, + 0.07394988089799881, + 0.11824799329042435, + -0.24320167303085327, + -1.2470978498458862, + 0.0, + 1.0073583126068115 + ], + [ + 0.23810358345508575, + -0.11245294660329819, + 0.06463033705949783, + 0.11274411529302597, + -0.2149965614080429, + -1.2326747179031372, + 0.0, + 1.0073583126068115 + ], + [ + 0.23544757068157196, + -0.103343166410923, + 0.056443654000759125, + 0.11663182824850082, + -0.20665667951107025, + -1.1871365308761597, + 0.0, + 1.00800359249115 + ], + [ + 0.23272168636322021, + -0.10299144685268402, + 0.05076511576771736, + 0.14053869247436523, + -0.19256341457366943, + -1.0764762163162231, + 0.0, + 1.0073583126068115 + ], + [ + 0.23473882675170898, + -0.10390917956829071, + 0.051462601870298386, + 0.15640860795974731, + -0.20215624570846558, + -1.0464829206466675, + 0.0, + 1.0047606229782104 + ], + [ + 0.23684927821159363, + -0.10184165835380554, + 0.042283155024051666, + 0.1497785747051239, + -0.1904710978269577, + -1.014370322227478, + 0.0, + 1.0027955770492554 + ], + [ + 0.239712655544281, + -0.09821934998035431, + 0.02965797483921051, + 0.13948309421539307, + -0.17404034733772278, + -0.9767271280288696, + 0.0, + 1.0008161067962646 + ], + [ + 0.2433924674987793, + -0.09517103433609009, + 0.026438850909471512, + 0.13521113991737366, + -0.16793733835220337, + -0.9524589776992798, + 0.0, + 1.0014774799346924 + ], + [ + 0.24944648146629333, + -0.0906853899359703, + 0.026717307046055794, + 0.14183707535266876, + -0.17826975882053375, + -0.9309105277061462, + 0.0, + 1.0008161067962646 + ], + [ + 0.25793007016181946, + -0.08731699734926224, + 0.03147067874670029, + 0.15318718552589417, + -0.19267083704471588, + -0.9191986918449402, + 0.0, + 1.0008161067962646 + ], + [ + 0.2616718113422394, + -0.08250029385089874, + 0.03246001526713371, + 0.15589812397956848, + -0.19235765933990479, + -0.91041499376297, + 0.0, + 1.0008161067962646 + ], + [ + 0.2679331600666046, + -0.08085638284683228, + 0.03687082603573799, + 0.16308553516864777, + -0.1964985877275467, + -0.9109224081039429, + 0.0, + 1.0008161067962646 + ], + [ + 0.269832044839859, + -0.07506813108921051, + 0.03296541050076485, + 0.16081500053405762, + -0.1849224716424942, + -0.8963231444358826, + 0.0, + 1.0008161067962646 + ], + [ + 0.2696853578090668, + -0.07357894629240036, + 0.03325891122221947, + 0.1640291064977646, + -0.17932841181755066, + -0.8936135768890381, + 0.0, + 1.0008161067962646 + ], + [ + 0.2709033489227295, + -0.07114153355360031, + 0.030694613233208656, + 0.17760919034481049, + -0.16729937493801117, + -0.8977338075637817, + 0.0, + 1.0008161067962646 + ], + [ + 0.2743622362613678, + -0.06687330454587936, + 0.031341664493083954, + 0.18549703061580658, + -0.1697062999010086, + -0.8843513131141663, + 0.0, + 1.0008161067962646 + ], + [ + 0.284161776304245, + -0.061532702296972275, + 0.03382795676589012, + 0.19511424005031586, + -0.1808725744485855, + -0.869664192199707, + 0.0, + 1.0008161067962646 + ], + [ + 0.2913113534450531, + -0.0573565736413002, + 0.03211196884512901, + 0.1904883086681366, + -0.18539787828922272, + -0.8479414582252502, + 0.0, + 1.0008161067962646 + ], + [ + 0.3016454577445984, + -0.05029809847474098, + 0.038645077496767044, + 0.2014930695295334, + -0.1997535228729248, + -0.8257598876953125, + 0.0, + 1.0008161067962646 + ], + [ + 0.31021252274513245, + -0.04219815135002136, + 0.038227424025535583, + 0.20178286731243134, + -0.2049449384212494, + -0.795393168926239, + 0.0, + 1.0001531839370728 + ], + [ + 0.31387802958488464, + -0.03412831202149391, + 0.036931224167346954, + 0.20108628273010254, + -0.19973407685756683, + -0.77089923620224, + 0.0, + 1.0001531839370728 + ], + [ + 0.3189404308795929, + -0.02600557915866375, + 0.03739744797348976, + 0.20486003160476685, + -0.20221523940563202, + -0.7517874240875244, + 0.0, + 1.0001531839370728 + ], + [ + 0.3214817941188812, + -0.01938590779900551, + 0.03313880041241646, + 0.20366473495960236, + -0.1921778917312622, + -0.7299143075942993, + 0.0, + 1.0001531839370728 + ], + [ + 0.3260554373264313, + -0.014504224061965942, + 0.03637373447418213, + 0.21438907086849213, + -0.19578155875205994, + -0.7227170467376709, + 0.0, + 1.0001531839370728 + ], + [ + 0.3295905888080597, + -0.008289181627333164, + 0.034190833568573, + 0.21591076254844666, + -0.19280436635017395, + -0.7062114477157593, + 0.0, + 1.0001531839370728 + ], + [ + 0.3370116055011749, + -0.0029854755848646164, + 0.03511019051074982, + 0.22318798303604126, + -0.20064382255077362, + -0.6936966776847839, + 0.0, + 1.0001531839370728 + ], + [ + 0.3389526307582855, + 0.0007412987179122865, + 0.03584962338209152, + 0.22553254663944244, + -0.20297591388225555, + -0.6813517808914185, + 0.0, + 1.0001531839370728 + ], + [ + 0.3401557207107544, + 0.0019238732056692243, + 0.03377546742558479, + 0.22917567193508148, + -0.19524170458316803, + -0.6805839538574219, + 0.0, + 1.0001531839370728 + ], + [ + 0.34023386240005493, + 0.0015181251801550388, + 0.034261349588632584, + 0.22815503180027008, + -0.19758111238479614, + -0.681853175163269, + 0.0, + 1.0001531839370728 + ], + [ + 0.33597832918167114, + -0.004769239109009504, + 0.031885795295238495, + 0.21354611217975616, + -0.19346514344215393, + -0.7020872235298157, + 0.0, + 1.0001531839370728 + ], + [ + 0.3310889005661011, + -0.017975924536585808, + 0.038536470383405685, + 0.19814644753932953, + -0.2228996455669403, + -0.728977620601654, + 0.0, + 1.0001531839370728 + ], + [ + 0.32716456055641174, + -0.02865896001458168, + 0.04894891753792763, + 0.17289268970489502, + -0.24199998378753662, + -0.7541276812553406, + 0.0, + 1.0001531839370728 + ], + [ + 0.32845041155815125, + -0.03830977901816368, + 0.06493259221315384, + 0.15917780995368958, + -0.27364468574523926, + -0.7727425694465637, + 0.0, + 1.0001531839370728 + ] + ], + "left_gripper_pos": [ + [ + 1.00800359249115 + ], + [ + 1.0073583126068115 + ], + [ + 1.00800359249115 + ], + [ + 1.00800359249115 + ], + [ + 1.0073583126068115 + ], + [ + 1.00800359249115 + ], + [ + 1.0073583126068115 + ], + [ + 1.00800359249115 + ], + [ + 1.00800359249115 + ], + [ + 1.00800359249115 + ], + [ + 1.00800359249115 + ], + [ + 1.0073583126068115 + ], + [ + 1.0073583126068115 + ], + [ + 1.00800359249115 + ], + [ + 1.0073583126068115 + ], + [ + 1.0047606229782104 + ], + [ + 1.0027955770492554 + ], + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3440026044845581, + -0.12846647202968597, + 0.05403978377580643 + ], + [ + 0.3410266041755676, + -0.12752369046211243, + 0.042306412011384964 + ], + [ + 0.3395894467830658, + -0.12717373669147491, + 0.043283142149448395 + ], + [ + 0.3389754891395569, + -0.1277725249528885, + 0.04916272684931755 + ], + [ + 0.3367263078689575, + -0.12740616500377655, + 0.04840113967657089 + ], + [ + 0.33428049087524414, + -0.127120241522789, + 0.06578455120325089 + ], + [ + 0.3208649158477783, + -0.12834560871124268, + 0.08088558167219162 + ], + [ + 0.3051587641239166, + -0.13094326853752136, + 0.09588994830846786 + ], + [ + 0.2855204641819, + -0.12834486365318298, + 0.10135594010353088 + ], + [ + 0.2638145983219147, + -0.12950371205806732, + 0.09473272413015366 + ], + [ + 0.25093674659729004, + -0.12612025439739227, + 0.08359041810035706 + ], + [ + 0.24403947591781616, + -0.12144958972930908, + 0.07394988089799881 + ], + [ + 0.23810358345508575, + -0.11245294660329819, + 0.06463033705949783 + ], + [ + 0.23544757068157196, + -0.103343166410923, + 0.056443654000759125 + ], + [ + 0.23272168636322021, + -0.10299144685268402, + 0.05076511576771736 + ], + [ + 0.23473882675170898, + -0.10390917956829071, + 0.051462601870298386 + ], + [ + 0.23684927821159363, + -0.10184165835380554, + 0.042283155024051666 + ], + [ + 0.239712655544281, + -0.09821934998035431, + 0.02965797483921051 + ], + [ + 0.2433924674987793, + -0.09517103433609009, + 0.026438850909471512 + ], + [ + 0.24944648146629333, + -0.0906853899359703, + 0.026717307046055794 + ], + [ + 0.25793007016181946, + -0.08731699734926224, + 0.03147067874670029 + ], + [ + 0.2616718113422394, + -0.08250029385089874, + 0.03246001526713371 + ], + [ + 0.2679331600666046, + -0.08085638284683228, + 0.03687082603573799 + ], + [ + 0.269832044839859, + -0.07506813108921051, + 0.03296541050076485 + ], + [ + 0.2696853578090668, + -0.07357894629240036, + 0.03325891122221947 + ], + [ + 0.2709033489227295, + -0.07114153355360031, + 0.030694613233208656 + ], + [ + 0.2743622362613678, + -0.06687330454587936, + 0.031341664493083954 + ], + [ + 0.284161776304245, + -0.061532702296972275, + 0.03382795676589012 + ], + [ + 0.2913113534450531, + -0.0573565736413002, + 0.03211196884512901 + ], + [ + 0.3016454577445984, + -0.05029809847474098, + 0.038645077496767044 + ], + [ + 0.31021252274513245, + -0.04219815135002136, + 0.038227424025535583 + ], + [ + 0.31387802958488464, + -0.03412831202149391, + 0.036931224167346954 + ], + [ + 0.3189404308795929, + -0.02600557915866375, + 0.03739744797348976 + ], + [ + 0.3214817941188812, + -0.01938590779900551, + 0.03313880041241646 + ], + [ + 0.3260554373264313, + -0.014504224061965942, + 0.03637373447418213 + ], + [ + 0.3295905888080597, + -0.008289181627333164, + 0.034190833568573 + ], + [ + 0.3370116055011749, + -0.0029854755848646164, + 0.03511019051074982 + ], + [ + 0.3389526307582855, + 0.0007412987179122865, + 0.03584962338209152 + ], + [ + 0.3401557207107544, + 0.0019238732056692243, + 0.03377546742558479 + ], + [ + 0.34023386240005493, + 0.0015181251801550388, + 0.034261349588632584 + ], + [ + 0.33597832918167114, + -0.004769239109009504, + 0.031885795295238495 + ], + [ + 0.3310889005661011, + -0.017975924536585808, + 0.038536470383405685 + ], + [ + 0.32716456055641174, + -0.02865896001458168, + 0.04894891753792763 + ], + [ + 0.32845041155815125, + -0.03830977901816368, + 0.06493259221315384 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.39222408731559794, + -0.913608440584025, + 0.10714421413717179, + -0.9007269474194193, + -0.4050863908176055, + -0.1568310625063183, + 0.1866848454533488, + -0.034994760579151137, + -0.9817963817462697 + ], + [ + 0.3978783554514877, + -0.9143276983599804, + 0.07548294029090499, + -0.9025181786882586, + -0.404858570352487, + -0.14680080091528416, + 0.16478395371045143, + -0.009715864546247621, + -0.986281831210365 + ], + [ + 0.3972234710864652, + -0.914251981669088, + 0.07972971862590526, + -0.9021509854966562, + -0.404943246536605, + -0.14881050517959665, + 0.1683363103594484, + -0.012817218830161736, + -0.9856462882373309 + ], + [ + 0.3952507394388753, + -0.9139937951943665, + 0.09160892598006326, + -0.900534833499749, + -0.4052242614393277, + -0.1575763675001125, + 0.18114598153589123, + -0.02021485313203565, + -0.983248439147629 + ], + [ + 0.39349914379898104, + -0.9150743344982553, + 0.08830280953652497, + -0.90136857296807, + -0.4029208012613991, + -0.15871207760084582, + 0.18081238755951884, + -0.01714031077451854, + -0.9833682373615588 + ], + [ + 0.3865153642344087, + -0.9129747467138559, + 0.13070189391708614, + -0.89737088501598, + -0.4049949537440283, + -0.1752272300971215, + 0.21291164349649722, + -0.04956005755286487, + -0.9758137285153236 + ], + [ + 0.36983101383013745, + -0.9146355089134045, + 0.1633000521864282, + -0.8998328835210193, + -0.39637232634683134, + -0.1821805715235535, + 0.23135644132727376, + -0.07956673137133696, + -0.9696098866633225 + ], + [ + 0.34873353029085463, + -0.915714552839983, + 0.19962911252607152, + -0.9020499828874449, + -0.3857481903632397, + -0.19365991326096832, + 0.25434376977554923, + -0.11253973231066045, + -0.9605436249477723 + ], + [ + 0.33591345199824646, + -0.9152351203892617, + 0.22250129701346594, + -0.9021081097321435, + -0.38055026774293926, + -0.2034267732533632, + 0.27085625546056674, + -0.13238643482936627, + -0.9534729785112157 + ], + [ + 0.3014843572472111, + -0.9280685568684844, + 0.2186228169411512, + -0.9163609154379005, + -0.3453779921522311, + -0.2024764559021758, + 0.26341954178277727, + -0.13929392050244518, + -0.9545718143324837 + ], + [ + 0.3038951474660805, + -0.9316063294690109, + 0.19939254308987, + -0.9167303096434001, + -0.3429139244254067, + -0.20497702265444756, + 0.2593323711527055, + -0.1204976652406301, + -0.9582416365113093 + ], + [ + 0.3087147962798908, + -0.9324087854851366, + 0.18790697514461227, + -0.9201657936598517, + -0.34278768594025383, + -0.18918645444656146, + 0.24081130940261194, + -0.11450091317477913, + -0.9637943007436499 + ], + [ + 0.32407859602394823, + -0.9294280513686493, + 0.1764555494401409, + -0.9216601173287418, + -0.35225295246803784, + -0.1626667931789409, + 0.2133440688763496, + -0.10991521644715874, + -0.9707744091541854 + ], + [ + 0.3663521381073767, + -0.9120633582531329, + 0.18419158893980694, + -0.907570183786668, + -0.3939151467438266, + -0.14542083298902872, + 0.20518887008214418, + -0.1138915611351726, + -0.9720731659173635 + ], + [ + 0.46566425579292203, + -0.8588941643129613, + 0.21320791586140475, + -0.8640209474103628, + -0.49335383975624003, + -0.10034834943272997, + 0.19137555568285902, + -0.13748746599931955, + -0.9718397982075866 + ], + [ + 0.4904241199574194, + -0.8394433012305229, + 0.23413484700742998, + -0.8480393376303073, + -0.5215825251573009, + -0.09370673018563687, + 0.2007821316640025, + -0.1525995198869759, + -0.9676775920391687 + ], + [ + 0.5186031296528126, + -0.8247206293615335, + 0.2255807558720924, + -0.8337914402294127, + -0.5462303561450135, + -0.0801513083227831, + 0.1893214940635903, + -0.1465205839846686, + -0.9709217735504349 + ], + [ + 0.5512818076469667, + -0.8071460887774007, + 0.2111955490270503, + -0.8161512865110749, + -0.5742517852482044, + -0.06428035987428132, + 0.17316306212298826, + -0.13693092605614857, + -0.9753278809741858 + ], + [ + 0.5715259966956635, + -0.7943450735456311, + 0.20584931196099193, + -0.8033798764819825, + -0.5927500867606623, + -0.05681644752200972, + 0.16714906270997298, + -0.13290311801839938, + -0.9769329311964893 + ], + [ + 0.5876409264066917, + -0.7791408217046374, + 0.2182148518440198, + -0.7894512459901419, + -0.6112157885264051, + -0.05640913100427145, + 0.17732701942032783, + -0.13912167268066916, + -0.9742691047005624 + ], + [ + 0.5952357900682033, + -0.768085542896297, + 0.23609098461309885, + -0.7804033470570192, + -0.6225873033018599, + -0.0579281077674694, + 0.19148099154768206, + -0.14976531160792392, + -0.9700027738696926 + ], + [ + 0.6021043229039794, + -0.7619724573012765, + 0.23847087590436436, + -0.7751922595291465, + -0.6294212363867294, + -0.05390610310064247, + 0.19117359939708387, + -0.1524036794163945, + -0.96965239823037 + ], + [ + 0.6012204576468166, + -0.7601538828516454, + 0.2463737723308218, + -0.7748655814194847, + -0.6299277669094905, + -0.052671996429478174, + 0.19523650283283756, + -0.15923907454513161, + -0.9677425407098801 + ], + [ + 0.6138387722686754, + -0.7525724247881258, + 0.23840450312065445, + -0.7677197824136026, + -0.6394233910582288, + -0.041761976227260654, + 0.18387032754225455, + -0.15739273304735654, + -0.9702676075358734 + ], + [ + 0.6165515737227504, + -0.7506295269876979, + 0.2375278302730536, + -0.7668433541485216, + -0.6408888874916441, + -0.034823901102083915, + 0.178368795304125, + -0.1606759070425539, + -0.9707563163625604 + ], + [ + 0.6146799029455176, + -0.7512757201087573, + 0.24031939016641415, + -0.7709991524324912, + -0.6365811988239806, + -0.018018996981073537, + 0.1665200404253774, + -0.17421013081589662, + -0.9705266129570269 + ], + [ + 0.6246866114376042, + -0.7404918711882319, + 0.24786775949032752, + -0.7623921786845277, + -0.647012986963005, + -0.011504806902746315, + 0.16889287543073844, + -0.18178554234416278, + -0.9687255613554211 + ], + [ + 0.6345600021683567, + -0.7271155276758876, + 0.26198590240833763, + -0.7516474689437345, + -0.659492577678408, + -0.009778671564540292, + 0.17988798202929826, + -0.19071588659496885, + -0.9650221575288944 + ], + [ + 0.6501916679854097, + -0.7132667933439761, + 0.2617274849822862, + -0.7370688171243341, + -0.6757363515760479, + -0.010485322199491096, + 0.18433760795151435, + -0.18609369863456898, + -0.965084857213717 + ], + [ + 0.6645169433860321, + -0.6932674664888637, + 0.27892194582176066, + -0.7204468444717703, + -0.6934726130533173, + -0.007216594465029466, + 0.19842776076838073, + -0.19615288642565565, + -0.9602866597549558 + ], + [ + 0.6853544925610061, + -0.6710982552884115, + 0.28269480234927413, + -0.699193518428983, + -0.7149293893657974, + -0.002095711799553701, + 0.20351325095271924, + -0.19622206799923775, + -0.9592076191924027 + ], + [ + 0.7030243267164898, + -0.6543153175416612, + 0.27861848695874625, + -0.6829280952324039, + -0.7304439126751489, + 0.00780430509783131, + 0.19840870138949707, + -0.1957630089321639, + -0.9603701534027173 + ], + [ + 0.7155853337964092, + -0.638820050108861, + 0.28257136025151885, + -0.6690298611571666, + -0.7430978503359649, + 0.014304883994295858, + 0.20083992365937564, + -0.1992850431040425, + -0.9591396127048011 + ], + [ + 0.7315122739170721, + -0.6242351321184332, + 0.274263181885132, + -0.6545302773603745, + -0.7555884331052186, + 0.02600453376148172, + 0.19099714429076164, + -0.19853619213302898, + -0.9613030070098039 + ], + [ + 0.735683107481697, + -0.6152418749678814, + 0.28328042758383304, + -0.6487890187623389, + -0.7602154542152834, + 0.033841872076639676, + 0.1945332220970884, + -0.2086861242590312, + -0.9584398400746229 + ], + [ + 0.7467283960948191, + -0.6026561172190712, + 0.28142904406633656, + -0.6369313349082637, + -0.7698007481049765, + 0.04153652403603067, + 0.1916120483624034, + -0.2102674786919074, + -0.958682643175995 + ], + [ + 0.7534626122879207, + -0.5896071107851604, + 0.2909596996077599, + -0.6265568536516923, + -0.7780219626352549, + 0.045916607009638136, + 0.19930027854058324, + -0.21689924059055943, + -0.9556328366087492 + ], + [ + 0.7607767044001679, + -0.5788785901685025, + 0.2934593394093078, + -0.6169135089168567, + -0.7854447146307205, + 0.04994319547804357, + 0.20158504051122367, + -0.21903465046241818, + -0.9546660637829834 + ], + [ + 0.7624391244012912, + -0.5785411107653228, + 0.28978744751389535, + -0.6172917982589888, + -0.784617224318258, + 0.05767709341927657, + 0.19400365301812192, + -0.22285868719333957, + -0.9553515521304632 + ], + [ + 0.761300571953714, + -0.5794291184908928, + 0.29100401335344933, + -0.61797127970656, + -0.7842674424555137, + 0.055100600378978654, + 0.19629808099108934, + -0.22178024111528546, + -0.9551338063591202 + ], + [ + 0.7492520536589116, + -0.6000346346160769, + 0.28032088282726075, + -0.633764344924371, + -0.7724672428266972, + 0.04046126372598288, + 0.1922605398683949, + -0.20797306561396775, + -0.9590532252115321 + ], + [ + 0.7274037508427089, + -0.6206172279832319, + 0.2927764327782676, + -0.649628310059564, + -0.7602480034831363, + 0.0024560067305389455, + 0.22105845839757732, + -0.19198236775890248, + -0.9561777703129122 + ], + [ + 0.7076302718839664, + -0.6443969170163438, + 0.2898482562536044, + -0.6647027631835766, + -0.7462285381576824, + -0.036238176763828414, + 0.23964480993658485, + -0.16701970595974508, + -0.9563863146718372 + ], + [ + 0.6893581375163779, + -0.6586061802701633, + 0.30170060913080066, + -0.6721268168082986, + -0.7368503581094648, + -0.0727811231096199, + 0.2702422993668734, + -0.15260881057101194, + -0.9506206659698739 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0029760003089904785, + 0.0009427815675735474, + -0.011733371764421463, + -0.02577783539891243, + 0.022247612476348877, + 0.004530906677246094, + 1.0 + ], + [ + -0.001437157392501831, + 0.0003499537706375122, + 0.0009767301380634308, + 0.003152456134557724, + -0.0036026835441589355, + -0.0004576444625854492, + 1.0 + ], + [ + -0.0006139576435089111, + -0.0005987882614135742, + 0.005879584699869156, + 0.007553217001259327, + -0.0130099356174469, + -0.0011736154556274414, + 1.0 + ], + [ + -0.0022491812705993652, + 0.0003663599491119385, + -0.0007615871727466583, + -0.003127915784716606, + 0.0003391951322555542, + -0.0019714832305908203, + 1.0 + ], + [ + -0.002445816993713379, + 0.00028592348098754883, + 0.017383411526679993, + 0.03331639617681503, + -0.03274157643318176, + -0.004913687705993652, + 1.0 + ], + [ + -0.01341557502746582, + -0.0012253671884536743, + 0.015101030468940735, + 0.03113226592540741, + -0.018917754292488098, + -0.01675260066986084, + 1.0 + ], + [ + -0.015706151723861694, + -0.0025976598262786865, + 0.015004366636276245, + 0.0347537100315094, + -0.023697376251220703, + -0.021050214767456055, + 1.0 + ], + [ + -0.0196382999420166, + 0.002598404884338379, + 0.005465991795063019, + 0.02133367210626602, + -0.017113327980041504, + -0.012444019317626953, + 1.0 + ], + [ + -0.02170586585998535, + -0.0011588484048843384, + -0.006623215973377228, + 0.006935745477676392, + 0.00771719217300415, + -0.038611412048339844, + 1.0 + ], + [ + -0.012877851724624634, + 0.003383457660675049, + -0.0111423060297966, + -0.019808098673820496, + 0.004234373569488525, + 0.0022516250610351562, + 1.0 + ], + [ + -0.006897270679473877, + 0.004670664668083191, + -0.009640537202358246, + -0.006844140589237213, + 0.019129186868667603, + 0.0035997629165649414, + 1.0 + ], + [ + -0.005935892462730408, + 0.008996643126010895, + -0.009319543838500977, + -0.0055038779973983765, + 0.028205111622810364, + 0.014423131942749023, + 1.0 + ], + [ + -0.002656012773513794, + 0.009109780192375183, + -0.008186683058738708, + 0.0038877129554748535, + 0.008339881896972656, + 0.04553818702697754, + 1.0 + ], + [ + -0.0027258843183517456, + 0.00035171955823898315, + -0.005678538233041763, + 0.02390686422586441, + 0.014093264937400818, + 0.11066031455993652, + 1.0 + ], + [ + 0.0020171403884887695, + -0.0009177327156066895, + 0.0006974861025810242, + 0.01586991548538208, + -0.009592831134796143, + 0.029993295669555664, + 1.0 + ], + [ + 0.0021104514598846436, + 0.0020675212144851685, + -0.00917944684624672, + -0.006630033254623413, + 0.011685147881507874, + 0.03211259841918945, + 1.0 + ], + [ + 0.002863377332687378, + 0.003622308373451233, + -0.012625180184841156, + -0.010295480489730835, + 0.016430750489234924, + 0.0376431941986084, + 1.0 + ], + [ + 0.003679811954498291, + 0.003048315644264221, + -0.0032191239297389984, + -0.004271954298019409, + 0.006103008985519409, + 0.024268150329589844, + 1.0 + ], + [ + 0.006054013967514038, + 0.0044856444001197815, + 0.0002784561365842819, + 0.006625935435295105, + -0.010332420468330383, + 0.021548449993133545, + 1.0 + ], + [ + 0.008483588695526123, + 0.003368392586708069, + 0.004753371700644493, + 0.011350110173225403, + -0.014401078224182129, + 0.011711835861206055, + 1.0 + ], + [ + 0.003741741180419922, + 0.004816703498363495, + 0.000989336520433426, + 0.0027109384536743164, + 0.0003131777048110962, + 0.008783698081970215, + 1.0 + ], + [ + 0.006261348724365234, + 0.0016439110040664673, + 0.0044108107686042786, + 0.007187411189079285, + -0.004140928387641907, + -0.0005074143409729004, + 1.0 + ], + [ + 0.0018988847732543945, + 0.005788251757621765, + -0.0039054155349731445, + -0.002270534634590149, + 0.01157611608505249, + 0.014599263668060303, + 1.0 + ], + [ + -0.00014668703079223633, + 0.0014891847968101501, + 0.00029350072145462036, + 0.00321410596370697, + 0.0055940598249435425, + 0.0027095675468444824, + 1.0 + ], + [ + 0.0012179911136627197, + 0.002437412738800049, + -0.002564297989010811, + 0.013580083847045898, + 0.01202903687953949, + -0.004120230674743652, + 1.0 + ], + [ + 0.0034588873386383057, + 0.004268229007720947, + 0.0006470512598752975, + 0.007887840270996094, + -0.0024069249629974365, + 0.013382494449615479, + 1.0 + ], + [ + 0.009799540042877197, + 0.005340602248907089, + 0.0024862922728061676, + 0.009617209434509277, + -0.011166274547576904, + 0.014687120914459229, + 1.0 + ], + [ + 0.0071495771408081055, + 0.004176128655672073, + -0.0017159879207611084, + -0.00462593138217926, + -0.004525303840637207, + 0.021722733974456787, + 1.0 + ], + [ + 0.010334104299545288, + 0.007058475166559219, + 0.006533108651638031, + 0.01100476086139679, + -0.014355644583702087, + 0.022181570529937744, + 1.0 + ], + [ + 0.008567065000534058, + 0.00809994712471962, + -0.00041765347123146057, + 0.0002897977828979492, + -0.005191415548324585, + 0.030366718769073486, + 1.0 + ], + [ + 0.0036655068397521973, + 0.00806983932852745, + -0.0012961998581886292, + -0.0006965845823287964, + 0.005210861563682556, + 0.024493932723999023, + 1.0 + ], + [ + 0.005062401294708252, + 0.008122732862830162, + 0.000466223806142807, + 0.0037737488746643066, + -0.0024811625480651855, + 0.019111812114715576, + 1.0 + ], + [ + 0.00254136323928833, + 0.006619671359658241, + -0.004258647561073303, + -0.0011952966451644897, + 0.010037347674369812, + 0.021873116493225098, + 1.0 + ], + [ + 0.004573643207550049, + 0.004881683737039566, + 0.0032349340617656708, + 0.01072433590888977, + -0.0036036670207977295, + 0.007197260856628418, + 1.0 + ], + [ + 0.003535151481628418, + 0.006215042434632778, + -0.002182900905609131, + 0.0015216916799545288, + 0.0029771924018859863, + 0.01650559902191162, + 1.0 + ], + [ + 0.007421016693115234, + 0.005303706042468548, + 0.0009193569421768188, + 0.0072772204875946045, + -0.00783945620059967, + 0.012514770030975342, + 1.0 + ], + [ + 0.0019410252571105957, + 0.003726774360984564, + 0.0007394328713417053, + 0.002344563603401184, + -0.0023320913314819336, + 0.012344896793365479, + 1.0 + ], + [ + 0.001203089952468872, + 0.0011825745459645987, + -0.002074155956506729, + 0.003643125295639038, + 0.007734209299087524, + 0.000767827033996582, + 1.0 + ], + [ + 7.814168930053711e-05, + -0.00040574802551418543, + 0.00048588216304779053, + -0.0010206401348114014, + -0.002339407801628113, + -0.001269221305847168, + 1.0 + ], + [ + -0.004255533218383789, + -0.006287364289164543, + -0.0023755542933940887, + -0.014608919620513916, + 0.004115968942642212, + -0.02023404836654663, + 1.0 + ], + [ + -0.004889428615570068, + -0.013206684961915016, + 0.0066506750881671906, + -0.015399664640426636, + -0.029434502124786377, + -0.02689039707183838, + 1.0 + ], + [ + -0.003924340009689331, + -0.010683035477995872, + 0.010412447154521942, + -0.02525375783443451, + -0.019100338220596313, + -0.025150060653686523, + 1.0 + ], + [ + 0.001285851001739502, + -0.009650819003582, + 0.01598367467522621, + -0.013714879751205444, + -0.03164470195770264, + -0.018614888191223145, + 1.0 + ], + [ + 0.0010612010955810547, + -0.004027068614959717, + 0.009427972137928009, + -0.03413860499858856, + 0.0049828290939331055, + -0.001714468002319336, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0073583126068115 + ], + [ + 1.00800359249115 + ], + [ + 1.00800359249115 + ], + [ + 1.0073583126068115 + ], + [ + 1.00800359249115 + ], + [ + 1.0073583126068115 + ], + [ + 1.00800359249115 + ], + [ + 1.00800359249115 + ], + [ + 1.00800359249115 + ], + [ + 1.00800359249115 + ], + [ + 1.0073583126068115 + ], + [ + 1.0073583126068115 + ], + [ + 1.00800359249115 + ], + [ + 1.0073583126068115 + ], + [ + 1.0047606229782104 + ], + [ + 1.0027955770492554 + ], + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3410266041755676, + -0.12752369046211243, + 0.042306412011384964 + ], + [ + 0.3395894467830658, + -0.12717373669147491, + 0.043283142149448395 + ], + [ + 0.3389754891395569, + -0.1277725249528885, + 0.04916272684931755 + ], + [ + 0.3367263078689575, + -0.12740616500377655, + 0.04840113967657089 + ], + [ + 0.33428049087524414, + -0.127120241522789, + 0.06578455120325089 + ], + [ + 0.3208649158477783, + -0.12834560871124268, + 0.08088558167219162 + ], + [ + 0.3051587641239166, + -0.13094326853752136, + 0.09588994830846786 + ], + [ + 0.2855204641819, + -0.12834486365318298, + 0.10135594010353088 + ], + [ + 0.2638145983219147, + -0.12950371205806732, + 0.09473272413015366 + ], + [ + 0.25093674659729004, + -0.12612025439739227, + 0.08359041810035706 + ], + [ + 0.24403947591781616, + -0.12144958972930908, + 0.07394988089799881 + ], + [ + 0.23810358345508575, + -0.11245294660329819, + 0.06463033705949783 + ], + [ + 0.23544757068157196, + -0.103343166410923, + 0.056443654000759125 + ], + [ + 0.23272168636322021, + -0.10299144685268402, + 0.05076511576771736 + ], + [ + 0.23473882675170898, + -0.10390917956829071, + 0.051462601870298386 + ], + [ + 0.23684927821159363, + -0.10184165835380554, + 0.042283155024051666 + ], + [ + 0.239712655544281, + -0.09821934998035431, + 0.02965797483921051 + ], + [ + 0.2433924674987793, + -0.09517103433609009, + 0.026438850909471512 + ], + [ + 0.24944648146629333, + -0.0906853899359703, + 0.026717307046055794 + ], + [ + 0.25793007016181946, + -0.08731699734926224, + 0.03147067874670029 + ], + [ + 0.2616718113422394, + -0.08250029385089874, + 0.03246001526713371 + ], + [ + 0.2679331600666046, + -0.08085638284683228, + 0.03687082603573799 + ], + [ + 0.269832044839859, + -0.07506813108921051, + 0.03296541050076485 + ], + [ + 0.2696853578090668, + -0.07357894629240036, + 0.03325891122221947 + ], + [ + 0.2709033489227295, + -0.07114153355360031, + 0.030694613233208656 + ], + [ + 0.2743622362613678, + -0.06687330454587936, + 0.031341664493083954 + ], + [ + 0.284161776304245, + -0.061532702296972275, + 0.03382795676589012 + ], + [ + 0.2913113534450531, + -0.0573565736413002, + 0.03211196884512901 + ], + [ + 0.3016454577445984, + -0.05029809847474098, + 0.038645077496767044 + ], + [ + 0.31021252274513245, + -0.04219815135002136, + 0.038227424025535583 + ], + [ + 0.31387802958488464, + -0.03412831202149391, + 0.036931224167346954 + ], + [ + 0.3189404308795929, + -0.02600557915866375, + 0.03739744797348976 + ], + [ + 0.3214817941188812, + -0.01938590779900551, + 0.03313880041241646 + ], + [ + 0.3260554373264313, + -0.014504224061965942, + 0.03637373447418213 + ], + [ + 0.3295905888080597, + -0.008289181627333164, + 0.034190833568573 + ], + [ + 0.3370116055011749, + -0.0029854755848646164, + 0.03511019051074982 + ], + [ + 0.3389526307582855, + 0.0007412987179122865, + 0.03584962338209152 + ], + [ + 0.3401557207107544, + 0.0019238732056692243, + 0.03377546742558479 + ], + [ + 0.34023386240005493, + 0.0015181251801550388, + 0.034261349588632584 + ], + [ + 0.33597832918167114, + -0.004769239109009504, + 0.031885795295238495 + ], + [ + 0.3310889005661011, + -0.017975924536585808, + 0.038536470383405685 + ], + [ + 0.32716456055641174, + -0.02865896001458168, + 0.04894891753792763 + ], + [ + 0.32845041155815125, + -0.03830977901816368, + 0.06493259221315384 + ], + [ + 0.3295116126537323, + -0.0423368476331234, + 0.07436056435108185 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.3978783554514877, + -0.9143276983599804, + 0.07548294029090499, + -0.9025181786882586, + -0.404858570352487, + -0.14680080091528416, + 0.16478395371045143, + -0.009715864546247621, + -0.986281831210365 + ], + [ + 0.3972234710864652, + -0.914251981669088, + 0.07972971862590526, + -0.9021509854966562, + -0.404943246536605, + -0.14881050517959665, + 0.1683363103594484, + -0.012817218830161736, + -0.9856462882373309 + ], + [ + 0.3952507394388753, + -0.9139937951943665, + 0.09160892598006326, + -0.900534833499749, + -0.4052242614393277, + -0.1575763675001125, + 0.18114598153589123, + -0.02021485313203565, + -0.983248439147629 + ], + [ + 0.39349914379898104, + -0.9150743344982553, + 0.08830280953652497, + -0.90136857296807, + -0.4029208012613991, + -0.15871207760084582, + 0.18081238755951884, + -0.01714031077451854, + -0.9833682373615588 + ], + [ + 0.3865153642344087, + -0.9129747467138559, + 0.13070189391708614, + -0.89737088501598, + -0.4049949537440283, + -0.1752272300971215, + 0.21291164349649722, + -0.04956005755286487, + -0.9758137285153236 + ], + [ + 0.36983101383013745, + -0.9146355089134045, + 0.1633000521864282, + -0.8998328835210193, + -0.39637232634683134, + -0.1821805715235535, + 0.23135644132727376, + -0.07956673137133696, + -0.9696098866633225 + ], + [ + 0.34873353029085463, + -0.915714552839983, + 0.19962911252607152, + -0.9020499828874449, + -0.3857481903632397, + -0.19365991326096832, + 0.25434376977554923, + -0.11253973231066045, + -0.9605436249477723 + ], + [ + 0.33591345199824646, + -0.9152351203892617, + 0.22250129701346594, + -0.9021081097321435, + -0.38055026774293926, + -0.2034267732533632, + 0.27085625546056674, + -0.13238643482936627, + -0.9534729785112157 + ], + [ + 0.3014843572472111, + -0.9280685568684844, + 0.2186228169411512, + -0.9163609154379005, + -0.3453779921522311, + -0.2024764559021758, + 0.26341954178277727, + -0.13929392050244518, + -0.9545718143324837 + ], + [ + 0.3038951474660805, + -0.9316063294690109, + 0.19939254308987, + -0.9167303096434001, + -0.3429139244254067, + -0.20497702265444756, + 0.2593323711527055, + -0.1204976652406301, + -0.9582416365113093 + ], + [ + 0.3087147962798908, + -0.9324087854851366, + 0.18790697514461227, + -0.9201657936598517, + -0.34278768594025383, + -0.18918645444656146, + 0.24081130940261194, + -0.11450091317477913, + -0.9637943007436499 + ], + [ + 0.32407859602394823, + -0.9294280513686493, + 0.1764555494401409, + -0.9216601173287418, + -0.35225295246803784, + -0.1626667931789409, + 0.2133440688763496, + -0.10991521644715874, + -0.9707744091541854 + ], + [ + 0.3663521381073767, + -0.9120633582531329, + 0.18419158893980694, + -0.907570183786668, + -0.3939151467438266, + -0.14542083298902872, + 0.20518887008214418, + -0.1138915611351726, + -0.9720731659173635 + ], + [ + 0.46566425579292203, + -0.8588941643129613, + 0.21320791586140475, + -0.8640209474103628, + -0.49335383975624003, + -0.10034834943272997, + 0.19137555568285902, + -0.13748746599931955, + -0.9718397982075866 + ], + [ + 0.4904241199574194, + -0.8394433012305229, + 0.23413484700742998, + -0.8480393376303073, + -0.5215825251573009, + -0.09370673018563687, + 0.2007821316640025, + -0.1525995198869759, + -0.9676775920391687 + ], + [ + 0.5186031296528126, + -0.8247206293615335, + 0.2255807558720924, + -0.8337914402294127, + -0.5462303561450135, + -0.0801513083227831, + 0.1893214940635903, + -0.1465205839846686, + -0.9709217735504349 + ], + [ + 0.5512818076469667, + -0.8071460887774007, + 0.2111955490270503, + -0.8161512865110749, + -0.5742517852482044, + -0.06428035987428132, + 0.17316306212298826, + -0.13693092605614857, + -0.9753278809741858 + ], + [ + 0.5715259966956635, + -0.7943450735456311, + 0.20584931196099193, + -0.8033798764819825, + -0.5927500867606623, + -0.05681644752200972, + 0.16714906270997298, + -0.13290311801839938, + -0.9769329311964893 + ], + [ + 0.5876409264066917, + -0.7791408217046374, + 0.2182148518440198, + -0.7894512459901419, + -0.6112157885264051, + -0.05640913100427145, + 0.17732701942032783, + -0.13912167268066916, + -0.9742691047005624 + ], + [ + 0.5952357900682033, + -0.768085542896297, + 0.23609098461309885, + -0.7804033470570192, + -0.6225873033018599, + -0.0579281077674694, + 0.19148099154768206, + -0.14976531160792392, + -0.9700027738696926 + ], + [ + 0.6021043229039794, + -0.7619724573012765, + 0.23847087590436436, + -0.7751922595291465, + -0.6294212363867294, + -0.05390610310064247, + 0.19117359939708387, + -0.1524036794163945, + -0.96965239823037 + ], + [ + 0.6012204576468166, + -0.7601538828516454, + 0.2463737723308218, + -0.7748655814194847, + -0.6299277669094905, + -0.052671996429478174, + 0.19523650283283756, + -0.15923907454513161, + -0.9677425407098801 + ], + [ + 0.6138387722686754, + -0.7525724247881258, + 0.23840450312065445, + -0.7677197824136026, + -0.6394233910582288, + -0.041761976227260654, + 0.18387032754225455, + -0.15739273304735654, + -0.9702676075358734 + ], + [ + 0.6165515737227504, + -0.7506295269876979, + 0.2375278302730536, + -0.7668433541485216, + -0.6408888874916441, + -0.034823901102083915, + 0.178368795304125, + -0.1606759070425539, + -0.9707563163625604 + ], + [ + 0.6146799029455176, + -0.7512757201087573, + 0.24031939016641415, + -0.7709991524324912, + -0.6365811988239806, + -0.018018996981073537, + 0.1665200404253774, + -0.17421013081589662, + -0.9705266129570269 + ], + [ + 0.6246866114376042, + -0.7404918711882319, + 0.24786775949032752, + -0.7623921786845277, + -0.647012986963005, + -0.011504806902746315, + 0.16889287543073844, + -0.18178554234416278, + -0.9687255613554211 + ], + [ + 0.6345600021683567, + -0.7271155276758876, + 0.26198590240833763, + -0.7516474689437345, + -0.659492577678408, + -0.009778671564540292, + 0.17988798202929826, + -0.19071588659496885, + -0.9650221575288944 + ], + [ + 0.6501916679854097, + -0.7132667933439761, + 0.2617274849822862, + -0.7370688171243341, + -0.6757363515760479, + -0.010485322199491096, + 0.18433760795151435, + -0.18609369863456898, + -0.965084857213717 + ], + [ + 0.6645169433860321, + -0.6932674664888637, + 0.27892194582176066, + -0.7204468444717703, + -0.6934726130533173, + -0.007216594465029466, + 0.19842776076838073, + -0.19615288642565565, + -0.9602866597549558 + ], + [ + 0.6853544925610061, + -0.6710982552884115, + 0.28269480234927413, + -0.699193518428983, + -0.7149293893657974, + -0.002095711799553701, + 0.20351325095271924, + -0.19622206799923775, + -0.9592076191924027 + ], + [ + 0.7030243267164898, + -0.6543153175416612, + 0.27861848695874625, + -0.6829280952324039, + -0.7304439126751489, + 0.00780430509783131, + 0.19840870138949707, + -0.1957630089321639, + -0.9603701534027173 + ], + [ + 0.7155853337964092, + -0.638820050108861, + 0.28257136025151885, + -0.6690298611571666, + -0.7430978503359649, + 0.014304883994295858, + 0.20083992365937564, + -0.1992850431040425, + -0.9591396127048011 + ], + [ + 0.7315122739170721, + -0.6242351321184332, + 0.274263181885132, + -0.6545302773603745, + -0.7555884331052186, + 0.02600453376148172, + 0.19099714429076164, + -0.19853619213302898, + -0.9613030070098039 + ], + [ + 0.735683107481697, + -0.6152418749678814, + 0.28328042758383304, + -0.6487890187623389, + -0.7602154542152834, + 0.033841872076639676, + 0.1945332220970884, + -0.2086861242590312, + -0.9584398400746229 + ], + [ + 0.7467283960948191, + -0.6026561172190712, + 0.28142904406633656, + -0.6369313349082637, + -0.7698007481049765, + 0.04153652403603067, + 0.1916120483624034, + -0.2102674786919074, + -0.958682643175995 + ], + [ + 0.7534626122879207, + -0.5896071107851604, + 0.2909596996077599, + -0.6265568536516923, + -0.7780219626352549, + 0.045916607009638136, + 0.19930027854058324, + -0.21689924059055943, + -0.9556328366087492 + ], + [ + 0.7607767044001679, + -0.5788785901685025, + 0.2934593394093078, + -0.6169135089168567, + -0.7854447146307205, + 0.04994319547804357, + 0.20158504051122367, + -0.21903465046241818, + -0.9546660637829834 + ], + [ + 0.7624391244012912, + -0.5785411107653228, + 0.28978744751389535, + -0.6172917982589888, + -0.784617224318258, + 0.05767709341927657, + 0.19400365301812192, + -0.22285868719333957, + -0.9553515521304632 + ], + [ + 0.761300571953714, + -0.5794291184908928, + 0.29100401335344933, + -0.61797127970656, + -0.7842674424555137, + 0.055100600378978654, + 0.19629808099108934, + -0.22178024111528546, + -0.9551338063591202 + ], + [ + 0.7492520536589116, + -0.6000346346160769, + 0.28032088282726075, + -0.633764344924371, + -0.7724672428266972, + 0.04046126372598288, + 0.1922605398683949, + -0.20797306561396775, + -0.9590532252115321 + ], + [ + 0.7274037508427089, + -0.6206172279832319, + 0.2927764327782676, + -0.649628310059564, + -0.7602480034831363, + 0.0024560067305389455, + 0.22105845839757732, + -0.19198236775890248, + -0.9561777703129122 + ], + [ + 0.7076302718839664, + -0.6443969170163438, + 0.2898482562536044, + -0.6647027631835766, + -0.7462285381576824, + -0.036238176763828414, + 0.23964480993658485, + -0.16701970595974508, + -0.9563863146718372 + ], + [ + 0.6893581375163779, + -0.6586061802701633, + 0.30170060913080066, + -0.6721268168082986, + -0.7368503581094648, + -0.0727811231096199, + 0.2702422993668734, + -0.15260881057101194, + -0.9506206659698739 + ], + [ + 0.6891587676994637, + -0.6702053648033751, + 0.27547225248966917, + -0.6742410433852261, + -0.7323709207037244, + -0.09503604538479667, + 0.2654415346507755, + -0.12023977501789616, + -0.9565998056585039 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006212.json b/json/chunk-0006/episode_0006212.json new file mode 100644 index 0000000000000000000000000000000000000000..bede6fcf467db261caea4a464b4feb4ff5e2d06e --- /dev/null +++ b/json/chunk-0006/episode_0006212.json @@ -0,0 +1,1282 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 20, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nFlip pot upright which is in sink." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006212.mp4", + "start": 0, + "end": 20, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2259497344493866, + -0.02190135233104229, + 0.16345596313476562, + 0.09096100181341171, + -0.1803130805492401, + -0.08727142959833145, + 0.0, + 1.0014774799346924 + ], + [ + 0.2223043143749237, + -0.024792522192001343, + 0.15581588447093964, + -0.018881089985370636, + -0.10947313904762268, + -0.03730517253279686, + 0.0, + 1.0014774799346924 + ], + [ + 0.22430846095085144, + -0.021638505160808563, + 0.15534774959087372, + -0.13568906486034393, + -0.0736696645617485, + 0.03862838074564934, + 0.0, + 1.0014774799346924 + ], + [ + 0.22393104434013367, + -0.02900768257677555, + 0.1496819406747818, + -0.22092996537685394, + -0.06686919182538986, + 0.04828118905425072, + 0.0, + 1.0014774799346924 + ], + [ + 0.22110119462013245, + -0.02745748870074749, + 0.13304030895233154, + -0.2984730899333954, + -0.05707088112831116, + 0.11831124871969223, + 0.0, + 1.0014774799346924 + ], + [ + 0.21887430548667908, + -0.03485462814569473, + 0.1254386305809021, + -0.3569624722003937, + -0.05905929207801819, + 0.14883878827095032, + 0.0, + 1.0014774799346924 + ], + [ + 0.22126244008541107, + -0.04036908224225044, + 0.12327753007411957, + -0.41631364822387695, + -0.07328269630670547, + 0.19617044925689697, + 0.0, + 1.0014774799346924 + ], + [ + 0.22392117977142334, + -0.05352666229009628, + 0.12471985071897507, + -0.4371738135814667, + -0.09709940105676651, + 0.2294243425130844, + 0.0, + 0.8261235952377319 + ], + [ + 0.2248116433620453, + -0.07701194286346436, + 0.12623026967048645, + -0.41897374391555786, + -0.10671842843294144, + 0.2547548711299896, + 0.0, + 0.5256435871124268 + ], + [ + 0.22809936106204987, + -0.0869564339518547, + 0.12312585115432739, + -0.3304455280303955, + -0.09188307076692581, + 0.23152610659599304, + 0.0, + 0.24929283559322357 + ], + [ + 0.2330988347530365, + -0.08567088842391968, + 0.12374303489923477, + -0.22364354133605957, + -0.09757870435714722, + 0.16889028251171112, + 0.0, + 0.08294149488210678 + ], + [ + 0.23702625930309296, + -0.08037044107913971, + 0.12170210480690002, + -0.15284281969070435, + -0.10303326696157455, + 0.11508524417877197, + 0.0, + 0.15667486190795898 + ], + [ + 0.23808231949806213, + -0.0770019143819809, + 0.12084338814020157, + -0.14266930520534515, + -0.10735911130905151, + 0.08788619190454483, + 0.0, + 0.3806030750274658 + ], + [ + 0.23808231949806213, + -0.0770019143819809, + 0.12084338814020157, + -0.14266930520534515, + -0.10735911130905151, + 0.08788619190454483, + 0.0, + 0.7051732540130615 + ], + [ + 0.23846103250980377, + -0.07709863036870956, + 0.120854452252388, + -0.14266930520534515, + -0.10735911130905151, + 0.08788619190454483, + 0.0, + 0.9844722747802734 + ], + [ + 0.23808231949806213, + -0.0770019143819809, + 0.12084338814020157, + -0.14266930520534515, + -0.10735911130905151, + 0.08788619190454483, + 0.0, + 1.0112061500549316 + ], + [ + 0.23844558000564575, + -0.0770946815609932, + 0.12123812735080719, + -0.14318089187145233, + -0.10880632698535919, + 0.08794137835502625, + 0.0, + 1.0086473226547241 + ], + [ + 0.23808231949806213, + -0.0770019143819809, + 0.12084338814020157, + -0.14266930520534515, + -0.10735911130905151, + 0.08788619190454483, + 0.0, + 1.0086473226547241 + ], + [ + 0.2380971908569336, + -0.07700570672750473, + 0.12046029418706894, + -0.14215786755084991, + -0.10591186583042145, + 0.0878317579627037, + 0.0, + 1.0086473226547241 + ], + [ + 0.23844558000564575, + -0.0770946815609932, + 0.12123812735080719, + -0.14318089187145233, + -0.10880632698535919, + 0.08794137835502625, + 0.0, + 1.0092895030975342 + ] + ], + "left_gripper_pos": [ + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 0.8261235952377319 + ], + [ + 0.5256435871124268 + ], + [ + 0.24929283559322357 + ], + [ + 0.08294149488210678 + ], + [ + 0.15667486190795898 + ], + [ + 0.3806030750274658 + ], + [ + 0.7051732540130615 + ], + [ + 0.9844722747802734 + ], + [ + 1.0112061500549316 + ], + [ + 1.0086473226547241 + ], + [ + 1.0086473226547241 + ], + [ + 1.0086473226547241 + ], + [ + 1.0092895030975342 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2259497344493866, + -0.02190135233104229, + 0.16345596313476562 + ], + [ + 0.2223043143749237, + -0.024792522192001343, + 0.15581588447093964 + ], + [ + 0.22430846095085144, + -0.021638505160808563, + 0.15534774959087372 + ], + [ + 0.22393104434013367, + -0.02900768257677555, + 0.1496819406747818 + ], + [ + 0.22110119462013245, + -0.02745748870074749, + 0.13304030895233154 + ], + [ + 0.21887430548667908, + -0.03485462814569473, + 0.1254386305809021 + ], + [ + 0.22126244008541107, + -0.04036908224225044, + 0.12327753007411957 + ], + [ + 0.22392117977142334, + -0.05352666229009628, + 0.12471985071897507 + ], + [ + 0.2248116433620453, + -0.07701194286346436, + 0.12623026967048645 + ], + [ + 0.22809936106204987, + -0.0869564339518547, + 0.12312585115432739 + ], + [ + 0.2330988347530365, + -0.08567088842391968, + 0.12374303489923477 + ], + [ + 0.23702625930309296, + -0.08037044107913971, + 0.12170210480690002 + ], + [ + 0.23808231949806213, + -0.0770019143819809, + 0.12084338814020157 + ], + [ + 0.23808231949806213, + -0.0770019143819809, + 0.12084338814020157 + ], + [ + 0.23846103250980377, + -0.07709863036870956, + 0.120854452252388 + ], + [ + 0.23808231949806213, + -0.0770019143819809, + 0.12084338814020157 + ], + [ + 0.23844558000564575, + -0.0770946815609932, + 0.12123812735080719 + ], + [ + 0.23808231949806213, + -0.0770019143819809, + 0.12084338814020157 + ], + [ + 0.2380971908569336, + -0.07700570672750473, + 0.12046029418706894 + ], + [ + 0.23844558000564575, + -0.0770946815609932, + 0.12123812735080719 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9800435591894455, + -0.07057211525234491, + 0.18583379305199893, + -0.08574760632781839, + -0.9934957667996639, + 0.07492335657321463, + 0.17933758697030833, + -0.08936295597146128, + -0.9797205172903696 + ], + [ + 0.9933222055911117, + -0.039351160910180594, + 0.10845497690115524, + -0.0370732558415824, + -0.999049191864645, + -0.022940922734370393, + 0.10925460896874611, + 0.018766948862850637, + -0.9938366224130933 + ], + [ + 0.9965436575784533, + 0.02831472192147951, + 0.07809619108937188, + 0.03851402599820336, + -0.9904537364218161, + -0.13235583028138012, + 0.07360304573567669, + 0.13490616194441626, + -0.9881209030922576 + ], + [ + 0.9966023827122091, + 0.03246383246964339, + 0.07569537868146436, + 0.048154571144779376, + -0.9752637826645557, + -0.2157352347222971, + 0.06681936882528705, + 0.21864732745726662, + -0.97351349150671 + ], + [ + 0.9913926648831902, + 0.0961607187509079, + 0.08884649787760393, + 0.11784325695444944, + -0.9510849053815248, + -0.28557042834611457, + 0.057039905383633766, + 0.29358238864878206, + -0.9542304911650547 + ], + [ + 0.9872197236105513, + 0.1185449948459131, + 0.10650963107291865, + 0.14803131705583752, + -0.9296619241116746, + -0.3373654339550708, + 0.059024964930281046, + 0.34882057143173417, + -0.9353289594901987 + ], + [ + 0.978187706502037, + 0.1492256889471822, + 0.1445008809887456, + 0.1943915223332242, + -0.9028154214956549, + -0.3835834338896752, + 0.07321712158543514, + 0.40330634568261137, + -0.9121311553931714 + ], + [ + 0.9692104520466102, + 0.1660588810374693, + 0.18181184689724983, + 0.22634575242576405, + -0.8915480357975085, + -0.39231326796887594, + 0.09694689269089603, + 0.42138645907787303, + -0.901684397171977 + ], + [ + 0.9622197023052013, + 0.1882766405589052, + 0.19668541154733135, + 0.25057452189947954, + -0.8949438943483387, + -0.3691718230627539, + 0.10651597753641254, + 0.4045087546499863, + -0.9083099767926035 + ], + [ + 0.9692116178716447, + 0.18807223561162542, + 0.1589266307913006, + 0.22849523617718412, + -0.9274901275149076, + -0.2958918559317125, + 0.09175383821378785, + 0.32309580244012104, + -0.941907816943151 + ], + [ + 0.9810825626018226, + 0.142602791559199, + 0.13092535735358932, + 0.16728892308202656, + -0.9648539864602337, + -0.2026603094487217, + 0.09742392710570247, + 0.2207288577674416, + -0.9704572890014191 + ], + [ + 0.9881168470782655, + 0.09793736569973956, + 0.11846252116134913, + 0.11422239158974042, + -0.9836025069712645, + -0.1395684546714035, + 0.1028510660111387, + 0.15144101386229258, + -0.9831008481029468 + ], + [ + 0.9904052585878844, + 0.07170448867254951, + 0.11813505011500208, + 0.0872677472596639, + -0.9873569710409111, + -0.1323274424491785, + 0.10715299365715014, + 0.14136717455309572, + -0.9841410254171834 + ], + [ + 0.9904052585878844, + 0.07170448867254951, + 0.11813505011500208, + 0.0872677472596639, + -0.9873569710409111, + -0.1323274424491785, + 0.10715299365715014, + 0.14136717455309572, + -0.9841410254171834 + ], + [ + 0.9904052585878844, + 0.07170448867254951, + 0.11813505011500208, + 0.0872677472596639, + -0.9873569710409111, + -0.1323274424491785, + 0.10715299365715014, + 0.14136717455309572, + -0.9841410254171834 + ], + [ + 0.9904052585878844, + 0.07170448867254951, + 0.11813505011500208, + 0.0872677472596639, + -0.9873569710409111, + -0.1323274424491785, + 0.10715299365715014, + 0.14136717455309572, + -0.9841410254171834 + ], + [ + 0.9902449297391369, + 0.07149401989084583, + 0.11959759297652728, + 0.08730869283122547, + -0.9873032208172955, + -0.1327009507121077, + 0.10859176433797577, + 0.14184835312276928, + -0.9839140579513658 + ], + [ + 0.9904052585878844, + 0.07170448867254951, + 0.11813505011500208, + 0.0872677472596639, + -0.9873569710409111, + -0.1323274424491785, + 0.10715299365715014, + 0.14136717455309572, + -0.9841410254171834 + ], + [ + 0.9905634490846474, + 0.07191424295392457, + 0.11667216890883308, + 0.08722734727997888, + -0.9874105399713196, + -0.13195383829220428, + 0.10571396891624743, + 0.14088565297400282, + -0.9843656787810431 + ], + [ + 0.9902449297391369, + 0.07149401989084583, + 0.11959759297652728, + 0.08730869283122547, + -0.9873032208172955, + -0.1327009507121077, + 0.10859176433797577, + 0.14184835312276928, + -0.9839140579513658 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0036454200744628906, + -0.002891169860959053, + -0.007640078663825989, + -0.10984209179878235, + 0.07083994150161743, + 0.04996625706553459, + 1.0 + ], + [ + 0.0020041465759277344, + 0.0031540170311927795, + -0.00046813488006591797, + -0.1168079748749733, + 0.035803474485874176, + 0.0759335532784462, + 1.0 + ], + [ + -0.00037741661071777344, + -0.007369177415966988, + -0.005665808916091919, + -0.08524090051651001, + 0.006800472736358643, + 0.00965280830860138, + 1.0 + ], + [ + -0.0028298497200012207, + 0.001550193876028061, + -0.016641631722450256, + -0.07754312455654144, + 0.009798310697078705, + 0.07003006339073181, + 1.0 + ], + [ + -0.002226889133453369, + -0.007397139444947243, + -0.007601678371429443, + -0.05848938226699829, + -0.0019884109497070312, + 0.030527539551258087, + 1.0 + ], + [ + 0.0023881345987319946, + -0.00551445409655571, + -0.0021611005067825317, + -0.059351176023483276, + -0.014223404228687286, + 0.047331660985946655, + 1.0 + ], + [ + 0.002658739686012268, + -0.01315758004784584, + 0.0014423206448554993, + -0.02086016535758972, + -0.023816704750061035, + 0.03325389325618744, + 0.0 + ], + [ + 0.0008904635906219482, + -0.023485280573368073, + 0.001510418951511383, + 0.018200069665908813, + -0.009619027376174927, + 0.025330528616905212, + 0.0 + ], + [ + 0.0032877177000045776, + -0.00994449108839035, + -0.0031044185161590576, + 0.08852821588516235, + 0.014835357666015625, + -0.023228764533996582, + 0.0 + ], + [ + 0.004999473690986633, + 0.001285545527935028, + 0.0006171837449073792, + 0.10680198669433594, + -0.005695633590221405, + -0.06263582408428192, + 0.0 + ], + [ + 0.0039274245500564575, + 0.005300447344779968, + -0.0020409300923347473, + 0.07080072164535522, + -0.005454562604427338, + -0.05380503833293915, + 1.0 + ], + [ + 0.0010560601949691772, + 0.0033685266971588135, + -0.0008587166666984558, + 0.010173514485359192, + -0.004325844347476959, + -0.027199052274227142, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0003787130117416382, + -9.671598672866821e-05, + 1.1064112186431885e-05, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + -0.0003787130117416382, + 9.671598672866821e-05, + -1.1064112186431885e-05, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.00036326050758361816, + -9.276717901229858e-05, + 0.00039473921060562134, + -0.0005115866661071777, + -0.0014472156763076782, + 5.5186450481414795e-05, + 1.0 + ], + [ + -0.00036326050758361816, + 9.276717901229858e-05, + -0.00039473921060562134, + 0.0005115866661071777, + 0.0014472156763076782, + -5.5186450481414795e-05, + 1.0 + ], + [ + 1.4871358871459961e-05, + -3.7923455238342285e-06, + -0.0003830939531326294, + 0.0005114376544952393, + 0.001447245478630066, + -5.443394184112549e-05, + 1.0 + ], + [ + 0.0003483891487121582, + -8.897483348846436e-05, + 0.0007778331637382507, + -0.001023024320602417, + -0.002894461154937744, + 0.00010962039232254028, + 1.0 + ], + [ + -0.00040718913078308105, + -0.00011396408081054688, + -0.00037206709384918213, + -0.0008494704961776733, + 0.0019232779741287231, + 0.0006336122751235962, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 0.8261235952377319 + ], + [ + 0.5256435871124268 + ], + [ + 0.24929283559322357 + ], + [ + 0.08294149488210678 + ], + [ + 0.15667486190795898 + ], + [ + 0.3806030750274658 + ], + [ + 0.7051732540130615 + ], + [ + 0.9844722747802734 + ], + [ + 1.0112061500549316 + ], + [ + 1.0086473226547241 + ], + [ + 1.0086473226547241 + ], + [ + 1.0086473226547241 + ], + [ + 1.0092895030975342 + ], + [ + 1.0086473226547241 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2223043143749237, + -0.024792522192001343, + 0.15581588447093964 + ], + [ + 0.22430846095085144, + -0.021638505160808563, + 0.15534774959087372 + ], + [ + 0.22393104434013367, + -0.02900768257677555, + 0.1496819406747818 + ], + [ + 0.22110119462013245, + -0.02745748870074749, + 0.13304030895233154 + ], + [ + 0.21887430548667908, + -0.03485462814569473, + 0.1254386305809021 + ], + [ + 0.22126244008541107, + -0.04036908224225044, + 0.12327753007411957 + ], + [ + 0.22392117977142334, + -0.05352666229009628, + 0.12471985071897507 + ], + [ + 0.2248116433620453, + -0.07701194286346436, + 0.12623026967048645 + ], + [ + 0.22809936106204987, + -0.0869564339518547, + 0.12312585115432739 + ], + [ + 0.2330988347530365, + -0.08567088842391968, + 0.12374303489923477 + ], + [ + 0.23702625930309296, + -0.08037044107913971, + 0.12170210480690002 + ], + [ + 0.23808231949806213, + -0.0770019143819809, + 0.12084338814020157 + ], + [ + 0.23808231949806213, + -0.0770019143819809, + 0.12084338814020157 + ], + [ + 0.23846103250980377, + -0.07709863036870956, + 0.120854452252388 + ], + [ + 0.23808231949806213, + -0.0770019143819809, + 0.12084338814020157 + ], + [ + 0.23844558000564575, + -0.0770946815609932, + 0.12123812735080719 + ], + [ + 0.23808231949806213, + -0.0770019143819809, + 0.12084338814020157 + ], + [ + 0.2380971908569336, + -0.07700570672750473, + 0.12046029418706894 + ], + [ + 0.23844558000564575, + -0.0770946815609932, + 0.12123812735080719 + ], + [ + 0.23803839087486267, + -0.07720864564180374, + 0.12086606025695801 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9933222055911117, + -0.039351160910180594, + 0.10845497690115524, + -0.0370732558415824, + -0.999049191864645, + -0.022940922734370393, + 0.10925460896874611, + 0.018766948862850637, + -0.9938366224130933 + ], + [ + 0.9965436575784533, + 0.02831472192147951, + 0.07809619108937188, + 0.03851402599820336, + -0.9904537364218161, + -0.13235583028138012, + 0.07360304573567669, + 0.13490616194441626, + -0.9881209030922576 + ], + [ + 0.9966023827122091, + 0.03246383246964339, + 0.07569537868146436, + 0.048154571144779376, + -0.9752637826645557, + -0.2157352347222971, + 0.06681936882528705, + 0.21864732745726662, + -0.97351349150671 + ], + [ + 0.9913926648831902, + 0.0961607187509079, + 0.08884649787760393, + 0.11784325695444944, + -0.9510849053815248, + -0.28557042834611457, + 0.057039905383633766, + 0.29358238864878206, + -0.9542304911650547 + ], + [ + 0.9872197236105513, + 0.1185449948459131, + 0.10650963107291865, + 0.14803131705583752, + -0.9296619241116746, + -0.3373654339550708, + 0.059024964930281046, + 0.34882057143173417, + -0.9353289594901987 + ], + [ + 0.978187706502037, + 0.1492256889471822, + 0.1445008809887456, + 0.1943915223332242, + -0.9028154214956549, + -0.3835834338896752, + 0.07321712158543514, + 0.40330634568261137, + -0.9121311553931714 + ], + [ + 0.9692104520466102, + 0.1660588810374693, + 0.18181184689724983, + 0.22634575242576405, + -0.8915480357975085, + -0.39231326796887594, + 0.09694689269089603, + 0.42138645907787303, + -0.901684397171977 + ], + [ + 0.9622197023052013, + 0.1882766405589052, + 0.19668541154733135, + 0.25057452189947954, + -0.8949438943483387, + -0.3691718230627539, + 0.10651597753641254, + 0.4045087546499863, + -0.9083099767926035 + ], + [ + 0.9692116178716447, + 0.18807223561162542, + 0.1589266307913006, + 0.22849523617718412, + -0.9274901275149076, + -0.2958918559317125, + 0.09175383821378785, + 0.32309580244012104, + -0.941907816943151 + ], + [ + 0.9810825626018226, + 0.142602791559199, + 0.13092535735358932, + 0.16728892308202656, + -0.9648539864602337, + -0.2026603094487217, + 0.09742392710570247, + 0.2207288577674416, + -0.9704572890014191 + ], + [ + 0.9881168470782655, + 0.09793736569973956, + 0.11846252116134913, + 0.11422239158974042, + -0.9836025069712645, + -0.1395684546714035, + 0.1028510660111387, + 0.15144101386229258, + -0.9831008481029468 + ], + [ + 0.9904052585878844, + 0.07170448867254951, + 0.11813505011500208, + 0.0872677472596639, + -0.9873569710409111, + -0.1323274424491785, + 0.10715299365715014, + 0.14136717455309572, + -0.9841410254171834 + ], + [ + 0.9904052585878844, + 0.07170448867254951, + 0.11813505011500208, + 0.0872677472596639, + -0.9873569710409111, + -0.1323274424491785, + 0.10715299365715014, + 0.14136717455309572, + -0.9841410254171834 + ], + [ + 0.9904052585878844, + 0.07170448867254951, + 0.11813505011500208, + 0.0872677472596639, + -0.9873569710409111, + -0.1323274424491785, + 0.10715299365715014, + 0.14136717455309572, + -0.9841410254171834 + ], + [ + 0.9904052585878844, + 0.07170448867254951, + 0.11813505011500208, + 0.0872677472596639, + -0.9873569710409111, + -0.1323274424491785, + 0.10715299365715014, + 0.14136717455309572, + -0.9841410254171834 + ], + [ + 0.9902449297391369, + 0.07149401989084583, + 0.11959759297652728, + 0.08730869283122547, + -0.9873032208172955, + -0.1327009507121077, + 0.10859176433797577, + 0.14184835312276928, + -0.9839140579513658 + ], + [ + 0.9904052585878844, + 0.07170448867254951, + 0.11813505011500208, + 0.0872677472596639, + -0.9873569710409111, + -0.1323274424491785, + 0.10715299365715014, + 0.14136717455309572, + -0.9841410254171834 + ], + [ + 0.9905634490846474, + 0.07191424295392457, + 0.11667216890883308, + 0.08722734727997888, + -0.9874105399713196, + -0.13195383829220428, + 0.10571396891624743, + 0.14088565297400282, + -0.9843656787810431 + ], + [ + 0.9902449297391369, + 0.07149401989084583, + 0.11959759297652728, + 0.08730869283122547, + -0.9873032208172955, + -0.1327009507121077, + 0.10859176433797577, + 0.14184835312276928, + -0.9839140579513658 + ], + [ + 0.9903956130333779, + 0.07229125486010046, + 0.11785798299220909, + 0.08795441885475797, + -0.9871204281912798, + -0.133631135785739, + 0.10667966014269845, + 0.1427138210483372, + -0.9839980769257741 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006213.json b/json/chunk-0006/episode_0006213.json new file mode 100644 index 0000000000000000000000000000000000000000..155ff86e1334c1e7d920d4ac6f1d618e04c2008e --- /dev/null +++ b/json/chunk-0006/episode_0006213.json @@ -0,0 +1,2242 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 36, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPlace the blue brush on the blue cloth." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006213.mp4", + "start": 0, + "end": 36, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.31315353512763977, + 0.0656609833240509, + 0.1313847303390503, + 0.1707620620727539, + -0.07108038663864136, + 0.11262907832860947, + 0.0, + 0.9994885921478271 + ], + [ + 0.31321048736572266, + 0.06295763701200485, + 0.12125488370656967, + 0.15350474417209625, + -0.036901723593473434, + 0.10557553917169571, + 0.0, + 0.9994885921478271 + ], + [ + 0.31808197498321533, + 0.07195217907428741, + 0.11221351474523544, + 0.06781259924173355, + -0.015321471728384495, + 0.10961402952671051, + 0.0, + 0.9994885921478271 + ], + [ + 0.32806897163391113, + 0.08784684538841248, + 0.10642524063587189, + -0.001245956402271986, + -0.0017078028758987784, + 0.13394415378570557, + 0.0, + 0.9994885921478271 + ], + [ + 0.3271300196647644, + 0.13503612577915192, + 0.0992678552865982, + -0.03976888209581375, + -0.058096472173929214, + 0.13980154693126678, + 0.0, + 0.9994885921478271 + ], + [ + 0.3181486129760742, + 0.15584604442119598, + 0.08963567763566971, + -0.0009372642380185425, + -0.07593773305416107, + 0.1074974536895752, + 0.0, + 0.9994885921478271 + ], + [ + 0.30803099274635315, + 0.16046181321144104, + 0.07886707037687302, + 0.039764877408742905, + -0.0435592420399189, + 0.08417560160160065, + 0.0, + 0.9994885921478271 + ], + [ + 0.29944154620170593, + 0.16143664717674255, + 0.0662090852856636, + 0.052533507347106934, + -0.00492107542231679, + 0.10213036090135574, + 0.0, + 0.9994885921478271 + ], + [ + 0.2944141924381256, + 0.16875289380550385, + 0.04822868853807449, + 0.05027995631098747, + 0.0468069389462471, + 0.13772059977054596, + 0.0, + 0.9994885921478271 + ], + [ + 0.2953420579433441, + 0.1874377429485321, + 0.048182643949985504, + 0.060584377497434616, + 0.057950373739004135, + 0.1826537847518921, + 0.0, + 0.9994885921478271 + ], + [ + 0.2938653230667114, + 0.20204795897006989, + 0.054943740367889404, + 0.06266968697309494, + 0.04618233069777489, + 0.2164974957704544, + 0.0, + 0.9994885921478271 + ], + [ + 0.28913792967796326, + 0.20476652681827545, + 0.04378698021173477, + 0.059339579194784164, + 0.08498484641313553, + 0.23026038706302643, + 0.0, + 0.9994885921478271 + ], + [ + 0.2895369231700897, + 0.19686347246170044, + 0.023169569671154022, + 0.06009434536099434, + 0.14237837493419647, + 0.22284208238124847, + 0.0, + 0.9994885921478271 + ], + [ + 0.29033535718917847, + 0.1879270374774933, + 0.007886294275522232, + 0.06613482534885406, + 0.19314365088939667, + 0.20448966324329376, + 0.0, + 0.9994885921478271 + ], + [ + 0.2905893623828888, + 0.1886846423149109, + 0.007930027320981026, + 0.07476408779621124, + 0.19146281480789185, + 0.2089182585477829, + 0.0, + 0.9343546032905579 + ], + [ + 0.29174116253852844, + 0.1886594146490097, + 0.007770502474159002, + 0.07759317755699158, + 0.18493635952472687, + 0.2147076278924942, + 0.0, + 0.7739869356155396 + ], + [ + 0.2903176546096802, + 0.188459113240242, + 0.008995013311505318, + 0.08412957191467285, + 0.17658770084381104, + 0.2178252786397934, + 0.0, + 0.7710858583450317 + ], + [ + 0.2859320342540741, + 0.1896526962518692, + 0.03800434246659279, + 0.09769566357135773, + 0.10699226707220078, + 0.26340237259864807, + 0.0, + 0.7710858583450317 + ], + [ + 0.27974769473075867, + 0.1976301372051239, + 0.09133520722389221, + 0.10648033767938614, + -0.0029249137733131647, + 0.32624176144599915, + 0.0, + 0.7710858583450317 + ], + [ + 0.27665048837661743, + 0.19439643621444702, + 0.10192613303661346, + 0.1214887723326683, + 0.016277072951197624, + 0.3502998948097229, + 0.0, + 0.7710858583450317 + ], + [ + 0.29682788252830505, + 0.14526672661304474, + 0.12170208990573883, + 0.09521771222352982, + -0.014406036585569382, + 0.25584906339645386, + 0.0, + 0.7710858583450317 + ], + [ + 0.3036499321460724, + 0.09885644912719727, + 0.13732565939426422, + 0.055466361343860626, + -0.033562809228897095, + 0.22105784714221954, + 0.0, + 0.7710858583450317 + ], + [ + 0.3173317015171051, + 0.05450783669948578, + 0.1498173326253891, + 0.0327555388212204, + -0.06688907742500305, + 0.21723847091197968, + 0.0, + 0.7710858583450317 + ], + [ + 0.3355804979801178, + 0.026850324124097824, + 0.15553736686706543, + 0.008468810468912125, + -0.152382954955101, + 0.26666468381881714, + 0.0, + 0.7710858583450317 + ], + [ + 0.3543566167354584, + 9.772592602530494e-05, + 0.13405835628509521, + 0.021039094775915146, + -0.16348382830619812, + 0.23335865139961243, + 0.0, + 0.7710858583450317 + ], + [ + 0.3708164393901825, + -0.016103699803352356, + 0.10381484776735306, + 0.07637578994035721, + -0.1265605092048645, + 0.17628751695156097, + 0.0, + 0.7710858583450317 + ], + [ + 0.3812713325023651, + -0.022982962429523468, + 0.07349293678998947, + 0.08154256641864777, + -0.06777923554182053, + 0.139449343085289, + 0.0, + 0.7710858583450317 + ], + [ + 0.38722413778305054, + -0.02339867502450943, + 0.05981314182281494, + 0.08712858706712723, + -0.0500040277838707, + 0.13642017543315887, + 0.0, + 0.7710858583450317 + ], + [ + 0.3911730647087097, + -0.022735491394996643, + 0.053417932242155075, + 0.08998355269432068, + -0.03437119722366333, + 0.134896919131279, + 0.0, + 0.7710858583450317 + ], + [ + 0.39160314202308655, + -0.01896667666733265, + 0.0535762794315815, + 0.07623769342899323, + -0.03176398202776909, + 0.14600738883018494, + 0.0, + 0.832595944404602 + ], + [ + 0.38965630531311035, + -0.018647415563464165, + 0.05325223505496979, + 0.05061972513794899, + -0.012911874800920486, + 0.1400282084941864, + 0.0, + 0.9687211513519287 + ], + [ + 0.38710665702819824, + -0.01571652851998806, + 0.051698312163352966, + 0.029801741242408752, + 0.004882572218775749, + 0.14298124611377716, + 0.0, + 0.9968144297599792 + ], + [ + 0.3852924704551697, + -0.010728446766734123, + 0.06894614547491074, + -0.0063331238925457, + -0.011352579109370708, + 0.1474335491657257, + 0.0, + 0.9981546401977539 + ], + [ + 0.37318429350852966, + 0.002439344534650445, + 0.11682664602994919, + -0.039813973009586334, + -0.10438888520002365, + 0.16200372576713562, + 0.0, + 0.9981546401977539 + ], + [ + 0.3587104082107544, + 0.00947186816483736, + 0.15668904781341553, + -0.05387935787439346, + -0.20986594259738922, + 0.16548901796340942, + 0.0, + 0.9981546401977539 + ], + [ + 0.35338789224624634, + 0.008578173816204071, + 0.15736734867095947, + -0.05058835446834564, + -0.20350253582000732, + 0.1324082762002945, + 0.0, + 0.9981546401977539 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9343546032905579 + ], + [ + 0.7739869356155396 + ], + [ + 0.7710858583450317 + ], + [ + 0.7710858583450317 + ], + [ + 0.7710858583450317 + ], + [ + 0.7710858583450317 + ], + [ + 0.7710858583450317 + ], + [ + 0.7710858583450317 + ], + [ + 0.7710858583450317 + ], + [ + 0.7710858583450317 + ], + [ + 0.7710858583450317 + ], + [ + 0.7710858583450317 + ], + [ + 0.7710858583450317 + ], + [ + 0.7710858583450317 + ], + [ + 0.7710858583450317 + ], + [ + 0.832595944404602 + ], + [ + 0.9687211513519287 + ], + [ + 0.9968144297599792 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.31315353512763977, + 0.0656609833240509, + 0.1313847303390503 + ], + [ + 0.31321048736572266, + 0.06295763701200485, + 0.12125488370656967 + ], + [ + 0.31808197498321533, + 0.07195217907428741, + 0.11221351474523544 + ], + [ + 0.32806897163391113, + 0.08784684538841248, + 0.10642524063587189 + ], + [ + 0.3271300196647644, + 0.13503612577915192, + 0.0992678552865982 + ], + [ + 0.3181486129760742, + 0.15584604442119598, + 0.08963567763566971 + ], + [ + 0.30803099274635315, + 0.16046181321144104, + 0.07886707037687302 + ], + [ + 0.29944154620170593, + 0.16143664717674255, + 0.0662090852856636 + ], + [ + 0.2944141924381256, + 0.16875289380550385, + 0.04822868853807449 + ], + [ + 0.2953420579433441, + 0.1874377429485321, + 0.048182643949985504 + ], + [ + 0.2938653230667114, + 0.20204795897006989, + 0.054943740367889404 + ], + [ + 0.28913792967796326, + 0.20476652681827545, + 0.04378698021173477 + ], + [ + 0.2895369231700897, + 0.19686347246170044, + 0.023169569671154022 + ], + [ + 0.29033535718917847, + 0.1879270374774933, + 0.007886294275522232 + ], + [ + 0.2905893623828888, + 0.1886846423149109, + 0.007930027320981026 + ], + [ + 0.29174116253852844, + 0.1886594146490097, + 0.007770502474159002 + ], + [ + 0.2903176546096802, + 0.188459113240242, + 0.008995013311505318 + ], + [ + 0.2859320342540741, + 0.1896526962518692, + 0.03800434246659279 + ], + [ + 0.27974769473075867, + 0.1976301372051239, + 0.09133520722389221 + ], + [ + 0.27665048837661743, + 0.19439643621444702, + 0.10192613303661346 + ], + [ + 0.29682788252830505, + 0.14526672661304474, + 0.12170208990573883 + ], + [ + 0.3036499321460724, + 0.09885644912719727, + 0.13732565939426422 + ], + [ + 0.3173317015171051, + 0.05450783669948578, + 0.1498173326253891 + ], + [ + 0.3355804979801178, + 0.026850324124097824, + 0.15553736686706543 + ], + [ + 0.3543566167354584, + 9.772592602530494e-05, + 0.13405835628509521 + ], + [ + 0.3708164393901825, + -0.016103699803352356, + 0.10381484776735306 + ], + [ + 0.3812713325023651, + -0.022982962429523468, + 0.07349293678998947 + ], + [ + 0.38722413778305054, + -0.02339867502450943, + 0.05981314182281494 + ], + [ + 0.3911730647087097, + -0.022735491394996643, + 0.053417932242155075 + ], + [ + 0.39160314202308655, + -0.01896667666733265, + 0.0535762794315815 + ], + [ + 0.38965630531311035, + -0.018647415563464165, + 0.05325223505496979 + ], + [ + 0.38710665702819824, + -0.01571652851998806, + 0.051698312163352966 + ], + [ + 0.3852924704551697, + -0.010728446766734123, + 0.06894614547491074 + ], + [ + 0.37318429350852966, + 0.002439344534650445, + 0.11682664602994919 + ], + [ + 0.3587104082107544, + 0.00947186816483736, + 0.15668904781341553 + ], + [ + 0.35338789224624634, + 0.008578173816204071, + 0.15736734867095947 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9911548993760825, + 0.12274873467821283, + 0.05044515415464056, + 0.11210730277390869, + -0.9778553321632094, + 0.17672266980989884, + 0.07102054708003104, + -0.16950426984261216, + -0.9829671329182761 + ], + [ + 0.9937550766617596, + 0.10975007064355885, + 0.02014372365562557, + 0.10530777939924271, + -0.9821443578356321, + 0.1558933352316066, + 0.036893349088701635, + -0.15279850249713667, + -0.9875684778422464 + ], + [ + 0.9938817280671636, + 0.1101751445199636, + 0.007781268806175157, + 0.10938181515464909, + -0.991600227529431, + 0.06902613473935046, + 0.015320872289233364, + -0.06775268477031682, + -0.9975845049812628 + ], + [ + 0.9910414402817264, + 0.13354178431675498, + 0.001858893708266585, + 0.13354380201452223, + -0.99104240042466, + -0.0010067293748101203, + 0.0017078020457385792, + 0.0012459542629285373, + -0.9999977655025771 + ], + [ + 0.9885730041986623, + 0.13695042130313279, + 0.06299204294612071, + 0.1391115053016136, + -0.989782390734919, + -0.03128590870962495, + 0.05806379648585356, + 0.039691322678417774, + -0.9975235307709222 + ], + [ + 0.9913624612045029, + 0.10721979650026921, + 0.07552738412649453, + 0.10698133958499466, + -0.9942349027420097, + 0.007207714629921228, + 0.07586477110721586, + 0.0009345630140244346, + -0.9971176776573677 + ], + [ + 0.9955141301523258, + 0.08573476273231104, + 0.04001458641910553, + 0.08399648116578182, + -0.9955260594499451, + 0.04327188588252861, + 0.04354546840744966, + -0.03971668937988724, + -0.9982616775003822 + ], + [ + 0.9947771809773986, + 0.10206931051021823, + -0.00046482107146749926, + 0.10195167197665025, + -0.9933905028088236, + 0.052736756729989884, + 0.004921055560073943, + -0.052508711479156284, + -0.9986083408579027 + ], + [ + 0.9894466236761267, + 0.13478282360884472, + -0.053188056515913934, + 0.13713529412248934, + -0.9896025344279212, + 0.04336744124078532, + -0.046789849346320245, + -0.0502037280872813, + -0.9976423686293032 + ], + [ + 0.9817143941351125, + 0.17785815815589096, + -0.06784779970877557, + 0.18133493904987458, + -0.9821979407633324, + 0.04903921940698692, + -0.057917943918153095, + -0.06044568419384796, + -0.996489754605952 + ], + [ + 0.9756144876189998, + 0.21156469740744088, + -0.0584529756198424, + 0.21458117284055073, + -0.9753596197570448, + 0.05126921502974492, + -0.0461659161101523, + -0.06256189701639883, + -0.9969727765748769 + ], + [ + 0.9700932138631855, + 0.2229282613475222, + -0.09603200877398425, + 0.22740735116630956, + -0.9730422787193785, + 0.03840078723310131, + -0.08488258391518559, + -0.05909072784430719, + -0.9946372368007903 + ], + [ + 0.9654047942395052, + 0.21229198177063627, + -0.15141234340460596, + 0.21876606497652126, + -0.9753962045717062, + 0.027270000399681093, + -0.14189782265442613, + -0.059450471680264724, + -0.9880944536545719 + ], + [ + 0.9609578395994589, + 0.1902028501590472, + -0.20095498576476353, + 0.1992915803121465, + -0.9796000933644957, + 0.025817108609585, + -0.19194503517681447, + -0.064857789598836, + -0.9792602159790447 + ], + [ + 0.9603800938926567, + 0.19291749393486865, + -0.20112910229159262, + 0.2036119315792043, + -0.9784710605885806, + 0.03371297835023868, + -0.1902951827380752, + -0.07332955832778587, + -0.9789844326148064 + ], + [ + 0.9603782209906021, + 0.19849416650988344, + -0.19563675142588255, + 0.2094286395214583, + -0.977135921740422, + 0.036674724166469844, + -0.18388397862542827, + -0.07619354504183566, + -0.9799904214321896 + ], + [ + 0.9611860735987691, + 0.2009295703040284, + -0.1890731067529686, + 0.2127460978656587, + -0.9761066100347687, + 0.044215197493245775, + -0.17567136864815655, + -0.08272359774495826, + -0.9809670619411301 + ], + [ + 0.9599887107748157, + 0.2490686299902787, + -0.12800973689400744, + 0.2588782415089094, + -0.9636177655791571, + 0.06650457077139485, + -0.1067882543080564, + -0.09698257273860264, + -0.9895406254049601 + ], + [ + 0.9472494386209355, + 0.31896463089016425, + -0.031305994209166695, + 0.3204839246142285, + -0.9417889277257225, + 0.10160546086257224, + 0.0029249096028166072, + -0.10627878365099702, + -0.9943320698084118 + ], + [ + 0.9391454135481723, + 0.338797294424926, + -0.05676517860257522, + 0.34313404451472007, + -0.933023705015535, + 0.10828570253756463, + -0.016276354211014053, + -0.1211740862124976, + -0.9924978192037318 + ], + [ + 0.9673483871048499, + 0.2532455958023574, + -0.010186568232439876, + 0.25304066556961735, + -0.9627198440406393, + 0.09560817673427363, + 0.014405538300604363, + -0.09506403156334195, + -0.995366922480948 + ], + [ + 0.9751165758946474, + 0.22073969081717748, + 0.020534174281803683, + 0.21913836761501898, + -0.9737577142582343, + 0.06143524852724161, + 0.033556508378009144, + -0.05540670375068375, + -0.9978998235920081 + ], + [ + 0.974312694276456, + 0.2175557239807913, + 0.058174571205523114, + 0.21505183975603373, + -0.9755007723554784, + 0.0463783284671826, + 0.06683920996913344, + -0.03267644560013302, + -0.9972285444739551 + ], + [ + 0.953476904352533, + 0.2647460913735006, + 0.14419188593247775, + 0.2604619049127176, + -0.9642818263207644, + 0.04816799265829556, + 0.1517939028931962, + -0.008370575245776744, + -0.9883767219610676 + ], + [ + 0.9599228722452692, + 0.23452645093919872, + 0.15344517962535092, + 0.22816305678294813, + -0.971888105376024, + 0.05809587031849689, + 0.162756563185187, + -0.020757033469791592, + -0.9864478935563096 + ], + [ + 0.9766274168023736, + 0.18434632655175326, + 0.11052294167636381, + 0.17397317205061186, + -0.9799424780827264, + 0.09719092064454014, + 0.12622291454633255, + -0.07569129101791995, + -0.9891100061709363 + ], + [ + 0.9880188426036055, + 0.1439989617641391, + 0.0555253606119065, + 0.13867866671915305, + -0.9862354005573682, + 0.09004422293765364, + 0.06772735088005671, + -0.08126520595124219, + -0.9943887430197872 + ], + [ + 0.9894708621871282, + 0.13979059717623268, + 0.03749669083763903, + 0.1358274397833766, + -0.9863596232291646, + 0.09298172005891119, + 0.049983192020462586, + -0.08690962319750774, + -0.9949615057433694 + ], + [ + 0.990329933945804, + 0.13700406436634086, + 0.021829069563372865, + 0.13440873438126785, + -0.9864908581215052, + 0.0936486997492318, + 0.03436443005383361, + -0.08980909302403357, + -0.9953659692581796 + ], + [ + 0.9888607781278712, + 0.14745969684390653, + 0.020248439126113717, + 0.14541578390088433, + -0.9861341463379738, + 0.07996058540785396, + 0.03175864091601002, + -0.07612544405767742, + -0.9965923466965764 + ], + [ + 0.990129518314496, + 0.14003917374216732, + 0.005706731105876341, + 0.13955941285352788, + -0.9888525106671594, + 0.051902624511999076, + 0.012911516033458508, + -0.050593892564874746, + -0.9986358449349048 + ], + [ + 0.9897837859308262, + 0.14228729216807667, + -0.009076540966535363, + 0.1424928692475852, + -0.9893768072756034, + 0.02879783739666126, + -0.00488255281910947, + -0.029796974890252577, + -0.9995440465358987 + ], + [ + 0.9890876060335128, + 0.1468259494970598, + 0.012159282264266066, + 0.14689054453960204, + -0.9891420715959891, + -0.0045967514240966845, + 0.011352335255551545, + 0.006332673454599697, + -0.9999155072960733 + ], + [ + 0.981533775794556, + 0.15707500655827306, + 0.10917366573125915, + 0.16041799144169017, + -0.9867929514263848, + -0.022488642400517424, + 0.10419940017243885, + 0.039586782262808484, + -0.9937682685987619 + ], + [ + 0.9646965284263433, + 0.15342972065852387, + 0.2140559012520054, + 0.16112021938729462, + -0.9867547891370031, + -0.018848369154340905, + 0.20832878568923452, + 0.05267169006055904, + -0.9766395497415682 + ], + [ + 0.9707921692151167, + 0.12172268756549529, + 0.2067514244749994, + 0.1292974143121102, + -0.9913279114861374, + -0.0234765960210543, + 0.2021008234590128, + 0.04952332016702923, + -0.9781118023604578 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + 5.695223808288574e-05, + -0.002703346312046051, + -0.010129846632480621, + -0.017257317900657654, + 0.03417866304516792, + -0.007053539156913757, + 1.0 + ], + [ + 0.004871487617492676, + 0.008994542062282562, + -0.009041368961334229, + -0.0856921449303627, + 0.021580252796411514, + 0.004038490355014801, + 1.0 + ], + [ + 0.0099869966506958, + 0.01589466631412506, + -0.005788274109363556, + -0.06905855238437653, + 0.013613669201731682, + 0.024330124258995056, + 1.0 + ], + [ + -0.0009389519691467285, + 0.04718928039073944, + -0.007157385349273682, + -0.03852292522788048, + -0.05638866871595383, + 0.005857393145561218, + 1.0 + ], + [ + -0.008981406688690186, + 0.020809918642044067, + -0.009632177650928497, + 0.038831617683172226, + -0.017841260880231857, + -0.03230409324169159, + 1.0 + ], + [ + -0.01011762022972107, + 0.004615768790245056, + -0.010768607258796692, + 0.04070214182138443, + 0.03237849101424217, + -0.02332185208797455, + 1.0 + ], + [ + -0.008589446544647217, + 0.0009748339653015137, + -0.012657985091209412, + 0.012768629938364029, + 0.0386381670832634, + 0.017954759299755096, + 1.0 + ], + [ + -0.005027353763580322, + 0.0073162466287612915, + -0.01798039674758911, + -0.002253551036119461, + 0.0517280139029026, + 0.035590238869190216, + 1.0 + ], + [ + 0.0009278655052185059, + 0.01868484914302826, + -4.604458808898926e-05, + 0.010304421186447144, + 0.011143434792757034, + 0.04493318498134613, + 1.0 + ], + [ + -0.0014767348766326904, + 0.01461021602153778, + 0.0067610964179039, + 0.002085309475660324, + -0.011768043041229248, + 0.03384371101856232, + 1.0 + ], + [ + -0.004727393388748169, + 0.0027185678482055664, + -0.011156760156154633, + -0.0033301077783107758, + 0.03880251571536064, + 0.013762891292572021, + 1.0 + ], + [ + 0.00039899349212646484, + -0.007903054356575012, + -0.02061741054058075, + 0.0007547661662101746, + 0.057393528521060944, + -0.007418304681777954, + 1.0 + ], + [ + 0.0007984340190887451, + -0.008936434984207153, + -0.01528327539563179, + 0.006040479987859726, + 0.050765275955200195, + -0.018352419137954712, + 1.0 + ], + [ + 0.00025400519371032715, + 0.0007576048374176025, + 4.373304545879364e-05, + 0.008629262447357178, + -0.0016808360815048218, + 0.004428595304489136, + 0.0 + ], + [ + 0.0011518001556396484, + -2.5227665901184082e-05, + -0.0001595248468220234, + 0.0028290897607803345, + -0.006526455283164978, + 0.005789369344711304, + 0.0 + ], + [ + -0.0014235079288482666, + -0.0002003014087677002, + 0.0012245108373463154, + 0.006536394357681274, + -0.008348658680915833, + 0.0031176507472991943, + 0.0 + ], + [ + -0.004385620355606079, + 0.0011935830116271973, + 0.02900932915508747, + 0.013566091656684875, + -0.06959543377161026, + 0.045577093958854675, + 0.0 + ], + [ + -0.00618433952331543, + 0.0079774409532547, + 0.05333086475729942, + 0.008784674108028412, + -0.10991717875003815, + 0.06283938884735107, + 0.0 + ], + [ + -0.0030972063541412354, + -0.00323370099067688, + 0.010590925812721252, + 0.015008434653282166, + 0.019201986491680145, + 0.024058133363723755, + 0.0 + ], + [ + 0.020177394151687622, + -0.04912970960140228, + 0.019775956869125366, + -0.02627106010913849, + -0.030683109536767006, + -0.09445083141326904, + 0.0 + ], + [ + 0.006822049617767334, + -0.04641027748584747, + 0.01562356948852539, + -0.03975135087966919, + -0.019156772643327713, + -0.034791216254234314, + 0.0 + ], + [ + 0.013681769371032715, + -0.04434861242771149, + 0.012491673231124878, + -0.02271082252264023, + -0.03332626819610596, + -0.003819376230239868, + 0.0 + ], + [ + 0.018248796463012695, + -0.027657512575387955, + 0.005720034241676331, + -0.024286728352308273, + -0.08549387753009796, + 0.04942621290683746, + 0.0 + ], + [ + 0.018776118755340576, + -0.026752598583698273, + -0.021479010581970215, + 0.012570284307003021, + -0.011100873351097107, + -0.03330603241920471, + 0.0 + ], + [ + 0.01645982265472412, + -0.016201425343751907, + -0.030243508517742157, + 0.05533669516444206, + 0.03692331910133362, + -0.05707113444805145, + 0.0 + ], + [ + 0.010454893112182617, + -0.006879262626171112, + -0.030321910977363586, + 0.005166776478290558, + 0.058781273663043976, + -0.03683817386627197, + 0.0 + ], + [ + 0.005952805280685425, + -0.0004157125949859619, + -0.01367979496717453, + 0.005586020648479462, + 0.01777520775794983, + -0.003029167652130127, + 0.0 + ], + [ + 0.00394892692565918, + 0.0006631836295127869, + -0.006395209580659866, + 0.002854965627193451, + 0.015632830560207367, + -0.0015232563018798828, + 0.0 + ], + [ + 0.00043007731437683105, + 0.003768814727663994, + 0.00015834718942642212, + -0.013745859265327454, + 0.0026072151958942413, + 0.011110469698905945, + 1.0 + ], + [ + -0.0019468367099761963, + 0.0003192611038684845, + -0.0003240443766117096, + -0.025617968291044235, + 0.018852107226848602, + -0.005979180335998535, + 1.0 + ], + [ + -0.0025496482849121094, + 0.0029308870434761047, + -0.0015539228916168213, + -0.020817983895540237, + 0.017794447019696236, + 0.0029530376195907593, + 1.0 + ], + [ + -0.0018141865730285645, + 0.004988081753253937, + 0.01724783331155777, + -0.03613486513495445, + -0.016235150396823883, + 0.004452303051948547, + 1.0 + ], + [ + -0.012108176946640015, + 0.013167791068553925, + 0.04788050055503845, + -0.033480849117040634, + -0.09303630888462067, + 0.014570176601409912, + 1.0 + ], + [ + -0.014473885297775269, + 0.007032523863017559, + 0.03986240178346634, + -0.014065384864807129, + -0.10547705739736557, + 0.0034852921962738037, + 1.0 + ], + [ + -0.005322515964508057, + -0.0008936943486332893, + 0.0006783008575439453, + 0.003291003406047821, + 0.006363406777381897, + -0.03308074176311493, + 1.0 + ], + [ + -0.004205971956253052, + 0.0005419673398137093, + -0.0010475367307662964, + 0.02302737906575203, + 0.026467278599739075, + -0.0554376021027565, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9343546032905579 + ], + [ + 0.7739869356155396 + ], + [ + 0.7710858583450317 + ], + [ + 0.7710858583450317 + ], + [ + 0.7710858583450317 + ], + [ + 0.7710858583450317 + ], + [ + 0.7710858583450317 + ], + [ + 0.7710858583450317 + ], + [ + 0.7710858583450317 + ], + [ + 0.7710858583450317 + ], + [ + 0.7710858583450317 + ], + [ + 0.7710858583450317 + ], + [ + 0.7710858583450317 + ], + [ + 0.7710858583450317 + ], + [ + 0.7710858583450317 + ], + [ + 0.832595944404602 + ], + [ + 0.9687211513519287 + ], + [ + 0.9968144297599792 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.31321048736572266, + 0.06295763701200485, + 0.12125488370656967 + ], + [ + 0.31808197498321533, + 0.07195217907428741, + 0.11221351474523544 + ], + [ + 0.32806897163391113, + 0.08784684538841248, + 0.10642524063587189 + ], + [ + 0.3271300196647644, + 0.13503612577915192, + 0.0992678552865982 + ], + [ + 0.3181486129760742, + 0.15584604442119598, + 0.08963567763566971 + ], + [ + 0.30803099274635315, + 0.16046181321144104, + 0.07886707037687302 + ], + [ + 0.29944154620170593, + 0.16143664717674255, + 0.0662090852856636 + ], + [ + 0.2944141924381256, + 0.16875289380550385, + 0.04822868853807449 + ], + [ + 0.2953420579433441, + 0.1874377429485321, + 0.048182643949985504 + ], + [ + 0.2938653230667114, + 0.20204795897006989, + 0.054943740367889404 + ], + [ + 0.28913792967796326, + 0.20476652681827545, + 0.04378698021173477 + ], + [ + 0.2895369231700897, + 0.19686347246170044, + 0.023169569671154022 + ], + [ + 0.29033535718917847, + 0.1879270374774933, + 0.007886294275522232 + ], + [ + 0.2905893623828888, + 0.1886846423149109, + 0.007930027320981026 + ], + [ + 0.29174116253852844, + 0.1886594146490097, + 0.007770502474159002 + ], + [ + 0.2903176546096802, + 0.188459113240242, + 0.008995013311505318 + ], + [ + 0.2859320342540741, + 0.1896526962518692, + 0.03800434246659279 + ], + [ + 0.27974769473075867, + 0.1976301372051239, + 0.09133520722389221 + ], + [ + 0.27665048837661743, + 0.19439643621444702, + 0.10192613303661346 + ], + [ + 0.29682788252830505, + 0.14526672661304474, + 0.12170208990573883 + ], + [ + 0.3036499321460724, + 0.09885644912719727, + 0.13732565939426422 + ], + [ + 0.3173317015171051, + 0.05450783669948578, + 0.1498173326253891 + ], + [ + 0.3355804979801178, + 0.026850324124097824, + 0.15553736686706543 + ], + [ + 0.3543566167354584, + 9.772592602530494e-05, + 0.13405835628509521 + ], + [ + 0.3708164393901825, + -0.016103699803352356, + 0.10381484776735306 + ], + [ + 0.3812713325023651, + -0.022982962429523468, + 0.07349293678998947 + ], + [ + 0.38722413778305054, + -0.02339867502450943, + 0.05981314182281494 + ], + [ + 0.3911730647087097, + -0.022735491394996643, + 0.053417932242155075 + ], + [ + 0.39160314202308655, + -0.01896667666733265, + 0.0535762794315815 + ], + [ + 0.38965630531311035, + -0.018647415563464165, + 0.05325223505496979 + ], + [ + 0.38710665702819824, + -0.01571652851998806, + 0.051698312163352966 + ], + [ + 0.3852924704551697, + -0.010728446766734123, + 0.06894614547491074 + ], + [ + 0.37318429350852966, + 0.002439344534650445, + 0.11682664602994919 + ], + [ + 0.3587104082107544, + 0.00947186816483736, + 0.15668904781341553 + ], + [ + 0.35338789224624634, + 0.008578173816204071, + 0.15736734867095947 + ], + [ + 0.3491819202899933, + 0.00912014115601778, + 0.15631981194019318 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9937550766617596, + 0.10975007064355885, + 0.02014372365562557, + 0.10530777939924271, + -0.9821443578356321, + 0.1558933352316066, + 0.036893349088701635, + -0.15279850249713667, + -0.9875684778422464 + ], + [ + 0.9938817280671636, + 0.1101751445199636, + 0.007781268806175157, + 0.10938181515464909, + -0.991600227529431, + 0.06902613473935046, + 0.015320872289233364, + -0.06775268477031682, + -0.9975845049812628 + ], + [ + 0.9910414402817264, + 0.13354178431675498, + 0.001858893708266585, + 0.13354380201452223, + -0.99104240042466, + -0.0010067293748101203, + 0.0017078020457385792, + 0.0012459542629285373, + -0.9999977655025771 + ], + [ + 0.9885730041986623, + 0.13695042130313279, + 0.06299204294612071, + 0.1391115053016136, + -0.989782390734919, + -0.03128590870962495, + 0.05806379648585356, + 0.039691322678417774, + -0.9975235307709222 + ], + [ + 0.9913624612045029, + 0.10721979650026921, + 0.07552738412649453, + 0.10698133958499466, + -0.9942349027420097, + 0.007207714629921228, + 0.07586477110721586, + 0.0009345630140244346, + -0.9971176776573677 + ], + [ + 0.9955141301523258, + 0.08573476273231104, + 0.04001458641910553, + 0.08399648116578182, + -0.9955260594499451, + 0.04327188588252861, + 0.04354546840744966, + -0.03971668937988724, + -0.9982616775003822 + ], + [ + 0.9947771809773986, + 0.10206931051021823, + -0.00046482107146749926, + 0.10195167197665025, + -0.9933905028088236, + 0.052736756729989884, + 0.004921055560073943, + -0.052508711479156284, + -0.9986083408579027 + ], + [ + 0.9894466236761267, + 0.13478282360884472, + -0.053188056515913934, + 0.13713529412248934, + -0.9896025344279212, + 0.04336744124078532, + -0.046789849346320245, + -0.0502037280872813, + -0.9976423686293032 + ], + [ + 0.9817143941351125, + 0.17785815815589096, + -0.06784779970877557, + 0.18133493904987458, + -0.9821979407633324, + 0.04903921940698692, + -0.057917943918153095, + -0.06044568419384796, + -0.996489754605952 + ], + [ + 0.9756144876189998, + 0.21156469740744088, + -0.0584529756198424, + 0.21458117284055073, + -0.9753596197570448, + 0.05126921502974492, + -0.0461659161101523, + -0.06256189701639883, + -0.9969727765748769 + ], + [ + 0.9700932138631855, + 0.2229282613475222, + -0.09603200877398425, + 0.22740735116630956, + -0.9730422787193785, + 0.03840078723310131, + -0.08488258391518559, + -0.05909072784430719, + -0.9946372368007903 + ], + [ + 0.9654047942395052, + 0.21229198177063627, + -0.15141234340460596, + 0.21876606497652126, + -0.9753962045717062, + 0.027270000399681093, + -0.14189782265442613, + -0.059450471680264724, + -0.9880944536545719 + ], + [ + 0.9609578395994589, + 0.1902028501590472, + -0.20095498576476353, + 0.1992915803121465, + -0.9796000933644957, + 0.025817108609585, + -0.19194503517681447, + -0.064857789598836, + -0.9792602159790447 + ], + [ + 0.9603800938926567, + 0.19291749393486865, + -0.20112910229159262, + 0.2036119315792043, + -0.9784710605885806, + 0.03371297835023868, + -0.1902951827380752, + -0.07332955832778587, + -0.9789844326148064 + ], + [ + 0.9603782209906021, + 0.19849416650988344, + -0.19563675142588255, + 0.2094286395214583, + -0.977135921740422, + 0.036674724166469844, + -0.18388397862542827, + -0.07619354504183566, + -0.9799904214321896 + ], + [ + 0.9611860735987691, + 0.2009295703040284, + -0.1890731067529686, + 0.2127460978656587, + -0.9761066100347687, + 0.044215197493245775, + -0.17567136864815655, + -0.08272359774495826, + -0.9809670619411301 + ], + [ + 0.9599887107748157, + 0.2490686299902787, + -0.12800973689400744, + 0.2588782415089094, + -0.9636177655791571, + 0.06650457077139485, + -0.1067882543080564, + -0.09698257273860264, + -0.9895406254049601 + ], + [ + 0.9472494386209355, + 0.31896463089016425, + -0.031305994209166695, + 0.3204839246142285, + -0.9417889277257225, + 0.10160546086257224, + 0.0029249096028166072, + -0.10627878365099702, + -0.9943320698084118 + ], + [ + 0.9391454135481723, + 0.338797294424926, + -0.05676517860257522, + 0.34313404451472007, + -0.933023705015535, + 0.10828570253756463, + -0.016276354211014053, + -0.1211740862124976, + -0.9924978192037318 + ], + [ + 0.9673483871048499, + 0.2532455958023574, + -0.010186568232439876, + 0.25304066556961735, + -0.9627198440406393, + 0.09560817673427363, + 0.014405538300604363, + -0.09506403156334195, + -0.995366922480948 + ], + [ + 0.9751165758946474, + 0.22073969081717748, + 0.020534174281803683, + 0.21913836761501898, + -0.9737577142582343, + 0.06143524852724161, + 0.033556508378009144, + -0.05540670375068375, + -0.9978998235920081 + ], + [ + 0.974312694276456, + 0.2175557239807913, + 0.058174571205523114, + 0.21505183975603373, + -0.9755007723554784, + 0.0463783284671826, + 0.06683920996913344, + -0.03267644560013302, + -0.9972285444739551 + ], + [ + 0.953476904352533, + 0.2647460913735006, + 0.14419188593247775, + 0.2604619049127176, + -0.9642818263207644, + 0.04816799265829556, + 0.1517939028931962, + -0.008370575245776744, + -0.9883767219610676 + ], + [ + 0.9599228722452692, + 0.23452645093919872, + 0.15344517962535092, + 0.22816305678294813, + -0.971888105376024, + 0.05809587031849689, + 0.162756563185187, + -0.020757033469791592, + -0.9864478935563096 + ], + [ + 0.9766274168023736, + 0.18434632655175326, + 0.11052294167636381, + 0.17397317205061186, + -0.9799424780827264, + 0.09719092064454014, + 0.12622291454633255, + -0.07569129101791995, + -0.9891100061709363 + ], + [ + 0.9880188426036055, + 0.1439989617641391, + 0.0555253606119065, + 0.13867866671915305, + -0.9862354005573682, + 0.09004422293765364, + 0.06772735088005671, + -0.08126520595124219, + -0.9943887430197872 + ], + [ + 0.9894708621871282, + 0.13979059717623268, + 0.03749669083763903, + 0.1358274397833766, + -0.9863596232291646, + 0.09298172005891119, + 0.049983192020462586, + -0.08690962319750774, + -0.9949615057433694 + ], + [ + 0.990329933945804, + 0.13700406436634086, + 0.021829069563372865, + 0.13440873438126785, + -0.9864908581215052, + 0.0936486997492318, + 0.03436443005383361, + -0.08980909302403357, + -0.9953659692581796 + ], + [ + 0.9888607781278712, + 0.14745969684390653, + 0.020248439126113717, + 0.14541578390088433, + -0.9861341463379738, + 0.07996058540785396, + 0.03175864091601002, + -0.07612544405767742, + -0.9965923466965764 + ], + [ + 0.990129518314496, + 0.14003917374216732, + 0.005706731105876341, + 0.13955941285352788, + -0.9888525106671594, + 0.051902624511999076, + 0.012911516033458508, + -0.050593892564874746, + -0.9986358449349048 + ], + [ + 0.9897837859308262, + 0.14228729216807667, + -0.009076540966535363, + 0.1424928692475852, + -0.9893768072756034, + 0.02879783739666126, + -0.00488255281910947, + -0.029796974890252577, + -0.9995440465358987 + ], + [ + 0.9890876060335128, + 0.1468259494970598, + 0.012159282264266066, + 0.14689054453960204, + -0.9891420715959891, + -0.0045967514240966845, + 0.011352335255551545, + 0.006332673454599697, + -0.9999155072960733 + ], + [ + 0.981533775794556, + 0.15707500655827306, + 0.10917366573125915, + 0.16041799144169017, + -0.9867929514263848, + -0.022488642400517424, + 0.10419940017243885, + 0.039586782262808484, + -0.9937682685987619 + ], + [ + 0.9646965284263433, + 0.15342972065852387, + 0.2140559012520054, + 0.16112021938729462, + -0.9867547891370031, + -0.018848369154340905, + 0.20832878568923452, + 0.05267169006055904, + -0.9766395497415682 + ], + [ + 0.9707921692151167, + 0.12172268756549529, + 0.2067514244749994, + 0.1292974143121102, + -0.9913279114861374, + -0.0234765960210543, + 0.2021008234590128, + 0.04952332016702923, + -0.9781118023604578 + ], + [ + 0.9814556412241385, + 0.07202665832970362, + 0.17764285743922126, + 0.07569284173498075, + -0.997033750188486, + -0.013938963202732827, + 0.1761119474067518, + 0.027126766761634537, + -0.9839963010629976 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006216.json b/json/chunk-0006/episode_0006216.json new file mode 100644 index 0000000000000000000000000000000000000000..b239f5e2a100256c471ed8dc6d4816fb92b3b7ed --- /dev/null +++ b/json/chunk-0006/episode_0006216.json @@ -0,0 +1,1522 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 24, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut sushi on plate." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006216.mp4", + "start": 0, + "end": 24, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.348533570766449, + -0.05982416868209839, + 0.10167305171489716, + 0.06995178014039993, + -0.12430845201015472, + 0.01805485598742962, + 0.0, + 0.9927561283111572 + ], + [ + 0.3307822048664093, + -0.03148813918232918, + 0.08247632533311844, + 0.23611994087696075, + -0.11010962724685669, + 0.16564807295799255, + 0.0, + 0.9927561283111572 + ], + [ + 0.31681469082832336, + 0.0019720757845789194, + 0.08620123565196991, + 0.3298686146736145, + -0.2460865080356598, + 0.3357735276222229, + 0.0, + 0.9927561283111572 + ], + [ + 0.29413965344429016, + 0.05895474553108215, + 0.08408058434724808, + 0.3419736325740814, + -0.3905075192451477, + 0.5989909768104553, + 0.0, + 0.9927561283111572 + ], + [ + 0.2771189212799072, + 0.09352841973304749, + 0.08791802823543549, + 0.2674500346183777, + -0.48513805866241455, + 0.8420809507369995, + 0.0, + 0.9927561283111572 + ], + [ + 0.2654387950897217, + 0.11748657375574112, + 0.08669644594192505, + 0.20140907168388367, + -0.5027171969413757, + 1.0167262554168701, + 0.0, + 0.9927561283111572 + ], + [ + 0.25242555141448975, + 0.12642835080623627, + 0.07135682553052902, + 0.136765256524086, + -0.45482337474823, + 1.1275081634521484, + 0.0, + 0.9927561283111572 + ], + [ + 0.23644572496414185, + 0.13341589272022247, + 0.054586395621299744, + 0.08288732171058655, + -0.42217057943344116, + 1.1996135711669922, + 0.0, + 0.9927561283111572 + ], + [ + 0.2237488478422165, + 0.14008115231990814, + 0.04125600680708885, + 0.047662895172834396, + -0.40901342034339905, + 1.235277771949768, + 0.0, + 0.9927561283111572 + ], + [ + 0.2219555377960205, + 0.14501731097698212, + 0.03471839055418968, + -0.013974118046462536, + -0.41124671697616577, + 1.2630623579025269, + 0.0, + 0.9927561283111572 + ], + [ + 0.22564801573753357, + 0.1442236602306366, + 0.028429334983229637, + -0.03969605267047882, + -0.4088456928730011, + 1.250986933708191, + 0.0, + 0.9927561283111572 + ], + [ + 0.22893215715885162, + 0.14557121694087982, + 0.022722812369465828, + -0.06514767557382584, + -0.40421536564826965, + 1.2542015314102173, + 0.0, + 0.9927561283111572 + ], + [ + 0.23142844438552856, + 0.14591574668884277, + 0.016663214191794395, + -0.07418284565210342, + -0.4012613594532013, + 1.2393804788589478, + 0.0, + 0.9927561283111572 + ], + [ + 0.23152372241020203, + 0.1442176103591919, + 0.009346038103103638, + -0.10372347384691238, + -0.37675654888153076, + 1.271383285522461, + 0.0, + 0.8055269122123718 + ], + [ + 0.23162725567817688, + 0.14556817710399628, + 0.006186201237142086, + -0.1060822606086731, + -0.35992980003356934, + 1.2754886150360107, + 0.0, + 0.6179407835006714 + ], + [ + 0.23763923346996307, + 0.14457905292510986, + 0.013625740073621273, + -0.06338132917881012, + -0.3316713869571686, + 1.2548422813415527, + 0.0, + 0.6179407835006714 + ], + [ + 0.25857678055763245, + 0.1284058392047882, + 0.039958201348781586, + -0.0215380247682333, + -0.2791909873485565, + 1.2087525129318237, + 0.0, + 0.6179407835006714 + ], + [ + 0.30359649658203125, + 0.08524937927722931, + 0.09017215669155121, + 0.024414608255028725, + -0.3035266101360321, + 1.074263095855713, + 0.0, + 0.6179407835006714 + ], + [ + 0.34284305572509766, + 0.05372698977589607, + 0.09656553715467453, + 0.024174736812710762, + -0.34503206610679626, + 1.0080409049987793, + 0.0, + 0.6179407835006714 + ], + [ + 0.3704635798931122, + 0.04860351234674454, + 0.08424921333789825, + -0.04763641953468323, + -0.37576285004615784, + 1.0326005220413208, + 0.0, + 0.6169373393058777 + ], + [ + 0.3942139148712158, + 0.030831705778837204, + 0.06157587096095085, + -0.1373811662197113, + -0.4013376235961914, + 1.0400781631469727, + 0.0, + 0.6169373393058777 + ], + [ + 0.40036264061927795, + 0.02896094135940075, + 0.05090226233005524, + -0.1962939202785492, + -0.4138060510158539, + 1.0422824621200562, + 0.0, + 0.6169373393058777 + ], + [ + 0.40355244278907776, + 0.03088959865272045, + 0.03778282180428505, + -0.22480447590351105, + -0.4171152114868164, + 1.0317202806472778, + 0.0, + 0.6169373393058777 + ], + [ + 0.4049661159515381, + 0.04140554741024971, + 0.03272922337055206, + -0.25369971990585327, + -0.40848273038864136, + 1.057525634765625, + 0.0, + 0.8454146385192871 + ] + ], + "left_gripper_pos": [ + [ + 0.9927561283111572 + ], + [ + 0.9927561283111572 + ], + [ + 0.9927561283111572 + ], + [ + 0.9927561283111572 + ], + [ + 0.9927561283111572 + ], + [ + 0.9927561283111572 + ], + [ + 0.9927561283111572 + ], + [ + 0.9927561283111572 + ], + [ + 0.9927561283111572 + ], + [ + 0.9927561283111572 + ], + [ + 0.9927561283111572 + ], + [ + 0.9927561283111572 + ], + [ + 0.9927561283111572 + ], + [ + 0.8055269122123718 + ], + [ + 0.6179407835006714 + ], + [ + 0.6179407835006714 + ], + [ + 0.6179407835006714 + ], + [ + 0.6179407835006714 + ], + [ + 0.6179407835006714 + ], + [ + 0.6169373393058777 + ], + [ + 0.6169373393058777 + ], + [ + 0.6169373393058777 + ], + [ + 0.6169373393058777 + ], + [ + 0.8454146385192871 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.348533570766449, + -0.05982416868209839, + 0.10167305171489716 + ], + [ + 0.3307822048664093, + -0.03148813918232918, + 0.08247632533311844 + ], + [ + 0.31681469082832336, + 0.0019720757845789194, + 0.08620123565196991 + ], + [ + 0.29413965344429016, + 0.05895474553108215, + 0.08408058434724808 + ], + [ + 0.2771189212799072, + 0.09352841973304749, + 0.08791802823543549 + ], + [ + 0.2654387950897217, + 0.11748657375574112, + 0.08669644594192505 + ], + [ + 0.25242555141448975, + 0.12642835080623627, + 0.07135682553052902 + ], + [ + 0.23644572496414185, + 0.13341589272022247, + 0.054586395621299744 + ], + [ + 0.2237488478422165, + 0.14008115231990814, + 0.04125600680708885 + ], + [ + 0.2219555377960205, + 0.14501731097698212, + 0.03471839055418968 + ], + [ + 0.22564801573753357, + 0.1442236602306366, + 0.028429334983229637 + ], + [ + 0.22893215715885162, + 0.14557121694087982, + 0.022722812369465828 + ], + [ + 0.23142844438552856, + 0.14591574668884277, + 0.016663214191794395 + ], + [ + 0.23152372241020203, + 0.1442176103591919, + 0.009346038103103638 + ], + [ + 0.23162725567817688, + 0.14556817710399628, + 0.006186201237142086 + ], + [ + 0.23763923346996307, + 0.14457905292510986, + 0.013625740073621273 + ], + [ + 0.25857678055763245, + 0.1284058392047882, + 0.039958201348781586 + ], + [ + 0.30359649658203125, + 0.08524937927722931, + 0.09017215669155121 + ], + [ + 0.34284305572509766, + 0.05372698977589607, + 0.09656553715467453 + ], + [ + 0.3704635798931122, + 0.04860351234674454, + 0.08424921333789825 + ], + [ + 0.3942139148712158, + 0.030831705778837204, + 0.06157587096095085 + ], + [ + 0.40036264061927795, + 0.02896094135940075, + 0.05090226233005524 + ], + [ + 0.40355244278907776, + 0.03088959865272045, + 0.03778282180428505 + ], + [ + 0.4049661159515381, + 0.04140554741024971, + 0.03272922337055206 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9921219216908228, + 0.026674457812793477, + 0.12240329162609424, + 0.017914565044051915, + -0.9972353282846428, + 0.07211635307129365, + 0.12398855132548169, + -0.06935541306498398, + -0.9898568915852403 + ], + [ + 0.9803386535600138, + 0.1856705887405664, + 0.06680237131173082, + 0.16389299362818066, + -0.954705744658741, + 0.248346587967686, + 0.10988726484780682, + -0.23251531904872397, + -0.9663650528821589 + ], + [ + 0.9157113369639432, + 0.386237850785659, + 0.11087411770193757, + 0.3195728346725196, + -0.8672506874307588, + 0.3817714610735684, + 0.24361024341164011, + -0.3141600989485325, + -0.9175824113035136 + ], + [ + 0.7637274950452805, + 0.6365906332302543, + 0.1071105923583878, + 0.5213635693306863, + -0.7061089492984644, + 0.4791556952550863, + 0.38065777528723554, + -0.3101008181287537, + -0.8711699838201784 + ], + [ + 0.5890726356194715, + 0.8015735367265997, + 0.1023391185419365, + 0.6599464388516745, + -0.5502975496411899, + 0.5115108060499756, + 0.4663304920454195, + -0.23377868183072895, + -0.8531608289825339 + ], + [ + 0.4610553374852939, + 0.8839136809359168, + 0.07825969863627005, + 0.7451769645192864, + -0.43355135822037666, + 0.5066996263419667, + 0.4818083304864538, + -0.17529924255279797, + -0.8585632814383989 + ], + [ + 0.3853083356004662, + 0.9206003640039148, + 0.06350162448834143, + 0.8115108060946533, + -0.37080169837060795, + 0.45161522569226886, + 0.43930365137158245, + -0.12247885646646303, + -0.8899501287208531 + ], + [ + 0.3308718846270236, + 0.9410042649151025, + 0.07095610879233433, + 0.8500798563839727, + -0.32985934586052607, + 0.41055699935413426, + 0.409741423014035, + -0.075523409351365, + -0.9090699538024454 + ], + [ + 0.3020994885834242, + 0.9494063440038604, + 0.08581079747244585, + 0.8663527986579206, + -0.31099294235659375, + 0.39078922459809073, + 0.3977043213936985, + -0.04371480034967462, + -0.9164716520303101 + ], + [ + 0.2776450054287452, + 0.9512373467443742, + 0.13439033119683658, + 0.8735623980304827, + -0.30819385190481713, + 0.3767031807608002, + 0.39975240800738715, + 0.012808583325061379, + -0.9165336614033881 + ], + [ + 0.288474064462948, + 0.9435874448798415, + 0.16255906002852838, + 0.8710547484861851, + -0.32911502506119783, + 0.36461887693677547, + 0.3975504235589433, + 0.036414751737433415, + -0.9168574734297614 + ], + [ + 0.28624252088026536, + 0.9403136990808347, + 0.18405261900073033, + 0.8737175239114212, + -0.33500374435024294, + 0.3526899200167367, + 0.3932974798421748, + 0.059855146748080484, + -0.9174608731480378 + ], + [ + 0.29953674640064065, + 0.9335628945405652, + 0.19681986559481324, + 0.8704740896910277, + -0.3518597549540078, + 0.3441940906237102, + 0.39057982120470014, + 0.06822781530100205, + -0.9180372369827693 + ], + [ + 0.2742717886563411, + 0.9391387980691788, + 0.20686542463260899, + 0.8884930126051602, + -0.32977158369562026, + 0.3191094939651421, + 0.3679064453078498, + 0.09627575264863308, + -0.924865302059106 + ], + [ + 0.2723852319215117, + 0.9404809703347173, + 0.20322851637831782, + 0.8954079713059692, + -0.3250769436299337, + 0.30425243736402346, + 0.35220853248152917, + 0.09909856284774675, + -0.9306603163822547 + ], + [ + 0.29378882607170353, + 0.942183271802846, + 0.1611794279996515, + 0.8986975469837195, + -0.32970326376418757, + 0.2892031758274585, + 0.3256237778800186, + 0.059886895044968344, + -0.9436009299916026 + ], + [ + 0.3404717409471258, + 0.9328559101381195, + 0.11772359379841181, + 0.8989636982439433, + -0.3596543614964253, + 0.2500260176385062, + 0.2755780522030106, + 0.02070244374412905, + -0.9610557455043987 + ], + [ + 0.4546041662821088, + 0.8824532166972627, + 0.1208775096517277, + 0.839047875544016, + -0.46982295017789405, + 0.2743447794859858, + 0.2988874613362408, + -0.023296262077742158, + -0.9540039673026434 + ], + [ + 0.5020755882903509, + 0.8499030347014834, + 0.15995291572243175, + 0.7959413917363377, + -0.5264478800531855, + 0.2988811310677352, + 0.33822685369988, + -0.022747773357321144, + -0.9407896333631467 + ], + [ + 0.47682338338053387, + 0.8487033253317688, + 0.22878401743202698, + 0.7987261619238222, + -0.5270109415567867, + 0.29033770981026447, + 0.3669822602251785, + 0.044295971038309775, + -0.9291726898858966 + ], + [ + 0.4659335752366205, + 0.8272390599757726, + 0.31397681621040174, + 0.793913383360378, + -0.5475240329646192, + 0.2644219602216046, + 0.39065002647958147, + 0.12606732715719202, + -0.9118659911604027 + ], + [ + 0.46169030582113146, + 0.8074287701019383, + 0.36728850066733765, + 0.7906706211030745, + -0.5622900004440062, + 0.24221875304186805, + 0.4020970410675364, + 0.1785741767791477, + -0.8980140494181487 + ], + [ + 0.4693299756996981, + 0.7902301411616396, + 0.39403768589993476, + 0.7846039499123251, + -0.5779278022062722, + 0.2244907508540278, + 0.40512469153545566, + 0.2038032861282731, + -0.8912565314608465 + ], + [ + 0.4506294755022676, + 0.7943044565751567, + 0.4074475500888378, + 0.7994694819401542, + -0.5621613134772604, + 0.21171491462781436, + 0.3972173501433347, + 0.23033690085256883, + -0.88834863024082 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.017751365900039673, + 0.02833602949976921, + -0.019196726381778717, + 0.16616815328598022, + 0.014198824763298035, + 0.14759321510791779, + 1.0 + ], + [ + -0.013967514038085938, + 0.033460214734077454, + 0.003724910318851471, + 0.09374867379665375, + -0.1359768807888031, + 0.17012545466423035, + 1.0 + ], + [ + -0.022675037384033203, + 0.05698266997933388, + -0.0021206513047218323, + 0.012105017900466919, + -0.14442101120948792, + 0.2632174491882324, + 1.0 + ], + [ + -0.017020732164382935, + 0.03457367420196533, + 0.0038374438881874084, + -0.07452359795570374, + -0.09463053941726685, + 0.2430899739265442, + 1.0 + ], + [ + -0.011680126190185547, + 0.023958154022693634, + -0.001221582293510437, + -0.06604096293449402, + -0.01757913827896118, + 0.1746453046798706, + 1.0 + ], + [ + -0.013013243675231934, + 0.008941777050495148, + -0.015339620411396027, + -0.06464381515979767, + 0.04789382219314575, + 0.11078190803527832, + 1.0 + ], + [ + -0.0159798264503479, + 0.006987541913986206, + -0.01677042990922928, + -0.05387793481349945, + 0.03265279531478882, + 0.07210540771484375, + 1.0 + ], + [ + -0.012696877121925354, + 0.006665259599685669, + -0.013330388814210892, + -0.03522442653775215, + 0.013157159090042114, + 0.03566420078277588, + 1.0 + ], + [ + -0.0017933100461959839, + 0.004936158657073975, + -0.00653761625289917, + -0.06163701415061951, + -0.0022332966327667236, + 0.02778458595275879, + 1.0 + ], + [ + 0.0036924779415130615, + -0.00079365074634552, + -0.006289055570960045, + -0.02572193369269371, + 0.002401024103164673, + -0.012075424194335938, + 1.0 + ], + [ + 0.003284141421318054, + 0.001347556710243225, + -0.005706522613763809, + -0.025451622903347015, + 0.004630327224731445, + 0.003214597702026367, + 1.0 + ], + [ + 0.002496287226676941, + 0.00034452974796295166, + -0.0060595981776714325, + -0.009035170078277588, + 0.0029540061950683594, + -0.014821052551269531, + 1.0 + ], + [ + 9.527802467346191e-05, + -0.001698136329650879, + -0.007317176088690758, + -0.02954062819480896, + 0.024504810571670532, + 0.032002806663513184, + 0.0 + ], + [ + 0.00010353326797485352, + 0.0013505667448043823, + -0.0031598368659615517, + -0.0023587867617607117, + 0.016826748847961426, + 0.004105329513549805, + 0.0 + ], + [ + 0.006011977791786194, + -0.0009891241788864136, + 0.007439538836479187, + 0.042700931429862976, + 0.028258413076400757, + -0.020646333694458008, + 0.0 + ], + [ + 0.020937547087669373, + -0.016173213720321655, + 0.026332460343837738, + 0.04184330254793167, + 0.05248039960861206, + -0.046089768409729004, + 0.0 + ], + [ + 0.045019716024398804, + -0.0431564599275589, + 0.05021395534276962, + 0.045952633023262024, + -0.024335622787475586, + -0.13448941707611084, + 0.0 + ], + [ + 0.039246559143066406, + -0.03152238950133324, + 0.0063933804631233215, + -0.00023987144231796265, + -0.04150545597076416, + -0.0662221908569336, + 0.0 + ], + [ + 0.027620524168014526, + -0.005123477429151535, + -0.012316323816776276, + -0.07181115448474884, + -0.030730783939361572, + 0.024559617042541504, + 0.0 + ], + [ + 0.023750334978103638, + -0.017771806567907333, + -0.022673342376947403, + -0.08974474668502808, + -0.02557477355003357, + 0.0074776411056518555, + 0.0 + ], + [ + 0.006148725748062134, + -0.0018707644194364548, + -0.010673608630895615, + -0.05891275405883789, + -0.012468427419662476, + 0.002204298973083496, + 0.0 + ], + [ + 0.0031898021697998047, + 0.0019286572933197021, + -0.013119440525770187, + -0.028510555624961853, + -0.0033091604709625244, + -0.01056218147277832, + 0.0 + ], + [ + 0.0014136731624603271, + 0.010515948757529259, + -0.0050535984337329865, + -0.028895244002342224, + 0.008632481098175049, + 0.025805354118347168, + 1.0 + ], + [ + -0.00038570165634155273, + 0.007380545139312744, + 0.00020933151245117188, + -0.0027723610401153564, + 0.0017677545547485352, + 0.0004780292510986328, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9927561283111572 + ], + [ + 0.9927561283111572 + ], + [ + 0.9927561283111572 + ], + [ + 0.9927561283111572 + ], + [ + 0.9927561283111572 + ], + [ + 0.9927561283111572 + ], + [ + 0.9927561283111572 + ], + [ + 0.9927561283111572 + ], + [ + 0.9927561283111572 + ], + [ + 0.9927561283111572 + ], + [ + 0.9927561283111572 + ], + [ + 0.9927561283111572 + ], + [ + 0.8055269122123718 + ], + [ + 0.6179407835006714 + ], + [ + 0.6179407835006714 + ], + [ + 0.6179407835006714 + ], + [ + 0.6179407835006714 + ], + [ + 0.6179407835006714 + ], + [ + 0.6169373393058777 + ], + [ + 0.6169373393058777 + ], + [ + 0.6169373393058777 + ], + [ + 0.6169373393058777 + ], + [ + 0.8454146385192871 + ], + [ + 0.9913908839225769 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3307822048664093, + -0.03148813918232918, + 0.08247632533311844 + ], + [ + 0.31681469082832336, + 0.0019720757845789194, + 0.08620123565196991 + ], + [ + 0.29413965344429016, + 0.05895474553108215, + 0.08408058434724808 + ], + [ + 0.2771189212799072, + 0.09352841973304749, + 0.08791802823543549 + ], + [ + 0.2654387950897217, + 0.11748657375574112, + 0.08669644594192505 + ], + [ + 0.25242555141448975, + 0.12642835080623627, + 0.07135682553052902 + ], + [ + 0.23644572496414185, + 0.13341589272022247, + 0.054586395621299744 + ], + [ + 0.2237488478422165, + 0.14008115231990814, + 0.04125600680708885 + ], + [ + 0.2219555377960205, + 0.14501731097698212, + 0.03471839055418968 + ], + [ + 0.22564801573753357, + 0.1442236602306366, + 0.028429334983229637 + ], + [ + 0.22893215715885162, + 0.14557121694087982, + 0.022722812369465828 + ], + [ + 0.23142844438552856, + 0.14591574668884277, + 0.016663214191794395 + ], + [ + 0.23152372241020203, + 0.1442176103591919, + 0.009346038103103638 + ], + [ + 0.23162725567817688, + 0.14556817710399628, + 0.006186201237142086 + ], + [ + 0.23763923346996307, + 0.14457905292510986, + 0.013625740073621273 + ], + [ + 0.25857678055763245, + 0.1284058392047882, + 0.039958201348781586 + ], + [ + 0.30359649658203125, + 0.08524937927722931, + 0.09017215669155121 + ], + [ + 0.34284305572509766, + 0.05372698977589607, + 0.09656553715467453 + ], + [ + 0.3704635798931122, + 0.04860351234674454, + 0.08424921333789825 + ], + [ + 0.3942139148712158, + 0.030831705778837204, + 0.06157587096095085 + ], + [ + 0.40036264061927795, + 0.02896094135940075, + 0.05090226233005524 + ], + [ + 0.40355244278907776, + 0.03088959865272045, + 0.03778282180428505 + ], + [ + 0.4049661159515381, + 0.04140554741024971, + 0.03272922337055206 + ], + [ + 0.40458041429519653, + 0.048786092549562454, + 0.032938554883003235 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9803386535600138, + 0.1856705887405664, + 0.06680237131173082, + 0.16389299362818066, + -0.954705744658741, + 0.248346587967686, + 0.10988726484780682, + -0.23251531904872397, + -0.9663650528821589 + ], + [ + 0.9157113369639432, + 0.386237850785659, + 0.11087411770193757, + 0.3195728346725196, + -0.8672506874307588, + 0.3817714610735684, + 0.24361024341164011, + -0.3141600989485325, + -0.9175824113035136 + ], + [ + 0.7637274950452805, + 0.6365906332302543, + 0.1071105923583878, + 0.5213635693306863, + -0.7061089492984644, + 0.4791556952550863, + 0.38065777528723554, + -0.3101008181287537, + -0.8711699838201784 + ], + [ + 0.5890726356194715, + 0.8015735367265997, + 0.1023391185419365, + 0.6599464388516745, + -0.5502975496411899, + 0.5115108060499756, + 0.4663304920454195, + -0.23377868183072895, + -0.8531608289825339 + ], + [ + 0.4610553374852939, + 0.8839136809359168, + 0.07825969863627005, + 0.7451769645192864, + -0.43355135822037666, + 0.5066996263419667, + 0.4818083304864538, + -0.17529924255279797, + -0.8585632814383989 + ], + [ + 0.3853083356004662, + 0.9206003640039148, + 0.06350162448834143, + 0.8115108060946533, + -0.37080169837060795, + 0.45161522569226886, + 0.43930365137158245, + -0.12247885646646303, + -0.8899501287208531 + ], + [ + 0.3308718846270236, + 0.9410042649151025, + 0.07095610879233433, + 0.8500798563839727, + -0.32985934586052607, + 0.41055699935413426, + 0.409741423014035, + -0.075523409351365, + -0.9090699538024454 + ], + [ + 0.3020994885834242, + 0.9494063440038604, + 0.08581079747244585, + 0.8663527986579206, + -0.31099294235659375, + 0.39078922459809073, + 0.3977043213936985, + -0.04371480034967462, + -0.9164716520303101 + ], + [ + 0.2776450054287452, + 0.9512373467443742, + 0.13439033119683658, + 0.8735623980304827, + -0.30819385190481713, + 0.3767031807608002, + 0.39975240800738715, + 0.012808583325061379, + -0.9165336614033881 + ], + [ + 0.288474064462948, + 0.9435874448798415, + 0.16255906002852838, + 0.8710547484861851, + -0.32911502506119783, + 0.36461887693677547, + 0.3975504235589433, + 0.036414751737433415, + -0.9168574734297614 + ], + [ + 0.28624252088026536, + 0.9403136990808347, + 0.18405261900073033, + 0.8737175239114212, + -0.33500374435024294, + 0.3526899200167367, + 0.3932974798421748, + 0.059855146748080484, + -0.9174608731480378 + ], + [ + 0.29953674640064065, + 0.9335628945405652, + 0.19681986559481324, + 0.8704740896910277, + -0.3518597549540078, + 0.3441940906237102, + 0.39057982120470014, + 0.06822781530100205, + -0.9180372369827693 + ], + [ + 0.2742717886563411, + 0.9391387980691788, + 0.20686542463260899, + 0.8884930126051602, + -0.32977158369562026, + 0.3191094939651421, + 0.3679064453078498, + 0.09627575264863308, + -0.924865302059106 + ], + [ + 0.2723852319215117, + 0.9404809703347173, + 0.20322851637831782, + 0.8954079713059692, + -0.3250769436299337, + 0.30425243736402346, + 0.35220853248152917, + 0.09909856284774675, + -0.9306603163822547 + ], + [ + 0.29378882607170353, + 0.942183271802846, + 0.1611794279996515, + 0.8986975469837195, + -0.32970326376418757, + 0.2892031758274585, + 0.3256237778800186, + 0.059886895044968344, + -0.9436009299916026 + ], + [ + 0.3404717409471258, + 0.9328559101381195, + 0.11772359379841181, + 0.8989636982439433, + -0.3596543614964253, + 0.2500260176385062, + 0.2755780522030106, + 0.02070244374412905, + -0.9610557455043987 + ], + [ + 0.4546041662821088, + 0.8824532166972627, + 0.1208775096517277, + 0.839047875544016, + -0.46982295017789405, + 0.2743447794859858, + 0.2988874613362408, + -0.023296262077742158, + -0.9540039673026434 + ], + [ + 0.5020755882903509, + 0.8499030347014834, + 0.15995291572243175, + 0.7959413917363377, + -0.5264478800531855, + 0.2988811310677352, + 0.33822685369988, + -0.022747773357321144, + -0.9407896333631467 + ], + [ + 0.47682338338053387, + 0.8487033253317688, + 0.22878401743202698, + 0.7987261619238222, + -0.5270109415567867, + 0.29033770981026447, + 0.3669822602251785, + 0.044295971038309775, + -0.9291726898858966 + ], + [ + 0.4659335752366205, + 0.8272390599757726, + 0.31397681621040174, + 0.793913383360378, + -0.5475240329646192, + 0.2644219602216046, + 0.39065002647958147, + 0.12606732715719202, + -0.9118659911604027 + ], + [ + 0.46169030582113146, + 0.8074287701019383, + 0.36728850066733765, + 0.7906706211030745, + -0.5622900004440062, + 0.24221875304186805, + 0.4020970410675364, + 0.1785741767791477, + -0.8980140494181487 + ], + [ + 0.4693299756996981, + 0.7902301411616396, + 0.39403768589993476, + 0.7846039499123251, + -0.5779278022062722, + 0.2244907508540278, + 0.40512469153545566, + 0.2038032861282731, + -0.8912565314608465 + ], + [ + 0.4506294755022676, + 0.7943044565751567, + 0.4074475500888378, + 0.7994694819401542, + -0.5621613134772604, + 0.21171491462781436, + 0.3972173501433347, + 0.23033690085256883, + -0.88834863024082 + ], + [ + 0.45059105028548774, + 0.7936427118048918, + 0.40877738611816394, + 0.8002954213303309, + -0.5620081427633787, + 0.2089834588319513, + 0.39559441856569366, + 0.23297659424636447, + -0.8883844677463895 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006217.json b/json/chunk-0006/episode_0006217.json new file mode 100644 index 0000000000000000000000000000000000000000..0389001079edbac8dee3734ed60e1bfa99d99f07 --- /dev/null +++ b/json/chunk-0006/episode_0006217.json @@ -0,0 +1,2062 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 33, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPlace the metal pot behind the orange cloth." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006217.mp4", + "start": 0, + "end": 33, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2545837163925171, + -0.057382915169000626, + 0.05574769526720047, + -0.006566789001226425, + 0.07026933133602142, + -0.29545801877975464, + 0.0, + 0.9994885921478271 + ], + [ + 0.25253236293792725, + -0.05651581287384033, + 0.04991505295038223, + -0.008669191971421242, + 0.09626100957393646, + -0.2956314980983734, + 0.0, + 0.9994885921478271 + ], + [ + 0.2613384425640106, + -0.03261377289891243, + 0.05861048400402069, + -0.00929244328290224, + 0.10239105671644211, + -0.24288441240787506, + 0.0, + 0.9994885921478271 + ], + [ + 0.28011155128479004, + -0.0038699705619364977, + 0.09208613634109497, + 0.03893750533461571, + 0.03074323758482933, + -0.19894926249980927, + 0.0, + 0.9994885921478271 + ], + [ + 0.28405818343162537, + 0.03172757476568222, + 0.10270718485116959, + 0.07155480235815048, + 0.01615181192755699, + -0.1458558291196823, + 0.0, + 0.9988223910331726 + ], + [ + 0.28185683488845825, + 0.06465776264667511, + 0.09916393458843231, + 0.12690716981887817, + 0.035490650683641434, + -0.1239604651927948, + 0.0, + 0.9988223910331726 + ], + [ + 0.2826124131679535, + 0.08336057513952255, + 0.08620508015155792, + 0.13568684458732605, + 0.04471001774072647, + -0.0990535169839859, + 0.0, + 0.9988223910331726 + ], + [ + 0.27989661693573, + 0.09290038049221039, + 0.06628307700157166, + 0.12033309787511826, + 0.02676108479499817, + -0.06291694194078445, + 0.0, + 0.9988223910331726 + ], + [ + 0.27839887142181396, + 0.09735661000013351, + 0.04752318933606148, + 0.10987012088298798, + -0.022175399586558342, + -0.023860057815909386, + 0.0, + 0.9988223910331726 + ], + [ + 0.276811808347702, + 0.09918823093175888, + 0.03416518494486809, + 0.09210137277841568, + -0.09802866727113724, + 0.0018902126466855407, + 0.0, + 0.9476637244224548 + ], + [ + 0.27794137597084045, + 0.1028287261724472, + 0.031219415366649628, + 0.051512811332941055, + -0.14292380213737488, + 0.007049572188407183, + 0.0, + 0.7151217460632324 + ], + [ + 0.27865368127822876, + 0.10280633717775345, + 0.03179335594177246, + 0.0349111370742321, + -0.15437622368335724, + 0.002939254743978381, + 0.0, + 0.3840504586696625 + ], + [ + 0.2793879210948944, + 0.10226210206747055, + 0.032130490988492966, + 0.03519256412982941, + -0.15621250867843628, + -0.00875286664813757, + 0.0, + 0.18516062200069427 + ], + [ + 0.2760358452796936, + 0.10221721231937408, + 0.03264903649687767, + 0.043570104986429214, + -0.12468016892671585, + -0.018844585865736008, + 0.0, + 0.08998419344425201 + ], + [ + 0.27487409114837646, + 0.09805534780025482, + 0.03409601002931595, + 0.04245069622993469, + -0.10033540427684784, + -0.04919760674238205, + 0.0, + 0.08641935139894485 + ], + [ + 0.27882102131843567, + 0.06624012440443039, + 0.056438472121953964, + 0.047686610370874405, + -0.08707553893327713, + -0.13451187312602997, + 0.0, + 0.0822562649846077 + ], + [ + 0.3042392134666443, + 0.017428366467356682, + 0.08631720393896103, + 0.039171002805233, + -0.10500818490982056, + -0.26822134852409363, + 0.0, + 0.07821663469076157 + ], + [ + 0.32257694005966187, + -0.03391728550195694, + 0.10833854228258133, + 0.051081862300634384, + -0.12593618035316467, + -0.3892754018306732, + 0.0, + 0.07755524665117264 + ], + [ + 0.3418668210506439, + -0.08536622673273087, + 0.10166804492473602, + 0.05458584055304527, + -0.09714110195636749, + -0.5077275037765503, + 0.0, + 0.07591649144887924 + ], + [ + 0.3590777814388275, + -0.1343470811843872, + 0.08580633997917175, + 0.06443042308092117, + -0.06787779182195663, + -0.5686928629875183, + 0.0, + 0.07429859787225723 + ], + [ + 0.37209147214889526, + -0.17948709428310394, + 0.06877179443836212, + 0.09203789383172989, + -0.029295817017555237, + -0.5989119410514832, + 0.0, + 0.07429859787225723 + ], + [ + 0.38154569268226624, + -0.18169143795967102, + 0.06097790598869324, + 0.12068130075931549, + -0.005755289923399687, + -0.5620819330215454, + 0.0, + 0.07429859787225723 + ], + [ + 0.3774268329143524, + -0.17495574057102203, + 0.05666397511959076, + 0.14519725739955902, + 0.008834286592900753, + -0.5635374784469604, + 0.0, + 0.07429859787225723 + ], + [ + 0.3737124502658844, + -0.15764297544956207, + 0.05659870430827141, + 0.14927729964256287, + -0.0012607895769178867, + -0.5388290882110596, + 0.0, + 0.07429859787225723 + ], + [ + 0.3620770275592804, + -0.1273213028907776, + 0.03759171813726425, + 0.15616436302661896, + 0.0790155827999115, + -0.49083101749420166, + 0.0, + 0.07429859787225723 + ], + [ + 0.36156195402145386, + -0.11807938665151596, + 0.03253228962421417, + 0.1555212140083313, + 0.08059091120958328, + -0.4917280077934265, + 0.0, + 0.07397755235433578 + ], + [ + 0.3633521795272827, + -0.11471936851739883, + 0.032159242779016495, + 0.14161977171897888, + 0.07671571522951126, + -0.4962872564792633, + 0.0, + 0.07397755235433578 + ], + [ + 0.36380094289779663, + -0.11351870745420456, + 0.030376801267266273, + 0.1194729134440422, + 0.07259032130241394, + -0.5005969405174255, + 0.0, + 0.100052610039711 + ], + [ + 0.3592182397842407, + -0.11144357174634933, + 0.02693028748035431, + 0.0894596204161644, + 0.07980508357286453, + -0.5130966305732727, + 0.0, + 0.27019456028938293 + ], + [ + 0.35967230796813965, + -0.11252106726169586, + 0.04220222309231758, + 0.08395425975322723, + 0.03691484034061432, + -0.5045328140258789, + 0.0, + 0.570969820022583 + ], + [ + 0.36235249042510986, + -0.10942356288433075, + 0.07051961123943329, + 0.06066259741783142, + -0.036126915365457535, + -0.47298023104667664, + 0.0, + 0.84995037317276 + ], + [ + 0.35274556279182434, + -0.09297884255647659, + 0.10882692784070969, + 0.0266572218388319, + -0.10344851762056351, + -0.3840806186199188, + 0.0, + 1.0124757289886475 + ], + [ + 0.3289790451526642, + -0.06092934310436249, + 0.11252162605524063, + 0.011686538346111774, + 0.0016452602576464415, + -0.2000371664762497, + 0.0, + 1.00800359249115 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9476637244224548 + ], + [ + 0.7151217460632324 + ], + [ + 0.3840504586696625 + ], + [ + 0.18516062200069427 + ], + [ + 0.08998419344425201 + ], + [ + 0.08641935139894485 + ], + [ + 0.0822562649846077 + ], + [ + 0.07821663469076157 + ], + [ + 0.07755524665117264 + ], + [ + 0.07591649144887924 + ], + [ + 0.07429859787225723 + ], + [ + 0.07429859787225723 + ], + [ + 0.07429859787225723 + ], + [ + 0.07429859787225723 + ], + [ + 0.07429859787225723 + ], + [ + 0.07429859787225723 + ], + [ + 0.07397755235433578 + ], + [ + 0.07397755235433578 + ], + [ + 0.100052610039711 + ], + [ + 0.27019456028938293 + ], + [ + 0.570969820022583 + ], + [ + 0.84995037317276 + ], + [ + 1.0124757289886475 + ], + [ + 1.00800359249115 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2545837163925171, + -0.057382915169000626, + 0.05574769526720047 + ], + [ + 0.25253236293792725, + -0.05651581287384033, + 0.04991505295038223 + ], + [ + 0.2613384425640106, + -0.03261377289891243, + 0.05861048400402069 + ], + [ + 0.28011155128479004, + -0.0038699705619364977, + 0.09208613634109497 + ], + [ + 0.28405818343162537, + 0.03172757476568222, + 0.10270718485116959 + ], + [ + 0.28185683488845825, + 0.06465776264667511, + 0.09916393458843231 + ], + [ + 0.2826124131679535, + 0.08336057513952255, + 0.08620508015155792 + ], + [ + 0.27989661693573, + 0.09290038049221039, + 0.06628307700157166 + ], + [ + 0.27839887142181396, + 0.09735661000013351, + 0.04752318933606148 + ], + [ + 0.276811808347702, + 0.09918823093175888, + 0.03416518494486809 + ], + [ + 0.27794137597084045, + 0.1028287261724472, + 0.031219415366649628 + ], + [ + 0.27865368127822876, + 0.10280633717775345, + 0.03179335594177246 + ], + [ + 0.2793879210948944, + 0.10226210206747055, + 0.032130490988492966 + ], + [ + 0.2760358452796936, + 0.10221721231937408, + 0.03264903649687767 + ], + [ + 0.27487409114837646, + 0.09805534780025482, + 0.03409601002931595 + ], + [ + 0.27882102131843567, + 0.06624012440443039, + 0.056438472121953964 + ], + [ + 0.3042392134666443, + 0.017428366467356682, + 0.08631720393896103 + ], + [ + 0.32257694005966187, + -0.03391728550195694, + 0.10833854228258133 + ], + [ + 0.3418668210506439, + -0.08536622673273087, + 0.10166804492473602 + ], + [ + 0.3590777814388275, + -0.1343470811843872, + 0.08580633997917175 + ], + [ + 0.37209147214889526, + -0.17948709428310394, + 0.06877179443836212 + ], + [ + 0.38154569268226624, + -0.18169143795967102, + 0.06097790598869324 + ], + [ + 0.3774268329143524, + -0.17495574057102203, + 0.05666397511959076 + ], + [ + 0.3737124502658844, + -0.15764297544956207, + 0.05659870430827141 + ], + [ + 0.3620770275592804, + -0.1273213028907776, + 0.03759171813726425 + ], + [ + 0.36156195402145386, + -0.11807938665151596, + 0.03253228962421417 + ], + [ + 0.3633521795272827, + -0.11471936851739883, + 0.032159242779016495 + ], + [ + 0.36380094289779663, + -0.11351870745420456, + 0.030376801267266273 + ], + [ + 0.3592182397842407, + -0.11144357174634933, + 0.02693028748035431 + ], + [ + 0.35967230796813965, + -0.11252106726169586, + 0.04220222309231758 + ], + [ + 0.36235249042510986, + -0.10942356288433075, + 0.07051961123943329 + ], + [ + 0.35274556279182434, + -0.09297884255647659, + 0.10882692784070969 + ], + [ + 0.3289790451526642, + -0.06092934310436249, + 0.11252162605524063 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9543079396653044, + -0.2907306921756341, + -0.06907981556749583, + -0.2904594622950981, + -0.9567825014632624, + 0.014161414369524632, + -0.07021151654112733, + 0.0065505359154516985, + -0.997510618201238 + ], + [ + 0.9521896713691455, + -0.29053600227286447, + -0.09446513177474822, + -0.2899952295226432, + -0.9568251525800086, + 0.01970772042506582, + -0.09611241643007398, + 0.008628949735926428, + -0.9953330822566014 + ], + [ + 0.9655646427378262, + -0.23957107953363888, + -0.10144268601363542, + -0.23924376399157077, + -0.9708348226815553, + 0.015561762754222188, + -0.10221224039086381, + 0.009243642137165855, + -0.9947196655311085 + ], + [ + 0.9798115708649543, + -0.1986625953976329, + -0.022415592542394978, + -0.1975460368416239, + -0.9792952781049798, + 0.04423032454614837, + -0.030738395002310074, + -0.0389092723032216, + -0.9987698531701461 + ], + [ + 0.9892528300040822, + -0.14610975117897293, + -0.005547877011354071, + -0.14532026694816488, + -0.986682277476583, + 0.07307601061728386, + -0.016151109653166143, + -0.07148443134027085, + -0.997310943353641 + ], + [ + 0.9917018398537616, + -0.12710544837739335, + -0.019278636451939998, + -0.12356538070367122, + -0.9837912484090374, + 0.12994759037913875, + -0.03548320056338031, + -0.12648709241092324, + -0.9913334241975349 + ], + [ + 0.9941037823509951, + -0.10399898300157022, + -0.0306900871631961, + -0.0987927925274072, + -0.985354025495375, + 0.13898715258863562, + -0.04469512344856137, + -0.13513569467279588, + -0.9898185136504665 + ], + [ + 0.9976640340377589, + -0.06562650877860225, + -0.01896408534671743, + -0.06285292730986865, + -0.9906024330260608, + 0.12147563217135066, + -0.02675789072565156, + -0.11999992095156128, + -0.9924132376462605 + ], + [ + 0.9994695682089301, + -0.021283316110853077, + 0.024649597959814702, + -0.023851928174164583, + -0.9937454319014319, + 0.10909217248460577, + 0.022173582178563148, + -0.10962224696822258, + -0.993725965859305 + ], + [ + 0.9951972587890721, + 0.01088356711615275, + 0.09728290736581005, + 0.0018811366848839198, + -0.9957428724695611, + 0.09215526708137778, + 0.09787173965700907, + -0.09152966673650398, + -0.9909810506178284 + ], + [ + 0.9897791730766904, + 0.014374102701404656, + 0.14188225299575927, + 0.006977635319512601, + -0.9985969913349846, + 0.05249153743285621, + 0.14243770971540878, + -0.050965027894101324, + -0.9884908015671074 + ], + [ + 0.9881033689657992, + 0.008304414083749555, + 0.15356682241019085, + 0.0029042958783940752, + -0.9993705762789402, + 0.03535557004701536, + 0.15376377110323555, + -0.03448895438577818, + -0.9875055517421091 + ], + [ + 0.9877857776708924, + -0.003273487766775301, + 0.15578363748786847, + -0.008646177992281514, + -0.9993904363324898, + 0.03382305978591904, + 0.15557795807001915, + -0.03475687047184829, + -0.9872119625074278 + ], + [ + 0.9920613156459016, + -0.013409998849147595, + 0.1250380659230955, + -0.018697197938938193, + -0.9989756542812288, + 0.041207486487564206, + 0.12435739136920924, + -0.04321821472777978, + -0.9912958312873048 + ], + [ + 0.9937667519143929, + -0.04488771434035771, + 0.10204281400870667, + -0.04893042936981211, + -0.9980992855189652, + 0.03746504141485323, + 0.10016713967765518, + -0.04222451122072681, + -0.9940742601943616 + ], + [ + 0.9872124538148143, + -0.1298460846650259, + 0.0924746739929199, + -0.13359852239797565, + -0.9903963297675576, + 0.03558854866427265, + 0.08696554401607272, + -0.047487938259253126, + -0.9950788360094261 + ], + [ + 0.9589324545000402, + -0.26085560914098055, + 0.11136830287930286, + -0.2635570123855557, + -0.9645919430736565, + 0.01000422809553933, + 0.10481530865731503, + -0.038945276184352534, + -0.9937288445717957 + ], + [ + 0.9178573171183755, + -0.37308962654529054, + 0.13543292057898443, + -0.3765125396182114, + -0.9264114489669204, + -0.0003670602888849843, + 0.12560355457749856, + -0.05065528390312829, + -0.9907864498923018 + ], + [ + 0.8697318712594961, + -0.4808444837897427, + 0.11115329290862795, + -0.48390053001417505, + -0.8751228069623124, + 0.0005914274291515982, + 0.09698839707643307, + -0.05430152063597611, + -0.9938030970414435 + ], + [ + 0.8406652655982825, + -0.533734027300115, + 0.09170550320765498, + -0.537290971706055, + -0.8432090610834376, + 0.017801433367869986, + 0.06782568053276304, + -0.06423758563946423, + -0.9956270434512514 + ], + [ + 0.8255950824201417, + -0.5591345121493205, + 0.07590360470504987, + -0.5635022275811854, + -0.8239713363625628, + 0.05946828031760981, + 0.02929162669980986, + -0.09186857012293853, + -0.9953402264697461 + ], + [ + 0.8461333679521864, + -0.5284864856719876, + 0.06899534839366035, + -0.5329401473350507, + -0.8403624837871588, + 0.0988215320746054, + 0.005755258151026954, + -0.12038658689883133, + -0.9927104042461053 + ], + [ + 0.845337765935656, + -0.5296395927159522, + 0.06989966602634357, + -0.534159169998614, + -0.8357924562296981, + 0.12698405890472994, + -0.008834171681926392, + -0.14468196825177818, + -0.9894387729786446 + ], + [ + 0.8583094189653735, + -0.5072637707171803, + 0.07738480621615165, + -0.5131309303928271, + -0.848860895645853, + 0.12701113383287482, + 0.0012607892428947512, + -0.14872339009419056, + -0.9888780327468989 + ], + [ + 0.8791897036700576, + -0.4764502331972031, + 0.004543153848092826, + -0.46988826909251374, + -0.8654225464457095, + 0.17392190969704024, + -0.07893338666114659, + -0.15504512694617262, + -0.9847489675447482 + ], + [ + 0.8786571611775859, + -0.4774436557860949, + 0.003024675347035377, + -0.4706174106328885, + -0.8649916603660481, + 0.17409388359842703, + -0.08050370128473147, + -0.15439230242080187, + -0.9847244137486704 + ], + [ + 0.8767701233957481, + -0.48090946254166317, + 0.000489447130045402, + -0.4747635056430482, + -0.865402030225923, + 0.16024649696755877, + -0.07664048819082339, + -0.14073171255527017, + -0.9870769071613078 + ], + [ + 0.8749858393115398, + -0.4841117130554891, + -0.0059691110527497135, + -0.47868536130090794, + -0.8668936392152526, + 0.13912491927887952, + -0.0725265874042032, + -0.11887500818344988, + -0.9902568487765613 + ], + [ + 0.8684557304012345, + -0.49511963313031176, + -0.02532179342314116, + -0.4893151359285239, + -0.8642485628064671, + 0.11681232571183033, + -0.0797203994251719, + -0.08905599685513617, + -0.9928311474463467 + ], + [ + 0.8748040182418615, + -0.4844051484580274, + 0.008341571509583404, + -0.48306919080683197, + -0.8708211391215164, + 0.09118497986147397, + -0.03690645690290053, + -0.08379854298531242, + -0.99579903476174 + ], + [ + 0.8896337546582204, + -0.4527540902053405, + 0.05971194499471345, + -0.4552441062431156, + -0.8895746679185084, + 0.03754615730780507, + 0.03611905734683858, + -0.06058583992988721, + -0.9975092830126273 + ], + [ + 0.9221867890648541, + -0.3720218931934389, + 0.10569407296070817, + -0.37270370344926873, + -0.9278452713488141, + -0.013967887128864582, + 0.10326410561978212, + -0.026511571443705223, + -0.9943005888915742 + ], + [ + 0.980057866873713, + -0.19871103084623795, + 0.0007097879776826919, + -0.19870548734263685, + -0.9799884477016381, + 0.011780138847200609, + -0.0016452595153925002, + -0.011686256516078972, + -0.999930359840008 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0020513534545898438, + 0.0008671022951602936, + -0.005832642316818237, + -0.0021024029701948166, + 0.02599167823791504, + -0.00017347931861877441, + 1.0 + ], + [ + 0.008806079626083374, + 0.023902039974927902, + 0.008695431053638458, + -0.000623251311480999, + 0.006130047142505646, + 0.05274708569049835, + 1.0 + ], + [ + 0.01877310872077942, + 0.028743801638484, + 0.03347565233707428, + 0.048229947686195374, + -0.07164782285690308, + 0.043935149908065796, + 1.0 + ], + [ + 0.003946632146835327, + 0.0355975441634655, + 0.010621048510074615, + 0.032617297023534775, + -0.014591425657272339, + 0.05309343338012695, + 1.0 + ], + [ + -0.0022013485431671143, + 0.03293018788099289, + -0.003543250262737274, + 0.05535236746072769, + 0.019338838756084442, + 0.021895363926887512, + 1.0 + ], + [ + 0.0007555782794952393, + 0.018702812492847443, + -0.01295885443687439, + 0.008779674768447876, + 0.009219367057085037, + 0.0249069482088089, + 1.0 + ], + [ + -0.0027157962322235107, + 0.009539805352687836, + -0.019922003149986267, + -0.015353746712207794, + -0.017948932945728302, + 0.03613657504320145, + 1.0 + ], + [ + -0.0014977455139160156, + 0.004456229507923126, + -0.018759887665510178, + -0.01046297699213028, + -0.04893648624420166, + 0.03905688226222992, + 1.0 + ], + [ + -0.0015870630741119385, + 0.0018316209316253662, + -0.01335800439119339, + -0.017768748104572296, + -0.07585326582193375, + 0.02575027011334896, + 0.0 + ], + [ + 0.0011295676231384277, + 0.003640495240688324, + -0.00294576957821846, + -0.040588561445474625, + -0.04489513486623764, + 0.00515935942530632, + 0.0 + ], + [ + 0.0007123053073883057, + -2.2388994693756104e-05, + 0.0005739405751228333, + -0.016601674258708954, + -0.01145242154598236, + -0.004110317677259445, + 0.0 + ], + [ + 0.0007342398166656494, + -0.000544235110282898, + 0.00033713504672050476, + 0.0002814270555973053, + -0.0018362849950790405, + -0.011692121624946594, + 0.0 + ], + [ + -0.0033520758152008057, + -4.4889748096466064e-05, + 0.0005185455083847046, + 0.008377540856599808, + 0.03153233975172043, + -0.010091719217598438, + 0.0 + ], + [ + -0.0011617541313171387, + -0.004161864519119263, + 0.0014469735324382782, + -0.001119408756494522, + 0.02434476464986801, + -0.030353020876646042, + 0.0 + ], + [ + 0.003946930170059204, + -0.03181522339582443, + 0.022342462092638016, + 0.0052359141409397125, + 0.01325986534357071, + -0.08531426638364792, + 0.0 + ], + [ + 0.025418192148208618, + -0.04881175607442856, + 0.029878731817007065, + -0.008515607565641403, + -0.017932645976543427, + -0.13370947539806366, + 0.0 + ], + [ + 0.018337726593017578, + -0.05134565383195877, + 0.0220213383436203, + 0.011910859495401382, + -0.020927995443344116, + -0.12105405330657959, + 0.0 + ], + [ + 0.019289880990982056, + -0.051448941230773926, + -0.006670497357845306, + 0.0035039782524108887, + 0.02879507839679718, + -0.11845210194587708, + 0.0 + ], + [ + 0.017210960388183594, + -0.04898085445165634, + -0.01586170494556427, + 0.0098445825278759, + 0.029263310134410858, + -0.06096535921096802, + 0.0 + ], + [ + 0.013013690710067749, + -0.045140013098716736, + -0.01703454554080963, + 0.027607470750808716, + 0.0385819748044014, + -0.030219078063964844, + 0.0 + ], + [ + 0.009454220533370972, + -0.0022043436765670776, + -0.007793888449668884, + 0.028643406927585602, + 0.023540526628494263, + 0.036830008029937744, + 0.0 + ], + [ + -0.004118859767913818, + 0.006735697388648987, + -0.004313930869102478, + 0.02451595664024353, + 0.014589576050639153, + -0.001455545425415039, + 0.0 + ], + [ + -0.0037143826484680176, + 0.01731276512145996, + -6.52708113193512e-05, + 0.004080042243003845, + -0.010095076635479927, + 0.02470839023590088, + 0.0 + ], + [ + -0.011635422706604004, + 0.030321672558784485, + -0.019006986171007156, + 0.006887063384056091, + 0.08027637004852295, + 0.04799807071685791, + 0.0 + ], + [ + -0.0005150735378265381, + 0.009241916239261627, + -0.005059428513050079, + -0.0006431490182876587, + 0.0015753284096717834, + -0.0008969902992248535, + 0.0 + ], + [ + 0.0017902255058288574, + 0.0033600181341171265, + -0.0003730468451976776, + -0.013901442289352417, + -0.0038751959800720215, + -0.004559248685836792, + 0.0 + ], + [ + 0.000448763370513916, + 0.001200661063194275, + -0.0017824415117502213, + -0.022146858274936676, + -0.0041253939270973206, + -0.0043096840381622314, + 1.0 + ], + [ + -0.004582703113555908, + 0.0020751357078552246, + -0.0034465137869119644, + -0.030013293027877808, + 0.007214762270450592, + -0.012499690055847168, + 1.0 + ], + [ + 0.0004540681838989258, + -0.001077495515346527, + 0.015271935611963272, + -0.005505360662937164, + -0.042890243232250214, + 0.008563816547393799, + 1.0 + ], + [ + 0.002680182456970215, + 0.0030975043773651123, + 0.028317388147115707, + -0.023291662335395813, + -0.07304175198078156, + 0.03155258297920227, + 1.0 + ], + [ + -0.009606927633285522, + 0.016444720327854156, + 0.0383073166012764, + -0.03400537371635437, + -0.06732159852981567, + 0.08889961242675781, + 1.0 + ], + [ + -0.023766517639160156, + 0.032049499452114105, + 0.003694698214530945, + -0.014970683492720127, + 0.10509377717971802, + 0.18404345214366913, + 1.0 + ], + [ + -0.020886600017547607, + 0.025316476821899414, + -0.012001365423202515, + -0.008818781934678555, + 0.07658908516168594, + 0.08256582915782928, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9476637244224548 + ], + [ + 0.7151217460632324 + ], + [ + 0.3840504586696625 + ], + [ + 0.18516062200069427 + ], + [ + 0.08998419344425201 + ], + [ + 0.08641935139894485 + ], + [ + 0.0822562649846077 + ], + [ + 0.07821663469076157 + ], + [ + 0.07755524665117264 + ], + [ + 0.07591649144887924 + ], + [ + 0.07429859787225723 + ], + [ + 0.07429859787225723 + ], + [ + 0.07429859787225723 + ], + [ + 0.07429859787225723 + ], + [ + 0.07429859787225723 + ], + [ + 0.07429859787225723 + ], + [ + 0.07397755235433578 + ], + [ + 0.07397755235433578 + ], + [ + 0.100052610039711 + ], + [ + 0.27019456028938293 + ], + [ + 0.570969820022583 + ], + [ + 0.84995037317276 + ], + [ + 1.0124757289886475 + ], + [ + 1.00800359249115 + ], + [ + 1.0027955770492554 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.25253236293792725, + -0.05651581287384033, + 0.04991505295038223 + ], + [ + 0.2613384425640106, + -0.03261377289891243, + 0.05861048400402069 + ], + [ + 0.28011155128479004, + -0.0038699705619364977, + 0.09208613634109497 + ], + [ + 0.28405818343162537, + 0.03172757476568222, + 0.10270718485116959 + ], + [ + 0.28185683488845825, + 0.06465776264667511, + 0.09916393458843231 + ], + [ + 0.2826124131679535, + 0.08336057513952255, + 0.08620508015155792 + ], + [ + 0.27989661693573, + 0.09290038049221039, + 0.06628307700157166 + ], + [ + 0.27839887142181396, + 0.09735661000013351, + 0.04752318933606148 + ], + [ + 0.276811808347702, + 0.09918823093175888, + 0.03416518494486809 + ], + [ + 0.27794137597084045, + 0.1028287261724472, + 0.031219415366649628 + ], + [ + 0.27865368127822876, + 0.10280633717775345, + 0.03179335594177246 + ], + [ + 0.2793879210948944, + 0.10226210206747055, + 0.032130490988492966 + ], + [ + 0.2760358452796936, + 0.10221721231937408, + 0.03264903649687767 + ], + [ + 0.27487409114837646, + 0.09805534780025482, + 0.03409601002931595 + ], + [ + 0.27882102131843567, + 0.06624012440443039, + 0.056438472121953964 + ], + [ + 0.3042392134666443, + 0.017428366467356682, + 0.08631720393896103 + ], + [ + 0.32257694005966187, + -0.03391728550195694, + 0.10833854228258133 + ], + [ + 0.3418668210506439, + -0.08536622673273087, + 0.10166804492473602 + ], + [ + 0.3590777814388275, + -0.1343470811843872, + 0.08580633997917175 + ], + [ + 0.37209147214889526, + -0.17948709428310394, + 0.06877179443836212 + ], + [ + 0.38154569268226624, + -0.18169143795967102, + 0.06097790598869324 + ], + [ + 0.3774268329143524, + -0.17495574057102203, + 0.05666397511959076 + ], + [ + 0.3737124502658844, + -0.15764297544956207, + 0.05659870430827141 + ], + [ + 0.3620770275592804, + -0.1273213028907776, + 0.03759171813726425 + ], + [ + 0.36156195402145386, + -0.11807938665151596, + 0.03253228962421417 + ], + [ + 0.3633521795272827, + -0.11471936851739883, + 0.032159242779016495 + ], + [ + 0.36380094289779663, + -0.11351870745420456, + 0.030376801267266273 + ], + [ + 0.3592182397842407, + -0.11144357174634933, + 0.02693028748035431 + ], + [ + 0.35967230796813965, + -0.11252106726169586, + 0.04220222309231758 + ], + [ + 0.36235249042510986, + -0.10942356288433075, + 0.07051961123943329 + ], + [ + 0.35274556279182434, + -0.09297884255647659, + 0.10882692784070969 + ], + [ + 0.3289790451526642, + -0.06092934310436249, + 0.11252162605524063 + ], + [ + 0.3080924451351166, + -0.035612866282463074, + 0.10052026063203812 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9521896713691455, + -0.29053600227286447, + -0.09446513177474822, + -0.2899952295226432, + -0.9568251525800086, + 0.01970772042506582, + -0.09611241643007398, + 0.008628949735926428, + -0.9953330822566014 + ], + [ + 0.9655646427378262, + -0.23957107953363888, + -0.10144268601363542, + -0.23924376399157077, + -0.9708348226815553, + 0.015561762754222188, + -0.10221224039086381, + 0.009243642137165855, + -0.9947196655311085 + ], + [ + 0.9798115708649543, + -0.1986625953976329, + -0.022415592542394978, + -0.1975460368416239, + -0.9792952781049798, + 0.04423032454614837, + -0.030738395002310074, + -0.0389092723032216, + -0.9987698531701461 + ], + [ + 0.9892528300040822, + -0.14610975117897293, + -0.005547877011354071, + -0.14532026694816488, + -0.986682277476583, + 0.07307601061728386, + -0.016151109653166143, + -0.07148443134027085, + -0.997310943353641 + ], + [ + 0.9917018398537616, + -0.12710544837739335, + -0.019278636451939998, + -0.12356538070367122, + -0.9837912484090374, + 0.12994759037913875, + -0.03548320056338031, + -0.12648709241092324, + -0.9913334241975349 + ], + [ + 0.9941037823509951, + -0.10399898300157022, + -0.0306900871631961, + -0.0987927925274072, + -0.985354025495375, + 0.13898715258863562, + -0.04469512344856137, + -0.13513569467279588, + -0.9898185136504665 + ], + [ + 0.9976640340377589, + -0.06562650877860225, + -0.01896408534671743, + -0.06285292730986865, + -0.9906024330260608, + 0.12147563217135066, + -0.02675789072565156, + -0.11999992095156128, + -0.9924132376462605 + ], + [ + 0.9994695682089301, + -0.021283316110853077, + 0.024649597959814702, + -0.023851928174164583, + -0.9937454319014319, + 0.10909217248460577, + 0.022173582178563148, + -0.10962224696822258, + -0.993725965859305 + ], + [ + 0.9951972587890721, + 0.01088356711615275, + 0.09728290736581005, + 0.0018811366848839198, + -0.9957428724695611, + 0.09215526708137778, + 0.09787173965700907, + -0.09152966673650398, + -0.9909810506178284 + ], + [ + 0.9897791730766904, + 0.014374102701404656, + 0.14188225299575927, + 0.006977635319512601, + -0.9985969913349846, + 0.05249153743285621, + 0.14243770971540878, + -0.050965027894101324, + -0.9884908015671074 + ], + [ + 0.9881033689657992, + 0.008304414083749555, + 0.15356682241019085, + 0.0029042958783940752, + -0.9993705762789402, + 0.03535557004701536, + 0.15376377110323555, + -0.03448895438577818, + -0.9875055517421091 + ], + [ + 0.9877857776708924, + -0.003273487766775301, + 0.15578363748786847, + -0.008646177992281514, + -0.9993904363324898, + 0.03382305978591904, + 0.15557795807001915, + -0.03475687047184829, + -0.9872119625074278 + ], + [ + 0.9920613156459016, + -0.013409998849147595, + 0.1250380659230955, + -0.018697197938938193, + -0.9989756542812288, + 0.041207486487564206, + 0.12435739136920924, + -0.04321821472777978, + -0.9912958312873048 + ], + [ + 0.9937667519143929, + -0.04488771434035771, + 0.10204281400870667, + -0.04893042936981211, + -0.9980992855189652, + 0.03746504141485323, + 0.10016713967765518, + -0.04222451122072681, + -0.9940742601943616 + ], + [ + 0.9872124538148143, + -0.1298460846650259, + 0.0924746739929199, + -0.13359852239797565, + -0.9903963297675576, + 0.03558854866427265, + 0.08696554401607272, + -0.047487938259253126, + -0.9950788360094261 + ], + [ + 0.9589324545000402, + -0.26085560914098055, + 0.11136830287930286, + -0.2635570123855557, + -0.9645919430736565, + 0.01000422809553933, + 0.10481530865731503, + -0.038945276184352534, + -0.9937288445717957 + ], + [ + 0.9178573171183755, + -0.37308962654529054, + 0.13543292057898443, + -0.3765125396182114, + -0.9264114489669204, + -0.0003670602888849843, + 0.12560355457749856, + -0.05065528390312829, + -0.9907864498923018 + ], + [ + 0.8697318712594961, + -0.4808444837897427, + 0.11115329290862795, + -0.48390053001417505, + -0.8751228069623124, + 0.0005914274291515982, + 0.09698839707643307, + -0.05430152063597611, + -0.9938030970414435 + ], + [ + 0.8406652655982825, + -0.533734027300115, + 0.09170550320765498, + -0.537290971706055, + -0.8432090610834376, + 0.017801433367869986, + 0.06782568053276304, + -0.06423758563946423, + -0.9956270434512514 + ], + [ + 0.8255950824201417, + -0.5591345121493205, + 0.07590360470504987, + -0.5635022275811854, + -0.8239713363625628, + 0.05946828031760981, + 0.02929162669980986, + -0.09186857012293853, + -0.9953402264697461 + ], + [ + 0.8461333679521864, + -0.5284864856719876, + 0.06899534839366035, + -0.5329401473350507, + -0.8403624837871588, + 0.0988215320746054, + 0.005755258151026954, + -0.12038658689883133, + -0.9927104042461053 + ], + [ + 0.845337765935656, + -0.5296395927159522, + 0.06989966602634357, + -0.534159169998614, + -0.8357924562296981, + 0.12698405890472994, + -0.008834171681926392, + -0.14468196825177818, + -0.9894387729786446 + ], + [ + 0.8583094189653735, + -0.5072637707171803, + 0.07738480621615165, + -0.5131309303928271, + -0.848860895645853, + 0.12701113383287482, + 0.0012607892428947512, + -0.14872339009419056, + -0.9888780327468989 + ], + [ + 0.8791897036700576, + -0.4764502331972031, + 0.004543153848092826, + -0.46988826909251374, + -0.8654225464457095, + 0.17392190969704024, + -0.07893338666114659, + -0.15504512694617262, + -0.9847489675447482 + ], + [ + 0.8786571611775859, + -0.4774436557860949, + 0.003024675347035377, + -0.4706174106328885, + -0.8649916603660481, + 0.17409388359842703, + -0.08050370128473147, + -0.15439230242080187, + -0.9847244137486704 + ], + [ + 0.8767701233957481, + -0.48090946254166317, + 0.000489447130045402, + -0.4747635056430482, + -0.865402030225923, + 0.16024649696755877, + -0.07664048819082339, + -0.14073171255527017, + -0.9870769071613078 + ], + [ + 0.8749858393115398, + -0.4841117130554891, + -0.0059691110527497135, + -0.47868536130090794, + -0.8668936392152526, + 0.13912491927887952, + -0.0725265874042032, + -0.11887500818344988, + -0.9902568487765613 + ], + [ + 0.8684557304012345, + -0.49511963313031176, + -0.02532179342314116, + -0.4893151359285239, + -0.8642485628064671, + 0.11681232571183033, + -0.0797203994251719, + -0.08905599685513617, + -0.9928311474463467 + ], + [ + 0.8748040182418615, + -0.4844051484580274, + 0.008341571509583404, + -0.48306919080683197, + -0.8708211391215164, + 0.09118497986147397, + -0.03690645690290053, + -0.08379854298531242, + -0.99579903476174 + ], + [ + 0.8896337546582204, + -0.4527540902053405, + 0.05971194499471345, + -0.4552441062431156, + -0.8895746679185084, + 0.03754615730780507, + 0.03611905734683858, + -0.06058583992988721, + -0.9975092830126273 + ], + [ + 0.9221867890648541, + -0.3720218931934389, + 0.10569407296070817, + -0.37270370344926873, + -0.9278452713488141, + -0.013967887128864582, + 0.10326410561978212, + -0.026511571443705223, + -0.9943005888915742 + ], + [ + 0.980057866873713, + -0.19871103084623795, + 0.0007097879776826919, + -0.19870548734263685, + -0.9799884477016381, + 0.011780138847200609, + -0.0016452595153925002, + -0.011686256516078972, + -0.999930359840008 + ], + [ + 0.9900705078407844, + -0.11742345044435182, + -0.07727951080095265, + -0.11684285996031507, + -0.9930778214796593, + 0.012007770880084097, + -0.07815456212010853, + -0.0028589807549632773, + -0.9969371548141123 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006219.json b/json/chunk-0006/episode_0006219.json new file mode 100644 index 0000000000000000000000000000000000000000..cbd8e1352fe974450b8d662b710a81bad0965db5 --- /dev/null +++ b/json/chunk-0006/episode_0006219.json @@ -0,0 +1,4582 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 75, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut cucumber on plate and pear in pot or pan in sink." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006219.mp4", + "start": 0, + "end": 75, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.34372925758361816, + -0.13606029748916626, + 0.11624114960432053, + 0.030825447291135788, + -0.2286560982465744, + -0.032447680830955505, + 0.0, + 1.0041072368621826 + ], + [ + 0.3407110273838043, + -0.1357000321149826, + 0.10002946853637695, + 0.04129515588283539, + -0.18799547851085663, + -0.03356797248125076, + 0.0, + 1.0041072368621826 + ], + [ + 0.3388763666152954, + -0.1373860090970993, + 0.08455714583396912, + 0.011386592872440815, + -0.2074231505393982, + -0.03728935867547989, + 0.0, + 1.0041072368621826 + ], + [ + 0.3434254825115204, + -0.13844485580921173, + 0.07652046531438828, + -0.01043684221804142, + -0.2439679652452469, + -0.024925054982304573, + 0.0, + 1.0041072368621826 + ], + [ + 0.34691423177719116, + -0.13956807553768158, + 0.06618243455886841, + -0.012256690301001072, + -0.2552557587623596, + -0.025091184303164482, + 0.0, + 1.0041072368621826 + ], + [ + 0.35026440024375916, + -0.14079025387763977, + 0.06712312996387482, + -0.019957195967435837, + -0.2773461937904358, + -0.023174725472927094, + 0.0, + 1.0041072368621826 + ], + [ + 0.3507644534111023, + -0.1379881054162979, + 0.06294500082731247, + -0.007327027153223753, + -0.2970587909221649, + -0.028776774182915688, + 0.0, + 1.0041072368621826 + ], + [ + 0.3477131426334381, + -0.13585267961025238, + 0.05385708436369896, + 0.013958325609564781, + -0.31995058059692383, + -0.055478841066360474, + 0.0, + 1.0041072368621826 + ], + [ + 0.3507958650588989, + -0.13429270684719086, + 0.052446234971284866, + 0.024813786149024963, + -0.35400328040122986, + -0.060554880648851395, + 0.0, + 1.0041072368621826 + ], + [ + 0.35393619537353516, + -0.1352972686290741, + 0.053238969296216965, + 0.024129508063197136, + -0.37928712368011475, + -0.06720801442861557, + 0.0, + 1.0041072368621826 + ], + [ + 0.35609254240989685, + -0.136089488863945, + 0.053560368716716766, + 0.011816618964076042, + -0.39587894082069397, + -0.055891770869493484, + 0.0, + 1.0041072368621826 + ], + [ + 0.3577570617198944, + -0.13859757781028748, + 0.05447261407971382, + 0.0002581283915787935, + -0.41070184111595154, + -0.050401486456394196, + 0.0, + 1.0041072368621826 + ], + [ + 0.3593103289604187, + -0.13940592110157013, + 0.04698726162314415, + 0.0004977455246262252, + -0.4126935601234436, + -0.05426532030105591, + 0.0, + 1.0041072368621826 + ], + [ + 0.359523743391037, + -0.13885459303855896, + 0.04698726162314415, + 0.0031842528842389584, + -0.41268226504325867, + -0.05942964181303978, + 0.0, + 1.0041072368621826 + ], + [ + 0.3586452901363373, + -0.13859622180461884, + 0.04614878073334694, + 0.0011214121477678418, + -0.40937715768814087, + -0.05350734293460846, + 0.0, + 0.9515043497085571 + ], + [ + 0.35448354482650757, + -0.1375301480293274, + 0.04425906017422676, + 0.01768982969224453, + -0.38636675477027893, + -0.0438445545732975, + 0.0, + 0.6601285338401794 + ], + [ + 0.3501702547073364, + -0.14006830751895905, + 0.045082952827215195, + 0.004350941628217697, + -0.34572210907936096, + -0.030980709940195084, + 0.0, + 0.45967593789100647 + ], + [ + 0.34857556223869324, + -0.14372408390045166, + 0.05616861209273338, + -0.0027246808167546988, + -0.2842102646827698, + -0.013349995017051697, + 0.0, + 0.48228755593299866 + ], + [ + 0.35003185272216797, + -0.14473401010036469, + 0.07378105819225311, + 0.023312969133257866, + -0.23315441608428955, + -0.022483497858047485, + 0.0, + 0.49086472392082214 + ], + [ + 0.3491542339324951, + -0.14305002987384796, + 0.0932079628109932, + 0.050890300422906876, + -0.19036337733268738, + -0.05044463276863098, + 0.0, + 0.49086472392082214 + ], + [ + 0.3508298993110657, + -0.1324959099292755, + 0.1116252988576889, + 0.05354463309049606, + -0.19202059507369995, + -0.08678080141544342, + 0.0, + 0.49086472392082214 + ], + [ + 0.35930508375167847, + -0.11309540271759033, + 0.11242265999317169, + 0.05805399641394615, + -0.2003098726272583, + -0.13141898810863495, + 0.0, + 0.49086472392082214 + ], + [ + 0.3620154559612274, + -0.09285079687833786, + 0.11283320188522339, + 0.05381736159324646, + -0.21152181923389435, + -0.13785196840763092, + 0.0, + 0.49086472392082214 + ], + [ + 0.35737931728363037, + -0.0740051120519638, + 0.09789596498012543, + 0.032220084220170975, + -0.20051811635494232, + -0.1403498500585556, + 0.0, + 0.49086472392082214 + ], + [ + 0.3479730486869812, + -0.054569046944379807, + 0.09423079341650009, + 0.011543224565684795, + -0.2286558449268341, + -0.15794776380062103, + 0.0, + 0.49086472392082214 + ], + [ + 0.3393845856189728, + -0.03399614244699478, + 0.08827468752861023, + 0.009928622283041477, + -0.2268485426902771, + -0.1581750512123108, + 0.0, + 0.49086472392082214 + ], + [ + 0.3322506546974182, + -0.018084555864334106, + 0.08848728239536285, + -0.0028446682263165712, + -0.24663451313972473, + -0.16487281024456024, + 0.0, + 0.49086472392082214 + ], + [ + 0.32952678203582764, + -0.0019804465118795633, + 0.08505814522504807, + -0.009052175097167492, + -0.25795894861221313, + -0.19132666289806366, + 0.0, + 0.49086472392082214 + ], + [ + 0.33252817392349243, + 0.016055362299084663, + 0.08713100105524063, + -0.02548910677433014, + -0.29690244793891907, + -0.25262877345085144, + 0.0, + 0.49086472392082214 + ], + [ + 0.3420121371746063, + 0.03535182401537895, + 0.09501830488443375, + -0.017215434461832047, + -0.3496459126472473, + -0.2744479179382324, + 0.0, + 0.49086472392082214 + ], + [ + 0.3438061475753784, + 0.045919205993413925, + 0.08320657908916473, + -0.033708274364471436, + -0.3481000065803528, + -0.297960102558136, + 0.0, + 0.49086472392082214 + ], + [ + 0.34646809101104736, + 0.05433425307273865, + 0.08355194330215454, + -0.023991581052541733, + -0.3795586824417114, + -0.32077860832214355, + 0.0, + 0.49086472392082214 + ], + [ + 0.3419574201107025, + 0.056088853627443314, + 0.07655216753482819, + -0.02727949433028698, + -0.3146263062953949, + -0.31196755170822144, + 0.0, + 0.5364033579826355 + ], + [ + 0.3455008268356323, + 0.05041399970650673, + 0.08359883725643158, + -0.008835814893245697, + -0.278158962726593, + -0.28222575783729553, + 0.0, + 0.842682421207428 + ], + [ + 0.3479412794113159, + 0.04217791184782982, + 0.08370521664619446, + -0.012277895584702492, + -0.28814077377319336, + -0.2879451513290405, + 0.0, + 1.0105689764022827 + ], + [ + 0.34741726517677307, + 0.03582802414894104, + 0.08280973881483078, + -0.012117326259613037, + -0.2707694470882416, + -0.26817506551742554, + 0.0, + 1.0041072368621826 + ], + [ + 0.3488825857639313, + 0.022955140098929405, + 0.08875100314617157, + 0.026288850232958794, + -0.2280724048614502, + -0.2817663848400116, + 0.0, + 1.002137303352356 + ], + [ + 0.3494950532913208, + 0.015115467831492424, + 0.0896223783493042, + 0.02635994739830494, + -0.2292223870754242, + -0.29807719588279724, + 0.0, + 1.002137303352356 + ], + [ + 0.34886711835861206, + 0.021702434867620468, + 0.08902078866958618, + 0.026516301557421684, + -0.2258804589509964, + -0.28045424818992615, + 0.0, + 1.002137303352356 + ], + [ + 0.34888848662376404, + 0.021013695746660233, + 0.0889967530965805, + 0.029174137860536575, + -0.22487910091876984, + -0.28541940450668335, + 0.0, + 1.002137303352356 + ], + [ + 0.34898146986961365, + 0.019407914951443672, + 0.0889967530965805, + 0.029174137860536575, + -0.22487910091876984, + -0.2900213301181793, + 0.0, + 1.002137303352356 + ], + [ + 0.3473626673221588, + 0.019208543002605438, + 0.08917076140642166, + 0.02581842988729477, + -0.21639156341552734, + -0.291439026594162, + 0.0, + 1.002137303352356 + ], + [ + 0.33460500836372375, + 0.036577656865119934, + 0.10324697941541672, + 0.02829129248857498, + -0.17309831082820892, + -0.29714521765708923, + 0.0, + 1.002137303352356 + ], + [ + 0.3274541199207306, + 0.06537032127380371, + 0.12442240864038467, + 0.0765245109796524, + -0.22127799689769745, + -0.3208691477775574, + 0.0, + 1.002137303352356 + ], + [ + 0.31758585572242737, + 0.07908228784799576, + 0.11207376420497894, + 0.05806645005941391, + -0.23349393904209137, + -0.31383252143859863, + 0.0, + 1.002137303352356 + ], + [ + 0.31249353289604187, + 0.08820228278636932, + 0.10379384458065033, + 0.06938730180263519, + -0.2813938558101654, + -0.31832417845726013, + 0.0, + 1.002137303352356 + ], + [ + 0.30671727657318115, + 0.10306969285011292, + 0.0947432592511177, + 0.08845219761133194, + -0.29764291644096375, + -0.27018964290618896, + 0.0, + 1.002137303352356 + ], + [ + 0.29759547114372253, + 0.11307656019926071, + 0.0838593915104866, + 0.0994531512260437, + -0.29209691286087036, + -0.20925521850585938, + 0.0, + 1.002137303352356 + ], + [ + 0.28761783242225647, + 0.11751633137464523, + 0.07601325958967209, + 0.10480957478284836, + -0.2965174615383148, + -0.17471405863761902, + 0.0, + 1.002137303352356 + ], + [ + 0.2794007658958435, + 0.12125040590763092, + 0.07560800015926361, + 0.12621064484119415, + -0.305214524269104, + -0.15865707397460938, + 0.0, + 1.002137303352356 + ], + [ + 0.2728286385536194, + 0.12510453164577484, + 0.07033832371234894, + 0.12262669950723648, + -0.29637452960014343, + -0.12214364111423492, + 0.0, + 1.002137303352356 + ], + [ + 0.26967787742614746, + 0.12850672006607056, + 0.06723009049892426, + 0.12344404309988022, + -0.30373018980026245, + -0.10713762044906616, + 0.0, + 1.002137303352356 + ], + [ + 0.26894694566726685, + 0.12988772988319397, + 0.06341855227947235, + 0.12042385339736938, + -0.33448415994644165, + -0.08619440346956253, + 0.0, + 1.002137303352356 + ], + [ + 0.2699218690395355, + 0.12835155427455902, + 0.055872492492198944, + 0.11107823252677917, + -0.3486466407775879, + -0.07529263198375702, + 0.0, + 1.002137303352356 + ], + [ + 0.2711969017982483, + 0.12827575206756592, + 0.04917421191930771, + 0.1024731993675232, + -0.35305434465408325, + -0.0665597915649414, + 0.0, + 1.002137303352356 + ], + [ + 0.2715720534324646, + 0.12733867764472961, + 0.04369990527629852, + 0.08677606284618378, + -0.3553449213504791, + -0.06302054971456528, + 0.0, + 1.002137303352356 + ], + [ + 0.2690987288951874, + 0.12776099145412445, + 0.03496384993195534, + 0.05392557010054588, + -0.3401108682155609, + -0.05022544041275978, + 0.0, + 1.002137303352356 + ], + [ + 0.2671385407447815, + 0.1268421709537506, + 0.034941401332616806, + 0.03555315360426903, + -0.33477699756622314, + -0.043452534824609756, + 0.0, + 1.002137303352356 + ], + [ + 0.26526498794555664, + 0.1250975877046585, + 0.03384336084127426, + 0.014458340592682362, + -0.32777178287506104, + -0.030919551849365234, + 0.0, + 0.993436336517334 + ], + [ + 0.26507696509361267, + 0.12234647572040558, + 0.03390255942940712, + -0.018074095249176025, + -0.33941081166267395, + -0.022613465785980225, + 0.0, + 0.927155077457428 + ], + [ + 0.26098209619522095, + 0.11637333780527115, + 0.033484648913145065, + -0.06950085610151291, + -0.3136245310306549, + -0.005517886020243168, + 0.0, + 0.7807356715202332 + ], + [ + 0.25913023948669434, + 0.11393573135137558, + 0.037560269236564636, + -0.10524101555347443, + -0.27991783618927, + 0.0011485432041808963, + 0.0, + 0.8017430305480957 + ], + [ + 0.25656720995903015, + 0.11263380944728851, + 0.04342614486813545, + -0.11166571825742722, + -0.2633076608181, + 0.0068061258643865585, + 0.0, + 0.8111810088157654 + ], + [ + 0.2642451226711273, + 0.12322479486465454, + 0.06308063864707947, + -0.10677467286586761, + -0.25579333305358887, + -0.0702473446726799, + 0.0, + 0.8111810088157654 + ], + [ + 0.27008256316185, + 0.1515144556760788, + 0.08086356520652771, + -0.08119469881057739, + -0.32308587431907654, + -0.191405788064003, + 0.0, + 0.8111810088157654 + ], + [ + 0.26657620072364807, + 0.17685635387897491, + 0.07210611552000046, + -0.11160324513912201, + -0.36172187328338623, + -0.22115513682365417, + 0.0, + 0.8111810088157654 + ], + [ + 0.2590678334236145, + 0.1908217966556549, + 0.0647030845284462, + -0.1588228940963745, + -0.38772955536842346, + -0.21264544129371643, + 0.0, + 0.8111810088157654 + ], + [ + 0.2523551881313324, + 0.20165854692459106, + 0.055109307169914246, + -0.17991113662719727, + -0.4312158226966858, + -0.21093790233135223, + 0.0, + 0.8111810088157654 + ], + [ + 0.24918057024478912, + 0.20751740038394928, + 0.04048675298690796, + -0.1853724867105484, + -0.4827287197113037, + -0.21220476925373077, + 0.0, + 0.8111810088157654 + ], + [ + 0.24806593358516693, + 0.209530770778656, + 0.030176112428307533, + -0.18711353838443756, + -0.5112482309341431, + -0.20882688462734222, + 0.0, + 0.8111810088157654 + ], + [ + 0.2458352893590927, + 0.20811563730239868, + 0.026129085570573807, + -0.1735670119524002, + -0.5120192170143127, + -0.2154228240251541, + 0.0, + 0.8111810088157654 + ], + [ + 0.2432216852903366, + 0.20578625798225403, + 0.023589376360177994, + -0.17907321453094482, + -0.4999486804008484, + -0.21246926486492157, + 0.0, + 0.8111810088157654 + ], + [ + 0.24085593223571777, + 0.2064346820116043, + 0.035300303250551224, + -0.15290863811969757, + -0.4922131597995758, + -0.20897413790225983, + 0.0, + 0.8740299344062805 + ], + [ + 0.23814739286899567, + 0.20234613120555878, + 0.04241567105054855, + -0.14318998157978058, + -0.48733338713645935, + -0.1996726542711258, + 0.0, + 1.00800359249115 + ], + [ + 0.23549386858940125, + 0.19775186479091644, + 0.04913662001490593, + -0.1365433782339096, + -0.47248533368110657, + -0.2106524556875229, + 0.0, + 1.0041072368621826 + ] + ], + "left_gripper_pos": [ + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 0.9515043497085571 + ], + [ + 0.6601285338401794 + ], + [ + 0.45967593789100647 + ], + [ + 0.48228755593299866 + ], + [ + 0.49086472392082214 + ], + [ + 0.49086472392082214 + ], + [ + 0.49086472392082214 + ], + [ + 0.49086472392082214 + ], + [ + 0.49086472392082214 + ], + [ + 0.49086472392082214 + ], + [ + 0.49086472392082214 + ], + [ + 0.49086472392082214 + ], + [ + 0.49086472392082214 + ], + [ + 0.49086472392082214 + ], + [ + 0.49086472392082214 + ], + [ + 0.49086472392082214 + ], + [ + 0.49086472392082214 + ], + [ + 0.49086472392082214 + ], + [ + 0.5364033579826355 + ], + [ + 0.842682421207428 + ], + [ + 1.0105689764022827 + ], + [ + 1.0041072368621826 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 0.993436336517334 + ], + [ + 0.927155077457428 + ], + [ + 0.7807356715202332 + ], + [ + 0.8017430305480957 + ], + [ + 0.8111810088157654 + ], + [ + 0.8111810088157654 + ], + [ + 0.8111810088157654 + ], + [ + 0.8111810088157654 + ], + [ + 0.8111810088157654 + ], + [ + 0.8111810088157654 + ], + [ + 0.8111810088157654 + ], + [ + 0.8111810088157654 + ], + [ + 0.8111810088157654 + ], + [ + 0.8111810088157654 + ], + [ + 0.8740299344062805 + ], + [ + 1.00800359249115 + ], + [ + 1.0041072368621826 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.34372925758361816, + -0.13606029748916626, + 0.11624114960432053 + ], + [ + 0.3407110273838043, + -0.1357000321149826, + 0.10002946853637695 + ], + [ + 0.3388763666152954, + -0.1373860090970993, + 0.08455714583396912 + ], + [ + 0.3434254825115204, + -0.13844485580921173, + 0.07652046531438828 + ], + [ + 0.34691423177719116, + -0.13956807553768158, + 0.06618243455886841 + ], + [ + 0.35026440024375916, + -0.14079025387763977, + 0.06712312996387482 + ], + [ + 0.3507644534111023, + -0.1379881054162979, + 0.06294500082731247 + ], + [ + 0.3477131426334381, + -0.13585267961025238, + 0.05385708436369896 + ], + [ + 0.3507958650588989, + -0.13429270684719086, + 0.052446234971284866 + ], + [ + 0.35393619537353516, + -0.1352972686290741, + 0.053238969296216965 + ], + [ + 0.35609254240989685, + -0.136089488863945, + 0.053560368716716766 + ], + [ + 0.3577570617198944, + -0.13859757781028748, + 0.05447261407971382 + ], + [ + 0.3593103289604187, + -0.13940592110157013, + 0.04698726162314415 + ], + [ + 0.359523743391037, + -0.13885459303855896, + 0.04698726162314415 + ], + [ + 0.3586452901363373, + -0.13859622180461884, + 0.04614878073334694 + ], + [ + 0.35448354482650757, + -0.1375301480293274, + 0.04425906017422676 + ], + [ + 0.3501702547073364, + -0.14006830751895905, + 0.045082952827215195 + ], + [ + 0.34857556223869324, + -0.14372408390045166, + 0.05616861209273338 + ], + [ + 0.35003185272216797, + -0.14473401010036469, + 0.07378105819225311 + ], + [ + 0.3491542339324951, + -0.14305002987384796, + 0.0932079628109932 + ], + [ + 0.3508298993110657, + -0.1324959099292755, + 0.1116252988576889 + ], + [ + 0.35930508375167847, + -0.11309540271759033, + 0.11242265999317169 + ], + [ + 0.3620154559612274, + -0.09285079687833786, + 0.11283320188522339 + ], + [ + 0.35737931728363037, + -0.0740051120519638, + 0.09789596498012543 + ], + [ + 0.3479730486869812, + -0.054569046944379807, + 0.09423079341650009 + ], + [ + 0.3393845856189728, + -0.03399614244699478, + 0.08827468752861023 + ], + [ + 0.3322506546974182, + -0.018084555864334106, + 0.08848728239536285 + ], + [ + 0.32952678203582764, + -0.0019804465118795633, + 0.08505814522504807 + ], + [ + 0.33252817392349243, + 0.016055362299084663, + 0.08713100105524063 + ], + [ + 0.3420121371746063, + 0.03535182401537895, + 0.09501830488443375 + ], + [ + 0.3438061475753784, + 0.045919205993413925, + 0.08320657908916473 + ], + [ + 0.34646809101104736, + 0.05433425307273865, + 0.08355194330215454 + ], + [ + 0.3419574201107025, + 0.056088853627443314, + 0.07655216753482819 + ], + [ + 0.3455008268356323, + 0.05041399970650673, + 0.08359883725643158 + ], + [ + 0.3479412794113159, + 0.04217791184782982, + 0.08370521664619446 + ], + [ + 0.34741726517677307, + 0.03582802414894104, + 0.08280973881483078 + ], + [ + 0.3488825857639313, + 0.022955140098929405, + 0.08875100314617157 + ], + [ + 0.3494950532913208, + 0.015115467831492424, + 0.0896223783493042 + ], + [ + 0.34886711835861206, + 0.021702434867620468, + 0.08902078866958618 + ], + [ + 0.34888848662376404, + 0.021013695746660233, + 0.0889967530965805 + ], + [ + 0.34898146986961365, + 0.019407914951443672, + 0.0889967530965805 + ], + [ + 0.3473626673221588, + 0.019208543002605438, + 0.08917076140642166 + ], + [ + 0.33460500836372375, + 0.036577656865119934, + 0.10324697941541672 + ], + [ + 0.3274541199207306, + 0.06537032127380371, + 0.12442240864038467 + ], + [ + 0.31758585572242737, + 0.07908228784799576, + 0.11207376420497894 + ], + [ + 0.31249353289604187, + 0.08820228278636932, + 0.10379384458065033 + ], + [ + 0.30671727657318115, + 0.10306969285011292, + 0.0947432592511177 + ], + [ + 0.29759547114372253, + 0.11307656019926071, + 0.0838593915104866 + ], + [ + 0.28761783242225647, + 0.11751633137464523, + 0.07601325958967209 + ], + [ + 0.2794007658958435, + 0.12125040590763092, + 0.07560800015926361 + ], + [ + 0.2728286385536194, + 0.12510453164577484, + 0.07033832371234894 + ], + [ + 0.26967787742614746, + 0.12850672006607056, + 0.06723009049892426 + ], + [ + 0.26894694566726685, + 0.12988772988319397, + 0.06341855227947235 + ], + [ + 0.2699218690395355, + 0.12835155427455902, + 0.055872492492198944 + ], + [ + 0.2711969017982483, + 0.12827575206756592, + 0.04917421191930771 + ], + [ + 0.2715720534324646, + 0.12733867764472961, + 0.04369990527629852 + ], + [ + 0.2690987288951874, + 0.12776099145412445, + 0.03496384993195534 + ], + [ + 0.2671385407447815, + 0.1268421709537506, + 0.034941401332616806 + ], + [ + 0.26526498794555664, + 0.1250975877046585, + 0.03384336084127426 + ], + [ + 0.26507696509361267, + 0.12234647572040558, + 0.03390255942940712 + ], + [ + 0.26098209619522095, + 0.11637333780527115, + 0.033484648913145065 + ], + [ + 0.25913023948669434, + 0.11393573135137558, + 0.037560269236564636 + ], + [ + 0.25656720995903015, + 0.11263380944728851, + 0.04342614486813545 + ], + [ + 0.2642451226711273, + 0.12322479486465454, + 0.06308063864707947 + ], + [ + 0.27008256316185, + 0.1515144556760788, + 0.08086356520652771 + ], + [ + 0.26657620072364807, + 0.17685635387897491, + 0.07210611552000046 + ], + [ + 0.2590678334236145, + 0.1908217966556549, + 0.0647030845284462 + ], + [ + 0.2523551881313324, + 0.20165854692459106, + 0.055109307169914246 + ], + [ + 0.24918057024478912, + 0.20751740038394928, + 0.04048675298690796 + ], + [ + 0.24806593358516693, + 0.209530770778656, + 0.030176112428307533 + ], + [ + 0.2458352893590927, + 0.20811563730239868, + 0.026129085570573807 + ], + [ + 0.2432216852903366, + 0.20578625798225403, + 0.023589376360177994 + ], + [ + 0.24085593223571777, + 0.2064346820116043, + 0.035300303250551224 + ], + [ + 0.23814739286899567, + 0.20234613120555878, + 0.04241567105054855 + ], + [ + 0.23549386858940125, + 0.19775186479091644, + 0.04913662001490593 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9734592159101828, + -0.02544419174069174, + 0.22744174653346916, + -0.031597583911282964, + -0.9992254454722153, + 0.02345424933401823, + 0.22666880608169565, + -0.030018364837475362, + -0.9735091936504671 + ], + [ + 0.9818274079764303, + -0.025821941901264644, + 0.18801108547830928, + -0.03297034009886132, + -0.9988435487484255, + 0.03499316786770298, + 0.18689006827557694, + -0.04055604073500687, + -0.9815433306481436 + ], + [ + 0.9778845702276149, + -0.034935038243533646, + 0.2062069601484778, + -0.03648159922600671, + -0.9993274702169112, + 0.0037013764712334205, + 0.20593897209772147, + -0.011142278617572603, + -0.9785013997938595 + ], + [ + 0.9700857198832193, + -0.02744135926932578, + 0.24120669120094448, + -0.024184448376704405, + -0.9995721102803437, + -0.01645323088073459, + 0.2415549803572067, + 0.010127593551877307, + -0.9703342843131316 + ], + [ + 0.9672941816690366, + -0.028180342723530247, + 0.2520869579990461, + -0.024275651188717204, + -0.999532503826592, + -0.01858673057606659, + 0.252492888748559, + 0.011859261280869546, + -0.9675260715108815 + ], + [ + 0.9615271870948868, + -0.028630571182981866, + 0.2732137603985764, + -0.02228711863721694, + -0.999405777907127, + -0.02629401887694075, + 0.27380422352521355, + 0.01919326651684146, + -0.9615939193340234 + ], + [ + 0.9558056531859482, + -0.03091581063012574, + 0.29236922887141376, + -0.027512598283054256, + -0.9994974376599303, + -0.015745762825258636, + 0.29270908812932034, + 0.007006051977841794, + -0.9561758755386928 + ], + [ + 0.9477904866466095, + -0.051061713141298024, + 0.3147791207708332, + -0.052636332011005704, + -0.9986076064055539, + -0.00350213954564542, + 0.3145196495842671, + -0.013249523766754433, + -0.949158490530082 + ], + [ + 0.9362732393048415, + -0.05191405798574431, + 0.3474152442612035, + -0.05676531535165167, + -0.9983803430568332, + 0.0037933587686243726, + 0.34665562210159884, + -0.02327275620060368, + -0.9377037157248449 + ], + [ + 0.9268316622880983, + -0.05822476355638401, + 0.3709352324720353, + -0.06238447252767536, + -0.9980518825789165, + -0.0007856641290923047, + 0.3702583521917141, + -0.022412420428931813, + -0.9286584065428971 + ], + [ + 0.9212172183329953, + -0.051309280419151504, + 0.38565035250818513, + -0.05154214353197077, + -0.9986232995756474, + -0.009742329535413527, + 0.38561929942230366, + -0.010902444107434971, + -0.9225935684934813 + ], + [ + 0.9156765531492055, + -0.05027722062030705, + 0.3987588884269382, + -0.0461905788114087, + -0.9987352727712625, + -0.019856619842736442, + 0.3992529028596503, + -0.00023666264784319262, + -0.9168408060012021 + ], + [ + 0.9146954013287883, + -0.054039343754884166, + 0.4005147589222005, + -0.04968501807930594, + -0.9985387030205871, + -0.021256941182186545, + 0.4010781990664987, + -0.00045595669241582475, + -0.9160437054731989 + ], + [ + 0.9144311376808381, + -0.058119519103289774, + 0.40054689605454546, + -0.05440838473318389, + -0.9983053706405078, + -0.020642543957673634, + 0.40106785225252645, + -0.002916924668376118, + -0.9160437049835696 + ], + [ + 0.9160559989544337, + -0.05303605496060003, + 0.39752809165367337, + -0.049062554038151046, + -0.9985920681393797, + -0.020167975614085044, + 0.3980380290510552, + -0.0010287484303920808, + -0.917368338839868 + ], + [ + 0.9253940936173838, + -0.03716442544782062, + 0.3771797674573678, + -0.040599510595667625, + -0.9991748288888807, + 0.0011580389752927408, + 0.37682549175640034, + -0.016384956393271484, + -0.9261393426296809 + ], + [ + 0.940379521633009, + -0.02950174291443948, + 0.33884510098020226, + -0.029142949633720376, + -0.9995563468472018, + -0.006148004889618636, + 0.3388761481425324, + -0.004093487814401957, + -0.9408220871012721 + ], + [ + 0.9597978582667245, + -0.014113478995778743, + 0.280337084555798, + -0.012814057884858121, + -0.9998969794617, + -0.006467641292822856, + 0.28039948499798006, + 0.002615372632118444, + -0.9598798303115151 + ], + [ + 0.972696511508024, + -0.017090935089043774, + 0.2314506349913568, + -0.021873305765224588, + -0.9995966746670817, + 0.01811205370501471, + 0.2310477331527431, + -0.022680121963835127, + -0.9726780336127079 + ], + [ + 0.9806864616231357, + -0.040745116506270114, + 0.19129532004203387, + -0.04951237294515786, + -0.9979202824366947, + 0.04127511146934425, + 0.18921572057953667, + -0.049949428248556235, + -0.9806642981689548 + ], + [ + 0.9779266953969912, + -0.07637241643585196, + 0.19449070013157352, + -0.08507894354058843, + -0.9956943734412368, + 0.036800653030628204, + 0.19084274100928808, + -0.052535404302357154, + -0.9802137927507703 + ], + [ + 0.9715543330340745, + -0.11937512560339311, + 0.20452813339462267, + -0.12842085673990572, + -0.9912196413107225, + 0.03149136761131319, + 0.19897301705734638, + -0.05686125277389141, + -0.9783539934073353 + ], + [ + 0.9684374295520123, + -0.12603056677600327, + 0.21504706759407466, + -0.1343531309823145, + -0.9906312753762474, + 0.024472687667651136, + 0.20994804413935408, + -0.052592513578918657, + -0.9762970072050364 + ], + [ + 0.9703276453662766, + -0.13346362672839182, + 0.20162271940047105, + -0.1370866383336983, + -0.990550784056774, + 0.004049419078735024, + 0.19917709262940453, + -0.03156904409407936, + -0.9794548898375477 + ], + [ + 0.96184810816734, + -0.15469751072188245, + 0.2256477276450217, + -0.1531978492494754, + -0.9878979126187588, + -0.02425145828262538, + 0.2266685593553809, + -0.011242527293806332, + -0.9739070642416575 + ], + [ + 0.9622162369305068, + -0.15530342595035207, + 0.22365321208374847, + -0.1534807385744385, + -0.9878194459654392, + -0.025620403181397838, + 0.22490792843725968, + -0.009674092237312231, + -0.9743319945816438 + ], + [ + 0.9565891608077837, + -0.1648112865260927, + 0.2403630946270129, + -0.15916031739865097, + -0.9863212610757459, + -0.042876139232805546, + 0.24414170227681478, + 0.0027585836156297956, + -0.9697356440936956 + ], + [ + 0.9492692487013572, + -0.19242083551250466, + 0.2487209591703742, + -0.1838695819112811, + -0.9812734659847316, + -0.05739653127221982, + 0.2551075661710801, + 0.008752543343614527, + -0.9668730644026063 + ], + [ + 0.9258947669632197, + -0.25708856484031706, + 0.2768110372410596, + -0.23901415712467078, + -0.9660804893963493, + -0.09777893792475695, + 0.2925595891508401, + 0.02437125019477624, + -0.9559366762290457 + ], + [ + 0.9043334733042279, + -0.27665181537560757, + 0.32503037105921706, + -0.25461750946447503, + -0.9608341205069958, + -0.10939706003205048, + 0.34256516596936637, + 0.01617299968864329, + -0.9393548536870674 + ], + [ + 0.8986026202054005, + -0.3043936182162247, + 0.3160029369313274, + -0.2759631677691732, + -0.9520193636585651, + -0.13230064721665005, + 0.34111238763022433, + 0.0316805367438207, + -0.9394885218015341 + ], + [ + 0.8814489019483013, + -0.3236497006856947, + 0.3439457871528511, + -0.29286469665223697, + -0.945914577155459, + -0.13955601807017293, + 0.3705105972963895, + 0.02228192026889657, + -0.9285609367834743 + ], + [ + 0.9050129966822085, + -0.3148510796818186, + 0.2860424329701483, + -0.29186516890580205, + -0.9487866251820269, + -0.1209076633439228, + 0.30946114298224314, + 0.02593718371166829, + -0.9505582904194937 + ], + [ + 0.9235212103319739, + -0.28081334210502085, + 0.26125168126305826, + -0.26778944948360484, + -0.959724795733569, + -0.08495367678580572, + 0.27458584233757183, + 0.008496078505278046, + -0.9615250552314267 + ], + [ + 0.9193006123751319, + -0.2873064548890354, + 0.26896353854342764, + -0.27227507369720405, + -0.9577663777884534, + -0.09246539796684629, + 0.2841701397576622, + 0.011771429695659544, + -0.9587016037918319 + ], + [ + 0.9291237510742765, + -0.26807785424149744, + 0.25468278162243424, + -0.25531801303603663, + -0.963326499993867, + -0.08255159979610668, + 0.26747292836658504, + 0.011675550301410376, + -0.9634946362674589 + ], + [ + 0.9356910100294591, + -0.27224786940326123, + 0.22441798358294582, + -0.270852364244139, + -0.9618864148910709, + -0.037596830070668455, + 0.2261002665487389, + -0.025605125529613536, + -0.9737674501713444 + ], + [ + 0.9308997589234772, + -0.2878559775459242, + 0.22486568219115227, + -0.2860009884931246, + -0.9573296800351796, + -0.04151286914555633, + 0.22722031911157836, + -0.02566748750503011, + -0.9735050624768273 + ], + [ + 0.9365195870787135, + -0.2709888591703646, + 0.22247719259164644, + -0.26976090721360496, + -0.9622355994031893, + -0.036492522254268155, + 0.22396454174089492, + -0.02583968743483047, + -0.9742546867200904 + ], + [ + 0.9353833703377928, + -0.27519867604189535, + 0.2220892595338628, + -0.27447053656688597, + -0.9609667576580162, + -0.03476802026180546, + 0.22298850878957246, + -0.028435530257541464, + -0.9744062528364518 + ], + [ + 0.9341103771784345, + -0.2796180439317269, + 0.22192690858784458, + -0.2787721797370846, + -0.9596901427683662, + -0.03578968675285207, + 0.2229885087895725, + -0.028435530257541485, + -0.9744062528364517 + ], + [ + 0.935493385141563, + -0.2819260620633509, + 0.21300192930072417, + -0.2806298979449756, + -0.9591047777309218, + -0.03694435969280629, + 0.21470674590187347, + -0.025213505570834273, + -0.9763530572498136 + ], + [ + 0.9418870071232217, + -0.28801596951778935, + 0.17290363534404826, + -0.2884162071515792, + -0.9572201183688189, + -0.023361002595805088, + 0.1722351801019674, + -0.027864785890289467, + -0.9846616659759487 + ], + [ + 0.9258238398294536, + -0.29854586690124335, + 0.23177701128375922, + -0.3077015157303346, + -0.9514763895646268, + 0.003529492643095683, + 0.21947663843949639, + -0.07458582611494022, + -0.972762540254327 + ], + [ + 0.9253467449875104, + -0.295414030136963, + 0.23762144755736425, + -0.30032914725168625, + -0.9536996018252976, + -0.016108159092337485, + 0.23137805611616385, + -0.05645901412977902, + -0.9712242660021416 + ], + [ + 0.9124064725308718, + -0.29393645106118804, + 0.2848083419096523, + -0.3006658316241133, + -0.9535015294547459, + -0.020854040885181335, + 0.27769495238039876, + -0.06660477509168752, + -0.9583576145455484 + ], + [ + 0.9213458998501116, + -0.240904268920796, + 0.3051014028894721, + -0.25517809353259097, + -0.9668675522318322, + 0.007160797601980795, + 0.2932675798830471, + -0.08445276583369599, + -0.952292947013984 + ], + [ + 0.9367520511656771, + -0.17873720059556097, + 0.3009129571157727, + -0.1989323668100736, + -0.9792916426031415, + 0.03760042769681092, + 0.28796094886674994, + -0.09508360453255323, + -0.9529100692493798 + ], + [ + 0.9418005029180793, + -0.14276962734100512, + 0.3043495461014588, + -0.16624074018952828, + -0.9846859295266334, + 0.05251320303988525, + 0.29219142527543696, + -0.1000522548530566, + -0.9511118321702912 + ], + [ + 0.9418033318085265, + -0.11938528193917916, + 0.3142509167061585, + -0.15069028312055552, + -0.9855623719407332, + 0.07719617599079975, + 0.3004977916181833, + -0.12005817536035773, + -0.946196127534739 + ], + [ + 0.9492761625999119, + -0.0854673649763517, + 0.3026055132405635, + -0.11652812114258228, + -0.9894490639355827, + 0.08609150283261927, + 0.29205472792366405, + -0.11698666334671792, + -0.9492197619605464 + ], + [ + 0.9487561995956932, + -0.06950405503632169, + 0.3082707577151054, + -0.10203819480468652, + -0.9906382624193518, + 0.09068649200276972, + 0.29908172884637757, + -0.11749476313553527, + -0.9469662613345771 + ], + [ + 0.9410730821571002, + -0.04617316114043786, + 0.33503655506471997, + -0.08131671291872496, + -0.9924673381365122, + 0.0916306440680171, + 0.3282819614895549, + -0.11347520399860547, + -0.9377389465293874 + ], + [ + 0.9371732188930826, + -0.036995977654508634, + 0.3468971827890299, + -0.0706958799775283, + -0.9938700445574162, + 0.08499662984873327, + 0.341626185096783, + -0.10418076678939717, + -0.9340438520151995 + ], + [ + 0.9362432943035576, + -0.030870368345054317, + 0.3499935916982805, + -0.062408346360884076, + -0.9949040073195902, + 0.07919100027099539, + 0.3457653715688168, + -0.09598456426770678, + -0.9333987739686701 + ], + [ + 0.9356654224246214, + -0.032649019868426346, + 0.3513748123878339, + -0.05904433660041915, + -0.9961586340292611, + 0.06466639130469916, + 0.3479137588460261, + -0.08125279903232362, + -0.9339989288297078 + ], + [ + 0.9415288891540622, + -0.03217362148002734, + 0.3353926191334227, + -0.047328506696116185, + -0.99818986342099, + 0.03710807213398066, + 0.3335916116185072, + -0.05081195375543978, + -0.9413473227312658 + ], + [ + 0.943592092257054, + -0.03174360286149768, + 0.32958505291855655, + -0.041027293022113186, + -0.9989320520247279, + 0.021248921500744436, + 0.32855855590325733, + -0.03357229683889163, + -0.9438867390888211 + ], + [ + 0.9463095075858893, + -0.026259146288996334, + 0.3221936887785434, + -0.029268793651087876, + -0.9995614499897078, + 0.004499490269250377, + 0.32193423795980725, + -0.013688131013623837, + -0.9466630770757842 + ], + [ + 0.9427099009868358, + -0.028623416295250496, + 0.33238342711540136, + -0.021321572611892367, + -0.9994449801243853, + -0.025595355936637053, + 0.3329315742352268, + 0.017042058084519265, + -0.9427969745037887 + ], + [ + 0.9512071413921998, + -0.026928550005316288, + 0.3073757104247032, + -0.0052487058571830565, + -0.9974523843253068, + -0.0711420557095814, + 0.30850838765146177, + 0.0660575067526136, + -0.9489251712070472 + ], + [ + 0.9610775075961949, + -0.027879788919736213, + 0.27486858998888253, + 0.0011038395254179528, + -0.9944999507896818, + -0.10473122465445608, + 0.2762766836542446, + 0.10095823517232747, + -0.9557607591965162 + ], + [ + 0.9655119946621468, + -0.022239146231829585, + 0.25940703255386516, + 0.006571497630818881, + -0.9939462420280738, + -0.10967079546149888, + 0.26027563002019777, + 0.10759316118206158, + -0.9595208742306965 + ], + [ + 0.9650767936164324, + -0.09668742950101682, + 0.2434714016050172, + -0.0679058169595413, + -0.9899601164658187, + -0.12396680132212623, + 0.2530130084522986, + 0.10310435870256965, + -0.9619531738969671 + ], + [ + 0.9309428408371563, + -0.21489273331796815, + 0.29523980128224236, + -0.18039625725160852, + -0.9736046933120935, + -0.13982521779091162, + 0.31749427941879016, + 0.07690913032792016, + -0.945136163845478 + ], + [ + 0.9125096364654478, + -0.25644500612376697, + 0.31868812684484715, + -0.20516194660544324, + -0.9609295858928796, + -0.1858034085284881, + 0.35388520599590134, + 0.1041647243068405, + -0.9294702637456017 + ], + [ + 0.9049178541589697, + -0.2668402393642556, + 0.33154179808940026, + -0.19538048272428327, + -0.9525537345319552, + -0.23338348227681355, + 0.37808748219790606, + 0.14641608342409818, + -0.9141182562010213 + ], + [ + 0.8883222325116144, + -0.27913333236455373, + 0.3646480412516161, + -0.19021035612805148, + -0.9463922826503082, + -0.2610778959651283, + 0.41797563523155334, + 0.1625614656153115, + -0.8937953559119564 + ], + [ + 0.8658636514081981, + -0.290645767851341, + 0.4071918157332817, + -0.18654899290617719, + -0.9428011322988529, + -0.27627069729106646, + 0.4641978138851513, + 0.1632515315888504, + -0.8705569062491786 + ], + [ + 0.8531871647527879, + -0.2927315784981827, + 0.43171736686292966, + -0.18080430192245237, + -0.9423307209428512, + -0.28164271120279494, + 0.48926625298239584, + 0.1622375891009496, + -0.8569116047617034 + ], + [ + 0.8516072880089096, + -0.2932039064529033, + 0.4345071878011537, + -0.18634720929628218, + -0.9441219513303163, + -0.2718611016745932, + 0.4899385110374541, + 0.15054969364629422, + -0.8586588642443571 + ], + [ + 0.8578725798702072, + -0.2909683121056438, + 0.4235470198894421, + -0.185064778311466, + -0.9438762236149999, + -0.2735849087994702, + 0.4793805007875922, + 0.15631735618503517, + -0.863573517206241 + ], + [ + 0.8621160233677634, + -0.2754498522265209, + 0.4253038221800296, + -0.18282912762742126, + -0.9518976274573148, + -0.24589513401474944, + 0.47257747760928104, + 0.13423220831649635, + -0.8710064534243857 + ], + [ + 0.8660292465923952, + -0.2618137722261933, + 0.42596583515500336, + -0.17525769889660717, + -0.9568464982177954, + -0.2317962851855239, + 0.4682713775409241, + 0.12608857014429783, + -0.874541931215932 + ], + [ + 0.8707565159453238, + -0.26773047871600314, + 0.41243603225865383, + -0.18618919498287617, + -0.9558396521682851, + -0.2273854503138683, + 0.45510072908136506, + 0.12120622966379219, + -0.8821521276289586 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0030182301998138428, + 0.0003602653741836548, + -0.016211681067943573, + 0.0104697085916996, + 0.04066061973571777, + -0.0011202916502952576, + 1.0 + ], + [ + -0.0018346607685089111, + -0.0016859769821166992, + -0.015472322702407837, + -0.029908563941717148, + -0.019427672028541565, + -0.003721386194229126, + 1.0 + ], + [ + 0.004549115896224976, + -0.0010588467121124268, + -0.008036680519580841, + -0.02182343602180481, + -0.036544814705848694, + 0.012364303693175316, + 1.0 + ], + [ + 0.0034887492656707764, + -0.0011232197284698486, + -0.010338030755519867, + -0.001819848082959652, + -0.011287793517112732, + -0.00016612932085990906, + 1.0 + ], + [ + 0.003350168466567993, + -0.001222178339958191, + 0.0009406954050064087, + -0.007700505666434765, + -0.022090435028076172, + 0.0019164588302373886, + 1.0 + ], + [ + 0.0005000531673431396, + 0.002802148461341858, + -0.004178129136562347, + 0.012630168348550797, + -0.019712597131729126, + -0.005602048709988594, + 1.0 + ], + [ + -0.0030513107776641846, + 0.0021354258060455322, + -0.00908791646361351, + 0.02128535322844982, + -0.02289178967475891, + -0.026702066883444786, + 1.0 + ], + [ + 0.0030827224254608154, + 0.0015599727630615234, + -0.001410849392414093, + 0.010855460539460182, + -0.03405269980430603, + -0.005076039582490921, + 1.0 + ], + [ + 0.0031403303146362305, + -0.0010045617818832397, + 0.0007927343249320984, + -0.0006842780858278275, + -0.025283843278884888, + -0.006653133779764175, + 1.0 + ], + [ + 0.0021563470363616943, + -0.0007922202348709106, + 0.00032139942049980164, + -0.012312889099121094, + -0.016591817140579224, + 0.011316243559122086, + 1.0 + ], + [ + 0.0016645193099975586, + -0.0025080889463424683, + 0.000912245362997055, + -0.011558490805327892, + -0.014822900295257568, + 0.005490284413099289, + 1.0 + ], + [ + 0.001553267240524292, + -0.0008083432912826538, + -0.007485352456569672, + 0.0002396171330474317, + -0.0019917190074920654, + -0.0038638338446617126, + 1.0 + ], + [ + 0.00021341443061828613, + 0.0005513280630111694, + 0.0, + 0.002686507301405072, + 1.1295080184936523e-05, + -0.0051643215119838715, + 1.0 + ], + [ + -0.000878453254699707, + 0.0002583712339401245, + -0.0008384808897972107, + -0.0020628408528864384, + 0.003305107355117798, + 0.00592229887843132, + 0.0 + ], + [ + -0.004161745309829712, + 0.0010660737752914429, + -0.0018897205591201782, + 0.016568416729569435, + 0.02301040291786194, + 0.009662788361310959, + 0.0 + ], + [ + -0.004313290119171143, + -0.002538159489631653, + 0.0008238926529884338, + -0.013338888064026833, + 0.04064464569091797, + 0.012863844633102417, + 0.0 + ], + [ + -0.0015946924686431885, + -0.0036557763814926147, + 0.011085659265518188, + -0.0070756226778030396, + 0.061511844396591187, + 0.017630714923143387, + 0.0 + ], + [ + 0.0014562904834747314, + -0.001009926199913025, + 0.01761244609951973, + 0.02603765018284321, + 0.051055848598480225, + -0.009133502840995789, + 0.0 + ], + [ + -0.0008776187896728516, + 0.0016839802265167236, + 0.019426904618740082, + 0.02757733128964901, + 0.04279103875160217, + -0.027961134910583496, + 0.0 + ], + [ + 0.0016756653785705566, + 0.010554119944572449, + 0.01841733604669571, + 0.0026543326675891876, + -0.0016572177410125732, + -0.03633616864681244, + 0.0 + ], + [ + 0.008475184440612793, + 0.01940050721168518, + 0.0007973611354827881, + 0.0045093633234500885, + -0.00828927755355835, + -0.04463818669319153, + 0.0 + ], + [ + 0.00271037220954895, + 0.020244605839252472, + 0.0004105418920516968, + -0.004236634820699692, + -0.011211946606636047, + -0.006432980298995972, + 0.0 + ], + [ + -0.004636138677597046, + 0.018845684826374054, + -0.014937236905097961, + -0.021597277373075485, + 0.011003702878952026, + -0.0024978816509246826, + 0.0 + ], + [ + -0.00940626859664917, + 0.019436065107584, + -0.0036651715636253357, + -0.020676858723163605, + -0.028137728571891785, + -0.01759791374206543, + 0.0 + ], + [ + -0.008588463068008423, + 0.020572904497385025, + -0.005956105887889862, + -0.0016146022826433182, + 0.0018073022365570068, + -0.0002272874116897583, + 0.0 + ], + [ + -0.007133930921554565, + 0.015911586582660675, + 0.0002125948667526245, + -0.012773290276527405, + -0.019785970449447632, + -0.006697759032249451, + 0.0 + ], + [ + -0.002723872661590576, + 0.016104109585285187, + -0.003429137170314789, + -0.006207507103681564, + -0.011324435472488403, + -0.026453852653503418, + 0.0 + ], + [ + 0.003001391887664795, + 0.018035808578133583, + 0.002072855830192566, + -0.016436930745840073, + -0.03894349932670593, + -0.06130211055278778, + 0.0 + ], + [ + 0.009483963251113892, + 0.01929646171629429, + 0.007887303829193115, + 0.008273672312498093, + -0.05274346470832825, + -0.02181914448738098, + 0.0 + ], + [ + 0.0017940104007720947, + 0.010567381978034973, + -0.011811725795269012, + -0.01649283990263939, + 0.0015459060668945312, + -0.023512184619903564, + 0.0 + ], + [ + 0.0026619434356689453, + 0.008415047079324722, + 0.00034536421298980713, + 0.009716693311929703, + -0.03145867586135864, + -0.02281850576400757, + 0.0 + ], + [ + -0.004510670900344849, + 0.0017546005547046661, + -0.006999775767326355, + -0.003287913277745247, + 0.06493237614631653, + 0.00881105661392212, + 1.0 + ], + [ + 0.0035434067249298096, + -0.0056748539209365845, + 0.0070466697216033936, + 0.018443679437041283, + 0.03646734356880188, + 0.029741793870925903, + 1.0 + ], + [ + 0.0024404525756835938, + -0.00823608785867691, + 0.00010637938976287842, + -0.0034420806914567947, + -0.009981811046600342, + -0.005719393491744995, + 1.0 + ], + [ + -0.0005240142345428467, + -0.006349887698888779, + -0.000895477831363678, + 0.00016056932508945465, + 0.017371326684951782, + 0.01977008581161499, + 1.0 + ], + [ + 0.0014653205871582031, + -0.012872884050011635, + 0.00594126433134079, + 0.03840617835521698, + 0.04269704222679138, + -0.01359131932258606, + 1.0 + ], + [ + 0.0006124675273895264, + -0.007839672267436981, + 0.0008713752031326294, + 7.109716534614563e-05, + -0.001149982213973999, + -0.016310811042785645, + 1.0 + ], + [ + -0.0006279349327087402, + 0.006586967036128044, + -0.0006015896797180176, + 0.000156354159116745, + 0.0033419281244277954, + 0.017622947692871094, + 1.0 + ], + [ + 2.136826515197754e-05, + -0.0006887391209602356, + -2.403557300567627e-05, + 0.002657836303114891, + 0.0010013580322265625, + -0.004965156316757202, + 1.0 + ], + [ + 9.298324584960938e-05, + -0.0016057807952165604, + 0.0, + 0.0, + 0.0, + -0.004601925611495972, + 1.0 + ], + [ + -0.001618802547454834, + -0.00019937194883823395, + 0.000174008309841156, + -0.003355707973241806, + 0.008487537503242493, + -0.001417696475982666, + 1.0 + ], + [ + -0.012757658958435059, + 0.017369113862514496, + 0.014076218008995056, + 0.0024728626012802124, + 0.04329325258731842, + -0.005706191062927246, + 1.0 + ], + [ + -0.007150888442993164, + 0.028792664408683777, + 0.021175429224967957, + 0.04823321849107742, + -0.048179686069488525, + -0.02372393012046814, + 1.0 + ], + [ + -0.009868264198303223, + 0.013711966574192047, + -0.012348644435405731, + -0.018458060920238495, + -0.012215942144393921, + 0.00703662633895874, + 1.0 + ], + [ + -0.005092322826385498, + 0.009119994938373566, + -0.008279919624328613, + 0.011320851743221283, + -0.047899916768074036, + -0.004491657018661499, + 1.0 + ], + [ + -0.005776256322860718, + 0.014867410063743591, + -0.009050585329532623, + 0.019064895808696747, + -0.01624906063079834, + 0.04813453555107117, + 1.0 + ], + [ + -0.009121805429458618, + 0.010006867349147797, + -0.010883867740631104, + 0.011000953614711761, + 0.005546003580093384, + 0.06093442440032959, + 1.0 + ], + [ + -0.009977638721466064, + 0.0044397711753845215, + -0.007846131920814514, + 0.005356423556804657, + -0.004420548677444458, + 0.034541159868240356, + 1.0 + ], + [ + -0.008217066526412964, + 0.0037340745329856873, + -0.0004052594304084778, + 0.021401070058345795, + -0.008697062730789185, + 0.016056984663009644, + 1.0 + ], + [ + -0.006572127342224121, + 0.003854125738143921, + -0.005269676446914673, + -0.003583945333957672, + 0.008839994668960571, + 0.03651343286037445, + 1.0 + ], + [ + -0.003150761127471924, + 0.0034021884202957153, + -0.0031082332134246826, + 0.0008173435926437378, + -0.0073556602001190186, + 0.015006020665168762, + 1.0 + ], + [ + -0.0007309317588806152, + 0.001381009817123413, + -0.0038115382194519043, + -0.0030201897025108337, + -0.0307539701461792, + 0.02094321697950363, + 1.0 + ], + [ + 0.0009749233722686768, + -0.0015361756086349487, + -0.007546059787273407, + -0.00934562087059021, + -0.01416248083114624, + 0.010901771485805511, + 1.0 + ], + [ + 0.0012750327587127686, + -7.580220699310303e-05, + -0.006698280572891235, + -0.008605033159255981, + -0.004407703876495361, + 0.008732840418815613, + 1.0 + ], + [ + 0.0003751516342163086, + -0.0009370744228363037, + -0.005474306643009186, + -0.015697136521339417, + -0.002290576696395874, + 0.003539241850376129, + 1.0 + ], + [ + -0.0024733245372772217, + 0.0004223138093948364, + -0.008736055344343185, + -0.032850492745637894, + 0.015234053134918213, + 0.012795109301805496, + 1.0 + ], + [ + -0.001960188150405884, + -0.0009188205003738403, + -2.2448599338531494e-05, + -0.018372416496276855, + 0.0053338706493377686, + 0.006772905588150024, + 1.0 + ], + [ + -0.0018735527992248535, + -0.001744583249092102, + -0.0010980404913425446, + -0.02109481394290924, + 0.007005214691162109, + 0.012532982975244522, + 1.0 + ], + [ + -0.00018802285194396973, + -0.0027511119842529297, + 5.9198588132858276e-05, + -0.03253243491053581, + -0.011639028787612915, + 0.00830608606338501, + 0.0 + ], + [ + -0.004094868898391724, + -0.00597313791513443, + -0.00041791051626205444, + -0.051426760852336884, + 0.025786280632019043, + 0.01709558069705963, + 0.0 + ], + [ + -0.0018518567085266113, + -0.002437606453895569, + 0.004075620323419571, + -0.03574015945196152, + 0.03370669484138489, + 0.006666429340839386, + 0.0 + ], + [ + -0.0025630295276641846, + -0.0013019219040870667, + 0.005865875631570816, + -0.006424702703952789, + 0.016610175371170044, + 0.00565758254379034, + 0.0 + ], + [ + 0.007677912712097168, + 0.010590985417366028, + 0.019654493778944016, + 0.004891045391559601, + 0.007514327764511108, + -0.07705347239971161, + 0.0 + ], + [ + 0.005837440490722656, + 0.028289660811424255, + 0.017782926559448242, + 0.025579974055290222, + -0.06729254126548767, + -0.12115844339132309, + 0.0 + ], + [ + -0.0035063624382019043, + 0.025341898202896118, + -0.008757449686527252, + -0.030408546328544617, + -0.03863599896430969, + -0.029749348759651184, + 0.0 + ], + [ + -0.007508367300033569, + 0.013965442776679993, + -0.00740303099155426, + -0.0472196489572525, + -0.02600768208503723, + 0.008509695529937744, + 0.0 + ], + [ + -0.0067126452922821045, + 0.010836750268936157, + -0.009593777358531952, + -0.021088242530822754, + -0.04348626732826233, + 0.0017075389623641968, + 0.0 + ], + [ + -0.003174617886543274, + 0.005858853459358215, + -0.014622554183006287, + -0.005461350083351135, + -0.05151289701461792, + -0.00126686692237854, + 0.0 + ], + [ + -0.0011146366596221924, + 0.002013370394706726, + -0.010310640558600426, + -0.0017410516738891602, + -0.028519511222839355, + 0.00337788462638855, + 0.0 + ], + [ + -0.0022306442260742188, + -0.0014151334762573242, + -0.0040470268577337265, + 0.013546526432037354, + -0.0007709860801696777, + -0.00659593939781189, + 0.0 + ], + [ + -0.0026136040687561035, + -0.0023293793201446533, + -0.002539709210395813, + -0.005506202578544617, + 0.012070536613464355, + 0.002953559160232544, + 0.0 + ], + [ + -0.0023657530546188354, + 0.0006484240293502808, + 0.01171092689037323, + 0.026164576411247253, + 0.007735520601272583, + 0.003495126962661743, + 1.0 + ], + [ + -0.002708539366722107, + -0.004088550806045532, + 0.00711536779999733, + 0.009718656539916992, + 0.004879772663116455, + 0.009301483631134033, + 1.0 + ], + [ + -0.0026535242795944214, + -0.004594266414642334, + 0.006720948964357376, + 0.006646603345870972, + 0.014848053455352783, + -0.010979801416397095, + 1.0 + ], + [ + -0.0010534226894378662, + -0.002112865447998047, + 0.0020620450377464294, + -0.003744572401046753, + 0.015792161226272583, + -0.00011901557445526123, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 0.9515043497085571 + ], + [ + 0.6601285338401794 + ], + [ + 0.45967593789100647 + ], + [ + 0.48228755593299866 + ], + [ + 0.49086472392082214 + ], + [ + 0.49086472392082214 + ], + [ + 0.49086472392082214 + ], + [ + 0.49086472392082214 + ], + [ + 0.49086472392082214 + ], + [ + 0.49086472392082214 + ], + [ + 0.49086472392082214 + ], + [ + 0.49086472392082214 + ], + [ + 0.49086472392082214 + ], + [ + 0.49086472392082214 + ], + [ + 0.49086472392082214 + ], + [ + 0.49086472392082214 + ], + [ + 0.49086472392082214 + ], + [ + 0.49086472392082214 + ], + [ + 0.5364033579826355 + ], + [ + 0.842682421207428 + ], + [ + 1.0105689764022827 + ], + [ + 1.0041072368621826 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 0.993436336517334 + ], + [ + 0.927155077457428 + ], + [ + 0.7807356715202332 + ], + [ + 0.8017430305480957 + ], + [ + 0.8111810088157654 + ], + [ + 0.8111810088157654 + ], + [ + 0.8111810088157654 + ], + [ + 0.8111810088157654 + ], + [ + 0.8111810088157654 + ], + [ + 0.8111810088157654 + ], + [ + 0.8111810088157654 + ], + [ + 0.8111810088157654 + ], + [ + 0.8111810088157654 + ], + [ + 0.8111810088157654 + ], + [ + 0.8740299344062805 + ], + [ + 1.00800359249115 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3407110273838043, + -0.1357000321149826, + 0.10002946853637695 + ], + [ + 0.3388763666152954, + -0.1373860090970993, + 0.08455714583396912 + ], + [ + 0.3434254825115204, + -0.13844485580921173, + 0.07652046531438828 + ], + [ + 0.34691423177719116, + -0.13956807553768158, + 0.06618243455886841 + ], + [ + 0.35026440024375916, + -0.14079025387763977, + 0.06712312996387482 + ], + [ + 0.3507644534111023, + -0.1379881054162979, + 0.06294500082731247 + ], + [ + 0.3477131426334381, + -0.13585267961025238, + 0.05385708436369896 + ], + [ + 0.3507958650588989, + -0.13429270684719086, + 0.052446234971284866 + ], + [ + 0.35393619537353516, + -0.1352972686290741, + 0.053238969296216965 + ], + [ + 0.35609254240989685, + -0.136089488863945, + 0.053560368716716766 + ], + [ + 0.3577570617198944, + -0.13859757781028748, + 0.05447261407971382 + ], + [ + 0.3593103289604187, + -0.13940592110157013, + 0.04698726162314415 + ], + [ + 0.359523743391037, + -0.13885459303855896, + 0.04698726162314415 + ], + [ + 0.3586452901363373, + -0.13859622180461884, + 0.04614878073334694 + ], + [ + 0.35448354482650757, + -0.1375301480293274, + 0.04425906017422676 + ], + [ + 0.3501702547073364, + -0.14006830751895905, + 0.045082952827215195 + ], + [ + 0.34857556223869324, + -0.14372408390045166, + 0.05616861209273338 + ], + [ + 0.35003185272216797, + -0.14473401010036469, + 0.07378105819225311 + ], + [ + 0.3491542339324951, + -0.14305002987384796, + 0.0932079628109932 + ], + [ + 0.3508298993110657, + -0.1324959099292755, + 0.1116252988576889 + ], + [ + 0.35930508375167847, + -0.11309540271759033, + 0.11242265999317169 + ], + [ + 0.3620154559612274, + -0.09285079687833786, + 0.11283320188522339 + ], + [ + 0.35737931728363037, + -0.0740051120519638, + 0.09789596498012543 + ], + [ + 0.3479730486869812, + -0.054569046944379807, + 0.09423079341650009 + ], + [ + 0.3393845856189728, + -0.03399614244699478, + 0.08827468752861023 + ], + [ + 0.3322506546974182, + -0.018084555864334106, + 0.08848728239536285 + ], + [ + 0.32952678203582764, + -0.0019804465118795633, + 0.08505814522504807 + ], + [ + 0.33252817392349243, + 0.016055362299084663, + 0.08713100105524063 + ], + [ + 0.3420121371746063, + 0.03535182401537895, + 0.09501830488443375 + ], + [ + 0.3438061475753784, + 0.045919205993413925, + 0.08320657908916473 + ], + [ + 0.34646809101104736, + 0.05433425307273865, + 0.08355194330215454 + ], + [ + 0.3419574201107025, + 0.056088853627443314, + 0.07655216753482819 + ], + [ + 0.3455008268356323, + 0.05041399970650673, + 0.08359883725643158 + ], + [ + 0.3479412794113159, + 0.04217791184782982, + 0.08370521664619446 + ], + [ + 0.34741726517677307, + 0.03582802414894104, + 0.08280973881483078 + ], + [ + 0.3488825857639313, + 0.022955140098929405, + 0.08875100314617157 + ], + [ + 0.3494950532913208, + 0.015115467831492424, + 0.0896223783493042 + ], + [ + 0.34886711835861206, + 0.021702434867620468, + 0.08902078866958618 + ], + [ + 0.34888848662376404, + 0.021013695746660233, + 0.0889967530965805 + ], + [ + 0.34898146986961365, + 0.019407914951443672, + 0.0889967530965805 + ], + [ + 0.3473626673221588, + 0.019208543002605438, + 0.08917076140642166 + ], + [ + 0.33460500836372375, + 0.036577656865119934, + 0.10324697941541672 + ], + [ + 0.3274541199207306, + 0.06537032127380371, + 0.12442240864038467 + ], + [ + 0.31758585572242737, + 0.07908228784799576, + 0.11207376420497894 + ], + [ + 0.31249353289604187, + 0.08820228278636932, + 0.10379384458065033 + ], + [ + 0.30671727657318115, + 0.10306969285011292, + 0.0947432592511177 + ], + [ + 0.29759547114372253, + 0.11307656019926071, + 0.0838593915104866 + ], + [ + 0.28761783242225647, + 0.11751633137464523, + 0.07601325958967209 + ], + [ + 0.2794007658958435, + 0.12125040590763092, + 0.07560800015926361 + ], + [ + 0.2728286385536194, + 0.12510453164577484, + 0.07033832371234894 + ], + [ + 0.26967787742614746, + 0.12850672006607056, + 0.06723009049892426 + ], + [ + 0.26894694566726685, + 0.12988772988319397, + 0.06341855227947235 + ], + [ + 0.2699218690395355, + 0.12835155427455902, + 0.055872492492198944 + ], + [ + 0.2711969017982483, + 0.12827575206756592, + 0.04917421191930771 + ], + [ + 0.2715720534324646, + 0.12733867764472961, + 0.04369990527629852 + ], + [ + 0.2690987288951874, + 0.12776099145412445, + 0.03496384993195534 + ], + [ + 0.2671385407447815, + 0.1268421709537506, + 0.034941401332616806 + ], + [ + 0.26526498794555664, + 0.1250975877046585, + 0.03384336084127426 + ], + [ + 0.26507696509361267, + 0.12234647572040558, + 0.03390255942940712 + ], + [ + 0.26098209619522095, + 0.11637333780527115, + 0.033484648913145065 + ], + [ + 0.25913023948669434, + 0.11393573135137558, + 0.037560269236564636 + ], + [ + 0.25656720995903015, + 0.11263380944728851, + 0.04342614486813545 + ], + [ + 0.2642451226711273, + 0.12322479486465454, + 0.06308063864707947 + ], + [ + 0.27008256316185, + 0.1515144556760788, + 0.08086356520652771 + ], + [ + 0.26657620072364807, + 0.17685635387897491, + 0.07210611552000046 + ], + [ + 0.2590678334236145, + 0.1908217966556549, + 0.0647030845284462 + ], + [ + 0.2523551881313324, + 0.20165854692459106, + 0.055109307169914246 + ], + [ + 0.24918057024478912, + 0.20751740038394928, + 0.04048675298690796 + ], + [ + 0.24806593358516693, + 0.209530770778656, + 0.030176112428307533 + ], + [ + 0.2458352893590927, + 0.20811563730239868, + 0.026129085570573807 + ], + [ + 0.2432216852903366, + 0.20578625798225403, + 0.023589376360177994 + ], + [ + 0.24085593223571777, + 0.2064346820116043, + 0.035300303250551224 + ], + [ + 0.23814739286899567, + 0.20234613120555878, + 0.04241567105054855 + ], + [ + 0.23549386858940125, + 0.19775186479091644, + 0.04913662001490593 + ], + [ + 0.23444044589996338, + 0.1956389993429184, + 0.05119866505265236 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9818274079764303, + -0.025821941901264644, + 0.18801108547830928, + -0.03297034009886132, + -0.9988435487484255, + 0.03499316786770298, + 0.18689006827557694, + -0.04055604073500687, + -0.9815433306481436 + ], + [ + 0.9778845702276149, + -0.034935038243533646, + 0.2062069601484778, + -0.03648159922600671, + -0.9993274702169112, + 0.0037013764712334205, + 0.20593897209772147, + -0.011142278617572603, + -0.9785013997938595 + ], + [ + 0.9700857198832193, + -0.02744135926932578, + 0.24120669120094448, + -0.024184448376704405, + -0.9995721102803437, + -0.01645323088073459, + 0.2415549803572067, + 0.010127593551877307, + -0.9703342843131316 + ], + [ + 0.9672941816690366, + -0.028180342723530247, + 0.2520869579990461, + -0.024275651188717204, + -0.999532503826592, + -0.01858673057606659, + 0.252492888748559, + 0.011859261280869546, + -0.9675260715108815 + ], + [ + 0.9615271870948868, + -0.028630571182981866, + 0.2732137603985764, + -0.02228711863721694, + -0.999405777907127, + -0.02629401887694075, + 0.27380422352521355, + 0.01919326651684146, + -0.9615939193340234 + ], + [ + 0.9558056531859482, + -0.03091581063012574, + 0.29236922887141376, + -0.027512598283054256, + -0.9994974376599303, + -0.015745762825258636, + 0.29270908812932034, + 0.007006051977841794, + -0.9561758755386928 + ], + [ + 0.9477904866466095, + -0.051061713141298024, + 0.3147791207708332, + -0.052636332011005704, + -0.9986076064055539, + -0.00350213954564542, + 0.3145196495842671, + -0.013249523766754433, + -0.949158490530082 + ], + [ + 0.9362732393048415, + -0.05191405798574431, + 0.3474152442612035, + -0.05676531535165167, + -0.9983803430568332, + 0.0037933587686243726, + 0.34665562210159884, + -0.02327275620060368, + -0.9377037157248449 + ], + [ + 0.9268316622880983, + -0.05822476355638401, + 0.3709352324720353, + -0.06238447252767536, + -0.9980518825789165, + -0.0007856641290923047, + 0.3702583521917141, + -0.022412420428931813, + -0.9286584065428971 + ], + [ + 0.9212172183329953, + -0.051309280419151504, + 0.38565035250818513, + -0.05154214353197077, + -0.9986232995756474, + -0.009742329535413527, + 0.38561929942230366, + -0.010902444107434971, + -0.9225935684934813 + ], + [ + 0.9156765531492055, + -0.05027722062030705, + 0.3987588884269382, + -0.0461905788114087, + -0.9987352727712625, + -0.019856619842736442, + 0.3992529028596503, + -0.00023666264784319262, + -0.9168408060012021 + ], + [ + 0.9146954013287883, + -0.054039343754884166, + 0.4005147589222005, + -0.04968501807930594, + -0.9985387030205871, + -0.021256941182186545, + 0.4010781990664987, + -0.00045595669241582475, + -0.9160437054731989 + ], + [ + 0.9144311376808381, + -0.058119519103289774, + 0.40054689605454546, + -0.05440838473318389, + -0.9983053706405078, + -0.020642543957673634, + 0.40106785225252645, + -0.002916924668376118, + -0.9160437049835696 + ], + [ + 0.9160559989544337, + -0.05303605496060003, + 0.39752809165367337, + -0.049062554038151046, + -0.9985920681393797, + -0.020167975614085044, + 0.3980380290510552, + -0.0010287484303920808, + -0.917368338839868 + ], + [ + 0.9253940936173838, + -0.03716442544782062, + 0.3771797674573678, + -0.040599510595667625, + -0.9991748288888807, + 0.0011580389752927408, + 0.37682549175640034, + -0.016384956393271484, + -0.9261393426296809 + ], + [ + 0.940379521633009, + -0.02950174291443948, + 0.33884510098020226, + -0.029142949633720376, + -0.9995563468472018, + -0.006148004889618636, + 0.3388761481425324, + -0.004093487814401957, + -0.9408220871012721 + ], + [ + 0.9597978582667245, + -0.014113478995778743, + 0.280337084555798, + -0.012814057884858121, + -0.9998969794617, + -0.006467641292822856, + 0.28039948499798006, + 0.002615372632118444, + -0.9598798303115151 + ], + [ + 0.972696511508024, + -0.017090935089043774, + 0.2314506349913568, + -0.021873305765224588, + -0.9995966746670817, + 0.01811205370501471, + 0.2310477331527431, + -0.022680121963835127, + -0.9726780336127079 + ], + [ + 0.9806864616231357, + -0.040745116506270114, + 0.19129532004203387, + -0.04951237294515786, + -0.9979202824366947, + 0.04127511146934425, + 0.18921572057953667, + -0.049949428248556235, + -0.9806642981689548 + ], + [ + 0.9779266953969912, + -0.07637241643585196, + 0.19449070013157352, + -0.08507894354058843, + -0.9956943734412368, + 0.036800653030628204, + 0.19084274100928808, + -0.052535404302357154, + -0.9802137927507703 + ], + [ + 0.9715543330340745, + -0.11937512560339311, + 0.20452813339462267, + -0.12842085673990572, + -0.9912196413107225, + 0.03149136761131319, + 0.19897301705734638, + -0.05686125277389141, + -0.9783539934073353 + ], + [ + 0.9684374295520123, + -0.12603056677600327, + 0.21504706759407466, + -0.1343531309823145, + -0.9906312753762474, + 0.024472687667651136, + 0.20994804413935408, + -0.052592513578918657, + -0.9762970072050364 + ], + [ + 0.9703276453662766, + -0.13346362672839182, + 0.20162271940047105, + -0.1370866383336983, + -0.990550784056774, + 0.004049419078735024, + 0.19917709262940453, + -0.03156904409407936, + -0.9794548898375477 + ], + [ + 0.96184810816734, + -0.15469751072188245, + 0.2256477276450217, + -0.1531978492494754, + -0.9878979126187588, + -0.02425145828262538, + 0.2266685593553809, + -0.011242527293806332, + -0.9739070642416575 + ], + [ + 0.9622162369305068, + -0.15530342595035207, + 0.22365321208374847, + -0.1534807385744385, + -0.9878194459654392, + -0.025620403181397838, + 0.22490792843725968, + -0.009674092237312231, + -0.9743319945816438 + ], + [ + 0.9565891608077837, + -0.1648112865260927, + 0.2403630946270129, + -0.15916031739865097, + -0.9863212610757459, + -0.042876139232805546, + 0.24414170227681478, + 0.0027585836156297956, + -0.9697356440936956 + ], + [ + 0.9492692487013572, + -0.19242083551250466, + 0.2487209591703742, + -0.1838695819112811, + -0.9812734659847316, + -0.05739653127221982, + 0.2551075661710801, + 0.008752543343614527, + -0.9668730644026063 + ], + [ + 0.9258947669632197, + -0.25708856484031706, + 0.2768110372410596, + -0.23901415712467078, + -0.9660804893963493, + -0.09777893792475695, + 0.2925595891508401, + 0.02437125019477624, + -0.9559366762290457 + ], + [ + 0.9043334733042279, + -0.27665181537560757, + 0.32503037105921706, + -0.25461750946447503, + -0.9608341205069958, + -0.10939706003205048, + 0.34256516596936637, + 0.01617299968864329, + -0.9393548536870674 + ], + [ + 0.8986026202054005, + -0.3043936182162247, + 0.3160029369313274, + -0.2759631677691732, + -0.9520193636585651, + -0.13230064721665005, + 0.34111238763022433, + 0.0316805367438207, + -0.9394885218015341 + ], + [ + 0.8814489019483013, + -0.3236497006856947, + 0.3439457871528511, + -0.29286469665223697, + -0.945914577155459, + -0.13955601807017293, + 0.3705105972963895, + 0.02228192026889657, + -0.9285609367834743 + ], + [ + 0.9050129966822085, + -0.3148510796818186, + 0.2860424329701483, + -0.29186516890580205, + -0.9487866251820269, + -0.1209076633439228, + 0.30946114298224314, + 0.02593718371166829, + -0.9505582904194937 + ], + [ + 0.9235212103319739, + -0.28081334210502085, + 0.26125168126305826, + -0.26778944948360484, + -0.959724795733569, + -0.08495367678580572, + 0.27458584233757183, + 0.008496078505278046, + -0.9615250552314267 + ], + [ + 0.9193006123751319, + -0.2873064548890354, + 0.26896353854342764, + -0.27227507369720405, + -0.9577663777884534, + -0.09246539796684629, + 0.2841701397576622, + 0.011771429695659544, + -0.9587016037918319 + ], + [ + 0.9291237510742765, + -0.26807785424149744, + 0.25468278162243424, + -0.25531801303603663, + -0.963326499993867, + -0.08255159979610668, + 0.26747292836658504, + 0.011675550301410376, + -0.9634946362674589 + ], + [ + 0.9356910100294591, + -0.27224786940326123, + 0.22441798358294582, + -0.270852364244139, + -0.9618864148910709, + -0.037596830070668455, + 0.2261002665487389, + -0.025605125529613536, + -0.9737674501713444 + ], + [ + 0.9308997589234772, + -0.2878559775459242, + 0.22486568219115227, + -0.2860009884931246, + -0.9573296800351796, + -0.04151286914555633, + 0.22722031911157836, + -0.02566748750503011, + -0.9735050624768273 + ], + [ + 0.9365195870787135, + -0.2709888591703646, + 0.22247719259164644, + -0.26976090721360496, + -0.9622355994031893, + -0.036492522254268155, + 0.22396454174089492, + -0.02583968743483047, + -0.9742546867200904 + ], + [ + 0.9353833703377928, + -0.27519867604189535, + 0.2220892595338628, + -0.27447053656688597, + -0.9609667576580162, + -0.03476802026180546, + 0.22298850878957246, + -0.028435530257541464, + -0.9744062528364518 + ], + [ + 0.9341103771784345, + -0.2796180439317269, + 0.22192690858784458, + -0.2787721797370846, + -0.9596901427683662, + -0.03578968675285207, + 0.2229885087895725, + -0.028435530257541485, + -0.9744062528364517 + ], + [ + 0.935493385141563, + -0.2819260620633509, + 0.21300192930072417, + -0.2806298979449756, + -0.9591047777309218, + -0.03694435969280629, + 0.21470674590187347, + -0.025213505570834273, + -0.9763530572498136 + ], + [ + 0.9418870071232217, + -0.28801596951778935, + 0.17290363534404826, + -0.2884162071515792, + -0.9572201183688189, + -0.023361002595805088, + 0.1722351801019674, + -0.027864785890289467, + -0.9846616659759487 + ], + [ + 0.9258238398294536, + -0.29854586690124335, + 0.23177701128375922, + -0.3077015157303346, + -0.9514763895646268, + 0.003529492643095683, + 0.21947663843949639, + -0.07458582611494022, + -0.972762540254327 + ], + [ + 0.9253467449875104, + -0.295414030136963, + 0.23762144755736425, + -0.30032914725168625, + -0.9536996018252976, + -0.016108159092337485, + 0.23137805611616385, + -0.05645901412977902, + -0.9712242660021416 + ], + [ + 0.9124064725308718, + -0.29393645106118804, + 0.2848083419096523, + -0.3006658316241133, + -0.9535015294547459, + -0.020854040885181335, + 0.27769495238039876, + -0.06660477509168752, + -0.9583576145455484 + ], + [ + 0.9213458998501116, + -0.240904268920796, + 0.3051014028894721, + -0.25517809353259097, + -0.9668675522318322, + 0.007160797601980795, + 0.2932675798830471, + -0.08445276583369599, + -0.952292947013984 + ], + [ + 0.9367520511656771, + -0.17873720059556097, + 0.3009129571157727, + -0.1989323668100736, + -0.9792916426031415, + 0.03760042769681092, + 0.28796094886674994, + -0.09508360453255323, + -0.9529100692493798 + ], + [ + 0.9418005029180793, + -0.14276962734100512, + 0.3043495461014588, + -0.16624074018952828, + -0.9846859295266334, + 0.05251320303988525, + 0.29219142527543696, + -0.1000522548530566, + -0.9511118321702912 + ], + [ + 0.9418033318085265, + -0.11938528193917916, + 0.3142509167061585, + -0.15069028312055552, + -0.9855623719407332, + 0.07719617599079975, + 0.3004977916181833, + -0.12005817536035773, + -0.946196127534739 + ], + [ + 0.9492761625999119, + -0.0854673649763517, + 0.3026055132405635, + -0.11652812114258228, + -0.9894490639355827, + 0.08609150283261927, + 0.29205472792366405, + -0.11698666334671792, + -0.9492197619605464 + ], + [ + 0.9487561995956932, + -0.06950405503632169, + 0.3082707577151054, + -0.10203819480468652, + -0.9906382624193518, + 0.09068649200276972, + 0.29908172884637757, + -0.11749476313553527, + -0.9469662613345771 + ], + [ + 0.9410730821571002, + -0.04617316114043786, + 0.33503655506471997, + -0.08131671291872496, + -0.9924673381365122, + 0.0916306440680171, + 0.3282819614895549, + -0.11347520399860547, + -0.9377389465293874 + ], + [ + 0.9371732188930826, + -0.036995977654508634, + 0.3468971827890299, + -0.0706958799775283, + -0.9938700445574162, + 0.08499662984873327, + 0.341626185096783, + -0.10418076678939717, + -0.9340438520151995 + ], + [ + 0.9362432943035576, + -0.030870368345054317, + 0.3499935916982805, + -0.062408346360884076, + -0.9949040073195902, + 0.07919100027099539, + 0.3457653715688168, + -0.09598456426770678, + -0.9333987739686701 + ], + [ + 0.9356654224246214, + -0.032649019868426346, + 0.3513748123878339, + -0.05904433660041915, + -0.9961586340292611, + 0.06466639130469916, + 0.3479137588460261, + -0.08125279903232362, + -0.9339989288297078 + ], + [ + 0.9415288891540622, + -0.03217362148002734, + 0.3353926191334227, + -0.047328506696116185, + -0.99818986342099, + 0.03710807213398066, + 0.3335916116185072, + -0.05081195375543978, + -0.9413473227312658 + ], + [ + 0.943592092257054, + -0.03174360286149768, + 0.32958505291855655, + -0.041027293022113186, + -0.9989320520247279, + 0.021248921500744436, + 0.32855855590325733, + -0.03357229683889163, + -0.9438867390888211 + ], + [ + 0.9463095075858893, + -0.026259146288996334, + 0.3221936887785434, + -0.029268793651087876, + -0.9995614499897078, + 0.004499490269250377, + 0.32193423795980725, + -0.013688131013623837, + -0.9466630770757842 + ], + [ + 0.9427099009868358, + -0.028623416295250496, + 0.33238342711540136, + -0.021321572611892367, + -0.9994449801243853, + -0.025595355936637053, + 0.3329315742352268, + 0.017042058084519265, + -0.9427969745037887 + ], + [ + 0.9512071413921998, + -0.026928550005316288, + 0.3073757104247032, + -0.0052487058571830565, + -0.9974523843253068, + -0.0711420557095814, + 0.30850838765146177, + 0.0660575067526136, + -0.9489251712070472 + ], + [ + 0.9610775075961949, + -0.027879788919736213, + 0.27486858998888253, + 0.0011038395254179528, + -0.9944999507896818, + -0.10473122465445608, + 0.2762766836542446, + 0.10095823517232747, + -0.9557607591965162 + ], + [ + 0.9655119946621468, + -0.022239146231829585, + 0.25940703255386516, + 0.006571497630818881, + -0.9939462420280738, + -0.10967079546149888, + 0.26027563002019777, + 0.10759316118206158, + -0.9595208742306965 + ], + [ + 0.9650767936164324, + -0.09668742950101682, + 0.2434714016050172, + -0.0679058169595413, + -0.9899601164658187, + -0.12396680132212623, + 0.2530130084522986, + 0.10310435870256965, + -0.9619531738969671 + ], + [ + 0.9309428408371563, + -0.21489273331796815, + 0.29523980128224236, + -0.18039625725160852, + -0.9736046933120935, + -0.13982521779091162, + 0.31749427941879016, + 0.07690913032792016, + -0.945136163845478 + ], + [ + 0.9125096364654478, + -0.25644500612376697, + 0.31868812684484715, + -0.20516194660544324, + -0.9609295858928796, + -0.1858034085284881, + 0.35388520599590134, + 0.1041647243068405, + -0.9294702637456017 + ], + [ + 0.9049178541589697, + -0.2668402393642556, + 0.33154179808940026, + -0.19538048272428327, + -0.9525537345319552, + -0.23338348227681355, + 0.37808748219790606, + 0.14641608342409818, + -0.9141182562010213 + ], + [ + 0.8883222325116144, + -0.27913333236455373, + 0.3646480412516161, + -0.19021035612805148, + -0.9463922826503082, + -0.2610778959651283, + 0.41797563523155334, + 0.1625614656153115, + -0.8937953559119564 + ], + [ + 0.8658636514081981, + -0.290645767851341, + 0.4071918157332817, + -0.18654899290617719, + -0.9428011322988529, + -0.27627069729106646, + 0.4641978138851513, + 0.1632515315888504, + -0.8705569062491786 + ], + [ + 0.8531871647527879, + -0.2927315784981827, + 0.43171736686292966, + -0.18080430192245237, + -0.9423307209428512, + -0.28164271120279494, + 0.48926625298239584, + 0.1622375891009496, + -0.8569116047617034 + ], + [ + 0.8516072880089096, + -0.2932039064529033, + 0.4345071878011537, + -0.18634720929628218, + -0.9441219513303163, + -0.2718611016745932, + 0.4899385110374541, + 0.15054969364629422, + -0.8586588642443571 + ], + [ + 0.8578725798702072, + -0.2909683121056438, + 0.4235470198894421, + -0.185064778311466, + -0.9438762236149999, + -0.2735849087994702, + 0.4793805007875922, + 0.15631735618503517, + -0.863573517206241 + ], + [ + 0.8621160233677634, + -0.2754498522265209, + 0.4253038221800296, + -0.18282912762742126, + -0.9518976274573148, + -0.24589513401474944, + 0.47257747760928104, + 0.13423220831649635, + -0.8710064534243857 + ], + [ + 0.8660292465923952, + -0.2618137722261933, + 0.42596583515500336, + -0.17525769889660717, + -0.9568464982177954, + -0.2317962851855239, + 0.4682713775409241, + 0.12608857014429783, + -0.874541931215932 + ], + [ + 0.8707565159453238, + -0.26773047871600314, + 0.41243603225865383, + -0.18618919498287617, + -0.9558396521682851, + -0.2273854503138683, + 0.45510072908136506, + 0.12120622966379219, + -0.8821521276289586 + ], + [ + 0.8776534570864205, + -0.2674562239392051, + 0.39773304808682464, + -0.1877731638803068, + -0.9553624501348312, + -0.22808732494102232, + 0.4409825939769437, + 0.1254980364330607, + -0.8886982584999321 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006220.json b/json/chunk-0006/episode_0006220.json new file mode 100644 index 0000000000000000000000000000000000000000..a73708aee393af700114404b815ae3b391204242 --- /dev/null +++ b/json/chunk-0006/episode_0006220.json @@ -0,0 +1,2242 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 36, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nFold the cloth from bottom to top." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006220.mp4", + "start": 0, + "end": 36, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.4131124019622803, + -0.0458434633910656, + 0.09530927985906601, + 0.22866155207157135, + -0.10198567807674408, + -1.015865683555603, + 0.0, + 1.0001531839370728 + ], + [ + 0.4085843563079834, + -0.045859139412641525, + 0.07806652039289474, + 0.19066010415554047, + -0.07505683600902557, + -1.0156151056289673, + 0.0, + 1.0001531839370728 + ], + [ + 0.39266520738601685, + -0.0441678985953331, + 0.06847669929265976, + 0.17282997071743011, + -0.06761325895786285, + -1.0610606670379639, + 0.0, + 1.0001531839370728 + ], + [ + 0.3766036033630371, + -0.03734935447573662, + 0.07758315652608871, + 0.21645236015319824, + -0.08187094330787659, + -1.101186752319336, + 0.0, + 1.0001531839370728 + ], + [ + 0.35701870918273926, + -0.03251985087990761, + 0.0796930268406868, + 0.23069226741790771, + -0.05655784532427788, + -1.1598137617111206, + 0.0, + 1.0001531839370728 + ], + [ + 0.33848854899406433, + -0.022430071607232094, + 0.07338867336511612, + 0.18016968667507172, + -0.05635985732078552, + -1.227177381515503, + 0.0, + 1.0001531839370728 + ], + [ + 0.32297995686531067, + -0.015186752192676067, + 0.06828834861516953, + 0.15235455334186554, + -0.06192576512694359, + -1.2809118032455444, + 0.0, + 1.0001531839370728 + ], + [ + 0.30417925119400024, + -0.008078387007117271, + 0.05468376725912094, + 0.12152478843927383, + -0.022458219900727272, + -1.3104383945465088, + 0.0, + 1.0001531839370728 + ], + [ + 0.28949156403541565, + -0.011302325874567032, + 0.042716871947050095, + 0.1003662720322609, + 0.03681075572967529, + -1.3605291843414307, + 0.0, + 0.9994885921478271 + ], + [ + 0.2869500517845154, + -0.012816433794796467, + 0.03552252799272537, + 0.07189375162124634, + 0.01247593853622675, + -1.3751583099365234, + 0.0, + 0.9994885921478271 + ], + [ + 0.28388771414756775, + -0.007740410044789314, + 0.021325089037418365, + 0.049913354218006134, + 0.07207731157541275, + -1.3606255054473877, + 0.0, + 0.9994885921478271 + ], + [ + 0.28011083602905273, + -0.006118286866694689, + 0.002559148008003831, + -0.014192609116435051, + 0.06730154156684875, + -1.378889799118042, + 0.0, + 0.9981546401977539 + ], + [ + 0.2907109260559082, + -0.0058308434672653675, + 0.0013196306535974145, + -0.01695738174021244, + 0.015158051624894142, + -1.3745930194854736, + 0.0, + 0.9643021821975708 + ], + [ + 0.29151952266693115, + -0.005641554482281208, + -0.0012192237190902233, + 0.0066100964322686195, + 0.008314467966556549, + -1.376697063446045, + 0.0, + 0.6931989789009094 + ], + [ + 0.29234784841537476, + -0.0026333462446928024, + -0.001521318219602108, + 0.01124968845397234, + 0.026821712031960487, + -1.371927261352539, + 0.0, + 0.3901194632053375 + ], + [ + 0.291552871465683, + -0.0033742813393473625, + -0.0025720708072185516, + 0.02181704342365265, + 0.01970210112631321, + -1.3831541538238525, + 0.0, + 0.18234474956989288 + ], + [ + 0.28506335616111755, + -0.005377786234021187, + 0.0011475826613605022, + 0.030671194195747375, + 0.004056170117110014, + -1.3902825117111206, + 0.0, + 0.08712529391050339 + ], + [ + 0.2841217517852783, + -0.002292259130626917, + 0.01933850347995758, + 0.08459986746311188, + -0.015074535273015499, + -1.3803606033325195, + 0.0, + 0.07238461822271347 + ], + [ + 0.2840740382671356, + -0.0017430783482268453, + 0.032667070627212524, + 0.09749719500541687, + -0.020916808396577835, + -1.366263508796692, + 0.0, + 0.07238461822271347 + ], + [ + 0.29780516028404236, + -0.006440029479563236, + 0.05204526707530022, + 0.122322216629982, + -0.05834442749619484, + -1.3511277437210083, + 0.0, + 0.07206849008798599 + ], + [ + 0.3237121105194092, + -0.013858101330697536, + 0.08548348397016525, + 0.16622234880924225, + -0.11788710206747055, + -1.3450465202331543, + 0.0, + 0.07206849008798599 + ], + [ + 0.3540275990962982, + -0.01536050159484148, + 0.09091948717832565, + 0.16284312307834625, + -0.13035748898983002, + -1.3216116428375244, + 0.0, + 0.07206849008798599 + ], + [ + 0.3879687488079071, + -0.015134625136852264, + 0.08667005598545074, + 0.16126026213169098, + -0.13494783639907837, + -1.300283670425415, + 0.0, + 0.07018911838531494 + ], + [ + 0.41269925236701965, + -0.020427294075489044, + 0.06362367421388626, + 0.09795767068862915, + -0.121430903673172, + -1.277024507522583, + 0.0, + 0.06987876445055008 + ], + [ + 0.4314977824687958, + -0.03372473642230034, + 0.042820073664188385, + 0.05744638293981552, + -0.1074630469083786, + -1.2927166223526, + 0.0, + 0.06987876445055008 + ], + [ + 0.4457756280899048, + -0.040057845413684845, + 0.024864427745342255, + 0.06055613234639168, + -0.08666358888149261, + -1.31203031539917, + 0.0, + 0.06987876445055008 + ], + [ + 0.4524882435798645, + -0.04162764176726341, + 0.018412604928016663, + 0.0688038244843483, + -0.06963026523590088, + -1.3141741752624512, + 0.0, + 0.08747956901788712 + ], + [ + 0.45176517963409424, + -0.04061219096183777, + 0.018229015171527863, + 0.07094015181064606, + -0.0471930168569088, + -1.298927903175354, + 0.0, + 0.2432183027267456 + ], + [ + 0.44816312193870544, + -0.038398779928684235, + 0.014423038810491562, + 0.06498098373413086, + -0.019119946286082268, + -1.2900069952011108, + 0.0, + 0.5091317892074585 + ], + [ + 0.4407995343208313, + -0.03576503321528435, + 0.010034031234681606, + 0.049507077783346176, + -8.838342182571068e-05, + -1.28276789188385, + 0.0, + 0.8074146509170532 + ], + [ + 0.439249187707901, + -0.03565187752246857, + 0.020806821063160896, + 0.06818452477455139, + -0.0028875439893454313, + -1.2861497402191162, + 0.0, + 0.9981546401977539 + ], + [ + 0.43631988763809204, + -0.04259709268808365, + 0.030335772782564163, + 0.0842830017209053, + -0.012085555121302605, + -1.3037490844726562, + 0.0, + 1.002137303352356 + ], + [ + 0.4359094202518463, + -0.04481467977166176, + 0.04498830437660217, + 0.11522841453552246, + -0.02555420808494091, + -1.3101038932800293, + 0.0, + 1.0008161067962646 + ], + [ + 0.4337664544582367, + -0.0447995588183403, + 0.06519897282123566, + 0.14880836009979248, + -0.041110556572675705, + -1.3046526908874512, + 0.0, + 1.0001531839370728 + ], + [ + 0.4221685826778412, + -0.04222594201564789, + 0.09344381839036942, + 0.18021605908870697, + -0.06641507148742676, + -1.280941128730774, + 0.0, + 1.0001531839370728 + ], + [ + 0.40596383810043335, + -0.030512074008584023, + 0.10543371737003326, + 0.1815335750579834, + -0.06728232651948929, + -1.2549935579299927, + 0.0, + 1.0001531839370728 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9981546401977539 + ], + [ + 0.9643021821975708 + ], + [ + 0.6931989789009094 + ], + [ + 0.3901194632053375 + ], + [ + 0.18234474956989288 + ], + [ + 0.08712529391050339 + ], + [ + 0.07238461822271347 + ], + [ + 0.07238461822271347 + ], + [ + 0.07206849008798599 + ], + [ + 0.07206849008798599 + ], + [ + 0.07206849008798599 + ], + [ + 0.07018911838531494 + ], + [ + 0.06987876445055008 + ], + [ + 0.06987876445055008 + ], + [ + 0.06987876445055008 + ], + [ + 0.08747956901788712 + ], + [ + 0.2432183027267456 + ], + [ + 0.5091317892074585 + ], + [ + 0.8074146509170532 + ], + [ + 0.9981546401977539 + ], + [ + 1.002137303352356 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.4131124019622803, + -0.0458434633910656, + 0.09530927985906601 + ], + [ + 0.4085843563079834, + -0.045859139412641525, + 0.07806652039289474 + ], + [ + 0.39266520738601685, + -0.0441678985953331, + 0.06847669929265976 + ], + [ + 0.3766036033630371, + -0.03734935447573662, + 0.07758315652608871 + ], + [ + 0.35701870918273926, + -0.03251985087990761, + 0.0796930268406868 + ], + [ + 0.33848854899406433, + -0.022430071607232094, + 0.07338867336511612 + ], + [ + 0.32297995686531067, + -0.015186752192676067, + 0.06828834861516953 + ], + [ + 0.30417925119400024, + -0.008078387007117271, + 0.05468376725912094 + ], + [ + 0.28949156403541565, + -0.011302325874567032, + 0.042716871947050095 + ], + [ + 0.2869500517845154, + -0.012816433794796467, + 0.03552252799272537 + ], + [ + 0.28388771414756775, + -0.007740410044789314, + 0.021325089037418365 + ], + [ + 0.28011083602905273, + -0.006118286866694689, + 0.002559148008003831 + ], + [ + 0.2907109260559082, + -0.0058308434672653675, + 0.0013196306535974145 + ], + [ + 0.29151952266693115, + -0.005641554482281208, + -0.0012192237190902233 + ], + [ + 0.29234784841537476, + -0.0026333462446928024, + -0.001521318219602108 + ], + [ + 0.291552871465683, + -0.0033742813393473625, + -0.0025720708072185516 + ], + [ + 0.28506335616111755, + -0.005377786234021187, + 0.0011475826613605022 + ], + [ + 0.2841217517852783, + -0.002292259130626917, + 0.01933850347995758 + ], + [ + 0.2840740382671356, + -0.0017430783482268453, + 0.032667070627212524 + ], + [ + 0.29780516028404236, + -0.006440029479563236, + 0.05204526707530022 + ], + [ + 0.3237121105194092, + -0.013858101330697536, + 0.08548348397016525 + ], + [ + 0.3540275990962982, + -0.01536050159484148, + 0.09091948717832565 + ], + [ + 0.3879687488079071, + -0.015134625136852264, + 0.08667005598545074 + ], + [ + 0.41269925236701965, + -0.020427294075489044, + 0.06362367421388626 + ], + [ + 0.4314977824687958, + -0.03372473642230034, + 0.042820073664188385 + ], + [ + 0.4457756280899048, + -0.040057845413684845, + 0.024864427745342255 + ], + [ + 0.4524882435798645, + -0.04162764176726341, + 0.018412604928016663 + ], + [ + 0.45176517963409424, + -0.04061219096183777, + 0.018229015171527863 + ], + [ + 0.44816312193870544, + -0.038398779928684235, + 0.014423038810491562 + ], + [ + 0.4407995343208313, + -0.03576503321528435, + 0.010034031234681606 + ], + [ + 0.439249187707901, + -0.03565187752246857, + 0.020806821063160896 + ], + [ + 0.43631988763809204, + -0.04259709268808365, + 0.030335772782564163 + ], + [ + 0.4359094202518463, + -0.04481467977166176, + 0.04498830437660217 + ], + [ + 0.4337664544582367, + -0.0447995588183403, + 0.06519897282123566 + ], + [ + 0.4221685826778412, + -0.04222594201564789, + 0.09344381839036942 + ], + [ + 0.40596383810043335, + -0.030512074008584023, + 0.10543371737003326 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.5241466439913903, + -0.8156545329953204, + 0.24490401874356416, + -0.8455206844891276, + -0.5327842867549838, + 0.03515218183868407, + 0.1018089764883206, + -0.22549631170191792, + -0.9689098749188345 + ], + [ + 0.525613299482093, + -0.8269156289783415, + 0.19985295083861387, + -0.847412356361696, + -0.5296220789545117, + 0.037319589620181726, + 0.07498638338435436, + -0.18897353263156938, + -0.9791149300626969 + ], + [ + 0.48683161651565127, + -0.8542002061918981, + 0.18258418579514551, + -0.8708790883319688, + -0.4908187340155579, + 0.025818285098809582, + 0.06756175446831042, + -0.17157790673942658, + -0.9828511745183397 + ], + [ + 0.4510223588107866, + -0.8629884799841802, + 0.22766140486992703, + -0.888758090364769, + -0.45764054745729194, + 0.025965094534004335, + 0.08177951249502363, + -0.2140467536254285, + -0.9733941126791819 + ], + [ + 0.3988714619366905, + -0.8872793278747905, + 0.23159652669793512, + -0.9152629000907863, + -0.4007754262476592, + 0.04090087325975318, + 0.05652769736943654, + -0.22828589978811037, + -0.9719517309969885 + ], + [ + 0.3363617551089783, + -0.9229004873798629, + 0.18739119534818, + -0.9400466467159981, + -0.3409474897840438, + 0.008192143063155341, + 0.05633002483592171, + -0.1789119884299859, + -0.9822512044777616 + ], + [ + 0.2852936710414378, + -0.9444919839102771, + 0.16291842619215452, + -0.9564400766746742, + -0.29153085372581294, + -0.015236175912662103, + 0.06188619389042087, + -0.15147492748018507, + -0.9865218929910424 + ], + [ + 0.25736152098564946, + -0.9584706105106865, + 0.12287854289185277, + -0.9660542224254592, + -0.2581584456792415, + 0.009667277715020746, + 0.02245633206679843, + -0.12119532050269069, + -0.9923746305898573 + ], + [ + 0.20857977004806483, + -0.9738232274947068, + 0.09034822144618526, + -0.9773126724420099, + -0.20406447477319567, + 0.05672416081174478, + -0.036802443002513896, + -0.100129974170237, + -0.9942935021721275 + ], + [ + 0.19437729213334692, + -0.9785640831562765, + 0.06804265911488128, + -0.980847504628483, + -0.19301120633430152, + 0.02616957954297316, + -0.012475614894097882, + -0.07182624440894915, + -0.9973391347215452 + ], + [ + 0.2080852769099541, + -0.9775268827038327, + 0.03378921609973819, + -0.9754559800160888, + -0.20485318804733582, + 0.08075148542097835, + -0.07201491917762122, + -0.049763088109259924, + -0.9961613757206563 + ], + [ + 0.19029897460983813, + -0.9813614819234874, + -0.02675709362731189, + -0.9794200515707575, + -0.19164847014064212, + 0.0633026577158181, + -0.06725074604477478, + 0.014160003166947654, + -0.9976356205883654 + ], + [ + 0.19492450052020738, + -0.9806226791700433, + -0.0195857140363615, + -0.9807011217312328, + -0.19517095563030218, + 0.011558888936934847, + -0.01515747116274452, + 0.016954621072766296, + -0.9997413624994363 + ], + [ + 0.19287612389379438, + -0.9812109683327044, + 0.004882259241603222, + -0.9811878882493033, + -0.19282465066880117, + 0.009433029594339283, + -0.00831437216983604, + -0.006609819819885921, + -0.9999435891575936 + ], + [ + 0.1974897540366678, + -0.9802882059056733, + 0.0057297829603391755, + -0.979938041567841, + -0.1972525645701071, + 0.0285107077902279, + -0.026818496205426413, + -0.011245404961666974, + -0.9995770651273105 + ], + [ + 0.18650677174532743, + -0.9822931691416368, + 0.017758207984380936, + -0.9822561282719411, + -0.18607634642743093, + 0.02341990120464432, + -0.019700826514462068, + -0.0218110787880586, + -0.9995679838193843 + ], + [ + 0.1795335866008494, + -0.9833112246096899, + 0.029440224843343625, + -0.9837434822434373, + -0.17932825718376344, + 0.009494067568192797, + -0.0040561589947518545, + -0.030666133307369076, + -0.999521453417676 + ], + [ + 0.18926525281340834, + -0.9781689709129366, + 0.08581450006032185, + -0.9818102870087351, + -0.1898604955100207, + 0.0012460210731393556, + 0.01507396435254884, + -0.08448938742715426, + -0.9963103527570525 + ], + [ + 0.2030653080929679, + -0.9740923611399294, + 0.09954171295464703, + -0.9789417917208995, + -0.20413866696907207, + -0.0006107948634794663, + 0.02091528320111851, + -0.09732151158365558, + -0.9950332026177264 + ], + [ + 0.21753540317621783, + -0.967126835529711, + 0.13169674393563197, + -0.974309056183727, + -0.22322200044859203, + -0.02989651407946383, + 0.05831133168891907, + -0.12180978004255594, + -0.9908391222002937 + ], + [ + 0.2222836327233918, + -0.956837198180067, + 0.18722329663322307, + -0.9678620137024689, + -0.23971846203220526, + -0.07601434991313227, + 0.11761423831787626, + -0.16430957105364785, + -0.9793718679873709 + ], + [ + 0.24452150851113608, + -0.9510955381630487, + 0.18874985870664784, + -0.9608913538900526, + -0.2637747025594399, + -0.08432503963249047, + 0.12998860678836627, + -0.16074882138298904, + -0.9783980675211903 + ], + [ + 0.26479596447814174, + -0.9453590096465938, + 0.19020893795009214, + -0.9548730053932655, + -0.28457467762926997, + -0.08505760649953692, + 0.13453862184266518, + -0.1591024692838185, + -0.9780520249457428 + ], + [ + 0.287432245670317, + -0.9491394229018189, + 0.12851871475594998, + -0.9501102955336507, + -0.2995156977190577, + -0.0870676354383496, + 0.12113269777346598, + -0.09708090807913126, + -0.9878776072047861 + ], + [ + 0.2729260938205683, + -0.9583076731594905, + 0.08460349209985261, + -0.9560373564501777, + -0.2799783338743942, + -0.08720496334884972, + 0.10725633027286703, + -0.057083588925029204, + -0.9925913275320493 + ], + [ + 0.254927510769248, + -0.9635941377051589, + 0.080612046452413, + -0.9630784862726987, + -0.2604826520357695, + -0.06803394202234113, + 0.08655514734365576, + -0.060292004185159634, + -0.994420977604382 + ], + [ + 0.25319972667442237, + -0.9637502320298802, + 0.0841153296037663, + -0.9649089879817215, + -0.2578407808371802, + -0.04968678546015422, + 0.06957401328145438, + -0.06858295706387736, + -0.9952164762885947 + ], + [ + 0.2682327235321484, + -0.9599501060498496, + 0.08091353361094204, + -0.9621983569620023, + -0.2710773069338707, + -0.02629478132831077, + 0.047175500910426924, + -0.07080174828606309, + -0.9963742191332972 + ], + [ + 0.27706350272269265, + -0.9584651031816517, + 0.06767910639198993, + -0.9606613803305469, + -0.27772216137607153, + -0.0003367818454561161, + 0.019118781353439345, + -0.06492339380831151, + -0.9977070838357169 + ], + [ + 0.2840624292897897, + -0.957629790842075, + 0.047473360506145396, + -0.9588057824472866, + -0.2837185836220855, + 0.013972718172340384, + 8.838342171064648e-05, + -0.049486856833313456, + -0.9987747710015153 + ], + [ + 0.280817105715181, + -0.957475549089932, + 0.06619913921405185, + -0.959756956343965, + -0.2803545657143374, + 0.016367719220869482, + 0.002887539976666638, + -0.06813141990343215, + -0.9976721764862568 + ], + [ + 0.26386522479007063, + -0.9608619290499478, + 0.0843771085597207, + -0.9644838462177552, + -0.2639290975774485, + 0.010599143218184573, + 0.012085260919459995, + -0.08417710350426091, + -0.9963775196752193 + ], + [ + 0.2576654980741952, + -0.9590471478245199, + 0.11763103056519637, + -0.9658962758406964, + -0.25887887493383516, + 0.005110032295898827, + 0.025551426951352665, + -0.11493605336292428, + -0.9930442226900595 + ], + [ + 0.2627905863070671, + -0.9525272699074714, + 0.15372998351332665, + -0.9639771687095107, + -0.2659849055997071, + -0.0002195447818005708, + 0.04109897754426764, + -0.1481344999510063, + -0.9881128700553807 + ], + [ + 0.285183342081489, + -0.939365900089532, + 0.19042627746247548, + -0.9561725688353535, + -0.2925841209926541, + -0.011338022303596165, + 0.06636625653171445, + -0.178846967801915, + -0.9816360232296019 + ], + [ + 0.3098769229335509, + -0.9311581752623003, + 0.1921477173307493, + -0.948396651209498, + -0.3170138057284328, + -0.006785200968676075, + 0.06723157448583239, + -0.1801296744563728, + -0.9813425578116937 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.004528045654296875, + -1.5676021575927734e-05, + -0.017242759466171265, + -0.038001447916030884, + 0.026928842067718506, + 0.0002505779266357422, + 1.0 + ], + [ + -0.015919148921966553, + 0.001691240817308426, + -0.009589821100234985, + -0.01783013343811035, + 0.00744357705116272, + -0.04544556140899658, + 1.0 + ], + [ + -0.016061604022979736, + 0.006818544119596481, + 0.009106457233428955, + 0.04362238943576813, + -0.014257684350013733, + -0.04012608528137207, + 1.0 + ], + [ + -0.01958489418029785, + 0.00482950359582901, + 0.0021098703145980835, + 0.014239907264709473, + 0.02531309798359871, + -0.05862700939178467, + 1.0 + ], + [ + -0.018530160188674927, + 0.010089779272675514, + -0.006304353475570679, + -0.050522580742836, + 0.00019798800349235535, + -0.06736361980438232, + 1.0 + ], + [ + -0.015508592128753662, + 0.0072433194145560265, + -0.005100324749946594, + -0.027815133333206177, + -0.005565907806158066, + -0.053734421730041504, + 1.0 + ], + [ + -0.018800705671310425, + 0.007108365185558796, + -0.013604581356048584, + -0.030829764902591705, + 0.03946754336357117, + -0.029526591300964355, + 1.0 + ], + [ + -0.014687687158584595, + -0.0032239388674497604, + -0.011966895312070847, + -0.02115851640701294, + 0.059268973767757416, + -0.050090789794921875, + 1.0 + ], + [ + -0.0025415122509002686, + -0.001514107920229435, + -0.007194343954324722, + -0.028472520411014557, + -0.024334818124771118, + -0.014629125595092773, + 1.0 + ], + [ + -0.003062337636947632, + 0.0050760237500071526, + -0.014197438955307007, + -0.021980397403240204, + 0.059601373970508575, + 0.014532804489135742, + 1.0 + ], + [ + -0.0037768781185150146, + 0.0016221231780946255, + -0.018765941262245178, + -0.06410596519708633, + -0.004775770008563995, + -0.018264293670654297, + 1.0 + ], + [ + 0.010600090026855469, + 0.0002874433994293213, + -0.0012395173544064164, + -0.0027647726237773895, + -0.05214349180459976, + 0.004296779632568359, + 0.0 + ], + [ + 0.0008085966110229492, + 0.00018928898498415947, + -0.002538854256272316, + 0.023567479103803635, + -0.006843583658337593, + -0.002104043960571289, + 0.0 + ], + [ + 0.0008283257484436035, + 0.0030082082375884056, + -0.0003020945005118847, + 0.00463959202170372, + 0.01850724406540394, + 0.004769802093505859, + 0.0 + ], + [ + -0.0007949769496917725, + -0.0007409350946545601, + -0.0010507525876164436, + 0.01056735496968031, + -0.007119610905647278, + -0.011226892471313477, + 0.0 + ], + [ + -0.00648951530456543, + -0.0020035048946738243, + 0.003719653468579054, + 0.008854150772094727, + -0.015645930543541908, + -0.007128357887268066, + 0.0 + ], + [ + -0.0009416043758392334, + 0.00308552710339427, + 0.01819092035293579, + 0.0539286732673645, + -0.019130704924464226, + 0.009921908378601074, + 0.0 + ], + [ + -4.7713518142700195e-05, + 0.0005491807824000716, + 0.013328567147254944, + 0.012897327542304993, + -0.005842273123562336, + 0.014097094535827637, + 0.0 + ], + [ + 0.013731122016906738, + -0.004696951247751713, + 0.019378196448087692, + 0.024825021624565125, + -0.037427619099617004, + 0.015135765075683594, + 0.0 + ], + [ + 0.02590695023536682, + -0.0074180718511343, + 0.033438216894865036, + 0.043900132179260254, + -0.05954267457127571, + 0.006081223487854004, + 0.0 + ], + [ + 0.030315488576889038, + -0.0015024002641439438, + 0.0054360032081604, + -0.003379225730895996, + -0.012470386922359467, + 0.023434877395629883, + 0.0 + ], + [ + 0.03394114971160889, + 0.00022587645798921585, + -0.0042494311928749084, + -0.0015828609466552734, + -0.004590347409248352, + 0.021327972412109375, + 0.0 + ], + [ + 0.02473050355911255, + -0.00529266893863678, + -0.023046381771564484, + -0.06330259144306183, + 0.013516932725906372, + 0.02325916290283203, + 0.0 + ], + [ + 0.018798530101776123, + -0.013297442346811295, + -0.020803600549697876, + -0.04051128774881363, + 0.013967856764793396, + -0.01569211483001709, + 0.0 + ], + [ + 0.014277845621109009, + -0.006333108991384506, + -0.01795564591884613, + 0.0031097494065761566, + 0.020799458026885986, + -0.019313693046569824, + 0.0 + ], + [ + 0.006712615489959717, + -0.0015697963535785675, + -0.006451822817325592, + 0.00824769213795662, + 0.017033323645591736, + -0.00214385986328125, + 1.0 + ], + [ + -0.0007230639457702637, + 0.001015450805425644, + -0.00018358975648880005, + 0.00213632732629776, + 0.02243724837899208, + 0.015246272087097168, + 1.0 + ], + [ + -0.003602057695388794, + 0.002213411033153534, + -0.0038059763610363007, + -0.005959168076515198, + 0.02807307057082653, + 0.008920907974243164, + 1.0 + ], + [ + -0.0073635876178741455, + 0.002633746713399887, + -0.004389007575809956, + -0.015473905950784683, + 0.01903156377375126, + 0.007239103317260742, + 1.0 + ], + [ + -0.0015503466129302979, + 0.00011315569281578064, + 0.01077278982847929, + 0.018677446991205215, + -0.002799160545691848, + -0.0033818483352661133, + 1.0 + ], + [ + -0.00292930006980896, + -0.006945215165615082, + 0.009528951719403267, + 0.016098476946353912, + -0.00919801089912653, + -0.01759934425354004, + 1.0 + ], + [ + -0.00041046738624572754, + -0.0022175870835781097, + 0.01465253159403801, + 0.030945412814617157, + -0.013468652963638306, + -0.006354808807373047, + 1.0 + ], + [ + -0.002142965793609619, + 1.512095332145691e-05, + 0.020210668444633484, + 0.03357994556427002, + -0.015556348487734795, + 0.005451202392578125, + 1.0 + ], + [ + -0.011597871780395508, + 0.0025736168026924133, + 0.02824484556913376, + 0.03140769898891449, + -0.025304514914751053, + 0.023711562156677246, + 1.0 + ], + [ + -0.016204744577407837, + 0.011713868007063866, + 0.011989898979663849, + 0.0013175159692764282, + -0.0008672550320625305, + 0.02594757080078125, + 1.0 + ], + [ + -0.0001437664031982422, + 0.0008245818316936493, + -0.0007430613040924072, + -0.0012485235929489136, + -0.0030128806829452515, + 0.005445599555969238, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9981546401977539 + ], + [ + 0.9643021821975708 + ], + [ + 0.6931989789009094 + ], + [ + 0.3901194632053375 + ], + [ + 0.18234474956989288 + ], + [ + 0.08712529391050339 + ], + [ + 0.07238461822271347 + ], + [ + 0.07238461822271347 + ], + [ + 0.07206849008798599 + ], + [ + 0.07206849008798599 + ], + [ + 0.07206849008798599 + ], + [ + 0.07018911838531494 + ], + [ + 0.06987876445055008 + ], + [ + 0.06987876445055008 + ], + [ + 0.06987876445055008 + ], + [ + 0.08747956901788712 + ], + [ + 0.2432183027267456 + ], + [ + 0.5091317892074585 + ], + [ + 0.8074146509170532 + ], + [ + 0.9981546401977539 + ], + [ + 1.002137303352356 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.4085843563079834, + -0.045859139412641525, + 0.07806652039289474 + ], + [ + 0.39266520738601685, + -0.0441678985953331, + 0.06847669929265976 + ], + [ + 0.3766036033630371, + -0.03734935447573662, + 0.07758315652608871 + ], + [ + 0.35701870918273926, + -0.03251985087990761, + 0.0796930268406868 + ], + [ + 0.33848854899406433, + -0.022430071607232094, + 0.07338867336511612 + ], + [ + 0.32297995686531067, + -0.015186752192676067, + 0.06828834861516953 + ], + [ + 0.30417925119400024, + -0.008078387007117271, + 0.05468376725912094 + ], + [ + 0.28949156403541565, + -0.011302325874567032, + 0.042716871947050095 + ], + [ + 0.2869500517845154, + -0.012816433794796467, + 0.03552252799272537 + ], + [ + 0.28388771414756775, + -0.007740410044789314, + 0.021325089037418365 + ], + [ + 0.28011083602905273, + -0.006118286866694689, + 0.002559148008003831 + ], + [ + 0.2907109260559082, + -0.0058308434672653675, + 0.0013196306535974145 + ], + [ + 0.29151952266693115, + -0.005641554482281208, + -0.0012192237190902233 + ], + [ + 0.29234784841537476, + -0.0026333462446928024, + -0.001521318219602108 + ], + [ + 0.291552871465683, + -0.0033742813393473625, + -0.0025720708072185516 + ], + [ + 0.28506335616111755, + -0.005377786234021187, + 0.0011475826613605022 + ], + [ + 0.2841217517852783, + -0.002292259130626917, + 0.01933850347995758 + ], + [ + 0.2840740382671356, + -0.0017430783482268453, + 0.032667070627212524 + ], + [ + 0.29780516028404236, + -0.006440029479563236, + 0.05204526707530022 + ], + [ + 0.3237121105194092, + -0.013858101330697536, + 0.08548348397016525 + ], + [ + 0.3540275990962982, + -0.01536050159484148, + 0.09091948717832565 + ], + [ + 0.3879687488079071, + -0.015134625136852264, + 0.08667005598545074 + ], + [ + 0.41269925236701965, + -0.020427294075489044, + 0.06362367421388626 + ], + [ + 0.4314977824687958, + -0.03372473642230034, + 0.042820073664188385 + ], + [ + 0.4457756280899048, + -0.040057845413684845, + 0.024864427745342255 + ], + [ + 0.4524882435798645, + -0.04162764176726341, + 0.018412604928016663 + ], + [ + 0.45176517963409424, + -0.04061219096183777, + 0.018229015171527863 + ], + [ + 0.44816312193870544, + -0.038398779928684235, + 0.014423038810491562 + ], + [ + 0.4407995343208313, + -0.03576503321528435, + 0.010034031234681606 + ], + [ + 0.439249187707901, + -0.03565187752246857, + 0.020806821063160896 + ], + [ + 0.43631988763809204, + -0.04259709268808365, + 0.030335772782564163 + ], + [ + 0.4359094202518463, + -0.04481467977166176, + 0.04498830437660217 + ], + [ + 0.4337664544582367, + -0.0447995588183403, + 0.06519897282123566 + ], + [ + 0.4221685826778412, + -0.04222594201564789, + 0.09344381839036942 + ], + [ + 0.40596383810043335, + -0.030512074008584023, + 0.10543371737003326 + ], + [ + 0.4058200716972351, + -0.029687492176890373, + 0.10469065606594086 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.525613299482093, + -0.8269156289783415, + 0.19985295083861387, + -0.847412356361696, + -0.5296220789545117, + 0.037319589620181726, + 0.07498638338435436, + -0.18897353263156938, + -0.9791149300626969 + ], + [ + 0.48683161651565127, + -0.8542002061918981, + 0.18258418579514551, + -0.8708790883319688, + -0.4908187340155579, + 0.025818285098809582, + 0.06756175446831042, + -0.17157790673942658, + -0.9828511745183397 + ], + [ + 0.4510223588107866, + -0.8629884799841802, + 0.22766140486992703, + -0.888758090364769, + -0.45764054745729194, + 0.025965094534004335, + 0.08177951249502363, + -0.2140467536254285, + -0.9733941126791819 + ], + [ + 0.3988714619366905, + -0.8872793278747905, + 0.23159652669793512, + -0.9152629000907863, + -0.4007754262476592, + 0.04090087325975318, + 0.05652769736943654, + -0.22828589978811037, + -0.9719517309969885 + ], + [ + 0.3363617551089783, + -0.9229004873798629, + 0.18739119534818, + -0.9400466467159981, + -0.3409474897840438, + 0.008192143063155341, + 0.05633002483592171, + -0.1789119884299859, + -0.9822512044777616 + ], + [ + 0.2852936710414378, + -0.9444919839102771, + 0.16291842619215452, + -0.9564400766746742, + -0.29153085372581294, + -0.015236175912662103, + 0.06188619389042087, + -0.15147492748018507, + -0.9865218929910424 + ], + [ + 0.25736152098564946, + -0.9584706105106865, + 0.12287854289185277, + -0.9660542224254592, + -0.2581584456792415, + 0.009667277715020746, + 0.02245633206679843, + -0.12119532050269069, + -0.9923746305898573 + ], + [ + 0.20857977004806483, + -0.9738232274947068, + 0.09034822144618526, + -0.9773126724420099, + -0.20406447477319567, + 0.05672416081174478, + -0.036802443002513896, + -0.100129974170237, + -0.9942935021721275 + ], + [ + 0.19437729213334692, + -0.9785640831562765, + 0.06804265911488128, + -0.980847504628483, + -0.19301120633430152, + 0.02616957954297316, + -0.012475614894097882, + -0.07182624440894915, + -0.9973391347215452 + ], + [ + 0.2080852769099541, + -0.9775268827038327, + 0.03378921609973819, + -0.9754559800160888, + -0.20485318804733582, + 0.08075148542097835, + -0.07201491917762122, + -0.049763088109259924, + -0.9961613757206563 + ], + [ + 0.19029897460983813, + -0.9813614819234874, + -0.02675709362731189, + -0.9794200515707575, + -0.19164847014064212, + 0.0633026577158181, + -0.06725074604477478, + 0.014160003166947654, + -0.9976356205883654 + ], + [ + 0.19492450052020738, + -0.9806226791700433, + -0.0195857140363615, + -0.9807011217312328, + -0.19517095563030218, + 0.011558888936934847, + -0.01515747116274452, + 0.016954621072766296, + -0.9997413624994363 + ], + [ + 0.19287612389379438, + -0.9812109683327044, + 0.004882259241603222, + -0.9811878882493033, + -0.19282465066880117, + 0.009433029594339283, + -0.00831437216983604, + -0.006609819819885921, + -0.9999435891575936 + ], + [ + 0.1974897540366678, + -0.9802882059056733, + 0.0057297829603391755, + -0.979938041567841, + -0.1972525645701071, + 0.0285107077902279, + -0.026818496205426413, + -0.011245404961666974, + -0.9995770651273105 + ], + [ + 0.18650677174532743, + -0.9822931691416368, + 0.017758207984380936, + -0.9822561282719411, + -0.18607634642743093, + 0.02341990120464432, + -0.019700826514462068, + -0.0218110787880586, + -0.9995679838193843 + ], + [ + 0.1795335866008494, + -0.9833112246096899, + 0.029440224843343625, + -0.9837434822434373, + -0.17932825718376344, + 0.009494067568192797, + -0.0040561589947518545, + -0.030666133307369076, + -0.999521453417676 + ], + [ + 0.18926525281340834, + -0.9781689709129366, + 0.08581450006032185, + -0.9818102870087351, + -0.1898604955100207, + 0.0012460210731393556, + 0.01507396435254884, + -0.08448938742715426, + -0.9963103527570525 + ], + [ + 0.2030653080929679, + -0.9740923611399294, + 0.09954171295464703, + -0.9789417917208995, + -0.20413866696907207, + -0.0006107948634794663, + 0.02091528320111851, + -0.09732151158365558, + -0.9950332026177264 + ], + [ + 0.21753540317621783, + -0.967126835529711, + 0.13169674393563197, + -0.974309056183727, + -0.22322200044859203, + -0.02989651407946383, + 0.05831133168891907, + -0.12180978004255594, + -0.9908391222002937 + ], + [ + 0.2222836327233918, + -0.956837198180067, + 0.18722329663322307, + -0.9678620137024689, + -0.23971846203220526, + -0.07601434991313227, + 0.11761423831787626, + -0.16430957105364785, + -0.9793718679873709 + ], + [ + 0.24452150851113608, + -0.9510955381630487, + 0.18874985870664784, + -0.9608913538900526, + -0.2637747025594399, + -0.08432503963249047, + 0.12998860678836627, + -0.16074882138298904, + -0.9783980675211903 + ], + [ + 0.26479596447814174, + -0.9453590096465938, + 0.19020893795009214, + -0.9548730053932655, + -0.28457467762926997, + -0.08505760649953692, + 0.13453862184266518, + -0.1591024692838185, + -0.9780520249457428 + ], + [ + 0.287432245670317, + -0.9491394229018189, + 0.12851871475594998, + -0.9501102955336507, + -0.2995156977190577, + -0.0870676354383496, + 0.12113269777346598, + -0.09708090807913126, + -0.9878776072047861 + ], + [ + 0.2729260938205683, + -0.9583076731594905, + 0.08460349209985261, + -0.9560373564501777, + -0.2799783338743942, + -0.08720496334884972, + 0.10725633027286703, + -0.057083588925029204, + -0.9925913275320493 + ], + [ + 0.254927510769248, + -0.9635941377051589, + 0.080612046452413, + -0.9630784862726987, + -0.2604826520357695, + -0.06803394202234113, + 0.08655514734365576, + -0.060292004185159634, + -0.994420977604382 + ], + [ + 0.25319972667442237, + -0.9637502320298802, + 0.0841153296037663, + -0.9649089879817215, + -0.2578407808371802, + -0.04968678546015422, + 0.06957401328145438, + -0.06858295706387736, + -0.9952164762885947 + ], + [ + 0.2682327235321484, + -0.9599501060498496, + 0.08091353361094204, + -0.9621983569620023, + -0.2710773069338707, + -0.02629478132831077, + 0.047175500910426924, + -0.07080174828606309, + -0.9963742191332972 + ], + [ + 0.27706350272269265, + -0.9584651031816517, + 0.06767910639198993, + -0.9606613803305469, + -0.27772216137607153, + -0.0003367818454561161, + 0.019118781353439345, + -0.06492339380831151, + -0.9977070838357169 + ], + [ + 0.2840624292897897, + -0.957629790842075, + 0.047473360506145396, + -0.9588057824472866, + -0.2837185836220855, + 0.013972718172340384, + 8.838342171064648e-05, + -0.049486856833313456, + -0.9987747710015153 + ], + [ + 0.280817105715181, + -0.957475549089932, + 0.06619913921405185, + -0.959756956343965, + -0.2803545657143374, + 0.016367719220869482, + 0.002887539976666638, + -0.06813141990343215, + -0.9976721764862568 + ], + [ + 0.26386522479007063, + -0.9608619290499478, + 0.0843771085597207, + -0.9644838462177552, + -0.2639290975774485, + 0.010599143218184573, + 0.012085260919459995, + -0.08417710350426091, + -0.9963775196752193 + ], + [ + 0.2576654980741952, + -0.9590471478245199, + 0.11763103056519637, + -0.9658962758406964, + -0.25887887493383516, + 0.005110032295898827, + 0.025551426951352665, + -0.11493605336292428, + -0.9930442226900595 + ], + [ + 0.2627905863070671, + -0.9525272699074714, + 0.15372998351332665, + -0.9639771687095107, + -0.2659849055997071, + -0.0002195447818005708, + 0.04109897754426764, + -0.1481344999510063, + -0.9881128700553807 + ], + [ + 0.285183342081489, + -0.939365900089532, + 0.19042627746247548, + -0.9561725688353535, + -0.2925841209926541, + -0.011338022303596165, + 0.06636625653171445, + -0.178846967801915, + -0.9816360232296019 + ], + [ + 0.3098769229335509, + -0.9311581752623003, + 0.1921477173307493, + -0.948396651209498, + -0.3170138057284328, + -0.006785200968676075, + 0.06723157448583239, + -0.1801296744563728, + -0.9813425578116937 + ], + [ + 0.31497150259270446, + -0.9294870882333152, + 0.19195495659671738, + -0.9464986372077208, + -0.32258376836128455, + -0.008946628066529863, + 0.0702373285256612, + -0.1788671719388072, + -0.9813629565477757 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006221.json b/json/chunk-0006/episode_0006221.json new file mode 100644 index 0000000000000000000000000000000000000000..d690ea738cabbb5b11a8aea3c8be0329dcb4812b --- /dev/null +++ b/json/chunk-0006/episode_0006221.json @@ -0,0 +1,1402 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 22, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nRemoved white object next from the pea green block." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006221.mp4", + "start": 0, + "end": 22, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.31377357244491577, + 0.06128806620836258, + 0.11156533658504486, + -0.059332724660634995, + -0.10210868716239929, + 1.7048859596252441, + 0.0, + 0.9981546401977539 + ], + [ + 0.31040188670158386, + 0.0603143535554409, + 0.10142891108989716, + -0.023868998512625694, + -0.10174260288476944, + 1.6997431516647339, + 0.0, + 0.9981546401977539 + ], + [ + 0.31175702810287476, + 0.06065421923995018, + 0.09370695054531097, + -0.009596709161996841, + -0.10253787040710449, + 1.6935452222824097, + 0.0, + 0.9981546401977539 + ], + [ + 0.3089495599269867, + 0.06251837313175201, + 0.08553773909807205, + -0.0019204800482839346, + -0.11363833397626877, + 1.6764265298843384, + 0.0, + 0.9981546401977539 + ], + [ + 0.30606022477149963, + 0.06160491704940796, + 0.07908441126346588, + -0.0010711108334362507, + -0.09847685694694519, + 1.658679723739624, + 0.0, + 0.9981546401977539 + ], + [ + 0.30326488614082336, + 0.0676681250333786, + 0.0689774826169014, + -0.026302309706807137, + -0.0719321146607399, + 1.6733354330062866, + 0.0, + 0.9981546401977539 + ], + [ + 0.30180755257606506, + 0.06995654851198196, + 0.05500802397727966, + -0.07876688241958618, + -0.03307267650961876, + 1.6914112567901611, + 0.0, + 0.9981546401977539 + ], + [ + 0.3049777150154114, + 0.07512634992599487, + 0.05327640101313591, + -0.11765047162771225, + -0.046756237745285034, + 1.6974107027053833, + 0.0, + 0.9981546401977539 + ], + [ + 0.3061191737651825, + 0.07851920276880264, + 0.03965768590569496, + -0.10355187207460403, + -0.06345592439174652, + 1.7095767259597778, + 0.0, + 0.9590815901756287 + ], + [ + 0.3030095398426056, + 0.08181210607290268, + 0.019449204206466675, + -0.06549304723739624, + -0.0842931717634201, + 1.716689109802246, + 0.0, + 0.676182746887207 + ], + [ + 0.3062395751476288, + 0.0852804034948349, + 0.019529061391949654, + -0.07591157406568527, + -0.10115237534046173, + 1.7285903692245483, + 0.0, + 0.5978984832763672 + ], + [ + 0.3032214045524597, + 0.08157353848218918, + 0.02003839984536171, + -0.07278323918581009, + -0.07430103421211243, + 1.7545192241668701, + 0.0, + 0.5968981385231018 + ], + [ + 0.3134196102619171, + 0.07427670806646347, + 0.04281660169363022, + -0.08212705701589584, + -0.02129238471388817, + 1.7525700330734253, + 0.0, + 0.5968981385231018 + ], + [ + 0.340450644493103, + 0.06895628571510315, + 0.07803431153297424, + -0.156789630651474, + 0.008479923941195011, + 1.749826431274414, + 0.0, + 0.5968981385231018 + ], + [ + 0.3802826702594757, + 0.05716816335916519, + 0.07315990328788757, + -0.16214875876903534, + -0.02136671356856823, + 1.745910882949829, + 0.0, + 0.5968981385231018 + ], + [ + 0.4143911898136139, + 0.04655124992132187, + 0.04763704165816307, + -0.1489662230014801, + -0.12662090361118317, + 1.7138593196868896, + 0.0, + 0.5968981385231018 + ], + [ + 0.43978166580200195, + 0.043416980654001236, + 0.027115749195218086, + -0.13980133831501007, + -0.25088512897491455, + 1.6286160945892334, + 0.0, + 0.5968981385231018 + ], + [ + 0.4514653980731964, + 0.04141092672944069, + 0.02757503092288971, + -0.14949101209640503, + -0.26287129521369934, + 1.5711256265640259, + 0.0, + 0.5968981385231018 + ], + [ + 0.4485774338245392, + 0.04145742952823639, + 0.025203142315149307, + -0.13976550102233887, + -0.2307688444852829, + 1.555593490600586, + 0.0, + 0.6711689233779907 + ], + [ + 0.44370537996292114, + 0.04460305720567703, + 0.024881700053811073, + -0.11851612478494644, + -0.17854364216327667, + 1.6225223541259766, + 0.0, + 0.9351479411125183 + ], + [ + 0.4360934793949127, + 0.05210785195231438, + 0.026425190269947052, + -0.07331401109695435, + -0.15223780274391174, + 1.689659833908081, + 0.0, + 1.0001531839370728 + ], + [ + 0.42928746342658997, + 0.059470340609550476, + 0.0349033959209919, + -0.053564488887786865, + -0.14605607092380524, + 1.7486575841903687, + 0.0, + 1.0008161067962646 + ] + ], + "left_gripper_pos": [ + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9590815901756287 + ], + [ + 0.676182746887207 + ], + [ + 0.5978984832763672 + ], + [ + 0.5968981385231018 + ], + [ + 0.5968981385231018 + ], + [ + 0.5968981385231018 + ], + [ + 0.5968981385231018 + ], + [ + 0.5968981385231018 + ], + [ + 0.5968981385231018 + ], + [ + 0.5968981385231018 + ], + [ + 0.6711689233779907 + ], + [ + 0.9351479411125183 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.31377357244491577, + 0.06128806620836258, + 0.11156533658504486 + ], + [ + 0.31040188670158386, + 0.0603143535554409, + 0.10142891108989716 + ], + [ + 0.31175702810287476, + 0.06065421923995018, + 0.09370695054531097 + ], + [ + 0.3089495599269867, + 0.06251837313175201, + 0.08553773909807205 + ], + [ + 0.30606022477149963, + 0.06160491704940796, + 0.07908441126346588 + ], + [ + 0.30326488614082336, + 0.0676681250333786, + 0.0689774826169014 + ], + [ + 0.30180755257606506, + 0.06995654851198196, + 0.05500802397727966 + ], + [ + 0.3049777150154114, + 0.07512634992599487, + 0.05327640101313591 + ], + [ + 0.3061191737651825, + 0.07851920276880264, + 0.03965768590569496 + ], + [ + 0.3030095398426056, + 0.08181210607290268, + 0.019449204206466675 + ], + [ + 0.3062395751476288, + 0.0852804034948349, + 0.019529061391949654 + ], + [ + 0.3032214045524597, + 0.08157353848218918, + 0.02003839984536171 + ], + [ + 0.3134196102619171, + 0.07427670806646347, + 0.04281660169363022 + ], + [ + 0.340450644493103, + 0.06895628571510315, + 0.07803431153297424 + ], + [ + 0.3802826702594757, + 0.05716816335916519, + 0.07315990328788757 + ], + [ + 0.4143911898136139, + 0.04655124992132187, + 0.04763704165816307 + ], + [ + 0.43978166580200195, + 0.043416980654001236, + 0.027115749195218086 + ], + [ + 0.4514653980731964, + 0.04141092672944069, + 0.02757503092288971 + ], + [ + 0.4485774338245392, + 0.04145742952823639, + 0.025203142315149307 + ], + [ + 0.44370537996292114, + 0.04460305720567703, + 0.024881700053811073 + ], + [ + 0.4360934793949127, + 0.05210785195231438, + 0.026425190269947052 + ], + [ + 0.42928746342658997, + 0.059470340609550476, + 0.0349033959209919 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + -0.13299184789876073, + 0.9900876267882963, + 0.04516259152431606, + 0.9858616379429983, + 0.12746286477617186, + 0.10876602840685196, + 0.1019313456441231, + 0.05898906156034914, + -0.9930409313776587 + ], + [ + -0.12792480427212316, + 0.9917270965199301, + 0.010611808521091982, + 0.9865694887810927, + 0.1261492024254579, + 0.10376426424176188, + 0.10156716131778187, + 0.023743309701264814, + -0.994545306653386 + ], + [ + -0.12179776989091795, + 0.992550379453486, + -0.0030079056401864784, + 0.9872629259391861, + 0.1214603438830143, + 0.10275845429850233, + 0.10235828405945689, + 0.009546156847715918, + -0.994701790776433 + ], + [ + -0.10475384332939253, + 0.9944474420245809, + -0.010045763210859052, + 0.9880123751084596, + 0.10521712900342883, + 0.11296416421509903, + 0.1133939105078448, + 0.0019080919902862217, + -0.9935482777624323 + ], + [ + -0.08734507196540248, + 0.9961494107408942, + -0.0075623993499238165, + 0.9913145085939444, + 0.08766535970735062, + 0.09803228936696008, + 0.09831776774573983, + 0.0010659211743293956, + -0.9951545007472684 + ], + [ + -0.10209481175044738, + 0.9945968744011247, + 0.018807095606555153, + 0.9921750542899266, + 0.1004439050060732, + 0.07415985161738159, + 0.07187009850015397, + 0.026231267194787383, + -0.9970690094286021 + ], + [ + -0.12025689382745769, + 0.9899699151849956, + 0.07414746466052916, + 0.9921919553686139, + 0.1173666696327555, + 0.04219228082389195, + 0.0330666476797711, + 0.07864243058253266, + -0.9963543370324102 + ], + [ + -0.12613834612750702, + 0.9858303804740903, + 0.11057838202165805, + 0.990910977071911, + 0.11996112639766104, + 0.06086676984854027, + 0.046739203615466365, + 0.11725096625493069, + -0.9920018436261484 + ], + [ + -0.1380569220473818, + 0.9859870093427255, + 0.09364776389317031, + 0.9883921457002437, + 0.13110250148360808, + 0.07676653191859331, + 0.06341334711928576, + 0.10315886540733352, + -0.9926414236243621 + ], + [ + -0.1448596196965291, + 0.9880564247289343, + 0.05253753071141431, + 0.9858636642323544, + 0.13961251113335643, + 0.09263467105460045, + 0.08419338529678302, + 0.06521386575655726, + -0.9943131426192422 + ], + [ + -0.15633681149772732, + 0.9859356170096897, + 0.05907419472533272, + 0.9825282934139513, + 0.14912444615323134, + 0.11135552164378963, + 0.1009799683689422, + 0.07545103492474083, + -0.9920232796245223 + ], + [ + -0.1821870191885313, + 0.9815535832010898, + 0.05796941731895394, + 0.9804577492416666, + 0.17690011507339531, + 0.08607526496610113, + 0.07423268815799916, + 0.07251836037942946, + -0.9946007216047636 + ], + [ + -0.18073336373955934, + 0.980525336239421, + 0.07684735664910712, + 0.9833016597636296, + 0.17844722685459308, + 0.03569920354849668, + 0.021290775877730192, + 0.08201617048165763, + -0.9964035581239403 + ], + [ + -0.17806886120012388, + 0.9717107989912322, + 0.15514381648880618, + 0.9839814903159848, + 0.17719387714363488, + 0.019564166691692753, + -0.008479822310929752, + 0.15614241264508424, + -0.9876981520621306 + ], + [ + -0.17418117534457606, + 0.9723907803968806, + 0.1552967750944232, + 0.9844818186121106, + 0.16853921683757073, + 0.048888456817229274, + 0.021365087825090334, + 0.16140230043876116, + -0.9866574027671928 + ], + [ + -0.14143406023806, + 0.9814943135297545, + 0.12909422571646267, + 0.9818599974244393, + 0.12244555764385862, + 0.14476888778658464, + 0.12628282568210553, + 0.14722770772528077, + -0.981007976530111 + ], + [ + -0.05597840502247681, + 0.9905880275882237, + 0.12490707654097043, + 0.9670742775804024, + 0.022687233157527242, + 0.25348102708881104, + 0.24826147468643234, + 0.1349838844104299, + -0.9592421962862088 + ], + [ + -0.0003179876054768549, + 0.9888597027875068, + 0.14885021695276826, + 0.9656477890147666, + -0.038375726482178796, + 0.2570051579012719, + 0.2598542792697004, + 0.14381860734956523, + -0.9548779826371827 + ], + [ + 0.014799251496589672, + 0.9896498526586097, + 0.14273805129653724, + 0.973378330518264, + -0.04691436036800234, + 0.22435166250495794, + 0.22872605411849792, + 0.13561788939536487, + -0.9639980187963711 + ], + [ + -0.05088106186185021, + 0.9927427713648935, + 0.10896287187184864, + 0.9827871493779046, + 0.030369546638772282, + 0.18222818018793782, + 0.17759655560134793, + 0.11635927354407885, + -0.9772000731164685 + ], + [ + -0.11721229237695946, + 0.99159397840666, + 0.054796537330298434, + 0.9814598439406769, + 0.10723549665014703, + 0.15886196206184428, + 0.15165043108306916, + 0.07240117572145449, + -0.9857789896860607 + ], + [ + -0.17504121442872655, + 0.9841913149978663, + 0.026982007599261268, + 0.9737450676056238, + 0.1690022419242172, + 0.15250831301377143, + 0.14553733735723856, + 0.05296883713428507, + -0.9879337962270579 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.003371685743331909, + -0.0009737126529216766, + -0.010136425495147705, + 0.03546372801065445, + 0.0003660842776298523, + -0.005142807960510254, + 1.0 + ], + [ + 0.0013551414012908936, + 0.00033986568450927734, + -0.007721960544586182, + 0.014272289350628853, + -0.0007952675223350525, + -0.006197929382324219, + 1.0 + ], + [ + -0.0028074681758880615, + 0.001864153891801834, + -0.008169211447238922, + 0.007676228880882263, + -0.011100463569164276, + -0.01711869239807129, + 1.0 + ], + [ + -0.0028893351554870605, + -0.0009134560823440552, + -0.006453327834606171, + 0.0008493692148476839, + 0.015161477029323578, + -0.017746806144714355, + 1.0 + ], + [ + -0.0027953386306762695, + 0.006063207983970642, + -0.010106928646564484, + -0.025231199339032173, + 0.026544742286205292, + 0.014655709266662598, + 1.0 + ], + [ + -0.0014573335647583008, + 0.002288423478603363, + -0.013969458639621735, + -0.052464574575424194, + 0.03885943815112114, + 0.01807582378387451, + 1.0 + ], + [ + 0.0031701624393463135, + 0.005169801414012909, + -0.001731622964143753, + -0.03888358920812607, + -0.013683561235666275, + 0.005999445915222168, + 1.0 + ], + [ + 0.0011414587497711182, + 0.0033928528428077698, + -0.013618715107440948, + 0.014098599553108215, + -0.016699686646461487, + 0.012166023254394531, + 0.0 + ], + [ + -0.0031096339225769043, + 0.0032929033041000366, + -0.020208481699228287, + 0.038058824837207794, + -0.020837247371673584, + 0.007112383842468262, + 0.0 + ], + [ + 0.0032300353050231934, + 0.0034682974219322205, + 7.985718548297882e-05, + -0.010418526828289032, + -0.016859203577041626, + 0.011901259422302246, + 0.0 + ], + [ + -0.0030181705951690674, + -0.0037068650126457214, + 0.000509338453412056, + 0.003128334879875183, + 0.026851341128349304, + 0.025928854942321777, + 0.0 + ], + [ + 0.010198205709457397, + -0.007296830415725708, + 0.02277820184826851, + -0.009343817830085754, + 0.05300864949822426, + -0.0019491910934448242, + 0.0 + ], + [ + 0.027031034231185913, + -0.005320422351360321, + 0.035217709839344025, + -0.07466257363557816, + 0.029772307723760605, + -0.0027436017990112305, + 0.0 + ], + [ + 0.03983202576637268, + -0.011788122355937958, + -0.00487440824508667, + -0.00535912811756134, + -0.029846638441085815, + -0.003915548324584961, + 0.0 + ], + [ + 0.034108519554138184, + -0.010616913437843323, + -0.025522861629724503, + 0.013182535767555237, + -0.10525418817996979, + -0.03205156326293945, + 0.0 + ], + [ + 0.02539047598838806, + -0.003134269267320633, + -0.020521292462944984, + 0.009164884686470032, + -0.12426422536373138, + -0.08524322509765625, + 0.0 + ], + [ + 0.011683732271194458, + -0.002006053924560547, + 0.00045928172767162323, + -0.009689673781394958, + -0.01198616623878479, + -0.05749046802520752, + 0.0 + ], + [ + -0.0028879642486572266, + 4.650279879570007e-05, + -0.0023718886077404022, + 0.009725511074066162, + 0.03210245072841644, + -0.015532135963439941, + 1.0 + ], + [ + -0.004872053861618042, + 0.0031456276774406433, + -0.00032144226133823395, + 0.021249376237392426, + 0.052225202322006226, + 0.06692886352539062, + 1.0 + ], + [ + -0.007611900568008423, + 0.007504794746637344, + 0.0015434902161359787, + 0.045202113687992096, + 0.02630583941936493, + 0.06713747978210449, + 1.0 + ], + [ + -0.006806015968322754, + 0.007362488657236099, + 0.008478205651044846, + 0.01974952220916748, + 0.006181731820106506, + 0.0589977502822876, + 1.0 + ], + [ + -0.01017114520072937, + 0.006162002682685852, + 0.048515286296606064, + -0.0703248679637909, + 0.030177347362041473, + 0.04534745216369629, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9590815901756287 + ], + [ + 0.676182746887207 + ], + [ + 0.5978984832763672 + ], + [ + 0.5968981385231018 + ], + [ + 0.5968981385231018 + ], + [ + 0.5968981385231018 + ], + [ + 0.5968981385231018 + ], + [ + 0.5968981385231018 + ], + [ + 0.5968981385231018 + ], + [ + 0.5968981385231018 + ], + [ + 0.6711689233779907 + ], + [ + 0.9351479411125183 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.31040188670158386, + 0.0603143535554409, + 0.10142891108989716 + ], + [ + 0.31175702810287476, + 0.06065421923995018, + 0.09370695054531097 + ], + [ + 0.3089495599269867, + 0.06251837313175201, + 0.08553773909807205 + ], + [ + 0.30606022477149963, + 0.06160491704940796, + 0.07908441126346588 + ], + [ + 0.30326488614082336, + 0.0676681250333786, + 0.0689774826169014 + ], + [ + 0.30180755257606506, + 0.06995654851198196, + 0.05500802397727966 + ], + [ + 0.3049777150154114, + 0.07512634992599487, + 0.05327640101313591 + ], + [ + 0.3061191737651825, + 0.07851920276880264, + 0.03965768590569496 + ], + [ + 0.3030095398426056, + 0.08181210607290268, + 0.019449204206466675 + ], + [ + 0.3062395751476288, + 0.0852804034948349, + 0.019529061391949654 + ], + [ + 0.3032214045524597, + 0.08157353848218918, + 0.02003839984536171 + ], + [ + 0.3134196102619171, + 0.07427670806646347, + 0.04281660169363022 + ], + [ + 0.340450644493103, + 0.06895628571510315, + 0.07803431153297424 + ], + [ + 0.3802826702594757, + 0.05716816335916519, + 0.07315990328788757 + ], + [ + 0.4143911898136139, + 0.04655124992132187, + 0.04763704165816307 + ], + [ + 0.43978166580200195, + 0.043416980654001236, + 0.027115749195218086 + ], + [ + 0.4514653980731964, + 0.04141092672944069, + 0.02757503092288971 + ], + [ + 0.4485774338245392, + 0.04145742952823639, + 0.025203142315149307 + ], + [ + 0.44370537996292114, + 0.04460305720567703, + 0.024881700053811073 + ], + [ + 0.4360934793949127, + 0.05210785195231438, + 0.026425190269947052 + ], + [ + 0.42928746342658997, + 0.059470340609550476, + 0.0349033959209919 + ], + [ + 0.4191163182258606, + 0.06563234329223633, + 0.08341868221759796 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + -0.12792480427212316, + 0.9917270965199301, + 0.010611808521091982, + 0.9865694887810927, + 0.1261492024254579, + 0.10376426424176188, + 0.10156716131778187, + 0.023743309701264814, + -0.994545306653386 + ], + [ + -0.12179776989091795, + 0.992550379453486, + -0.0030079056401864784, + 0.9872629259391861, + 0.1214603438830143, + 0.10275845429850233, + 0.10235828405945689, + 0.009546156847715918, + -0.994701790776433 + ], + [ + -0.10475384332939253, + 0.9944474420245809, + -0.010045763210859052, + 0.9880123751084596, + 0.10521712900342883, + 0.11296416421509903, + 0.1133939105078448, + 0.0019080919902862217, + -0.9935482777624323 + ], + [ + -0.08734507196540248, + 0.9961494107408942, + -0.0075623993499238165, + 0.9913145085939444, + 0.08766535970735062, + 0.09803228936696008, + 0.09831776774573983, + 0.0010659211743293956, + -0.9951545007472684 + ], + [ + -0.10209481175044738, + 0.9945968744011247, + 0.018807095606555153, + 0.9921750542899266, + 0.1004439050060732, + 0.07415985161738159, + 0.07187009850015397, + 0.026231267194787383, + -0.9970690094286021 + ], + [ + -0.12025689382745769, + 0.9899699151849956, + 0.07414746466052916, + 0.9921919553686139, + 0.1173666696327555, + 0.04219228082389195, + 0.0330666476797711, + 0.07864243058253266, + -0.9963543370324102 + ], + [ + -0.12613834612750702, + 0.9858303804740903, + 0.11057838202165805, + 0.990910977071911, + 0.11996112639766104, + 0.06086676984854027, + 0.046739203615466365, + 0.11725096625493069, + -0.9920018436261484 + ], + [ + -0.1380569220473818, + 0.9859870093427255, + 0.09364776389317031, + 0.9883921457002437, + 0.13110250148360808, + 0.07676653191859331, + 0.06341334711928576, + 0.10315886540733352, + -0.9926414236243621 + ], + [ + -0.1448596196965291, + 0.9880564247289343, + 0.05253753071141431, + 0.9858636642323544, + 0.13961251113335643, + 0.09263467105460045, + 0.08419338529678302, + 0.06521386575655726, + -0.9943131426192422 + ], + [ + -0.15633681149772732, + 0.9859356170096897, + 0.05907419472533272, + 0.9825282934139513, + 0.14912444615323134, + 0.11135552164378963, + 0.1009799683689422, + 0.07545103492474083, + -0.9920232796245223 + ], + [ + -0.1821870191885313, + 0.9815535832010898, + 0.05796941731895394, + 0.9804577492416666, + 0.17690011507339531, + 0.08607526496610113, + 0.07423268815799916, + 0.07251836037942946, + -0.9946007216047636 + ], + [ + -0.18073336373955934, + 0.980525336239421, + 0.07684735664910712, + 0.9833016597636296, + 0.17844722685459308, + 0.03569920354849668, + 0.021290775877730192, + 0.08201617048165763, + -0.9964035581239403 + ], + [ + -0.17806886120012388, + 0.9717107989912322, + 0.15514381648880618, + 0.9839814903159848, + 0.17719387714363488, + 0.019564166691692753, + -0.008479822310929752, + 0.15614241264508424, + -0.9876981520621306 + ], + [ + -0.17418117534457606, + 0.9723907803968806, + 0.1552967750944232, + 0.9844818186121106, + 0.16853921683757073, + 0.048888456817229274, + 0.021365087825090334, + 0.16140230043876116, + -0.9866574027671928 + ], + [ + -0.14143406023806, + 0.9814943135297545, + 0.12909422571646267, + 0.9818599974244393, + 0.12244555764385862, + 0.14476888778658464, + 0.12628282568210553, + 0.14722770772528077, + -0.981007976530111 + ], + [ + -0.05597840502247681, + 0.9905880275882237, + 0.12490707654097043, + 0.9670742775804024, + 0.022687233157527242, + 0.25348102708881104, + 0.24826147468643234, + 0.1349838844104299, + -0.9592421962862088 + ], + [ + -0.0003179876054768549, + 0.9888597027875068, + 0.14885021695276826, + 0.9656477890147666, + -0.038375726482178796, + 0.2570051579012719, + 0.2598542792697004, + 0.14381860734956523, + -0.9548779826371827 + ], + [ + 0.014799251496589672, + 0.9896498526586097, + 0.14273805129653724, + 0.973378330518264, + -0.04691436036800234, + 0.22435166250495794, + 0.22872605411849792, + 0.13561788939536487, + -0.9639980187963711 + ], + [ + -0.05088106186185021, + 0.9927427713648935, + 0.10896287187184864, + 0.9827871493779046, + 0.030369546638772282, + 0.18222818018793782, + 0.17759655560134793, + 0.11635927354407885, + -0.9772000731164685 + ], + [ + -0.11721229237695946, + 0.99159397840666, + 0.054796537330298434, + 0.9814598439406769, + 0.10723549665014703, + 0.15886196206184428, + 0.15165043108306916, + 0.07240117572145449, + -0.9857789896860607 + ], + [ + -0.17504121442872655, + 0.9841913149978663, + 0.026982007599261268, + 0.9737450676056238, + 0.1690022419242172, + 0.15250831301377143, + 0.14553733735723856, + 0.05296883713428507, + -0.9879337962270579 + ], + [ + -0.2198753313523713, + 0.9708805156596775, + 0.09510974174648812, + 0.9686521332375909, + 0.20573027881534672, + 0.1392411474845849, + 0.11561956338331839, + 0.12274394767546956, + -0.985680495836299 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006222.json b/json/chunk-0006/episode_0006222.json new file mode 100644 index 0000000000000000000000000000000000000000..8668a889269e4228970fead49181d290968eca30 --- /dev/null +++ b/json/chunk-0006/episode_0006222.json @@ -0,0 +1,1222 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 19, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nClose small4fbox flaps." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006222.mp4", + "start": 0, + "end": 19, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.22352245450019836, + -0.10601101070642471, + 0.11177334189414978, + 0.0933421328663826, + -0.0923803374171257, + -0.04452293738722801, + 0.0, + 0.9716382026672363 + ], + [ + 0.22253844141960144, + -0.10839983820915222, + 0.10334820300340652, + 0.08691080659627914, + -0.06985921412706375, + -0.053120050579309464, + 0.0, + 0.9716382026672363 + ], + [ + 0.2308017909526825, + -0.1157822236418724, + 0.09328942000865936, + 0.04897572100162506, + -0.08388283848762512, + -0.07966502755880356, + 0.0, + 0.9716382026672363 + ], + [ + 0.2391638606786728, + -0.12454745173454285, + 0.08150946348905563, + 0.04197794198989868, + -0.12647250294685364, + -0.12274783104658127, + 0.0, + 0.9716382026672363 + ], + [ + 0.2576291859149933, + -0.12377806752920151, + 0.07492677122354507, + 0.022854752838611603, + -0.13653750717639923, + -0.1275581270456314, + 0.0, + 0.9716382026672363 + ], + [ + 0.266179621219635, + -0.12018843740224838, + 0.06471478939056396, + 0.010090220719575882, + -0.13668501377105713, + -0.11271849274635315, + 0.0, + 0.9716382026672363 + ], + [ + 0.2729617655277252, + -0.12199627608060837, + 0.061785947531461716, + 0.006456037983298302, + -0.15394681692123413, + -0.12529054284095764, + 0.0, + 0.9723638892173767 + ], + [ + 0.2787483334541321, + -0.11792747676372528, + 0.05434398353099823, + -0.00794245209544897, + -0.17282000184059143, + -0.13365459442138672, + 0.0, + 0.9723638892173767 + ], + [ + 0.2780635952949524, + -0.11150763928890228, + 0.04841143637895584, + -0.007267400156706572, + -0.18198472261428833, + -0.13118095695972443, + 0.0, + 0.9716382026672363 + ], + [ + 0.2763918340206146, + -0.106834277510643, + 0.04617319256067276, + 0.02261250466108322, + -0.1769901067018509, + -0.15842777490615845, + 0.0, + 0.9716382026672363 + ], + [ + 0.27490368485450745, + -0.09641576558351517, + 0.053195491433143616, + 0.08861291408538818, + -0.1637444794178009, + -0.2049335092306137, + 0.0, + 0.9716382026672363 + ], + [ + 0.27075403928756714, + -0.07875638455152512, + 0.05752638354897499, + 0.1440615952014923, + -0.16474327445030212, + -0.20012310147285461, + 0.0, + 0.9716382026672363 + ], + [ + 0.2662428915500641, + -0.06723541766405106, + 0.06775645911693573, + 0.1890754997730255, + -0.18625546991825104, + -0.19892801344394684, + 0.0, + 0.9716382026672363 + ], + [ + 0.2660166621208191, + -0.0538242869079113, + 0.07366713881492615, + 0.21413052082061768, + -0.17301954329013824, + -0.23878724873065948, + 0.0, + 0.9716382026672363 + ], + [ + 0.2724492847919464, + -0.03657038137316704, + 0.07489403337240219, + 0.21556667983531952, + -0.16892045736312866, + -0.2661912441253662, + 0.0, + 0.9723638892173767 + ], + [ + 0.28109458088874817, + -0.02694760076701641, + 0.07170236110687256, + 0.20157037675380707, + -0.22013643383979797, + -0.28050318360328674, + 0.0, + 0.9723638892173767 + ], + [ + 0.28496652841567993, + -0.018327368423342705, + 0.06288645416498184, + 0.19153903424739838, + -0.22440917789936066, + -0.28372281789779663, + 0.0, + 0.9716382026672363 + ], + [ + 0.28558775782585144, + -0.01386356819421053, + 0.05467261001467705, + 0.16450126469135284, + -0.22982734441757202, + -0.2703239321708679, + 0.0, + 0.9716382026672363 + ], + [ + 0.2858932614326477, + -0.01066149678081274, + 0.04605725035071373, + 0.14138828217983246, + -0.23502229154109955, + -0.27596500515937805, + 0.0, + 0.9716382026672363 + ] + ], + "left_gripper_pos": [ + [ + 0.9716382026672363 + ], + [ + 0.9716382026672363 + ], + [ + 0.9716382026672363 + ], + [ + 0.9716382026672363 + ], + [ + 0.9716382026672363 + ], + [ + 0.9716382026672363 + ], + [ + 0.9723638892173767 + ], + [ + 0.9723638892173767 + ], + [ + 0.9716382026672363 + ], + [ + 0.9716382026672363 + ], + [ + 0.9716382026672363 + ], + [ + 0.9716382026672363 + ], + [ + 0.9716382026672363 + ], + [ + 0.9716382026672363 + ], + [ + 0.9723638892173767 + ], + [ + 0.9723638892173767 + ], + [ + 0.9716382026672363 + ], + [ + 0.9716382026672363 + ], + [ + 0.9716382026672363 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.22352245450019836, + -0.10601101070642471, + 0.11177334189414978 + ], + [ + 0.22253844141960144, + -0.10839983820915222, + 0.10334820300340652 + ], + [ + 0.2308017909526825, + -0.1157822236418724, + 0.09328942000865936 + ], + [ + 0.2391638606786728, + -0.12454745173454285, + 0.08150946348905563 + ], + [ + 0.2576291859149933, + -0.12377806752920151, + 0.07492677122354507 + ], + [ + 0.266179621219635, + -0.12018843740224838, + 0.06471478939056396 + ], + [ + 0.2729617655277252, + -0.12199627608060837, + 0.061785947531461716 + ], + [ + 0.2787483334541321, + -0.11792747676372528, + 0.05434398353099823 + ], + [ + 0.2780635952949524, + -0.11150763928890228, + 0.04841143637895584 + ], + [ + 0.2763918340206146, + -0.106834277510643, + 0.04617319256067276 + ], + [ + 0.27490368485450745, + -0.09641576558351517, + 0.053195491433143616 + ], + [ + 0.27075403928756714, + -0.07875638455152512, + 0.05752638354897499 + ], + [ + 0.2662428915500641, + -0.06723541766405106, + 0.06775645911693573 + ], + [ + 0.2660166621208191, + -0.0538242869079113, + 0.07366713881492615 + ], + [ + 0.2724492847919464, + -0.03657038137316704, + 0.07489403337240219 + ], + [ + 0.28109458088874817, + -0.02694760076701641, + 0.07170236110687256 + ], + [ + 0.28496652841567993, + -0.018327368423342705, + 0.06288645416498184 + ], + [ + 0.28558775782585144, + -0.01386356819421053, + 0.05467261001467705 + ], + [ + 0.2858932614326477, + -0.01066149678081274, + 0.04605725035071373 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9947492137229772, + -0.03572477643634232, + 0.09590485986691147, + -0.044318444861494735, + -0.995042808430895, + 0.08902631540738887, + 0.09224899588926275, + -0.09280921149611496, + -0.9914013178420191 + ], + [ + 0.9961537397050194, + -0.0468442694011076, + 0.07404958673740757, + -0.05296556475894844, + -0.9951421186116214, + 0.08298682253791399, + 0.06980240555647084, + -0.08658971179909335, + -0.9937956761774926 + ], + [ + 0.9933234683357046, + -0.07539660829867134, + 0.08731459620580372, + -0.07930097415288062, + -0.9959595734147487, + 0.04214123422392087, + 0.08378450186000981, + -0.048784009476138035, + -0.9952890422723951 + ], + [ + 0.9845490415374387, + -0.11707842871479503, + 0.13021453965431404, + -0.12146189638428269, + -0.9922497409278082, + 0.026219446131274464, + 0.12613561168220513, + -0.04163043548140815, + -0.9911390993736368 + ], + [ + 0.9826443268007632, + -0.12409396618288297, + 0.1378797104844515, + -0.12602855253442125, + -0.9920121543795928, + 0.005356258884473195, + 0.1361136692340387, + -0.022640077741924263, + -0.9904344985547939 + ], + [ + 0.9843863204306107, + -0.11110808520148245, + 0.13652313192987733, + -0.11143086930561537, + -0.9937580563529124, + -0.0052996980552102325, + 0.13625980153690756, + -0.009995941003309783, + -0.9906227070124026 + ], + [ + 0.9804276779089729, + -0.12397820120727052, + 0.15294108020878064, + -0.12348513824089447, + -0.9922644334026307, + -0.012755972631798814, + 0.15333945683889164, + -0.006379641805428089, + -0.9881529796275412 + ], + [ + 0.9763181189804919, + -0.13460641950474098, + 0.16936363948176095, + -0.1312719960029786, + -0.9908682535828717, + -0.030785826398262255, + 0.17196102353669615, + 0.007824057115311745, + -0.9850726828587159 + ], + [ + 0.9750364239668695, + -0.13210554524616588, + 0.17847155754660837, + -0.12864498578280595, + -0.9912098872785178, + -0.030877613156618397, + 0.18098187636015045, + 0.0071473265296429, + -0.9834604598826726 + ], + [ + 0.9720502827271317, + -0.15379440148990398, + 0.1773852584643551, + -0.15530126350742346, + -0.9878521610613221, + -0.005442925635540019, + 0.17606750240490626, + -0.022257357364215795, + -0.984126437324016 + ], + [ + 0.96597822114165, + -0.18857926002824402, + 0.1769857027197781, + -0.2007799766718716, + -0.9781688306250775, + 0.05360167685073966, + 0.16301373330997737, + -0.0873132377178189, + -0.98275272641269 + ], + [ + 0.9667728245234203, + -0.17365628552773754, + 0.18760010730198848, + -0.19609845816928928, + -0.974570296513987, + 0.10843491991174996, + 0.16399908678598243, + -0.14162002559436648, + -0.9762418081008493 + ], + [ + 0.9633246063072368, + -0.1599782698952817, + 0.21543596738780532, + -0.19420069342896806, + -0.9696869442741357, + 0.14830145237318854, + 0.1851804351294031, + -0.18470025247844563, + -0.9651911847813796 + ], + [ + 0.9571186029882651, + -0.19557750545445515, + 0.2137134042918335, + -0.23299301344519038, + -0.9580878938194168, + 0.16667886309428576, + 0.1721575891429752, + -0.20932517067205964, + -0.962571938830336 + ], + [ + 0.951047945200318, + -0.22227620782571542, + 0.21471165167468714, + -0.2593145835699719, + -0.9519100839784527, + 0.16316598532803028, + 0.16811826991194284, + -0.21085653761445083, + -0.9629515916530076 + ], + [ + 0.9377271072394276, + -0.2292247996640835, + 0.26100548570353044, + -0.2701584249308464, + -0.9535638145814336, + 0.1331558371224848, + 0.21836276648563338, + -0.1953766688728884, + -0.9561096482479793 + ], + [ + 0.9359481816382402, + -0.23414285261695644, + 0.2630173489647893, + -0.272912486587664, + -0.9543222818489854, + 0.12160492190320112, + 0.2225303933232709, + -0.18559662425523732, + -0.9570967125178367 + ], + [ + 0.9383450756181486, + -0.22748721548686446, + 0.26030383372744065, + -0.2600219052928146, + -0.9606372174967089, + 0.09779951496850264, + 0.22780941119950407, + -0.15945439206937106, + -0.9605608616942092 + ], + [ + 0.9357120353803385, + -0.23818348169836484, + 0.2602145574145079, + -0.26498497120737946, + -0.9615028052436325, + 0.07276895315207486, + 0.2328646642979733, + -0.13704373227064887, + -0.9628047899583395 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0009840130805969238, + -0.0023888275027275085, + -0.008425138890743256, + -0.006431326270103455, + 0.02252112329006195, + -0.008597113192081451, + 1.0 + ], + [ + 0.008263349533081055, + -0.007382385432720184, + -0.010058782994747162, + -0.03793508559465408, + -0.01402362436056137, + -0.026544976979494095, + 1.0 + ], + [ + 0.008362069725990295, + -0.00876522809267044, + -0.01177995651960373, + -0.006997779011726379, + -0.042589664459228516, + -0.04308280348777771, + 1.0 + ], + [ + 0.018465325236320496, + 0.0007693842053413391, + -0.006582692265510559, + -0.01912318915128708, + -0.010065004229545593, + -0.00481029599905014, + 1.0 + ], + [ + 0.008550435304641724, + 0.003589630126953125, + -0.01021198183298111, + -0.01276453211903572, + -0.00014750659465789795, + 0.01483963429927826, + 1.0 + ], + [ + 0.00678214430809021, + -0.0018078386783599854, + -0.002928841859102249, + -0.0036341827362775803, + -0.017261803150177002, + -0.012572050094604492, + 1.0 + ], + [ + 0.00578656792640686, + 0.004068799316883087, + -0.007441964000463486, + -0.014398490078747272, + -0.0188731849193573, + -0.008364051580429077, + 1.0 + ], + [ + -0.0006847381591796875, + 0.006419837474822998, + -0.005932547152042389, + 0.0006750519387423992, + -0.0091647207736969, + 0.0024736374616622925, + 1.0 + ], + [ + -0.0016717612743377686, + 0.004673361778259277, + -0.002238243818283081, + 0.02987990528345108, + 0.004994615912437439, + -0.02724681794643402, + 1.0 + ], + [ + -0.0014881491661071777, + 0.010418511927127838, + 0.007022298872470856, + 0.06600040942430496, + 0.013245627284049988, + -0.04650573432445526, + 1.0 + ], + [ + -0.004149645566940308, + 0.01765938103199005, + 0.004330892115831375, + 0.055448681116104126, + -0.0009987950325012207, + 0.004810407757759094, + 1.0 + ], + [ + -0.004511147737503052, + 0.01152096688747406, + 0.01023007556796074, + 0.0450139045715332, + -0.021512195467948914, + 0.0011950880289077759, + 1.0 + ], + [ + -0.00022622942924499512, + 0.013411130756139755, + 0.0059106796979904175, + 0.025055021047592163, + 0.013235926628112793, + -0.039859235286712646, + 1.0 + ], + [ + 0.006432622671127319, + 0.017253905534744263, + 0.0012268945574760437, + 0.0014361590147018433, + 0.0040990859270095825, + -0.027403995394706726, + 1.0 + ], + [ + 0.008645296096801758, + 0.009622780606150627, + -0.0031916722655296326, + -0.013996303081512451, + -0.05121597647666931, + -0.014311939477920532, + 1.0 + ], + [ + 0.0038719475269317627, + 0.008620232343673706, + -0.008815906941890717, + -0.010031342506408691, + -0.004272744059562683, + -0.0032196342945098877, + 1.0 + ], + [ + 0.0006212294101715088, + 0.0044638002291321754, + -0.008213844150304794, + -0.027037769556045532, + -0.005418166518211365, + 0.013398885726928711, + 1.0 + ], + [ + 0.00030550360679626465, + 0.003202071413397789, + -0.008615359663963318, + -0.023112982511520386, + -0.005194947123527527, + -0.005641072988510132, + 1.0 + ], + [ + 0.002055525779724121, + 0.002699807286262512, + -0.007105275988578796, + -0.026880435645580292, + -0.00392518937587738, + -0.0012857615947723389, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9716382026672363 + ], + [ + 0.9716382026672363 + ], + [ + 0.9716382026672363 + ], + [ + 0.9716382026672363 + ], + [ + 0.9716382026672363 + ], + [ + 0.9723638892173767 + ], + [ + 0.9723638892173767 + ], + [ + 0.9716382026672363 + ], + [ + 0.9716382026672363 + ], + [ + 0.9716382026672363 + ], + [ + 0.9716382026672363 + ], + [ + 0.9716382026672363 + ], + [ + 0.9716382026672363 + ], + [ + 0.9723638892173767 + ], + [ + 0.9723638892173767 + ], + [ + 0.9716382026672363 + ], + [ + 0.9716382026672363 + ], + [ + 0.9716382026672363 + ], + [ + 0.9716382026672363 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.22253844141960144, + -0.10839983820915222, + 0.10334820300340652 + ], + [ + 0.2308017909526825, + -0.1157822236418724, + 0.09328942000865936 + ], + [ + 0.2391638606786728, + -0.12454745173454285, + 0.08150946348905563 + ], + [ + 0.2576291859149933, + -0.12377806752920151, + 0.07492677122354507 + ], + [ + 0.266179621219635, + -0.12018843740224838, + 0.06471478939056396 + ], + [ + 0.2729617655277252, + -0.12199627608060837, + 0.061785947531461716 + ], + [ + 0.2787483334541321, + -0.11792747676372528, + 0.05434398353099823 + ], + [ + 0.2780635952949524, + -0.11150763928890228, + 0.04841143637895584 + ], + [ + 0.2763918340206146, + -0.106834277510643, + 0.04617319256067276 + ], + [ + 0.27490368485450745, + -0.09641576558351517, + 0.053195491433143616 + ], + [ + 0.27075403928756714, + -0.07875638455152512, + 0.05752638354897499 + ], + [ + 0.2662428915500641, + -0.06723541766405106, + 0.06775645911693573 + ], + [ + 0.2660166621208191, + -0.0538242869079113, + 0.07366713881492615 + ], + [ + 0.2724492847919464, + -0.03657038137316704, + 0.07489403337240219 + ], + [ + 0.28109458088874817, + -0.02694760076701641, + 0.07170236110687256 + ], + [ + 0.28496652841567993, + -0.018327368423342705, + 0.06288645416498184 + ], + [ + 0.28558775782585144, + -0.01386356819421053, + 0.05467261001467705 + ], + [ + 0.2858932614326477, + -0.01066149678081274, + 0.04605725035071373 + ], + [ + 0.2879487872123718, + -0.007961689494550228, + 0.038951974362134933 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9961537397050194, + -0.0468442694011076, + 0.07404958673740757, + -0.05296556475894844, + -0.9951421186116214, + 0.08298682253791399, + 0.06980240555647084, + -0.08658971179909335, + -0.9937956761774926 + ], + [ + 0.9933234683357046, + -0.07539660829867134, + 0.08731459620580372, + -0.07930097415288062, + -0.9959595734147487, + 0.04214123422392087, + 0.08378450186000981, + -0.048784009476138035, + -0.9952890422723951 + ], + [ + 0.9845490415374387, + -0.11707842871479503, + 0.13021453965431404, + -0.12146189638428269, + -0.9922497409278082, + 0.026219446131274464, + 0.12613561168220513, + -0.04163043548140815, + -0.9911390993736368 + ], + [ + 0.9826443268007632, + -0.12409396618288297, + 0.1378797104844515, + -0.12602855253442125, + -0.9920121543795928, + 0.005356258884473195, + 0.1361136692340387, + -0.022640077741924263, + -0.9904344985547939 + ], + [ + 0.9843863204306107, + -0.11110808520148245, + 0.13652313192987733, + -0.11143086930561537, + -0.9937580563529124, + -0.0052996980552102325, + 0.13625980153690756, + -0.009995941003309783, + -0.9906227070124026 + ], + [ + 0.9804276779089729, + -0.12397820120727052, + 0.15294108020878064, + -0.12348513824089447, + -0.9922644334026307, + -0.012755972631798814, + 0.15333945683889164, + -0.006379641805428089, + -0.9881529796275412 + ], + [ + 0.9763181189804919, + -0.13460641950474098, + 0.16936363948176095, + -0.1312719960029786, + -0.9908682535828717, + -0.030785826398262255, + 0.17196102353669615, + 0.007824057115311745, + -0.9850726828587159 + ], + [ + 0.9750364239668695, + -0.13210554524616588, + 0.17847155754660837, + -0.12864498578280595, + -0.9912098872785178, + -0.030877613156618397, + 0.18098187636015045, + 0.0071473265296429, + -0.9834604598826726 + ], + [ + 0.9720502827271317, + -0.15379440148990398, + 0.1773852584643551, + -0.15530126350742346, + -0.9878521610613221, + -0.005442925635540019, + 0.17606750240490626, + -0.022257357364215795, + -0.984126437324016 + ], + [ + 0.96597822114165, + -0.18857926002824402, + 0.1769857027197781, + -0.2007799766718716, + -0.9781688306250775, + 0.05360167685073966, + 0.16301373330997737, + -0.0873132377178189, + -0.98275272641269 + ], + [ + 0.9667728245234203, + -0.17365628552773754, + 0.18760010730198848, + -0.19609845816928928, + -0.974570296513987, + 0.10843491991174996, + 0.16399908678598243, + -0.14162002559436648, + -0.9762418081008493 + ], + [ + 0.9633246063072368, + -0.1599782698952817, + 0.21543596738780532, + -0.19420069342896806, + -0.9696869442741357, + 0.14830145237318854, + 0.1851804351294031, + -0.18470025247844563, + -0.9651911847813796 + ], + [ + 0.9571186029882651, + -0.19557750545445515, + 0.2137134042918335, + -0.23299301344519038, + -0.9580878938194168, + 0.16667886309428576, + 0.1721575891429752, + -0.20932517067205964, + -0.962571938830336 + ], + [ + 0.951047945200318, + -0.22227620782571542, + 0.21471165167468714, + -0.2593145835699719, + -0.9519100839784527, + 0.16316598532803028, + 0.16811826991194284, + -0.21085653761445083, + -0.9629515916530076 + ], + [ + 0.9377271072394276, + -0.2292247996640835, + 0.26100548570353044, + -0.2701584249308464, + -0.9535638145814336, + 0.1331558371224848, + 0.21836276648563338, + -0.1953766688728884, + -0.9561096482479793 + ], + [ + 0.9359481816382402, + -0.23414285261695644, + 0.2630173489647893, + -0.272912486587664, + -0.9543222818489854, + 0.12160492190320112, + 0.2225303933232709, + -0.18559662425523732, + -0.9570967125178367 + ], + [ + 0.9383450756181486, + -0.22748721548686446, + 0.26030383372744065, + -0.2600219052928146, + -0.9606372174967089, + 0.09779951496850264, + 0.22780941119950407, + -0.15945439206937106, + -0.9605608616942092 + ], + [ + 0.9357120353803385, + -0.23818348169836484, + 0.2602145574145079, + -0.26498497120737946, + -0.9615028052436325, + 0.07276895315207486, + 0.2328646642979733, + -0.13704373227064887, + -0.9628047899583395 + ], + [ + 0.9344842188759326, + -0.24591010318351772, + 0.25742467990484114, + -0.2659356209451716, + -0.9629146805464135, + 0.04553639753762309, + 0.23668014319825026, + -0.11101143698047561, + -0.9652248290813834 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006225.json b/json/chunk-0006/episode_0006225.json new file mode 100644 index 0000000000000000000000000000000000000000..ca409682cbfb45c9742902b0a2597a00ac82e9ec --- /dev/null +++ b/json/chunk-0006/episode_0006225.json @@ -0,0 +1,2782 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 45, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMoved the blue cloth to the bottom left corner of the table." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006225.mp4", + "start": 0, + "end": 45, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.20257285237312317, + 0.0305437371134758, + 0.04770330339670181, + -0.17506489157676697, + -0.10465429723262787, + 1.9020295143127441, + 0.0, + 1.0008161067962646 + ], + [ + 0.20099277794361115, + 0.030151445418596268, + 0.04442223533987999, + -0.15732495486736298, + -0.10398725420236588, + 1.9002553224563599, + 0.0, + 1.0008161067962646 + ], + [ + 0.20705780386924744, + 0.04969474673271179, + 0.051603179425001144, + -0.14603638648986816, + -0.09092628210783005, + 1.9449371099472046, + 0.0, + 1.0001531839370728 + ], + [ + 0.2143557220697403, + 0.07297378778457642, + 0.055537205189466476, + -0.08403851836919785, + -0.07903611660003662, + 1.9751133918762207, + 0.0, + 0.9994885921478271 + ], + [ + 0.2310679703950882, + 0.117253378033638, + 0.058485087007284164, + -0.059264011681079865, + -0.079743891954422, + 2.096935987472534, + 0.0, + 0.9981546401977539 + ], + [ + 0.24987390637397766, + 0.1464984118938446, + 0.05615862086415291, + -0.062492161989212036, + -0.07549981772899628, + 2.193474769592285, + 0.0, + 0.9981546401977539 + ], + [ + 0.2653059959411621, + 0.18453021347522736, + 0.04337037354707718, + -0.04990534484386444, + -0.06887534260749817, + 2.295029878616333, + 0.0, + 0.9981546401977539 + ], + [ + 0.2787424623966217, + 0.2077828347682953, + 0.03150571882724762, + -0.051921237260103226, + -0.04721488058567047, + 2.368579149246216, + 0.0, + 0.9981546401977539 + ], + [ + 0.28745198249816895, + 0.22378510236740112, + 0.0229006577283144, + -0.06818178296089172, + -0.05339326709508896, + 2.440000057220459, + 0.0, + 0.9981546401977539 + ], + [ + 0.2950274348258972, + 0.23750175535678864, + 0.00933980941772461, + -0.06963080167770386, + -0.06258188933134079, + 2.512604236602783, + 0.0, + 0.9981546401977539 + ], + [ + 0.2968936264514923, + 0.24387860298156738, + 0.0005154096870683134, + -0.10073309391736984, + -0.04839116334915161, + 2.6156039237976074, + 0.0, + 0.9981546401977539 + ], + [ + 0.2983516454696655, + 0.24601462483406067, + -0.012779821641743183, + -0.0928926169872284, + -0.05222850292921066, + 2.6875085830688477, + 0.0, + 0.9974852800369263 + ], + [ + 0.29777637124061584, + 0.24387837946414948, + -0.02329796738922596, + -0.08402123302221298, + -0.05535203963518143, + 2.76407527923584, + 0.0, + 0.9988223910331726 + ], + [ + 0.2971804141998291, + 0.23738102614879608, + -0.026618581265211105, + -0.07952827960252762, + -0.06007828935980797, + 2.7783045768737793, + 0.0, + 0.9994885921478271 + ], + [ + 0.29691779613494873, + 0.22499217092990875, + -0.028366820886731148, + -0.07722698897123337, + -0.05541597306728363, + 2.779262065887451, + 0.0, + 1.0001531839370728 + ], + [ + 0.2926987409591675, + 0.2065306454896927, + -0.028243878856301308, + -0.08241841942071915, + -0.0541648231446743, + 2.773935317993164, + 0.0, + 1.0001531839370728 + ], + [ + 0.28905925154685974, + 0.18066681921482086, + -0.028878847137093544, + -0.07618207484483719, + -0.05541945993900299, + 2.719815969467163, + 0.0, + 1.0001531839370728 + ], + [ + 0.28496894240379333, + 0.15012329816818237, + -0.028117291629314423, + -0.0791737511754036, + -0.050423406064510345, + 2.6505706310272217, + 0.0, + 1.0001531839370728 + ], + [ + 0.2788029611110687, + 0.1250762641429901, + -0.02862495742738247, + -0.07521842420101166, + -0.046767737716436386, + 2.595972776412964, + 0.0, + 1.0001531839370728 + ], + [ + 0.27258339524269104, + 0.10344882309436798, + -0.02901824377477169, + -0.07204689085483551, + -0.0458565354347229, + 2.549156427383423, + 0.0, + 1.0001531839370728 + ], + [ + 0.261346697807312, + 0.08556017279624939, + -0.02839171700179577, + -0.061877671629190445, + -0.05740991234779358, + 2.4952917098999023, + 0.0, + 1.0001531839370728 + ], + [ + 0.2527002990245819, + 0.0903879702091217, + -0.02918587252497673, + -0.05723053589463234, + -0.05441068857908249, + 2.5064024925231934, + 0.0, + 1.0001531839370728 + ], + [ + 0.24529704451560974, + 0.10377120226621628, + -0.030331453308463097, + -0.06936494261026382, + -0.06464321911334991, + 2.521831750869751, + 0.0, + 1.0001531839370728 + ], + [ + 0.22469797730445862, + 0.12333162873983383, + -0.02973916009068489, + -0.07464791089296341, + -0.0913902074098587, + 2.583159923553467, + 0.0, + 1.0001531839370728 + ], + [ + 0.21003378927707672, + 0.13083212077617645, + -0.0278634000569582, + -0.06794503331184387, + -0.11360908299684525, + 2.5983431339263916, + 0.0, + 1.0008161067962646 + ], + [ + 0.19900597631931305, + 0.14053913950920105, + -0.024437429383397102, + -0.0666898638010025, + -0.12492635846138, + 2.6433522701263428, + 0.0, + 1.0014774799346924 + ], + [ + 0.19597075879573822, + 0.1450015902519226, + -0.023023897781968117, + -0.06508742272853851, + -0.12153764069080353, + 2.6547744274139404, + 0.0, + 1.0008161067962646 + ], + [ + 0.19883015751838684, + 0.14807942509651184, + -0.011144019663333893, + -0.10341242700815201, + -0.10762239247560501, + 2.6496834754943848, + 0.0, + 1.0008161067962646 + ], + [ + 0.20191317796707153, + 0.14900082349777222, + 0.00871118251234293, + -0.14344559609889984, + -0.07267048209905624, + 2.6531460285186768, + 0.0, + 1.0008161067962646 + ], + [ + 0.2026711106300354, + 0.15060138702392578, + 0.03277779743075371, + -0.193486288189888, + -0.04812230169773102, + 2.669818162918091, + 0.0, + 1.0008161067962646 + ], + [ + 0.2018679827451706, + 0.15220466256141663, + 0.04830983281135559, + -0.2331077605485916, + -0.029624590650200844, + 2.7075905799865723, + 0.0, + 1.0008161067962646 + ], + [ + 0.20170514285564423, + 0.1529609113931656, + 0.048732686787843704, + -0.235663041472435, + -0.026326889172196388, + 2.716420888900757, + 0.0, + 1.0008161067962646 + ], + [ + 0.20155072212219238, + 0.1533200591802597, + 0.04911932721734047, + -0.2369365245103836, + -0.025471052154898643, + 2.7179877758026123, + 0.0, + 1.0008161067962646 + ], + [ + 0.2018461525440216, + 0.15286806225776672, + 0.049091145396232605, + -0.23627929389476776, + -0.02449478581547737, + 2.717421531677246, + 0.0, + 1.0008161067962646 + ], + [ + 0.20170514285564423, + 0.1529609113931656, + 0.048732686787843704, + -0.235663041472435, + -0.026326889172196388, + 2.716420888900757, + 0.0, + 1.0008161067962646 + ], + [ + 0.20178566873073578, + 0.15301069617271423, + 0.04911932721734047, + -0.2369365245103836, + -0.025471052154898643, + 2.716453790664673, + 0.0, + 1.0008161067962646 + ], + [ + 0.20178566873073578, + 0.15301069617271423, + 0.04911932721734047, + -0.2369365245103836, + -0.025471052154898643, + 2.716453790664673, + 0.0, + 1.0008161067962646 + ], + [ + 0.20155072212219238, + 0.1533200591802597, + 0.04911932721734047, + -0.2369365245103836, + -0.025471052154898643, + 2.7179877758026123, + 0.0, + 1.0008161067962646 + ], + [ + 0.20178566873073578, + 0.15301069617271423, + 0.04911932721734047, + -0.2369365245103836, + -0.025471052154898643, + 2.716453790664673, + 0.0, + 1.0008161067962646 + ], + [ + 0.20176558196544647, + 0.1528182476758957, + 0.048704542219638824, + -0.2350066751241684, + -0.025351854041218758, + 2.7173898220062256, + 0.0, + 1.0008161067962646 + ], + [ + 0.20161141455173492, + 0.15317751467227936, + 0.049091145396232605, + -0.23627929389476776, + -0.02449478581547737, + 2.7189555168151855, + 0.0, + 1.0008161067962646 + ], + [ + 0.20178566873073578, + 0.15301069617271423, + 0.04911932721734047, + -0.2369365245103836, + -0.025471052154898643, + 2.716453790664673, + 0.0, + 1.0008161067962646 + ], + [ + 0.2018461525440216, + 0.15286806225776672, + 0.049091145396232605, + -0.23627929389476776, + -0.02449478581547737, + 2.717421531677246, + 0.0, + 1.0008161067962646 + ], + [ + 0.20156174898147583, + 0.15292322635650635, + 0.04908223822712898, + -0.23582708835601807, + -0.026494402438402176, + 2.716700553894043, + 0.0, + 1.0008161067962646 + ], + [ + 0.2018461525440216, + 0.15286806225776672, + 0.049091145396232605, + -0.23627929389476776, + -0.02449478581547737, + 2.717421531677246, + 0.0, + 1.0008161067962646 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9974852800369263 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.20257285237312317, + 0.0305437371134758, + 0.04770330339670181 + ], + [ + 0.20099277794361115, + 0.030151445418596268, + 0.04442223533987999 + ], + [ + 0.20705780386924744, + 0.04969474673271179, + 0.051603179425001144 + ], + [ + 0.2143557220697403, + 0.07297378778457642, + 0.055537205189466476 + ], + [ + 0.2310679703950882, + 0.117253378033638, + 0.058485087007284164 + ], + [ + 0.24987390637397766, + 0.1464984118938446, + 0.05615862086415291 + ], + [ + 0.2653059959411621, + 0.18453021347522736, + 0.04337037354707718 + ], + [ + 0.2787424623966217, + 0.2077828347682953, + 0.03150571882724762 + ], + [ + 0.28745198249816895, + 0.22378510236740112, + 0.0229006577283144 + ], + [ + 0.2950274348258972, + 0.23750175535678864, + 0.00933980941772461 + ], + [ + 0.2968936264514923, + 0.24387860298156738, + 0.0005154096870683134 + ], + [ + 0.2983516454696655, + 0.24601462483406067, + -0.012779821641743183 + ], + [ + 0.29777637124061584, + 0.24387837946414948, + -0.02329796738922596 + ], + [ + 0.2971804141998291, + 0.23738102614879608, + -0.026618581265211105 + ], + [ + 0.29691779613494873, + 0.22499217092990875, + -0.028366820886731148 + ], + [ + 0.2926987409591675, + 0.2065306454896927, + -0.028243878856301308 + ], + [ + 0.28905925154685974, + 0.18066681921482086, + -0.028878847137093544 + ], + [ + 0.28496894240379333, + 0.15012329816818237, + -0.028117291629314423 + ], + [ + 0.2788029611110687, + 0.1250762641429901, + -0.02862495742738247 + ], + [ + 0.27258339524269104, + 0.10344882309436798, + -0.02901824377477169 + ], + [ + 0.261346697807312, + 0.08556017279624939, + -0.02839171700179577 + ], + [ + 0.2527002990245819, + 0.0903879702091217, + -0.02918587252497673 + ], + [ + 0.24529704451560974, + 0.10377120226621628, + -0.030331453308463097 + ], + [ + 0.22469797730445862, + 0.12333162873983383, + -0.02973916009068489 + ], + [ + 0.21003378927707672, + 0.13083212077617645, + -0.0278634000569582 + ], + [ + 0.19900597631931305, + 0.14053913950920105, + -0.024437429383397102 + ], + [ + 0.19597075879573822, + 0.1450015902519226, + -0.023023897781968117 + ], + [ + 0.19883015751838684, + 0.14807942509651184, + -0.011144019663333893 + ], + [ + 0.20191317796707153, + 0.14900082349777222, + 0.00871118251234293 + ], + [ + 0.2026711106300354, + 0.15060138702392578, + 0.03277779743075371 + ], + [ + 0.2018679827451706, + 0.15220466256141663, + 0.04830983281135559 + ], + [ + 0.20170514285564423, + 0.1529609113931656, + 0.048732686787843704 + ], + [ + 0.20155072212219238, + 0.1533200591802597, + 0.04911932721734047 + ], + [ + 0.2018461525440216, + 0.15286806225776672, + 0.049091145396232605 + ], + [ + 0.20170514285564423, + 0.1529609113931656, + 0.048732686787843704 + ], + [ + 0.20178566873073578, + 0.15301069617271423, + 0.04911932721734047 + ], + [ + 0.20178566873073578, + 0.15301069617271423, + 0.04911932721734047 + ], + [ + 0.20155072212219238, + 0.1533200591802597, + 0.04911932721734047 + ], + [ + 0.20178566873073578, + 0.15301069617271423, + 0.04911932721734047 + ], + [ + 0.20176558196544647, + 0.1528182476758957, + 0.048704542219638824 + ], + [ + 0.20161141455173492, + 0.15317751467227936, + 0.049091145396232605 + ], + [ + 0.20178566873073578, + 0.15301069617271423, + 0.04911932721734047 + ], + [ + 0.2018461525440216, + 0.15286806225776672, + 0.049091145396232605 + ], + [ + 0.20156174898147583, + 0.15292322635650635, + 0.04908223822712898 + ], + [ + 0.2018461525440216, + 0.15286806225776672, + 0.049091145396232605 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + -0.32343012249220404, + 0.9371051604009485, + 0.13125118747878156, + 0.9404681608116293, + 0.3030331054455271, + 0.15391743079856596, + 0.10446336374188381, + 0.1732190963893776, + -0.9793276011028068 + ], + [ + -0.3217835159471334, + 0.9397932652451968, + 0.11508252458332696, + 0.9411062319679633, + 0.3041471637969122, + 0.14769415325379823, + 0.10379994708940421, + 0.15583042499481728, + -0.9823148424156949 + ], + [ + -0.363963136987215, + 0.9257430239306073, + 0.10261914323477969, + 0.9269768095138577, + 0.34928354284834945, + 0.13680278256970396, + 0.09080104370509307, + 0.14491673588347104, + -0.9852686487059992 + ], + [ + -0.3921629216490651, + 0.9187338078102324, + 0.04622156715408779, + 0.9165012446510227, + 0.3859096399576062, + 0.10535282787337336, + 0.07895385637696997, + 0.08367759660925544, + -0.9933601302593653 + ], + [ + -0.5006029371882411, + 0.8656034711493841, + 0.011284060113407969, + 0.8620041060723005, + 0.4972371454207659, + 0.09850960525909151, + 0.07965940241427794, + 0.05904110388487975, + -0.9950721218379374 + ], + [ + -0.581551568141571, + 0.8134809048057117, + 0.006825767983183545, + 0.8100051689538681, + 0.5782480592343018, + 0.09757462918084234, + 0.07542811054305391, + 0.062273585959409655, + -0.9952048033604244 + ], + [ + -0.6609906490653545, + 0.7503495803789967, + -0.008177351235236219, + 0.747231587621413, + 0.6591652424914309, + 0.08453483040732543, + 0.0688209002334584, + 0.049766357273524235, + -0.9963869696933918 + ], + [ + -0.7150118972075383, + 0.6991078102594621, + 0.0025012968429529124, + 0.6975173101233263, + 0.7131345427972875, + 0.07006230047338759, + 0.047197340285190945, + 0.05184007622991796, + -0.9975394817081078 + ], + [ + -0.7627267397527261, + 0.6467124569520818, + 0.0033043137228762377, + 0.6445151569696553, + 0.7596937945275734, + 0.08640342002882742, + 0.0533679014254643, + 0.06803187913984948, + -0.9962547518170957 + ], + [ + -0.8070400971209541, + 0.5904199424647091, + -0.009516994219350216, + 0.5871753563200847, + 0.8041036048045682, + 0.09296501315377187, + 0.06254104707616463, + 0.06943834877262767, + -0.9956238914119871 + ], + [ + -0.8638155662532, + 0.503730116286343, + 0.008867775640543644, + 0.5014805979278285, + 0.858001603628387, + 0.1111326148035048, + 0.048372279257971634, + 0.1004451000161979, + -0.9937660209939385 + ], + [ + -0.897437752303126, + 0.4410999737378773, + -0.006024442676003092, + 0.4380412579296577, + 0.8926645595699391, + 0.10615950470499172, + 0.05220476120542657, + 0.09263259283993941, + -0.9943308632699851 + ], + [ + -0.9281589428989756, + 0.3716294039657871, + -0.020311642589662195, + 0.36804925784784953, + 0.9245918948074454, + 0.09833398117652384, + 0.05532377892284185, + 0.08379387903905419, + -0.994946162021486 + ], + [ + -0.9330470553230602, + 0.3586851627171987, + -0.02771545777184789, + 0.3547085172401723, + 0.9300840191932717, + 0.09552792805545629, + 0.060042154776829865, + 0.07930114304237187, + -0.9950408375347862 + ], + [ + -0.933637871769626, + 0.3573937302140766, + -0.024290862503244776, + 0.35391035104499946, + 0.9307716265461315, + 0.09171500771342835, + 0.055387614325668535, + 0.07703181693519089, + -0.9954889810334288 + ], + [ + -0.9318033817305769, + 0.36236933167774554, + -0.020758739241214554, + 0.3589031871170515, + 0.9284023388283291, + 0.09621642029981561, + 0.05413834198314026, + 0.08220440813917501, + -0.9951439469794329 + ], + [ + -0.9109623187546537, + 0.4120409610067967, + -0.019232791314304342, + 0.4087535691713223, + 0.9079909301753423, + 0.09204884795053778, + 0.05539109584445155, + 0.07599155987286735, + -0.9955687366170346 + ], + [ + -0.8807305827457034, + 0.47356566660070704, + -0.007014273550549264, + 0.4709280994051657, + 0.8772092421722614, + 0.0934380577613085, + 0.05040204169527568, + 0.07899053655087583, + -0.9956003863641039 + ], + [ + -0.853871116654006, + 0.5204838038411893, + -0.0008521050683246018, + 0.518380641067559, + 0.850565578537105, + 0.08842911044574919, + 0.046750691015510104, + 0.07506534850945726, + -0.9960821082334157 + ], + [ + -0.8287107136655101, + 0.5596726023995021, + 0.002265210667814283, + 0.5577967414336144, + 0.8255880858284368, + 0.08524733300331919, + 0.04584046577034567, + 0.07190890530042951, + -0.9963572456887395 + ], + [ + -0.7970017412658968, + 0.603917512281882, + -0.008477191657137582, + 0.6012453291076433, + 0.7946522924244565, + 0.08385575931800057, + 0.05737838134150099, + 0.061736314303816146, + -0.9964418441890175 + ], + [ + -0.8037676269318388, + 0.5948631840621519, + -0.009766992566714296, + 0.5924525291339771, + 0.8017953036473997, + 0.07825785437722879, + 0.05438384520346113, + 0.05711465045337997, + -0.9968853063840764 + ], + [ + -0.8123171637067859, + 0.5830883183876213, + -0.012199938821929001, + 0.5796273778615783, + 0.8094592487707941, + 0.0938500261733208, + 0.06459820725588417, + 0.06916456852549319, + -0.995511594146451 + ], + [ + -0.8445473649897484, + 0.5341543947166133, + -0.0376673717400324, + 0.5276464775903976, + 0.8421184238855044, + 0.11147086991246002, + 0.09126304276824987, + 0.07426737343896692, + -0.9930535807634742 + ], + [ + -0.8505149781893164, + 0.5223162764903901, + -0.06172502886869669, + 0.5135880480312713, + 0.8500797127151047, + 0.11658387088115478, + 0.1133648481455144, + 0.06745509130836362, + -0.9912609252167287 + ], + [ + -0.8715791079528042, + 0.4841122952901445, + -0.07736371325823102, + 0.4741563912773766, + 0.8725040318041556, + 0.11795096903505309, + 0.12460166608440348, + 0.06612110127939985, + -0.9900012246328739 + ], + [ + -0.8773061747860789, + 0.47379499959030863, + -0.0764995035633348, + 0.4643652289774675, + 0.8782653849630018, + 0.11408263536793631, + 0.12123864812394354, + 0.0645616909553087, + -0.9905215688020473 + ], + [ + -0.8763330353046241, + 0.4795598712632363, + -0.045417409743098915, + 0.46957691764239895, + 0.8714867846821781, + 0.14145070710951835, + 0.10741475527714067, + 0.10263096023280335, + -0.9889029054211766 + ], + [ + -0.8807321512163668, + 0.4736008258790793, + 0.0036242986141257483, + 0.468016205508534, + 0.8691226017234628, + 0.15995854011221922, + 0.07260653686262715, + 0.14257685962347733, + -0.9871170801403057 + ], + [ + -0.8897320463325652, + 0.4542262853194695, + 0.04533616055360603, + 0.45394153459612685, + 0.8699378940367369, + 0.1927307543892279, + 0.04810373059732261, + 0.19205869478834706, + -0.9802037996553661 + ], + [ + -0.9068920300179495, + 0.4153398753276111, + 0.07099037859292852, + 0.420320694500666, + 0.8798735845162937, + 0.22170473392538678, + 0.02962025766938255, + 0.2309009814472283, + -0.9725262860726729 + ], + [ + -0.9106522173533702, + 0.40667536091350615, + 0.0729910258542773, + 0.4123343231561791, + 0.8832533032052616, + 0.22325771727832847, + 0.026323848060758638, + 0.23340684052286023, + -0.9720227887351255 + ], + [ + -0.9113173843685456, + 0.4050149985207732, + 0.07391532940392329, + 0.41091603855342734, + 0.8836868029318066, + 0.22415540052320956, + 0.025468298082726715, + 0.23464970764392687, + -0.9717463045956949 + ], + [ + -0.9111067857231312, + 0.40535567747730955, + 0.07464046989519915, + 0.4114420377955225, + 0.8836984535531078, + 0.22314231495284317, + 0.02449233643270011, + 0.23401670437119956, + -0.9719240235385225 + ], + [ + -0.9106522173533702, + 0.40667536091350615, + 0.0729910258542773, + 0.4123343231561791, + 0.8832533032052616, + 0.22325771727832847, + 0.026323848060758638, + 0.23340684052286023, + -0.9720227887351255 + ], + [ + -0.9106859733046747, + 0.4063700838890228, + 0.07425909335661329, + 0.4123135018634328, + 0.883064476480992, + 0.22404175181975522, + 0.025468298082726725, + 0.23464970764392695, + -0.9717463045956951 + ], + [ + -0.9106859733046747, + 0.4063700838890228, + 0.07425909335661329, + 0.4123135018634328, + 0.883064476480992, + 0.22404175181975522, + 0.025468298082726725, + 0.23464970764392695, + -0.9717463045956951 + ], + [ + -0.9113173843685456, + 0.4050149985207732, + 0.07391532940392329, + 0.41091603855342734, + 0.8836868029318066, + 0.22415540052320956, + 0.025468298082726715, + 0.23464970764392687, + -0.9717463045956949 + ], + [ + -0.9106859733046747, + 0.4063700838890228, + 0.07425909335661329, + 0.4123135018634328, + 0.883064476480992, + 0.22404175181975522, + 0.025468298082726725, + 0.23464970764392695, + -0.9717463045956951 + ], + [ + -0.9110742728892216, + 0.4056601917537632, + 0.07337218891157293, + 0.4114621373335382, + 0.8838867403210455, + 0.2223581341564825, + 0.025349138452657544, + 0.23277465306801728, + -0.9722002787845574 + ], + [ + -0.9117368594794891, + 0.40399962079153984, + 0.07429808521604395, + 0.41004392999109984, + 0.8843192231742646, + 0.22325654974024714, + 0.024492336432700112, + 0.23401670437119956, + -0.9719240235385225 + ], + [ + -0.9106859733046747, + 0.4063700838890228, + 0.07425909335661329, + 0.4123135018634328, + 0.883064476480992, + 0.22404175181975522, + 0.025468298082726725, + 0.23464970764392695, + -0.9717463045956951 + ], + [ + -0.9111067857231312, + 0.40535567747730955, + 0.07464046989519915, + 0.4114420377955225, + 0.8836984535531078, + 0.22314231495284317, + 0.02449233643270011, + 0.23401670437119956, + -0.9719240235385225 + ], + [ + -0.9107634669301455, + 0.4064520072728622, + 0.07284691544082769, + 0.41207780597311444, + 0.8833142332034657, + 0.22349015021820987, + 0.026491302908052492, + 0.23356526112424106, + -0.9719801848115008 + ], + [ + -0.9111067857231312, + 0.40535567747730955, + 0.07464046989519915, + 0.4114420377955225, + 0.8836984535531078, + 0.22314231495284317, + 0.02449233643270011, + 0.23401670437119956, + -0.9719240235385225 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.001580074429512024, + -0.00039229169487953186, + -0.003281068056821823, + 0.01773993670940399, + 0.0006670430302619934, + -0.0017741918563842773, + 1.0 + ], + [ + 0.0060650259256362915, + 0.019543301314115524, + 0.007180944085121155, + 0.011288568377494812, + 0.013060972094535828, + 0.04468178749084473, + 1.0 + ], + [ + 0.007297918200492859, + 0.023279041051864624, + 0.003934025764465332, + 0.06199786812067032, + 0.011890165507793427, + 0.030176281929016113, + 1.0 + ], + [ + 0.0167122483253479, + 0.044279590249061584, + 0.002947881817817688, + 0.02477450668811798, + -0.000707775354385376, + 0.12182259559631348, + 1.0 + ], + [ + 0.018805935978889465, + 0.029245033860206604, + -0.002326466143131256, + -0.0032281503081321716, + 0.00424407422542572, + 0.09653878211975098, + 1.0 + ], + [ + 0.015432089567184448, + 0.03803180158138275, + -0.01278824731707573, + 0.012586817145347595, + 0.006624475121498108, + 0.10155510902404785, + 1.0 + ], + [ + 0.013436466455459595, + 0.023252621293067932, + -0.01186465471982956, + -0.002015892416238785, + 0.021660462021827698, + 0.07354927062988281, + 1.0 + ], + [ + 0.008709520101547241, + 0.016002267599105835, + -0.00860506109893322, + -0.016260545700788498, + -0.0061783865094184875, + 0.07142090797424316, + 1.0 + ], + [ + 0.0075754523277282715, + 0.013716652989387512, + -0.01356084831058979, + -0.0014490187168121338, + -0.009188622236251831, + 0.07260417938232422, + 1.0 + ], + [ + 0.0018661916255950928, + 0.0063768476247787476, + -0.008824399672448635, + -0.031102292239665985, + 0.014190725982189178, + 0.10299968719482422, + 1.0 + ], + [ + 0.0014580190181732178, + 0.002136021852493286, + -0.013295231387019157, + 0.007840476930141449, + -0.0038373395800590515, + 0.07190465927124023, + 1.0 + ], + [ + -0.0005752742290496826, + -0.002136245369911194, + -0.010518145747482777, + 0.008871383965015411, + -0.003123536705970764, + 0.07656669616699219, + 1.0 + ], + [ + -0.0005959570407867432, + -0.0064973533153533936, + -0.0033206138759851456, + 0.004492953419685364, + -0.004726249724626541, + 0.014229297637939453, + 1.0 + ], + [ + -0.0002626180648803711, + -0.012388855218887329, + -0.0017482396215200424, + 0.0023012906312942505, + 0.004662316292524338, + 0.000957489013671875, + 1.0 + ], + [ + -0.00421905517578125, + -0.018461525440216064, + 0.0001229420304298401, + -0.005191430449485779, + 0.0012511499226093292, + -0.005326747894287109, + 1.0 + ], + [ + -0.0036394894123077393, + -0.025863826274871826, + -0.0006349682807922363, + 0.006236344575881958, + -0.0012546367943286896, + -0.05411934852600098, + 1.0 + ], + [ + -0.004090309143066406, + -0.03054352104663849, + 0.0007615555077791214, + -0.0029916763305664062, + 0.004996053874492645, + -0.0692453384399414, + 1.0 + ], + [ + -0.006165981292724609, + -0.02504703402519226, + -0.0005076657980680466, + 0.003955326974391937, + 0.0036556683480739594, + -0.05459785461425781, + 1.0 + ], + [ + -0.0062195658683776855, + -0.02162744104862213, + -0.0003932863473892212, + 0.0031715333461761475, + 0.0009112022817134857, + -0.046816349029541016, + 1.0 + ], + [ + -0.011236697435379028, + -0.01788865029811859, + 0.0006265267729759216, + 0.010169219225645065, + -0.011553376913070679, + -0.05386471748352051, + 1.0 + ], + [ + -0.008646398782730103, + 0.0048277974128723145, + -0.0007941555231809616, + 0.0046471357345581055, + 0.00299922376871109, + 0.011110782623291016, + 1.0 + ], + [ + -0.007403254508972168, + 0.013383232057094574, + -0.0011455807834863663, + -0.012134406715631485, + -0.010232530534267426, + 0.015429258346557617, + 1.0 + ], + [ + -0.020599067211151123, + 0.019560426473617554, + 0.0005922932177782059, + -0.005282968282699585, + -0.02674698829650879, + 0.06132817268371582, + 1.0 + ], + [ + -0.014664188027381897, + 0.007500492036342621, + 0.0018757600337266922, + 0.006702877581119537, + -0.022218875586986542, + 0.015183210372924805, + 1.0 + ], + [ + -0.011027812957763672, + 0.009707018733024597, + 0.003425970673561096, + 0.0012551695108413696, + -0.01131727546453476, + 0.04500913619995117, + 1.0 + ], + [ + -0.003035217523574829, + 0.004462450742721558, + 0.0014135316014289856, + 0.0016024410724639893, + 0.003388717770576477, + 0.011422157287597656, + 1.0 + ], + [ + 0.0028593987226486206, + 0.0030778348445892334, + 0.011879878118634224, + -0.038325004279613495, + 0.013915248215198517, + -0.005090951919555664, + 1.0 + ], + [ + 0.0030830204486846924, + 0.000921398401260376, + 0.019855201244354248, + -0.04003316909074783, + 0.03495191037654877, + 0.003462553024291992, + 1.0 + ], + [ + 0.0007579326629638672, + 0.0016005635261535645, + 0.024066615849733353, + -0.05004069209098816, + 0.024548180401325226, + 0.016672134399414062, + 1.0 + ], + [ + -0.0008031278848648071, + 0.0016032755374908447, + 0.015532035380601883, + -0.03962147235870361, + 0.018497711047530174, + 0.037772417068481445, + 1.0 + ], + [ + -0.0001628398895263672, + 0.0007562488317489624, + 0.0004228539764881134, + -0.002555280923843384, + 0.0032977014780044556, + 0.00883030891418457, + 1.0 + ], + [ + -0.00015442073345184326, + 0.0003591477870941162, + 0.00038664042949676514, + -0.0012734830379486084, + 0.0008558370172977448, + 0.0015668869018554688, + 1.0 + ], + [ + 0.00029543042182922363, + -0.00045199692249298096, + -2.818182110786438e-05, + 0.0006572306156158447, + 0.0009762663394212723, + -0.0005662441253662109, + 1.0 + ], + [ + -0.00014100968837738037, + 9.284913539886475e-05, + -0.00035845860838890076, + 0.0006162524223327637, + -0.001832103356719017, + -0.0010006427764892578, + 1.0 + ], + [ + 8.052587509155273e-05, + 4.978477954864502e-05, + 0.00038664042949676514, + -0.0012734830379486084, + 0.0008558370172977448, + 3.2901763916015625e-05, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + -0.000234946608543396, + 0.0003093630075454712, + 0.0, + 0.0, + 0.0, + 0.0015339851379394531, + 1.0 + ], + [ + 0.000234946608543396, + -0.0003093630075454712, + 0.0, + 0.0, + 0.0, + -0.0015339851379394531, + 1.0 + ], + [ + -2.008676528930664e-05, + -0.00019244849681854248, + -0.0004147849977016449, + 0.00192984938621521, + 0.00011919811367988586, + 0.0009360313415527344, + 1.0 + ], + [ + -0.00015416741371154785, + 0.000359266996383667, + 0.0003866031765937805, + -0.0012726187705993652, + 0.0008570682257413864, + 0.001565694808959961, + 1.0 + ], + [ + 0.0001742541790008545, + -0.0001668184995651245, + 2.818182110786438e-05, + -0.0006572306156158447, + -0.0009762663394212723, + -0.0025017261505126953, + 1.0 + ], + [ + 6.048381328582764e-05, + -0.00014263391494750977, + -2.818182110786438e-05, + 0.0006572306156158447, + 0.0009762663394212723, + 0.0009677410125732422, + 1.0 + ], + [ + -0.00028440356254577637, + 5.5164098739624023e-05, + -8.907169103622437e-06, + 0.0004522055387496948, + -0.0019996166229248047, + -0.000720977783203125, + 1.0 + ], + [ + 0.00028440356254577637, + -5.5164098739624023e-05, + 8.907169103622437e-06, + -0.0004522055387496948, + 0.0019996166229248047, + 0.000720977783203125, + 1.0 + ], + [ + -0.00029543042182922363, + 0.00045199692249298096, + 2.818182110786438e-05, + -0.0006572306156158447, + -0.0009762663394212723, + 0.0005662441253662109, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9974852800369263 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.20099277794361115, + 0.030151445418596268, + 0.04442223533987999 + ], + [ + 0.20705780386924744, + 0.04969474673271179, + 0.051603179425001144 + ], + [ + 0.2143557220697403, + 0.07297378778457642, + 0.055537205189466476 + ], + [ + 0.2310679703950882, + 0.117253378033638, + 0.058485087007284164 + ], + [ + 0.24987390637397766, + 0.1464984118938446, + 0.05615862086415291 + ], + [ + 0.2653059959411621, + 0.18453021347522736, + 0.04337037354707718 + ], + [ + 0.2787424623966217, + 0.2077828347682953, + 0.03150571882724762 + ], + [ + 0.28745198249816895, + 0.22378510236740112, + 0.0229006577283144 + ], + [ + 0.2950274348258972, + 0.23750175535678864, + 0.00933980941772461 + ], + [ + 0.2968936264514923, + 0.24387860298156738, + 0.0005154096870683134 + ], + [ + 0.2983516454696655, + 0.24601462483406067, + -0.012779821641743183 + ], + [ + 0.29777637124061584, + 0.24387837946414948, + -0.02329796738922596 + ], + [ + 0.2971804141998291, + 0.23738102614879608, + -0.026618581265211105 + ], + [ + 0.29691779613494873, + 0.22499217092990875, + -0.028366820886731148 + ], + [ + 0.2926987409591675, + 0.2065306454896927, + -0.028243878856301308 + ], + [ + 0.28905925154685974, + 0.18066681921482086, + -0.028878847137093544 + ], + [ + 0.28496894240379333, + 0.15012329816818237, + -0.028117291629314423 + ], + [ + 0.2788029611110687, + 0.1250762641429901, + -0.02862495742738247 + ], + [ + 0.27258339524269104, + 0.10344882309436798, + -0.02901824377477169 + ], + [ + 0.261346697807312, + 0.08556017279624939, + -0.02839171700179577 + ], + [ + 0.2527002990245819, + 0.0903879702091217, + -0.02918587252497673 + ], + [ + 0.24529704451560974, + 0.10377120226621628, + -0.030331453308463097 + ], + [ + 0.22469797730445862, + 0.12333162873983383, + -0.02973916009068489 + ], + [ + 0.21003378927707672, + 0.13083212077617645, + -0.0278634000569582 + ], + [ + 0.19900597631931305, + 0.14053913950920105, + -0.024437429383397102 + ], + [ + 0.19597075879573822, + 0.1450015902519226, + -0.023023897781968117 + ], + [ + 0.19883015751838684, + 0.14807942509651184, + -0.011144019663333893 + ], + [ + 0.20191317796707153, + 0.14900082349777222, + 0.00871118251234293 + ], + [ + 0.2026711106300354, + 0.15060138702392578, + 0.03277779743075371 + ], + [ + 0.2018679827451706, + 0.15220466256141663, + 0.04830983281135559 + ], + [ + 0.20170514285564423, + 0.1529609113931656, + 0.048732686787843704 + ], + [ + 0.20155072212219238, + 0.1533200591802597, + 0.04911932721734047 + ], + [ + 0.2018461525440216, + 0.15286806225776672, + 0.049091145396232605 + ], + [ + 0.20170514285564423, + 0.1529609113931656, + 0.048732686787843704 + ], + [ + 0.20178566873073578, + 0.15301069617271423, + 0.04911932721734047 + ], + [ + 0.20178566873073578, + 0.15301069617271423, + 0.04911932721734047 + ], + [ + 0.20155072212219238, + 0.1533200591802597, + 0.04911932721734047 + ], + [ + 0.20178566873073578, + 0.15301069617271423, + 0.04911932721734047 + ], + [ + 0.20176558196544647, + 0.1528182476758957, + 0.048704542219638824 + ], + [ + 0.20161141455173492, + 0.15317751467227936, + 0.049091145396232605 + ], + [ + 0.20178566873073578, + 0.15301069617271423, + 0.04911932721734047 + ], + [ + 0.2018461525440216, + 0.15286806225776672, + 0.049091145396232605 + ], + [ + 0.20156174898147583, + 0.15292322635650635, + 0.04908223822712898 + ], + [ + 0.2018461525440216, + 0.15286806225776672, + 0.049091145396232605 + ], + [ + 0.20155072212219238, + 0.1533200591802597, + 0.04911932721734047 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + -0.3217835159471334, + 0.9397932652451968, + 0.11508252458332696, + 0.9411062319679633, + 0.3041471637969122, + 0.14769415325379823, + 0.10379994708940421, + 0.15583042499481728, + -0.9823148424156949 + ], + [ + -0.363963136987215, + 0.9257430239306073, + 0.10261914323477969, + 0.9269768095138577, + 0.34928354284834945, + 0.13680278256970396, + 0.09080104370509307, + 0.14491673588347104, + -0.9852686487059992 + ], + [ + -0.3921629216490651, + 0.9187338078102324, + 0.04622156715408779, + 0.9165012446510227, + 0.3859096399576062, + 0.10535282787337336, + 0.07895385637696997, + 0.08367759660925544, + -0.9933601302593653 + ], + [ + -0.5006029371882411, + 0.8656034711493841, + 0.011284060113407969, + 0.8620041060723005, + 0.4972371454207659, + 0.09850960525909151, + 0.07965940241427794, + 0.05904110388487975, + -0.9950721218379374 + ], + [ + -0.581551568141571, + 0.8134809048057117, + 0.006825767983183545, + 0.8100051689538681, + 0.5782480592343018, + 0.09757462918084234, + 0.07542811054305391, + 0.062273585959409655, + -0.9952048033604244 + ], + [ + -0.6609906490653545, + 0.7503495803789967, + -0.008177351235236219, + 0.747231587621413, + 0.6591652424914309, + 0.08453483040732543, + 0.0688209002334584, + 0.049766357273524235, + -0.9963869696933918 + ], + [ + -0.7150118972075383, + 0.6991078102594621, + 0.0025012968429529124, + 0.6975173101233263, + 0.7131345427972875, + 0.07006230047338759, + 0.047197340285190945, + 0.05184007622991796, + -0.9975394817081078 + ], + [ + -0.7627267397527261, + 0.6467124569520818, + 0.0033043137228762377, + 0.6445151569696553, + 0.7596937945275734, + 0.08640342002882742, + 0.0533679014254643, + 0.06803187913984948, + -0.9962547518170957 + ], + [ + -0.8070400971209541, + 0.5904199424647091, + -0.009516994219350216, + 0.5871753563200847, + 0.8041036048045682, + 0.09296501315377187, + 0.06254104707616463, + 0.06943834877262767, + -0.9956238914119871 + ], + [ + -0.8638155662532, + 0.503730116286343, + 0.008867775640543644, + 0.5014805979278285, + 0.858001603628387, + 0.1111326148035048, + 0.048372279257971634, + 0.1004451000161979, + -0.9937660209939385 + ], + [ + -0.897437752303126, + 0.4410999737378773, + -0.006024442676003092, + 0.4380412579296577, + 0.8926645595699391, + 0.10615950470499172, + 0.05220476120542657, + 0.09263259283993941, + -0.9943308632699851 + ], + [ + -0.9281589428989756, + 0.3716294039657871, + -0.020311642589662195, + 0.36804925784784953, + 0.9245918948074454, + 0.09833398117652384, + 0.05532377892284185, + 0.08379387903905419, + -0.994946162021486 + ], + [ + -0.9330470553230602, + 0.3586851627171987, + -0.02771545777184789, + 0.3547085172401723, + 0.9300840191932717, + 0.09552792805545629, + 0.060042154776829865, + 0.07930114304237187, + -0.9950408375347862 + ], + [ + -0.933637871769626, + 0.3573937302140766, + -0.024290862503244776, + 0.35391035104499946, + 0.9307716265461315, + 0.09171500771342835, + 0.055387614325668535, + 0.07703181693519089, + -0.9954889810334288 + ], + [ + -0.9318033817305769, + 0.36236933167774554, + -0.020758739241214554, + 0.3589031871170515, + 0.9284023388283291, + 0.09621642029981561, + 0.05413834198314026, + 0.08220440813917501, + -0.9951439469794329 + ], + [ + -0.9109623187546537, + 0.4120409610067967, + -0.019232791314304342, + 0.4087535691713223, + 0.9079909301753423, + 0.09204884795053778, + 0.05539109584445155, + 0.07599155987286735, + -0.9955687366170346 + ], + [ + -0.8807305827457034, + 0.47356566660070704, + -0.007014273550549264, + 0.4709280994051657, + 0.8772092421722614, + 0.0934380577613085, + 0.05040204169527568, + 0.07899053655087583, + -0.9956003863641039 + ], + [ + -0.853871116654006, + 0.5204838038411893, + -0.0008521050683246018, + 0.518380641067559, + 0.850565578537105, + 0.08842911044574919, + 0.046750691015510104, + 0.07506534850945726, + -0.9960821082334157 + ], + [ + -0.8287107136655101, + 0.5596726023995021, + 0.002265210667814283, + 0.5577967414336144, + 0.8255880858284368, + 0.08524733300331919, + 0.04584046577034567, + 0.07190890530042951, + -0.9963572456887395 + ], + [ + -0.7970017412658968, + 0.603917512281882, + -0.008477191657137582, + 0.6012453291076433, + 0.7946522924244565, + 0.08385575931800057, + 0.05737838134150099, + 0.061736314303816146, + -0.9964418441890175 + ], + [ + -0.8037676269318388, + 0.5948631840621519, + -0.009766992566714296, + 0.5924525291339771, + 0.8017953036473997, + 0.07825785437722879, + 0.05438384520346113, + 0.05711465045337997, + -0.9968853063840764 + ], + [ + -0.8123171637067859, + 0.5830883183876213, + -0.012199938821929001, + 0.5796273778615783, + 0.8094592487707941, + 0.0938500261733208, + 0.06459820725588417, + 0.06916456852549319, + -0.995511594146451 + ], + [ + -0.8445473649897484, + 0.5341543947166133, + -0.0376673717400324, + 0.5276464775903976, + 0.8421184238855044, + 0.11147086991246002, + 0.09126304276824987, + 0.07426737343896692, + -0.9930535807634742 + ], + [ + -0.8505149781893164, + 0.5223162764903901, + -0.06172502886869669, + 0.5135880480312713, + 0.8500797127151047, + 0.11658387088115478, + 0.1133648481455144, + 0.06745509130836362, + -0.9912609252167287 + ], + [ + -0.8715791079528042, + 0.4841122952901445, + -0.07736371325823102, + 0.4741563912773766, + 0.8725040318041556, + 0.11795096903505309, + 0.12460166608440348, + 0.06612110127939985, + -0.9900012246328739 + ], + [ + -0.8773061747860789, + 0.47379499959030863, + -0.0764995035633348, + 0.4643652289774675, + 0.8782653849630018, + 0.11408263536793631, + 0.12123864812394354, + 0.0645616909553087, + -0.9905215688020473 + ], + [ + -0.8763330353046241, + 0.4795598712632363, + -0.045417409743098915, + 0.46957691764239895, + 0.8714867846821781, + 0.14145070710951835, + 0.10741475527714067, + 0.10263096023280335, + -0.9889029054211766 + ], + [ + -0.8807321512163668, + 0.4736008258790793, + 0.0036242986141257483, + 0.468016205508534, + 0.8691226017234628, + 0.15995854011221922, + 0.07260653686262715, + 0.14257685962347733, + -0.9871170801403057 + ], + [ + -0.8897320463325652, + 0.4542262853194695, + 0.04533616055360603, + 0.45394153459612685, + 0.8699378940367369, + 0.1927307543892279, + 0.04810373059732261, + 0.19205869478834706, + -0.9802037996553661 + ], + [ + -0.9068920300179495, + 0.4153398753276111, + 0.07099037859292852, + 0.420320694500666, + 0.8798735845162937, + 0.22170473392538678, + 0.02962025766938255, + 0.2309009814472283, + -0.9725262860726729 + ], + [ + -0.9106522173533702, + 0.40667536091350615, + 0.0729910258542773, + 0.4123343231561791, + 0.8832533032052616, + 0.22325771727832847, + 0.026323848060758638, + 0.23340684052286023, + -0.9720227887351255 + ], + [ + -0.9113173843685456, + 0.4050149985207732, + 0.07391532940392329, + 0.41091603855342734, + 0.8836868029318066, + 0.22415540052320956, + 0.025468298082726715, + 0.23464970764392687, + -0.9717463045956949 + ], + [ + -0.9111067857231312, + 0.40535567747730955, + 0.07464046989519915, + 0.4114420377955225, + 0.8836984535531078, + 0.22314231495284317, + 0.02449233643270011, + 0.23401670437119956, + -0.9719240235385225 + ], + [ + -0.9106522173533702, + 0.40667536091350615, + 0.0729910258542773, + 0.4123343231561791, + 0.8832533032052616, + 0.22325771727832847, + 0.026323848060758638, + 0.23340684052286023, + -0.9720227887351255 + ], + [ + -0.9106859733046747, + 0.4063700838890228, + 0.07425909335661329, + 0.4123135018634328, + 0.883064476480992, + 0.22404175181975522, + 0.025468298082726725, + 0.23464970764392695, + -0.9717463045956951 + ], + [ + -0.9106859733046747, + 0.4063700838890228, + 0.07425909335661329, + 0.4123135018634328, + 0.883064476480992, + 0.22404175181975522, + 0.025468298082726725, + 0.23464970764392695, + -0.9717463045956951 + ], + [ + -0.9113173843685456, + 0.4050149985207732, + 0.07391532940392329, + 0.41091603855342734, + 0.8836868029318066, + 0.22415540052320956, + 0.025468298082726715, + 0.23464970764392687, + -0.9717463045956949 + ], + [ + -0.9106859733046747, + 0.4063700838890228, + 0.07425909335661329, + 0.4123135018634328, + 0.883064476480992, + 0.22404175181975522, + 0.025468298082726725, + 0.23464970764392695, + -0.9717463045956951 + ], + [ + -0.9110742728892216, + 0.4056601917537632, + 0.07337218891157293, + 0.4114621373335382, + 0.8838867403210455, + 0.2223581341564825, + 0.025349138452657544, + 0.23277465306801728, + -0.9722002787845574 + ], + [ + -0.9117368594794891, + 0.40399962079153984, + 0.07429808521604395, + 0.41004392999109984, + 0.8843192231742646, + 0.22325654974024714, + 0.024492336432700112, + 0.23401670437119956, + -0.9719240235385225 + ], + [ + -0.9106859733046747, + 0.4063700838890228, + 0.07425909335661329, + 0.4123135018634328, + 0.883064476480992, + 0.22404175181975522, + 0.025468298082726725, + 0.23464970764392695, + -0.9717463045956951 + ], + [ + -0.9111067857231312, + 0.40535567747730955, + 0.07464046989519915, + 0.4114420377955225, + 0.8836984535531078, + 0.22314231495284317, + 0.02449233643270011, + 0.23401670437119956, + -0.9719240235385225 + ], + [ + -0.9107634669301455, + 0.4064520072728622, + 0.07284691544082769, + 0.41207780597311444, + 0.8833142332034657, + 0.22349015021820987, + 0.026491302908052492, + 0.23356526112424106, + -0.9719801848115008 + ], + [ + -0.9111067857231312, + 0.40535567747730955, + 0.07464046989519915, + 0.4114420377955225, + 0.8836984535531078, + 0.22314231495284317, + 0.02449233643270011, + 0.23401670437119956, + -0.9719240235385225 + ], + [ + -0.9113173843685456, + 0.4050149985207732, + 0.07391532940392329, + 0.41091603855342734, + 0.8836868029318066, + 0.22415540052320956, + 0.025468298082726715, + 0.23464970764392687, + -0.9717463045956949 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006227.json b/json/chunk-0006/episode_0006227.json new file mode 100644 index 0000000000000000000000000000000000000000..347bbfe945e328ee111c023fe14f946c71c29b52 --- /dev/null +++ b/json/chunk-0006/episode_0006227.json @@ -0,0 +1,2662 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 43, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nTake the beer and pour it into the cup." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006227.mp4", + "start": 0, + "end": 43, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.18095238506793976, + -0.08126822859048843, + 0.1268017590045929, + -0.10832095891237259, + 0.018358690664172173, + 1.6397483348846436, + 0.0, + 0.9994885921478271 + ], + [ + 0.17791418731212616, + -0.08043625950813293, + 0.1237468346953392, + -0.0897166058421135, + 0.012663128785789013, + 1.6268759965896606, + 0.0, + 1.0001531839370728 + ], + [ + 0.18481557071208954, + -0.06109248101711273, + 0.12802526354789734, + -0.05521579459309578, + 0.0021825958974659443, + 1.517225980758667, + 0.0, + 0.9994885921478271 + ], + [ + 0.19176480174064636, + -0.04761757701635361, + 0.1320677101612091, + -0.026967281475663185, + -0.07575589418411255, + 1.4217907190322876, + 0.0, + 1.0001531839370728 + ], + [ + 0.1920124888420105, + -0.052562277764081955, + 0.1257380247116089, + -0.01155027374625206, + -0.11288530379533768, + 1.2695088386535645, + 0.0, + 0.9994885921478271 + ], + [ + 0.19403496384620667, + -0.05977781116962433, + 0.11235145479440689, + 0.03429064527153969, + -0.13979600369930267, + 1.0845762491226196, + 0.0, + 0.9994885921478271 + ], + [ + 0.195514976978302, + -0.05226797237992287, + 0.10952223837375641, + 0.05326012894511223, + -0.1338331550359726, + 0.9596908688545227, + 0.0, + 0.9994885921478271 + ], + [ + 0.20373831689357758, + -0.03883613646030426, + 0.10542051494121552, + 0.02634379081428051, + -0.06354491412639618, + 0.8768072724342346, + 0.0, + 0.9994885921478271 + ], + [ + 0.2116125226020813, + -0.029581965878605843, + 0.10613557696342468, + 0.025092603638768196, + -0.05839015170931816, + 0.8440709114074707, + 0.0, + 0.9994885921478271 + ], + [ + 0.21744544804096222, + -0.02851962484419346, + 0.09840750694274902, + 0.03753676265478134, + -0.06922905147075653, + 0.8086806535720825, + 0.0, + 0.9994885921478271 + ], + [ + 0.21965527534484863, + -0.032817766070365906, + 0.09704296290874481, + 0.038304831832647324, + -0.09367306530475616, + 0.7853666543960571, + 0.0, + 1.0001531839370728 + ], + [ + 0.21505601704120636, + -0.03456242382526398, + 0.08867976814508438, + 0.05405034124851227, + -0.0933803841471672, + 0.7779926061630249, + 0.0, + 0.9994885921478271 + ], + [ + 0.20931169390678406, + -0.03239808231592178, + 0.0788058340549469, + 0.06928789615631104, + -0.0895473062992096, + 0.7755284309387207, + 0.0, + 0.9994885921478271 + ], + [ + 0.20808936655521393, + -0.02924402430653572, + 0.06245964393019676, + 0.1128750890493393, + -0.07330483943223953, + 0.774458110332489, + 0.0, + 1.0001531839370728 + ], + [ + 0.2066250890493393, + -0.024102874100208282, + 0.059777796268463135, + 0.12523765861988068, + -0.08805786073207855, + 0.7712193727493286, + 0.0, + 0.9994885921478271 + ], + [ + 0.2056635022163391, + -0.026053283363580704, + 0.0601615309715271, + 0.15977519750595093, + -0.1488226056098938, + 0.7448499798774719, + 0.0, + 0.9679883122444153 + ], + [ + 0.20450475811958313, + -0.02849324606359005, + 0.062055595219135284, + 0.16610398888587952, + -0.18512262403964996, + 0.7248318195343018, + 0.0, + 0.7200843095779419 + ], + [ + 0.20300854742527008, + -0.029127713292837143, + 0.06305276602506638, + 0.17474742233753204, + -0.18928183615207672, + 0.7250201106071472, + 0.0, + 0.46716928482055664 + ], + [ + 0.1992824226617813, + -0.030381813645362854, + 0.07263059914112091, + 0.15105469524860382, + -0.18761467933654785, + 0.7473134398460388, + 0.0, + 0.3437051773071289 + ], + [ + 0.19505007565021515, + -0.030008861795067787, + 0.08663152158260345, + 0.11198402941226959, + -0.18519379198551178, + 0.7802948355674744, + 0.0, + 0.3026532232761383 + ], + [ + 0.19157680869102478, + -0.03053293190896511, + 0.09925564378499985, + 0.07276929169893265, + -0.163243368268013, + 0.8198475241661072, + 0.0, + 0.28394967317581177 + ], + [ + 0.18764185905456543, + -0.032552704215049744, + 0.10463222116231918, + 0.06478716433048248, + -0.1613435298204422, + 0.8145946860313416, + 0.0, + 0.2759375274181366 + ], + [ + 0.18656140565872192, + -0.038560573011636734, + 0.11465650796890259, + 0.036701299250125885, + -0.16818173229694366, + 0.7984604835510254, + 0.0, + 0.2759375274181366 + ], + [ + 0.18707434833049774, + -0.04740217700600624, + 0.12353624403476715, + 0.009091966785490513, + -0.18193155527114868, + 0.775734543800354, + 0.0, + 0.2759375274181366 + ], + [ + 0.19592341780662537, + -0.059528373181819916, + 0.13230523467063904, + -0.015165099874138832, + -0.19503796100616455, + 0.7281413674354553, + 0.0, + 0.2759375274181366 + ], + [ + 0.21093793213367462, + -0.06740188598632812, + 0.13591642677783966, + -0.022524051368236542, + -0.22772958874702454, + 0.6690598130226135, + 0.0, + 0.2759375274181366 + ], + [ + 0.22794093191623688, + -0.07051775604486465, + 0.13353580236434937, + -0.022410569712519646, + -0.24986112117767334, + 0.6301635503768921, + 0.0, + 0.2759375274181366 + ], + [ + 0.2439296990633011, + -0.07061053812503815, + 0.12943148612976074, + -0.008636347949504852, + -0.25001487135887146, + 0.6106964945793152, + 0.0, + 0.2759375274181366 + ], + [ + 0.25846487283706665, + -0.06300653517246246, + 0.1337166130542755, + -0.011344002559781075, + -0.2560424506664276, + 0.6292868256568909, + 0.0, + 0.2759375274181366 + ], + [ + 0.257414847612381, + -0.04289417713880539, + 0.13346758484840393, + -0.00605200557038188, + -0.2095702588558197, + 0.7340271472930908, + 0.0, + 0.2759375274181366 + ], + [ + 0.2520171105861664, + -0.015363081358373165, + 0.1410050243139267, + -0.023808475583791733, + -0.16734568774700165, + 0.8622058033943176, + 0.0, + 0.2759375274181366 + ], + [ + 0.2445003241300583, + 0.011471681296825409, + 0.1496254801750183, + -0.03971658647060394, + -0.1404990404844284, + 0.9619620442390442, + 0.0, + 0.2759375274181366 + ], + [ + 0.2424246221780777, + 0.03065589629113674, + 0.15710969269275665, + -0.03638043999671936, + -0.1261071264743805, + 1.0163792371749878, + 0.0, + 0.2759375274181366 + ], + [ + 0.24717973172664642, + 0.04998759925365448, + 0.17134112119674683, + -0.05580611154437065, + -0.12253785878419876, + 1.0820776224136353, + 0.0, + 0.2759375274181366 + ], + [ + 0.25803256034851074, + 0.07065144181251526, + 0.17330852150917053, + -0.05595817789435387, + -0.10542691498994827, + 1.1138354539871216, + 0.0, + 0.2759375274181366 + ], + [ + 0.26767799258232117, + 0.08637847751379013, + 0.16746105253696442, + -0.04449968785047531, + -0.07999365776777267, + 1.1519662141799927, + 0.0, + 0.2759375274181366 + ], + [ + 0.2663148045539856, + 0.09160766005516052, + 0.16526198387145996, + -0.047812025994062424, + -0.08365334570407867, + 1.1791105270385742, + 0.0, + 0.2759375274181366 + ], + [ + 0.26677680015563965, + 0.09765928983688354, + 0.15466034412384033, + -0.042866986244916916, + -0.0512223020195961, + 1.1981327533721924, + 0.0, + 0.2759375274181366 + ], + [ + 0.26819878816604614, + 0.10519883036613464, + 0.13859166204929352, + -0.020805299282073975, + -0.03207820653915405, + 1.2153233289718628, + 0.0, + 0.33077090978622437 + ], + [ + 0.2670547068119049, + 0.10436288267374039, + 0.12876170873641968, + -0.0030634121503680944, + -0.031607963144779205, + 1.2139960527420044, + 0.0, + 0.6179407835006714 + ], + [ + 0.26236721873283386, + 0.10303238034248352, + 0.12114744633436203, + 0.006453405134379864, + -0.023330096155405045, + 1.1994986534118652, + 0.0, + 0.905788779258728 + ], + [ + 0.2580631971359253, + 0.09821972995996475, + 0.12737330794334412, + -0.013605586253106594, + -0.04192567244172096, + 1.176948070526123, + 0.0, + 1.003452181816101 + ], + [ + 0.2557280361652374, + 0.08682120591402054, + 0.13329830765724182, + -0.01122987363487482, + -0.06095844879746437, + 1.138253927230835, + 0.0, + 0.9994885921478271 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9679883122444153 + ], + [ + 0.7200843095779419 + ], + [ + 0.46716928482055664 + ], + [ + 0.3437051773071289 + ], + [ + 0.3026532232761383 + ], + [ + 0.28394967317581177 + ], + [ + 0.2759375274181366 + ], + [ + 0.2759375274181366 + ], + [ + 0.2759375274181366 + ], + [ + 0.2759375274181366 + ], + [ + 0.2759375274181366 + ], + [ + 0.2759375274181366 + ], + [ + 0.2759375274181366 + ], + [ + 0.2759375274181366 + ], + [ + 0.2759375274181366 + ], + [ + 0.2759375274181366 + ], + [ + 0.2759375274181366 + ], + [ + 0.2759375274181366 + ], + [ + 0.2759375274181366 + ], + [ + 0.2759375274181366 + ], + [ + 0.2759375274181366 + ], + [ + 0.2759375274181366 + ], + [ + 0.2759375274181366 + ], + [ + 0.33077090978622437 + ], + [ + 0.6179407835006714 + ], + [ + 0.905788779258728 + ], + [ + 1.003452181816101 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.18095238506793976, + -0.08126822859048843, + 0.1268017590045929 + ], + [ + 0.17791418731212616, + -0.08043625950813293, + 0.1237468346953392 + ], + [ + 0.18481557071208954, + -0.06109248101711273, + 0.12802526354789734 + ], + [ + 0.19176480174064636, + -0.04761757701635361, + 0.1320677101612091 + ], + [ + 0.1920124888420105, + -0.052562277764081955, + 0.1257380247116089 + ], + [ + 0.19403496384620667, + -0.05977781116962433, + 0.11235145479440689 + ], + [ + 0.195514976978302, + -0.05226797237992287, + 0.10952223837375641 + ], + [ + 0.20373831689357758, + -0.03883613646030426, + 0.10542051494121552 + ], + [ + 0.2116125226020813, + -0.029581965878605843, + 0.10613557696342468 + ], + [ + 0.21744544804096222, + -0.02851962484419346, + 0.09840750694274902 + ], + [ + 0.21965527534484863, + -0.032817766070365906, + 0.09704296290874481 + ], + [ + 0.21505601704120636, + -0.03456242382526398, + 0.08867976814508438 + ], + [ + 0.20931169390678406, + -0.03239808231592178, + 0.0788058340549469 + ], + [ + 0.20808936655521393, + -0.02924402430653572, + 0.06245964393019676 + ], + [ + 0.2066250890493393, + -0.024102874100208282, + 0.059777796268463135 + ], + [ + 0.2056635022163391, + -0.026053283363580704, + 0.0601615309715271 + ], + [ + 0.20450475811958313, + -0.02849324606359005, + 0.062055595219135284 + ], + [ + 0.20300854742527008, + -0.029127713292837143, + 0.06305276602506638 + ], + [ + 0.1992824226617813, + -0.030381813645362854, + 0.07263059914112091 + ], + [ + 0.19505007565021515, + -0.030008861795067787, + 0.08663152158260345 + ], + [ + 0.19157680869102478, + -0.03053293190896511, + 0.09925564378499985 + ], + [ + 0.18764185905456543, + -0.032552704215049744, + 0.10463222116231918 + ], + [ + 0.18656140565872192, + -0.038560573011636734, + 0.11465650796890259 + ], + [ + 0.18707434833049774, + -0.04740217700600624, + 0.12353624403476715 + ], + [ + 0.19592341780662537, + -0.059528373181819916, + 0.13230523467063904 + ], + [ + 0.21093793213367462, + -0.06740188598632812, + 0.13591642677783966 + ], + [ + 0.22794093191623688, + -0.07051775604486465, + 0.13353580236434937 + ], + [ + 0.2439296990633011, + -0.07061053812503815, + 0.12943148612976074 + ], + [ + 0.25846487283706665, + -0.06300653517246246, + 0.1337166130542755 + ], + [ + 0.257414847612381, + -0.04289417713880539, + 0.13346758484840393 + ], + [ + 0.2520171105861664, + -0.015363081358373165, + 0.1410050243139267 + ], + [ + 0.2445003241300583, + 0.011471681296825409, + 0.1496254801750183 + ], + [ + 0.2424246221780777, + 0.03065589629113674, + 0.15710969269275665 + ], + [ + 0.24717973172664642, + 0.04998759925365448, + 0.17134112119674683 + ], + [ + 0.25803256034851074, + 0.07065144181251526, + 0.17330852150917053 + ], + [ + 0.26767799258232117, + 0.08637847751379013, + 0.16746105253696442 + ], + [ + 0.2663148045539856, + 0.09160766005516052, + 0.16526198387145996 + ], + [ + 0.26677680015563965, + 0.09765928983688354, + 0.15466034412384033 + ], + [ + 0.26819878816604614, + 0.10519883036613464, + 0.13859166204929352 + ], + [ + 0.2670547068119049, + 0.10436288267374039, + 0.12876170873641968 + ], + [ + 0.26236721873283386, + 0.10303238034248352, + 0.12114744633436203 + ], + [ + 0.2580631971359253, + 0.09821972995996475, + 0.12737330794334412 + ], + [ + 0.2557280361652374, + 0.08682120591402054, + 0.13329830765724182 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + -0.06888577342843927, + 0.9916399621900474, + 0.10910974111822885, + 0.9974556363870144, + 0.07047349436953942, + -0.010758254092667514, + -0.018357659408041148, + 0.10809103560919231, + -0.9939714907189191 + ], + [ + -0.056045786076684256, + 0.9943488427570552, + 0.09016234674603255, + 0.9983478970796912, + 0.05695761054168241, + -0.007570138568105081, + -0.012662790356190487, + 0.08958911490291266, + -0.9958983101859888 + ], + [ + 0.05354459964083985, + 0.997050083252477, + 0.05499188426969018, + 0.9985630736873935, + -0.05334284511053505, + -0.005131154207249949, + -0.00218259416458531, + 0.05518761058192585, + -0.9984736170380119 + ], + [ + 0.14802904831700453, + 0.9882566668227116, + 0.03789671931481968, + 0.986082864413644, + -0.15041897174441182, + 0.07081466973118786, + 0.07568345502251664, + 0.026886677366646523, + -0.9967693420325672 + ], + [ + 0.29486119687598905, + 0.9545054302302862, + 0.04445512611336679, + 0.9488771362377639, + -0.2979726053287857, + 0.10413696173211318, + 0.11264570520920517, + 0.011476503582180171, + -0.9935689382038113 + ], + [ + 0.46272873510418555, + 0.8858180510611223, + 0.034763459597049816, + 0.8754805379897682, + -0.4627891681126911, + 0.13914026548310723, + 0.139341111342011, + -0.03394946673864802, + -0.989662310284743 + ], + [ + 0.568642345746468, + 0.8219285991161998, + 0.03285210158933151, + 0.8116903674175144, + -0.5671418476852875, + 0.13967416384477982, + 0.13343399141738466, + -0.05275890975939008, + -0.9896523972463391 + ], + [ + 0.6383177305279867, + 0.7695038517474667, + 0.02035428798591147, + 0.767149236385449, + -0.6381009209091372, + 0.06564498341940239, + 0.06350215749738863, + -0.026287580351258746, + -0.9976354239462695 + ], + [ + 0.6632935989760901, + 0.7480916907959431, + 0.0200105901815287, + 0.7460804679600689, + -0.6631225070452199, + 0.06027002553962557, + 0.05835697803888293, + -0.025047211663767017, + -0.9979815130061478 + ], + [ + 0.6887995241981197, + 0.7246596769341038, + 0.020580769912800615, + 0.721644098944108, + -0.688089198195361, + 0.07591475341467668, + 0.06917376615155398, + -0.037438054872347894, + -0.9969018919250703 + ], + [ + 0.7040289263495848, + 0.7090987687914982, + 0.03901547079597885, + 0.7039845612506304, + -0.7040775697519323, + 0.09316927225738131, + 0.09353613410766927, + -0.038127573625842376, + -0.9948855611303231 + ], + [ + 0.7092204245444378, + 0.7044142619390439, + 0.02840663629997648, + 0.6987931091141457, + -0.7077480681560783, + 0.10383093313615313, + 0.09324473209566622, + -0.053788656780132345, + -0.9941892175728904 + ], + [ + 0.7111902069771942, + 0.7028345675972333, + 0.015233518639696152, + 0.6972884480774321, + -0.7080033671564708, + 0.11189303942992058, + 0.08942767847541414, + -0.06895507730044019, + -0.9936034861236087 + ], + [ + 0.7128804331936783, + 0.700775191857715, + -0.026751045706231914, + 0.6974507199668449, + -0.7044823728860052, + 0.13140425986486762, + 0.07323920526141536, + -0.11233306178363889, + -0.9909678612563527 + ], + [ + 0.7142829701580642, + 0.6994281667625749, + -0.024496491204205308, + 0.6943094940056352, + -0.7037885132572204, + 0.15038635290753724, + 0.08794410199560218, + -0.12442655723893982, + -0.9883237661707079 + ], + [ + 0.7270630677341707, + 0.6865706411080826, + -0.00022428868284241066, + 0.6703686741412501, + -0.7098349179052679, + 0.2161948890527348, + 0.1482738556424544, + -0.15733767537007196, + -0.9763502033809707 + ], + [ + 0.7358199369890328, + 0.676667297212047, + 0.02627525857530398, + 0.6516811615880619, + -0.7181294233562794, + 0.24413478846983688, + 0.18406706375853954, + -0.16251615363932548, + -0.9693852772997891 + ], + [ + 0.735117834974998, + 0.6775357167443445, + 0.023390622851880788, + 0.6513063711515263, + -0.7153938428000333, + 0.2530052580110374, + 0.18815360639408932, + -0.17075421581773215, + -0.967182101871912 + ], + [ + 0.7206456734538981, + 0.692518812385296, + 0.03297738353231067, + 0.6677436695024824, + -0.7060884890717555, + 0.23570625244088264, + 0.18651596492401784, + -0.14784025193709852, + -0.9712646677068192 + ], + [ + 0.6985534957008744, + 0.7137070120932969, + 0.051432621291814695, + 0.6914597408833316, + -0.691778604668251, + 0.2081484779209394, + 0.18413701524040338, + -0.10983925988509977, + -0.9767440281907278 + ], + [ + 0.6732613168866355, + 0.7371695138784463, + 0.05744829842814002, + 0.7213228644591515, + -0.6718889013510257, + 0.1681030322443831, + 0.16251930467645354, + -0.07173849768099977, + -0.9840940318678675 + ], + [ + 0.6772516414075547, + 0.7330577800461964, + 0.06290075774198242, + 0.7179997080558413, + -0.6771579967151529, + 0.1610387118566458, + 0.16064443171955778, + -0.06390100623983702, + -0.9849416368288209 + ], + [ + 0.6879646897100365, + 0.7200862796515393, + 0.09044520755561472, + 0.7061764433295303, + -0.6929409022229334, + 0.1454226148606939, + 0.16739001343756385, + -0.03617534912163427, + -0.9852268406399107 + ], + [ + 0.7021245875390891, + 0.7013860827307251, + 0.12279505904030656, + 0.6886839247534214, + -0.7127254782445078, + 0.13317974488397766, + 0.18092958674381548, + -0.008941790245017497, + -0.9834554026634488 + ], + [ + 0.7322608314526747, + 0.6632132934583824, + 0.15473267948408098, + 0.6528661202584408, + -0.7482825683721995, + 0.11763939344027557, + 0.19380377637943202, + 0.014877004079800284, + -0.9809275054817665 + ], + [ + 0.7641529880382403, + 0.6161029461584093, + 0.19101667625408317, + 0.604234873219706, + -0.7873599984993384, + 0.12232927183747883, + 0.22576631470924716, + 0.021940658560083974, + -0.9739343810773676 + ], + [ + 0.782842272303312, + 0.5846521984335916, + 0.21293140576663644, + 0.5709779529607869, + -0.8109934400545971, + 0.12756887324547722, + 0.24726939545301013, + 0.021712831579034197, + -0.9687034628910562 + ], + [ + 0.7937773438645592, + 0.5716662744221316, + 0.2076419973310916, + 0.5556092866477232, + -0.8204435701494296, + 0.13479862310597168, + 0.24741836827150307, + 0.00836772900957826, + -0.9688726088362126 + ], + [ + 0.7820919300302305, + 0.5862079233522842, + 0.21140596864940067, + 0.5693809077082986, + -0.8100863182443407, + 0.13987687060626702, + 0.2532540126411875, + 0.010973950625503673, + -0.9673375716309203 + ], + [ + 0.7262375645348038, + 0.668918056679671, + 0.1585169811296229, + 0.6552087704005941, + -0.7433125804989849, + 0.13486242939411225, + 0.20803958048577778, + 0.0059195540231273686, + -0.9781024955655051 + ], + [ + 0.6416732867738406, + 0.7564842045787178, + 0.1264398721280628, + 0.7486729983638635, + -0.6535905717040049, + 0.11094190416832694, + 0.166565706439587, + 0.023473661890221452, + -0.9857509080065534 + ], + [ + 0.5662761107941434, + 0.8164883390871265, + 0.11259732891416258, + 0.8122320687604192, + -0.5760218151260839, + 0.09207570241937163, + 0.1400372551181579, + 0.03931489073616699, + -0.9893654059776776 + ], + [ + 0.5222672879712078, + 0.8472365518158664, + 0.0970932808301338, + 0.8434559833788542, + -0.5299888680903988, + 0.08771433065734952, + 0.12577314505731543, + 0.03608358307343607, + -0.9914025877588646 + ], + [ + 0.4659745241796155, + 0.8783597440771334, + 0.10654530867351238, + 0.8763145673922497, + -0.4747836885065412, + 0.08156732252721209, + 0.12223142718513717, + 0.05535891177467982, + -0.9909565424857983 + ], + [ + 0.4387730543554823, + 0.893396101989028, + 0.09654849414864439, + 0.8924149770347924, + -0.4458138551456877, + 0.06960973584298454, + 0.10523172304752637, + 0.05561844577970167, + -0.9928911687357778 + ], + [ + 0.40539144880906824, + 0.9112152894809723, + 0.07310587834499056, + 0.9106439618828274, + -0.40953683205467867, + 0.05483755899897111, + 0.07990837201965952, + 0.04434274920126054, + -0.9958154310284822 + ], + [ + 0.3804121537901666, + 0.9216861050997629, + 0.07603497165617822, + 0.9210347546266764, + -0.3850018478807784, + 0.05889446407060824, + 0.08355581379236805, + 0.047626681538976735, + -0.995364317818898 + ], + [ + 0.36361992735662113, + 0.9297063857367228, + 0.05853703741671598, + 0.9301393003444859, + -0.36580650244917295, + 0.03203880023617855, + 0.05119990609206365, + 0.04279765281255065, + -0.9977709810021038 + ], + [ + 0.34785478106053425, + 0.9370468622837873, + 0.030663156677627455, + 0.9369996760217756, + -0.3485840286927806, + 0.02282065019665814, + 0.03207270534917972, + 0.020793095594924316, + -0.9992692273592563 + ], + [ + 0.3491033608938254, + 0.9369810008049726, + 0.01390854209279288, + 0.9365511799914294, + -0.3493668974565525, + 0.02854221817314677, + 0.03160270034817186, + 0.003061877217355286, + -0.9994958200205788 + ], + [ + 0.36272624639293716, + 0.931892518889859, + 0.0024501866876945957, + 0.9316037116369102, + -0.36267714298102427, + 0.02407933602603512, + 0.023327979810160403, + -0.0064516041598983095, + -0.9997070481704834 + ], + [ + 0.38340766162534357, + 0.9231348578292079, + 0.02864610388228221, + 0.9226276782456954, + -0.38423594167822994, + 0.03347997099165129, + 0.04191339096212511, + 0.013593210926501679, + -0.9990287744978941 + ], + [ + 0.4184018248793068, + 0.9075589451230859, + 0.035730576048217465, + 0.9062166302248547, + -0.41977508785421674, + 0.05059935494543179, + 0.06092070289790693, + 0.011208779775524095, + -0.9980796717769422 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0030381977558135986, + 0.0008319690823554993, + -0.0030549243092536926, + 0.018604353070259094, + -0.00569556187838316, + -0.01287233829498291, + 1.0 + ], + [ + 0.006901383399963379, + 0.019343778491020203, + 0.004278428852558136, + 0.034500811249017715, + -0.010480532422661781, + -0.10965001583099365, + 1.0 + ], + [ + 0.006949231028556824, + 0.013474904000759125, + 0.004042446613311768, + 0.028248513117432594, + -0.0779384896159172, + -0.0954352617263794, + 1.0 + ], + [ + 0.00024768710136413574, + -0.004944700747728348, + -0.00632968544960022, + 0.015417007729411125, + -0.03712940961122513, + -0.15228188037872314, + 1.0 + ], + [ + 0.002022475004196167, + -0.007215533405542374, + -0.013386569917201996, + 0.04584091901779175, + -0.026910699903964996, + -0.18493258953094482, + 1.0 + ], + [ + 0.001480013132095337, + 0.007509838789701462, + -0.002829216420650482, + 0.01896948367357254, + 0.005962848663330078, + -0.12488538026809692, + 1.0 + ], + [ + 0.008223339915275574, + 0.013431835919618607, + -0.0041017234325408936, + -0.02691633813083172, + 0.07028824090957642, + -0.08288359642028809, + 1.0 + ], + [ + 0.007874205708503723, + 0.009254170581698418, + 0.0007150620222091675, + -0.0012511871755123138, + 0.005154762417078018, + -0.032736361026763916, + 1.0 + ], + [ + 0.00583292543888092, + 0.001062341034412384, + -0.007728070020675659, + 0.012444159016013145, + -0.01083889976143837, + -0.035390257835388184, + 1.0 + ], + [ + 0.0022098273038864136, + -0.004298141226172447, + -0.0013645440340042114, + 0.0007680691778659821, + -0.024444013833999634, + -0.02331399917602539, + 1.0 + ], + [ + -0.004599258303642273, + -0.0017446577548980713, + -0.008363194763660431, + 0.015745509415864944, + 0.00029268115758895874, + -0.0073740482330322266, + 1.0 + ], + [ + -0.005744323134422302, + 0.0021643415093421936, + -0.009873934090137482, + 0.015237554907798767, + 0.003833077847957611, + -0.0024641752243041992, + 1.0 + ], + [ + -0.0012223273515701294, + 0.0031540580093860626, + -0.016346190124750137, + 0.04358719289302826, + 0.016242466866970062, + -0.0010703206062316895, + 1.0 + ], + [ + -0.0014642775058746338, + 0.005141150206327438, + -0.0026818476617336273, + 0.012362569570541382, + -0.01475302129983902, + -0.0032387375831604004, + 1.0 + ], + [ + -0.0009615868330001831, + -0.0019504092633724213, + 0.00038373470306396484, + 0.03453753888607025, + -0.06076474487781525, + -0.02636939287185669, + 0.0 + ], + [ + -0.0011587440967559814, + -0.002439962700009346, + 0.0018940642476081848, + 0.006328791379928589, + -0.036300018429756165, + -0.020018160343170166, + 0.0 + ], + [ + -0.0014962106943130493, + -0.0006344672292470932, + 0.0009971708059310913, + 0.008643433451652527, + -0.004159212112426758, + 0.00018829107284545898, + 0.0 + ], + [ + -0.0037261247634887695, + -0.001254100352525711, + 0.009577833116054535, + -0.023692727088928223, + 0.0016671568155288696, + 0.0222933292388916, + 0.0 + ], + [ + -0.004232347011566162, + 0.00037295185029506683, + 0.014000922441482544, + -0.03907066583633423, + 0.0024208873510360718, + 0.03298139572143555, + 0.0 + ], + [ + -0.0034732669591903687, + -0.0005240701138973236, + 0.012624122202396393, + -0.039214737713336945, + 0.02195042371749878, + 0.03955268859863281, + 0.0 + ], + [ + -0.003934949636459351, + -0.002019772306084633, + 0.005376577377319336, + -0.007982127368450165, + 0.0018998384475708008, + -0.005252838134765625, + 0.0 + ], + [ + -0.0010804533958435059, + -0.00600786879658699, + 0.010024286806583405, + -0.028085865080356598, + -0.006838202476501465, + -0.016134202480316162, + 0.0 + ], + [ + 0.0005129426717758179, + -0.008841603994369507, + 0.008879736065864563, + -0.027609333395957947, + -0.013749822974205017, + -0.022725939750671387, + 0.0 + ], + [ + 0.008849069476127625, + -0.012126196175813675, + 0.008768990635871887, + -0.02425706759095192, + -0.01310640573501587, + -0.04759317636489868, + 0.0 + ], + [ + 0.015014514327049255, + -0.00787351280450821, + 0.0036111921072006226, + -0.00735895149409771, + -0.032691627740859985, + -0.0590815544128418, + 0.0 + ], + [ + 0.017002999782562256, + -0.0031158700585365295, + -0.0023806244134902954, + 0.00011348165571689606, + -0.022131532430648804, + -0.038896262645721436, + 0.0 + ], + [ + 0.01598876714706421, + -9.278208017349243e-05, + -0.004104316234588623, + 0.013774221763014793, + -0.00015375018119812012, + -0.019467055797576904, + 0.0 + ], + [ + 0.014535173773765564, + 0.007604002952575684, + 0.0042851269245147705, + -0.0027076546102762222, + -0.006027579307556152, + 0.018590331077575684, + 0.0 + ], + [ + -0.001050025224685669, + 0.020112358033657074, + -0.00024902820587158203, + 0.005291996989399195, + 0.04647219181060791, + 0.10474032163619995, + 0.0 + ], + [ + -0.0053977370262146, + 0.02753109484910965, + 0.007537439465522766, + -0.017756469547748566, + 0.042224571108818054, + 0.1281786561012268, + 0.0 + ], + [ + -0.007516786456108093, + 0.02683476358652115, + 0.008620455861091614, + -0.01590811088681221, + 0.026846647262573242, + 0.09975624084472656, + 0.0 + ], + [ + -0.002075701951980591, + 0.019184214994311333, + 0.007484212517738342, + 0.0033361464738845825, + 0.014391914010047913, + 0.054417192935943604, + 0.0 + ], + [ + 0.004755109548568726, + 0.01933170296251774, + 0.014231428503990173, + -0.01942567154765129, + 0.003569267690181732, + 0.06569838523864746, + 0.0 + ], + [ + 0.010852828621864319, + 0.02066384255886078, + 0.001967400312423706, + -0.00015206634998321533, + 0.01711094379425049, + 0.03175783157348633, + 0.0 + ], + [ + 0.009645432233810425, + 0.015727035701274872, + -0.005847468972206116, + 0.011458490043878555, + 0.025433257222175598, + 0.038130760192871094, + 0.0 + ], + [ + -0.0013631880283355713, + 0.005229182541370392, + -0.0021990686655044556, + -0.0033123381435871124, + -0.0036596879363059998, + 0.027144312858581543, + 0.0 + ], + [ + 0.00046199560165405273, + 0.0060516297817230225, + -0.010601639747619629, + 0.004945039749145508, + 0.032431043684482574, + 0.019022226333618164, + 0.0 + ], + [ + 0.0014219880104064941, + 0.007539540529251099, + -0.016068682074546814, + 0.02206168696284294, + 0.019144095480442047, + 0.01719057559967041, + 1.0 + ], + [ + -0.0011440813541412354, + -0.0008359476923942566, + -0.00982995331287384, + 0.017741886898875237, + 0.0004702433943748474, + -0.0013272762298583984, + 1.0 + ], + [ + -0.004687488079071045, + -0.0013305023312568665, + -0.007614262402057648, + 0.009516817517578602, + 0.00827786698937416, + -0.01449739933013916, + 1.0 + ], + [ + -0.004304021596908569, + -0.004812650382518768, + 0.006225861608982086, + -0.020058991387486458, + -0.018595576286315918, + -0.022550582885742188, + 1.0 + ], + [ + -0.002335160970687866, + -0.011398524045944214, + 0.005924999713897705, + 0.0023757126182317734, + -0.019032776355743408, + -0.038694143295288086, + 1.0 + ], + [ + -0.004887521266937256, + -0.010344050824642181, + 0.003481045365333557, + 0.02983170375227928, + 0.016619518399238586, + -0.027855634689331055, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9679883122444153 + ], + [ + 0.7200843095779419 + ], + [ + 0.46716928482055664 + ], + [ + 0.3437051773071289 + ], + [ + 0.3026532232761383 + ], + [ + 0.28394967317581177 + ], + [ + 0.2759375274181366 + ], + [ + 0.2759375274181366 + ], + [ + 0.2759375274181366 + ], + [ + 0.2759375274181366 + ], + [ + 0.2759375274181366 + ], + [ + 0.2759375274181366 + ], + [ + 0.2759375274181366 + ], + [ + 0.2759375274181366 + ], + [ + 0.2759375274181366 + ], + [ + 0.2759375274181366 + ], + [ + 0.2759375274181366 + ], + [ + 0.2759375274181366 + ], + [ + 0.2759375274181366 + ], + [ + 0.2759375274181366 + ], + [ + 0.2759375274181366 + ], + [ + 0.2759375274181366 + ], + [ + 0.2759375274181366 + ], + [ + 0.33077090978622437 + ], + [ + 0.6179407835006714 + ], + [ + 0.905788779258728 + ], + [ + 1.003452181816101 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.17791418731212616, + -0.08043625950813293, + 0.1237468346953392 + ], + [ + 0.18481557071208954, + -0.06109248101711273, + 0.12802526354789734 + ], + [ + 0.19176480174064636, + -0.04761757701635361, + 0.1320677101612091 + ], + [ + 0.1920124888420105, + -0.052562277764081955, + 0.1257380247116089 + ], + [ + 0.19403496384620667, + -0.05977781116962433, + 0.11235145479440689 + ], + [ + 0.195514976978302, + -0.05226797237992287, + 0.10952223837375641 + ], + [ + 0.20373831689357758, + -0.03883613646030426, + 0.10542051494121552 + ], + [ + 0.2116125226020813, + -0.029581965878605843, + 0.10613557696342468 + ], + [ + 0.21744544804096222, + -0.02851962484419346, + 0.09840750694274902 + ], + [ + 0.21965527534484863, + -0.032817766070365906, + 0.09704296290874481 + ], + [ + 0.21505601704120636, + -0.03456242382526398, + 0.08867976814508438 + ], + [ + 0.20931169390678406, + -0.03239808231592178, + 0.0788058340549469 + ], + [ + 0.20808936655521393, + -0.02924402430653572, + 0.06245964393019676 + ], + [ + 0.2066250890493393, + -0.024102874100208282, + 0.059777796268463135 + ], + [ + 0.2056635022163391, + -0.026053283363580704, + 0.0601615309715271 + ], + [ + 0.20450475811958313, + -0.02849324606359005, + 0.062055595219135284 + ], + [ + 0.20300854742527008, + -0.029127713292837143, + 0.06305276602506638 + ], + [ + 0.1992824226617813, + -0.030381813645362854, + 0.07263059914112091 + ], + [ + 0.19505007565021515, + -0.030008861795067787, + 0.08663152158260345 + ], + [ + 0.19157680869102478, + -0.03053293190896511, + 0.09925564378499985 + ], + [ + 0.18764185905456543, + -0.032552704215049744, + 0.10463222116231918 + ], + [ + 0.18656140565872192, + -0.038560573011636734, + 0.11465650796890259 + ], + [ + 0.18707434833049774, + -0.04740217700600624, + 0.12353624403476715 + ], + [ + 0.19592341780662537, + -0.059528373181819916, + 0.13230523467063904 + ], + [ + 0.21093793213367462, + -0.06740188598632812, + 0.13591642677783966 + ], + [ + 0.22794093191623688, + -0.07051775604486465, + 0.13353580236434937 + ], + [ + 0.2439296990633011, + -0.07061053812503815, + 0.12943148612976074 + ], + [ + 0.25846487283706665, + -0.06300653517246246, + 0.1337166130542755 + ], + [ + 0.257414847612381, + -0.04289417713880539, + 0.13346758484840393 + ], + [ + 0.2520171105861664, + -0.015363081358373165, + 0.1410050243139267 + ], + [ + 0.2445003241300583, + 0.011471681296825409, + 0.1496254801750183 + ], + [ + 0.2424246221780777, + 0.03065589629113674, + 0.15710969269275665 + ], + [ + 0.24717973172664642, + 0.04998759925365448, + 0.17134112119674683 + ], + [ + 0.25803256034851074, + 0.07065144181251526, + 0.17330852150917053 + ], + [ + 0.26767799258232117, + 0.08637847751379013, + 0.16746105253696442 + ], + [ + 0.2663148045539856, + 0.09160766005516052, + 0.16526198387145996 + ], + [ + 0.26677680015563965, + 0.09765928983688354, + 0.15466034412384033 + ], + [ + 0.26819878816604614, + 0.10519883036613464, + 0.13859166204929352 + ], + [ + 0.2670547068119049, + 0.10436288267374039, + 0.12876170873641968 + ], + [ + 0.26236721873283386, + 0.10303238034248352, + 0.12114744633436203 + ], + [ + 0.2580631971359253, + 0.09821972995996475, + 0.12737330794334412 + ], + [ + 0.2557280361652374, + 0.08682120591402054, + 0.13329830765724182 + ], + [ + 0.25084051489830017, + 0.07647715508937836, + 0.13677935302257538 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + -0.056045786076684256, + 0.9943488427570552, + 0.09016234674603255, + 0.9983478970796912, + 0.05695761054168241, + -0.007570138568105081, + -0.012662790356190487, + 0.08958911490291266, + -0.9958983101859888 + ], + [ + 0.05354459964083985, + 0.997050083252477, + 0.05499188426969018, + 0.9985630736873935, + -0.05334284511053505, + -0.005131154207249949, + -0.00218259416458531, + 0.05518761058192585, + -0.9984736170380119 + ], + [ + 0.14802904831700453, + 0.9882566668227116, + 0.03789671931481968, + 0.986082864413644, + -0.15041897174441182, + 0.07081466973118786, + 0.07568345502251664, + 0.026886677366646523, + -0.9967693420325672 + ], + [ + 0.29486119687598905, + 0.9545054302302862, + 0.04445512611336679, + 0.9488771362377639, + -0.2979726053287857, + 0.10413696173211318, + 0.11264570520920517, + 0.011476503582180171, + -0.9935689382038113 + ], + [ + 0.46272873510418555, + 0.8858180510611223, + 0.034763459597049816, + 0.8754805379897682, + -0.4627891681126911, + 0.13914026548310723, + 0.139341111342011, + -0.03394946673864802, + -0.989662310284743 + ], + [ + 0.568642345746468, + 0.8219285991161998, + 0.03285210158933151, + 0.8116903674175144, + -0.5671418476852875, + 0.13967416384477982, + 0.13343399141738466, + -0.05275890975939008, + -0.9896523972463391 + ], + [ + 0.6383177305279867, + 0.7695038517474667, + 0.02035428798591147, + 0.767149236385449, + -0.6381009209091372, + 0.06564498341940239, + 0.06350215749738863, + -0.026287580351258746, + -0.9976354239462695 + ], + [ + 0.6632935989760901, + 0.7480916907959431, + 0.0200105901815287, + 0.7460804679600689, + -0.6631225070452199, + 0.06027002553962557, + 0.05835697803888293, + -0.025047211663767017, + -0.9979815130061478 + ], + [ + 0.6887995241981197, + 0.7246596769341038, + 0.020580769912800615, + 0.721644098944108, + -0.688089198195361, + 0.07591475341467668, + 0.06917376615155398, + -0.037438054872347894, + -0.9969018919250703 + ], + [ + 0.7040289263495848, + 0.7090987687914982, + 0.03901547079597885, + 0.7039845612506304, + -0.7040775697519323, + 0.09316927225738131, + 0.09353613410766927, + -0.038127573625842376, + -0.9948855611303231 + ], + [ + 0.7092204245444378, + 0.7044142619390439, + 0.02840663629997648, + 0.6987931091141457, + -0.7077480681560783, + 0.10383093313615313, + 0.09324473209566622, + -0.053788656780132345, + -0.9941892175728904 + ], + [ + 0.7111902069771942, + 0.7028345675972333, + 0.015233518639696152, + 0.6972884480774321, + -0.7080033671564708, + 0.11189303942992058, + 0.08942767847541414, + -0.06895507730044019, + -0.9936034861236087 + ], + [ + 0.7128804331936783, + 0.700775191857715, + -0.026751045706231914, + 0.6974507199668449, + -0.7044823728860052, + 0.13140425986486762, + 0.07323920526141536, + -0.11233306178363889, + -0.9909678612563527 + ], + [ + 0.7142829701580642, + 0.6994281667625749, + -0.024496491204205308, + 0.6943094940056352, + -0.7037885132572204, + 0.15038635290753724, + 0.08794410199560218, + -0.12442655723893982, + -0.9883237661707079 + ], + [ + 0.7270630677341707, + 0.6865706411080826, + -0.00022428868284241066, + 0.6703686741412501, + -0.7098349179052679, + 0.2161948890527348, + 0.1482738556424544, + -0.15733767537007196, + -0.9763502033809707 + ], + [ + 0.7358199369890328, + 0.676667297212047, + 0.02627525857530398, + 0.6516811615880619, + -0.7181294233562794, + 0.24413478846983688, + 0.18406706375853954, + -0.16251615363932548, + -0.9693852772997891 + ], + [ + 0.735117834974998, + 0.6775357167443445, + 0.023390622851880788, + 0.6513063711515263, + -0.7153938428000333, + 0.2530052580110374, + 0.18815360639408932, + -0.17075421581773215, + -0.967182101871912 + ], + [ + 0.7206456734538981, + 0.692518812385296, + 0.03297738353231067, + 0.6677436695024824, + -0.7060884890717555, + 0.23570625244088264, + 0.18651596492401784, + -0.14784025193709852, + -0.9712646677068192 + ], + [ + 0.6985534957008744, + 0.7137070120932969, + 0.051432621291814695, + 0.6914597408833316, + -0.691778604668251, + 0.2081484779209394, + 0.18413701524040338, + -0.10983925988509977, + -0.9767440281907278 + ], + [ + 0.6732613168866355, + 0.7371695138784463, + 0.05744829842814002, + 0.7213228644591515, + -0.6718889013510257, + 0.1681030322443831, + 0.16251930467645354, + -0.07173849768099977, + -0.9840940318678675 + ], + [ + 0.6772516414075547, + 0.7330577800461964, + 0.06290075774198242, + 0.7179997080558413, + -0.6771579967151529, + 0.1610387118566458, + 0.16064443171955778, + -0.06390100623983702, + -0.9849416368288209 + ], + [ + 0.6879646897100365, + 0.7200862796515393, + 0.09044520755561472, + 0.7061764433295303, + -0.6929409022229334, + 0.1454226148606939, + 0.16739001343756385, + -0.03617534912163427, + -0.9852268406399107 + ], + [ + 0.7021245875390891, + 0.7013860827307251, + 0.12279505904030656, + 0.6886839247534214, + -0.7127254782445078, + 0.13317974488397766, + 0.18092958674381548, + -0.008941790245017497, + -0.9834554026634488 + ], + [ + 0.7322608314526747, + 0.6632132934583824, + 0.15473267948408098, + 0.6528661202584408, + -0.7482825683721995, + 0.11763939344027557, + 0.19380377637943202, + 0.014877004079800284, + -0.9809275054817665 + ], + [ + 0.7641529880382403, + 0.6161029461584093, + 0.19101667625408317, + 0.604234873219706, + -0.7873599984993384, + 0.12232927183747883, + 0.22576631470924716, + 0.021940658560083974, + -0.9739343810773676 + ], + [ + 0.782842272303312, + 0.5846521984335916, + 0.21293140576663644, + 0.5709779529607869, + -0.8109934400545971, + 0.12756887324547722, + 0.24726939545301013, + 0.021712831579034197, + -0.9687034628910562 + ], + [ + 0.7937773438645592, + 0.5716662744221316, + 0.2076419973310916, + 0.5556092866477232, + -0.8204435701494296, + 0.13479862310597168, + 0.24741836827150307, + 0.00836772900957826, + -0.9688726088362126 + ], + [ + 0.7820919300302305, + 0.5862079233522842, + 0.21140596864940067, + 0.5693809077082986, + -0.8100863182443407, + 0.13987687060626702, + 0.2532540126411875, + 0.010973950625503673, + -0.9673375716309203 + ], + [ + 0.7262375645348038, + 0.668918056679671, + 0.1585169811296229, + 0.6552087704005941, + -0.7433125804989849, + 0.13486242939411225, + 0.20803958048577778, + 0.0059195540231273686, + -0.9781024955655051 + ], + [ + 0.6416732867738406, + 0.7564842045787178, + 0.1264398721280628, + 0.7486729983638635, + -0.6535905717040049, + 0.11094190416832694, + 0.166565706439587, + 0.023473661890221452, + -0.9857509080065534 + ], + [ + 0.5662761107941434, + 0.8164883390871265, + 0.11259732891416258, + 0.8122320687604192, + -0.5760218151260839, + 0.09207570241937163, + 0.1400372551181579, + 0.03931489073616699, + -0.9893654059776776 + ], + [ + 0.5222672879712078, + 0.8472365518158664, + 0.0970932808301338, + 0.8434559833788542, + -0.5299888680903988, + 0.08771433065734952, + 0.12577314505731543, + 0.03608358307343607, + -0.9914025877588646 + ], + [ + 0.4659745241796155, + 0.8783597440771334, + 0.10654530867351238, + 0.8763145673922497, + -0.4747836885065412, + 0.08156732252721209, + 0.12223142718513717, + 0.05535891177467982, + -0.9909565424857983 + ], + [ + 0.4387730543554823, + 0.893396101989028, + 0.09654849414864439, + 0.8924149770347924, + -0.4458138551456877, + 0.06960973584298454, + 0.10523172304752637, + 0.05561844577970167, + -0.9928911687357778 + ], + [ + 0.40539144880906824, + 0.9112152894809723, + 0.07310587834499056, + 0.9106439618828274, + -0.40953683205467867, + 0.05483755899897111, + 0.07990837201965952, + 0.04434274920126054, + -0.9958154310284822 + ], + [ + 0.3804121537901666, + 0.9216861050997629, + 0.07603497165617822, + 0.9210347546266764, + -0.3850018478807784, + 0.05889446407060824, + 0.08355581379236805, + 0.047626681538976735, + -0.995364317818898 + ], + [ + 0.36361992735662113, + 0.9297063857367228, + 0.05853703741671598, + 0.9301393003444859, + -0.36580650244917295, + 0.03203880023617855, + 0.05119990609206365, + 0.04279765281255065, + -0.9977709810021038 + ], + [ + 0.34785478106053425, + 0.9370468622837873, + 0.030663156677627455, + 0.9369996760217756, + -0.3485840286927806, + 0.02282065019665814, + 0.03207270534917972, + 0.020793095594924316, + -0.9992692273592563 + ], + [ + 0.3491033608938254, + 0.9369810008049726, + 0.01390854209279288, + 0.9365511799914294, + -0.3493668974565525, + 0.02854221817314677, + 0.03160270034817186, + 0.003061877217355286, + -0.9994958200205788 + ], + [ + 0.36272624639293716, + 0.931892518889859, + 0.0024501866876945957, + 0.9316037116369102, + -0.36267714298102427, + 0.02407933602603512, + 0.023327979810160403, + -0.0064516041598983095, + -0.9997070481704834 + ], + [ + 0.38340766162534357, + 0.9231348578292079, + 0.02864610388228221, + 0.9226276782456954, + -0.38423594167822994, + 0.03347997099165129, + 0.04191339096212511, + 0.013593210926501679, + -0.9990287744978941 + ], + [ + 0.4184018248793068, + 0.9075589451230859, + 0.035730576048217465, + 0.9062166302248547, + -0.41977508785421674, + 0.05059935494543179, + 0.06092070289790693, + 0.011208779775524095, + -0.9980796717769422 + ], + [ + 0.4438680645326255, + 0.8960870401854497, + 0.003026169152838692, + 0.8949952449645908, + -0.44348924228117814, + 0.04796669127257913, + 0.04432440387454177, + -0.018582475414944524, + -0.9988443516527586 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006228.json b/json/chunk-0006/episode_0006228.json new file mode 100644 index 0000000000000000000000000000000000000000..8e6218da03e8e1f9bae449f910aa5665dd5c4824 --- /dev/null +++ b/json/chunk-0006/episode_0006228.json @@ -0,0 +1,3022 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 49, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nSweep into pile." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006228.mp4", + "start": 0, + "end": 49, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3538803458213806, + -0.053596872836351395, + 0.13793674111366272, + -0.15855540335178375, + -0.10766024887561798, + -0.38916996121406555, + 0.0, + 0.9994885921478271 + ], + [ + 0.3547622263431549, + -0.05489217862486839, + 0.1254698634147644, + -0.1739882230758667, + -0.07564850896596909, + -0.3804731070995331, + 0.0, + 0.9994885921478271 + ], + [ + 0.36324942111968994, + -0.06549064815044403, + 0.1040259376168251, + -0.19703209400177002, + -0.04563882574439049, + -0.3478623330593109, + 0.0, + 0.9994885921478271 + ], + [ + 0.3665672242641449, + -0.07473426312208176, + 0.10249952226877213, + -0.20117849111557007, + -0.05520153418183327, + -0.30186793208122253, + 0.0, + 0.9994885921478271 + ], + [ + 0.3704030215740204, + -0.07744651287794113, + 0.09776051342487335, + -0.19798782467842102, + -0.04419207200407982, + -0.17794586718082428, + 0.0, + 0.9994885921478271 + ], + [ + 0.3672022223472595, + -0.07770977169275284, + 0.0789184421300888, + -0.18523328006267548, + 0.043448202311992645, + -0.11493820697069168, + 0.0, + 0.9994885921478271 + ], + [ + 0.3683749735355377, + -0.07155285775661469, + 0.07246395945549011, + -0.13813653588294983, + 0.0673709586262703, + -0.06703389436006546, + 0.0, + 0.9994885921478271 + ], + [ + 0.37251532077789307, + -0.06937937438488007, + 0.07017704844474792, + -0.12173080444335938, + 0.04696962237358093, + -0.05346032977104187, + 0.0, + 0.9994885921478271 + ], + [ + 0.3746171295642853, + -0.0706440731883049, + 0.056231897324323654, + -0.11953605711460114, + 0.056457504630088806, + -0.05152379721403122, + 0.0, + 0.9994885921478271 + ], + [ + 0.3759816586971283, + -0.08229673653841019, + 0.04760736972093582, + -0.11969106644392014, + 0.0646185576915741, + -0.07609818875789642, + 0.0, + 0.9709111452102661 + ], + [ + 0.3774835467338562, + -0.0902605876326561, + 0.03689518943428993, + -0.0984085276722908, + 0.06618060171604156, + -0.0775681659579277, + 0.0, + 0.7021830081939697 + ], + [ + 0.38010185956954956, + -0.09363843500614166, + 0.034514449536800385, + -0.11237732321023941, + 0.04580913484096527, + -0.11785953491926193, + 0.0, + 0.4220271706581116 + ], + [ + 0.37796643376350403, + -0.09271776676177979, + 0.034026507288217545, + -0.1142086535692215, + 0.05672431364655495, + -0.15603698790073395, + 0.0, + 0.3962334990501404 + ], + [ + 0.3695061504840851, + -0.0901183933019638, + 0.03124464675784111, + -0.11471182852983475, + 0.09058863669633865, + -0.23998583853244781, + 0.0, + 0.3962334990501404 + ], + [ + 0.35575002431869507, + -0.0784299448132515, + 0.028301192447543144, + -0.12407142668962479, + 0.11918918043375015, + -0.3011834919452667, + 0.0, + 0.3962334990501404 + ], + [ + 0.3451019823551178, + -0.06806548684835434, + 0.027041135355830193, + -0.12186170369386673, + 0.14148516952991486, + -0.3513256907463074, + 0.0, + 0.3953573703765869 + ], + [ + 0.33380913734436035, + -0.0572199709713459, + 0.025367746129631996, + -0.10117270052433014, + 0.17650125920772552, + -0.3943691849708557, + 0.0, + 0.3953573703765869 + ], + [ + 0.32886675000190735, + -0.04844129458069801, + 0.02428845688700676, + -0.05984341725707054, + 0.1952054500579834, + -0.42256125807762146, + 0.0, + 0.3953573703765869 + ], + [ + 0.3278889060020447, + -0.038247473537921906, + 0.02459593117237091, + -0.005007604137063026, + 0.2055204063653946, + -0.45901650190353394, + 0.0, + 0.3953573703765869 + ], + [ + 0.3310795724391937, + -0.029359109699726105, + 0.02377396449446678, + 0.029011428356170654, + 0.22088368237018585, + -0.4962696135044098, + 0.0, + 0.3953573703765869 + ], + [ + 0.34234797954559326, + -0.015198683366179466, + 0.02367340214550495, + 0.023235483095049858, + 0.22135140001773834, + -0.4905794560909271, + 0.0, + 0.3953573703765869 + ], + [ + 0.35711032152175903, + 0.0021101930178701878, + 0.024389872327446938, + 0.029474759474396706, + 0.21041026711463928, + -0.4515382945537567, + 0.0, + 0.3953573703765869 + ], + [ + 0.3687056601047516, + 0.016478300094604492, + 0.02512211911380291, + 0.030363479629158974, + 0.2070317268371582, + -0.42049339413642883, + 0.0, + 0.3953573703765869 + ], + [ + 0.37875130772590637, + 0.032212380319833755, + 0.02566697634756565, + 0.0351954810321331, + 0.1922631710767746, + -0.39052754640579224, + 0.0, + 0.3953573703765869 + ], + [ + 0.385210245847702, + 0.04624018445611, + 0.025512341409921646, + 0.03659992292523384, + 0.19123457372188568, + -0.35422590374946594, + 0.0, + 0.3953573703765869 + ], + [ + 0.38452836871147156, + 0.06232341751456261, + 0.02552548423409462, + 0.04165516048669815, + 0.18635009229183197, + -0.29546061158180237, + 0.0, + 0.3953573703765869 + ], + [ + 0.3800883889198303, + 0.08519043028354645, + 0.025772428140044212, + 0.04220476746559143, + 0.18492355942726135, + -0.23569625616073608, + 0.0, + 0.3953573703765869 + ], + [ + 0.37542498111724854, + 0.10372421145439148, + 0.026019327342510223, + 0.043891143053770065, + 0.18323132395744324, + -0.18043583631515503, + 0.0, + 0.3953573703765869 + ], + [ + 0.3686171770095825, + 0.12114562094211578, + 0.025495920330286026, + 0.019809313118457794, + 0.17346836626529694, + -0.0971570760011673, + 0.0, + 0.3953573703765869 + ], + [ + 0.36849525570869446, + 0.12495012581348419, + 0.02648145891726017, + -0.003274902468547225, + 0.15897442400455475, + -0.05759109556674957, + 0.0, + 0.3953573703765869 + ], + [ + 0.37324732542037964, + 0.13286523520946503, + 0.029160037636756897, + -0.0020314150024205446, + 0.13640651106834412, + -0.034396104514598846, + 0.0, + 0.3953573703765869 + ], + [ + 0.375747412443161, + 0.1419382244348526, + 0.030884506180882454, + 0.012958881445229053, + 0.12831373512744904, + -0.011861838400363922, + 0.0, + 0.3953573703765869 + ], + [ + 0.37738534808158875, + 0.14855681359767914, + 0.02964388206601143, + 0.04258529841899872, + 0.1339569091796875, + 0.005666667129844427, + 0.0, + 0.3953573703765869 + ], + [ + 0.37706083059310913, + 0.15443983674049377, + 0.031256046146154404, + 0.0668322741985321, + 0.14061036705970764, + 0.020604263991117477, + 0.0, + 0.3953573703765869 + ], + [ + 0.37334245443344116, + 0.16379374265670776, + 0.03154568746685982, + 0.08343707770109177, + 0.14479048550128937, + 0.0458514578640461, + 0.0, + 0.3953573703765869 + ], + [ + 0.37166279554367065, + 0.16354426741600037, + 0.029299700632691383, + 0.06516572088003159, + 0.13142089545726776, + 0.05357024073600769, + 0.0, + 0.3953573703765869 + ], + [ + 0.3710082471370697, + 0.16360367834568024, + 0.030941152945160866, + 0.057390905916690826, + 0.11003000289201736, + 0.05728710815310478, + 0.0, + 0.4615449905395508 + ], + [ + 0.3639971613883972, + 0.16581209003925323, + 0.03078104741871357, + 0.016300281509757042, + 0.13260167837142944, + 0.05421089380979538, + 0.0, + 0.7691487669944763 + ], + [ + 0.36104345321655273, + 0.15663392841815948, + 0.037864670157432556, + -0.04122559353709221, + 0.09427247196435928, + 0.04102827236056328, + 0.0, + 1.0001531839370728 + ], + [ + 0.36417561769485474, + 0.1526828557252884, + 0.062200743705034256, + -0.0471402145922184, + 0.02425355836749077, + 0.04023289307951927, + 0.0, + 1.0008161067962646 + ], + [ + 0.36467474699020386, + 0.1512007862329483, + 0.08045223355293274, + -0.04044617712497711, + -0.00962919369339943, + 0.03407738730311394, + 0.0, + 1.0008161067962646 + ], + [ + 0.3643786311149597, + 0.14322292804718018, + 0.10104631632566452, + -0.04557447135448456, + -0.03804541379213333, + 0.024672500789165497, + 0.0, + 1.0008161067962646 + ], + [ + 0.36612460017204285, + 0.12080112099647522, + 0.11746128648519516, + -0.07928141951560974, + -0.05515475571155548, + -0.031107239425182343, + 0.0, + 1.0008161067962646 + ], + [ + 0.36704233288764954, + 0.08278767019510269, + 0.12215279787778854, + -0.12192433327436447, + -0.062089234590530396, + -0.11901181936264038, + 0.0, + 1.0008161067962646 + ], + [ + 0.3697371780872345, + 0.04385499283671379, + 0.12462598830461502, + -0.14029952883720398, + -0.05841720476746559, + -0.22426922619342804, + 0.0, + 1.0008161067962646 + ], + [ + 0.36828893423080444, + 0.008541625924408436, + 0.12892337143421173, + -0.1512300968170166, + -0.06400865316390991, + -0.3156496584415436, + 0.0, + 1.0008161067962646 + ], + [ + 0.371236652135849, + -0.018947308883070946, + 0.13978824019432068, + -0.16131450235843658, + -0.08460050076246262, + -0.37912365794181824, + 0.0, + 1.0008161067962646 + ], + [ + 0.38492417335510254, + -0.04741926118731499, + 0.1535378396511078, + -0.1413760483264923, + -0.12867172062397003, + -0.45417407155036926, + 0.0, + 1.0008161067962646 + ], + [ + 0.38769689202308655, + -0.0591389462351799, + 0.15392647683620453, + -0.12957438826560974, + -0.12745220959186554, + -0.5027397274971008, + 0.0, + 1.0008161067962646 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9709111452102661 + ], + [ + 0.7021830081939697 + ], + [ + 0.4220271706581116 + ], + [ + 0.3962334990501404 + ], + [ + 0.3962334990501404 + ], + [ + 0.3962334990501404 + ], + [ + 0.3953573703765869 + ], + [ + 0.3953573703765869 + ], + [ + 0.3953573703765869 + ], + [ + 0.3953573703765869 + ], + [ + 0.3953573703765869 + ], + [ + 0.3953573703765869 + ], + [ + 0.3953573703765869 + ], + [ + 0.3953573703765869 + ], + [ + 0.3953573703765869 + ], + [ + 0.3953573703765869 + ], + [ + 0.3953573703765869 + ], + [ + 0.3953573703765869 + ], + [ + 0.3953573703765869 + ], + [ + 0.3953573703765869 + ], + [ + 0.3953573703765869 + ], + [ + 0.3953573703765869 + ], + [ + 0.3953573703765869 + ], + [ + 0.3953573703765869 + ], + [ + 0.3953573703765869 + ], + [ + 0.3953573703765869 + ], + [ + 0.3953573703765869 + ], + [ + 0.4615449905395508 + ], + [ + 0.7691487669944763 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3538803458213806, + -0.053596872836351395, + 0.13793674111366272 + ], + [ + 0.3547622263431549, + -0.05489217862486839, + 0.1254698634147644 + ], + [ + 0.36324942111968994, + -0.06549064815044403, + 0.1040259376168251 + ], + [ + 0.3665672242641449, + -0.07473426312208176, + 0.10249952226877213 + ], + [ + 0.3704030215740204, + -0.07744651287794113, + 0.09776051342487335 + ], + [ + 0.3672022223472595, + -0.07770977169275284, + 0.0789184421300888 + ], + [ + 0.3683749735355377, + -0.07155285775661469, + 0.07246395945549011 + ], + [ + 0.37251532077789307, + -0.06937937438488007, + 0.07017704844474792 + ], + [ + 0.3746171295642853, + -0.0706440731883049, + 0.056231897324323654 + ], + [ + 0.3759816586971283, + -0.08229673653841019, + 0.04760736972093582 + ], + [ + 0.3774835467338562, + -0.0902605876326561, + 0.03689518943428993 + ], + [ + 0.38010185956954956, + -0.09363843500614166, + 0.034514449536800385 + ], + [ + 0.37796643376350403, + -0.09271776676177979, + 0.034026507288217545 + ], + [ + 0.3695061504840851, + -0.0901183933019638, + 0.03124464675784111 + ], + [ + 0.35575002431869507, + -0.0784299448132515, + 0.028301192447543144 + ], + [ + 0.3451019823551178, + -0.06806548684835434, + 0.027041135355830193 + ], + [ + 0.33380913734436035, + -0.0572199709713459, + 0.025367746129631996 + ], + [ + 0.32886675000190735, + -0.04844129458069801, + 0.02428845688700676 + ], + [ + 0.3278889060020447, + -0.038247473537921906, + 0.02459593117237091 + ], + [ + 0.3310795724391937, + -0.029359109699726105, + 0.02377396449446678 + ], + [ + 0.34234797954559326, + -0.015198683366179466, + 0.02367340214550495 + ], + [ + 0.35711032152175903, + 0.0021101930178701878, + 0.024389872327446938 + ], + [ + 0.3687056601047516, + 0.016478300094604492, + 0.02512211911380291 + ], + [ + 0.37875130772590637, + 0.032212380319833755, + 0.02566697634756565 + ], + [ + 0.385210245847702, + 0.04624018445611, + 0.025512341409921646 + ], + [ + 0.38452836871147156, + 0.06232341751456261, + 0.02552548423409462 + ], + [ + 0.3800883889198303, + 0.08519043028354645, + 0.025772428140044212 + ], + [ + 0.37542498111724854, + 0.10372421145439148, + 0.026019327342510223 + ], + [ + 0.3686171770095825, + 0.12114562094211578, + 0.025495920330286026 + ], + [ + 0.36849525570869446, + 0.12495012581348419, + 0.02648145891726017 + ], + [ + 0.37324732542037964, + 0.13286523520946503, + 0.029160037636756897 + ], + [ + 0.375747412443161, + 0.1419382244348526, + 0.030884506180882454 + ], + [ + 0.37738534808158875, + 0.14855681359767914, + 0.02964388206601143 + ], + [ + 0.37706083059310913, + 0.15443983674049377, + 0.031256046146154404 + ], + [ + 0.37334245443344116, + 0.16379374265670776, + 0.03154568746685982 + ], + [ + 0.37166279554367065, + 0.16354426741600037, + 0.029299700632691383 + ], + [ + 0.3710082471370697, + 0.16360367834568024, + 0.030941152945160866 + ], + [ + 0.3639971613883972, + 0.16581209003925323, + 0.03078104741871357 + ], + [ + 0.36104345321655273, + 0.15663392841815948, + 0.037864670157432556 + ], + [ + 0.36417561769485474, + 0.1526828557252884, + 0.062200743705034256 + ], + [ + 0.36467474699020386, + 0.1512007862329483, + 0.08045223355293274 + ], + [ + 0.3643786311149597, + 0.14322292804718018, + 0.10104631632566452 + ], + [ + 0.36612460017204285, + 0.12080112099647522, + 0.11746128648519516 + ], + [ + 0.36704233288764954, + 0.08278767019510269, + 0.12215279787778854 + ], + [ + 0.3697371780872345, + 0.04385499283671379, + 0.12462598830461502 + ], + [ + 0.36828893423080444, + 0.008541625924408436, + 0.12892337143421173 + ], + [ + 0.371236652135849, + -0.018947308883070946, + 0.13978824019432068 + ], + [ + 0.38492417335510254, + -0.04741926118731499, + 0.1535378396511078 + ], + [ + 0.38769689202308655, + -0.0591389462351799, + 0.15392647683620453 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9198674772510811, + -0.390358503320195, + 0.03826307856602584, + -0.3772238163554699, + -0.9071814750346704, + -0.18634367101711605, + 0.10745239257432698, + 0.15697773803803441, + -0.9817392592183098 + ], + [ + 0.9258335825761062, + -0.3779006355320969, + 0.004825664589445167, + -0.3702977026115299, + -0.9096123401264844, + -0.18837463239577662, + 0.07557637736035984, + 0.1726166282663935, + -0.9820853887677111 + ], + [ + 0.9391246652441457, + -0.34268960201476706, + -0.02467184227073179, + -0.3405340019351958, + -0.9188698145610944, + -0.1992858685769271, + 0.04562298385760643, + 0.1955558757987617, + -0.9796307685983061 + ], + [ + 0.9533284689029331, + -0.30183457477357434, + -0.007792294299186795, + -0.2968513346905285, + -0.9322487502139143, + -0.20686119214837503, + 0.05517350334754352, + 0.1995198165492608, + -0.9783392700553873 + ], + [ + 0.9832484732620829, + -0.18210267892981355, + 0.007813715784961418, + -0.17683543647314862, + -0.9634440654922111, + -0.2012579466137697, + 0.04417768933674475, + 0.19650482689854007, + -0.979507113180114 + ], + [ + 0.9924643751097, + -0.1047766088007241, + -0.06353208942206295, + -0.114577071951749, + -0.9773254934290675, + -0.17806452335205294, + -0.04343453373845185, + 0.18400201667875846, + -0.9819657321602793 + ], + [ + 0.9954905999633601, + -0.057096649717930645, + -0.07575247834611012, + -0.06683174548914814, + -0.988870700057782, + -0.1329219935229178, + -0.06732000578924277, + 0.13738526543345472, + -0.9882273552489408 + ], + [ + 0.9974700425763949, + -0.04734615077227547, + -0.05302693815122873, + -0.05337593670181093, + -0.9914865153492849, + -0.11876657468217632, + -0.04695235397559478, + 0.1212964627991338, + -0.9915052418260678 + ], + [ + 0.9970817555471686, + -0.044413354772382924, + -0.06209208220730251, + -0.05141894688825499, + -0.9918930351066356, + -0.11620799803735063, + -0.05642751683247079, + 0.11906158416890197, + -0.9912821366893042 + ], + [ + 0.9950249172992713, + -0.06779272224325429, + -0.07300384075120586, + -0.07586609573643326, + -0.9905583913941651, + -0.1141858518219946, + -0.0645735973234324, + 0.11915628413748532, + -0.9907734506330185 + ], + [ + 0.994810543619371, + -0.07063754257248182, + -0.07322786275081396, + -0.07732076663832614, + -0.9926729258441197, + -0.0928545170820252, + -0.06613230186673334, + 0.09803468710306275, + -0.9929832419403721 + ], + [ + 0.9920208239029378, + -0.11174550349331427, + -0.05837488665481535, + -0.11746350737892094, + -0.9874025128678995, + -0.10601227295176803, + -0.045793114953877494, + 0.1120233012867576, + -0.9926498731131927 + ], + [ + 0.986262057248799, + -0.1480097811981293, + -0.07335024949547549, + -0.15515462055043666, + -0.9824193831352472, + -0.10382292310472795, + -0.05669389873008053, + 0.1137772398586032, + -0.991887363331614 + ], + [ + 0.9673585060291074, + -0.2260688471571034, + -0.11450064261038534, + -0.2367142643775772, + -0.9674186829487303, + -0.0898189786288293, + -0.09046478791947432, + 0.1139910883657219, + -0.9893544126954114 + ], + [ + 0.9482108058133982, + -0.28031750700276, + -0.14939331647186788, + -0.29454600733281694, + -0.9520103671983354, + -0.08317998744401642, + -0.11890717935853251, + 0.1228753678108358, + -0.9852729198969946 + ], + [ + 0.9295353291653855, + -0.32549607755806936, + -0.17325234580723572, + -0.3407040310560066, + -0.9378535226288777, + -0.06596615279666689, + -0.14101359883212114, + 0.12034564216005829, + -0.9826658085827028 + ], + [ + 0.9088957246755431, + -0.3658881469135156, + -0.2000860455272011, + -0.3782565574260716, + -0.9253320102237098, + -0.02612752608888664, + -0.17558627062130044, + 0.09943105552865311, + -0.9794298988522668 + ], + [ + 0.8947199269311654, + -0.39878326130717884, + -0.20111728631199444, + -0.40230912680556413, + -0.9151663931710595, + 0.024856373412440413, + -0.19396808717218122, + 0.05867182723833066, + -0.9792517540690346 + ], + [ + 0.8776220049834402, + -0.4421449219246579, + -0.18516879970741587, + -0.4337422513496009, + -0.8969302294321096, + 0.08592917388782073, + -0.20407664188492167, + 0.004902198190797978, + -0.9789426401428595 + ], + [ + 0.858000040500378, + -0.4815367324025348, + -0.17876886151799207, + -0.4645800906149484, + -0.8759687996931094, + 0.12978444193515365, + -0.21909192113255962, + -0.028302602553520892, + -0.9752936443877512 + ], + [ + 0.8605391883968991, + -0.475509163810499, + -0.18265634499093025, + -0.4596421114439867, + -0.879418707606173, + 0.12390264766986048, + -0.21954825123539345, + -0.022666535785776237, + -0.9753382969692886 + ], + [ + 0.8799326291682626, + -0.44169898676185954, + -0.17498735159598064, + -0.4267266032310492, + -0.8967002744424459, + 0.11761387634855351, + -0.20886113621236332, + -0.028820529287103505, + -0.9775205383375286 + ], + [ + 0.8933932658234351, + -0.4137195725894063, + -0.1751701682301405, + -0.39949372355333934, + -0.9099194473518162, + 0.11158568085759576, + -0.20555592285999655, + -0.02971051307877537, + -0.9781942792665325 + ], + [ + 0.9076699657898241, + -0.3866580916767318, + -0.16318931749354185, + -0.3736620676762856, + -0.9215761059494212, + 0.10523374042095238, + -0.19108085299941205, + -0.03453984777050237, + -0.9809664145795247 + ], + [ + 0.920817387074629, + -0.3531553700308091, + -0.16545882956027377, + -0.3405412072069969, + -0.9348746979134059, + 0.10020471743046741, + -0.19007110736525598, + -0.035924696515362155, + -0.9811128326167307 + ], + [ + 0.9401053371250623, + -0.29830898988052384, + -0.16496575906967714, + -0.28613932777592926, + -0.9535916968652489, + 0.09373985688913095, + -0.18527342013605874, + -0.04092214835656821, + -0.9818345774950945 + ], + [ + 0.9557736860765802, + -0.24085555523350977, + -0.1687757758588137, + -0.22953860339709298, + -0.9696744825963417, + 0.08392512944302799, + -0.183871396780736, + -0.0414728744443241, + -0.9820750022942375 + ], + [ + 0.9672973900668435, + -0.18715047075215366, + -0.17120298031027334, + -0.1764542282658649, + -0.9813834222361415, + 0.07583194503094906, + -0.18220775092451638, + -0.043142552744664026, + -0.9823131148700515 + ], + [ + 0.9803467944900652, + -0.10038799805314451, + -0.16983054018619625, + -0.09554846053350498, + -0.9947570461548071, + 0.03645422904190723, + -0.17259969357658372, + -0.0195107399204758, + -0.9847988001642897 + ], + [ + 0.9857531542280792, + -0.057041381349941585, + -0.15823084321042952, + -0.056833451827775, + -0.998366578286911, + 0.005842440673666794, + -0.15830564640193023, + 0.0032336006828106974, + -0.9873848622213587 + ], + [ + 0.990125054984547, + -0.03411317553258702, + -0.1359730368379382, + -0.03406988186857949, + -0.9994159499038044, + 0.0026461722048632015, + -0.1359838911096069, + 0.002012543902541803, + -0.9907090042114948 + ], + [ + 0.9917093089325397, + -0.013518644602328959, + -0.12778846905984978, + -0.011764047314277435, + -0.9998260211943225, + 0.014475307717541777, + -0.12796192311516622, + -0.012851987816910064, + -0.9916958065061192 + ], + [ + 0.9910252703508958, + -2.4239743790632935e-05, + -0.13367465331306636, + 0.0056158704350942916, + -0.999109561781344, + 0.04181561378655842, + -0.13355663789265546, + -0.042191029491175036, + -0.9901426874472611 + ], + [ + 0.9899204737819152, + 0.011199394083225424, + -0.14118083849998028, + 0.020399469621388864, + -0.9977485982021476, + 0.06388737296849756, + -0.14014748383954287, + -0.06612343274375956, + -0.9879202267468902 + ], + [ + 0.9884961609040395, + 0.033663812421157666, + -0.14745198408718904, + 0.04535577919388842, + -0.9960249680962967, + 0.07666235205422954, + -0.14428511070685976, + -0.0824682403234391, + -0.9860937055707562 + ], + [ + 0.9899545245222854, + 0.04490974984072802, + -0.13406399123962626, + 0.053082890488338245, + -0.9969028894082571, + 0.0580244416334247, + -0.1310429170739817, + -0.06455806269329067, + -0.989272465211698 + ], + [ + 0.9923222663450549, + 0.050873316546557655, + -0.11273165207415027, + 0.05690954210698646, + -0.9970764642925642, + 0.050988512147459863, + -0.10980812234523755, + -0.05701254263223375, + -0.9923163539162402 + ], + [ + 0.9897651176630913, + 0.052025292020703814, + -0.13288484054822605, + 0.05370867539576486, + -0.99851506621481, + 0.009112668613848589, + -0.13221342611323303, + -0.016156470288833255, + -0.9910895915219807 + ], + [ + 0.9947218357823988, + 0.04485823317914264, + -0.09228330474002251, + 0.0408346335464814, + -0.9981503910438269, + -0.04503697994071082, + -0.0941328960609349, + 0.04103091243320185, + -0.9947137588794477 + ], + [ + 0.9988969011926283, + 0.0413192151832084, + -0.022309263645586306, + 0.04021021046212567, + -0.9980348060796347, + -0.048058972400349516, + -0.024251180638396087, + 0.04710889841876711, + -0.9985953294139794 + ], + [ + 0.9993730886128707, + 0.033653802067787, + 0.01099324168540866, + 0.03406921265456616, + -0.9986153272464801, + -0.04008387378365126, + 0.009629044888748857, + 0.04043327583547926, + -0.9991358424657494 + ], + [ + 0.9989722300692827, + 0.022912028011501585, + 0.03910911048341591, + 0.02465214552345866, + -0.9987003790096252, + -0.04460745102694102, + 0.03803623629506582, + 0.045525728313019785, + -0.9982387754390604 + ], + [ + 0.9979963065204389, + -0.03536836814425416, + 0.052463803773408896, + -0.03105492757260668, + -0.996240811714334, + -0.08086925589014109, + 0.05512679607071683, + 0.07907795906305039, + -0.9953430126069104 + ], + [ + 0.9910131611574117, + -0.12534288091808252, + 0.04671270293988496, + -0.11850228975791771, + -0.9846593755580371, + -0.12807467137489614, + 0.062049349190181353, + 0.12138812268427468, + -0.9906638188286998 + ], + [ + 0.9732938058634512, + -0.2281686774220081, + 0.0252630582339234, + -0.22201458908529162, + -0.9635613984125078, + -0.14919434882937718, + 0.05838398497129256, + 0.13960116809262155, + -0.9884851158040002 + ], + [ + 0.9486482233407457, + -0.3160514597454096, + 0.013342531440564145, + -0.3097983748299088, + -0.9367537668324994, + -0.1628414789845347, + 0.06396495372619314, + 0.15034578516845445, + -0.98656202520515 + ], + [ + 0.9256668125293958, + -0.37790962639872083, + 0.018035145046481627, + -0.3687828175901746, + -0.9119051943823104, + -0.18007817721426564, + 0.08449961912293076, + 0.16004134070214396, + -0.9834869514306429 + ], + [ + 0.891194952257946, + -0.45059080219606323, + 0.05234009979227414, + -0.4350934560580781, + -0.8817258401918776, + -0.18235467428438581, + 0.1283169574350729, + 0.1397407303338413, + -0.9818387274498648 + ], + [ + 0.8691583441208771, + -0.49218052893081543, + 0.048188170606877606, + -0.47791994454122166, + -0.86100656169955, + -0.17395467030245135, + 0.12710743272826514, + 0.1281640653681899, + -0.9835739285348752 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + 0.000881880521774292, + -0.0012953057885169983, + -0.012466877698898315, + -0.015432819724082947, + 0.032011739909648895, + 0.00869685411453247, + 1.0 + ], + [ + 0.008487194776535034, + -0.010598469525575638, + -0.0214439257979393, + -0.02304387092590332, + 0.030009683221578598, + 0.03261077404022217, + 1.0 + ], + [ + 0.003317803144454956, + -0.009243614971637726, + -0.0015264153480529785, + -0.004146397113800049, + -0.00956270843744278, + 0.04599440097808838, + 1.0 + ], + [ + 0.0038357973098754883, + -0.002712249755859375, + -0.004739008843898773, + 0.003190666437149048, + 0.011009462177753448, + 0.12392206490039825, + 1.0 + ], + [ + -0.0032007992267608643, + -0.00026325881481170654, + -0.018842071294784546, + 0.012754544615745544, + 0.08764027059078217, + 0.0630076602101326, + 1.0 + ], + [ + 0.0011727511882781982, + 0.006156913936138153, + -0.006454482674598694, + 0.04709674417972565, + 0.02392275631427765, + 0.04790431261062622, + 1.0 + ], + [ + 0.004140347242355347, + 0.002173483371734619, + -0.0022869110107421875, + 0.016405731439590454, + -0.02040133625268936, + 0.01357356458902359, + 1.0 + ], + [ + 0.002101808786392212, + -0.0012646988034248352, + -0.01394515112042427, + 0.0021947473287582397, + 0.009487882256507874, + 0.0019365325570106506, + 1.0 + ], + [ + 0.0013645291328430176, + -0.011652663350105286, + -0.008624527603387833, + -0.00015500932931900024, + 0.00816105306148529, + -0.024574391543865204, + 0.0 + ], + [ + 0.0015018880367279053, + -0.00796385109424591, + -0.01071218028664589, + 0.021282538771629333, + 0.0015620440244674683, + -0.0014699772000312805, + 0.0 + ], + [ + 0.0026183128356933594, + -0.003377847373485565, + -0.0023807398974895477, + -0.013968795537948608, + -0.020371466875076294, + -0.04029136896133423, + 0.0 + ], + [ + -0.0021354258060455322, + 0.0009206682443618774, + -0.00048794224858283997, + -0.0018313303589820862, + 0.010915178805589676, + -0.038177452981472015, + 0.0 + ], + [ + -0.008460283279418945, + 0.002599373459815979, + -0.0027818605303764343, + -0.0005031749606132507, + 0.03386432304978371, + -0.08394885063171387, + 0.0 + ], + [ + -0.013756126165390015, + 0.01168844848871231, + -0.002943454310297966, + -0.009359598159790039, + 0.0286005437374115, + -0.06119765341281891, + 0.0 + ], + [ + -0.01064804196357727, + 0.010364457964897156, + -0.0012600570917129517, + 0.0022097229957580566, + 0.022295989096164703, + -0.05014219880104065, + 0.0 + ], + [ + -0.011292845010757446, + 0.010845515877008438, + -0.0016733892261981964, + 0.02068900316953659, + 0.03501608967781067, + -0.04304349422454834, + 0.0 + ], + [ + -0.004942387342453003, + 0.008778676390647888, + -0.0010792892426252365, + 0.0413292832672596, + 0.018704190850257874, + -0.028192073106765747, + 0.0 + ], + [ + -0.000977843999862671, + 0.010193821042776108, + 0.000307474285364151, + 0.054835811257362366, + 0.010314956307411194, + -0.036455243825912476, + 0.0 + ], + [ + 0.003190666437149048, + 0.0088883638381958, + -0.000821966677904129, + 0.03401903063058853, + 0.01536327600479126, + -0.037253111600875854, + 0.0 + ], + [ + 0.011268407106399536, + 0.014160426333546638, + -0.00010056234896183014, + -0.005775945261120796, + 0.00046771764755249023, + 0.005690157413482666, + 0.0 + ], + [ + 0.014762341976165771, + 0.017308875918388367, + 0.0007164701819419861, + 0.0062392763793468475, + -0.01094113290309906, + 0.03904116153717041, + 0.0 + ], + [ + 0.011595338582992554, + 0.014368107542395592, + 0.0007322467863559723, + 0.0008887201547622681, + -0.003378540277481079, + 0.03104490041732788, + 0.0 + ], + [ + 0.010045647621154785, + 0.015734080225229263, + 0.0005448572337627411, + 0.004832001402974129, + -0.014768555760383606, + 0.029965847730636597, + 0.0 + ], + [ + 0.006458938121795654, + 0.014027804136276245, + -0.00015463493764400482, + 0.0014044418931007385, + -0.001028597354888916, + 0.036301642656326294, + 0.0 + ], + [ + -0.0006818771362304688, + 0.016083233058452606, + 1.3142824172973633e-05, + 0.00505523756146431, + -0.004884481430053711, + 0.058765292167663574, + 0.0 + ], + [ + -0.004439979791641235, + 0.02286701276898384, + 0.0002469439059495926, + 0.00054960697889328, + -0.0014265328645706177, + 0.059764355421066284, + 0.0 + ], + [ + -0.004663407802581787, + 0.018533781170845032, + 0.00024689920246601105, + 0.0016863755881786346, + -0.0016922354698181152, + 0.055260419845581055, + 0.0 + ], + [ + -0.006807804107666016, + 0.017421409487724304, + -0.0005234070122241974, + -0.02408182993531227, + -0.009762957692146301, + 0.08327876031398773, + 0.0 + ], + [ + -0.00012192130088806152, + 0.003804504871368408, + 0.000985538586974144, + -0.023084215819835663, + -0.014493942260742188, + 0.039565980434417725, + 0.0 + ], + [ + 0.004752069711685181, + 0.007915109395980835, + 0.002678578719496727, + 0.0012434874661266804, + -0.022567912936210632, + 0.023194991052150726, + 0.0 + ], + [ + 0.002500087022781372, + 0.009072989225387573, + 0.001724468544125557, + 0.014990296214818954, + -0.00809277594089508, + 0.022534266114234924, + 0.0 + ], + [ + 0.0016379356384277344, + 0.006618589162826538, + -0.001240624114871025, + 0.02962641790509224, + 0.005643174052238464, + 0.017528505995869637, + 0.0 + ], + [ + -0.00032451748847961426, + 0.005883023142814636, + 0.0016121640801429749, + 0.024246975779533386, + 0.006653457880020142, + 0.014937596395611763, + 0.0 + ], + [ + -0.0037183761596679688, + 0.00935390591621399, + 0.0002896413207054138, + 0.016604803502559662, + 0.004180118441581726, + 0.02524719387292862, + 0.0 + ], + [ + -0.0016796588897705078, + -0.00024947524070739746, + -0.002245986834168434, + -0.01827135682106018, + -0.013369590044021606, + 0.007718782871961594, + 0.0 + ], + [ + -0.0006545484066009521, + 5.9410929679870605e-05, + 0.0016414523124694824, + -0.007774814963340759, + -0.021390892565250397, + 0.0037168674170970917, + 1.0 + ], + [ + -0.007011085748672485, + 0.002208411693572998, + -0.00016010552644729614, + -0.041090622544288635, + 0.02257167547941208, + -0.0030762143433094025, + 1.0 + ], + [ + -0.0029537081718444824, + -0.00917816162109375, + 0.0070836227387189865, + -0.0575258731842041, + -0.03832920640707016, + -0.013182621449232101, + 1.0 + ], + [ + 0.003132164478302002, + -0.003951072692871094, + 0.0243360735476017, + -0.00591462105512619, + -0.07001891732215881, + -0.0007953792810440063, + 1.0 + ], + [ + 0.0004991292953491211, + -0.0014820694923400879, + 0.018251489847898483, + 0.006694037467241287, + -0.0338827520608902, + -0.0061555057764053345, + 1.0 + ], + [ + -0.0002961158752441406, + -0.007977858185768127, + 0.02059408277273178, + -0.005128294229507446, + -0.028416220098733902, + -0.00940488651394844, + 1.0 + ], + [ + 0.0017459690570831299, + -0.022421807050704956, + 0.01641497015953064, + -0.03370694816112518, + -0.01710934191942215, + -0.05577974021434784, + 1.0 + ], + [ + 0.0009177327156066895, + -0.03801345080137253, + 0.004691511392593384, + -0.04264291375875473, + -0.0069344788789749146, + -0.08790457993745804, + 1.0 + ], + [ + 0.002694845199584961, + -0.0389326773583889, + 0.002473190426826477, + -0.018375195562839508, + 0.003672029823064804, + -0.10525740683078766, + 1.0 + ], + [ + -0.0014482438564300537, + -0.03531336784362793, + 0.00429738312959671, + -0.010930567979812622, + -0.005591448396444321, + -0.09138043224811554, + 1.0 + ], + [ + 0.0029477179050445557, + -0.027488935738801956, + 0.010864868760108948, + -0.010084405541419983, + -0.020591847598552704, + -0.06347399950027466, + 1.0 + ], + [ + 0.01368752121925354, + -0.02847195230424404, + 0.01374959945678711, + 0.019938454031944275, + -0.044071219861507416, + -0.07505041360855103, + 1.0 + ], + [ + 0.002772718667984009, + -0.011719685047864914, + 0.0003886371850967407, + 0.011801660060882568, + 0.0012195110321044922, + -0.04856565594673157, + 1.0 + ], + [ + -0.004333376884460449, + 0.0028894655406475067, + -0.00044871866703033447, + -0.0014998316764831543, + 0.026792697608470917, + -0.024958670139312744, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9709111452102661 + ], + [ + 0.7021830081939697 + ], + [ + 0.4220271706581116 + ], + [ + 0.3962334990501404 + ], + [ + 0.3962334990501404 + ], + [ + 0.3962334990501404 + ], + [ + 0.3953573703765869 + ], + [ + 0.3953573703765869 + ], + [ + 0.3953573703765869 + ], + [ + 0.3953573703765869 + ], + [ + 0.3953573703765869 + ], + [ + 0.3953573703765869 + ], + [ + 0.3953573703765869 + ], + [ + 0.3953573703765869 + ], + [ + 0.3953573703765869 + ], + [ + 0.3953573703765869 + ], + [ + 0.3953573703765869 + ], + [ + 0.3953573703765869 + ], + [ + 0.3953573703765869 + ], + [ + 0.3953573703765869 + ], + [ + 0.3953573703765869 + ], + [ + 0.3953573703765869 + ], + [ + 0.3953573703765869 + ], + [ + 0.3953573703765869 + ], + [ + 0.3953573703765869 + ], + [ + 0.3953573703765869 + ], + [ + 0.3953573703765869 + ], + [ + 0.4615449905395508 + ], + [ + 0.7691487669944763 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3547622263431549, + -0.05489217862486839, + 0.1254698634147644 + ], + [ + 0.36324942111968994, + -0.06549064815044403, + 0.1040259376168251 + ], + [ + 0.3665672242641449, + -0.07473426312208176, + 0.10249952226877213 + ], + [ + 0.3704030215740204, + -0.07744651287794113, + 0.09776051342487335 + ], + [ + 0.3672022223472595, + -0.07770977169275284, + 0.0789184421300888 + ], + [ + 0.3683749735355377, + -0.07155285775661469, + 0.07246395945549011 + ], + [ + 0.37251532077789307, + -0.06937937438488007, + 0.07017704844474792 + ], + [ + 0.3746171295642853, + -0.0706440731883049, + 0.056231897324323654 + ], + [ + 0.3759816586971283, + -0.08229673653841019, + 0.04760736972093582 + ], + [ + 0.3774835467338562, + -0.0902605876326561, + 0.03689518943428993 + ], + [ + 0.38010185956954956, + -0.09363843500614166, + 0.034514449536800385 + ], + [ + 0.37796643376350403, + -0.09271776676177979, + 0.034026507288217545 + ], + [ + 0.3695061504840851, + -0.0901183933019638, + 0.03124464675784111 + ], + [ + 0.35575002431869507, + -0.0784299448132515, + 0.028301192447543144 + ], + [ + 0.3451019823551178, + -0.06806548684835434, + 0.027041135355830193 + ], + [ + 0.33380913734436035, + -0.0572199709713459, + 0.025367746129631996 + ], + [ + 0.32886675000190735, + -0.04844129458069801, + 0.02428845688700676 + ], + [ + 0.3278889060020447, + -0.038247473537921906, + 0.02459593117237091 + ], + [ + 0.3310795724391937, + -0.029359109699726105, + 0.02377396449446678 + ], + [ + 0.34234797954559326, + -0.015198683366179466, + 0.02367340214550495 + ], + [ + 0.35711032152175903, + 0.0021101930178701878, + 0.024389872327446938 + ], + [ + 0.3687056601047516, + 0.016478300094604492, + 0.02512211911380291 + ], + [ + 0.37875130772590637, + 0.032212380319833755, + 0.02566697634756565 + ], + [ + 0.385210245847702, + 0.04624018445611, + 0.025512341409921646 + ], + [ + 0.38452836871147156, + 0.06232341751456261, + 0.02552548423409462 + ], + [ + 0.3800883889198303, + 0.08519043028354645, + 0.025772428140044212 + ], + [ + 0.37542498111724854, + 0.10372421145439148, + 0.026019327342510223 + ], + [ + 0.3686171770095825, + 0.12114562094211578, + 0.025495920330286026 + ], + [ + 0.36849525570869446, + 0.12495012581348419, + 0.02648145891726017 + ], + [ + 0.37324732542037964, + 0.13286523520946503, + 0.029160037636756897 + ], + [ + 0.375747412443161, + 0.1419382244348526, + 0.030884506180882454 + ], + [ + 0.37738534808158875, + 0.14855681359767914, + 0.02964388206601143 + ], + [ + 0.37706083059310913, + 0.15443983674049377, + 0.031256046146154404 + ], + [ + 0.37334245443344116, + 0.16379374265670776, + 0.03154568746685982 + ], + [ + 0.37166279554367065, + 0.16354426741600037, + 0.029299700632691383 + ], + [ + 0.3710082471370697, + 0.16360367834568024, + 0.030941152945160866 + ], + [ + 0.3639971613883972, + 0.16581209003925323, + 0.03078104741871357 + ], + [ + 0.36104345321655273, + 0.15663392841815948, + 0.037864670157432556 + ], + [ + 0.36417561769485474, + 0.1526828557252884, + 0.062200743705034256 + ], + [ + 0.36467474699020386, + 0.1512007862329483, + 0.08045223355293274 + ], + [ + 0.3643786311149597, + 0.14322292804718018, + 0.10104631632566452 + ], + [ + 0.36612460017204285, + 0.12080112099647522, + 0.11746128648519516 + ], + [ + 0.36704233288764954, + 0.08278767019510269, + 0.12215279787778854 + ], + [ + 0.3697371780872345, + 0.04385499283671379, + 0.12462598830461502 + ], + [ + 0.36828893423080444, + 0.008541625924408436, + 0.12892337143421173 + ], + [ + 0.371236652135849, + -0.018947308883070946, + 0.13978824019432068 + ], + [ + 0.38492417335510254, + -0.04741926118731499, + 0.1535378396511078 + ], + [ + 0.38769689202308655, + -0.0591389462351799, + 0.15392647683620453 + ], + [ + 0.3833635151386261, + -0.056249480694532394, + 0.1534777581691742 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9258335825761062, + -0.3779006355320969, + 0.004825664589445167, + -0.3702977026115299, + -0.9096123401264844, + -0.18837463239577662, + 0.07557637736035984, + 0.1726166282663935, + -0.9820853887677111 + ], + [ + 0.9391246652441457, + -0.34268960201476706, + -0.02467184227073179, + -0.3405340019351958, + -0.9188698145610944, + -0.1992858685769271, + 0.04562298385760643, + 0.1955558757987617, + -0.9796307685983061 + ], + [ + 0.9533284689029331, + -0.30183457477357434, + -0.007792294299186795, + -0.2968513346905285, + -0.9322487502139143, + -0.20686119214837503, + 0.05517350334754352, + 0.1995198165492608, + -0.9783392700553873 + ], + [ + 0.9832484732620829, + -0.18210267892981355, + 0.007813715784961418, + -0.17683543647314862, + -0.9634440654922111, + -0.2012579466137697, + 0.04417768933674475, + 0.19650482689854007, + -0.979507113180114 + ], + [ + 0.9924643751097, + -0.1047766088007241, + -0.06353208942206295, + -0.114577071951749, + -0.9773254934290675, + -0.17806452335205294, + -0.04343453373845185, + 0.18400201667875846, + -0.9819657321602793 + ], + [ + 0.9954905999633601, + -0.057096649717930645, + -0.07575247834611012, + -0.06683174548914814, + -0.988870700057782, + -0.1329219935229178, + -0.06732000578924277, + 0.13738526543345472, + -0.9882273552489408 + ], + [ + 0.9974700425763949, + -0.04734615077227547, + -0.05302693815122873, + -0.05337593670181093, + -0.9914865153492849, + -0.11876657468217632, + -0.04695235397559478, + 0.1212964627991338, + -0.9915052418260678 + ], + [ + 0.9970817555471686, + -0.044413354772382924, + -0.06209208220730251, + -0.05141894688825499, + -0.9918930351066356, + -0.11620799803735063, + -0.05642751683247079, + 0.11906158416890197, + -0.9912821366893042 + ], + [ + 0.9950249172992713, + -0.06779272224325429, + -0.07300384075120586, + -0.07586609573643326, + -0.9905583913941651, + -0.1141858518219946, + -0.0645735973234324, + 0.11915628413748532, + -0.9907734506330185 + ], + [ + 0.994810543619371, + -0.07063754257248182, + -0.07322786275081396, + -0.07732076663832614, + -0.9926729258441197, + -0.0928545170820252, + -0.06613230186673334, + 0.09803468710306275, + -0.9929832419403721 + ], + [ + 0.9920208239029378, + -0.11174550349331427, + -0.05837488665481535, + -0.11746350737892094, + -0.9874025128678995, + -0.10601227295176803, + -0.045793114953877494, + 0.1120233012867576, + -0.9926498731131927 + ], + [ + 0.986262057248799, + -0.1480097811981293, + -0.07335024949547549, + -0.15515462055043666, + -0.9824193831352472, + -0.10382292310472795, + -0.05669389873008053, + 0.1137772398586032, + -0.991887363331614 + ], + [ + 0.9673585060291074, + -0.2260688471571034, + -0.11450064261038534, + -0.2367142643775772, + -0.9674186829487303, + -0.0898189786288293, + -0.09046478791947432, + 0.1139910883657219, + -0.9893544126954114 + ], + [ + 0.9482108058133982, + -0.28031750700276, + -0.14939331647186788, + -0.29454600733281694, + -0.9520103671983354, + -0.08317998744401642, + -0.11890717935853251, + 0.1228753678108358, + -0.9852729198969946 + ], + [ + 0.9295353291653855, + -0.32549607755806936, + -0.17325234580723572, + -0.3407040310560066, + -0.9378535226288777, + -0.06596615279666689, + -0.14101359883212114, + 0.12034564216005829, + -0.9826658085827028 + ], + [ + 0.9088957246755431, + -0.3658881469135156, + -0.2000860455272011, + -0.3782565574260716, + -0.9253320102237098, + -0.02612752608888664, + -0.17558627062130044, + 0.09943105552865311, + -0.9794298988522668 + ], + [ + 0.8947199269311654, + -0.39878326130717884, + -0.20111728631199444, + -0.40230912680556413, + -0.9151663931710595, + 0.024856373412440413, + -0.19396808717218122, + 0.05867182723833066, + -0.9792517540690346 + ], + [ + 0.8776220049834402, + -0.4421449219246579, + -0.18516879970741587, + -0.4337422513496009, + -0.8969302294321096, + 0.08592917388782073, + -0.20407664188492167, + 0.004902198190797978, + -0.9789426401428595 + ], + [ + 0.858000040500378, + -0.4815367324025348, + -0.17876886151799207, + -0.4645800906149484, + -0.8759687996931094, + 0.12978444193515365, + -0.21909192113255962, + -0.028302602553520892, + -0.9752936443877512 + ], + [ + 0.8605391883968991, + -0.475509163810499, + -0.18265634499093025, + -0.4596421114439867, + -0.879418707606173, + 0.12390264766986048, + -0.21954825123539345, + -0.022666535785776237, + -0.9753382969692886 + ], + [ + 0.8799326291682626, + -0.44169898676185954, + -0.17498735159598064, + -0.4267266032310492, + -0.8967002744424459, + 0.11761387634855351, + -0.20886113621236332, + -0.028820529287103505, + -0.9775205383375286 + ], + [ + 0.8933932658234351, + -0.4137195725894063, + -0.1751701682301405, + -0.39949372355333934, + -0.9099194473518162, + 0.11158568085759576, + -0.20555592285999655, + -0.02971051307877537, + -0.9781942792665325 + ], + [ + 0.9076699657898241, + -0.3866580916767318, + -0.16318931749354185, + -0.3736620676762856, + -0.9215761059494212, + 0.10523374042095238, + -0.19108085299941205, + -0.03453984777050237, + -0.9809664145795247 + ], + [ + 0.920817387074629, + -0.3531553700308091, + -0.16545882956027377, + -0.3405412072069969, + -0.9348746979134059, + 0.10020471743046741, + -0.19007110736525598, + -0.035924696515362155, + -0.9811128326167307 + ], + [ + 0.9401053371250623, + -0.29830898988052384, + -0.16496575906967714, + -0.28613932777592926, + -0.9535916968652489, + 0.09373985688913095, + -0.18527342013605874, + -0.04092214835656821, + -0.9818345774950945 + ], + [ + 0.9557736860765802, + -0.24085555523350977, + -0.1687757758588137, + -0.22953860339709298, + -0.9696744825963417, + 0.08392512944302799, + -0.183871396780736, + -0.0414728744443241, + -0.9820750022942375 + ], + [ + 0.9672973900668435, + -0.18715047075215366, + -0.17120298031027334, + -0.1764542282658649, + -0.9813834222361415, + 0.07583194503094906, + -0.18220775092451638, + -0.043142552744664026, + -0.9823131148700515 + ], + [ + 0.9803467944900652, + -0.10038799805314451, + -0.16983054018619625, + -0.09554846053350498, + -0.9947570461548071, + 0.03645422904190723, + -0.17259969357658372, + -0.0195107399204758, + -0.9847988001642897 + ], + [ + 0.9857531542280792, + -0.057041381349941585, + -0.15823084321042952, + -0.056833451827775, + -0.998366578286911, + 0.005842440673666794, + -0.15830564640193023, + 0.0032336006828106974, + -0.9873848622213587 + ], + [ + 0.990125054984547, + -0.03411317553258702, + -0.1359730368379382, + -0.03406988186857949, + -0.9994159499038044, + 0.0026461722048632015, + -0.1359838911096069, + 0.002012543902541803, + -0.9907090042114948 + ], + [ + 0.9917093089325397, + -0.013518644602328959, + -0.12778846905984978, + -0.011764047314277435, + -0.9998260211943225, + 0.014475307717541777, + -0.12796192311516622, + -0.012851987816910064, + -0.9916958065061192 + ], + [ + 0.9910252703508958, + -2.4239743790632935e-05, + -0.13367465331306636, + 0.0056158704350942916, + -0.999109561781344, + 0.04181561378655842, + -0.13355663789265546, + -0.042191029491175036, + -0.9901426874472611 + ], + [ + 0.9899204737819152, + 0.011199394083225424, + -0.14118083849998028, + 0.020399469621388864, + -0.9977485982021476, + 0.06388737296849756, + -0.14014748383954287, + -0.06612343274375956, + -0.9879202267468902 + ], + [ + 0.9884961609040395, + 0.033663812421157666, + -0.14745198408718904, + 0.04535577919388842, + -0.9960249680962967, + 0.07666235205422954, + -0.14428511070685976, + -0.0824682403234391, + -0.9860937055707562 + ], + [ + 0.9899545245222854, + 0.04490974984072802, + -0.13406399123962626, + 0.053082890488338245, + -0.9969028894082571, + 0.0580244416334247, + -0.1310429170739817, + -0.06455806269329067, + -0.989272465211698 + ], + [ + 0.9923222663450549, + 0.050873316546557655, + -0.11273165207415027, + 0.05690954210698646, + -0.9970764642925642, + 0.050988512147459863, + -0.10980812234523755, + -0.05701254263223375, + -0.9923163539162402 + ], + [ + 0.9897651176630913, + 0.052025292020703814, + -0.13288484054822605, + 0.05370867539576486, + -0.99851506621481, + 0.009112668613848589, + -0.13221342611323303, + -0.016156470288833255, + -0.9910895915219807 + ], + [ + 0.9947218357823988, + 0.04485823317914264, + -0.09228330474002251, + 0.0408346335464814, + -0.9981503910438269, + -0.04503697994071082, + -0.0941328960609349, + 0.04103091243320185, + -0.9947137588794477 + ], + [ + 0.9988969011926283, + 0.0413192151832084, + -0.022309263645586306, + 0.04021021046212567, + -0.9980348060796347, + -0.048058972400349516, + -0.024251180638396087, + 0.04710889841876711, + -0.9985953294139794 + ], + [ + 0.9993730886128707, + 0.033653802067787, + 0.01099324168540866, + 0.03406921265456616, + -0.9986153272464801, + -0.04008387378365126, + 0.009629044888748857, + 0.04043327583547926, + -0.9991358424657494 + ], + [ + 0.9989722300692827, + 0.022912028011501585, + 0.03910911048341591, + 0.02465214552345866, + -0.9987003790096252, + -0.04460745102694102, + 0.03803623629506582, + 0.045525728313019785, + -0.9982387754390604 + ], + [ + 0.9979963065204389, + -0.03536836814425416, + 0.052463803773408896, + -0.03105492757260668, + -0.996240811714334, + -0.08086925589014109, + 0.05512679607071683, + 0.07907795906305039, + -0.9953430126069104 + ], + [ + 0.9910131611574117, + -0.12534288091808252, + 0.04671270293988496, + -0.11850228975791771, + -0.9846593755580371, + -0.12807467137489614, + 0.062049349190181353, + 0.12138812268427468, + -0.9906638188286998 + ], + [ + 0.9732938058634512, + -0.2281686774220081, + 0.0252630582339234, + -0.22201458908529162, + -0.9635613984125078, + -0.14919434882937718, + 0.05838398497129256, + 0.13960116809262155, + -0.9884851158040002 + ], + [ + 0.9486482233407457, + -0.3160514597454096, + 0.013342531440564145, + -0.3097983748299088, + -0.9367537668324994, + -0.1628414789845347, + 0.06396495372619314, + 0.15034578516845445, + -0.98656202520515 + ], + [ + 0.9256668125293958, + -0.37790962639872083, + 0.018035145046481627, + -0.3687828175901746, + -0.9119051943823104, + -0.18007817721426564, + 0.08449961912293076, + 0.16004134070214396, + -0.9834869514306429 + ], + [ + 0.891194952257946, + -0.45059080219606323, + 0.05234009979227414, + -0.4350934560580781, + -0.8817258401918776, + -0.18235467428438581, + 0.1283169574350729, + 0.1397407303338413, + -0.9818387274498648 + ], + [ + 0.8691583441208771, + -0.49218052893081543, + 0.048188170606877606, + -0.47791994454122166, + -0.86100656169955, + -0.17395467030245135, + 0.12710743272826514, + 0.1281640653681899, + -0.9835739285348752 + ], + [ + 0.8595950062009026, + -0.5105740652507502, + 0.020262013912570383, + -0.5009972686381241, + -0.8499437255823101, + -0.1630870937885712, + 0.10048961205821183, + 0.13003763776916857, + -0.9864035941904332 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006229.json b/json/chunk-0006/episode_0006229.json new file mode 100644 index 0000000000000000000000000000000000000000..7bb8e843b13769806ad6bfa1f6022fcc9f2b6df4 --- /dev/null +++ b/json/chunk-0006/episode_0006229.json @@ -0,0 +1,2302 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 37, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nOpen the drawer." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006229.mp4", + "start": 0, + "end": 37, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2437850385904312, + 0.09763361513614655, + 0.11570433527231216, + 0.13610394299030304, + -0.0171414315700531, + -0.5136171579360962, + 0.0, + 1.0001531839370728 + ], + [ + 0.24165503680706024, + 0.09459712356328964, + 0.10680335015058517, + 0.10989793390035629, + -0.010410737246274948, + -0.503242552280426, + 0.0, + 1.0001531839370728 + ], + [ + 0.23746685683727264, + 0.0724535584449768, + 0.08456465601921082, + 0.06539970636367798, + -0.06266074627637863, + -0.4853454530239105, + 0.0, + 1.0001531839370728 + ], + [ + 0.23340736329555511, + 0.05257024988532066, + 0.07155223190784454, + 0.02483135648071766, + -0.12035197019577026, + -0.4077032804489136, + 0.0, + 1.0001531839370728 + ], + [ + 0.23758052289485931, + 0.03098917566239834, + 0.06155569478869438, + -0.07035748660564423, + -0.1681268960237503, + -0.2615562975406647, + 0.0, + 1.0001531839370728 + ], + [ + 0.2498343586921692, + 0.010161947458982468, + 0.06539434939622879, + -0.13441656529903412, + -0.19318458437919617, + -0.1761540025472641, + 0.0, + 1.0001531839370728 + ], + [ + 0.26805996894836426, + 0.005030091851949692, + 0.07742978632450104, + -0.2408042848110199, + -0.24614928662776947, + -0.03990586847066879, + 0.0, + 1.0001531839370728 + ], + [ + 0.2858726978302002, + 0.008817438036203384, + 0.07558471709489822, + -0.27493658661842346, + -0.2510407865047455, + 0.05725320428609848, + 0.0, + 1.0001531839370728 + ], + [ + 0.29695019125938416, + 0.013649260625243187, + 0.06667771935462952, + -0.2706613540649414, + -0.2825334966182709, + 0.1250327080488205, + 0.0, + 1.0001531839370728 + ], + [ + 0.3006031811237335, + 0.012833844870328903, + 0.06042646989226341, + -0.27017027139663696, + -0.31172671914100647, + 0.17404547333717346, + 0.0, + 1.0001531839370728 + ], + [ + 0.300261527299881, + 0.009849760681390762, + 0.054046500474214554, + -0.29439300298690796, + -0.30592793226242065, + 0.20827434957027435, + 0.0, + 1.0001531839370728 + ], + [ + 0.29952508211135864, + 0.0010228855535387993, + 0.050557784736156464, + -0.3266914486885071, + -0.30530092120170593, + 0.25818541646003723, + 0.0, + 1.0001531839370728 + ], + [ + 0.30141252279281616, + 0.0007316028350032866, + 0.04819731414318085, + -0.34233495593070984, + -0.30922478437423706, + 0.2987823188304901, + 0.0, + 1.0001531839370728 + ], + [ + 0.30213892459869385, + 0.0013403244083747268, + 0.03694533929228783, + -0.3278147578239441, + -0.29135701060295105, + 0.31761306524276733, + 0.0, + 1.0001531839370728 + ], + [ + 0.3012488782405853, + -0.0012490559602156281, + 0.023454749956727028, + -0.30427271127700806, + -0.2667866051197052, + 0.3176329731941223, + 0.0, + 0.9461179971694946 + ], + [ + 0.3048913776874542, + -0.003157465485855937, + 0.018693413585424423, + -0.29566630721092224, + -0.27610138058662415, + 0.33997637033462524, + 0.0, + 0.6581199765205383 + ], + [ + 0.3057864010334015, + -0.0076211122795939445, + 0.017645101994276047, + -0.2886391878128052, + -0.2769101858139038, + 0.3510793149471283, + 0.0, + 0.3669656813144684 + ], + [ + 0.30487874150276184, + -0.0064744167029857635, + 0.01712612621486187, + -0.29610171914100647, + -0.26863569021224976, + 0.3726852834224701, + 0.0, + 0.2788355052471161 + ], + [ + 0.2933178246021271, + -0.004051906056702137, + 0.01766933873295784, + -0.3019269108772278, + -0.2633015215396881, + 0.37421250343322754, + 0.0, + 0.27738428115844727 + ], + [ + 0.28223609924316406, + -0.0026272267568856478, + 0.022838439792394638, + -0.2930668294429779, + -0.2790825366973877, + 0.35986149311065674, + 0.0, + 0.265934020280838 + ], + [ + 0.26953884959220886, + 0.00856795720756054, + 0.0275834072381258, + -0.28676867485046387, + -0.29328086972236633, + 0.3823167681694031, + 0.0, + 0.2652277648448944 + ], + [ + 0.26040321588516235, + 0.020855586975812912, + 0.029161477461457253, + -0.2761435806751251, + -0.3044728636741638, + 0.39214980602264404, + 0.0, + 0.2652277648448944 + ], + [ + 0.2541249990463257, + 0.03120073862373829, + 0.029271790757775307, + -0.27000564336776733, + -0.30607181787490845, + 0.39028090238571167, + 0.0, + 0.2652277648448944 + ], + [ + 0.251059353351593, + 0.040096789598464966, + 0.029127513989806175, + -0.2739177346229553, + -0.310438334941864, + 0.3782818019390106, + 0.0, + 0.2652277648448944 + ], + [ + 0.24865961074829102, + 0.04632522165775299, + 0.02611733041703701, + -0.2776019871234894, + -0.2899368405342102, + 0.3756563067436218, + 0.0, + 0.2652277648448944 + ], + [ + 0.2483513057231903, + 0.04944228753447533, + 0.025873949751257896, + -0.28818801045417786, + -0.2814784646034241, + 0.3810918927192688, + 0.0, + 0.2610139548778534 + ], + [ + 0.24826952815055847, + 0.04996649920940399, + 0.026062050834298134, + -0.2962120771408081, + -0.2791849970817566, + 0.3846697509288788, + 0.0, + 0.30724331736564636 + ], + [ + 0.24575059115886688, + 0.04605652019381523, + 0.026319952681660652, + -0.2800899147987366, + -0.2703571021556854, + 0.3019906282424927, + 0.0, + 0.5988990664482117 + ], + [ + 0.24634705483913422, + 0.041368138045072556, + 0.03468938171863556, + -0.29016217589378357, + -0.2819421589374542, + 0.2748493552207947, + 0.0, + 0.8956556916236877 + ], + [ + 0.2489403933286667, + 0.0335562564432621, + 0.05343753099441528, + -0.32659676671028137, + -0.3093114197254181, + 0.22952485084533691, + 0.0, + 1.0099300146102905 + ], + [ + 0.25666743516921997, + 0.01309345755726099, + 0.08478768169879913, + -0.3559477627277374, + -0.38526272773742676, + 0.14619626104831696, + 0.0, + 1.0073583126068115 + ], + [ + 0.2679073214530945, + -0.01777009665966034, + 0.10061661154031754, + -0.35366418957710266, + -0.41086798906326294, + 0.01927613653242588, + 0.0, + 1.0027955770492554 + ], + [ + 0.2857432961463928, + -0.038751840591430664, + 0.10528213530778885, + -0.28753164410591125, + -0.41075947880744934, + -0.1259564757347107, + 0.0, + 1.0001531839370728 + ], + [ + 0.3022042214870453, + -0.059196628630161285, + 0.10596509277820587, + -0.21405665576457977, + -0.3444981276988983, + -0.2691534459590912, + 0.0, + 0.9954678416252136 + ], + [ + 0.3172640800476074, + -0.07908742874860764, + 0.12378399819135666, + -0.12192146480083466, + -0.3008815348148346, + -0.4007333517074585, + 0.0, + 0.9988223910331726 + ], + [ + 0.3239182233810425, + -0.07890766113996506, + 0.14097030460834503, + -0.07991060614585876, + -0.3001580536365509, + -0.44022101163864136, + 0.0, + 0.9988223910331726 + ], + [ + 0.3247559070587158, + -0.06941287964582443, + 0.1495015025138855, + -0.017864512279629707, + -0.25977110862731934, + -0.47000059485435486, + 0.0, + 0.9988223910331726 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9461179971694946 + ], + [ + 0.6581199765205383 + ], + [ + 0.3669656813144684 + ], + [ + 0.2788355052471161 + ], + [ + 0.27738428115844727 + ], + [ + 0.265934020280838 + ], + [ + 0.2652277648448944 + ], + [ + 0.2652277648448944 + ], + [ + 0.2652277648448944 + ], + [ + 0.2652277648448944 + ], + [ + 0.2652277648448944 + ], + [ + 0.2610139548778534 + ], + [ + 0.30724331736564636 + ], + [ + 0.5988990664482117 + ], + [ + 0.8956556916236877 + ], + [ + 1.0099300146102905 + ], + [ + 1.0073583126068115 + ], + [ + 1.0027955770492554 + ], + [ + 1.0001531839370728 + ], + [ + 0.9954678416252136 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2437850385904312, + 0.09763361513614655, + 0.11570433527231216 + ], + [ + 0.24165503680706024, + 0.09459712356328964, + 0.10680335015058517 + ], + [ + 0.23746685683727264, + 0.0724535584449768, + 0.08456465601921082 + ], + [ + 0.23340736329555511, + 0.05257024988532066, + 0.07155223190784454 + ], + [ + 0.23758052289485931, + 0.03098917566239834, + 0.06155569478869438 + ], + [ + 0.2498343586921692, + 0.010161947458982468, + 0.06539434939622879 + ], + [ + 0.26805996894836426, + 0.005030091851949692, + 0.07742978632450104 + ], + [ + 0.2858726978302002, + 0.008817438036203384, + 0.07558471709489822 + ], + [ + 0.29695019125938416, + 0.013649260625243187, + 0.06667771935462952 + ], + [ + 0.3006031811237335, + 0.012833844870328903, + 0.06042646989226341 + ], + [ + 0.300261527299881, + 0.009849760681390762, + 0.054046500474214554 + ], + [ + 0.29952508211135864, + 0.0010228855535387993, + 0.050557784736156464 + ], + [ + 0.30141252279281616, + 0.0007316028350032866, + 0.04819731414318085 + ], + [ + 0.30213892459869385, + 0.0013403244083747268, + 0.03694533929228783 + ], + [ + 0.3012488782405853, + -0.0012490559602156281, + 0.023454749956727028 + ], + [ + 0.3048913776874542, + -0.003157465485855937, + 0.018693413585424423 + ], + [ + 0.3057864010334015, + -0.0076211122795939445, + 0.017645101994276047 + ], + [ + 0.30487874150276184, + -0.0064744167029857635, + 0.01712612621486187 + ], + [ + 0.2933178246021271, + -0.004051906056702137, + 0.01766933873295784 + ], + [ + 0.28223609924316406, + -0.0026272267568856478, + 0.022838439792394638 + ], + [ + 0.26953884959220886, + 0.00856795720756054, + 0.0275834072381258 + ], + [ + 0.26040321588516235, + 0.020855586975812912, + 0.029161477461457253 + ], + [ + 0.2541249990463257, + 0.03120073862373829, + 0.029271790757775307 + ], + [ + 0.251059353351593, + 0.040096789598464966, + 0.029127513989806175 + ], + [ + 0.24865961074829102, + 0.04632522165775299, + 0.02611733041703701 + ], + [ + 0.2483513057231903, + 0.04944228753447533, + 0.025873949751257896 + ], + [ + 0.24826952815055847, + 0.04996649920940399, + 0.026062050834298134 + ], + [ + 0.24575059115886688, + 0.04605652019381523, + 0.026319952681660652 + ], + [ + 0.24634705483913422, + 0.041368138045072556, + 0.03468938171863556 + ], + [ + 0.2489403933286667, + 0.0335562564432621, + 0.05343753099441528 + ], + [ + 0.25666743516921997, + 0.01309345755726099, + 0.08478768169879913 + ], + [ + 0.2679073214530945, + -0.01777009665966034, + 0.10061661154031754 + ], + [ + 0.2857432961463928, + -0.038751840591430664, + 0.10528213530778885 + ], + [ + 0.3022042214870453, + -0.059196628630161285, + 0.10596509277820587 + ], + [ + 0.3172640800476074, + -0.07908742874860764, + 0.12378399819135666 + ], + [ + 0.3239182233810425, + -0.07890766113996506, + 0.14097030460834503 + ], + [ + 0.3247559070587158, + -0.06941287964582443, + 0.1495015025138855 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8708450325918128, + -0.4847615180067253, + 0.08145673618541406, + -0.49125871932332854, + -0.864061049437078, + 0.10983338988895378, + 0.017140592141694333, + -0.13566419389621995, + -0.9906065952715646 + ], + [ + 0.8759759159399805, + -0.47835899720936415, + 0.06195857069012697, + -0.48224248584991114, + -0.8712892526783146, + 0.09108909379592103, + 0.010410549188690756, + -0.109670907519339, + -0.9939134331064623 + ], + [ + 0.8827779474069034, + -0.46189685279108356, + 0.08575775739690517, + -0.4655983919110504, + -0.8845320898240372, + 0.028655183150089872, + 0.06261974945572871, + -0.06522483770170226, + -0.995903854558706 + ], + [ + 0.9113932429967739, + -0.39364302757619074, + 0.12003134365853779, + -0.3936337885402039, + -0.9189328504190653, + -0.0247963090031205, + 0.12006163891647362, + -0.024649204071177308, + -0.992460386916953 + ], + [ + 0.9523682094010121, + -0.2693080054713426, + 0.14306638987322506, + -0.25493817555517484, + -0.9605569050580142, + -0.11107186317861227, + 0.1673359506110662, + 0.06930822703270383, + -0.9834607512751459 + ], + [ + 0.9662106509889534, + -0.19899384451615026, + 0.16382438084786213, + -0.17198447041687992, + -0.9711354892274107, + -0.16527916837418827, + 0.19198520737527805, + 0.13151924348824445, + -0.9725453042102211 + ], + [ + 0.9690857811989994, + -0.09680950663892647, + 0.22693758635856884, + -0.038692751024813885, + -0.9680549389104524, + -0.24773474982168397, + 0.24367113020638495, + 0.23129538403394095, + -0.9418741028548003 + ], + [ + 0.9670672455222177, + -0.012257110803019888, + 0.254225698686882, + 0.05542827512946287, + -0.9647245085025966, + -0.25736030970333446, + 0.2484122560467647, + 0.2629760177833449, + -0.9322740826154992 + ], + [ + 0.9528553044352545, + 0.04620938819001412, + 0.29988574699825693, + 0.11976282167031117, + -0.9653676960761545, + -0.23178023625447877, + 0.2787895897539276, + 0.256768190817557, + -0.9253898966538995 + ], + [ + 0.9374257914483974, + 0.08626564610081888, + 0.3373293995935632, + 0.16482234282805647, + -0.96334089004511, + -0.21167882480722014, + 0.3067025934549888, + 0.25403261182356773, + -0.9172791021810539 + ], + [ + 0.9329605130914751, + 0.11237520613608448, + 0.341989026224474, + 0.19717099755579903, + -0.9543670628066677, + -0.22429245897404804, + 0.30117815115798585, + 0.2766863250607924, + -0.9125439160881031 + ], + [ + 0.922144170618927, + 0.14855973260688693, + 0.3571836144636273, + 0.24351935311205614, + -0.9403459121390878, + -0.2375876473708014, + 0.30058019437983036, + 0.3060711867704584, + -0.9033116712273268 + ], + [ + 0.910366766547665, + 0.1796456539374106, + 0.372773107113361, + 0.2803952869507991, + -0.9303103310483032, + -0.23643428474012723, + 0.3043202809891713, + 0.31976573763647137, + -0.8972954026475758 + ], + [ + 0.9099464613280586, + 0.20780725241288278, + 0.35890609267767004, + 0.29913800956711833, + -0.9282792313305347, + -0.22093917695287585, + 0.2872523085177323, + 0.3084052764221131, + -0.9068474495339518 + ], + [ + 0.9163700279181137, + 0.22293917883047254, + 0.3325117959948939, + 0.30126992318557333, + -0.9310085170123522, + -0.20605721204126592, + 0.26363308843374356, + 0.28900045638866223, + -0.9203131700079222 + ], + [ + 0.9070559207174139, + 0.24411020501341457, + 0.34301569133174203, + 0.3208350144150722, + -0.9283419751159033, + -0.18773936924146611, + 0.27260676847203313, + 0.28034155069524, + -0.9203771861237235 + ], + [ + 0.9032305401741815, + 0.2566129165393864, + 0.3439831425546987, + 0.330810088010071, + -0.9269201982298779, + -0.17715425985353253, + 0.2733848513861464, + 0.2738042314841642, + -0.9221127728504475 + ], + [ + 0.8979489509465935, + 0.2761414050421755, + 0.3426858706092874, + 0.35105820825547546, + -0.9190213894280967, + -0.17932601648981572, + 0.2654163067906103, + 0.2813282961150257, + -0.922175999413696 + ], + [ + 0.8987167851476408, + 0.2769666157326113, + 0.3399965203697134, + 0.35294166960334106, + -0.9169820304481098, + -0.185946588279719, + 0.26026970233105295, + 0.28711225958653414, + -0.9218602022235363 + ], + [ + 0.8997325424918137, + 0.26264602047377894, + 0.3485662346104456, + 0.3385196270388161, + -0.9240633419150787, + -0.17751451275385205, + 0.2754737992817426, + 0.2777120956278713, + -0.9203206929387486 + ], + [ + 0.8881861357996479, + 0.2819678613478294, + 0.36279403707919616, + 0.3571410465790897, + -0.9204206375793949, + -0.15898466204742284, + 0.28909455377381704, + 0.2707766147304306, + -0.9182071465053221 + ], + [ + 0.8815861977679367, + 0.2921644544112583, + 0.3707367091126048, + 0.3645977732545658, + -0.9203174928044426, + -0.1417186514752271, + 0.29979032613292345, + 0.2601069857130263, + -0.9178617087232689 + ], + [ + 0.8818216233642772, + 0.2923362122737253, + 0.37004075932340547, + 0.3627667057083479, + -0.921873431134898, + -0.13619726207631205, + 0.30131535273978977, + 0.25434015797947085, + -0.9189777702655674 + ], + [ + 0.884879789070955, + 0.27876457842618796, + 0.37319977050985964, + 0.3516705032665354, + -0.9251731981244151, + -0.14276698009169886, + 0.3054760482034622, + 0.2575749663439975, + -0.9167003439984543 + ], + [ + 0.8914394876946019, + 0.27995196495538094, + 0.3563180280260971, + 0.3515701555858038, + -0.9233969265875304, + -0.15406667929853093, + 0.2858917023632534, + 0.26261190621585273, + -0.9215752390518729 + ], + [ + 0.8917281889660045, + 0.2833113794125593, + 0.35292421183415923, + 0.35729707763348845, + -0.9193416584794014, + -0.164771700540209, + 0.2777762324569518, + 0.27303035963001676, + -0.9210292000812597 + ], + [ + 0.8910322986692936, + 0.2843493528833697, + 0.35384585378795, + 0.3607233754175382, + -0.9167391698187476, + -0.17166228749323742, + 0.27557229388219023, + 0.28059711337581855, + -0.9194156681336605 + ], + [ + 0.9200657236436187, + 0.21534120011655153, + 0.3272724120797645, + 0.2866176833798836, + -0.9394993135467864, + -0.18759355910869013, + 0.2670755843391392, + 0.2664004642966677, + -0.9261217116947571 + ], + [ + 0.924464948338971, + 0.18344308021916259, + 0.3342352399318925, + 0.26068615909820436, + -0.9438365513028433, + -0.20301549418549605, + 0.27822164859559284, + 0.27481120927731706, + -0.9203648806360927 + ], + [ + 0.9275625777557891, + 0.12039051079923302, + 0.3537425465738256, + 0.21671777962981192, + -0.9445194181579758, + -0.24681262673299956, + 0.30440280606354414, + 0.30559645552921333, + -0.9021916304359189 + ], + [ + 0.9168140199406415, + 0.006982323248794137, + 0.3992534282912672, + 0.13499794096051243, + -0.9463952937693736, + -0.2934476169056458, + 0.37580261943831994, + 0.3229352800380132, + -0.8686110729953118 + ], + [ + 0.9166041714234439, + -0.12022130875037329, + 0.3812920532236278, + 0.017670775848860017, + -0.9406019698650219, + -0.3390511435859498, + 0.3994052285712366, + 0.31751341894223684, + -0.8600352854282028 + ], + [ + 0.909554760158192, + -0.23280690863087594, + 0.3442543849645325, + -0.11517403725433728, + -0.9371246590525949, + -0.3294424297780936, + 0.39930574678573066, + 0.259996762843872, + -0.8791795060706301 + ], + [ + 0.9073568110796674, + -0.32900490856503917, + 0.2616474489221087, + -0.25029161183393733, + -0.9229181475714413, + -0.2925341038731543, + 0.3377243349729286, + 0.199944649899441, + -0.9197632361339975 + ], + [ + 0.8794098999779248, + -0.4203858784916002, + 0.22341428106918726, + -0.37256897638445047, + -0.8998797196786699, + -0.226735193445749, + 0.2963622541024059, + 0.11615594378198656, + -0.9479858707108756 + ], + [ + 0.8642100577209764, + -0.4461313797392022, + 0.23261076532676314, + -0.40708662367645015, + -0.8917128059272682, + -0.19780988996768173, + 0.29567119737575887, + 0.0762565653390831, + -0.9522412925750863 + ], + [ + 0.8616548386178008, + -0.4569054414274541, + 0.2208808653562252, + -0.43769191794235024, + -0.889347718481601, + -0.1322362302832239, + 0.2568593468310595, + 0.017264218069585405, + -0.9662945838200518 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0021300017833709717, + -0.003036491572856903, + -0.00890098512172699, + -0.026206009089946747, + 0.0067306943237781525, + 0.010374605655670166, + 1.0 + ], + [ + -0.004188179969787598, + -0.022143565118312836, + -0.02223869413137436, + -0.044498227536678314, + -0.052250009030103683, + 0.017897099256515503, + 1.0 + ], + [ + -0.004059493541717529, + -0.019883308559656143, + -0.013012424111366272, + -0.04056835174560547, + -0.05769122391939163, + 0.07764217257499695, + 1.0 + ], + [ + 0.004173159599304199, + -0.021581074222922325, + -0.009996537119150162, + -0.09518884122371674, + -0.04777492582798004, + 0.1461469829082489, + 1.0 + ], + [ + 0.012253835797309875, + -0.02082722820341587, + 0.0038386546075344086, + -0.06405907869338989, + -0.025057688355445862, + 0.08540229499340057, + 1.0 + ], + [ + 0.01822561025619507, + -0.005131855607032776, + 0.012035436928272247, + -0.10638771951198578, + -0.0529647022485733, + 0.1362481415271759, + 1.0 + ], + [ + 0.017812728881835938, + 0.0037873461842536926, + -0.0018450692296028137, + -0.034132301807403564, + -0.004891499876976013, + 0.09715907275676727, + 1.0 + ], + [ + 0.01107749342918396, + 0.0048318225890398026, + -0.008906997740268707, + 0.004275232553482056, + -0.03149271011352539, + 0.06777950376272202, + 1.0 + ], + [ + 0.0036529898643493652, + -0.0008154157549142838, + -0.006251249462366104, + 0.0004910826683044434, + -0.029193222522735596, + 0.049012765288352966, + 1.0 + ], + [ + -0.00034165382385253906, + -0.002984084188938141, + -0.006379969418048859, + -0.024222731590270996, + 0.005798786878585815, + 0.03422887623310089, + 1.0 + ], + [ + -0.0007364451885223389, + -0.008826875127851963, + -0.00348871573805809, + -0.03229844570159912, + 0.0006270110607147217, + 0.04991106688976288, + 1.0 + ], + [ + 0.0018874406814575195, + -0.0002912827185355127, + -0.0023604705929756165, + -0.01564350724220276, + -0.003923863172531128, + 0.04059690237045288, + 1.0 + ], + [ + 0.0007264018058776855, + 0.0006087215733714402, + -0.01125197485089302, + 0.014520198106765747, + 0.01786777377128601, + 0.01883074641227722, + 1.0 + ], + [ + -0.0008900463581085205, + -0.002589380368590355, + -0.013490589335560799, + 0.023542046546936035, + 0.02457040548324585, + 1.990795135498047e-05, + 0.0 + ], + [ + 0.0036424994468688965, + -0.0019084095256403089, + -0.004761336371302605, + 0.008606404066085815, + -0.009314775466918945, + 0.02234339714050293, + 0.0 + ], + [ + 0.0008950233459472656, + -0.004463646560907364, + -0.0010483115911483765, + 0.007027119398117065, + -0.0008088052272796631, + 0.011102944612503052, + 0.0 + ], + [ + -0.0009076595306396484, + 0.001146695576608181, + -0.0005189757794141769, + -0.007462531328201294, + 0.008274495601654053, + 0.021605968475341797, + 0.0 + ], + [ + -0.011560916900634766, + 0.0024225106462836266, + 0.0005432125180959702, + -0.0058251917362213135, + 0.0053341686725616455, + 0.0015272200107574463, + 0.0 + ], + [ + -0.011081725358963013, + 0.0014246792998164892, + 0.005169101059436798, + 0.008860081434249878, + -0.015781015157699585, + -0.0143510103225708, + 0.0 + ], + [ + -0.0126972496509552, + 0.011195183731615543, + 0.004744967445731163, + 0.006298154592514038, + -0.014198333024978638, + 0.022455275058746338, + 0.0 + ], + [ + -0.009135633707046509, + 0.012287629768252373, + 0.0015780702233314514, + 0.010625094175338745, + -0.011191993951797485, + 0.009833037853240967, + 0.0 + ], + [ + -0.00627821683883667, + 0.010345151647925377, + 0.0001103132963180542, + 0.006137937307357788, + -0.001598954200744629, + -0.001868903636932373, + 0.0 + ], + [ + -0.003065645694732666, + 0.008896050974726677, + -0.00014427676796913147, + -0.003912091255187988, + -0.004366517066955566, + -0.01199910044670105, + 0.0 + ], + [ + -0.002399742603302002, + 0.006228432059288025, + -0.003010183572769165, + -0.0036842525005340576, + 0.02050149440765381, + -0.002625495195388794, + 0.0 + ], + [ + -0.000308305025100708, + 0.003117065876722336, + -0.00024338066577911377, + -0.010586023330688477, + 0.008458375930786133, + 0.005435585975646973, + 0.0 + ], + [ + -8.177757263183594e-05, + 0.0005242116749286652, + 0.00018810108304023743, + -0.008024066686630249, + 0.0022934675216674805, + 0.0035778582096099854, + 1.0 + ], + [ + -0.0025189369916915894, + -0.00390997901558876, + 0.0002579018473625183, + 0.016122162342071533, + 0.008827894926071167, + -0.08267912268638611, + 1.0 + ], + [ + 0.000596463680267334, + -0.004688382148742676, + 0.008369429036974907, + -0.010072261095046997, + -0.011585056781768799, + -0.027141273021697998, + 1.0 + ], + [ + 0.0025933384895324707, + -0.007811881601810455, + 0.018748149275779724, + -0.0364345908164978, + -0.027369260787963867, + -0.045324504375457764, + 1.0 + ], + [ + 0.007727041840553284, + -0.020462799817323685, + 0.03135015070438385, + -0.029350996017456055, + -0.07595130801200867, + -0.08332858979701996, + 1.0 + ], + [ + 0.011239886283874512, + -0.030863553285598755, + 0.015828929841518402, + 0.0022835731506347656, + -0.02560526132583618, + -0.12692011892795563, + 1.0 + ], + [ + 0.01783597469329834, + -0.020981743931770325, + 0.0046655237674713135, + 0.0661325454711914, + 0.00010851025581359863, + -0.14523261785507202, + 1.0 + ], + [ + 0.016460925340652466, + -0.02044478803873062, + 0.0006829574704170227, + 0.07347498834133148, + 0.06626135110855103, + -0.1431969702243805, + 1.0 + ], + [ + 0.015059858560562134, + -0.01989080011844635, + 0.017818905413150787, + 0.09213519096374512, + 0.04361659288406372, + -0.1315799057483673, + 1.0 + ], + [ + 0.006654143333435059, + 0.00017976760864257812, + 0.017186306416988373, + 0.04201085865497589, + 0.0007234811782836914, + -0.03948765993118286, + 1.0 + ], + [ + 0.0008376836776733398, + 0.009494781494140625, + 0.008531197905540466, + 0.06204609572887421, + 0.04038694500923157, + -0.0297795832157135, + 1.0 + ], + [ + -0.0013875067234039307, + 0.010370496660470963, + -0.0008767843246459961, + 0.006508972495794296, + 0.022089049220085144, + -0.003164827823638916, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9461179971694946 + ], + [ + 0.6581199765205383 + ], + [ + 0.3669656813144684 + ], + [ + 0.2788355052471161 + ], + [ + 0.27738428115844727 + ], + [ + 0.265934020280838 + ], + [ + 0.2652277648448944 + ], + [ + 0.2652277648448944 + ], + [ + 0.2652277648448944 + ], + [ + 0.2652277648448944 + ], + [ + 0.2652277648448944 + ], + [ + 0.2610139548778534 + ], + [ + 0.30724331736564636 + ], + [ + 0.5988990664482117 + ], + [ + 0.8956556916236877 + ], + [ + 1.0099300146102905 + ], + [ + 1.0073583126068115 + ], + [ + 1.0027955770492554 + ], + [ + 1.0001531839370728 + ], + [ + 0.9954678416252136 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.24165503680706024, + 0.09459712356328964, + 0.10680335015058517 + ], + [ + 0.23746685683727264, + 0.0724535584449768, + 0.08456465601921082 + ], + [ + 0.23340736329555511, + 0.05257024988532066, + 0.07155223190784454 + ], + [ + 0.23758052289485931, + 0.03098917566239834, + 0.06155569478869438 + ], + [ + 0.2498343586921692, + 0.010161947458982468, + 0.06539434939622879 + ], + [ + 0.26805996894836426, + 0.005030091851949692, + 0.07742978632450104 + ], + [ + 0.2858726978302002, + 0.008817438036203384, + 0.07558471709489822 + ], + [ + 0.29695019125938416, + 0.013649260625243187, + 0.06667771935462952 + ], + [ + 0.3006031811237335, + 0.012833844870328903, + 0.06042646989226341 + ], + [ + 0.300261527299881, + 0.009849760681390762, + 0.054046500474214554 + ], + [ + 0.29952508211135864, + 0.0010228855535387993, + 0.050557784736156464 + ], + [ + 0.30141252279281616, + 0.0007316028350032866, + 0.04819731414318085 + ], + [ + 0.30213892459869385, + 0.0013403244083747268, + 0.03694533929228783 + ], + [ + 0.3012488782405853, + -0.0012490559602156281, + 0.023454749956727028 + ], + [ + 0.3048913776874542, + -0.003157465485855937, + 0.018693413585424423 + ], + [ + 0.3057864010334015, + -0.0076211122795939445, + 0.017645101994276047 + ], + [ + 0.30487874150276184, + -0.0064744167029857635, + 0.01712612621486187 + ], + [ + 0.2933178246021271, + -0.004051906056702137, + 0.01766933873295784 + ], + [ + 0.28223609924316406, + -0.0026272267568856478, + 0.022838439792394638 + ], + [ + 0.26953884959220886, + 0.00856795720756054, + 0.0275834072381258 + ], + [ + 0.26040321588516235, + 0.020855586975812912, + 0.029161477461457253 + ], + [ + 0.2541249990463257, + 0.03120073862373829, + 0.029271790757775307 + ], + [ + 0.251059353351593, + 0.040096789598464966, + 0.029127513989806175 + ], + [ + 0.24865961074829102, + 0.04632522165775299, + 0.02611733041703701 + ], + [ + 0.2483513057231903, + 0.04944228753447533, + 0.025873949751257896 + ], + [ + 0.24826952815055847, + 0.04996649920940399, + 0.026062050834298134 + ], + [ + 0.24575059115886688, + 0.04605652019381523, + 0.026319952681660652 + ], + [ + 0.24634705483913422, + 0.041368138045072556, + 0.03468938171863556 + ], + [ + 0.2489403933286667, + 0.0335562564432621, + 0.05343753099441528 + ], + [ + 0.25666743516921997, + 0.01309345755726099, + 0.08478768169879913 + ], + [ + 0.2679073214530945, + -0.01777009665966034, + 0.10061661154031754 + ], + [ + 0.2857432961463928, + -0.038751840591430664, + 0.10528213530778885 + ], + [ + 0.3022042214870453, + -0.059196628630161285, + 0.10596509277820587 + ], + [ + 0.3172640800476074, + -0.07908742874860764, + 0.12378399819135666 + ], + [ + 0.3239182233810425, + -0.07890766113996506, + 0.14097030460834503 + ], + [ + 0.3247559070587158, + -0.06941287964582443, + 0.1495015025138855 + ], + [ + 0.3233684003353119, + -0.05904238298535347, + 0.1486247181892395 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8759759159399805, + -0.47835899720936415, + 0.06195857069012697, + -0.48224248584991114, + -0.8712892526783146, + 0.09108909379592103, + 0.010410549188690756, + -0.109670907519339, + -0.9939134331064623 + ], + [ + 0.8827779474069034, + -0.46189685279108356, + 0.08575775739690517, + -0.4655983919110504, + -0.8845320898240372, + 0.028655183150089872, + 0.06261974945572871, + -0.06522483770170226, + -0.995903854558706 + ], + [ + 0.9113932429967739, + -0.39364302757619074, + 0.12003134365853779, + -0.3936337885402039, + -0.9189328504190653, + -0.0247963090031205, + 0.12006163891647362, + -0.024649204071177308, + -0.992460386916953 + ], + [ + 0.9523682094010121, + -0.2693080054713426, + 0.14306638987322506, + -0.25493817555517484, + -0.9605569050580142, + -0.11107186317861227, + 0.1673359506110662, + 0.06930822703270383, + -0.9834607512751459 + ], + [ + 0.9662106509889534, + -0.19899384451615026, + 0.16382438084786213, + -0.17198447041687992, + -0.9711354892274107, + -0.16527916837418827, + 0.19198520737527805, + 0.13151924348824445, + -0.9725453042102211 + ], + [ + 0.9690857811989994, + -0.09680950663892647, + 0.22693758635856884, + -0.038692751024813885, + -0.9680549389104524, + -0.24773474982168397, + 0.24367113020638495, + 0.23129538403394095, + -0.9418741028548003 + ], + [ + 0.9670672455222177, + -0.012257110803019888, + 0.254225698686882, + 0.05542827512946287, + -0.9647245085025966, + -0.25736030970333446, + 0.2484122560467647, + 0.2629760177833449, + -0.9322740826154992 + ], + [ + 0.9528553044352545, + 0.04620938819001412, + 0.29988574699825693, + 0.11976282167031117, + -0.9653676960761545, + -0.23178023625447877, + 0.2787895897539276, + 0.256768190817557, + -0.9253898966538995 + ], + [ + 0.9374257914483974, + 0.08626564610081888, + 0.3373293995935632, + 0.16482234282805647, + -0.96334089004511, + -0.21167882480722014, + 0.3067025934549888, + 0.25403261182356773, + -0.9172791021810539 + ], + [ + 0.9329605130914751, + 0.11237520613608448, + 0.341989026224474, + 0.19717099755579903, + -0.9543670628066677, + -0.22429245897404804, + 0.30117815115798585, + 0.2766863250607924, + -0.9125439160881031 + ], + [ + 0.922144170618927, + 0.14855973260688693, + 0.3571836144636273, + 0.24351935311205614, + -0.9403459121390878, + -0.2375876473708014, + 0.30058019437983036, + 0.3060711867704584, + -0.9033116712273268 + ], + [ + 0.910366766547665, + 0.1796456539374106, + 0.372773107113361, + 0.2803952869507991, + -0.9303103310483032, + -0.23643428474012723, + 0.3043202809891713, + 0.31976573763647137, + -0.8972954026475758 + ], + [ + 0.9099464613280586, + 0.20780725241288278, + 0.35890609267767004, + 0.29913800956711833, + -0.9282792313305347, + -0.22093917695287585, + 0.2872523085177323, + 0.3084052764221131, + -0.9068474495339518 + ], + [ + 0.9163700279181137, + 0.22293917883047254, + 0.3325117959948939, + 0.30126992318557333, + -0.9310085170123522, + -0.20605721204126592, + 0.26363308843374356, + 0.28900045638866223, + -0.9203131700079222 + ], + [ + 0.9070559207174139, + 0.24411020501341457, + 0.34301569133174203, + 0.3208350144150722, + -0.9283419751159033, + -0.18773936924146611, + 0.27260676847203313, + 0.28034155069524, + -0.9203771861237235 + ], + [ + 0.9032305401741815, + 0.2566129165393864, + 0.3439831425546987, + 0.330810088010071, + -0.9269201982298779, + -0.17715425985353253, + 0.2733848513861464, + 0.2738042314841642, + -0.9221127728504475 + ], + [ + 0.8979489509465935, + 0.2761414050421755, + 0.3426858706092874, + 0.35105820825547546, + -0.9190213894280967, + -0.17932601648981572, + 0.2654163067906103, + 0.2813282961150257, + -0.922175999413696 + ], + [ + 0.8987167851476408, + 0.2769666157326113, + 0.3399965203697134, + 0.35294166960334106, + -0.9169820304481098, + -0.185946588279719, + 0.26026970233105295, + 0.28711225958653414, + -0.9218602022235363 + ], + [ + 0.8997325424918137, + 0.26264602047377894, + 0.3485662346104456, + 0.3385196270388161, + -0.9240633419150787, + -0.17751451275385205, + 0.2754737992817426, + 0.2777120956278713, + -0.9203206929387486 + ], + [ + 0.8881861357996479, + 0.2819678613478294, + 0.36279403707919616, + 0.3571410465790897, + -0.9204206375793949, + -0.15898466204742284, + 0.28909455377381704, + 0.2707766147304306, + -0.9182071465053221 + ], + [ + 0.8815861977679367, + 0.2921644544112583, + 0.3707367091126048, + 0.3645977732545658, + -0.9203174928044426, + -0.1417186514752271, + 0.29979032613292345, + 0.2601069857130263, + -0.9178617087232689 + ], + [ + 0.8818216233642772, + 0.2923362122737253, + 0.37004075932340547, + 0.3627667057083479, + -0.921873431134898, + -0.13619726207631205, + 0.30131535273978977, + 0.25434015797947085, + -0.9189777702655674 + ], + [ + 0.884879789070955, + 0.27876457842618796, + 0.37319977050985964, + 0.3516705032665354, + -0.9251731981244151, + -0.14276698009169886, + 0.3054760482034622, + 0.2575749663439975, + -0.9167003439984543 + ], + [ + 0.8914394876946019, + 0.27995196495538094, + 0.3563180280260971, + 0.3515701555858038, + -0.9233969265875304, + -0.15406667929853093, + 0.2858917023632534, + 0.26261190621585273, + -0.9215752390518729 + ], + [ + 0.8917281889660045, + 0.2833113794125593, + 0.35292421183415923, + 0.35729707763348845, + -0.9193416584794014, + -0.164771700540209, + 0.2777762324569518, + 0.27303035963001676, + -0.9210292000812597 + ], + [ + 0.8910322986692936, + 0.2843493528833697, + 0.35384585378795, + 0.3607233754175382, + -0.9167391698187476, + -0.17166228749323742, + 0.27557229388219023, + 0.28059711337581855, + -0.9194156681336605 + ], + [ + 0.9200657236436187, + 0.21534120011655153, + 0.3272724120797645, + 0.2866176833798836, + -0.9394993135467864, + -0.18759355910869013, + 0.2670755843391392, + 0.2664004642966677, + -0.9261217116947571 + ], + [ + 0.924464948338971, + 0.18344308021916259, + 0.3342352399318925, + 0.26068615909820436, + -0.9438365513028433, + -0.20301549418549605, + 0.27822164859559284, + 0.27481120927731706, + -0.9203648806360927 + ], + [ + 0.9275625777557891, + 0.12039051079923302, + 0.3537425465738256, + 0.21671777962981192, + -0.9445194181579758, + -0.24681262673299956, + 0.30440280606354414, + 0.30559645552921333, + -0.9021916304359189 + ], + [ + 0.9168140199406415, + 0.006982323248794137, + 0.3992534282912672, + 0.13499794096051243, + -0.9463952937693736, + -0.2934476169056458, + 0.37580261943831994, + 0.3229352800380132, + -0.8686110729953118 + ], + [ + 0.9166041714234439, + -0.12022130875037329, + 0.3812920532236278, + 0.017670775848860017, + -0.9406019698650219, + -0.3390511435859498, + 0.3994052285712366, + 0.31751341894223684, + -0.8600352854282028 + ], + [ + 0.909554760158192, + -0.23280690863087594, + 0.3442543849645325, + -0.11517403725433728, + -0.9371246590525949, + -0.3294424297780936, + 0.39930574678573066, + 0.259996762843872, + -0.8791795060706301 + ], + [ + 0.9073568110796674, + -0.32900490856503917, + 0.2616474489221087, + -0.25029161183393733, + -0.9229181475714413, + -0.2925341038731543, + 0.3377243349729286, + 0.199944649899441, + -0.9197632361339975 + ], + [ + 0.8794098999779248, + -0.4203858784916002, + 0.22341428106918726, + -0.37256897638445047, + -0.8998797196786699, + -0.226735193445749, + 0.2963622541024059, + 0.11615594378198656, + -0.9479858707108756 + ], + [ + 0.8642100577209764, + -0.4461313797392022, + 0.23261076532676314, + -0.40708662367645015, + -0.8917128059272682, + -0.19780988996768173, + 0.29567119737575887, + 0.0762565653390831, + -0.9522412925750863 + ], + [ + 0.8616548386178008, + -0.4569054414274541, + 0.2208808653562252, + -0.43769191794235024, + -0.889347718481601, + -0.1322362302832239, + 0.2568593468310595, + 0.017264218069585405, + -0.9662945838200518 + ], + [ + 0.8651054331282132, + -0.45805668230154384, + 0.20439340833537106, + -0.4428946354864858, + -0.8888544769800555, + -0.1173970212986917, + 0.2354504861522695, + 0.011036056878032136, + -0.9718236846358733 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006232.json b/json/chunk-0006/episode_0006232.json new file mode 100644 index 0000000000000000000000000000000000000000..1c8a11524ddfcfb9a8849fca337fb71f91423241 --- /dev/null +++ b/json/chunk-0006/episode_0006232.json @@ -0,0 +1,2782 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 45, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut the silver lid on the silver pot." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006232.mp4", + "start": 0, + "end": 45, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.35416379570961, + -0.08699913322925568, + 0.052453331649303436, + 0.03563225641846657, + -0.23458287119865417, + -0.017679458484053612, + 0.0, + 0.9981546401977539 + ], + [ + 0.3486570715904236, + -0.08558381348848343, + 0.03782960772514343, + 0.04622756689786911, + -0.191300168633461, + -0.019089361652731895, + 0.0, + 0.9981546401977539 + ], + [ + 0.35265326499938965, + -0.07197313010692596, + 0.01512330025434494, + 0.0689348503947258, + -0.16432109475135803, + 0.0010070190764963627, + 0.0, + 0.9981546401977539 + ], + [ + 0.369441956281662, + -0.04568175598978996, + -0.005946217570453882, + 0.07641904056072235, + -0.1905253380537033, + 0.06075224652886391, + 0.0, + 0.9981546401977539 + ], + [ + 0.3789343237876892, + -0.030571123585104942, + -0.026424409821629524, + 0.05786843225359917, + -0.1899241954088211, + 0.11846733838319778, + 0.0, + 0.9981546401977539 + ], + [ + 0.38071417808532715, + -0.020424859598279, + -0.04108043015003204, + 0.04817269369959831, + -0.15306124091148376, + 0.11559794843196869, + 0.0, + 0.9981546401977539 + ], + [ + 0.3739929497241974, + -0.010057798586785793, + -0.04736907407641411, + 0.051297448575496674, + -0.12591491639614105, + 0.13208819925785065, + 0.0, + 0.9981546401977539 + ], + [ + 0.3557998538017273, + 0.001251469599083066, + -0.0571136437356472, + 0.08398404717445374, + -0.07890929281711578, + 0.15239359438419342, + 0.0, + 0.9981546401977539 + ], + [ + 0.3527083098888397, + 0.004913185723125935, + -0.06005425751209259, + 0.06834051758050919, + -0.07775411754846573, + 0.174234539270401, + 0.0, + 0.9872581958770752 + ], + [ + 0.3600340783596039, + 0.002262641442939639, + -0.06312322616577148, + 0.034150220453739166, + -0.09934961050748825, + 0.176706925034523, + 0.0, + 0.9032710790634155 + ], + [ + 0.37112194299697876, + -0.008630828931927681, + -0.0630108043551445, + 0.025479258969426155, + -0.1301867961883545, + 0.14695212244987488, + 0.0, + 0.6259716749191284 + ], + [ + 0.37191224098205566, + -0.016576716676354408, + -0.0614095963537693, + 0.04742315039038658, + -0.12818866968154907, + 0.0959957018494606, + 0.0, + 0.34288913011550903 + ], + [ + 0.372048944234848, + -0.027248403057456017, + -0.0620184987783432, + 0.05241940915584564, + -0.1352752149105072, + 0.057364705950021744, + 0.0, + 0.13853202760219574 + ], + [ + 0.3676454722881317, + -0.02431572787463665, + -0.06092563271522522, + 0.06667352467775345, + -0.1401379108428955, + 0.06292370706796646, + 0.0, + 0.054572440683841705 + ], + [ + 0.36464568972587585, + -0.024798128753900528, + -0.057007309049367905, + 0.07177436351776123, + -0.1476598083972931, + 0.053495220839977264, + 0.0, + 0.06712212413549423 + ], + [ + 0.36392512917518616, + -0.02995023876428604, + -0.04943468049168587, + 0.06518413871526718, + -0.19601814448833466, + 0.06346273422241211, + 0.0, + 0.20024193823337555 + ], + [ + 0.36467668414115906, + -0.03250677138566971, + -0.0479813776910305, + 0.062082093209028244, + -0.22259235382080078, + 0.07381891459226608, + 0.0, + 0.4485226273536682 + ], + [ + 0.3581216633319855, + -0.031006820499897003, + -0.04337494447827339, + 0.0706508606672287, + -0.22371968626976013, + 0.06594174355268478, + 0.0, + 0.7672095894813538 + ], + [ + 0.35207104682922363, + -0.029936807230114937, + -0.039825547486543655, + 0.06919211894273758, + -0.22391068935394287, + 0.0801563560962677, + 0.0, + 0.9907060265541077 + ], + [ + 0.34361502528190613, + -0.028242060914635658, + -0.04440447315573692, + 0.07488538324832916, + -0.19982333481311798, + 0.07899712026119232, + 0.0, + 0.9974852800369263 + ], + [ + 0.344073086977005, + -0.027987884357571602, + -0.044347696006298065, + 0.0720871090888977, + -0.20262952148914337, + 0.08484091609716415, + 0.0, + 0.9974852800369263 + ], + [ + 0.3446190357208252, + -0.028966199606657028, + -0.04444913938641548, + 0.06483020633459091, + -0.20224598050117493, + 0.09295878559350967, + 0.0, + 0.9974852800369263 + ], + [ + 0.34100964665412903, + -0.029041051864624023, + -0.05512642487883568, + 0.07035616785287857, + -0.1630294770002365, + 0.0914306640625, + 0.0, + 0.9974852800369263 + ], + [ + 0.34196338057518005, + -0.025367558002471924, + -0.055441126227378845, + 0.0734465941786766, + -0.1607237011194229, + 0.08847535401582718, + 0.0, + 0.9851709604263306 + ], + [ + 0.33774709701538086, + -0.025330349802970886, + -0.0672563761472702, + 0.07475103437900543, + -0.13765805959701538, + 0.09252356737852097, + 0.0, + 0.8939508199691772 + ], + [ + 0.33829277753829956, + -0.02576572820544243, + -0.06757606565952301, + 0.06730780005455017, + -0.13923566043376923, + 0.1050429567694664, + 0.0, + 0.603904664516449 + ], + [ + 0.3382439613342285, + -0.02642231620848179, + -0.06768030673265457, + 0.059374354779720306, + -0.1380758136510849, + 0.110987089574337, + 0.0, + 0.33559030294418335 + ], + [ + 0.3423895537853241, + -0.026711253449320793, + -0.06625299155712128, + 0.0639209896326065, + -0.14508631825447083, + 0.09867766499519348, + 0.0, + 0.26876991987228394 + ], + [ + 0.34722504019737244, + -0.030597753822803497, + -0.05482993647456169, + 0.08955929428339005, + -0.14211751520633698, + 0.017550576478242874, + 0.0, + 0.26805928349494934 + ], + [ + 0.3781305253505707, + -0.046371955424547195, + 0.0010275315726175904, + 0.0727832168340683, + -0.3323881924152374, + -0.03525610268115997, + 0.0, + 0.26805928349494934 + ], + [ + 0.4019368886947632, + -0.05067292973399162, + 0.02640223316848278, + 0.08669716864824295, + -0.40649667382240295, + -0.05525780841708183, + 0.0, + 0.26805928349494934 + ], + [ + 0.42055830359458923, + -0.04812962934374809, + 0.026037100702524185, + 0.08155476301908493, + -0.49442577362060547, + -0.0738285630941391, + 0.0, + 0.26805928349494934 + ], + [ + 0.43555960059165955, + -0.04014292731881142, + 0.016315726563334465, + 0.07056894898414612, + -0.5815377831459045, + -0.0462210588157177, + 0.0, + 0.26805928349494934 + ], + [ + 0.4475281238555908, + -0.036073196679353714, + 7.360612653428689e-05, + 0.03582501411437988, + -0.621471107006073, + -0.0016062712529674172, + 0.0, + 0.26805928349494934 + ], + [ + 0.4670063853263855, + -0.031980860978364944, + -0.00895342230796814, + 0.04463130980730057, + -0.6356939077377319, + 0.006077632308006287, + 0.0, + 0.26805928349494934 + ], + [ + 0.4885675609111786, + -0.027817385271191597, + 0.002186256693676114, + 0.06493066251277924, + -0.6654133200645447, + -0.0022156555205583572, + 0.0, + 0.26805928349494934 + ], + [ + 0.5006809234619141, + -0.023624520748853683, + 0.01825697347521782, + 0.08999723941087723, + -0.6858722567558289, + -0.002800042275339365, + 0.0, + 0.26805928349494934 + ], + [ + 0.5029591917991638, + -0.015339278616011143, + 0.01989392377436161, + 0.10768832266330719, + -0.6796689629554749, + 0.011771459132432938, + 0.0, + 0.26805928349494934 + ], + [ + 0.501655638217926, + -0.011271599680185318, + -0.003885451704263687, + 0.08958302438259125, + -0.6420548558235168, + 0.04234547168016434, + 0.0, + 0.2673496901988983 + ], + [ + 0.5025395154953003, + -0.014061338268220425, + -0.016496527940034866, + 0.0524895116686821, + -0.6253583431243896, + 0.07198681682348251, + 0.0, + 0.26805928349494934 + ], + [ + 0.5043246746063232, + -0.01662709377706051, + -0.02912323549389839, + 0.03483499214053154, + -0.6010462641716003, + 0.08078015595674515, + 0.0, + 0.2673496901988983 + ], + [ + 0.5068652629852295, + -0.015258834697306156, + -0.0264318585395813, + 0.05711652338504791, + -0.6054378151893616, + 0.05784135311841965, + 0.0, + 0.32045841217041016 + ], + [ + 0.5099336504936218, + -0.014776834286749363, + -0.022161679342389107, + 0.0693550705909729, + -0.6097641587257385, + 0.05060239136219025, + 0.0, + 0.6279802918434143 + ], + [ + 0.5150386691093445, + -0.013838224112987518, + -0.016434162855148315, + 0.0789395272731781, + -0.6329063177108765, + 0.05162178725004196, + 0.0, + 0.9190354347229004 + ], + [ + 0.5260058641433716, + -0.01577361300587654, + -0.0037006407510489225, + 0.06108816713094711, + -0.6757274866104126, + 0.06185847893357277, + 0.0, + 1.0001531839370728 + ] + ], + "left_gripper_pos": [ + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9872581958770752 + ], + [ + 0.9032710790634155 + ], + [ + 0.6259716749191284 + ], + [ + 0.34288913011550903 + ], + [ + 0.13853202760219574 + ], + [ + 0.054572440683841705 + ], + [ + 0.06712212413549423 + ], + [ + 0.20024193823337555 + ], + [ + 0.4485226273536682 + ], + [ + 0.7672095894813538 + ], + [ + 0.9907060265541077 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9851709604263306 + ], + [ + 0.8939508199691772 + ], + [ + 0.603904664516449 + ], + [ + 0.33559030294418335 + ], + [ + 0.26876991987228394 + ], + [ + 0.26805928349494934 + ], + [ + 0.26805928349494934 + ], + [ + 0.26805928349494934 + ], + [ + 0.26805928349494934 + ], + [ + 0.26805928349494934 + ], + [ + 0.26805928349494934 + ], + [ + 0.26805928349494934 + ], + [ + 0.26805928349494934 + ], + [ + 0.26805928349494934 + ], + [ + 0.26805928349494934 + ], + [ + 0.2673496901988983 + ], + [ + 0.26805928349494934 + ], + [ + 0.2673496901988983 + ], + [ + 0.32045841217041016 + ], + [ + 0.6279802918434143 + ], + [ + 0.9190354347229004 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.35416379570961, + -0.08699913322925568, + 0.052453331649303436 + ], + [ + 0.3486570715904236, + -0.08558381348848343, + 0.03782960772514343 + ], + [ + 0.35265326499938965, + -0.07197313010692596, + 0.01512330025434494 + ], + [ + 0.369441956281662, + -0.04568175598978996, + -0.005946217570453882 + ], + [ + 0.3789343237876892, + -0.030571123585104942, + -0.026424409821629524 + ], + [ + 0.38071417808532715, + -0.020424859598279, + -0.04108043015003204 + ], + [ + 0.3739929497241974, + -0.010057798586785793, + -0.04736907407641411 + ], + [ + 0.3557998538017273, + 0.001251469599083066, + -0.0571136437356472 + ], + [ + 0.3527083098888397, + 0.004913185723125935, + -0.06005425751209259 + ], + [ + 0.3600340783596039, + 0.002262641442939639, + -0.06312322616577148 + ], + [ + 0.37112194299697876, + -0.008630828931927681, + -0.0630108043551445 + ], + [ + 0.37191224098205566, + -0.016576716676354408, + -0.0614095963537693 + ], + [ + 0.372048944234848, + -0.027248403057456017, + -0.0620184987783432 + ], + [ + 0.3676454722881317, + -0.02431572787463665, + -0.06092563271522522 + ], + [ + 0.36464568972587585, + -0.024798128753900528, + -0.057007309049367905 + ], + [ + 0.36392512917518616, + -0.02995023876428604, + -0.04943468049168587 + ], + [ + 0.36467668414115906, + -0.03250677138566971, + -0.0479813776910305 + ], + [ + 0.3581216633319855, + -0.031006820499897003, + -0.04337494447827339 + ], + [ + 0.35207104682922363, + -0.029936807230114937, + -0.039825547486543655 + ], + [ + 0.34361502528190613, + -0.028242060914635658, + -0.04440447315573692 + ], + [ + 0.344073086977005, + -0.027987884357571602, + -0.044347696006298065 + ], + [ + 0.3446190357208252, + -0.028966199606657028, + -0.04444913938641548 + ], + [ + 0.34100964665412903, + -0.029041051864624023, + -0.05512642487883568 + ], + [ + 0.34196338057518005, + -0.025367558002471924, + -0.055441126227378845 + ], + [ + 0.33774709701538086, + -0.025330349802970886, + -0.0672563761472702 + ], + [ + 0.33829277753829956, + -0.02576572820544243, + -0.06757606565952301 + ], + [ + 0.3382439613342285, + -0.02642231620848179, + -0.06768030673265457 + ], + [ + 0.3423895537853241, + -0.026711253449320793, + -0.06625299155712128 + ], + [ + 0.34722504019737244, + -0.030597753822803497, + -0.05482993647456169 + ], + [ + 0.3781305253505707, + -0.046371955424547195, + 0.0010275315726175904 + ], + [ + 0.4019368886947632, + -0.05067292973399162, + 0.02640223316848278 + ], + [ + 0.42055830359458923, + -0.04812962934374809, + 0.026037100702524185 + ], + [ + 0.43555960059165955, + -0.04014292731881142, + 0.016315726563334465 + ], + [ + 0.4475281238555908, + -0.036073196679353714, + 7.360612653428689e-05 + ], + [ + 0.4670063853263855, + -0.031980860978364944, + -0.00895342230796814 + ], + [ + 0.4885675609111786, + -0.027817385271191597, + 0.002186256693676114 + ], + [ + 0.5006809234619141, + -0.023624520748853683, + 0.01825697347521782 + ], + [ + 0.5029591917991638, + -0.015339278616011143, + 0.01989392377436161 + ], + [ + 0.501655638217926, + -0.011271599680185318, + -0.003885451704263687 + ], + [ + 0.5025395154953003, + -0.014061338268220425, + -0.016496527940034866 + ], + [ + 0.5043246746063232, + -0.01662709377706051, + -0.02912323549389839 + ], + [ + 0.5068652629852295, + -0.015258834697306156, + -0.0264318585395813 + ], + [ + 0.5099336504936218, + -0.014776834286749363, + -0.022161679342389107 + ], + [ + 0.5150386691093445, + -0.013838224112987518, + -0.016434162855148315 + ], + [ + 0.5260058641433716, + -0.01577361300587654, + -0.0037006407510489225 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9724593849089651, + -0.009388096873633745, + 0.23288325044873645, + -0.01719434680057569, + -0.9993554473200792, + 0.031512606204284435, + 0.2324373015257645, + -0.03464900501855778, + -0.9719940057997504 + ], + [ + 0.981578984086569, + -0.010283039496685936, + 0.19077986554741264, + -0.01873999258097293, + -0.9989174106449986, + 0.04257721677559723, + 0.19013550609406002, + -0.045368114452781876, + -0.9807090412111815 + ], + [ + 0.9865291395676002, + 0.012272235181497579, + 0.16312464261312637, + 0.0009934539988805408, + -0.9976130814134321, + 0.06904457141549142, + 0.1635826085901625, + -0.06795242480181851, + -0.9841865667292918 + ], + [ + 0.980093417423066, + 0.07496876813976078, + 0.18383845334309803, + 0.059616239546736415, + -0.9943642189429767, + 0.08766814739818629, + 0.1893747530857315, + -0.07496321691023383, + -0.9790391815469836 + ], + [ + 0.9751355296024631, + 0.12883462267902884, + 0.18031178249375845, + 0.116065192168868, + -0.9900383002564946, + 0.07970592946597536, + 0.18878445400436955, + -0.05679616205681125, + -0.9803747374865842 + ], + [ + 0.9817129996103129, + 0.12249963866635553, + 0.14571693423461218, + 0.11399221660487384, + -0.9913268513933962, + 0.06539761662295657, + 0.1524642940154497, + -0.047591094052017884, + -0.9871624622205317 + ], + [ + 0.9834411782554054, + 0.13791433271459763, + 0.1175716196346185, + 0.13066175762334892, + -0.9891369873151317, + 0.06734630962363558, + 0.1255824589916815, + -0.05086901961933843, + -0.9907781733751356 + ], + [ + 0.9853348915761654, + 0.15780520290910624, + 0.0649050797503801, + 0.15133204570801487, + -0.9839230101953831, + 0.09483734470072593, + 0.07882742786882427, + -0.08362432626259429, + -0.993374656749765 + ], + [ + 0.9818839389348326, + 0.1781736190949918, + 0.06448326853076512, + 0.17283055677946568, + -0.9816410427752633, + 0.08068743261743824, + 0.07767579484702984, + -0.06808101495781721, + -0.994651419491872 + ], + [ + 0.9795735881320176, + 0.17902007988352725, + 0.0915827299913039, + 0.17492190311425787, + -0.9832586107557693, + 0.05103755661785741, + 0.09918625532325906, + -0.03397521704316748, + -0.9944886984686246 + ], + [ + 0.9808508224710933, + 0.14964796033585184, + 0.12464811280199681, + 0.1451847021517518, + -0.9884165995775375, + 0.04420438825145313, + 0.12981936033923105, + -0.025260911442333472, + -0.9912158291886867 + ], + [ + 0.9872288029360976, + 0.1017728761073275, + 0.12256252421602096, + 0.09506190539682681, + -0.9936959987770125, + 0.05942639276349053, + 0.1278378848216948, + -0.04701641950849143, + -0.9906800348754975 + ], + [ + 0.9892343762464676, + 0.06430907672093557, + 0.13145224039004724, + 0.05680946726823838, + -0.9965786448057717, + 0.06003073500957939, + 0.13486301672794102, + -0.051916734955043266, + -0.9895032184640163 + ], + [ + 0.9882371000172723, + 0.0720300976582461, + 0.13490403693290703, + 0.06226574167381037, + -0.9952183135616446, + 0.07525613440329015, + 0.1396796748394767, + -0.06597100410679899, + -0.9879966675317678 + ], + [ + 0.9877031227392384, + 0.06386760328964937, + 0.14270063272877434, + 0.05288785671088991, + -0.995434340577136, + 0.07945658067328651, + 0.14712381161350105, + -0.07093238223687456, + -0.986571427321163 + ], + [ + 0.9788753460248376, + 0.0759465350792432, + 0.1898293463988422, + 0.06220563981102714, + -0.9950628707134738, + 0.07733266905494238, + 0.19476528263644705, + -0.06389058723253188, + -0.9787668146921549 + ], + [ + 0.9726722533657897, + 0.08726887241757471, + 0.2151576897052062, + 0.07193231611797964, + -0.9943452604761305, + 0.07812326712675817, + 0.22075875844509496, + -0.06051154332539234, + -0.9734494972489117 + ], + [ + 0.972959747757529, + 0.0813569703578842, + 0.2161720902840877, + 0.06425181819891518, + -0.9943053250121364, + 0.08502131797757129, + 0.22185813733496226, + -0.06883287024885776, + -0.9726463914864255 + ], + [ + 0.9719059124170547, + 0.09518112886191075, + 0.21526599851658973, + 0.07807171273416559, + -0.9931748618388223, + 0.08665160980726105, + 0.2220443763744671, + -0.06741102669451216, + -0.9727034740353637 + ], + [ + 0.9770450663020503, + 0.09349807466041907, + 0.19141851647533226, + 0.07734470461639581, + -0.9929155571697923, + 0.09020251104045608, + 0.19849618405053743, + -0.07332670976524057, + -0.9773548273541086 + ], + [ + 0.9760175410062103, + 0.09896161970329144, + 0.19389780162212175, + 0.08300547521918229, + -0.9925870928668745, + 0.08877473828586807, + 0.20124574711488505, + -0.07055112259764387, + -0.9769967698863614 + ], + [ + 0.9753883422853106, + 0.10558710082937876, + 0.1935689692909486, + 0.09093299431240069, + -0.9923828092595506, + 0.08311167445974786, + 0.20087003828170716, + -0.06346435239225877, + -0.9775599744752935 + ], + [ + 0.9826186157046122, + 0.10243975850006626, + 0.15481198903573357, + 0.09009265775693467, + -0.9923177187647081, + 0.08478713371672447, + 0.16230825329922022, + -0.06936599241742297, + -0.9842989332549855 + ], + [ + 0.9832507455407689, + 0.09981910632021694, + 0.152493007731356, + 0.08722116249263105, + -0.9923655281584685, + 0.08719591352923556, + 0.1600326223210637, + -0.07243482957940264, + -0.9844504839029978 + ], + [ + 0.9863032918915922, + 0.10233783563099177, + 0.12935526198100017, + 0.09151759707895515, + -0.9919952988039772, + 0.08700492270959358, + 0.1372237072400505, + -0.07397495893322582, + -0.9877739415585556 + ], + [ + 0.9848637674753175, + 0.11389536837808145, + 0.13065681986159433, + 0.10383518999415503, + -0.9912575206615367, + 0.08140504315348716, + 0.13878621269132502, + -0.06660610177727343, + -0.9880799635519556 + ], + [ + 0.9843884803264257, + 0.1186812827941303, + 0.12997720151999775, + 0.10970523740063158, + -0.9911913463942874, + 0.07419215403229025, + 0.13763749738898007, + -0.0587747220105692, + -0.9887373014937177 + ], + [ + 0.9846798496178119, + 0.10750674318582663, + 0.13728763209488376, + 0.09748251882496027, + -0.9921931562018765, + 0.07778109866606452, + 0.14457784159470877, + -0.06320633635748486, + -0.9874726359571083 + ], + [ + 0.9897658370105317, + 0.030145581291465304, + 0.1394805786317267, + 0.017372744788088246, + -0.9956165334419105, + 0.09190161084355976, + 0.14163959766029266, + -0.08853791428372822, + -0.9859509430539217 + ], + [ + 0.9446783508926566, + -0.011441917277321446, + 0.32779855991713885, + -0.03331948337624958, + -0.9975690782506557, + 0.06120250113906614, + 0.3263014333132341, + -0.06873875651447658, + -0.9427631505158508 + ], + [ + 0.9171097037973898, + -0.02083790775376091, + 0.39808990542478007, + -0.050729115346298766, + -0.9966144394691835, + 0.06470097292705529, + 0.39539391504782484, + -0.07953263884702541, + -0.9150618620078004 + ], + [ + 0.877843483210197, + -0.03496466097208835, + 0.4776696467941994, + -0.06492793249964883, + -0.9968126148522322, + 0.04635703239829139, + 0.4745262717349897, + -0.07170832137598895, + -0.877315641077217 + ], + [ + 0.8347264757544233, + -0.007398933586237829, + 0.5506150801207563, + -0.03860944034050852, + -0.9982352983733539, + 0.0451176262457838, + 0.54930958647305, + -0.058919817237055035, + -0.833539101269736 + ], + [ + 0.8130217625528229, + 0.019248735404346164, + 0.5819150279901998, + -0.0013059346083761827, + -0.9993905607563377, + 0.03488268346804488, + 0.5822318336799356, + -0.02912032376994866, + -0.8125011375950396 + ], + [ + 0.804645031152537, + 0.03256147296617598, + 0.5928626521546164, + 0.0048903968511554916, + -0.9988247400128087, + 0.04822056363195039, + 0.5937360169807545, + -0.035901103278558985, + -0.803858602568394 + ], + [ + 0.7866597440880765, + 0.03784792846436289, + 0.6162255928977942, + -0.0017429698569455532, + -0.9979790525424118, + 0.06351986100919371, + 0.6173843285080691, + -0.051042580239501784, + -0.7850039782798137 + ], + [ + 0.7738638656042052, + 0.05413375172617114, + 0.6310342735827953, + -0.0021668572019434215, + -0.9961084625817677, + 0.08810922484538024, + 0.6333482629975259, + -0.06955190649462205, + -0.7707350453047923 + ], + [ + 0.7777269430729145, + 0.07925351441894704, + 0.6235861467918487, + 0.009155403810191212, + -0.993343127622212, + 0.1148286087470967, + 0.6285355841951445, + -0.0835961198738747, + -0.7732753119959933 + ], + [ + 0.8001489892703151, + 0.09568942898177765, + 0.5921191840760058, + 0.033902953023353305, + -0.9928293279250151, + 0.1146320870797507, + 0.5988423705333399, + -0.07164815973285416, + -0.7976555374727277 + ], + [ + 0.8086536055418075, + 0.10245867095490802, + 0.5792940246458518, + 0.05831316203915738, + -0.9938273823650946, + 0.09437536328056788, + 0.5853878384261411, + -0.04253651146365993, + -0.8096367851174205 + ], + [ + 0.8220549536512902, + 0.10027455274625131, + 0.5605092927409097, + 0.06655054743299231, + -0.9945450904923415, + 0.08031866292431461, + 0.5655056832727188, + -0.028724154454394163, + -0.8242440446476613 + ], + [ + 0.8208779156495138, + 0.09014911009250413, + 0.5639437787124162, + 0.04753371115871437, + -0.9948215398772565, + 0.08983679702506905, + 0.5691221256482557, + -0.04693870200349722, + -0.8209121538580345 + ], + [ + 0.818733755654222, + 0.09009441980019307, + 0.5670608722819793, + 0.04146528399805667, + -0.9943115998035589, + 0.09810745496162765, + 0.5726741373375378, + -0.05681054494505284, + -0.8178122611013807 + ], + [ + 0.8052377613450004, + 0.09801955903672616, + 0.5847942490742692, + 0.041604775227641215, + -0.9931511805435558, + 0.10917772329188394, + 0.5914906511368967, + -0.06358379220514832, + -0.8038009150196725 + ], + [ + 0.7787598098508955, + 0.099815449333252, + 0.6193303114133833, + 0.04823443555495717, + -0.993865095120683, + 0.0995269407118033, + 0.625465105171897, + -0.047634533430664885, + -0.7787967343518789 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.005506724119186401, + 0.0014153197407722473, + -0.014623723924160004, + 0.010595310479402542, + 0.043282702565193176, + -0.0014099031686782837, + 1.0 + ], + [ + 0.0039961934089660645, + 0.013610683381557465, + -0.022706307470798492, + 0.02270728349685669, + 0.026979073882102966, + 0.02009638026356697, + 1.0 + ], + [ + 0.01678869128227234, + 0.026291374117136, + -0.021069517359137535, + 0.0074841901659965515, + -0.026204243302345276, + 0.05974522605538368, + 1.0 + ], + [ + 0.009492367506027222, + 0.01511063240468502, + -0.02047819271683693, + -0.018550608307123184, + 0.0006011426448822021, + 0.05771509185433388, + 1.0 + ], + [ + 0.0017798542976379395, + 0.010146263986825943, + -0.01465602032840252, + -0.009695738554000854, + 0.03686295449733734, + -0.0028693899512290955, + 1.0 + ], + [ + -0.006721228361129761, + 0.010367061011493206, + -0.006288643926382065, + 0.003124754875898361, + 0.027146324515342712, + 0.016490250825881958, + 1.0 + ], + [ + -0.018193095922470093, + 0.011309267953038216, + -0.009744569659233093, + 0.03268659859895706, + 0.04700562357902527, + 0.020305395126342773, + 1.0 + ], + [ + -0.0030915439128875732, + 0.0036617161240428686, + -0.002940613776445389, + -0.01564352959394455, + 0.001155175268650055, + 0.02184094488620758, + 0.0 + ], + [ + 0.00732576847076416, + -0.0026505442801862955, + -0.003068968653678894, + -0.03419029712677002, + -0.021595492959022522, + 0.0024723857641220093, + 0.0 + ], + [ + 0.011087864637374878, + -0.010893470607697964, + 0.00011242181062698364, + -0.008670961484313011, + -0.03083718568086624, + -0.029754802584648132, + 0.0 + ], + [ + 0.0007902979850769043, + -0.007945887744426727, + 0.0016012080013751984, + 0.021943891420960426, + 0.00199812650680542, + -0.050956420600414276, + 0.0 + ], + [ + 0.0001367032527923584, + -0.010671686381101608, + -0.0006089024245738983, + 0.004996258765459061, + -0.00708654522895813, + -0.03863099589943886, + 0.0 + ], + [ + -0.004403471946716309, + 0.0029326751828193665, + 0.001092866063117981, + 0.014254115521907806, + -0.004862695932388306, + 0.005559001117944717, + 0.0 + ], + [ + -0.0029997825622558594, + -0.00048240087926387787, + 0.003918323665857315, + 0.005100838840007782, + -0.007521897554397583, + -0.009428486227989197, + 1.0 + ], + [ + -0.0007205605506896973, + -0.005152110010385513, + 0.007572628557682037, + -0.006590224802494049, + -0.048358336091041565, + 0.009967513382434845, + 1.0 + ], + [ + 0.0007515549659729004, + -0.002556532621383667, + 0.001453302800655365, + -0.0031020455062389374, + -0.026574209332466125, + 0.010356180369853973, + 1.0 + ], + [ + -0.006555020809173584, + 0.001499950885772705, + 0.004606433212757111, + 0.008568767458200455, + -0.0011273324489593506, + -0.007877171039581299, + 1.0 + ], + [ + -0.006050616502761841, + 0.0010700132697820663, + 0.0035493969917297363, + -0.0014587417244911194, + -0.00019100308418273926, + 0.014214612543582916, + 1.0 + ], + [ + -0.008456021547317505, + 0.0016947463154792786, + -0.004578925669193268, + 0.005693264305591583, + 0.02408735454082489, + -0.0011592358350753784, + 1.0 + ], + [ + 0.00045806169509887695, + 0.0002541765570640564, + 5.677714943885803e-05, + -0.0027982741594314575, + -0.0028061866760253906, + 0.005843795835971832, + 1.0 + ], + [ + 0.0005459487438201904, + -0.0009783152490854263, + -0.00010144338011741638, + -0.007256902754306793, + 0.0003835409879684448, + 0.00811786949634552, + 1.0 + ], + [ + -0.003609389066696167, + -7.485225796699524e-05, + -0.010677285492420197, + 0.005525961518287659, + 0.039216503500938416, + -0.001528121531009674, + 1.0 + ], + [ + 0.0009537339210510254, + 0.0036734938621520996, + -0.0003147013485431671, + 0.0030904263257980347, + 0.0023057758808135986, + -0.002955310046672821, + 0.0 + ], + [ + -0.004216283559799194, + 3.72081995010376e-05, + -0.011815249919891357, + 0.001304440200328827, + 0.023065641522407532, + 0.004048213362693787, + 0.0 + ], + [ + 0.0005456805229187012, + -0.00043537840247154236, + -0.0003196895122528076, + -0.007443234324455261, + -0.0015776008367538452, + 0.012519389390945435, + 0.0 + ], + [ + -4.881620407104492e-05, + -0.00065658800303936, + -0.00010424107313156128, + -0.007933445274829865, + 0.0011598467826843262, + 0.0059441328048706055, + 0.0 + ], + [ + 0.004145592451095581, + -0.0002889372408390045, + 0.0014273151755332947, + 0.0045466348528862, + -0.007010504603385925, + -0.012309424579143524, + 0.0 + ], + [ + 0.00483548641204834, + -0.003886500373482704, + 0.011423055082559586, + 0.02563830465078354, + 0.00296880304813385, + -0.0811270922422409, + 0.0 + ], + [ + 0.030905485153198242, + -0.015774201601743698, + 0.05585746839642525, + -0.016776077449321747, + -0.19027067720890045, + -0.05280667915940285, + 0.0 + ], + [ + 0.023806363344192505, + -0.0043009743094444275, + 0.025374701246619225, + 0.013913951814174652, + -0.07410848140716553, + -0.02000170573592186, + 0.0 + ], + [ + 0.01862141489982605, + 0.0025433003902435303, + -0.0003651324659585953, + -0.00514240562915802, + -0.08792909979820251, + -0.018570754677057266, + 0.0 + ], + [ + 0.015001296997070312, + 0.007986702024936676, + -0.00972137413918972, + -0.010985814034938812, + -0.08711200952529907, + 0.027607504278421402, + 0.0 + ], + [ + 0.011968523263931274, + 0.004069730639457703, + -0.016242120414972305, + -0.034743934869766235, + -0.03993332386016846, + 0.04461478814482689, + 0.0 + ], + [ + 0.019478261470794678, + 0.0040923357009887695, + -0.0090270284563303, + 0.008806295692920685, + -0.014222800731658936, + 0.007683903444558382, + 0.0 + ], + [ + 0.02156117558479309, + 0.0041634757071733475, + 0.01113967876881361, + 0.020299352705478668, + -0.029719412326812744, + -0.008293287828564644, + 0.0 + ], + [ + 0.012113362550735474, + 0.0041928645223379135, + 0.016070716083049774, + 0.025066576898097992, + -0.02045893669128418, + -0.0005843867547810078, + 0.0 + ], + [ + 0.002278268337249756, + 0.00828524213284254, + 0.0016369502991437912, + 0.017691083252429962, + 0.006203293800354004, + 0.014571500942111015, + 0.0 + ], + [ + -0.001303553581237793, + 0.004067678935825825, + -0.023779375478625298, + -0.018105298280715942, + 0.03761410713195801, + 0.0305740125477314, + 0.0 + ], + [ + 0.0008838772773742676, + -0.0027897385880351067, + -0.01261107623577118, + -0.03709351271390915, + 0.016696512699127197, + 0.029641345143318176, + 0.0 + ], + [ + 0.0017851591110229492, + -0.002565755508840084, + -0.012626707553863525, + -0.01765451952815056, + 0.024312078952789307, + 0.008793339133262634, + 0.0 + ], + [ + 0.00254058837890625, + 0.0013682590797543526, + 0.002691376954317093, + 0.022281531244516373, + -0.0043915510177612305, + -0.0229388028383255, + 1.0 + ], + [ + 0.003068387508392334, + 0.0004820004105567932, + 0.004270179197192192, + 0.012238547205924988, + -0.004326343536376953, + -0.007238961756229401, + 1.0 + ], + [ + 0.005105018615722656, + 0.0009386101737618446, + 0.005727516487240791, + 0.0095844566822052, + -0.02314215898513794, + 0.001019395887851715, + 1.0 + ], + [ + 0.0109671950340271, + -0.0019353888928890228, + 0.01273352187126875, + -0.017851360142230988, + -0.04282116889953613, + 0.010236691683530807, + 1.0 + ], + [ + -0.02221548557281494, + 0.0002399412915110588, + -0.018699854612350464, + 0.020467884838581085, + 0.09971588850021362, + -0.026414409279823303, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9872581958770752 + ], + [ + 0.9032710790634155 + ], + [ + 0.6259716749191284 + ], + [ + 0.34288913011550903 + ], + [ + 0.13853202760219574 + ], + [ + 0.054572440683841705 + ], + [ + 0.06712212413549423 + ], + [ + 0.20024193823337555 + ], + [ + 0.4485226273536682 + ], + [ + 0.7672095894813538 + ], + [ + 0.9907060265541077 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9851709604263306 + ], + [ + 0.8939508199691772 + ], + [ + 0.603904664516449 + ], + [ + 0.33559030294418335 + ], + [ + 0.26876991987228394 + ], + [ + 0.26805928349494934 + ], + [ + 0.26805928349494934 + ], + [ + 0.26805928349494934 + ], + [ + 0.26805928349494934 + ], + [ + 0.26805928349494934 + ], + [ + 0.26805928349494934 + ], + [ + 0.26805928349494934 + ], + [ + 0.26805928349494934 + ], + [ + 0.26805928349494934 + ], + [ + 0.26805928349494934 + ], + [ + 0.2673496901988983 + ], + [ + 0.26805928349494934 + ], + [ + 0.2673496901988983 + ], + [ + 0.32045841217041016 + ], + [ + 0.6279802918434143 + ], + [ + 0.9190354347229004 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3486570715904236, + -0.08558381348848343, + 0.03782960772514343 + ], + [ + 0.35265326499938965, + -0.07197313010692596, + 0.01512330025434494 + ], + [ + 0.369441956281662, + -0.04568175598978996, + -0.005946217570453882 + ], + [ + 0.3789343237876892, + -0.030571123585104942, + -0.026424409821629524 + ], + [ + 0.38071417808532715, + -0.020424859598279, + -0.04108043015003204 + ], + [ + 0.3739929497241974, + -0.010057798586785793, + -0.04736907407641411 + ], + [ + 0.3557998538017273, + 0.001251469599083066, + -0.0571136437356472 + ], + [ + 0.3527083098888397, + 0.004913185723125935, + -0.06005425751209259 + ], + [ + 0.3600340783596039, + 0.002262641442939639, + -0.06312322616577148 + ], + [ + 0.37112194299697876, + -0.008630828931927681, + -0.0630108043551445 + ], + [ + 0.37191224098205566, + -0.016576716676354408, + -0.0614095963537693 + ], + [ + 0.372048944234848, + -0.027248403057456017, + -0.0620184987783432 + ], + [ + 0.3676454722881317, + -0.02431572787463665, + -0.06092563271522522 + ], + [ + 0.36464568972587585, + -0.024798128753900528, + -0.057007309049367905 + ], + [ + 0.36392512917518616, + -0.02995023876428604, + -0.04943468049168587 + ], + [ + 0.36467668414115906, + -0.03250677138566971, + -0.0479813776910305 + ], + [ + 0.3581216633319855, + -0.031006820499897003, + -0.04337494447827339 + ], + [ + 0.35207104682922363, + -0.029936807230114937, + -0.039825547486543655 + ], + [ + 0.34361502528190613, + -0.028242060914635658, + -0.04440447315573692 + ], + [ + 0.344073086977005, + -0.027987884357571602, + -0.044347696006298065 + ], + [ + 0.3446190357208252, + -0.028966199606657028, + -0.04444913938641548 + ], + [ + 0.34100964665412903, + -0.029041051864624023, + -0.05512642487883568 + ], + [ + 0.34196338057518005, + -0.025367558002471924, + -0.055441126227378845 + ], + [ + 0.33774709701538086, + -0.025330349802970886, + -0.0672563761472702 + ], + [ + 0.33829277753829956, + -0.02576572820544243, + -0.06757606565952301 + ], + [ + 0.3382439613342285, + -0.02642231620848179, + -0.06768030673265457 + ], + [ + 0.3423895537853241, + -0.026711253449320793, + -0.06625299155712128 + ], + [ + 0.34722504019737244, + -0.030597753822803497, + -0.05482993647456169 + ], + [ + 0.3781305253505707, + -0.046371955424547195, + 0.0010275315726175904 + ], + [ + 0.4019368886947632, + -0.05067292973399162, + 0.02640223316848278 + ], + [ + 0.42055830359458923, + -0.04812962934374809, + 0.026037100702524185 + ], + [ + 0.43555960059165955, + -0.04014292731881142, + 0.016315726563334465 + ], + [ + 0.4475281238555908, + -0.036073196679353714, + 7.360612653428689e-05 + ], + [ + 0.4670063853263855, + -0.031980860978364944, + -0.00895342230796814 + ], + [ + 0.4885675609111786, + -0.027817385271191597, + 0.002186256693676114 + ], + [ + 0.5006809234619141, + -0.023624520748853683, + 0.01825697347521782 + ], + [ + 0.5029591917991638, + -0.015339278616011143, + 0.01989392377436161 + ], + [ + 0.501655638217926, + -0.011271599680185318, + -0.003885451704263687 + ], + [ + 0.5025395154953003, + -0.014061338268220425, + -0.016496527940034866 + ], + [ + 0.5043246746063232, + -0.01662709377706051, + -0.02912323549389839 + ], + [ + 0.5068652629852295, + -0.015258834697306156, + -0.0264318585395813 + ], + [ + 0.5099336504936218, + -0.014776834286749363, + -0.022161679342389107 + ], + [ + 0.5150386691093445, + -0.013838224112987518, + -0.016434162855148315 + ], + [ + 0.5260058641433716, + -0.01577361300587654, + -0.0037006407510489225 + ], + [ + 0.5037903785705566, + -0.015533671714365482, + -0.022400494664907455 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.981578984086569, + -0.010283039496685936, + 0.19077986554741264, + -0.01873999258097293, + -0.9989174106449986, + 0.04257721677559723, + 0.19013550609406002, + -0.045368114452781876, + -0.9807090412111815 + ], + [ + 0.9865291395676002, + 0.012272235181497579, + 0.16312464261312637, + 0.0009934539988805408, + -0.9976130814134321, + 0.06904457141549142, + 0.1635826085901625, + -0.06795242480181851, + -0.9841865667292918 + ], + [ + 0.980093417423066, + 0.07496876813976078, + 0.18383845334309803, + 0.059616239546736415, + -0.9943642189429767, + 0.08766814739818629, + 0.1893747530857315, + -0.07496321691023383, + -0.9790391815469836 + ], + [ + 0.9751355296024631, + 0.12883462267902884, + 0.18031178249375845, + 0.116065192168868, + -0.9900383002564946, + 0.07970592946597536, + 0.18878445400436955, + -0.05679616205681125, + -0.9803747374865842 + ], + [ + 0.9817129996103129, + 0.12249963866635553, + 0.14571693423461218, + 0.11399221660487384, + -0.9913268513933962, + 0.06539761662295657, + 0.1524642940154497, + -0.047591094052017884, + -0.9871624622205317 + ], + [ + 0.9834411782554054, + 0.13791433271459763, + 0.1175716196346185, + 0.13066175762334892, + -0.9891369873151317, + 0.06734630962363558, + 0.1255824589916815, + -0.05086901961933843, + -0.9907781733751356 + ], + [ + 0.9853348915761654, + 0.15780520290910624, + 0.0649050797503801, + 0.15133204570801487, + -0.9839230101953831, + 0.09483734470072593, + 0.07882742786882427, + -0.08362432626259429, + -0.993374656749765 + ], + [ + 0.9818839389348326, + 0.1781736190949918, + 0.06448326853076512, + 0.17283055677946568, + -0.9816410427752633, + 0.08068743261743824, + 0.07767579484702984, + -0.06808101495781721, + -0.994651419491872 + ], + [ + 0.9795735881320176, + 0.17902007988352725, + 0.0915827299913039, + 0.17492190311425787, + -0.9832586107557693, + 0.05103755661785741, + 0.09918625532325906, + -0.03397521704316748, + -0.9944886984686246 + ], + [ + 0.9808508224710933, + 0.14964796033585184, + 0.12464811280199681, + 0.1451847021517518, + -0.9884165995775375, + 0.04420438825145313, + 0.12981936033923105, + -0.025260911442333472, + -0.9912158291886867 + ], + [ + 0.9872288029360976, + 0.1017728761073275, + 0.12256252421602096, + 0.09506190539682681, + -0.9936959987770125, + 0.05942639276349053, + 0.1278378848216948, + -0.04701641950849143, + -0.9906800348754975 + ], + [ + 0.9892343762464676, + 0.06430907672093557, + 0.13145224039004724, + 0.05680946726823838, + -0.9965786448057717, + 0.06003073500957939, + 0.13486301672794102, + -0.051916734955043266, + -0.9895032184640163 + ], + [ + 0.9882371000172723, + 0.0720300976582461, + 0.13490403693290703, + 0.06226574167381037, + -0.9952183135616446, + 0.07525613440329015, + 0.1396796748394767, + -0.06597100410679899, + -0.9879966675317678 + ], + [ + 0.9877031227392384, + 0.06386760328964937, + 0.14270063272877434, + 0.05288785671088991, + -0.995434340577136, + 0.07945658067328651, + 0.14712381161350105, + -0.07093238223687456, + -0.986571427321163 + ], + [ + 0.9788753460248376, + 0.0759465350792432, + 0.1898293463988422, + 0.06220563981102714, + -0.9950628707134738, + 0.07733266905494238, + 0.19476528263644705, + -0.06389058723253188, + -0.9787668146921549 + ], + [ + 0.9726722533657897, + 0.08726887241757471, + 0.2151576897052062, + 0.07193231611797964, + -0.9943452604761305, + 0.07812326712675817, + 0.22075875844509496, + -0.06051154332539234, + -0.9734494972489117 + ], + [ + 0.972959747757529, + 0.0813569703578842, + 0.2161720902840877, + 0.06425181819891518, + -0.9943053250121364, + 0.08502131797757129, + 0.22185813733496226, + -0.06883287024885776, + -0.9726463914864255 + ], + [ + 0.9719059124170547, + 0.09518112886191075, + 0.21526599851658973, + 0.07807171273416559, + -0.9931748618388223, + 0.08665160980726105, + 0.2220443763744671, + -0.06741102669451216, + -0.9727034740353637 + ], + [ + 0.9770450663020503, + 0.09349807466041907, + 0.19141851647533226, + 0.07734470461639581, + -0.9929155571697923, + 0.09020251104045608, + 0.19849618405053743, + -0.07332670976524057, + -0.9773548273541086 + ], + [ + 0.9760175410062103, + 0.09896161970329144, + 0.19389780162212175, + 0.08300547521918229, + -0.9925870928668745, + 0.08877473828586807, + 0.20124574711488505, + -0.07055112259764387, + -0.9769967698863614 + ], + [ + 0.9753883422853106, + 0.10558710082937876, + 0.1935689692909486, + 0.09093299431240069, + -0.9923828092595506, + 0.08311167445974786, + 0.20087003828170716, + -0.06346435239225877, + -0.9775599744752935 + ], + [ + 0.9826186157046122, + 0.10243975850006626, + 0.15481198903573357, + 0.09009265775693467, + -0.9923177187647081, + 0.08478713371672447, + 0.16230825329922022, + -0.06936599241742297, + -0.9842989332549855 + ], + [ + 0.9832507455407689, + 0.09981910632021694, + 0.152493007731356, + 0.08722116249263105, + -0.9923655281584685, + 0.08719591352923556, + 0.1600326223210637, + -0.07243482957940264, + -0.9844504839029978 + ], + [ + 0.9863032918915922, + 0.10233783563099177, + 0.12935526198100017, + 0.09151759707895515, + -0.9919952988039772, + 0.08700492270959358, + 0.1372237072400505, + -0.07397495893322582, + -0.9877739415585556 + ], + [ + 0.9848637674753175, + 0.11389536837808145, + 0.13065681986159433, + 0.10383518999415503, + -0.9912575206615367, + 0.08140504315348716, + 0.13878621269132502, + -0.06660610177727343, + -0.9880799635519556 + ], + [ + 0.9843884803264257, + 0.1186812827941303, + 0.12997720151999775, + 0.10970523740063158, + -0.9911913463942874, + 0.07419215403229025, + 0.13763749738898007, + -0.0587747220105692, + -0.9887373014937177 + ], + [ + 0.9846798496178119, + 0.10750674318582663, + 0.13728763209488376, + 0.09748251882496027, + -0.9921931562018765, + 0.07778109866606452, + 0.14457784159470877, + -0.06320633635748486, + -0.9874726359571083 + ], + [ + 0.9897658370105317, + 0.030145581291465304, + 0.1394805786317267, + 0.017372744788088246, + -0.9956165334419105, + 0.09190161084355976, + 0.14163959766029266, + -0.08853791428372822, + -0.9859509430539217 + ], + [ + 0.9446783508926566, + -0.011441917277321446, + 0.32779855991713885, + -0.03331948337624958, + -0.9975690782506557, + 0.06120250113906614, + 0.3263014333132341, + -0.06873875651447658, + -0.9427631505158508 + ], + [ + 0.9171097037973898, + -0.02083790775376091, + 0.39808990542478007, + -0.050729115346298766, + -0.9966144394691835, + 0.06470097292705529, + 0.39539391504782484, + -0.07953263884702541, + -0.9150618620078004 + ], + [ + 0.877843483210197, + -0.03496466097208835, + 0.4776696467941994, + -0.06492793249964883, + -0.9968126148522322, + 0.04635703239829139, + 0.4745262717349897, + -0.07170832137598895, + -0.877315641077217 + ], + [ + 0.8347264757544233, + -0.007398933586237829, + 0.5506150801207563, + -0.03860944034050852, + -0.9982352983733539, + 0.0451176262457838, + 0.54930958647305, + -0.058919817237055035, + -0.833539101269736 + ], + [ + 0.8130217625528229, + 0.019248735404346164, + 0.5819150279901998, + -0.0013059346083761827, + -0.9993905607563377, + 0.03488268346804488, + 0.5822318336799356, + -0.02912032376994866, + -0.8125011375950396 + ], + [ + 0.804645031152537, + 0.03256147296617598, + 0.5928626521546164, + 0.0048903968511554916, + -0.9988247400128087, + 0.04822056363195039, + 0.5937360169807545, + -0.035901103278558985, + -0.803858602568394 + ], + [ + 0.7866597440880765, + 0.03784792846436289, + 0.6162255928977942, + -0.0017429698569455532, + -0.9979790525424118, + 0.06351986100919371, + 0.6173843285080691, + -0.051042580239501784, + -0.7850039782798137 + ], + [ + 0.7738638656042052, + 0.05413375172617114, + 0.6310342735827953, + -0.0021668572019434215, + -0.9961084625817677, + 0.08810922484538024, + 0.6333482629975259, + -0.06955190649462205, + -0.7707350453047923 + ], + [ + 0.7777269430729145, + 0.07925351441894704, + 0.6235861467918487, + 0.009155403810191212, + -0.993343127622212, + 0.1148286087470967, + 0.6285355841951445, + -0.0835961198738747, + -0.7732753119959933 + ], + [ + 0.8001489892703151, + 0.09568942898177765, + 0.5921191840760058, + 0.033902953023353305, + -0.9928293279250151, + 0.1146320870797507, + 0.5988423705333399, + -0.07164815973285416, + -0.7976555374727277 + ], + [ + 0.8086536055418075, + 0.10245867095490802, + 0.5792940246458518, + 0.05831316203915738, + -0.9938273823650946, + 0.09437536328056788, + 0.5853878384261411, + -0.04253651146365993, + -0.8096367851174205 + ], + [ + 0.8220549536512902, + 0.10027455274625131, + 0.5605092927409097, + 0.06655054743299231, + -0.9945450904923415, + 0.08031866292431461, + 0.5655056832727188, + -0.028724154454394163, + -0.8242440446476613 + ], + [ + 0.8208779156495138, + 0.09014911009250413, + 0.5639437787124162, + 0.04753371115871437, + -0.9948215398772565, + 0.08983679702506905, + 0.5691221256482557, + -0.04693870200349722, + -0.8209121538580345 + ], + [ + 0.818733755654222, + 0.09009441980019307, + 0.5670608722819793, + 0.04146528399805667, + -0.9943115998035589, + 0.09810745496162765, + 0.5726741373375378, + -0.05681054494505284, + -0.8178122611013807 + ], + [ + 0.8052377613450004, + 0.09801955903672616, + 0.5847942490742692, + 0.041604775227641215, + -0.9931511805435558, + 0.10917772329188394, + 0.5914906511368967, + -0.06358379220514832, + -0.8038009150196725 + ], + [ + 0.7787598098508955, + 0.099815449333252, + 0.6193303114133833, + 0.04823443555495717, + -0.993865095120683, + 0.0995269407118033, + 0.625465105171897, + -0.047634533430664885, + -0.7787967343518789 + ], + [ + 0.8381150007429506, + 0.07966399526542134, + 0.5396451550676564, + 0.02971865251007265, + -0.9944777300128661, + 0.1006521048038375, + 0.5446834376246716, + -0.06832051205024785, + -0.8358542100214382 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006233.json b/json/chunk-0006/episode_0006233.json new file mode 100644 index 0000000000000000000000000000000000000000..49be05c676acfd7fa774f37c5d8afd0b29566f68 --- /dev/null +++ b/json/chunk-0006/episode_0006233.json @@ -0,0 +1,2422 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 39, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nFold the blue cloth on the table from bottom right to top left." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006233.mp4", + "start": 0, + "end": 39, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.24269136786460876, + 0.18219292163848877, + 0.13129881024360657, + -0.27932193875312805, + 0.048322442919015884, + 0.6864773631095886, + 0.0, + 0.9994885921478271 + ], + [ + 0.24247510731220245, + 0.17997616529464722, + 0.12336058914661407, + -0.28956952691078186, + 0.07848294824361801, + 0.676093339920044, + 0.0, + 0.9994885921478271 + ], + [ + 0.24532192945480347, + 0.16380316019058228, + 0.12420850247144699, + -0.3564096689224243, + 0.07100079208612442, + 0.4913886785507202, + 0.0, + 0.9994885921478271 + ], + [ + 0.25210365653038025, + 0.15339314937591553, + 0.12386733293533325, + -0.3401879668235779, + 0.018450677394866943, + 0.42316827178001404, + 0.0, + 0.9994885921478271 + ], + [ + 0.2578035891056061, + 0.13541346788406372, + 0.1343676596879959, + -0.3014618158340454, + -0.06682194024324417, + 0.33306410908699036, + 0.0, + 0.9994885921478271 + ], + [ + 0.263385146856308, + 0.10734768956899643, + 0.1465500146150589, + -0.25233152508735657, + -0.14971420168876648, + 0.19453167915344238, + 0.0, + 0.9994885921478271 + ], + [ + 0.26688140630722046, + 0.06846923381090164, + 0.1547144651412964, + -0.1873965859413147, + -0.21718057990074158, + 0.005233495496213436, + 0.0, + 0.9994885921478271 + ], + [ + 0.26546913385391235, + 0.01704145222902298, + 0.1517813503742218, + -0.15524911880493164, + -0.23769038915634155, + -0.20208589732646942, + 0.0, + 0.9994885921478271 + ], + [ + 0.2576455771923065, + -0.015269948169589043, + 0.14389440417289734, + -0.12010489404201508, + -0.22878433763980865, + -0.3523051142692566, + 0.0, + 0.9994885921478271 + ], + [ + 0.24676991999149323, + -0.04531874135136604, + 0.13328854739665985, + -0.06283135712146759, + -0.22040115296840668, + -0.48498404026031494, + 0.0, + 0.9994885921478271 + ], + [ + 0.24196161329746246, + -0.05306495726108551, + 0.12282750755548477, + -0.025108473375439644, + -0.20772139728069305, + -0.5327800512313843, + 0.0, + 0.9994885921478271 + ], + [ + 0.23947973549365997, + -0.05090079829096794, + 0.1126876100897789, + 0.002265509217977524, + -0.18780764937400818, + -0.5721926093101501, + 0.0, + 0.9994885921478271 + ], + [ + 0.23359794914722443, + -0.04461447149515152, + 0.09877613931894302, + 0.030085742473602295, + -0.15811145305633545, + -0.6116459369659424, + 0.0, + 0.9994885921478271 + ], + [ + 0.22666935622692108, + -0.036418553441762924, + 0.08248261362314224, + 0.026977643370628357, + -0.11481919884681702, + -0.6338807940483093, + 0.0, + 0.9994885921478271 + ], + [ + 0.22489920258522034, + -0.03173931688070297, + 0.07683952897787094, + 0.0548267662525177, + -0.1223716214299202, + -0.6432943940162659, + 0.0, + 0.9716382026672363 + ], + [ + 0.22231413424015045, + -0.029851363971829414, + 0.07597454637289047, + 0.05803142860531807, + -0.13305078446865082, + -0.6409542560577393, + 0.0, + 0.7031799554824829 + ], + [ + 0.22419270873069763, + -0.027011919766664505, + 0.07644922286272049, + 0.03999684005975723, + -0.14412422478199005, + -0.6197373867034912, + 0.0, + 0.41037410497665405 + ], + [ + 0.22373801469802856, + -0.022798074409365654, + 0.07796990126371384, + -0.007344683166593313, + -0.14123773574829102, + -0.6034975051879883, + 0.0, + 0.20382753014564514 + ], + [ + 0.2225380539894104, + -0.020000528544187546, + 0.08614055067300797, + -0.10289245843887329, + -0.14220309257507324, + -0.5802093744277954, + 0.0, + 0.10434377193450928 + ], + [ + 0.2351273000240326, + -0.007610979489982128, + 0.10661545395851135, + -0.18308845162391663, + -0.17905987799167633, + -0.5377213358879089, + 0.0, + 0.08571679890155792 + ], + [ + 0.24697284400463104, + 0.00850982777774334, + 0.11919558048248291, + -0.23504666984081268, + -0.18272748589515686, + -0.5141264200210571, + 0.0, + 0.0853668823838234 + ], + [ + 0.2613731920719147, + 0.03173135966062546, + 0.1242484524846077, + -0.24685578048229218, + -0.15324056148529053, + -0.504374623298645, + 0.0, + 0.0853668823838234 + ], + [ + 0.27546700835227966, + 0.05417560040950775, + 0.12793448567390442, + -0.23392024636268616, + -0.1277679055929184, + -0.5315625667572021, + 0.0, + 0.0853668823838234 + ], + [ + 0.2890394628047943, + 0.07463794946670532, + 0.13166183233261108, + -0.23598311841487885, + -0.0876193419098854, + -0.5644875168800354, + 0.0, + 0.0853668823838234 + ], + [ + 0.30309420824050903, + 0.08771798014640808, + 0.13611921668052673, + -0.24311943352222443, + -0.07152865827083588, + -0.5718041062355042, + 0.0, + 0.0853668823838234 + ], + [ + 0.3209577202796936, + 0.10366808623075485, + 0.13843946158885956, + -0.2513893246650696, + -0.06760646402835846, + -0.5531510710716248, + 0.0, + 0.0853668823838234 + ], + [ + 0.3372011184692383, + 0.11645963042974472, + 0.14479069411754608, + -0.247004434466362, + -0.06867013871669769, + -0.569553792476654, + 0.0, + 0.0853668823838234 + ], + [ + 0.3506193161010742, + 0.12745320796966553, + 0.1458234190940857, + -0.25226426124572754, + -0.06443377584218979, + -0.5771398544311523, + 0.0, + 0.0853668823838234 + ], + [ + 0.3615162968635559, + 0.14299537241458893, + 0.14307737350463867, + -0.25936776399612427, + -0.056242186576128006, + -0.5608616471290588, + 0.0, + 0.0853668823838234 + ], + [ + 0.3730134069919586, + 0.15114419162273407, + 0.13881278038024902, + -0.26376575231552124, + -0.04895687475800514, + -0.552376389503479, + 0.0, + 0.0853668823838234 + ], + [ + 0.3852972686290741, + 0.15725931525230408, + 0.13596706092357635, + -0.2621341943740845, + -0.04647764563560486, + -0.5405309796333313, + 0.0, + 0.0853668823838234 + ], + [ + 0.39778053760528564, + 0.1671983301639557, + 0.1353270262479782, + -0.24086226522922516, + -0.05755138397216797, + -0.5259987115859985, + 0.0, + 0.0853668823838234 + ], + [ + 0.40621086955070496, + 0.17497225105762482, + 0.14356142282485962, + -0.1981157511472702, + -0.07984407991170883, + -0.5096466541290283, + 0.0, + 0.0853668823838234 + ], + [ + 0.40834295749664307, + 0.1805455982685089, + 0.13756464421749115, + -0.12941940128803253, + -0.08173919469118118, + -0.48584291338920593, + 0.0, + 0.08501782268285751 + ], + [ + 0.4086558222770691, + 0.18544457852840424, + 0.14741849899291992, + -0.05025764927268028, + -0.10481716692447662, + -0.47761720418930054, + 0.0, + 0.11451414972543716 + ], + [ + 0.40893059968948364, + 0.1859614998102188, + 0.12971901893615723, + -0.04547876864671707, + -0.1116204783320427, + -0.4596996009349823, + 0.0, + 0.2973475158214569 + ], + [ + 0.4075215756893158, + 0.185292050242424, + 0.1314821094274521, + -0.009685216471552849, + -0.13915447890758514, + -0.4501587450504303, + 0.0, + 0.5819184184074402 + ], + [ + 0.40706390142440796, + 0.18506290018558502, + 0.13618119060993195, + -0.0024245968088507652, + -0.1456519365310669, + -0.4419000744819641, + 0.0, + 0.8836284875869751 + ], + [ + 0.40369880199432373, + 0.18036772310733795, + 0.13812395930290222, + -0.017109869047999382, + -0.16159076988697052, + -0.436840683221817, + 0.0, + 1.0008161067962646 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9716382026672363 + ], + [ + 0.7031799554824829 + ], + [ + 0.41037410497665405 + ], + [ + 0.20382753014564514 + ], + [ + 0.10434377193450928 + ], + [ + 0.08571679890155792 + ], + [ + 0.0853668823838234 + ], + [ + 0.0853668823838234 + ], + [ + 0.0853668823838234 + ], + [ + 0.0853668823838234 + ], + [ + 0.0853668823838234 + ], + [ + 0.0853668823838234 + ], + [ + 0.0853668823838234 + ], + [ + 0.0853668823838234 + ], + [ + 0.0853668823838234 + ], + [ + 0.0853668823838234 + ], + [ + 0.0853668823838234 + ], + [ + 0.0853668823838234 + ], + [ + 0.0853668823838234 + ], + [ + 0.08501782268285751 + ], + [ + 0.11451414972543716 + ], + [ + 0.2973475158214569 + ], + [ + 0.5819184184074402 + ], + [ + 0.8836284875869751 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.24269136786460876, + 0.18219292163848877, + 0.13129881024360657 + ], + [ + 0.24247510731220245, + 0.17997616529464722, + 0.12336058914661407 + ], + [ + 0.24532192945480347, + 0.16380316019058228, + 0.12420850247144699 + ], + [ + 0.25210365653038025, + 0.15339314937591553, + 0.12386733293533325 + ], + [ + 0.2578035891056061, + 0.13541346788406372, + 0.1343676596879959 + ], + [ + 0.263385146856308, + 0.10734768956899643, + 0.1465500146150589 + ], + [ + 0.26688140630722046, + 0.06846923381090164, + 0.1547144651412964 + ], + [ + 0.26546913385391235, + 0.01704145222902298, + 0.1517813503742218 + ], + [ + 0.2576455771923065, + -0.015269948169589043, + 0.14389440417289734 + ], + [ + 0.24676991999149323, + -0.04531874135136604, + 0.13328854739665985 + ], + [ + 0.24196161329746246, + -0.05306495726108551, + 0.12282750755548477 + ], + [ + 0.23947973549365997, + -0.05090079829096794, + 0.1126876100897789 + ], + [ + 0.23359794914722443, + -0.04461447149515152, + 0.09877613931894302 + ], + [ + 0.22666935622692108, + -0.036418553441762924, + 0.08248261362314224 + ], + [ + 0.22489920258522034, + -0.03173931688070297, + 0.07683952897787094 + ], + [ + 0.22231413424015045, + -0.029851363971829414, + 0.07597454637289047 + ], + [ + 0.22419270873069763, + -0.027011919766664505, + 0.07644922286272049 + ], + [ + 0.22373801469802856, + -0.022798074409365654, + 0.07796990126371384 + ], + [ + 0.2225380539894104, + -0.020000528544187546, + 0.08614055067300797 + ], + [ + 0.2351273000240326, + -0.007610979489982128, + 0.10661545395851135 + ], + [ + 0.24697284400463104, + 0.00850982777774334, + 0.11919558048248291 + ], + [ + 0.2613731920719147, + 0.03173135966062546, + 0.1242484524846077 + ], + [ + 0.27546700835227966, + 0.05417560040950775, + 0.12793448567390442 + ], + [ + 0.2890394628047943, + 0.07463794946670532, + 0.13166183233261108 + ], + [ + 0.30309420824050903, + 0.08771798014640808, + 0.13611921668052673 + ], + [ + 0.3209577202796936, + 0.10366808623075485, + 0.13843946158885956 + ], + [ + 0.3372011184692383, + 0.11645963042974472, + 0.14479069411754608 + ], + [ + 0.3506193161010742, + 0.12745320796966553, + 0.1458234190940857 + ], + [ + 0.3615162968635559, + 0.14299537241458893, + 0.14307737350463867 + ], + [ + 0.3730134069919586, + 0.15114419162273407, + 0.13881278038024902 + ], + [ + 0.3852972686290741, + 0.15725931525230408, + 0.13596706092357635 + ], + [ + 0.39778053760528564, + 0.1671983301639557, + 0.1353270262479782 + ], + [ + 0.40621086955070496, + 0.17497225105762482, + 0.14356142282485962 + ], + [ + 0.40834295749664307, + 0.1805455982685089, + 0.13756464421749115 + ], + [ + 0.4086558222770691, + 0.18544457852840424, + 0.14741849899291992 + ], + [ + 0.40893059968948364, + 0.1859614998102188, + 0.12971901893615723 + ], + [ + 0.4075215756893158, + 0.185292050242424, + 0.1314821094274521 + ], + [ + 0.40706390142440796, + 0.18506290018558502, + 0.13618119060993195 + ], + [ + 0.40369880199432373, + 0.18036772310733795, + 0.13812395930290222 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.7725806256286966, + 0.6195522136586525, + 0.13883166589015203, + 0.6330765635743637, + -0.7350644550470968, + -0.24268150234245056, + -0.04830363915944755, + 0.27538210086528414, + -0.9601205429356129 + ], + [ + 0.7776221871370054, + 0.6171609551387918, + 0.12006702096926875, + 0.6238243320886425, + -0.7335397825898864, + -0.2697454171105445, + -0.07840240281024269, + 0.2846607503857124, + -0.9554168307201961 + ], + [ + 0.8794570732672627, + 0.4640210075824952, + 0.10601773814936001, + 0.47066188399952325, + -0.8145905343043015, + -0.3389980123420369, + -0.07094115329059443, + 0.34803270815249315, + -0.9347944088546111 + ], + [ + 0.91163726856226, + 0.3927306742230038, + 0.12116149591634622, + 0.41058141908828816, + -0.8570114662758211, + -0.31137476611185844, + -0.01844963055970049, + 0.3336075002096204, + -0.9425315097842081 + ], + [ + 0.9429358916876368, + 0.2934601643092363, + 0.15733097638684307, + 0.3262106289399111, + -0.9089085953733841, + -0.2597533268757296, + 0.0667722227716662, + 0.29625377165527866, + -0.9527723616090851 + ], + [ + 0.9701630452663565, + 0.15064946880319544, + 0.18996947951927504, + 0.19114468682436722, + -0.9572670299416153, + -0.2170335045230878, + 0.14915553727007183, + 0.24686954234184835, + -0.9575009424358821 + ], + [ + 0.9764954777339805, + -0.03500138822359032, + 0.21267694935631082, + 0.005110531343135778, + -0.982689220980871, + -0.18519119157616482, + 0.21547729447548786, + 0.18192525330594006, + -0.9594127046141788 + ], + [ + 0.9521065780157003, + -0.23396641509605418, + 0.19685725972474064, + -0.19507003972084172, + -0.9605602502281115, + -0.1981708487265901, + 0.23545858171351994, + 0.15027881516969951, + -0.9601955707087223 + ], + [ + 0.914123055667509, + -0.36808103842892914, + 0.16998643547700332, + -0.33607090637928183, + -0.9224417577635965, + -0.1901513855311457, + 0.2267937057823789, + 0.11669427013820165, + -0.9669266064880044 + ], + [ + 0.8632817698154661, + -0.4774185598508914, + 0.16375623534441955, + -0.4549169210480469, + -0.8765371459290365, + -0.15726800930495527, + 0.2186210896698695, + 0.061271123022834315, + -0.9738843199451767 + ], + [ + 0.842881170646264, + -0.5122299056139334, + 0.16483887880207213, + -0.49701124978212863, + -0.8584969588420438, + -0.12634393237891794, + 0.2062308167078575, + 0.0245661444614921, + -0.9781949472300022 + ], + [ + 0.8259325369049435, + -0.541119712170539, + 0.15819260912646052, + -0.5319553400990832, + -0.8409426279429902, + -0.0991917972838787, + 0.18670554523589486, + -0.0022256704181928266, + -0.9824133986104611 + ], + [ + 0.8084918201309229, + -0.5700782137158988, + 0.14612257535328763, + -0.5670532361062728, + -0.8210532167960948, + -0.06574376480084243, + 0.157453498540969, + -0.029705983156172042, + -0.9870795055931079 + ], + [ + 0.8004297288919967, + -0.5895705643084742, + 0.1082534009021044, + -0.5883762685379083, + -0.8072722486374699, + -0.04609645540830788, + 0.11456707959659183, + -0.026796758773964535, + -0.9930540357865316 + ], + [ + 0.794140630016636, + -0.5935811435471773, + 0.13039204646758645, + -0.5953490113269754, + -0.8029341238743903, + -0.029263414531763683, + 0.12206643465249972, + -0.05438950949668583, + -0.9910305579486116 + ], + [ + 0.7944414678903007, + -0.5907870220195143, + 0.1408312774550394, + -0.5926756754205561, + -0.804777003219156, + -0.03270349911526267, + 0.13265857628171593, + -0.05748625664372681, + -0.9894933210668981 + ], + [ + 0.8055911989742862, + -0.5756818656724326, + 0.14004716945043752, + -0.5747994891089531, + -0.8167156651997954, + -0.05080422755384205, + 0.14362578965930514, + -0.03957160286320438, + -0.988840594227188 + ], + [ + 0.8151571829702794, + -0.5683615829329575, + 0.11173127627437551, + -0.5618745046403718, + -0.8227467633343777, + -0.08593488498823787, + 0.14076863317903815, + 0.007271483256385658, + -0.9900158167646398 + ], + [ + 0.8279059334565314, + -0.5574741854513823, + 0.06159787255082593, + -0.5426656289171985, + -0.823944705866048, + -0.16318436465303185, + 0.1417243117442148, + 0.10167425549582391, + -0.9846707902796746 + ], + [ + 0.8451458840730065, + -0.5314705340473075, + 0.057162103477089846, + -0.5039912696318031, + -0.8279143024824641, + -0.2460705343593534, + 0.17810456133793723, + 0.17915629819920986, + -0.9675648743346238 + ], + [ + 0.8562266356726144, + -0.5151001433191997, + 0.039341971446486115, + -0.4835871996645147, + -0.8259695634089298, + -0.28968552025031385, + 0.1817123239777343, + 0.2290111846059097, + -0.956312976300128 + ], + [ + 0.8652176977956351, + -0.501264590872235, + 0.011495449487168796, + -0.47759700910610453, + -0.830912169244983, + -0.28545763940294233, + 0.15264151569649945, + 0.2414928092889882, + -0.9583223835158958 + ], + [ + 0.8549896042987287, + -0.5185358981810098, + -0.010644192722622507, + -0.5027492187764924, + -0.8235684295667475, + -0.2626371353038018, + 0.12742056176586825, + 0.22990337996335408, + -0.9648359634262685 + ], + [ + 0.841621886187503, + -0.5374409781663055, + -0.05319582387588464, + -0.5329306500101371, + -0.8105021974095051, + -0.24304549013330023, + 0.08750727381173654, + 0.23290208883135433, + -0.9685551579791568 + ], + [ + 0.838775733523603, + -0.5397035038460289, + -0.0719402306658886, + -0.5397662824067009, + -0.806885663258011, + -0.23997476285128283, + 0.07146767960967736, + 0.24011591859974463, + -0.9681098679417587 + ], + [ + 0.8489294931096509, + -0.5231557302020848, + -0.07501198361137984, + -0.5241708128776585, + -0.8152999302543396, + -0.2460304506650407, + 0.06755497506301975, + 0.24818159819775465, + -0.9663551208847824 + ], + [ + 0.840156862793229, + -0.5370178104102649, + -0.0758176575977169, + -0.5379853767044182, + -0.8075350621102735, + -0.2417826666962756, + 0.06861618142716104, + 0.2439241578128781, + -0.9673638534086507 + ], + [ + 0.8362876340490255, + -0.5418282218241983, + -0.0839355179379395, + -0.54449703769368, + -0.8027338958214792, + -0.2431897786546083, + 0.06438920002213099, + 0.24907924549046143, + -0.966340292229612 + ], + [ + 0.8454581671572883, + -0.526332785485828, + -0.09041176090403305, + -0.5310749832869364, + -0.8108051748177901, + -0.24607789542230943, + 0.05621254053873567, + 0.2560639908527204, + -0.9650240322783463 + ], + [ + 0.8502600477582737, + -0.5174258837429835, + -0.09658315597913875, + -0.5240829989921523, + -0.815143801013498, + -0.24673385223081665, + 0.04893732066112629, + 0.26040552701903086, + -0.9642583160877851 + ], + [ + 0.8565096274715551, + -0.507335969874714, + -0.09487608613249757, + -0.5140356422504246, + -0.8219491326536346, + -0.24528958768388667, + 0.046460914161595424, + 0.25886258323910216, + -0.9647961165210232 + ], + [ + 0.8633911214346605, + -0.4994493392317643, + -0.07145718276529645, + -0.5012457130204724, + -0.832968932248637, + -0.23434054938734664, + 0.05751961931721425, + 0.23814515625878094, + -0.9695248206952121 + ], + [ + 0.8701359700347034, + -0.4920291229816373, + -0.027762128695167462, + -0.48631456100703324, + -0.8481832161639605, + -0.2099604238191025, + 0.07975927158834092, + 0.19619524447774325, + -0.9773156525094726 + ], + [ + 0.8813292322501767, + -0.4723667782074959, + 0.011331867771197955, + -0.465394837840358, + -0.8719659324224767, + -0.15193109492841544, + 0.08164820446807367, + 0.12862752248438408, + -0.988326125915261 + ], + [ + 0.8832186172559042, + -0.46375176834680565, + 0.06970775773025664, + -0.45714156687491714, + -0.8845553784710426, + -0.092646479982227, + 0.10462534094431958, + 0.04996078235138268, + -0.9932559882825391 + ], + [ + 0.8906087643968882, + -0.4477585158014857, + 0.07955086615932742, + -0.4409178551981517, + -0.8930123535735952, + -0.09011315848648516, + 0.11138884031585168, + 0.04518017144942361, + -0.9927493532412353 + ], + [ + 0.8916746540844583, + -0.43629760820135743, + 0.12066776015629103, + -0.4309025502050249, + -0.8997512996648934, + -0.06906946487516073, + 0.1387058163530548, + 0.009591445621483494, + -0.9902871809130535 + ], + [ + 0.8943693336639256, + -0.42797463000926067, + 0.13015840760389524, + -0.423129534345084, + -0.903787564222683, + -0.06426068721498039, + 0.14513749400639975, + 0.0023989216047141243, + -0.9894085874949117 + ], + [ + 0.8942887859067906, + -0.4255111737126435, + 0.13852006514237195, + -0.4175673265356679, + -0.9047956117562377, + -0.08356092840862053, + 0.16088845580467662, + 0.016886147942742694, + -0.9868281323495204 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.00021626055240631104, + -0.0022167563438415527, + -0.007938221096992493, + -0.010247588157653809, + 0.030160505324602127, + -0.010384023189544678, + 1.0 + ], + [ + 0.002846822142601013, + -0.01617300510406494, + 0.0008479133248329163, + -0.06684014201164246, + -0.007482156157493591, + -0.18470466136932373, + 1.0 + ], + [ + 0.006781727075576782, + -0.010410010814666748, + -0.000341169536113739, + 0.016221702098846436, + -0.05255011469125748, + -0.06822040677070618, + 1.0 + ], + [ + 0.00569993257522583, + -0.017979681491851807, + 0.010500326752662659, + 0.03872615098953247, + -0.08527261763811111, + -0.09010416269302368, + 1.0 + ], + [ + 0.005581557750701904, + -0.02806577831506729, + 0.012182354927062988, + 0.04913029074668884, + -0.08289226144552231, + -0.13853242993354797, + 1.0 + ], + [ + 0.0034962594509124756, + -0.03887845575809479, + 0.008164450526237488, + 0.06493493914604187, + -0.0674663782119751, + -0.18929818272590637, + 1.0 + ], + [ + -0.0014122724533081055, + -0.05142778158187866, + -0.002933114767074585, + 0.03214746713638306, + -0.020509809255599976, + -0.20731939375400543, + 1.0 + ], + [ + -0.007823556661605835, + -0.03231140226125717, + -0.007886946201324463, + 0.035144224762916565, + 0.008906051516532898, + -0.15021921694278717, + 1.0 + ], + [ + -0.010875657200813293, + -0.030048793181777, + -0.010605856776237488, + 0.057273536920547485, + 0.008383184671401978, + -0.13267892599105835, + 1.0 + ], + [ + -0.004808306694030762, + -0.007746215909719467, + -0.01046103984117508, + 0.037722885608673096, + 0.012679755687713623, + -0.047796010971069336, + 1.0 + ], + [ + -0.0024818778038024902, + 0.002164158970117569, + -0.010139897465705872, + 0.027373982593417168, + 0.019913747906684875, + -0.03941255807876587, + 1.0 + ], + [ + -0.005881786346435547, + 0.0062863267958164215, + -0.013911470770835876, + 0.02782023325562477, + 0.02969619631767273, + -0.039453327655792236, + 1.0 + ], + [ + -0.006928592920303345, + 0.008195918053388596, + -0.01629352569580078, + -0.003108099102973938, + 0.04329225420951843, + -0.022234857082366943, + 1.0 + ], + [ + -0.0017701536417007446, + 0.004679236561059952, + -0.005643084645271301, + 0.027849122881889343, + -0.00755242258310318, + -0.009413599967956543, + 0.0 + ], + [ + -0.0025850683450698853, + 0.001887952908873558, + -0.0008649826049804688, + 0.0032046623528003693, + -0.010679163038730621, + 0.0023401379585266113, + 0.0 + ], + [ + 0.0018785744905471802, + 0.0028394442051649094, + 0.0004746764898300171, + -0.018034588545560837, + -0.011073440313339233, + 0.021216869354248047, + 0.0 + ], + [ + -0.0004546940326690674, + 0.004213845357298851, + 0.0015206784009933472, + -0.047341521829366684, + 0.0028864890336990356, + 0.01623988151550293, + 0.0 + ], + [ + -0.001199960708618164, + 0.002797545865178108, + 0.008170649409294128, + -0.09554777294397354, + -0.0009653568267822266, + 0.02328813076019287, + 0.0 + ], + [ + 0.012589246034622192, + 0.012389549054205418, + 0.020474903285503387, + -0.08019599318504333, + -0.03685678541660309, + 0.042488038539886475, + 0.0 + ], + [ + 0.01184554398059845, + 0.016120806336402893, + 0.012580126523971558, + -0.05195821821689606, + -0.00366760790348053, + 0.023594915866851807, + 0.0 + ], + [ + 0.01440034806728363, + 0.023221531882882118, + 0.005052872002124786, + -0.011809110641479492, + 0.029486924409866333, + 0.00975179672241211, + 0.0 + ], + [ + 0.01409381628036499, + 0.022444240748882294, + 0.0036860331892967224, + 0.012935534119606018, + 0.02547265589237213, + -0.02718794345855713, + 0.0 + ], + [ + 0.013572454452514648, + 0.02046234905719757, + 0.003727346658706665, + -0.002062872052192688, + 0.04014856368303299, + -0.03292495012283325, + 0.0 + ], + [ + 0.014054745435714722, + 0.013080030679702759, + 0.004457384347915649, + -0.007136315107345581, + 0.01609068363904953, + -0.00731658935546875, + 0.0 + ], + [ + 0.01786351203918457, + 0.01595010608434677, + 0.0023202449083328247, + -0.008269891142845154, + 0.003922194242477417, + 0.018653035163879395, + 0.0 + ], + [ + 0.016243398189544678, + 0.012791544198989868, + 0.0063512325286865234, + 0.004384890198707581, + -0.0010636746883392334, + -0.016402721405029297, + 0.0 + ], + [ + 0.013418197631835938, + 0.010993577539920807, + 0.0010327249765396118, + -0.0052598267793655396, + 0.004236362874507904, + -0.007586061954498291, + 0.0 + ], + [ + 0.01089698076248169, + 0.015542164444923401, + -0.0027460455894470215, + -0.0071035027503967285, + 0.008191589266061783, + 0.016278207302093506, + 0.0 + ], + [ + 0.01149711012840271, + 0.008148819208145142, + -0.0042645931243896484, + -0.004397988319396973, + 0.007285311818122864, + 0.008485257625579834, + 0.0 + ], + [ + 0.012283861637115479, + 0.006115123629570007, + -0.0028457194566726685, + 0.0016315579414367676, + 0.002479229122400284, + 0.011845409870147705, + 0.0 + ], + [ + 0.012483268976211548, + 0.009939014911651611, + -0.0006400346755981445, + 0.021271929144859314, + -0.01107373833656311, + 0.014532268047332764, + 0.0 + ], + [ + 0.008430331945419312, + 0.007773920893669128, + 0.008234396576881409, + 0.042746514081954956, + -0.022292695939540863, + 0.016352057456970215, + 0.0 + ], + [ + 0.0021320879459381104, + 0.005573347210884094, + -0.005996778607368469, + 0.06869634985923767, + -0.001895114779472351, + 0.023803740739822388, + 0.0 + ], + [ + 0.0003128647804260254, + 0.004898980259895325, + 0.009853854775428772, + 0.07916174829006195, + -0.02307797223329544, + 0.008225709199905396, + 1.0 + ], + [ + 0.0002747774124145508, + 0.0005169212818145752, + -0.017699480056762695, + 0.004778880625963211, + -0.0068033114075660706, + 0.017917603254318237, + 1.0 + ], + [ + -0.0014090240001678467, + -0.0006694495677947998, + 0.0017630904912948608, + 0.035793550312519073, + -0.02753400057554245, + 0.009540855884552002, + 1.0 + ], + [ + -0.0004576742649078369, + -0.00022915005683898926, + 0.004699081182479858, + 0.007260619662702084, + -0.0064974576234817505, + 0.008258670568466187, + 1.0 + ], + [ + -0.0033650994300842285, + -0.00469517707824707, + 0.0019427686929702759, + -0.014685272239148617, + -0.015938833355903625, + 0.005059391260147095, + 1.0 + ], + [ + -0.008952468633651733, + -0.0030530542135238647, + 0.0341372936964035, + 0.005126839503645897, + -0.06645798683166504, + 0.0060803890228271484, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9716382026672363 + ], + [ + 0.7031799554824829 + ], + [ + 0.41037410497665405 + ], + [ + 0.20382753014564514 + ], + [ + 0.10434377193450928 + ], + [ + 0.08571679890155792 + ], + [ + 0.0853668823838234 + ], + [ + 0.0853668823838234 + ], + [ + 0.0853668823838234 + ], + [ + 0.0853668823838234 + ], + [ + 0.0853668823838234 + ], + [ + 0.0853668823838234 + ], + [ + 0.0853668823838234 + ], + [ + 0.0853668823838234 + ], + [ + 0.0853668823838234 + ], + [ + 0.0853668823838234 + ], + [ + 0.0853668823838234 + ], + [ + 0.0853668823838234 + ], + [ + 0.0853668823838234 + ], + [ + 0.08501782268285751 + ], + [ + 0.11451414972543716 + ], + [ + 0.2973475158214569 + ], + [ + 0.5819184184074402 + ], + [ + 0.8836284875869751 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.24247510731220245, + 0.17997616529464722, + 0.12336058914661407 + ], + [ + 0.24532192945480347, + 0.16380316019058228, + 0.12420850247144699 + ], + [ + 0.25210365653038025, + 0.15339314937591553, + 0.12386733293533325 + ], + [ + 0.2578035891056061, + 0.13541346788406372, + 0.1343676596879959 + ], + [ + 0.263385146856308, + 0.10734768956899643, + 0.1465500146150589 + ], + [ + 0.26688140630722046, + 0.06846923381090164, + 0.1547144651412964 + ], + [ + 0.26546913385391235, + 0.01704145222902298, + 0.1517813503742218 + ], + [ + 0.2576455771923065, + -0.015269948169589043, + 0.14389440417289734 + ], + [ + 0.24676991999149323, + -0.04531874135136604, + 0.13328854739665985 + ], + [ + 0.24196161329746246, + -0.05306495726108551, + 0.12282750755548477 + ], + [ + 0.23947973549365997, + -0.05090079829096794, + 0.1126876100897789 + ], + [ + 0.23359794914722443, + -0.04461447149515152, + 0.09877613931894302 + ], + [ + 0.22666935622692108, + -0.036418553441762924, + 0.08248261362314224 + ], + [ + 0.22489920258522034, + -0.03173931688070297, + 0.07683952897787094 + ], + [ + 0.22231413424015045, + -0.029851363971829414, + 0.07597454637289047 + ], + [ + 0.22419270873069763, + -0.027011919766664505, + 0.07644922286272049 + ], + [ + 0.22373801469802856, + -0.022798074409365654, + 0.07796990126371384 + ], + [ + 0.2225380539894104, + -0.020000528544187546, + 0.08614055067300797 + ], + [ + 0.2351273000240326, + -0.007610979489982128, + 0.10661545395851135 + ], + [ + 0.24697284400463104, + 0.00850982777774334, + 0.11919558048248291 + ], + [ + 0.2613731920719147, + 0.03173135966062546, + 0.1242484524846077 + ], + [ + 0.27546700835227966, + 0.05417560040950775, + 0.12793448567390442 + ], + [ + 0.2890394628047943, + 0.07463794946670532, + 0.13166183233261108 + ], + [ + 0.30309420824050903, + 0.08771798014640808, + 0.13611921668052673 + ], + [ + 0.3209577202796936, + 0.10366808623075485, + 0.13843946158885956 + ], + [ + 0.3372011184692383, + 0.11645963042974472, + 0.14479069411754608 + ], + [ + 0.3506193161010742, + 0.12745320796966553, + 0.1458234190940857 + ], + [ + 0.3615162968635559, + 0.14299537241458893, + 0.14307737350463867 + ], + [ + 0.3730134069919586, + 0.15114419162273407, + 0.13881278038024902 + ], + [ + 0.3852972686290741, + 0.15725931525230408, + 0.13596706092357635 + ], + [ + 0.39778053760528564, + 0.1671983301639557, + 0.1353270262479782 + ], + [ + 0.40621086955070496, + 0.17497225105762482, + 0.14356142282485962 + ], + [ + 0.40834295749664307, + 0.1805455982685089, + 0.13756464421749115 + ], + [ + 0.4086558222770691, + 0.18544457852840424, + 0.14741849899291992 + ], + [ + 0.40893059968948364, + 0.1859614998102188, + 0.12971901893615723 + ], + [ + 0.4075215756893158, + 0.185292050242424, + 0.1314821094274521 + ], + [ + 0.40706390142440796, + 0.18506290018558502, + 0.13618119060993195 + ], + [ + 0.40369880199432373, + 0.18036772310733795, + 0.13812395930290222 + ], + [ + 0.394746333360672, + 0.1773146688938141, + 0.17226125299930573 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.7776221871370054, + 0.6171609551387918, + 0.12006702096926875, + 0.6238243320886425, + -0.7335397825898864, + -0.2697454171105445, + -0.07840240281024269, + 0.2846607503857124, + -0.9554168307201961 + ], + [ + 0.8794570732672627, + 0.4640210075824952, + 0.10601773814936001, + 0.47066188399952325, + -0.8145905343043015, + -0.3389980123420369, + -0.07094115329059443, + 0.34803270815249315, + -0.9347944088546111 + ], + [ + 0.91163726856226, + 0.3927306742230038, + 0.12116149591634622, + 0.41058141908828816, + -0.8570114662758211, + -0.31137476611185844, + -0.01844963055970049, + 0.3336075002096204, + -0.9425315097842081 + ], + [ + 0.9429358916876368, + 0.2934601643092363, + 0.15733097638684307, + 0.3262106289399111, + -0.9089085953733841, + -0.2597533268757296, + 0.0667722227716662, + 0.29625377165527866, + -0.9527723616090851 + ], + [ + 0.9701630452663565, + 0.15064946880319544, + 0.18996947951927504, + 0.19114468682436722, + -0.9572670299416153, + -0.2170335045230878, + 0.14915553727007183, + 0.24686954234184835, + -0.9575009424358821 + ], + [ + 0.9764954777339805, + -0.03500138822359032, + 0.21267694935631082, + 0.005110531343135778, + -0.982689220980871, + -0.18519119157616482, + 0.21547729447548786, + 0.18192525330594006, + -0.9594127046141788 + ], + [ + 0.9521065780157003, + -0.23396641509605418, + 0.19685725972474064, + -0.19507003972084172, + -0.9605602502281115, + -0.1981708487265901, + 0.23545858171351994, + 0.15027881516969951, + -0.9601955707087223 + ], + [ + 0.914123055667509, + -0.36808103842892914, + 0.16998643547700332, + -0.33607090637928183, + -0.9224417577635965, + -0.1901513855311457, + 0.2267937057823789, + 0.11669427013820165, + -0.9669266064880044 + ], + [ + 0.8632817698154661, + -0.4774185598508914, + 0.16375623534441955, + -0.4549169210480469, + -0.8765371459290365, + -0.15726800930495527, + 0.2186210896698695, + 0.061271123022834315, + -0.9738843199451767 + ], + [ + 0.842881170646264, + -0.5122299056139334, + 0.16483887880207213, + -0.49701124978212863, + -0.8584969588420438, + -0.12634393237891794, + 0.2062308167078575, + 0.0245661444614921, + -0.9781949472300022 + ], + [ + 0.8259325369049435, + -0.541119712170539, + 0.15819260912646052, + -0.5319553400990832, + -0.8409426279429902, + -0.0991917972838787, + 0.18670554523589486, + -0.0022256704181928266, + -0.9824133986104611 + ], + [ + 0.8084918201309229, + -0.5700782137158988, + 0.14612257535328763, + -0.5670532361062728, + -0.8210532167960948, + -0.06574376480084243, + 0.157453498540969, + -0.029705983156172042, + -0.9870795055931079 + ], + [ + 0.8004297288919967, + -0.5895705643084742, + 0.1082534009021044, + -0.5883762685379083, + -0.8072722486374699, + -0.04609645540830788, + 0.11456707959659183, + -0.026796758773964535, + -0.9930540357865316 + ], + [ + 0.794140630016636, + -0.5935811435471773, + 0.13039204646758645, + -0.5953490113269754, + -0.8029341238743903, + -0.029263414531763683, + 0.12206643465249972, + -0.05438950949668583, + -0.9910305579486116 + ], + [ + 0.7944414678903007, + -0.5907870220195143, + 0.1408312774550394, + -0.5926756754205561, + -0.804777003219156, + -0.03270349911526267, + 0.13265857628171593, + -0.05748625664372681, + -0.9894933210668981 + ], + [ + 0.8055911989742862, + -0.5756818656724326, + 0.14004716945043752, + -0.5747994891089531, + -0.8167156651997954, + -0.05080422755384205, + 0.14362578965930514, + -0.03957160286320438, + -0.988840594227188 + ], + [ + 0.8151571829702794, + -0.5683615829329575, + 0.11173127627437551, + -0.5618745046403718, + -0.8227467633343777, + -0.08593488498823787, + 0.14076863317903815, + 0.007271483256385658, + -0.9900158167646398 + ], + [ + 0.8279059334565314, + -0.5574741854513823, + 0.06159787255082593, + -0.5426656289171985, + -0.823944705866048, + -0.16318436465303185, + 0.1417243117442148, + 0.10167425549582391, + -0.9846707902796746 + ], + [ + 0.8451458840730065, + -0.5314705340473075, + 0.057162103477089846, + -0.5039912696318031, + -0.8279143024824641, + -0.2460705343593534, + 0.17810456133793723, + 0.17915629819920986, + -0.9675648743346238 + ], + [ + 0.8562266356726144, + -0.5151001433191997, + 0.039341971446486115, + -0.4835871996645147, + -0.8259695634089298, + -0.28968552025031385, + 0.1817123239777343, + 0.2290111846059097, + -0.956312976300128 + ], + [ + 0.8652176977956351, + -0.501264590872235, + 0.011495449487168796, + -0.47759700910610453, + -0.830912169244983, + -0.28545763940294233, + 0.15264151569649945, + 0.2414928092889882, + -0.9583223835158958 + ], + [ + 0.8549896042987287, + -0.5185358981810098, + -0.010644192722622507, + -0.5027492187764924, + -0.8235684295667475, + -0.2626371353038018, + 0.12742056176586825, + 0.22990337996335408, + -0.9648359634262685 + ], + [ + 0.841621886187503, + -0.5374409781663055, + -0.05319582387588464, + -0.5329306500101371, + -0.8105021974095051, + -0.24304549013330023, + 0.08750727381173654, + 0.23290208883135433, + -0.9685551579791568 + ], + [ + 0.838775733523603, + -0.5397035038460289, + -0.0719402306658886, + -0.5397662824067009, + -0.806885663258011, + -0.23997476285128283, + 0.07146767960967736, + 0.24011591859974463, + -0.9681098679417587 + ], + [ + 0.8489294931096509, + -0.5231557302020848, + -0.07501198361137984, + -0.5241708128776585, + -0.8152999302543396, + -0.2460304506650407, + 0.06755497506301975, + 0.24818159819775465, + -0.9663551208847824 + ], + [ + 0.840156862793229, + -0.5370178104102649, + -0.0758176575977169, + -0.5379853767044182, + -0.8075350621102735, + -0.2417826666962756, + 0.06861618142716104, + 0.2439241578128781, + -0.9673638534086507 + ], + [ + 0.8362876340490255, + -0.5418282218241983, + -0.0839355179379395, + -0.54449703769368, + -0.8027338958214792, + -0.2431897786546083, + 0.06438920002213099, + 0.24907924549046143, + -0.966340292229612 + ], + [ + 0.8454581671572883, + -0.526332785485828, + -0.09041176090403305, + -0.5310749832869364, + -0.8108051748177901, + -0.24607789542230943, + 0.05621254053873567, + 0.2560639908527204, + -0.9650240322783463 + ], + [ + 0.8502600477582737, + -0.5174258837429835, + -0.09658315597913875, + -0.5240829989921523, + -0.815143801013498, + -0.24673385223081665, + 0.04893732066112629, + 0.26040552701903086, + -0.9642583160877851 + ], + [ + 0.8565096274715551, + -0.507335969874714, + -0.09487608613249757, + -0.5140356422504246, + -0.8219491326536346, + -0.24528958768388667, + 0.046460914161595424, + 0.25886258323910216, + -0.9647961165210232 + ], + [ + 0.8633911214346605, + -0.4994493392317643, + -0.07145718276529645, + -0.5012457130204724, + -0.832968932248637, + -0.23434054938734664, + 0.05751961931721425, + 0.23814515625878094, + -0.9695248206952121 + ], + [ + 0.8701359700347034, + -0.4920291229816373, + -0.027762128695167462, + -0.48631456100703324, + -0.8481832161639605, + -0.2099604238191025, + 0.07975927158834092, + 0.19619524447774325, + -0.9773156525094726 + ], + [ + 0.8813292322501767, + -0.4723667782074959, + 0.011331867771197955, + -0.465394837840358, + -0.8719659324224767, + -0.15193109492841544, + 0.08164820446807367, + 0.12862752248438408, + -0.988326125915261 + ], + [ + 0.8832186172559042, + -0.46375176834680565, + 0.06970775773025664, + -0.45714156687491714, + -0.8845553784710426, + -0.092646479982227, + 0.10462534094431958, + 0.04996078235138268, + -0.9932559882825391 + ], + [ + 0.8906087643968882, + -0.4477585158014857, + 0.07955086615932742, + -0.4409178551981517, + -0.8930123535735952, + -0.09011315848648516, + 0.11138884031585168, + 0.04518017144942361, + -0.9927493532412353 + ], + [ + 0.8916746540844583, + -0.43629760820135743, + 0.12066776015629103, + -0.4309025502050249, + -0.8997512996648934, + -0.06906946487516073, + 0.1387058163530548, + 0.009591445621483494, + -0.9902871809130535 + ], + [ + 0.8943693336639256, + -0.42797463000926067, + 0.13015840760389524, + -0.423129534345084, + -0.903787564222683, + -0.06426068721498039, + 0.14513749400639975, + 0.0023989216047141243, + -0.9894085874949117 + ], + [ + 0.8942887859067906, + -0.4255111737126435, + 0.13852006514237195, + -0.4175673265356679, + -0.9047956117562377, + -0.08356092840862053, + 0.16088845580467662, + 0.016886147942742694, + -0.9868281323495204 + ], + [ + 0.88512306912963, + -0.4199933360415909, + 0.20040646240877547, + -0.406750830654467, + -0.9074521201553992, + -0.10528253125458371, + 0.22607723073420222, + 0.011672502136500701, + -0.9740394439843943 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006234.json b/json/chunk-0006/episode_0006234.json new file mode 100644 index 0000000000000000000000000000000000000000..1323d67202d5792ecaa91d26c25a841961d39ff2 --- /dev/null +++ b/json/chunk-0006/episode_0006234.json @@ -0,0 +1,1942 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 31, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nOpen microwave." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006234.mp4", + "start": 0, + "end": 31, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.17840759456157684, + -0.11751780658960342, + 0.07399861514568329, + -0.03891892358660698, + -0.025744443759322166, + 0.1125793382525444, + 0.0, + 0.9994885921478271 + ], + [ + 0.17630577087402344, + -0.11458230763673782, + 0.06910282373428345, + -0.025096114724874496, + -0.01921476237475872, + 0.106679767370224, + 0.0, + 0.9994885921478271 + ], + [ + 0.18352678418159485, + -0.09862042963504791, + 0.0697329118847847, + -0.020953495055437088, + -0.10137216001749039, + 0.072425477206707, + 0.0, + 0.9994885921478271 + ], + [ + 0.2013266533613205, + -0.08336905390024185, + 0.08144520223140717, + -0.04116107523441315, + -0.15165747702121735, + 0.09163831919431686, + 0.0, + 0.9994885921478271 + ], + [ + 0.22324107587337494, + -0.0804494321346283, + 0.09925881773233414, + -0.10162850469350815, + -0.19819898903369904, + 0.13660068809986115, + 0.0, + 0.9994885921478271 + ], + [ + 0.24630621075630188, + -0.08602079749107361, + 0.10449931025505066, + -0.12771713733673096, + -0.21105392277240753, + 0.1517663598060608, + 0.0, + 0.9994885921478271 + ], + [ + 0.2663348615169525, + -0.09175059199333191, + 0.10442255437374115, + -0.14113374054431915, + -0.22291627526283264, + 0.1743437498807907, + 0.0, + 0.9994885921478271 + ], + [ + 0.27942124009132385, + -0.0969671979546547, + 0.10291372239589691, + -0.11956074833869934, + -0.2432103008031845, + 0.17689017951488495, + 0.0, + 0.9994885921478271 + ], + [ + 0.2869819104671478, + -0.09406787902116776, + 0.10515183955430984, + -0.10164500027894974, + -0.2592025697231293, + 0.18559563159942627, + 0.0, + 0.9468915462493896 + ], + [ + 0.28832194209098816, + -0.0911373645067215, + 0.10537680238485336, + -0.08325093239545822, + -0.27092382311820984, + 0.17100568115711212, + 0.0, + 0.676182746887207 + ], + [ + 0.28767648339271545, + -0.0884164422750473, + 0.10476819425821304, + -0.10483701527118683, + -0.24823687970638275, + 0.15937110781669617, + 0.0, + 0.3962334990501404 + ], + [ + 0.286387175321579, + -0.08667884767055511, + 0.10458603501319885, + -0.10626643896102905, + -0.23353974521160126, + 0.14203894138336182, + 0.0, + 0.265934020280838 + ], + [ + 0.2768315374851227, + -0.08358542621135712, + 0.10494743287563324, + -0.10205496102571487, + -0.23539355397224426, + 0.1285332590341568, + 0.0, + 0.2781093716621399 + ], + [ + 0.2524452209472656, + -0.07757557183504105, + 0.10577009618282318, + -0.09087355434894562, + -0.215123251080513, + 0.08289927244186401, + 0.0, + 0.2928420901298523 + ], + [ + 0.22528702020645142, + -0.07023288309574127, + 0.10852041840553284, + -0.08418085426092148, + -0.19166836142539978, + 0.05792232230305672, + 0.0, + 0.35690104961395264 + ], + [ + 0.19788894057273865, + -0.08359111100435257, + 0.11646468937397003, + -0.11277404427528381, + -0.08799967914819717, + 0.0051832362078130245, + 0.0, + 0.6430501937866211 + ], + [ + 0.1778111755847931, + -0.10922233760356903, + 0.10182569921016693, + -0.06667261570692062, + 0.024706732481718063, + -0.061422932893037796, + 0.0, + 0.9255412817001343 + ], + [ + 0.18463878333568573, + -0.14772866666316986, + 0.09657122194766998, + -0.09320591390132904, + 0.05346034839749336, + -0.09988037496805191, + 0.0, + 0.9994885921478271 + ], + [ + 0.21445047855377197, + -0.17327161133289337, + 0.09092746675014496, + -0.09093784540891647, + 0.0014082019915804267, + -0.06853748112916946, + 0.0, + 0.9988223910331726 + ], + [ + 0.24251197278499603, + -0.18461152911186218, + 0.09811397641897202, + -0.09457948803901672, + -0.05567777529358864, + -0.06449251621961594, + 0.0, + 0.9988223910331726 + ], + [ + 0.2758682668209076, + -0.1702043116092682, + 0.1124253123998642, + -0.1332208216190338, + -0.09394001960754395, + 0.01398142334073782, + 0.0, + 0.9988223910331726 + ], + [ + 0.2916514277458191, + -0.14034056663513184, + 0.11456979066133499, + -0.13765637576580048, + -0.08629333972930908, + 0.07019495964050293, + 0.0, + 0.9988223910331726 + ], + [ + 0.2947593331336975, + -0.12223005294799805, + 0.11242550611495972, + -0.10772457718849182, + -0.07645384222269058, + 0.07359456270933151, + 0.0, + 0.9988223910331726 + ], + [ + 0.28790438175201416, + -0.10038664191961288, + 0.10667327046394348, + -0.09300972521305084, + -0.06571342051029205, + 0.08592142909765244, + 0.0, + 0.9988223910331726 + ], + [ + 0.2711951434612274, + -0.08632399886846542, + 0.10863030701875687, + -0.08555371314287186, + -0.10283292829990387, + 0.07769658416509628, + 0.0, + 0.9988223910331726 + ], + [ + 0.244217649102211, + -0.0707346647977829, + 0.11345305293798447, + -0.08688382804393768, + -0.12305696308612823, + 0.05085260421037674, + 0.0, + 0.9988223910331726 + ], + [ + 0.21372555196285248, + -0.049179915338754654, + 0.11967200040817261, + -0.09586156904697418, + -0.1304965615272522, + 0.044489193707704544, + 0.0, + 0.9988223910331726 + ], + [ + 0.18478040397167206, + -0.02482069656252861, + 0.1222887858748436, + -0.0812605619430542, + -0.13192829489707947, + 0.04116353392601013, + 0.0, + 0.9988223910331726 + ], + [ + 0.16863390803337097, + -0.0021582122426480055, + 0.12477502971887589, + -0.0639602392911911, + -0.16823212802410126, + 0.04618364945054054, + 0.0, + 0.9988223910331726 + ], + [ + 0.1675180345773697, + 0.015033104456961155, + 0.12582163512706757, + -0.055493589490652084, + -0.1777142435312271, + 0.059250619262456894, + 0.0, + 0.9988223910331726 + ], + [ + 0.17079032957553864, + 0.0073613012209534645, + 0.14077141880989075, + -0.10263053327798843, + -0.15760177373886108, + 0.07448472827672958, + 0.0, + 0.9988223910331726 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9468915462493896 + ], + [ + 0.676182746887207 + ], + [ + 0.3962334990501404 + ], + [ + 0.265934020280838 + ], + [ + 0.2781093716621399 + ], + [ + 0.2928420901298523 + ], + [ + 0.35690104961395264 + ], + [ + 0.6430501937866211 + ], + [ + 0.9255412817001343 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.17840759456157684, + -0.11751780658960342, + 0.07399861514568329 + ], + [ + 0.17630577087402344, + -0.11458230763673782, + 0.06910282373428345 + ], + [ + 0.18352678418159485, + -0.09862042963504791, + 0.0697329118847847 + ], + [ + 0.2013266533613205, + -0.08336905390024185, + 0.08144520223140717 + ], + [ + 0.22324107587337494, + -0.0804494321346283, + 0.09925881773233414 + ], + [ + 0.24630621075630188, + -0.08602079749107361, + 0.10449931025505066 + ], + [ + 0.2663348615169525, + -0.09175059199333191, + 0.10442255437374115 + ], + [ + 0.27942124009132385, + -0.0969671979546547, + 0.10291372239589691 + ], + [ + 0.2869819104671478, + -0.09406787902116776, + 0.10515183955430984 + ], + [ + 0.28832194209098816, + -0.0911373645067215, + 0.10537680238485336 + ], + [ + 0.28767648339271545, + -0.0884164422750473, + 0.10476819425821304 + ], + [ + 0.286387175321579, + -0.08667884767055511, + 0.10458603501319885 + ], + [ + 0.2768315374851227, + -0.08358542621135712, + 0.10494743287563324 + ], + [ + 0.2524452209472656, + -0.07757557183504105, + 0.10577009618282318 + ], + [ + 0.22528702020645142, + -0.07023288309574127, + 0.10852041840553284 + ], + [ + 0.19788894057273865, + -0.08359111100435257, + 0.11646468937397003 + ], + [ + 0.1778111755847931, + -0.10922233760356903, + 0.10182569921016693 + ], + [ + 0.18463878333568573, + -0.14772866666316986, + 0.09657122194766998 + ], + [ + 0.21445047855377197, + -0.17327161133289337, + 0.09092746675014496 + ], + [ + 0.24251197278499603, + -0.18461152911186218, + 0.09811397641897202 + ], + [ + 0.2758682668209076, + -0.1702043116092682, + 0.1124253123998642 + ], + [ + 0.2916514277458191, + -0.14034056663513184, + 0.11456979066133499 + ], + [ + 0.2947593331336975, + -0.12223005294799805, + 0.11242550611495972 + ], + [ + 0.28790438175201416, + -0.10038664191961288, + 0.10667327046394348 + ], + [ + 0.2711951434612274, + -0.08632399886846542, + 0.10863030701875687 + ], + [ + 0.244217649102211, + -0.0707346647977829, + 0.11345305293798447 + ], + [ + 0.21372555196285248, + -0.049179915338754654, + 0.11967200040817261 + ], + [ + 0.18478040397167206, + -0.02482069656252861, + 0.1222887858748436 + ], + [ + 0.16863390803337097, + -0.0021582122426480055, + 0.12477502971887589 + ], + [ + 0.1675180345773697, + 0.015033104456961155, + 0.12582163512706757 + ], + [ + 0.17079032957553864, + 0.0073613012209534645, + 0.14077141880989075 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9933403643161687, + 0.11126136945227184, + 0.029930390706212832, + 0.11230445515198524, + -0.9930297038970985, + -0.03577312582172258, + 0.025741600052001712, + 0.038896206057225324, + -0.998911635321722 + ], + [ + 0.9941315596820175, + 0.10596461281685712, + 0.0217702290932605, + 0.10645788081116167, + -0.9940533439017344, + -0.022905656309672656, + 0.019213580025491957, + 0.02508884828671713, + -0.9995005693016139 + ], + [ + 0.9922581211152626, + 0.07023154054245516, + 0.10242730004174533, + 0.07199068648333802, + -0.9973129106365901, + -0.013575689199076429, + 0.1011986271669037, + 0.02084439950216043, + -0.9946478516886907 + ], + [ + 0.9843743361807373, + 0.08524196455178688, + 0.1540810622629662, + 0.09045976591861753, + -0.9955295965757475, + -0.027163451394801412, + 0.15107679179371358, + 0.04067714125993523, + -0.9876847539373267 + ], + [ + 0.9712897875648395, + 0.11568309866691809, + 0.20787873689982894, + 0.13351031111694614, + -0.9882932977677011, + -0.07383328797295595, + 0.19690389888903786, + 0.09946747342855998, + -0.9753640737345382 + ], + [ + 0.9665712986198269, + 0.12357691306232879, + 0.22465233415739747, + 0.147829743000189, + -0.9844884720714148, + -0.09449240944641572, + 0.20949055293468347, + 0.12454394773121909, + -0.9698466442250774 + ], + [ + 0.9604725592595371, + 0.14111097214615648, + 0.23995865570844063, + 0.16916988577159908, + -0.9804427183186263, + -0.1005665244701604, + 0.2210746766535223, + 0.13718516550979518, + -0.9655600539099528 + ], + [ + 0.9554247952529122, + 0.14643709908803343, + 0.2563584143862107, + 0.17079034155034029, + -0.9824227488079394, + -0.0753405724544898, + 0.24081968326747866, + 0.11576579216389274, + -0.963641095800515 + ], + [ + 0.9499948725311698, + 0.158018392639491, + 0.26933237783845865, + 0.17836761830396955, + -0.9825530104327008, + -0.05267422927966188, + 0.25630984160787895, + 0.09808042249740069, + -0.9616056862444582 + ], + [ + 0.9494702308172162, + 0.1476546430422937, + 0.27695556896360646, + 0.1639662130395268, + -0.9857883277859113, + -0.03655754070685048, + 0.2676216765760551, + 0.08012165243621316, + -0.9601870437771548 + ], + [ + 0.9570628558862267, + 0.13244103371689328, + 0.2578566704021832, + 0.15383278560951405, + -0.9859867266003051, + -0.0645418394503322, + 0.2456952664471106, + 0.10143740708444746, + -0.9640250455716736 + ], + [ + 0.9630561152311187, + 0.11646426612714854, + 0.24281473108403304, + 0.1377188814626904, + -0.9878200634976724, + -0.07242259205607249, + 0.23142261904276337, + 0.10318719332804621, + -0.9673654813608292 + ], + [ + 0.9644010831495143, + 0.10394816587238462, + 0.2431570061335072, + 0.12464478187722161, + -0.9896364160418708, + -0.07129826361546841, + 0.23322570435272158, + 0.0990683746488666, + -0.9673630280166844 + ], + [ + 0.9735950716695946, + 0.06315732273939512, + 0.2193713495538314, + 0.08089572098611575, + -0.9940579090192944, + -0.07283375482786235, + 0.213467840076237, + 0.08865678823745272, + -0.9729190383339231 + ], + [ + 0.980041465048866, + 0.04169454149438742, + 0.19437153082291853, + 0.0568298464533709, + -0.9957150320431177, + -0.07295165190356519, + 0.19049696936423488, + 0.08254174806087804, + -0.9782115131657856 + ], + [ + 0.996117145323914, + -0.004739860104793321, + 0.08790999100172361, + 0.005163156692630891, + -0.9936856598998861, + -0.11208100250397084, + 0.0878861456926146, + 0.11209970131768758, + -0.9898028502483621 + ], + [ + 0.9978095844068369, + -0.05960516317058427, + -0.0286924692081979, + -0.06136558344125774, + -0.9959976297925242, + -0.06498451058973777, + -0.024704218966998218, + 0.06660289761775932, + -0.9974736866675474 + ], + [ + 0.9935945569368229, + -0.09433312213669273, + -0.06221831316792448, + -0.09957193015904428, + -0.991193109495137, + -0.08730206420104492, + -0.05343488701139473, + 0.09293805333287744, + -0.994237009516732 + ], + [ + 0.9976512369011432, + -0.06807327873181437, + -0.00761828276709511, + -0.06848376798979758, + -0.9935386878034533, + -0.09050331131904223, + -0.0014082015261620041, + 0.09081246919059414, + -0.9958670154232285 + ], + [ + 0.9963746929542315, + -0.06940426750389539, + 0.04919876921843217, + -0.06434794960666204, + -0.9931223632214262, + -0.09781264259239772, + 0.055649012765540594, + 0.09429220180766479, + -0.9939880120285574 + ], + [ + 0.9954935726628573, + 0.001398866235985309, + 0.09481872157013024, + 0.013919324068280902, + -0.9912165454347696, + -0.13151430520610033, + 0.0938019147161839, + 0.132241458059169, + -0.9867691713698612 + ], + [ + 0.9938255483461971, + 0.05767631865195435, + 0.09478513449449444, + 0.06987634997368403, + -0.9889304444756872, + -0.13089641593059487, + 0.0861862817897164, + 0.13671144156901532, + -0.9868545518846157 + ], + [ + 0.9943798777490774, + 0.06491212448162256, + 0.08363656391203823, + 0.07331335903898001, + -0.9921159652156312, + -0.10164183661602323, + 0.0763793827819506, + 0.10720227450730273, + -0.9912990780921312 + ], + [ + 0.994160636477478, + 0.07936853987501215, + 0.07311131073100066, + 0.08563052865238159, + -0.9925280539319854, + -0.08692223375351076, + 0.0656661361845661, + 0.09267522342079847, + -0.9935286918466398 + ], + [ + 0.9917164276052574, + 0.06858947721666792, + 0.10860023403754847, + 0.07720840429526557, + -0.9940175180519268, + -0.07725306538944503, + 0.10265178772941523, + 0.08499798480570729, + -0.9910791860668468 + ], + [ + 0.9911551021135353, + 0.04000144016777201, + 0.12653635184725073, + 0.050446310124109654, + -0.9954815471626187, + -0.08044662238764819, + 0.12274662255707582, + 0.08611837227457833, + -0.98869453958622 + ], + [ + 0.9905163323473132, + 0.03182761747644094, + 0.13365776490350514, + 0.0440963699639649, + -0.9949777908859463, + -0.08985936678901942, + 0.1301264981056066, + 0.09490099266865305, + -0.9869452345906919 + ], + [ + 0.9904703401236559, + 0.030347425836074034, + 0.13434112951904748, + 0.04079430317069315, + -0.9962952827799267, + -0.0757068975674179, + 0.13154592416394767, + 0.08046578934920055, + -0.9880389296886348 + ], + [ + 0.984831097467488, + 0.03538206135545746, + 0.1698700067558185, + 0.04551545919738491, + -0.9973852363644774, + -0.05613406502496207, + 0.16743969790654298, + 0.06301428422519868, + -0.9838664276966419 + ], + [ + 0.9825231733982284, + 0.04933687007886749, + 0.17948283200990595, + 0.05828332627702536, + -0.9972891433254338, + -0.04491568193079537, + 0.17678028061285844, + 0.05459155480514841, + -0.9827352107919995 + ], + [ + 0.984868183445959, + 0.05798927419949163, + 0.16331535541299602, + 0.07349360287954186, + -0.9931765711128339, + -0.09054826849994597, + 0.1569501563288206, + 0.10118074258657271, + -0.9824098461222732 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0021018236875534058, + 0.0029354989528656006, + -0.004895791411399841, + 0.013822808861732483, + 0.006529681384563446, + -0.005899570882320404, + 1.0 + ], + [ + 0.007221013307571411, + 0.01596187800168991, + 0.0006300881505012512, + 0.0041426196694374084, + -0.08215739578008652, + -0.034254290163517, + 1.0 + ], + [ + 0.017799869179725647, + 0.01525137573480606, + 0.011712290346622467, + -0.02020758017897606, + -0.05028531700372696, + 0.019212841987609863, + 1.0 + ], + [ + 0.021914422512054443, + 0.002919621765613556, + 0.01781361550092697, + -0.060467429459095, + -0.04654151201248169, + 0.04496236890554428, + 1.0 + ], + [ + 0.02306513488292694, + -0.0055713653564453125, + 0.005240492522716522, + -0.02608863264322281, + -0.012854933738708496, + 0.015165671706199646, + 1.0 + ], + [ + 0.020028650760650635, + -0.005729794502258301, + -7.675588130950928e-05, + -0.013416603207588196, + -0.01186235249042511, + 0.02257739007472992, + 1.0 + ], + [ + 0.013086378574371338, + -0.005216605961322784, + -0.0015088319778442383, + 0.021572992205619812, + -0.020294025540351868, + 0.0025464296340942383, + 1.0 + ], + [ + 0.007560670375823975, + 0.0028993189334869385, + 0.0022381171584129333, + 0.017915748059749603, + -0.015992268919944763, + 0.00870545208454132, + 0.0 + ], + [ + 0.001340031623840332, + 0.0029305145144462585, + 0.00022496283054351807, + 0.018394067883491516, + -0.011721253395080566, + -0.014589950442314148, + 0.0 + ], + [ + -0.0006454586982727051, + 0.0027209222316741943, + -0.0006086081266403198, + -0.021586082875728607, + 0.022686943411827087, + -0.011634573340415955, + 0.0 + ], + [ + -0.0012893080711364746, + 0.0017375946044921875, + -0.00018215924501419067, + -0.0014294236898422241, + 0.014697134494781494, + -0.01733216643333435, + 0.0 + ], + [ + -0.009555637836456299, + 0.003093421459197998, + 0.0003613978624343872, + 0.0042114779353141785, + -0.0018538087606430054, + -0.013505682349205017, + 0.0 + ], + [ + -0.024386316537857056, + 0.0060098543763160706, + 0.0008226633071899414, + 0.011181406676769257, + 0.020270302891731262, + -0.045633986592292786, + 0.0 + ], + [ + -0.02715820074081421, + 0.007342688739299774, + 0.0027503222227096558, + 0.006692700088024139, + 0.02345488965511322, + -0.024976950138807297, + 1.0 + ], + [ + -0.02739807963371277, + -0.013358227908611298, + 0.007944270968437195, + -0.028593190014362335, + 0.1036686822772026, + -0.052739087492227554, + 1.0 + ], + [ + -0.020077764987945557, + -0.02563122659921646, + -0.0146389901638031, + 0.04610142856836319, + 0.11270640790462494, + -0.06660617142915726, + 1.0 + ], + [ + 0.006827607750892639, + -0.03850632905960083, + -0.005254477262496948, + -0.026533298194408417, + 0.0287536159157753, + -0.038457442075014114, + 1.0 + ], + [ + 0.029811695218086243, + -0.02554294466972351, + -0.005643755197525024, + 0.002268068492412567, + -0.052052147686481476, + 0.031342893838882446, + 1.0 + ], + [ + 0.02806149423122406, + -0.011339917778968811, + 0.007186509668827057, + -0.0036416426301002502, + -0.057085976004600525, + 0.004044964909553528, + 1.0 + ], + [ + 0.03335629403591156, + 0.014407217502593994, + 0.014311335980892181, + -0.03864133358001709, + -0.03826224431395531, + 0.07847394049167633, + 1.0 + ], + [ + 0.0157831609249115, + 0.029863744974136353, + 0.0021444782614707947, + -0.004435554146766663, + 0.007646679878234863, + 0.056213535368442535, + 1.0 + ], + [ + 0.003107905387878418, + 0.01811051368713379, + -0.0021442845463752747, + 0.029931798577308655, + 0.0098394975066185, + 0.0033996030688285828, + 1.0 + ], + [ + -0.00685495138168335, + 0.021843411028385162, + -0.005752235651016235, + 0.014714851975440979, + 0.010740421712398529, + 0.012326866388320923, + 1.0 + ], + [ + -0.016709238290786743, + 0.014062643051147461, + 0.001957036554813385, + 0.007456012070178986, + -0.037119507789611816, + -0.008224844932556152, + 1.0 + ], + [ + -0.02697749435901642, + 0.015589334070682526, + 0.0048227459192276, + -0.0013301149010658264, + -0.020224034786224365, + -0.026843979954719543, + 1.0 + ], + [ + -0.03049209713935852, + 0.021554749459028244, + 0.006218947470188141, + -0.008977741003036499, + -0.007439598441123962, + -0.0063634105026721954, + 1.0 + ], + [ + -0.02894514799118042, + 0.024359218776226044, + 0.00261678546667099, + 0.014601007103919983, + -0.0014317333698272705, + -0.0033256597816944122, + 1.0 + ], + [ + -0.016146495938301086, + 0.022662485018372536, + 0.0024862438440322876, + 0.017300322651863098, + -0.03630383312702179, + 0.005020115524530411, + 1.0 + ], + [ + -0.0011158734560012817, + 0.017191316932439804, + 0.001046605408191681, + 0.008466649800539017, + -0.009482115507125854, + 0.013066969811916351, + 1.0 + ], + [ + 0.0032722949981689453, + -0.00767180323600769, + 0.014949783682823181, + -0.04713694378733635, + 0.020112469792366028, + 0.01523410901427269, + 1.0 + ], + [ + 0.032781556248664856, + -0.0011487146839499474, + 0.040059998631477356, + -0.03722897917032242, + 0.007323667407035828, + 0.014011047780513763, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9468915462493896 + ], + [ + 0.676182746887207 + ], + [ + 0.3962334990501404 + ], + [ + 0.265934020280838 + ], + [ + 0.2781093716621399 + ], + [ + 0.2928420901298523 + ], + [ + 0.35690104961395264 + ], + [ + 0.6430501937866211 + ], + [ + 0.9255412817001343 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.17630577087402344, + -0.11458230763673782, + 0.06910282373428345 + ], + [ + 0.18352678418159485, + -0.09862042963504791, + 0.0697329118847847 + ], + [ + 0.2013266533613205, + -0.08336905390024185, + 0.08144520223140717 + ], + [ + 0.22324107587337494, + -0.0804494321346283, + 0.09925881773233414 + ], + [ + 0.24630621075630188, + -0.08602079749107361, + 0.10449931025505066 + ], + [ + 0.2663348615169525, + -0.09175059199333191, + 0.10442255437374115 + ], + [ + 0.27942124009132385, + -0.0969671979546547, + 0.10291372239589691 + ], + [ + 0.2869819104671478, + -0.09406787902116776, + 0.10515183955430984 + ], + [ + 0.28832194209098816, + -0.0911373645067215, + 0.10537680238485336 + ], + [ + 0.28767648339271545, + -0.0884164422750473, + 0.10476819425821304 + ], + [ + 0.286387175321579, + -0.08667884767055511, + 0.10458603501319885 + ], + [ + 0.2768315374851227, + -0.08358542621135712, + 0.10494743287563324 + ], + [ + 0.2524452209472656, + -0.07757557183504105, + 0.10577009618282318 + ], + [ + 0.22528702020645142, + -0.07023288309574127, + 0.10852041840553284 + ], + [ + 0.19788894057273865, + -0.08359111100435257, + 0.11646468937397003 + ], + [ + 0.1778111755847931, + -0.10922233760356903, + 0.10182569921016693 + ], + [ + 0.18463878333568573, + -0.14772866666316986, + 0.09657122194766998 + ], + [ + 0.21445047855377197, + -0.17327161133289337, + 0.09092746675014496 + ], + [ + 0.24251197278499603, + -0.18461152911186218, + 0.09811397641897202 + ], + [ + 0.2758682668209076, + -0.1702043116092682, + 0.1124253123998642 + ], + [ + 0.2916514277458191, + -0.14034056663513184, + 0.11456979066133499 + ], + [ + 0.2947593331336975, + -0.12223005294799805, + 0.11242550611495972 + ], + [ + 0.28790438175201416, + -0.10038664191961288, + 0.10667327046394348 + ], + [ + 0.2711951434612274, + -0.08632399886846542, + 0.10863030701875687 + ], + [ + 0.244217649102211, + -0.0707346647977829, + 0.11345305293798447 + ], + [ + 0.21372555196285248, + -0.049179915338754654, + 0.11967200040817261 + ], + [ + 0.18478040397167206, + -0.02482069656252861, + 0.1222887858748436 + ], + [ + 0.16863390803337097, + -0.0021582122426480055, + 0.12477502971887589 + ], + [ + 0.1675180345773697, + 0.015033104456961155, + 0.12582163512706757 + ], + [ + 0.17079032957553864, + 0.0073613012209534645, + 0.14077141880989075 + ], + [ + 0.2035718858242035, + 0.006212586537003517, + 0.1808314174413681 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9941315596820175, + 0.10596461281685712, + 0.0217702290932605, + 0.10645788081116167, + -0.9940533439017344, + -0.022905656309672656, + 0.019213580025491957, + 0.02508884828671713, + -0.9995005693016139 + ], + [ + 0.9922581211152626, + 0.07023154054245516, + 0.10242730004174533, + 0.07199068648333802, + -0.9973129106365901, + -0.013575689199076429, + 0.1011986271669037, + 0.02084439950216043, + -0.9946478516886907 + ], + [ + 0.9843743361807373, + 0.08524196455178688, + 0.1540810622629662, + 0.09045976591861753, + -0.9955295965757475, + -0.027163451394801412, + 0.15107679179371358, + 0.04067714125993523, + -0.9876847539373267 + ], + [ + 0.9712897875648395, + 0.11568309866691809, + 0.20787873689982894, + 0.13351031111694614, + -0.9882932977677011, + -0.07383328797295595, + 0.19690389888903786, + 0.09946747342855998, + -0.9753640737345382 + ], + [ + 0.9665712986198269, + 0.12357691306232879, + 0.22465233415739747, + 0.147829743000189, + -0.9844884720714148, + -0.09449240944641572, + 0.20949055293468347, + 0.12454394773121909, + -0.9698466442250774 + ], + [ + 0.9604725592595371, + 0.14111097214615648, + 0.23995865570844063, + 0.16916988577159908, + -0.9804427183186263, + -0.1005665244701604, + 0.2210746766535223, + 0.13718516550979518, + -0.9655600539099528 + ], + [ + 0.9554247952529122, + 0.14643709908803343, + 0.2563584143862107, + 0.17079034155034029, + -0.9824227488079394, + -0.0753405724544898, + 0.24081968326747866, + 0.11576579216389274, + -0.963641095800515 + ], + [ + 0.9499948725311698, + 0.158018392639491, + 0.26933237783845865, + 0.17836761830396955, + -0.9825530104327008, + -0.05267422927966188, + 0.25630984160787895, + 0.09808042249740069, + -0.9616056862444582 + ], + [ + 0.9494702308172162, + 0.1476546430422937, + 0.27695556896360646, + 0.1639662130395268, + -0.9857883277859113, + -0.03655754070685048, + 0.2676216765760551, + 0.08012165243621316, + -0.9601870437771548 + ], + [ + 0.9570628558862267, + 0.13244103371689328, + 0.2578566704021832, + 0.15383278560951405, + -0.9859867266003051, + -0.0645418394503322, + 0.2456952664471106, + 0.10143740708444746, + -0.9640250455716736 + ], + [ + 0.9630561152311187, + 0.11646426612714854, + 0.24281473108403304, + 0.1377188814626904, + -0.9878200634976724, + -0.07242259205607249, + 0.23142261904276337, + 0.10318719332804621, + -0.9673654813608292 + ], + [ + 0.9644010831495143, + 0.10394816587238462, + 0.2431570061335072, + 0.12464478187722161, + -0.9896364160418708, + -0.07129826361546841, + 0.23322570435272158, + 0.0990683746488666, + -0.9673630280166844 + ], + [ + 0.9735950716695946, + 0.06315732273939512, + 0.2193713495538314, + 0.08089572098611575, + -0.9940579090192944, + -0.07283375482786235, + 0.213467840076237, + 0.08865678823745272, + -0.9729190383339231 + ], + [ + 0.980041465048866, + 0.04169454149438742, + 0.19437153082291853, + 0.0568298464533709, + -0.9957150320431177, + -0.07295165190356519, + 0.19049696936423488, + 0.08254174806087804, + -0.9782115131657856 + ], + [ + 0.996117145323914, + -0.004739860104793321, + 0.08790999100172361, + 0.005163156692630891, + -0.9936856598998861, + -0.11208100250397084, + 0.0878861456926146, + 0.11209970131768758, + -0.9898028502483621 + ], + [ + 0.9978095844068369, + -0.05960516317058427, + -0.0286924692081979, + -0.06136558344125774, + -0.9959976297925242, + -0.06498451058973777, + -0.024704218966998218, + 0.06660289761775932, + -0.9974736866675474 + ], + [ + 0.9935945569368229, + -0.09433312213669273, + -0.06221831316792448, + -0.09957193015904428, + -0.991193109495137, + -0.08730206420104492, + -0.05343488701139473, + 0.09293805333287744, + -0.994237009516732 + ], + [ + 0.9976512369011432, + -0.06807327873181437, + -0.00761828276709511, + -0.06848376798979758, + -0.9935386878034533, + -0.09050331131904223, + -0.0014082015261620041, + 0.09081246919059414, + -0.9958670154232285 + ], + [ + 0.9963746929542315, + -0.06940426750389539, + 0.04919876921843217, + -0.06434794960666204, + -0.9931223632214262, + -0.09781264259239772, + 0.055649012765540594, + 0.09429220180766479, + -0.9939880120285574 + ], + [ + 0.9954935726628573, + 0.001398866235985309, + 0.09481872157013024, + 0.013919324068280902, + -0.9912165454347696, + -0.13151430520610033, + 0.0938019147161839, + 0.132241458059169, + -0.9867691713698612 + ], + [ + 0.9938255483461971, + 0.05767631865195435, + 0.09478513449449444, + 0.06987634997368403, + -0.9889304444756872, + -0.13089641593059487, + 0.0861862817897164, + 0.13671144156901532, + -0.9868545518846157 + ], + [ + 0.9943798777490774, + 0.06491212448162256, + 0.08363656391203823, + 0.07331335903898001, + -0.9921159652156312, + -0.10164183661602323, + 0.0763793827819506, + 0.10720227450730273, + -0.9912990780921312 + ], + [ + 0.994160636477478, + 0.07936853987501215, + 0.07311131073100066, + 0.08563052865238159, + -0.9925280539319854, + -0.08692223375351076, + 0.0656661361845661, + 0.09267522342079847, + -0.9935286918466398 + ], + [ + 0.9917164276052574, + 0.06858947721666792, + 0.10860023403754847, + 0.07720840429526557, + -0.9940175180519268, + -0.07725306538944503, + 0.10265178772941523, + 0.08499798480570729, + -0.9910791860668468 + ], + [ + 0.9911551021135353, + 0.04000144016777201, + 0.12653635184725073, + 0.050446310124109654, + -0.9954815471626187, + -0.08044662238764819, + 0.12274662255707582, + 0.08611837227457833, + -0.98869453958622 + ], + [ + 0.9905163323473132, + 0.03182761747644094, + 0.13365776490350514, + 0.0440963699639649, + -0.9949777908859463, + -0.08985936678901942, + 0.1301264981056066, + 0.09490099266865305, + -0.9869452345906919 + ], + [ + 0.9904703401236559, + 0.030347425836074034, + 0.13434112951904748, + 0.04079430317069315, + -0.9962952827799267, + -0.0757068975674179, + 0.13154592416394767, + 0.08046578934920055, + -0.9880389296886348 + ], + [ + 0.984831097467488, + 0.03538206135545746, + 0.1698700067558185, + 0.04551545919738491, + -0.9973852363644774, + -0.05613406502496207, + 0.16743969790654298, + 0.06301428422519868, + -0.9838664276966419 + ], + [ + 0.9825231733982284, + 0.04933687007886749, + 0.17948283200990595, + 0.05828332627702536, + -0.9972891433254338, + -0.04491568193079537, + 0.17678028061285844, + 0.05459155480514841, + -0.9827352107919995 + ], + [ + 0.984868183445959, + 0.05798927419949163, + 0.16331535541299602, + 0.07349360287954186, + -0.9931765711128339, + -0.09054826849994597, + 0.1569501563288206, + 0.10118074258657271, + -0.9824098461222732 + ], + [ + 0.9848603874268514, + 0.06672839490521242, + 0.15999168288009774, + 0.08738422005776285, + -0.9882051549360457, + -0.12575599326760573, + 0.14971311018854766, + 0.13783284467498896, + -0.9790751204920243 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006235.json b/json/chunk-0006/episode_0006235.json new file mode 100644 index 0000000000000000000000000000000000000000..e7bbdf22e466b02a7b08d1a36f1ea0e1cb982ed8 --- /dev/null +++ b/json/chunk-0006/episode_0006235.json @@ -0,0 +1,982 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 15, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nEnd effector reaching carrot." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006235.mp4", + "start": 0, + "end": 15, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2578166723251343, + -0.0010702026775106788, + 0.09779810905456543, + 0.06489109992980957, + -0.12001288682222366, + -0.2754422724246979, + 0.0, + 0.9988223910331726 + ], + [ + 0.2543729543685913, + -0.0033220937475562096, + 0.09085684269666672, + 0.056521572172641754, + -0.09247124195098877, + -0.271522581577301, + 0.0, + 0.9988223910331726 + ], + [ + 0.2727164626121521, + -0.024675026535987854, + 0.08750367909669876, + 0.04865521192550659, + -0.07219262421131134, + -0.22654856741428375, + 0.0, + 0.9988223910331726 + ], + [ + 0.2975102365016937, + -0.04825424775481224, + 0.08704225718975067, + 0.01252762321382761, + -0.06699302047491074, + -0.21414946019649506, + 0.0, + 0.9988223910331726 + ], + [ + 0.3143588900566101, + -0.05552017688751221, + 0.08434862643480301, + -0.015379516407847404, + -0.0865950882434845, + -0.20074468851089478, + 0.0, + 0.9988223910331726 + ], + [ + 0.32801538705825806, + -0.06270506232976913, + 0.07237331569194794, + -0.029155639931559563, + -0.09703387320041656, + -0.17856311798095703, + 0.0, + 0.9988223910331726 + ], + [ + 0.33509159088134766, + -0.07234314829111099, + 0.06884115189313889, + -0.02948930114507675, + -0.13355155289173126, + -0.1924467384815216, + 0.0, + 0.9988223910331726 + ], + [ + 0.3427182734012604, + -0.07574116438627243, + 0.0697207897901535, + -0.018722044304013252, + -0.13784292340278625, + -0.19231897592544556, + 0.0, + 0.9988223910331726 + ], + [ + 0.34734058380126953, + -0.08100888878107071, + 0.07234601676464081, + -0.006271563470363617, + -0.1317806839942932, + -0.1905657947063446, + 0.0, + 0.9988223910331726 + ], + [ + 0.34989145398139954, + -0.0858447477221489, + 0.06852393597364426, + -0.000492550025228411, + -0.14593960344791412, + -0.1888042539358139, + 0.0, + 0.9988223910331726 + ], + [ + 0.3558458983898163, + -0.08887884020805359, + 0.06577969342470169, + 0.007381628733128309, + -0.18010511994361877, + -0.2047509253025055, + 0.0, + 0.9988223910331726 + ], + [ + 0.35995614528656006, + -0.08843369781970978, + 0.06489910930395126, + 0.01624545082449913, + -0.20208071172237396, + -0.20821206271648407, + 0.0, + 0.9988223910331726 + ], + [ + 0.3598445951938629, + -0.08943940699100494, + 0.056831758469343185, + 0.015675455331802368, + -0.1931036114692688, + -0.20181645452976227, + 0.0, + 0.9988223910331726 + ], + [ + 0.35836026072502136, + -0.09155052155256271, + 0.05551709979772568, + 0.010031580924987793, + -0.1844259649515152, + -0.23385994136333466, + 0.0, + 0.9988223910331726 + ], + [ + 0.3585430085659027, + -0.09081115573644638, + 0.05551161244511604, + 0.007884252816438675, + -0.18434031307697296, + -0.2319101244211197, + 0.0, + 0.9988223910331726 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2578166723251343, + -0.0010702026775106788, + 0.09779810905456543 + ], + [ + 0.2543729543685913, + -0.0033220937475562096, + 0.09085684269666672 + ], + [ + 0.2727164626121521, + -0.024675026535987854, + 0.08750367909669876 + ], + [ + 0.2975102365016937, + -0.04825424775481224, + 0.08704225718975067 + ], + [ + 0.3143588900566101, + -0.05552017688751221, + 0.08434862643480301 + ], + [ + 0.32801538705825806, + -0.06270506232976913, + 0.07237331569194794 + ], + [ + 0.33509159088134766, + -0.07234314829111099, + 0.06884115189313889 + ], + [ + 0.3427182734012604, + -0.07574116438627243, + 0.0697207897901535 + ], + [ + 0.34734058380126953, + -0.08100888878107071, + 0.07234601676464081 + ], + [ + 0.34989145398139954, + -0.0858447477221489, + 0.06852393597364426 + ], + [ + 0.3558458983898163, + -0.08887884020805359, + 0.06577969342470169 + ], + [ + 0.35995614528656006, + -0.08843369781970978, + 0.06489910930395126 + ], + [ + 0.3598445951938629, + -0.08943940699100494, + 0.056831758469343185 + ], + [ + 0.35836026072502136, + -0.09155052155256271, + 0.05551709979772568 + ], + [ + 0.3585430085659027, + -0.09081115573644638, + 0.05551161244511604 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9553832354293363, + -0.2639291613620259, + 0.13260569838174582, + -0.27001629116367937, + -0.9623911492155146, + 0.02990783204867557, + 0.11972500142737104, + -0.0643791402115494, + -0.9907175431669902 + ], + [ + 0.9592477652764815, + -0.26274496918083706, + 0.10396540762309922, + -0.2670526900401912, + -0.9632242752327408, + 0.02969606614786855, + 0.09233951242222241, + -0.05625012686671913, + -0.9941374842913349 + ], + [ + 0.9719092454137738, + -0.22093133988254374, + 0.08112805764304103, + -0.22403055951985337, + -0.9740822284375502, + 0.031210905840063752, + 0.07212993193155025, + -0.04850933209022611, + -0.996214895301064 + ], + [ + 0.9749655481808644, + -0.21168026012288985, + 0.06807089932336832, + -0.2120396785823875, + -0.9772590432500254, + -0.001984210856367484, + 0.06694292021613826, + -0.012499194388056332, + -0.9976785131356619 + ], + [ + 0.9762465931918636, + -0.20067890277926223, + 0.08167354076193473, + -0.19865196900657897, + -0.979537256157321, + -0.03231344936084744, + 0.08648690358134678, + 0.0153212851647077, + -0.9961351684032707 + ], + [ + 0.9794706233372666, + -0.18031957715951275, + 0.09012296107164111, + -0.17678020081302864, + -0.9831800526656027, + -0.04588839331429793, + 0.09688167329175978, + 0.029014378047391577, + -0.9948729100979238 + ], + [ + 0.9727988354324677, + -0.19503147619647965, + 0.12500059629400512, + -0.18955790095108088, + -0.9803615509252158, + -0.05439698203509029, + 0.13315490215630466, + 0.02922247012365163, + -0.990664332290013 + ], + [ + 0.9722532077748196, + -0.19362709317529114, + 0.13127166015580077, + -0.1893226500331197, + -0.9808999398350663, + -0.04463454061598347, + 0.13740681990356163, + 0.01854337671650212, + -0.9903411074089269 + ], + [ + 0.9733836673479188, + -0.19021990989433202, + 0.12783044246230132, + -0.18777215632481153, + -0.9817218205721667, + -0.031046486461437286, + 0.13139959455586633, + 0.006217145025000263, + -0.9913099886807816 + ], + [ + 0.9717879709858651, + -0.18775486456567747, + 0.14274540370568772, + -0.18568939031407466, + -0.9822157977537005, + -0.027777274305610097, + 0.1454221089517096, + 0.000487314052721035, + -0.9893695834990337 + ], + [ + 0.9632743970524789, + -0.20202309393053738, + 0.1768872677778604, + -0.20003451310469852, + -0.9793538331437384, + -0.02919354506792244, + 0.17913299402999272, + -0.0072621639612373765, + -0.9837980643528684 + ], + [ + 0.958492642107982, + -0.20349360150636836, + 0.19970530581541232, + -0.20250456650440363, + -0.9789469307519011, + -0.02558920311959966, + 0.200708135285353, + -0.01591417347523654, + -0.9795218136993563 + ], + [ + 0.9614946820477627, + -0.19747758695693357, + 0.1911297440053195, + -0.19672357079717334, + -0.9801866921462494, + -0.023105956639006487, + 0.19190574010873607, + -0.015383471294245155, + -0.9812927879711835 + ], + [ + 0.9562824639989536, + -0.229932942984719, + 0.18070608948919167, + -0.22780428995206065, + -0.9731565118501415, + -0.0327354383368018, + 0.18338226339405697, + -0.009861296773296209, + -0.9829922178219018 + ], + [ + 0.9567401056260539, + -0.22842332168334128, + 0.1801975482568941, + -0.22594289158005598, + -0.9735310546791714, + -0.03445424966100542, + 0.18329806335880905, + -0.007750592648862563, + -0.9830268298894498 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0034437179565429688, + -0.002251890953630209, + -0.006941266357898712, + -0.008369527757167816, + 0.027541644871234894, + 0.003919690847396851, + 1.0 + ], + [ + 0.01834350824356079, + -0.02135293185710907, + -0.0033531635999679565, + -0.007866360247135162, + 0.02027861773967743, + 0.04497401416301727, + 1.0 + ], + [ + 0.024793773889541626, + -0.023579221218824387, + -0.0004614219069480896, + -0.036127589643001556, + 0.005199603736400604, + 0.012399107217788696, + 1.0 + ], + [ + 0.016848653554916382, + -0.007265929132699966, + -0.0026936307549476624, + -0.02790714055299759, + -0.01960206776857376, + 0.01340477168560028, + 1.0 + ], + [ + 0.01365649700164795, + -0.0071848854422569275, + -0.011975310742855072, + -0.013776123523712158, + -0.010438784956932068, + 0.022181570529937744, + 1.0 + ], + [ + 0.0070762038230896, + -0.009638085961341858, + -0.0035321637988090515, + -0.000333661213517189, + -0.0365176796913147, + -0.013883620500564575, + 1.0 + ], + [ + 0.00762668251991272, + -0.003398016095161438, + 0.0008796378970146179, + 0.0107672568410635, + -0.004291370511054993, + 0.0001277625560760498, + 1.0 + ], + [ + 0.004622310400009155, + -0.005267724394798279, + 0.0026252269744873047, + 0.012450480833649635, + 0.006062239408493042, + 0.0017531812191009521, + 1.0 + ], + [ + 0.002550870180130005, + -0.004835858941078186, + -0.0038220807909965515, + 0.005779013503342867, + -0.01415891945362091, + 0.0017615407705307007, + 1.0 + ], + [ + 0.005954444408416748, + -0.0030340924859046936, + -0.002744242548942566, + 0.00787417870014906, + -0.03416551649570465, + -0.01594667136669159, + 1.0 + ], + [ + 0.004110246896743774, + 0.00044514238834381104, + -0.0008805841207504272, + 0.008863821625709534, + -0.021975591778755188, + -0.0034611374139785767, + 1.0 + ], + [ + -0.00011155009269714355, + -0.001005709171295166, + -0.008067350834608078, + -0.0005699954926967621, + 0.008977100253105164, + 0.006395608186721802, + 1.0 + ], + [ + -0.0014843344688415527, + -0.0021111145615577698, + -0.001314658671617508, + -0.005643874406814575, + 0.008677646517753601, + -0.03204348683357239, + 1.0 + ], + [ + 0.00018274784088134766, + 0.000739365816116333, + -5.487352609634399e-06, + -0.002147328108549118, + 8.565187454223633e-05, + 0.0019498169422149658, + 1.0 + ], + [ + -0.00022199749946594238, + -0.000528477132320404, + -0.0005672946572303772, + 3.306381404399872e-05, + 0.0015336275100708008, + -0.0015400201082229614, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2543729543685913, + -0.0033220937475562096, + 0.09085684269666672 + ], + [ + 0.2727164626121521, + -0.024675026535987854, + 0.08750367909669876 + ], + [ + 0.2975102365016937, + -0.04825424775481224, + 0.08704225718975067 + ], + [ + 0.3143588900566101, + -0.05552017688751221, + 0.08434862643480301 + ], + [ + 0.32801538705825806, + -0.06270506232976913, + 0.07237331569194794 + ], + [ + 0.33509159088134766, + -0.07234314829111099, + 0.06884115189313889 + ], + [ + 0.3427182734012604, + -0.07574116438627243, + 0.0697207897901535 + ], + [ + 0.34734058380126953, + -0.08100888878107071, + 0.07234601676464081 + ], + [ + 0.34989145398139954, + -0.0858447477221489, + 0.06852393597364426 + ], + [ + 0.3558458983898163, + -0.08887884020805359, + 0.06577969342470169 + ], + [ + 0.35995614528656006, + -0.08843369781970978, + 0.06489910930395126 + ], + [ + 0.3598445951938629, + -0.08943940699100494, + 0.056831758469343185 + ], + [ + 0.35836026072502136, + -0.09155052155256271, + 0.05551709979772568 + ], + [ + 0.3585430085659027, + -0.09081115573644638, + 0.05551161244511604 + ], + [ + 0.35832101106643677, + -0.09133963286876678, + 0.054944317787885666 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9592477652764815, + -0.26274496918083706, + 0.10396540762309922, + -0.2670526900401912, + -0.9632242752327408, + 0.02969606614786855, + 0.09233951242222241, + -0.05625012686671913, + -0.9941374842913349 + ], + [ + 0.9719092454137738, + -0.22093133988254374, + 0.08112805764304103, + -0.22403055951985337, + -0.9740822284375502, + 0.031210905840063752, + 0.07212993193155025, + -0.04850933209022611, + -0.996214895301064 + ], + [ + 0.9749655481808644, + -0.21168026012288985, + 0.06807089932336832, + -0.2120396785823875, + -0.9772590432500254, + -0.001984210856367484, + 0.06694292021613826, + -0.012499194388056332, + -0.9976785131356619 + ], + [ + 0.9762465931918636, + -0.20067890277926223, + 0.08167354076193473, + -0.19865196900657897, + -0.979537256157321, + -0.03231344936084744, + 0.08648690358134678, + 0.0153212851647077, + -0.9961351684032707 + ], + [ + 0.9794706233372666, + -0.18031957715951275, + 0.09012296107164111, + -0.17678020081302864, + -0.9831800526656027, + -0.04588839331429793, + 0.09688167329175978, + 0.029014378047391577, + -0.9948729100979238 + ], + [ + 0.9727988354324677, + -0.19503147619647965, + 0.12500059629400512, + -0.18955790095108088, + -0.9803615509252158, + -0.05439698203509029, + 0.13315490215630466, + 0.02922247012365163, + -0.990664332290013 + ], + [ + 0.9722532077748196, + -0.19362709317529114, + 0.13127166015580077, + -0.1893226500331197, + -0.9808999398350663, + -0.04463454061598347, + 0.13740681990356163, + 0.01854337671650212, + -0.9903411074089269 + ], + [ + 0.9733836673479188, + -0.19021990989433202, + 0.12783044246230132, + -0.18777215632481153, + -0.9817218205721667, + -0.031046486461437286, + 0.13139959455586633, + 0.006217145025000263, + -0.9913099886807816 + ], + [ + 0.9717879709858651, + -0.18775486456567747, + 0.14274540370568772, + -0.18568939031407466, + -0.9822157977537005, + -0.027777274305610097, + 0.1454221089517096, + 0.000487314052721035, + -0.9893695834990337 + ], + [ + 0.9632743970524789, + -0.20202309393053738, + 0.1768872677778604, + -0.20003451310469852, + -0.9793538331437384, + -0.02919354506792244, + 0.17913299402999272, + -0.0072621639612373765, + -0.9837980643528684 + ], + [ + 0.958492642107982, + -0.20349360150636836, + 0.19970530581541232, + -0.20250456650440363, + -0.9789469307519011, + -0.02558920311959966, + 0.200708135285353, + -0.01591417347523654, + -0.9795218136993563 + ], + [ + 0.9614946820477627, + -0.19747758695693357, + 0.1911297440053195, + -0.19672357079717334, + -0.9801866921462494, + -0.023105956639006487, + 0.19190574010873607, + -0.015383471294245155, + -0.9812927879711835 + ], + [ + 0.9562824639989536, + -0.229932942984719, + 0.18070608948919167, + -0.22780428995206065, + -0.9731565118501415, + -0.0327354383368018, + 0.18338226339405697, + -0.009861296773296209, + -0.9829922178219018 + ], + [ + 0.9567401056260539, + -0.22842332168334128, + 0.1801975482568941, + -0.22594289158005598, + -0.9735310546791714, + -0.03445424966100542, + 0.18329806335880905, + -0.007750592648862563, + -0.9830268298894498 + ], + [ + 0.956663375356016, + -0.2299279654764464, + 0.17868496563588343, + -0.2274807855290802, + -0.9731765099986519, + -0.034350729277797885, + 0.18179020454223432, + -0.007785311728248612, + -0.9833065190741831 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006236.json b/json/chunk-0006/episode_0006236.json new file mode 100644 index 0000000000000000000000000000000000000000..c27851d533e31655bcb2cd4ca92d74c9c7b4ade2 --- /dev/null +++ b/json/chunk-0006/episode_0006236.json @@ -0,0 +1,1762 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 28, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the pink rabbit to the upper left." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006236.mp4", + "start": 0, + "end": 28, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.36549830436706543, + 0.1013253927230835, + 0.11599722504615784, + 0.1304742693901062, + -0.15645623207092285, + -0.009771212935447693, + 0.0, + 1.0001531839370728 + ], + [ + 0.3602215349674225, + 0.09655585139989853, + 0.10124462097883224, + 0.1127399280667305, + -0.11834432184696198, + -0.008855119347572327, + 0.0, + 1.0001531839370728 + ], + [ + 0.3224548101425171, + 0.05510644614696503, + 0.10497628152370453, + 0.0581035390496254, + -0.11572062969207764, + -0.08067154884338379, + 0.0, + 1.0001531839370728 + ], + [ + 0.2869100868701935, + 0.023552153259515762, + 0.11551223695278168, + 0.007870874367654324, + -0.16352346539497375, + -0.22859199345111847, + 0.0, + 1.0001531839370728 + ], + [ + 0.263526976108551, + -0.010510232299566269, + 0.11934177577495575, + 0.005714824423193932, + -0.18495647609233856, + -0.30816951394081116, + 0.0, + 1.0001531839370728 + ], + [ + 0.2588362991809845, + -0.022153714671730995, + 0.11053960770368576, + 0.012746120803058147, + -0.18668276071548462, + -0.30639493465423584, + 0.0, + 1.0001531839370728 + ], + [ + 0.26096054911613464, + -0.03904198855161667, + 0.08290918171405792, + 0.021538227796554565, + -0.1520792543888092, + -0.33237215876579285, + 0.0, + 1.0001531839370728 + ], + [ + 0.2628720700740814, + -0.047620054334402084, + 0.0564575120806694, + 0.034654635936021805, + -0.12176337838172913, + -0.35906845331192017, + 0.0, + 1.0001531839370728 + ], + [ + 0.26340824365615845, + -0.05299903079867363, + 0.03459756076335907, + 0.030477775260806084, + -0.08227197825908661, + -0.3679147958755493, + 0.0, + 1.0001531839370728 + ], + [ + 0.25912097096443176, + -0.051545653492212296, + 0.013147374615073204, + 0.026592819020152092, + -0.036325495690107346, + -0.3696455955505371, + 0.0, + 0.9507390260696411 + ], + [ + 0.25774747133255005, + -0.05103156343102455, + 0.004267341457307339, + 0.026272358372807503, + -0.025517215952277184, + -0.3709199130535126, + 0.0, + 0.6731748580932617 + ], + [ + 0.25671035051345825, + -0.04833097755908966, + 0.005461674649268389, + 0.026251325383782387, + -0.04108342155814171, + -0.3567273020744324, + 0.0, + 0.46716928482055664 + ], + [ + 0.2590165436267853, + -0.04431463032960892, + 0.036421969532966614, + 0.036406509578228, + -0.12613297998905182, + -0.3520068824291229, + 0.0, + 0.4077054560184479 + ], + [ + 0.2689571976661682, + -0.030233925208449364, + 0.07965397089719772, + 0.03235767036676407, + -0.2109614759683609, + -0.297527551651001, + 0.0, + 0.4068177044391632 + ], + [ + 0.29534539580345154, + -0.0004660679551307112, + 0.11762438714504242, + 0.014192342758178711, + -0.2975180149078369, + -0.19037054479122162, + 0.0, + 0.4068177044391632 + ], + [ + 0.32776057720184326, + 0.03304184228181839, + 0.1298876851797104, + -0.007419843692332506, + -0.3317949175834656, + -0.10682996362447739, + 0.0, + 0.4068177044391632 + ], + [ + 0.3570683002471924, + 0.06684556603431702, + 0.12207138538360596, + 0.008619667030870914, + -0.32299038767814636, + -0.05777731537818909, + 0.0, + 0.4068177044391632 + ], + [ + 0.3756956458091736, + 0.0872621238231659, + 0.11488658934831619, + 0.027985893189907074, + -0.3156661093235016, + -0.03229864314198494, + 0.0, + 0.4068177044391632 + ], + [ + 0.3961944580078125, + 0.11153954267501831, + 0.09351229667663574, + 0.0352003388106823, + -0.29258430004119873, + 0.004789248574525118, + 0.0, + 0.4059307873249054 + ], + [ + 0.41046538949012756, + 0.1281406581401825, + 0.0718274712562561, + 0.036141201853752136, + -0.24819524586200714, + 0.007436046376824379, + 0.0, + 0.4059307873249054 + ], + [ + 0.4108603894710541, + 0.13517719507217407, + 0.043493978679180145, + 0.019673079252243042, + -0.18504957854747772, + 0.003071727231144905, + 0.0, + 0.4466742277145386 + ], + [ + 0.40500107407569885, + 0.14408284425735474, + 0.027433911338448524, + -0.0037179950159043074, + -0.139112651348114, + 0.013428849168121815, + 0.0, + 0.5679898858070374 + ], + [ + 0.4029274582862854, + 0.14448143541812897, + 0.02404571883380413, + -0.012667477130889893, + -0.126831516623497, + 0.007681382354348898, + 0.0, + 0.8696252703666687 + ], + [ + 0.4012734591960907, + 0.14341509342193604, + 0.021833928301930428, + -0.011864368803799152, + -0.12341942638158798, + 0.0027955768164247274, + 0.0, + 1.0205672979354858 + ], + [ + 0.4006231725215912, + 0.13977858424186707, + 0.039973992854356766, + -0.009752868674695492, + -0.1727094203233719, + -0.0028164393734186888, + 0.0, + 1.0105689764022827 + ], + [ + 0.3987056016921997, + 0.13508974015712738, + 0.07473095506429672, + -0.005123918876051903, + -0.253785640001297, + -0.0003560750337783247, + 0.0, + 1.00800359249115 + ], + [ + 0.3938044309616089, + 0.13139350712299347, + 0.09251751750707626, + -0.015427043661475182, + -0.2796590328216553, + 0.015408859588205814, + 0.0, + 1.00800359249115 + ], + [ + 0.3884560465812683, + 0.13130201399326324, + 0.09037782996892929, + -0.013331863097846508, + -0.26446881890296936, + -0.010855542495846748, + 0.0, + 1.00800359249115 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9507390260696411 + ], + [ + 0.6731748580932617 + ], + [ + 0.46716928482055664 + ], + [ + 0.4077054560184479 + ], + [ + 0.4068177044391632 + ], + [ + 0.4068177044391632 + ], + [ + 0.4068177044391632 + ], + [ + 0.4068177044391632 + ], + [ + 0.4068177044391632 + ], + [ + 0.4059307873249054 + ], + [ + 0.4059307873249054 + ], + [ + 0.4466742277145386 + ], + [ + 0.5679898858070374 + ], + [ + 0.8696252703666687 + ], + [ + 1.0205672979354858 + ], + [ + 1.0105689764022827 + ], + [ + 1.00800359249115 + ], + [ + 1.00800359249115 + ], + [ + 1.00800359249115 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.36549830436706543, + 0.1013253927230835, + 0.11599722504615784 + ], + [ + 0.3602215349674225, + 0.09655585139989853, + 0.10124462097883224 + ], + [ + 0.3224548101425171, + 0.05510644614696503, + 0.10497628152370453 + ], + [ + 0.2869100868701935, + 0.023552153259515762, + 0.11551223695278168 + ], + [ + 0.263526976108551, + -0.010510232299566269, + 0.11934177577495575 + ], + [ + 0.2588362991809845, + -0.022153714671730995, + 0.11053960770368576 + ], + [ + 0.26096054911613464, + -0.03904198855161667, + 0.08290918171405792 + ], + [ + 0.2628720700740814, + -0.047620054334402084, + 0.0564575120806694 + ], + [ + 0.26340824365615845, + -0.05299903079867363, + 0.03459756076335907 + ], + [ + 0.25912097096443176, + -0.051545653492212296, + 0.013147374615073204 + ], + [ + 0.25774747133255005, + -0.05103156343102455, + 0.004267341457307339 + ], + [ + 0.25671035051345825, + -0.04833097755908966, + 0.005461674649268389 + ], + [ + 0.2590165436267853, + -0.04431463032960892, + 0.036421969532966614 + ], + [ + 0.2689571976661682, + -0.030233925208449364, + 0.07965397089719772 + ], + [ + 0.29534539580345154, + -0.0004660679551307112, + 0.11762438714504242 + ], + [ + 0.32776057720184326, + 0.03304184228181839, + 0.1298876851797104 + ], + [ + 0.3570683002471924, + 0.06684556603431702, + 0.12207138538360596 + ], + [ + 0.3756956458091736, + 0.0872621238231659, + 0.11488658934831619 + ], + [ + 0.3961944580078125, + 0.11153954267501831, + 0.09351229667663574 + ], + [ + 0.41046538949012756, + 0.1281406581401825, + 0.0718274712562561 + ], + [ + 0.4108603894710541, + 0.13517719507217407, + 0.043493978679180145 + ], + [ + 0.40500107407569885, + 0.14408284425735474, + 0.027433911338448524 + ], + [ + 0.4029274582862854, + 0.14448143541812897, + 0.02404571883380413 + ], + [ + 0.4012734591960907, + 0.14341509342193604, + 0.021833928301930428 + ], + [ + 0.4006231725215912, + 0.13977858424186707, + 0.039973992854356766 + ], + [ + 0.3987056016921997, + 0.13508974015712738, + 0.07473095506429672 + ], + [ + 0.3938044309616089, + 0.13139350712299347, + 0.09251751750707626 + ], + [ + 0.3884560465812683, + 0.13130201399326324, + 0.09037782996892929 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9877385151731364, + 0.010583724785170378, + 0.1557581792819861, + -0.009651710529097182, + -0.9916510542374863, + 0.1285886119123465, + 0.15581870917008028, + -0.1285152574574448, + -0.9793897888344641 + ], + [ + 0.9929665477877531, + 0.004483519516425948, + 0.11831032510824269, + -0.008793067120672685, + -0.9937302448520047, + 0.11145798507503502, + 0.11806827238967968, + -0.1117143612930818, + -0.9867014667749286 + ], + [ + 0.9900814025762809, + -0.07376488701510851, + 0.11957239529353336, + -0.08004511745089317, + -0.9956060841418447, + 0.04859325459377067, + 0.11546252831484957, + -0.05768246408910226, + -0.9916355872455124 + ], + [ + 0.9609932540458238, + -0.2253513511297482, + 0.16033943439595716, + -0.22358339601863542, + -0.9742466119875537, + -0.029223347781301257, + 0.16279567163531267, + -0.007765795179489806, + -0.9866292422800155 + ], + [ + 0.9366381250795894, + -0.30230847897200686, + 0.17697063651640896, + -0.2981416317808069, + -0.9531935948279282, + -0.05033426445364096, + 0.18390375212721746, + -0.005617323263171721, + -0.9829282047193925 + ], + [ + 0.9368616449925558, + -0.29934348937531713, + 0.18078643065908329, + -0.2963828264204786, + -0.9540632142207108, + -0.043824690231127755, + 0.18560031881667283, + -0.012524321915985435, + -0.9825455017533254 + ], + [ + 0.934360891894155, + -0.3231265067235859, + 0.1501964858156531, + -0.32252035307360305, + -0.9461163152777471, + -0.029060967267749736, + 0.15149371456280852, + -0.02128799234007735, + -0.9882289592144582 + ], + [ + 0.929292765505281, + -0.3472512518431632, + 0.12582338444384242, + -0.348800464773535, + -0.9371412997207836, + -0.010218616902801203, + 0.12146271754457375, + -0.03439116821214827, + -0.9920000281228276 + ], + [ + 0.9299232838850872, + -0.3571668539906914, + 0.08760436346876713, + -0.3584539936658013, + -0.9335467328848874, + -0.0011099301736502802, + 0.08217919757099976, + -0.030369984035966, + -0.9961547287225222 + ], + [ + 0.9318403059240536, + -0.36025680417652595, + 0.04345893808968323, + -0.36104664921979357, + -0.9324746410633576, + 0.011677365324510861, + 0.03631750738316198, + -0.026572143652309716, + -0.998986966801467 + ], + [ + 0.9316908889384857, + -0.3617231831220025, + 0.03329303622531568, + -0.36235493713965333, + -0.9319156131344593, + 0.015237766461737252, + 0.025514446878813535, + -0.026260784228785493, + -0.9993294672990269 + ], + [ + 0.936254013726249, + -0.34807892878618635, + 0.04763907132333025, + -0.34891477992576064, + -0.9370983127536473, + 0.010258098440989575, + 0.04107186544152055, + -0.026226161925222858, + -0.9988119394059249 + ], + [ + 0.9312255611021062, + -0.3402557400008282, + 0.13055644659133506, + -0.3420432983884712, + -0.9396393718429658, + -0.009177848881512287, + 0.1257987932279265, + -0.036109310143581895, + -0.9913983968835898 + ], + [ + 0.9348683149695395, + -0.2865269532809599, + 0.20957943293545, + -0.2866579984847091, + -0.9575497614660677, + -0.030424434604732407, + 0.20940015656812366, + -0.031634780856009286, + -0.9773181749407088 + ], + [ + 0.9387948945422582, + -0.18511854195229194, + 0.29050864256825104, + -0.18090963937521043, + -0.9826225239709719, + -0.041529239892490584, + 0.29314816793308063, + -0.01356837537711337, + -0.9559707374324301 + ], + [ + 0.9400692252211884, + -0.1090270857745709, + 0.3230834975041885, + -0.10081136120398221, + -0.9940140255595843, + -0.04210922040397315, + 0.3257405735308926, + 0.0070150950338906636, + -0.9454331637918307 + ], + [ + 0.9467081392639848, + -0.05501171462416275, + 0.31736006413131596, + -0.054759201018093936, + -0.9984522519765986, + -0.009722675903198457, + 0.3174037317915202, + -0.00817384713389812, + -0.9482552711521556 + ], + [ + 0.9500940107027983, + -0.023597834169734065, + 0.31106994880439426, + -0.03069742268663083, + -0.9993676009355075, + 0.017946209650130683, + 0.31044973678047955, + -0.026599632006963032, + -0.9502175648292474 + ], + [ + 0.9574907090827572, + 0.01493680181228911, + 0.288077131983465, + 0.004585696074202931, + -0.9993204568935553, + 0.03657315717258458, + 0.288427657154638, + -0.033697424021368924, + -0.9569085485053471 + ], + [ + 0.969330546767519, + 0.016307207569252608, + 0.24521901656412443, + 0.007208119757871373, + -0.9992533444378827, + 0.03795782711460792, + 0.2456549085871056, + -0.03502611327280819, + -0.9687243350283203 + ], + [ + 0.9829224924154039, + 0.0066906308788102975, + 0.1838983669376486, + 0.0030192792822079815, + -0.9997906562196366, + 0.020236790469949324, + 0.18399526585351744, + -0.019335955997884156, + -0.9827369245882346 + ], + [ + 0.9902501351606753, + 0.012912846895770498, + 0.1387008586826739, + 0.013298719117089092, + -0.9999098463141635, + -0.0018556168330721343, + 0.13866439299297229, + 0.003682068580676053, + -0.9903325847849591 + ], + [ + 0.9919383946655435, + 0.006078449309441996, + 0.12657516992813858, + 0.007619607943496233, + -0.9999025769485602, + -0.011695220665559159, + 0.12649174978286934, + 0.012565391582487873, + -0.9918880724009371 + ], + [ + 0.9923896074825352, + 0.0013348374109266132, + 0.12313035844074167, + 0.0027743086068476464, + -0.9999297949143644, + -0.011519915549630569, + 0.12310633684913667, + 0.011773846083716222, + -0.9923236399360762 + ], + [ + 0.985118856652047, + -0.004492319333543101, + 0.17181576567815043, + -0.0027745348715519937, + -0.9999437547646366, + -0.01023666271042315, + 0.1718520882177757, + 0.009607620631868265, + -0.9850759125067388 + ], + [ + 0.9679688374912516, + -0.0016425276263349851, + 0.25106499506867075, + -0.0003446695510728819, + -0.9999863512871779, + -0.005213294760261028, + 0.2510701313353213, + 0.004959772409448667, + -0.9679561920918276 + ], + [ + 0.9610355086112727, + 0.011148795596463326, + 0.27620002814087613, + 0.014809633328353125, + -0.9998279157932249, + -0.011171998982092146, + 0.276027944145067, + 0.014827108866006734, + -0.961035239152927 + ], + [ + 0.9651746137417588, + -0.014338959621275417, + 0.2612132447358391, + -0.010477905620541845, + -0.9998143877874962, + -0.016167976587086835, + 0.2613965923309885, + 0.012867952832249719, + -0.9651457078118585 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.005276769399642944, + -0.004769541323184967, + -0.014752604067325592, + -0.017734341323375702, + 0.038111910223960876, + 0.0009160935878753662, + 1.0 + ], + [ + -0.037766724824905396, + -0.0414494052529335, + 0.003731660544872284, + -0.0546363890171051, + 0.0026236921548843384, + -0.07181642949581146, + 1.0 + ], + [ + -0.03554472327232361, + -0.031554292887449265, + 0.010535955429077148, + -0.0502326637506485, + -0.04780283570289612, + -0.14792044460773468, + 1.0 + ], + [ + -0.023383110761642456, + -0.03406238555908203, + 0.0038295388221740723, + -0.002156049944460392, + -0.021433010697364807, + -0.07957752048969269, + 1.0 + ], + [ + -0.004690676927566528, + -0.011643482372164726, + -0.008802168071269989, + 0.007031296379864216, + -0.0017262846231460571, + 0.0017745792865753174, + 1.0 + ], + [ + 0.0021242499351501465, + -0.016888273879885674, + -0.027630425989627838, + 0.008792106993496418, + 0.034603506326675415, + -0.025977224111557007, + 1.0 + ], + [ + 0.0019115209579467773, + -0.008578065782785416, + -0.02645166963338852, + 0.01311640813946724, + 0.030315876007080078, + -0.02669629454612732, + 1.0 + ], + [ + 0.0005361735820770264, + -0.005378976464271545, + -0.021859951317310333, + -0.004176860675215721, + 0.03949140012264252, + -0.00884634256362915, + 1.0 + ], + [ + -0.004287272691726685, + 0.0014533773064613342, + -0.021450186148285866, + -0.0038849562406539917, + 0.04594648256897926, + -0.001730799674987793, + 0.0 + ], + [ + -0.0013734996318817139, + 0.0005140900611877441, + -0.008880033157765865, + -0.00032046064734458923, + 0.010808279737830162, + -0.0012743175029754639, + 0.0 + ], + [ + -0.0010371208190917969, + 0.0027005858719348907, + 0.00119433319196105, + -2.1032989025115967e-05, + -0.015566205605864525, + 0.0141926109790802, + 0.0 + ], + [ + 0.0023061931133270264, + 0.004016347229480743, + 0.030960295349359512, + 0.01015518419444561, + -0.08504955470561981, + 0.004720419645309448, + 0.0 + ], + [ + 0.009940654039382935, + 0.014080705121159554, + 0.04323200136423111, + -0.004048839211463928, + -0.08482849597930908, + 0.05447933077812195, + 0.0 + ], + [ + 0.026388198137283325, + 0.029767857864499092, + 0.037970416247844696, + -0.018165327608585358, + -0.08655653893947601, + 0.10715700685977936, + 0.0 + ], + [ + 0.032415181398391724, + 0.03350790962576866, + 0.012263298034667969, + -0.02161218598484993, + -0.03427690267562866, + 0.08354058116674423, + 0.0 + ], + [ + 0.02930772304534912, + 0.03380372375249863, + -0.007816299796104431, + 0.016039511188864708, + 0.008804529905319214, + 0.0490526482462883, + 0.0 + ], + [ + 0.0186273455619812, + 0.020416557788848877, + -0.007184796035289764, + 0.019366227090358734, + 0.007324278354644775, + 0.025478672236204147, + 0.0 + ], + [ + 0.020498812198638916, + 0.024277418851852417, + -0.02137429267168045, + 0.007214445620775223, + 0.023081809282302856, + 0.03708789125084877, + 0.0 + ], + [ + 0.014270931482315063, + 0.016601115465164185, + -0.02168482542037964, + 0.0009408630430698395, + 0.04438905417919159, + 0.002646797802299261, + 0.0 + ], + [ + 0.00039499998092651367, + 0.007036536931991577, + -0.028333492577075958, + -0.016468122601509094, + 0.06314566731452942, + -0.004364319145679474, + 1.0 + ], + [ + -0.005859315395355225, + 0.008905649185180664, + -0.01606006734073162, + -0.02339107356965542, + 0.04593692719936371, + 0.01035712193697691, + 1.0 + ], + [ + -0.002073615789413452, + 0.00039859116077423096, + -0.003388192504644394, + -0.008949481882154942, + 0.012281134724617004, + -0.005747466813772917, + 1.0 + ], + [ + -0.0016539990901947021, + -0.0010663419961929321, + -0.002211790531873703, + 0.0008031083270907402, + 0.003412090241909027, + -0.004885805770754814, + 1.0 + ], + [ + -0.0006502866744995117, + -0.0036365091800689697, + 0.018140064552426338, + 0.0021115001291036606, + -0.049289993941783905, + -0.005612016189843416, + 1.0 + ], + [ + -0.0019175708293914795, + -0.004688844084739685, + 0.03475696220993996, + 0.004628949798643589, + -0.08107621967792511, + 0.0024603642523288727, + 1.0 + ], + [ + -0.00490117073059082, + -0.003696233034133911, + 0.01778656244277954, + -0.010303124785423279, + -0.025873392820358276, + 0.015764934942126274, + 1.0 + ], + [ + -0.005348384380340576, + -9.149312973022461e-05, + -0.0021396875381469727, + 0.0020951805636286736, + 0.015190213918685913, + -0.026264403015375137, + 1.0 + ], + [ + -0.0007307529449462891, + 0.0021959394216537476, + 2.5190412998199463e-05, + -0.0005609290674328804, + -0.0005788803100585938, + 0.0038298675790429115, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9507390260696411 + ], + [ + 0.6731748580932617 + ], + [ + 0.46716928482055664 + ], + [ + 0.4077054560184479 + ], + [ + 0.4068177044391632 + ], + [ + 0.4068177044391632 + ], + [ + 0.4068177044391632 + ], + [ + 0.4068177044391632 + ], + [ + 0.4068177044391632 + ], + [ + 0.4059307873249054 + ], + [ + 0.4059307873249054 + ], + [ + 0.4466742277145386 + ], + [ + 0.5679898858070374 + ], + [ + 0.8696252703666687 + ], + [ + 1.0205672979354858 + ], + [ + 1.0105689764022827 + ], + [ + 1.00800359249115 + ], + [ + 1.00800359249115 + ], + [ + 1.00800359249115 + ], + [ + 1.00800359249115 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3602215349674225, + 0.09655585139989853, + 0.10124462097883224 + ], + [ + 0.3224548101425171, + 0.05510644614696503, + 0.10497628152370453 + ], + [ + 0.2869100868701935, + 0.023552153259515762, + 0.11551223695278168 + ], + [ + 0.263526976108551, + -0.010510232299566269, + 0.11934177577495575 + ], + [ + 0.2588362991809845, + -0.022153714671730995, + 0.11053960770368576 + ], + [ + 0.26096054911613464, + -0.03904198855161667, + 0.08290918171405792 + ], + [ + 0.2628720700740814, + -0.047620054334402084, + 0.0564575120806694 + ], + [ + 0.26340824365615845, + -0.05299903079867363, + 0.03459756076335907 + ], + [ + 0.25912097096443176, + -0.051545653492212296, + 0.013147374615073204 + ], + [ + 0.25774747133255005, + -0.05103156343102455, + 0.004267341457307339 + ], + [ + 0.25671035051345825, + -0.04833097755908966, + 0.005461674649268389 + ], + [ + 0.2590165436267853, + -0.04431463032960892, + 0.036421969532966614 + ], + [ + 0.2689571976661682, + -0.030233925208449364, + 0.07965397089719772 + ], + [ + 0.29534539580345154, + -0.0004660679551307112, + 0.11762438714504242 + ], + [ + 0.32776057720184326, + 0.03304184228181839, + 0.1298876851797104 + ], + [ + 0.3570683002471924, + 0.06684556603431702, + 0.12207138538360596 + ], + [ + 0.3756956458091736, + 0.0872621238231659, + 0.11488658934831619 + ], + [ + 0.3961944580078125, + 0.11153954267501831, + 0.09351229667663574 + ], + [ + 0.41046538949012756, + 0.1281406581401825, + 0.0718274712562561 + ], + [ + 0.4108603894710541, + 0.13517719507217407, + 0.043493978679180145 + ], + [ + 0.40500107407569885, + 0.14408284425735474, + 0.027433911338448524 + ], + [ + 0.4029274582862854, + 0.14448143541812897, + 0.02404571883380413 + ], + [ + 0.4012734591960907, + 0.14341509342193604, + 0.021833928301930428 + ], + [ + 0.4006231725215912, + 0.13977858424186707, + 0.039973992854356766 + ], + [ + 0.3987056016921997, + 0.13508974015712738, + 0.07473095506429672 + ], + [ + 0.3938044309616089, + 0.13139350712299347, + 0.09251751750707626 + ], + [ + 0.3884560465812683, + 0.13130201399326324, + 0.09037782996892929 + ], + [ + 0.387725293636322, + 0.133497953414917, + 0.09040302038192749 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9929665477877531, + 0.004483519516425948, + 0.11831032510824269, + -0.008793067120672685, + -0.9937302448520047, + 0.11145798507503502, + 0.11806827238967968, + -0.1117143612930818, + -0.9867014667749286 + ], + [ + 0.9900814025762809, + -0.07376488701510851, + 0.11957239529353336, + -0.08004511745089317, + -0.9956060841418447, + 0.04859325459377067, + 0.11546252831484957, + -0.05768246408910226, + -0.9916355872455124 + ], + [ + 0.9609932540458238, + -0.2253513511297482, + 0.16033943439595716, + -0.22358339601863542, + -0.9742466119875537, + -0.029223347781301257, + 0.16279567163531267, + -0.007765795179489806, + -0.9866292422800155 + ], + [ + 0.9366381250795894, + -0.30230847897200686, + 0.17697063651640896, + -0.2981416317808069, + -0.9531935948279282, + -0.05033426445364096, + 0.18390375212721746, + -0.005617323263171721, + -0.9829282047193925 + ], + [ + 0.9368616449925558, + -0.29934348937531713, + 0.18078643065908329, + -0.2963828264204786, + -0.9540632142207108, + -0.043824690231127755, + 0.18560031881667283, + -0.012524321915985435, + -0.9825455017533254 + ], + [ + 0.934360891894155, + -0.3231265067235859, + 0.1501964858156531, + -0.32252035307360305, + -0.9461163152777471, + -0.029060967267749736, + 0.15149371456280852, + -0.02128799234007735, + -0.9882289592144582 + ], + [ + 0.929292765505281, + -0.3472512518431632, + 0.12582338444384242, + -0.348800464773535, + -0.9371412997207836, + -0.010218616902801203, + 0.12146271754457375, + -0.03439116821214827, + -0.9920000281228276 + ], + [ + 0.9299232838850872, + -0.3571668539906914, + 0.08760436346876713, + -0.3584539936658013, + -0.9335467328848874, + -0.0011099301736502802, + 0.08217919757099976, + -0.030369984035966, + -0.9961547287225222 + ], + [ + 0.9318403059240536, + -0.36025680417652595, + 0.04345893808968323, + -0.36104664921979357, + -0.9324746410633576, + 0.011677365324510861, + 0.03631750738316198, + -0.026572143652309716, + -0.998986966801467 + ], + [ + 0.9316908889384857, + -0.3617231831220025, + 0.03329303622531568, + -0.36235493713965333, + -0.9319156131344593, + 0.015237766461737252, + 0.025514446878813535, + -0.026260784228785493, + -0.9993294672990269 + ], + [ + 0.936254013726249, + -0.34807892878618635, + 0.04763907132333025, + -0.34891477992576064, + -0.9370983127536473, + 0.010258098440989575, + 0.04107186544152055, + -0.026226161925222858, + -0.9988119394059249 + ], + [ + 0.9312255611021062, + -0.3402557400008282, + 0.13055644659133506, + -0.3420432983884712, + -0.9396393718429658, + -0.009177848881512287, + 0.1257987932279265, + -0.036109310143581895, + -0.9913983968835898 + ], + [ + 0.9348683149695395, + -0.2865269532809599, + 0.20957943293545, + -0.2866579984847091, + -0.9575497614660677, + -0.030424434604732407, + 0.20940015656812366, + -0.031634780856009286, + -0.9773181749407088 + ], + [ + 0.9387948945422582, + -0.18511854195229194, + 0.29050864256825104, + -0.18090963937521043, + -0.9826225239709719, + -0.041529239892490584, + 0.29314816793308063, + -0.01356837537711337, + -0.9559707374324301 + ], + [ + 0.9400692252211884, + -0.1090270857745709, + 0.3230834975041885, + -0.10081136120398221, + -0.9940140255595843, + -0.04210922040397315, + 0.3257405735308926, + 0.0070150950338906636, + -0.9454331637918307 + ], + [ + 0.9467081392639848, + -0.05501171462416275, + 0.31736006413131596, + -0.054759201018093936, + -0.9984522519765986, + -0.009722675903198457, + 0.3174037317915202, + -0.00817384713389812, + -0.9482552711521556 + ], + [ + 0.9500940107027983, + -0.023597834169734065, + 0.31106994880439426, + -0.03069742268663083, + -0.9993676009355075, + 0.017946209650130683, + 0.31044973678047955, + -0.026599632006963032, + -0.9502175648292474 + ], + [ + 0.9574907090827572, + 0.01493680181228911, + 0.288077131983465, + 0.004585696074202931, + -0.9993204568935553, + 0.03657315717258458, + 0.288427657154638, + -0.033697424021368924, + -0.9569085485053471 + ], + [ + 0.969330546767519, + 0.016307207569252608, + 0.24521901656412443, + 0.007208119757871373, + -0.9992533444378827, + 0.03795782711460792, + 0.2456549085871056, + -0.03502611327280819, + -0.9687243350283203 + ], + [ + 0.9829224924154039, + 0.0066906308788102975, + 0.1838983669376486, + 0.0030192792822079815, + -0.9997906562196366, + 0.020236790469949324, + 0.18399526585351744, + -0.019335955997884156, + -0.9827369245882346 + ], + [ + 0.9902501351606753, + 0.012912846895770498, + 0.1387008586826739, + 0.013298719117089092, + -0.9999098463141635, + -0.0018556168330721343, + 0.13866439299297229, + 0.003682068580676053, + -0.9903325847849591 + ], + [ + 0.9919383946655435, + 0.006078449309441996, + 0.12657516992813858, + 0.007619607943496233, + -0.9999025769485602, + -0.011695220665559159, + 0.12649174978286934, + 0.012565391582487873, + -0.9918880724009371 + ], + [ + 0.9923896074825352, + 0.0013348374109266132, + 0.12313035844074167, + 0.0027743086068476464, + -0.9999297949143644, + -0.011519915549630569, + 0.12310633684913667, + 0.011773846083716222, + -0.9923236399360762 + ], + [ + 0.985118856652047, + -0.004492319333543101, + 0.17181576567815043, + -0.0027745348715519937, + -0.9999437547646366, + -0.01023666271042315, + 0.1718520882177757, + 0.009607620631868265, + -0.9850759125067388 + ], + [ + 0.9679688374912516, + -0.0016425276263349851, + 0.25106499506867075, + -0.0003446695510728819, + -0.9999863512871779, + -0.005213294760261028, + 0.2510701313353213, + 0.004959772409448667, + -0.9679561920918276 + ], + [ + 0.9610355086112727, + 0.011148795596463326, + 0.27620002814087613, + 0.014809633328353125, + -0.9998279157932249, + -0.011171998982092146, + 0.276027944145067, + 0.014827108866006734, + -0.961035239152927 + ], + [ + 0.9651746137417588, + -0.014338959621275417, + 0.2612132447358391, + -0.010477905620541845, + -0.9998143877874962, + -0.016167976587086835, + 0.2613965923309885, + 0.012867952832249719, + -0.9651457078118585 + ], + [ + 0.9650561887887326, + -0.010664022807929661, + 0.26182595573800105, + -0.006780282617740588, + -0.9998532517046772, + -0.01573222244969447, + 0.26195530200434824, + 0.013407224661915, + -0.964986873526617 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006237.json b/json/chunk-0006/episode_0006237.json new file mode 100644 index 0000000000000000000000000000000000000000..16c49ff6869f58eea5b40df6f651905bffafde54 --- /dev/null +++ b/json/chunk-0006/episode_0006237.json @@ -0,0 +1,1282 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 20, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nOpen large4fbox flaps." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006237.mp4", + "start": 0, + "end": 20, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.32741397619247437, + -0.039261344820261, + 0.151365265250206, + 0.14504338800907135, + -0.05276549607515335, + 0.17951816320419312, + 0.0, + 0.9974852800369263 + ], + [ + 0.3287237286567688, + -0.04008079320192337, + 0.13682681322097778, + 0.15760813653469086, + -0.019651826471090317, + 0.17588840425014496, + 0.0, + 0.9974852800369263 + ], + [ + 0.3342944085597992, + -0.046508099883794785, + 0.12442800402641296, + 0.1677965670824051, + -0.020057642832398415, + 0.15875114500522614, + 0.0, + 0.9974852800369263 + ], + [ + 0.3425976037979126, + -0.04977983236312866, + 0.11831236630678177, + 0.16114670038223267, + -0.030295556411147118, + 0.15256865322589874, + 0.0, + 0.9974852800369263 + ], + [ + 0.3455544710159302, + -0.051381755620241165, + 0.11216836422681808, + 0.1296393722295761, + -0.047854769974946976, + 0.13190719485282898, + 0.0, + 0.9974852800369263 + ], + [ + 0.34257739782333374, + -0.03985590487718582, + 0.10162284970283508, + 0.11931410431861877, + -0.02604072354733944, + 0.08388862013816833, + 0.0, + 0.9974852800369263 + ], + [ + 0.3424484431743622, + -0.03386220335960388, + 0.09374202787876129, + 0.08838298916816711, + -0.012441092170774937, + 0.05192019045352936, + 0.0, + 0.9974852800369263 + ], + [ + 0.3414091169834137, + -0.02843821607530117, + 0.08524004369974136, + 0.05777831748127937, + 0.01211250014603138, + 0.018055181950330734, + 0.0, + 0.9974852800369263 + ], + [ + 0.33786579966545105, + -0.023545337840914726, + 0.08318765461444855, + 0.05087817832827568, + 0.06494814902544022, + -0.04828404262661934, + 0.0, + 0.9974852800369263 + ], + [ + 0.33698412775993347, + -0.01272982731461525, + 0.08522329479455948, + 0.029488157480955124, + 0.09790375083684921, + -0.09899243712425232, + 0.0, + 0.9974852800369263 + ], + [ + 0.3338547646999359, + -0.00879355426877737, + 0.09009162336587906, + 0.009099968709051609, + 0.18495352566242218, + -0.1653771996498108, + 0.0, + 0.9974852800369263 + ], + [ + 0.3308885097503662, + -0.0025469439569860697, + 0.09990830719470978, + 0.0211416557431221, + 0.2906479835510254, + -0.22819717228412628, + 0.0, + 0.9974852800369263 + ], + [ + 0.32685306668281555, + 0.006914681289345026, + 0.10800516605377197, + 0.043342117220163345, + 0.4059089422225952, + -0.2827918231487274, + 0.0, + 0.9974852800369263 + ], + [ + 0.3243544101715088, + 0.007257577031850815, + 0.12207914143800735, + 0.09975723177194595, + 0.4582322835922241, + -0.2822854220867157, + 0.0, + 0.9974852800369263 + ], + [ + 0.31485089659690857, + 0.011127355508506298, + 0.1270374059677124, + 0.12857699394226074, + 0.5043709874153137, + -0.27109426259994507, + 0.0, + 0.9974852800369263 + ], + [ + 0.3049301505088806, + 0.015581241808831692, + 0.14235538244247437, + 0.1932820826768875, + 0.499981164932251, + -0.23372846841812134, + 0.0, + 0.9974852800369263 + ], + [ + 0.2955962121486664, + 0.021838493645191193, + 0.1575595885515213, + 0.25267457962036133, + 0.5084152817726135, + -0.20482394099235535, + 0.0, + 0.9974852800369263 + ], + [ + 0.2847606837749481, + 0.030161166563630104, + 0.16573569178581238, + 0.29315322637557983, + 0.516947865486145, + -0.18275903165340424, + 0.0, + 0.9974852800369263 + ], + [ + 0.2703678011894226, + 0.04918506741523743, + 0.17353491485118866, + 0.295776903629303, + 0.49944183230400085, + -0.14739291369915009, + 0.0, + 0.9974852800369263 + ], + [ + 0.25930532813072205, + 0.053010448813438416, + 0.1691497415304184, + 0.2587434649467468, + 0.523706316947937, + -0.15614080429077148, + 0.0, + 0.9974852800369263 + ] + ], + "left_gripper_pos": [ + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.32741397619247437, + -0.039261344820261, + 0.151365265250206 + ], + [ + 0.3287237286567688, + -0.04008079320192337, + 0.13682681322097778 + ], + [ + 0.3342944085597992, + -0.046508099883794785, + 0.12442800402641296 + ], + [ + 0.3425976037979126, + -0.04977983236312866, + 0.11831236630678177 + ], + [ + 0.3455544710159302, + -0.051381755620241165, + 0.11216836422681808 + ], + [ + 0.34257739782333374, + -0.03985590487718582, + 0.10162284970283508 + ], + [ + 0.3424484431743622, + -0.03386220335960388, + 0.09374202787876129 + ], + [ + 0.3414091169834137, + -0.02843821607530117, + 0.08524004369974136 + ], + [ + 0.33786579966545105, + -0.023545337840914726, + 0.08318765461444855 + ], + [ + 0.33698412775993347, + -0.01272982731461525, + 0.08522329479455948 + ], + [ + 0.3338547646999359, + -0.00879355426877737, + 0.09009162336587906 + ], + [ + 0.3308885097503662, + -0.0025469439569860697, + 0.09990830719470978 + ], + [ + 0.32685306668281555, + 0.006914681289345026, + 0.10800516605377197 + ], + [ + 0.3243544101715088, + 0.007257577031850815, + 0.12207914143800735 + ], + [ + 0.31485089659690857, + 0.011127355508506298, + 0.1270374059677124 + ], + [ + 0.3049301505088806, + 0.015581241808831692, + 0.14235538244247437 + ], + [ + 0.2955962121486664, + 0.021838493645191193, + 0.1575595885515213 + ], + [ + 0.2847606837749481, + 0.030161166563630104, + 0.16573569178581238 + ], + [ + 0.2703678011894226, + 0.04918506741523743, + 0.17353491485118866 + ], + [ + 0.25930532813072205, + 0.053010448813438416, + 0.1691497415304184 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9825604318427636, + 0.18418104253141412, + 0.025540973924322873, + 0.1783069913396295, + -0.9722371016712333, + 0.15153097034378446, + 0.05274101455575923, + -0.14433420144221196, + -0.9881224740272169 + ], + [ + 0.9843813600935204, + 0.17585077929774384, + -0.008357111989638545, + 0.1749491164012068, + -0.9718285301824581, + 0.1579307271997452, + 0.01965056159167396, + -0.15692613339969713, + -0.9874148287752987 + ], + [ + 0.9872268603658308, + 0.15917238532313807, + -0.006875894324875655, + 0.15805338048960518, + -0.9730277186536409, + 0.168036268845447, + 0.020056297964292636, + -0.16697667646181522, + -0.9857568333162768 + ], + [ + 0.9879304167156088, + 0.15481214553178788, + 0.0051663646762992056, + 0.15190770801313788, + -0.9748397655865825, + 0.163130253715528, + 0.03029092230882411, + -0.16037652891536788, + -0.9865910140472289 + ], + [ + 0.9901779771721932, + 0.13655174175058907, + 0.030019915857043236, + 0.1313744348573345, + -0.9821809604948423, + 0.13439240569074232, + 0.047836506865567716, + -0.1291285509339802, + -0.990473364581093 + ], + [ + 0.9961455644888111, + 0.08628296703240523, + 0.01578809517809853, + 0.08376185488909027, + -0.989139234347465, + 0.12077883399027173, + 0.026037780527664242, + -0.1189908596262566, + -0.9925538823210543 + ], + [ + 0.9985751645661897, + 0.05279094282417265, + 0.0077946819911252005, + 0.0518928504009691, + -0.9946974858710061, + 0.08879213748504385, + 0.012440771232945267, + -0.08826113503482279, + -0.9960196781457157 + ], + [ + 0.9997636661533954, + 0.01732475444886647, + -0.01313258248815564, + 0.018052876625677977, + -0.9981812066408242, + 0.0575184522966825, + -0.012112203972018494, + -0.05774193963103571, + -0.9982580642912862 + ], + [ + 0.99672861955127, + -0.051499677224443784, + -0.06228837943948604, + -0.04816352162783361, + -0.9973827357836539, + 0.05392544432008826, + -0.06490249726955416, + -0.05074900596555406, + -0.9966003232197365 + ], + [ + 0.9903389478439991, + -0.10165573498844284, + -0.09431267108507126, + -0.09835756117689824, + -0.9943868049683807, + 0.03899579803143852, + -0.09774742217866451, + -0.029342693276785323, + -0.9947785923554502 + ], + [ + 0.9695338231701955, + -0.1662682164192866, + -0.17988620274421746, + -0.16181669368744253, + -0.9860399959241948, + 0.03924900103032972, + -0.18390085201827866, + -0.008944643456488297, + -0.9829041000933855 + ], + [ + 0.9332215008876708, + -0.23207237097571115, + -0.27429918868030767, + -0.2167336928703481, + -0.9724876416369588, + 0.08540663462616685, + -0.2865730912973944, + -0.020253431637572872, + -0.9578442784978972 + ], + [ + 0.8822515154786346, + -0.2952045204317422, + -0.36672408504530757, + -0.25636414615382924, + -0.9546044348827484, + 0.15168321419658495, + -0.39485400846701685, + -0.039807838660922856, + -0.9178810641791644 + ], + [ + 0.8613403091559377, + -0.319478617020695, + -0.3950016266924704, + -0.24981483577860894, + -0.9433746807833817, + 0.21825846943878163, + -0.44236344745928136, + -0.08931755103783906, + -0.892377137441644 + ], + [ + 0.8435047817391809, + -0.32527702304753936, + -0.42742782017607084, + -0.23444082661279353, + -0.9389320182608664, + 0.2518812496032335, + -0.4832568488911948, + -0.1122565069913851, + -0.8682518612924744 + ], + [ + 0.8537295448886971, + -0.316874973292228, + -0.4132022694579345, + -0.2032556668079245, + -0.9333674982778903, + 0.2958246897555003, + -0.4794090091921549, + -0.16856857494658312, + -0.8612500435099403 + ], + [ + 0.8552577415623512, + -0.3160883327615057, + -0.4106365319716678, + -0.17766880883346955, + -0.9232555235589647, + 0.34063621737207955, + -0.48679358034526604, + -0.2183744584650737, + -0.8457804715319002 + ], + [ + 0.8548538308997338, + -0.31442976448986104, + -0.41274550391118725, + -0.15799524701632067, + -0.9154376217587469, + 0.37015059447330506, + -0.49422912673809627, + -0.2512128258499949, + -0.8322437662200654 + ], + [ + 0.8683317739977358, + -0.2785705587888475, + -0.41036370946029627, + -0.12892089315351618, + -0.925702253382807, + 0.35560475445428597, + -0.47893562571022513, + -0.2558784513359079, + -0.8397302451189266 + ], + [ + 0.8554368844334018, + -0.2767308710710747, + -0.4377759264134093, + -0.134664759414918, + -0.9350537670750881, + 0.32793269926984836, + -0.5000931306492788, + -0.22157273675913017, + -0.8371453774598963 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + 0.0013097524642944336, + -0.0008194483816623688, + -0.01453845202922821, + 0.012564748525619507, + 0.033113669604063034, + -0.0036297589540481567, + 1.0 + ], + [ + 0.0055706799030303955, + -0.006427306681871414, + -0.01239880919456482, + 0.010188430547714233, + -0.00040581636130809784, + -0.017137259244918823, + 1.0 + ], + [ + 0.008303195238113403, + -0.0032717324793338776, + -0.006115637719631195, + -0.006649866700172424, + -0.010237913578748703, + -0.006182491779327393, + 1.0 + ], + [ + 0.002956867218017578, + -0.001601923257112503, + -0.006144002079963684, + -0.031507328152656555, + -0.017559213563799858, + -0.020661458373069763, + 1.0 + ], + [ + -0.0029770731925964355, + 0.011525850743055344, + -0.010545514523983002, + -0.010325267910957336, + 0.021814046427607536, + -0.048018574714660645, + 1.0 + ], + [ + -0.00012895464897155762, + 0.00599370151758194, + -0.007880821824073792, + -0.03093111515045166, + 0.013599631376564503, + -0.03196842968463898, + 1.0 + ], + [ + -0.0010393261909484863, + 0.0054239872843027115, + -0.008501984179019928, + -0.03060467168688774, + 0.02455359324812889, + -0.033865008503198624, + 1.0 + ], + [ + -0.0035433173179626465, + 0.004892878234386444, + -0.002052389085292816, + -0.006900139153003693, + 0.052835650742053986, + -0.06633922457695007, + 1.0 + ], + [ + -0.0008816719055175781, + 0.010815510526299477, + 0.0020356401801109314, + -0.021390020847320557, + 0.032955601811409, + -0.05070839449763298, + 1.0 + ], + [ + -0.0031293630599975586, + 0.003936273045837879, + 0.00486832857131958, + -0.02038818970322609, + 0.08704977482557297, + -0.06638476252555847, + 1.0 + ], + [ + -0.002966254949569702, + 0.006246610544621944, + 0.009816683828830719, + 0.012041687034070492, + 0.10569445788860321, + -0.06281997263431549, + 1.0 + ], + [ + -0.004035443067550659, + 0.00946162547916174, + 0.008096858859062195, + 0.022200461477041245, + 0.11526095867156982, + -0.054594650864601135, + 1.0 + ], + [ + -0.0024986565113067627, + 0.0003428957425057888, + 0.014073975384235382, + 0.05641511455178261, + 0.052323341369628906, + 0.0005064010620117188, + 1.0 + ], + [ + -0.00950351357460022, + 0.0038697784766554832, + 0.004958264529705048, + 0.02881976217031479, + 0.0461387038230896, + 0.01119115948677063, + 1.0 + ], + [ + -0.009920746088027954, + 0.004453886300325394, + 0.015317976474761963, + 0.06470508873462677, + -0.004389822483062744, + 0.03736579418182373, + 1.0 + ], + [ + -0.009333938360214233, + 0.006257251836359501, + 0.015204206109046936, + 0.059392496943473816, + 0.008434116840362549, + 0.02890452742576599, + 1.0 + ], + [ + -0.010835528373718262, + 0.008322672918438911, + 0.008176103234291077, + 0.040478646755218506, + 0.008532583713531494, + 0.02206490933895111, + 1.0 + ], + [ + -0.014392882585525513, + 0.019023900851607323, + 0.007799223065376282, + 0.0026236772537231445, + -0.017506033182144165, + 0.03536611795425415, + 1.0 + ], + [ + -0.011062473058700562, + 0.0038253813982009888, + -0.004385173320770264, + -0.03703343868255615, + 0.024264484643936157, + -0.008747890591621399, + 1.0 + ], + [ + -0.023559704422950745, + 0.00943300873041153, + -0.00172346830368042, + -0.012879103422164917, + -0.05649438500404358, + 0.010697409510612488, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3287237286567688, + -0.04008079320192337, + 0.13682681322097778 + ], + [ + 0.3342944085597992, + -0.046508099883794785, + 0.12442800402641296 + ], + [ + 0.3425976037979126, + -0.04977983236312866, + 0.11831236630678177 + ], + [ + 0.3455544710159302, + -0.051381755620241165, + 0.11216836422681808 + ], + [ + 0.34257739782333374, + -0.03985590487718582, + 0.10162284970283508 + ], + [ + 0.3424484431743622, + -0.03386220335960388, + 0.09374202787876129 + ], + [ + 0.3414091169834137, + -0.02843821607530117, + 0.08524004369974136 + ], + [ + 0.33786579966545105, + -0.023545337840914726, + 0.08318765461444855 + ], + [ + 0.33698412775993347, + -0.01272982731461525, + 0.08522329479455948 + ], + [ + 0.3338547646999359, + -0.00879355426877737, + 0.09009162336587906 + ], + [ + 0.3308885097503662, + -0.0025469439569860697, + 0.09990830719470978 + ], + [ + 0.32685306668281555, + 0.006914681289345026, + 0.10800516605377197 + ], + [ + 0.3243544101715088, + 0.007257577031850815, + 0.12207914143800735 + ], + [ + 0.31485089659690857, + 0.011127355508506298, + 0.1270374059677124 + ], + [ + 0.3049301505088806, + 0.015581241808831692, + 0.14235538244247437 + ], + [ + 0.2955962121486664, + 0.021838493645191193, + 0.1575595885515213 + ], + [ + 0.2847606837749481, + 0.030161166563630104, + 0.16573569178581238 + ], + [ + 0.2703678011894226, + 0.04918506741523743, + 0.17353491485118866 + ], + [ + 0.25930532813072205, + 0.053010448813438416, + 0.1691497415304184 + ], + [ + 0.2357456237077713, + 0.062443457543849945, + 0.16742627322673798 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9843813600935204, + 0.17585077929774384, + -0.008357111989638545, + 0.1749491164012068, + -0.9718285301824581, + 0.1579307271997452, + 0.01965056159167396, + -0.15692613339969713, + -0.9874148287752987 + ], + [ + 0.9872268603658308, + 0.15917238532313807, + -0.006875894324875655, + 0.15805338048960518, + -0.9730277186536409, + 0.168036268845447, + 0.020056297964292636, + -0.16697667646181522, + -0.9857568333162768 + ], + [ + 0.9879304167156088, + 0.15481214553178788, + 0.0051663646762992056, + 0.15190770801313788, + -0.9748397655865825, + 0.163130253715528, + 0.03029092230882411, + -0.16037652891536788, + -0.9865910140472289 + ], + [ + 0.9901779771721932, + 0.13655174175058907, + 0.030019915857043236, + 0.1313744348573345, + -0.9821809604948423, + 0.13439240569074232, + 0.047836506865567716, + -0.1291285509339802, + -0.990473364581093 + ], + [ + 0.9961455644888111, + 0.08628296703240523, + 0.01578809517809853, + 0.08376185488909027, + -0.989139234347465, + 0.12077883399027173, + 0.026037780527664242, + -0.1189908596262566, + -0.9925538823210543 + ], + [ + 0.9985751645661897, + 0.05279094282417265, + 0.0077946819911252005, + 0.0518928504009691, + -0.9946974858710061, + 0.08879213748504385, + 0.012440771232945267, + -0.08826113503482279, + -0.9960196781457157 + ], + [ + 0.9997636661533954, + 0.01732475444886647, + -0.01313258248815564, + 0.018052876625677977, + -0.9981812066408242, + 0.0575184522966825, + -0.012112203972018494, + -0.05774193963103571, + -0.9982580642912862 + ], + [ + 0.99672861955127, + -0.051499677224443784, + -0.06228837943948604, + -0.04816352162783361, + -0.9973827357836539, + 0.05392544432008826, + -0.06490249726955416, + -0.05074900596555406, + -0.9966003232197365 + ], + [ + 0.9903389478439991, + -0.10165573498844284, + -0.09431267108507126, + -0.09835756117689824, + -0.9943868049683807, + 0.03899579803143852, + -0.09774742217866451, + -0.029342693276785323, + -0.9947785923554502 + ], + [ + 0.9695338231701955, + -0.1662682164192866, + -0.17988620274421746, + -0.16181669368744253, + -0.9860399959241948, + 0.03924900103032972, + -0.18390085201827866, + -0.008944643456488297, + -0.9829041000933855 + ], + [ + 0.9332215008876708, + -0.23207237097571115, + -0.27429918868030767, + -0.2167336928703481, + -0.9724876416369588, + 0.08540663462616685, + -0.2865730912973944, + -0.020253431637572872, + -0.9578442784978972 + ], + [ + 0.8822515154786346, + -0.2952045204317422, + -0.36672408504530757, + -0.25636414615382924, + -0.9546044348827484, + 0.15168321419658495, + -0.39485400846701685, + -0.039807838660922856, + -0.9178810641791644 + ], + [ + 0.8613403091559377, + -0.319478617020695, + -0.3950016266924704, + -0.24981483577860894, + -0.9433746807833817, + 0.21825846943878163, + -0.44236344745928136, + -0.08931755103783906, + -0.892377137441644 + ], + [ + 0.8435047817391809, + -0.32527702304753936, + -0.42742782017607084, + -0.23444082661279353, + -0.9389320182608664, + 0.2518812496032335, + -0.4832568488911948, + -0.1122565069913851, + -0.8682518612924744 + ], + [ + 0.8537295448886971, + -0.316874973292228, + -0.4132022694579345, + -0.2032556668079245, + -0.9333674982778903, + 0.2958246897555003, + -0.4794090091921549, + -0.16856857494658312, + -0.8612500435099403 + ], + [ + 0.8552577415623512, + -0.3160883327615057, + -0.4106365319716678, + -0.17766880883346955, + -0.9232555235589647, + 0.34063621737207955, + -0.48679358034526604, + -0.2183744584650737, + -0.8457804715319002 + ], + [ + 0.8548538308997338, + -0.31442976448986104, + -0.41274550391118725, + -0.15799524701632067, + -0.9154376217587469, + 0.37015059447330506, + -0.49422912673809627, + -0.2512128258499949, + -0.8322437662200654 + ], + [ + 0.8683317739977358, + -0.2785705587888475, + -0.41036370946029627, + -0.12892089315351618, + -0.925702253382807, + 0.35560475445428597, + -0.47893562571022513, + -0.2558784513359079, + -0.8397302451189266 + ], + [ + 0.8554368844334018, + -0.2767308710710747, + -0.4377759264134093, + -0.134664759414918, + -0.9350537670750881, + 0.32793269926984836, + -0.5000931306492788, + -0.22157273675913017, + -0.8371453774598963 + ], + [ + 0.8834007955173497, + -0.2490399532637623, + -0.39696616500363957, + -0.12939852266909832, + -0.9437985265047328, + 0.3041387244310562, + -0.4503987753206802, + -0.21730955580893857, + -0.8659777711602956 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006238.json b/json/chunk-0006/episode_0006238.json new file mode 100644 index 0000000000000000000000000000000000000000..cf0fbeb878ed4929922cc8893c93b858c86c750e --- /dev/null +++ b/json/chunk-0006/episode_0006238.json @@ -0,0 +1,1222 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 19, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nLever vertical to front." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006238.mp4", + "start": 0, + "end": 19, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3785056173801422, + -0.061714254319667816, + 0.07260079681873322, + 0.09626182168722153, + -0.1265597641468048, + -0.06037486344575882, + 0.0, + 1.0001531839370728 + ], + [ + 0.3802662193775177, + -0.05905744433403015, + 0.060619428753852844, + 0.1259591430425644, + -0.11693475395441055, + -0.0799654945731163, + 0.0, + 1.0001531839370728 + ], + [ + 0.3893260359764099, + -0.06330879032611847, + 0.07179758697748184, + 0.1694864183664322, + -0.15027886629104614, + -0.13400062918663025, + 0.0, + 1.0001531839370728 + ], + [ + 0.40130099654197693, + -0.06282201409339905, + 0.08625489473342896, + 0.2008691281080246, + -0.17690585553646088, + -0.16813167929649353, + 0.0, + 1.0001531839370728 + ], + [ + 0.4104563891887665, + -0.06403308361768723, + 0.09131001681089401, + 0.22427530586719513, + -0.19145065546035767, + -0.20472487807273865, + 0.0, + 1.0001531839370728 + ], + [ + 0.41799771785736084, + -0.06442887336015701, + 0.08813683688640594, + 0.24114343523979187, + -0.19604317843914032, + -0.24552427232265472, + 0.0, + 1.0001531839370728 + ], + [ + 0.4233882427215576, + -0.06499797105789185, + 0.08731403201818466, + 0.24428905546665192, + -0.2152382880449295, + -0.27351972460746765, + 0.0, + 1.0001531839370728 + ], + [ + 0.4256671369075775, + -0.062113091349601746, + 0.0817335695028305, + 0.22833259403705597, + -0.20974062383174896, + -0.26386722922325134, + 0.0, + 0.84995037317276 + ], + [ + 0.4266040623188019, + -0.058122992515563965, + 0.07939331978559494, + 0.21061787009239197, + -0.20843563973903656, + -0.24089454114437103, + 0.0, + 0.5590677857398987 + ], + [ + 0.42261385917663574, + -0.05762864649295807, + 0.07991671562194824, + 0.19926099479198456, + -0.1725441962480545, + -0.21757109463214874, + 0.0, + 0.4356481730937958 + ], + [ + 0.41740044951438904, + -0.058560680598020554, + 0.0791984498500824, + 0.1699158102273941, + -0.10247217863798141, + -0.17797790467739105, + 0.0, + 0.43473443388938904 + ], + [ + 0.40955761075019836, + -0.059463728219270706, + 0.07954400032758713, + 0.15546156466007233, + -0.03849155083298683, + -0.1690690666437149, + 0.0, + 0.43382158875465393 + ], + [ + 0.3865811228752136, + -0.06196267902851105, + 0.07944653183221817, + 0.11899086087942123, + 0.09630139917135239, + -0.02141660265624523, + 0.0, + 0.39886748790740967 + ], + [ + 0.37476468086242676, + -0.06192474439740181, + 0.07108964771032333, + 0.09135374426841736, + 0.13519081473350525, + 0.057374779134988785, + 0.0, + 0.2385561764240265 + ], + [ + 0.3642699420452118, + -0.06485097110271454, + 0.052012134343385696, + 0.05117107182741165, + 0.13727687299251556, + 0.07371357083320618, + 0.0, + 0.09107078611850739 + ], + [ + 0.35742971301078796, + -0.06719141453504562, + 0.04067230597138405, + 0.006057417951524258, + 0.11378742009401321, + 0.06783007830381393, + 0.0, + 0.0650232583284378 + ], + [ + 0.35495901107788086, + -0.06622699648141861, + 0.033355701714754105, + -0.01809137873351574, + 0.0952298566699028, + 0.06272029876708984, + 0.0, + 0.0650232583284378 + ], + [ + 0.35563433170318604, + -0.0656483992934227, + 0.03297383338212967, + -0.02178242988884449, + 0.09130571782588959, + 0.06564172357320786, + 0.0, + 0.0650232583284378 + ], + [ + 0.35499662160873413, + -0.060048580169677734, + 0.03937716409564018, + 0.009892409667372704, + 0.08298338949680328, + 0.09163309633731842, + 0.0, + 0.1423361748456955 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.84995037317276 + ], + [ + 0.5590677857398987 + ], + [ + 0.4356481730937958 + ], + [ + 0.43473443388938904 + ], + [ + 0.43382158875465393 + ], + [ + 0.39886748790740967 + ], + [ + 0.2385561764240265 + ], + [ + 0.09107078611850739 + ], + [ + 0.0650232583284378 + ], + [ + 0.0650232583284378 + ], + [ + 0.0650232583284378 + ], + [ + 0.1423361748456955 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3785056173801422, + -0.061714254319667816, + 0.07260079681873322 + ], + [ + 0.3802662193775177, + -0.05905744433403015, + 0.060619428753852844 + ], + [ + 0.3893260359764099, + -0.06330879032611847, + 0.07179758697748184 + ], + [ + 0.40130099654197693, + -0.06282201409339905, + 0.08625489473342896 + ], + [ + 0.4104563891887665, + -0.06403308361768723, + 0.09131001681089401 + ], + [ + 0.41799771785736084, + -0.06442887336015701, + 0.08813683688640594 + ], + [ + 0.4233882427215576, + -0.06499797105789185, + 0.08731403201818466 + ], + [ + 0.4256671369075775, + -0.062113091349601746, + 0.0817335695028305 + ], + [ + 0.4266040623188019, + -0.058122992515563965, + 0.07939331978559494 + ], + [ + 0.42261385917663574, + -0.05762864649295807, + 0.07991671562194824 + ], + [ + 0.41740044951438904, + -0.058560680598020554, + 0.0791984498500824 + ], + [ + 0.40955761075019836, + -0.059463728219270706, + 0.07954400032758713 + ], + [ + 0.3865811228752136, + -0.06196267902851105, + 0.07944653183221817 + ], + [ + 0.37476468086242676, + -0.06192474439740181, + 0.07108964771032333 + ], + [ + 0.3642699420452118, + -0.06485097110271454, + 0.052012134343385696 + ], + [ + 0.35742971301078796, + -0.06719141453504562, + 0.04067230597138405 + ], + [ + 0.35495901107788086, + -0.06622699648141861, + 0.033355701714754105 + ], + [ + 0.35563433170318604, + -0.0656483992934227, + 0.03297383338212967 + ], + [ + 0.35499662160873413, + -0.060048580169677734, + 0.03937716409564018 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9901945611041723, + -0.04794933350514887, + 0.13120820315867124, + -0.05985560612900103, + -0.994288834116991, + 0.08835734697920802, + 0.12622217544728434, + -0.09534451094156535, + -0.9874094321296856 + ], + [ + 0.9899972043511664, + -0.06463766392431074, + 0.1254093608120343, + -0.07933478978771409, + -0.99007818532058, + 0.1159792140068511, + 0.11666844691781218, + -0.12476842290706255, + -0.9853026510362541 + ], + [ + 0.9798657455929923, + -0.10665891080073872, + 0.1687809152726953, + -0.13209420980314715, + -0.9802091387179687, + 0.14744885252269524, + 0.1497138615825897, + -0.16677506144678061, + -0.9745623830876354 + ], + [ + 0.9705121324752072, + -0.12935852911402543, + 0.2034024868674978, + -0.1647289682303795, + -0.9719519610149656, + 0.16785038726472543, + 0.17598456677840074, + -0.19640711907825417, + -0.9646002673808461 + ], + [ + 0.9612277353017402, + -0.1567710854446532, + 0.22685693212946514, + -0.19958338443832194, + -0.9631988461101051, + 0.18004014971196558, + 0.19028324556521656, + -0.2183364596687123, + -0.957142349306779 + ], + [ + 0.9514294866692294, + -0.19090866979583, + 0.24152807640751325, + -0.23840899993479925, + -0.9532502956897517, + 0.18567450691328113, + 0.1947898371230278, + -0.23423866795255638, + -0.9524647845402981 + ], + [ + 0.9406094035530129, + -0.2123643490633682, + 0.2648685205805644, + -0.26388906352516894, + -0.948193279470451, + 0.17689563849592352, + 0.2135802240364363, + -0.23628560687008213, + -0.9479201442561406 + ], + [ + 0.9442320274351865, + -0.20854936788275288, + 0.2548196215391224, + -0.25510007924726275, + -0.9526238664354852, + 0.16562523559393777, + 0.20820621492567806, + -0.22139315764768192, + -0.9526989250613812 + ], + [ + 0.9501057523369643, + -0.1912870708442976, + 0.246390575923714, + -0.23340775096378188, + -0.9599859368197463, + 0.1547508413493863, + 0.20692965269926872, + -0.20453913473006194, + -0.9567360457292478 + ], + [ + 0.9619258409605443, + -0.17840361940043173, + 0.20705271086652158, + -0.21265336567563672, + -0.9644402043580457, + 0.15695106971484774, + 0.17168931987509709, + -0.1950057455631422, + -0.9656580847474895 + ], + [ + 0.9790408772976787, + -0.15746580215339628, + 0.12916455292524825, + -0.1761110887984383, + -0.9730925613087105, + 0.1485791086522007, + 0.10229293710916888, + -0.16821233093278665, + -0.9804288687812791 + ], + [ + 0.9850116901627861, + -0.16036206299968403, + 0.06352935536535062, + -0.16814012705162446, + -0.9748565480095308, + 0.14623135258215023, + 0.038482046693428675, + -0.15472142564437194, + -0.9872083936681546 + ], + [ + 0.9951383386405989, + -0.03267522414221196, + -0.09290864704044013, + -0.021315741456207127, + -0.992456794598996, + 0.12072758599615252, + -0.09615261896485716, + -0.11816023265694123, + -0.988328302379658 + ], + [ + 0.9892451641535, + 0.044828941861823825, + -0.13922776723938157, + 0.05682008451185832, + -0.9948965917575673, + 0.08338015174633015, + -0.1347793871294104, + -0.09039434540238114, + -0.9867438264941386 + ], + [ + 0.9879022503032495, + 0.06656993366818202, + -0.14006279940508706, + 0.07295398685708741, + -0.9964944772122921, + 0.04094475164238388, + -0.1368461166691687, + -0.0506675519125843, + -0.9892956785186893 + ], + [ + 0.9912484865375724, + 0.06709064757627552, + -0.11368941439187759, + 0.06733976910435933, + -0.9977287337589581, + -0.0016520680123542721, + -0.1135420337757944, + -0.0060182089978555574, + -0.9935149660304641 + ], + [ + 0.9935116987360255, + 0.0643856883392296, + -0.09374960059509446, + 0.062395189516833545, + -0.9977625868663001, + -0.024013758036312696, + -0.09508598634822363, + 0.018008425443434544, + -0.9953061598388875 + ], + [ + 0.993689854506012, + 0.06756069701751934, + -0.08953225826665868, + 0.06532136138336946, + -0.9974793716993504, + -0.027713223942596975, + -0.09117890544881511, + 0.02168998046970614, + -0.9955982884418695 + ], + [ + 0.9923779154705784, + 0.09068392761787748, + -0.08344158530412073, + 0.09119003360213272, + -0.9958309299342372, + 0.002266441694356585, + -0.08288818165402838, + -0.009858207651879189, + -0.9965100928159136 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + 0.0017606019973754883, + 0.002656809985637665, + -0.011981368064880371, + 0.029697321355342865, + 0.009625010192394257, + -0.019590631127357483, + 1.0 + ], + [ + 0.009059816598892212, + -0.004251345992088318, + 0.011178158223628998, + 0.0435272753238678, + -0.03334411233663559, + -0.05403513461351395, + 1.0 + ], + [ + 0.011974960565567017, + 0.0004867762327194214, + 0.014457307755947113, + 0.03138270974159241, + -0.026626989245414734, + -0.03413105010986328, + 1.0 + ], + [ + 0.00915539264678955, + -0.0012110695242881775, + 0.005055122077465057, + 0.023406177759170532, + -0.01454479992389679, + -0.03659319877624512, + 1.0 + ], + [ + 0.00754132866859436, + -0.0003957897424697876, + -0.0031731799244880676, + 0.01686812937259674, + -0.004592522978782654, + -0.04079939424991608, + 1.0 + ], + [ + 0.005390524864196777, + -0.0005690976977348328, + -0.000822804868221283, + 0.0031456202268600464, + -0.019195109605789185, + -0.027995452284812927, + 1.0 + ], + [ + 0.0022788941860198975, + 0.0028848797082901, + -0.0055804625153541565, + -0.015956461429595947, + 0.005497664213180542, + 0.009652495384216309, + 0.0 + ], + [ + 0.0009369254112243652, + 0.003990098834037781, + -0.002340249717235565, + -0.017714723944664, + 0.0013049840927124023, + 0.02297268807888031, + 0.0 + ], + [ + -0.003990203142166138, + 0.000494346022605896, + 0.000523395836353302, + -0.01135687530040741, + 0.035891443490982056, + 0.02332344651222229, + 0.0 + ], + [ + -0.005213409662246704, + -0.0009320341050624847, + -0.0007182657718658447, + -0.029345184564590454, + 0.07007201761007309, + 0.03959318995475769, + 0.0 + ], + [ + -0.007842838764190674, + -0.0009030476212501526, + 0.0003455504775047302, + -0.014454245567321777, + 0.06398062407970428, + 0.008908838033676147, + 0.0 + ], + [ + -0.02297648787498474, + -0.002498950809240341, + -9.746849536895752e-05, + -0.03647070378065109, + 0.13479295372962952, + 0.14765246212482452, + 0.0 + ], + [ + -0.011816442012786865, + 3.793463110923767e-05, + -0.008356884121894836, + -0.027637116611003876, + 0.03888941556215286, + 0.07879137992858887, + 0.0 + ], + [ + -0.010494738817214966, + -0.002926226705312729, + -0.019077513366937637, + -0.04018267244100571, + 0.002086058259010315, + 0.016338791698217392, + 0.0 + ], + [ + -0.006840229034423828, + -0.002340443432331085, + -0.011339828372001648, + -0.04511365294456482, + -0.02348945289850235, + -0.005883492529392242, + 0.0 + ], + [ + -0.0024707019329071045, + 0.0009644180536270142, + -0.007316604256629944, + -0.024148795753717422, + -0.018557563424110413, + -0.005109779536724091, + 0.0 + ], + [ + 0.0006753206253051758, + 0.0005785971879959106, + -0.0003818683326244354, + -0.0036910511553287506, + -0.003924138844013214, + 0.0029214248061180115, + 0.0 + ], + [ + -0.0006377100944519043, + 0.005599819123744965, + 0.006403330713510513, + 0.031674839556217194, + -0.008322328329086304, + 0.025991372764110565, + 1.0 + ], + [ + -0.0037964284420013428, + 0.005261264741420746, + 0.01832839846611023, + 0.05454566329717636, + -0.016692809760570526, + 0.038939476013183594, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.84995037317276 + ], + [ + 0.5590677857398987 + ], + [ + 0.4356481730937958 + ], + [ + 0.43473443388938904 + ], + [ + 0.43382158875465393 + ], + [ + 0.39886748790740967 + ], + [ + 0.2385561764240265 + ], + [ + 0.09107078611850739 + ], + [ + 0.0650232583284378 + ], + [ + 0.0650232583284378 + ], + [ + 0.0650232583284378 + ], + [ + 0.1423361748456955 + ], + [ + 0.3404468894004822 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3802662193775177, + -0.05905744433403015, + 0.060619428753852844 + ], + [ + 0.3893260359764099, + -0.06330879032611847, + 0.07179758697748184 + ], + [ + 0.40130099654197693, + -0.06282201409339905, + 0.08625489473342896 + ], + [ + 0.4104563891887665, + -0.06403308361768723, + 0.09131001681089401 + ], + [ + 0.41799771785736084, + -0.06442887336015701, + 0.08813683688640594 + ], + [ + 0.4233882427215576, + -0.06499797105789185, + 0.08731403201818466 + ], + [ + 0.4256671369075775, + -0.062113091349601746, + 0.0817335695028305 + ], + [ + 0.4266040623188019, + -0.058122992515563965, + 0.07939331978559494 + ], + [ + 0.42261385917663574, + -0.05762864649295807, + 0.07991671562194824 + ], + [ + 0.41740044951438904, + -0.058560680598020554, + 0.0791984498500824 + ], + [ + 0.40955761075019836, + -0.059463728219270706, + 0.07954400032758713 + ], + [ + 0.3865811228752136, + -0.06196267902851105, + 0.07944653183221817 + ], + [ + 0.37476468086242676, + -0.06192474439740181, + 0.07108964771032333 + ], + [ + 0.3642699420452118, + -0.06485097110271454, + 0.052012134343385696 + ], + [ + 0.35742971301078796, + -0.06719141453504562, + 0.04067230597138405 + ], + [ + 0.35495901107788086, + -0.06622699648141861, + 0.033355701714754105 + ], + [ + 0.35563433170318604, + -0.0656483992934227, + 0.03297383338212967 + ], + [ + 0.35499662160873413, + -0.060048580169677734, + 0.03937716409564018 + ], + [ + 0.3512001931667328, + -0.05478731542825699, + 0.05770556256175041 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9899972043511664, + -0.06463766392431074, + 0.1254093608120343, + -0.07933478978771409, + -0.99007818532058, + 0.1159792140068511, + 0.11666844691781218, + -0.12476842290706255, + -0.9853026510362541 + ], + [ + 0.9798657455929923, + -0.10665891080073872, + 0.1687809152726953, + -0.13209420980314715, + -0.9802091387179687, + 0.14744885252269524, + 0.1497138615825897, + -0.16677506144678061, + -0.9745623830876354 + ], + [ + 0.9705121324752072, + -0.12935852911402543, + 0.2034024868674978, + -0.1647289682303795, + -0.9719519610149656, + 0.16785038726472543, + 0.17598456677840074, + -0.19640711907825417, + -0.9646002673808461 + ], + [ + 0.9612277353017402, + -0.1567710854446532, + 0.22685693212946514, + -0.19958338443832194, + -0.9631988461101051, + 0.18004014971196558, + 0.19028324556521656, + -0.2183364596687123, + -0.957142349306779 + ], + [ + 0.9514294866692294, + -0.19090866979583, + 0.24152807640751325, + -0.23840899993479925, + -0.9532502956897517, + 0.18567450691328113, + 0.1947898371230278, + -0.23423866795255638, + -0.9524647845402981 + ], + [ + 0.9406094035530129, + -0.2123643490633682, + 0.2648685205805644, + -0.26388906352516894, + -0.948193279470451, + 0.17689563849592352, + 0.2135802240364363, + -0.23628560687008213, + -0.9479201442561406 + ], + [ + 0.9442320274351865, + -0.20854936788275288, + 0.2548196215391224, + -0.25510007924726275, + -0.9526238664354852, + 0.16562523559393777, + 0.20820621492567806, + -0.22139315764768192, + -0.9526989250613812 + ], + [ + 0.9501057523369643, + -0.1912870708442976, + 0.246390575923714, + -0.23340775096378188, + -0.9599859368197463, + 0.1547508413493863, + 0.20692965269926872, + -0.20453913473006194, + -0.9567360457292478 + ], + [ + 0.9619258409605443, + -0.17840361940043173, + 0.20705271086652158, + -0.21265336567563672, + -0.9644402043580457, + 0.15695106971484774, + 0.17168931987509709, + -0.1950057455631422, + -0.9656580847474895 + ], + [ + 0.9790408772976787, + -0.15746580215339628, + 0.12916455292524825, + -0.1761110887984383, + -0.9730925613087105, + 0.1485791086522007, + 0.10229293710916888, + -0.16821233093278665, + -0.9804288687812791 + ], + [ + 0.9850116901627861, + -0.16036206299968403, + 0.06352935536535062, + -0.16814012705162446, + -0.9748565480095308, + 0.14623135258215023, + 0.038482046693428675, + -0.15472142564437194, + -0.9872083936681546 + ], + [ + 0.9951383386405989, + -0.03267522414221196, + -0.09290864704044013, + -0.021315741456207127, + -0.992456794598996, + 0.12072758599615252, + -0.09615261896485716, + -0.11816023265694123, + -0.988328302379658 + ], + [ + 0.9892451641535, + 0.044828941861823825, + -0.13922776723938157, + 0.05682008451185832, + -0.9948965917575673, + 0.08338015174633015, + -0.1347793871294104, + -0.09039434540238114, + -0.9867438264941386 + ], + [ + 0.9879022503032495, + 0.06656993366818202, + -0.14006279940508706, + 0.07295398685708741, + -0.9964944772122921, + 0.04094475164238388, + -0.1368461166691687, + -0.0506675519125843, + -0.9892956785186893 + ], + [ + 0.9912484865375724, + 0.06709064757627552, + -0.11368941439187759, + 0.06733976910435933, + -0.9977287337589581, + -0.0016520680123542721, + -0.1135420337757944, + -0.0060182089978555574, + -0.9935149660304641 + ], + [ + 0.9935116987360255, + 0.0643856883392296, + -0.09374960059509446, + 0.062395189516833545, + -0.9977625868663001, + -0.024013758036312696, + -0.09508598634822363, + 0.018008425443434544, + -0.9953061598388875 + ], + [ + 0.993689854506012, + 0.06756069701751934, + -0.08953225826665868, + 0.06532136138336946, + -0.9974793716993504, + -0.027713223942596975, + -0.09117890544881511, + 0.02168998046970614, + -0.9955982884418695 + ], + [ + 0.9923779154705784, + 0.09068392761787748, + -0.08344158530412073, + 0.09119003360213272, + -0.9958309299342372, + 0.002266441694356585, + -0.08288818165402838, + -0.009858207651879189, + -0.9965100928159136 + ], + [ + 0.9893097872648233, + 0.125702393891323, + -0.07392599672659707, + 0.12991588481377545, + -0.9899851420971575, + 0.055238404212330436, + -0.06624203872982772, + -0.06425205519562506, + -0.9957327280490756 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006239.json b/json/chunk-0006/episode_0006239.json new file mode 100644 index 0000000000000000000000000000000000000000..300ed9de81f543ddc8735afa23b1f5d690e54354 --- /dev/null +++ b/json/chunk-0006/episode_0006239.json @@ -0,0 +1,2542 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 41, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nOpen the drawer." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006239.mp4", + "start": 0, + "end": 41, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.280835896730423, + 0.21247005462646484, + 0.15906433761119843, + -0.049235373735427856, + -0.23070216178894043, + -0.7717878818511963, + 0.0, + 1.0001531839370728 + ], + [ + 0.2801654636859894, + 0.2111974060535431, + 0.14569607377052307, + -0.09382299333810806, + -0.23133544623851776, + -0.7596744298934937, + 0.0, + 1.0001531839370728 + ], + [ + 0.2748311460018158, + 0.18944162130355835, + 0.13361838459968567, + -0.1592896729707718, + -0.23853568732738495, + -0.7592123746871948, + 0.0, + 1.0001531839370728 + ], + [ + 0.269512414932251, + 0.16176046431064606, + 0.13975992798805237, + -0.16514775156974792, + -0.2539440095424652, + -0.7767410278320312, + 0.0, + 1.0001531839370728 + ], + [ + 0.26394495368003845, + 0.14216884970664978, + 0.14350037276744843, + -0.15039628744125366, + -0.25406941771507263, + -0.7210193872451782, + 0.0, + 1.0001531839370728 + ], + [ + 0.25927016139030457, + 0.12276092171669006, + 0.14215680956840515, + -0.16612973809242249, + -0.26607343554496765, + -0.6859429478645325, + 0.0, + 1.0001531839370728 + ], + [ + 0.25766706466674805, + 0.10212686657905579, + 0.14056460559368134, + -0.17745999991893768, + -0.2765897214412689, + -0.5930702090263367, + 0.0, + 1.0001531839370728 + ], + [ + 0.25972360372543335, + 0.0797874927520752, + 0.14312155544757843, + -0.20753884315490723, + -0.30938175320625305, + -0.5042053461074829, + 0.0, + 1.0001531839370728 + ], + [ + 0.26305338740348816, + 0.05244710296392441, + 0.1401742696762085, + -0.20293980836868286, + -0.33535924553871155, + -0.3906741440296173, + 0.0, + 1.0001531839370728 + ], + [ + 0.26975932717323303, + 0.03493422642350197, + 0.13032279908657074, + -0.18273647129535675, + -0.3126506805419922, + -0.24374981224536896, + 0.0, + 0.9994885921478271 + ], + [ + 0.2802327871322632, + 0.022241074591875076, + 0.1227322518825531, + -0.16970472037792206, + -0.3329775333404541, + -0.1377689391374588, + 0.0, + 0.9994885921478271 + ], + [ + 0.29380732774734497, + 0.015903156250715256, + 0.11011682450771332, + -0.1524694710969925, + -0.3792921006679535, + -0.06017685309052467, + 0.0, + 0.9994885921478271 + ], + [ + 0.3055047392845154, + 0.017882000654935837, + 0.09355717897415161, + -0.13670861721038818, + -0.35820597410202026, + -0.03899471461772919, + 0.0, + 0.9994885921478271 + ], + [ + 0.31490179896354675, + 0.023517359048128128, + 0.08456074446439743, + -0.11801166832447052, + -0.35201165080070496, + -0.027301201596856117, + 0.0, + 0.9994885921478271 + ], + [ + 0.3228442370891571, + 0.027071364223957062, + 0.07819107174873352, + -0.10819830000400543, + -0.360747367143631, + -0.02527259849011898, + 0.0, + 0.9994885921478271 + ], + [ + 0.329107403755188, + 0.033038701862096786, + 0.07803338021039963, + -0.10080388188362122, + -0.39580368995666504, + 0.012871774844825268, + 0.0, + 0.9994885921478271 + ], + [ + 0.3309166133403778, + 0.03505847230553627, + 0.07441482692956924, + -0.09319251775741577, + -0.4020403325557709, + 0.030882522463798523, + 0.0, + 0.9994885921478271 + ], + [ + 0.3324300944805145, + 0.03197731822729111, + 0.0654393881559372, + -0.0925007238984108, + -0.3861110210418701, + 0.03951726853847504, + 0.0, + 0.9994885921478271 + ], + [ + 0.33441999554634094, + 0.028724903240799904, + 0.05558880418539047, + -0.08149324357509613, + -0.372996062040329, + 0.04102298617362976, + 0.0, + 0.9994885921478271 + ], + [ + 0.3355655372142792, + 0.027408698573708534, + 0.048113320022821426, + -0.08647773414850235, + -0.3583081364631653, + 0.0644148737192154, + 0.0, + 0.9994885921478271 + ], + [ + 0.3373858332633972, + 0.023460403084754944, + 0.0439310148358345, + -0.08256691694259644, + -0.35655736923217773, + 0.06429821252822876, + 0.0, + 0.9650423526763916 + ], + [ + 0.33822739124298096, + 0.022439738735556602, + 0.04273359850049019, + -0.08460401743650436, + -0.3580494523048401, + 0.07393480837345123, + 0.0, + 0.6791892647743225 + ], + [ + 0.3411129415035248, + 0.023010730743408203, + 0.043497804552316666, + -0.07934891432523727, + -0.3778308928012848, + 0.0883011445403099, + 0.0, + 0.3737536668777466 + ], + [ + 0.3420930504798889, + 0.02168099395930767, + 0.043841972947120667, + -0.08095938712358475, + -0.3833690285682678, + 0.0908084362745285, + 0.0, + 0.16390947997570038 + ], + [ + 0.34150227904319763, + 0.024493616074323654, + 0.0424942821264267, + -0.08682665973901749, + -0.37637364864349365, + 0.10325359553098679, + 0.0, + 0.09624730050563812 + ], + [ + 0.34329962730407715, + 0.03085912950336933, + 0.04357370361685753, + -0.07653695344924927, + -0.3682660460472107, + 0.09664548188447952, + 0.0, + 0.09326785057783127 + ], + [ + 0.34353598952293396, + 0.05056854709982872, + 0.04431938752532005, + -0.045143138617277145, + -0.356509268283844, + 0.09090561419725418, + 0.0, + 0.09326785057783127 + ], + [ + 0.3454340100288391, + 0.06668942421674728, + 0.04343445971608162, + -0.03109191544353962, + -0.3357456922531128, + 0.09323402494192123, + 0.0, + 0.09326785057783127 + ], + [ + 0.34399351477622986, + 0.08229070901870728, + 0.04531053081154823, + -0.03243652358651161, + -0.32160648703575134, + 0.1131315678358078, + 0.0, + 0.09289941936731339 + ], + [ + 0.3407149910926819, + 0.09585168957710266, + 0.04616270214319229, + -0.033365391194820404, + -0.31692779064178467, + 0.1305241882801056, + 0.0, + 0.09143470972776413 + ], + [ + 0.3396136164665222, + 0.10546455532312393, + 0.04790937528014183, + -0.03380582854151726, + -0.3145291209220886, + 0.14107418060302734, + 0.0, + 0.09143470972776413 + ], + [ + 0.3389637768268585, + 0.11943027377128601, + 0.05338752269744873, + -0.03402889147400856, + -0.3167613446712494, + 0.1627563089132309, + 0.0, + 0.09143470972776413 + ], + [ + 0.33749160170555115, + 0.12950636446475983, + 0.055035676807165146, + -0.037054140120744705, + -0.3077104985713959, + 0.181623175740242, + 0.0, + 0.09143470972776413 + ], + [ + 0.3385583162307739, + 0.1389133781194687, + 0.05602949857711792, + -0.03701277822256088, + -0.3023280203342438, + 0.19523878395557404, + 0.0, + 0.09143470972776413 + ], + [ + 0.33573564887046814, + 0.1467382162809372, + 0.055406440049409866, + -0.04103567451238632, + -0.28930187225341797, + 0.20665602385997772, + 0.0, + 0.09143470972776413 + ], + [ + 0.3377605676651001, + 0.14887498319149017, + 0.05608644336462021, + -0.047772374004125595, + -0.2868886888027191, + 0.19313988089561462, + 0.0, + 0.11832001805305481 + ], + [ + 0.3390100300312042, + 0.15195085108280182, + 0.06195233389735222, + -0.04380691051483154, + -0.27837684750556946, + 0.1857263147830963, + 0.0, + 0.3034155070781708 + ], + [ + 0.3382517695426941, + 0.146722674369812, + 0.06269543617963791, + -0.07448892295360565, + -0.2696211338043213, + 0.1705603450536728, + 0.0, + 0.5988990664482117 + ], + [ + 0.3385484516620636, + 0.13645680248737335, + 0.0844677984714508, + -0.1177932545542717, + -0.28991591930389404, + 0.11911147832870483, + 0.0, + 0.8948037624359131 + ], + [ + 0.3340599238872528, + 0.1266363561153412, + 0.1199910119175911, + -0.1465410441160202, + -0.30258166790008545, + -0.011575140990316868, + 0.0, + 1.0054124593734741 + ], + [ + 0.31541556119918823, + 0.11436814069747925, + 0.15110920369625092, + -0.13364307582378387, + -0.302071750164032, + -0.1540829837322235, + 0.0, + 1.0008161067962646 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9650423526763916 + ], + [ + 0.6791892647743225 + ], + [ + 0.3737536668777466 + ], + [ + 0.16390947997570038 + ], + [ + 0.09624730050563812 + ], + [ + 0.09326785057783127 + ], + [ + 0.09326785057783127 + ], + [ + 0.09326785057783127 + ], + [ + 0.09289941936731339 + ], + [ + 0.09143470972776413 + ], + [ + 0.09143470972776413 + ], + [ + 0.09143470972776413 + ], + [ + 0.09143470972776413 + ], + [ + 0.09143470972776413 + ], + [ + 0.09143470972776413 + ], + [ + 0.11832001805305481 + ], + [ + 0.3034155070781708 + ], + [ + 0.5988990664482117 + ], + [ + 0.8948037624359131 + ], + [ + 1.0054124593734741 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.280835896730423, + 0.21247005462646484, + 0.15906433761119843 + ], + [ + 0.2801654636859894, + 0.2111974060535431, + 0.14569607377052307 + ], + [ + 0.2748311460018158, + 0.18944162130355835, + 0.13361838459968567 + ], + [ + 0.269512414932251, + 0.16176046431064606, + 0.13975992798805237 + ], + [ + 0.26394495368003845, + 0.14216884970664978, + 0.14350037276744843 + ], + [ + 0.25927016139030457, + 0.12276092171669006, + 0.14215680956840515 + ], + [ + 0.25766706466674805, + 0.10212686657905579, + 0.14056460559368134 + ], + [ + 0.25972360372543335, + 0.0797874927520752, + 0.14312155544757843 + ], + [ + 0.26305338740348816, + 0.05244710296392441, + 0.1401742696762085 + ], + [ + 0.26975932717323303, + 0.03493422642350197, + 0.13032279908657074 + ], + [ + 0.2802327871322632, + 0.022241074591875076, + 0.1227322518825531 + ], + [ + 0.29380732774734497, + 0.015903156250715256, + 0.11011682450771332 + ], + [ + 0.3055047392845154, + 0.017882000654935837, + 0.09355717897415161 + ], + [ + 0.31490179896354675, + 0.023517359048128128, + 0.08456074446439743 + ], + [ + 0.3228442370891571, + 0.027071364223957062, + 0.07819107174873352 + ], + [ + 0.329107403755188, + 0.033038701862096786, + 0.07803338021039963 + ], + [ + 0.3309166133403778, + 0.03505847230553627, + 0.07441482692956924 + ], + [ + 0.3324300944805145, + 0.03197731822729111, + 0.0654393881559372 + ], + [ + 0.33441999554634094, + 0.028724903240799904, + 0.05558880418539047 + ], + [ + 0.3355655372142792, + 0.027408698573708534, + 0.048113320022821426 + ], + [ + 0.3373858332633972, + 0.023460403084754944, + 0.0439310148358345 + ], + [ + 0.33822739124298096, + 0.022439738735556602, + 0.04273359850049019 + ], + [ + 0.3411129415035248, + 0.023010730743408203, + 0.043497804552316666 + ], + [ + 0.3420930504798889, + 0.02168099395930767, + 0.043841972947120667 + ], + [ + 0.34150227904319763, + 0.024493616074323654, + 0.0424942821264267 + ], + [ + 0.34329962730407715, + 0.03085912950336933, + 0.04357370361685753 + ], + [ + 0.34353598952293396, + 0.05056854709982872, + 0.04431938752532005 + ], + [ + 0.3454340100288391, + 0.06668942421674728, + 0.04343445971608162 + ], + [ + 0.34399351477622986, + 0.08229070901870728, + 0.04531053081154823 + ], + [ + 0.3407149910926819, + 0.09585168957710266, + 0.04616270214319229 + ], + [ + 0.3396136164665222, + 0.10546455532312393, + 0.04790937528014183 + ], + [ + 0.3389637768268585, + 0.11943027377128601, + 0.05338752269744873 + ], + [ + 0.33749160170555115, + 0.12950636446475983, + 0.055035676807165146 + ], + [ + 0.3385583162307739, + 0.1389133781194687, + 0.05602949857711792 + ], + [ + 0.33573564887046814, + 0.1467382162809372, + 0.055406440049409866 + ], + [ + 0.3377605676651001, + 0.14887498319149017, + 0.05608644336462021 + ], + [ + 0.3390100300312042, + 0.15195085108280182, + 0.06195233389735222 + ], + [ + 0.3382517695426941, + 0.146722674369812, + 0.06269543617963791 + ], + [ + 0.3385484516620636, + 0.13645680248737335, + 0.0844677984714508 + ], + [ + 0.3340599238872528, + 0.1266363561153412, + 0.1199910119175911 + ], + [ + 0.31541556119918823, + 0.11436814069747925, + 0.15110920369625092 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.6976776508608025, + -0.704637632251004, + 0.12935108312283536, + -0.6789403355051493, + -0.7079479418731776, + -0.19455007689971954, + 0.22866113861674678, + 0.047911572852812515, + -0.9723263674678693 + ], + [ + 0.7057454386464402, + -0.7012307510516165, + 0.1009891558996786, + -0.6703395844151316, + -0.7070784028444843, + -0.22513323565622623, + 0.22927759898405348, + 0.09118972535587028, + -0.9690800878119561 + ], + [ + 0.7048393116246086, + -0.7068216942824904, + 0.060038631564836534, + -0.6688596956065188, + -0.6903972543220875, + -0.27564168555876706, + 0.23628002958714772, + 0.15412567507119965, + -0.9593836687697701 + ], + [ + 0.6903287232099853, + -0.7208773413646337, + 0.061498883065707735, + -0.6784784776647947, + -0.6745479044622249, + -0.2909503049169813, + 0.2512234249765235, + 0.15912568395038895, + -0.9547595547834997 + ], + [ + 0.7270200016701078, + -0.6809856946060883, + 0.0877519282606367, + -0.6389582960162786, + -0.7177936098122659, + -0.27659470288610033, + 0.25134480922344504, + 0.14502005880063645, + -0.9569717704414743 + ], + [ + 0.7465919453984621, + -0.6583299749660748, + 0.09592763484683095, + -0.6111140246318435, + -0.7356264261090996, + -0.2922215086338172, + 0.26294508165092245, + 0.15954750161353431, + -0.9515274450926094 + ], + [ + 0.7977115462885275, + -0.590106001655896, + 0.12422236403988648, + -0.5376666901923989, + -0.7892628794459711, + -0.2966119306201377, + 0.2730765811553919, + 0.16982053450141443, + -0.9468844527639771 + ], + [ + 0.8339888742968584, + -0.5276743645618841, + 0.161314359352386, + -0.460174638399224, + -0.8264612223840437, + -0.32434726770795475, + 0.3044698010036502, + 0.19626923569343224, + -0.9320818244108795 + ], + [ + 0.8731421331130944, + -0.4343307136174678, + 0.22131345777258257, + -0.35959763728219973, + -0.8804172040604414, + -0.30911985710312206, + 0.3291084238420144, + 0.19032177490486035, + -0.9249136539987335 + ], + [ + 0.9233944504019476, + -0.2915668373502015, + 0.24966270911869476, + -0.22964334855163884, + -0.9407924075812409, + -0.2493463019647223, + 0.3075818938638543, + 0.17291161093198198, + -0.9356788729965165 + ], + [ + 0.9361186011546069, + -0.19004119181200266, + 0.29591605226316414, + -0.12979025936277275, + -0.9687143544684761, + -0.21153483878847895, + 0.32685846041809324, + 0.15961467620929232, + -0.9314970219983081 + ], + [ + 0.9272455446175174, + -0.11557638579137061, + 0.3561710249786861, + -0.055866170394014814, + -0.9832279256509449, + -0.17361398914156412, + 0.3702629754545686, + 0.14108488674391917, + -0.9181505234655073 + ], + [ + 0.9358153605697843, + -0.08636493365766992, + 0.3417465569043102, + -0.03651036053242924, + -0.9880541153994686, + -0.14971993392987262, + 0.35059464413398655, + 0.1276329239517753, + -0.9277894331302139 + ], + [ + 0.9383312181122012, + -0.06768730556469793, + 0.33904712619555344, + -0.02562393638157088, + -0.9915664974074384, + -0.1270405254375829, + 0.34478680224217617, + 0.11051836899147198, + -0.9321522145632004 + ], + [ + 0.9353345035717713, + -0.06322663463561877, + 0.3480686126337769, + -0.023643367283340603, + -0.9928715996751398, + -0.11682027966938875, + 0.3529735933630919, + 0.10103652424338001, + -0.9301619553374367 + ], + [ + 0.9226105643004822, + -0.025989843326708013, + 0.38485617402479005, + 0.01187629135860585, + -0.9953405698488521, + -0.09568753166702769, + 0.3855498675200289, + 0.09285299164171339, + -0.9180030618677002 + ], + [ + 0.9198257273051689, + -0.005652183588020927, + 0.3922864823164367, + 0.028415572857310147, + -0.9963103129764537, + -0.08098342716847354, + 0.39129680117106447, + 0.08563768491410698, + -0.9162712482206588 + ], + [ + 0.9256573760754359, + 0.004580180557657826, + 0.3783350949399198, + 0.036598504006968215, + -0.9963217425512504, + -0.07748248075592004, + 0.3765885973069163, + 0.08556872831647577, + -0.9224201976933886 + ], + [ + 0.9304562655002997, + 0.011236472920274182, + 0.36623063725956595, + 0.0381915209030204, + -0.9970592891329052, + -0.06643930828131643, + 0.36440711535636894, + 0.07580577570408202, + -0.9281492006393974 + ], + [ + 0.9345492747717691, + 0.03390349183060029, + 0.3542149153624853, + 0.06028227251922538, + -0.9961466804818984, + -0.0637011662751351, + 0.3506903201451076, + 0.08088475880279909, + -0.932991937344549 + ], + [ + 0.9351675767942532, + 0.03530724467465103, + 0.35244148703898226, + 0.060212604671822045, + -0.9963836043785746, + -0.059951273249156625, + 0.34905020491528094, + 0.07728590685917126, + -0.9339115820298814 + ], + [ + 0.9340234907043451, + 0.04407020803780032, + 0.3544826308523099, + 0.06918295331263856, + -0.9958885606634142, + -0.05847814729190739, + 0.35044805290286785, + 0.07914411856390684, + -0.9332322169285256 + ], + [ + 0.9258458003632961, + 0.058781368390857146, + 0.37330189482474596, + 0.08196638781720351, + -0.9955484771003408, + -0.046526777358762615, + 0.3689052252514826, + 0.07367482930615052, + -0.9265424730193765 + ], + [ + 0.9235885627622327, + 0.060261742166694415, + 0.3786194516474673, + 0.08410093057907955, + -0.995360961164234, + -0.04672890396687715, + 0.37404705614471395, + 0.07500052947311525, + -0.9243720681458447 + ], + [ + 0.9250504912378775, + 0.07097861651976156, + 0.3731536207214163, + 0.09585568051321813, + -0.9942122443010492, + -0.04851496465235501, + 0.3675503736549724, + 0.08064768613427191, + -0.9265002285737864 + ], + [ + 0.928599305304061, + 0.0688147840029722, + 0.3646475773832034, + 0.09002539155797834, + -0.995075748720587, + -0.04146906296259483, + 0.35999827647316274, + 0.07133568399326704, + -0.9302217268617008 + ], + [ + 0.9332513759037853, + 0.07500317196129822, + 0.3513066944557641, + 0.08507225964902773, + -0.9962861348755611, + -0.01329090263766178, + 0.34900512891918956, + 0.04229020750078353, + -0.9361660954860738 + ], + [ + 0.9400642421708836, + 0.082856191108499, + 0.33077798020224064, + 0.08790081577862997, + -0.9961291887558881, + -0.0002930767603364654, + 0.32947331785310535, + 0.029351165283988068, + -0.9437085577228482 + ], + [ + 0.9426640464960531, + 0.1026454484890933, + 0.3175663825850587, + 0.10710237744654416, + -0.9942420418573914, + 0.0034413585315950738, + 0.3160910884365217, + 0.030768069613121486, + -0.9482297979410356 + ], + [ + 0.9421147870763884, + 0.11977352725107339, + 0.3131677348352607, + 0.1236718814445988, + -0.9922950922502536, + 0.007464290724129822, + 0.3116488307566144, + 0.03169782430858008, + -0.9496684970146888 + ], + [ + 0.9414950536633319, + 0.1301737726615541, + 0.3108727277175316, + 0.13370884346720585, + -0.9909700944077809, + 0.010010852515972517, + 0.30936872677460914, + 0.03214126476186549, + -0.9503988268055499 + ], + [ + 0.9376911007509859, + 0.15148731022955378, + 0.31270912108830384, + 0.15397714806159576, + -0.9879303549234653, + 0.01687162397677244, + 0.3114906699200186, + 0.03232968697978877, + -0.9496990859701652 + ], + [ + 0.9373538859405792, + 0.16946655896945262, + 0.3043826176100549, + 0.17214218201955966, + -0.9849033452108555, + 0.01823375337146229, + 0.3028774697491391, + 0.03530560838619778, + -0.952375321149619 + ], + [ + 0.9365089622952735, + 0.1830594446436156, + 0.29906555011803215, + 0.18520206138030018, + -0.9824669517474777, + 0.02142160555390022, + 0.29774344661321717, + 0.03532603078171128, + -0.9539920919735614 + ], + [ + 0.9380500252718972, + 0.19356101020152747, + 0.28739569484798705, + 0.19666127722475993, + -0.980300018211711, + 0.018336202836066295, + 0.28528317883765814, + 0.03931932888393987, + -0.9576364123446839 + ], + [ + 0.9412952637889578, + 0.17846062646970004, + 0.28655720400736556, + 0.18409648607649196, + -0.9828804308559635, + 0.0073852863643862066, + 0.28296945097088616, + 0.045802439241138526, + -0.9580346686716497 + ], + [ + 0.9449671886927818, + 0.17265612082014942, + 0.27789724042782293, + 0.17755148631270545, + -0.9840817369542887, + 0.007655370740870998, + 0.2747953456705743, + 0.04210699391275735, + -0.960580303286207 + ], + [ + 0.9498859201953537, + 0.14972855485326028, + 0.2744049898893612, + 0.16360239885150604, + -0.9861216791166989, + -0.028254009734816735, + 0.26636627734129353, + 0.07173140063888762, + -0.9611990493429156 + ], + [ + 0.9514782140829396, + 0.0846486884079842, + 0.29584422873591415, + 0.1138710033484322, + -0.9900263083077708, + -0.08295362231336334, + 0.28587165428205935, + 0.11261664357143125, + -0.9516274948049495 + ], + [ + 0.9545064234689801, + -0.05495890798716879, + 0.29308191003423184, + -0.01104903989666917, + -0.9887121539116922, + -0.14941952825739907, + 0.29798558064748276, + 0.139383625796432, + -0.9443393450375889 + ], + [ + 0.9434113001446645, + -0.19127626656015534, + 0.27090313510582, + -0.1465250455262161, + -0.9732576017170017, + -0.17691820633730793, + 0.29749878956542675, + 0.12721254085536676, + -0.946208983077326 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0006704330444335938, + -0.001272648572921753, + -0.013368263840675354, + -0.044587619602680206, + -0.0006332844495773315, + 0.012113451957702637, + 1.0 + ], + [ + -0.005334317684173584, + -0.02175578474998474, + -0.012077689170837402, + -0.06546667963266373, + -0.0072002410888671875, + 0.0004620552062988281, + 1.0 + ], + [ + -0.005318731069564819, + -0.027681156992912292, + 0.006141543388366699, + -0.005858078598976135, + -0.015408322215080261, + -0.017528653144836426, + 1.0 + ], + [ + -0.005567461252212524, + -0.019591614603996277, + 0.003740444779396057, + 0.014751464128494263, + -0.00012540817260742188, + 0.05572164058685303, + 1.0 + ], + [ + -0.004674792289733887, + -0.019407927989959717, + -0.001343563199043274, + -0.015733450651168823, + -0.01200401782989502, + 0.03507643938064575, + 1.0 + ], + [ + -0.0016030967235565186, + -0.020634055137634277, + -0.001592203974723816, + -0.011330261826515198, + -0.01051628589630127, + 0.0928727388381958, + 1.0 + ], + [ + 0.0020565390586853027, + -0.02233937382698059, + 0.0025569498538970947, + -0.030078843235969543, + -0.03279203176498413, + 0.08886486291885376, + 1.0 + ], + [ + 0.0033297836780548096, + -0.027340389788150787, + -0.002947285771369934, + 0.004599034786224365, + -0.025977492332458496, + 0.1135312020778656, + 1.0 + ], + [ + 0.006705939769744873, + -0.01751287654042244, + -0.009851470589637756, + 0.02020333707332611, + 0.02270856499671936, + 0.14692433178424835, + 1.0 + ], + [ + 0.010473459959030151, + -0.012693151831626892, + -0.007590547204017639, + 0.013031750917434692, + -0.020326852798461914, + 0.10598087310791016, + 1.0 + ], + [ + 0.013574540615081787, + -0.0063379183411598206, + -0.012615427374839783, + 0.017235249280929565, + -0.04631456732749939, + 0.07759208977222443, + 1.0 + ], + [ + 0.01169741153717041, + 0.001978844404220581, + -0.016559645533561707, + 0.01576085388660431, + 0.021086126565933228, + 0.021182138472795486, + 1.0 + ], + [ + 0.009397059679031372, + 0.005635358393192291, + -0.008996434509754181, + 0.018696948885917664, + 0.006194323301315308, + 0.01169351302087307, + 1.0 + ], + [ + 0.007942438125610352, + 0.0035540051758289337, + -0.00636967271566391, + 0.009813368320465088, + -0.008735716342926025, + 0.002028603106737137, + 1.0 + ], + [ + 0.006263166666030884, + 0.005967337638139725, + -0.00015769153833389282, + 0.007394418120384216, + -0.03505632281303406, + 0.038144372403621674, + 1.0 + ], + [ + 0.0018092095851898193, + 0.0020197704434394836, + -0.0036185532808303833, + 0.007611364126205444, + -0.006236642599105835, + 0.01801074668765068, + 1.0 + ], + [ + 0.0015134811401367188, + -0.003081154078245163, + -0.00897543877363205, + 0.0006917938590049744, + 0.015929311513900757, + 0.008634746074676514, + 1.0 + ], + [ + 0.001989901065826416, + -0.0032524149864912033, + -0.009850583970546722, + 0.011007480323314667, + 0.013114959001541138, + 0.0015057176351547241, + 1.0 + ], + [ + 0.0011455416679382324, + -0.0013162046670913696, + -0.007475484162569046, + -0.0049844905734062195, + 0.014687925577163696, + 0.023391887545585632, + 1.0 + ], + [ + 0.001820296049118042, + -0.00394829548895359, + -0.004182305186986923, + 0.003910817205905914, + 0.0017507672309875488, + -0.0001166611909866333, + 0.0 + ], + [ + 0.0008415579795837402, + -0.0010206643491983414, + -0.0011974163353443146, + -0.0020371004939079285, + -0.0014920830726623535, + 0.009636595845222473, + 0.0 + ], + [ + 0.0028855502605438232, + 0.0005709920078516006, + 0.000764206051826477, + 0.00525510311126709, + -0.019781440496444702, + 0.014366336166858673, + 0.0 + ], + [ + 0.0009801089763641357, + -0.0013297367841005325, + 0.00034416839480400085, + -0.0016104727983474731, + -0.005538135766983032, + 0.0025072917342185974, + 0.0 + ], + [ + -0.0005907714366912842, + 0.0028126221150159836, + -0.0013476908206939697, + -0.005867272615432739, + 0.00699537992477417, + 0.012445159256458282, + 0.0 + ], + [ + 0.0017973482608795166, + 0.006365513429045677, + 0.001079421490430832, + 0.010289706289768219, + 0.008107602596282959, + -0.006608113646507263, + 0.0 + ], + [ + 0.00023636221885681152, + 0.01970941759645939, + 0.0007456839084625244, + 0.03139381483197212, + 0.0117567777633667, + -0.005739867687225342, + 0.0 + ], + [ + 0.0018980205059051514, + 0.016120877116918564, + -0.0008849278092384338, + 0.014051223173737526, + 0.0207635760307312, + 0.0023284107446670532, + 0.0 + ], + [ + -0.001440495252609253, + 0.015601284801959991, + 0.0018760710954666138, + -0.0013446081429719925, + 0.01413920521736145, + 0.019897542893886566, + 0.0 + ], + [ + -0.0032785236835479736, + 0.013560980558395386, + 0.0008521713316440582, + -0.0009288676083087921, + 0.004678696393966675, + 0.01739262044429779, + 0.0 + ], + [ + -0.001101374626159668, + 0.00961286574602127, + 0.0017466731369495392, + -0.00044043734669685364, + 0.002398669719696045, + 0.010549992322921753, + 0.0 + ], + [ + -0.0006498396396636963, + 0.013965718448162079, + 0.0054781474173069, + -0.0002230629324913025, + -0.0022322237491607666, + 0.021682128310203552, + 0.0 + ], + [ + -0.001472175121307373, + 0.010076090693473816, + 0.0016481541097164154, + -0.003025248646736145, + 0.009050846099853516, + 0.01886686682701111, + 0.0 + ], + [ + 0.0010667145252227783, + 0.009407013654708862, + 0.000993821769952774, + 4.136189818382263e-05, + 0.0053824782371521, + 0.013615608215332031, + 0.0 + ], + [ + -0.002822667360305786, + 0.007824838161468506, + -0.0006230585277080536, + -0.0040228962898254395, + 0.013026148080825806, + 0.011417239904403687, + 0.0 + ], + [ + 0.002024918794631958, + 0.0021367669105529785, + 0.0006800033152103424, + -0.006736699491739273, + 0.0024131834506988525, + -0.013516142964363098, + 1.0 + ], + [ + 0.001249462366104126, + 0.0030758678913116455, + 0.00586589053273201, + 0.003965463489294052, + 0.008511841297149658, + -0.0074135661125183105, + 1.0 + ], + [ + -0.0007582604885101318, + -0.005228176712989807, + 0.0007431022822856903, + -0.03068201243877411, + 0.008755713701248169, + -0.015165969729423523, + 1.0 + ], + [ + 0.00029668211936950684, + -0.01026587188243866, + 0.021772362291812897, + -0.043304331600666046, + -0.020294785499572754, + -0.05144886672496796, + 1.0 + ], + [ + -0.004488527774810791, + -0.009820446372032166, + 0.03552321344614029, + -0.028747789561748505, + -0.012665748596191406, + -0.13068662583827972, + 1.0 + ], + [ + -0.018644362688064575, + -0.012268215417861938, + 0.03111819177865982, + 0.012897968292236328, + 0.0005099177360534668, + -0.14250783622264862, + 1.0 + ], + [ + -0.02935853600502014, + -0.009801335632801056, + 0.02479293942451477, + 0.04163996875286102, + 0.04480835795402527, + -0.1405615508556366, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9650423526763916 + ], + [ + 0.6791892647743225 + ], + [ + 0.3737536668777466 + ], + [ + 0.16390947997570038 + ], + [ + 0.09624730050563812 + ], + [ + 0.09326785057783127 + ], + [ + 0.09326785057783127 + ], + [ + 0.09326785057783127 + ], + [ + 0.09289941936731339 + ], + [ + 0.09143470972776413 + ], + [ + 0.09143470972776413 + ], + [ + 0.09143470972776413 + ], + [ + 0.09143470972776413 + ], + [ + 0.09143470972776413 + ], + [ + 0.09143470972776413 + ], + [ + 0.11832001805305481 + ], + [ + 0.3034155070781708 + ], + [ + 0.5988990664482117 + ], + [ + 0.8948037624359131 + ], + [ + 1.0054124593734741 + ], + [ + 1.0008161067962646 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2801654636859894, + 0.2111974060535431, + 0.14569607377052307 + ], + [ + 0.2748311460018158, + 0.18944162130355835, + 0.13361838459968567 + ], + [ + 0.269512414932251, + 0.16176046431064606, + 0.13975992798805237 + ], + [ + 0.26394495368003845, + 0.14216884970664978, + 0.14350037276744843 + ], + [ + 0.25927016139030457, + 0.12276092171669006, + 0.14215680956840515 + ], + [ + 0.25766706466674805, + 0.10212686657905579, + 0.14056460559368134 + ], + [ + 0.25972360372543335, + 0.0797874927520752, + 0.14312155544757843 + ], + [ + 0.26305338740348816, + 0.05244710296392441, + 0.1401742696762085 + ], + [ + 0.26975932717323303, + 0.03493422642350197, + 0.13032279908657074 + ], + [ + 0.2802327871322632, + 0.022241074591875076, + 0.1227322518825531 + ], + [ + 0.29380732774734497, + 0.015903156250715256, + 0.11011682450771332 + ], + [ + 0.3055047392845154, + 0.017882000654935837, + 0.09355717897415161 + ], + [ + 0.31490179896354675, + 0.023517359048128128, + 0.08456074446439743 + ], + [ + 0.3228442370891571, + 0.027071364223957062, + 0.07819107174873352 + ], + [ + 0.329107403755188, + 0.033038701862096786, + 0.07803338021039963 + ], + [ + 0.3309166133403778, + 0.03505847230553627, + 0.07441482692956924 + ], + [ + 0.3324300944805145, + 0.03197731822729111, + 0.0654393881559372 + ], + [ + 0.33441999554634094, + 0.028724903240799904, + 0.05558880418539047 + ], + [ + 0.3355655372142792, + 0.027408698573708534, + 0.048113320022821426 + ], + [ + 0.3373858332633972, + 0.023460403084754944, + 0.0439310148358345 + ], + [ + 0.33822739124298096, + 0.022439738735556602, + 0.04273359850049019 + ], + [ + 0.3411129415035248, + 0.023010730743408203, + 0.043497804552316666 + ], + [ + 0.3420930504798889, + 0.02168099395930767, + 0.043841972947120667 + ], + [ + 0.34150227904319763, + 0.024493616074323654, + 0.0424942821264267 + ], + [ + 0.34329962730407715, + 0.03085912950336933, + 0.04357370361685753 + ], + [ + 0.34353598952293396, + 0.05056854709982872, + 0.04431938752532005 + ], + [ + 0.3454340100288391, + 0.06668942421674728, + 0.04343445971608162 + ], + [ + 0.34399351477622986, + 0.08229070901870728, + 0.04531053081154823 + ], + [ + 0.3407149910926819, + 0.09585168957710266, + 0.04616270214319229 + ], + [ + 0.3396136164665222, + 0.10546455532312393, + 0.04790937528014183 + ], + [ + 0.3389637768268585, + 0.11943027377128601, + 0.05338752269744873 + ], + [ + 0.33749160170555115, + 0.12950636446475983, + 0.055035676807165146 + ], + [ + 0.3385583162307739, + 0.1389133781194687, + 0.05602949857711792 + ], + [ + 0.33573564887046814, + 0.1467382162809372, + 0.055406440049409866 + ], + [ + 0.3377605676651001, + 0.14887498319149017, + 0.05608644336462021 + ], + [ + 0.3390100300312042, + 0.15195085108280182, + 0.06195233389735222 + ], + [ + 0.3382517695426941, + 0.146722674369812, + 0.06269543617963791 + ], + [ + 0.3385484516620636, + 0.13645680248737335, + 0.0844677984714508 + ], + [ + 0.3340599238872528, + 0.1266363561153412, + 0.1199910119175911 + ], + [ + 0.31541556119918823, + 0.11436814069747925, + 0.15110920369625092 + ], + [ + 0.2860570251941681, + 0.10456680506467819, + 0.17590214312076569 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.7057454386464402, + -0.7012307510516165, + 0.1009891558996786, + -0.6703395844151316, + -0.7070784028444843, + -0.22513323565622623, + 0.22927759898405348, + 0.09118972535587028, + -0.9690800878119561 + ], + [ + 0.7048393116246086, + -0.7068216942824904, + 0.060038631564836534, + -0.6688596956065188, + -0.6903972543220875, + -0.27564168555876706, + 0.23628002958714772, + 0.15412567507119965, + -0.9593836687697701 + ], + [ + 0.6903287232099853, + -0.7208773413646337, + 0.061498883065707735, + -0.6784784776647947, + -0.6745479044622249, + -0.2909503049169813, + 0.2512234249765235, + 0.15912568395038895, + -0.9547595547834997 + ], + [ + 0.7270200016701078, + -0.6809856946060883, + 0.0877519282606367, + -0.6389582960162786, + -0.7177936098122659, + -0.27659470288610033, + 0.25134480922344504, + 0.14502005880063645, + -0.9569717704414743 + ], + [ + 0.7465919453984621, + -0.6583299749660748, + 0.09592763484683095, + -0.6111140246318435, + -0.7356264261090996, + -0.2922215086338172, + 0.26294508165092245, + 0.15954750161353431, + -0.9515274450926094 + ], + [ + 0.7977115462885275, + -0.590106001655896, + 0.12422236403988648, + -0.5376666901923989, + -0.7892628794459711, + -0.2966119306201377, + 0.2730765811553919, + 0.16982053450141443, + -0.9468844527639771 + ], + [ + 0.8339888742968584, + -0.5276743645618841, + 0.161314359352386, + -0.460174638399224, + -0.8264612223840437, + -0.32434726770795475, + 0.3044698010036502, + 0.19626923569343224, + -0.9320818244108795 + ], + [ + 0.8731421331130944, + -0.4343307136174678, + 0.22131345777258257, + -0.35959763728219973, + -0.8804172040604414, + -0.30911985710312206, + 0.3291084238420144, + 0.19032177490486035, + -0.9249136539987335 + ], + [ + 0.9233944504019476, + -0.2915668373502015, + 0.24966270911869476, + -0.22964334855163884, + -0.9407924075812409, + -0.2493463019647223, + 0.3075818938638543, + 0.17291161093198198, + -0.9356788729965165 + ], + [ + 0.9361186011546069, + -0.19004119181200266, + 0.29591605226316414, + -0.12979025936277275, + -0.9687143544684761, + -0.21153483878847895, + 0.32685846041809324, + 0.15961467620929232, + -0.9314970219983081 + ], + [ + 0.9272455446175174, + -0.11557638579137061, + 0.3561710249786861, + -0.055866170394014814, + -0.9832279256509449, + -0.17361398914156412, + 0.3702629754545686, + 0.14108488674391917, + -0.9181505234655073 + ], + [ + 0.9358153605697843, + -0.08636493365766992, + 0.3417465569043102, + -0.03651036053242924, + -0.9880541153994686, + -0.14971993392987262, + 0.35059464413398655, + 0.1276329239517753, + -0.9277894331302139 + ], + [ + 0.9383312181122012, + -0.06768730556469793, + 0.33904712619555344, + -0.02562393638157088, + -0.9915664974074384, + -0.1270405254375829, + 0.34478680224217617, + 0.11051836899147198, + -0.9321522145632004 + ], + [ + 0.9353345035717713, + -0.06322663463561877, + 0.3480686126337769, + -0.023643367283340603, + -0.9928715996751398, + -0.11682027966938875, + 0.3529735933630919, + 0.10103652424338001, + -0.9301619553374367 + ], + [ + 0.9226105643004822, + -0.025989843326708013, + 0.38485617402479005, + 0.01187629135860585, + -0.9953405698488521, + -0.09568753166702769, + 0.3855498675200289, + 0.09285299164171339, + -0.9180030618677002 + ], + [ + 0.9198257273051689, + -0.005652183588020927, + 0.3922864823164367, + 0.028415572857310147, + -0.9963103129764537, + -0.08098342716847354, + 0.39129680117106447, + 0.08563768491410698, + -0.9162712482206588 + ], + [ + 0.9256573760754359, + 0.004580180557657826, + 0.3783350949399198, + 0.036598504006968215, + -0.9963217425512504, + -0.07748248075592004, + 0.3765885973069163, + 0.08556872831647577, + -0.9224201976933886 + ], + [ + 0.9304562655002997, + 0.011236472920274182, + 0.36623063725956595, + 0.0381915209030204, + -0.9970592891329052, + -0.06643930828131643, + 0.36440711535636894, + 0.07580577570408202, + -0.9281492006393974 + ], + [ + 0.9345492747717691, + 0.03390349183060029, + 0.3542149153624853, + 0.06028227251922538, + -0.9961466804818984, + -0.0637011662751351, + 0.3506903201451076, + 0.08088475880279909, + -0.932991937344549 + ], + [ + 0.9351675767942532, + 0.03530724467465103, + 0.35244148703898226, + 0.060212604671822045, + -0.9963836043785746, + -0.059951273249156625, + 0.34905020491528094, + 0.07728590685917126, + -0.9339115820298814 + ], + [ + 0.9340234907043451, + 0.04407020803780032, + 0.3544826308523099, + 0.06918295331263856, + -0.9958885606634142, + -0.05847814729190739, + 0.35044805290286785, + 0.07914411856390684, + -0.9332322169285256 + ], + [ + 0.9258458003632961, + 0.058781368390857146, + 0.37330189482474596, + 0.08196638781720351, + -0.9955484771003408, + -0.046526777358762615, + 0.3689052252514826, + 0.07367482930615052, + -0.9265424730193765 + ], + [ + 0.9235885627622327, + 0.060261742166694415, + 0.3786194516474673, + 0.08410093057907955, + -0.995360961164234, + -0.04672890396687715, + 0.37404705614471395, + 0.07500052947311525, + -0.9243720681458447 + ], + [ + 0.9250504912378775, + 0.07097861651976156, + 0.3731536207214163, + 0.09585568051321813, + -0.9942122443010492, + -0.04851496465235501, + 0.3675503736549724, + 0.08064768613427191, + -0.9265002285737864 + ], + [ + 0.928599305304061, + 0.0688147840029722, + 0.3646475773832034, + 0.09002539155797834, + -0.995075748720587, + -0.04146906296259483, + 0.35999827647316274, + 0.07133568399326704, + -0.9302217268617008 + ], + [ + 0.9332513759037853, + 0.07500317196129822, + 0.3513066944557641, + 0.08507225964902773, + -0.9962861348755611, + -0.01329090263766178, + 0.34900512891918956, + 0.04229020750078353, + -0.9361660954860738 + ], + [ + 0.9400642421708836, + 0.082856191108499, + 0.33077798020224064, + 0.08790081577862997, + -0.9961291887558881, + -0.0002930767603364654, + 0.32947331785310535, + 0.029351165283988068, + -0.9437085577228482 + ], + [ + 0.9426640464960531, + 0.1026454484890933, + 0.3175663825850587, + 0.10710237744654416, + -0.9942420418573914, + 0.0034413585315950738, + 0.3160910884365217, + 0.030768069613121486, + -0.9482297979410356 + ], + [ + 0.9421147870763884, + 0.11977352725107339, + 0.3131677348352607, + 0.1236718814445988, + -0.9922950922502536, + 0.007464290724129822, + 0.3116488307566144, + 0.03169782430858008, + -0.9496684970146888 + ], + [ + 0.9414950536633319, + 0.1301737726615541, + 0.3108727277175316, + 0.13370884346720585, + -0.9909700944077809, + 0.010010852515972517, + 0.30936872677460914, + 0.03214126476186549, + -0.9503988268055499 + ], + [ + 0.9376911007509859, + 0.15148731022955378, + 0.31270912108830384, + 0.15397714806159576, + -0.9879303549234653, + 0.01687162397677244, + 0.3114906699200186, + 0.03232968697978877, + -0.9496990859701652 + ], + [ + 0.9373538859405792, + 0.16946655896945262, + 0.3043826176100549, + 0.17214218201955966, + -0.9849033452108555, + 0.01823375337146229, + 0.3028774697491391, + 0.03530560838619778, + -0.952375321149619 + ], + [ + 0.9365089622952735, + 0.1830594446436156, + 0.29906555011803215, + 0.18520206138030018, + -0.9824669517474777, + 0.02142160555390022, + 0.29774344661321717, + 0.03532603078171128, + -0.9539920919735614 + ], + [ + 0.9380500252718972, + 0.19356101020152747, + 0.28739569484798705, + 0.19666127722475993, + -0.980300018211711, + 0.018336202836066295, + 0.28528317883765814, + 0.03931932888393987, + -0.9576364123446839 + ], + [ + 0.9412952637889578, + 0.17846062646970004, + 0.28655720400736556, + 0.18409648607649196, + -0.9828804308559635, + 0.0073852863643862066, + 0.28296945097088616, + 0.045802439241138526, + -0.9580346686716497 + ], + [ + 0.9449671886927818, + 0.17265612082014942, + 0.27789724042782293, + 0.17755148631270545, + -0.9840817369542887, + 0.007655370740870998, + 0.2747953456705743, + 0.04210699391275735, + -0.960580303286207 + ], + [ + 0.9498859201953537, + 0.14972855485326028, + 0.2744049898893612, + 0.16360239885150604, + -0.9861216791166989, + -0.028254009734816735, + 0.26636627734129353, + 0.07173140063888762, + -0.9611990493429156 + ], + [ + 0.9514782140829396, + 0.0846486884079842, + 0.29584422873591415, + 0.1138710033484322, + -0.9900263083077708, + -0.08295362231336334, + 0.28587165428205935, + 0.11261664357143125, + -0.9516274948049495 + ], + [ + 0.9545064234689801, + -0.05495890798716879, + 0.29308191003423184, + -0.01104903989666917, + -0.9887121539116922, + -0.14941952825739907, + 0.29798558064748276, + 0.139383625796432, + -0.9443393450375889 + ], + [ + 0.9434113001446645, + -0.19127626656015534, + 0.27090313510582, + -0.1465250455262161, + -0.9732576017170017, + -0.17691820633730793, + 0.29749878956542675, + 0.12721254085536676, + -0.946208983077326 + ], + [ + 0.9254135642359612, + -0.31153996064271267, + 0.21576048769603579, + -0.2808426341086618, + -0.9460700635474922, + -0.1614894724932619, + 0.25443496221038975, + 0.08884980462545054, + -0.9629997727014356 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006240.json b/json/chunk-0006/episode_0006240.json new file mode 100644 index 0000000000000000000000000000000000000000..76497cf454155cc093c5b429ae1f58cff7b74e9c --- /dev/null +++ b/json/chunk-0006/episode_0006240.json @@ -0,0 +1,1342 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 21, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut the white object in the drawer." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006240.mp4", + "start": 0, + "end": 21, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.30135577917099, + 0.1858999878168106, + 0.09382542222738266, + 0.09616585075855255, + -0.14699257910251617, + 0.3693295419216156, + 0.0, + 1.0008161067962646 + ], + [ + 0.3002067506313324, + 0.18378518521785736, + 0.08554091304540634, + 0.08978135138750076, + -0.12058774381875992, + 0.3755287826061249, + 0.0, + 1.0008161067962646 + ], + [ + 0.2991642355918884, + 0.14565791189670563, + 0.0995672196149826, + 0.10154297947883606, + -0.09855405241250992, + 0.3403698205947876, + 0.0, + 1.0008161067962646 + ], + [ + 0.30278873443603516, + 0.09996336698532104, + 0.12788261473178864, + 0.08210738003253937, + -0.1507096290588379, + 0.26437702775001526, + 0.0, + 1.0001531839370728 + ], + [ + 0.30039939284324646, + 0.05814843624830246, + 0.14686302840709686, + 0.03426744416356087, + -0.19572192430496216, + 0.1881375014781952, + 0.0, + 1.0008161067962646 + ], + [ + 0.300409734249115, + 0.009351768530905247, + 0.15324130654335022, + 0.002174337161704898, + -0.18961270153522491, + 0.10706811398267746, + 0.0, + 1.0001531839370728 + ], + [ + 0.3011420965194702, + -0.02833368070423603, + 0.15575075149536133, + -0.02130112797021866, + -0.1970934420824051, + 0.06581371277570724, + 0.0, + 1.0001531839370728 + ], + [ + 0.3034667372703552, + -0.04857203736901283, + 0.14781704545021057, + -0.01811629720032215, + -0.1815960854291916, + 0.05349303409457207, + 0.0, + 1.0001531839370728 + ], + [ + 0.3073759973049164, + -0.055855896323919296, + 0.1353660225868225, + -0.004572135861963034, + -0.1688942015171051, + 0.060194119811058044, + 0.0, + 1.0008161067962646 + ], + [ + 0.3122706413269043, + -0.057251330465078354, + 0.12141424417495728, + 0.001258646254427731, + -0.14921243488788605, + 0.07799585163593292, + 0.0, + 1.0001531839370728 + ], + [ + 0.3166915476322174, + -0.05860833078622818, + 0.11208146065473557, + 0.018810078501701355, + -0.14094394445419312, + 0.07897911220788956, + 0.0, + 0.9730880856513977 + ], + [ + 0.3194587826728821, + -0.05958897992968559, + 0.11199534684419632, + 0.016618605703115463, + -0.15719185769557953, + 0.06546581536531448, + 0.0, + 0.875784695148468 + ], + [ + 0.32102441787719727, + -0.04819845035672188, + 0.11228551715612411, + 0.021386567503213882, + -0.15380419790744781, + 0.07605642825365067, + 0.0, + 0.8749077320098877 + ], + [ + 0.323626846075058, + -0.016579702496528625, + 0.12022559344768524, + 0.030643649399280548, + -0.1747429072856903, + 0.11785081028938293, + 0.0, + 0.8749077320098877 + ], + [ + 0.32216566801071167, + 0.017281658947467804, + 0.1281249225139618, + 0.024173898622393608, + -0.21096254885196686, + 0.17994564771652222, + 0.0, + 0.8749077320098877 + ], + [ + 0.3209250569343567, + 0.04207504168152809, + 0.11981481313705444, + 0.03359025716781616, + -0.18789038062095642, + 0.21042755246162415, + 0.0, + 0.8749077320098877 + ], + [ + 0.3212859630584717, + 0.0608806312084198, + 0.0983070507645607, + 0.028087986633181572, + -0.13485842943191528, + 0.24478526413440704, + 0.0, + 0.8749077320098877 + ], + [ + 0.3262218236923218, + 0.06128772348165512, + 0.08295946568250656, + 0.0019261600682511926, + -0.08614835888147354, + 0.23716425895690918, + 0.0, + 0.8956556916236877 + ], + [ + 0.3291836380958557, + 0.06128691881895065, + 0.08504080772399902, + -0.026353469118475914, + -0.0834471583366394, + 0.23849189281463623, + 0.0, + 0.9515043497085571 + ], + [ + 0.3285216689109802, + 0.06513294577598572, + 0.08613785356283188, + -0.04165985807776451, + -0.08102325350046158, + 0.23258668184280396, + 0.0, + 1.0014774799346924 + ], + [ + 0.3277958929538727, + 0.06899944692850113, + 0.10435748845338821, + -0.03058421052992344, + -0.13634973764419556, + 0.19246600568294525, + 0.0, + 1.0014774799346924 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 0.9730880856513977 + ], + [ + 0.875784695148468 + ], + [ + 0.8749077320098877 + ], + [ + 0.8749077320098877 + ], + [ + 0.8749077320098877 + ], + [ + 0.8749077320098877 + ], + [ + 0.8749077320098877 + ], + [ + 0.8956556916236877 + ], + [ + 0.9515043497085571 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.30135577917099, + 0.1858999878168106, + 0.09382542222738266 + ], + [ + 0.3002067506313324, + 0.18378518521785736, + 0.08554091304540634 + ], + [ + 0.2991642355918884, + 0.14565791189670563, + 0.0995672196149826 + ], + [ + 0.30278873443603516, + 0.09996336698532104, + 0.12788261473178864 + ], + [ + 0.30039939284324646, + 0.05814843624830246, + 0.14686302840709686 + ], + [ + 0.300409734249115, + 0.009351768530905247, + 0.15324130654335022 + ], + [ + 0.3011420965194702, + -0.02833368070423603, + 0.15575075149536133 + ], + [ + 0.3034667372703552, + -0.04857203736901283, + 0.14781704545021057 + ], + [ + 0.3073759973049164, + -0.055855896323919296, + 0.1353660225868225 + ], + [ + 0.3122706413269043, + -0.057251330465078354, + 0.12141424417495728 + ], + [ + 0.3166915476322174, + -0.05860833078622818, + 0.11208146065473557 + ], + [ + 0.3194587826728821, + -0.05958897992968559, + 0.11199534684419632 + ], + [ + 0.32102441787719727, + -0.04819845035672188, + 0.11228551715612411 + ], + [ + 0.323626846075058, + -0.016579702496528625, + 0.12022559344768524 + ], + [ + 0.32216566801071167, + 0.017281658947467804, + 0.1281249225139618 + ], + [ + 0.3209250569343567, + 0.04207504168152809, + 0.11981481313705444 + ], + [ + 0.3212859630584717, + 0.0608806312084198, + 0.0983070507645607 + ], + [ + 0.3262218236923218, + 0.06128772348165512, + 0.08295946568250656 + ], + [ + 0.3291836380958557, + 0.06128691881895065, + 0.08504080772399902 + ], + [ + 0.3285216689109802, + 0.06513294577598572, + 0.08613785356283188 + ], + [ + 0.3277958929538727, + 0.06899944692850113, + 0.10435748845338821 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9225127807856577, + 0.37243719062423, + 0.10129515450920733, + 0.35709735583513513, + -0.9231841160076973, + 0.14217090562643775, + 0.14646381035145867, + -0.094982245662111, + -0.9846454820219888 + ], + [ + 0.9235579713793238, + 0.37532150431842765, + 0.07857761702839292, + 0.36410110844220717, + -0.9226109938404579, + 0.1273551603818191, + 0.12029570371739942, + -0.08900967610813616, + -0.9887397135880912 + ], + [ + 0.9380571325899395, + 0.34151802767851014, + 0.05843160760855802, + 0.3322157745652994, + -0.9344460033583674, + 0.12823161052389428, + 0.0983945889117807, + -0.10087667509466147, + -0.990021414563709 + ], + [ + 0.954314095856958, + 0.2723135668592927, + 0.12300377129618904, + 0.25834600882118636, + -0.9587859321748075, + 0.11826612359356341, + 0.1501397554776187, + -0.0810854954233743, + -0.9853340531297321 + ], + [ + 0.9635987106056255, + 0.19346506424184517, + 0.18452315257732504, + 0.18345873009135794, + -0.9805314193245456, + 0.07000735726092441, + 0.19447472656477072, + -0.0336066159452442, + -0.9803316663722879 + ], + [ + 0.9764536202145003, + 0.1072708834535943, + 0.18716646369764528, + 0.1049483824194604, + -0.9942275382311974, + 0.022303346167603644, + 0.18847855208891878, + -0.002135365500015248, + -0.9820749847219643 + ], + [ + 0.9785168538366067, + 0.06158945279189241, + 0.19675239785706367, + 0.06449296997703531, + -0.9978829921490829, + -0.008377995173947326, + 0.19581987534785694, + 0.020887155966974526, + -0.9804174127045894 + ], + [ + 0.9821498027355743, + 0.05019181410693475, + 0.18128029893821154, + 0.0525883430521829, + -0.9985806532069931, + -0.008434762339323169, + 0.1805996433039068, + 0.01781743071685264, + -0.9833952959014761 + ], + [ + 0.9839858967690008, + 0.05939000042634678, + 0.16806124719596555, + 0.05930180564736503, + -0.9982246812317331, + 0.005548119209848478, + 0.16809238771183854, + 0.004507064361984845, + -0.9857609424014372 + ], + [ + 0.9858821093220308, + 0.07810327525191205, + 0.14810923304665158, + 0.0770510209812314, + -0.9969444965570214, + 0.012837871724584166, + 0.14865936460409457, + -0.0012446604320470525, + -0.9888876802427643 + ], + [ + 0.9869975158730512, + 0.08151707800805263, + 0.13853111438754595, + 0.07811467377428, + -0.9964979528876983, + 0.029831654861318505, + 0.14047776123488048, + -0.018622456434532978, + -0.9899086840283704 + ], + [ + 0.9855550679297794, + 0.06800590238084944, + 0.15510127439609914, + 0.06461249732514712, + -0.9975499045790777, + 0.02682187658760466, + 0.1565453073948099, + -0.016412955725256008, + -0.9875343951564548 + ], + [ + 0.985338661971252, + 0.07923241740062095, + 0.15109581482475523, + 0.07508617578411703, + -0.996632149587453, + 0.03296095591467795, + 0.1531985229394188, + -0.021132497286086228, + -0.9879694479727772 + ], + [ + 0.9779405274590884, + 0.12281276652349264, + 0.16896552645994445, + 0.11578763151344619, + -0.9919710978319562, + 0.05085828796341918, + 0.1738549658236615, + -0.030172262840392868, + -0.9843089379933232 + ], + [ + 0.962041203566684, + 0.18390363055286058, + 0.20163377026044738, + 0.17500816468287628, + -0.9826600685953655, + 0.061248117379088154, + 0.2094012056658155, + -0.023635656488201887, + -0.9775441119499797 + ], + [ + 0.9607303835476865, + 0.21489487726895068, + 0.1755486310168151, + 0.2052018849695722, + -0.97607974143556, + 0.07183679255106513, + 0.18678682109091563, + -0.03299287927194203, + -0.9818462982484057 + ], + [ + 0.9613804326163519, + 0.24591577492021324, + 0.1235843656284542, + 0.24014756707021098, + -0.968891615084496, + 0.0598179258184006, + 0.13445002719469767, + -0.02782929866791812, + -0.9905295151195632 + ], + [ + 0.968403463262761, + 0.2351078667389346, + 0.08318066685328877, + 0.23407591545342396, + -0.9719673905928964, + 0.022087494848390034, + 0.08604183950458029, + -0.0019190157642694529, + -0.9962896763658473 + ], + [ + 0.968314148480949, + 0.2340212949969714, + 0.08718797703557035, + 0.23541544071871492, + -0.9718767991489073, + -0.005920941419026033, + 0.08335034566711688, + 0.02625872738757177, + -0.996174281495541 + ], + [ + 0.9698811794445271, + 0.2270153474113074, + 0.0882866343169577, + 0.22973916290997193, + -0.9730060914639819, + -0.02188750783918539, + 0.0809346327891725, + 0.04151117938228713, + -0.9958546114777865 + ], + [ + 0.9724256627670171, + 0.18711064989144957, + 0.13920465182359024, + 0.18950463256230257, + -0.9818715698272259, + -0.004026735954323013, + 0.1359276448319263, + 0.03029562777396306, + -0.9902554469975045 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0011490285396575928, + -0.002114802598953247, + -0.008284509181976318, + -0.006384499371051788, + 0.026404835283756256, + 0.006199240684509277, + 1.0 + ], + [ + -0.0010425150394439697, + -0.03812727332115173, + 0.014026306569576263, + 0.011761628091335297, + 0.02203369140625, + -0.03515896201133728, + 1.0 + ], + [ + 0.0036244988441467285, + -0.04569454491138458, + 0.02831539511680603, + -0.019435599446296692, + -0.05215557664632797, + -0.07599279284477234, + 1.0 + ], + [ + -0.0023893415927886963, + -0.041814930737018585, + 0.018980413675308228, + -0.0478399358689785, + -0.04501229524612427, + -0.07623952627182007, + 1.0 + ], + [ + 1.0341405868530273e-05, + -0.04879666864871979, + 0.006378278136253357, + -0.0320931077003479, + 0.006109222769737244, + -0.08106938749551773, + 1.0 + ], + [ + 0.0007323622703552246, + -0.03768545016646385, + 0.0025094449520111084, + -0.023475464433431625, + -0.007480740547180176, + -0.041254401206970215, + 1.0 + ], + [ + 0.0023246407508850098, + -0.020238356664776802, + -0.007933706045150757, + 0.0031848307698965073, + 0.015497356653213501, + -0.012320678681135178, + 1.0 + ], + [ + 0.003909260034561157, + -0.007283858954906464, + -0.012451022863388062, + 0.01354416087269783, + 0.012701883912086487, + 0.006701085716485977, + 1.0 + ], + [ + 0.004894644021987915, + -0.0013954341411590576, + -0.013951778411865234, + 0.005830781999975443, + 0.019681766629219055, + 0.017801731824874878, + 1.0 + ], + [ + 0.00442090630531311, + -0.001357000321149826, + -0.00933278352022171, + 0.01755143143236637, + 0.008268490433692932, + 0.0009832605719566345, + 0.0 + ], + [ + 0.002767235040664673, + -0.0009806491434574127, + -8.61138105392456e-05, + -0.0021914727985858917, + -0.016247913241386414, + -0.013513296842575073, + 0.0 + ], + [ + 0.0015656352043151855, + 0.011390529572963715, + 0.0002901703119277954, + 0.004767961800098419, + 0.003387659788131714, + 0.010590612888336182, + 0.0 + ], + [ + 0.0026024281978607178, + 0.03161874786019325, + 0.007940076291561127, + 0.009257081896066666, + -0.020938709378242493, + 0.04179438203573227, + 0.0 + ], + [ + -0.0014611780643463135, + 0.03386136144399643, + 0.00789932906627655, + -0.00646975077688694, + -0.03621964156627655, + 0.06209483742713928, + 0.0 + ], + [ + -0.0012406110763549805, + 0.024793382734060287, + -0.008310109376907349, + 0.009416358545422554, + 0.023072168231010437, + 0.03048190474510193, + 0.0 + ], + [ + 0.00036090612411499023, + 0.01880558952689171, + -0.021507762372493744, + -0.00550227053463459, + 0.05303195118904114, + 0.0343577116727829, + 0.0 + ], + [ + 0.004935860633850098, + 0.00040709227323532104, + -0.015347585082054138, + -0.02616182714700699, + 0.04871007055044174, + -0.007621005177497864, + 1.0 + ], + [ + 0.0029618144035339355, + -8.046627044677734e-07, + 0.002081342041492462, + -0.028279628604650497, + 0.002701200544834137, + 0.0013276338577270508, + 1.0 + ], + [ + -0.0006619691848754883, + 0.0038460269570350647, + 0.0010970458388328552, + -0.015306388959288597, + 0.002423904836177826, + -0.005905210971832275, + 1.0 + ], + [ + -0.0007257759571075439, + 0.0038665011525154114, + 0.018219634890556335, + 0.011075647547841072, + -0.05532648414373398, + -0.040120676159858704, + 1.0 + ], + [ + -0.004748553037643433, + 0.0019735917448997498, + 0.01818094402551651, + 0.02807406522333622, + -0.053059399127960205, + -0.0405532568693161, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 0.9730880856513977 + ], + [ + 0.875784695148468 + ], + [ + 0.8749077320098877 + ], + [ + 0.8749077320098877 + ], + [ + 0.8749077320098877 + ], + [ + 0.8749077320098877 + ], + [ + 0.8749077320098877 + ], + [ + 0.8956556916236877 + ], + [ + 0.9515043497085571 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3002067506313324, + 0.18378518521785736, + 0.08554091304540634 + ], + [ + 0.2991642355918884, + 0.14565791189670563, + 0.0995672196149826 + ], + [ + 0.30278873443603516, + 0.09996336698532104, + 0.12788261473178864 + ], + [ + 0.30039939284324646, + 0.05814843624830246, + 0.14686302840709686 + ], + [ + 0.300409734249115, + 0.009351768530905247, + 0.15324130654335022 + ], + [ + 0.3011420965194702, + -0.02833368070423603, + 0.15575075149536133 + ], + [ + 0.3034667372703552, + -0.04857203736901283, + 0.14781704545021057 + ], + [ + 0.3073759973049164, + -0.055855896323919296, + 0.1353660225868225 + ], + [ + 0.3122706413269043, + -0.057251330465078354, + 0.12141424417495728 + ], + [ + 0.3166915476322174, + -0.05860833078622818, + 0.11208146065473557 + ], + [ + 0.3194587826728821, + -0.05958897992968559, + 0.11199534684419632 + ], + [ + 0.32102441787719727, + -0.04819845035672188, + 0.11228551715612411 + ], + [ + 0.323626846075058, + -0.016579702496528625, + 0.12022559344768524 + ], + [ + 0.32216566801071167, + 0.017281658947467804, + 0.1281249225139618 + ], + [ + 0.3209250569343567, + 0.04207504168152809, + 0.11981481313705444 + ], + [ + 0.3212859630584717, + 0.0608806312084198, + 0.0983070507645607 + ], + [ + 0.3262218236923218, + 0.06128772348165512, + 0.08295946568250656 + ], + [ + 0.3291836380958557, + 0.06128691881895065, + 0.08504080772399902 + ], + [ + 0.3285216689109802, + 0.06513294577598572, + 0.08613785356283188 + ], + [ + 0.3277958929538727, + 0.06899944692850113, + 0.10435748845338821 + ], + [ + 0.32304733991622925, + 0.07097303867340088, + 0.12253843247890472 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9235579713793238, + 0.37532150431842765, + 0.07857761702839292, + 0.36410110844220717, + -0.9226109938404579, + 0.1273551603818191, + 0.12029570371739942, + -0.08900967610813616, + -0.9887397135880912 + ], + [ + 0.9380571325899395, + 0.34151802767851014, + 0.05843160760855802, + 0.3322157745652994, + -0.9344460033583674, + 0.12823161052389428, + 0.0983945889117807, + -0.10087667509466147, + -0.990021414563709 + ], + [ + 0.954314095856958, + 0.2723135668592927, + 0.12300377129618904, + 0.25834600882118636, + -0.9587859321748075, + 0.11826612359356341, + 0.1501397554776187, + -0.0810854954233743, + -0.9853340531297321 + ], + [ + 0.9635987106056255, + 0.19346506424184517, + 0.18452315257732504, + 0.18345873009135794, + -0.9805314193245456, + 0.07000735726092441, + 0.19447472656477072, + -0.0336066159452442, + -0.9803316663722879 + ], + [ + 0.9764536202145003, + 0.1072708834535943, + 0.18716646369764528, + 0.1049483824194604, + -0.9942275382311974, + 0.022303346167603644, + 0.18847855208891878, + -0.002135365500015248, + -0.9820749847219643 + ], + [ + 0.9785168538366067, + 0.06158945279189241, + 0.19675239785706367, + 0.06449296997703531, + -0.9978829921490829, + -0.008377995173947326, + 0.19581987534785694, + 0.020887155966974526, + -0.9804174127045894 + ], + [ + 0.9821498027355743, + 0.05019181410693475, + 0.18128029893821154, + 0.0525883430521829, + -0.9985806532069931, + -0.008434762339323169, + 0.1805996433039068, + 0.01781743071685264, + -0.9833952959014761 + ], + [ + 0.9839858967690008, + 0.05939000042634678, + 0.16806124719596555, + 0.05930180564736503, + -0.9982246812317331, + 0.005548119209848478, + 0.16809238771183854, + 0.004507064361984845, + -0.9857609424014372 + ], + [ + 0.9858821093220308, + 0.07810327525191205, + 0.14810923304665158, + 0.0770510209812314, + -0.9969444965570214, + 0.012837871724584166, + 0.14865936460409457, + -0.0012446604320470525, + -0.9888876802427643 + ], + [ + 0.9869975158730512, + 0.08151707800805263, + 0.13853111438754595, + 0.07811467377428, + -0.9964979528876983, + 0.029831654861318505, + 0.14047776123488048, + -0.018622456434532978, + -0.9899086840283704 + ], + [ + 0.9855550679297794, + 0.06800590238084944, + 0.15510127439609914, + 0.06461249732514712, + -0.9975499045790777, + 0.02682187658760466, + 0.1565453073948099, + -0.016412955725256008, + -0.9875343951564548 + ], + [ + 0.985338661971252, + 0.07923241740062095, + 0.15109581482475523, + 0.07508617578411703, + -0.996632149587453, + 0.03296095591467795, + 0.1531985229394188, + -0.021132497286086228, + -0.9879694479727772 + ], + [ + 0.9779405274590884, + 0.12281276652349264, + 0.16896552645994445, + 0.11578763151344619, + -0.9919710978319562, + 0.05085828796341918, + 0.1738549658236615, + -0.030172262840392868, + -0.9843089379933232 + ], + [ + 0.962041203566684, + 0.18390363055286058, + 0.20163377026044738, + 0.17500816468287628, + -0.9826600685953655, + 0.061248117379088154, + 0.2094012056658155, + -0.023635656488201887, + -0.9775441119499797 + ], + [ + 0.9607303835476865, + 0.21489487726895068, + 0.1755486310168151, + 0.2052018849695722, + -0.97607974143556, + 0.07183679255106513, + 0.18678682109091563, + -0.03299287927194203, + -0.9818462982484057 + ], + [ + 0.9613804326163519, + 0.24591577492021324, + 0.1235843656284542, + 0.24014756707021098, + -0.968891615084496, + 0.0598179258184006, + 0.13445002719469767, + -0.02782929866791812, + -0.9905295151195632 + ], + [ + 0.968403463262761, + 0.2351078667389346, + 0.08318066685328877, + 0.23407591545342396, + -0.9719673905928964, + 0.022087494848390034, + 0.08604183950458029, + -0.0019190157642694529, + -0.9962896763658473 + ], + [ + 0.968314148480949, + 0.2340212949969714, + 0.08718797703557035, + 0.23541544071871492, + -0.9718767991489073, + -0.005920941419026033, + 0.08335034566711688, + 0.02625872738757177, + -0.996174281495541 + ], + [ + 0.9698811794445271, + 0.2270153474113074, + 0.0882866343169577, + 0.22973916290997193, + -0.9730060914639819, + -0.02188750783918539, + 0.0809346327891725, + 0.04151117938228713, + -0.9958546114777865 + ], + [ + 0.9724256627670171, + 0.18711064989144957, + 0.13920465182359024, + 0.18950463256230257, + -0.9818715698272259, + -0.004026735954323013, + 0.1359276448319263, + 0.03029562777396306, + -0.9902554469975045 + ], + [ + 0.9708050515037809, + 0.1508614885272131, + 0.18648957947857053, + 0.14862270608173284, + -0.9885518366888507, + 0.026010717330401483, + 0.1882786318509973, + 0.002465250180558841, + -0.98211255939931 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006242.json b/json/chunk-0006/episode_0006242.json new file mode 100644 index 0000000000000000000000000000000000000000..8d223c20780192e91c2379ea268c23bb05599ad3 --- /dev/null +++ b/json/chunk-0006/episode_0006242.json @@ -0,0 +1,1582 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 25, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the blue spoon to the lower left side of the table." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006242.mp4", + "start": 0, + "end": 25, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.286085307598114, + -0.079868383705616, + 0.07559368014335632, + -0.1075287014245987, + -0.09834034740924835, + 0.967766523361206, + 0.0, + 1.0001531839370728 + ], + [ + 0.2843613922595978, + -0.07882650196552277, + 0.06746510416269302, + -0.07750358432531357, + -0.08989883214235306, + 0.9606006145477295, + 0.0, + 1.0001531839370728 + ], + [ + 0.2984406054019928, + -0.07880755513906479, + 0.059719644486904144, + -0.040796663612127304, + -0.09276788681745529, + 0.8561997413635254, + 0.0, + 1.0001531839370728 + ], + [ + 0.332384318113327, + -0.08148076385259628, + 0.06002342328429222, + -0.04302080348134041, + -0.10911569744348526, + 0.7496142983436584, + 0.0, + 1.0001531839370728 + ], + [ + 0.35809674859046936, + -0.07801777124404907, + 0.06767259538173676, + -0.08950331062078476, + -0.1301591992378235, + 0.6937557458877563, + 0.0, + 1.0001531839370728 + ], + [ + 0.38284847140312195, + -0.07304812967777252, + 0.05858204513788223, + -0.08756529539823532, + -0.12569403648376465, + 0.6352546811103821, + 0.0, + 1.0001531839370728 + ], + [ + 0.40161582827568054, + -0.07128875702619553, + 0.04577180743217468, + -0.08976608514785767, + -0.12096444517374039, + 0.6014529466629028, + 0.0, + 1.0001531839370728 + ], + [ + 0.4118823707103729, + -0.07363663613796234, + 0.0354449562728405, + -0.08127522468566895, + -0.11979830265045166, + 0.5725550651550293, + 0.0, + 0.9620732665061951 + ], + [ + 0.41396111249923706, + -0.07619857043027878, + 0.029293417930603027, + -0.07825540751218796, + -0.13158535957336426, + 0.5683879852294922, + 0.0, + 0.6811928749084473 + ], + [ + 0.4145137667655945, + -0.07999589294195175, + 0.02900473028421402, + -0.07096251100301743, + -0.15310651063919067, + 0.5647928714752197, + 0.0, + 0.3831871449947357 + ], + [ + 0.41317498683929443, + -0.07860254496335983, + 0.027904631569981575, + -0.06478656083345413, + -0.15899689495563507, + 0.5783262848854065, + 0.0, + 0.3396349251270294 + ], + [ + 0.40497612953186035, + -0.0722595602273941, + 0.02816096320748329, + -0.048448722809553146, + -0.16660787165164948, + 0.6033735871315002, + 0.0, + 0.3396349251270294 + ], + [ + 0.3914044499397278, + -0.04603084921836853, + 0.04684067890048027, + -0.056665919721126556, + -0.20438672602176666, + 0.7180809378623962, + 0.0, + 0.3396349251270294 + ], + [ + 0.3678605258464813, + -0.017296964302659035, + 0.07438559830188751, + -0.07430911809206009, + -0.26166945695877075, + 0.8871586918830872, + 0.0, + 0.3396349251270294 + ], + [ + 0.33793357014656067, + 0.015606637112796307, + 0.09276912361383438, + -0.07508496940135956, + -0.2951211631298065, + 1.0462496280670166, + 0.0, + 0.3396349251270294 + ], + [ + 0.2994382977485657, + 0.04666206240653992, + 0.09645327180624008, + -0.08121597766876221, + -0.30158522725105286, + 1.2316339015960693, + 0.0, + 0.3396349251270294 + ], + [ + 0.26400473713874817, + 0.07816392928361893, + 0.097173310816288, + -0.09968133270740509, + -0.2889070510864258, + 1.4023476839065552, + 0.0, + 0.3396349251270294 + ], + [ + 0.24001546204090118, + 0.1055864617228508, + 0.08279978483915329, + -0.10391590744256973, + -0.25399625301361084, + 1.5077513456344604, + 0.0, + 0.3396349251270294 + ], + [ + 0.22990955412387848, + 0.12968061864376068, + 0.061590779572725296, + -0.10593840479850769, + -0.2413182407617569, + 1.5664139986038208, + 0.0, + 0.3396349251270294 + ], + [ + 0.22400814294815063, + 0.139247328042984, + 0.04423302039504051, + -0.10738442093133926, + -0.2372944951057434, + 1.5810898542404175, + 0.0, + 0.3396349251270294 + ], + [ + 0.2240542471408844, + 0.14148522913455963, + 0.029864665120840073, + -0.09599418938159943, + -0.21607960760593414, + 1.5736624002456665, + 0.0, + 0.3396349251270294 + ], + [ + 0.22604726254940033, + 0.14038754999637604, + 0.02671181969344616, + -0.10550007969141006, + -0.19489017128944397, + 1.5585176944732666, + 0.0, + 0.37802740931510925 + ], + [ + 0.22490032017230988, + 0.1357521265745163, + 0.026520760729908943, + -0.07529082894325256, + -0.1578344702720642, + 1.5211840867996216, + 0.0, + 0.6811928749084473 + ], + [ + 0.22280360758304596, + 0.13590234518051147, + 0.02978854812681675, + -0.0412948802113533, + -0.14583195745944977, + 1.517991542816162, + 0.0, + 0.959831714630127 + ], + [ + 0.22430792450904846, + 0.1349615752696991, + 0.05485180765390396, + -0.06557609885931015, + -0.16511192917823792, + 1.5380859375, + 0.0, + 1.0041072368621826 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9620732665061951 + ], + [ + 0.6811928749084473 + ], + [ + 0.3831871449947357 + ], + [ + 0.3396349251270294 + ], + [ + 0.3396349251270294 + ], + [ + 0.3396349251270294 + ], + [ + 0.3396349251270294 + ], + [ + 0.3396349251270294 + ], + [ + 0.3396349251270294 + ], + [ + 0.3396349251270294 + ], + [ + 0.3396349251270294 + ], + [ + 0.3396349251270294 + ], + [ + 0.3396349251270294 + ], + [ + 0.3396349251270294 + ], + [ + 0.37802740931510925 + ], + [ + 0.6811928749084473 + ], + [ + 0.959831714630127 + ], + [ + 1.0041072368621826 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.286085307598114, + -0.079868383705616, + 0.07559368014335632 + ], + [ + 0.2843613922595978, + -0.07882650196552277, + 0.06746510416269302 + ], + [ + 0.2984406054019928, + -0.07880755513906479, + 0.059719644486904144 + ], + [ + 0.332384318113327, + -0.08148076385259628, + 0.06002342328429222 + ], + [ + 0.35809674859046936, + -0.07801777124404907, + 0.06767259538173676 + ], + [ + 0.38284847140312195, + -0.07304812967777252, + 0.05858204513788223 + ], + [ + 0.40161582827568054, + -0.07128875702619553, + 0.04577180743217468 + ], + [ + 0.4118823707103729, + -0.07363663613796234, + 0.0354449562728405 + ], + [ + 0.41396111249923706, + -0.07619857043027878, + 0.029293417930603027 + ], + [ + 0.4145137667655945, + -0.07999589294195175, + 0.02900473028421402 + ], + [ + 0.41317498683929443, + -0.07860254496335983, + 0.027904631569981575 + ], + [ + 0.40497612953186035, + -0.0722595602273941, + 0.02816096320748329 + ], + [ + 0.3914044499397278, + -0.04603084921836853, + 0.04684067890048027 + ], + [ + 0.3678605258464813, + -0.017296964302659035, + 0.07438559830188751 + ], + [ + 0.33793357014656067, + 0.015606637112796307, + 0.09276912361383438 + ], + [ + 0.2994382977485657, + 0.04666206240653992, + 0.09645327180624008 + ], + [ + 0.26400473713874817, + 0.07816392928361893, + 0.097173310816288 + ], + [ + 0.24001546204090118, + 0.1055864617228508, + 0.08279978483915329 + ], + [ + 0.22990955412387848, + 0.12968061864376068, + 0.061590779572725296 + ], + [ + 0.22400814294815063, + 0.139247328042984, + 0.04423302039504051 + ], + [ + 0.2240542471408844, + 0.14148522913455963, + 0.029864665120840073 + ], + [ + 0.22604726254940033, + 0.14038754999637604, + 0.02671181969344616 + ], + [ + 0.22490032017230988, + 0.1357521265745163, + 0.026520760729908943 + ], + [ + 0.22280360758304596, + 0.13590234518051147, + 0.02978854812681675 + ], + [ + 0.22430792450904846, + 0.1349615752696991, + 0.05485180765390396 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.5644003341087112, + 0.8128881501099608, + 0.14375367219233162, + 0.8196417349696089, + -0.5725434110799138, + 0.019531224359615025, + 0.09818191867133139, + 0.10680307972985623, + -0.989420746197609 + ], + [ + 0.570713875044029, + 0.8130925254686228, + 0.1147441408494806, + 0.8162264521534375, + -0.5770043980366277, + 0.028987988053692758, + 0.0897777903339159, + 0.07711335599911287, + -0.9929720432566637 + ], + [ + 0.6524949976758614, + 0.7522532888252903, + 0.091461836082116, + 0.7521097366310373, + -0.6576213342384638, + 0.043187090886214155, + 0.09263488583017213, + 0.040609976680083856, + -0.9948716538937441 + ], + [ + 0.7275986505008036, + 0.6772979803658598, + 0.10893874233594318, + 0.6773043231996007, + -0.7344656104052121, + 0.042651153644775494, + 0.10889930011042505, + 0.042751759313820595, + -0.9931330371662364 + ], + [ + 0.762346395091936, + 0.6279501499079587, + 0.15654578602090036, + 0.6340205134203354, + -0.7731906138633142, + 0.013937833256478308, + 0.12979199687401266, + 0.08862778268829247, + -0.9875723536446395 + ], + [ + 0.7985704997221754, + 0.5822843415476535, + 0.1524142465844017, + 0.5887012772178195, + -0.808342155087011, + 0.0037103249716308392, + 0.1253633246830322, + 0.08676350556370202, + -0.9883097343073751 + ], + [ + 0.8184893900081215, + 0.554643631337664, + 0.14981842563817993, + 0.561706285675497, + -0.827315617399746, + -0.00590913184100926, + 0.12066966096235836, + 0.08899051310699792, + -0.9886958690619593 + ], + [ + 0.8344952300872914, + 0.5318376857032152, + 0.14410547188572295, + 0.5378983201871963, + -0.843001594221807, + -0.003702604392137203, + 0.11951195798476141, + 0.08060389696125234, + -0.9895554070860857 + ], + [ + 0.8354841414267429, + 0.5279824877853097, + 0.1523178978861448, + 0.5336208814990502, + -0.845711701721532, + 0.004524643571313436, + 0.13120596119306194, + 0.07749974298864605, + -0.9883211955554221 + ], + [ + 0.8348182522834557, + 0.5247597557866479, + 0.16645024590289492, + 0.5289796594386296, + -0.8483613004743574, + 0.02153192415109637, + 0.1525090343376025, + 0.07007355110307131, + -0.9858147350700421 + ], + [ + 0.8268165207966525, + 0.5368929826126575, + 0.1676912822987638, + 0.5397283927420585, + -0.841225038509012, + 0.03215115322326381, + 0.1583278339578778, + 0.06392464162430751, + -0.9853151461270707 + ], + [ + 0.812024057400843, + 0.5601444267466592, + 0.16387541422351476, + 0.5595664728252848, + -0.8270170998796943, + 0.054111726977146425, + 0.1658381521006002, + 0.04775916342688557, + -0.984995822131557 + ], + [ + 0.7373950815258693, + 0.6482280048036425, + 0.18986560386163953, + 0.6442460841038461, + -0.7594241245828466, + 0.09067514608996645, + 0.20296668903619697, + 0.05545676505049242, + -0.977613967960676 + ], + [ + 0.6101167780447434, + 0.7610101635435998, + 0.22050180981489584, + 0.7488892907764922, + -0.6447640632222236, + 0.15311477047447353, + 0.25869353936382605, + 0.07171355353426416, + -0.9632937345020494 + ], + [ + 0.4791686734917461, + 0.8521852202859974, + 0.21018499630151005, + 0.8281306051906516, + -0.5182945362464042, + 0.21347242080345918, + 0.29085577713142446, + 0.07177133148569909, + -0.9540711676211814 + ], + [ + 0.317681659185772, + 0.9319080763993164, + 0.17500200158484178, + 0.9004715496415148, + -0.35432538349884385, + 0.2521993475300961, + 0.2970342601505489, + 0.07746521638853925, + -0.9517193854002832 + ], + [ + 0.16070490713781876, + 0.9761988171555306, + 0.1456358548090687, + 0.9449884762701072, + -0.1947722835566726, + 0.26279371620116854, + 0.2849047429203772, + 0.09539196476780534, + -0.9537974945024817 + ], + [ + 0.06098183006080843, + 0.9909874982317669, + 0.11926858241288193, + 0.9659930626250791, + -0.08867597576750214, + 0.24288675196869292, + 0.2512739926109637, + 0.10040094456739491, + -0.9626946717247999 + ], + [ + 0.004255331272148999, + 0.9942734831127723, + 0.10678077043437835, + 0.9710144575320413, + -0.02962763848826161, + 0.2371774152430286, + 0.23898287683329827, + 0.10267640340606025, + -0.9655800022598211 + ], + [ + -0.010004900643792392, + 0.9944464973261304, + 0.1047667214286025, + 0.9719260313956153, + -0.014959387740433483, + 0.23481057517497136, + 0.23507380002602873, + 0.10417476025516895, + -0.9663787703934212 + ], + [ + -0.00279942049416837, + 0.9954509035585746, + 0.09523477226997545, + 0.9767414817115576, + -0.017696798077893816, + 0.21368879531154877, + 0.2144020549080805, + 0.0936179573704079, + -0.9722486497336906 + ], + [ + 0.01204588216704422, + 0.9941146705707438, + 0.1076611279842428, + 0.980994990353145, + -0.0326016574323475, + 0.1912745692315026, + 0.1936587865934585, + 0.10331095628579613, + -0.9756142273903471 + ], + [ + 0.04897546176314921, + 0.9953537087718458, + 0.08289993111708518, + 0.9863548361743291, + -0.0612598802615289, + 0.15281153171752226, + 0.157179964692064, + 0.07428473264725596, + -0.9847721752745285 + ], + [ + 0.0522200039815931, + 0.997438193978025, + 0.048888857401437405, + 0.9880062984172413, + -0.058725975319461665, + 0.1428104131729869, + 0.14531560642967312, + 0.04084493869053619, + -0.9885418885972121 + ], + [ + 0.03225977329305463, + 0.9969646248289509, + 0.07085791322604802, + 0.9858723026181148, + -0.04339904563133645, + 0.16177863199058698, + 0.164362738957275, + 0.06463791207920169, + -0.9842798536821245 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0017239153385162354, + 0.0010418817400932312, + -0.0081285759806633, + 0.030025117099285126, + 0.008441515266895294, + -0.0071659088134765625, + 1.0 + ], + [ + 0.01407921314239502, + 1.8946826457977295e-05, + -0.007745459675788879, + 0.036706920713186264, + -0.002869054675102234, + -0.1044008731842041, + 1.0 + ], + [ + 0.03394371271133423, + -0.002673208713531494, + 0.0003037787973880768, + -0.0022241398692131042, + -0.016347810626029968, + -0.10658544301986694, + 1.0 + ], + [ + 0.025712430477142334, + 0.0034629926085472107, + 0.007649172097444534, + -0.04648250713944435, + -0.021043501794338226, + -0.0558585524559021, + 1.0 + ], + [ + 0.024751722812652588, + 0.00496964156627655, + -0.009090550243854523, + 0.0019380152225494385, + 0.004465162754058838, + -0.05850106477737427, + 1.0 + ], + [ + 0.018767356872558594, + 0.0017593726515769958, + -0.01281023770570755, + -0.002200789749622345, + 0.0047295913100242615, + -0.03380173444747925, + 1.0 + ], + [ + 0.010266542434692383, + -0.002347879111766815, + -0.010326851159334183, + 0.00849086046218872, + 0.0011661425232887268, + -0.028897881507873535, + 0.0 + ], + [ + 0.0020787417888641357, + -0.0025619342923164368, + -0.0061515383422374725, + 0.0030198171734809875, + -0.011787056922912598, + -0.004167079925537109, + 0.0 + ], + [ + 0.0005526542663574219, + -0.0037973225116729736, + -0.00028868764638900757, + 0.007292896509170532, + -0.021521151065826416, + -0.003595113754272461, + 0.0 + ], + [ + -0.0013387799263000488, + 0.001393347978591919, + -0.0011000987142324448, + 0.0061759501695632935, + -0.005890384316444397, + 0.013533413410186768, + 0.0 + ], + [ + -0.008198857307434082, + 0.006342984735965729, + 0.0002563316375017166, + 0.016337838023900986, + -0.007610976696014404, + 0.02504730224609375, + 0.0 + ], + [ + -0.013571679592132568, + 0.026228711009025574, + 0.01867971569299698, + -0.00821719691157341, + -0.03777885437011719, + 0.114707350730896, + 0.0 + ], + [ + -0.02354392409324646, + 0.028733884915709496, + 0.027544919401407242, + -0.017643198370933533, + -0.05728273093700409, + 0.16907775402069092, + 0.0 + ], + [ + -0.029926955699920654, + 0.03290360048413277, + 0.01838352531194687, + -0.000775851309299469, + -0.03345170617103577, + 0.15909093618392944, + 0.0 + ], + [ + -0.038495272397994995, + 0.031055424362421036, + 0.0036841481924057007, + -0.006131008267402649, + -0.006464064121246338, + 0.18538427352905273, + 0.0 + ], + [ + -0.035433560609817505, + 0.03150186687707901, + 0.0007200390100479126, + -0.018465355038642883, + 0.012678176164627075, + 0.17071378231048584, + 0.0 + ], + [ + -0.023989275097846985, + 0.027422532439231873, + -0.014373525977134705, + -0.004234574735164642, + 0.03491079807281494, + 0.10540366172790527, + 0.0 + ], + [ + -0.010105907917022705, + 0.02409415692090988, + -0.021209005266427994, + -0.0020224973559379578, + 0.012678012251853943, + 0.05866265296936035, + 0.0 + ], + [ + -0.005901411175727844, + 0.009566709399223328, + -0.017357759177684784, + -0.0014460161328315735, + 0.004023745656013489, + 0.01467585563659668, + 0.0 + ], + [ + 4.610419273376465e-05, + 0.0022379010915756226, + -0.01436835527420044, + 0.011390231549739838, + 0.021214887499809265, + -0.0074274539947509766, + 0.0 + ], + [ + 0.00199301540851593, + -0.0010976791381835938, + -0.0031528454273939133, + -0.009505890309810638, + 0.021189436316490173, + -0.015144705772399902, + 1.0 + ], + [ + -0.001146942377090454, + -0.004635423421859741, + -0.0001910589635372162, + 0.0302092507481575, + 0.03705570101737976, + -0.03733360767364502, + 1.0 + ], + [ + -0.002096712589263916, + 0.00015021860599517822, + 0.0032677873969078064, + 0.03399594873189926, + 0.012002512812614441, + -0.0031925439834594727, + 1.0 + ], + [ + 0.0015043169260025024, + -0.0009407699108123779, + 0.02506325952708721, + -0.024281218647956848, + -0.019279971718788147, + 0.02009439468383789, + 1.0 + ], + [ + 0.0019797682762145996, + 0.002421826124191284, + 0.021704010665416718, + -0.026718981564044952, + -0.01877659559249878, + 0.03002333641052246, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9620732665061951 + ], + [ + 0.6811928749084473 + ], + [ + 0.3831871449947357 + ], + [ + 0.3396349251270294 + ], + [ + 0.3396349251270294 + ], + [ + 0.3396349251270294 + ], + [ + 0.3396349251270294 + ], + [ + 0.3396349251270294 + ], + [ + 0.3396349251270294 + ], + [ + 0.3396349251270294 + ], + [ + 0.3396349251270294 + ], + [ + 0.3396349251270294 + ], + [ + 0.3396349251270294 + ], + [ + 0.3396349251270294 + ], + [ + 0.37802740931510925 + ], + [ + 0.6811928749084473 + ], + [ + 0.959831714630127 + ], + [ + 1.0041072368621826 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2843613922595978, + -0.07882650196552277, + 0.06746510416269302 + ], + [ + 0.2984406054019928, + -0.07880755513906479, + 0.059719644486904144 + ], + [ + 0.332384318113327, + -0.08148076385259628, + 0.06002342328429222 + ], + [ + 0.35809674859046936, + -0.07801777124404907, + 0.06767259538173676 + ], + [ + 0.38284847140312195, + -0.07304812967777252, + 0.05858204513788223 + ], + [ + 0.40161582827568054, + -0.07128875702619553, + 0.04577180743217468 + ], + [ + 0.4118823707103729, + -0.07363663613796234, + 0.0354449562728405 + ], + [ + 0.41396111249923706, + -0.07619857043027878, + 0.029293417930603027 + ], + [ + 0.4145137667655945, + -0.07999589294195175, + 0.02900473028421402 + ], + [ + 0.41317498683929443, + -0.07860254496335983, + 0.027904631569981575 + ], + [ + 0.40497612953186035, + -0.0722595602273941, + 0.02816096320748329 + ], + [ + 0.3914044499397278, + -0.04603084921836853, + 0.04684067890048027 + ], + [ + 0.3678605258464813, + -0.017296964302659035, + 0.07438559830188751 + ], + [ + 0.33793357014656067, + 0.015606637112796307, + 0.09276912361383438 + ], + [ + 0.2994382977485657, + 0.04666206240653992, + 0.09645327180624008 + ], + [ + 0.26400473713874817, + 0.07816392928361893, + 0.097173310816288 + ], + [ + 0.24001546204090118, + 0.1055864617228508, + 0.08279978483915329 + ], + [ + 0.22990955412387848, + 0.12968061864376068, + 0.061590779572725296 + ], + [ + 0.22400814294815063, + 0.139247328042984, + 0.04423302039504051 + ], + [ + 0.2240542471408844, + 0.14148522913455963, + 0.029864665120840073 + ], + [ + 0.22604726254940033, + 0.14038754999637604, + 0.02671181969344616 + ], + [ + 0.22490032017230988, + 0.1357521265745163, + 0.026520760729908943 + ], + [ + 0.22280360758304596, + 0.13590234518051147, + 0.02978854812681675 + ], + [ + 0.22430792450904846, + 0.1349615752696991, + 0.05485180765390396 + ], + [ + 0.22628769278526306, + 0.13738340139389038, + 0.07655581831932068 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.570713875044029, + 0.8130925254686228, + 0.1147441408494806, + 0.8162264521534375, + -0.5770043980366277, + 0.028987988053692758, + 0.0897777903339159, + 0.07711335599911287, + -0.9929720432566637 + ], + [ + 0.6524949976758614, + 0.7522532888252903, + 0.091461836082116, + 0.7521097366310373, + -0.6576213342384638, + 0.043187090886214155, + 0.09263488583017213, + 0.040609976680083856, + -0.9948716538937441 + ], + [ + 0.7275986505008036, + 0.6772979803658598, + 0.10893874233594318, + 0.6773043231996007, + -0.7344656104052121, + 0.042651153644775494, + 0.10889930011042505, + 0.042751759313820595, + -0.9931330371662364 + ], + [ + 0.762346395091936, + 0.6279501499079587, + 0.15654578602090036, + 0.6340205134203354, + -0.7731906138633142, + 0.013937833256478308, + 0.12979199687401266, + 0.08862778268829247, + -0.9875723536446395 + ], + [ + 0.7985704997221754, + 0.5822843415476535, + 0.1524142465844017, + 0.5887012772178195, + -0.808342155087011, + 0.0037103249716308392, + 0.1253633246830322, + 0.08676350556370202, + -0.9883097343073751 + ], + [ + 0.8184893900081215, + 0.554643631337664, + 0.14981842563817993, + 0.561706285675497, + -0.827315617399746, + -0.00590913184100926, + 0.12066966096235836, + 0.08899051310699792, + -0.9886958690619593 + ], + [ + 0.8344952300872914, + 0.5318376857032152, + 0.14410547188572295, + 0.5378983201871963, + -0.843001594221807, + -0.003702604392137203, + 0.11951195798476141, + 0.08060389696125234, + -0.9895554070860857 + ], + [ + 0.8354841414267429, + 0.5279824877853097, + 0.1523178978861448, + 0.5336208814990502, + -0.845711701721532, + 0.004524643571313436, + 0.13120596119306194, + 0.07749974298864605, + -0.9883211955554221 + ], + [ + 0.8348182522834557, + 0.5247597557866479, + 0.16645024590289492, + 0.5289796594386296, + -0.8483613004743574, + 0.02153192415109637, + 0.1525090343376025, + 0.07007355110307131, + -0.9858147350700421 + ], + [ + 0.8268165207966525, + 0.5368929826126575, + 0.1676912822987638, + 0.5397283927420585, + -0.841225038509012, + 0.03215115322326381, + 0.1583278339578778, + 0.06392464162430751, + -0.9853151461270707 + ], + [ + 0.812024057400843, + 0.5601444267466592, + 0.16387541422351476, + 0.5595664728252848, + -0.8270170998796943, + 0.054111726977146425, + 0.1658381521006002, + 0.04775916342688557, + -0.984995822131557 + ], + [ + 0.7373950815258693, + 0.6482280048036425, + 0.18986560386163953, + 0.6442460841038461, + -0.7594241245828466, + 0.09067514608996645, + 0.20296668903619697, + 0.05545676505049242, + -0.977613967960676 + ], + [ + 0.6101167780447434, + 0.7610101635435998, + 0.22050180981489584, + 0.7488892907764922, + -0.6447640632222236, + 0.15311477047447353, + 0.25869353936382605, + 0.07171355353426416, + -0.9632937345020494 + ], + [ + 0.4791686734917461, + 0.8521852202859974, + 0.21018499630151005, + 0.8281306051906516, + -0.5182945362464042, + 0.21347242080345918, + 0.29085577713142446, + 0.07177133148569909, + -0.9540711676211814 + ], + [ + 0.317681659185772, + 0.9319080763993164, + 0.17500200158484178, + 0.9004715496415148, + -0.35432538349884385, + 0.2521993475300961, + 0.2970342601505489, + 0.07746521638853925, + -0.9517193854002832 + ], + [ + 0.16070490713781876, + 0.9761988171555306, + 0.1456358548090687, + 0.9449884762701072, + -0.1947722835566726, + 0.26279371620116854, + 0.2849047429203772, + 0.09539196476780534, + -0.9537974945024817 + ], + [ + 0.06098183006080843, + 0.9909874982317669, + 0.11926858241288193, + 0.9659930626250791, + -0.08867597576750214, + 0.24288675196869292, + 0.2512739926109637, + 0.10040094456739491, + -0.9626946717247999 + ], + [ + 0.004255331272148999, + 0.9942734831127723, + 0.10678077043437835, + 0.9710144575320413, + -0.02962763848826161, + 0.2371774152430286, + 0.23898287683329827, + 0.10267640340606025, + -0.9655800022598211 + ], + [ + -0.010004900643792392, + 0.9944464973261304, + 0.1047667214286025, + 0.9719260313956153, + -0.014959387740433483, + 0.23481057517497136, + 0.23507380002602873, + 0.10417476025516895, + -0.9663787703934212 + ], + [ + -0.00279942049416837, + 0.9954509035585746, + 0.09523477226997545, + 0.9767414817115576, + -0.017696798077893816, + 0.21368879531154877, + 0.2144020549080805, + 0.0936179573704079, + -0.9722486497336906 + ], + [ + 0.01204588216704422, + 0.9941146705707438, + 0.1076611279842428, + 0.980994990353145, + -0.0326016574323475, + 0.1912745692315026, + 0.1936587865934585, + 0.10331095628579613, + -0.9756142273903471 + ], + [ + 0.04897546176314921, + 0.9953537087718458, + 0.08289993111708518, + 0.9863548361743291, + -0.0612598802615289, + 0.15281153171752226, + 0.157179964692064, + 0.07428473264725596, + -0.9847721752745285 + ], + [ + 0.0522200039815931, + 0.997438193978025, + 0.048888857401437405, + 0.9880062984172413, + -0.058725975319461665, + 0.1428104131729869, + 0.14531560642967312, + 0.04084493869053619, + -0.9885418885972121 + ], + [ + 0.03225977329305463, + 0.9969646248289509, + 0.07085791322604802, + 0.9858723026181148, + -0.04339904563133645, + 0.16177863199058698, + 0.164362738957275, + 0.06463791207920169, + -0.9842798536821245 + ], + [ + 0.0026417462502213995, + 0.9956949532156119, + 0.09265301569679303, + 0.983136546197138, + -0.0195281187828259, + 0.18182734697609987, + 0.18285391083680058, + 0.09061022413483245, + -0.9789556857048858 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006243.json b/json/chunk-0006/episode_0006243.json new file mode 100644 index 0000000000000000000000000000000000000000..238f63ea9ba03c350ad1044cd75d0ced1da99839 --- /dev/null +++ b/json/chunk-0006/episode_0006243.json @@ -0,0 +1,1882 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 30, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nBring the pan to the front edge of the table." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006243.mp4", + "start": 0, + "end": 30, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.26594045758247375, + 0.054184507578611374, + 0.10412101447582245, + 0.04056253656744957, + -0.09813234210014343, + -0.12125399708747864, + 0.0, + 1.0001531839370728 + ], + [ + 0.2650841474533081, + 0.053157076239585876, + 0.09714242070913315, + 0.026894455775618553, + -0.07515424489974976, + -0.11443082243204117, + 0.0, + 1.0008161067962646 + ], + [ + 0.2839653789997101, + 0.038265373557806015, + 0.08414912223815918, + 0.0017830722499638796, + -0.060424063354730606, + -0.15051069855690002, + 0.0, + 1.0008161067962646 + ], + [ + 0.312576025724411, + 0.013574151322245598, + 0.07235158979892731, + 0.014922783710062504, + -0.051728490740060806, + -0.16684314608573914, + 0.0, + 1.0001531839370728 + ], + [ + 0.34021973609924316, + -0.017766613513231277, + 0.06094978377223015, + 0.03906871750950813, + -0.0360531359910965, + -0.22524283826351166, + 0.0, + 1.0008161067962646 + ], + [ + 0.3600955903530121, + -0.05047912150621414, + 0.05169372260570526, + 0.040348540991544724, + -0.03406823053956032, + -0.2768111228942871, + 0.0, + 1.0008161067962646 + ], + [ + 0.37132003903388977, + -0.06828493624925613, + 0.04839960113167763, + 0.04939165711402893, + -0.0424039326608181, + -0.28941836953163147, + 0.0, + 1.0008161067962646 + ], + [ + 0.37373054027557373, + -0.07084810733795166, + 0.04424535110592842, + 0.04293118789792061, + -0.04215209558606148, + -0.27126726508140564, + 0.0, + 1.0008161067962646 + ], + [ + 0.3743883967399597, + -0.07123295217752457, + 0.024588175117969513, + 0.03893682360649109, + -0.0053940340876579285, + -0.2738742530345917, + 0.0, + 0.9709111452102661 + ], + [ + 0.3746977746486664, + -0.0699663832783699, + 0.010167650878429413, + 0.03437519073486328, + 0.01895560510456562, + -0.2696109712123871, + 0.0, + 0.7061693072319031 + ], + [ + 0.37659764289855957, + -0.07119905203580856, + 0.012351367622613907, + 0.029671093448996544, + 0.011036689393222332, + -0.26950258016586304, + 0.0, + 0.443907231092453 + ], + [ + 0.3771769404411316, + -0.07259407639503479, + 0.022763563320040703, + 0.023465128615498543, + -0.012205277569591999, + -0.2755340337753296, + 0.0, + 0.29359033703804016 + ], + [ + 0.3690761625766754, + -0.08317913860082626, + 0.0485767163336277, + -0.0010517989285290241, + -0.07421649992465973, + -0.32758158445358276, + 0.0, + 0.1352563053369522 + ], + [ + 0.3563096225261688, + -0.09209485352039337, + 0.08813010901212692, + -0.04579101502895355, + -0.17150215804576874, + -0.3933093845844269, + 0.0, + 0.07788556814193726 + ], + [ + 0.3332732915878296, + -0.06385726481676102, + 0.12706762552261353, + -0.033831194043159485, + -0.23145601153373718, + -0.34486621618270874, + 0.0, + 0.07689721137285233 + ], + [ + 0.29270216822624207, + -0.021171674132347107, + 0.12876762449741364, + -0.000541385670658201, + -0.16226257383823395, + -0.23130811750888824, + 0.0, + 0.07689721137285233 + ], + [ + 0.25190362334251404, + 0.030476601794362068, + 0.11632715910673141, + 0.05296892300248146, + -0.08700039237737656, + -0.0922875851392746, + 0.0, + 0.07689721137285233 + ], + [ + 0.22697533667087555, + 0.05959050729870796, + 0.09527895599603653, + 0.09421674907207489, + -0.021967116743326187, + -0.021594643592834473, + 0.0, + 0.07689721137285233 + ], + [ + 0.2241489440202713, + 0.07194758951663971, + 0.08399171382188797, + 0.10556443780660629, + -0.040936507284641266, + -0.000131657172460109, + 0.0, + 0.07689721137285233 + ], + [ + 0.23312249779701233, + 0.07949507236480713, + 0.0621282123029232, + 0.11051918566226959, + -0.03624959662556648, + 0.019144589081406593, + 0.0, + 0.07689721137285233 + ], + [ + 0.24371635913848877, + 0.07958482950925827, + 0.05038779228925705, + 0.10522386431694031, + -0.037135910242795944, + 0.023511292412877083, + 0.0, + 0.07689721137285233 + ], + [ + 0.2522713840007782, + 0.07736685872077942, + 0.037427868694067, + 0.09740316867828369, + -0.003489370923489332, + 0.029803330078721046, + 0.0, + 0.07689721137285233 + ], + [ + 0.2556982636451721, + 0.07976943999528885, + 0.029649287462234497, + 0.10538479685783386, + 0.01755833998322487, + 0.027520176023244858, + 0.0, + 0.07689721137285233 + ], + [ + 0.2561907172203064, + 0.07898304611444473, + 0.02890128083527088, + 0.09921097010374069, + 0.01968560926616192, + 0.029597800225019455, + 0.0, + 0.09587175399065018 + ], + [ + 0.2562847137451172, + 0.07604164630174637, + 0.028225906193256378, + 0.0801534429192543, + 0.021372061222791672, + 0.016624217852950096, + 0.0, + 0.2666412889957428 + ], + [ + 0.2615225911140442, + 0.06106143444776535, + 0.03791637718677521, + 0.027299199253320694, + -0.026192447170615196, + -0.04489893466234207, + 0.0, + 0.5501742362976074 + ], + [ + 0.27199631929397583, + 0.025521887466311455, + 0.06624801456928253, + -0.07603203505277634, + -0.14351029694080353, + -0.1305989921092987, + 0.0, + 0.8580558896064758 + ], + [ + 0.2758670747280121, + 0.001981947338208556, + 0.09978848695755005, + -0.12808381021022797, + -0.20802417397499084, + -0.16930845379829407, + 0.0, + 1.0060625076293945 + ], + [ + 0.268713116645813, + -0.013447512872517109, + 0.12317225337028503, + -0.11853823810815811, + -0.20736752450466156, + -0.21693730354309082, + 0.0, + 1.002137303352356 + ], + [ + 0.2647176682949066, + -0.010158529505133629, + 0.1230483278632164, + -0.07876625657081604, + -0.17420616745948792, + -0.1942306011915207, + 0.0, + 0.9994885921478271 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9709111452102661 + ], + [ + 0.7061693072319031 + ], + [ + 0.443907231092453 + ], + [ + 0.29359033703804016 + ], + [ + 0.1352563053369522 + ], + [ + 0.07788556814193726 + ], + [ + 0.07689721137285233 + ], + [ + 0.07689721137285233 + ], + [ + 0.07689721137285233 + ], + [ + 0.07689721137285233 + ], + [ + 0.07689721137285233 + ], + [ + 0.07689721137285233 + ], + [ + 0.07689721137285233 + ], + [ + 0.07689721137285233 + ], + [ + 0.07689721137285233 + ], + [ + 0.09587175399065018 + ], + [ + 0.2666412889957428 + ], + [ + 0.5501742362976074 + ], + [ + 0.8580558896064758 + ], + [ + 1.0060625076293945 + ], + [ + 1.002137303352356 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.26594045758247375, + 0.054184507578611374, + 0.10412101447582245 + ], + [ + 0.2650841474533081, + 0.053157076239585876, + 0.09714242070913315 + ], + [ + 0.2839653789997101, + 0.038265373557806015, + 0.08414912223815918 + ], + [ + 0.312576025724411, + 0.013574151322245598, + 0.07235158979892731 + ], + [ + 0.34021973609924316, + -0.017766613513231277, + 0.06094978377223015 + ], + [ + 0.3600955903530121, + -0.05047912150621414, + 0.05169372260570526 + ], + [ + 0.37132003903388977, + -0.06828493624925613, + 0.04839960113167763 + ], + [ + 0.37373054027557373, + -0.07084810733795166, + 0.04424535110592842 + ], + [ + 0.3743883967399597, + -0.07123295217752457, + 0.024588175117969513 + ], + [ + 0.3746977746486664, + -0.0699663832783699, + 0.010167650878429413 + ], + [ + 0.37659764289855957, + -0.07119905203580856, + 0.012351367622613907 + ], + [ + 0.3771769404411316, + -0.07259407639503479, + 0.022763563320040703 + ], + [ + 0.3690761625766754, + -0.08317913860082626, + 0.0485767163336277 + ], + [ + 0.3563096225261688, + -0.09209485352039337, + 0.08813010901212692 + ], + [ + 0.3332732915878296, + -0.06385726481676102, + 0.12706762552261353 + ], + [ + 0.29270216822624207, + -0.021171674132347107, + 0.12876762449741364 + ], + [ + 0.25190362334251404, + 0.030476601794362068, + 0.11632715910673141 + ], + [ + 0.22697533667087555, + 0.05959050729870796, + 0.09527895599603653 + ], + [ + 0.2241489440202713, + 0.07194758951663971, + 0.08399171382188797 + ], + [ + 0.23312249779701233, + 0.07949507236480713, + 0.0621282123029232 + ], + [ + 0.24371635913848877, + 0.07958482950925827, + 0.05038779228925705 + ], + [ + 0.2522713840007782, + 0.07736685872077942, + 0.037427868694067 + ], + [ + 0.2556982636451721, + 0.07976943999528885, + 0.029649287462234497 + ], + [ + 0.2561907172203064, + 0.07898304611444473, + 0.02890128083527088 + ], + [ + 0.2562847137451172, + 0.07604164630174637, + 0.028225906193256378 + ], + [ + 0.2615225911140442, + 0.06106143444776535, + 0.03791637718677521 + ], + [ + 0.27199631929397583, + 0.025521887466311455, + 0.06624801456928253 + ], + [ + 0.2758670747280121, + 0.001981947338208556, + 0.09978848695755005 + ], + [ + 0.268713116645813, + -0.013447512872517109, + 0.12317225337028503 + ], + [ + 0.2647176682949066, + -0.010158529505133629, + 0.1230483278632164 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9878819454911361, + -0.11691374863431014, + 0.10208054247956219, + -0.12037515343366004, + -0.9923217941108928, + 0.028412662113254217, + 0.09797491622079177, + -0.04035631688859241, + -0.9943702949498826 + ], + [ + 0.990655644342694, + -0.11213407801876085, + 0.07763596382375701, + -0.113858946535833, + -0.993331207545542, + 0.018145313716362688, + 0.07508351767006907, + -0.02681530650575062, + -0.9968166354507185 + ], + [ + 0.9868902848571589, + -0.14983638100593738, + 0.05997186491680524, + -0.1496694340567004, + -0.9887092045579635, + -0.00729173035062535, + 0.060387301344761, + -0.0017798172385928845, + -0.9981734348733663 + ], + [ + 0.9847948931610067, + -0.1652908271038281, + 0.05345989973179869, + -0.16584802530984594, + -0.9861322755272584, + 0.006129246630407701, + 0.051705424326914266, + -0.014902269584330987, + -0.9985511861974877 + ], + [ + 0.9741064707760544, + -0.22180031996429114, + 0.0438315144155173, + -0.22319793472306063, + -0.9743105315855293, + 0.030027820048805602, + 0.036045326015726215, + -0.039033397306168, + -0.9985875666996654 + ], + [ + 0.9613736382018024, + -0.2717454724859679, + 0.04376215207239787, + -0.2731309803021348, + -0.9615243961942906, + 0.029500900365910437, + 0.0340616407388793, + -0.04031418741066933, + -0.9986063142818559 + ], + [ + 0.9575485056227122, + -0.2830409110879833, + 0.05466902258313088, + -0.28513828808085556, + -0.9578385408368189, + 0.035234732266793946, + 0.042391226097266664, + -0.04932719673849247, + -0.9978826642506083 + ], + [ + 0.9625763171791908, + -0.26596327014863214, + 0.052061238340932535, + -0.26771456167454916, + -0.9630290000453391, + 0.030067566231373754, + 0.04213961406028358, + -0.04287987877221414, + -0.9981911484897722 + ], + [ + 0.9627162752848331, + -0.2700561754145543, + 0.015717360534163324, + -0.270459383235528, + -0.9620573766589295, + 0.03601841245802009, + 0.00539400793058292, + -0.03892641951941817, + -0.9992275209089484 + ], + [ + 0.9637014275434346, + -0.2668270286634256, + -0.009104687001431603, + -0.266308630388789, + -0.9631316487200902, + 0.03817251123738777, + -0.018954469952862596, + -0.03436224684691852, + -0.9992296853378796 + ], + [ + 0.963844749408968, + -0.26645041026953004, + -0.0027345756457562344, + -0.26623578923520347, + -0.9633920129439968, + 0.031533060841308684, + -0.011036465334133482, + -0.02966493321941764, + -0.9994989685687602 + ], + [ + 0.9622083711989047, + -0.2717104058436394, + 0.018124727612727848, + -0.27204060173306416, + -0.9620930444353085, + 0.019258371112632868, + 0.012204974537589137, + -0.02346122770624488, + -0.9996502435307324 + ], + [ + 0.9442168502836094, + -0.32182782348658673, + 0.06986695692805756, + -0.32086844090614147, + -0.9467976298193933, + -0.024853406181882566, + 0.07414838683992186, + 0.0010489033635139745, + -0.9972466678464119 + ], + [ + 0.910095476993342, + -0.3900610782241592, + 0.13992347197974936, + -0.3776247855359774, + -0.9196836586667387, + -0.10761732820632994, + 0.17066266171945305, + 0.04510347254888669, + -0.9842966690276177 + ], + [ + 0.9160242241173389, + -0.345179689565089, + 0.20432964234779163, + -0.3290555839667875, + -0.9379589939801735, + -0.1093405152355591, + 0.22939495088276043, + 0.03292275084876565, + -0.9727764640378828 + ], + [ + 0.9605814671514913, + -0.22933609689145645, + 0.15712478998452542, + -0.2262396229861181, + -0.9733471473291103, + -0.037562797784278845, + 0.16155147153829294, + 0.0005342741580653468, + -0.9868641429269465 + ], + [ + 0.9919784696475777, + -0.08744660945799783, + 0.09127872835414448, + -0.09180808870117176, + -0.9947719185632402, + 0.04472253220746349, + 0.08689068192094636, + -0.052743914647191616, + -0.9948206315024846 + ], + [ + 0.9995256335908823, + -0.019431236295830427, + 0.023894243046412852, + -0.021587755586467396, + -0.9953773838126438, + 0.09358329232846965, + 0.02196535006514561, + -0.09405472263694398, + -0.9953246869972648 + ], + [ + 0.9991622095319902, + 0.004181288661084975, + 0.040711127081962034, + -0.00013154687209603836, + -0.9944338063206459, + 0.1053631223059193, + 0.040925074692313296, + -0.10528020550779879, + -0.9936001291211992 + ], + [ + 0.9991599236523029, + 0.02302314208705931, + 0.03390253523800037, + 0.019130843470931965, + -0.9936403136295996, + 0.11096367855366913, + 0.03624165828456913, + -0.11022187649695676, + -0.9932460320314773 + ], + [ + 0.999034354172587, + 0.027277502147678986, + 0.034442663363119165, + 0.023492917802850056, + -0.9941025527794946, + 0.10586877429346463, + 0.03712737529196366, + -0.10495738389401384, + -0.993783429913205 + ], + [ + 0.999549828485773, + 0.029996860364999677, + 0.0005733605362728421, + 0.029798736785911537, + -0.994807967280232, + 0.09730952431153322, + 0.0034893638425658926, + -0.09724863291592137, + -0.9952540016176568 + ], + [ + 0.9994672585311657, + 0.025517879378879227, + -0.020347898078198107, + 0.027512460848221225, + -0.9941264238408963, + 0.10466956539216866, + -0.01755743780484106, + -0.10517362432337941, + -0.9942988711269934 + ], + [ + 0.9993683465987816, + 0.027499110598050637, + -0.022510147328125327, + 0.02958774509372595, + -0.9947044963133009, + 0.09842525262538629, + -0.01968433785237453, + -0.09902910648096647, + -0.9948898245096766 + ], + [ + 0.9996334786217513, + 0.01485923750729676, + -0.022629880231195734, + 0.016619655778199457, + -0.9966801407924928, + 0.07970247167855597, + -0.021370434258355157, + -0.08004935983853088, + -0.9965617916261142 + ], + [ + 0.9986495552909671, + -0.044152985208023285, + 0.027378451643103794, + -0.04486845550725953, + -0.9986520734258281, + 0.02609325473542036, + 0.026189452410212175, + -0.027286446077027723, + -0.9992845252694244 + ], + [ + 0.9812916679551948, + -0.14062280083802475, + 0.13149863225973588, + -0.12888932028894068, + -0.9872048945742999, + -0.09388311479707435, + 0.14301819995079953, + 0.07517794898116738, + -0.9868607148274869 + ], + [ + 0.9644506769059067, + -0.19312375839155743, + 0.18038321917644604, + -0.16486800477183827, + -0.9731819971848535, + -0.16042238421695662, + 0.20652707526688005, + 0.12498005560896139, + -0.9704259646576288 + ], + [ + 0.955639678325829, + -0.23750668369073344, + 0.17419351426369503, + -0.21062849328063774, + -0.9644676148500548, + -0.15949250052518046, + 0.20588453809753313, + 0.1157272444486442, + -0.971709196140846 + ], + [ + 0.966345506260539, + -0.205794947970342, + 0.15435284875876878, + -0.19009032145943253, + -0.975521980954102, + -0.11055557137853639, + 0.17332637484674032, + 0.07749389695498135, + -0.9818109103677848 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0008563101291656494, + -0.0010274313390254974, + -0.0069785937666893005, + -0.013668080791831017, + 0.022978097200393677, + 0.0068231746554374695, + 1.0 + ], + [ + 0.018881231546401978, + -0.014891702681779861, + -0.012993298470973969, + -0.025111382827162743, + 0.01473018154501915, + -0.036079876124858856, + 1.0 + ], + [ + 0.028610646724700928, + -0.024691222235560417, + -0.011797532439231873, + 0.013139711692929268, + 0.0086955726146698, + -0.01633244752883911, + 1.0 + ], + [ + 0.027643710374832153, + -0.031340762972831726, + -0.011401806026697159, + 0.024145934730768204, + 0.01567535474896431, + -0.05839969217777252, + 1.0 + ], + [ + 0.01987585425376892, + -0.032712507992982864, + -0.009256061166524887, + 0.0012798234820365906, + 0.0019849054515361786, + -0.05156828463077545, + 1.0 + ], + [ + 0.011224448680877686, + -0.017805814743041992, + -0.0032941214740276337, + 0.009043116122484207, + -0.008335702121257782, + -0.01260724663734436, + 1.0 + ], + [ + 0.00241050124168396, + -0.002563171088695526, + -0.0041542500257492065, + -0.006460469216108322, + 0.0002518370747566223, + 0.01815110445022583, + 1.0 + ], + [ + 0.0006578564643859863, + -0.0003848448395729065, + -0.019657175987958908, + -0.00399436429142952, + 0.03675806149840355, + -0.002606987953186035, + 0.0 + ], + [ + 0.00030937790870666504, + 0.001266568899154663, + -0.0144205242395401, + -0.004561632871627808, + 0.02434963919222355, + 0.00426328182220459, + 0.0 + ], + [ + 0.0018998682498931885, + -0.0012326687574386597, + 0.002183716744184494, + -0.004704097285866737, + -0.007918915711343288, + 0.00010839104652404785, + 0.0 + ], + [ + 0.0005792975425720215, + -0.0013950243592262268, + 0.010412195697426796, + -0.006205964833498001, + -0.02324196696281433, + -0.006031453609466553, + 0.0 + ], + [ + -0.008100777864456177, + -0.010585062205791473, + 0.025813153013586998, + -0.02451692707836628, + -0.062011223286390305, + -0.052047550678253174, + 0.0 + ], + [ + -0.012766540050506592, + -0.008915714919567108, + 0.03955339267849922, + -0.044739216566085815, + -0.09728565812110901, + -0.06572780013084412, + 0.0 + ], + [ + -0.023036330938339233, + 0.028237588703632355, + 0.0389375165104866, + 0.011959820985794067, + -0.059953853487968445, + 0.04844316840171814, + 0.0 + ], + [ + -0.040571123361587524, + 0.04268559068441391, + 0.0016999989748001099, + 0.03328980877995491, + 0.06919343769550323, + 0.1135580986738205, + 0.0 + ], + [ + -0.04079854488372803, + 0.051648274064064026, + -0.01244046539068222, + 0.053510308265686035, + 0.07526218146085739, + 0.13902053236961365, + 0.0 + ], + [ + -0.02492828667163849, + 0.029113905504345894, + -0.021048203110694885, + 0.04124782606959343, + 0.06503327190876007, + 0.07069294154644012, + 0.0 + ], + [ + -0.002826392650604248, + 0.012357082217931747, + -0.01128724217414856, + 0.011347688734531403, + -0.01896939054131508, + 0.02146298624575138, + 0.0 + ], + [ + 0.008973553776741028, + 0.007547482848167419, + -0.021863501518964767, + 0.0049547478556632996, + 0.004686910659074783, + 0.019276246428489685, + 0.0 + ], + [ + 0.01059386134147644, + 8.975714445114136e-05, + -0.011740420013666153, + -0.005295321345329285, + -0.0008863136172294617, + 0.0043667033314704895, + 0.0 + ], + [ + 0.008555024862289429, + -0.0022179707884788513, + -0.012959923595190048, + -0.007820695638656616, + 0.033646538853645325, + 0.006292037665843964, + 0.0 + ], + [ + 0.003426879644393921, + 0.00240258127450943, + -0.007778581231832504, + 0.007981628179550171, + 0.02104771137237549, + -0.0022831540554761887, + 0.0 + ], + [ + 0.0004924535751342773, + -0.0007863938808441162, + -0.0007480066269636154, + -0.00617382675409317, + 0.00212726928293705, + 0.002077624201774597, + 1.0 + ], + [ + 9.399652481079102e-05, + -0.0029413998126983643, + -0.0006753746420145035, + -0.01905752718448639, + 0.0016864519566297531, + -0.012973582372069359, + 1.0 + ], + [ + 0.005237877368927002, + -0.014980211853981018, + 0.00969047099351883, + -0.05285424366593361, + -0.04756450653076172, + -0.06152315437793732, + 1.0 + ], + [ + 0.01047372817993164, + -0.035539545118808746, + 0.028331637382507324, + -0.10333123803138733, + -0.11731784790754318, + -0.08570005744695663, + 1.0 + ], + [ + 0.003870755434036255, + -0.023539939895272255, + 0.03354047238826752, + -0.05205177515745163, + -0.06451387703418732, + -0.03870946168899536, + 1.0 + ], + [ + -0.007153958082199097, + -0.015429460443556309, + 0.023383766412734985, + 0.009545572102069855, + 0.0006566494703292847, + -0.04762884974479675, + 1.0 + ], + [ + -0.003995448350906372, + 0.00328898336738348, + -0.00012392550706863403, + 0.03977198153734207, + 0.033161357045173645, + 0.02270670235157013, + 1.0 + ], + [ + -0.002660095691680908, + 0.003667118027806282, + -0.0017678514122962952, + 0.11703139543533325, + 0.07313451170921326, + 0.048267826437950134, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9709111452102661 + ], + [ + 0.7061693072319031 + ], + [ + 0.443907231092453 + ], + [ + 0.29359033703804016 + ], + [ + 0.1352563053369522 + ], + [ + 0.07788556814193726 + ], + [ + 0.07689721137285233 + ], + [ + 0.07689721137285233 + ], + [ + 0.07689721137285233 + ], + [ + 0.07689721137285233 + ], + [ + 0.07689721137285233 + ], + [ + 0.07689721137285233 + ], + [ + 0.07689721137285233 + ], + [ + 0.07689721137285233 + ], + [ + 0.07689721137285233 + ], + [ + 0.09587175399065018 + ], + [ + 0.2666412889957428 + ], + [ + 0.5501742362976074 + ], + [ + 0.8580558896064758 + ], + [ + 1.0060625076293945 + ], + [ + 1.002137303352356 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2650841474533081, + 0.053157076239585876, + 0.09714242070913315 + ], + [ + 0.2839653789997101, + 0.038265373557806015, + 0.08414912223815918 + ], + [ + 0.312576025724411, + 0.013574151322245598, + 0.07235158979892731 + ], + [ + 0.34021973609924316, + -0.017766613513231277, + 0.06094978377223015 + ], + [ + 0.3600955903530121, + -0.05047912150621414, + 0.05169372260570526 + ], + [ + 0.37132003903388977, + -0.06828493624925613, + 0.04839960113167763 + ], + [ + 0.37373054027557373, + -0.07084810733795166, + 0.04424535110592842 + ], + [ + 0.3743883967399597, + -0.07123295217752457, + 0.024588175117969513 + ], + [ + 0.3746977746486664, + -0.0699663832783699, + 0.010167650878429413 + ], + [ + 0.37659764289855957, + -0.07119905203580856, + 0.012351367622613907 + ], + [ + 0.3771769404411316, + -0.07259407639503479, + 0.022763563320040703 + ], + [ + 0.3690761625766754, + -0.08317913860082626, + 0.0485767163336277 + ], + [ + 0.3563096225261688, + -0.09209485352039337, + 0.08813010901212692 + ], + [ + 0.3332732915878296, + -0.06385726481676102, + 0.12706762552261353 + ], + [ + 0.29270216822624207, + -0.021171674132347107, + 0.12876762449741364 + ], + [ + 0.25190362334251404, + 0.030476601794362068, + 0.11632715910673141 + ], + [ + 0.22697533667087555, + 0.05959050729870796, + 0.09527895599603653 + ], + [ + 0.2241489440202713, + 0.07194758951663971, + 0.08399171382188797 + ], + [ + 0.23312249779701233, + 0.07949507236480713, + 0.0621282123029232 + ], + [ + 0.24371635913848877, + 0.07958482950925827, + 0.05038779228925705 + ], + [ + 0.2522713840007782, + 0.07736685872077942, + 0.037427868694067 + ], + [ + 0.2556982636451721, + 0.07976943999528885, + 0.029649287462234497 + ], + [ + 0.2561907172203064, + 0.07898304611444473, + 0.02890128083527088 + ], + [ + 0.2562847137451172, + 0.07604164630174637, + 0.028225906193256378 + ], + [ + 0.2615225911140442, + 0.06106143444776535, + 0.03791637718677521 + ], + [ + 0.27199631929397583, + 0.025521887466311455, + 0.06624801456928253 + ], + [ + 0.2758670747280121, + 0.001981947338208556, + 0.09978848695755005 + ], + [ + 0.268713116645813, + -0.013447512872517109, + 0.12317225337028503 + ], + [ + 0.2647176682949066, + -0.010158529505133629, + 0.1230483278632164 + ], + [ + 0.2620575726032257, + -0.006491411477327347, + 0.1212804764509201 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.990655644342694, + -0.11213407801876085, + 0.07763596382375701, + -0.113858946535833, + -0.993331207545542, + 0.018145313716362688, + 0.07508351767006907, + -0.02681530650575062, + -0.9968166354507185 + ], + [ + 0.9868902848571589, + -0.14983638100593738, + 0.05997186491680524, + -0.1496694340567004, + -0.9887092045579635, + -0.00729173035062535, + 0.060387301344761, + -0.0017798172385928845, + -0.9981734348733663 + ], + [ + 0.9847948931610067, + -0.1652908271038281, + 0.05345989973179869, + -0.16584802530984594, + -0.9861322755272584, + 0.006129246630407701, + 0.051705424326914266, + -0.014902269584330987, + -0.9985511861974877 + ], + [ + 0.9741064707760544, + -0.22180031996429114, + 0.0438315144155173, + -0.22319793472306063, + -0.9743105315855293, + 0.030027820048805602, + 0.036045326015726215, + -0.039033397306168, + -0.9985875666996654 + ], + [ + 0.9613736382018024, + -0.2717454724859679, + 0.04376215207239787, + -0.2731309803021348, + -0.9615243961942906, + 0.029500900365910437, + 0.0340616407388793, + -0.04031418741066933, + -0.9986063142818559 + ], + [ + 0.9575485056227122, + -0.2830409110879833, + 0.05466902258313088, + -0.28513828808085556, + -0.9578385408368189, + 0.035234732266793946, + 0.042391226097266664, + -0.04932719673849247, + -0.9978826642506083 + ], + [ + 0.9625763171791908, + -0.26596327014863214, + 0.052061238340932535, + -0.26771456167454916, + -0.9630290000453391, + 0.030067566231373754, + 0.04213961406028358, + -0.04287987877221414, + -0.9981911484897722 + ], + [ + 0.9627162752848331, + -0.2700561754145543, + 0.015717360534163324, + -0.270459383235528, + -0.9620573766589295, + 0.03601841245802009, + 0.00539400793058292, + -0.03892641951941817, + -0.9992275209089484 + ], + [ + 0.9637014275434346, + -0.2668270286634256, + -0.009104687001431603, + -0.266308630388789, + -0.9631316487200902, + 0.03817251123738777, + -0.018954469952862596, + -0.03436224684691852, + -0.9992296853378796 + ], + [ + 0.963844749408968, + -0.26645041026953004, + -0.0027345756457562344, + -0.26623578923520347, + -0.9633920129439968, + 0.031533060841308684, + -0.011036465334133482, + -0.02966493321941764, + -0.9994989685687602 + ], + [ + 0.9622083711989047, + -0.2717104058436394, + 0.018124727612727848, + -0.27204060173306416, + -0.9620930444353085, + 0.019258371112632868, + 0.012204974537589137, + -0.02346122770624488, + -0.9996502435307324 + ], + [ + 0.9442168502836094, + -0.32182782348658673, + 0.06986695692805756, + -0.32086844090614147, + -0.9467976298193933, + -0.024853406181882566, + 0.07414838683992186, + 0.0010489033635139745, + -0.9972466678464119 + ], + [ + 0.910095476993342, + -0.3900610782241592, + 0.13992347197974936, + -0.3776247855359774, + -0.9196836586667387, + -0.10761732820632994, + 0.17066266171945305, + 0.04510347254888669, + -0.9842966690276177 + ], + [ + 0.9160242241173389, + -0.345179689565089, + 0.20432964234779163, + -0.3290555839667875, + -0.9379589939801735, + -0.1093405152355591, + 0.22939495088276043, + 0.03292275084876565, + -0.9727764640378828 + ], + [ + 0.9605814671514913, + -0.22933609689145645, + 0.15712478998452542, + -0.2262396229861181, + -0.9733471473291103, + -0.037562797784278845, + 0.16155147153829294, + 0.0005342741580653468, + -0.9868641429269465 + ], + [ + 0.9919784696475777, + -0.08744660945799783, + 0.09127872835414448, + -0.09180808870117176, + -0.9947719185632402, + 0.04472253220746349, + 0.08689068192094636, + -0.052743914647191616, + -0.9948206315024846 + ], + [ + 0.9995256335908823, + -0.019431236295830427, + 0.023894243046412852, + -0.021587755586467396, + -0.9953773838126438, + 0.09358329232846965, + 0.02196535006514561, + -0.09405472263694398, + -0.9953246869972648 + ], + [ + 0.9991622095319902, + 0.004181288661084975, + 0.040711127081962034, + -0.00013154687209603836, + -0.9944338063206459, + 0.1053631223059193, + 0.040925074692313296, + -0.10528020550779879, + -0.9936001291211992 + ], + [ + 0.9991599236523029, + 0.02302314208705931, + 0.03390253523800037, + 0.019130843470931965, + -0.9936403136295996, + 0.11096367855366913, + 0.03624165828456913, + -0.11022187649695676, + -0.9932460320314773 + ], + [ + 0.999034354172587, + 0.027277502147678986, + 0.034442663363119165, + 0.023492917802850056, + -0.9941025527794946, + 0.10586877429346463, + 0.03712737529196366, + -0.10495738389401384, + -0.993783429913205 + ], + [ + 0.999549828485773, + 0.029996860364999677, + 0.0005733605362728421, + 0.029798736785911537, + -0.994807967280232, + 0.09730952431153322, + 0.0034893638425658926, + -0.09724863291592137, + -0.9952540016176568 + ], + [ + 0.9994672585311657, + 0.025517879378879227, + -0.020347898078198107, + 0.027512460848221225, + -0.9941264238408963, + 0.10466956539216866, + -0.01755743780484106, + -0.10517362432337941, + -0.9942988711269934 + ], + [ + 0.9993683465987816, + 0.027499110598050637, + -0.022510147328125327, + 0.02958774509372595, + -0.9947044963133009, + 0.09842525262538629, + -0.01968433785237453, + -0.09902910648096647, + -0.9948898245096766 + ], + [ + 0.9996334786217513, + 0.01485923750729676, + -0.022629880231195734, + 0.016619655778199457, + -0.9966801407924928, + 0.07970247167855597, + -0.021370434258355157, + -0.08004935983853088, + -0.9965617916261142 + ], + [ + 0.9986495552909671, + -0.044152985208023285, + 0.027378451643103794, + -0.04486845550725953, + -0.9986520734258281, + 0.02609325473542036, + 0.026189452410212175, + -0.027286446077027723, + -0.9992845252694244 + ], + [ + 0.9812916679551948, + -0.14062280083802475, + 0.13149863225973588, + -0.12888932028894068, + -0.9872048945742999, + -0.09388311479707435, + 0.14301819995079953, + 0.07517794898116738, + -0.9868607148274869 + ], + [ + 0.9644506769059067, + -0.19312375839155743, + 0.18038321917644604, + -0.16486800477183827, + -0.9731819971848535, + -0.16042238421695662, + 0.20652707526688005, + 0.12498005560896139, + -0.9704259646576288 + ], + [ + 0.955639678325829, + -0.23750668369073344, + 0.17419351426369503, + -0.21062849328063774, + -0.9644676148500548, + -0.15949250052518046, + 0.20588453809753313, + 0.1157272444486442, + -0.971709196140846 + ], + [ + 0.966345506260539, + -0.205794947970342, + 0.15435284875876878, + -0.19009032145943253, + -0.975521980954102, + -0.11055557137853639, + 0.17332637484674032, + 0.07749389695498135, + -0.9818109103677848 + ], + [ + 0.9843172082955257, + -0.14151961359225035, + 0.10531776878572321, + -0.14470277071647353, + -0.9892035140477229, + 0.02318439006341564, + 0.10089966105135637, + -0.038060567052226886, + -0.9941683215811016 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006244.json b/json/chunk-0006/episode_0006244.json new file mode 100644 index 0000000000000000000000000000000000000000..5032a609b4f12bf383c1a13e04f844486b1b1b8e --- /dev/null +++ b/json/chunk-0006/episode_0006244.json @@ -0,0 +1,862 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 13, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut sweet potato in pot which is in sink." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006244.mp4", + "start": 0, + "end": 13, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.20180754363536835, + 0.002064222702756524, + 0.06029801443219185, + 0.11852576583623886, + -0.22106584906578064, + -0.25727492570877075, + 0.0, + 1.003452181816101 + ], + [ + 0.1986151486635208, + 0.001236165058799088, + 0.052442517131567, + 0.11393869668245316, + -0.21893495321273804, + -0.27268263697624207, + 0.0, + 1.003452181816101 + ], + [ + 0.19936402142047882, + 0.006649554241448641, + 0.040565621107816696, + 0.10253176093101501, + -0.2425430566072464, + -0.28441235423088074, + 0.0, + 1.003452181816101 + ], + [ + 0.20022989809513092, + 0.011330422945320606, + 0.029798856005072594, + 0.08346527069807053, + -0.27226126194000244, + -0.2889551818370819, + 0.0, + 1.003452181816101 + ], + [ + 0.1999252885580063, + 0.01473348867148161, + 0.017390679568052292, + 0.059465061873197556, + -0.3032129406929016, + -0.2799232006072998, + 0.0, + 1.003452181816101 + ], + [ + 0.19960178434848785, + 0.015672091394662857, + 0.009542644023895264, + 0.05385870113968849, + -0.3351193368434906, + -0.26164981722831726, + 0.0, + 1.003452181816101 + ], + [ + 0.20103105902671814, + 0.018027659505605698, + 0.00956788007169962, + 0.06918905675411224, + -0.3491760492324829, + -0.24454644322395325, + 0.0, + 0.8553624749183655 + ], + [ + 0.1983340084552765, + 0.013828419148921967, + 0.013889993540942669, + 0.0883764922618866, + -0.31975120306015015, + -0.2560819983482361, + 0.0, + 0.7969971895217896 + ], + [ + 0.21258944272994995, + 0.005523119121789932, + 0.03631768748164177, + 0.1742181032896042, + -0.36572444438934326, + -0.29714733362197876, + 0.0, + 0.7969971895217896 + ], + [ + 0.226863831281662, + -0.007917912676930428, + 0.05001513287425041, + 0.22860777378082275, + -0.3944391906261444, + -0.3312698304653168, + 0.0, + 0.7969971895217896 + ], + [ + 0.2504281997680664, + -0.023790322244167328, + 0.059469982981681824, + 0.23848767578601837, + -0.4244936406612396, + -0.36382442712783813, + 0.0, + 0.7969971895217896 + ], + [ + 0.27031052112579346, + -0.03442087024450302, + 0.053763117641210556, + 0.22018568217754364, + -0.4460921287536621, + -0.3817382752895355, + 0.0, + 0.7969971895217896 + ], + [ + 0.2813660204410553, + -0.04956209659576416, + 0.043372198939323425, + 0.1818614900112152, + -0.4890494644641876, + -0.39951351284980774, + 0.0, + 0.9716382026672363 + ] + ], + "left_gripper_pos": [ + [ + 1.003452181816101 + ], + [ + 1.003452181816101 + ], + [ + 1.003452181816101 + ], + [ + 1.003452181816101 + ], + [ + 1.003452181816101 + ], + [ + 1.003452181816101 + ], + [ + 0.8553624749183655 + ], + [ + 0.7969971895217896 + ], + [ + 0.7969971895217896 + ], + [ + 0.7969971895217896 + ], + [ + 0.7969971895217896 + ], + [ + 0.7969971895217896 + ], + [ + 0.9716382026672363 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.20180754363536835, + 0.002064222702756524, + 0.06029801443219185 + ], + [ + 0.1986151486635208, + 0.001236165058799088, + 0.052442517131567 + ], + [ + 0.19936402142047882, + 0.006649554241448641, + 0.040565621107816696 + ], + [ + 0.20022989809513092, + 0.011330422945320606, + 0.029798856005072594 + ], + [ + 0.1999252885580063, + 0.01473348867148161, + 0.017390679568052292 + ], + [ + 0.19960178434848785, + 0.015672091394662857, + 0.009542644023895264 + ], + [ + 0.20103105902671814, + 0.018027659505605698, + 0.00956788007169962 + ], + [ + 0.1983340084552765, + 0.013828419148921967, + 0.013889993540942669 + ], + [ + 0.21258944272994995, + 0.005523119121789932, + 0.03631768748164177 + ], + [ + 0.226863831281662, + -0.007917912676930428, + 0.05001513287425041 + ], + [ + 0.2504281997680664, + -0.023790322244167328, + 0.059469982981681824 + ], + [ + 0.27031052112579346, + -0.03442087024450302, + 0.053763117641210556 + ], + [ + 0.2813660204410553, + -0.04956209659576416, + 0.043372198939323425 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9435522100643825, + -0.22758601558009253, + 0.24065292932976598, + -0.248253990556125, + -0.9668992642646322, + 0.05895565229452038, + 0.219269658310444, + -0.11537078606341752, + -0.9688190742690456 + ], + [ + 0.9400631828489012, + -0.24378918138472397, + 0.23842828542720976, + -0.26288716723344113, + -0.9634576409296972, + 0.05137812217431591, + 0.21719012306265126, + -0.11097841760427267, + -0.9698001037688548 + ], + [ + 0.9317329097824544, + -0.2555252560461778, + 0.25803222347384386, + -0.272380587399888, + -0.9616834982189781, + 0.031203603333595203, + 0.24017202259216702, + -0.09935639272761293, + -0.9656322834227031 + ], + [ + 0.9232344929632524, + -0.2624697314728587, + 0.28062022568491196, + -0.27445479368910153, + -0.9615934403504361, + 0.0035527026450681565, + 0.26891009133901644, + -0.08029754377051035, + -0.9598123083397421 + ], + [ + 0.9172343325155898, + -0.25873910409514383, + 0.30287828457438626, + -0.2636784339201637, + -0.9642805800008638, + -0.025231855235150952, + 0.29858811553725717, + -0.05671894785025616, + -0.9526951759165518 + ], + [ + 0.9122289528102858, + -0.24119747844191342, + 0.3311527050288314, + -0.24428477833382778, + -0.969143577009765, + -0.03294957078795763, + 0.3288818704778999, + -0.050838012687168546, + -0.9430017029342934 + ], + [ + 0.9116975957512076, + -0.21858838633073727, + 0.3478887915164735, + -0.2275057619358292, + -0.9736524321724592, + -0.015558586396357304, + 0.3421236942795191, + -0.06496197877204374, + -0.9374066988914443 + ], + [ + 0.9183563440342175, + -0.22546520107777346, + 0.32524924054494797, + -0.24045381065136884, + -0.9706415613879156, + 0.006076532700907529, + 0.31433038401551616, + -0.08378784165610623, + -0.9456088024522983 + ], + [ + 0.8929388760831987, + -0.22908802278328866, + 0.38752914909270697, + -0.2734298152600041, + -0.9598517367012341, + 0.06261612953947951, + 0.35762592146844463, + -0.16187439997994826, + -0.9197284267244206 + ], + [ + 0.8730172680954458, + -0.23442857062037992, + 0.4276495000395186, + -0.3002693103853812, + -0.9493525445103168, + 0.09256396422190781, + 0.38429050319758395, + -0.2092199596326138, + -0.8991928701026689 + ], + [ + 0.8515996366398532, + -0.2548527566768911, + 0.45807000697388994, + -0.32426822289886326, + -0.9427142564955798, + 0.07835783443918978, + 0.41185941593325676, + -0.21526705046099295, + -0.8854557687953369 + ], + [ + 0.8372025943392014, + -0.27609110657816066, + 0.4720863447507855, + -0.3360779922374681, + -0.9407178451987528, + 0.04584232605625639, + 0.43144339045272573, + -0.19703714521141058, + -0.880359565314988 + ], + [ + 0.8132611899060633, + -0.30428064883544326, + 0.49600355214136926, + -0.34337504842896727, + -0.9391069811427445, + -0.013101682539488194, + 0.46978698695151055, + -0.15966015380564674, + -0.8682216434631072 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.003192394971847534, + -0.0008280576439574361, + -0.007855497300624847, + -0.004587069153785706, + 0.0021308958530426025, + -0.015407711267471313, + 1.0 + ], + [ + 0.0007488727569580078, + 0.005413389299064875, + -0.011876896023750305, + -0.011406935751438141, + -0.023608103394508362, + -0.011729717254638672, + 1.0 + ], + [ + 0.0008658766746520996, + 0.004680868703871965, + -0.010766765102744102, + -0.01906649023294449, + -0.029718205332756042, + -0.004542827606201172, + 1.0 + ], + [ + -0.0003046095371246338, + 0.003403065726161003, + -0.012408176437020302, + -0.02400020882487297, + -0.03095167875289917, + 0.009031981229782104, + 1.0 + ], + [ + -0.0003235042095184326, + 0.0009386027231812477, + -0.007848035544157028, + -0.005606360733509064, + -0.03190639615058899, + 0.018273383378982544, + 1.0 + ], + [ + 0.0014292746782302856, + 0.0023555681109428406, + 2.523604780435562e-05, + 0.015330355614423752, + -0.01405671238899231, + 0.017103374004364014, + 0.0 + ], + [ + -0.0026970505714416504, + -0.004199240356683731, + 0.00432211346924305, + 0.019187435507774353, + 0.029424846172332764, + -0.011535555124282837, + 0.0 + ], + [ + 0.014255434274673462, + -0.008305300027132034, + 0.022427693009376526, + 0.08584161102771759, + -0.045973241329193115, + -0.041065335273742676, + 0.0 + ], + [ + 0.014274388551712036, + -0.01344103179872036, + 0.013697445392608643, + 0.05438967049121857, + -0.028714746236801147, + -0.03412249684333801, + 0.0 + ], + [ + 0.02356436848640442, + -0.0158724095672369, + 0.009454850107431412, + 0.009879902005195618, + -0.030054450035095215, + -0.03255459666252136, + 0.0 + ], + [ + 0.01988232135772705, + -0.010630548000335693, + -0.005706865340471268, + -0.01830199360847473, + -0.021598488092422485, + -0.017913848161697388, + 0.0 + ], + [ + 0.01105549931526184, + -0.015141226351261139, + -0.01039091870188713, + -0.03832419216632843, + -0.04295733571052551, + -0.017775237560272217, + 1.0 + ], + [ + 0.00423768162727356, + -0.004527512937784195, + -0.0023602470755577087, + -0.013499006628990173, + -0.028314560651779175, + -0.012406736612319946, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.003452181816101 + ], + [ + 1.003452181816101 + ], + [ + 1.003452181816101 + ], + [ + 1.003452181816101 + ], + [ + 1.003452181816101 + ], + [ + 0.8553624749183655 + ], + [ + 0.7969971895217896 + ], + [ + 0.7969971895217896 + ], + [ + 0.7969971895217896 + ], + [ + 0.7969971895217896 + ], + [ + 0.7969971895217896 + ], + [ + 0.9716382026672363 + ], + [ + 1.0105689764022827 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.1986151486635208, + 0.001236165058799088, + 0.052442517131567 + ], + [ + 0.19936402142047882, + 0.006649554241448641, + 0.040565621107816696 + ], + [ + 0.20022989809513092, + 0.011330422945320606, + 0.029798856005072594 + ], + [ + 0.1999252885580063, + 0.01473348867148161, + 0.017390679568052292 + ], + [ + 0.19960178434848785, + 0.015672091394662857, + 0.009542644023895264 + ], + [ + 0.20103105902671814, + 0.018027659505605698, + 0.00956788007169962 + ], + [ + 0.1983340084552765, + 0.013828419148921967, + 0.013889993540942669 + ], + [ + 0.21258944272994995, + 0.005523119121789932, + 0.03631768748164177 + ], + [ + 0.226863831281662, + -0.007917912676930428, + 0.05001513287425041 + ], + [ + 0.2504281997680664, + -0.023790322244167328, + 0.059469982981681824 + ], + [ + 0.27031052112579346, + -0.03442087024450302, + 0.053763117641210556 + ], + [ + 0.2813660204410553, + -0.04956209659576416, + 0.043372198939323425 + ], + [ + 0.28560370206832886, + -0.054089609533548355, + 0.04101195186376572 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9400631828489012, + -0.24378918138472397, + 0.23842828542720976, + -0.26288716723344113, + -0.9634576409296972, + 0.05137812217431591, + 0.21719012306265126, + -0.11097841760427267, + -0.9698001037688548 + ], + [ + 0.9317329097824544, + -0.2555252560461778, + 0.25803222347384386, + -0.272380587399888, + -0.9616834982189781, + 0.031203603333595203, + 0.24017202259216702, + -0.09935639272761293, + -0.9656322834227031 + ], + [ + 0.9232344929632524, + -0.2624697314728587, + 0.28062022568491196, + -0.27445479368910153, + -0.9615934403504361, + 0.0035527026450681565, + 0.26891009133901644, + -0.08029754377051035, + -0.9598123083397421 + ], + [ + 0.9172343325155898, + -0.25873910409514383, + 0.30287828457438626, + -0.2636784339201637, + -0.9642805800008638, + -0.025231855235150952, + 0.29858811553725717, + -0.05671894785025616, + -0.9526951759165518 + ], + [ + 0.9122289528102858, + -0.24119747844191342, + 0.3311527050288314, + -0.24428477833382778, + -0.969143577009765, + -0.03294957078795763, + 0.3288818704778999, + -0.050838012687168546, + -0.9430017029342934 + ], + [ + 0.9116975957512076, + -0.21858838633073727, + 0.3478887915164735, + -0.2275057619358292, + -0.9736524321724592, + -0.015558586396357304, + 0.3421236942795191, + -0.06496197877204374, + -0.9374066988914443 + ], + [ + 0.9183563440342175, + -0.22546520107777346, + 0.32524924054494797, + -0.24045381065136884, + -0.9706415613879156, + 0.006076532700907529, + 0.31433038401551616, + -0.08378784165610623, + -0.9456088024522983 + ], + [ + 0.8929388760831987, + -0.22908802278328866, + 0.38752914909270697, + -0.2734298152600041, + -0.9598517367012341, + 0.06261612953947951, + 0.35762592146844463, + -0.16187439997994826, + -0.9197284267244206 + ], + [ + 0.8730172680954458, + -0.23442857062037992, + 0.4276495000395186, + -0.3002693103853812, + -0.9493525445103168, + 0.09256396422190781, + 0.38429050319758395, + -0.2092199596326138, + -0.8991928701026689 + ], + [ + 0.8515996366398532, + -0.2548527566768911, + 0.45807000697388994, + -0.32426822289886326, + -0.9427142564955798, + 0.07835783443918978, + 0.41185941593325676, + -0.21526705046099295, + -0.8854557687953369 + ], + [ + 0.8372025943392014, + -0.27609110657816066, + 0.4720863447507855, + -0.3360779922374681, + -0.9407178451987528, + 0.04584232605625639, + 0.43144339045272573, + -0.19703714521141058, + -0.880359565314988 + ], + [ + 0.8132611899060633, + -0.30428064883544326, + 0.49600355214136926, + -0.34337504842896727, + -0.9391069811427445, + -0.013101682539488194, + 0.46978698695151055, + -0.15966015380564674, + -0.8682216434631072 + ], + [ + 0.7964267614193417, + -0.3187633658276464, + 0.5139010899981911, + -0.3479716802697864, + -0.9365786274246418, + -0.041667545903198655, + 0.49459086468041474, + -0.14563787713916904, + -0.8568369070698786 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006245.json b/json/chunk-0006/episode_0006245.json new file mode 100644 index 0000000000000000000000000000000000000000..a055c78684eae1372bbae2d128131c7549fa9082 --- /dev/null +++ b/json/chunk-0006/episode_0006245.json @@ -0,0 +1,1462 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 23, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove blue napkin to back right corner of stove top." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006245.mp4", + "start": 0, + "end": 23, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2911248803138733, + 0.05196809023618698, + 0.10788232833147049, + -0.23501449823379517, + -0.236110121011734, + 1.264684796333313, + 0.0, + 1.0008161067962646 + ], + [ + 0.2893412709236145, + 0.05107548460364342, + 0.10138469189405441, + -0.22033020853996277, + -0.2217293679714203, + 1.2619373798370361, + 0.0, + 1.0008161067962646 + ], + [ + 0.28736594319343567, + 0.05658470094203949, + 0.08587004244327545, + -0.22019189596176147, + -0.17826010286808014, + 1.2758756875991821, + 0.0, + 1.0008161067962646 + ], + [ + 0.28385740518569946, + 0.059181299060583115, + 0.06640949100255966, + -0.21302282810211182, + -0.11717725545167923, + 1.2402101755142212, + 0.0, + 1.0008161067962646 + ], + [ + 0.281257688999176, + 0.05936287343502045, + 0.045587003231048584, + -0.1852574497461319, + -0.11252932250499725, + 1.211591362953186, + 0.0, + 1.0008161067962646 + ], + [ + 0.2809934914112091, + 0.05848542973399162, + 0.03233781084418297, + -0.17654310166835785, + -0.10364694148302078, + 1.1991357803344727, + 0.0, + 1.0008161067962646 + ], + [ + 0.27879974246025085, + 0.05781172960996628, + 0.01864946261048317, + -0.13775144517421722, + -0.09515511244535446, + 1.1937638521194458, + 0.0, + 1.0008161067962646 + ], + [ + 0.28008443117141724, + 0.05281156301498413, + 0.010983928106725216, + -0.10944592952728271, + -0.09079865366220474, + 1.1659842729568481, + 0.0, + 1.0008161067962646 + ], + [ + 0.282603919506073, + 0.048180341720581055, + 0.009243430569767952, + -0.10377240926027298, + -0.09141780436038971, + 1.152146577835083, + 0.0, + 1.0014774799346924 + ], + [ + 0.2877918481826782, + 0.03820209205150604, + 0.008672382682561874, + -0.09948763251304626, + -0.09241361916065216, + 1.1117784976959229, + 0.0, + 1.0014774799346924 + ], + [ + 0.2965478301048279, + 0.02598658576607704, + 0.008491875603795052, + -0.09841835498809814, + -0.09144772589206696, + 1.0721229314804077, + 0.0, + 1.0014774799346924 + ], + [ + 0.3034352660179138, + 0.02061491459608078, + 0.008897213265299797, + -0.08079496771097183, + -0.08179090172052383, + 1.0486924648284912, + 0.0, + 1.0014774799346924 + ], + [ + 0.3307332396507263, + -0.0066818296909332275, + 0.008628265000879765, + -0.11533629894256592, + -0.08438681066036224, + 0.9600027203559875, + 0.0, + 1.0014774799346924 + ], + [ + 0.357291579246521, + -0.03884834796190262, + 0.011888614855706692, + -0.1605226993560791, + -0.08448313921689987, + 0.8644721508026123, + 0.0, + 1.0014774799346924 + ], + [ + 0.3733755350112915, + -0.05737398564815521, + 0.013654629699885845, + -0.19672097265720367, + -0.07581670582294464, + 0.8229238986968994, + 0.0, + 1.0014774799346924 + ], + [ + 0.3828354477882385, + -0.07283246517181396, + 0.013610877096652985, + -0.205277681350708, + -0.06481549888849258, + 0.7758699655532837, + 0.0, + 1.0014774799346924 + ], + [ + 0.3927002251148224, + -0.07933487743139267, + 0.014145400375127792, + -0.22849585115909576, + -0.05577036365866661, + 0.7631709575653076, + 0.0, + 1.0014774799346924 + ], + [ + 0.40353867411613464, + -0.08360815793275833, + 0.015125179663300514, + -0.24187174439430237, + -0.05369536578655243, + 0.7527380585670471, + 0.0, + 1.0014774799346924 + ], + [ + 0.40374597907066345, + -0.0837680846452713, + 0.014806883409619331, + -0.23933783173561096, + -0.0574936717748642, + 0.7456024885177612, + 0.0, + 1.0014774799346924 + ], + [ + 0.3985171914100647, + -0.08237829059362411, + 0.013279436156153679, + -0.22765465080738068, + -0.05127395689487457, + 0.7499086260795593, + 0.0, + 1.0014774799346924 + ], + [ + 0.3963676691055298, + -0.08031980693340302, + 0.01480027474462986, + -0.21883757412433624, + -0.059707287698984146, + 0.7437943816184998, + 0.0, + 1.0008161067962646 + ], + [ + 0.39375078678131104, + -0.07582718878984451, + 0.03353848680853844, + -0.17094045877456665, + -0.10824784636497498, + 0.7318192720413208, + 0.0, + 1.0008161067962646 + ], + [ + 0.39605996012687683, + -0.07239875942468643, + 0.06485334783792496, + -0.19053716957569122, + -0.16906310617923737, + 0.7444567084312439, + 0.0, + 1.0008161067962646 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2911248803138733, + 0.05196809023618698, + 0.10788232833147049 + ], + [ + 0.2893412709236145, + 0.05107548460364342, + 0.10138469189405441 + ], + [ + 0.28736594319343567, + 0.05658470094203949, + 0.08587004244327545 + ], + [ + 0.28385740518569946, + 0.059181299060583115, + 0.06640949100255966 + ], + [ + 0.281257688999176, + 0.05936287343502045, + 0.045587003231048584 + ], + [ + 0.2809934914112091, + 0.05848542973399162, + 0.03233781084418297 + ], + [ + 0.27879974246025085, + 0.05781172960996628, + 0.01864946261048317 + ], + [ + 0.28008443117141724, + 0.05281156301498413, + 0.010983928106725216 + ], + [ + 0.282603919506073, + 0.048180341720581055, + 0.009243430569767952 + ], + [ + 0.2877918481826782, + 0.03820209205150604, + 0.008672382682561874 + ], + [ + 0.2965478301048279, + 0.02598658576607704, + 0.008491875603795052 + ], + [ + 0.3034352660179138, + 0.02061491459608078, + 0.008897213265299797 + ], + [ + 0.3307332396507263, + -0.0066818296909332275, + 0.008628265000879765 + ], + [ + 0.357291579246521, + -0.03884834796190262, + 0.011888614855706692 + ], + [ + 0.3733755350112915, + -0.05737398564815521, + 0.013654629699885845 + ], + [ + 0.3828354477882385, + -0.07283246517181396, + 0.013610877096652985 + ], + [ + 0.3927002251148224, + -0.07933487743139267, + 0.014145400375127792 + ], + [ + 0.40353867411613464, + -0.08360815793275833, + 0.015125179663300514 + ], + [ + 0.40374597907066345, + -0.0837680846452713, + 0.014806883409619331 + ], + [ + 0.3985171914100647, + -0.08237829059362411, + 0.013279436156153679 + ], + [ + 0.3963676691055298, + -0.08031980693340302, + 0.01480027474462986 + ], + [ + 0.39375078678131104, + -0.07582718878984451, + 0.03353848680853844 + ], + [ + 0.39605996012687683, + -0.07239875942468643, + 0.06485334783792496 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.29299225217886504, + 0.9108865776134986, + 0.29058765095358785, + 0.9270576181404181, + -0.3450076172348211, + 0.14674439238950807, + 0.23392245042101256, + 0.22639652553323128, + -0.9455288998309412 + ], + [ + 0.2965301175859005, + 0.9150404166808713, + 0.2734427274677274, + 0.9293580636784121, + -0.34241232083311807, + 0.1380122893716025, + 0.21991698170083443, + 0.21320140333069024, + -0.9519357555935273 + ], + [ + 0.2860579679831335, + 0.9224660343029183, + 0.2592821908863159, + 0.9416630699460073, + -0.32070301543749885, + 0.10207956989112224, + 0.17731751648729382, + 0.21495578951668817, + -0.9603918507047191 + ], + [ + 0.3223716008116916, + 0.9164496028845289, + 0.2370583817604789, + 0.9393661528681864, + -0.3406384760518668, + 0.039454524185258466, + 0.11690928891978934, + 0.2099656019586335, + -0.9706939085821124 + ], + [ + 0.3493067119698099, + 0.9128864552393552, + 0.211241901178164, + 0.9302555195384548, + -0.3648789752144016, + 0.03857462656628044, + 0.112291982532504, + 0.18303456855745312, + -0.9766723387973608 + ], + [ + 0.36121417717552107, + 0.9106445723511561, + 0.20062597303138763, + 0.9267254410677369, + -0.37444843511606973, + 0.031117942042089383, + 0.10346146666860845, + 0.17468495151702773, + -0.9791735763531785 + ], + [ + 0.3664974965777264, + 0.9161505904638533, + 0.16231968640615363, + 0.92555517640465, + -0.3768057443152248, + 0.036946535447948015, + 0.09501158051951586, + 0.13669501323670183, + -0.9860462833576329 + ], + [ + 0.39222361559947916, + 0.9097761037272042, + 0.13589730112485549, + 0.9153900106808018, + -0.4005931499584645, + 0.03982783639813996, + 0.09067394174664413, + 0.10877761393459061, + -0.9899220509690769 + ], + [ + 0.40482964762487766, + 0.904879441853032, + 0.13155284913548232, + 0.9098236073752582, + -0.4129800318681905, + 0.040847236636287025, + 0.09129052451700485, + 0.10315371534701956, + -0.9904672388037459 + ], + [ + 0.4411772014528516, + 0.887994063208509, + 0.12972748600305273, + 0.8926626934934059, + -0.4490939531977108, + 0.03831366396404878, + 0.09228213566735277, + 0.09889977203054914, + -0.9908091857310254 + ], + [ + 0.47626253212320036, + 0.8696764652161287, + 0.1297568739789052, + 0.8745482259179705, + -0.48382685257906854, + 0.032817331810538815, + 0.09132032106452674, + 0.09784897839329873, + -0.9910026116958823 + ], + [ + 0.49703763268923423, + 0.8606560288057118, + 0.11056578028967085, + 0.8638742642184446, + -0.5027932404169962, + 0.030335012972101127, + 0.08169973874941555, + 0.08043728906022725, + -0.9934057555787155 + ], + [ + 0.5714769207502863, + 0.8081875291146557, + 0.14229211795921265, + 0.8162780670276976, + -0.5776533755086448, + 0.002587480047159363, + 0.08428669135336063, + 0.1146712498711698, + -0.9898213263582915 + ], + [ + 0.6467269105352377, + 0.7422186581759525, + 0.17565809587102796, + 0.7580394891139193, + -0.6509580593554941, + -0.04037001243543423, + 0.0843826767379112, + 0.15926414667343539, + -0.9836231470695103 + ], + [ + 0.6781268237494339, + 0.7089289688654863, + 0.1938136424889187, + 0.7310313559775434, + -0.6778173716167663, + -0.07846507065040302, + 0.07574409210716272, + 0.19489311901105377, + -0.9778954466981655 + ], + [ + 0.71231318010866, + 0.6762091125065851, + 0.18801906713560754, + 0.6988667714166416, + -0.7080714661788938, + -0.1010941867416269, + 0.06477012624016701, + 0.20341100006225782, + -0.9769487170780792 + ], + [ + 0.7215242830329874, + 0.6641261877663789, + 0.1958037683923108, + 0.6901417237921721, + -0.71259231744112, + -0.12616096942027402, + 0.05574145741638378, + 0.22616055325098247, + -0.9724938529771316 + ], + [ + 0.7287679090379902, + 0.6543579893620283, + 0.2017745189920649, + 0.6826543139225533, + -0.7173638510777214, + -0.13918402512454076, + 0.05366956716169398, + 0.2391750967910839, + -0.969492058057028 + ], + [ + 0.7334653837991942, + 0.6490687382586687, + 0.20183732009616212, + 0.6772936209861308, + -0.7229786838236223, + -0.13629076897632655, + 0.05746200257384243, + 0.23666769055357503, + -0.9698899538134422 + ], + [ + 0.730789466830871, + 0.6555220039994404, + 0.19036191174079264, + 0.6806761635454649, + -0.7207546253225003, + -0.1311210526851047, + 0.051251493149753816, + 0.2253966999509533, + -0.9729180911572881 + ], + [ + 0.734593397311531, + 0.6514036718983414, + 0.18985730658486874, + 0.6758785502755362, + -0.7271250276903024, + -0.12032198213051537, + 0.05967181833782459, + 0.21670821475831176, + -0.9744110137680724 + ], + [ + 0.7396054958618642, + 0.6448124814241024, + 0.1928745039931853, + 0.6643130362694522, + -0.7453975337853879, + -0.05541395554481509, + 0.10803656942622315, + 0.16911351343506778, + -0.9796574499488379 + ], + [ + 0.7249706146892341, + 0.6418740747643419, + 0.24983050250626748, + 0.6679120862005965, + -0.7437377985125083, + -0.02734103456225885, + 0.16825888667253525, + 0.18668625875834488, + -0.9679035013091601 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.001783609390258789, + -0.0008926056325435638, + -0.006497636437416077, + 0.014684289693832397, + 0.01438075304031372, + -0.0027474164962768555, + 1.0 + ], + [ + -0.001975327730178833, + 0.005509216338396072, + -0.015514649450778961, + 0.00013831257820129395, + 0.04346926510334015, + 0.013938307762145996, + 1.0 + ], + [ + -0.003508538007736206, + 0.002596598118543625, + -0.01946055144071579, + 0.007169067859649658, + 0.06108284741640091, + -0.03566551208496094, + 1.0 + ], + [ + -0.0025997161865234375, + 0.00018157437443733215, + -0.020822487771511078, + 0.02776537835597992, + 0.004647932946681976, + -0.028618812561035156, + 1.0 + ], + [ + -0.00026419758796691895, + -0.0008774437010288239, + -0.013249192386865616, + 0.008714348077774048, + 0.008882381021976471, + -0.012455582618713379, + 1.0 + ], + [ + -0.002193748950958252, + -0.0006737001240253448, + -0.013688348233699799, + 0.038791656494140625, + 0.00849182903766632, + -0.0053719282150268555, + 1.0 + ], + [ + 0.0012846887111663818, + -0.005000166594982147, + -0.007665534503757954, + 0.02830551564693451, + 0.004356458783149719, + -0.027779579162597656, + 1.0 + ], + [ + 0.0025194883346557617, + -0.004631221294403076, + -0.001740497536957264, + 0.005673520267009735, + -0.000619150698184967, + -0.013837695121765137, + 1.0 + ], + [ + 0.005187928676605225, + -0.009978249669075012, + -0.0005710478872060776, + 0.004284776747226715, + -0.0009958148002624512, + -0.040368080139160156, + 1.0 + ], + [ + 0.008755981922149658, + -0.012215506285429, + -0.00018050707876682281, + 0.0010692775249481201, + 0.0009658932685852051, + -0.03965556621551514, + 1.0 + ], + [ + 0.0068874359130859375, + -0.005371671169996262, + 0.0004053376615047455, + 0.017623387277126312, + 0.009656824171543121, + -0.023430466651916504, + 1.0 + ], + [ + 0.0272979736328125, + -0.027296744287014008, + -0.0002689482644200325, + -0.034541331231594086, + -0.0025959089398384094, + -0.08868974447250366, + 1.0 + ], + [ + 0.026558339595794678, + -0.03216651827096939, + 0.003260349854826927, + -0.045186400413513184, + -9.632855653762817e-05, + -0.09553056955337524, + 1.0 + ], + [ + 0.016083955764770508, + -0.018525637686252594, + 0.0017660148441791534, + -0.03619827330112457, + 0.00866643339395523, + -0.04154825210571289, + 1.0 + ], + [ + 0.009459912776947021, + -0.015458479523658752, + -4.3752603232860565e-05, + -0.008556708693504333, + 0.011001206934452057, + -0.04705393314361572, + 1.0 + ], + [ + 0.009864777326583862, + -0.006502412259578705, + 0.0005345232784748077, + -0.023218169808387756, + 0.009045135229825974, + -0.012699007987976074, + 1.0 + ], + [ + 0.010838449001312256, + -0.004273280501365662, + 0.0009797792881727219, + -0.013375893235206604, + 0.0020749978721141815, + -0.010432898998260498, + 1.0 + ], + [ + 0.0002073049545288086, + -0.00015992671251296997, + -0.00031829625368118286, + 0.0025339126586914062, + -0.0037983059883117676, + -0.007135570049285889, + 1.0 + ], + [ + -0.005228787660598755, + 0.0013897940516471863, + -0.0015274472534656525, + 0.011683180928230286, + 0.006219714879989624, + 0.004306137561798096, + 1.0 + ], + [ + -0.002149522304534912, + 0.0020584836602211, + 0.001520838588476181, + 0.008817076683044434, + -0.008433330804109573, + -0.00611424446105957, + 1.0 + ], + [ + -0.00261688232421875, + 0.004492618143558502, + 0.018738212063908577, + 0.04789711534976959, + -0.04854055866599083, + -0.011975109577178955, + 1.0 + ], + [ + 0.002309173345565796, + 0.003428429365158081, + 0.03131486102938652, + -0.019596710801124573, + -0.06081525981426239, + 0.012637436389923096, + 1.0 + ], + [ + -0.002190530300140381, + 0.0037029609084129333, + 0.02869553118944168, + -0.0410139262676239, + -0.043546974658966064, + 0.03903454542160034, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2893412709236145, + 0.05107548460364342, + 0.10138469189405441 + ], + [ + 0.28736594319343567, + 0.05658470094203949, + 0.08587004244327545 + ], + [ + 0.28385740518569946, + 0.059181299060583115, + 0.06640949100255966 + ], + [ + 0.281257688999176, + 0.05936287343502045, + 0.045587003231048584 + ], + [ + 0.2809934914112091, + 0.05848542973399162, + 0.03233781084418297 + ], + [ + 0.27879974246025085, + 0.05781172960996628, + 0.01864946261048317 + ], + [ + 0.28008443117141724, + 0.05281156301498413, + 0.010983928106725216 + ], + [ + 0.282603919506073, + 0.048180341720581055, + 0.009243430569767952 + ], + [ + 0.2877918481826782, + 0.03820209205150604, + 0.008672382682561874 + ], + [ + 0.2965478301048279, + 0.02598658576607704, + 0.008491875603795052 + ], + [ + 0.3034352660179138, + 0.02061491459608078, + 0.008897213265299797 + ], + [ + 0.3307332396507263, + -0.0066818296909332275, + 0.008628265000879765 + ], + [ + 0.357291579246521, + -0.03884834796190262, + 0.011888614855706692 + ], + [ + 0.3733755350112915, + -0.05737398564815521, + 0.013654629699885845 + ], + [ + 0.3828354477882385, + -0.07283246517181396, + 0.013610877096652985 + ], + [ + 0.3927002251148224, + -0.07933487743139267, + 0.014145400375127792 + ], + [ + 0.40353867411613464, + -0.08360815793275833, + 0.015125179663300514 + ], + [ + 0.40374597907066345, + -0.0837680846452713, + 0.014806883409619331 + ], + [ + 0.3985171914100647, + -0.08237829059362411, + 0.013279436156153679 + ], + [ + 0.3963676691055298, + -0.08031980693340302, + 0.01480027474462986 + ], + [ + 0.39375078678131104, + -0.07582718878984451, + 0.03353848680853844 + ], + [ + 0.39605996012687683, + -0.07239875942468643, + 0.06485334783792496 + ], + [ + 0.39386942982673645, + -0.0686957985162735, + 0.09354887902736664 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.2965301175859005, + 0.9150404166808713, + 0.2734427274677274, + 0.9293580636784121, + -0.34241232083311807, + 0.1380122893716025, + 0.21991698170083443, + 0.21320140333069024, + -0.9519357555935273 + ], + [ + 0.2860579679831335, + 0.9224660343029183, + 0.2592821908863159, + 0.9416630699460073, + -0.32070301543749885, + 0.10207956989112224, + 0.17731751648729382, + 0.21495578951668817, + -0.9603918507047191 + ], + [ + 0.3223716008116916, + 0.9164496028845289, + 0.2370583817604789, + 0.9393661528681864, + -0.3406384760518668, + 0.039454524185258466, + 0.11690928891978934, + 0.2099656019586335, + -0.9706939085821124 + ], + [ + 0.3493067119698099, + 0.9128864552393552, + 0.211241901178164, + 0.9302555195384548, + -0.3648789752144016, + 0.03857462656628044, + 0.112291982532504, + 0.18303456855745312, + -0.9766723387973608 + ], + [ + 0.36121417717552107, + 0.9106445723511561, + 0.20062597303138763, + 0.9267254410677369, + -0.37444843511606973, + 0.031117942042089383, + 0.10346146666860845, + 0.17468495151702773, + -0.9791735763531785 + ], + [ + 0.3664974965777264, + 0.9161505904638533, + 0.16231968640615363, + 0.92555517640465, + -0.3768057443152248, + 0.036946535447948015, + 0.09501158051951586, + 0.13669501323670183, + -0.9860462833576329 + ], + [ + 0.39222361559947916, + 0.9097761037272042, + 0.13589730112485549, + 0.9153900106808018, + -0.4005931499584645, + 0.03982783639813996, + 0.09067394174664413, + 0.10877761393459061, + -0.9899220509690769 + ], + [ + 0.40482964762487766, + 0.904879441853032, + 0.13155284913548232, + 0.9098236073752582, + -0.4129800318681905, + 0.040847236636287025, + 0.09129052451700485, + 0.10315371534701956, + -0.9904672388037459 + ], + [ + 0.4411772014528516, + 0.887994063208509, + 0.12972748600305273, + 0.8926626934934059, + -0.4490939531977108, + 0.03831366396404878, + 0.09228213566735277, + 0.09889977203054914, + -0.9908091857310254 + ], + [ + 0.47626253212320036, + 0.8696764652161287, + 0.1297568739789052, + 0.8745482259179705, + -0.48382685257906854, + 0.032817331810538815, + 0.09132032106452674, + 0.09784897839329873, + -0.9910026116958823 + ], + [ + 0.49703763268923423, + 0.8606560288057118, + 0.11056578028967085, + 0.8638742642184446, + -0.5027932404169962, + 0.030335012972101127, + 0.08169973874941555, + 0.08043728906022725, + -0.9934057555787155 + ], + [ + 0.5714769207502863, + 0.8081875291146557, + 0.14229211795921265, + 0.8162780670276976, + -0.5776533755086448, + 0.002587480047159363, + 0.08428669135336063, + 0.1146712498711698, + -0.9898213263582915 + ], + [ + 0.6467269105352377, + 0.7422186581759525, + 0.17565809587102796, + 0.7580394891139193, + -0.6509580593554941, + -0.04037001243543423, + 0.0843826767379112, + 0.15926414667343539, + -0.9836231470695103 + ], + [ + 0.6781268237494339, + 0.7089289688654863, + 0.1938136424889187, + 0.7310313559775434, + -0.6778173716167663, + -0.07846507065040302, + 0.07574409210716272, + 0.19489311901105377, + -0.9778954466981655 + ], + [ + 0.71231318010866, + 0.6762091125065851, + 0.18801906713560754, + 0.6988667714166416, + -0.7080714661788938, + -0.1010941867416269, + 0.06477012624016701, + 0.20341100006225782, + -0.9769487170780792 + ], + [ + 0.7215242830329874, + 0.6641261877663789, + 0.1958037683923108, + 0.6901417237921721, + -0.71259231744112, + -0.12616096942027402, + 0.05574145741638378, + 0.22616055325098247, + -0.9724938529771316 + ], + [ + 0.7287679090379902, + 0.6543579893620283, + 0.2017745189920649, + 0.6826543139225533, + -0.7173638510777214, + -0.13918402512454076, + 0.05366956716169398, + 0.2391750967910839, + -0.969492058057028 + ], + [ + 0.7334653837991942, + 0.6490687382586687, + 0.20183732009616212, + 0.6772936209861308, + -0.7229786838236223, + -0.13629076897632655, + 0.05746200257384243, + 0.23666769055357503, + -0.9698899538134422 + ], + [ + 0.730789466830871, + 0.6555220039994404, + 0.19036191174079264, + 0.6806761635454649, + -0.7207546253225003, + -0.1311210526851047, + 0.051251493149753816, + 0.2253966999509533, + -0.9729180911572881 + ], + [ + 0.734593397311531, + 0.6514036718983414, + 0.18985730658486874, + 0.6758785502755362, + -0.7271250276903024, + -0.12032198213051537, + 0.05967181833782459, + 0.21670821475831176, + -0.9744110137680724 + ], + [ + 0.7396054958618642, + 0.6448124814241024, + 0.1928745039931853, + 0.6643130362694522, + -0.7453975337853879, + -0.05541395554481509, + 0.10803656942622315, + 0.16911351343506778, + -0.9796574499488379 + ], + [ + 0.7249706146892341, + 0.6418740747643419, + 0.24983050250626748, + 0.6679120862005965, + -0.7437377985125083, + -0.02734103456225885, + 0.16825888667253525, + 0.18668625875834488, + -0.9679035013091601 + ], + [ + 0.6925019721417567, + 0.6526149906200309, + 0.30746494531538837, + 0.6898659184219216, + -0.7237223941687729, + -0.01763266226347765, + 0.21101192662893808, + 0.22432024027411412, + -0.9513960251250304 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006246.json b/json/chunk-0006/episode_0006246.json new file mode 100644 index 0000000000000000000000000000000000000000..27d07420518b7324c48fff36b9ce3cb4dfe2697e --- /dev/null +++ b/json/chunk-0006/episode_0006246.json @@ -0,0 +1,2122 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 34, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nFold the cloth from top left to center." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006246.mp4", + "start": 0, + "end": 34, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.35406166315078735, + -0.08633192628622055, + 0.03540193289518356, + -0.17703436315059662, + -0.26557156443595886, + -0.11404123157262802, + 0.0, + 0.9994885921478271 + ], + [ + 0.3491935133934021, + -0.08601071685552597, + 0.023296022787690163, + -0.17550300061702728, + -0.2297687828540802, + -0.1127072125673294, + 0.0, + 0.9994885921478271 + ], + [ + 0.34030839800834656, + -0.09574554860591888, + 0.017489176243543625, + -0.15880513191223145, + -0.22266285121440887, + -0.15500573813915253, + 0.0, + 0.9994885921478271 + ], + [ + 0.33812233805656433, + -0.09788098186254501, + 0.024593278765678406, + -0.12626680731773376, + -0.2448779046535492, + -0.19617782533168793, + 0.0, + 0.9994885921478271 + ], + [ + 0.3464203476905823, + -0.07770715653896332, + 0.04274311289191246, + -0.034336283802986145, + -0.24763204157352448, + -0.27896425127983093, + 0.0, + 0.9994885921478271 + ], + [ + 0.36057230830192566, + -0.03163629025220871, + 0.05990447476506233, + 0.053479477763175964, + -0.2270870804786682, + -0.3080204129219055, + 0.0, + 0.9994885921478271 + ], + [ + 0.3817295730113983, + 0.0173599012196064, + 0.07832880318164825, + 0.10015075653791428, + -0.2528066635131836, + -0.32890230417251587, + 0.0, + 0.9994885921478271 + ], + [ + 0.3959944248199463, + 0.06554380059242249, + 0.068123959004879, + 0.10018076747655869, + -0.22816890478134155, + -0.29784247279167175, + 0.0, + 0.9994885921478271 + ], + [ + 0.40438950061798096, + 0.08006969094276428, + 0.060201495885849, + 0.086351178586483, + -0.2337448000907898, + -0.3030693829059601, + 0.0, + 0.9994885921478271 + ], + [ + 0.40851911902427673, + 0.09850063920021057, + 0.04258481785655022, + 0.0681135505437851, + -0.23843826353549957, + -0.28466108441352844, + 0.0, + 0.9499720335006714 + ], + [ + 0.4056241810321808, + 0.11735264956951141, + 0.02973753958940506, + 0.04608309641480446, + -0.24641279876232147, + -0.23272091150283813, + 0.0, + 0.6651484370231628 + ], + [ + 0.40631142258644104, + 0.12122566252946854, + 0.025918081402778625, + 0.051718778908252716, + -0.2554348409175873, + -0.2359842211008072, + 0.0, + 0.35856863856315613 + ], + [ + 0.40220731496810913, + 0.12839683890342712, + 0.01834132708609104, + 0.032333746552467346, + -0.23255527019500732, + -0.22069381177425385, + 0.0, + 0.20745283365249634 + ], + [ + 0.40489524602890015, + 0.12805774807929993, + 0.015957484021782875, + 0.023876791819930077, + -0.23047754168510437, + -0.2288130521774292, + 0.0, + 0.1618213802576065 + ], + [ + 0.40692147612571716, + 0.12751272320747375, + 0.014727029018104076, + 0.01544348057359457, + -0.23118911683559418, + -0.22921258211135864, + 0.0, + 0.37631502747535706 + ], + [ + 0.4071093499660492, + 0.1278393268585205, + 0.01479134988039732, + 0.012475274503231049, + -0.23147842288017273, + -0.22736309468746185, + 0.0, + 0.6781873106956482 + ], + [ + 0.40723854303359985, + 0.12677928805351257, + 0.014794387854635715, + 0.009593669325113297, + -0.23169675469398499, + -0.2284075766801834, + 0.0, + 0.7672095894813538 + ], + [ + 0.40954095125198364, + 0.12658853828907013, + 0.012359256856143475, + 0.00558597594499588, + -0.23281767964363098, + -0.23902244865894318, + 0.0, + 0.4568776488304138 + ], + [ + 0.41041135787963867, + 0.1267755925655365, + 0.012717794626951218, + -0.002871367847546935, + -0.2241954505443573, + -0.2510007619857788, + 0.0, + 0.21856790781021118 + ], + [ + 0.41104626655578613, + 0.12901227176189423, + 0.015683483332395554, + 0.014269044622778893, + -0.21219463646411896, + -0.27856704592704773, + 0.0, + 0.0867718756198883 + ], + [ + 0.41346627473831177, + 0.12077958136796951, + 0.01949659362435341, + 0.07663507759571075, + -0.21144600212574005, + -0.35895201563835144, + 0.0, + 0.05896064639091492 + ], + [ + 0.40295615792274475, + 0.09616406261920929, + 0.05234594643115997, + 0.20498669147491455, + -0.268117755651474, + -0.4447672665119171, + 0.0, + 0.057568058371543884 + ], + [ + 0.38292694091796875, + 0.07615593820810318, + 0.06731583178043365, + 0.2848956882953644, + -0.30776333808898926, + -0.5020030736923218, + 0.0, + 0.057568058371543884 + ], + [ + 0.35781270265579224, + 0.05734464153647423, + 0.0727565735578537, + 0.2980474829673767, + -0.32282498478889465, + -0.4976171851158142, + 0.0, + 0.057568058371543884 + ], + [ + 0.33345258235931396, + 0.04565555974841118, + 0.053919728845357895, + 0.18756386637687683, + -0.31017032265663147, + -0.4532659649848938, + 0.0, + 0.05729193985462189 + ], + [ + 0.319091260433197, + 0.03731462359428406, + 0.03912942111492157, + 0.03274073451757431, + -0.2845725119113922, + -0.4383068382740021, + 0.0, + 0.05729193985462189 + ], + [ + 0.3089589476585388, + 0.028650013729929924, + 0.022801367565989494, + -0.049219295382499695, + -0.25680652260780334, + -0.4342937469482422, + 0.0, + 0.07591649144887924 + ], + [ + 0.2983524203300476, + 0.022293558344244957, + 0.015053845942020416, + -0.08299338072538376, + -0.240036278963089, + -0.4071320593357086, + 0.0, + 0.23134081065654755 + ], + [ + 0.2849469482898712, + 0.011117183603346348, + 0.010235779918730259, + -0.15084296464920044, + -0.1954737901687622, + -0.36947277188301086, + 0.0, + 0.49277758598327637 + ], + [ + 0.26532652974128723, + -0.005175488069653511, + 0.008527190424501896, + -0.1712002009153366, + -0.1534215360879898, + -0.34630924463272095, + 0.0, + 0.8121206760406494 + ], + [ + 0.2523367702960968, + -0.016163678839802742, + 0.009357170201838017, + -0.15212838351726532, + -0.15135571360588074, + -0.3309885263442993, + 0.0, + 1.0060625076293945 + ], + [ + 0.24847036600112915, + -0.026804931461811066, + 0.02025853656232357, + -0.08274150639772415, + -0.17932604253292084, + -0.3483777344226837, + 0.0, + 1.0047606229782104 + ], + [ + 0.26140719652175903, + -0.023658765479922295, + 0.02672555111348629, + 0.06698356568813324, + -0.22737754881381989, + -0.43377622961997986, + 0.0, + 1.0008161067962646 + ], + [ + 0.28181973099708557, + -0.01865791343152523, + 0.04066106304526329, + 0.17507459223270416, + -0.2519308030605316, + -0.47004926204681396, + 0.0, + 1.0008161067962646 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9499720335006714 + ], + [ + 0.6651484370231628 + ], + [ + 0.35856863856315613 + ], + [ + 0.20745283365249634 + ], + [ + 0.1618213802576065 + ], + [ + 0.37631502747535706 + ], + [ + 0.6781873106956482 + ], + [ + 0.7672095894813538 + ], + [ + 0.4568776488304138 + ], + [ + 0.21856790781021118 + ], + [ + 0.0867718756198883 + ], + [ + 0.05896064639091492 + ], + [ + 0.057568058371543884 + ], + [ + 0.057568058371543884 + ], + [ + 0.057568058371543884 + ], + [ + 0.05729193985462189 + ], + [ + 0.05729193985462189 + ], + [ + 0.07591649144887924 + ], + [ + 0.23134081065654755 + ], + [ + 0.49277758598327637 + ], + [ + 0.8121206760406494 + ], + [ + 1.0060625076293945 + ], + [ + 1.0047606229782104 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.35406166315078735, + -0.08633192628622055, + 0.03540193289518356 + ], + [ + 0.3491935133934021, + -0.08601071685552597, + 0.023296022787690163 + ], + [ + 0.34030839800834656, + -0.09574554860591888, + 0.017489176243543625 + ], + [ + 0.33812233805656433, + -0.09788098186254501, + 0.024593278765678406 + ], + [ + 0.3464203476905823, + -0.07770715653896332, + 0.04274311289191246 + ], + [ + 0.36057230830192566, + -0.03163629025220871, + 0.05990447476506233 + ], + [ + 0.3817295730113983, + 0.0173599012196064, + 0.07832880318164825 + ], + [ + 0.3959944248199463, + 0.06554380059242249, + 0.068123959004879 + ], + [ + 0.40438950061798096, + 0.08006969094276428, + 0.060201495885849 + ], + [ + 0.40851911902427673, + 0.09850063920021057, + 0.04258481785655022 + ], + [ + 0.4056241810321808, + 0.11735264956951141, + 0.02973753958940506 + ], + [ + 0.40631142258644104, + 0.12122566252946854, + 0.025918081402778625 + ], + [ + 0.40220731496810913, + 0.12839683890342712, + 0.01834132708609104 + ], + [ + 0.40489524602890015, + 0.12805774807929993, + 0.015957484021782875 + ], + [ + 0.40692147612571716, + 0.12751272320747375, + 0.014727029018104076 + ], + [ + 0.4071093499660492, + 0.1278393268585205, + 0.01479134988039732 + ], + [ + 0.40723854303359985, + 0.12677928805351257, + 0.014794387854635715 + ], + [ + 0.40954095125198364, + 0.12658853828907013, + 0.012359256856143475 + ], + [ + 0.41041135787963867, + 0.1267755925655365, + 0.012717794626951218 + ], + [ + 0.41104626655578613, + 0.12901227176189423, + 0.015683483332395554 + ], + [ + 0.41346627473831177, + 0.12077958136796951, + 0.01949659362435341 + ], + [ + 0.40295615792274475, + 0.09616406261920929, + 0.05234594643115997 + ], + [ + 0.38292694091796875, + 0.07615593820810318, + 0.06731583178043365 + ], + [ + 0.35781270265579224, + 0.05734464153647423, + 0.0727565735578537 + ], + [ + 0.33345258235931396, + 0.04565555974841118, + 0.053919728845357895 + ], + [ + 0.319091260433197, + 0.03731462359428406, + 0.03912942111492157 + ], + [ + 0.3089589476585388, + 0.028650013729929924, + 0.022801367565989494 + ], + [ + 0.2983524203300476, + 0.022293558344244957, + 0.015053845942020416 + ], + [ + 0.2849469482898712, + 0.011117183603346348, + 0.010235779918730259 + ], + [ + 0.26532652974128723, + -0.005175488069653511, + 0.008527190424501896 + ], + [ + 0.2523367702960968, + -0.016163678839802742, + 0.009357170201838017 + ], + [ + 0.24847036600112915, + -0.026804931461811066, + 0.02025853656232357 + ], + [ + 0.26140719652175903, + -0.023658765479922295, + 0.02672555111348629 + ], + [ + 0.28181973099708557, + -0.01865791343152523, + 0.04066106304526329 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9586747089864515, + -0.15793764565283366, + 0.23664002712006013, + -0.10980487659549168, + -0.9727163457130781, + -0.20436682670738063, + 0.2624608378893729, + 0.16993707914471065, + -0.9498608833435415 + ], + [ + 0.9675410895879578, + -0.1502551371752599, + 0.20319358678705912, + -0.10951296374442426, + -0.9739190917373319, + -0.1987171696694619, + 0.2277523890782679, + 0.17001469495891564, + -0.9587616245799406 + ], + [ + 0.9636195046538066, + -0.18694576869046636, + 0.19102023405776233, + -0.1505744281868474, + -0.9701870942244328, + -0.18990614465191696, + 0.22082751600956704, + 0.15423450252482912, + -0.9630404593805819 + ], + [ + 0.9515579337635802, + -0.22331508117860768, + 0.21134775421039545, + -0.18910678484328167, + -0.9670593228392693, + -0.170396273538744, + 0.2424378737281422, + 0.12217463168696505, + -0.9624433680764451 + ], + [ + 0.9320159716049924, + -0.28328696446032053, + 0.22604142195637397, + -0.2669603796878698, + -0.9584575014287856, + -0.10045582925743093, + 0.2451089234403979, + 0.03328233347809012, + -0.9689240950291941 + ], + [ + 0.9284702524664326, + -0.29127112457442716, + 0.2304433168353268, + -0.2953892580410842, + -0.9552217731181472, + -0.017220638633921564, + 0.22514034849146006, + -0.05208162968044332, + -0.972933362225272 + ], + [ + 0.916315498633101, + -0.29771823013322607, + 0.26782412589442167, + -0.31273742307919916, + -0.9497328972161175, + 0.014238263632257907, + 0.2501223923813172, + -0.09680536861052239, + -0.9633626053764115 + ], + [ + 0.931195181120578, + -0.27036057903476185, + 0.24450090380569586, + -0.28585256423503247, + -0.9578174542167127, + 0.029564098465399452, + 0.2261942664571109, + -0.09742115633579543, + -0.9691982625449377 + ], + [ + 0.9284701412345292, + -0.2782735032783471, + 0.24598181682622222, + -0.29033497631494154, + -0.9568306467380532, + 0.0134430275995112, + 0.23162210249485204, + -0.08389857469608536, + -0.9691812166978009 + ], + [ + 0.9326034625982358, + -0.26475290888077585, + 0.24526858500213328, + -0.2728868918553543, + -0.9620457458427762, + -0.0008527363839728741, + 0.23618536322834494, + -0.06613531692661631, + -0.9694547921650142 + ], + [ + 0.9436504460192985, + -0.2194470955998485, + 0.2477232487280308, + -0.22365957415133844, + -0.9746009910112102, + -0.011371156951198537, + 0.24392669107340592, + -0.04467527898914352, + -0.9687641038091891 + ], + [ + 0.9407374828882802, + -0.2207876734081326, + 0.257421427934907, + -0.2262140527738633, + -0.9740384822118806, + -0.008731408706494581, + 0.2526661643684143, + -0.05001838103537378, + -0.9662597843964912 + ], + [ + 0.9494793835479962, + -0.21152245429072014, + 0.2318343191767494, + -0.21301383963161807, + -0.9768667535861565, + -0.018879879857625743, + 0.230464757268247, + -0.031457861797542744, + -0.972572053160286 + ], + [ + 0.9481829131380999, + -0.22144521473566817, + 0.22784025128062957, + -0.2208239207142517, + -0.9748957737303632, + -0.02854866727296607, + 0.22844246381382882, + -0.02324321908321762, + -0.9732799152830173 + ], + [ + 0.9479360692023492, + -0.22373771973951473, + 0.22662445029378592, + -0.22116574052251942, + -0.974533463583003, + -0.03701680126700241, + 0.22913516518492727, + -0.01503200328224726, + -0.9732785392440326 + ], + [ + 0.9482788671272386, + -0.22260341968327219, + 0.22630710926790115, + -0.21939721581851684, + -0.9748334647397684, + -0.03955474326224002, + 0.22941676453773796, + -0.012142222563088646, + -0.9732525440913393 + ], + [ + 0.9480003827958209, + -0.22427058736099245, + 0.2258273186833964, + -0.22037620942725553, + -0.9744821809460016, + -0.04264745405294755, + 0.22962926759768937, + -0.009337165709106282, + -0.9732333824931557 + ], + [ + 0.9453570804098479, + -0.23549713682210582, + 0.22547968659628473, + -0.2303654234718533, + -0.9718598441781869, + -0.049195680121165375, + 0.23072009489336234, + -0.00543523895893221, + -0.9730049825102939 + ], + [ + 0.9444218640608093, + -0.24899082579370008, + 0.2146413551822612, + -0.242157515129707, + -0.9685017973410687, + -0.05800005528726164, + 0.2223220199397982, + 0.0027995031150163975, + -0.9749692724553924 + ], + [ + 0.9398861476840449, + -0.27206102506719193, + 0.20638999014253206, + -0.26881074874554584, + -0.9621789007764989, + -0.04418760300567555, + 0.21060581841560017, + -0.013948531819403549, + -0.9774715482864851 + ], + [ + 0.9154134122560574, + -0.3352182968998791, + 0.22281601846650417, + -0.34346939304878926, + -0.9391620871501278, + -0.0018303274329165842, + 0.20987391619831497, + -0.07485497634332598, + -0.9748587958346698 + ], + [ + 0.8704580868878543, + -0.3725613816230725, + 0.32171530254969843, + -0.4148755816002577, + -0.9070124758429864, + 0.07215691551766765, + 0.26491691294325587, + -0.19628139389224655, + -0.9440829643883699 + ], + [ + 0.8354311494499217, + -0.3871508962337867, + 0.3900884234044362, + -0.4585733596610127, + -0.882252677526536, + 0.10649266081035756, + 0.3029278269456183, + -0.26785144491421753, + -0.9145984556729646 + ], + [ + 0.8333302735912345, + -0.3744256555922507, + 0.4066522882643989, + -0.4526754619558667, + -0.8844498390466478, + 0.11328463423342847, + 0.31724687746201885, + -0.2784850276849229, + -0.9065321329638165 + ], + [ + 0.8561218402057316, + -0.37905750442020963, + 0.35124180142100764, + -0.4170079567506317, + -0.9081767169363947, + 0.03632375009955428, + 0.3052208360014354, + -0.17756818171438904, + -0.9355799175448511 + ], + [ + 0.869055075044276, + -0.4158580230320568, + 0.26796526121804864, + -0.4073380617028079, + -0.9088866773294728, + -0.08944669508254718, + 0.28074718169197577, + -0.031418345800821035, + -0.9592673806187474 + ], + [ + 0.8774178166394283, + -0.4315965035242894, + 0.20943360090803595, + -0.40697110380556006, + -0.9008107640266895, + -0.15137532190200637, + 0.2539931016995984, + 0.04758598070083255, + -0.9660347192154936 + ], + [ + 0.8919331201365117, + -0.4127115971015051, + 0.18472803474695373, + -0.38462451372229106, + -0.9072956753781258, + -0.16993687323250806, + 0.2377378654052357, + 0.0805213950330922, + -0.967986059969092 + ], + [ + 0.914758770839435, + -0.3842409996280184, + 0.12480082282255633, + -0.3542465017098493, + -0.911388618562153, + -0.2094760176767352, + 0.19423132393787484, + 0.14740976955490878, + -0.9698167624046868 + ], + [ + 0.9295831863593494, + -0.35895597772552656, + 0.08381948277763687, + -0.3354415523553478, + -0.9180436615407466, + -0.2113641418459951, + 0.15282036707007934, + 0.16836401503875675, + -0.9738067025075334 + ], + [ + 0.9349096645994046, + -0.3428339032491514, + 0.09169969368313555, + -0.3212627701100297, + -0.9273736811099821, + -0.1917505883322192, + 0.15077848513584302, + 0.14980978061352818, + -0.9771503866103045 + ], + [ + 0.924855186442332, + -0.35406148573945123, + 0.13886449663860193, + -0.33589922391399757, + -0.9316797881168335, + -0.13836359271335386, + 0.1783664640135417, + 0.08132180968562545, + -0.9805978624210647 + ], + [ + 0.8840298031466236, + -0.40566677421799996, + 0.23221924003859917, + -0.40948213691210383, + -0.9116918534215482, + -0.033798579181374536, + 0.2254233499405937, + -0.06521067934276426, + -0.9720760672916581 + ], + [ + 0.8634024806336988, + -0.4072964842996561, + 0.29773432840825603, + -0.43863252474025766, + -0.8975831751055394, + 0.04411294603000072, + 0.24927427600047808, + -0.16868318720192146, + -0.9536290251873832 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.004868149757385254, + 0.0003212094306945801, + -0.0121059101074934, + 0.001531362533569336, + 0.03580278158187866, + 0.0013340190052986145, + 1.0 + ], + [ + -0.008885115385055542, + -0.009734831750392914, + -0.005806846544146538, + 0.016697868704795837, + 0.007105931639671326, + -0.04229852557182312, + 1.0 + ], + [ + -0.0021860599517822266, + -0.002135433256626129, + 0.007104102522134781, + 0.03253832459449768, + -0.02221505343914032, + -0.0411720871925354, + 1.0 + ], + [ + 0.008298009634017944, + 0.020173825323581696, + 0.018149834126234055, + 0.09193052351474762, + -0.0027541369199752808, + -0.082786425948143, + 1.0 + ], + [ + 0.014151960611343384, + 0.04607086628675461, + 0.017161361873149872, + 0.08781576156616211, + 0.020544961094856262, + -0.029056161642074585, + 1.0 + ], + [ + 0.021157264709472656, + 0.04899619147181511, + 0.018424328416585922, + 0.04667127877473831, + -0.02571958303451538, + -0.02088189125061035, + 1.0 + ], + [ + 0.014264851808547974, + 0.048183899372816086, + -0.010204844176769257, + 3.001093864440918e-05, + 0.02463775873184204, + 0.031059831380844116, + 1.0 + ], + [ + 0.008395075798034668, + 0.014525890350341797, + -0.007922463119029999, + -0.013829588890075684, + -0.005575895309448242, + -0.00522691011428833, + 1.0 + ], + [ + 0.004129618406295776, + 0.01843094825744629, + -0.017616678029298782, + -0.018237628042697906, + -0.004693463444709778, + 0.01840829849243164, + 0.0 + ], + [ + -0.0028949379920959473, + 0.018852010369300842, + -0.012847278267145157, + -0.022030454128980637, + -0.0079745352268219, + 0.05194017291069031, + 0.0 + ], + [ + 0.0006872415542602539, + 0.003873012959957123, + -0.0038194581866264343, + 0.0056356824934482574, + -0.009022042155265808, + -0.003263309597969055, + 0.0 + ], + [ + -0.004104107618331909, + 0.007171176373958588, + -0.007576754316687584, + -0.01938503235578537, + 0.022879570722579956, + 0.015290409326553345, + 0.0 + ], + [ + 0.0026879310607910156, + -0.00033909082412719727, + -0.0023838430643081665, + -0.00845695473253727, + 0.002077728509902954, + -0.008119240403175354, + 0.0 + ], + [ + 0.0020262300968170166, + -0.0005450248718261719, + -0.0012304550036787987, + -0.008433311246335506, + -0.0007115751504898071, + -0.00039952993392944336, + 0.0 + ], + [ + 0.00018787384033203125, + 0.00032660365104675293, + 6.432086229324341e-05, + -0.0029682060703635216, + -0.00028930604457855225, + 0.0018494874238967896, + 0.0 + ], + [ + 0.00012919306755065918, + -0.0010600388050079346, + 3.037974238395691e-06, + -0.002881605178117752, + -0.00021833181381225586, + -0.0010444819927215576, + 0.0 + ], + [ + 0.002302408218383789, + -0.00019074976444244385, + -0.002435130998492241, + -0.004007693380117416, + -0.001120924949645996, + -0.010614871978759766, + 0.0 + ], + [ + 0.0008704066276550293, + 0.00018705427646636963, + 0.00035853777080774307, + -0.008457344025373459, + 0.008622229099273682, + -0.011978313326835632, + 0.0 + ], + [ + 0.0006349086761474609, + 0.002236679196357727, + 0.002965688705444336, + 0.01714041270315647, + 0.012000814080238342, + -0.02756628394126892, + 0.0 + ], + [ + 0.0024200081825256348, + -0.008232690393924713, + 0.0038131102919578552, + 0.06236603111028671, + 0.0007486343383789062, + -0.08038496971130371, + 0.0 + ], + [ + -0.010510116815567017, + -0.024615518748760223, + 0.032849352806806564, + 0.1283516138792038, + -0.05667175352573395, + -0.08581525087356567, + 0.0 + ], + [ + -0.020029217004776, + -0.02000812441110611, + 0.014969885349273682, + 0.07990899682044983, + -0.03964558243751526, + -0.05723580718040466, + 0.0 + ], + [ + -0.025114238262176514, + -0.018811296671628952, + 0.005440741777420044, + 0.013151794672012329, + -0.015061646699905396, + 0.004385888576507568, + 0.0 + ], + [ + -0.02436012029647827, + -0.01168908178806305, + -0.018836844712495804, + -0.11048361659049988, + 0.012654662132263184, + 0.04435122013092041, + 0.0 + ], + [ + -0.014361321926116943, + -0.008340936154127121, + -0.014790307730436325, + -0.15482312440872192, + 0.025597810745239258, + 0.014959126710891724, + 0.0 + ], + [ + -0.010132312774658203, + -0.008664609864354134, + -0.016328053548932076, + -0.081960029900074, + 0.027765989303588867, + 0.004013091325759888, + 1.0 + ], + [ + -0.010606527328491211, + -0.006356455385684967, + -0.007747521623969078, + -0.033774085342884064, + 0.016770243644714355, + 0.02716168761253357, + 1.0 + ], + [ + -0.013405472040176392, + -0.01117637474089861, + -0.004818066023290157, + -0.06784958392381668, + 0.04456248879432678, + 0.037659287452697754, + 1.0 + ], + [ + -0.019620418548583984, + -0.016292672604322433, + -0.001708589494228363, + -0.02035723626613617, + 0.0420522540807724, + 0.023163527250289917, + 1.0 + ], + [ + -0.01298975944519043, + -0.010988190770149231, + 0.0008299797773361206, + 0.01907181739807129, + 0.00206582248210907, + 0.01532071828842163, + 1.0 + ], + [ + -0.0038664042949676514, + -0.010641252622008324, + 0.010901366360485554, + 0.06938687711954117, + -0.0279703289270401, + -0.0173892080783844, + 1.0 + ], + [ + 0.012936830520629883, + 0.003146165981888771, + 0.00646701455116272, + 0.149725079536438, + -0.04805150628089905, + -0.08539849519729614, + 1.0 + ], + [ + 0.020412534475326538, + 0.005000852048397064, + 0.013935511931777, + 0.10809102654457092, + -0.02455325424671173, + -0.036273032426834106, + 1.0 + ], + [ + 0.013143211603164673, + -0.005277702584862709, + 0.01564045250415802, + -0.061944447457790375, + 0.04964837431907654, + 0.0758175253868103, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9499720335006714 + ], + [ + 0.6651484370231628 + ], + [ + 0.35856863856315613 + ], + [ + 0.20745283365249634 + ], + [ + 0.1618213802576065 + ], + [ + 0.37631502747535706 + ], + [ + 0.6781873106956482 + ], + [ + 0.7672095894813538 + ], + [ + 0.4568776488304138 + ], + [ + 0.21856790781021118 + ], + [ + 0.0867718756198883 + ], + [ + 0.05896064639091492 + ], + [ + 0.057568058371543884 + ], + [ + 0.057568058371543884 + ], + [ + 0.057568058371543884 + ], + [ + 0.05729193985462189 + ], + [ + 0.05729193985462189 + ], + [ + 0.07591649144887924 + ], + [ + 0.23134081065654755 + ], + [ + 0.49277758598327637 + ], + [ + 0.8121206760406494 + ], + [ + 1.0060625076293945 + ], + [ + 1.0047606229782104 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3491935133934021, + -0.08601071685552597, + 0.023296022787690163 + ], + [ + 0.34030839800834656, + -0.09574554860591888, + 0.017489176243543625 + ], + [ + 0.33812233805656433, + -0.09788098186254501, + 0.024593278765678406 + ], + [ + 0.3464203476905823, + -0.07770715653896332, + 0.04274311289191246 + ], + [ + 0.36057230830192566, + -0.03163629025220871, + 0.05990447476506233 + ], + [ + 0.3817295730113983, + 0.0173599012196064, + 0.07832880318164825 + ], + [ + 0.3959944248199463, + 0.06554380059242249, + 0.068123959004879 + ], + [ + 0.40438950061798096, + 0.08006969094276428, + 0.060201495885849 + ], + [ + 0.40851911902427673, + 0.09850063920021057, + 0.04258481785655022 + ], + [ + 0.4056241810321808, + 0.11735264956951141, + 0.02973753958940506 + ], + [ + 0.40631142258644104, + 0.12122566252946854, + 0.025918081402778625 + ], + [ + 0.40220731496810913, + 0.12839683890342712, + 0.01834132708609104 + ], + [ + 0.40489524602890015, + 0.12805774807929993, + 0.015957484021782875 + ], + [ + 0.40692147612571716, + 0.12751272320747375, + 0.014727029018104076 + ], + [ + 0.4071093499660492, + 0.1278393268585205, + 0.01479134988039732 + ], + [ + 0.40723854303359985, + 0.12677928805351257, + 0.014794387854635715 + ], + [ + 0.40954095125198364, + 0.12658853828907013, + 0.012359256856143475 + ], + [ + 0.41041135787963867, + 0.1267755925655365, + 0.012717794626951218 + ], + [ + 0.41104626655578613, + 0.12901227176189423, + 0.015683483332395554 + ], + [ + 0.41346627473831177, + 0.12077958136796951, + 0.01949659362435341 + ], + [ + 0.40295615792274475, + 0.09616406261920929, + 0.05234594643115997 + ], + [ + 0.38292694091796875, + 0.07615593820810318, + 0.06731583178043365 + ], + [ + 0.35781270265579224, + 0.05734464153647423, + 0.0727565735578537 + ], + [ + 0.33345258235931396, + 0.04565555974841118, + 0.053919728845357895 + ], + [ + 0.319091260433197, + 0.03731462359428406, + 0.03912942111492157 + ], + [ + 0.3089589476585388, + 0.028650013729929924, + 0.022801367565989494 + ], + [ + 0.2983524203300476, + 0.022293558344244957, + 0.015053845942020416 + ], + [ + 0.2849469482898712, + 0.011117183603346348, + 0.010235779918730259 + ], + [ + 0.26532652974128723, + -0.005175488069653511, + 0.008527190424501896 + ], + [ + 0.2523367702960968, + -0.016163678839802742, + 0.009357170201838017 + ], + [ + 0.24847036600112915, + -0.026804931461811066, + 0.02025853656232357 + ], + [ + 0.26140719652175903, + -0.023658765479922295, + 0.02672555111348629 + ], + [ + 0.28181973099708557, + -0.01865791343152523, + 0.04066106304526329 + ], + [ + 0.29496294260025024, + -0.02393561601638794, + 0.05630151554942131 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9675410895879578, + -0.1502551371752599, + 0.20319358678705912, + -0.10951296374442426, + -0.9739190917373319, + -0.1987171696694619, + 0.2277523890782679, + 0.17001469495891564, + -0.9587616245799406 + ], + [ + 0.9636195046538066, + -0.18694576869046636, + 0.19102023405776233, + -0.1505744281868474, + -0.9701870942244328, + -0.18990614465191696, + 0.22082751600956704, + 0.15423450252482912, + -0.9630404593805819 + ], + [ + 0.9515579337635802, + -0.22331508117860768, + 0.21134775421039545, + -0.18910678484328167, + -0.9670593228392693, + -0.170396273538744, + 0.2424378737281422, + 0.12217463168696505, + -0.9624433680764451 + ], + [ + 0.9320159716049924, + -0.28328696446032053, + 0.22604142195637397, + -0.2669603796878698, + -0.9584575014287856, + -0.10045582925743093, + 0.2451089234403979, + 0.03328233347809012, + -0.9689240950291941 + ], + [ + 0.9284702524664326, + -0.29127112457442716, + 0.2304433168353268, + -0.2953892580410842, + -0.9552217731181472, + -0.017220638633921564, + 0.22514034849146006, + -0.05208162968044332, + -0.972933362225272 + ], + [ + 0.916315498633101, + -0.29771823013322607, + 0.26782412589442167, + -0.31273742307919916, + -0.9497328972161175, + 0.014238263632257907, + 0.2501223923813172, + -0.09680536861052239, + -0.9633626053764115 + ], + [ + 0.931195181120578, + -0.27036057903476185, + 0.24450090380569586, + -0.28585256423503247, + -0.9578174542167127, + 0.029564098465399452, + 0.2261942664571109, + -0.09742115633579543, + -0.9691982625449377 + ], + [ + 0.9284701412345292, + -0.2782735032783471, + 0.24598181682622222, + -0.29033497631494154, + -0.9568306467380532, + 0.0134430275995112, + 0.23162210249485204, + -0.08389857469608536, + -0.9691812166978009 + ], + [ + 0.9326034625982358, + -0.26475290888077585, + 0.24526858500213328, + -0.2728868918553543, + -0.9620457458427762, + -0.0008527363839728741, + 0.23618536322834494, + -0.06613531692661631, + -0.9694547921650142 + ], + [ + 0.9436504460192985, + -0.2194470955998485, + 0.2477232487280308, + -0.22365957415133844, + -0.9746009910112102, + -0.011371156951198537, + 0.24392669107340592, + -0.04467527898914352, + -0.9687641038091891 + ], + [ + 0.9407374828882802, + -0.2207876734081326, + 0.257421427934907, + -0.2262140527738633, + -0.9740384822118806, + -0.008731408706494581, + 0.2526661643684143, + -0.05001838103537378, + -0.9662597843964912 + ], + [ + 0.9494793835479962, + -0.21152245429072014, + 0.2318343191767494, + -0.21301383963161807, + -0.9768667535861565, + -0.018879879857625743, + 0.230464757268247, + -0.031457861797542744, + -0.972572053160286 + ], + [ + 0.9481829131380999, + -0.22144521473566817, + 0.22784025128062957, + -0.2208239207142517, + -0.9748957737303632, + -0.02854866727296607, + 0.22844246381382882, + -0.02324321908321762, + -0.9732799152830173 + ], + [ + 0.9479360692023492, + -0.22373771973951473, + 0.22662445029378592, + -0.22116574052251942, + -0.974533463583003, + -0.03701680126700241, + 0.22913516518492727, + -0.01503200328224726, + -0.9732785392440326 + ], + [ + 0.9482788671272386, + -0.22260341968327219, + 0.22630710926790115, + -0.21939721581851684, + -0.9748334647397684, + -0.03955474326224002, + 0.22941676453773796, + -0.012142222563088646, + -0.9732525440913393 + ], + [ + 0.9480003827958209, + -0.22427058736099245, + 0.2258273186833964, + -0.22037620942725553, + -0.9744821809460016, + -0.04264745405294755, + 0.22962926759768937, + -0.009337165709106282, + -0.9732333824931557 + ], + [ + 0.9453570804098479, + -0.23549713682210582, + 0.22547968659628473, + -0.2303654234718533, + -0.9718598441781869, + -0.049195680121165375, + 0.23072009489336234, + -0.00543523895893221, + -0.9730049825102939 + ], + [ + 0.9444218640608093, + -0.24899082579370008, + 0.2146413551822612, + -0.242157515129707, + -0.9685017973410687, + -0.05800005528726164, + 0.2223220199397982, + 0.0027995031150163975, + -0.9749692724553924 + ], + [ + 0.9398861476840449, + -0.27206102506719193, + 0.20638999014253206, + -0.26881074874554584, + -0.9621789007764989, + -0.04418760300567555, + 0.21060581841560017, + -0.013948531819403549, + -0.9774715482864851 + ], + [ + 0.9154134122560574, + -0.3352182968998791, + 0.22281601846650417, + -0.34346939304878926, + -0.9391620871501278, + -0.0018303274329165842, + 0.20987391619831497, + -0.07485497634332598, + -0.9748587958346698 + ], + [ + 0.8704580868878543, + -0.3725613816230725, + 0.32171530254969843, + -0.4148755816002577, + -0.9070124758429864, + 0.07215691551766765, + 0.26491691294325587, + -0.19628139389224655, + -0.9440829643883699 + ], + [ + 0.8354311494499217, + -0.3871508962337867, + 0.3900884234044362, + -0.4585733596610127, + -0.882252677526536, + 0.10649266081035756, + 0.3029278269456183, + -0.26785144491421753, + -0.9145984556729646 + ], + [ + 0.8333302735912345, + -0.3744256555922507, + 0.4066522882643989, + -0.4526754619558667, + -0.8844498390466478, + 0.11328463423342847, + 0.31724687746201885, + -0.2784850276849229, + -0.9065321329638165 + ], + [ + 0.8561218402057316, + -0.37905750442020963, + 0.35124180142100764, + -0.4170079567506317, + -0.9081767169363947, + 0.03632375009955428, + 0.3052208360014354, + -0.17756818171438904, + -0.9355799175448511 + ], + [ + 0.869055075044276, + -0.4158580230320568, + 0.26796526121804864, + -0.4073380617028079, + -0.9088866773294728, + -0.08944669508254718, + 0.28074718169197577, + -0.031418345800821035, + -0.9592673806187474 + ], + [ + 0.8774178166394283, + -0.4315965035242894, + 0.20943360090803595, + -0.40697110380556006, + -0.9008107640266895, + -0.15137532190200637, + 0.2539931016995984, + 0.04758598070083255, + -0.9660347192154936 + ], + [ + 0.8919331201365117, + -0.4127115971015051, + 0.18472803474695373, + -0.38462451372229106, + -0.9072956753781258, + -0.16993687323250806, + 0.2377378654052357, + 0.0805213950330922, + -0.967986059969092 + ], + [ + 0.914758770839435, + -0.3842409996280184, + 0.12480082282255633, + -0.3542465017098493, + -0.911388618562153, + -0.2094760176767352, + 0.19423132393787484, + 0.14740976955490878, + -0.9698167624046868 + ], + [ + 0.9295831863593494, + -0.35895597772552656, + 0.08381948277763687, + -0.3354415523553478, + -0.9180436615407466, + -0.2113641418459951, + 0.15282036707007934, + 0.16836401503875675, + -0.9738067025075334 + ], + [ + 0.9349096645994046, + -0.3428339032491514, + 0.09169969368313555, + -0.3212627701100297, + -0.9273736811099821, + -0.1917505883322192, + 0.15077848513584302, + 0.14980978061352818, + -0.9771503866103045 + ], + [ + 0.924855186442332, + -0.35406148573945123, + 0.13886449663860193, + -0.33589922391399757, + -0.9316797881168335, + -0.13836359271335386, + 0.1783664640135417, + 0.08132180968562545, + -0.9805978624210647 + ], + [ + 0.8840298031466236, + -0.40566677421799996, + 0.23221924003859917, + -0.40948213691210383, + -0.9116918534215482, + -0.033798579181374536, + 0.2254233499405937, + -0.06521067934276426, + -0.9720760672916581 + ], + [ + 0.8634024806336988, + -0.4072964842996561, + 0.29773432840825603, + -0.43863252474025766, + -0.8975831751055394, + 0.04411294603000072, + 0.24927427600047808, + -0.16868318720192146, + -0.9536290251873832 + ], + [ + 0.9044665361775455, + -0.3607033566607809, + 0.22766943894303898, + -0.37626741443417233, + -0.9261012634375677, + 0.027555084727931514, + 0.2009057434968335, + -0.11058724317472694, + -0.9733485212795046 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006247.json b/json/chunk-0006/episode_0006247.json new file mode 100644 index 0000000000000000000000000000000000000000..c5f28b07dc7423066fc4a1856cb71056eba40312 --- /dev/null +++ b/json/chunk-0006/episode_0006247.json @@ -0,0 +1,2122 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 34, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the knife to the left side of the table." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006247.mp4", + "start": 0, + "end": 34, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3084520101547241, + 0.014439640566706657, + 0.12004459649324417, + -0.10334205627441406, + -0.18719875812530518, + 0.7645124197006226, + 0.0, + 1.0008161067962646 + ], + [ + 0.3070535361766815, + 0.013587825000286102, + 0.11271271109580994, + -0.08999355882406235, + -0.165666401386261, + 0.7598680853843689, + 0.0, + 1.0008161067962646 + ], + [ + 0.2996382415294647, + -0.00939925853163004, + 0.10549970716238022, + -0.10452495515346527, + -0.13271428644657135, + 0.6320146322250366, + 0.0, + 1.0008161067962646 + ], + [ + 0.2976641356945038, + -0.033060263842344284, + 0.10401581227779388, + -0.13525843620300293, + -0.12496662884950638, + 0.5295804142951965, + 0.0, + 1.0008161067962646 + ], + [ + 0.31213635206222534, + -0.06458892673254013, + 0.10123006999492645, + -0.16923503577709198, + -0.1266152709722519, + 0.448011189699173, + 0.0, + 1.0008161067962646 + ], + [ + 0.3367678225040436, + -0.09066043049097061, + 0.0979669913649559, + -0.20400291681289673, + -0.1525316685438156, + 0.3904440104961395, + 0.0, + 1.0008161067962646 + ], + [ + 0.3606851398944855, + -0.1149066910147667, + 0.093630351126194, + -0.20858705043792725, + -0.19087448716163635, + 0.36704200506210327, + 0.0, + 1.0008161067962646 + ], + [ + 0.3811435103416443, + -0.12825238704681396, + 0.08884922415018082, + -0.18044191598892212, + -0.23060393333435059, + 0.38977089524269104, + 0.0, + 1.0008161067962646 + ], + [ + 0.4019851088523865, + -0.135733962059021, + 0.07845059782266617, + -0.129701629281044, + -0.2632782459259033, + 0.4464595317840576, + 0.0, + 1.0008161067962646 + ], + [ + 0.4180205464363098, + -0.13362008333206177, + 0.07162372022867203, + -0.10761114954948425, + -0.29665011167526245, + 0.5093665719032288, + 0.0, + 1.0008161067962646 + ], + [ + 0.425493061542511, + -0.1316743940114975, + 0.056755054742097855, + -0.070320263504982, + -0.2903675138950348, + 0.5449385643005371, + 0.0, + 1.0008161067962646 + ], + [ + 0.4246547818183899, + -0.12977290153503418, + 0.04621972516179085, + -0.05348949506878853, + -0.2727590501308441, + 0.5651743412017822, + 0.0, + 1.0008161067962646 + ], + [ + 0.4310339093208313, + -0.12485643476247787, + 0.035358939319849014, + -0.05640045925974846, + -0.2506028115749359, + 0.5943471789360046, + 0.0, + 0.9499720335006714 + ], + [ + 0.4368635416030884, + -0.1245807558298111, + 0.03480254486203194, + -0.05238720402121544, + -0.26892030239105225, + 0.6011400818824768, + 0.0, + 0.6861988306045532 + ], + [ + 0.43803679943084717, + -0.12316246330738068, + 0.035274576395750046, + -0.0502886027097702, + -0.2802949547767639, + 0.6051040887832642, + 0.0, + 0.38577979803085327 + ], + [ + 0.4344233274459839, + -0.1227823868393898, + 0.03214386850595474, + -0.04434636980295181, + -0.26921939849853516, + 0.6036916971206665, + 0.0, + 0.36191558837890625 + ], + [ + 0.4283420145511627, + -0.12406260520219803, + 0.03460082784295082, + -0.04463819041848183, + -0.2460739016532898, + 0.5916396379470825, + 0.0, + 0.36191558837890625 + ], + [ + 0.4245087802410126, + -0.12002379447221756, + 0.05011256784200668, + -0.08143830299377441, + -0.23666012287139893, + 0.6019015908241272, + 0.0, + 0.36191558837890625 + ], + [ + 0.423922061920166, + -0.09779888391494751, + 0.07312554121017456, + -0.13358819484710693, + -0.2523840069770813, + 0.6594252586364746, + 0.0, + 0.36191558837890625 + ], + [ + 0.42139536142349243, + -0.06426727771759033, + 0.09686505049467087, + -0.18629090487957, + -0.24538084864616394, + 0.745884358882904, + 0.0, + 0.36191558837890625 + ], + [ + 0.41705429553985596, + -0.022594789043068886, + 0.10772711038589478, + -0.19339807331562042, + -0.25689390301704407, + 0.8280986547470093, + 0.0, + 0.36191558837890625 + ], + [ + 0.4142301678657532, + 0.018180159851908684, + 0.10737314820289612, + -0.1780281364917755, + -0.2700692415237427, + 0.892665445804596, + 0.0, + 0.36191558837890625 + ], + [ + 0.40426990389823914, + 0.0766562893986702, + 0.10106097906827927, + -0.15424740314483643, + -0.28162145614624023, + 1.006413221359253, + 0.0, + 0.36191558837890625 + ], + [ + 0.3896061182022095, + 0.1128145307302475, + 0.09241247922182083, + -0.1272713541984558, + -0.278763085603714, + 1.0820878744125366, + 0.0, + 0.36191558837890625 + ], + [ + 0.38091737031936646, + 0.1381261646747589, + 0.08708947896957397, + -0.11108095198869705, + -0.2888581454753876, + 1.1453020572662354, + 0.0, + 0.36191558837890625 + ], + [ + 0.37599802017211914, + 0.14371339976787567, + 0.06619919836521149, + -0.0477011501789093, + -0.278075248003006, + 1.1323047876358032, + 0.0, + 0.36191558837890625 + ], + [ + 0.36909303069114685, + 0.1553722470998764, + 0.04546390101313591, + 0.019535597413778305, + -0.2739068269729614, + 1.1389422416687012, + 0.0, + 0.36191558837890625 + ], + [ + 0.36869484186172485, + 0.1607118844985962, + 0.035830751061439514, + 0.04956389591097832, + -0.27738651633262634, + 1.1339328289031982, + 0.0, + 0.36191558837890625 + ], + [ + 0.37010037899017334, + 0.16220726072788239, + 0.03604507073760033, + 0.07110483199357986, + -0.27234721183776855, + 1.1256040334701538, + 0.0, + 0.4265471398830414 + ], + [ + 0.36824801564216614, + 0.1615442931652069, + 0.03577064722776413, + 0.07756608724594116, + -0.2640475928783417, + 1.1344510316848755, + 0.0, + 0.7329457402229309 + ], + [ + 0.369173139333725, + 0.16048891842365265, + 0.03804973512887955, + 0.08542343229055405, + -0.2573082447052002, + 1.1233779191970825, + 0.0, + 0.9851709604263306 + ], + [ + 0.3690873086452484, + 0.16076017916202545, + 0.04652034863829613, + 0.1221519410610199, + -0.2577592730522156, + 1.116649866104126, + 0.0, + 1.0054124593734741 + ], + [ + 0.37029486894607544, + 0.1581275761127472, + 0.06718674302101135, + 0.1717284470796585, + -0.28571516275405884, + 1.0872867107391357, + 0.0, + 1.0008161067962646 + ], + [ + 0.37419426441192627, + 0.150033101439476, + 0.11191070824861526, + 0.13955675065517426, + -0.3719324767589569, + 1.0722589492797852, + 0.0, + 1.0008161067962646 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9499720335006714 + ], + [ + 0.6861988306045532 + ], + [ + 0.38577979803085327 + ], + [ + 0.36191558837890625 + ], + [ + 0.36191558837890625 + ], + [ + 0.36191558837890625 + ], + [ + 0.36191558837890625 + ], + [ + 0.36191558837890625 + ], + [ + 0.36191558837890625 + ], + [ + 0.36191558837890625 + ], + [ + 0.36191558837890625 + ], + [ + 0.36191558837890625 + ], + [ + 0.36191558837890625 + ], + [ + 0.36191558837890625 + ], + [ + 0.36191558837890625 + ], + [ + 0.36191558837890625 + ], + [ + 0.4265471398830414 + ], + [ + 0.7329457402229309 + ], + [ + 0.9851709604263306 + ], + [ + 1.0054124593734741 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3084520101547241, + 0.014439640566706657, + 0.12004459649324417 + ], + [ + 0.3070535361766815, + 0.013587825000286102, + 0.11271271109580994 + ], + [ + 0.2996382415294647, + -0.00939925853163004, + 0.10549970716238022 + ], + [ + 0.2976641356945038, + -0.033060263842344284, + 0.10401581227779388 + ], + [ + 0.31213635206222534, + -0.06458892673254013, + 0.10123006999492645 + ], + [ + 0.3367678225040436, + -0.09066043049097061, + 0.0979669913649559 + ], + [ + 0.3606851398944855, + -0.1149066910147667, + 0.093630351126194 + ], + [ + 0.3811435103416443, + -0.12825238704681396, + 0.08884922415018082 + ], + [ + 0.4019851088523865, + -0.135733962059021, + 0.07845059782266617 + ], + [ + 0.4180205464363098, + -0.13362008333206177, + 0.07162372022867203 + ], + [ + 0.425493061542511, + -0.1316743940114975, + 0.056755054742097855 + ], + [ + 0.4246547818183899, + -0.12977290153503418, + 0.04621972516179085 + ], + [ + 0.4310339093208313, + -0.12485643476247787, + 0.035358939319849014 + ], + [ + 0.4368635416030884, + -0.1245807558298111, + 0.03480254486203194 + ], + [ + 0.43803679943084717, + -0.12316246330738068, + 0.035274576395750046 + ], + [ + 0.4344233274459839, + -0.1227823868393898, + 0.03214386850595474 + ], + [ + 0.4283420145511627, + -0.12406260520219803, + 0.03460082784295082 + ], + [ + 0.4245087802410126, + -0.12002379447221756, + 0.05011256784200668 + ], + [ + 0.423922061920166, + -0.09779888391494751, + 0.07312554121017456 + ], + [ + 0.42139536142349243, + -0.06426727771759033, + 0.09686505049467087 + ], + [ + 0.41705429553985596, + -0.022594789043068886, + 0.10772711038589478 + ], + [ + 0.4142301678657532, + 0.018180159851908684, + 0.10737314820289612 + ], + [ + 0.40426990389823914, + 0.0766562893986702, + 0.10106097906827927 + ], + [ + 0.3896061182022095, + 0.1128145307302475, + 0.09241247922182083 + ], + [ + 0.38091737031936646, + 0.1381261646747589, + 0.08708947896957397 + ], + [ + 0.37599802017211914, + 0.14371339976787567, + 0.06619919836521149 + ], + [ + 0.36909303069114685, + 0.1553722470998764, + 0.04546390101313591 + ], + [ + 0.36869484186172485, + 0.1607118844985962, + 0.035830751061439514 + ], + [ + 0.37010037899017334, + 0.16220726072788239, + 0.03604507073760033 + ], + [ + 0.36824801564216614, + 0.1615442931652069, + 0.03577064722776413 + ], + [ + 0.369173139333725, + 0.16048891842365265, + 0.03804973512887955 + ], + [ + 0.3690873086452484, + 0.16076017916202545, + 0.04652034863829613 + ], + [ + 0.37029486894607544, + 0.1581275761127472, + 0.06718674302101135 + ], + [ + 0.37419426441192627, + 0.150033101439476, + 0.11191070824861526 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.709111073860776, + 0.6746364093009243, + 0.20500536620677196, + 0.6800923084849197, + -0.731158451186005, + 0.053682131095319476, + 0.18610732620633097, + 0.10135597912722294, + -0.9772875874723326 + ], + [ + 0.7150016761059274, + 0.6752943762964277, + 0.18096991050484845, + 0.6793948867498659, + -0.732202267428715, + 0.04798361627040113, + 0.16490964502978933, + 0.08864166579361443, + -0.9823173947668247 + ], + [ + 0.7997439219740304, + 0.576407852536671, + 0.16782028125247284, + 0.5855764183996902, + -0.8105916729796089, + -0.006434120787616064, + 0.13232504479419915, + 0.10341724822379444, + -0.9857966094940838 + ], + [ + 0.8562891369935808, + 0.4860521306131493, + 0.1747061538504208, + 0.5012318623130901, + -0.8636273896953026, + -0.05398473830842761, + 0.1246416225381403, + 0.1337948358289514, + -0.9831395668146837 + ], + [ + 0.894095385794522, + 0.40781581850726656, + 0.1851477768599809, + 0.42970629531118687, + -0.8976472030368111, + -0.09788768385310381, + 0.12627723813451136, + 0.16708009173877775, + -0.977823246846628 + ], + [ + 0.9140035410814515, + 0.3442415448867045, + 0.214698126830632, + 0.3761801328755287, + -0.9172797970961396, + -0.13071450366739878, + 0.1519408915345592, + 0.20023868910198117, + -0.9678938128051048 + ], + [ + 0.9164412976313514, + 0.3144080946108974, + 0.24755382856847474, + 0.35233874408787164, + -0.9272592703283687, + -0.1266793392968345, + 0.18971757275051288, + 0.20331698314023394, + -0.9605568421266946 + ], + [ + 0.9005101349311884, + 0.3358646414877048, + 0.27618189564949536, + 0.3699179690574119, + -0.9255647377194512, + -0.08056433738797401, + 0.22856551151617963, + 0.17471364826097363, + -0.9577227929086204 + ], + [ + 0.8709009731143231, + 0.3977874981445928, + 0.28861150591823315, + 0.41689671972898756, + -0.9089387798650413, + -0.005236366742284636, + 0.2602472288185501, + 0.12488154698479387, + -0.9574319710114916 + ], + [ + 0.8349195270645894, + 0.4573932526962049, + 0.3061058570400574, + 0.4663254273391849, + -0.8833128520607013, + 0.04794790090625516, + 0.29231828397000575, + 0.10271230584684185, + -0.9507892527182119 + ], + [ + 0.8193610818762516, + 0.49988170693629297, + 0.2806522698590497, + 0.49666610825853463, + -0.8634733088020116, + 0.08795806895235732, + 0.2863043737247132, + 0.06732105210826882, + -0.9557707264449647 + ], + [ + 0.8132753543286463, + 0.5226341206058065, + 0.25580612584574663, + 0.5157639865080836, + -0.8510009480226486, + 0.09891863669623893, + 0.2693895103059955, + 0.05148749793055049, + -0.9616539550659309 + ], + [ + 0.8026340243676775, + 0.5474956213947999, + 0.23670058614390488, + 0.5424763421395136, + -0.8350247438951719, + 0.09194071623462405, + 0.24798798589100973, + 0.0546097210789814, + -0.9672226926708223 + ], + [ + 0.7950505509468345, + 0.5533336771005646, + 0.24842798398228583, + 0.5452550533645928, + -0.8314285826023223, + 0.10688048845447952, + 0.26569070028796593, + 0.05048122243231877, + -0.9627357363068169 + ], + [ + 0.7903461398127676, + 0.5566917119921394, + 0.25582673254043986, + 0.5466477706738176, + -0.8293135114591795, + 0.11582449882727824, + 0.2766391044310297, + 0.048305667478110687, + -0.9597590157894281 + ], + [ + 0.7935912267772275, + 0.5574202273207449, + 0.24391731171834477, + 0.5472368024842131, + -0.8291299139261785, + 0.11434801196182715, + 0.265979034491573, + 0.04273495064296859, + -0.9630310883894008 + ], + [ + 0.8050238242661025, + 0.5481446251984393, + 0.22687906961648419, + 0.540922035579276, + -0.8352630635771447, + 0.09868619988881457, + 0.24359801679970944, + 0.04327914613049837, + -0.968910172163273 + ], + [ + 0.8012853436056453, + 0.5486134617344411, + 0.23867355891789843, + 0.5504285962359803, + -0.8323277534323292, + 0.06526002843992472, + 0.2344571572131483, + 0.07908084768162511, + -0.968904567520189 + ], + [ + 0.765306257615278, + 0.5809175646200809, + 0.2772023000820374, + 0.5932534667240282, + -0.803679714507575, + 0.04635990410845491, + 0.24971314798147903, + 0.12897170079089826, + -0.95969247372285 + ], + [ + 0.7124863651670973, + 0.6338328650301187, + 0.3010300294965415, + 0.6582934327201183, + -0.7523135172914499, + 0.025963977702387522, + 0.2429257826755745, + 0.1796671113706631, + -0.9532611358925638 + ], + [ + 0.6540847623997135, + 0.6898891766876046, + 0.31020323577585324, + 0.7124729390323196, + -0.6996418471264895, + 0.053699133103643895, + 0.25407761558854286, + 0.18588762637339018, + -0.9491524406638312 + ], + [ + 0.6045990494796685, + 0.7367984889520154, + 0.3026350542258906, + 0.7505189713649116, + -0.6542168455444413, + 0.09338946743201311, + 0.2667981690147739, + 0.17067016635577215, + -0.9485201270012443 + ], + [ + 0.5138230915111751, + 0.8120486285804484, + 0.27669993756867983, + 0.8116340708640727, + -0.5646201795733368, + 0.14984721495972508, + 0.2779135938426035, + 0.14758413749175686, + -0.9492012203523036 + ], + [ + 0.4513621360113173, + 0.8594012370899676, + 0.24021185620933605, + 0.8488554132499576, + -0.49652657240131587, + 0.1813996976172916, + 0.2751666941538258, + 0.1220281794817675, + -0.9536206865629651 + ], + [ + 0.3956698299248912, + 0.8921870401934733, + 0.21782486313094995, + 0.8730987247193782, + -0.4389887206703117, + 0.21210261671567873, + 0.2848578638208936, + 0.10626000392928855, + -0.9526619594506461 + ], + [ + 0.40826442434122834, + 0.8988059161162502, + 0.15958723311015158, + 0.8706129884726187, + -0.4359421742911259, + 0.22800755464918612, + 0.2745053444290319, + 0.04585134489580436, + -0.9604917855198682 + ], + [ + 0.4029522554699395, + 0.9102295995971474, + 0.0954544699262726, + 0.8743352384393681, + -0.4136766914022981, + 0.2537902397918828, + 0.2704946776460901, + -0.018806142817304916, + -0.9625377698342404 + ], + [ + 0.40692638497359984, + 0.9107107301407708, + 0.0708299598953864, + 0.8714476036225277, + -0.4102870522704621, + 0.2687817123239028, + 0.2738430049369013, + -0.04764977172746562, + -0.9605933103563906 + ], + [ + 0.41475929664556654, + 0.908476908194656, + 0.0514240519908085, + 0.8692626527236411, + -0.41229545155517566, + 0.2727542872381149, + 0.26899287430326696, + -0.06842636848461474, + -0.9607084186526494 + ], + [ + 0.40798230780833156, + 0.9121244180899739, + 0.03974270297066404, + 0.8748912288975084, + -0.40303052194616396, + 0.26857352061960676, + 0.26098998853135247, + -0.07480270251688276, + -0.9624389755109544 + ], + [ + 0.4183963474108591, + 0.9076730256429489, + 0.032774608974419334, + 0.8718860428888636, + -0.41148713015116684, + 0.26550531055998744, + 0.25447833834896516, + -0.08251072803054825, + -0.9635521548266178 + ], + [ + 0.4242025337931514, + 0.9055661006514752, + 0.0014992245839138552, + 0.8689481065986215, + -0.4075141556385835, + 0.2808227216463144, + 0.2549144922560137, + -0.11782296170549736, + -0.9597584859394598 + ], + [ + 0.44604287833881434, + 0.8947362748509251, + -0.02219795371460656, + 0.8494762404311738, + -0.4154091707438839, + 0.3253080660002112, + 0.28184369360719197, + -0.16395798037231635, + -0.945347509144699 + ], + [ + 0.445449389040568, + 0.8939153233231439, + 0.04990226980271953, + 0.8182318258975415, + -0.42909323015569406, + 0.3825907459975054, + 0.3634164565505529, + -0.129593188720053, + -0.922569284414785 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0013984739780426025, + -0.0008518155664205551, + -0.007331885397434235, + 0.013348497450351715, + 0.02153235673904419, + -0.004644334316253662, + 1.0 + ], + [ + -0.007415294647216797, + -0.022987082600593567, + -0.007213003933429718, + -0.014531396329402924, + 0.032952114939689636, + -0.12785345315933228, + 1.0 + ], + [ + -0.0019741058349609375, + -0.02366100624203682, + -0.0014838948845863342, + -0.03073348104953766, + 0.007747657597064972, + -0.10243421792984009, + 1.0 + ], + [ + 0.014472216367721558, + -0.03152866289019585, + -0.0027857422828674316, + -0.03397659957408905, + -0.001648642122745514, + -0.08156922459602356, + 1.0 + ], + [ + 0.024631470441818237, + -0.02607150375843048, + -0.0032630786299705505, + -0.03476788103580475, + -0.02591639757156372, + -0.05756717920303345, + 1.0 + ], + [ + 0.023917317390441895, + -0.02424626052379608, + -0.004336640238761902, + -0.004584133625030518, + -0.03834281861782074, + -0.023402005434036255, + 1.0 + ], + [ + 0.020458370447158813, + -0.013345696032047272, + -0.004781126976013184, + 0.028145134449005127, + -0.03972944617271423, + 0.02272889018058777, + 1.0 + ], + [ + 0.020841598510742188, + -0.007481575012207031, + -0.010398626327514648, + 0.05074028670787811, + -0.032674312591552734, + 0.05668863654136658, + 1.0 + ], + [ + 0.01603543758392334, + 0.0021138787269592285, + -0.006826877593994141, + 0.022090479731559753, + -0.03337186574935913, + 0.06290704011917114, + 1.0 + ], + [ + 0.007472515106201172, + 0.00194568932056427, + -0.014868665486574173, + 0.03729088604450226, + 0.006282597780227661, + 0.03557199239730835, + 1.0 + ], + [ + -0.0008382797241210938, + 0.0019014924764633179, + -0.010535329580307007, + 0.016830768436193466, + 0.017608463764190674, + 0.020235776901245117, + 1.0 + ], + [ + 0.006379127502441406, + 0.004916466772556305, + -0.010860785841941833, + -0.0029109641909599304, + 0.022156238555908203, + 0.029172837734222412, + 0.0 + ], + [ + 0.00582963228225708, + 0.00027567893266677856, + -0.0005563944578170776, + 0.00401325523853302, + -0.018317490816116333, + 0.006792902946472168, + 0.0 + ], + [ + 0.001173257827758789, + 0.00141829252243042, + 0.00047203153371810913, + 0.002098601311445236, + -0.01137465238571167, + 0.0039640069007873535, + 0.0 + ], + [ + -0.0036134719848632812, + 0.00038007646799087524, + -0.0031307078897953033, + 0.00594223290681839, + 0.01107555627822876, + -0.0014123916625976562, + 0.0 + ], + [ + -0.006081312894821167, + -0.0012802183628082275, + 0.0024569593369960785, + -0.00029182061553001404, + 0.02314549684524536, + -0.012052059173583984, + 0.0 + ], + [ + -0.0038332343101501465, + 0.004038810729980469, + 0.015511739999055862, + -0.03680011257529259, + 0.00941377878189087, + 0.010261952877044678, + 0.0 + ], + [ + -0.0005867183208465576, + 0.02222491055727005, + 0.023012973368167877, + -0.05214989185333252, + -0.015723884105682373, + 0.05752366781234741, + 0.0 + ], + [ + -0.002526700496673584, + 0.03353160619735718, + 0.023739509284496307, + -0.052702710032463074, + 0.007003158330917358, + 0.08645910024642944, + 0.0 + ], + [ + -0.004341065883636475, + 0.041672490537166595, + 0.010862059891223907, + -0.007107168436050415, + -0.011513054370880127, + 0.08221429586410522, + 0.0 + ], + [ + -0.002824127674102783, + 0.04077494889497757, + -0.0003539621829986572, + 0.01536993682384491, + -0.013175338506698608, + 0.06456679105758667, + 0.0 + ], + [ + -0.009960263967514038, + 0.058476127684116364, + -0.006312169134616852, + 0.023780733346939087, + -0.011552214622497559, + 0.11374777555465698, + 0.0 + ], + [ + -0.014663785696029663, + 0.0361582413315773, + -0.008648499846458435, + 0.026976048946380615, + 0.002858370542526245, + 0.07567465305328369, + 0.0 + ], + [ + -0.008688747882843018, + 0.025311633944511414, + -0.005323000252246857, + 0.01619040220975876, + -0.010095059871673584, + 0.06321418285369873, + 0.0 + ], + [ + -0.0049193501472473145, + 0.00558723509311676, + -0.020890280604362488, + 0.06337980180978775, + 0.010782897472381592, + -0.012997269630432129, + 0.0 + ], + [ + -0.00690498948097229, + 0.011658847332000732, + -0.020735297352075577, + 0.0672367513179779, + 0.004168421030044556, + 0.006637454032897949, + 0.0 + ], + [ + -0.00039818882942199707, + 0.005339637398719788, + -0.009633149951696396, + 0.030028298497200012, + -0.003479689359664917, + -0.00500941276550293, + 0.0 + ], + [ + 0.0014055371284484863, + 0.0014953762292861938, + 0.00021431967616081238, + 0.021540936082601547, + 0.005039304494857788, + -0.008328795433044434, + 1.0 + ], + [ + -0.0018523633480072021, + -0.0006629675626754761, + -0.0002744235098361969, + 0.006461255252361298, + 0.00829961895942688, + 0.00884699821472168, + 1.0 + ], + [ + 0.0009251236915588379, + -0.0010553747415542603, + 0.0022790879011154175, + 0.007857345044612885, + 0.0067393481731414795, + -0.011073112487792969, + 1.0 + ], + [ + -8.58306884765625e-05, + 0.00027126073837280273, + 0.00847061350941658, + 0.03672850877046585, + -0.00045102834701538086, + -0.006728053092956543, + 1.0 + ], + [ + 0.0012075603008270264, + -0.0026326030492782593, + 0.020666394382715225, + 0.04957650601863861, + -0.02795588970184326, + -0.029363155364990234, + 1.0 + ], + [ + 0.00389939546585083, + -0.00809447467327118, + 0.04472396522760391, + -0.03217169642448425, + -0.08621731400489807, + -0.015027761459350586, + 1.0 + ], + [ + 0.0007935166358947754, + -0.0008178949356079102, + 0.004546120762825012, + -0.00807642936706543, + -0.008708596229553223, + 0.0014841556549072266, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9499720335006714 + ], + [ + 0.6861988306045532 + ], + [ + 0.38577979803085327 + ], + [ + 0.36191558837890625 + ], + [ + 0.36191558837890625 + ], + [ + 0.36191558837890625 + ], + [ + 0.36191558837890625 + ], + [ + 0.36191558837890625 + ], + [ + 0.36191558837890625 + ], + [ + 0.36191558837890625 + ], + [ + 0.36191558837890625 + ], + [ + 0.36191558837890625 + ], + [ + 0.36191558837890625 + ], + [ + 0.36191558837890625 + ], + [ + 0.36191558837890625 + ], + [ + 0.36191558837890625 + ], + [ + 0.4265471398830414 + ], + [ + 0.7329457402229309 + ], + [ + 0.9851709604263306 + ], + [ + 1.0054124593734741 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3070535361766815, + 0.013587825000286102, + 0.11271271109580994 + ], + [ + 0.2996382415294647, + -0.00939925853163004, + 0.10549970716238022 + ], + [ + 0.2976641356945038, + -0.033060263842344284, + 0.10401581227779388 + ], + [ + 0.31213635206222534, + -0.06458892673254013, + 0.10123006999492645 + ], + [ + 0.3367678225040436, + -0.09066043049097061, + 0.0979669913649559 + ], + [ + 0.3606851398944855, + -0.1149066910147667, + 0.093630351126194 + ], + [ + 0.3811435103416443, + -0.12825238704681396, + 0.08884922415018082 + ], + [ + 0.4019851088523865, + -0.135733962059021, + 0.07845059782266617 + ], + [ + 0.4180205464363098, + -0.13362008333206177, + 0.07162372022867203 + ], + [ + 0.425493061542511, + -0.1316743940114975, + 0.056755054742097855 + ], + [ + 0.4246547818183899, + -0.12977290153503418, + 0.04621972516179085 + ], + [ + 0.4310339093208313, + -0.12485643476247787, + 0.035358939319849014 + ], + [ + 0.4368635416030884, + -0.1245807558298111, + 0.03480254486203194 + ], + [ + 0.43803679943084717, + -0.12316246330738068, + 0.035274576395750046 + ], + [ + 0.4344233274459839, + -0.1227823868393898, + 0.03214386850595474 + ], + [ + 0.4283420145511627, + -0.12406260520219803, + 0.03460082784295082 + ], + [ + 0.4245087802410126, + -0.12002379447221756, + 0.05011256784200668 + ], + [ + 0.423922061920166, + -0.09779888391494751, + 0.07312554121017456 + ], + [ + 0.42139536142349243, + -0.06426727771759033, + 0.09686505049467087 + ], + [ + 0.41705429553985596, + -0.022594789043068886, + 0.10772711038589478 + ], + [ + 0.4142301678657532, + 0.018180159851908684, + 0.10737314820289612 + ], + [ + 0.40426990389823914, + 0.0766562893986702, + 0.10106097906827927 + ], + [ + 0.3896061182022095, + 0.1128145307302475, + 0.09241247922182083 + ], + [ + 0.38091737031936646, + 0.1381261646747589, + 0.08708947896957397 + ], + [ + 0.37599802017211914, + 0.14371339976787567, + 0.06619919836521149 + ], + [ + 0.36909303069114685, + 0.1553722470998764, + 0.04546390101313591 + ], + [ + 0.36869484186172485, + 0.1607118844985962, + 0.035830751061439514 + ], + [ + 0.37010037899017334, + 0.16220726072788239, + 0.03604507073760033 + ], + [ + 0.36824801564216614, + 0.1615442931652069, + 0.03577064722776413 + ], + [ + 0.369173139333725, + 0.16048891842365265, + 0.03804973512887955 + ], + [ + 0.3690873086452484, + 0.16076017916202545, + 0.04652034863829613 + ], + [ + 0.37029486894607544, + 0.1581275761127472, + 0.06718674302101135 + ], + [ + 0.37419426441192627, + 0.150033101439476, + 0.11191070824861526 + ], + [ + 0.37498778104782104, + 0.1492152065038681, + 0.11645682901144028 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.7150016761059274, + 0.6752943762964277, + 0.18096991050484845, + 0.6793948867498659, + -0.732202267428715, + 0.04798361627040113, + 0.16490964502978933, + 0.08864166579361443, + -0.9823173947668247 + ], + [ + 0.7997439219740304, + 0.576407852536671, + 0.16782028125247284, + 0.5855764183996902, + -0.8105916729796089, + -0.006434120787616064, + 0.13232504479419915, + 0.10341724822379444, + -0.9857966094940838 + ], + [ + 0.8562891369935808, + 0.4860521306131493, + 0.1747061538504208, + 0.5012318623130901, + -0.8636273896953026, + -0.05398473830842761, + 0.1246416225381403, + 0.1337948358289514, + -0.9831395668146837 + ], + [ + 0.894095385794522, + 0.40781581850726656, + 0.1851477768599809, + 0.42970629531118687, + -0.8976472030368111, + -0.09788768385310381, + 0.12627723813451136, + 0.16708009173877775, + -0.977823246846628 + ], + [ + 0.9140035410814515, + 0.3442415448867045, + 0.214698126830632, + 0.3761801328755287, + -0.9172797970961396, + -0.13071450366739878, + 0.1519408915345592, + 0.20023868910198117, + -0.9678938128051048 + ], + [ + 0.9164412976313514, + 0.3144080946108974, + 0.24755382856847474, + 0.35233874408787164, + -0.9272592703283687, + -0.1266793392968345, + 0.18971757275051288, + 0.20331698314023394, + -0.9605568421266946 + ], + [ + 0.9005101349311884, + 0.3358646414877048, + 0.27618189564949536, + 0.3699179690574119, + -0.9255647377194512, + -0.08056433738797401, + 0.22856551151617963, + 0.17471364826097363, + -0.9577227929086204 + ], + [ + 0.8709009731143231, + 0.3977874981445928, + 0.28861150591823315, + 0.41689671972898756, + -0.9089387798650413, + -0.005236366742284636, + 0.2602472288185501, + 0.12488154698479387, + -0.9574319710114916 + ], + [ + 0.8349195270645894, + 0.4573932526962049, + 0.3061058570400574, + 0.4663254273391849, + -0.8833128520607013, + 0.04794790090625516, + 0.29231828397000575, + 0.10271230584684185, + -0.9507892527182119 + ], + [ + 0.8193610818762516, + 0.49988170693629297, + 0.2806522698590497, + 0.49666610825853463, + -0.8634733088020116, + 0.08795806895235732, + 0.2863043737247132, + 0.06732105210826882, + -0.9557707264449647 + ], + [ + 0.8132753543286463, + 0.5226341206058065, + 0.25580612584574663, + 0.5157639865080836, + -0.8510009480226486, + 0.09891863669623893, + 0.2693895103059955, + 0.05148749793055049, + -0.9616539550659309 + ], + [ + 0.8026340243676775, + 0.5474956213947999, + 0.23670058614390488, + 0.5424763421395136, + -0.8350247438951719, + 0.09194071623462405, + 0.24798798589100973, + 0.0546097210789814, + -0.9672226926708223 + ], + [ + 0.7950505509468345, + 0.5533336771005646, + 0.24842798398228583, + 0.5452550533645928, + -0.8314285826023223, + 0.10688048845447952, + 0.26569070028796593, + 0.05048122243231877, + -0.9627357363068169 + ], + [ + 0.7903461398127676, + 0.5566917119921394, + 0.25582673254043986, + 0.5466477706738176, + -0.8293135114591795, + 0.11582449882727824, + 0.2766391044310297, + 0.048305667478110687, + -0.9597590157894281 + ], + [ + 0.7935912267772275, + 0.5574202273207449, + 0.24391731171834477, + 0.5472368024842131, + -0.8291299139261785, + 0.11434801196182715, + 0.265979034491573, + 0.04273495064296859, + -0.9630310883894008 + ], + [ + 0.8050238242661025, + 0.5481446251984393, + 0.22687906961648419, + 0.540922035579276, + -0.8352630635771447, + 0.09868619988881457, + 0.24359801679970944, + 0.04327914613049837, + -0.968910172163273 + ], + [ + 0.8012853436056453, + 0.5486134617344411, + 0.23867355891789843, + 0.5504285962359803, + -0.8323277534323292, + 0.06526002843992472, + 0.2344571572131483, + 0.07908084768162511, + -0.968904567520189 + ], + [ + 0.765306257615278, + 0.5809175646200809, + 0.2772023000820374, + 0.5932534667240282, + -0.803679714507575, + 0.04635990410845491, + 0.24971314798147903, + 0.12897170079089826, + -0.95969247372285 + ], + [ + 0.7124863651670973, + 0.6338328650301187, + 0.3010300294965415, + 0.6582934327201183, + -0.7523135172914499, + 0.025963977702387522, + 0.2429257826755745, + 0.1796671113706631, + -0.9532611358925638 + ], + [ + 0.6540847623997135, + 0.6898891766876046, + 0.31020323577585324, + 0.7124729390323196, + -0.6996418471264895, + 0.053699133103643895, + 0.25407761558854286, + 0.18588762637339018, + -0.9491524406638312 + ], + [ + 0.6045990494796685, + 0.7367984889520154, + 0.3026350542258906, + 0.7505189713649116, + -0.6542168455444413, + 0.09338946743201311, + 0.2667981690147739, + 0.17067016635577215, + -0.9485201270012443 + ], + [ + 0.5138230915111751, + 0.8120486285804484, + 0.27669993756867983, + 0.8116340708640727, + -0.5646201795733368, + 0.14984721495972508, + 0.2779135938426035, + 0.14758413749175686, + -0.9492012203523036 + ], + [ + 0.4513621360113173, + 0.8594012370899676, + 0.24021185620933605, + 0.8488554132499576, + -0.49652657240131587, + 0.1813996976172916, + 0.2751666941538258, + 0.1220281794817675, + -0.9536206865629651 + ], + [ + 0.3956698299248912, + 0.8921870401934733, + 0.21782486313094995, + 0.8730987247193782, + -0.4389887206703117, + 0.21210261671567873, + 0.2848578638208936, + 0.10626000392928855, + -0.9526619594506461 + ], + [ + 0.40826442434122834, + 0.8988059161162502, + 0.15958723311015158, + 0.8706129884726187, + -0.4359421742911259, + 0.22800755464918612, + 0.2745053444290319, + 0.04585134489580436, + -0.9604917855198682 + ], + [ + 0.4029522554699395, + 0.9102295995971474, + 0.0954544699262726, + 0.8743352384393681, + -0.4136766914022981, + 0.2537902397918828, + 0.2704946776460901, + -0.018806142817304916, + -0.9625377698342404 + ], + [ + 0.40692638497359984, + 0.9107107301407708, + 0.0708299598953864, + 0.8714476036225277, + -0.4102870522704621, + 0.2687817123239028, + 0.2738430049369013, + -0.04764977172746562, + -0.9605933103563906 + ], + [ + 0.41475929664556654, + 0.908476908194656, + 0.0514240519908085, + 0.8692626527236411, + -0.41229545155517566, + 0.2727542872381149, + 0.26899287430326696, + -0.06842636848461474, + -0.9607084186526494 + ], + [ + 0.40798230780833156, + 0.9121244180899739, + 0.03974270297066404, + 0.8748912288975084, + -0.40303052194616396, + 0.26857352061960676, + 0.26098998853135247, + -0.07480270251688276, + -0.9624389755109544 + ], + [ + 0.4183963474108591, + 0.9076730256429489, + 0.032774608974419334, + 0.8718860428888636, + -0.41148713015116684, + 0.26550531055998744, + 0.25447833834896516, + -0.08251072803054825, + -0.9635521548266178 + ], + [ + 0.4242025337931514, + 0.9055661006514752, + 0.0014992245839138552, + 0.8689481065986215, + -0.4075141556385835, + 0.2808227216463144, + 0.2549144922560137, + -0.11782296170549736, + -0.9597584859394598 + ], + [ + 0.44604287833881434, + 0.8947362748509251, + -0.02219795371460656, + 0.8494762404311738, + -0.4154091707438839, + 0.3253080660002112, + 0.28184369360719197, + -0.16395798037231635, + -0.945347509144699 + ], + [ + 0.445449389040568, + 0.8939153233231439, + 0.04990226980271953, + 0.8182318258975415, + -0.42909323015569406, + 0.3825907459975054, + 0.3634164565505529, + -0.129593188720053, + -0.922569284414785 + ], + [ + 0.4427085718176012, + 0.8946298836529216, + 0.060386188109364, + 0.816079150028892, + -0.42990928588156446, + 0.3862548728507177, + 0.3715157349660181, + -0.12171843405155583, + -0.9204133210056752 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006250.json b/json/chunk-0006/episode_0006250.json new file mode 100644 index 0000000000000000000000000000000000000000..b0329ba9f601b0e32a008ac47baf1426a60e60bc --- /dev/null +++ b/json/chunk-0006/episode_0006250.json @@ -0,0 +1,1762 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 28, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nTake banana out of colander." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006250.mp4", + "start": 0, + "end": 28, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.34417614340782166, + -0.058976247906684875, + 0.06549327075481415, + 0.05333902686834335, + 0.061484482139348984, + 0.131400004029274, + 0.0, + 1.0086473226547241 + ], + [ + 0.33716103434562683, + -0.057690709829330444, + 0.0523267462849617, + 0.06362409889698029, + 0.09898035228252411, + 0.11663170158863068, + 0.0, + 1.0086473226547241 + ], + [ + 0.31451648473739624, + -0.047298613935709, + 0.055625069886446, + 0.0626835823059082, + 0.07566765695810318, + -0.03311411663889885, + 0.0, + 1.0086473226547241 + ], + [ + 0.2991701066493988, + -0.037221163511276245, + 0.07337354868650436, + 0.051501523703336716, + 0.019922828301787376, + -0.1026792824268341, + 0.0, + 1.0086473226547241 + ], + [ + 0.27408355474472046, + -0.01914093643426895, + 0.0820884257555008, + 0.052489373832941055, + 0.025660933926701546, + -0.19351358711719513, + 0.0, + 1.0086473226547241 + ], + [ + 0.2449224442243576, + -0.0022254716604948044, + 0.08149821311235428, + 0.07106669992208481, + 0.05968761444091797, + -0.30177125334739685, + 0.0, + 1.0086473226547241 + ], + [ + 0.2206004410982132, + 0.010188449174165726, + 0.07962750643491745, + 0.06972336769104004, + 0.07627885043621063, + -0.37986481189727783, + 0.0, + 1.0086473226547241 + ], + [ + 0.2094781994819641, + 0.017367346212267876, + 0.06576724350452423, + 0.08955562859773636, + 0.06338920444250107, + -0.4234983026981354, + 0.0, + 1.0086473226547241 + ], + [ + 0.20345555245876312, + 0.01617230288684368, + 0.052295006811618805, + 0.10610942542552948, + 0.04201290383934975, + -0.4167616069316864, + 0.0, + 1.0086473226547241 + ], + [ + 0.20369651913642883, + 0.01190401241183281, + 0.04609287902712822, + 0.0977875366806984, + 0.00027975320699624717, + -0.39071428775787354, + 0.0, + 1.0086473226547241 + ], + [ + 0.20421087741851807, + 0.011859443970024586, + 0.04214709624648094, + 0.10151489078998566, + -0.026493092998862267, + -0.38239577412605286, + 0.0, + 1.0086473226547241 + ], + [ + 0.20231515169143677, + 0.011664892546832561, + 0.03340199589729309, + 0.0914921760559082, + -0.012061012908816338, + -0.36357855796813965, + 0.0, + 1.0086473226547241 + ], + [ + 0.20327703654766083, + 0.011140076443552971, + 0.021691950038075447, + 0.06033343821763992, + 0.040082912892103195, + -0.34382346272468567, + 0.0, + 0.9723638892173767 + ], + [ + 0.2053023874759674, + 0.008890782482922077, + 0.016908753663301468, + 0.017236389219760895, + 0.05039273202419281, + -0.35146382451057434, + 0.0, + 0.6881998181343079 + ], + [ + 0.2047671228647232, + 0.010066196322441101, + 0.01817631535232067, + 0.00012424383021425456, + 0.05916886031627655, + -0.34426361322402954, + 0.0, + 0.39273425936698914 + ], + [ + 0.21133318543434143, + 0.010635574348270893, + 0.035949815064668655, + -0.029127774760127068, + 0.04807019978761673, + -0.29539135098457336, + 0.0, + 0.3494465947151184 + ], + [ + 0.22123713791370392, + 0.00983230210840702, + 0.06356765329837799, + -0.06118746101856232, + 0.029718635603785515, + -0.2264786958694458, + 0.0, + 0.37120094895362854 + ], + [ + 0.24323375523090363, + 0.007439499720931053, + 0.08665597438812256, + -0.0901646688580513, + 0.0019999127835035324, + -0.14285725355148315, + 0.0, + 0.37631502747535706 + ], + [ + 0.28302568197250366, + 0.004061859101057053, + 0.07296088337898254, + -0.069246307015419, + 0.021426178514957428, + -0.020190076902508736, + 0.0, + 0.37717074155807495 + ], + [ + 0.32082268595695496, + 0.004816425032913685, + 0.06431316584348679, + -0.06290648132562637, + -0.003969225566834211, + 0.0737818256020546, + 0.0, + 0.37717074155807495 + ], + [ + 0.34107616543769836, + 0.01198313757777214, + 0.05754533037543297, + -0.027102500200271606, + -0.044153571128845215, + 0.126596599817276, + 0.0, + 0.37631502747535706 + ], + [ + 0.34565478563308716, + 0.02133590169250965, + 0.04146992415189743, + 0.019436277449131012, + -0.04543071612715721, + 0.1554659605026245, + 0.0, + 0.37717074155807495 + ], + [ + 0.35132965445518494, + 0.031633079051971436, + 0.027206841856241226, + 0.08884691447019577, + -0.0791541188955307, + 0.1635042130947113, + 0.0, + 0.37717074155807495 + ], + [ + 0.35378727316856384, + 0.038600921630859375, + 0.017574386671185493, + 0.12566713988780975, + -0.07817249000072479, + 0.16825325787067413, + 0.0, + 0.3453405201435089 + ], + [ + 0.36218711733818054, + 0.044183578342199326, + 0.01453842781484127, + 0.15730106830596924, + -0.08133117854595184, + 0.18744081258773804, + 0.0, + 0.39974725246429443 + ], + [ + 0.3672572374343872, + 0.040601059794425964, + 0.017736230045557022, + 0.16415832936763763, + -0.08299070596694946, + 0.1919921487569809, + 0.0, + 0.710151195526123 + ], + [ + 0.3632911145687103, + 0.034729715436697006, + 0.019348079338669777, + 0.12810255587100983, + -0.05359518900513649, + 0.19535915553569794, + 0.0, + 0.9816622138023376 + ], + [ + 0.36451953649520874, + 0.030162125825881958, + 0.044304508715867996, + 0.09065356850624084, + -0.09205655008554459, + 0.21697939932346344, + 0.0, + 1.0067112445831299 + ] + ], + "left_gripper_pos": [ + [ + 1.0086473226547241 + ], + [ + 1.0086473226547241 + ], + [ + 1.0086473226547241 + ], + [ + 1.0086473226547241 + ], + [ + 1.0086473226547241 + ], + [ + 1.0086473226547241 + ], + [ + 1.0086473226547241 + ], + [ + 1.0086473226547241 + ], + [ + 1.0086473226547241 + ], + [ + 1.0086473226547241 + ], + [ + 1.0086473226547241 + ], + [ + 1.0086473226547241 + ], + [ + 0.9723638892173767 + ], + [ + 0.6881998181343079 + ], + [ + 0.39273425936698914 + ], + [ + 0.3494465947151184 + ], + [ + 0.37120094895362854 + ], + [ + 0.37631502747535706 + ], + [ + 0.37717074155807495 + ], + [ + 0.37717074155807495 + ], + [ + 0.37631502747535706 + ], + [ + 0.37717074155807495 + ], + [ + 0.37717074155807495 + ], + [ + 0.3453405201435089 + ], + [ + 0.39974725246429443 + ], + [ + 0.710151195526123 + ], + [ + 0.9816622138023376 + ], + [ + 1.0067112445831299 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.34417614340782166, + -0.058976247906684875, + 0.06549327075481415 + ], + [ + 0.33716103434562683, + -0.057690709829330444, + 0.0523267462849617 + ], + [ + 0.31451648473739624, + -0.047298613935709, + 0.055625069886446 + ], + [ + 0.2991701066493988, + -0.037221163511276245, + 0.07337354868650436 + ], + [ + 0.27408355474472046, + -0.01914093643426895, + 0.0820884257555008 + ], + [ + 0.2449224442243576, + -0.0022254716604948044, + 0.08149821311235428 + ], + [ + 0.2206004410982132, + 0.010188449174165726, + 0.07962750643491745 + ], + [ + 0.2094781994819641, + 0.017367346212267876, + 0.06576724350452423 + ], + [ + 0.20345555245876312, + 0.01617230288684368, + 0.052295006811618805 + ], + [ + 0.20369651913642883, + 0.01190401241183281, + 0.04609287902712822 + ], + [ + 0.20421087741851807, + 0.011859443970024586, + 0.04214709624648094 + ], + [ + 0.20231515169143677, + 0.011664892546832561, + 0.03340199589729309 + ], + [ + 0.20327703654766083, + 0.011140076443552971, + 0.021691950038075447 + ], + [ + 0.2053023874759674, + 0.008890782482922077, + 0.016908753663301468 + ], + [ + 0.2047671228647232, + 0.010066196322441101, + 0.01817631535232067 + ], + [ + 0.21133318543434143, + 0.010635574348270893, + 0.035949815064668655 + ], + [ + 0.22123713791370392, + 0.00983230210840702, + 0.06356765329837799 + ], + [ + 0.24323375523090363, + 0.007439499720931053, + 0.08665597438812256 + ], + [ + 0.28302568197250366, + 0.004061859101057053, + 0.07296088337898254 + ], + [ + 0.32082268595695496, + 0.004816425032913685, + 0.06431316584348679 + ], + [ + 0.34107616543769836, + 0.01198313757777214, + 0.05754533037543297 + ], + [ + 0.34565478563308716, + 0.02133590169250965, + 0.04146992415189743 + ], + [ + 0.35132965445518494, + 0.031633079051971436, + 0.027206841856241226 + ], + [ + 0.35378727316856384, + 0.038600921630859375, + 0.017574386671185493 + ], + [ + 0.36218711733818054, + 0.044183578342199326, + 0.01453842781484127 + ], + [ + 0.3672572374343872, + 0.040601059794425964, + 0.017736230045557022 + ], + [ + 0.3632911145687103, + 0.034729715436697006, + 0.019348079338669777 + ], + [ + 0.36451953649520874, + 0.030162125825881958, + 0.044304508715867996 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9895061475364675, + 0.12758820492952924, + -0.06781470305470805, + 0.1307746294350314, + -0.9903987211205608, + 0.04481483570077027, + -0.0614457507372804, + -0.0532129980889751, + -0.9966909232809908 + ], + [ + 0.9883449250408598, + 0.10989167749227483, + -0.10534765476227265, + 0.11579789160068155, + -0.9919277840560069, + 0.05167319922915997, + -0.09881881119915345, + -0.0632699805253132, + -0.9930920159368478 + ], + [ + 0.9965919149578107, + -0.03777593802453802, + -0.07333166810519129, + -0.033013328659264526, + -0.9973320988992014, + 0.0651061029101649, + -0.07559547057568364, + -0.06246329331439275, + -0.9951802157482639 + ], + [ + 0.9945357045856823, + -0.10338318114595824, + -0.014513792075203764, + -0.10247861107987025, + -0.9933090691683116, + 0.05324685323211889, + -0.01992151036947147, + -0.051468543442806866, + -0.9984758997895116 + ], + [ + 0.9810115241351947, + -0.19336425664881243, + -0.015055024563080202, + -0.1922447671713923, + -0.9797241812665272, + 0.05641345705459451, + -0.025658117802362573, + -0.05244800179497415, + -0.9982939787951016 + ], + [ + 0.9531112433051591, + -0.3005059808997072, + -0.03570872902804901, + -0.2966826171039179, + -0.9511425327512153, + 0.08548278832591531, + -0.0596521801249866, + -0.07088044748100865, + -0.9956995428196339 + ], + [ + 0.9260142346423996, + -0.3748245132244071, + -0.0447685327628328, + -0.3697167162869664, + -0.9244897478000932, + 0.09288840568393139, + -0.07620490100796234, + -0.06946431097049843, + -0.9946695544570369 + ], + [ + 0.9098258938598315, + -0.4144703252490145, + -0.020765171565254866, + -0.41012684707699487, + -0.9056752480163617, + 0.10746308406696993, + -0.06334676131296373, + -0.0892563421750943, + -0.993992199774566 + ], + [ + 0.9135977569203275, + -0.40659218663573843, + 0.00468319516083486, + -0.4044441775128372, + -0.9074610537941871, + 0.11375123349971909, + -0.042000545545388214, + -0.10581696278721976, + -0.9934982257459635 + ], + [ + 0.9246372238203547, + -0.37905475875864525, + 0.03692552217928537, + -0.3808489543952207, + -0.9202095029337442, + 0.09038000136368167, + -0.00027975320334724593, + -0.09763176006227282, + -0.9952225686575282 + ], + [ + 0.9274477540472817, + -0.36873262814282765, + 0.06226485730759536, + -0.373013329164447, + -0.9239986652829383, + 0.08418742673941162, + 0.026489993928045713, + -0.10130506156274283, + -0.9945026720544597 + ], + [ + 0.9345622214430063, + -0.35310385933048877, + 0.04371634451126091, + -0.3555952660998722, + -0.9311129852457001, + 0.08112099256173694, + 0.012060720495640446, + -0.091357940173554, + -0.9957450807251678 + ], + [ + 0.9407164996215804, + -0.338750706646462, + -0.017332803761761682, + -0.3368184788281394, + -0.9389451995817287, + 0.07025115303200304, + -0.04007218061971803, + -0.060248410177782645, + -0.9973787392016287 + ], + [ + 0.93767792080327, + -0.3450364834011593, + -0.04135144447560042, + -0.34383548134742375, + -0.9384314120714702, + 0.03352083835664643, + -0.05037140661766866, + -0.01721365619816338, + -0.9985822006403126 + ], + [ + 0.93967695521386, + -0.33751050347257827, + -0.055622656226537025, + -0.3369129701598822, + -0.9413217540581629, + 0.02007500622438991, + -0.05913434178254703, + -0.00012402640736934242, + -0.9982500259150483 + ], + [ + 0.9555831696440177, + -0.2896519587131857, + -0.05442930007548656, + -0.2907779927767964, + -0.956689873418587, + -0.013879661920421012, + -0.048051688937952766, + 0.029090013955699198, + -0.9984211567661551 + ], + [ + 0.9740328450840537, + -0.22235672517509955, + -0.04263218815483191, + -0.22444838911693624, + -0.9730475593917065, + -0.052927948993473584, + -0.02971426122716372, + 0.061122286698458914, + -0.997687891451267 + ], + [ + 0.9898112652336869, + -0.14161527073378152, + -0.014791021313129177, + -0.14237155464023862, + -0.9858181813317346, + -0.08884173447829896, + -0.0019999114503448908, + 0.09004237030858747, + -0.9959359276095033 + ], + [ + 0.9995667023209335, + -0.01865823888224169, + -0.02276571398105862, + -0.0201840712698401, + -0.9974300355536617, + -0.0687453812440872, + -0.02142453916022884, + 0.06917509882345009, + -0.997374450657594 + ], + [ + 0.9972714997182138, + 0.07332025109599664, + 0.00858467407677549, + 0.0737143214098948, + -0.9953251703705916, + -0.062401955464803864, + 0.0039692151444819445, + 0.06286450513582877, + -0.9980141779179111 + ], + [ + 0.9910305359372868, + 0.12502578320718089, + 0.04719142266646112, + 0.1261356633407909, + -0.991784058449543, + -0.02131140161818862, + 0.04413922601759376, + 0.02707277116927794, + -0.9986584970788479 + ], + [ + 0.9869201349949562, + 0.15568321039905356, + 0.041849553658089844, + 0.15468069286811706, + -0.9876162188562088, + 0.02623142211174383, + 0.04541508995231171, + -0.019415000695577122, + -0.9987795188892362 + ], + [ + 0.9835736452899076, + 0.16905708330296812, + 0.0632660009500868, + 0.1622670138987574, + -0.9816292077988404, + 0.10036689990530485, + 0.07907148975138617, + -0.08845225255082144, + -0.9929370063237558 + ], + [ + 0.9828679926819969, + 0.17578966521996234, + 0.055394066136326095, + 0.16694911945129862, + -0.9764653210577914, + 0.13654108643899296, + 0.0780928964483847, + -0.1249538729826254, + -0.9890844398487643 + ], + [ + 0.9792366855418165, + 0.19654829699924578, + 0.0496415212878673, + 0.1857291717723413, + -0.9679827070459291, + 0.16886134434142994, + 0.08124154381741919, + -0.15613534451472258, + -0.9843889301243849 + ], + [ + 0.9782475377706432, + 0.20154758703940165, + 0.04909506089484768, + 0.19015808005686505, + -0.9658443605860925, + 0.17602436113540976, + 0.08289547294491349, + -0.162859575348326, + -0.9831607698045127 + ], + [ + 0.9795694488258855, + 0.1992417381657148, + 0.027320774140856992, + 0.19384014006747294, + -0.9716114808849039, + 0.1356360214370302, + 0.05356953449091611, + -0.12756904007379213, + -0.9903819692366566 + ], + [ + 0.9724172511398609, + 0.22252377389763353, + 0.06991323004947968, + 0.2143692906465642, + -0.9707506605076243, + 0.10811550467763546, + 0.0919265843664686, + -0.09014613233170803, + -0.9916769523954606 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.007015109062194824, + 0.0012855380773544312, + -0.013166524469852448, + 0.010285072028636932, + 0.037495870143175125, + -0.01476830244064331, + 1.0 + ], + [ + -0.02264454960823059, + 0.010392095893621445, + 0.0032983236014842987, + -0.0009405165910720825, + -0.02331269532442093, + -0.14974582195281982, + 1.0 + ], + [ + -0.015346378087997437, + 0.010077450424432755, + 0.017748478800058365, + -0.011182058602571487, + -0.055744826793670654, + -0.06956516206264496, + 1.0 + ], + [ + -0.025086551904678345, + 0.018080227077007294, + 0.00871487706899643, + 0.0009878501296043396, + 0.005738105624914169, + -0.09083430469036102, + 1.0 + ], + [ + -0.029161110520362854, + 0.016915464773774147, + -0.0005902126431465149, + 0.018577326089143753, + 0.03402668237686157, + -0.10825766623020172, + 1.0 + ], + [ + -0.02432200312614441, + 0.01241392083466053, + -0.0018707066774368286, + -0.0013433322310447693, + 0.016591235995292664, + -0.07809355854988098, + 1.0 + ], + [ + -0.011122241616249084, + 0.00717889703810215, + -0.013860262930393219, + 0.01983226090669632, + -0.012889645993709564, + -0.043633490800857544, + 1.0 + ], + [ + -0.006022647023200989, + -0.0011950433254241943, + -0.013472236692905426, + 0.01655379682779312, + -0.02137630060315132, + 0.006736695766448975, + 1.0 + ], + [ + 0.00024096667766571045, + -0.004268290475010872, + -0.006202127784490585, + -0.008321888744831085, + -0.04173314943909645, + 0.026047319173812866, + 1.0 + ], + [ + 0.0005143582820892334, + -4.4568441808223724e-05, + -0.003945782780647278, + 0.003727354109287262, + -0.026772845536470413, + 0.008318513631820679, + 1.0 + ], + [ + -0.0018957257270812988, + -0.00019455142319202423, + -0.008745100349187851, + -0.010022714734077454, + 0.014432080090045929, + 0.018817216157913208, + 1.0 + ], + [ + 0.0009618848562240601, + -0.0005248161032795906, + -0.011710045859217644, + -0.03115873783826828, + 0.052143923938274384, + 0.01975509524345398, + 0.0 + ], + [ + 0.0020253509283065796, + -0.0022492939606308937, + -0.004783196374773979, + -0.04309704899787903, + 0.010309819132089615, + -0.007640361785888672, + 0.0 + ], + [ + -0.0005352646112442017, + 0.001175413839519024, + 0.0012675616890192032, + -0.017112145200371742, + 0.00877612829208374, + 0.0072002112865448, + 0.0 + ], + [ + 0.006566062569618225, + 0.000569378025829792, + 0.017773499712347984, + -0.02925201877951622, + -0.01109866052865982, + 0.04887226223945618, + 0.0 + ], + [ + 0.009903952479362488, + -0.0008032722398638725, + 0.027617838233709335, + -0.0320596843957901, + -0.018351564183831215, + 0.06891265511512756, + 0.0 + ], + [ + 0.021996617317199707, + -0.0023928023874759674, + 0.023088321089744568, + -0.028977207839488983, + -0.027718722820281982, + 0.08362144231796265, + 0.0 + ], + [ + 0.03979192674160004, + -0.0033776406198740005, + -0.013695091009140015, + 0.020918361842632294, + 0.019426265731453896, + 0.12266717851161957, + 0.0 + ], + [ + 0.037797003984451294, + 0.0007545659318566322, + -0.008647717535495758, + 0.006339825689792633, + -0.025395404547452927, + 0.09397190064191818, + 0.0 + ], + [ + 0.020253479480743408, + 0.007166712544858456, + -0.006767835468053818, + 0.03580398112535477, + -0.040184345096349716, + 0.052814774215221405, + 0.0 + ], + [ + 0.004578620195388794, + 0.00935276411473751, + -0.016075406223535538, + 0.04653877764940262, + -0.0012771449983119965, + 0.02886936068534851, + 0.0 + ], + [ + 0.005674868822097778, + 0.010297177359461784, + -0.014263082295656204, + 0.06941063702106476, + -0.03372340276837349, + 0.008038252592086792, + 0.0 + ], + [ + 0.0024576187133789062, + 0.0069678425788879395, + -0.009632455185055733, + 0.03682022541761398, + 0.0009816288948059082, + 0.00474904477596283, + 1.0 + ], + [ + 0.0083998441696167, + 0.0055826567113399506, + -0.003035958856344223, + 0.031633928418159485, + -0.0031586885452270508, + 0.019187554717063904, + 1.0 + ], + [ + 0.005070120096206665, + -0.003582518547773361, + 0.0031978022307157516, + 0.006857261061668396, + -0.0016595274209976196, + 0.004551336169242859, + 1.0 + ], + [ + -0.00396612286567688, + -0.005871344357728958, + 0.0016118492931127548, + -0.03605577349662781, + 0.029395516961812973, + 0.003367006778717041, + 1.0 + ], + [ + 0.001228421926498413, + -0.004567589610815048, + 0.02495642937719822, + -0.03744898736476898, + -0.038461361080408096, + 0.021620243787765503, + 1.0 + ], + [ + -0.0011449456214904785, + -0.0066581666469573975, + 0.019253436475992203, + -0.048649996519088745, + -0.03525964170694351, + -0.0022850334644317627, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0086473226547241 + ], + [ + 1.0086473226547241 + ], + [ + 1.0086473226547241 + ], + [ + 1.0086473226547241 + ], + [ + 1.0086473226547241 + ], + [ + 1.0086473226547241 + ], + [ + 1.0086473226547241 + ], + [ + 1.0086473226547241 + ], + [ + 1.0086473226547241 + ], + [ + 1.0086473226547241 + ], + [ + 1.0086473226547241 + ], + [ + 0.9723638892173767 + ], + [ + 0.6881998181343079 + ], + [ + 0.39273425936698914 + ], + [ + 0.3494465947151184 + ], + [ + 0.37120094895362854 + ], + [ + 0.37631502747535706 + ], + [ + 0.37717074155807495 + ], + [ + 0.37717074155807495 + ], + [ + 0.37631502747535706 + ], + [ + 0.37717074155807495 + ], + [ + 0.37717074155807495 + ], + [ + 0.3453405201435089 + ], + [ + 0.39974725246429443 + ], + [ + 0.710151195526123 + ], + [ + 0.9816622138023376 + ], + [ + 1.0067112445831299 + ], + [ + 1.0041072368621826 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.33716103434562683, + -0.057690709829330444, + 0.0523267462849617 + ], + [ + 0.31451648473739624, + -0.047298613935709, + 0.055625069886446 + ], + [ + 0.2991701066493988, + -0.037221163511276245, + 0.07337354868650436 + ], + [ + 0.27408355474472046, + -0.01914093643426895, + 0.0820884257555008 + ], + [ + 0.2449224442243576, + -0.0022254716604948044, + 0.08149821311235428 + ], + [ + 0.2206004410982132, + 0.010188449174165726, + 0.07962750643491745 + ], + [ + 0.2094781994819641, + 0.017367346212267876, + 0.06576724350452423 + ], + [ + 0.20345555245876312, + 0.01617230288684368, + 0.052295006811618805 + ], + [ + 0.20369651913642883, + 0.01190401241183281, + 0.04609287902712822 + ], + [ + 0.20421087741851807, + 0.011859443970024586, + 0.04214709624648094 + ], + [ + 0.20231515169143677, + 0.011664892546832561, + 0.03340199589729309 + ], + [ + 0.20327703654766083, + 0.011140076443552971, + 0.021691950038075447 + ], + [ + 0.2053023874759674, + 0.008890782482922077, + 0.016908753663301468 + ], + [ + 0.2047671228647232, + 0.010066196322441101, + 0.01817631535232067 + ], + [ + 0.21133318543434143, + 0.010635574348270893, + 0.035949815064668655 + ], + [ + 0.22123713791370392, + 0.00983230210840702, + 0.06356765329837799 + ], + [ + 0.24323375523090363, + 0.007439499720931053, + 0.08665597438812256 + ], + [ + 0.28302568197250366, + 0.004061859101057053, + 0.07296088337898254 + ], + [ + 0.32082268595695496, + 0.004816425032913685, + 0.06431316584348679 + ], + [ + 0.34107616543769836, + 0.01198313757777214, + 0.05754533037543297 + ], + [ + 0.34565478563308716, + 0.02133590169250965, + 0.04146992415189743 + ], + [ + 0.35132965445518494, + 0.031633079051971436, + 0.027206841856241226 + ], + [ + 0.35378727316856384, + 0.038600921630859375, + 0.017574386671185493 + ], + [ + 0.36218711733818054, + 0.044183578342199326, + 0.01453842781484127 + ], + [ + 0.3672572374343872, + 0.040601059794425964, + 0.017736230045557022 + ], + [ + 0.3632911145687103, + 0.034729715436697006, + 0.019348079338669777 + ], + [ + 0.36451953649520874, + 0.030162125825881958, + 0.044304508715867996 + ], + [ + 0.36337459087371826, + 0.02350395917892456, + 0.0635579451918602 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9883449250408598, + 0.10989167749227483, + -0.10534765476227265, + 0.11579789160068155, + -0.9919277840560069, + 0.05167319922915997, + -0.09881881119915345, + -0.0632699805253132, + -0.9930920159368478 + ], + [ + 0.9965919149578107, + -0.03777593802453802, + -0.07333166810519129, + -0.033013328659264526, + -0.9973320988992014, + 0.0651061029101649, + -0.07559547057568364, + -0.06246329331439275, + -0.9951802157482639 + ], + [ + 0.9945357045856823, + -0.10338318114595824, + -0.014513792075203764, + -0.10247861107987025, + -0.9933090691683116, + 0.05324685323211889, + -0.01992151036947147, + -0.051468543442806866, + -0.9984758997895116 + ], + [ + 0.9810115241351947, + -0.19336425664881243, + -0.015055024563080202, + -0.1922447671713923, + -0.9797241812665272, + 0.05641345705459451, + -0.025658117802362573, + -0.05244800179497415, + -0.9982939787951016 + ], + [ + 0.9531112433051591, + -0.3005059808997072, + -0.03570872902804901, + -0.2966826171039179, + -0.9511425327512153, + 0.08548278832591531, + -0.0596521801249866, + -0.07088044748100865, + -0.9956995428196339 + ], + [ + 0.9260142346423996, + -0.3748245132244071, + -0.0447685327628328, + -0.3697167162869664, + -0.9244897478000932, + 0.09288840568393139, + -0.07620490100796234, + -0.06946431097049843, + -0.9946695544570369 + ], + [ + 0.9098258938598315, + -0.4144703252490145, + -0.020765171565254866, + -0.41012684707699487, + -0.9056752480163617, + 0.10746308406696993, + -0.06334676131296373, + -0.0892563421750943, + -0.993992199774566 + ], + [ + 0.9135977569203275, + -0.40659218663573843, + 0.00468319516083486, + -0.4044441775128372, + -0.9074610537941871, + 0.11375123349971909, + -0.042000545545388214, + -0.10581696278721976, + -0.9934982257459635 + ], + [ + 0.9246372238203547, + -0.37905475875864525, + 0.03692552217928537, + -0.3808489543952207, + -0.9202095029337442, + 0.09038000136368167, + -0.00027975320334724593, + -0.09763176006227282, + -0.9952225686575282 + ], + [ + 0.9274477540472817, + -0.36873262814282765, + 0.06226485730759536, + -0.373013329164447, + -0.9239986652829383, + 0.08418742673941162, + 0.026489993928045713, + -0.10130506156274283, + -0.9945026720544597 + ], + [ + 0.9345622214430063, + -0.35310385933048877, + 0.04371634451126091, + -0.3555952660998722, + -0.9311129852457001, + 0.08112099256173694, + 0.012060720495640446, + -0.091357940173554, + -0.9957450807251678 + ], + [ + 0.9407164996215804, + -0.338750706646462, + -0.017332803761761682, + -0.3368184788281394, + -0.9389451995817287, + 0.07025115303200304, + -0.04007218061971803, + -0.060248410177782645, + -0.9973787392016287 + ], + [ + 0.93767792080327, + -0.3450364834011593, + -0.04135144447560042, + -0.34383548134742375, + -0.9384314120714702, + 0.03352083835664643, + -0.05037140661766866, + -0.01721365619816338, + -0.9985822006403126 + ], + [ + 0.93967695521386, + -0.33751050347257827, + -0.055622656226537025, + -0.3369129701598822, + -0.9413217540581629, + 0.02007500622438991, + -0.05913434178254703, + -0.00012402640736934242, + -0.9982500259150483 + ], + [ + 0.9555831696440177, + -0.2896519587131857, + -0.05442930007548656, + -0.2907779927767964, + -0.956689873418587, + -0.013879661920421012, + -0.048051688937952766, + 0.029090013955699198, + -0.9984211567661551 + ], + [ + 0.9740328450840537, + -0.22235672517509955, + -0.04263218815483191, + -0.22444838911693624, + -0.9730475593917065, + -0.052927948993473584, + -0.02971426122716372, + 0.061122286698458914, + -0.997687891451267 + ], + [ + 0.9898112652336869, + -0.14161527073378152, + -0.014791021313129177, + -0.14237155464023862, + -0.9858181813317346, + -0.08884173447829896, + -0.0019999114503448908, + 0.09004237030858747, + -0.9959359276095033 + ], + [ + 0.9995667023209335, + -0.01865823888224169, + -0.02276571398105862, + -0.0201840712698401, + -0.9974300355536617, + -0.0687453812440872, + -0.02142453916022884, + 0.06917509882345009, + -0.997374450657594 + ], + [ + 0.9972714997182138, + 0.07332025109599664, + 0.00858467407677549, + 0.0737143214098948, + -0.9953251703705916, + -0.062401955464803864, + 0.0039692151444819445, + 0.06286450513582877, + -0.9980141779179111 + ], + [ + 0.9910305359372868, + 0.12502578320718089, + 0.04719142266646112, + 0.1261356633407909, + -0.991784058449543, + -0.02131140161818862, + 0.04413922601759376, + 0.02707277116927794, + -0.9986584970788479 + ], + [ + 0.9869201349949562, + 0.15568321039905356, + 0.041849553658089844, + 0.15468069286811706, + -0.9876162188562088, + 0.02623142211174383, + 0.04541508995231171, + -0.019415000695577122, + -0.9987795188892362 + ], + [ + 0.9835736452899076, + 0.16905708330296812, + 0.0632660009500868, + 0.1622670138987574, + -0.9816292077988404, + 0.10036689990530485, + 0.07907148975138617, + -0.08845225255082144, + -0.9929370063237558 + ], + [ + 0.9828679926819969, + 0.17578966521996234, + 0.055394066136326095, + 0.16694911945129862, + -0.9764653210577914, + 0.13654108643899296, + 0.0780928964483847, + -0.1249538729826254, + -0.9890844398487643 + ], + [ + 0.9792366855418165, + 0.19654829699924578, + 0.0496415212878673, + 0.1857291717723413, + -0.9679827070459291, + 0.16886134434142994, + 0.08124154381741919, + -0.15613534451472258, + -0.9843889301243849 + ], + [ + 0.9782475377706432, + 0.20154758703940165, + 0.04909506089484768, + 0.19015808005686505, + -0.9658443605860925, + 0.17602436113540976, + 0.08289547294491349, + -0.162859575348326, + -0.9831607698045127 + ], + [ + 0.9795694488258855, + 0.1992417381657148, + 0.027320774140856992, + 0.19384014006747294, + -0.9716114808849039, + 0.1356360214370302, + 0.05356953449091611, + -0.12756904007379213, + -0.9903819692366566 + ], + [ + 0.9724172511398609, + 0.22252377389763353, + 0.06991323004947968, + 0.2143692906465642, + -0.9707506605076243, + 0.10811550467763546, + 0.0919265843664686, + -0.09014613233170803, + -0.9916769523954606 + ], + [ + 0.9691336105337129, + 0.21807023048922902, + 0.11500182393451144, + 0.21132445400521227, + -0.9750438652760663, + 0.06805465396949227, + 0.12697251699989556, + -0.04165135486251234, + -0.9910313539766684 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006252.json b/json/chunk-0006/episode_0006252.json new file mode 100644 index 0000000000000000000000000000000000000000..f7719ac9ee3467cdb8e510095b32977772d13a58 --- /dev/null +++ b/json/chunk-0006/episode_0006252.json @@ -0,0 +1,2002 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 32, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the purple cloth above the can." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006252.mp4", + "start": 0, + "end": 32, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3704819679260254, + 0.0006738281808793545, + 0.06510964035987854, + 0.1379467099905014, + -0.3342447578907013, + 0.2727450728416443, + 0.0, + 0.9994885921478271 + ], + [ + 0.3656699061393738, + 0.00034098801552318037, + 0.052854519337415695, + 0.14570041000843048, + -0.2927114963531494, + 0.28289929032325745, + 0.0, + 0.9994885921478271 + ], + [ + 0.36758026480674744, + 0.005366571247577667, + 0.059404317289590836, + 0.10181083530187607, + -0.2210467904806137, + 0.430147647857666, + 0.0, + 0.9994885921478271 + ], + [ + 0.36721134185791016, + 0.0234883613884449, + 0.06361052393913269, + 0.053644537925720215, + -0.17917892336845398, + 0.5179626941680908, + 0.0, + 0.9994885921478271 + ], + [ + 0.36387524008750916, + 0.03269176930189133, + 0.06410026550292969, + 0.016812507063150406, + -0.13856901228427887, + 0.5997352004051208, + 0.0, + 0.9886419177055359 + ], + [ + 0.35893505811691284, + 0.03810959309339523, + 0.04958544299006462, + -0.0030267348047345877, + -0.1657784879207611, + 0.7138473391532898, + 0.0, + 0.9141042232513428 + ], + [ + 0.3592388927936554, + 0.036095019429922104, + 0.0465543195605278, + -0.018210476264357567, + -0.1476096361875534, + 0.6905838847160339, + 0.0, + 0.6279802918434143 + ], + [ + 0.3586799204349518, + 0.03177095577120781, + 0.04043140262365341, + -0.016405928879976273, + -0.13107816874980927, + 0.6986953020095825, + 0.0, + 0.3396349251270294 + ], + [ + 0.3556232750415802, + 0.02198217436671257, + 0.03717384487390518, + -0.00461205467581749, + -0.13101626932621002, + 0.7209083437919617, + 0.0, + 0.13806100189685822 + ], + [ + 0.35241660475730896, + 0.01666911132633686, + 0.028700241819024086, + 0.008065923117101192, + -0.16673323512077332, + 0.6875649094581604, + 0.0, + 0.05271430313587189 + ], + [ + 0.3537212610244751, + 0.019238682463765144, + 0.02607150748372078, + 0.01666247844696045, + -0.2008303552865982, + 0.6085373759269714, + 0.0, + 0.052451856434345245 + ], + [ + 0.35323581099510193, + 0.03429541736841202, + 0.024856051430106163, + 0.018237974494695663, + -0.2144385278224945, + 0.5388123989105225, + 0.0, + 0.052451856434345245 + ], + [ + 0.3533075451850891, + 0.041637908667325974, + 0.02364044077694416, + 0.061604131013154984, + -0.23562969267368317, + 0.4126613736152649, + 0.0, + 0.052451856434345245 + ], + [ + 0.35002413392066956, + 0.048877425491809845, + 0.023424023762345314, + 0.08185339719057083, + -0.23378466069698334, + 0.26130765676498413, + 0.0, + 0.052451856434345245 + ], + [ + 0.3440398573875427, + 0.06319767236709595, + 0.024157162755727768, + 0.09470367431640625, + -0.1868583858013153, + 0.18077051639556885, + 0.0, + 0.052451856434345245 + ], + [ + 0.33931830525398254, + 0.07348542660474777, + 0.02288649044930935, + 0.13953517377376556, + -0.16574154794216156, + 0.1049935519695282, + 0.0, + 0.052451856434345245 + ], + [ + 0.33461692929267883, + 0.07895845919847488, + 0.022255869582295418, + 0.16930809617042542, + -0.14025692641735077, + -0.0021502820309251547, + 0.0, + 0.052451856434345245 + ], + [ + 0.32061511278152466, + 0.08094524592161179, + 0.021969296038150787, + 0.18827912211418152, + -0.13030487298965454, + -0.15167061984539032, + 0.0, + 0.052451856434345245 + ], + [ + 0.30704155564308167, + 0.07775729894638062, + 0.021934831514954567, + 0.19186891615390778, + -0.1671968251466751, + -0.2307431399822235, + 0.0, + 0.052451856434345245 + ], + [ + 0.2949439585208893, + 0.07460189610719681, + 0.021431036293506622, + 0.17363138496875763, + -0.16385142505168915, + -0.23053063452243805, + 0.0, + 0.052451856434345245 + ], + [ + 0.2928548753261566, + 0.07198453694581985, + 0.021415987983345985, + 0.15094998478889465, + -0.15864577889442444, + -0.18062064051628113, + 0.0, + 0.052451856434345245 + ], + [ + 0.2948698103427887, + 0.06467375159263611, + 0.021724393591284752, + 0.13514980673789978, + -0.17344629764556885, + -0.09973505884408951, + 0.0, + 0.052451856434345245 + ], + [ + 0.29453474283218384, + 0.06296645849943161, + 0.021878208965063095, + 0.13389523327350616, + -0.1644597351551056, + -0.09090257436037064, + 0.0, + 0.052451856434345245 + ], + [ + 0.29647207260131836, + 0.06562215089797974, + 0.022573456168174744, + 0.12203025072813034, + -0.1391555219888687, + -0.06878745555877686, + 0.0, + 0.052451856434345245 + ], + [ + 0.30031606554985046, + 0.07119915634393692, + 0.0269436314702034, + 0.08956874907016754, + -0.12105586379766464, + -0.03269549086689949, + 0.0, + 0.06354815512895584 + ], + [ + 0.30594682693481445, + 0.07003552466630936, + 0.03712084889411926, + 0.0514514297246933, + -0.09527691453695297, + 0.017926041036844254, + 0.0, + 0.1949377954006195 + ], + [ + 0.3151157796382904, + 0.06857501715421677, + 0.05101423338055611, + 0.025189783424139023, + -0.09213028103113174, + 0.030877521261572838, + 0.0, + 0.443907231092453 + ], + [ + 0.3172280192375183, + 0.0665208250284195, + 0.06062861531972885, + -0.009250570088624954, + -0.07225403934717178, + 0.027477243915200233, + 0.0, + 0.7220669984817505 + ], + [ + 0.3140687644481659, + 0.05349225178360939, + 0.05952519178390503, + 0.023820791393518448, + -0.04234294593334198, + -0.030273212119936943, + 0.0, + 0.973810613155365 + ], + [ + 0.32100769877433777, + 0.026651648804545403, + 0.0634712353348732, + 0.016784824430942535, + -0.12157086282968521, + -0.05471087992191315, + 0.0, + 1.0008161067962646 + ], + [ + 0.3254249691963196, + -0.006625903770327568, + 0.06572085618972778, + 0.01814301684498787, + -0.24099712073802948, + -0.029583929106593132, + 0.0, + 1.0008161067962646 + ], + [ + 0.3288353681564331, + -0.03301158919930458, + 0.07191336899995804, + 0.005506311077624559, + -0.29455265402793884, + -0.007076575420796871, + 0.0, + 1.0008161067962646 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9886419177055359 + ], + [ + 0.9141042232513428 + ], + [ + 0.6279802918434143 + ], + [ + 0.3396349251270294 + ], + [ + 0.13806100189685822 + ], + [ + 0.05271430313587189 + ], + [ + 0.052451856434345245 + ], + [ + 0.052451856434345245 + ], + [ + 0.052451856434345245 + ], + [ + 0.052451856434345245 + ], + [ + 0.052451856434345245 + ], + [ + 0.052451856434345245 + ], + [ + 0.052451856434345245 + ], + [ + 0.052451856434345245 + ], + [ + 0.052451856434345245 + ], + [ + 0.052451856434345245 + ], + [ + 0.052451856434345245 + ], + [ + 0.052451856434345245 + ], + [ + 0.052451856434345245 + ], + [ + 0.052451856434345245 + ], + [ + 0.06354815512895584 + ], + [ + 0.1949377954006195 + ], + [ + 0.443907231092453 + ], + [ + 0.7220669984817505 + ], + [ + 0.973810613155365 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3704819679260254, + 0.0006738281808793545, + 0.06510964035987854 + ], + [ + 0.3656699061393738, + 0.00034098801552318037, + 0.052854519337415695 + ], + [ + 0.36758026480674744, + 0.005366571247577667, + 0.059404317289590836 + ], + [ + 0.36721134185791016, + 0.0234883613884449, + 0.06361052393913269 + ], + [ + 0.36387524008750916, + 0.03269176930189133, + 0.06410026550292969 + ], + [ + 0.35893505811691284, + 0.03810959309339523, + 0.04958544299006462 + ], + [ + 0.3592388927936554, + 0.036095019429922104, + 0.0465543195605278 + ], + [ + 0.3586799204349518, + 0.03177095577120781, + 0.04043140262365341 + ], + [ + 0.3556232750415802, + 0.02198217436671257, + 0.03717384487390518 + ], + [ + 0.35241660475730896, + 0.01666911132633686, + 0.028700241819024086 + ], + [ + 0.3537212610244751, + 0.019238682463765144, + 0.02607150748372078 + ], + [ + 0.35323581099510193, + 0.03429541736841202, + 0.024856051430106163 + ], + [ + 0.3533075451850891, + 0.041637908667325974, + 0.02364044077694416 + ], + [ + 0.35002413392066956, + 0.048877425491809845, + 0.023424023762345314 + ], + [ + 0.3440398573875427, + 0.06319767236709595, + 0.024157162755727768 + ], + [ + 0.33931830525398254, + 0.07348542660474777, + 0.02288649044930935 + ], + [ + 0.33461692929267883, + 0.07895845919847488, + 0.022255869582295418 + ], + [ + 0.32061511278152466, + 0.08094524592161179, + 0.021969296038150787 + ], + [ + 0.30704155564308167, + 0.07775729894638062, + 0.021934831514954567 + ], + [ + 0.2949439585208893, + 0.07460189610719681, + 0.021431036293506622 + ], + [ + 0.2928548753261566, + 0.07198453694581985, + 0.021415987983345985 + ], + [ + 0.2948698103427887, + 0.06467375159263611, + 0.021724393591284752 + ], + [ + 0.29453474283218384, + 0.06296645849943161, + 0.021878208965063095 + ], + [ + 0.29647207260131836, + 0.06562215089797974, + 0.022573456168174744 + ], + [ + 0.30031606554985046, + 0.07119915634393692, + 0.0269436314702034 + ], + [ + 0.30594682693481445, + 0.07003552466630936, + 0.03712084889411926 + ], + [ + 0.3151157796382904, + 0.06857501715421677, + 0.05101423338055611 + ], + [ + 0.3172280192375183, + 0.0665208250284195, + 0.06062861531972885 + ], + [ + 0.3140687644481659, + 0.05349225178360939, + 0.05952519178390503 + ], + [ + 0.32100769877433777, + 0.026651648804545403, + 0.0634712353348732 + ], + [ + 0.3254249691963196, + -0.006625903770327568, + 0.06572085618972778 + ], + [ + 0.3288353681564331, + -0.03301158919930458, + 0.07191336899995804 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9097391100719161, + 0.31026040586660897, + 0.27588626670612887, + 0.2544683321159583, + -0.9417348733575345, + 0.21995748737515344, + 0.3280558177439939, + -0.12989961067591974, + -0.9356844936144683 + ], + [ + 0.9194059197774768, + 0.3164111486783941, + 0.23361665109779964, + 0.2672676040544913, + -0.9383816961364284, + 0.21910686931059764, + 0.2885494455047584, + -0.1390099901019305, + -0.9473201360420656 + ], + [ + 0.8867891637642267, + 0.4350992984469469, + 0.15586397762574494, + 0.40685863661601424, + -0.8949052896370348, + 0.18333186408972516, + 0.21925106348955797, + -0.09916210501310466, + -0.9706162208041179 + ], + [ + 0.8549200228524005, + 0.50270143368836, + 0.12807428740273483, + 0.4871845435000986, + -0.8628485436851965, + 0.13469822283510682, + 0.17822170210345142, + -0.05276039450196548, + -0.9825748651738174 + ], + [ + 0.8175725532910032, + 0.5662610244082502, + 0.10451589516120854, + 0.5590137138588842, + -0.8240577715083158, + 0.09182841027942237, + 0.1381259853283491, + -0.016650569145448185, + -0.9902746945793401 + ], + [ + 0.7454859038832706, + 0.65436609099703, + 0.12671142831098337, + 0.645770161939527, + -0.7561720090889048, + 0.10575817045999975, + 0.1650201959153486, + 0.0029852342815585645, + -0.9862856702377583 + ], + [ + 0.7624913199726847, + 0.634817264690039, + 0.12495610196292793, + 0.6300604502882929, + -0.7724523468222588, + 0.07963165746923864, + 0.14707418518838136, + 0.018011450253699733, + -0.9889614611858907 + ], + [ + 0.7591136804075098, + 0.6414909071628391, + 0.11061571427949532, + 0.6377014269275786, + -0.7669582018008141, + 0.0714982991755197, + 0.13070313811341855, + 0.016264461806641515, + -0.9912881301465509 + ], + [ + 0.744768360071307, + 0.6596076572053465, + 0.10118215451733702, + 0.6544102825553185, + -0.7515961885845033, + 0.08276684959037828, + 0.13064176944057548, + 0.004572511489551852, + -0.9914190941353276 + ], + [ + 0.7620767924473997, + 0.6356710754733575, + 0.12313101242021807, + 0.6258559343314681, + -0.7719190488686961, + 0.11155864581345831, + 0.16596177835624676, + -0.00795398014786066, + -0.9861001076587709 + ], + [ + 0.8039943266280497, + 0.5743157237097524, + 0.1541251836970615, + 0.5601782120527742, + -0.8184710649596091, + 0.12769293858800967, + 0.19948306567542698, + -0.016326828339498466, + -0.9797652479982675 + ], + [ + 0.838659758892242, + 0.5163626457134265, + 0.17326115238747855, + 0.5013645962848778, + -0.8561846132244281, + 0.12482567712549447, + 0.21279884963718224, + -0.01781926456302716, + -0.9769335306987497 + ], + [ + 0.8907438168278116, + 0.4134541760088107, + 0.1887620118665249, + 0.3899667476361403, + -0.9085548683546738, + 0.14984654459517185, + 0.2334553244651181, + -0.059863975226319005, + -0.9705230115504678 + ], + [ + 0.9397730593113857, + 0.2757771414119944, + 0.2019246524502338, + 0.25131620353781126, + -0.9579252076090538, + 0.13863427594391214, + 0.23166087894130996, + -0.07953782057474437, + -0.9695395671484273 + ], + [ + 0.9665818092597043, + 0.19626279289386414, + 0.16492580796751213, + 0.17665797319753843, + -0.9761390852697591, + 0.1262713218211306, + 0.1857728896097983, + -0.09291610373997566, + -0.9781896703358749 + ], + [ + 0.9808649847945601, + 0.12660221854404666, + 0.14790456336331465, + 0.10336459642002485, + -0.9824227118202424, + 0.155439298463053, + 0.1649837622643292, + -0.13717686962271053, + -0.9767102255170778 + ], + [ + 0.9901778220645038, + 0.02143634628159722, + 0.13816064472088813, + -0.002129164859755865, + -0.9857499619666837, + 0.16820368349023054, + 0.13979752268404472, + -0.16684572377132453, + -0.976022108925114 + ], + [ + 0.9801396929410798, + -0.12437885050444958, + 0.15445414811055427, + -0.14980889377294293, + -0.9747252129914684, + 0.16573489223836724, + 0.12993643702938892, + -0.18558195145522066, + -0.9739999289662086 + ], + [ + 0.9599214333549972, + -0.19361028538415728, + 0.20264722840234575, + -0.2255118274842636, + -0.9628904549198357, + 0.14827807487615724, + 0.16641892155159235, + -0.18803464898187444, + -0.9679605949272253 + ], + [ + 0.9605059708578645, + -0.19762347588095638, + 0.19589089240472746, + -0.22543378417228407, + -0.9653460494088855, + 0.13147856800415006, + 0.16311924748525386, + -0.17044637476751132, + -0.9717716524104095 + ], + [ + 0.9713788069705452, + -0.15422708067302054, + 0.1806577453516946, + -0.17738425451136347, + -0.9768137158729878, + 0.11987406197277901, + 0.15798113691174637, + -0.14848896278674537, + -0.9762135976878157 + ], + [ + 0.9801010046522116, + -0.07552444928804387, + 0.18357036318388292, + -0.09807583668439977, + -0.9882723435890858, + 0.1170423220702253, + 0.172577956119488, + -0.13271711440757403, + -0.9760138403757123 + ], + [ + 0.9824338664474555, + -0.06819935825339676, + 0.17370246282343885, + -0.08955256951712301, + -0.9889415914596585, + 0.11821533730493114, + 0.16371937988516863, + -0.1316942527791651, + -0.9776771391594227 + ], + [ + 0.9879914204973534, + -0.05137756696813425, + 0.14571650090520477, + -0.06806881052740103, + -0.9913767293135751, + 0.111976861935416, + 0.13870684935145217, + -0.12055092777723994, + -0.9829689129138521 + ], + [ + 0.9921511440017639, + -0.021762496986021507, + 0.12313610835544692, + -0.03245043260950515, + -0.9958122036305349, + 0.08546943619770635, + 0.12076041106027638, + -0.08879441888672528, + -0.9887024194848122 + ], + [ + 0.9953046487795199, + 0.022793134920293688, + 0.09406980981367903, + 0.017843783343774115, + -0.9984285130564057, + 0.05312347609066011, + 0.09513283089373985, + -0.051195481406856355, + -0.9941472562803073 + ], + [ + 0.9952843555047654, + 0.03317893126019224, + 0.09114938402367534, + 0.030741684395220088, + -0.9991346941294886, + 0.028014493165469084, + 0.09200000286961238, + -0.025080301178512003, + -0.9954431063424903 + ], + [ + 0.9970143215212905, + 0.026805062965932686, + 0.07241499348085813, + 0.02740210223250497, + -0.9995981012138341, + -0.0072636659433443, + 0.07219118695990313, + 0.009226302026789378, + -0.9973481377514225 + ], + [ + 0.99864588340353, + -0.029252217244298957, + 0.04301984829675018, + -0.030241457661884723, + -0.9992887478405267, + 0.022526710319012513, + 0.04233029411269776, + -0.02379718944759254, + -0.9988202240517199 + ], + [ + 0.9911341360443727, + -0.05264350519032467, + 0.12199092478070409, + -0.05427998992378991, + -0.9984743864771731, + 0.01012828923886395, + 0.12127162512908124, + -0.01666015937225937, + -0.9924795373347718 + ], + [ + 0.9706755469197967, + -0.02524666509705256, + 0.23906398414113042, + -0.02872477711439698, + -0.9995259984829143, + 0.011075447460995504, + 0.23867104933711922, + -0.017617725682116992, + -0.9709406500657536 + ], + [ + 0.9569081473960518, + -0.005477910105847942, + 0.2903390947632247, + -0.006771745714513229, + -0.9999711139190692, + 0.0034517803282262394, + 0.2903117994622928, + -0.005269139239819622, + -0.9569176010841464 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.004812061786651611, + -0.0003328401653561741, + -0.012255121022462845, + 0.007753700017929077, + 0.04153326153755188, + 0.01015421748161316, + 1.0 + ], + [ + 0.0019103586673736572, + 0.005025583319365978, + 0.00654979795217514, + -0.04388957470655441, + 0.0716647058725357, + 0.14724835753440857, + 1.0 + ], + [ + -0.0003689229488372803, + 0.018121790140867233, + 0.004206206649541855, + -0.04816629737615585, + 0.04186786711215973, + 0.0878150463104248, + 1.0 + ], + [ + -0.003336101770401001, + 0.009203407913446426, + 0.0004897415637969971, + -0.03683203086256981, + 0.04060991108417511, + 0.08177250623703003, + 1.0 + ], + [ + -0.0049401819705963135, + 0.005417823791503906, + -0.014514822512865067, + -0.019839242100715637, + -0.02720947563648224, + 0.11411213874816895, + 0.0 + ], + [ + 0.0003038346767425537, + -0.0020145736634731293, + -0.0030311234295368195, + -0.015183741226792336, + 0.018168851733207703, + -0.02326345443725586, + 0.0 + ], + [ + -0.0005589723587036133, + -0.004324063658714294, + -0.00612291693687439, + 0.0018045473843812943, + 0.01653146743774414, + 0.008111417293548584, + 0.0 + ], + [ + -0.003056645393371582, + -0.00978878140449524, + -0.00325755774974823, + 0.011793874204158783, + 6.189942359924316e-05, + 0.02221304178237915, + 0.0 + ], + [ + -0.0032066702842712402, + -0.0053130630403757095, + -0.008473603054881096, + 0.012677977792918682, + -0.03571696579456329, + -0.03334343433380127, + 0.0 + ], + [ + 0.0013046562671661377, + 0.0025695711374282837, + -0.0026287343353033066, + 0.008596555329859257, + -0.03409712016582489, + -0.07902753353118896, + 0.0 + ], + [ + -0.00048545002937316895, + 0.015056734904646873, + -0.0012154560536146164, + 0.0015754960477352142, + -0.013608172535896301, + -0.06972497701644897, + 0.0 + ], + [ + 7.173418998718262e-05, + 0.007342491298913956, + -0.0012156106531620026, + 0.04336615651845932, + -0.02119116485118866, + -0.12615102529525757, + 0.0 + ], + [ + -0.0032834112644195557, + 0.0072395168244838715, + -0.00021641701459884644, + 0.020249266177415848, + 0.001845031976699829, + -0.15135371685028076, + 0.0 + ], + [ + -0.005984276533126831, + 0.014320246875286102, + 0.0007331389933824539, + 0.012850277125835419, + 0.04692627489566803, + -0.08053714036941528, + 0.0 + ], + [ + -0.004721552133560181, + 0.010287754237651825, + -0.0012706723064184189, + 0.044831499457359314, + 0.021116837859153748, + -0.07577696442604065, + 0.0 + ], + [ + -0.004701375961303711, + 0.005473032593727112, + -0.0006306208670139313, + 0.02977292239665985, + 0.02548462152481079, + -0.107143834233284, + 0.0 + ], + [ + -0.014001816511154175, + 0.001986786723136902, + -0.00028657354414463043, + 0.018971025943756104, + 0.009952053427696228, + -0.14952033758163452, + 0.0 + ], + [ + -0.013573557138442993, + -0.0031879469752311707, + -3.44645231962204e-05, + 0.0035897940397262573, + -0.03689195215702057, + -0.07907252013683319, + 0.0 + ], + [ + -0.012097597122192383, + -0.0031554028391838074, + -0.0005037952214479446, + -0.018237531185150146, + 0.003345400094985962, + 0.00021250545978546143, + 0.0 + ], + [ + -0.002089083194732666, + -0.002617359161376953, + -1.5048310160636902e-05, + -0.022681400179862976, + 0.0052056461572647095, + 0.04990999400615692, + 0.0 + ], + [ + 0.00201493501663208, + -0.007310785353183746, + 0.0003084056079387665, + -0.015800178050994873, + -0.01480051875114441, + 0.08088558167219162, + 0.0 + ], + [ + -0.0003350675106048584, + -0.0017072930932044983, + 0.0001538153737783432, + -0.0012545734643936157, + 0.008986562490463257, + 0.008832484483718872, + 0.0 + ], + [ + 0.0019373297691345215, + 0.0026556923985481262, + 0.0006952472031116486, + -0.011864982545375824, + 0.025304213166236877, + 0.02211511880159378, + 0.0 + ], + [ + 0.0038439929485321045, + 0.005577005445957184, + 0.004370175302028656, + -0.0324615016579628, + 0.01809965819120407, + 0.036091964691877365, + 1.0 + ], + [ + 0.005630761384963989, + -0.0011636316776275635, + 0.010177217423915863, + -0.03811731934547424, + 0.02577894926071167, + 0.050621531903743744, + 1.0 + ], + [ + 0.009168952703475952, + -0.0014605075120925903, + 0.013893384486436844, + -0.026261646300554276, + 0.003146633505821228, + 0.012951480224728584, + 1.0 + ], + [ + 0.0021122395992279053, + -0.0020541921257972717, + 0.009614381939172745, + -0.03444035351276398, + 0.01987624168395996, + -0.0034002773463726044, + 1.0 + ], + [ + -0.003159254789352417, + -0.013028573244810104, + -0.001103423535823822, + 0.0330713614821434, + 0.029911093413829803, + -0.057750456035137177, + 1.0 + ], + [ + 0.006938934326171875, + -0.026840602979063988, + 0.00394604355096817, + -0.0070359669625759125, + -0.07922791689634323, + -0.024437667801976204, + 1.0 + ], + [ + 0.0044172704219818115, + -0.03327755257487297, + 0.0022496208548545837, + 0.0013581924140453339, + -0.11942625790834427, + 0.025126950815320015, + 1.0 + ], + [ + 0.0034103989601135254, + -0.026385685428977013, + 0.006192512810230255, + -0.012636706233024597, + -0.05355553328990936, + 0.022507354617118835, + 1.0 + ], + [ + 0.004925251007080078, + -0.02608511969447136, + 0.01218414306640625, + -0.048098124563694, + -0.004805803298950195, + 0.08716048300266266, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9886419177055359 + ], + [ + 0.9141042232513428 + ], + [ + 0.6279802918434143 + ], + [ + 0.3396349251270294 + ], + [ + 0.13806100189685822 + ], + [ + 0.05271430313587189 + ], + [ + 0.052451856434345245 + ], + [ + 0.052451856434345245 + ], + [ + 0.052451856434345245 + ], + [ + 0.052451856434345245 + ], + [ + 0.052451856434345245 + ], + [ + 0.052451856434345245 + ], + [ + 0.052451856434345245 + ], + [ + 0.052451856434345245 + ], + [ + 0.052451856434345245 + ], + [ + 0.052451856434345245 + ], + [ + 0.052451856434345245 + ], + [ + 0.052451856434345245 + ], + [ + 0.052451856434345245 + ], + [ + 0.052451856434345245 + ], + [ + 0.06354815512895584 + ], + [ + 0.1949377954006195 + ], + [ + 0.443907231092453 + ], + [ + 0.7220669984817505 + ], + [ + 0.973810613155365 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3656699061393738, + 0.00034098801552318037, + 0.052854519337415695 + ], + [ + 0.36758026480674744, + 0.005366571247577667, + 0.059404317289590836 + ], + [ + 0.36721134185791016, + 0.0234883613884449, + 0.06361052393913269 + ], + [ + 0.36387524008750916, + 0.03269176930189133, + 0.06410026550292969 + ], + [ + 0.35893505811691284, + 0.03810959309339523, + 0.04958544299006462 + ], + [ + 0.3592388927936554, + 0.036095019429922104, + 0.0465543195605278 + ], + [ + 0.3586799204349518, + 0.03177095577120781, + 0.04043140262365341 + ], + [ + 0.3556232750415802, + 0.02198217436671257, + 0.03717384487390518 + ], + [ + 0.35241660475730896, + 0.01666911132633686, + 0.028700241819024086 + ], + [ + 0.3537212610244751, + 0.019238682463765144, + 0.02607150748372078 + ], + [ + 0.35323581099510193, + 0.03429541736841202, + 0.024856051430106163 + ], + [ + 0.3533075451850891, + 0.041637908667325974, + 0.02364044077694416 + ], + [ + 0.35002413392066956, + 0.048877425491809845, + 0.023424023762345314 + ], + [ + 0.3440398573875427, + 0.06319767236709595, + 0.024157162755727768 + ], + [ + 0.33931830525398254, + 0.07348542660474777, + 0.02288649044930935 + ], + [ + 0.33461692929267883, + 0.07895845919847488, + 0.022255869582295418 + ], + [ + 0.32061511278152466, + 0.08094524592161179, + 0.021969296038150787 + ], + [ + 0.30704155564308167, + 0.07775729894638062, + 0.021934831514954567 + ], + [ + 0.2949439585208893, + 0.07460189610719681, + 0.021431036293506622 + ], + [ + 0.2928548753261566, + 0.07198453694581985, + 0.021415987983345985 + ], + [ + 0.2948698103427887, + 0.06467375159263611, + 0.021724393591284752 + ], + [ + 0.29453474283218384, + 0.06296645849943161, + 0.021878208965063095 + ], + [ + 0.29647207260131836, + 0.06562215089797974, + 0.022573456168174744 + ], + [ + 0.30031606554985046, + 0.07119915634393692, + 0.0269436314702034 + ], + [ + 0.30594682693481445, + 0.07003552466630936, + 0.03712084889411926 + ], + [ + 0.3151157796382904, + 0.06857501715421677, + 0.05101423338055611 + ], + [ + 0.3172280192375183, + 0.0665208250284195, + 0.06062861531972885 + ], + [ + 0.3140687644481659, + 0.05349225178360939, + 0.05952519178390503 + ], + [ + 0.32100769877433777, + 0.026651648804545403, + 0.0634712353348732 + ], + [ + 0.3254249691963196, + -0.006625903770327568, + 0.06572085618972778 + ], + [ + 0.3288353681564331, + -0.03301158919930458, + 0.07191336899995804 + ], + [ + 0.3337606191635132, + -0.05909670889377594, + 0.08409751206636429 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9194059197774768, + 0.3164111486783941, + 0.23361665109779964, + 0.2672676040544913, + -0.9383816961364284, + 0.21910686931059764, + 0.2885494455047584, + -0.1390099901019305, + -0.9473201360420656 + ], + [ + 0.8867891637642267, + 0.4350992984469469, + 0.15586397762574494, + 0.40685863661601424, + -0.8949052896370348, + 0.18333186408972516, + 0.21925106348955797, + -0.09916210501310466, + -0.9706162208041179 + ], + [ + 0.8549200228524005, + 0.50270143368836, + 0.12807428740273483, + 0.4871845435000986, + -0.8628485436851965, + 0.13469822283510682, + 0.17822170210345142, + -0.05276039450196548, + -0.9825748651738174 + ], + [ + 0.8175725532910032, + 0.5662610244082502, + 0.10451589516120854, + 0.5590137138588842, + -0.8240577715083158, + 0.09182841027942237, + 0.1381259853283491, + -0.016650569145448185, + -0.9902746945793401 + ], + [ + 0.7454859038832706, + 0.65436609099703, + 0.12671142831098337, + 0.645770161939527, + -0.7561720090889048, + 0.10575817045999975, + 0.1650201959153486, + 0.0029852342815585645, + -0.9862856702377583 + ], + [ + 0.7624913199726847, + 0.634817264690039, + 0.12495610196292793, + 0.6300604502882929, + -0.7724523468222588, + 0.07963165746923864, + 0.14707418518838136, + 0.018011450253699733, + -0.9889614611858907 + ], + [ + 0.7591136804075098, + 0.6414909071628391, + 0.11061571427949532, + 0.6377014269275786, + -0.7669582018008141, + 0.0714982991755197, + 0.13070313811341855, + 0.016264461806641515, + -0.9912881301465509 + ], + [ + 0.744768360071307, + 0.6596076572053465, + 0.10118215451733702, + 0.6544102825553185, + -0.7515961885845033, + 0.08276684959037828, + 0.13064176944057548, + 0.004572511489551852, + -0.9914190941353276 + ], + [ + 0.7620767924473997, + 0.6356710754733575, + 0.12313101242021807, + 0.6258559343314681, + -0.7719190488686961, + 0.11155864581345831, + 0.16596177835624676, + -0.00795398014786066, + -0.9861001076587709 + ], + [ + 0.8039943266280497, + 0.5743157237097524, + 0.1541251836970615, + 0.5601782120527742, + -0.8184710649596091, + 0.12769293858800967, + 0.19948306567542698, + -0.016326828339498466, + -0.9797652479982675 + ], + [ + 0.838659758892242, + 0.5163626457134265, + 0.17326115238747855, + 0.5013645962848778, + -0.8561846132244281, + 0.12482567712549447, + 0.21279884963718224, + -0.01781926456302716, + -0.9769335306987497 + ], + [ + 0.8907438168278116, + 0.4134541760088107, + 0.1887620118665249, + 0.3899667476361403, + -0.9085548683546738, + 0.14984654459517185, + 0.2334553244651181, + -0.059863975226319005, + -0.9705230115504678 + ], + [ + 0.9397730593113857, + 0.2757771414119944, + 0.2019246524502338, + 0.25131620353781126, + -0.9579252076090538, + 0.13863427594391214, + 0.23166087894130996, + -0.07953782057474437, + -0.9695395671484273 + ], + [ + 0.9665818092597043, + 0.19626279289386414, + 0.16492580796751213, + 0.17665797319753843, + -0.9761390852697591, + 0.1262713218211306, + 0.1857728896097983, + -0.09291610373997566, + -0.9781896703358749 + ], + [ + 0.9808649847945601, + 0.12660221854404666, + 0.14790456336331465, + 0.10336459642002485, + -0.9824227118202424, + 0.155439298463053, + 0.1649837622643292, + -0.13717686962271053, + -0.9767102255170778 + ], + [ + 0.9901778220645038, + 0.02143634628159722, + 0.13816064472088813, + -0.002129164859755865, + -0.9857499619666837, + 0.16820368349023054, + 0.13979752268404472, + -0.16684572377132453, + -0.976022108925114 + ], + [ + 0.9801396929410798, + -0.12437885050444958, + 0.15445414811055427, + -0.14980889377294293, + -0.9747252129914684, + 0.16573489223836724, + 0.12993643702938892, + -0.18558195145522066, + -0.9739999289662086 + ], + [ + 0.9599214333549972, + -0.19361028538415728, + 0.20264722840234575, + -0.2255118274842636, + -0.9628904549198357, + 0.14827807487615724, + 0.16641892155159235, + -0.18803464898187444, + -0.9679605949272253 + ], + [ + 0.9605059708578645, + -0.19762347588095638, + 0.19589089240472746, + -0.22543378417228407, + -0.9653460494088855, + 0.13147856800415006, + 0.16311924748525386, + -0.17044637476751132, + -0.9717716524104095 + ], + [ + 0.9713788069705452, + -0.15422708067302054, + 0.1806577453516946, + -0.17738425451136347, + -0.9768137158729878, + 0.11987406197277901, + 0.15798113691174637, + -0.14848896278674537, + -0.9762135976878157 + ], + [ + 0.9801010046522116, + -0.07552444928804387, + 0.18357036318388292, + -0.09807583668439977, + -0.9882723435890858, + 0.1170423220702253, + 0.172577956119488, + -0.13271711440757403, + -0.9760138403757123 + ], + [ + 0.9824338664474555, + -0.06819935825339676, + 0.17370246282343885, + -0.08955256951712301, + -0.9889415914596585, + 0.11821533730493114, + 0.16371937988516863, + -0.1316942527791651, + -0.9776771391594227 + ], + [ + 0.9879914204973534, + -0.05137756696813425, + 0.14571650090520477, + -0.06806881052740103, + -0.9913767293135751, + 0.111976861935416, + 0.13870684935145217, + -0.12055092777723994, + -0.9829689129138521 + ], + [ + 0.9921511440017639, + -0.021762496986021507, + 0.12313610835544692, + -0.03245043260950515, + -0.9958122036305349, + 0.08546943619770635, + 0.12076041106027638, + -0.08879441888672528, + -0.9887024194848122 + ], + [ + 0.9953046487795199, + 0.022793134920293688, + 0.09406980981367903, + 0.017843783343774115, + -0.9984285130564057, + 0.05312347609066011, + 0.09513283089373985, + -0.051195481406856355, + -0.9941472562803073 + ], + [ + 0.9952843555047654, + 0.03317893126019224, + 0.09114938402367534, + 0.030741684395220088, + -0.9991346941294886, + 0.028014493165469084, + 0.09200000286961238, + -0.025080301178512003, + -0.9954431063424903 + ], + [ + 0.9970143215212905, + 0.026805062965932686, + 0.07241499348085813, + 0.02740210223250497, + -0.9995981012138341, + -0.0072636659433443, + 0.07219118695990313, + 0.009226302026789378, + -0.9973481377514225 + ], + [ + 0.99864588340353, + -0.029252217244298957, + 0.04301984829675018, + -0.030241457661884723, + -0.9992887478405267, + 0.022526710319012513, + 0.04233029411269776, + -0.02379718944759254, + -0.9988202240517199 + ], + [ + 0.9911341360443727, + -0.05264350519032467, + 0.12199092478070409, + -0.05427998992378991, + -0.9984743864771731, + 0.01012828923886395, + 0.12127162512908124, + -0.01666015937225937, + -0.9924795373347718 + ], + [ + 0.9706755469197967, + -0.02524666509705256, + 0.23906398414113042, + -0.02872477711439698, + -0.9995259984829143, + 0.011075447460995504, + 0.23867104933711922, + -0.017617725682116992, + -0.9709406500657536 + ], + [ + 0.9569081473960518, + -0.005477910105847942, + 0.2903390947632247, + -0.006771745714513229, + -0.9999711139190692, + 0.0034517803282262394, + 0.2903117994622928, + -0.005269139239819622, + -0.9569176010841464 + ], + [ + 0.9524634184231848, + 0.06740918892654643, + 0.29710172973896726, + 0.07644047667099893, + -0.9968955358923313, + -0.018871779043112897, + 0.2949072567637691, + 0.040685277020155286, + -0.9546593204603733 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006253.json b/json/chunk-0006/episode_0006253.json new file mode 100644 index 0000000000000000000000000000000000000000..cec022bda62e7a7a26c4ba1ea1264ef61d149e7c --- /dev/null +++ b/json/chunk-0006/episode_0006253.json @@ -0,0 +1,2542 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 41, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMoved the silver pot cover to the upper right of the table." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006253.mp4", + "start": 0, + "end": 41, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.37071359157562256, + 0.14151087403297424, + 0.032238442450761795, + 0.5070999264717102, + -0.22721074521541595, + 0.12614405155181885, + 0.0, + 1.0014774799346924 + ], + [ + 0.36483487486839294, + 0.13963259756565094, + 0.017717991024255753, + 0.4996005892753601, + -0.18779370188713074, + 0.12469654530286789, + 0.0, + 1.0014774799346924 + ], + [ + 0.34555965662002563, + 0.1410815417766571, + 0.014785985462367535, + 0.4660850167274475, + -0.17576932907104492, + 0.1280311495065689, + 0.0, + 1.0014774799346924 + ], + [ + 0.3288361132144928, + 0.14931848645210266, + 0.02730291336774826, + 0.41016292572021484, + -0.20713570713996887, + 0.1485452651977539, + 0.0, + 1.0014774799346924 + ], + [ + 0.31170859932899475, + 0.1592138558626175, + 0.03225644677877426, + 0.34573739767074585, + -0.2295655906200409, + 0.14137369394302368, + 0.0, + 1.0014774799346924 + ], + [ + 0.2899177074432373, + 0.166049525141716, + 0.03049539588391781, + 0.29936009645462036, + -0.2484906166791916, + 0.14843639731407166, + 0.0, + 1.0014774799346924 + ], + [ + 0.27398478984832764, + 0.17267924547195435, + 0.026927851140499115, + 0.23472300171852112, + -0.2573825418949127, + 0.15487147867679596, + 0.0, + 1.0008161067962646 + ], + [ + 0.267500102519989, + 0.18617402017116547, + 0.024274783208966255, + 0.251790314912796, + -0.275709331035614, + 0.1942041963338852, + 0.0, + 1.0014774799346924 + ], + [ + 0.266728013753891, + 0.19754144549369812, + 0.006491178181022406, + 0.27737873792648315, + -0.2274668961763382, + 0.22358892858028412, + 0.0, + 1.0014774799346924 + ], + [ + 0.27293452620506287, + 0.2055625468492508, + -0.002706940285861492, + 0.28561511635780334, + -0.21053718030452728, + 0.2396942675113678, + 0.0, + 1.0008161067962646 + ], + [ + 0.2737526297569275, + 0.21042297780513763, + -0.010988942347466946, + 0.28959763050079346, + -0.18853451311588287, + 0.24644115567207336, + 0.0, + 1.0014774799346924 + ], + [ + 0.27027544379234314, + 0.21378947794437408, + -0.01794465258717537, + 0.29498037695884705, + -0.16871917247772217, + 0.26394376158714294, + 0.0, + 1.0008161067962646 + ], + [ + 0.26825010776519775, + 0.21411371231079102, + -0.018635232001543045, + 0.29948168992996216, + -0.16261284053325653, + 0.2628059983253479, + 0.0, + 1.0008161067962646 + ], + [ + 0.26701802015304565, + 0.211107075214386, + -0.023574406281113625, + 0.286630779504776, + -0.14617863297462463, + 0.25535762310028076, + 0.0, + 1.0014774799346924 + ], + [ + 0.2742711007595062, + 0.20862753689289093, + -0.026560725644230843, + 0.2373329997062683, + -0.1316915601491928, + 0.2452320158481598, + 0.0, + 1.0014774799346924 + ], + [ + 0.2809566855430603, + 0.2093077450990677, + -0.028035901486873627, + 0.21957780420780182, + -0.12781594693660736, + 0.24254658818244934, + 0.0, + 0.9461179971694946 + ], + [ + 0.28283587098121643, + 0.21013325452804565, + -0.02948782965540886, + 0.21775351464748383, + -0.12995050847530365, + 0.2447650283575058, + 0.0, + 0.6530976295471191 + ], + [ + 0.28276586532592773, + 0.2113923877477646, + -0.02836970053613186, + 0.2212069183588028, + -0.12987984716892242, + 0.24782200157642365, + 0.0, + 0.3746064603328705 + ], + [ + 0.28250375390052795, + 0.21065589785575867, + -0.028571706265211105, + 0.21611332893371582, + -0.12846283614635468, + 0.25485917925834656, + 0.0, + 0.27019456028938293 + ], + [ + 0.2819480299949646, + 0.2091371715068817, + -0.029378343373537064, + 0.20889560878276825, + -0.12545070052146912, + 0.2530670464038849, + 0.0, + 0.26948168873786926 + ], + [ + 0.27988383173942566, + 0.20637626945972443, + -0.030376791954040527, + 0.2024979591369629, + -0.12630493938922882, + 0.24501046538352966, + 0.0, + 0.26948168873786926 + ], + [ + 0.27016809582710266, + 0.19814828038215637, + -0.026526980102062225, + 0.19250740110874176, + -0.12365738302469254, + 0.23152655363082886, + 0.0, + 0.26948168873786926 + ], + [ + 0.25691545009613037, + 0.19092345237731934, + -0.019814642146229744, + 0.20416299998760223, + -0.1255180537700653, + 0.2101726233959198, + 0.0, + 0.26948168873786926 + ], + [ + 0.2501106262207031, + 0.18443122506141663, + -0.00664735771715641, + 0.20274049043655396, + -0.14728675782680511, + 0.19626101851463318, + 0.0, + 0.26948168873786926 + ], + [ + 0.25312870740890503, + 0.18044140934944153, + 0.009336401708424091, + 0.18264581263065338, + -0.18140530586242676, + 0.19242095947265625, + 0.0, + 0.26948168873786926 + ], + [ + 0.2600161135196686, + 0.16901952028274536, + 0.03307691216468811, + 0.15061895549297333, + -0.23905982077121735, + 0.17189407348632812, + 0.0, + 0.26948168873786926 + ], + [ + 0.2783753573894501, + 0.1349521279335022, + 0.047487299889326096, + 0.18717245757579803, + -0.2540963590145111, + 0.1173105537891388, + 0.0, + 0.26948168873786926 + ], + [ + 0.30199503898620605, + 0.10348599404096603, + 0.06119929254055023, + 0.2244412750005722, + -0.26298391819000244, + 0.07230351865291595, + 0.0, + 0.26948168873786926 + ], + [ + 0.3291180431842804, + 0.07807756960391998, + 0.06430258601903915, + 0.22741717100143433, + -0.26125097274780273, + 0.02773912623524666, + 0.0, + 0.26948168873786926 + ], + [ + 0.3541368842124939, + 0.05830664560198784, + 0.045693643391132355, + 0.23447084426879883, + -0.23078924417495728, + -0.027938585728406906, + 0.0, + 0.26948168873786926 + ], + [ + 0.3784680962562561, + 0.03766250237822533, + 0.022864719852805138, + 0.2495591938495636, + -0.19321215152740479, + -0.08244647085666656, + 0.0, + 0.26948168873786926 + ], + [ + 0.392676442861557, + 0.018865372985601425, + 0.007059167604893446, + 0.25752654671669006, + -0.18098197877407074, + -0.1450076699256897, + 0.0, + 0.26948168873786926 + ], + [ + 0.3988860845565796, + 0.0058210757561028, + -0.010194671340286732, + 0.2366214394569397, + -0.15516123175621033, + -0.17462590336799622, + 0.0, + 0.26948168873786926 + ], + [ + 0.4064403176307678, + -0.0018395008519291878, + -0.02126627415418625, + 0.23721934854984283, + -0.14209513366222382, + -0.21289187669754028, + 0.0, + 0.26948168873786926 + ], + [ + 0.4116176664829254, + -0.006179257296025753, + -0.027970952913165092, + 0.2508382201194763, + -0.14102838933467865, + -0.23826493322849274, + 0.0, + 0.26948168873786926 + ], + [ + 0.4113351106643677, + -0.005534505005925894, + -0.02858859673142433, + 0.2597222626209259, + -0.13705593347549438, + -0.24730175733566284, + 0.0, + 0.329172819852829 + ], + [ + 0.4086078107357025, + -0.007394164334982634, + -0.028657959774136543, + 0.25213155150413513, + -0.1359899640083313, + -0.26293376088142395, + 0.0, + 0.6029031276702881 + ], + [ + 0.4030214548110962, + -0.004570899065583944, + -0.02796049602329731, + 0.23085547983646393, + -0.1263055056333542, + -0.23804709315299988, + 0.0, + 0.8836284875869751 + ], + [ + 0.4027382433414459, + -0.004101806785911322, + -0.012273554690182209, + 0.21804870665073395, + -0.14316585659980774, + -0.24146130681037903, + 0.0, + 1.0295521020889282 + ], + [ + 0.4039930999279022, + -0.001578491530381143, + 0.020550934597849846, + 0.2021978199481964, + -0.19860589504241943, + -0.23651479184627533, + 0.0, + 1.0105689764022827 + ], + [ + 0.39907655119895935, + 0.004160770680755377, + 0.04017046466469765, + 0.18461407721042633, + -0.23523783683776855, + -0.2301054745912552, + 0.0, + 1.0073583126068115 + ] + ], + "left_gripper_pos": [ + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 0.9461179971694946 + ], + [ + 0.6530976295471191 + ], + [ + 0.3746064603328705 + ], + [ + 0.27019456028938293 + ], + [ + 0.26948168873786926 + ], + [ + 0.26948168873786926 + ], + [ + 0.26948168873786926 + ], + [ + 0.26948168873786926 + ], + [ + 0.26948168873786926 + ], + [ + 0.26948168873786926 + ], + [ + 0.26948168873786926 + ], + [ + 0.26948168873786926 + ], + [ + 0.26948168873786926 + ], + [ + 0.26948168873786926 + ], + [ + 0.26948168873786926 + ], + [ + 0.26948168873786926 + ], + [ + 0.26948168873786926 + ], + [ + 0.26948168873786926 + ], + [ + 0.26948168873786926 + ], + [ + 0.26948168873786926 + ], + [ + 0.329172819852829 + ], + [ + 0.6029031276702881 + ], + [ + 0.8836284875869751 + ], + [ + 1.0295521020889282 + ], + [ + 1.0105689764022827 + ], + [ + 1.0073583126068115 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.37071359157562256, + 0.14151087403297424, + 0.032238442450761795 + ], + [ + 0.36483487486839294, + 0.13963259756565094, + 0.017717991024255753 + ], + [ + 0.34555965662002563, + 0.1410815417766571, + 0.014785985462367535 + ], + [ + 0.3288361132144928, + 0.14931848645210266, + 0.02730291336774826 + ], + [ + 0.31170859932899475, + 0.1592138558626175, + 0.03225644677877426 + ], + [ + 0.2899177074432373, + 0.166049525141716, + 0.03049539588391781 + ], + [ + 0.27398478984832764, + 0.17267924547195435, + 0.026927851140499115 + ], + [ + 0.267500102519989, + 0.18617402017116547, + 0.024274783208966255 + ], + [ + 0.266728013753891, + 0.19754144549369812, + 0.006491178181022406 + ], + [ + 0.27293452620506287, + 0.2055625468492508, + -0.002706940285861492 + ], + [ + 0.2737526297569275, + 0.21042297780513763, + -0.010988942347466946 + ], + [ + 0.27027544379234314, + 0.21378947794437408, + -0.01794465258717537 + ], + [ + 0.26825010776519775, + 0.21411371231079102, + -0.018635232001543045 + ], + [ + 0.26701802015304565, + 0.211107075214386, + -0.023574406281113625 + ], + [ + 0.2742711007595062, + 0.20862753689289093, + -0.026560725644230843 + ], + [ + 0.2809566855430603, + 0.2093077450990677, + -0.028035901486873627 + ], + [ + 0.28283587098121643, + 0.21013325452804565, + -0.02948782965540886 + ], + [ + 0.28276586532592773, + 0.2113923877477646, + -0.02836970053613186 + ], + [ + 0.28250375390052795, + 0.21065589785575867, + -0.028571706265211105 + ], + [ + 0.2819480299949646, + 0.2091371715068817, + -0.029378343373537064 + ], + [ + 0.27988383173942566, + 0.20637626945972443, + -0.030376791954040527 + ], + [ + 0.27016809582710266, + 0.19814828038215637, + -0.026526980102062225 + ], + [ + 0.25691545009613037, + 0.19092345237731934, + -0.019814642146229744 + ], + [ + 0.2501106262207031, + 0.18443122506141663, + -0.00664735771715641 + ], + [ + 0.25312870740890503, + 0.18044140934944153, + 0.009336401708424091 + ], + [ + 0.2600161135196686, + 0.16901952028274536, + 0.03307691216468811 + ], + [ + 0.2783753573894501, + 0.1349521279335022, + 0.047487299889326096 + ], + [ + 0.30199503898620605, + 0.10348599404096603, + 0.06119929254055023 + ], + [ + 0.3291180431842804, + 0.07807756960391998, + 0.06430258601903915 + ], + [ + 0.3541368842124939, + 0.05830664560198784, + 0.045693643391132355 + ], + [ + 0.3784680962562561, + 0.03766250237822533, + 0.022864719852805138 + ], + [ + 0.392676442861557, + 0.018865372985601425, + 0.007059167604893446 + ], + [ + 0.3988860845565796, + 0.0058210757561028, + -0.010194671340286732 + ], + [ + 0.4064403176307678, + -0.0018395008519291878, + -0.02126627415418625 + ], + [ + 0.4116176664829254, + -0.006179257296025753, + -0.027970952913165092 + ], + [ + 0.4113351106643677, + -0.005534505005925894, + -0.02858859673142433 + ], + [ + 0.4086078107357025, + -0.007394164334982634, + -0.028657959774136543 + ], + [ + 0.4030214548110962, + -0.004570899065583944, + -0.02796049602329731 + ], + [ + 0.4027382433414459, + -0.004101806785911322, + -0.012273554690182209 + ], + [ + 0.4039930999279022, + -0.001578491530381143, + 0.020550934597849846 + ], + [ + 0.39907655119895935, + 0.004160770680755377, + 0.04017046466469765 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9665570919715847, + 0.218504834396927, + 0.1342498614695936, + 0.12257627609997793, + -0.8534477091460284, + 0.5065590432425999, + 0.22526083658038643, + -0.4731623876625949, + -0.8516894448122136 + ], + [ + 0.9747904905759458, + 0.19791688104171618, + 0.10301654081469717, + 0.12218696839567451, + -0.8598345609716057, + 0.4957366967585117, + 0.1866918429845863, + -0.47065213901297137, + -0.8623414171924791 + ], + [ + 0.9765336119214627, + 0.19200253043285037, + 0.09755579477921739, + 0.12571437499316862, + -0.8759890861358266, + 0.4656597651622873, + 0.1748656647478269, + -0.4424682466327973, + -0.8795702643984725 + ], + [ + 0.967846821513178, + 0.21682856068556844, + 0.12750649143421477, + 0.14483593507692022, + -0.8948196005084532, + 0.42228004269238956, + 0.2056576815906298, + -0.3902348751930265, + -0.8974528735180752 + ], + [ + 0.9640504446059122, + 0.20891211971394036, + 0.16420251670352376, + 0.13720668759253307, + -0.9205736378780207, + 0.3656754054129312, + 0.22755453222255928, + -0.32999985375853547, + -0.9161435648326725 + ], + [ + 0.9586260356246069, + 0.2130471302453132, + 0.18880424814311553, + 0.14334936776933405, + -0.9342913578813172, + 0.32642092051279015, + 0.24594121773867594, + -0.2858506233726308, + -0.9261761919498342 + ], + [ + 0.9554851803704348, + 0.2085164007336555, + 0.20873183925208708, + 0.14917195260545227, + -0.9518063198971696, + 0.2679784654775147, + 0.25455018885939606, + -0.22491251639001425, + -0.9405416318923672 + ], + [ + 0.9441438710035169, + 0.2534483357964652, + 0.21060933485602282, + 0.18569713185488126, + -0.9371734196243766, + 0.2953346521666949, + 0.2722295466465111, + -0.23972885231351287, + -0.9318911692365588 + ], + [ + 0.9499899169290364, + 0.2734709286693138, + 0.15077403259814273, + 0.2160190239793795, + -0.924143473774192, + 0.3151104903991069, + 0.2255103966830775, + -0.26678172923442955, + -0.9370019049791355 + ], + [ + 0.9499606843294176, + 0.2849857311950327, + 0.12789773744526392, + 0.23216344255494348, + -0.9180786192684348, + 0.3212970351298037, + 0.20898524868856785, + -0.2755263723446404, + -0.9383018618617255 + ], + [ + 0.9526020871352171, + 0.28569940160830093, + 0.10452327734187852, + 0.23963131104203556, + -0.9163471084894125, + 0.3207566235190915, + 0.18741957836337084, + -0.280506379042887, + -0.9413766902586577 + ], + [ + 0.9516609962266316, + 0.2967485725875322, + 0.07925675320246948, + 0.2571852900102646, + -0.9109361792815613, + 0.3225693783951711, + 0.16791984654373376, + -0.2865930249381047, + -0.9432217995750287 + ], + [ + 0.9529254100987922, + 0.29435152102433343, + 0.07273475688218267, + 0.256363965790182, + -0.9102740239987082, + 0.3250826329989496, + 0.16189712731354813, + -0.29113293064141815, + -0.9428843708874171 + ], + [ + 0.957253776539111, + 0.2821317201368303, + 0.06377224940554627, + 0.24989754196457173, + -0.9176959127339599, + 0.30884531771009505, + 0.14565859336707546, + -0.2797068183724124, + -0.9489719015515199 + ], + [ + 0.9616812759131116, + 0.2659249380605232, + 0.06673118368227013, + 0.24067920773514842, + -0.9353928402032428, + 0.2590632229022333, + 0.13131124293871882, + -0.2330754423229051, + -0.9635523834560689 + ], + [ + 0.9628109211739785, + 0.2613608452350977, + 0.06845172493158937, + 0.23821625712583275, + -0.9407533650503634, + 0.24132161317912787, + 0.12746821136688874, + -0.2160407709771764, + -0.9680280163128097 + ], + [ + 0.9620139128810673, + 0.2637665565179939, + 0.07040195370796319, + 0.2402851252822171, + -0.9404993675770698, + 0.240258190610104, + 0.12958506855100047, + -0.21421517978372068, + -0.9681526567431713 + ], + [ + 0.9612837482900035, + 0.2668644960504123, + 0.06867966235560985, + 0.24322709418385194, + -0.9388563683074735, + 0.24369920053906857, + 0.12951500271551825, + -0.21755932624519003, + -0.9674160447477281 + ], + [ + 0.959724960681127, + 0.272828512567159, + 0.0670268795036785, + 0.2500317575179205, + -0.9382627057866461, + 0.23905483714499767, + 0.12810979696381103, + -0.21266804569636952, + -0.9686899309178236 + ], + [ + 0.9605407463293871, + 0.2700527604386064, + 0.06658063697857347, + 0.2484068912125019, + -0.9406053767464764, + 0.23142070269048876, + 0.12512190471346, + -0.2057499254315977, + -0.9705727572654035 + ], + [ + 0.9624068184124432, + 0.2621881247547383, + 0.0709260397233065, + 0.24063422448962005, + -0.9441669504589908, + 0.22504208420926203, + 0.12596938468341184, + -0.19951480370780317, + -0.9717641469121605 + ], + [ + 0.9658851492318336, + 0.24819316444579095, + 0.07393261537226285, + 0.2277114646318882, + -0.949922867031423, + 0.21399541015171658, + 0.12334247998398089, + -0.18985968453883417, + -0.9740328191689515 + ], + [ + 0.9703009761640997, + 0.22911891263923423, + 0.07759213572270358, + 0.20698743426357719, + -0.9523876102405433, + 0.22386165798834026, + 0.1251887283743102, + -0.20115258817952666, + -0.9715273637714489 + ], + [ + 0.9701832989397045, + 0.21999197897269687, + 0.10172460688618586, + 0.1928921774117698, + -0.9549518854959027, + 0.2255205185369328, + 0.14675481031918125, + -0.19917435973412148, + -0.9689131024362734 + ], + [ + 0.9654381079604117, + 0.22021864675480982, + 0.13940232178590406, + 0.1880977694083302, + -0.9589511673497443, + 0.2122071812690927, + 0.1804119974985896, + -0.17865163380177415, + -0.967230636869266 + ], + [ + 0.9572427017561849, + 0.2041189005325516, + 0.2049924007857413, + 0.166184362110465, + -0.968030391305942, + 0.1878827275137406, + 0.23678928971652738, + -0.14578283833650293, + -0.9605613964354884 + ], + [ + 0.9612385304384494, + 0.16145143931352393, + 0.22350373675650637, + 0.11328356234480783, + -0.970306682462903, + 0.21370956101753, + 0.25137088555160925, + -0.18010656487598345, + -0.9509859637163806 + ], + [ + 0.9630956392821847, + 0.12813528588542708, + 0.2367026364591226, + 0.06975680408505151, + -0.9681917015221716, + 0.24028902885367368, + 0.25996303175543906, + -0.21490969641843002, + -0.9413995137590939 + ], + [ + 0.9656959703452156, + 0.08523343461098024, + 0.24528871658400472, + 0.026794435186381395, + -0.9722620097887427, + 0.2323545621772846, + 0.25828927794636625, + -0.2178114917674698, + -0.941193286712126 + ], + [ + 0.9731062521481914, + 0.025952839932310356, + 0.22889008744274728, + -0.02719428844943027, + -0.9737424163870072, + 0.22602251481770894, + 0.22874591298169636, + -0.2261684253565032, + -0.9468490643528831 + ], + [ + 0.9780589467441215, + -0.03254041786667222, + 0.2057712756893969, + -0.0808207156186338, + -0.9696352233908058, + 0.23081495940851388, + 0.19201226164146745, + -0.2423812178468545, + -0.9509903451741264 + ], + [ + 0.9733436266039223, + -0.09437297857840922, + 0.20903570380144096, + -0.1421399603302337, + -0.9634981085021781, + 0.22686477600113483, + 0.1799956005763592, + -0.25052971046757033, + -0.9512289145869103 + ], + [ + 0.9729609343670357, + -0.13322247481065175, + 0.18867642248291058, + -0.17165254219811288, + -0.9636449789694063, + 0.20475292247969826, + 0.15453939611810827, + -0.23160338234226527, + -0.9604568956153486 + ], + [ + 0.9675729804871619, + -0.1728414339548532, + 0.1841965421489245, + -0.20915790119066538, + -0.9570830968591297, + 0.2006113607851108, + 0.14161744172490293, + -0.23263229443688196, + -0.9621988961666532 + ], + [ + 0.9621013878610581, + -0.19472679536693363, + 0.19089891210258395, + -0.2336737495589347, + -0.9495723030577424, + 0.20906702282446007, + 0.1405613682449555, + -0.24575173739312486, + -0.959087371059262 + ], + [ + 0.9604842741799137, + -0.20255876686675728, + 0.19089239120117646, + -0.24249320190550794, + -0.9456471891213034, + 0.21667588868305657, + 0.13662725234263806, + -0.25440389083580545, + -0.957398378025002 + ], + [ + 0.9567165161599565, + -0.21903844053310106, + 0.1916133327187404, + -0.25751496464699386, + -0.9438916158637232, + 0.20677200121154476, + 0.13557120154963984, + -0.24716548923949055, + -0.9594423746319474 + ], + [ + 0.964059028466802, + -0.20153913927120434, + 0.17312470930941093, + -0.23392683093517055, + -0.9528161200430679, + 0.19344166861020975, + 0.1259699464168897, + -0.22698770171067897, + -0.9657163951553426 + ], + [ + 0.9610556405899717, + -0.2034904697233112, + 0.18698578668440358, + -0.23667540229049538, + -0.9553783403894252, + 0.17673986722123525, + 0.14267729195927176, + -0.21411178259622676, + -0.9663329317127896 + ], + [ + 0.9530503604013757, + -0.1910224558465125, + 0.23495836205841897, + -0.22970983168155096, + -0.9616395250650334, + 0.14994271259894726, + 0.19730282250297748, + -0.1968752020825989, + -0.9603706321193367 + ], + [ + 0.9468271968603208, + -0.18254740830204277, + 0.2649428296969638, + -0.22179864722896117, + -0.9668557655754613, + 0.12647248183257617, + 0.23307427866032307, + -0.17851154667330557, + -0.9559341025045994 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.005878716707229614, + -0.0018782764673233032, + -0.014520451426506042, + -0.007499337196350098, + 0.03941704332828522, + -0.0014475062489509583, + 1.0 + ], + [ + -0.01927521824836731, + 0.0014489442110061646, + -0.002932005561888218, + -0.0335155725479126, + 0.012024372816085815, + 0.0033346042037010193, + 1.0 + ], + [ + -0.016723543405532837, + 0.008236944675445557, + 0.012516927905380726, + -0.055922091007232666, + -0.03136637806892395, + 0.020514115691184998, + 1.0 + ], + [ + -0.017127513885498047, + 0.009895369410514832, + 0.004953533411026001, + -0.064425528049469, + -0.02242988348007202, + -0.007171571254730225, + 1.0 + ], + [ + -0.021790891885757446, + 0.006835669279098511, + -0.001761050894856453, + -0.04637730121612549, + -0.018925026059150696, + 0.007062703371047974, + 1.0 + ], + [ + -0.015932917594909668, + 0.006629720330238342, + -0.0035675447434186935, + -0.06463709473609924, + -0.00889192521572113, + 0.006435081362724304, + 1.0 + ], + [ + -0.006484687328338623, + 0.01349477469921112, + -0.00265306793153286, + 0.017067313194274902, + -0.018326789140701294, + 0.03933271765708923, + 1.0 + ], + [ + -0.0007720887660980225, + 0.011367425322532654, + -0.017783604562282562, + 0.025588423013687134, + 0.04824243485927582, + 0.029384732246398926, + 1.0 + ], + [ + 0.006206512451171875, + 0.008021101355552673, + -0.00919811800122261, + 0.00823637843132019, + 0.016929715871810913, + 0.01610533893108368, + 1.0 + ], + [ + 0.000818103551864624, + 0.004860430955886841, + -0.008282002061605453, + 0.003982514142990112, + 0.02200266718864441, + 0.006746888160705566, + 1.0 + ], + [ + -0.0034771859645843506, + 0.00336650013923645, + -0.006955710239708424, + 0.005382746458053589, + 0.019815340638160706, + 0.01750260591506958, + 1.0 + ], + [ + -0.0020253360271453857, + 0.00032423436641693115, + -0.0006905794143676758, + 0.004501312971115112, + 0.006106331944465637, + -0.001137763261795044, + 1.0 + ], + [ + -0.0012320876121520996, + -0.0030066370964050293, + -0.0049391742795705795, + -0.012850910425186157, + 0.016434207558631897, + -0.007448375225067139, + 1.0 + ], + [ + 0.007253080606460571, + -0.002479538321495056, + -0.002986319363117218, + -0.04929777979850769, + 0.014487072825431824, + -0.010125607252120972, + 1.0 + ], + [ + 0.006685584783554077, + 0.0006802082061767578, + -0.0014751758426427841, + -0.01775519549846649, + 0.0038756132125854492, + -0.0026854276657104492, + 0.0 + ], + [ + 0.001879185438156128, + 0.0008255094289779663, + -0.0014519281685352325, + -0.0018242895603179932, + -0.002134561538696289, + 0.0022184401750564575, + 0.0 + ], + [ + -7.000565528869629e-05, + 0.001259133219718933, + 0.0011181291192770004, + 0.0034534037113189697, + 7.066130638122559e-05, + 0.0030569732189178467, + 0.0 + ], + [ + -0.0002621114253997803, + -0.0007364898920059204, + -0.00020200572907924652, + -0.005093589425086975, + 0.001417011022567749, + 0.007037177681922913, + 0.0 + ], + [ + -0.0005557239055633545, + -0.0015187263488769531, + -0.0008066371083259583, + -0.007217720150947571, + 0.003012135624885559, + -0.00179213285446167, + 0.0 + ], + [ + -0.0020641982555389404, + -0.0027609020471572876, + -0.0009984485805034637, + -0.006397649645805359, + -0.0008542388677597046, + -0.008056581020355225, + 0.0 + ], + [ + -0.009715735912322998, + -0.008227989077568054, + 0.003849811851978302, + -0.00999055802822113, + 0.0026475563645362854, + -0.013483911752700806, + 0.0 + ], + [ + -0.01325264573097229, + -0.007224828004837036, + 0.006712337955832481, + 0.011655598878860474, + -0.0018606707453727722, + -0.021353930234909058, + 0.0 + ], + [ + -0.006804823875427246, + -0.00649222731590271, + 0.013167284429073334, + -0.0014225095510482788, + -0.021768704056739807, + -0.013911604881286621, + 0.0 + ], + [ + 0.0030180811882019043, + -0.003989815711975098, + 0.015983760356903076, + -0.020094677805900574, + -0.03411854803562164, + -0.0038400590419769287, + 0.0 + ], + [ + 0.00688740611076355, + -0.011421889066696167, + 0.023740511387586594, + -0.032026857137680054, + -0.05765451490879059, + -0.020526885986328125, + 0.0 + ], + [ + 0.018359243869781494, + -0.034067392349243164, + 0.014410387724637985, + 0.03655350208282471, + -0.015036538243293762, + -0.05458351969718933, + 0.0 + ], + [ + 0.02361968159675598, + -0.03146613389253616, + 0.013711992651224136, + 0.03726881742477417, + -0.008887559175491333, + -0.04500703513622284, + 0.0 + ], + [ + 0.02712300419807434, + -0.02540842443704605, + 0.003103293478488922, + 0.0029758960008621216, + 0.001732945442199707, + -0.044564392417669296, + 0.0 + ], + [ + 0.0250188410282135, + -0.019770924001932144, + -0.0186089426279068, + 0.007053673267364502, + 0.03046172857284546, + -0.055677711963653564, + 0.0 + ], + [ + 0.024331212043762207, + -0.020644143223762512, + -0.022828923538327217, + 0.01508834958076477, + 0.03757709264755249, + -0.05450788512825966, + 0.0 + ], + [ + 0.014208346605300903, + -0.0187971293926239, + -0.015805551782250404, + 0.007967352867126465, + 0.012230172753334045, + -0.06256119906902313, + 0.0 + ], + [ + 0.006209641695022583, + -0.013044297695159912, + -0.01725383847951889, + -0.020905107259750366, + 0.025820747017860413, + -0.02961823344230652, + 0.0 + ], + [ + 0.007554233074188232, + -0.007660576608031988, + -0.011071602813899517, + 0.0005979090929031372, + 0.013066098093986511, + -0.03826597332954407, + 0.0 + ], + [ + 0.005177348852157593, + -0.004339756444096565, + -0.006704678758978844, + 0.013618871569633484, + 0.001066744327545166, + -0.025373056530952454, + 0.0 + ], + [ + -0.00028255581855773926, + 0.0006447522900998592, + -0.0006176438182592392, + 0.008884042501449585, + 0.003972455859184265, + -0.009036824107170105, + 1.0 + ], + [ + -0.002727299928665161, + -0.0018596593290567398, + -6.936304271221161e-05, + -0.0075907111167907715, + 0.001065969467163086, + -0.01563200354576111, + 1.0 + ], + [ + -0.005586355924606323, + 0.0028232652693986893, + 0.0006974637508392334, + -0.021276071667671204, + 0.009684458374977112, + 0.024886667728424072, + 1.0 + ], + [ + -0.00028321146965026855, + 0.0004690922796726227, + 0.015686940401792526, + -0.01280677318572998, + -0.016860350966453552, + -0.0034142136573791504, + 1.0 + ], + [ + 0.0012548565864562988, + 0.0025233151391148567, + 0.03282449021935463, + -0.015850886702537537, + -0.055440038442611694, + 0.004946514964103699, + 1.0 + ], + [ + -0.004916548728942871, + 0.005739262327551842, + 0.0196195300668478, + -0.01758374273777008, + -0.03663194179534912, + 0.006409317255020142, + 1.0 + ], + [ + 0.0005384087562561035, + 0.002357447985559702, + 0.000729437917470932, + 0.0012820661067962646, + -0.003955081105232239, + 0.002383515238761902, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 0.9461179971694946 + ], + [ + 0.6530976295471191 + ], + [ + 0.3746064603328705 + ], + [ + 0.27019456028938293 + ], + [ + 0.26948168873786926 + ], + [ + 0.26948168873786926 + ], + [ + 0.26948168873786926 + ], + [ + 0.26948168873786926 + ], + [ + 0.26948168873786926 + ], + [ + 0.26948168873786926 + ], + [ + 0.26948168873786926 + ], + [ + 0.26948168873786926 + ], + [ + 0.26948168873786926 + ], + [ + 0.26948168873786926 + ], + [ + 0.26948168873786926 + ], + [ + 0.26948168873786926 + ], + [ + 0.26948168873786926 + ], + [ + 0.26948168873786926 + ], + [ + 0.26948168873786926 + ], + [ + 0.26948168873786926 + ], + [ + 0.329172819852829 + ], + [ + 0.6029031276702881 + ], + [ + 0.8836284875869751 + ], + [ + 1.0295521020889282 + ], + [ + 1.0105689764022827 + ], + [ + 1.0073583126068115 + ], + [ + 1.0060625076293945 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.36483487486839294, + 0.13963259756565094, + 0.017717991024255753 + ], + [ + 0.34555965662002563, + 0.1410815417766571, + 0.014785985462367535 + ], + [ + 0.3288361132144928, + 0.14931848645210266, + 0.02730291336774826 + ], + [ + 0.31170859932899475, + 0.1592138558626175, + 0.03225644677877426 + ], + [ + 0.2899177074432373, + 0.166049525141716, + 0.03049539588391781 + ], + [ + 0.27398478984832764, + 0.17267924547195435, + 0.026927851140499115 + ], + [ + 0.267500102519989, + 0.18617402017116547, + 0.024274783208966255 + ], + [ + 0.266728013753891, + 0.19754144549369812, + 0.006491178181022406 + ], + [ + 0.27293452620506287, + 0.2055625468492508, + -0.002706940285861492 + ], + [ + 0.2737526297569275, + 0.21042297780513763, + -0.010988942347466946 + ], + [ + 0.27027544379234314, + 0.21378947794437408, + -0.01794465258717537 + ], + [ + 0.26825010776519775, + 0.21411371231079102, + -0.018635232001543045 + ], + [ + 0.26701802015304565, + 0.211107075214386, + -0.023574406281113625 + ], + [ + 0.2742711007595062, + 0.20862753689289093, + -0.026560725644230843 + ], + [ + 0.2809566855430603, + 0.2093077450990677, + -0.028035901486873627 + ], + [ + 0.28283587098121643, + 0.21013325452804565, + -0.02948782965540886 + ], + [ + 0.28276586532592773, + 0.2113923877477646, + -0.02836970053613186 + ], + [ + 0.28250375390052795, + 0.21065589785575867, + -0.028571706265211105 + ], + [ + 0.2819480299949646, + 0.2091371715068817, + -0.029378343373537064 + ], + [ + 0.27988383173942566, + 0.20637626945972443, + -0.030376791954040527 + ], + [ + 0.27016809582710266, + 0.19814828038215637, + -0.026526980102062225 + ], + [ + 0.25691545009613037, + 0.19092345237731934, + -0.019814642146229744 + ], + [ + 0.2501106262207031, + 0.18443122506141663, + -0.00664735771715641 + ], + [ + 0.25312870740890503, + 0.18044140934944153, + 0.009336401708424091 + ], + [ + 0.2600161135196686, + 0.16901952028274536, + 0.03307691216468811 + ], + [ + 0.2783753573894501, + 0.1349521279335022, + 0.047487299889326096 + ], + [ + 0.30199503898620605, + 0.10348599404096603, + 0.06119929254055023 + ], + [ + 0.3291180431842804, + 0.07807756960391998, + 0.06430258601903915 + ], + [ + 0.3541368842124939, + 0.05830664560198784, + 0.045693643391132355 + ], + [ + 0.3784680962562561, + 0.03766250237822533, + 0.022864719852805138 + ], + [ + 0.392676442861557, + 0.018865372985601425, + 0.007059167604893446 + ], + [ + 0.3988860845565796, + 0.0058210757561028, + -0.010194671340286732 + ], + [ + 0.4064403176307678, + -0.0018395008519291878, + -0.02126627415418625 + ], + [ + 0.4116176664829254, + -0.006179257296025753, + -0.027970952913165092 + ], + [ + 0.4113351106643677, + -0.005534505005925894, + -0.02858859673142433 + ], + [ + 0.4086078107357025, + -0.007394164334982634, + -0.028657959774136543 + ], + [ + 0.4030214548110962, + -0.004570899065583944, + -0.02796049602329731 + ], + [ + 0.4027382433414459, + -0.004101806785911322, + -0.012273554690182209 + ], + [ + 0.4039930999279022, + -0.001578491530381143, + 0.020550934597849846 + ], + [ + 0.39907655119895935, + 0.004160770680755377, + 0.04017046466469765 + ], + [ + 0.39961495995521545, + 0.006518218666315079, + 0.04089990258216858 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9747904905759458, + 0.19791688104171618, + 0.10301654081469717, + 0.12218696839567451, + -0.8598345609716057, + 0.4957366967585117, + 0.1866918429845863, + -0.47065213901297137, + -0.8623414171924791 + ], + [ + 0.9765336119214627, + 0.19200253043285037, + 0.09755579477921739, + 0.12571437499316862, + -0.8759890861358266, + 0.4656597651622873, + 0.1748656647478269, + -0.4424682466327973, + -0.8795702643984725 + ], + [ + 0.967846821513178, + 0.21682856068556844, + 0.12750649143421477, + 0.14483593507692022, + -0.8948196005084532, + 0.42228004269238956, + 0.2056576815906298, + -0.3902348751930265, + -0.8974528735180752 + ], + [ + 0.9640504446059122, + 0.20891211971394036, + 0.16420251670352376, + 0.13720668759253307, + -0.9205736378780207, + 0.3656754054129312, + 0.22755453222255928, + -0.32999985375853547, + -0.9161435648326725 + ], + [ + 0.9586260356246069, + 0.2130471302453132, + 0.18880424814311553, + 0.14334936776933405, + -0.9342913578813172, + 0.32642092051279015, + 0.24594121773867594, + -0.2858506233726308, + -0.9261761919498342 + ], + [ + 0.9554851803704348, + 0.2085164007336555, + 0.20873183925208708, + 0.14917195260545227, + -0.9518063198971696, + 0.2679784654775147, + 0.25455018885939606, + -0.22491251639001425, + -0.9405416318923672 + ], + [ + 0.9441438710035169, + 0.2534483357964652, + 0.21060933485602282, + 0.18569713185488126, + -0.9371734196243766, + 0.2953346521666949, + 0.2722295466465111, + -0.23972885231351287, + -0.9318911692365588 + ], + [ + 0.9499899169290364, + 0.2734709286693138, + 0.15077403259814273, + 0.2160190239793795, + -0.924143473774192, + 0.3151104903991069, + 0.2255103966830775, + -0.26678172923442955, + -0.9370019049791355 + ], + [ + 0.9499606843294176, + 0.2849857311950327, + 0.12789773744526392, + 0.23216344255494348, + -0.9180786192684348, + 0.3212970351298037, + 0.20898524868856785, + -0.2755263723446404, + -0.9383018618617255 + ], + [ + 0.9526020871352171, + 0.28569940160830093, + 0.10452327734187852, + 0.23963131104203556, + -0.9163471084894125, + 0.3207566235190915, + 0.18741957836337084, + -0.280506379042887, + -0.9413766902586577 + ], + [ + 0.9516609962266316, + 0.2967485725875322, + 0.07925675320246948, + 0.2571852900102646, + -0.9109361792815613, + 0.3225693783951711, + 0.16791984654373376, + -0.2865930249381047, + -0.9432217995750287 + ], + [ + 0.9529254100987922, + 0.29435152102433343, + 0.07273475688218267, + 0.256363965790182, + -0.9102740239987082, + 0.3250826329989496, + 0.16189712731354813, + -0.29113293064141815, + -0.9428843708874171 + ], + [ + 0.957253776539111, + 0.2821317201368303, + 0.06377224940554627, + 0.24989754196457173, + -0.9176959127339599, + 0.30884531771009505, + 0.14565859336707546, + -0.2797068183724124, + -0.9489719015515199 + ], + [ + 0.9616812759131116, + 0.2659249380605232, + 0.06673118368227013, + 0.24067920773514842, + -0.9353928402032428, + 0.2590632229022333, + 0.13131124293871882, + -0.2330754423229051, + -0.9635523834560689 + ], + [ + 0.9628109211739785, + 0.2613608452350977, + 0.06845172493158937, + 0.23821625712583275, + -0.9407533650503634, + 0.24132161317912787, + 0.12746821136688874, + -0.2160407709771764, + -0.9680280163128097 + ], + [ + 0.9620139128810673, + 0.2637665565179939, + 0.07040195370796319, + 0.2402851252822171, + -0.9404993675770698, + 0.240258190610104, + 0.12958506855100047, + -0.21421517978372068, + -0.9681526567431713 + ], + [ + 0.9612837482900035, + 0.2668644960504123, + 0.06867966235560985, + 0.24322709418385194, + -0.9388563683074735, + 0.24369920053906857, + 0.12951500271551825, + -0.21755932624519003, + -0.9674160447477281 + ], + [ + 0.959724960681127, + 0.272828512567159, + 0.0670268795036785, + 0.2500317575179205, + -0.9382627057866461, + 0.23905483714499767, + 0.12810979696381103, + -0.21266804569636952, + -0.9686899309178236 + ], + [ + 0.9605407463293871, + 0.2700527604386064, + 0.06658063697857347, + 0.2484068912125019, + -0.9406053767464764, + 0.23142070269048876, + 0.12512190471346, + -0.2057499254315977, + -0.9705727572654035 + ], + [ + 0.9624068184124432, + 0.2621881247547383, + 0.0709260397233065, + 0.24063422448962005, + -0.9441669504589908, + 0.22504208420926203, + 0.12596938468341184, + -0.19951480370780317, + -0.9717641469121605 + ], + [ + 0.9658851492318336, + 0.24819316444579095, + 0.07393261537226285, + 0.2277114646318882, + -0.949922867031423, + 0.21399541015171658, + 0.12334247998398089, + -0.18985968453883417, + -0.9740328191689515 + ], + [ + 0.9703009761640997, + 0.22911891263923423, + 0.07759213572270358, + 0.20698743426357719, + -0.9523876102405433, + 0.22386165798834026, + 0.1251887283743102, + -0.20115258817952666, + -0.9715273637714489 + ], + [ + 0.9701832989397045, + 0.21999197897269687, + 0.10172460688618586, + 0.1928921774117698, + -0.9549518854959027, + 0.2255205185369328, + 0.14675481031918125, + -0.19917435973412148, + -0.9689131024362734 + ], + [ + 0.9654381079604117, + 0.22021864675480982, + 0.13940232178590406, + 0.1880977694083302, + -0.9589511673497443, + 0.2122071812690927, + 0.1804119974985896, + -0.17865163380177415, + -0.967230636869266 + ], + [ + 0.9572427017561849, + 0.2041189005325516, + 0.2049924007857413, + 0.166184362110465, + -0.968030391305942, + 0.1878827275137406, + 0.23678928971652738, + -0.14578283833650293, + -0.9605613964354884 + ], + [ + 0.9612385304384494, + 0.16145143931352393, + 0.22350373675650637, + 0.11328356234480783, + -0.970306682462903, + 0.21370956101753, + 0.25137088555160925, + -0.18010656487598345, + -0.9509859637163806 + ], + [ + 0.9630956392821847, + 0.12813528588542708, + 0.2367026364591226, + 0.06975680408505151, + -0.9681917015221716, + 0.24028902885367368, + 0.25996303175543906, + -0.21490969641843002, + -0.9413995137590939 + ], + [ + 0.9656959703452156, + 0.08523343461098024, + 0.24528871658400472, + 0.026794435186381395, + -0.9722620097887427, + 0.2323545621772846, + 0.25828927794636625, + -0.2178114917674698, + -0.941193286712126 + ], + [ + 0.9731062521481914, + 0.025952839932310356, + 0.22889008744274728, + -0.02719428844943027, + -0.9737424163870072, + 0.22602251481770894, + 0.22874591298169636, + -0.2261684253565032, + -0.9468490643528831 + ], + [ + 0.9780589467441215, + -0.03254041786667222, + 0.2057712756893969, + -0.0808207156186338, + -0.9696352233908058, + 0.23081495940851388, + 0.19201226164146745, + -0.2423812178468545, + -0.9509903451741264 + ], + [ + 0.9733436266039223, + -0.09437297857840922, + 0.20903570380144096, + -0.1421399603302337, + -0.9634981085021781, + 0.22686477600113483, + 0.1799956005763592, + -0.25052971046757033, + -0.9512289145869103 + ], + [ + 0.9729609343670357, + -0.13322247481065175, + 0.18867642248291058, + -0.17165254219811288, + -0.9636449789694063, + 0.20475292247969826, + 0.15453939611810827, + -0.23160338234226527, + -0.9604568956153486 + ], + [ + 0.9675729804871619, + -0.1728414339548532, + 0.1841965421489245, + -0.20915790119066538, + -0.9570830968591297, + 0.2006113607851108, + 0.14161744172490293, + -0.23263229443688196, + -0.9621988961666532 + ], + [ + 0.9621013878610581, + -0.19472679536693363, + 0.19089891210258395, + -0.2336737495589347, + -0.9495723030577424, + 0.20906702282446007, + 0.1405613682449555, + -0.24575173739312486, + -0.959087371059262 + ], + [ + 0.9604842741799137, + -0.20255876686675728, + 0.19089239120117646, + -0.24249320190550794, + -0.9456471891213034, + 0.21667588868305657, + 0.13662725234263806, + -0.25440389083580545, + -0.957398378025002 + ], + [ + 0.9567165161599565, + -0.21903844053310106, + 0.1916133327187404, + -0.25751496464699386, + -0.9438916158637232, + 0.20677200121154476, + 0.13557120154963984, + -0.24716548923949055, + -0.9594423746319474 + ], + [ + 0.964059028466802, + -0.20153913927120434, + 0.17312470930941093, + -0.23392683093517055, + -0.9528161200430679, + 0.19344166861020975, + 0.1259699464168897, + -0.22698770171067897, + -0.9657163951553426 + ], + [ + 0.9610556405899717, + -0.2034904697233112, + 0.18698578668440358, + -0.23667540229049538, + -0.9553783403894252, + 0.17673986722123525, + 0.14267729195927176, + -0.21411178259622676, + -0.9663329317127896 + ], + [ + 0.9530503604013757, + -0.1910224558465125, + 0.23495836205841897, + -0.22970983168155096, + -0.9616395250650334, + 0.14994271259894726, + 0.19730282250297748, + -0.1968752020825989, + -0.9603706321193367 + ], + [ + 0.9468271968603208, + -0.18254740830204277, + 0.2649428296969638, + -0.22179864722896117, + -0.9668557655754613, + 0.12647248183257617, + 0.23307427866032307, + -0.17851154667330557, + -0.9559341025045994 + ], + [ + 0.9464477310271299, + -0.17921074991033553, + 0.26855204253584186, + -0.21933141493265518, + -0.9672847828156637, + 0.12749070302141088, + 0.23691859964392178, + -0.1795651860741088, + -0.9547910353019311 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006257.json b/json/chunk-0006/episode_0006257.json new file mode 100644 index 0000000000000000000000000000000000000000..d2de491457236b28b944742da1f2d112e07de956 --- /dev/null +++ b/json/chunk-0006/episode_0006257.json @@ -0,0 +1,2122 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 34, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the cube to the left side." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006257.mp4", + "start": 0, + "end": 34, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.34702908992767334, + 0.12113288044929504, + 0.09249676018953323, + -0.05809446796774864, + -0.11578033119440079, + -0.23031839728355408, + 0.0, + 0.9988223910331726 + ], + [ + 0.343499094247818, + 0.11994189023971558, + 0.07943947613239288, + -0.08040408045053482, + -0.08199755847454071, + -0.22409380972385406, + 0.0, + 0.9988223910331726 + ], + [ + 0.3651321232318878, + 0.09161211550235748, + 0.09172116219997406, + -0.04113031551241875, + -0.06340893357992172, + -0.1782625913619995, + 0.0, + 0.9988223910331726 + ], + [ + 0.38872799277305603, + 0.03828636556863785, + 0.11334635317325592, + 0.020610205829143524, + -0.061045896261930466, + -0.2276584506034851, + 0.0, + 0.9988223910331726 + ], + [ + 0.40347355604171753, + 0.023802829906344414, + 0.12970533967018127, + 0.06950349360704422, + -0.08641667664051056, + -0.2220832109451294, + 0.0, + 0.9988223910331726 + ], + [ + 0.4091375470161438, + -0.0014583709416911006, + 0.12074238061904907, + 0.06645668298006058, + -0.017446357756853104, + -0.21378396451473236, + 0.0, + 0.9988223910331726 + ], + [ + 0.39253512024879456, + -0.012157632037997246, + 0.0836506262421608, + 0.02963663823902607, + 0.047056376934051514, + -0.21914970874786377, + 0.0, + 0.9988223910331726 + ], + [ + 0.37764739990234375, + -0.011952375993132591, + 0.05996076017618179, + 0.026838356629014015, + 0.07382368296384811, + -0.2028699517250061, + 0.0, + 0.9988223910331726 + ], + [ + 0.36577314138412476, + -0.008301929570734501, + 0.043816372752189636, + 0.05121348798274994, + 0.10068993270397186, + -0.18769462406635284, + 0.0, + 0.9988223910331726 + ], + [ + 0.3656504154205322, + -0.007846931926906109, + 0.03996647521853447, + 0.06027945503592491, + 0.08986014872789383, + -0.17531821131706238, + 0.0, + 0.9988223910331726 + ], + [ + 0.36848127841949463, + -0.007959329523146152, + 0.04273228347301483, + 0.061686523258686066, + 0.08349783718585968, + -0.17009589076042175, + 0.0, + 0.9988223910331726 + ], + [ + 0.3737556040287018, + -0.005763731896877289, + 0.0347893126308918, + 0.05016712471842766, + 0.09642092138528824, + -0.16119278967380524, + 0.0, + 0.9988223910331726 + ], + [ + 0.38013845682144165, + -0.00012686655099969357, + 0.034173671156167984, + 0.04439546540379524, + 0.09091836959123611, + -0.13635030388832092, + 0.0, + 0.9988223910331726 + ], + [ + 0.3804766833782196, + 0.01447239425033331, + 0.032353535294532776, + 0.04396652802824974, + 0.09695326536893845, + -0.09627444297075272, + 0.0, + 0.9988223910331726 + ], + [ + 0.37947794795036316, + 0.019216598942875862, + 0.031747445464134216, + 0.0477440245449543, + 0.10046519339084625, + -0.08719547837972641, + 0.0, + 0.9988223910331726 + ], + [ + 0.3763207197189331, + 0.023987995460629463, + 0.02952914498746395, + 0.04789049178361893, + 0.11128934472799301, + -0.0755947008728981, + 0.0, + 0.9988223910331726 + ], + [ + 0.370931476354599, + 0.03406559303402901, + 0.026085974648594856, + 0.04674455150961876, + 0.12776920199394226, + -0.04203416034579277, + 0.0, + 0.9988223910331726 + ], + [ + 0.36602091789245605, + 0.03656742721796036, + 0.022720802575349808, + 0.045575402677059174, + 0.14433634281158447, + -0.02996811643242836, + 0.0, + 0.9988223910331726 + ], + [ + 0.3617408573627472, + 0.03906531631946564, + 0.020993294194340706, + 0.044610172510147095, + 0.15946318209171295, + -0.0191558338701725, + 0.0, + 0.9988223910331726 + ], + [ + 0.35897284746170044, + 0.042498812079429626, + 0.02054220251739025, + 0.042496584355831146, + 0.16397212445735931, + -0.009597512893378735, + 0.0, + 0.9988223910331726 + ], + [ + 0.3592912554740906, + 0.04408784210681915, + 0.020490767434239388, + 0.0444006472826004, + 0.16146376729011536, + -0.013966123573482037, + 0.0, + 0.9988223910331726 + ], + [ + 0.3585785925388336, + 0.04654836282134056, + 0.01966398023068905, + 0.04216812551021576, + 0.15852010250091553, + -0.01237154845148325, + 0.0, + 0.9988223910331726 + ], + [ + 0.3576740026473999, + 0.05493762344121933, + 0.01966606080532074, + 0.045084308832883835, + 0.15780530869960785, + -0.0003970609395764768, + 0.0, + 0.9981546401977539 + ], + [ + 0.3564911484718323, + 0.06416421383619308, + 0.020289765670895576, + 0.04728347435593605, + 0.15087972581386566, + 0.01490926556289196, + 0.0, + 0.9981546401977539 + ], + [ + 0.35234329104423523, + 0.0810232013463974, + 0.020294304937124252, + 0.04798594489693642, + 0.1539219319820404, + 0.03903893753886223, + 0.0, + 0.9988223910331726 + ], + [ + 0.3489171266555786, + 0.09052538871765137, + 0.020186057314276695, + 0.05133773759007454, + 0.16184015572071075, + 0.04544210433959961, + 0.0, + 0.9988223910331726 + ], + [ + 0.34625521302223206, + 0.09797708690166473, + 0.01997983269393444, + 0.05277998372912407, + 0.16621826589107513, + 0.05132296308875084, + 0.0, + 0.9981546401977539 + ], + [ + 0.34480586647987366, + 0.1028352677822113, + 0.019945699721574783, + 0.04731572046875954, + 0.1665467470884323, + 0.050686754286289215, + 0.0, + 0.9981546401977539 + ], + [ + 0.3457863926887512, + 0.10132253170013428, + 0.020049897953867912, + 0.031728483736515045, + 0.16149766743183136, + 0.039159487932920456, + 0.0, + 0.9988223910331726 + ], + [ + 0.3509928584098816, + 0.08810388296842575, + 0.02274131216108799, + -0.010308758355677128, + 0.13989759981632233, + -0.023485993966460228, + 0.0, + 0.9988223910331726 + ], + [ + 0.36236223578453064, + 0.06923975050449371, + 0.04555553197860718, + -0.05112854391336441, + 0.048713501542806625, + -0.08053434640169144, + 0.0, + 0.9988223910331726 + ], + [ + 0.3614746928215027, + 0.06593694537878036, + 0.08336776494979858, + -0.0337158739566803, + -0.038749296218156815, + -0.11384458094835281, + 0.0, + 0.9988223910331726 + ], + [ + 0.33717530965805054, + 0.07137158513069153, + 0.10035233944654465, + -0.011240003630518913, + -0.02844330295920372, + -0.12125756591558456, + 0.0, + 0.9988223910331726 + ], + [ + 0.30868908762931824, + 0.08661626279354095, + 0.10138975828886032, + 0.018172286450862885, + 0.034352999180555344, + -0.09459319710731506, + 0.0, + 0.9988223910331726 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.34702908992767334, + 0.12113288044929504, + 0.09249676018953323 + ], + [ + 0.343499094247818, + 0.11994189023971558, + 0.07943947613239288 + ], + [ + 0.3651321232318878, + 0.09161211550235748, + 0.09172116219997406 + ], + [ + 0.38872799277305603, + 0.03828636556863785, + 0.11334635317325592 + ], + [ + 0.40347355604171753, + 0.023802829906344414, + 0.12970533967018127 + ], + [ + 0.4091375470161438, + -0.0014583709416911006, + 0.12074238061904907 + ], + [ + 0.39253512024879456, + -0.012157632037997246, + 0.0836506262421608 + ], + [ + 0.37764739990234375, + -0.011952375993132591, + 0.05996076017618179 + ], + [ + 0.36577314138412476, + -0.008301929570734501, + 0.043816372752189636 + ], + [ + 0.3656504154205322, + -0.007846931926906109, + 0.03996647521853447 + ], + [ + 0.36848127841949463, + -0.007959329523146152, + 0.04273228347301483 + ], + [ + 0.3737556040287018, + -0.005763731896877289, + 0.0347893126308918 + ], + [ + 0.38013845682144165, + -0.00012686655099969357, + 0.034173671156167984 + ], + [ + 0.3804766833782196, + 0.01447239425033331, + 0.032353535294532776 + ], + [ + 0.37947794795036316, + 0.019216598942875862, + 0.031747445464134216 + ], + [ + 0.3763207197189331, + 0.023987995460629463, + 0.02952914498746395 + ], + [ + 0.370931476354599, + 0.03406559303402901, + 0.026085974648594856 + ], + [ + 0.36602091789245605, + 0.03656742721796036, + 0.022720802575349808 + ], + [ + 0.3617408573627472, + 0.03906531631946564, + 0.020993294194340706 + ], + [ + 0.35897284746170044, + 0.042498812079429626, + 0.02054220251739025 + ], + [ + 0.3592912554740906, + 0.04408784210681915, + 0.020490767434239388 + ], + [ + 0.3585785925388336, + 0.04654836282134056, + 0.01966398023068905 + ], + [ + 0.3576740026473999, + 0.05493762344121933, + 0.01966606080532074 + ], + [ + 0.3564911484718323, + 0.06416421383619308, + 0.020289765670895576 + ], + [ + 0.35234329104423523, + 0.0810232013463974, + 0.020294304937124252 + ], + [ + 0.3489171266555786, + 0.09052538871765137, + 0.020186057314276695 + ], + [ + 0.34625521302223206, + 0.09797708690166473, + 0.01997983269393444 + ], + [ + 0.34480586647987366, + 0.1028352677822113, + 0.019945699721574783 + ], + [ + 0.3457863926887512, + 0.10132253170013428, + 0.020049897953867912 + ], + [ + 0.3509928584098816, + 0.08810388296842575, + 0.02274131216108799 + ], + [ + 0.36236223578453064, + 0.06923975050449371, + 0.04555553197860718 + ], + [ + 0.3614746928215027, + 0.06593694537878036, + 0.08336776494979858 + ], + [ + 0.33717530965805054, + 0.07137158513069153, + 0.10035233944654465 + ], + [ + 0.30868908762931824, + 0.08661626279354095, + 0.10138975828886032 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.967075491018925, + -0.23443268913817977, + 0.09902680916775164, + -0.22675912636648887, + -0.9704200798770859, + -0.08285630441225764, + 0.11552183031795968, + 0.05767306853975721, + -0.9916292270224777 + ], + [ + 0.9717199787582139, + -0.22791896416304097, + 0.06175134538601684, + -0.22147627122188723, + -0.9703841121061794, + -0.09645173019470127, + 0.08190570290148136, + 0.08004761549695819, + -0.9934202711267099 + ], + [ + 0.9821754290866227, + -0.17973425823548786, + 0.055018387063304114, + -0.17696361041128186, + -0.9828589095984231, + -0.05169375603690191, + 0.06336645081360191, + 0.04103608460291567, + -0.997146294518387 + ], + [ + 0.9723828865701943, + -0.22442422172934431, + 0.06407254175225853, + -0.22527660185110024, + -0.974274411579363, + 0.006310594275270037, + 0.061007987705198705, + -0.02057035835527196, + -0.9979252906872831 + ], + [ + 0.9718007612325189, + -0.21388359622787498, + 0.09928286726584966, + -0.21944021855860693, + -0.9744058563308557, + 0.04877722447088107, + 0.08630915911331656, + -0.06918839796355489, + -0.9938630160340957 + ], + [ + 0.9770863904473952, + -0.21055876406647284, + 0.031099718282967384, + -0.2121269456804305, + -0.9753237187152116, + 0.06120296257390234, + 0.017445472729971732, + -0.06639767003690897, + -0.9976407193448439 + ], + [ + 0.9750021834738645, + -0.21866481618560182, + -0.03945174753687435, + -0.21715909722427398, + -0.9753509972548929, + 0.039145352810057106, + -0.04703901268027034, + -0.029599498583632856, + -0.9984544060545091 + ], + [ + 0.9768244975452081, + -0.20334737306395154, + -0.06681127796669088, + -0.2009324718383231, + -0.9787408435921459, + 0.041140039444275564, + -0.07375664550732915, + -0.026762043130620018, + -0.9969171230804401 + ], + [ + 0.9774610216903319, + -0.19140520690176263, + -0.08907299168090091, + -0.1856494143621459, + -0.980188755369267, + 0.06902390016972013, + -0.10051987874587123, + -0.05093182323990256, + -0.9936305668397961 + ], + [ + 0.9806982264505874, + -0.17942797375685898, + -0.07769550096485826, + -0.17371774031919662, + -0.9819397206546092, + 0.07494352339688894, + -0.08973926306285639, + -0.05999989361870394, + -0.9941563646784543 + ], + [ + 0.9821348978259308, + -0.1740221380307492, + -0.0716054323892747, + -0.16868710980665844, + -0.9828236499640441, + 0.07484872782105231, + -0.08340084806238172, + -0.061432634214727284, + -0.9946206965451275 + ], + [ + 0.9824518651819195, + -0.16505878711800112, + -0.08685579655786939, + -0.1597501618003959, + -0.985019935407258, + 0.06492774949918408, + -0.09627158669781517, + -0.04991316104411593, + -0.9941028407309122 + ], + [ + 0.9866267953093582, + -0.1397863554177539, + -0.08382924082089331, + -0.13536679124410952, + -0.9891947981853103, + 0.056298162238184075, + -0.09079316387184451, + -0.04419758004851183, + -0.99488852406287 + ], + [ + 0.9906946545200941, + -0.1002678442393555, + -0.09203510698045624, + -0.09567435330574814, + -0.993998315460551, + 0.053044952456516394, + -0.09680144433239908, + -0.04374595150616282, + -0.9943418788837077 + ], + [ + 0.9911776546479232, + -0.0917543359126085, + -0.09564517116864216, + -0.08664591225073225, + -0.9946488296054028, + 0.05626892263799873, + -0.10029627518946585, + -0.047485235661612564, + -0.9938238322646928 + ], + [ + 0.9909754782431487, + -0.08073762370110939, + -0.10700017588705642, + -0.07505551907275883, + -0.9955992952884987, + 0.0561133876874668, + -0.11105976128860391, + -0.04757603745735111, + -0.9926742920426495 + ], + [ + 0.9909725087417778, + -0.0479247306607286, + -0.12520665760702837, + -0.04167924750218261, + -0.997775129737209, + 0.05203489988024559, + -0.1274218475995338, + -0.04634663600512983, + -0.9907651901865189 + ], + [ + 0.9891572399981374, + -0.03648267599535838, + -0.1422567007612811, + -0.029652056588518046, + -0.9983167222364239, + 0.04984453473746288, + -0.1438357052311362, + -0.04508587866883068, + -0.9885739999844831 + ], + [ + 0.9871315263281555, + -0.02621552758166135, + -0.15774693608010804, + -0.018911640766404548, + -0.9986862080164998, + 0.04762570483622857, + -0.15878822239879442, + -0.044029581320292534, + -0.986330419482331 + ], + [ + 0.9865412271693063, + -0.016523364832416378, + -0.1626757065756725, + -0.009468632875097052, + -0.9989845842814259, + 0.044047081169398636, + -0.16323832909815042, + -0.04191394496682252, + -0.9856959313756765 + ], + [ + 0.9868967648390436, + -0.0210868507244796, + -0.15996912288548967, + -0.013784018386575878, + -0.998817370580565, + 0.046624682987072265, + -0.16076310642478867, + -0.043808731470449606, + -0.9860202932291009 + ], + [ + 0.9873864097069103, + -0.019014289109838795, + -0.15718312484406502, + -0.012216122061431566, + -0.998952272582252, + 0.04410355387646366, + -0.15785703749873706, + -0.04162708147830441, + -0.9865841787702259 + ], + [ + 0.9875744819547521, + -0.0074793086580422115, + -0.15697357272420334, + -0.0003921272723139608, + -0.9989809836874071, + 0.04513136899256309, + -0.15715116553180677, + -0.04450903473384153, + -0.9865710602886425 + ], + [ + 0.9885293523633782, + 0.00778840718634137, + -0.15082791594907088, + 0.014739338764483367, + -0.9988772459085143, + 0.04502221117412624, + -0.1503079219762752, + -0.04672888100224063, + -0.9875342729604136 + ], + [ + 0.9874244742069989, + 0.03163556332366936, + -0.15489383096245768, + 0.03856759720006432, + -0.9983748746809553, + 0.04195414225080444, + -0.1533148661521312, + -0.047400429734141124, + -0.9870398933567849 + ], + [ + 0.9859136168420795, + 0.037106501270940805, + -0.1630872395032761, + 0.044832853416510686, + -0.9980271686945762, + 0.043952085297759264, + -0.1611345877827071, + -0.05064462568641917, + -0.9856321659266094 + ], + [ + 0.9849189340349799, + 0.0425118884556777, + -0.16771235112337848, + 0.05059338767870626, + -0.9977403404409859, + 0.044209978284295834, + -0.1654539286405479, + -0.05202838068437064, + -0.9848441730044256 + ], + [ + 0.9848965908207434, + 0.042777447230064186, + -0.16777602748353684, + 0.04996400712075792, + -0.9979952222696564, + 0.038847578037458155, + -0.16577787362043914, + -0.04664360980261523, + -0.9850594247467852 + ], + [ + 0.9862309116045891, + 0.03403271156697328, + -0.16183437069726656, + 0.038640050562942674, + -0.9989301454952495, + 0.025406906803718567, + -0.1607965655356927, + -0.03131036512464859, + -0.9864908137168266 + ], + [ + 0.9899571913076332, + -0.022045538036044234, + -0.13963793764949187, + -0.023254404426478678, + -0.9997048533281333, + -0.0070312806049152785, + -0.13944171561291055, + 0.010207863874318462, + -0.9901776645946179 + ], + [ + 0.9955764387240797, + -0.07786167799302385, + -0.05258434897941707, + -0.08035188785831776, + -0.9956565176941535, + -0.04702842641164918, + -0.04869423759627808, + 0.05104564499800391, + -0.9975085028969201 + ], + [ + 0.9927809009086138, + -0.11483170219478646, + 0.03463759463543587, + -0.11351355069751413, + -0.9928137066158427, + -0.03788954689296446, + 0.03873959988337241, + 0.033684182144726946, + -0.9986814403372662 + ], + [ + 0.9922557913804978, + -0.12127029961486853, + 0.026869292941607188, + -0.12091170802292144, + -0.9925559350727063, + -0.014597075560710632, + 0.028439467907147648, + 0.0112352206593959, + -0.9995323739038635 + ], + [ + 0.9949420299870484, + -0.09505792232203751, + -0.03247073095987973, + -0.09439646483834964, + -0.9953060761788138, + 0.021333591998434022, + -0.034346242753372995, + -0.0181605651165076, + -0.9992449797138716 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0035299956798553467, + -0.0011909902095794678, + -0.01305728405714035, + -0.02230961248278618, + 0.03378277271986008, + 0.006224587559700012, + 1.0 + ], + [ + 0.021633028984069824, + -0.028329774737358093, + 0.012281686067581177, + 0.039273764938116074, + 0.018588624894618988, + 0.04583121836185455, + 1.0 + ], + [ + 0.023595869541168213, + -0.053325749933719635, + 0.02162519097328186, + 0.06174052134156227, + 0.0023630373179912567, + -0.049395859241485596, + 1.0 + ], + [ + 0.014745563268661499, + -0.014483535662293434, + 0.016358986496925354, + 0.048893287777900696, + -0.025370780378580093, + 0.005575239658355713, + 1.0 + ], + [ + 0.0056639909744262695, + -0.025261200964450836, + -0.008962959051132202, + -0.0030468106269836426, + 0.06897032260894775, + 0.008299246430397034, + 1.0 + ], + [ + -0.016602426767349243, + -0.010699260979890823, + -0.037091754376888275, + -0.03682004660367966, + 0.06450273096561432, + -0.005365744233131409, + 1.0 + ], + [ + -0.014887720346450806, + 0.00020525604486465454, + -0.023689866065979004, + -0.0027982816100120544, + 0.0267673060297966, + 0.016279757022857666, + 1.0 + ], + [ + -0.011874258518218994, + 0.0036504464223980904, + -0.016144387423992157, + 0.024375131353735924, + 0.02686624974012375, + 0.01517532765865326, + 1.0 + ], + [ + -0.0001227259635925293, + 0.00045499764382839203, + -0.0038498975336551666, + 0.009065967053174973, + -0.010829783976078033, + 0.012376412749290466, + 1.0 + ], + [ + 0.0028308629989624023, + -0.00011239759624004364, + 0.002765808254480362, + 0.0014070682227611542, + -0.006362311542034149, + 0.005222320556640625, + 1.0 + ], + [ + 0.005274325609207153, + 0.0021955976262688637, + -0.007942970842123032, + -0.011519398540258408, + 0.012923084199428558, + 0.008903101086616516, + 1.0 + ], + [ + 0.006382852792739868, + 0.005636865273118019, + -0.0006156414747238159, + -0.005771659314632416, + -0.005502551794052124, + 0.024842485785484314, + 1.0 + ], + [ + 0.0003382265567779541, + 0.014599260874092579, + -0.0018201358616352081, + -0.0004289373755455017, + 0.0060348957777023315, + 0.04007586091756821, + 1.0 + ], + [ + -0.0009987354278564453, + 0.004744204692542553, + -0.0006060898303985596, + 0.0037774965167045593, + 0.0035119280219078064, + 0.009078964591026306, + 1.0 + ], + [ + -0.0031572282314300537, + 0.004771396517753601, + -0.002218300476670265, + 0.00014646723866462708, + 0.010824151337146759, + 0.011600777506828308, + 1.0 + ], + [ + -0.0053892433643341064, + 0.010077597573399544, + -0.003443170338869095, + -0.0011459402740001678, + 0.01647985726594925, + 0.03356054052710533, + 1.0 + ], + [ + -0.004910558462142944, + 0.0025018341839313507, + -0.0033651720732450485, + -0.0011691488325595856, + 0.016567140817642212, + 0.01206604391336441, + 1.0 + ], + [ + -0.004280060529708862, + 0.0024978891015052795, + -0.0017275083810091019, + -0.0009652301669120789, + 0.015126839280128479, + 0.01081228256225586, + 1.0 + ], + [ + -0.002768009901046753, + 0.0034334957599639893, + -0.0004510916769504547, + -0.0021135881543159485, + 0.004508942365646362, + 0.009558320976793766, + 1.0 + ], + [ + 0.0003184080123901367, + 0.0015890300273895264, + -5.143508315086365e-05, + 0.0019040629267692566, + -0.0025083571672439575, + -0.004368610680103302, + 1.0 + ], + [ + -0.000712662935256958, + 0.002460520714521408, + -0.0008267872035503387, + -0.0022325217723846436, + -0.002943664789199829, + 0.001594575121998787, + 1.0 + ], + [ + -0.0009045898914337158, + 0.008389260619878769, + 2.080574631690979e-06, + 0.0029161833226680756, + -0.0007147938013076782, + 0.011974487453699112, + 1.0 + ], + [ + -0.001182854175567627, + 0.009226590394973755, + 0.0006237048655748367, + 0.0021991655230522156, + -0.0069255828857421875, + 0.015306326560676098, + 1.0 + ], + [ + -0.004147857427597046, + 0.016858987510204315, + 4.539266228675842e-06, + 0.0007024705410003662, + 0.0030422061681747437, + 0.024129671975970268, + 1.0 + ], + [ + -0.003426164388656616, + 0.009502187371253967, + -0.00010824762284755707, + 0.0033517926931381226, + 0.007918223738670349, + 0.006403166800737381, + 1.0 + ], + [ + -0.0026619136333465576, + 0.007451698184013367, + -0.00020622462034225464, + 0.00144224613904953, + 0.00437811017036438, + 0.00588085874915123, + 1.0 + ], + [ + -0.0014493465423583984, + 0.00485818088054657, + -3.413297235965729e-05, + -0.0054642632603645325, + 0.00032848119735717773, + -0.0006362088024616241, + 1.0 + ], + [ + 0.0009805262088775635, + -0.0015127360820770264, + 0.00010419823229312897, + -0.015587236732244492, + -0.005049079656600952, + -0.01152726635336876, + 1.0 + ], + [ + 0.005206465721130371, + -0.013218648731708527, + 0.0026914142072200775, + -0.0420372411608696, + -0.021600067615509033, + -0.06264548003673553, + 1.0 + ], + [ + 0.011369377374649048, + -0.018864132463932037, + 0.022814219817519188, + -0.04081978648900986, + -0.0911840945482254, + -0.05704835057258606, + 1.0 + ], + [ + -0.0008875429630279541, + -0.0033028051257133484, + 0.037812232971191406, + 0.017412669956684113, + -0.08746279776096344, + -0.03331023454666138, + 1.0 + ], + [ + -0.02429938316345215, + 0.005434639751911163, + 0.016984574496746063, + 0.022475870326161385, + 0.010305993258953094, + -0.0074129849672317505, + 1.0 + ], + [ + -0.0284862220287323, + 0.015244677662849426, + 0.0010374188423156738, + 0.029412290081381798, + 0.06279630213975906, + 0.0266643688082695, + 1.0 + ], + [ + -0.03791654109954834, + 0.0225837305188179, + -0.005171649158000946, + 0.02120903506875038, + 0.04506523534655571, + 0.035207636654376984, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.343499094247818, + 0.11994189023971558, + 0.07943947613239288 + ], + [ + 0.3651321232318878, + 0.09161211550235748, + 0.09172116219997406 + ], + [ + 0.38872799277305603, + 0.03828636556863785, + 0.11334635317325592 + ], + [ + 0.40347355604171753, + 0.023802829906344414, + 0.12970533967018127 + ], + [ + 0.4091375470161438, + -0.0014583709416911006, + 0.12074238061904907 + ], + [ + 0.39253512024879456, + -0.012157632037997246, + 0.0836506262421608 + ], + [ + 0.37764739990234375, + -0.011952375993132591, + 0.05996076017618179 + ], + [ + 0.36577314138412476, + -0.008301929570734501, + 0.043816372752189636 + ], + [ + 0.3656504154205322, + -0.007846931926906109, + 0.03996647521853447 + ], + [ + 0.36848127841949463, + -0.007959329523146152, + 0.04273228347301483 + ], + [ + 0.3737556040287018, + -0.005763731896877289, + 0.0347893126308918 + ], + [ + 0.38013845682144165, + -0.00012686655099969357, + 0.034173671156167984 + ], + [ + 0.3804766833782196, + 0.01447239425033331, + 0.032353535294532776 + ], + [ + 0.37947794795036316, + 0.019216598942875862, + 0.031747445464134216 + ], + [ + 0.3763207197189331, + 0.023987995460629463, + 0.02952914498746395 + ], + [ + 0.370931476354599, + 0.03406559303402901, + 0.026085974648594856 + ], + [ + 0.36602091789245605, + 0.03656742721796036, + 0.022720802575349808 + ], + [ + 0.3617408573627472, + 0.03906531631946564, + 0.020993294194340706 + ], + [ + 0.35897284746170044, + 0.042498812079429626, + 0.02054220251739025 + ], + [ + 0.3592912554740906, + 0.04408784210681915, + 0.020490767434239388 + ], + [ + 0.3585785925388336, + 0.04654836282134056, + 0.01966398023068905 + ], + [ + 0.3576740026473999, + 0.05493762344121933, + 0.01966606080532074 + ], + [ + 0.3564911484718323, + 0.06416421383619308, + 0.020289765670895576 + ], + [ + 0.35234329104423523, + 0.0810232013463974, + 0.020294304937124252 + ], + [ + 0.3489171266555786, + 0.09052538871765137, + 0.020186057314276695 + ], + [ + 0.34625521302223206, + 0.09797708690166473, + 0.01997983269393444 + ], + [ + 0.34480586647987366, + 0.1028352677822113, + 0.019945699721574783 + ], + [ + 0.3457863926887512, + 0.10132253170013428, + 0.020049897953867912 + ], + [ + 0.3509928584098816, + 0.08810388296842575, + 0.02274131216108799 + ], + [ + 0.36236223578453064, + 0.06923975050449371, + 0.04555553197860718 + ], + [ + 0.3614746928215027, + 0.06593694537878036, + 0.08336776494979858 + ], + [ + 0.33717530965805054, + 0.07137158513069153, + 0.10035233944654465 + ], + [ + 0.30868908762931824, + 0.08661626279354095, + 0.10138975828886032 + ], + [ + 0.2707725465297699, + 0.10919999331235886, + 0.09621810913085938 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9717199787582139, + -0.22791896416304097, + 0.06175134538601684, + -0.22147627122188723, + -0.9703841121061794, + -0.09645173019470127, + 0.08190570290148136, + 0.08004761549695819, + -0.9934202711267099 + ], + [ + 0.9821754290866227, + -0.17973425823548786, + 0.055018387063304114, + -0.17696361041128186, + -0.9828589095984231, + -0.05169375603690191, + 0.06336645081360191, + 0.04103608460291567, + -0.997146294518387 + ], + [ + 0.9723828865701943, + -0.22442422172934431, + 0.06407254175225853, + -0.22527660185110024, + -0.974274411579363, + 0.006310594275270037, + 0.061007987705198705, + -0.02057035835527196, + -0.9979252906872831 + ], + [ + 0.9718007612325189, + -0.21388359622787498, + 0.09928286726584966, + -0.21944021855860693, + -0.9744058563308557, + 0.04877722447088107, + 0.08630915911331656, + -0.06918839796355489, + -0.9938630160340957 + ], + [ + 0.9770863904473952, + -0.21055876406647284, + 0.031099718282967384, + -0.2121269456804305, + -0.9753237187152116, + 0.06120296257390234, + 0.017445472729971732, + -0.06639767003690897, + -0.9976407193448439 + ], + [ + 0.9750021834738645, + -0.21866481618560182, + -0.03945174753687435, + -0.21715909722427398, + -0.9753509972548929, + 0.039145352810057106, + -0.04703901268027034, + -0.029599498583632856, + -0.9984544060545091 + ], + [ + 0.9768244975452081, + -0.20334737306395154, + -0.06681127796669088, + -0.2009324718383231, + -0.9787408435921459, + 0.041140039444275564, + -0.07375664550732915, + -0.026762043130620018, + -0.9969171230804401 + ], + [ + 0.9774610216903319, + -0.19140520690176263, + -0.08907299168090091, + -0.1856494143621459, + -0.980188755369267, + 0.06902390016972013, + -0.10051987874587123, + -0.05093182323990256, + -0.9936305668397961 + ], + [ + 0.9806982264505874, + -0.17942797375685898, + -0.07769550096485826, + -0.17371774031919662, + -0.9819397206546092, + 0.07494352339688894, + -0.08973926306285639, + -0.05999989361870394, + -0.9941563646784543 + ], + [ + 0.9821348978259308, + -0.1740221380307492, + -0.0716054323892747, + -0.16868710980665844, + -0.9828236499640441, + 0.07484872782105231, + -0.08340084806238172, + -0.061432634214727284, + -0.9946206965451275 + ], + [ + 0.9824518651819195, + -0.16505878711800112, + -0.08685579655786939, + -0.1597501618003959, + -0.985019935407258, + 0.06492774949918408, + -0.09627158669781517, + -0.04991316104411593, + -0.9941028407309122 + ], + [ + 0.9866267953093582, + -0.1397863554177539, + -0.08382924082089331, + -0.13536679124410952, + -0.9891947981853103, + 0.056298162238184075, + -0.09079316387184451, + -0.04419758004851183, + -0.99488852406287 + ], + [ + 0.9906946545200941, + -0.1002678442393555, + -0.09203510698045624, + -0.09567435330574814, + -0.993998315460551, + 0.053044952456516394, + -0.09680144433239908, + -0.04374595150616282, + -0.9943418788837077 + ], + [ + 0.9911776546479232, + -0.0917543359126085, + -0.09564517116864216, + -0.08664591225073225, + -0.9946488296054028, + 0.05626892263799873, + -0.10029627518946585, + -0.047485235661612564, + -0.9938238322646928 + ], + [ + 0.9909754782431487, + -0.08073762370110939, + -0.10700017588705642, + -0.07505551907275883, + -0.9955992952884987, + 0.0561133876874668, + -0.11105976128860391, + -0.04757603745735111, + -0.9926742920426495 + ], + [ + 0.9909725087417778, + -0.0479247306607286, + -0.12520665760702837, + -0.04167924750218261, + -0.997775129737209, + 0.05203489988024559, + -0.1274218475995338, + -0.04634663600512983, + -0.9907651901865189 + ], + [ + 0.9891572399981374, + -0.03648267599535838, + -0.1422567007612811, + -0.029652056588518046, + -0.9983167222364239, + 0.04984453473746288, + -0.1438357052311362, + -0.04508587866883068, + -0.9885739999844831 + ], + [ + 0.9871315263281555, + -0.02621552758166135, + -0.15774693608010804, + -0.018911640766404548, + -0.9986862080164998, + 0.04762570483622857, + -0.15878822239879442, + -0.044029581320292534, + -0.986330419482331 + ], + [ + 0.9865412271693063, + -0.016523364832416378, + -0.1626757065756725, + -0.009468632875097052, + -0.9989845842814259, + 0.044047081169398636, + -0.16323832909815042, + -0.04191394496682252, + -0.9856959313756765 + ], + [ + 0.9868967648390436, + -0.0210868507244796, + -0.15996912288548967, + -0.013784018386575878, + -0.998817370580565, + 0.046624682987072265, + -0.16076310642478867, + -0.043808731470449606, + -0.9860202932291009 + ], + [ + 0.9873864097069103, + -0.019014289109838795, + -0.15718312484406502, + -0.012216122061431566, + -0.998952272582252, + 0.04410355387646366, + -0.15785703749873706, + -0.04162708147830441, + -0.9865841787702259 + ], + [ + 0.9875744819547521, + -0.0074793086580422115, + -0.15697357272420334, + -0.0003921272723139608, + -0.9989809836874071, + 0.04513136899256309, + -0.15715116553180677, + -0.04450903473384153, + -0.9865710602886425 + ], + [ + 0.9885293523633782, + 0.00778840718634137, + -0.15082791594907088, + 0.014739338764483367, + -0.9988772459085143, + 0.04502221117412624, + -0.1503079219762752, + -0.04672888100224063, + -0.9875342729604136 + ], + [ + 0.9874244742069989, + 0.03163556332366936, + -0.15489383096245768, + 0.03856759720006432, + -0.9983748746809553, + 0.04195414225080444, + -0.1533148661521312, + -0.047400429734141124, + -0.9870398933567849 + ], + [ + 0.9859136168420795, + 0.037106501270940805, + -0.1630872395032761, + 0.044832853416510686, + -0.9980271686945762, + 0.043952085297759264, + -0.1611345877827071, + -0.05064462568641917, + -0.9856321659266094 + ], + [ + 0.9849189340349799, + 0.0425118884556777, + -0.16771235112337848, + 0.05059338767870626, + -0.9977403404409859, + 0.044209978284295834, + -0.1654539286405479, + -0.05202838068437064, + -0.9848441730044256 + ], + [ + 0.9848965908207434, + 0.042777447230064186, + -0.16777602748353684, + 0.04996400712075792, + -0.9979952222696564, + 0.038847578037458155, + -0.16577787362043914, + -0.04664360980261523, + -0.9850594247467852 + ], + [ + 0.9862309116045891, + 0.03403271156697328, + -0.16183437069726656, + 0.038640050562942674, + -0.9989301454952495, + 0.025406906803718567, + -0.1607965655356927, + -0.03131036512464859, + -0.9864908137168266 + ], + [ + 0.9899571913076332, + -0.022045538036044234, + -0.13963793764949187, + -0.023254404426478678, + -0.9997048533281333, + -0.0070312806049152785, + -0.13944171561291055, + 0.010207863874318462, + -0.9901776645946179 + ], + [ + 0.9955764387240797, + -0.07786167799302385, + -0.05258434897941707, + -0.08035188785831776, + -0.9956565176941535, + -0.04702842641164918, + -0.04869423759627808, + 0.05104564499800391, + -0.9975085028969201 + ], + [ + 0.9927809009086138, + -0.11483170219478646, + 0.03463759463543587, + -0.11351355069751413, + -0.9928137066158427, + -0.03788954689296446, + 0.03873959988337241, + 0.033684182144726946, + -0.9986814403372662 + ], + [ + 0.9922557913804978, + -0.12127029961486853, + 0.026869292941607188, + -0.12091170802292144, + -0.9925559350727063, + -0.014597075560710632, + 0.028439467907147648, + 0.0112352206593959, + -0.9995323739038635 + ], + [ + 0.9949420299870484, + -0.09505792232203751, + -0.03247073095987973, + -0.09439646483834964, + -0.9953060761788138, + 0.021333591998434022, + -0.034346242753372995, + -0.0181605651165076, + -0.9992449797138716 + ], + [ + 0.9950907812944456, + -0.062422638804873136, + -0.07679681730024153, + -0.05916358976121445, + -0.9972778366749897, + 0.044006659989366106, + -0.07933477566223433, + -0.039247046277258904, + -0.9960751290586138 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006258.json b/json/chunk-0006/episode_0006258.json new file mode 100644 index 0000000000000000000000000000000000000000..5eb4431ce09823afc2ace7bd896f72a840360bd2 --- /dev/null +++ b/json/chunk-0006/episode_0006258.json @@ -0,0 +1,2182 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 35, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut carrot on plate." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006258.mp4", + "start": 0, + "end": 35, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.27697864174842834, + 0.047760579735040665, + 0.10184193402528763, + -0.18218043446540833, + -0.14751146733760834, + 0.18220700323581696, + 0.0, + 1.00800359249115 + ], + [ + 0.27473822236061096, + 0.04523300752043724, + 0.09508729726076126, + -0.18403589725494385, + -0.11644446849822998, + 0.182956263422966, + 0.0, + 1.00800359249115 + ], + [ + 0.28120338916778564, + 0.03783857077360153, + 0.09805747866630554, + -0.17038117349147797, + -0.08883077651262283, + 0.25927162170410156, + 0.0, + 1.00800359249115 + ], + [ + 0.2957990765571594, + 0.029345976188778877, + 0.10055237263441086, + -0.1719190776348114, + -0.06616126745939255, + 0.36267298460006714, + 0.0, + 1.00800359249115 + ], + [ + 0.30749043822288513, + 0.026766229420900345, + 0.09854425489902496, + -0.1959477663040161, + -0.05359067767858505, + 0.4685501456260681, + 0.0, + 1.00800359249115 + ], + [ + 0.3149717450141907, + 0.032058872282505035, + 0.08922449499368668, + -0.17806337773799896, + -0.04392002150416374, + 0.5993313789367676, + 0.0, + 1.00800359249115 + ], + [ + 0.32088330388069153, + 0.04088623449206352, + 0.07999547570943832, + -0.1323951780796051, + -0.01734517514705658, + 0.7176300287246704, + 0.0, + 1.00800359249115 + ], + [ + 0.32606780529022217, + 0.045089952647686005, + 0.060630835592746735, + -0.0742262750864029, + 0.057391442358493805, + 0.8493914008140564, + 0.0, + 1.00800359249115 + ], + [ + 0.3320743143558502, + 0.04428356513381004, + 0.051787540316581726, + -0.057962898164987564, + 0.0941711887717247, + 0.9049292206764221, + 0.0, + 1.00800359249115 + ], + [ + 0.3354872763156891, + 0.039219364523887634, + 0.04492376744747162, + -0.06983108818531036, + 0.10304923355579376, + 0.9334800839424133, + 0.0, + 1.00800359249115 + ], + [ + 0.33558639883995056, + 0.03462792932987213, + 0.03396918997168541, + -0.08396459370851517, + 0.1152031421661377, + 0.9467903971672058, + 0.0, + 1.00800359249115 + ], + [ + 0.33431634306907654, + 0.02699306793510914, + 0.015738211572170258, + -0.11636527627706528, + 0.14370907843112946, + 0.9729790687561035, + 0.0, + 1.00800359249115 + ], + [ + 0.33623626828193665, + 0.022380350157618523, + 0.00895731896162033, + -0.15581673383712769, + 0.1453002244234085, + 0.9842696189880371, + 0.0, + 1.0067112445831299 + ], + [ + 0.3412843942642212, + 0.024328168481588364, + 0.005729247350245714, + -0.17015427350997925, + 0.15430396795272827, + 0.9748151898384094, + 0.0, + 0.9468915462493896 + ], + [ + 0.3395354747772217, + 0.026680050417780876, + 0.0053526596166193485, + -0.1558564305305481, + 0.14417238533496857, + 0.9615687727928162, + 0.0, + 0.657115638256073 + ], + [ + 0.3415805399417877, + 0.027473725378513336, + 0.0054433527402579784, + -0.14889095723628998, + 0.11282528936862946, + 0.9197709560394287, + 0.0, + 0.4946928322315216 + ], + [ + 0.33779892325401306, + 0.027276473119854927, + 0.009649200364947319, + -0.12523327767848969, + 0.07007672637701035, + 0.8837339878082275, + 0.0, + 0.5266194939613342 + ], + [ + 0.3325744867324829, + 0.030276337638497353, + 0.030220860615372658, + -0.08553359657526016, + 0.036456119269132614, + 0.9020522236824036, + 0.0, + 0.5315056443214417 + ], + [ + 0.33048975467681885, + 0.038591254502534866, + 0.04946602135896683, + -0.06503463536500931, + 0.00623043579980731, + 0.8805826306343079, + 0.0, + 0.5315056443214417 + ], + [ + 0.3263932466506958, + 0.06189531832933426, + 0.05276935175061226, + -0.06425736099481583, + 0.0006719478988088667, + 0.7933621406555176, + 0.0, + 0.5324842929840088 + ], + [ + 0.32108551263809204, + 0.09626436978578568, + 0.05318919196724892, + -0.0938497930765152, + -0.02499297261238098, + 0.6443901658058167, + 0.0, + 0.5315056443214417 + ], + [ + 0.3134247958660126, + 0.12190467119216919, + 0.05314073711633682, + -0.0838126391172409, + -0.04240519180893898, + 0.630316436290741, + 0.0, + 0.5324842929840088 + ], + [ + 0.3043549656867981, + 0.12639489769935608, + 0.05286570265889168, + -0.03257785364985466, + -0.01147017627954483, + 0.589176595211029, + 0.0, + 0.5315056443214417 + ], + [ + 0.2943769097328186, + 0.13353930413722992, + 0.041066717356443405, + -0.022533172741532326, + -0.025689924135804176, + 0.5328167676925659, + 0.0, + 0.5315056443214417 + ], + [ + 0.28569698333740234, + 0.1408534198999405, + 0.03145089000463486, + -0.019024981185793877, + -0.04049474373459816, + 0.5244295597076416, + 0.0, + 0.5315056443214417 + ], + [ + 0.2852187156677246, + 0.1415187269449234, + 0.027914563193917274, + -0.014531047083437443, + -0.05767777934670448, + 0.5179389119148254, + 0.0, + 0.5324842929840088 + ], + [ + 0.2840516269207001, + 0.14027434587478638, + 0.028233760967850685, + -0.017940355464816093, + -0.04199594631791115, + 0.5298637747764587, + 0.0, + 0.6139277815818787 + ], + [ + 0.2868019640445709, + 0.13812358677387238, + 0.02806338667869568, + -0.03316345065832138, + -0.0516035370528698, + 0.5421239733695984, + 0.0, + 0.9255412817001343 + ], + [ + 0.2880042791366577, + 0.13847409188747406, + 0.028445623815059662, + -0.037768516689538956, + -0.05774132162332535, + 0.5371015667915344, + 0.0, + 1.0099300146102905 + ], + [ + 0.28847914934158325, + 0.13869784772396088, + 0.02985776960849762, + -0.01988087221980095, + -0.06475985795259476, + 0.5302417278289795, + 0.0, + 1.0099300146102905 + ], + [ + 0.2914235591888428, + 0.13876916468143463, + 0.04815882444381714, + 0.024726243689656258, + -0.13221187889575958, + 0.517142653465271, + 0.0, + 1.0099300146102905 + ], + [ + 0.2892102599143982, + 0.13715298473834991, + 0.05202693119645119, + 0.08288203924894333, + -0.1525326520204544, + 0.47800347208976746, + 0.0, + 1.0099300146102905 + ], + [ + 0.29095613956451416, + 0.13493622839450836, + 0.0618048720061779, + 0.12436047941446304, + -0.1326746791601181, + 0.4678104519844055, + 0.0, + 1.0099300146102905 + ], + [ + 0.30054333806037903, + 0.13164979219436646, + 0.07818102091550827, + 0.16429460048675537, + -0.13096578419208527, + 0.47689247131347656, + 0.0, + 1.0099300146102905 + ], + [ + 0.30674752593040466, + 0.12443576753139496, + 0.09092618525028229, + 0.19994768500328064, + -0.12567171454429626, + 0.4687276780605316, + 0.0, + 1.0099300146102905 + ] + ], + "left_gripper_pos": [ + [ + 1.00800359249115 + ], + [ + 1.00800359249115 + ], + [ + 1.00800359249115 + ], + [ + 1.00800359249115 + ], + [ + 1.00800359249115 + ], + [ + 1.00800359249115 + ], + [ + 1.00800359249115 + ], + [ + 1.00800359249115 + ], + [ + 1.00800359249115 + ], + [ + 1.00800359249115 + ], + [ + 1.00800359249115 + ], + [ + 1.00800359249115 + ], + [ + 1.0067112445831299 + ], + [ + 0.9468915462493896 + ], + [ + 0.657115638256073 + ], + [ + 0.4946928322315216 + ], + [ + 0.5266194939613342 + ], + [ + 0.5315056443214417 + ], + [ + 0.5315056443214417 + ], + [ + 0.5324842929840088 + ], + [ + 0.5315056443214417 + ], + [ + 0.5324842929840088 + ], + [ + 0.5315056443214417 + ], + [ + 0.5315056443214417 + ], + [ + 0.5315056443214417 + ], + [ + 0.5324842929840088 + ], + [ + 0.6139277815818787 + ], + [ + 0.9255412817001343 + ], + [ + 1.0099300146102905 + ], + [ + 1.0099300146102905 + ], + [ + 1.0099300146102905 + ], + [ + 1.0099300146102905 + ], + [ + 1.0099300146102905 + ], + [ + 1.0099300146102905 + ], + [ + 1.0099300146102905 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.27697864174842834, + 0.047760579735040665, + 0.10184193402528763 + ], + [ + 0.27473822236061096, + 0.04523300752043724, + 0.09508729726076126 + ], + [ + 0.28120338916778564, + 0.03783857077360153, + 0.09805747866630554 + ], + [ + 0.2957990765571594, + 0.029345976188778877, + 0.10055237263441086 + ], + [ + 0.30749043822288513, + 0.026766229420900345, + 0.09854425489902496 + ], + [ + 0.3149717450141907, + 0.032058872282505035, + 0.08922449499368668 + ], + [ + 0.32088330388069153, + 0.04088623449206352, + 0.07999547570943832 + ], + [ + 0.32606780529022217, + 0.045089952647686005, + 0.060630835592746735 + ], + [ + 0.3320743143558502, + 0.04428356513381004, + 0.051787540316581726 + ], + [ + 0.3354872763156891, + 0.039219364523887634, + 0.04492376744747162 + ], + [ + 0.33558639883995056, + 0.03462792932987213, + 0.03396918997168541 + ], + [ + 0.33431634306907654, + 0.02699306793510914, + 0.015738211572170258 + ], + [ + 0.33623626828193665, + 0.022380350157618523, + 0.00895731896162033 + ], + [ + 0.3412843942642212, + 0.024328168481588364, + 0.005729247350245714 + ], + [ + 0.3395354747772217, + 0.026680050417780876, + 0.0053526596166193485 + ], + [ + 0.3415805399417877, + 0.027473725378513336, + 0.0054433527402579784 + ], + [ + 0.33779892325401306, + 0.027276473119854927, + 0.009649200364947319 + ], + [ + 0.3325744867324829, + 0.030276337638497353, + 0.030220860615372658 + ], + [ + 0.33048975467681885, + 0.038591254502534866, + 0.04946602135896683 + ], + [ + 0.3263932466506958, + 0.06189531832933426, + 0.05276935175061226 + ], + [ + 0.32108551263809204, + 0.09626436978578568, + 0.05318919196724892 + ], + [ + 0.3134247958660126, + 0.12190467119216919, + 0.05314073711633682 + ], + [ + 0.3043549656867981, + 0.12639489769935608, + 0.05286570265889168 + ], + [ + 0.2943769097328186, + 0.13353930413722992, + 0.041066717356443405 + ], + [ + 0.28569698333740234, + 0.1408534198999405, + 0.03145089000463486 + ], + [ + 0.2852187156677246, + 0.1415187269449234, + 0.027914563193917274 + ], + [ + 0.2840516269207001, + 0.14027434587478638, + 0.028233760967850685 + ], + [ + 0.2868019640445709, + 0.13812358677387238, + 0.02806338667869568 + ], + [ + 0.2880042791366577, + 0.13847409188747406, + 0.028445623815059662 + ], + [ + 0.28847914934158325, + 0.13869784772396088, + 0.02985776960849762 + ], + [ + 0.2914235591888428, + 0.13876916468143463, + 0.04815882444381714 + ], + [ + 0.2892102599143982, + 0.13715298473834991, + 0.05202693119645119 + ], + [ + 0.29095613956451416, + 0.13493622839450836, + 0.0618048720061779 + ], + [ + 0.30054333806037903, + 0.13164979219436646, + 0.07818102091550827 + ], + [ + 0.30674752593040466, + 0.12443576753139496, + 0.09092618525028229 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9727658519773074, + 0.15201411881038707, + 0.17498087012346528, + 0.17923262607442275, + -0.9719962126422829, + -0.1519836450396039, + 0.14697708317057337, + 0.17920678081858313, + -0.9727706136244613 + ], + [ + 0.9766511596359102, + 0.15795870850518925, + 0.14560755059132208, + 0.1807052086921813, + -0.9705732945510983, + -0.1591637755764231, + 0.11618149565807362, + 0.18175952880550558, + -0.9764554950201537 + ], + [ + 0.9627658962868122, + 0.23812489208505794, + 0.1279779852807901, + 0.25536572936984014, + -0.9564375996300227, + -0.14147601308126234, + 0.08871399669984543, + 0.16888947209177796, + -0.9816344395986216 + ], + [ + 0.9329063155028177, + 0.3389701465528767, + 0.12159377550219438, + 0.3539984130103839, + -0.9251816225048266, + -0.13683599294580975, + 0.06611300992305832, + 0.17069916556696266, + -0.9831026725595124 + ], + [ + 0.890943060554477, + 0.4336463668472934, + 0.13480093237794716, + 0.45094484191453243, + -0.8798596253154208, + -0.14998596364488384, + 0.05356502964153585, + 0.1944167386310903, + -0.9794554197816006 + ], + [ + 0.824916703196536, + 0.5487500351853527, + 0.13559436445307163, + 0.5635465415435483, + -0.817044062117934, + -0.12187820179232806, + 0.043905902811169684, + 0.17695309955437338, + -0.9832394785892379 + ], + [ + 0.7532530148415767, + 0.6501211955001692, + 0.0997613491964995, + 0.6575021450164605, + -0.7482789366925036, + -0.08814512012068078, + 0.017344305429403184, + 0.1319888785609103, + -0.9910994455681047 + ], + [ + 0.6593528791131044, + 0.7516203714150901, + 0.017905252835480317, + 0.7496423266366518, + -0.65542770943202, + -0.09192877581847533, + -0.05735994177165693, + 0.0740360384038618, + -0.9956045912396219 + ], + [ + 0.6150041343055545, + 0.7884258353869273, + -0.012434503669308955, + 0.7828971107882845, + -0.6124201488007484, + -0.1096069124746557, + -0.09403206211943387, + 0.05767376732359197, + -0.9938972320397477 + ], + [ + 0.5918840465201589, + 0.8060077172130006, + -0.004983499574617953, + 0.7994320899870259, + -0.5878219256408472, + -0.1239907949601989, + -0.10286694791767738, + 0.06940420397190757, + -0.9922708538988374 + ], + [ + 0.5804178308894294, + 0.8143180307041264, + 0.0011342203324459718, + 0.80616498749423, + -0.5744088951171759, + -0.1419592693299483, + -0.1149484863929805, + 0.08331005989925891, + -0.9898718499864234 + ], + [ + 0.5570376644430718, + 0.8303349197631924, + 0.015904760723154984, + 0.818045550529537, + -0.5452894009709085, + -0.182923334890917, + -0.14321493515215034, + 0.11490600598158812, + -0.9829985209239761 + ], + [ + 0.5476393558935446, + 0.8352141653958046, + 0.05008426697769229, + 0.8240917044996147, + -0.5280522436483677, + -0.2050211953746357, + -0.14478949703422234, + 0.1535517043217503, + -0.977475255772985 + ], + [ + 0.5546518135721622, + 0.8302551406433476, + 0.05511594267003719, + 0.8177652595914211, + -0.5316762034058198, + -0.22040960718024336, + -0.15369237426263974, + 0.16732249151643866, + -0.9738489810675186 + ], + [ + 0.5662973124891373, + 0.8229118293943792, + 0.046081177397896876, + 0.8115819696282481, + -0.5470085192486595, + -0.20522277272204037, + -0.14367345072042279, + 0.15361575736943434, + -0.9776298576894537 + ], + [ + 0.6021493908319913, + 0.796782955910413, + 0.05052753992949864, + 0.7904052678129899, + -0.5860125121800608, + -0.17846245594491408, + -0.11258607255845667, + 0.147398292863518, + -0.9826485228843439 + ], + [ + 0.6327120498001861, + 0.7726052495310143, + 0.05250324213575759, + 0.7712151111570915, + -0.6225400088971533, + -0.13293302691689346, + -0.07001938560571558, + 0.12459962166656696, + -0.9897334085095575 + ], + [ + 0.6195891381948329, + 0.7836631400340748, + 0.04451272607826405, + 0.7840796132310677, + -0.6152914805280835, + -0.08145891053149824, + -0.03644804447983256, + 0.0853725772218067, + -0.9956822099003793 + ], + [ + 0.6366896221850276, + 0.7697376446440789, + 0.04615499344244367, + 0.7710950052839896, + -0.6350437607824077, + -0.0461726620135753, + -0.0062303954906997965, + 0.06498753964508384, + -0.9978666252876222 + ], + [ + 0.7014528760505241, + 0.7112750479053896, + 0.04529535194293144, + 0.7127155191003894, + -0.6999746276992957, + -0.04552042849858546, + -0.0006719478482432283, + 0.06421313576222622, + -0.99793598075311 + ], + [ + 0.7992165699222875, + 0.5961952134230302, + 0.07618491880366218, + 0.6005234014864109, + -0.7973548751930575, + -0.05997372152080027, + 0.024990370722420392, + 0.09368281858126973, + -0.9952884058773239 + ], + [ + 0.8071148199145983, + 0.5844645693815781, + 0.08346756622683986, + 0.5888705670730309, + -0.8070970424097574, + -0.04272960763345744, + 0.04239248411349052, + 0.08363929262630439, + -0.995593966443981 + ], + [ + 0.8313438168426939, + 0.5550711755105551, + 0.02763056848405799, + 0.5556400804686563, + -0.8311649586914645, + -0.020710200873039018, + 0.01146992476901624, + 0.03256994873724784, + -0.9994036418109784 + ], + [ + 0.8610954518939955, + 0.5073341732677907, + 0.033565746858409365, + 0.5077940485082175, + -0.861454998044655, + -0.006363225873529095, + 0.02568709845641532, + 0.022523831347503777, + -0.9994162546178241 + ], + [ + 0.8649000859832932, + 0.49996203916915216, + 0.0445623232777975, + 0.5003088177728006, + -0.8658386953042464, + 0.0038000753443374865, + 0.04048367726472563, + 0.019008237784263738, + -0.9989993787643023 + ], + [ + 0.8673966511847586, + 0.4943104005412274, + 0.05727370627292673, + 0.49426714505717456, + -0.8691644223409757, + 0.015912141707134814, + 0.05764580496875765, + 0.014506372856416618, + -0.9982316997150784 + ], + [ + 0.8621151310590848, + 0.504684583022957, + 0.045287663418651126, + 0.5049701752377799, + -0.8631177307206053, + 0.0057362911396080405, + 0.0419836029814361, + 0.017923575945009602, + -0.998957517868523 + ], + [ + 0.8554744390198943, + 0.5142078290623747, + 0.06126820312818658, + 0.515269756565805, + -0.8570261502788027, + -0.0018043577558578237, + 0.051580637376957936, + 0.03311323405006866, + -0.9981197080403392 + ], + [ + 0.8577633588688015, + 0.509410694461349, + 0.0688677322881886, + 0.5107951288253614, + -0.859697452604593, + -0.0029370654497432695, + 0.05770924146437866, + 0.0376966093114451, + -0.9976214758594696 + ], + [ + 0.8608764951986148, + 0.5045321048856104, + 0.06587120125096141, + 0.5046817614076986, + -0.8631649976729444, + 0.015572620032877897, + 0.06471460203827187, + 0.01983789131841255, + -0.9977066093552086 + ], + [ + 0.8616493448110956, + 0.4970803861009411, + 0.10233032952330944, + 0.490083705600057, + -0.8673583169371587, + 0.08664589745196327, + 0.13182703854644695, + -0.024507953681995126, + -0.9909697231068136 + ], + [ + 0.8776059109474664, + 0.4695971964663141, + 0.09636564813793921, + 0.45466639985608154, + -0.8790807602923519, + 0.14316243126508335, + 0.15194186359254944, + -0.08182597359517282, + -0.9849965381326092 + ], + [ + 0.8847136275790339, + 0.4620963615173785, + 0.06122703527320857, + 0.44697009752205114, + -0.8782654691429657, + 0.169904377907735, + 0.13228578569549543, + -0.12295006459325919, + -0.9835566849548829 + ], + [ + 0.8808173594089922, + 0.4718153947001165, + 0.03938289841725101, + 0.45508964266709345, + -0.866657790647439, + 0.20444483619606793, + 0.13059171681583573, + -0.1621558115951233, + -0.9780855260482181 + ], + [ + 0.885108067866537, + 0.4649612360776954, + 0.019868496235676866, + 0.44818890781844883, + -0.8631232113341489, + 0.23269083558389617, + 0.12534117881235807, + -0.19705169626604943, + -0.9723477864903076 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.002240419387817383, + -0.002527572214603424, + -0.006754636764526367, + -0.0018554627895355225, + 0.031066998839378357, + 0.0007492601871490479, + 1.0 + ], + [ + 0.006465166807174683, + -0.007394436746835709, + 0.002970181405544281, + 0.013654723763465881, + 0.027613691985607147, + 0.07631535828113556, + 1.0 + ], + [ + 0.01459568738937378, + -0.008492594584822655, + 0.002494893968105316, + -0.001537904143333435, + 0.022669509053230286, + 0.10340136289596558, + 1.0 + ], + [ + 0.011691361665725708, + -0.0025797467678785324, + -0.0020081177353858948, + -0.024028688669204712, + 0.012570589780807495, + 0.10587716102600098, + 1.0 + ], + [ + 0.007481306791305542, + 0.0052926428616046906, + -0.009319759905338287, + 0.01788438856601715, + 0.00967065617442131, + 0.13078123331069946, + 1.0 + ], + [ + 0.0059115588665008545, + 0.008827362209558487, + -0.009229019284248352, + 0.04566819965839386, + 0.026574846357107162, + 0.11829864978790283, + 1.0 + ], + [ + 0.00518450140953064, + 0.004203718155622482, + -0.01936464011669159, + 0.05816890299320221, + 0.07473661750555038, + 0.131761372089386, + 1.0 + ], + [ + 0.006006509065628052, + -0.0008063875138759613, + -0.008843295276165009, + 0.01626337692141533, + 0.036779746413230896, + 0.05553781986236572, + 1.0 + ], + [ + 0.003412961959838867, + -0.005064200609922409, + -0.006863772869110107, + -0.0118681900203228, + 0.008878044784069061, + 0.02855086326599121, + 1.0 + ], + [ + 9.912252426147461e-05, + -0.004591435194015503, + -0.010954577475786209, + -0.014133505523204803, + 0.012153908610343933, + 0.01331031322479248, + 1.0 + ], + [ + -0.0012700557708740234, + -0.007634861394762993, + -0.018230978399515152, + -0.03240068256855011, + 0.02850593626499176, + 0.026188671588897705, + 1.0 + ], + [ + 0.0019199252128601074, + -0.004612717777490616, + -0.006780892610549927, + -0.03945145756006241, + 0.0015911459922790527, + 0.011290550231933594, + 1.0 + ], + [ + 0.005048125982284546, + 0.001947818323969841, + -0.0032280716113746166, + -0.014337539672851562, + 0.009003743529319763, + -0.009454429149627686, + 0.0 + ], + [ + -0.0017489194869995117, + 0.0023518819361925125, + -0.00037658773362636566, + 0.014297842979431152, + -0.010131582617759705, + -0.013246417045593262, + 0.0 + ], + [ + 0.00204506516456604, + 0.00079367496073246, + 9.069312363862991e-05, + 0.006965473294258118, + -0.03134709596633911, + -0.04179781675338745, + 0.0 + ], + [ + -0.003781616687774658, + -0.00019725225865840912, + 0.004205847624689341, + 0.023657679557800293, + -0.04274856299161911, + -0.03603696823120117, + 0.0 + ], + [ + -0.005224436521530151, + 0.0029998645186424255, + 0.02057166025042534, + 0.03969968110322952, + -0.03362060710787773, + 0.018318235874176025, + 0.0 + ], + [ + -0.0020847320556640625, + 0.008314916864037514, + 0.01924516074359417, + 0.020498961210250854, + -0.030225683003664017, + -0.021469593048095703, + 0.0 + ], + [ + -0.004096508026123047, + 0.023304063826799393, + 0.0033033303916454315, + 0.0007772743701934814, + -0.005558487959206104, + -0.08722048997879028, + 0.0 + ], + [ + -0.00530773401260376, + 0.034369051456451416, + 0.0004198402166366577, + -0.02959243208169937, + -0.0256649199873209, + -0.14897197484970093, + 0.0 + ], + [ + -0.007660716772079468, + 0.025640301406383514, + -4.8454850912094116e-05, + 0.010037153959274292, + -0.017412219196558, + -0.014073729515075684, + 0.0 + ], + [ + -0.009069830179214478, + 0.00449022650718689, + -0.00027503445744514465, + 0.051234785467386246, + 0.03093501552939415, + -0.041139841079711914, + 0.0 + ], + [ + -0.009978055953979492, + 0.00714440643787384, + -0.011798985302448273, + 0.010044680908322334, + -0.014219747856259346, + -0.056359827518463135, + 0.0 + ], + [ + -0.00867992639541626, + 0.007314115762710571, + -0.009615827351808548, + 0.003508191555738449, + -0.014804819598793983, + -0.008387207984924316, + 0.0 + ], + [ + -0.0004782676696777344, + 0.0006653070449829102, + -0.0035363268107175827, + 0.004493934102356434, + -0.017183035612106323, + -0.006490647792816162, + 0.0 + ], + [ + -0.0011670887470245361, + -0.001244381070137024, + 0.00031919777393341064, + -0.0034093083813786507, + 0.015681833028793335, + 0.0119248628616333, + 1.0 + ], + [ + 0.0027503371238708496, + -0.0021507591009140015, + -0.0001703742891550064, + -0.015223095193505287, + -0.009607590734958649, + 0.012260198593139648, + 1.0 + ], + [ + 0.001202315092086792, + 0.00035050511360168457, + 0.00038223713636398315, + -0.004605066031217575, + -0.006137784570455551, + -0.005022406578063965, + 1.0 + ], + [ + 0.0004748702049255371, + 0.0002237558364868164, + 0.0014121457934379578, + 0.017887644469738007, + -0.007018536329269409, + -0.006859838962554932, + 1.0 + ], + [ + 0.0029444098472595215, + 7.131695747375488e-05, + 0.01830105483531952, + 0.044607117772102356, + -0.06745202094316483, + -0.013099074363708496, + 1.0 + ], + [ + -0.00221329927444458, + -0.0016161799430847168, + 0.0038681067526340485, + 0.05815579742193222, + -0.020320773124694824, + -0.03913918137550354, + 1.0 + ], + [ + 0.0017458796501159668, + -0.0022167563438415527, + 0.009777940809726715, + 0.041478440165519714, + 0.019857972860336304, + -0.010193020105361938, + 1.0 + ], + [ + 0.009587198495864868, + -0.0032864362001419067, + 0.016376148909330368, + 0.03993412107229233, + 0.001708894968032837, + 0.009082019329071045, + 1.0 + ], + [ + 0.006204187870025635, + -0.007214024662971497, + 0.012745164334774017, + 0.03565308451652527, + 0.0052940696477890015, + -0.008164793252944946, + 1.0 + ], + [ + 0.0019609034061431885, + -0.005754537880420685, + 0.007672756910324097, + 0.016497835516929626, + 0.012656651437282562, + 0.010635733604431152, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.00800359249115 + ], + [ + 1.00800359249115 + ], + [ + 1.00800359249115 + ], + [ + 1.00800359249115 + ], + [ + 1.00800359249115 + ], + [ + 1.00800359249115 + ], + [ + 1.00800359249115 + ], + [ + 1.00800359249115 + ], + [ + 1.00800359249115 + ], + [ + 1.00800359249115 + ], + [ + 1.00800359249115 + ], + [ + 1.0067112445831299 + ], + [ + 0.9468915462493896 + ], + [ + 0.657115638256073 + ], + [ + 0.4946928322315216 + ], + [ + 0.5266194939613342 + ], + [ + 0.5315056443214417 + ], + [ + 0.5315056443214417 + ], + [ + 0.5324842929840088 + ], + [ + 0.5315056443214417 + ], + [ + 0.5324842929840088 + ], + [ + 0.5315056443214417 + ], + [ + 0.5315056443214417 + ], + [ + 0.5315056443214417 + ], + [ + 0.5324842929840088 + ], + [ + 0.6139277815818787 + ], + [ + 0.9255412817001343 + ], + [ + 1.0099300146102905 + ], + [ + 1.0099300146102905 + ], + [ + 1.0099300146102905 + ], + [ + 1.0099300146102905 + ], + [ + 1.0099300146102905 + ], + [ + 1.0099300146102905 + ], + [ + 1.0099300146102905 + ], + [ + 1.0099300146102905 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.27473822236061096, + 0.04523300752043724, + 0.09508729726076126 + ], + [ + 0.28120338916778564, + 0.03783857077360153, + 0.09805747866630554 + ], + [ + 0.2957990765571594, + 0.029345976188778877, + 0.10055237263441086 + ], + [ + 0.30749043822288513, + 0.026766229420900345, + 0.09854425489902496 + ], + [ + 0.3149717450141907, + 0.032058872282505035, + 0.08922449499368668 + ], + [ + 0.32088330388069153, + 0.04088623449206352, + 0.07999547570943832 + ], + [ + 0.32606780529022217, + 0.045089952647686005, + 0.060630835592746735 + ], + [ + 0.3320743143558502, + 0.04428356513381004, + 0.051787540316581726 + ], + [ + 0.3354872763156891, + 0.039219364523887634, + 0.04492376744747162 + ], + [ + 0.33558639883995056, + 0.03462792932987213, + 0.03396918997168541 + ], + [ + 0.33431634306907654, + 0.02699306793510914, + 0.015738211572170258 + ], + [ + 0.33623626828193665, + 0.022380350157618523, + 0.00895731896162033 + ], + [ + 0.3412843942642212, + 0.024328168481588364, + 0.005729247350245714 + ], + [ + 0.3395354747772217, + 0.026680050417780876, + 0.0053526596166193485 + ], + [ + 0.3415805399417877, + 0.027473725378513336, + 0.0054433527402579784 + ], + [ + 0.33779892325401306, + 0.027276473119854927, + 0.009649200364947319 + ], + [ + 0.3325744867324829, + 0.030276337638497353, + 0.030220860615372658 + ], + [ + 0.33048975467681885, + 0.038591254502534866, + 0.04946602135896683 + ], + [ + 0.3263932466506958, + 0.06189531832933426, + 0.05276935175061226 + ], + [ + 0.32108551263809204, + 0.09626436978578568, + 0.05318919196724892 + ], + [ + 0.3134247958660126, + 0.12190467119216919, + 0.05314073711633682 + ], + [ + 0.3043549656867981, + 0.12639489769935608, + 0.05286570265889168 + ], + [ + 0.2943769097328186, + 0.13353930413722992, + 0.041066717356443405 + ], + [ + 0.28569698333740234, + 0.1408534198999405, + 0.03145089000463486 + ], + [ + 0.2852187156677246, + 0.1415187269449234, + 0.027914563193917274 + ], + [ + 0.2840516269207001, + 0.14027434587478638, + 0.028233760967850685 + ], + [ + 0.2868019640445709, + 0.13812358677387238, + 0.02806338667869568 + ], + [ + 0.2880042791366577, + 0.13847409188747406, + 0.028445623815059662 + ], + [ + 0.28847914934158325, + 0.13869784772396088, + 0.02985776960849762 + ], + [ + 0.2914235591888428, + 0.13876916468143463, + 0.04815882444381714 + ], + [ + 0.2892102599143982, + 0.13715298473834991, + 0.05202693119645119 + ], + [ + 0.29095613956451416, + 0.13493622839450836, + 0.0618048720061779 + ], + [ + 0.30054333806037903, + 0.13164979219436646, + 0.07818102091550827 + ], + [ + 0.30674752593040466, + 0.12443576753139496, + 0.09092618525028229 + ], + [ + 0.30870842933654785, + 0.11868122965097427, + 0.09859894216060638 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9766511596359102, + 0.15795870850518925, + 0.14560755059132208, + 0.1807052086921813, + -0.9705732945510983, + -0.1591637755764231, + 0.11618149565807362, + 0.18175952880550558, + -0.9764554950201537 + ], + [ + 0.9627658962868122, + 0.23812489208505794, + 0.1279779852807901, + 0.25536572936984014, + -0.9564375996300227, + -0.14147601308126234, + 0.08871399669984543, + 0.16888947209177796, + -0.9816344395986216 + ], + [ + 0.9329063155028177, + 0.3389701465528767, + 0.12159377550219438, + 0.3539984130103839, + -0.9251816225048266, + -0.13683599294580975, + 0.06611300992305832, + 0.17069916556696266, + -0.9831026725595124 + ], + [ + 0.890943060554477, + 0.4336463668472934, + 0.13480093237794716, + 0.45094484191453243, + -0.8798596253154208, + -0.14998596364488384, + 0.05356502964153585, + 0.1944167386310903, + -0.9794554197816006 + ], + [ + 0.824916703196536, + 0.5487500351853527, + 0.13559436445307163, + 0.5635465415435483, + -0.817044062117934, + -0.12187820179232806, + 0.043905902811169684, + 0.17695309955437338, + -0.9832394785892379 + ], + [ + 0.7532530148415767, + 0.6501211955001692, + 0.0997613491964995, + 0.6575021450164605, + -0.7482789366925036, + -0.08814512012068078, + 0.017344305429403184, + 0.1319888785609103, + -0.9910994455681047 + ], + [ + 0.6593528791131044, + 0.7516203714150901, + 0.017905252835480317, + 0.7496423266366518, + -0.65542770943202, + -0.09192877581847533, + -0.05735994177165693, + 0.0740360384038618, + -0.9956045912396219 + ], + [ + 0.6150041343055545, + 0.7884258353869273, + -0.012434503669308955, + 0.7828971107882845, + -0.6124201488007484, + -0.1096069124746557, + -0.09403206211943387, + 0.05767376732359197, + -0.9938972320397477 + ], + [ + 0.5918840465201589, + 0.8060077172130006, + -0.004983499574617953, + 0.7994320899870259, + -0.5878219256408472, + -0.1239907949601989, + -0.10286694791767738, + 0.06940420397190757, + -0.9922708538988374 + ], + [ + 0.5804178308894294, + 0.8143180307041264, + 0.0011342203324459718, + 0.80616498749423, + -0.5744088951171759, + -0.1419592693299483, + -0.1149484863929805, + 0.08331005989925891, + -0.9898718499864234 + ], + [ + 0.5570376644430718, + 0.8303349197631924, + 0.015904760723154984, + 0.818045550529537, + -0.5452894009709085, + -0.182923334890917, + -0.14321493515215034, + 0.11490600598158812, + -0.9829985209239761 + ], + [ + 0.5476393558935446, + 0.8352141653958046, + 0.05008426697769229, + 0.8240917044996147, + -0.5280522436483677, + -0.2050211953746357, + -0.14478949703422234, + 0.1535517043217503, + -0.977475255772985 + ], + [ + 0.5546518135721622, + 0.8302551406433476, + 0.05511594267003719, + 0.8177652595914211, + -0.5316762034058198, + -0.22040960718024336, + -0.15369237426263974, + 0.16732249151643866, + -0.9738489810675186 + ], + [ + 0.5662973124891373, + 0.8229118293943792, + 0.046081177397896876, + 0.8115819696282481, + -0.5470085192486595, + -0.20522277272204037, + -0.14367345072042279, + 0.15361575736943434, + -0.9776298576894537 + ], + [ + 0.6021493908319913, + 0.796782955910413, + 0.05052753992949864, + 0.7904052678129899, + -0.5860125121800608, + -0.17846245594491408, + -0.11258607255845667, + 0.147398292863518, + -0.9826485228843439 + ], + [ + 0.6327120498001861, + 0.7726052495310143, + 0.05250324213575759, + 0.7712151111570915, + -0.6225400088971533, + -0.13293302691689346, + -0.07001938560571558, + 0.12459962166656696, + -0.9897334085095575 + ], + [ + 0.6195891381948329, + 0.7836631400340748, + 0.04451272607826405, + 0.7840796132310677, + -0.6152914805280835, + -0.08145891053149824, + -0.03644804447983256, + 0.0853725772218067, + -0.9956822099003793 + ], + [ + 0.6366896221850276, + 0.7697376446440789, + 0.04615499344244367, + 0.7710950052839896, + -0.6350437607824077, + -0.0461726620135753, + -0.0062303954906997965, + 0.06498753964508384, + -0.9978666252876222 + ], + [ + 0.7014528760505241, + 0.7112750479053896, + 0.04529535194293144, + 0.7127155191003894, + -0.6999746276992957, + -0.04552042849858546, + -0.0006719478482432283, + 0.06421313576222622, + -0.99793598075311 + ], + [ + 0.7992165699222875, + 0.5961952134230302, + 0.07618491880366218, + 0.6005234014864109, + -0.7973548751930575, + -0.05997372152080027, + 0.024990370722420392, + 0.09368281858126973, + -0.9952884058773239 + ], + [ + 0.8071148199145983, + 0.5844645693815781, + 0.08346756622683986, + 0.5888705670730309, + -0.8070970424097574, + -0.04272960763345744, + 0.04239248411349052, + 0.08363929262630439, + -0.995593966443981 + ], + [ + 0.8313438168426939, + 0.5550711755105551, + 0.02763056848405799, + 0.5556400804686563, + -0.8311649586914645, + -0.020710200873039018, + 0.01146992476901624, + 0.03256994873724784, + -0.9994036418109784 + ], + [ + 0.8610954518939955, + 0.5073341732677907, + 0.033565746858409365, + 0.5077940485082175, + -0.861454998044655, + -0.006363225873529095, + 0.02568709845641532, + 0.022523831347503777, + -0.9994162546178241 + ], + [ + 0.8649000859832932, + 0.49996203916915216, + 0.0445623232777975, + 0.5003088177728006, + -0.8658386953042464, + 0.0038000753443374865, + 0.04048367726472563, + 0.019008237784263738, + -0.9989993787643023 + ], + [ + 0.8673966511847586, + 0.4943104005412274, + 0.05727370627292673, + 0.49426714505717456, + -0.8691644223409757, + 0.015912141707134814, + 0.05764580496875765, + 0.014506372856416618, + -0.9982316997150784 + ], + [ + 0.8621151310590848, + 0.504684583022957, + 0.045287663418651126, + 0.5049701752377799, + -0.8631177307206053, + 0.0057362911396080405, + 0.0419836029814361, + 0.017923575945009602, + -0.998957517868523 + ], + [ + 0.8554744390198943, + 0.5142078290623747, + 0.06126820312818658, + 0.515269756565805, + -0.8570261502788027, + -0.0018043577558578237, + 0.051580637376957936, + 0.03311323405006866, + -0.9981197080403392 + ], + [ + 0.8577633588688015, + 0.509410694461349, + 0.0688677322881886, + 0.5107951288253614, + -0.859697452604593, + -0.0029370654497432695, + 0.05770924146437866, + 0.0376966093114451, + -0.9976214758594696 + ], + [ + 0.8608764951986148, + 0.5045321048856104, + 0.06587120125096141, + 0.5046817614076986, + -0.8631649976729444, + 0.015572620032877897, + 0.06471460203827187, + 0.01983789131841255, + -0.9977066093552086 + ], + [ + 0.8616493448110956, + 0.4970803861009411, + 0.10233032952330944, + 0.490083705600057, + -0.8673583169371587, + 0.08664589745196327, + 0.13182703854644695, + -0.024507953681995126, + -0.9909697231068136 + ], + [ + 0.8776059109474664, + 0.4695971964663141, + 0.09636564813793921, + 0.45466639985608154, + -0.8790807602923519, + 0.14316243126508335, + 0.15194186359254944, + -0.08182597359517282, + -0.9849965381326092 + ], + [ + 0.8847136275790339, + 0.4620963615173785, + 0.06122703527320857, + 0.44697009752205114, + -0.8782654691429657, + 0.169904377907735, + 0.13228578569549543, + -0.12295006459325919, + -0.9835566849548829 + ], + [ + 0.8808173594089922, + 0.4718153947001165, + 0.03938289841725101, + 0.45508964266709345, + -0.866657790647439, + 0.20444483619606793, + 0.13059171681583573, + -0.1621558115951233, + -0.9780855260482181 + ], + [ + 0.885108067866537, + 0.4649612360776954, + 0.019868496235676866, + 0.44818890781844883, + -0.8631232113341489, + 0.23269083558389617, + 0.12534117881235807, + -0.19705169626604943, + -0.9723477864903076 + ], + [ + 0.8816283297111122, + 0.4719425203015528, + -0.0013212805201912523, + 0.4582721564162566, + -0.8554152318220927, + 0.2413532925409341, + 0.11277463768236498, + -0.21338940624635996, + -0.9704364185238709 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006259.json b/json/chunk-0006/episode_0006259.json new file mode 100644 index 0000000000000000000000000000000000000000..c36b581125dce0da2b44378ab40ce7b25b2bb70e --- /dev/null +++ b/json/chunk-0006/episode_0006259.json @@ -0,0 +1,2722 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 44, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nUnfold the cloth from bottom to top." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006259.mp4", + "start": 0, + "end": 44, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.17542514204978943, + 0.043362319469451904, + 0.06750085949897766, + -0.1015695258975029, + -0.20184573531150818, + -1.199929118156433, + 0.0, + 1.0001531839370728 + ], + [ + 0.17390726506710052, + 0.04203665256500244, + 0.0648173987865448, + -0.11459242552518845, + -0.2064828872680664, + -1.1988232135772705, + 0.0, + 1.0001531839370728 + ], + [ + 0.17481060326099396, + 0.037002306431531906, + 0.06201571598649025, + -0.09629082679748535, + -0.22392717003822327, + -1.2481118440628052, + 0.0, + 1.0001531839370728 + ], + [ + 0.17538464069366455, + 0.028816767036914825, + 0.05685824528336525, + -0.06720080971717834, + -0.21126580238342285, + -1.2833421230316162, + 0.0, + 1.0001531839370728 + ], + [ + 0.17701494693756104, + 0.01784640923142433, + 0.055849265307188034, + -0.0075720916502177715, + -0.1505313515663147, + -1.2996407747268677, + 0.0, + 1.0001531839370728 + ], + [ + 0.17409533262252808, + -0.0017497703665867448, + 0.06010293960571289, + 0.10588733851909637, + 0.04853851720690727, + -1.2673066854476929, + 0.0, + 1.0001531839370728 + ], + [ + 0.16879841685295105, + -0.01702735386788845, + 0.0678432509303093, + 0.2381725162267685, + 0.23282985389232635, + -1.192090392112732, + 0.0, + 1.0001531839370728 + ], + [ + 0.16450680792331696, + -0.021554555743932724, + 0.06534699350595474, + 0.30396682024002075, + 0.30123206973075867, + -1.1772832870483398, + 0.0, + 1.0001531839370728 + ], + [ + 0.1622786670923233, + -0.015970835462212563, + 0.05755603685975075, + 0.32217225432395935, + 0.3289334774017334, + -1.1754138469696045, + 0.0, + 1.0001531839370728 + ], + [ + 0.1602671891450882, + -0.009208841249346733, + 0.048475779592990875, + 0.3383997976779938, + 0.32295697927474976, + -1.1881885528564453, + 0.0, + 1.0001531839370728 + ], + [ + 0.15682104229927063, + -0.005429758690297604, + 0.03759382292628288, + 0.3645695745944977, + 0.30811870098114014, + -1.2286288738250732, + 0.0, + 1.0001531839370728 + ], + [ + 0.1557343602180481, + -0.0046622371301054955, + 0.03395376726984978, + 0.38639703392982483, + 0.2869187295436859, + -1.2389318943023682, + 0.0, + 1.0001531839370728 + ], + [ + 0.15681327879428864, + -0.004344715736806393, + 0.029375502839684486, + 0.3830614984035492, + 0.2968011498451233, + -1.2378113269805908, + 0.0, + 1.0001531839370728 + ], + [ + 0.15944795310497284, + 0.0003682337119244039, + 0.020952606573700905, + 0.3664594292640686, + 0.31156060099601746, + -1.2286224365234375, + 0.0, + 1.0001531839370728 + ], + [ + 0.1649799346923828, + 0.0009077746071852744, + 0.01733965054154396, + 0.36459845304489136, + 0.3123830556869507, + -1.220733642578125, + 0.0, + 1.0001531839370728 + ], + [ + 0.16703569889068604, + 0.0009969298262149096, + 0.01165717002004385, + 0.35385456681251526, + 0.3325902819633484, + -1.222434163093567, + 0.0, + 1.0001531839370728 + ], + [ + 0.1687842458486557, + 0.0018163492204621434, + 0.007086434401571751, + 0.35143595933914185, + 0.34765711426734924, + -1.2138465642929077, + 0.0, + 1.0001531839370728 + ], + [ + 0.16991479694843292, + 0.002495956839993596, + 0.005506339017301798, + 0.356608122587204, + 0.3539232015609741, + -1.2070592641830444, + 0.0, + 0.9468915462493896 + ], + [ + 0.17069274187088013, + 0.0032471255399286747, + 0.005132780410349369, + 0.36475077271461487, + 0.35641148686408997, + -1.200183629989624, + 0.0, + 0.6591242551803589 + ], + [ + 0.17207485437393188, + 0.0030984249897301197, + 0.005171637050807476, + 0.3711735010147095, + 0.3550126850605011, + -1.2050490379333496, + 0.0, + 0.35109609365463257 + ], + [ + 0.17242814600467682, + 0.002770279999822378, + 0.005157902371138334, + 0.369979590177536, + 0.3550354540348053, + -1.2179033756256104, + 0.0, + 0.14915025234222412 + ], + [ + 0.17067275941371918, + 0.0024092530366033316, + 0.009390920400619507, + 0.36710211634635925, + 0.34236252307891846, + -1.2277147769927979, + 0.0, + 0.0686454325914383 + ], + [ + 0.17166641354560852, + 0.007807008922100067, + 0.022908173501491547, + 0.3650311231613159, + 0.2986272871494293, + -1.2131038904190063, + 0.0, + 0.058401256799697876 + ], + [ + 0.1807752102613449, + 0.0179658941924572, + 0.04389152303338051, + 0.3606121242046356, + 0.2340393215417862, + -1.1715877056121826, + 0.0, + 0.05784503370523453 + ], + [ + 0.19741937518119812, + 0.03988335654139519, + 0.05836141109466553, + 0.34376007318496704, + 0.17078286409378052, + -1.1011651754379272, + 0.0, + 0.05619491636753082 + ], + [ + 0.21640807390213013, + 0.06275646388530731, + 0.057696253061294556, + 0.2893933057785034, + 0.09995477646589279, + -1.0348320007324219, + 0.0, + 0.05619491636753082 + ], + [ + 0.2354673147201538, + 0.08364879339933395, + 0.059989262372255325, + 0.25297030806541443, + 0.027897875756025314, + -0.9638830423355103, + 0.0, + 0.05619491636753082 + ], + [ + 0.25118744373321533, + 0.10718319565057755, + 0.07115431129932404, + 0.2431761473417282, + -0.0064013623632490635, + -0.8833359479904175, + 0.0, + 0.05592256039381027 + ], + [ + 0.26715704798698425, + 0.12674470245838165, + 0.08666181564331055, + 0.25123944878578186, + -0.04285184666514397, + -0.8365497589111328, + 0.0, + 0.05592256039381027 + ], + [ + 0.2818898856639862, + 0.14504504203796387, + 0.09170829504728317, + 0.2316015362739563, + -0.06209200248122215, + -0.7950907349586487, + 0.0, + 0.05565106123685837 + ], + [ + 0.29370638728141785, + 0.1602349877357483, + 0.08675485849380493, + 0.20193743705749512, + -0.05015258491039276, + -0.7522507905960083, + 0.0, + 0.05565106123685837 + ], + [ + 0.3041585385799408, + 0.17219872772693634, + 0.07690466195344925, + 0.18507596850395203, + -0.015543348155915737, + -0.7205931544303894, + 0.0, + 0.05565106123685837 + ], + [ + 0.30788320302963257, + 0.1891898214817047, + 0.0678696259856224, + 0.16710951924324036, + -0.013044821098446846, + -0.6418643593788147, + 0.0, + 0.05565106123685837 + ], + [ + 0.3042086362838745, + 0.20679254829883575, + 0.0589306466281414, + 0.1299460083246231, + -0.049311745911836624, + -0.5114807486534119, + 0.0, + 0.05565106123685837 + ], + [ + 0.2981126606464386, + 0.22049583494663239, + 0.05574791505932808, + 0.10945390164852142, + -0.08376795053482056, + -0.40274566411972046, + 0.0, + 0.05592256039381027 + ], + [ + 0.3037353754043579, + 0.23102907836437225, + 0.05353076010942459, + 0.11316125839948654, + -0.011460746638476849, + -0.4405706524848938, + 0.0, + 0.05565106123685837 + ], + [ + 0.3211037218570709, + 0.2295600324869156, + 0.04507699981331825, + 0.14169758558273315, + 0.1526104211807251, + -0.5806766152381897, + 0.0, + 0.05565106123685837 + ], + [ + 0.33651331067085266, + 0.2305017113685608, + 0.040324870496988297, + 0.13801486790180206, + 0.23802544176578522, + -0.7367876768112183, + 0.0, + 0.05565106123685837 + ], + [ + 0.3456774950027466, + 0.23529694974422455, + 0.042023055255413055, + 0.1545872986316681, + 0.2772088646888733, + -0.8248736262321472, + 0.0, + 0.05592256039381027 + ], + [ + 0.3512674868106842, + 0.23306870460510254, + 0.04379701614379883, + 0.17671038210391998, + 0.2890933156013489, + -0.839587390422821, + 0.0, + 0.07112513482570648 + ], + [ + 0.3457043170928955, + 0.23344682157039642, + 0.04430928826332092, + 0.1407107561826706, + 0.26394402980804443, + -0.8109366297721863, + 0.0, + 0.2135835438966751 + ], + [ + 0.3327188789844513, + 0.24075481295585632, + 0.0295235775411129, + 0.10508698225021362, + 0.15358848869800568, + -0.7806841135025024, + 0.0, + 0.4699908196926117 + ], + [ + 0.3273512125015259, + 0.24323499202728271, + 0.037322480231523514, + 0.10946432501077652, + 0.04685097187757492, + -0.7766109704971313, + 0.0, + 0.7739869356155396 + ], + [ + 0.3229374885559082, + 0.24220962822437286, + 0.0515853688120842, + 0.14886046946048737, + 0.027997134253382683, + -0.7754549980163574, + 0.0, + 0.9954678416252136 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9468915462493896 + ], + [ + 0.6591242551803589 + ], + [ + 0.35109609365463257 + ], + [ + 0.14915025234222412 + ], + [ + 0.0686454325914383 + ], + [ + 0.058401256799697876 + ], + [ + 0.05784503370523453 + ], + [ + 0.05619491636753082 + ], + [ + 0.05619491636753082 + ], + [ + 0.05619491636753082 + ], + [ + 0.05592256039381027 + ], + [ + 0.05592256039381027 + ], + [ + 0.05565106123685837 + ], + [ + 0.05565106123685837 + ], + [ + 0.05565106123685837 + ], + [ + 0.05565106123685837 + ], + [ + 0.05565106123685837 + ], + [ + 0.05592256039381027 + ], + [ + 0.05565106123685837 + ], + [ + 0.05565106123685837 + ], + [ + 0.05565106123685837 + ], + [ + 0.05592256039381027 + ], + [ + 0.07112513482570648 + ], + [ + 0.2135835438966751 + ], + [ + 0.4699908196926117 + ], + [ + 0.7739869356155396 + ], + [ + 0.9954678416252136 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.17542514204978943, + 0.043362319469451904, + 0.06750085949897766 + ], + [ + 0.17390726506710052, + 0.04203665256500244, + 0.0648173987865448 + ], + [ + 0.17481060326099396, + 0.037002306431531906, + 0.06201571598649025 + ], + [ + 0.17538464069366455, + 0.028816767036914825, + 0.05685824528336525 + ], + [ + 0.17701494693756104, + 0.01784640923142433, + 0.055849265307188034 + ], + [ + 0.17409533262252808, + -0.0017497703665867448, + 0.06010293960571289 + ], + [ + 0.16879841685295105, + -0.01702735386788845, + 0.0678432509303093 + ], + [ + 0.16450680792331696, + -0.021554555743932724, + 0.06534699350595474 + ], + [ + 0.1622786670923233, + -0.015970835462212563, + 0.05755603685975075 + ], + [ + 0.1602671891450882, + -0.009208841249346733, + 0.048475779592990875 + ], + [ + 0.15682104229927063, + -0.005429758690297604, + 0.03759382292628288 + ], + [ + 0.1557343602180481, + -0.0046622371301054955, + 0.03395376726984978 + ], + [ + 0.15681327879428864, + -0.004344715736806393, + 0.029375502839684486 + ], + [ + 0.15944795310497284, + 0.0003682337119244039, + 0.020952606573700905 + ], + [ + 0.1649799346923828, + 0.0009077746071852744, + 0.01733965054154396 + ], + [ + 0.16703569889068604, + 0.0009969298262149096, + 0.01165717002004385 + ], + [ + 0.1687842458486557, + 0.0018163492204621434, + 0.007086434401571751 + ], + [ + 0.16991479694843292, + 0.002495956839993596, + 0.005506339017301798 + ], + [ + 0.17069274187088013, + 0.0032471255399286747, + 0.005132780410349369 + ], + [ + 0.17207485437393188, + 0.0030984249897301197, + 0.005171637050807476 + ], + [ + 0.17242814600467682, + 0.002770279999822378, + 0.005157902371138334 + ], + [ + 0.17067275941371918, + 0.0024092530366033316, + 0.009390920400619507 + ], + [ + 0.17166641354560852, + 0.007807008922100067, + 0.022908173501491547 + ], + [ + 0.1807752102613449, + 0.0179658941924572, + 0.04389152303338051 + ], + [ + 0.19741937518119812, + 0.03988335654139519, + 0.05836141109466553 + ], + [ + 0.21640807390213013, + 0.06275646388530731, + 0.057696253061294556 + ], + [ + 0.2354673147201538, + 0.08364879339933395, + 0.059989262372255325 + ], + [ + 0.25118744373321533, + 0.10718319565057755, + 0.07115431129932404 + ], + [ + 0.26715704798698425, + 0.12674470245838165, + 0.08666181564331055 + ], + [ + 0.2818898856639862, + 0.14504504203796387, + 0.09170829504728317 + ], + [ + 0.29370638728141785, + 0.1602349877357483, + 0.08675485849380493 + ], + [ + 0.3041585385799408, + 0.17219872772693634, + 0.07690466195344925 + ], + [ + 0.30788320302963257, + 0.1891898214817047, + 0.0678696259856224 + ], + [ + 0.3042086362838745, + 0.20679254829883575, + 0.0589306466281414 + ], + [ + 0.2981126606464386, + 0.22049583494663239, + 0.05574791505932808 + ], + [ + 0.3037353754043579, + 0.23102907836437225, + 0.05353076010942459 + ], + [ + 0.3211037218570709, + 0.2295600324869156, + 0.04507699981331825 + ], + [ + 0.33651331067085266, + 0.2305017113685608, + 0.040324870496988297 + ], + [ + 0.3456774950027466, + 0.23529694974422455, + 0.042023055255413055 + ], + [ + 0.3512674868106842, + 0.23306870460510254, + 0.04379701614379883 + ], + [ + 0.3457043170928955, + 0.23344682157039642, + 0.04430928826332092 + ], + [ + 0.3327188789844513, + 0.24075481295585632, + 0.0295235775411129 + ], + [ + 0.3273512125015259, + 0.24323499202728271, + 0.037322480231523514 + ], + [ + 0.3229374885559082, + 0.24220962822437286, + 0.0515853688120842 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.35506596873384433, + -0.9345771878656911, + -0.022217960485907767, + -0.9130918658519068, + -0.3416105148359663, + -0.2226331077548656, + 0.20047793485114557, + 0.09933647907270916, + -0.9746490966308116 + ], + [ + 0.35573383263134883, + -0.9340221913708473, + -0.03249594356548709, + -0.9118227586506147, + -0.33923153896711244, + -0.23130330688683837, + 0.2050187726238598, + 0.11191295276599722, + -0.9723388266828602 + ], + [ + 0.30919622286681114, + -0.9507644300320853, + -0.021087777281197123, + -0.9247090646568762, + -0.2953971751243569, + -0.24011175454349415, + 0.22206044561403196, + 0.09374170637615958, + -0.9705161775979747 + ], + [ + 0.2772082802670384, + -0.960796434965695, + -0.005077391909488138, + -0.9376472859793137, + -0.2693684043414461, + -0.219677558795091, + 0.20969772637541523, + 0.06565724103063326, + -0.9755593217499523 + ], + [ + 0.2648160303931676, + -0.9637385552668847, + 0.03287045997400366, + -0.952566753456189, + -0.2667432305352131, + -0.1465081198213048, + 0.14996349641409606, + 0.007486391369396189, + -0.9886631902157192 + ], + [ + 0.2985002053338316, + -0.9504870621555486, + 0.08644056970297107, + -0.9531754767134106, + -0.2922847138682686, + 0.0776283236396756, + -0.04851946009409239, + -0.10556510178017257, + -0.9932280056856628 + ], + [ + 0.3597424256678589, + -0.9230407823118579, + 0.13631251359914875, + -0.9040730936883575, + -0.30870272940784577, + 0.2955578896340083, + -0.2307319406657155, + -0.22956118802023018, + -0.9455498043526703 + ], + [ + 0.3661698504296598, + -0.9152788002206601, + 0.16788197789801373, + -0.881981018525701, + -0.28384117877741283, + 0.3762228969515487, + -0.2966970232352988, + -0.28583019976356133, + -0.9111926104323032 + ], + [ + 0.3645116972804363, + -0.9147634544414847, + 0.17418106947661374, + -0.8733729685444138, + -0.27095417686558854, + 0.4047264407658701, + -0.3230338687531906, + -0.2996525595708683, + -0.8976956406160015 + ], + [ + 0.3540396373075022, + -0.9144173903651145, + 0.19620594132957747, + -0.8797334349804176, + -0.2544253258881951, + 0.40166757016747157, + -0.3173720507428581, + -0.31481516758971284, + -0.8945202019310314 + ], + [ + 0.31972817848195, + -0.9163973419717669, + 0.2408107213387617, + -0.8976654933598035, + -0.21161722925118498, + 0.38654211971679336, + -0.303266473444914, + -0.3397558828204919, + -0.8902782633385773 + ], + [ + 0.31248747214833583, + -0.9104790926425544, + 0.27088632599511836, + -0.9067874957475152, + -0.2009557650310042, + 0.3706119507743294, + -0.2829982637867115, + -0.3614479248267921, + -0.8884072153759852 + ], + [ + 0.3125739511280943, + -0.9123067078789118, + 0.26456378405842645, + -0.9037494572820859, + -0.1998688230964175, + 0.37853582659556556, + -0.2924627216219306, + -0.35741981522181293, + -0.8869704798629424 + ], + [ + 0.3193818272850184, + -0.9163333540146432, + 0.2415128003240345, + -0.8966748195270982, + -0.20978578239427792, + 0.3898258502604287, + -0.30654447707653815, + -0.3410617390231495, + -0.8886548113572426 + ], + [ + 0.32635892252101495, + -0.9151877527037633, + 0.23647670285243283, + -0.8938902763487526, + -0.21747436560439792, + 0.39200137009214076, + -0.30732723201837, + -0.3393173700328357, + -0.8890521328099533 + ], + [ + 0.32265228116503275, + -0.9203181795426252, + 0.22115594919049592, + -0.8884245507073101, + -0.2138703545340619, + 0.4061542676766907, + -0.3264924549809917, + -0.3275269757666126, + -0.8866390229319157 + ], + [ + 0.3285134433837486, + -0.9206798697366805, + 0.21077830765475272, + -0.8809115368556404, + -0.21817060418331108, + 0.4199957758179513, + -0.34069602544025424, + -0.3236513014525633, + -0.8827094954271624 + ], + [ + 0.33371877272083, + -0.918821026948933, + 0.21071236596415185, + -0.8766491501491145, + -0.22031197632944416, + 0.42772526302364866, + -0.34658050764077597, + -0.32746076638632926, + -0.8790059147702816 + ], + [ + 0.3394249580030384, + -0.91586379260079, + 0.2144392951106048, + -0.8735273730209252, + -0.22234647833392296, + 0.4330265259261421, + -0.34891349424720897, + -0.3342986045071079, + -0.8755020368661648 + ], + [ + 0.3353451159444726, + -0.9153549549219538, + 0.22286533986247414, + -0.8756233908105656, + -0.2155529999893181, + 0.43222746518588157, + -0.3476022593102578, + -0.34009147401167367, + -0.8737908551976106 + ], + [ + 0.32405942686482864, + -0.9183247530586266, + 0.22729966075612812, + -0.879854144028915, + -0.2042744230611982, + 0.42910213856162455, + -0.34762360836856837, + -0.33904514154139825, + -0.8741888920033182 + ], + [ + 0.31686793714093875, + -0.9195090891634398, + 0.2325892202099385, + -0.8870688796582532, + -0.20050771197653483, + 0.41581902335004606, + -0.3357134390427308, + -0.33808237514510586, + -0.8792023626346475 + ], + [ + 0.33461806421083756, + -0.9117611353230629, + 0.23816461369857508, + -0.8952497385376558, + -0.22866690794392636, + 0.3824125401443094, + -0.294208525967639, + -0.34117895205560916, + -0.8927699960920426 + ], + [ + 0.3780927009119047, + -0.8939131425985583, + 0.24075963741190212, + -0.896250137302425, + -0.2882951898934919, + 0.3370779952320528, + -0.23190860463235355, + -0.3432275877225563, + -0.9101720837971408 + ], + [ + 0.44597360395713587, + -0.8654857229961149, + 0.2281271747586779, + -0.8787623254227409, + -0.37500197662409035, + 0.2952122845439234, + -0.16995387606965884, + -0.33212645305352867, + -0.9277972295663433 + ], + [ + 0.5081214619439984, + -0.8385668541176614, + 0.19651516757518311, + -0.8554851555447112, + -0.46495166811776806, + 0.22795853780270248, + -0.09978841893995015, + -0.28394643419087595, + -0.9536334169667878 + ], + [ + 0.5701127858308427, + -0.7992512627879709, + 0.19018104627966992, + -0.8210927608084753, + -0.5464482262520448, + 0.16492729966233724, + -0.027894257117049417, + -0.25018344261327186, + -0.9677965465231109 + ], + [ + 0.6345634572576347, + -0.7491429704889417, + 0.19003691346746945, + -0.7728442545771083, + -0.6170972615292817, + 0.14799570257347056, + 0.006401318644764842, + -0.24078160141519495, + -0.9705582123394465 + ], + [ + 0.669412960568908, + -0.7118944389745903, + 0.2123501730148188, + -0.7416543205296398, + -0.6568983470199621, + 0.1357697702810178, + 0.04283873319892323, + -0.2483764671612335, + -0.9677158536979833 + ], + [ + 0.6988706044462955, + -0.6848919160122583, + 0.20616241563856258, + -0.7125513410755678, + -0.6916927682664031, + 0.11760825081332357, + 0.06205211174713875, + -0.22909425507641537, + -0.9714243962958223 + ], + [ + 0.7292347131263485, + -0.6620579420354216, + 0.17290464007468018, + -0.6824247647704524, + -0.7221862280066159, + 0.11288707855892395, + 0.05013156290726271, + -0.20031558467927185, + -0.9784480021621367 + ], + [ + 0.7513237125539586, + -0.6464128997055365, + 0.13290237788849507, + -0.6597507883570659, + -0.7404692700058543, + 0.12819577777457095, + 0.015542722295869157, + -0.18399897627779624, + -0.9828035411578228 + ], + [ + 0.8009128281892136, + -0.5886119444766384, + 0.10988457790512085, + -0.5986388593605967, + -0.7911220356840419, + 0.12552864501213215, + 0.01304445113447212, + -0.1663186804738687, + -0.9859857700900314 + ], + [ + 0.8709606743361635, + -0.47977244009974057, + 0.10604673253163133, + -0.4888740387944846, + -0.8677949465325963, + 0.08907359297376718, + 0.04929176353776818, + -0.12942309103567434, + -0.9903635623113906 + ], + [ + 0.916762387652325, + -0.38119190294376165, + 0.11932919892516575, + -0.39057144389849535, + -0.9180652897973735, + 0.06789750275458482, + 0.08367001731237125, + -0.10885245426437627, + -0.990530399030524 + ], + [ + 0.9044490501448208, + -0.4225575834089541, + 0.05845514858176465, + -0.4264276875735762, + -0.8992751858166506, + 0.09728086885447315, + 0.011460495747736759, + -0.11291248326918282, + -0.9935388407904356 + ], + [ + 0.8263742763407189, + -0.5610414151824257, + -0.048353757376797236, + -0.5422138520265001, + -0.8159345853898998, + 0.20063621566207018, + -0.1520187293491751, + -0.13958253047825564, + -0.978471779415405 + ], + [ + 0.7197490157346368, + -0.6895480232855717, + -0.080528739788861, + -0.6529679662583987, + -0.7117923248265413, + 0.25881368077904626, + -0.2357842008901193, + -0.13369820455409265, + -0.9625645956036508 + ], + [ + 0.652741001838596, + -0.7543005845641263, + -0.07042593730269765, + -0.706422497100199, + -0.6396082822795943, + 0.3030981702849197, + -0.2736721398123409, + -0.1480941368372301, + -0.9503534534713757 + ], + [ + 0.6400593966222676, + -0.7662414081021688, + -0.056551510193310534, + -0.7134784443823153, + -0.6200667553868141, + 0.3262908645148681, + -0.285083282914537, + -0.16849725034455074, + -0.9435762811924617 + ], + [ + 0.6649649022428341, + -0.7429710694393226, + -0.07626053213404506, + -0.6998271784465946, + -0.6554872675513366, + 0.2838632811505584, + -0.26089001340154155, + -0.1353899259704066, + -0.9558273739818669 + ], + [ + 0.7020693640695876, + -0.7112836821923552, + -0.03426560202023855, + -0.6954811922151101, + -0.6952196441339084, + 0.18159173352708252, + -0.15298535652138062, + -0.10365891113264886, + -0.9827768367400708 + ], + [ + 0.7125101849534187, + -0.7003207200706779, + 0.04336041255952768, + -0.7000970135131249, + -0.7054377445037159, + 0.11055207053471935, + -0.04683383400543522, + -0.10912597156129858, + -0.9929240224323079 + ], + [ + 0.7138227380521942, + -0.6952638912943436, + 0.08405486364223905, + -0.6997667210530456, + -0.7032987391721512, + 0.12528934346356424, + -0.02799347685331739, + -0.14825317851941372, + -0.9885531651421452 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0015178769826889038, + -0.0013256669044494629, + -0.0026834607124328613, + -0.013022899627685547, + -0.0046371519565582275, + 0.0011059045791625977, + 1.0 + ], + [ + 0.0009033381938934326, + -0.005034346133470535, + -0.00280168280005455, + 0.018301598727703094, + -0.01744428277015686, + -0.04928863048553467, + 1.0 + ], + [ + 0.0005740374326705933, + -0.00818553939461708, + -0.005157470703125, + 0.029090017080307007, + 0.012661367654800415, + -0.035230278968811035, + 1.0 + ], + [ + 0.0016303062438964844, + -0.010970357805490494, + -0.0010089799761772156, + 0.059628717601299286, + 0.060734450817108154, + -0.016298651695251465, + 1.0 + ], + [ + -0.002919614315032959, + -0.019596179947257042, + 0.004253674298524857, + 0.11345943063497543, + 0.19906987249851227, + 0.032334089279174805, + 1.0 + ], + [ + -0.005296915769577026, + -0.01527758315205574, + 0.007740311324596405, + 0.13228517770767212, + 0.18429133296012878, + 0.07521629333496094, + 1.0 + ], + [ + -0.004291608929634094, + -0.004527201876044273, + -0.0024962574243545532, + 0.06579430401325226, + 0.06840221583843231, + 0.01480710506439209, + 1.0 + ], + [ + -0.0022281408309936523, + 0.0055837202817201614, + -0.007790956646203995, + 0.0182054340839386, + 0.02770140767097473, + 0.0018694400787353516, + 1.0 + ], + [ + -0.0020114779472351074, + 0.0067619942128658295, + -0.009080257266759872, + 0.016227543354034424, + -0.005976498126983643, + -0.01277470588684082, + 1.0 + ], + [ + -0.003446146845817566, + 0.0037790825590491295, + -0.010881956666707993, + 0.026169776916503906, + -0.01483827829360962, + -0.04044032096862793, + 1.0 + ], + [ + -0.0010866820812225342, + 0.0007675215601921082, + -0.0036400556564331055, + 0.02182745933532715, + -0.021199971437454224, + -0.010303020477294922, + 1.0 + ], + [ + 0.0010789185762405396, + 0.0003175213932991028, + -0.004578264430165291, + -0.0033355355262756348, + 0.009882420301437378, + 0.0011205673217773438, + 1.0 + ], + [ + 0.002634674310684204, + 0.0047129495069384575, + -0.008422896265983582, + -0.01660206913948059, + 0.014759451150894165, + 0.00918889045715332, + 1.0 + ], + [ + 0.005531981587409973, + 0.0005395408952608705, + -0.0036129560321569443, + -0.001860976219177246, + 0.0008224546909332275, + 0.0078887939453125, + 1.0 + ], + [ + 0.0020557641983032227, + 8.915521902963519e-05, + -0.005682480521500111, + -0.010743886232376099, + 0.020207226276397705, + -0.0017005205154418945, + 1.0 + ], + [ + 0.0017485469579696655, + 0.0008194193942472339, + -0.004570735618472099, + -0.002418607473373413, + 0.015066832304000854, + 0.00858759880065918, + 1.0 + ], + [ + 0.0011305510997772217, + 0.0006796076195314527, + -0.0015800953842699528, + 0.005172163248062134, + 0.006266087293624878, + 0.006787300109863281, + 0.0 + ], + [ + 0.0007779449224472046, + 0.0007511686999350786, + -0.0003735586069524288, + 0.008142650127410889, + 0.0024882853031158447, + 0.00687563419342041, + 0.0 + ], + [ + 0.0013821125030517578, + -0.000148700550198555, + 3.8856640458106995e-05, + 0.0064227283000946045, + -0.0013988018035888672, + -0.004865407943725586, + 0.0 + ], + [ + 0.0003532916307449341, + -0.00032814498990774155, + -1.373467966914177e-05, + -0.001193910837173462, + 2.276897430419922e-05, + -0.012854337692260742, + 0.0 + ], + [ + -0.0017553865909576416, + -0.0003610269632190466, + 0.0042330180294811726, + -0.002877473831176758, + -0.01267293095588684, + -0.0098114013671875, + 0.0 + ], + [ + 0.0009936541318893433, + 0.005397755652666092, + 0.01351725310087204, + -0.002070993185043335, + -0.043735235929489136, + 0.014610886573791504, + 0.0 + ], + [ + 0.00910879671573639, + 0.010158885270357132, + 0.020983349531888962, + -0.004418998956680298, + -0.06458796560764313, + 0.04151618480682373, + 0.0 + ], + [ + 0.01664416491985321, + 0.02191746234893799, + 0.014469888061285019, + -0.01685205101966858, + -0.06325645744800568, + 0.07042253017425537, + 0.0 + ], + [ + 0.018988698720932007, + 0.022873107343912125, + -0.0006651580333709717, + -0.05436676740646362, + -0.07082808762788773, + 0.06633317470550537, + 0.0 + ], + [ + 0.01905924081802368, + 0.020892329514026642, + 0.0022930093109607697, + -0.03642299771308899, + -0.07205690443515778, + 0.07094895839691162, + 0.0 + ], + [ + 0.015720129013061523, + 0.02353440225124359, + 0.01116504892706871, + -0.009794160723686218, + -0.03429923951625824, + 0.08054709434509277, + 0.0 + ], + [ + 0.01596960425376892, + 0.019561506807804108, + 0.015507504343986511, + 0.00806330144405365, + -0.03645048290491104, + 0.04678618907928467, + 0.0 + ], + [ + 0.014732837677001953, + 0.018300339579582214, + 0.005046479403972626, + -0.01963791251182556, + -0.019240155816078186, + 0.04145902395248413, + 0.0 + ], + [ + 0.01181650161743164, + 0.015189945697784424, + -0.004953436553478241, + -0.02966409921646118, + 0.011939417570829391, + 0.04283994436264038, + 0.0 + ], + [ + 0.01045215129852295, + 0.01196373999118805, + -0.009850196540355682, + -0.01686146855354309, + 0.03460923582315445, + 0.031657636165618896, + 0.0 + ], + [ + 0.0037246644496917725, + 0.01699109375476837, + -0.009035035967826843, + -0.01796644926071167, + 0.002498527057468891, + 0.07872879505157471, + 0.0 + ], + [ + -0.0036745667457580566, + 0.017602726817131042, + -0.008938979357481003, + -0.03716351091861725, + -0.03626692295074463, + 0.13038361072540283, + 0.0 + ], + [ + -0.006095975637435913, + 0.01370328664779663, + -0.003182731568813324, + -0.020492106676101685, + -0.03445620462298393, + 0.1087350845336914, + 0.0 + ], + [ + 0.0056227147579193115, + 0.010533243417739868, + -0.002217154949903488, + 0.0037073567509651184, + 0.07230720669031143, + -0.03782498836517334, + 0.0 + ], + [ + 0.017368346452713013, + -0.001469045877456665, + -0.008453760296106339, + 0.028536327183246613, + 0.16407117247581482, + -0.1401059627532959, + 0.0 + ], + [ + 0.015409588813781738, + 0.0009416788816452026, + -0.004752129316329956, + -0.0036827176809310913, + 0.08541502058506012, + -0.15611106157302856, + 0.0 + ], + [ + 0.009164184331893921, + 0.004795238375663757, + 0.001698184758424759, + 0.016572430729866028, + 0.039183422923088074, + -0.08808594942092896, + 0.0 + ], + [ + 0.005589991807937622, + -0.0022282451391220093, + 0.0017739608883857727, + 0.022123083472251892, + 0.011884450912475586, + -0.014713764190673828, + 1.0 + ], + [ + -0.005563169717788696, + 0.0003781169652938843, + 0.0005122721195220947, + -0.03599962592124939, + -0.025149285793304443, + 0.028650760650634766, + 1.0 + ], + [ + -0.012985438108444214, + 0.0073079913854599, + -0.014785710722208023, + -0.03562377393245697, + -0.11035554111003876, + 0.030252516269683838, + 1.0 + ], + [ + -0.005367666482925415, + 0.0024801790714263916, + 0.007798902690410614, + 0.004377342760562897, + -0.10673751682043076, + 0.004073143005371094, + 1.0 + ], + [ + -0.004413723945617676, + -0.001025363802909851, + 0.014262888580560684, + 0.039396144449710846, + -0.018853837624192238, + 0.0011559724807739258, + 1.0 + ], + [ + -0.004270792007446289, + -0.007377266883850098, + 0.025888510048389435, + 0.044497668743133545, + -0.05328749120235443, + 0.004764199256896973, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9468915462493896 + ], + [ + 0.6591242551803589 + ], + [ + 0.35109609365463257 + ], + [ + 0.14915025234222412 + ], + [ + 0.0686454325914383 + ], + [ + 0.058401256799697876 + ], + [ + 0.05784503370523453 + ], + [ + 0.05619491636753082 + ], + [ + 0.05619491636753082 + ], + [ + 0.05619491636753082 + ], + [ + 0.05592256039381027 + ], + [ + 0.05592256039381027 + ], + [ + 0.05565106123685837 + ], + [ + 0.05565106123685837 + ], + [ + 0.05565106123685837 + ], + [ + 0.05565106123685837 + ], + [ + 0.05565106123685837 + ], + [ + 0.05592256039381027 + ], + [ + 0.05565106123685837 + ], + [ + 0.05565106123685837 + ], + [ + 0.05565106123685837 + ], + [ + 0.05592256039381027 + ], + [ + 0.07112513482570648 + ], + [ + 0.2135835438966751 + ], + [ + 0.4699908196926117 + ], + [ + 0.7739869356155396 + ], + [ + 0.9954678416252136 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.17390726506710052, + 0.04203665256500244, + 0.0648173987865448 + ], + [ + 0.17481060326099396, + 0.037002306431531906, + 0.06201571598649025 + ], + [ + 0.17538464069366455, + 0.028816767036914825, + 0.05685824528336525 + ], + [ + 0.17701494693756104, + 0.01784640923142433, + 0.055849265307188034 + ], + [ + 0.17409533262252808, + -0.0017497703665867448, + 0.06010293960571289 + ], + [ + 0.16879841685295105, + -0.01702735386788845, + 0.0678432509303093 + ], + [ + 0.16450680792331696, + -0.021554555743932724, + 0.06534699350595474 + ], + [ + 0.1622786670923233, + -0.015970835462212563, + 0.05755603685975075 + ], + [ + 0.1602671891450882, + -0.009208841249346733, + 0.048475779592990875 + ], + [ + 0.15682104229927063, + -0.005429758690297604, + 0.03759382292628288 + ], + [ + 0.1557343602180481, + -0.0046622371301054955, + 0.03395376726984978 + ], + [ + 0.15681327879428864, + -0.004344715736806393, + 0.029375502839684486 + ], + [ + 0.15944795310497284, + 0.0003682337119244039, + 0.020952606573700905 + ], + [ + 0.1649799346923828, + 0.0009077746071852744, + 0.01733965054154396 + ], + [ + 0.16703569889068604, + 0.0009969298262149096, + 0.01165717002004385 + ], + [ + 0.1687842458486557, + 0.0018163492204621434, + 0.007086434401571751 + ], + [ + 0.16991479694843292, + 0.002495956839993596, + 0.005506339017301798 + ], + [ + 0.17069274187088013, + 0.0032471255399286747, + 0.005132780410349369 + ], + [ + 0.17207485437393188, + 0.0030984249897301197, + 0.005171637050807476 + ], + [ + 0.17242814600467682, + 0.002770279999822378, + 0.005157902371138334 + ], + [ + 0.17067275941371918, + 0.0024092530366033316, + 0.009390920400619507 + ], + [ + 0.17166641354560852, + 0.007807008922100067, + 0.022908173501491547 + ], + [ + 0.1807752102613449, + 0.0179658941924572, + 0.04389152303338051 + ], + [ + 0.19741937518119812, + 0.03988335654139519, + 0.05836141109466553 + ], + [ + 0.21640807390213013, + 0.06275646388530731, + 0.057696253061294556 + ], + [ + 0.2354673147201538, + 0.08364879339933395, + 0.059989262372255325 + ], + [ + 0.25118744373321533, + 0.10718319565057755, + 0.07115431129932404 + ], + [ + 0.26715704798698425, + 0.12674470245838165, + 0.08666181564331055 + ], + [ + 0.2818898856639862, + 0.14504504203796387, + 0.09170829504728317 + ], + [ + 0.29370638728141785, + 0.1602349877357483, + 0.08675485849380493 + ], + [ + 0.3041585385799408, + 0.17219872772693634, + 0.07690466195344925 + ], + [ + 0.30788320302963257, + 0.1891898214817047, + 0.0678696259856224 + ], + [ + 0.3042086362838745, + 0.20679254829883575, + 0.0589306466281414 + ], + [ + 0.2981126606464386, + 0.22049583494663239, + 0.05574791505932808 + ], + [ + 0.3037353754043579, + 0.23102907836437225, + 0.05353076010942459 + ], + [ + 0.3211037218570709, + 0.2295600324869156, + 0.04507699981331825 + ], + [ + 0.33651331067085266, + 0.2305017113685608, + 0.040324870496988297 + ], + [ + 0.3456774950027466, + 0.23529694974422455, + 0.042023055255413055 + ], + [ + 0.3512674868106842, + 0.23306870460510254, + 0.04379701614379883 + ], + [ + 0.3457043170928955, + 0.23344682157039642, + 0.04430928826332092 + ], + [ + 0.3327188789844513, + 0.24075481295585632, + 0.0295235775411129 + ], + [ + 0.3273512125015259, + 0.24323499202728271, + 0.037322480231523514 + ], + [ + 0.3229374885559082, + 0.24220962822437286, + 0.0515853688120842 + ], + [ + 0.3186666965484619, + 0.23483236134052277, + 0.07747387886047363 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.35573383263134883, + -0.9340221913708473, + -0.03249594356548709, + -0.9118227586506147, + -0.33923153896711244, + -0.23130330688683837, + 0.2050187726238598, + 0.11191295276599722, + -0.9723388266828602 + ], + [ + 0.30919622286681114, + -0.9507644300320853, + -0.021087777281197123, + -0.9247090646568762, + -0.2953971751243569, + -0.24011175454349415, + 0.22206044561403196, + 0.09374170637615958, + -0.9705161775979747 + ], + [ + 0.2772082802670384, + -0.960796434965695, + -0.005077391909488138, + -0.9376472859793137, + -0.2693684043414461, + -0.219677558795091, + 0.20969772637541523, + 0.06565724103063326, + -0.9755593217499523 + ], + [ + 0.2648160303931676, + -0.9637385552668847, + 0.03287045997400366, + -0.952566753456189, + -0.2667432305352131, + -0.1465081198213048, + 0.14996349641409606, + 0.007486391369396189, + -0.9886631902157192 + ], + [ + 0.2985002053338316, + -0.9504870621555486, + 0.08644056970297107, + -0.9531754767134106, + -0.2922847138682686, + 0.0776283236396756, + -0.04851946009409239, + -0.10556510178017257, + -0.9932280056856628 + ], + [ + 0.3597424256678589, + -0.9230407823118579, + 0.13631251359914875, + -0.9040730936883575, + -0.30870272940784577, + 0.2955578896340083, + -0.2307319406657155, + -0.22956118802023018, + -0.9455498043526703 + ], + [ + 0.3661698504296598, + -0.9152788002206601, + 0.16788197789801373, + -0.881981018525701, + -0.28384117877741283, + 0.3762228969515487, + -0.2966970232352988, + -0.28583019976356133, + -0.9111926104323032 + ], + [ + 0.3645116972804363, + -0.9147634544414847, + 0.17418106947661374, + -0.8733729685444138, + -0.27095417686558854, + 0.4047264407658701, + -0.3230338687531906, + -0.2996525595708683, + -0.8976956406160015 + ], + [ + 0.3540396373075022, + -0.9144173903651145, + 0.19620594132957747, + -0.8797334349804176, + -0.2544253258881951, + 0.40166757016747157, + -0.3173720507428581, + -0.31481516758971284, + -0.8945202019310314 + ], + [ + 0.31972817848195, + -0.9163973419717669, + 0.2408107213387617, + -0.8976654933598035, + -0.21161722925118498, + 0.38654211971679336, + -0.303266473444914, + -0.3397558828204919, + -0.8902782633385773 + ], + [ + 0.31248747214833583, + -0.9104790926425544, + 0.27088632599511836, + -0.9067874957475152, + -0.2009557650310042, + 0.3706119507743294, + -0.2829982637867115, + -0.3614479248267921, + -0.8884072153759852 + ], + [ + 0.3125739511280943, + -0.9123067078789118, + 0.26456378405842645, + -0.9037494572820859, + -0.1998688230964175, + 0.37853582659556556, + -0.2924627216219306, + -0.35741981522181293, + -0.8869704798629424 + ], + [ + 0.3193818272850184, + -0.9163333540146432, + 0.2415128003240345, + -0.8966748195270982, + -0.20978578239427792, + 0.3898258502604287, + -0.30654447707653815, + -0.3410617390231495, + -0.8886548113572426 + ], + [ + 0.32635892252101495, + -0.9151877527037633, + 0.23647670285243283, + -0.8938902763487526, + -0.21747436560439792, + 0.39200137009214076, + -0.30732723201837, + -0.3393173700328357, + -0.8890521328099533 + ], + [ + 0.32265228116503275, + -0.9203181795426252, + 0.22115594919049592, + -0.8884245507073101, + -0.2138703545340619, + 0.4061542676766907, + -0.3264924549809917, + -0.3275269757666126, + -0.8866390229319157 + ], + [ + 0.3285134433837486, + -0.9206798697366805, + 0.21077830765475272, + -0.8809115368556404, + -0.21817060418331108, + 0.4199957758179513, + -0.34069602544025424, + -0.3236513014525633, + -0.8827094954271624 + ], + [ + 0.33371877272083, + -0.918821026948933, + 0.21071236596415185, + -0.8766491501491145, + -0.22031197632944416, + 0.42772526302364866, + -0.34658050764077597, + -0.32746076638632926, + -0.8790059147702816 + ], + [ + 0.3394249580030384, + -0.91586379260079, + 0.2144392951106048, + -0.8735273730209252, + -0.22234647833392296, + 0.4330265259261421, + -0.34891349424720897, + -0.3342986045071079, + -0.8755020368661648 + ], + [ + 0.3353451159444726, + -0.9153549549219538, + 0.22286533986247414, + -0.8756233908105656, + -0.2155529999893181, + 0.43222746518588157, + -0.3476022593102578, + -0.34009147401167367, + -0.8737908551976106 + ], + [ + 0.32405942686482864, + -0.9183247530586266, + 0.22729966075612812, + -0.879854144028915, + -0.2042744230611982, + 0.42910213856162455, + -0.34762360836856837, + -0.33904514154139825, + -0.8741888920033182 + ], + [ + 0.31686793714093875, + -0.9195090891634398, + 0.2325892202099385, + -0.8870688796582532, + -0.20050771197653483, + 0.41581902335004606, + -0.3357134390427308, + -0.33808237514510586, + -0.8792023626346475 + ], + [ + 0.33461806421083756, + -0.9117611353230629, + 0.23816461369857508, + -0.8952497385376558, + -0.22866690794392636, + 0.3824125401443094, + -0.294208525967639, + -0.34117895205560916, + -0.8927699960920426 + ], + [ + 0.3780927009119047, + -0.8939131425985583, + 0.24075963741190212, + -0.896250137302425, + -0.2882951898934919, + 0.3370779952320528, + -0.23190860463235355, + -0.3432275877225563, + -0.9101720837971408 + ], + [ + 0.44597360395713587, + -0.8654857229961149, + 0.2281271747586779, + -0.8787623254227409, + -0.37500197662409035, + 0.2952122845439234, + -0.16995387606965884, + -0.33212645305352867, + -0.9277972295663433 + ], + [ + 0.5081214619439984, + -0.8385668541176614, + 0.19651516757518311, + -0.8554851555447112, + -0.46495166811776806, + 0.22795853780270248, + -0.09978841893995015, + -0.28394643419087595, + -0.9536334169667878 + ], + [ + 0.5701127858308427, + -0.7992512627879709, + 0.19018104627966992, + -0.8210927608084753, + -0.5464482262520448, + 0.16492729966233724, + -0.027894257117049417, + -0.25018344261327186, + -0.9677965465231109 + ], + [ + 0.6345634572576347, + -0.7491429704889417, + 0.19003691346746945, + -0.7728442545771083, + -0.6170972615292817, + 0.14799570257347056, + 0.006401318644764842, + -0.24078160141519495, + -0.9705582123394465 + ], + [ + 0.669412960568908, + -0.7118944389745903, + 0.2123501730148188, + -0.7416543205296398, + -0.6568983470199621, + 0.1357697702810178, + 0.04283873319892323, + -0.2483764671612335, + -0.9677158536979833 + ], + [ + 0.6988706044462955, + -0.6848919160122583, + 0.20616241563856258, + -0.7125513410755678, + -0.6916927682664031, + 0.11760825081332357, + 0.06205211174713875, + -0.22909425507641537, + -0.9714243962958223 + ], + [ + 0.7292347131263485, + -0.6620579420354216, + 0.17290464007468018, + -0.6824247647704524, + -0.7221862280066159, + 0.11288707855892395, + 0.05013156290726271, + -0.20031558467927185, + -0.9784480021621367 + ], + [ + 0.7513237125539586, + -0.6464128997055365, + 0.13290237788849507, + -0.6597507883570659, + -0.7404692700058543, + 0.12819577777457095, + 0.015542722295869157, + -0.18399897627779624, + -0.9828035411578228 + ], + [ + 0.8009128281892136, + -0.5886119444766384, + 0.10988457790512085, + -0.5986388593605967, + -0.7911220356840419, + 0.12552864501213215, + 0.01304445113447212, + -0.1663186804738687, + -0.9859857700900314 + ], + [ + 0.8709606743361635, + -0.47977244009974057, + 0.10604673253163133, + -0.4888740387944846, + -0.8677949465325963, + 0.08907359297376718, + 0.04929176353776818, + -0.12942309103567434, + -0.9903635623113906 + ], + [ + 0.916762387652325, + -0.38119190294376165, + 0.11932919892516575, + -0.39057144389849535, + -0.9180652897973735, + 0.06789750275458482, + 0.08367001731237125, + -0.10885245426437627, + -0.990530399030524 + ], + [ + 0.9044490501448208, + -0.4225575834089541, + 0.05845514858176465, + -0.4264276875735762, + -0.8992751858166506, + 0.09728086885447315, + 0.011460495747736759, + -0.11291248326918282, + -0.9935388407904356 + ], + [ + 0.8263742763407189, + -0.5610414151824257, + -0.048353757376797236, + -0.5422138520265001, + -0.8159345853898998, + 0.20063621566207018, + -0.1520187293491751, + -0.13958253047825564, + -0.978471779415405 + ], + [ + 0.7197490157346368, + -0.6895480232855717, + -0.080528739788861, + -0.6529679662583987, + -0.7117923248265413, + 0.25881368077904626, + -0.2357842008901193, + -0.13369820455409265, + -0.9625645956036508 + ], + [ + 0.652741001838596, + -0.7543005845641263, + -0.07042593730269765, + -0.706422497100199, + -0.6396082822795943, + 0.3030981702849197, + -0.2736721398123409, + -0.1480941368372301, + -0.9503534534713757 + ], + [ + 0.6400593966222676, + -0.7662414081021688, + -0.056551510193310534, + -0.7134784443823153, + -0.6200667553868141, + 0.3262908645148681, + -0.285083282914537, + -0.16849725034455074, + -0.9435762811924617 + ], + [ + 0.6649649022428341, + -0.7429710694393226, + -0.07626053213404506, + -0.6998271784465946, + -0.6554872675513366, + 0.2838632811505584, + -0.26089001340154155, + -0.1353899259704066, + -0.9558273739818669 + ], + [ + 0.7020693640695876, + -0.7112836821923552, + -0.03426560202023855, + -0.6954811922151101, + -0.6952196441339084, + 0.18159173352708252, + -0.15298535652138062, + -0.10365891113264886, + -0.9827768367400708 + ], + [ + 0.7125101849534187, + -0.7003207200706779, + 0.04336041255952768, + -0.7000970135131249, + -0.7054377445037159, + 0.11055207053471935, + -0.04683383400543522, + -0.10912597156129858, + -0.9929240224323079 + ], + [ + 0.7138227380521942, + -0.6952638912943436, + 0.08405486364223905, + -0.6997667210530456, + -0.7032987391721512, + 0.12528934346356424, + -0.02799347685331739, + -0.14825317851941372, + -0.9885531651421452 + ], + [ + 0.7172001864284157, + -0.680162818414857, + 0.15166553014117654, + -0.6964082327846762, + -0.7074449832177184, + 0.12057018300478034, + 0.025287662936104516, + -0.19209408154870444, + -0.9810506602297302 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006260.json b/json/chunk-0006/episode_0006260.json new file mode 100644 index 0000000000000000000000000000000000000000..26efaa018770e3270f25f420b5597a8585a5875f --- /dev/null +++ b/json/chunk-0006/episode_0006260.json @@ -0,0 +1,1822 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 29, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nClose microwave." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006260.mp4", + "start": 0, + "end": 29, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.1963658332824707, + 0.010549208149313927, + 0.152507022023201, + -0.08299484848976135, + -0.10794036090373993, + -0.17110112309455872, + 0.0, + 1.0008161067962646 + ], + [ + 0.19370895624160767, + 0.009961317293345928, + 0.14954936504364014, + -0.0914413332939148, + -0.09173471480607986, + -0.1718626171350479, + 0.0, + 1.0008161067962646 + ], + [ + 0.1857530027627945, + 0.0197278019040823, + 0.16869983077049255, + -0.12032043188810349, + -0.09582026302814484, + -0.17540697753429413, + 0.0, + 1.0008161067962646 + ], + [ + 0.17856748402118683, + 0.045779142528772354, + 0.18195919692516327, + -0.1431370973587036, + -0.10414203256368637, + -0.11189005523920059, + 0.0, + 1.0008161067962646 + ], + [ + 0.17232652008533478, + 0.0704483687877655, + 0.18467240035533905, + -0.1085604876279831, + -0.1394541710615158, + -0.05984153971076012, + 0.0, + 1.0008161067962646 + ], + [ + 0.17379961907863617, + 0.0924413651227951, + 0.17658758163452148, + -0.06959416717290878, + -0.15870432555675507, + -0.017990780994296074, + 0.0, + 1.0008161067962646 + ], + [ + 0.17864814400672913, + 0.09808690845966339, + 0.15331639349460602, + -0.059229426085948944, + -0.1268286257982254, + 0.005098629277199507, + 0.0, + 1.0008161067962646 + ], + [ + 0.18460871279239655, + 0.1004210114479065, + 0.1410260796546936, + -0.0372229740023613, + -0.13802273571491241, + 0.04135136678814888, + 0.0, + 1.0008161067962646 + ], + [ + 0.1946662813425064, + 0.09754098951816559, + 0.118743896484375, + -0.03135399892926216, + -0.08839031308889389, + 0.07640226185321808, + 0.0, + 1.0008161067962646 + ], + [ + 0.20059439539909363, + 0.08177343010902405, + 0.11705878376960754, + -0.048614613711833954, + -0.08533589541912079, + 0.0621844120323658, + 0.0, + 1.0008161067962646 + ], + [ + 0.20902812480926514, + 0.05684274435043335, + 0.11672306805849075, + -0.05775076150894165, + -0.08438508212566376, + 0.03329984471201897, + 0.0, + 1.0008161067962646 + ], + [ + 0.21500059962272644, + 0.02922258898615837, + 0.1179611012339592, + -0.07990866899490356, + -0.07833497226238251, + 0.028117703273892403, + 0.0, + 1.0008161067962646 + ], + [ + 0.2263198047876358, + 0.007292885798960924, + 0.14983467757701874, + -0.10573374480009079, + -0.1428639441728592, + 0.03762655705213547, + 0.0, + 1.0008161067962646 + ], + [ + 0.2207193523645401, + -0.007991529069840908, + 0.20056496560573578, + -0.1696818768978119, + -0.21928942203521729, + 0.06541970372200012, + 0.0, + 1.0008161067962646 + ], + [ + 0.2034750133752823, + -0.02807735837996006, + 0.21474961936473846, + -0.1952185034751892, + -0.14119289815425873, + 0.020823176950216293, + 0.0, + 1.0008161067962646 + ], + [ + 0.18185639381408691, + -0.013140653260052204, + 0.18976372480392456, + -0.09185507893562317, + -0.14077654480934143, + -0.025480132550001144, + 0.0, + 1.0008161067962646 + ], + [ + 0.17656603455543518, + 0.03206421434879303, + 0.14914889633655548, + 0.02780219353735447, + -0.06931470334529877, + 0.04220222681760788, + 0.0, + 1.0008161067962646 + ], + [ + 0.17989161610603333, + 0.06043047457933426, + 0.11415042728185654, + 0.12499221414327621, + -0.03206729516386986, + 0.061322301626205444, + 0.0, + 1.0008161067962646 + ], + [ + 0.19379611313343048, + 0.0680902972817421, + 0.09027010202407837, + 0.17451085150241852, + -0.01125333458185196, + 0.08102825284004211, + 0.0, + 1.0008161067962646 + ], + [ + 0.22800958156585693, + 0.06154166907072067, + 0.08958140015602112, + 0.16268807649612427, + -0.04304620251059532, + 0.0994950607419014, + 0.0, + 1.0008161067962646 + ], + [ + 0.25337883830070496, + 0.04382437840104103, + 0.0925055742263794, + 0.1310836672782898, + -0.06987320631742477, + 0.09207215905189514, + 0.0, + 1.0008161067962646 + ], + [ + 0.2713187634944916, + 0.026645898818969727, + 0.09826093912124634, + 0.09794697910547256, + -0.09850907325744629, + 0.0593586303293705, + 0.0, + 1.0008161067962646 + ], + [ + 0.29023170471191406, + 0.013189823366701603, + 0.1063767746090889, + 0.06541025638580322, + -0.1428365856409073, + 0.05299357697367668, + 0.0, + 1.0008161067962646 + ], + [ + 0.30222007632255554, + 0.009317057207226753, + 0.10647791624069214, + 0.060093823820352554, + -0.1835995465517044, + 0.036664776504039764, + 0.0, + 1.0008161067962646 + ], + [ + 0.31587398052215576, + 0.005791712086647749, + 0.10616113245487213, + 0.041855338960886, + -0.27759188413619995, + 0.009463285095989704, + 0.0, + 1.0008161067962646 + ], + [ + 0.3166927695274353, + 0.010561028495430946, + 0.10503032803535461, + 0.0252677109092474, + -0.3069336414337158, + 0.01628863997757435, + 0.0, + 1.0008161067962646 + ], + [ + 0.295732706785202, + 0.02128693275153637, + 0.10249143838882446, + 0.06013282760977745, + -0.16675901412963867, + 0.03792250156402588, + 0.0, + 1.0008161067962646 + ], + [ + 0.2631952166557312, + 0.03433084487915039, + 0.10058857500553131, + 0.08377828449010849, + 0.03351934254169464, + 0.08351834118366241, + 0.0, + 1.0008161067962646 + ], + [ + 0.24660931527614594, + 0.03293289616703987, + 0.09835102409124374, + 0.04102538526058197, + -0.012265396304428577, + 0.021650642156600952, + 0.0, + 1.0008161067962646 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.1963658332824707, + 0.010549208149313927, + 0.152507022023201 + ], + [ + 0.19370895624160767, + 0.009961317293345928, + 0.14954936504364014 + ], + [ + 0.1857530027627945, + 0.0197278019040823, + 0.16869983077049255 + ], + [ + 0.17856748402118683, + 0.045779142528772354, + 0.18195919692516327 + ], + [ + 0.17232652008533478, + 0.0704483687877655, + 0.18467240035533905 + ], + [ + 0.17379961907863617, + 0.0924413651227951, + 0.17658758163452148 + ], + [ + 0.17864814400672913, + 0.09808690845966339, + 0.15331639349460602 + ], + [ + 0.18460871279239655, + 0.1004210114479065, + 0.1410260796546936 + ], + [ + 0.1946662813425064, + 0.09754098951816559, + 0.118743896484375 + ], + [ + 0.20059439539909363, + 0.08177343010902405, + 0.11705878376960754 + ], + [ + 0.20902812480926514, + 0.05684274435043335, + 0.11672306805849075 + ], + [ + 0.21500059962272644, + 0.02922258898615837, + 0.1179611012339592 + ], + [ + 0.2263198047876358, + 0.007292885798960924, + 0.14983467757701874 + ], + [ + 0.2207193523645401, + -0.007991529069840908, + 0.20056496560573578 + ], + [ + 0.2034750133752823, + -0.02807735837996006, + 0.21474961936473846 + ], + [ + 0.18185639381408691, + -0.013140653260052204, + 0.18976372480392456 + ], + [ + 0.17656603455543518, + 0.03206421434879303, + 0.14914889633655548 + ], + [ + 0.17989161610603333, + 0.06043047457933426, + 0.11415042728185654 + ], + [ + 0.19379611313343048, + 0.0680902972817421, + 0.09027010202407837 + ], + [ + 0.22800958156585693, + 0.06154166907072067, + 0.08958140015602112 + ], + [ + 0.25337883830070496, + 0.04382437840104103, + 0.0925055742263794 + ], + [ + 0.2713187634944916, + 0.026645898818969727, + 0.09826093912124634 + ], + [ + 0.29023170471191406, + 0.013189823366701603, + 0.1063767746090889 + ], + [ + 0.30222007632255554, + 0.009317057207226753, + 0.10647791624069214 + ], + [ + 0.31587398052215576, + 0.005791712086647749, + 0.10616113245487213 + ], + [ + 0.3166927695274353, + 0.010561028495430946, + 0.10503032803535461 + ], + [ + 0.295732706785202, + 0.02128693275153637, + 0.10249143838882446 + ], + [ + 0.2631952166557312, + 0.03433084487915039, + 0.10058857500553131 + ], + [ + 0.24660931527614594, + 0.03293289616703987, + 0.09835102409124374 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9796629550828094, + -0.17848185693730814, + 0.09167726644390971, + -0.16927655547839185, + -0.9804854118697555, + -0.09996901958090267, + 0.10773087859935175, + 0.08241713326005855, + -0.9907580299656448 + ], + [ + 0.9811252000003122, + -0.17854501888505792, + 0.07426316823083762, + -0.1702987465466092, + -0.979721087677731, + -0.10556953767170414, + 0.09160610705079181, + 0.09093000929779961, + -0.9916350410106033 + ], + [ + 0.980138737894442, + -0.18455475939938903, + 0.07257820100914697, + -0.17370836886735375, + -0.9755327454249253, + -0.13476373840596495, + 0.09567370100573028, + 0.11947971956253338, + -0.988216140097461 + ], + [ + 0.9883628324248795, + -0.12525103542404226, + 0.08631969419706535, + -0.11105179253346756, + -0.9819284019691678, + -0.15324527001307514, + 0.10395388812436622, + 0.14187597235431354, + -0.984410888609195 + ], + [ + 0.9885194216964664, + -0.07448736885557485, + 0.13145715959907583, + -0.05922523649703718, + -0.9914329522454127, + -0.11641766431180003, + 0.13900260533800574, + 0.1072955408342699, + -0.9844622606409694 + ], + [ + 0.9872730831801928, + -0.028934196953751747, + 0.15637989472600802, + -0.01776373038063115, + -0.9972201623622627, + -0.07236295779711002, + 0.1580389480819209, + 0.0686641101655267, + -0.9850426035783103 + ], + [ + 0.9919551314492129, + -0.0023977204193349907, + 0.1265672474551181, + 0.00505765530125484, + -0.9982716508235926, + -0.058550245813253354, + 0.12648888217716248, + 0.05871935029212608, + -0.99022855977135 + ], + [ + 0.9896432576498477, + 0.03619518680432644, + 0.13891051450627429, + 0.04094644258983873, + -0.9986647156401248, + -0.03149880274972973, + 0.13758492441919268, + 0.03686046917266862, + -0.9898038666245634 + ], + [ + 0.9931902741746558, + 0.07353118203551384, + 0.0903672758985924, + 0.07602997773840198, + -0.9968039286797702, + -0.02452285166275998, + 0.08827526137016133, + 0.03122647974133101, + -0.9956065413570734 + ], + [ + 0.9944353073225054, + 0.05793702127585555, + 0.08798705084314966, + 0.061918205998573936, + -0.9971453943919477, + -0.043211088956943144, + 0.08523236073412553, + 0.04841863286595102, + -0.9951839431356798 + ], + [ + 0.995889275311146, + 0.028376067552803547, + 0.08601947518137631, + 0.03317522156760717, + -0.9979413914975019, + -0.05488518752787371, + 0.08428496896944826, + 0.057513284780721936, + -0.9947805115097255 + ], + [ + 0.9965393202840545, + 0.021780165165361694, + 0.08021849869677695, + 0.028027783602022315, + -0.996590602225836, + -0.07759906508138137, + 0.07825488147172323, + 0.07957886629323024, + -0.9937521710996818 + ], + [ + 0.9891117075349632, + 0.022392061289016607, + 0.14545317325001195, + 0.03723444140343034, + -0.994276800483056, + -0.10013610934399052, + 0.1423784618214552, + 0.10446166575546283, + -0.9842845797821635 + ], + [ + 0.9739643930726244, + 0.02777771440072656, + 0.224992799016649, + 0.06380751448618975, + -0.9859316359588804, + -0.15449080979314134, + 0.21753611682148147, + 0.16482477907801835, + -0.9620347343418082 + ], + [ + 0.9898341938301232, + -0.006865725164265272, + 0.14206030600642533, + 0.020614472166292988, + -0.9813610170337081, + -0.1910643812537316, + 0.14072424191295385, + 0.19205055601204318, + -0.97124315785157 + ], + [ + 0.9897859463350731, + -0.03823604786245777, + 0.1373382142065493, + -0.02522533642025805, + -0.9951331546915101, + -0.09525590184449628, + 0.14031201958516948, + 0.09081855029443789, + -0.9859333284164544 + ], + [ + 0.9967104538712869, + 0.044096991959968294, + 0.06799798852742626, + 0.04208839047966278, + -0.9986422779400628, + 0.030694756840768802, + 0.06925921260399177, + -0.02773185912925751, + -0.9972131695172854 + ], + [ + 0.9976072314719919, + 0.06479531385120936, + 0.024111802456698056, + 0.06125236911441663, + -0.9900887236753452, + 0.1263822239430738, + 0.03206179958546952, + -0.12460291551103159, + -0.9916885370182978 + ], + [ + 0.9966558964898037, + 0.08165769597535301, + -0.0030074374644010835, + 0.08093449078416988, + -0.9814222830891864, + 0.17395375953831976, + 0.011253097067589314, + -0.17361544558018238, + -0.9847492294296969 + ], + [ + 0.9941326848071733, + 0.10495499542929453, + 0.02616589254196781, + 0.09923897254052992, + -0.9812228627737082, + 0.16538839106560135, + 0.043032909815407444, + -0.1618213289545142, + -0.9858813448728064 + ], + [ + 0.9933345483813073, + 0.10024028579461425, + 0.05690659097080664, + 0.09171777561777966, + -0.9863824949220409, + 0.13651894867415654, + 0.06981636361077005, + -0.1303896422849009, + -0.9890016261649849 + ], + [ + 0.9933992358729864, + 0.0686401760155418, + 0.09190475724097312, + 0.059036171244180494, + -0.9928837067178751, + 0.10342473311060792, + 0.09834982791949641, + -0.09731634585581254, + -0.9903821687497597 + ], + [ + 0.9884266523361965, + 0.06214704356833084, + 0.13838532410330137, + 0.052429352527044545, + -0.9959678294677757, + 0.07279591787210683, + 0.1423513819569542, + -0.06469797246408594, + -0.987699476771139 + ], + [ + 0.9825321132576251, + 0.047547739747164315, + 0.17991625513677645, + 0.0360404715936028, + -0.9971221162682219, + 0.06669759857816347, + 0.18256979713199117, + -0.05904826579772733, + -0.9814181430366289 + ], + [ + 0.9616750850804215, + 0.020921052525040368, + 0.27339228280404826, + 0.009100877174052816, + -0.9989709447108382, + 0.044432259206553804, + 0.27404051665807927, + -0.04024128706664441, + -0.9608758681770466 + ], + [ + 0.9531380532271352, + 0.02391520607675358, + 0.30158898257179956, + 0.015526695802134175, + -0.9994238399519776, + 0.030181283158806464, + 0.3021370106555217, + -0.024084249084214235, + -0.9529602172904149 + ], + [ + 0.9854189090233118, + 0.04781298025323767, + 0.16328959752112074, + 0.03738747434711158, + -0.9970966974995431, + 0.06633515355713548, + 0.1659871998114619, + -0.05926292900969523, + -0.9843455464134236 + ], + [ + 0.9959546075471118, + 0.08033408423330762, + -0.04025983874873115, + 0.08337442115941227, + -0.9932531924723714, + 0.08060273903394939, + -0.033513066138611505, + -0.0836333100734261, + -0.9959329012760603 + ], + [ + 0.9996904326007788, + 0.022133655771576475, + 0.011363989117049835, + 0.021647322325641653, + -0.998913517847211, + 0.04126956867037475, + 0.012265088772481189, + -0.04101079302201263, + -0.9990834211681766 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.002656877040863037, + -0.0005878908559679985, + -0.002957656979560852, + -0.008446484804153442, + 0.016205646097660065, + -0.0007614940404891968, + 1.0 + ], + [ + -0.007955953478813171, + 0.00976648461073637, + 0.019150465726852417, + -0.02887909859418869, + -0.004085548222064972, + -0.003544360399246216, + 1.0 + ], + [ + -0.007185518741607666, + 0.026051340624690056, + 0.013259366154670715, + -0.022816665470600128, + -0.008321769535541534, + 0.06351692229509354, + 1.0 + ], + [ + -0.006240963935852051, + 0.02466922625899315, + 0.0027132034301757812, + 0.03457660973072052, + -0.03531213849782944, + 0.052048515528440475, + 1.0 + ], + [ + 0.0014730989933013916, + 0.021992996335029602, + -0.008084818720817566, + 0.03896632045507431, + -0.019250154495239258, + 0.04185076057910919, + 1.0 + ], + [ + 0.0048485249280929565, + 0.005645543336868286, + -0.023271188139915466, + 0.010364741086959839, + 0.03187569975852966, + 0.023089410737156868, + 1.0 + ], + [ + 0.005960568785667419, + 0.002334102988243103, + -0.012290313839912415, + 0.022006452083587646, + -0.011194109916687012, + 0.036252737045288086, + 1.0 + ], + [ + 0.010057568550109863, + -0.0028800219297409058, + -0.022282183170318604, + 0.005868975073099136, + 0.049632422626018524, + 0.0350508950650692, + 1.0 + ], + [ + 0.005928114056587219, + -0.01576755940914154, + -0.001685112714767456, + -0.017260614782571793, + 0.003054417669773102, + -0.01421784982085228, + 1.0 + ], + [ + 0.008433729410171509, + -0.024930685758590698, + -0.00033571571111679077, + -0.009136147797107697, + 0.0009508132934570312, + -0.028884567320346832, + 1.0 + ], + [ + 0.005972474813461304, + -0.02762015536427498, + 0.0012380331754684448, + -0.022157907485961914, + 0.00605010986328125, + -0.005182141438126564, + 1.0 + ], + [ + 0.011319205164909363, + -0.021929703652858734, + 0.03187357634305954, + -0.025825075805187225, + -0.06452897191047668, + 0.009508853778243065, + 1.0 + ], + [ + -0.005600452423095703, + -0.01528441533446312, + 0.05073028802871704, + -0.0639481320977211, + -0.0764254778623581, + 0.027793146669864655, + 1.0 + ], + [ + -0.017244338989257812, + -0.020085830241441727, + 0.014184653759002686, + -0.02553662657737732, + 0.07809652388095856, + -0.04459652677178383, + 1.0 + ], + [ + -0.021618619561195374, + 0.014936705119907856, + -0.024985894560813904, + 0.10336342453956604, + 0.00041635334491729736, + -0.04630330950021744, + 1.0 + ], + [ + -0.005290359258651733, + 0.04520486667752266, + -0.04061482846736908, + 0.11965727061033249, + 0.07146184146404266, + 0.06768235564231873, + 1.0 + ], + [ + 0.0033255815505981445, + 0.02836626023054123, + -0.034998469054698944, + 0.0971900224685669, + 0.03724740818142891, + 0.019120074808597565, + 1.0 + ], + [ + 0.013904497027397156, + 0.007659822702407837, + -0.023880325257778168, + 0.0495186373591423, + 0.0208139605820179, + 0.01970595121383667, + 1.0 + ], + [ + 0.03421346843242645, + -0.006548628211021423, + -0.000688701868057251, + -0.01182277500629425, + -0.03179286792874336, + 0.018466807901859283, + 1.0 + ], + [ + 0.025369256734848022, + -0.01771729066967964, + 0.0029241740703582764, + -0.03160440921783447, + -0.026827003806829453, + -0.007422901690006256, + 1.0 + ], + [ + 0.01793992519378662, + -0.017178479582071304, + 0.005755364894866943, + -0.03313668817281723, + -0.028635866940021515, + -0.03271352872252464, + 1.0 + ], + [ + 0.018912941217422485, + -0.013456075452268124, + 0.00811583548784256, + -0.03253672271966934, + -0.044327512383461, + -0.006365053355693817, + 1.0 + ], + [ + 0.01198837161064148, + -0.0038727661594748497, + 0.00010114163160324097, + -0.005316432565450668, + -0.04076296091079712, + -0.016328800469636917, + 1.0 + ], + [ + 0.01365390419960022, + -0.0035253451205790043, + -0.0003167837858200073, + -0.018238484859466553, + -0.09399233758449554, + -0.027201492339372635, + 1.0 + ], + [ + 0.000818789005279541, + 0.004769316408783197, + -0.001130804419517517, + -0.016587628051638603, + -0.02934175729751587, + 0.006825354881584644, + 1.0 + ], + [ + -0.020960062742233276, + 0.010725904256105423, + -0.0025388896465301514, + 0.0348651185631752, + 0.14017462730407715, + 0.02163386158645153, + 1.0 + ], + [ + -0.032537490129470825, + 0.013043912127614021, + -0.0019028633832931519, + 0.02364545688033104, + 0.2002783566713333, + 0.045595839619636536, + 1.0 + ], + [ + -0.016585901379585266, + -0.0013979487121105194, + -0.002237550914287567, + -0.04275289922952652, + -0.045784737914800644, + -0.06186769902706146, + 1.0 + ], + [ + -0.021375462412834167, + -0.002465924248099327, + 0.010272003710269928, + -0.05817212164402008, + -0.0678105279803276, + -0.13453751802444458, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.19370895624160767, + 0.009961317293345928, + 0.14954936504364014 + ], + [ + 0.1857530027627945, + 0.0197278019040823, + 0.16869983077049255 + ], + [ + 0.17856748402118683, + 0.045779142528772354, + 0.18195919692516327 + ], + [ + 0.17232652008533478, + 0.0704483687877655, + 0.18467240035533905 + ], + [ + 0.17379961907863617, + 0.0924413651227951, + 0.17658758163452148 + ], + [ + 0.17864814400672913, + 0.09808690845966339, + 0.15331639349460602 + ], + [ + 0.18460871279239655, + 0.1004210114479065, + 0.1410260796546936 + ], + [ + 0.1946662813425064, + 0.09754098951816559, + 0.118743896484375 + ], + [ + 0.20059439539909363, + 0.08177343010902405, + 0.11705878376960754 + ], + [ + 0.20902812480926514, + 0.05684274435043335, + 0.11672306805849075 + ], + [ + 0.21500059962272644, + 0.02922258898615837, + 0.1179611012339592 + ], + [ + 0.2263198047876358, + 0.007292885798960924, + 0.14983467757701874 + ], + [ + 0.2207193523645401, + -0.007991529069840908, + 0.20056496560573578 + ], + [ + 0.2034750133752823, + -0.02807735837996006, + 0.21474961936473846 + ], + [ + 0.18185639381408691, + -0.013140653260052204, + 0.18976372480392456 + ], + [ + 0.17656603455543518, + 0.03206421434879303, + 0.14914889633655548 + ], + [ + 0.17989161610603333, + 0.06043047457933426, + 0.11415042728185654 + ], + [ + 0.19379611313343048, + 0.0680902972817421, + 0.09027010202407837 + ], + [ + 0.22800958156585693, + 0.06154166907072067, + 0.08958140015602112 + ], + [ + 0.25337883830070496, + 0.04382437840104103, + 0.0925055742263794 + ], + [ + 0.2713187634944916, + 0.026645898818969727, + 0.09826093912124634 + ], + [ + 0.29023170471191406, + 0.013189823366701603, + 0.1063767746090889 + ], + [ + 0.30222007632255554, + 0.009317057207226753, + 0.10647791624069214 + ], + [ + 0.31587398052215576, + 0.005791712086647749, + 0.10616113245487213 + ], + [ + 0.3166927695274353, + 0.010561028495430946, + 0.10503032803535461 + ], + [ + 0.295732706785202, + 0.02128693275153637, + 0.10249143838882446 + ], + [ + 0.2631952166557312, + 0.03433084487915039, + 0.10058857500553131 + ], + [ + 0.24660931527614594, + 0.03293289616703987, + 0.09835102409124374 + ], + [ + 0.22523385286331177, + 0.030466971918940544, + 0.10862302780151367 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9811252000003122, + -0.17854501888505792, + 0.07426316823083762, + -0.1702987465466092, + -0.979721087677731, + -0.10556953767170414, + 0.09160610705079181, + 0.09093000929779961, + -0.9916350410106033 + ], + [ + 0.980138737894442, + -0.18455475939938903, + 0.07257820100914697, + -0.17370836886735375, + -0.9755327454249253, + -0.13476373840596495, + 0.09567370100573028, + 0.11947971956253338, + -0.988216140097461 + ], + [ + 0.9883628324248795, + -0.12525103542404226, + 0.08631969419706535, + -0.11105179253346756, + -0.9819284019691678, + -0.15324527001307514, + 0.10395388812436622, + 0.14187597235431354, + -0.984410888609195 + ], + [ + 0.9885194216964664, + -0.07448736885557485, + 0.13145715959907583, + -0.05922523649703718, + -0.9914329522454127, + -0.11641766431180003, + 0.13900260533800574, + 0.1072955408342699, + -0.9844622606409694 + ], + [ + 0.9872730831801928, + -0.028934196953751747, + 0.15637989472600802, + -0.01776373038063115, + -0.9972201623622627, + -0.07236295779711002, + 0.1580389480819209, + 0.0686641101655267, + -0.9850426035783103 + ], + [ + 0.9919551314492129, + -0.0023977204193349907, + 0.1265672474551181, + 0.00505765530125484, + -0.9982716508235926, + -0.058550245813253354, + 0.12648888217716248, + 0.05871935029212608, + -0.99022855977135 + ], + [ + 0.9896432576498477, + 0.03619518680432644, + 0.13891051450627429, + 0.04094644258983873, + -0.9986647156401248, + -0.03149880274972973, + 0.13758492441919268, + 0.03686046917266862, + -0.9898038666245634 + ], + [ + 0.9931902741746558, + 0.07353118203551384, + 0.0903672758985924, + 0.07602997773840198, + -0.9968039286797702, + -0.02452285166275998, + 0.08827526137016133, + 0.03122647974133101, + -0.9956065413570734 + ], + [ + 0.9944353073225054, + 0.05793702127585555, + 0.08798705084314966, + 0.061918205998573936, + -0.9971453943919477, + -0.043211088956943144, + 0.08523236073412553, + 0.04841863286595102, + -0.9951839431356798 + ], + [ + 0.995889275311146, + 0.028376067552803547, + 0.08601947518137631, + 0.03317522156760717, + -0.9979413914975019, + -0.05488518752787371, + 0.08428496896944826, + 0.057513284780721936, + -0.9947805115097255 + ], + [ + 0.9965393202840545, + 0.021780165165361694, + 0.08021849869677695, + 0.028027783602022315, + -0.996590602225836, + -0.07759906508138137, + 0.07825488147172323, + 0.07957886629323024, + -0.9937521710996818 + ], + [ + 0.9891117075349632, + 0.022392061289016607, + 0.14545317325001195, + 0.03723444140343034, + -0.994276800483056, + -0.10013610934399052, + 0.1423784618214552, + 0.10446166575546283, + -0.9842845797821635 + ], + [ + 0.9739643930726244, + 0.02777771440072656, + 0.224992799016649, + 0.06380751448618975, + -0.9859316359588804, + -0.15449080979314134, + 0.21753611682148147, + 0.16482477907801835, + -0.9620347343418082 + ], + [ + 0.9898341938301232, + -0.006865725164265272, + 0.14206030600642533, + 0.020614472166292988, + -0.9813610170337081, + -0.1910643812537316, + 0.14072424191295385, + 0.19205055601204318, + -0.97124315785157 + ], + [ + 0.9897859463350731, + -0.03823604786245777, + 0.1373382142065493, + -0.02522533642025805, + -0.9951331546915101, + -0.09525590184449628, + 0.14031201958516948, + 0.09081855029443789, + -0.9859333284164544 + ], + [ + 0.9967104538712869, + 0.044096991959968294, + 0.06799798852742626, + 0.04208839047966278, + -0.9986422779400628, + 0.030694756840768802, + 0.06925921260399177, + -0.02773185912925751, + -0.9972131695172854 + ], + [ + 0.9976072314719919, + 0.06479531385120936, + 0.024111802456698056, + 0.06125236911441663, + -0.9900887236753452, + 0.1263822239430738, + 0.03206179958546952, + -0.12460291551103159, + -0.9916885370182978 + ], + [ + 0.9966558964898037, + 0.08165769597535301, + -0.0030074374644010835, + 0.08093449078416988, + -0.9814222830891864, + 0.17395375953831976, + 0.011253097067589314, + -0.17361544558018238, + -0.9847492294296969 + ], + [ + 0.9941326848071733, + 0.10495499542929453, + 0.02616589254196781, + 0.09923897254052992, + -0.9812228627737082, + 0.16538839106560135, + 0.043032909815407444, + -0.1618213289545142, + -0.9858813448728064 + ], + [ + 0.9933345483813073, + 0.10024028579461425, + 0.05690659097080664, + 0.09171777561777966, + -0.9863824949220409, + 0.13651894867415654, + 0.06981636361077005, + -0.1303896422849009, + -0.9890016261649849 + ], + [ + 0.9933992358729864, + 0.0686401760155418, + 0.09190475724097312, + 0.059036171244180494, + -0.9928837067178751, + 0.10342473311060792, + 0.09834982791949641, + -0.09731634585581254, + -0.9903821687497597 + ], + [ + 0.9884266523361965, + 0.06214704356833084, + 0.13838532410330137, + 0.052429352527044545, + -0.9959678294677757, + 0.07279591787210683, + 0.1423513819569542, + -0.06469797246408594, + -0.987699476771139 + ], + [ + 0.9825321132576251, + 0.047547739747164315, + 0.17991625513677645, + 0.0360404715936028, + -0.9971221162682219, + 0.06669759857816347, + 0.18256979713199117, + -0.05904826579772733, + -0.9814181430366289 + ], + [ + 0.9616750850804215, + 0.020921052525040368, + 0.27339228280404826, + 0.009100877174052816, + -0.9989709447108382, + 0.044432259206553804, + 0.27404051665807927, + -0.04024128706664441, + -0.9608758681770466 + ], + [ + 0.9531380532271352, + 0.02391520607675358, + 0.30158898257179956, + 0.015526695802134175, + -0.9994238399519776, + 0.030181283158806464, + 0.3021370106555217, + -0.024084249084214235, + -0.9529602172904149 + ], + [ + 0.9854189090233118, + 0.04781298025323767, + 0.16328959752112074, + 0.03738747434711158, + -0.9970966974995431, + 0.06633515355713548, + 0.1659871998114619, + -0.05926292900969523, + -0.9843455464134236 + ], + [ + 0.9959546075471118, + 0.08033408423330762, + -0.04025983874873115, + 0.08337442115941227, + -0.9932531924723714, + 0.08060273903394939, + -0.033513066138611505, + -0.0836333100734261, + -0.9959329012760603 + ], + [ + 0.9996904326007788, + 0.022133655771576475, + 0.011363989117049835, + 0.021647322325641653, + -0.998913517847211, + 0.04126956867037475, + 0.012265088772481189, + -0.04101079302201263, + -0.9990834211681766 + ], + [ + 0.9904510716209545, + -0.11399348506866633, + 0.0775381202171066, + -0.11228630439844112, + -0.9933344777248548, + -0.026046136136293016, + 0.07999037798037556, + 0.01709095447859573, + -0.9966491051044831 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006261.json b/json/chunk-0006/episode_0006261.json new file mode 100644 index 0000000000000000000000000000000000000000..1f6863bf698c790ad5234b3f3ca852b4f6344847 --- /dev/null +++ b/json/chunk-0006/episode_0006261.json @@ -0,0 +1,2482 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 40, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPICK UP THE CHERRY AND PUT ANOTHER SIDE OF THE TABLE." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006261.mp4", + "start": 0, + "end": 40, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3239595890045166, + 0.09641537070274353, + 0.14468370378017426, + 0.16199082136154175, + -0.14880239963531494, + 0.2605736553668976, + 0.0, + 0.9994885921478271 + ], + [ + 0.3242454528808594, + 0.09571871161460876, + 0.13505034148693085, + 0.16197673976421356, + -0.11961871385574341, + 0.25940635800361633, + 0.0, + 0.9994885921478271 + ], + [ + 0.33486631512641907, + 0.07510115206241608, + 0.1321907937526703, + 0.15994802117347717, + -0.12120848149061203, + 0.19606095552444458, + 0.0, + 0.9994885921478271 + ], + [ + 0.3460976183414459, + 0.04907263442873955, + 0.13556313514709473, + 0.14350414276123047, + -0.15279650688171387, + 0.12962768971920013, + 0.0, + 0.9994885921478271 + ], + [ + 0.35561591386795044, + 0.020173517987132072, + 0.12679265439510345, + 0.11089577525854111, + -0.15778042376041412, + 0.06644468754529953, + 0.0, + 0.9994885921478271 + ], + [ + 0.36830148100852966, + -0.005882035940885544, + 0.11026526242494583, + 0.10511787980794907, + -0.13796284794807434, + -0.00764494901522994, + 0.0, + 0.9994885921478271 + ], + [ + 0.37414103746414185, + -0.019552625715732574, + 0.09827981144189835, + 0.09627939015626907, + -0.1441279649734497, + -0.03370290249586105, + 0.0, + 0.9994885921478271 + ], + [ + 0.3845621943473816, + -0.032028939574956894, + 0.08599051833152771, + 0.0859283059835434, + -0.15321919322013855, + -0.051680710166692734, + 0.0, + 0.9994885921478271 + ], + [ + 0.39383354783058167, + -0.039395447820425034, + 0.07113476097583771, + 0.10519275814294815, + -0.1362227201461792, + -0.07053965330123901, + 0.0, + 0.9994885921478271 + ], + [ + 0.39497920870780945, + -0.043925702571868896, + 0.05850035324692726, + 0.08711028844118118, + -0.11964219808578491, + -0.07692483067512512, + 0.0, + 0.9994885921478271 + ], + [ + 0.3938939869403839, + -0.045596104115247726, + 0.05092313513159752, + 0.07760697603225708, + -0.09358598291873932, + -0.0784950777888298, + 0.0, + 0.9994885921478271 + ], + [ + 0.39307886362075806, + -0.04632548615336418, + 0.04659978672862053, + 0.07205040752887726, + -0.08314289897680283, + -0.06626854091882706, + 0.0, + 0.9994885921478271 + ], + [ + 0.39280644059181213, + -0.0455365926027298, + 0.035897146910429, + 0.08272027969360352, + -0.05280221253633499, + -0.059426333755254745, + 0.0, + 0.9994885921478271 + ], + [ + 0.3920218050479889, + -0.04398072883486748, + 0.032938387244939804, + 0.0930815115571022, + -0.03404020890593529, + -0.04396772012114525, + 0.0, + 0.9994885921478271 + ], + [ + 0.39031875133514404, + -0.04279318079352379, + 0.027928851544857025, + 0.1009024828672409, + -0.01548986230045557, + -0.04008510708808899, + 0.0, + 0.9994885921478271 + ], + [ + 0.39046600461006165, + -0.04295572265982628, + 0.024274546653032303, + 0.10155689716339111, + -0.0017318305326625705, + -0.038450613617897034, + 0.0, + 0.993436336517334 + ], + [ + 0.3915790319442749, + -0.04142531007528305, + 0.025062890723347664, + 0.10788987576961517, + -0.007015257142484188, + -0.02676735445857048, + 0.0, + 0.9173964858055115 + ], + [ + 0.392901748418808, + -0.0410415455698967, + 0.025123508647084236, + 0.11047593504190445, + -0.01585593819618225, + -0.022136662155389786, + 0.0, + 0.7691487669944763 + ], + [ + 0.39333388209342957, + -0.04135111719369888, + 0.02509809099137783, + 0.10842001438140869, + -0.01951151341199875, + -0.01410822942852974, + 0.0, + 0.7681795358657837 + ], + [ + 0.3931310474872589, + -0.041794903576374054, + 0.024368448182940483, + 0.10507167130708694, + -0.02156180888414383, + -0.003967867698520422, + 0.0, + 0.7681795358657837 + ], + [ + 0.388705313205719, + -0.039210833609104156, + 0.02471615932881832, + 0.1202443540096283, + -0.00047780972090549767, + -0.009137340821325779, + 0.0, + 0.7681795358657837 + ], + [ + 0.3792058229446411, + -0.037247173488140106, + 0.02976457215845585, + 0.12588246166706085, + 0.012605047784745693, + 0.0029120920225977898, + 0.0, + 0.7447580099105835 + ], + [ + 0.3565075695514679, + -0.03485281392931938, + 0.03662068396806717, + 0.13541507720947266, + 0.031399719417095184, + 0.04343836009502411, + 0.0, + 0.7309711575508118 + ], + [ + 0.33425623178482056, + -0.042884912341833115, + 0.043486882001161575, + 0.13271288573741913, + 0.02403509058058262, + 0.048100441694259644, + 0.0, + 0.7309711575508118 + ], + [ + 0.3102780282497406, + -0.05227550119161606, + 0.049751248210668564, + 0.1382898986339569, + 0.011774575337767601, + 0.06678231060504913, + 0.0, + 0.7309711575508118 + ], + [ + 0.2874027192592621, + -0.06771257519721985, + 0.05282473936676979, + 0.12230623513460159, + -0.008202503435313702, + 0.05259161815047264, + 0.0, + 0.7309711575508118 + ], + [ + 0.26913002133369446, + -0.07619219273328781, + 0.04954797029495239, + 0.11980829387903214, + -0.00803039688616991, + 0.03902587294578552, + 0.0, + 0.7309711575508118 + ], + [ + 0.25094231963157654, + -0.08281227946281433, + 0.040221210569143295, + 0.12582750618457794, + -0.013290165923535824, + 0.013118809089064598, + 0.0, + 0.7309711575508118 + ], + [ + 0.2444227933883667, + -0.08458384871482849, + 0.03480204939842224, + 0.10822459310293198, + -0.01971536874771118, + 0.00409479346126318, + 0.0, + 0.7309711575508118 + ], + [ + 0.24301905930042267, + -0.08314760774374008, + 0.030133798718452454, + 0.1079869270324707, + -0.0331050306558609, + 0.011520041152834892, + 0.0, + 0.7309711575508118 + ], + [ + 0.24184083938598633, + -0.08313730359077454, + 0.0280612800270319, + 0.1220705434679985, + -0.049784887582063675, + 0.005532492883503437, + 0.0, + 0.7309711575508118 + ], + [ + 0.23999027907848358, + -0.08274110406637192, + 0.026051834225654602, + 0.11955653876066208, + -0.049567777663469315, + 0.012928642332553864, + 0.0, + 0.806471049785614 + ], + [ + 0.23752418160438538, + -0.08225689083337784, + 0.02465016394853592, + 0.10872645676136017, + -0.035312626510858536, + 0.016071969643235207, + 0.0, + 0.9981546401977539 + ], + [ + 0.2370285987854004, + -0.0803489238023758, + 0.024866266176104546, + 0.1082029715180397, + -0.024217350408434868, + 0.010253804735839367, + 0.0, + 1.0014774799346924 + ], + [ + 0.23808422684669495, + -0.07898841798305511, + 0.034192681312561035, + 0.12230321764945984, + -0.011673970147967339, + 0.008389987982809544, + 0.0, + 1.0014774799346924 + ], + [ + 0.24366140365600586, + -0.07920051366090775, + 0.05308953672647476, + 0.12732605636119843, + -0.03180641308426857, + 0.014586602337658405, + 0.0, + 1.0014774799346924 + ], + [ + 0.2529076933860779, + -0.07926670461893082, + 0.07864128798246384, + 0.13756203651428223, + -0.03765793517231941, + 0.010564270429313183, + 0.0, + 1.0014774799346924 + ], + [ + 0.2714395523071289, + -0.07775909453630447, + 0.10226968675851822, + 0.14458070695400238, + -0.07426877319812775, + 0.027445975691080093, + 0.0, + 1.0014774799346924 + ], + [ + 0.2897927165031433, + -0.08218221366405487, + 0.10702093690633774, + 0.14396177232265472, + -0.09780900925397873, + -0.0036769250873476267, + 0.0, + 1.0014774799346924 + ], + [ + 0.31434309482574463, + -0.09584692865610123, + 0.1086013987660408, + 0.11318808048963547, + -0.11724517494440079, + -0.053342994302511215, + 0.0, + 1.0008161067962646 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.993436336517334 + ], + [ + 0.9173964858055115 + ], + [ + 0.7691487669944763 + ], + [ + 0.7681795358657837 + ], + [ + 0.7681795358657837 + ], + [ + 0.7681795358657837 + ], + [ + 0.7447580099105835 + ], + [ + 0.7309711575508118 + ], + [ + 0.7309711575508118 + ], + [ + 0.7309711575508118 + ], + [ + 0.7309711575508118 + ], + [ + 0.7309711575508118 + ], + [ + 0.7309711575508118 + ], + [ + 0.7309711575508118 + ], + [ + 0.7309711575508118 + ], + [ + 0.7309711575508118 + ], + [ + 0.806471049785614 + ], + [ + 0.9981546401977539 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3239595890045166, + 0.09641537070274353, + 0.14468370378017426 + ], + [ + 0.3242454528808594, + 0.09571871161460876, + 0.13505034148693085 + ], + [ + 0.33486631512641907, + 0.07510115206241608, + 0.1321907937526703 + ], + [ + 0.3460976183414459, + 0.04907263442873955, + 0.13556313514709473 + ], + [ + 0.35561591386795044, + 0.020173517987132072, + 0.12679265439510345 + ], + [ + 0.36830148100852966, + -0.005882035940885544, + 0.11026526242494583 + ], + [ + 0.37414103746414185, + -0.019552625715732574, + 0.09827981144189835 + ], + [ + 0.3845621943473816, + -0.032028939574956894, + 0.08599051833152771 + ], + [ + 0.39383354783058167, + -0.039395447820425034, + 0.07113476097583771 + ], + [ + 0.39497920870780945, + -0.043925702571868896, + 0.05850035324692726 + ], + [ + 0.3938939869403839, + -0.045596104115247726, + 0.05092313513159752 + ], + [ + 0.39307886362075806, + -0.04632548615336418, + 0.04659978672862053 + ], + [ + 0.39280644059181213, + -0.0455365926027298, + 0.035897146910429 + ], + [ + 0.3920218050479889, + -0.04398072883486748, + 0.032938387244939804 + ], + [ + 0.39031875133514404, + -0.04279318079352379, + 0.027928851544857025 + ], + [ + 0.39046600461006165, + -0.04295572265982628, + 0.024274546653032303 + ], + [ + 0.3915790319442749, + -0.04142531007528305, + 0.025062890723347664 + ], + [ + 0.392901748418808, + -0.0410415455698967, + 0.025123508647084236 + ], + [ + 0.39333388209342957, + -0.04135111719369888, + 0.02509809099137783 + ], + [ + 0.3931310474872589, + -0.041794903576374054, + 0.024368448182940483 + ], + [ + 0.388705313205719, + -0.039210833609104156, + 0.02471615932881832 + ], + [ + 0.3792058229446411, + -0.037247173488140106, + 0.02976457215845585 + ], + [ + 0.3565075695514679, + -0.03485281392931938, + 0.03662068396806717 + ], + [ + 0.33425623178482056, + -0.042884912341833115, + 0.043486882001161575 + ], + [ + 0.3102780282497406, + -0.05227550119161606, + 0.049751248210668564 + ], + [ + 0.2874027192592621, + -0.06771257519721985, + 0.05282473936676979 + ], + [ + 0.26913002133369446, + -0.07619219273328781, + 0.04954797029495239 + ], + [ + 0.25094231963157654, + -0.08281227946281433, + 0.040221210569143295 + ], + [ + 0.2444227933883667, + -0.08458384871482849, + 0.03480204939842224 + ], + [ + 0.24301905930042267, + -0.08314760774374008, + 0.030133798718452454 + ], + [ + 0.24184083938598633, + -0.08313730359077454, + 0.0280612800270319 + ], + [ + 0.23999027907848358, + -0.08274110406637192, + 0.026051834225654602 + ], + [ + 0.23752418160438538, + -0.08225689083337784, + 0.02465016394853592 + ], + [ + 0.2370285987854004, + -0.0803489238023758, + 0.024866266176104546 + ], + [ + 0.23808422684669495, + -0.07898841798305511, + 0.034192681312561035 + ], + [ + 0.24366140365600586, + -0.07920051366090775, + 0.05308953672647476 + ], + [ + 0.2529076933860779, + -0.07926670461893082, + 0.07864128798246384 + ], + [ + 0.2714395523071289, + -0.07775909453630447, + 0.10226968675851822 + ], + [ + 0.2897927165031433, + -0.08218221366405487, + 0.10702093690633774 + ], + [ + 0.31434309482574463, + -0.09584692865610123, + 0.1086013987660408 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9555647239987449, + 0.2773656642399661, + 0.0998215735696695, + 0.2547878478134028, + -0.9474321721207205, + 0.19353405859751927, + 0.14825387298757772, + -0.15950099539293205, + -0.9760021627091034 + ], + [ + 0.9596357108322581, + 0.2717502300505177, + 0.07246457729785596, + 0.25467387266531716, + -0.9489543522216625, + 0.1860829276994917, + 0.11933365441951424, + -0.16011698806514923, + -0.9798581678262565 + ], + [ + 0.9736453417124223, + 0.21120899311823704, + 0.08605527170185787, + 0.1933780196275578, + -0.9645701948145478, + 0.17946944252531977, + 0.12091191044154398, + -0.15809838867428622, + -0.9799924537525634 + ], + [ + 0.9800571447873851, + 0.1495204427004734, + 0.13088785339309528, + 0.12775893858582668, + -0.9786035808341353, + 0.16128448527378675, + 0.152202649657031, + -0.1413459189126514, + -0.9781900043673094 + ], + [ + 0.9853992437600771, + 0.08333857326415181, + 0.14846889439665234, + 0.06557106976796798, + -0.9905097253029493, + 0.12079287598927661, + 0.1571265897502806, + -0.10929394441858196, + -0.9815121336523943 + ], + [ + 0.9904692670519889, + 0.006826693456262531, + 0.1375646294726584, + -0.007572234568708732, + -0.9945614539576674, + 0.10387576986596367, + 0.13752560593988317, + -0.10392742928632659, + -0.9850308610154319 + ], + [ + 0.9890695311627615, + -0.01974110007847329, + 0.14612238532533672, + -0.03334714110617063, + -0.9952687145253256, + 0.09125872049919596, + 0.1436294910717142, + -0.09513398370086752, + -0.9850482701064364 + ], + [ + 0.986965375882237, + -0.03838632182913463, + 0.15628767419750308, + -0.05105253162825183, + -0.9956568366909438, + 0.07785308320760105, + 0.15262039779787337, + -0.08481717896165498, + -0.9846385429836705 + ], + [ + 0.9882721728381456, + -0.055867998471954686, + 0.1421157244660431, + -0.06982823297781356, + -0.9930041920917013, + 0.09521918067019843, + 0.1358018051167465, + -0.10402615649463055, + -0.9852595741691568 + ], + [ + 0.9899152897073573, + -0.06620423100251167, + 0.1252386481920217, + -0.07629962466667632, + -0.9940602600802988, + 0.0776051970219346, + 0.11935697080323053, + -0.08637823294357809, + -0.9890868083207974 + ], + [ + 0.9925583443427769, + -0.07095573289797216, + 0.09896068433694745, + -0.07807135531147272, + -0.9944883175940245, + 0.06998463866332588, + 0.09344943314624816, + -0.07718983182983455, + -0.9926272882138223 + ], + [ + 0.9943582456977567, + -0.06008295754457326, + 0.08741691727335744, + -0.06599129907900345, + -0.9956121208375901, + 0.06634495675740318, + 0.08304714118345995, + -0.07173941074453558, + -0.9939600742923639 + ], + [ + 0.9968435222616209, + -0.05483517211368878, + 0.05741163666285309, + -0.05930858817656989, + -0.9950804333801386, + 0.0793563007737727, + 0.05277767988029943, + -0.0825108174923602, + -0.9951916807847597 + ], + [ + 0.9984548233889938, + -0.04060300978592672, + 0.037938914686335, + -0.04392809256031749, + -0.9948478417172818, + 0.09136790746470266, + 0.03403363535188749, + -0.09289331206707094, + -0.995094238872854 + ], + [ + 0.9990768305164783, + -0.03831154225657758, + 0.01943482583071251, + -0.040069565510266206, + -0.9941769737970029, + 0.10003286805671267, + 0.015489242879048189, + -0.10071926579237793, + -0.9947943068058229 + ], + [ + 0.9992593677175731, + -0.03806762561574128, + 0.00561888856051449, + -0.03844108212160959, + -0.9941189530436008, + 0.10124124853445013, + 0.0017318296669676667, + -0.10138226215405924, + -0.9948460371768738 + ], + [ + 0.9996171777564096, + -0.025853407859713476, + 0.00985389447630994, + -0.0267634995631037, + -0.993849607108185, + 0.10745544910353402, + 0.007015199601343799, + -0.10767803746793378, + -0.9941610670417584 + ], + [ + 0.9996293221431061, + -0.020252277377730953, + 0.018195152451407123, + -0.02213207184276256, + -0.9936989189361582, + 0.1098755200263351, + 0.015855273812246076, + -0.11023748802529118, + -0.9937788016083925 + ], + [ + 0.9997101559857409, + -0.011913972466444767, + 0.020920355614438033, + -0.014105076089928382, + -0.9940591540954615, + 0.1079233292088085, + 0.01951027543278371, + -0.10818713148560842, + -0.9939390794879999 + ], + [ + 0.9997596830577395, + -0.0016847987750386055, + 0.021857209002430395, + -0.003966934971150114, + -0.9944861920585233, + 0.10479254377994954, + 0.021560138200460637, + -0.10485406648302012, + -0.9942538836649075 + ], + [ + 0.9999581406455075, + -0.009013923914479884, + 0.0015703924490612178, + -0.009137212631217629, + -0.9927384339803187, + 0.11994545862031139, + 0.00047780970272466854, + -0.11995478679056074, + -0.9927792407297403 + ], + [ + 0.9999163176369178, + 0.0013065268900249718, + -0.012870536543300058, + 0.002911856562980087, + -0.9920876621056871, + 0.1255133131943737, + -0.012604713990543788, + -0.12554028710002996, + -0.9920084462846367 + ], + [ + 0.9985642370675677, + 0.038792846361740574, + -0.03694021549506019, + 0.043403295440093206, + -0.990094766373511, + 0.13352343444026327, + -0.031394559952435695, + -0.13493505352923563, + -0.9903569623799571 + ], + [ + 0.9985549019539371, + 0.044482664008375895, + -0.03015626612299657, + 0.04806800844832062, + -0.9902130354757034, + 0.1310252301574224, + -0.024032776526552817, + -0.13228543750810695, + -0.9909202736223099 + ], + [ + 0.9977017251523781, + 0.06447613241574822, + -0.0208349700425898, + 0.06672805564782892, + -0.988353664736648, + 0.1367640303263179, + -0.011774303267240827, + -0.1378399860357823, + -0.9903845233202235 + ], + [ + 0.9985837857433557, + 0.05317401806971913, + 0.0017165817165831097, + 0.052565609449167904, + -0.9911050147040745, + 0.12226081355722453, + 0.008202411456765264, + -0.12199743288593433, + -0.9924965223191144 + ], + [ + 0.99920636835171, + 0.03969535116397341, + 0.0033034135913790033, + 0.0390147095007561, + -0.9920381651344189, + 0.1197419365105936, + 0.00803031057671395, + -0.11951802379852276, + -0.9927995548444496 + ], + [ + 0.9998256443022971, + 0.014682387140391193, + 0.011537265852726568, + 0.013117274266668862, + -0.9919869093199983, + 0.1256579040632573, + 0.01328977468995626, + -0.1254846574112448, + -0.9920065436493214 + ], + [ + 0.9997972763869347, + 0.006200194454536328, + 0.019156297084605603, + 0.004093986231707685, + -0.9941323785159031, + 0.10809279931174075, + 0.019714091559144185, + -0.10799246073240303, + -0.9939562279189957 + ], + [ + 0.9993857599333335, + 0.015019762710790027, + 0.03166243153305514, + 0.011513474409399062, + -0.9940680124190454, + 0.10814909427393732, + 0.033098984115799625, + -0.10771812017186538, + -0.9936303456704318 + ], + [ + 0.9987457031894342, + 0.011550885347670075, + 0.048719579311884996, + 0.005525609872275383, + -0.9925099232481044, + 0.1220390097041969, + 0.0497643245325553, + -0.12161673117514149, + -0.9913288469030302 + ], + [ + 0.9986882981319465, + 0.018745124892416143, + 0.047647701592878615, + 0.012912403251446866, + -0.9927022475220314, + 0.11989794663370786, + 0.04954748244450278, + -0.11912542993616078, + -0.9916421627411455 + ], + [ + 0.9992475031841825, + 0.01980694397514666, + 0.03334834854296341, + 0.016061258479369768, + -0.9939051405441306, + 0.10906240221089655, + 0.03530528793589484, + -0.10844471665469876, + -0.9934753545375175 + ], + [ + 0.9996542199205749, + 0.012808545442141571, + 0.022964793895080455, + 0.010250618428696689, + -0.9940726918627332, + 0.10823311930554762, + 0.024214983312325324, + -0.10796029110944559, + -0.9938602568403406 + ], + [ + 0.9998966666398713, + 0.009751344287164607, + 0.010562543588908435, + 0.008389317864753734, + -0.992483397987543, + 0.12209145778826887, + 0.011673704991926616, + -0.1219902291320649, + -0.9924626484699905 + ], + [ + 0.9993878898936123, + 0.01850575147558086, + 0.029688090142632333, + 0.014578707711146659, + -0.9917405603451593, + 0.12742889094605775, + 0.031801050540288436, + -0.12691807644537229, + -0.9914032958669952 + ], + [ + 0.9992352619256537, + 0.015626748904031523, + 0.03584265675226473, + 0.010556584250750099, + -0.9904434401246326, + 0.137514909893583, + 0.03764903522438701, + -0.13703137098042106, + -0.9898509754068534 + ], + [ + 0.9968677631790569, + 0.03784280615263423, + 0.06944483247065614, + 0.027366880396194407, + -0.9889003380405562, + 0.14603826649427742, + 0.07420051611521133, + -0.14368035163433918, + -0.9868385075393382 + ], + [ + 0.9952137833942198, + 0.010370833530735073, + 0.09716980577340122, + -0.0036593430186197488, + -0.9897002115308544, + 0.14310870170766654, + 0.09765313385055706, + -0.1427793301134992, + -0.9849253415064034 + ], + [ + 0.9917220194645288, + -0.03978319720668306, + 0.12208494308968201, + -0.052951655768961554, + -0.9928922067612871, + 0.10658887326558363, + 0.11697674239147768, + -0.11217113252845141, + -0.9867796505637731 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + 0.00028586387634277344, + -0.0006966590881347656, + -0.009633362293243408, + -1.4081597328186035e-05, + 0.029183685779571533, + -0.00116729736328125, + 1.0 + ], + [ + 0.010620862245559692, + -0.020617559552192688, + -0.002859547734260559, + -0.002028718590736389, + -0.0015897676348686218, + -0.06334540247917175, + 1.0 + ], + [ + 0.011231303215026855, + -0.02602851763367653, + 0.0033723413944244385, + -0.016443878412246704, + -0.03158802539110184, + -0.06643326580524445, + 1.0 + ], + [ + 0.009518295526504517, + -0.028899116441607475, + -0.008770480751991272, + -0.03260836750268936, + -0.004983916878700256, + -0.0631830021739006, + 1.0 + ], + [ + 0.012685567140579224, + -0.026055553928017616, + -0.016527391970157623, + -0.005777895450592041, + 0.019817575812339783, + -0.07408963888883591, + 1.0 + ], + [ + 0.005839556455612183, + -0.01367058977484703, + -0.011985450983047485, + -0.008838489651679993, + -0.006165117025375366, + -0.026057953014969826, + 1.0 + ], + [ + 0.010421156883239746, + -0.01247631385922432, + -0.012289293110370636, + -0.010351084172725677, + -0.009091228246688843, + -0.01797780767083168, + 1.0 + ], + [ + 0.009271353483200073, + -0.00736650824546814, + -0.014855757355690002, + 0.019264452159404755, + 0.01699647307395935, + -0.01885894313454628, + 1.0 + ], + [ + 0.0011456608772277832, + -0.004530254751443863, + -0.012634407728910446, + -0.018082469701766968, + 0.016580522060394287, + -0.006385177373886108, + 1.0 + ], + [ + -0.0010852217674255371, + -0.00167040154337883, + -0.007577218115329742, + -0.009503312408924103, + 0.026056215167045593, + -0.0015702471137046814, + 1.0 + ], + [ + -0.0008151233196258545, + -0.0007293820381164551, + -0.00432334840297699, + -0.005556568503379822, + 0.010443083941936493, + 0.012226536870002747, + 1.0 + ], + [ + -0.00027242302894592285, + 0.0007888935506343842, + -0.010702639818191528, + 0.010669872164726257, + 0.030340686440467834, + 0.006842207163572311, + 1.0 + ], + [ + -0.0007846355438232422, + 0.00155586376786232, + -0.0029587596654891968, + 0.010361231863498688, + 0.018762003630399704, + 0.015458613634109497, + 1.0 + ], + [ + -0.0017030537128448486, + 0.001187548041343689, + -0.005009535700082779, + 0.007820971310138702, + 0.018550347536802292, + 0.003882613033056259, + 1.0 + ], + [ + 0.00014725327491760254, + -0.00016254186630249023, + -0.0036543048918247223, + 0.0006544142961502075, + 0.013758031651377678, + 0.0016344934701919556, + 1.0 + ], + [ + 0.0011130273342132568, + 0.0015304125845432281, + 0.000788344070315361, + 0.00633297860622406, + -0.005283426493406296, + 0.011683259159326553, + 0.0 + ], + [ + 0.001322716474533081, + 0.00038376450538635254, + 6.0617923736572266e-05, + 0.002586059272289276, + -0.008840681053698063, + 0.004630692303180695, + 0.0 + ], + [ + 0.00043213367462158203, + -0.00030957162380218506, + -2.541765570640564e-05, + -0.002055920660495758, + -0.003655575215816498, + 0.008028432726860046, + 0.0 + ], + [ + -0.0002028346061706543, + -0.0004437863826751709, + -0.0007296428084373474, + -0.003348343074321747, + -0.0020502954721450806, + 0.01014036126434803, + 0.0 + ], + [ + -0.004425734281539917, + 0.0025840699672698975, + 0.00034771114587783813, + 0.015172682702541351, + 0.021083999425172806, + -0.005169473122805357, + 0.0 + ], + [ + -0.00949949026107788, + 0.0019636601209640503, + 0.0050484128296375275, + 0.005638107657432556, + 0.013082857243716717, + 0.012049432843923569, + 0.0 + ], + [ + -0.022698253393173218, + 0.0023943595588207245, + 0.0068561118096113205, + 0.009532615542411804, + 0.018794670701026917, + 0.040526267141103745, + 0.0 + ], + [ + -0.02225133776664734, + -0.008032098412513733, + 0.006866198033094406, + -0.002702191472053528, + -0.007364628836512566, + 0.004662081599235535, + 0.0 + ], + [ + -0.023978203535079956, + -0.009390588849782944, + 0.0062643662095069885, + 0.005577012896537781, + -0.012260515242815018, + 0.01868186891078949, + 0.0 + ], + [ + -0.022875308990478516, + -0.01543707400560379, + 0.003073491156101227, + -0.015983663499355316, + -0.019977077841758728, + -0.014190692454576492, + 0.0 + ], + [ + -0.018272697925567627, + -0.008479617536067963, + -0.003276769071817398, + -0.002497941255569458, + 0.0001721065491437912, + -0.013565745204687119, + 0.0 + ], + [ + -0.01818770170211792, + -0.00662008672952652, + -0.009326759725809097, + 0.006019212305545807, + -0.005259769037365913, + -0.025907063856720924, + 0.0 + ], + [ + -0.006519526243209839, + -0.0017715692520141602, + -0.005419161170721054, + -0.017602913081645966, + -0.006425202824175358, + -0.009024015627801418, + 0.0 + ], + [ + -0.0014037340879440308, + 0.0014362409710884094, + -0.004668250679969788, + -0.0002376660704612732, + -0.01338966190814972, + 0.0074252476915717125, + 0.0 + ], + [ + -0.0011782199144363403, + 1.0304152965545654e-05, + -0.002072518691420555, + 0.014083616435527802, + -0.016679856926202774, + -0.005987548269331455, + 0.0 + ], + [ + -0.0018505603075027466, + 0.0003961995244026184, + -0.0020094458013772964, + -0.0025140047073364258, + 0.00021710991859436035, + 0.0073961494490504265, + 1.0 + ], + [ + -0.0024660974740982056, + 0.0004842132329940796, + -0.0014016702771186829, + -0.01083008199930191, + 0.014255151152610779, + 0.003143327310681343, + 1.0 + ], + [ + -0.0004955828189849854, + 0.0019079670310020447, + 0.0002161022275686264, + -0.0005234852433204651, + 0.011095276102423668, + -0.00581816490739584, + 1.0 + ], + [ + 0.0010556280612945557, + 0.0013605058193206787, + 0.00932641513645649, + 0.014100246131420135, + 0.01254338026046753, + -0.0018638167530298233, + 1.0 + ], + [ + 0.005577176809310913, + -0.00021209567785263062, + 0.018896855413913727, + 0.005022838711738586, + -0.02013244293630123, + 0.006196614354848862, + 1.0 + ], + [ + 0.009246289730072021, + -6.619095802307129e-05, + 0.025551751255989075, + 0.010235980153083801, + -0.005851522088050842, + -0.0040223319083452225, + 1.0 + ], + [ + 0.018531858921051025, + 0.0015076100826263428, + 0.023628398776054382, + 0.007018670439720154, + -0.036610838025808334, + 0.016881704330444336, + 1.0 + ], + [ + 0.018353164196014404, + -0.004423119127750397, + 0.004751250147819519, + -0.0006189346313476562, + -0.023540236055850983, + -0.031122900545597076, + 1.0 + ], + [ + 0.02455037832260132, + -0.013664714992046356, + 0.001580461859703064, + -0.030773691833019257, + -0.019436165690422058, + -0.04966606944799423, + 1.0 + ], + [ + 0.015736013650894165, + -0.008837893605232239, + 0.012131065130233765, + 0.0021835416555404663, + -0.032198838889598846, + -0.027891922742128372, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.993436336517334 + ], + [ + 0.9173964858055115 + ], + [ + 0.7691487669944763 + ], + [ + 0.7681795358657837 + ], + [ + 0.7681795358657837 + ], + [ + 0.7681795358657837 + ], + [ + 0.7447580099105835 + ], + [ + 0.7309711575508118 + ], + [ + 0.7309711575508118 + ], + [ + 0.7309711575508118 + ], + [ + 0.7309711575508118 + ], + [ + 0.7309711575508118 + ], + [ + 0.7309711575508118 + ], + [ + 0.7309711575508118 + ], + [ + 0.7309711575508118 + ], + [ + 0.7309711575508118 + ], + [ + 0.806471049785614 + ], + [ + 0.9981546401977539 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3242454528808594, + 0.09571871161460876, + 0.13505034148693085 + ], + [ + 0.33486631512641907, + 0.07510115206241608, + 0.1321907937526703 + ], + [ + 0.3460976183414459, + 0.04907263442873955, + 0.13556313514709473 + ], + [ + 0.35561591386795044, + 0.020173517987132072, + 0.12679265439510345 + ], + [ + 0.36830148100852966, + -0.005882035940885544, + 0.11026526242494583 + ], + [ + 0.37414103746414185, + -0.019552625715732574, + 0.09827981144189835 + ], + [ + 0.3845621943473816, + -0.032028939574956894, + 0.08599051833152771 + ], + [ + 0.39383354783058167, + -0.039395447820425034, + 0.07113476097583771 + ], + [ + 0.39497920870780945, + -0.043925702571868896, + 0.05850035324692726 + ], + [ + 0.3938939869403839, + -0.045596104115247726, + 0.05092313513159752 + ], + [ + 0.39307886362075806, + -0.04632548615336418, + 0.04659978672862053 + ], + [ + 0.39280644059181213, + -0.0455365926027298, + 0.035897146910429 + ], + [ + 0.3920218050479889, + -0.04398072883486748, + 0.032938387244939804 + ], + [ + 0.39031875133514404, + -0.04279318079352379, + 0.027928851544857025 + ], + [ + 0.39046600461006165, + -0.04295572265982628, + 0.024274546653032303 + ], + [ + 0.3915790319442749, + -0.04142531007528305, + 0.025062890723347664 + ], + [ + 0.392901748418808, + -0.0410415455698967, + 0.025123508647084236 + ], + [ + 0.39333388209342957, + -0.04135111719369888, + 0.02509809099137783 + ], + [ + 0.3931310474872589, + -0.041794903576374054, + 0.024368448182940483 + ], + [ + 0.388705313205719, + -0.039210833609104156, + 0.02471615932881832 + ], + [ + 0.3792058229446411, + -0.037247173488140106, + 0.02976457215845585 + ], + [ + 0.3565075695514679, + -0.03485281392931938, + 0.03662068396806717 + ], + [ + 0.33425623178482056, + -0.042884912341833115, + 0.043486882001161575 + ], + [ + 0.3102780282497406, + -0.05227550119161606, + 0.049751248210668564 + ], + [ + 0.2874027192592621, + -0.06771257519721985, + 0.05282473936676979 + ], + [ + 0.26913002133369446, + -0.07619219273328781, + 0.04954797029495239 + ], + [ + 0.25094231963157654, + -0.08281227946281433, + 0.040221210569143295 + ], + [ + 0.2444227933883667, + -0.08458384871482849, + 0.03480204939842224 + ], + [ + 0.24301905930042267, + -0.08314760774374008, + 0.030133798718452454 + ], + [ + 0.24184083938598633, + -0.08313730359077454, + 0.0280612800270319 + ], + [ + 0.23999027907848358, + -0.08274110406637192, + 0.026051834225654602 + ], + [ + 0.23752418160438538, + -0.08225689083337784, + 0.02465016394853592 + ], + [ + 0.2370285987854004, + -0.0803489238023758, + 0.024866266176104546 + ], + [ + 0.23808422684669495, + -0.07898841798305511, + 0.034192681312561035 + ], + [ + 0.24366140365600586, + -0.07920051366090775, + 0.05308953672647476 + ], + [ + 0.2529076933860779, + -0.07926670461893082, + 0.07864128798246384 + ], + [ + 0.2714395523071289, + -0.07775909453630447, + 0.10226968675851822 + ], + [ + 0.2897927165031433, + -0.08218221366405487, + 0.10702093690633774 + ], + [ + 0.31434309482574463, + -0.09584692865610123, + 0.1086013987660408 + ], + [ + 0.3300791084766388, + -0.10468482226133347, + 0.12073246389627457 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9596357108322581, + 0.2717502300505177, + 0.07246457729785596, + 0.25467387266531716, + -0.9489543522216625, + 0.1860829276994917, + 0.11933365441951424, + -0.16011698806514923, + -0.9798581678262565 + ], + [ + 0.9736453417124223, + 0.21120899311823704, + 0.08605527170185787, + 0.1933780196275578, + -0.9645701948145478, + 0.17946944252531977, + 0.12091191044154398, + -0.15809838867428622, + -0.9799924537525634 + ], + [ + 0.9800571447873851, + 0.1495204427004734, + 0.13088785339309528, + 0.12775893858582668, + -0.9786035808341353, + 0.16128448527378675, + 0.152202649657031, + -0.1413459189126514, + -0.9781900043673094 + ], + [ + 0.9853992437600771, + 0.08333857326415181, + 0.14846889439665234, + 0.06557106976796798, + -0.9905097253029493, + 0.12079287598927661, + 0.1571265897502806, + -0.10929394441858196, + -0.9815121336523943 + ], + [ + 0.9904692670519889, + 0.006826693456262531, + 0.1375646294726584, + -0.007572234568708732, + -0.9945614539576674, + 0.10387576986596367, + 0.13752560593988317, + -0.10392742928632659, + -0.9850308610154319 + ], + [ + 0.9890695311627615, + -0.01974110007847329, + 0.14612238532533672, + -0.03334714110617063, + -0.9952687145253256, + 0.09125872049919596, + 0.1436294910717142, + -0.09513398370086752, + -0.9850482701064364 + ], + [ + 0.986965375882237, + -0.03838632182913463, + 0.15628767419750308, + -0.05105253162825183, + -0.9956568366909438, + 0.07785308320760105, + 0.15262039779787337, + -0.08481717896165498, + -0.9846385429836705 + ], + [ + 0.9882721728381456, + -0.055867998471954686, + 0.1421157244660431, + -0.06982823297781356, + -0.9930041920917013, + 0.09521918067019843, + 0.1358018051167465, + -0.10402615649463055, + -0.9852595741691568 + ], + [ + 0.9899152897073573, + -0.06620423100251167, + 0.1252386481920217, + -0.07629962466667632, + -0.9940602600802988, + 0.0776051970219346, + 0.11935697080323053, + -0.08637823294357809, + -0.9890868083207974 + ], + [ + 0.9925583443427769, + -0.07095573289797216, + 0.09896068433694745, + -0.07807135531147272, + -0.9944883175940245, + 0.06998463866332588, + 0.09344943314624816, + -0.07718983182983455, + -0.9926272882138223 + ], + [ + 0.9943582456977567, + -0.06008295754457326, + 0.08741691727335744, + -0.06599129907900345, + -0.9956121208375901, + 0.06634495675740318, + 0.08304714118345995, + -0.07173941074453558, + -0.9939600742923639 + ], + [ + 0.9968435222616209, + -0.05483517211368878, + 0.05741163666285309, + -0.05930858817656989, + -0.9950804333801386, + 0.0793563007737727, + 0.05277767988029943, + -0.0825108174923602, + -0.9951916807847597 + ], + [ + 0.9984548233889938, + -0.04060300978592672, + 0.037938914686335, + -0.04392809256031749, + -0.9948478417172818, + 0.09136790746470266, + 0.03403363535188749, + -0.09289331206707094, + -0.995094238872854 + ], + [ + 0.9990768305164783, + -0.03831154225657758, + 0.01943482583071251, + -0.040069565510266206, + -0.9941769737970029, + 0.10003286805671267, + 0.015489242879048189, + -0.10071926579237793, + -0.9947943068058229 + ], + [ + 0.9992593677175731, + -0.03806762561574128, + 0.00561888856051449, + -0.03844108212160959, + -0.9941189530436008, + 0.10124124853445013, + 0.0017318296669676667, + -0.10138226215405924, + -0.9948460371768738 + ], + [ + 0.9996171777564096, + -0.025853407859713476, + 0.00985389447630994, + -0.0267634995631037, + -0.993849607108185, + 0.10745544910353402, + 0.007015199601343799, + -0.10767803746793378, + -0.9941610670417584 + ], + [ + 0.9996293221431061, + -0.020252277377730953, + 0.018195152451407123, + -0.02213207184276256, + -0.9936989189361582, + 0.1098755200263351, + 0.015855273812246076, + -0.11023748802529118, + -0.9937788016083925 + ], + [ + 0.9997101559857409, + -0.011913972466444767, + 0.020920355614438033, + -0.014105076089928382, + -0.9940591540954615, + 0.1079233292088085, + 0.01951027543278371, + -0.10818713148560842, + -0.9939390794879999 + ], + [ + 0.9997596830577395, + -0.0016847987750386055, + 0.021857209002430395, + -0.003966934971150114, + -0.9944861920585233, + 0.10479254377994954, + 0.021560138200460637, + -0.10485406648302012, + -0.9942538836649075 + ], + [ + 0.9999581406455075, + -0.009013923914479884, + 0.0015703924490612178, + -0.009137212631217629, + -0.9927384339803187, + 0.11994545862031139, + 0.00047780970272466854, + -0.11995478679056074, + -0.9927792407297403 + ], + [ + 0.9999163176369178, + 0.0013065268900249718, + -0.012870536543300058, + 0.002911856562980087, + -0.9920876621056871, + 0.1255133131943737, + -0.012604713990543788, + -0.12554028710002996, + -0.9920084462846367 + ], + [ + 0.9985642370675677, + 0.038792846361740574, + -0.03694021549506019, + 0.043403295440093206, + -0.990094766373511, + 0.13352343444026327, + -0.031394559952435695, + -0.13493505352923563, + -0.9903569623799571 + ], + [ + 0.9985549019539371, + 0.044482664008375895, + -0.03015626612299657, + 0.04806800844832062, + -0.9902130354757034, + 0.1310252301574224, + -0.024032776526552817, + -0.13228543750810695, + -0.9909202736223099 + ], + [ + 0.9977017251523781, + 0.06447613241574822, + -0.0208349700425898, + 0.06672805564782892, + -0.988353664736648, + 0.1367640303263179, + -0.011774303267240827, + -0.1378399860357823, + -0.9903845233202235 + ], + [ + 0.9985837857433557, + 0.05317401806971913, + 0.0017165817165831097, + 0.052565609449167904, + -0.9911050147040745, + 0.12226081355722453, + 0.008202411456765264, + -0.12199743288593433, + -0.9924965223191144 + ], + [ + 0.99920636835171, + 0.03969535116397341, + 0.0033034135913790033, + 0.0390147095007561, + -0.9920381651344189, + 0.1197419365105936, + 0.00803031057671395, + -0.11951802379852276, + -0.9927995548444496 + ], + [ + 0.9998256443022971, + 0.014682387140391193, + 0.011537265852726568, + 0.013117274266668862, + -0.9919869093199983, + 0.1256579040632573, + 0.01328977468995626, + -0.1254846574112448, + -0.9920065436493214 + ], + [ + 0.9997972763869347, + 0.006200194454536328, + 0.019156297084605603, + 0.004093986231707685, + -0.9941323785159031, + 0.10809279931174075, + 0.019714091559144185, + -0.10799246073240303, + -0.9939562279189957 + ], + [ + 0.9993857599333335, + 0.015019762710790027, + 0.03166243153305514, + 0.011513474409399062, + -0.9940680124190454, + 0.10814909427393732, + 0.033098984115799625, + -0.10771812017186538, + -0.9936303456704318 + ], + [ + 0.9987457031894342, + 0.011550885347670075, + 0.048719579311884996, + 0.005525609872275383, + -0.9925099232481044, + 0.1220390097041969, + 0.0497643245325553, + -0.12161673117514149, + -0.9913288469030302 + ], + [ + 0.9986882981319465, + 0.018745124892416143, + 0.047647701592878615, + 0.012912403251446866, + -0.9927022475220314, + 0.11989794663370786, + 0.04954748244450278, + -0.11912542993616078, + -0.9916421627411455 + ], + [ + 0.9992475031841825, + 0.01980694397514666, + 0.03334834854296341, + 0.016061258479369768, + -0.9939051405441306, + 0.10906240221089655, + 0.03530528793589484, + -0.10844471665469876, + -0.9934753545375175 + ], + [ + 0.9996542199205749, + 0.012808545442141571, + 0.022964793895080455, + 0.010250618428696689, + -0.9940726918627332, + 0.10823311930554762, + 0.024214983312325324, + -0.10796029110944559, + -0.9938602568403406 + ], + [ + 0.9998966666398713, + 0.009751344287164607, + 0.010562543588908435, + 0.008389317864753734, + -0.992483397987543, + 0.12209145778826887, + 0.011673704991926616, + -0.1219902291320649, + -0.9924626484699905 + ], + [ + 0.9993878898936123, + 0.01850575147558086, + 0.029688090142632333, + 0.014578707711146659, + -0.9917405603451593, + 0.12742889094605775, + 0.031801050540288436, + -0.12691807644537229, + -0.9914032958669952 + ], + [ + 0.9992352619256537, + 0.015626748904031523, + 0.03584265675226473, + 0.010556584250750099, + -0.9904434401246326, + 0.137514909893583, + 0.03764903522438701, + -0.13703137098042106, + -0.9898509754068534 + ], + [ + 0.9968677631790569, + 0.03784280615263423, + 0.06944483247065614, + 0.027366880396194407, + -0.9889003380405562, + 0.14603826649427742, + 0.07420051611521133, + -0.14368035163433918, + -0.9868385075393382 + ], + [ + 0.9952137833942198, + 0.010370833530735073, + 0.09716980577340122, + -0.0036593430186197488, + -0.9897002115308544, + 0.14310870170766654, + 0.09765313385055706, + -0.1427793301134992, + -0.9849253415064034 + ], + [ + 0.9917220194645288, + -0.03978319720668306, + 0.12208494308968201, + -0.052951655768961554, + -0.9928922067612871, + 0.10658887326558363, + 0.11697674239147768, + -0.11217113252845141, + -0.9867796505637731 + ], + [ + 0.9855930254746869, + -0.06352326094097042, + 0.15675198070544077, + -0.08024115214214823, + -0.9914670424482896, + 0.10273490761052093, + 0.14888836636404512, + -0.1138327679460841, + -0.9822801816707792 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006263.json b/json/chunk-0006/episode_0006263.json new file mode 100644 index 0000000000000000000000000000000000000000..64a9dc7bbbacc48e9c047623afbbad822409ac55 --- /dev/null +++ b/json/chunk-0006/episode_0006263.json @@ -0,0 +1,2542 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 41, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the green triangle to the left of table." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006263.mp4", + "start": 0, + "end": 41, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2905890643596649, + 0.007952924817800522, + 0.18699315190315247, + -0.16984353959560394, + 0.034403372555971146, + 0.40608087182044983, + 0.0, + 0.9994885921478271 + ], + [ + 0.2898993492126465, + 0.007418960332870483, + 0.1768534779548645, + -0.1590760499238968, + 0.07119089365005493, + 0.4048518240451813, + 0.0, + 0.9994885921478271 + ], + [ + 0.29452842473983765, + 0.002425716258585453, + 0.18228672444820404, + -0.15044981241226196, + 0.05199987068772316, + 0.3826761245727539, + 0.0, + 0.9994885921478271 + ], + [ + 0.2996805012226105, + -0.0014454489573836327, + 0.1917741745710373, + -0.1545325517654419, + 0.022199656814336777, + 0.3608545660972595, + 0.0, + 0.9994885921478271 + ], + [ + 0.304059773683548, + -0.013283723033964634, + 0.20225146412849426, + -0.12655268609523773, + -0.016703227534890175, + 0.3087259829044342, + 0.0, + 0.9994885921478271 + ], + [ + 0.3034761846065521, + -0.03447851911187172, + 0.20809373259544373, + -0.07413210719823837, + -0.03147028014063835, + 0.22243709862232208, + 0.0, + 0.9994885921478271 + ], + [ + 0.3020918369293213, + -0.055688727647066116, + 0.20953568816184998, + -0.04172713682055473, + -0.023267535492777824, + 0.1565314680337906, + 0.0, + 0.9994885921478271 + ], + [ + 0.29850342869758606, + -0.07100356370210648, + 0.20701532065868378, + -0.02635679580271244, + -0.010261275805532932, + 0.1148872897028923, + 0.0, + 0.9994885921478271 + ], + [ + 0.3000226318836212, + -0.0801558718085289, + 0.20004887878894806, + -0.028574613854289055, + 0.002169861225411296, + 0.09978364408016205, + 0.0, + 0.9994885921478271 + ], + [ + 0.3016049563884735, + -0.08306080102920532, + 0.18750742077827454, + -0.03197251632809639, + 0.03773108869791031, + 0.10195726156234741, + 0.0, + 0.9994885921478271 + ], + [ + 0.2997215688228607, + -0.07994259148836136, + 0.17979733645915985, + -0.04101253300905228, + 0.06330303847789764, + 0.11064275354146957, + 0.0, + 0.9994885921478271 + ], + [ + 0.3005329370498657, + -0.07866356521844864, + 0.17939318716526031, + -0.042203210294246674, + 0.06028332561254501, + 0.11238608509302139, + 0.0, + 0.9994885921478271 + ], + [ + 0.3019828498363495, + -0.07483918219804764, + 0.17844389379024506, + -0.043417707085609436, + 0.062038853764534, + 0.1217387244105339, + 0.0, + 0.9994885921478271 + ], + [ + 0.3061653971672058, + -0.07253116369247437, + 0.1721823364496231, + -0.049088697880506516, + 0.06996777653694153, + 0.12909696996212006, + 0.0, + 0.9994885921478271 + ], + [ + 0.30804863572120667, + -0.07142373919487, + 0.16554318368434906, + -0.055364590138196945, + 0.09210155159235, + 0.12855957448482513, + 0.0, + 0.9994885921478271 + ], + [ + 0.3093205392360687, + -0.0699249804019928, + 0.16227370500564575, + -0.0639229267835617, + 0.10338542610406876, + 0.12774109840393066, + 0.0, + 0.9994885921478271 + ], + [ + 0.3104376494884491, + -0.06862598657608032, + 0.16091428697109222, + -0.07250076532363892, + 0.10736396908760071, + 0.13450999557971954, + 0.0, + 0.9620732665061951 + ], + [ + 0.31207120418548584, + -0.06687398254871368, + 0.1599406749010086, + -0.08918879181146622, + 0.10458461940288544, + 0.14997141063213348, + 0.0, + 0.6821943521499634 + ], + [ + 0.31392207741737366, + -0.06414767354726791, + 0.1587192863225937, + -0.09651058912277222, + 0.10071555525064468, + 0.16514891386032104, + 0.0, + 0.5373842120170593 + ], + [ + 0.3138190507888794, + -0.06289104372262955, + 0.15887579321861267, + -0.09749939292669296, + 0.10162235796451569, + 0.1744283139705658, + 0.0, + 0.5373842120170593 + ], + [ + 0.31275731325149536, + -0.05788043141365051, + 0.16286331415176392, + -0.0795486643910408, + 0.10537025332450867, + 0.1928921490907669, + 0.0, + 0.5373842120170593 + ], + [ + 0.32103991508483887, + -0.04328271001577377, + 0.19481779634952545, + -0.08449028432369232, + 0.027903370559215546, + 0.22806642949581146, + 0.0, + 0.5373842120170593 + ], + [ + 0.32288917899131775, + -0.014632423408329487, + 0.2070697844028473, + -0.0729084387421608, + 0.013570047914981842, + 0.29756686091423035, + 0.0, + 0.5373842120170593 + ], + [ + 0.31929337978363037, + 0.014359255321323872, + 0.194326251745224, + -0.09292954206466675, + 0.04425262659788132, + 0.35873836278915405, + 0.0, + 0.5373842120170593 + ], + [ + 0.30766549706459045, + 0.04313628375530243, + 0.16603007912635803, + -0.1100068986415863, + 0.09019903093576431, + 0.42458122968673706, + 0.0, + 0.5373842120170593 + ], + [ + 0.2961990535259247, + 0.0573134683072567, + 0.14192534983158112, + -0.09199604392051697, + 0.1044188067317009, + 0.3950660228729248, + 0.0, + 0.5373842120170593 + ], + [ + 0.2866596281528473, + 0.07354798167943954, + 0.12309690564870834, + -0.07436609268188477, + 0.09826499223709106, + 0.3641059398651123, + 0.0, + 0.5373842120170593 + ], + [ + 0.28530529141426086, + 0.08322404325008392, + 0.11090335994958878, + -0.06498241424560547, + 0.06037239730358124, + 0.3374931812286377, + 0.0, + 0.5373842120170593 + ], + [ + 0.287244588136673, + 0.08953949064016342, + 0.08945601433515549, + -0.07270955294370651, + 0.05743034929037094, + 0.34300538897514343, + 0.0, + 0.5373842120170593 + ], + [ + 0.2877061367034912, + 0.08994347602128983, + 0.060081902891397476, + -0.07970135658979416, + 0.05879995599389076, + 0.3534031808376312, + 0.0, + 0.5373842120170593 + ], + [ + 0.29252174496650696, + 0.09145032614469528, + 0.03530573844909668, + -0.07684534043073654, + 0.07356616109609604, + 0.3670794665813446, + 0.0, + 0.5373842120170593 + ], + [ + 0.2924487292766571, + 0.09349004924297333, + 0.01749272644519806, + -0.07922197133302689, + 0.10215000063180923, + 0.3701377213001251, + 0.0, + 0.5373842120170593 + ], + [ + 0.2944677174091339, + 0.10094114392995834, + 0.003173813922330737, + -0.08303241431713104, + 0.12996678054332733, + 0.3766558766365051, + 0.0, + 0.5373842120170593 + ], + [ + 0.2928631007671356, + 0.1049572303891182, + -0.004023471847176552, + -0.07922704517841339, + 0.13958439230918884, + 0.39286744594573975, + 0.0, + 0.5373842120170593 + ], + [ + 0.2939106225967407, + 0.10611449927091599, + -0.0042672716081142426, + -0.07242114841938019, + 0.13197824358940125, + 0.4125823974609375, + 0.0, + 0.6059080362319946 + ], + [ + 0.2909882664680481, + 0.1060936376452446, + -0.00396760506555438, + -0.06285199522972107, + 0.1500229686498642, + 0.4279051423072815, + 0.0, + 0.905788779258728 + ], + [ + 0.2968185245990753, + 0.10408981889486313, + 0.029097899794578552, + -0.06906570494174957, + 0.08349315077066422, + 0.4281195104122162, + 0.0, + 1.0054124593734741 + ], + [ + 0.3018505871295929, + 0.10210134834051132, + 0.07268032431602478, + -0.06492908298969269, + 0.01821053959429264, + 0.4192916750907898, + 0.0, + 1.0001531839370728 + ], + [ + 0.3098241090774536, + 0.08550038933753967, + 0.1089717373251915, + -0.04200579971075058, + -0.0010802301112562418, + 0.3447532057762146, + 0.0, + 1.0001531839370728 + ], + [ + 0.31167253851890564, + 0.06589337438344955, + 0.14299647510051727, + -0.03222763165831566, + -0.01178477518260479, + 0.2911074757575989, + 0.0, + 1.0001531839370728 + ], + [ + 0.3113347291946411, + 0.05207116901874542, + 0.1667330414056778, + -0.0246895682066679, + -0.0020410283468663692, + 0.28387898206710815, + 0.0, + 1.0001531839370728 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9620732665061951 + ], + [ + 0.6821943521499634 + ], + [ + 0.5373842120170593 + ], + [ + 0.5373842120170593 + ], + [ + 0.5373842120170593 + ], + [ + 0.5373842120170593 + ], + [ + 0.5373842120170593 + ], + [ + 0.5373842120170593 + ], + [ + 0.5373842120170593 + ], + [ + 0.5373842120170593 + ], + [ + 0.5373842120170593 + ], + [ + 0.5373842120170593 + ], + [ + 0.5373842120170593 + ], + [ + 0.5373842120170593 + ], + [ + 0.5373842120170593 + ], + [ + 0.5373842120170593 + ], + [ + 0.5373842120170593 + ], + [ + 0.5373842120170593 + ], + [ + 0.6059080362319946 + ], + [ + 0.905788779258728 + ], + [ + 1.0054124593734741 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2905890643596649, + 0.007952924817800522, + 0.18699315190315247 + ], + [ + 0.2898993492126465, + 0.007418960332870483, + 0.1768534779548645 + ], + [ + 0.29452842473983765, + 0.002425716258585453, + 0.18228672444820404 + ], + [ + 0.2996805012226105, + -0.0014454489573836327, + 0.1917741745710373 + ], + [ + 0.304059773683548, + -0.013283723033964634, + 0.20225146412849426 + ], + [ + 0.3034761846065521, + -0.03447851911187172, + 0.20809373259544373 + ], + [ + 0.3020918369293213, + -0.055688727647066116, + 0.20953568816184998 + ], + [ + 0.29850342869758606, + -0.07100356370210648, + 0.20701532065868378 + ], + [ + 0.3000226318836212, + -0.0801558718085289, + 0.20004887878894806 + ], + [ + 0.3016049563884735, + -0.08306080102920532, + 0.18750742077827454 + ], + [ + 0.2997215688228607, + -0.07994259148836136, + 0.17979733645915985 + ], + [ + 0.3005329370498657, + -0.07866356521844864, + 0.17939318716526031 + ], + [ + 0.3019828498363495, + -0.07483918219804764, + 0.17844389379024506 + ], + [ + 0.3061653971672058, + -0.07253116369247437, + 0.1721823364496231 + ], + [ + 0.30804863572120667, + -0.07142373919487, + 0.16554318368434906 + ], + [ + 0.3093205392360687, + -0.0699249804019928, + 0.16227370500564575 + ], + [ + 0.3104376494884491, + -0.06862598657608032, + 0.16091428697109222 + ], + [ + 0.31207120418548584, + -0.06687398254871368, + 0.1599406749010086 + ], + [ + 0.31392207741737366, + -0.06414767354726791, + 0.1587192863225937 + ], + [ + 0.3138190507888794, + -0.06289104372262955, + 0.15887579321861267 + ], + [ + 0.31275731325149536, + -0.05788043141365051, + 0.16286331415176392 + ], + [ + 0.32103991508483887, + -0.04328271001577377, + 0.19481779634952545 + ], + [ + 0.32288917899131775, + -0.014632423408329487, + 0.2070697844028473 + ], + [ + 0.31929337978363037, + 0.014359255321323872, + 0.194326251745224 + ], + [ + 0.30766549706459045, + 0.04313628375530243, + 0.16603007912635803 + ], + [ + 0.2961990535259247, + 0.0573134683072567, + 0.14192534983158112 + ], + [ + 0.2866596281528473, + 0.07354798167943954, + 0.12309690564870834 + ], + [ + 0.28530529141426086, + 0.08322404325008392, + 0.11090335994958878 + ], + [ + 0.287244588136673, + 0.08953949064016342, + 0.08945601433515549 + ], + [ + 0.2877061367034912, + 0.08994347602128983, + 0.060081902891397476 + ], + [ + 0.29252174496650696, + 0.09145032614469528, + 0.03530573844909668 + ], + [ + 0.2924487292766571, + 0.09349004924297333, + 0.01749272644519806 + ], + [ + 0.2944677174091339, + 0.10094114392995834, + 0.003173813922330737 + ], + [ + 0.2928631007671356, + 0.1049572303891182, + -0.004023471847176552 + ], + [ + 0.2939106225967407, + 0.10611449927091599, + -0.0042672716081142426 + ], + [ + 0.2909882664680481, + 0.1060936376452446, + -0.00396760506555438 + ], + [ + 0.2968185245990753, + 0.10408981889486313, + 0.029097899794578552 + ], + [ + 0.3018505871295929, + 0.10210134834051132, + 0.07268032431602478 + ], + [ + 0.3098241090774536, + 0.08550038933753967, + 0.1089717373251915 + ], + [ + 0.31167253851890564, + 0.06589337438344955, + 0.14299647510051727 + ], + [ + 0.3113347291946411, + 0.05207116901874542, + 0.1667330414056778 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9181323614209694, + 0.39466939766409065, + 0.03562349588429444, + 0.3947782184442527, + -0.9031607588075966, + -0.16867365529942235, + -0.03439658636458481, + 0.1689281216895232, + -0.9850280019110692 + ], + [ + 0.9168325354803962, + 0.3992661125653505, + -0.0021617681514901135, + 0.3928848619987956, + -0.9031174182568054, + -0.17326400103122913, + -0.07113077461110129, + 0.15800474739106823, + -0.9848730439529296 + ], + [ + 0.9264147627647986, + 0.3764131847996242, + 0.008294675427409134, + 0.3728996340605358, + -0.9142805515449781, + -0.15823064173581916, + -0.05197643936400982, + 0.14968028385734253, + -0.9873673391273508 + ], + [ + 0.9353649075305271, + 0.35206311962055137, + 0.0338238017297553, + 0.352986892038732, + -0.9232401687863837, + -0.15174928266099466, + -0.02219783343583417, + 0.1538803123935457, + -0.9878401215016628 + ], + [ + 0.9525885463143514, + 0.299406783060967, + 0.05413538295600591, + 0.3038027148763742, + -0.9457429657432723, + -0.11521351127738352, + 0.01670245085174098, + 0.12619754753640172, + -0.9918645104707308 + ], + [ + 0.9748797553165424, + 0.2177284055313467, + 0.04694469191225023, + 0.22049809760752254, + -0.9731979566178547, + -0.06531712016229639, + 0.031465085816220484, + 0.07402755338122312, + -0.9967596850369542 + ], + [ + 0.9875065764601962, + 0.15479867581660237, + 0.029464069869743585, + 0.155850829095296, + -0.9870654325972971, + -0.03758125652263001, + 0.023265436126828264, + 0.04170373768545605, + -0.9988591080552308 + ], + [ + 0.9933554117695128, + 0.11432627126737893, + 0.013210965381793192, + 0.11462868673506471, + -0.9930936798634276, + -0.025004143510826568, + 0.010261095731726122, + 0.02635235688535848, + -0.9996000516211324 + ], + [ + 0.9950233991027271, + 0.0996391585903013, + 0.0006879778136890132, + 0.09961790475465317, + -0.9946133698912144, + -0.028644676397816177, + -0.0021698595226862473, + 0.0285706581838701, + -0.9995894203124563 + ], + [ + 0.9940988224732922, + 0.10292829370004802, + -0.0342534306779718, + 0.10170826688909326, + -0.9941757022516058, + -0.03563848339847847, + -0.03772213678506218, + 0.031944317311899215, + -0.9987775533059631 + ], + [ + 0.9918946114023433, + 0.11290219468431073, + -0.058293861653359626, + 0.11019598486972684, + -0.9927631827422359, + -0.04772952870181491, + -0.06326076817100756, + 0.04091891282735211, + -0.9971578198978546 + ], + [ + 0.9918862985112852, + 0.11457560801849957, + -0.05508176533820387, + 0.11194593125141038, + -0.9925214543340223, + -0.04867515960869627, + -0.06024681984832332, + 0.04211404437795886, + -0.9972947046707383 + ], + [ + 0.9906894341794851, + 0.12399489799677701, + -0.05621130025093715, + 0.12120462408250077, + -0.9913367711118952, + -0.05060479564687587, + -0.061999065365147404, + 0.0433205668500685, + -0.9971356198540083 + ], + [ + 0.9892521669398028, + 0.13198550100957504, + -0.06292835392854274, + 0.12842368880166702, + -0.9900423375603772, + -0.057650030291030885, + -0.0699107027534201, + 0.048948926047827246, + -0.9963515927017366 + ], + [ + 0.9875442193321852, + 0.13305665543157869, + -0.0839782192532475, + 0.12766235671588777, + -0.9895755255563695, + -0.06665284613262944, + -0.09197139523422376, + 0.0551017755176427, + -0.9942359160649312 + ], + [ + 0.986556185123954, + 0.13367251355973303, + -0.09401357727633826, + 0.1267137510568167, + -0.9889866234219821, + -0.07647930429533402, + -0.1032013511868043, + 0.06353831765958402, + -0.9926290159481579 + ], + [ + 0.9852611962468245, + 0.14144455670361564, + -0.09619673876589767, + 0.1333325768156787, + -0.9873229116091337, + -0.08611557449935626, + -0.10715782346598791, + 0.07202017488579644, + -0.9916301201957571 + ], + [ + 0.9833726930455804, + 0.15801007687156784, + -0.08950397856701042, + 0.14859349034061728, + -0.9834560009391019, + -0.10360631662819614, + -0.10439406688445244, + 0.08858391402455845, + -0.9905830449666571 + ], + [ + 0.9813953085272871, + 0.17319099481350175, + -0.08287416796650528, + 0.16356612324699382, + -0.9802108640356894, + -0.1115024006573692, + -0.10054537148263042, + 0.09587252652307056, + -0.9903025229350387 + ], + [ + 0.979745088313083, + 0.1824464959298122, + -0.08253991791443833, + 0.17264981628724702, + -0.9784348482379421, + -0.1133899849615261, + -0.1014475374879502, + 0.0968427791656573, + -0.9901160908000146 + ], + [ + 0.9760104724964983, + 0.19929472767952597, + -0.08766509622595192, + 0.1906349860322454, + -0.9767480790282299, + -0.09808920539564059, + -0.10517537581414876, + 0.07902405731045545, + -0.9913089017498764 + ], + [ + 0.9737261915343508, + 0.2275814125653735, + -0.008000285917266627, + 0.22600643327597675, + -0.9700982457358807, + -0.08849003185691724, + -0.027899749781677953, + 0.08435694562343994, + -0.9960449335683625 + ], + [ + 0.9559646769223233, + 0.29336097755968005, + 0.008418629462500046, + 0.29316787269306965, + -0.9532229988161357, + -0.07361054916649822, + -0.013569631440022642, + 0.0728371565425386, + -0.9972515298205261 + ], + [ + 0.9354238551390079, + 0.3534220687911948, + -0.008663286225677677, + 0.3507494750512426, + -0.930859078750551, + -0.10235321811722917, + -0.0442381847294142, + 0.09270499878122718, + -0.9947103931360216 + ], + [ + 0.9075070869900612, + 0.4184602505287285, + -0.03635802236436048, + 0.41026462443279077, + -0.9016296534681503, + -0.1369193409490589, + -0.09007677282093718, + 0.10933886186684608, + -0.9899147378859596 + ], + [ + 0.9179440165997104, + 0.39207923703101033, + -0.06043719283662508, + 0.3827728632614198, + -0.9153830520804409, + -0.12473493141278102, + -0.10422915877740263, + 0.09136596660178006, + -0.9903476877377345 + ], + [ + 0.9299346584360313, + 0.3619409820345218, + -0.06496350177867521, + 0.35439605225674947, + -0.9292640787915932, + -0.10426749259689311, + -0.09810692730023338, + 0.0739391465429364, + -0.9924253288908991 + ], + [ + 0.9418686097492536, + 0.33412083835599615, + -0.035309876030572576, + 0.33051947251926617, + -0.9402988048409944, + -0.08120982637700608, + -0.060335729502461244, + 0.06481838466734346, + -0.996071371315591 + ], + [ + 0.9401955197017379, + 0.339357179960342, + -0.02948031787724196, + 0.3357644475803796, + -0.9378575169021584, + -0.08766706183716039, + -0.05739878460230411, + 0.07252573611816726, + -0.9957135115718257 + ], + [ + 0.9365789161113014, + 0.3493836413456659, + -0.02740447145673957, + 0.3454945467775121, + -0.9336027501577663, + -0.09497064306856733, + -0.05876607901486764, + 0.07947940650192854, + -0.9951027946394884 + ], + [ + 0.9308549012383701, + 0.3630985103601857, + -0.040848801876166865, + 0.3579202829063747, + -0.9285998700207858, + -0.09795587007219317, + -0.07349982261696263, + 0.0765620870378659, + -0.9943520618491628 + ], + [ + 0.9274177805013138, + 0.36813273891716863, + -0.06614035793190719, + 0.3598581402535857, + -0.9264342447140174, + -0.11055183903671206, + -0.10197244384267597, + 0.07872659498868337, + -0.991667153806276 + ], + [ + 0.9220572546420566, + 0.3765408908578105, + -0.0895956286543067, + 0.3647107720358925, + -0.9227426188830814, + -0.12462789438073647, + -0.12960120340080664, + 0.08223756324696872, + -0.9881500449163901 + ], + [ + 0.9148299767046698, + 0.39181062557200996, + -0.09782917464337172, + 0.3791154473175372, + -0.916701632704454, + -0.12621249622050787, + -0.13913156122087017, + 0.07837442367161812, + -0.9871675938696453 + ], + [ + 0.9081216407290186, + 0.4086482621711289, + -0.09122326163951924, + 0.3974892780544958, + -0.9098690047841732, + -0.11891454059438854, + -0.1315954386418906, + 0.07172859930024471, + -0.9887050361817087 + ], + [ + 0.8996174272153783, + 0.4226876733494263, + -0.10965224780565379, + 0.4103046928918049, + -0.904144947460329, + -0.11904609600033422, + -0.14946084317086353, + 0.06210511074306074, + -0.9868152874668323 + ], + [ + 0.9065789297344019, + 0.41940680241330264, + -0.04703805109775716, + 0.4137145412734018, + -0.9051897949921197, + -0.09732272797791368, + -0.0833961779733641, + 0.06877040883674589, + -0.9941406884178223 + ], + [ + 0.9132260934567151, + 0.4073348902567853, + 0.009817810819100542, + 0.40704608477905196, + -0.9109719085969462, + -0.06666083267768165, + -0.018209533103069615, + 0.06487271326782725, + -0.9977273896097263 + ], + [ + 0.941158339815157, + 0.33762359846795936, + 0.015208062135693137, + 0.3379642177801336, + -0.9403440105444807, + -0.03915774934011895, + 0.0010802299011700243, + 0.04199342318348562, + -0.999117303179508 + ], + [ + 0.9578600846790578, + 0.28650050067030763, + 0.02053098376336855, + 0.2869933512848494, + -0.9575381697816742, + -0.02748580960156138, + 0.011784502404417101, + 0.032219815747848005, + -0.999411331222663 + ], + [ + 0.959974232609715, + 0.2799477456916772, + 0.008873128396269213, + 0.28008089355480953, + -0.959697770807646, + -0.023127511158237808, + 0.0020410269297818015, + 0.0246870085061556, + -0.9996931458303037 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0006897151470184326, + -0.0005339644849300385, + -0.010139673948287964, + 0.010767489671707153, + 0.036787521094083786, + -0.0012290477752685547, + 1.0 + ], + [ + 0.004629075527191162, + -0.00499324407428503, + 0.005433246493339539, + 0.008626237511634827, + -0.019191022962331772, + -0.022175699472427368, + 1.0 + ], + [ + 0.005152076482772827, + -0.0038711652159690857, + 0.009487450122833252, + -0.004082739353179932, + -0.029800213873386383, + -0.021821558475494385, + 1.0 + ], + [ + 0.0043792724609375, + -0.011838274076581001, + 0.01047728955745697, + 0.027979865670204163, + -0.0389028862118721, + -0.05212858319282532, + 1.0 + ], + [ + -0.0005835890769958496, + -0.02119479700922966, + 0.005842268466949463, + 0.05242057889699936, + -0.014767052605748177, + -0.08628888428211212, + 1.0 + ], + [ + -0.001384347677230835, + -0.021210208535194397, + 0.00144195556640625, + 0.03240497037768364, + 0.008202744647860527, + -0.0659056305885315, + 1.0 + ], + [ + -0.0035884082317352295, + -0.01531483605504036, + -0.0025203675031661987, + 0.015370341017842293, + 0.013006259687244892, + -0.041644178330898285, + 1.0 + ], + [ + 0.0015192031860351562, + -0.009152308106422424, + -0.006966441869735718, + -0.0022178180515766144, + 0.012431137263774872, + -0.015103645622730255, + 1.0 + ], + [ + 0.001582324504852295, + -0.002904929220676422, + -0.012541458010673523, + -0.003397902473807335, + 0.035561226308345795, + 0.0021736174821853638, + 1.0 + ], + [ + -0.001883387565612793, + 0.0031182095408439636, + -0.007710084319114685, + -0.009040016680955887, + 0.025571949779987335, + 0.008685491979122162, + 1.0 + ], + [ + 0.0008113682270050049, + 0.0012790262699127197, + -0.00040414929389953613, + -0.001190677285194397, + -0.0030197128653526306, + 0.0017433315515518188, + 1.0 + ], + [ + 0.0014499127864837646, + 0.003824383020401001, + -0.0009492933750152588, + -0.0012144967913627625, + 0.0017555281519889832, + 0.009352639317512512, + 1.0 + ], + [ + 0.004182547330856323, + 0.0023080185055732727, + -0.006261557340621948, + -0.0056709907948970795, + 0.007928922772407532, + 0.007358245551586151, + 1.0 + ], + [ + 0.0018832385540008545, + 0.0011074244976043701, + -0.006639152765274048, + -0.00627589225769043, + 0.022133775055408478, + -0.0005373954772949219, + 1.0 + ], + [ + 0.0012719035148620605, + 0.0014987587928771973, + -0.003269478678703308, + -0.008558336645364761, + 0.01128387451171875, + -0.0008184760808944702, + 1.0 + ], + [ + 0.001117110252380371, + 0.0012989938259124756, + -0.0013594180345535278, + -0.00857783854007721, + 0.003978542983531952, + 0.006768897175788879, + 0.0 + ], + [ + 0.0016335546970367432, + 0.0017520040273666382, + -0.0009736120700836182, + -0.0166880264878273, + -0.002779349684715271, + 0.01546141505241394, + 0.0 + ], + [ + 0.0018508732318878174, + 0.0027263090014457703, + -0.001221388578414917, + -0.007321797311306, + -0.003869064152240753, + 0.015177503228187561, + 0.0 + ], + [ + -0.0001030266284942627, + 0.0012566298246383667, + 0.00015650689601898193, + -0.0009888038039207458, + 0.0009068027138710022, + 0.009279400110244751, + 0.0 + ], + [ + -0.0010617375373840332, + 0.005010612308979034, + 0.003987520933151245, + 0.01795072853565216, + 0.003747895359992981, + 0.01846383512020111, + 0.0 + ], + [ + 0.008282601833343506, + 0.01459772139787674, + 0.031954482197761536, + -0.00494161993265152, + -0.07746688276529312, + 0.035174280405044556, + 0.0 + ], + [ + 0.0018492639064788818, + 0.02865028753876686, + 0.012251988053321838, + 0.011581845581531525, + -0.014333322644233704, + 0.06950043141841888, + 0.0 + ], + [ + -0.003595799207687378, + 0.02899167872965336, + -0.012743532657623291, + -0.02002110332250595, + 0.030682578682899475, + 0.061171501874923706, + 0.0 + ], + [ + -0.011627882719039917, + 0.028777029365301132, + -0.028296172618865967, + -0.017077356576919556, + 0.045946404337882996, + 0.06584286689758301, + 0.0 + ], + [ + -0.011466443538665771, + 0.01417718455195427, + -0.024104729294776917, + 0.018010854721069336, + 0.014219775795936584, + -0.029515206813812256, + 0.0 + ], + [ + -0.009539425373077393, + 0.016234513372182846, + -0.018828444182872772, + 0.017629951238632202, + -0.006153814494609833, + -0.0309600830078125, + 0.0 + ], + [ + -0.0013543367385864258, + 0.009676061570644379, + -0.012193545699119568, + 0.009383678436279297, + -0.03789259493350983, + -0.02661275863647461, + 0.0 + ], + [ + 0.0019392967224121094, + 0.006315447390079498, + -0.02144734561443329, + -0.007727138698101044, + -0.0029420480132102966, + 0.005512207746505737, + 0.0 + ], + [ + 0.0004615485668182373, + 0.0004039853811264038, + -0.02937411144375801, + -0.0069918036460876465, + 0.0013696067035198212, + 0.010397791862487793, + 0.0 + ], + [ + 0.004815608263015747, + 0.0015068501234054565, + -0.024776164442300797, + 0.002856016159057617, + 0.014766205102205276, + 0.013676285743713379, + 0.0 + ], + [ + -7.301568984985352e-05, + 0.0020397230982780457, + -0.01781301200389862, + -0.0023766309022903442, + 0.028583839535713196, + 0.0030582547187805176, + 0.0 + ], + [ + 0.0020189881324768066, + 0.007451094686985016, + -0.014318912290036678, + -0.0038104429841041565, + 0.027816779911518097, + 0.006518155336380005, + 0.0 + ], + [ + -0.001604616641998291, + 0.004016086459159851, + -0.007197286002337933, + 0.0038053691387176514, + 0.009617611765861511, + 0.01621156930923462, + 0.0 + ], + [ + 0.0010475218296051025, + 0.0011572688817977905, + -0.00024379976093769073, + 0.006805896759033203, + -0.007606148719787598, + 0.019714951515197754, + 1.0 + ], + [ + -0.002922356128692627, + -2.086162567138672e-05, + 0.00029966654255986214, + 0.009569153189659119, + 0.01804472506046295, + 0.015322744846343994, + 1.0 + ], + [ + 0.005830258131027222, + -0.0020038187503814697, + 0.03306550532579422, + -0.006213709712028503, + -0.06652981787919998, + 0.00021436810493469238, + 1.0 + ], + [ + 0.005032062530517578, + -0.0019884705543518066, + 0.04358242452144623, + 0.004136621952056885, + -0.06528261303901672, + -0.008827835321426392, + 1.0 + ], + [ + 0.007973521947860718, + -0.01660095900297165, + 0.03629141300916672, + 0.022923283278942108, + -0.01929076947271824, + -0.0745384693145752, + 1.0 + ], + [ + 0.0018484294414520264, + -0.01960701495409012, + 0.034024737775325775, + 0.009778168052434921, + -0.010704545304179192, + -0.05364573001861572, + 1.0 + ], + [ + -0.00033780932426452637, + -0.013822205364704132, + 0.023736566305160522, + 0.0075380634516477585, + 0.009743746370077133, + -0.007228493690490723, + 1.0 + ], + [ + 0.0010756254196166992, + -0.013795178383588791, + 0.014958769083023071, + 0.012173875235021114, + 0.01163555309176445, + -0.00849926471710205, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9620732665061951 + ], + [ + 0.6821943521499634 + ], + [ + 0.5373842120170593 + ], + [ + 0.5373842120170593 + ], + [ + 0.5373842120170593 + ], + [ + 0.5373842120170593 + ], + [ + 0.5373842120170593 + ], + [ + 0.5373842120170593 + ], + [ + 0.5373842120170593 + ], + [ + 0.5373842120170593 + ], + [ + 0.5373842120170593 + ], + [ + 0.5373842120170593 + ], + [ + 0.5373842120170593 + ], + [ + 0.5373842120170593 + ], + [ + 0.5373842120170593 + ], + [ + 0.5373842120170593 + ], + [ + 0.5373842120170593 + ], + [ + 0.5373842120170593 + ], + [ + 0.6059080362319946 + ], + [ + 0.905788779258728 + ], + [ + 1.0054124593734741 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2898993492126465, + 0.007418960332870483, + 0.1768534779548645 + ], + [ + 0.29452842473983765, + 0.002425716258585453, + 0.18228672444820404 + ], + [ + 0.2996805012226105, + -0.0014454489573836327, + 0.1917741745710373 + ], + [ + 0.304059773683548, + -0.013283723033964634, + 0.20225146412849426 + ], + [ + 0.3034761846065521, + -0.03447851911187172, + 0.20809373259544373 + ], + [ + 0.3020918369293213, + -0.055688727647066116, + 0.20953568816184998 + ], + [ + 0.29850342869758606, + -0.07100356370210648, + 0.20701532065868378 + ], + [ + 0.3000226318836212, + -0.0801558718085289, + 0.20004887878894806 + ], + [ + 0.3016049563884735, + -0.08306080102920532, + 0.18750742077827454 + ], + [ + 0.2997215688228607, + -0.07994259148836136, + 0.17979733645915985 + ], + [ + 0.3005329370498657, + -0.07866356521844864, + 0.17939318716526031 + ], + [ + 0.3019828498363495, + -0.07483918219804764, + 0.17844389379024506 + ], + [ + 0.3061653971672058, + -0.07253116369247437, + 0.1721823364496231 + ], + [ + 0.30804863572120667, + -0.07142373919487, + 0.16554318368434906 + ], + [ + 0.3093205392360687, + -0.0699249804019928, + 0.16227370500564575 + ], + [ + 0.3104376494884491, + -0.06862598657608032, + 0.16091428697109222 + ], + [ + 0.31207120418548584, + -0.06687398254871368, + 0.1599406749010086 + ], + [ + 0.31392207741737366, + -0.06414767354726791, + 0.1587192863225937 + ], + [ + 0.3138190507888794, + -0.06289104372262955, + 0.15887579321861267 + ], + [ + 0.31275731325149536, + -0.05788043141365051, + 0.16286331415176392 + ], + [ + 0.32103991508483887, + -0.04328271001577377, + 0.19481779634952545 + ], + [ + 0.32288917899131775, + -0.014632423408329487, + 0.2070697844028473 + ], + [ + 0.31929337978363037, + 0.014359255321323872, + 0.194326251745224 + ], + [ + 0.30766549706459045, + 0.04313628375530243, + 0.16603007912635803 + ], + [ + 0.2961990535259247, + 0.0573134683072567, + 0.14192534983158112 + ], + [ + 0.2866596281528473, + 0.07354798167943954, + 0.12309690564870834 + ], + [ + 0.28530529141426086, + 0.08322404325008392, + 0.11090335994958878 + ], + [ + 0.287244588136673, + 0.08953949064016342, + 0.08945601433515549 + ], + [ + 0.2877061367034912, + 0.08994347602128983, + 0.060081902891397476 + ], + [ + 0.29252174496650696, + 0.09145032614469528, + 0.03530573844909668 + ], + [ + 0.2924487292766571, + 0.09349004924297333, + 0.01749272644519806 + ], + [ + 0.2944677174091339, + 0.10094114392995834, + 0.003173813922330737 + ], + [ + 0.2928631007671356, + 0.1049572303891182, + -0.004023471847176552 + ], + [ + 0.2939106225967407, + 0.10611449927091599, + -0.0042672716081142426 + ], + [ + 0.2909882664680481, + 0.1060936376452446, + -0.00396760506555438 + ], + [ + 0.2968185245990753, + 0.10408981889486313, + 0.029097899794578552 + ], + [ + 0.3018505871295929, + 0.10210134834051132, + 0.07268032431602478 + ], + [ + 0.3098241090774536, + 0.08550038933753967, + 0.1089717373251915 + ], + [ + 0.31167253851890564, + 0.06589337438344955, + 0.14299647510051727 + ], + [ + 0.3113347291946411, + 0.05207116901874542, + 0.1667330414056778 + ], + [ + 0.3124103546142578, + 0.03827599063515663, + 0.18169181048870087 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9168325354803962, + 0.3992661125653505, + -0.0021617681514901135, + 0.3928848619987956, + -0.9031174182568054, + -0.17326400103122913, + -0.07113077461110129, + 0.15800474739106823, + -0.9848730439529296 + ], + [ + 0.9264147627647986, + 0.3764131847996242, + 0.008294675427409134, + 0.3728996340605358, + -0.9142805515449781, + -0.15823064173581916, + -0.05197643936400982, + 0.14968028385734253, + -0.9873673391273508 + ], + [ + 0.9353649075305271, + 0.35206311962055137, + 0.0338238017297553, + 0.352986892038732, + -0.9232401687863837, + -0.15174928266099466, + -0.02219783343583417, + 0.1538803123935457, + -0.9878401215016628 + ], + [ + 0.9525885463143514, + 0.299406783060967, + 0.05413538295600591, + 0.3038027148763742, + -0.9457429657432723, + -0.11521351127738352, + 0.01670245085174098, + 0.12619754753640172, + -0.9918645104707308 + ], + [ + 0.9748797553165424, + 0.2177284055313467, + 0.04694469191225023, + 0.22049809760752254, + -0.9731979566178547, + -0.06531712016229639, + 0.031465085816220484, + 0.07402755338122312, + -0.9967596850369542 + ], + [ + 0.9875065764601962, + 0.15479867581660237, + 0.029464069869743585, + 0.155850829095296, + -0.9870654325972971, + -0.03758125652263001, + 0.023265436126828264, + 0.04170373768545605, + -0.9988591080552308 + ], + [ + 0.9933554117695128, + 0.11432627126737893, + 0.013210965381793192, + 0.11462868673506471, + -0.9930936798634276, + -0.025004143510826568, + 0.010261095731726122, + 0.02635235688535848, + -0.9996000516211324 + ], + [ + 0.9950233991027271, + 0.0996391585903013, + 0.0006879778136890132, + 0.09961790475465317, + -0.9946133698912144, + -0.028644676397816177, + -0.0021698595226862473, + 0.0285706581838701, + -0.9995894203124563 + ], + [ + 0.9940988224732922, + 0.10292829370004802, + -0.0342534306779718, + 0.10170826688909326, + -0.9941757022516058, + -0.03563848339847847, + -0.03772213678506218, + 0.031944317311899215, + -0.9987775533059631 + ], + [ + 0.9918946114023433, + 0.11290219468431073, + -0.058293861653359626, + 0.11019598486972684, + -0.9927631827422359, + -0.04772952870181491, + -0.06326076817100756, + 0.04091891282735211, + -0.9971578198978546 + ], + [ + 0.9918862985112852, + 0.11457560801849957, + -0.05508176533820387, + 0.11194593125141038, + -0.9925214543340223, + -0.04867515960869627, + -0.06024681984832332, + 0.04211404437795886, + -0.9972947046707383 + ], + [ + 0.9906894341794851, + 0.12399489799677701, + -0.05621130025093715, + 0.12120462408250077, + -0.9913367711118952, + -0.05060479564687587, + -0.061999065365147404, + 0.0433205668500685, + -0.9971356198540083 + ], + [ + 0.9892521669398028, + 0.13198550100957504, + -0.06292835392854274, + 0.12842368880166702, + -0.9900423375603772, + -0.057650030291030885, + -0.0699107027534201, + 0.048948926047827246, + -0.9963515927017366 + ], + [ + 0.9875442193321852, + 0.13305665543157869, + -0.0839782192532475, + 0.12766235671588777, + -0.9895755255563695, + -0.06665284613262944, + -0.09197139523422376, + 0.0551017755176427, + -0.9942359160649312 + ], + [ + 0.986556185123954, + 0.13367251355973303, + -0.09401357727633826, + 0.1267137510568167, + -0.9889866234219821, + -0.07647930429533402, + -0.1032013511868043, + 0.06353831765958402, + -0.9926290159481579 + ], + [ + 0.9852611962468245, + 0.14144455670361564, + -0.09619673876589767, + 0.1333325768156787, + -0.9873229116091337, + -0.08611557449935626, + -0.10715782346598791, + 0.07202017488579644, + -0.9916301201957571 + ], + [ + 0.9833726930455804, + 0.15801007687156784, + -0.08950397856701042, + 0.14859349034061728, + -0.9834560009391019, + -0.10360631662819614, + -0.10439406688445244, + 0.08858391402455845, + -0.9905830449666571 + ], + [ + 0.9813953085272871, + 0.17319099481350175, + -0.08287416796650528, + 0.16356612324699382, + -0.9802108640356894, + -0.1115024006573692, + -0.10054537148263042, + 0.09587252652307056, + -0.9903025229350387 + ], + [ + 0.979745088313083, + 0.1824464959298122, + -0.08253991791443833, + 0.17264981628724702, + -0.9784348482379421, + -0.1133899849615261, + -0.1014475374879502, + 0.0968427791656573, + -0.9901160908000146 + ], + [ + 0.9760104724964983, + 0.19929472767952597, + -0.08766509622595192, + 0.1906349860322454, + -0.9767480790282299, + -0.09808920539564059, + -0.10517537581414876, + 0.07902405731045545, + -0.9913089017498764 + ], + [ + 0.9737261915343508, + 0.2275814125653735, + -0.008000285917266627, + 0.22600643327597675, + -0.9700982457358807, + -0.08849003185691724, + -0.027899749781677953, + 0.08435694562343994, + -0.9960449335683625 + ], + [ + 0.9559646769223233, + 0.29336097755968005, + 0.008418629462500046, + 0.29316787269306965, + -0.9532229988161357, + -0.07361054916649822, + -0.013569631440022642, + 0.0728371565425386, + -0.9972515298205261 + ], + [ + 0.9354238551390079, + 0.3534220687911948, + -0.008663286225677677, + 0.3507494750512426, + -0.930859078750551, + -0.10235321811722917, + -0.0442381847294142, + 0.09270499878122718, + -0.9947103931360216 + ], + [ + 0.9075070869900612, + 0.4184602505287285, + -0.03635802236436048, + 0.41026462443279077, + -0.9016296534681503, + -0.1369193409490589, + -0.09007677282093718, + 0.10933886186684608, + -0.9899147378859596 + ], + [ + 0.9179440165997104, + 0.39207923703101033, + -0.06043719283662508, + 0.3827728632614198, + -0.9153830520804409, + -0.12473493141278102, + -0.10422915877740263, + 0.09136596660178006, + -0.9903476877377345 + ], + [ + 0.9299346584360313, + 0.3619409820345218, + -0.06496350177867521, + 0.35439605225674947, + -0.9292640787915932, + -0.10426749259689311, + -0.09810692730023338, + 0.0739391465429364, + -0.9924253288908991 + ], + [ + 0.9418686097492536, + 0.33412083835599615, + -0.035309876030572576, + 0.33051947251926617, + -0.9402988048409944, + -0.08120982637700608, + -0.060335729502461244, + 0.06481838466734346, + -0.996071371315591 + ], + [ + 0.9401955197017379, + 0.339357179960342, + -0.02948031787724196, + 0.3357644475803796, + -0.9378575169021584, + -0.08766706183716039, + -0.05739878460230411, + 0.07252573611816726, + -0.9957135115718257 + ], + [ + 0.9365789161113014, + 0.3493836413456659, + -0.02740447145673957, + 0.3454945467775121, + -0.9336027501577663, + -0.09497064306856733, + -0.05876607901486764, + 0.07947940650192854, + -0.9951027946394884 + ], + [ + 0.9308549012383701, + 0.3630985103601857, + -0.040848801876166865, + 0.3579202829063747, + -0.9285998700207858, + -0.09795587007219317, + -0.07349982261696263, + 0.0765620870378659, + -0.9943520618491628 + ], + [ + 0.9274177805013138, + 0.36813273891716863, + -0.06614035793190719, + 0.3598581402535857, + -0.9264342447140174, + -0.11055183903671206, + -0.10197244384267597, + 0.07872659498868337, + -0.991667153806276 + ], + [ + 0.9220572546420566, + 0.3765408908578105, + -0.0895956286543067, + 0.3647107720358925, + -0.9227426188830814, + -0.12462789438073647, + -0.12960120340080664, + 0.08223756324696872, + -0.9881500449163901 + ], + [ + 0.9148299767046698, + 0.39181062557200996, + -0.09782917464337172, + 0.3791154473175372, + -0.916701632704454, + -0.12621249622050787, + -0.13913156122087017, + 0.07837442367161812, + -0.9871675938696453 + ], + [ + 0.9081216407290186, + 0.4086482621711289, + -0.09122326163951924, + 0.3974892780544958, + -0.9098690047841732, + -0.11891454059438854, + -0.1315954386418906, + 0.07172859930024471, + -0.9887050361817087 + ], + [ + 0.8996174272153783, + 0.4226876733494263, + -0.10965224780565379, + 0.4103046928918049, + -0.904144947460329, + -0.11904609600033422, + -0.14946084317086353, + 0.06210511074306074, + -0.9868152874668323 + ], + [ + 0.9065789297344019, + 0.41940680241330264, + -0.04703805109775716, + 0.4137145412734018, + -0.9051897949921197, + -0.09732272797791368, + -0.0833961779733641, + 0.06877040883674589, + -0.9941406884178223 + ], + [ + 0.9132260934567151, + 0.4073348902567853, + 0.009817810819100542, + 0.40704608477905196, + -0.9109719085969462, + -0.06666083267768165, + -0.018209533103069615, + 0.06487271326782725, + -0.9977273896097263 + ], + [ + 0.941158339815157, + 0.33762359846795936, + 0.015208062135693137, + 0.3379642177801336, + -0.9403440105444807, + -0.03915774934011895, + 0.0010802299011700243, + 0.04199342318348562, + -0.999117303179508 + ], + [ + 0.9578600846790578, + 0.28650050067030763, + 0.02053098376336855, + 0.2869933512848494, + -0.9575381697816742, + -0.02748580960156138, + 0.011784502404417101, + 0.032219815747848005, + -0.999411331222663 + ], + [ + 0.959974232609715, + 0.2799477456916772, + 0.008873128396269213, + 0.28008089355480953, + -0.959697770807646, + -0.023127511158237808, + 0.0020410269297818015, + 0.0246870085061556, + -0.9996931458303037 + ], + [ + 0.9622777242767557, + 0.27200662354664296, + -0.005829074326392155, + 0.27189985158008, + -0.9622139973901379, + -0.014652437927586706, + -0.009594377076091653, + 0.01251479017986928, + -0.9998756562469532 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006264.json b/json/chunk-0006/episode_0006264.json new file mode 100644 index 0000000000000000000000000000000000000000..b08cf05d4b12887de23381df0e096f3a1dbab4bb --- /dev/null +++ b/json/chunk-0006/episode_0006264.json @@ -0,0 +1,2182 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 35, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the yellow cloth near to the blue spatula." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006264.mp4", + "start": 0, + "end": 35, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3415434658527374, + 0.1336509883403778, + 0.11687760800123215, + 0.09109681099653244, + -0.2834847867488861, + 0.2402287870645523, + 0.0, + 1.0008161067962646 + ], + [ + 0.33910542726516724, + 0.13218814134597778, + 0.10431326925754547, + 0.08694096654653549, + -0.2453499436378479, + 0.23988917469978333, + 0.0, + 1.0008161067962646 + ], + [ + 0.3297119736671448, + 0.1325606405735016, + 0.09416995197534561, + 0.10174677520990372, + -0.19818826019763947, + 0.22297875583171844, + 0.0, + 1.0008161067962646 + ], + [ + 0.3064684569835663, + 0.14321644604206085, + 0.0773688331246376, + 0.1000249907374382, + -0.13441087305545807, + 0.2479807287454605, + 0.0, + 0.9954678416252136 + ], + [ + 0.2960890531539917, + 0.14591746032238007, + 0.07196614891290665, + 0.10042525082826614, + -0.1016797125339508, + 0.2458638995885849, + 0.0, + 0.9024295806884766 + ], + [ + 0.28272178769111633, + 0.1523091346025467, + 0.060977376997470856, + 0.13968884944915771, + -0.06814660876989365, + 0.18734486401081085, + 0.0, + 0.6460646390914917 + ], + [ + 0.27507340908050537, + 0.15906912088394165, + 0.05263683944940567, + 0.19295401871204376, + -0.06081855297088623, + 0.13808906078338623, + 0.0, + 0.35690104961395264 + ], + [ + 0.26758119463920593, + 0.1699121594429016, + 0.04506976902484894, + 0.19194306433200836, + -0.0861000269651413, + 0.13589602708816528, + 0.0, + 0.14185717701911926 + ], + [ + 0.26817628741264343, + 0.1745045930147171, + 0.04251839593052864, + 0.19911174476146698, + -0.11434716731309891, + 0.12760359048843384, + 0.0, + 0.05952305346727371 + ], + [ + 0.2667149305343628, + 0.1745871752500534, + 0.033311545848846436, + 0.19940249621868134, + -0.10799490660429001, + 0.1415097713470459, + 0.0, + 0.05166913568973541 + ], + [ + 0.2666114568710327, + 0.17041318118572235, + 0.026095515117049217, + 0.17082829773426056, + -0.1153954267501831, + 0.19744332134723663, + 0.0, + 0.05115113407373428 + ], + [ + 0.2671663463115692, + 0.16359834372997284, + 0.020177405327558517, + 0.1740020215511322, + -0.10683535784482956, + 0.21543897688388824, + 0.0, + 0.05115113407373428 + ], + [ + 0.26354873180389404, + 0.15743133425712585, + 0.015497788786888123, + 0.13116012513637543, + -0.1072712317109108, + 0.28202956914901733, + 0.0, + 0.05115113407373428 + ], + [ + 0.2619090676307678, + 0.15274935960769653, + 0.012681787833571434, + 0.10367356240749359, + -0.10883209109306335, + 0.3062700033187866, + 0.0, + 0.05089319497346878 + ], + [ + 0.2614409029483795, + 0.1464979648590088, + 0.011603622697293758, + 0.08060472458600998, + -0.09689079970121384, + 0.338089257478714, + 0.0, + 0.05089319497346878 + ], + [ + 0.2617042362689972, + 0.1361464411020279, + 0.011298881843686104, + 0.0633189007639885, + -0.0971490889787674, + 0.3259458541870117, + 0.0, + 0.05089319497346878 + ], + [ + 0.26531466841697693, + 0.1265186369419098, + 0.011074209585785866, + 0.03199637681245804, + -0.11008607596158981, + 0.3511711359024048, + 0.0, + 0.05089319497346878 + ], + [ + 0.2710319459438324, + 0.11129889637231827, + 0.01104162260890007, + 0.020266588777303696, + -0.11581718921661377, + 0.32977160811424255, + 0.0, + 0.05089319497346878 + ], + [ + 0.27338913083076477, + 0.09332150220870972, + 0.012234385125339031, + 0.0195864737033844, + -0.1149970218539238, + 0.30525869131088257, + 0.0, + 0.05089319497346878 + ], + [ + 0.27096855640411377, + 0.08209650218486786, + 0.014409160241484642, + 0.025752641260623932, + -0.10960842669010162, + 0.288606196641922, + 0.0, + 0.05089319497346878 + ], + [ + 0.2654837667942047, + 0.07687698304653168, + 0.01796647347509861, + 0.009465537965297699, + -0.11125126481056213, + 0.32632899284362793, + 0.0, + 0.05089319497346878 + ], + [ + 0.26781368255615234, + 0.06720589101314545, + 0.01791900396347046, + -0.01339145191013813, + -0.10810881853103638, + 0.35275667905807495, + 0.0, + 0.05089319497346878 + ], + [ + 0.269894540309906, + 0.05712585896253586, + 0.0190410315990448, + -0.02507089637219906, + -0.10032956302165985, + 0.355794757604599, + 0.0, + 0.05089319497346878 + ], + [ + 0.27218687534332275, + 0.04982621222734451, + 0.019883230328559875, + -0.03613454848527908, + -0.09824209660291672, + 0.3652825653553009, + 0.0, + 0.05089319497346878 + ], + [ + 0.2738226056098938, + 0.04776901379227638, + 0.020039046183228493, + -0.0453992560505867, + -0.10425208508968353, + 0.3738802373409271, + 0.0, + 0.05089319497346878 + ], + [ + 0.272632896900177, + 0.04630381613969803, + 0.019436616450548172, + -0.010559054091572762, + -0.10122662782669067, + 0.3635408878326416, + 0.0, + 0.05089319497346878 + ], + [ + 0.27319419384002686, + 0.04854905605316162, + 0.028194976970553398, + 0.00152724573854357, + -0.12428440153598785, + 0.35925254225730896, + 0.0, + 0.05089319497346878 + ], + [ + 0.2691141963005066, + 0.05192388594150543, + 0.04099604859948158, + 0.00362707138992846, + -0.13051289319992065, + 0.3573443293571472, + 0.0, + 0.05089319497346878 + ], + [ + 0.2667953670024872, + 0.05874738469719887, + 0.045090451836586, + 0.012834127061069012, + -0.11786779016256332, + 0.36733031272888184, + 0.0, + 0.07206849008798599 + ], + [ + 0.26276248693466187, + 0.06994117796421051, + 0.050381727516651154, + 0.011541705578565598, + -0.11067625135183334, + 0.3932744264602661, + 0.0, + 0.21050429344177246 + ], + [ + 0.2650851011276245, + 0.07305093109607697, + 0.06411433964967728, + 0.00904348585754633, + -0.13926677405834198, + 0.3862152695655823, + 0.0, + 0.475652277469635 + ], + [ + 0.2720429003238678, + 0.0734800472855568, + 0.07443944364786148, + 0.0023043788969516754, + -0.13948114216327667, + 0.37373867630958557, + 0.0, + 0.7418107390403748 + ], + [ + 0.2829582095146179, + 0.06818719208240509, + 0.08521813899278641, + -0.012675842270255089, + -0.15916286408901215, + 0.3511546552181244, + 0.0, + 0.9816622138023376 + ], + [ + 0.29430535435676575, + 0.05922675132751465, + 0.0939699187874794, + -0.04256921261548996, + -0.18846938014030457, + 0.3193992078304291, + 0.0, + 1.0008161067962646 + ], + [ + 0.30549782514572144, + 0.04299500957131386, + 0.10174970328807831, + -0.06907269358634949, + -0.21921366453170776, + 0.2628386914730072, + 0.0, + 1.0008161067962646 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9954678416252136 + ], + [ + 0.9024295806884766 + ], + [ + 0.6460646390914917 + ], + [ + 0.35690104961395264 + ], + [ + 0.14185717701911926 + ], + [ + 0.05952305346727371 + ], + [ + 0.05166913568973541 + ], + [ + 0.05115113407373428 + ], + [ + 0.05115113407373428 + ], + [ + 0.05115113407373428 + ], + [ + 0.05089319497346878 + ], + [ + 0.05089319497346878 + ], + [ + 0.05089319497346878 + ], + [ + 0.05089319497346878 + ], + [ + 0.05089319497346878 + ], + [ + 0.05089319497346878 + ], + [ + 0.05089319497346878 + ], + [ + 0.05089319497346878 + ], + [ + 0.05089319497346878 + ], + [ + 0.05089319497346878 + ], + [ + 0.05089319497346878 + ], + [ + 0.05089319497346878 + ], + [ + 0.05089319497346878 + ], + [ + 0.05089319497346878 + ], + [ + 0.05089319497346878 + ], + [ + 0.07206849008798599 + ], + [ + 0.21050429344177246 + ], + [ + 0.475652277469635 + ], + [ + 0.7418107390403748 + ], + [ + 0.9816622138023376 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3415434658527374, + 0.1336509883403778, + 0.11687760800123215 + ], + [ + 0.33910542726516724, + 0.13218814134597778, + 0.10431326925754547 + ], + [ + 0.3297119736671448, + 0.1325606405735016, + 0.09416995197534561 + ], + [ + 0.3064684569835663, + 0.14321644604206085, + 0.0773688331246376 + ], + [ + 0.2960890531539917, + 0.14591746032238007, + 0.07196614891290665 + ], + [ + 0.28272178769111633, + 0.1523091346025467, + 0.060977376997470856 + ], + [ + 0.27507340908050537, + 0.15906912088394165, + 0.05263683944940567 + ], + [ + 0.26758119463920593, + 0.1699121594429016, + 0.04506976902484894 + ], + [ + 0.26817628741264343, + 0.1745045930147171, + 0.04251839593052864 + ], + [ + 0.2667149305343628, + 0.1745871752500534, + 0.033311545848846436 + ], + [ + 0.2666114568710327, + 0.17041318118572235, + 0.026095515117049217 + ], + [ + 0.2671663463115692, + 0.16359834372997284, + 0.020177405327558517 + ], + [ + 0.26354873180389404, + 0.15743133425712585, + 0.015497788786888123 + ], + [ + 0.2619090676307678, + 0.15274935960769653, + 0.012681787833571434 + ], + [ + 0.2614409029483795, + 0.1464979648590088, + 0.011603622697293758 + ], + [ + 0.2617042362689972, + 0.1361464411020279, + 0.011298881843686104 + ], + [ + 0.26531466841697693, + 0.1265186369419098, + 0.011074209585785866 + ], + [ + 0.2710319459438324, + 0.11129889637231827, + 0.01104162260890007 + ], + [ + 0.27338913083076477, + 0.09332150220870972, + 0.012234385125339031 + ], + [ + 0.27096855640411377, + 0.08209650218486786, + 0.014409160241484642 + ], + [ + 0.2654837667942047, + 0.07687698304653168, + 0.01796647347509861 + ], + [ + 0.26781368255615234, + 0.06720589101314545, + 0.01791900396347046 + ], + [ + 0.269894540309906, + 0.05712585896253586, + 0.0190410315990448 + ], + [ + 0.27218687534332275, + 0.04982621222734451, + 0.019883230328559875 + ], + [ + 0.2738226056098938, + 0.04776901379227638, + 0.020039046183228493 + ], + [ + 0.272632896900177, + 0.04630381613969803, + 0.019436616450548172 + ], + [ + 0.27319419384002686, + 0.04854905605316162, + 0.028194976970553398 + ], + [ + 0.2691141963005066, + 0.05192388594150543, + 0.04099604859948158 + ], + [ + 0.2667953670024872, + 0.05874738469719887, + 0.045090451836586 + ], + [ + 0.26276248693466187, + 0.06994117796421051, + 0.050381727516651154 + ], + [ + 0.2650851011276245, + 0.07305093109607697, + 0.06411433964967728 + ], + [ + 0.2720429003238678, + 0.0734800472855568, + 0.07443944364786148 + ], + [ + 0.2829582095146179, + 0.06818719208240509, + 0.08521813899278641 + ], + [ + 0.29430535435676575, + 0.05922675132751465, + 0.0939699187874794 + ], + [ + 0.30549782514572144, + 0.04299500957131386, + 0.10174970328807831 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.932516302039894, + 0.26165245029296647, + 0.24890026453486938, + 0.22842845158984185, + -0.9612022346535007, + 0.15463087208375884, + 0.2797030370484177, + -0.08733990698874841, + -0.9561056174466753 + ], + [ + 0.942274267444129, + 0.2571846301899282, + 0.2144184481491752, + 0.23047957316170664, + -0.9626843669296445, + 0.14183785116980435, + 0.24289580331456567, + -0.08423108489945932, + -0.9663885104184716 + ], + [ + 0.956152593527813, + 0.23949556715476877, + 0.16856479823276455, + 0.21680686052293424, + -0.9657769362736949, + 0.14237167763282363, + 0.19689338008228185, + -0.09958304411400251, + -0.9753544044114236 + ], + [ + 0.9606663795860968, + 0.257192450620086, + 0.10474803328452259, + 0.24323313807821115, + -0.9612801025775338, + 0.12953071037075087, + 0.13400652101135485, + -0.09895760573376922, + -0.9860272027656604 + ], + [ + 0.96491781168851, + 0.2520384878975001, + 0.07355417938227249, + 0.24213722076285987, + -0.9625636545961636, + 0.12182272846934719, + 0.10150459599198397, + -0.09973871599744968, + -0.989822714188599 + ], + [ + 0.980221751233081, + 0.1937518297265918, + 0.04031807147111525, + 0.18581857405001237, + -0.9711661717349387, + 0.14935770624820113, + 0.06809387599169442, + -0.13891182582955866, + -0.9879608943157246 + ], + [ + 0.9886495680495132, + 0.14664046959660867, + 0.032689513180795535, + 0.13739611920608444, + -0.9704952000986292, + 0.1981448283771985, + 0.06078106631689474, + -0.19140438673658472, + -0.9796274918127673 + ], + [ + 0.9871101713766463, + 0.14924361202080458, + 0.05779146853776229, + 0.13497627720501368, + -0.9703625870845846, + 0.20044414229003293, + 0.08599368672549704, + -0.1900599743699215, + -0.9779991267817479 + ], + [ + 0.9853922808054224, + 0.1471282894647641, + 0.08576315857208136, + 0.12642652649426458, + -0.969400987739623, + 0.21042352142295856, + 0.11409814340155763, + -0.19650697547063278, + -0.9738411689098493 + ], + [ + 0.9842366384859699, + 0.15938036067425404, + 0.0766559853708945, + 0.14021629804676433, + -0.9673761369682314, + 0.2110042639059272, + 0.10778510668872136, + -0.19692970892114253, + -0.9744747613562574 + ], + [ + 0.9740498542800754, + 0.21250094848411674, + 0.07791166966709502, + 0.19485835428094608, + -0.9624587942183185, + 0.18895314551163675, + 0.11513949428360835, + -0.1688680441207608, + -0.9788904333636853 + ], + [ + 0.971312977614468, + 0.22858219108776323, + 0.06558415536723135, + 0.21255743857946124, + -0.9581850583741166, + 0.19157434382800087, + 0.10663224100737266, + -0.1721382462618573, + -0.979284427197552 + ], + [ + 0.9549716233663836, + 0.28936450233777594, + 0.06555443045123012, + 0.2767058937985705, + -0.9483457693243164, + 0.15515846783790035, + 0.10706561960829507, + -0.13003263663973666, + -0.9857121620972372 + ], + [ + 0.9478237605569289, + 0.3106029628276601, + 0.07180472412314184, + 0.29972051071515216, + -0.9449562929717106, + 0.1312448849662753, + 0.10861737605176103, + -0.1028756718366479, + -0.9887461058147275 + ], + [ + 0.9389654235114343, + 0.33795646290206194, + 0.06426011696783498, + 0.330129439364765, + -0.9377435885651466, + 0.10794218531077947, + 0.0967392718325836, + -0.08013982335698018, + -0.992078183409762 + ], + [ + 0.942881287207825, + 0.32537774427108784, + 0.07144369647752948, + 0.31869513176452585, + -0.9434845339023656, + 0.09094144971698709, + 0.0969963464410198, + -0.06297823290704746, + -0.9932902148702559 + ], + [ + 0.933286567101792, + 0.3471217817098585, + 0.09210131557109313, + 0.3419153649334884, + -0.9372808557664633, + 0.0678120980068174, + 0.10986385615730124, + -0.031797265232408174, + -0.9934379029582011 + ], + [ + 0.9397779943355109, + 0.32597607985439103, + 0.10274685749689769, + 0.3216575321082231, + -0.9451636900935544, + 0.056586491027298444, + 0.11555844149507885, + -0.020129438429791525, + -0.9930966983671475 + ], + [ + 0.9474697118192035, + 0.30262565868706137, + 0.1035319075911273, + 0.298554888805483, + -0.952910898290276, + 0.05315823821351591, + 0.11474372991837593, + -0.01945586348228794, + -0.9932045840714677 + ], + [ + 0.9528887057705191, + 0.28722222101376793, + 0.09750133420063221, + 0.28290836384484463, + -0.9575219464235546, + 0.05580842036718552, + 0.10938908575181587, + -0.02559527052339424, + -0.9936694168812966 + ], + [ + 0.9413697427128868, + 0.32154897133049093, + 0.10212378048709736, + 0.3185861602152042, + -0.9468462227962307, + 0.04455433644263085, + 0.11102191686332008, + -0.009406881141698045, + -0.993773437239686 + ], + [ + 0.9329453022123412, + 0.344099169853635, + 0.10587173553863223, + 0.34346907898895795, + -0.9388389258534962, + 0.024707551087268735, + 0.10789835428958038, + 0.013312873780377753, + -0.9940727903595931 + ], + [ + 0.9326561058927177, + 0.34587237448651115, + 0.10259088023841925, + 0.34658375114054024, + -0.9379499916717409, + 0.01138053462420772, + 0.1001613277986226, + 0.02494220700025046, + -0.9946585317200939 + ], + [ + 0.9295191211582371, + 0.3536703810153192, + 0.10445795801994809, + 0.35549079379269954, + -0.9346789182715901, + 0.0012709316607568827, + 0.09808414209164859, + 0.03595248713411692, + -0.9945284911650426 + ], + [ + 0.9258629215436018, + 0.36045751689121536, + 0.11335002879296219, + 0.3632473964041039, + -0.9316828893574692, + -0.004280500456426039, + 0.10406334376900431, + 0.04513725949962906, + -0.9935458964177132 + ], + [ + 0.9298591161309091, + 0.3545688240402972, + 0.09819864137005813, + 0.3537656644742422, + -0.9349709075987194, + 0.02606255135486168, + 0.10105384103210757, + 0.01050480664779831, + -0.9948254973863255 + ], + [ + 0.9289389250548739, + 0.35175141955361944, + 0.11551368905852255, + 0.3488627667784242, + -0.936092218858823, + 0.04501252878553244, + 0.12396468639736971, + -0.0015154649382953002, + -0.9922854729826607 + ], + [ + 0.9288615730976367, + 0.3502274762618983, + 0.12065194939910996, + 0.34681271318694207, + -0.9366577721344317, + 0.04891993327954708, + 0.1301426908992427, + -0.0035962162594725643, + -0.9914887529539201 + ], + [ + 0.9268139151621784, + 0.3605040572859985, + 0.1051322564301153, + 0.35663338097362857, + -0.9326705723653702, + 0.05420548882697181, + 0.11759506042803274, + -0.012744729262946938, + -0.9929798455351151 + ], + [ + 0.918007918670915, + 0.384366836419015, + 0.0975889149377782, + 0.38087026872260427, + -0.9231091782757223, + 0.05298380305614234, + 0.11045043983916937, + -0.01147083451013994, + -0.9938154357298818 + ], + [ + 0.9173725491489267, + 0.3778326692712695, + 0.12518019052289286, + 0.37303812083835114, + -0.9258305825500898, + 0.06066541697172556, + 0.13881702514242278, + -0.00895580517368771, + -0.9902775505303042 + ], + [ + 0.9219275477534622, + 0.3653958573875645, + 0.12859029550201106, + 0.3615528265522028, + -0.9308494292268998, + 0.05290457182576844, + 0.139029314554164, + -0.0022819973623424902, + -0.9902856366638051 + ], + [ + 0.9271077889642353, + 0.34206822809583703, + 0.15316812647943778, + 0.3396344009425286, + -0.9395917703366103, + 0.04261195621094771, + 0.15849170747473312, + 0.012515288374160773, + -0.9872809864565685 + ], + [ + 0.9326119794934005, + 0.30614182893080166, + 0.1910813342121771, + 0.30843601471392923, + -0.9510676676945605, + 0.018371616516208236, + 0.18735559914982736, + 0.04180277556494966, + -0.9814022658534453 + ], + [ + 0.9425469497571348, + 0.2447099289159366, + 0.22742536840352431, + 0.2536049109443559, + -0.9672532549675356, + -0.010280559304492697, + 0.21746217291388129, + 0.06736610011471003, + -0.9737412448422365 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0024380385875701904, + -0.0014628469944000244, + -0.012564338743686676, + -0.004155844449996948, + 0.03813484311103821, + -0.00033961236476898193, + 1.0 + ], + [ + -0.009393453598022461, + 0.0003724992275238037, + -0.01014331728219986, + 0.014805808663368225, + 0.047161683440208435, + -0.01691041886806488, + 1.0 + ], + [ + -0.02324351668357849, + 0.010655805468559265, + -0.016801118850708008, + -0.0017217844724655151, + 0.0637773871421814, + 0.025001972913742065, + 1.0 + ], + [ + -0.010379403829574585, + 0.002701014280319214, + -0.005402684211730957, + 0.0004002600908279419, + 0.03273116052150726, + -0.0021168291568756104, + 0.0 + ], + [ + -0.013367265462875366, + 0.006391674280166626, + -0.010988771915435791, + 0.03926359862089157, + 0.03353310376405716, + -0.05851903557777405, + 0.0 + ], + [ + -0.007648378610610962, + 0.0067599862813949585, + -0.008340537548065186, + 0.05326516926288605, + 0.007328055799007416, + -0.04925580322742462, + 0.0 + ], + [ + -0.0074922144412994385, + 0.010843038558959961, + -0.007567070424556732, + -0.0010109543800354004, + -0.025281473994255066, + -0.0021930336952209473, + 0.0 + ], + [ + 0.0005950927734375, + 0.004592433571815491, + -0.0025513730943202972, + 0.007168680429458618, + -0.02824714034795761, + -0.008292436599731445, + 0.0 + ], + [ + -0.0014613568782806396, + 8.258223533630371e-05, + -0.009206850081682205, + 0.00029075145721435547, + 0.006352260708808899, + 0.01390618085861206, + 0.0 + ], + [ + -0.00010347366333007812, + -0.004173994064331055, + -0.007216030731797218, + -0.028574198484420776, + -0.007400520145893097, + 0.055933550000190735, + 0.0 + ], + [ + 0.000554889440536499, + -0.006814837455749512, + -0.0059181097894907, + 0.003173723816871643, + 0.008560068905353546, + 0.01799565553665161, + 0.0 + ], + [ + -0.003617614507675171, + -0.006167009472846985, + -0.004679616540670395, + -0.042841896414756775, + -0.0004358738660812378, + 0.06659059226512909, + 0.0 + ], + [ + -0.0016396641731262207, + -0.004681974649429321, + -0.0028160009533166885, + -0.027486562728881836, + -0.0015608593821525574, + 0.024240434169769287, + 0.0 + ], + [ + -0.00046816468238830566, + -0.006251394748687744, + -0.0010781651362776756, + -0.023068837821483612, + 0.011941291391849518, + 0.03181925415992737, + 0.0 + ], + [ + 0.0002633333206176758, + -0.010351523756980896, + -0.00030474085360765457, + -0.017285823822021484, + -0.00025828927755355835, + -0.01214340329170227, + 0.0 + ], + [ + 0.0036104321479797363, + -0.009627804160118103, + -0.00022467225790023804, + -0.03132252395153046, + -0.012936986982822418, + 0.025225281715393066, + 0.0 + ], + [ + 0.005717277526855469, + -0.015219740569591522, + -3.258697688579559e-05, + -0.011729788035154343, + -0.005731113255023956, + -0.02139952778816223, + 0.0 + ], + [ + 0.002357184886932373, + -0.01797739416360855, + 0.001192762516438961, + -0.0006801150739192963, + 0.0008201673626899719, + -0.024512916803359985, + 0.0 + ], + [ + -0.002420574426651001, + -0.011225000023841858, + 0.002174775116145611, + 0.0061661675572395325, + 0.005388595163822174, + -0.01665249466896057, + 0.0 + ], + [ + -0.005484789609909058, + -0.005219519138336182, + 0.003557313233613968, + -0.016287103295326233, + -0.0016428381204605103, + 0.03772279620170593, + 0.0 + ], + [ + 0.002329915761947632, + -0.00967109203338623, + -4.746951162815094e-05, + -0.02285698987543583, + 0.003142446279525757, + 0.02642768621444702, + 0.0 + ], + [ + 0.002080857753753662, + -0.010080032050609589, + 0.0011220276355743408, + -0.011679444462060928, + 0.007779255509376526, + 0.003038078546524048, + 0.0 + ], + [ + 0.002292335033416748, + -0.007299646735191345, + 0.0008421987295150757, + -0.011063652113080025, + 0.0020874664187431335, + 0.009487807750701904, + 0.0 + ], + [ + 0.001635730266571045, + -0.0020571984350681305, + 0.00015581585466861725, + -0.009264707565307617, + -0.006009988486766815, + 0.00859767198562622, + 0.0 + ], + [ + -0.0011897087097167969, + -0.0014651976525783539, + -0.0006024297326803207, + 0.03484020382165909, + 0.003025457262992859, + -0.010339349508285522, + 0.0 + ], + [ + 0.0005612969398498535, + 0.0022452399134635925, + 0.008758360520005226, + 0.012086300179362297, + -0.02305777370929718, + -0.004288345575332642, + 0.0 + ], + [ + -0.004079997539520264, + 0.003374829888343811, + 0.012801071628928185, + 0.0020998255349695683, + -0.0062284916639328, + -0.0019082129001617432, + 0.0 + ], + [ + -0.002318829298019409, + 0.006823498755693436, + 0.004094403237104416, + 0.009207055903971195, + 0.01264510303735733, + 0.00998598337173462, + 1.0 + ], + [ + -0.004032880067825317, + 0.011193793267011642, + 0.005291275680065155, + -0.0012924214825034142, + 0.0071915388107299805, + 0.025944113731384277, + 1.0 + ], + [ + 0.0023226141929626465, + 0.003109753131866455, + 0.013732612133026123, + -0.002498219721019268, + -0.028590522706508636, + -0.007059156894683838, + 1.0 + ], + [ + 0.006957799196243286, + 0.0004291161894798279, + 0.010325103998184204, + -0.006739106960594654, + -0.00021436810493469238, + -0.012476593255996704, + 1.0 + ], + [ + 0.010915309190750122, + -0.005292855203151703, + 0.010778695344924927, + -0.014980221167206764, + -0.019681721925735474, + -0.02258402109146118, + 1.0 + ], + [ + 0.011347144842147827, + -0.008960440754890442, + 0.008751779794692993, + -0.02989337034523487, + -0.02930651605129242, + -0.03175544738769531, + 1.0 + ], + [ + 0.011192470788955688, + -0.01623174175620079, + 0.0077797845005989075, + -0.026503480970859528, + -0.030744284391403198, + -0.056560516357421875, + 1.0 + ], + [ + 0.004311352968215942, + -0.016436250880360603, + 0.0034309998154640198, + -0.006239593029022217, + -0.006311789155006409, + -0.05931216478347778, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9954678416252136 + ], + [ + 0.9024295806884766 + ], + [ + 0.6460646390914917 + ], + [ + 0.35690104961395264 + ], + [ + 0.14185717701911926 + ], + [ + 0.05952305346727371 + ], + [ + 0.05166913568973541 + ], + [ + 0.05115113407373428 + ], + [ + 0.05115113407373428 + ], + [ + 0.05115113407373428 + ], + [ + 0.05089319497346878 + ], + [ + 0.05089319497346878 + ], + [ + 0.05089319497346878 + ], + [ + 0.05089319497346878 + ], + [ + 0.05089319497346878 + ], + [ + 0.05089319497346878 + ], + [ + 0.05089319497346878 + ], + [ + 0.05089319497346878 + ], + [ + 0.05089319497346878 + ], + [ + 0.05089319497346878 + ], + [ + 0.05089319497346878 + ], + [ + 0.05089319497346878 + ], + [ + 0.05089319497346878 + ], + [ + 0.05089319497346878 + ], + [ + 0.05089319497346878 + ], + [ + 0.07206849008798599 + ], + [ + 0.21050429344177246 + ], + [ + 0.475652277469635 + ], + [ + 0.7418107390403748 + ], + [ + 0.9816622138023376 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.33910542726516724, + 0.13218814134597778, + 0.10431326925754547 + ], + [ + 0.3297119736671448, + 0.1325606405735016, + 0.09416995197534561 + ], + [ + 0.3064684569835663, + 0.14321644604206085, + 0.0773688331246376 + ], + [ + 0.2960890531539917, + 0.14591746032238007, + 0.07196614891290665 + ], + [ + 0.28272178769111633, + 0.1523091346025467, + 0.060977376997470856 + ], + [ + 0.27507340908050537, + 0.15906912088394165, + 0.05263683944940567 + ], + [ + 0.26758119463920593, + 0.1699121594429016, + 0.04506976902484894 + ], + [ + 0.26817628741264343, + 0.1745045930147171, + 0.04251839593052864 + ], + [ + 0.2667149305343628, + 0.1745871752500534, + 0.033311545848846436 + ], + [ + 0.2666114568710327, + 0.17041318118572235, + 0.026095515117049217 + ], + [ + 0.2671663463115692, + 0.16359834372997284, + 0.020177405327558517 + ], + [ + 0.26354873180389404, + 0.15743133425712585, + 0.015497788786888123 + ], + [ + 0.2619090676307678, + 0.15274935960769653, + 0.012681787833571434 + ], + [ + 0.2614409029483795, + 0.1464979648590088, + 0.011603622697293758 + ], + [ + 0.2617042362689972, + 0.1361464411020279, + 0.011298881843686104 + ], + [ + 0.26531466841697693, + 0.1265186369419098, + 0.011074209585785866 + ], + [ + 0.2710319459438324, + 0.11129889637231827, + 0.01104162260890007 + ], + [ + 0.27338913083076477, + 0.09332150220870972, + 0.012234385125339031 + ], + [ + 0.27096855640411377, + 0.08209650218486786, + 0.014409160241484642 + ], + [ + 0.2654837667942047, + 0.07687698304653168, + 0.01796647347509861 + ], + [ + 0.26781368255615234, + 0.06720589101314545, + 0.01791900396347046 + ], + [ + 0.269894540309906, + 0.05712585896253586, + 0.0190410315990448 + ], + [ + 0.27218687534332275, + 0.04982621222734451, + 0.019883230328559875 + ], + [ + 0.2738226056098938, + 0.04776901379227638, + 0.020039046183228493 + ], + [ + 0.272632896900177, + 0.04630381613969803, + 0.019436616450548172 + ], + [ + 0.27319419384002686, + 0.04854905605316162, + 0.028194976970553398 + ], + [ + 0.2691141963005066, + 0.05192388594150543, + 0.04099604859948158 + ], + [ + 0.2667953670024872, + 0.05874738469719887, + 0.045090451836586 + ], + [ + 0.26276248693466187, + 0.06994117796421051, + 0.050381727516651154 + ], + [ + 0.2650851011276245, + 0.07305093109607697, + 0.06411433964967728 + ], + [ + 0.2720429003238678, + 0.0734800472855568, + 0.07443944364786148 + ], + [ + 0.2829582095146179, + 0.06818719208240509, + 0.08521813899278641 + ], + [ + 0.29430535435676575, + 0.05922675132751465, + 0.0939699187874794 + ], + [ + 0.30549782514572144, + 0.04299500957131386, + 0.10174970328807831 + ], + [ + 0.3098091781139374, + 0.026558758690953255, + 0.10518070310354233 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.942274267444129, + 0.2571846301899282, + 0.2144184481491752, + 0.23047957316170664, + -0.9626843669296445, + 0.14183785116980435, + 0.24289580331456567, + -0.08423108489945932, + -0.9663885104184716 + ], + [ + 0.956152593527813, + 0.23949556715476877, + 0.16856479823276455, + 0.21680686052293424, + -0.9657769362736949, + 0.14237167763282363, + 0.19689338008228185, + -0.09958304411400251, + -0.9753544044114236 + ], + [ + 0.9606663795860968, + 0.257192450620086, + 0.10474803328452259, + 0.24323313807821115, + -0.9612801025775338, + 0.12953071037075087, + 0.13400652101135485, + -0.09895760573376922, + -0.9860272027656604 + ], + [ + 0.96491781168851, + 0.2520384878975001, + 0.07355417938227249, + 0.24213722076285987, + -0.9625636545961636, + 0.12182272846934719, + 0.10150459599198397, + -0.09973871599744968, + -0.989822714188599 + ], + [ + 0.980221751233081, + 0.1937518297265918, + 0.04031807147111525, + 0.18581857405001237, + -0.9711661717349387, + 0.14935770624820113, + 0.06809387599169442, + -0.13891182582955866, + -0.9879608943157246 + ], + [ + 0.9886495680495132, + 0.14664046959660867, + 0.032689513180795535, + 0.13739611920608444, + -0.9704952000986292, + 0.1981448283771985, + 0.06078106631689474, + -0.19140438673658472, + -0.9796274918127673 + ], + [ + 0.9871101713766463, + 0.14924361202080458, + 0.05779146853776229, + 0.13497627720501368, + -0.9703625870845846, + 0.20044414229003293, + 0.08599368672549704, + -0.1900599743699215, + -0.9779991267817479 + ], + [ + 0.9853922808054224, + 0.1471282894647641, + 0.08576315857208136, + 0.12642652649426458, + -0.969400987739623, + 0.21042352142295856, + 0.11409814340155763, + -0.19650697547063278, + -0.9738411689098493 + ], + [ + 0.9842366384859699, + 0.15938036067425404, + 0.0766559853708945, + 0.14021629804676433, + -0.9673761369682314, + 0.2110042639059272, + 0.10778510668872136, + -0.19692970892114253, + -0.9744747613562574 + ], + [ + 0.9740498542800754, + 0.21250094848411674, + 0.07791166966709502, + 0.19485835428094608, + -0.9624587942183185, + 0.18895314551163675, + 0.11513949428360835, + -0.1688680441207608, + -0.9788904333636853 + ], + [ + 0.971312977614468, + 0.22858219108776323, + 0.06558415536723135, + 0.21255743857946124, + -0.9581850583741166, + 0.19157434382800087, + 0.10663224100737266, + -0.1721382462618573, + -0.979284427197552 + ], + [ + 0.9549716233663836, + 0.28936450233777594, + 0.06555443045123012, + 0.2767058937985705, + -0.9483457693243164, + 0.15515846783790035, + 0.10706561960829507, + -0.13003263663973666, + -0.9857121620972372 + ], + [ + 0.9478237605569289, + 0.3106029628276601, + 0.07180472412314184, + 0.29972051071515216, + -0.9449562929717106, + 0.1312448849662753, + 0.10861737605176103, + -0.1028756718366479, + -0.9887461058147275 + ], + [ + 0.9389654235114343, + 0.33795646290206194, + 0.06426011696783498, + 0.330129439364765, + -0.9377435885651466, + 0.10794218531077947, + 0.0967392718325836, + -0.08013982335698018, + -0.992078183409762 + ], + [ + 0.942881287207825, + 0.32537774427108784, + 0.07144369647752948, + 0.31869513176452585, + -0.9434845339023656, + 0.09094144971698709, + 0.0969963464410198, + -0.06297823290704746, + -0.9932902148702559 + ], + [ + 0.933286567101792, + 0.3471217817098585, + 0.09210131557109313, + 0.3419153649334884, + -0.9372808557664633, + 0.0678120980068174, + 0.10986385615730124, + -0.031797265232408174, + -0.9934379029582011 + ], + [ + 0.9397779943355109, + 0.32597607985439103, + 0.10274685749689769, + 0.3216575321082231, + -0.9451636900935544, + 0.056586491027298444, + 0.11555844149507885, + -0.020129438429791525, + -0.9930966983671475 + ], + [ + 0.9474697118192035, + 0.30262565868706137, + 0.1035319075911273, + 0.298554888805483, + -0.952910898290276, + 0.05315823821351591, + 0.11474372991837593, + -0.01945586348228794, + -0.9932045840714677 + ], + [ + 0.9528887057705191, + 0.28722222101376793, + 0.09750133420063221, + 0.28290836384484463, + -0.9575219464235546, + 0.05580842036718552, + 0.10938908575181587, + -0.02559527052339424, + -0.9936694168812966 + ], + [ + 0.9413697427128868, + 0.32154897133049093, + 0.10212378048709736, + 0.3185861602152042, + -0.9468462227962307, + 0.04455433644263085, + 0.11102191686332008, + -0.009406881141698045, + -0.993773437239686 + ], + [ + 0.9329453022123412, + 0.344099169853635, + 0.10587173553863223, + 0.34346907898895795, + -0.9388389258534962, + 0.024707551087268735, + 0.10789835428958038, + 0.013312873780377753, + -0.9940727903595931 + ], + [ + 0.9326561058927177, + 0.34587237448651115, + 0.10259088023841925, + 0.34658375114054024, + -0.9379499916717409, + 0.01138053462420772, + 0.1001613277986226, + 0.02494220700025046, + -0.9946585317200939 + ], + [ + 0.9295191211582371, + 0.3536703810153192, + 0.10445795801994809, + 0.35549079379269954, + -0.9346789182715901, + 0.0012709316607568827, + 0.09808414209164859, + 0.03595248713411692, + -0.9945284911650426 + ], + [ + 0.9258629215436018, + 0.36045751689121536, + 0.11335002879296219, + 0.3632473964041039, + -0.9316828893574692, + -0.004280500456426039, + 0.10406334376900431, + 0.04513725949962906, + -0.9935458964177132 + ], + [ + 0.9298591161309091, + 0.3545688240402972, + 0.09819864137005813, + 0.3537656644742422, + -0.9349709075987194, + 0.02606255135486168, + 0.10105384103210757, + 0.01050480664779831, + -0.9948254973863255 + ], + [ + 0.9289389250548739, + 0.35175141955361944, + 0.11551368905852255, + 0.3488627667784242, + -0.936092218858823, + 0.04501252878553244, + 0.12396468639736971, + -0.0015154649382953002, + -0.9922854729826607 + ], + [ + 0.9288615730976367, + 0.3502274762618983, + 0.12065194939910996, + 0.34681271318694207, + -0.9366577721344317, + 0.04891993327954708, + 0.1301426908992427, + -0.0035962162594725643, + -0.9914887529539201 + ], + [ + 0.9268139151621784, + 0.3605040572859985, + 0.1051322564301153, + 0.35663338097362857, + -0.9326705723653702, + 0.05420548882697181, + 0.11759506042803274, + -0.012744729262946938, + -0.9929798455351151 + ], + [ + 0.918007918670915, + 0.384366836419015, + 0.0975889149377782, + 0.38087026872260427, + -0.9231091782757223, + 0.05298380305614234, + 0.11045043983916937, + -0.01147083451013994, + -0.9938154357298818 + ], + [ + 0.9173725491489267, + 0.3778326692712695, + 0.12518019052289286, + 0.37303812083835114, + -0.9258305825500898, + 0.06066541697172556, + 0.13881702514242278, + -0.00895580517368771, + -0.9902775505303042 + ], + [ + 0.9219275477534622, + 0.3653958573875645, + 0.12859029550201106, + 0.3615528265522028, + -0.9308494292268998, + 0.05290457182576844, + 0.139029314554164, + -0.0022819973623424902, + -0.9902856366638051 + ], + [ + 0.9271077889642353, + 0.34206822809583703, + 0.15316812647943778, + 0.3396344009425286, + -0.9395917703366103, + 0.04261195621094771, + 0.15849170747473312, + 0.012515288374160773, + -0.9872809864565685 + ], + [ + 0.9326119794934005, + 0.30614182893080166, + 0.1910813342121771, + 0.30843601471392923, + -0.9510676676945605, + 0.018371616516208236, + 0.18735559914982736, + 0.04180277556494966, + -0.9814022658534453 + ], + [ + 0.9425469497571348, + 0.2447099289159366, + 0.22742536840352431, + 0.2536049109443559, + -0.9672532549675356, + -0.010280559304492697, + 0.21746217291388129, + 0.06736610011471003, + -0.9737412448422365 + ], + [ + 0.9545592881092981, + 0.18507334031742032, + 0.23359029129658254, + 0.19700587261384764, + -0.9799845532957879, + -0.028617502639317928, + 0.22361854046551327, + 0.07333576211785939, + -0.9719138924589289 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006265.json b/json/chunk-0006/episode_0006265.json new file mode 100644 index 0000000000000000000000000000000000000000..dc17b544c7ca3f5a4816047d9a99186adec198a7 --- /dev/null +++ b/json/chunk-0006/episode_0006265.json @@ -0,0 +1,1282 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 20, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nTurn lever vertical to front." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006265.mp4", + "start": 0, + "end": 20, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.40185028314590454, + -0.1575974076986313, + 0.21279177069664001, + -0.3651622533798218, + -0.5586540102958679, + 1.3189363479614258, + 0.0, + 0.9988223910331726 + ], + [ + 0.3997199535369873, + -0.15408538281917572, + 0.1821264624595642, + -0.2906947433948517, + -0.5940317511558533, + 1.2764657735824585, + 0.0, + 0.9988223910331726 + ], + [ + 0.39793235063552856, + -0.14578473567962646, + 0.17549484968185425, + -0.2957041561603546, + -0.6281453967094421, + 1.2730423212051392, + 0.0, + 0.9988223910331726 + ], + [ + 0.40292853116989136, + -0.129292830824852, + 0.1853252649307251, + -0.33993232250213623, + -0.6424479484558105, + 1.3227304220199585, + 0.0, + 0.9988223910331726 + ], + [ + 0.40960177779197693, + -0.12007178366184235, + 0.18984949588775635, + -0.3499647080898285, + -0.6454511284828186, + 1.329624891281128, + 0.0, + 0.9988223910331726 + ], + [ + 0.4214688241481781, + -0.11690245568752289, + 0.20285752415657043, + -0.3928739130496979, + -0.6422411799430847, + 1.339024543762207, + 0.0, + 0.9988223910331726 + ], + [ + 0.4309728741645813, + -0.11313748359680176, + 0.19403313100337982, + -0.3729724586009979, + -0.6323500275611877, + 1.3194255828857422, + 0.0, + 0.9988223910331726 + ], + [ + 0.42697733640670776, + -0.11158982664346695, + 0.17568905651569366, + -0.3383715748786926, + -0.6286957859992981, + 1.2835665941238403, + 0.0, + 0.9988223910331726 + ], + [ + 0.4077816605567932, + -0.11461526900529861, + 0.18253548443317413, + -0.3594953715801239, + -0.6091905236244202, + 1.2875206470489502, + 0.0, + 0.9988223910331726 + ], + [ + 0.3799103796482086, + -0.10408575087785721, + 0.17513041198253632, + -0.34048277139663696, + -0.6010885238647461, + 1.3258939981460571, + 0.0, + 0.9988223910331726 + ], + [ + 0.3624267280101776, + -0.10281994938850403, + 0.17456470429897308, + -0.35637524724006653, + -0.5968675017356873, + 1.3283332586288452, + 0.0, + 0.9988223910331726 + ], + [ + 0.3374443054199219, + -0.11104504764080048, + 0.16740649938583374, + -0.3523761034011841, + -0.5785336494445801, + 1.3288037776947021, + 0.0, + 0.9988223910331726 + ], + [ + 0.3225611746311188, + -0.10841083526611328, + 0.1609065681695938, + -0.36777812242507935, + -0.5690473318099976, + 1.3597965240478516, + 0.0, + 0.9988223910331726 + ], + [ + 0.30352503061294556, + -0.11823923140764236, + 0.17214147746562958, + -0.36933496594429016, + -0.5830653309822083, + 1.3215830326080322, + 0.0, + 0.9988223910331726 + ], + [ + 0.2975364625453949, + -0.12355132400989532, + 0.2037496417760849, + -0.34687238931655884, + -0.6105334162712097, + 1.268848180770874, + 0.0, + 0.9988223910331726 + ], + [ + 0.2883397936820984, + -0.14385119080543518, + 0.23903393745422363, + -0.3327186405658722, + -0.6023561358451843, + 1.2352396249771118, + 0.0, + 0.9988223910331726 + ], + [ + 0.2831465005874634, + -0.16373632848262787, + 0.25114578008651733, + -0.3214351534843445, + -0.6128866672515869, + 1.2043598890304565, + 0.0, + 0.9988223910331726 + ], + [ + 0.28255707025527954, + -0.16861578822135925, + 0.2520028352737427, + -0.32993218302726746, + -0.6280884146690369, + 1.1952279806137085, + 0.0, + 0.9988223910331726 + ], + [ + 0.2827182412147522, + -0.1687975972890854, + 0.2520148754119873, + -0.3312547504901886, + -0.6275996565818787, + 1.1950206756591797, + 0.0, + 0.9988223910331726 + ], + [ + 0.28255707025527954, + -0.16861578822135925, + 0.2520028352737427, + -0.32993218302726746, + -0.6280884146690369, + 1.1952279806137085, + 0.0, + 0.9988223910331726 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.40185028314590454, + -0.1575974076986313, + 0.21279177069664001 + ], + [ + 0.3997199535369873, + -0.15408538281917572, + 0.1821264624595642 + ], + [ + 0.39793235063552856, + -0.14578473567962646, + 0.17549484968185425 + ], + [ + 0.40292853116989136, + -0.129292830824852, + 0.1853252649307251 + ], + [ + 0.40960177779197693, + -0.12007178366184235, + 0.18984949588775635 + ], + [ + 0.4214688241481781, + -0.11690245568752289, + 0.20285752415657043 + ], + [ + 0.4309728741645813, + -0.11313748359680176, + 0.19403313100337982 + ], + [ + 0.42697733640670776, + -0.11158982664346695, + 0.17568905651569366 + ], + [ + 0.4077816605567932, + -0.11461526900529861, + 0.18253548443317413 + ], + [ + 0.3799103796482086, + -0.10408575087785721, + 0.17513041198253632 + ], + [ + 0.3624267280101776, + -0.10281994938850403, + 0.17456470429897308 + ], + [ + 0.3374443054199219, + -0.11104504764080048, + 0.16740649938583374 + ], + [ + 0.3225611746311188, + -0.10841083526611328, + 0.1609065681695938 + ], + [ + 0.30352503061294556, + -0.11823923140764236, + 0.17214147746562958 + ], + [ + 0.2975364625453949, + -0.12355132400989532, + 0.2037496417760849 + ], + [ + 0.2883397936820984, + -0.14385119080543518, + 0.23903393745422363 + ], + [ + 0.2831465005874634, + -0.16373632848262787, + 0.25114578008651733 + ], + [ + 0.28255707025527954, + -0.16861578822135925, + 0.2520028352737427 + ], + [ + 0.2827182412147522, + -0.1687975972890854, + 0.2520148754119873 + ], + [ + 0.28255707025527954, + -0.16861578822135925, + 0.2520028352737427 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.2113187754502019, + 0.8574270353367595, + 0.4692155732878462, + 0.82121637430391, + -0.41608249147012905, + 0.3904856295270672, + 0.5300453204371935, + 0.30281056679981466, + -0.7920591637731411 + ], + [ + 0.2404025918122018, + 0.8703074693939475, + 0.4298505584119661, + 0.7930542687387329, + -0.43145137781302834, + 0.43001701759176153, + 0.559706638057161, + 0.23751761471592509, + -0.7939230831852716 + ], + [ + 0.23737422769605443, + 0.8642652142876391, + 0.4435077399528024, + 0.7735157556081022, + -0.44435300466332595, + 0.45191125574906915, + 0.5876451751284343, + 0.23578813926704417, + -0.77400071158188 + ], + [ + 0.19657866325659823, + 0.8648678280008913, + 0.46190958989965747, + 0.7761234127171232, + -0.42513736599442264, + 0.46571522228466017, + 0.5991571391417907, + 0.2669491714247209, + -0.7548171053249124 + ], + [ + 0.19079244919158628, + 0.8629363428366414, + 0.46790929627781364, + 0.7757094575000565, + -0.42464704207790754, + 0.46685086183860913, + 0.6015588739902723, + 0.27389004703750486, + -0.7504073315589003 + ], + [ + 0.18393533154247982, + 0.8464351963093166, + 0.4997151711316822, + 0.7793438777259774, + -0.435390949521212, + 0.4506193974143299, + 0.5989915809603624, + 0.3065651309653883, + -0.7397478667862311 + ], + [ + 0.20063725730917453, + 0.8484128111157476, + 0.48983710855153306, + 0.7812899755867999, + -0.4402295852888701, + 0.44247472954279143, + 0.5910420162958206, + 0.29392790641765154, + -0.7511828810628651 + ], + [ + 0.22912887901570822, + 0.8493474133344703, + 0.4755091253204815, + 0.7756607628010597, + -0.45445249208874305, + 0.4379763846204601, + 0.5880904163918022, + 0.2684807328215107, + -0.7629336525883109 + ], + [ + 0.22922301814888807, + 0.8425027799059587, + 0.4874893576289093, + 0.7874259548334778, + -0.45491442384122144, + 0.41594859374181764, + 0.572203786779938, + 0.2885167808498174, + -0.767685413149656 + ], + [ + 0.19996302624403894, + 0.8686767497593532, + 0.4532278594292849, + 0.8001116734777179, + -0.4117652300209188, + 0.4362003041155578, + 0.5655405362129324, + 0.2754089682151721, + -0.7773762294581967 + ], + [ + 0.19858213029837196, + 0.8626750798771298, + 0.465141746229199, + 0.8029072492163162, + -0.41536222193707634, + 0.4275677417011059, + 0.5620543449543373, + 0.28855836696669024, + -0.7751315902293417 + ], + [ + 0.20064025117784856, + 0.8659847675131112, + 0.4580544422255426, + 0.8128694535276131, + -0.4081297912867925, + 0.4155397995209592, + 0.5467968005841015, + 0.2889644543874943, + -0.7858198285685647 + ], + [ + 0.17643333769286162, + 0.8718587196666376, + 0.45687377938748963, + 0.823731616508186, + -0.3848681073802621, + 0.4163445254670056, + 0.5388297516984077, + 0.3028843225767668, + -0.7860811572743911 + ], + [ + 0.20589121887844591, + 0.854735403565962, + 0.4764831538256939, + 0.8089898213440416, + -0.4226284517948585, + 0.4085592499200286, + 0.5505853929686869, + 0.30135125953679526, + -0.7784877285000089 + ], + [ + 0.24365665926068775, + 0.8399346737971358, + 0.4849135759609336, + 0.7822744256304845, + -0.4657510547596034, + 0.4136697692541872, + 0.5733045921693081, + 0.27854209510164885, + -0.7705427605616494 + ], + [ + 0.2713399477569027, + 0.8315061884533673, + 0.48473919927630593, + 0.7780459471244868, + -0.48596925450320866, + 0.39809344109235895, + 0.5665855071517814, + 0.26913071590093257, + -0.778812892063434 + ], + [ + 0.29307857175438823, + 0.8206804804064546, + 0.4904982159582631, + 0.7636845605996468, + -0.5096069099545892, + 0.3963416319644701, + 0.5752311210984087, + 0.2584266751060466, + -0.7760958773975686 + ], + [ + 0.2967981069826125, + 0.810295122936173, + 0.5053045590902479, + 0.7527537564672908, + -0.5241184231995021, + 0.39832356268145885, + 0.5875990689372474, + 0.2621482256448052, + -0.7655100534776534 + ], + [ + 0.2970595131627902, + 0.8095645480493704, + 0.5063209339747915, + 0.7529592770058339, + -0.5246929344624391, + 0.39717710369059156, + 0.5872035190718278, + 0.2632538073168432, + -0.7654341644601763 + ], + [ + 0.2967981069826125, + 0.810295122936173, + 0.5053045590902479, + 0.7527537564672908, + -0.5241184231995021, + 0.39832356268145885, + 0.5875990689372474, + 0.2621482256448052, + -0.7655100534776534 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0021303296089172363, + 0.0035120248794555664, + -0.030665308237075806, + 0.07446750998497009, + -0.03537774085998535, + -0.042470574378967285, + 1.0 + ], + [ + -0.0017876029014587402, + 0.008300647139549255, + -0.006631612777709961, + -0.00500941276550293, + -0.03411364555358887, + -0.003423452377319336, + 1.0 + ], + [ + 0.004996180534362793, + 0.016491904854774475, + 0.00983041524887085, + -0.044228166341781616, + -0.014302551746368408, + 0.049688100814819336, + 1.0 + ], + [ + 0.006673246622085571, + 0.009221047163009644, + 0.00452423095703125, + -0.01003238558769226, + -0.0030031800270080566, + 0.006894469261169434, + 1.0 + ], + [ + 0.011867046356201172, + 0.003169327974319458, + 0.013008028268814087, + -0.042909204959869385, + 0.0032099485397338867, + 0.009399652481079102, + 1.0 + ], + [ + 0.009504050016403198, + 0.0037649720907211304, + -0.008824393153190613, + 0.01990145444869995, + 0.009891152381896973, + -0.019598960876464844, + 1.0 + ], + [ + -0.003995537757873535, + 0.0015476569533348083, + -0.018344074487686157, + 0.0346008837223053, + 0.0036542415618896484, + -0.035858988761901855, + 1.0 + ], + [ + -0.01919567584991455, + -0.003025442361831665, + 0.006846427917480469, + -0.021123796701431274, + 0.01950526237487793, + 0.003954052925109863, + 1.0 + ], + [ + -0.027871280908584595, + 0.010529518127441406, + -0.007405072450637817, + 0.01901260018348694, + 0.008101999759674072, + 0.038373351097106934, + 1.0 + ], + [ + -0.017483651638031006, + 0.00126580148935318, + -0.0005657076835632324, + -0.015892475843429565, + 0.004221022129058838, + 0.002439260482788086, + 1.0 + ], + [ + -0.024982422590255737, + -0.008225098252296448, + -0.007158204913139343, + 0.003999143838882446, + 0.018333852291107178, + 0.0004705190658569336, + 1.0 + ], + [ + -0.0148831307888031, + 0.002634212374687195, + -0.006499931216239929, + -0.015402019023895264, + 0.00948631763458252, + 0.030992746353149414, + 1.0 + ], + [ + -0.019036144018173218, + -0.009828396141529083, + 0.011234909296035767, + -0.0015568435192108154, + -0.014017999172210693, + -0.038213491439819336, + 1.0 + ], + [ + -0.005988568067550659, + -0.00531209260225296, + 0.03160816431045532, + 0.022462576627731323, + -0.027468085289001465, + -0.0527348518371582, + 1.0 + ], + [ + -0.009196668863296509, + -0.020299866795539856, + 0.03528429567813873, + 0.014153748750686646, + 0.00817728042602539, + -0.03360855579376221, + 1.0 + ], + [ + -0.00519329309463501, + -0.019885137677192688, + 0.012111842632293701, + 0.01128348708152771, + -0.010530531406402588, + -0.030879735946655273, + 1.0 + ], + [ + -0.0005894303321838379, + -0.004879459738731384, + 0.0008570551872253418, + -0.008497029542922974, + -0.015201747417449951, + -0.009131908416748047, + 1.0 + ], + [ + 0.00016117095947265625, + -0.00018180906772613525, + 1.2040138244628906e-05, + -0.0013225674629211426, + 0.0004887580871582031, + -0.0002073049545288086, + 1.0 + ], + [ + -0.00016117095947265625, + 0.00018180906772613525, + -1.2040138244628906e-05, + 0.0013225674629211426, + -0.0004887580871582031, + 0.0002073049545288086, + 1.0 + ], + [ + 0.00016117095947265625, + -0.00018180906772613525, + 1.2040138244628906e-05, + -0.0013225674629211426, + 0.0004887580871582031, + -0.0002073049545288086, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3997199535369873, + -0.15408538281917572, + 0.1821264624595642 + ], + [ + 0.39793235063552856, + -0.14578473567962646, + 0.17549484968185425 + ], + [ + 0.40292853116989136, + -0.129292830824852, + 0.1853252649307251 + ], + [ + 0.40960177779197693, + -0.12007178366184235, + 0.18984949588775635 + ], + [ + 0.4214688241481781, + -0.11690245568752289, + 0.20285752415657043 + ], + [ + 0.4309728741645813, + -0.11313748359680176, + 0.19403313100337982 + ], + [ + 0.42697733640670776, + -0.11158982664346695, + 0.17568905651569366 + ], + [ + 0.4077816605567932, + -0.11461526900529861, + 0.18253548443317413 + ], + [ + 0.3799103796482086, + -0.10408575087785721, + 0.17513041198253632 + ], + [ + 0.3624267280101776, + -0.10281994938850403, + 0.17456470429897308 + ], + [ + 0.3374443054199219, + -0.11104504764080048, + 0.16740649938583374 + ], + [ + 0.3225611746311188, + -0.10841083526611328, + 0.1609065681695938 + ], + [ + 0.30352503061294556, + -0.11823923140764236, + 0.17214147746562958 + ], + [ + 0.2975364625453949, + -0.12355132400989532, + 0.2037496417760849 + ], + [ + 0.2883397936820984, + -0.14385119080543518, + 0.23903393745422363 + ], + [ + 0.2831465005874634, + -0.16373632848262787, + 0.25114578008651733 + ], + [ + 0.28255707025527954, + -0.16861578822135925, + 0.2520028352737427 + ], + [ + 0.2827182412147522, + -0.1687975972890854, + 0.2520148754119873 + ], + [ + 0.28255707025527954, + -0.16861578822135925, + 0.2520028352737427 + ], + [ + 0.2827182412147522, + -0.1687975972890854, + 0.2520148754119873 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.2404025918122018, + 0.8703074693939475, + 0.4298505584119661, + 0.7930542687387329, + -0.43145137781302834, + 0.43001701759176153, + 0.559706638057161, + 0.23751761471592509, + -0.7939230831852716 + ], + [ + 0.23737422769605443, + 0.8642652142876391, + 0.4435077399528024, + 0.7735157556081022, + -0.44435300466332595, + 0.45191125574906915, + 0.5876451751284343, + 0.23578813926704417, + -0.77400071158188 + ], + [ + 0.19657866325659823, + 0.8648678280008913, + 0.46190958989965747, + 0.7761234127171232, + -0.42513736599442264, + 0.46571522228466017, + 0.5991571391417907, + 0.2669491714247209, + -0.7548171053249124 + ], + [ + 0.19079244919158628, + 0.8629363428366414, + 0.46790929627781364, + 0.7757094575000565, + -0.42464704207790754, + 0.46685086183860913, + 0.6015588739902723, + 0.27389004703750486, + -0.7504073315589003 + ], + [ + 0.18393533154247982, + 0.8464351963093166, + 0.4997151711316822, + 0.7793438777259774, + -0.435390949521212, + 0.4506193974143299, + 0.5989915809603624, + 0.3065651309653883, + -0.7397478667862311 + ], + [ + 0.20063725730917453, + 0.8484128111157476, + 0.48983710855153306, + 0.7812899755867999, + -0.4402295852888701, + 0.44247472954279143, + 0.5910420162958206, + 0.29392790641765154, + -0.7511828810628651 + ], + [ + 0.22912887901570822, + 0.8493474133344703, + 0.4755091253204815, + 0.7756607628010597, + -0.45445249208874305, + 0.4379763846204601, + 0.5880904163918022, + 0.2684807328215107, + -0.7629336525883109 + ], + [ + 0.22922301814888807, + 0.8425027799059587, + 0.4874893576289093, + 0.7874259548334778, + -0.45491442384122144, + 0.41594859374181764, + 0.572203786779938, + 0.2885167808498174, + -0.767685413149656 + ], + [ + 0.19996302624403894, + 0.8686767497593532, + 0.4532278594292849, + 0.8001116734777179, + -0.4117652300209188, + 0.4362003041155578, + 0.5655405362129324, + 0.2754089682151721, + -0.7773762294581967 + ], + [ + 0.19858213029837196, + 0.8626750798771298, + 0.465141746229199, + 0.8029072492163162, + -0.41536222193707634, + 0.4275677417011059, + 0.5620543449543373, + 0.28855836696669024, + -0.7751315902293417 + ], + [ + 0.20064025117784856, + 0.8659847675131112, + 0.4580544422255426, + 0.8128694535276131, + -0.4081297912867925, + 0.4155397995209592, + 0.5467968005841015, + 0.2889644543874943, + -0.7858198285685647 + ], + [ + 0.17643333769286162, + 0.8718587196666376, + 0.45687377938748963, + 0.823731616508186, + -0.3848681073802621, + 0.4163445254670056, + 0.5388297516984077, + 0.3028843225767668, + -0.7860811572743911 + ], + [ + 0.20589121887844591, + 0.854735403565962, + 0.4764831538256939, + 0.8089898213440416, + -0.4226284517948585, + 0.4085592499200286, + 0.5505853929686869, + 0.30135125953679526, + -0.7784877285000089 + ], + [ + 0.24365665926068775, + 0.8399346737971358, + 0.4849135759609336, + 0.7822744256304845, + -0.4657510547596034, + 0.4136697692541872, + 0.5733045921693081, + 0.27854209510164885, + -0.7705427605616494 + ], + [ + 0.2713399477569027, + 0.8315061884533673, + 0.48473919927630593, + 0.7780459471244868, + -0.48596925450320866, + 0.39809344109235895, + 0.5665855071517814, + 0.26913071590093257, + -0.778812892063434 + ], + [ + 0.29307857175438823, + 0.8206804804064546, + 0.4904982159582631, + 0.7636845605996468, + -0.5096069099545892, + 0.3963416319644701, + 0.5752311210984087, + 0.2584266751060466, + -0.7760958773975686 + ], + [ + 0.2967981069826125, + 0.810295122936173, + 0.5053045590902479, + 0.7527537564672908, + -0.5241184231995021, + 0.39832356268145885, + 0.5875990689372474, + 0.2621482256448052, + -0.7655100534776534 + ], + [ + 0.2970595131627902, + 0.8095645480493704, + 0.5063209339747915, + 0.7529592770058339, + -0.5246929344624391, + 0.39717710369059156, + 0.5872035190718278, + 0.2632538073168432, + -0.7654341644601763 + ], + [ + 0.2967981069826125, + 0.810295122936173, + 0.5053045590902479, + 0.7527537564672908, + -0.5241184231995021, + 0.39832356268145885, + 0.5875990689372474, + 0.2621482256448052, + -0.7655100534776534 + ], + [ + 0.2970595131627902, + 0.8095645480493704, + 0.5063209339747915, + 0.7529592770058339, + -0.5246929344624391, + 0.39717710369059156, + 0.5872035190718278, + 0.2632538073168432, + -0.7654341644601763 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006266.json b/json/chunk-0006/episode_0006266.json new file mode 100644 index 0000000000000000000000000000000000000000..24b9e8be5b349b8b543ef2ac2b772356e7bfc1f3 --- /dev/null +++ b/json/chunk-0006/episode_0006266.json @@ -0,0 +1,2482 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 40, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut the green bell pepper in the pot." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006266.mp4", + "start": 0, + "end": 40, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.29810550808906555, + 0.00344697549007833, + 0.09959060698747635, + 0.06900502741336823, + -0.22180113196372986, + 0.203922301530838, + 0.0, + 1.0001531839370728 + ], + [ + 0.29327619075775146, + 0.00398901617154479, + 0.0914512574672699, + 0.07844384759664536, + -0.18880635499954224, + 0.20964619517326355, + 0.0, + 1.0001531839370728 + ], + [ + 0.28017374873161316, + 0.02789985202252865, + 0.09544860571622849, + 0.10309328138828278, + -0.1851779818534851, + 0.3075689673423767, + 0.0, + 1.0001531839370728 + ], + [ + 0.26455819606781006, + 0.06535103172063828, + 0.10055752843618393, + 0.1072637215256691, + -0.16471759974956512, + 0.37495163083076477, + 0.0, + 1.0001531839370728 + ], + [ + 0.24224181473255157, + 0.10529907792806625, + 0.10832466930150986, + 0.12814685702323914, + -0.18250389397144318, + 0.48608699440956116, + 0.0, + 1.0001531839370728 + ], + [ + 0.22895172238349915, + 0.1330452561378479, + 0.10919260233640671, + 0.14764945209026337, + -0.1859799474477768, + 0.5813493132591248, + 0.0, + 1.0001531839370728 + ], + [ + 0.2216339260339737, + 0.14812760055065155, + 0.10696061700582504, + 0.16387802362442017, + -0.1833726018667221, + 0.5964387655258179, + 0.0, + 1.0001531839370728 + ], + [ + 0.21916194260120392, + 0.16127252578735352, + 0.10188312083482742, + 0.16048040986061096, + -0.19082708656787872, + 0.6160152554512024, + 0.0, + 1.0001531839370728 + ], + [ + 0.22753438353538513, + 0.16834186017513275, + 0.09365969896316528, + 0.08330374956130981, + -0.22589008510112762, + 0.6210394501686096, + 0.0, + 1.0001531839370728 + ], + [ + 0.23034104704856873, + 0.1722603142261505, + 0.07832326740026474, + 0.09745056182146072, + -0.1955110877752304, + 0.5963534712791443, + 0.0, + 1.0001531839370728 + ], + [ + 0.23249681293964386, + 0.17450323700904846, + 0.06755232810974121, + 0.10197135806083679, + -0.16377249360084534, + 0.5964423418045044, + 0.0, + 0.9445669651031494 + ], + [ + 0.23437334597110748, + 0.17506031692028046, + 0.06703796982765198, + 0.10051056742668152, + -0.14339591562747955, + 0.5823326706886292, + 0.0, + 0.6631406545639038 + ], + [ + 0.23428693413734436, + 0.17458844184875488, + 0.06651751697063446, + 0.09843386709690094, + -0.14005030691623688, + 0.5814345479011536, + 0.0, + 0.3644362688064575 + ], + [ + 0.2345339059829712, + 0.17519232630729675, + 0.06736257672309875, + 0.10040038079023361, + -0.1435626596212387, + 0.5840286612510681, + 0.0, + 0.19787359237670898 + ], + [ + 0.2338879108428955, + 0.17471477389335632, + 0.06783334910869598, + 0.10150399059057236, + -0.13475292921066284, + 0.5737937688827515, + 0.0, + 0.13432937860488892 + ], + [ + 0.2345847636461258, + 0.164801225066185, + 0.07875832915306091, + 0.07148544490337372, + -0.13924407958984375, + 0.5631829500198364, + 0.0, + 0.11078528314828873 + ], + [ + 0.23496274650096893, + 0.14332598447799683, + 0.10717552900314331, + 0.08826066553592682, + -0.21711201965808868, + 0.5181849598884583, + 0.0, + 0.10955921560525894 + ], + [ + 0.2386932671070099, + 0.11145061999559402, + 0.12225624918937683, + 0.10243434458971024, + -0.2505109906196594, + 0.4162950813770294, + 0.0, + 0.10915245115756989 + ], + [ + 0.23950938880443573, + 0.07309433072805405, + 0.13637642562389374, + 0.09999409317970276, + -0.2877088785171509, + 0.29629552364349365, + 0.0, + 0.10915245115756989 + ], + [ + 0.24232424795627594, + 0.045607637614011765, + 0.14001914858818054, + 0.09725144505500793, + -0.3002373278141022, + 0.20761434733867645, + 0.0, + 0.10915245115756989 + ], + [ + 0.2427002638578415, + 0.018107954412698746, + 0.13658131659030914, + 0.10015877336263657, + -0.2909093499183655, + 0.09890634566545486, + 0.0, + 0.10915245115756989 + ], + [ + 0.24362298846244812, + -0.007930325344204903, + 0.13395993411540985, + 0.10091151297092438, + -0.29592710733413696, + -0.01719292625784874, + 0.0, + 0.10915245115756989 + ], + [ + 0.24330931901931763, + -0.02818429470062256, + 0.12325295805931091, + 0.0995417907834053, + -0.27210068702697754, + -0.08310999721288681, + 0.0, + 0.10915245115756989 + ], + [ + 0.244752898812294, + -0.03569844365119934, + 0.11531983315944672, + 0.09156861156225204, + -0.2513590455055237, + -0.10901132225990295, + 0.0, + 0.10915245115756989 + ], + [ + 0.2476424276828766, + -0.04205771163105965, + 0.09856035560369492, + 0.06413594633340836, + -0.20603734254837036, + -0.1247926652431488, + 0.0, + 0.10915245115756989 + ], + [ + 0.2504675090312958, + -0.044137272983789444, + 0.085297130048275, + 0.0603473000228405, + -0.17650504410266876, + -0.13871628046035767, + 0.0, + 0.10915245115756989 + ], + [ + 0.256430447101593, + -0.04665416479110718, + 0.08371023088693619, + 0.04697604477405548, + -0.20855967700481415, + -0.12151569873094559, + 0.0, + 0.10915245115756989 + ], + [ + 0.25763678550720215, + -0.045728135854005814, + 0.08334308862686157, + 0.06768932193517685, + -0.22157910466194153, + -0.11684037744998932, + 0.0, + 0.14767317473888397 + ], + [ + 0.2557185888290405, + -0.0467412956058979, + 0.08421345800161362, + 0.08803476393222809, + -0.21892838180065155, + -0.11803940683603287, + 0.0, + 0.35606881976127625 + ], + [ + 0.2549651861190796, + -0.048691362142562866, + 0.08872272819280624, + 0.0639374777674675, + -0.22745589911937714, + -0.12417535483837128, + 0.0, + 0.657115638256073 + ], + [ + 0.2504849135875702, + -0.044398557394742966, + 0.09352478384971619, + 0.060434434562921524, + -0.23784568905830383, + -0.12142525613307953, + 0.0, + 0.941448450088501 + ], + [ + 0.2482137382030487, + -0.042399752885103226, + 0.09905100613832474, + 0.05708673596382141, + -0.2546350657939911, + -0.11166639626026154, + 0.0, + 1.0014774799346924 + ], + [ + 0.24749095737934113, + -0.04216359928250313, + 0.1038200855255127, + 0.05580868199467659, + -0.2684275507926941, + -0.11072134971618652, + 0.0, + 1.0014774799346924 + ], + [ + 0.24542973935604095, + -0.04102693870663643, + 0.10880010575056076, + 0.054237160831689835, + -0.28272944688796997, + -0.1027345135807991, + 0.0, + 1.0014774799346924 + ], + [ + 0.24517326056957245, + -0.027011258527636528, + 0.11925086379051208, + 0.0689946711063385, + -0.3205214738845825, + -0.06440479308366776, + 0.0, + 1.0014774799346924 + ], + [ + 0.2506401240825653, + -0.014695597812533379, + 0.11697827279567719, + 0.07237230241298676, + -0.3060261905193329, + -0.030991997569799423, + 0.0, + 1.0014774799346924 + ], + [ + 0.2708013653755188, + -0.008987363427877426, + 0.12107053399085999, + 0.05735928192734718, + -0.3332251310348511, + -0.004550568293780088, + 0.0, + 1.0014774799346924 + ], + [ + 0.30075058341026306, + -0.010335839353501797, + 0.12430066615343094, + 0.12994152307510376, + -0.3355097770690918, + -0.0035435957834124565, + 0.0, + 1.0014774799346924 + ], + [ + 0.3306873142719269, + -0.010421416722238064, + 0.125228613615036, + 0.11087416857481003, + -0.32664600014686584, + -0.016551123932003975, + 0.0, + 1.0014774799346924 + ], + [ + 0.35267195105552673, + -0.020520834252238274, + 0.12488685548305511, + 0.11092548072338104, + -0.335722953081131, + -0.056484539061784744, + 0.0, + 1.0014774799346924 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9445669651031494 + ], + [ + 0.6631406545639038 + ], + [ + 0.3644362688064575 + ], + [ + 0.19787359237670898 + ], + [ + 0.13432937860488892 + ], + [ + 0.11078528314828873 + ], + [ + 0.10955921560525894 + ], + [ + 0.10915245115756989 + ], + [ + 0.10915245115756989 + ], + [ + 0.10915245115756989 + ], + [ + 0.10915245115756989 + ], + [ + 0.10915245115756989 + ], + [ + 0.10915245115756989 + ], + [ + 0.10915245115756989 + ], + [ + 0.10915245115756989 + ], + [ + 0.10915245115756989 + ], + [ + 0.10915245115756989 + ], + [ + 0.14767317473888397 + ], + [ + 0.35606881976127625 + ], + [ + 0.657115638256073 + ], + [ + 0.941448450088501 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.29810550808906555, + 0.00344697549007833, + 0.09959060698747635 + ], + [ + 0.29327619075775146, + 0.00398901617154479, + 0.0914512574672699 + ], + [ + 0.28017374873161316, + 0.02789985202252865, + 0.09544860571622849 + ], + [ + 0.26455819606781006, + 0.06535103172063828, + 0.10055752843618393 + ], + [ + 0.24224181473255157, + 0.10529907792806625, + 0.10832466930150986 + ], + [ + 0.22895172238349915, + 0.1330452561378479, + 0.10919260233640671 + ], + [ + 0.2216339260339737, + 0.14812760055065155, + 0.10696061700582504 + ], + [ + 0.21916194260120392, + 0.16127252578735352, + 0.10188312083482742 + ], + [ + 0.22753438353538513, + 0.16834186017513275, + 0.09365969896316528 + ], + [ + 0.23034104704856873, + 0.1722603142261505, + 0.07832326740026474 + ], + [ + 0.23249681293964386, + 0.17450323700904846, + 0.06755232810974121 + ], + [ + 0.23437334597110748, + 0.17506031692028046, + 0.06703796982765198 + ], + [ + 0.23428693413734436, + 0.17458844184875488, + 0.06651751697063446 + ], + [ + 0.2345339059829712, + 0.17519232630729675, + 0.06736257672309875 + ], + [ + 0.2338879108428955, + 0.17471477389335632, + 0.06783334910869598 + ], + [ + 0.2345847636461258, + 0.164801225066185, + 0.07875832915306091 + ], + [ + 0.23496274650096893, + 0.14332598447799683, + 0.10717552900314331 + ], + [ + 0.2386932671070099, + 0.11145061999559402, + 0.12225624918937683 + ], + [ + 0.23950938880443573, + 0.07309433072805405, + 0.13637642562389374 + ], + [ + 0.24232424795627594, + 0.045607637614011765, + 0.14001914858818054 + ], + [ + 0.2427002638578415, + 0.018107954412698746, + 0.13658131659030914 + ], + [ + 0.24362298846244812, + -0.007930325344204903, + 0.13395993411540985 + ], + [ + 0.24330931901931763, + -0.02818429470062256, + 0.12325295805931091 + ], + [ + 0.244752898812294, + -0.03569844365119934, + 0.11531983315944672 + ], + [ + 0.2476424276828766, + -0.04205771163105965, + 0.09856035560369492 + ], + [ + 0.2504675090312958, + -0.044137272983789444, + 0.085297130048275 + ], + [ + 0.256430447101593, + -0.04665416479110718, + 0.08371023088693619 + ], + [ + 0.25763678550720215, + -0.045728135854005814, + 0.08334308862686157 + ], + [ + 0.2557185888290405, + -0.0467412956058979, + 0.08421345800161362 + ], + [ + 0.2549651861190796, + -0.048691362142562866, + 0.08872272819280624 + ], + [ + 0.2504849135875702, + -0.044398557394742966, + 0.09352478384971619 + ], + [ + 0.2482137382030487, + -0.042399752885103226, + 0.09905100613832474 + ], + [ + 0.24749095737934113, + -0.04216359928250313, + 0.1038200855255127 + ], + [ + 0.24542973935604095, + -0.04102693870663643, + 0.10880010575056076 + ], + [ + 0.24517326056957245, + -0.027011258527636528, + 0.11925086379051208 + ], + [ + 0.2506401240825653, + -0.014695597812533379, + 0.11697827279567719 + ], + [ + 0.2708013653755188, + -0.008987363427877426, + 0.12107053399085999 + ], + [ + 0.30075058341026306, + -0.010335839353501797, + 0.12430066615343094 + ], + [ + 0.3306873142719269, + -0.010421416722238064, + 0.125228613615036 + ], + [ + 0.35267195105552673, + -0.020520834252238274, + 0.12488685548305511 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9552901929428886, + 0.21688382719164367, + 0.2009528620593491, + 0.19755093588959183, + -0.973877475865969, + 0.11196557386123443, + 0.21998698824313428, + -0.06726118868734343, + -0.9731812048637606 + ], + [ + 0.960722677355989, + 0.2218596070205283, + 0.16670408509282733, + 0.20441545635193523, + -0.9720359083467185, + 0.11558769004093682, + 0.187686596267208, + -0.07697082341554089, + -0.9792084731681826 + ], + [ + 0.9367781570188884, + 0.31919409221891376, + 0.14339391906506596, + 0.2975667434677554, + -0.9422757220405481, + 0.1535268603045058, + 0.1841214754293756, + -0.1011513477196807, + -0.9776848608525154 + ], + [ + 0.9179303983746225, + 0.38045784252791326, + 0.1124971724036316, + 0.36127052174890195, + -0.9187483608098265, + 0.15932689548388615, + 0.16397375965404665, + -0.10560908847377928, + -0.9807952521177162 + ], + [ + 0.8694837031024069, + 0.4838465852167314, + 0.09945135501054769, + 0.4594111237847194, + -0.8660822846651415, + 0.19708601049305913, + 0.18149244993163477, + -0.12567401546587603, + -0.9753289355158575 + ], + [ + 0.8213108345890672, + 0.5659110220494976, + 0.07206405559988249, + 0.5396822459429185, + -0.8116910134335223, + 0.2233848072839078, + 0.18490967092236466, + -0.14457667112696432, + -0.9720627550550573 + ], + [ + 0.8134702495011158, + 0.5787866480002489, + 0.057202878190071235, + 0.5522823987987727, + -0.7995464779381977, + 0.23602877280894485, + 0.1823466620305007, + -0.16041024192132802, + -0.9700609512464025 + ], + [ + 0.8013715868941863, + 0.5951002591758181, + 0.06049182794036791, + 0.5672992852413499, + -0.7881881917286194, + 0.23860196014329388, + 0.18967103279980985, + -0.15689186068258143, + -0.9692315736542069 + ], + [ + 0.792612944168157, + 0.5950194304457693, + 0.13310371192824683, + 0.5670982299356288, + -0.7996097245909756, + 0.19754464291248303, + 0.22397392335038058, + -0.08109356159113984, + -0.9712154837766444 + ], + [ + 0.8116261124818508, + 0.5746033895935492, + 0.10532805041963858, + 0.5509292443251703, + -0.8128478490761433, + 0.18909083002510801, + 0.19426791110447153, + -0.09544275205530994, + -0.9762943510003598 + ], + [ + 0.8162687594692228, + 0.5725159814463828, + 0.07701144916868743, + 0.5541866320120011, + -0.8137190768038053, + 0.17532381739158506, + 0.1630413727057372, + -0.10043263928647936, + -0.9814941649098995 + ], + [ + 0.8266100508213003, + 0.5591738712854746, + 0.06356418451316179, + 0.5443289324515717, + -0.8230806742211889, + 0.16200066981258437, + 0.14290499353535593, + -0.09931155720866097, + -0.9847412743596418 + ], + [ + 0.8274935019708982, + 0.5580289017803154, + 0.06211480478754106, + 0.5438458589698544, + -0.8240958493660062, + 0.15842257648158015, + 0.1395929291808165, + -0.0973127732395701, + -0.9854156677702783 + ], + [ + 0.8256657953082964, + 0.5605758259890578, + 0.06348809159679958, + 0.5457169253813524, + -0.8221398737871081, + 0.16210819005109273, + 0.14307002414985964, + -0.09920066151998884, + -0.9847284889469559 + ], + [ + 0.8322340886351137, + 0.5514611840706143, + 0.057244948922308594, + 0.5379012108260619, + -0.8281353496278396, + 0.15765192700576927, + 0.13434548412781944, + -0.10041118045423, + -0.9858341065992036 + ], + [ + 0.8373760732552006, + 0.5408990711972284, + 0.07892722418580765, + 0.5287129511641346, + -0.838107987656945, + 0.13430419314726308, + 0.13879455036496358, + -0.07073327225289155, + -0.9877919198826167 + ], + [ + 0.8483252168990656, + 0.50987113758708, + 0.14274364934668743, + 0.48367624496972966, + -0.8559335331336353, + 0.1828526097963983, + 0.21541034428535494, + -0.08607676755680824, + -0.972722557393338 + ], + [ + 0.8860451562475653, + 0.42543910472747004, + 0.1841888955906859, + 0.39175253793460507, + -0.8995487717741922, + 0.19324066917017818, + 0.24789903209174424, + -0.09906349160125139, + -0.9637076810525822 + ], + [ + 0.9171122880517238, + 0.3176129801527763, + 0.24088803611429982, + 0.2799778032261727, + -0.943376307319684, + 0.17791450893202543, + 0.28375602338131717, + -0.09572427918950005, + -0.9541065881590338 + ], + [ + 0.9347524068371806, + 0.23325190660301523, + 0.2680139660132585, + 0.19690529073999233, + -0.9679825004763951, + 0.15568617552648895, + 0.2957469262573948, + -0.09275465938444225, + -0.950752506581907 + ], + [ + 0.9533015474199267, + 0.12679000053984707, + 0.27411759419978676, + 0.09459623518769719, + -0.9872935491190806, + 0.1276832023257701, + 0.28682348574530514, + -0.09579010194667945, + -0.9531823248434466 + ], + [ + 0.9563908137106998, + 0.012269618751059851, + 0.2918322598779798, + -0.016444777106431985, + -0.9952707885052385, + 0.09573728037749993, + 0.29162678333051795, + -0.09636137194884631, + -0.951666068135473 + ], + [ + 0.9598837941509906, + -0.055987364496445646, + 0.27475173656055624, + -0.0799601263929754, + -0.9938324105659222, + 0.07683435361833887, + 0.2687554276912721, + -0.09572123445438155, + -0.9584403817457876 + ], + [ + 0.9628259737165683, + -0.0857315695458588, + 0.25615667533746916, + -0.10537667703358004, + -0.9923738954627154, + 0.06395160311920338, + 0.24872052644303924, + -0.08856720379101464, + -0.9645174701054088 + ], + [ + 0.9712372628198146, + -0.11120296145005587, + 0.2105518479496479, + -0.12183640549727537, + -0.9918155303049176, + 0.0381817252292024, + 0.2045826718121008, + -0.06273639462634277, + -0.9768367699792581 + ], + [ + 0.9750069376321827, + -0.127531909839615, + 0.18192603865794946, + -0.13612356380666873, + -0.9900557465004406, + 0.03549639697247389, + 0.1755899967130394, + -0.0593736540404579, + -0.9826713195469782 + ], + [ + 0.9711159900410264, + -0.11143198059070195, + 0.21098968597604473, + -0.11859011661269162, + -0.9927095857807028, + 0.02154211087366517, + 0.20705100368852297, + -0.045941179792627254, + -0.9772508837912792 + ], + [ + 0.968900241085715, + -0.10154435016120655, + 0.22565696925728027, + -0.11372465210339802, + -0.9926403452299446, + 0.04161548420644667, + 0.21977039456670214, + -0.06598401300401634, + -0.9733175656998498 + ], + [ + 0.9693382780313067, + -0.09834727560118017, + 0.22519128785351988, + -0.11495451057339073, + -0.9914445595406255, + 0.06183159270249716, + 0.21718370850994678, + -0.08582248387876462, + -0.9723506250415772 + ], + [ + 0.9667417068415588, + -0.10930628402717538, + 0.23121982727534357, + -0.12066633859675727, + -0.9920571026602467, + 0.03552942148430103, + 0.2254996828882958, + -0.06224822353711667, + -0.9722525657892351 + ], + [ + 0.9646920971990391, + -0.10678047722647595, + 0.24076355057401364, + -0.11771709840744797, + -0.9925485144157175, + 0.03146635145172294, + 0.23560951242309972, + -0.058697327149012365, + -0.9700735958891525 + ], + [ + 0.9617278951339369, + -0.09697055852814071, + 0.25627361647268226, + -0.10784129948595852, + -0.9937544492464593, + 0.02867662337246009, + 0.2518922584090802, + -0.05521598845992491, + -0.966178805797336 + ], + [ + 0.9582850596224528, + -0.09562016637527546, + 0.26934462735825393, + -0.10653833028742157, + -0.9939639124238011, + 0.026178712320094444, + 0.265215626771803, + -0.05378219576713689, + -0.962687979947036 + ], + [ + 0.9552343440993261, + -0.0873592845377772, + 0.2826582800099403, + -0.09848225277815403, + -0.9948157069202017, + 0.025356560346366186, + 0.27897776567473964, + -0.05205828147285327, + -0.9588854684419945 + ], + [ + 0.947103568041698, + -0.04253186038517542, + 0.3180972685435401, + -0.06108248895327386, + -0.9969503985969469, + 0.0485678111578261, + 0.315061519303704, + -0.06542892013142985, + -0.946813231563901 + ], + [ + 0.9530803904025297, + -0.009131673684592133, + 0.3025795465094759, + -0.029547325856370293, + -0.9975783549118586, + 0.06296333334638068, + 0.3012718456226858, + -0.06894953478500135, + -0.9510421844944801 + ], + [ + 0.9449825597224885, + 0.014208238735133515, + 0.3268120067751165, + -0.004300237357123899, + -0.9984304002712446, + 0.05584123720759054, + 0.32709244836743895, + -0.054174364474790564, + -0.9434382165540818 + ], + [ + 0.9442366594884275, + 0.039149041731986016, + 0.326931924732967, + -0.0033460070504678363, + -0.9917144272220861, + 0.12841845302131477, + 0.32925056585365714, + -0.12235132762269735, + -0.9362821249570077 + ], + [ + 0.9469941361478471, + 0.019049540670143736, + 0.32068554863269016, + -0.01567524869406451, + -0.994311217916729, + 0.10535411004479274, + 0.32086818583332966, + -0.10479655015890364, + -0.9413082865856544 + ], + [ + 0.9426665861076909, + -0.01969599874851965, + 0.33315428118121154, + -0.05330278723660992, + -0.9943279281864311, + 0.09203686273058416, + 0.3294518482401945, + -0.10451812695306976, + -0.9383695651657411 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.004829317331314087, + 0.0005420406814664602, + -0.008139349520206451, + 0.00943882018327713, + 0.03299477696418762, + 0.005723893642425537, + 1.0 + ], + [ + -0.013102442026138306, + 0.02391083538532257, + 0.003997348248958588, + 0.02464943379163742, + 0.003628373146057129, + 0.09792277216911316, + 1.0 + ], + [ + -0.0156155526638031, + 0.03745117783546448, + 0.005108922719955444, + 0.004170440137386322, + 0.020460382103919983, + 0.06738266348838806, + 1.0 + ], + [ + -0.022316381335258484, + 0.03994804620742798, + 0.007767140865325928, + 0.020883135497570038, + -0.017786294221878052, + 0.11113536357879639, + 1.0 + ], + [ + -0.01329009234905243, + 0.027746178209781647, + 0.0008679330348968506, + 0.01950259506702423, + -0.003476053476333618, + 0.0952623188495636, + 1.0 + ], + [ + -0.007317796349525452, + 0.01508234441280365, + -0.002231985330581665, + 0.0162285715341568, + 0.0026073455810546875, + 0.015089452266693115, + 1.0 + ], + [ + -0.0024719834327697754, + 0.013144925236701965, + -0.00507749617099762, + -0.003397613763809204, + -0.007454484701156616, + 0.01957648992538452, + 1.0 + ], + [ + 0.008372440934181213, + 0.007069334387779236, + -0.00822342187166214, + -0.07717666029930115, + -0.0350629985332489, + 0.0050241947174072266, + 1.0 + ], + [ + 0.0028066635131835938, + 0.003918454051017761, + -0.015336431562900543, + 0.01414681226015091, + 0.030378997325897217, + -0.024685978889465332, + 1.0 + ], + [ + 0.0021557658910751343, + 0.0022429227828979492, + -0.010770939290523529, + 0.004520796239376068, + 0.03173859417438507, + 8.887052536010742e-05, + 0.0 + ], + [ + 0.001876533031463623, + 0.0005570799112319946, + -0.0005143582820892334, + -0.0014607906341552734, + 0.020376577973365784, + -0.014109671115875244, + 0.0 + ], + [ + -8.641183376312256e-05, + -0.00047187507152557373, + -0.0005204528570175171, + -0.0020767003297805786, + 0.0033456087112426758, + -0.0008981227874755859, + 0.0 + ], + [ + 0.00024697184562683105, + 0.0006038844585418701, + 0.0008450597524642944, + 0.001966513693332672, + -0.003512352705001831, + 0.0025941133499145508, + 0.0 + ], + [ + -0.0006459951400756836, + -0.0004775524139404297, + 0.000470772385597229, + 0.0011036098003387451, + 0.008809730410575867, + -0.01023489236831665, + 0.0 + ], + [ + 0.0006968528032302856, + -0.009913548827171326, + 0.01092498004436493, + -0.03001854568719864, + -0.004491150379180908, + -0.010610818862915039, + 0.0 + ], + [ + 0.00037798285484313965, + -0.02147524058818817, + 0.028417199850082397, + 0.0167752206325531, + -0.07786794006824493, + -0.044997990131378174, + 0.0 + ], + [ + 0.0037305206060409546, + -0.0318753644824028, + 0.01508072018623352, + 0.014173679053783417, + -0.03339897096157074, + -0.10188987851142883, + 0.0 + ], + [ + 0.0008161216974258423, + -0.03835628926753998, + 0.014120176434516907, + -0.002440251410007477, + -0.037197887897491455, + -0.11999955773353577, + 0.0 + ], + [ + 0.00281485915184021, + -0.027486693114042282, + 0.003642722964286804, + -0.0027426481246948242, + -0.012528449296951294, + -0.0886811763048172, + 0.0 + ], + [ + 0.00037601590156555176, + -0.02749968320131302, + -0.003437831997871399, + 0.0029073283076286316, + 0.009327977895736694, + -0.10870800167322159, + 0.0 + ], + [ + 0.0009227246046066284, + -0.02603827975690365, + -0.002621382474899292, + 0.0007527396082878113, + -0.005017757415771484, + -0.1160992681980133, + 0.0 + ], + [ + -0.00031366944313049316, + -0.020253969356417656, + -0.010706976056098938, + -0.0013697221875190735, + 0.023826420307159424, + -0.06591707468032837, + 0.0 + ], + [ + 0.0014435797929763794, + -0.007514148950576782, + -0.007933124899864197, + -0.00797317922115326, + 0.020741641521453857, + -0.025901325047016144, + 0.0 + ], + [ + 0.0028895288705825806, + -0.006359267979860306, + -0.0167594775557518, + -0.02743266522884369, + 0.04532170295715332, + -0.01578134298324585, + 0.0 + ], + [ + 0.0028250813484191895, + -0.0020795613527297974, + -0.013263225555419922, + -0.003788646310567856, + 0.0295322984457016, + -0.013923615217208862, + 0.0 + ], + [ + 0.005962938070297241, + -0.0025168918073177338, + -0.0015868991613388062, + -0.013371255248785019, + -0.032054632902145386, + 0.01720058172941208, + 0.0 + ], + [ + 0.0012063384056091309, + 0.0009260289371013641, + -0.0003671422600746155, + 0.02071327716112137, + -0.01301942765712738, + 0.004675321280956268, + 1.0 + ], + [ + -0.001918196678161621, + -0.0010131597518920898, + 0.0008703693747520447, + 0.02034544199705124, + 0.002650722861289978, + -0.0011990293860435486, + 1.0 + ], + [ + -0.0007534027099609375, + -0.0019500665366649628, + 0.004509270191192627, + -0.02409728616476059, + -0.008527517318725586, + -0.006135948002338409, + 1.0 + ], + [ + -0.004480272531509399, + 0.0042928047478199005, + 0.004802055656909943, + -0.0035030432045459747, + -0.010389789938926697, + 0.002750098705291748, + 1.0 + ], + [ + -0.0022711753845214844, + 0.00199880450963974, + 0.005526222288608551, + -0.003347698599100113, + -0.016789376735687256, + 0.009758859872817993, + 1.0 + ], + [ + -0.0007227808237075806, + 0.00023615360260009766, + 0.004769079387187958, + -0.0012780539691448212, + -0.013792484998703003, + 0.0009450465440750122, + 1.0 + ], + [ + -0.002061218023300171, + 0.0011366605758666992, + 0.004980020225048065, + -0.0015715211629867554, + -0.014301896095275879, + 0.00798683613538742, + 1.0 + ], + [ + -0.00025647878646850586, + 0.0140156801789999, + 0.010450758039951324, + 0.014757510274648666, + -0.03779202699661255, + 0.03832972049713135, + 1.0 + ], + [ + 0.005466863512992859, + 0.01231566071510315, + -0.0022725909948349, + 0.0033776313066482544, + 0.014495283365249634, + 0.03341279551386833, + 1.0 + ], + [ + 0.02016124129295349, + 0.0057082343846559525, + 0.0040922611951828, + -0.015013020485639572, + -0.02719894051551819, + 0.026441428810358047, + 1.0 + ], + [ + 0.029949218034744263, + -0.0013484759256243706, + 0.0032301321625709534, + 0.07258224487304688, + -0.0022846460342407227, + 0.001006972510367632, + 1.0 + ], + [ + 0.02993673086166382, + -8.557736873626709e-05, + 0.000927947461605072, + -0.01906735450029373, + 0.008863776922225952, + -0.013007528148591518, + 1.0 + ], + [ + 0.021984636783599854, + -0.01009941753000021, + -0.000341758131980896, + 5.1312148571014404e-05, + -0.009076952934265137, + -0.03993341326713562, + 1.0 + ], + [ + 0.01565691828727722, + -0.009610263630747795, + -0.006669722497463226, + -0.030266553163528442, + -0.021570682525634766, + -0.022469785064458847, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9445669651031494 + ], + [ + 0.6631406545639038 + ], + [ + 0.3644362688064575 + ], + [ + 0.19787359237670898 + ], + [ + 0.13432937860488892 + ], + [ + 0.11078528314828873 + ], + [ + 0.10955921560525894 + ], + [ + 0.10915245115756989 + ], + [ + 0.10915245115756989 + ], + [ + 0.10915245115756989 + ], + [ + 0.10915245115756989 + ], + [ + 0.10915245115756989 + ], + [ + 0.10915245115756989 + ], + [ + 0.10915245115756989 + ], + [ + 0.10915245115756989 + ], + [ + 0.10915245115756989 + ], + [ + 0.10915245115756989 + ], + [ + 0.14767317473888397 + ], + [ + 0.35606881976127625 + ], + [ + 0.657115638256073 + ], + [ + 0.941448450088501 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.29327619075775146, + 0.00398901617154479, + 0.0914512574672699 + ], + [ + 0.28017374873161316, + 0.02789985202252865, + 0.09544860571622849 + ], + [ + 0.26455819606781006, + 0.06535103172063828, + 0.10055752843618393 + ], + [ + 0.24224181473255157, + 0.10529907792806625, + 0.10832466930150986 + ], + [ + 0.22895172238349915, + 0.1330452561378479, + 0.10919260233640671 + ], + [ + 0.2216339260339737, + 0.14812760055065155, + 0.10696061700582504 + ], + [ + 0.21916194260120392, + 0.16127252578735352, + 0.10188312083482742 + ], + [ + 0.22753438353538513, + 0.16834186017513275, + 0.09365969896316528 + ], + [ + 0.23034104704856873, + 0.1722603142261505, + 0.07832326740026474 + ], + [ + 0.23249681293964386, + 0.17450323700904846, + 0.06755232810974121 + ], + [ + 0.23437334597110748, + 0.17506031692028046, + 0.06703796982765198 + ], + [ + 0.23428693413734436, + 0.17458844184875488, + 0.06651751697063446 + ], + [ + 0.2345339059829712, + 0.17519232630729675, + 0.06736257672309875 + ], + [ + 0.2338879108428955, + 0.17471477389335632, + 0.06783334910869598 + ], + [ + 0.2345847636461258, + 0.164801225066185, + 0.07875832915306091 + ], + [ + 0.23496274650096893, + 0.14332598447799683, + 0.10717552900314331 + ], + [ + 0.2386932671070099, + 0.11145061999559402, + 0.12225624918937683 + ], + [ + 0.23950938880443573, + 0.07309433072805405, + 0.13637642562389374 + ], + [ + 0.24232424795627594, + 0.045607637614011765, + 0.14001914858818054 + ], + [ + 0.2427002638578415, + 0.018107954412698746, + 0.13658131659030914 + ], + [ + 0.24362298846244812, + -0.007930325344204903, + 0.13395993411540985 + ], + [ + 0.24330931901931763, + -0.02818429470062256, + 0.12325295805931091 + ], + [ + 0.244752898812294, + -0.03569844365119934, + 0.11531983315944672 + ], + [ + 0.2476424276828766, + -0.04205771163105965, + 0.09856035560369492 + ], + [ + 0.2504675090312958, + -0.044137272983789444, + 0.085297130048275 + ], + [ + 0.256430447101593, + -0.04665416479110718, + 0.08371023088693619 + ], + [ + 0.25763678550720215, + -0.045728135854005814, + 0.08334308862686157 + ], + [ + 0.2557185888290405, + -0.0467412956058979, + 0.08421345800161362 + ], + [ + 0.2549651861190796, + -0.048691362142562866, + 0.08872272819280624 + ], + [ + 0.2504849135875702, + -0.044398557394742966, + 0.09352478384971619 + ], + [ + 0.2482137382030487, + -0.042399752885103226, + 0.09905100613832474 + ], + [ + 0.24749095737934113, + -0.04216359928250313, + 0.1038200855255127 + ], + [ + 0.24542973935604095, + -0.04102693870663643, + 0.10880010575056076 + ], + [ + 0.24517326056957245, + -0.027011258527636528, + 0.11925086379051208 + ], + [ + 0.2506401240825653, + -0.014695597812533379, + 0.11697827279567719 + ], + [ + 0.2708013653755188, + -0.008987363427877426, + 0.12107053399085999 + ], + [ + 0.30075058341026306, + -0.010335839353501797, + 0.12430066615343094 + ], + [ + 0.3306873142719269, + -0.010421416722238064, + 0.125228613615036 + ], + [ + 0.35267195105552673, + -0.020520834252238274, + 0.12488685548305511 + ], + [ + 0.36832886934280396, + -0.03013109788298607, + 0.11821713298559189 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.960722677355989, + 0.2218596070205283, + 0.16670408509282733, + 0.20441545635193523, + -0.9720359083467185, + 0.11558769004093682, + 0.187686596267208, + -0.07697082341554089, + -0.9792084731681826 + ], + [ + 0.9367781570188884, + 0.31919409221891376, + 0.14339391906506596, + 0.2975667434677554, + -0.9422757220405481, + 0.1535268603045058, + 0.1841214754293756, + -0.1011513477196807, + -0.9776848608525154 + ], + [ + 0.9179303983746225, + 0.38045784252791326, + 0.1124971724036316, + 0.36127052174890195, + -0.9187483608098265, + 0.15932689548388615, + 0.16397375965404665, + -0.10560908847377928, + -0.9807952521177162 + ], + [ + 0.8694837031024069, + 0.4838465852167314, + 0.09945135501054769, + 0.4594111237847194, + -0.8660822846651415, + 0.19708601049305913, + 0.18149244993163477, + -0.12567401546587603, + -0.9753289355158575 + ], + [ + 0.8213108345890672, + 0.5659110220494976, + 0.07206405559988249, + 0.5396822459429185, + -0.8116910134335223, + 0.2233848072839078, + 0.18490967092236466, + -0.14457667112696432, + -0.9720627550550573 + ], + [ + 0.8134702495011158, + 0.5787866480002489, + 0.057202878190071235, + 0.5522823987987727, + -0.7995464779381977, + 0.23602877280894485, + 0.1823466620305007, + -0.16041024192132802, + -0.9700609512464025 + ], + [ + 0.8013715868941863, + 0.5951002591758181, + 0.06049182794036791, + 0.5672992852413499, + -0.7881881917286194, + 0.23860196014329388, + 0.18967103279980985, + -0.15689186068258143, + -0.9692315736542069 + ], + [ + 0.792612944168157, + 0.5950194304457693, + 0.13310371192824683, + 0.5670982299356288, + -0.7996097245909756, + 0.19754464291248303, + 0.22397392335038058, + -0.08109356159113984, + -0.9712154837766444 + ], + [ + 0.8116261124818508, + 0.5746033895935492, + 0.10532805041963858, + 0.5509292443251703, + -0.8128478490761433, + 0.18909083002510801, + 0.19426791110447153, + -0.09544275205530994, + -0.9762943510003598 + ], + [ + 0.8162687594692228, + 0.5725159814463828, + 0.07701144916868743, + 0.5541866320120011, + -0.8137190768038053, + 0.17532381739158506, + 0.1630413727057372, + -0.10043263928647936, + -0.9814941649098995 + ], + [ + 0.8266100508213003, + 0.5591738712854746, + 0.06356418451316179, + 0.5443289324515717, + -0.8230806742211889, + 0.16200066981258437, + 0.14290499353535593, + -0.09931155720866097, + -0.9847412743596418 + ], + [ + 0.8274935019708982, + 0.5580289017803154, + 0.06211480478754106, + 0.5438458589698544, + -0.8240958493660062, + 0.15842257648158015, + 0.1395929291808165, + -0.0973127732395701, + -0.9854156677702783 + ], + [ + 0.8256657953082964, + 0.5605758259890578, + 0.06348809159679958, + 0.5457169253813524, + -0.8221398737871081, + 0.16210819005109273, + 0.14307002414985964, + -0.09920066151998884, + -0.9847284889469559 + ], + [ + 0.8322340886351137, + 0.5514611840706143, + 0.057244948922308594, + 0.5379012108260619, + -0.8281353496278396, + 0.15765192700576927, + 0.13434548412781944, + -0.10041118045423, + -0.9858341065992036 + ], + [ + 0.8373760732552006, + 0.5408990711972284, + 0.07892722418580765, + 0.5287129511641346, + -0.838107987656945, + 0.13430419314726308, + 0.13879455036496358, + -0.07073327225289155, + -0.9877919198826167 + ], + [ + 0.8483252168990656, + 0.50987113758708, + 0.14274364934668743, + 0.48367624496972966, + -0.8559335331336353, + 0.1828526097963983, + 0.21541034428535494, + -0.08607676755680824, + -0.972722557393338 + ], + [ + 0.8860451562475653, + 0.42543910472747004, + 0.1841888955906859, + 0.39175253793460507, + -0.8995487717741922, + 0.19324066917017818, + 0.24789903209174424, + -0.09906349160125139, + -0.9637076810525822 + ], + [ + 0.9171122880517238, + 0.3176129801527763, + 0.24088803611429982, + 0.2799778032261727, + -0.943376307319684, + 0.17791450893202543, + 0.28375602338131717, + -0.09572427918950005, + -0.9541065881590338 + ], + [ + 0.9347524068371806, + 0.23325190660301523, + 0.2680139660132585, + 0.19690529073999233, + -0.9679825004763951, + 0.15568617552648895, + 0.2957469262573948, + -0.09275465938444225, + -0.950752506581907 + ], + [ + 0.9533015474199267, + 0.12679000053984707, + 0.27411759419978676, + 0.09459623518769719, + -0.9872935491190806, + 0.1276832023257701, + 0.28682348574530514, + -0.09579010194667945, + -0.9531823248434466 + ], + [ + 0.9563908137106998, + 0.012269618751059851, + 0.2918322598779798, + -0.016444777106431985, + -0.9952707885052385, + 0.09573728037749993, + 0.29162678333051795, + -0.09636137194884631, + -0.951666068135473 + ], + [ + 0.9598837941509906, + -0.055987364496445646, + 0.27475173656055624, + -0.0799601263929754, + -0.9938324105659222, + 0.07683435361833887, + 0.2687554276912721, + -0.09572123445438155, + -0.9584403817457876 + ], + [ + 0.9628259737165683, + -0.0857315695458588, + 0.25615667533746916, + -0.10537667703358004, + -0.9923738954627154, + 0.06395160311920338, + 0.24872052644303924, + -0.08856720379101464, + -0.9645174701054088 + ], + [ + 0.9712372628198146, + -0.11120296145005587, + 0.2105518479496479, + -0.12183640549727537, + -0.9918155303049176, + 0.0381817252292024, + 0.2045826718121008, + -0.06273639462634277, + -0.9768367699792581 + ], + [ + 0.9750069376321827, + -0.127531909839615, + 0.18192603865794946, + -0.13612356380666873, + -0.9900557465004406, + 0.03549639697247389, + 0.1755899967130394, + -0.0593736540404579, + -0.9826713195469782 + ], + [ + 0.9711159900410264, + -0.11143198059070195, + 0.21098968597604473, + -0.11859011661269162, + -0.9927095857807028, + 0.02154211087366517, + 0.20705100368852297, + -0.045941179792627254, + -0.9772508837912792 + ], + [ + 0.968900241085715, + -0.10154435016120655, + 0.22565696925728027, + -0.11372465210339802, + -0.9926403452299446, + 0.04161548420644667, + 0.21977039456670214, + -0.06598401300401634, + -0.9733175656998498 + ], + [ + 0.9693382780313067, + -0.09834727560118017, + 0.22519128785351988, + -0.11495451057339073, + -0.9914445595406255, + 0.06183159270249716, + 0.21718370850994678, + -0.08582248387876462, + -0.9723506250415772 + ], + [ + 0.9667417068415588, + -0.10930628402717538, + 0.23121982727534357, + -0.12066633859675727, + -0.9920571026602467, + 0.03552942148430103, + 0.2254996828882958, + -0.06224822353711667, + -0.9722525657892351 + ], + [ + 0.9646920971990391, + -0.10678047722647595, + 0.24076355057401364, + -0.11771709840744797, + -0.9925485144157175, + 0.03146635145172294, + 0.23560951242309972, + -0.058697327149012365, + -0.9700735958891525 + ], + [ + 0.9617278951339369, + -0.09697055852814071, + 0.25627361647268226, + -0.10784129948595852, + -0.9937544492464593, + 0.02867662337246009, + 0.2518922584090802, + -0.05521598845992491, + -0.966178805797336 + ], + [ + 0.9582850596224528, + -0.09562016637527546, + 0.26934462735825393, + -0.10653833028742157, + -0.9939639124238011, + 0.026178712320094444, + 0.265215626771803, + -0.05378219576713689, + -0.962687979947036 + ], + [ + 0.9552343440993261, + -0.0873592845377772, + 0.2826582800099403, + -0.09848225277815403, + -0.9948157069202017, + 0.025356560346366186, + 0.27897776567473964, + -0.05205828147285327, + -0.9588854684419945 + ], + [ + 0.947103568041698, + -0.04253186038517542, + 0.3180972685435401, + -0.06108248895327386, + -0.9969503985969469, + 0.0485678111578261, + 0.315061519303704, + -0.06542892013142985, + -0.946813231563901 + ], + [ + 0.9530803904025297, + -0.009131673684592133, + 0.3025795465094759, + -0.029547325856370293, + -0.9975783549118586, + 0.06296333334638068, + 0.3012718456226858, + -0.06894953478500135, + -0.9510421844944801 + ], + [ + 0.9449825597224885, + 0.014208238735133515, + 0.3268120067751165, + -0.004300237357123899, + -0.9984304002712446, + 0.05584123720759054, + 0.32709244836743895, + -0.054174364474790564, + -0.9434382165540818 + ], + [ + 0.9442366594884275, + 0.039149041731986016, + 0.326931924732967, + -0.0033460070504678363, + -0.9917144272220861, + 0.12841845302131477, + 0.32925056585365714, + -0.12235132762269735, + -0.9362821249570077 + ], + [ + 0.9469941361478471, + 0.019049540670143736, + 0.32068554863269016, + -0.01567524869406451, + -0.994311217916729, + 0.10535411004479274, + 0.32086818583332966, + -0.10479655015890364, + -0.9413082865856544 + ], + [ + 0.9426665861076909, + -0.01969599874851965, + 0.33315428118121154, + -0.05330278723660992, + -0.9943279281864311, + 0.09203686273058416, + 0.3294518482401945, + -0.10451812695306976, + -0.9383695651657411 + ], + [ + 0.933928243277409, + -0.05052459659387329, + 0.3538718716538503, + -0.07389127786484527, + -0.9958662358234367, + 0.05282536703478119, + 0.34974006842835864, + -0.07548314703220507, + -0.9338009311677953 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006267.json b/json/chunk-0006/episode_0006267.json new file mode 100644 index 0000000000000000000000000000000000000000..b529d541c57a69c8afcfd1de91d9d5b64319abf5 --- /dev/null +++ b/json/chunk-0006/episode_0006267.json @@ -0,0 +1,2242 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 36, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut the bowl on the right side of the spoon." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006267.mp4", + "start": 0, + "end": 36, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.28764447569847107, + 0.11135870963335037, + 0.14302517473697662, + -0.18629953265190125, + -0.22749242186546326, + 1.2500652074813843, + 0.0, + 1.0008161067962646 + ], + [ + 0.28633251786231995, + 0.10935405641794205, + 0.13311177492141724, + -0.16292645037174225, + -0.20653127133846283, + 1.2183889150619507, + 0.0, + 1.0008161067962646 + ], + [ + 0.2772411108016968, + 0.11080050468444824, + 0.11725316196680069, + -0.13660787045955658, + -0.21009650826454163, + 0.9716623425483704, + 0.0, + 1.0008161067962646 + ], + [ + 0.27397605776786804, + 0.10969489067792892, + 0.114439457654953, + -0.07590262591838837, + -0.2272258996963501, + 0.688180148601532, + 0.0, + 1.0008161067962646 + ], + [ + 0.26409977674484253, + 0.10617333650588989, + 0.10089842230081558, + -0.03251287713646889, + -0.20928409695625305, + 0.43532833456993103, + 0.0, + 1.0008161067962646 + ], + [ + 0.2573217451572418, + 0.10224540531635284, + 0.09030819684267044, + -0.009855669923126698, + -0.19149306416511536, + 0.32397210597991943, + 0.0, + 1.0008161067962646 + ], + [ + 0.26288026571273804, + 0.08646533638238907, + 0.08401121199131012, + 0.016338467597961426, + -0.2141585648059845, + 0.23169776797294617, + 0.0, + 1.0008161067962646 + ], + [ + 0.2683531641960144, + 0.06799369305372238, + 0.07494542002677917, + 0.003614208195358515, + -0.22260132431983948, + 0.19754774868488312, + 0.0, + 1.0008161067962646 + ], + [ + 0.2719791531562805, + 0.04717551916837692, + 0.06264661997556686, + -0.00738379405811429, + -0.2120826244354248, + 0.1505945473909378, + 0.0, + 1.0008161067962646 + ], + [ + 0.26921603083610535, + 0.04224790260195732, + 0.04640454426407814, + -0.02074163407087326, + -0.18391454219818115, + 0.13339771330356598, + 0.0, + 1.0008161067962646 + ], + [ + 0.2697581648826599, + 0.03886266052722931, + 0.027118438854813576, + -0.04666777700185776, + -0.1635654717683792, + 0.11045621335506439, + 0.0, + 1.0008161067962646 + ], + [ + 0.2655005156993866, + 0.045454125851392746, + 0.01912776008248329, + -0.045320671051740646, + -0.15600202977657318, + 0.13332688808441162, + 0.0, + 0.941448450088501 + ], + [ + 0.26330336928367615, + 0.04812312126159668, + 0.016387522220611572, + -0.04110662266612053, + -0.16372184455394745, + 0.15761488676071167, + 0.0, + 0.6611326336860657 + ], + [ + 0.2644478380680084, + 0.05131138861179352, + 0.016133397817611694, + -0.04034208878874779, + -0.17249469459056854, + 0.15215513110160828, + 0.0, + 0.347801148891449 + ], + [ + 0.26479485630989075, + 0.0536816380918026, + 0.01753094792366028, + -0.0418962724506855, + -0.17118924856185913, + 0.16062980890274048, + 0.0, + 0.1546454280614853 + ], + [ + 0.265973299741745, + 0.053520992398262024, + 0.018680648878216743, + -0.046915795654058456, + -0.1675191968679428, + 0.15864777565002441, + 0.0, + 0.09034547209739685 + ], + [ + 0.26647138595581055, + 0.05134299024939537, + 0.01999875344336033, + -0.06609312444925308, + -0.16035248339176178, + 0.15664656460285187, + 0.0, + 0.08962377160787582 + ], + [ + 0.2692449390888214, + 0.047744087874889374, + 0.025718428194522858, + -0.09272779524326324, + -0.15166865289211273, + 0.15384992957115173, + 0.0, + 0.08926420658826828 + ], + [ + 0.28377464413642883, + 0.04417487978935242, + 0.04347273334860802, + -0.11179216206073761, + -0.18958844244480133, + 0.15983936190605164, + 0.0, + 0.08890553563833237 + ], + [ + 0.2993103861808777, + 0.03477479889988899, + 0.059685785323381424, + -0.1208517998456955, + -0.20198474824428558, + 0.1632247418165207, + 0.0, + 0.08890553563833237 + ], + [ + 0.31960126757621765, + 0.022548386827111244, + 0.07735591381788254, + -0.16755865514278412, + -0.24784940481185913, + 0.20567768812179565, + 0.0, + 0.08890553563833237 + ], + [ + 0.3353269100189209, + 0.004962347913533449, + 0.08164887130260468, + -0.21530349552631378, + -0.2601653039455414, + 0.2790641486644745, + 0.0, + 0.08890553563833237 + ], + [ + 0.34773945808410645, + -0.007688825950026512, + 0.0794382095336914, + -0.22248712182044983, + -0.26900553703308105, + 0.32522377371788025, + 0.0, + 0.08890553563833237 + ], + [ + 0.3553011417388916, + -0.015392010100185871, + 0.06628040969371796, + -0.21288460493087769, + -0.2536143958568573, + 0.35810554027557373, + 0.0, + 0.08890553563833237 + ], + [ + 0.3593556582927704, + -0.024236073717474937, + 0.047448307275772095, + -0.195003479719162, + -0.23235097527503967, + 0.36264482140541077, + 0.0, + 0.08890553563833237 + ], + [ + 0.36136770248413086, + -0.027688361704349518, + 0.035190779715776443, + -0.17319902777671814, + -0.21073734760284424, + 0.3523081839084625, + 0.0, + 0.08890553563833237 + ], + [ + 0.3644700348377228, + -0.027521848678588867, + 0.02581559494137764, + -0.16686002910137177, + -0.19981572031974792, + 0.3525066077709198, + 0.0, + 0.08890553563833237 + ], + [ + 0.36932504177093506, + -0.030320802703499794, + 0.025128446519374847, + -0.16785183548927307, + -0.1842840015888214, + 0.3525054454803467, + 0.0, + 0.12220374494791031 + ], + [ + 0.3672029972076416, + -0.02869989164173603, + 0.02490340732038021, + -0.14974668622016907, + -0.169995978474617, + 0.39003464579582214, + 0.0, + 0.34125998616218567 + ], + [ + 0.3665875494480133, + -0.02925099991261959, + 0.02505630999803543, + -0.1501966416835785, + -0.16766241192817688, + 0.3944379985332489, + 0.0, + 0.6370214223861694 + ], + [ + 0.3651791512966156, + -0.02776642143726349, + 0.024133481085300446, + -0.13701362907886505, + -0.16721180081367493, + 0.3808019161224365, + 0.0, + 0.9311676621437073 + ], + [ + 0.3635401427745819, + -0.028179088607430458, + 0.02304733358323574, + -0.1358863115310669, + -0.161741241812706, + 0.3712746202945709, + 0.0, + 1.0060625076293945 + ], + [ + 0.36293551325798035, + -0.029905183240771294, + 0.03795931115746498, + -0.1520531177520752, + -0.17429247498512268, + 0.3650675117969513, + 0.0, + 1.0001531839370728 + ], + [ + 0.3672374486923218, + -0.033947668969631195, + 0.059409867972135544, + -0.18334315717220306, + -0.19207318127155304, + 0.3551132380962372, + 0.0, + 1.0001531839370728 + ], + [ + 0.36608827114105225, + -0.04043576121330261, + 0.0851898193359375, + -0.2390613555908203, + -0.22259989380836487, + 0.348801851272583, + 0.0, + 1.0001531839370728 + ], + [ + 0.3597317039966583, + -0.033915601670742035, + 0.111634761095047, + -0.2535669505596161, + -0.25382933020591736, + 0.36370813846588135, + 0.0, + 1.0001531839370728 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.941448450088501 + ], + [ + 0.6611326336860657 + ], + [ + 0.347801148891449 + ], + [ + 0.1546454280614853 + ], + [ + 0.09034547209739685 + ], + [ + 0.08962377160787582 + ], + [ + 0.08926420658826828 + ], + [ + 0.08890553563833237 + ], + [ + 0.08890553563833237 + ], + [ + 0.08890553563833237 + ], + [ + 0.08890553563833237 + ], + [ + 0.08890553563833237 + ], + [ + 0.08890553563833237 + ], + [ + 0.08890553563833237 + ], + [ + 0.08890553563833237 + ], + [ + 0.08890553563833237 + ], + [ + 0.12220374494791031 + ], + [ + 0.34125998616218567 + ], + [ + 0.6370214223861694 + ], + [ + 0.9311676621437073 + ], + [ + 1.0060625076293945 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.28764447569847107, + 0.11135870963335037, + 0.14302517473697662 + ], + [ + 0.28633251786231995, + 0.10935405641794205, + 0.13311177492141724 + ], + [ + 0.2772411108016968, + 0.11080050468444824, + 0.11725316196680069 + ], + [ + 0.27397605776786804, + 0.10969489067792892, + 0.114439457654953 + ], + [ + 0.26409977674484253, + 0.10617333650588989, + 0.10089842230081558 + ], + [ + 0.2573217451572418, + 0.10224540531635284, + 0.09030819684267044 + ], + [ + 0.26288026571273804, + 0.08646533638238907, + 0.08401121199131012 + ], + [ + 0.2683531641960144, + 0.06799369305372238, + 0.07494542002677917 + ], + [ + 0.2719791531562805, + 0.04717551916837692, + 0.06264661997556686 + ], + [ + 0.26921603083610535, + 0.04224790260195732, + 0.04640454426407814 + ], + [ + 0.2697581648826599, + 0.03886266052722931, + 0.027118438854813576 + ], + [ + 0.2655005156993866, + 0.045454125851392746, + 0.01912776008248329 + ], + [ + 0.26330336928367615, + 0.04812312126159668, + 0.016387522220611572 + ], + [ + 0.2644478380680084, + 0.05131138861179352, + 0.016133397817611694 + ], + [ + 0.26479485630989075, + 0.0536816380918026, + 0.01753094792366028 + ], + [ + 0.265973299741745, + 0.053520992398262024, + 0.018680648878216743 + ], + [ + 0.26647138595581055, + 0.05134299024939537, + 0.01999875344336033 + ], + [ + 0.2692449390888214, + 0.047744087874889374, + 0.025718428194522858 + ], + [ + 0.28377464413642883, + 0.04417487978935242, + 0.04347273334860802 + ], + [ + 0.2993103861808777, + 0.03477479889988899, + 0.059685785323381424 + ], + [ + 0.31960126757621765, + 0.022548386827111244, + 0.07735591381788254 + ], + [ + 0.3353269100189209, + 0.004962347913533449, + 0.08164887130260468 + ], + [ + 0.34773945808410645, + -0.007688825950026512, + 0.0794382095336914 + ], + [ + 0.3553011417388916, + -0.015392010100185871, + 0.06628040969371796 + ], + [ + 0.3593556582927704, + -0.024236073717474937, + 0.047448307275772095 + ], + [ + 0.36136770248413086, + -0.027688361704349518, + 0.035190779715776443 + ], + [ + 0.3644700348377228, + -0.027521848678588867, + 0.02581559494137764 + ], + [ + 0.36932504177093506, + -0.030320802703499794, + 0.025128446519374847 + ], + [ + 0.3672029972076416, + -0.02869989164173603, + 0.02490340732038021 + ], + [ + 0.3665875494480133, + -0.02925099991261959, + 0.02505630999803543 + ], + [ + 0.3651791512966156, + -0.02776642143726349, + 0.024133481085300446 + ], + [ + 0.3635401427745819, + -0.028179088607430458, + 0.02304733358323574 + ], + [ + 0.36293551325798035, + -0.029905183240771294, + 0.03795931115746498 + ], + [ + 0.3672374486923218, + -0.033947668969631195, + 0.059409867972135544 + ], + [ + 0.36608827114105225, + -0.04043576121330261, + 0.0851898193359375 + ], + [ + 0.3597317039966583, + -0.033915601670742035, + 0.111634761095047 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.30713779601465907, + 0.919414106114779, + 0.245650311899701, + 0.9245540647260663, + -0.34944953395699585, + 0.15193684416805522, + 0.22553526477641406, + 0.18045144691689527, + -0.9573772086528028 + ], + [ + 0.33782300648587077, + 0.914634155131034, + 0.2220810180015103, + 0.9185986605456691, + -0.3718061539967907, + 0.13392790856956402, + 0.2050661286818231, + 0.15875939694347105, + -0.9657863825658319 + ], + [ + 0.5515271888685993, + 0.8021141648725801, + 0.22897734920612484, + 0.8076650725003877, + -0.5821285138832726, + 0.09382709623022595, + 0.20855428694141953, + 0.13318881272395133, + -0.9688992979476971 + ], + [ + 0.7525485795542066, + 0.6201092376141588, + 0.22166454122509732, + 0.618806543889626, + -0.7810289336733082, + 0.0840967657196856, + 0.22527560154247156, + 0.07388056707092969, + -0.9714898687886331 + ], + [ + 0.886946656032491, + 0.41536149351527524, + 0.20199123510078842, + 0.4125064222348321, + -0.9091005043841753, + 0.058092379392278626, + 0.20775967117754213, + 0.031797840071268735, + -0.9776629359850979 + ], + [ + 0.9306504971653867, + 0.3165409029198035, + 0.18355246907773765, + 0.3125157475404403, + -0.94852951674036, + 0.05124122765448488, + 0.19032487925927621, + 0.009675363094711613, + -0.9816734832335685 + ], + [ + 0.9510439557113142, + 0.23297900429719087, + 0.20306692951257496, + 0.22438448070619527, + -0.9723507175094255, + 0.0646968853741519, + 0.21252529054958766, + -0.01596451426115419, + -0.9770251456135705 + ], + [ + 0.9563571598402647, + 0.19704646397478426, + 0.21576300391238667, + 0.1914228053339712, + -0.9803878136901981, + 0.046872639842728686, + 0.22076750761906772, + -0.003525025218013969, + -0.9753200919579569 + ], + [ + 0.9665302879818726, + 0.14848523112200168, + 0.2092160093117268, + 0.1466645928119193, + -0.9888882810507706, + 0.024278896510476072, + 0.21049631737632069, + 0.007218291979286605, + -0.9775680010269922 + ], + [ + 0.974400879656517, + 0.12921457224404015, + 0.18397423744751878, + 0.1307593898202642, + -0.991406993659996, + 0.003762299281217619, + 0.1828794895510114, + 0.020390371302136424, + -0.9829238653424399 + ], + [ + 0.9806402151095517, + 0.1025615368479706, + 0.16681096987091107, + 0.10876047846917065, + -0.9936611781583273, + -0.028436268112420313, + 0.16283711749183202, + 0.046028188975743456, + -0.9855787533153118 + ], + [ + 0.979089243572782, + 0.12581914559965282, + 0.15985554641816724, + 0.13131795089403472, + -0.9910431542926333, + -0.024270601613878118, + 0.15537003859518522, + 0.04475498776986825, + -0.9868420046677429 + ], + [ + 0.9743977158779706, + 0.1502153986632957, + 0.16728546050455395, + 0.1548641160356728, + -0.9878215406588221, + -0.015023627222500082, + 0.16299140117283245, + 0.04054550301646438, + -0.9857940278419517 + ], + [ + 0.9737778201268428, + 0.14460291070035783, + 0.17563244360310748, + 0.149319381118538, + -0.9886917200304428, + -0.013871018910715596, + 0.1716405530502369, + 0.03973261834096738, + -0.98435808504242 + ], + [ + 0.9726977876932091, + 0.1527563173868053, + 0.17471268218179842, + 0.15760207664045547, + -0.9874017149204172, + -0.014122280652758399, + 0.17035433441903525, + 0.04127179267539604, + -0.9845181765076796 + ], + [ + 0.9736190529276681, + 0.1500877545625974, + 0.1718708983702249, + 0.1557715728436422, + -0.9875906725595317, + -0.019997013957832953, + 0.16673678919197327, + 0.046242073956186396, + -0.9849165008903964 + ], + [ + 0.9750841373198206, + 0.1452500556490749, + 0.1676703506324303, + 0.15400531410354262, + -0.9872444872041714, + -0.04038174974963629, + 0.15966617793111554, + 0.06519772863308754, + -0.9850157195730208 + ], + [ + 0.9768443592796042, + 0.13876062796997113, + 0.16285142268030217, + 0.15148452903002152, + -0.9860869026856198, + -0.06844748217745734, + 0.1510878393788585, + 0.09153200793853501, + -0.984273517023885 + ], + [ + 0.9695631462143679, + 0.13741019401164203, + 0.20264684573064298, + 0.15630777683347322, + -0.9844363521585857, + -0.08033023994781885, + 0.18845472773128633, + 0.10956051811843498, + -0.9759514887868899 + ], + [ + 0.966648944163469, + 0.13745155419930155, + 0.2160946297246806, + 0.15919733711771072, + -0.9834418241233263, + -0.08659322386661966, + 0.20061412363609973, + 0.11810693803998565, + -0.9725249223462289 + ], + [ + 0.9490091228294202, + 0.16131931678411415, + 0.2708463823255548, + 0.19798978242210885, + -0.9735686150594396, + -0.1138604313521178, + 0.24531965034008174, + 0.16167940438890466, + -0.9558650738223824 + ], + [ + 0.9289630074955606, + 0.21626457232495438, + 0.30042863622149474, + 0.2661863268170926, + -0.9542569204359062, + -0.13615641452316582, + 0.2572402964553311, + 0.2064542674717206, + -0.9440360508594405 + ], + [ + 0.913500201003758, + 0.25607495469574665, + 0.31613762880059865, + 0.3080294857285493, + -0.9429611129611222, + -0.1262623275760718, + 0.2657728704888805, + 0.21272037283883538, + -0.9402738028316048 + ], + [ + 0.906603638129787, + 0.2929399685785086, + 0.3037367579649466, + 0.3392887282576739, + -0.9340005390590765, + -0.11192029268476957, + 0.2509043686489425, + 0.20452180286359833, + -0.9461595161209863 + ], + [ + 0.9098373066226829, + 0.306308022493982, + 0.27994905042419493, + 0.3452153885826728, + -0.9330698922453977, + -0.10102926145863024, + 0.23026595702208444, + 0.18856291136113768, + -0.9546840406625197 + ], + [ + 0.9178145075883243, + 0.3060675479830115, + 0.25286198949638283, + 0.3374312408528152, + -0.9369754798391055, + -0.09064826461001578, + 0.2091809918633414, + 0.16852182722705372, + -0.9632464411515486 + ], + [ + 0.9198368752201894, + 0.3095169511664258, + 0.24103812960981397, + 0.33838195961704204, + -0.936857090720329, + -0.08829745734035072, + 0.19848872106718707, + 0.16278221188963166, + -0.9664906513264527 + ], + [ + 0.9226195135433055, + 0.3116671011693674, + 0.22723743370712035, + 0.3394043960489936, + -0.9358900381487434, + -0.0944165898376014, + 0.18324270564399703, + 0.164235972133474, + -0.9692515959675488 + ], + [ + 0.9115639268362277, + 0.3526216243810904, + 0.2114454948911357, + 0.37473975124964837, + -0.9241417944522523, + -0.07437783661765268, + 0.1691783855114707, + 0.14703718497513388, + -0.97455566291019 + ], + [ + 0.9102669799241995, + 0.35690997308452627, + 0.2098315905017164, + 0.3789007246375015, + -0.9224147045388632, + -0.07473522408916791, + 0.1668779977374295, + 0.14753434841854496, + -0.9748770947703419 + ], + [ + 0.9154186314013096, + 0.3470779205892586, + 0.20382749157753327, + 0.36648131829619496, + -0.9281153607335282, + -0.06552343481805395, + 0.1664336883663765, + 0.13468034084419686, + -0.9768116671942728 + ], + [ + 0.9197033051512458, + 0.33912999594636356, + 0.19782991771543043, + 0.3580683261448359, + -0.93119012194769, + -0.06835225379518647, + 0.16103696564984674, + 0.13370042122770456, + -0.9778503428735015 + ], + [ + 0.9199475635528847, + 0.3283579154275491, + 0.21419047525318652, + 0.3516034345539051, + -0.9326995641191271, + -0.08029039732052684, + 0.1734113754140979, + 0.1491730621394653, + -0.9734864623655155 + ], + [ + 0.9203650770831493, + 0.30923709507526, + 0.23937532018807445, + 0.34130260479123, + -0.933993548990199, + -0.10568151402877429, + 0.19089436044171137, + 0.1789649951082813, + -0.9651584707587882 + ], + [ + 0.9165954092717217, + 0.28292477614901834, + 0.2825003128193546, + 0.33333943558542056, + -0.9309223450415385, + -0.14922603052402175, + 0.22076611240314636, + 0.23094838935006853, + -0.9475891330481849 + ], + [ + 0.9046380998399031, + 0.2854940634540207, + 0.3164222622549827, + 0.34434352020648856, + -0.9271091548302866, + -0.14797349465926357, + 0.2511124218549393, + 0.24282041669180776, + -0.9370062949776611 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.001311957836151123, + -0.002004653215408325, + -0.009913399815559387, + 0.023373082280158997, + 0.020961150527000427, + -0.031676292419433594, + 1.0 + ], + [ + -0.009091407060623169, + 0.001446448266506195, + -0.015858612954616547, + 0.02631857991218567, + -0.0035652369260787964, + -0.24672657251358032, + 1.0 + ], + [ + -0.0032650530338287354, + -0.0011056140065193176, + -0.0028137043118476868, + 0.06070524454116821, + -0.01712939143180847, + -0.2834821939468384, + 1.0 + ], + [ + -0.009876281023025513, + -0.003521554172039032, + -0.01354103535413742, + 0.04338974878191948, + 0.017941802740097046, + -0.25285181403160095, + 1.0 + ], + [ + -0.006778031587600708, + -0.003927931189537048, + -0.010590225458145142, + 0.022657208144664764, + 0.017791032791137695, + -0.1113562285900116, + 1.0 + ], + [ + 0.005558520555496216, + -0.015780068933963776, + -0.006296984851360321, + 0.02619413658976555, + -0.02266550064086914, + -0.09227433800697327, + 1.0 + ], + [ + 0.005472898483276367, + -0.018471643328666687, + -0.009065791964530945, + -0.012724259868264198, + -0.00844275951385498, + -0.03415001928806305, + 1.0 + ], + [ + 0.0036259889602661133, + -0.02081817388534546, + -0.01229880005121231, + -0.010998002253472805, + 0.010518699884414673, + -0.04695320129394531, + 1.0 + ], + [ + -0.002763122320175171, + -0.0049276165664196014, + -0.016242075711488724, + -0.013357840478420258, + 0.028168082237243652, + -0.017196834087371826, + 1.0 + ], + [ + 0.0005421340465545654, + -0.003385242074728012, + -0.019286105409264565, + -0.025926142930984497, + 0.02034907042980194, + -0.022941499948501587, + 1.0 + ], + [ + -0.004257649183273315, + 0.006591465324163437, + -0.007990678772330284, + 0.0013471059501171112, + 0.00756344199180603, + 0.02287067472934723, + 0.0 + ], + [ + -0.0021971464157104492, + 0.0026689954102039337, + -0.0027402378618717194, + 0.004214048385620117, + -0.007719814777374268, + 0.02428799867630005, + 0.0 + ], + [ + 0.0011444687843322754, + 0.0031882673501968384, + -0.00025412440299987793, + 0.0007645338773727417, + -0.008772850036621094, + -0.0054597556591033936, + 0.0 + ], + [ + 0.0003470182418823242, + 0.002370249480009079, + 0.001397550106048584, + -0.0015541836619377136, + 0.0013054460287094116, + 0.008474677801132202, + 0.0 + ], + [ + 0.001178443431854248, + -0.00016064569354057312, + 0.0011497009545564651, + -0.005019523203372955, + 0.003670051693916321, + -0.0019820332527160645, + 0.0 + ], + [ + 0.0004980862140655518, + -0.0021780021488666534, + 0.0013181045651435852, + -0.019177328795194626, + 0.00716671347618103, + -0.0020012110471725464, + 0.0 + ], + [ + 0.0027735531330108643, + -0.0035989023745059967, + 0.005719674751162529, + -0.026634670794010162, + 0.008683830499649048, + -0.0027966350317001343, + 0.0 + ], + [ + 0.014529705047607422, + -0.003569208085536957, + 0.01775430515408516, + -0.019064366817474365, + -0.0379197895526886, + 0.005989432334899902, + 0.0 + ], + [ + 0.015535742044448853, + -0.009400080889463425, + 0.016213051974773407, + -0.009059637784957886, + -0.012396305799484253, + 0.003385379910469055, + 0.0 + ], + [ + 0.020290881395339966, + -0.012226412072777748, + 0.017670128494501114, + -0.04670685529708862, + -0.04586465656757355, + 0.04245294630527496, + 0.0 + ], + [ + 0.015725642442703247, + -0.017586039379239082, + 0.0042929574847221375, + -0.04774484038352966, + -0.012315899133682251, + 0.07338646054267883, + 0.0 + ], + [ + 0.012412548065185547, + -0.012651173397898674, + -0.002210661768913269, + -0.007183626294136047, + -0.008840233087539673, + 0.04615962505340576, + 0.0 + ], + [ + 0.007561683654785156, + -0.007703184150159359, + -0.01315779983997345, + 0.009602516889572144, + 0.015391141176223755, + 0.03288176655769348, + 0.0 + ], + [ + 0.004054516553878784, + -0.008844063617289066, + -0.018832102417945862, + 0.017881125211715698, + 0.021263420581817627, + 0.004539281129837036, + 0.0 + ], + [ + 0.0020120441913604736, + -0.0034522879868745804, + -0.012257527559995651, + 0.021804451942443848, + 0.021613627672195435, + -0.010336637496948242, + 0.0 + ], + [ + 0.003102332353591919, + 0.00016651302576065063, + -0.009375184774398804, + 0.0063389986753463745, + 0.010921627283096313, + 0.0001984238624572754, + 0.0 + ], + [ + 0.00485500693321228, + -0.002798954024910927, + -0.0006871484220027924, + -0.0009918063879013062, + 0.015531718730926514, + -1.1622905731201172e-06, + 1.0 + ], + [ + -0.002122044563293457, + 0.0016209110617637634, + -0.00022503919899463654, + 0.018105149269104004, + 0.014288023114204407, + 0.037529200315475464, + 1.0 + ], + [ + -0.0006154477596282959, + -0.0005511082708835602, + 0.00015290267765522003, + -0.00044995546340942383, + 0.0023335665464401245, + 0.004403352737426758, + 1.0 + ], + [ + -0.001408398151397705, + 0.001484578475356102, + -0.0009228289127349854, + 0.01318301260471344, + 0.0004506111145019531, + -0.013636082410812378, + 1.0 + ], + [ + -0.0016390085220336914, + -0.0004126671701669693, + -0.001086147502064705, + 0.0011273175477981567, + 0.005470559000968933, + -0.0095272958278656, + 1.0 + ], + [ + -0.0006046295166015625, + -0.0017260946333408356, + 0.01491197757422924, + -0.0161668062210083, + -0.012551233172416687, + -0.006207108497619629, + 1.0 + ], + [ + 0.004301935434341431, + -0.004042485728859901, + 0.021450556814670563, + -0.03129003942012787, + -0.01778070628643036, + -0.009954273700714111, + 1.0 + ], + [ + -0.0011491775512695312, + -0.006488092243671417, + 0.025779951363801956, + -0.05571819841861725, + -0.03052671253681183, + -0.006311386823654175, + 1.0 + ], + [ + -0.006356567144393921, + 0.006520159542560577, + 0.026444941759109497, + -0.014505594968795776, + -0.03122943639755249, + 0.01490628719329834, + 1.0 + ], + [ + -0.008329302072525024, + 0.007575349882245064, + 0.015726730227470398, + 0.014704674482345581, + 0.0007637739181518555, + 0.020471006631851196, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.941448450088501 + ], + [ + 0.6611326336860657 + ], + [ + 0.347801148891449 + ], + [ + 0.1546454280614853 + ], + [ + 0.09034547209739685 + ], + [ + 0.08962377160787582 + ], + [ + 0.08926420658826828 + ], + [ + 0.08890553563833237 + ], + [ + 0.08890553563833237 + ], + [ + 0.08890553563833237 + ], + [ + 0.08890553563833237 + ], + [ + 0.08890553563833237 + ], + [ + 0.08890553563833237 + ], + [ + 0.08890553563833237 + ], + [ + 0.08890553563833237 + ], + [ + 0.08890553563833237 + ], + [ + 0.12220374494791031 + ], + [ + 0.34125998616218567 + ], + [ + 0.6370214223861694 + ], + [ + 0.9311676621437073 + ], + [ + 1.0060625076293945 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.28633251786231995, + 0.10935405641794205, + 0.13311177492141724 + ], + [ + 0.2772411108016968, + 0.11080050468444824, + 0.11725316196680069 + ], + [ + 0.27397605776786804, + 0.10969489067792892, + 0.114439457654953 + ], + [ + 0.26409977674484253, + 0.10617333650588989, + 0.10089842230081558 + ], + [ + 0.2573217451572418, + 0.10224540531635284, + 0.09030819684267044 + ], + [ + 0.26288026571273804, + 0.08646533638238907, + 0.08401121199131012 + ], + [ + 0.2683531641960144, + 0.06799369305372238, + 0.07494542002677917 + ], + [ + 0.2719791531562805, + 0.04717551916837692, + 0.06264661997556686 + ], + [ + 0.26921603083610535, + 0.04224790260195732, + 0.04640454426407814 + ], + [ + 0.2697581648826599, + 0.03886266052722931, + 0.027118438854813576 + ], + [ + 0.2655005156993866, + 0.045454125851392746, + 0.01912776008248329 + ], + [ + 0.26330336928367615, + 0.04812312126159668, + 0.016387522220611572 + ], + [ + 0.2644478380680084, + 0.05131138861179352, + 0.016133397817611694 + ], + [ + 0.26479485630989075, + 0.0536816380918026, + 0.01753094792366028 + ], + [ + 0.265973299741745, + 0.053520992398262024, + 0.018680648878216743 + ], + [ + 0.26647138595581055, + 0.05134299024939537, + 0.01999875344336033 + ], + [ + 0.2692449390888214, + 0.047744087874889374, + 0.025718428194522858 + ], + [ + 0.28377464413642883, + 0.04417487978935242, + 0.04347273334860802 + ], + [ + 0.2993103861808777, + 0.03477479889988899, + 0.059685785323381424 + ], + [ + 0.31960126757621765, + 0.022548386827111244, + 0.07735591381788254 + ], + [ + 0.3353269100189209, + 0.004962347913533449, + 0.08164887130260468 + ], + [ + 0.34773945808410645, + -0.007688825950026512, + 0.0794382095336914 + ], + [ + 0.3553011417388916, + -0.015392010100185871, + 0.06628040969371796 + ], + [ + 0.3593556582927704, + -0.024236073717474937, + 0.047448307275772095 + ], + [ + 0.36136770248413086, + -0.027688361704349518, + 0.035190779715776443 + ], + [ + 0.3644700348377228, + -0.027521848678588867, + 0.02581559494137764 + ], + [ + 0.36932504177093506, + -0.030320802703499794, + 0.025128446519374847 + ], + [ + 0.3672029972076416, + -0.02869989164173603, + 0.02490340732038021 + ], + [ + 0.3665875494480133, + -0.02925099991261959, + 0.02505630999803543 + ], + [ + 0.3651791512966156, + -0.02776642143726349, + 0.024133481085300446 + ], + [ + 0.3635401427745819, + -0.028179088607430458, + 0.02304733358323574 + ], + [ + 0.36293551325798035, + -0.029905183240771294, + 0.03795931115746498 + ], + [ + 0.3672374486923218, + -0.033947668969631195, + 0.059409867972135544 + ], + [ + 0.36608827114105225, + -0.04043576121330261, + 0.0851898193359375 + ], + [ + 0.3597317039966583, + -0.033915601670742035, + 0.111634761095047 + ], + [ + 0.3514024019241333, + -0.02634025178849697, + 0.1273614913225174 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.33782300648587077, + 0.914634155131034, + 0.2220810180015103, + 0.9185986605456691, + -0.3718061539967907, + 0.13392790856956402, + 0.2050661286818231, + 0.15875939694347105, + -0.9657863825658319 + ], + [ + 0.5515271888685993, + 0.8021141648725801, + 0.22897734920612484, + 0.8076650725003877, + -0.5821285138832726, + 0.09382709623022595, + 0.20855428694141953, + 0.13318881272395133, + -0.9688992979476971 + ], + [ + 0.7525485795542066, + 0.6201092376141588, + 0.22166454122509732, + 0.618806543889626, + -0.7810289336733082, + 0.0840967657196856, + 0.22527560154247156, + 0.07388056707092969, + -0.9714898687886331 + ], + [ + 0.886946656032491, + 0.41536149351527524, + 0.20199123510078842, + 0.4125064222348321, + -0.9091005043841753, + 0.058092379392278626, + 0.20775967117754213, + 0.031797840071268735, + -0.9776629359850979 + ], + [ + 0.9306504971653867, + 0.3165409029198035, + 0.18355246907773765, + 0.3125157475404403, + -0.94852951674036, + 0.05124122765448488, + 0.19032487925927621, + 0.009675363094711613, + -0.9816734832335685 + ], + [ + 0.9510439557113142, + 0.23297900429719087, + 0.20306692951257496, + 0.22438448070619527, + -0.9723507175094255, + 0.0646968853741519, + 0.21252529054958766, + -0.01596451426115419, + -0.9770251456135705 + ], + [ + 0.9563571598402647, + 0.19704646397478426, + 0.21576300391238667, + 0.1914228053339712, + -0.9803878136901981, + 0.046872639842728686, + 0.22076750761906772, + -0.003525025218013969, + -0.9753200919579569 + ], + [ + 0.9665302879818726, + 0.14848523112200168, + 0.2092160093117268, + 0.1466645928119193, + -0.9888882810507706, + 0.024278896510476072, + 0.21049631737632069, + 0.007218291979286605, + -0.9775680010269922 + ], + [ + 0.974400879656517, + 0.12921457224404015, + 0.18397423744751878, + 0.1307593898202642, + -0.991406993659996, + 0.003762299281217619, + 0.1828794895510114, + 0.020390371302136424, + -0.9829238653424399 + ], + [ + 0.9806402151095517, + 0.1025615368479706, + 0.16681096987091107, + 0.10876047846917065, + -0.9936611781583273, + -0.028436268112420313, + 0.16283711749183202, + 0.046028188975743456, + -0.9855787533153118 + ], + [ + 0.979089243572782, + 0.12581914559965282, + 0.15985554641816724, + 0.13131795089403472, + -0.9910431542926333, + -0.024270601613878118, + 0.15537003859518522, + 0.04475498776986825, + -0.9868420046677429 + ], + [ + 0.9743977158779706, + 0.1502153986632957, + 0.16728546050455395, + 0.1548641160356728, + -0.9878215406588221, + -0.015023627222500082, + 0.16299140117283245, + 0.04054550301646438, + -0.9857940278419517 + ], + [ + 0.9737778201268428, + 0.14460291070035783, + 0.17563244360310748, + 0.149319381118538, + -0.9886917200304428, + -0.013871018910715596, + 0.1716405530502369, + 0.03973261834096738, + -0.98435808504242 + ], + [ + 0.9726977876932091, + 0.1527563173868053, + 0.17471268218179842, + 0.15760207664045547, + -0.9874017149204172, + -0.014122280652758399, + 0.17035433441903525, + 0.04127179267539604, + -0.9845181765076796 + ], + [ + 0.9736190529276681, + 0.1500877545625974, + 0.1718708983702249, + 0.1557715728436422, + -0.9875906725595317, + -0.019997013957832953, + 0.16673678919197327, + 0.046242073956186396, + -0.9849165008903964 + ], + [ + 0.9750841373198206, + 0.1452500556490749, + 0.1676703506324303, + 0.15400531410354262, + -0.9872444872041714, + -0.04038174974963629, + 0.15966617793111554, + 0.06519772863308754, + -0.9850157195730208 + ], + [ + 0.9768443592796042, + 0.13876062796997113, + 0.16285142268030217, + 0.15148452903002152, + -0.9860869026856198, + -0.06844748217745734, + 0.1510878393788585, + 0.09153200793853501, + -0.984273517023885 + ], + [ + 0.9695631462143679, + 0.13741019401164203, + 0.20264684573064298, + 0.15630777683347322, + -0.9844363521585857, + -0.08033023994781885, + 0.18845472773128633, + 0.10956051811843498, + -0.9759514887868899 + ], + [ + 0.966648944163469, + 0.13745155419930155, + 0.2160946297246806, + 0.15919733711771072, + -0.9834418241233263, + -0.08659322386661966, + 0.20061412363609973, + 0.11810693803998565, + -0.9725249223462289 + ], + [ + 0.9490091228294202, + 0.16131931678411415, + 0.2708463823255548, + 0.19798978242210885, + -0.9735686150594396, + -0.1138604313521178, + 0.24531965034008174, + 0.16167940438890466, + -0.9558650738223824 + ], + [ + 0.9289630074955606, + 0.21626457232495438, + 0.30042863622149474, + 0.2661863268170926, + -0.9542569204359062, + -0.13615641452316582, + 0.2572402964553311, + 0.2064542674717206, + -0.9440360508594405 + ], + [ + 0.913500201003758, + 0.25607495469574665, + 0.31613762880059865, + 0.3080294857285493, + -0.9429611129611222, + -0.1262623275760718, + 0.2657728704888805, + 0.21272037283883538, + -0.9402738028316048 + ], + [ + 0.906603638129787, + 0.2929399685785086, + 0.3037367579649466, + 0.3392887282576739, + -0.9340005390590765, + -0.11192029268476957, + 0.2509043686489425, + 0.20452180286359833, + -0.9461595161209863 + ], + [ + 0.9098373066226829, + 0.306308022493982, + 0.27994905042419493, + 0.3452153885826728, + -0.9330698922453977, + -0.10102926145863024, + 0.23026595702208444, + 0.18856291136113768, + -0.9546840406625197 + ], + [ + 0.9178145075883243, + 0.3060675479830115, + 0.25286198949638283, + 0.3374312408528152, + -0.9369754798391055, + -0.09064826461001578, + 0.2091809918633414, + 0.16852182722705372, + -0.9632464411515486 + ], + [ + 0.9198368752201894, + 0.3095169511664258, + 0.24103812960981397, + 0.33838195961704204, + -0.936857090720329, + -0.08829745734035072, + 0.19848872106718707, + 0.16278221188963166, + -0.9664906513264527 + ], + [ + 0.9226195135433055, + 0.3116671011693674, + 0.22723743370712035, + 0.3394043960489936, + -0.9358900381487434, + -0.0944165898376014, + 0.18324270564399703, + 0.164235972133474, + -0.9692515959675488 + ], + [ + 0.9115639268362277, + 0.3526216243810904, + 0.2114454948911357, + 0.37473975124964837, + -0.9241417944522523, + -0.07437783661765268, + 0.1691783855114707, + 0.14703718497513388, + -0.97455566291019 + ], + [ + 0.9102669799241995, + 0.35690997308452627, + 0.2098315905017164, + 0.3789007246375015, + -0.9224147045388632, + -0.07473522408916791, + 0.1668779977374295, + 0.14753434841854496, + -0.9748770947703419 + ], + [ + 0.9154186314013096, + 0.3470779205892586, + 0.20382749157753327, + 0.36648131829619496, + -0.9281153607335282, + -0.06552343481805395, + 0.1664336883663765, + 0.13468034084419686, + -0.9768116671942728 + ], + [ + 0.9197033051512458, + 0.33912999594636356, + 0.19782991771543043, + 0.3580683261448359, + -0.93119012194769, + -0.06835225379518647, + 0.16103696564984674, + 0.13370042122770456, + -0.9778503428735015 + ], + [ + 0.9199475635528847, + 0.3283579154275491, + 0.21419047525318652, + 0.3516034345539051, + -0.9326995641191271, + -0.08029039732052684, + 0.1734113754140979, + 0.1491730621394653, + -0.9734864623655155 + ], + [ + 0.9203650770831493, + 0.30923709507526, + 0.23937532018807445, + 0.34130260479123, + -0.933993548990199, + -0.10568151402877429, + 0.19089436044171137, + 0.1789649951082813, + -0.9651584707587882 + ], + [ + 0.9165954092717217, + 0.28292477614901834, + 0.2825003128193546, + 0.33333943558542056, + -0.9309223450415385, + -0.14922603052402175, + 0.22076611240314636, + 0.23094838935006853, + -0.9475891330481849 + ], + [ + 0.9046380998399031, + 0.2854940634540207, + 0.3164222622549827, + 0.34434352020648856, + -0.9271091548302866, + -0.14797349465926357, + 0.2511124218549393, + 0.24282041669180776, + -0.9370062949776611 + ], + [ + 0.8975775413795625, + 0.30923733173771584, + 0.31420825875644515, + 0.3628607091082898, + -0.922985945789378, + -0.1281758544372381, + 0.2503730476637778, + 0.22906159987004565, + -0.9406615334266233 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006269.json b/json/chunk-0006/episode_0006269.json new file mode 100644 index 0000000000000000000000000000000000000000..dd929b8aa32eee3bba29a06fe59eef9aac4be7b1 --- /dev/null +++ b/json/chunk-0006/episode_0006269.json @@ -0,0 +1,2782 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 45, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the red spoon to the left of the metal pot." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006269.mp4", + "start": 0, + "end": 45, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2610292136669159, + 0.1360558271408081, + 0.14372672140598297, + -0.142942413687706, + -0.1311698853969574, + 0.8112119436264038, + 0.0, + 1.0008161067962646 + ], + [ + 0.2605828642845154, + 0.1344907432794571, + 0.13587342202663422, + -0.1374369114637375, + -0.10336042195558548, + 0.813952624797821, + 0.0, + 1.0008161067962646 + ], + [ + 0.26979753375053406, + 0.10365118831396103, + 0.13088740408420563, + -0.14469437301158905, + -0.07603298872709274, + 0.7631034255027771, + 0.0, + 1.0008161067962646 + ], + [ + 0.2735366225242615, + 0.09274809062480927, + 0.1309123933315277, + -0.14677289128303528, + -0.06982788443565369, + 0.7801120281219482, + 0.0, + 1.0008161067962646 + ], + [ + 0.284896582365036, + 0.07147729396820068, + 0.12516723573207855, + -0.14735835790634155, + -0.07556623965501785, + 0.7162395119667053, + 0.0, + 1.0008161067962646 + ], + [ + 0.30108925700187683, + 0.04057658091187477, + 0.11410780996084213, + -0.14527831971645355, + -0.11911164969205856, + 0.6139956712722778, + 0.0, + 1.0008161067962646 + ], + [ + 0.3136354684829712, + 0.011534414254128933, + 0.09671281278133392, + -0.14368736743927002, + -0.11983924359083176, + 0.5502148866653442, + 0.0, + 1.0008161067962646 + ], + [ + 0.3284345269203186, + -0.012652423232793808, + 0.08025981485843658, + -0.1476733386516571, + -0.11555560678243637, + 0.48576241731643677, + 0.0, + 1.0008161067962646 + ], + [ + 0.3404245674610138, + -0.033500030636787415, + 0.06293913722038269, + -0.1535031646490097, + -0.1221674457192421, + 0.40595895051956177, + 0.0, + 1.0008161067962646 + ], + [ + 0.3495199978351593, + -0.043856918811798096, + 0.046438056975603104, + -0.1815914809703827, + -0.11633101105690002, + 0.33741363883018494, + 0.0, + 1.0008161067962646 + ], + [ + 0.3560129404067993, + -0.04513411596417427, + 0.037479501217603683, + -0.16851940751075745, + -0.12203921377658844, + 0.2436746507883072, + 0.0, + 1.0008161067962646 + ], + [ + 0.35659512877464294, + -0.0470464862883091, + 0.02890593558549881, + -0.15081673860549927, + -0.10429048538208008, + 0.195939302444458, + 0.0, + 1.0008161067962646 + ], + [ + 0.3567080497741699, + -0.0546511709690094, + 0.02625633403658867, + -0.1618211567401886, + -0.11509966850280762, + 0.10060429573059082, + 0.0, + 1.0008161067962646 + ], + [ + 0.3520774245262146, + -0.06371018290519714, + 0.021033374592661858, + -0.14877058565616608, + -0.12299211323261261, + 0.01471898052841425, + 0.0, + 1.0008161067962646 + ], + [ + 0.3482748568058014, + -0.06621059775352478, + 0.01727132685482502, + -0.14642658829689026, + -0.1201530396938324, + 0.005954038817435503, + 0.0, + 0.933559775352478 + ], + [ + 0.3452998399734497, + -0.06376595795154572, + 0.011786643415689468, + -0.13510240614414215, + -0.1277710646390915, + 0.010784760117530823, + 0.0, + 0.6621366739273071 + ], + [ + 0.3453163802623749, + -0.06313548982143402, + 0.01041476521641016, + -0.13358815014362335, + -0.1342877745628357, + 0.021172193810343742, + 0.0, + 0.40239205956459045 + ], + [ + 0.34380269050598145, + -0.0616348534822464, + 0.009561346843838692, + -0.13049961626529694, + -0.13282395899295807, + 0.03568847477436066, + 0.0, + 0.3883807957172394 + ], + [ + 0.3411707580089569, + -0.05646035820245743, + 0.011680086143314838, + -0.12164842337369919, + -0.126609668135643, + 0.0621260404586792, + 0.0, + 0.3883807957172394 + ], + [ + 0.3414462208747864, + -0.0447237454354763, + 0.03166233375668526, + -0.1194290816783905, + -0.14355547726154327, + 0.10458243638277054, + 0.0, + 0.3883807957172394 + ], + [ + 0.3397190272808075, + -0.042315248399972916, + 0.05360893905162811, + -0.1321098804473877, + -0.1601506918668747, + 0.11675683408975601, + 0.0, + 0.3883807957172394 + ], + [ + 0.3349754214286804, + -0.026164190843701363, + 0.08255802094936371, + -0.15061600506305695, + -0.1833566427230835, + 0.1520845592021942, + 0.0, + 0.3883807957172394 + ], + [ + 0.323644757270813, + 0.0011967560276389122, + 0.10598070919513702, + -0.1602683663368225, + -0.1790885329246521, + 0.181170254945755, + 0.0, + 0.3883807957172394 + ], + [ + 0.31737619638442993, + 0.040259480476379395, + 0.1198936477303505, + -0.15267392992973328, + -0.1677965223789215, + 0.20920352637767792, + 0.0, + 0.3883807957172394 + ], + [ + 0.3161003887653351, + 0.07912369072437286, + 0.13357701897621155, + -0.13853250443935394, + -0.18967702984809875, + 0.22868219017982483, + 0.0, + 0.3883807957172394 + ], + [ + 0.3160816729068756, + 0.11460406333208084, + 0.1406816691160202, + -0.1114918515086174, + -0.2253926396369934, + 0.26277294754981995, + 0.0, + 0.3883807957172394 + ], + [ + 0.3126184046268463, + 0.13597284257411957, + 0.13477137684822083, + -0.07640162110328674, + -0.22673892974853516, + 0.28975188732147217, + 0.0, + 0.3883807957172394 + ], + [ + 0.30619877576828003, + 0.154461070895195, + 0.13315615057945251, + -0.03704078122973442, + -0.24230432510375977, + 0.2781025171279907, + 0.0, + 0.3883807957172394 + ], + [ + 0.29938197135925293, + 0.1653471440076828, + 0.11628052592277527, + 0.007396847475320101, + -0.20346137881278992, + 0.13278672099113464, + 0.0, + 0.3883807957172394 + ], + [ + 0.2988719046115875, + 0.17116931080818176, + 0.10128294676542282, + 0.04965101554989815, + -0.1931142359972, + 0.0037834979593753815, + 0.0, + 0.3883807957172394 + ], + [ + 0.2975037097930908, + 0.1753716766834259, + 0.08087613433599472, + 0.0865403562784195, + -0.16904540359973907, + -0.0859672874212265, + 0.0, + 0.3883807957172394 + ], + [ + 0.2979843318462372, + 0.17920874059200287, + 0.060084085911512375, + 0.10610531270503998, + -0.15074977278709412, + -0.09274423867464066, + 0.0, + 0.3883807957172394 + ], + [ + 0.3036502003669739, + 0.17347246408462524, + 0.03576068580150604, + 0.08491574227809906, + -0.1298801302909851, + -0.09575652331113815, + 0.0, + 0.3883807957172394 + ], + [ + 0.3103567063808441, + 0.16514669358730316, + 0.01818029396235943, + 0.08597695082426071, + -0.10706532001495361, + -0.1012539267539978, + 0.0, + 0.3883807957172394 + ], + [ + 0.3217429518699646, + 0.16170156002044678, + 0.010649281553924084, + 0.09726888686418533, + -0.09692057222127914, + -0.11634475737810135, + 0.0, + 0.3866458535194397 + ], + [ + 0.32899871468544006, + 0.16342392563819885, + 0.009824834764003754, + 0.09487906098365784, + -0.09938909113407135, + -0.09289173036813736, + 0.0, + 0.44944798946380615 + ], + [ + 0.33110079169273376, + 0.16407997906208038, + 0.010971507988870144, + 0.08946072310209274, + -0.09883243590593338, + -0.04867933318018913, + 0.0, + 0.7855378985404968 + ], + [ + 0.33092015981674194, + 0.1644284725189209, + 0.010965391993522644, + 0.0866841971874237, + -0.10089099407196045, + -0.029226338490843773, + 0.0, + 0.9968144297599792 + ], + [ + 0.33092179894447327, + 0.1643316149711609, + 0.01092858612537384, + 0.07882440090179443, + -0.10493618994951248, + -0.017407240346074104, + 0.0, + 1.0008161067962646 + ], + [ + 0.32886579632759094, + 0.1631765514612198, + 0.01990741305053234, + 0.03668653592467308, + -0.12066707015037537, + 0.010518782772123814, + 0.0, + 1.0008161067962646 + ], + [ + 0.32828211784362793, + 0.16382308304309845, + 0.046354155987501144, + 0.014391516335308552, + -0.16593782603740692, + 0.04553168639540672, + 0.0, + 1.0008161067962646 + ], + [ + 0.3286396563053131, + 0.17008285224437714, + 0.0768248662352562, + -0.010523113422095776, + -0.19240251183509827, + 0.09127277135848999, + 0.0, + 1.0008161067962646 + ], + [ + 0.32296958565711975, + 0.17243078351020813, + 0.1150699332356453, + -0.022239159792661667, + -0.24991421401500702, + 0.10655929893255234, + 0.0, + 1.0008161067962646 + ], + [ + 0.3147595226764679, + 0.1687067598104477, + 0.15351712703704834, + -0.05997208133339882, + -0.3196178376674652, + 0.12577402591705322, + 0.0, + 1.0008161067962646 + ], + [ + 0.3064177334308624, + 0.1639699637889862, + 0.1820109784603119, + -0.056108325719833374, + -0.37325194478034973, + 0.10329901427030563, + 0.0, + 1.0008161067962646 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.933559775352478 + ], + [ + 0.6621366739273071 + ], + [ + 0.40239205956459045 + ], + [ + 0.3883807957172394 + ], + [ + 0.3883807957172394 + ], + [ + 0.3883807957172394 + ], + [ + 0.3883807957172394 + ], + [ + 0.3883807957172394 + ], + [ + 0.3883807957172394 + ], + [ + 0.3883807957172394 + ], + [ + 0.3883807957172394 + ], + [ + 0.3883807957172394 + ], + [ + 0.3883807957172394 + ], + [ + 0.3883807957172394 + ], + [ + 0.3883807957172394 + ], + [ + 0.3883807957172394 + ], + [ + 0.3883807957172394 + ], + [ + 0.3883807957172394 + ], + [ + 0.3883807957172394 + ], + [ + 0.3883807957172394 + ], + [ + 0.3866458535194397 + ], + [ + 0.44944798946380615 + ], + [ + 0.7855378985404968 + ], + [ + 0.9968144297599792 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2610292136669159, + 0.1360558271408081, + 0.14372672140598297 + ], + [ + 0.2605828642845154, + 0.1344907432794571, + 0.13587342202663422 + ], + [ + 0.26979753375053406, + 0.10365118831396103, + 0.13088740408420563 + ], + [ + 0.2735366225242615, + 0.09274809062480927, + 0.1309123933315277 + ], + [ + 0.284896582365036, + 0.07147729396820068, + 0.12516723573207855 + ], + [ + 0.30108925700187683, + 0.04057658091187477, + 0.11410780996084213 + ], + [ + 0.3136354684829712, + 0.011534414254128933, + 0.09671281278133392 + ], + [ + 0.3284345269203186, + -0.012652423232793808, + 0.08025981485843658 + ], + [ + 0.3404245674610138, + -0.033500030636787415, + 0.06293913722038269 + ], + [ + 0.3495199978351593, + -0.043856918811798096, + 0.046438056975603104 + ], + [ + 0.3560129404067993, + -0.04513411596417427, + 0.037479501217603683 + ], + [ + 0.35659512877464294, + -0.0470464862883091, + 0.02890593558549881 + ], + [ + 0.3567080497741699, + -0.0546511709690094, + 0.02625633403658867 + ], + [ + 0.3520774245262146, + -0.06371018290519714, + 0.021033374592661858 + ], + [ + 0.3482748568058014, + -0.06621059775352478, + 0.01727132685482502 + ], + [ + 0.3452998399734497, + -0.06376595795154572, + 0.011786643415689468 + ], + [ + 0.3453163802623749, + -0.06313548982143402, + 0.01041476521641016 + ], + [ + 0.34380269050598145, + -0.0616348534822464, + 0.009561346843838692 + ], + [ + 0.3411707580089569, + -0.05646035820245743, + 0.011680086143314838 + ], + [ + 0.3414462208747864, + -0.0447237454354763, + 0.03166233375668526 + ], + [ + 0.3397190272808075, + -0.042315248399972916, + 0.05360893905162811 + ], + [ + 0.3349754214286804, + -0.026164190843701363, + 0.08255802094936371 + ], + [ + 0.323644757270813, + 0.0011967560276389122, + 0.10598070919513702 + ], + [ + 0.31737619638442993, + 0.040259480476379395, + 0.1198936477303505 + ], + [ + 0.3161003887653351, + 0.07912369072437286, + 0.13357701897621155 + ], + [ + 0.3160816729068756, + 0.11460406333208084, + 0.1406816691160202 + ], + [ + 0.3126184046268463, + 0.13597284257411957, + 0.13477137684822083 + ], + [ + 0.30619877576828003, + 0.154461070895195, + 0.13315615057945251 + ], + [ + 0.29938197135925293, + 0.1653471440076828, + 0.11628052592277527 + ], + [ + 0.2988719046115875, + 0.17116931080818176, + 0.10128294676542282 + ], + [ + 0.2975037097930908, + 0.1753716766834259, + 0.08087613433599472 + ], + [ + 0.2979843318462372, + 0.17920874059200287, + 0.060084085911512375 + ], + [ + 0.3036502003669739, + 0.17347246408462524, + 0.03576068580150604 + ], + [ + 0.3103567063808441, + 0.16514669358730316, + 0.01818029396235943 + ], + [ + 0.3217429518699646, + 0.16170156002044678, + 0.010649281553924084 + ], + [ + 0.32899871468544006, + 0.16342392563819885, + 0.009824834764003754 + ], + [ + 0.33110079169273376, + 0.16407997906208038, + 0.010971507988870144 + ], + [ + 0.33092015981674194, + 0.1644284725189209, + 0.010965391993522644 + ], + [ + 0.33092179894447327, + 0.1643316149711609, + 0.01092858612537384 + ], + [ + 0.32886579632759094, + 0.1631765514612198, + 0.01990741305053234 + ], + [ + 0.32828211784362793, + 0.16382308304309845, + 0.046354155987501144 + ], + [ + 0.3286396563053131, + 0.17008285224437714, + 0.0768248662352562 + ], + [ + 0.32296958565711975, + 0.17243078351020813, + 0.1150699332356453 + ], + [ + 0.3147595226764679, + 0.1687067598104477, + 0.15351712703704834 + ], + [ + 0.3064177334308624, + 0.1639699637889862, + 0.1820109784603119 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.6827045803524383, + 0.704896180653409, + 0.192446954940932, + 0.7188931547124923, + -0.6951077557214435, + -0.004223747556170415, + 0.13079406742402833, + 0.14123237035514946, + -0.9812982877242495 + ], + [ + 0.6829657183620021, + 0.7104454881806314, + 0.1697793740890163, + 0.7231268501518865, + -0.6904322932883576, + -0.019768838458287218, + 0.10317648051607961, + 0.1362734629645957, + -0.9852837952386874 + ], + [ + 0.7206065593886615, + 0.6760295006915279, + 0.15398149486480306, + 0.6891707354888849, + -0.722712472156188, + -0.052253037572959966, + 0.07595975191998341, + 0.1437734216907114, + -0.9866910961915081 + ], + [ + 0.709102459069934, + 0.6885434625888347, + 0.15192630669884116, + 0.7016449877643367, + -0.7103689056336866, + -0.055410550024180834, + 0.06977115224902232, + 0.1458900888853535, + -0.986837407215022 + ], + [ + 0.7521274741070897, + 0.6410765753195351, + 0.1527255292014594, + 0.6546792091213878, + -0.7533829861295591, + -0.06171879255707226, + 0.07549434308266798, + 0.14640662822114703, + -0.9863395477093229 + ], + [ + 0.8115612137642431, + 0.5560079427512846, + 0.17950923071249728, + 0.5720557492787294, + -0.8186533948761325, + -0.050584965898321614, + 0.11883019831111914, + 0.14374208380035067, + -0.9824548830934033 + ], + [ + 0.8462985707598009, + 0.5028895145428909, + 0.1757295231107574, + 0.5191203171462551, + -0.8525789335429376, + -0.06019350799512415, + 0.11955260539147694, + 0.14216644555450872, + -0.9825964971963349 + ], + [ + 0.8784216128222936, + 0.4467989846548456, + 0.16954685912183567, + 0.46376901710593554, + -0.8826149300688221, + -0.07687121692937333, + 0.11529860753398105, + 0.14615591856304477, + -0.9825195563293982 + ], + [ + 0.9118767269832078, + 0.3731378464102914, + 0.1710233386490924, + 0.39195669801794936, + -0.9152795272702547, + -0.09291573515182987, + 0.12186378323873917, + 0.15176143955639299, + -0.9808759777864442 + ], + [ + 0.9372363076610206, + 0.305824905162028, + 0.16750889822505902, + 0.32881018220457114, + -0.9350379215606214, + -0.13261956613633497, + 0.11606880580299492, + 0.17937450383549375, + -0.976909831915534 + ], + [ + 0.9632401180872782, + 0.2180377364707757, + 0.15693317170664528, + 0.23947588189043126, + -0.9616368670810496, + -0.13381269694369297, + 0.12173650602841803, + 0.1664754676979313, + -0.9785019886309626 + ], + [ + 0.9755358714773731, + 0.17713646804263333, + 0.13020151746528658, + 0.19363014684722452, + -0.9727762080992952, + -0.12733348023155144, + 0.10410153549686213, + 0.14942931655246833, + -0.9832770462396941 + ], + [ + 0.9883604535530556, + 0.08071264576101324, + 0.12895380051264782, + 0.09977013332944158, + -0.9838036053645469, + -0.1489173816824103, + 0.11484569799441348, + 0.16004978877204562, + -0.980405289034183 + ], + [ + 0.9923384957605216, + -0.00362642112566053, + 0.12349558251842213, + 0.014607265892133068, + -0.989114570428388, + -0.14642060766648124, + 0.12268226283738645, + 0.14710273837044796, + -0.9814834928561018 + ], + [ + 0.992772706064849, + -0.011598047743773278, + 0.11944806143763866, + 0.005911077079332508, + -0.9893853597429442, + -0.14519527917286779, + 0.11986414501609284, + 0.1448519769104239, + -0.9821662239787637 + ], + [ + 0.991790695581131, + -0.0064756494918720205, + 0.12770779977101962, + 0.010696639454315574, + -0.991015012546657, + -0.13332226675065814, + 0.1274236950613221, + 0.13359382796674282, + -0.9828102009371451 + ], + [ + 0.9907748337805332, + 0.0031537483478324604, + 0.13548166893906843, + 0.02098001174277654, + -0.9912457585786759, + -0.1303521584288439, + 0.13388453179673054, + 0.1319920451055442, + -0.9821675173688175 + ], + [ + 0.99056070167388, + 0.018154937017970933, + 0.13586719457331894, + 0.035366616989650865, + -0.9914805592906684, + -0.12536148910798234, + 0.13243375212557387, + 0.12898332764561837, + -0.9827637572109612 + ], + [ + 0.9900819370500314, + 0.04633393259398727, + 0.13263078306951573, + 0.061589128262948906, + -0.991646344169041, + -0.11333272861793052, + 0.12627168014668658, + 0.12037730179128996, + -0.9846647998209244 + ], + [ + 0.9843060381797789, + 0.08669614011076245, + 0.15370557079274266, + 0.1033180785803554, + -0.9892313685878292, + -0.1036661663239944, + 0.14306291567450768, + 0.1179197977090599, + -0.9826636878744239 + ], + [ + 0.9804820492155224, + 0.09461373194740767, + 0.17234614266966783, + 0.11500102621506204, + -0.9869841794645229, + -0.11241438278185109, + 0.1594669719271424, + 0.13004026766246682, + -0.9786009470926653 + ], + [ + 0.9718881161856425, + 0.12274134827570907, + 0.200918020696462, + 0.14895941339589128, + -0.9814116747957848, + -0.1210050318593592, + 0.1823309704298061, + 0.1475319829663848, + -0.9721058230584423 + ], + [ + 0.9679017306293857, + 0.14990995531372664, + 0.2017256680308107, + 0.17729907036987808, + -0.9761497427987774, + -0.12528654867885014, + 0.17813275805032996, + 0.15703084070244716, + -0.97139592112468 + ], + [ + 0.9644580254336034, + 0.18041972678196663, + 0.1930529444598961, + 0.204764014281362, + -0.9720931319900715, + -0.11448423993334593, + 0.16701022613031033, + 0.14994553986582682, + -0.9744864901281334 + ], + [ + 0.9564980756400833, + 0.19916454142847007, + 0.21317813380927345, + 0.2226284987335349, + -0.9705372442184867, + -0.0921629488267253, + 0.18854172707512182, + 0.1356132110908534, + -0.9726567092911855 + ], + [ + 0.9412480666833173, + 0.23413445029401025, + 0.2433785860556319, + 0.2531890689409266, + -0.9661368150203872, + -0.049748869646339657, + 0.22348908772855935, + 0.10844682497788222, + -0.9686546927664534 + ], + [ + 0.9337864082485144, + 0.2684377703636796, + 0.23660960929876682, + 0.27840150704759187, + -0.9604216352806174, + -0.009104029796424044, + 0.22480112242595304, + 0.07437369109490885, + -0.9715621490305963 + ], + [ + 0.9334881345934606, + 0.26579911274180473, + 0.24072958737739497, + 0.26651185437893027, + -0.9633578734972745, + 0.030216535974749822, + 0.23994027183598288, + 0.035950510934878846, + -0.9701217587059864 + ], + [ + 0.9707514115836823, + 0.13387466004064794, + 0.19929694505257495, + 0.12966589743299609, + -0.9909717941823657, + 0.034083106928193475, + 0.20206051556695553, + -0.0072442069258047605, + -0.9793462459798538 + ], + [ + 0.9814042985625182, + 0.013303676109512483, + 0.19149050881175592, + 0.003713158878729643, + -0.9987244555074817, + 0.05035548055997394, + 0.19191616715158025, + -0.04870805039475291, + -0.9802018723776186 + ], + [ + 0.9821055460466283, + -0.07105231389233721, + 0.17441406226276285, + -0.08463755362693665, + -0.9938271823625527, + 0.0717217966406082, + 0.16824143645517758, + -0.08520035380122619, + -0.9820568816375375 + ], + [ + 0.9844098311986279, + -0.07625390384007105, + 0.15850118734141527, + -0.09156101149077597, + -0.9915755941938011, + 0.09162107931036596, + 0.15017944404703065, + -0.1047052202536224, + -0.9830986478667161 + ], + [ + 0.9870348571349041, + -0.08433140126992894, + 0.13656648769200028, + -0.09480496902998276, + -0.992882424662165, + 0.07208681324766679, + 0.12951528345296956, + -0.08409937905139493, + -0.9880045980638281 + ], + [ + 0.9891815083381482, + -0.09157837356926093, + 0.11460080739800432, + -0.1005022085036687, + -0.9921309214332512, + 0.07466954413877672, + 0.1068608892333893, + -0.08537936653792011, + -0.9906013901271452 + ], + [ + 0.9885781840183306, + -0.10619951492041432, + 0.10693379780821446, + -0.11553766992673126, + -0.9896355619323732, + 0.08527896215771621, + 0.09676890466942928, + -0.09665980338002034, + -0.9906021711563197 + ], + [ + 0.9907749100120214, + -0.08298122312956675, + 0.10714100194879465, + -0.09230043156135966, + -0.9920823685546764, + 0.08516574626297697, + 0.09922554118903724, + -0.09426924530759791, + -0.9905895221356211 + ], + [ + 0.9939412249957359, + -0.03966049900639007, + 0.10250798053098188, + -0.04842265078527144, + -0.9952501514704727, + 0.0844534362174139, + 0.09867161772720502, + -0.08890545999299075, + -0.9911406212231093 + ], + [ + 0.9944899319967679, + -0.020396285274831262, + 0.10282882234107064, + -0.029073577861585584, + -0.9960746357833367, + 0.08360650105954423, + 0.10071991971497042, + -0.08613542532594212, + -0.9911791897919008 + ], + [ + 0.9943485796678474, + -0.00910575047211263, + 0.10577328311475682, + -0.01731061319064629, + -0.9968874977661374, + 0.07691332438877908, + 0.10474370999491427, + -0.07830965525341914, + -0.9914112936166263 + ], + [ + 0.992673638912843, + 0.01492639801687531, + 0.11990099770133822, + 0.010442103495631662, + -0.9992253989047396, + 0.037941595357210055, + 0.12037445361089291, + -0.03641160290217347, + -0.9920605758178143 + ], + [ + 0.985241729253989, + 0.047885849223358, + 0.16433405119075886, + 0.04489074324403377, + -0.9987519684407001, + 0.021893531163899395, + 0.1651773474408866, + -0.014193342805140084, + -0.9861617478448492 + ], + [ + 0.9774620044941822, + 0.08913725761377285, + 0.1913702669573066, + 0.08946423793555776, + -0.9959657957454795, + 0.006948657113662243, + 0.19121762445136906, + 0.010328746785996636, + -0.9814933199411014 + ], + [ + 0.9634377806517475, + 0.10086289254967254, + 0.24822231914021956, + 0.10305360397164115, + -0.9946669922675971, + 0.004186788959148733, + 0.24732083923780449, + 0.02154649391073901, + -0.9686940441020905 + ], + [ + 0.9418564798519113, + 0.10653376037835752, + 0.3186799793846689, + 0.11908970878806915, + -0.9926796399346512, + -0.020118989039812053, + 0.31420377563253304, + 0.05690070613672466, + -0.94764882578907 + ], + [ + 0.9261828946647856, + 0.0826132277230726, + 0.36791344122705577, + 0.09601554048733833, + -0.995212726250766, + -0.01823857158448127, + 0.36464539160022685, + 0.05221766093663812, + -0.9296811573174016 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0004463493824005127, + -0.0015650838613510132, + -0.007853299379348755, + 0.005505502223968506, + 0.027809463441371918, + 0.0027406811714172363, + 1.0 + ], + [ + 0.009214669466018677, + -0.030839554965496063, + -0.004986017942428589, + -0.0072574615478515625, + 0.027327433228492737, + -0.050849199295043945, + 1.0 + ], + [ + 0.003739088773727417, + -0.010903097689151764, + 2.498924732208252e-05, + -0.002078518271446228, + 0.006205104291439056, + 0.017008602619171143, + 1.0 + ], + [ + 0.011359959840774536, + -0.02127079665660858, + -0.005745157599449158, + -0.0005854666233062744, + -0.005738355219364166, + -0.06387251615524292, + 1.0 + ], + [ + 0.01619267463684082, + -0.030900713056325912, + -0.01105942577123642, + 0.0020800381898880005, + -0.04354541003704071, + -0.10224384069442749, + 1.0 + ], + [ + 0.01254621148109436, + -0.029042165726423264, + -0.01739499717950821, + 0.0015909522771835327, + -0.0007275938987731934, + -0.0637807846069336, + 1.0 + ], + [ + 0.014799058437347412, + -0.024186838418245316, + -0.01645299792289734, + -0.003985971212387085, + 0.004283636808395386, + -0.06445246934890747, + 1.0 + ], + [ + 0.01199004054069519, + -0.020847607403993607, + -0.017320677638053894, + -0.0058298259973526, + -0.006611838936805725, + -0.079803466796875, + 1.0 + ], + [ + 0.009095430374145508, + -0.010356888175010681, + -0.016501080244779587, + -0.028088316321372986, + 0.0058364346623420715, + -0.06854531168937683, + 1.0 + ], + [ + 0.006492942571640015, + -0.001277197152376175, + -0.00895855575799942, + 0.013072073459625244, + -0.0057082027196884155, + -0.09373898804187775, + 1.0 + ], + [ + 0.0005821883678436279, + -0.0019123703241348267, + -0.008573565632104874, + 0.01770266890525818, + 0.017748728394508362, + -0.04773534834384918, + 1.0 + ], + [ + 0.00011292099952697754, + -0.007604684680700302, + -0.002649601548910141, + -0.011004418134689331, + -0.010809183120727539, + -0.09533500671386719, + 1.0 + ], + [ + -0.004630625247955322, + -0.009059011936187744, + -0.005222959443926811, + 0.013050571084022522, + -0.007892444729804993, + -0.08588531613349915, + 1.0 + ], + [ + -0.003802567720413208, + -0.0025004148483276367, + -0.0037620477378368378, + 0.002343997359275818, + 0.0028390735387802124, + -0.008764941245317459, + 0.0 + ], + [ + -0.0029750168323516846, + 0.002444639801979065, + -0.0054846834391355515, + 0.011324182152748108, + -0.007618024945259094, + 0.00483072130009532, + 0.0 + ], + [ + 1.65402889251709e-05, + 0.0006304681301116943, + -0.0013718781992793083, + 0.0015142560005187988, + -0.006516709923744202, + 0.01038743369281292, + 0.0 + ], + [ + -0.0015136897563934326, + 0.001500636339187622, + -0.0008534183725714684, + 0.003088533878326416, + 0.0014638155698776245, + 0.014516280964016914, + 0.0 + ], + [ + -0.002631932497024536, + 0.005174495279788971, + 0.0021187392994761467, + 0.008851192891597748, + 0.0062142908573150635, + 0.026437565684318542, + 0.0 + ], + [ + 0.0002754628658294678, + 0.011736612766981125, + 0.019982248544692993, + 0.0022193416953086853, + -0.01694580912590027, + 0.04245639592409134, + 0.0 + ], + [ + -0.0017271935939788818, + 0.0024084970355033875, + 0.021946605294942856, + -0.012680798768997192, + -0.01659521460533142, + 0.012174397706985474, + 0.0 + ], + [ + -0.004743605852127075, + 0.016151057556271553, + 0.028949081897735596, + -0.01850612461566925, + -0.0232059508562088, + 0.0353277251124382, + 0.0 + ], + [ + -0.011330664157867432, + 0.0273609459400177, + 0.023422688245773315, + -0.009652361273765564, + 0.0042681097984313965, + 0.02908569574356079, + 0.0 + ], + [ + -0.006268560886383057, + 0.03906272351741791, + 0.01391293853521347, + 0.007594436407089233, + 0.01129201054573059, + 0.028033271431922913, + 0.0 + ], + [ + -0.0012758076190948486, + 0.03886421024799347, + 0.013683371245861053, + 0.014141425490379333, + -0.021880507469177246, + 0.01947866380214691, + 0.0 + ], + [ + -1.8715858459472656e-05, + 0.03548037260770798, + 0.007104650139808655, + 0.027040652930736542, + -0.03571560978889465, + 0.03409075736999512, + 0.0 + ], + [ + -0.003463268280029297, + 0.021368779242038727, + -0.0059102922677993774, + 0.03509023040533066, + -0.001346290111541748, + 0.02697893977165222, + 0.0 + ], + [ + -0.006419628858566284, + 0.01848822832107544, + -0.0016152262687683105, + 0.03936083987355232, + -0.01556539535522461, + -0.011649370193481445, + 0.0 + ], + [ + -0.0068168044090271, + 0.010886073112487793, + -0.016875624656677246, + 0.044437628239393234, + 0.03884294629096985, + -0.14531579613685608, + 0.0 + ], + [ + -0.0005100667476654053, + 0.005822166800498962, + -0.014997579157352448, + 0.042254168540239334, + 0.010347142815589905, + -0.12900322675704956, + 0.0 + ], + [ + -0.001368194818496704, + 0.004202365875244141, + -0.0204068124294281, + 0.03688934072852135, + 0.024068832397460938, + -0.08975078165531158, + 0.0 + ], + [ + 0.0004806220531463623, + 0.0038370639085769653, + -0.020792048424482346, + 0.019564956426620483, + 0.01829563081264496, + -0.006776951253414154, + 0.0 + ], + [ + 0.005665868520736694, + -0.0057362765073776245, + -0.024323400110006332, + -0.021189570426940918, + 0.02086964249610901, + -0.0030122846364974976, + 0.0 + ], + [ + 0.006706506013870239, + -0.008325770497322083, + -0.017580391839146614, + 0.0010612085461616516, + 0.022814810276031494, + -0.00549740344285965, + 0.0 + ], + [ + 0.011386245489120483, + -0.0034451335668563843, + -0.007531012408435345, + 0.011291936039924622, + 0.010144747793674469, + -0.015090830624103546, + 0.0 + ], + [ + 0.007255762815475464, + 0.0017223656177520752, + -0.00082444678992033, + -0.0023898258805274963, + -0.002468518912792206, + 0.02345302700996399, + 1.0 + ], + [ + 0.002102077007293701, + 0.0006560534238815308, + 0.0011466732248663902, + -0.005418337881565094, + 0.00055665522813797, + 0.04421239718794823, + 1.0 + ], + [ + -0.0001806318759918213, + 0.00034849345684051514, + -6.115995347499847e-06, + -0.002776525914669037, + -0.002058558166027069, + 0.01945299468934536, + 1.0 + ], + [ + 1.6391277313232422e-06, + -9.685754776000977e-05, + -3.680586814880371e-05, + -0.007859796285629272, + -0.0040451958775520325, + 0.011819098144769669, + 1.0 + ], + [ + -0.0020560026168823242, + -0.001155063509941101, + 0.0089788269251585, + -0.04213786497712135, + -0.015730880200862885, + 0.027926024049520493, + 1.0 + ], + [ + -0.0005836784839630127, + 0.0006465315818786621, + 0.026446742936968803, + -0.022295020520687103, + -0.045270755887031555, + 0.035012904554605484, + 1.0 + ], + [ + 0.00035753846168518066, + 0.0062597692012786865, + 0.03047071024775505, + -0.024914629757404327, + -0.026464685797691345, + 0.04574108496308327, + 1.0 + ], + [ + -0.005670070648193359, + 0.0023479312658309937, + 0.0382450670003891, + -0.011716046370565891, + -0.05751170217990875, + 0.015286527574062347, + 1.0 + ], + [ + -0.008210062980651855, + -0.003724023699760437, + 0.038447193801403046, + -0.03773292154073715, + -0.06970362365245819, + 0.019214726984500885, + 1.0 + ], + [ + -0.008341789245605469, + -0.004736796021461487, + 0.02849385142326355, + 0.003863755613565445, + -0.05363410711288452, + -0.02247501164674759, + 1.0 + ], + [ + -0.001024007797241211, + -8.009374141693115e-05, + 0.0015975087881088257, + 0.003344491124153137, + -0.0030161142349243164, + -0.004334181547164917, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.933559775352478 + ], + [ + 0.6621366739273071 + ], + [ + 0.40239205956459045 + ], + [ + 0.3883807957172394 + ], + [ + 0.3883807957172394 + ], + [ + 0.3883807957172394 + ], + [ + 0.3883807957172394 + ], + [ + 0.3883807957172394 + ], + [ + 0.3883807957172394 + ], + [ + 0.3883807957172394 + ], + [ + 0.3883807957172394 + ], + [ + 0.3883807957172394 + ], + [ + 0.3883807957172394 + ], + [ + 0.3883807957172394 + ], + [ + 0.3883807957172394 + ], + [ + 0.3883807957172394 + ], + [ + 0.3883807957172394 + ], + [ + 0.3883807957172394 + ], + [ + 0.3883807957172394 + ], + [ + 0.3883807957172394 + ], + [ + 0.3866458535194397 + ], + [ + 0.44944798946380615 + ], + [ + 0.7855378985404968 + ], + [ + 0.9968144297599792 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2605828642845154, + 0.1344907432794571, + 0.13587342202663422 + ], + [ + 0.26979753375053406, + 0.10365118831396103, + 0.13088740408420563 + ], + [ + 0.2735366225242615, + 0.09274809062480927, + 0.1309123933315277 + ], + [ + 0.284896582365036, + 0.07147729396820068, + 0.12516723573207855 + ], + [ + 0.30108925700187683, + 0.04057658091187477, + 0.11410780996084213 + ], + [ + 0.3136354684829712, + 0.011534414254128933, + 0.09671281278133392 + ], + [ + 0.3284345269203186, + -0.012652423232793808, + 0.08025981485843658 + ], + [ + 0.3404245674610138, + -0.033500030636787415, + 0.06293913722038269 + ], + [ + 0.3495199978351593, + -0.043856918811798096, + 0.046438056975603104 + ], + [ + 0.3560129404067993, + -0.04513411596417427, + 0.037479501217603683 + ], + [ + 0.35659512877464294, + -0.0470464862883091, + 0.02890593558549881 + ], + [ + 0.3567080497741699, + -0.0546511709690094, + 0.02625633403658867 + ], + [ + 0.3520774245262146, + -0.06371018290519714, + 0.021033374592661858 + ], + [ + 0.3482748568058014, + -0.06621059775352478, + 0.01727132685482502 + ], + [ + 0.3452998399734497, + -0.06376595795154572, + 0.011786643415689468 + ], + [ + 0.3453163802623749, + -0.06313548982143402, + 0.01041476521641016 + ], + [ + 0.34380269050598145, + -0.0616348534822464, + 0.009561346843838692 + ], + [ + 0.3411707580089569, + -0.05646035820245743, + 0.011680086143314838 + ], + [ + 0.3414462208747864, + -0.0447237454354763, + 0.03166233375668526 + ], + [ + 0.3397190272808075, + -0.042315248399972916, + 0.05360893905162811 + ], + [ + 0.3349754214286804, + -0.026164190843701363, + 0.08255802094936371 + ], + [ + 0.323644757270813, + 0.0011967560276389122, + 0.10598070919513702 + ], + [ + 0.31737619638442993, + 0.040259480476379395, + 0.1198936477303505 + ], + [ + 0.3161003887653351, + 0.07912369072437286, + 0.13357701897621155 + ], + [ + 0.3160816729068756, + 0.11460406333208084, + 0.1406816691160202 + ], + [ + 0.3126184046268463, + 0.13597284257411957, + 0.13477137684822083 + ], + [ + 0.30619877576828003, + 0.154461070895195, + 0.13315615057945251 + ], + [ + 0.29938197135925293, + 0.1653471440076828, + 0.11628052592277527 + ], + [ + 0.2988719046115875, + 0.17116931080818176, + 0.10128294676542282 + ], + [ + 0.2975037097930908, + 0.1753716766834259, + 0.08087613433599472 + ], + [ + 0.2979843318462372, + 0.17920874059200287, + 0.060084085911512375 + ], + [ + 0.3036502003669739, + 0.17347246408462524, + 0.03576068580150604 + ], + [ + 0.3103567063808441, + 0.16514669358730316, + 0.01818029396235943 + ], + [ + 0.3217429518699646, + 0.16170156002044678, + 0.010649281553924084 + ], + [ + 0.32899871468544006, + 0.16342392563819885, + 0.009824834764003754 + ], + [ + 0.33110079169273376, + 0.16407997906208038, + 0.010971507988870144 + ], + [ + 0.33092015981674194, + 0.1644284725189209, + 0.010965391993522644 + ], + [ + 0.33092179894447327, + 0.1643316149711609, + 0.01092858612537384 + ], + [ + 0.32886579632759094, + 0.1631765514612198, + 0.01990741305053234 + ], + [ + 0.32828211784362793, + 0.16382308304309845, + 0.046354155987501144 + ], + [ + 0.3286396563053131, + 0.17008285224437714, + 0.0768248662352562 + ], + [ + 0.32296958565711975, + 0.17243078351020813, + 0.1150699332356453 + ], + [ + 0.3147595226764679, + 0.1687067598104477, + 0.15351712703704834 + ], + [ + 0.3064177334308624, + 0.1639699637889862, + 0.1820109784603119 + ], + [ + 0.3053937256336212, + 0.16388987004756927, + 0.18360848724842072 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.6829657183620021, + 0.7104454881806314, + 0.1697793740890163, + 0.7231268501518865, + -0.6904322932883576, + -0.019768838458287218, + 0.10317648051607961, + 0.1362734629645957, + -0.9852837952386874 + ], + [ + 0.7206065593886615, + 0.6760295006915279, + 0.15398149486480306, + 0.6891707354888849, + -0.722712472156188, + -0.052253037572959966, + 0.07595975191998341, + 0.1437734216907114, + -0.9866910961915081 + ], + [ + 0.709102459069934, + 0.6885434625888347, + 0.15192630669884116, + 0.7016449877643367, + -0.7103689056336866, + -0.055410550024180834, + 0.06977115224902232, + 0.1458900888853535, + -0.986837407215022 + ], + [ + 0.7521274741070897, + 0.6410765753195351, + 0.1527255292014594, + 0.6546792091213878, + -0.7533829861295591, + -0.06171879255707226, + 0.07549434308266798, + 0.14640662822114703, + -0.9863395477093229 + ], + [ + 0.8115612137642431, + 0.5560079427512846, + 0.17950923071249728, + 0.5720557492787294, + -0.8186533948761325, + -0.050584965898321614, + 0.11883019831111914, + 0.14374208380035067, + -0.9824548830934033 + ], + [ + 0.8462985707598009, + 0.5028895145428909, + 0.1757295231107574, + 0.5191203171462551, + -0.8525789335429376, + -0.06019350799512415, + 0.11955260539147694, + 0.14216644555450872, + -0.9825964971963349 + ], + [ + 0.8784216128222936, + 0.4467989846548456, + 0.16954685912183567, + 0.46376901710593554, + -0.8826149300688221, + -0.07687121692937333, + 0.11529860753398105, + 0.14615591856304477, + -0.9825195563293982 + ], + [ + 0.9118767269832078, + 0.3731378464102914, + 0.1710233386490924, + 0.39195669801794936, + -0.9152795272702547, + -0.09291573515182987, + 0.12186378323873917, + 0.15176143955639299, + -0.9808759777864442 + ], + [ + 0.9372363076610206, + 0.305824905162028, + 0.16750889822505902, + 0.32881018220457114, + -0.9350379215606214, + -0.13261956613633497, + 0.11606880580299492, + 0.17937450383549375, + -0.976909831915534 + ], + [ + 0.9632401180872782, + 0.2180377364707757, + 0.15693317170664528, + 0.23947588189043126, + -0.9616368670810496, + -0.13381269694369297, + 0.12173650602841803, + 0.1664754676979313, + -0.9785019886309626 + ], + [ + 0.9755358714773731, + 0.17713646804263333, + 0.13020151746528658, + 0.19363014684722452, + -0.9727762080992952, + -0.12733348023155144, + 0.10410153549686213, + 0.14942931655246833, + -0.9832770462396941 + ], + [ + 0.9883604535530556, + 0.08071264576101324, + 0.12895380051264782, + 0.09977013332944158, + -0.9838036053645469, + -0.1489173816824103, + 0.11484569799441348, + 0.16004978877204562, + -0.980405289034183 + ], + [ + 0.9923384957605216, + -0.00362642112566053, + 0.12349558251842213, + 0.014607265892133068, + -0.989114570428388, + -0.14642060766648124, + 0.12268226283738645, + 0.14710273837044796, + -0.9814834928561018 + ], + [ + 0.992772706064849, + -0.011598047743773278, + 0.11944806143763866, + 0.005911077079332508, + -0.9893853597429442, + -0.14519527917286779, + 0.11986414501609284, + 0.1448519769104239, + -0.9821662239787637 + ], + [ + 0.991790695581131, + -0.0064756494918720205, + 0.12770779977101962, + 0.010696639454315574, + -0.991015012546657, + -0.13332226675065814, + 0.1274236950613221, + 0.13359382796674282, + -0.9828102009371451 + ], + [ + 0.9907748337805332, + 0.0031537483478324604, + 0.13548166893906843, + 0.02098001174277654, + -0.9912457585786759, + -0.1303521584288439, + 0.13388453179673054, + 0.1319920451055442, + -0.9821675173688175 + ], + [ + 0.99056070167388, + 0.018154937017970933, + 0.13586719457331894, + 0.035366616989650865, + -0.9914805592906684, + -0.12536148910798234, + 0.13243375212557387, + 0.12898332764561837, + -0.9827637572109612 + ], + [ + 0.9900819370500314, + 0.04633393259398727, + 0.13263078306951573, + 0.061589128262948906, + -0.991646344169041, + -0.11333272861793052, + 0.12627168014668658, + 0.12037730179128996, + -0.9846647998209244 + ], + [ + 0.9843060381797789, + 0.08669614011076245, + 0.15370557079274266, + 0.1033180785803554, + -0.9892313685878292, + -0.1036661663239944, + 0.14306291567450768, + 0.1179197977090599, + -0.9826636878744239 + ], + [ + 0.9804820492155224, + 0.09461373194740767, + 0.17234614266966783, + 0.11500102621506204, + -0.9869841794645229, + -0.11241438278185109, + 0.1594669719271424, + 0.13004026766246682, + -0.9786009470926653 + ], + [ + 0.9718881161856425, + 0.12274134827570907, + 0.200918020696462, + 0.14895941339589128, + -0.9814116747957848, + -0.1210050318593592, + 0.1823309704298061, + 0.1475319829663848, + -0.9721058230584423 + ], + [ + 0.9679017306293857, + 0.14990995531372664, + 0.2017256680308107, + 0.17729907036987808, + -0.9761497427987774, + -0.12528654867885014, + 0.17813275805032996, + 0.15703084070244716, + -0.97139592112468 + ], + [ + 0.9644580254336034, + 0.18041972678196663, + 0.1930529444598961, + 0.204764014281362, + -0.9720931319900715, + -0.11448423993334593, + 0.16701022613031033, + 0.14994553986582682, + -0.9744864901281334 + ], + [ + 0.9564980756400833, + 0.19916454142847007, + 0.21317813380927345, + 0.2226284987335349, + -0.9705372442184867, + -0.0921629488267253, + 0.18854172707512182, + 0.1356132110908534, + -0.9726567092911855 + ], + [ + 0.9412480666833173, + 0.23413445029401025, + 0.2433785860556319, + 0.2531890689409266, + -0.9661368150203872, + -0.049748869646339657, + 0.22348908772855935, + 0.10844682497788222, + -0.9686546927664534 + ], + [ + 0.9337864082485144, + 0.2684377703636796, + 0.23660960929876682, + 0.27840150704759187, + -0.9604216352806174, + -0.009104029796424044, + 0.22480112242595304, + 0.07437369109490885, + -0.9715621490305963 + ], + [ + 0.9334881345934606, + 0.26579911274180473, + 0.24072958737739497, + 0.26651185437893027, + -0.9633578734972745, + 0.030216535974749822, + 0.23994027183598288, + 0.035950510934878846, + -0.9701217587059864 + ], + [ + 0.9707514115836823, + 0.13387466004064794, + 0.19929694505257495, + 0.12966589743299609, + -0.9909717941823657, + 0.034083106928193475, + 0.20206051556695553, + -0.0072442069258047605, + -0.9793462459798538 + ], + [ + 0.9814042985625182, + 0.013303676109512483, + 0.19149050881175592, + 0.003713158878729643, + -0.9987244555074817, + 0.05035548055997394, + 0.19191616715158025, + -0.04870805039475291, + -0.9802018723776186 + ], + [ + 0.9821055460466283, + -0.07105231389233721, + 0.17441406226276285, + -0.08463755362693665, + -0.9938271823625527, + 0.0717217966406082, + 0.16824143645517758, + -0.08520035380122619, + -0.9820568816375375 + ], + [ + 0.9844098311986279, + -0.07625390384007105, + 0.15850118734141527, + -0.09156101149077597, + -0.9915755941938011, + 0.09162107931036596, + 0.15017944404703065, + -0.1047052202536224, + -0.9830986478667161 + ], + [ + 0.9870348571349041, + -0.08433140126992894, + 0.13656648769200028, + -0.09480496902998276, + -0.992882424662165, + 0.07208681324766679, + 0.12951528345296956, + -0.08409937905139493, + -0.9880045980638281 + ], + [ + 0.9891815083381482, + -0.09157837356926093, + 0.11460080739800432, + -0.1005022085036687, + -0.9921309214332512, + 0.07466954413877672, + 0.1068608892333893, + -0.08537936653792011, + -0.9906013901271452 + ], + [ + 0.9885781840183306, + -0.10619951492041432, + 0.10693379780821446, + -0.11553766992673126, + -0.9896355619323732, + 0.08527896215771621, + 0.09676890466942928, + -0.09665980338002034, + -0.9906021711563197 + ], + [ + 0.9907749100120214, + -0.08298122312956675, + 0.10714100194879465, + -0.09230043156135966, + -0.9920823685546764, + 0.08516574626297697, + 0.09922554118903724, + -0.09426924530759791, + -0.9905895221356211 + ], + [ + 0.9939412249957359, + -0.03966049900639007, + 0.10250798053098188, + -0.04842265078527144, + -0.9952501514704727, + 0.0844534362174139, + 0.09867161772720502, + -0.08890545999299075, + -0.9911406212231093 + ], + [ + 0.9944899319967679, + -0.020396285274831262, + 0.10282882234107064, + -0.029073577861585584, + -0.9960746357833367, + 0.08360650105954423, + 0.10071991971497042, + -0.08613542532594212, + -0.9911791897919008 + ], + [ + 0.9943485796678474, + -0.00910575047211263, + 0.10577328311475682, + -0.01731061319064629, + -0.9968874977661374, + 0.07691332438877908, + 0.10474370999491427, + -0.07830965525341914, + -0.9914112936166263 + ], + [ + 0.992673638912843, + 0.01492639801687531, + 0.11990099770133822, + 0.010442103495631662, + -0.9992253989047396, + 0.037941595357210055, + 0.12037445361089291, + -0.03641160290217347, + -0.9920605758178143 + ], + [ + 0.985241729253989, + 0.047885849223358, + 0.16433405119075886, + 0.04489074324403377, + -0.9987519684407001, + 0.021893531163899395, + 0.1651773474408866, + -0.014193342805140084, + -0.9861617478448492 + ], + [ + 0.9774620044941822, + 0.08913725761377285, + 0.1913702669573066, + 0.08946423793555776, + -0.9959657957454795, + 0.006948657113662243, + 0.19121762445136906, + 0.010328746785996636, + -0.9814933199411014 + ], + [ + 0.9634377806517475, + 0.10086289254967254, + 0.24822231914021956, + 0.10305360397164115, + -0.9946669922675971, + 0.004186788959148733, + 0.24732083923780449, + 0.02154649391073901, + -0.9686940441020905 + ], + [ + 0.9418564798519113, + 0.10653376037835752, + 0.3186799793846689, + 0.11908970878806915, + -0.9926796399346512, + -0.020118989039812053, + 0.31420377563253304, + 0.05690070613672466, + -0.94764882578907 + ], + [ + 0.9261828946647856, + 0.0826132277230726, + 0.36791344122705577, + 0.09601554048733833, + -0.995212726250766, + -0.01823857158448127, + 0.36464539160022685, + 0.05221766093663812, + -0.9296811573174016 + ], + [ + 0.9254916992687159, + 0.0793814962118705, + 0.37035616998217985, + 0.09189132297220069, + -0.9956368271040581, + -0.016226314325266996, + 0.367452172870325, + 0.04904983764833941, + -0.928748089677469 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006270.json b/json/chunk-0006/episode_0006270.json new file mode 100644 index 0000000000000000000000000000000000000000..27a414019871a0e2f7d55b8a4b76d881b7bd6ef4 --- /dev/null +++ b/json/chunk-0006/episode_0006270.json @@ -0,0 +1,2782 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 45, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the tin to the centre of the table." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006270.mp4", + "start": 0, + "end": 45, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.17454801499843597, + 0.17505048215389252, + 0.05751166492700577, + -0.26691800355911255, + -0.12593689560890198, + 2.0274851322174072, + 0.0, + 1.0008161067962646 + ], + [ + 0.17321616411209106, + 0.17314821481704712, + 0.05226733162999153, + -0.24087177217006683, + -0.11635550856590271, + 2.0256166458129883, + 0.0, + 1.0008161067962646 + ], + [ + 0.18113520741462708, + 0.19439668953418732, + 0.051016345620155334, + -0.18089081346988678, + -0.09225066006183624, + 2.0717244148254395, + 0.0, + 1.0008161067962646 + ], + [ + 0.19387413561344147, + 0.23716117441654205, + 0.06222737208008766, + -0.16709180176258087, + -0.06373235583305359, + 2.174772262573242, + 0.0, + 1.0008161067962646 + ], + [ + 0.20258840918540955, + 0.26457610726356506, + 0.07200074195861816, + -0.15184083580970764, + -0.05019042640924454, + 2.2274341583251953, + 0.0, + 1.0008161067962646 + ], + [ + 0.21502631902694702, + 0.28461235761642456, + 0.06593825668096542, + -0.11861871927976608, + -0.0514783039689064, + 2.244523286819458, + 0.0, + 1.0008161067962646 + ], + [ + 0.22631610929965973, + 0.29349595308303833, + 0.056440867483615875, + -0.09717613458633423, + -0.04897572845220566, + 2.2349085807800293, + 0.0, + 1.0008161067962646 + ], + [ + 0.24140159785747528, + 0.2980940043926239, + 0.051571667194366455, + -0.09982127696275711, + -0.01820552907884121, + 2.219752788543701, + 0.0, + 1.0008161067962646 + ], + [ + 0.24897371232509613, + 0.300197035074234, + 0.04564925283193588, + -0.09222830832004547, + 0.0136575223878026, + 2.22067928314209, + 0.0, + 1.0008161067962646 + ], + [ + 0.25559160113334656, + 0.296093612909317, + 0.0386425256729126, + -0.08819982409477234, + 0.010021437890827656, + 2.1961703300476074, + 0.0, + 1.0008161067962646 + ], + [ + 0.26386332511901855, + 0.2882845997810364, + 0.03672490268945694, + -0.08956816792488098, + 0.01018318347632885, + 2.174949884414673, + 0.0, + 1.0008161067962646 + ], + [ + 0.26717063784599304, + 0.2821045219898224, + 0.027745602652430534, + -0.06511640548706055, + 0.0204829890280962, + 2.165142297744751, + 0.0, + 1.0008161067962646 + ], + [ + 0.27516239881515503, + 0.2730845808982849, + 0.018825383856892586, + -0.04412369057536125, + 0.042440932244062424, + 2.1670589447021484, + 0.0, + 1.0008161067962646 + ], + [ + 0.28585368394851685, + 0.2619642913341522, + 0.013938428834080696, + -0.05505495145916939, + 0.018188174813985825, + 2.1424949169158936, + 0.0, + 1.0008161067962646 + ], + [ + 0.2977694869041443, + 0.236529141664505, + 0.006012462545186281, + -0.04104701802134514, + 0.01380718220025301, + 2.0984549522399902, + 0.0, + 1.0001531839370728 + ], + [ + 0.31018415093421936, + 0.20922164618968964, + 0.010117319412529469, + -0.044579584151506424, + 0.02048126794397831, + 2.0491485595703125, + 0.0, + 1.0001531839370728 + ], + [ + 0.32146623730659485, + 0.17838247120380402, + 0.020694533362984657, + -0.05767440423369408, + 0.032804399728775024, + 1.9959306716918945, + 0.0, + 1.0001531839370728 + ], + [ + 0.335818350315094, + 0.14051370322704315, + 0.028312869369983673, + -0.07473619282245636, + 0.050995808094739914, + 1.932081937789917, + 0.0, + 1.0001531839370728 + ], + [ + 0.34332650899887085, + 0.10968499630689621, + 0.027898121625185013, + -0.0817202776670456, + 0.036991458386182785, + 1.8612762689590454, + 0.0, + 1.0001531839370728 + ], + [ + 0.3453019857406616, + 0.08249197155237198, + 0.02267363667488098, + -0.06836114078760147, + 0.037725552916526794, + 1.8137668371200562, + 0.0, + 1.0001531839370728 + ], + [ + 0.3441426455974579, + 0.06451800465583801, + 0.018771519884467125, + -0.05429556593298912, + 0.03432074561715126, + 1.7672749757766724, + 0.0, + 1.0001531839370728 + ], + [ + 0.33852478861808777, + 0.05944373086094856, + 0.01694563962519169, + -0.046312976628541946, + 0.018539976328611374, + 1.7451239824295044, + 0.0, + 1.0001531839370728 + ], + [ + 0.339087575674057, + 0.06156711280345917, + 0.0434962660074234, + -0.0906839668750763, + 0.008266255259513855, + 1.7385551929473877, + 0.0, + 1.0001531839370728 + ], + [ + 0.3347805142402649, + 0.07585026323795319, + 0.0693017840385437, + -0.13287164270877838, + 0.01726560667157173, + 1.7637486457824707, + 0.0, + 1.0001531839370728 + ], + [ + 0.33476024866104126, + 0.0781448557972908, + 0.07228567451238632, + -0.14073395729064941, + 0.019047807902097702, + 1.7681118249893188, + 0.0, + 1.0001531839370728 + ], + [ + 0.33476024866104126, + 0.0781448557972908, + 0.07228567451238632, + -0.14073395729064941, + 0.019047807902097702, + 1.7681118249893188, + 0.0, + 1.0001531839370728 + ], + [ + 0.33476024866104126, + 0.0781448557972908, + 0.07228567451238632, + -0.14073395729064941, + 0.019047807902097702, + 1.7681118249893188, + 0.0, + 1.0001531839370728 + ], + [ + 0.33476024866104126, + 0.0781448557972908, + 0.07228567451238632, + -0.14073395729064941, + 0.019047807902097702, + 1.7681118249893188, + 0.0, + 1.0001531839370728 + ], + [ + 0.33476024866104126, + 0.0781448557972908, + 0.07228567451238632, + -0.14073395729064941, + 0.019047807902097702, + 1.7681118249893188, + 0.0, + 1.0001531839370728 + ], + [ + 0.33487972617149353, + 0.07763125002384186, + 0.07228567451238632, + -0.14073395729064941, + 0.019047807902097702, + 1.7665778398513794, + 0.0, + 1.0001531839370728 + ], + [ + 0.33476024866104126, + 0.0781448557972908, + 0.07228567451238632, + -0.14073395729064941, + 0.019047807902097702, + 1.7681118249893188, + 0.0, + 1.0001531839370728 + ], + [ + 0.33481019735336304, + 0.07795355468988419, + 0.07229118794202805, + -0.1407926231622696, + 0.02040599100291729, + 1.7688212394714355, + 0.0, + 1.0001531839370728 + ], + [ + 0.33487972617149353, + 0.07763125002384186, + 0.07228567451238632, + -0.14073395729064941, + 0.019047807902097702, + 1.7665778398513794, + 0.0, + 1.0001531839370728 + ], + [ + 0.33476024866104126, + 0.0781448557972908, + 0.07228567451238632, + -0.14073395729064941, + 0.019047807902097702, + 1.7681118249893188, + 0.0, + 1.0001531839370728 + ], + [ + 0.33476024866104126, + 0.0781448557972908, + 0.07228567451238632, + -0.14073395729064941, + 0.019047807902097702, + 1.7681118249893188, + 0.0, + 1.0001531839370728 + ], + [ + 0.33476024866104126, + 0.0781448557972908, + 0.07228567451238632, + -0.14073395729064941, + 0.019047807902097702, + 1.7681118249893188, + 0.0, + 1.0001531839370728 + ], + [ + 0.33476024866104126, + 0.0781448557972908, + 0.07228567451238632, + -0.14073395729064941, + 0.019047807902097702, + 1.7681118249893188, + 0.0, + 1.0001531839370728 + ], + [ + 0.33476024866104126, + 0.0781448557972908, + 0.07228567451238632, + -0.14073395729064941, + 0.019047807902097702, + 1.7681118249893188, + 0.0, + 1.0001531839370728 + ], + [ + 0.3344729244709015, + 0.07753199338912964, + 0.0719122439622879, + -0.13920113444328308, + 0.019114524126052856, + 1.7666070461273193, + 0.0, + 1.0001531839370728 + ], + [ + 0.33476024866104126, + 0.0781448557972908, + 0.07228567451238632, + -0.14073395729064941, + 0.019047807902097702, + 1.7681118249893188, + 0.0, + 1.0001531839370728 + ], + [ + 0.33476024866104126, + 0.0781448557972908, + 0.07228567451238632, + -0.14073395729064941, + 0.019047807902097702, + 1.7681118249893188, + 0.0, + 1.0001531839370728 + ], + [ + 0.33476024866104126, + 0.0781448557972908, + 0.07228567451238632, + -0.14073395729064941, + 0.019047807902097702, + 1.7681118249893188, + 0.0, + 1.0001531839370728 + ], + [ + 0.33476024866104126, + 0.0781448557972908, + 0.07228567451238632, + -0.14073395729064941, + 0.019047807902097702, + 1.7681118249893188, + 0.0, + 1.0001531839370728 + ], + [ + 0.33435359597206116, + 0.07804498076438904, + 0.0719122439622879, + -0.13920113444328308, + 0.019114524126052856, + 1.7681410312652588, + 0.0, + 1.0001531839370728 + ], + [ + 0.33476024866104126, + 0.0781448557972908, + 0.07228567451238632, + -0.14073395729064941, + 0.019047807902097702, + 1.7681118249893188, + 0.0, + 1.0001531839370728 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.17454801499843597, + 0.17505048215389252, + 0.05751166492700577 + ], + [ + 0.17321616411209106, + 0.17314821481704712, + 0.05226733162999153 + ], + [ + 0.18113520741462708, + 0.19439668953418732, + 0.051016345620155334 + ], + [ + 0.19387413561344147, + 0.23716117441654205, + 0.06222737208008766 + ], + [ + 0.20258840918540955, + 0.26457610726356506, + 0.07200074195861816 + ], + [ + 0.21502631902694702, + 0.28461235761642456, + 0.06593825668096542 + ], + [ + 0.22631610929965973, + 0.29349595308303833, + 0.056440867483615875 + ], + [ + 0.24140159785747528, + 0.2980940043926239, + 0.051571667194366455 + ], + [ + 0.24897371232509613, + 0.300197035074234, + 0.04564925283193588 + ], + [ + 0.25559160113334656, + 0.296093612909317, + 0.0386425256729126 + ], + [ + 0.26386332511901855, + 0.2882845997810364, + 0.03672490268945694 + ], + [ + 0.26717063784599304, + 0.2821045219898224, + 0.027745602652430534 + ], + [ + 0.27516239881515503, + 0.2730845808982849, + 0.018825383856892586 + ], + [ + 0.28585368394851685, + 0.2619642913341522, + 0.013938428834080696 + ], + [ + 0.2977694869041443, + 0.236529141664505, + 0.006012462545186281 + ], + [ + 0.31018415093421936, + 0.20922164618968964, + 0.010117319412529469 + ], + [ + 0.32146623730659485, + 0.17838247120380402, + 0.020694533362984657 + ], + [ + 0.335818350315094, + 0.14051370322704315, + 0.028312869369983673 + ], + [ + 0.34332650899887085, + 0.10968499630689621, + 0.027898121625185013 + ], + [ + 0.3453019857406616, + 0.08249197155237198, + 0.02267363667488098 + ], + [ + 0.3441426455974579, + 0.06451800465583801, + 0.018771519884467125 + ], + [ + 0.33852478861808777, + 0.05944373086094856, + 0.01694563962519169 + ], + [ + 0.339087575674057, + 0.06156711280345917, + 0.0434962660074234 + ], + [ + 0.3347805142402649, + 0.07585026323795319, + 0.0693017840385437 + ], + [ + 0.33476024866104126, + 0.0781448557972908, + 0.07228567451238632 + ], + [ + 0.33476024866104126, + 0.0781448557972908, + 0.07228567451238632 + ], + [ + 0.33476024866104126, + 0.0781448557972908, + 0.07228567451238632 + ], + [ + 0.33476024866104126, + 0.0781448557972908, + 0.07228567451238632 + ], + [ + 0.33476024866104126, + 0.0781448557972908, + 0.07228567451238632 + ], + [ + 0.33487972617149353, + 0.07763125002384186, + 0.07228567451238632 + ], + [ + 0.33476024866104126, + 0.0781448557972908, + 0.07228567451238632 + ], + [ + 0.33481019735336304, + 0.07795355468988419, + 0.07229118794202805 + ], + [ + 0.33487972617149353, + 0.07763125002384186, + 0.07228567451238632 + ], + [ + 0.33476024866104126, + 0.0781448557972908, + 0.07228567451238632 + ], + [ + 0.33476024866104126, + 0.0781448557972908, + 0.07228567451238632 + ], + [ + 0.33476024866104126, + 0.0781448557972908, + 0.07228567451238632 + ], + [ + 0.33476024866104126, + 0.0781448557972908, + 0.07228567451238632 + ], + [ + 0.33476024866104126, + 0.0781448557972908, + 0.07228567451238632 + ], + [ + 0.3344729244709015, + 0.07753199338912964, + 0.0719122439622879 + ], + [ + 0.33476024866104126, + 0.0781448557972908, + 0.07228567451238632 + ], + [ + 0.33476024866104126, + 0.0781448557972908, + 0.07228567451238632 + ], + [ + 0.33476024866104126, + 0.0781448557972908, + 0.07228567451238632 + ], + [ + 0.33476024866104126, + 0.0781448557972908, + 0.07228567451238632 + ], + [ + 0.33435359597206116, + 0.07804498076438904, + 0.0719122439622879 + ], + [ + 0.33476024866104126, + 0.0781448557972908, + 0.07228567451238632 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + -0.43748631061889004, + 0.8803443738326827, + 0.1833016952518818, + 0.8904096230632842, + 0.39562872344492966, + 0.2250524746401059, + 0.12560426416874623, + 0.2616709702020403, + -0.9569492526650254 + ], + [ + -0.43633049923709627, + 0.8845712184498183, + 0.16477091650443157, + 0.8922656996734918, + 0.40173988477016415, + 0.20607519542882818, + 0.1160931377027983, + 0.23693633000251185, + -0.9645639216263795 + ], + [ + -0.47819779003640256, + 0.8707846775977597, + 0.11428437717057564, + 0.873407581273066, + 0.45786741018978266, + 0.16588137828229496, + 0.09211987070677645, + 0.17914094994463722, + -0.979501122752751 + ], + [ + -0.5667664821343388, + 0.8176363897500473, + 0.10122494201319736, + 0.8214130739242235, + 0.5512913345537993, + 0.14614522377501565, + 0.06368921977403007, + 0.16597770513656307, + -0.9840706705730923 + ], + [ + -0.6096885709548641, + 0.7875685605655479, + 0.08952993273607907, + 0.7910517568948171, + 0.597423093222671, + 0.13161597774540557, + 0.0501693567891702, + 0.15106756797197363, + -0.9872495254728636 + ], + [ + -0.6230764456998126, + 0.7798093855211778, + 0.06060581710670217, + 0.7804665701161266, + 0.614760009700346, + 0.11376319002383489, + 0.05145557059500207, + 0.11818397829787655, + -0.9916576382645521 + ], + [ + -0.615621247484974, + 0.7866767409881972, + 0.04637008554265375, + 0.786520040971735, + 0.6097120244430632, + 0.0981706290056331, + 0.0489561517571034, + 0.09690692667570332, + -0.9940886996477756 + ], + [ + -0.6042551810873733, + 0.7938452577545968, + 0.06844985660761702, + 0.7965828716813982, + 0.5999014605743866, + 0.07465899908607626, + 0.018204523418169645, + 0.09963907035523456, + -0.9948571007867724 + ], + [ + -0.6050367925227725, + 0.792009878107593, + 0.08155263744203028, + 0.796080374945425, + 0.6035229610416769, + 0.044900691779058616, + -0.013657097806893621, + 0.09208902472869501, + -0.9956571172868754 + ], + [ + -0.5853711394438945, + 0.8070760539883441, + 0.07725847645896475, + 0.8107035236451865, + 0.5838407012513271, + 0.04347220159639209, + -0.010021270150809197, + 0.08808109127935612, + -0.9960628973632151 + ], + [ + -0.5680362187972278, + 0.8191668349078206, + 0.07937600847643805, + 0.8229405570836558, + 0.5665381715941068, + 0.042465746592388026, + -0.010183007482595464, + 0.08944381875741825, + -0.9959398122601083 + ], + [ + -0.5598495377155419, + 0.8260127269356621, + 0.06535648445262224, + 0.8283411138847021, + 0.5598844474000642, + 0.019503963899071695, + -0.020481556775440363, + 0.0650567483035892, + -0.9976713513638739 + ], + [ + -0.5610482738014986, + 0.8255838520158221, + 0.06030039597777222, + 0.8266950362465573, + 0.562555925048642, + -0.010302826698065377, + -0.04242819239211533, + 0.04406965490430058, + -0.998127103132138 + ], + [ + -0.5409718225510499, + 0.839167451558761, + 0.056102365816153466, + 0.8408440485485256, + 0.5410831759723919, + 0.014501127547679751, + -0.018187172026454312, + 0.05501804180451844, + -0.9983197092363127 + ], + [ + -0.5034638093052078, + 0.8629753279193401, + 0.04240019012217197, + 0.8639059940488826, + 0.5035771964134347, + 0.008743037160890515, + -0.013806743508189504, + 0.04103158118927552, + -0.9990624520913627 + ], + [ + -0.4602204440961312, + 0.8864525119133144, + 0.048980475278776775, + 0.8875684306864624, + 0.46066989693453325, + 0.0023509374931524434, + -0.020479836052322384, + 0.04455547307460184, + -0.9987969694259029 + ], + [ + -0.41222127037258216, + 0.9086888733022653, + 0.06601632971525997, + 0.910493207867628, + 0.4134796917465188, + -0.006054992990901422, + -0.03279851641965758, + 0.05761142291128761, + -0.9978001710116139 + ], + [ + -0.3530176192135059, + 0.9314865737857643, + 0.08781414112593869, + 0.9342270824728556, + 0.3560507572918598, + -0.02115695172158599, + -0.05097370791971568, + 0.07456957213737592, + -0.9959121748488489 + ], + [ + -0.28621615756603064, + 0.9540444398336946, + 0.08876664897667882, + 0.9574510782198703, + 0.2883486946437019, + -0.01193579125490827, + -0.03698302264208192, + 0.08157350746219583, + -0.9959809330085443 + ], + [ + -0.24041575948141025, + 0.9677406504901995, + 0.07535446889058607, + 0.9699369671811375, + 0.24252566991161473, + -0.020089278966144892, + -0.03771660494309946, + 0.06825930575920078, + -0.9969544246799038 + ], + [ + -0.19510198468416368, + 0.9789512653464578, + 0.05991356815337799, + 0.9801825158680497, + 0.19675562279767672, + -0.023010008345913394, + -0.03431400820191341, + 0.054236933671323026, + -0.997938326685097 + ], + [ + -0.17341621444155303, + 0.9836385082877895, + 0.04880677803474836, + 0.984674121335731, + 0.17410532141435203, + -0.010208419412971084, + -0.018538914220289797, + 0.0462884658265648, + -0.9987560696140751 + ], + [ + -0.166967393976108, + 0.9817851689411223, + 0.09066295492691026, + 0.9859277660808481, + 0.16702508285598822, + 0.00700441059466423, + -0.008266161119620509, + 0.09055663280070697, + -0.9958570011985366 + ], + [ + -0.1917286766281568, + 0.972352905713576, + 0.13330394333544965, + 0.9812961036328112, + 0.1923118268657918, + 0.00860919523557404, + -0.017264748868088417, + 0.13246126980331588, + -0.9910378097976962 + ], + [ + -0.1960020655861368, + 0.9703777742013168, + 0.1412450552127944, + 0.9804184898180851, + 0.19671929604554467, + 0.009005741844509502, + -0.019046656105268213, + 0.14024440772965935, + -0.9899337003010678 + ], + [ + -0.1960020655861368, + 0.9703777742013168, + 0.1412450552127944, + 0.9804184898180851, + 0.19671929604554467, + 0.009005741844509502, + -0.019046656105268213, + 0.14024440772965935, + -0.9899337003010678 + ], + [ + -0.1960020655861368, + 0.9703777742013168, + 0.1412450552127944, + 0.9804184898180851, + 0.19671929604554467, + 0.009005741844509502, + -0.019046656105268213, + 0.14024440772965935, + -0.9899337003010678 + ], + [ + -0.1960020655861368, + 0.9703777742013168, + 0.1412450552127944, + 0.9804184898180851, + 0.19671929604554467, + 0.009005741844509502, + -0.019046656105268213, + 0.14024440772965935, + -0.9899337003010678 + ], + [ + -0.1960020655861368, + 0.9703777742013168, + 0.1412450552127944, + 0.9804184898180851, + 0.19671929604554467, + 0.009005741844509502, + -0.019046656105268213, + 0.14024440772965935, + -0.9899337003010678 + ], + [ + -0.194497888176416, + 0.9706783968566552, + 0.14125870369895027, + 0.9807180004395359, + 0.19523052009445274, + 0.008789063518229195, + -0.019046656105268234, + 0.14024440772965938, + -0.9899337003010679 + ], + [ + -0.1960020655861368, + 0.9703777742013168, + 0.1412450552127944, + 0.9804184898180851, + 0.19671929604554467, + 0.009005741844509502, + -0.019046656105268213, + 0.14024440772965935, + -0.9899337003010678 + ], + [ + -0.19669226860190542, + 0.9701921986669063, + 0.14156005481105824, + 0.9802529289921945, + 0.1975939419372496, + 0.007799314836729215, + -0.020404574841428373, + 0.14029872328561221, + -0.9898989451302429 + ], + [ + -0.194497888176416, + 0.9706783968566552, + 0.14125870369895027, + 0.9807180004395359, + 0.19523052009445274, + 0.008789063518229195, + -0.019046656105268234, + 0.14024440772965938, + -0.9899337003010679 + ], + [ + -0.1960020655861368, + 0.9703777742013168, + 0.1412450552127944, + 0.9804184898180851, + 0.19671929604554467, + 0.009005741844509502, + -0.019046656105268213, + 0.14024440772965935, + -0.9899337003010678 + ], + [ + -0.1960020655861368, + 0.9703777742013168, + 0.1412450552127944, + 0.9804184898180851, + 0.19671929604554467, + 0.009005741844509502, + -0.019046656105268213, + 0.14024440772965935, + -0.9899337003010678 + ], + [ + -0.1960020655861368, + 0.9703777742013168, + 0.1412450552127944, + 0.9804184898180851, + 0.19671929604554467, + 0.009005741844509502, + -0.019046656105268213, + 0.14024440772965935, + -0.9899337003010678 + ], + [ + -0.1960020655861368, + 0.9703777742013168, + 0.1412450552127944, + 0.9804184898180851, + 0.19671929604554467, + 0.009005741844509502, + -0.019046656105268213, + 0.14024440772965935, + -0.9899337003010678 + ], + [ + -0.1960020655861368, + 0.9703777742013168, + 0.1412450552127944, + 0.9804184898180851, + 0.19671929604554467, + 0.009005741844509502, + -0.019046656105268213, + 0.14024440772965935, + -0.9899337003010678 + ], + [ + -0.19452628354728163, + 0.9708862775234206, + 0.13978326482808218, + 0.9807110708418416, + 0.19528119738230387, + 0.008429085192465866, + -0.019113360184194614, + 0.13872667395151106, + -0.9901462464690861 + ], + [ + -0.1960020655861368, + 0.9703777742013168, + 0.1412450552127944, + 0.9804184898180851, + 0.19671929604554467, + 0.009005741844509502, + -0.019046656105268213, + 0.14024440772965935, + -0.9899337003010678 + ], + [ + -0.1960020655861368, + 0.9703777742013168, + 0.1412450552127944, + 0.9804184898180851, + 0.19671929604554467, + 0.009005741844509502, + -0.019046656105268213, + 0.14024440772965935, + -0.9899337003010678 + ], + [ + -0.1960020655861368, + 0.9703777742013168, + 0.1412450552127944, + 0.9804184898180851, + 0.19671929604554467, + 0.009005741844509502, + -0.019046656105268213, + 0.14024440772965935, + -0.9899337003010678 + ], + [ + -0.1960020655861368, + 0.9703777742013168, + 0.1412450552127944, + 0.9804184898180851, + 0.19671929604554467, + 0.009005741844509502, + -0.019046656105268213, + 0.14024440772965935, + -0.9899337003010678 + ], + [ + -0.19603045029369814, + 0.9705855768853235, + 0.13977017027904642, + 0.9804115166704843, + 0.1967702921594997, + 0.008643500641868265, + -0.0191133601841946, + 0.13872667395151106, + -0.9901462464690862 + ], + [ + -0.1960020655861368, + 0.9703777742013168, + 0.1412450552127944, + 0.9804184898180851, + 0.19671929604554467, + 0.009005741844509502, + -0.019046656105268213, + 0.14024440772965935, + -0.9899337003010678 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0013318508863449097, + -0.001902267336845398, + -0.0052443332970142365, + 0.026046231389045715, + 0.009581387042999268, + -0.0018684864044189453, + 1.0 + ], + [ + 0.00791904330253601, + 0.021248474717140198, + -0.001250986009836197, + 0.059980958700180054, + 0.024104848504066467, + 0.04610776901245117, + 1.0 + ], + [ + 0.012738928198814392, + 0.042764484882354736, + 0.011211026459932327, + 0.013799011707305908, + 0.028518304228782654, + 0.10304784774780273, + 1.0 + ], + [ + 0.008714273571968079, + 0.02741493284702301, + 0.009773369878530502, + 0.01525096595287323, + 0.013541929423809052, + 0.052661895751953125, + 1.0 + ], + [ + 0.012437909841537476, + 0.020036250352859497, + -0.0060624852776527405, + 0.03322211652994156, + -0.0012878775596618652, + 0.017089128494262695, + 1.0 + ], + [ + 0.011289790272712708, + 0.00888359546661377, + -0.009497389197349548, + 0.021442584693431854, + 0.0025025755167007446, + -0.009614706039428711, + 1.0 + ], + [ + 0.015085488557815552, + 0.004598051309585571, + -0.00486920028924942, + -0.002645142376422882, + 0.03077019937336445, + -0.015155792236328125, + 1.0 + ], + [ + 0.00757211446762085, + 0.0021030306816101074, + -0.0059224143624305725, + 0.007592968642711639, + 0.031863052397966385, + 0.0009264945983886719, + 1.0 + ], + [ + 0.006617888808250427, + -0.004103422164916992, + -0.007006727159023285, + 0.004028484225273132, + -0.003636084496974945, + -0.024508953094482422, + 1.0 + ], + [ + 0.008271723985671997, + -0.00780901312828064, + -0.001917622983455658, + -0.0013683438301086426, + 0.000161745585501194, + -0.02122044563293457, + 1.0 + ], + [ + 0.0033073127269744873, + -0.006180077791213989, + -0.008979300037026405, + 0.024451762437820435, + 0.01029980555176735, + -0.009807586669921875, + 1.0 + ], + [ + 0.007991760969161987, + -0.009019941091537476, + -0.008920218795537949, + 0.020992714911699295, + 0.021957943215966225, + 0.001916646957397461, + 1.0 + ], + [ + 0.010691285133361816, + -0.01112028956413269, + -0.00488695502281189, + -0.010931260883808136, + -0.0242527574300766, + -0.024564027786254883, + 1.0 + ], + [ + 0.011915802955627441, + -0.025435149669647217, + -0.007925966754555702, + 0.01400793343782425, + -0.004380992613732815, + -0.04403996467590332, + 1.0 + ], + [ + 0.012414664030075073, + -0.02730749547481537, + 0.004104856867343187, + -0.0035325661301612854, + 0.0066740857437253, + -0.049306392669677734, + 1.0 + ], + [ + 0.011282086372375488, + -0.03083917498588562, + 0.010577213950455189, + -0.013094820082187653, + 0.012323131784796715, + -0.05321788787841797, + 1.0 + ], + [ + 0.014352113008499146, + -0.037868767976760864, + 0.007618336006999016, + -0.017061788588762283, + 0.01819140836596489, + -0.06384873390197754, + 1.0 + ], + [ + 0.0075081586837768555, + -0.030828706920146942, + -0.0004147477447986603, + -0.006984084844589233, + -0.014004349708557129, + -0.07080566883087158, + 1.0 + ], + [ + 0.0019754767417907715, + -0.02719302475452423, + -0.005224484950304031, + 0.013359136879444122, + 0.0007340945303440094, + -0.04750943183898926, + 1.0 + ], + [ + -0.0011593401432037354, + -0.017973966896533966, + -0.0039021167904138565, + 0.01406557485461235, + -0.003404807299375534, + -0.04649186134338379, + 1.0 + ], + [ + -0.005617856979370117, + -0.00507427379488945, + -0.0018258802592754364, + 0.007982589304447174, + -0.015780769288539886, + -0.02215099334716797, + 1.0 + ], + [ + 0.0005627870559692383, + 0.002123381942510605, + 0.026550626382231712, + -0.04437099024653435, + -0.010273721069097519, + -0.006568789482116699, + 1.0 + ], + [ + -0.004307061433792114, + 0.014283150434494019, + 0.0258055180311203, + -0.04218767583370209, + 0.008999351412057877, + 0.025193452835083008, + 1.0 + ], + [ + -2.0265579223632812e-05, + 0.002294592559337616, + 0.002983890473842621, + -0.007862314581871033, + 0.0017822012305259705, + 0.0043631792068481445, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.00011947751045227051, + -0.0005136057734489441, + 0.0, + 0.0, + 0.0, + -0.0015339851379394531, + 1.0 + ], + [ + -0.00011947751045227051, + 0.0005136057734489441, + 0.0, + 0.0, + 0.0, + 0.0015339851379394531, + 1.0 + ], + [ + 4.9948692321777344e-05, + -0.0001913011074066162, + 5.513429641723633e-06, + -5.866587162017822e-05, + 0.0013581831008195877, + 0.0007094144821166992, + 1.0 + ], + [ + 6.952881813049316e-05, + -0.0003223046660423279, + -5.513429641723633e-06, + 5.866587162017822e-05, + -0.0013581831008195877, + -0.0022433996200561523, + 1.0 + ], + [ + -0.00011947751045227051, + 0.0005136057734489441, + 0.0, + 0.0, + 0.0, + 0.0015339851379394531, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + -0.0002873241901397705, + -0.0006128624081611633, + -0.0003734305500984192, + 0.001532822847366333, + 6.671622395515442e-05, + -0.0015047788619995117, + 1.0 + ], + [ + 0.0002873241901397705, + 0.0006128624081611633, + 0.0003734305500984192, + -0.001532822847366333, + -6.671622395515442e-05, + 0.0015047788619995117, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + -0.00040665268898010254, + -9.987503290176392e-05, + -0.0003734305500984192, + 0.001532822847366333, + 6.671622395515442e-05, + 2.9206275939941406e-05, + 1.0 + ], + [ + 0.00040665268898010254, + 9.987503290176392e-05, + 0.0003734305500984192, + -0.001532822847366333, + -6.671622395515442e-05, + -2.9206275939941406e-05, + 1.0 + ], + [ + -0.00040665268898010254, + -9.987503290176392e-05, + -0.0003734305500984192, + 0.001532822847366333, + 6.671622395515442e-05, + 2.9206275939941406e-05, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.17321616411209106, + 0.17314821481704712, + 0.05226733162999153 + ], + [ + 0.18113520741462708, + 0.19439668953418732, + 0.051016345620155334 + ], + [ + 0.19387413561344147, + 0.23716117441654205, + 0.06222737208008766 + ], + [ + 0.20258840918540955, + 0.26457610726356506, + 0.07200074195861816 + ], + [ + 0.21502631902694702, + 0.28461235761642456, + 0.06593825668096542 + ], + [ + 0.22631610929965973, + 0.29349595308303833, + 0.056440867483615875 + ], + [ + 0.24140159785747528, + 0.2980940043926239, + 0.051571667194366455 + ], + [ + 0.24897371232509613, + 0.300197035074234, + 0.04564925283193588 + ], + [ + 0.25559160113334656, + 0.296093612909317, + 0.0386425256729126 + ], + [ + 0.26386332511901855, + 0.2882845997810364, + 0.03672490268945694 + ], + [ + 0.26717063784599304, + 0.2821045219898224, + 0.027745602652430534 + ], + [ + 0.27516239881515503, + 0.2730845808982849, + 0.018825383856892586 + ], + [ + 0.28585368394851685, + 0.2619642913341522, + 0.013938428834080696 + ], + [ + 0.2977694869041443, + 0.236529141664505, + 0.006012462545186281 + ], + [ + 0.31018415093421936, + 0.20922164618968964, + 0.010117319412529469 + ], + [ + 0.32146623730659485, + 0.17838247120380402, + 0.020694533362984657 + ], + [ + 0.335818350315094, + 0.14051370322704315, + 0.028312869369983673 + ], + [ + 0.34332650899887085, + 0.10968499630689621, + 0.027898121625185013 + ], + [ + 0.3453019857406616, + 0.08249197155237198, + 0.02267363667488098 + ], + [ + 0.3441426455974579, + 0.06451800465583801, + 0.018771519884467125 + ], + [ + 0.33852478861808777, + 0.05944373086094856, + 0.01694563962519169 + ], + [ + 0.339087575674057, + 0.06156711280345917, + 0.0434962660074234 + ], + [ + 0.3347805142402649, + 0.07585026323795319, + 0.0693017840385437 + ], + [ + 0.33476024866104126, + 0.0781448557972908, + 0.07228567451238632 + ], + [ + 0.33476024866104126, + 0.0781448557972908, + 0.07228567451238632 + ], + [ + 0.33476024866104126, + 0.0781448557972908, + 0.07228567451238632 + ], + [ + 0.33476024866104126, + 0.0781448557972908, + 0.07228567451238632 + ], + [ + 0.33476024866104126, + 0.0781448557972908, + 0.07228567451238632 + ], + [ + 0.33487972617149353, + 0.07763125002384186, + 0.07228567451238632 + ], + [ + 0.33476024866104126, + 0.0781448557972908, + 0.07228567451238632 + ], + [ + 0.33481019735336304, + 0.07795355468988419, + 0.07229118794202805 + ], + [ + 0.33487972617149353, + 0.07763125002384186, + 0.07228567451238632 + ], + [ + 0.33476024866104126, + 0.0781448557972908, + 0.07228567451238632 + ], + [ + 0.33476024866104126, + 0.0781448557972908, + 0.07228567451238632 + ], + [ + 0.33476024866104126, + 0.0781448557972908, + 0.07228567451238632 + ], + [ + 0.33476024866104126, + 0.0781448557972908, + 0.07228567451238632 + ], + [ + 0.33476024866104126, + 0.0781448557972908, + 0.07228567451238632 + ], + [ + 0.3344729244709015, + 0.07753199338912964, + 0.0719122439622879 + ], + [ + 0.33476024866104126, + 0.0781448557972908, + 0.07228567451238632 + ], + [ + 0.33476024866104126, + 0.0781448557972908, + 0.07228567451238632 + ], + [ + 0.33476024866104126, + 0.0781448557972908, + 0.07228567451238632 + ], + [ + 0.33476024866104126, + 0.0781448557972908, + 0.07228567451238632 + ], + [ + 0.33435359597206116, + 0.07804498076438904, + 0.0719122439622879 + ], + [ + 0.33476024866104126, + 0.0781448557972908, + 0.07228567451238632 + ], + [ + 0.33435359597206116, + 0.07804498076438904, + 0.0719122439622879 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + -0.43633049923709627, + 0.8845712184498183, + 0.16477091650443157, + 0.8922656996734918, + 0.40173988477016415, + 0.20607519542882818, + 0.1160931377027983, + 0.23693633000251185, + -0.9645639216263795 + ], + [ + -0.47819779003640256, + 0.8707846775977597, + 0.11428437717057564, + 0.873407581273066, + 0.45786741018978266, + 0.16588137828229496, + 0.09211987070677645, + 0.17914094994463722, + -0.979501122752751 + ], + [ + -0.5667664821343388, + 0.8176363897500473, + 0.10122494201319736, + 0.8214130739242235, + 0.5512913345537993, + 0.14614522377501565, + 0.06368921977403007, + 0.16597770513656307, + -0.9840706705730923 + ], + [ + -0.6096885709548641, + 0.7875685605655479, + 0.08952993273607907, + 0.7910517568948171, + 0.597423093222671, + 0.13161597774540557, + 0.0501693567891702, + 0.15106756797197363, + -0.9872495254728636 + ], + [ + -0.6230764456998126, + 0.7798093855211778, + 0.06060581710670217, + 0.7804665701161266, + 0.614760009700346, + 0.11376319002383489, + 0.05145557059500207, + 0.11818397829787655, + -0.9916576382645521 + ], + [ + -0.615621247484974, + 0.7866767409881972, + 0.04637008554265375, + 0.786520040971735, + 0.6097120244430632, + 0.0981706290056331, + 0.0489561517571034, + 0.09690692667570332, + -0.9940886996477756 + ], + [ + -0.6042551810873733, + 0.7938452577545968, + 0.06844985660761702, + 0.7965828716813982, + 0.5999014605743866, + 0.07465899908607626, + 0.018204523418169645, + 0.09963907035523456, + -0.9948571007867724 + ], + [ + -0.6050367925227725, + 0.792009878107593, + 0.08155263744203028, + 0.796080374945425, + 0.6035229610416769, + 0.044900691779058616, + -0.013657097806893621, + 0.09208902472869501, + -0.9956571172868754 + ], + [ + -0.5853711394438945, + 0.8070760539883441, + 0.07725847645896475, + 0.8107035236451865, + 0.5838407012513271, + 0.04347220159639209, + -0.010021270150809197, + 0.08808109127935612, + -0.9960628973632151 + ], + [ + -0.5680362187972278, + 0.8191668349078206, + 0.07937600847643805, + 0.8229405570836558, + 0.5665381715941068, + 0.042465746592388026, + -0.010183007482595464, + 0.08944381875741825, + -0.9959398122601083 + ], + [ + -0.5598495377155419, + 0.8260127269356621, + 0.06535648445262224, + 0.8283411138847021, + 0.5598844474000642, + 0.019503963899071695, + -0.020481556775440363, + 0.0650567483035892, + -0.9976713513638739 + ], + [ + -0.5610482738014986, + 0.8255838520158221, + 0.06030039597777222, + 0.8266950362465573, + 0.562555925048642, + -0.010302826698065377, + -0.04242819239211533, + 0.04406965490430058, + -0.998127103132138 + ], + [ + -0.5409718225510499, + 0.839167451558761, + 0.056102365816153466, + 0.8408440485485256, + 0.5410831759723919, + 0.014501127547679751, + -0.018187172026454312, + 0.05501804180451844, + -0.9983197092363127 + ], + [ + -0.5034638093052078, + 0.8629753279193401, + 0.04240019012217197, + 0.8639059940488826, + 0.5035771964134347, + 0.008743037160890515, + -0.013806743508189504, + 0.04103158118927552, + -0.9990624520913627 + ], + [ + -0.4602204440961312, + 0.8864525119133144, + 0.048980475278776775, + 0.8875684306864624, + 0.46066989693453325, + 0.0023509374931524434, + -0.020479836052322384, + 0.04455547307460184, + -0.9987969694259029 + ], + [ + -0.41222127037258216, + 0.9086888733022653, + 0.06601632971525997, + 0.910493207867628, + 0.4134796917465188, + -0.006054992990901422, + -0.03279851641965758, + 0.05761142291128761, + -0.9978001710116139 + ], + [ + -0.3530176192135059, + 0.9314865737857643, + 0.08781414112593869, + 0.9342270824728556, + 0.3560507572918598, + -0.02115695172158599, + -0.05097370791971568, + 0.07456957213737592, + -0.9959121748488489 + ], + [ + -0.28621615756603064, + 0.9540444398336946, + 0.08876664897667882, + 0.9574510782198703, + 0.2883486946437019, + -0.01193579125490827, + -0.03698302264208192, + 0.08157350746219583, + -0.9959809330085443 + ], + [ + -0.24041575948141025, + 0.9677406504901995, + 0.07535446889058607, + 0.9699369671811375, + 0.24252566991161473, + -0.020089278966144892, + -0.03771660494309946, + 0.06825930575920078, + -0.9969544246799038 + ], + [ + -0.19510198468416368, + 0.9789512653464578, + 0.05991356815337799, + 0.9801825158680497, + 0.19675562279767672, + -0.023010008345913394, + -0.03431400820191341, + 0.054236933671323026, + -0.997938326685097 + ], + [ + -0.17341621444155303, + 0.9836385082877895, + 0.04880677803474836, + 0.984674121335731, + 0.17410532141435203, + -0.010208419412971084, + -0.018538914220289797, + 0.0462884658265648, + -0.9987560696140751 + ], + [ + -0.166967393976108, + 0.9817851689411223, + 0.09066295492691026, + 0.9859277660808481, + 0.16702508285598822, + 0.00700441059466423, + -0.008266161119620509, + 0.09055663280070697, + -0.9958570011985366 + ], + [ + -0.1917286766281568, + 0.972352905713576, + 0.13330394333544965, + 0.9812961036328112, + 0.1923118268657918, + 0.00860919523557404, + -0.017264748868088417, + 0.13246126980331588, + -0.9910378097976962 + ], + [ + -0.1960020655861368, + 0.9703777742013168, + 0.1412450552127944, + 0.9804184898180851, + 0.19671929604554467, + 0.009005741844509502, + -0.019046656105268213, + 0.14024440772965935, + -0.9899337003010678 + ], + [ + -0.1960020655861368, + 0.9703777742013168, + 0.1412450552127944, + 0.9804184898180851, + 0.19671929604554467, + 0.009005741844509502, + -0.019046656105268213, + 0.14024440772965935, + -0.9899337003010678 + ], + [ + -0.1960020655861368, + 0.9703777742013168, + 0.1412450552127944, + 0.9804184898180851, + 0.19671929604554467, + 0.009005741844509502, + -0.019046656105268213, + 0.14024440772965935, + -0.9899337003010678 + ], + [ + -0.1960020655861368, + 0.9703777742013168, + 0.1412450552127944, + 0.9804184898180851, + 0.19671929604554467, + 0.009005741844509502, + -0.019046656105268213, + 0.14024440772965935, + -0.9899337003010678 + ], + [ + -0.1960020655861368, + 0.9703777742013168, + 0.1412450552127944, + 0.9804184898180851, + 0.19671929604554467, + 0.009005741844509502, + -0.019046656105268213, + 0.14024440772965935, + -0.9899337003010678 + ], + [ + -0.194497888176416, + 0.9706783968566552, + 0.14125870369895027, + 0.9807180004395359, + 0.19523052009445274, + 0.008789063518229195, + -0.019046656105268234, + 0.14024440772965938, + -0.9899337003010679 + ], + [ + -0.1960020655861368, + 0.9703777742013168, + 0.1412450552127944, + 0.9804184898180851, + 0.19671929604554467, + 0.009005741844509502, + -0.019046656105268213, + 0.14024440772965935, + -0.9899337003010678 + ], + [ + -0.19669226860190542, + 0.9701921986669063, + 0.14156005481105824, + 0.9802529289921945, + 0.1975939419372496, + 0.007799314836729215, + -0.020404574841428373, + 0.14029872328561221, + -0.9898989451302429 + ], + [ + -0.194497888176416, + 0.9706783968566552, + 0.14125870369895027, + 0.9807180004395359, + 0.19523052009445274, + 0.008789063518229195, + -0.019046656105268234, + 0.14024440772965938, + -0.9899337003010679 + ], + [ + -0.1960020655861368, + 0.9703777742013168, + 0.1412450552127944, + 0.9804184898180851, + 0.19671929604554467, + 0.009005741844509502, + -0.019046656105268213, + 0.14024440772965935, + -0.9899337003010678 + ], + [ + -0.1960020655861368, + 0.9703777742013168, + 0.1412450552127944, + 0.9804184898180851, + 0.19671929604554467, + 0.009005741844509502, + -0.019046656105268213, + 0.14024440772965935, + -0.9899337003010678 + ], + [ + -0.1960020655861368, + 0.9703777742013168, + 0.1412450552127944, + 0.9804184898180851, + 0.19671929604554467, + 0.009005741844509502, + -0.019046656105268213, + 0.14024440772965935, + -0.9899337003010678 + ], + [ + -0.1960020655861368, + 0.9703777742013168, + 0.1412450552127944, + 0.9804184898180851, + 0.19671929604554467, + 0.009005741844509502, + -0.019046656105268213, + 0.14024440772965935, + -0.9899337003010678 + ], + [ + -0.1960020655861368, + 0.9703777742013168, + 0.1412450552127944, + 0.9804184898180851, + 0.19671929604554467, + 0.009005741844509502, + -0.019046656105268213, + 0.14024440772965935, + -0.9899337003010678 + ], + [ + -0.19452628354728163, + 0.9708862775234206, + 0.13978326482808218, + 0.9807110708418416, + 0.19528119738230387, + 0.008429085192465866, + -0.019113360184194614, + 0.13872667395151106, + -0.9901462464690861 + ], + [ + -0.1960020655861368, + 0.9703777742013168, + 0.1412450552127944, + 0.9804184898180851, + 0.19671929604554467, + 0.009005741844509502, + -0.019046656105268213, + 0.14024440772965935, + -0.9899337003010678 + ], + [ + -0.1960020655861368, + 0.9703777742013168, + 0.1412450552127944, + 0.9804184898180851, + 0.19671929604554467, + 0.009005741844509502, + -0.019046656105268213, + 0.14024440772965935, + -0.9899337003010678 + ], + [ + -0.1960020655861368, + 0.9703777742013168, + 0.1412450552127944, + 0.9804184898180851, + 0.19671929604554467, + 0.009005741844509502, + -0.019046656105268213, + 0.14024440772965935, + -0.9899337003010678 + ], + [ + -0.1960020655861368, + 0.9703777742013168, + 0.1412450552127944, + 0.9804184898180851, + 0.19671929604554467, + 0.009005741844509502, + -0.019046656105268213, + 0.14024440772965935, + -0.9899337003010678 + ], + [ + -0.19603045029369814, + 0.9705855768853235, + 0.13977017027904642, + 0.9804115166704843, + 0.1967702921594997, + 0.008643500641868265, + -0.0191133601841946, + 0.13872667395151106, + -0.9901462464690862 + ], + [ + -0.1960020655861368, + 0.9703777742013168, + 0.1412450552127944, + 0.9804184898180851, + 0.19671929604554467, + 0.009005741844509502, + -0.019046656105268213, + 0.14024440772965935, + -0.9899337003010678 + ], + [ + -0.19603045029369814, + 0.9705855768853235, + 0.13977017027904642, + 0.9804115166704843, + 0.1967702921594997, + 0.008643500641868265, + -0.0191133601841946, + 0.13872667395151106, + -0.9901462464690862 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006271.json b/json/chunk-0006/episode_0006271.json new file mode 100644 index 0000000000000000000000000000000000000000..c98fad09832bfd01bccc8c484e0c27e4b42f1ee3 --- /dev/null +++ b/json/chunk-0006/episode_0006271.json @@ -0,0 +1,1762 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 28, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nUnfold the cloth from top to bottom." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006271.mp4", + "start": 0, + "end": 28, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.34872716665267944, + 0.030322670936584473, + 0.152631014585495, + -0.12031558901071548, + -0.2369452565908432, + 0.12817592918872833, + 0.0, + 1.0001531839370728 + ], + [ + 0.34966450929641724, + 0.030355747789144516, + 0.1434459388256073, + -0.11927369982004166, + -0.20991884171962738, + 0.13317658007144928, + 0.0, + 1.0001531839370728 + ], + [ + 0.3524160087108612, + 0.009782985784113407, + 0.12498453259468079, + -0.0696808323264122, + -0.1614253968000412, + 0.06911834329366684, + 0.0, + 1.0001531839370728 + ], + [ + 0.35438621044158936, + -0.002090547466650605, + 0.11225052177906036, + -0.026260515674948692, + -0.13461212813854218, + 0.025356166064739227, + 0.0, + 1.0001531839370728 + ], + [ + 0.3599053621292114, + -0.004097914323210716, + 0.10251865535974503, + 0.0029914588667452335, + -0.1228119432926178, + 0.006623918190598488, + 0.0, + 1.0001531839370728 + ], + [ + 0.36464571952819824, + 0.0002475497603882104, + 0.08861298859119415, + 0.04627899453043938, + -0.0891280248761177, + 0.03190566971898079, + 0.0, + 1.0001531839370728 + ], + [ + 0.36772388219833374, + 0.009103590622544289, + 0.08635106682777405, + 0.048188596963882446, + -0.08399369567632675, + 0.07076703011989594, + 0.0, + 1.0001531839370728 + ], + [ + 0.3663403391838074, + 0.013897871598601341, + 0.07372254878282547, + 0.0776805505156517, + -0.041391123086214066, + 0.08030335605144501, + 0.0, + 0.9422301650047302 + ], + [ + 0.36538591980934143, + 0.019807007163763046, + 0.07143908739089966, + 0.08814850449562073, + -0.02267519198358059, + 0.09466073662042618, + 0.0, + 0.6551066637039185 + ], + [ + 0.3635018765926361, + 0.023519450798630714, + 0.05565668269991875, + 0.12659883499145508, + 0.02828662097454071, + 0.08862809836864471, + 0.0, + 0.35357794165611267 + ], + [ + 0.36257585883140564, + 0.021966466680169106, + 0.053114086389541626, + 0.11993645876646042, + 0.028821617364883423, + 0.07595635950565338, + 0.0, + 0.146205335855484 + ], + [ + 0.3600985109806061, + 0.020812969654798508, + 0.052083443850278854, + 0.11986331641674042, + 0.03418473154306412, + 0.06644414365291595, + 0.0, + 0.06065736711025238 + ], + [ + 0.3590978682041168, + 0.016426658257842064, + 0.07451047748327255, + 0.10587824881076813, + -0.02842923440039158, + 0.05294153466820717, + 0.0, + 0.05403778702020645 + ], + [ + 0.34860724210739136, + 0.011614413000643253, + 0.0944078341126442, + 0.07279465347528458, + -0.06576506048440933, + 0.0598561130464077, + 0.0, + 0.05377154052257538 + ], + [ + 0.32965368032455444, + 0.009058556519448757, + 0.11346633732318878, + 0.058517444878816605, + -0.11413490027189255, + 0.04159879684448242, + 0.0, + 0.05377154052257538 + ], + [ + 0.31393003463745117, + -0.004072156269103289, + 0.10343482345342636, + 0.025125321000814438, + -0.08478986471891403, + -0.01630280539393425, + 0.0, + 0.05377154052257538 + ], + [ + 0.28932541608810425, + -0.020501673221588135, + 0.09110691398382187, + 0.009714426472783089, + -0.04417722672224045, + -0.11180172115564346, + 0.0, + 0.05377154052257538 + ], + [ + 0.2642984688282013, + -0.0310653243213892, + 0.06614244729280472, + -0.048175811767578125, + 0.012457025237381458, + -0.16734986007213593, + 0.0, + 0.05377154052257538 + ], + [ + 0.24138209223747253, + -0.04363665729761124, + 0.047586724162101746, + -0.046323735266923904, + 0.05906006321310997, + -0.266425222158432, + 0.0, + 0.05377154052257538 + ], + [ + 0.2276216298341751, + -0.04505685716867447, + 0.030382798984646797, + -0.03383886069059372, + 0.11023249477148056, + -0.29519152641296387, + 0.0, + 0.05377154052257538 + ], + [ + 0.2166469842195511, + -0.04486086964607239, + 0.017348067834973335, + -0.04972561076283455, + 0.1399340033531189, + -0.3197172284126282, + 0.0, + 0.05377154052257538 + ], + [ + 0.208878293633461, + -0.04237963259220123, + 0.013046535663306713, + -0.04656948521733284, + 0.1618923842906952, + -0.33609241247177124, + 0.0, + 0.06987876445055008 + ], + [ + 0.20596228539943695, + -0.040558312088251114, + 0.01596943661570549, + -0.0413137786090374, + 0.16272251307964325, + -0.3380190432071686, + 0.0, + 0.2111179232597351 + ], + [ + 0.20871756970882416, + -0.03802943229675293, + 0.025318417698144913, + -0.04885980486869812, + 0.1281948983669281, + -0.33778053522109985, + 0.0, + 0.4624805450439453 + ], + [ + 0.21005526185035706, + -0.035513509064912796, + 0.03370776027441025, + -0.033987801522016525, + 0.1060563176870346, + -0.33365464210510254, + 0.0, + 0.775918185710907 + ], + [ + 0.2090453803539276, + -0.035612136125564575, + 0.045248303562402725, + -0.03240230306982994, + 0.0859970897436142, + -0.33753249049186707, + 0.0, + 1.0001531839370728 + ], + [ + 0.2123887687921524, + -0.03666480630636215, + 0.06684482842683792, + -0.028194619342684746, + 0.04461722820997238, + -0.3379731774330139, + 0.0, + 1.003452181816101 + ], + [ + 0.21625018119812012, + -0.03664461523294449, + 0.09099369496107101, + -0.0444595143198967, + -0.030343053862452507, + -0.3375355005264282, + 0.0, + 1.0001531839370728 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9422301650047302 + ], + [ + 0.6551066637039185 + ], + [ + 0.35357794165611267 + ], + [ + 0.146205335855484 + ], + [ + 0.06065736711025238 + ], + [ + 0.05403778702020645 + ], + [ + 0.05377154052257538 + ], + [ + 0.05377154052257538 + ], + [ + 0.05377154052257538 + ], + [ + 0.05377154052257538 + ], + [ + 0.05377154052257538 + ], + [ + 0.05377154052257538 + ], + [ + 0.05377154052257538 + ], + [ + 0.05377154052257538 + ], + [ + 0.06987876445055008 + ], + [ + 0.2111179232597351 + ], + [ + 0.4624805450439453 + ], + [ + 0.775918185710907 + ], + [ + 1.0001531839370728 + ], + [ + 1.003452181816101 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.34872716665267944, + 0.030322670936584473, + 0.152631014585495 + ], + [ + 0.34966450929641724, + 0.030355747789144516, + 0.1434459388256073 + ], + [ + 0.3524160087108612, + 0.009782985784113407, + 0.12498453259468079 + ], + [ + 0.35438621044158936, + -0.002090547466650605, + 0.11225052177906036 + ], + [ + 0.3599053621292114, + -0.004097914323210716, + 0.10251865535974503 + ], + [ + 0.36464571952819824, + 0.0002475497603882104, + 0.08861298859119415 + ], + [ + 0.36772388219833374, + 0.009103590622544289, + 0.08635106682777405 + ], + [ + 0.3663403391838074, + 0.013897871598601341, + 0.07372254878282547 + ], + [ + 0.36538591980934143, + 0.019807007163763046, + 0.07143908739089966 + ], + [ + 0.3635018765926361, + 0.023519450798630714, + 0.05565668269991875 + ], + [ + 0.36257585883140564, + 0.021966466680169106, + 0.053114086389541626 + ], + [ + 0.3600985109806061, + 0.020812969654798508, + 0.052083443850278854 + ], + [ + 0.3590978682041168, + 0.016426658257842064, + 0.07451047748327255 + ], + [ + 0.34860724210739136, + 0.011614413000643253, + 0.0944078341126442 + ], + [ + 0.32965368032455444, + 0.009058556519448757, + 0.11346633732318878 + ], + [ + 0.31393003463745117, + -0.004072156269103289, + 0.10343482345342636 + ], + [ + 0.28932541608810425, + -0.020501673221588135, + 0.09110691398382187 + ], + [ + 0.2642984688282013, + -0.0310653243213892, + 0.06614244729280472 + ], + [ + 0.24138209223747253, + -0.04363665729761124, + 0.047586724162101746 + ], + [ + 0.2276216298341751, + -0.04505685716867447, + 0.030382798984646797 + ], + [ + 0.2166469842195511, + -0.04486086964607239, + 0.017348067834973335 + ], + [ + 0.208878293633461, + -0.04237963259220123, + 0.013046535663306713 + ], + [ + 0.20596228539943695, + -0.040558312088251114, + 0.01596943661570549 + ], + [ + 0.20871756970882416, + -0.03802943229675293, + 0.025318417698144913 + ], + [ + 0.21005526185035706, + -0.035513509064912796, + 0.03370776027441025 + ], + [ + 0.2090453803539276, + -0.035612136125564575, + 0.045248303562402725 + ], + [ + 0.2123887687921524, + -0.03666480630636215, + 0.06684482842683792 + ], + [ + 0.21625018119812012, + -0.03664461523294449, + 0.09099369496107101 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9640854717478771, + 0.09895818526199637, + 0.24646801158431508, + 0.12425375544585218, + -0.9882281783239504, + -0.08925285331085536, + 0.23473433370999658, + 0.11667195522566298, + -0.9650323556449002 + ], + [ + 0.9693873124772474, + 0.10726401018498141, + 0.2208679934421809, + 0.12986837831862635, + -0.9873957483077431, + -0.09046458166974339, + 0.20838052385246852, + 0.11637898583003606, + -0.9710991138581802 + ], + [ + 0.984642509327758, + 0.05773203715807998, + 0.16476085915749047, + 0.06816544352459097, + -0.9959641921198505, + -0.058384932338313655, + 0.16072523490053495, + 0.06871928332449151, + -0.9846040112479414 + ], + [ + 0.9906349181176355, + 0.021821927688858364, + 0.13478227805615978, + 0.025124088110637176, + -0.9994232162886499, + -0.022847646265193908, + 0.13420595814893865, + 0.02601995801673642, + -0.9906117920669694 + ], + [ + 0.9924463144500588, + 0.006990295565324476, + 0.12248040129916649, + 0.006573979343038925, + -0.9999711602161045, + 0.0038028320572164593, + 0.12250345191092679, + -0.002968923031589171, + -0.9924636465714702 + ], + [ + 0.9955238036586228, + 0.03598183230782354, + 0.08739373028335257, + 0.031773635963384374, + -0.9982895609440197, + 0.04907533563677922, + 0.08901006913116086, + -0.04607884822744456, + -0.9949642945047315 + ], + [ + 0.9939804853003458, + 0.0746569987318376, + 0.0801818394802919, + 0.07045870464887484, + -0.9960533720551247, + 0.05397453989445339, + 0.0838949687483792, + -0.048000130812006284, + -0.9953178495640167 + ], + [ + 0.9959236876972336, + 0.0831759594554931, + 0.03489653352700193, + 0.08014837097401341, + -0.9935139309205407, + 0.08066168667358016, + 0.04137930538028552, + -0.07753598413300151, + -0.9961304755155179 + ], + [ + 0.9952670967803504, + 0.09613954136027093, + 0.014163144193629199, + 0.09449513135888442, + -0.9914691715556682, + 0.0897750076813391, + 0.02267324890437975, + -0.0880117630874082, + -0.9958613625110506 + ], + [ + 0.9956766305811998, + 0.08424675611605444, + -0.03912200657419487, + 0.088476707498525, + -0.9884196542357375, + 0.12328203174317828, + -0.028282848949314713, + -0.12621042430967266, + -0.9916002265282532 + ], + [ + 0.9967025857703011, + 0.07190015397583689, + -0.03760749096984346, + 0.07585182844641573, + -0.9902153018464733, + 0.1171330700973625, + -0.0288176272467292, + -0.11959943079859982, + -0.9924039099643451 + ], + [ + 0.9972104480284565, + 0.06184100133749526, + -0.041797283362209156, + 0.0663564737363955, + -0.9909055719829308, + 0.1170596677188668, + -0.034178073909393314, + -0.11950664402767053, + -0.9922449401720764 + ], + [ + 0.9981954069287522, + 0.05562028352358969, + 0.022634346624059498, + 0.05289542451744504, + -0.992847939803136, + 0.10702823222770397, + 0.028425405036021034, + -0.10563783644804334, + -0.9939983117989257 + ], + [ + 0.9960512866939356, + 0.0644330629492284, + 0.06107548341467234, + 0.05969106158413531, + -0.995279617737484, + 0.07652097544651804, + 0.065717664613969, + -0.0725731556107933, + -0.9951956217962262 + ], + [ + 0.992634203368766, + 0.04817044456104376, + 0.11116180357139847, + 0.04131622333918669, + -0.9971477258475818, + 0.06316155892615186, + 0.11388726000497691, + -0.05810353782504743, + -0.9917931593335233 + ], + [ + 0.9962750821137095, + -0.014169623676094045, + 0.08505987611206152, + -0.016243517883344577, + -0.9995862141436429, + 0.02373917902440164, + 0.08468830430522768, + -0.02503242415062914, + -0.9960930021112728 + ], + [ + 0.9927871312104662, + -0.11113735741891669, + 0.04496887689093979, + -0.11146010061069604, + -0.993757669013145, + 0.004726653087978039, + 0.044162858543645565, + -0.009704795902054962, + -0.9989772063774796 + ], + [ + 0.985953158476449, + -0.16578506202218596, + -0.020289960586806786, + -0.1665568967021978, + -0.9849855629450587, + -0.045411903183410623, + -0.0124567030649217, + 0.04815344224565886, + -0.9987622722893804 + ], + [ + 0.9630362184047806, + -0.2603651553044554, + -0.06907407577309013, + -0.26282542624578636, + -0.9644029774788598, + -0.02914948281926295, + -0.05902573472088654, + 0.04622643111031427, + -0.9971855793719958 + ], + [ + 0.9509395140188319, + -0.2871956528307937, + -0.11503346327361291, + -0.2891573539570231, + -0.9572815040004327, + -0.00038308124749592, + -0.1100093874639809, + 0.03362705895203381, + -0.9933615432339002 + ], + [ + 0.9400448784095107, + -0.3073282018950634, + -0.14786819433534532, + -0.31122593094342343, + -0.9503298587376252, + -0.0034028664570837815, + -0.13947776340495183, + 0.049219263623834025, + -0.9890012222458979 + ], + [ + 0.9317062122935948, + -0.32235928354554333, + -0.16735598670357446, + -0.3254881937919757, + -0.9455017965778055, + 0.00915359875564871, + -0.1611861336330153, + 0.045943933006939525, + -0.9858540385596104 + ], + [ + 0.9309508334554032, + -0.32502339448266604, + -0.16640414275989487, + -0.32723815730595385, + -0.9448273424723316, + 0.014713304172590798, + -0.16200535204644936, + 0.04075642226246862, + -0.9859478586379045 + ], + [ + 0.9357504713253003, + -0.3251072544446237, + -0.13666136440836754, + -0.3286745367744089, + -0.9444357461451753, + -0.0037643431476591938, + -0.1278440623987114, + 0.048439596516531166, + -0.9906106708483963 + ], + [ + 0.9395429267560786, + -0.32391036589033034, + -0.11109079012867759, + -0.32565818757688475, + -0.9454841556688847, + 0.00254091385816195, + -0.10585761024489507, + 0.033790327726856674, + -0.9938070135118544 + ], + [ + 0.940087724010257, + -0.32836041919825437, + -0.09173061794821566, + -0.32993603151302725, + -0.9440008665332414, + -0.002139881754622819, + -0.08589113036076265, + 0.032276912622426386, + -0.9957815596991715 + ], + [ + 0.9424897632615906, + -0.33025757993602867, + -0.051409892451830495, + -0.3312456334831535, + -0.9434706068357612, + -0.011812888525046457, + -0.04460242645255381, + 0.028162828901913975, + -0.9986077701594287 + ], + [ + 0.94313933917881, + -0.3321077228432413, + 0.013879744998912232, + -0.33101022416893167, + -0.9421947421822618, + -0.05197402524083818, + 0.03033839793053756, + 0.044424410316609354, + -0.9985519783061022 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + 0.000937342643737793, + 3.3076852560043335e-05, + -0.009185075759887695, + 0.0010418891906738281, + 0.02702641487121582, + 0.005000650882720947, + 1.0 + ], + [ + 0.0027514994144439697, + -0.020572762936353683, + -0.018461406230926514, + 0.049592867493629456, + 0.04849344491958618, + -0.06405823677778244, + 1.0 + ], + [ + 0.0019702017307281494, + -0.011873533017933369, + -0.012734010815620422, + 0.04342031478881836, + 0.026813268661499023, + -0.04376217722892761, + 1.0 + ], + [ + 0.00551915168762207, + -0.002007366856560111, + -0.009731866419315338, + 0.02925197407603264, + 0.011800184845924377, + -0.01873224787414074, + 1.0 + ], + [ + 0.004740357398986816, + 0.004345464054495096, + -0.013905666768550873, + 0.04328753426671028, + 0.03368391841650009, + 0.0252817515283823, + 1.0 + ], + [ + 0.003078162670135498, + 0.008856040425598621, + -0.002261921763420105, + 0.0019096024334430695, + 0.005134329199790955, + 0.038861360400915146, + 1.0 + ], + [ + -0.0013835430145263672, + 0.004794280976057053, + -0.012628518044948578, + 0.029491953551769257, + 0.042602572590112686, + 0.009536325931549072, + 0.0 + ], + [ + -0.0009544193744659424, + 0.005909135565161705, + -0.0022834613919258118, + 0.010467953979969025, + 0.018715931102633476, + 0.01435738056898117, + 0.0 + ], + [ + -0.0018840432167053223, + 0.003712443634867668, + -0.01578240469098091, + 0.03845033049583435, + 0.05096181482076645, + -0.006032638251781464, + 0.0 + ], + [ + -0.0009260177612304688, + -0.0015529841184616089, + -0.002542596310377121, + -0.006662376224994659, + 0.0005349963903427124, + -0.012671738862991333, + 0.0 + ], + [ + -0.0024773478507995605, + -0.0011534970253705978, + -0.0010306425392627716, + -7.314234972000122e-05, + 0.005363114178180695, + -0.009512215852737427, + 0.0 + ], + [ + -0.0010006427764892578, + -0.004386311396956444, + 0.022427033632993698, + -0.01398506760597229, + -0.06261396408081055, + -0.013502608984708786, + 0.0 + ], + [ + -0.010490626096725464, + -0.004812245257198811, + 0.019897356629371643, + -0.03308359533548355, + -0.0373358279466629, + 0.006914578378200531, + 0.0 + ], + [ + -0.018953561782836914, + -0.002555856481194496, + 0.019058503210544586, + -0.014277208596467972, + -0.048369839787483215, + -0.018257316201925278, + 0.0 + ], + [ + -0.01572364568710327, + -0.013130713254213333, + -0.01003151386976242, + -0.03339212387800217, + 0.029345035552978516, + -0.05790160223841667, + 0.0 + ], + [ + -0.024604618549346924, + -0.016429517418146133, + -0.012327909469604492, + -0.01541089452803135, + 0.040612637996673584, + -0.09549891948699951, + 0.0 + ], + [ + -0.025026947259902954, + -0.010563651099801064, + -0.02496446669101715, + -0.057890236377716064, + 0.05663425102829933, + -0.05554813891649246, + 0.0 + ], + [ + -0.02291637659072876, + -0.012571332976222038, + -0.018555723130702972, + 0.0018520765006542206, + 0.046603038907051086, + -0.09907536208629608, + 0.0 + ], + [ + -0.013760462403297424, + -0.0014201998710632324, + -0.01720392517745495, + 0.012484874576330185, + 0.05117243155837059, + -0.02876630425453186, + 0.0 + ], + [ + -0.010974645614624023, + 0.0001959875226020813, + -0.013034731149673462, + -0.01588675007224083, + 0.029701508581638336, + -0.024525701999664307, + 0.0 + ], + [ + -0.007768690586090088, + 0.002481237053871155, + -0.004301532171666622, + 0.003156125545501709, + 0.021958380937576294, + -0.016375184059143066, + 1.0 + ], + [ + -0.002916008234024048, + 0.001821320503950119, + 0.002922900952398777, + 0.005255706608295441, + 0.0008301287889480591, + -0.0019266307353973389, + 1.0 + ], + [ + 0.002755284309387207, + 0.002528879791498184, + 0.009348981082439423, + -0.007546026259660721, + -0.03452761471271515, + 0.00023850798606872559, + 1.0 + ], + [ + 0.001337692141532898, + 0.0025159232318401337, + 0.008389342576265335, + 0.014872003346681595, + -0.022138580679893494, + 0.0041258931159973145, + 1.0 + ], + [ + -0.0010098814964294434, + -9.862706065177917e-05, + 0.011540543287992477, + 0.0015854984521865845, + -0.02005922794342041, + -0.0038778483867645264, + 1.0 + ], + [ + 0.0033433884382247925, + -0.001052670180797577, + 0.021596524864435196, + 0.004207683727145195, + -0.041379861533641815, + -0.0004406869411468506, + 1.0 + ], + [ + 0.0038614124059677124, + 2.0191073417663574e-05, + 0.024148866534233093, + -0.016264894977211952, + -0.07496028393507004, + 0.00043767690658569336, + 1.0 + ], + [ + 0.0005088448524475098, + 5.780532956123352e-05, + 0.0010296478867530823, + -0.00017747655510902405, + -0.005056990310549736, + -0.0038771629333496094, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9422301650047302 + ], + [ + 0.6551066637039185 + ], + [ + 0.35357794165611267 + ], + [ + 0.146205335855484 + ], + [ + 0.06065736711025238 + ], + [ + 0.05403778702020645 + ], + [ + 0.05377154052257538 + ], + [ + 0.05377154052257538 + ], + [ + 0.05377154052257538 + ], + [ + 0.05377154052257538 + ], + [ + 0.05377154052257538 + ], + [ + 0.05377154052257538 + ], + [ + 0.05377154052257538 + ], + [ + 0.05377154052257538 + ], + [ + 0.06987876445055008 + ], + [ + 0.2111179232597351 + ], + [ + 0.4624805450439453 + ], + [ + 0.775918185710907 + ], + [ + 1.0001531839370728 + ], + [ + 1.003452181816101 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.34966450929641724, + 0.030355747789144516, + 0.1434459388256073 + ], + [ + 0.3524160087108612, + 0.009782985784113407, + 0.12498453259468079 + ], + [ + 0.35438621044158936, + -0.002090547466650605, + 0.11225052177906036 + ], + [ + 0.3599053621292114, + -0.004097914323210716, + 0.10251865535974503 + ], + [ + 0.36464571952819824, + 0.0002475497603882104, + 0.08861298859119415 + ], + [ + 0.36772388219833374, + 0.009103590622544289, + 0.08635106682777405 + ], + [ + 0.3663403391838074, + 0.013897871598601341, + 0.07372254878282547 + ], + [ + 0.36538591980934143, + 0.019807007163763046, + 0.07143908739089966 + ], + [ + 0.3635018765926361, + 0.023519450798630714, + 0.05565668269991875 + ], + [ + 0.36257585883140564, + 0.021966466680169106, + 0.053114086389541626 + ], + [ + 0.3600985109806061, + 0.020812969654798508, + 0.052083443850278854 + ], + [ + 0.3590978682041168, + 0.016426658257842064, + 0.07451047748327255 + ], + [ + 0.34860724210739136, + 0.011614413000643253, + 0.0944078341126442 + ], + [ + 0.32965368032455444, + 0.009058556519448757, + 0.11346633732318878 + ], + [ + 0.31393003463745117, + -0.004072156269103289, + 0.10343482345342636 + ], + [ + 0.28932541608810425, + -0.020501673221588135, + 0.09110691398382187 + ], + [ + 0.2642984688282013, + -0.0310653243213892, + 0.06614244729280472 + ], + [ + 0.24138209223747253, + -0.04363665729761124, + 0.047586724162101746 + ], + [ + 0.2276216298341751, + -0.04505685716867447, + 0.030382798984646797 + ], + [ + 0.2166469842195511, + -0.04486086964607239, + 0.017348067834973335 + ], + [ + 0.208878293633461, + -0.04237963259220123, + 0.013046535663306713 + ], + [ + 0.20596228539943695, + -0.040558312088251114, + 0.01596943661570549 + ], + [ + 0.20871756970882416, + -0.03802943229675293, + 0.025318417698144913 + ], + [ + 0.21005526185035706, + -0.035513509064912796, + 0.03370776027441025 + ], + [ + 0.2090453803539276, + -0.035612136125564575, + 0.045248303562402725 + ], + [ + 0.2123887687921524, + -0.03666480630636215, + 0.06684482842683792 + ], + [ + 0.21625018119812012, + -0.03664461523294449, + 0.09099369496107101 + ], + [ + 0.21675902605056763, + -0.036586809903383255, + 0.0920233428478241 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9693873124772474, + 0.10726401018498141, + 0.2208679934421809, + 0.12986837831862635, + -0.9873957483077431, + -0.09046458166974339, + 0.20838052385246852, + 0.11637898583003606, + -0.9710991138581802 + ], + [ + 0.984642509327758, + 0.05773203715807998, + 0.16476085915749047, + 0.06816544352459097, + -0.9959641921198505, + -0.058384932338313655, + 0.16072523490053495, + 0.06871928332449151, + -0.9846040112479414 + ], + [ + 0.9906349181176355, + 0.021821927688858364, + 0.13478227805615978, + 0.025124088110637176, + -0.9994232162886499, + -0.022847646265193908, + 0.13420595814893865, + 0.02601995801673642, + -0.9906117920669694 + ], + [ + 0.9924463144500588, + 0.006990295565324476, + 0.12248040129916649, + 0.006573979343038925, + -0.9999711602161045, + 0.0038028320572164593, + 0.12250345191092679, + -0.002968923031589171, + -0.9924636465714702 + ], + [ + 0.9955238036586228, + 0.03598183230782354, + 0.08739373028335257, + 0.031773635963384374, + -0.9982895609440197, + 0.04907533563677922, + 0.08901006913116086, + -0.04607884822744456, + -0.9949642945047315 + ], + [ + 0.9939804853003458, + 0.0746569987318376, + 0.0801818394802919, + 0.07045870464887484, + -0.9960533720551247, + 0.05397453989445339, + 0.0838949687483792, + -0.048000130812006284, + -0.9953178495640167 + ], + [ + 0.9959236876972336, + 0.0831759594554931, + 0.03489653352700193, + 0.08014837097401341, + -0.9935139309205407, + 0.08066168667358016, + 0.04137930538028552, + -0.07753598413300151, + -0.9961304755155179 + ], + [ + 0.9952670967803504, + 0.09613954136027093, + 0.014163144193629199, + 0.09449513135888442, + -0.9914691715556682, + 0.0897750076813391, + 0.02267324890437975, + -0.0880117630874082, + -0.9958613625110506 + ], + [ + 0.9956766305811998, + 0.08424675611605444, + -0.03912200657419487, + 0.088476707498525, + -0.9884196542357375, + 0.12328203174317828, + -0.028282848949314713, + -0.12621042430967266, + -0.9916002265282532 + ], + [ + 0.9967025857703011, + 0.07190015397583689, + -0.03760749096984346, + 0.07585182844641573, + -0.9902153018464733, + 0.1171330700973625, + -0.0288176272467292, + -0.11959943079859982, + -0.9924039099643451 + ], + [ + 0.9972104480284565, + 0.06184100133749526, + -0.041797283362209156, + 0.0663564737363955, + -0.9909055719829308, + 0.1170596677188668, + -0.034178073909393314, + -0.11950664402767053, + -0.9922449401720764 + ], + [ + 0.9981954069287522, + 0.05562028352358969, + 0.022634346624059498, + 0.05289542451744504, + -0.992847939803136, + 0.10702823222770397, + 0.028425405036021034, + -0.10563783644804334, + -0.9939983117989257 + ], + [ + 0.9960512866939356, + 0.0644330629492284, + 0.06107548341467234, + 0.05969106158413531, + -0.995279617737484, + 0.07652097544651804, + 0.065717664613969, + -0.0725731556107933, + -0.9951956217962262 + ], + [ + 0.992634203368766, + 0.04817044456104376, + 0.11116180357139847, + 0.04131622333918669, + -0.9971477258475818, + 0.06316155892615186, + 0.11388726000497691, + -0.05810353782504743, + -0.9917931593335233 + ], + [ + 0.9962750821137095, + -0.014169623676094045, + 0.08505987611206152, + -0.016243517883344577, + -0.9995862141436429, + 0.02373917902440164, + 0.08468830430522768, + -0.02503242415062914, + -0.9960930021112728 + ], + [ + 0.9927871312104662, + -0.11113735741891669, + 0.04496887689093979, + -0.11146010061069604, + -0.993757669013145, + 0.004726653087978039, + 0.044162858543645565, + -0.009704795902054962, + -0.9989772063774796 + ], + [ + 0.985953158476449, + -0.16578506202218596, + -0.020289960586806786, + -0.1665568967021978, + -0.9849855629450587, + -0.045411903183410623, + -0.0124567030649217, + 0.04815344224565886, + -0.9987622722893804 + ], + [ + 0.9630362184047806, + -0.2603651553044554, + -0.06907407577309013, + -0.26282542624578636, + -0.9644029774788598, + -0.02914948281926295, + -0.05902573472088654, + 0.04622643111031427, + -0.9971855793719958 + ], + [ + 0.9509395140188319, + -0.2871956528307937, + -0.11503346327361291, + -0.2891573539570231, + -0.9572815040004327, + -0.00038308124749592, + -0.1100093874639809, + 0.03362705895203381, + -0.9933615432339002 + ], + [ + 0.9400448784095107, + -0.3073282018950634, + -0.14786819433534532, + -0.31122593094342343, + -0.9503298587376252, + -0.0034028664570837815, + -0.13947776340495183, + 0.049219263623834025, + -0.9890012222458979 + ], + [ + 0.9317062122935948, + -0.32235928354554333, + -0.16735598670357446, + -0.3254881937919757, + -0.9455017965778055, + 0.00915359875564871, + -0.1611861336330153, + 0.045943933006939525, + -0.9858540385596104 + ], + [ + 0.9309508334554032, + -0.32502339448266604, + -0.16640414275989487, + -0.32723815730595385, + -0.9448273424723316, + 0.014713304172590798, + -0.16200535204644936, + 0.04075642226246862, + -0.9859478586379045 + ], + [ + 0.9357504713253003, + -0.3251072544446237, + -0.13666136440836754, + -0.3286745367744089, + -0.9444357461451753, + -0.0037643431476591938, + -0.1278440623987114, + 0.048439596516531166, + -0.9906106708483963 + ], + [ + 0.9395429267560786, + -0.32391036589033034, + -0.11109079012867759, + -0.32565818757688475, + -0.9454841556688847, + 0.00254091385816195, + -0.10585761024489507, + 0.033790327726856674, + -0.9938070135118544 + ], + [ + 0.940087724010257, + -0.32836041919825437, + -0.09173061794821566, + -0.32993603151302725, + -0.9440008665332414, + -0.002139881754622819, + -0.08589113036076265, + 0.032276912622426386, + -0.9957815596991715 + ], + [ + 0.9424897632615906, + -0.33025757993602867, + -0.051409892451830495, + -0.3312456334831535, + -0.9434706068357612, + -0.011812888525046457, + -0.04460242645255381, + 0.028162828901913975, + -0.9986077701594287 + ], + [ + 0.94313933917881, + -0.3321077228432413, + 0.013879744998912232, + -0.33101022416893167, + -0.9421947421822618, + -0.05197402524083818, + 0.03033839793053756, + 0.044424410316609354, + -0.9985519783061022 + ], + [ + 0.941692264704032, + -0.3359731969314684, + 0.01837633097873746, + -0.3346087847834997, + -0.9408152672637653, + -0.05388500746143996, + 0.0353926509645843, + 0.04459421293238234, + -0.9983780428428104 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006272.json b/json/chunk-0006/episode_0006272.json new file mode 100644 index 0000000000000000000000000000000000000000..bf50420765fad3110c5084891c5b1fd83a289639 --- /dev/null +++ b/json/chunk-0006/episode_0006272.json @@ -0,0 +1,2662 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 43, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nClose the drawer." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006272.mp4", + "start": 0, + "end": 43, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.19946177303791046, + 0.04786352440714836, + 0.14974826574325562, + -0.0220290906727314, + -0.34935134649276733, + 0.3702162504196167, + 0.0, + 1.0008161067962646 + ], + [ + 0.19700942933559418, + 0.04545285180211067, + 0.1462654322385788, + -0.01871643029153347, + -0.33625563979148865, + 0.36614227294921875, + 0.0, + 1.0008161067962646 + ], + [ + 0.18881292641162872, + -0.001877908711321652, + 0.14799220860004425, + -0.009988557547330856, + -0.3560318350791931, + 0.17410466074943542, + 0.0, + 1.0001531839370728 + ], + [ + 0.17657813429832458, + -0.04297688975930214, + 0.13959264755249023, + 0.03035920299589634, + -0.3415234684944153, + -0.01566372811794281, + 0.0, + 1.0001531839370728 + ], + [ + 0.16080418229103088, + -0.06815536320209503, + 0.12477591633796692, + 0.06865724921226501, + -0.30558010935783386, + -0.1464063674211502, + 0.0, + 1.0001531839370728 + ], + [ + 0.14522244036197662, + -0.0766177624464035, + 0.1095048189163208, + 0.09349583089351654, + -0.28879204392433167, + -0.20761363208293915, + 0.0, + 1.0001531839370728 + ], + [ + 0.13153210282325745, + -0.0702972337603569, + 0.08273068815469742, + 0.08890869468450546, + -0.26244300603866577, + -0.22487498819828033, + 0.0, + 1.0001531839370728 + ], + [ + 0.11816758662462234, + -0.06132960319519043, + 0.06268865615129471, + 0.08695326745510101, + -0.2466500699520111, + -0.2339591532945633, + 0.0, + 1.0001531839370728 + ], + [ + 0.10777933895587921, + -0.05308502912521362, + 0.05182713270187378, + 0.08449821174144745, + -0.25296708941459656, + -0.23399458825588226, + 0.0, + 1.0001531839370728 + ], + [ + 0.09967967122793198, + -0.043575819581747055, + 0.0428229495882988, + 0.08185221254825592, + -0.2330453246831894, + -0.22066687047481537, + 0.0, + 1.0001531839370728 + ], + [ + 0.0995190218091011, + -0.032579246908426285, + 0.03605007007718086, + 0.07670996338129044, + -0.21778161823749542, + -0.19489091634750366, + 0.0, + 1.0001531839370728 + ], + [ + 0.10565273463726044, + -0.024345435202121735, + 0.03392024710774422, + 0.07419653236865997, + -0.21704649925231934, + -0.17362333834171295, + 0.0, + 1.0001531839370728 + ], + [ + 0.11207309365272522, + -0.015524583868682384, + 0.028108632192015648, + 0.06510506570339203, + -0.2051531970500946, + -0.15550953149795532, + 0.0, + 1.0001531839370728 + ], + [ + 0.1196696013212204, + -0.00924402941018343, + 0.020242569968104362, + 0.05916718766093254, + -0.20425105094909668, + -0.1479133814573288, + 0.0, + 1.0001531839370728 + ], + [ + 0.12644486129283905, + -0.00794331356883049, + 0.010814177803695202, + 0.06994086503982544, + -0.1853105127811432, + -0.15028217434883118, + 0.0, + 1.0001531839370728 + ], + [ + 0.13335853815078735, + -0.008716260083019733, + 0.008278044871985912, + 0.07104682177305222, + -0.18839474022388458, + -0.14165282249450684, + 0.0, + 1.0001531839370728 + ], + [ + 0.14333005249500275, + -0.013658398762345314, + 0.011336968280375004, + 0.06858529150485992, + -0.19807712733745575, + -0.14368458092212677, + 0.0, + 1.0001531839370728 + ], + [ + 0.149454265832901, + -0.015502789057791233, + 0.016254901885986328, + 0.06349966675043106, + -0.2032136172056198, + -0.14224876463413239, + 0.0, + 1.0001531839370728 + ], + [ + 0.15794283151626587, + -0.013437135145068169, + 0.02089342474937439, + 0.050415076315402985, + -0.22099140286445618, + -0.12549054622650146, + 0.0, + 1.0001531839370728 + ], + [ + 0.1619683802127838, + -0.008319448679685593, + 0.01939580589532852, + 0.048302922397851944, + -0.20766672492027283, + -0.11818484961986542, + 0.0, + 1.0001531839370728 + ], + [ + 0.16720443964004517, + -0.0038678140845149755, + 0.017258353531360626, + 0.04184029996395111, + -0.19982115924358368, + -0.10841312259435654, + 0.0, + 1.0001531839370728 + ], + [ + 0.17099648714065552, + 0.0004615761572495103, + 0.019871586933732033, + 0.034181542694568634, + -0.20533965528011322, + -0.09372437745332718, + 0.0, + 1.0001531839370728 + ], + [ + 0.17503727972507477, + 0.003195672994479537, + 0.02403995394706726, + 0.03826543688774109, + -0.21382950246334076, + -0.09753521531820297, + 0.0, + 1.0001531839370728 + ], + [ + 0.1789669245481491, + 0.0051583037711679935, + 0.024010784924030304, + 0.04386589676141739, + -0.2147640585899353, + -0.09836078435182571, + 0.0, + 1.0001531839370728 + ], + [ + 0.18155470490455627, + 0.005851090885698795, + 0.021731587126851082, + 0.04698852449655533, + -0.20691657066345215, + -0.09714317321777344, + 0.0, + 1.0001531839370728 + ], + [ + 0.1882648468017578, + 0.006369378417730331, + 0.019831981509923935, + 0.05012211203575134, + -0.20390698313713074, + -0.09284485131502151, + 0.0, + 0.9994885921478271 + ], + [ + 0.19435642659664154, + 0.0062097362242639065, + 0.019259119406342506, + 0.05614984780550003, + -0.2052830308675766, + -0.09752001613378525, + 0.0, + 0.9994885921478271 + ], + [ + 0.20017243921756744, + 0.003858121344819665, + 0.022053709253668785, + 0.06160113960504532, + -0.21321076154708862, + -0.1064753532409668, + 0.0, + 0.9994885921478271 + ], + [ + 0.2071615606546402, + 0.0020954941865056753, + 0.025096070021390915, + 0.06890108436346054, + -0.2194714993238449, + -0.11657757312059402, + 0.0, + 0.9994885921478271 + ], + [ + 0.21393737196922302, + 0.0017087690066546202, + 0.028496840968728065, + 0.07079990953207016, + -0.22851692140102386, + -0.11939748376607895, + 0.0, + 0.9994885921478271 + ], + [ + 0.22072748839855194, + 0.0014118521939963102, + 0.027115071192383766, + 0.06963356584310532, + -0.2223898470401764, + -0.11939890682697296, + 0.0, + 0.9994885921478271 + ], + [ + 0.22702690958976746, + 0.00446923915296793, + 0.02699584886431694, + 0.06973566114902496, + -0.223471000790596, + -0.11078346520662308, + 0.0, + 0.9994885921478271 + ], + [ + 0.23540924489498138, + 0.006780535448342562, + 0.026438066735863686, + 0.06947697699069977, + -0.22335609793663025, + -0.10174822062253952, + 0.0, + 0.9994885921478271 + ], + [ + 0.2400219589471817, + 0.009383954107761383, + 0.027220260351896286, + 0.0707102119922638, + -0.22618629038333893, + -0.09406972676515579, + 0.0, + 0.9994885921478271 + ], + [ + 0.2460024058818817, + 0.009814574383199215, + 0.027509450912475586, + 0.0740179792046547, + -0.22902005910873413, + -0.09656822681427002, + 0.0, + 1.0001531839370728 + ], + [ + 0.25123685598373413, + 0.009469972923398018, + 0.026751980185508728, + 0.07047096639871597, + -0.23098152875900269, + -0.09103478491306305, + 0.0, + 1.0001531839370728 + ], + [ + 0.256952166557312, + 0.00842148158699274, + 0.026906203478574753, + 0.06263135373592377, + -0.23606541752815247, + -0.08518524467945099, + 0.0, + 0.9994885921478271 + ], + [ + 0.258928507566452, + 0.01320643350481987, + 0.0260718185454607, + 0.06358179450035095, + -0.2342481166124344, + -0.07146530598402023, + 0.0, + 1.0001531839370728 + ], + [ + 0.26048654317855835, + 0.015103848651051521, + 0.02457892708480358, + 0.07354726642370224, + -0.22913700342178345, + -0.07513478398323059, + 0.0, + 0.9994885921478271 + ], + [ + 0.26000502705574036, + 0.019513912498950958, + 0.02437562122941017, + 0.07988778501749039, + -0.2287193238735199, + -0.06621484458446503, + 0.0, + 0.9994885921478271 + ], + [ + 0.2578165829181671, + 0.0189077015966177, + 0.035405516624450684, + 0.07875243574380875, + -0.2555643320083618, + -0.055496081709861755, + 0.0, + 0.9994885921478271 + ], + [ + 0.24186785519123077, + 0.00903391558676958, + 0.05000137910246849, + 0.06485147029161453, + -0.27282965183258057, + -0.07848669588565826, + 0.0, + 0.9994885921478271 + ], + [ + 0.22306609153747559, + 9.369620238430798e-05, + 0.06515978276729584, + 0.06447969377040863, + -0.2943723797798157, + -0.11327377706766129, + 0.0, + 0.9994885921478271 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.19946177303791046, + 0.04786352440714836, + 0.14974826574325562 + ], + [ + 0.19700942933559418, + 0.04545285180211067, + 0.1462654322385788 + ], + [ + 0.18881292641162872, + -0.001877908711321652, + 0.14799220860004425 + ], + [ + 0.17657813429832458, + -0.04297688975930214, + 0.13959264755249023 + ], + [ + 0.16080418229103088, + -0.06815536320209503, + 0.12477591633796692 + ], + [ + 0.14522244036197662, + -0.0766177624464035, + 0.1095048189163208 + ], + [ + 0.13153210282325745, + -0.0702972337603569, + 0.08273068815469742 + ], + [ + 0.11816758662462234, + -0.06132960319519043, + 0.06268865615129471 + ], + [ + 0.10777933895587921, + -0.05308502912521362, + 0.05182713270187378 + ], + [ + 0.09967967122793198, + -0.043575819581747055, + 0.0428229495882988 + ], + [ + 0.0995190218091011, + -0.032579246908426285, + 0.03605007007718086 + ], + [ + 0.10565273463726044, + -0.024345435202121735, + 0.03392024710774422 + ], + [ + 0.11207309365272522, + -0.015524583868682384, + 0.028108632192015648 + ], + [ + 0.1196696013212204, + -0.00924402941018343, + 0.020242569968104362 + ], + [ + 0.12644486129283905, + -0.00794331356883049, + 0.010814177803695202 + ], + [ + 0.13335853815078735, + -0.008716260083019733, + 0.008278044871985912 + ], + [ + 0.14333005249500275, + -0.013658398762345314, + 0.011336968280375004 + ], + [ + 0.149454265832901, + -0.015502789057791233, + 0.016254901885986328 + ], + [ + 0.15794283151626587, + -0.013437135145068169, + 0.02089342474937439 + ], + [ + 0.1619683802127838, + -0.008319448679685593, + 0.01939580589532852 + ], + [ + 0.16720443964004517, + -0.0038678140845149755, + 0.017258353531360626 + ], + [ + 0.17099648714065552, + 0.0004615761572495103, + 0.019871586933732033 + ], + [ + 0.17503727972507477, + 0.003195672994479537, + 0.02403995394706726 + ], + [ + 0.1789669245481491, + 0.0051583037711679935, + 0.024010784924030304 + ], + [ + 0.18155470490455627, + 0.005851090885698795, + 0.021731587126851082 + ], + [ + 0.1882648468017578, + 0.006369378417730331, + 0.019831981509923935 + ], + [ + 0.19435642659664154, + 0.0062097362242639065, + 0.019259119406342506 + ], + [ + 0.20017243921756744, + 0.003858121344819665, + 0.022053709253668785 + ], + [ + 0.2071615606546402, + 0.0020954941865056753, + 0.025096070021390915 + ], + [ + 0.21393737196922302, + 0.0017087690066546202, + 0.028496840968728065 + ], + [ + 0.22072748839855194, + 0.0014118521939963102, + 0.027115071192383766 + ], + [ + 0.22702690958976746, + 0.00446923915296793, + 0.02699584886431694 + ], + [ + 0.23540924489498138, + 0.006780535448342562, + 0.026438066735863686 + ], + [ + 0.2400219589471817, + 0.009383954107761383, + 0.027220260351896286 + ], + [ + 0.2460024058818817, + 0.009814574383199215, + 0.027509450912475586 + ], + [ + 0.25123685598373413, + 0.009469972923398018, + 0.026751980185508728 + ], + [ + 0.256952166557312, + 0.00842148158699274, + 0.026906203478574753 + ], + [ + 0.258928507566452, + 0.01320643350481987, + 0.0260718185454607 + ], + [ + 0.26048654317855835, + 0.015103848651051521, + 0.02457892708480358 + ], + [ + 0.26000502705574036, + 0.019513912498950958, + 0.02437562122941017 + ], + [ + 0.2578165829181671, + 0.0189077015966177, + 0.035405516624450684 + ], + [ + 0.24186785519123077, + 0.00903391558676958, + 0.05000137910246849 + ], + [ + 0.22306609153747559, + 9.369620238430798e-05, + 0.06515978276729584 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8759365573027154, + 0.3547003800423169, + 0.3269905013582238, + 0.3399614586384609, + -0.9347509213793196, + 0.10328079018347404, + 0.3422884079560344, + 0.02069674801384705, + -0.939366962587345 + ], + [ + 0.8814243199355885, + 0.3521874871287214, + 0.3147302688589734, + 0.3379660211821409, + -0.935762706739285, + 0.10063361864843762, + 0.32995474955271925, + 0.017667217831996256, + -0.9438314111437903 + ], + [ + 0.9231174520455214, + 0.16978886532266027, + 0.34500132020244145, + 0.16236291397883865, + -0.9854359919869833, + 0.05053899346969777, + 0.3485576765662811, + 0.009361992793922119, + -0.9372405770119228 + ], + [ + 0.9421299258750142, + -0.005490684814952514, + 0.3352030058800233, + -0.014758474039330251, + -0.9995758153588201, + 0.0251073055858287, + 0.3349229616117272, + -0.028601428810683914, + -0.9418113229597618 + ], + [ + 0.943469930844007, + -0.12512193110119513, + 0.3069348333941787, + -0.13912547208383724, + -0.9899818471065474, + 0.024084132057390042, + 0.30084646019299266, + -0.06542510800156276, + -0.9514257525589318 + ], + [ + 0.9380034709407542, + -0.17920775002955466, + 0.2967053603028472, + -0.1975894256540889, + -0.9797323574514238, + 0.03290785061900601, + 0.2847945002502419, + -0.08949351983255657, + -0.9544019082835045 + ], + [ + 0.9414431550377089, + -0.19964761061663133, + 0.2717086995436737, + -0.21534929753268284, + -0.9761083681980717, + 0.02893326089257436, + 0.2594406789322454, + -0.08575129800048328, + -0.9619445145154724 + ], + [ + 0.9433164514904001, + -0.21032892939936185, + 0.25674075213194764, + -0.22481444587211366, + -0.9739966606748032, + 0.02808860839463376, + 0.24415678830369308, + -0.08421547632146287, + -0.9660720554250469 + ], + [ + 0.9417893622358537, + -0.21049060951958035, + 0.26215739639281554, + -0.22448577271681927, + -0.974174988191084, + 0.02427406497961078, + 0.25027771580210023, + -0.08171166187868997, + -0.9647197879622383 + ], + [ + 0.949374806387595, + -0.19972343158505268, + 0.24248304656698694, + -0.21296351335963093, + -0.9766177575399299, + 0.0293989393550387, + 0.23094159212675197, + -0.07955065388524304, + -0.9697100981697526 + ], + [ + 0.9578951354771436, + -0.17684544862295326, + 0.2261915045499533, + -0.18908511789104776, + -0.981390325037401, + 0.0334641317699007, + 0.21606417477535167, + -0.07482457633913539, + -0.9735078608590254 + ], + [ + 0.96185577528379, + -0.15655375049819675, + 0.22433098483751118, + -0.16869917634431247, + -0.9850130554315145, + 0.03591473973485843, + 0.21534636159909898, + -0.07238925220238437, + -0.973850984859393 + ], + [ + 0.967215581131592, + -0.14146165277438238, + 0.21090903349694853, + -0.15163556221457664, + -0.987892492054945, + 0.03278841889051449, + 0.20371714677008937, + -0.0636947795020178, + -0.976955628048707 + ], + [ + 0.9685208935636128, + -0.13525359451803756, + 0.20898264018977866, + -0.1443111695942869, + -0.9891176122491536, + 0.028646735745302777, + 0.2028338360852774, + -0.05790349133241033, + -0.9774996780717872 + ], + [ + 0.9718009284963005, + -0.13662000148814984, + 0.19219243108693582, + -0.14715383813264954, + -0.988239352996701, + 0.04157798830501805, + 0.1842517389241106, + -0.06868738153431221, + -0.9804760784034466 + ], + [ + 0.9724673627654483, + -0.12766195090580398, + 0.19496064897034576, + -0.1386815625645795, + -0.9893634365259696, + 0.043902331033449725, + 0.1872822804235919, + -0.06973103151716657, + -0.9798280107666301 + ], + [ + 0.9703433930069186, + -0.12950707450719756, + 0.20411177648633566, + -0.14039085128782075, + -0.9892993566351966, + 0.03971387460154388, + 0.19678442144260727, + -0.06719152188909944, + -0.978141702854819 + ], + [ + 0.9695305974482231, + -0.12880639265121313, + 0.20837306405548925, + -0.13885234125116408, + -0.9897202307674224, + 0.03426210937391894, + 0.20181785832963792, + -0.06215125116891546, + -0.97744911583027 + ], + [ + 0.9680082436004954, + -0.11404311940744306, + 0.22350437856405386, + -0.12211758817105677, + -0.992258362102686, + 0.022597289584800465, + 0.21919702320234274, + -0.04916817825702756, + -0.974440944986466 + ], + [ + 0.9716888176148955, + -0.10788673771660788, + 0.21019346694660515, + -0.11537657788328935, + -0.9930398770572915, + 0.023665330126161302, + 0.2061773193106046, + -0.04724673955847945, + -0.9773733465789752 + ], + [ + 0.9743479630490602, + -0.09985229838926815, + 0.20168184203970246, + -0.10604790574912812, + -0.9941573631674294, + 0.0201240887050236, + 0.19849405177075452, + -0.04099580181389526, + -0.9792443288808287 + ], + [ + 0.9746950733868098, + -0.08659488803607909, + 0.20608454401410142, + -0.09162112074709713, + -0.9956816554313213, + 0.014953637369863115, + 0.20389969138899405, + -0.033456933564844915, + -0.978419924903367 + ], + [ + 0.9725809006826985, + -0.08922985550793566, + 0.21476597615372817, + -0.09516284424722729, + -0.9953092017531164, + 0.01742486672408309, + 0.21220373394926106, + -0.03738483371110568, + -0.9765100867407279 + ], + [ + 0.9723042233623602, + -0.08880739610361928, + 0.21618913855467406, + -0.09594622738715596, + -0.9951269280862118, + 0.022731441834411066, + 0.21311691317652234, + -0.042844409145113845, + -0.9760868495800548 + ], + [ + 0.9740549159314963, + -0.08727897896952287, + 0.20880469482203368, + -0.09492155856806465, + -0.9951227079535493, + 0.026845741453792333, + 0.20544322444094987, + -0.04596929350372893, + -0.9775888223512341 + ], + [ + 0.9750651423092238, + -0.08249345954138203, + 0.20601649785001908, + -0.09079080548782688, + -0.9953831592227154, + 0.031135124452579307, + 0.20249690835260703, + -0.04906317833875404, + -0.9780530694389415 + ], + [ + 0.9743517816873581, + -0.0858266145307633, + 0.2080201859456397, + -0.0953211662001845, + -0.9947940330014841, + 0.036037580091884784, + 0.20384425622741387, + -0.054942007087746415, + -0.9774604314550347 + ], + [ + 0.9718216455961151, + -0.09311997727806066, + 0.21654412710251905, + -0.10386786668443544, + -0.993835226092444, + 0.03876866838317328, + 0.21159904399898125, + -0.06016820763088744, + -0.9755027582581216 + ], + [ + 0.9693879879957045, + -0.10115059921527471, + 0.22373083159911447, + -0.11352364019950871, + -0.9925992999600873, + 0.04311627111193008, + 0.21771383016586918, + -0.06719513373106595, + -0.9736968225055331 + ], + [ + 0.9670690972301206, + -0.10290454180114054, + 0.232783196256125, + -0.11601744709511623, + -0.9923019716838731, + 0.043321460753654714, + 0.2265332495508158, + -0.06890175809800399, + -0.9715632941702524 + ], + [ + 0.9684288753566285, + -0.10358994693845894, + 0.2267479575845921, + -0.11618197506838021, + -0.9923021832418941, + 0.04287336938685218, + 0.22056124329697407, + -0.06786383445295774, + -0.9730093719634131 + ], + [ + 0.9691563156855727, + -0.09494095558162782, + 0.22742526403197658, + -0.10780789751221725, + -0.9931613592962141, + 0.044810396504516965, + 0.22161564250016771, + -0.0679465183371756, + -0.9727639886658501 + ], + [ + 0.970116140740952, + -0.08603020613300016, + 0.22687766991617864, + -0.09904963766898936, + -0.9939899234515301, + 0.04661760777284487, + 0.22150359534671876, + -0.06769664474354975, + -0.972806929220255 + ], + [ + 0.9702200732655986, + -0.07792193113980772, + 0.22934947586584803, + -0.09153850816866074, + -0.9945791132651061, + 0.049326351771146956, + 0.22426259374838275, + -0.0688517254993509, + -0.9720934774706645 + ], + [ + 0.9693518950297788, + -0.07944396022991708, + 0.23247701130469597, + -0.0939006630717215, + -0.9942343015733006, + 0.05177662648089187, + 0.22702327871138553, + -0.07201951650794462, + -0.9712227448763204 + ], + [ + 0.9694113252128751, + -0.07463041913607234, + 0.2338204077675669, + -0.08849474844088683, + -0.9948528566651058, + 0.049360643063703025, + 0.22893309513349364, + -0.06854264457148049, + -0.9710260263390195 + ], + [ + 0.968740211431777, + -0.07032993402584324, + 0.23789935505384743, + -0.08272256161108034, + -0.9956658216935405, + 0.042503521169755844, + 0.23387898699031737, + -0.06085451414026246, + -0.9703593909233503 + ], + [ + 0.9702062914494451, + -0.05654971482609691, + 0.23558837362017968, + -0.06945437096895135, + -0.9964850412464348, + 0.046836448684740406, + 0.23211170238749604, + -0.0618036594804721, + -0.9707236812242711 + ], + [ + 0.9711152266534139, + -0.05821801135229836, + 0.23139982652558738, + -0.07310214418864767, + -0.9957357951294851, + 0.05626991036845545, + 0.22713716797765715, + -0.07156039024513146, + -0.9712300538343394 + ], + [ + 0.9718232292977744, + -0.04790136541121039, + 0.23079226631104277, + -0.06444333353688184, + -0.9958234528941774, + 0.06467385428882826, + 0.22673038561229458, + -0.07772457692171818, + -0.9708512874701462 + ], + [ + 0.9660312812311102, + -0.03543893106860756, + 0.25598368277625444, + -0.05366605607574719, + -0.9964689931620169, + 0.06457166632471961, + 0.2527914518100925, + -0.07611588422524337, + -0.9645220858333701 + ], + [ + 0.9600476486498803, + -0.060832609259739184, + 0.2731444782024477, + -0.07550607474860588, + -0.9961950165353941, + 0.04352380619963635, + 0.26945750128339996, + -0.06240899519057694, + -0.9609879147634526 + ], + [ + 0.9508514809188207, + -0.09422148537516109, + 0.29496401971797215, + -0.10816957431343113, + -0.9936397473395819, + 0.03129529836545953, + 0.2901392845295808, + -0.06166331324726509, + -0.9549957232218544 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.002452343702316284, + -0.002410672605037689, + -0.003482833504676819, + 0.0033126603811979294, + 0.013095706701278687, + -0.004073977470397949, + 1.0 + ], + [ + -0.008196502923965454, + -0.04733075946569443, + 0.001726776361465454, + 0.008727872744202614, + -0.019776195287704468, + -0.19203761219978333, + 1.0 + ], + [ + -0.012234792113304138, + -0.041098982095718384, + -0.008399561047554016, + 0.040347762405872345, + 0.014508366584777832, + -0.18976838886737823, + 1.0 + ], + [ + -0.0157739520072937, + -0.025178473442792892, + -0.014816731214523315, + 0.038298048079013824, + 0.03594335913658142, + -0.1307426393032074, + 1.0 + ], + [ + -0.01558174192905426, + -0.008462399244308472, + -0.015271097421646118, + 0.024838581681251526, + 0.016788065433502197, + -0.06120726466178894, + 1.0 + ], + [ + -0.013690337538719177, + 0.0063205286860466, + -0.026774130761623383, + -0.004587136209011078, + 0.026349037885665894, + -0.017261356115341187, + 1.0 + ], + [ + -0.013364516198635101, + 0.008967630565166473, + -0.02004203200340271, + -0.0019554272294044495, + 0.015792936086654663, + -0.009084165096282959, + 1.0 + ], + [ + -0.010388247668743134, + 0.008244574069976807, + -0.010861523449420929, + -0.0024550557136535645, + -0.006317019462585449, + -3.5434961318969727e-05, + 1.0 + ], + [ + -0.008099667727947235, + 0.009509209543466568, + -0.009004183113574982, + -0.0026459991931915283, + 0.019921764731407166, + 0.013327717781066895, + 1.0 + ], + [ + -0.00016064941883087158, + 0.01099657267332077, + -0.006772879511117935, + -0.005142249166965485, + 0.01526370644569397, + 0.025775954127311707, + 1.0 + ], + [ + 0.006133712828159332, + 0.00823381170630455, + -0.0021298229694366455, + -0.0025134310126304626, + 0.0007351189851760864, + 0.02126757800579071, + 1.0 + ], + [ + 0.006420359015464783, + 0.00882085133343935, + -0.005811614915728569, + -0.009091466665267944, + 0.011893302202224731, + 0.01811380684375763, + 1.0 + ], + [ + 0.007596507668495178, + 0.006280554458498955, + -0.007866062223911285, + -0.005937878042459488, + 0.0009021461009979248, + 0.007596150040626526, + 1.0 + ], + [ + 0.006775259971618652, + 0.0013007158413529396, + -0.00942839216440916, + 0.010773677378892899, + 0.01894053816795349, + -0.0023687928915023804, + 1.0 + ], + [ + 0.006913676857948303, + -0.0007729465141892433, + -0.0025361329317092896, + 0.0011059567332267761, + -0.003084227442741394, + 0.00862935185432434, + 1.0 + ], + [ + 0.009971514344215393, + -0.004942138679325581, + 0.0030589234083890915, + -0.0024615302681922913, + -0.009682387113571167, + -0.002031758427619934, + 1.0 + ], + [ + 0.006124213337898254, + -0.001844390295445919, + 0.004917933605611324, + -0.0050856247544288635, + -0.0051364898681640625, + 0.0014358162879943848, + 1.0 + ], + [ + 0.008488565683364868, + 0.0020656539127230644, + 0.0046385228633880615, + -0.013084590435028076, + -0.017777785658836365, + 0.01675821840763092, + 1.0 + ], + [ + 0.004025548696517944, + 0.005117686465382576, + -0.001497618854045868, + -0.0021121539175510406, + 0.01332467794418335, + 0.007305696606636047, + 1.0 + ], + [ + 0.0052360594272613525, + 0.0044516343623399734, + -0.0021374523639678955, + -0.006462622433900833, + 0.007845565676689148, + 0.00977172702550888, + 1.0 + ], + [ + 0.0037920475006103516, + 0.004329390358179808, + 0.0026132334023714066, + -0.007658757269382477, + -0.005518496036529541, + 0.014688745141029358, + 1.0 + ], + [ + 0.0040407925844192505, + 0.002734096720814705, + 0.004168367013335228, + 0.004083894193172455, + -0.008489847183227539, + -0.0038108378648757935, + 1.0 + ], + [ + 0.003929644823074341, + 0.0019626307766884565, + -2.9169023036956787e-05, + 0.0056004598736763, + -0.0009345561265945435, + -0.0008255690336227417, + 1.0 + ], + [ + 0.0025877803564071655, + 0.0006927871145308018, + -0.002279197797179222, + 0.0031226277351379395, + 0.007847487926483154, + 0.0012176111340522766, + 1.0 + ], + [ + 0.006710141897201538, + 0.0005182875320315361, + -0.001899605616927147, + 0.0031335875391960144, + 0.003009587526321411, + 0.004298321902751923, + 1.0 + ], + [ + 0.006091579794883728, + -0.00015964219346642494, + -0.0005728621035814285, + 0.006027735769748688, + -0.0013760477304458618, + -0.004675164818763733, + 1.0 + ], + [ + 0.005816012620925903, + -0.0023516148794442415, + 0.0027945898473262787, + 0.005451291799545288, + -0.007927730679512024, + -0.008955337107181549, + 1.0 + ], + [ + 0.006989121437072754, + -0.0017626271583139896, + 0.00304236076772213, + 0.007299944758415222, + -0.006260737776756287, + -0.010102219879627228, + 1.0 + ], + [ + 0.006775811314582825, + -0.00038672517985105515, + 0.0034007709473371506, + 0.0018988251686096191, + -0.009045422077178955, + -0.0028199106454849243, + 1.0 + ], + [ + 0.0067901164293289185, + -0.00029691681265830994, + -0.0013817697763442993, + -0.0011663436889648438, + 0.006127074360847473, + -1.4230608940124512e-06, + 1.0 + ], + [ + 0.006299421191215515, + 0.0030573869589716196, + -0.00011922232806682587, + 0.00010209530591964722, + -0.0010811537504196167, + 0.008615441620349884, + 1.0 + ], + [ + 0.008382335305213928, + 0.002311296295374632, + -0.0005577821284532547, + -0.0002586841583251953, + 0.00011490285396575928, + 0.009035244584083557, + 1.0 + ], + [ + 0.004612714052200317, + 0.0026034186594188213, + 0.0007821936160326004, + 0.0012332350015640259, + -0.002830192446708679, + 0.007678493857383728, + 1.0 + ], + [ + 0.005980446934700012, + 0.0004306202754378319, + 0.0002891905605792999, + 0.0033077672123908997, + -0.0028337687253952026, + -0.0024985000491142273, + 1.0 + ], + [ + 0.005234450101852417, + -0.00034460145980119705, + -0.0007574707269668579, + -0.0035470128059387207, + -0.0019614696502685547, + 0.00553344190120697, + 1.0 + ], + [ + 0.005715310573577881, + -0.0010484913364052773, + 0.00015422329306602478, + -0.007839612662792206, + -0.00508388876914978, + 0.0058495402336120605, + 1.0 + ], + [ + 0.0019763410091400146, + 0.004784951917827129, + -0.0008343849331140518, + 0.0009504407644271851, + 0.0018173009157180786, + 0.013719938695430756, + 1.0 + ], + [ + 0.0015580356121063232, + 0.0018974151462316513, + -0.0014928914606571198, + 0.009965471923351288, + 0.00511111319065094, + -0.0036694779992103577, + 1.0 + ], + [ + -0.00048151612281799316, + 0.004410063847899437, + -0.00020330585539340973, + 0.006340518593788147, + 0.0004176795482635498, + 0.008919939398765564, + 1.0 + ], + [ + -0.002188444137573242, + -0.0006062109023332596, + 0.011029895395040512, + -0.0011353492736816406, + -0.02684500813484192, + 0.010718762874603271, + 1.0 + ], + [ + -0.01594872772693634, + -0.009873786009848118, + 0.014595862478017807, + -0.013900965452194214, + -0.01726531982421875, + -0.02299061417579651, + 1.0 + ], + [ + -0.018801763653755188, + -0.008940218947827816, + 0.015158403664827347, + -0.0003717765212059021, + -0.021542727947235107, + -0.03478708118200302, + 1.0 + ], + [ + -0.01565268635749817, + -0.008582674898207188, + 0.010671347379684448, + 0.014755159616470337, + -0.0023259520530700684, + -0.02581842988729477, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.19700942933559418, + 0.04545285180211067, + 0.1462654322385788 + ], + [ + 0.18881292641162872, + -0.001877908711321652, + 0.14799220860004425 + ], + [ + 0.17657813429832458, + -0.04297688975930214, + 0.13959264755249023 + ], + [ + 0.16080418229103088, + -0.06815536320209503, + 0.12477591633796692 + ], + [ + 0.14522244036197662, + -0.0766177624464035, + 0.1095048189163208 + ], + [ + 0.13153210282325745, + -0.0702972337603569, + 0.08273068815469742 + ], + [ + 0.11816758662462234, + -0.06132960319519043, + 0.06268865615129471 + ], + [ + 0.10777933895587921, + -0.05308502912521362, + 0.05182713270187378 + ], + [ + 0.09967967122793198, + -0.043575819581747055, + 0.0428229495882988 + ], + [ + 0.0995190218091011, + -0.032579246908426285, + 0.03605007007718086 + ], + [ + 0.10565273463726044, + -0.024345435202121735, + 0.03392024710774422 + ], + [ + 0.11207309365272522, + -0.015524583868682384, + 0.028108632192015648 + ], + [ + 0.1196696013212204, + -0.00924402941018343, + 0.020242569968104362 + ], + [ + 0.12644486129283905, + -0.00794331356883049, + 0.010814177803695202 + ], + [ + 0.13335853815078735, + -0.008716260083019733, + 0.008278044871985912 + ], + [ + 0.14333005249500275, + -0.013658398762345314, + 0.011336968280375004 + ], + [ + 0.149454265832901, + -0.015502789057791233, + 0.016254901885986328 + ], + [ + 0.15794283151626587, + -0.013437135145068169, + 0.02089342474937439 + ], + [ + 0.1619683802127838, + -0.008319448679685593, + 0.01939580589532852 + ], + [ + 0.16720443964004517, + -0.0038678140845149755, + 0.017258353531360626 + ], + [ + 0.17099648714065552, + 0.0004615761572495103, + 0.019871586933732033 + ], + [ + 0.17503727972507477, + 0.003195672994479537, + 0.02403995394706726 + ], + [ + 0.1789669245481491, + 0.0051583037711679935, + 0.024010784924030304 + ], + [ + 0.18155470490455627, + 0.005851090885698795, + 0.021731587126851082 + ], + [ + 0.1882648468017578, + 0.006369378417730331, + 0.019831981509923935 + ], + [ + 0.19435642659664154, + 0.0062097362242639065, + 0.019259119406342506 + ], + [ + 0.20017243921756744, + 0.003858121344819665, + 0.022053709253668785 + ], + [ + 0.2071615606546402, + 0.0020954941865056753, + 0.025096070021390915 + ], + [ + 0.21393737196922302, + 0.0017087690066546202, + 0.028496840968728065 + ], + [ + 0.22072748839855194, + 0.0014118521939963102, + 0.027115071192383766 + ], + [ + 0.22702690958976746, + 0.00446923915296793, + 0.02699584886431694 + ], + [ + 0.23540924489498138, + 0.006780535448342562, + 0.026438066735863686 + ], + [ + 0.2400219589471817, + 0.009383954107761383, + 0.027220260351896286 + ], + [ + 0.2460024058818817, + 0.009814574383199215, + 0.027509450912475586 + ], + [ + 0.25123685598373413, + 0.009469972923398018, + 0.026751980185508728 + ], + [ + 0.256952166557312, + 0.00842148158699274, + 0.026906203478574753 + ], + [ + 0.258928507566452, + 0.01320643350481987, + 0.0260718185454607 + ], + [ + 0.26048654317855835, + 0.015103848651051521, + 0.02457892708480358 + ], + [ + 0.26000502705574036, + 0.019513912498950958, + 0.02437562122941017 + ], + [ + 0.2578165829181671, + 0.0189077015966177, + 0.035405516624450684 + ], + [ + 0.24186785519123077, + 0.00903391558676958, + 0.05000137910246849 + ], + [ + 0.22306609153747559, + 9.369620238430798e-05, + 0.06515978276729584 + ], + [ + 0.20741340517997742, + -0.008488978259265423, + 0.07583113014698029 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8814243199355885, + 0.3521874871287214, + 0.3147302688589734, + 0.3379660211821409, + -0.935762706739285, + 0.10063361864843762, + 0.32995474955271925, + 0.017667217831996256, + -0.9438314111437903 + ], + [ + 0.9231174520455214, + 0.16978886532266027, + 0.34500132020244145, + 0.16236291397883865, + -0.9854359919869833, + 0.05053899346969777, + 0.3485576765662811, + 0.009361992793922119, + -0.9372405770119228 + ], + [ + 0.9421299258750142, + -0.005490684814952514, + 0.3352030058800233, + -0.014758474039330251, + -0.9995758153588201, + 0.0251073055858287, + 0.3349229616117272, + -0.028601428810683914, + -0.9418113229597618 + ], + [ + 0.943469930844007, + -0.12512193110119513, + 0.3069348333941787, + -0.13912547208383724, + -0.9899818471065474, + 0.024084132057390042, + 0.30084646019299266, + -0.06542510800156276, + -0.9514257525589318 + ], + [ + 0.9380034709407542, + -0.17920775002955466, + 0.2967053603028472, + -0.1975894256540889, + -0.9797323574514238, + 0.03290785061900601, + 0.2847945002502419, + -0.08949351983255657, + -0.9544019082835045 + ], + [ + 0.9414431550377089, + -0.19964761061663133, + 0.2717086995436737, + -0.21534929753268284, + -0.9761083681980717, + 0.02893326089257436, + 0.2594406789322454, + -0.08575129800048328, + -0.9619445145154724 + ], + [ + 0.9433164514904001, + -0.21032892939936185, + 0.25674075213194764, + -0.22481444587211366, + -0.9739966606748032, + 0.02808860839463376, + 0.24415678830369308, + -0.08421547632146287, + -0.9660720554250469 + ], + [ + 0.9417893622358537, + -0.21049060951958035, + 0.26215739639281554, + -0.22448577271681927, + -0.974174988191084, + 0.02427406497961078, + 0.25027771580210023, + -0.08171166187868997, + -0.9647197879622383 + ], + [ + 0.949374806387595, + -0.19972343158505268, + 0.24248304656698694, + -0.21296351335963093, + -0.9766177575399299, + 0.0293989393550387, + 0.23094159212675197, + -0.07955065388524304, + -0.9697100981697526 + ], + [ + 0.9578951354771436, + -0.17684544862295326, + 0.2261915045499533, + -0.18908511789104776, + -0.981390325037401, + 0.0334641317699007, + 0.21606417477535167, + -0.07482457633913539, + -0.9735078608590254 + ], + [ + 0.96185577528379, + -0.15655375049819675, + 0.22433098483751118, + -0.16869917634431247, + -0.9850130554315145, + 0.03591473973485843, + 0.21534636159909898, + -0.07238925220238437, + -0.973850984859393 + ], + [ + 0.967215581131592, + -0.14146165277438238, + 0.21090903349694853, + -0.15163556221457664, + -0.987892492054945, + 0.03278841889051449, + 0.20371714677008937, + -0.0636947795020178, + -0.976955628048707 + ], + [ + 0.9685208935636128, + -0.13525359451803756, + 0.20898264018977866, + -0.1443111695942869, + -0.9891176122491536, + 0.028646735745302777, + 0.2028338360852774, + -0.05790349133241033, + -0.9774996780717872 + ], + [ + 0.9718009284963005, + -0.13662000148814984, + 0.19219243108693582, + -0.14715383813264954, + -0.988239352996701, + 0.04157798830501805, + 0.1842517389241106, + -0.06868738153431221, + -0.9804760784034466 + ], + [ + 0.9724673627654483, + -0.12766195090580398, + 0.19496064897034576, + -0.1386815625645795, + -0.9893634365259696, + 0.043902331033449725, + 0.1872822804235919, + -0.06973103151716657, + -0.9798280107666301 + ], + [ + 0.9703433930069186, + -0.12950707450719756, + 0.20411177648633566, + -0.14039085128782075, + -0.9892993566351966, + 0.03971387460154388, + 0.19678442144260727, + -0.06719152188909944, + -0.978141702854819 + ], + [ + 0.9695305974482231, + -0.12880639265121313, + 0.20837306405548925, + -0.13885234125116408, + -0.9897202307674224, + 0.03426210937391894, + 0.20181785832963792, + -0.06215125116891546, + -0.97744911583027 + ], + [ + 0.9680082436004954, + -0.11404311940744306, + 0.22350437856405386, + -0.12211758817105677, + -0.992258362102686, + 0.022597289584800465, + 0.21919702320234274, + -0.04916817825702756, + -0.974440944986466 + ], + [ + 0.9716888176148955, + -0.10788673771660788, + 0.21019346694660515, + -0.11537657788328935, + -0.9930398770572915, + 0.023665330126161302, + 0.2061773193106046, + -0.04724673955847945, + -0.9773733465789752 + ], + [ + 0.9743479630490602, + -0.09985229838926815, + 0.20168184203970246, + -0.10604790574912812, + -0.9941573631674294, + 0.0201240887050236, + 0.19849405177075452, + -0.04099580181389526, + -0.9792443288808287 + ], + [ + 0.9746950733868098, + -0.08659488803607909, + 0.20608454401410142, + -0.09162112074709713, + -0.9956816554313213, + 0.014953637369863115, + 0.20389969138899405, + -0.033456933564844915, + -0.978419924903367 + ], + [ + 0.9725809006826985, + -0.08922985550793566, + 0.21476597615372817, + -0.09516284424722729, + -0.9953092017531164, + 0.01742486672408309, + 0.21220373394926106, + -0.03738483371110568, + -0.9765100867407279 + ], + [ + 0.9723042233623602, + -0.08880739610361928, + 0.21618913855467406, + -0.09594622738715596, + -0.9951269280862118, + 0.022731441834411066, + 0.21311691317652234, + -0.042844409145113845, + -0.9760868495800548 + ], + [ + 0.9740549159314963, + -0.08727897896952287, + 0.20880469482203368, + -0.09492155856806465, + -0.9951227079535493, + 0.026845741453792333, + 0.20544322444094987, + -0.04596929350372893, + -0.9775888223512341 + ], + [ + 0.9750651423092238, + -0.08249345954138203, + 0.20601649785001908, + -0.09079080548782688, + -0.9953831592227154, + 0.031135124452579307, + 0.20249690835260703, + -0.04906317833875404, + -0.9780530694389415 + ], + [ + 0.9743517816873581, + -0.0858266145307633, + 0.2080201859456397, + -0.0953211662001845, + -0.9947940330014841, + 0.036037580091884784, + 0.20384425622741387, + -0.054942007087746415, + -0.9774604314550347 + ], + [ + 0.9718216455961151, + -0.09311997727806066, + 0.21654412710251905, + -0.10386786668443544, + -0.993835226092444, + 0.03876866838317328, + 0.21159904399898125, + -0.06016820763088744, + -0.9755027582581216 + ], + [ + 0.9693879879957045, + -0.10115059921527471, + 0.22373083159911447, + -0.11352364019950871, + -0.9925992999600873, + 0.04311627111193008, + 0.21771383016586918, + -0.06719513373106595, + -0.9736968225055331 + ], + [ + 0.9670690972301206, + -0.10290454180114054, + 0.232783196256125, + -0.11601744709511623, + -0.9923019716838731, + 0.043321460753654714, + 0.2265332495508158, + -0.06890175809800399, + -0.9715632941702524 + ], + [ + 0.9684288753566285, + -0.10358994693845894, + 0.2267479575845921, + -0.11618197506838021, + -0.9923021832418941, + 0.04287336938685218, + 0.22056124329697407, + -0.06786383445295774, + -0.9730093719634131 + ], + [ + 0.9691563156855727, + -0.09494095558162782, + 0.22742526403197658, + -0.10780789751221725, + -0.9931613592962141, + 0.044810396504516965, + 0.22161564250016771, + -0.0679465183371756, + -0.9727639886658501 + ], + [ + 0.970116140740952, + -0.08603020613300016, + 0.22687766991617864, + -0.09904963766898936, + -0.9939899234515301, + 0.04661760777284487, + 0.22150359534671876, + -0.06769664474354975, + -0.972806929220255 + ], + [ + 0.9702200732655986, + -0.07792193113980772, + 0.22934947586584803, + -0.09153850816866074, + -0.9945791132651061, + 0.049326351771146956, + 0.22426259374838275, + -0.0688517254993509, + -0.9720934774706645 + ], + [ + 0.9693518950297788, + -0.07944396022991708, + 0.23247701130469597, + -0.0939006630717215, + -0.9942343015733006, + 0.05177662648089187, + 0.22702327871138553, + -0.07201951650794462, + -0.9712227448763204 + ], + [ + 0.9694113252128751, + -0.07463041913607234, + 0.2338204077675669, + -0.08849474844088683, + -0.9948528566651058, + 0.049360643063703025, + 0.22893309513349364, + -0.06854264457148049, + -0.9710260263390195 + ], + [ + 0.968740211431777, + -0.07032993402584324, + 0.23789935505384743, + -0.08272256161108034, + -0.9956658216935405, + 0.042503521169755844, + 0.23387898699031737, + -0.06085451414026246, + -0.9703593909233503 + ], + [ + 0.9702062914494451, + -0.05654971482609691, + 0.23558837362017968, + -0.06945437096895135, + -0.9964850412464348, + 0.046836448684740406, + 0.23211170238749604, + -0.0618036594804721, + -0.9707236812242711 + ], + [ + 0.9711152266534139, + -0.05821801135229836, + 0.23139982652558738, + -0.07310214418864767, + -0.9957357951294851, + 0.05626991036845545, + 0.22713716797765715, + -0.07156039024513146, + -0.9712300538343394 + ], + [ + 0.9718232292977744, + -0.04790136541121039, + 0.23079226631104277, + -0.06444333353688184, + -0.9958234528941774, + 0.06467385428882826, + 0.22673038561229458, + -0.07772457692171818, + -0.9708512874701462 + ], + [ + 0.9660312812311102, + -0.03543893106860756, + 0.25598368277625444, + -0.05366605607574719, + -0.9964689931620169, + 0.06457166632471961, + 0.2527914518100925, + -0.07611588422524337, + -0.9645220858333701 + ], + [ + 0.9600476486498803, + -0.060832609259739184, + 0.2731444782024477, + -0.07550607474860588, + -0.9961950165353941, + 0.04352380619963635, + 0.26945750128339996, + -0.06240899519057694, + -0.9609879147634526 + ], + [ + 0.9508514809188207, + -0.09422148537516109, + 0.29496401971797215, + -0.10816957431343113, + -0.9936397473395819, + 0.03129529836545953, + 0.2901392845295808, + -0.06166331324726509, + -0.9549957232218544 + ], + [ + 0.9470712299370584, + -0.11529143190915378, + 0.29960636033609905, + -0.13258636600736684, + -0.9904435204348254, + 0.03798010502394733, + 0.2923643975836799, + -0.07569358332782551, + -0.9533066350700207 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006273.json b/json/chunk-0006/episode_0006273.json new file mode 100644 index 0000000000000000000000000000000000000000..b9319fd04a56848c817c6a8aa0e3f5ba65ec9310 --- /dev/null +++ b/json/chunk-0006/episode_0006273.json @@ -0,0 +1,2062 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 33, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the silver pot from the left lower burner to the right upper burner." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006273.mp4", + "start": 0, + "end": 33, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3806152641773224, + -0.02245722897350788, + 0.0297340527176857, + 0.03346222639083862, + -0.13904264569282532, + -0.06003548204898834, + 0.0, + 0.9988223910331726 + ], + [ + 0.37316733598709106, + -0.020945366472005844, + 0.012121578678488731, + 0.03304428607225418, + -0.08682390302419662, + -0.05759961158037186, + 0.0, + 0.9994885921478271 + ], + [ + 0.3719100058078766, + -0.0007834263378754258, + 0.008657047525048256, + 0.02718873880803585, + -0.0648379772901535, + -0.009899524971842766, + 0.0, + 0.9994885921478271 + ], + [ + 0.37384334206581116, + 0.03231412172317505, + 0.009162520989775658, + 0.016491301357746124, + -0.08423884212970734, + 0.06536693125963211, + 0.0, + 0.9988223910331726 + ], + [ + 0.3806775212287903, + 0.05732803791761398, + 0.016128286719322205, + 0.04012787714600563, + -0.11705893278121948, + 0.09276027977466583, + 0.0, + 0.9994885921478271 + ], + [ + 0.3876081109046936, + 0.07734626531600952, + 0.013024607673287392, + 0.054096587002277374, + -0.11774109303951263, + 0.12178651243448257, + 0.0, + 0.9994885921478271 + ], + [ + 0.3925551772117615, + 0.10209598392248154, + 0.014891714788973331, + 0.09779586642980576, + -0.11655128002166748, + 0.15276850759983063, + 0.0, + 0.9994885921478271 + ], + [ + 0.3862549364566803, + 0.11683496087789536, + -0.002001203363761306, + 0.10834808647632599, + -0.0758979320526123, + 0.192271426320076, + 0.0, + 0.9994885921478271 + ], + [ + 0.37911564111709595, + 0.13072162866592407, + -0.012250766158103943, + 0.1325385719537735, + -0.04407854750752449, + 0.2293107658624649, + 0.0, + 0.9994885921478271 + ], + [ + 0.37480437755584717, + 0.13610844314098358, + -0.025226527824997902, + 0.13171687722206116, + 0.004424219485372305, + 0.2511258125305176, + 0.0, + 0.9994885921478271 + ], + [ + 0.3755195438861847, + 0.13200488686561584, + -0.02906552329659462, + 0.08599237352609634, + 0.006314631551504135, + 0.253157377243042, + 0.0, + 0.9537920951843262 + ], + [ + 0.3775235414505005, + 0.12211331725120544, + -0.03393083065748215, + 0.06510854512453079, + 0.001549996784888208, + 0.21519695222377777, + 0.0, + 0.6751802563667297 + ], + [ + 0.370236873626709, + 0.11521590501070023, + -0.04538748040795326, + 0.06217099353671074, + 0.007745649199932814, + 0.19978725910186768, + 0.0, + 0.3754602372646332 + ], + [ + 0.36849960684776306, + 0.10059033334255219, + -0.048743873834609985, + 0.07113664597272873, + 0.02388017810881138, + 0.1507754772901535, + 0.0, + 0.1660143882036209 + ], + [ + 0.36879488825798035, + 0.09430171549320221, + -0.04678899422287941, + 0.08377019315958023, + 0.021977072581648827, + 0.11814083158969879, + 0.0, + 0.10160017013549805 + ], + [ + 0.381736695766449, + 0.07222151756286621, + -0.028188340365886688, + 0.11044559627771378, + -0.03324925899505615, + 0.009752515703439713, + 0.0, + 0.0832853764295578 + ], + [ + 0.3996272683143616, + 0.016531452536582947, + -0.020233267918229103, + 0.1026686355471611, + -0.10030945390462875, + -0.12319663166999817, + 0.0, + 0.07429859787225723 + ], + [ + 0.42484426498413086, + -0.018338119611144066, + 0.0017697124276310205, + 0.08736332505941391, + -0.17703978717327118, + -0.16835874319076538, + 0.0, + 0.07429859787225723 + ], + [ + 0.4366377890110016, + -0.04577481746673584, + -0.00028374005341902375, + 0.10102751106023788, + -0.19290174543857574, + -0.2385743409395218, + 0.0, + 0.07429859787225723 + ], + [ + 0.44861268997192383, + -0.052406005561351776, + -0.008538306690752506, + 0.11701562255620956, + -0.21335195004940033, + -0.26055648922920227, + 0.0, + 0.07429859787225723 + ], + [ + 0.45748159289360046, + -0.054927654564380646, + -0.015145673416554928, + 0.129828542470932, + -0.21825365722179413, + -0.27440088987350464, + 0.0, + 0.07429859787225723 + ], + [ + 0.46978071331977844, + -0.06254716962575912, + -0.02923804335296154, + 0.12920786440372467, + -0.2414207011461258, + -0.28572678565979004, + 0.0, + 0.07429859787225723 + ], + [ + 0.484590619802475, + -0.0653488039970398, + -0.03020050935447216, + 0.14082659780979156, + -0.2342459112405777, + -0.2909133732318878, + 0.0, + 0.07429859787225723 + ], + [ + 0.4961489737033844, + -0.06855033338069916, + -0.03197552636265755, + 0.14449922740459442, + -0.24105317890644073, + -0.29674917459487915, + 0.0, + 0.07429859787225723 + ], + [ + 0.5043675303459167, + -0.07220109552145004, + -0.02867291308939457, + 0.14430780708789825, + -0.25352391600608826, + -0.3082273602485657, + 0.0, + 0.07301933318376541 + ], + [ + 0.5126924514770508, + -0.07603403925895691, + -0.031502339988946915, + 0.1498159021139145, + -0.2619437575340271, + -0.3271179795265198, + 0.0, + 0.07238461822271347 + ], + [ + 0.5177671313285828, + -0.07677450031042099, + -0.031558889895677567, + 0.15207576751708984, + -0.2693442702293396, + -0.32721588015556335, + 0.0, + 0.09662370383739471 + ], + [ + 0.51109379529953, + -0.07545070350170135, + -0.04264402762055397, + 0.13477367162704468, + -0.255539208650589, + -0.28515586256980896, + 0.0, + 0.27090853452682495 + ], + [ + 0.5008933544158936, + -0.06515855342149734, + -0.044026825577020645, + 0.15386907756328583, + -0.2386874258518219, + -0.24744673073291779, + 0.0, + 0.5462315082550049 + ], + [ + 0.49563759565353394, + -0.06055603176355362, + -0.02628314681351185, + 0.17244236171245575, + -0.3021168112754822, + -0.23168380558490753, + 0.0, + 0.8517581820487976 + ], + [ + 0.48418086767196655, + -0.05576782301068306, + 0.002779404865577817, + 0.19030983746051788, + -0.3797948956489563, + -0.22011399269104004, + 0.0, + 1.0001531839370728 + ], + [ + 0.46454593539237976, + -0.053705696016550064, + 0.029719416052103043, + 0.17982476949691772, + -0.4104757010936737, + -0.2112428843975067, + 0.0, + 0.9994885921478271 + ], + [ + 0.4310341477394104, + -0.05426076054573059, + 0.03317313268780708, + 0.11467854678630829, + -0.2585151791572571, + -0.14999233186244965, + 0.0, + 0.9994885921478271 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9537920951843262 + ], + [ + 0.6751802563667297 + ], + [ + 0.3754602372646332 + ], + [ + 0.1660143882036209 + ], + [ + 0.10160017013549805 + ], + [ + 0.0832853764295578 + ], + [ + 0.07429859787225723 + ], + [ + 0.07429859787225723 + ], + [ + 0.07429859787225723 + ], + [ + 0.07429859787225723 + ], + [ + 0.07429859787225723 + ], + [ + 0.07429859787225723 + ], + [ + 0.07429859787225723 + ], + [ + 0.07429859787225723 + ], + [ + 0.07301933318376541 + ], + [ + 0.07238461822271347 + ], + [ + 0.09662370383739471 + ], + [ + 0.27090853452682495 + ], + [ + 0.5462315082550049 + ], + [ + 0.8517581820487976 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3806152641773224, + -0.02245722897350788, + 0.0297340527176857 + ], + [ + 0.37316733598709106, + -0.020945366472005844, + 0.012121578678488731 + ], + [ + 0.3719100058078766, + -0.0007834263378754258, + 0.008657047525048256 + ], + [ + 0.37384334206581116, + 0.03231412172317505, + 0.009162520989775658 + ], + [ + 0.3806775212287903, + 0.05732803791761398, + 0.016128286719322205 + ], + [ + 0.3876081109046936, + 0.07734626531600952, + 0.013024607673287392 + ], + [ + 0.3925551772117615, + 0.10209598392248154, + 0.014891714788973331 + ], + [ + 0.3862549364566803, + 0.11683496087789536, + -0.002001203363761306 + ], + [ + 0.37911564111709595, + 0.13072162866592407, + -0.012250766158103943 + ], + [ + 0.37480437755584717, + 0.13610844314098358, + -0.025226527824997902 + ], + [ + 0.3755195438861847, + 0.13200488686561584, + -0.02906552329659462 + ], + [ + 0.3775235414505005, + 0.12211331725120544, + -0.03393083065748215 + ], + [ + 0.370236873626709, + 0.11521590501070023, + -0.04538748040795326 + ], + [ + 0.36849960684776306, + 0.10059033334255219, + -0.048743873834609985 + ], + [ + 0.36879488825798035, + 0.09430171549320221, + -0.04678899422287941 + ], + [ + 0.381736695766449, + 0.07222151756286621, + -0.028188340365886688 + ], + [ + 0.3996272683143616, + 0.016531452536582947, + -0.020233267918229103 + ], + [ + 0.42484426498413086, + -0.018338119611144066, + 0.0017697124276310205 + ], + [ + 0.4366377890110016, + -0.04577481746673584, + -0.00028374005341902375 + ], + [ + 0.44861268997192383, + -0.052406005561351776, + -0.008538306690752506 + ], + [ + 0.45748159289360046, + -0.054927654564380646, + -0.015145673416554928 + ], + [ + 0.46978071331977844, + -0.06254716962575912, + -0.02923804335296154 + ], + [ + 0.484590619802475, + -0.0653488039970398, + -0.03020050935447216 + ], + [ + 0.4961489737033844, + -0.06855033338069916, + -0.03197552636265755 + ], + [ + 0.5043675303459167, + -0.07220109552145004, + -0.02867291308939457 + ], + [ + 0.5126924514770508, + -0.07603403925895691, + -0.031502339988946915 + ], + [ + 0.5177671313285828, + -0.07677450031042099, + -0.031558889895677567 + ], + [ + 0.51109379529953, + -0.07545070350170135, + -0.04264402762055397 + ], + [ + 0.5008933544158936, + -0.06515855342149734, + -0.044026825577020645 + ], + [ + 0.49563759565353394, + -0.06055603176355362, + -0.02628314681351185 + ], + [ + 0.48418086767196655, + -0.05576782301068306, + 0.002779404865577817 + ], + [ + 0.46454593539237976, + -0.053705696016550064, + 0.029719416052103043 + ], + [ + 0.4310341477394104, + -0.05426076054573059, + 0.03317313268780708 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9885649331616987, + -0.05533735620159006, + 0.14027526486028943, + -0.059420378271697376, + -0.9979178195146974, + 0.025084739206937864, + 0.1385950632925084, + -0.03313310283764611, + -0.9897947291874691 + ], + [ + 0.9945810200028284, + -0.054676182042301, + 0.08842573023396974, + -0.057350919143235535, + -0.9979615199771705, + 0.0279942265169421, + 0.08671485872420995, + -0.03291382326824045, + -0.995689315757836 + ], + [ + 0.9978498576987292, + -0.008134379984954478, + 0.06503455506795264, + -0.009878562288206239, + -0.9995988640685292, + 0.026542889067030492, + 0.06479255742555792, + -0.027128265981574078, + -0.9975299402459503 + ], + [ + 0.9943259221816634, + 0.0666960482580617, + 0.08287096973212726, + 0.06508876515627861, + -0.9976380225031843, + 0.021950596947847362, + 0.08413924843980758, + -0.016432078465438826, + -0.9963185101508906 + ], + [ + 0.988886693964601, + 0.0972179504860274, + 0.11248011647868446, + 0.09199340937037552, + -0.9944653036587895, + 0.050754038767833555, + 0.11679177681744808, + -0.03984256420122296, + -0.9923569171148531 + ], + [ + 0.9857209865946405, + 0.12761250433567253, + 0.10985984400164825, + 0.12064457677017129, + -0.9903695291298078, + 0.0679196721660877, + 0.11746924143295887, + -0.05369585187312462, + -0.9916237859232626 + ], + [ + 0.9816481676562471, + 0.1626699416943873, + 0.09952570023002576, + 0.15114255831083184, + -0.981903167666093, + 0.1141144004696552, + 0.11628758319093709, + -0.09697762317378518, + -0.9884697965032486 + ], + [ + 0.9787469071395914, + 0.19801677181778024, + 0.05332775865859093, + 0.19053883669142715, + -0.9742500430057465, + 0.12054793824690058, + 0.07582508474747267, + -0.10782491262303931, + -0.99127410172004 + ], + [ + 0.9728774172057163, + 0.23098352251509294, + 0.012495735978902769, + 0.2270856021975116, + -0.9639588517416229, + 0.13861984498464003, + 0.04406427539093788, + -0.1320225150324431, + -0.9902668302830203 + ], + [ + 0.9686237974043563, + 0.24577928946148073, + -0.03688468481326683, + 0.24849218400508985, + -0.9603872365346473, + 0.12612688210577436, + -0.004424205052315628, + -0.1313350553856548, + -0.9913281644523684 + ], + [ + 0.9681071440732193, + 0.24901141818352937, + -0.027602014575437966, + 0.25045694949981917, + -0.9646849893184171, + 0.08157320534937197, + -0.006314589586049784, + -0.08588471923429249, + -0.9962850701282272 + ], + [ + 0.9769331824708568, + 0.21298887029656413, + -0.015404483670566594, + 0.21353958532144382, + -0.9748859499041806, + 0.06323156000107064, + -0.0015499961642463107, + -0.06506247619954661, + -0.9978799886272267 + ], + [ + 0.980079420047211, + 0.19760573366349593, + -0.019907396194230795, + 0.19845487274992218, + -0.978310763826662, + 0.059360869794043945, + -0.007745571750022605, + -0.06212908661975295, + -0.998038066766023 + ], + [ + 0.9883730115525822, + 0.14814705960530847, + -0.034223365772243566, + 0.15016203088549615, + -0.9864093657757725, + 0.06669278514338679, + -0.0238779085102297, + -0.07105639900909579, + -0.9971864588155205 + ], + [ + 0.9927896821981766, + 0.11562697869319163, + -0.03160773195164759, + 0.11783773995163882, + -0.9897639804185878, + 0.08050795059522234, + -0.0219753035003602, + -0.08365204638403667, + -0.9962526894176144 + ], + [ + 0.9993997651893692, + 0.013356864318145128, + 0.03196409728148736, + 0.009746970922527548, + -0.9938240832201236, + 0.11053817516820268, + 0.033243133084430054, + -0.11016027318079562, + -0.9933577443778567 + ], + [ + 0.9874322104872533, + -0.11205261221592244, + 0.11145331663007926, + -0.12226751720633108, + -0.9884562122760276, + 0.08947050155849147, + 0.10014131978587124, + -0.10197317543607536, + -0.9897338973497003 + ], + [ + 0.9704514581028324, + -0.1517761908756046, + 0.18758452854480892, + -0.16494538128752131, + -0.984676173179976, + 0.05662027166617689, + 0.17611640655543823, + -0.0858884267810833, + -0.9806152096959693 + ], + [ + 0.9536533053237386, + -0.21632544675614301, + 0.20916183765415536, + -0.2319343890912487, + -0.9712905103673835, + 0.05292620926475709, + 0.19170762218017667, + -0.09898507744111094, + -0.9764477159797137 + ], + [ + 0.9443387385093518, + -0.2319709144016783, + 0.23326774706807435, + -0.25177723415397235, + -0.9660074023797095, + 0.05863380347019531, + 0.21173703339836814, + -0.11410168017717764, + -0.9706432069861732 + ], + [ + 0.9397523054744008, + -0.24170635615346855, + 0.24175119803335257, + -0.2645420789435653, + -0.9620825755286666, + 0.06644250395901743, + 0.21652503971542206, + -0.12639286079181927, + -0.9680608203605261 + ], + [ + 0.9316321224091607, + -0.2499488823519524, + 0.26379375410803935, + -0.27368085475941945, + -0.9601419460769438, + 0.05679993945184112, + 0.2390823670485894, + -0.12511194824871488, + -0.9629053028059689 + ], + [ + 0.9318194620927863, + -0.2527774811503898, + 0.26041512069842426, + -0.27899398470275927, + -0.9578431923169811, + 0.06854761433989709, + 0.23210955724568313, + -0.13652825332245005, + -0.9630603249433204 + ], + [ + 0.9286429386680898, + -0.25649229223553965, + 0.26801864951091176, + -0.28395850802930706, + -0.9563776917179849, + 0.0686241684973233, + 0.23872548707598104, + -0.13983352533615673, + -0.9609665587378148 + ], + [ + 0.9224138490687593, + -0.26584720961639835, + 0.2801391657468318, + -0.29367266281932675, + -0.953910724377484, + 0.06173084342716998, + 0.2508167820516844, + -0.1392105996567736, + -0.9579725208921388 + ], + [ + 0.9146696191340727, + -0.2811144301557049, + 0.2904378849106362, + -0.3103546146083147, + -0.9487840661533363, + 0.05906614093426472, + 0.2589584928602557, + -0.14416474247115793, + -0.9550691210607587 + ], + [ + 0.9127994595248146, + -0.27952585367328214, + 0.29776239490477935, + -0.3098197100791568, + -0.948968392776836, + 0.058912959160243424, + 0.2660994061204837, + -0.14602837614235178, + -0.9528204549775127 + ], + [ + 0.9284562860168586, + -0.2461642587833988, + 0.27815837692473155, + -0.2721721802246068, + -0.9604699019213097, + 0.058479670100420184, + 0.25276714435932, + -0.13000278920426941, + -0.9587533809752876 + ], + [ + 0.9420536322459347, + -0.20690374375265974, + 0.2640564235033389, + -0.23798530608963792, + -0.966961434786022, + 0.09137055172197911, + 0.2364274689152306, + -0.14891750890238267, + -0.9601695826699814 + ], + [ + 0.9292000631019767, + -0.17652036108314675, + 0.3246964811240764, + -0.2192170476257647, + -0.9705691017419147, + 0.09969706502267688, + 0.29754181010662256, + -0.1638175230766481, + -0.9405491429858974 + ], + [ + 0.9063325640395175, + -0.14596243733505432, + 0.3965554819300374, + -0.20278204807554095, + -0.9735657503163747, + 0.10511503598060168, + 0.37072998845499794, + -0.175683512880761, + -0.9119729047301968 + ], + [ + 0.896548700924393, + -0.13650868083605366, + 0.4213855798757042, + -0.1922578199069021, + -0.9769695376699508, + 0.09256053775561009, + 0.3990455582454568, + -0.16399970280876414, + -0.9021456312166061 + ], + [ + 0.9559159469935581, + -0.11952465679233532, + 0.26821364376571827, + -0.14446506757503375, + -0.9866488559489951, + 0.07519228221752575, + 0.25564535304587505, + -0.1106250038337335, + -0.9604205131049818 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.007447928190231323, + 0.001511862501502037, + -0.017612474039196968, + -0.00041794031858444214, + 0.05221874266862869, + 0.0024358704686164856, + 1.0 + ], + [ + -0.0012573301792144775, + 0.020161939784884453, + -0.0034645311534404755, + -0.00585554726421833, + 0.02198592573404312, + 0.04770008474588394, + 1.0 + ], + [ + 0.0019333362579345703, + 0.03309754654765129, + 0.0005054734647274017, + -0.010697437450289726, + -0.019400864839553833, + 0.07526645809412003, + 1.0 + ], + [ + 0.006834179162979126, + 0.025013916194438934, + 0.006965765729546547, + 0.023636575788259506, + -0.032820090651512146, + 0.027393348515033722, + 1.0 + ], + [ + 0.00693058967590332, + 0.02001822739839554, + -0.003103679046034813, + 0.013968709856271744, + -0.0006821602582931519, + 0.029026232659816742, + 1.0 + ], + [ + 0.004947066307067871, + 0.024749718606472015, + 0.0018671071156859398, + 0.04369927942752838, + 0.0011898130178451538, + 0.030981995165348053, + 1.0 + ], + [ + -0.006300240755081177, + 0.014738976955413818, + -0.016892917454242706, + 0.010552220046520233, + 0.040653347969055176, + 0.03950291872024536, + 1.0 + ], + [ + -0.007139295339584351, + 0.013886667788028717, + -0.010249562561511993, + 0.02419048547744751, + 0.031819384545087814, + 0.037039339542388916, + 1.0 + ], + [ + -0.004311263561248779, + 0.005386814475059509, + -0.012975761666893959, + -0.0008216947317123413, + 0.04850276559591293, + 0.021815046668052673, + 1.0 + ], + [ + 0.0007151663303375244, + -0.004103556275367737, + -0.003838995471596718, + -0.04572450369596481, + 0.0018904120661318302, + 0.002031564712524414, + 0.0 + ], + [ + 0.002003997564315796, + -0.0098915696144104, + -0.0048653073608875275, + -0.020883828401565552, + -0.004764634650200605, + -0.03796042501926422, + 0.0 + ], + [ + -0.007286667823791504, + -0.0068974122405052185, + -0.011456649750471115, + -0.002937551587820053, + 0.006195652298629284, + -0.015409693121910095, + 0.0 + ], + [ + -0.0017372667789459229, + -0.01462557166814804, + -0.003356393426656723, + 0.00896565243601799, + 0.016134528443217278, + -0.04901178181171417, + 0.0 + ], + [ + 0.00029528141021728516, + -0.006288617849349976, + 0.0019548796117305756, + 0.012633547186851501, + -0.0019031055271625519, + -0.03263464570045471, + 0.0 + ], + [ + 0.012941807508468628, + -0.022080197930336, + 0.01860065385699272, + 0.026675403118133545, + -0.05522633343935013, + -0.10838831961154938, + 0.0 + ], + [ + 0.017890572547912598, + -0.055690065026283264, + 0.007955072447657585, + -0.007776960730552673, + -0.0670601949095726, + -0.13294914364814758, + 0.0 + ], + [ + 0.025216996669769287, + -0.03486957401037216, + 0.02200298011302948, + -0.015305310487747192, + -0.07673033326864243, + -0.04516211152076721, + 0.0 + ], + [ + 0.011793524026870728, + -0.027436697855591774, + -0.0020534524228423834, + 0.013664186000823975, + -0.015861958265304565, + -0.07021559774875641, + 0.0 + ], + [ + 0.011974900960922241, + -0.006631188094615936, + -0.008254566229879856, + 0.01598811149597168, + -0.020450204610824585, + -0.02198214828968048, + 0.0 + ], + [ + 0.008868902921676636, + -0.0025216490030288696, + -0.006607366725802422, + 0.012812919914722443, + -0.004901707172393799, + -0.013844400644302368, + 0.0 + ], + [ + 0.012299120426177979, + -0.007619515061378479, + -0.014092369936406612, + -0.0006206780672073364, + -0.023167043924331665, + -0.0113258957862854, + 0.0 + ], + [ + 0.014809906482696533, + -0.00280163437128067, + -0.0009624660015106201, + 0.011618733406066895, + 0.007174789905548096, + -0.005186587572097778, + 0.0 + ], + [ + 0.011558353900909424, + -0.003201529383659363, + -0.0017750170081853867, + 0.0036726295948028564, + -0.006807267665863037, + -0.005835801362991333, + 0.0 + ], + [ + 0.008218556642532349, + -0.003650762140750885, + 0.0033026132732629776, + -0.000191420316696167, + -0.012470737099647522, + -0.011478185653686523, + 0.0 + ], + [ + 0.008324921131134033, + -0.0038329437375068665, + -0.0028294268995523453, + 0.005508095026016235, + -0.008419841527938843, + -0.0188906192779541, + 0.0 + ], + [ + 0.005074679851531982, + -0.0007404610514640808, + -5.6549906730651855e-05, + 0.002259865403175354, + -0.0074005126953125, + -9.79006290435791e-05, + 1.0 + ], + [ + -0.006673336029052734, + 0.001323796808719635, + -0.011085137724876404, + -0.017302095890045166, + 0.01380506157875061, + 0.042060017585754395, + 1.0 + ], + [ + -0.010200440883636475, + 0.01029215008020401, + -0.0013827979564666748, + 0.01909540593624115, + 0.01685178279876709, + 0.037709131836891174, + 1.0 + ], + [ + -0.005255758762359619, + 0.004602521657943726, + 0.017743678763508797, + 0.018573284149169922, + -0.06342938542366028, + 0.015762925148010254, + 1.0 + ], + [ + -0.011456727981567383, + 0.00478820875287056, + 0.029062552377581596, + 0.017867475748062134, + -0.07767808437347412, + 0.011569812893867493, + 1.0 + ], + [ + -0.019634932279586792, + 0.0020621269941329956, + 0.026940010488033295, + -0.010485067963600159, + -0.030680805444717407, + 0.008871108293533325, + 1.0 + ], + [ + -0.03351178765296936, + -0.0005550645291805267, + 0.0034537166357040405, + -0.06514622271060944, + 0.15196052193641663, + 0.06125055253505707, + 1.0 + ], + [ + -0.029989928007125854, + -0.004886072129011154, + -0.0025345347821712494, + -0.07796941697597504, + 0.09022097289562225, + 0.0596325546503067, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9537920951843262 + ], + [ + 0.6751802563667297 + ], + [ + 0.3754602372646332 + ], + [ + 0.1660143882036209 + ], + [ + 0.10160017013549805 + ], + [ + 0.0832853764295578 + ], + [ + 0.07429859787225723 + ], + [ + 0.07429859787225723 + ], + [ + 0.07429859787225723 + ], + [ + 0.07429859787225723 + ], + [ + 0.07429859787225723 + ], + [ + 0.07429859787225723 + ], + [ + 0.07429859787225723 + ], + [ + 0.07429859787225723 + ], + [ + 0.07301933318376541 + ], + [ + 0.07238461822271347 + ], + [ + 0.09662370383739471 + ], + [ + 0.27090853452682495 + ], + [ + 0.5462315082550049 + ], + [ + 0.8517581820487976 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.37316733598709106, + -0.020945366472005844, + 0.012121578678488731 + ], + [ + 0.3719100058078766, + -0.0007834263378754258, + 0.008657047525048256 + ], + [ + 0.37384334206581116, + 0.03231412172317505, + 0.009162520989775658 + ], + [ + 0.3806775212287903, + 0.05732803791761398, + 0.016128286719322205 + ], + [ + 0.3876081109046936, + 0.07734626531600952, + 0.013024607673287392 + ], + [ + 0.3925551772117615, + 0.10209598392248154, + 0.014891714788973331 + ], + [ + 0.3862549364566803, + 0.11683496087789536, + -0.002001203363761306 + ], + [ + 0.37911564111709595, + 0.13072162866592407, + -0.012250766158103943 + ], + [ + 0.37480437755584717, + 0.13610844314098358, + -0.025226527824997902 + ], + [ + 0.3755195438861847, + 0.13200488686561584, + -0.02906552329659462 + ], + [ + 0.3775235414505005, + 0.12211331725120544, + -0.03393083065748215 + ], + [ + 0.370236873626709, + 0.11521590501070023, + -0.04538748040795326 + ], + [ + 0.36849960684776306, + 0.10059033334255219, + -0.048743873834609985 + ], + [ + 0.36879488825798035, + 0.09430171549320221, + -0.04678899422287941 + ], + [ + 0.381736695766449, + 0.07222151756286621, + -0.028188340365886688 + ], + [ + 0.3996272683143616, + 0.016531452536582947, + -0.020233267918229103 + ], + [ + 0.42484426498413086, + -0.018338119611144066, + 0.0017697124276310205 + ], + [ + 0.4366377890110016, + -0.04577481746673584, + -0.00028374005341902375 + ], + [ + 0.44861268997192383, + -0.052406005561351776, + -0.008538306690752506 + ], + [ + 0.45748159289360046, + -0.054927654564380646, + -0.015145673416554928 + ], + [ + 0.46978071331977844, + -0.06254716962575912, + -0.02923804335296154 + ], + [ + 0.484590619802475, + -0.0653488039970398, + -0.03020050935447216 + ], + [ + 0.4961489737033844, + -0.06855033338069916, + -0.03197552636265755 + ], + [ + 0.5043675303459167, + -0.07220109552145004, + -0.02867291308939457 + ], + [ + 0.5126924514770508, + -0.07603403925895691, + -0.031502339988946915 + ], + [ + 0.5177671313285828, + -0.07677450031042099, + -0.031558889895677567 + ], + [ + 0.51109379529953, + -0.07545070350170135, + -0.04264402762055397 + ], + [ + 0.5008933544158936, + -0.06515855342149734, + -0.044026825577020645 + ], + [ + 0.49563759565353394, + -0.06055603176355362, + -0.02628314681351185 + ], + [ + 0.48418086767196655, + -0.05576782301068306, + 0.002779404865577817 + ], + [ + 0.46454593539237976, + -0.053705696016550064, + 0.029719416052103043 + ], + [ + 0.4310341477394104, + -0.05426076054573059, + 0.03317313268780708 + ], + [ + 0.40104421973228455, + -0.059146832674741745, + 0.030638597905635834 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9945810200028284, + -0.054676182042301, + 0.08842573023396974, + -0.057350919143235535, + -0.9979615199771705, + 0.0279942265169421, + 0.08671485872420995, + -0.03291382326824045, + -0.995689315757836 + ], + [ + 0.9978498576987292, + -0.008134379984954478, + 0.06503455506795264, + -0.009878562288206239, + -0.9995988640685292, + 0.026542889067030492, + 0.06479255742555792, + -0.027128265981574078, + -0.9975299402459503 + ], + [ + 0.9943259221816634, + 0.0666960482580617, + 0.08287096973212726, + 0.06508876515627861, + -0.9976380225031843, + 0.021950596947847362, + 0.08413924843980758, + -0.016432078465438826, + -0.9963185101508906 + ], + [ + 0.988886693964601, + 0.0972179504860274, + 0.11248011647868446, + 0.09199340937037552, + -0.9944653036587895, + 0.050754038767833555, + 0.11679177681744808, + -0.03984256420122296, + -0.9923569171148531 + ], + [ + 0.9857209865946405, + 0.12761250433567253, + 0.10985984400164825, + 0.12064457677017129, + -0.9903695291298078, + 0.0679196721660877, + 0.11746924143295887, + -0.05369585187312462, + -0.9916237859232626 + ], + [ + 0.9816481676562471, + 0.1626699416943873, + 0.09952570023002576, + 0.15114255831083184, + -0.981903167666093, + 0.1141144004696552, + 0.11628758319093709, + -0.09697762317378518, + -0.9884697965032486 + ], + [ + 0.9787469071395914, + 0.19801677181778024, + 0.05332775865859093, + 0.19053883669142715, + -0.9742500430057465, + 0.12054793824690058, + 0.07582508474747267, + -0.10782491262303931, + -0.99127410172004 + ], + [ + 0.9728774172057163, + 0.23098352251509294, + 0.012495735978902769, + 0.2270856021975116, + -0.9639588517416229, + 0.13861984498464003, + 0.04406427539093788, + -0.1320225150324431, + -0.9902668302830203 + ], + [ + 0.9686237974043563, + 0.24577928946148073, + -0.03688468481326683, + 0.24849218400508985, + -0.9603872365346473, + 0.12612688210577436, + -0.004424205052315628, + -0.1313350553856548, + -0.9913281644523684 + ], + [ + 0.9681071440732193, + 0.24901141818352937, + -0.027602014575437966, + 0.25045694949981917, + -0.9646849893184171, + 0.08157320534937197, + -0.006314589586049784, + -0.08588471923429249, + -0.9962850701282272 + ], + [ + 0.9769331824708568, + 0.21298887029656413, + -0.015404483670566594, + 0.21353958532144382, + -0.9748859499041806, + 0.06323156000107064, + -0.0015499961642463107, + -0.06506247619954661, + -0.9978799886272267 + ], + [ + 0.980079420047211, + 0.19760573366349593, + -0.019907396194230795, + 0.19845487274992218, + -0.978310763826662, + 0.059360869794043945, + -0.007745571750022605, + -0.06212908661975295, + -0.998038066766023 + ], + [ + 0.9883730115525822, + 0.14814705960530847, + -0.034223365772243566, + 0.15016203088549615, + -0.9864093657757725, + 0.06669278514338679, + -0.0238779085102297, + -0.07105639900909579, + -0.9971864588155205 + ], + [ + 0.9927896821981766, + 0.11562697869319163, + -0.03160773195164759, + 0.11783773995163882, + -0.9897639804185878, + 0.08050795059522234, + -0.0219753035003602, + -0.08365204638403667, + -0.9962526894176144 + ], + [ + 0.9993997651893692, + 0.013356864318145128, + 0.03196409728148736, + 0.009746970922527548, + -0.9938240832201236, + 0.11053817516820268, + 0.033243133084430054, + -0.11016027318079562, + -0.9933577443778567 + ], + [ + 0.9874322104872533, + -0.11205261221592244, + 0.11145331663007926, + -0.12226751720633108, + -0.9884562122760276, + 0.08947050155849147, + 0.10014131978587124, + -0.10197317543607536, + -0.9897338973497003 + ], + [ + 0.9704514581028324, + -0.1517761908756046, + 0.18758452854480892, + -0.16494538128752131, + -0.984676173179976, + 0.05662027166617689, + 0.17611640655543823, + -0.0858884267810833, + -0.9806152096959693 + ], + [ + 0.9536533053237386, + -0.21632544675614301, + 0.20916183765415536, + -0.2319343890912487, + -0.9712905103673835, + 0.05292620926475709, + 0.19170762218017667, + -0.09898507744111094, + -0.9764477159797137 + ], + [ + 0.9443387385093518, + -0.2319709144016783, + 0.23326774706807435, + -0.25177723415397235, + -0.9660074023797095, + 0.05863380347019531, + 0.21173703339836814, + -0.11410168017717764, + -0.9706432069861732 + ], + [ + 0.9397523054744008, + -0.24170635615346855, + 0.24175119803335257, + -0.2645420789435653, + -0.9620825755286666, + 0.06644250395901743, + 0.21652503971542206, + -0.12639286079181927, + -0.9680608203605261 + ], + [ + 0.9316321224091607, + -0.2499488823519524, + 0.26379375410803935, + -0.27368085475941945, + -0.9601419460769438, + 0.05679993945184112, + 0.2390823670485894, + -0.12511194824871488, + -0.9629053028059689 + ], + [ + 0.9318194620927863, + -0.2527774811503898, + 0.26041512069842426, + -0.27899398470275927, + -0.9578431923169811, + 0.06854761433989709, + 0.23210955724568313, + -0.13652825332245005, + -0.9630603249433204 + ], + [ + 0.9286429386680898, + -0.25649229223553965, + 0.26801864951091176, + -0.28395850802930706, + -0.9563776917179849, + 0.0686241684973233, + 0.23872548707598104, + -0.13983352533615673, + -0.9609665587378148 + ], + [ + 0.9224138490687593, + -0.26584720961639835, + 0.2801391657468318, + -0.29367266281932675, + -0.953910724377484, + 0.06173084342716998, + 0.2508167820516844, + -0.1392105996567736, + -0.9579725208921388 + ], + [ + 0.9146696191340727, + -0.2811144301557049, + 0.2904378849106362, + -0.3103546146083147, + -0.9487840661533363, + 0.05906614093426472, + 0.2589584928602557, + -0.14416474247115793, + -0.9550691210607587 + ], + [ + 0.9127994595248146, + -0.27952585367328214, + 0.29776239490477935, + -0.3098197100791568, + -0.948968392776836, + 0.058912959160243424, + 0.2660994061204837, + -0.14602837614235178, + -0.9528204549775127 + ], + [ + 0.9284562860168586, + -0.2461642587833988, + 0.27815837692473155, + -0.2721721802246068, + -0.9604699019213097, + 0.058479670100420184, + 0.25276714435932, + -0.13000278920426941, + -0.9587533809752876 + ], + [ + 0.9420536322459347, + -0.20690374375265974, + 0.2640564235033389, + -0.23798530608963792, + -0.966961434786022, + 0.09137055172197911, + 0.2364274689152306, + -0.14891750890238267, + -0.9601695826699814 + ], + [ + 0.9292000631019767, + -0.17652036108314675, + 0.3246964811240764, + -0.2192170476257647, + -0.9705691017419147, + 0.09969706502267688, + 0.29754181010662256, + -0.1638175230766481, + -0.9405491429858974 + ], + [ + 0.9063325640395175, + -0.14596243733505432, + 0.3965554819300374, + -0.20278204807554095, + -0.9735657503163747, + 0.10511503598060168, + 0.37072998845499794, + -0.175683512880761, + -0.9119729047301968 + ], + [ + 0.896548700924393, + -0.13650868083605366, + 0.4213855798757042, + -0.1922578199069021, + -0.9769695376699508, + 0.09256053775561009, + 0.3990455582454568, + -0.16399970280876414, + -0.9021456312166061 + ], + [ + 0.9559159469935581, + -0.11952465679233532, + 0.26821364376571827, + -0.14446506757503375, + -0.9866488559489951, + 0.07519228221752575, + 0.25564535304587505, + -0.1106250038337335, + -0.9604205131049818 + ], + [ + 0.9818498932277891, + -0.08405371960072128, + 0.17001693853808308, + -0.08896199110769257, + -0.9958041012768206, + 0.021446585239108865, + 0.16750089942067126, + -0.03618237280150178, + -0.9852077367701287 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006274.json b/json/chunk-0006/episode_0006274.json new file mode 100644 index 0000000000000000000000000000000000000000..fee5e14db181b847daea2d6fe596543c4ed9b1e4 --- /dev/null +++ b/json/chunk-0006/episode_0006274.json @@ -0,0 +1,1882 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 30, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the purple can to the back side of the left burner." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006274.mp4", + "start": 0, + "end": 30, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3141927123069763, + -0.01157961506396532, + 0.09070898592472076, + 0.4288601279258728, + 0.003148321993649006, + -1.3110110759735107, + 0.0, + 1.0001531839370728 + ], + [ + 0.31124868988990784, + -0.010895663872361183, + 0.08299916982650757, + 0.4013882577419281, + 0.013297438621520996, + -1.3036730289459229, + 0.0, + 1.0001531839370728 + ], + [ + 0.3053825795650482, + 0.00018219016783405095, + 0.089399054646492, + 0.396493524312973, + 0.034239064902067184, + -1.2454924583435059, + 0.0, + 1.0001531839370728 + ], + [ + 0.29337453842163086, + 0.023875001817941666, + 0.10862601548433304, + 0.3960415720939636, + -0.024784322828054428, + -1.0984678268432617, + 0.0, + 1.0001531839370728 + ], + [ + 0.27424994111061096, + 0.049330610781908035, + 0.12091981619596481, + 0.3539091646671295, + -0.04698235169053078, + -0.9198537468910217, + 0.0, + 1.0001531839370728 + ], + [ + 0.2497960329055786, + 0.07896403223276138, + 0.11976497620344162, + 0.2765932083129883, + -0.020506493747234344, + -0.6716475486755371, + 0.0, + 1.0001531839370728 + ], + [ + 0.22747260332107544, + 0.10391976684331894, + 0.11839272081851959, + 0.2697996199131012, + -0.03200520947575569, + -0.44937995076179504, + 0.0, + 1.0001531839370728 + ], + [ + 0.20513786375522614, + 0.12310288101434708, + 0.10305693000555038, + 0.23379863798618317, + -0.036453478038311005, + -0.22032633423805237, + 0.0, + 1.0001531839370728 + ], + [ + 0.18700452148914337, + 0.13587285578250885, + 0.08309734612703323, + 0.22552619874477386, + -0.029752681031823158, + -0.014250009320676327, + 0.0, + 1.0001531839370728 + ], + [ + 0.18723106384277344, + 0.13592195510864258, + 0.06157911196351051, + 0.17824828624725342, + 0.0012372275814414024, + 0.08592468500137329, + 0.0, + 1.0001531839370728 + ], + [ + 0.1940339356660843, + 0.13723459839820862, + 0.04768382012844086, + 0.19310493767261505, + 0.028926260769367218, + 0.1647687554359436, + 0.0, + 1.0001531839370728 + ], + [ + 0.21300220489501953, + 0.13825908303260803, + 0.03431782126426697, + 0.18568497896194458, + 0.06391299515962601, + 0.20608583092689514, + 0.0, + 1.0001531839370728 + ], + [ + 0.23309655487537384, + 0.13991762697696686, + 0.030274363234639168, + 0.20344291627407074, + 0.05688543990254402, + 0.25783419609069824, + 0.0, + 1.0001531839370728 + ], + [ + 0.2558448612689972, + 0.13869142532348633, + 0.024451497942209244, + 0.20172956585884094, + 0.0503547228872776, + 0.2734973132610321, + 0.0, + 1.0001531839370728 + ], + [ + 0.27455317974090576, + 0.1396683156490326, + 0.026711445301771164, + 0.18235647678375244, + 0.03979906067252159, + 0.29912686347961426, + 0.0, + 1.0001531839370728 + ], + [ + 0.29690784215927124, + 0.14617539942264557, + 0.027396097779273987, + 0.18357467651367188, + 0.014550024643540382, + 0.32530519366264343, + 0.0, + 1.0001531839370728 + ], + [ + 0.31557944416999817, + 0.15231063961982727, + 0.02748151309788227, + 0.18778589367866516, + -9.489760122960433e-05, + 0.35169923305511475, + 0.0, + 1.0001531839370728 + ], + [ + 0.33221185207366943, + 0.15914024412631989, + 0.027660608291625977, + 0.19036395847797394, + -0.018809117376804352, + 0.37859511375427246, + 0.0, + 1.0001531839370728 + ], + [ + 0.3474541902542114, + 0.1664915680885315, + 0.02936718612909317, + 0.1952039897441864, + -0.04463279992341995, + 0.3845180869102478, + 0.0, + 1.0001531839370728 + ], + [ + 0.35521313548088074, + 0.1687832623720169, + 0.036588191986083984, + 0.19133087992668152, + -0.06640840321779251, + 0.37446799874305725, + 0.0, + 1.0001531839370728 + ], + [ + 0.3461326062679291, + 0.1616917997598648, + 0.038993194699287415, + 0.17104633152484894, + -0.03208189830183983, + 0.34385210275650024, + 0.0, + 1.0001531839370728 + ], + [ + 0.3360327184200287, + 0.15287552773952484, + 0.07554704695940018, + 0.1471230834722519, + -0.08435086160898209, + 0.29634231328964233, + 0.0, + 1.0001531839370728 + ], + [ + 0.3265569806098938, + 0.1517011672258377, + 0.11402583867311478, + 0.13756513595581055, + -0.14402714371681213, + 0.26827365159988403, + 0.0, + 1.0001531839370728 + ], + [ + 0.3141079545021057, + 0.157115638256073, + 0.13169145584106445, + 0.18288494646549225, + -0.11094632744789124, + 0.22054201364517212, + 0.0, + 1.0001531839370728 + ], + [ + 0.31431177258491516, + 0.15743905305862427, + 0.13267198204994202, + 0.18539634346961975, + -0.11287003755569458, + 0.21537701785564423, + 0.0, + 1.0001531839370728 + ], + [ + 0.31431177258491516, + 0.15743905305862427, + 0.13267198204994202, + 0.18539634346961975, + -0.11287003755569458, + 0.21537701785564423, + 0.0, + 1.0001531839370728 + ], + [ + 0.31414541602134705, + 0.15771280229091644, + 0.1326339691877365, + 0.18392525613307953, + -0.11312925070524216, + 0.21746329963207245, + 0.0, + 1.0001531839370728 + ], + [ + 0.31414541602134705, + 0.15771280229091644, + 0.1326339691877365, + 0.18392525613307953, + -0.11312925070524216, + 0.21746329963207245, + 0.0, + 1.0001531839370728 + ], + [ + 0.31431177258491516, + 0.15743905305862427, + 0.13267198204994202, + 0.18539634346961975, + -0.11287003755569458, + 0.21537701785564423, + 0.0, + 1.0001531839370728 + ], + [ + 0.3140698969364166, + 0.15792101621627808, + 0.13267198204994202, + 0.18539634346961975, + -0.11287003755569458, + 0.21691100299358368, + 0.0, + 1.0001531839370728 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3141927123069763, + -0.01157961506396532, + 0.09070898592472076 + ], + [ + 0.31124868988990784, + -0.010895663872361183, + 0.08299916982650757 + ], + [ + 0.3053825795650482, + 0.00018219016783405095, + 0.089399054646492 + ], + [ + 0.29337453842163086, + 0.023875001817941666, + 0.10862601548433304 + ], + [ + 0.27424994111061096, + 0.049330610781908035, + 0.12091981619596481 + ], + [ + 0.2497960329055786, + 0.07896403223276138, + 0.11976497620344162 + ], + [ + 0.22747260332107544, + 0.10391976684331894, + 0.11839272081851959 + ], + [ + 0.20513786375522614, + 0.12310288101434708, + 0.10305693000555038 + ], + [ + 0.18700452148914337, + 0.13587285578250885, + 0.08309734612703323 + ], + [ + 0.18723106384277344, + 0.13592195510864258, + 0.06157911196351051 + ], + [ + 0.1940339356660843, + 0.13723459839820862, + 0.04768382012844086 + ], + [ + 0.21300220489501953, + 0.13825908303260803, + 0.03431782126426697 + ], + [ + 0.23309655487537384, + 0.13991762697696686, + 0.030274363234639168 + ], + [ + 0.2558448612689972, + 0.13869142532348633, + 0.024451497942209244 + ], + [ + 0.27455317974090576, + 0.1396683156490326, + 0.026711445301771164 + ], + [ + 0.29690784215927124, + 0.14617539942264557, + 0.027396097779273987 + ], + [ + 0.31557944416999817, + 0.15231063961982727, + 0.02748151309788227 + ], + [ + 0.33221185207366943, + 0.15914024412631989, + 0.027660608291625977 + ], + [ + 0.3474541902542114, + 0.1664915680885315, + 0.02936718612909317 + ], + [ + 0.35521313548088074, + 0.1687832623720169, + 0.036588191986083984 + ], + [ + 0.3461326062679291, + 0.1616917997598648, + 0.038993194699287415 + ], + [ + 0.3360327184200287, + 0.15287552773952484, + 0.07554704695940018 + ], + [ + 0.3265569806098938, + 0.1517011672258377, + 0.11402583867311478 + ], + [ + 0.3141079545021057, + 0.157115638256073, + 0.13169145584106445 + ], + [ + 0.31431177258491516, + 0.15743905305862427, + 0.13267198204994202 + ], + [ + 0.31431177258491516, + 0.15743905305862427, + 0.13267198204994202 + ], + [ + 0.31414541602134705, + 0.15771280229091644, + 0.1326339691877365 + ], + [ + 0.31414541602134705, + 0.15771280229091644, + 0.1326339691877365 + ], + [ + 0.31431177258491516, + 0.15743905305862427, + 0.13267198204994202 + ], + [ + 0.3140698969364166, + 0.15792101621627808, + 0.13267198204994202 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.25687174145901176, + -0.8792605093830662, + 0.40114569059039573, + -0.9664403740227266, + -0.23234543201559005, + 0.10958377471277916, + -0.0031483167926596722, + -0.41583236629791065, + -0.9094358312934747 + ], + [ + 0.2639345186287132, + -0.8892438370643229, + 0.3736093790569899, + -0.9644489402887445, + -0.2379674883222882, + 0.11493352895260517, + -0.013297046745316454, + -0.39066209535185487, + -0.9204381107946102 + ], + [ + 0.31940941677751455, + -0.8782683066283049, + 0.3558404221643434, + -0.9469982940550873, + -0.28227594908730747, + 0.1533444476452097, + -0.03423237547414287, + -0.3859599333339018, + -0.9218801843679512 + ], + [ + 0.4548213468185046, + -0.8172320751708465, + 0.3539340020260182, + -0.8902378365261313, + -0.428258263859163, + 0.1551497787739602, + 0.024781785558646824, + -0.3856508715772434, + -0.922311914894434 + ], + [ + 0.6052678780168147, + -0.7363486036693023, + 0.30239300540073866, + -0.7946351855482923, + -0.5813318661497211, + 0.17495194565226738, + 0.04696506924995936, + -0.3461849148549827, + -0.9369900143529786 + ], + [ + 0.782632914113649, + -0.5942413445690518, + 0.18537245251315876, + -0.6221456938704282, + -0.756528867824847, + 0.20149145824609763, + 0.020505056558355175, + -0.27302252022941415, + -0.9617890860802684 + ], + [ + 0.9002553515884623, + -0.4110098031334014, + 0.14356616476237338, + -0.43418465911173865, + -0.871837724076265, + 0.226677446318644, + 0.03199974575457765, + -0.2664018104400964, + -0.9633307280814214 + ], + [ + 0.9751778870981047, + -0.2043627638603302, + 0.0852288053550146, + -0.21840288681466935, + -0.9511225421127582, + 0.2183256487817757, + 0.03644540500385153, + -0.23152056200763568, + -0.9721470885734184 + ], + [ + 0.9994559369056029, + -0.007237064456983114, + 0.03217848787915897, + -0.014243220518811812, + -0.9746724072506446, + 0.22318339815829966, + 0.02974829160466542, + -0.22352029760690437, + -0.974245203069702 + ], + [ + 0.9963099823795678, + 0.08424070059059194, + -0.01642934493007884, + 0.08581892728016374, + -0.9805438158922334, + 0.1765472651614291, + -0.0012372272657974349, + -0.17730575139995947, + -0.9841550384919993 + ], + [ + 0.9860436421208288, + 0.1555003156822708, + -0.05947762315194344, + 0.1639556056270141, + -0.9690315505134566, + 0.18465214185859005, + -0.028922227033364615, + -0.19182676020878833, + -0.9810025478311615 + ], + [ + 0.9768408320774887, + 0.18957049218698072, + -0.09922206044094008, + 0.20421233279185472, + -0.9644260501061395, + 0.16786815365750343, + -0.06386949132307583, + -0.18424283532516614, + -0.9808033777008903 + ], + [ + 0.9653804254733951, + 0.23862092067359567, + -0.10535981363732431, + 0.25457448772172564, + -0.9499320312778706, + 0.1811655766240352, + -0.056854765095171275, + -0.20171562202562243, + -0.9777925871660046 + ], + [ + 0.9616117410457168, + 0.25491299793996747, + -0.10159834134612673, + 0.26975804664088476, + -0.9460313364050422, + 0.17959762473981822, + -0.05033344569488758, + -0.20011015471721683, + -0.9784796728719161 + ], + [ + 0.9548374403535832, + 0.2829046501156862, + -0.09083183055481389, + 0.29445259959334713, + -0.9418758490451005, + 0.16176387599921968, + -0.03978855478321953, + -0.18120387393345674, + -0.9826403344966919 + ], + [ + 0.947452933000607, + 0.31171127235166834, + -0.07189591391346185, + 0.3195641586135966, + -0.9324807417546305, + 0.16839956884243718, + -0.014549511267803513, + -0.1825260226533157, + -0.9830933642214404 + ], + [ + 0.9387886894429042, + 0.33845395371506387, + -0.0642239658438809, + 0.3444935232606266, + -0.9222786679927072, + 0.1752891068979415, + 9.489760108716272e-05, + -0.18668417120966427, + -0.9824199770028123 + ], + [ + 0.929020460013026, + 0.36624525875297154, + -0.052776844526317965, + 0.3695500557427953, + -0.9110841182359251, + 0.18264305570911904, + 0.018808008339084786, + -0.1891828214697001, + -0.981761742421796 + ], + [ + 0.9260561535374451, + 0.3760108176520685, + -0.03218486451820833, + 0.3747388905870834, + -0.906127861048596, + 0.1962219745927016, + 0.04461798266388217, + -0.19377348745408843, + -0.9800311582714533 + ], + [ + 0.9286508677168694, + 0.37084757385658373, + -0.008924284474998937, + 0.36497118925120464, + -0.9091030453224817, + 0.20081753907951091, + 0.06635960296194066, + -0.18974648863701063, + -0.9795880119441326 + ], + [ + 0.9409785895238996, + 0.33733696324845824, + -0.02762367252775564, + 0.33694272351215976, + -0.9258838727703784, + 0.17090539843999608, + 0.03207639521237697, + -0.1701259162209976, + -0.9849001358006533 + ], + [ + 0.953010568767694, + 0.30068138505621755, + 0.036899329231724724, + 0.29098564688412965, + -0.9424721541671007, + 0.16454054797237522, + 0.08425087017058744, + -0.14607170602241742, + -0.9856798910271019 + ], + [ + 0.9542463023391312, + 0.28154152528573734, + 0.10073908879812138, + 0.2623227316547216, + -0.9499035089732207, + 0.16991205989442676, + 0.14352971444721885, + -0.13571180191915094, + -0.9802966530038532 + ], + [ + 0.96977970546564, + 0.23475873630069788, + 0.06645042210156603, + 0.21741356218650654, + -0.9551011124745421, + 0.20127893065908892, + 0.11071885947909212, + -0.18074899911311176, + -0.9772774086590039 + ], + [ + 0.970679838780869, + 0.23033555007813522, + 0.0687472541600658, + 0.2123558638631186, + -0.9557179459524, + 0.20373560039294505, + 0.11263053612273383, + -0.18316315719796936, + -0.9766092464122881 + ], + [ + 0.970679838780869, + 0.23033555007813522, + 0.0687472541600658, + 0.2123558638631186, + -0.9557179459524, + 0.20373560039294505, + 0.11263053612273383, + -0.18316315719796936, + -0.9766092464122881 + ], + [ + 0.9702061521571649, + 0.23227418094883795, + 0.06891100914175102, + 0.21437420571570603, + -0.9555240479136197, + 0.2025277605231702, + 0.11288809609586015, + -0.18172093639236211, + -0.9768489028690849 + ], + [ + 0.9702061521571649, + 0.23227418094883795, + 0.06891100914175102, + 0.21437420571570603, + -0.9555240479136197, + 0.2025277605231702, + 0.11288809609586015, + -0.18172093639236211, + -0.9768489028690849 + ], + [ + 0.970679838780869, + 0.23033555007813522, + 0.0687472541600658, + 0.2123558638631186, + -0.9557179459524, + 0.20373560039294505, + 0.11263053612273383, + -0.18316315719796936, + -0.9766092464122881 + ], + [ + 0.9703529461113136, + 0.23180133562588612, + 0.06843464601463876, + 0.2138446218771919, + -0.955363490325712, + 0.20384081791160857, + 0.11263053612273381, + -0.18316315719796933, + -0.976609246412288 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0029440224170684814, + 0.0006839511916041374, + -0.007709816098213196, + -0.027471870183944702, + 0.01014911662787199, + 0.007338047027587891, + 1.0 + ], + [ + -0.005866110324859619, + 0.011077853851020336, + 0.006399884819984436, + -0.004894733428955078, + 0.02094162628054619, + 0.05818057060241699, + 1.0 + ], + [ + -0.012008041143417358, + 0.023692810907959938, + 0.019226960837841034, + -0.0004519522190093994, + -0.05902338773012161, + 0.14702463150024414, + 1.0 + ], + [ + -0.019124597311019897, + 0.02545560896396637, + 0.012293800711631775, + -0.042132407426834106, + -0.02219802886247635, + 0.17861407995224, + 1.0 + ], + [ + -0.02445390820503235, + 0.029633421450853348, + -0.0011548399925231934, + -0.07731595635414124, + 0.026475857943296432, + 0.24820619821548462, + 1.0 + ], + [ + -0.022323429584503174, + 0.024955734610557556, + -0.0013722553849220276, + -0.006793588399887085, + -0.011498715728521347, + 0.22226759791374207, + 1.0 + ], + [ + -0.022334739565849304, + 0.019183114171028137, + -0.015335790812969208, + -0.03600098192691803, + -0.004448268562555313, + 0.22905361652374268, + 1.0 + ], + [ + -0.018133342266082764, + 0.012769974768161774, + -0.01995958387851715, + -0.008272439241409302, + 0.006700797006487846, + 0.20607632398605347, + 1.0 + ], + [ + 0.00022654235363006592, + 4.909932613372803e-05, + -0.02151823416352272, + -0.04727791249752045, + 0.030989907681941986, + 0.10017469525337219, + 1.0 + ], + [ + 0.006802871823310852, + 0.00131264328956604, + -0.013895291835069656, + 0.014856651425361633, + 0.02768903225660324, + 0.07884407043457031, + 1.0 + ], + [ + 0.01896826922893524, + 0.001024484634399414, + -0.01336599886417389, + -0.007419958710670471, + 0.03498673439025879, + 0.04131707549095154, + 1.0 + ], + [ + 0.02009434998035431, + 0.0016585439443588257, + -0.0040434580296278, + 0.01775793731212616, + -0.0070275552570819855, + 0.0517483651638031, + 1.0 + ], + [ + 0.022748306393623352, + -0.0012262016534805298, + -0.005822865292429924, + -0.0017133504152297974, + -0.0065307170152664185, + 0.015663117170333862, + 1.0 + ], + [ + 0.01870831847190857, + 0.0009768903255462646, + 0.00225994735956192, + -0.0193730890750885, + -0.010555662214756012, + 0.025629550218582153, + 1.0 + ], + [ + 0.02235466241836548, + 0.006507083773612976, + 0.0006846524775028229, + 0.0012181997299194336, + -0.02524903602898121, + 0.026178330183029175, + 1.0 + ], + [ + 0.01867160201072693, + 0.006135240197181702, + 8.5415318608284e-05, + 0.004211217164993286, + -0.014644922688603401, + 0.026394039392471313, + 1.0 + ], + [ + 0.016632407903671265, + 0.006829604506492615, + 0.00017909519374370575, + 0.002578064799308777, + -0.018714219331741333, + 0.026895880699157715, + 1.0 + ], + [ + 0.015242338180541992, + 0.007351323962211609, + 0.0017065778374671936, + 0.004840031266212463, + -0.0258236825466156, + 0.005922973155975342, + 1.0 + ], + [ + 0.0077589452266693115, + 0.0022916942834854126, + 0.007221005856990814, + -0.003873109817504883, + -0.02177560329437256, + -0.010050088167190552, + 1.0 + ], + [ + -0.00908052921295166, + -0.0070914626121521, + 0.00240500271320343, + -0.02028454840183258, + 0.03432650491595268, + -0.030615895986557007, + 1.0 + ], + [ + -0.01009988784790039, + -0.008816272020339966, + 0.03655385226011276, + -0.023923248052597046, + -0.05226896330714226, + -0.04750978946685791, + 1.0 + ], + [ + -0.009475737810134888, + -0.0011743605136871338, + 0.0384787917137146, + -0.009557947516441345, + -0.05967628210783005, + -0.0280686616897583, + 1.0 + ], + [ + -0.012449026107788086, + 0.0054144710302352905, + 0.017665617167949677, + 0.0453198105096817, + 0.0330808162689209, + -0.047731637954711914, + 1.0 + ], + [ + 0.00020381808280944824, + 0.00032341480255126953, + 0.0009805262088775635, + 0.0025113970041275024, + -0.0019237101078033447, + -0.005164995789527893, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + -0.00016635656356811523, + 0.0002737492322921753, + -3.801286220550537e-05, + -0.0014710873365402222, + -0.0002592131495475769, + 0.0020862817764282227, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.00016635656356811523, + -0.0002737492322921753, + 3.801286220550537e-05, + 0.0014710873365402222, + 0.0002592131495475769, + -0.0020862817764282227, + 1.0 + ], + [ + -0.00024187564849853516, + 0.0004819631576538086, + 0.0, + 0.0, + 0.0, + 0.0015339851379394531, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.31124868988990784, + -0.010895663872361183, + 0.08299916982650757 + ], + [ + 0.3053825795650482, + 0.00018219016783405095, + 0.089399054646492 + ], + [ + 0.29337453842163086, + 0.023875001817941666, + 0.10862601548433304 + ], + [ + 0.27424994111061096, + 0.049330610781908035, + 0.12091981619596481 + ], + [ + 0.2497960329055786, + 0.07896403223276138, + 0.11976497620344162 + ], + [ + 0.22747260332107544, + 0.10391976684331894, + 0.11839272081851959 + ], + [ + 0.20513786375522614, + 0.12310288101434708, + 0.10305693000555038 + ], + [ + 0.18700452148914337, + 0.13587285578250885, + 0.08309734612703323 + ], + [ + 0.18723106384277344, + 0.13592195510864258, + 0.06157911196351051 + ], + [ + 0.1940339356660843, + 0.13723459839820862, + 0.04768382012844086 + ], + [ + 0.21300220489501953, + 0.13825908303260803, + 0.03431782126426697 + ], + [ + 0.23309655487537384, + 0.13991762697696686, + 0.030274363234639168 + ], + [ + 0.2558448612689972, + 0.13869142532348633, + 0.024451497942209244 + ], + [ + 0.27455317974090576, + 0.1396683156490326, + 0.026711445301771164 + ], + [ + 0.29690784215927124, + 0.14617539942264557, + 0.027396097779273987 + ], + [ + 0.31557944416999817, + 0.15231063961982727, + 0.02748151309788227 + ], + [ + 0.33221185207366943, + 0.15914024412631989, + 0.027660608291625977 + ], + [ + 0.3474541902542114, + 0.1664915680885315, + 0.02936718612909317 + ], + [ + 0.35521313548088074, + 0.1687832623720169, + 0.036588191986083984 + ], + [ + 0.3461326062679291, + 0.1616917997598648, + 0.038993194699287415 + ], + [ + 0.3360327184200287, + 0.15287552773952484, + 0.07554704695940018 + ], + [ + 0.3265569806098938, + 0.1517011672258377, + 0.11402583867311478 + ], + [ + 0.3141079545021057, + 0.157115638256073, + 0.13169145584106445 + ], + [ + 0.31431177258491516, + 0.15743905305862427, + 0.13267198204994202 + ], + [ + 0.31431177258491516, + 0.15743905305862427, + 0.13267198204994202 + ], + [ + 0.31414541602134705, + 0.15771280229091644, + 0.1326339691877365 + ], + [ + 0.31414541602134705, + 0.15771280229091644, + 0.1326339691877365 + ], + [ + 0.31431177258491516, + 0.15743905305862427, + 0.13267198204994202 + ], + [ + 0.3140698969364166, + 0.15792101621627808, + 0.13267198204994202 + ], + [ + 0.3140698969364166, + 0.15792101621627808, + 0.13267198204994202 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.2639345186287132, + -0.8892438370643229, + 0.3736093790569899, + -0.9644489402887445, + -0.2379674883222882, + 0.11493352895260517, + -0.013297046745316454, + -0.39066209535185487, + -0.9204381107946102 + ], + [ + 0.31940941677751455, + -0.8782683066283049, + 0.3558404221643434, + -0.9469982940550873, + -0.28227594908730747, + 0.1533444476452097, + -0.03423237547414287, + -0.3859599333339018, + -0.9218801843679512 + ], + [ + 0.4548213468185046, + -0.8172320751708465, + 0.3539340020260182, + -0.8902378365261313, + -0.428258263859163, + 0.1551497787739602, + 0.024781785558646824, + -0.3856508715772434, + -0.922311914894434 + ], + [ + 0.6052678780168147, + -0.7363486036693023, + 0.30239300540073866, + -0.7946351855482923, + -0.5813318661497211, + 0.17495194565226738, + 0.04696506924995936, + -0.3461849148549827, + -0.9369900143529786 + ], + [ + 0.782632914113649, + -0.5942413445690518, + 0.18537245251315876, + -0.6221456938704282, + -0.756528867824847, + 0.20149145824609763, + 0.020505056558355175, + -0.27302252022941415, + -0.9617890860802684 + ], + [ + 0.9002553515884623, + -0.4110098031334014, + 0.14356616476237338, + -0.43418465911173865, + -0.871837724076265, + 0.226677446318644, + 0.03199974575457765, + -0.2664018104400964, + -0.9633307280814214 + ], + [ + 0.9751778870981047, + -0.2043627638603302, + 0.0852288053550146, + -0.21840288681466935, + -0.9511225421127582, + 0.2183256487817757, + 0.03644540500385153, + -0.23152056200763568, + -0.9721470885734184 + ], + [ + 0.9994559369056029, + -0.007237064456983114, + 0.03217848787915897, + -0.014243220518811812, + -0.9746724072506446, + 0.22318339815829966, + 0.02974829160466542, + -0.22352029760690437, + -0.974245203069702 + ], + [ + 0.9963099823795678, + 0.08424070059059194, + -0.01642934493007884, + 0.08581892728016374, + -0.9805438158922334, + 0.1765472651614291, + -0.0012372272657974349, + -0.17730575139995947, + -0.9841550384919993 + ], + [ + 0.9860436421208288, + 0.1555003156822708, + -0.05947762315194344, + 0.1639556056270141, + -0.9690315505134566, + 0.18465214185859005, + -0.028922227033364615, + -0.19182676020878833, + -0.9810025478311615 + ], + [ + 0.9768408320774887, + 0.18957049218698072, + -0.09922206044094008, + 0.20421233279185472, + -0.9644260501061395, + 0.16786815365750343, + -0.06386949132307583, + -0.18424283532516614, + -0.9808033777008903 + ], + [ + 0.9653804254733951, + 0.23862092067359567, + -0.10535981363732431, + 0.25457448772172564, + -0.9499320312778706, + 0.1811655766240352, + -0.056854765095171275, + -0.20171562202562243, + -0.9777925871660046 + ], + [ + 0.9616117410457168, + 0.25491299793996747, + -0.10159834134612673, + 0.26975804664088476, + -0.9460313364050422, + 0.17959762473981822, + -0.05033344569488758, + -0.20011015471721683, + -0.9784796728719161 + ], + [ + 0.9548374403535832, + 0.2829046501156862, + -0.09083183055481389, + 0.29445259959334713, + -0.9418758490451005, + 0.16176387599921968, + -0.03978855478321953, + -0.18120387393345674, + -0.9826403344966919 + ], + [ + 0.947452933000607, + 0.31171127235166834, + -0.07189591391346185, + 0.3195641586135966, + -0.9324807417546305, + 0.16839956884243718, + -0.014549511267803513, + -0.1825260226533157, + -0.9830933642214404 + ], + [ + 0.9387886894429042, + 0.33845395371506387, + -0.0642239658438809, + 0.3444935232606266, + -0.9222786679927072, + 0.1752891068979415, + 9.489760108716272e-05, + -0.18668417120966427, + -0.9824199770028123 + ], + [ + 0.929020460013026, + 0.36624525875297154, + -0.052776844526317965, + 0.3695500557427953, + -0.9110841182359251, + 0.18264305570911904, + 0.018808008339084786, + -0.1891828214697001, + -0.981761742421796 + ], + [ + 0.9260561535374451, + 0.3760108176520685, + -0.03218486451820833, + 0.3747388905870834, + -0.906127861048596, + 0.1962219745927016, + 0.04461798266388217, + -0.19377348745408843, + -0.9800311582714533 + ], + [ + 0.9286508677168694, + 0.37084757385658373, + -0.008924284474998937, + 0.36497118925120464, + -0.9091030453224817, + 0.20081753907951091, + 0.06635960296194066, + -0.18974648863701063, + -0.9795880119441326 + ], + [ + 0.9409785895238996, + 0.33733696324845824, + -0.02762367252775564, + 0.33694272351215976, + -0.9258838727703784, + 0.17090539843999608, + 0.03207639521237697, + -0.1701259162209976, + -0.9849001358006533 + ], + [ + 0.953010568767694, + 0.30068138505621755, + 0.036899329231724724, + 0.29098564688412965, + -0.9424721541671007, + 0.16454054797237522, + 0.08425087017058744, + -0.14607170602241742, + -0.9856798910271019 + ], + [ + 0.9542463023391312, + 0.28154152528573734, + 0.10073908879812138, + 0.2623227316547216, + -0.9499035089732207, + 0.16991205989442676, + 0.14352971444721885, + -0.13571180191915094, + -0.9802966530038532 + ], + [ + 0.96977970546564, + 0.23475873630069788, + 0.06645042210156603, + 0.21741356218650654, + -0.9551011124745421, + 0.20127893065908892, + 0.11071885947909212, + -0.18074899911311176, + -0.9772774086590039 + ], + [ + 0.970679838780869, + 0.23033555007813522, + 0.0687472541600658, + 0.2123558638631186, + -0.9557179459524, + 0.20373560039294505, + 0.11263053612273383, + -0.18316315719796936, + -0.9766092464122881 + ], + [ + 0.970679838780869, + 0.23033555007813522, + 0.0687472541600658, + 0.2123558638631186, + -0.9557179459524, + 0.20373560039294505, + 0.11263053612273383, + -0.18316315719796936, + -0.9766092464122881 + ], + [ + 0.9702061521571649, + 0.23227418094883795, + 0.06891100914175102, + 0.21437420571570603, + -0.9555240479136197, + 0.2025277605231702, + 0.11288809609586015, + -0.18172093639236211, + -0.9768489028690849 + ], + [ + 0.9702061521571649, + 0.23227418094883795, + 0.06891100914175102, + 0.21437420571570603, + -0.9555240479136197, + 0.2025277605231702, + 0.11288809609586015, + -0.18172093639236211, + -0.9768489028690849 + ], + [ + 0.970679838780869, + 0.23033555007813522, + 0.0687472541600658, + 0.2123558638631186, + -0.9557179459524, + 0.20373560039294505, + 0.11263053612273383, + -0.18316315719796936, + -0.9766092464122881 + ], + [ + 0.9703529461113136, + 0.23180133562588612, + 0.06843464601463876, + 0.2138446218771919, + -0.955363490325712, + 0.20384081791160857, + 0.11263053612273381, + -0.18316315719796933, + -0.976609246412288 + ], + [ + 0.9703529461113136, + 0.23180133562588612, + 0.06843464601463876, + 0.2138446218771919, + -0.955363490325712, + 0.20384081791160857, + 0.11263053612273381, + -0.18316315719796933, + -0.976609246412288 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006276.json b/json/chunk-0006/episode_0006276.json new file mode 100644 index 0000000000000000000000000000000000000000..ad792e833c35d57116b224d314cfb5f7b9f27fc8 --- /dev/null +++ b/json/chunk-0006/episode_0006276.json @@ -0,0 +1,1282 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 20, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut pan on stove from sink." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006276.mp4", + "start": 0, + "end": 20, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2326965034008026, + -0.06293397396802902, + 0.13079756498336792, + 0.10531558841466904, + -0.1851700246334076, + 0.03448790684342384, + 0.0, + 1.0008161067962646 + ], + [ + 0.231272354722023, + -0.0603218637406826, + 0.1272580325603485, + 0.12303485721349716, + -0.18546780943870544, + 0.09236199408769608, + 0.0, + 1.0008161067962646 + ], + [ + 0.2283649742603302, + -0.056742940098047256, + 0.12255638837814331, + 0.13008615374565125, + -0.20470741391181946, + 0.20344945788383484, + 0.0, + 1.0008161067962646 + ], + [ + 0.2173575907945633, + -0.05905308946967125, + 0.1186845675110817, + 0.1133590117096901, + -0.22248253226280212, + 0.3207114040851593, + 0.0, + 1.0008161067962646 + ], + [ + 0.2038296014070511, + -0.061959367245435715, + 0.114203542470932, + 0.12233085930347443, + -0.2459564507007599, + 0.3769570291042328, + 0.0, + 1.0008161067962646 + ], + [ + 0.1938820779323578, + -0.06011863052845001, + 0.10573621094226837, + 0.13006167113780975, + -0.2763565480709076, + 0.42092183232307434, + 0.0, + 1.0008161067962646 + ], + [ + 0.19368083775043488, + -0.05847025662660599, + 0.09636589884757996, + 0.10255748778581619, + -0.30419573187828064, + 0.4410352408885956, + 0.0, + 1.0008161067962646 + ], + [ + 0.19778522849082947, + -0.0547315888106823, + 0.08580034971237183, + 0.07904843986034393, + -0.31333136558532715, + 0.4593580961227417, + 0.0, + 1.0008161067962646 + ], + [ + 0.20028114318847656, + -0.04919799044728279, + 0.07478901743888855, + 0.07303124666213989, + -0.3182843029499054, + 0.4811675548553467, + 0.0, + 1.0008161067962646 + ], + [ + 0.19867554306983948, + -0.04659147188067436, + 0.06431787461042404, + 0.07159452140331268, + -0.31171122193336487, + 0.4838221073150635, + 0.0, + 1.0008161067962646 + ], + [ + 0.19806699454784393, + -0.04760514199733734, + 0.054520491510629654, + 0.0495191253721714, + -0.31122079491615295, + 0.48716986179351807, + 0.0, + 1.0008161067962646 + ], + [ + 0.19944678246974945, + -0.047738004475831985, + 0.04923965409398079, + 0.04167985916137695, + -0.31773853302001953, + 0.5046116709709167, + 0.0, + 0.8233373761177063 + ], + [ + 0.20110997557640076, + -0.04660315811634064, + 0.05011158064007759, + 0.049126166850328445, + -0.31544867157936096, + 0.5166347622871399, + 0.0, + 0.49661046266555786 + ], + [ + 0.2002253532409668, + -0.04532456770539284, + 0.05425000935792923, + 0.07696044445037842, + -0.29891592264175415, + 0.5221154093742371, + 0.0, + 0.2352597415447235 + ], + [ + 0.19956877827644348, + -0.04343492537736893, + 0.07233236730098724, + 0.10785532742738724, + -0.3109750747680664, + 0.5315079092979431, + 0.0, + 0.10834171622991562 + ], + [ + 0.18949174880981445, + -0.03618388995528221, + 0.11138314753770828, + 0.2063024938106537, + -0.3238775134086609, + 0.5090794563293457, + 0.0, + 0.06443082541227341 + ], + [ + 0.186300128698349, + -0.024725135415792465, + 0.14393851161003113, + 0.27410680055618286, + -0.3650858700275421, + 0.503445565700531, + 0.0, + 0.06354815512895584 + ], + [ + 0.18505997955799103, + -0.003315043170005083, + 0.17578181624412537, + 0.3182583153247833, + -0.46062180399894714, + 0.47554799914360046, + 0.0, + 0.06354815512895584 + ], + [ + 0.1950712949037552, + 0.024979813024401665, + 0.1885240375995636, + 0.340781569480896, + -0.5134154558181763, + 0.4167999029159546, + 0.0, + 0.06354815512895584 + ], + [ + 0.21647252142429352, + 0.05264216288924217, + 0.19773299992084503, + 0.3486599624156952, + -0.5600700378417969, + 0.35470426082611084, + 0.0, + 0.06354815512895584 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.8233373761177063 + ], + [ + 0.49661046266555786 + ], + [ + 0.2352597415447235 + ], + [ + 0.10834171622991562 + ], + [ + 0.06443082541227341 + ], + [ + 0.06354815512895584 + ], + [ + 0.06354815512895584 + ], + [ + 0.06354815512895584 + ], + [ + 0.06354815512895584 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2326965034008026, + -0.06293397396802902, + 0.13079756498336792 + ], + [ + 0.231272354722023, + -0.0603218637406826, + 0.1272580325603485 + ], + [ + 0.2283649742603302, + -0.056742940098047256, + 0.12255638837814331 + ], + [ + 0.2173575907945633, + -0.05905308946967125, + 0.1186845675110817 + ], + [ + 0.2038296014070511, + -0.061959367245435715, + 0.114203542470932 + ], + [ + 0.1938820779323578, + -0.06011863052845001, + 0.10573621094226837 + ], + [ + 0.19368083775043488, + -0.05847025662660599, + 0.09636589884757996 + ], + [ + 0.19778522849082947, + -0.0547315888106823, + 0.08580034971237183 + ], + [ + 0.20028114318847656, + -0.04919799044728279, + 0.07478901743888855 + ], + [ + 0.19867554306983948, + -0.04659147188067436, + 0.06431787461042404 + ], + [ + 0.19806699454784393, + -0.04760514199733734, + 0.054520491510629654 + ], + [ + 0.19944678246974945, + -0.047738004475831985, + 0.04923965409398079 + ], + [ + 0.20110997557640076, + -0.04660315811634064, + 0.05011158064007759 + ], + [ + 0.2002253532409668, + -0.04532456770539284, + 0.05425000935792923 + ], + [ + 0.19956877827644348, + -0.04343492537736893, + 0.07233236730098724 + ], + [ + 0.18949174880981445, + -0.03618388995528221, + 0.11138314753770828 + ], + [ + 0.186300128698349, + -0.024725135415792465, + 0.14393851161003113 + ], + [ + 0.18505997955799103, + -0.003315043170005083, + 0.17578181624412537 + ], + [ + 0.1950712949037552, + 0.024979813024401665, + 0.1885240375995636 + ], + [ + 0.21647252142429352, + 0.05264216288924217, + 0.19773299992084503 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9823204776119995, + 0.053632731024896414, + 0.17935999951757467, + 0.033891615261180376, + -0.9932007290533024, + 0.11137176582499168, + 0.18411365424411466, + -0.10332396610080245, + -0.9774591144135282 + ], + [ + 0.9786608522452882, + 0.11406828400423967, + 0.17091331974674834, + 0.09064898213538282, + -0.9861233443251772, + 0.13908095417686434, + 0.18440634023900904, + -0.12061996667739598, + -0.9754204864151658 + ], + [ + 0.9589265807419755, + 0.22616729846857028, + 0.17119627872688267, + 0.1978301624639857, + -0.9657725074854746, + 0.16776975473753364, + 0.2032806915719663, + -0.12701108962861396, + -0.9708476417777279 + ], + [ + 0.9256208070189571, + 0.3369051445027944, + 0.17239792696296036, + 0.30747190629610566, + -0.9350521773882398, + 0.17646090898595942, + 0.2206516450249439, + -0.11032836973808427, + -0.9690926180601744 + ], + [ + 0.9018069294317546, + 0.3929673852721664, + 0.17978013277675492, + 0.3570150612955643, + -0.9119040856464993, + 0.20241340022179116, + 0.2434841022263987, + -0.11835359180683643, + -0.9626566985532412 + ], + [ + 0.8780806467214869, + 0.4374496603060434, + 0.19393857932681188, + 0.39309797832947246, + -0.8905443344995828, + 0.22892087655776666, + 0.27285226274754704, + -0.12477412788243368, + -0.9539303222587703 + ], + [ + 0.8627916822510382, + 0.45236338820945543, + 0.22573851697502811, + 0.40727721592508315, + -0.8864685452318746, + 0.21976985166941607, + 0.2995259294731205, + -0.09767744530927006, + -0.9490749887396241 + ], + [ + 0.852696437978181, + 0.46380489107824585, + 0.2404034269123861, + 0.4217859106075629, + -0.8827467316909199, + 0.20701413792769918, + 0.30822950908741914, + -0.07512143968865348, + -0.9483413620774077 + ], + [ + 0.8419318219077029, + 0.48182203248308586, + 0.2428957312779373, + 0.4395690271024736, + -0.8735243721918119, + 0.2091273334575982, + 0.31293749802693926, + -0.06930151658346861, + -0.9472420082153612 + ], + [ + 0.8425646944750907, + 0.4833947262012873, + 0.23751689267266568, + 0.44274970640704336, + -0.8727507142177098, + 0.20561830732926875, + 0.30668784309224423, + -0.06808619179583472, + -0.9493718119820953 + ], + [ + 0.8412105670041907, + 0.4809472269241127, + 0.24709218294898427, + 0.4456382762636309, + -0.8754823685608178, + 0.1869148176788571, + 0.30622101281471203, + -0.0471209852735132, + -0.9507935128394522 + ], + [ + 0.8315454760623858, + 0.49444296985470426, + 0.2530973543943933, + 0.45926727648658217, + -0.8683083600399483, + 0.18738772807559684, + 0.3124190935086689, + -0.03958208491219878, + -0.9491193647614752 + ], + [ + 0.8265835569619676, + 0.5066075356563265, + 0.24517020246417726, + 0.4695837330889019, + -0.8609119979544192, + 0.195759161717712, + 0.31024303534228265, + -0.04668336528522918, + -0.9495103593048646 + ], + [ + 0.8283305116240817, + 0.5168633217918436, + 0.2161501101061218, + 0.4765999545270072, + -0.852908968554359, + 0.21306988220861778, + 0.29448437455566645, + -0.0734751518939619, + -0.9528275579540705 + ], + [ + 0.820696431869471, + 0.5322830510292842, + 0.20768273954201177, + 0.48252385316278956, + -0.8403403814447022, + 0.24697929962307993, + 0.30598708771066363, + -0.10248315422706714, + -0.9465036213633933 + ], + [ + 0.8277949279811994, + 0.5339623553461268, + 0.17216201753527788, + 0.46203437804133035, + -0.8229055878099001, + 0.33068206340713974, + 0.31824485968599975, + -0.19419216416853496, + -0.9279060365462544 + ], + [ + 0.818195937405652, + 0.5490877947822134, + 0.17046407725410062, + 0.450649907996234, + -0.796599628659754, + 0.40291896460966903, + 0.3570295063939001, + -0.2528470392160995, + -0.8992209441087213 + ], + [ + 0.7963827020869249, + 0.5584926173933586, + 0.23207884034061255, + 0.41010940950271285, + -0.7807163220690272, + 0.4714788401321387, + 0.44450519013175116, + -0.2802998765110789, + -0.8507920516635128 + ], + [ + 0.7964988397481252, + 0.531658021193731, + 0.28797455925872434, + 0.3526416793581664, + -0.7953498003034383, + 0.49301373321311526, + 0.491155214020316, + -0.2911330342947137, + -0.8209799705735886 + ], + [ + 0.794477950584057, + 0.49661159532520716, + 0.34954500343204664, + 0.2942498359299386, + -0.8182909042899293, + 0.49377832071849215, + 0.531245536537448, + -0.2894424283772553, + -0.796241961067185 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.001424148678779602, + 0.0026121102273464203, + -0.003539532423019409, + 0.017719268798828125, + -0.00029778480529785156, + 0.05787408724427223, + 1.0 + ], + [ + -0.00290738046169281, + 0.0035789236426353455, + -0.0047016441822052, + 0.007051296532154083, + -0.019239604473114014, + 0.11108746379613876, + 1.0 + ], + [ + -0.011007383465766907, + -0.002310149371623993, + -0.003871820867061615, + -0.01672714203596115, + -0.017775118350982666, + 0.11726194620132446, + 1.0 + ], + [ + -0.013527989387512207, + -0.0029062777757644653, + -0.004481025040149689, + 0.008971847593784332, + -0.023473918437957764, + 0.056245625019073486, + 1.0 + ], + [ + -0.009947523474693298, + 0.0018407367169857025, + -0.008467331528663635, + 0.007730811834335327, + -0.030400097370147705, + 0.04396480321884155, + 1.0 + ], + [ + -0.0002012401819229126, + 0.0016483739018440247, + -0.009370312094688416, + -0.02750418335199356, + -0.027839183807373047, + 0.02011340856552124, + 1.0 + ], + [ + 0.004104390740394592, + 0.003738667815923691, + -0.01056554913520813, + -0.02350904792547226, + -0.009135633707046509, + 0.018322855234146118, + 1.0 + ], + [ + 0.0024959146976470947, + 0.005533598363399506, + -0.011011332273483276, + -0.0060171931982040405, + -0.004952937364578247, + 0.02180945873260498, + 1.0 + ], + [ + -0.001605600118637085, + 0.002606518566608429, + -0.010471142828464508, + -0.0014367252588272095, + 0.006573081016540527, + 0.002654552459716797, + 1.0 + ], + [ + -0.0006085485219955444, + -0.0010136701166629791, + -0.009797383099794388, + -0.02207539603114128, + 0.0004904270172119141, + 0.00334775447845459, + 1.0 + ], + [ + 0.0013797879219055176, + -0.00013286247849464417, + -0.005280837416648865, + -0.007839266210794449, + -0.006517738103866577, + 0.01744180917739868, + 0.0 + ], + [ + 0.0016631931066513062, + 0.0011348463594913483, + 0.0008719265460968018, + 0.007446307688951492, + 0.0022898614406585693, + 0.012023091316223145, + 0.0 + ], + [ + -0.00088462233543396, + 0.0012785904109477997, + 0.004138428717851639, + 0.027834277600049973, + 0.01653274893760681, + 0.005480647087097168, + 0.0 + ], + [ + -0.0006565749645233154, + 0.0018896423280239105, + 0.018082357943058014, + 0.03089488297700882, + -0.012059152126312256, + 0.009392499923706055, + 0.0 + ], + [ + -0.010077029466629028, + 0.007251035422086716, + 0.03905078023672104, + 0.09844716638326645, + -0.012902438640594482, + -0.022428452968597412, + 0.0 + ], + [ + -0.003191620111465454, + 0.011458754539489746, + 0.032555364072322845, + 0.06780430674552917, + -0.041208356618881226, + -0.005633890628814697, + 0.0 + ], + [ + -0.0012401491403579712, + 0.02141009271144867, + 0.03184330463409424, + 0.044151514768600464, + -0.09553593397140503, + -0.027897566556930542, + 0.0 + ], + [ + 0.01001131534576416, + 0.02829485572874546, + 0.012742221355438232, + 0.02252325415611267, + -0.052793651819229126, + -0.058748096227645874, + 0.0 + ], + [ + 0.02140122652053833, + 0.027662349864840508, + 0.009208962321281433, + 0.007878392934799194, + -0.046654582023620605, + -0.06209564208984375, + 0.0 + ], + [ + 0.031158432364463806, + 0.01772325113415718, + 0.0007223039865493774, + -0.006964683532714844, + -0.021349310874938965, + -0.07471397519111633, + 0.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.8233373761177063 + ], + [ + 0.49661046266555786 + ], + [ + 0.2352597415447235 + ], + [ + 0.10834171622991562 + ], + [ + 0.06443082541227341 + ], + [ + 0.06354815512895584 + ], + [ + 0.06354815512895584 + ], + [ + 0.06354815512895584 + ], + [ + 0.06354815512895584 + ], + [ + 0.06354815512895584 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.231272354722023, + -0.0603218637406826, + 0.1272580325603485 + ], + [ + 0.2283649742603302, + -0.056742940098047256, + 0.12255638837814331 + ], + [ + 0.2173575907945633, + -0.05905308946967125, + 0.1186845675110817 + ], + [ + 0.2038296014070511, + -0.061959367245435715, + 0.114203542470932 + ], + [ + 0.1938820779323578, + -0.06011863052845001, + 0.10573621094226837 + ], + [ + 0.19368083775043488, + -0.05847025662660599, + 0.09636589884757996 + ], + [ + 0.19778522849082947, + -0.0547315888106823, + 0.08580034971237183 + ], + [ + 0.20028114318847656, + -0.04919799044728279, + 0.07478901743888855 + ], + [ + 0.19867554306983948, + -0.04659147188067436, + 0.06431787461042404 + ], + [ + 0.19806699454784393, + -0.04760514199733734, + 0.054520491510629654 + ], + [ + 0.19944678246974945, + -0.047738004475831985, + 0.04923965409398079 + ], + [ + 0.20110997557640076, + -0.04660315811634064, + 0.05011158064007759 + ], + [ + 0.2002253532409668, + -0.04532456770539284, + 0.05425000935792923 + ], + [ + 0.19956877827644348, + -0.04343492537736893, + 0.07233236730098724 + ], + [ + 0.18949174880981445, + -0.03618388995528221, + 0.11138314753770828 + ], + [ + 0.186300128698349, + -0.024725135415792465, + 0.14393851161003113 + ], + [ + 0.18505997955799103, + -0.003315043170005083, + 0.17578181624412537 + ], + [ + 0.1950712949037552, + 0.024979813024401665, + 0.1885240375995636 + ], + [ + 0.21647252142429352, + 0.05264216288924217, + 0.19773299992084503 + ], + [ + 0.24763095378875732, + 0.07036541402339935, + 0.1984553039073944 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9786608522452882, + 0.11406828400423967, + 0.17091331974674834, + 0.09064898213538282, + -0.9861233443251772, + 0.13908095417686434, + 0.18440634023900904, + -0.12061996667739598, + -0.9754204864151658 + ], + [ + 0.9589265807419755, + 0.22616729846857028, + 0.17119627872688267, + 0.1978301624639857, + -0.9657725074854746, + 0.16776975473753364, + 0.2032806915719663, + -0.12701108962861396, + -0.9708476417777279 + ], + [ + 0.9256208070189571, + 0.3369051445027944, + 0.17239792696296036, + 0.30747190629610566, + -0.9350521773882398, + 0.17646090898595942, + 0.2206516450249439, + -0.11032836973808427, + -0.9690926180601744 + ], + [ + 0.9018069294317546, + 0.3929673852721664, + 0.17978013277675492, + 0.3570150612955643, + -0.9119040856464993, + 0.20241340022179116, + 0.2434841022263987, + -0.11835359180683643, + -0.9626566985532412 + ], + [ + 0.8780806467214869, + 0.4374496603060434, + 0.19393857932681188, + 0.39309797832947246, + -0.8905443344995828, + 0.22892087655776666, + 0.27285226274754704, + -0.12477412788243368, + -0.9539303222587703 + ], + [ + 0.8627916822510382, + 0.45236338820945543, + 0.22573851697502811, + 0.40727721592508315, + -0.8864685452318746, + 0.21976985166941607, + 0.2995259294731205, + -0.09767744530927006, + -0.9490749887396241 + ], + [ + 0.852696437978181, + 0.46380489107824585, + 0.2404034269123861, + 0.4217859106075629, + -0.8827467316909199, + 0.20701413792769918, + 0.30822950908741914, + -0.07512143968865348, + -0.9483413620774077 + ], + [ + 0.8419318219077029, + 0.48182203248308586, + 0.2428957312779373, + 0.4395690271024736, + -0.8735243721918119, + 0.2091273334575982, + 0.31293749802693926, + -0.06930151658346861, + -0.9472420082153612 + ], + [ + 0.8425646944750907, + 0.4833947262012873, + 0.23751689267266568, + 0.44274970640704336, + -0.8727507142177098, + 0.20561830732926875, + 0.30668784309224423, + -0.06808619179583472, + -0.9493718119820953 + ], + [ + 0.8412105670041907, + 0.4809472269241127, + 0.24709218294898427, + 0.4456382762636309, + -0.8754823685608178, + 0.1869148176788571, + 0.30622101281471203, + -0.0471209852735132, + -0.9507935128394522 + ], + [ + 0.8315454760623858, + 0.49444296985470426, + 0.2530973543943933, + 0.45926727648658217, + -0.8683083600399483, + 0.18738772807559684, + 0.3124190935086689, + -0.03958208491219878, + -0.9491193647614752 + ], + [ + 0.8265835569619676, + 0.5066075356563265, + 0.24517020246417726, + 0.4695837330889019, + -0.8609119979544192, + 0.195759161717712, + 0.31024303534228265, + -0.04668336528522918, + -0.9495103593048646 + ], + [ + 0.8283305116240817, + 0.5168633217918436, + 0.2161501101061218, + 0.4765999545270072, + -0.852908968554359, + 0.21306988220861778, + 0.29448437455566645, + -0.0734751518939619, + -0.9528275579540705 + ], + [ + 0.820696431869471, + 0.5322830510292842, + 0.20768273954201177, + 0.48252385316278956, + -0.8403403814447022, + 0.24697929962307993, + 0.30598708771066363, + -0.10248315422706714, + -0.9465036213633933 + ], + [ + 0.8277949279811994, + 0.5339623553461268, + 0.17216201753527788, + 0.46203437804133035, + -0.8229055878099001, + 0.33068206340713974, + 0.31824485968599975, + -0.19419216416853496, + -0.9279060365462544 + ], + [ + 0.818195937405652, + 0.5490877947822134, + 0.17046407725410062, + 0.450649907996234, + -0.796599628659754, + 0.40291896460966903, + 0.3570295063939001, + -0.2528470392160995, + -0.8992209441087213 + ], + [ + 0.7963827020869249, + 0.5584926173933586, + 0.23207884034061255, + 0.41010940950271285, + -0.7807163220690272, + 0.4714788401321387, + 0.44450519013175116, + -0.2802998765110789, + -0.8507920516635128 + ], + [ + 0.7964988397481252, + 0.531658021193731, + 0.28797455925872434, + 0.3526416793581664, + -0.7953498003034383, + 0.49301373321311526, + 0.491155214020316, + -0.2911330342947137, + -0.8209799705735886 + ], + [ + 0.794477950584057, + 0.49661159532520716, + 0.34954500343204664, + 0.2942498359299386, + -0.8182909042899293, + 0.49377832071849215, + 0.531245536537448, + -0.2894424283772553, + -0.796241961067185 + ], + [ + 0.8031408680684813, + 0.43723576411415777, + 0.40470931866923276, + 0.2309381836852189, + -0.8546407826768286, + 0.4650340717643272, + 0.549210616571073, + -0.2800250331042672, + -0.7873713732925369 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006277.json b/json/chunk-0006/episode_0006277.json new file mode 100644 index 0000000000000000000000000000000000000000..74a641ea17847535f6813a1ede8ac610ae3b236e --- /dev/null +++ b/json/chunk-0006/episode_0006277.json @@ -0,0 +1,2242 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 36, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the bowl to the right of the sushi." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006277.mp4", + "start": 0, + "end": 36, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.38611242175102234, + 0.07683712989091873, + 0.08964663743972778, + 0.046418312937021255, + -0.08239594846963882, + -0.039586391299963, + 0.0, + 1.0008161067962646 + ], + [ + 0.3820422291755676, + 0.07515585422515869, + 0.07145580649375916, + 0.02976349927484989, + -0.035868529230356216, + -0.035141222178936005, + 0.0, + 1.0008161067962646 + ], + [ + 0.3676365613937378, + 0.07728565484285355, + 0.055352818220853806, + -0.007492112461477518, + 0.0014293794520199299, + -0.013706563971936703, + 0.0, + 1.0008161067962646 + ], + [ + 0.3446379005908966, + 0.09323498606681824, + 0.04889734089374542, + -0.028495430946350098, + 0.01815621927380562, + 0.03461995720863342, + 0.0, + 1.0008161067962646 + ], + [ + 0.3245254456996918, + 0.09319736063480377, + 0.060899004340171814, + -0.008221742697060108, + -0.016421325504779816, + 0.03277450427412987, + 0.0, + 1.0008161067962646 + ], + [ + 0.31135571002960205, + 0.09461548924446106, + 0.05152644217014313, + 0.025768302381038666, + 0.005005498882383108, + 0.023993324488401413, + 0.0, + 1.0008161067962646 + ], + [ + 0.30148813128471375, + 0.09635762125253677, + 0.05509886518120766, + 0.08571284264326096, + -0.01868714578449726, + 0.02540900558233261, + 0.0, + 1.0008161067962646 + ], + [ + 0.29305633902549744, + 0.09944021701812744, + 0.04615577310323715, + 0.10991909354925156, + -0.019563918933272362, + 0.04744967073202133, + 0.0, + 1.0008161067962646 + ], + [ + 0.286560982465744, + 0.10945817828178406, + 0.04618234187364578, + 0.11521171033382416, + -0.024854203686118126, + 0.08082123845815659, + 0.0, + 1.0008161067962646 + ], + [ + 0.2819368243217468, + 0.11656276881694794, + 0.0572686642408371, + 0.11580342054367065, + -0.058399952948093414, + 0.10735385119915009, + 0.0, + 1.0008161067962646 + ], + [ + 0.27672767639160156, + 0.12760436534881592, + 0.0569617860019207, + 0.09566707164049149, + -0.06152253970503807, + 0.15523061156272888, + 0.0, + 1.0008161067962646 + ], + [ + 0.27584123611450195, + 0.13317514955997467, + 0.03802579641342163, + 0.08701935410499573, + -0.0037891182582825422, + 0.16912712156772614, + 0.0, + 1.0008161067962646 + ], + [ + 0.2751712203025818, + 0.14134827256202698, + 0.02228744700551033, + 0.07866118848323822, + 0.03626667708158493, + 0.19871298968791962, + 0.0, + 1.0008161067962646 + ], + [ + 0.27516791224479675, + 0.14314009249210358, + 0.011817354708909988, + 0.08093123883008957, + 0.045589666813611984, + 0.20403780043125153, + 0.0, + 0.941448450088501 + ], + [ + 0.27726098895072937, + 0.14541734755039215, + 0.009693274274468422, + 0.07848988473415375, + 0.035024359822273254, + 0.20108968019485474, + 0.0, + 0.649078905582428 + ], + [ + 0.2786676287651062, + 0.14772085845470428, + 0.010943066328763962, + 0.07970534265041351, + 0.030831824988126755, + 0.20293079316616058, + 0.0, + 0.3840504586696625 + ], + [ + 0.28023621439933777, + 0.14831900596618652, + 0.013553815893828869, + 0.08035831153392792, + 0.024645062163472176, + 0.20432521402835846, + 0.0, + 0.2781093716621399 + ], + [ + 0.2765987515449524, + 0.14762938022613525, + 0.02234194241464138, + 0.059360865503549576, + -0.01585514098405838, + 0.20731383562088013, + 0.0, + 0.19318951666355133 + ], + [ + 0.26829132437705994, + 0.14236877858638763, + 0.03812780976295471, + -0.002377779921516776, + -0.060941632837057114, + 0.24458147585391998, + 0.0, + 0.0925319567322731 + ], + [ + 0.2603277862071991, + 0.13385699689388275, + 0.04966813698410988, + -0.02916124276816845, + -0.10688108950853348, + 0.30683794617652893, + 0.0, + 0.07081232219934464 + ], + [ + 0.2623484134674072, + 0.1282191425561905, + 0.06077905744314194, + -0.011295126751065254, + -0.1464301347732544, + 0.3229288160800934, + 0.0, + 0.07081232219934464 + ], + [ + 0.2888030409812927, + 0.08928590267896652, + 0.06784497946500778, + -0.007191947661340237, + -0.15652351081371307, + 0.21580852568149567, + 0.0, + 0.07081232219934464 + ], + [ + 0.3162476718425751, + 0.06451442092657089, + 0.06684166938066483, + -0.03172671049833298, + -0.16898979246616364, + 0.15410159528255463, + 0.0, + 0.07081232219934464 + ], + [ + 0.3464509844779968, + 0.045726604759693146, + 0.06351492553949356, + -0.05131424218416214, + -0.17440250515937805, + 0.13143204152584076, + 0.0, + 0.07081232219934464 + ], + [ + 0.37385985255241394, + 0.035625915974378586, + 0.052164025604724884, + -0.03803655505180359, + -0.1520196944475174, + 0.12007742375135422, + 0.0, + 0.07081232219934464 + ], + [ + 0.3948254883289337, + 0.028958914801478386, + 0.04413686692714691, + -0.016139009967446327, + -0.13927888870239258, + 0.10420887172222137, + 0.0, + 0.07081232219934464 + ], + [ + 0.405888170003891, + 0.02683151885867119, + 0.04188310354948044, + -0.008050387725234032, + -0.1394180804491043, + 0.09798265248537064, + 0.0, + 0.07081232219934464 + ], + [ + 0.4077552258968353, + 0.02564014121890068, + 0.03710990399122238, + 0.004580260254442692, + -0.12748706340789795, + 0.08406518399715424, + 0.0, + 0.11201969534158707 + ], + [ + 0.399991512298584, + 0.024777673184871674, + 0.02698354795575142, + 0.0020512910559773445, + -0.0814468264579773, + 0.09804659336805344, + 0.0, + 0.288376122713089 + ], + [ + 0.39771953225135803, + 0.022797739133238792, + 0.023980502039194107, + -0.010847014375030994, + -0.07003631442785263, + 0.12242189794778824, + 0.0, + 0.5938982367515564 + ], + [ + 0.39758431911468506, + 0.021325424313545227, + 0.024704119190573692, + -0.046909403055906296, + -0.06680943071842194, + 0.13322308659553528, + 0.0, + 0.8844947218894958 + ], + [ + 0.393318772315979, + 0.02474186383187771, + 0.048056017607450485, + -0.13460101187229156, + -0.11068204045295715, + 0.1548362672328949, + 0.0, + 1.0047606229782104 + ], + [ + 0.3749080300331116, + 0.03600149601697922, + 0.09204249083995819, + -0.14869031310081482, + -0.19083307683467865, + 0.1775442361831665, + 0.0, + 1.0001531839370728 + ], + [ + 0.3429870307445526, + 0.04894394427537918, + 0.12412233650684357, + -0.08137568831443787, + -0.2247299998998642, + 0.1607377976179123, + 0.0, + 1.0001531839370728 + ], + [ + 0.3234848976135254, + 0.057932160794734955, + 0.11561112850904465, + -0.04229935631155968, + -0.17301492393016815, + 0.1086295023560524, + 0.0, + 1.0001531839370728 + ], + [ + 0.31060999631881714, + 0.06409747898578644, + 0.10255483537912369, + -0.0031209359876811504, + -0.13241569697856903, + 0.0671268180012703, + 0.0, + 1.0001531839370728 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.941448450088501 + ], + [ + 0.649078905582428 + ], + [ + 0.3840504586696625 + ], + [ + 0.2781093716621399 + ], + [ + 0.19318951666355133 + ], + [ + 0.0925319567322731 + ], + [ + 0.07081232219934464 + ], + [ + 0.07081232219934464 + ], + [ + 0.07081232219934464 + ], + [ + 0.07081232219934464 + ], + [ + 0.07081232219934464 + ], + [ + 0.07081232219934464 + ], + [ + 0.07081232219934464 + ], + [ + 0.07081232219934464 + ], + [ + 0.11201969534158707 + ], + [ + 0.288376122713089 + ], + [ + 0.5938982367515564 + ], + [ + 0.8844947218894958 + ], + [ + 1.0047606229782104 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.38611242175102234, + 0.07683712989091873, + 0.08964663743972778 + ], + [ + 0.3820422291755676, + 0.07515585422515869, + 0.07145580649375916 + ], + [ + 0.3676365613937378, + 0.07728565484285355, + 0.055352818220853806 + ], + [ + 0.3446379005908966, + 0.09323498606681824, + 0.04889734089374542 + ], + [ + 0.3245254456996918, + 0.09319736063480377, + 0.060899004340171814 + ], + [ + 0.31135571002960205, + 0.09461548924446106, + 0.05152644217014313 + ], + [ + 0.30148813128471375, + 0.09635762125253677, + 0.05509886518120766 + ], + [ + 0.29305633902549744, + 0.09944021701812744, + 0.04615577310323715 + ], + [ + 0.286560982465744, + 0.10945817828178406, + 0.04618234187364578 + ], + [ + 0.2819368243217468, + 0.11656276881694794, + 0.0572686642408371 + ], + [ + 0.27672767639160156, + 0.12760436534881592, + 0.0569617860019207 + ], + [ + 0.27584123611450195, + 0.13317514955997467, + 0.03802579641342163 + ], + [ + 0.2751712203025818, + 0.14134827256202698, + 0.02228744700551033 + ], + [ + 0.27516791224479675, + 0.14314009249210358, + 0.011817354708909988 + ], + [ + 0.27726098895072937, + 0.14541734755039215, + 0.009693274274468422 + ], + [ + 0.2786676287651062, + 0.14772085845470428, + 0.010943066328763962 + ], + [ + 0.28023621439933777, + 0.14831900596618652, + 0.013553815893828869 + ], + [ + 0.2765987515449524, + 0.14762938022613525, + 0.02234194241464138 + ], + [ + 0.26829132437705994, + 0.14236877858638763, + 0.03812780976295471 + ], + [ + 0.2603277862071991, + 0.13385699689388275, + 0.04966813698410988 + ], + [ + 0.2623484134674072, + 0.1282191425561905, + 0.06077905744314194 + ], + [ + 0.2888030409812927, + 0.08928590267896652, + 0.06784497946500778 + ], + [ + 0.3162476718425751, + 0.06451442092657089, + 0.06684166938066483 + ], + [ + 0.3464509844779968, + 0.045726604759693146, + 0.06351492553949356 + ], + [ + 0.37385985255241394, + 0.035625915974378586, + 0.052164025604724884 + ], + [ + 0.3948254883289337, + 0.028958914801478386, + 0.04413686692714691 + ], + [ + 0.405888170003891, + 0.02683151885867119, + 0.04188310354948044 + ], + [ + 0.4077552258968353, + 0.02564014121890068, + 0.03710990399122238 + ], + [ + 0.399991512298584, + 0.024777673184871674, + 0.02698354795575142 + ], + [ + 0.39771953225135803, + 0.022797739133238792, + 0.023980502039194107 + ], + [ + 0.39758431911468506, + 0.021325424313545227, + 0.024704119190573692 + ], + [ + 0.393318772315979, + 0.02474186383187771, + 0.048056017607450485 + ], + [ + 0.3749080300331116, + 0.03600149601697922, + 0.09204249083995819 + ], + [ + 0.3429870307445526, + 0.04894394427537918, + 0.12412233650684357 + ], + [ + 0.3234848976135254, + 0.057932160794734955, + 0.11561112850904465 + ], + [ + 0.31060999631881714, + 0.06409747898578644, + 0.10255483537912369 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9958265929384839, + -0.035717433126077086, + 0.08398608079565942, + -0.03944178617038041, + -0.9982914088083757, + 0.04311158316599072, + 0.08230274782910235, + -0.04624422202040334, + -0.9955338917533177 + ], + [ + 0.9987398011692183, + -0.0340519014970919, + 0.036868381642032884, + -0.0351113915253116, + -0.9989774785036575, + 0.02848135578989843, + 0.03586083860740729, + -0.02973996380137095, + -0.9989141778989157 + ], + [ + 0.9999050450559853, + -0.013695042166141673, + -0.001531891528602415, + -0.013706120799168492, + -0.9998781501942444, + -0.0074717479062493715, + -0.0014293789652863502, + 0.00749203471718749, + -0.9999709127227501 + ], + [ + 0.9992360682736099, + 0.035115951187553646, + -0.017150796870438006, + 0.034607337139022504, + -0.9989771607541479, + -0.029102654650863598, + -0.01815522176244924, + 0.02848687880015549, + -0.9994292799688138 + ], + [ + 0.999328209480696, + 0.03263259768711972, + 0.016680626615825537, + 0.032764218939672185, + -0.9994336077321435, + -0.007679172662789731, + 0.01642058748581259, + 0.008220541569890601, + -0.9998313792849863 + ], + [ + 0.9996996501207189, + 0.023854126557100733, + -0.005620515519886672, + 0.0239907219295409, + -0.9993833793025377, + 0.025637988125804884, + -0.005005477980264308, + -0.02576512798410457, + -0.9996554923423125 + ], + [ + 0.9995026653164201, + 0.026912161094958396, + 0.016436471962421494, + 0.025401835661645045, + -0.9959666544758214, + 0.08605329695751718, + 0.018686058182271568, + -0.08559298310865712, + -0.9961549440082953 + ], + [ + 0.9986833236018223, + 0.0492891832714068, + 0.014219548939939184, + 0.04742279056354648, + -0.9927444566047194, + 0.1104967095246099, + 0.019562670952190043, + -0.10967689042381572, + -0.9937747640246146 + ], + [ + 0.9964278994968405, + 0.08304559997142266, + 0.015325450391437494, + 0.08070834436627078, + -0.9898972061279501, + 0.11657480195022372, + 0.024851644894642578, + -0.1149214933137613, + -0.9930636667004615 + ], + [ + 0.9925481291096871, + 0.11313526698791558, + 0.045261714112840766, + 0.10696509911085685, + -0.9868613376843834, + 0.12109156765024336, + 0.058366762571381715, + -0.11534778518620091, + -0.9916088994556138 + ], + [ + 0.9861067366437672, + 0.1597033644096126, + 0.045698351633621376, + 0.15431543704612646, + -0.982550266267861, + 0.10383506221993728, + 0.061483736345822465, + -0.09534049325027504, + -0.9935441311344713 + ], + [ + 0.9857249907728903, + 0.1680097043576817, + -0.010907878227655656, + 0.1683207807055368, + -0.9819468284972712, + 0.08630492909926403, + 0.003789109191297124, + -0.08690894801914693, + -0.9962090530635331 + ], + [ + 0.9796768316031997, + 0.19400424130251467, + -0.05094761993019639, + 0.1972780025723944, + -0.977852566259196, + 0.06989812845385253, + -0.03625872751438533, + -0.07852842171431036, + -0.9962522731025999 + ], + [ + 0.9782389278175355, + 0.1983538935484835, + -0.06086323205807722, + 0.20241448051786007, + -0.9767976911882245, + 0.0699617650294702, + -0.04557387605946341, + -0.08075892151032495, + -0.9956912264439242 + ], + [ + 0.9792485778872456, + 0.19643188293336786, + -0.04986720438382608, + 0.19961467492438764, + -0.9773812116856265, + 0.06985662888206835, + -0.03501719949735656, + -0.07836123028122798, + -0.9963098480533925 + ], + [ + 0.9790146000760471, + 0.19849689051183578, + -0.04614539299940922, + 0.20144506095217296, + -0.9768651437823839, + 0.07179399892050801, + -0.030826940424131567, + -0.07958313464644927, + -0.9963514562763144 + ], + [ + 0.9789007686902976, + 0.2003147231683484, + -0.04033976623051489, + 0.20284483954079538, + -0.9764396315052664, + 0.07361804872128175, + -0.024642567423335003, + -0.08024747789088446, + -0.9964703137389185 + ], + [ + 0.9784643443740949, + 0.20638990169266871, + 0.003276471862042357, + 0.20580612808449347, + -0.9766701171468106, + 0.06131329313700274, + 0.015854476700328916, + -0.05931855318300936, + -0.9981131923869321 + ], + [ + 0.968437636792245, + 0.24200908704910296, + 0.05966695425368386, + 0.2417007579563677, + -0.9702710801269029, + 0.012440846944250468, + 0.06090391816270002, + 0.0023733636536793596, + -0.9981408116580538 + ], + [ + 0.9478535948296036, + 0.2989522319441667, + 0.11045870623993022, + 0.30032220791852987, + -0.9538276052987456, + 0.004412573058920316, + 0.10667771182181114, + 0.028990729305454245, + -0.9938709188897726 + ], + [ + 0.9381614639355773, + 0.31576227802169954, + 0.14194101368104162, + 0.3139491930212047, + -0.9487725360932491, + 0.03558902859757204, + 0.14590740826835719, + 0.01117401153263148, + -0.9892351437745627 + ], + [ + 0.9648623344839473, + 0.2130366283916494, + 0.153805300486381, + 0.21151948037740467, + -0.9770183870470088, + 0.026354900738463607, + 0.15588516579540332, + 0.007103966186563188, + -0.9877496386986735 + ], + [ + 0.9740738047470319, + 0.1481432668784986, + 0.1709789325741845, + 0.15130593020289151, + -0.9884714408833432, + -0.00554310774254599, + 0.16818661775265986, + 0.031269522487138955, + -0.985259092103365 + ], + [ + 0.9763364617193602, + 0.12205809716284959, + 0.1785187229236876, + 0.12906592969085706, + -0.9912366983081897, + -0.02813882940197378, + 0.17351973752387567, + 0.05051365007661805, + -0.9835340725392191 + ], + [ + 0.9813496495932188, + 0.1139852253736666, + 0.15479093526360355, + 0.11840757551006278, + -0.9927710958502064, + -0.019626444054113172, + 0.1514348417805343, + 0.03758882335076325, + -0.9877522812193398 + ], + [ + 0.9849440643990913, + 0.10177850668654427, + 0.13973662934841363, + 0.10301306966327255, + -0.9946786969842165, + -0.0016115968264675254, + 0.13882902248286783, + 0.01598203186201263, + -0.9901873949783512 + ], + [ + 0.9855471104822439, + 0.09670941657246987, + 0.13908336265101073, + 0.0968767436052875, + -0.995280730723494, + 0.005582436649295744, + 0.1389668650021848, + 0.007972188954139587, + -0.9902649416367038 + ], + [ + 0.9883817867774186, + 0.08454560902866015, + 0.12630710019888045, + 0.08328477919153021, + -0.9964092535089277, + 0.015239589128296491, + 0.1271420037662422, + -0.00454307338199317, + -0.9918741207242734 + ], + [ + 0.9918982432054757, + 0.09805545859530677, + 0.08076510487552933, + 0.0975650796682611, + -0.9951788518159099, + 0.010005404924005208, + 0.08135680890507589, + -0.002044489675083698, + -0.9966829434212023 + ], + [ + 0.9900826011802556, + 0.12135578290711999, + 0.07077582069562383, + 0.12181696192344463, + -0.9925500979820082, + -0.0022205367927956854, + 0.06997907278523469, + 0.010820210298606966, + -0.9974897755973305 + ], + [ + 0.9889277703946451, + 0.12958046392631875, + 0.07232405070870834, + 0.13253302193246033, + -0.9904644491124451, + -0.037618787086114644, + 0.06675974115981723, + 0.04678758823684384, + -0.9966714897834961 + ], + [ + 0.9819909910791931, + 0.1381780792535977, + 0.12884297362716599, + 0.15327466441876947, + -0.9813858808655869, + -0.11570924805299554, + 0.11045619351859685, + 0.13337380271800953, + -0.9848912925099499 + ], + [ + 0.9664123055987921, + 0.14700659044454445, + 0.21079923613024998, + 0.17340681578002926, + -0.9783824804639546, + -0.11268450719699856, + 0.18967691432606637, + 0.1454537187117242, + -0.9710128134503029 + ], + [ + 0.9622879216390643, + 0.14163640615276063, + 0.23225219981670808, + 0.15602205656036422, + -0.9867420367906887, + -0.04469083459544676, + 0.22284315949619, + 0.0792419161952391, + -0.9716283471489817 + ], + [ + 0.979263833649001, + 0.1010821257663945, + 0.17556978087816888, + 0.10679735650238353, + -0.9940056491467629, + -0.023390042933374273, + 0.1721530387508865, + 0.04165541159164198, + -0.9841890864737155 + ], + [ + 0.9890134008203114, + 0.06666496472644512, + 0.13194042396424271, + 0.06648921959338047, + -0.9977706209627517, + 0.00574209208114049, + 0.1320290751149364, + 0.003093609805210117, + -0.9912410165558464 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.004070192575454712, + -0.0016812756657600403, + -0.018190830945968628, + -0.016654813662171364, + 0.04652741923928261, + 0.004445169121026993, + 1.0 + ], + [ + -0.014405667781829834, + 0.0021298006176948547, + -0.01610298827290535, + -0.03725561127066612, + 0.03729790821671486, + 0.021434657275676727, + 1.0 + ], + [ + -0.022998660802841187, + 0.01594933122396469, + -0.006455477327108383, + -0.021003318950533867, + 0.016726840287446976, + 0.0483265221118927, + 1.0 + ], + [ + -0.020112454891204834, + -3.762543201446533e-05, + 0.012001663446426392, + 0.020273689180612564, + -0.034577544778585434, + -0.0018454529345035553, + 1.0 + ], + [ + -0.013169735670089722, + 0.0014181286096572876, + -0.009372562170028687, + 0.0339900441467762, + 0.02142682485282421, + -0.008781179785728455, + 1.0 + ], + [ + -0.009867578744888306, + 0.0017421320080757141, + 0.0035724230110645294, + 0.05994454026222229, + -0.023692645132541656, + 0.0014156810939311981, + 1.0 + ], + [ + -0.008431792259216309, + 0.0030825957655906677, + -0.008943092077970505, + 0.0242062509059906, + -0.0008767731487751007, + 0.02204066514968872, + 1.0 + ], + [ + -0.006495356559753418, + 0.010017961263656616, + 2.656877040863037e-05, + 0.005292616784572601, + -0.005290284752845764, + 0.033371567726135254, + 1.0 + ], + [ + -0.004624158143997192, + 0.007104590535163879, + 0.011086322367191315, + 0.0005917102098464966, + -0.03354574739933014, + 0.0265326127409935, + 1.0 + ], + [ + -0.005209147930145264, + 0.011041596531867981, + -0.0003068782389163971, + -0.02013634890317917, + -0.0031225867569446564, + 0.047876760363578796, + 1.0 + ], + [ + -0.0008864402770996094, + 0.0055707842111587524, + -0.01893598958849907, + -0.008647717535495758, + 0.05773342028260231, + 0.013896510004997253, + 1.0 + ], + [ + -0.000670015811920166, + 0.008173123002052307, + -0.0157383494079113, + -0.008358165621757507, + 0.04005579650402069, + 0.02958586812019348, + 1.0 + ], + [ + -3.3080577850341797e-06, + 0.0017918199300765991, + -0.010470092296600342, + 0.002270050346851349, + 0.009322989732027054, + 0.005324810743331909, + 0.0 + ], + [ + 0.002093076705932617, + 0.0022772550582885742, + -0.0021240804344415665, + -0.0024413540959358215, + -0.01056530699133873, + -0.0029481202363967896, + 0.0 + ], + [ + 0.001406639814376831, + 0.002303510904312134, + 0.0012497920542955399, + 0.0012154579162597656, + -0.0041925348341465, + 0.0018411129713058472, + 0.0 + ], + [ + 0.0015685856342315674, + 0.0005981475114822388, + 0.002610749565064907, + 0.0006529688835144043, + -0.006186762824654579, + 0.001394420862197876, + 0.0 + ], + [ + -0.003637462854385376, + -0.0006896257400512695, + 0.008788126520812511, + -0.02099744603037834, + -0.040500201284885406, + 0.0029886215925216675, + 0.0 + ], + [ + -0.008307427167892456, + -0.00526060163974762, + 0.01578586734831333, + -0.061738643795251846, + -0.045086491852998734, + 0.037267640233039856, + 0.0 + ], + [ + -0.00796353816986084, + -0.008511781692504883, + 0.011540327221155167, + -0.02678346261382103, + -0.045939456671476364, + 0.06225647032260895, + 0.0 + ], + [ + 0.00202062726020813, + -0.005637854337692261, + 0.011110920459032059, + 0.017866116017103195, + -0.03954904526472092, + 0.016090869903564453, + 0.0 + ], + [ + 0.026454627513885498, + -0.03893323987722397, + 0.007065922021865845, + 0.0041031790897250175, + -0.01009337604045868, + -0.10712029039859772, + 0.0 + ], + [ + 0.02744463086128235, + -0.02477148175239563, + -0.0010033100843429565, + -0.024534761905670166, + -0.012466281652450562, + -0.06170693039894104, + 0.0 + ], + [ + 0.030203312635421753, + -0.018787816166877747, + -0.0033267438411712646, + -0.019587531685829163, + -0.0054127126932144165, + -0.022669553756713867, + 0.0 + ], + [ + 0.027408868074417114, + -0.01010068878531456, + -0.011350899934768677, + 0.013277687132358551, + 0.022382810711860657, + -0.011354617774486542, + 0.0 + ], + [ + 0.020965635776519775, + -0.0066670011729002, + -0.008027158677577972, + 0.02189754508435726, + 0.012740805745124817, + -0.015868552029132843, + 0.0 + ], + [ + 0.011062681674957275, + -0.0021273959428071976, + -0.0022537633776664734, + 0.008088622242212296, + -0.00013919174671173096, + -0.0062262192368507385, + 0.0 + ], + [ + 0.001867055892944336, + -0.0011913776397705078, + -0.004773199558258057, + 0.012630647979676723, + 0.01193101704120636, + -0.0139174684882164, + 1.0 + ], + [ + -0.007763713598251343, + -0.000862468034029007, + -0.010126356035470963, + -0.0025289691984653473, + 0.046040236949920654, + 0.0139814093708992, + 1.0 + ], + [ + -0.002271980047225952, + -0.001979934051632881, + -0.003003045916557312, + -0.012898305431008339, + 0.011410512030124664, + 0.024375304579734802, + 1.0 + ], + [ + -0.00013521313667297363, + -0.0014723148196935654, + 0.0007236171513795853, + -0.036062389612197876, + 0.0032268837094306946, + 0.01080118864774704, + 1.0 + ], + [ + -0.004265546798706055, + 0.0034164395183324814, + 0.023351898416876793, + -0.08769160509109497, + -0.04387260973453522, + 0.02161318063735962, + 1.0 + ], + [ + -0.01841074228286743, + 0.011259632185101509, + 0.043986473232507706, + -0.014089301228523254, + -0.0801510363817215, + 0.022707968950271606, + 1.0 + ], + [ + -0.03192099928855896, + 0.012942448258399963, + 0.032079845666885376, + 0.06731462478637695, + -0.03389692306518555, + -0.01680643856525421, + 1.0 + ], + [ + -0.01950213313102722, + 0.008988216519355774, + -0.00851120799779892, + 0.03907633200287819, + 0.051715075969696045, + -0.052108295261859894, + 1.0 + ], + [ + -0.012874901294708252, + 0.006165318191051483, + -0.01305629312992096, + 0.03917841985821724, + 0.04059922695159912, + -0.041502684354782104, + 1.0 + ], + [ + -0.004164665937423706, + 0.006013631820678711, + -0.002073056995868683, + -0.03374256193637848, + 0.003038644790649414, + -0.037009209394454956, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.941448450088501 + ], + [ + 0.649078905582428 + ], + [ + 0.3840504586696625 + ], + [ + 0.2781093716621399 + ], + [ + 0.19318951666355133 + ], + [ + 0.0925319567322731 + ], + [ + 0.07081232219934464 + ], + [ + 0.07081232219934464 + ], + [ + 0.07081232219934464 + ], + [ + 0.07081232219934464 + ], + [ + 0.07081232219934464 + ], + [ + 0.07081232219934464 + ], + [ + 0.07081232219934464 + ], + [ + 0.07081232219934464 + ], + [ + 0.11201969534158707 + ], + [ + 0.288376122713089 + ], + [ + 0.5938982367515564 + ], + [ + 0.8844947218894958 + ], + [ + 1.0047606229782104 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3820422291755676, + 0.07515585422515869, + 0.07145580649375916 + ], + [ + 0.3676365613937378, + 0.07728565484285355, + 0.055352818220853806 + ], + [ + 0.3446379005908966, + 0.09323498606681824, + 0.04889734089374542 + ], + [ + 0.3245254456996918, + 0.09319736063480377, + 0.060899004340171814 + ], + [ + 0.31135571002960205, + 0.09461548924446106, + 0.05152644217014313 + ], + [ + 0.30148813128471375, + 0.09635762125253677, + 0.05509886518120766 + ], + [ + 0.29305633902549744, + 0.09944021701812744, + 0.04615577310323715 + ], + [ + 0.286560982465744, + 0.10945817828178406, + 0.04618234187364578 + ], + [ + 0.2819368243217468, + 0.11656276881694794, + 0.0572686642408371 + ], + [ + 0.27672767639160156, + 0.12760436534881592, + 0.0569617860019207 + ], + [ + 0.27584123611450195, + 0.13317514955997467, + 0.03802579641342163 + ], + [ + 0.2751712203025818, + 0.14134827256202698, + 0.02228744700551033 + ], + [ + 0.27516791224479675, + 0.14314009249210358, + 0.011817354708909988 + ], + [ + 0.27726098895072937, + 0.14541734755039215, + 0.009693274274468422 + ], + [ + 0.2786676287651062, + 0.14772085845470428, + 0.010943066328763962 + ], + [ + 0.28023621439933777, + 0.14831900596618652, + 0.013553815893828869 + ], + [ + 0.2765987515449524, + 0.14762938022613525, + 0.02234194241464138 + ], + [ + 0.26829132437705994, + 0.14236877858638763, + 0.03812780976295471 + ], + [ + 0.2603277862071991, + 0.13385699689388275, + 0.04966813698410988 + ], + [ + 0.2623484134674072, + 0.1282191425561905, + 0.06077905744314194 + ], + [ + 0.2888030409812927, + 0.08928590267896652, + 0.06784497946500778 + ], + [ + 0.3162476718425751, + 0.06451442092657089, + 0.06684166938066483 + ], + [ + 0.3464509844779968, + 0.045726604759693146, + 0.06351492553949356 + ], + [ + 0.37385985255241394, + 0.035625915974378586, + 0.052164025604724884 + ], + [ + 0.3948254883289337, + 0.028958914801478386, + 0.04413686692714691 + ], + [ + 0.405888170003891, + 0.02683151885867119, + 0.04188310354948044 + ], + [ + 0.4077552258968353, + 0.02564014121890068, + 0.03710990399122238 + ], + [ + 0.399991512298584, + 0.024777673184871674, + 0.02698354795575142 + ], + [ + 0.39771953225135803, + 0.022797739133238792, + 0.023980502039194107 + ], + [ + 0.39758431911468506, + 0.021325424313545227, + 0.024704119190573692 + ], + [ + 0.393318772315979, + 0.02474186383187771, + 0.048056017607450485 + ], + [ + 0.3749080300331116, + 0.03600149601697922, + 0.09204249083995819 + ], + [ + 0.3429870307445526, + 0.04894394427537918, + 0.12412233650684357 + ], + [ + 0.3234848976135254, + 0.057932160794734955, + 0.11561112850904465 + ], + [ + 0.31060999631881714, + 0.06409747898578644, + 0.10255483537912369 + ], + [ + 0.30644533038139343, + 0.07011111080646515, + 0.100481778383255 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9987398011692183, + -0.0340519014970919, + 0.036868381642032884, + -0.0351113915253116, + -0.9989774785036575, + 0.02848135578989843, + 0.03586083860740729, + -0.02973996380137095, + -0.9989141778989157 + ], + [ + 0.9999050450559853, + -0.013695042166141673, + -0.001531891528602415, + -0.013706120799168492, + -0.9998781501942444, + -0.0074717479062493715, + -0.0014293789652863502, + 0.00749203471718749, + -0.9999709127227501 + ], + [ + 0.9992360682736099, + 0.035115951187553646, + -0.017150796870438006, + 0.034607337139022504, + -0.9989771607541479, + -0.029102654650863598, + -0.01815522176244924, + 0.02848687880015549, + -0.9994292799688138 + ], + [ + 0.999328209480696, + 0.03263259768711972, + 0.016680626615825537, + 0.032764218939672185, + -0.9994336077321435, + -0.007679172662789731, + 0.01642058748581259, + 0.008220541569890601, + -0.9998313792849863 + ], + [ + 0.9996996501207189, + 0.023854126557100733, + -0.005620515519886672, + 0.0239907219295409, + -0.9993833793025377, + 0.025637988125804884, + -0.005005477980264308, + -0.02576512798410457, + -0.9996554923423125 + ], + [ + 0.9995026653164201, + 0.026912161094958396, + 0.016436471962421494, + 0.025401835661645045, + -0.9959666544758214, + 0.08605329695751718, + 0.018686058182271568, + -0.08559298310865712, + -0.9961549440082953 + ], + [ + 0.9986833236018223, + 0.0492891832714068, + 0.014219548939939184, + 0.04742279056354648, + -0.9927444566047194, + 0.1104967095246099, + 0.019562670952190043, + -0.10967689042381572, + -0.9937747640246146 + ], + [ + 0.9964278994968405, + 0.08304559997142266, + 0.015325450391437494, + 0.08070834436627078, + -0.9898972061279501, + 0.11657480195022372, + 0.024851644894642578, + -0.1149214933137613, + -0.9930636667004615 + ], + [ + 0.9925481291096871, + 0.11313526698791558, + 0.045261714112840766, + 0.10696509911085685, + -0.9868613376843834, + 0.12109156765024336, + 0.058366762571381715, + -0.11534778518620091, + -0.9916088994556138 + ], + [ + 0.9861067366437672, + 0.1597033644096126, + 0.045698351633621376, + 0.15431543704612646, + -0.982550266267861, + 0.10383506221993728, + 0.061483736345822465, + -0.09534049325027504, + -0.9935441311344713 + ], + [ + 0.9857249907728903, + 0.1680097043576817, + -0.010907878227655656, + 0.1683207807055368, + -0.9819468284972712, + 0.08630492909926403, + 0.003789109191297124, + -0.08690894801914693, + -0.9962090530635331 + ], + [ + 0.9796768316031997, + 0.19400424130251467, + -0.05094761993019639, + 0.1972780025723944, + -0.977852566259196, + 0.06989812845385253, + -0.03625872751438533, + -0.07852842171431036, + -0.9962522731025999 + ], + [ + 0.9782389278175355, + 0.1983538935484835, + -0.06086323205807722, + 0.20241448051786007, + -0.9767976911882245, + 0.0699617650294702, + -0.04557387605946341, + -0.08075892151032495, + -0.9956912264439242 + ], + [ + 0.9792485778872456, + 0.19643188293336786, + -0.04986720438382608, + 0.19961467492438764, + -0.9773812116856265, + 0.06985662888206835, + -0.03501719949735656, + -0.07836123028122798, + -0.9963098480533925 + ], + [ + 0.9790146000760471, + 0.19849689051183578, + -0.04614539299940922, + 0.20144506095217296, + -0.9768651437823839, + 0.07179399892050801, + -0.030826940424131567, + -0.07958313464644927, + -0.9963514562763144 + ], + [ + 0.9789007686902976, + 0.2003147231683484, + -0.04033976623051489, + 0.20284483954079538, + -0.9764396315052664, + 0.07361804872128175, + -0.024642567423335003, + -0.08024747789088446, + -0.9964703137389185 + ], + [ + 0.9784643443740949, + 0.20638990169266871, + 0.003276471862042357, + 0.20580612808449347, + -0.9766701171468106, + 0.06131329313700274, + 0.015854476700328916, + -0.05931855318300936, + -0.9981131923869321 + ], + [ + 0.968437636792245, + 0.24200908704910296, + 0.05966695425368386, + 0.2417007579563677, + -0.9702710801269029, + 0.012440846944250468, + 0.06090391816270002, + 0.0023733636536793596, + -0.9981408116580538 + ], + [ + 0.9478535948296036, + 0.2989522319441667, + 0.11045870623993022, + 0.30032220791852987, + -0.9538276052987456, + 0.004412573058920316, + 0.10667771182181114, + 0.028990729305454245, + -0.9938709188897726 + ], + [ + 0.9381614639355773, + 0.31576227802169954, + 0.14194101368104162, + 0.3139491930212047, + -0.9487725360932491, + 0.03558902859757204, + 0.14590740826835719, + 0.01117401153263148, + -0.9892351437745627 + ], + [ + 0.9648623344839473, + 0.2130366283916494, + 0.153805300486381, + 0.21151948037740467, + -0.9770183870470088, + 0.026354900738463607, + 0.15588516579540332, + 0.007103966186563188, + -0.9877496386986735 + ], + [ + 0.9740738047470319, + 0.1481432668784986, + 0.1709789325741845, + 0.15130593020289151, + -0.9884714408833432, + -0.00554310774254599, + 0.16818661775265986, + 0.031269522487138955, + -0.985259092103365 + ], + [ + 0.9763364617193602, + 0.12205809716284959, + 0.1785187229236876, + 0.12906592969085706, + -0.9912366983081897, + -0.02813882940197378, + 0.17351973752387567, + 0.05051365007661805, + -0.9835340725392191 + ], + [ + 0.9813496495932188, + 0.1139852253736666, + 0.15479093526360355, + 0.11840757551006278, + -0.9927710958502064, + -0.019626444054113172, + 0.1514348417805343, + 0.03758882335076325, + -0.9877522812193398 + ], + [ + 0.9849440643990913, + 0.10177850668654427, + 0.13973662934841363, + 0.10301306966327255, + -0.9946786969842165, + -0.0016115968264675254, + 0.13882902248286783, + 0.01598203186201263, + -0.9901873949783512 + ], + [ + 0.9855471104822439, + 0.09670941657246987, + 0.13908336265101073, + 0.0968767436052875, + -0.995280730723494, + 0.005582436649295744, + 0.1389668650021848, + 0.007972188954139587, + -0.9902649416367038 + ], + [ + 0.9883817867774186, + 0.08454560902866015, + 0.12630710019888045, + 0.08328477919153021, + -0.9964092535089277, + 0.015239589128296491, + 0.1271420037662422, + -0.00454307338199317, + -0.9918741207242734 + ], + [ + 0.9918982432054757, + 0.09805545859530677, + 0.08076510487552933, + 0.0975650796682611, + -0.9951788518159099, + 0.010005404924005208, + 0.08135680890507589, + -0.002044489675083698, + -0.9966829434212023 + ], + [ + 0.9900826011802556, + 0.12135578290711999, + 0.07077582069562383, + 0.12181696192344463, + -0.9925500979820082, + -0.0022205367927956854, + 0.06997907278523469, + 0.010820210298606966, + -0.9974897755973305 + ], + [ + 0.9889277703946451, + 0.12958046392631875, + 0.07232405070870834, + 0.13253302193246033, + -0.9904644491124451, + -0.037618787086114644, + 0.06675974115981723, + 0.04678758823684384, + -0.9966714897834961 + ], + [ + 0.9819909910791931, + 0.1381780792535977, + 0.12884297362716599, + 0.15327466441876947, + -0.9813858808655869, + -0.11570924805299554, + 0.11045619351859685, + 0.13337380271800953, + -0.9848912925099499 + ], + [ + 0.9664123055987921, + 0.14700659044454445, + 0.21079923613024998, + 0.17340681578002926, + -0.9783824804639546, + -0.11268450719699856, + 0.18967691432606637, + 0.1454537187117242, + -0.9710128134503029 + ], + [ + 0.9622879216390643, + 0.14163640615276063, + 0.23225219981670808, + 0.15602205656036422, + -0.9867420367906887, + -0.04469083459544676, + 0.22284315949619, + 0.0792419161952391, + -0.9716283471489817 + ], + [ + 0.979263833649001, + 0.1010821257663945, + 0.17556978087816888, + 0.10679735650238353, + -0.9940056491467629, + -0.023390042933374273, + 0.1721530387508865, + 0.04165541159164198, + -0.9841890864737155 + ], + [ + 0.9890134008203114, + 0.06666496472644512, + 0.13194042396424271, + 0.06648921959338047, + -0.9977706209627517, + 0.00574209208114049, + 0.1320290751149364, + 0.003093609805210117, + -0.9912410165558464 + ], + [ + 0.9911927458809715, + 0.025339834055019293, + 0.12998012664636274, + 0.02986138451253726, + -0.9990106105536976, + -0.03295599666408685, + 0.129016426194244, + 0.036547131367495704, + -0.9909687527671459 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006278.json b/json/chunk-0006/episode_0006278.json new file mode 100644 index 0000000000000000000000000000000000000000..08915ce8e04d8e441a886c04f779b1e4819f4b37 --- /dev/null +++ b/json/chunk-0006/episode_0006278.json @@ -0,0 +1,2002 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 32, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut sushi in pot cardboard fence." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006278.mp4", + "start": 0, + "end": 32, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.27372199296951294, + 0.1007847934961319, + 0.1083792969584465, + 0.04774731025099754, + -0.1740720570087433, + 0.2984752655029297, + 0.0, + 0.9872581958770752 + ], + [ + 0.2713024318218231, + 0.09843967854976654, + 0.10134133696556091, + 0.038539156317710876, + -0.14397267997264862, + 0.3108614981174469, + 0.0, + 0.9872581958770752 + ], + [ + 0.27076295018196106, + 0.08509916812181473, + 0.10481327027082443, + -0.008515072986483574, + -0.10705053061246872, + 0.37237024307250977, + 0.0, + 0.9872581958770752 + ], + [ + 0.27047741413116455, + 0.06510989367961884, + 0.11775287985801697, + -0.011675402522087097, + -0.135888010263443, + 0.4504009783267975, + 0.0, + 0.9872581958770752 + ], + [ + 0.2638282775878906, + 0.03853216394782066, + 0.11939136683940887, + -0.02090291492640972, + -0.06741578131914139, + 0.4649158716201782, + 0.0, + 0.9872581958770752 + ], + [ + 0.2613394856452942, + 0.02102689817547798, + 0.11662203818559647, + -0.02351057343184948, + -0.0397924929857254, + 0.525303840637207, + 0.0, + 0.9872581958770752 + ], + [ + 0.2606964111328125, + 0.004412880167365074, + 0.10805168002843857, + -0.06837345659732819, + -0.00666800094768405, + 0.5853516459465027, + 0.0, + 0.9872581958770752 + ], + [ + 0.25901055335998535, + -0.007730260957032442, + 0.08770924806594849, + -0.08290960639715195, + 0.00751587375998497, + 0.6446555256843567, + 0.0, + 0.9879508018493652 + ], + [ + 0.25844651460647583, + -0.014981109648942947, + 0.07278012484312057, + -0.09017693251371384, + -0.021931637078523636, + 0.6480001211166382, + 0.0, + 0.9879508018493652 + ], + [ + 0.25941094756126404, + -0.017476240172982216, + 0.05659516900777817, + -0.09123905003070831, + -0.027012575417757034, + 0.6637651324272156, + 0.0, + 0.9879508018493652 + ], + [ + 0.2610289454460144, + -0.024737920612096786, + 0.0472271628677845, + -0.13276222348213196, + -0.024763019755482674, + 0.659507691860199, + 0.0, + 0.9879508018493652 + ], + [ + 0.26314225792884827, + -0.027674706652760506, + 0.043292924761772156, + -0.13840025663375854, + -0.02823982760310173, + 0.6668314337730408, + 0.0, + 0.9872581958770752 + ], + [ + 0.2611101269721985, + -0.03311591222882271, + 0.03174954652786255, + -0.12656864523887634, + -0.031242359429597855, + 0.6612823009490967, + 0.0, + 0.9879508018493652 + ], + [ + 0.259689062833786, + -0.03700312227010727, + 0.02283615432679653, + -0.1072140485048294, + -0.033095695078372955, + 0.6607046723365784, + 0.0, + 0.9879508018493652 + ], + [ + 0.2565356194972992, + -0.03826305270195007, + 0.014012183994054794, + -0.08125753700733185, + -0.01155924890190363, + 0.6714844703674316, + 0.0, + 0.9406655430793762 + ], + [ + 0.2558261454105377, + -0.03899642825126648, + 0.011469792574644089, + -0.07118480652570724, + -0.007466506212949753, + 0.6780110597610474, + 0.0, + 0.6951970458030701 + ], + [ + 0.2586224675178528, + -0.039014291018247604, + 0.011465702205896378, + -0.06672369688749313, + -0.009436850436031818, + 0.6782107353210449, + 0.0, + 0.603904664516449 + ], + [ + 0.2514786124229431, + -0.039956264197826385, + 0.016580259427428246, + -0.057179130613803864, + 0.02926650643348694, + 0.6754927635192871, + 0.0, + 0.6319981217384338 + ], + [ + 0.258608877658844, + -0.03438401594758034, + 0.05841114744544029, + -0.15627144277095795, + 0.004476549103856087, + 0.6932175755500793, + 0.0, + 0.6319981217384338 + ], + [ + 0.2546003460884094, + -0.017068440094590187, + 0.09015703201293945, + -0.2275136113166809, + 0.01012925524264574, + 0.7106296420097351, + 0.0, + 0.6319981217384338 + ], + [ + 0.24245168268680573, + 0.0103376479819417, + 0.10429678112268448, + -0.23949658870697021, + 0.02088366262614727, + 0.7057780623435974, + 0.0, + 0.6319981217384338 + ], + [ + 0.22980627417564392, + 0.03518761694431305, + 0.10375894606113434, + -0.19259922206401825, + 0.027588749304413795, + 0.6499701738357544, + 0.0, + 0.6319981217384338 + ], + [ + 0.22003689408302307, + 0.05774948000907898, + 0.09823767095804214, + -0.1687697321176529, + 0.022830430418252945, + 0.6222261190414429, + 0.0, + 0.6319981217384338 + ], + [ + 0.21486379206180573, + 0.07223274558782578, + 0.08235768973827362, + -0.13327108323574066, + 0.034785281866788864, + 0.6133117079734802, + 0.0, + 0.6319981217384338 + ], + [ + 0.21068145334720612, + 0.07689819484949112, + 0.06194012612104416, + -0.1021447703242302, + 0.0069168186746537685, + 0.6008508801460266, + 0.0, + 0.6319981217384338 + ], + [ + 0.20935958623886108, + 0.07220178097486496, + 0.048276446759700775, + -0.07255282253026962, + -0.027475643903017044, + 0.585422933101654, + 0.0, + 0.6319981217384338 + ], + [ + 0.2096322476863861, + 0.06778473407030106, + 0.043500497937202454, + -0.07031898945569992, + -0.03726426139473915, + 0.5861510038375854, + 0.0, + 0.6319981217384338 + ], + [ + 0.2082105427980423, + 0.06555968523025513, + 0.035844165831804276, + -0.05090035870671272, + -0.04485137388110161, + 0.5813446640968323, + 0.0, + 0.6319981217384338 + ], + [ + 0.20779336988925934, + 0.06540986895561218, + 0.02802407369017601, + -0.03076324611902237, + -0.05706402286887169, + 0.574543833732605, + 0.0, + 0.6319981217384338 + ], + [ + 0.2068312168121338, + 0.06523250043392181, + 0.026189615949988365, + -0.023931704461574554, + -0.06504840403795242, + 0.5767045617103577, + 0.0, + 0.7001883387565613 + ], + [ + 0.20528286695480347, + 0.0648123025894165, + 0.025119954720139503, + -0.009429020807147026, + -0.05643375962972641, + 0.5890418291091919, + 0.0, + 0.9530308246612549 + ], + [ + 0.20225033164024353, + 0.06253494322299957, + 0.034527864307165146, + -0.016395138576626778, + -0.05435094237327576, + 0.575240433216095, + 0.0, + 0.9920742511749268 + ] + ], + "left_gripper_pos": [ + [ + 0.9872581958770752 + ], + [ + 0.9872581958770752 + ], + [ + 0.9872581958770752 + ], + [ + 0.9872581958770752 + ], + [ + 0.9872581958770752 + ], + [ + 0.9872581958770752 + ], + [ + 0.9872581958770752 + ], + [ + 0.9879508018493652 + ], + [ + 0.9879508018493652 + ], + [ + 0.9879508018493652 + ], + [ + 0.9879508018493652 + ], + [ + 0.9872581958770752 + ], + [ + 0.9879508018493652 + ], + [ + 0.9879508018493652 + ], + [ + 0.9406655430793762 + ], + [ + 0.6951970458030701 + ], + [ + 0.603904664516449 + ], + [ + 0.6319981217384338 + ], + [ + 0.6319981217384338 + ], + [ + 0.6319981217384338 + ], + [ + 0.6319981217384338 + ], + [ + 0.6319981217384338 + ], + [ + 0.6319981217384338 + ], + [ + 0.6319981217384338 + ], + [ + 0.6319981217384338 + ], + [ + 0.6319981217384338 + ], + [ + 0.6319981217384338 + ], + [ + 0.6319981217384338 + ], + [ + 0.6319981217384338 + ], + [ + 0.7001883387565613 + ], + [ + 0.9530308246612549 + ], + [ + 0.9920742511749268 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.27372199296951294, + 0.1007847934961319, + 0.1083792969584465 + ], + [ + 0.2713024318218231, + 0.09843967854976654, + 0.10134133696556091 + ], + [ + 0.27076295018196106, + 0.08509916812181473, + 0.10481327027082443 + ], + [ + 0.27047741413116455, + 0.06510989367961884, + 0.11775287985801697 + ], + [ + 0.2638282775878906, + 0.03853216394782066, + 0.11939136683940887 + ], + [ + 0.2613394856452942, + 0.02102689817547798, + 0.11662203818559647 + ], + [ + 0.2606964111328125, + 0.004412880167365074, + 0.10805168002843857 + ], + [ + 0.25901055335998535, + -0.007730260957032442, + 0.08770924806594849 + ], + [ + 0.25844651460647583, + -0.014981109648942947, + 0.07278012484312057 + ], + [ + 0.25941094756126404, + -0.017476240172982216, + 0.05659516900777817 + ], + [ + 0.2610289454460144, + -0.024737920612096786, + 0.0472271628677845 + ], + [ + 0.26314225792884827, + -0.027674706652760506, + 0.043292924761772156 + ], + [ + 0.2611101269721985, + -0.03311591222882271, + 0.03174954652786255 + ], + [ + 0.259689062833786, + -0.03700312227010727, + 0.02283615432679653 + ], + [ + 0.2565356194972992, + -0.03826305270195007, + 0.014012183994054794 + ], + [ + 0.2558261454105377, + -0.03899642825126648, + 0.011469792574644089 + ], + [ + 0.2586224675178528, + -0.039014291018247604, + 0.011465702205896378 + ], + [ + 0.2514786124229431, + -0.039956264197826385, + 0.016580259427428246 + ], + [ + 0.258608877658844, + -0.03438401594758034, + 0.05841114744544029 + ], + [ + 0.2546003460884094, + -0.017068440094590187, + 0.09015703201293945 + ], + [ + 0.24245168268680573, + 0.0103376479819417, + 0.10429678112268448 + ], + [ + 0.22980627417564392, + 0.03518761694431305, + 0.10375894606113434 + ], + [ + 0.22003689408302307, + 0.05774948000907898, + 0.09823767095804214 + ], + [ + 0.21486379206180573, + 0.07223274558782578, + 0.08235768973827362 + ], + [ + 0.21068145334720612, + 0.07689819484949112, + 0.06194012612104416 + ], + [ + 0.20935958623886108, + 0.07220178097486496, + 0.048276446759700775 + ], + [ + 0.2096322476863861, + 0.06778473407030106, + 0.043500497937202454 + ], + [ + 0.2082105427980423, + 0.06555968523025513, + 0.035844165831804276 + ], + [ + 0.20779336988925934, + 0.06540986895561218, + 0.02802407369017601 + ], + [ + 0.2068312168121338, + 0.06523250043392181, + 0.026189615949988365 + ], + [ + 0.20528286695480347, + 0.0648123025894165, + 0.025119954720139503 + ], + [ + 0.20225033164024353, + 0.06253494322299957, + 0.034527864307165146 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9413418223717076, + 0.3016290174551583, + 0.15131262102993404, + 0.28961925080864775, + -0.9522658220620321, + 0.09649089953752031, + 0.17319429267429748, + -0.04700787127235238, + -0.983765214379677 + ], + [ + 0.9422201207335764, + 0.3109149390494858, + 0.12471224783740695, + 0.30271427908994236, + -0.9496725376871075, + 0.08053655317919706, + 0.14347581440737947, + -0.0381309826621823, + -0.9889189647495669 + ], + [ + 0.9261354822610526, + 0.3629636249738281, + 0.10261810484970871, + 0.36174156708084854, + -0.9317648469178658, + 0.03094040552446398, + 0.10684618450361003, + 0.008466226667448468, + -0.9942395163455514 + ], + [ + 0.891973385718821, + 0.43387298754567344, + 0.12703428611007103, + 0.4313134674807639, + -0.9008997854428896, + 0.048458945084221036, + 0.13547018837745636, + 0.01156750911594313, + -0.9907138945194163 + ], + [ + 0.8918288117428604, + 0.44699109026470374, + 0.06957252165394724, + 0.44732914519147526, + -0.8942952977149687, + 0.011513311737255148, + 0.06736472673129094, + 0.02085391351441424, + -0.9975104550246837 + ], + [ + 0.8644867284337672, + 0.5005281955697725, + 0.04619763848454852, + 0.501078925370857, + -0.8654014992085054, + -0.0003946097538491851, + 0.03978199229637248, + 0.02348979794162206, + -0.9989322411863542 + ], + [ + 0.8334993257048882, + 0.5508218770310018, + 0.043291267405105034, + 0.5524802371776005, + -0.8318219870846453, + -0.0532707173852038, + 0.00666795153542122, + 0.0683186767040744, + -0.9976412666062512 + ], + [ + 0.7992842412892273, + 0.5993564461268425, + 0.04377844347285484, + 0.600906161003501, + -0.7961871458819275, + -0.07069522190661179, + -0.007515803000289745, + 0.08281231320638172, + -0.9965368199352542 + ], + [ + 0.7971007654331281, + 0.5995660497935426, + 0.07176992183978327, + 0.60344796805964, + -0.7952449883958489, + -0.05861704765661631, + 0.021929878946612153, + 0.0900331070565354, + -0.9956973034226484 + ], + [ + 0.7873908125373794, + 0.6115859903883009, + 0.07731936815887186, + 0.6158621652293798, + -0.7859180249205722, + -0.05519648126400248, + 0.027009290451732896, + 0.0910792757201575, + -0.9954773044944751 + ], + [ + 0.7900516835916991, + 0.604745598212359, + 0.10050422228293815, + 0.6125400031322575, + -0.7853476997408785, + -0.08957530393163736, + 0.02476048902295952, + 0.13233197631142427, + -0.9908961430083663 + ], + [ + 0.7854720567838844, + 0.6095242084994938, + 0.10730278311749328, + 0.618252676598922, + -0.7806809659050443, + -0.09110904099942961, + 0.028236074266138868, + 0.13790383869433306, + -0.9900430573381162 + ], + [ + 0.788820247453256, + 0.6061049332111081, + 0.10197758158018073, + 0.6138296585571479, + -0.7853140113167751, + -0.08059189726747552, + 0.031237277144455664, + 0.12616938442710343, + -0.991516776938185 + ], + [ + 0.7891276159655186, + 0.6073539806997961, + 0.09164468259909637, + 0.6133373301387792, + -0.7871993421052098, + -0.06430019632442263, + 0.03308965365203295, + 0.10695016557835202, + -0.9937136090966814 + ], + [ + 0.7828466638641517, + 0.6193615010637445, + 0.05951833227529778, + 0.6221072982955471, + -0.7808994451393483, + -0.05637877249881267, + 0.011558991486403422, + 0.08116272285429366, + -0.9966338355357468 + ], + [ + 0.7788001026240989, + 0.6252431021994415, + 0.050412927952176, + 0.6272277516768768, + -0.7771824893812932, + -0.05072204378242076, + 0.007466436838455281, + 0.07112272035794508, + -0.9974396277318355 + ], + [ + 0.7786618777911705, + 0.6255146983726066, + 0.04916342334047659, + 0.6273727987186658, + -0.7773585461472967, + -0.04601154376533438, + 0.009436710371545826, + 0.06667122956409127, + -0.9977303722177527 + ], + [ + 0.7800647366918696, + 0.6255651060586421, + 0.012934629939956765, + 0.6250141779912372, + -0.7780778901812894, + -0.06286552410479898, + -0.029262328680093406, + 0.05712350560734933, + -0.9979381850732765 + ], + [ + 0.769186212670519, + 0.6317645744128125, + 0.0960525520461654, + 0.63900902253377, + -0.7593756574816183, + -0.12254011565522553, + -0.004476534152576164, + 0.15563461485594451, + -0.9878045491394656 + ], + [ + 0.757912420510065, + 0.637232899195792, + 0.13965312391457585, + 0.6522776744100626, + -0.7369287510888065, + -0.17739743877771252, + -0.010129082030211053, + 0.22554433710740202, + -0.9741802470261895 + ], + [ + 0.7609411467729481, + 0.6338829760572744, + 0.13842306098567383, + 0.6484847779106775, + -0.7361702327123321, + -0.19370307505667053, + -0.020882144669791096, + 0.23716188802808016, + -0.971245682050091 + ], + [ + 0.7957988956830321, + 0.5981767301683827, + 0.09427999318375377, + 0.604932369470168, + -0.7781866244849627, + -0.1687673127116381, + -0.027585249625021985, + 0.19133786075359402, + -0.9811365231431167 + ], + [ + 0.8123712261373702, + 0.5776803733051726, + 0.079613926181682, + 0.5826936184174533, + -0.7988030254601948, + -0.14960572706689718, + -0.02282844715790473, + 0.16792591465773232, + -0.9855352602452755 + ], + [ + 0.8172516637392477, + 0.5742538235845587, + 0.04829352144901092, + 0.5752305539940084, + -0.807835146993613, + -0.12849974721202295, + -0.034778267167552473, + 0.13279654129653462, + -0.9905329629812933 + ], + [ + 0.8248351416954763, + 0.562979573979802, + 0.05197103333323731, + 0.5653310069389308, + -0.8201568011728365, + -0.08799814818139855, + -0.006916763521940466, + 0.10196480163007916, + -0.9947639607519567 + ], + [ + 0.8331638866881348, + 0.5494384633391566, + 0.06289127858635951, + 0.5523433867217556, + -0.832386123468211, + -0.045278301672051345, + 0.027472187089160445, + 0.07246182761337541, + -0.9969927594899912 + ], + [ + 0.8324976019751631, + 0.5496108906962736, + 0.0698255793649532, + 0.5527746015956891, + -0.8324650775452997, + -0.03797544599112457, + 0.03725563764492106, + 0.07021227453619873, + -0.9968361219218149 + ], + [ + 0.8348845354138226, + 0.5465305203979182, + 0.06536208993312262, + 0.5485959490665827, + -0.8358953190170092, + -0.017930429810435477, + 0.04483633788101035, + 0.05082721632189233, + -0.9977005046036544 + ], + [ + 0.8380739291702994, + 0.5417222037132122, + 0.06456890311254415, + 0.542567340988456, + -0.839996459858315, + 0.005160224628338428, + 0.0570330582887903, + 0.030708328342641387, + -0.997899909225684 + ], + [ + 0.8364912377534478, + 0.5438044215136577, + 0.06752155436526194, + 0.5441112743547671, + -0.8388721913918276, + 0.01537425216082159, + 0.06500254057909038, + 0.023878811772558087, + -0.9975993544838502 + ], + [ + 0.8301497124446554, + 0.5550976898395461, + 0.05213453426333541, + 0.5546801467378459, + -0.8317318881549534, + 0.023494702404539995, + 0.05640380964915085, + 0.009413870670194505, + -0.9983636558369235 + ], + [ + 0.8378225229359518, + 0.5432161488087146, + 0.05449436424682481, + 0.5432331936962129, + -0.8394332804810302, + 0.015794457492092333, + 0.05432418731881764, + 0.01637019530381791, + -0.9983891522737341 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0024195611476898193, + -0.0023451149463653564, + -0.00703795999288559, + -0.009208153933286667, + 0.030099377036094666, + 0.012386232614517212, + 1.0 + ], + [ + -0.0005394816398620605, + -0.013340510427951813, + 0.0034719333052635193, + -0.0470542311668396, + 0.0369221493601799, + 0.061508744955062866, + 1.0 + ], + [ + -0.0002855360507965088, + -0.019989274442195892, + 0.012939609587192535, + -0.0031603295356035233, + -0.028837479650974274, + 0.07803073525428772, + 1.0 + ], + [ + -0.006649136543273926, + -0.026577729731798172, + 0.0016384869813919067, + -0.009227512404322624, + 0.0684722289443016, + 0.014514893293380737, + 1.0 + ], + [ + -0.0024887919425964355, + -0.017505265772342682, + -0.0027693286538124084, + -0.0026076585054397583, + 0.027623288333415985, + 0.06038796901702881, + 1.0 + ], + [ + -0.0006430745124816895, + -0.016614018008112907, + -0.008570358157157898, + -0.04486288130283356, + 0.033124491572380066, + 0.060047805309295654, + 1.0 + ], + [ + -0.0016858577728271484, + -0.012143140658736229, + -0.020342431962490082, + -0.014536149799823761, + 0.014183875173330307, + 0.059303879737854004, + 1.0 + ], + [ + -0.0005640387535095215, + -0.007250848691910505, + -0.014929123222827911, + -0.00726732611656189, + -0.029447510838508606, + 0.003344595432281494, + 1.0 + ], + [ + 0.000964432954788208, + -0.0024951305240392685, + -0.016184955835342407, + -0.0010621175169944763, + -0.0050809383392333984, + 0.015765011310577393, + 1.0 + ], + [ + 0.0016179978847503662, + -0.007261680439114571, + -0.009368006139993668, + -0.041523173451423645, + 0.0022495556622743607, + -0.0042574405670166016, + 1.0 + ], + [ + 0.0021133124828338623, + -0.002936786040663719, + -0.003934238106012344, + -0.005638033151626587, + -0.0034768078476190567, + 0.007323741912841797, + 1.0 + ], + [ + -0.0020321309566497803, + -0.0054412055760622025, + -0.011543378233909607, + 0.011831611394882202, + -0.0030025318264961243, + -0.005549132823944092, + 1.0 + ], + [ + -0.0014210641384124756, + -0.003887210041284561, + -0.008913392201066017, + 0.019354596734046936, + -0.0018533356487751007, + -0.0005776286125183105, + 1.0 + ], + [ + -0.0031534433364868164, + -0.001259930431842804, + -0.008823970332741737, + 0.02595651149749756, + 0.0215364471077919, + 0.010779798030853271, + 0.0 + ], + [ + -0.0007094740867614746, + -0.0007333755493164062, + -0.0025423914194107056, + 0.010072730481624603, + 0.0040927426889538765, + 0.006526589393615723, + 0.0 + ], + [ + 0.0027963221073150635, + -1.7862766981124878e-05, + -4.090368747711182e-06, + 0.004461109638214111, + -0.0019703442230820656, + 0.0001996755599975586, + 0.0 + ], + [ + -0.007143855094909668, + -0.0009419731795787811, + 0.005114557221531868, + 0.00954456627368927, + 0.03870335593819618, + -0.0027179718017578125, + 0.0 + ], + [ + 0.007130265235900879, + 0.005572248250246048, + 0.041830889880657196, + -0.09909231215715408, + -0.024789957329630852, + 0.017724812030792236, + 0.0 + ], + [ + -0.00400853157043457, + 0.01731557585299015, + 0.03174588456749916, + -0.07124216854572296, + 0.005652706138789654, + 0.01741206645965576, + 0.0 + ], + [ + -0.012148663401603699, + 0.02740608900785446, + 0.014139749109745026, + -0.011982977390289307, + 0.01075440738350153, + -0.004851579666137695, + 0.0 + ], + [ + -0.012645408511161804, + 0.024849969893693924, + -0.0005378350615501404, + 0.046897366642951965, + 0.006705086678266525, + -0.05580788850784302, + 0.0 + ], + [ + -0.00976938009262085, + 0.02256186306476593, + -0.005521275103092194, + 0.023829489946365356, + -0.0047583188861608505, + -0.027744054794311523, + 0.0 + ], + [ + -0.005173102021217346, + 0.014483265578746796, + -0.015879981219768524, + 0.03549864888191223, + 0.01195485144853592, + -0.008914411067962646, + 0.0 + ], + [ + -0.004182338714599609, + 0.004665449261665344, + -0.02041756361722946, + 0.031126312911510468, + -0.02786846272647381, + -0.012460827827453613, + 0.0 + ], + [ + -0.0013218671083450317, + -0.00469641387462616, + -0.013663679361343384, + 0.02959194779396057, + -0.03439246118068695, + -0.015427947044372559, + 0.0 + ], + [ + 0.0002726614475250244, + -0.004417046904563904, + -0.0047759488224983215, + 0.002233833074569702, + -0.009788617491722107, + 0.0007280707359313965, + 0.0 + ], + [ + -0.001421704888343811, + -0.002225048840045929, + -0.007656332105398178, + 0.019418630748987198, + -0.007587112486362457, + -0.004806339740753174, + 0.0 + ], + [ + -0.000417172908782959, + -0.00014981627464294434, + -0.007820092141628265, + 0.020137112587690353, + -0.01221264898777008, + -0.006800830364227295, + 0.0 + ], + [ + -0.0009621530771255493, + -0.00017736852169036865, + -0.001834457740187645, + 0.006831541657447815, + -0.007984381169080734, + 0.0021607279777526855, + 1.0 + ], + [ + -0.0015483498573303223, + -0.00042019784450531006, + -0.0010696612298488617, + 0.014502683654427528, + 0.008614644408226013, + 0.012337267398834229, + 1.0 + ], + [ + -0.0030325353145599365, + -0.002277359366416931, + 0.009407909587025642, + -0.006966117769479752, + 0.002082817256450653, + -0.013801395893096924, + 1.0 + ], + [ + 0.0032436996698379517, + -0.0011743530631065369, + 0.03867432102560997, + -0.07971130311489105, + -0.03136284649372101, + 0.05062270164489746, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9872581958770752 + ], + [ + 0.9872581958770752 + ], + [ + 0.9872581958770752 + ], + [ + 0.9872581958770752 + ], + [ + 0.9872581958770752 + ], + [ + 0.9872581958770752 + ], + [ + 0.9879508018493652 + ], + [ + 0.9879508018493652 + ], + [ + 0.9879508018493652 + ], + [ + 0.9879508018493652 + ], + [ + 0.9872581958770752 + ], + [ + 0.9879508018493652 + ], + [ + 0.9879508018493652 + ], + [ + 0.9406655430793762 + ], + [ + 0.6951970458030701 + ], + [ + 0.603904664516449 + ], + [ + 0.6319981217384338 + ], + [ + 0.6319981217384338 + ], + [ + 0.6319981217384338 + ], + [ + 0.6319981217384338 + ], + [ + 0.6319981217384338 + ], + [ + 0.6319981217384338 + ], + [ + 0.6319981217384338 + ], + [ + 0.6319981217384338 + ], + [ + 0.6319981217384338 + ], + [ + 0.6319981217384338 + ], + [ + 0.6319981217384338 + ], + [ + 0.6319981217384338 + ], + [ + 0.7001883387565613 + ], + [ + 0.9530308246612549 + ], + [ + 0.9920742511749268 + ], + [ + 0.9913908839225769 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2713024318218231, + 0.09843967854976654, + 0.10134133696556091 + ], + [ + 0.27076295018196106, + 0.08509916812181473, + 0.10481327027082443 + ], + [ + 0.27047741413116455, + 0.06510989367961884, + 0.11775287985801697 + ], + [ + 0.2638282775878906, + 0.03853216394782066, + 0.11939136683940887 + ], + [ + 0.2613394856452942, + 0.02102689817547798, + 0.11662203818559647 + ], + [ + 0.2606964111328125, + 0.004412880167365074, + 0.10805168002843857 + ], + [ + 0.25901055335998535, + -0.007730260957032442, + 0.08770924806594849 + ], + [ + 0.25844651460647583, + -0.014981109648942947, + 0.07278012484312057 + ], + [ + 0.25941094756126404, + -0.017476240172982216, + 0.05659516900777817 + ], + [ + 0.2610289454460144, + -0.024737920612096786, + 0.0472271628677845 + ], + [ + 0.26314225792884827, + -0.027674706652760506, + 0.043292924761772156 + ], + [ + 0.2611101269721985, + -0.03311591222882271, + 0.03174954652786255 + ], + [ + 0.259689062833786, + -0.03700312227010727, + 0.02283615432679653 + ], + [ + 0.2565356194972992, + -0.03826305270195007, + 0.014012183994054794 + ], + [ + 0.2558261454105377, + -0.03899642825126648, + 0.011469792574644089 + ], + [ + 0.2586224675178528, + -0.039014291018247604, + 0.011465702205896378 + ], + [ + 0.2514786124229431, + -0.039956264197826385, + 0.016580259427428246 + ], + [ + 0.258608877658844, + -0.03438401594758034, + 0.05841114744544029 + ], + [ + 0.2546003460884094, + -0.017068440094590187, + 0.09015703201293945 + ], + [ + 0.24245168268680573, + 0.0103376479819417, + 0.10429678112268448 + ], + [ + 0.22980627417564392, + 0.03518761694431305, + 0.10375894606113434 + ], + [ + 0.22003689408302307, + 0.05774948000907898, + 0.09823767095804214 + ], + [ + 0.21486379206180573, + 0.07223274558782578, + 0.08235768973827362 + ], + [ + 0.21068145334720612, + 0.07689819484949112, + 0.06194012612104416 + ], + [ + 0.20935958623886108, + 0.07220178097486496, + 0.048276446759700775 + ], + [ + 0.2096322476863861, + 0.06778473407030106, + 0.043500497937202454 + ], + [ + 0.2082105427980423, + 0.06555968523025513, + 0.035844165831804276 + ], + [ + 0.20779336988925934, + 0.06540986895561218, + 0.02802407369017601 + ], + [ + 0.2068312168121338, + 0.06523250043392181, + 0.026189615949988365 + ], + [ + 0.20528286695480347, + 0.0648123025894165, + 0.025119954720139503 + ], + [ + 0.20225033164024353, + 0.06253494322299957, + 0.034527864307165146 + ], + [ + 0.20549403131008148, + 0.061360590159893036, + 0.07320218533277512 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9422201207335764, + 0.3109149390494858, + 0.12471224783740695, + 0.30271427908994236, + -0.9496725376871075, + 0.08053655317919706, + 0.14347581440737947, + -0.0381309826621823, + -0.9889189647495669 + ], + [ + 0.9261354822610526, + 0.3629636249738281, + 0.10261810484970871, + 0.36174156708084854, + -0.9317648469178658, + 0.03094040552446398, + 0.10684618450361003, + 0.008466226667448468, + -0.9942395163455514 + ], + [ + 0.891973385718821, + 0.43387298754567344, + 0.12703428611007103, + 0.4313134674807639, + -0.9008997854428896, + 0.048458945084221036, + 0.13547018837745636, + 0.01156750911594313, + -0.9907138945194163 + ], + [ + 0.8918288117428604, + 0.44699109026470374, + 0.06957252165394724, + 0.44732914519147526, + -0.8942952977149687, + 0.011513311737255148, + 0.06736472673129094, + 0.02085391351441424, + -0.9975104550246837 + ], + [ + 0.8644867284337672, + 0.5005281955697725, + 0.04619763848454852, + 0.501078925370857, + -0.8654014992085054, + -0.0003946097538491851, + 0.03978199229637248, + 0.02348979794162206, + -0.9989322411863542 + ], + [ + 0.8334993257048882, + 0.5508218770310018, + 0.043291267405105034, + 0.5524802371776005, + -0.8318219870846453, + -0.0532707173852038, + 0.00666795153542122, + 0.0683186767040744, + -0.9976412666062512 + ], + [ + 0.7992842412892273, + 0.5993564461268425, + 0.04377844347285484, + 0.600906161003501, + -0.7961871458819275, + -0.07069522190661179, + -0.007515803000289745, + 0.08281231320638172, + -0.9965368199352542 + ], + [ + 0.7971007654331281, + 0.5995660497935426, + 0.07176992183978327, + 0.60344796805964, + -0.7952449883958489, + -0.05861704765661631, + 0.021929878946612153, + 0.0900331070565354, + -0.9956973034226484 + ], + [ + 0.7873908125373794, + 0.6115859903883009, + 0.07731936815887186, + 0.6158621652293798, + -0.7859180249205722, + -0.05519648126400248, + 0.027009290451732896, + 0.0910792757201575, + -0.9954773044944751 + ], + [ + 0.7900516835916991, + 0.604745598212359, + 0.10050422228293815, + 0.6125400031322575, + -0.7853476997408785, + -0.08957530393163736, + 0.02476048902295952, + 0.13233197631142427, + -0.9908961430083663 + ], + [ + 0.7854720567838844, + 0.6095242084994938, + 0.10730278311749328, + 0.618252676598922, + -0.7806809659050443, + -0.09110904099942961, + 0.028236074266138868, + 0.13790383869433306, + -0.9900430573381162 + ], + [ + 0.788820247453256, + 0.6061049332111081, + 0.10197758158018073, + 0.6138296585571479, + -0.7853140113167751, + -0.08059189726747552, + 0.031237277144455664, + 0.12616938442710343, + -0.991516776938185 + ], + [ + 0.7891276159655186, + 0.6073539806997961, + 0.09164468259909637, + 0.6133373301387792, + -0.7871993421052098, + -0.06430019632442263, + 0.03308965365203295, + 0.10695016557835202, + -0.9937136090966814 + ], + [ + 0.7828466638641517, + 0.6193615010637445, + 0.05951833227529778, + 0.6221072982955471, + -0.7808994451393483, + -0.05637877249881267, + 0.011558991486403422, + 0.08116272285429366, + -0.9966338355357468 + ], + [ + 0.7788001026240989, + 0.6252431021994415, + 0.050412927952176, + 0.6272277516768768, + -0.7771824893812932, + -0.05072204378242076, + 0.007466436838455281, + 0.07112272035794508, + -0.9974396277318355 + ], + [ + 0.7786618777911705, + 0.6255146983726066, + 0.04916342334047659, + 0.6273727987186658, + -0.7773585461472967, + -0.04601154376533438, + 0.009436710371545826, + 0.06667122956409127, + -0.9977303722177527 + ], + [ + 0.7800647366918696, + 0.6255651060586421, + 0.012934629939956765, + 0.6250141779912372, + -0.7780778901812894, + -0.06286552410479898, + -0.029262328680093406, + 0.05712350560734933, + -0.9979381850732765 + ], + [ + 0.769186212670519, + 0.6317645744128125, + 0.0960525520461654, + 0.63900902253377, + -0.7593756574816183, + -0.12254011565522553, + -0.004476534152576164, + 0.15563461485594451, + -0.9878045491394656 + ], + [ + 0.757912420510065, + 0.637232899195792, + 0.13965312391457585, + 0.6522776744100626, + -0.7369287510888065, + -0.17739743877771252, + -0.010129082030211053, + 0.22554433710740202, + -0.9741802470261895 + ], + [ + 0.7609411467729481, + 0.6338829760572744, + 0.13842306098567383, + 0.6484847779106775, + -0.7361702327123321, + -0.19370307505667053, + -0.020882144669791096, + 0.23716188802808016, + -0.971245682050091 + ], + [ + 0.7957988956830321, + 0.5981767301683827, + 0.09427999318375377, + 0.604932369470168, + -0.7781866244849627, + -0.1687673127116381, + -0.027585249625021985, + 0.19133786075359402, + -0.9811365231431167 + ], + [ + 0.8123712261373702, + 0.5776803733051726, + 0.079613926181682, + 0.5826936184174533, + -0.7988030254601948, + -0.14960572706689718, + -0.02282844715790473, + 0.16792591465773232, + -0.9855352602452755 + ], + [ + 0.8172516637392477, + 0.5742538235845587, + 0.04829352144901092, + 0.5752305539940084, + -0.807835146993613, + -0.12849974721202295, + -0.034778267167552473, + 0.13279654129653462, + -0.9905329629812933 + ], + [ + 0.8248351416954763, + 0.562979573979802, + 0.05197103333323731, + 0.5653310069389308, + -0.8201568011728365, + -0.08799814818139855, + -0.006916763521940466, + 0.10196480163007916, + -0.9947639607519567 + ], + [ + 0.8331638866881348, + 0.5494384633391566, + 0.06289127858635951, + 0.5523433867217556, + -0.832386123468211, + -0.045278301672051345, + 0.027472187089160445, + 0.07246182761337541, + -0.9969927594899912 + ], + [ + 0.8324976019751631, + 0.5496108906962736, + 0.0698255793649532, + 0.5527746015956891, + -0.8324650775452997, + -0.03797544599112457, + 0.03725563764492106, + 0.07021227453619873, + -0.9968361219218149 + ], + [ + 0.8348845354138226, + 0.5465305203979182, + 0.06536208993312262, + 0.5485959490665827, + -0.8358953190170092, + -0.017930429810435477, + 0.04483633788101035, + 0.05082721632189233, + -0.9977005046036544 + ], + [ + 0.8380739291702994, + 0.5417222037132122, + 0.06456890311254415, + 0.542567340988456, + -0.839996459858315, + 0.005160224628338428, + 0.0570330582887903, + 0.030708328342641387, + -0.997899909225684 + ], + [ + 0.8364912377534478, + 0.5438044215136577, + 0.06752155436526194, + 0.5441112743547671, + -0.8388721913918276, + 0.01537425216082159, + 0.06500254057909038, + 0.023878811772558087, + -0.9975993544838502 + ], + [ + 0.8301497124446554, + 0.5550976898395461, + 0.05213453426333541, + 0.5546801467378459, + -0.8317318881549534, + 0.023494702404539995, + 0.05640380964915085, + 0.009413870670194505, + -0.9983636558369235 + ], + [ + 0.8378225229359518, + 0.5432161488087146, + 0.05449436424682481, + 0.5432331936962129, + -0.8394332804810302, + 0.015794457492092333, + 0.05432418731881764, + 0.01637019530381791, + -0.9983891522737341 + ], + [ + 0.8074824645098745, + 0.5764359320600945, + 0.12527444168332666, + 0.5836464600917426, + -0.811530070564165, + -0.02785236421740238, + 0.08560887297142092, + 0.09560628012913779, + -0.9917310926195828 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006282.json b/json/chunk-0006/episode_0006282.json new file mode 100644 index 0000000000000000000000000000000000000000..630333ddbf57cdaf0204d4f7ff150acfa07d7019 --- /dev/null +++ b/json/chunk-0006/episode_0006282.json @@ -0,0 +1,1282 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 20, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut cup from counter to sink." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006282.mp4", + "start": 0, + "end": 20, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2744224965572357, + 0.05704941228032112, + 0.18760760128498077, + 0.3518872559070587, + 0.11472849547863007, + 0.755120575428009, + 0.0, + 0.9406655430793762 + ], + [ + 0.2775534391403198, + 0.0597812756896019, + 0.1772000640630722, + 0.360249787569046, + 0.13477109372615814, + 0.7612897753715515, + 0.0, + 0.9406655430793762 + ], + [ + 0.28213173151016235, + 0.06702791899442673, + 0.17148442566394806, + 0.35653167963027954, + 0.13001279532909393, + 0.7811598181724548, + 0.0, + 0.9406655430793762 + ], + [ + 0.2876847982406616, + 0.06364598870277405, + 0.164220929145813, + 0.36477649211883545, + 0.14087967574596405, + 0.7780093550682068, + 0.0, + 0.9406655430793762 + ], + [ + 0.29458799958229065, + 0.06036767363548279, + 0.15757624804973602, + 0.36140650510787964, + 0.13002534210681915, + 0.7842051982879639, + 0.0, + 0.9406655430793762 + ], + [ + 0.290812611579895, + 0.056765250861644745, + 0.14248810708522797, + 0.3773843050003052, + 0.14193683862686157, + 0.7893942594528198, + 0.0, + 0.9406655430793762 + ], + [ + 0.28404197096824646, + 0.05264170467853546, + 0.12773530185222626, + 0.40146738290786743, + 0.14849309623241425, + 0.7881522178649902, + 0.0, + 0.775918185710907 + ], + [ + 0.2796207070350647, + 0.051634326577186584, + 0.12135710567235947, + 0.4175609052181244, + 0.14757199585437775, + 0.7886254191398621, + 0.0, + 0.5729578137397766 + ], + [ + 0.27869319915771484, + 0.04836179316043854, + 0.12167314440011978, + 0.42063236236572266, + 0.1404528021812439, + 0.7898635864257812, + 0.0, + 0.3788849711418152 + ], + [ + 0.27859577536582947, + 0.04533909633755684, + 0.1223510354757309, + 0.42185643315315247, + 0.13659177720546722, + 0.7879281044006348, + 0.0, + 0.21544429659843445 + ], + [ + 0.2804641127586365, + 0.03780706226825714, + 0.12486318498849869, + 0.4218994975090027, + 0.1344018578529358, + 0.7700769901275635, + 0.0, + 0.09549706429243088 + ], + [ + 0.2979999780654907, + 0.02191402018070221, + 0.1389860063791275, + 0.389816552400589, + 0.10637770593166351, + 0.7247510552406311, + 0.0, + 0.0832853764295578 + ], + [ + 0.31568166613578796, + -0.004033031407743692, + 0.14100366830825806, + 0.38527747988700867, + 0.11033421754837036, + 0.6733056902885437, + 0.0, + 0.0832853764295578 + ], + [ + 0.3250468969345093, + -0.029458705335855484, + 0.14207494258880615, + 0.35582849383354187, + 0.1260751634836197, + 0.6553407311439514, + 0.0, + 0.0832853764295578 + ], + [ + 0.3292378783226013, + -0.053256746381521225, + 0.1387106329202652, + 0.3159017562866211, + 0.1534767597913742, + 0.6583865880966187, + 0.0, + 0.0832853764295578 + ], + [ + 0.3227561414241791, + -0.057652879506349564, + 0.11969930678606033, + 0.33819231390953064, + 0.1596137285232544, + 0.6827546954154968, + 0.0, + 0.0832853764295578 + ], + [ + 0.30829569697380066, + -0.03739999234676361, + 0.0856199562549591, + 0.3992144465446472, + 0.148371160030365, + 0.7255102396011353, + 0.0, + 0.0832853764295578 + ], + [ + 0.3025437295436859, + -0.02368929609656334, + 0.06472110748291016, + 0.41089296340942383, + 0.1106424555182457, + 0.7481423020362854, + 0.0, + 0.0832853764295578 + ], + [ + 0.30141115188598633, + -0.021155819296836853, + 0.05807386711239815, + 0.41714945435523987, + 0.0735560953617096, + 0.7535731196403503, + 0.0, + 0.0832853764295578 + ], + [ + 0.29839038848876953, + -0.018938971683382988, + 0.057846181094646454, + 0.43689367175102234, + 0.07661336660385132, + 0.7679677605628967, + 0.0, + 0.19905558228492737 + ] + ], + "left_gripper_pos": [ + [ + 0.9406655430793762 + ], + [ + 0.9406655430793762 + ], + [ + 0.9406655430793762 + ], + [ + 0.9406655430793762 + ], + [ + 0.9406655430793762 + ], + [ + 0.9406655430793762 + ], + [ + 0.775918185710907 + ], + [ + 0.5729578137397766 + ], + [ + 0.3788849711418152 + ], + [ + 0.21544429659843445 + ], + [ + 0.09549706429243088 + ], + [ + 0.0832853764295578 + ], + [ + 0.0832853764295578 + ], + [ + 0.0832853764295578 + ], + [ + 0.0832853764295578 + ], + [ + 0.0832853764295578 + ], + [ + 0.0832853764295578 + ], + [ + 0.0832853764295578 + ], + [ + 0.0832853764295578 + ], + [ + 0.19905558228492737 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2744224965572357, + 0.05704941228032112, + 0.18760760128498077 + ], + [ + 0.2775534391403198, + 0.0597812756896019, + 0.1772000640630722 + ], + [ + 0.28213173151016235, + 0.06702791899442673, + 0.17148442566394806 + ], + [ + 0.2876847982406616, + 0.06364598870277405, + 0.164220929145813 + ], + [ + 0.29458799958229065, + 0.06036767363548279, + 0.15757624804973602 + ], + [ + 0.290812611579895, + 0.056765250861644745, + 0.14248810708522797 + ], + [ + 0.28404197096824646, + 0.05264170467853546, + 0.12773530185222626 + ], + [ + 0.2796207070350647, + 0.051634326577186584, + 0.12135710567235947 + ], + [ + 0.27869319915771484, + 0.04836179316043854, + 0.12167314440011978 + ], + [ + 0.27859577536582947, + 0.04533909633755684, + 0.1223510354757309 + ], + [ + 0.2804641127586365, + 0.03780706226825714, + 0.12486318498849869 + ], + [ + 0.2979999780654907, + 0.02191402018070221, + 0.1389860063791275 + ], + [ + 0.31568166613578796, + -0.004033031407743692, + 0.14100366830825806 + ], + [ + 0.3250468969345093, + -0.029458705335855484, + 0.14207494258880615 + ], + [ + 0.3292378783226013, + -0.053256746381521225, + 0.1387106329202652 + ], + [ + 0.3227561414241791, + -0.057652879506349564, + 0.11969930678606033 + ], + [ + 0.30829569697380066, + -0.03739999234676361, + 0.0856199562549591 + ], + [ + 0.3025437295436859, + -0.02368929609656334, + 0.06472110748291016 + ], + [ + 0.30141115188598633, + -0.021155819296836853, + 0.05807386711239815 + ], + [ + 0.29839038848876953, + -0.018938971683382988, + 0.057846181094646454 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.7234017236243637, + 0.6146472898881276, + -0.31448156589930587, + 0.6808707431751096, + -0.7106110859044426, + 0.17733278229893806, + -0.11447697299227166, + -0.3424041378588885, + -0.9325526414265513 + ], + [ + 0.7173821865035122, + 0.6112839141972781, + -0.3342076820348312, + 0.6836002140635971, + -0.7101503048756328, + 0.16845560785337493, + -0.13436348395172115, + -0.3493114952713415, + -0.9273229930567101 + ], + [ + 0.7041043286901731, + 0.6276925155652715, + -0.3320228911131002, + 0.6981610085063004, + -0.697302258851785, + 0.16229838570258043, + -0.12964682996982968, + -0.3460804324193138, + -0.9292039785618842 + ], + [ + 0.70525513265276, + 0.6200020287328032, + -0.3438207123402343, + 0.6949093970393956, + -0.700601775606285, + 0.16204345689864874, + -0.1404141295357471, + -0.35320622359257603, + -0.9249482341418841 + ], + [ + 0.7019737496331265, + 0.6281816051972469, + -0.3355901156437995, + 0.7003008841275467, + -0.6945960698541807, + 0.16466624254322065, + -0.12965927084549353, + -0.3506054344058808, + -0.9275043411482657 + ], + [ + 0.6971931881149889, + 0.6232587483532216, + -0.35421771701487903, + 0.7027876759023709, + -0.6917230593062934, + 0.16615863451438695, + -0.1414607402985058, + -0.3647845142342493, + -0.9202831722513897 + ], + [ + 0.6973965436506955, + 0.6119061985694454, + -0.3731070423569548, + 0.7012484980149933, + -0.6900814670467021, + 0.17899193521046575, + -0.14794798050591876, + -0.38646911000875905, + -0.9103587326286591 + ], + [ + 0.6971603876341653, + 0.6064080814177742, + -0.38240898617186647, + 0.7016748022060914, + -0.6865627809370297, + 0.19048364701741455, + -0.14703695407217587, + -0.4011244029266065, + -0.9041456450782421 + ], + [ + 0.6970102873281778, + 0.6081047540263849, + -0.3799806146229053, + 0.7032631421066413, + -0.6831812136839163, + 0.1966834569140602, + -0.13999147228665326, + -0.40431675379568555, + -0.9038419940936215 + ], + [ + 0.6987461582231462, + 0.6074205827654775, + -0.3778809892032695, + 0.7022907063963397, + -0.6830047774363153, + 0.20072926470372895, + -0.13616743398376888, + -0.4056411093959993, + -0.9038327944317238 + ], + [ + 0.7113831914165496, + 0.5957537830620799, + -0.37284230572351196, + 0.6899120245487623, + -0.6931109879355176, + 0.20885056089481419, + -0.13399758711645685, + -0.4058011685176261, + -0.90408520520839 + ], + [ + 0.7444324513858452, + 0.5830057405420347, + -0.32546064557591975, + 0.6592015854312686, + -0.7192483118936317, + 0.21939720965195247, + -0.10617718723229928, + -0.37787057616754777, + -0.9197500924589475 + ], + [ + 0.7770109647638984, + 0.545511638294916, + -0.31411942493496436, + 0.6197819294951447, + -0.7502610091631865, + 0.23017119281246395, + -0.11011049227004396, + -0.37353108386616735, + -0.921059286299104 + ], + [ + 0.7865475870049771, + 0.5365239445436611, + -0.30575308716014254, + 0.604592412038635, + -0.7698709244300859, + 0.20436921251125284, + -0.12574143581951253, + -0.34560210741324304, + -0.9299184236639104 + ], + [ + 0.7816828671847907, + 0.543998478974136, + -0.30502057311530817, + 0.6046496070406236, + -0.780898962112395, + 0.15683004711280119, + -0.1528749418818661, + -0.30702193056133714, + -0.9393438062280526 + ], + [ + 0.7659757711155241, + 0.5542822286072473, + -0.32565676580436825, + 0.6229126692817637, + -0.7651616809501027, + 0.1628109592560678, + -0.15893685699750737, + -0.32756497531908996, + -0.9313647311509909 + ], + [ + 0.7399410544438554, + 0.568353545634098, + -0.35980756400284947, + 0.6562273235431466, + -0.7274560553266364, + 0.20043299978797935, + -0.14782738509462262, + -0.38442415992463186, + -0.9112437267176807 + ], + [ + 0.7284721391788057, + 0.5913291285595702, + -0.34591646991323477, + 0.6761186741377668, + -0.7019488317430709, + 0.2239003709169014, + -0.11041685071782642, + -0.3969857671649163, + -0.9111588334346762 + ], + [ + 0.7272767162004532, + 0.6038595640356397, + -0.32622416372085733, + 0.6823985856557602, + -0.6870871737504893, + 0.2494862440347825, + -0.07348978410434781, + -0.40406044422864773, + -0.9117754159013305 + ], + [ + 0.7172138573977844, + 0.6061286609962085, + -0.3438201987602443, + 0.6926370982913727, + -0.6742554724220823, + 0.2561901793187669, + -0.07653844019247999, + -0.42188577153990153, + -0.9034125651910561 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + 0.0031309425830841064, + 0.002731863409280777, + -0.01040753722190857, + 0.008362531661987305, + 0.020042598247528076, + 0.0061691999435424805, + 1.0 + ], + [ + 0.004578292369842529, + 0.007246643304824829, + -0.0057156383991241455, + -0.0037181079387664795, + -0.004758298397064209, + 0.01987004280090332, + 1.0 + ], + [ + 0.005553066730499268, + -0.0033819302916526794, + -0.007263496518135071, + 0.008244812488555908, + 0.010866880416870117, + -0.003150463104248047, + 1.0 + ], + [ + 0.006903201341629028, + -0.0032783150672912598, + -0.006644681096076965, + -0.0033699870109558105, + -0.010854333639144897, + 0.00619584321975708, + 1.0 + ], + [ + -0.00377538800239563, + -0.003602422773838043, + -0.015088140964508057, + 0.015977799892425537, + 0.01191149652004242, + 0.005189061164855957, + 1.0 + ], + [ + -0.00677064061164856, + -0.0041235461831092834, + -0.014752805233001709, + 0.024083077907562256, + 0.006556257605552673, + -0.0012420415878295898, + 0.0 + ], + [ + -0.004421263933181763, + -0.001007378101348877, + -0.006378196179866791, + 0.016093522310256958, + -0.000921100378036499, + 0.00047320127487182617, + 0.0 + ], + [ + -0.0009275078773498535, + -0.003272533416748047, + 0.00031603872776031494, + 0.0030714571475982666, + -0.00711919367313385, + 0.0012381672859191895, + 0.0 + ], + [ + -9.742379188537598e-05, + -0.0030226968228816986, + 0.0006778910756111145, + 0.0012240707874298096, + -0.0038610249757766724, + -0.0019354820251464844, + 0.0 + ], + [ + 0.0018683373928070068, + -0.007532034069299698, + 0.0025121495127677917, + 4.3064355850219727e-05, + -0.002189919352531433, + -0.01785111427307129, + 0.0 + ], + [ + 0.017535865306854248, + -0.01589304208755493, + 0.014122821390628815, + -0.032082945108413696, + -0.028024151921272278, + -0.04532593488693237, + 0.0 + ], + [ + 0.01768168807029724, + -0.025947051122784615, + 0.002017661929130554, + -0.004539072513580322, + 0.003956511616706848, + -0.0514453649520874, + 0.0 + ], + [ + 0.009365230798721313, + -0.02542567439377308, + 0.0010712742805480957, + -0.029448986053466797, + 0.01574094593524933, + -0.017964959144592285, + 0.0 + ], + [ + 0.004190981388092041, + -0.02379804104566574, + -0.0033643096685409546, + -0.039926737546920776, + 0.027401596307754517, + 0.0030458569526672363, + 0.0 + ], + [ + -0.006481736898422241, + -0.004396133124828339, + -0.019011326134204865, + 0.022290557622909546, + 0.006136968731880188, + 0.024368107318878174, + 0.0 + ], + [ + -0.014460444450378418, + 0.020252887159585953, + -0.03407935053110123, + 0.06102213263511658, + -0.011242568492889404, + 0.04275554418563843, + 0.0 + ], + [ + -0.005751967430114746, + 0.013710696250200272, + -0.02089884877204895, + 0.011678516864776611, + -0.03772870451211929, + 0.022632062435150146, + 0.0 + ], + [ + -0.001132577657699585, + 0.002533476799726486, + -0.006647240370512009, + 0.00625649094581604, + -0.0370863601565361, + 0.005430817604064941, + 0.0 + ], + [ + -0.003020763397216797, + 0.002216847613453865, + -0.00022768601775169373, + 0.01974421739578247, + 0.0030572712421417236, + 0.014394640922546387, + 1.0 + ], + [ + 0.0008462667465209961, + 0.0009396970272064209, + 0.008149638772010803, + 0.019763857126235962, + 0.005139298737049103, + 0.01044917106628418, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9406655430793762 + ], + [ + 0.9406655430793762 + ], + [ + 0.9406655430793762 + ], + [ + 0.9406655430793762 + ], + [ + 0.9406655430793762 + ], + [ + 0.775918185710907 + ], + [ + 0.5729578137397766 + ], + [ + 0.3788849711418152 + ], + [ + 0.21544429659843445 + ], + [ + 0.09549706429243088 + ], + [ + 0.0832853764295578 + ], + [ + 0.0832853764295578 + ], + [ + 0.0832853764295578 + ], + [ + 0.0832853764295578 + ], + [ + 0.0832853764295578 + ], + [ + 0.0832853764295578 + ], + [ + 0.0832853764295578 + ], + [ + 0.0832853764295578 + ], + [ + 0.19905558228492737 + ], + [ + 0.33639705181121826 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2775534391403198, + 0.0597812756896019, + 0.1772000640630722 + ], + [ + 0.28213173151016235, + 0.06702791899442673, + 0.17148442566394806 + ], + [ + 0.2876847982406616, + 0.06364598870277405, + 0.164220929145813 + ], + [ + 0.29458799958229065, + 0.06036767363548279, + 0.15757624804973602 + ], + [ + 0.290812611579895, + 0.056765250861644745, + 0.14248810708522797 + ], + [ + 0.28404197096824646, + 0.05264170467853546, + 0.12773530185222626 + ], + [ + 0.2796207070350647, + 0.051634326577186584, + 0.12135710567235947 + ], + [ + 0.27869319915771484, + 0.04836179316043854, + 0.12167314440011978 + ], + [ + 0.27859577536582947, + 0.04533909633755684, + 0.1223510354757309 + ], + [ + 0.2804641127586365, + 0.03780706226825714, + 0.12486318498849869 + ], + [ + 0.2979999780654907, + 0.02191402018070221, + 0.1389860063791275 + ], + [ + 0.31568166613578796, + -0.004033031407743692, + 0.14100366830825806 + ], + [ + 0.3250468969345093, + -0.029458705335855484, + 0.14207494258880615 + ], + [ + 0.3292378783226013, + -0.053256746381521225, + 0.1387106329202652 + ], + [ + 0.3227561414241791, + -0.057652879506349564, + 0.11969930678606033 + ], + [ + 0.30829569697380066, + -0.03739999234676361, + 0.0856199562549591 + ], + [ + 0.3025437295436859, + -0.02368929609656334, + 0.06472110748291016 + ], + [ + 0.30141115188598633, + -0.021155819296836853, + 0.05807386711239815 + ], + [ + 0.29839038848876953, + -0.018938971683382988, + 0.057846181094646454 + ], + [ + 0.2992366552352905, + -0.017999274656176567, + 0.06599581986665726 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.7173821865035122, + 0.6112839141972781, + -0.3342076820348312, + 0.6836002140635971, + -0.7101503048756328, + 0.16845560785337493, + -0.13436348395172115, + -0.3493114952713415, + -0.9273229930567101 + ], + [ + 0.7041043286901731, + 0.6276925155652715, + -0.3320228911131002, + 0.6981610085063004, + -0.697302258851785, + 0.16229838570258043, + -0.12964682996982968, + -0.3460804324193138, + -0.9292039785618842 + ], + [ + 0.70525513265276, + 0.6200020287328032, + -0.3438207123402343, + 0.6949093970393956, + -0.700601775606285, + 0.16204345689864874, + -0.1404141295357471, + -0.35320622359257603, + -0.9249482341418841 + ], + [ + 0.7019737496331265, + 0.6281816051972469, + -0.3355901156437995, + 0.7003008841275467, + -0.6945960698541807, + 0.16466624254322065, + -0.12965927084549353, + -0.3506054344058808, + -0.9275043411482657 + ], + [ + 0.6971931881149889, + 0.6232587483532216, + -0.35421771701487903, + 0.7027876759023709, + -0.6917230593062934, + 0.16615863451438695, + -0.1414607402985058, + -0.3647845142342493, + -0.9202831722513897 + ], + [ + 0.6973965436506955, + 0.6119061985694454, + -0.3731070423569548, + 0.7012484980149933, + -0.6900814670467021, + 0.17899193521046575, + -0.14794798050591876, + -0.38646911000875905, + -0.9103587326286591 + ], + [ + 0.6971603876341653, + 0.6064080814177742, + -0.38240898617186647, + 0.7016748022060914, + -0.6865627809370297, + 0.19048364701741455, + -0.14703695407217587, + -0.4011244029266065, + -0.9041456450782421 + ], + [ + 0.6970102873281778, + 0.6081047540263849, + -0.3799806146229053, + 0.7032631421066413, + -0.6831812136839163, + 0.1966834569140602, + -0.13999147228665326, + -0.40431675379568555, + -0.9038419940936215 + ], + [ + 0.6987461582231462, + 0.6074205827654775, + -0.3778809892032695, + 0.7022907063963397, + -0.6830047774363153, + 0.20072926470372895, + -0.13616743398376888, + -0.4056411093959993, + -0.9038327944317238 + ], + [ + 0.7113831914165496, + 0.5957537830620799, + -0.37284230572351196, + 0.6899120245487623, + -0.6931109879355176, + 0.20885056089481419, + -0.13399758711645685, + -0.4058011685176261, + -0.90408520520839 + ], + [ + 0.7444324513858452, + 0.5830057405420347, + -0.32546064557591975, + 0.6592015854312686, + -0.7192483118936317, + 0.21939720965195247, + -0.10617718723229928, + -0.37787057616754777, + -0.9197500924589475 + ], + [ + 0.7770109647638984, + 0.545511638294916, + -0.31411942493496436, + 0.6197819294951447, + -0.7502610091631865, + 0.23017119281246395, + -0.11011049227004396, + -0.37353108386616735, + -0.921059286299104 + ], + [ + 0.7865475870049771, + 0.5365239445436611, + -0.30575308716014254, + 0.604592412038635, + -0.7698709244300859, + 0.20436921251125284, + -0.12574143581951253, + -0.34560210741324304, + -0.9299184236639104 + ], + [ + 0.7816828671847907, + 0.543998478974136, + -0.30502057311530817, + 0.6046496070406236, + -0.780898962112395, + 0.15683004711280119, + -0.1528749418818661, + -0.30702193056133714, + -0.9393438062280526 + ], + [ + 0.7659757711155241, + 0.5542822286072473, + -0.32565676580436825, + 0.6229126692817637, + -0.7651616809501027, + 0.1628109592560678, + -0.15893685699750737, + -0.32756497531908996, + -0.9313647311509909 + ], + [ + 0.7399410544438554, + 0.568353545634098, + -0.35980756400284947, + 0.6562273235431466, + -0.7274560553266364, + 0.20043299978797935, + -0.14782738509462262, + -0.38442415992463186, + -0.9112437267176807 + ], + [ + 0.7284721391788057, + 0.5913291285595702, + -0.34591646991323477, + 0.6761186741377668, + -0.7019488317430709, + 0.2239003709169014, + -0.11041685071782642, + -0.3969857671649163, + -0.9111588334346762 + ], + [ + 0.7272767162004532, + 0.6038595640356397, + -0.32622416372085733, + 0.6823985856557602, + -0.6870871737504893, + 0.2494862440347825, + -0.07348978410434781, + -0.40406044422864773, + -0.9117754159013305 + ], + [ + 0.7172138573977844, + 0.6061286609962085, + -0.3438201987602443, + 0.6926370982913727, + -0.6742554724220823, + 0.2561901793187669, + -0.07653844019247999, + -0.42188577153990153, + -0.9034125651910561 + ], + [ + 0.7096478988470764, + 0.6045652860457617, + -0.3618019825406371, + 0.6998080006870934, + -0.664349313477435, + 0.2625047653974942, + -0.0816616301347356, + -0.4394778772480665, + -0.8945337185222648 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006284.json b/json/chunk-0006/episode_0006284.json new file mode 100644 index 0000000000000000000000000000000000000000..ad0fab360ca8e6cd3d2c7ef2ef4ee1327f6533b9 --- /dev/null +++ b/json/chunk-0006/episode_0006284.json @@ -0,0 +1,1582 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 25, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nClose the drawer." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006284.mp4", + "start": 0, + "end": 25, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.28327512741088867, + 0.09406424313783646, + 0.14547069370746613, + 0.0012504241894930601, + -0.26838764548301697, + 0.46644702553749084, + 0.0, + 1.0001531839370728 + ], + [ + 0.2806350588798523, + 0.09237820655107498, + 0.13532395660877228, + 0.0011791357537731528, + -0.23412542045116425, + 0.4681311547756195, + 0.0, + 1.0001531839370728 + ], + [ + 0.25806447863578796, + 0.0806470587849617, + 0.12972542643547058, + -0.011933826841413975, + -0.2270423322916031, + 0.46143120527267456, + 0.0, + 1.0008161067962646 + ], + [ + 0.24024420976638794, + 0.06786861270666122, + 0.12594783306121826, + -0.022569993510842323, + -0.22673815488815308, + 0.44401976466178894, + 0.0, + 1.0001531839370728 + ], + [ + 0.22575825452804565, + 0.05815660208463669, + 0.11741823703050613, + -0.017134618014097214, + -0.23934802412986755, + 0.43089407682418823, + 0.0, + 1.0008161067962646 + ], + [ + 0.22061114013195038, + 0.0527498722076416, + 0.09441716223955154, + 0.015051505528390408, + -0.25454777479171753, + 0.415434330701828, + 0.0, + 1.0001531839370728 + ], + [ + 0.22084583342075348, + 0.04855775460600853, + 0.06513920426368713, + 0.06227513402700424, + -0.24953538179397583, + 0.4026355743408203, + 0.0, + 1.0001531839370728 + ], + [ + 0.22272305190563202, + 0.046376489102840424, + 0.055049166083335876, + 0.05825246870517731, + -0.2576921582221985, + 0.449716717004776, + 0.0, + 1.0001531839370728 + ], + [ + 0.21895575523376465, + 0.03847737982869148, + 0.0494866706430912, + 0.0278047863394022, + -0.24101322889328003, + 0.5088551044464111, + 0.0, + 1.0001531839370728 + ], + [ + 0.2180459350347519, + 0.03842373937368393, + 0.04632258042693138, + 0.0035081123933196068, + -0.2193954885005951, + 0.5448588132858276, + 0.0, + 1.0001531839370728 + ], + [ + 0.2233773022890091, + 0.04903516545891762, + 0.035607822239398956, + 0.013268014416098595, + -0.20117561519145966, + 0.5660865306854248, + 0.0, + 1.0001531839370728 + ], + [ + 0.23211482167243958, + 0.060298558324575424, + 0.022548682987689972, + 0.03663714602589607, + -0.19811350107192993, + 0.5699275135993958, + 0.0, + 1.0008161067962646 + ], + [ + 0.24131418764591217, + 0.06949809193611145, + 0.015350496396422386, + 0.04571393132209778, + -0.20500221848487854, + 0.5763296484947205, + 0.0, + 1.0001531839370728 + ], + [ + 0.2554093897342682, + 0.0801030620932579, + 0.0172320157289505, + 0.039206624031066895, + -0.22489318251609802, + 0.5909594893455505, + 0.0, + 1.0001531839370728 + ], + [ + 0.27515384554862976, + 0.09213553369045258, + 0.02439478226006031, + 0.02041560225188732, + -0.2562114894390106, + 0.6239963173866272, + 0.0, + 0.9994885921478271 + ], + [ + 0.2910405993461609, + 0.10194630920886993, + 0.030223887413740158, + 0.006062132306396961, + -0.26460373401641846, + 0.6556937098503113, + 0.0, + 0.9994885921478271 + ], + [ + 0.30393821001052856, + 0.11316937208175659, + 0.033501096069812775, + 0.001319468254223466, + -0.2763313949108124, + 0.6831132173538208, + 0.0, + 0.9994885921478271 + ], + [ + 0.31158629059791565, + 0.11929681897163391, + 0.032547399401664734, + 0.006296566687524319, + -0.2821386456489563, + 0.6887544989585876, + 0.0, + 0.9994885921478271 + ], + [ + 0.31326645612716675, + 0.12257975339889526, + 0.029555004090070724, + 0.02483328990638256, + -0.2827622592449188, + 0.6732803583145142, + 0.0, + 0.9994885921478271 + ], + [ + 0.31246960163116455, + 0.12593930959701538, + 0.029425114393234253, + 0.03660862520337105, + -0.2887806296348572, + 0.6736831068992615, + 0.0, + 0.9994885921478271 + ], + [ + 0.3114226162433624, + 0.1252272129058838, + 0.028665468096733093, + 0.011680679395794868, + -0.27359530329704285, + 0.6984677910804749, + 0.0, + 0.9994885921478271 + ], + [ + 0.29825520515441895, + 0.12434832751750946, + 0.052767377346754074, + -0.05027563497424126, + -0.27115103602409363, + 0.7359196543693542, + 0.0, + 0.9994885921478271 + ], + [ + 0.28269514441490173, + 0.11030210554599762, + 0.0794428363442421, + -0.09702832251787186, + -0.2623250484466553, + 0.7084205150604248, + 0.0, + 0.9994885921478271 + ], + [ + 0.26069360971450806, + 0.09962832182645798, + 0.10385262221097946, + -0.10253545641899109, + -0.2733379602432251, + 0.650219202041626, + 0.0, + 0.9994885921478271 + ], + [ + 0.2390391081571579, + 0.08223231136798859, + 0.11720994859933853, + -0.05403907224535942, + -0.2630932033061981, + 0.544034481048584, + 0.0, + 0.9994885921478271 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.28327512741088867, + 0.09406424313783646, + 0.14547069370746613 + ], + [ + 0.2806350588798523, + 0.09237820655107498, + 0.13532395660877228 + ], + [ + 0.25806447863578796, + 0.0806470587849617, + 0.12972542643547058 + ], + [ + 0.24024420976638794, + 0.06786861270666122, + 0.12594783306121826 + ], + [ + 0.22575825452804565, + 0.05815660208463669, + 0.11741823703050613 + ], + [ + 0.22061114013195038, + 0.0527498722076416, + 0.09441716223955154 + ], + [ + 0.22084583342075348, + 0.04855775460600853, + 0.06513920426368713 + ], + [ + 0.22272305190563202, + 0.046376489102840424, + 0.055049166083335876 + ], + [ + 0.21895575523376465, + 0.03847737982869148, + 0.0494866706430912 + ], + [ + 0.2180459350347519, + 0.03842373937368393, + 0.04632258042693138 + ], + [ + 0.2233773022890091, + 0.04903516545891762, + 0.035607822239398956 + ], + [ + 0.23211482167243958, + 0.060298558324575424, + 0.022548682987689972 + ], + [ + 0.24131418764591217, + 0.06949809193611145, + 0.015350496396422386 + ], + [ + 0.2554093897342682, + 0.0801030620932579, + 0.0172320157289505 + ], + [ + 0.27515384554862976, + 0.09213553369045258, + 0.02439478226006031 + ], + [ + 0.2910405993461609, + 0.10194630920886993, + 0.030223887413740158 + ], + [ + 0.30393821001052856, + 0.11316937208175659, + 0.033501096069812775 + ], + [ + 0.31158629059791565, + 0.11929681897163391, + 0.032547399401664734 + ], + [ + 0.31326645612716675, + 0.12257975339889526, + 0.029555004090070724 + ], + [ + 0.31246960163116455, + 0.12593930959701538, + 0.029425114393234253 + ], + [ + 0.3114226162433624, + 0.1252272129058838, + 0.028665468096733093 + ], + [ + 0.29825520515441895, + 0.12434832751750946, + 0.052767377346754074 + ], + [ + 0.28269514441490173, + 0.11030210554599762, + 0.0794428363442421 + ], + [ + 0.26069360971450806, + 0.09962832182645798, + 0.10385262221097946 + ], + [ + 0.2390391081571579, + 0.08223231136798859, + 0.11720994859933853 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8611959422754928, + 0.4500115238905461, + 0.23628621917906015, + 0.43361576074868957, + -0.8930219340832065, + 0.12037108156290988, + 0.26517715029497096, + -0.0012056583255305939, + -0.9641989552729462 + ], + [ + 0.8680659419465911, + 0.45146309863887074, + 0.20650082566364392, + 0.43890895121911183, + -0.8922890535228697, + 0.10573162962425492, + 0.23199235541740748, + -0.0011469658454163617, + -0.9727169328726795 + ], + [ + 0.8724366112700395, + 0.4427931146264587, + 0.20685409581405365, + 0.4338038876467463, + -0.8965484169064352, + 0.08952722047027874, + 0.22509674892858625, + 0.011627286096273351, + -0.974267037233538 + ], + [ + 0.879918929742334, + 0.4248821301274037, + 0.21264489784498838, + 0.4185779161621993, + -0.9049815444961232, + 0.07616385115474589, + 0.22480036739831286, + 0.02199044382934055, + -0.9741566687128782 + ], + [ + 0.882691188704882, + 0.41393140138607726, + 0.22252429154885608, + 0.4057763158807354, + -0.9101558808894565, + 0.08343772499651773, + 0.23706928703022614, + 0.016645342558658197, + -0.9713501354908459 + ], + [ + 0.8854592144592337, + 0.40700921517882904, + 0.22428882782865106, + 0.39058266845350065, + -0.9133079063038041, + 0.11538564636342052, + 0.25180778112079744, + -0.014565954911202966, + -0.967667646624886 + ], + [ + 0.8915355652561125, + 0.4052250251344888, + 0.2023783953099162, + 0.3797080156995109, + -0.9122256891867099, + 0.153837949808791, + 0.2469537582159943, + -0.06030730463704248, + -0.9671488356558214 + ], + [ + 0.870834088923505, + 0.4473350439695032, + 0.20381204087485036, + 0.4203566033307923, + -0.8925928456258976, + 0.16302864157460706, + 0.25484959408436964, + -0.05629716133399089, + -0.9653405171341182 + ], + [ + 0.8480614514012407, + 0.49278446120356534, + 0.19482107032744986, + 0.4730966473526965, + -0.8697324884150911, + 0.14051676362246604, + 0.2386866919433501, + -0.026997655298293177, + -0.9707212729190264 + ], + [ + 0.8347006307264198, + 0.5189471113475, + 0.18430613850060099, + 0.5058733470837687, + -0.8547994921374668, + 0.11580148941958364, + 0.21763964201216232, + -0.003424013086201619, + -0.9760231874085797 + ], + [ + 0.826984724700415, + 0.5385235555578312, + 0.16151979823393106, + 0.5255165872217626, + -0.8425101654318026, + 0.11835935830709637, + 0.19982137439966155, + -0.013000048208668735, + -0.9797460982722013 + ], + [ + 0.825471423493979, + 0.545278743323183, + 0.1458355960481323, + 0.5290168084272983, + -0.8374851558510472, + 0.13696652923448854, + 0.1968200838233204, + -0.03591247428174729, + -0.9797816842515191 + ], + [ + 0.8209113691384721, + 0.5521808629499606, + 0.14560500888031233, + 0.5335391748636845, + -0.8325229887837143, + 0.1491355827172375, + 0.20356933193626633, + -0.04474111910165002, + -0.9780377085555312 + ], + [ + 0.8094951228865903, + 0.5639884006687098, + 0.1632015010163033, + 0.5431276542845777, + -0.8248982457080365, + 0.15670110203548576, + 0.22300223580528486, + -0.038209529425972735, + -0.9740688038772669 + ], + [ + 0.7850585317669586, + 0.5883596707305081, + 0.1936904735855534, + 0.5652102737833133, + -0.8083581644949007, + 0.16460384049051713, + 0.2534175370997437, + -0.01974780373417777, + -0.9671554043368507 + ], + [ + 0.76503879868107, + 0.6109546669391178, + 0.20359280797203236, + 0.5884890499677585, + -0.7916439600236561, + 0.16425735486153742, + 0.26152681426704655, + -0.005851111294071204, + -0.9651784756799926 + ], + [ + 0.7461868667943566, + 0.6314893870413824, + 0.2107755058770365, + 0.6072643636543752, + -0.7753834810272262, + 0.17323524464019524, + 0.2728280639140119, + -0.001269410966073553, + -0.9620619710479837 + ], + [ + 0.7415135423025279, + 0.6369168986309384, + 0.2109372674998532, + 0.6104468292388061, + -0.7709087436798037, + 0.1818086290315042, + 0.2784103720306509, + -0.0060475744207336285, + -0.9604431745758729 + ], + [ + 0.7507346507493498, + 0.6287777760058313, + 0.20257342512139215, + 0.5987915401406521, + -0.7772193642346705, + 0.19333585108468693, + 0.27900927515091206, + -0.023844669421385273, + -0.9599923208650928 + ], + [ + 0.7491675145538323, + 0.6315967023664507, + 0.1995836684126686, + 0.5980354169066321, + -0.7745028443728156, + 0.20615281754981793, + 0.28478355862399035, + -0.0350848915951415, + -0.9579495681502305 + ], + [ + 0.7373439068581502, + 0.6454181099977023, + 0.1993976587278633, + 0.6191274165574723, + -0.7637466801707459, + 0.18268073405544133, + 0.2701947539942808, + -0.011245968840363343, + -0.9627400080493237 + ], + [ + 0.714132183532622, + 0.6604440422777162, + 0.23201054170619057, + 0.6467431021943113, + -0.7493125736528223, + 0.1423166424908297, + 0.2678405947704872, + 0.04841832282983659, + -0.9622458530995797 + ], + [ + 0.7334114705416028, + 0.6284969920236133, + 0.25903502831716374, + 0.6283766762026853, + -0.7721642873982338, + 0.09436665762462476, + 0.2593267585161029, + 0.09356198097543583, + -0.9612469963716314 + ], + [ + 0.7664015871288158, + 0.5801887891357301, + 0.2756983427727626, + 0.582886986164516, + -0.8084971834479193, + 0.08108677892745075, + 0.2699469736938719, + 0.09855594004420556, + -0.9578180192894281 + ], + [ + 0.8261854262027677, + 0.5048176298195632, + 0.25015355714742377, + 0.4997819391504084, + -0.8616490582887321, + 0.08819814991936334, + 0.2600685579404178, + 0.0521542037950872, + -0.9641806284080239 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.002640068531036377, + -0.0016860365867614746, + -0.010146737098693848, + -7.128843571990728e-05, + 0.03426222503185272, + 0.0016841292381286621, + 1.0 + ], + [ + -0.02257058024406433, + -0.011731147766113281, + -0.005598530173301697, + -0.013112962245941162, + 0.007083088159561157, + -0.006699949502944946, + 1.0 + ], + [ + -0.017820268869400024, + -0.012778446078300476, + -0.0037775933742523193, + -0.010636166669428349, + 0.0003041774034500122, + -0.01741144061088562, + 1.0 + ], + [ + -0.014485955238342285, + -0.009712010622024536, + -0.008529596030712128, + 0.0054353754967451096, + -0.012609869241714478, + -0.013125687837600708, + 1.0 + ], + [ + -0.005147114396095276, + -0.005406729876995087, + -0.02300107479095459, + 0.032186124473810196, + -0.015199750661849976, + -0.01545974612236023, + 1.0 + ], + [ + 0.00023469328880310059, + -0.004192117601633072, + -0.02927795797586441, + 0.04722362756729126, + 0.005012392997741699, + -0.01279875636100769, + 1.0 + ], + [ + 0.00187721848487854, + -0.002181265503168106, + -0.010090038180351257, + -0.004022665321826935, + -0.008156776428222656, + 0.04708114266395569, + 1.0 + ], + [ + -0.0037672966718673706, + -0.007899109274148941, + -0.005562495440244675, + -0.03044768236577511, + 0.016678929328918457, + 0.05913838744163513, + 1.0 + ], + [ + -0.0009098201990127563, + -5.36404550075531e-05, + -0.0031640902161598206, + -0.024296674877405167, + 0.021617740392684937, + 0.036003708839416504, + 1.0 + ], + [ + 0.005331367254257202, + 0.010611426085233688, + -0.010714758187532425, + 0.009759902022778988, + 0.018219873309135437, + 0.021227717399597168, + 1.0 + ], + [ + 0.008737519383430481, + 0.011263392865657806, + -0.013059139251708984, + 0.023369131609797478, + 0.003062114119529724, + 0.0038409829139709473, + 1.0 + ], + [ + 0.009199365973472595, + 0.009199533611536026, + -0.007198186591267586, + 0.009076785296201706, + -0.006888717412948608, + 0.006402134895324707, + 1.0 + ], + [ + 0.014095202088356018, + 0.010604970157146454, + 0.0018815193325281143, + -0.006507307291030884, + -0.019890964031219482, + 0.014629840850830078, + 1.0 + ], + [ + 0.019744455814361572, + 0.012032471597194672, + 0.00716276653110981, + -0.018791021779179573, + -0.0313183069229126, + 0.03303682804107666, + 1.0 + ], + [ + 0.015886753797531128, + 0.009810775518417358, + 0.005829105153679848, + -0.01435346994549036, + -0.008392244577407837, + 0.03169739246368408, + 1.0 + ], + [ + 0.012897610664367676, + 0.011223062872886658, + 0.0032772086560726166, + -0.004742664285004139, + -0.011727660894393921, + 0.02741950750350952, + 1.0 + ], + [ + 0.007648080587387085, + 0.006127446889877319, + -0.0009536966681480408, + 0.004977098666131496, + -0.005807250738143921, + 0.005641281604766846, + 1.0 + ], + [ + 0.0016801655292510986, + 0.0032829344272613525, + -0.0029923953115940094, + 0.018536724150180817, + -0.0006236135959625244, + -0.015474140644073486, + 1.0 + ], + [ + -0.0007968544960021973, + 0.003359556198120117, + -0.00012988969683647156, + 0.011775335296988487, + -0.0060183703899383545, + 0.00040274858474731445, + 1.0 + ], + [ + -0.001046985387802124, + -0.0007120966911315918, + -0.0007596462965011597, + -0.02492794580757618, + 0.015185326337814331, + 0.02478468418121338, + 1.0 + ], + [ + -0.013167411088943481, + -0.0008788853883743286, + 0.02410190925002098, + -0.061956316232681274, + 0.0024442672729492188, + 0.037451863288879395, + 1.0 + ], + [ + -0.015560060739517212, + -0.01404622197151184, + 0.026675458997488022, + -0.0467526875436306, + 0.008825987577438354, + -0.027499139308929443, + 1.0 + ], + [ + -0.022001534700393677, + -0.010673783719539642, + 0.024409785866737366, + -0.005507133901119232, + -0.011012911796569824, + -0.05820131301879883, + 1.0 + ], + [ + -0.02165450155735016, + -0.01739601045846939, + 0.01335732638835907, + 0.04849638417363167, + 0.010244756937026978, + -0.10618472099304199, + 1.0 + ], + [ + -0.020817473530769348, + -0.01758776605129242, + 0.008955977857112885, + 0.05114813521504402, + 0.010408937931060791, + -0.07774901390075684, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2806350588798523, + 0.09237820655107498, + 0.13532395660877228 + ], + [ + 0.25806447863578796, + 0.0806470587849617, + 0.12972542643547058 + ], + [ + 0.24024420976638794, + 0.06786861270666122, + 0.12594783306121826 + ], + [ + 0.22575825452804565, + 0.05815660208463669, + 0.11741823703050613 + ], + [ + 0.22061114013195038, + 0.0527498722076416, + 0.09441716223955154 + ], + [ + 0.22084583342075348, + 0.04855775460600853, + 0.06513920426368713 + ], + [ + 0.22272305190563202, + 0.046376489102840424, + 0.055049166083335876 + ], + [ + 0.21895575523376465, + 0.03847737982869148, + 0.0494866706430912 + ], + [ + 0.2180459350347519, + 0.03842373937368393, + 0.04632258042693138 + ], + [ + 0.2233773022890091, + 0.04903516545891762, + 0.035607822239398956 + ], + [ + 0.23211482167243958, + 0.060298558324575424, + 0.022548682987689972 + ], + [ + 0.24131418764591217, + 0.06949809193611145, + 0.015350496396422386 + ], + [ + 0.2554093897342682, + 0.0801030620932579, + 0.0172320157289505 + ], + [ + 0.27515384554862976, + 0.09213553369045258, + 0.02439478226006031 + ], + [ + 0.2910405993461609, + 0.10194630920886993, + 0.030223887413740158 + ], + [ + 0.30393821001052856, + 0.11316937208175659, + 0.033501096069812775 + ], + [ + 0.31158629059791565, + 0.11929681897163391, + 0.032547399401664734 + ], + [ + 0.31326645612716675, + 0.12257975339889526, + 0.029555004090070724 + ], + [ + 0.31246960163116455, + 0.12593930959701538, + 0.029425114393234253 + ], + [ + 0.3114226162433624, + 0.1252272129058838, + 0.028665468096733093 + ], + [ + 0.29825520515441895, + 0.12434832751750946, + 0.052767377346754074 + ], + [ + 0.28269514441490173, + 0.11030210554599762, + 0.0794428363442421 + ], + [ + 0.26069360971450806, + 0.09962832182645798, + 0.10385262221097946 + ], + [ + 0.2390391081571579, + 0.08223231136798859, + 0.11720994859933853 + ], + [ + 0.21822163462638855, + 0.06464454531669617, + 0.12616592645645142 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8680659419465911, + 0.45146309863887074, + 0.20650082566364392, + 0.43890895121911183, + -0.8922890535228697, + 0.10573162962425492, + 0.23199235541740748, + -0.0011469658454163617, + -0.9727169328726795 + ], + [ + 0.8724366112700395, + 0.4427931146264587, + 0.20685409581405365, + 0.4338038876467463, + -0.8965484169064352, + 0.08952722047027874, + 0.22509674892858625, + 0.011627286096273351, + -0.974267037233538 + ], + [ + 0.879918929742334, + 0.4248821301274037, + 0.21264489784498838, + 0.4185779161621993, + -0.9049815444961232, + 0.07616385115474589, + 0.22480036739831286, + 0.02199044382934055, + -0.9741566687128782 + ], + [ + 0.882691188704882, + 0.41393140138607726, + 0.22252429154885608, + 0.4057763158807354, + -0.9101558808894565, + 0.08343772499651773, + 0.23706928703022614, + 0.016645342558658197, + -0.9713501354908459 + ], + [ + 0.8854592144592337, + 0.40700921517882904, + 0.22428882782865106, + 0.39058266845350065, + -0.9133079063038041, + 0.11538564636342052, + 0.25180778112079744, + -0.014565954911202966, + -0.967667646624886 + ], + [ + 0.8915355652561125, + 0.4052250251344888, + 0.2023783953099162, + 0.3797080156995109, + -0.9122256891867099, + 0.153837949808791, + 0.2469537582159943, + -0.06030730463704248, + -0.9671488356558214 + ], + [ + 0.870834088923505, + 0.4473350439695032, + 0.20381204087485036, + 0.4203566033307923, + -0.8925928456258976, + 0.16302864157460706, + 0.25484959408436964, + -0.05629716133399089, + -0.9653405171341182 + ], + [ + 0.8480614514012407, + 0.49278446120356534, + 0.19482107032744986, + 0.4730966473526965, + -0.8697324884150911, + 0.14051676362246604, + 0.2386866919433501, + -0.026997655298293177, + -0.9707212729190264 + ], + [ + 0.8347006307264198, + 0.5189471113475, + 0.18430613850060099, + 0.5058733470837687, + -0.8547994921374668, + 0.11580148941958364, + 0.21763964201216232, + -0.003424013086201619, + -0.9760231874085797 + ], + [ + 0.826984724700415, + 0.5385235555578312, + 0.16151979823393106, + 0.5255165872217626, + -0.8425101654318026, + 0.11835935830709637, + 0.19982137439966155, + -0.013000048208668735, + -0.9797460982722013 + ], + [ + 0.825471423493979, + 0.545278743323183, + 0.1458355960481323, + 0.5290168084272983, + -0.8374851558510472, + 0.13696652923448854, + 0.1968200838233204, + -0.03591247428174729, + -0.9797816842515191 + ], + [ + 0.8209113691384721, + 0.5521808629499606, + 0.14560500888031233, + 0.5335391748636845, + -0.8325229887837143, + 0.1491355827172375, + 0.20356933193626633, + -0.04474111910165002, + -0.9780377085555312 + ], + [ + 0.8094951228865903, + 0.5639884006687098, + 0.1632015010163033, + 0.5431276542845777, + -0.8248982457080365, + 0.15670110203548576, + 0.22300223580528486, + -0.038209529425972735, + -0.9740688038772669 + ], + [ + 0.7850585317669586, + 0.5883596707305081, + 0.1936904735855534, + 0.5652102737833133, + -0.8083581644949007, + 0.16460384049051713, + 0.2534175370997437, + -0.01974780373417777, + -0.9671554043368507 + ], + [ + 0.76503879868107, + 0.6109546669391178, + 0.20359280797203236, + 0.5884890499677585, + -0.7916439600236561, + 0.16425735486153742, + 0.26152681426704655, + -0.005851111294071204, + -0.9651784756799926 + ], + [ + 0.7461868667943566, + 0.6314893870413824, + 0.2107755058770365, + 0.6072643636543752, + -0.7753834810272262, + 0.17323524464019524, + 0.2728280639140119, + -0.001269410966073553, + -0.9620619710479837 + ], + [ + 0.7415135423025279, + 0.6369168986309384, + 0.2109372674998532, + 0.6104468292388061, + -0.7709087436798037, + 0.1818086290315042, + 0.2784103720306509, + -0.0060475744207336285, + -0.9604431745758729 + ], + [ + 0.7507346507493498, + 0.6287777760058313, + 0.20257342512139215, + 0.5987915401406521, + -0.7772193642346705, + 0.19333585108468693, + 0.27900927515091206, + -0.023844669421385273, + -0.9599923208650928 + ], + [ + 0.7491675145538323, + 0.6315967023664507, + 0.1995836684126686, + 0.5980354169066321, + -0.7745028443728156, + 0.20615281754981793, + 0.28478355862399035, + -0.0350848915951415, + -0.9579495681502305 + ], + [ + 0.7373439068581502, + 0.6454181099977023, + 0.1993976587278633, + 0.6191274165574723, + -0.7637466801707459, + 0.18268073405544133, + 0.2701947539942808, + -0.011245968840363343, + -0.9627400080493237 + ], + [ + 0.714132183532622, + 0.6604440422777162, + 0.23201054170619057, + 0.6467431021943113, + -0.7493125736528223, + 0.1423166424908297, + 0.2678405947704872, + 0.04841832282983659, + -0.9622458530995797 + ], + [ + 0.7334114705416028, + 0.6284969920236133, + 0.25903502831716374, + 0.6283766762026853, + -0.7721642873982338, + 0.09436665762462476, + 0.2593267585161029, + 0.09356198097543583, + -0.9612469963716314 + ], + [ + 0.7664015871288158, + 0.5801887891357301, + 0.2756983427727626, + 0.582886986164516, + -0.8084971834479193, + 0.08108677892745075, + 0.2699469736938719, + 0.09855594004420556, + -0.9578180192894281 + ], + [ + 0.8261854262027677, + 0.5048176298195632, + 0.25015355714742377, + 0.4997819391504084, + -0.8616490582887321, + 0.08819814991936334, + 0.2600685579404178, + 0.0521542037950872, + -0.9641806284080239 + ], + [ + 0.8648792704605088, + 0.4489239427419635, + 0.2246133147449385, + 0.43529519417045653, + -0.8935655871270423, + 0.10981181828204663, + 0.25000388288945247, + 0.0027991311714494344, + -0.9682407879266822 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006285.json b/json/chunk-0006/episode_0006285.json new file mode 100644 index 0000000000000000000000000000000000000000..e7dbb31090f87e62f9822084391d843f4aaeda12 --- /dev/null +++ b/json/chunk-0006/episode_0006285.json @@ -0,0 +1,1522 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 24, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nFold the cloth from bottom left to top right." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006285.mp4", + "start": 0, + "end": 24, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.24826030433177948, + -0.09133106470108032, + 0.042891811579465866, + 0.07218613475561142, + -0.23148921132087708, + 0.15443314611911774, + 0.0, + 0.9994885921478271 + ], + [ + 0.24280740320682526, + -0.08768651634454727, + 0.03643249720335007, + 0.08552923798561096, + -0.20507866144180298, + 0.1553127020597458, + 0.0, + 0.9994885921478271 + ], + [ + 0.2304258495569229, + -0.045493632555007935, + 0.05049208924174309, + 0.07665938138961792, + -0.21236123144626617, + 0.24641390144824982, + 0.0, + 0.9994885921478271 + ], + [ + 0.21608787775039673, + -0.011114454828202724, + 0.06290855258703232, + 0.06611143797636032, + -0.24320368468761444, + 0.30679622292518616, + 0.0, + 0.9994885921478271 + ], + [ + 0.19864359498023987, + 0.02758672460913658, + 0.06677617132663727, + 0.046053532510995865, + -0.2532976269721985, + 0.37349021434783936, + 0.0, + 0.9994885921478271 + ], + [ + 0.1677762269973755, + 0.0642818957567215, + 0.04196350276470184, + 0.037101250141859055, + -0.22974638640880585, + 0.41448548436164856, + 0.0, + 0.9994885921478271 + ], + [ + 0.1499897688627243, + 0.08132749050855637, + 0.025803448632359505, + 0.04988621920347214, + -0.2069748491048813, + 0.4613831341266632, + 0.0, + 0.9994885921478271 + ], + [ + 0.13913585245609283, + 0.09575844556093216, + 0.017445366829633713, + 0.0623193196952343, + -0.1658014953136444, + 0.4688071310520172, + 0.0, + 0.9994885921478271 + ], + [ + 0.13918019831180573, + 0.1094617247581482, + 0.011367051862180233, + 0.06307151913642883, + -0.14375807344913483, + 0.4459303617477417, + 0.0, + 0.9994885921478271 + ], + [ + 0.14331108331680298, + 0.11367546766996384, + 0.002322332002222538, + 0.04560316354036331, + -0.12352821230888367, + 0.42555418610572815, + 0.0, + 0.9484345316886902 + ], + [ + 0.1497030258178711, + 0.11512615531682968, + 0.0005029193125665188, + 0.04397738724946976, + -0.13661156594753265, + 0.42597323656082153, + 0.0, + 0.7151217460632324 + ], + [ + 0.1551692634820938, + 0.1143798977136612, + 0.0008230049861595035, + 0.0417952723801136, + -0.14343413710594177, + 0.41769400238990784, + 0.0, + 0.4775448143482208 + ], + [ + 0.15070688724517822, + 0.10929889976978302, + 0.00708656944334507, + 0.06999842077493668, + -0.10850181430578232, + 0.4130341410636902, + 0.0, + 0.25545796751976013 + ], + [ + 0.13827122747898102, + 0.11566301435232162, + 0.040590256452560425, + 0.16699111461639404, + -0.1428266316652298, + 0.4262728691101074, + 0.0, + 0.12307736277580261 + ], + [ + 0.11872909963130951, + 0.12627966701984406, + 0.057944003492593765, + 0.2187500298023224, + -0.13750188052654266, + 0.44153136014938354, + 0.0, + 0.07854863256216049 + ], + [ + 0.11680563539266586, + 0.12759864330291748, + 0.06510057300329208, + 0.23936882615089417, + -0.1403695046901703, + 0.42010191082954407, + 0.0, + 0.07397755235433578 + ], + [ + 0.15565510094165802, + 0.11738546192646027, + 0.07833106815814972, + 0.2571125328540802, + -0.15250062942504883, + 0.34213802218437195, + 0.0, + 0.07365728914737701 + ], + [ + 0.20327037572860718, + 0.09158399701118469, + 0.08901311457157135, + 0.24683766067028046, + -0.1625019758939743, + 0.27433544397354126, + 0.0, + 0.07365728914737701 + ], + [ + 0.24116206169128418, + 0.06203130632638931, + 0.0862879604101181, + 0.2044415920972824, + -0.13999202847480774, + 0.2200585901737213, + 0.0, + 0.07365728914737701 + ], + [ + 0.2659193277359009, + 0.04234088584780693, + 0.07558120787143707, + 0.14872252941131592, + -0.10361780971288681, + 0.20393013954162598, + 0.0, + 0.1023794636130333 + ], + [ + 0.2792992889881134, + 0.02952886000275612, + 0.05833301693201065, + 0.08300955593585968, + -0.03674914315342903, + 0.1513064205646515, + 0.0, + 0.2781093716621399 + ], + [ + 0.2831055223941803, + 0.02349877916276455, + 0.048703987151384354, + 0.04106302186846733, + -0.029727257788181305, + 0.16283471882343292, + 0.0, + 0.561048150062561 + ], + [ + 0.28485268354415894, + 0.01775052398443222, + 0.04516688361763954, + 0.001940106158144772, + -0.048061028122901917, + 0.16606728732585907, + 0.0, + 0.8740299344062805 + ], + [ + 0.286451131105423, + 0.016163025051355362, + 0.0440729521214962, + -0.010877982713282108, + -0.06204959750175476, + 0.17657367885112762, + 0.0, + 1.0124757289886475 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9484345316886902 + ], + [ + 0.7151217460632324 + ], + [ + 0.4775448143482208 + ], + [ + 0.25545796751976013 + ], + [ + 0.12307736277580261 + ], + [ + 0.07854863256216049 + ], + [ + 0.07397755235433578 + ], + [ + 0.07365728914737701 + ], + [ + 0.07365728914737701 + ], + [ + 0.07365728914737701 + ], + [ + 0.1023794636130333 + ], + [ + 0.2781093716621399 + ], + [ + 0.561048150062561 + ], + [ + 0.8740299344062805 + ], + [ + 1.0124757289886475 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.24826030433177948, + -0.09133106470108032, + 0.042891811579465866 + ], + [ + 0.24280740320682526, + -0.08768651634454727, + 0.03643249720335007 + ], + [ + 0.2304258495569229, + -0.045493632555007935, + 0.05049208924174309 + ], + [ + 0.21608787775039673, + -0.011114454828202724, + 0.06290855258703232 + ], + [ + 0.19864359498023987, + 0.02758672460913658, + 0.06677617132663727 + ], + [ + 0.1677762269973755, + 0.0642818957567215, + 0.04196350276470184 + ], + [ + 0.1499897688627243, + 0.08132749050855637, + 0.025803448632359505 + ], + [ + 0.13913585245609283, + 0.09575844556093216, + 0.017445366829633713 + ], + [ + 0.13918019831180573, + 0.1094617247581482, + 0.011367051862180233 + ], + [ + 0.14331108331680298, + 0.11367546766996384, + 0.002322332002222538 + ], + [ + 0.1497030258178711, + 0.11512615531682968, + 0.0005029193125665188 + ], + [ + 0.1551692634820938, + 0.1143798977136612, + 0.0008230049861595035 + ], + [ + 0.15070688724517822, + 0.10929889976978302, + 0.00708656944334507 + ], + [ + 0.13827122747898102, + 0.11566301435232162, + 0.040590256452560425 + ], + [ + 0.11872909963130951, + 0.12627966701984406, + 0.057944003492593765 + ], + [ + 0.11680563539266586, + 0.12759864330291748, + 0.06510057300329208 + ], + [ + 0.15565510094165802, + 0.11738546192646027, + 0.07833106815814972 + ], + [ + 0.20327037572860718, + 0.09158399701118469, + 0.08901311457157135 + ], + [ + 0.24116206169128418, + 0.06203130632638931, + 0.0862879604101181 + ], + [ + 0.2659193277359009, + 0.04234088584780693, + 0.07558120787143707 + ], + [ + 0.2792992889881134, + 0.02952886000275612, + 0.05833301693201065 + ], + [ + 0.2831055223941803, + 0.02349877916276455, + 0.048703987151384354 + ], + [ + 0.28485268354415894, + 0.01775052398443222, + 0.04516688361763954 + ], + [ + 0.286451131105423, + 0.016163025051355362, + 0.0440729521214962 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9617421444111879, + 0.1697695839595651, + 0.2150124090036797, + 0.1497169918130971, + -0.9829803157196415, + 0.10646370869996376, + 0.22942726521886295, + -0.070199624428553, + -0.9707909881659817 + ], + [ + 0.9672604074638775, + 0.17131050270903447, + 0.18724319964791963, + 0.15144753118486937, + -0.9816607931030551, + 0.1157831273644318, + 0.20364417362355552, + -0.08363491463412934, + -0.9754661714294968 + ], + [ + 0.9480079332530366, + 0.25886536454886827, + 0.18512072149353695, + 0.23844815910494135, + -0.9630078480681635, + 0.12553230651346037, + 0.21076867392658402, + -0.07486392720199982, + -0.9746650493862612 + ], + [ + 0.9252516231075968, + 0.3165123253723451, + 0.20911571395796158, + 0.29311841779257597, + -0.9464188730677167, + 0.1355467072709986, + 0.24081326185975332, + -0.06411914369845916, + -0.9684511904705584 + ], + [ + 0.9013506626464259, + 0.3752218617691197, + 0.21627652992722995, + 0.35322480896208047, + -0.9258629618289983, + 0.13420137945243346, + 0.25059772002264935, + -0.04456826633098789, + -0.9670648646061439 + ], + [ + 0.8912727692250904, + 0.41017377232309604, + 0.193365786363771, + 0.3921372632580592, + -0.9112919178656742, + 0.12560018788672475, + 0.2277305811750327, + -0.036118097000561115, + -0.9730540917475963 + ], + [ + 0.8763263309065582, + 0.4538090924279874, + 0.16158424858115297, + 0.4356854428910346, + -0.8897616227382927, + 0.1360237095324302, + 0.2055002593981147, + -0.048801253383559326, + -0.9774395536581795 + ], + [ + 0.8798738690197919, + 0.46011506547735853, + 0.11881119954325811, + 0.44562632304475985, + -0.8857319604564675, + 0.12998490079832303, + 0.16504288783752294, + -0.06142491959057497, + -0.9843717917674917 + ], + [ + 0.892903130892624, + 0.438586699605815, + 0.1018121101393589, + 0.42684843904722025, + -0.8965213331032317, + 0.1185323136269453, + 0.14326342493847435, + -0.06237953366035687, + -0.9877167533535185 + ], + [ + 0.9038697972152563, + 0.4175124449770895, + 0.09328852004027022, + 0.40967990833899426, + -0.907544325011049, + 0.0923345593133598, + 0.12321429456602973, + -0.045239987063348266, + -0.9913483652001971 + ], + [ + 0.9021527413843138, + 0.41825991730762035, + 0.10573113442401726, + 0.4093574499005288, + -0.9072826044088864, + 0.09625359187045283, + 0.1361870383836255, + -0.04355361421111022, + -0.9897253019224306 + ], + [ + 0.9046406175889069, + 0.41075864624222486, + 0.1135899975597145, + 0.40148810999807366, + -0.9108057853096281, + 0.0961255375885441, + 0.14294282261987096, + -0.04135403225523064, + -0.9888666206712095 + ], + [ + 0.9105211289670602, + 0.4073441680043809, + 0.07086608848644879, + 0.3990297682139332, + -0.9106241325759562, + 0.10741942677850413, + 0.10828904738562065, + -0.06952997888038229, + -0.9916849621997949 + ], + [ + 0.9012419589972765, + 0.42927054698335354, + 0.059073926865950886, + 0.40926986251966035, + -0.8880646277908855, + 0.20937859608798234, + 0.1423415293436515, + -0.1645235981835085, + -0.9760486026140613 + ], + [ + 0.8955650050716555, + 0.4440337643244942, + 0.028237171083965062, + 0.42329116438983055, + -0.869842300402587, + 0.25337514199273153, + 0.1370690039378234, + -0.21496136529654564, + -0.9669558933008982 + ], + [ + 0.9040669812185916, + 0.4265113609654816, + 0.027403511411418058, + 0.40384200711443996, + -0.8734855133207567, + 0.2719093439154953, + 0.13990899456462277, + -0.2347575706684391, + -0.9619326152354798 + ], + [ + 0.9311064782324152, + 0.3608635696281364, + 0.053086818598106544, + 0.3316082228550256, + -0.8981128901668339, + 0.2888411727076119, + 0.15191021271975377, + -0.25133786151596005, + -0.9559040572358837 + ], + [ + 0.9499236782299119, + 0.30074883578777567, + 0.08482419059709448, + 0.2673382460882783, + -0.9227195883967452, + 0.2777027608206013, + 0.16178772424568505, + -0.24111967767322198, + -0.9569148516572221 + ], + [ + 0.9663376878350112, + 0.2413862169817263, + 0.08901779215940678, + 0.21615132463164288, + -0.9493776435359157, + 0.22794888640697009, + 0.13953522110804328, + -0.20103428614403707, + -0.9695953474851695 + ], + [ + 0.9740258306049142, + 0.21529251983385, + 0.07016275520529536, + 0.20143336635315984, + -0.9653642958228105, + 0.16582031018594479, + 0.10343249119131087, + -0.14738014538641403, + -0.983656857095928 + ], + [ + 0.9879075452432206, + 0.15322228308263958, + 0.023698396959655525, + 0.15062798667311228, + -0.9847118553079701, + 0.0874858368351115, + 0.03674087209523823, + -0.08285827648991083, + -0.9958838357633899 + ], + [ + 0.9863357173387219, + 0.1631834434765342, + 0.022649867042659907, + 0.1620444480073405, + -0.9857420698807802, + 0.04532293610471353, + 0.02972287960319013, + -0.04103334549237219, + -0.9987155826289077 + ], + [ + 0.9851036661351734, + 0.1653966431860933, + 0.04706078399063381, + 0.16511414985790543, + -0.9862252253431953, + 0.00985507044443186, + 0.04804252786586178, + -0.0019378646845701897, + -0.9988434112495923 + ], + [ + 0.9825567934770704, + 0.17498313188589748, + 0.06295276918024044, + 0.1753195189672736, + -0.9845115706292898, + 0.00018321062505313648, + 0.06200978843006822, + 0.010856834366054415, + -0.9980164904882116 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.005452901124954224, + 0.0036445483565330505, + -0.006459314376115799, + 0.013343103229999542, + 0.026410549879074097, + 0.0008795559406280518, + 1.0 + ], + [ + -0.012381553649902344, + 0.04219288378953934, + 0.01405959203839302, + -0.008869856595993042, + -0.007282570004463196, + 0.09110119938850403, + 1.0 + ], + [ + -0.014337971806526184, + 0.034379176795482635, + 0.01241646334528923, + -0.010547943413257599, + -0.030842453241348267, + 0.06038232147693634, + 1.0 + ], + [ + -0.01744428277015686, + 0.03870118036866188, + 0.00386761873960495, + -0.020057905465364456, + -0.010093942284584045, + 0.0666939914226532, + 1.0 + ], + [ + -0.03086736798286438, + 0.036695171147584915, + -0.024812668561935425, + -0.00895228236913681, + 0.02355124056339264, + 0.040995270013809204, + 1.0 + ], + [ + -0.017786458134651184, + 0.01704559475183487, + -0.01616005413234234, + 0.012784969061613083, + 0.02277153730392456, + 0.04689764976501465, + 1.0 + ], + [ + -0.01085391640663147, + 0.014430955052375793, + -0.008358081802725792, + 0.012433100491762161, + 0.04117335379123688, + 0.007423996925354004, + 1.0 + ], + [ + 4.4345855712890625e-05, + 0.013703279197216034, + -0.00607831496745348, + 0.0007521994411945343, + 0.022043421864509583, + -0.022876769304275513, + 1.0 + ], + [ + 0.004130885004997253, + 0.004213742911815643, + -0.009044719859957695, + -0.01746835559606552, + 0.02022986114025116, + -0.02037617564201355, + 0.0 + ], + [ + 0.006391942501068115, + 0.0014506876468658447, + -0.0018194126896560192, + -0.0016257762908935547, + -0.013083353638648987, + 0.0004190504550933838, + 0.0 + ], + [ + 0.005466237664222717, + -0.0007462576031684875, + 0.0003200856735929847, + -0.0021821148693561554, + -0.006822571158409119, + -0.008279234170913696, + 0.0 + ], + [ + -0.004462376236915588, + -0.005080997943878174, + 0.006263564340770245, + 0.028203148394823074, + 0.034932322800159454, + -0.004659861326217651, + 0.0 + ], + [ + -0.012435659766197205, + 0.006364114582538605, + 0.033503688871860504, + 0.09699269384145737, + -0.03432481735944748, + 0.013238728046417236, + 0.0 + ], + [ + -0.01954212784767151, + 0.01061665266752243, + 0.01735374704003334, + 0.051758915185928345, + 0.005324751138687134, + 0.015258491039276123, + 0.0 + ], + [ + -0.0019234642386436462, + 0.0013189762830734253, + 0.0071565695106983185, + 0.020618796348571777, + -0.0028676241636276245, + -0.021429449319839478, + 0.0 + ], + [ + 0.03884946554899216, + -0.010213181376457214, + 0.013230495154857635, + 0.017743706703186035, + -0.01213112473487854, + -0.07796388864517212, + 0.0 + ], + [ + 0.04761527478694916, + -0.025801464915275574, + 0.01068204641342163, + -0.010274872183799744, + -0.010001346468925476, + -0.06780257821083069, + 0.0 + ], + [ + 0.037891685962677, + -0.02955269068479538, + -0.002725154161453247, + -0.04239606857299805, + 0.022509947419166565, + -0.054276853799819946, + 0.0 + ], + [ + 0.0247572660446167, + -0.019690420478582382, + -0.01070675253868103, + -0.05571906268596649, + 0.03637421876192093, + -0.016128450632095337, + 1.0 + ], + [ + 0.013379961252212524, + -0.012812025845050812, + -0.017248190939426422, + -0.06571297347545624, + 0.06686866283416748, + -0.05262371897697449, + 1.0 + ], + [ + 0.0038062334060668945, + -0.0060300808399915695, + -0.009629029780626297, + -0.04194653406739235, + 0.0070218853652477264, + 0.011528298258781433, + 1.0 + ], + [ + 0.0017471611499786377, + -0.005748255178332329, + -0.003537103533744812, + -0.039122916758060455, + -0.01833377033472061, + 0.0032325685024261475, + 1.0 + ], + [ + 0.001598447561264038, + -0.0015874989330768585, + -0.001093931496143341, + -0.012818088755011559, + -0.013988569378852844, + 0.010506391525268555, + 1.0 + ], + [ + 0.0008903443813323975, + -0.010799652896821499, + 3.075599670410156e-05, + -0.00043870508670806885, + -0.0029784590005874634, + -0.019338935613632202, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9484345316886902 + ], + [ + 0.7151217460632324 + ], + [ + 0.4775448143482208 + ], + [ + 0.25545796751976013 + ], + [ + 0.12307736277580261 + ], + [ + 0.07854863256216049 + ], + [ + 0.07397755235433578 + ], + [ + 0.07365728914737701 + ], + [ + 0.07365728914737701 + ], + [ + 0.07365728914737701 + ], + [ + 0.1023794636130333 + ], + [ + 0.2781093716621399 + ], + [ + 0.561048150062561 + ], + [ + 0.8740299344062805 + ], + [ + 1.0124757289886475 + ], + [ + 1.00800359249115 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.24280740320682526, + -0.08768651634454727, + 0.03643249720335007 + ], + [ + 0.2304258495569229, + -0.045493632555007935, + 0.05049208924174309 + ], + [ + 0.21608787775039673, + -0.011114454828202724, + 0.06290855258703232 + ], + [ + 0.19864359498023987, + 0.02758672460913658, + 0.06677617132663727 + ], + [ + 0.1677762269973755, + 0.0642818957567215, + 0.04196350276470184 + ], + [ + 0.1499897688627243, + 0.08132749050855637, + 0.025803448632359505 + ], + [ + 0.13913585245609283, + 0.09575844556093216, + 0.017445366829633713 + ], + [ + 0.13918019831180573, + 0.1094617247581482, + 0.011367051862180233 + ], + [ + 0.14331108331680298, + 0.11367546766996384, + 0.002322332002222538 + ], + [ + 0.1497030258178711, + 0.11512615531682968, + 0.0005029193125665188 + ], + [ + 0.1551692634820938, + 0.1143798977136612, + 0.0008230049861595035 + ], + [ + 0.15070688724517822, + 0.10929889976978302, + 0.00708656944334507 + ], + [ + 0.13827122747898102, + 0.11566301435232162, + 0.040590256452560425 + ], + [ + 0.11872909963130951, + 0.12627966701984406, + 0.057944003492593765 + ], + [ + 0.11680563539266586, + 0.12759864330291748, + 0.06510057300329208 + ], + [ + 0.15565510094165802, + 0.11738546192646027, + 0.07833106815814972 + ], + [ + 0.20327037572860718, + 0.09158399701118469, + 0.08901311457157135 + ], + [ + 0.24116206169128418, + 0.06203130632638931, + 0.0862879604101181 + ], + [ + 0.2659193277359009, + 0.04234088584780693, + 0.07558120787143707 + ], + [ + 0.2792992889881134, + 0.02952886000275612, + 0.05833301693201065 + ], + [ + 0.2831055223941803, + 0.02349877916276455, + 0.048703987151384354 + ], + [ + 0.28485268354415894, + 0.01775052398443222, + 0.04516688361763954 + ], + [ + 0.286451131105423, + 0.016163025051355362, + 0.0440729521214962 + ], + [ + 0.28734147548675537, + 0.005363372154533863, + 0.0441037081182003 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9672604074638775, + 0.17131050270903447, + 0.18724319964791963, + 0.15144753118486937, + -0.9816607931030551, + 0.1157831273644318, + 0.20364417362355552, + -0.08363491463412934, + -0.9754661714294968 + ], + [ + 0.9480079332530366, + 0.25886536454886827, + 0.18512072149353695, + 0.23844815910494135, + -0.9630078480681635, + 0.12553230651346037, + 0.21076867392658402, + -0.07486392720199982, + -0.9746650493862612 + ], + [ + 0.9252516231075968, + 0.3165123253723451, + 0.20911571395796158, + 0.29311841779257597, + -0.9464188730677167, + 0.1355467072709986, + 0.24081326185975332, + -0.06411914369845916, + -0.9684511904705584 + ], + [ + 0.9013506626464259, + 0.3752218617691197, + 0.21627652992722995, + 0.35322480896208047, + -0.9258629618289983, + 0.13420137945243346, + 0.25059772002264935, + -0.04456826633098789, + -0.9670648646061439 + ], + [ + 0.8912727692250904, + 0.41017377232309604, + 0.193365786363771, + 0.3921372632580592, + -0.9112919178656742, + 0.12560018788672475, + 0.2277305811750327, + -0.036118097000561115, + -0.9730540917475963 + ], + [ + 0.8763263309065582, + 0.4538090924279874, + 0.16158424858115297, + 0.4356854428910346, + -0.8897616227382927, + 0.1360237095324302, + 0.2055002593981147, + -0.048801253383559326, + -0.9774395536581795 + ], + [ + 0.8798738690197919, + 0.46011506547735853, + 0.11881119954325811, + 0.44562632304475985, + -0.8857319604564675, + 0.12998490079832303, + 0.16504288783752294, + -0.06142491959057497, + -0.9843717917674917 + ], + [ + 0.892903130892624, + 0.438586699605815, + 0.1018121101393589, + 0.42684843904722025, + -0.8965213331032317, + 0.1185323136269453, + 0.14326342493847435, + -0.06237953366035687, + -0.9877167533535185 + ], + [ + 0.9038697972152563, + 0.4175124449770895, + 0.09328852004027022, + 0.40967990833899426, + -0.907544325011049, + 0.0923345593133598, + 0.12321429456602973, + -0.045239987063348266, + -0.9913483652001971 + ], + [ + 0.9021527413843138, + 0.41825991730762035, + 0.10573113442401726, + 0.4093574499005288, + -0.9072826044088864, + 0.09625359187045283, + 0.1361870383836255, + -0.04355361421111022, + -0.9897253019224306 + ], + [ + 0.9046406175889069, + 0.41075864624222486, + 0.1135899975597145, + 0.40148810999807366, + -0.9108057853096281, + 0.0961255375885441, + 0.14294282261987096, + -0.04135403225523064, + -0.9888666206712095 + ], + [ + 0.9105211289670602, + 0.4073441680043809, + 0.07086608848644879, + 0.3990297682139332, + -0.9106241325759562, + 0.10741942677850413, + 0.10828904738562065, + -0.06952997888038229, + -0.9916849621997949 + ], + [ + 0.9012419589972765, + 0.42927054698335354, + 0.059073926865950886, + 0.40926986251966035, + -0.8880646277908855, + 0.20937859608798234, + 0.1423415293436515, + -0.1645235981835085, + -0.9760486026140613 + ], + [ + 0.8955650050716555, + 0.4440337643244942, + 0.028237171083965062, + 0.42329116438983055, + -0.869842300402587, + 0.25337514199273153, + 0.1370690039378234, + -0.21496136529654564, + -0.9669558933008982 + ], + [ + 0.9040669812185916, + 0.4265113609654816, + 0.027403511411418058, + 0.40384200711443996, + -0.8734855133207567, + 0.2719093439154953, + 0.13990899456462277, + -0.2347575706684391, + -0.9619326152354798 + ], + [ + 0.9311064782324152, + 0.3608635696281364, + 0.053086818598106544, + 0.3316082228550256, + -0.8981128901668339, + 0.2888411727076119, + 0.15191021271975377, + -0.25133786151596005, + -0.9559040572358837 + ], + [ + 0.9499236782299119, + 0.30074883578777567, + 0.08482419059709448, + 0.2673382460882783, + -0.9227195883967452, + 0.2777027608206013, + 0.16178772424568505, + -0.24111967767322198, + -0.9569148516572221 + ], + [ + 0.9663376878350112, + 0.2413862169817263, + 0.08901779215940678, + 0.21615132463164288, + -0.9493776435359157, + 0.22794888640697009, + 0.13953522110804328, + -0.20103428614403707, + -0.9695953474851695 + ], + [ + 0.9740258306049142, + 0.21529251983385, + 0.07016275520529536, + 0.20143336635315984, + -0.9653642958228105, + 0.16582031018594479, + 0.10343249119131087, + -0.14738014538641403, + -0.983656857095928 + ], + [ + 0.9879075452432206, + 0.15322228308263958, + 0.023698396959655525, + 0.15062798667311228, + -0.9847118553079701, + 0.0874858368351115, + 0.03674087209523823, + -0.08285827648991083, + -0.9958838357633899 + ], + [ + 0.9863357173387219, + 0.1631834434765342, + 0.022649867042659907, + 0.1620444480073405, + -0.9857420698807802, + 0.04532293610471353, + 0.02972287960319013, + -0.04103334549237219, + -0.9987155826289077 + ], + [ + 0.9851036661351734, + 0.1653966431860933, + 0.04706078399063381, + 0.16511414985790543, + -0.9862252253431953, + 0.00985507044443186, + 0.04804252786586178, + -0.0019378646845701897, + -0.9988434112495923 + ], + [ + 0.9825567934770704, + 0.17498313188589748, + 0.06295276918024044, + 0.1753195189672736, + -0.9845115706292898, + 0.00018321062505313648, + 0.06200978843006822, + 0.010856834366054415, + -0.9980164904882116 + ], + [ + 0.985576557942801, + 0.15585134073571522, + 0.06594852556729705, + 0.15625670363176486, + -0.987715970510339, + -0.0010020823088953256, + 0.06498223606305983, + 0.011292528047297433, + -0.997822523200667 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006286.json b/json/chunk-0006/episode_0006286.json new file mode 100644 index 0000000000000000000000000000000000000000..53d77340978b656c522bd4083932f82db25e917d --- /dev/null +++ b/json/chunk-0006/episode_0006286.json @@ -0,0 +1,2482 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 40, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove spoon to upper left of stuffed animal." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006286.mp4", + "start": 0, + "end": 40, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.20785479247570038, + -0.11753275990486145, + 0.2334456890821457, + 0.23815710842609406, + -0.08410327136516571, + 0.02392299473285675, + 0.0, + 1.0008161067962646 + ], + [ + 0.20780423283576965, + -0.1176007017493248, + 0.22644996643066406, + 0.2526015043258667, + -0.06205592676997185, + 0.023462742567062378, + 0.0, + 1.0008161067962646 + ], + [ + 0.20446644723415375, + -0.06981179863214493, + 0.19964107871055603, + 0.2814107835292816, + -0.0014604994794353843, + 0.1867811679840088, + 0.0, + 1.0008161067962646 + ], + [ + 0.19928669929504395, + -0.019417066127061844, + 0.1817227452993393, + 0.2254149168729782, + 0.026409529149532318, + 0.3725144863128662, + 0.0, + 1.0008161067962646 + ], + [ + 0.20067697763442993, + 0.030872423201799393, + 0.1565333604812622, + 0.17780520021915436, + 0.04193070903420448, + 0.4459588825702667, + 0.0, + 1.0008161067962646 + ], + [ + 0.21041105687618256, + 0.07353056967258453, + 0.12890969216823578, + 0.1792193353176117, + 0.07172469049692154, + 0.5542730093002319, + 0.0, + 1.0001531839370728 + ], + [ + 0.21823202073574066, + 0.11144959926605225, + 0.1024826243519783, + 0.14751367270946503, + 0.06731675565242767, + 0.6251657009124756, + 0.0, + 1.0008161067962646 + ], + [ + 0.23654897511005402, + 0.13829199969768524, + 0.0897701233625412, + 0.14827950298786163, + 0.0025909324176609516, + 0.6106113195419312, + 0.0, + 1.0008161067962646 + ], + [ + 0.23406606912612915, + 0.15951141715049744, + 0.08486665040254593, + 0.1803583949804306, + -0.0695703774690628, + 0.6052902936935425, + 0.0, + 1.0008161067962646 + ], + [ + 0.239048033952713, + 0.17149116098880768, + 0.06893814355134964, + 0.20683196187019348, + -0.09456346184015274, + 0.6254392266273499, + 0.0, + 1.0008161067962646 + ], + [ + 0.23958845436573029, + 0.1773705631494522, + 0.05353822559118271, + 0.15095819532871246, + -0.11162110418081284, + 0.6713157892227173, + 0.0, + 1.0001531839370728 + ], + [ + 0.24617202579975128, + 0.1748102456331253, + 0.04799021780490875, + 0.09442619234323502, + -0.13444016873836517, + 0.6797961592674255, + 0.0, + 1.0008161067962646 + ], + [ + 0.24215121567249298, + 0.17295725643634796, + 0.03429820016026497, + 0.08348678797483444, + -0.10763132572174072, + 0.6920682191848755, + 0.0, + 1.0008161067962646 + ], + [ + 0.2416423112154007, + 0.17153911292552948, + 0.02768210507929325, + 0.0748445987701416, + -0.10865457355976105, + 0.7190127372741699, + 0.0, + 0.9468915462493896 + ], + [ + 0.24137060344219208, + 0.17046348750591278, + 0.023530680686235428, + 0.06985494494438171, + -0.09558171033859253, + 0.711107611656189, + 0.0, + 0.6731748580932617 + ], + [ + 0.24051596224308014, + 0.16971158981323242, + 0.015450729988515377, + 0.06814063340425491, + -0.07692280411720276, + 0.7181497812271118, + 0.0, + 0.3840504586696625 + ], + [ + 0.24079729616641998, + 0.16878999769687653, + 0.015395507216453552, + 0.06538703292608261, + -0.07473907619714737, + 0.7170504927635193, + 0.0, + 0.34207403659820557 + ], + [ + 0.23297326266765594, + 0.17018134891986847, + 0.022439289838075638, + 0.1291210651397705, + -0.028875408694148064, + 0.7418733239173889, + 0.0, + 0.34207403659820557 + ], + [ + 0.24251753091812134, + 0.1698582023382187, + 0.048746515065431595, + 0.20029720664024353, + -0.04517459496855736, + 0.7229071855545044, + 0.0, + 0.34207403659820557 + ], + [ + 0.25140780210494995, + 0.1634918749332428, + 0.07910417765378952, + 0.2910536825656891, + -0.09199049323797226, + 0.7366694808006287, + 0.0, + 0.34207403659820557 + ], + [ + 0.2624810039997101, + 0.13895437121391296, + 0.11325639486312866, + 0.2899244427680969, + -0.1764809638261795, + 0.6741412281990051, + 0.0, + 0.34207403659820557 + ], + [ + 0.27974772453308105, + 0.09093981236219406, + 0.13255643844604492, + 0.23987756669521332, + -0.23190081119537354, + 0.5474720597267151, + 0.0, + 0.34207403659820557 + ], + [ + 0.2901151180267334, + 0.049636129289865494, + 0.13155584037303925, + 0.14876170456409454, + -0.21995747089385986, + 0.46579059958457947, + 0.0, + 0.34207403659820557 + ], + [ + 0.3068671226501465, + -0.001870919018983841, + 0.1259297877550125, + 0.08498234301805496, + -0.22441349923610687, + 0.38346248865127563, + 0.0, + 0.34207403659820557 + ], + [ + 0.3152978718280792, + -0.03753795102238655, + 0.1015092059969902, + 0.07820533215999603, + -0.21172861754894257, + 0.3299606144428253, + 0.0, + 0.3404468894004822 + ], + [ + 0.31867820024490356, + -0.0675792396068573, + 0.07571465522050858, + 0.11733628064393997, + -0.22112664580345154, + 0.28271618485450745, + 0.0, + 0.3404468894004822 + ], + [ + 0.3251302242279053, + -0.07775778323411942, + 0.057187583297491074, + 0.10061337798833847, + -0.18679320812225342, + 0.2761392295360565, + 0.0, + 0.3404468894004822 + ], + [ + 0.3319777250289917, + -0.07973024249076843, + 0.045016538351774216, + 0.11009020358324051, + -0.1792004555463791, + 0.2581616938114166, + 0.0, + 0.3404468894004822 + ], + [ + 0.332805871963501, + -0.07921439409255981, + 0.03597906604409218, + 0.12343709170818329, + -0.17042489349842072, + 0.23860004544258118, + 0.0, + 0.3404468894004822 + ], + [ + 0.33613330125808716, + -0.08160500228404999, + 0.02599523216485977, + 0.15422871708869934, + -0.1760910451412201, + 0.23230473697185516, + 0.0, + 0.3404468894004822 + ], + [ + 0.3360092043876648, + -0.08522681891918182, + 0.024337129667401314, + 0.1276940554380417, + -0.17054462432861328, + 0.2274221032857895, + 0.0, + 0.4112652540206909 + ], + [ + 0.3360905051231384, + -0.07578064501285553, + 0.022786088287830353, + 0.10315527766942978, + -0.13740894198417664, + 0.23869800567626953, + 0.0, + 0.7181003093719482 + ], + [ + 0.33415892720222473, + -0.07355450838804245, + 0.02263013646006584, + 0.10181893408298492, + -0.11514495313167572, + 0.23060286045074463, + 0.0, + 0.9752515554428101 + ], + [ + 0.3333030343055725, + -0.07289385050535202, + 0.029614176601171494, + 0.10816748440265656, + -0.10925115644931793, + 0.2280483990907669, + 0.0, + 1.0041072368621826 + ], + [ + 0.3382125198841095, + -0.07252203673124313, + 0.051315147429704666, + 0.10669329762458801, + -0.13394084572792053, + 0.2320665419101715, + 0.0, + 1.0001531839370728 + ], + [ + 0.3354673385620117, + -0.05480927973985672, + 0.08637654781341553, + 0.11811695247888565, + -0.14595605432987213, + 0.2511014938354492, + 0.0, + 1.0001531839370728 + ], + [ + 0.3315873146057129, + -0.018116701394319534, + 0.09762558341026306, + 0.20407210290431976, + -0.07702828198671341, + 0.1822650283575058, + 0.0, + 1.0001531839370728 + ], + [ + 0.32926100492477417, + 0.018027817830443382, + 0.10525847226381302, + 0.2081494927406311, + -0.05008380487561226, + 0.1520988643169403, + 0.0, + 1.0001531839370728 + ], + [ + 0.3321288824081421, + 0.05054256692528725, + 0.1118490993976593, + 0.20544877648353577, + -0.08321014046669006, + 0.23605535924434662, + 0.0, + 1.0001531839370728 + ], + [ + 0.3402272164821625, + 0.06838638335466385, + 0.11233817785978317, + 0.18591180443763733, + -0.09477256238460541, + 0.2929849326610565, + 0.0, + 1.0001531839370728 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9468915462493896 + ], + [ + 0.6731748580932617 + ], + [ + 0.3840504586696625 + ], + [ + 0.34207403659820557 + ], + [ + 0.34207403659820557 + ], + [ + 0.34207403659820557 + ], + [ + 0.34207403659820557 + ], + [ + 0.34207403659820557 + ], + [ + 0.34207403659820557 + ], + [ + 0.34207403659820557 + ], + [ + 0.34207403659820557 + ], + [ + 0.3404468894004822 + ], + [ + 0.3404468894004822 + ], + [ + 0.3404468894004822 + ], + [ + 0.3404468894004822 + ], + [ + 0.3404468894004822 + ], + [ + 0.3404468894004822 + ], + [ + 0.4112652540206909 + ], + [ + 0.7181003093719482 + ], + [ + 0.9752515554428101 + ], + [ + 1.0041072368621826 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.20785479247570038, + -0.11753275990486145, + 0.2334456890821457 + ], + [ + 0.20780423283576965, + -0.1176007017493248, + 0.22644996643066406 + ], + [ + 0.20446644723415375, + -0.06981179863214493, + 0.19964107871055603 + ], + [ + 0.19928669929504395, + -0.019417066127061844, + 0.1817227452993393 + ], + [ + 0.20067697763442993, + 0.030872423201799393, + 0.1565333604812622 + ], + [ + 0.21041105687618256, + 0.07353056967258453, + 0.12890969216823578 + ], + [ + 0.21823202073574066, + 0.11144959926605225, + 0.1024826243519783 + ], + [ + 0.23654897511005402, + 0.13829199969768524, + 0.0897701233625412 + ], + [ + 0.23406606912612915, + 0.15951141715049744, + 0.08486665040254593 + ], + [ + 0.239048033952713, + 0.17149116098880768, + 0.06893814355134964 + ], + [ + 0.23958845436573029, + 0.1773705631494522, + 0.05353822559118271 + ], + [ + 0.24617202579975128, + 0.1748102456331253, + 0.04799021780490875 + ], + [ + 0.24215121567249298, + 0.17295725643634796, + 0.03429820016026497 + ], + [ + 0.2416423112154007, + 0.17153911292552948, + 0.02768210507929325 + ], + [ + 0.24137060344219208, + 0.17046348750591278, + 0.023530680686235428 + ], + [ + 0.24051596224308014, + 0.16971158981323242, + 0.015450729988515377 + ], + [ + 0.24079729616641998, + 0.16878999769687653, + 0.015395507216453552 + ], + [ + 0.23297326266765594, + 0.17018134891986847, + 0.022439289838075638 + ], + [ + 0.24251753091812134, + 0.1698582023382187, + 0.048746515065431595 + ], + [ + 0.25140780210494995, + 0.1634918749332428, + 0.07910417765378952 + ], + [ + 0.2624810039997101, + 0.13895437121391296, + 0.11325639486312866 + ], + [ + 0.27974772453308105, + 0.09093981236219406, + 0.13255643844604492 + ], + [ + 0.2901151180267334, + 0.049636129289865494, + 0.13155584037303925 + ], + [ + 0.3068671226501465, + -0.001870919018983841, + 0.1259297877550125 + ], + [ + 0.3152978718280792, + -0.03753795102238655, + 0.1015092059969902 + ], + [ + 0.31867820024490356, + -0.0675792396068573, + 0.07571465522050858 + ], + [ + 0.3251302242279053, + -0.07775778323411942, + 0.057187583297491074 + ], + [ + 0.3319777250289917, + -0.07973024249076843, + 0.045016538351774216 + ], + [ + 0.332805871963501, + -0.07921439409255981, + 0.03597906604409218 + ], + [ + 0.33613330125808716, + -0.08160500228404999, + 0.02599523216485977 + ], + [ + 0.3360092043876648, + -0.08522681891918182, + 0.024337129667401314 + ], + [ + 0.3360905051231384, + -0.07578064501285553, + 0.022786088287830353 + ], + [ + 0.33415892720222473, + -0.07355450838804245, + 0.02263013646006584 + ], + [ + 0.3333030343055725, + -0.07289385050535202, + 0.029614176601171494 + ], + [ + 0.3382125198841095, + -0.07252203673124313, + 0.051315147429704666 + ], + [ + 0.3354673385620117, + -0.05480927973985672, + 0.08637654781341553 + ], + [ + 0.3315873146057129, + -0.018116701394319534, + 0.09762558341026306 + ], + [ + 0.32926100492477417, + 0.018027817830443382, + 0.10525847226381302 + ], + [ + 0.3321288824081421, + 0.05054256692528725, + 0.1118490993976593 + ], + [ + 0.3402272164821625, + 0.06838638335466385, + 0.11233817785978317 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9961802742679323, + 0.043057467154527275, + 0.07596654317331819, + 0.023836162850012062, + -0.9710222694776764, + 0.23779737071509047, + 0.0840041576355273, + -0.23507829908492037, + -0.9683395555275462 + ], + [ + 0.9978004410759647, + 0.03821111193195477, + 0.05416817066814825, + 0.02341543177394954, + -0.9676353955902742, + 0.2512637235171297, + 0.06201610551662791, + -0.24944268304718162, + -0.9664017542051409 + ], + [ + 0.9826060039366937, + 0.17879109217654468, + -0.05019149714723055, + 0.18569681734038782, + -0.9438804963182026, + 0.2731415396818177, + 0.0014604989602135833, + -0.2777109180936566, + -0.9606635794670085 + ], + [ + 0.9310903271044629, + 0.3492536543927598, + -0.10532182900902731, + 0.36383169416528005, + -0.9099998031093602, + 0.19881362292797683, + -0.026406459310672474, + -0.22343286068577367, + -0.9743615631132241 + ], + [ + 0.9014044933821156, + 0.4178340640667291, + -0.11351050266830832, + 0.43094406262643886, + -0.8911715526510513, + 0.14177615678432845, + -0.041918423128159896, + -0.176714341950491, + -0.9833691510066063 + ], + [ + 0.8480971240054027, + 0.5070330311512683, + -0.15378157749002697, + 0.5249720494486256, + -0.8433881371940314, + 0.11445871455722012, + -0.07166320919044833, + -0.17780313653571583, + -0.9814532230761623 + ], + [ + 0.8090296124297441, + 0.5708589895485549, + -0.13996821161742692, + 0.5839061409629623, + -0.8078458123894943, + 0.08024189647870372, + -0.06726592567949236, + -0.14664636871181236, + -0.9868992541217771 + ], + [ + 0.8192949096953166, + 0.5667630818994538, + -0.08680702703800097, + 0.5733664953863031, + -0.8105267502104079, + 0.11957110504542373, + -0.002590929518870265, + -0.1477362385780423, + -0.9890234026023046 + ], + [ + 0.8203476866557939, + 0.5700255522078208, + -0.04583167931307424, + 0.5676243821347857, + -0.8019029863918095, + 0.18642467975566016, + 0.0695142705103804, + -0.17894823342538643, + -0.9813996616818976 + ], + [ + 0.8070839839026721, + 0.5886954293059135, + -0.04531152659221675, + 0.5828377282351032, + -0.7820746686438028, + 0.22058874679237303, + 0.09442258984763673, + -0.20444291178715832, + -0.9743138459174501 + ], + [ + 0.7781311344866846, + 0.6280592458724968, + -0.007315819607929562, + 0.6181458769883467, + -0.7636795095178012, + 0.18625058793184646, + 0.11138946226988028, + -0.14944962501365183, + -0.9824750364658156 + ], + [ + 0.7706833108668315, + 0.6356623677079072, + 0.04450380468360789, + 0.6229620414145591, + -0.7662918685423035, + 0.15721026417683653, + 0.13403555240287707, + -0.09343514588163843, + -0.9865618805762429 + ], + [ + 0.7654725559801033, + 0.6428053610023035, + 0.029206744220915175, + 0.6344382777628317, + -0.7615298085882667, + 0.13251574374711067, + 0.1074236368338902, + -0.08290728857112822, + -0.990750495206116 + ], + [ + 0.7480190359089394, + 0.6628996178642457, + 0.032118819301127144, + 0.6547580404945821, + -0.7450091171594446, + 0.1274885240207945, + 0.1084409070671978, + -0.07433378763888276, + -0.9913198563983784 + ], + [ + 0.7541812211286975, + 0.6561284023609106, + 0.026574523742586995, + 0.6496942433261612, + -0.7514440171258512, + 0.11501860421084026, + 0.09543623989697643, + -0.06947955628155669, + -0.9930078123425033 + ], + [ + 0.7507976786628004, + 0.6604056395605229, + 0.012932012651062717, + 0.6560467890924739, + -0.7478340755940447, + 0.1017192503995975, + 0.07684696634224114, + -0.067886571699105, + -0.9947290873131925 + ], + [ + 0.7516431060660181, + 0.6594374973924044, + 0.013222259121314018, + 0.6553297679174552, + -0.7489303150061681, + 0.09821546999335755, + 0.07466951442645739, + -0.0651580409282259, + -0.9950773303204694 + ], + [ + 0.7368967889609455, + 0.6727860662656762, + -0.06589409273831116, + 0.675388454817565, + -0.72855537106271, + 0.11426944646238059, + 0.028871396193980395, + -0.12870889765060622, + -0.991262055234324 + ], + [ + 0.749120569055493, + 0.6550787781859212, + -0.0984386478392236, + 0.6608925909872122, + -0.7289493815584231, + 0.17847627938693014, + 0.045159231572109854, + -0.1987576250009865, + -0.9790076865417265 + ], + [ + 0.737578359493001, + 0.6630946362699189, + -0.12760747218590965, + 0.6689841221895897, + -0.6918477684815953, + 0.27167427096665137, + 0.0918608070171282, + -0.2857484358611629, + -0.9538917252692054 + ], + [ + 0.7691087326348411, + 0.6373861106547748, + -0.04701811703171402, + 0.614530906481359, + -0.7173080201101742, + 0.3283610349368836, + 0.17556629051166958, + -0.2814394255075171, + -0.9433813266150496 + ], + [ + 0.8309868433721969, + 0.5522488177702065, + 0.06694855796596187, + 0.5065965040320455, + -0.8009723808562458, + 0.31906617998150055, + 0.2298278665541284, + -0.2312238923141093, + -0.9453648308342613 + ], + [ + 0.8719402270612431, + 0.47306218088731344, + 0.12622366436816407, + 0.4383083221096997, + -0.8690746050551363, + 0.22933631552294298, + 0.2181881188373187, + -0.14464267649071588, + -0.9651281992232091 + ], + [ + 0.9041206478416132, + 0.39030050338084055, + 0.17387170904757365, + 0.3647522489906404, + -0.916961107468929, + 0.16167289273599694, + 0.22253460630367478, + -0.08275170360794844, + -0.9714064569207118 + ], + [ + 0.924928849347201, + 0.33854789798333895, + 0.17289286976716503, + 0.31677042935740907, + -0.9378439422984044, + 0.14179292993273732, + 0.2101502289553497, + -0.07638102293927554, + -0.9746808814195363 + ], + [ + 0.9369188496466289, + 0.3017037844004379, + 0.1765159926332214, + 0.2721725001785238, + -0.9465354515099503, + 0.17318420592370906, + 0.21932897511138108, + -0.11421674795452866, + -0.9689423796920448 + ], + [ + 0.9453790476298062, + 0.28921096703701304, + 0.15038441690573123, + 0.26790050537777826, + -0.952163863228845, + 0.14701461416965542, + 0.18570884610295763, + -0.09869647464138434, + -0.9776355304368142 + ], + [ + 0.9513781298449204, + 0.2726922528824732, + 0.14324311247198843, + 0.25121529887567967, + -0.956008089862866, + 0.15145760372974662, + 0.17824288951760284, + -0.10810859047566622, + -0.9780296544593011 + ], + [ + 0.9575930147546373, + 0.2548346616954261, + 0.13444297412547318, + 0.23291862136243308, + -0.9593413698746558, + 0.15941471660308656, + 0.16960110234237413, + -0.12134014688303532, + -0.9780143326345759 + ], + [ + 0.9580897625435297, + 0.2536766064778936, + 0.13308713775246211, + 0.22666082244960298, + -0.9553920114367916, + 0.1893435397610148, + 0.1751824148587765, + -0.15124246694834537, + -0.9728498536339646 + ], + [ + 0.9601168976534069, + 0.2446877970212341, + 0.1352901505257975, + 0.22219579388696475, + -0.9614456184762288, + 0.16202268943516426, + 0.16971909739136334, + -0.12549981952878478, + -0.9774687837874433 + ], + [ + 0.9624881271871932, + 0.24888582407044144, + 0.10803912069462267, + 0.23420914239829746, + -0.9631466514564722, + 0.13226717432998844, + 0.13697694200391533, + -0.1020018351058588, + -0.9853085521775875 + ], + [ + 0.9670822091226604, + 0.23874943349764194, + 0.08803810994671743, + 0.22705094535696918, + -0.9658176643646396, + 0.125076406303265, + 0.11489068287264137, + -0.10097003122604195, + -0.988233365042524 + ], + [ + 0.9683018463902786, + 0.23622178568328614, + 0.08118375604624967, + 0.2247290178782976, + -0.965755237552951, + 0.1296676122341235, + 0.10903395251311926, + -0.10731304257937549, + -0.9882284695816671 + ], + [ + 0.9644766182606355, + 0.24252102962009037, + 0.10473014380081676, + 0.2279292201004115, + -0.9643886420074654, + 0.13417457952762488, + 0.13354071833319853, + -0.10553718472182222, + -0.9854079252715828 + ], + [ + 0.9583400794561023, + 0.26334112440924423, + 0.11061529868398251, + 0.24582914451954405, + -0.9576316300506219, + 0.15003230595901088, + 0.14543838493623623, + -0.11658950776748347, + -0.9824736957627289 + ], + [ + 0.9805195675676914, + 0.19283304342461932, + 0.03737372045255913, + 0.18072007917410193, + -0.960202120259964, + 0.21296042174914967, + 0.07695213187542949, + -0.2020576789232922, + -0.9763457706099608 + ], + [ + 0.9872157946373016, + 0.15846872787403982, + 0.017106639197257092, + 0.1513231110652286, + -0.965551964693503, + 0.2116854258895904, + 0.05006286923641219, + -0.20639056606952824, + -0.977188130996953 + ], + [ + 0.9689040516934726, + 0.24543643880236085, + 0.031398935013593185, + 0.23306002799106254, + -0.9478553660016382, + 0.21737807730934086, + 0.08311415020787993, + -0.2033006631811997, + -0.9755823278356915 + ], + [ + 0.9530897334184512, + 0.3005808890514597, + 0.035652337782813556, + 0.2875151829542811, + -0.9358366671920997, + 0.2038252975210623, + 0.0946307541083344, + -0.1840132100579123, + -0.9783578889655209 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -5.05596399307251e-05, + -6.794184446334839e-05, + -0.006995722651481628, + 0.014444395899772644, + 0.022047344595193863, + -0.00046025216579437256, + 1.0 + ], + [ + -0.0033377856016159058, + 0.04778890311717987, + -0.026808887720108032, + 0.028809279203414917, + 0.060595426708459854, + 0.1633184254169464, + 1.0 + ], + [ + -0.005179747939109802, + 0.050394732505083084, + -0.017918333411216736, + -0.055995866656303406, + 0.02787002921104431, + 0.18573331832885742, + 1.0 + ], + [ + 0.0013902783393859863, + 0.05028948932886124, + -0.025189384818077087, + -0.04760971665382385, + 0.015521179884672165, + 0.07344439625740051, + 1.0 + ], + [ + 0.009734079241752625, + 0.04265814647078514, + -0.027623668313026428, + 0.0014141350984573364, + 0.029793981462717056, + 0.10831412672996521, + 1.0 + ], + [ + 0.007820963859558105, + 0.03791902959346771, + -0.026427067816257477, + -0.03170566260814667, + -0.004407934844493866, + 0.07089269161224365, + 1.0 + ], + [ + 0.018316954374313354, + 0.026842400431632996, + -0.012712500989437103, + 0.0007658302783966064, + -0.06472582370042801, + -0.014554381370544434, + 1.0 + ], + [ + -0.0024829059839248657, + 0.021219417452812195, + -0.00490347295999527, + 0.03207889199256897, + -0.07216130942106247, + -0.005321025848388672, + 1.0 + ], + [ + 0.004981964826583862, + 0.011979743838310242, + -0.01592850685119629, + 0.02647356688976288, + -0.024993084371089935, + 0.020148932933807373, + 1.0 + ], + [ + 0.000540420413017273, + 0.005879402160644531, + -0.015399917960166931, + -0.05587376654148102, + -0.017057642340660095, + 0.04587656259536743, + 1.0 + ], + [ + 0.006583571434020996, + -0.0025603175163269043, + -0.005548007786273956, + -0.05653200298547745, + -0.022819064557552338, + 0.008480370044708252, + 1.0 + ], + [ + -0.004020810127258301, + -0.0018529891967773438, + -0.013692017644643784, + -0.010939404368400574, + 0.02680884301662445, + 0.012272059917449951, + 1.0 + ], + [ + -0.0005089044570922852, + -0.0014181435108184814, + -0.006616095080971718, + -0.00864218920469284, + -0.0010232478380203247, + 0.026944518089294434, + 0.0 + ], + [ + -0.00027170777320861816, + -0.0010756254196166992, + -0.004151424393057823, + -0.004989653825759888, + 0.013072863221168518, + -0.007905125617980957, + 0.0 + ], + [ + -0.0008546411991119385, + -0.0007518976926803589, + -0.00807995069772005, + -0.0017143115401268005, + 0.01865890622138977, + 0.0070421695709228516, + 0.0 + ], + [ + 0.00028133392333984375, + -0.000921592116355896, + -5.52227720618248e-05, + -0.0027536004781723022, + 0.0021837279200553894, + -0.0010992884635925293, + 0.0 + ], + [ + -0.007824033498764038, + 0.0013913512229919434, + 0.007043782621622086, + 0.0637340322136879, + 0.045863665640354156, + 0.02482283115386963, + 0.0 + ], + [ + 0.009544268250465393, + -0.0003231465816497803, + 0.026307225227355957, + 0.07117614150047302, + -0.016299186274409294, + -0.01896613836288452, + 0.0 + ], + [ + 0.008890271186828613, + -0.006366327404975891, + 0.030357662588357925, + 0.09075647592544556, + -0.0468158982694149, + 0.013762295246124268, + 0.0 + ], + [ + 0.011073201894760132, + -0.024537503719329834, + 0.03415221720933914, + -0.001129239797592163, + -0.08449047058820724, + -0.06252825260162354, + 0.0 + ], + [ + 0.01726672053337097, + -0.0480145588517189, + 0.01930004358291626, + -0.050046876072883606, + -0.05541984736919403, + -0.12666916847229004, + 0.0 + ], + [ + 0.010367393493652344, + -0.04130368307232857, + -0.0010005980730056763, + -0.09111586213111877, + 0.011943340301513672, + -0.08168146014213562, + 0.0 + ], + [ + 0.016752004623413086, + -0.051507048308849335, + -0.005626052618026733, + -0.06377936154603958, + -0.004456028342247009, + -0.08232811093330383, + 0.0 + ], + [ + 0.00843074917793274, + -0.03566703200340271, + -0.02442058175802231, + -0.0067770108580589294, + 0.012684881687164307, + -0.05350187420845032, + 0.0 + ], + [ + 0.003380328416824341, + -0.03004128858447075, + -0.02579455077648163, + 0.03913094848394394, + -0.009398028254508972, + -0.04724442958831787, + 0.0 + ], + [ + 0.006452023983001709, + -0.010178543627262115, + -0.018527071923017502, + -0.0167229026556015, + 0.03433343768119812, + -0.006576955318450928, + 0.0 + ], + [ + 0.006847500801086426, + -0.0019724592566490173, + -0.012171044945716858, + 0.009476825594902039, + 0.007592752575874329, + -0.017977535724639893, + 0.0 + ], + [ + 0.0008281469345092773, + 0.0005158483982086182, + -0.009037472307682037, + 0.01334688812494278, + 0.008775562047958374, + -0.01956164836883545, + 0.0 + ], + [ + 0.0033274292945861816, + -0.0023906081914901733, + -0.009983833879232407, + 0.030791625380516052, + -0.0056661516427993774, + -0.006295308470726013, + 0.0 + ], + [ + -0.00012409687042236328, + -0.003621816635131836, + -0.001658102497458458, + -0.026534661650657654, + 0.0055464208126068115, + -0.004882633686065674, + 1.0 + ], + [ + 8.130073547363281e-05, + 0.009446173906326294, + -0.001551041379570961, + -0.024538777768611908, + 0.033135682344436646, + 0.011275902390480042, + 1.0 + ], + [ + -0.0019315779209136963, + 0.00222613662481308, + -0.0001559518277645111, + -0.0013363435864448547, + 0.022263988852500916, + -0.008095145225524902, + 1.0 + ], + [ + -0.0008558928966522217, + 0.0006606578826904297, + 0.006984040141105652, + 0.006348550319671631, + 0.005893796682357788, + -0.002554461359977722, + 1.0 + ], + [ + 0.004909485578536987, + 0.0003718137741088867, + 0.021700970828533173, + -0.0014741867780685425, + -0.0246896892786026, + 0.004018142819404602, + 1.0 + ], + [ + -0.0027451813220977783, + 0.017712756991386414, + 0.03506140038371086, + 0.011423654854297638, + -0.012015208601951599, + 0.01903495192527771, + 1.0 + ], + [ + -0.003880023956298828, + 0.036692578345537186, + 0.011249035596847534, + 0.08595515042543411, + 0.06892777234315872, + -0.06883646547794342, + 1.0 + ], + [ + -0.0023263096809387207, + 0.03614451736211777, + 0.007632888853549957, + 0.00407738983631134, + 0.02694447711110115, + -0.03016616404056549, + 1.0 + ], + [ + 0.00286787748336792, + 0.032514750957489014, + 0.006590627133846283, + -0.002700716257095337, + -0.033126335591077805, + 0.08395649492740631, + 1.0 + ], + [ + 0.008098334074020386, + 0.017843816429376602, + 0.0004890784621238708, + -0.019536972045898438, + -0.011562421917915344, + 0.0569295734167099, + 1.0 + ], + [ + 0.004361003637313843, + 0.004928655922412872, + 0.005167245864868164, + -0.04509951174259186, + 0.005246788263320923, + -0.0005685091018676758, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9468915462493896 + ], + [ + 0.6731748580932617 + ], + [ + 0.3840504586696625 + ], + [ + 0.34207403659820557 + ], + [ + 0.34207403659820557 + ], + [ + 0.34207403659820557 + ], + [ + 0.34207403659820557 + ], + [ + 0.34207403659820557 + ], + [ + 0.34207403659820557 + ], + [ + 0.34207403659820557 + ], + [ + 0.34207403659820557 + ], + [ + 0.3404468894004822 + ], + [ + 0.3404468894004822 + ], + [ + 0.3404468894004822 + ], + [ + 0.3404468894004822 + ], + [ + 0.3404468894004822 + ], + [ + 0.3404468894004822 + ], + [ + 0.4112652540206909 + ], + [ + 0.7181003093719482 + ], + [ + 0.9752515554428101 + ], + [ + 1.0041072368621826 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.20780423283576965, + -0.1176007017493248, + 0.22644996643066406 + ], + [ + 0.20446644723415375, + -0.06981179863214493, + 0.19964107871055603 + ], + [ + 0.19928669929504395, + -0.019417066127061844, + 0.1817227452993393 + ], + [ + 0.20067697763442993, + 0.030872423201799393, + 0.1565333604812622 + ], + [ + 0.21041105687618256, + 0.07353056967258453, + 0.12890969216823578 + ], + [ + 0.21823202073574066, + 0.11144959926605225, + 0.1024826243519783 + ], + [ + 0.23654897511005402, + 0.13829199969768524, + 0.0897701233625412 + ], + [ + 0.23406606912612915, + 0.15951141715049744, + 0.08486665040254593 + ], + [ + 0.239048033952713, + 0.17149116098880768, + 0.06893814355134964 + ], + [ + 0.23958845436573029, + 0.1773705631494522, + 0.05353822559118271 + ], + [ + 0.24617202579975128, + 0.1748102456331253, + 0.04799021780490875 + ], + [ + 0.24215121567249298, + 0.17295725643634796, + 0.03429820016026497 + ], + [ + 0.2416423112154007, + 0.17153911292552948, + 0.02768210507929325 + ], + [ + 0.24137060344219208, + 0.17046348750591278, + 0.023530680686235428 + ], + [ + 0.24051596224308014, + 0.16971158981323242, + 0.015450729988515377 + ], + [ + 0.24079729616641998, + 0.16878999769687653, + 0.015395507216453552 + ], + [ + 0.23297326266765594, + 0.17018134891986847, + 0.022439289838075638 + ], + [ + 0.24251753091812134, + 0.1698582023382187, + 0.048746515065431595 + ], + [ + 0.25140780210494995, + 0.1634918749332428, + 0.07910417765378952 + ], + [ + 0.2624810039997101, + 0.13895437121391296, + 0.11325639486312866 + ], + [ + 0.27974772453308105, + 0.09093981236219406, + 0.13255643844604492 + ], + [ + 0.2901151180267334, + 0.049636129289865494, + 0.13155584037303925 + ], + [ + 0.3068671226501465, + -0.001870919018983841, + 0.1259297877550125 + ], + [ + 0.3152978718280792, + -0.03753795102238655, + 0.1015092059969902 + ], + [ + 0.31867820024490356, + -0.0675792396068573, + 0.07571465522050858 + ], + [ + 0.3251302242279053, + -0.07775778323411942, + 0.057187583297491074 + ], + [ + 0.3319777250289917, + -0.07973024249076843, + 0.045016538351774216 + ], + [ + 0.332805871963501, + -0.07921439409255981, + 0.03597906604409218 + ], + [ + 0.33613330125808716, + -0.08160500228404999, + 0.02599523216485977 + ], + [ + 0.3360092043876648, + -0.08522681891918182, + 0.024337129667401314 + ], + [ + 0.3360905051231384, + -0.07578064501285553, + 0.022786088287830353 + ], + [ + 0.33415892720222473, + -0.07355450838804245, + 0.02263013646006584 + ], + [ + 0.3333030343055725, + -0.07289385050535202, + 0.029614176601171494 + ], + [ + 0.3382125198841095, + -0.07252203673124313, + 0.051315147429704666 + ], + [ + 0.3354673385620117, + -0.05480927973985672, + 0.08637654781341553 + ], + [ + 0.3315873146057129, + -0.018116701394319534, + 0.09762558341026306 + ], + [ + 0.32926100492477417, + 0.018027817830443382, + 0.10525847226381302 + ], + [ + 0.3321288824081421, + 0.05054256692528725, + 0.1118490993976593 + ], + [ + 0.3402272164821625, + 0.06838638335466385, + 0.11233817785978317 + ], + [ + 0.3445882201194763, + 0.07331503927707672, + 0.11750542372465134 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9978004410759647, + 0.03821111193195477, + 0.05416817066814825, + 0.02341543177394954, + -0.9676353955902742, + 0.2512637235171297, + 0.06201610551662791, + -0.24944268304718162, + -0.9664017542051409 + ], + [ + 0.9826060039366937, + 0.17879109217654468, + -0.05019149714723055, + 0.18569681734038782, + -0.9438804963182026, + 0.2731415396818177, + 0.0014604989602135833, + -0.2777109180936566, + -0.9606635794670085 + ], + [ + 0.9310903271044629, + 0.3492536543927598, + -0.10532182900902731, + 0.36383169416528005, + -0.9099998031093602, + 0.19881362292797683, + -0.026406459310672474, + -0.22343286068577367, + -0.9743615631132241 + ], + [ + 0.9014044933821156, + 0.4178340640667291, + -0.11351050266830832, + 0.43094406262643886, + -0.8911715526510513, + 0.14177615678432845, + -0.041918423128159896, + -0.176714341950491, + -0.9833691510066063 + ], + [ + 0.8480971240054027, + 0.5070330311512683, + -0.15378157749002697, + 0.5249720494486256, + -0.8433881371940314, + 0.11445871455722012, + -0.07166320919044833, + -0.17780313653571583, + -0.9814532230761623 + ], + [ + 0.8090296124297441, + 0.5708589895485549, + -0.13996821161742692, + 0.5839061409629623, + -0.8078458123894943, + 0.08024189647870372, + -0.06726592567949236, + -0.14664636871181236, + -0.9868992541217771 + ], + [ + 0.8192949096953166, + 0.5667630818994538, + -0.08680702703800097, + 0.5733664953863031, + -0.8105267502104079, + 0.11957110504542373, + -0.002590929518870265, + -0.1477362385780423, + -0.9890234026023046 + ], + [ + 0.8203476866557939, + 0.5700255522078208, + -0.04583167931307424, + 0.5676243821347857, + -0.8019029863918095, + 0.18642467975566016, + 0.0695142705103804, + -0.17894823342538643, + -0.9813996616818976 + ], + [ + 0.8070839839026721, + 0.5886954293059135, + -0.04531152659221675, + 0.5828377282351032, + -0.7820746686438028, + 0.22058874679237303, + 0.09442258984763673, + -0.20444291178715832, + -0.9743138459174501 + ], + [ + 0.7781311344866846, + 0.6280592458724968, + -0.007315819607929562, + 0.6181458769883467, + -0.7636795095178012, + 0.18625058793184646, + 0.11138946226988028, + -0.14944962501365183, + -0.9824750364658156 + ], + [ + 0.7706833108668315, + 0.6356623677079072, + 0.04450380468360789, + 0.6229620414145591, + -0.7662918685423035, + 0.15721026417683653, + 0.13403555240287707, + -0.09343514588163843, + -0.9865618805762429 + ], + [ + 0.7654725559801033, + 0.6428053610023035, + 0.029206744220915175, + 0.6344382777628317, + -0.7615298085882667, + 0.13251574374711067, + 0.1074236368338902, + -0.08290728857112822, + -0.990750495206116 + ], + [ + 0.7480190359089394, + 0.6628996178642457, + 0.032118819301127144, + 0.6547580404945821, + -0.7450091171594446, + 0.1274885240207945, + 0.1084409070671978, + -0.07433378763888276, + -0.9913198563983784 + ], + [ + 0.7541812211286975, + 0.6561284023609106, + 0.026574523742586995, + 0.6496942433261612, + -0.7514440171258512, + 0.11501860421084026, + 0.09543623989697643, + -0.06947955628155669, + -0.9930078123425033 + ], + [ + 0.7507976786628004, + 0.6604056395605229, + 0.012932012651062717, + 0.6560467890924739, + -0.7478340755940447, + 0.1017192503995975, + 0.07684696634224114, + -0.067886571699105, + -0.9947290873131925 + ], + [ + 0.7516431060660181, + 0.6594374973924044, + 0.013222259121314018, + 0.6553297679174552, + -0.7489303150061681, + 0.09821546999335755, + 0.07466951442645739, + -0.0651580409282259, + -0.9950773303204694 + ], + [ + 0.7368967889609455, + 0.6727860662656762, + -0.06589409273831116, + 0.675388454817565, + -0.72855537106271, + 0.11426944646238059, + 0.028871396193980395, + -0.12870889765060622, + -0.991262055234324 + ], + [ + 0.749120569055493, + 0.6550787781859212, + -0.0984386478392236, + 0.6608925909872122, + -0.7289493815584231, + 0.17847627938693014, + 0.045159231572109854, + -0.1987576250009865, + -0.9790076865417265 + ], + [ + 0.737578359493001, + 0.6630946362699189, + -0.12760747218590965, + 0.6689841221895897, + -0.6918477684815953, + 0.27167427096665137, + 0.0918608070171282, + -0.2857484358611629, + -0.9538917252692054 + ], + [ + 0.7691087326348411, + 0.6373861106547748, + -0.04701811703171402, + 0.614530906481359, + -0.7173080201101742, + 0.3283610349368836, + 0.17556629051166958, + -0.2814394255075171, + -0.9433813266150496 + ], + [ + 0.8309868433721969, + 0.5522488177702065, + 0.06694855796596187, + 0.5065965040320455, + -0.8009723808562458, + 0.31906617998150055, + 0.2298278665541284, + -0.2312238923141093, + -0.9453648308342613 + ], + [ + 0.8719402270612431, + 0.47306218088731344, + 0.12622366436816407, + 0.4383083221096997, + -0.8690746050551363, + 0.22933631552294298, + 0.2181881188373187, + -0.14464267649071588, + -0.9651281992232091 + ], + [ + 0.9041206478416132, + 0.39030050338084055, + 0.17387170904757365, + 0.3647522489906404, + -0.916961107468929, + 0.16167289273599694, + 0.22253460630367478, + -0.08275170360794844, + -0.9714064569207118 + ], + [ + 0.924928849347201, + 0.33854789798333895, + 0.17289286976716503, + 0.31677042935740907, + -0.9378439422984044, + 0.14179292993273732, + 0.2101502289553497, + -0.07638102293927554, + -0.9746808814195363 + ], + [ + 0.9369188496466289, + 0.3017037844004379, + 0.1765159926332214, + 0.2721725001785238, + -0.9465354515099503, + 0.17318420592370906, + 0.21932897511138108, + -0.11421674795452866, + -0.9689423796920448 + ], + [ + 0.9453790476298062, + 0.28921096703701304, + 0.15038441690573123, + 0.26790050537777826, + -0.952163863228845, + 0.14701461416965542, + 0.18570884610295763, + -0.09869647464138434, + -0.9776355304368142 + ], + [ + 0.9513781298449204, + 0.2726922528824732, + 0.14324311247198843, + 0.25121529887567967, + -0.956008089862866, + 0.15145760372974662, + 0.17824288951760284, + -0.10810859047566622, + -0.9780296544593011 + ], + [ + 0.9575930147546373, + 0.2548346616954261, + 0.13444297412547318, + 0.23291862136243308, + -0.9593413698746558, + 0.15941471660308656, + 0.16960110234237413, + -0.12134014688303532, + -0.9780143326345759 + ], + [ + 0.9580897625435297, + 0.2536766064778936, + 0.13308713775246211, + 0.22666082244960298, + -0.9553920114367916, + 0.1893435397610148, + 0.1751824148587765, + -0.15124246694834537, + -0.9728498536339646 + ], + [ + 0.9601168976534069, + 0.2446877970212341, + 0.1352901505257975, + 0.22219579388696475, + -0.9614456184762288, + 0.16202268943516426, + 0.16971909739136334, + -0.12549981952878478, + -0.9774687837874433 + ], + [ + 0.9624881271871932, + 0.24888582407044144, + 0.10803912069462267, + 0.23420914239829746, + -0.9631466514564722, + 0.13226717432998844, + 0.13697694200391533, + -0.1020018351058588, + -0.9853085521775875 + ], + [ + 0.9670822091226604, + 0.23874943349764194, + 0.08803810994671743, + 0.22705094535696918, + -0.9658176643646396, + 0.125076406303265, + 0.11489068287264137, + -0.10097003122604195, + -0.988233365042524 + ], + [ + 0.9683018463902786, + 0.23622178568328614, + 0.08118375604624967, + 0.2247290178782976, + -0.965755237552951, + 0.1296676122341235, + 0.10903395251311926, + -0.10731304257937549, + -0.9882284695816671 + ], + [ + 0.9644766182606355, + 0.24252102962009037, + 0.10473014380081676, + 0.2279292201004115, + -0.9643886420074654, + 0.13417457952762488, + 0.13354071833319853, + -0.10553718472182222, + -0.9854079252715828 + ], + [ + 0.9583400794561023, + 0.26334112440924423, + 0.11061529868398251, + 0.24582914451954405, + -0.9576316300506219, + 0.15003230595901088, + 0.14543838493623623, + -0.11658950776748347, + -0.9824736957627289 + ], + [ + 0.9805195675676914, + 0.19283304342461932, + 0.03737372045255913, + 0.18072007917410193, + -0.960202120259964, + 0.21296042174914967, + 0.07695213187542949, + -0.2020576789232922, + -0.9763457706099608 + ], + [ + 0.9872157946373016, + 0.15846872787403982, + 0.017106639197257092, + 0.1513231110652286, + -0.965551964693503, + 0.2116854258895904, + 0.05006286923641219, + -0.20639056606952824, + -0.977188130996953 + ], + [ + 0.9689040516934726, + 0.24543643880236085, + 0.031398935013593185, + 0.23306002799106254, + -0.9478553660016382, + 0.21737807730934086, + 0.08311415020787993, + -0.2033006631811997, + -0.9755823278356915 + ], + [ + 0.9530897334184512, + 0.3005808890514597, + 0.035652337782813556, + 0.2875151829542811, + -0.9358366671920997, + 0.2038252975210623, + 0.0946307541083344, + -0.1840132100579123, + -0.9783578889655209 + ], + [ + 0.9537153421198447, + 0.2974290122944546, + 0.04430608141974382, + 0.28711247236329007, + -0.9444554180783714, + 0.15990744659285838, + 0.08940623254934063, + -0.13978535655766683, + -0.9861372012419871 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006287.json b/json/chunk-0006/episode_0006287.json new file mode 100644 index 0000000000000000000000000000000000000000..4662bf5c51b28f270f531c8868173084a8c24863 --- /dev/null +++ b/json/chunk-0006/episode_0006287.json @@ -0,0 +1,1582 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 25, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nTake the red object out of the pot and put it on the left burner." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006287.mp4", + "start": 0, + "end": 25, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3608764410018921, + -0.014358103275299072, + 0.0962323322892189, + 0.0019398786826059222, + -0.13821947574615479, + -0.09967724978923798, + 0.0, + 1.0008161067962646 + ], + [ + 0.3595525026321411, + -0.013758811168372631, + 0.08179634809494019, + -0.0007791512762196362, + -0.09535307437181473, + -0.09784818440675735, + 0.0, + 1.0008161067962646 + ], + [ + 0.36990585923194885, + 0.027338450774550438, + 0.0772700384259224, + -0.0016638197703287005, + -0.075469009578228, + 0.007866350002586842, + 0.0, + 1.0008161067962646 + ], + [ + 0.38087382912635803, + 0.07729312777519226, + 0.0750427395105362, + 0.0014223017496988177, + -0.07536375522613525, + 0.10971392691135406, + 0.0, + 1.0008161067962646 + ], + [ + 0.39310190081596375, + 0.09782630205154419, + 0.0772377997636795, + 0.012411467730998993, + -0.08810308575630188, + 0.10376358777284622, + 0.0, + 1.0008161067962646 + ], + [ + 0.3990064859390259, + 0.12876033782958984, + 0.07684110105037689, + 0.04119490459561348, + -0.11390592157840729, + 0.10874931514263153, + 0.0, + 1.0008161067962646 + ], + [ + 0.3953961431980133, + 0.14053374528884888, + 0.06717919558286667, + 0.05488859862089157, + -0.09062933176755905, + 0.12013185769319534, + 0.0, + 1.0008161067962646 + ], + [ + 0.3960627317428589, + 0.1447555273771286, + 0.05581868439912796, + 0.06942791491746902, + -0.06084369495511055, + 0.11396580934524536, + 0.0, + 1.0008161067962646 + ], + [ + 0.39353442192077637, + 0.15044081211090088, + 0.05264005437493324, + 0.09757698327302933, + -0.04470690339803696, + 0.11816473305225372, + 0.0, + 1.0008161067962646 + ], + [ + 0.3861869275569916, + 0.15198767185211182, + 0.03135053813457489, + 0.10299809277057648, + 0.026430832222104073, + 0.11956942081451416, + 0.0, + 1.0008161067962646 + ], + [ + 0.3870335817337036, + 0.15273113548755646, + 0.030827194452285767, + 0.10635007172822952, + 0.023703714832663536, + 0.12118338793516159, + 0.0, + 0.9515043497085571 + ], + [ + 0.3881266415119171, + 0.152804896235466, + 0.030446480959653854, + 0.10617037862539291, + 0.015881681814789772, + 0.12078393250703812, + 0.0, + 0.67718505859375 + ], + [ + 0.38976621627807617, + 0.1485585719347, + 0.03352991119027138, + 0.08200686424970627, + -0.008785220794379711, + 0.12175638228654861, + 0.0, + 0.573952317237854 + ], + [ + 0.39397698640823364, + 0.13345609605312347, + 0.05901220813393593, + 0.043747976422309875, + -0.07753225415945053, + 0.12002920359373093, + 0.0, + 0.573952317237854 + ], + [ + 0.388037770986557, + 0.09264900535345078, + 0.07720419764518738, + -0.012511552311480045, + -0.09846728295087814, + 0.08736187219619751, + 0.0, + 0.573952317237854 + ], + [ + 0.3608563542366028, + 0.04152219742536545, + 0.07714027166366577, + -0.0487653948366642, + -0.0733092799782753, + 0.01695157214999199, + 0.0, + 0.573952317237854 + ], + [ + 0.323710560798645, + 0.0016902410425245762, + 0.06851650029420853, + -0.046328336000442505, + -0.04059925302863121, + -0.035500459372997284, + 0.0, + 0.573952317237854 + ], + [ + 0.29511457681655884, + -0.025223756209015846, + 0.05862751603126526, + -0.0325232669711113, + -0.019912973046302795, + -0.10212491452693939, + 0.0, + 0.573952317237854 + ], + [ + 0.2763667702674866, + -0.048573676496744156, + 0.04626977816224098, + -0.03378979489207268, + 0.011642958037555218, + -0.16154339909553528, + 0.0, + 0.573952317237854 + ], + [ + 0.274609237909317, + -0.05955473706126213, + 0.03971405327320099, + -0.03304378315806389, + 0.016824889928102493, + -0.18389339745044708, + 0.0, + 0.573952317237854 + ], + [ + 0.27073338627815247, + -0.06932304054498672, + 0.023472590371966362, + -0.036344002932310104, + 0.06088750809431076, + -0.18485164642333984, + 0.0, + 0.573952317237854 + ], + [ + 0.27464258670806885, + -0.0714964047074318, + 0.02530786395072937, + -0.04077498987317085, + 0.05400632694363594, + -0.16906306147575378, + 0.0, + 0.6189444065093994 + ], + [ + 0.27199113368988037, + -0.07100611925125122, + 0.0254556592553854, + -0.03713412210345268, + 0.07118146866559982, + -0.16080114245414734, + 0.0, + 0.7131344676017761 + ], + [ + 0.2767435312271118, + -0.07206476479768753, + 0.053931236267089844, + -0.041986145079135895, + -0.0015590563416481018, + -0.14469677209854126, + 0.0, + 0.9672539830207825 + ], + [ + 0.28016310930252075, + -0.07624576985836029, + 0.09153557568788528, + -0.07067040354013443, + -0.0920969694852829, + -0.14481724798679352, + 0.0, + 1.0027955770492554 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9515043497085571 + ], + [ + 0.67718505859375 + ], + [ + 0.573952317237854 + ], + [ + 0.573952317237854 + ], + [ + 0.573952317237854 + ], + [ + 0.573952317237854 + ], + [ + 0.573952317237854 + ], + [ + 0.573952317237854 + ], + [ + 0.573952317237854 + ], + [ + 0.573952317237854 + ], + [ + 0.573952317237854 + ], + [ + 0.6189444065093994 + ], + [ + 0.7131344676017761 + ], + [ + 0.9672539830207825 + ], + [ + 1.0027955770492554 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3608764410018921, + -0.014358103275299072, + 0.0962323322892189 + ], + [ + 0.3595525026321411, + -0.013758811168372631, + 0.08179634809494019 + ], + [ + 0.36990585923194885, + 0.027338450774550438, + 0.0772700384259224 + ], + [ + 0.38087382912635803, + 0.07729312777519226, + 0.0750427395105362 + ], + [ + 0.39310190081596375, + 0.09782630205154419, + 0.0772377997636795 + ], + [ + 0.3990064859390259, + 0.12876033782958984, + 0.07684110105037689 + ], + [ + 0.3953961431980133, + 0.14053374528884888, + 0.06717919558286667 + ], + [ + 0.3960627317428589, + 0.1447555273771286, + 0.05581868439912796 + ], + [ + 0.39353442192077637, + 0.15044081211090088, + 0.05264005437493324 + ], + [ + 0.3861869275569916, + 0.15198767185211182, + 0.03135053813457489 + ], + [ + 0.3870335817337036, + 0.15273113548755646, + 0.030827194452285767 + ], + [ + 0.3881266415119171, + 0.152804896235466, + 0.030446480959653854 + ], + [ + 0.38976621627807617, + 0.1485585719347, + 0.03352991119027138 + ], + [ + 0.39397698640823364, + 0.13345609605312347, + 0.05901220813393593 + ], + [ + 0.388037770986557, + 0.09264900535345078, + 0.07720419764518738 + ], + [ + 0.3608563542366028, + 0.04152219742536545, + 0.07714027166366577 + ], + [ + 0.323710560798645, + 0.0016902410425245762, + 0.06851650029420853 + ], + [ + 0.29511457681655884, + -0.025223756209015846, + 0.05862751603126526 + ], + [ + 0.2763667702674866, + -0.048573676496744156, + 0.04626977816224098 + ], + [ + 0.274609237909317, + -0.05955473706126213, + 0.03971405327320099 + ], + [ + 0.27073338627815247, + -0.06932304054498672, + 0.023472590371966362 + ], + [ + 0.27464258670806885, + -0.0714964047074318, + 0.02530786395072937 + ], + [ + 0.27199113368988037, + -0.07100611925125122, + 0.0254556592553854 + ], + [ + 0.2767435312271118, + -0.07206476479768753, + 0.053931236267089844 + ], + [ + 0.28016310930252075, + -0.07624576985836029, + 0.09153557568788528 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9855465601075305, + -0.09924613716668615, + 0.13728868168099412, + -0.09856321378603106, + -0.9950610597191116, + -0.011780505882510011, + 0.13777979078363833, + -0.0019213766340919203, + -0.9904610227381222 + ], + [ + 0.9906957526776289, + -0.09776591913209076, + 0.09467708636604494, + -0.09724833950690259, + -0.9952091355502257, + -0.010076555985176684, + 0.09520864503634244, + 0.0007756117776834036, + -0.9954570369115454 + ], + [ + 0.9971227141831094, + 0.007740814258033764, + 0.0754080410482288, + 0.007843878057613494, + -0.999968663128026, + -0.0010706722025689674, + 0.07539739012144935, + 0.0016590830511717966, + -0.9971521854793794 + ], + [ + 0.9911660245825443, + 0.10960028616019431, + 0.07468392723229629, + 0.1091831532440271, + -0.9939747309668657, + 0.009657807568930935, + 0.0752924349515056, + -0.0014182640624109061, + -0.9971604874673499 + ], + [ + 0.9907636816923876, + 0.10465568138167969, + 0.08622363593517847, + 0.10317575404229251, + -0.9944316689941826, + 0.021457387521538192, + 0.0879891517015036, + -0.012363011606459324, + -0.9960447104055464 + ], + [ + 0.9876506316315238, + 0.11309623674755798, + 0.10842265017694433, + 0.10783175295339542, + -0.9927412006359869, + 0.05326557626475705, + 0.1136597681365294, + -0.040916375613671736, + -0.9926768393156914 + ], + [ + 0.9887183929840533, + 0.1245920626846749, + 0.08314299303615015, + 0.11935127624525732, + -0.9907026483169608, + 0.06529575389249136, + 0.09050531605192895, + -0.05463589052755124, + -0.9943961520604362 + ], + [ + 0.9916745200748612, + 0.117636191018816, + 0.052377216391084905, + 0.11350884072070103, + -0.990639704825031, + 0.07582030270592521, + 0.06080616179743979, + -0.06924378518509974, + -0.9957449015188095 + ], + [ + 0.9920344480955887, + 0.12165278509874942, + 0.03268415012507085, + 0.11777214371656726, + -0.9877896888138724, + 0.10198653262758521, + 0.04469201221789984, + -0.09732487118260554, + -0.9942487080671538 + ], + [ + 0.9925133090783165, + 0.11595475273167892, + -0.03836439262317631, + 0.11924305040875681, + -0.9879224324454441, + 0.09894626016323955, + -0.02642775494862758, + -0.10278016729900764, + -0.9943529609642459 + ], + [ + 0.9923874150316763, + 0.11770655280039831, + -0.03622686730308278, + 0.12085304138980961, + -0.987362008815462, + 0.10252222166305697, + -0.02370149517606623, + -0.1061198896331082, + -0.9940708265262975 + ], + [ + 0.9925892920350043, + 0.1181413433626519, + -0.02844504044499041, + 0.12047527018338812, + -0.9873275019538652, + 0.1032962398143332, + -0.015881014189553067, + -0.10595766548017463, + -0.9942438164325201 + ], + [ + 0.9925585400971993, + 0.12176190375686857, + -0.001258282011045902, + 0.12145108629106335, + -0.9891736415514114, + 0.08237196427571937, + 0.008785107787439449, + -0.0819118163235487, + -0.996600861041039 + ], + [ + 0.9898226337389655, + 0.12298966299307848, + 0.07158698579285645, + 0.1193814838950483, + -0.9914496217747687, + 0.05268499583073222, + 0.07745459987033677, + -0.043602640740176835, + -0.9960419643164685 + ], + [ + 0.9913608640544657, + 0.08601869389137531, + 0.0990172789083047, + 0.08682814718527965, + -0.99621572278357, + -0.003886712644450988, + 0.09830824013049233, + 0.012450621672470514, + -0.9950781235372499 + ], + [ + 0.9971707893990737, + 0.013360783022050722, + 0.07397233433024802, + 0.016905231885519147, + -0.9987282200531803, + -0.04749900635069319, + 0.07324363388121274, + 0.04861514112335834, + -0.9961284747207214 + ], + [ + 0.9985464075982606, + -0.03733344254227152, + 0.038875261292378505, + -0.03546375554506755, + -0.9982309190585541, + -0.047721633230154936, + 0.04058810066075379, + 0.04627360266346947, + -0.9981038822594045 + ], + [ + 0.9945925578732981, + -0.10253767956784052, + 0.01648235698839641, + -0.1019272767016936, + -0.9941976933706993, + -0.0343769800965325, + 0.019911657068824418, + 0.03251108680471735, + -0.9992730133189576 + ], + [ + 0.9869133200607021, + -0.16036168180705793, + -0.016918324230657315, + -0.1608308003466786, + -0.9864800910014618, + -0.03147195128354775, + -0.011642694989071552, + 0.033781075556576015, + -0.999361439414005 + ], + [ + 0.9830000557280293, + -0.18221242062978985, + -0.022572642887439414, + -0.18283282043287027, + -0.9827041510351703, + -0.0294059740666259, + -0.016824096149664496, + 0.03303309410996476, + -0.9993126460133831 + ], + [ + 0.9811420270169842, + -0.1815059592779907, + -0.06645231047585899, + -0.18346011349823446, + -0.9827207998112542, + -0.024540097260277904, + -0.06084989380614, + 0.03626866919126401, + -0.997487781408312 + ], + [ + 0.9843056472440371, + -0.16594993299359911, + -0.060025099274528385, + -0.16801352335928438, + -0.9852937546888473, + -0.031107441867706438, + -0.05398007754622272, + 0.04070425912080339, + -0.9977120398780052 + ], + [ + 0.9845996675294094, + -0.15739232752195184, + -0.07609960537478878, + -0.15970361590420526, + -0.9868415869616673, + -0.02526731703405832, + -0.0711213734969877, + 0.037031574098330876, + -0.9967800222474873 + ], + [ + 0.9895484718893145, + -0.1441300578028331, + -0.004510900051481933, + -0.14419220203192473, + -0.9886681596784958, + -0.041759776234084695, + 0.0015590557100597278, + 0.041973759370447325, + -0.9991174970290554 + ], + [ + 0.9853387278542615, + -0.15037732303008222, + 0.08058692269128827, + -0.14370001079283268, + -0.9861251617657304, + -0.0831112040019362, + 0.09196683254676728, + 0.07031234636120454, + -0.9932765353417429 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0013239383697509766, + 0.0005992921069264412, + -0.014435984194278717, + -0.0027190300170332193, + 0.04286640137434006, + 0.0018290653824806213, + 1.0 + ], + [ + 0.01035335659980774, + 0.041097261011600494, + -0.004526309669017792, + -0.0008846684941090643, + 0.01988406479358673, + 0.10571453720331192, + 1.0 + ], + [ + 0.01096796989440918, + 0.049954675137996674, + -0.0022272989153862, + 0.0030861215200275183, + 0.00010525435209274292, + 0.1018475741147995, + 1.0 + ], + [ + 0.012228071689605713, + 0.02053317427635193, + 0.0021950602531433105, + 0.010989165864884853, + -0.012739330530166626, + -0.005950339138507843, + 1.0 + ], + [ + 0.005904585123062134, + 0.030934035778045654, + -0.0003966987133026123, + 0.028783436864614487, + -0.025802835822105408, + 0.004985727369785309, + 1.0 + ], + [ + -0.0036103427410125732, + 0.011773407459259033, + -0.009661905467510223, + 0.013693694025278091, + 0.023276589810848236, + 0.011382542550563812, + 1.0 + ], + [ + 0.0006665885448455811, + 0.004221782088279724, + -0.011360511183738708, + 0.014539316296577454, + 0.0297856368124485, + -0.006166048347949982, + 1.0 + ], + [ + -0.0025283098220825195, + 0.005685284733772278, + -0.0031786300241947174, + 0.028149068355560303, + 0.016136791557073593, + 0.004198923707008362, + 1.0 + ], + [ + -0.00734749436378479, + 0.0015468597412109375, + -0.021289516240358353, + 0.00542110949754715, + 0.07113773375749588, + 0.001404687762260437, + 1.0 + ], + [ + 0.0008466541767120361, + 0.0007434636354446411, + -0.0005233436822891235, + 0.0033519789576530457, + -0.0027271173894405365, + 0.0016139671206474304, + 0.0 + ], + [ + 0.001093059778213501, + 7.37607479095459e-05, + -0.00038071349263191223, + -0.0001796931028366089, + -0.007822033017873764, + -0.0003994554281234741, + 0.0 + ], + [ + 0.0016395747661590576, + -0.004246324300765991, + 0.003083430230617523, + -0.024163514375686646, + -0.02466690167784691, + 0.000972449779510498, + 0.0 + ], + [ + 0.004210770130157471, + -0.015102475881576538, + 0.02548229694366455, + -0.03825888782739639, + -0.06874703615903854, + -0.001727178692817688, + 0.0 + ], + [ + -0.005939215421676636, + -0.0408070906996727, + 0.01819198951125145, + -0.056259527802467346, + -0.020935028791427612, + -0.03266733139753342, + 0.0 + ], + [ + -0.027181416749954224, + -0.05112680792808533, + -6.392598152160645e-05, + -0.03625384345650673, + 0.025158002972602844, + -0.07041029632091522, + 0.0 + ], + [ + -0.037145793437957764, + -0.03983195498585701, + -0.008623771369457245, + 0.002437058836221695, + 0.03271002694964409, + -0.05245203152298927, + 0.0 + ], + [ + -0.02859598398208618, + -0.026913996785879135, + -0.009888984262943268, + 0.013805069029331207, + 0.020686279982328415, + -0.06662445515394211, + 0.0 + ], + [ + -0.018747806549072266, + -0.02334992028772831, + -0.012357737869024277, + -0.00126652792096138, + 0.03155593201518059, + -0.059418484568595886, + 0.0 + ], + [ + -0.0017575323581695557, + -0.010981060564517975, + -0.006555724889039993, + 0.0007460117340087891, + 0.0051819318905472755, + -0.022349998354911804, + 0.0 + ], + [ + -0.0038758516311645508, + -0.009768303483724594, + -0.016241462901234627, + -0.003300219774246216, + 0.04406261816620827, + -0.0009582489728927612, + 0.0 + ], + [ + 0.003909200429916382, + -0.0021733641624450684, + 0.0018352735787630081, + -0.004430986940860748, + -0.00688118115067482, + 0.01578858494758606, + 1.0 + ], + [ + -0.0026514530181884766, + 0.0004902854561805725, + 0.00014779530465602875, + 0.00364086776971817, + 0.017175141721963882, + 0.008261919021606445, + 1.0 + ], + [ + 0.004752397537231445, + -0.0010586455464363098, + 0.028475577011704445, + -0.004852022975683212, + -0.07274052500724792, + 0.01610437035560608, + 1.0 + ], + [ + 0.0034195780754089355, + -0.00418100506067276, + 0.03760433942079544, + -0.028684258460998535, + -0.0905379131436348, + -0.0001204758882522583, + 1.0 + ], + [ + -0.0028582513332366943, + 0.002606131136417389, + 0.029643647372722626, + 0.0037145018577575684, + -0.06625986099243164, + -0.0002898871898651123, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9515043497085571 + ], + [ + 0.67718505859375 + ], + [ + 0.573952317237854 + ], + [ + 0.573952317237854 + ], + [ + 0.573952317237854 + ], + [ + 0.573952317237854 + ], + [ + 0.573952317237854 + ], + [ + 0.573952317237854 + ], + [ + 0.573952317237854 + ], + [ + 0.573952317237854 + ], + [ + 0.573952317237854 + ], + [ + 0.6189444065093994 + ], + [ + 0.7131344676017761 + ], + [ + 0.9672539830207825 + ], + [ + 1.0027955770492554 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3595525026321411, + -0.013758811168372631, + 0.08179634809494019 + ], + [ + 0.36990585923194885, + 0.027338450774550438, + 0.0772700384259224 + ], + [ + 0.38087382912635803, + 0.07729312777519226, + 0.0750427395105362 + ], + [ + 0.39310190081596375, + 0.09782630205154419, + 0.0772377997636795 + ], + [ + 0.3990064859390259, + 0.12876033782958984, + 0.07684110105037689 + ], + [ + 0.3953961431980133, + 0.14053374528884888, + 0.06717919558286667 + ], + [ + 0.3960627317428589, + 0.1447555273771286, + 0.05581868439912796 + ], + [ + 0.39353442192077637, + 0.15044081211090088, + 0.05264005437493324 + ], + [ + 0.3861869275569916, + 0.15198767185211182, + 0.03135053813457489 + ], + [ + 0.3870335817337036, + 0.15273113548755646, + 0.030827194452285767 + ], + [ + 0.3881266415119171, + 0.152804896235466, + 0.030446480959653854 + ], + [ + 0.38976621627807617, + 0.1485585719347, + 0.03352991119027138 + ], + [ + 0.39397698640823364, + 0.13345609605312347, + 0.05901220813393593 + ], + [ + 0.388037770986557, + 0.09264900535345078, + 0.07720419764518738 + ], + [ + 0.3608563542366028, + 0.04152219742536545, + 0.07714027166366577 + ], + [ + 0.323710560798645, + 0.0016902410425245762, + 0.06851650029420853 + ], + [ + 0.29511457681655884, + -0.025223756209015846, + 0.05862751603126526 + ], + [ + 0.2763667702674866, + -0.048573676496744156, + 0.04626977816224098 + ], + [ + 0.274609237909317, + -0.05955473706126213, + 0.03971405327320099 + ], + [ + 0.27073338627815247, + -0.06932304054498672, + 0.023472590371966362 + ], + [ + 0.27464258670806885, + -0.0714964047074318, + 0.02530786395072937 + ], + [ + 0.27199113368988037, + -0.07100611925125122, + 0.0254556592553854 + ], + [ + 0.2767435312271118, + -0.07206476479768753, + 0.053931236267089844 + ], + [ + 0.28016310930252075, + -0.07624576985836029, + 0.09153557568788528 + ], + [ + 0.27730485796928406, + -0.0736396387219429, + 0.12117922306060791 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9906957526776289, + -0.09776591913209076, + 0.09467708636604494, + -0.09724833950690259, + -0.9952091355502257, + -0.010076555985176684, + 0.09520864503634244, + 0.0007756117776834036, + -0.9954570369115454 + ], + [ + 0.9971227141831094, + 0.007740814258033764, + 0.0754080410482288, + 0.007843878057613494, + -0.999968663128026, + -0.0010706722025689674, + 0.07539739012144935, + 0.0016590830511717966, + -0.9971521854793794 + ], + [ + 0.9911660245825443, + 0.10960028616019431, + 0.07468392723229629, + 0.1091831532440271, + -0.9939747309668657, + 0.009657807568930935, + 0.0752924349515056, + -0.0014182640624109061, + -0.9971604874673499 + ], + [ + 0.9907636816923876, + 0.10465568138167969, + 0.08622363593517847, + 0.10317575404229251, + -0.9944316689941826, + 0.021457387521538192, + 0.0879891517015036, + -0.012363011606459324, + -0.9960447104055464 + ], + [ + 0.9876506316315238, + 0.11309623674755798, + 0.10842265017694433, + 0.10783175295339542, + -0.9927412006359869, + 0.05326557626475705, + 0.1136597681365294, + -0.040916375613671736, + -0.9926768393156914 + ], + [ + 0.9887183929840533, + 0.1245920626846749, + 0.08314299303615015, + 0.11935127624525732, + -0.9907026483169608, + 0.06529575389249136, + 0.09050531605192895, + -0.05463589052755124, + -0.9943961520604362 + ], + [ + 0.9916745200748612, + 0.117636191018816, + 0.052377216391084905, + 0.11350884072070103, + -0.990639704825031, + 0.07582030270592521, + 0.06080616179743979, + -0.06924378518509974, + -0.9957449015188095 + ], + [ + 0.9920344480955887, + 0.12165278509874942, + 0.03268415012507085, + 0.11777214371656726, + -0.9877896888138724, + 0.10198653262758521, + 0.04469201221789984, + -0.09732487118260554, + -0.9942487080671538 + ], + [ + 0.9925133090783165, + 0.11595475273167892, + -0.03836439262317631, + 0.11924305040875681, + -0.9879224324454441, + 0.09894626016323955, + -0.02642775494862758, + -0.10278016729900764, + -0.9943529609642459 + ], + [ + 0.9923874150316763, + 0.11770655280039831, + -0.03622686730308278, + 0.12085304138980961, + -0.987362008815462, + 0.10252222166305697, + -0.02370149517606623, + -0.1061198896331082, + -0.9940708265262975 + ], + [ + 0.9925892920350043, + 0.1181413433626519, + -0.02844504044499041, + 0.12047527018338812, + -0.9873275019538652, + 0.1032962398143332, + -0.015881014189553067, + -0.10595766548017463, + -0.9942438164325201 + ], + [ + 0.9925585400971993, + 0.12176190375686857, + -0.001258282011045902, + 0.12145108629106335, + -0.9891736415514114, + 0.08237196427571937, + 0.008785107787439449, + -0.0819118163235487, + -0.996600861041039 + ], + [ + 0.9898226337389655, + 0.12298966299307848, + 0.07158698579285645, + 0.1193814838950483, + -0.9914496217747687, + 0.05268499583073222, + 0.07745459987033677, + -0.043602640740176835, + -0.9960419643164685 + ], + [ + 0.9913608640544657, + 0.08601869389137531, + 0.0990172789083047, + 0.08682814718527965, + -0.99621572278357, + -0.003886712644450988, + 0.09830824013049233, + 0.012450621672470514, + -0.9950781235372499 + ], + [ + 0.9971707893990737, + 0.013360783022050722, + 0.07397233433024802, + 0.016905231885519147, + -0.9987282200531803, + -0.04749900635069319, + 0.07324363388121274, + 0.04861514112335834, + -0.9961284747207214 + ], + [ + 0.9985464075982606, + -0.03733344254227152, + 0.038875261292378505, + -0.03546375554506755, + -0.9982309190585541, + -0.047721633230154936, + 0.04058810066075379, + 0.04627360266346947, + -0.9981038822594045 + ], + [ + 0.9945925578732981, + -0.10253767956784052, + 0.01648235698839641, + -0.1019272767016936, + -0.9941976933706993, + -0.0343769800965325, + 0.019911657068824418, + 0.03251108680471735, + -0.9992730133189576 + ], + [ + 0.9869133200607021, + -0.16036168180705793, + -0.016918324230657315, + -0.1608308003466786, + -0.9864800910014618, + -0.03147195128354775, + -0.011642694989071552, + 0.033781075556576015, + -0.999361439414005 + ], + [ + 0.9830000557280293, + -0.18221242062978985, + -0.022572642887439414, + -0.18283282043287027, + -0.9827041510351703, + -0.0294059740666259, + -0.016824096149664496, + 0.03303309410996476, + -0.9993126460133831 + ], + [ + 0.9811420270169842, + -0.1815059592779907, + -0.06645231047585899, + -0.18346011349823446, + -0.9827207998112542, + -0.024540097260277904, + -0.06084989380614, + 0.03626866919126401, + -0.997487781408312 + ], + [ + 0.9843056472440371, + -0.16594993299359911, + -0.060025099274528385, + -0.16801352335928438, + -0.9852937546888473, + -0.031107441867706438, + -0.05398007754622272, + 0.04070425912080339, + -0.9977120398780052 + ], + [ + 0.9845996675294094, + -0.15739232752195184, + -0.07609960537478878, + -0.15970361590420526, + -0.9868415869616673, + -0.02526731703405832, + -0.0711213734969877, + 0.037031574098330876, + -0.9967800222474873 + ], + [ + 0.9895484718893145, + -0.1441300578028331, + -0.004510900051481933, + -0.14419220203192473, + -0.9886681596784958, + -0.041759776234084695, + 0.0015590557100597278, + 0.041973759370447325, + -0.9991174970290554 + ], + [ + 0.9853387278542615, + -0.15037732303008222, + 0.08058692269128827, + -0.14370001079283268, + -0.9861251617657304, + -0.0831112040019362, + 0.09196683254676728, + 0.07031234636120454, + -0.9932765353417429 + ], + [ + 0.9771096559174102, + -0.15471433019485437, + 0.1460143703383949, + -0.14278918610954433, + -0.985747633800246, + -0.08895420612534284, + 0.15769581048060302, + 0.06606874063862313, + -0.9852750645719661 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006288.json b/json/chunk-0006/episode_0006288.json new file mode 100644 index 0000000000000000000000000000000000000000..40fb8a3c7834590b92ded75769f2d384f8fbacfe --- /dev/null +++ b/json/chunk-0006/episode_0006288.json @@ -0,0 +1,1762 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 28, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the yellow towel to the left side of the table." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006288.mp4", + "start": 0, + "end": 28, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3832111060619354, + 0.03949515148997307, + 0.11625956743955612, + -0.06660769134759903, + -0.1598585546016693, + 0.01280397642403841, + 0.0, + 1.0001531839370728 + ], + [ + 0.3800680339336395, + 0.03861838951706886, + 0.10232841223478317, + -0.07470136880874634, + -0.1205216720700264, + 0.016429565846920013, + 0.0, + 1.0001531839370728 + ], + [ + 0.3651309609413147, + 0.02718670666217804, + 0.08665279299020767, + -0.09394499659538269, + -0.08084866404533386, + 0.021988622844219208, + 0.0, + 1.0001531839370728 + ], + [ + 0.35595613718032837, + 0.016324477270245552, + 0.0922451838850975, + -0.05773225426673889, + -0.09408187121152878, + -0.015008398331701756, + 0.0, + 1.0001531839370728 + ], + [ + 0.331480473279953, + 0.004307328723371029, + 0.09761371463537216, + -0.015175781212747097, + -0.11218554526567459, + -0.05612324923276901, + 0.0, + 1.0001531839370728 + ], + [ + 0.3027461767196655, + -0.012282024137675762, + 0.09534668922424316, + 0.016767490655183792, + -0.11279232800006866, + -0.1018809825181961, + 0.0, + 1.0001531839370728 + ], + [ + 0.2748858332633972, + -0.02374078519642353, + 0.08352194726467133, + 0.013909258879721165, + -0.0990459993481636, + -0.15433788299560547, + 0.0, + 1.0001531839370728 + ], + [ + 0.26212912797927856, + -0.03765658289194107, + 0.06636838614940643, + -0.01651882752776146, + -0.12000618875026703, + -0.20409329235553741, + 0.0, + 1.0001531839370728 + ], + [ + 0.24846583604812622, + -0.04580647870898247, + 0.04915475472807884, + -0.014159546233713627, + -0.1164318397641182, + -0.23329991102218628, + 0.0, + 1.0001531839370728 + ], + [ + 0.23761054873466492, + -0.043053038418293, + 0.02954074926674366, + -0.0054551693610847, + -0.07132764160633087, + -0.2546152174472809, + 0.0, + 1.0001531839370728 + ], + [ + 0.23784878849983215, + -0.03757078945636749, + 0.02319040335714817, + 0.007247196044772863, + -0.05787721648812294, + -0.24789221584796906, + 0.0, + 1.0008161067962646 + ], + [ + 0.24404297769069672, + -0.03298240154981613, + 0.021338650956749916, + 0.0059305340982973576, + -0.05337129533290863, + -0.2267753630876541, + 0.0, + 1.0008161067962646 + ], + [ + 0.25355008244514465, + -0.022712215781211853, + 0.021427536383271217, + 0.021453017368912697, + -0.04253655672073364, + -0.2098671942949295, + 0.0, + 1.0008161067962646 + ], + [ + 0.2685677707195282, + 0.0020032539032399654, + 0.02331932634115219, + 0.06930114328861237, + -0.011853840202093124, + -0.15996341407299042, + 0.0, + 1.0008161067962646 + ], + [ + 0.2791438698768616, + 0.04201124235987663, + 0.023583514615893364, + 0.07406315952539444, + -0.00901725236326456, + -0.03106985241174698, + 0.0, + 1.0008161067962646 + ], + [ + 0.2880919277667999, + 0.0759890079498291, + 0.022938799113035202, + 0.07455571740865707, + -0.007597974967211485, + 0.06218131631612778, + 0.0, + 1.0008161067962646 + ], + [ + 0.2949848473072052, + 0.11158280074596405, + 0.02228935994207859, + 0.07742679864168167, + -0.005152578465640545, + 0.16014759242534637, + 0.0, + 1.0008161067962646 + ], + [ + 0.30191218852996826, + 0.14588525891304016, + 0.02183709107339382, + 0.08464702218770981, + -0.0056954845786094666, + 0.2466142773628235, + 0.0, + 1.0014774799346924 + ], + [ + 0.3043157458305359, + 0.17644447088241577, + 0.02233344502747059, + 0.09370043128728867, + -0.012112724594771862, + 0.31797733902931213, + 0.0, + 1.0008161067962646 + ], + [ + 0.3025873601436615, + 0.1924470216035843, + 0.022922005504369736, + 0.10280393064022064, + -0.018839437514543533, + 0.35616520047187805, + 0.0, + 1.0008161067962646 + ], + [ + 0.3002456724643707, + 0.1923239529132843, + 0.02365538477897644, + 0.11009960621595383, + -0.023810556158423424, + 0.36514827609062195, + 0.0, + 1.0014774799346924 + ], + [ + 0.29947757720947266, + 0.19175051152706146, + 0.02468729019165039, + 0.11034075170755386, + -0.032428327947854996, + 0.3732965886592865, + 0.0, + 1.0014774799346924 + ], + [ + 0.2977818548679352, + 0.18879283964633942, + 0.02829619310796261, + 0.10768463462591171, + -0.03976602852344513, + 0.36480480432510376, + 0.0, + 1.0014774799346924 + ], + [ + 0.29876062273979187, + 0.1817985326051712, + 0.040403928607702255, + 0.11011721938848495, + -0.0396721325814724, + 0.34847456216812134, + 0.0, + 0.9994885921478271 + ], + [ + 0.29978418350219727, + 0.1782926321029663, + 0.07202862203121185, + 0.12528212368488312, + -0.10730776935815811, + 0.3595445156097412, + 0.0, + 0.9994885921478271 + ], + [ + 0.2929286062717438, + 0.17391209304332733, + 0.09823562204837799, + 0.12727151811122894, + -0.1719283014535904, + 0.38607579469680786, + 0.0, + 0.9994885921478271 + ], + [ + 0.28810790181159973, + 0.1651512235403061, + 0.11849229782819748, + 0.12931251525878906, + -0.2340991199016571, + 0.38795971870422363, + 0.0, + 0.9994885921478271 + ], + [ + 0.284132719039917, + 0.1573863923549652, + 0.11699222773313522, + 0.06179213151335716, + -0.2827340364456177, + 0.3899187445640564, + 0.0, + 0.9994885921478271 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3832111060619354, + 0.03949515148997307, + 0.11625956743955612 + ], + [ + 0.3800680339336395, + 0.03861838951706886, + 0.10232841223478317 + ], + [ + 0.3651309609413147, + 0.02718670666217804, + 0.08665279299020767 + ], + [ + 0.35595613718032837, + 0.016324477270245552, + 0.0922451838850975 + ], + [ + 0.331480473279953, + 0.004307328723371029, + 0.09761371463537216 + ], + [ + 0.3027461767196655, + -0.012282024137675762, + 0.09534668922424316 + ], + [ + 0.2748858332633972, + -0.02374078519642353, + 0.08352194726467133 + ], + [ + 0.26212912797927856, + -0.03765658289194107, + 0.06636838614940643 + ], + [ + 0.24846583604812622, + -0.04580647870898247, + 0.04915475472807884 + ], + [ + 0.23761054873466492, + -0.043053038418293, + 0.02954074926674366 + ], + [ + 0.23784878849983215, + -0.03757078945636749, + 0.02319040335714817 + ], + [ + 0.24404297769069672, + -0.03298240154981613, + 0.021338650956749916 + ], + [ + 0.25355008244514465, + -0.022712215781211853, + 0.021427536383271217 + ], + [ + 0.2685677707195282, + 0.0020032539032399654, + 0.02331932634115219 + ], + [ + 0.2791438698768616, + 0.04201124235987663, + 0.023583514615893364 + ], + [ + 0.2880919277667999, + 0.0759890079498291, + 0.022938799113035202 + ], + [ + 0.2949848473072052, + 0.11158280074596405, + 0.02228935994207859 + ], + [ + 0.30191218852996826, + 0.14588525891304016, + 0.02183709107339382 + ], + [ + 0.3043157458305359, + 0.17644447088241577, + 0.02233344502747059 + ], + [ + 0.3025873601436615, + 0.1924470216035843, + 0.022922005504369736 + ], + [ + 0.3002456724643707, + 0.1923239529132843, + 0.02365538477897644 + ], + [ + 0.29947757720947266, + 0.19175051152706146, + 0.02468729019165039 + ], + [ + 0.2977818548679352, + 0.18879283964633942, + 0.02829619310796261 + ], + [ + 0.29876062273979187, + 0.1817985326051712, + 0.040403928607702255 + ], + [ + 0.29978418350219727, + 0.1782926321029663, + 0.07202862203121185 + ], + [ + 0.2929286062717438, + 0.17391209304332733, + 0.09823562204837799 + ], + [ + 0.28810790181159973, + 0.1651512235403061, + 0.11849229782819748 + ], + [ + 0.284132719039917, + 0.1573863923549652, + 0.11699222773313522 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9871688836713358, + 0.0021814246097538225, + 0.15966476285567882, + 0.012640377882774487, + -0.9978363900316775, + -0.06451945114095614, + 0.15917856626464777, + 0.06570981749496435, + -0.985060609265597 + ], + [ + 0.992612066977937, + 0.007411217067512236, + 0.12110474124230633, + 0.016309652832912858, + -0.9972239800167739, + -0.07265210873728996, + 0.12023011151228968, + 0.07409053611010898, + -0.9899774304218553 + ], + [ + 0.9964925762301455, + 0.014315828966868713, + 0.08244757461077662, + 0.021915031508819613, + -0.9955163095073521, + -0.09201635125796963, + 0.08076061485758795, + 0.09350045211577306, + -0.9923383437829917 + ], + [ + 0.9954654384364079, + -0.020402757650792278, + 0.09291010902400985, + -0.014941463707305942, + -0.9981401694478669, + -0.05910122500310025, + 0.09394313993524818, + 0.0574450138378159, + -0.9939188884633794 + ], + [ + 0.9921492002278776, + -0.057783525953729716, + 0.11091000232412632, + -0.05574117400528198, + -0.998215239128732, + -0.021430303116882134, + 0.11195037296809662, + 0.015079804359580245, + -0.9935993727316765 + ], + [ + 0.9884932561462505, + -0.09981316487557511, + 0.1136592040747437, + -0.10105856001969667, + -0.9948667101932075, + 0.005234156674143158, + 0.11255332069791785, + -0.01666016407078184, + -0.9935060085037262 + ], + [ + 0.9832707416385029, + -0.15235200349661843, + 0.09983744622252037, + -0.15297246856591185, + -0.9882293780501035, + -0.0014560973720191316, + 0.09888413673850523, + -0.013840642661092285, + -0.9950026955301219 + ], + [ + 0.972202323912037, + -0.20458817598485965, + 0.11386974851655053, + -0.20122166306502284, + -0.9787107550119113, + -0.04043637393932085, + 0.11971835153133702, + 0.016399276545087653, + -0.9926724434753976 + ], + [ + 0.9663216786223963, + -0.2327663972570008, + 0.1097370390177819, + -0.22962401423676035, + -0.9724309900816902, + -0.04062981189397286, + 0.11616895243648442, + 0.014063208621776985, + -0.9931299011977587 + ], + [ + 0.9652995229211186, + -0.25224554096359697, + 0.06759451244179054, + -0.2512326028639448, + -0.9676479626550879, + -0.023229283838839543, + 0.07126717551908762, + 0.0054412713073607195, + -0.9974424205236568 + ], + [ + 0.9678085086021746, + -0.24494831434184777, + 0.0578533834647723, + -0.24495031566264208, + -0.9695091428691536, + -0.0071669205305480614, + 0.05784490931799158, + -0.007234997871907826, + -0.9982993645554358 + ], + [ + 0.9730090238107695, + -0.2245244011675843, + 0.05331259572700288, + -0.22451647608106132, + -0.9744504720850681, + -0.0062152571410894015, + 0.05334596096196399, + -0.005922054839776622, + -0.9985585299397922 + ], + [ + 0.9771738947800893, + -0.20738989412686787, + 0.04605009418401985, + -0.20814156648542936, + -0.9780235695293148, + 0.012123767818995573, + 0.04252373056661602, + -0.021431968159360867, + -0.9988655580604998 + ], + [ + 0.9871637525278492, + -0.15808942410212765, + 0.02270373718560303, + -0.1592708973693114, + -0.9849941333873958, + 0.06647810499395457, + 0.011853562599893199, + -0.06924082018196054, + -0.997529549373962 + ], + [ + 0.9994767354390897, + -0.030312787222372645, + 0.011286728792307153, + -0.031063590900454793, + -0.9967979990373622, + 0.07368040740576727, + 0.009017130163700402, + -0.07399245938554701, + -0.997218033991408 + ], + [ + 0.9980385560963231, + 0.06253347403771699, + 0.002933456994986272, + 0.062139459544190506, + -0.9952595749175254, + 0.07481354224031406, + 0.0075979018632231984, + -0.07448451624170971, + -0.9971932253718514 + ], + [ + 0.9871906538232456, + 0.1593796125504736, + -0.007263064593806476, + 0.1594617953433938, + -0.9841825841118803, + 0.07717886340652663, + 0.005152555666314177, + -0.07734843394744742, + -0.9969908078492915 + ], + [ + 0.9697287794146825, + 0.24371497791136784, + -0.015136179061137643, + 0.24411811932151964, + -0.9661548631966608, + 0.08337340187593026, + 0.005695453786454335, + -0.08454460280291437, + -0.9964034182714666 + ], + [ + 0.9498000567301202, + 0.3123509291938326, + -0.017797451143627803, + 0.3126230018946324, + -0.9453486527534743, + 0.09264331289186327, + 0.012112428404294136, + -0.093556516442952, + -0.9955402891441464 + ], + [ + 0.9370745200310453, + 0.34865366048836643, + -0.018220014726919347, + 0.34862079899394904, + -0.9316184272478537, + 0.10271633035236542, + 0.018838323104959167, + -0.10260473205607325, + -0.9945438082569791 + ], + [ + 0.9338060540961376, + 0.3573692110165589, + -0.017131851937358684, + 0.35698657941444695, + -0.9274810339788718, + 0.11108336386451259, + 0.02380830635249182, + -0.10984615890819843, + -0.993663416817657 + ], + [ + 0.9306406407081772, + 0.36579356515008365, + -0.010152120816107089, + 0.3644952262725337, + -0.9241656041334582, + 0.11428545909771105, + 0.032422644660912325, + -0.11005909245233504, + -0.9933960782496377 + ], + [ + 0.9334548783378269, + 0.35869203237372965, + -0.0014198658090383287, + 0.3564849035363466, + -0.927257814820452, + 0.11450527675649605, + 0.03975554876987681, + -0.10739166990974383, + -0.9934216252810296 + ], + [ + 0.939155146159216, + 0.343492922213393, + -0.0004731088300696275, + 0.3411957779095076, + -0.9327136433297006, + 0.11675059179019844, + 0.03966172688357254, + -0.10980834183221026, + -0.9931611528270087 + ], + [ + 0.9306730222393499, + 0.36161743313409894, + 0.05550277226751486, + 0.34982409663934805, + -0.9240120502056988, + 0.1543529477694704, + 0.10710194716408396, + -0.12423591722270272, + -0.9864555792256918 + ], + [ + 0.9127357693012695, + 0.3936271719877659, + 0.10941236178299588, + 0.37100428658923784, + -0.9107241240857646, + 0.18148660870881664, + 0.17108253788867547, + -0.1250568641903763, + -0.9772878521441057 + ], + [ + 0.9004336326091603, + 0.4028316891130556, + 0.16415207434752363, + 0.36798191504649785, + -0.906638114026334, + 0.20638953557165834, + 0.23196677232953952, + -0.12543508457004893, + -0.9646022268758874 + ], + [ + 0.8882163932675468, + 0.39532260890170207, + 0.23407621327666592, + 0.36502134988495855, + -0.916626110450272, + 0.1629600802925951, + 0.278982173012818, + -0.059300999417870585, + -0.958463530140343 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0031430721282958984, + -0.0008767619729042053, + -0.01393115520477295, + -0.008093677461147308, + 0.039336882531642914, + 0.0036255894228816032, + 1.0 + ], + [ + -0.014937072992324829, + -0.011431682854890823, + -0.0156756192445755, + -0.019243627786636353, + 0.039673008024692535, + 0.005559056997299194, + 1.0 + ], + [ + -0.009174823760986328, + -0.010862229391932487, + 0.0055923908948898315, + 0.0362127423286438, + -0.013233207166194916, + -0.03699702024459839, + 1.0 + ], + [ + -0.024475663900375366, + -0.012017148546874523, + 0.005368530750274658, + 0.04255647212266922, + -0.018103674054145813, + -0.04111485183238983, + 1.0 + ], + [ + -0.028734296560287476, + -0.01658935286104679, + -0.002267025411128998, + 0.031943272799253464, + -0.0006067827343940735, + -0.045757733285427094, + 1.0 + ], + [ + -0.02786034345626831, + -0.011458761058747768, + -0.011824741959571838, + -0.0028582317754626274, + 0.01374632865190506, + -0.05245690047740936, + 1.0 + ], + [ + -0.012756705284118652, + -0.01391579769551754, + -0.017153561115264893, + -0.03042808547616005, + -0.020960189402103424, + -0.049755409359931946, + 1.0 + ], + [ + -0.013663291931152344, + -0.008149895817041397, + -0.01721363142132759, + 0.0023592812940478325, + 0.0035743489861488342, + -0.029206618666648865, + 1.0 + ], + [ + -0.010855287313461304, + 0.0027534402906894684, + -0.019614005461335182, + 0.008704377338290215, + 0.04510419815778732, + -0.021315306425094604, + 1.0 + ], + [ + 0.00023823976516723633, + 0.005482248961925507, + -0.0063503459095954895, + 0.012702365405857563, + 0.013450425118207932, + 0.006723001599311829, + 1.0 + ], + [ + 0.006194189190864563, + 0.004588387906551361, + -0.0018517524003982544, + -0.0013166619464755058, + 0.00450592115521431, + 0.02111685276031494, + 1.0 + ], + [ + 0.009507104754447937, + 0.010270185768604279, + 8.888542652130127e-05, + 0.015522483736276627, + 0.010834738612174988, + 0.01690816879272461, + 1.0 + ], + [ + 0.015017688274383545, + 0.024715470150113106, + 0.0018917899578809738, + 0.04784812778234482, + 0.030682716518640518, + 0.04990378022193909, + 1.0 + ], + [ + 0.010576099157333374, + 0.04000798985362053, + 0.0002641882747411728, + 0.004762016236782074, + 0.0028365878388285637, + 0.12889355421066284, + 1.0 + ], + [ + 0.008948057889938354, + 0.03397776558995247, + -0.0006447155028581619, + 0.0004925578832626343, + 0.0014192773960530758, + 0.09325116872787476, + 1.0 + ], + [ + 0.0068929195404052734, + 0.03559379279613495, + -0.0006494391709566116, + 0.002871081233024597, + 0.00244539650157094, + 0.0979662761092186, + 1.0 + ], + [ + 0.0069273412227630615, + 0.03430245816707611, + -0.0004522688686847687, + 0.007220223546028137, + -0.0005429061129689217, + 0.08646668493747711, + 1.0 + ], + [ + 0.002403557300567627, + 0.03055921196937561, + 0.000496353954076767, + 0.009053409099578857, + -0.0064172400161623955, + 0.07136306166648865, + 1.0 + ], + [ + -0.0017283856868743896, + 0.016002550721168518, + 0.000588560476899147, + 0.009103499352931976, + -0.006726712919771671, + 0.03818786144256592, + 1.0 + ], + [ + -0.0023416876792907715, + -0.0001230686902999878, + 0.0007333792746067047, + 0.007295675575733185, + -0.0049711186438798904, + 0.008983075618743896, + 1.0 + ], + [ + -0.0007680952548980713, + -0.0005734413862228394, + 0.0010319054126739502, + 0.00024114549160003662, + -0.008617771789431572, + 0.00814831256866455, + 1.0 + ], + [ + -0.0016957223415374756, + -0.002957671880722046, + 0.0036089029163122177, + -0.002656117081642151, + -0.007337700575590134, + -0.00849178433418274, + 1.0 + ], + [ + 0.0009787678718566895, + -0.006994307041168213, + 0.012107735499739647, + 0.002432584762573242, + 9.389594197273254e-05, + -0.016330242156982422, + 1.0 + ], + [ + 0.0010235607624053955, + -0.003505900502204895, + 0.0316246934235096, + 0.015164904296398163, + -0.06763564050197601, + 0.011069953441619873, + 1.0 + ], + [ + -0.006855577230453491, + -0.004380539059638977, + 0.026207000017166138, + 0.001989394426345825, + -0.06462053209543228, + 0.02653127908706665, + 1.0 + ], + [ + -0.004820704460144043, + -0.00876086950302124, + 0.02025667577981949, + 0.0020409971475601196, + -0.06217081844806671, + 0.0018839240074157715, + 1.0 + ], + [ + -0.003975182771682739, + -0.007764831185340881, + -0.0015000700950622559, + -0.0675203800201416, + -0.04863491654396057, + 0.0019590258598327637, + 1.0 + ], + [ + -0.0005711615085601807, + 0.0024192482233047485, + 0.00018607079982757568, + -0.0022274330258369446, + -0.004642009735107422, + 0.005474567413330078, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3800680339336395, + 0.03861838951706886, + 0.10232841223478317 + ], + [ + 0.3651309609413147, + 0.02718670666217804, + 0.08665279299020767 + ], + [ + 0.35595613718032837, + 0.016324477270245552, + 0.0922451838850975 + ], + [ + 0.331480473279953, + 0.004307328723371029, + 0.09761371463537216 + ], + [ + 0.3027461767196655, + -0.012282024137675762, + 0.09534668922424316 + ], + [ + 0.2748858332633972, + -0.02374078519642353, + 0.08352194726467133 + ], + [ + 0.26212912797927856, + -0.03765658289194107, + 0.06636838614940643 + ], + [ + 0.24846583604812622, + -0.04580647870898247, + 0.04915475472807884 + ], + [ + 0.23761054873466492, + -0.043053038418293, + 0.02954074926674366 + ], + [ + 0.23784878849983215, + -0.03757078945636749, + 0.02319040335714817 + ], + [ + 0.24404297769069672, + -0.03298240154981613, + 0.021338650956749916 + ], + [ + 0.25355008244514465, + -0.022712215781211853, + 0.021427536383271217 + ], + [ + 0.2685677707195282, + 0.0020032539032399654, + 0.02331932634115219 + ], + [ + 0.2791438698768616, + 0.04201124235987663, + 0.023583514615893364 + ], + [ + 0.2880919277667999, + 0.0759890079498291, + 0.022938799113035202 + ], + [ + 0.2949848473072052, + 0.11158280074596405, + 0.02228935994207859 + ], + [ + 0.30191218852996826, + 0.14588525891304016, + 0.02183709107339382 + ], + [ + 0.3043157458305359, + 0.17644447088241577, + 0.02233344502747059 + ], + [ + 0.3025873601436615, + 0.1924470216035843, + 0.022922005504369736 + ], + [ + 0.3002456724643707, + 0.1923239529132843, + 0.02365538477897644 + ], + [ + 0.29947757720947266, + 0.19175051152706146, + 0.02468729019165039 + ], + [ + 0.2977818548679352, + 0.18879283964633942, + 0.02829619310796261 + ], + [ + 0.29876062273979187, + 0.1817985326051712, + 0.040403928607702255 + ], + [ + 0.29978418350219727, + 0.1782926321029663, + 0.07202862203121185 + ], + [ + 0.2929286062717438, + 0.17391209304332733, + 0.09823562204837799 + ], + [ + 0.28810790181159973, + 0.1651512235403061, + 0.11849229782819748 + ], + [ + 0.284132719039917, + 0.1573863923549652, + 0.11699222773313522 + ], + [ + 0.2835615575313568, + 0.15980564057826996, + 0.1171782985329628 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.992612066977937, + 0.007411217067512236, + 0.12110474124230633, + 0.016309652832912858, + -0.9972239800167739, + -0.07265210873728996, + 0.12023011151228968, + 0.07409053611010898, + -0.9899774304218553 + ], + [ + 0.9964925762301455, + 0.014315828966868713, + 0.08244757461077662, + 0.021915031508819613, + -0.9955163095073521, + -0.09201635125796963, + 0.08076061485758795, + 0.09350045211577306, + -0.9923383437829917 + ], + [ + 0.9954654384364079, + -0.020402757650792278, + 0.09291010902400985, + -0.014941463707305942, + -0.9981401694478669, + -0.05910122500310025, + 0.09394313993524818, + 0.0574450138378159, + -0.9939188884633794 + ], + [ + 0.9921492002278776, + -0.057783525953729716, + 0.11091000232412632, + -0.05574117400528198, + -0.998215239128732, + -0.021430303116882134, + 0.11195037296809662, + 0.015079804359580245, + -0.9935993727316765 + ], + [ + 0.9884932561462505, + -0.09981316487557511, + 0.1136592040747437, + -0.10105856001969667, + -0.9948667101932075, + 0.005234156674143158, + 0.11255332069791785, + -0.01666016407078184, + -0.9935060085037262 + ], + [ + 0.9832707416385029, + -0.15235200349661843, + 0.09983744622252037, + -0.15297246856591185, + -0.9882293780501035, + -0.0014560973720191316, + 0.09888413673850523, + -0.013840642661092285, + -0.9950026955301219 + ], + [ + 0.972202323912037, + -0.20458817598485965, + 0.11386974851655053, + -0.20122166306502284, + -0.9787107550119113, + -0.04043637393932085, + 0.11971835153133702, + 0.016399276545087653, + -0.9926724434753976 + ], + [ + 0.9663216786223963, + -0.2327663972570008, + 0.1097370390177819, + -0.22962401423676035, + -0.9724309900816902, + -0.04062981189397286, + 0.11616895243648442, + 0.014063208621776985, + -0.9931299011977587 + ], + [ + 0.9652995229211186, + -0.25224554096359697, + 0.06759451244179054, + -0.2512326028639448, + -0.9676479626550879, + -0.023229283838839543, + 0.07126717551908762, + 0.0054412713073607195, + -0.9974424205236568 + ], + [ + 0.9678085086021746, + -0.24494831434184777, + 0.0578533834647723, + -0.24495031566264208, + -0.9695091428691536, + -0.0071669205305480614, + 0.05784490931799158, + -0.007234997871907826, + -0.9982993645554358 + ], + [ + 0.9730090238107695, + -0.2245244011675843, + 0.05331259572700288, + -0.22451647608106132, + -0.9744504720850681, + -0.0062152571410894015, + 0.05334596096196399, + -0.005922054839776622, + -0.9985585299397922 + ], + [ + 0.9771738947800893, + -0.20738989412686787, + 0.04605009418401985, + -0.20814156648542936, + -0.9780235695293148, + 0.012123767818995573, + 0.04252373056661602, + -0.021431968159360867, + -0.9988655580604998 + ], + [ + 0.9871637525278492, + -0.15808942410212765, + 0.02270373718560303, + -0.1592708973693114, + -0.9849941333873958, + 0.06647810499395457, + 0.011853562599893199, + -0.06924082018196054, + -0.997529549373962 + ], + [ + 0.9994767354390897, + -0.030312787222372645, + 0.011286728792307153, + -0.031063590900454793, + -0.9967979990373622, + 0.07368040740576727, + 0.009017130163700402, + -0.07399245938554701, + -0.997218033991408 + ], + [ + 0.9980385560963231, + 0.06253347403771699, + 0.002933456994986272, + 0.062139459544190506, + -0.9952595749175254, + 0.07481354224031406, + 0.0075979018632231984, + -0.07448451624170971, + -0.9971932253718514 + ], + [ + 0.9871906538232456, + 0.1593796125504736, + -0.007263064593806476, + 0.1594617953433938, + -0.9841825841118803, + 0.07717886340652663, + 0.005152555666314177, + -0.07734843394744742, + -0.9969908078492915 + ], + [ + 0.9697287794146825, + 0.24371497791136784, + -0.015136179061137643, + 0.24411811932151964, + -0.9661548631966608, + 0.08337340187593026, + 0.005695453786454335, + -0.08454460280291437, + -0.9964034182714666 + ], + [ + 0.9498000567301202, + 0.3123509291938326, + -0.017797451143627803, + 0.3126230018946324, + -0.9453486527534743, + 0.09264331289186327, + 0.012112428404294136, + -0.093556516442952, + -0.9955402891441464 + ], + [ + 0.9370745200310453, + 0.34865366048836643, + -0.018220014726919347, + 0.34862079899394904, + -0.9316184272478537, + 0.10271633035236542, + 0.018838323104959167, + -0.10260473205607325, + -0.9945438082569791 + ], + [ + 0.9338060540961376, + 0.3573692110165589, + -0.017131851937358684, + 0.35698657941444695, + -0.9274810339788718, + 0.11108336386451259, + 0.02380830635249182, + -0.10984615890819843, + -0.993663416817657 + ], + [ + 0.9306406407081772, + 0.36579356515008365, + -0.010152120816107089, + 0.3644952262725337, + -0.9241656041334582, + 0.11428545909771105, + 0.032422644660912325, + -0.11005909245233504, + -0.9933960782496377 + ], + [ + 0.9334548783378269, + 0.35869203237372965, + -0.0014198658090383287, + 0.3564849035363466, + -0.927257814820452, + 0.11450527675649605, + 0.03975554876987681, + -0.10739166990974383, + -0.9934216252810296 + ], + [ + 0.939155146159216, + 0.343492922213393, + -0.0004731088300696275, + 0.3411957779095076, + -0.9327136433297006, + 0.11675059179019844, + 0.03966172688357254, + -0.10980834183221026, + -0.9931611528270087 + ], + [ + 0.9306730222393499, + 0.36161743313409894, + 0.05550277226751486, + 0.34982409663934805, + -0.9240120502056988, + 0.1543529477694704, + 0.10710194716408396, + -0.12423591722270272, + -0.9864555792256918 + ], + [ + 0.9127357693012695, + 0.3936271719877659, + 0.10941236178299588, + 0.37100428658923784, + -0.9107241240857646, + 0.18148660870881664, + 0.17108253788867547, + -0.1250568641903763, + -0.9772878521441057 + ], + [ + 0.9004336326091603, + 0.4028316891130556, + 0.16415207434752363, + 0.36798191504649785, + -0.906638114026334, + 0.20638953557165834, + 0.23196677232953952, + -0.12543508457004893, + -0.9646022268758874 + ], + [ + 0.8882163932675468, + 0.39532260890170207, + 0.23407621327666592, + 0.36502134988495855, + -0.916626110450272, + 0.1629600802925951, + 0.278982173012818, + -0.059300999417870585, + -0.958463530140343 + ], + [ + 0.8850000957101956, + 0.40005912905548663, + 0.23817540564111567, + 0.36937566149941375, + -0.9147095861562926, + 0.16391459265621863, + 0.28343685590412376, + -0.05708823217747289, + -0.9572901767291021 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006290.json b/json/chunk-0006/episode_0006290.json new file mode 100644 index 0000000000000000000000000000000000000000..3a6aa9075b0059907a0807f456a858914ff99d93 --- /dev/null +++ b/json/chunk-0006/episode_0006290.json @@ -0,0 +1,2062 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 33, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPlace the vessel just behind the cloth." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006290.mp4", + "start": 0, + "end": 33, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.28589022159576416, + -0.056935641914606094, + 0.07554551959037781, + -0.044149406254291534, + -0.09536535292863846, + -0.13078144192695618, + 0.0, + 1.0001531839370728 + ], + [ + 0.282485693693161, + -0.05634821578860283, + 0.06798315793275833, + -0.04277453199028969, + -0.06478133797645569, + -0.1325484961271286, + 0.0, + 1.0001531839370728 + ], + [ + 0.2825045883655548, + -0.03660604730248451, + 0.06841820478439331, + -0.03180968016386032, + -0.05158507451415062, + -0.08340513706207275, + 0.0, + 1.0001531839370728 + ], + [ + 0.279550701379776, + -0.022279473021626472, + 0.08500513434410095, + -0.030634477734565735, + -0.0903908833861351, + -0.0495084673166275, + 0.0, + 0.9994885921478271 + ], + [ + 0.27148300409317017, + -0.002254558727145195, + 0.09425589442253113, + -0.027242548763751984, + -0.09467986971139908, + -0.01986074075102806, + 0.0, + 0.9994885921478271 + ], + [ + 0.2638247013092041, + 0.019038692116737366, + 0.0904858186841011, + -3.1284573196899146e-05, + -0.07688407599925995, + 0.0076379613019526005, + 0.0, + 0.9994885921478271 + ], + [ + 0.2594277560710907, + 0.03747037053108215, + 0.08585028350353241, + 0.007382744923233986, + -0.06864654272794724, + 0.05418981984257698, + 0.0, + 1.0001531839370728 + ], + [ + 0.25878751277923584, + 0.053538691252470016, + 0.07063621282577515, + 0.011288275942206383, + -0.03273012116551399, + 0.08992590010166168, + 0.0, + 0.9994885921478271 + ], + [ + 0.2618447244167328, + 0.05908840149641037, + 0.06167440116405487, + 0.02311543934047222, + -0.028530333191156387, + 0.10380648076534271, + 0.0, + 0.9994885921478271 + ], + [ + 0.27287864685058594, + 0.0611201748251915, + 0.0505077987909317, + 0.05181901901960373, + -0.013311157934367657, + 0.10365612804889679, + 0.0, + 0.9994885921478271 + ], + [ + 0.27838408946990967, + 0.054788459092378616, + 0.03956427052617073, + 0.07028192281723022, + 0.0059443372301757336, + 0.08700636774301529, + 0.0, + 0.9492040276527405 + ], + [ + 0.28199049830436707, + 0.05094495043158531, + 0.0314837321639061, + 0.07257602363824844, + 0.01897072046995163, + 0.0803050845861435, + 0.0, + 0.6661520600318909 + ], + [ + 0.2832235097885132, + 0.051363974809646606, + 0.03152225539088249, + 0.0773727223277092, + 0.011251975782215595, + 0.07898715138435364, + 0.0, + 0.35109609365463257 + ], + [ + 0.2824733555316925, + 0.051658518612384796, + 0.031259920448064804, + 0.07977505028247833, + 0.013840677216649055, + 0.08484598249197006, + 0.0, + 0.14915025234222412 + ], + [ + 0.279723197221756, + 0.051004111766815186, + 0.031697336584329605, + 0.07696712017059326, + 0.026200948283076286, + 0.06463500112295151, + 0.0, + 0.08571679890155792 + ], + [ + 0.2722821831703186, + 0.05368022993206978, + 0.04075594246387482, + 0.07800711691379547, + 0.029274923726916313, + 0.05921383202075958, + 0.0, + 0.0846695825457573 + ], + [ + 0.27249637246131897, + 0.050137925893068314, + 0.06065472960472107, + 0.10461483150720596, + -0.01008535549044609, + 0.05168125405907631, + 0.0, + 0.08294149488210678 + ], + [ + 0.28702038526535034, + 0.035708729177713394, + 0.08019205927848816, + 0.1505720615386963, + -0.03454236313700676, + 0.042713310569524765, + 0.0, + 0.08259850740432739 + ], + [ + 0.3118855059146881, + 0.01755809783935547, + 0.09558625519275665, + 0.1505984663963318, + -0.08265837281942368, + 0.015355695970356464, + 0.0, + 0.08259850740432739 + ], + [ + 0.3453846573829651, + -0.014415090903639793, + 0.09879390895366669, + 0.14049246907234192, + -0.11522912979125977, + -0.051016468554735184, + 0.0, + 0.08259850740432739 + ], + [ + 0.36697918176651, + -0.026964234188199043, + 0.09520323574542999, + 0.1499638706445694, + -0.10971245914697647, + -0.06539515405893326, + 0.0, + 0.08259850740432739 + ], + [ + 0.37552928924560547, + -0.027338461950421333, + 0.07832910120487213, + 0.15796315670013428, + -0.06873064488172531, + -0.057674650102853775, + 0.0, + 0.08259850740432739 + ], + [ + 0.37376999855041504, + -0.025718849152326584, + 0.05675119906663895, + 0.1759347766637802, + -0.0030898945406079292, + -0.051509834825992584, + 0.0, + 0.08259850740432739 + ], + [ + 0.37328749895095825, + -0.02606400102376938, + 0.04092135280370712, + 0.18035677075386047, + 0.03066732920706272, + -0.046896662563085556, + 0.0, + 0.08259850740432739 + ], + [ + 0.3816782534122467, + -0.02945125475525856, + 0.033219728618860245, + 0.1974128633737564, + 0.03902557119727135, + -0.06132592633366585, + 0.0, + 0.08259850740432739 + ], + [ + 0.38466504216194153, + -0.030737167224287987, + 0.03261597827076912, + 0.1989884227514267, + 0.03127630427479744, + -0.06659218668937683, + 0.0, + 0.11409598588943481 + ], + [ + 0.380079060792923, + -0.03333888202905655, + 0.026284685358405113, + 0.18179529905319214, + 0.03813213109970093, + -0.07433551549911499, + 0.0, + 0.300372838973999 + ], + [ + 0.37621262669563293, + -0.034324031323194504, + 0.04266483336687088, + 0.1676238626241684, + -0.006403851322829723, + -0.08321685343980789, + 0.0, + 0.5889025926589966 + ], + [ + 0.36548393964767456, + -0.03215458244085312, + 0.06520400196313858, + 0.14128194749355316, + -0.059040945023298264, + -0.0774494931101799, + 0.0, + 0.8879486322402954 + ], + [ + 0.3497149646282196, + -0.012065097689628601, + 0.09257669001817703, + 0.10782698541879654, + -0.13460171222686768, + -0.016605881974101067, + 0.0, + 1.0174883604049683 + ], + [ + 0.32422757148742676, + -0.007550297304987907, + 0.10620445013046265, + 0.09178653359413147, + -0.14339838922023773, + -0.013790199533104897, + 0.0, + 1.0092895030975342 + ], + [ + 0.29637160897254944, + 0.0016340672736987472, + 0.09327902644872665, + 0.057591043412685394, + -0.0929492712020874, + 0.019949041306972504, + 0.0, + 1.0060625076293945 + ], + [ + 0.27845925092697144, + -0.006753537803888321, + 0.0760917067527771, + 0.05115560069680214, + -0.04447435215115547, + -0.04068983718752861, + 0.0, + 1.0047606229782104 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9492040276527405 + ], + [ + 0.6661520600318909 + ], + [ + 0.35109609365463257 + ], + [ + 0.14915025234222412 + ], + [ + 0.08571679890155792 + ], + [ + 0.0846695825457573 + ], + [ + 0.08294149488210678 + ], + [ + 0.08259850740432739 + ], + [ + 0.08259850740432739 + ], + [ + 0.08259850740432739 + ], + [ + 0.08259850740432739 + ], + [ + 0.08259850740432739 + ], + [ + 0.08259850740432739 + ], + [ + 0.08259850740432739 + ], + [ + 0.08259850740432739 + ], + [ + 0.11409598588943481 + ], + [ + 0.300372838973999 + ], + [ + 0.5889025926589966 + ], + [ + 0.8879486322402954 + ], + [ + 1.0174883604049683 + ], + [ + 1.0092895030975342 + ], + [ + 1.0060625076293945 + ], + [ + 1.0047606229782104 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.28589022159576416, + -0.056935641914606094, + 0.07554551959037781 + ], + [ + 0.282485693693161, + -0.05634821578860283, + 0.06798315793275833 + ], + [ + 0.2825045883655548, + -0.03660604730248451, + 0.06841820478439331 + ], + [ + 0.279550701379776, + -0.022279473021626472, + 0.08500513434410095 + ], + [ + 0.27148300409317017, + -0.002254558727145195, + 0.09425589442253113 + ], + [ + 0.2638247013092041, + 0.019038692116737366, + 0.0904858186841011 + ], + [ + 0.2594277560710907, + 0.03747037053108215, + 0.08585028350353241 + ], + [ + 0.25878751277923584, + 0.053538691252470016, + 0.07063621282577515 + ], + [ + 0.2618447244167328, + 0.05908840149641037, + 0.06167440116405487 + ], + [ + 0.27287864685058594, + 0.0611201748251915, + 0.0505077987909317 + ], + [ + 0.27838408946990967, + 0.054788459092378616, + 0.03956427052617073 + ], + [ + 0.28199049830436707, + 0.05094495043158531, + 0.0314837321639061 + ], + [ + 0.2832235097885132, + 0.051363974809646606, + 0.03152225539088249 + ], + [ + 0.2824733555316925, + 0.051658518612384796, + 0.031259920448064804 + ], + [ + 0.279723197221756, + 0.051004111766815186, + 0.031697336584329605 + ], + [ + 0.2722821831703186, + 0.05368022993206978, + 0.04075594246387482 + ], + [ + 0.27249637246131897, + 0.050137925893068314, + 0.06065472960472107 + ], + [ + 0.28702038526535034, + 0.035708729177713394, + 0.08019205927848816 + ], + [ + 0.3118855059146881, + 0.01755809783935547, + 0.09558625519275665 + ], + [ + 0.3453846573829651, + -0.014415090903639793, + 0.09879390895366669 + ], + [ + 0.36697918176651, + -0.026964234188199043, + 0.09520323574542999 + ], + [ + 0.37552928924560547, + -0.027338461950421333, + 0.07832910120487213 + ], + [ + 0.37376999855041504, + -0.025718849152326584, + 0.05675119906663895 + ], + [ + 0.37328749895095825, + -0.02606400102376938, + 0.04092135280370712 + ], + [ + 0.3816782534122467, + -0.02945125475525856, + 0.033219728618860245 + ], + [ + 0.38466504216194153, + -0.030737167224287987, + 0.03261597827076912 + ], + [ + 0.380079060792923, + -0.03333888202905655, + 0.026284685358405113 + ], + [ + 0.37621262669563293, + -0.034324031323194504, + 0.04266483336687088 + ], + [ + 0.36548393964767456, + -0.03215458244085312, + 0.06520400196313858 + ], + [ + 0.3497149646282196, + -0.012065097689628601, + 0.09257669001817703 + ], + [ + 0.32422757148742676, + -0.007550297304987907, + 0.10620445013046265 + ], + [ + 0.29637160897254944, + 0.0016340672736987472, + 0.09327902644872665 + ], + [ + 0.27845925092697144, + -0.006753537803888321, + 0.0760917067527771 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9869552623861143, + -0.13444856742679384, + 0.08856010820476301, + -0.12981639488955365, + -0.9899461300538164, + -0.05616371790891506, + 0.09522086780866856, + 0.04393452296720186, + -0.9944861708567941 + ], + [ + 0.9891491241034431, + -0.1347837518285874, + 0.05845810917572582, + -0.13188349326659313, + -0.9899557860090729, + -0.05093413345644923, + 0.06473603702105804, + 0.042671793847560036, + -0.9969896506587416 + ], + [ + 0.9951982165542923, + -0.08490052588844078, + 0.04870739647139626, + -0.08319765236804276, + -0.9958830631471296, + -0.03598715294568864, + 0.05156219940617252, + 0.03176200939103623, + -0.9981645727793796 + ], + [ + 0.9946972332651515, + -0.052226512982356185, + 0.08859912796611889, + -0.049286210329747865, + -0.9981692532796462, + -0.03505725714435328, + 0.09026784369854408, + 0.030504641431382793, + -0.9954502414712441 + ], + [ + 0.9953248736665455, + -0.02242670880191378, + 0.09394380550621434, + -0.019770488830636843, + -0.999380658833216, + -0.029110591225271463, + 0.09453847699256071, + 0.027117180576183637, + -0.995151814993836 + ], + [ + 0.9970167921359508, + 0.007635484187516731, + 0.07680635117071961, + 0.007615323765042736, + -0.9999708487792387, + 0.0005553698604581483, + 0.07680835268960855, + 3.119215465362534e-05, + -0.9970458745635317 + ], + [ + 0.9961802994701429, + 0.054667479955354585, + 0.06809021649919592, + 0.05403573395301454, + -0.9984774504921395, + 0.011086943441551676, + 0.06859264103193213, + -0.007365289814259774, + -0.9976175630481936 + ], + [ + 0.9954259717485239, + 0.09016692758258399, + 0.03157625593422779, + 0.08975665109405029, + -0.9958627625631623, + 0.01418103396961305, + 0.032724277729045806, + -0.011281990532855979, + -0.9994007396118579 + ], + [ + 0.9942121721206377, + 0.10424826007054976, + 0.02597031150036828, + 0.1035779789609212, + -0.9942829107603055, + 0.02594408688670543, + 0.028526462828996225, + -0.023103974599124243, + -0.9993259964977338 + ], + [ + 0.9945443954606517, + 0.10401745638311728, + 0.007862202324628401, + 0.10346143724632405, + -0.9932260749485842, + 0.052893241961092144, + 0.01331076484399187, + -0.051791242597720916, + -0.9985692218015996 + ], + [ + 0.9961997324657714, + 0.08626625380803543, + -0.0120094333360455, + 0.08689509943724169, + -0.9937941873053561, + 0.06944317800820084, + -0.005944302222901152, + -0.07022283625726321, + -0.9975136182223621 + ], + [ + 0.9965979203434745, + 0.07863652875331618, + -0.024675524567683918, + 0.08020436461328921, + -0.9942636223867419, + 0.07076092915848935, + -0.01896958260057554, + -0.0724992796103731, + -0.997188051167851 + ], + [ + 0.9968190310432365, + 0.07780198006987131, + -0.017282107719567813, + 0.07890004901162605, + -0.9939683127809488, + 0.07616938658908415, + -0.011251738353979178, + -0.07729065328098664, + -0.9969451104747002 + ], + [ + 0.996307302318057, + 0.08337573752910521, + -0.020499896077627918, + 0.0847361034853941, + -0.9933273041513851, + 0.07823464445790139, + -0.013840235324168842, + -0.07968282888313775, + -0.9967241818413719 + ], + [ + 0.9975693769074065, + 0.06238860296510702, + -0.031032248977970692, + 0.06456783750926885, + -0.9950876699293255, + 0.07504347749139936, + -0.02619795060582369, + -0.07686476029161704, + -0.9966972840383217 + ], + [ + 0.9978196442267511, + 0.056722256479838834, + -0.03374230601241035, + 0.059153877611114694, + -0.9953466788956107, + 0.07606449615324566, + -0.029270742367917924, + -0.07789463673009357, + -0.9965318104355312 + ], + [ + 0.9986140323486057, + 0.05242755808066273, + 0.004622288411243856, + 0.051655623601391344, + -0.9931505750358893, + 0.10480282370353242, + 0.010085184520342967, + -0.10441880318975624, + -0.9944822786724807 + ], + [ + 0.9984919412003173, + 0.04739291655501095, + 0.027708388954097846, + 0.04267485192535303, + -0.9875624662656052, + 0.15132492272109144, + 0.03453549436696969, + -0.14991426444406442, + -0.9880956496944128 + ], + [ + 0.9964682474787, + 0.027566941550687278, + 0.07931642642144918, + 0.015302666247602993, + -0.9883747000349323, + 0.15126559667211786, + 0.08256427903423272, + -0.14951761121820517, + -0.9853058529021123 + ], + [ + 0.9920760365527425, + -0.034412911617847194, + 0.12083413926446161, + -0.0506561708186012, + -0.989679922494653, + 0.13404328916053193, + 0.11497430171911356, + -0.13910212983617293, + -0.9835809612936 + ], + [ + 0.9918629729085536, + -0.04829163626355716, + 0.11779541943553506, + -0.06495565317874762, + -0.987731966056474, + 0.14200819113816793, + 0.10949249331861796, + -0.14850414505056914, + -0.9828315790661549 + ], + [ + 0.9959801829495725, + -0.04613967284586735, + 0.07677633594677506, + -0.057506585341314524, + -0.9865304526094523, + 0.15313607908187657, + 0.06867654486153073, + -0.15693564497546433, + -0.9852181157094182 + ], + [ + 0.9986688943685965, + -0.05015217064597155, + 0.012049863074028265, + -0.05148681387227173, + -0.9832853376187195, + 0.17463978018001344, + 0.003089889623842228, + -0.17502772524242757, + -0.984558656443878 + ], + [ + 0.9984308643226277, + -0.051613291529470376, + -0.021722737061989822, + -0.04685743150987058, + -0.9824402946669191, + 0.18059747652465938, + -0.030662522405507216, + -0.17929622291691202, + -0.9833171788225102 + ], + [ + 0.9973601849987955, + -0.06773500260660742, + -0.02616545052260561, + -0.06124082940632081, + -0.9782649603359029, + 0.19810913202732414, + -0.039015665991931354, + -0.19598376667692843, + -0.9798306695579236 + ], + [ + 0.9972955798334302, + -0.07139781302245238, + -0.017432118067325763, + -0.0665104364526988, + -0.9776829985854507, + 0.1992794924718372, + -0.0312712054064721, + -0.19758113921265977, + -0.9797876326734554 + ], + [ + 0.9965134534994834, + -0.07991662032829148, + -0.02396394770977909, + -0.07421308643791565, + -0.9802927107648988, + 0.18308090840545121, + -0.038122890707444776, + -0.18066414978215922, + -0.9828057336969489 + ], + [ + 0.9965190417382472, + -0.0808911030715479, + 0.020160081769504345, + -0.08311913559406642, + -0.9826607700838756, + 0.165737805693991, + 0.0064038075533302385, + -0.16683656788016266, + -0.9859637675223097 + ], + [ + 0.9952650998067739, + -0.0683172139319741, + 0.06913855210506745, + -0.0772372732537075, + -0.9877113253867549, + 0.13587031067555616, + 0.05900664985359163, + -0.14056705155658955, + -0.9883112461617255 + ], + [ + 0.9908182308880635, + -0.0020687846470491223, + 0.13518488624817532, + -0.016454923138565093, + -0.9942950363977053, + 0.10538793146935614, + 0.13419563645794108, + -0.10664474072812934, + -0.9851996906367145 + ], + [ + 0.9896419499224532, + -0.0006343923673720652, + 0.14355629035332515, + -0.013648225125915656, + -0.9958765157582118, + 0.08968662839128229, + 0.14290744173973693, + -0.09071693837210258, + -0.9855698352667838 + ], + [ + 0.9954852090711388, + 0.025255970215564798, + 0.09149499707121377, + 0.019861610363096166, + -0.9980368801075485, + 0.059396147846262626, + 0.09281548876332797, + -0.057310748674755954, + -0.9940325764943336 + ], + [ + 0.9981842802546725, + -0.03835390706105198, + 0.04644481096542338, + -0.04063838614471021, + -0.9979576806965565, + 0.049284775644245764, + 0.0444596921268597, + -0.05108273046639541, + -0.9977043101160198 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0034045279026031494, + 0.0005874261260032654, + -0.007562361657619476, + 0.0013748742640018463, + 0.03058401495218277, + -0.0017670542001724243, + 1.0 + ], + [ + 1.8894672393798828e-05, + 0.019742168486118317, + 0.00043504685163497925, + 0.010964851826429367, + 0.013196263462305069, + 0.04914335906505585, + 1.0 + ], + [ + -0.0029538869857788086, + 0.01432657428085804, + 0.01658692955970764, + 0.0011752024292945862, + -0.03880580887198448, + 0.03389666974544525, + 1.0 + ], + [ + -0.008067697286605835, + 0.020024914294481277, + 0.009250760078430176, + 0.0033919289708137512, + -0.004288986325263977, + 0.02964772656559944, + 1.0 + ], + [ + -0.0076583027839660645, + 0.02129325084388256, + -0.003770075738430023, + 0.0272112637758255, + 0.01779579371213913, + 0.027498701587319374, + 1.0 + ], + [ + -0.004396945238113403, + 0.018431678414344788, + -0.004635535180568695, + 0.007414029445499182, + 0.008237533271312714, + 0.04655185714364052, + 1.0 + ], + [ + -0.0006402432918548584, + 0.016068320721387863, + -0.015214070677757263, + 0.003905531018972397, + 0.03591642156243324, + 0.0357360802590847, + 1.0 + ], + [ + 0.0030572116374969482, + 0.005549710243940353, + -0.008961811661720276, + 0.011827163398265839, + 0.004199787974357605, + 0.01388058066368103, + 1.0 + ], + [ + 0.01103392243385315, + 0.002031773328781128, + -0.011166602373123169, + 0.028703579679131508, + 0.01521917525678873, + -0.00015035271644592285, + 1.0 + ], + [ + 0.0055054426193237305, + -0.0063317157328128815, + -0.010943528264760971, + 0.018462903797626495, + 0.019255494698882103, + -0.0166497603058815, + 0.0 + ], + [ + 0.0036064088344573975, + -0.0038435086607933044, + -0.008080538362264633, + 0.002294100821018219, + 0.013026382774114609, + -0.006701283156871796, + 0.0 + ], + [ + 0.0012330114841461182, + 0.00041902437806129456, + 3.852322697639465e-05, + 0.004796698689460754, + -0.007718744687736034, + -0.001317933201789856, + 0.0 + ], + [ + -0.0007501542568206787, + 0.0002945438027381897, + -0.000262334942817688, + 0.0024023279547691345, + 0.0025887014344334602, + 0.0058588311076164246, + 0.0 + ], + [ + -0.0027501583099365234, + -0.0006544068455696106, + 0.000437416136264801, + -0.002807930111885071, + 0.01236027106642723, + -0.020210981369018555, + 0.0 + ], + [ + -0.007441014051437378, + 0.002676118165254593, + 0.009058605879545212, + 0.0010399967432022095, + 0.003073975443840027, + -0.005421169102191925, + 0.0 + ], + [ + 0.0002141892910003662, + -0.003542304039001465, + 0.019898787140846252, + 0.026607714593410492, + -0.039360277354717255, + -0.007532577961683273, + 0.0 + ], + [ + 0.014524012804031372, + -0.01442919671535492, + 0.01953732967376709, + 0.045957230031490326, + -0.02445700764656067, + -0.008967943489551544, + 0.0 + ], + [ + 0.02486512064933777, + -0.018150631338357925, + 0.015394195914268494, + 2.6404857635498047e-05, + -0.048116009682416916, + -0.027357615530490875, + 0.0 + ], + [ + 0.03349915146827698, + -0.03197319060564041, + 0.003207653760910034, + -0.010105997323989868, + -0.03257075697183609, + -0.06637216359376907, + 0.0 + ], + [ + 0.021594524383544922, + -0.01254914328455925, + -0.0035906732082366943, + 0.009471401572227478, + 0.005516670644283295, + -0.014378685504198074, + 0.0 + ], + [ + 0.008550107479095459, + -0.00037422776222229004, + -0.01687413454055786, + 0.00799928605556488, + 0.04098181426525116, + 0.007720503956079483, + 0.0 + ], + [ + -0.0017592906951904297, + 0.0016196127980947495, + -0.021577902138233185, + 0.017971619963645935, + 0.06564074754714966, + 0.006164815276861191, + 0.0 + ], + [ + -0.0004824995994567871, + -0.0003451518714427948, + -0.015829846262931824, + 0.004421994090080261, + 0.033757224678993225, + 0.004613172262907028, + 0.0 + ], + [ + 0.008390754461288452, + -0.0033872537314891815, + -0.007701624184846878, + 0.017056092619895935, + 0.008358241990208626, + -0.014429263770580292, + 0.0 + ], + [ + 0.0029867887496948242, + -0.0012859124690294266, + -0.0006037503480911255, + 0.001575559377670288, + -0.0077492669224739075, + -0.005266260355710983, + 1.0 + ], + [ + -0.004585981369018555, + -0.0026017148047685623, + -0.006331292912364006, + -0.017193123698234558, + 0.006855826824903488, + -0.007743328809738159, + 1.0 + ], + [ + -0.003866434097290039, + -0.0009851492941379547, + 0.016380148008465767, + -0.014171436429023743, + -0.044535983353853226, + -0.008881337940692902, + 1.0 + ], + [ + -0.010728687047958374, + 0.002169448882341385, + 0.0225391685962677, + -0.026341915130615234, + -0.052637092769145966, + 0.005767360329627991, + 1.0 + ], + [ + -0.015768975019454956, + 0.020089484751224518, + 0.027372688055038452, + -0.03345496207475662, + -0.07556076347827911, + 0.060843609273433685, + 1.0 + ], + [ + -0.025487393140792847, + 0.004514800384640694, + 0.013627760112285614, + -0.01604045182466507, + -0.008796676993370056, + 0.00281568244099617, + 1.0 + ], + [ + -0.02785596251487732, + 0.009184364229440689, + -0.012925423681735992, + -0.034195490181446075, + 0.05044911801815033, + 0.03373923897743225, + 1.0 + ], + [ + -0.017912358045578003, + -0.008387604728341103, + -0.017187319695949554, + -0.006435442715883255, + 0.04847491905093193, + -0.060638878494501114, + 1.0 + ], + [ + -0.006409257650375366, + -0.004526793025434017, + -0.006430216133594513, + 0.0013994313776493073, + 0.018817301839590073, + -0.027471791952848434, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9492040276527405 + ], + [ + 0.6661520600318909 + ], + [ + 0.35109609365463257 + ], + [ + 0.14915025234222412 + ], + [ + 0.08571679890155792 + ], + [ + 0.0846695825457573 + ], + [ + 0.08294149488210678 + ], + [ + 0.08259850740432739 + ], + [ + 0.08259850740432739 + ], + [ + 0.08259850740432739 + ], + [ + 0.08259850740432739 + ], + [ + 0.08259850740432739 + ], + [ + 0.08259850740432739 + ], + [ + 0.08259850740432739 + ], + [ + 0.08259850740432739 + ], + [ + 0.11409598588943481 + ], + [ + 0.300372838973999 + ], + [ + 0.5889025926589966 + ], + [ + 0.8879486322402954 + ], + [ + 1.0174883604049683 + ], + [ + 1.0092895030975342 + ], + [ + 1.0060625076293945 + ], + [ + 1.0047606229782104 + ], + [ + 1.0047606229782104 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.282485693693161, + -0.05634821578860283, + 0.06798315793275833 + ], + [ + 0.2825045883655548, + -0.03660604730248451, + 0.06841820478439331 + ], + [ + 0.279550701379776, + -0.022279473021626472, + 0.08500513434410095 + ], + [ + 0.27148300409317017, + -0.002254558727145195, + 0.09425589442253113 + ], + [ + 0.2638247013092041, + 0.019038692116737366, + 0.0904858186841011 + ], + [ + 0.2594277560710907, + 0.03747037053108215, + 0.08585028350353241 + ], + [ + 0.25878751277923584, + 0.053538691252470016, + 0.07063621282577515 + ], + [ + 0.2618447244167328, + 0.05908840149641037, + 0.06167440116405487 + ], + [ + 0.27287864685058594, + 0.0611201748251915, + 0.0505077987909317 + ], + [ + 0.27838408946990967, + 0.054788459092378616, + 0.03956427052617073 + ], + [ + 0.28199049830436707, + 0.05094495043158531, + 0.0314837321639061 + ], + [ + 0.2832235097885132, + 0.051363974809646606, + 0.03152225539088249 + ], + [ + 0.2824733555316925, + 0.051658518612384796, + 0.031259920448064804 + ], + [ + 0.279723197221756, + 0.051004111766815186, + 0.031697336584329605 + ], + [ + 0.2722821831703186, + 0.05368022993206978, + 0.04075594246387482 + ], + [ + 0.27249637246131897, + 0.050137925893068314, + 0.06065472960472107 + ], + [ + 0.28702038526535034, + 0.035708729177713394, + 0.08019205927848816 + ], + [ + 0.3118855059146881, + 0.01755809783935547, + 0.09558625519275665 + ], + [ + 0.3453846573829651, + -0.014415090903639793, + 0.09879390895366669 + ], + [ + 0.36697918176651, + -0.026964234188199043, + 0.09520323574542999 + ], + [ + 0.37552928924560547, + -0.027338461950421333, + 0.07832910120487213 + ], + [ + 0.37376999855041504, + -0.025718849152326584, + 0.05675119906663895 + ], + [ + 0.37328749895095825, + -0.02606400102376938, + 0.04092135280370712 + ], + [ + 0.3816782534122467, + -0.02945125475525856, + 0.033219728618860245 + ], + [ + 0.38466504216194153, + -0.030737167224287987, + 0.03261597827076912 + ], + [ + 0.380079060792923, + -0.03333888202905655, + 0.026284685358405113 + ], + [ + 0.37621262669563293, + -0.034324031323194504, + 0.04266483336687088 + ], + [ + 0.36548393964767456, + -0.03215458244085312, + 0.06520400196313858 + ], + [ + 0.3497149646282196, + -0.012065097689628601, + 0.09257669001817703 + ], + [ + 0.32422757148742676, + -0.007550297304987907, + 0.10620445013046265 + ], + [ + 0.29637160897254944, + 0.0016340672736987472, + 0.09327902644872665 + ], + [ + 0.27845925092697144, + -0.006753537803888321, + 0.0760917067527771 + ], + [ + 0.27204999327659607, + -0.011280330829322338, + 0.06966149061918259 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9891491241034431, + -0.1347837518285874, + 0.05845810917572582, + -0.13188349326659313, + -0.9899557860090729, + -0.05093413345644923, + 0.06473603702105804, + 0.042671793847560036, + -0.9969896506587416 + ], + [ + 0.9951982165542923, + -0.08490052588844078, + 0.04870739647139626, + -0.08319765236804276, + -0.9958830631471296, + -0.03598715294568864, + 0.05156219940617252, + 0.03176200939103623, + -0.9981645727793796 + ], + [ + 0.9946972332651515, + -0.052226512982356185, + 0.08859912796611889, + -0.049286210329747865, + -0.9981692532796462, + -0.03505725714435328, + 0.09026784369854408, + 0.030504641431382793, + -0.9954502414712441 + ], + [ + 0.9953248736665455, + -0.02242670880191378, + 0.09394380550621434, + -0.019770488830636843, + -0.999380658833216, + -0.029110591225271463, + 0.09453847699256071, + 0.027117180576183637, + -0.995151814993836 + ], + [ + 0.9970167921359508, + 0.007635484187516731, + 0.07680635117071961, + 0.007615323765042736, + -0.9999708487792387, + 0.0005553698604581483, + 0.07680835268960855, + 3.119215465362534e-05, + -0.9970458745635317 + ], + [ + 0.9961802994701429, + 0.054667479955354585, + 0.06809021649919592, + 0.05403573395301454, + -0.9984774504921395, + 0.011086943441551676, + 0.06859264103193213, + -0.007365289814259774, + -0.9976175630481936 + ], + [ + 0.9954259717485239, + 0.09016692758258399, + 0.03157625593422779, + 0.08975665109405029, + -0.9958627625631623, + 0.01418103396961305, + 0.032724277729045806, + -0.011281990532855979, + -0.9994007396118579 + ], + [ + 0.9942121721206377, + 0.10424826007054976, + 0.02597031150036828, + 0.1035779789609212, + -0.9942829107603055, + 0.02594408688670543, + 0.028526462828996225, + -0.023103974599124243, + -0.9993259964977338 + ], + [ + 0.9945443954606517, + 0.10401745638311728, + 0.007862202324628401, + 0.10346143724632405, + -0.9932260749485842, + 0.052893241961092144, + 0.01331076484399187, + -0.051791242597720916, + -0.9985692218015996 + ], + [ + 0.9961997324657714, + 0.08626625380803543, + -0.0120094333360455, + 0.08689509943724169, + -0.9937941873053561, + 0.06944317800820084, + -0.005944302222901152, + -0.07022283625726321, + -0.9975136182223621 + ], + [ + 0.9965979203434745, + 0.07863652875331618, + -0.024675524567683918, + 0.08020436461328921, + -0.9942636223867419, + 0.07076092915848935, + -0.01896958260057554, + -0.0724992796103731, + -0.997188051167851 + ], + [ + 0.9968190310432365, + 0.07780198006987131, + -0.017282107719567813, + 0.07890004901162605, + -0.9939683127809488, + 0.07616938658908415, + -0.011251738353979178, + -0.07729065328098664, + -0.9969451104747002 + ], + [ + 0.996307302318057, + 0.08337573752910521, + -0.020499896077627918, + 0.0847361034853941, + -0.9933273041513851, + 0.07823464445790139, + -0.013840235324168842, + -0.07968282888313775, + -0.9967241818413719 + ], + [ + 0.9975693769074065, + 0.06238860296510702, + -0.031032248977970692, + 0.06456783750926885, + -0.9950876699293255, + 0.07504347749139936, + -0.02619795060582369, + -0.07686476029161704, + -0.9966972840383217 + ], + [ + 0.9978196442267511, + 0.056722256479838834, + -0.03374230601241035, + 0.059153877611114694, + -0.9953466788956107, + 0.07606449615324566, + -0.029270742367917924, + -0.07789463673009357, + -0.9965318104355312 + ], + [ + 0.9986140323486057, + 0.05242755808066273, + 0.004622288411243856, + 0.051655623601391344, + -0.9931505750358893, + 0.10480282370353242, + 0.010085184520342967, + -0.10441880318975624, + -0.9944822786724807 + ], + [ + 0.9984919412003173, + 0.04739291655501095, + 0.027708388954097846, + 0.04267485192535303, + -0.9875624662656052, + 0.15132492272109144, + 0.03453549436696969, + -0.14991426444406442, + -0.9880956496944128 + ], + [ + 0.9964682474787, + 0.027566941550687278, + 0.07931642642144918, + 0.015302666247602993, + -0.9883747000349323, + 0.15126559667211786, + 0.08256427903423272, + -0.14951761121820517, + -0.9853058529021123 + ], + [ + 0.9920760365527425, + -0.034412911617847194, + 0.12083413926446161, + -0.0506561708186012, + -0.989679922494653, + 0.13404328916053193, + 0.11497430171911356, + -0.13910212983617293, + -0.9835809612936 + ], + [ + 0.9918629729085536, + -0.04829163626355716, + 0.11779541943553506, + -0.06495565317874762, + -0.987731966056474, + 0.14200819113816793, + 0.10949249331861796, + -0.14850414505056914, + -0.9828315790661549 + ], + [ + 0.9959801829495725, + -0.04613967284586735, + 0.07677633594677506, + -0.057506585341314524, + -0.9865304526094523, + 0.15313607908187657, + 0.06867654486153073, + -0.15693564497546433, + -0.9852181157094182 + ], + [ + 0.9986688943685965, + -0.05015217064597155, + 0.012049863074028265, + -0.05148681387227173, + -0.9832853376187195, + 0.17463978018001344, + 0.003089889623842228, + -0.17502772524242757, + -0.984558656443878 + ], + [ + 0.9984308643226277, + -0.051613291529470376, + -0.021722737061989822, + -0.04685743150987058, + -0.9824402946669191, + 0.18059747652465938, + -0.030662522405507216, + -0.17929622291691202, + -0.9833171788225102 + ], + [ + 0.9973601849987955, + -0.06773500260660742, + -0.02616545052260561, + -0.06124082940632081, + -0.9782649603359029, + 0.19810913202732414, + -0.039015665991931354, + -0.19598376667692843, + -0.9798306695579236 + ], + [ + 0.9972955798334302, + -0.07139781302245238, + -0.017432118067325763, + -0.0665104364526988, + -0.9776829985854507, + 0.1992794924718372, + -0.0312712054064721, + -0.19758113921265977, + -0.9797876326734554 + ], + [ + 0.9965134534994834, + -0.07991662032829148, + -0.02396394770977909, + -0.07421308643791565, + -0.9802927107648988, + 0.18308090840545121, + -0.038122890707444776, + -0.18066414978215922, + -0.9828057336969489 + ], + [ + 0.9965190417382472, + -0.0808911030715479, + 0.020160081769504345, + -0.08311913559406642, + -0.9826607700838756, + 0.165737805693991, + 0.0064038075533302385, + -0.16683656788016266, + -0.9859637675223097 + ], + [ + 0.9952650998067739, + -0.0683172139319741, + 0.06913855210506745, + -0.0772372732537075, + -0.9877113253867549, + 0.13587031067555616, + 0.05900664985359163, + -0.14056705155658955, + -0.9883112461617255 + ], + [ + 0.9908182308880635, + -0.0020687846470491223, + 0.13518488624817532, + -0.016454923138565093, + -0.9942950363977053, + 0.10538793146935614, + 0.13419563645794108, + -0.10664474072812934, + -0.9851996906367145 + ], + [ + 0.9896419499224532, + -0.0006343923673720652, + 0.14355629035332515, + -0.013648225125915656, + -0.9958765157582118, + 0.08968662839128229, + 0.14290744173973693, + -0.09071693837210258, + -0.9855698352667838 + ], + [ + 0.9954852090711388, + 0.025255970215564798, + 0.09149499707121377, + 0.019861610363096166, + -0.9980368801075485, + 0.059396147846262626, + 0.09281548876332797, + -0.057310748674755954, + -0.9940325764943336 + ], + [ + 0.9981842802546725, + -0.03835390706105198, + 0.04644481096542338, + -0.04063838614471021, + -0.9979576806965565, + 0.049284775644245764, + 0.0444596921268597, + -0.05108273046639541, + -0.9977043101160198 + ], + [ + 0.9973495356088382, + -0.06667031449169751, + 0.0291371410130222, + -0.06808644522597411, + -0.9963921898037242, + 0.05066399189394342, + 0.025654235465611075, + -0.05251355314313904, + -0.9982906325008553 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006292.json b/json/chunk-0006/episode_0006292.json new file mode 100644 index 0000000000000000000000000000000000000000..339f0c32201661fc7844889697fb54568da405d6 --- /dev/null +++ b/json/chunk-0006/episode_0006292.json @@ -0,0 +1,1702 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 27, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the brush to the right of the sushi." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006292.mp4", + "start": 0, + "end": 27, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.36554381251335144, + 0.039561714977025986, + 0.10418076068162918, + 0.046039339154958725, + -0.11911029368638992, + 0.09761279076337814, + 0.0, + 1.0001531839370728 + ], + [ + 0.36297041177749634, + 0.03913081809878349, + 0.09131795167922974, + 0.04510410502552986, + -0.07768670469522476, + 0.09843580424785614, + 0.0, + 1.0001531839370728 + ], + [ + 0.3564163148403168, + 0.051289550960063934, + 0.09134043008089066, + 0.042036253958940506, + -0.0452105812728405, + 0.1324489861726761, + 0.0, + 1.0001531839370728 + ], + [ + 0.3593519330024719, + 0.08351307362318039, + 0.09433037042617798, + 0.09158679842948914, + -0.07754480093717575, + 0.1132451593875885, + 0.0, + 1.0001531839370728 + ], + [ + 0.3625112473964691, + 0.11874059587717056, + 0.07534641027450562, + 0.09161028265953064, + -0.05287438631057739, + 0.07758141309022903, + 0.0, + 1.0001531839370728 + ], + [ + 0.3763537108898163, + 0.14022409915924072, + 0.05631696432828903, + 0.052761949598789215, + -0.05385490506887436, + 0.021792670711874962, + 0.0, + 1.0001531839370728 + ], + [ + 0.3894580602645874, + 0.1496468484401703, + 0.035627905279397964, + -0.007068079896271229, + -0.03577479347586632, + 0.002513596322387457, + 0.0, + 1.0001531839370728 + ], + [ + 0.39489254355430603, + 0.1667957603931427, + 0.0200231671333313, + -0.02002742514014244, + -0.020904511213302612, + -0.011542797088623047, + 0.0, + 1.0001531839370728 + ], + [ + 0.402564138174057, + 0.17328651249408722, + 0.014646449126303196, + -0.003844228805974126, + -0.001923596952110529, + -0.05511053651571274, + 0.0, + 1.0008161067962646 + ], + [ + 0.404005765914917, + 0.1764277070760727, + 0.01248981337994337, + 0.010257672518491745, + 0.02091280370950699, + -0.07875154912471771, + 0.0, + 0.9437892436981201 + ], + [ + 0.4013535678386688, + 0.17630580067634583, + 0.008060823194682598, + 0.013167442753911018, + 0.03765476867556572, + -0.07171410322189331, + 0.0, + 0.6541022062301636 + ], + [ + 0.3980630338191986, + 0.17300067842006683, + 0.007688316982239485, + 0.026819301769137383, + 0.043387457728385925, + -0.059067487716674805, + 0.0, + 0.3754602372646332 + ], + [ + 0.38820651173591614, + 0.16482317447662354, + 0.014028538018465042, + 0.051703669130802155, + 0.07822605222463608, + 0.0016516359755769372, + 0.0, + 0.3372049927711487 + ], + [ + 0.3865357041358948, + 0.13962422311306, + 0.04974478483200073, + 0.02107253484427929, + 0.031585466116666794, + 0.10600438714027405, + 0.0, + 0.3372049927711487 + ], + [ + 0.3984289765357971, + 0.09611868113279343, + 0.10811609774827957, + -0.021722551435232162, + -0.11867063492536545, + 0.17412889003753662, + 0.0, + 0.3372049927711487 + ], + [ + 0.40580546855926514, + 0.047152623534202576, + 0.11621857434511185, + -0.0652269795536995, + -0.1236235573887825, + 0.138048455119133, + 0.0, + 0.33639705181121826 + ], + [ + 0.4114828109741211, + 0.00040033020195551217, + 0.11630955338478088, + -0.024615386500954628, + -0.14165125787258148, + 0.0587284229695797, + 0.0, + 0.33639705181121826 + ], + [ + 0.40685176849365234, + -0.056590136140584946, + 0.09328029304742813, + 0.015262731350958347, + -0.11547139286994934, + -0.008393146097660065, + 0.0, + 0.33639705181121826 + ], + [ + 0.4057934880256653, + -0.0721505731344223, + 0.06523723155260086, + 0.05226937308907509, + -0.08586385101079941, + 0.007220419589430094, + 0.0, + 0.33639705181121826 + ], + [ + 0.4102526307106018, + -0.07485107332468033, + 0.0372764989733696, + 0.040619924664497375, + -0.06717046350240707, + 0.08394939452409744, + 0.0, + 0.33639705181121826 + ], + [ + 0.422904908657074, + -0.06880765408277512, + 0.03099057823419571, + 0.025365233421325684, + -0.08918313682079315, + 0.15473252534866333, + 0.0, + 0.33639705181121826 + ], + [ + 0.4229435622692108, + -0.059514597058296204, + 0.02053958922624588, + 0.03206411749124527, + -0.07021049410104752, + 0.1723652184009552, + 0.0, + 0.4265471398830414 + ], + [ + 0.42067059874534607, + -0.06482697278261185, + 0.020927216857671738, + 0.007702682167291641, + -0.05190182104706764, + 0.1227421835064888, + 0.0, + 0.7111459374427795 + ], + [ + 0.42106667160987854, + -0.06730154901742935, + 0.02437448501586914, + -0.002724970690906048, + -0.04343058168888092, + 0.06132378801703453, + 0.0, + 0.9723638892173767 + ], + [ + 0.41825151443481445, + -0.06251455098390579, + 0.03781285881996155, + -0.013018344528973103, + -0.035161085426807404, + 0.020016571506857872, + 0.0, + 1.0008161067962646 + ], + [ + 0.41565945744514465, + -0.04424488544464111, + 0.09473586827516556, + -0.02470494993031025, + -0.1158495545387268, + 0.03483608737587929, + 0.0, + 0.9994885921478271 + ], + [ + 0.40105554461479187, + -0.024802451953291893, + 0.08683931082487106, + -0.004510036204010248, + -0.0781569555401802, + 0.03139335662126541, + 0.0, + 0.9994885921478271 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 0.9437892436981201 + ], + [ + 0.6541022062301636 + ], + [ + 0.3754602372646332 + ], + [ + 0.3372049927711487 + ], + [ + 0.3372049927711487 + ], + [ + 0.3372049927711487 + ], + [ + 0.33639705181121826 + ], + [ + 0.33639705181121826 + ], + [ + 0.33639705181121826 + ], + [ + 0.33639705181121826 + ], + [ + 0.33639705181121826 + ], + [ + 0.33639705181121826 + ], + [ + 0.4265471398830414 + ], + [ + 0.7111459374427795 + ], + [ + 0.9723638892173767 + ], + [ + 1.0008161067962646 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.36554381251335144, + 0.039561714977025986, + 0.10418076068162918 + ], + [ + 0.36297041177749634, + 0.03913081809878349, + 0.09131795167922974 + ], + [ + 0.3564163148403168, + 0.051289550960063934, + 0.09134043008089066 + ], + [ + 0.3593519330024719, + 0.08351307362318039, + 0.09433037042617798 + ], + [ + 0.3625112473964691, + 0.11874059587717056, + 0.07534641027450562 + ], + [ + 0.3763537108898163, + 0.14022409915924072, + 0.05631696432828903 + ], + [ + 0.3894580602645874, + 0.1496468484401703, + 0.035627905279397964 + ], + [ + 0.39489254355430603, + 0.1667957603931427, + 0.0200231671333313 + ], + [ + 0.402564138174057, + 0.17328651249408722, + 0.014646449126303196 + ], + [ + 0.404005765914917, + 0.1764277070760727, + 0.01248981337994337 + ], + [ + 0.4013535678386688, + 0.17630580067634583, + 0.008060823194682598 + ], + [ + 0.3980630338191986, + 0.17300067842006683, + 0.007688316982239485 + ], + [ + 0.38820651173591614, + 0.16482317447662354, + 0.014028538018465042 + ], + [ + 0.3865357041358948, + 0.13962422311306, + 0.04974478483200073 + ], + [ + 0.3984289765357971, + 0.09611868113279343, + 0.10811609774827957 + ], + [ + 0.40580546855926514, + 0.047152623534202576, + 0.11621857434511185 + ], + [ + 0.4114828109741211, + 0.00040033020195551217, + 0.11630955338478088 + ], + [ + 0.40685176849365234, + -0.056590136140584946, + 0.09328029304742813 + ], + [ + 0.4057934880256653, + -0.0721505731344223, + 0.06523723155260086 + ], + [ + 0.4102526307106018, + -0.07485107332468033, + 0.0372764989733696 + ], + [ + 0.422904908657074, + -0.06880765408277512, + 0.03099057823419571 + ], + [ + 0.4229435622692108, + -0.059514597058296204, + 0.02053958922624588 + ], + [ + 0.42067059874534607, + -0.06482697278261185, + 0.020927216857671738 + ], + [ + 0.42106667160987854, + -0.06730154901742935, + 0.02437448501586914 + ], + [ + 0.41825151443481445, + -0.06251455098390579, + 0.03781285881996155 + ], + [ + 0.41565945744514465, + -0.04424488544464111, + 0.09473586827516556 + ], + [ + 0.40105554461479187, + -0.024802451953291893, + 0.08683931082487106 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9881881330023419, + 0.10279741833995738, + 0.11365256079818976, + 0.09676733822079626, + -0.9936520898880857, + 0.05737252403984128, + 0.11882885191319677, + -0.045696991626144684, + -0.9918626361091097 + ], + [ + 0.9921576128853048, + 0.1016593038957403, + 0.07272315398253407, + 0.09798050138367134, + -0.9938031141974704, + 0.05248991865124344, + 0.07760858549373395, + -0.0449528213001509, + -0.9959699550261637 + ], + [ + 0.990228573787403, + 0.13382805180836846, + 0.03921000132801051, + 0.13192712858708597, + -0.990114969953898, + 0.047619103477053906, + 0.04519518113397065, + -0.04198093403401759, + -0.9980956851824875 + ], + [ + 0.9906087737892235, + 0.11956931787364102, + 0.06631316245695977, + 0.11266367792127581, + -0.988629688979178, + 0.09959032958166532, + 0.07746710894994065, + -0.09118396949116596, + -0.9928163630494675 + ], + [ + 0.9955987502461081, + 0.08199888482326465, + 0.04537963635958688, + 0.0773952978151144, + -0.9924366810283081, + 0.09528589625766193, + 0.052849752927493505, + -0.09135434875941673, + -0.9944150474415828 + ], + [ + 0.9983130684791074, + 0.02459874656362896, + 0.0525920048232428, + 0.021759352731996917, + -0.9983094306809944, + 0.053896300263318896, + 0.053828875824358254, + -0.05266101291171337, + -0.997160603838017 + ], + [ + 0.999356993261891, + 0.0022607286269114937, + 0.03578392271157918, + 0.0025119853533980504, + -0.9999724976687924, + -0.006978096848084163, + 0.03576716298697903, + 0.007063498574530282, + -0.9993351875320664 + ], + [ + 0.9997149058749967, + -0.011958803174685095, + 0.020666252635044405, + -0.011540018825488765, + -0.9997280220753447, + -0.020265977470288205, + 0.020902988706252106, + 0.020021710814713257, + -0.9995810103034162 + ], + [ + 0.9984799513907419, + -0.05508962055196763, + 0.0017089114028024299, + -0.05508254215331859, + -0.9984740135525848, + -0.0039443389967357126, + 0.0019235957658204185, + 0.0038442122253481287, + -0.9999907608631676 + ], + [ + 0.9966827120218807, + -0.07887986775818948, + -0.02003841358890065, + -0.0786529716602423, + -0.9968313780757492, + 0.0118707090191113, + -0.020911279389899097, + -0.010255249682666431, + -0.9997287373323948 + ], + [ + 0.9967226105492555, + -0.07214084903798246, + -0.03660239773507113, + -0.07160185764772833, + -0.9973076616950752, + 0.01583041078733892, + -0.03764587097241557, + -0.013157728693831446, + -0.999204514888893 + ], + [ + 0.9973165762292413, + -0.060173005400296485, + -0.041699594716020125, + -0.058977590886494534, + -0.9978283718907203, + 0.029328893997904434, + -0.043373846400909855, + -0.026790850509286326, + -0.9986996344133604 + ], + [ + 0.9969405425299546, + -0.0023892166263997216, + -0.07812711631688538, + 0.0016465843627938616, + -0.9986689712873315, + 0.051551668720221044, + -0.0781462949858546, + -0.05152259147029921, + -0.9956096519962875 + ], + [ + 0.9938908145601586, + 0.10512078979591165, + -0.03362541130794786, + 0.10575319750237965, + -0.9942364287949814, + 0.017612066177056664, + -0.0315802145491064, + -0.021060465561950424, + -0.9992793137253202 + ], + [ + 0.9779510880996132, + 0.17067669978314878, + 0.12033758114535893, + 0.17203178005706984, + -0.985091001964837, + -0.0008857190918798129, + 0.11839229677296952, + 0.021568078241852643, + -0.9927326337266116 + ], + [ + 0.9829273742855734, + 0.1293568653422866, + 0.13084562762616953, + 0.1365602027027559, + -0.9894861657002407, + -0.04762813166205924, + 0.12330891256454624, + 0.06468329982811448, + -0.990258038495773 + ], + [ + 0.9882774738115899, + 0.055208078191999584, + 0.14233658299582824, + 0.058106796842215876, + -0.9981775129998589, + -0.016286580431570677, + 0.1411780256177274, + 0.02436638347729573, + -0.9896843155465878 + ], + [ + 0.9933055954893851, + -0.006633705295677729, + 0.115325573588551, + -0.008337154753499948, + -0.9998630671937678, + 0.014294709248081378, + 0.11521495484569, + -0.015160501836056987, + -0.9932248855943877 + ], + [ + 0.9962899927060556, + 0.01169087507421659, + 0.08526179609747074, + 0.007193756794728811, + -0.9985758850064402, + 0.05286257415963304, + 0.08575838324587227, + -0.05205310099891716, + -0.9949552625015109 + ], + [ + 0.9942311727591705, + 0.08649771648205637, + 0.06342334079275815, + 0.0836617327483189, + -0.9954277991159055, + 0.04608916598088352, + 0.06711996414982217, + -0.0405171789572566, + -0.9969218969517483 + ], + [ + 0.9841260877731247, + 0.15629817332613852, + 0.08406381135349661, + 0.15350334157642395, + -0.9873868171099889, + 0.0387814069146164, + 0.08906496218623577, + -0.025261718316807194, + -0.9957054173290646 + ], + [ + 0.9827546209842306, + 0.17364051447882886, + 0.06357929431559353, + 0.17109043270912164, + -0.9842897309239181, + 0.04360951081044477, + 0.07015282438752385, + -0.03197963929203086, + -0.9970235122108229 + ], + [ + 0.991140164443237, + 0.12282717865579373, + 0.05054363076482069, + 0.12226934767912759, + -0.9923982636644885, + 0.013996174256878964, + 0.051878522006254375, + -0.007692233691589908, + -0.9986237772531157 + ], + [ + 0.9971790987088416, + 0.061167044603813656, + 0.04350215802299084, + 0.06122756985526384, + -0.998123830596553, + -5.9032891531018376e-05, + 0.043416929737614816, + 0.0027223977847784762, + -0.9990533312904073 + ], + [ + 0.9991817116577979, + 0.01955599863232212, + 0.03540437834627477, + 0.020002863721131404, + -0.9997241142555925, + -0.01231181622771799, + 0.03515384092168877, + 0.01300993056721942, + -0.9992972276430516 + ], + [ + 0.9926942939834035, + 0.031964776888694604, + 0.11634557031209945, + 0.034595580818521154, + -0.9991877680297782, + -0.02066276863102044, + 0.115590589931105, + 0.024536855098522426, + -0.9929938359633723 + ], + [ + 0.9964560727885431, + 0.031035923824511008, + 0.07817970603163686, + 0.03129238152014877, + -0.9995081566149289, + -0.0020571142468199357, + 0.07807740941931578, + 0.004496253171938611, + -0.9969371604297749 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0025734007358551025, + -0.0004308968782424927, + -0.012862809002399445, + -0.0009352341294288635, + 0.04142358899116516, + 0.0008230134844779968, + 1.0 + ], + [ + -0.006554096937179565, + 0.012158732861280441, + 2.247840166091919e-05, + -0.0030678510665893555, + 0.03247612342238426, + 0.034013181924819946, + 1.0 + ], + [ + 0.0029356181621551514, + 0.032223522663116455, + 0.002989940345287323, + 0.04955054447054863, + -0.03233421966433525, + -0.019203826785087585, + 1.0 + ], + [ + 0.0031593143939971924, + 0.03522752225399017, + -0.018983960151672363, + 2.3484230041503906e-05, + 0.024670414626598358, + -0.03566374629735947, + 1.0 + ], + [ + 0.013842463493347168, + 0.02148350328207016, + -0.019029445946216583, + -0.038848333060741425, + -0.0009805187582969666, + -0.05578874051570892, + 1.0 + ], + [ + 0.013104349374771118, + 0.009422749280929565, + -0.020689059048891068, + -0.05983002856373787, + 0.01808011159300804, + -0.019279073923826218, + 1.0 + ], + [ + 0.005434483289718628, + 0.017148911952972412, + -0.015604738146066666, + -0.012959345243871212, + 0.014870282262563705, + -0.014056393876671791, + 1.0 + ], + [ + 0.0076715946197509766, + 0.006490752100944519, + -0.005376718007028103, + 0.016183195635676384, + 0.01898091472685337, + -0.04356773942708969, + 1.0 + ], + [ + 0.0014416277408599854, + 0.0031411945819854736, + -0.002156635746359825, + 0.014101901091635227, + 0.02283640019595623, + -0.023641012609004974, + 0.0 + ], + [ + -0.002652198076248169, + -0.00012190639972686768, + -0.004428990185260773, + 0.0029097702354192734, + 0.01674196496605873, + 0.007037445902824402, + 0.0 + ], + [ + -0.003290534019470215, + -0.0033051222562789917, + -0.0003725062124431133, + 0.013651859015226364, + 0.005732689052820206, + 0.012646615505218506, + 0.0 + ], + [ + -0.00985652208328247, + -0.008177503943443298, + 0.006340221036225557, + 0.024884367361664772, + 0.03483859449625015, + 0.06071912497282028, + 0.0 + ], + [ + -0.0016708076000213623, + -0.025198951363563538, + 0.03571624681353569, + -0.030631134286522865, + -0.046640586107969284, + 0.10435274988412857, + 0.0 + ], + [ + 0.011893272399902344, + -0.04350554198026657, + 0.05837131291627884, + -0.0427950844168663, + -0.15025609731674194, + 0.06812450289726257, + 0.0 + ], + [ + 0.007376492023468018, + -0.04896605759859085, + 0.008102476596832275, + -0.04350442811846733, + -0.004952922463417053, + -0.036080434918403625, + 0.0 + ], + [ + 0.005677342414855957, + -0.04675229266285896, + 9.097903966903687e-05, + 0.040611594915390015, + -0.01802770048379898, + -0.079320028424263, + 0.0 + ], + [ + -0.00463104248046875, + -0.05699046701192856, + -0.023029260337352753, + 0.03987811878323555, + 0.02617986500263214, + -0.06712156534194946, + 0.0 + ], + [ + -0.0010582804679870605, + -0.015560436993837357, + -0.02804306149482727, + 0.037006642669439316, + 0.029607541859149933, + 0.015613565221428871, + 0.0 + ], + [ + 0.0044591426849365234, + -0.002700500190258026, + -0.027960732579231262, + -0.011649448424577713, + 0.018693387508392334, + 0.07672897726297379, + 0.0 + ], + [ + 0.012652277946472168, + 0.006043419241905212, + -0.006285920739173889, + -0.015254691243171692, + -0.022012673318386078, + 0.07078313082456589, + 0.0 + ], + [ + 3.865361213684082e-05, + 0.009293057024478912, + -0.010450989007949829, + 0.006698884069919586, + 0.018972642719745636, + 0.01763269305229187, + 1.0 + ], + [ + -0.002272963523864746, + -0.005312375724315643, + 0.00038762763142585754, + -0.02436143532395363, + 0.018308673053979874, + -0.0496230348944664, + 1.0 + ], + [ + 0.0003960728645324707, + -0.002474576234817505, + 0.003447268158197403, + -0.010427652858197689, + 0.008471239358186722, + -0.06141839548945427, + 1.0 + ], + [ + -0.002815157175064087, + 0.00478699803352356, + 0.013438373804092407, + -0.010293373838067055, + 0.008269496262073517, + -0.04130721837282181, + 1.0 + ], + [ + -0.0025920569896698, + 0.01826966553926468, + 0.05692300945520401, + -0.011686605401337147, + -0.0806884691119194, + 0.014819515869021416, + 1.0 + ], + [ + -0.014603912830352783, + 0.01944243349134922, + -0.007896557450294495, + 0.02019491419196129, + 0.0376925989985466, + -0.0034427307546138763, + 1.0 + ], + [ + -0.013144463300704956, + 0.024654554203152657, + -0.019612111151218414, + 0.005387479439377785, + 0.045830514281988144, + 0.0272543802857399, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 0.9437892436981201 + ], + [ + 0.6541022062301636 + ], + [ + 0.3754602372646332 + ], + [ + 0.3372049927711487 + ], + [ + 0.3372049927711487 + ], + [ + 0.3372049927711487 + ], + [ + 0.33639705181121826 + ], + [ + 0.33639705181121826 + ], + [ + 0.33639705181121826 + ], + [ + 0.33639705181121826 + ], + [ + 0.33639705181121826 + ], + [ + 0.33639705181121826 + ], + [ + 0.4265471398830414 + ], + [ + 0.7111459374427795 + ], + [ + 0.9723638892173767 + ], + [ + 1.0008161067962646 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.36297041177749634, + 0.03913081809878349, + 0.09131795167922974 + ], + [ + 0.3564163148403168, + 0.051289550960063934, + 0.09134043008089066 + ], + [ + 0.3593519330024719, + 0.08351307362318039, + 0.09433037042617798 + ], + [ + 0.3625112473964691, + 0.11874059587717056, + 0.07534641027450562 + ], + [ + 0.3763537108898163, + 0.14022409915924072, + 0.05631696432828903 + ], + [ + 0.3894580602645874, + 0.1496468484401703, + 0.035627905279397964 + ], + [ + 0.39489254355430603, + 0.1667957603931427, + 0.0200231671333313 + ], + [ + 0.402564138174057, + 0.17328651249408722, + 0.014646449126303196 + ], + [ + 0.404005765914917, + 0.1764277070760727, + 0.01248981337994337 + ], + [ + 0.4013535678386688, + 0.17630580067634583, + 0.008060823194682598 + ], + [ + 0.3980630338191986, + 0.17300067842006683, + 0.007688316982239485 + ], + [ + 0.38820651173591614, + 0.16482317447662354, + 0.014028538018465042 + ], + [ + 0.3865357041358948, + 0.13962422311306, + 0.04974478483200073 + ], + [ + 0.3984289765357971, + 0.09611868113279343, + 0.10811609774827957 + ], + [ + 0.40580546855926514, + 0.047152623534202576, + 0.11621857434511185 + ], + [ + 0.4114828109741211, + 0.00040033020195551217, + 0.11630955338478088 + ], + [ + 0.40685176849365234, + -0.056590136140584946, + 0.09328029304742813 + ], + [ + 0.4057934880256653, + -0.0721505731344223, + 0.06523723155260086 + ], + [ + 0.4102526307106018, + -0.07485107332468033, + 0.0372764989733696 + ], + [ + 0.422904908657074, + -0.06880765408277512, + 0.03099057823419571 + ], + [ + 0.4229435622692108, + -0.059514597058296204, + 0.02053958922624588 + ], + [ + 0.42067059874534607, + -0.06482697278261185, + 0.020927216857671738 + ], + [ + 0.42106667160987854, + -0.06730154901742935, + 0.02437448501586914 + ], + [ + 0.41825151443481445, + -0.06251455098390579, + 0.03781285881996155 + ], + [ + 0.41565945744514465, + -0.04424488544464111, + 0.09473586827516556 + ], + [ + 0.40105554461479187, + -0.024802451953291893, + 0.08683931082487106 + ], + [ + 0.3879110813140869, + -0.00014789805572945625, + 0.06722719967365265 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9921576128853048, + 0.1016593038957403, + 0.07272315398253407, + 0.09798050138367134, + -0.9938031141974704, + 0.05248991865124344, + 0.07760858549373395, + -0.0449528213001509, + -0.9959699550261637 + ], + [ + 0.990228573787403, + 0.13382805180836846, + 0.03921000132801051, + 0.13192712858708597, + -0.990114969953898, + 0.047619103477053906, + 0.04519518113397065, + -0.04198093403401759, + -0.9980956851824875 + ], + [ + 0.9906087737892235, + 0.11956931787364102, + 0.06631316245695977, + 0.11266367792127581, + -0.988629688979178, + 0.09959032958166532, + 0.07746710894994065, + -0.09118396949116596, + -0.9928163630494675 + ], + [ + 0.9955987502461081, + 0.08199888482326465, + 0.04537963635958688, + 0.0773952978151144, + -0.9924366810283081, + 0.09528589625766193, + 0.052849752927493505, + -0.09135434875941673, + -0.9944150474415828 + ], + [ + 0.9983130684791074, + 0.02459874656362896, + 0.0525920048232428, + 0.021759352731996917, + -0.9983094306809944, + 0.053896300263318896, + 0.053828875824358254, + -0.05266101291171337, + -0.997160603838017 + ], + [ + 0.999356993261891, + 0.0022607286269114937, + 0.03578392271157918, + 0.0025119853533980504, + -0.9999724976687924, + -0.006978096848084163, + 0.03576716298697903, + 0.007063498574530282, + -0.9993351875320664 + ], + [ + 0.9997149058749967, + -0.011958803174685095, + 0.020666252635044405, + -0.011540018825488765, + -0.9997280220753447, + -0.020265977470288205, + 0.020902988706252106, + 0.020021710814713257, + -0.9995810103034162 + ], + [ + 0.9984799513907419, + -0.05508962055196763, + 0.0017089114028024299, + -0.05508254215331859, + -0.9984740135525848, + -0.0039443389967357126, + 0.0019235957658204185, + 0.0038442122253481287, + -0.9999907608631676 + ], + [ + 0.9966827120218807, + -0.07887986775818948, + -0.02003841358890065, + -0.0786529716602423, + -0.9968313780757492, + 0.0118707090191113, + -0.020911279389899097, + -0.010255249682666431, + -0.9997287373323948 + ], + [ + 0.9967226105492555, + -0.07214084903798246, + -0.03660239773507113, + -0.07160185764772833, + -0.9973076616950752, + 0.01583041078733892, + -0.03764587097241557, + -0.013157728693831446, + -0.999204514888893 + ], + [ + 0.9973165762292413, + -0.060173005400296485, + -0.041699594716020125, + -0.058977590886494534, + -0.9978283718907203, + 0.029328893997904434, + -0.043373846400909855, + -0.026790850509286326, + -0.9986996344133604 + ], + [ + 0.9969405425299546, + -0.0023892166263997216, + -0.07812711631688538, + 0.0016465843627938616, + -0.9986689712873315, + 0.051551668720221044, + -0.0781462949858546, + -0.05152259147029921, + -0.9956096519962875 + ], + [ + 0.9938908145601586, + 0.10512078979591165, + -0.03362541130794786, + 0.10575319750237965, + -0.9942364287949814, + 0.017612066177056664, + -0.0315802145491064, + -0.021060465561950424, + -0.9992793137253202 + ], + [ + 0.9779510880996132, + 0.17067669978314878, + 0.12033758114535893, + 0.17203178005706984, + -0.985091001964837, + -0.0008857190918798129, + 0.11839229677296952, + 0.021568078241852643, + -0.9927326337266116 + ], + [ + 0.9829273742855734, + 0.1293568653422866, + 0.13084562762616953, + 0.1365602027027559, + -0.9894861657002407, + -0.04762813166205924, + 0.12330891256454624, + 0.06468329982811448, + -0.990258038495773 + ], + [ + 0.9882774738115899, + 0.055208078191999584, + 0.14233658299582824, + 0.058106796842215876, + -0.9981775129998589, + -0.016286580431570677, + 0.1411780256177274, + 0.02436638347729573, + -0.9896843155465878 + ], + [ + 0.9933055954893851, + -0.006633705295677729, + 0.115325573588551, + -0.008337154753499948, + -0.9998630671937678, + 0.014294709248081378, + 0.11521495484569, + -0.015160501836056987, + -0.9932248855943877 + ], + [ + 0.9962899927060556, + 0.01169087507421659, + 0.08526179609747074, + 0.007193756794728811, + -0.9985758850064402, + 0.05286257415963304, + 0.08575838324587227, + -0.05205310099891716, + -0.9949552625015109 + ], + [ + 0.9942311727591705, + 0.08649771648205637, + 0.06342334079275815, + 0.0836617327483189, + -0.9954277991159055, + 0.04608916598088352, + 0.06711996414982217, + -0.0405171789572566, + -0.9969218969517483 + ], + [ + 0.9841260877731247, + 0.15629817332613852, + 0.08406381135349661, + 0.15350334157642395, + -0.9873868171099889, + 0.0387814069146164, + 0.08906496218623577, + -0.025261718316807194, + -0.9957054173290646 + ], + [ + 0.9827546209842306, + 0.17364051447882886, + 0.06357929431559353, + 0.17109043270912164, + -0.9842897309239181, + 0.04360951081044477, + 0.07015282438752385, + -0.03197963929203086, + -0.9970235122108229 + ], + [ + 0.991140164443237, + 0.12282717865579373, + 0.05054363076482069, + 0.12226934767912759, + -0.9923982636644885, + 0.013996174256878964, + 0.051878522006254375, + -0.007692233691589908, + -0.9986237772531157 + ], + [ + 0.9971790987088416, + 0.061167044603813656, + 0.04350215802299084, + 0.06122756985526384, + -0.998123830596553, + -5.9032891531018376e-05, + 0.043416929737614816, + 0.0027223977847784762, + -0.9990533312904073 + ], + [ + 0.9991817116577979, + 0.01955599863232212, + 0.03540437834627477, + 0.020002863721131404, + -0.9997241142555925, + -0.01231181622771799, + 0.03515384092168877, + 0.01300993056721942, + -0.9992972276430516 + ], + [ + 0.9926942939834035, + 0.031964776888694604, + 0.11634557031209945, + 0.034595580818521154, + -0.9991877680297782, + -0.02066276863102044, + 0.115590589931105, + 0.024536855098522426, + -0.9929938359633723 + ], + [ + 0.9964560727885431, + 0.031035923824511008, + 0.07817970603163686, + 0.03129238152014877, + -0.9995081566149289, + -0.0020571142468199357, + 0.07807740941931578, + 0.004496253171938611, + -0.9969371604297749 + ], + [ + 0.9977591587056598, + 0.05864241066355302, + 0.03221379969114685, + 0.058583499138756344, + -0.9982786677925201, + 0.0027703896929251876, + 0.03232081137028377, + -0.0008769845828374953, + -0.9994771613450745 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006293.json b/json/chunk-0006/episode_0006293.json new file mode 100644 index 0000000000000000000000000000000000000000..61e758318926704d85ead4a437ceef03335a43a7 --- /dev/null +++ b/json/chunk-0006/episode_0006293.json @@ -0,0 +1,2362 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 38, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nTake the banana and place it into the red pot." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006293.mp4", + "start": 0, + "end": 38, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.19422230124473572, + 0.015302976593375206, + 0.07200303673744202, + 0.07031142711639404, + -0.2039119005203247, + -0.08538174629211426, + 0.0, + 0.9994885921478271 + ], + [ + 0.19238100945949554, + 0.015471084974706173, + 0.06881406158208847, + 0.06960543245077133, + -0.18601848185062408, + -0.07709629833698273, + 0.0, + 0.9994885921478271 + ], + [ + 0.2086377739906311, + 0.014685017988085747, + 0.07429520040750504, + 0.10054580122232437, + -0.180139422416687, + -0.062021348625421524, + 0.0, + 0.9994885921478271 + ], + [ + 0.23375709354877472, + 0.014782080426812172, + 0.08932389318943024, + 0.09807619452476501, + -0.237884521484375, + -0.03595530986785889, + 0.0, + 0.9994885921478271 + ], + [ + 0.26188960671424866, + 0.017067529261112213, + 0.08782534301280975, + 0.08655551075935364, + -0.2251184582710266, + 0.00650025112554431, + 0.0, + 0.9994885921478271 + ], + [ + 0.28256478905677795, + 0.02086968533694744, + 0.07668755948543549, + 0.11154468357563019, + -0.19310030341148376, + -0.008691252209246159, + 0.0, + 0.9994885921478271 + ], + [ + 0.3053668141365051, + 0.020281653851270676, + 0.06620325148105621, + 0.109146349132061, + -0.20057466626167297, + -0.024317141622304916, + 0.0, + 0.9994885921478271 + ], + [ + 0.32681354880332947, + 0.01954285427927971, + 0.05438697338104248, + 0.08246015012264252, + -0.23138366639614105, + -0.017769822850823402, + 0.0, + 0.9994885921478271 + ], + [ + 0.34210845828056335, + 0.020444979891180992, + 0.04512305185198784, + 0.07788926362991333, + -0.23301447927951813, + 0.0036667264066636562, + 0.0, + 0.9994885921478271 + ], + [ + 0.34993621706962585, + 0.018517451360821724, + 0.03251751512289047, + 0.09246599674224854, + -0.21058383584022522, + -0.00042123778257519007, + 0.0, + 0.9994885921478271 + ], + [ + 0.35618048906326294, + 0.016290973871946335, + 0.024090077728033066, + 0.07232171297073364, + -0.21144938468933105, + 0.02617683634161949, + 0.0, + 0.9994885921478271 + ], + [ + 0.3612573444843292, + 0.017914438620209694, + 0.01951877772808075, + 0.06264067441225052, + -0.21439474821090698, + 0.04320337623357773, + 0.0, + 0.9994885921478271 + ], + [ + 0.3642765283584595, + 0.020348407328128815, + 0.014807730913162231, + 0.07146058231592178, + -0.19674213230609894, + 0.06054433062672615, + 0.0, + 0.9522681832313538 + ], + [ + 0.36429011821746826, + 0.019473686814308167, + 0.014777972362935543, + 0.0687033012509346, + -0.19675080478191376, + 0.06295235455036163, + 0.0, + 0.6470694541931152 + ], + [ + 0.36402222514152527, + 0.020927462726831436, + 0.014615379273891449, + 0.05733431875705719, + -0.1950879693031311, + 0.0692649856209755, + 0.0, + 0.3962334990501404 + ], + [ + 0.35987353324890137, + 0.02365158684551716, + 0.01399102620780468, + 0.060767363756895065, + -0.18817147612571716, + 0.0799436941742897, + 0.0, + 0.3669656813144684 + ], + [ + 0.35499322414398193, + 0.032811239361763, + 0.02867092192173004, + 0.05789444223046303, + -0.19803747534751892, + 0.11986637115478516, + 0.0, + 0.3669656813144684 + ], + [ + 0.3488641083240509, + 0.03740106150507927, + 0.04801621660590172, + 0.07546893507242203, + -0.20645540952682495, + 0.1401222050189972, + 0.0, + 0.3669656813144684 + ], + [ + 0.33990180492401123, + 0.03920796513557434, + 0.07672830671072006, + 0.09126734733581543, + -0.23859354853630066, + 0.15340952575206757, + 0.0, + 0.3669656813144684 + ], + [ + 0.33659714460372925, + 0.01621910370886326, + 0.09204539656639099, + 0.05666746199131012, + -0.2747160494327545, + 0.1175561174750328, + 0.0, + 0.3669656813144684 + ], + [ + 0.3423515558242798, + -0.013809158466756344, + 0.09240436553955078, + 0.02466198056936264, + -0.2893689274787903, + 0.04255299270153046, + 0.0, + 0.3669656813144684 + ], + [ + 0.3505690395832062, + -0.04154766723513603, + 0.08347692340612411, + 0.03255254775285721, + -0.293958842754364, + -0.054394133388996124, + 0.0, + 0.3669656813144684 + ], + [ + 0.3632808029651642, + -0.05594024062156677, + 0.07520683854818344, + -0.00860620941966772, + -0.3068316578865051, + -0.0997459664940834, + 0.0, + 0.3669656813144684 + ], + [ + 0.3700005114078522, + -0.06907819956541061, + 0.05624886974692345, + -0.014002131298184395, + -0.298889696598053, + -0.11890558898448944, + 0.0, + 0.3669656813144684 + ], + [ + 0.37214723229408264, + -0.07883207499980927, + 0.04923159256577492, + -0.015692468732595444, + -0.3112647235393524, + -0.12697860598564148, + 0.0, + 0.3669656813144684 + ], + [ + 0.3743756413459778, + -0.07964210212230682, + 0.04683015123009682, + -0.014124909415841103, + -0.3127880096435547, + -0.1390175223350525, + 0.0, + 0.3669656813144684 + ], + [ + 0.3753322660923004, + -0.07802832126617432, + 0.04647688940167427, + -0.010503108613193035, + -0.3161686360836029, + -0.13609333336353302, + 0.0, + 0.3669656813144684 + ], + [ + 0.3750966489315033, + -0.07450079917907715, + 0.041446104645729065, + -0.008613647893071175, + -0.3010742664337158, + -0.12123730778694153, + 0.0, + 0.4606100916862488 + ], + [ + 0.37774112820625305, + -0.07418686151504517, + 0.04531927779316902, + 0.0022064116783440113, + -0.3016027808189392, + -0.13992248475551605, + 0.0, + 0.7408273816108704 + ], + [ + 0.38018903136253357, + -0.07398057729005814, + 0.04583258554339409, + 0.0024856103118509054, + -0.3188740015029907, + -0.13009639084339142, + 0.0, + 0.9893313646316528 + ], + [ + 0.38151705265045166, + -0.0728386864066124, + 0.04497813805937767, + 0.0075979651883244514, + -0.3336576223373413, + -0.1220371276140213, + 0.0, + 1.0014774799346924 + ], + [ + 0.38236203789711, + -0.07119473069906235, + 0.04305221512913704, + 0.016217591241002083, + -0.3512342870235443, + -0.1087147518992424, + 0.0, + 1.0014774799346924 + ], + [ + 0.38111943006515503, + -0.0699603334069252, + 0.04264441132545471, + 0.02463110350072384, + -0.3432002365589142, + -0.0940709114074707, + 0.0, + 1.0014774799346924 + ], + [ + 0.37573689222335815, + -0.06958823651075363, + 0.0461091548204422, + 0.050423868000507355, + -0.2921351492404938, + -0.08928323537111282, + 0.0, + 1.0014774799346924 + ], + [ + 0.3296346366405487, + -0.028603630140423775, + 0.0960700660943985, + -0.013651845045387745, + -0.2789049744606018, + -0.051382821053266525, + 0.0, + 1.0014774799346924 + ], + [ + 0.3071717321872711, + -0.001380212139338255, + 0.14148728549480438, + 0.0012762859696522355, + -0.3390752077102661, + 0.006994130089879036, + 0.0, + 1.0001531839370728 + ], + [ + 0.29062625765800476, + 0.0061719901859760284, + 0.16597259044647217, + 0.01136320922523737, + -0.39679527282714844, + 0.048386819660663605, + 0.0, + 1.0001531839370728 + ], + [ + 0.2700558006763458, + 0.011234350502490997, + 0.17060600221157074, + 0.03948897868394852, + -0.3365058898925781, + 0.08276574313640594, + 0.0, + 1.0001531839370728 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9522681832313538 + ], + [ + 0.6470694541931152 + ], + [ + 0.3962334990501404 + ], + [ + 0.3669656813144684 + ], + [ + 0.3669656813144684 + ], + [ + 0.3669656813144684 + ], + [ + 0.3669656813144684 + ], + [ + 0.3669656813144684 + ], + [ + 0.3669656813144684 + ], + [ + 0.3669656813144684 + ], + [ + 0.3669656813144684 + ], + [ + 0.3669656813144684 + ], + [ + 0.3669656813144684 + ], + [ + 0.3669656813144684 + ], + [ + 0.3669656813144684 + ], + [ + 0.4606100916862488 + ], + [ + 0.7408273816108704 + ], + [ + 0.9893313646316528 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.19422230124473572, + 0.015302976593375206, + 0.07200303673744202 + ], + [ + 0.19238100945949554, + 0.015471084974706173, + 0.06881406158208847 + ], + [ + 0.2086377739906311, + 0.014685017988085747, + 0.07429520040750504 + ], + [ + 0.23375709354877472, + 0.014782080426812172, + 0.08932389318943024 + ], + [ + 0.26188960671424866, + 0.017067529261112213, + 0.08782534301280975 + ], + [ + 0.28256478905677795, + 0.02086968533694744, + 0.07668755948543549 + ], + [ + 0.3053668141365051, + 0.020281653851270676, + 0.06620325148105621 + ], + [ + 0.32681354880332947, + 0.01954285427927971, + 0.05438697338104248 + ], + [ + 0.34210845828056335, + 0.020444979891180992, + 0.04512305185198784 + ], + [ + 0.34993621706962585, + 0.018517451360821724, + 0.03251751512289047 + ], + [ + 0.35618048906326294, + 0.016290973871946335, + 0.024090077728033066 + ], + [ + 0.3612573444843292, + 0.017914438620209694, + 0.01951877772808075 + ], + [ + 0.3642765283584595, + 0.020348407328128815, + 0.014807730913162231 + ], + [ + 0.36429011821746826, + 0.019473686814308167, + 0.014777972362935543 + ], + [ + 0.36402222514152527, + 0.020927462726831436, + 0.014615379273891449 + ], + [ + 0.35987353324890137, + 0.02365158684551716, + 0.01399102620780468 + ], + [ + 0.35499322414398193, + 0.032811239361763, + 0.02867092192173004 + ], + [ + 0.3488641083240509, + 0.03740106150507927, + 0.04801621660590172 + ], + [ + 0.33990180492401123, + 0.03920796513557434, + 0.07672830671072006 + ], + [ + 0.33659714460372925, + 0.01621910370886326, + 0.09204539656639099 + ], + [ + 0.3423515558242798, + -0.013809158466756344, + 0.09240436553955078 + ], + [ + 0.3505690395832062, + -0.04154766723513603, + 0.08347692340612411 + ], + [ + 0.3632808029651642, + -0.05594024062156677, + 0.07520683854818344 + ], + [ + 0.3700005114078522, + -0.06907819956541061, + 0.05624886974692345 + ], + [ + 0.37214723229408264, + -0.07883207499980927, + 0.04923159256577492 + ], + [ + 0.3743756413459778, + -0.07964210212230682, + 0.04683015123009682 + ], + [ + 0.3753322660923004, + -0.07802832126617432, + 0.04647688940167427 + ], + [ + 0.3750966489315033, + -0.07450079917907715, + 0.041446104645729065 + ], + [ + 0.37774112820625305, + -0.07418686151504517, + 0.04531927779316902 + ], + [ + 0.38018903136253357, + -0.07398057729005814, + 0.04583258554339409 + ], + [ + 0.38151705265045166, + -0.0728386864066124, + 0.04497813805937767 + ], + [ + 0.38236203789711, + -0.07119473069906235, + 0.04305221512913704 + ], + [ + 0.38111943006515503, + -0.0699603334069252, + 0.04264441132545471 + ], + [ + 0.37573689222335815, + -0.06958823651075363, + 0.0461091548204422 + ], + [ + 0.3296346366405487, + -0.028603630140423775, + 0.0960700660943985 + ], + [ + 0.3071717321872711, + -0.001380212139338255, + 0.14148728549480438 + ], + [ + 0.29062625765800476, + 0.0061719901859760284, + 0.16597259044647217 + ], + [ + 0.2700558006763458, + 0.011234350502490997, + 0.17060600221157074 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9757145707641913, + -0.0708927047906609, + 0.20725660618159827, + -0.08351124614328145, + -0.9951085674613106, + 0.052771305959720585, + 0.20250172385944318, + -0.06879798959680718, + -0.9768622668838178 + ], + [ + 0.9798291917990654, + -0.06400869182842986, + 0.18930832593629754, + -0.07569122864634872, + -0.9956059693781976, + 0.05513249173133563, + 0.18494754068220676, + -0.06834940459808504, + -0.9803686888547036 + ], + [ + 0.9819271269594254, + -0.04371900961675468, + 0.18414061349777927, + -0.06097865252150997, + -0.9941512158671937, + 0.08913452712861275, + 0.17916674155062756, + -0.09875225662186443, + -0.9788499734556976 + ], + [ + 0.9712105345785056, + -0.012715374262233382, + 0.23788319987150033, + -0.03493523158840759, + -0.9953806341632606, + 0.08942551496418125, + 0.2356472514535172, + -0.09516150687182295, + -0.9671683723593769 + ], + [ + 0.9747470779500531, + 0.025772427243054324, + 0.22181955734748487, + 0.006336190032388781, + -0.9961099281623762, + 0.08789120383871665, + 0.22322183299065107, + -0.08426620325104756, + -0.9711185407899217 + ], + [ + 0.9813769300029623, + 0.012723404382925105, + 0.19167012349051624, + -0.008529609181561867, + -0.9939334599666487, + 0.1096518259124602, + 0.19190249353557395, + -0.10924464352834526, + -0.9753148419024464 + ], + [ + 0.9796625273976237, + -0.0024741239390931886, + 0.20063701334408449, + -0.023827289150307865, + -0.9942832474142345, + 0.10408210318374643, + 0.1992325091561313, + -0.10674597239305296, + -0.9741209907774362 + ], + [ + 0.9731963465385259, + 0.001177219652296696, + 0.2299727923863065, + -0.01729534714639339, + -0.9967803765875253, + 0.07829273157271194, + 0.2293245343419468, + -0.08017165960563138, + -0.9700426603737218 + ], + [ + 0.972968197875641, + 0.021622833414967978, + 0.22992463764837345, + 0.003567624172771547, + -0.9968955812776618, + 0.07865412949638882, + 0.23091158043803073, + -0.07570768193638867, + -0.9700248393290913 + ], + [ + 0.9779089549216716, + 0.018881277258091474, + 0.2081767836553987, + -0.00041193222409621755, + -0.9957361066141451, + 0.09224660588198441, + 0.20903087378625762, + -0.09029453667861909, + -0.9737314775902784 + ], + [ + 0.9773927854789594, + 0.041265682867148934, + 0.2073655861303634, + 0.025590896443024105, + -0.9966472881410271, + 0.07771286290170534, + 0.20987722342580126, + -0.07064932029853313, + -0.9751718949131133 + ], + [ + 0.9761935869374528, + 0.0564112717920732, + 0.2094369815409647, + 0.04220111865659644, + -0.9965321999268869, + 0.07171220323634506, + 0.21275607254863824, + -0.061166517995385646, + -0.9751889615197655 + ], + [ + 0.9789117124455077, + 0.07428424492638365, + 0.1902990020802019, + 0.059340078076775445, + -0.9947757122534175, + 0.08306646401856671, + 0.19547535489377127, + -0.07002237689783666, + -0.9782056288749985 + ], + [ + 0.9787642901747231, + 0.07615560806673402, + 0.1903175967659236, + 0.06169703992521608, + -0.9948204327072291, + 0.0807823120037295, + 0.19548386005815668, + -0.06732480990086494, + -0.9783932902614243 + ], + [ + 0.978678245953212, + 0.08017758739923218, + 0.18910432405628047, + 0.06789675072738581, + -0.9951941146235682, + 0.07055994231343479, + 0.19385283629239858, + -0.05621591142595212, + -0.9794186281483225 + ], + [ + 0.9792105077593127, + 0.09103521351603207, + 0.18127154049612737, + 0.0784488987663811, + -0.9940591116742417, + 0.07544701968772081, + 0.18706296206382167, + -0.05965796172773332, + -0.9805347397346008 + ], + [ + 0.9734194533912174, + 0.13068161929350694, + 0.1880874321648587, + 0.11724230648931962, + -0.9897999237425837, + 0.08093424817862759, + 0.1967455446220012, + -0.05673116725400732, + -0.9788119151979046 + ], + [ + 0.9691707486486331, + 0.15457093275128933, + 0.19187466407070003, + 0.13669817013594285, + -0.9852217793087202, + 0.10320685954549545, + 0.20499187848627665, + -0.07379615385746872, + -0.9759776931008781 + ], + [ + 0.9602598468710557, + 0.17345939507477476, + 0.2186615301041079, + 0.14847963647959161, + -0.9808512512977767, + 0.12603420320878755, + 0.23633625206062822, + -0.08855880017185663, + -0.9676272602991589 + ], + [ + 0.9558592986843337, + 0.13235540428303533, + 0.26232622452924476, + 0.11288760223485289, + -0.9897021466139102, + 0.08801164837385757, + 0.2712736448318544, + -0.05451337400025959, + -0.9609572840010884 + ], + [ + 0.9575565355098953, + 0.049557365688772816, + 0.2839534271817755, + 0.04077150833870285, + -0.9984916074408677, + 0.03677219027933154, + 0.2853474468259244, + -0.02363424160284235, + -0.9581326929052076 + ], + [ + 0.9556887759507843, + -0.044922234857854126, + 0.29093118831962234, + -0.052035192101067745, + -0.99850469594145, + 0.016754431231093117, + 0.2897435112382963, + -0.031150682147398433, + -0.9565972677658321 + ], + [ + 0.9485569585444182, + -0.10216342659412475, + 0.2996703700126345, + -0.09492976653007809, + -0.994733796580849, + -0.03863953113580034, + 0.30203979178827955, + 0.008204157872475611, + -0.9532600148805654 + ], + [ + 0.948916126824997, + -0.12270777793056893, + 0.290690532158838, + -0.11336621277332497, + -0.9923526353384029, + -0.04882979560022796, + 0.2944593113706535, + 0.01338089579471469, + -0.9555703352317146 + ], + [ + 0.944282909244888, + -0.13138919531447246, + 0.30177254126680586, + -0.12055233618392863, + -0.9912183119393893, + -0.054345122289170114, + 0.3062628308309836, + 0.014937785332612308, + -0.9518297857394195 + ], + [ + 0.942300076801843, + -0.1428606967374187, + 0.3027563155194959, + -0.13184666888138147, + -0.989651560687605, + -0.05662370822784107, + 0.3077125625711836, + 0.013439112927853762, + -0.9513844486218955 + ], + [ + 0.9416455647286917, + -0.13890158112190945, + 0.30661047142688524, + -0.12894877221646686, + -0.9902558780231726, + -0.052588118281804916, + 0.31092739437149786, + 0.009982324498280477, + -0.950381243831633 + ], + [ + 0.9480084010241205, + -0.12347160336049133, + 0.293316952717159, + -0.11550043539370279, + -0.992314010073722, + -0.04441345331399658, + 0.2965463218648238, + 0.008226091112975314, + -0.9549830419507174 + ], + [ + 0.9455295641632522, + -0.1388170071086801, + 0.29445488929654307, + -0.1331710702967704, + -0.9903158081457325, + -0.039243676849623974, + 0.29705102142437323, + -0.0021068160939492105, + -0.9548592838720704 + ], + [ + 0.9415644146626303, + -0.12895667185931176, + 0.31116977652720135, + -0.12318991691434683, + -0.9916474200739832, + -0.03820521733022314, + 0.3134975237727644, + -0.002360305824051688, + -0.9495860843255667 + ], + [ + 0.9378236587726098, + -0.11926110978384213, + 0.32598093922725313, + -0.11502087756056306, + -0.9928369712376001, + -0.03232562867056166, + 0.3275011187332857, + -0.00717887434598433, + -0.9448235184369466 + ], + [ + 0.9334055563760412, + -0.10293987050619698, + 0.34374038224581727, + -0.10187662654001879, + -0.9945710266343739, + -0.021204385024640598, + 0.34405700151451457, + -0.015226819747243976, + -0.9388252892147859 + ], + [ + 0.9375190408560782, + -0.0856527910896009, + 0.3372264037866257, + -0.0884543454489148, + -0.9960550762443078, + -0.007079114291364617, + 0.33650241723277885, + -0.023192336374486703, + -0.9413969612920946 + ], + [ + 0.9538167994327704, + -0.07459335267860867, + 0.29097997329024466, + -0.0853868574725129, + -0.9960452438616958, + 0.02455517769156272, + 0.28799756542511873, + -0.04826700650195903, + -0.956413978563961 + ], + [ + 0.960088672479321, + -0.0551087462880279, + 0.27421299578877856, + -0.049375525764154625, + -0.9983941052736293, + -0.027771712413576868, + 0.27530310283832293, + 0.013123895665193636, + -0.9612678944655131 + ], + [ + 0.9430396024270876, + 0.007418568854513627, + 0.3325977647103355, + 0.006595849211233613, + -0.9999717576719276, + 0.0036025868065318635, + 0.33261509741342693, + -0.0012036173257181507, + -0.943061900554778 + ], + [ + 0.9212247640486815, + 0.05275106184082096, + 0.3854377505877147, + 0.04460995682436903, + -0.9985526990389653, + 0.030040955279851032, + 0.38646459845059467, + -0.010480110527277889, + -0.9222446971535033 + ], + [ + 0.940683008587804, + 0.09559772630623137, + 0.3255404000723668, + 0.07803459305064994, + -0.9947222880519577, + 0.06661960627396148, + 0.3301909745005414, + -0.037264519019532094, + -0.9431782843029338 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0018412917852401733, + 0.00016810838133096695, + -0.003188975155353546, + -0.0007059946656227112, + 0.017893418669700623, + 0.00828544795513153, + 1.0 + ], + [ + 0.01625676453113556, + -0.0007860669866204262, + 0.005481138825416565, + 0.03094036877155304, + 0.005879059433937073, + 0.015074949711561203, + 1.0 + ], + [ + 0.025119319558143616, + 9.706243872642517e-05, + 0.015028692781925201, + -0.0024696066975593567, + -0.05774509906768799, + 0.026066038757562637, + 1.0 + ], + [ + 0.028132513165473938, + 0.002285448834300041, + -0.0014985501766204834, + -0.011520683765411377, + 0.012766063213348389, + 0.042455561459064484, + 1.0 + ], + [ + 0.020675182342529297, + 0.003802156075835228, + -0.011137783527374268, + 0.02498917281627655, + 0.03201815485954285, + -0.015191502869129181, + 1.0 + ], + [ + 0.022802025079727173, + -0.0005880314856767654, + -0.010484308004379272, + -0.0023983344435691833, + -0.007474362850189209, + -0.015625890344381332, + 1.0 + ], + [ + 0.02144673466682434, + -0.0007387995719909668, + -0.011816278100013733, + -0.026686199009418488, + -0.03080900013446808, + 0.006547318771481514, + 1.0 + ], + [ + 0.015294909477233887, + 0.0009021256119012833, + -0.009263921529054642, + -0.004570886492729187, + -0.0016308128833770752, + 0.021436549723148346, + 1.0 + ], + [ + 0.0078277587890625, + -0.0019275285303592682, + -0.012605536729097366, + 0.014576733112335205, + 0.022430643439292908, + -0.0040879640728235245, + 1.0 + ], + [ + 0.006244271993637085, + -0.002226477488875389, + -0.008427437394857407, + -0.020144283771514893, + -0.000865548849105835, + 0.026598073542118073, + 1.0 + ], + [ + 0.005076855421066284, + 0.001623464748263359, + -0.004571299999952316, + -0.009681038558483124, + -0.0029453635215759277, + 0.017026539891958237, + 1.0 + ], + [ + 0.003019183874130249, + 0.002433968707919121, + -0.004711046814918518, + 0.008819907903671265, + 0.017652615904808044, + 0.017340954393148422, + 0.0 + ], + [ + 1.3589859008789062e-05, + -0.0008747205138206482, + -2.9758550226688385e-05, + -0.0027572810649871826, + -8.672475814819336e-06, + 0.002408023923635483, + 0.0 + ], + [ + -0.00026789307594299316, + 0.0014537759125232697, + -0.00016259308904409409, + -0.011368982493877411, + 0.0016628354787826538, + 0.006312631070613861, + 0.0 + ], + [ + -0.004148691892623901, + 0.0027241241186857224, + -0.0006243530660867691, + 0.0034330449998378754, + 0.00691649317741394, + 0.010678708553314209, + 0.0 + ], + [ + -0.004880309104919434, + 0.009159652516245842, + 0.014679895713925362, + -0.0028729215264320374, + -0.009865999221801758, + 0.03992267698049545, + 0.0 + ], + [ + -0.00612911581993103, + 0.004589822143316269, + 0.019345294684171677, + 0.017574492841959, + -0.00841793417930603, + 0.020255833864212036, + 0.0 + ], + [ + -0.008962303400039673, + 0.0018069036304950714, + 0.028712090104818344, + 0.015798412263393402, + -0.03213813900947571, + 0.013287320733070374, + 0.0 + ], + [ + -0.0033046603202819824, + -0.022988861426711082, + 0.015317089855670929, + -0.03459988534450531, + -0.03612250089645386, + -0.03585340827703476, + 0.0 + ], + [ + 0.005754411220550537, + -0.030028261244297028, + 0.00035896897315979004, + -0.03200548142194748, + -0.014652878046035767, + -0.07500312477350235, + 0.0 + ], + [ + 0.008217483758926392, + -0.027738507837057114, + -0.008927442133426666, + 0.007890567183494568, + -0.0045899152755737305, + -0.09694712609052658, + 0.0 + ], + [ + 0.012711763381958008, + -0.01439257338643074, + -0.008270084857940674, + -0.041158758103847504, + -0.012872815132141113, + -0.04535183310508728, + 0.0 + ], + [ + 0.006719708442687988, + -0.013137958943843842, + -0.018957968801259995, + -0.005395921878516674, + 0.007941961288452148, + -0.019159622490406036, + 0.0 + ], + [ + 0.0021467208862304688, + -0.009753875434398651, + -0.007017277181148529, + -0.0016903374344110489, + -0.012375026941299438, + -0.008073017001152039, + 0.0 + ], + [ + 0.0022284090518951416, + -0.0008100271224975586, + -0.0024014413356781006, + 0.0015675593167543411, + -0.0015232861042022705, + -0.01203891634941101, + 0.0 + ], + [ + 0.0009566247463226318, + 0.0016137808561325073, + -0.0003532618284225464, + 0.0036218008026480675, + -0.0033806264400482178, + 0.00292418897151947, + 0.0 + ], + [ + -0.00023561716079711914, + 0.003527522087097168, + -0.005030784755945206, + 0.0018894607201218605, + 0.015094369649887085, + 0.014856025576591492, + 1.0 + ], + [ + 0.002644479274749756, + 0.0003139376640319824, + 0.0038731731474399567, + 0.010820059105753899, + -0.0005285143852233887, + -0.018685176968574524, + 1.0 + ], + [ + 0.0024479031562805176, + 0.00020628422498703003, + 0.0005133077502250671, + 0.0002791986335068941, + -0.017271220684051514, + 0.009826093912124634, + 1.0 + ], + [ + 0.0013280212879180908, + 0.0011418908834457397, + -0.0008544474840164185, + 0.005112354643642902, + -0.014783620834350586, + 0.008059263229370117, + 1.0 + ], + [ + 0.0008449852466583252, + 0.0016439557075500488, + -0.001925922930240631, + 0.008619626052677631, + -0.017576664686203003, + 0.0133223757147789, + 1.0 + ], + [ + -0.001242607831954956, + 0.001234397292137146, + -0.00040780380368232727, + 0.008413512259721756, + 0.008034050464630127, + 0.014643840491771698, + 1.0 + ], + [ + -0.005382537841796875, + 0.0003720968961715698, + 0.003464743494987488, + 0.025792764499783516, + 0.05106508731842041, + 0.00478767603635788, + 1.0 + ], + [ + -0.04610225558280945, + 0.040984608232975006, + 0.0499609112739563, + -0.06407571583986282, + 0.013230174779891968, + 0.0379004143178463, + 1.0 + ], + [ + -0.022462904453277588, + 0.027223417535424232, + 0.045417219400405884, + 0.014928131364285946, + -0.06017023324966431, + 0.05837695300579071, + 1.0 + ], + [ + -0.016545474529266357, + 0.007552202325314283, + 0.024485304951667786, + 0.010086922906339169, + -0.057720065116882324, + 0.04139269143342972, + 1.0 + ], + [ + -0.020570456981658936, + 0.005062360316514969, + 0.004633411765098572, + 0.028125770390033722, + 0.06028938293457031, + 0.03437892347574234, + 1.0 + ], + [ + -0.028143763542175293, + -0.0004564831033349037, + -0.006291881203651428, + 0.007193807512521744, + 0.08377394080162048, + 0.01941126585006714, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9522681832313538 + ], + [ + 0.6470694541931152 + ], + [ + 0.3962334990501404 + ], + [ + 0.3669656813144684 + ], + [ + 0.3669656813144684 + ], + [ + 0.3669656813144684 + ], + [ + 0.3669656813144684 + ], + [ + 0.3669656813144684 + ], + [ + 0.3669656813144684 + ], + [ + 0.3669656813144684 + ], + [ + 0.3669656813144684 + ], + [ + 0.3669656813144684 + ], + [ + 0.3669656813144684 + ], + [ + 0.3669656813144684 + ], + [ + 0.3669656813144684 + ], + [ + 0.4606100916862488 + ], + [ + 0.7408273816108704 + ], + [ + 0.9893313646316528 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.19238100945949554, + 0.015471084974706173, + 0.06881406158208847 + ], + [ + 0.2086377739906311, + 0.014685017988085747, + 0.07429520040750504 + ], + [ + 0.23375709354877472, + 0.014782080426812172, + 0.08932389318943024 + ], + [ + 0.26188960671424866, + 0.017067529261112213, + 0.08782534301280975 + ], + [ + 0.28256478905677795, + 0.02086968533694744, + 0.07668755948543549 + ], + [ + 0.3053668141365051, + 0.020281653851270676, + 0.06620325148105621 + ], + [ + 0.32681354880332947, + 0.01954285427927971, + 0.05438697338104248 + ], + [ + 0.34210845828056335, + 0.020444979891180992, + 0.04512305185198784 + ], + [ + 0.34993621706962585, + 0.018517451360821724, + 0.03251751512289047 + ], + [ + 0.35618048906326294, + 0.016290973871946335, + 0.024090077728033066 + ], + [ + 0.3612573444843292, + 0.017914438620209694, + 0.01951877772808075 + ], + [ + 0.3642765283584595, + 0.020348407328128815, + 0.014807730913162231 + ], + [ + 0.36429011821746826, + 0.019473686814308167, + 0.014777972362935543 + ], + [ + 0.36402222514152527, + 0.020927462726831436, + 0.014615379273891449 + ], + [ + 0.35987353324890137, + 0.02365158684551716, + 0.01399102620780468 + ], + [ + 0.35499322414398193, + 0.032811239361763, + 0.02867092192173004 + ], + [ + 0.3488641083240509, + 0.03740106150507927, + 0.04801621660590172 + ], + [ + 0.33990180492401123, + 0.03920796513557434, + 0.07672830671072006 + ], + [ + 0.33659714460372925, + 0.01621910370886326, + 0.09204539656639099 + ], + [ + 0.3423515558242798, + -0.013809158466756344, + 0.09240436553955078 + ], + [ + 0.3505690395832062, + -0.04154766723513603, + 0.08347692340612411 + ], + [ + 0.3632808029651642, + -0.05594024062156677, + 0.07520683854818344 + ], + [ + 0.3700005114078522, + -0.06907819956541061, + 0.05624886974692345 + ], + [ + 0.37214723229408264, + -0.07883207499980927, + 0.04923159256577492 + ], + [ + 0.3743756413459778, + -0.07964210212230682, + 0.04683015123009682 + ], + [ + 0.3753322660923004, + -0.07802832126617432, + 0.04647688940167427 + ], + [ + 0.3750966489315033, + -0.07450079917907715, + 0.041446104645729065 + ], + [ + 0.37774112820625305, + -0.07418686151504517, + 0.04531927779316902 + ], + [ + 0.38018903136253357, + -0.07398057729005814, + 0.04583258554339409 + ], + [ + 0.38151705265045166, + -0.0728386864066124, + 0.04497813805937767 + ], + [ + 0.38236203789711, + -0.07119473069906235, + 0.04305221512913704 + ], + [ + 0.38111943006515503, + -0.0699603334069252, + 0.04264441132545471 + ], + [ + 0.37573689222335815, + -0.06958823651075363, + 0.0461091548204422 + ], + [ + 0.3296346366405487, + -0.028603630140423775, + 0.0960700660943985 + ], + [ + 0.3071717321872711, + -0.001380212139338255, + 0.14148728549480438 + ], + [ + 0.29062625765800476, + 0.0061719901859760284, + 0.16597259044647217 + ], + [ + 0.2700558006763458, + 0.011234350502490997, + 0.17060600221157074 + ], + [ + 0.24191203713417053, + 0.010777867399156094, + 0.1643141210079193 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9798291917990654, + -0.06400869182842986, + 0.18930832593629754, + -0.07569122864634872, + -0.9956059693781976, + 0.05513249173133563, + 0.18494754068220676, + -0.06834940459808504, + -0.9803686888547036 + ], + [ + 0.9819271269594254, + -0.04371900961675468, + 0.18414061349777927, + -0.06097865252150997, + -0.9941512158671937, + 0.08913452712861275, + 0.17916674155062756, + -0.09875225662186443, + -0.9788499734556976 + ], + [ + 0.9712105345785056, + -0.012715374262233382, + 0.23788319987150033, + -0.03493523158840759, + -0.9953806341632606, + 0.08942551496418125, + 0.2356472514535172, + -0.09516150687182295, + -0.9671683723593769 + ], + [ + 0.9747470779500531, + 0.025772427243054324, + 0.22181955734748487, + 0.006336190032388781, + -0.9961099281623762, + 0.08789120383871665, + 0.22322183299065107, + -0.08426620325104756, + -0.9711185407899217 + ], + [ + 0.9813769300029623, + 0.012723404382925105, + 0.19167012349051624, + -0.008529609181561867, + -0.9939334599666487, + 0.1096518259124602, + 0.19190249353557395, + -0.10924464352834526, + -0.9753148419024464 + ], + [ + 0.9796625273976237, + -0.0024741239390931886, + 0.20063701334408449, + -0.023827289150307865, + -0.9942832474142345, + 0.10408210318374643, + 0.1992325091561313, + -0.10674597239305296, + -0.9741209907774362 + ], + [ + 0.9731963465385259, + 0.001177219652296696, + 0.2299727923863065, + -0.01729534714639339, + -0.9967803765875253, + 0.07829273157271194, + 0.2293245343419468, + -0.08017165960563138, + -0.9700426603737218 + ], + [ + 0.972968197875641, + 0.021622833414967978, + 0.22992463764837345, + 0.003567624172771547, + -0.9968955812776618, + 0.07865412949638882, + 0.23091158043803073, + -0.07570768193638867, + -0.9700248393290913 + ], + [ + 0.9779089549216716, + 0.018881277258091474, + 0.2081767836553987, + -0.00041193222409621755, + -0.9957361066141451, + 0.09224660588198441, + 0.20903087378625762, + -0.09029453667861909, + -0.9737314775902784 + ], + [ + 0.9773927854789594, + 0.041265682867148934, + 0.2073655861303634, + 0.025590896443024105, + -0.9966472881410271, + 0.07771286290170534, + 0.20987722342580126, + -0.07064932029853313, + -0.9751718949131133 + ], + [ + 0.9761935869374528, + 0.0564112717920732, + 0.2094369815409647, + 0.04220111865659644, + -0.9965321999268869, + 0.07171220323634506, + 0.21275607254863824, + -0.061166517995385646, + -0.9751889615197655 + ], + [ + 0.9789117124455077, + 0.07428424492638365, + 0.1902990020802019, + 0.059340078076775445, + -0.9947757122534175, + 0.08306646401856671, + 0.19547535489377127, + -0.07002237689783666, + -0.9782056288749985 + ], + [ + 0.9787642901747231, + 0.07615560806673402, + 0.1903175967659236, + 0.06169703992521608, + -0.9948204327072291, + 0.0807823120037295, + 0.19548386005815668, + -0.06732480990086494, + -0.9783932902614243 + ], + [ + 0.978678245953212, + 0.08017758739923218, + 0.18910432405628047, + 0.06789675072738581, + -0.9951941146235682, + 0.07055994231343479, + 0.19385283629239858, + -0.05621591142595212, + -0.9794186281483225 + ], + [ + 0.9792105077593127, + 0.09103521351603207, + 0.18127154049612737, + 0.0784488987663811, + -0.9940591116742417, + 0.07544701968772081, + 0.18706296206382167, + -0.05965796172773332, + -0.9805347397346008 + ], + [ + 0.9734194533912174, + 0.13068161929350694, + 0.1880874321648587, + 0.11724230648931962, + -0.9897999237425837, + 0.08093424817862759, + 0.1967455446220012, + -0.05673116725400732, + -0.9788119151979046 + ], + [ + 0.9691707486486331, + 0.15457093275128933, + 0.19187466407070003, + 0.13669817013594285, + -0.9852217793087202, + 0.10320685954549545, + 0.20499187848627665, + -0.07379615385746872, + -0.9759776931008781 + ], + [ + 0.9602598468710557, + 0.17345939507477476, + 0.2186615301041079, + 0.14847963647959161, + -0.9808512512977767, + 0.12603420320878755, + 0.23633625206062822, + -0.08855880017185663, + -0.9676272602991589 + ], + [ + 0.9558592986843337, + 0.13235540428303533, + 0.26232622452924476, + 0.11288760223485289, + -0.9897021466139102, + 0.08801164837385757, + 0.2712736448318544, + -0.05451337400025959, + -0.9609572840010884 + ], + [ + 0.9575565355098953, + 0.049557365688772816, + 0.2839534271817755, + 0.04077150833870285, + -0.9984916074408677, + 0.03677219027933154, + 0.2853474468259244, + -0.02363424160284235, + -0.9581326929052076 + ], + [ + 0.9556887759507843, + -0.044922234857854126, + 0.29093118831962234, + -0.052035192101067745, + -0.99850469594145, + 0.016754431231093117, + 0.2897435112382963, + -0.031150682147398433, + -0.9565972677658321 + ], + [ + 0.9485569585444182, + -0.10216342659412475, + 0.2996703700126345, + -0.09492976653007809, + -0.994733796580849, + -0.03863953113580034, + 0.30203979178827955, + 0.008204157872475611, + -0.9532600148805654 + ], + [ + 0.948916126824997, + -0.12270777793056893, + 0.290690532158838, + -0.11336621277332497, + -0.9923526353384029, + -0.04882979560022796, + 0.2944593113706535, + 0.01338089579471469, + -0.9555703352317146 + ], + [ + 0.944282909244888, + -0.13138919531447246, + 0.30177254126680586, + -0.12055233618392863, + -0.9912183119393893, + -0.054345122289170114, + 0.3062628308309836, + 0.014937785332612308, + -0.9518297857394195 + ], + [ + 0.942300076801843, + -0.1428606967374187, + 0.3027563155194959, + -0.13184666888138147, + -0.989651560687605, + -0.05662370822784107, + 0.3077125625711836, + 0.013439112927853762, + -0.9513844486218955 + ], + [ + 0.9416455647286917, + -0.13890158112190945, + 0.30661047142688524, + -0.12894877221646686, + -0.9902558780231726, + -0.052588118281804916, + 0.31092739437149786, + 0.009982324498280477, + -0.950381243831633 + ], + [ + 0.9480084010241205, + -0.12347160336049133, + 0.293316952717159, + -0.11550043539370279, + -0.992314010073722, + -0.04441345331399658, + 0.2965463218648238, + 0.008226091112975314, + -0.9549830419507174 + ], + [ + 0.9455295641632522, + -0.1388170071086801, + 0.29445488929654307, + -0.1331710702967704, + -0.9903158081457325, + -0.039243676849623974, + 0.29705102142437323, + -0.0021068160939492105, + -0.9548592838720704 + ], + [ + 0.9415644146626303, + -0.12895667185931176, + 0.31116977652720135, + -0.12318991691434683, + -0.9916474200739832, + -0.03820521733022314, + 0.3134975237727644, + -0.002360305824051688, + -0.9495860843255667 + ], + [ + 0.9378236587726098, + -0.11926110978384213, + 0.32598093922725313, + -0.11502087756056306, + -0.9928369712376001, + -0.03232562867056166, + 0.3275011187332857, + -0.00717887434598433, + -0.9448235184369466 + ], + [ + 0.9334055563760412, + -0.10293987050619698, + 0.34374038224581727, + -0.10187662654001879, + -0.9945710266343739, + -0.021204385024640598, + 0.34405700151451457, + -0.015226819747243976, + -0.9388252892147859 + ], + [ + 0.9375190408560782, + -0.0856527910896009, + 0.3372264037866257, + -0.0884543454489148, + -0.9960550762443078, + -0.007079114291364617, + 0.33650241723277885, + -0.023192336374486703, + -0.9413969612920946 + ], + [ + 0.9538167994327704, + -0.07459335267860867, + 0.29097997329024466, + -0.0853868574725129, + -0.9960452438616958, + 0.02455517769156272, + 0.28799756542511873, + -0.04826700650195903, + -0.956413978563961 + ], + [ + 0.960088672479321, + -0.0551087462880279, + 0.27421299578877856, + -0.049375525764154625, + -0.9983941052736293, + -0.027771712413576868, + 0.27530310283832293, + 0.013123895665193636, + -0.9612678944655131 + ], + [ + 0.9430396024270876, + 0.007418568854513627, + 0.3325977647103355, + 0.006595849211233613, + -0.9999717576719276, + 0.0036025868065318635, + 0.33261509741342693, + -0.0012036173257181507, + -0.943061900554778 + ], + [ + 0.9212247640486815, + 0.05275106184082096, + 0.3854377505877147, + 0.04460995682436903, + -0.9985526990389653, + 0.030040955279851032, + 0.38646459845059467, + -0.010480110527277889, + -0.9222446971535033 + ], + [ + 0.940683008587804, + 0.09559772630623137, + 0.3255404000723668, + 0.07803459305064994, + -0.9947222880519577, + 0.06661960627396148, + 0.3301909745005414, + -0.037264519019532094, + -0.9431782843029338 + ], + [ + 0.9631830633528675, + 0.11349612372159947, + 0.24371503107185935, + 0.09875909024799041, + -0.9925104990639488, + 0.07189959207965309, + 0.25005005211672177, + -0.04518339460468429, + -0.967178076823716 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006294.json b/json/chunk-0006/episode_0006294.json new file mode 100644 index 0000000000000000000000000000000000000000..0b8f0e2d9cd77492865e21a1cd9556c734c4b097 --- /dev/null +++ b/json/chunk-0006/episode_0006294.json @@ -0,0 +1,1102 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 17, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPick up bit holder." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006294.mp4", + "start": 0, + "end": 17, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.21455682814121246, + -0.06890910118818283, + 0.12440551817417145, + 0.09614542871713638, + -0.16947874426841736, + 0.12906736135482788, + 0.0, + 0.9974852800369263 + ], + [ + 0.21515461802482605, + -0.059691958129405975, + 0.11673472076654434, + 0.11434410512447357, + -0.1650887131690979, + 0.075018011033535, + 0.0, + 0.9974852800369263 + ], + [ + 0.22560548782348633, + -0.01309480331838131, + 0.11132323741912842, + 0.19221259653568268, + -0.1515558362007141, + -0.14404132962226868, + 0.0, + 0.9974852800369263 + ], + [ + 0.23657768964767456, + 0.023584365844726562, + 0.10531678795814514, + 0.2105490118265152, + 0.002963328966870904, + -0.3910764753818512, + 0.0, + 0.9974852800369263 + ], + [ + 0.258057177066803, + 0.04415018483996391, + 0.09578350931406021, + 0.27922436594963074, + -0.011730887927114964, + -0.6554492712020874, + 0.0, + 0.9974852800369263 + ], + [ + 0.2717520594596863, + 0.06244790181517601, + 0.07249828428030014, + 0.3705439269542694, + -0.04949164390563965, + -0.89603590965271, + 0.0, + 0.9974852800369263 + ], + [ + 0.2836405336856842, + 0.0693170577287674, + 0.05763707682490349, + 0.4539755582809448, + -0.09081283956766129, + -1.064377784729004, + 0.0, + 0.9974852800369263 + ], + [ + 0.29129156470298767, + 0.07334984093904495, + 0.04547024145722389, + 0.43674957752227783, + -0.13196314871311188, + -1.1215583086013794, + 0.0, + 0.9974852800369263 + ], + [ + 0.3007509112358093, + 0.07669799029827118, + 0.03582611307501793, + 0.4263964891433716, + -0.16562503576278687, + -1.1505718231201172, + 0.0, + 0.9974852800369263 + ], + [ + 0.3028618395328522, + 0.08029620349407196, + 0.02441425994038582, + 0.40537554025650024, + -0.19263003766536713, + -1.1561254262924194, + 0.0, + 0.9974852800369263 + ], + [ + 0.3091794550418854, + 0.08689796179533005, + 0.01794513501226902, + 0.37158119678497314, + -0.2275857776403427, + -1.1421928405761719, + 0.0, + 0.9974852800369263 + ], + [ + 0.3119785785675049, + 0.08617290109395981, + 0.011291385628283024, + 0.32911646366119385, + -0.25376760959625244, + -1.1392706632614136, + 0.0, + 0.8896691203117371 + ], + [ + 0.3136778473854065, + 0.0873618945479393, + 0.007189994212239981, + 0.23546074330806732, + -0.266497939825058, + -1.0784732103347778, + 0.0, + 0.5938982367515564 + ], + [ + 0.3154279291629791, + 0.08773065358400345, + 0.006933120079338551, + 0.18928416073322296, + -0.2555803656578064, + -1.024022102355957, + 0.0, + 0.4775448143482208 + ], + [ + 0.31385380029678345, + 0.08624438941478729, + 0.009651421569287777, + 0.17931362986564636, + -0.23652982711791992, + -0.9917629957199097, + 0.0, + 0.47659820318222046 + ], + [ + 0.29981908202171326, + 0.07468120008707047, + 0.0172903910279274, + 0.13439695537090302, + -0.16046126186847687, + -0.9768041372299194, + 0.0, + 0.475652277469635 + ], + [ + 0.2944032549858093, + 0.06857728213071823, + 0.06017879769206047, + 0.19745877385139465, + -0.0498553030192852, + -0.9655222296714783, + 0.0, + 0.475652277469635 + ] + ], + "left_gripper_pos": [ + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.8896691203117371 + ], + [ + 0.5938982367515564 + ], + [ + 0.4775448143482208 + ], + [ + 0.47659820318222046 + ], + [ + 0.475652277469635 + ], + [ + 0.475652277469635 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.21455682814121246, + -0.06890910118818283, + 0.12440551817417145 + ], + [ + 0.21515461802482605, + -0.059691958129405975, + 0.11673472076654434 + ], + [ + 0.22560548782348633, + -0.01309480331838131, + 0.11132323741912842 + ], + [ + 0.23657768964767456, + 0.023584365844726562, + 0.10531678795814514 + ], + [ + 0.258057177066803, + 0.04415018483996391, + 0.09578350931406021 + ], + [ + 0.2717520594596863, + 0.06244790181517601, + 0.07249828428030014 + ], + [ + 0.2836405336856842, + 0.0693170577287674, + 0.05763707682490349 + ], + [ + 0.29129156470298767, + 0.07334984093904495, + 0.04547024145722389 + ], + [ + 0.3007509112358093, + 0.07669799029827118, + 0.03582611307501793 + ], + [ + 0.3028618395328522, + 0.08029620349407196, + 0.02441425994038582 + ], + [ + 0.3091794550418854, + 0.08689796179533005, + 0.01794513501226902 + ], + [ + 0.3119785785675049, + 0.08617290109395981, + 0.011291385628283024 + ], + [ + 0.3136778473854065, + 0.0873618945479393, + 0.007189994212239981 + ], + [ + 0.3154279291629791, + 0.08773065358400345, + 0.006933120079338551 + ], + [ + 0.31385380029678345, + 0.08624438941478729, + 0.009651421569287777 + ], + [ + 0.29981908202171326, + 0.07468120008707047, + 0.0172903910279274 + ], + [ + 0.2944032549858093, + 0.06857728213071823, + 0.06017879769206047 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9774743528120491, + 0.1441719482341555, + 0.15413740278411756, + 0.12686527591115057, + -0.98501833828271, + 0.11680785510724825, + 0.1686685843974892, + -0.0946219984418859, + -0.9811205767122665 + ], + [ + 0.9836294883071808, + 0.09315588134336764, + 0.1542563175487283, + 0.07392866269280696, + -0.989270370548792, + 0.12601066140096617, + 0.16433983864239024, + -0.11254383912678731, + -0.9799623981100484 + ], + [ + 0.9783000590282919, + -0.11235773807415156, + 0.17408254708643323, + -0.1418983659655711, + -0.9755586243902202, + 0.16778028523685729, + 0.15097631682333734, + -0.18884149192569066, + -0.9703324392628218 + ], + [ + 0.9244952014168103, + -0.3733384606572407, + 0.07698711808720216, + -0.38118216283612855, + -0.9038468382587467, + 0.1943220309312296, + -0.0029633246298835306, + -0.20899590130849097, + -0.9779120266892053 + ], + [ + 0.7927196226887411, + -0.5833455360213833, + 0.1769281928018962, + -0.609473537067081, + -0.7640402411667386, + 0.21162352773926923, + 0.011730618873755885, + -0.275591174535392, + -0.9612033588679565 + ], + [ + 0.6239453211728758, + -0.7166687948045026, + 0.3115735462775018, + -0.7799005145578993, + -0.5963003214887921, + 0.19021333808302504, + 0.04947144205297438, + -0.361679091386031, + -0.9309891574424347 + ], + [ + 0.48304970877225206, + -0.7666205140998222, + 0.423031873759373, + -0.870883834365252, + -0.4706970489328375, + 0.14144127815879576, + 0.09068806920603364, + -0.4367347885012615, + -0.8950074852292798 + ], + [ + 0.4305034389154787, + -0.7920523037584917, + 0.43280473332995456, + -0.8929464528596542, + -0.443649657142446, + 0.07629950224445642, + 0.13158047502311415, + -0.41931864951162917, + -0.8982529981939584 + ], + [ + 0.40238263124337265, + -0.8034308868075539, + 0.4388473859980112, + -0.9005034601927637, + -0.43369300137360206, + 0.03168436113315745, + 0.1648688456152937, + -0.40793282618978366, + -0.8980028246404885 + ], + [ + 0.3954369677575945, + -0.8106549735358501, + 0.4318195438053599, + -0.8983206378362356, + -0.43933528325122706, + -0.0021308514877552975, + 0.19144094694755853, + -0.38706979057032354, + -0.9019575051296307 + ], + [ + 0.40488430273369214, + -0.8134273947135526, + 0.4176177378050101, + -0.8860933996141667, + -0.46175037835113364, + -0.04031222212671354, + 0.22562621425725457, + -0.353726535083399, + -0.9077281254967438 + ], + [ + 0.4048617507265907, + -0.8256389086538513, + 0.392947013368822, + -0.8792380311696827, + -0.4695121141302939, + -0.08061550241586163, + 0.25105267842319445, + -0.3128558249446206, + -0.9160206250160314 + ], + [ + 0.45598854454191173, + -0.8278808472260843, + 0.32663090797223976, + -0.8501286897443769, + -0.5137735443509793, + -0.11540344881562697, + 0.26335462426176953, + -0.22505565516390164, + -0.9380801106295182 + ], + [ + 0.5030452942362393, + -0.8142175450451357, + 0.2898192907441594, + -0.8264587530922127, + -0.5512801297359412, + -0.11426350246508468, + 0.2528069646667988, + -0.1820439724324757, + -0.9502360920934142 + ], + [ + 0.531978985113612, + -0.8007017528509135, + 0.2754542836460639, + -0.8136876429297049, + -0.573422348134829, + -0.0953898862722891, + 0.23433049127459432, + -0.1733883319056208, + -0.9565697607691734 + ], + [ + 0.5524841100008646, + -0.8092581172105654, + 0.19965622435918054, + -0.8180670618825493, + -0.5723683883796019, + -0.05622019429520352, + 0.15977355995096895, + -0.13227141683881669, + -0.9782518498975845 + ], + [ + 0.5682805230103392, + -0.8008038788503705, + 0.18913062889256363, + -0.8213243905834361, + -0.5659707339847653, + 0.07143790104344724, + 0.049834652600803026, + -0.19593436628357788, + -0.9793499024910403 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + 0.0005977898836135864, + 0.009217143058776855, + -0.007670797407627106, + 0.01819867640733719, + 0.004390031099319458, + -0.05404935032129288, + 1.0 + ], + [ + 0.010450869798660278, + 0.04659715294837952, + -0.005411483347415924, + 0.0778684914112091, + 0.013532876968383789, + -0.21905934810638428, + 1.0 + ], + [ + 0.010972201824188232, + 0.03667917102575302, + -0.006006449460983276, + 0.01833641529083252, + 0.15451917052268982, + -0.24703514575958252, + 1.0 + ], + [ + 0.021479487419128418, + 0.02056581899523735, + -0.00953327864408493, + 0.06867535412311554, + -0.014694216661155224, + -0.2643727958202362, + 1.0 + ], + [ + 0.0136948823928833, + 0.018297716975212097, + -0.02328522503376007, + 0.09131956100463867, + -0.03776075690984726, + -0.24058663845062256, + 1.0 + ], + [ + 0.011888474225997925, + 0.006869155913591385, + -0.014861207455396652, + 0.08343163132667542, + -0.04132119566202164, + -0.16834187507629395, + 1.0 + ], + [ + 0.007651031017303467, + 0.004032783210277557, + -0.012166835367679596, + -0.017225980758666992, + -0.04115030914545059, + -0.05718052387237549, + 1.0 + ], + [ + 0.009459346532821655, + 0.003348149359226227, + -0.009644128382205963, + -0.01035308837890625, + -0.03366188704967499, + -0.029013514518737793, + 1.0 + ], + [ + 0.0021109282970428467, + 0.0035982131958007812, + -0.01141185313463211, + -0.021020948886871338, + -0.02700500190258026, + -0.005553603172302246, + 1.0 + ], + [ + 0.006317615509033203, + 0.006601758301258087, + -0.006469124928116798, + -0.0337943434715271, + -0.034955739974975586, + 0.013932585716247559, + 1.0 + ], + [ + 0.002799123525619507, + -0.0007250607013702393, + -0.006653749383985996, + -0.0424647331237793, + -0.02618183195590973, + 0.0029221773147583008, + 0.0 + ], + [ + 0.0016992688179016113, + 0.0011889934539794922, + -0.004101391416043043, + -0.09365572035312653, + -0.012730330228805542, + 0.06079745292663574, + 0.0 + ], + [ + 0.0017500817775726318, + 0.00036875903606414795, + -0.00025687413290143013, + -0.04617658257484436, + 0.010917574167251587, + 0.0544511079788208, + 0.0 + ], + [ + -0.0015741288661956787, + -0.001486264169216156, + 0.0027183014899492264, + -0.009970530867576599, + 0.019050538539886475, + 0.03225910663604736, + 0.0 + ], + [ + -0.01403471827507019, + -0.011563189327716827, + 0.007638969458639622, + -0.04491667449474335, + 0.07606856524944305, + 0.014958858489990234, + 0.0 + ], + [ + -0.005415827035903931, + -0.006103917956352234, + 0.04288840666413307, + 0.06306181848049164, + 0.11060595512390137, + 0.011281907558441162, + 0.0 + ], + [ + -0.0014619827270507812, + -0.009743206202983856, + 0.041891906410455704, + 0.025396034121513367, + 0.13524682819843292, + 0.0012377500534057617, + 0.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.8896691203117371 + ], + [ + 0.5938982367515564 + ], + [ + 0.4775448143482208 + ], + [ + 0.47659820318222046 + ], + [ + 0.475652277469635 + ], + [ + 0.475652277469635 + ], + [ + 0.475652277469635 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.21515461802482605, + -0.059691958129405975, + 0.11673472076654434 + ], + [ + 0.22560548782348633, + -0.01309480331838131, + 0.11132323741912842 + ], + [ + 0.23657768964767456, + 0.023584365844726562, + 0.10531678795814514 + ], + [ + 0.258057177066803, + 0.04415018483996391, + 0.09578350931406021 + ], + [ + 0.2717520594596863, + 0.06244790181517601, + 0.07249828428030014 + ], + [ + 0.2836405336856842, + 0.0693170577287674, + 0.05763707682490349 + ], + [ + 0.29129156470298767, + 0.07334984093904495, + 0.04547024145722389 + ], + [ + 0.3007509112358093, + 0.07669799029827118, + 0.03582611307501793 + ], + [ + 0.3028618395328522, + 0.08029620349407196, + 0.02441425994038582 + ], + [ + 0.3091794550418854, + 0.08689796179533005, + 0.01794513501226902 + ], + [ + 0.3119785785675049, + 0.08617290109395981, + 0.011291385628283024 + ], + [ + 0.3136778473854065, + 0.0873618945479393, + 0.007189994212239981 + ], + [ + 0.3154279291629791, + 0.08773065358400345, + 0.006933120079338551 + ], + [ + 0.31385380029678345, + 0.08624438941478729, + 0.009651421569287777 + ], + [ + 0.29981908202171326, + 0.07468120008707047, + 0.0172903910279274 + ], + [ + 0.2944032549858093, + 0.06857728213071823, + 0.06017879769206047 + ], + [ + 0.29294127225875854, + 0.058834075927734375, + 0.10207070410251617 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9836294883071808, + 0.09315588134336764, + 0.1542563175487283, + 0.07392866269280696, + -0.989270370548792, + 0.12601066140096617, + 0.16433983864239024, + -0.11254383912678731, + -0.9799623981100484 + ], + [ + 0.9783000590282919, + -0.11235773807415156, + 0.17408254708643323, + -0.1418983659655711, + -0.9755586243902202, + 0.16778028523685729, + 0.15097631682333734, + -0.18884149192569066, + -0.9703324392628218 + ], + [ + 0.9244952014168103, + -0.3733384606572407, + 0.07698711808720216, + -0.38118216283612855, + -0.9038468382587467, + 0.1943220309312296, + -0.0029633246298835306, + -0.20899590130849097, + -0.9779120266892053 + ], + [ + 0.7927196226887411, + -0.5833455360213833, + 0.1769281928018962, + -0.609473537067081, + -0.7640402411667386, + 0.21162352773926923, + 0.011730618873755885, + -0.275591174535392, + -0.9612033588679565 + ], + [ + 0.6239453211728758, + -0.7166687948045026, + 0.3115735462775018, + -0.7799005145578993, + -0.5963003214887921, + 0.19021333808302504, + 0.04947144205297438, + -0.361679091386031, + -0.9309891574424347 + ], + [ + 0.48304970877225206, + -0.7666205140998222, + 0.423031873759373, + -0.870883834365252, + -0.4706970489328375, + 0.14144127815879576, + 0.09068806920603364, + -0.4367347885012615, + -0.8950074852292798 + ], + [ + 0.4305034389154787, + -0.7920523037584917, + 0.43280473332995456, + -0.8929464528596542, + -0.443649657142446, + 0.07629950224445642, + 0.13158047502311415, + -0.41931864951162917, + -0.8982529981939584 + ], + [ + 0.40238263124337265, + -0.8034308868075539, + 0.4388473859980112, + -0.9005034601927637, + -0.43369300137360206, + 0.03168436113315745, + 0.1648688456152937, + -0.40793282618978366, + -0.8980028246404885 + ], + [ + 0.3954369677575945, + -0.8106549735358501, + 0.4318195438053599, + -0.8983206378362356, + -0.43933528325122706, + -0.0021308514877552975, + 0.19144094694755853, + -0.38706979057032354, + -0.9019575051296307 + ], + [ + 0.40488430273369214, + -0.8134273947135526, + 0.4176177378050101, + -0.8860933996141667, + -0.46175037835113364, + -0.04031222212671354, + 0.22562621425725457, + -0.353726535083399, + -0.9077281254967438 + ], + [ + 0.4048617507265907, + -0.8256389086538513, + 0.392947013368822, + -0.8792380311696827, + -0.4695121141302939, + -0.08061550241586163, + 0.25105267842319445, + -0.3128558249446206, + -0.9160206250160314 + ], + [ + 0.45598854454191173, + -0.8278808472260843, + 0.32663090797223976, + -0.8501286897443769, + -0.5137735443509793, + -0.11540344881562697, + 0.26335462426176953, + -0.22505565516390164, + -0.9380801106295182 + ], + [ + 0.5030452942362393, + -0.8142175450451357, + 0.2898192907441594, + -0.8264587530922127, + -0.5512801297359412, + -0.11426350246508468, + 0.2528069646667988, + -0.1820439724324757, + -0.9502360920934142 + ], + [ + 0.531978985113612, + -0.8007017528509135, + 0.2754542836460639, + -0.8136876429297049, + -0.573422348134829, + -0.0953898862722891, + 0.23433049127459432, + -0.1733883319056208, + -0.9565697607691734 + ], + [ + 0.5524841100008646, + -0.8092581172105654, + 0.19965622435918054, + -0.8180670618825493, + -0.5723683883796019, + -0.05622019429520352, + 0.15977355995096895, + -0.13227141683881669, + -0.9782518498975845 + ], + [ + 0.5682805230103392, + -0.8008038788503705, + 0.18913062889256363, + -0.8213243905834361, + -0.5659707339847653, + 0.07143790104344724, + 0.049834652600803026, + -0.19593436628357788, + -0.9793499024910403 + ], + [ + 0.56792802951073, + -0.8120669858313824, + 0.13418257643521864, + -0.8186475101609577, + -0.5404211476917267, + 0.19432250830725187, + -0.08528779164291007, + -0.22020943133819412, + -0.9717169335492641 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006295.json b/json/chunk-0006/episode_0006295.json new file mode 100644 index 0000000000000000000000000000000000000000..64221da5c04d39fd2866181ddf0e8f4f8d684180 --- /dev/null +++ b/json/chunk-0006/episode_0006295.json @@ -0,0 +1,3682 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 60, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut egg on plate and stuffedduck in pot or pan on stove." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006295.mp4", + "start": 0, + "end": 60, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2530965805053711, + -0.05227320268750191, + 0.13281773030757904, + 0.001005268539302051, + -0.24573156237602234, + 0.05232952907681465, + 0.0, + 1.0008161067962646 + ], + [ + 0.25131142139434814, + -0.05166520178318024, + 0.12698034942150116, + 0.005441807676106691, + -0.23144985735416412, + 0.056117355823516846, + 0.0, + 1.0014774799346924 + ], + [ + 0.2590600848197937, + -0.0541638620197773, + 0.11039737612009048, + -0.010120099410414696, + -0.26287397742271423, + 0.06591642647981644, + 0.0, + 1.0008161067962646 + ], + [ + 0.26458463072776794, + -0.058833397924900055, + 0.0957028716802597, + -0.03504382446408272, + -0.2812456488609314, + 0.05972069874405861, + 0.0, + 1.0008161067962646 + ], + [ + 0.26947468519210815, + -0.05837661027908325, + 0.0810093805193901, + -0.04647565633058548, + -0.31397148966789246, + 0.05538038909435272, + 0.0, + 1.0008161067962646 + ], + [ + 0.2700677514076233, + -0.05500790849328041, + 0.06705252826213837, + -0.05376783385872841, + -0.344555139541626, + 0.05148947238922119, + 0.0, + 1.0008161067962646 + ], + [ + 0.27005040645599365, + -0.053242962807416916, + 0.06070210784673691, + -0.05018330365419388, + -0.35649189352989197, + 0.045600686222314835, + 0.0, + 1.0008161067962646 + ], + [ + 0.26493579149246216, + -0.050646666437387466, + 0.04933158680796623, + -0.057395197451114655, + -0.3750799000263214, + 0.04883573204278946, + 0.0, + 1.0008161067962646 + ], + [ + 0.26282602548599243, + -0.050331961363554, + 0.03907064348459244, + -0.06492888182401657, + -0.3931926488876343, + 0.059547059237957, + 0.0, + 1.0008161067962646 + ], + [ + 0.2632240653038025, + -0.052881497889757156, + 0.03566696494817734, + -0.07379671186208725, + -0.40343743562698364, + 0.07160972058773041, + 0.0, + 0.9613274931907654 + ], + [ + 0.26459911465644836, + -0.053869664669036865, + 0.03302779421210289, + -0.06924083828926086, + -0.40428367257118225, + 0.06973287463188171, + 0.0, + 0.8139979243278503 + ], + [ + 0.2649697959423065, + -0.0571025088429451, + 0.033056724816560745, + -0.06566669046878815, + -0.3965563476085663, + 0.07398945093154907, + 0.0, + 0.8417698740959167 + ], + [ + 0.26388147473335266, + -0.05812922120094299, + 0.03491682931780815, + -0.04960939660668373, + -0.3482379913330078, + 0.08420605212450027, + 0.0, + 0.8445048928260803 + ], + [ + 0.2638738751411438, + -0.05873824283480644, + 0.049848977476358414, + -0.029652995988726616, + -0.29225125908851624, + 0.08235712349414825, + 0.0, + 0.8445048928260803 + ], + [ + 0.27188268303871155, + -0.06115768104791641, + 0.07296833395957947, + -0.005866003222763538, + -0.2568588852882385, + 0.07729291915893555, + 0.0, + 0.8445048928260803 + ], + [ + 0.286323606967926, + -0.06402327120304108, + 0.09724662452936172, + -0.013046091422438622, + -0.25224927067756653, + 0.07750177383422852, + 0.0, + 0.8445048928260803 + ], + [ + 0.3048264682292938, + -0.06489480286836624, + 0.09950301796197891, + -0.02210118994116783, + -0.23811377584934235, + 0.06717964261770248, + 0.0, + 0.8445048928260803 + ], + [ + 0.32212695479393005, + -0.064893938601017, + 0.09341315925121307, + -0.025276126340031624, + -0.23940865695476532, + 0.06656845659017563, + 0.0, + 0.8445048928260803 + ], + [ + 0.33694037795066833, + -0.06281521916389465, + 0.09182465076446533, + -0.03912976384162903, + -0.24400678277015686, + 0.07088639587163925, + 0.0, + 0.8445048928260803 + ], + [ + 0.3454975485801697, + -0.0597054623067379, + 0.08817015588283539, + -0.050129957497119904, + -0.24852599203586578, + 0.07145123928785324, + 0.0, + 0.8445048928260803 + ], + [ + 0.351705402135849, + -0.05919468030333519, + 0.08336564898490906, + -0.06014524772763252, + -0.27441123127937317, + 0.06610959768295288, + 0.0, + 0.8445048928260803 + ], + [ + 0.3518310487270355, + -0.05823301151394844, + 0.07738237828016281, + -0.05807099491357803, + -0.3000986874103546, + 0.0606771856546402, + 0.0, + 0.9032710790634155 + ], + [ + 0.3498290777206421, + -0.06452402472496033, + 0.07409423589706421, + -0.06373047828674316, + -0.3072410821914673, + 0.07464373856782913, + 0.0, + 1.0092895030975342 + ], + [ + 0.34388160705566406, + -0.06888975948095322, + 0.07233061641454697, + -0.04862087965011597, + -0.27876296639442444, + 0.07431291043758392, + 0.0, + 1.0067112445831299 + ], + [ + 0.3358630836009979, + -0.06742535531520844, + 0.07657993584871292, + -0.03708888962864876, + -0.24377253651618958, + 0.07342105358839035, + 0.0, + 1.0067112445831299 + ], + [ + 0.32846686244010925, + -0.06296174973249435, + 0.08564421534538269, + -0.02509545534849167, + -0.21741357445716858, + 0.05446496978402138, + 0.0, + 1.0067112445831299 + ], + [ + 0.320878803730011, + -0.04907742515206337, + 0.10209748893976212, + -0.017607206478714943, + -0.18893933296203613, + 0.033490512520074844, + 0.0, + 1.0067112445831299 + ], + [ + 0.31426143646240234, + -0.034084539860486984, + 0.11828610301017761, + -0.018707724288105965, + -0.19084890186786652, + -0.015948625281453133, + 0.0, + 1.0067112445831299 + ], + [ + 0.31422802805900574, + -0.03067117929458618, + 0.11836447566747665, + -0.017818573862314224, + -0.19093294441699982, + -0.00989705603569746, + 0.0, + 1.0067112445831299 + ], + [ + 0.3145015835762024, + -0.031672000885009766, + 0.11877099424600601, + -0.017953971400856972, + -0.19246116280555725, + -0.012939214706420898, + 0.0, + 1.0067112445831299 + ], + [ + 0.3145015835762024, + -0.031672000885009766, + 0.11877099424600601, + -0.017953971400856972, + -0.19246116280555725, + -0.012939214706420898, + 0.0, + 1.0067112445831299 + ], + [ + 0.3139958381652832, + -0.029955441132187843, + 0.11746414750814438, + -0.008528776466846466, + -0.19486869871616364, + -0.008508007042109966, + 0.0, + 1.0067112445831299 + ], + [ + 0.3079320788383484, + -0.012595879845321178, + 0.1227526143193245, + 0.07254849374294281, + -0.28262028098106384, + 0.044462379068136215, + 0.0, + 1.0067112445831299 + ], + [ + 0.3065243661403656, + 0.0002938137040473521, + 0.11863254010677338, + 0.12889444828033447, + -0.36472803354263306, + 0.09410189092159271, + 0.0, + 1.0067112445831299 + ], + [ + 0.3055245280265808, + 0.008679816499352455, + 0.1119903177022934, + 0.12867356836795807, + -0.42634451389312744, + 0.10997525602579117, + 0.0, + 1.0067112445831299 + ], + [ + 0.3033907413482666, + 0.01735004223883152, + 0.10310082137584686, + 0.11850515753030777, + -0.4440327286720276, + 0.12243654578924179, + 0.0, + 1.0067112445831299 + ], + [ + 0.3005135953426361, + 0.024481231346726418, + 0.09583111107349396, + 0.09615324437618256, + -0.4500943422317505, + 0.13732673227787018, + 0.0, + 1.0067112445831299 + ], + [ + 0.2917206883430481, + 0.03422531485557556, + 0.08255557715892792, + 0.0794847309589386, + -0.44403019547462463, + 0.1418534219264984, + 0.0, + 1.0067112445831299 + ], + [ + 0.2802577018737793, + 0.03915576636791229, + 0.07089830935001373, + 0.0756758600473404, + -0.4446484446525574, + 0.14458651840686798, + 0.0, + 1.0067112445831299 + ], + [ + 0.2685960531234741, + 0.03799168020486832, + 0.06441570073366165, + 0.05890773609280586, + -0.456611305475235, + 0.16478458046913147, + 0.0, + 1.0067112445831299 + ], + [ + 0.2599487006664276, + 0.03709008917212486, + 0.05343763530254364, + 0.04637060686945915, + -0.4697883725166321, + 0.1925853043794632, + 0.0, + 1.0067112445831299 + ], + [ + 0.25635233521461487, + 0.03180259093642235, + 0.04696941375732422, + 0.03126851096749306, + -0.501824676990509, + 0.20395562052726746, + 0.0, + 1.0067112445831299 + ], + [ + 0.25748512148857117, + 0.02812999114394188, + 0.04168400540947914, + 0.027903208509087563, + -0.5276003479957581, + 0.21316878497600555, + 0.0, + 0.9583302736282349 + ], + [ + 0.2618544101715088, + 0.023444004356861115, + 0.033698782324790955, + 0.017430413514375687, + -0.5339012742042542, + 0.2457878291606903, + 0.0, + 0.6701657772064209 + ], + [ + 0.26594653725624084, + 0.023272572085261345, + 0.03110617771744728, + 0.012176554650068283, + -0.5317714214324951, + 0.24338394403457642, + 0.0, + 0.45967593789100647 + ], + [ + 0.26979145407676697, + 0.025212746113538742, + 0.03128572925925255, + 0.01108393445611, + -0.5158019065856934, + 0.23800775408744812, + 0.0, + 0.4085940718650818 + ], + [ + 0.27120423316955566, + 0.028433136641979218, + 0.03647143766283989, + 0.030427254736423492, + -0.4547386169433594, + 0.22096391022205353, + 0.0, + 0.4211256504058838 + ], + [ + 0.2813774347305298, + 0.031652823090553284, + 0.07318922132253647, + 0.05057235807180405, + -0.41484421491622925, + 0.204634889960289, + 0.0, + 0.43656274676322937 + ], + [ + 0.2916181981563568, + 0.037291720509529114, + 0.09907994419336319, + 0.059308238327503204, + -0.38360756635665894, + 0.16308893263339996, + 0.0, + 0.43656274676322937 + ], + [ + 0.31007277965545654, + 0.047656599432229996, + 0.12261302024126053, + 0.0546160489320755, + -0.3824957609176636, + 0.14758938550949097, + 0.0, + 0.43656274676322937 + ], + [ + 0.32928207516670227, + 0.058266546577215195, + 0.1281505972146988, + 0.04715550318360329, + -0.35828697681427, + 0.12665407359600067, + 0.0, + 0.43656274676322937 + ], + [ + 0.34829846024513245, + 0.0695396289229393, + 0.12787912786006927, + 0.05082898214459419, + -0.36902305483818054, + 0.11606277525424957, + 0.0, + 0.43656274676322937 + ], + [ + 0.3615271747112274, + 0.07534603774547577, + 0.11509120464324951, + 0.03421429544687271, + -0.3743581771850586, + 0.11988886445760727, + 0.0, + 0.43656274676322937 + ], + [ + 0.3656238913536072, + 0.07718206942081451, + 0.11545898765325546, + 0.05251838639378548, + -0.4004780352115631, + 0.10179880261421204, + 0.0, + 0.5188266634941101 + ], + [ + 0.3619069457054138, + 0.06908472627401352, + 0.10856994986534119, + 0.044474054127931595, + -0.38138338923454285, + 0.10126008093357086, + 0.0, + 0.8224069476127625 + ], + [ + 0.35912516713142395, + 0.06421610713005066, + 0.10539129376411438, + 0.03629499301314354, + -0.36378467082977295, + 0.11152327060699463, + 0.0, + 1.0073583126068115 + ], + [ + 0.35707420110702515, + 0.058164265006780624, + 0.10192572325468063, + 0.03264262527227402, + -0.35225608944892883, + 0.120832160115242, + 0.0, + 1.0008161067962646 + ], + [ + 0.3551509976387024, + 0.050825782120227814, + 0.10429365932941437, + 0.03930541127920151, + -0.35834944248199463, + 0.12763185799121857, + 0.0, + 1.0008161067962646 + ], + [ + 0.35134968161582947, + 0.033728789538145065, + 0.10771112143993378, + 0.03149197995662689, + -0.36172765493392944, + 0.15643884241580963, + 0.0, + 1.0008161067962646 + ], + [ + 0.34947824478149414, + 0.012277482077479362, + 0.10619752109050751, + 0.03547365963459015, + -0.34855201840400696, + 0.19351491332054138, + 0.0, + 1.0008161067962646 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9613274931907654 + ], + [ + 0.8139979243278503 + ], + [ + 0.8417698740959167 + ], + [ + 0.8445048928260803 + ], + [ + 0.8445048928260803 + ], + [ + 0.8445048928260803 + ], + [ + 0.8445048928260803 + ], + [ + 0.8445048928260803 + ], + [ + 0.8445048928260803 + ], + [ + 0.8445048928260803 + ], + [ + 0.8445048928260803 + ], + [ + 0.8445048928260803 + ], + [ + 0.9032710790634155 + ], + [ + 1.0092895030975342 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 0.9583302736282349 + ], + [ + 0.6701657772064209 + ], + [ + 0.45967593789100647 + ], + [ + 0.4085940718650818 + ], + [ + 0.4211256504058838 + ], + [ + 0.43656274676322937 + ], + [ + 0.43656274676322937 + ], + [ + 0.43656274676322937 + ], + [ + 0.43656274676322937 + ], + [ + 0.43656274676322937 + ], + [ + 0.43656274676322937 + ], + [ + 0.5188266634941101 + ], + [ + 0.8224069476127625 + ], + [ + 1.0073583126068115 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2530965805053711, + -0.05227320268750191, + 0.13281773030757904 + ], + [ + 0.25131142139434814, + -0.05166520178318024, + 0.12698034942150116 + ], + [ + 0.2590600848197937, + -0.0541638620197773, + 0.11039737612009048 + ], + [ + 0.26458463072776794, + -0.058833397924900055, + 0.0957028716802597 + ], + [ + 0.26947468519210815, + -0.05837661027908325, + 0.0810093805193901 + ], + [ + 0.2700677514076233, + -0.05500790849328041, + 0.06705252826213837 + ], + [ + 0.27005040645599365, + -0.053242962807416916, + 0.06070210784673691 + ], + [ + 0.26493579149246216, + -0.050646666437387466, + 0.04933158680796623 + ], + [ + 0.26282602548599243, + -0.050331961363554, + 0.03907064348459244 + ], + [ + 0.2632240653038025, + -0.052881497889757156, + 0.03566696494817734 + ], + [ + 0.26459911465644836, + -0.053869664669036865, + 0.03302779421210289 + ], + [ + 0.2649697959423065, + -0.0571025088429451, + 0.033056724816560745 + ], + [ + 0.26388147473335266, + -0.05812922120094299, + 0.03491682931780815 + ], + [ + 0.2638738751411438, + -0.05873824283480644, + 0.049848977476358414 + ], + [ + 0.27188268303871155, + -0.06115768104791641, + 0.07296833395957947 + ], + [ + 0.286323606967926, + -0.06402327120304108, + 0.09724662452936172 + ], + [ + 0.3048264682292938, + -0.06489480286836624, + 0.09950301796197891 + ], + [ + 0.32212695479393005, + -0.064893938601017, + 0.09341315925121307 + ], + [ + 0.33694037795066833, + -0.06281521916389465, + 0.09182465076446533 + ], + [ + 0.3454975485801697, + -0.0597054623067379, + 0.08817015588283539 + ], + [ + 0.351705402135849, + -0.05919468030333519, + 0.08336564898490906 + ], + [ + 0.3518310487270355, + -0.05823301151394844, + 0.07738237828016281 + ], + [ + 0.3498290777206421, + -0.06452402472496033, + 0.07409423589706421 + ], + [ + 0.34388160705566406, + -0.06888975948095322, + 0.07233061641454697 + ], + [ + 0.3358630836009979, + -0.06742535531520844, + 0.07657993584871292 + ], + [ + 0.32846686244010925, + -0.06296174973249435, + 0.08564421534538269 + ], + [ + 0.320878803730011, + -0.04907742515206337, + 0.10209748893976212 + ], + [ + 0.31426143646240234, + -0.034084539860486984, + 0.11828610301017761 + ], + [ + 0.31422802805900574, + -0.03067117929458618, + 0.11836447566747665 + ], + [ + 0.3145015835762024, + -0.031672000885009766, + 0.11877099424600601 + ], + [ + 0.3145015835762024, + -0.031672000885009766, + 0.11877099424600601 + ], + [ + 0.3139958381652832, + -0.029955441132187843, + 0.11746414750814438 + ], + [ + 0.3079320788383484, + -0.012595879845321178, + 0.1227526143193245 + ], + [ + 0.3065243661403656, + 0.0002938137040473521, + 0.11863254010677338 + ], + [ + 0.3055245280265808, + 0.008679816499352455, + 0.1119903177022934 + ], + [ + 0.3033907413482666, + 0.01735004223883152, + 0.10310082137584686 + ], + [ + 0.3005135953426361, + 0.024481231346726418, + 0.09583111107349396 + ], + [ + 0.2917206883430481, + 0.03422531485557556, + 0.08255557715892792 + ], + [ + 0.2802577018737793, + 0.03915576636791229, + 0.07089830935001373 + ], + [ + 0.2685960531234741, + 0.03799168020486832, + 0.06441570073366165 + ], + [ + 0.2599487006664276, + 0.03709008917212486, + 0.05343763530254364 + ], + [ + 0.25635233521461487, + 0.03180259093642235, + 0.04696941375732422 + ], + [ + 0.25748512148857117, + 0.02812999114394188, + 0.04168400540947914 + ], + [ + 0.2618544101715088, + 0.023444004356861115, + 0.033698782324790955 + ], + [ + 0.26594653725624084, + 0.023272572085261345, + 0.03110617771744728 + ], + [ + 0.26979145407676697, + 0.025212746113538742, + 0.03128572925925255 + ], + [ + 0.27120423316955566, + 0.028433136641979218, + 0.03647143766283989 + ], + [ + 0.2813774347305298, + 0.031652823090553284, + 0.07318922132253647 + ], + [ + 0.2916181981563568, + 0.037291720509529114, + 0.09907994419336319 + ], + [ + 0.31007277965545654, + 0.047656599432229996, + 0.12261302024126053 + ], + [ + 0.32928207516670227, + 0.058266546577215195, + 0.1281505972146988 + ], + [ + 0.34829846024513245, + 0.0695396289229393, + 0.12787912786006927 + ], + [ + 0.3615271747112274, + 0.07534603774547577, + 0.11509120464324951 + ], + [ + 0.3656238913536072, + 0.07718206942081451, + 0.11545898765325546 + ], + [ + 0.3619069457054138, + 0.06908472627401352, + 0.10856994986534119 + ], + [ + 0.35912516713142395, + 0.06421610713005066, + 0.10539129376411438 + ], + [ + 0.35707420110702515, + 0.058164265006780624, + 0.10192572325468063 + ], + [ + 0.3551509976387024, + 0.050825782120227814, + 0.10429365932941437 + ], + [ + 0.35134968161582947, + 0.033728789538145065, + 0.10771112143993378 + ], + [ + 0.34947824478149414, + 0.012277482077479362, + 0.10619752109050751 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9686318645145147, + 0.05254983573353404, + 0.2428802705275039, + 0.050734367761460675, + -0.9986178268003266, + 0.013728070674269115, + 0.24326597578572254, + -0.0009750697264588803, + -0.9699591302029424 + ], + [ + 0.9718026466111472, + 0.05733339569687416, + 0.22871925537093504, + 0.05459231354503919, + -0.9983410374082876, + 0.01829897069083579, + 0.22938896080973356, + -0.005296674844616061, + -0.9733204250883779 + ], + [ + 0.9635500473832548, + 0.06324130818365965, + 0.2599458465275935, + 0.06360592461024119, + -0.9979504193677605, + 0.0070176091503799665, + 0.2598568693381111, + 0.009772278287613661, + -0.9655976957485273 + ], + [ + 0.9589977431998068, + 0.04994138390862971, + 0.27897882842783656, + 0.05734020065620787, + -0.9981847811540876, + -0.01841857923598227, + 0.27755257146418805, + 0.03366007792113975, + -0.9601206013975325 + ], + [ + 0.9496563699649071, + 0.040966012375415785, + 0.31060354926357914, + 0.05264617199958733, + -0.998182963022776, + -0.029311310186704114, + 0.30883840363346204, + 0.04418776030903352, + -0.950087512958678 + ], + [ + 0.93997841261225, + 0.03326356361992458, + 0.3396087736767977, + 0.04844180917956756, + -0.9981657507077655, + -0.03631150282505322, + 0.33777799653968804, + 0.05058329219521713, + -0.9398656050757088 + ], + [ + 0.9361527051438439, + 0.028039631164886634, + 0.35047381034251346, + 0.04271882002876016, + -0.998500871664318, + -0.03422150933181063, + 0.34898884662294494, + 0.04700838616389548, + -0.9359471120544431 + ], + [ + 0.9293690119822853, + 0.027745985047865997, + 0.36810786446474386, + 0.04542253161409194, + -0.9981889590162931, + -0.03944104105795949, + 0.366346875500307, + 0.05337567247063426, + -0.9289461794955991 + ], + [ + 0.9220533887481387, + 0.03457119930529645, + 0.38551573311172055, + 0.054970555614080055, + -0.9976036186600169, + -0.04201497413921679, + 0.383139382357848, + 0.05993206333035092, + -0.9217441952469316 + ], + [ + 0.9173598298396959, + 0.04248299934521699, + 0.395785468863017, + 0.0658044001686583, + -0.9967933241010923, + -0.04552856186985707, + 0.3925821232747704, + 0.06781049914378018, + -0.9172137224720005 + ], + [ + 0.9171499802032352, + 0.04236072006261439, + 0.39628459875319605, + 0.06405937154020341, + -0.9970755136603832, + -0.04167513619362205, + 0.3933602810796725, + 0.06360809268213903, + -0.9171813887199528 + ], + [ + 0.9198729013060959, + 0.048486826212087844, + 0.3892080075314284, + 0.06818536186010567, + -0.9969882070057865, + -0.036949580774258646, + 0.38624422567944244, + 0.06052720690124242, + -0.9204085263370946 + ], + [ + 0.9366448891348355, + 0.0671411857413044, + 0.3437854168443495, + 0.07905811479616054, + -0.996654070880675, + -0.020747951268863023, + 0.3412420931574365, + 0.046612489466125666, + -0.9388189972956988 + ], + [ + 0.9543519834921118, + 0.073714806646999, + 0.28944501876119244, + 0.07877586900021424, + -0.9968751432238238, + -0.005857583609426184, + 0.2881087538897986, + 0.028391479416823018, + -0.9571767181814397 + ], + [ + 0.9643050677196441, + 0.07572888945229288, + 0.25373385992518926, + 0.0746827359956687, + -0.9971123038242261, + 0.013767443718643777, + 0.25404374685162867, + 0.005673523126521712, + -0.9671760883215212 + ], + [ + 0.9654467284336877, + 0.0741714099670033, + 0.24982236989548504, + 0.07497400521778244, + -0.9971654890454446, + 0.006315536268904978, + 0.24958267788108565, + 0.012632869834944258, + -0.9682710867837788 + ], + [ + 0.9695925490052397, + 0.06191190199228909, + 0.23676402874005087, + 0.0652350479936417, + -0.9978505420934394, + -0.006219658921285882, + 0.23587004351292623, + 0.02147584772545793, + -0.9715472765324824 + ], + [ + 0.969326678652026, + 0.06051828464891948, + 0.2382085793513409, + 0.06462206367104936, + -0.9978650746875815, + -0.009448894413747768, + 0.23712819094389972, + 0.024552595420844373, + -0.9711680550336145 + ], + [ + 0.967940761831129, + 0.06134551298131222, + 0.2435721856510587, + 0.06872898893861493, + -0.9973944522035351, + -0.02192333900404942, + 0.24159264820198878, + 0.03796096351082757, + -0.9696349609951573 + ], + [ + 0.9668028842510445, + 0.059006646200844295, + 0.24861697188243168, + 0.06919706110644254, + -0.9970753368253074, + -0.03244286406794508, + 0.2459755063783642, + 0.048569418349701216, + -0.9680583979611349 + ], + [ + 0.9604821966188591, + 0.04968923369411989, + 0.27387027957247023, + 0.06358975783495295, + -0.997087357976369, + -0.04210870767663897, + 0.27098024407086196, + 0.05786000880224384, + -0.9608443821476509 + ], + [ + 0.9535492723917417, + 0.043412335606123606, + 0.29809252630416877, + 0.05792979746894453, + -0.9975175585486694, + -0.04003572095403528, + 0.2956144849062497, + 0.05544447226120566, + -0.9536970099613867 + ], + [ + 0.9505174216307299, + 0.05521571375800571, + 0.3057251316634985, + 0.07108223899962185, + -0.9966273786194642, + -0.04100223755963016, + 0.30243006873535266, + 0.06070496800336597, + -0.9512365428138474 + ], + [ + 0.9587431731945391, + 0.060820131875051295, + 0.27769126635810354, + 0.07137843759558, + -0.9970544800754635, + -0.028062116952591594, + 0.27516657954642626, + 0.04672553178026342, + -0.9602604220629796 + ], + [ + 0.9678198614496655, + 0.0643788515812533, + 0.24326956088386617, + 0.07118631343066838, + -0.9972765461160502, + -0.019287284593536697, + 0.2413653342211776, + 0.035984080312276914, + -0.9697669417960063 + ], + [ + 0.9750106776791767, + 0.04901628873344713, + 0.2166831369774584, + 0.05315649922653495, + -0.9984973963176395, + -0.013316761500993306, + 0.2157048098712035, + 0.02450210165872089, + -0.9761511573587022 + ], + [ + 0.9816532234939296, + 0.030174150904284845, + 0.18827232781580602, + 0.03288836651346091, + -0.9993950538352142, + -0.011308479906043535, + 0.18781720941397553, + 0.017292975074132657, + -0.9820517546754001 + ], + [ + 0.981718691081385, + -0.019493214349602852, + 0.18933680618351093, + -0.015658391174107122, + -0.9996412698440567, + -0.021728930263601925, + 0.1896924520567189, + 0.01836698720210446, + -0.9816717513577677 + ], + [ + 0.9817795274718617, + -0.013276498111447077, + 0.18955920983963023, + -0.009717044267221914, + -0.9997588209598125, + -0.01969464302176422, + 0.18977496802222646, + 0.017493842086363377, + -0.9816717511476127 + ], + [ + 0.9814542840639797, + -0.01637044571254568, + 0.19099606487996942, + -0.012699956470062302, + -0.9997107032370173, + -0.020425986855150638, + 0.19127519284559466, + 0.017621530595293325, + -0.9813782564645294 + ], + [ + 0.9814542840639797, + -0.01637044571254568, + 0.19099606487996942, + -0.012699956470062302, + -0.9997107032370173, + -0.020425986855150638, + 0.19127519284559466, + 0.017621530595293325, + -0.9813782564645294 + ], + [ + 0.981037595032868, + -0.010159008008454078, + 0.19355110872431155, + -0.008346876167590396, + -0.9999133880763862, + -0.010175755689127845, + 0.19363772047400532, + 0.008367251752282352, + -0.981037421461457 + ], + [ + 0.959378929082687, + 0.06452490254781484, + 0.2746426903876231, + 0.042684400964871964, + -0.995485353551636, + 0.08477589739097134, + 0.27887293225845144, + -0.06960925093239735, + -0.9578018792204387 + ], + [ + 0.9300875161871928, + 0.13882959529575353, + 0.34009345142586345, + 0.08778225590062685, + -0.9830088924503367, + 0.16120729795068084, + 0.35669523094896527, + -0.1200827249590049, + -0.9264710742298891 + ], + [ + 0.9049831382479059, + 0.16159142419786687, + 0.39356540893817965, + 0.09992894296452191, + -0.9799175788342748, + 0.17255649813775792, + 0.41354531292829916, + -0.11683214590718499, + -0.9029565459299562 + ], + [ + 0.8962665597961003, + 0.17168302130658458, + 0.4089391079198786, + 0.11028742876699289, + -0.979350090159634, + 0.1694405027149118, + 0.429584609648936, + -0.10676301372366455, + -0.8966932151262279 + ], + [ + 0.8919291841352661, + 0.17763703423498012, + 0.41582137337563424, + 0.12326154421437317, + -0.9802920915977124, + 0.15438266375752838, + 0.43505048236461735, + -0.0864436187302593, + -0.8962469406224665 + ], + [ + 0.8939573866021957, + 0.17469848348181038, + 0.41269920136647703, + 0.12766839654379286, + -0.9820078182079721, + 0.13914533949203994, + 0.42958232210288777, + -0.07170135875681732, + -0.900176618052878 + ], + [ + 0.8933421297316354, + 0.175851765927523, + 0.413540802904281, + 0.13007289667457383, + -0.9820477623601215, + 0.13661344734016384, + 0.43014053610097175, + -0.06825209786995376, + -0.90017818810451 + ], + [ + 0.8853932630610349, + 0.18936160188587603, + 0.4245243849973143, + 0.14723424025669823, + -0.9804845174747759, + 0.13027735600743703, + 0.4409091156033926, + -0.05284216804286718, + -0.8959948978952745 + ], + [ + 0.875179646077242, + 0.2117876998271761, + 0.43497880097083763, + 0.1706618723577794, + -0.9764413040609317, + 0.13204887370638327, + 0.45269759488586925, + -0.0413321899456259, + -0.8907056402981 + ], + [ + 0.858534858618247, + 0.21717234476395048, + 0.4644933467845086, + 0.17757207333892266, + -0.9757483940532883, + 0.12799699321681138, + 0.48102604431305196, + -0.027408833834295487, + -0.8762777530671317 + ], + [ + 0.8444610298610626, + 0.2252040983313392, + 0.48597189542273117, + 0.18278986963316735, + -0.9740133610583677, + 0.13373793792066466, + 0.5034614509627159, + -0.024105737378275073, + -0.8636813537526247 + ], + [ + 0.8349568926996372, + 0.25188682662467854, + 0.489285207119851, + 0.20945721350456914, + -0.9676403833873151, + 0.14071163473199813, + 0.5088955325450084, + -0.01500383321018553, + -0.8606975205870719 + ], + [ + 0.8365080238157069, + 0.24696248707559357, + 0.4891460477908187, + 0.20771019958122153, + -0.9689682081297315, + 0.13400404704256613, + 0.5070609421774367, + -0.010494837363887337, + -0.8618463084023947 + ], + [ + 0.8453747255980651, + 0.24106526278312043, + 0.4766855487628094, + 0.2050931284514951, + -0.9704610125651874, + 0.12705208283585742, + 0.49323258406351683, + -0.009641689180643294, + -0.8698440411060878 + ], + [ + 0.8765333316692885, + 0.2321062908509047, + 0.4216823309319142, + 0.19689721729031054, + -0.9723063776411484, + 0.12590390709458127, + 0.4392275085830456, + -0.027330893614808158, + -0.8979600313812117 + ], + [ + 0.8960841310264887, + 0.2228991379100102, + 0.3838609180959651, + 0.18597325742747922, + -0.9737431414045064, + 0.13129448613516242, + 0.40304736402104846, + -0.04626304017958695, + -0.9140090554633618 + ], + [ + 0.9150153508529346, + 0.183971250668025, + 0.3590285317786364, + 0.1505661696630532, + -0.981393586659084, + 0.11914888424746309, + 0.37426826776588645, + -0.05496550729376909, + -0.9256900435628878 + ], + [ + 0.9176500799645674, + 0.1669879801773248, + 0.3606013660780012, + 0.1364274355389017, + -0.9846573976373755, + 0.10879965124149243, + 0.3732370367116614, + -0.050644089036026164, + -0.9263526815810538 + ], + [ + 0.9289976311116258, + 0.14257282884754144, + 0.3415207019543577, + 0.1182945427656359, + -0.9887993895805796, + 0.09100641909745927, + 0.35067050423560964, + -0.04414471247480173, + -0.9354578781643033 + ], + [ + 0.9264053618119115, + 0.13385586889453066, + 0.3519314023622094, + 0.1080065833846486, + -0.9898672133525829, + 0.09218176541576384, + 0.36070442685350573, + -0.04738677338754116, + -0.9314756089969299 + ], + [ + 0.9240615811279739, + 0.13195096303195658, + 0.35874662038576605, + 0.11131854516852299, + -0.9907447976757771, + 0.0776719214384945, + 0.36567523266531626, + -0.031838486668235105, + -0.9301977934728958 + ], + [ + 0.9161073415772913, + 0.12184233909969266, + 0.3819709191953011, + 0.09358211770181529, + -0.9913715894120664, + 0.09178648567755779, + 0.3898585973845277, + -0.04834062586798435, + -0.9196050554102342 + ], + [ + 0.9233962398278668, + 0.1174504020807475, + 0.3654378022630215, + 0.0938240757059246, + -0.9922210447437492, + 0.08181956480910671, + 0.37220481873517625, + -0.04126501446374917, + -0.927232857210971 + ], + [ + 0.9287511556731757, + 0.12405015445638964, + 0.34933200542619447, + 0.10400892600930295, + -0.991696282059098, + 0.07563482967888205, + 0.35581376328935366, + -0.033912288768351034, + -0.9339413913754759 + ], + [ + 0.9317530985596063, + 0.13165226179407366, + 0.33838416820099076, + 0.11313689132083767, + -0.990822543293549, + 0.07396439361989923, + 0.3450162418594647, + -0.030632820075975963, + -0.9380967024712129 + ], + [ + 0.9288597919747933, + 0.14085720889894332, + 0.3426057990661316, + 0.11920005705211127, + -0.9893457789108852, + 0.083583946724157, + 0.35072900258079104, + -0.03679913657156563, + -0.9357537017272601 + ], + [ + 0.9238654512363479, + 0.16673108212946391, + 0.3444900205576316, + 0.14571911915076313, + -0.9855625261252262, + 0.08621163153304051, + 0.353890613503361, + -0.029449165516207857, + -0.9348230743432759 + ], + [ + 0.9223249838912423, + 0.20407533224948632, + 0.32813089287246644, + 0.18074547899616006, + -0.9783875160791151, + 0.10044371659286837, + 0.34153725406237745, + -0.03333357388282217, + -0.9392769436857961 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0017851591110229492, + 0.0006080009043216705, + -0.005837380886077881, + 0.0044365390203893185, + 0.014281705021858215, + 0.003787826746702194, + 1.0 + ], + [ + 0.007748663425445557, + -0.002498660236597061, + -0.016582973301410675, + -0.0155619066208601, + -0.03142412006855011, + 0.009799070656299591, + 1.0 + ], + [ + 0.005524545907974243, + -0.004669535905122757, + -0.01469450443983078, + -0.024923725053668022, + -0.018371671438217163, + -0.006195727735757828, + 1.0 + ], + [ + 0.00489005446434021, + 0.000456787645816803, + -0.014693491160869598, + -0.011431831866502762, + -0.03272584080696106, + -0.004340309649705887, + 1.0 + ], + [ + 0.0005930662155151367, + 0.003368701785802841, + -0.01395685225725174, + -0.007292177528142929, + -0.03058364987373352, + -0.0038909167051315308, + 1.0 + ], + [ + -1.7344951629638672e-05, + 0.0017649456858634949, + -0.006350420415401459, + 0.0035845302045345306, + -0.011936753988265991, + -0.005888786166906357, + 1.0 + ], + [ + -0.005114614963531494, + 0.0025962963700294495, + -0.011370521038770676, + -0.007211893796920776, + -0.018588006496429443, + 0.0032350458204746246, + 1.0 + ], + [ + -0.0021097660064697266, + 0.0003147050738334656, + -0.010260943323373795, + -0.0075336843729019165, + -0.018112748861312866, + 0.010711327195167542, + 1.0 + ], + [ + 0.0003980398178100586, + -0.0025495365262031555, + -0.0034036785364151, + -0.008867830038070679, + -0.010244786739349365, + 0.012062661349773407, + 0.0 + ], + [ + 0.001375049352645874, + -0.0009881667792797089, + -0.0026391707360744476, + 0.0045558735728263855, + -0.0008462369441986084, + -0.0018768459558486938, + 0.0 + ], + [ + 0.0003706812858581543, + -0.0032328441739082336, + 2.8930604457855225e-05, + 0.0035741478204727173, + 0.007727324962615967, + 0.004256576299667358, + 0.0 + ], + [ + -0.0010883212089538574, + -0.0010267123579978943, + 0.001860104501247406, + 0.016057293862104416, + 0.04831835627555847, + 0.010216601192951202, + 0.0 + ], + [ + -7.599592208862305e-06, + -0.0006090216338634491, + 0.014932148158550262, + 0.019956400617957115, + 0.05598673224449158, + -0.0018489286303520203, + 0.0 + ], + [ + 0.008008807897567749, + -0.00241943821310997, + 0.023119356483221054, + 0.023786991834640503, + 0.03539237380027771, + -0.0050642043352127075, + 0.0 + ], + [ + 0.014440923929214478, + -0.0028655901551246643, + 0.024278290569782257, + -0.007180088199675083, + 0.004609614610671997, + 0.00020885467529296875, + 0.0 + ], + [ + 0.018502861261367798, + -0.0008715316653251648, + 0.0022563934326171875, + -0.00905509851872921, + 0.014135494828224182, + -0.010322131216526031, + 0.0 + ], + [ + 0.01730048656463623, + 8.642673492431641e-07, + -0.006089858710765839, + -0.0031749363988637924, + -0.0012948811054229736, + -0.0006111860275268555, + 0.0 + ], + [ + 0.014813423156738281, + 0.002078719437122345, + -0.0015885084867477417, + -0.013853637501597404, + -0.0045981258153915405, + 0.004317939281463623, + 0.0 + ], + [ + 0.008557170629501343, + 0.0031097568571567535, + -0.003654494881629944, + -0.011000193655490875, + -0.004519209265708923, + 0.0005648434162139893, + 0.0 + ], + [ + 0.006207853555679321, + 0.00051078200340271, + -0.004804506897926331, + -0.010015290230512619, + -0.025885239243507385, + -0.00534164160490036, + 0.0 + ], + [ + 0.00012564659118652344, + 0.0009616687893867493, + -0.005983270704746246, + 0.002074252814054489, + -0.025687456130981445, + -0.005432412028312683, + 1.0 + ], + [ + -0.0020019710063934326, + -0.006291013211011887, + -0.0032881423830986023, + -0.005659483373165131, + -0.007142394781112671, + 0.013966552913188934, + 1.0 + ], + [ + -0.005947470664978027, + -0.004365734755992889, + -0.0017636194825172424, + 0.015109598636627197, + 0.028478115797042847, + -0.00033082813024520874, + 1.0 + ], + [ + -0.008018523454666138, + 0.0014644041657447815, + 0.004249319434165955, + 0.011531990021467209, + 0.03499042987823486, + -0.000891856849193573, + 1.0 + ], + [ + -0.007396221160888672, + 0.004463605582714081, + 0.00906427949666977, + 0.01199343428015709, + 0.026358962059020996, + -0.018956083804368973, + 1.0 + ], + [ + -0.007588058710098267, + 0.013884324580430984, + 0.016453273594379425, + 0.007488248869776726, + 0.028474241495132446, + -0.020974457263946533, + 1.0 + ], + [ + -0.006617367267608643, + 0.014992885291576385, + 0.016188614070415497, + -0.0011005178093910217, + -0.0019095689058303833, + -0.049439139664173126, + 1.0 + ], + [ + -3.3408403396606445e-05, + 0.0034133605659008026, + 7.837265729904175e-05, + 0.0008891504257917404, + -8.404254913330078e-05, + 0.0060515692457556725, + 1.0 + ], + [ + 0.0002735555171966553, + -0.001000821590423584, + 0.0004065185785293579, + -0.0001353975385427475, + -0.001528218388557434, + -0.0030421586707234383, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + -0.0005057454109191895, + 0.0017165597528219223, + -0.0013068467378616333, + 0.009425194934010506, + -0.0024075359106063843, + 0.004431207664310932, + 1.0 + ], + [ + -0.0060637593269348145, + 0.01735956221818924, + 0.005288466811180115, + 0.08107727020978928, + -0.08775158226490021, + 0.052970387041568756, + 1.0 + ], + [ + -0.001407712697982788, + 0.01288969349116087, + -0.004120074212551117, + 0.05634595453739166, + -0.08210775256156921, + 0.0496395118534565, + 1.0 + ], + [ + -0.00099983811378479, + 0.008386002853512764, + -0.0066422224044799805, + -0.0002208799123764038, + -0.061616480350494385, + 0.015873365104198456, + 1.0 + ], + [ + -0.002133786678314209, + 0.008670225739479065, + -0.008889496326446533, + -0.010168410837650299, + -0.017688214778900146, + 0.012461289763450623, + 1.0 + ], + [ + -0.002877146005630493, + 0.0071311891078948975, + -0.007269710302352905, + -0.022351913154125214, + -0.0060616135597229, + 0.014890186488628387, + 1.0 + ], + [ + -0.008792906999588013, + 0.009744083508849144, + -0.01327553391456604, + -0.016668513417243958, + 0.0060641467571258545, + 0.004526689648628235, + 1.0 + ], + [ + -0.011462986469268799, + 0.004930451512336731, + -0.011657267808914185, + -0.0038088709115982056, + -0.0006182491779327393, + 0.002733096480369568, + 1.0 + ], + [ + -0.011661648750305176, + -0.0011640861630439758, + -0.006482608616352081, + -0.01676812395453453, + -0.011962860822677612, + 0.02019806206226349, + 1.0 + ], + [ + -0.008647352457046509, + -0.000901591032743454, + -0.010978065431118011, + -0.01253712922334671, + -0.013177067041397095, + 0.027800723910331726, + 1.0 + ], + [ + -0.003596365451812744, + -0.005287498235702515, + -0.006468221545219421, + -0.015102095901966095, + -0.03203630447387695, + 0.01137031614780426, + 1.0 + ], + [ + 0.0011327862739562988, + -0.0036725997924804688, + -0.0052854083478450775, + -0.0033653024584054947, + -0.025775671005249023, + 0.009213164448738098, + 0.0 + ], + [ + 0.004369288682937622, + -0.004685986787080765, + -0.007985223084688187, + -0.010472794994711876, + -0.006300926208496094, + 0.03261904418468475, + 0.0 + ], + [ + 0.004092127084732056, + -0.0001714322715997696, + -0.0025926046073436737, + -0.0052538588643074036, + 0.002129852771759033, + -0.0024038851261138916, + 0.0 + ], + [ + 0.003844916820526123, + 0.0019401740282773972, + 0.00017955154180526733, + -0.0010926201939582825, + 0.015969514846801758, + -0.005376189947128296, + 0.0 + ], + [ + 0.0014127790927886963, + 0.0032203905284404755, + 0.005185708403587341, + 0.019343320280313492, + 0.061063289642333984, + -0.017043843865394592, + 0.0 + ], + [ + 0.010173201560974121, + 0.003219686448574066, + 0.03671778365969658, + 0.020145103335380554, + 0.03989440202713013, + -0.016329020261764526, + 0.0 + ], + [ + 0.010240763425827026, + 0.00563889741897583, + 0.02589072287082672, + 0.008735880255699158, + 0.031236648559570312, + -0.04154595732688904, + 0.0 + ], + [ + 0.01845458149909973, + 0.010364878922700882, + 0.02353307604789734, + -0.004692189395427704, + 0.0011118054389953613, + -0.015499547123908997, + 0.0 + ], + [ + 0.019209295511245728, + 0.010609947144985199, + 0.005537576973438263, + -0.007460545748472214, + 0.024208784103393555, + -0.020935311913490295, + 0.0 + ], + [ + 0.019016385078430176, + 0.011273082345724106, + -0.0002714693546295166, + 0.0036734789609909058, + -0.010736078023910522, + -0.010591298341751099, + 0.0 + ], + [ + 0.01322871446609497, + 0.0058064088225364685, + -0.012787923216819763, + -0.01661468669772148, + -0.005335122346878052, + 0.0038260892033576965, + 0.0 + ], + [ + 0.004096716642379761, + 0.0018360316753387451, + 0.00036778301000595093, + 0.018304090946912766, + -0.026119858026504517, + -0.018090061843395233, + 1.0 + ], + [ + -0.0037169456481933594, + -0.008097343146800995, + -0.006889037787914276, + -0.008044332265853882, + 0.019094645977020264, + -0.0005387216806411743, + 1.0 + ], + [ + -0.002781778573989868, + -0.00486861914396286, + -0.0031786561012268066, + -0.008179061114788055, + 0.017598718404769897, + 0.010263189673423767, + 1.0 + ], + [ + -0.0020509660243988037, + -0.006051842123270035, + -0.0034655705094337463, + -0.003652367740869522, + 0.011528581380844116, + 0.009308889508247375, + 1.0 + ], + [ + -0.001923203468322754, + -0.007338482886552811, + 0.002367936074733734, + 0.00666278600692749, + -0.006093353033065796, + 0.0067996978759765625, + 1.0 + ], + [ + -0.003801316022872925, + -0.01709699258208275, + 0.003417462110519409, + -0.007813431322574615, + -0.0033782124519348145, + 0.028806984424591064, + 1.0 + ], + [ + -0.0018714368343353271, + -0.021451307460665703, + -0.0015136003494262695, + 0.003981679677963257, + 0.013175636529922485, + 0.03707607090473175, + 1.0 + ], + [ + -0.004370540380477905, + -0.016531871631741524, + -0.00012103468179702759, + 0.00888749212026596, + 0.01861301064491272, + 0.02679632604122162, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9613274931907654 + ], + [ + 0.8139979243278503 + ], + [ + 0.8417698740959167 + ], + [ + 0.8445048928260803 + ], + [ + 0.8445048928260803 + ], + [ + 0.8445048928260803 + ], + [ + 0.8445048928260803 + ], + [ + 0.8445048928260803 + ], + [ + 0.8445048928260803 + ], + [ + 0.8445048928260803 + ], + [ + 0.8445048928260803 + ], + [ + 0.8445048928260803 + ], + [ + 0.9032710790634155 + ], + [ + 1.0092895030975342 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 0.9583302736282349 + ], + [ + 0.6701657772064209 + ], + [ + 0.45967593789100647 + ], + [ + 0.4085940718650818 + ], + [ + 0.4211256504058838 + ], + [ + 0.43656274676322937 + ], + [ + 0.43656274676322937 + ], + [ + 0.43656274676322937 + ], + [ + 0.43656274676322937 + ], + [ + 0.43656274676322937 + ], + [ + 0.43656274676322937 + ], + [ + 0.5188266634941101 + ], + [ + 0.8224069476127625 + ], + [ + 1.0073583126068115 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.25131142139434814, + -0.05166520178318024, + 0.12698034942150116 + ], + [ + 0.2590600848197937, + -0.0541638620197773, + 0.11039737612009048 + ], + [ + 0.26458463072776794, + -0.058833397924900055, + 0.0957028716802597 + ], + [ + 0.26947468519210815, + -0.05837661027908325, + 0.0810093805193901 + ], + [ + 0.2700677514076233, + -0.05500790849328041, + 0.06705252826213837 + ], + [ + 0.27005040645599365, + -0.053242962807416916, + 0.06070210784673691 + ], + [ + 0.26493579149246216, + -0.050646666437387466, + 0.04933158680796623 + ], + [ + 0.26282602548599243, + -0.050331961363554, + 0.03907064348459244 + ], + [ + 0.2632240653038025, + -0.052881497889757156, + 0.03566696494817734 + ], + [ + 0.26459911465644836, + -0.053869664669036865, + 0.03302779421210289 + ], + [ + 0.2649697959423065, + -0.0571025088429451, + 0.033056724816560745 + ], + [ + 0.26388147473335266, + -0.05812922120094299, + 0.03491682931780815 + ], + [ + 0.2638738751411438, + -0.05873824283480644, + 0.049848977476358414 + ], + [ + 0.27188268303871155, + -0.06115768104791641, + 0.07296833395957947 + ], + [ + 0.286323606967926, + -0.06402327120304108, + 0.09724662452936172 + ], + [ + 0.3048264682292938, + -0.06489480286836624, + 0.09950301796197891 + ], + [ + 0.32212695479393005, + -0.064893938601017, + 0.09341315925121307 + ], + [ + 0.33694037795066833, + -0.06281521916389465, + 0.09182465076446533 + ], + [ + 0.3454975485801697, + -0.0597054623067379, + 0.08817015588283539 + ], + [ + 0.351705402135849, + -0.05919468030333519, + 0.08336564898490906 + ], + [ + 0.3518310487270355, + -0.05823301151394844, + 0.07738237828016281 + ], + [ + 0.3498290777206421, + -0.06452402472496033, + 0.07409423589706421 + ], + [ + 0.34388160705566406, + -0.06888975948095322, + 0.07233061641454697 + ], + [ + 0.3358630836009979, + -0.06742535531520844, + 0.07657993584871292 + ], + [ + 0.32846686244010925, + -0.06296174973249435, + 0.08564421534538269 + ], + [ + 0.320878803730011, + -0.04907742515206337, + 0.10209748893976212 + ], + [ + 0.31426143646240234, + -0.034084539860486984, + 0.11828610301017761 + ], + [ + 0.31422802805900574, + -0.03067117929458618, + 0.11836447566747665 + ], + [ + 0.3145015835762024, + -0.031672000885009766, + 0.11877099424600601 + ], + [ + 0.3145015835762024, + -0.031672000885009766, + 0.11877099424600601 + ], + [ + 0.3139958381652832, + -0.029955441132187843, + 0.11746414750814438 + ], + [ + 0.3079320788383484, + -0.012595879845321178, + 0.1227526143193245 + ], + [ + 0.3065243661403656, + 0.0002938137040473521, + 0.11863254010677338 + ], + [ + 0.3055245280265808, + 0.008679816499352455, + 0.1119903177022934 + ], + [ + 0.3033907413482666, + 0.01735004223883152, + 0.10310082137584686 + ], + [ + 0.3005135953426361, + 0.024481231346726418, + 0.09583111107349396 + ], + [ + 0.2917206883430481, + 0.03422531485557556, + 0.08255557715892792 + ], + [ + 0.2802577018737793, + 0.03915576636791229, + 0.07089830935001373 + ], + [ + 0.2685960531234741, + 0.03799168020486832, + 0.06441570073366165 + ], + [ + 0.2599487006664276, + 0.03709008917212486, + 0.05343763530254364 + ], + [ + 0.25635233521461487, + 0.03180259093642235, + 0.04696941375732422 + ], + [ + 0.25748512148857117, + 0.02812999114394188, + 0.04168400540947914 + ], + [ + 0.2618544101715088, + 0.023444004356861115, + 0.033698782324790955 + ], + [ + 0.26594653725624084, + 0.023272572085261345, + 0.03110617771744728 + ], + [ + 0.26979145407676697, + 0.025212746113538742, + 0.03128572925925255 + ], + [ + 0.27120423316955566, + 0.028433136641979218, + 0.03647143766283989 + ], + [ + 0.2813774347305298, + 0.031652823090553284, + 0.07318922132253647 + ], + [ + 0.2916181981563568, + 0.037291720509529114, + 0.09907994419336319 + ], + [ + 0.31007277965545654, + 0.047656599432229996, + 0.12261302024126053 + ], + [ + 0.32928207516670227, + 0.058266546577215195, + 0.1281505972146988 + ], + [ + 0.34829846024513245, + 0.0695396289229393, + 0.12787912786006927 + ], + [ + 0.3615271747112274, + 0.07534603774547577, + 0.11509120464324951 + ], + [ + 0.3656238913536072, + 0.07718206942081451, + 0.11545898765325546 + ], + [ + 0.3619069457054138, + 0.06908472627401352, + 0.10856994986534119 + ], + [ + 0.35912516713142395, + 0.06421610713005066, + 0.10539129376411438 + ], + [ + 0.35707420110702515, + 0.058164265006780624, + 0.10192572325468063 + ], + [ + 0.3551509976387024, + 0.050825782120227814, + 0.10429365932941437 + ], + [ + 0.35134968161582947, + 0.033728789538145065, + 0.10771112143993378 + ], + [ + 0.34947824478149414, + 0.012277482077479362, + 0.10619752109050751 + ], + [ + 0.34510770440101624, + -0.0042543900199234486, + 0.10607648640871048 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9718026466111472, + 0.05733339569687416, + 0.22871925537093504, + 0.05459231354503919, + -0.9983410374082876, + 0.01829897069083579, + 0.22938896080973356, + -0.005296674844616061, + -0.9733204250883779 + ], + [ + 0.9635500473832548, + 0.06324130818365965, + 0.2599458465275935, + 0.06360592461024119, + -0.9979504193677605, + 0.0070176091503799665, + 0.2598568693381111, + 0.009772278287613661, + -0.9655976957485273 + ], + [ + 0.9589977431998068, + 0.04994138390862971, + 0.27897882842783656, + 0.05734020065620787, + -0.9981847811540876, + -0.01841857923598227, + 0.27755257146418805, + 0.03366007792113975, + -0.9601206013975325 + ], + [ + 0.9496563699649071, + 0.040966012375415785, + 0.31060354926357914, + 0.05264617199958733, + -0.998182963022776, + -0.029311310186704114, + 0.30883840363346204, + 0.04418776030903352, + -0.950087512958678 + ], + [ + 0.93997841261225, + 0.03326356361992458, + 0.3396087736767977, + 0.04844180917956756, + -0.9981657507077655, + -0.03631150282505322, + 0.33777799653968804, + 0.05058329219521713, + -0.9398656050757088 + ], + [ + 0.9361527051438439, + 0.028039631164886634, + 0.35047381034251346, + 0.04271882002876016, + -0.998500871664318, + -0.03422150933181063, + 0.34898884662294494, + 0.04700838616389548, + -0.9359471120544431 + ], + [ + 0.9293690119822853, + 0.027745985047865997, + 0.36810786446474386, + 0.04542253161409194, + -0.9981889590162931, + -0.03944104105795949, + 0.366346875500307, + 0.05337567247063426, + -0.9289461794955991 + ], + [ + 0.9220533887481387, + 0.03457119930529645, + 0.38551573311172055, + 0.054970555614080055, + -0.9976036186600169, + -0.04201497413921679, + 0.383139382357848, + 0.05993206333035092, + -0.9217441952469316 + ], + [ + 0.9173598298396959, + 0.04248299934521699, + 0.395785468863017, + 0.0658044001686583, + -0.9967933241010923, + -0.04552856186985707, + 0.3925821232747704, + 0.06781049914378018, + -0.9172137224720005 + ], + [ + 0.9171499802032352, + 0.04236072006261439, + 0.39628459875319605, + 0.06405937154020341, + -0.9970755136603832, + -0.04167513619362205, + 0.3933602810796725, + 0.06360809268213903, + -0.9171813887199528 + ], + [ + 0.9198729013060959, + 0.048486826212087844, + 0.3892080075314284, + 0.06818536186010567, + -0.9969882070057865, + -0.036949580774258646, + 0.38624422567944244, + 0.06052720690124242, + -0.9204085263370946 + ], + [ + 0.9366448891348355, + 0.0671411857413044, + 0.3437854168443495, + 0.07905811479616054, + -0.996654070880675, + -0.020747951268863023, + 0.3412420931574365, + 0.046612489466125666, + -0.9388189972956988 + ], + [ + 0.9543519834921118, + 0.073714806646999, + 0.28944501876119244, + 0.07877586900021424, + -0.9968751432238238, + -0.005857583609426184, + 0.2881087538897986, + 0.028391479416823018, + -0.9571767181814397 + ], + [ + 0.9643050677196441, + 0.07572888945229288, + 0.25373385992518926, + 0.0746827359956687, + -0.9971123038242261, + 0.013767443718643777, + 0.25404374685162867, + 0.005673523126521712, + -0.9671760883215212 + ], + [ + 0.9654467284336877, + 0.0741714099670033, + 0.24982236989548504, + 0.07497400521778244, + -0.9971654890454446, + 0.006315536268904978, + 0.24958267788108565, + 0.012632869834944258, + -0.9682710867837788 + ], + [ + 0.9695925490052397, + 0.06191190199228909, + 0.23676402874005087, + 0.0652350479936417, + -0.9978505420934394, + -0.006219658921285882, + 0.23587004351292623, + 0.02147584772545793, + -0.9715472765324824 + ], + [ + 0.969326678652026, + 0.06051828464891948, + 0.2382085793513409, + 0.06462206367104936, + -0.9978650746875815, + -0.009448894413747768, + 0.23712819094389972, + 0.024552595420844373, + -0.9711680550336145 + ], + [ + 0.967940761831129, + 0.06134551298131222, + 0.2435721856510587, + 0.06872898893861493, + -0.9973944522035351, + -0.02192333900404942, + 0.24159264820198878, + 0.03796096351082757, + -0.9696349609951573 + ], + [ + 0.9668028842510445, + 0.059006646200844295, + 0.24861697188243168, + 0.06919706110644254, + -0.9970753368253074, + -0.03244286406794508, + 0.2459755063783642, + 0.048569418349701216, + -0.9680583979611349 + ], + [ + 0.9604821966188591, + 0.04968923369411989, + 0.27387027957247023, + 0.06358975783495295, + -0.997087357976369, + -0.04210870767663897, + 0.27098024407086196, + 0.05786000880224384, + -0.9608443821476509 + ], + [ + 0.9535492723917417, + 0.043412335606123606, + 0.29809252630416877, + 0.05792979746894453, + -0.9975175585486694, + -0.04003572095403528, + 0.2956144849062497, + 0.05544447226120566, + -0.9536970099613867 + ], + [ + 0.9505174216307299, + 0.05521571375800571, + 0.3057251316634985, + 0.07108223899962185, + -0.9966273786194642, + -0.04100223755963016, + 0.30243006873535266, + 0.06070496800336597, + -0.9512365428138474 + ], + [ + 0.9587431731945391, + 0.060820131875051295, + 0.27769126635810354, + 0.07137843759558, + -0.9970544800754635, + -0.028062116952591594, + 0.27516657954642626, + 0.04672553178026342, + -0.9602604220629796 + ], + [ + 0.9678198614496655, + 0.0643788515812533, + 0.24326956088386617, + 0.07118631343066838, + -0.9972765461160502, + -0.019287284593536697, + 0.2413653342211776, + 0.035984080312276914, + -0.9697669417960063 + ], + [ + 0.9750106776791767, + 0.04901628873344713, + 0.2166831369774584, + 0.05315649922653495, + -0.9984973963176395, + -0.013316761500993306, + 0.2157048098712035, + 0.02450210165872089, + -0.9761511573587022 + ], + [ + 0.9816532234939296, + 0.030174150904284845, + 0.18827232781580602, + 0.03288836651346091, + -0.9993950538352142, + -0.011308479906043535, + 0.18781720941397553, + 0.017292975074132657, + -0.9820517546754001 + ], + [ + 0.981718691081385, + -0.019493214349602852, + 0.18933680618351093, + -0.015658391174107122, + -0.9996412698440567, + -0.021728930263601925, + 0.1896924520567189, + 0.01836698720210446, + -0.9816717513577677 + ], + [ + 0.9817795274718617, + -0.013276498111447077, + 0.18955920983963023, + -0.009717044267221914, + -0.9997588209598125, + -0.01969464302176422, + 0.18977496802222646, + 0.017493842086363377, + -0.9816717511476127 + ], + [ + 0.9814542840639797, + -0.01637044571254568, + 0.19099606487996942, + -0.012699956470062302, + -0.9997107032370173, + -0.020425986855150638, + 0.19127519284559466, + 0.017621530595293325, + -0.9813782564645294 + ], + [ + 0.9814542840639797, + -0.01637044571254568, + 0.19099606487996942, + -0.012699956470062302, + -0.9997107032370173, + -0.020425986855150638, + 0.19127519284559466, + 0.017621530595293325, + -0.9813782564645294 + ], + [ + 0.981037595032868, + -0.010159008008454078, + 0.19355110872431155, + -0.008346876167590396, + -0.9999133880763862, + -0.010175755689127845, + 0.19363772047400532, + 0.008367251752282352, + -0.981037421461457 + ], + [ + 0.959378929082687, + 0.06452490254781484, + 0.2746426903876231, + 0.042684400964871964, + -0.995485353551636, + 0.08477589739097134, + 0.27887293225845144, + -0.06960925093239735, + -0.9578018792204387 + ], + [ + 0.9300875161871928, + 0.13882959529575353, + 0.34009345142586345, + 0.08778225590062685, + -0.9830088924503367, + 0.16120729795068084, + 0.35669523094896527, + -0.1200827249590049, + -0.9264710742298891 + ], + [ + 0.9049831382479059, + 0.16159142419786687, + 0.39356540893817965, + 0.09992894296452191, + -0.9799175788342748, + 0.17255649813775792, + 0.41354531292829916, + -0.11683214590718499, + -0.9029565459299562 + ], + [ + 0.8962665597961003, + 0.17168302130658458, + 0.4089391079198786, + 0.11028742876699289, + -0.979350090159634, + 0.1694405027149118, + 0.429584609648936, + -0.10676301372366455, + -0.8966932151262279 + ], + [ + 0.8919291841352661, + 0.17763703423498012, + 0.41582137337563424, + 0.12326154421437317, + -0.9802920915977124, + 0.15438266375752838, + 0.43505048236461735, + -0.0864436187302593, + -0.8962469406224665 + ], + [ + 0.8939573866021957, + 0.17469848348181038, + 0.41269920136647703, + 0.12766839654379286, + -0.9820078182079721, + 0.13914533949203994, + 0.42958232210288777, + -0.07170135875681732, + -0.900176618052878 + ], + [ + 0.8933421297316354, + 0.175851765927523, + 0.413540802904281, + 0.13007289667457383, + -0.9820477623601215, + 0.13661344734016384, + 0.43014053610097175, + -0.06825209786995376, + -0.90017818810451 + ], + [ + 0.8853932630610349, + 0.18936160188587603, + 0.4245243849973143, + 0.14723424025669823, + -0.9804845174747759, + 0.13027735600743703, + 0.4409091156033926, + -0.05284216804286718, + -0.8959948978952745 + ], + [ + 0.875179646077242, + 0.2117876998271761, + 0.43497880097083763, + 0.1706618723577794, + -0.9764413040609317, + 0.13204887370638327, + 0.45269759488586925, + -0.0413321899456259, + -0.8907056402981 + ], + [ + 0.858534858618247, + 0.21717234476395048, + 0.4644933467845086, + 0.17757207333892266, + -0.9757483940532883, + 0.12799699321681138, + 0.48102604431305196, + -0.027408833834295487, + -0.8762777530671317 + ], + [ + 0.8444610298610626, + 0.2252040983313392, + 0.48597189542273117, + 0.18278986963316735, + -0.9740133610583677, + 0.13373793792066466, + 0.5034614509627159, + -0.024105737378275073, + -0.8636813537526247 + ], + [ + 0.8349568926996372, + 0.25188682662467854, + 0.489285207119851, + 0.20945721350456914, + -0.9676403833873151, + 0.14071163473199813, + 0.5088955325450084, + -0.01500383321018553, + -0.8606975205870719 + ], + [ + 0.8365080238157069, + 0.24696248707559357, + 0.4891460477908187, + 0.20771019958122153, + -0.9689682081297315, + 0.13400404704256613, + 0.5070609421774367, + -0.010494837363887337, + -0.8618463084023947 + ], + [ + 0.8453747255980651, + 0.24106526278312043, + 0.4766855487628094, + 0.2050931284514951, + -0.9704610125651874, + 0.12705208283585742, + 0.49323258406351683, + -0.009641689180643294, + -0.8698440411060878 + ], + [ + 0.8765333316692885, + 0.2321062908509047, + 0.4216823309319142, + 0.19689721729031054, + -0.9723063776411484, + 0.12590390709458127, + 0.4392275085830456, + -0.027330893614808158, + -0.8979600313812117 + ], + [ + 0.8960841310264887, + 0.2228991379100102, + 0.3838609180959651, + 0.18597325742747922, + -0.9737431414045064, + 0.13129448613516242, + 0.40304736402104846, + -0.04626304017958695, + -0.9140090554633618 + ], + [ + 0.9150153508529346, + 0.183971250668025, + 0.3590285317786364, + 0.1505661696630532, + -0.981393586659084, + 0.11914888424746309, + 0.37426826776588645, + -0.05496550729376909, + -0.9256900435628878 + ], + [ + 0.9176500799645674, + 0.1669879801773248, + 0.3606013660780012, + 0.1364274355389017, + -0.9846573976373755, + 0.10879965124149243, + 0.3732370367116614, + -0.050644089036026164, + -0.9263526815810538 + ], + [ + 0.9289976311116258, + 0.14257282884754144, + 0.3415207019543577, + 0.1182945427656359, + -0.9887993895805796, + 0.09100641909745927, + 0.35067050423560964, + -0.04414471247480173, + -0.9354578781643033 + ], + [ + 0.9264053618119115, + 0.13385586889453066, + 0.3519314023622094, + 0.1080065833846486, + -0.9898672133525829, + 0.09218176541576384, + 0.36070442685350573, + -0.04738677338754116, + -0.9314756089969299 + ], + [ + 0.9240615811279739, + 0.13195096303195658, + 0.35874662038576605, + 0.11131854516852299, + -0.9907447976757771, + 0.0776719214384945, + 0.36567523266531626, + -0.031838486668235105, + -0.9301977934728958 + ], + [ + 0.9161073415772913, + 0.12184233909969266, + 0.3819709191953011, + 0.09358211770181529, + -0.9913715894120664, + 0.09178648567755779, + 0.3898585973845277, + -0.04834062586798435, + -0.9196050554102342 + ], + [ + 0.9233962398278668, + 0.1174504020807475, + 0.3654378022630215, + 0.0938240757059246, + -0.9922210447437492, + 0.08181956480910671, + 0.37220481873517625, + -0.04126501446374917, + -0.927232857210971 + ], + [ + 0.9287511556731757, + 0.12405015445638964, + 0.34933200542619447, + 0.10400892600930295, + -0.991696282059098, + 0.07563482967888205, + 0.35581376328935366, + -0.033912288768351034, + -0.9339413913754759 + ], + [ + 0.9317530985596063, + 0.13165226179407366, + 0.33838416820099076, + 0.11313689132083767, + -0.990822543293549, + 0.07396439361989923, + 0.3450162418594647, + -0.030632820075975963, + -0.9380967024712129 + ], + [ + 0.9288597919747933, + 0.14085720889894332, + 0.3426057990661316, + 0.11920005705211127, + -0.9893457789108852, + 0.083583946724157, + 0.35072900258079104, + -0.03679913657156563, + -0.9357537017272601 + ], + [ + 0.9238654512363479, + 0.16673108212946391, + 0.3444900205576316, + 0.14571911915076313, + -0.9855625261252262, + 0.08621163153304051, + 0.353890613503361, + -0.029449165516207857, + -0.9348230743432759 + ], + [ + 0.9223249838912423, + 0.20407533224948632, + 0.32813089287246644, + 0.18074547899616006, + -0.9783875160791151, + 0.10044371659286837, + 0.34153725406237745, + -0.03333357388282217, + -0.9392769436857961 + ], + [ + 0.923195293220888, + 0.23233873352976966, + 0.3061521900568099, + 0.20674612150005087, + -0.9717296542772389, + 0.11400666753713926, + 0.3239853265496519, + -0.041954640983093684, + -0.9451313751434215 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006296.json b/json/chunk-0006/episode_0006296.json new file mode 100644 index 0000000000000000000000000000000000000000..de1b453ce8076b5547d4c5eec01a7e84dbbea60e --- /dev/null +++ b/json/chunk-0006/episode_0006296.json @@ -0,0 +1,1282 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 20, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nTurn lever vertical to front." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006296.mp4", + "start": 0, + "end": 20, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.43221715092658997, + -0.12096685916185379, + 0.0764567106962204, + 0.059499140828847885, + -0.10685289651155472, + 0.03520308434963226, + 0.0, + 1.0008161067962646 + ], + [ + 0.4316336512565613, + -0.11749570071697235, + 0.06612999737262726, + 0.10364443808794022, + -0.09163934737443924, + 0.04402243345975876, + 0.0, + 1.0008161067962646 + ], + [ + 0.43931353092193604, + -0.12534579634666443, + 0.0721975788474083, + 0.15575769543647766, + -0.1737286001443863, + 0.023399146273732185, + 0.0, + 1.0008161067962646 + ], + [ + 0.4457298219203949, + -0.12940724194049835, + 0.07807295024394989, + 0.19216202199459076, + -0.2547900080680847, + -0.0005989623023197055, + 0.0, + 1.0008161067962646 + ], + [ + 0.45411309599876404, + -0.1295609027147293, + 0.08919225633144379, + 0.19067245721817017, + -0.3376716673374176, + -0.019479626789689064, + 0.0, + 1.0008161067962646 + ], + [ + 0.4595329761505127, + -0.12987175583839417, + 0.08720990270376205, + 0.19189751148223877, + -0.36994513869285583, + -0.053011514246463776, + 0.0, + 1.0008161067962646 + ], + [ + 0.4676998257637024, + -0.1223224326968193, + 0.09367739409208298, + 0.18171001970767975, + -0.38909199833869934, + -0.06713462620973587, + 0.0, + 1.0008161067962646 + ], + [ + 0.475683331489563, + -0.11145715415477753, + 0.09570296108722687, + 0.1735941618680954, + -0.41338640451431274, + -0.0691995769739151, + 0.0, + 1.0008161067962646 + ], + [ + 0.4769350290298462, + -0.11282971501350403, + 0.09169881045818329, + 0.16784633696079254, + -0.4236973822116852, + -0.08843252807855606, + 0.0, + 1.0008161067962646 + ], + [ + 0.4790405035018921, + -0.11327344924211502, + 0.09173955768346786, + 0.1519225537776947, + -0.43568703532218933, + -0.08415663987398148, + 0.0, + 0.8205437660217285 + ], + [ + 0.47859540581703186, + -0.11287829279899597, + 0.09140211343765259, + 0.14098577201366425, + -0.43405428528785706, + -0.062469515949487686, + 0.0, + 0.5383656024932861 + ], + [ + 0.471153199672699, + -0.10989247262477875, + 0.08720868825912476, + 0.12653712928295135, + -0.40620559453964233, + -0.005988269113004208, + 0.0, + 0.3814634680747986 + ], + [ + 0.45644357800483704, + -0.1134178638458252, + 0.08536570519208908, + 0.10980074852705002, + -0.3691551387310028, + 0.07938385009765625, + 0.0, + 0.36781078577041626 + ], + [ + 0.446304589509964, + -0.11513998359441757, + 0.08016612380743027, + 0.10875427722930908, + -0.3246515989303589, + 0.12489817291498184, + 0.0, + 0.36781078577041626 + ], + [ + 0.4454134702682495, + -0.11685695499181747, + 0.080874502658844, + 0.0748438909649849, + -0.2968232035636902, + 0.14648734033107758, + 0.0, + 0.36865687370300293 + ], + [ + 0.44200974702835083, + -0.11793314665555954, + 0.07865329086780548, + 0.028820550069212914, + -0.24634692072868347, + 0.16736072301864624, + 0.0, + 0.3661215305328369 + ], + [ + 0.4350317716598511, + -0.12045088410377502, + 0.07354817539453506, + 0.003051591571420431, + -0.1919415146112442, + 0.18086422979831696, + 0.0, + 0.3661215305328369 + ], + [ + 0.42387786507606506, + -0.12020668387413025, + 0.05302118882536888, + -0.0017460976960137486, + -0.147774338722229, + 0.18806451559066772, + 0.0, + 0.3644362688064575 + ], + [ + 0.4112692177295685, + -0.12126482278108597, + 0.030944624915719032, + -0.007928803563117981, + -0.12630581855773926, + 0.20038923621177673, + 0.0, + 0.25270670652389526 + ], + [ + 0.40951457619667053, + -0.11975844204425812, + 0.027254166081547737, + 0.01011347770690918, + -0.13034741580486298, + 0.1992519646883011, + 0.0, + 0.11917631328105927 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.8205437660217285 + ], + [ + 0.5383656024932861 + ], + [ + 0.3814634680747986 + ], + [ + 0.36781078577041626 + ], + [ + 0.36781078577041626 + ], + [ + 0.36865687370300293 + ], + [ + 0.3661215305328369 + ], + [ + 0.3661215305328369 + ], + [ + 0.3644362688064575 + ], + [ + 0.25270670652389526 + ], + [ + 0.11917631328105927 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.43221715092658997, + -0.12096685916185379, + 0.0764567106962204 + ], + [ + 0.4316336512565613, + -0.11749570071697235, + 0.06612999737262726 + ], + [ + 0.43931353092193604, + -0.12534579634666443, + 0.0721975788474083 + ], + [ + 0.4457298219203949, + -0.12940724194049835, + 0.07807295024394989 + ], + [ + 0.45411309599876404, + -0.1295609027147293, + 0.08919225633144379 + ], + [ + 0.4595329761505127, + -0.12987175583839417, + 0.08720990270376205 + ], + [ + 0.4676998257637024, + -0.1223224326968193, + 0.09367739409208298 + ], + [ + 0.475683331489563, + -0.11145715415477753, + 0.09570296108722687 + ], + [ + 0.4769350290298462, + -0.11282971501350403, + 0.09169881045818329 + ], + [ + 0.4790405035018921, + -0.11327344924211502, + 0.09173955768346786 + ], + [ + 0.47859540581703186, + -0.11287829279899597, + 0.09140211343765259 + ], + [ + 0.471153199672699, + -0.10989247262477875, + 0.08720868825912476 + ], + [ + 0.45644357800483704, + -0.1134178638458252, + 0.08536570519208908 + ], + [ + 0.446304589509964, + -0.11513998359441757, + 0.08016612380743027 + ], + [ + 0.4454134702682495, + -0.11685695499181747, + 0.080874502658844 + ], + [ + 0.44200974702835083, + -0.11793314665555954, + 0.07865329086780548 + ], + [ + 0.4350317716598511, + -0.12045088410377502, + 0.07354817539453506 + ], + [ + 0.42387786507606506, + -0.12020668387413025, + 0.05302118882536888 + ], + [ + 0.4112692177295685, + -0.12126482278108597, + 0.030944624915719032 + ], + [ + 0.40951457619667053, + -0.11975844204425812, + 0.027254166081547737 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9936806278656072, + 0.041471424805900055, + 0.10430211277429254, + 0.034995080121525544, + -0.9973887744682493, + 0.0631741793141138, + 0.10664967966150048, + -0.05912489737236229, + -0.9925371994735547 + ], + [ + 0.9948392869418485, + 0.053230531810983334, + 0.0863788379185191, + 0.0438235596199575, + -0.9932534354321683, + 0.10736437316182192, + 0.0915111401921642, + -0.1030248682858406, + -0.9904602908423006 + ], + [ + 0.9846774771825496, + 0.0499213560630854, + 0.16708717526558267, + 0.02304481830789988, + -0.9869964514011096, + 0.15908155540719485, + 0.1728560160323174, + -0.1527935310490571, + -0.9730236043339316 + ], + [ + 0.9677160702666046, + 0.04754746835385007, + 0.2475173642411778, + -0.0005796255147533409, + -0.9816222784618233, + 0.1908333473522946, + 0.25204220158938245, + -0.18481596435524314, + -0.9499040940734064 + ], + [ + 0.9433495702544991, + 0.043648735121079515, + 0.32891697466531244, + -0.018378422219580977, + -0.9829137011524038, + 0.18314718038670919, + 0.3312911437050058, + -0.17881678894671166, + -0.9264290226959735 + ], + [ + 0.9310374390140347, + 0.016847291646978044, + 0.3645345743799206, + -0.049401989965141904, + -0.9839189787103068, + 0.17164756543904566, + 0.3615642827239331, + -0.17781904312482708, + -0.9152331164028644 + ], + [ + 0.9231695867692787, + 0.002418534393150474, + 0.38438530767398976, + -0.06206992408385589, + -0.9859193192803772, + 0.15527530516454124, + 0.37934843954926584, + -0.16720420617049736, + -0.9100206123217377 + ], + [ + 0.9135739797844342, + 0.0011140694611284155, + 0.40667104926471737, + -0.06332003626640878, + -0.9874105699203701, + 0.14495150712134977, + 0.40171277857201787, + -0.15817435082454365, + -0.9020020611246868 + ], + [ + 0.9080129778583038, + -0.018660839080782032, + 0.4185262299136058, + -0.0805078581797001, + -0.988160110364379, + 0.13060658886892146, + 0.41113369700404334, + -0.15228712804915373, + -0.8987645485989798 + ], + [ + 0.9033718437576278, + -0.01944517174776046, + 0.4284170832280665, + -0.07620472652199485, + -0.9903523753604296, + 0.11573682332629698, + 0.4220333536127825, + -0.13720079414367325, + -0.8961382652943091 + ], + [ + 0.9054984663490399, + -0.002829042276821448, + 0.424340104113826, + -0.05663974780828725, + -0.9918360046175725, + 0.11425094709657463, + 0.42055257270375884, + -0.12748857385682308, + -0.8982662172920692 + ], + [ + 0.9186102318396557, + 0.04392360857837382, + 0.392716129753984, + -0.00550095103191281, + -0.9922856700872421, + 0.12385026635925181, + 0.3951265385888914, + -0.11593043409289439, + -0.911282147830075 + ], + [ + 0.9296954407894613, + 0.11823800921957991, + 0.34883543476986384, + 0.07395822535674793, + -0.9877121646127986, + 0.13767665298800746, + 0.36082761573550587, + -0.10219810688897459, + -0.9270161695844037 + ], + [ + 0.9403791897744725, + 0.15818998088009345, + 0.30110282195333615, + 0.11806620878297151, + -0.9820354741972459, + 0.14719612006369745, + 0.3189786039575736, + -0.10287009948156131, + -0.9421626148653593 + ], + [ + 0.9460287239973947, + 0.16719133876236175, + 0.27762692523368576, + 0.1395810648590583, + -0.9833281269184638, + 0.11654578990181137, + 0.2924838110129733, + -0.07150420305041504, + -0.9535933982790844 + ], + [ + 0.9562594164525977, + 0.17344045442467573, + 0.23555538035608467, + 0.1615514222467582, + -0.9844477626471795, + 0.06901985648357087, + 0.24386280244388928, + -0.027946580970219948, + -0.9694069951244875 + ], + [ + 0.9656238621182412, + 0.1804515768116975, + 0.1871036753621475, + 0.17657640957223386, + -0.9835793080004483, + 0.037316436806558134, + 0.19076511339977908, + -0.0029955466164231087, + -0.9816311416260378 + ], + [ + 0.9716613242814787, + 0.18670504634220822, + 0.14496722583369268, + 0.18492027701282768, + -0.9824144964889667, + 0.02581178486329278, + 0.1472370946638857, + 0.0017270664966119106, + -0.9890997195410856 + ], + [ + 0.9721825989312939, + 0.19806573992964394, + 0.12502382573460882, + 0.19746515825509642, + -0.9801571790406567, + 0.017303631131985325, + 0.1259702568485311, + 0.007865560449500186, + -0.992002836361031 + ], + [ + 0.971899553118106, + 0.19921453396020602, + 0.1253986766590605, + 0.1962570183084816, + -0.9799045966115802, + 0.03563936453081787, + 0.12997861906286742, + -0.010027512079978563, + -0.9914660899839166 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0005834996700286865, + 0.003471158444881439, + -0.01032671332359314, + 0.04414529725909233, + 0.015213549137115479, + 0.008819349110126495, + 1.0 + ], + [ + 0.007679879665374756, + -0.007850095629692078, + 0.006067581474781036, + 0.052113257348537445, + -0.08208925276994705, + -0.020623287186026573, + 1.0 + ], + [ + 0.006416290998458862, + -0.004061445593833923, + 0.0058753713965415955, + 0.0364043265581131, + -0.08106140792369843, + -0.023998107761144638, + 1.0 + ], + [ + 0.00838327407836914, + -0.00015366077423095703, + 0.011119306087493896, + -0.0014895647764205933, + -0.08288165926933289, + -0.01888066530227661, + 1.0 + ], + [ + 0.005419880151748657, + -0.00031085312366485596, + -0.001982353627681732, + 0.0012250542640686035, + -0.03227347135543823, + -0.03353188931941986, + 1.0 + ], + [ + 0.008166849613189697, + 0.00754932314157486, + 0.006467491388320923, + -0.010187491774559021, + -0.019146859645843506, + -0.014123111963272095, + 1.0 + ], + [ + 0.007983505725860596, + 0.010865278542041779, + 0.0020255669951438904, + -0.00811585783958435, + -0.024294406175613403, + -0.0020649507641792297, + 1.0 + ], + [ + 0.0012516975402832031, + -0.0013725608587265015, + -0.004004150629043579, + -0.0057478249073028564, + -0.010310977697372437, + -0.01923295110464096, + 1.0 + ], + [ + 0.0021054744720458984, + -0.00044373422861099243, + 4.0747225284576416e-05, + -0.01592378318309784, + -0.01198965311050415, + 0.004275888204574585, + 0.0 + ], + [ + -0.0004450976848602295, + 0.00039515644311904907, + -0.0003374442458152771, + -0.010936781764030457, + 0.0016327500343322754, + 0.02168712392449379, + 0.0 + ], + [ + -0.007442206144332886, + 0.002985820174217224, + -0.004193425178527832, + -0.01444864273071289, + 0.02784869074821472, + 0.056481245905160904, + 0.0 + ], + [ + -0.014709621667861938, + -0.0035253912210464478, + -0.001842983067035675, + -0.016736380755901337, + 0.037050455808639526, + 0.08537212014198303, + 0.0 + ], + [ + -0.010138988494873047, + -0.0017221197485923767, + -0.0051995813846588135, + -0.0010464712977409363, + 0.04450353980064392, + 0.04551432281732559, + 0.0 + ], + [ + -0.0008911192417144775, + -0.0017169713973999023, + 0.0007083788514137268, + -0.03391038626432419, + 0.0278283953666687, + 0.021589167416095734, + 0.0 + ], + [ + -0.0034037232398986816, + -0.0010761916637420654, + -0.002221211791038513, + -0.04602333903312683, + 0.050476282835006714, + 0.020873382687568665, + 0.0 + ], + [ + -0.006977975368499756, + -0.0025177374482154846, + -0.005105115473270416, + -0.025768958032131195, + 0.05440540611743927, + 0.013503506779670715, + 0.0 + ], + [ + -0.01115390658378601, + 0.0002442002296447754, + -0.020526986569166183, + -0.004797689151018858, + 0.0441671758890152, + 0.007200285792350769, + 0.0 + ], + [ + -0.012608647346496582, + -0.001058138906955719, + -0.02207656390964985, + -0.006182705983519554, + 0.021468520164489746, + 0.012324720621109009, + 0.0 + ], + [ + -0.0017546415328979492, + 0.0015063807368278503, + -0.003690458834171295, + 0.01804228127002716, + -0.004041597247123718, + -0.001137271523475647, + 0.0 + ], + [ + 0.004540145397186279, + -0.011793285608291626, + 0.01689840294420719, + 0.047350190579891205, + -0.03173215687274933, + -0.050838470458984375, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.8205437660217285 + ], + [ + 0.5383656024932861 + ], + [ + 0.3814634680747986 + ], + [ + 0.36781078577041626 + ], + [ + 0.36781078577041626 + ], + [ + 0.36865687370300293 + ], + [ + 0.3661215305328369 + ], + [ + 0.3661215305328369 + ], + [ + 0.3644362688064575 + ], + [ + 0.25270670652389526 + ], + [ + 0.11917631328105927 + ], + [ + 0.20382753014564514 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.4316336512565613, + -0.11749570071697235, + 0.06612999737262726 + ], + [ + 0.43931353092193604, + -0.12534579634666443, + 0.0721975788474083 + ], + [ + 0.4457298219203949, + -0.12940724194049835, + 0.07807295024394989 + ], + [ + 0.45411309599876404, + -0.1295609027147293, + 0.08919225633144379 + ], + [ + 0.4595329761505127, + -0.12987175583839417, + 0.08720990270376205 + ], + [ + 0.4676998257637024, + -0.1223224326968193, + 0.09367739409208298 + ], + [ + 0.475683331489563, + -0.11145715415477753, + 0.09570296108722687 + ], + [ + 0.4769350290298462, + -0.11282971501350403, + 0.09169881045818329 + ], + [ + 0.4790405035018921, + -0.11327344924211502, + 0.09173955768346786 + ], + [ + 0.47859540581703186, + -0.11287829279899597, + 0.09140211343765259 + ], + [ + 0.471153199672699, + -0.10989247262477875, + 0.08720868825912476 + ], + [ + 0.45644357800483704, + -0.1134178638458252, + 0.08536570519208908 + ], + [ + 0.446304589509964, + -0.11513998359441757, + 0.08016612380743027 + ], + [ + 0.4454134702682495, + -0.11685695499181747, + 0.080874502658844 + ], + [ + 0.44200974702835083, + -0.11793314665555954, + 0.07865329086780548 + ], + [ + 0.4350317716598511, + -0.12045088410377502, + 0.07354817539453506 + ], + [ + 0.42387786507606506, + -0.12020668387413025, + 0.05302118882536888 + ], + [ + 0.4112692177295685, + -0.12126482278108597, + 0.030944624915719032 + ], + [ + 0.40951457619667053, + -0.11975844204425812, + 0.027254166081547737 + ], + [ + 0.4140547215938568, + -0.13155172765254974, + 0.04415256902575493 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9948392869418485, + 0.053230531810983334, + 0.0863788379185191, + 0.0438235596199575, + -0.9932534354321683, + 0.10736437316182192, + 0.0915111401921642, + -0.1030248682858406, + -0.9904602908423006 + ], + [ + 0.9846774771825496, + 0.0499213560630854, + 0.16708717526558267, + 0.02304481830789988, + -0.9869964514011096, + 0.15908155540719485, + 0.1728560160323174, + -0.1527935310490571, + -0.9730236043339316 + ], + [ + 0.9677160702666046, + 0.04754746835385007, + 0.2475173642411778, + -0.0005796255147533409, + -0.9816222784618233, + 0.1908333473522946, + 0.25204220158938245, + -0.18481596435524314, + -0.9499040940734064 + ], + [ + 0.9433495702544991, + 0.043648735121079515, + 0.32891697466531244, + -0.018378422219580977, + -0.9829137011524038, + 0.18314718038670919, + 0.3312911437050058, + -0.17881678894671166, + -0.9264290226959735 + ], + [ + 0.9310374390140347, + 0.016847291646978044, + 0.3645345743799206, + -0.049401989965141904, + -0.9839189787103068, + 0.17164756543904566, + 0.3615642827239331, + -0.17781904312482708, + -0.9152331164028644 + ], + [ + 0.9231695867692787, + 0.002418534393150474, + 0.38438530767398976, + -0.06206992408385589, + -0.9859193192803772, + 0.15527530516454124, + 0.37934843954926584, + -0.16720420617049736, + -0.9100206123217377 + ], + [ + 0.9135739797844342, + 0.0011140694611284155, + 0.40667104926471737, + -0.06332003626640878, + -0.9874105699203701, + 0.14495150712134977, + 0.40171277857201787, + -0.15817435082454365, + -0.9020020611246868 + ], + [ + 0.9080129778583038, + -0.018660839080782032, + 0.4185262299136058, + -0.0805078581797001, + -0.988160110364379, + 0.13060658886892146, + 0.41113369700404334, + -0.15228712804915373, + -0.8987645485989798 + ], + [ + 0.9033718437576278, + -0.01944517174776046, + 0.4284170832280665, + -0.07620472652199485, + -0.9903523753604296, + 0.11573682332629698, + 0.4220333536127825, + -0.13720079414367325, + -0.8961382652943091 + ], + [ + 0.9054984663490399, + -0.002829042276821448, + 0.424340104113826, + -0.05663974780828725, + -0.9918360046175725, + 0.11425094709657463, + 0.42055257270375884, + -0.12748857385682308, + -0.8982662172920692 + ], + [ + 0.9186102318396557, + 0.04392360857837382, + 0.392716129753984, + -0.00550095103191281, + -0.9922856700872421, + 0.12385026635925181, + 0.3951265385888914, + -0.11593043409289439, + -0.911282147830075 + ], + [ + 0.9296954407894613, + 0.11823800921957991, + 0.34883543476986384, + 0.07395822535674793, + -0.9877121646127986, + 0.13767665298800746, + 0.36082761573550587, + -0.10219810688897459, + -0.9270161695844037 + ], + [ + 0.9403791897744725, + 0.15818998088009345, + 0.30110282195333615, + 0.11806620878297151, + -0.9820354741972459, + 0.14719612006369745, + 0.3189786039575736, + -0.10287009948156131, + -0.9421626148653593 + ], + [ + 0.9460287239973947, + 0.16719133876236175, + 0.27762692523368576, + 0.1395810648590583, + -0.9833281269184638, + 0.11654578990181137, + 0.2924838110129733, + -0.07150420305041504, + -0.9535933982790844 + ], + [ + 0.9562594164525977, + 0.17344045442467573, + 0.23555538035608467, + 0.1615514222467582, + -0.9844477626471795, + 0.06901985648357087, + 0.24386280244388928, + -0.027946580970219948, + -0.9694069951244875 + ], + [ + 0.9656238621182412, + 0.1804515768116975, + 0.1871036753621475, + 0.17657640957223386, + -0.9835793080004483, + 0.037316436806558134, + 0.19076511339977908, + -0.0029955466164231087, + -0.9816311416260378 + ], + [ + 0.9716613242814787, + 0.18670504634220822, + 0.14496722583369268, + 0.18492027701282768, + -0.9824144964889667, + 0.02581178486329278, + 0.1472370946638857, + 0.0017270664966119106, + -0.9890997195410856 + ], + [ + 0.9721825989312939, + 0.19806573992964394, + 0.12502382573460882, + 0.19746515825509642, + -0.9801571790406567, + 0.017303631131985325, + 0.1259702568485311, + 0.007865560449500186, + -0.992002836361031 + ], + [ + 0.971899553118106, + 0.19921453396020602, + 0.1253986766590605, + 0.1962570183084816, + -0.9799045966115802, + 0.03563936453081787, + 0.12997861906286742, + -0.010027512079978563, + -0.9914660899839166 + ], + [ + 0.9760448302067373, + 0.15679116106576324, + 0.1508410462651014, + 0.14593125522049888, + -0.986004049091809, + 0.08062309795788204, + 0.16137087152417004, + -0.056679334736802554, + -0.9852648856207769 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006297.json b/json/chunk-0006/episode_0006297.json new file mode 100644 index 0000000000000000000000000000000000000000..bd4b6708fc0404718e5950581be407f64983f839 --- /dev/null +++ b/json/chunk-0006/episode_0006297.json @@ -0,0 +1,2002 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 32, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMoved the sushi in the righ side of the burner." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006297.mp4", + "start": 0, + "end": 32, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.38056680560112, + -0.024899736046791077, + 0.07094375044107437, + 0.033458080142736435, + -0.14934837818145752, + 0.047490157186985016, + 0.0, + 1.0027955770492554 + ], + [ + 0.3782295286655426, + -0.024111399427056313, + 0.054822567850351334, + 0.039267174899578094, + -0.10678504407405853, + 0.04828204587101936, + 0.0, + 1.0027955770492554 + ], + [ + 0.38948652148246765, + 0.0072134570218622684, + 0.04959483444690704, + 0.0563422255218029, + -0.10099614411592484, + 0.11224578320980072, + 0.0, + 1.0027955770492554 + ], + [ + 0.3995351195335388, + 0.054781630635261536, + 0.03991547226905823, + 0.04975184425711632, + -0.09616344422101974, + 0.20021726191043854, + 0.0, + 1.0027955770492554 + ], + [ + 0.4082255959510803, + 0.07080984115600586, + 0.019828809425234795, + 0.029368726536631584, + -0.0599021315574646, + 0.20259985327720642, + 0.0, + 1.0008161067962646 + ], + [ + 0.4133155345916748, + 0.0791018009185791, + 0.01987268030643463, + 0.03579752519726753, + -0.05688721686601639, + 0.20963966846466064, + 0.0, + 1.0008161067962646 + ], + [ + 0.4145205020904541, + 0.08096436411142349, + 0.019207758828997612, + -0.01855880580842495, + -0.0672665685415268, + 0.2169012725353241, + 0.0, + 1.0008161067962646 + ], + [ + 0.41187649965286255, + 0.07699596881866455, + 0.02589832991361618, + -0.10410691052675247, + -0.10995479673147202, + 0.1922934651374817, + 0.0, + 1.0008161067962646 + ], + [ + 0.41294121742248535, + 0.07410458475351334, + 0.041562698781490326, + -0.13959527015686035, + -0.1662577986717224, + 0.18403610587120056, + 0.0, + 1.0008161067962646 + ], + [ + 0.4123087525367737, + 0.084235280752182, + 0.05320184305310249, + -0.15679803490638733, + -0.2125750184059143, + 0.20053650438785553, + 0.0, + 1.0008161067962646 + ], + [ + 0.4087643027305603, + 0.09781775623559952, + 0.05591948702931404, + -0.09445341676473618, + -0.20944026112556458, + 0.20262561738491058, + 0.0, + 1.0008161067962646 + ], + [ + 0.4149562418460846, + 0.11065409332513809, + 0.06631112098693848, + -0.0259028822183609, + -0.22481583058834076, + 0.18606264889240265, + 0.0, + 1.0008161067962646 + ], + [ + 0.41571399569511414, + 0.1169334277510643, + 0.053620535880327225, + 0.012432345189154148, + -0.18067003786563873, + 0.17802640795707703, + 0.0, + 1.0008161067962646 + ], + [ + 0.41667017340660095, + 0.12217776477336884, + 0.04197336360812187, + 0.043210919946432114, + -0.14247265458106995, + 0.1768656075000763, + 0.0, + 1.0008161067962646 + ], + [ + 0.4192657768726349, + 0.12333998084068298, + 0.03407460078597069, + 0.04804130271077156, + -0.12526655197143555, + 0.17825499176979065, + 0.0, + 1.0008161067962646 + ], + [ + 0.4150400161743164, + 0.12009036540985107, + 0.012063439004123211, + 0.046745169907808304, + -0.06850409507751465, + 0.17375683784484863, + 0.0, + 0.9484345316886902 + ], + [ + 0.4165308475494385, + 0.11840946227312088, + 0.012136048637330532, + 0.047083780169487, + -0.0746903046965599, + 0.17040331661701202, + 0.0, + 0.680191159248352 + ], + [ + 0.4154709577560425, + 0.11675409227609634, + 0.01133669726550579, + 0.04687536507844925, + -0.06996430456638336, + 0.16429385542869568, + 0.0, + 0.6420453786849976 + ], + [ + 0.4142930805683136, + 0.11273125559091568, + 0.019082393497228622, + 0.02580510638654232, + -0.07755126804113388, + 0.15257275104522705, + 0.0, + 0.6420453786849976 + ], + [ + 0.4088563024997711, + 0.11430436372756958, + 0.06712429225444794, + 0.049747198820114136, + -0.18594017624855042, + 0.1439468115568161, + 0.0, + 0.6420453786849976 + ], + [ + 0.38075578212738037, + 0.13412943482398987, + 0.08526996523141861, + 0.10354834049940109, + -0.22538717091083527, + 0.16353535652160645, + 0.0, + 0.6420453786849976 + ], + [ + 0.3523939847946167, + 0.1648913025856018, + 0.07972079515457153, + 0.15231873095035553, + -0.20573921501636505, + 0.17026421427726746, + 0.0, + 0.6420453786849976 + ], + [ + 0.3374049961566925, + 0.1906123012304306, + 0.07492528110742569, + 0.16976389288902283, + -0.19485943019390106, + 0.14534181356430054, + 0.0, + 0.6420453786849976 + ], + [ + 0.32522737979888916, + 0.20879340171813965, + 0.05501914396882057, + 0.09882999956607819, + -0.16521506011486053, + 0.15582266449928284, + 0.0, + 0.6420453786849976 + ], + [ + 0.32695379853248596, + 0.21170206367969513, + 0.038431040942668915, + 0.045902080833911896, + -0.15117768943309784, + 0.15691745281219482, + 0.0, + 0.6420453786849976 + ], + [ + 0.32750949263572693, + 0.20581214129924774, + 0.02482808753848076, + 0.01864154078066349, + -0.12628301978111267, + 0.12375196814537048, + 0.0, + 0.6420453786849976 + ], + [ + 0.3321647047996521, + 0.19773250818252563, + 0.02007823996245861, + 0.03235634043812752, + -0.1199457049369812, + 0.07161616533994675, + 0.0, + 0.6791892647743225 + ], + [ + 0.33146733045578003, + 0.19562049210071564, + 0.016359582543373108, + 0.03872498869895935, + -0.10811631381511688, + 0.05057536065578461, + 0.0, + 0.7457395792007446 + ], + [ + 0.32889655232429504, + 0.19360925257205963, + 0.013584645465016365, + 0.04190841689705849, + -0.10294154286384583, + 0.04395902156829834, + 0.0, + 0.9907060265541077 + ], + [ + 0.3328423798084259, + 0.18903493881225586, + 0.04182012751698494, + 0.029121343046426773, + -0.15785545110702515, + 0.040778227150440216, + 0.0, + 1.0060625076293945 + ], + [ + 0.3456308841705322, + 0.17568089067935944, + 0.07564983516931534, + 0.016472140327095985, + -0.212055504322052, + 0.034295570105314255, + 0.0, + 1.0008161067962646 + ], + [ + 0.3521876037120819, + 0.16432416439056396, + 0.0839015394449234, + -0.0008742649806663394, + -0.209281325340271, + 0.020838439464569092, + 0.0, + 1.0008161067962646 + ] + ], + "left_gripper_pos": [ + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9484345316886902 + ], + [ + 0.680191159248352 + ], + [ + 0.6420453786849976 + ], + [ + 0.6420453786849976 + ], + [ + 0.6420453786849976 + ], + [ + 0.6420453786849976 + ], + [ + 0.6420453786849976 + ], + [ + 0.6420453786849976 + ], + [ + 0.6420453786849976 + ], + [ + 0.6420453786849976 + ], + [ + 0.6420453786849976 + ], + [ + 0.6791892647743225 + ], + [ + 0.7457395792007446 + ], + [ + 0.9907060265541077 + ], + [ + 1.0060625076293945 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.38056680560112, + -0.024899736046791077, + 0.07094375044107437 + ], + [ + 0.3782295286655426, + -0.024111399427056313, + 0.054822567850351334 + ], + [ + 0.38948652148246765, + 0.0072134570218622684, + 0.04959483444690704 + ], + [ + 0.3995351195335388, + 0.054781630635261536, + 0.03991547226905823 + ], + [ + 0.4082255959510803, + 0.07080984115600586, + 0.019828809425234795 + ], + [ + 0.4133155345916748, + 0.0791018009185791, + 0.01987268030643463 + ], + [ + 0.4145205020904541, + 0.08096436411142349, + 0.019207758828997612 + ], + [ + 0.41187649965286255, + 0.07699596881866455, + 0.02589832991361618 + ], + [ + 0.41294121742248535, + 0.07410458475351334, + 0.041562698781490326 + ], + [ + 0.4123087525367737, + 0.084235280752182, + 0.05320184305310249 + ], + [ + 0.4087643027305603, + 0.09781775623559952, + 0.05591948702931404 + ], + [ + 0.4149562418460846, + 0.11065409332513809, + 0.06631112098693848 + ], + [ + 0.41571399569511414, + 0.1169334277510643, + 0.053620535880327225 + ], + [ + 0.41667017340660095, + 0.12217776477336884, + 0.04197336360812187 + ], + [ + 0.4192657768726349, + 0.12333998084068298, + 0.03407460078597069 + ], + [ + 0.4150400161743164, + 0.12009036540985107, + 0.012063439004123211 + ], + [ + 0.4165308475494385, + 0.11840946227312088, + 0.012136048637330532 + ], + [ + 0.4154709577560425, + 0.11675409227609634, + 0.01133669726550579 + ], + [ + 0.4142930805683136, + 0.11273125559091568, + 0.019082393497228622 + ], + [ + 0.4088563024997711, + 0.11430436372756958, + 0.06712429225444794 + ], + [ + 0.38075578212738037, + 0.13412943482398987, + 0.08526996523141861 + ], + [ + 0.3523939847946167, + 0.1648913025856018, + 0.07972079515457153 + ], + [ + 0.3374049961566925, + 0.1906123012304306, + 0.07492528110742569 + ], + [ + 0.32522737979888916, + 0.20879340171813965, + 0.05501914396882057 + ], + [ + 0.32695379853248596, + 0.21170206367969513, + 0.038431040942668915 + ], + [ + 0.32750949263572693, + 0.20581214129924774, + 0.02482808753848076 + ], + [ + 0.3321647047996521, + 0.19773250818252563, + 0.02007823996245861 + ], + [ + 0.33146733045578003, + 0.19562049210071564, + 0.016359582543373108 + ], + [ + 0.32889655232429504, + 0.19360925257205963, + 0.013584645465016365 + ], + [ + 0.3328423798084259, + 0.18903493881225586, + 0.04182012751698494 + ], + [ + 0.3456308841705322, + 0.17568089067935944, + 0.07564983516931534 + ], + [ + 0.3521876037120819, + 0.16432416439056396, + 0.0839015394449234 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.987753350007726, + 0.05241755372128997, + 0.1469548216643144, + 0.046943858224143035, + -0.9980772261501808, + 0.04047375464906222, + 0.1487937959847329, + -0.03307946042843818, + -0.9883148059066085 + ], + [ + 0.9931451794173857, + 0.05240531619392497, + 0.10448126834329716, + 0.04798837636875927, + -0.9978627515319685, + 0.04435137921801098, + 0.10658221396414896, + -0.039033472042136544, + -0.9935374274413806 + ], + [ + 0.9886433439732284, + 0.11747443816828766, + 0.09372350182573089, + 0.11143945289396297, + -0.991494278144554, + 0.06723350909556831, + 0.10082453449496717, + -0.05602546549253134, + -0.9933255057936539 + ], + [ + 0.9754955442065438, + 0.2033157470145921, + 0.08409013169853469, + 0.19796339297305127, + -0.9778610857042279, + 0.06780997056440555, + 0.09601530230008026, + -0.04950155635176186, + -0.994148207081307 + ], + [ + 0.9777898436653317, + 0.202851904112017, + 0.052707937002459564, + 0.2008557843073305, + -0.978770617265418, + 0.040804812071123395, + 0.05986631386024451, + -0.0293118367899666, + -0.9977759471388279 + ], + [ + 0.9765237411953334, + 0.20996448098623455, + 0.0481279503620322, + 0.20777082767765942, + -0.9770558540712202, + 0.046830985376120335, + 0.056856539184243715, + -0.035731984962204255, + -0.9977427319718499 + ], + [ + 0.974360444575708, + 0.21394933254448534, + 0.06962332331911451, + 0.21471784570803631, + -0.9766692630135864, + -0.003660248488589234, + 0.06721585215355556, + 0.018515771338713724, + -0.9975666370879712 + ], + [ + 0.9756408774895186, + 0.17888267564311072, + 0.12698766288992108, + 0.18995648326640213, + -0.9784333783600921, + -0.08114590917549715, + 0.1097333706606322, + 0.10329139589345561, + -0.9885795238107241 + ], + [ + 0.9695569315564947, + 0.15858064458747773, + 0.18657849724171102, + 0.1804756246187717, + -0.9777636914070964, + -0.10680221291917565, + 0.16549291643215217, + 0.1372236966714889, + -0.976617505312388 + ], + [ + 0.9579018205951632, + 0.16446619389392172, + 0.23531887549986089, + 0.1947114064525363, + -0.9745006300537611, + -0.11151677103511422, + 0.2109776535506718, + 0.15264138721483705, + -0.9654993716266123 + ], + [ + 0.9581360841472989, + 0.18113721969664415, + 0.22173080953139868, + 0.1968442726185206, + -0.9791214766234055, + -0.050729344092812975, + 0.2079124252952797, + 0.09225205501977267, + -0.9737874417717981 + ], + [ + 0.9580097441444528, + 0.17925474114678475, + 0.22379693452028926, + 0.18033568172609715, + -0.983478655235767, + 0.01577265329709659, + 0.22292683109187017, + 0.025248217205296426, + -0.9745081608212885 + ], + [ + 0.968175871272923, + 0.1792724230026438, + 0.17463356102329744, + 0.17420515763787503, + -0.983723453717393, + 0.044053713335967706, + 0.17968874571680807, + -0.012229675264931125, + -0.9836474926037452 + ], + [ + 0.9744259957734558, + 0.18181868544263144, + 0.13204523613074218, + 0.17416225980472824, + -0.9824019369019253, + 0.06748289880448657, + 0.14199114768400303, + -0.042759794144262155, + -0.9889439387468436 + ], + [ + 0.976443160665961, + 0.183012772160671, + 0.1143025774632169, + 0.17592313660474931, + -0.9819552600220061, + 0.06938960528970695, + 0.12493920119728266, + -0.047646537557108494, + -0.9910196786456887 + ], + [ + 0.9826320523485841, + 0.17584538092869867, + 0.05926762778490988, + 0.17247833164866166, + -0.9833133341054785, + 0.05784558826792348, + 0.0684505281857199, + -0.04661854755790569, + -0.9965647175245005 + ], + [ + 0.982768808850759, + 0.1728531703452295, + 0.06547709409910794, + 0.16910704529588788, + -0.9838286801797482, + 0.05902487007244731, + 0.07462087899076832, + -0.046935163336008896, + -0.996106829040574 + ], + [ + 0.9841205359389428, + 0.16660769532924433, + 0.06122619211028763, + 0.16315559640983937, + -0.9849146741216449, + 0.057648382978221224, + 0.06990723927747225, + -0.04674356166288311, + -0.996457734848634 + ], + [ + 0.9854126610601524, + 0.15390666711486625, + 0.07262661523121801, + 0.15152470243264402, + -0.9877504634597858, + 0.0372731335907972, + 0.07747355661803788, + -0.02572469149615758, + -0.9966624745982863 + ], + [ + 0.9725986832630983, + 0.1523706686551968, + 0.1755989198385221, + 0.14097754418649935, + -0.9871144551941597, + 0.07569930238701719, + 0.18487058541052742, + -0.048869537344911215, + -0.9815470620248747 + ], + [ + 0.9617029758734333, + 0.18472718813586064, + 0.2024925977896493, + 0.15868962287789729, + -0.9776121350065737, + 0.1381742272594977, + 0.22348375732265885, + -0.10074909156566586, + -0.9694867873063768 + ], + [ + 0.9647552265435904, + 0.19802984396098125, + 0.17329608696567653, + 0.16586924133549666, + -0.968877124365287, + 0.18375122492228263, + 0.20429084080206014, + -0.14853046415615195, + -0.9675763295895294 + ], + [ + 0.9707308937777159, + 0.17511723259454726, + 0.16436388506586144, + 0.14208971296044232, + -0.9704947944025512, + 0.19480854064534442, + 0.19362862736779288, + -0.16575225152611633, + -0.9669716364907955 + ], + [ + 0.9744321826760989, + 0.17046651882520436, + 0.14636627796289195, + 0.15307958925103476, + -0.9805452006348249, + 0.122872897201726, + 0.16446446643524185, + -0.0973256157012515, + -0.9815697447499815 + ], + [ + 0.9764482313421876, + 0.16293530920019825, + 0.14142466731284783, + 0.15449187798406064, + -0.9855933841919821, + 0.06883270061500049, + 0.15060249382288468, + -0.045362606327590684, + -0.9875530987250742 + ], + [ + 0.9844502809282891, + 0.12574466329634357, + 0.12266182793641406, + 0.12245340520316765, + -0.9918902785392288, + 0.0340417228342001, + 0.1259476396537946, + -0.0184920250881523, + -0.9918645255647455 + ], + [ + 0.9902702097388152, + 0.07537861576008861, + 0.11697425353442503, + 0.07104084983623521, + -0.9966375879385572, + 0.04082543279085155, + 0.11965830250504353, + -0.03211825951242967, + -0.9922954741645775 + ], + [ + 0.9928899272703702, + 0.054688166486051175, + 0.10572982914689794, + 0.05025862510019643, + -0.9977613850866623, + 0.04411676589440919, + 0.1079058058126447, + -0.03848925663530213, + -0.99341578112872 + ], + [ + 0.9937452685352501, + 0.048207362537448784, + 0.10072929792759654, + 0.04371222976071548, + -0.9979675835748408, + 0.046367478938793644, + 0.1027598279151437, + -0.041674360594687376, + -0.99383281563645 + ], + [ + 0.9867456979543767, + 0.045323084524132584, + 0.15581638417621002, + 0.04026005834982237, + -0.9985584390970954, + 0.03549889307628198, + 0.15720068470015913, + -0.028755203306371095, + -0.9871479539626319 + ], + [ + 0.9770254950214221, + 0.037748888611225065, + 0.2097527198554586, + 0.03352078961907519, + -0.9991575114903037, + 0.023677497667981634, + 0.21046980482116404, + -0.016102442085624682, + -0.9774677348216769 + ], + [ + 0.9779681018522652, + 0.020655328208422207, + 0.2077299910366326, + 0.020382279444948772, + -0.9997862901983966, + 0.0034549408034354407, + 0.20775696003769673, + 0.0008551888268576507, + -0.9781801031548153 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0023372769355773926, + 0.0007883366197347641, + -0.016121182590723038, + 0.0058090947568416595, + 0.04256333410739899, + 0.0007918886840343475, + 1.0 + ], + [ + 0.011256992816925049, + 0.031324855983257294, + -0.00522773340344429, + 0.017075050622224808, + 0.0057888999581336975, + 0.06396374106407166, + 1.0 + ], + [ + 0.010048598051071167, + 0.047568172216415405, + -0.009679362177848816, + -0.0065903812646865845, + 0.00483269989490509, + 0.08797147870063782, + 1.0 + ], + [ + 0.008690476417541504, + 0.016028210520744324, + -0.020086662843823433, + -0.020383117720484734, + 0.036261312663555145, + 0.0023825913667678833, + 1.0 + ], + [ + 0.005089938640594482, + 0.008291959762573242, + 4.387088119983673e-05, + 0.006428798660635948, + 0.0030149146914482117, + 0.007039815187454224, + 1.0 + ], + [ + 0.0012049674987792969, + 0.0018625631928443909, + -0.0006649214774370193, + -0.05435632914304733, + -0.010379351675510406, + 0.007261604070663452, + 1.0 + ], + [ + -0.0026440024375915527, + -0.003968395292758942, + 0.006690571084618568, + -0.08554810285568237, + -0.04268822818994522, + -0.024607807397842407, + 1.0 + ], + [ + 0.0010647177696228027, + -0.0028913840651512146, + 0.015664368867874146, + -0.03548835963010788, + -0.0563030019402504, + -0.008257359266281128, + 1.0 + ], + [ + -0.0006324648857116699, + 0.01013069599866867, + 0.011639144271612167, + -0.017202764749526978, + -0.046317219734191895, + 0.016500398516654968, + 1.0 + ], + [ + -0.003544449806213379, + 0.013582475483417511, + 0.002717643976211548, + 0.062344618141651154, + 0.0031347572803497314, + 0.0020891129970550537, + 1.0 + ], + [ + 0.006191939115524292, + 0.012836337089538574, + 0.010391633957624435, + 0.06855053454637527, + -0.015375569462776184, + -0.016562968492507935, + 1.0 + ], + [ + 0.000757753849029541, + 0.0062793344259262085, + -0.012690585106611252, + 0.038335226476192474, + 0.044145792722702026, + -0.008036240935325623, + 1.0 + ], + [ + 0.0009561777114868164, + 0.005244337022304535, + -0.011647172272205353, + 0.03077857568860054, + 0.03819738328456879, + -0.0011608004570007324, + 1.0 + ], + [ + 0.0025956034660339355, + 0.001162216067314148, + -0.007898762822151184, + 0.004830382764339447, + 0.0172061026096344, + 0.0013893842697143555, + 1.0 + ], + [ + -0.0042257606983184814, + -0.003249615430831909, + -0.022011160850524902, + -0.0012961328029632568, + 0.0567624568939209, + -0.004498153924942017, + 0.0 + ], + [ + 0.0014908313751220703, + -0.001680903136730194, + 7.260963320732117e-05, + 0.0003386102616786957, + -0.006186209619045258, + -0.003353521227836609, + 0.0 + ], + [ + -0.001059889793395996, + -0.0016553699970245361, + -0.0007993513718247414, + -0.00020841509103775024, + 0.004726000130176544, + -0.006109461188316345, + 0.0 + ], + [ + -0.0011778771877288818, + -0.004022836685180664, + 0.007745696231722832, + -0.02107025869190693, + -0.007586963474750519, + -0.011721104383468628, + 0.0 + ], + [ + -0.0054367780685424805, + 0.0015731081366539001, + 0.048041898757219315, + 0.023942092433571815, + -0.10838890820741653, + -0.00862593948841095, + 0.0 + ], + [ + -0.028100520372390747, + 0.019825071096420288, + 0.018145672976970673, + 0.05380114167928696, + -0.03944699466228485, + 0.019588544964790344, + 0.0 + ], + [ + -0.028361797332763672, + 0.03076186776161194, + -0.005549170076847076, + 0.04877039045095444, + 0.019647955894470215, + 0.006728857755661011, + 0.0 + ], + [ + -0.014988988637924194, + 0.025720998644828796, + -0.0047955140471458435, + 0.017445161938667297, + 0.01087978482246399, + -0.02492240071296692, + 0.0 + ], + [ + -0.012177616357803345, + 0.018181100487709045, + -0.019906137138605118, + -0.07093389332294464, + 0.029644370079040527, + 0.0104808509349823, + 0.0 + ], + [ + 0.0017264187335968018, + 0.002908661961555481, + -0.016588103026151657, + -0.05292791873216629, + 0.014037370681762695, + 0.0010947883129119873, + 0.0 + ], + [ + 0.0005556941032409668, + -0.005889922380447388, + -0.013602953404188156, + -0.027260540053248405, + 0.02489466965198517, + -0.03316548466682434, + 0.0 + ], + [ + 0.004655212163925171, + -0.008079633116722107, + -0.004749847576022148, + 0.013714799657464027, + 0.00633731484413147, + -0.05213580280542374, + 1.0 + ], + [ + -0.0006973743438720703, + -0.0021120160818099976, + -0.0037186574190855026, + 0.006368648260831833, + 0.011829391121864319, + -0.02104080468416214, + 1.0 + ], + [ + -0.0025707781314849854, + -0.002011239528656006, + -0.002774937078356743, + 0.0031834281980991364, + 0.005174770951271057, + -0.006616339087486267, + 1.0 + ], + [ + 0.003945827484130859, + -0.004574313759803772, + 0.028235482051968575, + -0.012787073850631714, + -0.05491390824317932, + -0.0031807944178581238, + 1.0 + ], + [ + 0.012788504362106323, + -0.013354048132896423, + 0.0338297076523304, + -0.012649202719330788, + -0.054200053215026855, + -0.006482657045125961, + 1.0 + ], + [ + 0.006556719541549683, + -0.011356726288795471, + 0.008251704275608063, + -0.017346404492855072, + 0.002774178981781006, + -0.013457130640745163, + 1.0 + ], + [ + 0.0013722479343414307, + -0.0049988627433776855, + -0.00011624395847320557, + 0.017661137506365776, + 0.015575364232063293, + -0.013834971934556961, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9484345316886902 + ], + [ + 0.680191159248352 + ], + [ + 0.6420453786849976 + ], + [ + 0.6420453786849976 + ], + [ + 0.6420453786849976 + ], + [ + 0.6420453786849976 + ], + [ + 0.6420453786849976 + ], + [ + 0.6420453786849976 + ], + [ + 0.6420453786849976 + ], + [ + 0.6420453786849976 + ], + [ + 0.6420453786849976 + ], + [ + 0.6791892647743225 + ], + [ + 0.7457395792007446 + ], + [ + 0.9907060265541077 + ], + [ + 1.0060625076293945 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3782295286655426, + -0.024111399427056313, + 0.054822567850351334 + ], + [ + 0.38948652148246765, + 0.0072134570218622684, + 0.04959483444690704 + ], + [ + 0.3995351195335388, + 0.054781630635261536, + 0.03991547226905823 + ], + [ + 0.4082255959510803, + 0.07080984115600586, + 0.019828809425234795 + ], + [ + 0.4133155345916748, + 0.0791018009185791, + 0.01987268030643463 + ], + [ + 0.4145205020904541, + 0.08096436411142349, + 0.019207758828997612 + ], + [ + 0.41187649965286255, + 0.07699596881866455, + 0.02589832991361618 + ], + [ + 0.41294121742248535, + 0.07410458475351334, + 0.041562698781490326 + ], + [ + 0.4123087525367737, + 0.084235280752182, + 0.05320184305310249 + ], + [ + 0.4087643027305603, + 0.09781775623559952, + 0.05591948702931404 + ], + [ + 0.4149562418460846, + 0.11065409332513809, + 0.06631112098693848 + ], + [ + 0.41571399569511414, + 0.1169334277510643, + 0.053620535880327225 + ], + [ + 0.41667017340660095, + 0.12217776477336884, + 0.04197336360812187 + ], + [ + 0.4192657768726349, + 0.12333998084068298, + 0.03407460078597069 + ], + [ + 0.4150400161743164, + 0.12009036540985107, + 0.012063439004123211 + ], + [ + 0.4165308475494385, + 0.11840946227312088, + 0.012136048637330532 + ], + [ + 0.4154709577560425, + 0.11675409227609634, + 0.01133669726550579 + ], + [ + 0.4142930805683136, + 0.11273125559091568, + 0.019082393497228622 + ], + [ + 0.4088563024997711, + 0.11430436372756958, + 0.06712429225444794 + ], + [ + 0.38075578212738037, + 0.13412943482398987, + 0.08526996523141861 + ], + [ + 0.3523939847946167, + 0.1648913025856018, + 0.07972079515457153 + ], + [ + 0.3374049961566925, + 0.1906123012304306, + 0.07492528110742569 + ], + [ + 0.32522737979888916, + 0.20879340171813965, + 0.05501914396882057 + ], + [ + 0.32695379853248596, + 0.21170206367969513, + 0.038431040942668915 + ], + [ + 0.32750949263572693, + 0.20581214129924774, + 0.02482808753848076 + ], + [ + 0.3321647047996521, + 0.19773250818252563, + 0.02007823996245861 + ], + [ + 0.33146733045578003, + 0.19562049210071564, + 0.016359582543373108 + ], + [ + 0.32889655232429504, + 0.19360925257205963, + 0.013584645465016365 + ], + [ + 0.3328423798084259, + 0.18903493881225586, + 0.04182012751698494 + ], + [ + 0.3456308841705322, + 0.17568089067935944, + 0.07564983516931534 + ], + [ + 0.3521876037120819, + 0.16432416439056396, + 0.0839015394449234 + ], + [ + 0.35355985164642334, + 0.15932530164718628, + 0.0837852954864502 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9931451794173857, + 0.05240531619392497, + 0.10448126834329716, + 0.04798837636875927, + -0.9978627515319685, + 0.04435137921801098, + 0.10658221396414896, + -0.039033472042136544, + -0.9935374274413806 + ], + [ + 0.9886433439732284, + 0.11747443816828766, + 0.09372350182573089, + 0.11143945289396297, + -0.991494278144554, + 0.06723350909556831, + 0.10082453449496717, + -0.05602546549253134, + -0.9933255057936539 + ], + [ + 0.9754955442065438, + 0.2033157470145921, + 0.08409013169853469, + 0.19796339297305127, + -0.9778610857042279, + 0.06780997056440555, + 0.09601530230008026, + -0.04950155635176186, + -0.994148207081307 + ], + [ + 0.9777898436653317, + 0.202851904112017, + 0.052707937002459564, + 0.2008557843073305, + -0.978770617265418, + 0.040804812071123395, + 0.05986631386024451, + -0.0293118367899666, + -0.9977759471388279 + ], + [ + 0.9765237411953334, + 0.20996448098623455, + 0.0481279503620322, + 0.20777082767765942, + -0.9770558540712202, + 0.046830985376120335, + 0.056856539184243715, + -0.035731984962204255, + -0.9977427319718499 + ], + [ + 0.974360444575708, + 0.21394933254448534, + 0.06962332331911451, + 0.21471784570803631, + -0.9766692630135864, + -0.003660248488589234, + 0.06721585215355556, + 0.018515771338713724, + -0.9975666370879712 + ], + [ + 0.9756408774895186, + 0.17888267564311072, + 0.12698766288992108, + 0.18995648326640213, + -0.9784333783600921, + -0.08114590917549715, + 0.1097333706606322, + 0.10329139589345561, + -0.9885795238107241 + ], + [ + 0.9695569315564947, + 0.15858064458747773, + 0.18657849724171102, + 0.1804756246187717, + -0.9777636914070964, + -0.10680221291917565, + 0.16549291643215217, + 0.1372236966714889, + -0.976617505312388 + ], + [ + 0.9579018205951632, + 0.16446619389392172, + 0.23531887549986089, + 0.1947114064525363, + -0.9745006300537611, + -0.11151677103511422, + 0.2109776535506718, + 0.15264138721483705, + -0.9654993716266123 + ], + [ + 0.9581360841472989, + 0.18113721969664415, + 0.22173080953139868, + 0.1968442726185206, + -0.9791214766234055, + -0.050729344092812975, + 0.2079124252952797, + 0.09225205501977267, + -0.9737874417717981 + ], + [ + 0.9580097441444528, + 0.17925474114678475, + 0.22379693452028926, + 0.18033568172609715, + -0.983478655235767, + 0.01577265329709659, + 0.22292683109187017, + 0.025248217205296426, + -0.9745081608212885 + ], + [ + 0.968175871272923, + 0.1792724230026438, + 0.17463356102329744, + 0.17420515763787503, + -0.983723453717393, + 0.044053713335967706, + 0.17968874571680807, + -0.012229675264931125, + -0.9836474926037452 + ], + [ + 0.9744259957734558, + 0.18181868544263144, + 0.13204523613074218, + 0.17416225980472824, + -0.9824019369019253, + 0.06748289880448657, + 0.14199114768400303, + -0.042759794144262155, + -0.9889439387468436 + ], + [ + 0.976443160665961, + 0.183012772160671, + 0.1143025774632169, + 0.17592313660474931, + -0.9819552600220061, + 0.06938960528970695, + 0.12493920119728266, + -0.047646537557108494, + -0.9910196786456887 + ], + [ + 0.9826320523485841, + 0.17584538092869867, + 0.05926762778490988, + 0.17247833164866166, + -0.9833133341054785, + 0.05784558826792348, + 0.0684505281857199, + -0.04661854755790569, + -0.9965647175245005 + ], + [ + 0.982768808850759, + 0.1728531703452295, + 0.06547709409910794, + 0.16910704529588788, + -0.9838286801797482, + 0.05902487007244731, + 0.07462087899076832, + -0.046935163336008896, + -0.996106829040574 + ], + [ + 0.9841205359389428, + 0.16660769532924433, + 0.06122619211028763, + 0.16315559640983937, + -0.9849146741216449, + 0.057648382978221224, + 0.06990723927747225, + -0.04674356166288311, + -0.996457734848634 + ], + [ + 0.9854126610601524, + 0.15390666711486625, + 0.07262661523121801, + 0.15152470243264402, + -0.9877504634597858, + 0.0372731335907972, + 0.07747355661803788, + -0.02572469149615758, + -0.9966624745982863 + ], + [ + 0.9725986832630983, + 0.1523706686551968, + 0.1755989198385221, + 0.14097754418649935, + -0.9871144551941597, + 0.07569930238701719, + 0.18487058541052742, + -0.048869537344911215, + -0.9815470620248747 + ], + [ + 0.9617029758734333, + 0.18472718813586064, + 0.2024925977896493, + 0.15868962287789729, + -0.9776121350065737, + 0.1381742272594977, + 0.22348375732265885, + -0.10074909156566586, + -0.9694867873063768 + ], + [ + 0.9647552265435904, + 0.19802984396098125, + 0.17329608696567653, + 0.16586924133549666, + -0.968877124365287, + 0.18375122492228263, + 0.20429084080206014, + -0.14853046415615195, + -0.9675763295895294 + ], + [ + 0.9707308937777159, + 0.17511723259454726, + 0.16436388506586144, + 0.14208971296044232, + -0.9704947944025512, + 0.19480854064534442, + 0.19362862736779288, + -0.16575225152611633, + -0.9669716364907955 + ], + [ + 0.9744321826760989, + 0.17046651882520436, + 0.14636627796289195, + 0.15307958925103476, + -0.9805452006348249, + 0.122872897201726, + 0.16446446643524185, + -0.0973256157012515, + -0.9815697447499815 + ], + [ + 0.9764482313421876, + 0.16293530920019825, + 0.14142466731284783, + 0.15449187798406064, + -0.9855933841919821, + 0.06883270061500049, + 0.15060249382288468, + -0.045362606327590684, + -0.9875530987250742 + ], + [ + 0.9844502809282891, + 0.12574466329634357, + 0.12266182793641406, + 0.12245340520316765, + -0.9918902785392288, + 0.0340417228342001, + 0.1259476396537946, + -0.0184920250881523, + -0.9918645255647455 + ], + [ + 0.9902702097388152, + 0.07537861576008861, + 0.11697425353442503, + 0.07104084983623521, + -0.9966375879385572, + 0.04082543279085155, + 0.11965830250504353, + -0.03211825951242967, + -0.9922954741645775 + ], + [ + 0.9928899272703702, + 0.054688166486051175, + 0.10572982914689794, + 0.05025862510019643, + -0.9977613850866623, + 0.04411676589440919, + 0.1079058058126447, + -0.03848925663530213, + -0.99341578112872 + ], + [ + 0.9937452685352501, + 0.048207362537448784, + 0.10072929792759654, + 0.04371222976071548, + -0.9979675835748408, + 0.046367478938793644, + 0.1027598279151437, + -0.041674360594687376, + -0.99383281563645 + ], + [ + 0.9867456979543767, + 0.045323084524132584, + 0.15581638417621002, + 0.04026005834982237, + -0.9985584390970954, + 0.03549889307628198, + 0.15720068470015913, + -0.028755203306371095, + -0.9871479539626319 + ], + [ + 0.9770254950214221, + 0.037748888611225065, + 0.2097527198554586, + 0.03352078961907519, + -0.9991575114903037, + 0.023677497667981634, + 0.21046980482116404, + -0.016102442085624682, + -0.9774677348216769 + ], + [ + 0.9779681018522652, + 0.020655328208422207, + 0.2077299910366326, + 0.020382279444948772, + -0.9997862901983966, + 0.0034549408034354407, + 0.20775696003769673, + 0.0008551888268576507, + -0.9781801031548153 + ], + [ + 0.9812735239913116, + 0.010233613373760003, + 0.1923474571471877, + 0.006872430081584389, + -0.9998119531226674, + 0.018133617890835868, + 0.19249685924307064, + -0.016472144679837812, + -0.981159328361709 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006299.json b/json/chunk-0006/episode_0006299.json new file mode 100644 index 0000000000000000000000000000000000000000..7bd9a72b1a735d111bbffc48d6a890c4766db93d --- /dev/null +++ b/json/chunk-0006/episode_0006299.json @@ -0,0 +1,1282 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 20, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nOpen drawer of box." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006299.mp4", + "start": 0, + "end": 20, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.18118685483932495, + 0.037518564611673355, + 0.04417715221643448, + 0.013615511357784271, + -0.01900101825594902, + -0.023556362837553024, + 0.0, + 0.9988223910331726 + ], + [ + 0.18428973853588104, + 0.03416519984602928, + 0.04368818923830986, + -0.008882430382072926, + 0.0029415148310363293, + -0.0006879622233100235, + 0.0, + 0.9988223910331726 + ], + [ + 0.22596870362758636, + 0.028424549847841263, + 0.06447765231132507, + -0.05391059070825577, + -0.06289949268102646, + 0.0579664520919323, + 0.0, + 0.9988223910331726 + ], + [ + 0.2578255832195282, + 0.02324262633919716, + 0.0704704225063324, + -0.06468953937292099, + -0.15110541880130768, + 0.10562817752361298, + 0.0, + 0.9988223910331726 + ], + [ + 0.2882789671421051, + 0.02176514081656933, + 0.06832510232925415, + -0.04238449037075043, + -0.22874422371387482, + 0.11238784343004227, + 0.0, + 0.9988223910331726 + ], + [ + 0.30307286977767944, + 0.016958432272076607, + 0.05629070848226547, + -0.017899086698889732, + -0.2710767686367035, + 0.09854833036661148, + 0.0, + 0.9988223910331726 + ], + [ + 0.31637662649154663, + 0.012204783968627453, + 0.05262550339102745, + -0.011804405599832535, + -0.2744389772415161, + 0.10293080657720566, + 0.0, + 0.9988223910331726 + ], + [ + 0.3160064220428467, + -0.000289466988760978, + 0.041522957384586334, + 0.008550490252673626, + -0.2762124836444855, + 0.1077127754688263, + 0.0, + 0.9988223910331726 + ], + [ + 0.3112260103225708, + -0.005089505575597286, + 0.03361731395125389, + 0.024596698582172394, + -0.2678704559803009, + 0.09229077398777008, + 0.0, + 0.9988223910331726 + ], + [ + 0.3046911954879761, + -0.005393109284341335, + 0.024739814922213554, + 0.05653376132249832, + -0.27174416184425354, + 0.07157821208238602, + 0.0, + 0.9988223910331726 + ], + [ + 0.28566083312034607, + -0.005922650918364525, + 0.01826423406600952, + 0.06638634949922562, + -0.22053979337215424, + 0.062147073447704315, + 0.0, + 0.9981546401977539 + ], + [ + 0.25931811332702637, + -0.009229497984051704, + 0.019675977528095245, + 0.060584601014852524, + -0.1300932914018631, + 0.07060819119215012, + 0.0, + 0.9981546401977539 + ], + [ + 0.23754887282848358, + -0.01492919959127903, + 0.029613638296723366, + 0.03573569282889366, + -0.10578230023384094, + 0.0947054997086525, + 0.0, + 0.9981546401977539 + ], + [ + 0.20912596583366394, + -0.020716236904263496, + 0.03165891766548157, + 0.018780309706926346, + -0.0708734393119812, + 0.0962127074599266, + 0.0, + 0.9981546401977539 + ], + [ + 0.18820680677890778, + -0.027764413505792618, + 0.03520933911204338, + -0.0014372477307915688, + -0.032847583293914795, + 0.09023071825504303, + 0.0, + 0.9981546401977539 + ], + [ + 0.16671772301197052, + -0.029606832191348076, + 0.026853928342461586, + 0.01907927356660366, + 0.04111860692501068, + 0.053091853857040405, + 0.0, + 0.9994885921478271 + ], + [ + 0.17258596420288086, + -0.02588661201298237, + 0.03433074802160263, + 0.02589799277484417, + 0.058442726731300354, + 0.0733288824558258, + 0.0, + 0.9994885921478271 + ], + [ + 0.19643227756023407, + -0.01696690358221531, + 0.051658499985933304, + 0.010808061808347702, + 0.01485354918986559, + 0.12787942588329315, + 0.0, + 0.9994885921478271 + ], + [ + 0.19593706727027893, + -0.017004307359457016, + 0.05166513845324516, + 0.00914852786809206, + 0.0183703750371933, + 0.13131028413772583, + 0.0, + 0.9994885921478271 + ], + [ + 0.19588397443294525, + -0.017605353146791458, + 0.05166513845324516, + 0.00914852786809206, + 0.0183703750371933, + 0.12824232876300812, + 0.0, + 0.9994885921478271 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.18118685483932495, + 0.037518564611673355, + 0.04417715221643448 + ], + [ + 0.18428973853588104, + 0.03416519984602928, + 0.04368818923830986 + ], + [ + 0.22596870362758636, + 0.028424549847841263, + 0.06447765231132507 + ], + [ + 0.2578255832195282, + 0.02324262633919716, + 0.0704704225063324 + ], + [ + 0.2882789671421051, + 0.02176514081656933, + 0.06832510232925415 + ], + [ + 0.30307286977767944, + 0.016958432272076607, + 0.05629070848226547 + ], + [ + 0.31637662649154663, + 0.012204783968627453, + 0.05262550339102745 + ], + [ + 0.3160064220428467, + -0.000289466988760978, + 0.041522957384586334 + ], + [ + 0.3112260103225708, + -0.005089505575597286, + 0.03361731395125389 + ], + [ + 0.3046911954879761, + -0.005393109284341335, + 0.024739814922213554 + ], + [ + 0.28566083312034607, + -0.005922650918364525, + 0.01826423406600952 + ], + [ + 0.25931811332702637, + -0.009229497984051704, + 0.019675977528095245 + ], + [ + 0.23754887282848358, + -0.01492919959127903, + 0.029613638296723366 + ], + [ + 0.20912596583366394, + -0.020716236904263496, + 0.03165891766548157 + ], + [ + 0.18820680677890778, + -0.027764413505792618, + 0.03520933911204338 + ], + [ + 0.16671772301197052, + -0.029606832191348076, + 0.026853928342461586 + ], + [ + 0.17258596420288086, + -0.02588661201298237, + 0.03433074802160263 + ], + [ + 0.19643227756023407, + -0.01696690358221531, + 0.051658499985933304 + ], + [ + 0.19593706727027893, + -0.017004307359457016, + 0.05166513845324516 + ], + [ + 0.19588397443294525, + -0.017605353146791458, + 0.05166513845324516 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9995420978797794, + -0.023293387838399127, + 0.01931353538582188, + -0.02354993246022994, + -0.9996359909020114, + 0.013163828260517018, + 0.018999874926116815, + -0.013612632969550674, + -0.9997268131726927 + ], + [ + 0.9999954371033916, + -0.0006618076166741708, + -0.002947504550517712, + -0.0006879591927447304, + -0.9999603328126314, + -0.008880287912033085, + -0.0029415105891239936, + 0.008882275155048674, + -0.9999562253936539 + ], + [ + 0.9963462160263582, + 0.05446844418991588, + 0.06578302514697798, + 0.05781942958245287, + -0.9970662583751384, + -0.05015765118665274, + 0.0628580255235375, + 0.05377792295479784, + -0.9965725280329327 + ], + [ + 0.9830953192911672, + 0.0955345821847297, + 0.1561945479028864, + 0.10423049961728682, + -0.99337250486787, + -0.04844656357332622, + 0.15053104708773113, + 0.06390782565009305, + -0.9865374770799884 + ], + [ + 0.9678073810659159, + 0.10250328853625901, + 0.22987376751944838, + 0.10923006813677363, + -0.9938762599067688, + -0.016696472937984368, + 0.22675463692980735, + 0.0412680970361548, + -0.9730772213950164 + ], + [ + 0.9588083499441664, + 0.09360382224274175, + 0.26818812900442535, + 0.09479604012281356, + -0.9954601699977463, + 0.008529989747476483, + 0.2677690401341779, + 0.017244547242747217, + -0.96332879471965 + ], + [ + 0.9574827567307557, + 0.0995599194750365, + 0.27076667630525825, + 0.09890400716544173, + -0.9949666921693744, + 0.0161021377509745, + 0.2710069518110015, + 0.011362390050396668, + -0.9625103262627637 + ], + [ + 0.9565195032964582, + 0.10981897835298719, + 0.27020405586704865, + 0.10342967871112414, + -0.9939175620824824, + 0.037817738506268565, + 0.2727136618785547, + -0.008226285767039864, + -0.962060074448196 + ], + [ + 0.9602327302297395, + 0.09861379337460764, + 0.2612057111776284, + 0.08887309337990983, + -0.9948431125239406, + 0.04887488861126945, + 0.2646784408837, + -0.023717108170018535, + -0.964045030956244 + ], + [ + 0.960837545413649, + 0.08653027357506582, + 0.2632560029296547, + 0.06889272974147331, + -0.9947612097753264, + 0.0755243491537479, + 0.26841200254877273, + -0.05443020559719732, + -0.9617652258250994 + ], + [ + 0.9738957582003647, + 0.0764540265151823, + 0.21373309053338563, + 0.0606028125593483, + -0.9949696962622456, + 0.07976592398832347, + 0.21875637423680505, + -0.06473086859783594, + -0.9736300957660134 + ], + [ + 0.9890791283532459, + 0.07825515829754985, + 0.12489438760732553, + 0.06995337809951317, + -0.9951240225099677, + 0.06953204093112669, + 0.12972664625453786, + -0.060035906117978606, + -0.9897306134641604 + ], + [ + 0.9899541016132212, + 0.09825906756239662, + 0.10166627927158534, + 0.09403540477277662, + -0.9945264652473194, + 0.045546158695239536, + 0.10558512844325979, + -0.035528376890033395, + -0.9937753846253083 + ], + [ + 0.9928762662986631, + 0.09737108000602163, + 0.06867017255903408, + 0.09582317107687313, + -0.9950718479915187, + 0.02549386631165247, + 0.07081412080650924, + -0.01873206110402805, + -0.9973136267900867 + ], + [ + 0.9953947309544663, + 0.09006122862143567, + 0.032837549958588966, + 0.09005972384065511, + -0.9959351945019173, + 0.001527905158333043, + 0.03284167672075024, + 0.0014364719368713775, + -0.9994595343577167 + ], + [ + 0.9977468987284139, + 0.052274117439095, + -0.04205404527267392, + 0.05302206045281369, + -0.9984508286206802, + 0.016870208416482364, + -0.04110702109336767, + -0.01906199025918034, + -0.9989728992040718 + ], + [ + 0.9956099399847906, + 0.07173016194554505, + -0.0601301194971991, + 0.07313810218384323, + -0.9970890208431665, + 0.021547680222267267, + -0.0584094633807508, + -0.02585088743701583, + -0.9979579481151956 + ], + [ + 0.9917251516837378, + 0.12736450532436963, + -0.016109199277010294, + 0.1275171040269303, + -0.9917971057133863, + 0.008825490305675608, + -0.01485300301127159, + -0.01080665915207657, + -0.999831287977886 + ], + [ + 0.9912239070001073, + 0.13076117618075442, + -0.01940827131065813, + 0.13091116634145553, + -0.9913717011381058, + 0.00666458623305485, + -0.018369341810804726, + -0.009146856638417421, + -0.9997894289774591 + ], + [ + 0.9916208711168475, + 0.12771908142864727, + -0.019387733350927965, + 0.1278695243085777, + -0.9917682043969036, + 0.006724098485243579, + -0.018369341810804726, + -0.009146856638417421, + -0.999789428977459 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + 0.0031028836965560913, + -0.0033533647656440735, + -0.0004889629781246185, + -0.022497940808534622, + 0.021942533552646637, + 0.022868400439620018, + 1.0 + ], + [ + 0.04167896509170532, + -0.005740649998188019, + 0.020789463073015213, + -0.04502816125750542, + -0.06584100425243378, + 0.058654412627220154, + 1.0 + ], + [ + 0.031856879591941833, + -0.005181923508644104, + 0.005992770195007324, + -0.010778948664665222, + -0.08820592612028122, + 0.04766172543168068, + 1.0 + ], + [ + 0.030453383922576904, + -0.0014774855226278305, + -0.002145320177078247, + 0.022305049002170563, + -0.07763880491256714, + 0.006759665906429291, + 1.0 + ], + [ + 0.01479390263557434, + -0.0048067085444927216, + -0.012034393846988678, + 0.024485403671860695, + -0.042332544922828674, + -0.013839513063430786, + 1.0 + ], + [ + 0.013303756713867188, + -0.004753648303449154, + -0.003665205091238022, + 0.006094681099057198, + -0.003362208604812622, + 0.004382476210594177, + 1.0 + ], + [ + -0.00037020444869995117, + -0.012494251132011414, + -0.011102546006441116, + 0.020354896783828735, + -0.0017735064029693604, + 0.004781968891620636, + 1.0 + ], + [ + -0.004780411720275879, + -0.0048000384122133255, + -0.007905643433332443, + 0.016046207398176193, + 0.00834202766418457, + -0.015422001481056213, + 1.0 + ], + [ + -0.0065348148345947266, + -0.00030360370874404907, + -0.008877499029040337, + 0.03193706274032593, + -0.0038737058639526367, + -0.020712561905384064, + 1.0 + ], + [ + -0.019030362367630005, + -0.0005295416340231895, + -0.006475580856204033, + 0.009852588176727295, + 0.051204368472099304, + -0.009431138634681702, + 1.0 + ], + [ + -0.026342719793319702, + -0.0033068470656871796, + 0.0014117434620857239, + -0.005801748484373093, + 0.09044650197029114, + 0.0084611177444458, + 1.0 + ], + [ + -0.021769240498542786, + -0.0056997016072273254, + 0.00993766076862812, + -0.024848908185958862, + 0.024310991168022156, + 0.02409730851650238, + 1.0 + ], + [ + -0.02842290699481964, + -0.0057870373129844666, + 0.0020452793687582016, + -0.016955383121967316, + 0.03490886092185974, + 0.0015072077512741089, + 1.0 + ], + [ + -0.020919159054756165, + -0.007048176601529121, + 0.0035504214465618134, + -0.02021755650639534, + 0.038025856018066406, + -0.0059819892048835754, + 1.0 + ], + [ + -0.021489083766937256, + -0.001842418685555458, + -0.008355410769581795, + 0.020516522228717804, + 0.07396619021892548, + -0.037138864398002625, + 1.0 + ], + [ + 0.005868241190910339, + 0.0037202201783657074, + 0.007476819679141045, + 0.006818719208240509, + 0.017324119806289673, + 0.0202370285987854, + 1.0 + ], + [ + 0.02384631335735321, + 0.00891970843076706, + 0.017327751964330673, + -0.015089930966496468, + -0.04358917847275734, + 0.054550543427467346, + 1.0 + ], + [ + -0.0004952102899551392, + -3.740377724170685e-05, + 6.638467311859131e-06, + -0.001659533940255642, + 0.003516825847327709, + 0.0034308582544326782, + 1.0 + ], + [ + -5.30928373336792e-05, + -0.0006010457873344421, + 0.0, + 0.0, + 0.0, + -0.0030679553747177124, + 1.0 + ], + [ + -9.031593799591064e-05, + 8.475035429000854e-06, + -0.0003016255795955658, + 0.00033754389733076096, + 0.0014964006841182709, + 6.452202796936035e-06, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.18428973853588104, + 0.03416519984602928, + 0.04368818923830986 + ], + [ + 0.22596870362758636, + 0.028424549847841263, + 0.06447765231132507 + ], + [ + 0.2578255832195282, + 0.02324262633919716, + 0.0704704225063324 + ], + [ + 0.2882789671421051, + 0.02176514081656933, + 0.06832510232925415 + ], + [ + 0.30307286977767944, + 0.016958432272076607, + 0.05629070848226547 + ], + [ + 0.31637662649154663, + 0.012204783968627453, + 0.05262550339102745 + ], + [ + 0.3160064220428467, + -0.000289466988760978, + 0.041522957384586334 + ], + [ + 0.3112260103225708, + -0.005089505575597286, + 0.03361731395125389 + ], + [ + 0.3046911954879761, + -0.005393109284341335, + 0.024739814922213554 + ], + [ + 0.28566083312034607, + -0.005922650918364525, + 0.01826423406600952 + ], + [ + 0.25931811332702637, + -0.009229497984051704, + 0.019675977528095245 + ], + [ + 0.23754887282848358, + -0.01492919959127903, + 0.029613638296723366 + ], + [ + 0.20912596583366394, + -0.020716236904263496, + 0.03165891766548157 + ], + [ + 0.18820680677890778, + -0.027764413505792618, + 0.03520933911204338 + ], + [ + 0.16671772301197052, + -0.029606832191348076, + 0.026853928342461586 + ], + [ + 0.17258596420288086, + -0.02588661201298237, + 0.03433074802160263 + ], + [ + 0.19643227756023407, + -0.01696690358221531, + 0.051658499985933304 + ], + [ + 0.19593706727027893, + -0.017004307359457016, + 0.05166513845324516 + ], + [ + 0.19588397443294525, + -0.017605353146791458, + 0.05166513845324516 + ], + [ + 0.19579365849494934, + -0.017596878111362457, + 0.0513635128736496 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9999954371033916, + -0.0006618076166741708, + -0.002947504550517712, + -0.0006879591927447304, + -0.9999603328126314, + -0.008880287912033085, + -0.0029415105891239936, + 0.008882275155048674, + -0.9999562253936539 + ], + [ + 0.9963462160263582, + 0.05446844418991588, + 0.06578302514697798, + 0.05781942958245287, + -0.9970662583751384, + -0.05015765118665274, + 0.0628580255235375, + 0.05377792295479784, + -0.9965725280329327 + ], + [ + 0.9830953192911672, + 0.0955345821847297, + 0.1561945479028864, + 0.10423049961728682, + -0.99337250486787, + -0.04844656357332622, + 0.15053104708773113, + 0.06390782565009305, + -0.9865374770799884 + ], + [ + 0.9678073810659159, + 0.10250328853625901, + 0.22987376751944838, + 0.10923006813677363, + -0.9938762599067688, + -0.016696472937984368, + 0.22675463692980735, + 0.0412680970361548, + -0.9730772213950164 + ], + [ + 0.9588083499441664, + 0.09360382224274175, + 0.26818812900442535, + 0.09479604012281356, + -0.9954601699977463, + 0.008529989747476483, + 0.2677690401341779, + 0.017244547242747217, + -0.96332879471965 + ], + [ + 0.9574827567307557, + 0.0995599194750365, + 0.27076667630525825, + 0.09890400716544173, + -0.9949666921693744, + 0.0161021377509745, + 0.2710069518110015, + 0.011362390050396668, + -0.9625103262627637 + ], + [ + 0.9565195032964582, + 0.10981897835298719, + 0.27020405586704865, + 0.10342967871112414, + -0.9939175620824824, + 0.037817738506268565, + 0.2727136618785547, + -0.008226285767039864, + -0.962060074448196 + ], + [ + 0.9602327302297395, + 0.09861379337460764, + 0.2612057111776284, + 0.08887309337990983, + -0.9948431125239406, + 0.04887488861126945, + 0.2646784408837, + -0.023717108170018535, + -0.964045030956244 + ], + [ + 0.960837545413649, + 0.08653027357506582, + 0.2632560029296547, + 0.06889272974147331, + -0.9947612097753264, + 0.0755243491537479, + 0.26841200254877273, + -0.05443020559719732, + -0.9617652258250994 + ], + [ + 0.9738957582003647, + 0.0764540265151823, + 0.21373309053338563, + 0.0606028125593483, + -0.9949696962622456, + 0.07976592398832347, + 0.21875637423680505, + -0.06473086859783594, + -0.9736300957660134 + ], + [ + 0.9890791283532459, + 0.07825515829754985, + 0.12489438760732553, + 0.06995337809951317, + -0.9951240225099677, + 0.06953204093112669, + 0.12972664625453786, + -0.060035906117978606, + -0.9897306134641604 + ], + [ + 0.9899541016132212, + 0.09825906756239662, + 0.10166627927158534, + 0.09403540477277662, + -0.9945264652473194, + 0.045546158695239536, + 0.10558512844325979, + -0.035528376890033395, + -0.9937753846253083 + ], + [ + 0.9928762662986631, + 0.09737108000602163, + 0.06867017255903408, + 0.09582317107687313, + -0.9950718479915187, + 0.02549386631165247, + 0.07081412080650924, + -0.01873206110402805, + -0.9973136267900867 + ], + [ + 0.9953947309544663, + 0.09006122862143567, + 0.032837549958588966, + 0.09005972384065511, + -0.9959351945019173, + 0.001527905158333043, + 0.03284167672075024, + 0.0014364719368713775, + -0.9994595343577167 + ], + [ + 0.9977468987284139, + 0.052274117439095, + -0.04205404527267392, + 0.05302206045281369, + -0.9984508286206802, + 0.016870208416482364, + -0.04110702109336767, + -0.01906199025918034, + -0.9989728992040718 + ], + [ + 0.9956099399847906, + 0.07173016194554505, + -0.0601301194971991, + 0.07313810218384323, + -0.9970890208431665, + 0.021547680222267267, + -0.0584094633807508, + -0.02585088743701583, + -0.9979579481151956 + ], + [ + 0.9917251516837378, + 0.12736450532436963, + -0.016109199277010294, + 0.1275171040269303, + -0.9917971057133863, + 0.008825490305675608, + -0.01485300301127159, + -0.01080665915207657, + -0.999831287977886 + ], + [ + 0.9912239070001073, + 0.13076117618075442, + -0.01940827131065813, + 0.13091116634145553, + -0.9913717011381058, + 0.00666458623305485, + -0.018369341810804726, + -0.009146856638417421, + -0.9997894289774591 + ], + [ + 0.9916208711168475, + 0.12771908142864727, + -0.019387733350927965, + 0.1278695243085777, + -0.9917682043969036, + 0.006724098485243579, + -0.018369341810804726, + -0.009146856638417421, + -0.999789428977459 + ], + [ + 0.9915916736929298, + 0.1277048534124334, + -0.020914661789348445, + 0.12787226364216306, + -0.9917668693130575, + 0.006867395722229906, + -0.019865468881530995, + -0.00948405756443186, + -0.9997576785392704 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006300.json b/json/chunk-0006/episode_0006300.json new file mode 100644 index 0000000000000000000000000000000000000000..387a20915bb0173c6806badef547e6a34f486ce8 --- /dev/null +++ b/json/chunk-0006/episode_0006300.json @@ -0,0 +1,4702 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 77, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nSweep into pile." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006300.mp4", + "start": 0, + "end": 77, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.30490872263908386, + 0.1410357803106308, + 0.050956618040800095, + 0.04863884299993515, + -0.10466618835926056, + -0.07144610583782196, + 0.0, + 1.0008161067962646 + ], + [ + 0.30302706360816956, + 0.13959510624408722, + 0.04055691137909889, + 0.03405311703681946, + -0.07934872806072235, + -0.06703324615955353, + 0.0, + 1.0001531839370728 + ], + [ + 0.30305802822113037, + 0.13352730870246887, + 0.03499668836593628, + 0.034953903406858444, + -0.07863429188728333, + -0.05588046461343765, + 0.0, + 1.0008161067962646 + ], + [ + 0.30663958191871643, + 0.131368026137352, + 0.03522622212767601, + 0.03791654855012894, + -0.09417233616113663, + -0.04360383376479149, + 0.0, + 1.0001531839370728 + ], + [ + 0.3101736009120941, + 0.12980911135673523, + 0.024084730073809624, + 0.04311510920524597, + -0.08320585638284683, + -0.036433082073926926, + 0.0, + 1.0001531839370728 + ], + [ + 0.3190917670726776, + 0.1272444874048233, + 0.02070436254143715, + 0.06084311753511429, + -0.08762297034263611, + -0.038503892719745636, + 0.0, + 1.0001531839370728 + ], + [ + 0.32334694266319275, + 0.12149559706449509, + 0.017990803346037865, + 0.06775425374507904, + -0.08202020823955536, + -0.04923222213983536, + 0.0, + 1.0001531839370728 + ], + [ + 0.3274676203727722, + 0.11696932464838028, + 0.014447329565882683, + 0.07999211549758911, + -0.08647613227367401, + -0.05392960458993912, + 0.0, + 1.0001531839370728 + ], + [ + 0.3323266804218292, + 0.11458127945661545, + 0.007846334017813206, + 0.09388117492198944, + -0.07935178279876709, + -0.06053409352898598, + 0.0, + 1.0001531839370728 + ], + [ + 0.33612051606178284, + 0.11704545468091965, + 0.004835157655179501, + 0.10026852041482925, + -0.0761251151561737, + -0.05553288012742996, + 0.0, + 0.9643021821975708 + ], + [ + 0.33753082156181335, + 0.11802666634321213, + 0.0050750975497066975, + 0.10470814257860184, + -0.07772780954837799, + -0.058777112513780594, + 0.0, + 0.6791892647743225 + ], + [ + 0.33769625425338745, + 0.11736300587654114, + 0.005023680627346039, + 0.10072021931409836, + -0.07880020141601562, + -0.06068683788180351, + 0.0, + 0.3831871449947357 + ], + [ + 0.3369704782962799, + 0.11612413823604584, + 0.004546116106212139, + 0.09002512693405151, + -0.07727211713790894, + -0.06006861478090286, + 0.0, + 0.35109609365463257 + ], + [ + 0.3373916447162628, + 0.1157018318772316, + 0.0038070438895374537, + 0.06545612215995789, + -0.059063948690891266, + -0.06314323842525482, + 0.0, + 0.35109609365463257 + ], + [ + 0.3383828103542328, + 0.1135156899690628, + 0.0028650574386119843, + 0.016833605244755745, + -0.05271637439727783, + -0.04658888280391693, + 0.0, + 0.3502708673477173 + ], + [ + 0.34074607491493225, + 0.10234655439853668, + 0.003167286515235901, + -0.012570906430482864, + -0.05394315347075462, + -0.04337947815656662, + 0.0, + 0.3502708673477173 + ], + [ + 0.3394067883491516, + 0.09192774444818497, + 0.000929054687730968, + -0.020008226856589317, + -0.0427747406065464, + -0.04421135410666466, + 0.0, + 0.3502708673477173 + ], + [ + 0.34036239981651306, + 0.06417346745729446, + 0.0007222848944365978, + -0.017659269273281097, + -0.04606408253312111, + -0.051236629486083984, + 0.0, + 0.3502708673477173 + ], + [ + 0.339820921421051, + 0.03543733432888985, + 0.0004865053342655301, + -0.019786041229963303, + -0.03893871605396271, + -0.08890679478645325, + 0.0, + 0.3502708673477173 + ], + [ + 0.33988669514656067, + 0.015566164627671242, + 0.0012809570180252194, + -0.010979929938912392, + -0.03915998712182045, + -0.10424348711967468, + 0.0, + 0.3502708673477173 + ], + [ + 0.34072935581207275, + -0.0039371601305902, + 0.001597322872839868, + -0.01695123314857483, + -0.04078289866447449, + -0.11695162951946259, + 0.0, + 0.3502708673477173 + ], + [ + 0.3417211174964905, + -0.032961226999759674, + 0.004809737205505371, + -0.05310026928782463, + -0.03853730112314224, + -0.1340085119009018, + 0.0, + 0.3502708673477173 + ], + [ + 0.34285134077072144, + -0.048376504331827164, + 0.004208146128803492, + -0.06749778240919113, + -0.024265285581350327, + -0.14382299780845642, + 0.0, + 0.3502708673477173 + ], + [ + 0.34506556391716003, + -0.04936818405985832, + 0.005509479437023401, + -0.07281305640935898, + -0.015396860428154469, + -0.12240126729011536, + 0.0, + 0.3502708673477173 + ], + [ + 0.3471667170524597, + -0.04726068302989006, + 0.007585663348436356, + -0.061786677688360214, + -0.011905374936759472, + -0.10224168002605438, + 0.0, + 0.3502708673477173 + ], + [ + 0.3507295250892639, + -0.029312582686543465, + 0.011575150303542614, + -0.07611597329378128, + -0.010290824808180332, + -0.054964322596788406, + 0.0, + 0.3502708673477173 + ], + [ + 0.34864476323127747, + -0.013970890082418919, + 0.020985407754778862, + -0.09831536561250687, + -0.003534813644364476, + -0.028268422931432724, + 0.0, + 0.3502708673477173 + ], + [ + 0.3496098220348358, + 0.005278934258967638, + 0.0519615113735199, + -0.12089301645755768, + -0.05837529897689819, + -0.02425789088010788, + 0.0, + 0.3502708673477173 + ], + [ + 0.3586941361427307, + 0.023552482947707176, + 0.05459487810730934, + -0.10643378645181656, + -0.08760802447795868, + -0.0466742143034935, + 0.0, + 0.3502708673477173 + ], + [ + 0.3677257299423218, + 0.03620286285877228, + 0.03550800308585167, + -0.05772877112030983, + -0.08968003839254379, + -0.08061529695987701, + 0.0, + 0.3502708673477173 + ], + [ + 0.3790264129638672, + 0.04759060591459274, + 0.021165475249290466, + 0.010577124543488026, + -0.10467799007892609, + -0.096584752202034, + 0.0, + 0.3502708673477173 + ], + [ + 0.386173814535141, + 0.05267898738384247, + 0.00956973060965538, + 0.056905779987573624, + -0.10368090867996216, + -0.10922371596097946, + 0.0, + 0.3502708673477173 + ], + [ + 0.4016726613044739, + 0.04338866099715233, + 0.007229420822113752, + 0.09484086185693741, + -0.09321992844343185, + -0.15175065398216248, + 0.0, + 0.3502708673477173 + ], + [ + 0.41352835297584534, + 0.02067730762064457, + 0.00757951196283102, + 0.10473524779081345, + -0.09276974946260452, + -0.2312076836824417, + 0.0, + 0.3502708673477173 + ], + [ + 0.4141755998134613, + -0.012810264714062214, + 0.007373397704213858, + 0.1110822856426239, + -0.08624604344367981, + -0.3370570242404938, + 0.0, + 0.3502708673477173 + ], + [ + 0.4094909727573395, + -0.03970121219754219, + 0.004939589649438858, + 0.11474452912807465, + -0.0838126614689827, + -0.4062354862689972, + 0.0, + 0.3502708673477173 + ], + [ + 0.40322962403297424, + -0.04785481095314026, + 0.005628813058137894, + 0.10119198262691498, + -0.1151636615395546, + -0.4419843852519989, + 0.0, + 0.3502708673477173 + ], + [ + 0.39639413356781006, + -0.059129536151885986, + 0.004253201186656952, + 0.11521366983652115, + -0.11359021812677383, + -0.5111076831817627, + 0.0, + 0.3502708673477173 + ], + [ + 0.383176326751709, + -0.06279438734054565, + 0.004858667030930519, + 0.11828499287366867, + -0.10750804841518402, + -0.5347155332565308, + 0.0, + 0.3502708673477173 + ], + [ + 0.37432146072387695, + -0.06726019084453583, + 0.0057968925684690475, + 0.11345422267913818, + -0.10472884029150009, + -0.5605543255805969, + 0.0, + 0.3502708673477173 + ], + [ + 0.3643709123134613, + -0.0756138414144516, + 0.005353342276066542, + 0.11323976516723633, + -0.09392552822828293, + -0.5862801671028137, + 0.0, + 0.3502708673477173 + ], + [ + 0.3585018515586853, + -0.08431359380483627, + 0.006569568999111652, + 0.11598165333271027, + -0.08744103461503983, + -0.6079424023628235, + 0.0, + 0.3494465947151184 + ], + [ + 0.3570355176925659, + -0.08643486350774765, + 0.009278505109250546, + 0.1266765296459198, + -0.09168190509080887, + -0.611652672290802, + 0.0, + 0.3502708673477173 + ], + [ + 0.3580346405506134, + -0.08399385213851929, + 0.011352216824889183, + 0.1445087194442749, + -0.08133767545223236, + -0.5857930779457092, + 0.0, + 0.3494465947151184 + ], + [ + 0.37215539813041687, + -0.06569714844226837, + 0.02180510200560093, + 0.16588902473449707, + -0.09967540204524994, + -0.5079315304756165, + 0.0, + 0.3494465947151184 + ], + [ + 0.37794607877731323, + -0.04132178798317909, + 0.026978112757205963, + 0.14801231026649475, + -0.102349653840065, + -0.4350237250328064, + 0.0, + 0.3502708673477173 + ], + [ + 0.3755127787590027, + -0.016870995983481407, + 0.05092080309987068, + 0.1287454217672348, + -0.14851371943950653, + -0.34174346923828125, + 0.0, + 0.3502708673477173 + ], + [ + 0.35527604818344116, + 0.012441752478480339, + 0.0383615680038929, + 0.05532533675432205, + -0.088377945125103, + -0.2098626345396042, + 0.0, + 0.3494465947151184 + ], + [ + 0.3339567482471466, + 0.030285775661468506, + 0.025826795026659966, + -0.014177106320858002, + -0.025507045909762383, + -0.1294519603252411, + 0.0, + 0.3502708673477173 + ], + [ + 0.2945258915424347, + 0.04960428923368454, + 0.02038606069982052, + -0.042285554111003876, + 0.013250067830085754, + -0.039609577506780624, + 0.0, + 0.3494465947151184 + ], + [ + 0.26514896750450134, + 0.04161567986011505, + 0.019926689565181732, + -0.0664748102426529, + -0.004857086110860109, + 0.01453344151377678, + 0.0, + 0.3502708673477173 + ], + [ + 0.24186566472053528, + 0.028642551973462105, + 0.019458400085568428, + -0.028756573796272278, + -0.010880112648010254, + 0.14649595320224762, + 0.0, + 0.3502708673477173 + ], + [ + 0.2323601394891739, + 0.002706380793824792, + 0.01514984667301178, + -0.033931512385606766, + -0.039303045719861984, + 0.27245569229125977, + 0.0, + 0.3494465947151184 + ], + [ + 0.23682351410388947, + -0.020162682980298996, + 0.015679748728871346, + -0.031208965927362442, + -0.07185789197683334, + 0.3707054853439331, + 0.0, + 0.3494465947151184 + ], + [ + 0.24942193925380707, + -0.03163696080446243, + 0.01492041815072298, + -0.021515725180506706, + -0.08096156269311905, + 0.4644705355167389, + 0.0, + 0.3494465947151184 + ], + [ + 0.26009681820869446, + -0.03442709147930145, + 0.009844154119491577, + 0.010209893807768822, + -0.05899089202284813, + 0.5516396164894104, + 0.0, + 0.3494465947151184 + ], + [ + 0.2658475339412689, + -0.03521047532558441, + 0.00622111139819026, + 0.03141230717301369, + -0.0353798009455204, + 0.5948829650878906, + 0.0, + 0.3494465947151184 + ], + [ + 0.26571929454803467, + -0.03576198220252991, + 0.005654087755829096, + 0.032251279801130295, + -0.03302953764796257, + 0.611365556716919, + 0.0, + 0.3494465947151184 + ], + [ + 0.26592665910720825, + -0.04088545963168144, + -0.00021719475626014173, + 0.038412708789110184, + -0.055591996759176254, + 0.5994408130645752, + 0.0, + 0.3494465947151184 + ], + [ + 0.2671843469142914, + -0.04817916825413704, + -0.00025099251070059836, + 0.02719310112297535, + -0.09874008595943451, + 0.5987394452095032, + 0.0, + 0.3494465947151184 + ], + [ + 0.27065905928611755, + -0.053430236876010895, + -0.0005167715717107058, + 0.006456563714891672, + -0.12404084950685501, + 0.6159542798995972, + 0.0, + 0.3494465947151184 + ], + [ + 0.280091255903244, + -0.057923510670661926, + -0.0003098140878137201, + -0.011725394055247307, + -0.12442365288734436, + 0.6325165033340454, + 0.0, + 0.3494465947151184 + ], + [ + 0.2929544448852539, + -0.0658542588353157, + -0.00011315112351439893, + -0.028131550177931786, + -0.1375454217195511, + 0.6288327574729919, + 0.0, + 0.3494465947151184 + ], + [ + 0.30557042360305786, + -0.07345416396856308, + 0.0006001978181302547, + -0.04910103604197502, + -0.14837390184402466, + 0.6253665089607239, + 0.0, + 0.3494465947151184 + ], + [ + 0.3141404688358307, + -0.0790620669722557, + 0.0008389636059291661, + -0.07093667984008789, + -0.1456652730703354, + 0.6422683000564575, + 0.0, + 0.3494465947151184 + ], + [ + 0.3240346908569336, + -0.08487597107887268, + 0.0012560554314404726, + -0.09513168036937714, + -0.14165213704109192, + 0.6614595055580139, + 0.0, + 0.3494465947151184 + ], + [ + 0.32949769496917725, + -0.0879126787185669, + 0.001506312983110547, + -0.1037321612238884, + -0.1367693990468979, + 0.6631096005439758, + 0.0, + 0.3494465947151184 + ], + [ + 0.330024391412735, + -0.08747165650129318, + 0.001696889870800078, + -0.09269431978464127, + -0.12569880485534668, + 0.6409839987754822, + 0.0, + 0.3494465947151184 + ], + [ + 0.3258586823940277, + -0.08005169779062271, + 0.0034362650476396084, + -0.05648898705840111, + -0.11119598895311356, + 0.6086634397506714, + 0.0, + 0.3494465947151184 + ], + [ + 0.3197641670703888, + -0.061420049518346786, + 0.013689136132597923, + 0.00807352364063263, + -0.08687303215265274, + 0.5628066658973694, + 0.0, + 0.3494465947151184 + ], + [ + 0.33561718463897705, + -0.04421616345643997, + 0.03118896484375, + 0.05469831824302673, + -0.09345632046461105, + 0.4788244962692261, + 0.0, + 0.3494465947151184 + ], + [ + 0.34117287397384644, + -0.032901324331760406, + 0.02668735943734646, + 0.129647359251976, + -0.06351441144943237, + 0.34797704219818115, + 0.0, + 0.3494465947151184 + ], + [ + 0.34470799565315247, + -0.014472552575170994, + 0.014364151284098625, + 0.18145662546157837, + -0.031479787081480026, + 0.14502640068531036, + 0.0, + 0.3494465947151184 + ], + [ + 0.34743908047676086, + 0.00846143253147602, + 0.008087624795734882, + 0.17270532250404358, + -0.040409065783023834, + 0.014788958244025707, + 0.0, + 0.3494465947151184 + ], + [ + 0.3452951908111572, + 0.01705990359187126, + 0.0029977441299706697, + 0.15995673835277557, + -0.05819915607571602, + -0.05023907124996185, + 0.0, + 0.3494465947151184 + ], + [ + 0.3438003659248352, + 0.021123811602592468, + 0.0034683230333030224, + 0.1315266340970993, + -0.05248545855283737, + -0.07715645432472229, + 0.0, + 0.41037410497665405 + ], + [ + 0.3387897312641144, + 0.027965093031525612, + 0.020050672814249992, + 0.11911933124065399, + -0.03685362637042999, + -0.08258416503667831, + 0.0, + 0.7210758328437805 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9643021821975708 + ], + [ + 0.6791892647743225 + ], + [ + 0.3831871449947357 + ], + [ + 0.35109609365463257 + ], + [ + 0.35109609365463257 + ], + [ + 0.3502708673477173 + ], + [ + 0.3502708673477173 + ], + [ + 0.3502708673477173 + ], + [ + 0.3502708673477173 + ], + [ + 0.3502708673477173 + ], + [ + 0.3502708673477173 + ], + [ + 0.3502708673477173 + ], + [ + 0.3502708673477173 + ], + [ + 0.3502708673477173 + ], + [ + 0.3502708673477173 + ], + [ + 0.3502708673477173 + ], + [ + 0.3502708673477173 + ], + [ + 0.3502708673477173 + ], + [ + 0.3502708673477173 + ], + [ + 0.3502708673477173 + ], + [ + 0.3502708673477173 + ], + [ + 0.3502708673477173 + ], + [ + 0.3502708673477173 + ], + [ + 0.3502708673477173 + ], + [ + 0.3502708673477173 + ], + [ + 0.3502708673477173 + ], + [ + 0.3502708673477173 + ], + [ + 0.3502708673477173 + ], + [ + 0.3502708673477173 + ], + [ + 0.3502708673477173 + ], + [ + 0.3502708673477173 + ], + [ + 0.3502708673477173 + ], + [ + 0.3494465947151184 + ], + [ + 0.3502708673477173 + ], + [ + 0.3494465947151184 + ], + [ + 0.3494465947151184 + ], + [ + 0.3502708673477173 + ], + [ + 0.3502708673477173 + ], + [ + 0.3494465947151184 + ], + [ + 0.3502708673477173 + ], + [ + 0.3494465947151184 + ], + [ + 0.3502708673477173 + ], + [ + 0.3502708673477173 + ], + [ + 0.3494465947151184 + ], + [ + 0.3494465947151184 + ], + [ + 0.3494465947151184 + ], + [ + 0.3494465947151184 + ], + [ + 0.3494465947151184 + ], + [ + 0.3494465947151184 + ], + [ + 0.3494465947151184 + ], + [ + 0.3494465947151184 + ], + [ + 0.3494465947151184 + ], + [ + 0.3494465947151184 + ], + [ + 0.3494465947151184 + ], + [ + 0.3494465947151184 + ], + [ + 0.3494465947151184 + ], + [ + 0.3494465947151184 + ], + [ + 0.3494465947151184 + ], + [ + 0.3494465947151184 + ], + [ + 0.3494465947151184 + ], + [ + 0.3494465947151184 + ], + [ + 0.3494465947151184 + ], + [ + 0.3494465947151184 + ], + [ + 0.3494465947151184 + ], + [ + 0.3494465947151184 + ], + [ + 0.3494465947151184 + ], + [ + 0.41037410497665405 + ], + [ + 0.7210758328437805 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.30490872263908386, + 0.1410357803106308, + 0.050956618040800095 + ], + [ + 0.30302706360816956, + 0.13959510624408722, + 0.04055691137909889 + ], + [ + 0.30305802822113037, + 0.13352730870246887, + 0.03499668836593628 + ], + [ + 0.30663958191871643, + 0.131368026137352, + 0.03522622212767601 + ], + [ + 0.3101736009120941, + 0.12980911135673523, + 0.024084730073809624 + ], + [ + 0.3190917670726776, + 0.1272444874048233, + 0.02070436254143715 + ], + [ + 0.32334694266319275, + 0.12149559706449509, + 0.017990803346037865 + ], + [ + 0.3274676203727722, + 0.11696932464838028, + 0.014447329565882683 + ], + [ + 0.3323266804218292, + 0.11458127945661545, + 0.007846334017813206 + ], + [ + 0.33612051606178284, + 0.11704545468091965, + 0.004835157655179501 + ], + [ + 0.33753082156181335, + 0.11802666634321213, + 0.0050750975497066975 + ], + [ + 0.33769625425338745, + 0.11736300587654114, + 0.005023680627346039 + ], + [ + 0.3369704782962799, + 0.11612413823604584, + 0.004546116106212139 + ], + [ + 0.3373916447162628, + 0.1157018318772316, + 0.0038070438895374537 + ], + [ + 0.3383828103542328, + 0.1135156899690628, + 0.0028650574386119843 + ], + [ + 0.34074607491493225, + 0.10234655439853668, + 0.003167286515235901 + ], + [ + 0.3394067883491516, + 0.09192774444818497, + 0.000929054687730968 + ], + [ + 0.34036239981651306, + 0.06417346745729446, + 0.0007222848944365978 + ], + [ + 0.339820921421051, + 0.03543733432888985, + 0.0004865053342655301 + ], + [ + 0.33988669514656067, + 0.015566164627671242, + 0.0012809570180252194 + ], + [ + 0.34072935581207275, + -0.0039371601305902, + 0.001597322872839868 + ], + [ + 0.3417211174964905, + -0.032961226999759674, + 0.004809737205505371 + ], + [ + 0.34285134077072144, + -0.048376504331827164, + 0.004208146128803492 + ], + [ + 0.34506556391716003, + -0.04936818405985832, + 0.005509479437023401 + ], + [ + 0.3471667170524597, + -0.04726068302989006, + 0.007585663348436356 + ], + [ + 0.3507295250892639, + -0.029312582686543465, + 0.011575150303542614 + ], + [ + 0.34864476323127747, + -0.013970890082418919, + 0.020985407754778862 + ], + [ + 0.3496098220348358, + 0.005278934258967638, + 0.0519615113735199 + ], + [ + 0.3586941361427307, + 0.023552482947707176, + 0.05459487810730934 + ], + [ + 0.3677257299423218, + 0.03620286285877228, + 0.03550800308585167 + ], + [ + 0.3790264129638672, + 0.04759060591459274, + 0.021165475249290466 + ], + [ + 0.386173814535141, + 0.05267898738384247, + 0.00956973060965538 + ], + [ + 0.4016726613044739, + 0.04338866099715233, + 0.007229420822113752 + ], + [ + 0.41352835297584534, + 0.02067730762064457, + 0.00757951196283102 + ], + [ + 0.4141755998134613, + -0.012810264714062214, + 0.007373397704213858 + ], + [ + 0.4094909727573395, + -0.03970121219754219, + 0.004939589649438858 + ], + [ + 0.40322962403297424, + -0.04785481095314026, + 0.005628813058137894 + ], + [ + 0.39639413356781006, + -0.059129536151885986, + 0.004253201186656952 + ], + [ + 0.383176326751709, + -0.06279438734054565, + 0.004858667030930519 + ], + [ + 0.37432146072387695, + -0.06726019084453583, + 0.0057968925684690475 + ], + [ + 0.3643709123134613, + -0.0756138414144516, + 0.005353342276066542 + ], + [ + 0.3585018515586853, + -0.08431359380483627, + 0.006569568999111652 + ], + [ + 0.3570355176925659, + -0.08643486350774765, + 0.009278505109250546 + ], + [ + 0.3580346405506134, + -0.08399385213851929, + 0.011352216824889183 + ], + [ + 0.37215539813041687, + -0.06569714844226837, + 0.02180510200560093 + ], + [ + 0.37794607877731323, + -0.04132178798317909, + 0.026978112757205963 + ], + [ + 0.3755127787590027, + -0.016870995983481407, + 0.05092080309987068 + ], + [ + 0.35527604818344116, + 0.012441752478480339, + 0.0383615680038929 + ], + [ + 0.3339567482471466, + 0.030285775661468506, + 0.025826795026659966 + ], + [ + 0.2945258915424347, + 0.04960428923368454, + 0.02038606069982052 + ], + [ + 0.26514896750450134, + 0.04161567986011505, + 0.019926689565181732 + ], + [ + 0.24186566472053528, + 0.028642551973462105, + 0.019458400085568428 + ], + [ + 0.2323601394891739, + 0.002706380793824792, + 0.01514984667301178 + ], + [ + 0.23682351410388947, + -0.020162682980298996, + 0.015679748728871346 + ], + [ + 0.24942193925380707, + -0.03163696080446243, + 0.01492041815072298 + ], + [ + 0.26009681820869446, + -0.03442709147930145, + 0.009844154119491577 + ], + [ + 0.2658475339412689, + -0.03521047532558441, + 0.00622111139819026 + ], + [ + 0.26571929454803467, + -0.03576198220252991, + 0.005654087755829096 + ], + [ + 0.26592665910720825, + -0.04088545963168144, + -0.00021719475626014173 + ], + [ + 0.2671843469142914, + -0.04817916825413704, + -0.00025099251070059836 + ], + [ + 0.27065905928611755, + -0.053430236876010895, + -0.0005167715717107058 + ], + [ + 0.280091255903244, + -0.057923510670661926, + -0.0003098140878137201 + ], + [ + 0.2929544448852539, + -0.0658542588353157, + -0.00011315112351439893 + ], + [ + 0.30557042360305786, + -0.07345416396856308, + 0.0006001978181302547 + ], + [ + 0.3141404688358307, + -0.0790620669722557, + 0.0008389636059291661 + ], + [ + 0.3240346908569336, + -0.08487597107887268, + 0.0012560554314404726 + ], + [ + 0.32949769496917725, + -0.0879126787185669, + 0.001506312983110547 + ], + [ + 0.330024391412735, + -0.08747165650129318, + 0.001696889870800078 + ], + [ + 0.3258586823940277, + -0.08005169779062271, + 0.0034362650476396084 + ], + [ + 0.3197641670703888, + -0.061420049518346786, + 0.013689136132597923 + ], + [ + 0.33561718463897705, + -0.04421616345643997, + 0.03118896484375 + ], + [ + 0.34117287397384644, + -0.032901324331760406, + 0.02668735943734646 + ], + [ + 0.34470799565315247, + -0.014472552575170994, + 0.014364151284098625 + ], + [ + 0.34743908047676086, + 0.00846143253147602, + 0.008087624795734882 + ], + [ + 0.3452951908111572, + 0.01705990359187126, + 0.0029977441299706697 + ], + [ + 0.3438003659248352, + 0.021123811602592468, + 0.0034683230333030224 + ], + [ + 0.3387897312641144, + 0.027965093031525612, + 0.020050672814249992 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9919902670621756, + -0.06623432509641689, + 0.10755614456150572, + -0.07099468127843461, + -0.996631799578364, + 0.041046452944986815, + 0.10447518980163109, + -0.048353596021533836, + -0.9933513298263105 + ], + [ + 0.9946147208146039, + -0.0642515678102461, + 0.08132215671521141, + -0.06677229618096908, + -0.9973564320163684, + 0.028663704894877604, + 0.07926548808661306, + -0.03393940997579416, + -0.9962756138985268 + ], + [ + 0.99535383322842, + -0.05307637170829631, + 0.08033458435676125, + -0.05567880142091164, + -0.997982543403982, + 0.030507607792974463, + 0.0785532796885115, + -0.03483879772899793, + -0.9963009788326902 + ], + [ + 0.9946227766696104, + -0.03999751542294171, + 0.09552869144935183, + -0.04339687310878132, + -0.9984868196546602, + 0.03377547009742303, + 0.09403320442489588, + -0.037739498352695744, + -0.9948535001344028 + ], + [ + 0.9958790739035194, + -0.032811368009795464, + 0.08454752681418344, + -0.03629900618750889, + -0.9985381740717983, + 0.040048683763124135, + 0.08310988094606132, + -0.04295263729604158, + -0.9956142921023416 + ], + [ + 0.9954252232907791, + -0.033105943681677324, + 0.08962489235390017, + -0.038346698177355795, + -0.9976146510137754, + 0.05739807332618145, + 0.08751088832480997, + -0.06057230865344769, + -0.994320290373778 + ], + [ + 0.9954306402418269, + -0.043559399108531495, + 0.08497304994555648, + -0.049046895622959476, + -0.9967696456879221, + 0.0635977630496889, + 0.08192827654416322, + -0.06747482630194407, + -0.9943514998822225 + ], + [ + 0.9948148527208197, + -0.046839710485889814, + 0.09027430602143056, + -0.05370204412679714, + -0.9957251472962761, + 0.07514999333607267, + 0.08636839272937989, + -0.07960824431807459, + -0.9930775539573616 + ], + [ + 0.9950274337233562, + -0.05281343951135387, + 0.08444611740567018, + -0.06030676396741807, + -0.9942223830880275, + 0.08879722510608928, + 0.07926853321268024, + -0.09344834708941585, + -0.9924635540253184 + ], + [ + 0.9955667927802674, + -0.04762448530931375, + 0.08110899772673301, + -0.055343594446851746, + -0.9938660547488624, + 0.095746288552788, + 0.076051611862699, + -0.0998106888912921, + -0.9920957507802012 + ], + [ + 0.9952590510878481, + -0.05031986622814971, + 0.08323059708123035, + -0.05856591227270401, + -0.9932824322189668, + 0.09980001886192372, + 0.07764956630518247, + -0.1042013479181316, + -0.9915203598235703 + ], + [ + 0.9950617017911915, + -0.052441629521941875, + 0.08427386974324586, + -0.060461390672611574, + -0.9935805052512392, + 0.09561485147520997, + 0.07871867546111286, + -0.1002379921874736, + -0.9918446022718843 + ], + [ + 0.99521780023624, + -0.05286178340599987, + 0.08214110997591968, + -0.059853360387598475, + -0.9945708343514769, + 0.08512596964333907, + 0.07719524171379498, + -0.08963530170944697, + -0.9929785533153295 + ], + [ + 0.996266835108247, + -0.05911276038165139, + 0.06291323249888553, + -0.06299125338045738, + -0.9961135483231068, + 0.061562170565281474, + 0.05902961342374162, + -0.06529533220078797, + -0.9961184790635262 + ], + [ + 0.9975272553368807, + -0.04567944112943736, + 0.0534112677079641, + -0.04650733369058898, + -0.9988147134703234, + 0.014360921564717154, + 0.05269196118063693, + -0.01680942632269219, + -0.998469328729551 + ], + [ + 0.9976060472244972, + -0.04403957793464235, + 0.05331688397171598, + -0.0433027952412977, + -0.9989509275134253, + -0.014896722604594207, + 0.05391699607178711, + 0.012552290444637794, + -0.9984665229937302 + ], + [ + 0.9981090313401518, + -0.04504279891157552, + 0.04182711827791773, + -0.044156525664866914, + -0.9987850632002128, + -0.021876900359847334, + 0.04276169779641001, + 0.01998859160516595, + -0.9988853254539333 + ], + [ + 0.9976283208129342, + -0.05201829044740175, + 0.04507583577589181, + -0.051159888655516794, + -0.9984903310800896, + -0.019993112122139056, + 0.04604779370089885, + 0.01763962013488532, + -0.9987834822907198 + ], + [ + 0.9952953714057364, + -0.08953949165287832, + 0.03701085101508797, + -0.08872241096152493, + -0.9957870436478446, + -0.023162415596381776, + 0.038928876833158016, + 0.019769753099858414, + -0.9990463950242147 + ], + [ + 0.9938090735506335, + -0.10447604212581695, + 0.03779261766742121, + -0.10397501842061614, + -0.9944668860151422, + -0.0149936040956982, + 0.03914997921920121, + 0.01097129167739739, + -0.9991731130720368 + ], + [ + 0.9923431224980435, + -0.11735481800089001, + 0.03850940044731348, + -0.11658818263728721, + -0.9929456216335245, + -0.02159139060247579, + 0.04077159428043167, + 0.01693632695693192, + -0.9990249435970256 + ], + [ + 0.9902984756990508, + -0.13544599913425473, + 0.0310372412862339, + -0.13350857838379568, + -0.9893642268403627, + -0.0577398142230222, + 0.03852776305567608, + 0.05303591205112532, + -0.9978490885433683 + ], + [ + 0.9893839402114984, + -0.14462085941942726, + 0.01429076178362855, + -0.14328548538344726, + -0.9871871398320089, + -0.0702198022549744, + 0.02426290440157748, + 0.06742668589723239, + -0.9974291721715963 + ], + [ + 0.992400670299947, + -0.12288401934354785, + 0.006358252762392727, + -0.12208138682692059, + -0.989751683000158, + -0.07407928852770228, + 0.015396252096913036, + 0.07274011127520592, + -0.9972320851401839 + ], + [ + 0.9947073728216091, + -0.10260015754318584, + 0.005518163321781738, + -0.10205641184349999, + -0.9928046182664513, + -0.06263767836083904, + 0.011905093698174938, + 0.0617429965333677, + -0.9980210774944176 + ], + [ + 0.9984369717627978, + -0.055558931186522435, + 0.006067831782875397, + -0.0549337426377857, + -0.9955558026764791, + -0.07649135687773288, + 0.01029064317424006, + 0.07603847001750123, + -0.9970517808722162 + ], + [ + 0.9995942297874931, + -0.0284749939029304, + 0.0007419553735891922, + -0.028264481599504947, + -0.9947635332892342, + -0.0982172689389697, + 0.0035348062831741557, + 0.09815644431287604, + -0.9951647188201528 + ], + [ + 0.9980029389568656, + -0.031112399638403503, + 0.054974106834024074, + -0.02421419615397493, + -0.9922386125897207, + -0.1219680629945507, + 0.05834215061235957, + 0.12039333152116911, + -0.9910104132586893 + ], + [ + 0.9950800041111909, + -0.05567808435058936, + 0.08194959634507655, + -0.046478333005348794, + -0.9928247113078553, + -0.1101764819619757, + 0.08749599978922597, + 0.10582553349509895, + -0.9905278423554592 + ], + [ + 0.9927468369557458, + -0.08554438970029436, + 0.08447410908181133, + -0.08020440120835244, + -0.9946758004130682, + -0.06470939730388033, + 0.08955987796536585, + 0.057464854158224145, + -0.9943222912091444 + ], + [ + 0.9898910891531265, + -0.09532926107777771, + 0.10501411142128375, + -0.09590679702797168, + -0.9953902159196975, + 0.0004520344826985101, + 0.10448692692902947, + -0.010519031975567063, + -0.994470629062128 + ], + [ + 0.9887029653762485, + -0.10297900325109344, + 0.10891175852782722, + -0.10842130403708494, + -0.9930736123624467, + 0.04527274301716827, + 0.10349525151962502, + -0.056569650156350265, + -0.9930199432005771 + ], + [ + 0.9842160130085963, + -0.1417758142587014, + 0.10591722347543525, + -0.15051254865954955, + -0.9853981279641529, + 0.07960214884505334, + 0.09308497426260492, + -0.09428758081542604, + -0.991183655873373 + ], + [ + 0.9692047545235821, + -0.21847064183399295, + 0.11363416064514284, + -0.22816787268304795, + -0.970275707840459, + 0.08065031091067634, + 0.09263674046605586, + -0.1040943294869586, + -0.9902438108286692 + ], + [ + 0.9402242823120784, + -0.31966130383445307, + 0.11745190412076949, + -0.3294819324710376, + -0.9410734438296106, + 0.0763048458082932, + 0.08613916139531187, + -0.11044194922915045, + -0.9901427274512388 + ], + [ + 0.9153903455683315, + -0.3837508209429085, + 0.1216380806570625, + -0.3937669180850028, + -0.9163615825278227, + 0.0723122692835921, + 0.0837145713847296, + -0.11409100531044414, + -0.9899369237709658 + ], + [ + 0.897917182210817, + -0.41505332877585427, + 0.1465451062392371, + -0.42490068741025083, + -0.9042458557456379, + 0.042412712777367786, + 0.11490926737597368, + -0.10035021992463088, + -0.9882943355257053 + ], + [ + 0.866582369515784, + -0.4745358306763767, + 0.15443685521497175, + -0.48599141695653914, + -0.8727943465141401, + 0.04519260268595246, + 0.11334610486904423, + -0.11421809881641407, + -0.9869685336492645 + ], + [ + 0.8554460926559949, + -0.49514047424254365, + 0.1518153263885434, + -0.5066541843220633, + -0.8608542512119813, + 0.04723870954211024, + 0.10730107207542583, + -0.11732803985888493, + -0.9872793986477872 + ], + [ + 0.842319987995048, + -0.51821413799032, + 0.14815918807475625, + -0.5287428006098513, + -0.8478074324041961, + 0.040664583650331335, + 0.10453749866565781, + -0.11259069565089906, + -0.9881271409214372 + ], + [ + 0.8293328110833376, + -0.5408946692020077, + 0.14014294591401993, + -0.5508275553213761, + -0.8335326890953323, + 0.042570653133122575, + 0.093787487221301, + -0.11249983572590164, + -0.9892156965001917 + ], + [ + 0.8176890244100626, + -0.5590471535587572, + 0.1372987234360598, + -0.5689975322805091, + -0.8210827453391988, + 0.04544154008102778, + 0.08732964913482262, + -0.11527968339692851, + -0.9894867997997209 + ], + [ + 0.815261724874929, + -0.5601505463245579, + 0.1469002566582346, + -0.57180964758025, + -0.8187819379659904, + 0.051282209340155795, + 0.09155351925571209, + -0.12580740643124602, + -0.9878210615283203 + ], + [ + 0.8305190119460897, + -0.5373483251633879, + 0.14661155561616968, + -0.5510326035405515, + -0.8310570750234679, + 0.07554606468082661, + 0.08124801924608731, + -0.14353019019544386, + -0.9863051474422343 + ], + [ + 0.8694155657373035, + -0.46533645947626423, + 0.1660679184423639, + -0.4839568651901287, + -0.8697495815868556, + 0.09654749072261457, + 0.09951043507606715, + -0.1643096004851354, + -0.9813765987119252 + ], + [ + 0.9021143047843581, + -0.4031600091212631, + 0.15379137865555936, + -0.4192264981759188, + -0.9032944731206047, + 0.09114953678941914, + 0.10217105426974377, + -0.14670072213562, + -0.9838902244632259 + ], + [ + 0.9318004686009288, + -0.31445755993657376, + 0.18128521647896537, + -0.33144116552432756, + -0.9407408515015169, + 0.07178721412672293, + 0.1479683767261251, + -0.12697674320495397, + -0.9808069464344644 + ], + [ + 0.9742423803576059, + -0.20323319872415305, + 0.09771413025501881, + -0.20751249948055175, + -0.9775798263541849, + 0.03572458067851241, + 0.08826294168267836, + -0.05508130392129843, + -0.9945731260615529 + ], + [ + 0.9913102241446277, + -0.12943627463644183, + 0.023458267509937365, + -0.12904871638483148, + -0.9914864621662979, + -0.017350047273304383, + 0.02550428014580108, + 0.01417201994064984, + -0.999574252141904 + ], + [ + 0.9991279312292796, + -0.039004159381829086, + -0.014901429072956806, + -0.03959574489804805, + -0.9983446231913374, + -0.041715588584059646, + -0.013249680127014036, + 0.042269242906192425, + -0.9990183967678816 + ], + [ + 0.9998825970239621, + 0.014178231131697631, + 0.005811190118463032, + 0.014532758466448099, + -0.9976906767722487, + -0.0663484168092057, + 0.004857067013398456, + 0.06642507993001112, + -0.9977795937261489 + ], + [ + 0.9892300909847982, + 0.14560269618425448, + 0.014956000604559271, + 0.14596388221038475, + -0.9889252955130481, + -0.026857121671981243, + 0.010879897990368061, + 0.028750908825746133, + -0.9995273948528939 + ], + [ + 0.9623692020012319, + 0.2676586156205454, + 0.04695087351269545, + 0.2688895402747361, + -0.9629173052101762, + -0.022106072867276345, + 0.039292927739646454, + 0.03389880249898779, + -0.9986525607130747 + ], + [ + 0.9296666312341442, + 0.3600085355754591, + 0.0781908503763168, + 0.36133817879231, + -0.9324297238742303, + -0.0030871642139033203, + 0.07179606755815203, + 0.03112337302800642, + -0.9969336288512617 + ], + [ + 0.8911302872811445, + 0.4462902299661985, + 0.08192583064542527, + 0.44648218960649644, + -0.8946313223462701, + 0.016983858252858256, + 0.08087314421001479, + 0.021443593767888663, + -0.9964937063684367 + ], + [ + 0.8501849318964858, + 0.5245696678537743, + 0.04485805550788351, + 0.5231727162121715, + -0.8513065179941065, + 0.03959193645085256, + 0.05895668399211414, + -0.010191957051062291, + -0.9982085119974298 + ], + [ + 0.8276957959846546, + 0.5610554643144435, + 0.011680551024406526, + 0.5600611227209819, + -0.8271829251308441, + 0.04582518072516731, + 0.035372420412560696, + -0.031387486915729165, + -0.9988811828937777 + ], + [ + 0.8184183409535717, + 0.5745596948270224, + 0.008519170797803614, + 0.5736731347205388, + -0.8178279198927793, + 0.045350060019369434, + 0.03302353237789509, + -0.032228101466401565, + -0.9989348305996529 + ], + [ + 0.824375729875697, + 0.5655264714124869, + 0.024175734190580053, + 0.5633093006911439, + -0.8238383049439095, + 0.06303236519440118, + 0.05556336694951494, + -0.03834393614233532, + -0.9977186250713906 + ], + [ + 0.8220231779095655, + 0.565607376200959, + 0.06607715918928099, + 0.5608564291990481, + -0.8242306702665927, + 0.07799915395679793, + 0.09857971802329256, + -0.027057312855307287, + -0.9947612482477883 + ], + [ + 0.8099512884898595, + 0.5783776626571254, + 0.097253224177387, + 0.5732988114789358, + -0.8157439738158341, + 0.07674791163277302, + 0.12372300930084265, + -0.0064069120824799125, + -0.9922961092572677 + ], + [ + 0.8003072765898569, + 0.5899620385830265, + 0.10701895191173154, + 0.5866061221716291, + -0.8073471569558689, + 0.06390481661063728, + 0.12410286244921935, + 0.011634482637179522, + -0.9922011481275734 + ], + [ + 0.8010767533490144, + 0.5848495175891919, + 0.12738554478233288, + 0.5826459456166428, + -0.8106631484719083, + 0.05787021484408465, + 0.13711213403740108, + 0.02786218737468428, + -0.9901636032567586 + ], + [ + 0.8018407414074297, + 0.5788063890534064, + 0.14844052482438938, + 0.5789625962910253, + -0.8140189397248051, + 0.04664201823741636, + 0.14783009678390516, + 0.04854204116290206, + -0.987820799904821 + ], + [ + 0.7922588979641013, + 0.5892689046184203, + 0.15839190839975173, + 0.5926694829219721, + -0.8048878310629806, + 0.02997437938862979, + 0.14515068931875727, + 0.07012658166871151, + -0.9869212430248685 + ], + [ + 0.7811930313230703, + 0.600909662403023, + 0.1692484134134136, + 0.6081167380873211, + -0.7937661156086138, + 0.011374821741439382, + 0.14117889598062902, + 0.09403686161446487, + -0.9855077817995113 + ], + [ + 0.7807224714552976, + 0.6011355150068237, + 0.1706121776492308, + 0.6098220232478792, + -0.7925361724625771, + 0.0018749133929445577, + 0.13634339927768757, + 0.10257927634687623, + -0.9853364752903224 + ], + [ + 0.7951840758792549, + 0.5861163265717699, + 0.15540250060430144, + 0.5932664967318615, + -0.8050059966286246, + 0.00045743574325637915, + 0.12536805543502616, + 0.09183135149810943, + -0.987851129248973 + ], + [ + 0.8153461636540811, + 0.5657194672265146, + 0.12317515096609953, + 0.5682402328218615, + -0.8226865275961719, + 0.017026893853843195, + 0.11096698255395325, + 0.05611026388016803, + -0.9922388659340899 + ], + [ + 0.8425714737937842, + 0.5341371157798169, + 0.06907136233917012, + 0.5315499544654831, + -0.8453595991373657, + 0.05312056149981108, + 0.08676380268702606, + -0.008042990285394413, + -0.996196442901979 + ], + [ + 0.8836640413300223, + 0.464575266962916, + 0.05751246288091416, + 0.45872560066485296, + -0.8838591106871939, + 0.09145433696612236, + 0.09332033730630779, + -0.05443246991987892, + -0.994147082107803 + ], + [ + 0.9381689475620865, + 0.34584907763674155, + 0.015081158047789284, + 0.34030922269793606, + -0.9293768225925976, + 0.14299774324937548, + 0.06347171635440327, + -0.12902378511539214, + -0.9896081063216507 + ], + [ + 0.9890118444115303, + 0.14776618302988456, + 0.004552665865356048, + 0.14444695192662646, + -0.9724354541824921, + 0.18304197750242207, + 0.03147458804829355, + -0.18037306506701323, + -0.9830945568486895 + ], + [ + 0.9990743994128614, + 0.021509989098808423, + 0.03725137322031285, + 0.014776346852424396, + -0.9849130741092245, + 0.17241779497028012, + 0.0403980694034597, + -0.17170776574659005, + -0.9843192770492646 + ], + [ + 0.9970473265668977, + -0.04032408854669637, + 0.06534980083121972, + -0.05013291667469915, + -0.9864538074194281, + 0.1561908335767538, + 0.05816630684072667, + -0.15900582917173736, + -0.985562695640373 + ], + [ + 0.995651968439111, + -0.06955445100825633, + 0.0619623763929712, + -0.07697378095943672, + -0.98894377232303, + 0.12674877604262805, + 0.05246136471855095, + -0.13096714675228935, + -0.9899976826656879 + ], + [ + 0.9959151616553471, + -0.07754208076712403, + 0.04626247394280319, + -0.08243431197121458, + -0.9898908875293696, + 0.11541496868322236, + 0.03684528456717626, + -0.11875713240315945, + -0.9922394713518214 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0018816590309143066, + -0.001440674066543579, + -0.010399706661701202, + -0.014585725963115692, + 0.025317460298538208, + 0.004412859678268433, + 1.0 + ], + [ + 3.096461296081543e-05, + -0.006067797541618347, + -0.005560223013162613, + 0.0009007863700389862, + 0.0007144361734390259, + 0.011152781546115875, + 1.0 + ], + [ + 0.0035815536975860596, + -0.0021592825651168823, + 0.00022953376173973083, + 0.0029626451432704926, + -0.015538044273853302, + 0.012276630848646164, + 1.0 + ], + [ + 0.0035340189933776855, + -0.0015589147806167603, + -0.011141492053866386, + 0.005198560655117035, + 0.010966479778289795, + 0.007170751690864563, + 1.0 + ], + [ + 0.008918166160583496, + -0.0025646239519119263, + -0.0033803675323724747, + 0.017728008329868317, + -0.004417113959789276, + -0.0020708106458187103, + 1.0 + ], + [ + 0.004255175590515137, + -0.0057488903403282166, + -0.0027135591953992844, + 0.006911136209964752, + 0.0056027621030807495, + -0.010728329420089722, + 1.0 + ], + [ + 0.004120677709579468, + -0.004526272416114807, + -0.003543473780155182, + 0.01223786175251007, + -0.004455924034118652, + -0.00469738245010376, + 1.0 + ], + [ + 0.004859060049057007, + -0.0023880451917648315, + -0.006600995548069477, + 0.01388905942440033, + 0.007124349474906921, + -0.00660448893904686, + 1.0 + ], + [ + 0.0037938356399536133, + 0.0024641752243041992, + -0.003011176362633705, + 0.006387345492839813, + 0.003226667642593384, + 0.005001213401556015, + 0.0 + ], + [ + 0.0014103055000305176, + 0.0009812116622924805, + 0.00023993989452719688, + 0.004439622163772583, + -0.0016026943922042847, + -0.0032442323863506317, + 0.0 + ], + [ + 0.00016543269157409668, + -0.00066366046667099, + -5.1416922360658646e-05, + -0.003987923264503479, + -0.0010723918676376343, + -0.0019097253680229187, + 0.0 + ], + [ + -0.0007257759571075439, + -0.0012388676404953003, + -0.0004775645211338997, + -0.010695092380046844, + 0.0015280842781066895, + 0.00061822310090065, + 0.0 + ], + [ + 0.00042116641998291016, + -0.0004223063588142395, + -0.0007390722166746855, + -0.024569004774093628, + 0.01820816844701767, + -0.0030746236443519592, + 0.0 + ], + [ + 0.0009911656379699707, + -0.0021861419081687927, + -0.0009419864509254694, + -0.04862251877784729, + 0.006347574293613434, + 0.01655435562133789, + 0.0 + ], + [ + 0.002363264560699463, + -0.011169135570526123, + 0.0003022290766239166, + -0.02940451167523861, + -0.0012267790734767914, + 0.0032094046473503113, + 0.0 + ], + [ + -0.0013392865657806396, + -0.010418809950351715, + -0.002238231711089611, + -0.007437320426106453, + 0.011168412864208221, + -0.0008318759500980377, + 0.0 + ], + [ + 0.0009556114673614502, + -0.027754276990890503, + -0.00020676979329437017, + 0.00234895758330822, + -0.003289341926574707, + -0.007025275379419327, + 0.0 + ], + [ + -0.0005414783954620361, + -0.028736133128404617, + -0.00023577956017106771, + -0.002126771956682205, + 0.0071253664791584015, + -0.03767016530036926, + 0.0 + ], + [ + 6.577372550964355e-05, + -0.019871169701218605, + 0.0007944516837596893, + 0.008806111291050911, + -0.0002212710678577423, + -0.015336692333221436, + 0.0 + ], + [ + 0.000842660665512085, + -0.01950332522392273, + 0.00031636585481464863, + -0.0059713032096624374, + -0.0016229115426540375, + -0.012708142399787903, + 0.0 + ], + [ + 0.0009917616844177246, + -0.029024066403508186, + 0.003212414216250181, + -0.0361490361392498, + 0.002245597541332245, + -0.01705688238143921, + 0.0 + ], + [ + 0.001130223274230957, + -0.01541527733206749, + -0.0006015910767018795, + -0.0143975131213665, + 0.014272015541791916, + -0.009814485907554626, + 0.0 + ], + [ + 0.0022142231464385986, + -0.0009916797280311584, + 0.0013013333082199097, + -0.005315274000167847, + 0.008868425153195858, + 0.021421730518341064, + 0.0 + ], + [ + 0.0021011531352996826, + 0.0021075010299682617, + 0.0020761839114129543, + 0.011026378720998764, + 0.0034914854913949966, + 0.020159587264060974, + 0.0 + ], + [ + 0.0035628080368041992, + 0.017948100343346596, + 0.003989486955106258, + -0.014329295605421066, + 0.0016145501285791397, + 0.047277357429265976, + 0.0 + ], + [ + -0.00208476185798645, + 0.015341692604124546, + 0.009410257451236248, + -0.022199392318725586, + 0.0067560113966465, + 0.026695899665355682, + 0.0 + ], + [ + 0.0009650588035583496, + 0.019249824807047844, + 0.030976103618741035, + -0.022577650845050812, + -0.054840486496686935, + 0.004010532051324844, + 0.0 + ], + [ + 0.009084314107894897, + 0.018273549154400826, + 0.002633366733789444, + 0.01445923000574112, + -0.029232725501060486, + -0.02241632342338562, + 0.0 + ], + [ + 0.009031593799591064, + 0.012650379911065102, + -0.019086875021457672, + 0.04870501533150673, + -0.0020720139145851135, + -0.033941082656383514, + 0.0 + ], + [ + 0.01130068302154541, + 0.011387743055820465, + -0.014342527836561203, + 0.06830589473247528, + -0.014997951686382294, + -0.015969455242156982, + 0.0 + ], + [ + 0.007147401571273804, + 0.005088381469249725, + -0.011595744639635086, + 0.04632865637540817, + 0.0009970813989639282, + -0.012638963758945465, + 0.0 + ], + [ + 0.015498846769332886, + -0.00929032638669014, + -0.002340309787541628, + 0.037935081869363785, + 0.010460980236530304, + -0.042526938021183014, + 0.0 + ], + [ + 0.01185569167137146, + -0.02271135337650776, + 0.000350091140717268, + 0.009894385933876038, + 0.00045017898082733154, + -0.07945702970027924, + 0.0 + ], + [ + 0.0006472468376159668, + -0.03348757326602936, + -0.0002061142586171627, + 0.006347037851810455, + 0.006523706018924713, + -0.10584934055805206, + 0.0 + ], + [ + -0.004684627056121826, + -0.02689094841480255, + -0.0024338080547749996, + 0.0036622434854507446, + 0.002433381974697113, + -0.06917846202850342, + 0.0 + ], + [ + -0.006261348724365234, + -0.008153598755598068, + 0.0006892234086990356, + -0.013552546501159668, + -0.0313510000705719, + -0.03574889898300171, + 0.0 + ], + [ + -0.006835490465164185, + -0.011274725198745728, + -0.0013756118714809418, + 0.01402168720960617, + 0.0015734434127807617, + -0.0691232979297638, + 0.0 + ], + [ + -0.013217806816101074, + -0.003664851188659668, + 0.0006054658442735672, + 0.003071323037147522, + 0.006082169711589813, + -0.023607850074768066, + 0.0 + ], + [ + -0.008854866027832031, + -0.004465803503990173, + 0.0009382255375385284, + -0.004830770194530487, + 0.0027792081236839294, + -0.025838792324066162, + 0.0 + ], + [ + -0.00995054841041565, + -0.008353650569915771, + -0.0004435502924025059, + -0.00021445751190185547, + 0.010803312063217163, + -0.025725841522216797, + 0.0 + ], + [ + -0.005869060754776001, + -0.008699752390384674, + 0.0012162267230451107, + 0.002741888165473938, + 0.006484493613243103, + -0.021662235260009766, + 0.0 + ], + [ + -0.0014663338661193848, + -0.002121269702911377, + 0.002708936110138893, + 0.010694876313209534, + -0.004240870475769043, + -0.0037102699279785156, + 0.0 + ], + [ + 0.0009991228580474854, + 0.002441011369228363, + 0.0020737117156386375, + 0.017832189798355103, + 0.010344229638576508, + 0.025859594345092773, + 0.0 + ], + [ + 0.014120757579803467, + 0.018296703696250916, + 0.010452885180711746, + 0.021380305290222168, + -0.018337726593017578, + 0.07786154747009277, + 0.0 + ], + [ + 0.005790680646896362, + 0.02437536045908928, + 0.005173010751605034, + -0.01787671446800232, + -0.0026742517948150635, + 0.07290780544281006, + 0.0 + ], + [ + -0.002433300018310547, + 0.024450791999697685, + 0.02394269034266472, + -0.01926688849925995, + -0.04616406559944153, + 0.09328025579452515, + 0.0 + ], + [ + -0.020236730575561523, + 0.029312748461961746, + -0.012559235095977783, + -0.07342008501291275, + 0.060135774314403534, + 0.13188083469867706, + 0.0 + ], + [ + -0.021319299936294556, + 0.017844023182988167, + -0.012534772977232933, + -0.06950244307518005, + 0.06287089735269547, + 0.0804106742143631, + 0.0 + ], + [ + -0.039430856704711914, + 0.019318513572216034, + -0.005440734326839447, + -0.028108447790145874, + 0.038757115602493286, + 0.08984237909317017, + 0.0 + ], + [ + -0.02937692403793335, + -0.007988609373569489, + -0.0004593711346387863, + -0.024189256131649017, + -0.018107153475284576, + 0.054143019020557404, + 0.0 + ], + [ + -0.023283302783966064, + -0.012973127886652946, + -0.00046828947961330414, + 0.037718236446380615, + -0.006023026537150145, + 0.13196250796318054, + 0.0 + ], + [ + -0.00950552523136139, + -0.025936171412467957, + -0.004308553412556648, + -0.005174938589334488, + -0.02842293307185173, + 0.12595973908901215, + 0.0 + ], + [ + 0.004463374614715576, + -0.022869063541293144, + 0.0005299020558595657, + 0.0027225464582443237, + -0.03255484625697136, + 0.09824979305267334, + 0.0 + ], + [ + 0.012598425149917603, + -0.011474277824163437, + -0.000759330578148365, + 0.009693240746855736, + -0.009103670716285706, + 0.09376505017280579, + 0.0 + ], + [ + 0.01067487895488739, + -0.0027901306748390198, + -0.005076264031231403, + 0.03172561898827553, + 0.02197067067027092, + 0.08716908097267151, + 0.0 + ], + [ + 0.005750715732574463, + -0.000783383846282959, + -0.003623042721301317, + 0.021202413365244865, + 0.02361109107732773, + 0.043243348598480225, + 0.0 + ], + [ + -0.00012823939323425293, + -0.0005515068769454956, + -0.0005670236423611641, + 0.0008389726281166077, + 0.002350263297557831, + 0.01648259162902832, + 0.0 + ], + [ + 0.00020736455917358398, + -0.005123477429151535, + -0.005871282424777746, + 0.006161428987979889, + -0.022562459111213684, + -0.01192474365234375, + 0.0 + ], + [ + 0.0012576878070831299, + -0.007293708622455597, + -3.379775444045663e-05, + -0.011219607666134834, + -0.043148089200258255, + -0.0007013678550720215, + 0.0 + ], + [ + 0.003474712371826172, + -0.005251068621873856, + -0.0002657790610101074, + -0.020736537873744965, + -0.0253007635474205, + 0.017214834690093994, + 0.0 + ], + [ + 0.009432196617126465, + -0.0044932737946510315, + 0.00020695748389698565, + -0.01818195730447769, + -0.00038280338048934937, + 0.016562223434448242, + 0.0 + ], + [ + 0.012863188982009888, + -0.007930748164653778, + 0.00019666296429932117, + -0.01640615612268448, + -0.013121768832206726, + -0.003683745861053467, + 0.0 + ], + [ + 0.012615978717803955, + -0.0075999051332473755, + 0.0007133489707484841, + -0.020969485864043236, + -0.010828480124473572, + -0.0034662485122680664, + 0.0 + ], + [ + 0.008570045232772827, + -0.005607903003692627, + 0.00023876578779891133, + -0.02183564379811287, + 0.00270862877368927, + 0.016901791095733643, + 0.0 + ], + [ + 0.009894222021102905, + -0.005813904106616974, + 0.0004170918255113065, + -0.024195000529289246, + 0.004013136029243469, + 0.019191205501556396, + 0.0 + ], + [ + 0.005463004112243652, + -0.003036707639694214, + 0.00025025755167007446, + -0.008600480854511261, + 0.004882737994194031, + 0.001650094985961914, + 0.0 + ], + [ + 0.0005266964435577393, + 0.00044102221727371216, + 0.00019057688768953085, + 0.011037841439247131, + 0.011070594191551208, + -0.022125601768493652, + 0.0 + ], + [ + -0.004165709018707275, + 0.007419958710670471, + 0.0017393751768395305, + 0.03620533272624016, + 0.014502815902233124, + -0.03232055902481079, + 0.0 + ], + [ + -0.006094515323638916, + 0.018631648272275925, + 0.010252870619297028, + 0.06456251442432404, + 0.024322956800460815, + -0.045856773853302, + 0.0 + ], + [ + 0.015853017568588257, + 0.017203886061906815, + 0.017499828711152077, + 0.046624794602394104, + -0.006583288311958313, + -0.08398216962814331, + 0.0 + ], + [ + 0.005555689334869385, + 0.011314839124679565, + -0.0045016054064035416, + 0.07494904100894928, + 0.02994190901517868, + -0.13084745407104492, + 0.0 + ], + [ + 0.0035351216793060303, + 0.018428772687911987, + -0.012323208153247833, + 0.051809266209602356, + 0.03203462436795235, + -0.2029506415128708, + 0.0 + ], + [ + 0.0027310848236083984, + 0.02293398603796959, + -0.006276526488363743, + -0.00875130295753479, + -0.008929278701543808, + -0.13023744523525238, + 0.0 + ], + [ + -0.0021438896656036377, + 0.00859847106039524, + -0.005089880898594856, + -0.012748584151268005, + -0.017790090292692184, + -0.06502802670001984, + 0.0 + ], + [ + -0.0014948248863220215, + 0.004063908010721207, + 0.00047057890333235264, + -0.02843010425567627, + 0.005713697522878647, + -0.026917383074760437, + 1.0 + ], + [ + -0.005010634660720825, + 0.006841281428933144, + 0.016582349315285683, + -0.012407302856445312, + 0.01563183218240738, + -0.005427710711956024, + 1.0 + ], + [ + -0.002460479736328125, + 0.0008545853197574615, + 0.02392086572945118, + -0.02777942270040512, + -0.022460587322711945, + -0.02886037528514862, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9643021821975708 + ], + [ + 0.6791892647743225 + ], + [ + 0.3831871449947357 + ], + [ + 0.35109609365463257 + ], + [ + 0.35109609365463257 + ], + [ + 0.3502708673477173 + ], + [ + 0.3502708673477173 + ], + [ + 0.3502708673477173 + ], + [ + 0.3502708673477173 + ], + [ + 0.3502708673477173 + ], + [ + 0.3502708673477173 + ], + [ + 0.3502708673477173 + ], + [ + 0.3502708673477173 + ], + [ + 0.3502708673477173 + ], + [ + 0.3502708673477173 + ], + [ + 0.3502708673477173 + ], + [ + 0.3502708673477173 + ], + [ + 0.3502708673477173 + ], + [ + 0.3502708673477173 + ], + [ + 0.3502708673477173 + ], + [ + 0.3502708673477173 + ], + [ + 0.3502708673477173 + ], + [ + 0.3502708673477173 + ], + [ + 0.3502708673477173 + ], + [ + 0.3502708673477173 + ], + [ + 0.3502708673477173 + ], + [ + 0.3502708673477173 + ], + [ + 0.3502708673477173 + ], + [ + 0.3502708673477173 + ], + [ + 0.3502708673477173 + ], + [ + 0.3502708673477173 + ], + [ + 0.3502708673477173 + ], + [ + 0.3494465947151184 + ], + [ + 0.3502708673477173 + ], + [ + 0.3494465947151184 + ], + [ + 0.3494465947151184 + ], + [ + 0.3502708673477173 + ], + [ + 0.3502708673477173 + ], + [ + 0.3494465947151184 + ], + [ + 0.3502708673477173 + ], + [ + 0.3494465947151184 + ], + [ + 0.3502708673477173 + ], + [ + 0.3502708673477173 + ], + [ + 0.3494465947151184 + ], + [ + 0.3494465947151184 + ], + [ + 0.3494465947151184 + ], + [ + 0.3494465947151184 + ], + [ + 0.3494465947151184 + ], + [ + 0.3494465947151184 + ], + [ + 0.3494465947151184 + ], + [ + 0.3494465947151184 + ], + [ + 0.3494465947151184 + ], + [ + 0.3494465947151184 + ], + [ + 0.3494465947151184 + ], + [ + 0.3494465947151184 + ], + [ + 0.3494465947151184 + ], + [ + 0.3494465947151184 + ], + [ + 0.3494465947151184 + ], + [ + 0.3494465947151184 + ], + [ + 0.3494465947151184 + ], + [ + 0.3494465947151184 + ], + [ + 0.3494465947151184 + ], + [ + 0.3494465947151184 + ], + [ + 0.3494465947151184 + ], + [ + 0.3494465947151184 + ], + [ + 0.3494465947151184 + ], + [ + 0.41037410497665405 + ], + [ + 0.7210758328437805 + ], + [ + 0.9802480936050415 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.30302706360816956, + 0.13959510624408722, + 0.04055691137909889 + ], + [ + 0.30305802822113037, + 0.13352730870246887, + 0.03499668836593628 + ], + [ + 0.30663958191871643, + 0.131368026137352, + 0.03522622212767601 + ], + [ + 0.3101736009120941, + 0.12980911135673523, + 0.024084730073809624 + ], + [ + 0.3190917670726776, + 0.1272444874048233, + 0.02070436254143715 + ], + [ + 0.32334694266319275, + 0.12149559706449509, + 0.017990803346037865 + ], + [ + 0.3274676203727722, + 0.11696932464838028, + 0.014447329565882683 + ], + [ + 0.3323266804218292, + 0.11458127945661545, + 0.007846334017813206 + ], + [ + 0.33612051606178284, + 0.11704545468091965, + 0.004835157655179501 + ], + [ + 0.33753082156181335, + 0.11802666634321213, + 0.0050750975497066975 + ], + [ + 0.33769625425338745, + 0.11736300587654114, + 0.005023680627346039 + ], + [ + 0.3369704782962799, + 0.11612413823604584, + 0.004546116106212139 + ], + [ + 0.3373916447162628, + 0.1157018318772316, + 0.0038070438895374537 + ], + [ + 0.3383828103542328, + 0.1135156899690628, + 0.0028650574386119843 + ], + [ + 0.34074607491493225, + 0.10234655439853668, + 0.003167286515235901 + ], + [ + 0.3394067883491516, + 0.09192774444818497, + 0.000929054687730968 + ], + [ + 0.34036239981651306, + 0.06417346745729446, + 0.0007222848944365978 + ], + [ + 0.339820921421051, + 0.03543733432888985, + 0.0004865053342655301 + ], + [ + 0.33988669514656067, + 0.015566164627671242, + 0.0012809570180252194 + ], + [ + 0.34072935581207275, + -0.0039371601305902, + 0.001597322872839868 + ], + [ + 0.3417211174964905, + -0.032961226999759674, + 0.004809737205505371 + ], + [ + 0.34285134077072144, + -0.048376504331827164, + 0.004208146128803492 + ], + [ + 0.34506556391716003, + -0.04936818405985832, + 0.005509479437023401 + ], + [ + 0.3471667170524597, + -0.04726068302989006, + 0.007585663348436356 + ], + [ + 0.3507295250892639, + -0.029312582686543465, + 0.011575150303542614 + ], + [ + 0.34864476323127747, + -0.013970890082418919, + 0.020985407754778862 + ], + [ + 0.3496098220348358, + 0.005278934258967638, + 0.0519615113735199 + ], + [ + 0.3586941361427307, + 0.023552482947707176, + 0.05459487810730934 + ], + [ + 0.3677257299423218, + 0.03620286285877228, + 0.03550800308585167 + ], + [ + 0.3790264129638672, + 0.04759060591459274, + 0.021165475249290466 + ], + [ + 0.386173814535141, + 0.05267898738384247, + 0.00956973060965538 + ], + [ + 0.4016726613044739, + 0.04338866099715233, + 0.007229420822113752 + ], + [ + 0.41352835297584534, + 0.02067730762064457, + 0.00757951196283102 + ], + [ + 0.4141755998134613, + -0.012810264714062214, + 0.007373397704213858 + ], + [ + 0.4094909727573395, + -0.03970121219754219, + 0.004939589649438858 + ], + [ + 0.40322962403297424, + -0.04785481095314026, + 0.005628813058137894 + ], + [ + 0.39639413356781006, + -0.059129536151885986, + 0.004253201186656952 + ], + [ + 0.383176326751709, + -0.06279438734054565, + 0.004858667030930519 + ], + [ + 0.37432146072387695, + -0.06726019084453583, + 0.0057968925684690475 + ], + [ + 0.3643709123134613, + -0.0756138414144516, + 0.005353342276066542 + ], + [ + 0.3585018515586853, + -0.08431359380483627, + 0.006569568999111652 + ], + [ + 0.3570355176925659, + -0.08643486350774765, + 0.009278505109250546 + ], + [ + 0.3580346405506134, + -0.08399385213851929, + 0.011352216824889183 + ], + [ + 0.37215539813041687, + -0.06569714844226837, + 0.02180510200560093 + ], + [ + 0.37794607877731323, + -0.04132178798317909, + 0.026978112757205963 + ], + [ + 0.3755127787590027, + -0.016870995983481407, + 0.05092080309987068 + ], + [ + 0.35527604818344116, + 0.012441752478480339, + 0.0383615680038929 + ], + [ + 0.3339567482471466, + 0.030285775661468506, + 0.025826795026659966 + ], + [ + 0.2945258915424347, + 0.04960428923368454, + 0.02038606069982052 + ], + [ + 0.26514896750450134, + 0.04161567986011505, + 0.019926689565181732 + ], + [ + 0.24186566472053528, + 0.028642551973462105, + 0.019458400085568428 + ], + [ + 0.2323601394891739, + 0.002706380793824792, + 0.01514984667301178 + ], + [ + 0.23682351410388947, + -0.020162682980298996, + 0.015679748728871346 + ], + [ + 0.24942193925380707, + -0.03163696080446243, + 0.01492041815072298 + ], + [ + 0.26009681820869446, + -0.03442709147930145, + 0.009844154119491577 + ], + [ + 0.2658475339412689, + -0.03521047532558441, + 0.00622111139819026 + ], + [ + 0.26571929454803467, + -0.03576198220252991, + 0.005654087755829096 + ], + [ + 0.26592665910720825, + -0.04088545963168144, + -0.00021719475626014173 + ], + [ + 0.2671843469142914, + -0.04817916825413704, + -0.00025099251070059836 + ], + [ + 0.27065905928611755, + -0.053430236876010895, + -0.0005167715717107058 + ], + [ + 0.280091255903244, + -0.057923510670661926, + -0.0003098140878137201 + ], + [ + 0.2929544448852539, + -0.0658542588353157, + -0.00011315112351439893 + ], + [ + 0.30557042360305786, + -0.07345416396856308, + 0.0006001978181302547 + ], + [ + 0.3141404688358307, + -0.0790620669722557, + 0.0008389636059291661 + ], + [ + 0.3240346908569336, + -0.08487597107887268, + 0.0012560554314404726 + ], + [ + 0.32949769496917725, + -0.0879126787185669, + 0.001506312983110547 + ], + [ + 0.330024391412735, + -0.08747165650129318, + 0.001696889870800078 + ], + [ + 0.3258586823940277, + -0.08005169779062271, + 0.0034362650476396084 + ], + [ + 0.3197641670703888, + -0.061420049518346786, + 0.013689136132597923 + ], + [ + 0.33561718463897705, + -0.04421616345643997, + 0.03118896484375 + ], + [ + 0.34117287397384644, + -0.032901324331760406, + 0.02668735943734646 + ], + [ + 0.34470799565315247, + -0.014472552575170994, + 0.014364151284098625 + ], + [ + 0.34743908047676086, + 0.00846143253147602, + 0.008087624795734882 + ], + [ + 0.3452951908111572, + 0.01705990359187126, + 0.0029977441299706697 + ], + [ + 0.3438003659248352, + 0.021123811602592468, + 0.0034683230333030224 + ], + [ + 0.3387897312641144, + 0.027965093031525612, + 0.020050672814249992 + ], + [ + 0.33632925152778625, + 0.028819678351283073, + 0.04397153854370117 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9946147208146039, + -0.0642515678102461, + 0.08132215671521141, + -0.06677229618096908, + -0.9973564320163684, + 0.028663704894877604, + 0.07926548808661306, + -0.03393940997579416, + -0.9962756138985268 + ], + [ + 0.99535383322842, + -0.05307637170829631, + 0.08033458435676125, + -0.05567880142091164, + -0.997982543403982, + 0.030507607792974463, + 0.0785532796885115, + -0.03483879772899793, + -0.9963009788326902 + ], + [ + 0.9946227766696104, + -0.03999751542294171, + 0.09552869144935183, + -0.04339687310878132, + -0.9984868196546602, + 0.03377547009742303, + 0.09403320442489588, + -0.037739498352695744, + -0.9948535001344028 + ], + [ + 0.9958790739035194, + -0.032811368009795464, + 0.08454752681418344, + -0.03629900618750889, + -0.9985381740717983, + 0.040048683763124135, + 0.08310988094606132, + -0.04295263729604158, + -0.9956142921023416 + ], + [ + 0.9954252232907791, + -0.033105943681677324, + 0.08962489235390017, + -0.038346698177355795, + -0.9976146510137754, + 0.05739807332618145, + 0.08751088832480997, + -0.06057230865344769, + -0.994320290373778 + ], + [ + 0.9954306402418269, + -0.043559399108531495, + 0.08497304994555648, + -0.049046895622959476, + -0.9967696456879221, + 0.0635977630496889, + 0.08192827654416322, + -0.06747482630194407, + -0.9943514998822225 + ], + [ + 0.9948148527208197, + -0.046839710485889814, + 0.09027430602143056, + -0.05370204412679714, + -0.9957251472962761, + 0.07514999333607267, + 0.08636839272937989, + -0.07960824431807459, + -0.9930775539573616 + ], + [ + 0.9950274337233562, + -0.05281343951135387, + 0.08444611740567018, + -0.06030676396741807, + -0.9942223830880275, + 0.08879722510608928, + 0.07926853321268024, + -0.09344834708941585, + -0.9924635540253184 + ], + [ + 0.9955667927802674, + -0.04762448530931375, + 0.08110899772673301, + -0.055343594446851746, + -0.9938660547488624, + 0.095746288552788, + 0.076051611862699, + -0.0998106888912921, + -0.9920957507802012 + ], + [ + 0.9952590510878481, + -0.05031986622814971, + 0.08323059708123035, + -0.05856591227270401, + -0.9932824322189668, + 0.09980001886192372, + 0.07764956630518247, + -0.1042013479181316, + -0.9915203598235703 + ], + [ + 0.9950617017911915, + -0.052441629521941875, + 0.08427386974324586, + -0.060461390672611574, + -0.9935805052512392, + 0.09561485147520997, + 0.07871867546111286, + -0.1002379921874736, + -0.9918446022718843 + ], + [ + 0.99521780023624, + -0.05286178340599987, + 0.08214110997591968, + -0.059853360387598475, + -0.9945708343514769, + 0.08512596964333907, + 0.07719524171379498, + -0.08963530170944697, + -0.9929785533153295 + ], + [ + 0.996266835108247, + -0.05911276038165139, + 0.06291323249888553, + -0.06299125338045738, + -0.9961135483231068, + 0.061562170565281474, + 0.05902961342374162, + -0.06529533220078797, + -0.9961184790635262 + ], + [ + 0.9975272553368807, + -0.04567944112943736, + 0.0534112677079641, + -0.04650733369058898, + -0.9988147134703234, + 0.014360921564717154, + 0.05269196118063693, + -0.01680942632269219, + -0.998469328729551 + ], + [ + 0.9976060472244972, + -0.04403957793464235, + 0.05331688397171598, + -0.0433027952412977, + -0.9989509275134253, + -0.014896722604594207, + 0.05391699607178711, + 0.012552290444637794, + -0.9984665229937302 + ], + [ + 0.9981090313401518, + -0.04504279891157552, + 0.04182711827791773, + -0.044156525664866914, + -0.9987850632002128, + -0.021876900359847334, + 0.04276169779641001, + 0.01998859160516595, + -0.9988853254539333 + ], + [ + 0.9976283208129342, + -0.05201829044740175, + 0.04507583577589181, + -0.051159888655516794, + -0.9984903310800896, + -0.019993112122139056, + 0.04604779370089885, + 0.01763962013488532, + -0.9987834822907198 + ], + [ + 0.9952953714057364, + -0.08953949165287832, + 0.03701085101508797, + -0.08872241096152493, + -0.9957870436478446, + -0.023162415596381776, + 0.038928876833158016, + 0.019769753099858414, + -0.9990463950242147 + ], + [ + 0.9938090735506335, + -0.10447604212581695, + 0.03779261766742121, + -0.10397501842061614, + -0.9944668860151422, + -0.0149936040956982, + 0.03914997921920121, + 0.01097129167739739, + -0.9991731130720368 + ], + [ + 0.9923431224980435, + -0.11735481800089001, + 0.03850940044731348, + -0.11658818263728721, + -0.9929456216335245, + -0.02159139060247579, + 0.04077159428043167, + 0.01693632695693192, + -0.9990249435970256 + ], + [ + 0.9902984756990508, + -0.13544599913425473, + 0.0310372412862339, + -0.13350857838379568, + -0.9893642268403627, + -0.0577398142230222, + 0.03852776305567608, + 0.05303591205112532, + -0.9978490885433683 + ], + [ + 0.9893839402114984, + -0.14462085941942726, + 0.01429076178362855, + -0.14328548538344726, + -0.9871871398320089, + -0.0702198022549744, + 0.02426290440157748, + 0.06742668589723239, + -0.9974291721715963 + ], + [ + 0.992400670299947, + -0.12288401934354785, + 0.006358252762392727, + -0.12208138682692059, + -0.989751683000158, + -0.07407928852770228, + 0.015396252096913036, + 0.07274011127520592, + -0.9972320851401839 + ], + [ + 0.9947073728216091, + -0.10260015754318584, + 0.005518163321781738, + -0.10205641184349999, + -0.9928046182664513, + -0.06263767836083904, + 0.011905093698174938, + 0.0617429965333677, + -0.9980210774944176 + ], + [ + 0.9984369717627978, + -0.055558931186522435, + 0.006067831782875397, + -0.0549337426377857, + -0.9955558026764791, + -0.07649135687773288, + 0.01029064317424006, + 0.07603847001750123, + -0.9970517808722162 + ], + [ + 0.9995942297874931, + -0.0284749939029304, + 0.0007419553735891922, + -0.028264481599504947, + -0.9947635332892342, + -0.0982172689389697, + 0.0035348062831741557, + 0.09815644431287604, + -0.9951647188201528 + ], + [ + 0.9980029389568656, + -0.031112399638403503, + 0.054974106834024074, + -0.02421419615397493, + -0.9922386125897207, + -0.1219680629945507, + 0.05834215061235957, + 0.12039333152116911, + -0.9910104132586893 + ], + [ + 0.9950800041111909, + -0.05567808435058936, + 0.08194959634507655, + -0.046478333005348794, + -0.9928247113078553, + -0.1101764819619757, + 0.08749599978922597, + 0.10582553349509895, + -0.9905278423554592 + ], + [ + 0.9927468369557458, + -0.08554438970029436, + 0.08447410908181133, + -0.08020440120835244, + -0.9946758004130682, + -0.06470939730388033, + 0.08955987796536585, + 0.057464854158224145, + -0.9943222912091444 + ], + [ + 0.9898910891531265, + -0.09532926107777771, + 0.10501411142128375, + -0.09590679702797168, + -0.9953902159196975, + 0.0004520344826985101, + 0.10448692692902947, + -0.010519031975567063, + -0.994470629062128 + ], + [ + 0.9887029653762485, + -0.10297900325109344, + 0.10891175852782722, + -0.10842130403708494, + -0.9930736123624467, + 0.04527274301716827, + 0.10349525151962502, + -0.056569650156350265, + -0.9930199432005771 + ], + [ + 0.9842160130085963, + -0.1417758142587014, + 0.10591722347543525, + -0.15051254865954955, + -0.9853981279641529, + 0.07960214884505334, + 0.09308497426260492, + -0.09428758081542604, + -0.991183655873373 + ], + [ + 0.9692047545235821, + -0.21847064183399295, + 0.11363416064514284, + -0.22816787268304795, + -0.970275707840459, + 0.08065031091067634, + 0.09263674046605586, + -0.1040943294869586, + -0.9902438108286692 + ], + [ + 0.9402242823120784, + -0.31966130383445307, + 0.11745190412076949, + -0.3294819324710376, + -0.9410734438296106, + 0.0763048458082932, + 0.08613916139531187, + -0.11044194922915045, + -0.9901427274512388 + ], + [ + 0.9153903455683315, + -0.3837508209429085, + 0.1216380806570625, + -0.3937669180850028, + -0.9163615825278227, + 0.0723122692835921, + 0.0837145713847296, + -0.11409100531044414, + -0.9899369237709658 + ], + [ + 0.897917182210817, + -0.41505332877585427, + 0.1465451062392371, + -0.42490068741025083, + -0.9042458557456379, + 0.042412712777367786, + 0.11490926737597368, + -0.10035021992463088, + -0.9882943355257053 + ], + [ + 0.866582369515784, + -0.4745358306763767, + 0.15443685521497175, + -0.48599141695653914, + -0.8727943465141401, + 0.04519260268595246, + 0.11334610486904423, + -0.11421809881641407, + -0.9869685336492645 + ], + [ + 0.8554460926559949, + -0.49514047424254365, + 0.1518153263885434, + -0.5066541843220633, + -0.8608542512119813, + 0.04723870954211024, + 0.10730107207542583, + -0.11732803985888493, + -0.9872793986477872 + ], + [ + 0.842319987995048, + -0.51821413799032, + 0.14815918807475625, + -0.5287428006098513, + -0.8478074324041961, + 0.040664583650331335, + 0.10453749866565781, + -0.11259069565089906, + -0.9881271409214372 + ], + [ + 0.8293328110833376, + -0.5408946692020077, + 0.14014294591401993, + -0.5508275553213761, + -0.8335326890953323, + 0.042570653133122575, + 0.093787487221301, + -0.11249983572590164, + -0.9892156965001917 + ], + [ + 0.8176890244100626, + -0.5590471535587572, + 0.1372987234360598, + -0.5689975322805091, + -0.8210827453391988, + 0.04544154008102778, + 0.08732964913482262, + -0.11527968339692851, + -0.9894867997997209 + ], + [ + 0.815261724874929, + -0.5601505463245579, + 0.1469002566582346, + -0.57180964758025, + -0.8187819379659904, + 0.051282209340155795, + 0.09155351925571209, + -0.12580740643124602, + -0.9878210615283203 + ], + [ + 0.8305190119460897, + -0.5373483251633879, + 0.14661155561616968, + -0.5510326035405515, + -0.8310570750234679, + 0.07554606468082661, + 0.08124801924608731, + -0.14353019019544386, + -0.9863051474422343 + ], + [ + 0.8694155657373035, + -0.46533645947626423, + 0.1660679184423639, + -0.4839568651901287, + -0.8697495815868556, + 0.09654749072261457, + 0.09951043507606715, + -0.1643096004851354, + -0.9813765987119252 + ], + [ + 0.9021143047843581, + -0.4031600091212631, + 0.15379137865555936, + -0.4192264981759188, + -0.9032944731206047, + 0.09114953678941914, + 0.10217105426974377, + -0.14670072213562, + -0.9838902244632259 + ], + [ + 0.9318004686009288, + -0.31445755993657376, + 0.18128521647896537, + -0.33144116552432756, + -0.9407408515015169, + 0.07178721412672293, + 0.1479683767261251, + -0.12697674320495397, + -0.9808069464344644 + ], + [ + 0.9742423803576059, + -0.20323319872415305, + 0.09771413025501881, + -0.20751249948055175, + -0.9775798263541849, + 0.03572458067851241, + 0.08826294168267836, + -0.05508130392129843, + -0.9945731260615529 + ], + [ + 0.9913102241446277, + -0.12943627463644183, + 0.023458267509937365, + -0.12904871638483148, + -0.9914864621662979, + -0.017350047273304383, + 0.02550428014580108, + 0.01417201994064984, + -0.999574252141904 + ], + [ + 0.9991279312292796, + -0.039004159381829086, + -0.014901429072956806, + -0.03959574489804805, + -0.9983446231913374, + -0.041715588584059646, + -0.013249680127014036, + 0.042269242906192425, + -0.9990183967678816 + ], + [ + 0.9998825970239621, + 0.014178231131697631, + 0.005811190118463032, + 0.014532758466448099, + -0.9976906767722487, + -0.0663484168092057, + 0.004857067013398456, + 0.06642507993001112, + -0.9977795937261489 + ], + [ + 0.9892300909847982, + 0.14560269618425448, + 0.014956000604559271, + 0.14596388221038475, + -0.9889252955130481, + -0.026857121671981243, + 0.010879897990368061, + 0.028750908825746133, + -0.9995273948528939 + ], + [ + 0.9623692020012319, + 0.2676586156205454, + 0.04695087351269545, + 0.2688895402747361, + -0.9629173052101762, + -0.022106072867276345, + 0.039292927739646454, + 0.03389880249898779, + -0.9986525607130747 + ], + [ + 0.9296666312341442, + 0.3600085355754591, + 0.0781908503763168, + 0.36133817879231, + -0.9324297238742303, + -0.0030871642139033203, + 0.07179606755815203, + 0.03112337302800642, + -0.9969336288512617 + ], + [ + 0.8911302872811445, + 0.4462902299661985, + 0.08192583064542527, + 0.44648218960649644, + -0.8946313223462701, + 0.016983858252858256, + 0.08087314421001479, + 0.021443593767888663, + -0.9964937063684367 + ], + [ + 0.8501849318964858, + 0.5245696678537743, + 0.04485805550788351, + 0.5231727162121715, + -0.8513065179941065, + 0.03959193645085256, + 0.05895668399211414, + -0.010191957051062291, + -0.9982085119974298 + ], + [ + 0.8276957959846546, + 0.5610554643144435, + 0.011680551024406526, + 0.5600611227209819, + -0.8271829251308441, + 0.04582518072516731, + 0.035372420412560696, + -0.031387486915729165, + -0.9988811828937777 + ], + [ + 0.8184183409535717, + 0.5745596948270224, + 0.008519170797803614, + 0.5736731347205388, + -0.8178279198927793, + 0.045350060019369434, + 0.03302353237789509, + -0.032228101466401565, + -0.9989348305996529 + ], + [ + 0.824375729875697, + 0.5655264714124869, + 0.024175734190580053, + 0.5633093006911439, + -0.8238383049439095, + 0.06303236519440118, + 0.05556336694951494, + -0.03834393614233532, + -0.9977186250713906 + ], + [ + 0.8220231779095655, + 0.565607376200959, + 0.06607715918928099, + 0.5608564291990481, + -0.8242306702665927, + 0.07799915395679793, + 0.09857971802329256, + -0.027057312855307287, + -0.9947612482477883 + ], + [ + 0.8099512884898595, + 0.5783776626571254, + 0.097253224177387, + 0.5732988114789358, + -0.8157439738158341, + 0.07674791163277302, + 0.12372300930084265, + -0.0064069120824799125, + -0.9922961092572677 + ], + [ + 0.8003072765898569, + 0.5899620385830265, + 0.10701895191173154, + 0.5866061221716291, + -0.8073471569558689, + 0.06390481661063728, + 0.12410286244921935, + 0.011634482637179522, + -0.9922011481275734 + ], + [ + 0.8010767533490144, + 0.5848495175891919, + 0.12738554478233288, + 0.5826459456166428, + -0.8106631484719083, + 0.05787021484408465, + 0.13711213403740108, + 0.02786218737468428, + -0.9901636032567586 + ], + [ + 0.8018407414074297, + 0.5788063890534064, + 0.14844052482438938, + 0.5789625962910253, + -0.8140189397248051, + 0.04664201823741636, + 0.14783009678390516, + 0.04854204116290206, + -0.987820799904821 + ], + [ + 0.7922588979641013, + 0.5892689046184203, + 0.15839190839975173, + 0.5926694829219721, + -0.8048878310629806, + 0.02997437938862979, + 0.14515068931875727, + 0.07012658166871151, + -0.9869212430248685 + ], + [ + 0.7811930313230703, + 0.600909662403023, + 0.1692484134134136, + 0.6081167380873211, + -0.7937661156086138, + 0.011374821741439382, + 0.14117889598062902, + 0.09403686161446487, + -0.9855077817995113 + ], + [ + 0.7807224714552976, + 0.6011355150068237, + 0.1706121776492308, + 0.6098220232478792, + -0.7925361724625771, + 0.0018749133929445577, + 0.13634339927768757, + 0.10257927634687623, + -0.9853364752903224 + ], + [ + 0.7951840758792549, + 0.5861163265717699, + 0.15540250060430144, + 0.5932664967318615, + -0.8050059966286246, + 0.00045743574325637915, + 0.12536805543502616, + 0.09183135149810943, + -0.987851129248973 + ], + [ + 0.8153461636540811, + 0.5657194672265146, + 0.12317515096609953, + 0.5682402328218615, + -0.8226865275961719, + 0.017026893853843195, + 0.11096698255395325, + 0.05611026388016803, + -0.9922388659340899 + ], + [ + 0.8425714737937842, + 0.5341371157798169, + 0.06907136233917012, + 0.5315499544654831, + -0.8453595991373657, + 0.05312056149981108, + 0.08676380268702606, + -0.008042990285394413, + -0.996196442901979 + ], + [ + 0.8836640413300223, + 0.464575266962916, + 0.05751246288091416, + 0.45872560066485296, + -0.8838591106871939, + 0.09145433696612236, + 0.09332033730630779, + -0.05443246991987892, + -0.994147082107803 + ], + [ + 0.9381689475620865, + 0.34584907763674155, + 0.015081158047789284, + 0.34030922269793606, + -0.9293768225925976, + 0.14299774324937548, + 0.06347171635440327, + -0.12902378511539214, + -0.9896081063216507 + ], + [ + 0.9890118444115303, + 0.14776618302988456, + 0.004552665865356048, + 0.14444695192662646, + -0.9724354541824921, + 0.18304197750242207, + 0.03147458804829355, + -0.18037306506701323, + -0.9830945568486895 + ], + [ + 0.9990743994128614, + 0.021509989098808423, + 0.03725137322031285, + 0.014776346852424396, + -0.9849130741092245, + 0.17241779497028012, + 0.0403980694034597, + -0.17170776574659005, + -0.9843192770492646 + ], + [ + 0.9970473265668977, + -0.04032408854669637, + 0.06534980083121972, + -0.05013291667469915, + -0.9864538074194281, + 0.1561908335767538, + 0.05816630684072667, + -0.15900582917173736, + -0.985562695640373 + ], + [ + 0.995651968439111, + -0.06955445100825633, + 0.0619623763929712, + -0.07697378095943672, + -0.98894377232303, + 0.12674877604262805, + 0.05246136471855095, + -0.13096714675228935, + -0.9899976826656879 + ], + [ + 0.9959151616553471, + -0.07754208076712403, + 0.04626247394280319, + -0.08243431197121458, + -0.9898908875293696, + 0.11541496868322236, + 0.03684528456717626, + -0.11875713240315945, + -0.9922394713518214 + ], + [ + 0.9920488188210881, + -0.10537687982926557, + 0.06881027738014511, + -0.11101841761047106, + -0.9902550916289294, + 0.08408189135745975, + 0.05927944017069525, + -0.09105254911549229, + -0.9940801684334216 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006301.json b/json/chunk-0006/episode_0006301.json new file mode 100644 index 0000000000000000000000000000000000000000..b723ff2bfb76b7672b6010a947795aa50cdac5a2 --- /dev/null +++ b/json/chunk-0006/episode_0006301.json @@ -0,0 +1,982 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 15, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nEnd effector reaching pot or pan." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006301.mp4", + "start": 0, + "end": 15, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3882633149623871, + -0.05328579619526863, + 0.10788556933403015, + -0.02256544679403305, + -0.3477586805820465, + -0.04070486128330231, + 0.0, + 0.9994885921478271 + ], + [ + 0.3831338882446289, + -0.051732100546360016, + 0.09319542348384857, + -0.01939394325017929, + -0.3033052086830139, + -0.04186577722430229, + 0.0, + 0.9994885921478271 + ], + [ + 0.37722739577293396, + -0.04195045679807663, + 0.0886353999376297, + -0.030489610508084297, + -0.26756492257118225, + -0.05974840372800827, + 0.0, + 0.9994885921478271 + ], + [ + 0.3753912150859833, + -0.017977699637413025, + 0.08526217937469482, + -0.02573537454009056, + -0.2541605234146118, + -0.09045103192329407, + 0.0, + 0.9994885921478271 + ], + [ + 0.3737664520740509, + 0.00658015813678503, + 0.0883699357509613, + -0.021210921928286552, + -0.2649744749069214, + -0.10568656027317047, + 0.0, + 0.9994885921478271 + ], + [ + 0.3722827434539795, + 0.020575694739818573, + 0.0901389867067337, + -0.02708127535879612, + -0.2701205909252167, + -0.14826107025146484, + 0.0, + 0.9994885921478271 + ], + [ + 0.3710594177246094, + 0.03288424015045166, + 0.09002288430929184, + -0.03206232935190201, + -0.27509650588035583, + -0.15928666293621063, + 0.0, + 0.9994885921478271 + ], + [ + 0.37434762716293335, + 0.041154101490974426, + 0.09166844934225082, + -0.0456421822309494, + -0.2840918004512787, + -0.16210982203483582, + 0.0, + 0.9994885921478271 + ], + [ + 0.37727636098861694, + 0.04223760962486267, + 0.08989150077104568, + -0.042348865419626236, + -0.2986493408679962, + -0.15525676310062408, + 0.0, + 0.9994885921478271 + ], + [ + 0.3757023215293884, + 0.03510197624564171, + 0.08363771438598633, + -0.06509124487638474, + -0.28301575779914856, + -0.10260824114084244, + 0.0, + 0.9994885921478271 + ], + [ + 0.37711918354034424, + 0.021317454054951668, + 0.07364033907651901, + -0.0867471843957901, + -0.2886068820953369, + -0.06576470285654068, + 0.0, + 0.9994885921478271 + ], + [ + 0.3792683184146881, + 0.011871968396008015, + 0.06091858819127083, + -0.09911920130252838, + -0.29711002111434937, + -0.048491016030311584, + 0.0, + 0.9994885921478271 + ], + [ + 0.37660089135169983, + 0.006175036542117596, + 0.055913377553224564, + -0.11155594140291214, + -0.2988090217113495, + -0.046242471784353256, + 0.0, + 0.9994885921478271 + ], + [ + 0.37722742557525635, + 3.9630671381019056e-05, + 0.05598033219575882, + -0.11773557960987091, + -0.297941118478775, + -0.02586059831082821, + 0.0, + 0.9994885921478271 + ], + [ + 0.37321099638938904, + -0.0029766506049782038, + 0.05184728652238846, + -0.11217517405748367, + -0.2807118892669678, + -0.009414691478013992, + 0.0, + 0.9994885921478271 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3882633149623871, + -0.05328579619526863, + 0.10788556933403015 + ], + [ + 0.3831338882446289, + -0.051732100546360016, + 0.09319542348384857 + ], + [ + 0.37722739577293396, + -0.04195045679807663, + 0.0886353999376297 + ], + [ + 0.3753912150859833, + -0.017977699637413025, + 0.08526217937469482 + ], + [ + 0.3737664520740509, + 0.00658015813678503, + 0.0883699357509613 + ], + [ + 0.3722827434539795, + 0.020575694739818573, + 0.0901389867067337 + ], + [ + 0.3710594177246094, + 0.03288424015045166, + 0.09002288430929184 + ], + [ + 0.37434762716293335, + 0.041154101490974426, + 0.09166844934225082 + ], + [ + 0.37727636098861694, + 0.04223760962486267, + 0.08989150077104568 + ], + [ + 0.3757023215293884, + 0.03510197624564171, + 0.08363771438598633 + ], + [ + 0.37711918354034424, + 0.021317454054951668, + 0.07364033907651901 + ], + [ + 0.3792683184146881, + 0.011871968396008015, + 0.06091858819127083 + ], + [ + 0.37660089135169983, + 0.006175036542117596, + 0.055913377553224564 + ], + [ + 0.37722742557525635, + 3.9630671381019056e-05, + 0.05598033219575882 + ], + [ + 0.37321099638938904, + -0.0029766506049782038, + 0.05184728652238846 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9393601524150841, + -0.048366352273010796, + 0.339504344629804, + -0.038257656555196154, + -0.9986043815237129, + -0.0364093520478908, + 0.3407915136408393, + 0.021212853873197164, + -0.9398995473245744 + ], + [ + 0.9535182696254568, + -0.04763274777657516, + 0.29754668680684015, + -0.039943122863138565, + -0.9986934426589139, + -0.03187404157032826, + 0.2986761731816163, + 0.018507537095463857, + -0.9541750440271666 + ], + [ + 0.9626966385990455, + -0.0677304363382775, + 0.2619690249314318, + -0.05758813115924708, + -0.9972703838956937, + -0.04621026459695862, + 0.26438379144660884, + 0.029400159828853186, + -0.9639693156020859 + ], + [ + 0.9639181276099452, + -0.09674139482085994, + 0.24799787457365782, + -0.08742594135822171, + -0.9949978895619271, + -0.048331196394664606, + 0.25143298916921386, + 0.024905868694453416, + -0.967554210192901 + ], + [ + 0.9597142913189768, + -0.11098960046034442, + 0.2581274639161188, + -0.1018082389540875, + -0.9936107508399945, + -0.04871096689914649, + 0.2618846339882917, + 0.020469108550091684, + -0.9648820933544072 + ], + [ + 0.9531659755399572, + -0.15481076096271348, + 0.25982350040577074, + -0.14236204250996107, + -0.9875994242130899, + -0.0661847878773181, + 0.2668476567732121, + 0.026096083693135815, + -0.963385344755943 + ], + [ + 0.9502156703039009, + -0.1671300971453173, + 0.2629785362669455, + -0.15264989553847302, + -0.9854520372009691, + -0.07471473595317848, + 0.2716398153824318, + 0.03085146681531869, + -0.961904359951831 + ], + [ + 0.9473310925092223, + -0.1738533813628554, + 0.2689587383856211, + -0.15493123519188165, + -0.9837971247578257, + -0.09021934205121047, + 0.2802857711822012, + 0.043797478317102, + -0.9589169241210951 + ], + [ + 0.9442390522506008, + -0.16680187412761172, + 0.28388333341780403, + -0.14778887848146188, + -0.9851598582392628, + -0.08728402552121275, + 0.2942296035447137, + 0.040462186069371, + -0.9548778727651032 + ], + [ + 0.9551672786562547, + -0.12027991087024804, + 0.2705332009669968, + -0.09835344679496742, + -0.9907733276270531, + -0.0932459798938565, + 0.27925269790631174, + 0.06245763607327101, + -0.9581842069290146 + ], + [ + 0.9565689977515494, + -0.09007566346339821, + 0.27724019800927996, + -0.06299932604460898, + -0.9924657235546509, + -0.10508507261770482, + 0.2846170013518539, + 0.08305517696550811, + -0.9550366485746539 + ], + [ + 0.9550625875783725, + -0.0771705014279932, + 0.28618205310161515, + -0.04634828839850969, + -0.9925177666602262, + -0.11296158208136715, + 0.2927580741339718, + 0.09462133254794595, + -0.9514933071000652 + ], + [ + 0.9546661465130521, + -0.0786756360443101, + 0.28709352656398074, + -0.044177616140568435, + -0.9912068196032338, + -0.12472922273540923, + 0.2943822123261805, + 0.10639165881339568, + -0.9497472969168577 + ], + [ + 0.9556232695420932, + -0.06014897844659553, + 0.28838562221704284, + -0.024718500090726386, + -0.9918534965434282, + -0.12496254297924873, + 0.2935526570531167, + 0.11228865386318786, + -0.9493250738027773 + ], + [ + 0.9608158769720602, + -0.04036585461715207, + 0.27423247134399925, + -0.009046052320333148, + -0.9933789578373118, + -0.11452691851033847, + 0.27703974353119126, + 0.10755856036170647, + -0.9548194261728699 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.005129426717758179, + 0.0015536956489086151, + -0.01469014585018158, + 0.0031715035438537598, + 0.04445347189903259, + -0.0011609159409999847, + 1.0 + ], + [ + -0.005906492471694946, + 0.009781643748283386, + -0.004560023546218872, + -0.011095667257905006, + 0.035740286111831665, + -0.01788262650370598, + 1.0 + ], + [ + -0.0018361806869506836, + 0.023972757160663605, + -0.0033732205629348755, + 0.004754235967993736, + 0.013404399156570435, + -0.030702628195285797, + 1.0 + ], + [ + -0.001624763011932373, + 0.02455785870552063, + 0.0031077563762664795, + 0.0045244526118040085, + -0.01081395149230957, + -0.015235528349876404, + 1.0 + ], + [ + -0.0014837086200714111, + 0.013995536603033543, + 0.0017690509557724, + -0.005870353430509567, + -0.005146116018295288, + -0.04257450997829437, + 1.0 + ], + [ + -0.0012233257293701172, + 0.012308545410633087, + -0.00011610239744186401, + -0.004981053993105888, + -0.00497591495513916, + -0.011025592684745789, + 1.0 + ], + [ + 0.0032882094383239746, + 0.008269861340522766, + 0.0016455650329589844, + -0.013579852879047394, + -0.008995294570922852, + -0.002823159098625183, + 1.0 + ], + [ + 0.0029287338256835938, + 0.0010835081338882446, + -0.0017769485712051392, + 0.003293316811323166, + -0.01455754041671753, + 0.006853058934211731, + 1.0 + ], + [ + -0.0015740394592285156, + -0.0071356333792209625, + -0.006253786385059357, + -0.0227423794567585, + 0.015633583068847656, + 0.05264852195978165, + 1.0 + ], + [ + 0.0014168620109558105, + -0.01378452219069004, + -0.009997375309467316, + -0.021655939519405365, + -0.0055911242961883545, + 0.03684353828430176, + 1.0 + ], + [ + 0.002149134874343872, + -0.009445485658943653, + -0.012721750885248184, + -0.012372016906738281, + -0.008503139019012451, + 0.017273686826229095, + 1.0 + ], + [ + -0.0026674270629882812, + -0.005696931853890419, + -0.005005210638046265, + -0.012436740100383759, + -0.001699000597000122, + 0.0022485442459583282, + 1.0 + ], + [ + 0.0006265342235565186, + -0.006135405972599983, + 6.695464253425598e-05, + -0.006179638206958771, + 0.0008679032325744629, + 0.020381873473525047, + 1.0 + ], + [ + -0.00401642918586731, + -0.0030162811744958162, + -0.004133045673370361, + 0.0055604055523872375, + 0.01722922921180725, + 0.016445906832814217, + 1.0 + ], + [ + -0.009709686040878296, + 0.005716841667890549, + -0.008806280791759491, + 0.044203177094459534, + 0.03533680737018585, + -0.015984583646059036, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3831338882446289, + -0.051732100546360016, + 0.09319542348384857 + ], + [ + 0.37722739577293396, + -0.04195045679807663, + 0.0886353999376297 + ], + [ + 0.3753912150859833, + -0.017977699637413025, + 0.08526217937469482 + ], + [ + 0.3737664520740509, + 0.00658015813678503, + 0.0883699357509613 + ], + [ + 0.3722827434539795, + 0.020575694739818573, + 0.0901389867067337 + ], + [ + 0.3710594177246094, + 0.03288424015045166, + 0.09002288430929184 + ], + [ + 0.37434762716293335, + 0.041154101490974426, + 0.09166844934225082 + ], + [ + 0.37727636098861694, + 0.04223760962486267, + 0.08989150077104568 + ], + [ + 0.3757023215293884, + 0.03510197624564171, + 0.08363771438598633 + ], + [ + 0.37711918354034424, + 0.021317454054951668, + 0.07364033907651901 + ], + [ + 0.3792683184146881, + 0.011871968396008015, + 0.06091858819127083 + ], + [ + 0.37660089135169983, + 0.006175036542117596, + 0.055913377553224564 + ], + [ + 0.37722742557525635, + 3.9630671381019056e-05, + 0.05598033219575882 + ], + [ + 0.37321099638938904, + -0.0029766506049782038, + 0.05184728652238846 + ], + [ + 0.36350131034851074, + 0.0027401912957429886, + 0.04304100573062897 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9535182696254568, + -0.04763274777657516, + 0.29754668680684015, + -0.039943122863138565, + -0.9986934426589139, + -0.03187404157032826, + 0.2986761731816163, + 0.018507537095463857, + -0.9541750440271666 + ], + [ + 0.9626966385990455, + -0.0677304363382775, + 0.2619690249314318, + -0.05758813115924708, + -0.9972703838956937, + -0.04621026459695862, + 0.26438379144660884, + 0.029400159828853186, + -0.9639693156020859 + ], + [ + 0.9639181276099452, + -0.09674139482085994, + 0.24799787457365782, + -0.08742594135822171, + -0.9949978895619271, + -0.048331196394664606, + 0.25143298916921386, + 0.024905868694453416, + -0.967554210192901 + ], + [ + 0.9597142913189768, + -0.11098960046034442, + 0.2581274639161188, + -0.1018082389540875, + -0.9936107508399945, + -0.04871096689914649, + 0.2618846339882917, + 0.020469108550091684, + -0.9648820933544072 + ], + [ + 0.9531659755399572, + -0.15481076096271348, + 0.25982350040577074, + -0.14236204250996107, + -0.9875994242130899, + -0.0661847878773181, + 0.2668476567732121, + 0.026096083693135815, + -0.963385344755943 + ], + [ + 0.9502156703039009, + -0.1671300971453173, + 0.2629785362669455, + -0.15264989553847302, + -0.9854520372009691, + -0.07471473595317848, + 0.2716398153824318, + 0.03085146681531869, + -0.961904359951831 + ], + [ + 0.9473310925092223, + -0.1738533813628554, + 0.2689587383856211, + -0.15493123519188165, + -0.9837971247578257, + -0.09021934205121047, + 0.2802857711822012, + 0.043797478317102, + -0.9589169241210951 + ], + [ + 0.9442390522506008, + -0.16680187412761172, + 0.28388333341780403, + -0.14778887848146188, + -0.9851598582392628, + -0.08728402552121275, + 0.2942296035447137, + 0.040462186069371, + -0.9548778727651032 + ], + [ + 0.9551672786562547, + -0.12027991087024804, + 0.2705332009669968, + -0.09835344679496742, + -0.9907733276270531, + -0.0932459798938565, + 0.27925269790631174, + 0.06245763607327101, + -0.9581842069290146 + ], + [ + 0.9565689977515494, + -0.09007566346339821, + 0.27724019800927996, + -0.06299932604460898, + -0.9924657235546509, + -0.10508507261770482, + 0.2846170013518539, + 0.08305517696550811, + -0.9550366485746539 + ], + [ + 0.9550625875783725, + -0.0771705014279932, + 0.28618205310161515, + -0.04634828839850969, + -0.9925177666602262, + -0.11296158208136715, + 0.2927580741339718, + 0.09462133254794595, + -0.9514933071000652 + ], + [ + 0.9546661465130521, + -0.0786756360443101, + 0.28709352656398074, + -0.044177616140568435, + -0.9912068196032338, + -0.12472922273540923, + 0.2943822123261805, + 0.10639165881339568, + -0.9497472969168577 + ], + [ + 0.9556232695420932, + -0.06014897844659553, + 0.28838562221704284, + -0.024718500090726386, + -0.9918534965434282, + -0.12496254297924873, + 0.2935526570531167, + 0.11228865386318786, + -0.9493250738027773 + ], + [ + 0.9608158769720602, + -0.04036585461715207, + 0.27423247134399925, + -0.009046052320333148, + -0.9933789578373118, + -0.11452691851033847, + 0.27703974353119126, + 0.10755856036170647, + -0.9548194261728699 + ], + [ + 0.9697333953986743, + -0.04183163538753368, + 0.24055613924687722, + -0.02463582324811081, + -0.9969499746012211, + -0.07405284839567197, + 0.24292018866583812, + 0.06588522158594426, + -0.9678062406882509 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006305.json b/json/chunk-0006/episode_0006305.json new file mode 100644 index 0000000000000000000000000000000000000000..6941782ad32d943ff8cda0b74111e86fe23d56c2 --- /dev/null +++ b/json/chunk-0006/episode_0006305.json @@ -0,0 +1,2122 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 34, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove a box to the center of the top of the stove." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006305.mp4", + "start": 0, + "end": 34, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.37604501843452454, + 0.19973991811275482, + 0.06457915157079697, + -0.007302447687834501, + -0.140405535697937, + 1.339768886566162, + 0.0, + 1.0008161067962646 + ], + [ + 0.37342819571495056, + 0.19674888253211975, + 0.04729020595550537, + 0.020704688504338264, + -0.1098427027463913, + 1.3425184488296509, + 0.0, + 1.0008161067962646 + ], + [ + 0.3563826084136963, + 0.2040424346923828, + 0.03599225729703903, + 0.009847075678408146, + -0.061564620584249496, + 1.4393446445465088, + 0.0, + 1.0008161067962646 + ], + [ + 0.3356056213378906, + 0.22248463332653046, + 0.04655690863728523, + -0.018644271418452263, + -0.0657210648059845, + 1.5699429512023926, + 0.0, + 1.0008161067962646 + ], + [ + 0.3185647130012512, + 0.22902490198612213, + 0.04548567533493042, + -0.06419435143470764, + -0.07549753785133362, + 1.7212469577789307, + 0.0, + 1.0008161067962646 + ], + [ + 0.29343080520629883, + 0.24220536649227142, + 0.03471578657627106, + -0.06193668767809868, + -0.14785824716091156, + 1.897490382194519, + 0.0, + 1.0008161067962646 + ], + [ + 0.2812519073486328, + 0.2558209002017975, + 0.03228532522916794, + -0.0815730094909668, + -0.1426929533481598, + 2.050295114517212, + 0.0, + 1.0008161067962646 + ], + [ + 0.27588310837745667, + 0.2717061936855316, + 0.01466267928481102, + -0.044629666954278946, + -0.14466431736946106, + 2.1304996013641357, + 0.0, + 1.0008161067962646 + ], + [ + 0.2789534330368042, + 0.2801678478717804, + -0.0034991244319826365, + 0.011965629644691944, + -0.16293340921401978, + 2.1384215354919434, + 0.0, + 1.0008161067962646 + ], + [ + 0.2780505418777466, + 0.28166285157203674, + -0.01719287410378456, + 0.047052860260009766, + -0.1651768684387207, + 2.1580708026885986, + 0.0, + 1.0008161067962646 + ], + [ + 0.273802787065506, + 0.28140416741371155, + -0.027589797973632812, + 0.07498117536306381, + -0.1783231496810913, + 2.1539838314056396, + 0.0, + 1.0008161067962646 + ], + [ + 0.271009236574173, + 0.27904948592185974, + -0.03059803694486618, + 0.08390448987483978, + -0.17769327759742737, + 2.1534204483032227, + 0.0, + 0.9620732665061951 + ], + [ + 0.2701091468334198, + 0.27763912081718445, + -0.0331539511680603, + 0.08441748470067978, + -0.17382459342479706, + 2.1397807598114014, + 0.0, + 0.6811928749084473 + ], + [ + 0.2696896195411682, + 0.2749597132205963, + -0.034967344254255295, + 0.08473437279462814, + -0.1628226637840271, + 2.144383668899536, + 0.0, + 0.5043045878410339 + ], + [ + 0.2696651220321655, + 0.2741793096065521, + -0.03501451388001442, + 0.07881760597229004, + -0.15214094519615173, + 2.1438674926757812, + 0.0, + 0.5033408999443054 + ], + [ + 0.26830703020095825, + 0.27584391832351685, + -0.031773075461387634, + 0.07300692796707153, + -0.13941270112991333, + 2.139094591140747, + 0.0, + 0.5033408999443054 + ], + [ + 0.27179470658302307, + 0.276591956615448, + -0.0019155715126544237, + 0.022907601669430733, + -0.12083999812602997, + 2.098865270614624, + 0.0, + 0.5033408999443054 + ], + [ + 0.27559730410575867, + 0.2706303298473358, + 0.030737701803445816, + -0.019983043894171715, + -0.09186623990535736, + 2.0294833183288574, + 0.0, + 0.5033408999443054 + ], + [ + 0.28403422236442566, + 0.25329214334487915, + 0.052638355642557144, + -0.053129855543375015, + -0.05728698894381523, + 1.939428448677063, + 0.0, + 0.5033408999443054 + ], + [ + 0.3030567765235901, + 0.22048664093017578, + 0.064895398914814, + -0.038885459303855896, + -0.051376260817050934, + 1.7966785430908203, + 0.0, + 0.5033408999443054 + ], + [ + 0.32759910821914673, + 0.18398438394069672, + 0.07330019026994705, + -0.0652536153793335, + -0.06229821592569351, + 1.6620169878005981, + 0.0, + 0.5033408999443054 + ], + [ + 0.35083192586898804, + 0.1556963175535202, + 0.06906823068857193, + -0.0764157846570015, + -0.04728809744119644, + 1.5666766166687012, + 0.0, + 0.5033408999443054 + ], + [ + 0.3788452744483948, + 0.13949954509735107, + 0.04255953058600426, + -0.05754707381129265, + 0.004118345212191343, + 1.511809229850769, + 0.0, + 0.5033408999443054 + ], + [ + 0.39170053601264954, + 0.12454399466514587, + 0.02767924591898918, + -0.08270645141601562, + 0.0031764344312250614, + 1.466792106628418, + 0.0, + 0.5033408999443054 + ], + [ + 0.3974840044975281, + 0.12311527878046036, + 0.010905926115810871, + -0.06273164600133896, + 0.008298587054014206, + 1.4664976596832275, + 0.0, + 0.5033408999443054 + ], + [ + 0.40315312147140503, + 0.12509895861148834, + -0.012453552335500717, + -0.044089868664741516, + -0.006371872499585152, + 1.4676258563995361, + 0.0, + 0.5033408999443054 + ], + [ + 0.4061998426914215, + 0.12309775501489639, + -0.02968498319387436, + -0.019193772226572037, + -0.021168872714042664, + 1.4439891576766968, + 0.0, + 0.5033408999443054 + ], + [ + 0.4097467064857483, + 0.1260337233543396, + -0.031491294503211975, + -0.01739698462188244, + -0.03723495453596115, + 1.4451795816421509, + 0.0, + 0.5561000108718872 + ], + [ + 0.4088028073310852, + 0.12630295753479004, + -0.03210067003965378, + -0.011008678935468197, + -0.046522606164216995, + 1.4607629776000977, + 0.0, + 0.850854754447937 + ], + [ + 0.40723851323127747, + 0.12769323587417603, + -0.033326443284749985, + -0.010264700278639793, + -0.058095239102840424, + 1.4682822227478027, + 0.0, + 1.0086473226547241 + ], + [ + 0.40590041875839233, + 0.12719951570034027, + -0.03201274201273918, + -0.013142733834683895, + -0.06317192316055298, + 1.4640082120895386, + 0.0, + 1.0041072368621826 + ], + [ + 0.4049130976200104, + 0.1246945783495903, + -0.01485118456184864, + -0.03571745753288269, + -0.05420441925525665, + 1.4539753198623657, + 0.0, + 0.9994885921478271 + ], + [ + 0.40773439407348633, + 0.1235896646976471, + 0.025338346138596535, + -0.12129609286785126, + -0.05992479622364044, + 1.4624860286712646, + 0.0, + 0.9994885921478271 + ], + [ + 0.4004761874675751, + 0.13428092002868652, + 0.055260851979255676, + -0.1977042406797409, + -0.053839825093746185, + 1.4997131824493408, + 0.0, + 0.9994885921478271 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9620732665061951 + ], + [ + 0.6811928749084473 + ], + [ + 0.5043045878410339 + ], + [ + 0.5033408999443054 + ], + [ + 0.5033408999443054 + ], + [ + 0.5033408999443054 + ], + [ + 0.5033408999443054 + ], + [ + 0.5033408999443054 + ], + [ + 0.5033408999443054 + ], + [ + 0.5033408999443054 + ], + [ + 0.5033408999443054 + ], + [ + 0.5033408999443054 + ], + [ + 0.5033408999443054 + ], + [ + 0.5033408999443054 + ], + [ + 0.5033408999443054 + ], + [ + 0.5033408999443054 + ], + [ + 0.5561000108718872 + ], + [ + 0.850854754447937 + ], + [ + 1.0086473226547241 + ], + [ + 1.0041072368621826 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.37604501843452454, + 0.19973991811275482, + 0.06457915157079697 + ], + [ + 0.37342819571495056, + 0.19674888253211975, + 0.04729020595550537 + ], + [ + 0.3563826084136963, + 0.2040424346923828, + 0.03599225729703903 + ], + [ + 0.3356056213378906, + 0.22248463332653046, + 0.04655690863728523 + ], + [ + 0.3185647130012512, + 0.22902490198612213, + 0.04548567533493042 + ], + [ + 0.29343080520629883, + 0.24220536649227142, + 0.03471578657627106 + ], + [ + 0.2812519073486328, + 0.2558209002017975, + 0.03228532522916794 + ], + [ + 0.27588310837745667, + 0.2717061936855316, + 0.01466267928481102 + ], + [ + 0.2789534330368042, + 0.2801678478717804, + -0.0034991244319826365 + ], + [ + 0.2780505418777466, + 0.28166285157203674, + -0.01719287410378456 + ], + [ + 0.273802787065506, + 0.28140416741371155, + -0.027589797973632812 + ], + [ + 0.271009236574173, + 0.27904948592185974, + -0.03059803694486618 + ], + [ + 0.2701091468334198, + 0.27763912081718445, + -0.0331539511680603 + ], + [ + 0.2696896195411682, + 0.2749597132205963, + -0.034967344254255295 + ], + [ + 0.2696651220321655, + 0.2741793096065521, + -0.03501451388001442 + ], + [ + 0.26830703020095825, + 0.27584391832351685, + -0.031773075461387634 + ], + [ + 0.27179470658302307, + 0.276591956615448, + -0.0019155715126544237 + ], + [ + 0.27559730410575867, + 0.2706303298473358, + 0.030737701803445816 + ], + [ + 0.28403422236442566, + 0.25329214334487915, + 0.052638355642557144 + ], + [ + 0.3030567765235901, + 0.22048664093017578, + 0.064895398914814 + ], + [ + 0.32759910821914673, + 0.18398438394069672, + 0.07330019026994705 + ], + [ + 0.35083192586898804, + 0.1556963175535202, + 0.06906823068857193 + ], + [ + 0.3788452744483948, + 0.13949954509735107, + 0.04255953058600426 + ], + [ + 0.39170053601264954, + 0.12454399466514587, + 0.02767924591898918 + ], + [ + 0.3974840044975281, + 0.12311527878046036, + 0.010905926115810871 + ], + [ + 0.40315312147140503, + 0.12509895861148834, + -0.012453552335500717 + ], + [ + 0.4061998426914215, + 0.12309775501489639, + -0.02968498319387436 + ], + [ + 0.4097467064857483, + 0.1260337233543396, + -0.031491294503211975 + ], + [ + 0.4088028073310852, + 0.12630295753479004, + -0.03210067003965378 + ], + [ + 0.40723851323127747, + 0.12769323587417603, + -0.033326443284749985 + ], + [ + 0.40590041875839233, + 0.12719951570034027, + -0.03201274201273918 + ], + [ + 0.4049130976200104, + 0.1246945783495903, + -0.01485118456184864 + ], + [ + 0.40773439407348633, + 0.1235896646976471, + 0.025338346138596535 + ], + [ + 0.4004761874675751, + 0.13428092002868652, + 0.055260851979255676 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.22672449108495113, + 0.9731716943145301, + 0.03915173721889092, + 0.9638524234418473, + -0.2299664604472686, + 0.13455085616462387, + 0.13994467109378755, + 0.00723052241141757, + -0.9901329247015827 + ], + [ + 0.22493658135276917, + 0.9743623768023293, + 0.0046360588267410074, + 0.9681872555494428, + -0.22404126081717324, + 0.11144035015688569, + 0.1096219529153126, + -0.02057843831701725, + -0.9937603107970583 + ], + [ + 0.13082511932830992, + 0.9914040069860678, + -0.0016979648706824842, + 0.9894945031533936, + -0.13046647158266694, + 0.06228264623462583, + 0.06152573755715453, + -0.009828261531815718, + -0.9980571070301087 + ], + [ + 0.0008515331775801327, + 0.9998247916984935, + 0.018699219136428958, + 0.9978407847026711, + -0.0020775952712258627, + 0.06564641636713281, + 0.06567376397927459, + 0.01860294339489562, + -0.9976677238549123 + ], + [ + -0.14945673164212336, + 0.9873923792762045, + 0.05214378883557985, + 0.9858872290762086, + 0.14479103584291253, + 0.08403527523588558, + 0.07542583716001408, + 0.0639675330680465, + -0.9950975318037417 + ], + [ + -0.3174121684624146, + 0.9482187053152369, + 0.011436879044722514, + 0.9367744162596299, + 0.3116619753597195, + 0.1591241846995843, + 0.14732008808515407, + 0.06122172821126076, + -0.9871923275843513 + ], + [ + -0.4566458279325363, + 0.8896217737614589, + 0.006905612306251502, + 0.8782090458205898, + 0.4495197012161245, + 0.1633429216631543, + 0.1422092109207338, + 0.08065443489407056, + -0.9865451852100949 + ], + [ + -0.5253888155722373, + 0.8499836961580929, + -0.03865628974731706, + 0.8385609169513237, + 0.5249558055639347, + 0.1457291692368947, + 0.14416026163043968, + 0.04414882184325198, + -0.9885690165570111 + ], + [ + -0.5305106362641387, + 0.8420762426650096, + -0.09729371176904822, + 0.8320127755361614, + 0.5392292641603533, + 0.1303324288797579, + 0.16221345861312447, + -0.011806871400330134, + -0.986685051894729 + ], + [ + -0.546552594167607, + 0.8272473142847887, + -0.13016198683664554, + 0.8211236758217488, + 0.5599190619301389, + 0.11066414546840841, + 0.16442679469489968, + -0.0463953132964684, + -0.9852975713410056 + ], + [ + -0.5419548601380006, + 0.8250488742887582, + -0.15993525129768116, + 0.8214751486730295, + 0.5602314422812877, + 0.1063922515602136, + 0.1773795638889208, + -0.07372303652373845, + -0.9813772996153391 + ], + [ + -0.5415533353039684, + 0.8239334953259537, + -0.16689391930536013, + 0.8218734774737998, + 0.5606510300214359, + 0.10096736879322257, + 0.17675964484652906, + -0.08248647050189253, + -0.9807915222603982 + ], + [ + -0.5306576708086459, + 0.8315917509788975, + -0.16388287316188388, + 0.82975330007381, + 0.5491433470823912, + 0.09975492655388128, + 0.17295056353930932, + -0.0830466378548806, + -0.9814231291917037 + ], + [ + -0.5354714941030286, + 0.8295013055788271, + -0.15873834774902912, + 0.8288501156269333, + 0.5522255502615302, + 0.08974646212285878, + 0.16210417893530582, + -0.08351362572282306, + -0.9832332935221115 + ], + [ + -0.5359519217498878, + 0.8311610314737292, + -0.14807726811407843, + 0.8305339924313999, + 0.550558234908658, + 0.08425507337972125, + 0.15155469306016697, + -0.07782653618008097, + -0.9853802338577982 + ], + [ + -0.5329768536119941, + 0.8351176904072476, + -0.13606658914929676, + 0.8346408595946518, + 0.5453078360174228, + 0.07754998048417766, + 0.13896153787634835, + -0.0722343903335528, + -0.9876598016747368 + ], + [ + -0.5001919406410833, + 0.8621637801464235, + -0.08050862513629811, + 0.8574827432106371, + 0.506119130140454, + 0.0925568538890078, + 0.12054612235019424, + -0.02273856436761374, + -0.9924472731973383 + ], + [ + -0.4409041507579185, + 0.8972672435320601, + -0.022694129831683493, + 0.8928537608716884, + 0.441039210178437, + 0.09108554650690778, + 0.09173707833651702, + 0.01989745635902008, + -0.99558445130924 + ], + [ + -0.3597486641786488, + 0.9326004861758765, + 0.02893495820277566, + 0.931290871864064, + 0.35699503026730783, + 0.07246972020861873, + 0.0572556600202044, + 0.053017747490464215, + -0.9969508051286623 + ], + [ + -0.2236707377309759, + 0.9743072867159884, + 0.02639530516986302, + 0.9733109484875627, + 0.22185125585368448, + 0.05871812182269185, + 0.05135366235355039, + 0.038824365136756835, + -0.9979255834152192 + ], + [ + -0.0909174883810911, + 0.9940926793226577, + 0.05927693669188414, + 0.9939104390723519, + 0.08685753694974735, + 0.0678071336809622, + 0.06225792647911418, + 0.06508082046288854, + -0.9959359604906322 + ], + [ + 0.004115093170154238, + 0.9970584064435037, + 0.07653496030274227, + 0.9988736497484325, + -0.007716341465001997, + 0.04681762395339822, + 0.04727047542015276, + 0.07625609624637807, + -0.9959671229206395 + ], + [ + 0.05895239557188553, + 0.9966222327457477, + 0.05717289789066826, + 0.9982522999647625, + -0.05861885101937597, + -0.007495059721580717, + -0.004118333570485421, + 0.05751482854055164, + -0.998336157727723 + ], + [ + 0.1038162976500559, + 0.9912239185269565, + 0.08183715343473605, + 0.9945914169348504, + -0.1032009578662822, + -0.011725001279680465, + -0.0031764290896637917, + 0.08261177661536748, + -0.9965767429870571 + ], + [ + 0.10410608795269949, + 0.9926636889620266, + 0.06148758466134207, + 0.9945315769169647, + -0.10338748102914053, + -0.014763850497237531, + -0.008298491805169485, + 0.06268835125244582, + -0.9979986501248435 + ], + [ + 0.10298545017554278, + 0.9936870894393832, + 0.04449680138648081, + 0.9946624537210906, + -0.1031668062522299, + 0.001792552720043035, + 0.006371829382529233, + 0.044074690800980004, + -0.9990079185978047 + ], + [ + 0.12643926246162746, + 0.9917366448686978, + 0.021714974850049425, + 0.9917484855898221, + -0.12684729643600007, + 0.018566225172939276, + 0.02116729171279206, + 0.019188293604594644, + -0.9995917942590815 + ], + [ + 0.1251998014490781, + 0.9918893197884335, + 0.021922294741887262, + 0.9914329067060998, + -0.1259101748283103, + 0.0347479405864327, + 0.0372263511159144, + 0.017384049135431404, + -0.9991556403375059 + ], + [ + 0.10969263448103067, + 0.9938359891635145, + 0.016048444908775907, + 0.9928769984646781, + -0.11031365567097867, + 0.0450129236139641, + 0.04650582609074709, + 0.010996545634142051, + -0.9988574893966276 + ], + [ + 0.10216199845034074, + 0.9946366345326378, + 0.016152130454524224, + 0.9930718325281225, + -0.10292210681684993, + 0.056704279976181854, + 0.05806256549506621, + 0.010247203226653293, + -0.9982603534720601 + ], + [ + 0.10637266334166368, + 0.9941292620079657, + 0.019795628636094, + 0.9923202458553987, + -0.10740101151250353, + 0.061364096926231015, + 0.0631299149301017, + 0.013116140651431771, + -0.9979191253279645 + ], + [ + 0.11638429091567049, + 0.9923252312923239, + 0.041777172818326484, + 0.9917254933441912, + -0.11840263503026427, + 0.04961211413667411, + 0.0541778799813809, + 0.03565741659915624, + -0.997894436281813 + ], + [ + 0.10790462339341911, + 0.9860525333764858, + 0.12671619340928397, + 0.9923557363024371, + -0.114508447226778, + 0.046020735993251884, + 0.059888937859781624, + 0.1207816912264722, + -0.9908708786650764 + ], + [ + 0.07092038411934626, + 0.9772932225038828, + 0.19967036926980575, + 0.9960293028521918, + -0.08018312365642938, + 0.0386819666055733, + 0.053813817706434064, + 0.19613419877388533, + -0.9790993050223173 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0026168227195739746, + -0.002991035580635071, + -0.017288945615291595, + 0.028007136657834053, + 0.030562832951545715, + 0.0027495622634887695, + 1.0 + ], + [ + -0.017045587301254272, + 0.0072935521602630615, + -0.011297948658466339, + -0.010857612825930119, + 0.0482780821621418, + 0.09682619571685791, + 1.0 + ], + [ + -0.020776987075805664, + 0.018442198634147644, + 0.0105646513402462, + -0.028491348028182983, + -0.004156444221735001, + 0.1305983066558838, + 1.0 + ], + [ + -0.017040908336639404, + 0.006540268659591675, + -0.0010712333023548126, + -0.04555007815361023, + -0.009776473045349121, + 0.15130400657653809, + 1.0 + ], + [ + -0.025133907794952393, + 0.013180464506149292, + -0.010769888758659363, + 0.002257663756608963, + -0.07236070930957794, + 0.17624342441558838, + 1.0 + ], + [ + -0.012178897857666016, + 0.013615533709526062, + -0.002430461347103119, + -0.01963632181286812, + 0.00516529381275177, + 0.15280473232269287, + 1.0 + ], + [ + -0.0053687989711761475, + 0.01588529348373413, + -0.01762264594435692, + 0.03694334253668785, + -0.0019713640213012695, + 0.08020448684692383, + 1.0 + ], + [ + 0.003070324659347534, + 0.00846165418624878, + -0.018161803483963013, + 0.056595295667648315, + -0.018269091844558716, + 0.007921934127807617, + 1.0 + ], + [ + -0.0009028911590576172, + 0.0014950037002563477, + -0.013693749904632568, + 0.035087231546640396, + -0.0022434592247009277, + 0.019649267196655273, + 1.0 + ], + [ + -0.004247754812240601, + -0.0002586841583251953, + -0.010396923869848251, + 0.027928315103054047, + -0.013146281242370605, + -0.004086971282958984, + 1.0 + ], + [ + -0.002793550491333008, + -0.0023546814918518066, + -0.003008238971233368, + 0.00892331451177597, + 0.0006298720836639404, + -0.0005633831024169922, + 0.0 + ], + [ + -0.0009000897407531738, + -0.001410365104675293, + -0.0025559142231941223, + 0.0005129948258399963, + 0.00386868417263031, + -0.013639688491821289, + 0.0 + ], + [ + -0.0004195272922515869, + -0.0026794075965881348, + -0.001813393086194992, + 0.00031688809394836426, + 0.011001929640769958, + 0.004602909088134766, + 0.0 + ], + [ + -2.4497509002685547e-05, + -0.0007804036140441895, + -4.7169625759124756e-05, + -0.005916766822338104, + 0.010681718587875366, + -0.0005161762237548828, + 0.0 + ], + [ + -0.0013580918312072754, + 0.0016646087169647217, + 0.0032414384186267853, + -0.005810678005218506, + 0.012728244066238403, + -0.00477290153503418, + 0.0 + ], + [ + 0.0034876763820648193, + 0.0007480382919311523, + 0.02985750325024128, + -0.05009932816028595, + 0.018572703003883362, + -0.04022932052612305, + 0.0 + ], + [ + 0.0038025975227355957, + -0.005961626768112183, + 0.03265327215194702, + -0.04289064556360245, + 0.028973758220672607, + -0.0693819522857666, + 0.0 + ], + [ + 0.008436918258666992, + -0.017338186502456665, + 0.021900653839111328, + -0.03314681351184845, + 0.03457925096154213, + -0.09005486965179443, + 0.0 + ], + [ + 0.01902255415916443, + -0.03280550241470337, + 0.012257043272256851, + 0.01424439623951912, + 0.0059107281267642975, + -0.14274990558624268, + 0.0 + ], + [ + 0.02454233169555664, + -0.036502256989479065, + 0.008404791355133057, + -0.0263681560754776, + -0.010921955108642578, + -0.13466155529022217, + 0.0 + ], + [ + 0.02323281764984131, + -0.028288066387176514, + -0.004231959581375122, + -0.011162169277668, + 0.01501011848449707, + -0.09534037113189697, + 0.0 + ], + [ + 0.02801334857940674, + -0.01619677245616913, + -0.026508700102567673, + 0.018868710845708847, + 0.05140644311904907, + -0.05486738681793213, + 0.0 + ], + [ + 0.01285526156425476, + -0.0149555504322052, + -0.014880284667015076, + -0.025159377604722977, + -0.0009419107809662819, + -0.045017123222351074, + 0.0 + ], + [ + 0.00578346848487854, + -0.0014287158846855164, + -0.016773320734500885, + 0.019974805414676666, + 0.0051221526227891445, + -0.0002944469451904297, + 0.0 + ], + [ + 0.005669116973876953, + 0.0019836798310279846, + -0.023359477519989014, + 0.018641777336597443, + -0.014670459553599358, + 0.0011281967163085938, + 0.0 + ], + [ + 0.0030467212200164795, + -0.0020012035965919495, + -0.017231430858373642, + 0.02489609643816948, + -0.014797000214457512, + -0.023636698722839355, + 0.0 + ], + [ + 0.0035468637943267822, + 0.002935968339443207, + -0.001806311309337616, + 0.001796787604689598, + -0.016066081821918488, + 0.0011904239654541016, + 1.0 + ], + [ + -0.0009438991546630859, + 0.00026923418045043945, + -0.000609375536441803, + 0.006388305686414242, + -0.009287651628255844, + 0.015583395957946777, + 1.0 + ], + [ + -0.0015642940998077393, + 0.0013902783393859863, + -0.0012257732450962067, + 0.0007439786568284035, + -0.011572632938623428, + 0.007519245147705078, + 1.0 + ], + [ + -0.0013380944728851318, + -0.0004937201738357544, + 0.0013137012720108032, + -0.0028780335560441017, + -0.005076684057712555, + -0.00427401065826416, + 1.0 + ], + [ + -0.000987321138381958, + -0.0025049373507499695, + 0.01716155745089054, + -0.02257472276687622, + 0.008967503905296326, + -0.010032892227172852, + 1.0 + ], + [ + 0.002821296453475952, + -0.0011049136519432068, + 0.040189530700445175, + -0.08557863533496857, + -0.005720376968383789, + 0.008510708808898926, + 1.0 + ], + [ + -0.007258206605911255, + 0.010691255331039429, + 0.02992250584065914, + -0.07640814781188965, + 0.006084971129894257, + 0.03722715377807617, + 1.0 + ], + [ + -0.011445671319961548, + 0.012567669153213501, + 0.02013307809829712, + -0.04229550063610077, + 0.00625833123922348, + 0.015852808952331543, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9620732665061951 + ], + [ + 0.6811928749084473 + ], + [ + 0.5043045878410339 + ], + [ + 0.5033408999443054 + ], + [ + 0.5033408999443054 + ], + [ + 0.5033408999443054 + ], + [ + 0.5033408999443054 + ], + [ + 0.5033408999443054 + ], + [ + 0.5033408999443054 + ], + [ + 0.5033408999443054 + ], + [ + 0.5033408999443054 + ], + [ + 0.5033408999443054 + ], + [ + 0.5033408999443054 + ], + [ + 0.5033408999443054 + ], + [ + 0.5033408999443054 + ], + [ + 0.5033408999443054 + ], + [ + 0.5561000108718872 + ], + [ + 0.850854754447937 + ], + [ + 1.0086473226547241 + ], + [ + 1.0041072368621826 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.37342819571495056, + 0.19674888253211975, + 0.04729020595550537 + ], + [ + 0.3563826084136963, + 0.2040424346923828, + 0.03599225729703903 + ], + [ + 0.3356056213378906, + 0.22248463332653046, + 0.04655690863728523 + ], + [ + 0.3185647130012512, + 0.22902490198612213, + 0.04548567533493042 + ], + [ + 0.29343080520629883, + 0.24220536649227142, + 0.03471578657627106 + ], + [ + 0.2812519073486328, + 0.2558209002017975, + 0.03228532522916794 + ], + [ + 0.27588310837745667, + 0.2717061936855316, + 0.01466267928481102 + ], + [ + 0.2789534330368042, + 0.2801678478717804, + -0.0034991244319826365 + ], + [ + 0.2780505418777466, + 0.28166285157203674, + -0.01719287410378456 + ], + [ + 0.273802787065506, + 0.28140416741371155, + -0.027589797973632812 + ], + [ + 0.271009236574173, + 0.27904948592185974, + -0.03059803694486618 + ], + [ + 0.2701091468334198, + 0.27763912081718445, + -0.0331539511680603 + ], + [ + 0.2696896195411682, + 0.2749597132205963, + -0.034967344254255295 + ], + [ + 0.2696651220321655, + 0.2741793096065521, + -0.03501451388001442 + ], + [ + 0.26830703020095825, + 0.27584391832351685, + -0.031773075461387634 + ], + [ + 0.27179470658302307, + 0.276591956615448, + -0.0019155715126544237 + ], + [ + 0.27559730410575867, + 0.2706303298473358, + 0.030737701803445816 + ], + [ + 0.28403422236442566, + 0.25329214334487915, + 0.052638355642557144 + ], + [ + 0.3030567765235901, + 0.22048664093017578, + 0.064895398914814 + ], + [ + 0.32759910821914673, + 0.18398438394069672, + 0.07330019026994705 + ], + [ + 0.35083192586898804, + 0.1556963175535202, + 0.06906823068857193 + ], + [ + 0.3788452744483948, + 0.13949954509735107, + 0.04255953058600426 + ], + [ + 0.39170053601264954, + 0.12454399466514587, + 0.02767924591898918 + ], + [ + 0.3974840044975281, + 0.12311527878046036, + 0.010905926115810871 + ], + [ + 0.40315312147140503, + 0.12509895861148834, + -0.012453552335500717 + ], + [ + 0.4061998426914215, + 0.12309775501489639, + -0.02968498319387436 + ], + [ + 0.4097467064857483, + 0.1260337233543396, + -0.031491294503211975 + ], + [ + 0.4088028073310852, + 0.12630295753479004, + -0.03210067003965378 + ], + [ + 0.40723851323127747, + 0.12769323587417603, + -0.033326443284749985 + ], + [ + 0.40590041875839233, + 0.12719951570034027, + -0.03201274201273918 + ], + [ + 0.4049130976200104, + 0.1246945783495903, + -0.01485118456184864 + ], + [ + 0.40773439407348633, + 0.1235896646976471, + 0.025338346138596535 + ], + [ + 0.4004761874675751, + 0.13428092002868652, + 0.055260851979255676 + ], + [ + 0.3890305161476135, + 0.14684858918190002, + 0.0753939300775528 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.22493658135276917, + 0.9743623768023293, + 0.0046360588267410074, + 0.9681872555494428, + -0.22404126081717324, + 0.11144035015688569, + 0.1096219529153126, + -0.02057843831701725, + -0.9937603107970583 + ], + [ + 0.13082511932830992, + 0.9914040069860678, + -0.0016979648706824842, + 0.9894945031533936, + -0.13046647158266694, + 0.06228264623462583, + 0.06152573755715453, + -0.009828261531815718, + -0.9980571070301087 + ], + [ + 0.0008515331775801327, + 0.9998247916984935, + 0.018699219136428958, + 0.9978407847026711, + -0.0020775952712258627, + 0.06564641636713281, + 0.06567376397927459, + 0.01860294339489562, + -0.9976677238549123 + ], + [ + -0.14945673164212336, + 0.9873923792762045, + 0.05214378883557985, + 0.9858872290762086, + 0.14479103584291253, + 0.08403527523588558, + 0.07542583716001408, + 0.0639675330680465, + -0.9950975318037417 + ], + [ + -0.3174121684624146, + 0.9482187053152369, + 0.011436879044722514, + 0.9367744162596299, + 0.3116619753597195, + 0.1591241846995843, + 0.14732008808515407, + 0.06122172821126076, + -0.9871923275843513 + ], + [ + -0.4566458279325363, + 0.8896217737614589, + 0.006905612306251502, + 0.8782090458205898, + 0.4495197012161245, + 0.1633429216631543, + 0.1422092109207338, + 0.08065443489407056, + -0.9865451852100949 + ], + [ + -0.5253888155722373, + 0.8499836961580929, + -0.03865628974731706, + 0.8385609169513237, + 0.5249558055639347, + 0.1457291692368947, + 0.14416026163043968, + 0.04414882184325198, + -0.9885690165570111 + ], + [ + -0.5305106362641387, + 0.8420762426650096, + -0.09729371176904822, + 0.8320127755361614, + 0.5392292641603533, + 0.1303324288797579, + 0.16221345861312447, + -0.011806871400330134, + -0.986685051894729 + ], + [ + -0.546552594167607, + 0.8272473142847887, + -0.13016198683664554, + 0.8211236758217488, + 0.5599190619301389, + 0.11066414546840841, + 0.16442679469489968, + -0.0463953132964684, + -0.9852975713410056 + ], + [ + -0.5419548601380006, + 0.8250488742887582, + -0.15993525129768116, + 0.8214751486730295, + 0.5602314422812877, + 0.1063922515602136, + 0.1773795638889208, + -0.07372303652373845, + -0.9813772996153391 + ], + [ + -0.5415533353039684, + 0.8239334953259537, + -0.16689391930536013, + 0.8218734774737998, + 0.5606510300214359, + 0.10096736879322257, + 0.17675964484652906, + -0.08248647050189253, + -0.9807915222603982 + ], + [ + -0.5306576708086459, + 0.8315917509788975, + -0.16388287316188388, + 0.82975330007381, + 0.5491433470823912, + 0.09975492655388128, + 0.17295056353930932, + -0.0830466378548806, + -0.9814231291917037 + ], + [ + -0.5354714941030286, + 0.8295013055788271, + -0.15873834774902912, + 0.8288501156269333, + 0.5522255502615302, + 0.08974646212285878, + 0.16210417893530582, + -0.08351362572282306, + -0.9832332935221115 + ], + [ + -0.5359519217498878, + 0.8311610314737292, + -0.14807726811407843, + 0.8305339924313999, + 0.550558234908658, + 0.08425507337972125, + 0.15155469306016697, + -0.07782653618008097, + -0.9853802338577982 + ], + [ + -0.5329768536119941, + 0.8351176904072476, + -0.13606658914929676, + 0.8346408595946518, + 0.5453078360174228, + 0.07754998048417766, + 0.13896153787634835, + -0.0722343903335528, + -0.9876598016747368 + ], + [ + -0.5001919406410833, + 0.8621637801464235, + -0.08050862513629811, + 0.8574827432106371, + 0.506119130140454, + 0.0925568538890078, + 0.12054612235019424, + -0.02273856436761374, + -0.9924472731973383 + ], + [ + -0.4409041507579185, + 0.8972672435320601, + -0.022694129831683493, + 0.8928537608716884, + 0.441039210178437, + 0.09108554650690778, + 0.09173707833651702, + 0.01989745635902008, + -0.99558445130924 + ], + [ + -0.3597486641786488, + 0.9326004861758765, + 0.02893495820277566, + 0.931290871864064, + 0.35699503026730783, + 0.07246972020861873, + 0.0572556600202044, + 0.053017747490464215, + -0.9969508051286623 + ], + [ + -0.2236707377309759, + 0.9743072867159884, + 0.02639530516986302, + 0.9733109484875627, + 0.22185125585368448, + 0.05871812182269185, + 0.05135366235355039, + 0.038824365136756835, + -0.9979255834152192 + ], + [ + -0.0909174883810911, + 0.9940926793226577, + 0.05927693669188414, + 0.9939104390723519, + 0.08685753694974735, + 0.0678071336809622, + 0.06225792647911418, + 0.06508082046288854, + -0.9959359604906322 + ], + [ + 0.004115093170154238, + 0.9970584064435037, + 0.07653496030274227, + 0.9988736497484325, + -0.007716341465001997, + 0.04681762395339822, + 0.04727047542015276, + 0.07625609624637807, + -0.9959671229206395 + ], + [ + 0.05895239557188553, + 0.9966222327457477, + 0.05717289789066826, + 0.9982522999647625, + -0.05861885101937597, + -0.007495059721580717, + -0.004118333570485421, + 0.05751482854055164, + -0.998336157727723 + ], + [ + 0.1038162976500559, + 0.9912239185269565, + 0.08183715343473605, + 0.9945914169348504, + -0.1032009578662822, + -0.011725001279680465, + -0.0031764290896637917, + 0.08261177661536748, + -0.9965767429870571 + ], + [ + 0.10410608795269949, + 0.9926636889620266, + 0.06148758466134207, + 0.9945315769169647, + -0.10338748102914053, + -0.014763850497237531, + -0.008298491805169485, + 0.06268835125244582, + -0.9979986501248435 + ], + [ + 0.10298545017554278, + 0.9936870894393832, + 0.04449680138648081, + 0.9946624537210906, + -0.1031668062522299, + 0.001792552720043035, + 0.006371829382529233, + 0.044074690800980004, + -0.9990079185978047 + ], + [ + 0.12643926246162746, + 0.9917366448686978, + 0.021714974850049425, + 0.9917484855898221, + -0.12684729643600007, + 0.018566225172939276, + 0.02116729171279206, + 0.019188293604594644, + -0.9995917942590815 + ], + [ + 0.1251998014490781, + 0.9918893197884335, + 0.021922294741887262, + 0.9914329067060998, + -0.1259101748283103, + 0.0347479405864327, + 0.0372263511159144, + 0.017384049135431404, + -0.9991556403375059 + ], + [ + 0.10969263448103067, + 0.9938359891635145, + 0.016048444908775907, + 0.9928769984646781, + -0.11031365567097867, + 0.0450129236139641, + 0.04650582609074709, + 0.010996545634142051, + -0.9988574893966276 + ], + [ + 0.10216199845034074, + 0.9946366345326378, + 0.016152130454524224, + 0.9930718325281225, + -0.10292210681684993, + 0.056704279976181854, + 0.05806256549506621, + 0.010247203226653293, + -0.9982603534720601 + ], + [ + 0.10637266334166368, + 0.9941292620079657, + 0.019795628636094, + 0.9923202458553987, + -0.10740101151250353, + 0.061364096926231015, + 0.0631299149301017, + 0.013116140651431771, + -0.9979191253279645 + ], + [ + 0.11638429091567049, + 0.9923252312923239, + 0.041777172818326484, + 0.9917254933441912, + -0.11840263503026427, + 0.04961211413667411, + 0.0541778799813809, + 0.03565741659915624, + -0.997894436281813 + ], + [ + 0.10790462339341911, + 0.9860525333764858, + 0.12671619340928397, + 0.9923557363024371, + -0.114508447226778, + 0.046020735993251884, + 0.059888937859781624, + 0.1207816912264722, + -0.9908708786650764 + ], + [ + 0.07092038411934626, + 0.9772932225038828, + 0.19967036926980575, + 0.9960293028521918, + -0.08018312365642938, + 0.0386819666055733, + 0.053813817706434064, + 0.19613419877388533, + -0.9790993050223173 + ], + [ + 0.05513978353495047, + 0.9692328180739521, + 0.23989028458890121, + 0.9973451327207509, + -0.06490878291579444, + 0.033008122312818244, + 0.04756354181457169, + 0.2374333470025124, + -0.9702386898187672 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006307.json b/json/chunk-0006/episode_0006307.json new file mode 100644 index 0000000000000000000000000000000000000000..59700d6dc6739e96da6901c69f4f95a6a8abbe1e --- /dev/null +++ b/json/chunk-0006/episode_0006307.json @@ -0,0 +1,982 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 15, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nEnd effector reaching corn." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006307.mp4", + "start": 0, + "end": 15, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.22305582463741302, + -0.10190023481845856, + 0.08461456745862961, + 0.03599511459469795, + -0.31814515590667725, + -0.06892770528793335, + 0.0, + 0.9988223910331726 + ], + [ + 0.21916240453720093, + -0.09983401000499725, + 0.07914530485868454, + 0.0475122295320034, + -0.29553741216659546, + -0.06857968866825104, + 0.0, + 0.9988223910331726 + ], + [ + 0.2220374196767807, + -0.10682376474142075, + 0.08175980299711227, + 0.05865815654397011, + -0.2758331000804901, + -0.03372742608189583, + 0.0, + 0.9988223910331726 + ], + [ + 0.23101156949996948, + -0.1132906898856163, + 0.09055733680725098, + 0.05781274661421776, + -0.2752494812011719, + 0.0069132051430642605, + 0.0, + 0.9988223910331726 + ], + [ + 0.24025753140449524, + -0.12090130150318146, + 0.10067437589168549, + 0.04673686623573303, + -0.2669309973716736, + 0.03429266810417175, + 0.0, + 0.9988223910331726 + ], + [ + 0.24941609799861908, + -0.11903058737516403, + 0.09957477450370789, + 0.03787209093570709, + -0.26827356219291687, + 0.038608331233263016, + 0.0, + 0.9988223910331726 + ], + [ + 0.2590920031070709, + -0.11278890818357468, + 0.09370420128107071, + 0.034338757395744324, + -0.30367109179496765, + 0.019040847197175026, + 0.0, + 0.9988223910331726 + ], + [ + 0.26236000657081604, + -0.10367007553577423, + 0.08592402189970016, + 0.04531288892030716, + -0.33333414793014526, + -0.008112572133541107, + 0.0, + 0.9988223910331726 + ], + [ + 0.2626926004886627, + -0.09457969665527344, + 0.07931659370660782, + 0.061769675463438034, + -0.34127169847488403, + -0.03304869309067726, + 0.0, + 0.9988223910331726 + ], + [ + 0.26284167170524597, + -0.09220203757286072, + 0.0773293599486351, + 0.06431156396865845, + -0.3456510901451111, + -0.037685826420784, + 0.0, + 0.9988223910331726 + ], + [ + 0.26108765602111816, + -0.08977969735860825, + 0.07685726135969162, + 0.07664626836776733, + -0.33423787355422974, + -0.029900677502155304, + 0.0, + 0.9988223910331726 + ], + [ + 0.2676214277744293, + -0.08230248093605042, + 0.08078031986951828, + 0.09648559987545013, + -0.34894081950187683, + -0.0354141928255558, + 0.0, + 0.9988223910331726 + ], + [ + 0.2841038107872009, + -0.0739126205444336, + 0.07504604011774063, + 0.09150643646717072, + -0.3835981786251068, + -0.044175632297992706, + 0.0, + 0.9988223910331726 + ], + [ + 0.2975258529186249, + -0.07520350068807602, + 0.05983026698231697, + 0.06643157452344894, + -0.42276281118392944, + -0.04688165336847305, + 0.0, + 0.9988223910331726 + ], + [ + 0.30049726366996765, + -0.07795919477939606, + 0.05531458929181099, + 0.048807524144649506, + -0.44197365641593933, + -0.04292810708284378, + 0.0, + 0.9988223910331726 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.22305582463741302, + -0.10190023481845856, + 0.08461456745862961 + ], + [ + 0.21916240453720093, + -0.09983401000499725, + 0.07914530485868454 + ], + [ + 0.2220374196767807, + -0.10682376474142075, + 0.08175980299711227 + ], + [ + 0.23101156949996948, + -0.1132906898856163, + 0.09055733680725098 + ], + [ + 0.24025753140449524, + -0.12090130150318146, + 0.10067437589168549 + ], + [ + 0.24941609799861908, + -0.11903058737516403, + 0.09957477450370789 + ], + [ + 0.2590920031070709, + -0.11278890818357468, + 0.09370420128107071 + ], + [ + 0.26236000657081604, + -0.10367007553577423, + 0.08592402189970016 + ], + [ + 0.2626926004886627, + -0.09457969665527344, + 0.07931659370660782 + ], + [ + 0.26284167170524597, + -0.09220203757286072, + 0.0773293599486351 + ], + [ + 0.26108765602111816, + -0.08977969735860825, + 0.07685726135969162 + ], + [ + 0.2676214277744293, + -0.08230248093605042, + 0.08078031986951828 + ], + [ + 0.2841038107872009, + -0.0739126205444336, + 0.07504604011774063 + ], + [ + 0.2975258529186249, + -0.07520350068807602, + 0.05983026698231697 + ], + [ + 0.30049726366996765, + -0.07795919477939606, + 0.05531458929181099 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9475618454957256, + -0.05759822374402061, + 0.3143389787828865, + -0.06541689563652853, + -0.9977545172054759, + 0.014371957463990916, + 0.3128053367927308, + -0.03418139870749835, + -0.9492020086664297 + ], + [ + 0.9543970030106025, + -0.054648208407884265, + 0.2934960544235441, + -0.06555505383886641, + -0.9974714077108513, + 0.0274467796929889, + 0.29125400522664546, + -0.04543527393051119, + -0.9555661883523799 + ], + [ + 0.9616514203992984, + -0.017705806334261318, + 0.2737024845814612, + -0.03244633112311883, + -0.998250766409763, + 0.049423101470560185, + 0.2723486391386237, + -0.05640843717365329, + -0.9605437558877603 + ], + [ + 0.9623344252254349, + 0.02260522872449209, + 0.27092703383078115, + 0.006652921284524219, + -0.9981968882549276, + 0.05965493203886391, + 0.2717870354973058, + -0.05560553850555667, + -0.9607496195279461 + ], + [ + 0.9640178416473407, + 0.04656466907318618, + 0.2617275923163385, + 0.033071708874102684, + -0.9978982178811328, + 0.055726195113303775, + 0.2637723697769527, + -0.045065267598939904, + -0.9635316593649047 + ], + [ + 0.9635114021876079, + 0.048599831172443084, + 0.2632182255552978, + 0.03721806165504411, + -0.9981508768757674, + 0.048058744040785945, + 0.26506714949444593, + -0.03650867571066463, + -0.9635385424863618 + ], + [ + 0.9540721948593947, + 0.029292752091264584, + 0.29814121095732, + 0.018168538621744702, + -0.9990338540063727, + 0.04001578130593127, + 0.29902533538235126, + -0.032761154193551564, + -0.9536826283284072 + ], + [ + 0.9449255843456662, + 0.0067164549169194876, + 0.3272163340702149, + -0.0076659451396320225, + -0.9990609096557549, + 0.04264425029159394, + 0.32719546655495957, + -0.04280406559154101, + -0.943986725878451 + ], + [ + 0.9418152412331414, + -0.01233065770478436, + 0.3359047577238632, + -0.031137099828559375, + -0.9982305142690712, + 0.05065887282966398, + 0.33468572182754697, + -0.05817039850880499, + -0.9405326535225137 + ], + [ + 0.9401870244012218, + -0.015840137496586332, + 0.3402902425748731, + -0.03544850817174663, + -0.9980445549515802, + 0.0514827116603258, + 0.3388093304736078, + -0.06046615892870882, + -0.938910049583257 + ], + [ + 0.9442383433268888, + -0.0047005338019324525, + 0.32922918457097455, + -0.028241783217627013, + -0.9973694003641786, + 0.06675837698661308, + 0.32804931439035273, + -0.07233383854860104, + -0.9418871817414461 + ], + [ + 0.939146146478252, + -0.002325240129002348, + 0.3435099835716457, + -0.033273013836314876, + -0.9958909857599946, + 0.08422618970507269, + 0.3419026500413505, + -0.09053031393035689, + -0.9353645493359116 + ], + [ + 0.9264193057190736, + -0.009810483943033119, + 0.37636554623901625, + -0.04095180103169358, + -0.9963549918302917, + 0.07483101126618377, + 0.37425956231371055, + -0.08473774046823901, + -0.9234442567676119 + ], + [ + 0.9109568828909183, + -0.01955542574555206, + 0.41203779297240706, + -0.04273848089125183, + -0.9979742971551483, + 0.04712456332737696, + 0.4102815859440563, + -0.06053831465772779, + -0.9099473241312553 + ], + [ + 0.9030764992642644, + -0.022015166356412066, + 0.42891510689983986, + -0.03879119602039552, + -0.998784519955943, + 0.03040930462348858, + 0.42772430324673955, + -0.044100058352301255, + -0.9028328224347048 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.003893420100212097, + 0.0020662248134613037, + -0.005469262599945068, + 0.01151711493730545, + 0.022607743740081787, + 0.000348016619682312, + 1.0 + ], + [ + 0.002875015139579773, + -0.006989754736423492, + 0.0026144981384277344, + 0.011145927011966705, + 0.019704312086105347, + 0.03485226258635521, + 1.0 + ], + [ + 0.008974149823188782, + -0.006466925144195557, + 0.008797533810138702, + -0.0008454099297523499, + 0.0005836188793182373, + 0.04064062982797623, + 1.0 + ], + [ + 0.009245961904525757, + -0.007610611617565155, + 0.01011703908443451, + -0.011075880378484726, + 0.008318483829498291, + 0.027379462495446205, + 1.0 + ], + [ + 0.00915856659412384, + 0.0018707141280174255, + -0.0010996013879776, + -0.00886477530002594, + -0.0013425648212432861, + 0.004315663129091263, + 1.0 + ], + [ + 0.009675905108451843, + 0.0062416791915893555, + -0.0058705732226371765, + -0.0035333335399627686, + -0.03539752960205078, + -0.01956748403608799, + 1.0 + ], + [ + 0.003268003463745117, + 0.009118832647800446, + -0.007780179381370544, + 0.010974131524562836, + -0.029663056135177612, + -0.027153419330716133, + 1.0 + ], + [ + 0.0003325939178466797, + 0.009090378880500793, + -0.006607428193092346, + 0.016456786543130875, + -0.00793755054473877, + -0.024936120957136154, + 1.0 + ], + [ + 0.00014907121658325195, + 0.0023776590824127197, + -0.0019872337579727173, + 0.002541888505220413, + -0.004379391670227051, + -0.004637133330106735, + 1.0 + ], + [ + -0.0017540156841278076, + 0.002422340214252472, + -0.00047209858894348145, + 0.012334704399108887, + 0.011413216590881348, + 0.007785148918628693, + 1.0 + ], + [ + 0.006533771753311157, + 0.007477216422557831, + 0.00392305850982666, + 0.0198393315076828, + -0.014702945947647095, + -0.0055135153234004974, + 1.0 + ], + [ + 0.016482383012771606, + 0.008389860391616821, + -0.005734279751777649, + -0.004979163408279419, + -0.03465735912322998, + -0.008761439472436905, + 1.0 + ], + [ + 0.01342204213142395, + -0.0012908801436424255, + -0.01521577313542366, + -0.02507486194372177, + -0.03916463255882263, + -0.0027060210704803467, + 1.0 + ], + [ + 0.0029714107513427734, + -0.002755694091320038, + -0.0045156776905059814, + -0.01762405037879944, + -0.019210845232009888, + 0.0039535462856292725, + 1.0 + ], + [ + -0.005137979984283447, + -0.0002153441309928894, + -0.0047364309430122375, + -0.016167685389518738, + 0.017254382371902466, + 0.008091401308774948, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.21916240453720093, + -0.09983401000499725, + 0.07914530485868454 + ], + [ + 0.2220374196767807, + -0.10682376474142075, + 0.08175980299711227 + ], + [ + 0.23101156949996948, + -0.1132906898856163, + 0.09055733680725098 + ], + [ + 0.24025753140449524, + -0.12090130150318146, + 0.10067437589168549 + ], + [ + 0.24941609799861908, + -0.11903058737516403, + 0.09957477450370789 + ], + [ + 0.2590920031070709, + -0.11278890818357468, + 0.09370420128107071 + ], + [ + 0.26236000657081604, + -0.10367007553577423, + 0.08592402189970016 + ], + [ + 0.2626926004886627, + -0.09457969665527344, + 0.07931659370660782 + ], + [ + 0.26284167170524597, + -0.09220203757286072, + 0.0773293599486351 + ], + [ + 0.26108765602111816, + -0.08977969735860825, + 0.07685726135969162 + ], + [ + 0.2676214277744293, + -0.08230248093605042, + 0.08078031986951828 + ], + [ + 0.2841038107872009, + -0.0739126205444336, + 0.07504604011774063 + ], + [ + 0.2975258529186249, + -0.07520350068807602, + 0.05983026698231697 + ], + [ + 0.30049726366996765, + -0.07795919477939606, + 0.05531458929181099 + ], + [ + 0.2953592836856842, + -0.07817453891038895, + 0.05057815834879875 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9543970030106025, + -0.054648208407884265, + 0.2934960544235441, + -0.06555505383886641, + -0.9974714077108513, + 0.0274467796929889, + 0.29125400522664546, + -0.04543527393051119, + -0.9555661883523799 + ], + [ + 0.9616514203992984, + -0.017705806334261318, + 0.2737024845814612, + -0.03244633112311883, + -0.998250766409763, + 0.049423101470560185, + 0.2723486391386237, + -0.05640843717365329, + -0.9605437558877603 + ], + [ + 0.9623344252254349, + 0.02260522872449209, + 0.27092703383078115, + 0.006652921284524219, + -0.9981968882549276, + 0.05965493203886391, + 0.2717870354973058, + -0.05560553850555667, + -0.9607496195279461 + ], + [ + 0.9640178416473407, + 0.04656466907318618, + 0.2617275923163385, + 0.033071708874102684, + -0.9978982178811328, + 0.055726195113303775, + 0.2637723697769527, + -0.045065267598939904, + -0.9635316593649047 + ], + [ + 0.9635114021876079, + 0.048599831172443084, + 0.2632182255552978, + 0.03721806165504411, + -0.9981508768757674, + 0.048058744040785945, + 0.26506714949444593, + -0.03650867571066463, + -0.9635385424863618 + ], + [ + 0.9540721948593947, + 0.029292752091264584, + 0.29814121095732, + 0.018168538621744702, + -0.9990338540063727, + 0.04001578130593127, + 0.29902533538235126, + -0.032761154193551564, + -0.9536826283284072 + ], + [ + 0.9449255843456662, + 0.0067164549169194876, + 0.3272163340702149, + -0.0076659451396320225, + -0.9990609096557549, + 0.04264425029159394, + 0.32719546655495957, + -0.04280406559154101, + -0.943986725878451 + ], + [ + 0.9418152412331414, + -0.01233065770478436, + 0.3359047577238632, + -0.031137099828559375, + -0.9982305142690712, + 0.05065887282966398, + 0.33468572182754697, + -0.05817039850880499, + -0.9405326535225137 + ], + [ + 0.9401870244012218, + -0.015840137496586332, + 0.3402902425748731, + -0.03544850817174663, + -0.9980445549515802, + 0.0514827116603258, + 0.3388093304736078, + -0.06046615892870882, + -0.938910049583257 + ], + [ + 0.9442383433268888, + -0.0047005338019324525, + 0.32922918457097455, + -0.028241783217627013, + -0.9973694003641786, + 0.06675837698661308, + 0.32804931439035273, + -0.07233383854860104, + -0.9418871817414461 + ], + [ + 0.939146146478252, + -0.002325240129002348, + 0.3435099835716457, + -0.033273013836314876, + -0.9958909857599946, + 0.08422618970507269, + 0.3419026500413505, + -0.09053031393035689, + -0.9353645493359116 + ], + [ + 0.9264193057190736, + -0.009810483943033119, + 0.37636554623901625, + -0.04095180103169358, + -0.9963549918302917, + 0.07483101126618377, + 0.37425956231371055, + -0.08473774046823901, + -0.9234442567676119 + ], + [ + 0.9109568828909183, + -0.01955542574555206, + 0.41203779297240706, + -0.04273848089125183, + -0.9979742971551483, + 0.04712456332737696, + 0.4102815859440563, + -0.06053831465772779, + -0.9099473241312553 + ], + [ + 0.9030764992642644, + -0.022015166356412066, + 0.42891510689983986, + -0.03879119602039552, + -0.998784519955943, + 0.03040930462348858, + 0.42772430324673955, + -0.044100058352301255, + -0.9028328224347048 + ], + [ + 0.9106016153856574, + -0.021371919934598565, + 0.4127322850169835, + -0.031735199495825046, + -0.9993293207935265, + 0.018269803373579283, + 0.4120650132806613, + -0.02973465386814132, + -0.9106691359595703 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006308.json b/json/chunk-0006/episode_0006308.json new file mode 100644 index 0000000000000000000000000000000000000000..56da9f32cdf47909789f1d19ca763d51a33ddee9 --- /dev/null +++ b/json/chunk-0006/episode_0006308.json @@ -0,0 +1,2542 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 41, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nFold the cloth from to top left to right." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006308.mp4", + "start": 0, + "end": 41, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.11751218885183334, + -0.018418114632368088, + 0.2397788017988205, + -0.03778596967458725, + -0.10427991300821304, + 0.029103808104991913, + 0.0, + 1.0001531839370728 + ], + [ + 0.11609556525945663, + -0.01823580078780651, + 0.23775795102119446, + -0.03657633438706398, + -0.09670538455247879, + 0.02895088493824005, + 0.0, + 1.0001531839370728 + ], + [ + 0.11633546650409698, + -0.018267478793859482, + 0.23778273165225983, + -0.036825451999902725, + -0.09821886569261551, + 0.029006721451878548, + 0.0, + 1.0001531839370728 + ], + [ + 0.11633546650409698, + -0.018267478793859482, + 0.23778273165225983, + -0.036825451999902725, + -0.09821886569261551, + 0.029006721451878548, + 0.0, + 1.0001531839370728 + ], + [ + 0.1189371645450592, + -0.018423710018396378, + 0.23631010949611664, + -0.03835830092430115, + -0.10408661514520645, + 0.03558707237243652, + 0.0, + 1.0001531839370728 + ], + [ + 0.1695452779531479, + 0.019084736704826355, + 0.18192820250988007, + -0.006475646048784256, + -0.025307321920990944, + 0.3054323196411133, + 0.0, + 1.0001531839370728 + ], + [ + 0.19960419833660126, + 0.05051615089178085, + 0.15701131522655487, + 0.020449243485927582, + -0.0051781851798295975, + 0.47758883237838745, + 0.0, + 1.0001531839370728 + ], + [ + 0.21125386655330658, + 0.0913097932934761, + 0.1399354785680771, + 0.06386908888816833, + -0.06856992095708847, + 0.6282452940940857, + 0.0, + 1.0001531839370728 + ], + [ + 0.22043529152870178, + 0.1328410655260086, + 0.1220570057630539, + 0.06230168417096138, + -0.15427668392658234, + 0.7158331871032715, + 0.0, + 1.0001531839370728 + ], + [ + 0.21785379946231842, + 0.15810337662696838, + 0.09907907992601395, + -0.00950403232127428, + -0.2084786742925644, + 0.776045560836792, + 0.0, + 1.0001531839370728 + ], + [ + 0.22107848525047302, + 0.1699264794588089, + 0.08329461514949799, + -0.0013244871515780687, + -0.22637608647346497, + 0.7790237665176392, + 0.0, + 1.0001531839370728 + ], + [ + 0.22056639194488525, + 0.18629154562950134, + 0.06289533525705338, + 0.0005962617578916252, + -0.16097739338874817, + 0.8125596046447754, + 0.0, + 1.0001531839370728 + ], + [ + 0.2262883484363556, + 0.19032169878482819, + 0.044520244002342224, + -0.0010539315408095717, + -0.10879935324192047, + 0.8549613356590271, + 0.0, + 1.0001531839370728 + ], + [ + 0.22565048933029175, + 0.19233134388923645, + 0.033107031136751175, + 0.008509480394423008, + -0.09416167438030243, + 0.8830699324607849, + 0.0, + 1.0001531839370728 + ], + [ + 0.2271421253681183, + 0.19948260486125946, + 0.023841042071580887, + 0.03589176759123802, + -0.12270759791135788, + 0.9005800485610962, + 0.0, + 1.0001531839370728 + ], + [ + 0.2269025444984436, + 0.20356853306293488, + 0.015165396966040134, + 0.0544557198882103, + -0.12819862365722656, + 0.9147704243659973, + 0.0, + 1.0001531839370728 + ], + [ + 0.22441914677619934, + 0.20935820043087006, + 0.002891043433919549, + 0.09046284109354019, + -0.1344517022371292, + 0.9316257238388062, + 0.0, + 1.0001531839370728 + ], + [ + 0.22374273836612701, + 0.21674785017967224, + -0.002247545635327697, + 0.12210604548454285, + -0.18306463956832886, + 0.9099782705307007, + 0.0, + 1.0001531839370728 + ], + [ + 0.22379149496555328, + 0.2205531746149063, + -0.006061788182705641, + 0.13910147547721863, + -0.2041320651769638, + 0.8786062002182007, + 0.0, + 0.9865638017654419 + ], + [ + 0.2210640013217926, + 0.22159001231193542, + -0.007576854899525642, + 0.14473874866962433, + -0.2080378234386444, + 0.8720221519470215, + 0.0, + 0.9007430672645569 + ], + [ + 0.21700197458267212, + 0.22224147617816925, + -0.012272082269191742, + 0.14556659758090973, + -0.18854941427707672, + 0.8900812864303589, + 0.0, + 0.6049063205718994 + ], + [ + 0.21641811728477478, + 0.21993085741996765, + -0.012739022262394428, + 0.1393454521894455, + -0.17701055109500885, + 0.9048259854316711, + 0.0, + 0.3142010271549225 + ], + [ + 0.2169710099697113, + 0.21990475058555603, + -0.012744839303195477, + 0.13523398339748383, + -0.17995072901248932, + 0.9117770791053772, + 0.0, + 0.1302075982093811 + ], + [ + 0.21607792377471924, + 0.21754665672779083, + -0.012684335932135582, + 0.1274176388978958, + -0.1626640260219574, + 0.9162321090698242, + 0.0, + 0.056468017399311066 + ], + [ + 0.2185836285352707, + 0.21334029734134674, + 0.009854926727712154, + 0.0974573940038681, + -0.17424626648426056, + 0.9091063141822815, + 0.0, + 0.04910881817340851 + ], + [ + 0.22587154805660248, + 0.20149113237857819, + 0.05066005885601044, + 0.004012520425021648, + -0.1795739382505417, + 0.9290041923522949, + 0.0, + 0.04910881817340851 + ], + [ + 0.24152158200740814, + 0.18826423585414886, + 0.08482541888952255, + -0.04416222497820854, + -0.16933831572532654, + 0.9437801241874695, + 0.0, + 0.0488569512963295 + ], + [ + 0.26711300015449524, + 0.17161425948143005, + 0.09620898962020874, + -0.04354318976402283, + -0.11811675131320953, + 0.9545624256134033, + 0.0, + 0.0488569512963295 + ], + [ + 0.29358425736427307, + 0.15503112971782684, + 0.09788557142019272, + -0.026656970381736755, + -0.06060241535305977, + 0.9816147089004517, + 0.0, + 0.0488569512963295 + ], + [ + 0.3250816762447357, + 0.13742351531982422, + 0.10222616791725159, + -0.013183129020035267, + -0.011398319154977798, + 1.0078469514846802, + 0.0, + 0.04910881817340851 + ], + [ + 0.3480333387851715, + 0.1216060146689415, + 0.10172029584646225, + 0.014305315911769867, + -0.00580435199663043, + 1.0157945156097412, + 0.0, + 0.04910881817340851 + ], + [ + 0.3697957694530487, + 0.10785315930843353, + 0.10553628206253052, + 0.01426433864980936, + -0.017493855208158493, + 1.022222638130188, + 0.0, + 0.0488569512963295 + ], + [ + 0.38949111104011536, + 0.0922655463218689, + 0.11048737168312073, + 0.02001415379345417, + -0.016370130702853203, + 1.024560570716858, + 0.0, + 0.04910881817340851 + ], + [ + 0.4074248671531677, + 0.07730130106210709, + 0.1161869466304779, + 0.030591633170843124, + -0.011843922547996044, + 1.0307759046554565, + 0.0, + 0.04910881817340851 + ], + [ + 0.42360296845436096, + 0.06513609737157822, + 0.11397862434387207, + 0.053292546421289444, + -0.018925171345472336, + 1.0481570959091187, + 0.0, + 0.0488569512963295 + ], + [ + 0.43662509322166443, + 0.05458567664027214, + 0.10074649006128311, + 0.07823890447616577, + -0.044184450060129166, + 1.0473995208740234, + 0.0, + 0.04910881817340851 + ], + [ + 0.44732218980789185, + 0.04637151211500168, + 0.08715894818305969, + 0.09729118645191193, + -0.06760804355144501, + 1.0384728908538818, + 0.0, + 0.04910881817340851 + ], + [ + 0.4578271806240082, + 0.04151906445622444, + 0.0736626386642456, + 0.11431712657213211, + -0.0909208357334137, + 1.0412218570709229, + 0.0, + 0.06742517650127411 + ], + [ + 0.4644852578639984, + 0.033736590296030045, + 0.06643806397914886, + 0.125701442360878, + -0.10552030801773071, + 1.046707034111023, + 0.0, + 0.20989185571670532 + ], + [ + 0.46983247995376587, + 0.029502106830477715, + 0.061902549117803574, + 0.1284010410308838, + -0.11577080190181732, + 1.0534131526947021, + 0.0, + 0.4860933721065521 + ], + [ + 0.4747464060783386, + 0.019332263618707657, + 0.06626531481742859, + 0.1115628108382225, + -0.12043652683496475, + 1.046248435974121, + 0.0, + 0.7672095894813538 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9865638017654419 + ], + [ + 0.9007430672645569 + ], + [ + 0.6049063205718994 + ], + [ + 0.3142010271549225 + ], + [ + 0.1302075982093811 + ], + [ + 0.056468017399311066 + ], + [ + 0.04910881817340851 + ], + [ + 0.04910881817340851 + ], + [ + 0.0488569512963295 + ], + [ + 0.0488569512963295 + ], + [ + 0.0488569512963295 + ], + [ + 0.04910881817340851 + ], + [ + 0.04910881817340851 + ], + [ + 0.0488569512963295 + ], + [ + 0.04910881817340851 + ], + [ + 0.04910881817340851 + ], + [ + 0.0488569512963295 + ], + [ + 0.04910881817340851 + ], + [ + 0.04910881817340851 + ], + [ + 0.06742517650127411 + ], + [ + 0.20989185571670532 + ], + [ + 0.4860933721065521 + ], + [ + 0.7672095894813538 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.11751218885183334, + -0.018418114632368088, + 0.2397788017988205 + ], + [ + 0.11609556525945663, + -0.01823580078780651, + 0.23775795102119446 + ], + [ + 0.11633546650409698, + -0.018267478793859482, + 0.23778273165225983 + ], + [ + 0.11633546650409698, + -0.018267478793859482, + 0.23778273165225983 + ], + [ + 0.1189371645450592, + -0.018423710018396378, + 0.23631010949611664 + ], + [ + 0.1695452779531479, + 0.019084736704826355, + 0.18192820250988007 + ], + [ + 0.19960419833660126, + 0.05051615089178085, + 0.15701131522655487 + ], + [ + 0.21125386655330658, + 0.0913097932934761, + 0.1399354785680771 + ], + [ + 0.22043529152870178, + 0.1328410655260086, + 0.1220570057630539 + ], + [ + 0.21785379946231842, + 0.15810337662696838, + 0.09907907992601395 + ], + [ + 0.22107848525047302, + 0.1699264794588089, + 0.08329461514949799 + ], + [ + 0.22056639194488525, + 0.18629154562950134, + 0.06289533525705338 + ], + [ + 0.2262883484363556, + 0.19032169878482819, + 0.044520244002342224 + ], + [ + 0.22565048933029175, + 0.19233134388923645, + 0.033107031136751175 + ], + [ + 0.2271421253681183, + 0.19948260486125946, + 0.023841042071580887 + ], + [ + 0.2269025444984436, + 0.20356853306293488, + 0.015165396966040134 + ], + [ + 0.22441914677619934, + 0.20935820043087006, + 0.002891043433919549 + ], + [ + 0.22374273836612701, + 0.21674785017967224, + -0.002247545635327697 + ], + [ + 0.22379149496555328, + 0.2205531746149063, + -0.006061788182705641 + ], + [ + 0.2210640013217926, + 0.22159001231193542, + -0.007576854899525642 + ], + [ + 0.21700197458267212, + 0.22224147617816925, + -0.012272082269191742 + ], + [ + 0.21641811728477478, + 0.21993085741996765, + -0.012739022262394428 + ], + [ + 0.2169710099697113, + 0.21990475058555603, + -0.012744839303195477 + ], + [ + 0.21607792377471924, + 0.21754665672779083, + -0.012684335932135582 + ], + [ + 0.2185836285352707, + 0.21334029734134674, + 0.009854926727712154 + ], + [ + 0.22587154805660248, + 0.20149113237857819, + 0.05066005885601044 + ], + [ + 0.24152158200740814, + 0.18826423585414886, + 0.08482541888952255 + ], + [ + 0.26711300015449524, + 0.17161425948143005, + 0.09620898962020874 + ], + [ + 0.29358425736427307, + 0.15503112971782684, + 0.09788557142019272 + ], + [ + 0.3250816762447357, + 0.13742351531982422, + 0.10222616791725159 + ], + [ + 0.3480333387851715, + 0.1216060146689415, + 0.10172029584646225 + ], + [ + 0.3697957694530487, + 0.10785315930843353, + 0.10553628206253052 + ], + [ + 0.38949111104011536, + 0.0922655463218689, + 0.11048737168312073 + ], + [ + 0.4074248671531677, + 0.07730130106210709, + 0.1161869466304779 + ], + [ + 0.42360296845436096, + 0.06513609737157822, + 0.11397862434387207 + ], + [ + 0.43662509322166443, + 0.05458567664027214, + 0.10074649006128311 + ], + [ + 0.44732218980789185, + 0.04637151211500168, + 0.08715894818305969 + ], + [ + 0.4578271806240082, + 0.04151906445622444, + 0.0736626386642456 + ], + [ + 0.4644852578639984, + 0.033736590296030045, + 0.06643806397914886 + ], + [ + 0.46983247995376587, + 0.029502106830477715, + 0.061902549117803574 + ], + [ + 0.4747464060783386, + 0.019332263618707657, + 0.06626531481742859 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9941465897272416, + 0.025148349121502753, + 0.10507196900295725, + 0.028941623527465224, + -0.998977438667109, + -0.034734125319298766, + 0.10409102056032436, + 0.03757176560351259, + -0.9938578479179729 + ], + [ + 0.9949105875990464, + 0.025398129187446074, + 0.09750824435450717, + 0.028811591909727156, + -0.9990145995174368, + -0.03375977077296082, + 0.09655472466403611, + 0.03639732112111158, + -0.9946619627593382 + ], + [ + 0.9947617656021447, + 0.025374184102096617, + 0.09902111127056136, + 0.02886287287637774, + -0.9990063484380817, + -0.0339595398928262, + 0.09806102317142139, + 0.03663968560950412, + -0.994505690870098 + ], + [ + 0.9947617656021447, + 0.025374184102096617, + 0.09902111127056136, + 0.02886287287637774, + -0.9990063484380817, + -0.0339595398928262, + 0.09806102317142139, + 0.03663968560950412, + -0.994505690870098 + ], + [ + 0.9939581508443487, + 0.03157150908898862, + 0.10512104539019074, + 0.035387000411635366, + -0.9987734865939152, + -0.034630660965404944, + 0.10389877079133109, + 0.03814134621218569, + -0.993856268852379 + ], + [ + 0.9534116480299469, + 0.30054293046269276, + 0.026080190753080552, + 0.3006092240371778, + -0.9537463186792681, + 0.0014331885812133602, + 0.025304620617307205, + 0.006473527217872796, + -0.9996588266107458 + ], + [ + 0.8880938636932716, + 0.4596370757058222, + -0.004800823570699607, + 0.45963297956984733, + -0.887871418942167, + 0.02053941375422258, + 0.0051781620388947494, + -0.020447544161172067, + -0.9997775175386151 + ], + [ + 0.8071587517241297, + 0.5900657592706252, + 0.01780868472193668, + 0.5863448472682703, + -0.8048402368999256, + 0.09182544935267467, + 0.06851619952313193, + -0.06367568455267944, + -0.9956158584512674 + ], + [ + 0.7455849288801306, + 0.6621921918597912, + 0.07486397576095273, + 0.6484520446880714, + -0.74680422880978, + 0.1476258431701221, + 0.15366541434776526, + -0.061521905625196764, + -0.9862058586124778 + ], + [ + 0.6982354806368335, + 0.6990271759145589, + 0.1543639236115964, + 0.685295488061917, + -0.7150346513668442, + 0.13818661797248966, + 0.20697175561372944, + 0.009298100752961641, + -0.9783027331560301 + ], + [ + 0.6934441290605192, + 0.702372907507139, + 0.1606472491873577, + 0.6846594310439238, + -0.7118080028412684, + 0.15675085509729908, + 0.224447551454917, + 0.0012906940349495521, + -0.9744853158230757 + ], + [ + 0.678751825901545, + 0.7261152325736452, + 0.10978446092156773, + 0.7166626165731168, + -0.6875727762427961, + 0.11678343793683615, + 0.16028303978241676, + -0.0005885527115674569, + -0.9870709198248185 + ], + [ + 0.6523674140465473, + 0.7544700226368611, + 0.07205374405647261, + 0.7500840562139152, + -0.6563336706796219, + 0.08124051542115293, + 0.10858483183162213, + 0.0010476996461720595, + -0.9940866343642039 + ], + [ + 0.6319699855229034, + 0.7731711517227269, + 0.05310656778528864, + 0.769268282194425, + -0.6341408366860799, + 0.07804940266726772, + 0.0940225898804112, + -0.008471681700273653, + -0.9955340191080109 + ], + [ + 0.6164849437645047, + 0.7859108579958768, + 0.04785851435074025, + 0.777794690521299, + -0.6173133311740444, + 0.11815104972737729, + 0.12239989178325288, + -0.035614244888656235, + -0.9918416668261414 + ], + [ + 0.6049669588423294, + 0.7954924837200225, + 0.03473740137103707, + 0.7859197985218288, + -0.6035541691832237, + 0.13435935082068517, + 0.1278477571194372, + -0.053982156371322226, + -0.9903236227582531 + ], + [ + 0.5911462838805988, + 0.8065328438255147, + 0.007130419685118655, + 0.79534739436235, + -0.5843716206269067, + 0.16103518648699897, + 0.1340469818204742, + -0.08952419134853953, + -0.9869229077431585 + ], + [ + 0.6035071798160437, + 0.7972213525382559, + 0.014737671714332337, + 0.7762983440822357, + -0.5916872868252633, + 0.2174098332287147, + 0.18204385429248732, + -0.1197675651686742, + -0.9759691416473695 + ], + [ + 0.6249735101951513, + 0.7803529305609823, + 0.021387270027688712, + 0.7538659024180304, + -0.6104216467937044, + 0.24304652702128912, + 0.20271732221445538, + -0.13577450751355416, + -0.969778825497676 + ], + [ + 0.6294092880348752, + 0.7767889667578409, + 0.021043983907943917, + 0.749122819522072, + -0.6137450048761429, + 0.24926305434396928, + 0.20654043044094994, + -0.14112395300894004, + -0.9682071475053249 + ], + [ + 0.6181950086324547, + 0.7860146386418211, + 0.003989880034173304, + 0.7633500810106041, + -0.6015644441005512, + 0.23540788732559342, + 0.18743421545444616, + -0.14248230569008435, + -0.9718884747964727 + ], + [ + 0.6081686330393684, + 0.7938064788603315, + -0.001479157323634711, + 0.7740310467096195, + -0.5926024363787107, + 0.2229311353930335, + 0.17608762738090641, + -0.13672463756535674, + -0.9748330733853796 + ], + [ + 0.6024539894706282, + 0.7981510888365765, + 0.002007476005314479, + 0.7778270739934426, + -0.5876734729720142, + 0.22276654176022725, + 0.1789810982582352, + -0.13264512261669842, + -0.9748697543324838 + ], + [ + 0.6007768558894542, + 0.7994110933827925, + -0.003012175975994652, + 0.7828410644504455, + -0.5875524006763926, + 0.2047975690029097, + 0.16194763733279852, + -0.12539569464673136, + -0.9787997152259437 + ], + [ + 0.6051467412793666, + 0.7955763758150788, + 0.029251525838979123, + 0.7770081709633628, + -0.5982264485832738, + 0.19591686622548282, + 0.17336586681101157, + -0.09582977856798379, + -0.9801841305410317 + ], + [ + 0.5890058721787634, + 0.8014467925802216, + 0.10370690045416464, + 0.7881436512741908, + -0.598053051203173, + 0.14547210352078582, + 0.17861037902406857, + -0.0039479880256654415, + -0.9839119604392602 + ], + [ + 0.5783388374877861, + 0.804626840783477, + 0.13453563150361916, + 0.7981990805276581, + -0.5921840675252841, + 0.11043666969811816, + 0.16853016613674107, + 0.04351640219516436, + -0.9847354496726068 + ], + [ + 0.5739388208361429, + 0.8123226697112583, + 0.10356693589361277, + 0.8103748666486327, + -0.5816041452366774, + 0.07091680864029876, + 0.11784229054727632, + 0.043226132335518475, + -0.9920910724534736 + ], + [ + 0.5546607106321093, + 0.8302033079303478, + 0.05580289941026206, + 0.8298694700128494, + -0.5568255091901171, + 0.0355248512419047, + 0.06056532689316686, + 0.02660488332383969, + -0.9978096117805485 + ], + [ + 0.5336480891556659, + 0.8455310839380736, + 0.01723087447035175, + 0.8456298249750882, + -0.5337634530849541, + 0.0026029336196221877, + 0.01139807234178633, + 0.01318189081022084, + -0.9998481493214653 + ], + [ + 0.5269359630363074, + 0.849856276887127, + -0.00909942275913683, + 0.8498851691465419, + -0.526820355932872, + 0.012470438625615818, + 0.005804319404763141, + -0.014304587037458938, + -0.9998808372330847 + ], + [ + 0.521390940180556, + 0.8533124787649463, + -0.003049767476211638, + 0.8531386075811201, + -0.5212047757700479, + 0.02236287032207149, + 0.017492962933236204, + -0.01426167236046209, + -0.9997452680304615 + ], + [ + 0.5194048200164867, + 0.8544850449332614, + -0.008598891151972677, + 0.8543715091817657, + -0.5190904568909639, + 0.024380768306235815, + 0.016369399564828184, + -0.020010136184764705, + -0.9996657627466063 + ], + [ + 0.5141174458719888, + 0.8574831323796166, + -0.020147693031800102, + 0.8576380238235533, + -0.5136022320798481, + 0.025879862724291068, + 0.011843645641987446, + -0.030584716559726825, + -0.9994620068671286 + ], + [ + 0.49907939084510783, + 0.865777769046983, + -0.036723510966476094, + 0.8663496074225525, + -0.4975866386337294, + 0.04296387752490795, + 0.01892404165248488, + -0.053257785132459254, + -0.9984014668310136 + ], + [ + 0.4993372626412175, + 0.8652023448779198, + -0.04568589011637065, + 0.8652810541247464, + -0.49530594040163384, + 0.07720571724698276, + 0.04417007483289647, + -0.07808282666888074, + -0.9959679094572546 + ], + [ + 0.5063771572610061, + 0.8608860756998826, + -0.049571557069735456, + 0.8596617282537715, + -0.4994822133257786, + 0.10723446995681843, + 0.06755655097768577, + -0.09691585647992373, + -0.9929971949521116 + ], + [ + 0.5030795800936501, + 0.8626210454709307, + -0.05287596810872433, + 0.8594574401986657, + -0.49293064475484444, + 0.13547061655108078, + 0.09079561982801482, + -0.1135971450882961, + -0.9893694173805023 + ], + [ + 0.49764132570280845, + 0.8655569277321529, + -0.05625225157830031, + 0.8609644825451319, + -0.48504408180650255, + 0.15320704455174494, + 0.10532459707278632, + -0.12467334742984948, + -0.9865917522927564 + ], + [ + 0.4912966257114417, + 0.8692776389035851, + -0.05462611158375116, + 0.8632986268600248, + -0.4776805884449238, + 0.16290100148405343, + 0.11551236481930299, + -0.12719135947508484, + -0.9851290532964362 + ], + [ + 0.49719392200382195, + 0.8668685946612448, + -0.036565605594547225, + 0.8592806542059018, + -0.4861306890530769, + 0.159102829856222, + 0.12014558348077004, + -0.11052507747483933, + -0.986584637027785 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.001416623592376709, + 0.00018231384456157684, + -0.0020208507776260376, + 0.0012096352875232697, + 0.007574528455734253, + -0.00015292316675186157, + 1.0 + ], + [ + 0.00023990124464035034, + -3.1678006052970886e-05, + 2.4780631065368652e-05, + -0.0002491176128387451, + -0.0015134811401367188, + 5.58365136384964e-05, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0026016980409622192, + -0.00015623122453689575, + -0.0014726221561431885, + -0.0015328489243984222, + -0.005867749452590942, + 0.006580350920557976, + 1.0 + ], + [ + 0.050608113408088684, + 0.03750844672322273, + -0.05438190698623657, + 0.03188265487551689, + 0.07877929508686066, + 0.26984524726867676, + 1.0 + ], + [ + 0.03005892038345337, + 0.0314314141869545, + -0.024916887283325195, + 0.026924889534711838, + 0.020129136741161346, + 0.17215651273727417, + 1.0 + ], + [ + 0.011649668216705322, + 0.04079364240169525, + -0.017075836658477783, + 0.04341984540224075, + -0.06339173763990402, + 0.15065646171569824, + 1.0 + ], + [ + 0.009181424975395203, + 0.0415312722325325, + -0.017878472805023193, + -0.001567404717206955, + -0.08570676296949387, + 0.08758789300918579, + 1.0 + ], + [ + -0.002581492066383362, + 0.025262311100959778, + -0.022977925837039948, + -0.07180571556091309, + -0.054201990365982056, + 0.06021237373352051, + 1.0 + ], + [ + 0.003224685788154602, + 0.011823102831840515, + -0.01578446477651596, + 0.008179545402526855, + -0.017897412180900574, + 0.002978205680847168, + 1.0 + ], + [ + -0.0005120933055877686, + 0.016365066170692444, + -0.02039927989244461, + 0.0019207489676773548, + 0.0653986930847168, + 0.03353583812713623, + 1.0 + ], + [ + 0.005721956491470337, + 0.004030153155326843, + -0.01837509125471115, + -0.001650193240493536, + 0.0521780401468277, + 0.04240173101425171, + 1.0 + ], + [ + -0.0006378591060638428, + 0.002009645104408264, + -0.01141321286559105, + 0.009563411585986614, + 0.014637678861618042, + 0.028108596801757812, + 1.0 + ], + [ + 0.001491636037826538, + 0.00715126097202301, + -0.009265989065170288, + 0.02738228812813759, + -0.02854592353105545, + 0.01751011610031128, + 1.0 + ], + [ + -0.00023958086967468262, + 0.004085928201675415, + -0.008675645105540752, + 0.018563952296972275, + -0.005491025745868683, + 0.014190375804901123, + 1.0 + ], + [ + -0.0024833977222442627, + 0.005789667367935181, + -0.012274353764951229, + 0.036007121205329895, + -0.006253078579902649, + 0.016855299472808838, + 1.0 + ], + [ + -0.0006764084100723267, + 0.007389649748802185, + -0.005138589069247246, + 0.031643204391002655, + -0.048612937331199646, + -0.02164745330810547, + 1.0 + ], + [ + 4.875659942626953e-05, + 0.00380532443523407, + -0.003814242547377944, + 0.01699542999267578, + -0.02106742560863495, + -0.0313720703125, + 1.0 + ], + [ + -0.002727493643760681, + 0.0010368376970291138, + -0.0015150667168200016, + 0.005637273192405701, + -0.003905758261680603, + -0.006584048271179199, + 0.0 + ], + [ + -0.004062026739120483, + 0.0006514638662338257, + -0.0046952273696660995, + 0.0008278489112854004, + 0.019488409161567688, + 0.018059134483337402, + 0.0 + ], + [ + -0.0005838572978973389, + -0.002310618758201599, + -0.0004669399932026863, + -0.006221145391464233, + 0.011538863182067871, + 0.014744699001312256, + 0.0 + ], + [ + 0.0005528926849365234, + -2.6106834411621094e-05, + -5.817040801048279e-06, + -0.00411146879196167, + -0.0029401779174804688, + 0.006951093673706055, + 0.0 + ], + [ + -0.0008930861949920654, + -0.0023580938577651978, + 6.050337105989456e-05, + -0.007816344499588013, + 0.01728670299053192, + 0.0044550299644470215, + 0.0 + ], + [ + 0.0025057047605514526, + -0.004206359386444092, + 0.022539261728525162, + -0.02996024489402771, + -0.011582240462303162, + -0.007125794887542725, + 0.0 + ], + [ + 0.007287919521331787, + -0.011849164962768555, + 0.04080513119697571, + -0.09344487637281418, + -0.005327671766281128, + 0.019897878170013428, + 0.0 + ], + [ + 0.015650033950805664, + -0.013226896524429321, + 0.034165360033512115, + -0.048174746334552765, + 0.010235622525215149, + 0.01477593183517456, + 0.0 + ], + [ + 0.025591418147087097, + -0.01664997637271881, + 0.011383570730686188, + 0.0006190352141857147, + 0.051221564412117004, + 0.010782301425933838, + 0.0 + ], + [ + 0.026471257209777832, + -0.01658312976360321, + 0.0016765817999839783, + 0.016886219382286072, + 0.057514335960149765, + 0.02705228328704834, + 0.0 + ], + [ + 0.031497418880462646, + -0.017607614398002625, + 0.004340596497058868, + 0.013473841361701488, + 0.04920409619808197, + 0.026232242584228516, + 0.0 + ], + [ + 0.02295166254043579, + -0.01581750065088272, + -0.0005058720707893372, + 0.02748844400048256, + 0.005593967158347368, + 0.007947564125061035, + 0.0 + ], + [ + 0.021762430667877197, + -0.013752855360507965, + 0.003815986216068268, + -4.097726196050644e-05, + -0.011689502745866776, + 0.006428122520446777, + 0.0 + ], + [ + 0.01969534158706665, + -0.015587612986564636, + 0.00495108962059021, + 0.00574981514364481, + 0.0011237245053052902, + 0.002337932586669922, + 0.0 + ], + [ + 0.017933756113052368, + -0.01496424525976181, + 0.005699574947357178, + 0.010577479377388954, + 0.004526208154857159, + 0.006215333938598633, + 0.0 + ], + [ + 0.016178101301193237, + -0.01216520369052887, + -0.002208322286605835, + 0.02270091325044632, + -0.007081248797476292, + 0.01738119125366211, + 0.0 + ], + [ + 0.013022124767303467, + -0.010550420731306076, + -0.013232134282588959, + 0.024946358054876328, + -0.02525927871465683, + -0.0007575750350952148, + 0.0 + ], + [ + 0.010697096586227417, + -0.008214164525270462, + -0.01358754187822342, + 0.019052281975746155, + -0.02342359349131584, + -0.008926630020141602, + 0.0 + ], + [ + 0.010504990816116333, + -0.004852447658777237, + -0.013496309518814087, + 0.017025940120220184, + -0.02331279218196869, + 0.0027489662170410156, + 1.0 + ], + [ + 0.006658077239990234, + -0.007782474160194397, + -0.007224574685096741, + 0.01138431578874588, + -0.014599472284317017, + 0.005485177040100098, + 1.0 + ], + [ + 0.005347222089767456, + -0.00423448346555233, + -0.004535514861345291, + 0.0026995986700057983, + -0.010250493884086609, + 0.006706118583679199, + 1.0 + ], + [ + 0.004913926124572754, + -0.010169843211770058, + 0.004362765699625015, + -0.016838230192661285, + -0.00466572493314743, + -0.007164716720581055, + 1.0 + ], + [ + 0.0006885528564453125, + -0.01238211803138256, + 0.006611987948417664, + -0.017279915511608124, + 0.017154015600681305, + -0.0236893892288208, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9865638017654419 + ], + [ + 0.9007430672645569 + ], + [ + 0.6049063205718994 + ], + [ + 0.3142010271549225 + ], + [ + 0.1302075982093811 + ], + [ + 0.056468017399311066 + ], + [ + 0.04910881817340851 + ], + [ + 0.04910881817340851 + ], + [ + 0.0488569512963295 + ], + [ + 0.0488569512963295 + ], + [ + 0.0488569512963295 + ], + [ + 0.04910881817340851 + ], + [ + 0.04910881817340851 + ], + [ + 0.0488569512963295 + ], + [ + 0.04910881817340851 + ], + [ + 0.04910881817340851 + ], + [ + 0.0488569512963295 + ], + [ + 0.04910881817340851 + ], + [ + 0.04910881817340851 + ], + [ + 0.06742517650127411 + ], + [ + 0.20989185571670532 + ], + [ + 0.4860933721065521 + ], + [ + 0.7672095894813538 + ], + [ + 0.9913908839225769 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.11609556525945663, + -0.01823580078780651, + 0.23775795102119446 + ], + [ + 0.11633546650409698, + -0.018267478793859482, + 0.23778273165225983 + ], + [ + 0.11633546650409698, + -0.018267478793859482, + 0.23778273165225983 + ], + [ + 0.1189371645450592, + -0.018423710018396378, + 0.23631010949611664 + ], + [ + 0.1695452779531479, + 0.019084736704826355, + 0.18192820250988007 + ], + [ + 0.19960419833660126, + 0.05051615089178085, + 0.15701131522655487 + ], + [ + 0.21125386655330658, + 0.0913097932934761, + 0.1399354785680771 + ], + [ + 0.22043529152870178, + 0.1328410655260086, + 0.1220570057630539 + ], + [ + 0.21785379946231842, + 0.15810337662696838, + 0.09907907992601395 + ], + [ + 0.22107848525047302, + 0.1699264794588089, + 0.08329461514949799 + ], + [ + 0.22056639194488525, + 0.18629154562950134, + 0.06289533525705338 + ], + [ + 0.2262883484363556, + 0.19032169878482819, + 0.044520244002342224 + ], + [ + 0.22565048933029175, + 0.19233134388923645, + 0.033107031136751175 + ], + [ + 0.2271421253681183, + 0.19948260486125946, + 0.023841042071580887 + ], + [ + 0.2269025444984436, + 0.20356853306293488, + 0.015165396966040134 + ], + [ + 0.22441914677619934, + 0.20935820043087006, + 0.002891043433919549 + ], + [ + 0.22374273836612701, + 0.21674785017967224, + -0.002247545635327697 + ], + [ + 0.22379149496555328, + 0.2205531746149063, + -0.006061788182705641 + ], + [ + 0.2210640013217926, + 0.22159001231193542, + -0.007576854899525642 + ], + [ + 0.21700197458267212, + 0.22224147617816925, + -0.012272082269191742 + ], + [ + 0.21641811728477478, + 0.21993085741996765, + -0.012739022262394428 + ], + [ + 0.2169710099697113, + 0.21990475058555603, + -0.012744839303195477 + ], + [ + 0.21607792377471924, + 0.21754665672779083, + -0.012684335932135582 + ], + [ + 0.2185836285352707, + 0.21334029734134674, + 0.009854926727712154 + ], + [ + 0.22587154805660248, + 0.20149113237857819, + 0.05066005885601044 + ], + [ + 0.24152158200740814, + 0.18826423585414886, + 0.08482541888952255 + ], + [ + 0.26711300015449524, + 0.17161425948143005, + 0.09620898962020874 + ], + [ + 0.29358425736427307, + 0.15503112971782684, + 0.09788557142019272 + ], + [ + 0.3250816762447357, + 0.13742351531982422, + 0.10222616791725159 + ], + [ + 0.3480333387851715, + 0.1216060146689415, + 0.10172029584646225 + ], + [ + 0.3697957694530487, + 0.10785315930843353, + 0.10553628206253052 + ], + [ + 0.38949111104011536, + 0.0922655463218689, + 0.11048737168312073 + ], + [ + 0.4074248671531677, + 0.07730130106210709, + 0.1161869466304779 + ], + [ + 0.42360296845436096, + 0.06513609737157822, + 0.11397862434387207 + ], + [ + 0.43662509322166443, + 0.05458567664027214, + 0.10074649006128311 + ], + [ + 0.44732218980789185, + 0.04637151211500168, + 0.08715894818305969 + ], + [ + 0.4578271806240082, + 0.04151906445622444, + 0.0736626386642456 + ], + [ + 0.4644852578639984, + 0.033736590296030045, + 0.06643806397914886 + ], + [ + 0.46983247995376587, + 0.029502106830477715, + 0.061902549117803574 + ], + [ + 0.4747464060783386, + 0.019332263618707657, + 0.06626531481742859 + ], + [ + 0.47543495893478394, + 0.006950145587325096, + 0.07287730276584625 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9949105875990464, + 0.025398129187446074, + 0.09750824435450717, + 0.028811591909727156, + -0.9990145995174368, + -0.03375977077296082, + 0.09655472466403611, + 0.03639732112111158, + -0.9946619627593382 + ], + [ + 0.9947617656021447, + 0.025374184102096617, + 0.09902111127056136, + 0.02886287287637774, + -0.9990063484380817, + -0.0339595398928262, + 0.09806102317142139, + 0.03663968560950412, + -0.994505690870098 + ], + [ + 0.9947617656021447, + 0.025374184102096617, + 0.09902111127056136, + 0.02886287287637774, + -0.9990063484380817, + -0.0339595398928262, + 0.09806102317142139, + 0.03663968560950412, + -0.994505690870098 + ], + [ + 0.9939581508443487, + 0.03157150908898862, + 0.10512104539019074, + 0.035387000411635366, + -0.9987734865939152, + -0.034630660965404944, + 0.10389877079133109, + 0.03814134621218569, + -0.993856268852379 + ], + [ + 0.9534116480299469, + 0.30054293046269276, + 0.026080190753080552, + 0.3006092240371778, + -0.9537463186792681, + 0.0014331885812133602, + 0.025304620617307205, + 0.006473527217872796, + -0.9996588266107458 + ], + [ + 0.8880938636932716, + 0.4596370757058222, + -0.004800823570699607, + 0.45963297956984733, + -0.887871418942167, + 0.02053941375422258, + 0.0051781620388947494, + -0.020447544161172067, + -0.9997775175386151 + ], + [ + 0.8071587517241297, + 0.5900657592706252, + 0.01780868472193668, + 0.5863448472682703, + -0.8048402368999256, + 0.09182544935267467, + 0.06851619952313193, + -0.06367568455267944, + -0.9956158584512674 + ], + [ + 0.7455849288801306, + 0.6621921918597912, + 0.07486397576095273, + 0.6484520446880714, + -0.74680422880978, + 0.1476258431701221, + 0.15366541434776526, + -0.061521905625196764, + -0.9862058586124778 + ], + [ + 0.6982354806368335, + 0.6990271759145589, + 0.1543639236115964, + 0.685295488061917, + -0.7150346513668442, + 0.13818661797248966, + 0.20697175561372944, + 0.009298100752961641, + -0.9783027331560301 + ], + [ + 0.6934441290605192, + 0.702372907507139, + 0.1606472491873577, + 0.6846594310439238, + -0.7118080028412684, + 0.15675085509729908, + 0.224447551454917, + 0.0012906940349495521, + -0.9744853158230757 + ], + [ + 0.678751825901545, + 0.7261152325736452, + 0.10978446092156773, + 0.7166626165731168, + -0.6875727762427961, + 0.11678343793683615, + 0.16028303978241676, + -0.0005885527115674569, + -0.9870709198248185 + ], + [ + 0.6523674140465473, + 0.7544700226368611, + 0.07205374405647261, + 0.7500840562139152, + -0.6563336706796219, + 0.08124051542115293, + 0.10858483183162213, + 0.0010476996461720595, + -0.9940866343642039 + ], + [ + 0.6319699855229034, + 0.7731711517227269, + 0.05310656778528864, + 0.769268282194425, + -0.6341408366860799, + 0.07804940266726772, + 0.0940225898804112, + -0.008471681700273653, + -0.9955340191080109 + ], + [ + 0.6164849437645047, + 0.7859108579958768, + 0.04785851435074025, + 0.777794690521299, + -0.6173133311740444, + 0.11815104972737729, + 0.12239989178325288, + -0.035614244888656235, + -0.9918416668261414 + ], + [ + 0.6049669588423294, + 0.7954924837200225, + 0.03473740137103707, + 0.7859197985218288, + -0.6035541691832237, + 0.13435935082068517, + 0.1278477571194372, + -0.053982156371322226, + -0.9903236227582531 + ], + [ + 0.5911462838805988, + 0.8065328438255147, + 0.007130419685118655, + 0.79534739436235, + -0.5843716206269067, + 0.16103518648699897, + 0.1340469818204742, + -0.08952419134853953, + -0.9869229077431585 + ], + [ + 0.6035071798160437, + 0.7972213525382559, + 0.014737671714332337, + 0.7762983440822357, + -0.5916872868252633, + 0.2174098332287147, + 0.18204385429248732, + -0.1197675651686742, + -0.9759691416473695 + ], + [ + 0.6249735101951513, + 0.7803529305609823, + 0.021387270027688712, + 0.7538659024180304, + -0.6104216467937044, + 0.24304652702128912, + 0.20271732221445538, + -0.13577450751355416, + -0.969778825497676 + ], + [ + 0.6294092880348752, + 0.7767889667578409, + 0.021043983907943917, + 0.749122819522072, + -0.6137450048761429, + 0.24926305434396928, + 0.20654043044094994, + -0.14112395300894004, + -0.9682071475053249 + ], + [ + 0.6181950086324547, + 0.7860146386418211, + 0.003989880034173304, + 0.7633500810106041, + -0.6015644441005512, + 0.23540788732559342, + 0.18743421545444616, + -0.14248230569008435, + -0.9718884747964727 + ], + [ + 0.6081686330393684, + 0.7938064788603315, + -0.001479157323634711, + 0.7740310467096195, + -0.5926024363787107, + 0.2229311353930335, + 0.17608762738090641, + -0.13672463756535674, + -0.9748330733853796 + ], + [ + 0.6024539894706282, + 0.7981510888365765, + 0.002007476005314479, + 0.7778270739934426, + -0.5876734729720142, + 0.22276654176022725, + 0.1789810982582352, + -0.13264512261669842, + -0.9748697543324838 + ], + [ + 0.6007768558894542, + 0.7994110933827925, + -0.003012175975994652, + 0.7828410644504455, + -0.5875524006763926, + 0.2047975690029097, + 0.16194763733279852, + -0.12539569464673136, + -0.9787997152259437 + ], + [ + 0.6051467412793666, + 0.7955763758150788, + 0.029251525838979123, + 0.7770081709633628, + -0.5982264485832738, + 0.19591686622548282, + 0.17336586681101157, + -0.09582977856798379, + -0.9801841305410317 + ], + [ + 0.5890058721787634, + 0.8014467925802216, + 0.10370690045416464, + 0.7881436512741908, + -0.598053051203173, + 0.14547210352078582, + 0.17861037902406857, + -0.0039479880256654415, + -0.9839119604392602 + ], + [ + 0.5783388374877861, + 0.804626840783477, + 0.13453563150361916, + 0.7981990805276581, + -0.5921840675252841, + 0.11043666969811816, + 0.16853016613674107, + 0.04351640219516436, + -0.9847354496726068 + ], + [ + 0.5739388208361429, + 0.8123226697112583, + 0.10356693589361277, + 0.8103748666486327, + -0.5816041452366774, + 0.07091680864029876, + 0.11784229054727632, + 0.043226132335518475, + -0.9920910724534736 + ], + [ + 0.5546607106321093, + 0.8302033079303478, + 0.05580289941026206, + 0.8298694700128494, + -0.5568255091901171, + 0.0355248512419047, + 0.06056532689316686, + 0.02660488332383969, + -0.9978096117805485 + ], + [ + 0.5336480891556659, + 0.8455310839380736, + 0.01723087447035175, + 0.8456298249750882, + -0.5337634530849541, + 0.0026029336196221877, + 0.01139807234178633, + 0.01318189081022084, + -0.9998481493214653 + ], + [ + 0.5269359630363074, + 0.849856276887127, + -0.00909942275913683, + 0.8498851691465419, + -0.526820355932872, + 0.012470438625615818, + 0.005804319404763141, + -0.014304587037458938, + -0.9998808372330847 + ], + [ + 0.521390940180556, + 0.8533124787649463, + -0.003049767476211638, + 0.8531386075811201, + -0.5212047757700479, + 0.02236287032207149, + 0.017492962933236204, + -0.01426167236046209, + -0.9997452680304615 + ], + [ + 0.5194048200164867, + 0.8544850449332614, + -0.008598891151972677, + 0.8543715091817657, + -0.5190904568909639, + 0.024380768306235815, + 0.016369399564828184, + -0.020010136184764705, + -0.9996657627466063 + ], + [ + 0.5141174458719888, + 0.8574831323796166, + -0.020147693031800102, + 0.8576380238235533, + -0.5136022320798481, + 0.025879862724291068, + 0.011843645641987446, + -0.030584716559726825, + -0.9994620068671286 + ], + [ + 0.49907939084510783, + 0.865777769046983, + -0.036723510966476094, + 0.8663496074225525, + -0.4975866386337294, + 0.04296387752490795, + 0.01892404165248488, + -0.053257785132459254, + -0.9984014668310136 + ], + [ + 0.4993372626412175, + 0.8652023448779198, + -0.04568589011637065, + 0.8652810541247464, + -0.49530594040163384, + 0.07720571724698276, + 0.04417007483289647, + -0.07808282666888074, + -0.9959679094572546 + ], + [ + 0.5063771572610061, + 0.8608860756998826, + -0.049571557069735456, + 0.8596617282537715, + -0.4994822133257786, + 0.10723446995681843, + 0.06755655097768577, + -0.09691585647992373, + -0.9929971949521116 + ], + [ + 0.5030795800936501, + 0.8626210454709307, + -0.05287596810872433, + 0.8594574401986657, + -0.49293064475484444, + 0.13547061655108078, + 0.09079561982801482, + -0.1135971450882961, + -0.9893694173805023 + ], + [ + 0.49764132570280845, + 0.8655569277321529, + -0.05625225157830031, + 0.8609644825451319, + -0.48504408180650255, + 0.15320704455174494, + 0.10532459707278632, + -0.12467334742984948, + -0.9865917522927564 + ], + [ + 0.4912966257114417, + 0.8692776389035851, + -0.05462611158375116, + 0.8632986268600248, + -0.4776805884449238, + 0.16290100148405343, + 0.11551236481930299, + -0.12719135947508484, + -0.9851290532964362 + ], + [ + 0.49719392200382195, + 0.8668685946612448, + -0.036565605594547225, + 0.8592806542059018, + -0.4861306890530769, + 0.159102829856222, + 0.12014558348077004, + -0.11052507747483933, + -0.986584637027785 + ], + [ + 0.5184063206401114, + 0.8547127584504906, + -0.026851205975444034, + 0.8488966285439901, + -0.5105853039164459, + 0.13666441186789555, + 0.10309898528612775, + -0.09364159314377517, + -0.9902534277983929 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006311.json b/json/chunk-0006/episode_0006311.json new file mode 100644 index 0000000000000000000000000000000000000000..8e191ec93b966ea4b796d74e34b031ee9faacbc0 --- /dev/null +++ b/json/chunk-0006/episode_0006311.json @@ -0,0 +1,2002 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 32, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nTake the yellow duck out of the drawer and put it on top of the drawer." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006311.mp4", + "start": 0, + "end": 32, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.15250791609287262, + 0.03476257622241974, + 0.10355038940906525, + -0.04074862599372864, + -0.1277637630701065, + 0.1377485990524292, + 0.0, + 0.9994885921478271 + ], + [ + 0.15057508647441864, + 0.03327608481049538, + 0.10079210251569748, + -0.047015152871608734, + -0.11617159843444824, + 0.14009502530097961, + 0.0, + 0.9994885921478271 + ], + [ + 0.17586439847946167, + 0.03235432505607605, + 0.10224592685699463, + -0.083651103079319, + -0.10822327435016632, + 0.1482841819524765, + 0.0, + 0.9994885921478271 + ], + [ + 0.20319464802742004, + 0.03261566534638405, + 0.09813395142555237, + -0.08236905187368393, + -0.07642216235399246, + 0.1481475830078125, + 0.0, + 0.9994885921478271 + ], + [ + 0.2299489974975586, + 0.03041219525039196, + 0.09496504813432693, + -0.09189866483211517, + -0.07267666608095169, + 0.15323589742183685, + 0.0, + 0.9994885921478271 + ], + [ + 0.25588521361351013, + 0.029632773250341415, + 0.09998930990695953, + -0.0894668772816658, + -0.10138411819934845, + 0.1476593315601349, + 0.0, + 0.9994885921478271 + ], + [ + 0.26685434579849243, + 0.027164794504642487, + 0.10520944744348526, + -0.08733313530683517, + -0.12243562191724777, + 0.14833380281925201, + 0.0, + 0.9994885921478271 + ], + [ + 0.26802361011505127, + 0.025118540972471237, + 0.10471594333648682, + -0.07043009251356125, + -0.12739434838294983, + 0.13391707837581635, + 0.0, + 0.9994885921478271 + ], + [ + 0.26655837893486023, + 0.028990112245082855, + 0.1003526821732521, + -0.044482387602329254, + -0.1312512308359146, + 0.13036732375621796, + 0.0, + 0.9994885921478271 + ], + [ + 0.2618238925933838, + 0.027004551142454147, + 0.08552809804677963, + 0.0008922372944653034, + -0.09663668274879456, + 0.09352968633174896, + 0.0, + 0.9988223910331726 + ], + [ + 0.2610505223274231, + 0.02826186828315258, + 0.08376126736402512, + 0.03947749733924866, + -0.10154341161251068, + 0.07842307537794113, + 0.0, + 0.9988223910331726 + ], + [ + 0.2600322961807251, + 0.028464054688811302, + 0.08081270009279251, + 0.05958341807126999, + -0.10026007890701294, + 0.06198957934975624, + 0.0, + 0.9657809734344482 + ], + [ + 0.25219935178756714, + 0.029342323541641235, + 0.06203079596161842, + 0.09057868272066116, + -0.052314382046461105, + 0.04394466057419777, + 0.0, + 0.7111459374427795 + ], + [ + 0.25034138560295105, + 0.02939860336482525, + 0.05743829533457756, + 0.10585777461528778, + -0.03380792587995529, + 0.03931538015604019, + 0.0, + 0.41037410497665405 + ], + [ + 0.24798887968063354, + 0.028162706643342972, + 0.05783636495471001, + 0.11048145592212677, + -0.020088663324713707, + 0.04439268633723259, + 0.0, + 0.18914839625358582 + ], + [ + 0.24654871225357056, + 0.02806064300239086, + 0.05816637724637985, + 0.11015914380550385, + -0.023464495316147804, + 0.04710610955953598, + 0.0, + 0.10121192038059235 + ], + [ + 0.24634459614753723, + 0.02576218731701374, + 0.06600706279277802, + 0.09261000156402588, + -0.05216129124164581, + 0.05887262150645256, + 0.0, + 0.08890553563833237 + ], + [ + 0.23690688610076904, + 0.02125307358801365, + 0.0989791601896286, + 0.0501096248626709, + -0.09940161556005478, + 0.09006799757480621, + 0.0, + 0.0885477215051651 + ], + [ + 0.21934160590171814, + 0.022479277104139328, + 0.13997268676757812, + -0.030353683978319168, + -0.16671444475650787, + 0.14437586069107056, + 0.0, + 0.0867718756198883 + ], + [ + 0.21345873177051544, + 0.03387108072638512, + 0.16757626831531525, + -0.08120635151863098, + -0.21247108280658722, + 0.17794567346572876, + 0.0, + 0.0867718756198883 + ], + [ + 0.21023748815059662, + 0.06787262856960297, + 0.19188502430915833, + -0.11568470299243927, + -0.2579590678215027, + 0.23176901042461395, + 0.0, + 0.0867718756198883 + ], + [ + 0.21353936195373535, + 0.09828424453735352, + 0.19561056792736053, + -0.12127644568681717, + -0.2700539529323578, + 0.26853707432746887, + 0.0, + 0.0867718756198883 + ], + [ + 0.2238951176404953, + 0.11790051311254501, + 0.18810783326625824, + -0.09179270267486572, + -0.2623451352119446, + 0.2686939239501953, + 0.0, + 0.0867718756198883 + ], + [ + 0.23510143160820007, + 0.13325975835323334, + 0.17050006985664368, + -0.06394955515861511, + -0.2534738779067993, + 0.2621713876724243, + 0.0, + 0.0867718756198883 + ], + [ + 0.24293501675128937, + 0.14785878360271454, + 0.15110260248184204, + -0.020439479500055313, + -0.23141051828861237, + 0.25130578875541687, + 0.0, + 0.0867718756198883 + ], + [ + 0.2496660351753235, + 0.16030947864055634, + 0.135666161775589, + 0.028468791395425797, + -0.22721101343631744, + 0.2212577760219574, + 0.0, + 0.0867718756198883 + ], + [ + 0.2518579661846161, + 0.16944806277751923, + 0.12397953867912292, + 0.05268637090921402, + -0.21468748152256012, + 0.20741364359855652, + 0.0, + 0.10434377193450928 + ], + [ + 0.2500779330730438, + 0.17055118083953857, + 0.1218925416469574, + 0.030728986486792564, + -0.20759785175323486, + 0.22472357749938965, + 0.0, + 0.2817513048648834 + ], + [ + 0.2453022450208664, + 0.1655416041612625, + 0.1203770861029625, + 0.006952105555683374, + -0.17122173309326172, + 0.22479291260242462, + 0.0, + 0.5779332518577576 + ], + [ + 0.24425704777240753, + 0.15900515019893646, + 0.126201793551445, + -0.03947550430893898, + -0.14953872561454773, + 0.22090695798397064, + 0.0, + 0.8818928003311157 + ], + [ + 0.23923727869987488, + 0.15265564620494843, + 0.1487843543291092, + -0.0617126040160656, + -0.17022307217121124, + 0.21634675562381744, + 0.0, + 1.0047606229782104 + ], + [ + 0.2334890514612198, + 0.1475519984960556, + 0.16653379797935486, + -0.06163309887051582, + -0.17777752876281738, + 0.20681393146514893, + 0.0, + 0.9988223910331726 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9657809734344482 + ], + [ + 0.7111459374427795 + ], + [ + 0.41037410497665405 + ], + [ + 0.18914839625358582 + ], + [ + 0.10121192038059235 + ], + [ + 0.08890553563833237 + ], + [ + 0.0885477215051651 + ], + [ + 0.0867718756198883 + ], + [ + 0.0867718756198883 + ], + [ + 0.0867718756198883 + ], + [ + 0.0867718756198883 + ], + [ + 0.0867718756198883 + ], + [ + 0.0867718756198883 + ], + [ + 0.0867718756198883 + ], + [ + 0.0867718756198883 + ], + [ + 0.10434377193450928 + ], + [ + 0.2817513048648834 + ], + [ + 0.5779332518577576 + ], + [ + 0.8818928003311157 + ], + [ + 1.0047606229782104 + ], + [ + 0.9988223910331726 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.15250791609287262, + 0.03476257622241974, + 0.10355038940906525 + ], + [ + 0.15057508647441864, + 0.03327608481049538, + 0.10079210251569748 + ], + [ + 0.17586439847946167, + 0.03235432505607605, + 0.10224592685699463 + ], + [ + 0.20319464802742004, + 0.03261566534638405, + 0.09813395142555237 + ], + [ + 0.2299489974975586, + 0.03041219525039196, + 0.09496504813432693 + ], + [ + 0.25588521361351013, + 0.029632773250341415, + 0.09998930990695953 + ], + [ + 0.26685434579849243, + 0.027164794504642487, + 0.10520944744348526 + ], + [ + 0.26802361011505127, + 0.025118540972471237, + 0.10471594333648682 + ], + [ + 0.26655837893486023, + 0.028990112245082855, + 0.1003526821732521 + ], + [ + 0.2618238925933838, + 0.027004551142454147, + 0.08552809804677963 + ], + [ + 0.2610505223274231, + 0.02826186828315258, + 0.08376126736402512 + ], + [ + 0.2600322961807251, + 0.028464054688811302, + 0.08081270009279251 + ], + [ + 0.25219935178756714, + 0.029342323541641235, + 0.06203079596161842 + ], + [ + 0.25034138560295105, + 0.02939860336482525, + 0.05743829533457756 + ], + [ + 0.24798887968063354, + 0.028162706643342972, + 0.05783636495471001 + ], + [ + 0.24654871225357056, + 0.02806064300239086, + 0.05816637724637985 + ], + [ + 0.24634459614753723, + 0.02576218731701374, + 0.06600706279277802 + ], + [ + 0.23690688610076904, + 0.02125307358801365, + 0.0989791601896286 + ], + [ + 0.21934160590171814, + 0.022479277104139328, + 0.13997268676757812 + ], + [ + 0.21345873177051544, + 0.03387108072638512, + 0.16757626831531525 + ], + [ + 0.21023748815059662, + 0.06787262856960297, + 0.19188502430915833 + ], + [ + 0.21353936195373535, + 0.09828424453735352, + 0.19561056792736053 + ], + [ + 0.2238951176404953, + 0.11790051311254501, + 0.18810783326625824 + ], + [ + 0.23510143160820007, + 0.13325975835323334, + 0.17050006985664368 + ], + [ + 0.24293501675128937, + 0.14785878360271454, + 0.15110260248184204 + ], + [ + 0.2496660351753235, + 0.16030947864055634, + 0.135666161775589 + ], + [ + 0.2518579661846161, + 0.16944806277751923, + 0.12397953867912292 + ], + [ + 0.2500779330730438, + 0.17055118083953857, + 0.1218925416469574 + ], + [ + 0.2453022450208664, + 0.1655416041612625, + 0.1203770861029625 + ], + [ + 0.24425704777240753, + 0.15900515019893646, + 0.126201793551445 + ], + [ + 0.23923727869987488, + 0.15265564620494843, + 0.1487843543291092 + ], + [ + 0.2334890514612198, + 0.1475519984960556, + 0.16653379797935486 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9824541668812039, + 0.13205796295528835, + 0.13169853605055387, + 0.13619419033303584, + -0.990418146616085, + -0.022870010342972813, + 0.1274164530085819, + 0.04040531244352119, + -0.9910259624394575 + ], + [ + 0.9835284339978202, + 0.13408873926019485, + 0.12121068237332376, + 0.1386960080881756, + -0.9898692283762506, + -0.030369854365980976, + 0.11591046914839069, + 0.046681053088138934, + -0.9921621049124897 + ], + [ + 0.9832398082919895, + 0.1382989897254447, + 0.11879759606512724, + 0.14687701230335432, + -0.9869010263994152, + -0.06673460383205504, + 0.1080121412007562, + 0.08306475505713826, + -0.9906733184155743 + ], + [ + 0.9861594219869885, + 0.1408930350284101, + 0.08739992624008171, + 0.14717543463911337, + -0.9866201296886662, + -0.07014350384680991, + 0.07634779541726526, + 0.08203579934152265, + -0.9937007304824328 + ], + [ + 0.9856734810584882, + 0.14540728280142332, + 0.0854664311080604, + 0.1522339774167142, + -0.9851291840867814, + -0.07965743393054636, + 0.07261270452151802, + 0.0915271149376998, + -0.9931516411773438 + ], + [ + 0.9840390630428411, + 0.13759041039495745, + 0.11285389392092225, + 0.14636786617051745, + -0.9864926075502419, + -0.07354442875849877, + 0.10121052395110443, + 0.08888877440977343, + -0.9908860760074649 + ], + [ + 0.981615021097172, + 0.13669173071887983, + 0.13321907186839266, + 0.14668409638761806, + -0.986823763262378, + -0.06828349820876506, + 0.12212995628979278, + 0.08656922671339795, + -0.9887315321981482 + ], + [ + 0.9830153659851826, + 0.12432545232865369, + 0.1349961930585203, + 0.13243518193859774, + -0.9897832678990278, + -0.052820499543377454, + 0.12705004062143443, + 0.06980160807887656, + -0.9894372252385165 + ], + [ + 0.982986111463869, + 0.12409945123781471, + 0.1354165088592048, + 0.12888023122109535, + -0.9912899762542903, + -0.027093707353655863, + 0.1308747136368934, + 0.04408524900963803, + -0.9904182450612565 + ], + [ + 0.990983987268467, + 0.09347905802260549, + 0.09598126217495039, + 0.09295763804278197, + -0.9956208500404621, + 0.00989951989817762, + 0.09648634362953827, + -0.0008880742725911883, + -0.9953339122209635 + ], + [ + 0.9917912144937046, + 0.08227013314992472, + 0.0978867306870353, + 0.0779391626508441, + -0.9958363158069973, + 0.04728127584183465, + 0.10136899811277503, + -0.03926394416560882, + -0.9940737743800367 + ], + [ + 0.9930670739042439, + 0.06778881008304179, + 0.09603366052998352, + 0.06163878369244845, + -0.9959388626094049, + 0.06562348885269831, + 0.10009219286327167, + -0.05924912802573521, + -0.9932125118805197 + ], + [ + 0.9976678243170789, + 0.04847579374993531, + 0.04805215648376349, + 0.043870417414831525, + -0.9947313131278184, + 0.09265528133276972, + 0.052290523025447046, + -0.09033112477612572, + -0.9945380782546264 + ], + [ + 0.9986562580659608, + 0.042653944735816914, + 0.0294333012787648, + 0.039282792309480445, + -0.9934934940053823, + 0.10689967070738425, + 0.03380148597418293, + -0.10559980287600369, + -0.9938340611885295 + ], + [ + 0.9988132348814872, + 0.046320120819829204, + 0.015052183656028614, + 0.044369152728746676, + -0.9928256554444389, + 0.11103421174328533, + 0.02008731220725016, + -0.1102345875782914, + -0.9937025891028621 + ], + [ + 0.9986157390918973, + 0.04937977359291138, + 0.018117494248835644, + 0.04707572768560459, + -0.9927145919914252, + 0.11091264450083661, + 0.02346234218518225, + -0.1099062182372361, + -0.993665004763665 + ], + [ + 0.9969097723212216, + 0.06339969572866991, + 0.04638301878880442, + 0.05875859287133545, + -0.9937059953097223, + 0.09537202236135717, + 0.05213764104973638, + -0.09235190018092015, + -0.9943604944479354 + ], + [ + 0.991030353684896, + 0.09478391877483093, + 0.09420640539197099, + 0.08950227191093353, + -0.9942493867437793, + 0.05880051260320954, + 0.09923800379880406, + -0.0498414054908681, + -0.9938146974666472 + ], + [ + 0.9758754505070057, + 0.13882471972793145, + 0.1685075733912575, + 0.14188003157747645, + -0.9898646359238685, + -0.006169212825125217, + 0.1659432485439617, + 0.029928243178788207, + -0.9856810531418916 + ], + [ + 0.9620772954445398, + 0.15958919261364016, + 0.22122063012080517, + 0.17302764653404176, + -0.9839938539598659, + -0.042632486487428206, + 0.2108760563103605, + 0.0792930322924815, + -0.9742914881619633 + ], + [ + 0.941058929727433, + 0.19950534912286247, + 0.27314045187709396, + 0.22209944091010267, + -0.9735200783291071, + -0.054134050629054936, + 0.25510768143605184, + 0.11160767339862449, + -0.9604497894793189 + ], + [ + 0.9292155414488515, + 0.23225389852130662, + 0.2874310424285655, + 0.2557050577731742, + -0.9656416580873024, + -0.04638007757240942, + 0.2667834345665691, + 0.1165946602038862, + -0.9566777327045953 + ], + [ + 0.9311305861528173, + 0.24143514703636967, + 0.2733219736981222, + 0.25638916091271635, + -0.9663705024104701, + -0.019815404043533477, + 0.2593461580536401, + 0.08852752027737934, + -0.9617184871137469 + ], + [ + 0.9349684511274857, + 0.24317057829783048, + 0.25826742970527405, + 0.25089685825332625, + -0.9680087374213243, + 0.003138597550439968, + 0.2507683431274377, + 0.06186399701176769, + -0.966068364019259 + ], + [ + 0.9427697068315415, + 0.2440767599540776, + 0.22718233895065226, + 0.24204038877707593, + -0.9695518519344862, + 0.037224408807260946, + 0.22935067054929537, + 0.019893256664702465, + -0.9731405490769877 + ], + [ + 0.950547174920753, + 0.22562371810680273, + 0.21343384473376545, + 0.21381652419688787, + -0.9738196953217172, + 0.07718610615829306, + 0.22526109790759866, + -0.02773335232494684, + -0.9739036394522218 + ], + [ + 0.9561018577252943, + 0.21662267847410624, + 0.19734196924360742, + 0.2012021459502458, + -0.9748985588009547, + 0.09534409532235072, + 0.2130420947119533, + -0.05145303896297585, + -0.9756872709337852 + ], + [ + 0.9539244617946141, + 0.22890502275948657, + 0.19398611224862147, + 0.21805233278651573, + -0.9729843875124954, + 0.07585882824887807, + 0.20610992541897258, + -0.03006446760568228, + -0.9780668823916759 + ], + [ + 0.9605855264230329, + 0.2240538348775521, + 0.16454581581810931, + 0.21964503225590398, + -0.9745526928828312, + 0.04475610126144295, + 0.17038634402993516, + -0.006850392067923088, + -0.9853535233085777 + ], + [ + 0.9648102277132274, + 0.21320719513833933, + 0.15389579734740066, + 0.21666929102742147, + -0.9762273073583085, + -0.005887503173762985, + 0.1489820218201668, + 0.03902481658110164, + -0.9880695425248096 + ], + [ + 0.9625721096180565, + 0.20405028289923002, + 0.17837717296276565, + 0.21156045932492631, + -0.97707165629893, + -0.02394056197109298, + 0.16940220138968207, + 0.06078207388704131, + -0.983670897027212 + ], + [ + 0.9632651297230073, + 0.194292546062635, + 0.1853933558793755, + 0.20210639705538255, + -0.9790685475105796, + -0.024037128464440474, + 0.17684256876954135, + 0.060623310863254745, + -0.9823703578849309 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0019328296184539795, + -0.0014864914119243622, + -0.0027582868933677673, + -0.0062665268778800964, + 0.011592164635658264, + 0.002346426248550415, + 1.0 + ], + [ + 0.02528931200504303, + -0.0009217597544193268, + 0.0014538243412971497, + -0.036635950207710266, + 0.007948324084281921, + 0.008189156651496887, + 1.0 + ], + [ + 0.027330249547958374, + 0.00026134029030799866, + -0.004111975431442261, + 0.0012820512056350708, + 0.03180111199617386, + -0.00013659894466400146, + 1.0 + ], + [ + 0.02675434947013855, + -0.0022034700959920883, + -0.0031689032912254333, + -0.009529612958431244, + 0.0037454962730407715, + 0.005088314414024353, + 1.0 + ], + [ + 0.025936216115951538, + -0.0007794220000505447, + 0.005024261772632599, + 0.0024317875504493713, + -0.02870745211839676, + -0.005576565861701965, + 1.0 + ], + [ + 0.0109691321849823, + -0.002467978745698929, + 0.005220137536525726, + 0.0021337419748306274, + -0.021051503717899323, + 0.0006744712591171265, + 1.0 + ], + [ + 0.0011692643165588379, + -0.0020462535321712494, + -0.0004935041069984436, + 0.016903042793273926, + -0.004958726465702057, + -0.014416724443435669, + 1.0 + ], + [ + -0.00146523118019104, + 0.003871571272611618, + -0.004363261163234711, + 0.025947704911231995, + -0.0038568824529647827, + -0.0035497546195983887, + 1.0 + ], + [ + -0.00473448634147644, + -0.001985561102628708, + -0.014824584126472473, + 0.04537462443113327, + 0.034614548087120056, + -0.036837637424468994, + 1.0 + ], + [ + -0.0007733702659606934, + 0.001257317140698433, + -0.0017668306827545166, + 0.03858526051044464, + -0.0049067288637161255, + -0.01510661095380783, + 1.0 + ], + [ + -0.001018226146697998, + 0.00020218640565872192, + -0.002948567271232605, + 0.020105920732021332, + 0.0012833327054977417, + -0.01643349602818489, + 0.0 + ], + [ + -0.007832944393157959, + 0.0008782688528299332, + -0.018781904131174088, + 0.030995264649391174, + 0.047945696860551834, + -0.01804491877555847, + 0.0 + ], + [ + -0.0018579661846160889, + 5.627982318401337e-05, + -0.004592500627040863, + 0.015279091894626617, + 0.018506456166505814, + -0.0046292804181575775, + 0.0 + ], + [ + -0.002352505922317505, + -0.001235896721482277, + 0.0003980696201324463, + 0.004623681306838989, + 0.013719262555241585, + 0.005077306181192398, + 0.0 + ], + [ + -0.0014401674270629883, + -0.00010206364095211029, + 0.0003300122916698456, + -0.0003223121166229248, + -0.0033758319914340973, + 0.0027134232223033905, + 0.0 + ], + [ + -0.0002041161060333252, + -0.002298455685377121, + 0.007840685546398163, + -0.017549142241477966, + -0.02869679592549801, + 0.01176651194691658, + 0.0 + ], + [ + -0.009437710046768188, + -0.0045091137290000916, + 0.032972097396850586, + -0.04250037670135498, + -0.047240324318408966, + 0.031195376068353653, + 0.0 + ], + [ + -0.017565280199050903, + 0.001226203516125679, + 0.040993526577949524, + -0.08046330511569977, + -0.0673128291964531, + 0.05430786311626434, + 0.0 + ], + [ + -0.005882874131202698, + 0.011391803622245789, + 0.02760358154773712, + -0.05085266754031181, + -0.045756638050079346, + 0.0335698127746582, + 0.0 + ], + [ + -0.0032212436199188232, + 0.03400154784321785, + 0.02430875599384308, + -0.03447835147380829, + -0.045487985014915466, + 0.05382333695888519, + 0.0 + ], + [ + 0.003301873803138733, + 0.03041161596775055, + 0.0037255436182022095, + -0.005591742694377899, + -0.012094885110855103, + 0.03676806390285492, + 0.0 + ], + [ + 0.010355755686759949, + 0.019616268575191498, + -0.007502734661102295, + 0.029483743011951447, + 0.007708817720413208, + 0.00015684962272644043, + 0.0 + ], + [ + 0.011206313967704773, + 0.015359245240688324, + -0.017607763409614563, + 0.02784314751625061, + 0.008871257305145264, + -0.006522536277770996, + 0.0 + ], + [ + 0.007833585143089294, + 0.014599025249481201, + -0.019397467374801636, + 0.0435100756585598, + 0.02206335961818695, + -0.010865598917007446, + 0.0 + ], + [ + 0.006731018424034119, + 0.012450695037841797, + -0.015436440706253052, + 0.04890827089548111, + 0.004199504852294922, + -0.030048012733459473, + 0.0 + ], + [ + 0.0021919310092926025, + 0.00913858413696289, + -0.011686623096466064, + 0.024217579513788223, + 0.012523531913757324, + -0.013844132423400879, + 1.0 + ], + [ + -0.0017800331115722656, + 0.0011031180620193481, + -0.0020869970321655273, + -0.021957384422421455, + 0.007089629769325256, + 0.01730993390083313, + 1.0 + ], + [ + -0.004775688052177429, + -0.005009576678276062, + -0.0015154555439949036, + -0.023776881396770477, + 0.036376118659973145, + 6.933510303497314e-05, + 1.0 + ], + [ + -0.0010451972484588623, + -0.00653645396232605, + 0.005824707448482513, + -0.046427611261606216, + 0.02168300747871399, + -0.0038859546184539795, + 1.0 + ], + [ + -0.005019769072532654, + -0.006349503993988037, + 0.022582560777664185, + -0.022237099707126617, + -0.020684346556663513, + -0.004560202360153198, + 1.0 + ], + [ + -0.00574822723865509, + -0.005103647708892822, + 0.017749443650245667, + 7.950514554977417e-05, + -0.00755445659160614, + -0.009532824158668518, + 1.0 + ], + [ + -0.008152544498443604, + -0.002950116991996765, + 0.008193671703338623, + -0.020113538950681686, + 0.0038158148527145386, + 0.008991435170173645, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9657809734344482 + ], + [ + 0.7111459374427795 + ], + [ + 0.41037410497665405 + ], + [ + 0.18914839625358582 + ], + [ + 0.10121192038059235 + ], + [ + 0.08890553563833237 + ], + [ + 0.0885477215051651 + ], + [ + 0.0867718756198883 + ], + [ + 0.0867718756198883 + ], + [ + 0.0867718756198883 + ], + [ + 0.0867718756198883 + ], + [ + 0.0867718756198883 + ], + [ + 0.0867718756198883 + ], + [ + 0.0867718756198883 + ], + [ + 0.0867718756198883 + ], + [ + 0.10434377193450928 + ], + [ + 0.2817513048648834 + ], + [ + 0.5779332518577576 + ], + [ + 0.8818928003311157 + ], + [ + 1.0047606229782104 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.15057508647441864, + 0.03327608481049538, + 0.10079210251569748 + ], + [ + 0.17586439847946167, + 0.03235432505607605, + 0.10224592685699463 + ], + [ + 0.20319464802742004, + 0.03261566534638405, + 0.09813395142555237 + ], + [ + 0.2299489974975586, + 0.03041219525039196, + 0.09496504813432693 + ], + [ + 0.25588521361351013, + 0.029632773250341415, + 0.09998930990695953 + ], + [ + 0.26685434579849243, + 0.027164794504642487, + 0.10520944744348526 + ], + [ + 0.26802361011505127, + 0.025118540972471237, + 0.10471594333648682 + ], + [ + 0.26655837893486023, + 0.028990112245082855, + 0.1003526821732521 + ], + [ + 0.2618238925933838, + 0.027004551142454147, + 0.08552809804677963 + ], + [ + 0.2610505223274231, + 0.02826186828315258, + 0.08376126736402512 + ], + [ + 0.2600322961807251, + 0.028464054688811302, + 0.08081270009279251 + ], + [ + 0.25219935178756714, + 0.029342323541641235, + 0.06203079596161842 + ], + [ + 0.25034138560295105, + 0.02939860336482525, + 0.05743829533457756 + ], + [ + 0.24798887968063354, + 0.028162706643342972, + 0.05783636495471001 + ], + [ + 0.24654871225357056, + 0.02806064300239086, + 0.05816637724637985 + ], + [ + 0.24634459614753723, + 0.02576218731701374, + 0.06600706279277802 + ], + [ + 0.23690688610076904, + 0.02125307358801365, + 0.0989791601896286 + ], + [ + 0.21934160590171814, + 0.022479277104139328, + 0.13997268676757812 + ], + [ + 0.21345873177051544, + 0.03387108072638512, + 0.16757626831531525 + ], + [ + 0.21023748815059662, + 0.06787262856960297, + 0.19188502430915833 + ], + [ + 0.21353936195373535, + 0.09828424453735352, + 0.19561056792736053 + ], + [ + 0.2238951176404953, + 0.11790051311254501, + 0.18810783326625824 + ], + [ + 0.23510143160820007, + 0.13325975835323334, + 0.17050006985664368 + ], + [ + 0.24293501675128937, + 0.14785878360271454, + 0.15110260248184204 + ], + [ + 0.2496660351753235, + 0.16030947864055634, + 0.135666161775589 + ], + [ + 0.2518579661846161, + 0.16944806277751923, + 0.12397953867912292 + ], + [ + 0.2500779330730438, + 0.17055118083953857, + 0.1218925416469574 + ], + [ + 0.2453022450208664, + 0.1655416041612625, + 0.1203770861029625 + ], + [ + 0.24425704777240753, + 0.15900515019893646, + 0.126201793551445 + ], + [ + 0.23923727869987488, + 0.15265564620494843, + 0.1487843543291092 + ], + [ + 0.2334890514612198, + 0.1475519984960556, + 0.16653379797935486 + ], + [ + 0.22533650696277618, + 0.14460188150405884, + 0.17472746968269348 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9835284339978202, + 0.13408873926019485, + 0.12121068237332376, + 0.1386960080881756, + -0.9898692283762506, + -0.030369854365980976, + 0.11591046914839069, + 0.046681053088138934, + -0.9921621049124897 + ], + [ + 0.9832398082919895, + 0.1382989897254447, + 0.11879759606512724, + 0.14687701230335432, + -0.9869010263994152, + -0.06673460383205504, + 0.1080121412007562, + 0.08306475505713826, + -0.9906733184155743 + ], + [ + 0.9861594219869885, + 0.1408930350284101, + 0.08739992624008171, + 0.14717543463911337, + -0.9866201296886662, + -0.07014350384680991, + 0.07634779541726526, + 0.08203579934152265, + -0.9937007304824328 + ], + [ + 0.9856734810584882, + 0.14540728280142332, + 0.0854664311080604, + 0.1522339774167142, + -0.9851291840867814, + -0.07965743393054636, + 0.07261270452151802, + 0.0915271149376998, + -0.9931516411773438 + ], + [ + 0.9840390630428411, + 0.13759041039495745, + 0.11285389392092225, + 0.14636786617051745, + -0.9864926075502419, + -0.07354442875849877, + 0.10121052395110443, + 0.08888877440977343, + -0.9908860760074649 + ], + [ + 0.981615021097172, + 0.13669173071887983, + 0.13321907186839266, + 0.14668409638761806, + -0.986823763262378, + -0.06828349820876506, + 0.12212995628979278, + 0.08656922671339795, + -0.9887315321981482 + ], + [ + 0.9830153659851826, + 0.12432545232865369, + 0.1349961930585203, + 0.13243518193859774, + -0.9897832678990278, + -0.052820499543377454, + 0.12705004062143443, + 0.06980160807887656, + -0.9894372252385165 + ], + [ + 0.982986111463869, + 0.12409945123781471, + 0.1354165088592048, + 0.12888023122109535, + -0.9912899762542903, + -0.027093707353655863, + 0.1308747136368934, + 0.04408524900963803, + -0.9904182450612565 + ], + [ + 0.990983987268467, + 0.09347905802260549, + 0.09598126217495039, + 0.09295763804278197, + -0.9956208500404621, + 0.00989951989817762, + 0.09648634362953827, + -0.0008880742725911883, + -0.9953339122209635 + ], + [ + 0.9917912144937046, + 0.08227013314992472, + 0.0978867306870353, + 0.0779391626508441, + -0.9958363158069973, + 0.04728127584183465, + 0.10136899811277503, + -0.03926394416560882, + -0.9940737743800367 + ], + [ + 0.9930670739042439, + 0.06778881008304179, + 0.09603366052998352, + 0.06163878369244845, + -0.9959388626094049, + 0.06562348885269831, + 0.10009219286327167, + -0.05924912802573521, + -0.9932125118805197 + ], + [ + 0.9976678243170789, + 0.04847579374993531, + 0.04805215648376349, + 0.043870417414831525, + -0.9947313131278184, + 0.09265528133276972, + 0.052290523025447046, + -0.09033112477612572, + -0.9945380782546264 + ], + [ + 0.9986562580659608, + 0.042653944735816914, + 0.0294333012787648, + 0.039282792309480445, + -0.9934934940053823, + 0.10689967070738425, + 0.03380148597418293, + -0.10559980287600369, + -0.9938340611885295 + ], + [ + 0.9988132348814872, + 0.046320120819829204, + 0.015052183656028614, + 0.044369152728746676, + -0.9928256554444389, + 0.11103421174328533, + 0.02008731220725016, + -0.1102345875782914, + -0.9937025891028621 + ], + [ + 0.9986157390918973, + 0.04937977359291138, + 0.018117494248835644, + 0.04707572768560459, + -0.9927145919914252, + 0.11091264450083661, + 0.02346234218518225, + -0.1099062182372361, + -0.993665004763665 + ], + [ + 0.9969097723212216, + 0.06339969572866991, + 0.04638301878880442, + 0.05875859287133545, + -0.9937059953097223, + 0.09537202236135717, + 0.05213764104973638, + -0.09235190018092015, + -0.9943604944479354 + ], + [ + 0.991030353684896, + 0.09478391877483093, + 0.09420640539197099, + 0.08950227191093353, + -0.9942493867437793, + 0.05880051260320954, + 0.09923800379880406, + -0.0498414054908681, + -0.9938146974666472 + ], + [ + 0.9758754505070057, + 0.13882471972793145, + 0.1685075733912575, + 0.14188003157747645, + -0.9898646359238685, + -0.006169212825125217, + 0.1659432485439617, + 0.029928243178788207, + -0.9856810531418916 + ], + [ + 0.9620772954445398, + 0.15958919261364016, + 0.22122063012080517, + 0.17302764653404176, + -0.9839938539598659, + -0.042632486487428206, + 0.2108760563103605, + 0.0792930322924815, + -0.9742914881619633 + ], + [ + 0.941058929727433, + 0.19950534912286247, + 0.27314045187709396, + 0.22209944091010267, + -0.9735200783291071, + -0.054134050629054936, + 0.25510768143605184, + 0.11160767339862449, + -0.9604497894793189 + ], + [ + 0.9292155414488515, + 0.23225389852130662, + 0.2874310424285655, + 0.2557050577731742, + -0.9656416580873024, + -0.04638007757240942, + 0.2667834345665691, + 0.1165946602038862, + -0.9566777327045953 + ], + [ + 0.9311305861528173, + 0.24143514703636967, + 0.2733219736981222, + 0.25638916091271635, + -0.9663705024104701, + -0.019815404043533477, + 0.2593461580536401, + 0.08852752027737934, + -0.9617184871137469 + ], + [ + 0.9349684511274857, + 0.24317057829783048, + 0.25826742970527405, + 0.25089685825332625, + -0.9680087374213243, + 0.003138597550439968, + 0.2507683431274377, + 0.06186399701176769, + -0.966068364019259 + ], + [ + 0.9427697068315415, + 0.2440767599540776, + 0.22718233895065226, + 0.24204038877707593, + -0.9695518519344862, + 0.037224408807260946, + 0.22935067054929537, + 0.019893256664702465, + -0.9731405490769877 + ], + [ + 0.950547174920753, + 0.22562371810680273, + 0.21343384473376545, + 0.21381652419688787, + -0.9738196953217172, + 0.07718610615829306, + 0.22526109790759866, + -0.02773335232494684, + -0.9739036394522218 + ], + [ + 0.9561018577252943, + 0.21662267847410624, + 0.19734196924360742, + 0.2012021459502458, + -0.9748985588009547, + 0.09534409532235072, + 0.2130420947119533, + -0.05145303896297585, + -0.9756872709337852 + ], + [ + 0.9539244617946141, + 0.22890502275948657, + 0.19398611224862147, + 0.21805233278651573, + -0.9729843875124954, + 0.07585882824887807, + 0.20610992541897258, + -0.03006446760568228, + -0.9780668823916759 + ], + [ + 0.9605855264230329, + 0.2240538348775521, + 0.16454581581810931, + 0.21964503225590398, + -0.9745526928828312, + 0.04475610126144295, + 0.17038634402993516, + -0.006850392067923088, + -0.9853535233085777 + ], + [ + 0.9648102277132274, + 0.21320719513833933, + 0.15389579734740066, + 0.21666929102742147, + -0.9762273073583085, + -0.005887503173762985, + 0.1489820218201668, + 0.03902481658110164, + -0.9880695425248096 + ], + [ + 0.9625721096180565, + 0.20405028289923002, + 0.17837717296276565, + 0.21156045932492631, + -0.97707165629893, + -0.02394056197109298, + 0.16940220138968207, + 0.06078207388704131, + -0.983670897027212 + ], + [ + 0.9632651297230073, + 0.194292546062635, + 0.1853933558793755, + 0.20210639705538255, + -0.9790685475105796, + -0.024037128464440474, + 0.17684256876954135, + 0.060623310863254745, + -0.9823703578849309 + ], + [ + 0.9620611350679938, + 0.19961352565201226, + 0.18599143197593002, + 0.21090220933910656, + -0.9765687651341626, + -0.04282178254370954, + 0.17308561606201492, + 0.0804231766415038, + -0.9816177882308992 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006312.json b/json/chunk-0006/episode_0006312.json new file mode 100644 index 0000000000000000000000000000000000000000..5725a7817776cf674ccca7ee97e83ce839b81da0 --- /dev/null +++ b/json/chunk-0006/episode_0006312.json @@ -0,0 +1,2122 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 34, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nTake banana out of colander." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006312.mp4", + "start": 0, + "end": 34, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.38435521721839905, + 0.02644180878996849, + 0.10108104348182678, + 0.002841378329321742, + -0.13579222559928894, + -0.249104842543602, + 0.0, + 1.0124757289886475 + ], + [ + 0.37977325916290283, + 0.026056621223688126, + 0.08237491548061371, + -0.01538104098290205, + -0.08631746470928192, + -0.23475083708763123, + 0.0, + 1.0124757289886475 + ], + [ + 0.38581356406211853, + 0.03773285821080208, + 0.08303382247686386, + -0.013438171707093716, + -0.1258324533700943, + -0.06582242250442505, + 0.0, + 1.0124757289886475 + ], + [ + 0.3934798240661621, + 0.06382657587528229, + 0.08705458790063858, + 0.01689036190509796, + -0.18634581565856934, + 0.18212975561618805, + 0.0, + 1.0124757289886475 + ], + [ + 0.39897793531417847, + 0.0918448343873024, + 0.08987884968519211, + 0.0142361456528306, + -0.26598092913627625, + 0.43994635343551636, + 0.0, + 1.0124757289886475 + ], + [ + 0.39658212661743164, + 0.11056684702634811, + 0.09886404871940613, + 0.0006147417007014155, + -0.27008429169654846, + 0.6914603114128113, + 0.0, + 1.0124757289886475 + ], + [ + 0.39584001898765564, + 0.1212681457400322, + 0.09126206487417221, + 0.016798997297883034, + -0.24268494546413422, + 0.8685604333877563, + 0.0, + 1.0124757289886475 + ], + [ + 0.40359774231910706, + 0.13120488822460175, + 0.08098163455724716, + 0.060897789895534515, + -0.17961978912353516, + 0.9361181259155273, + 0.0, + 1.0124757289886475 + ], + [ + 0.4065749943256378, + 0.13513700664043427, + 0.07599195837974548, + 0.0350736640393734, + -0.14858107268810272, + 1.0078688859939575, + 0.0, + 1.0124757289886475 + ], + [ + 0.402325302362442, + 0.1425701379776001, + 0.057074468582868576, + 0.0006978327292017639, + -0.15307876467704773, + 1.0413792133331299, + 0.0, + 1.0124757289886475 + ], + [ + 0.3997211754322052, + 0.14711898565292358, + 0.04976310580968857, + -0.027281204238533974, + -0.14917485415935516, + 1.0775227546691895, + 0.0, + 1.0124757289886475 + ], + [ + 0.397458553314209, + 0.14994259178638458, + 0.0431840680539608, + -0.024927698075771332, + -0.17325256764888763, + 1.1015864610671997, + 0.0, + 1.0124757289886475 + ], + [ + 0.40047746896743774, + 0.14401473104953766, + 0.040291283279657364, + -0.016821328550577164, + -0.20647504925727844, + 1.0986719131469727, + 0.0, + 1.0124757289886475 + ], + [ + 0.40461692214012146, + 0.14121569693088531, + 0.04062213748693466, + -0.020573744550347328, + -0.23348887264728546, + 1.108970284461975, + 0.0, + 1.0124757289886475 + ], + [ + 0.4071294963359833, + 0.1330173760652542, + 0.035151250660419464, + -0.009152083657681942, + -0.23606693744659424, + 1.1001617908477783, + 0.0, + 1.0124757289886475 + ], + [ + 0.409963458776474, + 0.1283477246761322, + 0.030849775299429893, + -0.002382473787292838, + -0.2527826130390167, + 1.1062668561935425, + 0.0, + 1.0124757289886475 + ], + [ + 0.412118524312973, + 0.13048073649406433, + 0.0295875146985054, + -0.014924694783985615, + -0.28149157762527466, + 1.109899878501892, + 0.0, + 0.9575772881507874 + ], + [ + 0.41179779171943665, + 0.1283021867275238, + 0.024264488369226456, + -0.015178879722952843, + -0.29788458347320557, + 1.1013524532318115, + 0.0, + 0.6621366739273071 + ], + [ + 0.4121347665786743, + 0.12686853110790253, + 0.02377401478588581, + -0.020652325823903084, + -0.2942747175693512, + 1.1050288677215576, + 0.0, + 0.37802740931510925 + ], + [ + 0.4112892150878906, + 0.1259024441242218, + 0.021741466596722603, + -0.028326230123639107, + -0.2990189492702484, + 1.0889641046524048, + 0.0, + 0.3610773980617523 + ], + [ + 0.4110724925994873, + 0.1199725940823555, + 0.024187782779335976, + -0.05198563262820244, + -0.27546560764312744, + 1.072889804840088, + 0.0, + 0.3918617069721222 + ], + [ + 0.41199418902397156, + 0.10906114429235458, + 0.039346788078546524, + -0.09406254440546036, + -0.2534741759300232, + 1.0497496128082275, + 0.0, + 0.3936077654361725 + ], + [ + 0.4129840135574341, + 0.09991095215082169, + 0.06651226431131363, + -0.15979669988155365, + -0.23524190485477448, + 1.0515100955963135, + 0.0, + 0.3936077654361725 + ], + [ + 0.401015967130661, + 0.08884289115667343, + 0.0881216824054718, + -0.198963925242424, + -0.19067254662513733, + 1.009837031364441, + 0.0, + 0.3936077654361725 + ], + [ + 0.36868804693222046, + 0.08757618814706802, + 0.09440839290618896, + -0.2080177515745163, + -0.17239639163017273, + 0.9116888046264648, + 0.0, + 0.3936077654361725 + ], + [ + 0.32362955808639526, + 0.08796871453523636, + 0.0841231420636177, + -0.20310841500759125, + -0.1312015801668167, + 0.7727795243263245, + 0.0, + 0.3936077654361725 + ], + [ + 0.29594141244888306, + 0.08658991754055023, + 0.07720177620649338, + -0.1933669000864029, + -0.17691899836063385, + 0.6650364995002747, + 0.0, + 0.3936077654361725 + ], + [ + 0.272295743227005, + 0.07874934375286102, + 0.06124094873666763, + -0.16929830610752106, + -0.21028199791908264, + 0.5599278807640076, + 0.0, + 0.3936077654361725 + ], + [ + 0.2664563059806824, + 0.07900628447532654, + 0.04710615426301956, + -0.146943598985672, + -0.26485392451286316, + 0.5261412262916565, + 0.0, + 0.3936077654361725 + ], + [ + 0.2647041380405426, + 0.07722193002700806, + 0.029301995411515236, + -0.10977116972208023, + -0.2907417416572571, + 0.4989238977432251, + 0.0, + 0.3936077654361725 + ], + [ + 0.26176270842552185, + 0.07378864288330078, + 0.01543772965669632, + -0.08755021542310715, + -0.29839569330215454, + 0.4877830445766449, + 0.0, + 0.36359503865242004 + ], + [ + 0.26920396089553833, + 0.07421497255563736, + 0.010300280526280403, + -0.11005540937185287, + -0.2549965977668762, + 0.5255189538002014, + 0.0, + 0.431998074054718 + ], + [ + 0.27050137519836426, + 0.07454067468643188, + 0.010927713476121426, + -0.11272592097520828, + -0.26647713780403137, + 0.5162086486816406, + 0.0, + 0.748681366443634 + ], + [ + 0.26781347393989563, + 0.07072505354881287, + 0.02109951712191105, + -0.1377691626548767, + -0.23307690024375916, + 0.5237297415733337, + 0.0, + 0.9968144297599792 + ] + ], + "left_gripper_pos": [ + [ + 1.0124757289886475 + ], + [ + 1.0124757289886475 + ], + [ + 1.0124757289886475 + ], + [ + 1.0124757289886475 + ], + [ + 1.0124757289886475 + ], + [ + 1.0124757289886475 + ], + [ + 1.0124757289886475 + ], + [ + 1.0124757289886475 + ], + [ + 1.0124757289886475 + ], + [ + 1.0124757289886475 + ], + [ + 1.0124757289886475 + ], + [ + 1.0124757289886475 + ], + [ + 1.0124757289886475 + ], + [ + 1.0124757289886475 + ], + [ + 1.0124757289886475 + ], + [ + 1.0124757289886475 + ], + [ + 0.9575772881507874 + ], + [ + 0.6621366739273071 + ], + [ + 0.37802740931510925 + ], + [ + 0.3610773980617523 + ], + [ + 0.3918617069721222 + ], + [ + 0.3936077654361725 + ], + [ + 0.3936077654361725 + ], + [ + 0.3936077654361725 + ], + [ + 0.3936077654361725 + ], + [ + 0.3936077654361725 + ], + [ + 0.3936077654361725 + ], + [ + 0.3936077654361725 + ], + [ + 0.3936077654361725 + ], + [ + 0.3936077654361725 + ], + [ + 0.36359503865242004 + ], + [ + 0.431998074054718 + ], + [ + 0.748681366443634 + ], + [ + 0.9968144297599792 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.38435521721839905, + 0.02644180878996849, + 0.10108104348182678 + ], + [ + 0.37977325916290283, + 0.026056621223688126, + 0.08237491548061371 + ], + [ + 0.38581356406211853, + 0.03773285821080208, + 0.08303382247686386 + ], + [ + 0.3934798240661621, + 0.06382657587528229, + 0.08705458790063858 + ], + [ + 0.39897793531417847, + 0.0918448343873024, + 0.08987884968519211 + ], + [ + 0.39658212661743164, + 0.11056684702634811, + 0.09886404871940613 + ], + [ + 0.39584001898765564, + 0.1212681457400322, + 0.09126206487417221 + ], + [ + 0.40359774231910706, + 0.13120488822460175, + 0.08098163455724716 + ], + [ + 0.4065749943256378, + 0.13513700664043427, + 0.07599195837974548 + ], + [ + 0.402325302362442, + 0.1425701379776001, + 0.057074468582868576 + ], + [ + 0.3997211754322052, + 0.14711898565292358, + 0.04976310580968857 + ], + [ + 0.397458553314209, + 0.14994259178638458, + 0.0431840680539608 + ], + [ + 0.40047746896743774, + 0.14401473104953766, + 0.040291283279657364 + ], + [ + 0.40461692214012146, + 0.14121569693088531, + 0.04062213748693466 + ], + [ + 0.4071294963359833, + 0.1330173760652542, + 0.035151250660419464 + ], + [ + 0.409963458776474, + 0.1283477246761322, + 0.030849775299429893 + ], + [ + 0.412118524312973, + 0.13048073649406433, + 0.0295875146985054 + ], + [ + 0.41179779171943665, + 0.1283021867275238, + 0.024264488369226456 + ], + [ + 0.4121347665786743, + 0.12686853110790253, + 0.02377401478588581 + ], + [ + 0.4112892150878906, + 0.1259024441242218, + 0.021741466596722603 + ], + [ + 0.4110724925994873, + 0.1199725940823555, + 0.024187782779335976 + ], + [ + 0.41199418902397156, + 0.10906114429235458, + 0.039346788078546524 + ], + [ + 0.4129840135574341, + 0.09991095215082169, + 0.06651226431131363 + ], + [ + 0.401015967130661, + 0.08884289115667343, + 0.0881216824054718 + ], + [ + 0.36868804693222046, + 0.08757618814706802, + 0.09440839290618896 + ], + [ + 0.32362955808639526, + 0.08796871453523636, + 0.0841231420636177 + ], + [ + 0.29594141244888306, + 0.08658991754055023, + 0.07720177620649338 + ], + [ + 0.272295743227005, + 0.07874934375286102, + 0.06124094873666763 + ], + [ + 0.2664563059806824, + 0.07900628447532654, + 0.04710615426301956 + ], + [ + 0.2647041380405426, + 0.07722193002700806, + 0.029301995411515236 + ], + [ + 0.26176270842552185, + 0.07378864288330078, + 0.01543772965669632 + ], + [ + 0.26920396089553833, + 0.07421497255563736, + 0.010300280526280403 + ], + [ + 0.27050137519836426, + 0.07454067468643188, + 0.010927713476121426 + ], + [ + 0.26781347393989563, + 0.07072505354881287, + 0.02109951712191105 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.960212038187889, + -0.24616275684228703, + 0.13189669769507176, + -0.24426701298994133, + -0.9692244176101815, + -0.030621147483013304, + 0.13537528609030489, + -0.0028152179328963106, + -0.9907903948181767 + ], + [ + 0.9689514014116694, + -0.23386273476168543, + 0.08025835154143109, + -0.23173468223201224, + -0.9721488680612039, + -0.0350087900126315, + 0.08621031697651198, + 0.015323172553547475, + -0.99615911461458 + ], + [ + 0.9899451454799925, + -0.06745176012702638, + 0.12433370016356012, + -0.06525485572720142, + -0.9976334650438899, + -0.02166271517015194, + 0.12550064838325778, + 0.013331522054405472, + -0.9920039605642178 + ], + [ + 0.966434315733466, + 0.18417603738773658, + 0.17911979406234968, + 0.17798884910019086, + -0.9827531335069575, + 0.05016221863360889, + 0.18526921754241038, + -0.01659716344462351, + -0.9825476330421928 + ], + [ + 0.8729582269284903, + 0.42923337177079424, + 0.23173831490744418, + 0.41091452519709326, + -0.9030891763427904, + 0.1248166357283679, + 0.26285582934360424, + -0.01373506937644841, + -0.9647373532984562 + ], + [ + 0.7423904831060013, + 0.6377889898204991, + 0.20513794153541015, + 0.6145464732521577, + -0.7702109149182975, + 0.17061001950077315, + 0.26681267362509825, + -0.0005924562991096449, + -0.9637482275929541 + ], + [ + 0.6269981255911076, + 0.7658996164131439, + 0.1423767118718381, + 0.7410294000104819, + -0.6427533689920187, + 0.19427695429338637, + 0.24030975599284843, + -0.016305956813649103, + -0.9705592907942557 + ], + [ + 0.5833793574560127, + 0.8102166283242733, + 0.05672336803342985, + 0.7923072259683925, + -0.583063700368422, + 0.17968300139677487, + 0.1786554924218121, + -0.05988101952646735, + -0.9820878160979244 + ], + [ + 0.5277843615694728, + 0.8479466337502845, + 0.04929679496949743, + 0.8363786881223075, + -0.5289459290968239, + 0.1438293924992571, + 0.14803498822072994, + -0.03468011538992291, + -0.9883738826269286 + ], + [ + 0.4991246673401547, + 0.8631551209395465, + 0.07640552105978272, + 0.8530087480114077, + -0.5049383740099118, + 0.1319595175356345, + 0.15248161288690154, + -0.0006896724319763875, + -0.9883060670072535 + ], + [ + 0.46825294365579256, + 0.8785400979079379, + 0.09437413377401618, + 0.8710055235321394, + -0.47690633517620656, + 0.11793949908874143, + 0.1486222013502312, + 0.0269748741741363, + -0.9885260732166353 + ], + [ + 0.4454121988893206, + 0.8897058278333575, + 0.10015744106126531, + 0.8785730764234155, + -0.4558736016839079, + 0.14243808715241046, + 0.17238712963697797, + 0.024551969515748936, + -0.984723249613018 + ], + [ + 0.4451196489185332, + 0.8889099014168506, + 0.10820205778878256, + 0.8716874133379474, + -0.45778613805383295, + 0.17490827663079767, + 0.20501110110147797, + 0.016463261184900643, + -0.9786211777068374 + ], + [ + 0.43349272324684696, + 0.8929299519322447, + 0.12149139819061788, + 0.8709480667074743, + -0.4497505287528466, + 0.1979240434738725, + 0.23137312720051356, + 0.020014065774190293, + -0.9726591968313674 + ], + [ + 0.4408755998840503, + 0.8902728118511196, + 0.11420606772663289, + 0.8665613848037739, + -0.4553406897772864, + 0.2042944507325423, + 0.23388046475463692, + 0.008898129682492456, + -0.972224640448034 + ], + [ + 0.4337647815566526, + 0.8937629815279052, + 0.1141746343609574, + 0.8656203274589757, + -0.44853362384745726, + 0.22252873290450176, + 0.250099106297733, + 0.002306757164640863, + -0.9682174941099021 + ], + [ + 0.4272467484536309, + 0.893710579423804, + 0.13690002250463096, + 0.8604031509676033, + -0.4484148275561927, + 0.2421374820897617, + 0.27778882940251487, + 0.014336758828920326, + -0.9605351756211025 + ], + [ + 0.4324668914173083, + 0.8897019645586536, + 0.146296965410504, + 0.8525438125858943, + -0.4563111645451885, + 0.25485126786602696, + 0.29349861234656216, + 0.014509837073037296, + -0.9558493757798643 + ], + [ + 0.42980269948127664, + 0.890596596956605, + 0.14868537590469946, + 0.8550690385569584, + -0.45436452327356897, + 0.24981957347586148, + 0.2900458219314429, + 0.019763134359124926, + -0.9568086745532864 + ], + [ + 0.44284047786450503, + 0.8819255473432926, + 0.16155383037232757, + 0.846825405158593, + -0.47061106972871575, + 0.2478143543598294, + 0.29458283103860977, + 0.027065660753578247, + -0.9552425899556878 + ], + [ + 0.45958160827382916, + 0.8706474192470861, + 0.17537906572572776, + 0.8454604984346854, + -0.4893595343237192, + 0.213831222586988, + 0.2719950200334814, + 0.05000317514779619, + -0.960998642846141 + ], + [ + 0.48188242233832684, + 0.8517401256975315, + 0.2057379141483151, + 0.8395858648362243, + -0.5160153207533102, + 0.16977562933197282, + 0.2507686316279519, + 0.09092275306330905, + -0.9637676827777704 + ], + [ + 0.482592573488145, + 0.8387080523596627, + 0.25233551260405407, + 0.8442623671301349, + -0.5221358604748196, + 0.12081058999127964, + 0.23307823463788038, + 0.1547350836535819, + -0.9600685342332641 + ], + [ + 0.5223573067187781, + 0.8101122220154204, + 0.26619735509343934, + 0.8313995914231158, + -0.5532217951452748, + 0.05215711607935926, + 0.18951929584868263, + 0.19407172158116676, + -0.9625064173207063 + ], + [ + 0.6033334808476385, + 0.7518007217781283, + 0.26605335108236866, + 0.7788205615515887, + -0.6272160186655985, + 0.006212795968342233, + 0.17154370811178382, + 0.20345943247527618, + -0.9639382840950442 + ], + [ + 0.7098194814358262, + 0.6648833596647511, + 0.23256487657229835, + 0.6921278747298684, + -0.7196788534352999, + -0.05496683490949822, + 0.1308254898561088, + 0.19998116401042765, + -0.9710263772137931 + ], + [ + 0.7746113249704838, + 0.5789739811655515, + 0.25449248389841145, + 0.6074554910848134, + -0.7930989199428413, + -0.04463103781458373, + 0.17599750446634124, + 0.18916456412026594, + -0.9660443292638335 + ], + [ + 0.8286293148979768, + 0.4937323901026431, + 0.26382150301907, + 0.5194255177051871, + -0.8538595506720458, + -0.03348132737557595, + 0.20873569423653468, + 0.16477923015253937, + -0.9639902568293564 + ], + [ + 0.8345981479351279, + 0.46364486036472746, + 0.2974548283700004, + 0.4846888634351381, + -0.8746799056908311, + 0.003430487229612797, + 0.2617682889985112, + 0.14130996439759969, + -0.9547297297333632 + ], + [ + 0.8412455182734391, + 0.4480250737549006, + 0.3026210687836671, + 0.45839977170908347, + -0.8878391555090663, + 0.04014079274264868, + 0.28666291577724745, + 0.10495316685009567, + -0.9522653020488685 + ], + [ + 0.8443371856470704, + 0.4441657940519709, + 0.2996856091435938, + 0.44795787557434297, + -0.8920381483721814, + 0.060014028023884336, + 0.29398717428572657, + 0.08357445329113627, + -0.9521485451927034 + ], + [ + 0.8370911514276776, + 0.4746607051748236, + 0.27198459361593297, + 0.48544033506400974, + -0.8737284416185624, + 0.03076184974510577, + 0.25224211641680094, + 0.10628182003399123, + -0.9618097989913783 + ], + [ + 0.8390004649573426, + 0.4646916662571177, + 0.28308987108786904, + 0.47616502511940323, + -0.8787978754382472, + 0.031323521166384864, + 0.26333455651395404, + 0.10851704675490573, + -0.9585817450323121 + ], + [ + 0.8425446370303942, + 0.46790625117408796, + 0.2668000650740785, + 0.4865905103600134, + -0.873618541519029, + -0.004507675869698913, + 0.23097231400949977, + 0.13362029795796676, + -0.9637413585266127 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.004581958055496216, + -0.000385187566280365, + -0.018706128001213074, + -0.018222419545054436, + 0.04947476089000702, + 0.014354005455970764, + 1.0 + ], + [ + 0.006040304899215698, + 0.011676236987113953, + 0.0006589069962501526, + 0.0019428692758083344, + -0.03951498866081238, + 0.16892841458320618, + 1.0 + ], + [ + 0.007666260004043579, + 0.02609371766448021, + 0.004020765423774719, + 0.03032853454351425, + -0.06051336228847504, + 0.2479521781206131, + 1.0 + ], + [ + 0.005498111248016357, + 0.02801825851202011, + 0.002824261784553528, + -0.0026542162522673607, + -0.07963511347770691, + 0.2578166127204895, + 1.0 + ], + [ + -0.002395808696746826, + 0.018722012639045715, + 0.00898519903421402, + -0.013621403835713863, + -0.004103362560272217, + 0.2515139579772949, + 1.0 + ], + [ + -0.000742107629776001, + 0.010701298713684082, + -0.007601983845233917, + 0.016184255480766296, + 0.027399346232414246, + 0.17710012197494507, + 1.0 + ], + [ + 0.007757723331451416, + 0.00993674248456955, + -0.010280430316925049, + 0.04409879446029663, + 0.06306515634059906, + 0.067557692527771, + 1.0 + ], + [ + 0.0029772520065307617, + 0.0039321184158325195, + -0.0049896761775016785, + -0.025824125856161118, + 0.031038716435432434, + 0.07175076007843018, + 1.0 + ], + [ + -0.004249691963195801, + 0.0074331313371658325, + -0.018917489796876907, + -0.03437583148479462, + -0.004497691988945007, + 0.03351032733917236, + 1.0 + ], + [ + -0.0026041269302368164, + 0.004548847675323486, + -0.007311362773180008, + -0.027979036793112755, + 0.003903910517692566, + 0.03614354133605957, + 1.0 + ], + [ + -0.002262622117996216, + 0.0028236061334609985, + -0.006579037755727768, + 0.002353506162762642, + -0.02407771348953247, + 0.024063706398010254, + 1.0 + ], + [ + 0.0030189156532287598, + -0.005927860736846924, + -0.0028927847743034363, + 0.008106369525194168, + -0.03322248160839081, + -0.0029145479202270508, + 1.0 + ], + [ + 0.004139453172683716, + -0.0027990341186523438, + 0.000330854207277298, + -0.0037524159997701645, + -0.02701382339000702, + 0.010298371315002441, + 1.0 + ], + [ + 0.0025125741958618164, + -0.008198320865631104, + -0.005470886826515198, + 0.011421660892665386, + -0.002578064799308777, + -0.008808493614196777, + 1.0 + ], + [ + 0.0028339624404907227, + -0.004669651389122009, + -0.004301475360989571, + 0.00676960963755846, + -0.016715675592422485, + 0.00610506534576416, + 1.0 + ], + [ + 0.0021550655364990234, + 0.002133011817932129, + -0.0012622606009244919, + -0.012542220763862133, + -0.028708964586257935, + 0.0036330223083496094, + 0.0 + ], + [ + -0.00032073259353637695, + -0.0021785497665405273, + -0.005323026329278946, + -0.00025418493896722794, + -0.016393005847930908, + -0.008547425270080566, + 0.0 + ], + [ + 0.0003369748592376709, + -0.0014336556196212769, + -0.0004904735833406448, + -0.005473446100950241, + 0.00360986590385437, + 0.0036764144897460938, + 0.0 + ], + [ + -0.0008455514907836914, + -0.0009660869836807251, + -0.002032548189163208, + -0.007673904299736023, + -0.004744231700897217, + -0.016064763069152832, + 0.0 + ], + [ + -0.0002167224884033203, + -0.0059298500418663025, + 0.002446316182613373, + -0.02365940250456333, + 0.02355334162712097, + -0.016074299812316895, + 0.0 + ], + [ + 0.0009216964244842529, + -0.010911449790000916, + 0.015159005299210548, + -0.04207691177725792, + 0.021991431713104248, + -0.02314019203186035, + 0.0 + ], + [ + 0.0009898245334625244, + -0.009150192141532898, + 0.027165476232767105, + -0.06573415547609329, + 0.018232271075248718, + 0.0017604827880859375, + 0.0 + ], + [ + -0.011968046426773071, + -0.011068060994148254, + 0.021609418094158173, + -0.03916722536087036, + 0.044569358229637146, + -0.04167306423187256, + 0.0 + ], + [ + -0.03232792019844055, + -0.0012667030096054077, + 0.006286710500717163, + -0.009053826332092285, + 0.0182761549949646, + -0.09814822673797607, + 0.0 + ], + [ + -0.045058488845825195, + 0.00039252638816833496, + -0.010285250842571259, + 0.004909336566925049, + 0.04119481146335602, + -0.13890928030014038, + 0.0 + ], + [ + -0.027688145637512207, + -0.0013787969946861267, + -0.006921365857124329, + 0.009741514921188354, + -0.04571741819381714, + -0.1077430248260498, + 0.0 + ], + [ + -0.023645669221878052, + -0.007840573787689209, + -0.015960827469825745, + 0.024068593978881836, + -0.03336299955844879, + -0.10510861873626709, + 0.0 + ], + [ + -0.005839437246322632, + 0.00025694072246551514, + -0.014134794473648071, + 0.02235470712184906, + -0.05457192659378052, + -0.033786654472351074, + 0.0 + ], + [ + -0.0017521679401397705, + -0.0017843544483184814, + -0.017804158851504326, + 0.037172429263591766, + -0.02588781714439392, + -0.027217328548431396, + 0.0 + ], + [ + -0.002941429615020752, + -0.0034332871437072754, + -0.013864265754818916, + 0.022220954298973083, + -0.007653951644897461, + -0.0111408531665802, + 1.0 + ], + [ + 0.0074412524700164795, + 0.00042632967233657837, + -0.0051374491304159164, + -0.022505193948745728, + 0.04339909553527832, + 0.03773590922355652, + 1.0 + ], + [ + 0.0012974143028259277, + 0.00032570213079452515, + 0.0006274329498410225, + -0.0026705116033554077, + -0.011480540037155151, + -0.009310305118560791, + 1.0 + ], + [ + -0.002687901258468628, + -0.0038156211376190186, + 0.010171803645789623, + -0.025043241679668427, + 0.03340023756027222, + 0.007521092891693115, + 1.0 + ], + [ + 0.004078805446624756, + -0.004984326660633087, + 0.02347155474126339, + -0.030721887946128845, + 0.0151510089635849, + 0.027995526790618896, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0124757289886475 + ], + [ + 1.0124757289886475 + ], + [ + 1.0124757289886475 + ], + [ + 1.0124757289886475 + ], + [ + 1.0124757289886475 + ], + [ + 1.0124757289886475 + ], + [ + 1.0124757289886475 + ], + [ + 1.0124757289886475 + ], + [ + 1.0124757289886475 + ], + [ + 1.0124757289886475 + ], + [ + 1.0124757289886475 + ], + [ + 1.0124757289886475 + ], + [ + 1.0124757289886475 + ], + [ + 1.0124757289886475 + ], + [ + 1.0124757289886475 + ], + [ + 0.9575772881507874 + ], + [ + 0.6621366739273071 + ], + [ + 0.37802740931510925 + ], + [ + 0.3610773980617523 + ], + [ + 0.3918617069721222 + ], + [ + 0.3936077654361725 + ], + [ + 0.3936077654361725 + ], + [ + 0.3936077654361725 + ], + [ + 0.3936077654361725 + ], + [ + 0.3936077654361725 + ], + [ + 0.3936077654361725 + ], + [ + 0.3936077654361725 + ], + [ + 0.3936077654361725 + ], + [ + 0.3936077654361725 + ], + [ + 0.36359503865242004 + ], + [ + 0.431998074054718 + ], + [ + 0.748681366443634 + ], + [ + 0.9968144297599792 + ], + [ + 1.00800359249115 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.37977325916290283, + 0.026056621223688126, + 0.08237491548061371 + ], + [ + 0.38581356406211853, + 0.03773285821080208, + 0.08303382247686386 + ], + [ + 0.3934798240661621, + 0.06382657587528229, + 0.08705458790063858 + ], + [ + 0.39897793531417847, + 0.0918448343873024, + 0.08987884968519211 + ], + [ + 0.39658212661743164, + 0.11056684702634811, + 0.09886404871940613 + ], + [ + 0.39584001898765564, + 0.1212681457400322, + 0.09126206487417221 + ], + [ + 0.40359774231910706, + 0.13120488822460175, + 0.08098163455724716 + ], + [ + 0.4065749943256378, + 0.13513700664043427, + 0.07599195837974548 + ], + [ + 0.402325302362442, + 0.1425701379776001, + 0.057074468582868576 + ], + [ + 0.3997211754322052, + 0.14711898565292358, + 0.04976310580968857 + ], + [ + 0.397458553314209, + 0.14994259178638458, + 0.0431840680539608 + ], + [ + 0.40047746896743774, + 0.14401473104953766, + 0.040291283279657364 + ], + [ + 0.40461692214012146, + 0.14121569693088531, + 0.04062213748693466 + ], + [ + 0.4071294963359833, + 0.1330173760652542, + 0.035151250660419464 + ], + [ + 0.409963458776474, + 0.1283477246761322, + 0.030849775299429893 + ], + [ + 0.412118524312973, + 0.13048073649406433, + 0.0295875146985054 + ], + [ + 0.41179779171943665, + 0.1283021867275238, + 0.024264488369226456 + ], + [ + 0.4121347665786743, + 0.12686853110790253, + 0.02377401478588581 + ], + [ + 0.4112892150878906, + 0.1259024441242218, + 0.021741466596722603 + ], + [ + 0.4110724925994873, + 0.1199725940823555, + 0.024187782779335976 + ], + [ + 0.41199418902397156, + 0.10906114429235458, + 0.039346788078546524 + ], + [ + 0.4129840135574341, + 0.09991095215082169, + 0.06651226431131363 + ], + [ + 0.401015967130661, + 0.08884289115667343, + 0.0881216824054718 + ], + [ + 0.36868804693222046, + 0.08757618814706802, + 0.09440839290618896 + ], + [ + 0.32362955808639526, + 0.08796871453523636, + 0.0841231420636177 + ], + [ + 0.29594141244888306, + 0.08658991754055023, + 0.07720177620649338 + ], + [ + 0.272295743227005, + 0.07874934375286102, + 0.06124094873666763 + ], + [ + 0.2664563059806824, + 0.07900628447532654, + 0.04710615426301956 + ], + [ + 0.2647041380405426, + 0.07722193002700806, + 0.029301995411515236 + ], + [ + 0.26176270842552185, + 0.07378864288330078, + 0.01543772965669632 + ], + [ + 0.26920396089553833, + 0.07421497255563736, + 0.010300280526280403 + ], + [ + 0.27050137519836426, + 0.07454067468643188, + 0.010927713476121426 + ], + [ + 0.26781347393989563, + 0.07072505354881287, + 0.02109951712191105 + ], + [ + 0.2718922793865204, + 0.06574072688817978, + 0.04457107186317444 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9689514014116694, + -0.23386273476168543, + 0.08025835154143109, + -0.23173468223201224, + -0.9721488680612039, + -0.0350087900126315, + 0.08621031697651198, + 0.015323172553547475, + -0.99615911461458 + ], + [ + 0.9899451454799925, + -0.06745176012702638, + 0.12433370016356012, + -0.06525485572720142, + -0.9976334650438899, + -0.02166271517015194, + 0.12550064838325778, + 0.013331522054405472, + -0.9920039605642178 + ], + [ + 0.966434315733466, + 0.18417603738773658, + 0.17911979406234968, + 0.17798884910019086, + -0.9827531335069575, + 0.05016221863360889, + 0.18526921754241038, + -0.01659716344462351, + -0.9825476330421928 + ], + [ + 0.8729582269284903, + 0.42923337177079424, + 0.23173831490744418, + 0.41091452519709326, + -0.9030891763427904, + 0.1248166357283679, + 0.26285582934360424, + -0.01373506937644841, + -0.9647373532984562 + ], + [ + 0.7423904831060013, + 0.6377889898204991, + 0.20513794153541015, + 0.6145464732521577, + -0.7702109149182975, + 0.17061001950077315, + 0.26681267362509825, + -0.0005924562991096449, + -0.9637482275929541 + ], + [ + 0.6269981255911076, + 0.7658996164131439, + 0.1423767118718381, + 0.7410294000104819, + -0.6427533689920187, + 0.19427695429338637, + 0.24030975599284843, + -0.016305956813649103, + -0.9705592907942557 + ], + [ + 0.5833793574560127, + 0.8102166283242733, + 0.05672336803342985, + 0.7923072259683925, + -0.583063700368422, + 0.17968300139677487, + 0.1786554924218121, + -0.05988101952646735, + -0.9820878160979244 + ], + [ + 0.5277843615694728, + 0.8479466337502845, + 0.04929679496949743, + 0.8363786881223075, + -0.5289459290968239, + 0.1438293924992571, + 0.14803498822072994, + -0.03468011538992291, + -0.9883738826269286 + ], + [ + 0.4991246673401547, + 0.8631551209395465, + 0.07640552105978272, + 0.8530087480114077, + -0.5049383740099118, + 0.1319595175356345, + 0.15248161288690154, + -0.0006896724319763875, + -0.9883060670072535 + ], + [ + 0.46825294365579256, + 0.8785400979079379, + 0.09437413377401618, + 0.8710055235321394, + -0.47690633517620656, + 0.11793949908874143, + 0.1486222013502312, + 0.0269748741741363, + -0.9885260732166353 + ], + [ + 0.4454121988893206, + 0.8897058278333575, + 0.10015744106126531, + 0.8785730764234155, + -0.4558736016839079, + 0.14243808715241046, + 0.17238712963697797, + 0.024551969515748936, + -0.984723249613018 + ], + [ + 0.4451196489185332, + 0.8889099014168506, + 0.10820205778878256, + 0.8716874133379474, + -0.45778613805383295, + 0.17490827663079767, + 0.20501110110147797, + 0.016463261184900643, + -0.9786211777068374 + ], + [ + 0.43349272324684696, + 0.8929299519322447, + 0.12149139819061788, + 0.8709480667074743, + -0.4497505287528466, + 0.1979240434738725, + 0.23137312720051356, + 0.020014065774190293, + -0.9726591968313674 + ], + [ + 0.4408755998840503, + 0.8902728118511196, + 0.11420606772663289, + 0.8665613848037739, + -0.4553406897772864, + 0.2042944507325423, + 0.23388046475463692, + 0.008898129682492456, + -0.972224640448034 + ], + [ + 0.4337647815566526, + 0.8937629815279052, + 0.1141746343609574, + 0.8656203274589757, + -0.44853362384745726, + 0.22252873290450176, + 0.250099106297733, + 0.002306757164640863, + -0.9682174941099021 + ], + [ + 0.4272467484536309, + 0.893710579423804, + 0.13690002250463096, + 0.8604031509676033, + -0.4484148275561927, + 0.2421374820897617, + 0.27778882940251487, + 0.014336758828920326, + -0.9605351756211025 + ], + [ + 0.4324668914173083, + 0.8897019645586536, + 0.146296965410504, + 0.8525438125858943, + -0.4563111645451885, + 0.25485126786602696, + 0.29349861234656216, + 0.014509837073037296, + -0.9558493757798643 + ], + [ + 0.42980269948127664, + 0.890596596956605, + 0.14868537590469946, + 0.8550690385569584, + -0.45436452327356897, + 0.24981957347586148, + 0.2900458219314429, + 0.019763134359124926, + -0.9568086745532864 + ], + [ + 0.44284047786450503, + 0.8819255473432926, + 0.16155383037232757, + 0.846825405158593, + -0.47061106972871575, + 0.2478143543598294, + 0.29458283103860977, + 0.027065660753578247, + -0.9552425899556878 + ], + [ + 0.45958160827382916, + 0.8706474192470861, + 0.17537906572572776, + 0.8454604984346854, + -0.4893595343237192, + 0.213831222586988, + 0.2719950200334814, + 0.05000317514779619, + -0.960998642846141 + ], + [ + 0.48188242233832684, + 0.8517401256975315, + 0.2057379141483151, + 0.8395858648362243, + -0.5160153207533102, + 0.16977562933197282, + 0.2507686316279519, + 0.09092275306330905, + -0.9637676827777704 + ], + [ + 0.482592573488145, + 0.8387080523596627, + 0.25233551260405407, + 0.8442623671301349, + -0.5221358604748196, + 0.12081058999127964, + 0.23307823463788038, + 0.1547350836535819, + -0.9600685342332641 + ], + [ + 0.5223573067187781, + 0.8101122220154204, + 0.26619735509343934, + 0.8313995914231158, + -0.5532217951452748, + 0.05215711607935926, + 0.18951929584868263, + 0.19407172158116676, + -0.9625064173207063 + ], + [ + 0.6033334808476385, + 0.7518007217781283, + 0.26605335108236866, + 0.7788205615515887, + -0.6272160186655985, + 0.006212795968342233, + 0.17154370811178382, + 0.20345943247527618, + -0.9639382840950442 + ], + [ + 0.7098194814358262, + 0.6648833596647511, + 0.23256487657229835, + 0.6921278747298684, + -0.7196788534352999, + -0.05496683490949822, + 0.1308254898561088, + 0.19998116401042765, + -0.9710263772137931 + ], + [ + 0.7746113249704838, + 0.5789739811655515, + 0.25449248389841145, + 0.6074554910848134, + -0.7930989199428413, + -0.04463103781458373, + 0.17599750446634124, + 0.18916456412026594, + -0.9660443292638335 + ], + [ + 0.8286293148979768, + 0.4937323901026431, + 0.26382150301907, + 0.5194255177051871, + -0.8538595506720458, + -0.03348132737557595, + 0.20873569423653468, + 0.16477923015253937, + -0.9639902568293564 + ], + [ + 0.8345981479351279, + 0.46364486036472746, + 0.2974548283700004, + 0.4846888634351381, + -0.8746799056908311, + 0.003430487229612797, + 0.2617682889985112, + 0.14130996439759969, + -0.9547297297333632 + ], + [ + 0.8412455182734391, + 0.4480250737549006, + 0.3026210687836671, + 0.45839977170908347, + -0.8878391555090663, + 0.04014079274264868, + 0.28666291577724745, + 0.10495316685009567, + -0.9522653020488685 + ], + [ + 0.8443371856470704, + 0.4441657940519709, + 0.2996856091435938, + 0.44795787557434297, + -0.8920381483721814, + 0.060014028023884336, + 0.29398717428572657, + 0.08357445329113627, + -0.9521485451927034 + ], + [ + 0.8370911514276776, + 0.4746607051748236, + 0.27198459361593297, + 0.48544033506400974, + -0.8737284416185624, + 0.03076184974510577, + 0.25224211641680094, + 0.10628182003399123, + -0.9618097989913783 + ], + [ + 0.8390004649573426, + 0.4646916662571177, + 0.28308987108786904, + 0.47616502511940323, + -0.8787978754382472, + 0.031323521166384864, + 0.26333455651395404, + 0.10851704675490573, + -0.9585817450323121 + ], + [ + 0.8425446370303942, + 0.46790625117408796, + 0.2668000650740785, + 0.4865905103600134, + -0.873618541519029, + -0.004507675869698913, + 0.23097231400949977, + 0.13362029795796676, + -0.9637413585266127 + ], + [ + 0.8314789113225527, + 0.48585784724475284, + 0.2694159837436469, + 0.5117599062947105, + -0.8585657145889994, + -0.031091993205806787, + 0.21620503771904068, + 0.1637286352565584, + -0.9625218520438552 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006313.json b/json/chunk-0006/episode_0006313.json new file mode 100644 index 0000000000000000000000000000000000000000..dff0844659caab49d8c8b3019fbebc4fa91dc25b --- /dev/null +++ b/json/chunk-0006/episode_0006313.json @@ -0,0 +1,5482 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 90, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nSweep into pile." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006313.mp4", + "start": 0, + "end": 90, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3044571280479431, + 0.1594926118850708, + 0.19815687835216522, + 0.08977220952510834, + -0.18152879178524017, + -0.1988622099161148, + 0.0, + 1.0001531839370728 + ], + [ + 0.3022206127643585, + 0.15767763555049896, + 0.17982108891010284, + 0.05418572574853897, + -0.1422211229801178, + -0.18363413214683533, + 0.0, + 1.0001531839370728 + ], + [ + 0.3098161518573761, + 0.13529731333255768, + 0.1488141119480133, + 0.06240425258874893, + -0.14361003041267395, + -0.12846729159355164, + 0.0, + 1.0001531839370728 + ], + [ + 0.3215797543525696, + 0.11168861389160156, + 0.12628178298473358, + 0.06765236705541611, + -0.2002323418855667, + -0.08043558895587921, + 0.0, + 1.0001531839370728 + ], + [ + 0.3335433900356293, + 0.10278765112161636, + 0.12404022365808487, + 0.0742039605975151, + -0.26662883162498474, + -0.020774198696017265, + 0.0, + 1.0001531839370728 + ], + [ + 0.33957260847091675, + 0.09384824335575104, + 0.1028984859585762, + 0.07585074007511139, + -0.2181435078382492, + -0.004130075685679913, + 0.0, + 1.0001531839370728 + ], + [ + 0.3524818420410156, + 0.09753859788179398, + 0.11152976006269455, + 0.08297346532344818, + -0.24823930859565735, + 0.004269637167453766, + 0.0, + 1.0001531839370728 + ], + [ + 0.35956260561943054, + 0.10233165323734283, + 0.10257332026958466, + 0.08924916386604309, + -0.22654031217098236, + 0.01650778204202652, + 0.0, + 1.0001531839370728 + ], + [ + 0.36911913752555847, + 0.11151155084371567, + 0.10110614448785782, + 0.10199055820703506, + -0.22811901569366455, + 0.021987605839967728, + 0.0, + 1.0001531839370728 + ], + [ + 0.36869537830352783, + 0.11654628813266754, + 0.09420202672481537, + 0.10326293110847473, + -0.20776496827602386, + 0.012741596437990665, + 0.0, + 0.9499720335006714 + ], + [ + 0.36845943331718445, + 0.11727600544691086, + 0.09010425209999084, + 0.0947979986667633, + -0.19619952142238617, + -0.004803038202226162, + 0.0, + 0.6581199765205383 + ], + [ + 0.36768126487731934, + 0.11642477661371231, + 0.08928723633289337, + 0.09104901552200317, + -0.18886736035346985, + -0.015690624713897705, + 0.0, + 0.3866458535194397 + ], + [ + 0.37821313738822937, + 0.11934089660644531, + 0.08983535319566727, + 0.0763457864522934, + -0.17350350320339203, + 0.025766586884856224, + 0.0, + 0.3644362688064575 + ], + [ + 0.39435523748397827, + 0.12352859973907471, + 0.09204896539449692, + 0.060932159423828125, + -0.16001880168914795, + 0.08978789299726486, + 0.0, + 0.3644362688064575 + ], + [ + 0.40980133414268494, + 0.12213842570781708, + 0.09328052401542664, + 0.05174196511507034, + -0.15375423431396484, + 0.12897388637065887, + 0.0, + 0.3644362688064575 + ], + [ + 0.4122045040130615, + 0.11364337056875229, + 0.09363999217748642, + 0.030061082914471626, + -0.15368473529815674, + 0.10928719490766525, + 0.0, + 0.3644362688064575 + ], + [ + 0.4170804023742676, + 0.09173815697431564, + 0.09325657784938812, + -0.002826762618497014, + -0.1561126708984375, + 0.06193944811820984, + 0.0, + 0.3644362688064575 + ], + [ + 0.4167271554470062, + 0.07028120756149292, + 0.09039207547903061, + -0.019728602841496468, + -0.1385837346315384, + 0.02452816069126129, + 0.0, + 0.3644362688064575 + ], + [ + 0.4178433418273926, + 0.04705771803855896, + 0.09078163653612137, + -0.029855795204639435, + -0.12587985396385193, + 0.011844169348478317, + 0.0, + 0.3644362688064575 + ], + [ + 0.41277119517326355, + 0.025542449206113815, + 0.08987022191286087, + -0.04616045206785202, + -0.07856418937444687, + 0.020126784220337868, + 0.0, + 0.3644362688064575 + ], + [ + 0.4111551344394684, + 0.0008313171565532684, + 0.09319815784692764, + -0.07779191434383392, + -0.04179223254323006, + 0.018690304830670357, + 0.0, + 0.3644362688064575 + ], + [ + 0.40883153676986694, + -0.023893728852272034, + 0.09325867891311646, + -0.08836055546998978, + -0.027447642758488655, + 0.00627969391644001, + 0.0, + 0.3644362688064575 + ], + [ + 0.41178518533706665, + -0.036626383662223816, + 0.09242764860391617, + -0.0900033637881279, + -0.03113672137260437, + 0.020208260044455528, + 0.0, + 0.3644362688064575 + ], + [ + 0.42061662673950195, + -0.06278613954782486, + 0.09111516177654266, + -0.0856374055147171, + -0.06205276772379875, + 0.01457185484468937, + 0.0, + 0.3644362688064575 + ], + [ + 0.4254843592643738, + -0.0902063399553299, + 0.09095993638038635, + -0.09195864945650101, + -0.07588140666484833, + 0.0023082513362169266, + 0.0, + 0.3644362688064575 + ], + [ + 0.4253185987472534, + -0.10947240889072418, + 0.09204020351171494, + -0.10823383927345276, + -0.0694766491651535, + 0.0027563676703721285, + 0.0, + 0.3644362688064575 + ], + [ + 0.42196160554885864, + -0.13529373705387115, + 0.09248094260692596, + -0.12290633469820023, + -0.05790470540523529, + -0.01638100855052471, + 0.0, + 0.3644362688064575 + ], + [ + 0.42148032784461975, + -0.1644619107246399, + 0.09304633736610413, + -0.13841202855110168, + -0.06248713284730911, + -0.014616644941270351, + 0.0, + 0.3644362688064575 + ], + [ + 0.41443756222724915, + -0.17435072362422943, + 0.09737209230661392, + -0.13499683141708374, + -0.042036183178424835, + -0.049638234078884125, + 0.0, + 0.3644362688064575 + ], + [ + 0.42131027579307556, + -0.15014752745628357, + 0.10165340453386307, + -0.13878199458122253, + -0.041774649173021317, + -0.023691440001130104, + 0.0, + 0.3644362688064575 + ], + [ + 0.42337268590927124, + -0.10366110503673553, + 0.13749311864376068, + -0.1607501059770584, + -0.09642310440540314, + 0.016650985926389694, + 0.0, + 0.3644362688064575 + ], + [ + 0.4116002917289734, + -0.05261043831706047, + 0.16193683445453644, + -0.12156429886817932, + -0.13413800299167633, + -0.01562405750155449, + 0.0, + 0.3644362688064575 + ], + [ + 0.39628931879997253, + -0.016954144462943077, + 0.15421061217784882, + -0.02413656935095787, + -0.10595552623271942, + -0.08853194862604141, + 0.0, + 0.3644362688064575 + ], + [ + 0.38013261556625366, + 0.03473292291164398, + 0.12492137402296066, + 0.08786669373512268, + -0.08136101812124252, + -0.12094062566757202, + 0.0, + 0.3644362688064575 + ], + [ + 0.3695467412471771, + 0.06806078553199768, + 0.1004963219165802, + 0.18519124388694763, + -0.08823361992835999, + -0.17253641784191132, + 0.0, + 0.3644362688064575 + ], + [ + 0.3626599907875061, + 0.08310110121965408, + 0.09313876926898956, + 0.2330513596534729, + -0.09707129746675491, + -0.2328086942434311, + 0.0, + 0.3644362688064575 + ], + [ + 0.3473425507545471, + 0.0950014591217041, + 0.09899953007698059, + 0.2031577229499817, + -0.09061557799577713, + -0.24745018780231476, + 0.0, + 0.3644362688064575 + ], + [ + 0.3278425633907318, + 0.08643756061792374, + 0.1048467829823494, + 0.13823182880878448, + -0.07058963179588318, + -0.24910090863704681, + 0.0, + 0.3644362688064575 + ], + [ + 0.32102105021476746, + 0.08103582262992859, + 0.10486745834350586, + 0.10794638097286224, + -0.06257650256156921, + -0.22608815133571625, + 0.0, + 0.3644362688064575 + ], + [ + 0.3184356987476349, + 0.07607570290565491, + 0.09279660880565643, + 0.11157316714525223, + -0.09040605276823044, + -0.18585205078125, + 0.0, + 0.3644362688064575 + ], + [ + 0.32499757409095764, + 0.07044597715139389, + 0.08788072317838669, + 0.16302967071533203, + -0.1351768672466278, + -0.17255723476409912, + 0.0, + 0.3644362688064575 + ], + [ + 0.3260093629360199, + 0.06406315416097641, + 0.08706817775964737, + 0.16941559314727783, + -0.13768871128559113, + -0.1671925187110901, + 0.0, + 0.3644362688064575 + ], + [ + 0.31846901774406433, + 0.04938638582825661, + 0.08541826158761978, + 0.11762725561857224, + -0.09159372746944427, + -0.14058274030685425, + 0.0, + 0.3644362688064575 + ], + [ + 0.3119872808456421, + 0.02643279731273651, + 0.08656411617994308, + 0.0668320506811142, + -0.041217874735593796, + -0.13428156077861786, + 0.0, + 0.3644362688064575 + ], + [ + 0.30988365411758423, + 0.007553399540483952, + 0.08807382732629776, + 0.05378410965204239, + -0.021710654720664024, + -0.12672917544841766, + 0.0, + 0.3644362688064575 + ], + [ + 0.31396886706352234, + -0.01052769087255001, + 0.08710972964763641, + 0.05050801485776901, + -0.0338793583214283, + -0.0989077091217041, + 0.0, + 0.3644362688064575 + ], + [ + 0.3180915117263794, + -0.029563214629888535, + 0.0855260118842125, + 0.04996921122074127, + -0.054102152585983276, + -0.09369644522666931, + 0.0, + 0.3644362688064575 + ], + [ + 0.3262673020362854, + -0.052863333374261856, + 0.08371760696172714, + 0.04407774657011032, + -0.07940234243869781, + -0.08140193670988083, + 0.0, + 0.3644362688064575 + ], + [ + 0.3299168050289154, + -0.07188087701797485, + 0.08403947949409485, + 0.02342778816819191, + -0.07478093355894089, + -0.051525991410017014, + 0.0, + 0.3644362688064575 + ], + [ + 0.33293160796165466, + -0.08879846334457397, + 0.08498022705316544, + -0.002382008358836174, + -0.03739968314766884, + -0.01382352039217949, + 0.0, + 0.3644362688064575 + ], + [ + 0.3405390679836273, + -0.11320850253105164, + 0.08510728925466537, + -0.01175920944660902, + -0.020233875140547752, + 0.02484741434454918, + 0.0, + 0.3644362688064575 + ], + [ + 0.3462298512458801, + -0.13124580681324005, + 0.08286236971616745, + -0.014195119962096214, + -0.003940343391150236, + 0.04878925159573555, + 0.0, + 0.3644362688064575 + ], + [ + 0.35306182503700256, + -0.14233066141605377, + 0.08360728621482849, + -0.04586406052112579, + 0.022107616066932678, + 0.12552408874034882, + 0.0, + 0.3644362688064575 + ], + [ + 0.3614463806152344, + -0.1489984542131424, + 0.08397210389375687, + -0.06679116934537888, + 0.028055520728230476, + 0.19516780972480774, + 0.0, + 0.3644362688064575 + ], + [ + 0.3742980659008026, + -0.1545734405517578, + 0.08399204164743423, + -0.08574722707271576, + 0.0130143528804183, + 0.29760533571243286, + 0.0, + 0.3644362688064575 + ], + [ + 0.3919259309768677, + -0.15785342454910278, + 0.08360325545072556, + -0.11470884829759598, + -0.001365531818009913, + 0.3811689019203186, + 0.0, + 0.3644362688064575 + ], + [ + 0.41129326820373535, + -0.15130062401294708, + 0.08600299805402756, + -0.15990206599235535, + 0.0033886288292706013, + 0.4493677616119385, + 0.0, + 0.3644362688064575 + ], + [ + 0.4063307046890259, + -0.14646971225738525, + 0.08701623231172562, + -0.17607448995113373, + 0.03614668548107147, + 0.4583171010017395, + 0.0, + 0.3644362688064575 + ], + [ + 0.384225457906723, + -0.1301240473985672, + 0.10025819391012192, + -0.19692330062389374, + 0.09115171432495117, + 0.37463197112083435, + 0.0, + 0.3644362688064575 + ], + [ + 0.379070907831192, + -0.10011094808578491, + 0.14531360566616058, + -0.288046270608902, + 0.0350939966738224, + 0.34253305196762085, + 0.0, + 0.3644362688064575 + ], + [ + 0.3735423982143402, + -0.06952013075351715, + 0.15302737057209015, + -0.2602647840976715, + -0.010328706353902817, + 0.22748185694217682, + 0.0, + 0.3644362688064575 + ], + [ + 0.36545833945274353, + -0.051424138247966766, + 0.13456657528877258, + -0.1527644395828247, + -0.06534624099731445, + 0.12148502469062805, + 0.0, + 0.3644362688064575 + ], + [ + 0.3586961030960083, + -0.035240426659584045, + 0.10355786979198456, + -0.042643945664167404, + -0.08904798328876495, + 0.044860534369945526, + 0.0, + 0.3644362688064575 + ], + [ + 0.35438889265060425, + -0.03267708420753479, + 0.09396513551473618, + 0.023104144260287285, + -0.1392643302679062, + -0.02361176908016205, + 0.0, + 0.3644362688064575 + ], + [ + 0.34895384311676025, + -0.02888425439596176, + 0.08726663142442703, + 0.06309927999973297, + -0.13136333227157593, + -0.07313669472932816, + 0.0, + 0.3644362688064575 + ], + [ + 0.3421383500099182, + -0.02529006451368332, + 0.08619491755962372, + 0.023438969627022743, + -0.08436491340398788, + -0.09072510898113251, + 0.0, + 0.3644362688064575 + ], + [ + 0.33660703897476196, + -0.02404659241437912, + 0.08819571882486343, + 0.009448482654988766, + -0.06427203863859177, + -0.09474585205316544, + 0.0, + 0.3644362688064575 + ], + [ + 0.3355771005153656, + -0.02642778679728508, + 0.08918721973896027, + -0.015979522839188576, + -0.05001954361796379, + -0.02850242704153061, + 0.0, + 0.3644362688064575 + ], + [ + 0.34876638650894165, + -0.039665985852479935, + 0.08618761599063873, + -0.03149851784110069, + -0.03287937864661217, + 0.03961535543203354, + 0.0, + 0.3644362688064575 + ], + [ + 0.3525383770465851, + -0.048176418989896774, + 0.08588249236345291, + -0.036595668643713, + -0.0354403555393219, + 0.06385186314582825, + 0.0, + 0.3644362688064575 + ], + [ + 0.35521745681762695, + -0.062276486307382584, + 0.08611509203910828, + -0.03391087055206299, + -0.0661972314119339, + 0.06441892683506012, + 0.0, + 0.3644362688064575 + ], + [ + 0.3522544503211975, + -0.06990521401166916, + 0.08501973003149033, + -0.03612822666764259, + -0.07806627452373505, + 0.05363324284553528, + 0.0, + 0.3644362688064575 + ], + [ + 0.3509821891784668, + -0.07605084031820297, + 0.08502356708049774, + -0.03928957134485245, + -0.07684214413166046, + 0.06051334738731384, + 0.0, + 0.3644362688064575 + ], + [ + 0.3502107858657837, + -0.09453736245632172, + 0.08520309627056122, + -0.04733530804514885, + -0.05758195370435715, + 0.056648075580596924, + 0.0, + 0.3644362688064575 + ], + [ + 0.35430726408958435, + -0.0999513640999794, + 0.0850628986954689, + -0.05751267820596695, + -0.029918579384684563, + 0.09699580818414688, + 0.0, + 0.3644362688064575 + ], + [ + 0.3532952070236206, + -0.12481213361024857, + 0.08489436656236649, + -0.07386518269777298, + -0.020075097680091858, + 0.10249794274568558, + 0.0, + 0.3644362688064575 + ], + [ + 0.35254034399986267, + -0.14266200363636017, + 0.08582653105258942, + -0.09176038950681686, + -0.00607303436845541, + 0.10239148139953613, + 0.0, + 0.3644362688064575 + ], + [ + 0.35696664452552795, + -0.15061594545841217, + 0.08688494563102722, + -0.10398126393556595, + 0.006471564993262291, + 0.12657080590724945, + 0.0, + 0.3644362688064575 + ], + [ + 0.35705357789993286, + -0.1618066132068634, + 0.08751661330461502, + -0.1119874119758606, + 0.01190631091594696, + 0.11572019755840302, + 0.0, + 0.3644362688064575 + ], + [ + 0.3590776324272156, + -0.16703902184963226, + 0.09056340157985687, + -0.12682552635669708, + 0.02290346659719944, + 0.11202074587345123, + 0.0, + 0.3644362688064575 + ], + [ + 0.35565993189811707, + -0.1620127111673355, + 0.09265947341918945, + -0.13206908106803894, + 0.05534663796424866, + 0.09910202771425247, + 0.0, + 0.3644362688064575 + ], + [ + 0.360256552696228, + -0.12530988454818726, + 0.13298261165618896, + -0.16145998239517212, + 0.00534936785697937, + 0.0947071984410286, + 0.0, + 0.3644362688064575 + ], + [ + 0.35891059041023254, + -0.06885289400815964, + 0.160072460770607, + -0.1448775678873062, + -0.03246612101793289, + 0.10646273195743561, + 0.0, + 0.3644362688064575 + ], + [ + 0.3552817702293396, + -0.0317411869764328, + 0.15302348136901855, + -0.08578282594680786, + -0.029109856113791466, + 0.027635985985398293, + 0.0, + 0.3644362688064575 + ], + [ + 0.3547959327697754, + 0.02170112356543541, + 0.1401517689228058, + -0.03905961662530899, + -0.04427316412329674, + 0.014139982871711254, + 0.0, + 0.3644362688064575 + ], + [ + 0.353336364030838, + 0.06758874654769897, + 0.1238127276301384, + -0.016627829521894455, + -0.09822496771812439, + -0.013551943004131317, + 0.0, + 0.3644362688064575 + ], + [ + 0.35137680172920227, + 0.1135379895567894, + 0.10420352220535278, + -0.005455389153212309, + -0.10346496850252151, + 0.01882711797952652, + 0.0, + 0.3644362688064575 + ], + [ + 0.352592408657074, + 0.12557321786880493, + 0.09859728813171387, + -0.018924813717603683, + -0.12353994697332382, + 0.06795336306095123, + 0.0, + 0.4256414473056793 + ], + [ + 0.3494894206523895, + 0.12102764844894409, + 0.09640514105558395, + -0.05108822137117386, + -0.09163437783718109, + 0.13582324981689453, + 0.0, + 0.7368898391723633 + ], + [ + 0.34685972332954407, + 0.11175268888473511, + 0.10007885098457336, + -0.099150650203228, + -0.07825545221567154, + 0.10265085101127625, + 0.0, + 0.9858682155609131 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9499720335006714 + ], + [ + 0.6581199765205383 + ], + [ + 0.3866458535194397 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.4256414473056793 + ], + [ + 0.7368898391723633 + ], + [ + 0.9858682155609131 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3044571280479431, + 0.1594926118850708, + 0.19815687835216522 + ], + [ + 0.3022206127643585, + 0.15767763555049896, + 0.17982108891010284 + ], + [ + 0.3098161518573761, + 0.13529731333255768, + 0.1488141119480133 + ], + [ + 0.3215797543525696, + 0.11168861389160156, + 0.12628178298473358 + ], + [ + 0.3335433900356293, + 0.10278765112161636, + 0.12404022365808487 + ], + [ + 0.33957260847091675, + 0.09384824335575104, + 0.1028984859585762 + ], + [ + 0.3524818420410156, + 0.09753859788179398, + 0.11152976006269455 + ], + [ + 0.35956260561943054, + 0.10233165323734283, + 0.10257332026958466 + ], + [ + 0.36911913752555847, + 0.11151155084371567, + 0.10110614448785782 + ], + [ + 0.36869537830352783, + 0.11654628813266754, + 0.09420202672481537 + ], + [ + 0.36845943331718445, + 0.11727600544691086, + 0.09010425209999084 + ], + [ + 0.36768126487731934, + 0.11642477661371231, + 0.08928723633289337 + ], + [ + 0.37821313738822937, + 0.11934089660644531, + 0.08983535319566727 + ], + [ + 0.39435523748397827, + 0.12352859973907471, + 0.09204896539449692 + ], + [ + 0.40980133414268494, + 0.12213842570781708, + 0.09328052401542664 + ], + [ + 0.4122045040130615, + 0.11364337056875229, + 0.09363999217748642 + ], + [ + 0.4170804023742676, + 0.09173815697431564, + 0.09325657784938812 + ], + [ + 0.4167271554470062, + 0.07028120756149292, + 0.09039207547903061 + ], + [ + 0.4178433418273926, + 0.04705771803855896, + 0.09078163653612137 + ], + [ + 0.41277119517326355, + 0.025542449206113815, + 0.08987022191286087 + ], + [ + 0.4111551344394684, + 0.0008313171565532684, + 0.09319815784692764 + ], + [ + 0.40883153676986694, + -0.023893728852272034, + 0.09325867891311646 + ], + [ + 0.41178518533706665, + -0.036626383662223816, + 0.09242764860391617 + ], + [ + 0.42061662673950195, + -0.06278613954782486, + 0.09111516177654266 + ], + [ + 0.4254843592643738, + -0.0902063399553299, + 0.09095993638038635 + ], + [ + 0.4253185987472534, + -0.10947240889072418, + 0.09204020351171494 + ], + [ + 0.42196160554885864, + -0.13529373705387115, + 0.09248094260692596 + ], + [ + 0.42148032784461975, + -0.1644619107246399, + 0.09304633736610413 + ], + [ + 0.41443756222724915, + -0.17435072362422943, + 0.09737209230661392 + ], + [ + 0.42131027579307556, + -0.15014752745628357, + 0.10165340453386307 + ], + [ + 0.42337268590927124, + -0.10366110503673553, + 0.13749311864376068 + ], + [ + 0.4116002917289734, + -0.05261043831706047, + 0.16193683445453644 + ], + [ + 0.39628931879997253, + -0.016954144462943077, + 0.15421061217784882 + ], + [ + 0.38013261556625366, + 0.03473292291164398, + 0.12492137402296066 + ], + [ + 0.3695467412471771, + 0.06806078553199768, + 0.1004963219165802 + ], + [ + 0.3626599907875061, + 0.08310110121965408, + 0.09313876926898956 + ], + [ + 0.3473425507545471, + 0.0950014591217041, + 0.09899953007698059 + ], + [ + 0.3278425633907318, + 0.08643756061792374, + 0.1048467829823494 + ], + [ + 0.32102105021476746, + 0.08103582262992859, + 0.10486745834350586 + ], + [ + 0.3184356987476349, + 0.07607570290565491, + 0.09279660880565643 + ], + [ + 0.32499757409095764, + 0.07044597715139389, + 0.08788072317838669 + ], + [ + 0.3260093629360199, + 0.06406315416097641, + 0.08706817775964737 + ], + [ + 0.31846901774406433, + 0.04938638582825661, + 0.08541826158761978 + ], + [ + 0.3119872808456421, + 0.02643279731273651, + 0.08656411617994308 + ], + [ + 0.30988365411758423, + 0.007553399540483952, + 0.08807382732629776 + ], + [ + 0.31396886706352234, + -0.01052769087255001, + 0.08710972964763641 + ], + [ + 0.3180915117263794, + -0.029563214629888535, + 0.0855260118842125 + ], + [ + 0.3262673020362854, + -0.052863333374261856, + 0.08371760696172714 + ], + [ + 0.3299168050289154, + -0.07188087701797485, + 0.08403947949409485 + ], + [ + 0.33293160796165466, + -0.08879846334457397, + 0.08498022705316544 + ], + [ + 0.3405390679836273, + -0.11320850253105164, + 0.08510728925466537 + ], + [ + 0.3462298512458801, + -0.13124580681324005, + 0.08286236971616745 + ], + [ + 0.35306182503700256, + -0.14233066141605377, + 0.08360728621482849 + ], + [ + 0.3614463806152344, + -0.1489984542131424, + 0.08397210389375687 + ], + [ + 0.3742980659008026, + -0.1545734405517578, + 0.08399204164743423 + ], + [ + 0.3919259309768677, + -0.15785342454910278, + 0.08360325545072556 + ], + [ + 0.41129326820373535, + -0.15130062401294708, + 0.08600299805402756 + ], + [ + 0.4063307046890259, + -0.14646971225738525, + 0.08701623231172562 + ], + [ + 0.384225457906723, + -0.1301240473985672, + 0.10025819391012192 + ], + [ + 0.379070907831192, + -0.10011094808578491, + 0.14531360566616058 + ], + [ + 0.3735423982143402, + -0.06952013075351715, + 0.15302737057209015 + ], + [ + 0.36545833945274353, + -0.051424138247966766, + 0.13456657528877258 + ], + [ + 0.3586961030960083, + -0.035240426659584045, + 0.10355786979198456 + ], + [ + 0.35438889265060425, + -0.03267708420753479, + 0.09396513551473618 + ], + [ + 0.34895384311676025, + -0.02888425439596176, + 0.08726663142442703 + ], + [ + 0.3421383500099182, + -0.02529006451368332, + 0.08619491755962372 + ], + [ + 0.33660703897476196, + -0.02404659241437912, + 0.08819571882486343 + ], + [ + 0.3355771005153656, + -0.02642778679728508, + 0.08918721973896027 + ], + [ + 0.34876638650894165, + -0.039665985852479935, + 0.08618761599063873 + ], + [ + 0.3525383770465851, + -0.048176418989896774, + 0.08588249236345291 + ], + [ + 0.35521745681762695, + -0.062276486307382584, + 0.08611509203910828 + ], + [ + 0.3522544503211975, + -0.06990521401166916, + 0.08501973003149033 + ], + [ + 0.3509821891784668, + -0.07605084031820297, + 0.08502356708049774 + ], + [ + 0.3502107858657837, + -0.09453736245632172, + 0.08520309627056122 + ], + [ + 0.35430726408958435, + -0.0999513640999794, + 0.0850628986954689 + ], + [ + 0.3532952070236206, + -0.12481213361024857, + 0.08489436656236649 + ], + [ + 0.35254034399986267, + -0.14266200363636017, + 0.08582653105258942 + ], + [ + 0.35696664452552795, + -0.15061594545841217, + 0.08688494563102722 + ], + [ + 0.35705357789993286, + -0.1618066132068634, + 0.08751661330461502 + ], + [ + 0.3590776324272156, + -0.16703902184963226, + 0.09056340157985687 + ], + [ + 0.35565993189811707, + -0.1620127111673355, + 0.09265947341918945 + ], + [ + 0.360256552696228, + -0.12530988454818726, + 0.13298261165618896 + ], + [ + 0.35891059041023254, + -0.06885289400815964, + 0.160072460770607 + ], + [ + 0.3552817702293396, + -0.0317411869764328, + 0.15302348136901855 + ], + [ + 0.3547959327697754, + 0.02170112356543541, + 0.1401517689228058 + ], + [ + 0.353336364030838, + 0.06758874654769897, + 0.1238127276301384 + ], + [ + 0.35137680172920227, + 0.1135379895567894, + 0.10420352220535278 + ], + [ + 0.352592408657074, + 0.12557321786880493, + 0.09859728813171387 + ], + [ + 0.3494894206523895, + 0.12102764844894409, + 0.09640514105558395 + ], + [ + 0.34685972332954407, + 0.11175268888473511, + 0.10007885098457336 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9641846570632483, + -0.1808924271532365, + 0.19397390773616074, + -0.19430805034159704, + -0.9795419667979961, + 0.05236331591830431, + 0.18053345578111823, + -0.08817859763073901, + -0.9796081901778908 + ], + [ + 0.9732599466361305, + -0.174788222722587, + 0.14904413262961735, + -0.18076016241258822, + -0.9831453542623704, + 0.027403942725313095, + 0.14174216013032387, + -0.053612401455230795, + -0.9884507425520971 + ], + [ + 0.981550040569526, + -0.11901308129934564, + 0.1496509416528923, + -0.12679538105906005, + -0.9909724059755579, + 0.04355022315788891, + 0.14311690745698005, + -0.061721771480163404, + -0.987779314282953 + ], + [ + 0.976851791993988, + -0.06676295906730215, + 0.20323209336793244, + -0.07874354303370285, + -0.9955669875741217, + 0.05143760961677636, + 0.19889703594733046, + -0.06625013621998249, + -0.9777785478022107 + ], + [ + 0.9644564633509307, + -0.0011863675196607214, + 0.264239139479227, + -0.020038692968001884, + -0.9974387283394618, + 0.06866173601570837, + 0.2634808932062214, + -0.07151626207139859, + -0.9620100015980011 + ], + [ + 0.9762925823101561, + 0.01228136296269057, + 0.21610636698150645, + -0.00403218518270165, + -0.997183939100435, + 0.07488613411568491, + 0.21641750208525026, + -0.07398215814585703, + -0.9734937622128157 + ], + [ + 0.9693376861956615, + 0.024617748775681302, + 0.244496250617589, + 0.004138745362327393, + -0.9964636505932076, + 0.0839229636826761, + 0.2456976208832053, + -0.0803377837114978, + -0.9660116560376782 + ], + [ + 0.9743165283326006, + 0.036458042788429006, + 0.22221186677120827, + 0.01608526603135891, + -0.9955537667804208, + 0.09281143068617852, + 0.22460758409859752, + -0.0868533739433995, + -0.970570927135178 + ], + [ + 0.9738580388248151, + 0.044890775770472374, + 0.2226776559671169, + 0.021416258077335163, + -0.9940567898536786, + 0.10673538511554626, + 0.22614567010281109, + -0.09917619067358943, + -0.9690315882865873 + ], + [ + 0.978414958649419, + 0.03393422074171362, + 0.2038446402378733, + 0.012467243237804312, + -0.9943214671857686, + 0.10568532414479066, + 0.20627345087796628, + -0.10086272134040754, + -0.9732820633848659 + ], + [ + 0.9808032234349229, + 0.013670889604155093, + 0.19452029117060196, + -0.0047108715763886705, + -0.9955871789377765, + 0.09372287246830821, + 0.19494318297559302, + -0.09284005553720331, + -0.9764107125073923 + ], + [ + 0.982096607864929, + 0.0014434344196707725, + 0.18837242185966624, + -0.015410974032758701, + -0.9960031518378255, + 0.08797853947684804, + 0.18774651714362528, + -0.08930642768689039, + -0.9781490721123467 + ], + [ + 0.9846590320480434, + 0.03885141913101663, + 0.17010925265169025, + 0.02537691880574473, + -0.9964168687828654, + 0.08068107334980722, + 0.17263430307484418, + -0.07512649889657048, + -0.9821167988408541 + ], + [ + 0.9832475256777699, + 0.0991645370282009, + 0.15294017733913343, + 0.08852173502320064, + -0.9932534429645902, + 0.0749099490553124, + 0.15933676812658545, + -0.06011649220446763, + -0.9853922070363681 + ], + [ + 0.9799954570900667, + 0.13629940589056103, + 0.14502198466684738, + 0.12709934011510168, + -0.9893484557347781, + 0.07096048814315986, + 0.153149148953355, + -0.05110875745985151, + -0.9868805566459263 + ], + [ + 0.982318138566484, + 0.11359412036519638, + 0.14882019507356997, + 0.10778424986421305, + -0.9930831531878853, + 0.04656615010515847, + 0.15308046944168624, + -0.029702300800856153, + -0.9877672515338056 + ], + [ + 0.9859448306268906, + 0.061460943558575516, + 0.1553555386106383, + 0.06114709553831598, + -0.9981055830992008, + 0.006802771011315984, + 0.15547933517782994, + 0.0027923830492857776, + -0.9878351982641468 + ], + [ + 0.9901147167662937, + 0.021796604655741462, + 0.13855596583432583, + 0.024290564387170237, + -0.9995714917689351, + -0.016334054137844955, + 0.1381405665420346, + 0.01953818999566292, + -0.9902198962892731 + ], + [ + 0.9920180012672288, + 0.008091108240922379, + 0.12583647773680776, + 0.011750178664269296, + -0.9995286269265509, + -0.02836295569368152, + 0.12554767406499487, + 0.029615163713166744, + -0.9916454626604774 + ], + [ + 0.996713509007456, + 0.016483178712722465, + 0.07931258274427866, + 0.020063346935090494, + -0.9988053594383203, + -0.04455688574227058, + 0.07848339360530857, + 0.046001725802539334, + -0.9958535023543282 + ], + [ + 0.9989523255931667, + 0.015386388254529235, + 0.0430988427743083, + 0.018672897846155893, + -0.9968622857152978, + -0.07692142877312429, + 0.04178006795148482, + 0.07764562044927383, + -0.9961052070675147 + ], + [ + 0.9996036273153951, + 0.003833371739099144, + 0.02789074253249867, + 0.006277287331533055, + -0.9960943133528444, + -0.08807221224587435, + 0.027444196502386966, + 0.08821238103143368, + -0.9957235519515962 + ], + [ + 0.9993112104825759, + 0.017327491747130098, + 0.03281558522413682, + 0.020197090202274535, + -0.9958056195769771, + -0.08923701903511974, + 0.03113169046503313, + 0.08983833284665446, + -0.9954696840186161 + ], + [ + 0.9979693814468378, + 0.009214363944501541, + 0.06302546462910606, + 0.014543294349761178, + -0.9963068677303213, + -0.08462338862780651, + 0.062012952550839204, + 0.08536814868845895, + -0.9944177557271556 + ], + [ + 0.9971197308855755, + -0.004662921005724185, + 0.07570006239344806, + 0.002301607038859034, + -0.9957881981377897, + -0.0916546073830042, + 0.07580860692372751, + 0.09156484924461104, + -0.9929093279343766 + ], + [ + 0.9975836786722077, + -0.00475875137822322, + 0.06931203598326817, + 0.0027497143640956255, + -0.9941653272106248, + -0.10783200472543975, + 0.06942076863404416, + 0.10776203625355096, + -0.9917500191201142 + ], + [ + 0.9981900500656375, + -0.02335074414926386, + 0.05541991246506599, + -0.016352822462852547, + -0.9922071481399377, + -0.1235214976330442, + 0.05787235218529123, + 0.12239165791706287, + -0.9907931534507363 + ], + [ + 0.9979417015197526, + -0.023091192241103328, + 0.05982605794088239, + -0.014587598400185099, + -0.9902046092676753, + -0.1388597629191617, + 0.062446475807497126, + 0.13770122957306985, + -0.9885033176642801 + ], + [ + 0.997885973638024, + -0.05481531544094599, + 0.03491224440798489, + -0.04957402027306368, + -0.9894006081135123, + -0.13648755686354097, + 0.04202380433110686, + 0.13446827825819013, + -0.9900264047043489 + ], + [ + 0.998847182021549, + -0.029237131715579463, + 0.03807226151223904, + -0.023668556512160606, + -0.9899704354243203, + -0.1392779107339439, + 0.0417624999280589, + 0.13821623318130055, + -0.9895211804124918 + ], + [ + 0.995216912561518, + 0.0010282381881566976, + 0.09768438809629874, + 0.01657287447235105, + -0.987227233568571, + -0.15845418622513532, + 0.09627375957779767, + 0.15931519709925537, + -0.9825222802511818 + ], + [ + 0.9908960227985848, + -0.03172366770906432, + 0.13083837704982226, + -0.01548307632274363, + -0.9922456299589812, + -0.12332430488305443, + 0.133736107127173, + 0.12017578264521242, + -0.9837034283340076 + ], + [ + 0.9904975321129265, + -0.09093296632228402, + 0.10317865338349921, + -0.08792050094875113, + -0.995567802504552, + -0.03338766432648033, + 0.10575738457016876, + 0.02399888022569876, + -0.9941023233836594 + ], + [ + 0.989411772906336, + -0.11310082802492273, + 0.09095353942765391, + -0.12024692060208848, + -0.9897264059948601, + 0.07734545469652543, + 0.08127128472010253, + -0.08746338649157195, + -0.992846984335134 + ], + [ + 0.9813201765379522, + -0.15276121232630133, + 0.11693897181060298, + -0.17101380482415704, + -0.9710930799727551, + 0.16653080372289553, + 0.08811917883802278, + -0.18341821620991494, + -0.9790775088231194 + ], + [ + 0.9684415199571363, + -0.20269502141156118, + 0.14503706670392236, + -0.22962522746736255, + -0.9518818224422132, + 0.20296120568880333, + 0.09691892144299419, + -0.2298602279626849, + -0.9683857693436377 + ], + [ + 0.9655622923441977, + -0.2221936766184243, + 0.13534928767380028, + -0.24392770762034047, + -0.9540728304427367, + 0.17390890622987246, + 0.09049161871744671, + -0.2009353236287039, + -0.9754159434108733 + ], + [ + 0.9667209230889455, + -0.23476244600518287, + 0.10167227157746073, + -0.24591875013122272, + -0.9622860296917617, + 0.11631666000175285, + 0.07053102293285252, + -0.1374488668768489, + -0.9879945261985594 + ], + [ + 0.9726432970527682, + -0.2162962418063581, + 0.08474050081729508, + -0.22372819797597637, + -0.9703886316906559, + 0.09105820619778737, + 0.06253567085066604, + -0.10752599344336189, + -0.9922335665584365 + ], + [ + 0.9787656447586919, + -0.1737558626884878, + 0.10875069113105278, + -0.1840293492170763, + -0.9785259049394026, + 0.09284531215555596, + 0.0902829511416283, + -0.11088712073050964, + -0.9897237165943109 + ], + [ + 0.9761618958377157, + -0.14787666356650522, + 0.15887241889942866, + -0.17013581367527178, + -0.9758416445063516, + 0.13706527551569256, + 0.13476556689143598, + -0.1608277874609302, + -0.977738546218186 + ], + [ + 0.9767237029530663, + -0.1412129825832789, + 0.1614611459131423, + -0.16483970595574893, + -0.9757901128008226, + 0.14374118094888558, + 0.13725406890170028, + -0.16701062633884292, + -0.9763548388059716 + ], + [ + 0.9859840909028638, + -0.12852371307994673, + 0.1063815193658985, + -0.13953277781942622, + -0.9847966286102398, + 0.10347078907547033, + 0.09146571161068033, + -0.11686426080735449, + -0.9889270792861842 + ], + [ + 0.9901560800030178, + -0.13085242698032637, + 0.049684802368689565, + -0.13376466618448044, + -0.9891538495060797, + 0.06067681672482944, + 0.04120620479505367, + -0.06672558999860831, + -0.9969201293612873 + ], + [ + 0.9917468223909223, + -0.1250497928629068, + 0.0282982257827703, + -0.12636044397749574, + -0.9906936807320085, + 0.05058724301121376, + 0.02170894919886032, + -0.05374551388357491, + -0.998318657174187 + ], + [ + 0.9945415728761452, + -0.09691882952742069, + 0.038649712858941115, + -0.09868985758528921, + -0.9940124616964302, + 0.04689923242441034, + 0.033872877510467914, + -0.05045757103981817, + -0.9981516225974505 + ], + [ + 0.994156951810077, + -0.09075347904556011, + 0.05844451393264712, + -0.09342251869331755, + -0.9946236760106225, + 0.044676348553939475, + 0.05407576322802144, + -0.04987533619178359, + -0.9972904605334715 + ], + [ + 0.9935484142942841, + -0.07774959756637674, + 0.08256239175060294, + -0.08105587712877634, + -0.9960048321811487, + 0.03747424521836892, + 0.07931893365520164, + -0.04392464399478037, + -0.9958810834701769 + ], + [ + 0.9958817477045115, + -0.04974122481344153, + 0.07579812097318775, + -0.05135925412808235, + -0.9984889146917011, + 0.0195477429181888, + 0.07471125487109953, + -0.023360175338537428, + -0.996931557632588 + ], + [ + 0.9992052368413499, + -0.013912097922577762, + 0.03735435985550613, + -0.013813413845767786, + -0.9999003887942873, + -0.0028986353614558922, + 0.03739096504167272, + 0.0023803404012324057, + -0.9992978783690211 + ], + [ + 0.9994866842008572, + 0.024605300689763517, + 0.02051699985725905, + 0.024839771960004097, + -0.9996281124233988, + -0.011252669985752509, + 0.020232494511340883, + 0.01175653141022403, + -0.9997261775781653 + ], + [ + 0.9988022866347165, + 0.048709119062400094, + 0.004627519143759906, + 0.048769519041876735, + -0.9987121391831004, + -0.013985601908352815, + 0.003940333194661918, + 0.0141945330490239, + -0.999891488615557 + ], + [ + 0.9918897495588357, + 0.12606859760940375, + -0.016168902773787165, + 0.12516412285954842, + -0.9909620065134724, + -0.04825188074668254, + -0.022105815273583844, + 0.045836779376287363, + -0.998704321902884 + ], + [ + 0.9806290806375489, + 0.19533543165506664, + -0.014514659764688482, + 0.19385484378312393, + -0.9784646870462185, + -0.07090243821877161, + -0.028051840399098697, + 0.06671525570418572, + -0.9973776460832421 + ], + [ + 0.9559604581456693, + 0.2932198584301262, + 0.01271680322011801, + 0.293206818889428, + -0.9522020649034311, + -0.0856795713713867, + -0.013013985502704929, + 0.085634935720529, + -0.9962415841378418 + ], + [ + 0.9282295661694671, + 0.36941589009117876, + 0.0438380272934914, + 0.372005386806234, + -0.9221883839988118, + -0.10573824570515614, + 0.0013655313936306208, + 0.1144573482385551, + -0.9934272246914773 + ], + [ + 0.9007167528744173, + 0.42934048370491196, + 0.06615194738930746, + 0.434393655950423, + -0.8889969329856953, + -0.14486754230003507, + -0.003388622344113454, + 0.1592206085720662, + -0.9872372131582913 + ], + [ + 0.8962125412281685, + 0.44127590732076954, + 0.04559226429538363, + 0.4421505026887203, + -0.8801320799683227, + -0.1728307113413184, + -0.036138814555272805, + 0.17505169359039585, + -0.9838957722511434 + ], + [ + 0.9267788500680414, + 0.37543199099993735, + -0.01147968642348677, + 0.36441091326112457, + -0.9061390011879731, + -0.21474821727375376, + -0.09102554236450194, + 0.1948407828455973, + -0.9766019762305229 + ], + [ + 0.9413269403994213, + 0.3314246968295222, + 0.06372802844685779, + 0.335667258153366, + -0.8997532106480699, + -0.2788756922578434, + -0.03508679355634706, + 0.28390461472112277, + -0.95821035616298 + ], + [ + 0.9741854209678691, + 0.21534028293426782, + 0.06775933972114612, + 0.22551294240542508, + -0.942026321313893, + -0.24845587688654516, + 0.010328522706739372, + 0.25732270109262445, + -0.9662703292149112 + ], + [ + 0.9905111899878835, + 0.10991161718305847, + 0.08250465997137273, + 0.12092777118471276, + -0.9822739816814118, + -0.14322813643988858, + 0.06529974475512738, + 0.15184617650751164, + -0.9862447373826462 + ], + [ + 0.9950357686969086, + 0.041017342117978, + 0.0906719176996318, + 0.044667804490783836, + -0.9982557521652586, + -0.038603633390480965, + 0.08893034496573803, + 0.04246211151780248, + -0.9951323343303263 + ], + [ + 0.9900423397232312, + -0.02039726059584284, + 0.13928430390943286, + -0.023380996357009465, + -0.9995301543762497, + 0.019819170061930094, + 0.1388146050122374, + -0.02287842330178094, + -0.9900540809382692 + ], + [ + 0.9887339742246921, + -0.06468854267383033, + 0.13498340883449966, + -0.07244194433434152, + -0.9959454684604718, + 0.053336559263897916, + 0.13098585005604924, + -0.0625141288013131, + -0.9894112849494424 + ], + [ + 0.9923453176546525, + -0.0886090348137401, + 0.08601865773344729, + -0.09027846850820537, + -0.9957926764576032, + 0.0157080755414531, + 0.08426487199717052, + -0.023353467896233673, + -0.9961696877964716 + ], + [ + 0.9934594922074123, + -0.09399581632312289, + 0.06483073234770842, + -0.09440883093189749, + -0.9955279421533857, + 0.003330020107659638, + 0.06422779760401923, + -0.00942883373460192, + -0.997890719021548 + ], + [ + 0.9983436247544067, + -0.02929352630468342, + 0.049516625782350464, + -0.028462924393781088, + -0.9994434472117473, + -0.017397061833922634, + 0.04999868845466265, + 0.015958857795476674, + -0.9986217732508527 + ], + [ + 0.9986753603985415, + 0.03855086717636945, + 0.03407866154638219, + 0.03958358871335062, + -0.9987607691177717, + -0.0301672931475324, + 0.0328734549053678, + 0.031476288078913846, + -0.9989637527214678 + ], + [ + 0.9973354982699847, + 0.062472000488859536, + 0.03767164776700432, + 0.06376841587201373, + -0.9973767014531986, + -0.03425353318288618, + 0.035432937046415085, + 0.03656452588585159, + -0.9987029300142298 + ], + [ + 0.9957401245834442, + 0.06209928691884337, + 0.0681563119506768, + 0.06423338668589544, + -0.9974964671695928, + -0.029578201754692775, + 0.06614889514880072, + 0.03383011304078438, + -0.9972361040005724 + ], + [ + 0.9955208373404499, + 0.05075968307131005, + 0.0797603723378328, + 0.053444265240343077, + -0.9980614753808088, + -0.03189046681381862, + 0.07798700490395448, + 0.036010358720562206, + -0.9963038096539264 + ], + [ + 0.9952241221972642, + 0.05741992087505653, + 0.07894237951434967, + 0.060297962011972, + -0.9975816601866347, + -0.03456858453105895, + 0.07676654462647219, + 0.03916355379661599, + -0.9962796362869875 + ], + [ + 0.9967412026807927, + 0.05383559694223301, + 0.06007248438612125, + 0.05652394578737842, + -0.9974317949424588, + -0.043987020704869456, + 0.05755013841054473, + 0.04723920977047076, + -0.9972243672460019 + ], + [ + 0.9948541697715755, + 0.09497225559357128, + 0.0352909557192718, + 0.09680044702690005, + -0.9938204890913086, + -0.054318587221184704, + 0.029914116124374356, + 0.05745525328272864, + -0.9978998143735252 + ], + [ + 0.994551242626639, + 0.10056593621443556, + 0.02746485505372036, + 0.10229794904557864, + -0.9921907767564011, + -0.07136240004790502, + 0.020073749297926127, + 0.07378316198729297, + -0.9970722589643544 + ], + [ + 0.994744226208334, + 0.10122908660575677, + 0.015381692044319922, + 0.10221077796475528, + -0.9906344522861527, + -0.09053363359300849, + 0.0060729970378386325, + 0.09162998400457033, + -0.995774605389342 + ], + [ + 0.9919798304204389, + 0.12621765234841822, + 0.006717162696505719, + 0.12623048550270735, + -0.9865578357265133, + -0.10377620775673398, + -0.006471519820589115, + 0.10379181568058178, + -0.9945779901188946 + ], + [ + 0.9932414811735117, + 0.11606048138632226, + 0.0011509720339937975, + 0.11545391520060834, + -0.9869361144663226, + -0.1123721470248213, + -0.011906029611026105, + 0.11174556198119216, + -0.9936655251322792 + ], + [ + 0.9934716056322608, + 0.11376733890688988, + -0.008435721694223727, + 0.11175728941777834, + -0.9854271784339534, + -0.1282325398083028, + -0.022901464242455406, + 0.1264526338268282, + -0.991708250612956 + ], + [ + 0.9935696906526986, + 0.10532716284134246, + -0.041538639651464454, + 0.09878839020515355, + -0.9857069480628102, + -0.13646489109428403, + -0.055318385523939584, + 0.13148384428702184, + -0.9897736483229542 + ], + [ + 0.9955043806932803, + 0.09419183009502526, + 0.009946213542779749, + 0.09456433025708909, + -0.982489217947194, + -0.16053823239508855, + -0.005349342344332394, + 0.16075707064033348, + -0.9869795077789721 + ], + [ + 0.993814199539805, + 0.10048867175772386, + 0.047279632416353475, + 0.10620573462312205, + -0.9844190783766108, + -0.14014071521619778, + 0.032460417838038456, + 0.14429520080901134, + -0.9890021315938947 + ], + [ + 0.9991946502752258, + 0.02503810139791895, + 0.03135513259032263, + 0.027620761474296384, + -0.9960113710555258, + -0.08484363419651224, + 0.029105745084934832, + 0.08564135803733548, + -0.9959008049984555 + ], + [ + 0.9989202336099487, + 0.012400611434830733, + 0.044772667116086545, + 0.014125656429750548, + -0.9991618156640709, + -0.038420462637842843, + 0.04425870213951376, + 0.0390114208267217, + -0.9982581210939414 + ], + [ + 0.9950884216690534, + -0.015180072923219724, + 0.09781921307308976, + -0.013486207188481284, + -0.9997478506619293, + -0.01795431180866594, + 0.09806709578580451, + 0.016546917625321546, + -0.9950422323907862 + ], + [ + 0.994475996118575, + 0.018262393113674863, + 0.10336333074030213, + 0.01872532942142255, + -0.9998185042687536, + -0.0035100655052110593, + 0.10328046854089448, + 0.005426188307943828, + -0.9946374722975299 + ], + [ + 0.9900882895120408, + 0.06556241168377755, + 0.12420446507806629, + 0.0673835790851818, + -0.9976717406341086, + -0.010514333539472962, + 0.12322593980486726, + 0.018779459904776447, + -0.9922009371316338 + ], + [ + 0.9866333410334146, + 0.1305995386213167, + 0.09745979105836843, + 0.1348379296687882, + -0.9901302235798318, + -0.038221369368286226, + 0.09150619150569293, + 0.05085175381096753, + -0.9945052619521286 + ], + [ + 0.9916917403445124, + 0.09426966299627577, + 0.08752555495991493, + 0.10215706979878368, + -0.9906434454985212, + -0.09049583957809872, + 0.0781756050350679, + 0.09868533087235982, + -0.9920432350699309 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0022365152835845947, + -0.0018149763345718384, + -0.018335789442062378, + -0.035586483776569366, + 0.039307668805122375, + 0.01522807776927948, + 1.0 + ], + [ + 0.007595539093017578, + -0.022380322217941284, + -0.03100697696208954, + 0.008218526840209961, + -0.0013889074325561523, + 0.05516684055328369, + 1.0 + ], + [ + 0.011763602495193481, + -0.023608699440956116, + -0.022532328963279724, + 0.005248114466667175, + -0.05662231147289276, + 0.048031702637672424, + 1.0 + ], + [ + 0.011963635683059692, + -0.008900962769985199, + -0.002241559326648712, + 0.006551593542098999, + -0.06639648973941803, + 0.0596613883972168, + 1.0 + ], + [ + 0.006029218435287476, + -0.008939407765865326, + -0.021141737699508667, + 0.001646779477596283, + 0.048485323786735535, + 0.016644123941659927, + 1.0 + ], + [ + 0.012909233570098877, + 0.0036903545260429382, + 0.008631274104118347, + 0.007122725248336792, + -0.030095800757408142, + 0.008399712853133678, + 1.0 + ], + [ + 0.007080763578414917, + 0.004793055355548859, + -0.008956439793109894, + 0.00627569854259491, + 0.021698996424674988, + 0.012238144874572754, + 1.0 + ], + [ + 0.00955653190612793, + 0.009179897606372833, + -0.0014671757817268372, + 0.012741394340991974, + -0.00157870352268219, + 0.005479823797941208, + 1.0 + ], + [ + -0.00042375922203063965, + 0.005034737288951874, + -0.00690411776304245, + 0.0012723729014396667, + 0.020354047417640686, + -0.009246009401977062, + 0.0 + ], + [ + -0.0002359449863433838, + 0.0007297173142433167, + -0.004097774624824524, + -0.008464932441711426, + 0.011565446853637695, + -0.017544634640216827, + 0.0 + ], + [ + -0.0007781684398651123, + -0.0008512288331985474, + -0.0008170157670974731, + -0.003748983144760132, + 0.007332161068916321, + -0.010887586511671543, + 0.0 + ], + [ + 0.010531872510910034, + 0.0029161199927330017, + 0.0005481168627738953, + -0.014703229069709778, + 0.01536385715007782, + 0.04145721346139908, + 0.0 + ], + [ + 0.0161421000957489, + 0.0041877031326293945, + 0.002213612198829651, + -0.015413627028465271, + 0.01348470151424408, + 0.06402130424976349, + 0.0 + ], + [ + 0.015446096658706665, + -0.0013901740312576294, + 0.001231558620929718, + -0.009190194308757782, + 0.0062645673751831055, + 0.03918599337339401, + 0.0 + ], + [ + 0.002403169870376587, + -0.008495055139064789, + 0.00035946816205978394, + -0.021680882200598717, + 6.949901580810547e-05, + -0.019686691462993622, + 0.0 + ], + [ + 0.004875898361206055, + -0.021905213594436646, + -0.0003834143280982971, + -0.03288784623146057, + -0.0024279356002807617, + -0.047347746789455414, + 0.0 + ], + [ + -0.00035324692726135254, + -0.021456949412822723, + -0.0028645023703575134, + -0.016901839524507523, + 0.01752893626689911, + -0.03741128742694855, + 0.0 + ], + [ + 0.0011161863803863525, + -0.02322348952293396, + 0.0003895610570907593, + -0.010127192363142967, + 0.012703880667686462, + -0.012683991342782974, + 0.0 + ], + [ + -0.005072146654129028, + -0.021515268832445145, + -0.000911414623260498, + -0.016304656863212585, + 0.04731566458940506, + 0.00828261487185955, + 0.0 + ], + [ + -0.001616060733795166, + -0.024711132049560547, + 0.0033279359340667725, + -0.0316314622759819, + 0.03677195683121681, + -0.001436479389667511, + 0.0 + ], + [ + -0.0023235976696014404, + -0.024725046008825302, + 6.0521066188812256e-05, + -0.010568641126155853, + 0.014344589784741402, + -0.012410610914230347, + 0.0 + ], + [ + 0.002953648567199707, + -0.012732654809951782, + -0.0008310303092002869, + -0.0016428083181381226, + -0.003689078614115715, + 0.013928566128015518, + 0.0 + ], + [ + 0.008831441402435303, + -0.026159755885601044, + -0.0013124868273735046, + 0.004365958273410797, + -0.03091604635119438, + -0.005636405199766159, + 0.0 + ], + [ + 0.004867732524871826, + -0.027420200407505035, + -0.00015522539615631104, + -0.006321243941783905, + -0.013828638941049576, + -0.012263603508472443, + 0.0 + ], + [ + -0.00016576051712036133, + -0.019266068935394287, + 0.0010802671313285828, + -0.01627518981695175, + 0.006404757499694824, + 0.0004481163341552019, + 0.0 + ], + [ + -0.0033569931983947754, + -0.025821328163146973, + 0.00044073909521102905, + -0.014672495424747467, + 0.011571943759918213, + -0.01913737691938877, + 0.0 + ], + [ + -0.0004812777042388916, + -0.029168173670768738, + 0.0005653947591781616, + -0.015505693852901459, + -0.004582427442073822, + 0.0017643636092543602, + 0.0 + ], + [ + -0.0070427656173706055, + -0.009888812899589539, + 0.004325754940509796, + 0.0034151971340179443, + 0.020450949668884277, + -0.0350215882062912, + 0.0 + ], + [ + 0.006872713565826416, + 0.024203196167945862, + 0.0042813122272491455, + -0.003785163164138794, + 0.0002615340054035187, + 0.02594679407775402, + 0.0 + ], + [ + 0.0020624101161956787, + 0.046486422419548035, + 0.035839714109897614, + -0.021968111395835876, + -0.05464845523238182, + 0.04034242779016495, + 0.0 + ], + [ + -0.011772394180297852, + 0.051050666719675064, + 0.024443715810775757, + 0.03918580710887909, + -0.03771489858627319, + -0.03227504342794418, + 0.0 + ], + [ + -0.015310972929000854, + 0.03565629571676254, + -0.007726222276687622, + 0.09742772579193115, + 0.02818247675895691, + -0.07290789484977722, + 0.0 + ], + [ + -0.016156703233718872, + 0.05168706923723221, + -0.029289238154888153, + 0.11200326681137085, + 0.024594508111476898, + -0.03240867704153061, + 0.0 + ], + [ + -0.010585874319076538, + 0.0333278626203537, + -0.024425052106380463, + 0.09732455015182495, + -0.006872601807117462, + -0.051595792174339294, + 0.0 + ], + [ + -0.0068867504596710205, + 0.015040315687656403, + -0.007357552647590637, + 0.04786011576652527, + -0.008837677538394928, + -0.060272276401519775, + 0.0 + ], + [ + -0.015317440032958984, + 0.011900357902050018, + 0.005860760807991028, + -0.02989363670349121, + 0.006455719470977783, + -0.014641493558883667, + 0.0 + ], + [ + -0.019499987363815308, + -0.008563898503780365, + 0.005847252905368805, + -0.0649258941411972, + 0.02002594619989395, + -0.0016507208347320557, + 0.0 + ], + [ + -0.0068215131759643555, + -0.005401737987995148, + 2.0675361156463623e-05, + -0.03028544783592224, + 0.008013129234313965, + 0.023012757301330566, + 0.0 + ], + [ + -0.0025853514671325684, + -0.004960119724273682, + -0.012070849537849426, + 0.003626786172389984, + -0.027829550206661224, + 0.04023610055446625, + 0.0 + ], + [ + 0.006561875343322754, + -0.005629725754261017, + -0.004915885627269745, + 0.0514565035700798, + -0.04477081447839737, + 0.013294816017150879, + 0.0 + ], + [ + 0.0010117888450622559, + -0.0063828229904174805, + -0.0008125454187393188, + 0.006385922431945801, + -0.002511844038963318, + 0.005364716053009033, + 0.0 + ], + [ + -0.007540345191955566, + -0.014676768332719803, + -0.0016499161720275879, + -0.0517883375287056, + 0.04609498381614685, + 0.02660977840423584, + 0.0 + ], + [ + -0.006481736898422241, + -0.022953588515520096, + 0.0011458545923233032, + -0.05079520493745804, + 0.05037585273385048, + 0.006301179528236389, + 0.0 + ], + [ + -0.0021036267280578613, + -0.018879398703575134, + 0.0015097111463546753, + -0.013047941029071808, + 0.01950722001492977, + 0.007552385330200195, + 0.0 + ], + [ + 0.00408521294593811, + -0.018081091344356537, + -0.0009640976786613464, + -0.0032760947942733765, + -0.012168703600764275, + 0.027821466326713562, + 0.0 + ], + [ + 0.004122644662857056, + -0.019035523757338524, + -0.0015837177634239197, + -0.0005388036370277405, + -0.020222794264554977, + 0.00521126389503479, + 0.0 + ], + [ + 0.008175790309906006, + -0.02330011874437332, + -0.0018084049224853516, + -0.005891464650630951, + -0.02530018985271454, + 0.012294508516788483, + 0.0 + ], + [ + 0.003649502992630005, + -0.019017543643712997, + 0.0003218725323677063, + -0.02064995840191841, + 0.0046214088797569275, + 0.029875945299863815, + 0.0 + ], + [ + 0.003014802932739258, + -0.01691758632659912, + 0.0009407475590705872, + -0.025809796527028084, + 0.03738125041127205, + 0.037702471017837524, + 0.0 + ], + [ + 0.007607460021972656, + -0.02441003918647766, + 0.00012706220149993896, + -0.009377201087772846, + 0.017165808007121086, + 0.03867093473672867, + 0.0 + ], + [ + 0.005690783262252808, + -0.018037304282188416, + -0.002244919538497925, + -0.002435910515487194, + 0.01629353128373623, + 0.02394183725118637, + 0.0 + ], + [ + 0.0068319737911224365, + -0.01108485460281372, + 0.0007449164986610413, + -0.03166893869638443, + 0.0260479599237442, + 0.07673484086990356, + 0.0 + ], + [ + 0.008384555578231812, + -0.006667792797088623, + 0.00036481767892837524, + -0.020927108824253082, + 0.005947904661297798, + 0.06964372098445892, + 0.0 + ], + [ + 0.012851685285568237, + -0.0055749863386154175, + 1.9937753677368164e-05, + -0.018956057727336884, + -0.015041167847812176, + 0.10243752598762512, + 0.0 + ], + [ + 0.017627865076065063, + -0.0032799839973449707, + -0.0003887861967086792, + -0.02896162122488022, + -0.014379885047674179, + 0.08356356620788574, + 0.0 + ], + [ + 0.019367337226867676, + 0.006552800536155701, + 0.002399742603302002, + -0.04519321769475937, + 0.004754160530865192, + 0.06819885969161987, + 0.0 + ], + [ + -0.004962563514709473, + 0.004830911755561829, + 0.001013234257698059, + -0.01617242395877838, + 0.03275805711746216, + 0.008949339389801025, + 0.0 + ], + [ + -0.022105246782302856, + 0.016345664858818054, + 0.013241961598396301, + -0.02084881067276001, + 0.0550050288438797, + -0.08368512988090515, + 0.0 + ], + [ + -0.005154550075531006, + 0.030013099312782288, + 0.045055411756038666, + -0.09112296998500824, + -0.05605771765112877, + -0.0320989191532135, + 0.0 + ], + [ + -0.005528509616851807, + 0.03059081733226776, + 0.007713764905929565, + 0.02778148651123047, + -0.04542270302772522, + -0.11505119502544403, + 0.0 + ], + [ + -0.00808405876159668, + 0.018095992505550385, + -0.018460795283317566, + 0.1075003445148468, + -0.055017534643411636, + -0.10599683225154877, + 0.0 + ], + [ + -0.0067622363567352295, + 0.01618371158838272, + -0.031008705496788025, + 0.110120490193367, + -0.0237017422914505, + -0.07662449032068253, + 0.0 + ], + [ + -0.004307210445404053, + 0.0025633424520492554, + -0.009592734277248383, + 0.06574808806180954, + -0.050216346979141235, + -0.06847230345010757, + 0.0 + ], + [ + -0.005435049533843994, + 0.0037928298115730286, + -0.006698504090309143, + 0.03999513387680054, + 0.007900997996330261, + -0.04952492564916611, + 0.0 + ], + [ + -0.006815493106842041, + 0.0035941898822784424, + -0.0010717138648033142, + -0.03966031223535538, + 0.04699841886758804, + -0.017588414251804352, + 0.0 + ], + [ + -0.00553131103515625, + 0.0012434720993041992, + 0.0020008012652397156, + -0.013990486972033978, + 0.020092874765396118, + -0.0040207430720329285, + 0.0 + ], + [ + -0.0010299384593963623, + -0.00238119438290596, + 0.0009915009140968323, + -0.025428004562854767, + 0.014252495020627975, + 0.06624342501163483, + 0.0 + ], + [ + 0.01318928599357605, + -0.013238199055194855, + -0.002999603748321533, + -0.015518995001912117, + 0.017140164971351624, + 0.06811778247356415, + 0.0 + ], + [ + 0.0037719905376434326, + -0.00851043313741684, + -0.00030512362718582153, + -0.005097150802612305, + -0.002560976892709732, + 0.024236507713794708, + 0.0 + ], + [ + 0.00267907977104187, + -0.01410006731748581, + 0.000232599675655365, + 0.002684798091650009, + -0.030756875872612, + 0.0005670636892318726, + 0.0 + ], + [ + -0.0029630064964294434, + -0.007628727704286575, + -0.0010953620076179504, + -0.002217356115579605, + -0.011869043111801147, + -0.010785683989524841, + 0.0 + ], + [ + -0.0012722611427307129, + -0.0061456263065338135, + 3.8370490074157715e-06, + -0.003161344677209854, + 0.001224130392074585, + 0.0068801045417785645, + 0.0 + ], + [ + -0.0007714033126831055, + -0.018486522138118744, + 0.00017952919006347656, + -0.008045736700296402, + 0.019260190427303314, + -0.003865271806716919, + 0.0 + ], + [ + 0.004096478223800659, + -0.005414001643657684, + -0.00014019757509231567, + -0.0101773701608181, + 0.027663374319672585, + 0.04034773260354996, + 0.0 + ], + [ + -0.0010120570659637451, + -0.024860769510269165, + -0.000168532133102417, + -0.01635250449180603, + 0.009843481704592705, + 0.005502134561538696, + 0.0 + ], + [ + -0.0007548630237579346, + -0.017849870026111603, + 0.0009321644902229309, + -0.017895206809043884, + 0.014002063311636448, + -0.00010646134614944458, + 0.0 + ], + [ + 0.004426300525665283, + -0.007953941822052002, + 0.0010584145784378052, + -0.012220874428749084, + 0.012544599361717701, + 0.024179324507713318, + 0.0 + ], + [ + 8.693337440490723e-05, + -0.011190667748451233, + 0.0006316676735877991, + -0.008006148040294647, + 0.0054347459226846695, + -0.010850608348846436, + 0.0 + ], + [ + 0.002024054527282715, + -0.00523240864276886, + 0.003046788275241852, + -0.014838114380836487, + 0.01099715568125248, + -0.0036994516849517822, + 0.0 + ], + [ + -0.0034177005290985107, + 0.005026310682296753, + 0.0020960718393325806, + -0.005243554711341858, + 0.032443173229694366, + -0.012918718159198761, + 0.0 + ], + [ + 0.004596620798110962, + 0.036702826619148254, + 0.04032313823699951, + -0.02939090132713318, + -0.04999727010726929, + -0.004394829273223877, + 0.0 + ], + [ + -0.0013459622859954834, + 0.05645699054002762, + 0.02708984911441803, + 0.016582414507865906, + -0.03781548887491226, + 0.011755533516407013, + 0.0 + ], + [ + -0.0036288201808929443, + 0.03711170703172684, + -0.00704897940158844, + 0.05909474194049835, + 0.003356264904141426, + -0.07882674783468246, + 0.0 + ], + [ + -0.000485837459564209, + 0.05344231054186821, + -0.012871712446212769, + 0.04672320932149887, + -0.015163308009505272, + -0.013496003113687038, + 0.0 + ], + [ + -0.001459568738937378, + 0.045887622982263565, + -0.01633904129266739, + 0.022431787103414536, + -0.05395180359482765, + -0.027691926807165146, + 0.0 + ], + [ + -0.001959562301635742, + 0.045949243009090424, + -0.019609205424785614, + 0.011172439903020859, + -0.005240000784397125, + 0.03237906098365784, + 0.0 + ], + [ + 0.001215606927871704, + 0.012035228312015533, + -0.005606234073638916, + -0.013469424098730087, + -0.020074978470802307, + 0.04912624508142471, + 1.0 + ], + [ + -0.0031029880046844482, + -0.00454556941986084, + -0.0021921470761299133, + -0.032163407653570175, + 0.03190556913614273, + 0.0678698867559433, + 1.0 + ], + [ + -0.002629697322845459, + -0.009274959564208984, + 0.0036737099289894104, + -0.04806242883205414, + 0.013378925621509552, + -0.033172398805618286, + 1.0 + ], + [ + -0.007900357246398926, + -0.002306543290615082, + 0.05134168267250061, + 0.013359270989894867, + -0.09292770177125931, + -0.05695495009422302, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9499720335006714 + ], + [ + 0.6581199765205383 + ], + [ + 0.3866458535194397 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.3644362688064575 + ], + [ + 0.4256414473056793 + ], + [ + 0.7368898391723633 + ], + [ + 0.9858682155609131 + ], + [ + 1.0027955770492554 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3022206127643585, + 0.15767763555049896, + 0.17982108891010284 + ], + [ + 0.3098161518573761, + 0.13529731333255768, + 0.1488141119480133 + ], + [ + 0.3215797543525696, + 0.11168861389160156, + 0.12628178298473358 + ], + [ + 0.3335433900356293, + 0.10278765112161636, + 0.12404022365808487 + ], + [ + 0.33957260847091675, + 0.09384824335575104, + 0.1028984859585762 + ], + [ + 0.3524818420410156, + 0.09753859788179398, + 0.11152976006269455 + ], + [ + 0.35956260561943054, + 0.10233165323734283, + 0.10257332026958466 + ], + [ + 0.36911913752555847, + 0.11151155084371567, + 0.10110614448785782 + ], + [ + 0.36869537830352783, + 0.11654628813266754, + 0.09420202672481537 + ], + [ + 0.36845943331718445, + 0.11727600544691086, + 0.09010425209999084 + ], + [ + 0.36768126487731934, + 0.11642477661371231, + 0.08928723633289337 + ], + [ + 0.37821313738822937, + 0.11934089660644531, + 0.08983535319566727 + ], + [ + 0.39435523748397827, + 0.12352859973907471, + 0.09204896539449692 + ], + [ + 0.40980133414268494, + 0.12213842570781708, + 0.09328052401542664 + ], + [ + 0.4122045040130615, + 0.11364337056875229, + 0.09363999217748642 + ], + [ + 0.4170804023742676, + 0.09173815697431564, + 0.09325657784938812 + ], + [ + 0.4167271554470062, + 0.07028120756149292, + 0.09039207547903061 + ], + [ + 0.4178433418273926, + 0.04705771803855896, + 0.09078163653612137 + ], + [ + 0.41277119517326355, + 0.025542449206113815, + 0.08987022191286087 + ], + [ + 0.4111551344394684, + 0.0008313171565532684, + 0.09319815784692764 + ], + [ + 0.40883153676986694, + -0.023893728852272034, + 0.09325867891311646 + ], + [ + 0.41178518533706665, + -0.036626383662223816, + 0.09242764860391617 + ], + [ + 0.42061662673950195, + -0.06278613954782486, + 0.09111516177654266 + ], + [ + 0.4254843592643738, + -0.0902063399553299, + 0.09095993638038635 + ], + [ + 0.4253185987472534, + -0.10947240889072418, + 0.09204020351171494 + ], + [ + 0.42196160554885864, + -0.13529373705387115, + 0.09248094260692596 + ], + [ + 0.42148032784461975, + -0.1644619107246399, + 0.09304633736610413 + ], + [ + 0.41443756222724915, + -0.17435072362422943, + 0.09737209230661392 + ], + [ + 0.42131027579307556, + -0.15014752745628357, + 0.10165340453386307 + ], + [ + 0.42337268590927124, + -0.10366110503673553, + 0.13749311864376068 + ], + [ + 0.4116002917289734, + -0.05261043831706047, + 0.16193683445453644 + ], + [ + 0.39628931879997253, + -0.016954144462943077, + 0.15421061217784882 + ], + [ + 0.38013261556625366, + 0.03473292291164398, + 0.12492137402296066 + ], + [ + 0.3695467412471771, + 0.06806078553199768, + 0.1004963219165802 + ], + [ + 0.3626599907875061, + 0.08310110121965408, + 0.09313876926898956 + ], + [ + 0.3473425507545471, + 0.0950014591217041, + 0.09899953007698059 + ], + [ + 0.3278425633907318, + 0.08643756061792374, + 0.1048467829823494 + ], + [ + 0.32102105021476746, + 0.08103582262992859, + 0.10486745834350586 + ], + [ + 0.3184356987476349, + 0.07607570290565491, + 0.09279660880565643 + ], + [ + 0.32499757409095764, + 0.07044597715139389, + 0.08788072317838669 + ], + [ + 0.3260093629360199, + 0.06406315416097641, + 0.08706817775964737 + ], + [ + 0.31846901774406433, + 0.04938638582825661, + 0.08541826158761978 + ], + [ + 0.3119872808456421, + 0.02643279731273651, + 0.08656411617994308 + ], + [ + 0.30988365411758423, + 0.007553399540483952, + 0.08807382732629776 + ], + [ + 0.31396886706352234, + -0.01052769087255001, + 0.08710972964763641 + ], + [ + 0.3180915117263794, + -0.029563214629888535, + 0.0855260118842125 + ], + [ + 0.3262673020362854, + -0.052863333374261856, + 0.08371760696172714 + ], + [ + 0.3299168050289154, + -0.07188087701797485, + 0.08403947949409485 + ], + [ + 0.33293160796165466, + -0.08879846334457397, + 0.08498022705316544 + ], + [ + 0.3405390679836273, + -0.11320850253105164, + 0.08510728925466537 + ], + [ + 0.3462298512458801, + -0.13124580681324005, + 0.08286236971616745 + ], + [ + 0.35306182503700256, + -0.14233066141605377, + 0.08360728621482849 + ], + [ + 0.3614463806152344, + -0.1489984542131424, + 0.08397210389375687 + ], + [ + 0.3742980659008026, + -0.1545734405517578, + 0.08399204164743423 + ], + [ + 0.3919259309768677, + -0.15785342454910278, + 0.08360325545072556 + ], + [ + 0.41129326820373535, + -0.15130062401294708, + 0.08600299805402756 + ], + [ + 0.4063307046890259, + -0.14646971225738525, + 0.08701623231172562 + ], + [ + 0.384225457906723, + -0.1301240473985672, + 0.10025819391012192 + ], + [ + 0.379070907831192, + -0.10011094808578491, + 0.14531360566616058 + ], + [ + 0.3735423982143402, + -0.06952013075351715, + 0.15302737057209015 + ], + [ + 0.36545833945274353, + -0.051424138247966766, + 0.13456657528877258 + ], + [ + 0.3586961030960083, + -0.035240426659584045, + 0.10355786979198456 + ], + [ + 0.35438889265060425, + -0.03267708420753479, + 0.09396513551473618 + ], + [ + 0.34895384311676025, + -0.02888425439596176, + 0.08726663142442703 + ], + [ + 0.3421383500099182, + -0.02529006451368332, + 0.08619491755962372 + ], + [ + 0.33660703897476196, + -0.02404659241437912, + 0.08819571882486343 + ], + [ + 0.3355771005153656, + -0.02642778679728508, + 0.08918721973896027 + ], + [ + 0.34876638650894165, + -0.039665985852479935, + 0.08618761599063873 + ], + [ + 0.3525383770465851, + -0.048176418989896774, + 0.08588249236345291 + ], + [ + 0.35521745681762695, + -0.062276486307382584, + 0.08611509203910828 + ], + [ + 0.3522544503211975, + -0.06990521401166916, + 0.08501973003149033 + ], + [ + 0.3509821891784668, + -0.07605084031820297, + 0.08502356708049774 + ], + [ + 0.3502107858657837, + -0.09453736245632172, + 0.08520309627056122 + ], + [ + 0.35430726408958435, + -0.0999513640999794, + 0.0850628986954689 + ], + [ + 0.3532952070236206, + -0.12481213361024857, + 0.08489436656236649 + ], + [ + 0.35254034399986267, + -0.14266200363636017, + 0.08582653105258942 + ], + [ + 0.35696664452552795, + -0.15061594545841217, + 0.08688494563102722 + ], + [ + 0.35705357789993286, + -0.1618066132068634, + 0.08751661330461502 + ], + [ + 0.3590776324272156, + -0.16703902184963226, + 0.09056340157985687 + ], + [ + 0.35565993189811707, + -0.1620127111673355, + 0.09265947341918945 + ], + [ + 0.360256552696228, + -0.12530988454818726, + 0.13298261165618896 + ], + [ + 0.35891059041023254, + -0.06885289400815964, + 0.160072460770607 + ], + [ + 0.3552817702293396, + -0.0317411869764328, + 0.15302348136901855 + ], + [ + 0.3547959327697754, + 0.02170112356543541, + 0.1401517689228058 + ], + [ + 0.353336364030838, + 0.06758874654769897, + 0.1238127276301384 + ], + [ + 0.35137680172920227, + 0.1135379895567894, + 0.10420352220535278 + ], + [ + 0.352592408657074, + 0.12557321786880493, + 0.09859728813171387 + ], + [ + 0.3494894206523895, + 0.12102764844894409, + 0.09640514105558395 + ], + [ + 0.34685972332954407, + 0.11175268888473511, + 0.10007885098457336 + ], + [ + 0.33895936608314514, + 0.10944614559412003, + 0.15142053365707397 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9732599466361305, + -0.174788222722587, + 0.14904413262961735, + -0.18076016241258822, + -0.9831453542623704, + 0.027403942725313095, + 0.14174216013032387, + -0.053612401455230795, + -0.9884507425520971 + ], + [ + 0.981550040569526, + -0.11901308129934564, + 0.1496509416528923, + -0.12679538105906005, + -0.9909724059755579, + 0.04355022315788891, + 0.14311690745698005, + -0.061721771480163404, + -0.987779314282953 + ], + [ + 0.976851791993988, + -0.06676295906730215, + 0.20323209336793244, + -0.07874354303370285, + -0.9955669875741217, + 0.05143760961677636, + 0.19889703594733046, + -0.06625013621998249, + -0.9777785478022107 + ], + [ + 0.9644564633509307, + -0.0011863675196607214, + 0.264239139479227, + -0.020038692968001884, + -0.9974387283394618, + 0.06866173601570837, + 0.2634808932062214, + -0.07151626207139859, + -0.9620100015980011 + ], + [ + 0.9762925823101561, + 0.01228136296269057, + 0.21610636698150645, + -0.00403218518270165, + -0.997183939100435, + 0.07488613411568491, + 0.21641750208525026, + -0.07398215814585703, + -0.9734937622128157 + ], + [ + 0.9693376861956615, + 0.024617748775681302, + 0.244496250617589, + 0.004138745362327393, + -0.9964636505932076, + 0.0839229636826761, + 0.2456976208832053, + -0.0803377837114978, + -0.9660116560376782 + ], + [ + 0.9743165283326006, + 0.036458042788429006, + 0.22221186677120827, + 0.01608526603135891, + -0.9955537667804208, + 0.09281143068617852, + 0.22460758409859752, + -0.0868533739433995, + -0.970570927135178 + ], + [ + 0.9738580388248151, + 0.044890775770472374, + 0.2226776559671169, + 0.021416258077335163, + -0.9940567898536786, + 0.10673538511554626, + 0.22614567010281109, + -0.09917619067358943, + -0.9690315882865873 + ], + [ + 0.978414958649419, + 0.03393422074171362, + 0.2038446402378733, + 0.012467243237804312, + -0.9943214671857686, + 0.10568532414479066, + 0.20627345087796628, + -0.10086272134040754, + -0.9732820633848659 + ], + [ + 0.9808032234349229, + 0.013670889604155093, + 0.19452029117060196, + -0.0047108715763886705, + -0.9955871789377765, + 0.09372287246830821, + 0.19494318297559302, + -0.09284005553720331, + -0.9764107125073923 + ], + [ + 0.982096607864929, + 0.0014434344196707725, + 0.18837242185966624, + -0.015410974032758701, + -0.9960031518378255, + 0.08797853947684804, + 0.18774651714362528, + -0.08930642768689039, + -0.9781490721123467 + ], + [ + 0.9846590320480434, + 0.03885141913101663, + 0.17010925265169025, + 0.02537691880574473, + -0.9964168687828654, + 0.08068107334980722, + 0.17263430307484418, + -0.07512649889657048, + -0.9821167988408541 + ], + [ + 0.9832475256777699, + 0.0991645370282009, + 0.15294017733913343, + 0.08852173502320064, + -0.9932534429645902, + 0.0749099490553124, + 0.15933676812658545, + -0.06011649220446763, + -0.9853922070363681 + ], + [ + 0.9799954570900667, + 0.13629940589056103, + 0.14502198466684738, + 0.12709934011510168, + -0.9893484557347781, + 0.07096048814315986, + 0.153149148953355, + -0.05110875745985151, + -0.9868805566459263 + ], + [ + 0.982318138566484, + 0.11359412036519638, + 0.14882019507356997, + 0.10778424986421305, + -0.9930831531878853, + 0.04656615010515847, + 0.15308046944168624, + -0.029702300800856153, + -0.9877672515338056 + ], + [ + 0.9859448306268906, + 0.061460943558575516, + 0.1553555386106383, + 0.06114709553831598, + -0.9981055830992008, + 0.006802771011315984, + 0.15547933517782994, + 0.0027923830492857776, + -0.9878351982641468 + ], + [ + 0.9901147167662937, + 0.021796604655741462, + 0.13855596583432583, + 0.024290564387170237, + -0.9995714917689351, + -0.016334054137844955, + 0.1381405665420346, + 0.01953818999566292, + -0.9902198962892731 + ], + [ + 0.9920180012672288, + 0.008091108240922379, + 0.12583647773680776, + 0.011750178664269296, + -0.9995286269265509, + -0.02836295569368152, + 0.12554767406499487, + 0.029615163713166744, + -0.9916454626604774 + ], + [ + 0.996713509007456, + 0.016483178712722465, + 0.07931258274427866, + 0.020063346935090494, + -0.9988053594383203, + -0.04455688574227058, + 0.07848339360530857, + 0.046001725802539334, + -0.9958535023543282 + ], + [ + 0.9989523255931667, + 0.015386388254529235, + 0.0430988427743083, + 0.018672897846155893, + -0.9968622857152978, + -0.07692142877312429, + 0.04178006795148482, + 0.07764562044927383, + -0.9961052070675147 + ], + [ + 0.9996036273153951, + 0.003833371739099144, + 0.02789074253249867, + 0.006277287331533055, + -0.9960943133528444, + -0.08807221224587435, + 0.027444196502386966, + 0.08821238103143368, + -0.9957235519515962 + ], + [ + 0.9993112104825759, + 0.017327491747130098, + 0.03281558522413682, + 0.020197090202274535, + -0.9958056195769771, + -0.08923701903511974, + 0.03113169046503313, + 0.08983833284665446, + -0.9954696840186161 + ], + [ + 0.9979693814468378, + 0.009214363944501541, + 0.06302546462910606, + 0.014543294349761178, + -0.9963068677303213, + -0.08462338862780651, + 0.062012952550839204, + 0.08536814868845895, + -0.9944177557271556 + ], + [ + 0.9971197308855755, + -0.004662921005724185, + 0.07570006239344806, + 0.002301607038859034, + -0.9957881981377897, + -0.0916546073830042, + 0.07580860692372751, + 0.09156484924461104, + -0.9929093279343766 + ], + [ + 0.9975836786722077, + -0.00475875137822322, + 0.06931203598326817, + 0.0027497143640956255, + -0.9941653272106248, + -0.10783200472543975, + 0.06942076863404416, + 0.10776203625355096, + -0.9917500191201142 + ], + [ + 0.9981900500656375, + -0.02335074414926386, + 0.05541991246506599, + -0.016352822462852547, + -0.9922071481399377, + -0.1235214976330442, + 0.05787235218529123, + 0.12239165791706287, + -0.9907931534507363 + ], + [ + 0.9979417015197526, + -0.023091192241103328, + 0.05982605794088239, + -0.014587598400185099, + -0.9902046092676753, + -0.1388597629191617, + 0.062446475807497126, + 0.13770122957306985, + -0.9885033176642801 + ], + [ + 0.997885973638024, + -0.05481531544094599, + 0.03491224440798489, + -0.04957402027306368, + -0.9894006081135123, + -0.13648755686354097, + 0.04202380433110686, + 0.13446827825819013, + -0.9900264047043489 + ], + [ + 0.998847182021549, + -0.029237131715579463, + 0.03807226151223904, + -0.023668556512160606, + -0.9899704354243203, + -0.1392779107339439, + 0.0417624999280589, + 0.13821623318130055, + -0.9895211804124918 + ], + [ + 0.995216912561518, + 0.0010282381881566976, + 0.09768438809629874, + 0.01657287447235105, + -0.987227233568571, + -0.15845418622513532, + 0.09627375957779767, + 0.15931519709925537, + -0.9825222802511818 + ], + [ + 0.9908960227985848, + -0.03172366770906432, + 0.13083837704982226, + -0.01548307632274363, + -0.9922456299589812, + -0.12332430488305443, + 0.133736107127173, + 0.12017578264521242, + -0.9837034283340076 + ], + [ + 0.9904975321129265, + -0.09093296632228402, + 0.10317865338349921, + -0.08792050094875113, + -0.995567802504552, + -0.03338766432648033, + 0.10575738457016876, + 0.02399888022569876, + -0.9941023233836594 + ], + [ + 0.989411772906336, + -0.11310082802492273, + 0.09095353942765391, + -0.12024692060208848, + -0.9897264059948601, + 0.07734545469652543, + 0.08127128472010253, + -0.08746338649157195, + -0.992846984335134 + ], + [ + 0.9813201765379522, + -0.15276121232630133, + 0.11693897181060298, + -0.17101380482415704, + -0.9710930799727551, + 0.16653080372289553, + 0.08811917883802278, + -0.18341821620991494, + -0.9790775088231194 + ], + [ + 0.9684415199571363, + -0.20269502141156118, + 0.14503706670392236, + -0.22962522746736255, + -0.9518818224422132, + 0.20296120568880333, + 0.09691892144299419, + -0.2298602279626849, + -0.9683857693436377 + ], + [ + 0.9655622923441977, + -0.2221936766184243, + 0.13534928767380028, + -0.24392770762034047, + -0.9540728304427367, + 0.17390890622987246, + 0.09049161871744671, + -0.2009353236287039, + -0.9754159434108733 + ], + [ + 0.9667209230889455, + -0.23476244600518287, + 0.10167227157746073, + -0.24591875013122272, + -0.9622860296917617, + 0.11631666000175285, + 0.07053102293285252, + -0.1374488668768489, + -0.9879945261985594 + ], + [ + 0.9726432970527682, + -0.2162962418063581, + 0.08474050081729508, + -0.22372819797597637, + -0.9703886316906559, + 0.09105820619778737, + 0.06253567085066604, + -0.10752599344336189, + -0.9922335665584365 + ], + [ + 0.9787656447586919, + -0.1737558626884878, + 0.10875069113105278, + -0.1840293492170763, + -0.9785259049394026, + 0.09284531215555596, + 0.0902829511416283, + -0.11088712073050964, + -0.9897237165943109 + ], + [ + 0.9761618958377157, + -0.14787666356650522, + 0.15887241889942866, + -0.17013581367527178, + -0.9758416445063516, + 0.13706527551569256, + 0.13476556689143598, + -0.1608277874609302, + -0.977738546218186 + ], + [ + 0.9767237029530663, + -0.1412129825832789, + 0.1614611459131423, + -0.16483970595574893, + -0.9757901128008226, + 0.14374118094888558, + 0.13725406890170028, + -0.16701062633884292, + -0.9763548388059716 + ], + [ + 0.9859840909028638, + -0.12852371307994673, + 0.1063815193658985, + -0.13953277781942622, + -0.9847966286102398, + 0.10347078907547033, + 0.09146571161068033, + -0.11686426080735449, + -0.9889270792861842 + ], + [ + 0.9901560800030178, + -0.13085242698032637, + 0.049684802368689565, + -0.13376466618448044, + -0.9891538495060797, + 0.06067681672482944, + 0.04120620479505367, + -0.06672558999860831, + -0.9969201293612873 + ], + [ + 0.9917468223909223, + -0.1250497928629068, + 0.0282982257827703, + -0.12636044397749574, + -0.9906936807320085, + 0.05058724301121376, + 0.02170894919886032, + -0.05374551388357491, + -0.998318657174187 + ], + [ + 0.9945415728761452, + -0.09691882952742069, + 0.038649712858941115, + -0.09868985758528921, + -0.9940124616964302, + 0.04689923242441034, + 0.033872877510467914, + -0.05045757103981817, + -0.9981516225974505 + ], + [ + 0.994156951810077, + -0.09075347904556011, + 0.05844451393264712, + -0.09342251869331755, + -0.9946236760106225, + 0.044676348553939475, + 0.05407576322802144, + -0.04987533619178359, + -0.9972904605334715 + ], + [ + 0.9935484142942841, + -0.07774959756637674, + 0.08256239175060294, + -0.08105587712877634, + -0.9960048321811487, + 0.03747424521836892, + 0.07931893365520164, + -0.04392464399478037, + -0.9958810834701769 + ], + [ + 0.9958817477045115, + -0.04974122481344153, + 0.07579812097318775, + -0.05135925412808235, + -0.9984889146917011, + 0.0195477429181888, + 0.07471125487109953, + -0.023360175338537428, + -0.996931557632588 + ], + [ + 0.9992052368413499, + -0.013912097922577762, + 0.03735435985550613, + -0.013813413845767786, + -0.9999003887942873, + -0.0028986353614558922, + 0.03739096504167272, + 0.0023803404012324057, + -0.9992978783690211 + ], + [ + 0.9994866842008572, + 0.024605300689763517, + 0.02051699985725905, + 0.024839771960004097, + -0.9996281124233988, + -0.011252669985752509, + 0.020232494511340883, + 0.01175653141022403, + -0.9997261775781653 + ], + [ + 0.9988022866347165, + 0.048709119062400094, + 0.004627519143759906, + 0.048769519041876735, + -0.9987121391831004, + -0.013985601908352815, + 0.003940333194661918, + 0.0141945330490239, + -0.999891488615557 + ], + [ + 0.9918897495588357, + 0.12606859760940375, + -0.016168902773787165, + 0.12516412285954842, + -0.9909620065134724, + -0.04825188074668254, + -0.022105815273583844, + 0.045836779376287363, + -0.998704321902884 + ], + [ + 0.9806290806375489, + 0.19533543165506664, + -0.014514659764688482, + 0.19385484378312393, + -0.9784646870462185, + -0.07090243821877161, + -0.028051840399098697, + 0.06671525570418572, + -0.9973776460832421 + ], + [ + 0.9559604581456693, + 0.2932198584301262, + 0.01271680322011801, + 0.293206818889428, + -0.9522020649034311, + -0.0856795713713867, + -0.013013985502704929, + 0.085634935720529, + -0.9962415841378418 + ], + [ + 0.9282295661694671, + 0.36941589009117876, + 0.0438380272934914, + 0.372005386806234, + -0.9221883839988118, + -0.10573824570515614, + 0.0013655313936306208, + 0.1144573482385551, + -0.9934272246914773 + ], + [ + 0.9007167528744173, + 0.42934048370491196, + 0.06615194738930746, + 0.434393655950423, + -0.8889969329856953, + -0.14486754230003507, + -0.003388622344113454, + 0.1592206085720662, + -0.9872372131582913 + ], + [ + 0.8962125412281685, + 0.44127590732076954, + 0.04559226429538363, + 0.4421505026887203, + -0.8801320799683227, + -0.1728307113413184, + -0.036138814555272805, + 0.17505169359039585, + -0.9838957722511434 + ], + [ + 0.9267788500680414, + 0.37543199099993735, + -0.01147968642348677, + 0.36441091326112457, + -0.9061390011879731, + -0.21474821727375376, + -0.09102554236450194, + 0.1948407828455973, + -0.9766019762305229 + ], + [ + 0.9413269403994213, + 0.3314246968295222, + 0.06372802844685779, + 0.335667258153366, + -0.8997532106480699, + -0.2788756922578434, + -0.03508679355634706, + 0.28390461472112277, + -0.95821035616298 + ], + [ + 0.9741854209678691, + 0.21534028293426782, + 0.06775933972114612, + 0.22551294240542508, + -0.942026321313893, + -0.24845587688654516, + 0.010328522706739372, + 0.25732270109262445, + -0.9662703292149112 + ], + [ + 0.9905111899878835, + 0.10991161718305847, + 0.08250465997137273, + 0.12092777118471276, + -0.9822739816814118, + -0.14322813643988858, + 0.06529974475512738, + 0.15184617650751164, + -0.9862447373826462 + ], + [ + 0.9950357686969086, + 0.041017342117978, + 0.0906719176996318, + 0.044667804490783836, + -0.9982557521652586, + -0.038603633390480965, + 0.08893034496573803, + 0.04246211151780248, + -0.9951323343303263 + ], + [ + 0.9900423397232312, + -0.02039726059584284, + 0.13928430390943286, + -0.023380996357009465, + -0.9995301543762497, + 0.019819170061930094, + 0.1388146050122374, + -0.02287842330178094, + -0.9900540809382692 + ], + [ + 0.9887339742246921, + -0.06468854267383033, + 0.13498340883449966, + -0.07244194433434152, + -0.9959454684604718, + 0.053336559263897916, + 0.13098585005604924, + -0.0625141288013131, + -0.9894112849494424 + ], + [ + 0.9923453176546525, + -0.0886090348137401, + 0.08601865773344729, + -0.09027846850820537, + -0.9957926764576032, + 0.0157080755414531, + 0.08426487199717052, + -0.023353467896233673, + -0.9961696877964716 + ], + [ + 0.9934594922074123, + -0.09399581632312289, + 0.06483073234770842, + -0.09440883093189749, + -0.9955279421533857, + 0.003330020107659638, + 0.06422779760401923, + -0.00942883373460192, + -0.997890719021548 + ], + [ + 0.9983436247544067, + -0.02929352630468342, + 0.049516625782350464, + -0.028462924393781088, + -0.9994434472117473, + -0.017397061833922634, + 0.04999868845466265, + 0.015958857795476674, + -0.9986217732508527 + ], + [ + 0.9986753603985415, + 0.03855086717636945, + 0.03407866154638219, + 0.03958358871335062, + -0.9987607691177717, + -0.0301672931475324, + 0.0328734549053678, + 0.031476288078913846, + -0.9989637527214678 + ], + [ + 0.9973354982699847, + 0.062472000488859536, + 0.03767164776700432, + 0.06376841587201373, + -0.9973767014531986, + -0.03425353318288618, + 0.035432937046415085, + 0.03656452588585159, + -0.9987029300142298 + ], + [ + 0.9957401245834442, + 0.06209928691884337, + 0.0681563119506768, + 0.06423338668589544, + -0.9974964671695928, + -0.029578201754692775, + 0.06614889514880072, + 0.03383011304078438, + -0.9972361040005724 + ], + [ + 0.9955208373404499, + 0.05075968307131005, + 0.0797603723378328, + 0.053444265240343077, + -0.9980614753808088, + -0.03189046681381862, + 0.07798700490395448, + 0.036010358720562206, + -0.9963038096539264 + ], + [ + 0.9952241221972642, + 0.05741992087505653, + 0.07894237951434967, + 0.060297962011972, + -0.9975816601866347, + -0.03456858453105895, + 0.07676654462647219, + 0.03916355379661599, + -0.9962796362869875 + ], + [ + 0.9967412026807927, + 0.05383559694223301, + 0.06007248438612125, + 0.05652394578737842, + -0.9974317949424588, + -0.043987020704869456, + 0.05755013841054473, + 0.04723920977047076, + -0.9972243672460019 + ], + [ + 0.9948541697715755, + 0.09497225559357128, + 0.0352909557192718, + 0.09680044702690005, + -0.9938204890913086, + -0.054318587221184704, + 0.029914116124374356, + 0.05745525328272864, + -0.9978998143735252 + ], + [ + 0.994551242626639, + 0.10056593621443556, + 0.02746485505372036, + 0.10229794904557864, + -0.9921907767564011, + -0.07136240004790502, + 0.020073749297926127, + 0.07378316198729297, + -0.9970722589643544 + ], + [ + 0.994744226208334, + 0.10122908660575677, + 0.015381692044319922, + 0.10221077796475528, + -0.9906344522861527, + -0.09053363359300849, + 0.0060729970378386325, + 0.09162998400457033, + -0.995774605389342 + ], + [ + 0.9919798304204389, + 0.12621765234841822, + 0.006717162696505719, + 0.12623048550270735, + -0.9865578357265133, + -0.10377620775673398, + -0.006471519820589115, + 0.10379181568058178, + -0.9945779901188946 + ], + [ + 0.9932414811735117, + 0.11606048138632226, + 0.0011509720339937975, + 0.11545391520060834, + -0.9869361144663226, + -0.1123721470248213, + -0.011906029611026105, + 0.11174556198119216, + -0.9936655251322792 + ], + [ + 0.9934716056322608, + 0.11376733890688988, + -0.008435721694223727, + 0.11175728941777834, + -0.9854271784339534, + -0.1282325398083028, + -0.022901464242455406, + 0.1264526338268282, + -0.991708250612956 + ], + [ + 0.9935696906526986, + 0.10532716284134246, + -0.041538639651464454, + 0.09878839020515355, + -0.9857069480628102, + -0.13646489109428403, + -0.055318385523939584, + 0.13148384428702184, + -0.9897736483229542 + ], + [ + 0.9955043806932803, + 0.09419183009502526, + 0.009946213542779749, + 0.09456433025708909, + -0.982489217947194, + -0.16053823239508855, + -0.005349342344332394, + 0.16075707064033348, + -0.9869795077789721 + ], + [ + 0.993814199539805, + 0.10048867175772386, + 0.047279632416353475, + 0.10620573462312205, + -0.9844190783766108, + -0.14014071521619778, + 0.032460417838038456, + 0.14429520080901134, + -0.9890021315938947 + ], + [ + 0.9991946502752258, + 0.02503810139791895, + 0.03135513259032263, + 0.027620761474296384, + -0.9960113710555258, + -0.08484363419651224, + 0.029105745084934832, + 0.08564135803733548, + -0.9959008049984555 + ], + [ + 0.9989202336099487, + 0.012400611434830733, + 0.044772667116086545, + 0.014125656429750548, + -0.9991618156640709, + -0.038420462637842843, + 0.04425870213951376, + 0.0390114208267217, + -0.9982581210939414 + ], + [ + 0.9950884216690534, + -0.015180072923219724, + 0.09781921307308976, + -0.013486207188481284, + -0.9997478506619293, + -0.01795431180866594, + 0.09806709578580451, + 0.016546917625321546, + -0.9950422323907862 + ], + [ + 0.994475996118575, + 0.018262393113674863, + 0.10336333074030213, + 0.01872532942142255, + -0.9998185042687536, + -0.0035100655052110593, + 0.10328046854089448, + 0.005426188307943828, + -0.9946374722975299 + ], + [ + 0.9900882895120408, + 0.06556241168377755, + 0.12420446507806629, + 0.0673835790851818, + -0.9976717406341086, + -0.010514333539472962, + 0.12322593980486726, + 0.018779459904776447, + -0.9922009371316338 + ], + [ + 0.9866333410334146, + 0.1305995386213167, + 0.09745979105836843, + 0.1348379296687882, + -0.9901302235798318, + -0.038221369368286226, + 0.09150619150569293, + 0.05085175381096753, + -0.9945052619521286 + ], + [ + 0.9916917403445124, + 0.09426966299627577, + 0.08752555495991493, + 0.10215706979878368, + -0.9906434454985212, + -0.09049583957809872, + 0.0781756050350679, + 0.09868533087235982, + -0.9920432350699309 + ], + [ + 0.9843552897191067, + 0.030930736200482718, + 0.17345879383908366, + 0.04501233646553384, + -0.9959489074014223, + -0.07784383990931262, + 0.17034832892613636, + 0.08443378117796968, + -0.9817598399955376 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006316.json b/json/chunk-0006/episode_0006316.json new file mode 100644 index 0000000000000000000000000000000000000000..64af2437bccf14d26c237834c806b5a8ce071bf9 --- /dev/null +++ b/json/chunk-0006/episode_0006316.json @@ -0,0 +1,1762 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 28, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut knife on cutting board cardboard fence." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006316.mp4", + "start": 0, + "end": 28, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.26964378356933594, + 0.1322903037071228, + 0.09099958091974258, + 0.10445919632911682, + -0.12134205549955368, + 0.34458717703819275, + 0.0, + 0.9994885921478271 + ], + [ + 0.2677653133869171, + 0.12826275825500488, + 0.08251730352640152, + 0.10520998388528824, + -0.10427173972129822, + 0.33058401942253113, + 0.0, + 0.9994885921478271 + ], + [ + 0.2832314968109131, + 0.09384683519601822, + 0.06759513169527054, + 0.14726895093917847, + -0.19421280920505524, + 0.085932157933712, + 0.0, + 0.9994885921478271 + ], + [ + 0.2902562618255615, + 0.06622287631034851, + 0.06986787915229797, + 0.13617007434368134, + -0.2542531490325928, + -0.17750756442546844, + 0.0, + 0.9994885921478271 + ], + [ + 0.289966344833374, + 0.03321617841720581, + 0.059314608573913574, + 0.11773008108139038, + -0.2793525159358978, + -0.3999032974243164, + 0.0, + 0.9994885921478271 + ], + [ + 0.2934998571872711, + 0.005735756363719702, + 0.05344121903181076, + 0.06624837219715118, + -0.29904988408088684, + -0.4363618791103363, + 0.0, + 0.9994885921478271 + ], + [ + 0.2947571277618408, + -0.016286950558423996, + 0.05026860907673836, + 0.01738210767507553, + -0.2731049656867981, + -0.44437673687934875, + 0.0, + 0.9994885921478271 + ], + [ + 0.30187028646469116, + -0.03802596777677536, + 0.04451689496636391, + -0.029691701754927635, + -0.22629892826080322, + -0.42153745889663696, + 0.0, + 0.9994885921478271 + ], + [ + 0.3067958652973175, + -0.046855032444000244, + 0.0385732427239418, + -0.04499917849898338, + -0.2092311829328537, + -0.38423416018486023, + 0.0, + 0.9994885921478271 + ], + [ + 0.31065481901168823, + -0.056811634451150894, + 0.033458974212408066, + -0.012432845309376717, + -0.2325230836868286, + -0.36318767070770264, + 0.0, + 0.9994885921478271 + ], + [ + 0.30765020847320557, + -0.06878797709941864, + 0.01765645481646061, + 0.010665019042789936, + -0.21953463554382324, + -0.37378931045532227, + 0.0, + 0.9994885921478271 + ], + [ + 0.3025522530078888, + -0.0757749155163765, + 0.001882967073470354, + 0.0026510220486670732, + -0.17796263098716736, + -0.3688836693763733, + 0.0, + 0.9994885921478271 + ], + [ + 0.3057459592819214, + -0.08186081051826477, + 0.0007906084065325558, + -0.0008246779325418174, + -0.18545721471309662, + -0.35590946674346924, + 0.0, + 0.9530308246612549 + ], + [ + 0.3127133548259735, + -0.08392670005559921, + -0.0009741075336933136, + 0.001123506692238152, + -0.18525882065296173, + -0.36020657420158386, + 0.0, + 0.6951970458030701 + ], + [ + 0.31323471665382385, + -0.08215931057929993, + -6.642215885221958e-05, + -0.05136169493198395, + -0.19364893436431885, + -0.3651205599308014, + 0.0, + 0.5004528760910034 + ], + [ + 0.3061353266239166, + -0.07958051562309265, + 0.0023061635438352823, + -0.12212251871824265, + -0.15679125487804413, + -0.39397525787353516, + 0.0, + 0.520771861076355 + ], + [ + 0.29691991209983826, + -0.07591057568788528, + 0.014549736864864826, + -0.19727230072021484, + -0.12194176763296127, + -0.386513888835907, + 0.0, + 0.5285724997520447 + ], + [ + 0.2994997501373291, + -0.06529904901981354, + 0.042619090527296066, + -0.16852647066116333, + -0.19676615297794342, + -0.37313565611839294, + 0.0, + 0.5285724997520447 + ], + [ + 0.30220264196395874, + -0.04109099134802818, + 0.05309643968939781, + -0.14555364847183228, + -0.2172948271036148, + -0.3241625726222992, + 0.0, + 0.5285724997520447 + ], + [ + 0.30653852224349976, + -0.011296270415186882, + 0.05125081539154053, + -0.11212779581546783, + -0.24132350087165833, + -0.27661171555519104, + 0.0, + 0.5285724997520447 + ], + [ + 0.3135082721710205, + 0.018072206526994705, + 0.03736872598528862, + -0.06037924066185951, + -0.27241310477256775, + -0.23398007452487946, + 0.0, + 0.5285724997520447 + ], + [ + 0.3174813389778137, + 0.03645528480410576, + 0.025322308763861656, + -0.051467180252075195, + -0.2664024233818054, + -0.19875407218933105, + 0.0, + 0.5285724997520447 + ], + [ + 0.32270246744155884, + 0.04462262988090515, + 0.023142434656620026, + -0.058698974549770355, + -0.2590642273426056, + -0.15680775046348572, + 0.0, + 0.5285724997520447 + ], + [ + 0.3227086067199707, + 0.04525449126958847, + 0.022775474935770035, + -0.05509471520781517, + -0.25471046566963196, + -0.14820052683353424, + 0.0, + 0.5968981385231018 + ], + [ + 0.3229774534702301, + 0.045676976442337036, + 0.026893379166722298, + -0.07059945166110992, + -0.2226019948720932, + -0.13186948001384735, + 0.0, + 0.8775349855422974 + ], + [ + 0.32792121171951294, + 0.04950946569442749, + 0.031890448182821274, + -0.1331942081451416, + -0.14628230035305023, + -0.05084174498915672, + 0.0, + 0.9947922229766846 + ], + [ + 0.330238401889801, + 0.05150013044476509, + 0.037872809916734695, + -0.13323311507701874, + -0.14147630333900452, + -0.03586283326148987, + 0.0, + 0.9927561283111572 + ], + [ + 0.3424570560455322, + 0.050130654126405716, + 0.066435307264328, + -0.13305780291557312, + -0.21755148470401764, + -0.05703939124941826, + 0.0, + 0.9927561283111572 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9530308246612549 + ], + [ + 0.6951970458030701 + ], + [ + 0.5004528760910034 + ], + [ + 0.520771861076355 + ], + [ + 0.5285724997520447 + ], + [ + 0.5285724997520447 + ], + [ + 0.5285724997520447 + ], + [ + 0.5285724997520447 + ], + [ + 0.5285724997520447 + ], + [ + 0.5285724997520447 + ], + [ + 0.5285724997520447 + ], + [ + 0.5968981385231018 + ], + [ + 0.8775349855422974 + ], + [ + 0.9947922229766846 + ], + [ + 0.9927561283111572 + ], + [ + 0.9927561283111572 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.26964378356933594, + 0.1322903037071228, + 0.09099958091974258 + ], + [ + 0.2677653133869171, + 0.12826275825500488, + 0.08251730352640152 + ], + [ + 0.2832314968109131, + 0.09384683519601822, + 0.06759513169527054 + ], + [ + 0.2902562618255615, + 0.06622287631034851, + 0.06986787915229797 + ], + [ + 0.289966344833374, + 0.03321617841720581, + 0.059314608573913574 + ], + [ + 0.2934998571872711, + 0.005735756363719702, + 0.05344121903181076 + ], + [ + 0.2947571277618408, + -0.016286950558423996, + 0.05026860907673836 + ], + [ + 0.30187028646469116, + -0.03802596777677536, + 0.04451689496636391 + ], + [ + 0.3067958652973175, + -0.046855032444000244, + 0.0385732427239418 + ], + [ + 0.31065481901168823, + -0.056811634451150894, + 0.033458974212408066 + ], + [ + 0.30765020847320557, + -0.06878797709941864, + 0.01765645481646061 + ], + [ + 0.3025522530078888, + -0.0757749155163765, + 0.001882967073470354 + ], + [ + 0.3057459592819214, + -0.08186081051826477, + 0.0007906084065325558 + ], + [ + 0.3127133548259735, + -0.08392670005559921, + -0.0009741075336933136 + ], + [ + 0.31323471665382385, + -0.08215931057929993, + -6.642215885221958e-05 + ], + [ + 0.3061353266239166, + -0.07958051562309265, + 0.0023061635438352823 + ], + [ + 0.29691991209983826, + -0.07591057568788528, + 0.014549736864864826 + ], + [ + 0.2994997501373291, + -0.06529904901981354, + 0.042619090527296066 + ], + [ + 0.30220264196395874, + -0.04109099134802818, + 0.05309643968939781 + ], + [ + 0.30653852224349976, + -0.011296270415186882, + 0.05125081539154053 + ], + [ + 0.3135082721710205, + 0.018072206526994705, + 0.03736872598528862 + ], + [ + 0.3174813389778137, + 0.03645528480410576, + 0.025322308763861656 + ], + [ + 0.32270246744155884, + 0.04462262988090515, + 0.023142434656620026 + ], + [ + 0.3227086067199707, + 0.04525449126958847, + 0.022775474935770035 + ], + [ + 0.3229774534702301, + 0.045676976442337036, + 0.026893379166722298 + ], + [ + 0.32792121171951294, + 0.04950946569442749, + 0.031890448182821274 + ], + [ + 0.330238401889801, + 0.05150013044476509, + 0.037872809916734695 + ], + [ + 0.3424570560455322, + 0.050130654126405716, + 0.066435307264328 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9342943105720891, + 0.3478460815194291, + 0.07808485643326714, + 0.3353242750476997, + -0.9318209625085897, + 0.13880678799432186, + 0.12104450337111498, + -0.10350264441619203, + -0.9872362588572687 + ], + [ + 0.9407156536647069, + 0.3331391611639841, + 0.06381503152973211, + 0.3228324807264433, + -0.9370749240427261, + 0.13292771012219412, + 0.10408289166906487, + -0.10444561278137289, + -0.9890691915293538 + ], + [ + 0.977579370812064, + 0.11311234366658246, + 0.17760678892694787, + 0.08421289242605595, + -0.983095002010517, + 0.16258045937682167, + 0.19299420331172124, + -0.1439785217738874, + -0.9705789111431794 + ], + [ + 0.9526434269300621, + -0.14133471336166023, + 0.26924895529216997, + -0.17090015698778074, + -0.9812045415621983, + 0.08961464143357516, + 0.25152263808353215, + -0.13138548784661758, + -0.9588921816944838 + ], + [ + 0.8853914963801658, + -0.35680248476162035, + 0.297949467201444, + -0.3742366002237497, + -0.9273319049818676, + 0.001582736765747092, + 0.2757333225975054, + -0.11290493731734676, + -0.9545803318415407 + ], + [ + 0.8660710392123299, + -0.40404216925125963, + 0.29439918563815937, + -0.403886732791855, + -0.9125502040780388, + -0.06424665058857545, + 0.2946123930054465, + -0.06326176178282, + -0.9535205752283157 + ], + [ + 0.8694163394458998, + -0.4255974942070494, + 0.2509621517862258, + -0.41396248145536385, + -0.904757781992154, + -0.10024180700663632, + 0.26972262169089495, + -0.016737050197651572, + -0.9627925937079449 + ], + [ + 0.8891963728359173, + -0.41506138087935635, + 0.19249379376481351, + -0.3987315564084342, + -0.9093333168626152, + -0.1188531226671925, + 0.22437236117569448, + 0.028930415589081666, + -0.9740739574561509 + ], + [ + 0.9068668662203001, + -0.3831320455776581, + 0.17550590475323585, + -0.3666741202645729, + -0.9226448816145297, + -0.11948435863623395, + 0.20770791145253503, + 0.04400293265215326, + -0.9772006781813223 + ], + [ + 0.9096127136060301, + -0.3579063043113162, + 0.21096869099581878, + -0.3456951580827299, + -0.933679129644218, + -0.09347802172153419, + 0.23043343707984332, + 0.012097942016341977, + -0.9730128832006998 + ], + [ + 0.908606548920404, + -0.3629627738243544, + 0.2066208219824026, + -0.35638180648168183, + -0.931745502092283, + -0.06958683309112547, + 0.21777545148112126, + -0.010408849529590952, + -0.9759433941493041 + ], + [ + 0.9179992753263737, + -0.36013542761220185, + 0.1660716841572614, + -0.35487965308963376, + -0.9328963855197654, + -0.06135768661820956, + 0.17702475059503361, + -0.0026091498105210408, + -0.9842029414780431 + ], + [ + 0.9212566867471697, + -0.34858539835686414, + 0.1725524186327556, + -0.3424678950720474, + -0.9372766737112858, + -0.06502443972560737, + 0.18439592720162923, + 0.0008105363004535307, + -0.9828517106167936 + ], + [ + 0.9198107815818344, + -0.35227366578308367, + 0.17277554943209725, + -0.3464363475386571, + -0.9358963858022327, + -0.06387340719261125, + 0.18420093156629155, + -0.0011042816971099517, + -0.9828879882123108 + ], + [ + 0.9166214118800176, + -0.36581952426720127, + 0.16118704336267786, + -0.3503879104385123, + -0.9293212470605853, + -0.11657757923499541, + 0.1924408987237804, + 0.05037951395832553, + -0.9800144922763676 + ], + [ + 0.9120635589013717, + -0.3985680189221306, + 0.09635143391072053, + -0.37915347448852305, + -0.9092114475282853, + -0.17198019207688095, + 0.15614963114732208, + 0.12032488510698056, + -0.980377077820849 + ], + [ + 0.9193509289644332, + -0.3917325986238706, + 0.036598368647022525, + -0.3741625747510193, + -0.8992773825938712, + -0.22650067728553064, + 0.12163978406722763, + 0.19453986822886893, + -0.9733231747993946 + ], + [ + 0.9132205659770396, + -0.38990732927433025, + 0.11832359213079459, + -0.35750296955071514, + -0.9060431628253522, + -0.22644516744645468, + 0.19549891211716774, + 0.16449334842355015, + -0.9668102780201566 + ], + [ + 0.9256267720979182, + -0.3447875282051136, + 0.15600204860769054, + -0.3110249567798692, + -0.9279346106298361, + -0.20542841735099518, + 0.2155888564737722, + 0.14162951242400765, + -0.9661586444134673 + ], + [ + 0.9341103572780808, + -0.2971073087697081, + 0.197901711719322, + -0.26518405623269264, + -0.9486423414552205, + -0.17249673712372898, + 0.23898798452180062, + 0.10865061009482685, + -0.9649247577817813 + ], + [ + 0.9368805683989256, + -0.24722162777227163, + 0.2472574919352987, + -0.22330133798870405, + -0.9672144721809994, + -0.12096560360732839, + 0.26905633798325673, + 0.05811739468746956, + -0.9613693647218953 + ], + [ + 0.9457320506207864, + -0.21046340749472636, + 0.24758037590712076, + -0.19048295429573475, + -0.9763411519869002, + -0.10234353452789151, + 0.2632624784343023, + 0.04962971934840517, + -0.9634468114047745 + ], + [ + 0.9547703802572908, + -0.17074121405222087, + 0.2434357385580882, + -0.15095468682464708, + -0.9836827149940698, + -0.09788257632269508, + 0.2561761181473029, + 0.056707618940220014, + -0.9649653063427254 + ], + [ + 0.9571283379837779, + -0.1611574164973559, + 0.2406940625281584, + -0.14289460925235306, + -0.9854889361081625, + -0.0916116120097213, + 0.25196522632107116, + 0.053290185928556624, + -0.9662679135771154 + ], + [ + 0.9668583482648542, + -0.14659802814020284, + 0.20903098463137545, + -0.12824333589964299, + -0.9868006559671211, + -0.0988843373856089, + 0.22076816162637533, + 0.06880031633839981, + -0.9728966724600546 + ], + [ + 0.9880414471185507, + -0.06970189600988724, + 0.13753452100657157, + -0.050277078882847104, + -0.9888783101391635, + -0.13997107942471684, + 0.14576115434123108, + 0.1313823939077808, + -0.9805571642980191 + ], + [ + 0.9893723310597053, + -0.05425632001610327, + 0.13490234346294777, + -0.035496914281011066, + -0.9898286839446319, + -0.13776481959108677, + 0.14100482122967106, + 0.13151208377464152, + -0.9812350443248754 + ], + [ + 0.9748408907917763, + -0.08509245119396923, + 0.20602066010499656, + -0.05566471230861951, + -0.9879165265323898, + -0.14464569266928423, + 0.2158394714687172, + 0.129538455116542, + -0.9677980735680997 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0018784701824188232, + -0.00402754545211792, + -0.008482277393341064, + 0.0007507875561714172, + 0.017070315778255463, + -0.014003157615661621, + 1.0 + ], + [ + 0.015466183423995972, + -0.034415923058986664, + -0.014922171831130981, + 0.04205896705389023, + -0.08994106948375702, + -0.24465185403823853, + 1.0 + ], + [ + 0.0070247650146484375, + -0.027623958885669708, + 0.0022727474570274353, + -0.011098876595497131, + -0.06004033982753754, + -0.26343971490859985, + 1.0 + ], + [ + -0.0002899169921875, + -0.0330066978931427, + -0.0105532705783844, + -0.018439993262290955, + -0.025099366903305054, + -0.22239573299884796, + 1.0 + ], + [ + 0.0035335123538970947, + -0.02748042158782482, + -0.005873389542102814, + -0.0514817088842392, + -0.019697368144989014, + -0.0364585816860199, + 1.0 + ], + [ + 0.0012572705745697021, + -0.022022707387804985, + -0.003172609955072403, + -0.04886626452207565, + 0.025944918394088745, + -0.008014857769012451, + 1.0 + ], + [ + 0.007113158702850342, + -0.021739017218351364, + -0.005751714110374451, + -0.047073811292648315, + 0.04680603742599487, + 0.022839277982711792, + 1.0 + ], + [ + 0.004925578832626343, + -0.008829064667224884, + -0.005943652242422104, + -0.015307476744055748, + 0.017067745327949524, + 0.03730329871177673, + 1.0 + ], + [ + 0.0038589537143707275, + -0.00995660200715065, + -0.005114268511533737, + 0.03256633132696152, + -0.023291900753974915, + 0.021046489477157593, + 1.0 + ], + [ + -0.003004610538482666, + -0.011976342648267746, + -0.015802519395947456, + 0.023097865283489227, + 0.012988448143005371, + -0.010601639747619629, + 1.0 + ], + [ + -0.0050979554653167725, + -0.006986938416957855, + -0.015773488208651543, + -0.008013997226953506, + 0.041572004556655884, + 0.004905641078948975, + 1.0 + ], + [ + 0.0031937062740325928, + -0.006085895001888275, + -0.0010923587251454592, + -0.0034757000394165516, + -0.00749458372592926, + 0.012974202632904053, + 0.0 + ], + [ + 0.006967395544052124, + -0.002065889537334442, + -0.0017647158820182085, + 0.0019481845665723085, + 0.0001983940601348877, + -0.004297107458114624, + 0.0 + ], + [ + 0.0005213618278503418, + 0.0017673894762992859, + 0.000907685374841094, + -0.05248520150780678, + -0.008390113711357117, + -0.004913985729217529, + 0.0 + ], + [ + -0.0070993900299072266, + 0.0025787949562072754, + 0.002372585702687502, + -0.0707608237862587, + 0.03685767948627472, + -0.028854697942733765, + 0.0 + ], + [ + -0.00921541452407837, + 0.003669939935207367, + 0.012243573553860188, + -0.0751497820019722, + 0.034849487245082855, + 0.007461369037628174, + 0.0 + ], + [ + 0.0025798380374908447, + 0.010611526668071747, + 0.028069354593753815, + 0.028745830059051514, + -0.07482438534498215, + 0.013378232717514038, + 0.0 + ], + [ + 0.0027028918266296387, + 0.024208057671785355, + 0.010477349162101746, + 0.022972822189331055, + -0.020528674125671387, + 0.04897308349609375, + 0.0 + ], + [ + 0.004335880279541016, + 0.0297947209328413, + -0.0018456242978572845, + 0.03342585265636444, + -0.024028673768043518, + 0.047550857067108154, + 0.0 + ], + [ + 0.006969749927520752, + 0.029368476942181587, + -0.013882089406251907, + 0.05174855515360832, + -0.031089603900909424, + 0.042631641030311584, + 0.0 + ], + [ + 0.003973066806793213, + 0.018383078277111053, + -0.012046417221426964, + 0.008912060409784317, + 0.006010681390762329, + 0.0352260023355484, + 0.0 + ], + [ + 0.005221128463745117, + 0.008167345076799393, + -0.0021798741072416306, + -0.00723179429769516, + 0.007338196039199829, + 0.04194632172584534, + 0.0 + ], + [ + 6.139278411865234e-06, + 0.0006318613886833191, + -0.00036695972084999084, + 0.003604259341955185, + 0.004353761672973633, + 0.008607223629951477, + 1.0 + ], + [ + 0.0002688467502593994, + 0.0004224851727485657, + 0.004117904230952263, + -0.015504736453294754, + 0.03210847079753876, + 0.01633104681968689, + 1.0 + ], + [ + 0.004943758249282837, + 0.003832489252090454, + 0.004997069016098976, + -0.06259475648403168, + 0.07631969451904297, + 0.08102773129940033, + 1.0 + ], + [ + 0.002317190170288086, + 0.0019906647503376007, + 0.005982361733913422, + -3.890693187713623e-05, + 0.004805997014045715, + 0.014978911727666855, + 1.0 + ], + [ + 0.012218654155731201, + -0.001369476318359375, + 0.028562497347593307, + 0.00017531216144561768, + -0.07607518136501312, + -0.02117655798792839, + 1.0 + ], + [ + 0.0023786425590515137, + 0.0003532879054546356, + 0.014197073876857758, + 0.0035822689533233643, + -0.03967563807964325, + 0.015465900301933289, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9530308246612549 + ], + [ + 0.6951970458030701 + ], + [ + 0.5004528760910034 + ], + [ + 0.520771861076355 + ], + [ + 0.5285724997520447 + ], + [ + 0.5285724997520447 + ], + [ + 0.5285724997520447 + ], + [ + 0.5285724997520447 + ], + [ + 0.5285724997520447 + ], + [ + 0.5285724997520447 + ], + [ + 0.5285724997520447 + ], + [ + 0.5968981385231018 + ], + [ + 0.8775349855422974 + ], + [ + 0.9947922229766846 + ], + [ + 0.9927561283111572 + ], + [ + 0.9927561283111572 + ], + [ + 0.993436336517334 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2677653133869171, + 0.12826275825500488, + 0.08251730352640152 + ], + [ + 0.2832314968109131, + 0.09384683519601822, + 0.06759513169527054 + ], + [ + 0.2902562618255615, + 0.06622287631034851, + 0.06986787915229797 + ], + [ + 0.289966344833374, + 0.03321617841720581, + 0.059314608573913574 + ], + [ + 0.2934998571872711, + 0.005735756363719702, + 0.05344121903181076 + ], + [ + 0.2947571277618408, + -0.016286950558423996, + 0.05026860907673836 + ], + [ + 0.30187028646469116, + -0.03802596777677536, + 0.04451689496636391 + ], + [ + 0.3067958652973175, + -0.046855032444000244, + 0.0385732427239418 + ], + [ + 0.31065481901168823, + -0.056811634451150894, + 0.033458974212408066 + ], + [ + 0.30765020847320557, + -0.06878797709941864, + 0.01765645481646061 + ], + [ + 0.3025522530078888, + -0.0757749155163765, + 0.001882967073470354 + ], + [ + 0.3057459592819214, + -0.08186081051826477, + 0.0007906084065325558 + ], + [ + 0.3127133548259735, + -0.08392670005559921, + -0.0009741075336933136 + ], + [ + 0.31323471665382385, + -0.08215931057929993, + -6.642215885221958e-05 + ], + [ + 0.3061353266239166, + -0.07958051562309265, + 0.0023061635438352823 + ], + [ + 0.29691991209983826, + -0.07591057568788528, + 0.014549736864864826 + ], + [ + 0.2994997501373291, + -0.06529904901981354, + 0.042619090527296066 + ], + [ + 0.30220264196395874, + -0.04109099134802818, + 0.05309643968939781 + ], + [ + 0.30653852224349976, + -0.011296270415186882, + 0.05125081539154053 + ], + [ + 0.3135082721710205, + 0.018072206526994705, + 0.03736872598528862 + ], + [ + 0.3174813389778137, + 0.03645528480410576, + 0.025322308763861656 + ], + [ + 0.32270246744155884, + 0.04462262988090515, + 0.023142434656620026 + ], + [ + 0.3227086067199707, + 0.04525449126958847, + 0.022775474935770035 + ], + [ + 0.3229774534702301, + 0.045676976442337036, + 0.026893379166722298 + ], + [ + 0.32792121171951294, + 0.04950946569442749, + 0.031890448182821274 + ], + [ + 0.330238401889801, + 0.05150013044476509, + 0.037872809916734695 + ], + [ + 0.3424570560455322, + 0.050130654126405716, + 0.066435307264328 + ], + [ + 0.34483569860458374, + 0.05048394203186035, + 0.08063238114118576 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9407156536647069, + 0.3331391611639841, + 0.06381503152973211, + 0.3228324807264433, + -0.9370749240427261, + 0.13292771012219412, + 0.10408289166906487, + -0.10444561278137289, + -0.9890691915293538 + ], + [ + 0.977579370812064, + 0.11311234366658246, + 0.17760678892694787, + 0.08421289242605595, + -0.983095002010517, + 0.16258045937682167, + 0.19299420331172124, + -0.1439785217738874, + -0.9705789111431794 + ], + [ + 0.9526434269300621, + -0.14133471336166023, + 0.26924895529216997, + -0.17090015698778074, + -0.9812045415621983, + 0.08961464143357516, + 0.25152263808353215, + -0.13138548784661758, + -0.9588921816944838 + ], + [ + 0.8853914963801658, + -0.35680248476162035, + 0.297949467201444, + -0.3742366002237497, + -0.9273319049818676, + 0.001582736765747092, + 0.2757333225975054, + -0.11290493731734676, + -0.9545803318415407 + ], + [ + 0.8660710392123299, + -0.40404216925125963, + 0.29439918563815937, + -0.403886732791855, + -0.9125502040780388, + -0.06424665058857545, + 0.2946123930054465, + -0.06326176178282, + -0.9535205752283157 + ], + [ + 0.8694163394458998, + -0.4255974942070494, + 0.2509621517862258, + -0.41396248145536385, + -0.904757781992154, + -0.10024180700663632, + 0.26972262169089495, + -0.016737050197651572, + -0.9627925937079449 + ], + [ + 0.8891963728359173, + -0.41506138087935635, + 0.19249379376481351, + -0.3987315564084342, + -0.9093333168626152, + -0.1188531226671925, + 0.22437236117569448, + 0.028930415589081666, + -0.9740739574561509 + ], + [ + 0.9068668662203001, + -0.3831320455776581, + 0.17550590475323585, + -0.3666741202645729, + -0.9226448816145297, + -0.11948435863623395, + 0.20770791145253503, + 0.04400293265215326, + -0.9772006781813223 + ], + [ + 0.9096127136060301, + -0.3579063043113162, + 0.21096869099581878, + -0.3456951580827299, + -0.933679129644218, + -0.09347802172153419, + 0.23043343707984332, + 0.012097942016341977, + -0.9730128832006998 + ], + [ + 0.908606548920404, + -0.3629627738243544, + 0.2066208219824026, + -0.35638180648168183, + -0.931745502092283, + -0.06958683309112547, + 0.21777545148112126, + -0.010408849529590952, + -0.9759433941493041 + ], + [ + 0.9179992753263737, + -0.36013542761220185, + 0.1660716841572614, + -0.35487965308963376, + -0.9328963855197654, + -0.06135768661820956, + 0.17702475059503361, + -0.0026091498105210408, + -0.9842029414780431 + ], + [ + 0.9212566867471697, + -0.34858539835686414, + 0.1725524186327556, + -0.3424678950720474, + -0.9372766737112858, + -0.06502443972560737, + 0.18439592720162923, + 0.0008105363004535307, + -0.9828517106167936 + ], + [ + 0.9198107815818344, + -0.35227366578308367, + 0.17277554943209725, + -0.3464363475386571, + -0.9358963858022327, + -0.06387340719261125, + 0.18420093156629155, + -0.0011042816971099517, + -0.9828879882123108 + ], + [ + 0.9166214118800176, + -0.36581952426720127, + 0.16118704336267786, + -0.3503879104385123, + -0.9293212470605853, + -0.11657757923499541, + 0.1924408987237804, + 0.05037951395832553, + -0.9800144922763676 + ], + [ + 0.9120635589013717, + -0.3985680189221306, + 0.09635143391072053, + -0.37915347448852305, + -0.9092114475282853, + -0.17198019207688095, + 0.15614963114732208, + 0.12032488510698056, + -0.980377077820849 + ], + [ + 0.9193509289644332, + -0.3917325986238706, + 0.036598368647022525, + -0.3741625747510193, + -0.8992773825938712, + -0.22650067728553064, + 0.12163978406722763, + 0.19453986822886893, + -0.9733231747993946 + ], + [ + 0.9132205659770396, + -0.38990732927433025, + 0.11832359213079459, + -0.35750296955071514, + -0.9060431628253522, + -0.22644516744645468, + 0.19549891211716774, + 0.16449334842355015, + -0.9668102780201566 + ], + [ + 0.9256267720979182, + -0.3447875282051136, + 0.15600204860769054, + -0.3110249567798692, + -0.9279346106298361, + -0.20542841735099518, + 0.2155888564737722, + 0.14162951242400765, + -0.9661586444134673 + ], + [ + 0.9341103572780808, + -0.2971073087697081, + 0.197901711719322, + -0.26518405623269264, + -0.9486423414552205, + -0.17249673712372898, + 0.23898798452180062, + 0.10865061009482685, + -0.9649247577817813 + ], + [ + 0.9368805683989256, + -0.24722162777227163, + 0.2472574919352987, + -0.22330133798870405, + -0.9672144721809994, + -0.12096560360732839, + 0.26905633798325673, + 0.05811739468746956, + -0.9613693647218953 + ], + [ + 0.9457320506207864, + -0.21046340749472636, + 0.24758037590712076, + -0.19048295429573475, + -0.9763411519869002, + -0.10234353452789151, + 0.2632624784343023, + 0.04962971934840517, + -0.9634468114047745 + ], + [ + 0.9547703802572908, + -0.17074121405222087, + 0.2434357385580882, + -0.15095468682464708, + -0.9836827149940698, + -0.09788257632269508, + 0.2561761181473029, + 0.056707618940220014, + -0.9649653063427254 + ], + [ + 0.9571283379837779, + -0.1611574164973559, + 0.2406940625281584, + -0.14289460925235306, + -0.9854889361081625, + -0.0916116120097213, + 0.25196522632107116, + 0.053290185928556624, + -0.9662679135771154 + ], + [ + 0.9668583482648542, + -0.14659802814020284, + 0.20903098463137545, + -0.12824333589964299, + -0.9868006559671211, + -0.0988843373856089, + 0.22076816162637533, + 0.06880031633839981, + -0.9728966724600546 + ], + [ + 0.9880414471185507, + -0.06970189600988724, + 0.13753452100657157, + -0.050277078882847104, + -0.9888783101391635, + -0.13997107942471684, + 0.14576115434123108, + 0.1313823939077808, + -0.9805571642980191 + ], + [ + 0.9893723310597053, + -0.05425632001610327, + 0.13490234346294777, + -0.035496914281011066, + -0.9898286839446319, + -0.13776481959108677, + 0.14100482122967106, + 0.13151208377464152, + -0.9812350443248754 + ], + [ + 0.9748408907917763, + -0.08509245119396923, + 0.20602066010499656, + -0.05566471230861951, + -0.9879165265323898, + -0.14464569266928423, + 0.2158394714687172, + 0.129538455116542, + -0.9677980735680997 + ], + [ + 0.9662634898131632, + -0.07403186304829307, + 0.2466863423614804, + -0.04019410567843349, + -0.9894077704238988, + -0.13948726713761445, + 0.2543998862476115, + 0.12486611661458874, + -0.959004249624992 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006317.json b/json/chunk-0006/episode_0006317.json new file mode 100644 index 0000000000000000000000000000000000000000..f57790eae8b8b65b49162595170f343e10374387 --- /dev/null +++ b/json/chunk-0006/episode_0006317.json @@ -0,0 +1,1462 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 23, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut the mushroom above the blue cloth." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006317.mp4", + "start": 0, + "end": 23, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2754002809524536, + 0.069035604596138, + 0.06773040443658829, + -0.008612196892499924, + -0.14768585562705994, + 0.009938414208590984, + 0.0, + 1.0008161067962646 + ], + [ + 0.27208176255226135, + 0.06792119145393372, + 0.060878485441207886, + -0.016828365623950958, + -0.122792087495327, + 0.013415620662271976, + 0.0, + 1.0008161067962646 + ], + [ + 0.2670908570289612, + 0.0480407178401947, + 0.05461703985929489, + -0.025922570377588272, + -0.11075269430875778, + -0.041462138295173645, + 0.0, + 1.0008161067962646 + ], + [ + 0.2653598487377167, + 0.019341986626386642, + 0.0533827543258667, + -0.029120825231075287, + -0.11305113881826401, + -0.11475972831249237, + 0.0, + 1.0008161067962646 + ], + [ + 0.2637726664543152, + -0.014914104714989662, + 0.047725461423397064, + -0.042458195239305496, + -0.13048318028450012, + -0.18502581119537354, + 0.0, + 1.0008161067962646 + ], + [ + 0.26767101883888245, + -0.028328491374850273, + 0.038950297981500626, + -0.02362770587205887, + -0.13550351560115814, + -0.21158777177333832, + 0.0, + 1.0008161067962646 + ], + [ + 0.26895540952682495, + -0.02532983385026455, + 0.014000831171870232, + -0.022057868540287018, + -0.06041038781404495, + -0.19986730813980103, + 0.0, + 1.0008161067962646 + ], + [ + 0.27300041913986206, + -0.018920857459306717, + 0.007841050624847412, + -0.011227548122406006, + -0.04316491261124611, + -0.1764465868473053, + 0.0, + 0.9679883122444153 + ], + [ + 0.27227869629859924, + -0.018729720264673233, + 0.007809984497725964, + -0.010616190731525421, + -0.03853065147995949, + -0.1822558045387268, + 0.0, + 0.6871993541717529 + ], + [ + 0.26686912775039673, + -0.02256447821855545, + 0.015745949000120163, + -0.019916612654924393, + -0.04636208713054657, + -0.2018933892250061, + 0.0, + 0.40239205956459045 + ], + [ + 0.2689887583255768, + -0.025548722594976425, + 0.0446111261844635, + -0.03837791830301285, + -0.11536473780870438, + -0.20415861904621124, + 0.0, + 0.27449509501457214 + ], + [ + 0.28755006194114685, + 0.0010065536480396986, + 0.08467598259449005, + -0.05681270733475685, + -0.1918814778327942, + -0.09003268927335739, + 0.0, + 0.2499733716249466 + ], + [ + 0.31166958808898926, + 0.037233468145132065, + 0.09569046646356583, + -0.07567182183265686, + -0.20849609375, + 0.040673475712537766, + 0.0, + 0.2499733716249466 + ], + [ + 0.3318888247013092, + 0.057530470192432404, + 0.08746052533388138, + -0.08490931242704391, + -0.19108125567436218, + 0.09685570746660233, + 0.0, + 0.2499733716249466 + ], + [ + 0.3466781973838806, + 0.08580897748470306, + 0.07376889884471893, + -0.07822573184967041, + -0.17954088747501373, + 0.18198879063129425, + 0.0, + 0.2499733716249466 + ], + [ + 0.3626478910446167, + 0.09642556309700012, + 0.05386979132890701, + -0.05611806362867355, + -0.17174114286899567, + 0.20062944293022156, + 0.0, + 0.2499733716249466 + ], + [ + 0.3761025667190552, + 0.10687108337879181, + 0.039068665355443954, + -0.03544831648468971, + -0.17402663826942444, + 0.226735457777977, + 0.0, + 0.2499733716249466 + ], + [ + 0.3932732045650482, + 0.11609241366386414, + 0.03287796676158905, + -0.021386615931987762, + -0.1782422512769699, + 0.24328665435314178, + 0.0, + 0.2499733716249466 + ], + [ + 0.4023514688014984, + 0.11722612380981445, + 0.024864088743925095, + -0.01136119943112135, + -0.15304313600063324, + 0.22793395817279816, + 0.0, + 0.30647560954093933 + ], + [ + 0.40503570437431335, + 0.10692162811756134, + 0.027684560045599937, + -0.006785428151488304, + -0.13574758172035217, + 0.2015724927186966, + 0.0, + 0.5729578137397766 + ], + [ + 0.404334157705307, + 0.10315906256437302, + 0.027146119624376297, + -0.005839466117322445, + -0.12634538114070892, + 0.19987694919109344, + 0.0, + 0.8766602873802185 + ], + [ + 0.39972826838493347, + 0.10021989047527313, + 0.038778167217969894, + -0.012954642064869404, + -0.1267223358154297, + 0.20224565267562866, + 0.0, + 1.0124757289886475 + ], + [ + 0.395385205745697, + 0.09537521749734879, + 0.06573047488927841, + -0.0007999253575690091, + -0.13822872936725616, + 0.19665606319904327, + 0.0, + 1.00800359249115 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9679883122444153 + ], + [ + 0.6871993541717529 + ], + [ + 0.40239205956459045 + ], + [ + 0.27449509501457214 + ], + [ + 0.2499733716249466 + ], + [ + 0.2499733716249466 + ], + [ + 0.2499733716249466 + ], + [ + 0.2499733716249466 + ], + [ + 0.2499733716249466 + ], + [ + 0.2499733716249466 + ], + [ + 0.2499733716249466 + ], + [ + 0.30647560954093933 + ], + [ + 0.5729578137397766 + ], + [ + 0.8766602873802185 + ], + [ + 1.0124757289886475 + ], + [ + 1.00800359249115 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2754002809524536, + 0.069035604596138, + 0.06773040443658829 + ], + [ + 0.27208176255226135, + 0.06792119145393372, + 0.060878485441207886 + ], + [ + 0.2670908570289612, + 0.0480407178401947, + 0.05461703985929489 + ], + [ + 0.2653598487377167, + 0.019341986626386642, + 0.0533827543258667 + ], + [ + 0.2637726664543152, + -0.014914104714989662, + 0.047725461423397064 + ], + [ + 0.26767101883888245, + -0.028328491374850273, + 0.038950297981500626 + ], + [ + 0.26895540952682495, + -0.02532983385026455, + 0.014000831171870232 + ], + [ + 0.27300041913986206, + -0.018920857459306717, + 0.007841050624847412 + ], + [ + 0.27227869629859924, + -0.018729720264673233, + 0.007809984497725964 + ], + [ + 0.26686912775039673, + -0.02256447821855545, + 0.015745949000120163 + ], + [ + 0.2689887583255768, + -0.025548722594976425, + 0.0446111261844635 + ], + [ + 0.28755006194114685, + 0.0010065536480396986, + 0.08467598259449005 + ], + [ + 0.31166958808898926, + 0.037233468145132065, + 0.09569046646356583 + ], + [ + 0.3318888247013092, + 0.057530470192432404, + 0.08746052533388138 + ], + [ + 0.3466781973838806, + 0.08580897748470306, + 0.07376889884471893 + ], + [ + 0.3626478910446167, + 0.09642556309700012, + 0.05386979132890701 + ], + [ + 0.3761025667190552, + 0.10687108337879181, + 0.039068665355443954 + ], + [ + 0.3932732045650482, + 0.11609241366386414, + 0.03287796676158905 + ], + [ + 0.4023514688014984, + 0.11722612380981445, + 0.024864088743925095 + ], + [ + 0.40503570437431335, + 0.10692162811756134, + 0.027684560045599937 + ], + [ + 0.404334157705307, + 0.10315906256437302, + 0.027146119624376297 + ], + [ + 0.39972826838493347, + 0.10021989047527313, + 0.038778167217969894 + ], + [ + 0.395385205745697, + 0.09537521749734879, + 0.06573047488927841 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9890654034443376, + 0.008670679180454263, + 0.14722244065372536, + 0.009830065306270529, + -0.9999261258626377, + -0.007149309995456522, + 0.14714957534958945, + 0.008518341381179496, + -0.9890775704334567 + ], + [ + 0.9923812089627743, + 0.01135240024079468, + 0.12268112775140069, + 0.0133142086201708, + -0.9997960812089081, + -0.015183143552288047, + 0.12248374564162079, + 0.016700868482914934, + -0.9923299920114858 + ], + [ + 0.9930190211509803, + -0.04429867936110262, + 0.10931994620933062, + -0.04119630166711976, + -0.9986861393758982, + -0.030477200452393133, + 0.11052641476724188, + 0.025760862278384755, + -0.9935392743185211 + ], + [ + 0.9870808375035887, + -0.1177225157797952, + 0.10868684148364098, + -0.11377704126157157, + -0.992625012560512, + -0.04183741532415679, + 0.1128104831785454, + 0.028930843709080042, + -0.9931952482605342 + ], + [ + 0.974575740617583, + -0.18923455509595588, + 0.11996836648602453, + -0.18240798506537403, + -0.9810296469307042, + -0.0656365662371829, + 0.13011323062655752, + 0.04208461714989749, + -0.9906055886250928 + ], + [ + 0.9687365588850904, + -0.2130742831575025, + 0.12707804427354874, + -0.20808743331248347, + -0.9767555330039125, + -0.05146113916019857, + 0.13508922820453267, + 0.023408942803104647, + -0.9905568746013247 + ], + [ + 0.9783050919289872, + -0.19979608223649892, + 0.05477839563881189, + -0.19817711623749407, + -0.9795901326770062, + -0.03360063335171353, + 0.06037365075599468, + 0.022015846220204034, + -0.9979330262144859 + ], + [ + 0.9835566481043612, + -0.17599833721625024, + 0.040508088906153976, + -0.1753689458968633, + -0.9843265553024197, + -0.018627005703957592, + 0.04315150964609286, + 0.011216854442636702, + -0.9990055702505746 + ], + [ + 0.9827074135050498, + -0.18164042825200158, + 0.03595683894122551, + -0.18111394999660682, + -0.9833077965645103, + -0.017421662724169232, + 0.03852111834880146, + 0.010608111984588522, + -0.9992014768810545 + ], + [ + 0.9786359590159375, + -0.20138908811019438, + 0.041401629329049075, + -0.2003091515428265, + -0.979309281114254, + -0.028802356356302634, + 0.04634548013721053, + 0.019893896391276596, + -0.9987273548657931 + ], + [ + 0.9727228295083522, + -0.20691887259160924, + 0.10485645959444968, + -0.20139566259120834, + -0.97761543795131, + -0.060892056696388676, + 0.11510900938985287, + 0.03811345752730174, + -0.9926214184232582 + ], + [ + 0.9776712905525072, + -0.10055089120602506, + 0.18452199301728012, + -0.08826098227977475, + -0.993369300214372, + -0.07367110966056047, + 0.19070617881024293, + 0.05574003650234856, + -0.9800633661627766 + ], + [ + 0.9775341721457436, + 0.024910563731893265, + 0.20929979957442568, + 0.03978165217722107, + -0.9969498629584581, + -0.06714455225229927, + 0.20698879785482616, + 0.07396238612747989, + -0.9755435423398298 + ], + [ + 0.9771979111954481, + 0.0803247875614494, + 0.19655068267106524, + 0.09494427249476298, + -0.9932849897973163, + -0.06610986434554275, + 0.18992058202231255, + 0.08326378292243208, + -0.9782623957700473 + ], + [ + 0.9676769333166234, + 0.16670772763387723, + 0.1892350027719079, + 0.17807667108172473, + -0.9830038077281763, + -0.044634215668673774, + 0.1785778596113925, + 0.07688984028501734, + -0.9809168672816052 + ], + [ + 0.9655251241953401, + 0.1895793016736296, + 0.1783842003219794, + 0.196354428982405, + -0.9803089495008346, + -0.02095952641554286, + 0.17089813564391745, + 0.05526347713914774, + -0.9837376557436053 + ], + [ + 0.9596875820640295, + 0.2186770034432669, + 0.17657891436173745, + 0.22140229144199808, + -0.9751727892133564, + 0.004365377655474317, + 0.17314956013899924, + 0.03490557753305053, + -0.9842768058228106 + ], + [ + 0.955174902312949, + 0.23715879912243173, + 0.1771908857426214, + 0.23707727541756504, + -0.9712428956194077, + 0.02194545942587328, + 0.17729994774966137, + 0.021046180357364455, + -0.9839317998826611 + ], + [ + 0.9627493804661804, + 0.2242636788829132, + 0.15106102325182466, + 0.22332426046454396, + -0.9744638169986839, + 0.023378281551925426, + 0.15244640074449525, + 0.011228165222250886, + -0.9882479563377764 + ], + [ + 0.9707396611507007, + 0.1993059432647404, + 0.13394644918166, + 0.19836838545818605, + -0.9799142528172575, + 0.02044604549316176, + 0.13533105305041948, + 0.0067229535881192, + -0.990777627914214 + ], + [ + 0.972278744946587, + 0.19782417158328594, + 0.12465808943857715, + 0.1969661061753413, + -0.9802204035814946, + 0.019295424863314304, + 0.12600950417811285, + 0.005792887010659578, + -0.992012120549375 + ], + [ + 0.9717628627015757, + 0.1992490252189454, + 0.12639922714691867, + 0.19925903606558545, + -0.9798646299521925, + 0.012694231558727198, + 0.12638344519853859, + 0.012850405361424568, + -0.9918982265644973 + ], + [ + 0.9713708944320848, + 0.19528278653277595, + 0.1352893888455642, + 0.19352723067931923, + -0.9807466571710521, + 0.026138198740553804, + 0.13778895614600453, + 0.0007922952741242807, + -0.9904612944645508 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0033185184001922607, + -0.0011144131422042847, + -0.006851918995380402, + -0.008216168731451035, + 0.02489376813173294, + 0.003477206453680992, + 1.0 + ], + [ + -0.004990905523300171, + -0.019880473613739014, + -0.006261445581912994, + -0.009094204753637314, + 0.012039393186569214, + -0.05487775802612305, + 1.0 + ], + [ + -0.0017310082912445068, + -0.02869873121380806, + -0.0012342855334281921, + -0.0031982548534870148, + -0.0022984445095062256, + -0.07329759001731873, + 1.0 + ], + [ + -0.0015871822834014893, + -0.034256093204021454, + -0.005657292902469635, + -0.01333737000823021, + -0.017432041466236115, + -0.07026608288288116, + 1.0 + ], + [ + 0.0038983523845672607, + -0.013414386659860611, + -0.008775163441896439, + 0.018830489367246628, + -0.00502033531665802, + -0.026561960577964783, + 1.0 + ], + [ + 0.0012843906879425049, + 0.002998657524585724, + -0.024949466809630394, + 0.0015698373317718506, + 0.07509312778711319, + 0.011720463633537292, + 1.0 + ], + [ + 0.004045009613037109, + 0.006408976390957832, + -0.0061597805470228195, + 0.010830320417881012, + 0.017245475202798843, + 0.023420721292495728, + 0.0 + ], + [ + -0.0007217228412628174, + 0.0001911371946334839, + -3.106612712144852e-05, + 0.0006113573908805847, + 0.004634261131286621, + -0.005809217691421509, + 0.0 + ], + [ + -0.005409568548202515, + -0.0038347579538822174, + 0.0079359645023942, + -0.009300421923398972, + -0.007831435650587082, + -0.019637584686279297, + 0.0 + ], + [ + 0.0021196305751800537, + -0.0029842443764209747, + 0.028865177184343338, + -0.018461305648088455, + -0.0690026506781578, + -0.002265229821205139, + 0.0 + ], + [ + 0.01856130361557007, + 0.026555275544524193, + 0.04006485641002655, + -0.018434789031744003, + -0.07651674002408981, + 0.11412592977285385, + 0.0 + ], + [ + 0.024119526147842407, + 0.03622691333293915, + 0.011014483869075775, + -0.01885911449790001, + -0.01661461591720581, + 0.13070616126060486, + 0.0 + ], + [ + 0.020219236612319946, + 0.02029700204730034, + -0.008229941129684448, + -0.009237490594387054, + 0.017414838075637817, + 0.05618223175406456, + 0.0 + ], + [ + 0.014789372682571411, + 0.02827850729227066, + -0.013691626489162445, + 0.006683580577373505, + 0.01154036819934845, + 0.08513308316469193, + 0.0 + ], + [ + 0.015969693660736084, + 0.010616585612297058, + -0.01989910751581192, + 0.022107668220996857, + 0.007799744606018066, + 0.018640652298927307, + 0.0 + ], + [ + 0.013454675674438477, + 0.010445520281791687, + -0.014801125973463058, + 0.02066974714398384, + -0.002285495400428772, + 0.026106014847755432, + 0.0 + ], + [ + 0.017170637845993042, + 0.009221330285072327, + -0.006190698593854904, + 0.01406170055270195, + -0.004215613007545471, + 0.016551196575164795, + 0.0 + ], + [ + 0.009078264236450195, + 0.0011337101459503174, + -0.008013878017663956, + 0.010025416500866413, + 0.02519911527633667, + -0.015352696180343628, + 1.0 + ], + [ + 0.0026842355728149414, + -0.010304495692253113, + 0.002820471301674843, + 0.004575771279633045, + 0.017295554280281067, + -0.026361465454101562, + 1.0 + ], + [ + -0.0007015466690063477, + -0.003762565553188324, + -0.0005384404212236404, + 0.0009459620341658592, + 0.00940220057964325, + -0.0016955435276031494, + 1.0 + ], + [ + -0.004605889320373535, + -0.002939172089099884, + 0.011632047593593597, + -0.007115175947546959, + -0.00037695467472076416, + 0.0023687034845352173, + 1.0 + ], + [ + -0.00434306263923645, + -0.004844672977924347, + 0.026952307671308517, + 0.0121547169983387, + -0.011506393551826477, + -0.005589589476585388, + 1.0 + ], + [ + -0.008435845375061035, + -0.006284542381763458, + 0.00805819034576416, + -0.01883247122168541, + 0.04327073693275452, + -0.016191571950912476, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9679883122444153 + ], + [ + 0.6871993541717529 + ], + [ + 0.40239205956459045 + ], + [ + 0.27449509501457214 + ], + [ + 0.2499733716249466 + ], + [ + 0.2499733716249466 + ], + [ + 0.2499733716249466 + ], + [ + 0.2499733716249466 + ], + [ + 0.2499733716249466 + ], + [ + 0.2499733716249466 + ], + [ + 0.2499733716249466 + ], + [ + 0.30647560954093933 + ], + [ + 0.5729578137397766 + ], + [ + 0.8766602873802185 + ], + [ + 1.0124757289886475 + ], + [ + 1.00800359249115 + ], + [ + 1.002137303352356 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.27208176255226135, + 0.06792119145393372, + 0.060878485441207886 + ], + [ + 0.2670908570289612, + 0.0480407178401947, + 0.05461703985929489 + ], + [ + 0.2653598487377167, + 0.019341986626386642, + 0.0533827543258667 + ], + [ + 0.2637726664543152, + -0.014914104714989662, + 0.047725461423397064 + ], + [ + 0.26767101883888245, + -0.028328491374850273, + 0.038950297981500626 + ], + [ + 0.26895540952682495, + -0.02532983385026455, + 0.014000831171870232 + ], + [ + 0.27300041913986206, + -0.018920857459306717, + 0.007841050624847412 + ], + [ + 0.27227869629859924, + -0.018729720264673233, + 0.007809984497725964 + ], + [ + 0.26686912775039673, + -0.02256447821855545, + 0.015745949000120163 + ], + [ + 0.2689887583255768, + -0.025548722594976425, + 0.0446111261844635 + ], + [ + 0.28755006194114685, + 0.0010065536480396986, + 0.08467598259449005 + ], + [ + 0.31166958808898926, + 0.037233468145132065, + 0.09569046646356583 + ], + [ + 0.3318888247013092, + 0.057530470192432404, + 0.08746052533388138 + ], + [ + 0.3466781973838806, + 0.08580897748470306, + 0.07376889884471893 + ], + [ + 0.3626478910446167, + 0.09642556309700012, + 0.05386979132890701 + ], + [ + 0.3761025667190552, + 0.10687108337879181, + 0.039068665355443954 + ], + [ + 0.3932732045650482, + 0.11609241366386414, + 0.03287796676158905 + ], + [ + 0.4023514688014984, + 0.11722612380981445, + 0.024864088743925095 + ], + [ + 0.40503570437431335, + 0.10692162811756134, + 0.027684560045599937 + ], + [ + 0.404334157705307, + 0.10315906256437302, + 0.027146119624376297 + ], + [ + 0.39972826838493347, + 0.10021989047527313, + 0.038778167217969894 + ], + [ + 0.395385205745697, + 0.09537521749734879, + 0.06573047488927841 + ], + [ + 0.386949360370636, + 0.08909067511558533, + 0.07378866523504257 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9923812089627743, + 0.01135240024079468, + 0.12268112775140069, + 0.0133142086201708, + -0.9997960812089081, + -0.015183143552288047, + 0.12248374564162079, + 0.016700868482914934, + -0.9923299920114858 + ], + [ + 0.9930190211509803, + -0.04429867936110262, + 0.10931994620933062, + -0.04119630166711976, + -0.9986861393758982, + -0.030477200452393133, + 0.11052641476724188, + 0.025760862278384755, + -0.9935392743185211 + ], + [ + 0.9870808375035887, + -0.1177225157797952, + 0.10868684148364098, + -0.11377704126157157, + -0.992625012560512, + -0.04183741532415679, + 0.1128104831785454, + 0.028930843709080042, + -0.9931952482605342 + ], + [ + 0.974575740617583, + -0.18923455509595588, + 0.11996836648602453, + -0.18240798506537403, + -0.9810296469307042, + -0.0656365662371829, + 0.13011323062655752, + 0.04208461714989749, + -0.9906055886250928 + ], + [ + 0.9687365588850904, + -0.2130742831575025, + 0.12707804427354874, + -0.20808743331248347, + -0.9767555330039125, + -0.05146113916019857, + 0.13508922820453267, + 0.023408942803104647, + -0.9905568746013247 + ], + [ + 0.9783050919289872, + -0.19979608223649892, + 0.05477839563881189, + -0.19817711623749407, + -0.9795901326770062, + -0.03360063335171353, + 0.06037365075599468, + 0.022015846220204034, + -0.9979330262144859 + ], + [ + 0.9835566481043612, + -0.17599833721625024, + 0.040508088906153976, + -0.1753689458968633, + -0.9843265553024197, + -0.018627005703957592, + 0.04315150964609286, + 0.011216854442636702, + -0.9990055702505746 + ], + [ + 0.9827074135050498, + -0.18164042825200158, + 0.03595683894122551, + -0.18111394999660682, + -0.9833077965645103, + -0.017421662724169232, + 0.03852111834880146, + 0.010608111984588522, + -0.9992014768810545 + ], + [ + 0.9786359590159375, + -0.20138908811019438, + 0.041401629329049075, + -0.2003091515428265, + -0.979309281114254, + -0.028802356356302634, + 0.04634548013721053, + 0.019893896391276596, + -0.9987273548657931 + ], + [ + 0.9727228295083522, + -0.20691887259160924, + 0.10485645959444968, + -0.20139566259120834, + -0.97761543795131, + -0.060892056696388676, + 0.11510900938985287, + 0.03811345752730174, + -0.9926214184232582 + ], + [ + 0.9776712905525072, + -0.10055089120602506, + 0.18452199301728012, + -0.08826098227977475, + -0.993369300214372, + -0.07367110966056047, + 0.19070617881024293, + 0.05574003650234856, + -0.9800633661627766 + ], + [ + 0.9775341721457436, + 0.024910563731893265, + 0.20929979957442568, + 0.03978165217722107, + -0.9969498629584581, + -0.06714455225229927, + 0.20698879785482616, + 0.07396238612747989, + -0.9755435423398298 + ], + [ + 0.9771979111954481, + 0.0803247875614494, + 0.19655068267106524, + 0.09494427249476298, + -0.9932849897973163, + -0.06610986434554275, + 0.18992058202231255, + 0.08326378292243208, + -0.9782623957700473 + ], + [ + 0.9676769333166234, + 0.16670772763387723, + 0.1892350027719079, + 0.17807667108172473, + -0.9830038077281763, + -0.044634215668673774, + 0.1785778596113925, + 0.07688984028501734, + -0.9809168672816052 + ], + [ + 0.9655251241953401, + 0.1895793016736296, + 0.1783842003219794, + 0.196354428982405, + -0.9803089495008346, + -0.02095952641554286, + 0.17089813564391745, + 0.05526347713914774, + -0.9837376557436053 + ], + [ + 0.9596875820640295, + 0.2186770034432669, + 0.17657891436173745, + 0.22140229144199808, + -0.9751727892133564, + 0.004365377655474317, + 0.17314956013899924, + 0.03490557753305053, + -0.9842768058228106 + ], + [ + 0.955174902312949, + 0.23715879912243173, + 0.1771908857426214, + 0.23707727541756504, + -0.9712428956194077, + 0.02194545942587328, + 0.17729994774966137, + 0.021046180357364455, + -0.9839317998826611 + ], + [ + 0.9627493804661804, + 0.2242636788829132, + 0.15106102325182466, + 0.22332426046454396, + -0.9744638169986839, + 0.023378281551925426, + 0.15244640074449525, + 0.011228165222250886, + -0.9882479563377764 + ], + [ + 0.9707396611507007, + 0.1993059432647404, + 0.13394644918166, + 0.19836838545818605, + -0.9799142528172575, + 0.02044604549316176, + 0.13533105305041948, + 0.0067229535881192, + -0.990777627914214 + ], + [ + 0.972278744946587, + 0.19782417158328594, + 0.12465808943857715, + 0.1969661061753413, + -0.9802204035814946, + 0.019295424863314304, + 0.12600950417811285, + 0.005792887010659578, + -0.992012120549375 + ], + [ + 0.9717628627015757, + 0.1992490252189454, + 0.12639922714691867, + 0.19925903606558545, + -0.9798646299521925, + 0.012694231558727198, + 0.12638344519853859, + 0.012850405361424568, + -0.9918982265644973 + ], + [ + 0.9713708944320848, + 0.19528278653277595, + 0.1352893888455642, + 0.19352723067931923, + -0.9807466571710521, + 0.026138198740553804, + 0.13778895614600453, + 0.0007922952741242807, + -0.9904612944645508 + ], + [ + 0.9793284668549923, + 0.17762084635510256, + 0.09678113942058844, + 0.17867793186512215, + -0.9839049334141496, + -0.0022975351358744487, + 0.09481535040199499, + 0.01954269539738219, + -0.9953030354544048 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006319.json b/json/chunk-0006/episode_0006319.json new file mode 100644 index 0000000000000000000000000000000000000000..ff7f0587d0f87b777c4357c420073afe27489425 --- /dev/null +++ b/json/chunk-0006/episode_0006319.json @@ -0,0 +1,1402 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 22, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the blue cloth to the left of the pot." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006319.mp4", + "start": 0, + "end": 22, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.25117918848991394, + -0.0726168230175972, + 0.0896385908126831, + -0.03242439404129982, + -0.1159740537405014, + -0.23435579240322113, + 0.0, + 1.0001531839370728 + ], + [ + 0.2503455877304077, + -0.07054615020751953, + 0.0827590674161911, + -0.029469963163137436, + -0.08562158048152924, + -0.23854897916316986, + 0.0, + 1.0001531839370728 + ], + [ + 0.26680514216423035, + -0.022370165213942528, + 0.09018933773040771, + -0.002045625587925315, + -0.06932190805673599, + -0.14496809244155884, + 0.0, + 1.0001531839370728 + ], + [ + 0.2909363806247711, + 0.01193607971072197, + 0.08851344138383865, + -0.00819302722811699, + -0.037445422261953354, + -0.1332119256258011, + 0.0, + 1.0001531839370728 + ], + [ + 0.3160739243030548, + 0.05413443595170975, + 0.08987466990947723, + 0.01709132082760334, + -0.019024433568120003, + -0.11877936124801636, + 0.0, + 1.0001531839370728 + ], + [ + 0.3380361795425415, + 0.095281220972538, + 0.09118711203336716, + 0.05614711716771126, + -0.059320367872714996, + -0.15221019089221954, + 0.0, + 1.0001531839370728 + ], + [ + 0.35718581080436707, + 0.11876177787780762, + 0.0870504081249237, + 0.06995949894189835, + -0.08776138722896576, + -0.189701110124588, + 0.0, + 1.0001531839370728 + ], + [ + 0.3770391345024109, + 0.13307829201221466, + 0.08280207216739655, + 0.07932952791452408, + -0.10436678677797318, + -0.2227320820093155, + 0.0, + 1.0001531839370728 + ], + [ + 0.3890545964241028, + 0.14916035532951355, + 0.06749632209539413, + 0.09368117898702621, + -0.1202208623290062, + -0.23165197670459747, + 0.0, + 1.0001531839370728 + ], + [ + 0.3953113257884979, + 0.15484020113945007, + 0.03596928343176842, + 0.09676405787467957, + -0.10126431286334991, + -0.2412620484828949, + 0.0, + 1.0001531839370728 + ], + [ + 0.395600289106369, + 0.15953262150287628, + 0.02302674576640129, + 0.12478726357221603, + -0.0913429781794548, + -0.2526492476463318, + 0.0, + 1.0001531839370728 + ], + [ + 0.3923739790916443, + 0.161138117313385, + 0.01321498118340969, + 0.12343192100524902, + -0.09358549863100052, + -0.2545071244239807, + 0.0, + 1.0001531839370728 + ], + [ + 0.38449087738990784, + 0.15732420980930328, + 0.009382425807416439, + 0.12835586071014404, + -0.10453373938798904, + -0.266709566116333, + 0.0, + 1.0001531839370728 + ], + [ + 0.3687097728252411, + 0.15163569152355194, + 0.009042474441230297, + 0.12182177603244781, + -0.11559294164180756, + -0.28746145963668823, + 0.0, + 0.9994885921478271 + ], + [ + 0.34277817606925964, + 0.14609980583190918, + 0.009979898110032082, + 0.1092730239033699, + -0.11268223077058792, + -0.31296661496162415, + 0.0, + 0.9994885921478271 + ], + [ + 0.309230238199234, + 0.1429823338985443, + 0.00869471114128828, + 0.08897562325000763, + -0.10848266631364822, + -0.3369215428829193, + 0.0, + 0.9988223910331726 + ], + [ + 0.28688743710517883, + 0.1366736739873886, + 0.008753829635679722, + 0.08531752228736877, + -0.09313039481639862, + -0.3716423809528351, + 0.0, + 0.9988223910331726 + ], + [ + 0.27503231167793274, + 0.13217097520828247, + 0.009356683120131493, + 0.09263226389884949, + -0.08752727508544922, + -0.38871854543685913, + 0.0, + 0.9988223910331726 + ], + [ + 0.2752370834350586, + 0.13026171922683716, + 0.009016744792461395, + 0.08818575739860535, + -0.09485921263694763, + -0.3907574415206909, + 0.0, + 0.9988223910331726 + ], + [ + 0.28063341975212097, + 0.128295436501503, + 0.012227648869156837, + 0.08536452054977417, + -0.10222815722227097, + -0.3839479684829712, + 0.0, + 0.9988223910331726 + ], + [ + 0.2891221344470978, + 0.1258649379014969, + 0.045186661183834076, + 0.10778374969959259, + -0.17621095478534698, + -0.37693843245506287, + 0.0, + 0.9994885921478271 + ], + [ + 0.2834452688694, + 0.12686559557914734, + 0.07568763196468353, + 0.12070415914058685, + -0.24224509298801422, + -0.36293894052505493, + 0.0, + 0.9994885921478271 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.25117918848991394, + -0.0726168230175972, + 0.0896385908126831 + ], + [ + 0.2503455877304077, + -0.07054615020751953, + 0.0827590674161911 + ], + [ + 0.26680514216423035, + -0.022370165213942528, + 0.09018933773040771 + ], + [ + 0.2909363806247711, + 0.01193607971072197, + 0.08851344138383865 + ], + [ + 0.3160739243030548, + 0.05413443595170975, + 0.08987466990947723 + ], + [ + 0.3380361795425415, + 0.095281220972538, + 0.09118711203336716 + ], + [ + 0.35718581080436707, + 0.11876177787780762, + 0.0870504081249237 + ], + [ + 0.3770391345024109, + 0.13307829201221466, + 0.08280207216739655 + ], + [ + 0.3890545964241028, + 0.14916035532951355, + 0.06749632209539413 + ], + [ + 0.3953113257884979, + 0.15484020113945007, + 0.03596928343176842 + ], + [ + 0.395600289106369, + 0.15953262150287628, + 0.02302674576640129 + ], + [ + 0.3923739790916443, + 0.161138117313385, + 0.01321498118340969 + ], + [ + 0.38449087738990784, + 0.15732420980930328, + 0.009382425807416439 + ], + [ + 0.3687097728252411, + 0.15163569152355194, + 0.009042474441230297 + ], + [ + 0.34277817606925964, + 0.14609980583190918, + 0.009979898110032082 + ], + [ + 0.309230238199234, + 0.1429823338985443, + 0.00869471114128828 + ], + [ + 0.28688743710517883, + 0.1366736739873886, + 0.008753829635679722 + ], + [ + 0.27503231167793274, + 0.13217097520828247, + 0.009356683120131493 + ], + [ + 0.2752370834350586, + 0.13026171922683716, + 0.009016744792461395 + ], + [ + 0.28063341975212097, + 0.128295436501503, + 0.012227648869156837 + ], + [ + 0.2891221344470978, + 0.1258649379014969, + 0.045186661183834076 + ], + [ + 0.2834452688694, + 0.12686559557914734, + 0.07568763196468353 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9661303098332136, + -0.23574313938829183, + 0.10496378734083085, + -0.23065653233670647, + -0.9712817673547187, + -0.05838914706261706, + 0.11571425371139306, + 0.03220094153353976, + -0.9927604498832379 + ], + [ + 0.9681223124267115, + -0.23863880636614238, + 0.07609670346144634, + -0.2354273357634597, + -0.9706645364079863, + -0.048829574390813306, + 0.08551700273557128, + 0.029357756317735954, + -0.9959040939704548 + ], + [ + 0.9871339080169705, + -0.14460076139998077, + 0.06824417517772942, + -0.14411389062956456, + -0.989487976329803, + -0.012030429184397916, + 0.06926640001294056, + 0.002040710978247988, + -0.9975961113235908 + ], + [ + 0.9904456171517751, + -0.13311783264279323, + 0.03601558131314819, + -0.1327251861724594, + -0.9910664016674752, + -0.013092457422818561, + 0.03743667213207781, + 0.008187192337279927, + -0.9992654629583209 + ], + [ + 0.9927743375103438, + -0.11816012390014691, + 0.020911716830520913, + -0.11847881401508437, + -0.9928475240517927, + 0.014716134472209708, + 0.019023286006287367, + -0.017087396060460523, + -0.9996730142828685 + ], + [ + 0.9866997753932368, + -0.14809570463701274, + 0.0670165315948439, + -0.15135644295783848, + -0.9873852052574985, + 0.04649390942648409, + 0.059285583526575966, + -0.05601891382983252, + -0.9966679993253718 + ], + [ + 0.9782811205210666, + -0.1820871612931945, + 0.09904703389921746, + -0.18783967036601004, + -0.9808136684791381, + 0.05216134547042003, + 0.0876487733447266, + -0.06963342169304898, + -0.9937146869773452 + ], + [ + 0.9699907278530545, + -0.2121485911035524, + 0.11878957518182925, + -0.2196930873298168, + -0.9740539758271194, + 0.05434886893832554, + 0.10417742201933788, + -0.07881514745377009, + -0.9914309039329193 + ], + [ + 0.9662634241194484, + -0.2176597601580895, + 0.13769249804140385, + -0.2279285758718471, + -0.9715964042692143, + 0.06363168638473324, + 0.11993147839491801, + -0.0928690261554215, + -0.988428947608756 + ], + [ + 0.9660627305746521, + -0.2283267311057184, + 0.12078784896347916, + -0.23770431836548053, + -0.968828260111482, + 0.06977434657351478, + 0.10109133308572787, + -0.09611818907956823, + -0.9902231244032907 + ], + [ + 0.9642170645986003, + -0.23703359388272147, + 0.11874564290069632, + -0.2489278846563053, + -0.9635625390128373, + 0.09788841428724714, + 0.09121601053211971, + -0.12394478118168446, + -0.9880877140418398 + ], + [ + 0.9635525357097215, + -0.238718271015678, + 0.12074807663333803, + -0.2506667199460816, + -0.9633212009183768, + 0.09580427637975403, + 0.09344895097772837, + -0.12257997774702395, + -0.9880493118345363 + ], + [ + 0.9593776623132059, + -0.2485065440085411, + 0.1335627142558091, + -0.2621200915993095, + -0.9602280676324247, + 0.09620351194664734, + 0.10434346474225158, + -0.1273049712926802, + -0.9863599168912695 + ], + [ + 0.9525670929149777, + -0.26797701683399255, + 0.14423679122977925, + -0.2816267234148647, + -0.9558333961591182, + 0.08407679492900483, + 0.11533569332221552, + -0.12070972303704744, + -0.9859649286917885 + ], + [ + 0.9453905242066072, + -0.2943791915473157, + 0.13992014981519074, + -0.30592992835029925, + -0.9495252080536877, + 0.06934521043433386, + 0.11244392237883444, + -0.10836406625145684, + -0.9877315391671527 + ], + [ + 0.9382288530404015, + -0.3201958112019365, + 0.13115358100801688, + -0.32863996079230406, + -0.9432239435544911, + 0.04821170476084522, + 0.10827001197434799, + -0.08833592018113523, + -0.990189057560639 + ], + [ + 0.9276945151378679, + -0.35444173702943776, + 0.11727719997796189, + -0.3615724856391081, + -0.9312209289395654, + 0.045748433128247355, + 0.09299582900255778, + -0.08484477919405303, + -0.9920449280308021 + ], + [ + 0.9218530184516581, + -0.36989529563283646, + 0.11560485560850416, + -0.377552025921114, + -0.9244926344208534, + 0.05261023307734496, + 0.08741555979589143, + -0.09214574960510433, + -0.9919010438220559 + ], + [ + 0.9204639485215925, + -0.37169572898239017, + 0.12078246780178094, + -0.3791764846502869, + -0.9242052165586716, + 0.04549627648488838, + 0.09471701515720078, + -0.08767555384477621, + -0.991635862752917 + ], + [ + 0.9223523777171946, + -0.365152517156041, + 0.12621303630784367, + -0.37262829936484265, + -0.927076009153828, + 0.04096612947151371, + 0.10205019270879939, + -0.08481575600098601, + -0.991156922844248 + ], + [ + 0.9153979716838772, + -0.34840553491321363, + 0.20164358824143497, + -0.36237590844256956, + -0.9313413916466348, + 0.03587357225217997, + 0.17530046895963042, + -0.10590937374730999, + -0.978801793079164 + ], + [ + 0.9075613736403972, + -0.3254371626029695, + 0.2653733337637437, + -0.3446572354106334, + -0.9383102355246372, + 0.028023061731345028, + 0.23988276960851976, + -0.11689548796522437, + -0.9637383990162047 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0008336007595062256, + 0.0020706728100776672, + -0.006879523396492004, + 0.002954430878162384, + 0.030352473258972168, + -0.0041931867599487305, + 1.0 + ], + [ + 0.016459554433822632, + 0.048175983130931854, + 0.007430270314216614, + 0.027424337342381477, + 0.016299672424793243, + 0.09358088672161102, + 1.0 + ], + [ + 0.02413123846054077, + 0.03430624306201935, + -0.0016758963465690613, + -0.006147401407361031, + 0.03187648579478264, + 0.011756166815757751, + 1.0 + ], + [ + 0.02513754367828369, + 0.04219835624098778, + 0.0013612285256385803, + 0.02528434805572033, + 0.01842098869383335, + 0.014432564377784729, + 1.0 + ], + [ + 0.021962255239486694, + 0.04114678502082825, + 0.001312442123889923, + 0.03905579447746277, + -0.04029593616724014, + -0.033430829644203186, + 1.0 + ], + [ + 0.01914963126182556, + 0.023480556905269623, + -0.004136703908443451, + 0.013812381774187088, + -0.028441019356250763, + -0.03749091923236847, + 1.0 + ], + [ + 0.019853323698043823, + 0.014316514134407043, + -0.004248335957527161, + 0.009370028972625732, + -0.016605399549007416, + -0.03303097188472748, + 1.0 + ], + [ + 0.012015461921691895, + 0.01608206331729889, + -0.015305750072002411, + 0.014351651072502136, + -0.01585407555103302, + -0.008919894695281982, + 1.0 + ], + [ + 0.006256729364395142, + 0.0056798458099365234, + -0.03152703866362572, + 0.003082878887653351, + 0.01895654946565628, + -0.009610071778297424, + 1.0 + ], + [ + 0.00028896331787109375, + 0.0046924203634262085, + -0.012942537665367126, + 0.02802320569753647, + 0.009921334683895111, + -0.01138719916343689, + 1.0 + ], + [ + -0.0032263100147247314, + 0.001605495810508728, + -0.0098117645829916, + -0.0013553425669670105, + -0.0022425204515457153, + -0.0018578767776489258, + 1.0 + ], + [ + -0.00788310170173645, + -0.003813907504081726, + -0.003832555375993252, + 0.0049239397048950195, + -0.010948240756988525, + -0.012202441692352295, + 1.0 + ], + [ + -0.015781104564666748, + -0.005688518285751343, + -0.00033995136618614197, + -0.006534084677696228, + -0.011059202253818512, + -0.020751893520355225, + 1.0 + ], + [ + -0.025931596755981445, + -0.005535885691642761, + 0.0009374236688017845, + -0.012548752129077911, + 0.002910710871219635, + -0.025505155324935913, + 1.0 + ], + [ + -0.033547937870025635, + -0.003117471933364868, + -0.0012851869687438011, + -0.020297400653362274, + 0.004199564456939697, + -0.023954927921295166, + 1.0 + ], + [ + -0.022342801094055176, + -0.006308659911155701, + 5.9118494391441345e-05, + -0.003658100962638855, + 0.015352271497249603, + -0.03472083806991577, + 1.0 + ], + [ + -0.011855125427246094, + -0.00450269877910614, + 0.0006028534844517708, + 0.007314741611480713, + 0.005603119730949402, + -0.017076164484024048, + 1.0 + ], + [ + 0.0002047717571258545, + -0.0019092559814453125, + -0.00033993832767009735, + -0.004446506500244141, + -0.007331937551498413, + -0.002038896083831787, + 1.0 + ], + [ + 0.005396336317062378, + -0.0019662827253341675, + 0.003210904076695442, + -0.0028212368488311768, + -0.007368944585323334, + 0.0068094730377197266, + 1.0 + ], + [ + 0.008488714694976807, + -0.0024304986000061035, + 0.03295901417732239, + 0.02241922914981842, + -0.07398279756307602, + 0.007009536027908325, + 1.0 + ], + [ + -0.005676865577697754, + 0.0010006576776504517, + 0.030500970780849457, + 0.012920409440994263, + -0.06603413820266724, + 0.013999491930007935, + 1.0 + ], + [ + -0.013757258653640747, + 0.0017137378454208374, + 0.008989863097667694, + -0.015345580875873566, + -0.02839280664920807, + 0.03833681344985962, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2503455877304077, + -0.07054615020751953, + 0.0827590674161911 + ], + [ + 0.26680514216423035, + -0.022370165213942528, + 0.09018933773040771 + ], + [ + 0.2909363806247711, + 0.01193607971072197, + 0.08851344138383865 + ], + [ + 0.3160739243030548, + 0.05413443595170975, + 0.08987466990947723 + ], + [ + 0.3380361795425415, + 0.095281220972538, + 0.09118711203336716 + ], + [ + 0.35718581080436707, + 0.11876177787780762, + 0.0870504081249237 + ], + [ + 0.3770391345024109, + 0.13307829201221466, + 0.08280207216739655 + ], + [ + 0.3890545964241028, + 0.14916035532951355, + 0.06749632209539413 + ], + [ + 0.3953113257884979, + 0.15484020113945007, + 0.03596928343176842 + ], + [ + 0.395600289106369, + 0.15953262150287628, + 0.02302674576640129 + ], + [ + 0.3923739790916443, + 0.161138117313385, + 0.01321498118340969 + ], + [ + 0.38449087738990784, + 0.15732420980930328, + 0.009382425807416439 + ], + [ + 0.3687097728252411, + 0.15163569152355194, + 0.009042474441230297 + ], + [ + 0.34277817606925964, + 0.14609980583190918, + 0.009979898110032082 + ], + [ + 0.309230238199234, + 0.1429823338985443, + 0.00869471114128828 + ], + [ + 0.28688743710517883, + 0.1366736739873886, + 0.008753829635679722 + ], + [ + 0.27503231167793274, + 0.13217097520828247, + 0.009356683120131493 + ], + [ + 0.2752370834350586, + 0.13026171922683716, + 0.009016744792461395 + ], + [ + 0.28063341975212097, + 0.128295436501503, + 0.012227648869156837 + ], + [ + 0.2891221344470978, + 0.1258649379014969, + 0.045186661183834076 + ], + [ + 0.2834452688694, + 0.12686559557914734, + 0.07568763196468353 + ], + [ + 0.2696880102157593, + 0.12857933342456818, + 0.08467749506235123 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9681223124267115, + -0.23863880636614238, + 0.07609670346144634, + -0.2354273357634597, + -0.9706645364079863, + -0.048829574390813306, + 0.08551700273557128, + 0.029357756317735954, + -0.9959040939704548 + ], + [ + 0.9871339080169705, + -0.14460076139998077, + 0.06824417517772942, + -0.14411389062956456, + -0.989487976329803, + -0.012030429184397916, + 0.06926640001294056, + 0.002040710978247988, + -0.9975961113235908 + ], + [ + 0.9904456171517751, + -0.13311783264279323, + 0.03601558131314819, + -0.1327251861724594, + -0.9910664016674752, + -0.013092457422818561, + 0.03743667213207781, + 0.008187192337279927, + -0.9992654629583209 + ], + [ + 0.9927743375103438, + -0.11816012390014691, + 0.020911716830520913, + -0.11847881401508437, + -0.9928475240517927, + 0.014716134472209708, + 0.019023286006287367, + -0.017087396060460523, + -0.9996730142828685 + ], + [ + 0.9866997753932368, + -0.14809570463701274, + 0.0670165315948439, + -0.15135644295783848, + -0.9873852052574985, + 0.04649390942648409, + 0.059285583526575966, + -0.05601891382983252, + -0.9966679993253718 + ], + [ + 0.9782811205210666, + -0.1820871612931945, + 0.09904703389921746, + -0.18783967036601004, + -0.9808136684791381, + 0.05216134547042003, + 0.0876487733447266, + -0.06963342169304898, + -0.9937146869773452 + ], + [ + 0.9699907278530545, + -0.2121485911035524, + 0.11878957518182925, + -0.2196930873298168, + -0.9740539758271194, + 0.05434886893832554, + 0.10417742201933788, + -0.07881514745377009, + -0.9914309039329193 + ], + [ + 0.9662634241194484, + -0.2176597601580895, + 0.13769249804140385, + -0.2279285758718471, + -0.9715964042692143, + 0.06363168638473324, + 0.11993147839491801, + -0.0928690261554215, + -0.988428947608756 + ], + [ + 0.9660627305746521, + -0.2283267311057184, + 0.12078784896347916, + -0.23770431836548053, + -0.968828260111482, + 0.06977434657351478, + 0.10109133308572787, + -0.09611818907956823, + -0.9902231244032907 + ], + [ + 0.9642170645986003, + -0.23703359388272147, + 0.11874564290069632, + -0.2489278846563053, + -0.9635625390128373, + 0.09788841428724714, + 0.09121601053211971, + -0.12394478118168446, + -0.9880877140418398 + ], + [ + 0.9635525357097215, + -0.238718271015678, + 0.12074807663333803, + -0.2506667199460816, + -0.9633212009183768, + 0.09580427637975403, + 0.09344895097772837, + -0.12257997774702395, + -0.9880493118345363 + ], + [ + 0.9593776623132059, + -0.2485065440085411, + 0.1335627142558091, + -0.2621200915993095, + -0.9602280676324247, + 0.09620351194664734, + 0.10434346474225158, + -0.1273049712926802, + -0.9863599168912695 + ], + [ + 0.9525670929149777, + -0.26797701683399255, + 0.14423679122977925, + -0.2816267234148647, + -0.9558333961591182, + 0.08407679492900483, + 0.11533569332221552, + -0.12070972303704744, + -0.9859649286917885 + ], + [ + 0.9453905242066072, + -0.2943791915473157, + 0.13992014981519074, + -0.30592992835029925, + -0.9495252080536877, + 0.06934521043433386, + 0.11244392237883444, + -0.10836406625145684, + -0.9877315391671527 + ], + [ + 0.9382288530404015, + -0.3201958112019365, + 0.13115358100801688, + -0.32863996079230406, + -0.9432239435544911, + 0.04821170476084522, + 0.10827001197434799, + -0.08833592018113523, + -0.990189057560639 + ], + [ + 0.9276945151378679, + -0.35444173702943776, + 0.11727719997796189, + -0.3615724856391081, + -0.9312209289395654, + 0.045748433128247355, + 0.09299582900255778, + -0.08484477919405303, + -0.9920449280308021 + ], + [ + 0.9218530184516581, + -0.36989529563283646, + 0.11560485560850416, + -0.377552025921114, + -0.9244926344208534, + 0.05261023307734496, + 0.08741555979589143, + -0.09214574960510433, + -0.9919010438220559 + ], + [ + 0.9204639485215925, + -0.37169572898239017, + 0.12078246780178094, + -0.3791764846502869, + -0.9242052165586716, + 0.04549627648488838, + 0.09471701515720078, + -0.08767555384477621, + -0.991635862752917 + ], + [ + 0.9223523777171946, + -0.365152517156041, + 0.12621303630784367, + -0.37262829936484265, + -0.927076009153828, + 0.04096612947151371, + 0.10205019270879939, + -0.08481575600098601, + -0.991156922844248 + ], + [ + 0.9153979716838772, + -0.34840553491321363, + 0.20164358824143497, + -0.36237590844256956, + -0.9313413916466348, + 0.03587357225217997, + 0.17530046895963042, + -0.10590937374730999, + -0.978801793079164 + ], + [ + 0.9075613736403972, + -0.3254371626029695, + 0.2653733337637437, + -0.3446572354106334, + -0.9383102355246372, + 0.028023061731345028, + 0.23988276960851976, + -0.11689548796522437, + -0.9637383990162047 + ], + [ + 0.9132791111558007, + -0.29051632005995753, + 0.2855197592204269, + -0.3073227777427191, + -0.9514889966490705, + 0.014879500537450276, + 0.26734617148365797, + -0.1013358625293388, + -0.9582573075946069 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006320.json b/json/chunk-0006/episode_0006320.json new file mode 100644 index 0000000000000000000000000000000000000000..40b4a58294d570bf3a201d717bc18589a8588c7b --- /dev/null +++ b/json/chunk-0006/episode_0006320.json @@ -0,0 +1,2782 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 45, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nOpened the drawer." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006320.mp4", + "start": 0, + "end": 45, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.30707088112831116, + 0.0760476291179657, + 0.08968827873468399, + 0.08505192399024963, + -0.05480676516890526, + -0.9817859530448914, + 0.0, + 1.0001531839370728 + ], + [ + 0.30579841136932373, + 0.07506991922855377, + 0.08074558526277542, + 0.05583377182483673, + -0.049436263740062714, + -0.9721223711967468, + 0.0, + 1.0001531839370728 + ], + [ + 0.30489712953567505, + 0.0711144506931305, + 0.08076776564121246, + 0.034141506999731064, + -0.06837330013513565, + -0.9289093613624573, + 0.0, + 1.0001531839370728 + ], + [ + 0.3075410723686218, + 0.06983841210603714, + 0.08357702195644379, + 0.022077269852161407, + -0.10265402495861053, + -0.8713155388832092, + 0.0, + 1.0001531839370728 + ], + [ + 0.3111552894115448, + 0.06990767270326614, + 0.08437754213809967, + 0.019595837220549583, + -0.12812590599060059, + -0.7483490705490112, + 0.0, + 1.0001531839370728 + ], + [ + 0.3168926537036896, + 0.06597081571817398, + 0.08450237661600113, + 0.02412150241434574, + -0.13919992744922638, + -0.5746024250984192, + 0.0, + 1.0001531839370728 + ], + [ + 0.32404977083206177, + 0.05825750529766083, + 0.07847170531749725, + -0.02630641683936119, + -0.1699196845293045, + -0.4209155738353729, + 0.0, + 1.0001531839370728 + ], + [ + 0.3376995623111725, + 0.045006901025772095, + 0.0751718059182167, + -0.024382445961236954, + -0.18092510104179382, + -0.38110506534576416, + 0.0, + 1.0001531839370728 + ], + [ + 0.35265427827835083, + 0.034464359283447266, + 0.07147090882062912, + -0.024671096354722977, + -0.18506686389446259, + -0.38442686200141907, + 0.0, + 1.0001531839370728 + ], + [ + 0.3631648123264313, + 0.03453299403190613, + 0.0700431764125824, + -0.029320519417524338, + -0.19463054835796356, + -0.34588193893432617, + 0.0, + 1.0001531839370728 + ], + [ + 0.3663387596607208, + 0.03556876629590988, + 0.06353877484798431, + -0.03720533102750778, + -0.18342004716396332, + -0.33232545852661133, + 0.0, + 1.0001531839370728 + ], + [ + 0.36900636553764343, + 0.0435769185423851, + 0.06365630775690079, + -0.0261413361877203, + -0.1954946517944336, + -0.27238452434539795, + 0.0, + 1.0001531839370728 + ], + [ + 0.3649307191371918, + 0.046406954526901245, + 0.057862743735313416, + -0.02708820067346096, + -0.15094289183616638, + -0.1379275768995285, + 0.0, + 1.0001531839370728 + ], + [ + 0.3633939027786255, + 0.043573129922151566, + 0.05602415278553963, + -0.04959777370095253, + -0.13405518233776093, + -0.04774414375424385, + 0.0, + 1.0001531839370728 + ], + [ + 0.3652646541595459, + 0.04073172062635422, + 0.052985094487667084, + -0.07691586762666702, + -0.12076316773891449, + -0.004043676890432835, + 0.0, + 1.0001531839370728 + ], + [ + 0.36876821517944336, + 0.0390479676425457, + 0.055256374180316925, + -0.08708030730485916, + -0.12976929545402527, + 0.004209264647215605, + 0.0, + 1.0001531839370728 + ], + [ + 0.37213319540023804, + 0.03750593215227127, + 0.04954758659005165, + -0.10268771648406982, + -0.11942776292562485, + 0.014552537351846695, + 0.0, + 1.0001531839370728 + ], + [ + 0.37771785259246826, + 0.03670476749539375, + 0.045581456273794174, + -0.11836426705121994, + -0.11799187958240509, + 0.028825057670474052, + 0.0, + 1.0001531839370728 + ], + [ + 0.3805622458457947, + 0.03711818531155586, + 0.04076855257153511, + -0.119595468044281, + -0.11023081839084625, + 0.030264824628829956, + 0.0, + 0.9522681832313538 + ], + [ + 0.38253915309906006, + 0.03956080973148346, + 0.037224333733320236, + -0.10609392821788788, + -0.12015920132398605, + 0.04188571125268936, + 0.0, + 0.6681591272354126 + ], + [ + 0.38027921319007874, + 0.038882575929164886, + 0.034763019531965256, + -0.10701870918273926, + -0.11204344779253006, + 0.05693747103214264, + 0.0, + 0.39886748790740967 + ], + [ + 0.37950849533081055, + 0.03895319998264313, + 0.03306227922439575, + -0.1059534028172493, + -0.11606618016958237, + 0.061557888984680176, + 0.0, + 0.365278422832489 + ], + [ + 0.37956467270851135, + 0.038607947528362274, + 0.03272976726293564, + -0.10427166521549225, + -0.11742547154426575, + 0.05942143499851227, + 0.0, + 0.365278422832489 + ], + [ + 0.37728169560432434, + 0.0397399440407753, + 0.02929670363664627, + -0.04684809595346451, + -0.11054884642362595, + 0.03270992636680603, + 0.0, + 0.365278422832489 + ], + [ + 0.3723088502883911, + 0.045132219791412354, + 0.029475748538970947, + -0.004512598272413015, + -0.10094530880451202, + 0.014654947444796562, + 0.0, + 0.365278422832489 + ], + [ + 0.36720097064971924, + 0.04833950474858284, + 0.033497124910354614, + 0.010634970851242542, + -0.10996408015489578, + 0.013451916165649891, + 0.0, + 0.365278422832489 + ], + [ + 0.3615531623363495, + 0.05383150652050972, + 0.0338938869535923, + 0.018407680094242096, + -0.10902190953493118, + 0.02149628847837448, + 0.0, + 0.365278422832489 + ], + [ + 0.3567696213722229, + 0.06176852062344551, + 0.04790075123310089, + 0.03645472973585129, + -0.14064167439937592, + 0.024971095845103264, + 0.0, + 0.365278422832489 + ], + [ + 0.35226187109947205, + 0.06771393865346909, + 0.04794884845614433, + 0.03664936497807503, + -0.13586193323135376, + 0.03727872297167778, + 0.0, + 0.365278422832489 + ], + [ + 0.3490985035896301, + 0.0749259889125824, + 0.047053076326847076, + 0.038400497287511826, + -0.13062401115894318, + 0.04029000177979469, + 0.0, + 0.365278422832489 + ], + [ + 0.34767916798591614, + 0.08024430274963379, + 0.04703206196427345, + 0.04365386813879013, + -0.12793640792369843, + 0.03889438509941101, + 0.0, + 0.365278422832489 + ], + [ + 0.3441566228866577, + 0.08655835688114166, + 0.04529610648751259, + 0.04991871491074562, + -0.12034770846366882, + 0.043332163244485855, + 0.0, + 0.365278422832489 + ], + [ + 0.34067997336387634, + 0.09577026963233948, + 0.04404093697667122, + 0.052226707339286804, + -0.1144321858882904, + 0.04328756406903267, + 0.0, + 0.3644362688064575 + ], + [ + 0.3390827775001526, + 0.10245323181152344, + 0.04460882022976875, + 0.05285706743597984, + -0.11715362221002579, + 0.05327605456113815, + 0.0, + 0.34125998616218567 + ], + [ + 0.33750802278518677, + 0.10669628530740738, + 0.0445687361061573, + 0.05015942081809044, + -0.11616569012403488, + 0.06753966957330704, + 0.0, + 0.3275788426399231 + ], + [ + 0.33622026443481445, + 0.10988371074199677, + 0.044529978185892105, + 0.04852009192109108, + -0.11473950743675232, + 0.06947430968284607, + 0.0, + 0.32678350806236267 + ], + [ + 0.33463427424430847, + 0.11203387379646301, + 0.04389698803424835, + 0.046028535813093185, + -0.10899612307548523, + 0.07681210339069366, + 0.0, + 0.325195848941803 + ], + [ + 0.33417099714279175, + 0.11415761709213257, + 0.04392543062567711, + 0.046712033450603485, + -0.11034850031137466, + 0.07979506999254227, + 0.0, + 0.325195848941803 + ], + [ + 0.3333820700645447, + 0.11675015836954117, + 0.04446718841791153, + 0.047252196818590164, + -0.11176589131355286, + 0.08588224649429321, + 0.0, + 0.325195848941803 + ], + [ + 0.3322475850582123, + 0.11922762542963028, + 0.044438377022743225, + 0.04808618500828743, + -0.10976260155439377, + 0.0828319564461708, + 0.0, + 0.325195848941803 + ], + [ + 0.33012059330940247, + 0.12210680544376373, + 0.04461788758635521, + 0.04562994837760925, + -0.10213610529899597, + 0.07734806835651398, + 0.0, + 0.38577979803085327 + ], + [ + 0.3279145061969757, + 0.12172743678092957, + 0.04508809745311737, + 0.04335648939013481, + -0.08115937560796738, + 0.03149452432990074, + 0.0, + 0.6892001032829285 + ], + [ + 0.3297719359397888, + 0.12243230640888214, + 0.048368752002716064, + 0.04695510491728783, + -0.07917048782110214, + -0.01130186952650547, + 0.0, + 0.9605803489685059 + ], + [ + 0.3304315507411957, + 0.11857130378484726, + 0.05145565792918205, + 0.04224618524312973, + -0.07184696197509766, + -0.08551516383886337, + 0.0, + 1.003452181816101 + ], + [ + 0.33301839232444763, + 0.111190564930439, + 0.0882546529173851, + 0.07037003338336945, + -0.14266051352024078, + -0.23634037375450134, + 0.0, + 1.0001531839370728 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9522681832313538 + ], + [ + 0.6681591272354126 + ], + [ + 0.39886748790740967 + ], + [ + 0.365278422832489 + ], + [ + 0.365278422832489 + ], + [ + 0.365278422832489 + ], + [ + 0.365278422832489 + ], + [ + 0.365278422832489 + ], + [ + 0.365278422832489 + ], + [ + 0.365278422832489 + ], + [ + 0.365278422832489 + ], + [ + 0.365278422832489 + ], + [ + 0.365278422832489 + ], + [ + 0.365278422832489 + ], + [ + 0.3644362688064575 + ], + [ + 0.34125998616218567 + ], + [ + 0.3275788426399231 + ], + [ + 0.32678350806236267 + ], + [ + 0.325195848941803 + ], + [ + 0.325195848941803 + ], + [ + 0.325195848941803 + ], + [ + 0.325195848941803 + ], + [ + 0.38577979803085327 + ], + [ + 0.6892001032829285 + ], + [ + 0.9605803489685059 + ], + [ + 1.003452181816101 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.30707088112831116, + 0.0760476291179657, + 0.08968827873468399 + ], + [ + 0.30579841136932373, + 0.07506991922855377, + 0.08074558526277542 + ], + [ + 0.30489712953567505, + 0.0711144506931305, + 0.08076776564121246 + ], + [ + 0.3075410723686218, + 0.06983841210603714, + 0.08357702195644379 + ], + [ + 0.3111552894115448, + 0.06990767270326614, + 0.08437754213809967 + ], + [ + 0.3168926537036896, + 0.06597081571817398, + 0.08450237661600113 + ], + [ + 0.32404977083206177, + 0.05825750529766083, + 0.07847170531749725 + ], + [ + 0.3376995623111725, + 0.045006901025772095, + 0.0751718059182167 + ], + [ + 0.35265427827835083, + 0.034464359283447266, + 0.07147090882062912 + ], + [ + 0.3631648123264313, + 0.03453299403190613, + 0.0700431764125824 + ], + [ + 0.3663387596607208, + 0.03556876629590988, + 0.06353877484798431 + ], + [ + 0.36900636553764343, + 0.0435769185423851, + 0.06365630775690079 + ], + [ + 0.3649307191371918, + 0.046406954526901245, + 0.057862743735313416 + ], + [ + 0.3633939027786255, + 0.043573129922151566, + 0.05602415278553963 + ], + [ + 0.3652646541595459, + 0.04073172062635422, + 0.052985094487667084 + ], + [ + 0.36876821517944336, + 0.0390479676425457, + 0.055256374180316925 + ], + [ + 0.37213319540023804, + 0.03750593215227127, + 0.04954758659005165 + ], + [ + 0.37771785259246826, + 0.03670476749539375, + 0.045581456273794174 + ], + [ + 0.3805622458457947, + 0.03711818531155586, + 0.04076855257153511 + ], + [ + 0.38253915309906006, + 0.03956080973148346, + 0.037224333733320236 + ], + [ + 0.38027921319007874, + 0.038882575929164886, + 0.034763019531965256 + ], + [ + 0.37950849533081055, + 0.03895319998264313, + 0.03306227922439575 + ], + [ + 0.37956467270851135, + 0.038607947528362274, + 0.03272976726293564 + ], + [ + 0.37728169560432434, + 0.0397399440407753, + 0.02929670363664627 + ], + [ + 0.3723088502883911, + 0.045132219791412354, + 0.029475748538970947 + ], + [ + 0.36720097064971924, + 0.04833950474858284, + 0.033497124910354614 + ], + [ + 0.3615531623363495, + 0.05383150652050972, + 0.0338938869535923 + ], + [ + 0.3567696213722229, + 0.06176852062344551, + 0.04790075123310089 + ], + [ + 0.35226187109947205, + 0.06771393865346909, + 0.04794884845614433 + ], + [ + 0.3490985035896301, + 0.0749259889125824, + 0.047053076326847076 + ], + [ + 0.34767916798591614, + 0.08024430274963379, + 0.04703206196427345 + ], + [ + 0.3441566228866577, + 0.08655835688114166, + 0.04529610648751259 + ], + [ + 0.34067997336387634, + 0.09577026963233948, + 0.04404093697667122 + ], + [ + 0.3390827775001526, + 0.10245323181152344, + 0.04460882022976875 + ], + [ + 0.33750802278518677, + 0.10669628530740738, + 0.0445687361061573 + ], + [ + 0.33622026443481445, + 0.10988371074199677, + 0.044529978185892105 + ], + [ + 0.33463427424430847, + 0.11203387379646301, + 0.04389698803424835 + ], + [ + 0.33417099714279175, + 0.11415761709213257, + 0.04392543062567711 + ], + [ + 0.3333820700645447, + 0.11675015836954117, + 0.04446718841791153 + ], + [ + 0.3322475850582123, + 0.11922762542963028, + 0.044438377022743225 + ], + [ + 0.33012059330940247, + 0.12210680544376373, + 0.04461788758635521 + ], + [ + 0.3279145061969757, + 0.12172743678092957, + 0.04508809745311737 + ], + [ + 0.3297719359397888, + 0.12243230640888214, + 0.048368752002716064 + ], + [ + 0.3304315507411957, + 0.11857130378484726, + 0.05145565792918205 + ], + [ + 0.33301839232444763, + 0.111190564930439, + 0.0882546529173851 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.5547042806999962, + -0.8259000596703854, + 0.10095668580908294, + -0.8302423657151679, + -0.5573996254184282, + 0.0018087993469836153, + 0.05477933136486325, + -0.08482186640159509, + -0.9948891776652155 + ], + [ + 0.5628590464803719, + -0.8232422737598036, + 0.07390434689512457, + -0.825074384481996, + -0.5649474235289436, + -0.009309603625488515, + 0.04941612962243958, + -0.05573658890528615, + -0.9972218804209729 + ], + [ + 0.5973089971053243, + -0.7991044236143006, + 0.0682208336000691, + -0.7990959480490873, + -0.600226931392277, + -0.03425341797457657, + 0.06832003943618635, + -0.034055116964522444, + -0.9970820534038163 + ], + [ + 0.6404312215000711, + -0.7635336775638885, + 0.0828503093155989, + -0.7611484514454844, + -0.6453945412893269, + -0.06417881999600766, + 0.10247382782968238, + -0.021959264552871113, + -0.9944932907316315 + ], + [ + 0.7268064112974157, + -0.6784644756744173, + 0.10695043592622439, + -0.6748524485989814, + -0.7343761135314053, + -0.07256649705247951, + 0.1277756358502299, + -0.019433968260403865, + -0.9916126803146089 + ], + [ + 0.8312891250823777, + -0.5405338708127716, + 0.12954352559636842, + -0.5382439957515159, + -0.8409831151026383, + -0.05514345971830788, + 0.13875082542895736, + -0.02388586645748063, + -0.9900392284280246 + ], + [ + 0.8995706192065326, + -0.41251465508558804, + 0.14354219031348928, + -0.4027118224188362, + -0.9105819984884101, + -0.0930785265942312, + 0.16910319081695477, + 0.025924570748067602, + -0.9852573407425358 + ], + [ + 0.9131028889800399, + -0.3759081114628895, + 0.1579120194054541, + -0.3658754377511012, + -0.926346560990304, + -0.08953889094620712, + 0.17993965151334693, + 0.023982090772919566, + -0.9833852658726459 + ], + [ + 0.9111837974244457, + -0.37912177904927286, + 0.16127852914036966, + -0.36862389630888864, + -0.9250290495946238, + -0.09185684773668605, + 0.18401225606252558, + 0.02424735153746299, + -0.9826248295062558 + ], + [ + 0.9230141894473023, + -0.3442149039245919, + 0.17193285315821383, + -0.33262542143386603, + -0.9384502123713657, + -0.09312103906251326, + 0.19340407207420174, + 0.028762802650698367, + -0.9806974895903396 + ], + [ + 0.929429675902071, + -0.33242959630056074, + 0.16015942387514032, + -0.32076963293145383, + -0.9424186935923927, + -0.09462477770979202, + 0.1823933116690165, + 0.036572796872175635, + -0.9825452205305133 + ], + [ + 0.9447861021186881, + -0.27382712275320986, + 0.1799942445970834, + -0.26390427054871146, + -0.9614370875212692, + -0.07741616578449297, + 0.194251788227364, + 0.025640467689145605, + -0.9806165454382021 + ], + [ + 0.979240779061642, + -0.14147431556626422, + 0.14516375118398342, + -0.1359273645132869, + -0.9895797159838506, + -0.04749460274382361, + 0.15037037008407075, + 0.026776925670783634, + -0.9882670428848677 + ], + [ + 0.9898987409171304, + -0.05428599154834131, + 0.1309714238003598, + -0.04729781175654893, + -0.9973159054483579, + -0.05589187546293267, + 0.1336540299943182, + 0.04913263539985749, + -0.9898093677092283 + ], + [ + 0.9927088701430243, + -0.013288544304116195, + 0.11980197715245712, + -0.004014215796394971, + -0.9969978493577093, + -0.07732512171113992, + 0.12046985187548083, + 0.0762804232184128, + -0.9897819516553733 + ], + [ + 0.9915829900594241, + -0.007061021436947126, + 0.12927998994848156, + 0.004173859875556231, + -0.9962494526692952, + -0.08642688788721611, + 0.12940538133536694, + 0.08623902847549464, + -0.9878345394088281 + ], + [ + 0.9927718449907691, + 0.002263518966315041, + 0.11999558440006616, + 0.014448369311430346, + -0.9948046452226241, + -0.10077183370232688, + 0.11914406581053372, + 0.1017771797869151, + -0.9876467472010209 + ], + [ + 0.9926345055917091, + 0.014724057052890014, + 0.12024949252536142, + 0.028620674128090332, + -0.9929912634448542, + -0.11466999491866295, + 0.11771828796392415, + 0.11726701525192737, + -0.9860988042852235 + ], + [ + 0.9934755671699449, + 0.016924981550643432, + 0.11278227890882167, + 0.03007654734174573, + -0.9927994760319712, + -0.11595085894741639, + 0.11000772125790348, + 0.11858644690753789, + -0.9868310675457526 + ], + [ + 0.9919188108832337, + 0.028955494395634253, + 0.12352591614837728, + 0.04157153895615404, + -0.9940366972108022, + -0.10081097037057486, + 0.11987026222048781, + 0.10513146028922242, + -0.9872074231348988 + ], + [ + 0.9921193577479596, + 0.044657654479535853, + 0.11706781743144591, + 0.05654988963946125, + -0.9933473603882873, + -0.10031516132363351, + 0.111809167618495, + 0.10614478558086711, + -0.9880445306414336 + ], + [ + 0.9913905341178232, + 0.048950158757160626, + 0.1214441880833567, + 0.06110511131233982, + -0.9932621481246153, + -0.09847065793616323, + 0.11580576079402748, + 0.1050437387973366, + -0.9877017964478919 + ], + [ + 0.9913607678092432, + 0.04689153864613857, + 0.12249494541435396, + 0.058977510470026, + -0.9935374386636691, + -0.09697943716269986, + 0.11715579929062767, + 0.1033660562130227, + -0.987719584252302 + ], + [ + 0.9933640402073446, + 0.0275044052218186, + 0.11167538366325593, + 0.032504458036432336, + -0.9985374615962149, + -0.043201828627337006, + 0.11032381352500113, + 0.04654509085158159, + -0.9928052229349518 + ], + [ + 0.9948025121352787, + 0.014199571661142942, + 0.10082824016107207, + 0.014579822305492955, + -0.9998891016297897, + -0.003035329226349851, + 0.10077395809870231, + 0.004489610964454462, + -0.9948992173896354 + ], + [ + 0.9938701113444344, + 0.01461773151726773, + 0.10958340979131251, + 0.013370263894873415, + -0.9998372795995966, + 0.01210992841678434, + 0.10974259801728359, + -0.010570536796552678, + -0.9939038313298976 + ], + [ + 0.993833330960711, + 0.0234932829348466, + 0.10836685807238752, + 0.02136701924810183, + -0.9995565378029657, + 0.02074073826553802, + 0.10880606949977092, + -0.01829736025473491, + -0.9938945848769473 + ], + [ + 0.9898175677583503, + 0.030059355804494578, + 0.13913165594343524, + 0.024721968074723447, + -0.9988964804535839, + 0.03993301431090635, + 0.14017848212709394, + -0.0360867907420637, + -0.9894684111594885 + ], + [ + 0.9900965864925181, + 0.04220445211034756, + 0.1338937400998609, + 0.03692664363950005, + -0.9984492171858628, + 0.04166033713809066, + 0.13544435169243893, + -0.03630351116632364, + -0.9901196304849287 + ], + [ + 0.9906761887826953, + 0.04524589564536217, + 0.12850485557457633, + 0.03993595688465353, + -0.9982504399506978, + 0.04360250550078107, + 0.13025286302688635, + -0.03806399959919539, + -0.9907498794387067 + ], + [ + 0.9910771839738579, + 0.04441125127448723, + 0.12567281395227256, + 0.038566787218927735, + -0.9980752439457964, + 0.048563467196539756, + 0.12758768878719493, + -0.043283347638252256, + -0.9908824014418505 + ], + [ + 0.9918350491993135, + 0.04924964222516405, + 0.11763378732527781, + 0.04300527829846519, + -0.9975572922571031, + 0.05504538766461976, + 0.12005740801078003, + -0.04953707102130739, + -0.9915302806149507 + ], + [ + 0.9925291452658767, + 0.04917012940916024, + 0.11166106829004703, + 0.04299102470433522, + -0.997443070103459, + 0.057088472544439585, + 0.11418260634903789, + -0.05186154911369722, + -0.9921051920693027 + ], + [ + 0.9917362520020324, + 0.059343088177497526, + 0.11374359037114344, + 0.05288584010543842, + -0.9968576951475545, + 0.058973074715898514, + 0.11688581770814936, + -0.052470310754394255, + -0.9917583234377386 + ], + [ + 0.99099577970399, + 0.07320147238692361, + 0.11211114596358203, + 0.06703348532442831, + -0.9960730179694737, + 0.05783644801026799, + 0.1159046006599427, + -0.04980047503359018, + -0.9920111069097403 + ], + [ + 0.9910281341547915, + 0.07487612775677607, + 0.11071044578459399, + 0.0689619836842808, + -0.996028135359923, + 0.056322272484018596, + 0.11448791254976032, + -0.048182144655318074, + -0.9922555108521255 + ], + [ + 0.9911346991446124, + 0.0816457967284667, + 0.1048139877501687, + 0.07628122228795242, + -0.995611312675995, + 0.054215211867502, + 0.10878043609847593, + -0.04573923860490067, + -0.9930129600232162 + ], + [ + 0.9907551953623072, + 0.0847493840446629, + 0.10593245379319013, + 0.07922560140077145, + -0.9953208314174613, + 0.05531497653564865, + 0.11012468817337104, + -0.04641103802441311, + -0.9928336056984645 + ], + [ + 0.9900980734836269, + 0.09092978694759105, + 0.10694661626099466, + 0.08524152360475398, + -0.9947504306597994, + 0.05661681159941781, + 0.11153334719961971, + -0.04693990357690889, + -0.9926514785737438 + ], + [ + 0.9905741585554477, + 0.08788902134415262, + 0.1050635823172515, + 0.08223936672408662, + -0.9949837914740084, + 0.056955607843551116, + 0.10954233411329152, + -0.04777839083910499, + -0.9928331694730177 + ], + [ + 0.9918143512042137, + 0.08182738457664827, + 0.0980233231364353, + 0.0768682793013395, + -0.9956130076874983, + 0.053347976163157666, + 0.10195862093327845, + -0.04537640418542311, + -0.9937531995221878 + ], + [ + 0.9962141060619535, + 0.034971806323154615, + 0.07958911763349692, + 0.031385667288197035, + -0.9984541612462585, + 0.045871862605576574, + 0.08107030758580756, + -0.04320023903320511, + -0.9957717331675048 + ], + [ + 0.9968039881632084, + -0.007577197642529054, + 0.07952606653046879, + -0.011266228308720667, + -0.9988759705754059, + 0.046042018925508764, + 0.07908780741440666, + -0.04679082691005982, + -0.995768917588541 + ], + [ + 0.993775350553276, + -0.082314099763588, + 0.07506624816003112, + -0.0851906251279489, + -0.9957157736111525, + 0.03595351960870435, + 0.07178516575882914, + -0.042124662159527045, + -0.9965301815875539 + ], + [ + 0.9623250066756419, + -0.22384795243071065, + 0.15434596113700044, + -0.23176767151322797, + -0.9721359247339245, + 0.03514954171897727, + 0.14217710071619338, + -0.06959768698955432, + -0.9873914289670747 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0012724697589874268, + -0.0009777098894119263, + -0.00894269347190857, + -0.029218152165412903, + 0.0053705014288425446, + 0.009663581848144531, + 1.0 + ], + [ + -0.0009012818336486816, + -0.003955468535423279, + 2.2180378437042236e-05, + -0.021692264825105667, + -0.018937036395072937, + 0.04321300983428955, + 1.0 + ], + [ + 0.0026439428329467773, + -0.0012760385870933533, + 0.0028092563152313232, + -0.012064237147569656, + -0.034280724823474884, + 0.05759382247924805, + 1.0 + ], + [ + 0.0036142170429229736, + 6.92605972290039e-05, + 0.0008005201816558838, + -0.002481432631611824, + -0.02547188103199005, + 0.122966468334198, + 1.0 + ], + [ + 0.005737364292144775, + -0.003936856985092163, + 0.00012483447790145874, + 0.004525665193796158, + -0.011074021458625793, + 0.17374664545059204, + 1.0 + ], + [ + 0.007157117128372192, + -0.007713310420513153, + -0.006030671298503876, + -0.05042792111635208, + -0.030719757080078125, + 0.15368685126304626, + 1.0 + ], + [ + 0.013649791479110718, + -0.013250604271888733, + -0.003299899399280548, + 0.001923970878124237, + -0.011005416512489319, + 0.039810508489608765, + 1.0 + ], + [ + 0.014954715967178345, + -0.010542541742324829, + -0.0037008970975875854, + -0.00028865039348602295, + -0.004141762852668762, + -0.0033217966556549072, + 1.0 + ], + [ + 0.010510534048080444, + 6.86347484588623e-05, + -0.0014277324080467224, + -0.004649423062801361, + -0.009563684463500977, + 0.038544923067092896, + 1.0 + ], + [ + 0.0031739473342895508, + 0.0010357722640037537, + -0.0065044015645980835, + -0.007884811609983444, + 0.011210501194000244, + 0.013556480407714844, + 1.0 + ], + [ + 0.0026676058769226074, + 0.00800815224647522, + 0.00011753290891647339, + 0.011063994839787483, + -0.012074604630470276, + 0.05994093418121338, + 1.0 + ], + [ + -0.00407564640045166, + 0.002830035984516144, + -0.005793564021587372, + -0.0009468644857406616, + 0.04455175995826721, + 0.13445694744586945, + 1.0 + ], + [ + -0.0015368163585662842, + -0.0028338246047496796, + -0.0018385909497737885, + -0.02250957302749157, + 0.016887709498405457, + 0.09018343687057495, + 1.0 + ], + [ + 0.0018707513809204102, + -0.002841409295797348, + -0.0030390582978725433, + -0.027318093925714493, + 0.013292014598846436, + 0.04370046779513359, + 1.0 + ], + [ + 0.003503561019897461, + -0.0016837529838085175, + 0.0022712796926498413, + -0.010164439678192139, + -0.009006127715110779, + 0.008252941071987152, + 1.0 + ], + [ + 0.0033649802207946777, + -0.0015420354902744293, + -0.005708787590265274, + -0.015607409179210663, + 0.010341532528400421, + 0.010343272238969803, + 1.0 + ], + [ + 0.005584657192230225, + -0.0008011646568775177, + -0.003966130316257477, + -0.015676550567150116, + 0.001435883343219757, + 0.014272520318627357, + 1.0 + ], + [ + 0.002844393253326416, + 0.0004134178161621094, + -0.004812903702259064, + -0.0012312009930610657, + 0.007761061191558838, + 0.0014397669583559036, + 0.0 + ], + [ + 0.001976907253265381, + 0.002442624419927597, + -0.0035442188382148743, + 0.013501539826393127, + -0.009928382933139801, + 0.011620886623859406, + 0.0 + ], + [ + -0.0022599399089813232, + -0.000678233802318573, + -0.0024613142013549805, + -0.0009247809648513794, + 0.008115753531455994, + 0.015051759779453278, + 0.0 + ], + [ + -0.0007707178592681885, + 7.062405347824097e-05, + -0.0017007403075695038, + 0.0010653063654899597, + -0.004022732377052307, + 0.004620417952537537, + 0.0 + ], + [ + 5.6177377700805664e-05, + -0.00034525245428085327, + -0.0003325119614601135, + 0.0016817376017570496, + -0.0013592913746833801, + -0.0021364539861679077, + 0.0 + ], + [ + -0.0022829771041870117, + 0.001131996512413025, + -0.0034330636262893677, + 0.05742356926202774, + 0.006876625120639801, + -0.026711508631706238, + 0.0 + ], + [ + -0.0049728453159332275, + 0.0053922757506370544, + 0.00017904490232467651, + 0.042335499078035355, + 0.009603537619113922, + -0.018054978922009468, + 0.0 + ], + [ + -0.005107879638671875, + 0.0032072849571704865, + 0.004021376371383667, + 0.01514756865799427, + -0.009018771350383759, + -0.0012030312791466713, + 0.0 + ], + [ + -0.005647808313369751, + 0.00549200177192688, + 0.00039676204323768616, + 0.007772709242999554, + 0.0009421706199645996, + 0.00804437231272459, + 0.0 + ], + [ + -0.004783540964126587, + 0.007937014102935791, + 0.01400686427950859, + 0.018047049641609192, + -0.03161976486444473, + 0.0034748073667287827, + 0.0 + ], + [ + -0.0045077502727508545, + 0.005945418030023575, + 4.809722304344177e-05, + 0.00019463524222373962, + 0.004779741168022156, + 0.012307627126574516, + 0.0 + ], + [ + -0.003163367509841919, + 0.007212050259113312, + -0.0008957721292972565, + 0.001751132309436798, + 0.0052379220724105835, + 0.003011278808116913, + 0.0 + ], + [ + -0.0014193356037139893, + 0.005318313837051392, + -2.1014362573623657e-05, + 0.005253370851278305, + 0.002687603235244751, + -0.0013956166803836823, + 0.0 + ], + [ + -0.003522545099258423, + 0.0063140541315078735, + -0.0017359554767608643, + 0.00626484677195549, + 0.007588699460029602, + 0.004437778145074844, + 0.0 + ], + [ + -0.003476649522781372, + 0.009211912751197815, + -0.0012551695108413696, + 0.0023079924285411835, + 0.005915522575378418, + -4.4599175453186035e-05, + 0.0 + ], + [ + -0.0015971958637237549, + 0.00668296217918396, + 0.0005678832530975342, + 0.0006303600966930389, + -0.002721436321735382, + 0.009988490492105484, + 0.0 + ], + [ + -0.0015747547149658203, + 0.004243053495883942, + -4.0084123611450195e-05, + -0.0026976466178894043, + 0.0009879320859909058, + 0.014263615012168884, + 0.0 + ], + [ + -0.0012877583503723145, + 0.003187425434589386, + -3.8757920265197754e-05, + -0.0016393288969993591, + 0.0014261826872825623, + 0.001934640109539032, + 0.0 + ], + [ + -0.0015859901905059814, + 0.0021501630544662476, + -0.000632990151643753, + -0.0024915561079978943, + 0.00574338436126709, + 0.007337793707847595, + 0.0 + ], + [ + -0.00046327710151672363, + 0.0021237432956695557, + 2.8442591428756714e-05, + 0.0006834976375102997, + -0.0013523772358894348, + 0.0029829666018486023, + 0.0 + ], + [ + -0.0007889270782470703, + 0.0025925412774086, + 0.0005417577922344208, + 0.0005401633679866791, + -0.0014173910021781921, + 0.006087176501750946, + 0.0 + ], + [ + -0.0011344850063323975, + 0.0024774670600891113, + -2.8811395168304443e-05, + 0.0008339881896972656, + 0.002003289759159088, + -0.003050290048122406, + 0.0 + ], + [ + -0.0021269917488098145, + 0.0028791800141334534, + 0.00017951056361198425, + -0.002456236630678177, + 0.007626496255397797, + -0.00548388808965683, + 1.0 + ], + [ + -0.002206087112426758, + -0.0003793686628341675, + 0.00047020986676216125, + -0.0022734589874744415, + 0.020976729691028595, + -0.045853544026613235, + 1.0 + ], + [ + 0.0018574297428131104, + 0.0007048696279525757, + 0.003280654549598694, + 0.003598615527153015, + 0.0019888877868652344, + -0.04279639571905136, + 1.0 + ], + [ + 0.0006596148014068604, + -0.0038610026240348816, + 0.003086905926465988, + -0.004708919674158096, + 0.007323525846004486, + -0.07421329617500305, + 1.0 + ], + [ + 0.002586841583251953, + -0.007380738854408264, + 0.03679899498820305, + 0.028123848140239716, + -0.07081355154514313, + -0.15082520246505737, + 1.0 + ], + [ + -0.0021274983882904053, + -0.009024202823638916, + 0.0385499969124794, + 0.01507994532585144, + -0.04903489351272583, + -0.18020063638687134, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9522681832313538 + ], + [ + 0.6681591272354126 + ], + [ + 0.39886748790740967 + ], + [ + 0.365278422832489 + ], + [ + 0.365278422832489 + ], + [ + 0.365278422832489 + ], + [ + 0.365278422832489 + ], + [ + 0.365278422832489 + ], + [ + 0.365278422832489 + ], + [ + 0.365278422832489 + ], + [ + 0.365278422832489 + ], + [ + 0.365278422832489 + ], + [ + 0.365278422832489 + ], + [ + 0.365278422832489 + ], + [ + 0.3644362688064575 + ], + [ + 0.34125998616218567 + ], + [ + 0.3275788426399231 + ], + [ + 0.32678350806236267 + ], + [ + 0.325195848941803 + ], + [ + 0.325195848941803 + ], + [ + 0.325195848941803 + ], + [ + 0.325195848941803 + ], + [ + 0.38577979803085327 + ], + [ + 0.6892001032829285 + ], + [ + 0.9605803489685059 + ], + [ + 1.003452181816101 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.30579841136932373, + 0.07506991922855377, + 0.08074558526277542 + ], + [ + 0.30489712953567505, + 0.0711144506931305, + 0.08076776564121246 + ], + [ + 0.3075410723686218, + 0.06983841210603714, + 0.08357702195644379 + ], + [ + 0.3111552894115448, + 0.06990767270326614, + 0.08437754213809967 + ], + [ + 0.3168926537036896, + 0.06597081571817398, + 0.08450237661600113 + ], + [ + 0.32404977083206177, + 0.05825750529766083, + 0.07847170531749725 + ], + [ + 0.3376995623111725, + 0.045006901025772095, + 0.0751718059182167 + ], + [ + 0.35265427827835083, + 0.034464359283447266, + 0.07147090882062912 + ], + [ + 0.3631648123264313, + 0.03453299403190613, + 0.0700431764125824 + ], + [ + 0.3663387596607208, + 0.03556876629590988, + 0.06353877484798431 + ], + [ + 0.36900636553764343, + 0.0435769185423851, + 0.06365630775690079 + ], + [ + 0.3649307191371918, + 0.046406954526901245, + 0.057862743735313416 + ], + [ + 0.3633939027786255, + 0.043573129922151566, + 0.05602415278553963 + ], + [ + 0.3652646541595459, + 0.04073172062635422, + 0.052985094487667084 + ], + [ + 0.36876821517944336, + 0.0390479676425457, + 0.055256374180316925 + ], + [ + 0.37213319540023804, + 0.03750593215227127, + 0.04954758659005165 + ], + [ + 0.37771785259246826, + 0.03670476749539375, + 0.045581456273794174 + ], + [ + 0.3805622458457947, + 0.03711818531155586, + 0.04076855257153511 + ], + [ + 0.38253915309906006, + 0.03956080973148346, + 0.037224333733320236 + ], + [ + 0.38027921319007874, + 0.038882575929164886, + 0.034763019531965256 + ], + [ + 0.37950849533081055, + 0.03895319998264313, + 0.03306227922439575 + ], + [ + 0.37956467270851135, + 0.038607947528362274, + 0.03272976726293564 + ], + [ + 0.37728169560432434, + 0.0397399440407753, + 0.02929670363664627 + ], + [ + 0.3723088502883911, + 0.045132219791412354, + 0.029475748538970947 + ], + [ + 0.36720097064971924, + 0.04833950474858284, + 0.033497124910354614 + ], + [ + 0.3615531623363495, + 0.05383150652050972, + 0.0338938869535923 + ], + [ + 0.3567696213722229, + 0.06176852062344551, + 0.04790075123310089 + ], + [ + 0.35226187109947205, + 0.06771393865346909, + 0.04794884845614433 + ], + [ + 0.3490985035896301, + 0.0749259889125824, + 0.047053076326847076 + ], + [ + 0.34767916798591614, + 0.08024430274963379, + 0.04703206196427345 + ], + [ + 0.3441566228866577, + 0.08655835688114166, + 0.04529610648751259 + ], + [ + 0.34067997336387634, + 0.09577026963233948, + 0.04404093697667122 + ], + [ + 0.3390827775001526, + 0.10245323181152344, + 0.04460882022976875 + ], + [ + 0.33750802278518677, + 0.10669628530740738, + 0.0445687361061573 + ], + [ + 0.33622026443481445, + 0.10988371074199677, + 0.044529978185892105 + ], + [ + 0.33463427424430847, + 0.11203387379646301, + 0.04389698803424835 + ], + [ + 0.33417099714279175, + 0.11415761709213257, + 0.04392543062567711 + ], + [ + 0.3333820700645447, + 0.11675015836954117, + 0.04446718841791153 + ], + [ + 0.3322475850582123, + 0.11922762542963028, + 0.044438377022743225 + ], + [ + 0.33012059330940247, + 0.12210680544376373, + 0.04461788758635521 + ], + [ + 0.3279145061969757, + 0.12172743678092957, + 0.04508809745311737 + ], + [ + 0.3297719359397888, + 0.12243230640888214, + 0.048368752002716064 + ], + [ + 0.3304315507411957, + 0.11857130378484726, + 0.05145565792918205 + ], + [ + 0.33301839232444763, + 0.111190564930439, + 0.0882546529173851 + ], + [ + 0.3308908939361572, + 0.10216636210680008, + 0.1268046498298645 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.5628590464803719, + -0.8232422737598036, + 0.07390434689512457, + -0.825074384481996, + -0.5649474235289436, + -0.009309603625488515, + 0.04941612962243958, + -0.05573658890528615, + -0.9972218804209729 + ], + [ + 0.5973089971053243, + -0.7991044236143006, + 0.0682208336000691, + -0.7990959480490873, + -0.600226931392277, + -0.03425341797457657, + 0.06832003943618635, + -0.034055116964522444, + -0.9970820534038163 + ], + [ + 0.6404312215000711, + -0.7635336775638885, + 0.0828503093155989, + -0.7611484514454844, + -0.6453945412893269, + -0.06417881999600766, + 0.10247382782968238, + -0.021959264552871113, + -0.9944932907316315 + ], + [ + 0.7268064112974157, + -0.6784644756744173, + 0.10695043592622439, + -0.6748524485989814, + -0.7343761135314053, + -0.07256649705247951, + 0.1277756358502299, + -0.019433968260403865, + -0.9916126803146089 + ], + [ + 0.8312891250823777, + -0.5405338708127716, + 0.12954352559636842, + -0.5382439957515159, + -0.8409831151026383, + -0.05514345971830788, + 0.13875082542895736, + -0.02388586645748063, + -0.9900392284280246 + ], + [ + 0.8995706192065326, + -0.41251465508558804, + 0.14354219031348928, + -0.4027118224188362, + -0.9105819984884101, + -0.0930785265942312, + 0.16910319081695477, + 0.025924570748067602, + -0.9852573407425358 + ], + [ + 0.9131028889800399, + -0.3759081114628895, + 0.1579120194054541, + -0.3658754377511012, + -0.926346560990304, + -0.08953889094620712, + 0.17993965151334693, + 0.023982090772919566, + -0.9833852658726459 + ], + [ + 0.9111837974244457, + -0.37912177904927286, + 0.16127852914036966, + -0.36862389630888864, + -0.9250290495946238, + -0.09185684773668605, + 0.18401225606252558, + 0.02424735153746299, + -0.9826248295062558 + ], + [ + 0.9230141894473023, + -0.3442149039245919, + 0.17193285315821383, + -0.33262542143386603, + -0.9384502123713657, + -0.09312103906251326, + 0.19340407207420174, + 0.028762802650698367, + -0.9806974895903396 + ], + [ + 0.929429675902071, + -0.33242959630056074, + 0.16015942387514032, + -0.32076963293145383, + -0.9424186935923927, + -0.09462477770979202, + 0.1823933116690165, + 0.036572796872175635, + -0.9825452205305133 + ], + [ + 0.9447861021186881, + -0.27382712275320986, + 0.1799942445970834, + -0.26390427054871146, + -0.9614370875212692, + -0.07741616578449297, + 0.194251788227364, + 0.025640467689145605, + -0.9806165454382021 + ], + [ + 0.979240779061642, + -0.14147431556626422, + 0.14516375118398342, + -0.1359273645132869, + -0.9895797159838506, + -0.04749460274382361, + 0.15037037008407075, + 0.026776925670783634, + -0.9882670428848677 + ], + [ + 0.9898987409171304, + -0.05428599154834131, + 0.1309714238003598, + -0.04729781175654893, + -0.9973159054483579, + -0.05589187546293267, + 0.1336540299943182, + 0.04913263539985749, + -0.9898093677092283 + ], + [ + 0.9927088701430243, + -0.013288544304116195, + 0.11980197715245712, + -0.004014215796394971, + -0.9969978493577093, + -0.07732512171113992, + 0.12046985187548083, + 0.0762804232184128, + -0.9897819516553733 + ], + [ + 0.9915829900594241, + -0.007061021436947126, + 0.12927998994848156, + 0.004173859875556231, + -0.9962494526692952, + -0.08642688788721611, + 0.12940538133536694, + 0.08623902847549464, + -0.9878345394088281 + ], + [ + 0.9927718449907691, + 0.002263518966315041, + 0.11999558440006616, + 0.014448369311430346, + -0.9948046452226241, + -0.10077183370232688, + 0.11914406581053372, + 0.1017771797869151, + -0.9876467472010209 + ], + [ + 0.9926345055917091, + 0.014724057052890014, + 0.12024949252536142, + 0.028620674128090332, + -0.9929912634448542, + -0.11466999491866295, + 0.11771828796392415, + 0.11726701525192737, + -0.9860988042852235 + ], + [ + 0.9934755671699449, + 0.016924981550643432, + 0.11278227890882167, + 0.03007654734174573, + -0.9927994760319712, + -0.11595085894741639, + 0.11000772125790348, + 0.11858644690753789, + -0.9868310675457526 + ], + [ + 0.9919188108832337, + 0.028955494395634253, + 0.12352591614837728, + 0.04157153895615404, + -0.9940366972108022, + -0.10081097037057486, + 0.11987026222048781, + 0.10513146028922242, + -0.9872074231348988 + ], + [ + 0.9921193577479596, + 0.044657654479535853, + 0.11706781743144591, + 0.05654988963946125, + -0.9933473603882873, + -0.10031516132363351, + 0.111809167618495, + 0.10614478558086711, + -0.9880445306414336 + ], + [ + 0.9913905341178232, + 0.048950158757160626, + 0.1214441880833567, + 0.06110511131233982, + -0.9932621481246153, + -0.09847065793616323, + 0.11580576079402748, + 0.1050437387973366, + -0.9877017964478919 + ], + [ + 0.9913607678092432, + 0.04689153864613857, + 0.12249494541435396, + 0.058977510470026, + -0.9935374386636691, + -0.09697943716269986, + 0.11715579929062767, + 0.1033660562130227, + -0.987719584252302 + ], + [ + 0.9933640402073446, + 0.0275044052218186, + 0.11167538366325593, + 0.032504458036432336, + -0.9985374615962149, + -0.043201828627337006, + 0.11032381352500113, + 0.04654509085158159, + -0.9928052229349518 + ], + [ + 0.9948025121352787, + 0.014199571661142942, + 0.10082824016107207, + 0.014579822305492955, + -0.9998891016297897, + -0.003035329226349851, + 0.10077395809870231, + 0.004489610964454462, + -0.9948992173896354 + ], + [ + 0.9938701113444344, + 0.01461773151726773, + 0.10958340979131251, + 0.013370263894873415, + -0.9998372795995966, + 0.01210992841678434, + 0.10974259801728359, + -0.010570536796552678, + -0.9939038313298976 + ], + [ + 0.993833330960711, + 0.0234932829348466, + 0.10836685807238752, + 0.02136701924810183, + -0.9995565378029657, + 0.02074073826553802, + 0.10880606949977092, + -0.01829736025473491, + -0.9938945848769473 + ], + [ + 0.9898175677583503, + 0.030059355804494578, + 0.13913165594343524, + 0.024721968074723447, + -0.9988964804535839, + 0.03993301431090635, + 0.14017848212709394, + -0.0360867907420637, + -0.9894684111594885 + ], + [ + 0.9900965864925181, + 0.04220445211034756, + 0.1338937400998609, + 0.03692664363950005, + -0.9984492171858628, + 0.04166033713809066, + 0.13544435169243893, + -0.03630351116632364, + -0.9901196304849287 + ], + [ + 0.9906761887826953, + 0.04524589564536217, + 0.12850485557457633, + 0.03993595688465353, + -0.9982504399506978, + 0.04360250550078107, + 0.13025286302688635, + -0.03806399959919539, + -0.9907498794387067 + ], + [ + 0.9910771839738579, + 0.04441125127448723, + 0.12567281395227256, + 0.038566787218927735, + -0.9980752439457964, + 0.048563467196539756, + 0.12758768878719493, + -0.043283347638252256, + -0.9908824014418505 + ], + [ + 0.9918350491993135, + 0.04924964222516405, + 0.11763378732527781, + 0.04300527829846519, + -0.9975572922571031, + 0.05504538766461976, + 0.12005740801078003, + -0.04953707102130739, + -0.9915302806149507 + ], + [ + 0.9925291452658767, + 0.04917012940916024, + 0.11166106829004703, + 0.04299102470433522, + -0.997443070103459, + 0.057088472544439585, + 0.11418260634903789, + -0.05186154911369722, + -0.9921051920693027 + ], + [ + 0.9917362520020324, + 0.059343088177497526, + 0.11374359037114344, + 0.05288584010543842, + -0.9968576951475545, + 0.058973074715898514, + 0.11688581770814936, + -0.052470310754394255, + -0.9917583234377386 + ], + [ + 0.99099577970399, + 0.07320147238692361, + 0.11211114596358203, + 0.06703348532442831, + -0.9960730179694737, + 0.05783644801026799, + 0.1159046006599427, + -0.04980047503359018, + -0.9920111069097403 + ], + [ + 0.9910281341547915, + 0.07487612775677607, + 0.11071044578459399, + 0.0689619836842808, + -0.996028135359923, + 0.056322272484018596, + 0.11448791254976032, + -0.048182144655318074, + -0.9922555108521255 + ], + [ + 0.9911346991446124, + 0.0816457967284667, + 0.1048139877501687, + 0.07628122228795242, + -0.995611312675995, + 0.054215211867502, + 0.10878043609847593, + -0.04573923860490067, + -0.9930129600232162 + ], + [ + 0.9907551953623072, + 0.0847493840446629, + 0.10593245379319013, + 0.07922560140077145, + -0.9953208314174613, + 0.05531497653564865, + 0.11012468817337104, + -0.04641103802441311, + -0.9928336056984645 + ], + [ + 0.9900980734836269, + 0.09092978694759105, + 0.10694661626099466, + 0.08524152360475398, + -0.9947504306597994, + 0.05661681159941781, + 0.11153334719961971, + -0.04693990357690889, + -0.9926514785737438 + ], + [ + 0.9905741585554477, + 0.08788902134415262, + 0.1050635823172515, + 0.08223936672408662, + -0.9949837914740084, + 0.056955607843551116, + 0.10954233411329152, + -0.04777839083910499, + -0.9928331694730177 + ], + [ + 0.9918143512042137, + 0.08182738457664827, + 0.0980233231364353, + 0.0768682793013395, + -0.9956130076874983, + 0.053347976163157666, + 0.10195862093327845, + -0.04537640418542311, + -0.9937531995221878 + ], + [ + 0.9962141060619535, + 0.034971806323154615, + 0.07958911763349692, + 0.031385667288197035, + -0.9984541612462585, + 0.045871862605576574, + 0.08107030758580756, + -0.04320023903320511, + -0.9957717331675048 + ], + [ + 0.9968039881632084, + -0.007577197642529054, + 0.07952606653046879, + -0.011266228308720667, + -0.9988759705754059, + 0.046042018925508764, + 0.07908780741440666, + -0.04679082691005982, + -0.995768917588541 + ], + [ + 0.993775350553276, + -0.082314099763588, + 0.07506624816003112, + -0.0851906251279489, + -0.9957157736111525, + 0.03595351960870435, + 0.07178516575882914, + -0.042124662159527045, + -0.9965301815875539 + ], + [ + 0.9623250066756419, + -0.22384795243071065, + 0.15434596113700044, + -0.23176767151322797, + -0.9721359247339245, + 0.03514954171897727, + 0.14217710071619338, + -0.06959768698955432, + -0.9873914289670747 + ], + [ + 0.8977427921351682, + -0.38825336043586334, + 0.20812786281421197, + -0.39718845355125687, + -0.9177362284460308, + 0.001243930550900732, + 0.19052351963711178, + -0.08378271365809287, + -0.9781008359863377 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006323.json b/json/chunk-0006/episode_0006323.json new file mode 100644 index 0000000000000000000000000000000000000000..b14885f2cf1285f12355a09eaa2398b99a9e707c --- /dev/null +++ b/json/chunk-0006/episode_0006323.json @@ -0,0 +1,1822 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 29, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nOpen the lid of the silver pot." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006323.mp4", + "start": 0, + "end": 29, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2725865840911865, + -0.03459787368774414, + 0.1277107149362564, + -0.04740724340081215, + -0.2554874122142792, + 0.10958469659090042, + 0.0, + 1.0001531839370728 + ], + [ + 0.2714387774467468, + -0.03504597395658493, + 0.12091794610023499, + -0.045188020914793015, + -0.229145348072052, + 0.11068545281887054, + 0.0, + 1.0001531839370728 + ], + [ + 0.2769494950771332, + -0.03173680230975151, + 0.11854728311300278, + -0.056441210210323334, + -0.19787472486495972, + 0.13799883425235748, + 0.0, + 1.0001531839370728 + ], + [ + 0.2932007610797882, + -0.031192472204566002, + 0.1251092553138733, + -0.05539648234844208, + -0.21554654836654663, + 0.15803265571594238, + 0.0, + 1.0001531839370728 + ], + [ + 0.31985825300216675, + -0.031720854341983795, + 0.13032199442386627, + -0.030029313638806343, + -0.24410124123096466, + 0.16666088998317719, + 0.0, + 1.0001531839370728 + ], + [ + 0.3509669601917267, + -0.025800423696637154, + 0.13322913646697998, + -0.027004843577742577, + -0.26897743344306946, + 0.21065665781497955, + 0.0, + 1.0001531839370728 + ], + [ + 0.3811090290546417, + -0.004140396136790514, + 0.1260162740945816, + -0.026477070525288582, + -0.256317675113678, + 0.3011859655380249, + 0.0, + 1.0001531839370728 + ], + [ + 0.4017084538936615, + 0.0008610909571871161, + 0.11711081117391586, + -0.04400276392698288, + -0.2353367805480957, + 0.32902103662490845, + 0.0, + 1.0001531839370728 + ], + [ + 0.4158274233341217, + 0.006414744071662426, + 0.10481079667806625, + -0.05667317658662796, + -0.20765483379364014, + 0.3368910849094391, + 0.0, + 1.0001531839370728 + ], + [ + 0.4216538369655609, + 0.008052496239542961, + 0.08625271916389465, + -0.026745032519102097, + -0.1626964509487152, + 0.33385923504829407, + 0.0, + 1.0001531839370728 + ], + [ + 0.4248819053173065, + 0.01055314764380455, + 0.08234409987926483, + -0.009312820620834827, + -0.14905086159706116, + 0.3300761580467224, + 0.0, + 1.0008161067962646 + ], + [ + 0.4240107536315918, + 0.014904884621500969, + 0.07745412737131119, + -0.002210065023973584, + -0.13541725277900696, + 0.3421616554260254, + 0.0, + 0.9635607004165649 + ], + [ + 0.4224119782447815, + 0.016900649294257164, + 0.0728611946105957, + 0.01637248694896698, + -0.12213151156902313, + 0.33615460991859436, + 0.0, + 0.6831957101821899 + ], + [ + 0.4211629629135132, + 0.01910974271595478, + 0.07244502007961273, + 0.0314953550696373, + -0.12237492948770523, + 0.3329082429409027, + 0.0, + 0.3849146366119385 + ], + [ + 0.4196191430091858, + 0.017735973000526428, + 0.07042771577835083, + 0.026025274768471718, + -0.11357592791318893, + 0.3270878493785858, + 0.0, + 0.2928420901298523 + ], + [ + 0.41878554224967957, + 0.014392395503818989, + 0.07145079225301743, + 0.007992702536284924, + -0.10383693128824234, + 0.31803902983665466, + 0.0, + 0.2920950949192047 + ], + [ + 0.41787657141685486, + 0.009357951581478119, + 0.08714612573385239, + -0.04032603278756142, + -0.11445634067058563, + 0.31722909212112427, + 0.0, + 0.29134905338287354 + ], + [ + 0.41037458181381226, + 0.026128889992833138, + 0.1318812519311905, + -0.093094103038311, + -0.20202386379241943, + 0.35726243257522583, + 0.0, + 0.29134905338287354 + ], + [ + 0.39346325397491455, + 0.04338819906115532, + 0.13198991119861603, + -0.09545966982841492, + -0.18955884873867035, + 0.38843536376953125, + 0.0, + 0.29134905338287354 + ], + [ + 0.3786507546901703, + 0.053625378757715225, + 0.1278170645236969, + -0.07177816331386566, + -0.1856696754693985, + 0.3690488636493683, + 0.0, + 0.29134905338287354 + ], + [ + 0.3579808473587036, + 0.07556286454200745, + 0.11357373744249344, + -0.0292525477707386, + -0.15997813642024994, + 0.381814181804657, + 0.0, + 0.29134905338287354 + ], + [ + 0.3484368324279785, + 0.09597992151975632, + 0.104934923350811, + -0.023030096665024757, + -0.15014709532260895, + 0.4048713445663452, + 0.0, + 0.29134905338287354 + ], + [ + 0.34417417645454407, + 0.11038375645875931, + 0.10132716596126556, + -0.026005472987890244, + -0.15616656839847565, + 0.4207177758216858, + 0.0, + 0.29134905338287354 + ], + [ + 0.34640607237815857, + 0.11282237619161606, + 0.07831533998250961, + -0.02513973042368889, + -0.11622299998998642, + 0.42268308997154236, + 0.0, + 0.29134905338287354 + ], + [ + 0.3480885624885559, + 0.11410924792289734, + 0.06359753757715225, + 0.006786540150642395, + -0.10148506611585617, + 0.43482646346092224, + 0.0, + 0.29134905338287354 + ], + [ + 0.3530329167842865, + 0.1108381599187851, + 0.0474669374525547, + 0.009465601295232773, + -0.11334379762411118, + 0.44235384464263916, + 0.0, + 0.29134905338287354 + ], + [ + 0.35393449664115906, + 0.11135052144527435, + 0.043774135410785675, + 0.00697571225464344, + -0.14090724289417267, + 0.441226989030838, + 0.0, + 0.35606881976127625 + ], + [ + 0.35210394859313965, + 0.1099323257803917, + 0.04960209131240845, + 0.0030844733119010925, + -0.16734427213668823, + 0.40942057967185974, + 0.0, + 0.6591242551803589 + ], + [ + 0.3525446355342865, + 0.10852953791618347, + 0.07268621027469635, + -0.002195547567680478, + -0.21368002891540527, + 0.3653488755226135, + 0.0, + 0.9484345316886902 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 0.9635607004165649 + ], + [ + 0.6831957101821899 + ], + [ + 0.3849146366119385 + ], + [ + 0.2928420901298523 + ], + [ + 0.2920950949192047 + ], + [ + 0.29134905338287354 + ], + [ + 0.29134905338287354 + ], + [ + 0.29134905338287354 + ], + [ + 0.29134905338287354 + ], + [ + 0.29134905338287354 + ], + [ + 0.29134905338287354 + ], + [ + 0.29134905338287354 + ], + [ + 0.29134905338287354 + ], + [ + 0.29134905338287354 + ], + [ + 0.29134905338287354 + ], + [ + 0.35606881976127625 + ], + [ + 0.6591242551803589 + ], + [ + 0.9484345316886902 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2725865840911865, + -0.03459787368774414, + 0.1277107149362564 + ], + [ + 0.2714387774467468, + -0.03504597395658493, + 0.12091794610023499 + ], + [ + 0.2769494950771332, + -0.03173680230975151, + 0.11854728311300278 + ], + [ + 0.2932007610797882, + -0.031192472204566002, + 0.1251092553138733 + ], + [ + 0.31985825300216675, + -0.031720854341983795, + 0.13032199442386627 + ], + [ + 0.3509669601917267, + -0.025800423696637154, + 0.13322913646697998 + ], + [ + 0.3811090290546417, + -0.004140396136790514, + 0.1260162740945816 + ], + [ + 0.4017084538936615, + 0.0008610909571871161, + 0.11711081117391586 + ], + [ + 0.4158274233341217, + 0.006414744071662426, + 0.10481079667806625 + ], + [ + 0.4216538369655609, + 0.008052496239542961, + 0.08625271916389465 + ], + [ + 0.4248819053173065, + 0.01055314764380455, + 0.08234409987926483 + ], + [ + 0.4240107536315918, + 0.014904884621500969, + 0.07745412737131119 + ], + [ + 0.4224119782447815, + 0.016900649294257164, + 0.0728611946105957 + ], + [ + 0.4211629629135132, + 0.01910974271595478, + 0.07244502007961273 + ], + [ + 0.4196191430091858, + 0.017735973000526428, + 0.07042771577835083 + ], + [ + 0.41878554224967957, + 0.014392395503818989, + 0.07145079225301743 + ], + [ + 0.41787657141685486, + 0.009357951581478119, + 0.08714612573385239 + ], + [ + 0.41037458181381226, + 0.026128889992833138, + 0.1318812519311905 + ], + [ + 0.39346325397491455, + 0.04338819906115532, + 0.13198991119861603 + ], + [ + 0.3786507546901703, + 0.053625378757715225, + 0.1278170645236969 + ], + [ + 0.3579808473587036, + 0.07556286454200745, + 0.11357373744249344 + ], + [ + 0.3484368324279785, + 0.09597992151975632, + 0.104934923350811 + ], + [ + 0.34417417645454407, + 0.11038375645875931, + 0.10132716596126556 + ], + [ + 0.34640607237815857, + 0.11282237619161606, + 0.07831533998250961 + ], + [ + 0.3480885624885559, + 0.11410924792289734, + 0.06359753757715225 + ], + [ + 0.3530329167842865, + 0.1108381599187851, + 0.0474669374525547 + ], + [ + 0.35393449664115906, + 0.11135052144527435, + 0.043774135410785675 + ], + [ + 0.35210394859313965, + 0.1099323257803917, + 0.04960209131240845 + ], + [ + 0.3525446355342865, + 0.10852953791618347, + 0.07268621027469635 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9617365433467066, + 0.09733833145240782, + 0.25610167984921456, + 0.10581551947019706, + -0.9941946053842933, + -0.01949775535854076, + 0.2527170295622769, + 0.04585123613197746, + -0.966453189303232 + ], + [ + 0.9679014527197412, + 0.10014886331896779, + 0.23051460474107396, + 0.1075722687459514, + -0.9939994569860408, + -0.019831452501139518, + 0.22714529451402612, + 0.04399187069646905, + -0.9728667588589722 + ], + [ + 0.9711653621822873, + 0.1263579664868485, + 0.20216701907743165, + 0.13487696130111598, + -0.990441525747293, + -0.028875411435181846, + 0.19658597256041285, + 0.05531047261307968, + -0.9789252816286818 + ], + [ + 0.9646868064991065, + 0.1454396225377967, + 0.21960574118774417, + 0.15373395419184005, + -0.9878876058809225, + -0.021070108575901494, + 0.2138813612615566, + 0.0540869147106976, + -0.9753611479662193 + ], + [ + 0.9569098790435143, + 0.15865966687725028, + 0.2432089502780007, + 0.1609726029194923, + -0.9869033785438504, + 0.010466256640141926, + 0.2416843075134389, + 0.02913471340401056, + -0.9699174521456019 + ], + [ + 0.9427318289911555, + 0.20200891917915947, + 0.265422484313328, + 0.20158343269468454, + -0.9790376911966009, + 0.029143076012272624, + 0.26574577752058187, + 0.026030670150753672, + -0.9636916446361276 + ], + [ + 0.9237860442078117, + 0.2901394536832142, + 0.24987685355648478, + 0.28696136459082816, + -0.9566416637013064, + 0.04989892286378911, + 0.25352025512580395, + 0.02560907431366093, + -0.9669910317855821 + ], + [ + 0.9202735499314914, + 0.3130973167654182, + 0.2346628720756361, + 0.31421030058161314, + -0.9487572287125158, + 0.03363938129870165, + 0.23317049621447236, + 0.042776058724975065, + -0.9714945849025892 + ], + [ + 0.9235116095069286, + 0.31900247288045525, + 0.2129876273450573, + 0.3234532701785727, + -0.9461317993801719, + 0.014580816589807144, + 0.2061656836544574, + 0.055425991175555855, + -0.9769460938995036 + ], + [ + 0.9323080116673559, + 0.3234819527699901, + 0.16174423517694667, + 0.3233641438120622, + -0.9458663029495948, + 0.027795097430255364, + 0.1619796341443995, + 0.026388694105228372, + -0.9864411969022114 + ], + [ + 0.9355286631000593, + 0.3227927450557889, + 0.14349551999126664, + 0.320521440564959, + -0.9464248676541026, + 0.03931890161331624, + 0.14849958470103203, + 0.009209431321350157, + -0.9888695868102924 + ], + [ + 0.9334073619069313, + 0.33524233174450047, + 0.127919020260684, + 0.33245252699928407, + -0.9421293879557208, + 0.043214970114177714, + 0.1350037556134395, + 0.002189830287775512, + -0.9908426669323326 + ], + [ + 0.9369982008488205, + 0.3316980720975744, + 0.10959361556598998, + 0.32740232368600075, + -0.9432456375616762, + 0.055636190253054954, + 0.12182811683302366, + -0.016249805771739786, + -0.9924181849207017 + ], + [ + 0.9380280748641519, + 0.33026384887595067, + 0.10501962146330751, + 0.32434906308012373, + -0.9433710494660479, + 0.06963295418387212, + 0.12206971797173585, + -0.03125465013354821, + -0.9920292993653617 + ], + [ + 0.9408807625501021, + 0.32397064289601607, + 0.09892630188519325, + 0.31921664990828147, + -0.9457137823202467, + 0.06104238159562993, + 0.11333190673624083, + -0.0258546798679639, + -0.9932207279575135 + ], + [ + 0.9447343523676578, + 0.3134814388801415, + 0.095949939729521, + 0.3110202417480867, + -0.9495610521994486, + 0.040002717018199546, + 0.10365043501801795, + -0.007949567504745462, + -0.9945820185872373 + ], + [ + 0.9438869008350318, + 0.3073069994817322, + 0.12099556397477375, + 0.3098941274624886, + -0.9507672162958329, + -0.0027074307628460366, + 0.11420660312040525, + 0.04005132315676241, + -0.992649355672531 + ], + [ + 0.917804338550805, + 0.3307217210738128, + 0.21967780804463324, + 0.3425985886199846, + -0.939323989648646, + -0.017223517240826776, + 0.20065244382492362, + 0.09106912583595864, + -0.9754204278702392 + ], + [ + 0.9089246736936112, + 0.3603946720901761, + 0.20969410549649986, + 0.3719565923859804, + -0.9280912294338983, + -0.017174493543771242, + 0.18842566420626583, + 0.09360742586402965, + -0.9776161920158329 + ], + [ + 0.9166409113213243, + 0.3474518121985748, + 0.1976023225874105, + 0.3545286017614795, + -0.9350450535913483, + -0.00046721237524520454, + 0.18460474052705955, + 0.07048394110916081, + -0.9802821552087225 + ], + [ + 0.9161404670271214, + 0.3681215531657955, + 0.15866053942342032, + 0.3678467490870097, + -0.9293292002506113, + 0.03218705869877063, + 0.15929662225372784, + 0.028874896646775408, + -0.9868084041404347 + ], + [ + 0.9088117695547309, + 0.3906299218976717, + 0.14652450865646124, + 0.38946876867271957, + -0.9202661777623692, + 0.03773910829888272, + 0.14958357445707113, + 0.02276897417228196, + -0.9884868881617942 + ], + [ + 0.9016879939107134, + 0.4045860779274958, + 0.15254136220881123, + 0.40344563341939577, + -0.9141391192034188, + 0.039765457583440425, + 0.15553257701232873, + 0.025686110823637365, + -0.9874967550319647 + ], + [ + 0.9058390337609292, + 0.40742086608281675, + 0.11603397259162077, + 0.40744149254397427, + -0.912899152047864, + 0.024628608239787617, + 0.11596152408710439, + 0.024967500287730898, + -0.9929398515825505 + ], + [ + 0.902276762883885, + 0.4218668838720061, + 0.08902233119785773, + 0.4190855926473468, + -0.9066326425796191, + 0.04883152101377718, + 0.10131095298732436, + -0.0067515702781046835, + -0.9948318989173901 + ], + [ + 0.8979476414150369, + 0.42901626207183513, + 0.09815844413540424, + 0.4253212153595229, + -0.9032478054415936, + 0.056967233828263256, + 0.11310126896843882, + -0.009404724496557933, + -0.9935389545029794 + ], + [ + 0.895266542224187, + 0.42792472065460047, + 0.124009079613676, + 0.42281677466001993, + -0.9037879914204421, + 0.06628153310162432, + 0.1404414235190131, + -0.006906519882397093, + -0.9900649001671902 + ], + [ + 0.9045367729483473, + 0.39854726973931787, + 0.15156945657857698, + 0.39251695099317485, + -0.9171427499520747, + 0.06913479148278084, + 0.16656431060467705, + -0.0030413802263760253, + -0.9860259025193543 + ], + [ + 0.9127573754424989, + 0.35683945106018006, + 0.1988456178606677, + 0.3491497121110308, + -0.9341632633071058, + 0.0737121158304631, + 0.2120576622244659, + 0.002145612846865208, + -0.9772548000585138 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0011478066444396973, + -0.0004481002688407898, + -0.006792768836021423, + 0.0022192224860191345, + 0.026342064142227173, + 0.0011007562279701233, + 1.0 + ], + [ + 0.0055107176303863525, + 0.00330917164683342, + -0.0023706629872322083, + -0.01125318929553032, + 0.031270623207092285, + 0.02731338143348694, + 1.0 + ], + [ + 0.01625126600265503, + 0.0005443301051855087, + 0.006561972200870514, + 0.001044727861881256, + -0.017671823501586914, + 0.0200338214635849, + 1.0 + ], + [ + 0.02665749192237854, + -0.0005283821374177933, + 0.005212739109992981, + 0.025367168709635735, + -0.02855469286441803, + 0.008628234267234802, + 1.0 + ], + [ + 0.031108707189559937, + 0.0059204306453466415, + 0.0029071420431137085, + 0.0030244700610637665, + -0.024876192212104797, + 0.04399576783180237, + 1.0 + ], + [ + 0.03014206886291504, + 0.021660028025507927, + -0.0072128623723983765, + 0.0005277730524539948, + 0.01265975832939148, + 0.09052930772304535, + 1.0 + ], + [ + 0.020599424839019775, + 0.005001487210392952, + -0.008905462920665741, + -0.017525693401694298, + 0.020980894565582275, + 0.027835071086883545, + 1.0 + ], + [ + 0.014118969440460205, + 0.005553652998059988, + -0.01230001449584961, + -0.01267041265964508, + 0.027681946754455566, + 0.00787004828453064, + 1.0 + ], + [ + 0.005826413631439209, + 0.0016377521678805351, + -0.0185580775141716, + 0.029928144067525864, + 0.04495838284492493, + -0.0030318498611450195, + 1.0 + ], + [ + 0.0032280683517456055, + 0.002500651404261589, + -0.003908619284629822, + 0.017432212829589844, + 0.013645589351654053, + -0.0037830770015716553, + 1.0 + ], + [ + -0.0008711516857147217, + 0.004351736977696419, + -0.004889972507953644, + 0.007102755829691887, + 0.0136336088180542, + 0.012085497379302979, + 0.0 + ], + [ + -0.0015987753868103027, + 0.001995764672756195, + -0.004592932760715485, + 0.018582552671432495, + 0.013285741209983826, + -0.00600704550743103, + 0.0 + ], + [ + -0.0012490153312683105, + 0.0022090934216976166, + -0.0004161745309829712, + 0.015122868120670319, + -0.0002434179186820984, + -0.0032463669776916504, + 0.0 + ], + [ + -0.0015438199043273926, + -0.0013737697154283524, + -0.002017304301261902, + -0.005470080301165581, + 0.008799001574516296, + -0.0058203935623168945, + 0.0 + ], + [ + -0.0008336007595062256, + -0.0033435774967074394, + 0.0010230764746665955, + -0.01803257316350937, + 0.009738996624946594, + -0.009048819541931152, + 0.0 + ], + [ + -0.000908970832824707, + -0.00503444392234087, + 0.01569533348083496, + -0.048318736255168915, + -0.010619409382343292, + -0.0008099377155303955, + 0.0 + ], + [ + -0.0075019896030426025, + 0.01677093841135502, + 0.044735126197338104, + -0.05276807025074959, + -0.0875675231218338, + 0.04003334045410156, + 0.0 + ], + [ + -0.016911327838897705, + 0.01725930906832218, + 0.00010865926742553711, + -0.0023655667901039124, + 0.012465015053749084, + 0.03117293119430542, + 0.0 + ], + [ + -0.014812499284744263, + 0.010237179696559906, + -0.004172846674919128, + 0.023681506514549255, + 0.0038891732692718506, + -0.019386500120162964, + 0.0 + ], + [ + -0.020669907331466675, + 0.02193748578429222, + -0.01424332708120346, + 0.04252561554312706, + 0.02569153904914856, + 0.012765318155288696, + 0.0 + ], + [ + -0.009544014930725098, + 0.02041705697774887, + -0.008638814091682434, + 0.006222451105713844, + 0.009831041097640991, + 0.023057162761688232, + 0.0 + ], + [ + -0.004262655973434448, + 0.01440383493900299, + -0.0036077573895454407, + -0.002975376322865486, + -0.006019473075866699, + 0.015846431255340576, + 0.0 + ], + [ + 0.002231895923614502, + 0.0024386197328567505, + -0.02301182597875595, + 0.000865742564201355, + 0.03994356840848923, + 0.0019653141498565674, + 0.0 + ], + [ + 0.0016824901103973389, + 0.0012868717312812805, + -0.01471780240535736, + 0.031926270574331284, + 0.014737933874130249, + 0.012143373489379883, + 0.0 + ], + [ + 0.004944354295730591, + -0.0032710880041122437, + -0.01613060012459755, + 0.002679061144590378, + -0.011858731508255005, + 0.007527381181716919, + 0.0 + ], + [ + 0.0009015798568725586, + 0.0005123615264892578, + -0.0036928020417690277, + -0.0024898890405893326, + -0.027563445270061493, + -0.0011268556118011475, + 1.0 + ], + [ + -0.0018305480480194092, + -0.00141819566488266, + 0.005827955901622772, + -0.0038912389427423477, + -0.026437029242515564, + -0.03180640935897827, + 1.0 + ], + [ + 0.0004406869411468506, + -0.0014027878642082214, + 0.023084118962287903, + -0.005280020646750927, + -0.04633575677871704, + -0.044071704149246216, + 1.0 + ], + [ + -2.849102020263672e-05, + -0.005632661283016205, + 0.023330040276050568, + -0.014429603703320026, + 0.02751600742340088, + -0.09502172470092773, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 0.9635607004165649 + ], + [ + 0.6831957101821899 + ], + [ + 0.3849146366119385 + ], + [ + 0.2928420901298523 + ], + [ + 0.2920950949192047 + ], + [ + 0.29134905338287354 + ], + [ + 0.29134905338287354 + ], + [ + 0.29134905338287354 + ], + [ + 0.29134905338287354 + ], + [ + 0.29134905338287354 + ], + [ + 0.29134905338287354 + ], + [ + 0.29134905338287354 + ], + [ + 0.29134905338287354 + ], + [ + 0.29134905338287354 + ], + [ + 0.29134905338287354 + ], + [ + 0.35606881976127625 + ], + [ + 0.6591242551803589 + ], + [ + 0.9484345316886902 + ], + [ + 1.013738751411438 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2714387774467468, + -0.03504597395658493, + 0.12091794610023499 + ], + [ + 0.2769494950771332, + -0.03173680230975151, + 0.11854728311300278 + ], + [ + 0.2932007610797882, + -0.031192472204566002, + 0.1251092553138733 + ], + [ + 0.31985825300216675, + -0.031720854341983795, + 0.13032199442386627 + ], + [ + 0.3509669601917267, + -0.025800423696637154, + 0.13322913646697998 + ], + [ + 0.3811090290546417, + -0.004140396136790514, + 0.1260162740945816 + ], + [ + 0.4017084538936615, + 0.0008610909571871161, + 0.11711081117391586 + ], + [ + 0.4158274233341217, + 0.006414744071662426, + 0.10481079667806625 + ], + [ + 0.4216538369655609, + 0.008052496239542961, + 0.08625271916389465 + ], + [ + 0.4248819053173065, + 0.01055314764380455, + 0.08234409987926483 + ], + [ + 0.4240107536315918, + 0.014904884621500969, + 0.07745412737131119 + ], + [ + 0.4224119782447815, + 0.016900649294257164, + 0.0728611946105957 + ], + [ + 0.4211629629135132, + 0.01910974271595478, + 0.07244502007961273 + ], + [ + 0.4196191430091858, + 0.017735973000526428, + 0.07042771577835083 + ], + [ + 0.41878554224967957, + 0.014392395503818989, + 0.07145079225301743 + ], + [ + 0.41787657141685486, + 0.009357951581478119, + 0.08714612573385239 + ], + [ + 0.41037458181381226, + 0.026128889992833138, + 0.1318812519311905 + ], + [ + 0.39346325397491455, + 0.04338819906115532, + 0.13198991119861603 + ], + [ + 0.3786507546901703, + 0.053625378757715225, + 0.1278170645236969 + ], + [ + 0.3579808473587036, + 0.07556286454200745, + 0.11357373744249344 + ], + [ + 0.3484368324279785, + 0.09597992151975632, + 0.104934923350811 + ], + [ + 0.34417417645454407, + 0.11038375645875931, + 0.10132716596126556 + ], + [ + 0.34640607237815857, + 0.11282237619161606, + 0.07831533998250961 + ], + [ + 0.3480885624885559, + 0.11410924792289734, + 0.06359753757715225 + ], + [ + 0.3530329167842865, + 0.1108381599187851, + 0.0474669374525547 + ], + [ + 0.35393449664115906, + 0.11135052144527435, + 0.043774135410785675 + ], + [ + 0.35210394859313965, + 0.1099323257803917, + 0.04960209131240845 + ], + [ + 0.3525446355342865, + 0.10852953791618347, + 0.07268621027469635 + ], + [ + 0.35251614451408386, + 0.10289687663316727, + 0.09601625055074692 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9679014527197412, + 0.10014886331896779, + 0.23051460474107396, + 0.1075722687459514, + -0.9939994569860408, + -0.019831452501139518, + 0.22714529451402612, + 0.04399187069646905, + -0.9728667588589722 + ], + [ + 0.9711653621822873, + 0.1263579664868485, + 0.20216701907743165, + 0.13487696130111598, + -0.990441525747293, + -0.028875411435181846, + 0.19658597256041285, + 0.05531047261307968, + -0.9789252816286818 + ], + [ + 0.9646868064991065, + 0.1454396225377967, + 0.21960574118774417, + 0.15373395419184005, + -0.9878876058809225, + -0.021070108575901494, + 0.2138813612615566, + 0.0540869147106976, + -0.9753611479662193 + ], + [ + 0.9569098790435143, + 0.15865966687725028, + 0.2432089502780007, + 0.1609726029194923, + -0.9869033785438504, + 0.010466256640141926, + 0.2416843075134389, + 0.02913471340401056, + -0.9699174521456019 + ], + [ + 0.9427318289911555, + 0.20200891917915947, + 0.265422484313328, + 0.20158343269468454, + -0.9790376911966009, + 0.029143076012272624, + 0.26574577752058187, + 0.026030670150753672, + -0.9636916446361276 + ], + [ + 0.9237860442078117, + 0.2901394536832142, + 0.24987685355648478, + 0.28696136459082816, + -0.9566416637013064, + 0.04989892286378911, + 0.25352025512580395, + 0.02560907431366093, + -0.9669910317855821 + ], + [ + 0.9202735499314914, + 0.3130973167654182, + 0.2346628720756361, + 0.31421030058161314, + -0.9487572287125158, + 0.03363938129870165, + 0.23317049621447236, + 0.042776058724975065, + -0.9714945849025892 + ], + [ + 0.9235116095069286, + 0.31900247288045525, + 0.2129876273450573, + 0.3234532701785727, + -0.9461317993801719, + 0.014580816589807144, + 0.2061656836544574, + 0.055425991175555855, + -0.9769460938995036 + ], + [ + 0.9323080116673559, + 0.3234819527699901, + 0.16174423517694667, + 0.3233641438120622, + -0.9458663029495948, + 0.027795097430255364, + 0.1619796341443995, + 0.026388694105228372, + -0.9864411969022114 + ], + [ + 0.9355286631000593, + 0.3227927450557889, + 0.14349551999126664, + 0.320521440564959, + -0.9464248676541026, + 0.03931890161331624, + 0.14849958470103203, + 0.009209431321350157, + -0.9888695868102924 + ], + [ + 0.9334073619069313, + 0.33524233174450047, + 0.127919020260684, + 0.33245252699928407, + -0.9421293879557208, + 0.043214970114177714, + 0.1350037556134395, + 0.002189830287775512, + -0.9908426669323326 + ], + [ + 0.9369982008488205, + 0.3316980720975744, + 0.10959361556598998, + 0.32740232368600075, + -0.9432456375616762, + 0.055636190253054954, + 0.12182811683302366, + -0.016249805771739786, + -0.9924181849207017 + ], + [ + 0.9380280748641519, + 0.33026384887595067, + 0.10501962146330751, + 0.32434906308012373, + -0.9433710494660479, + 0.06963295418387212, + 0.12206971797173585, + -0.03125465013354821, + -0.9920292993653617 + ], + [ + 0.9408807625501021, + 0.32397064289601607, + 0.09892630188519325, + 0.31921664990828147, + -0.9457137823202467, + 0.06104238159562993, + 0.11333190673624083, + -0.0258546798679639, + -0.9932207279575135 + ], + [ + 0.9447343523676578, + 0.3134814388801415, + 0.095949939729521, + 0.3110202417480867, + -0.9495610521994486, + 0.040002717018199546, + 0.10365043501801795, + -0.007949567504745462, + -0.9945820185872373 + ], + [ + 0.9438869008350318, + 0.3073069994817322, + 0.12099556397477375, + 0.3098941274624886, + -0.9507672162958329, + -0.0027074307628460366, + 0.11420660312040525, + 0.04005132315676241, + -0.992649355672531 + ], + [ + 0.917804338550805, + 0.3307217210738128, + 0.21967780804463324, + 0.3425985886199846, + -0.939323989648646, + -0.017223517240826776, + 0.20065244382492362, + 0.09106912583595864, + -0.9754204278702392 + ], + [ + 0.9089246736936112, + 0.3603946720901761, + 0.20969410549649986, + 0.3719565923859804, + -0.9280912294338983, + -0.017174493543771242, + 0.18842566420626583, + 0.09360742586402965, + -0.9776161920158329 + ], + [ + 0.9166409113213243, + 0.3474518121985748, + 0.1976023225874105, + 0.3545286017614795, + -0.9350450535913483, + -0.00046721237524520454, + 0.18460474052705955, + 0.07048394110916081, + -0.9802821552087225 + ], + [ + 0.9161404670271214, + 0.3681215531657955, + 0.15866053942342032, + 0.3678467490870097, + -0.9293292002506113, + 0.03218705869877063, + 0.15929662225372784, + 0.028874896646775408, + -0.9868084041404347 + ], + [ + 0.9088117695547309, + 0.3906299218976717, + 0.14652450865646124, + 0.38946876867271957, + -0.9202661777623692, + 0.03773910829888272, + 0.14958357445707113, + 0.02276897417228196, + -0.9884868881617942 + ], + [ + 0.9016879939107134, + 0.4045860779274958, + 0.15254136220881123, + 0.40344563341939577, + -0.9141391192034188, + 0.039765457583440425, + 0.15553257701232873, + 0.025686110823637365, + -0.9874967550319647 + ], + [ + 0.9058390337609292, + 0.40742086608281675, + 0.11603397259162077, + 0.40744149254397427, + -0.912899152047864, + 0.024628608239787617, + 0.11596152408710439, + 0.024967500287730898, + -0.9929398515825505 + ], + [ + 0.902276762883885, + 0.4218668838720061, + 0.08902233119785773, + 0.4190855926473468, + -0.9066326425796191, + 0.04883152101377718, + 0.10131095298732436, + -0.0067515702781046835, + -0.9948318989173901 + ], + [ + 0.8979476414150369, + 0.42901626207183513, + 0.09815844413540424, + 0.4253212153595229, + -0.9032478054415936, + 0.056967233828263256, + 0.11310126896843882, + -0.009404724496557933, + -0.9935389545029794 + ], + [ + 0.895266542224187, + 0.42792472065460047, + 0.124009079613676, + 0.42281677466001993, + -0.9037879914204421, + 0.06628153310162432, + 0.1404414235190131, + -0.006906519882397093, + -0.9900649001671902 + ], + [ + 0.9045367729483473, + 0.39854726973931787, + 0.15156945657857698, + 0.39251695099317485, + -0.9171427499520747, + 0.06913479148278084, + 0.16656431060467705, + -0.0030413802263760253, + -0.9860259025193543 + ], + [ + 0.9127573754424989, + 0.35683945106018006, + 0.1988456178606677, + 0.3491497121110308, + -0.9341632633071058, + 0.0737121158304631, + 0.2120576622244659, + 0.002145612846865208, + -0.9772548000585138 + ], + [ + 0.9470325448323825, + 0.26404454576046926, + 0.18278357935670603, + 0.2624325452839756, + -0.9643721147482276, + 0.0334003513724936, + 0.18509056757186715, + 0.016337140208107514, + -0.9825856602076712 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006324.json b/json/chunk-0006/episode_0006324.json new file mode 100644 index 0000000000000000000000000000000000000000..901a3b6dc579ddeffeb3972e09bf03a3b3d39107 --- /dev/null +++ b/json/chunk-0006/episode_0006324.json @@ -0,0 +1,5422 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 89, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nChange the position of the white container to stand upright." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006324.mp4", + "start": 0, + "end": 89, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.11717711389064789, + -0.017342032864689827, + 0.2397175133228302, + -0.03437059745192528, + -0.10171113908290863, + 0.034182108938694, + 0.0, + 1.0001531839370728 + ], + [ + 0.1178528219461441, + -0.017246242612600327, + 0.23751169443130493, + -0.0364450104534626, + -0.10099565237760544, + 0.05591537058353424, + 0.0, + 1.0001531839370728 + ], + [ + 0.13830645382404327, + -0.018795710057020187, + 0.23249994218349457, + -0.06346947699785233, + -0.12842202186584473, + 0.25369149446487427, + 0.0, + 1.0001531839370728 + ], + [ + 0.1620129644870758, + -0.01618822291493416, + 0.2233179360628128, + -0.08458666503429413, + -0.13550300896167755, + 0.4364379346370697, + 0.0, + 1.0001531839370728 + ], + [ + 0.18418607115745544, + -0.008327201008796692, + 0.21376670897006989, + -0.09655876457691193, + -0.15946605801582336, + 0.6702591776847839, + 0.0, + 1.0001531839370728 + ], + [ + 0.2028547078371048, + -0.002283675828948617, + 0.19489726424217224, + -0.0788426399230957, + -0.16391602158546448, + 0.802889347076416, + 0.0, + 1.0001531839370728 + ], + [ + 0.21774671971797943, + 0.01115510892122984, + 0.1801895946264267, + -0.06441304087638855, + -0.18166612088680267, + 0.9161525964736938, + 0.0, + 1.0001531839370728 + ], + [ + 0.2297201007604599, + 0.02649770863354206, + 0.1700354665517807, + -0.06630755960941315, + -0.20732736587524414, + 1.05094313621521, + 0.0, + 1.0001531839370728 + ], + [ + 0.23362860083580017, + 0.04376957565546036, + 0.167131245136261, + -0.07992963492870331, + -0.23773616552352905, + 1.1963229179382324, + 0.0, + 1.0001531839370728 + ], + [ + 0.23617051541805267, + 0.058676037937402725, + 0.15986794233322144, + -0.07774664461612701, + -0.24449209868907928, + 1.3139206171035767, + 0.0, + 1.0001531839370728 + ], + [ + 0.23929573595523834, + 0.07096997648477554, + 0.1507323831319809, + -0.07095856219530106, + -0.2561863958835602, + 1.3935282230377197, + 0.0, + 1.0001531839370728 + ], + [ + 0.2459629625082016, + 0.07871543616056442, + 0.13513682782649994, + -0.04939212277531624, + -0.2594517171382904, + 1.4286863803863525, + 0.0, + 1.0001531839370728 + ], + [ + 0.2538779079914093, + 0.08399515599012375, + 0.11586182564496994, + -0.014193902723491192, + -0.2590543031692505, + 1.4471486806869507, + 0.0, + 1.0001531839370728 + ], + [ + 0.26875218749046326, + 0.09149090945720673, + 0.10816941410303116, + -0.006784168072044849, + -0.26548677682876587, + 1.461723804473877, + 0.0, + 1.0001531839370728 + ], + [ + 0.2815958857536316, + 0.1084626168012619, + 0.10233378410339355, + -0.00328715774230659, + -0.2721785306930542, + 1.4957481622695923, + 0.0, + 1.0001531839370728 + ], + [ + 0.2888526916503906, + 0.129449263215065, + 0.09930287301540375, + -0.0037315518129616976, + -0.2688479721546173, + 1.5290520191192627, + 0.0, + 1.0001531839370728 + ], + [ + 0.2886175215244293, + 0.14644888043403625, + 0.09365011006593704, + 0.0048222169280052185, + -0.2614991068840027, + 1.5309933423995972, + 0.0, + 1.0001531839370728 + ], + [ + 0.2869820296764374, + 0.15258389711380005, + 0.08565716445446014, + 0.006306289229542017, + -0.23484879732131958, + 1.5358773469924927, + 0.0, + 1.0001531839370728 + ], + [ + 0.2857864499092102, + 0.14792469143867493, + 0.07367163151502609, + 0.014541198499500751, + -0.19744758307933807, + 1.5303277969360352, + 0.0, + 1.0001531839370728 + ], + [ + 0.2870165705680847, + 0.1372402161359787, + 0.06841032952070236, + 0.022411610931158066, + -0.1914949268102646, + 1.5192148685455322, + 0.0, + 1.0001531839370728 + ], + [ + 0.2871197760105133, + 0.12930254638195038, + 0.06291299313306808, + 0.026652025058865547, + -0.18692626059055328, + 1.513906478881836, + 0.0, + 1.0001531839370728 + ], + [ + 0.2872436046600342, + 0.12962619960308075, + 0.05947854369878769, + 0.024330029264092445, + -0.18984031677246094, + 1.511783242225647, + 0.0, + 1.0001531839370728 + ], + [ + 0.2866322100162506, + 0.13175441324710846, + 0.058566026389598846, + 0.02548413723707199, + -0.20219697058200836, + 1.4998304843902588, + 0.0, + 1.0001531839370728 + ], + [ + 0.2832798361778259, + 0.13739825785160065, + 0.0492471382021904, + 0.05108613148331642, + -0.18989001214504242, + 1.499708652496338, + 0.0, + 1.0001531839370728 + ], + [ + 0.28449738025665283, + 0.145671546459198, + 0.046977922320365906, + 0.0544772669672966, + -0.1926962435245514, + 1.5008150339126587, + 0.0, + 1.0001531839370728 + ], + [ + 0.2829122841358185, + 0.1518540233373642, + 0.039935506880283356, + 0.07305733114480972, + -0.1839827299118042, + 1.5004328489303589, + 0.0, + 1.0001531839370728 + ], + [ + 0.28270435333251953, + 0.1554657369852066, + 0.035435114055871964, + 0.08163374662399292, + -0.17950297892093658, + 1.5078164339065552, + 0.0, + 1.0001531839370728 + ], + [ + 0.28215491771698, + 0.15674157440662384, + 0.03059483878314495, + 0.08861155807971954, + -0.1789226084947586, + 1.5129425525665283, + 0.0, + 1.0001531839370728 + ], + [ + 0.282370924949646, + 0.15829716622829437, + 0.03077162243425846, + 0.08449584245681763, + -0.1870030164718628, + 1.5232553482055664, + 0.0, + 1.0001531839370728 + ], + [ + 0.2828757166862488, + 0.15811116993427277, + 0.02988574467599392, + 0.07634058594703674, + -0.19162870943546295, + 1.5357587337493896, + 0.0, + 1.0001531839370728 + ], + [ + 0.28151237964630127, + 0.15537983179092407, + 0.027437008917331696, + 0.0787588581442833, + -0.19041872024536133, + 1.5371854305267334, + 0.0, + 1.0001531839370728 + ], + [ + 0.2859025001525879, + 0.14785586297512054, + 0.027309341356158257, + 0.08058572560548782, + -0.2014176845550537, + 1.5171793699264526, + 0.0, + 1.0001531839370728 + ], + [ + 0.2852088510990143, + 0.14580243825912476, + 0.019536908715963364, + 0.09961189329624176, + -0.19509342312812805, + 1.5137253999710083, + 0.0, + 1.0001531839370728 + ], + [ + 0.28531697392463684, + 0.14593979716300964, + 0.016231149435043335, + 0.10351692140102386, + -0.19755716621875763, + 1.5167045593261719, + 0.0, + 0.9311676621437073 + ], + [ + 0.2842039167881012, + 0.14691001176834106, + 0.015350202098488808, + 0.10467902570962906, + -0.2063160240650177, + 1.51921808719635, + 0.0, + 0.6691625118255615 + ], + [ + 0.28333914279937744, + 0.1472354531288147, + 0.01502980850636959, + 0.11275187879800797, + -0.210298553109169, + 1.4996341466903687, + 0.0, + 0.6229594349861145 + ], + [ + 0.2828620970249176, + 0.14396555721759796, + 0.017995374277234077, + 0.11918895691633224, + -0.228080615401268, + 1.4654682874679565, + 0.0, + 0.6229594349861145 + ], + [ + 0.2889043390750885, + 0.13489723205566406, + 0.03313365578651428, + 0.0940936729311943, + -0.275765985250473, + 1.4224621057510376, + 0.0, + 0.6229594349861145 + ], + [ + 0.28891268372535706, + 0.12466760724782944, + 0.0478927344083786, + 0.07674955576658249, + -0.31938886642456055, + 1.3942961692810059, + 0.0, + 0.6229594349861145 + ], + [ + 0.2879979610443115, + 0.12302151322364807, + 0.054948803037405014, + 0.09355314821004868, + -0.38374534249305725, + 1.383345365524292, + 0.0, + 0.6229594349861145 + ], + [ + 0.2862562835216522, + 0.12381598353385925, + 0.06556475907564163, + 0.1572623997926712, + -0.521713137626648, + 1.3705151081085205, + 0.0, + 0.6229594349861145 + ], + [ + 0.2816825211048126, + 0.12655852735042572, + 0.07110187411308289, + 0.251593679189682, + -0.6330392956733704, + 1.3322689533233643, + 0.0, + 0.6229594349861145 + ], + [ + 0.2801075279712677, + 0.12644606828689575, + 0.07467755675315857, + 0.3240569233894348, + -0.7026835083961487, + 1.2823418378829956, + 0.0, + 0.6229594349861145 + ], + [ + 0.2803781032562256, + 0.12837880849838257, + 0.07974916696548462, + 0.38635915517807007, + -0.7655568718910217, + 1.2337137460708618, + 0.0, + 0.6229594349861145 + ], + [ + 0.2827720046043396, + 0.1276833415031433, + 0.08658917248249054, + 0.46251678466796875, + -0.8341781497001648, + 1.1486866474151611, + 0.0, + 0.6229594349861145 + ], + [ + 0.28328728675842285, + 0.1309138834476471, + 0.09360925853252411, + 0.5272481441497803, + -0.885702908039093, + 1.0709010362625122, + 0.0, + 0.6229594349861145 + ], + [ + 0.28319740295410156, + 0.1351812332868576, + 0.1012611836194992, + 0.5746039152145386, + -0.9278289079666138, + 1.0070750713348389, + 0.0, + 0.6229594349861145 + ], + [ + 0.28323858976364136, + 0.1404220312833786, + 0.10682277381420135, + 0.6263993382453918, + -0.9875841736793518, + 0.9475642442703247, + 0.0, + 0.6229594349861145 + ], + [ + 0.28544336557388306, + 0.14062580466270447, + 0.09797019511461258, + 0.718529999256134, + -1.0267150402069092, + 0.849719762802124, + 0.0, + 0.6229594349861145 + ], + [ + 0.2868405878543854, + 0.13905099034309387, + 0.08341071009635925, + 0.8524035215377808, + -1.0478764772415161, + 0.7083472013473511, + 0.0, + 0.6229594349861145 + ], + [ + 0.2915896773338318, + 0.13171474635601044, + 0.07593391090631485, + 0.9129541516304016, + -1.079576015472412, + 0.630407989025116, + 0.0, + 0.6229594349861145 + ], + [ + 0.2975980043411255, + 0.12064594775438309, + 0.0692538395524025, + 1.007575273513794, + -1.1180357933044434, + 0.5208386778831482, + 0.0, + 0.6229594349861145 + ], + [ + 0.2985698878765106, + 0.11361698061227798, + 0.06706833839416504, + 1.0863462686538696, + -1.1627460718154907, + 0.44108209013938904, + 0.0, + 0.6229594349861145 + ], + [ + 0.29810309410095215, + 0.10935670882463455, + 0.06019219756126404, + 1.1189604997634888, + -1.1920150518417358, + 0.40852877497673035, + 0.0, + 0.6229594349861145 + ], + [ + 0.29818180203437805, + 0.1084841787815094, + 0.05436765030026436, + 1.1493233442306519, + -1.2100410461425781, + 0.37697914242744446, + 0.0, + 0.6229594349861145 + ], + [ + 0.29966992139816284, + 0.10811708867549896, + 0.05117207393050194, + 1.1689485311508179, + -1.2291479110717773, + 0.35851144790649414, + 0.0, + 0.6229594349861145 + ], + [ + 0.29916834831237793, + 0.10822245478630066, + 0.050318680703639984, + 1.1629904508590698, + -1.2429295778274536, + 0.3679637908935547, + 0.0, + 0.6229594349861145 + ], + [ + 0.2987179458141327, + 0.10596257448196411, + 0.045472025871276855, + 1.2029908895492554, + -1.254265308380127, + 0.3239831328392029, + 0.0, + 0.6229594349861145 + ], + [ + 0.29834219813346863, + 0.10416985303163528, + 0.04106134921312332, + 1.2755613327026367, + -1.2567028999328613, + 0.24983516335487366, + 0.0, + 0.6229594349861145 + ], + [ + 0.29840371012687683, + 0.10310430824756622, + 0.03976038098335266, + 1.3517684936523438, + -1.259361743927002, + 0.17501473426818848, + 0.0, + 0.6229594349861145 + ], + [ + 0.29814624786376953, + 0.10216949135065079, + 0.03910718113183975, + 1.3484833240509033, + -1.2759538888931274, + 0.1823665201663971, + 0.0, + 0.6229594349861145 + ], + [ + 0.29596006870269775, + 0.09593348950147629, + 0.037636008113622665, + 1.301041603088379, + -1.3071407079696655, + 0.23325099050998688, + 0.0, + 0.6229594349861145 + ], + [ + 0.2949548661708832, + 0.09311574697494507, + 0.03913719207048416, + 1.2358537912368774, + -1.3424280881881714, + 0.3047850430011749, + 0.0, + 0.6219554543495178 + ], + [ + 0.29457995295524597, + 0.09103631973266602, + 0.042316097766160965, + 1.1188749074935913, + -1.378867268562317, + 0.4278405010700226, + 0.0, + 0.6219554543495178 + ], + [ + 0.29256200790405273, + 0.08543172478675842, + 0.056320104748010635, + 0.624595582485199, + -1.4151078462600708, + 0.9286704063415527, + 0.0, + 0.6219554543495178 + ], + [ + 0.29205816984176636, + 0.08412126451730728, + 0.06586553901433945, + 0.24681656062602997, + -1.4109716415405273, + 1.3176519870758057, + 0.0, + 0.6219554543495178 + ], + [ + 0.28940919041633606, + 0.08374124765396118, + 0.06792441010475159, + 0.08654984086751938, + -1.3924095630645752, + 1.4908326864242554, + 0.0, + 0.6219554543495178 + ], + [ + 0.289103627204895, + 0.08373335003852844, + 0.06724309176206589, + 0.07616063952445984, + -1.3895190954208374, + 1.5013052225112915, + 0.0, + 0.6219554543495178 + ], + [ + 0.28935492038726807, + 0.08390156179666519, + 0.06437145173549652, + 0.1271495372056961, + -1.3953726291656494, + 1.4485660791397095, + 0.0, + 0.6219554543495178 + ], + [ + 0.28932538628578186, + 0.08723481744527817, + 0.056044500321149826, + 0.2530934512615204, + -1.4036197662353516, + 1.3288623094558716, + 0.0, + 0.6219554543495178 + ], + [ + 0.29011258482933044, + 0.09220904111862183, + 0.05233583599328995, + 0.23524895310401917, + -1.4026917219161987, + 1.3591758012771606, + 0.0, + 0.6219554543495178 + ], + [ + 0.29096630215644836, + 0.09540927410125732, + 0.05148998275399208, + 0.21195127069950104, + -1.4008629322052002, + 1.3916127681732178, + 0.0, + 0.6219554543495178 + ], + [ + 0.290330171585083, + 0.09628676623106003, + 0.04782780632376671, + 0.2780384421348572, + -1.397081732749939, + 1.3291791677474976, + 0.0, + 0.6219554543495178 + ], + [ + 0.29191526770591736, + 0.09589530527591705, + 0.045366059988737106, + 0.2950074374675751, + -1.3958172798156738, + 1.3135473728179932, + 0.0, + 0.6340072751045227 + ], + [ + 0.2921643853187561, + 0.09585170447826385, + 0.04570808634161949, + 0.30579274892807007, + -1.3962548971176147, + 1.3031400442123413, + 0.0, + 0.729983389377594 + ], + [ + 0.2910330295562744, + 0.09578557312488556, + 0.04340355470776558, + 0.3440254330635071, + -1.39100980758667, + 1.2698779106140137, + 0.0, + 0.9837720394134521 + ], + [ + 0.29057925939559937, + 0.09517408907413483, + 0.04328897222876549, + 0.36060991883277893, + -1.3878297805786133, + 1.2573226690292358, + 0.0, + 1.0041072368621826 + ], + [ + 0.2906153202056885, + 0.09196265041828156, + 0.04304681345820427, + 0.3849153518676758, + -1.3843859434127808, + 1.227973222732544, + 0.0, + 1.0008161067962646 + ], + [ + 0.2890709936618805, + 0.08705669641494751, + 0.04422936588525772, + 0.4007936418056488, + -1.3751503229141235, + 1.206197738647461, + 0.0, + 1.0008161067962646 + ], + [ + 0.28945988416671753, + 0.07603727281093597, + 0.04920423403382301, + 0.33036696910858154, + -1.3525745868682861, + 1.2659575939178467, + 0.0, + 1.0008161067962646 + ], + [ + 0.2903399169445038, + 0.059201911091804504, + 0.060859762132167816, + 0.19212397933006287, + -1.3066225051879883, + 1.3939239978790283, + 0.0, + 1.0008161067962646 + ], + [ + 0.2904702425003052, + 0.04274907335639, + 0.07222648710012436, + 0.1513967514038086, + -1.2384538650512695, + 1.4356001615524292, + 0.0, + 1.0008161067962646 + ], + [ + 0.2883661091327667, + 0.026403259485960007, + 0.08851635456085205, + 0.12387023866176605, + -1.0996253490447998, + 1.5226402282714844, + 0.0, + 1.0008161067962646 + ], + [ + 0.28322699666023254, + 0.002052919240668416, + 0.11454267054796219, + 0.16037145256996155, + -0.8529797792434692, + 1.556479811668396, + 0.0, + 1.0008161067962646 + ], + [ + 0.26897671818733215, + -0.002826218493282795, + 0.12672112882137299, + 0.19217872619628906, + -0.6039474010467529, + 1.6295994520187378, + 0.0, + 1.0008161067962646 + ], + [ + 0.2540093660354614, + 0.011207541450858116, + 0.14289984107017517, + 0.13660679757595062, + -0.3535338044166565, + 1.707345724105835, + 0.0, + 1.0008161067962646 + ], + [ + 0.24007894098758698, + 0.021556153893470764, + 0.15621508657932281, + 0.0502779558300972, + -0.23376676440238953, + 1.6597639322280884, + 0.0, + 1.0008161067962646 + ], + [ + 0.224733367562294, + 0.04232005029916763, + 0.16438500583171844, + -0.044704802334308624, + -0.15944354236125946, + 1.6714977025985718, + 0.0, + 1.0001531839370728 + ], + [ + 0.21805039048194885, + 0.04877231642603874, + 0.17515800893306732, + -0.1063670888543129, + -0.2062174677848816, + 1.6832070350646973, + 0.0, + 1.0008161067962646 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9311676621437073 + ], + [ + 0.6691625118255615 + ], + [ + 0.6229594349861145 + ], + [ + 0.6229594349861145 + ], + [ + 0.6229594349861145 + ], + [ + 0.6229594349861145 + ], + [ + 0.6229594349861145 + ], + [ + 0.6229594349861145 + ], + [ + 0.6229594349861145 + ], + [ + 0.6229594349861145 + ], + [ + 0.6229594349861145 + ], + [ + 0.6229594349861145 + ], + [ + 0.6229594349861145 + ], + [ + 0.6229594349861145 + ], + [ + 0.6229594349861145 + ], + [ + 0.6229594349861145 + ], + [ + 0.6229594349861145 + ], + [ + 0.6229594349861145 + ], + [ + 0.6229594349861145 + ], + [ + 0.6229594349861145 + ], + [ + 0.6229594349861145 + ], + [ + 0.6229594349861145 + ], + [ + 0.6229594349861145 + ], + [ + 0.6229594349861145 + ], + [ + 0.6229594349861145 + ], + [ + 0.6229594349861145 + ], + [ + 0.6229594349861145 + ], + [ + 0.6229594349861145 + ], + [ + 0.6229594349861145 + ], + [ + 0.6219554543495178 + ], + [ + 0.6219554543495178 + ], + [ + 0.6219554543495178 + ], + [ + 0.6219554543495178 + ], + [ + 0.6219554543495178 + ], + [ + 0.6219554543495178 + ], + [ + 0.6219554543495178 + ], + [ + 0.6219554543495178 + ], + [ + 0.6219554543495178 + ], + [ + 0.6219554543495178 + ], + [ + 0.6219554543495178 + ], + [ + 0.6340072751045227 + ], + [ + 0.729983389377594 + ], + [ + 0.9837720394134521 + ], + [ + 1.0041072368621826 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.11717711389064789, + -0.017342032864689827, + 0.2397175133228302 + ], + [ + 0.1178528219461441, + -0.017246242612600327, + 0.23751169443130493 + ], + [ + 0.13830645382404327, + -0.018795710057020187, + 0.23249994218349457 + ], + [ + 0.1620129644870758, + -0.01618822291493416, + 0.2233179360628128 + ], + [ + 0.18418607115745544, + -0.008327201008796692, + 0.21376670897006989 + ], + [ + 0.2028547078371048, + -0.002283675828948617, + 0.19489726424217224 + ], + [ + 0.21774671971797943, + 0.01115510892122984, + 0.1801895946264267 + ], + [ + 0.2297201007604599, + 0.02649770863354206, + 0.1700354665517807 + ], + [ + 0.23362860083580017, + 0.04376957565546036, + 0.167131245136261 + ], + [ + 0.23617051541805267, + 0.058676037937402725, + 0.15986794233322144 + ], + [ + 0.23929573595523834, + 0.07096997648477554, + 0.1507323831319809 + ], + [ + 0.2459629625082016, + 0.07871543616056442, + 0.13513682782649994 + ], + [ + 0.2538779079914093, + 0.08399515599012375, + 0.11586182564496994 + ], + [ + 0.26875218749046326, + 0.09149090945720673, + 0.10816941410303116 + ], + [ + 0.2815958857536316, + 0.1084626168012619, + 0.10233378410339355 + ], + [ + 0.2888526916503906, + 0.129449263215065, + 0.09930287301540375 + ], + [ + 0.2886175215244293, + 0.14644888043403625, + 0.09365011006593704 + ], + [ + 0.2869820296764374, + 0.15258389711380005, + 0.08565716445446014 + ], + [ + 0.2857864499092102, + 0.14792469143867493, + 0.07367163151502609 + ], + [ + 0.2870165705680847, + 0.1372402161359787, + 0.06841032952070236 + ], + [ + 0.2871197760105133, + 0.12930254638195038, + 0.06291299313306808 + ], + [ + 0.2872436046600342, + 0.12962619960308075, + 0.05947854369878769 + ], + [ + 0.2866322100162506, + 0.13175441324710846, + 0.058566026389598846 + ], + [ + 0.2832798361778259, + 0.13739825785160065, + 0.0492471382021904 + ], + [ + 0.28449738025665283, + 0.145671546459198, + 0.046977922320365906 + ], + [ + 0.2829122841358185, + 0.1518540233373642, + 0.039935506880283356 + ], + [ + 0.28270435333251953, + 0.1554657369852066, + 0.035435114055871964 + ], + [ + 0.28215491771698, + 0.15674157440662384, + 0.03059483878314495 + ], + [ + 0.282370924949646, + 0.15829716622829437, + 0.03077162243425846 + ], + [ + 0.2828757166862488, + 0.15811116993427277, + 0.02988574467599392 + ], + [ + 0.28151237964630127, + 0.15537983179092407, + 0.027437008917331696 + ], + [ + 0.2859025001525879, + 0.14785586297512054, + 0.027309341356158257 + ], + [ + 0.2852088510990143, + 0.14580243825912476, + 0.019536908715963364 + ], + [ + 0.28531697392463684, + 0.14593979716300964, + 0.016231149435043335 + ], + [ + 0.2842039167881012, + 0.14691001176834106, + 0.015350202098488808 + ], + [ + 0.28333914279937744, + 0.1472354531288147, + 0.01502980850636959 + ], + [ + 0.2828620970249176, + 0.14396555721759796, + 0.017995374277234077 + ], + [ + 0.2889043390750885, + 0.13489723205566406, + 0.03313365578651428 + ], + [ + 0.28891268372535706, + 0.12466760724782944, + 0.0478927344083786 + ], + [ + 0.2879979610443115, + 0.12302151322364807, + 0.054948803037405014 + ], + [ + 0.2862562835216522, + 0.12381598353385925, + 0.06556475907564163 + ], + [ + 0.2816825211048126, + 0.12655852735042572, + 0.07110187411308289 + ], + [ + 0.2801075279712677, + 0.12644606828689575, + 0.07467755675315857 + ], + [ + 0.2803781032562256, + 0.12837880849838257, + 0.07974916696548462 + ], + [ + 0.2827720046043396, + 0.1276833415031433, + 0.08658917248249054 + ], + [ + 0.28328728675842285, + 0.1309138834476471, + 0.09360925853252411 + ], + [ + 0.28319740295410156, + 0.1351812332868576, + 0.1012611836194992 + ], + [ + 0.28323858976364136, + 0.1404220312833786, + 0.10682277381420135 + ], + [ + 0.28544336557388306, + 0.14062580466270447, + 0.09797019511461258 + ], + [ + 0.2868405878543854, + 0.13905099034309387, + 0.08341071009635925 + ], + [ + 0.2915896773338318, + 0.13171474635601044, + 0.07593391090631485 + ], + [ + 0.2975980043411255, + 0.12064594775438309, + 0.0692538395524025 + ], + [ + 0.2985698878765106, + 0.11361698061227798, + 0.06706833839416504 + ], + [ + 0.29810309410095215, + 0.10935670882463455, + 0.06019219756126404 + ], + [ + 0.29818180203437805, + 0.1084841787815094, + 0.05436765030026436 + ], + [ + 0.29966992139816284, + 0.10811708867549896, + 0.05117207393050194 + ], + [ + 0.29916834831237793, + 0.10822245478630066, + 0.050318680703639984 + ], + [ + 0.2987179458141327, + 0.10596257448196411, + 0.045472025871276855 + ], + [ + 0.29834219813346863, + 0.10416985303163528, + 0.04106134921312332 + ], + [ + 0.29840371012687683, + 0.10310430824756622, + 0.03976038098335266 + ], + [ + 0.29814624786376953, + 0.10216949135065079, + 0.03910718113183975 + ], + [ + 0.29596006870269775, + 0.09593348950147629, + 0.037636008113622665 + ], + [ + 0.2949548661708832, + 0.09311574697494507, + 0.03913719207048416 + ], + [ + 0.29457995295524597, + 0.09103631973266602, + 0.042316097766160965 + ], + [ + 0.29256200790405273, + 0.08543172478675842, + 0.056320104748010635 + ], + [ + 0.29205816984176636, + 0.08412126451730728, + 0.06586553901433945 + ], + [ + 0.28940919041633606, + 0.08374124765396118, + 0.06792441010475159 + ], + [ + 0.289103627204895, + 0.08373335003852844, + 0.06724309176206589 + ], + [ + 0.28935492038726807, + 0.08390156179666519, + 0.06437145173549652 + ], + [ + 0.28932538628578186, + 0.08723481744527817, + 0.056044500321149826 + ], + [ + 0.29011258482933044, + 0.09220904111862183, + 0.05233583599328995 + ], + [ + 0.29096630215644836, + 0.09540927410125732, + 0.05148998275399208 + ], + [ + 0.290330171585083, + 0.09628676623106003, + 0.04782780632376671 + ], + [ + 0.29191526770591736, + 0.09589530527591705, + 0.045366059988737106 + ], + [ + 0.2921643853187561, + 0.09585170447826385, + 0.04570808634161949 + ], + [ + 0.2910330295562744, + 0.09578557312488556, + 0.04340355470776558 + ], + [ + 0.29057925939559937, + 0.09517408907413483, + 0.04328897222876549 + ], + [ + 0.2906153202056885, + 0.09196265041828156, + 0.04304681345820427 + ], + [ + 0.2890709936618805, + 0.08705669641494751, + 0.04422936588525772 + ], + [ + 0.28945988416671753, + 0.07603727281093597, + 0.04920423403382301 + ], + [ + 0.2903399169445038, + 0.059201911091804504, + 0.060859762132167816 + ], + [ + 0.2904702425003052, + 0.04274907335639, + 0.07222648710012436 + ], + [ + 0.2883661091327667, + 0.026403259485960007, + 0.08851635456085205 + ], + [ + 0.28322699666023254, + 0.002052919240668416, + 0.11454267054796219 + ], + [ + 0.26897671818733215, + -0.002826218493282795, + 0.12672112882137299 + ], + [ + 0.2540093660354614, + 0.011207541450858116, + 0.14289984107017517 + ], + [ + 0.24007894098758698, + 0.021556153893470764, + 0.15621508657932281 + ], + [ + 0.224733367562294, + 0.04232005029916763, + 0.16438500583171844 + ], + [ + 0.21805039048194885, + 0.04877231642603874, + 0.17515800893306732 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9942507473760764, + 0.0306681455400746, + 0.1025910141837291, + 0.033998829989539084, + -0.9989448264235267, + -0.03087577239540048, + 0.10153586017489447, + 0.034186234229627556, + -0.9942443213253678 + ], + [ + 0.9933493795467193, + 0.05218114878116775, + 0.10263594821516066, + 0.055601457274680466, + -0.9979794452352937, + -0.030749062372485276, + 0.10082404526242432, + 0.0362512703188832, + -0.9942436106393581 + ], + [ + 0.9600213251612107, + 0.24261061272238024, + 0.1396393419856445, + 0.24891224316136704, + -0.9680821794487151, + -0.02931874891945559, + 0.1280693188866445, + 0.06290456603694862, + -0.98976828860679 + ], + [ + 0.8979558884164413, + 0.41085939059103643, + 0.15770156505692082, + 0.41883917976882484, + -0.9078474341448752, + -0.01966666741328605, + 0.13508872620917736, + 0.08371139396598862, + -0.9872909594296169 + ], + [ + 0.7737177710023587, + 0.606298559585172, + 0.18374674821636275, + 0.6133075977979021, + -0.7895199573877874, + 0.022628021781707607, + 0.1587910618344384, + 0.09518557417661774, + -0.982713134719466 + ], + [ + 0.6853201540925229, + 0.7082037182562873, + 0.16965783165704312, + 0.7097236095296375, + -0.7017188800679872, + 0.06231381413741323, + 0.16318297849599067, + 0.07770525596186338, + -0.9835309902209883 + ], + [ + 0.5988570171864824, + 0.7845389797182619, + 0.16083800007814536, + 0.7802109691776343, + -0.6168391415655152, + 0.1038283054259027, + 0.18066852670403122, + 0.06330926263467908, + -0.9815043661254125 + ], + [ + 0.486114549254265, + 0.8592096304970765, + 0.15953512423412983, + 0.8493058237862295, + -0.5074983578248212, + 0.14534453717943063, + 0.20584523964890702, + 0.06484001593295745, + -0.9764340784956745 + ], + [ + 0.3554943386156969, + 0.9208509056402503, + 0.16017922709801805, + 0.9045231223437193, + -0.3821152098583118, + 0.18927727687312765, + 0.23550307080324143, + 0.07759881427231033, + -0.96877073018634 + ], + [ + 0.24650437451319185, + 0.959490321554923, + 0.13643282665213086, + 0.9384246514800761, + -0.2714763645731688, + 0.21368143806291032, + 0.24206355950526204, + 0.07535851856669049, + -0.967329482047909 + ], + [ + 0.1705859657462891, + 0.9786840162053497, + 0.11435919164882744, + 0.9522039081848853, + -0.19358119051433315, + 0.23629227646388387, + 0.2533932625936154, + 0.068585123045897, + -0.9649289794430171 + ], + [ + 0.13689178988999257, + 0.9869181414667105, + 0.08516583766163703, + 0.9567875404864932, + -0.15399812306897825, + 0.246662077468425, + 0.2565506582149451, + 0.04771959906711294, + -0.9653520599420466 + ], + [ + 0.11921753012627517, + 0.9918169781428494, + 0.04567562126755072, + 0.9592527779024309, + -0.1269285159073416, + 0.252434664687774, + 0.25616652512976756, + 0.01371982934098652, + -0.96653529562339 + ], + [ + 0.1050425869167777, + 0.9938408463109927, + 0.0353047749983032, + 0.9592305790944364, + -0.1106233086114572, + 0.26007533470517014, + 0.26237902176809635, + 0.006546433815743269, + -0.9649426890444389 + ], + [ + 0.07221762043166918, + 0.9971135637081566, + 0.023434085610653188, + 0.9604763546341116, + -0.07585853019733818, + 0.267825793352821, + 0.26883040655393836, + 0.0031661436353391803, + -0.9631823233669339 + ], + [ + 0.04023306209005667, + 0.9990805127956964, + 0.014813158567495072, + 0.9632376661698129, + -0.042722206961522124, + 0.2652319956265998, + 0.26562096902652366, + 0.003597496938842676, + -0.9640708266663738 + ], + [ + 0.03843967055483333, + 0.9992459565392519, + 0.005469009745040665, + 0.9652383933412941, + -0.0385463221354303, + 0.2585131042515031, + 0.2585289843471187, + -0.004658260382064128, + -0.9659922695667186 + ], + [ + 0.03395353652368288, + 0.999421752947382, + 0.0018212888614493605, + 0.9719566650269885, + -0.033444646113421295, + 0.23276962206431134, + 0.23269593607785516, + -0.006133138016539322, + -0.9725301979634982 + ], + [ + 0.03967141502088839, + 0.9991910271149981, + -0.006593190662758805, + 0.979767640278092, + -0.037603138108857015, + 0.1965740956185869, + 0.19616714784626793, + -0.0142581673871955, + -0.980466804521509 + ], + [ + 0.05061613860771241, + 0.998639082082261, + -0.012569417263501165, + 0.9804150910653713, + -0.04728614180731339, + 0.19118124909168854, + 0.19032670785710673, + -0.022000102974254657, + -0.9814742685090616 + ], + [ + 0.055868684893485454, + 0.998309229528906, + -0.01604282661110744, + 0.9809904890676855, + -0.05189456989293889, + 0.18698827229099035, + 0.1858395824549095, + -0.02618464918666097, + -0.9822311406893777 + ], + [ + 0.057919246542367075, + 0.9982345404736593, + -0.013159144550713694, + 0.9803248873537574, + -0.05437869954339186, + 0.18975266077399844, + 0.18870208296361518, + -0.02389056804078958, + -0.9817437367479771 + ], + [ + 0.06946177037484602, + 0.9975219386915332, + -0.01118232021887157, + 0.977162000852135, + -0.06577892611016001, + 0.2020583009194285, + 0.2008220270464482, + -0.024962265700038705, + -0.9793096541666872 + ], + [ + 0.06975109143376629, + 0.9968576091156318, + -0.037545870506154724, + 0.9795447353460456, + -0.06132113689873847, + 0.19165549724777525, + 0.1887508852949945, + -0.05014603990060172, + -0.9807438391255096 + ], + [ + 0.0686299911973629, + 0.9968015589927157, + -0.04094601687516672, + 0.9790890684231159, + -0.059418415587724205, + 0.1945611677169923, + 0.19150592785239054, + -0.05344252874570998, + -0.9800353951356344 + ], + [ + 0.06911887619831997, + 0.995803449862964, + -0.05998391612841204, + 0.9806901392676721, + -0.056797235600810236, + 0.1871387847862105, + 0.18294652687666657, + -0.07176045755933491, + -0.9805003850252378 + ], + [ + 0.06192700925612549, + 0.9956101426748839, + -0.07018183046550602, + 0.9819818296993809, + -0.04819878217746043, + 0.18272537737508138, + 0.17854056027930437, + -0.08023291842820503, + -0.9806558760011818 + ], + [ + 0.056898444154443895, + 0.9953207265983944, + -0.07809749199844968, + 0.9823896525827617, + -0.0418714737139928, + 0.18209159834363417, + 0.17796948488750708, + -0.08708289667129068, + -0.9801752045201985 + ], + [ + 0.04669454709629517, + 0.9960521751800396, + -0.07549624885107264, + 0.9814556698001783, + -0.03168089585747225, + 0.1890531381774736, + 0.18591500070880457, + -0.0829239721478609, + -0.9790603798309201 + ], + [ + 0.034389204467497936, + 0.99698434281392, + -0.06956725379076702, + 0.9810928173944866, + -0.020411752492432433, + 0.1924584215282261, + 0.19045804334036748, + -0.07487042502940697, + -0.9788361217195015 + ], + [ + 0.0329971680769372, + 0.9968374970852808, + -0.07229240142404222, + 0.9813704855841673, + -0.018617520871220927, + 0.19122070479136166, + 0.18927006346276157, + -0.0772553708253488, + -0.9788812240284517 + ], + [ + 0.05250786687368786, + 0.9961854024661596, + -0.0696962540579485, + 0.9783759492719917, + -0.03733607539604872, + 0.2034367699314686, + 0.2000585559342659, + -0.07887116955742189, + -0.9766042764652119 + ], + [ + 0.05595787820736875, + 0.9945224576962437, + -0.0882824841310686, + 0.9794323454592857, + -0.03750992041133361, + 0.19825560909809806, + 0.19385818665883503, + -0.09756068372330376, + -0.9761664389113107 + ], + [ + 0.05301376567640853, + 0.9942886586604195, + -0.09262615131846605, + 0.9791148154251276, + -0.03352416473559866, + 0.2005250822061902, + 0.1962746006589384, + -0.10132222677204133, + -0.9752999987173843 + ], + [ + 0.050461999462159846, + 0.9943071078875874, + -0.09384541445644634, + 0.9774905783575247, + -0.029896705370060117, + 0.20885008075240763, + 0.20485545106868003, + -0.10227200111583339, + -0.9734344774843401 + ], + [ + 0.0695356566911779, + 0.9928053487371483, + -0.09747990545459176, + 0.9754934356896657, + -0.047222770018063076, + 0.21490129575736205, + 0.20875188472178816, + -0.11003431060687668, + -0.9717587669346599 + ], + [ + 0.10241066985887026, + 0.990229447061603, + -0.09464511012793915, + 0.9687038285469182, + -0.07765066870704862, + 0.23576103623773628, + 0.2261082644610774, + -0.11582752618190731, + -0.9671913135057506 + ], + [ + 0.14220685743663725, + 0.9884245164066867, + -0.05286005168559177, + 0.9516504610264567, + -0.12183560344380578, + 0.28198844969540177, + 0.27228406072726397, + -0.09040498382108808, + -0.9579605050179159 + ], + [ + 0.16670540123625027, + 0.9857933282839846, + -0.0205139735167299, + 0.9346774067372965, + -0.15136765166291893, + 0.3216612804875585, + 0.3139863922744159, + -0.07279662039433918, + -0.9466325567640589 + ], + [ + 0.17280130484227274, + 0.9847038940634668, + -0.022314794667501248, + 0.9110254245228774, + -0.15117802070509878, + 0.3836376961777868, + 0.3743960268455303, + -0.08662243977130613, + -0.9232140423598134 + ], + [ + 0.17247863115483236, + 0.9834450461724437, + -0.05556044414721242, + 0.8496365990802505, + -0.11999850477213464, + 0.5135348170823452, + 0.4983661016745632, + -0.13577996910933587, + -0.8562680822559993 + ], + [ + 0.19049028980129623, + 0.9758926777611044, + -0.10652197418222942, + 0.7834062882854619, + -0.0857262616116733, + 0.6155693263515354, + 0.5915978676146613, + -0.20070996378443276, + -0.7808504808677764 + ], + [ + 0.21708278546746285, + 0.9673253155904994, + -0.13098396112283706, + 0.7315825051267671, + -0.07238519987314751, + 0.677899270564417, + 0.6462678256312406, + -0.24298583633015702, + -0.7233918584673198 + ], + [ + 0.2384589995247316, + 0.9605179688307022, + -0.14332667964830043, + 0.6804214797393384, + -0.05993822085445477, + 0.7303656752546167, + 0.692938608720133, + -0.27168481966084357, + -0.6678498658462557 + ], + [ + 0.2752215142360165, + 0.9517911924428153, + -0.13544978438490762, + 0.6128217325450167, + -0.06513047097960656, + 0.7875325681332161, + 0.7407446538599913, + -0.2997524774514106, + -0.6012036344198057 + ], + [ + 0.30329613675551015, + 0.9452060348072784, + -0.12081806650118454, + 0.5553180498258379, + -0.07229031055900215, + 0.8284901776948902, + 0.774359940187256, + -0.3183703233079126, + -0.5468153438501924 + ], + [ + 0.3203730381101908, + 0.9419512394177871, + -0.10044390977725404, + 0.5068025788548403, + -0.08085202540337699, + 0.8582622536580851, + 0.8003201000338113, + -0.3258693182051151, + -0.5032861263082897 + ], + [ + 0.3214276584740071, + 0.9434350152453752, + -0.08133039024175126, + 0.4471727940206951, + -0.07551944221796081, + 0.8912537832373071, + 0.8346980008695611, + -0.3228423544952654, + -0.4461525092256138 + ], + [ + 0.3417375311942694, + 0.9372431401003094, + -0.06921528811005317, + 0.38879121789155663, + -0.07394069669605863, + 0.9183540506049406, + 0.8556032074879372, + -0.34074634217701205, + -0.38966021304380144 + ], + [ + 0.37927248259958746, + 0.9235429984411762, + -0.05675133454842762, + 0.3249071365659518, + -0.07549977941187525, + 0.9427274982290865, + 0.8663646671877032, + -0.37598951227266975, + -0.328700699892319 + ], + [ + 0.3810349881680737, + 0.9240418454690367, + -0.030967815775946594, + 0.2780563939961487, + -0.08258583655929547, + 0.9570079526094126, + 0.8817578916854754, + -0.3732643130838768, + -0.28840383670888836 + ], + [ + 0.3794447140846152, + 0.9252044544277616, + -0.00429260530132386, + 0.21767831999293707, + -0.08476293632099885, + 0.9723329643858091, + 0.8992429360068932, + -0.3698810107768046, + -0.23355979942711091 + ], + [ + 0.35884082809304, + 0.9333575047782979, + 0.008776580628616137, + 0.169409874523763, + -0.07437261329812028, + 0.9827354724467061, + 0.9178962656571514, + -0.35115877130613943, + -0.1848079079136449 + ], + [ + 0.3393571415294924, + 0.9405397291152929, + 0.01489122052295816, + 0.14690199700845608, + -0.06862699420344437, + 0.9867675202100685, + 0.9291159958626585, + -0.3326790549799186, + -0.16145622505747076 + ], + [ + 0.3281949875854271, + 0.9443983658588535, + 0.019994416393785908, + 0.12993704135378353, + -0.06610080352378866, + 0.9893164554669724, + 0.9356304908499007, + -0.32209068651023776, + -0.14440628191092397 + ], + [ + 0.3137388582295771, + 0.94925080785993, + 0.022154742473605937, + 0.11755931595405494, + -0.06198692803189887, + 0.9911293699540857, + 0.9422036595498959, + -0.3083513005168596, + -0.13104098366673436 + ], + [ + 0.3004684097518161, + 0.9535795387557928, + 0.020119592627687533, + 0.1158373249976174, + -0.05742172903562892, + 0.9916070084322494, + 0.9467314555240103, + -0.29561598113236054, + -0.12771351855046797 + ], + [ + 0.2950778577494306, + 0.9550951863774867, + 0.026874575802436795, + 0.09909181501431841, + -0.05856562907439772, + 0.9933533506704895, + 0.9503209300353093, + -0.2904535282100636, + -0.11192353589460502 + ], + [ + 0.29936232964834836, + 0.9536163729194416, + 0.031591278661713906, + 0.07638719139664024, + -0.056956854778354216, + 0.9954501060747798, + 0.9510768594483028, + -0.29558709375364467, + -0.08989481313305808 + ], + [ + 0.30174357433032684, + 0.9527931063354327, + 0.033706258618180274, + 0.05335544907424167, + -0.05217495339465544, + 0.99721159755207, + 0.9518949581778677, + -0.29910377924383147, + -0.0665801609911903 + ], + [ + 0.28577032774905486, + 0.9578101233909984, + 0.030579197306640216, + 0.0527004691459399, + -0.04756920711884116, + 0.9974767321025002, + 0.9568479400249528, + -0.2834377146108214, + -0.06407091076455018 + ], + [ + 0.2535542436929484, + 0.9669291689835869, + 0.02753593423159767, + 0.06023820185199236, + -0.04419416666024051, + 0.9972052119152033, + 0.9654437345298459, + -0.2511868981493995, + -0.06945169296098991 + ], + [ + 0.21595452198196627, + 0.976155275609591, + 0.022011868051205585, + 0.06793648095779131, + -0.037511117808827876, + 0.996984227857093, + 0.9740371034979171, + -0.21380784349573212, + -0.07441724980871312 + ], + [ + 0.1735591572433335, + 0.9846804337296442, + 0.0167827997361511, + 0.07914469257194728, + -0.0309322531370243, + 0.996383115750944, + 0.9816380883883202, + -0.17160314433560647, + -0.08330080599524375 + ], + [ + 0.09286549601351543, + 0.9956104653245295, + 0.011653368029807931, + 0.12417605640918711, + -0.02319349374712376, + 0.9919890971489883, + 0.9879050089278962, + -0.09067449026091368, + -0.12578485660482874 + ], + [ + 0.0398577894184699, + 0.9992001337572947, + 0.0032325411175913588, + 0.1540731274460969, + -0.009342286865376359, + 0.9880152797781536, + 0.9872551990350069, + -0.03888205724404287, + -0.154322252455112 + ], + [ + 0.01417380551217684, + 0.9998687397523783, + -0.007848981035408431, + 0.17687517212143156, + 0.0052188105773485205, + 0.9842194559665909, + 0.9841312294223354, + -0.015338425021786617, + -0.1767779850364125 + ], + [ + 0.012518194064099597, + 0.9998911907739733, + -0.007803936825673985, + 0.17985089640714047, + 0.005425750090893966, + 0.9836789193113264, + 0.9836142281803986, + -0.01371742864230513, + -0.17976340637772104 + ], + [ + 0.02127919800634026, + 0.9997506137272223, + -0.006775402884626858, + 0.17322324588548293, + 0.002987638935193604, + 0.9848780539226621, + 0.9846526813131137, + -0.02213107240137624, + -0.17311647182535977 + ], + [ + 0.039865985255872705, + 0.999101369963991, + -0.014392906435292507, + 0.16155280960723117, + 0.007769922310161603, + 0.9868334803883094, + 0.9860585139471127, + -0.041666303452197406, + -0.1610978777918602 + ], + [ + 0.035143388235442774, + 0.999030729703301, + -0.02650553473944328, + 0.16358150283271927, + 0.020413880016604324, + 0.9863185922579263, + 0.9859036637493152, + -0.03899839241761871, + -0.16270553523011871 + ], + [ + 0.030141038085048033, + 0.9989231373972058, + -0.03527156639105394, + 0.16640906584909837, + 0.029780230000878316, + 0.98560700114413, + 0.9855960331831628, + -0.0355767265725449, + -0.16533225910268162 + ], + [ + 0.04135649793023177, + 0.9983484042831077, + -0.039876104929132794, + 0.16782155210862554, + 0.03240232148630562, + 0.9852847386467274, + 0.9849495249639946, + -0.04743999607578586, + -0.1662043322104776 + ], + [ + 0.044291516843466716, + 0.9981576924867099, + -0.04146664280251494, + 0.16835890466365416, + 0.0334559533308702, + 0.9851578444123446, + 0.9847301867801959, + -0.05061541382157314, + -0.16656692086819458 + ], + [ + 0.04592727842290528, + 0.9980631830168794, + -0.04195912061614637, + 0.16747323211309834, + 0.03371603049380728, + 0.9852999268310807, + 0.9848062761895139, + -0.052279173615848606, + -0.16560038159311924 + ], + [ + 0.05300166003734366, + 0.9974597289729961, + -0.04759110326945026, + 0.17078422370631596, + 0.03790164378755517, + 0.9845792067331265, + 0.9838818897440471, + -0.06031214202230678, + -0.16834153545208086 + ], + [ + 0.05610618613175297, + 0.9970731479017036, + -0.051934897815783865, + 0.1730807671012904, + 0.04151622399303506, + 0.9840322409377594, + 0.9833082649593552, + -0.06419922802298295, + -0.17024486830408453 + ], + [ + 0.062299067149376525, + 0.9969276518174007, + -0.04747718688129071, + 0.17454805560588327, + 0.03595345423951829, + 0.9839920352383207, + 0.9826758379631215, + -0.06958883653353026, + -0.1717719165445465 + ], + [ + 0.06931813436865925, + 0.9966909934446151, + -0.04245067530716634, + 0.1816217372072772, + 0.029233258941860296, + 0.9829338539013948, + 0.9809222909188369, + -0.07584510635515057, + -0.17899435471689223 + ], + [ + 0.06497833164993949, + 0.9973651266071217, + -0.0322586522339397, + 0.20651250874730565, + 0.018186912375722564, + 0.97827492043348, + 0.9762839751562475, + -0.07022848742638255, + -0.20478661920867275 + ], + [ + 0.045943036496878864, + 0.9987181696295768, + -0.021242764631604405, + 0.25703818886180035, + 0.008730272358879854, + 0.9663618120617063, + 0.9653085552630782, + -0.04985779774806609, + -0.2563076142833471 + ], + [ + 0.043974610679691495, + 0.9987564338177125, + -0.02349083913559935, + 0.32328106991139005, + 0.008022469761494067, + 0.9462689838602303, + 0.9452806902991917, + -0.04920595377239384, + -0.32252626352102326 + ], + [ + 0.021851049149115842, + 0.9964869911081574, + -0.08084681937648197, + 0.45340374893576907, + 0.06219468927666916, + 0.889132645377937, + 0.8910373572988243, + -0.05608473212906662, + -0.4504519183219645 + ], + [ + 0.009416245457200323, + 0.9887888267124587, + -0.1490234561741502, + 0.6576741643581805, + 0.10613699332884863, + 0.7457879270830823, + 0.7532436709705956, + -0.10503139918953314, + -0.6493014533535484 + ], + [ + -0.0483729825418962, + 0.9735193242620214, + -0.2234282431753394, + 0.8216776689999957, + 0.16596683026050002, + 0.5452529867135216, + 0.5678959964876799, + -0.15721048483386718, + -0.8079473996687937 + ], + [ + -0.12770678615017456, + 0.9750440239760582, + -0.1816043173489268, + 0.9294224006990511, + 0.1815667899292554, + 0.3212592440282428, + 0.34621521897514274, + -0.12776013503187034, + -0.9294150687645601 + ], + [ + -0.08643362434637286, + 0.993751955725459, + -0.07061358986891401, + 0.9689533175771252, + 0.10033361891373299, + 0.22597042565777567, + 0.23164346944956726, + -0.04888982928482058, + -0.9715714526754418 + ], + [ + -0.0992561036505541, + 0.9946531740887673, + 0.028518225106956605, + 0.982313943672121, + 0.09337140428193952, + 0.1622994052045287, + 0.15876883181353846, + 0.0441230567567478, + -0.9863293638065356 + ], + [ + -0.10979741990291447, + 0.9905110943769014, + 0.08265771893136525, + 0.9726347130724983, + 0.08993877939370865, + 0.2142258875289096, + 0.20475898395196795, + 0.10391721646312185, + -0.9732805200010503 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + 0.0006757080554962158, + 9.579025208950043e-05, + -0.0022058188915252686, + -0.002074413001537323, + 0.0007154867053031921, + 0.02173326164484024, + 1.0 + ], + [ + 0.02045363187789917, + -0.0015494674444198608, + -0.005011752247810364, + -0.027024466544389725, + -0.02742636948823929, + 0.19777612388134003, + 1.0 + ], + [ + 0.023706510663032532, + 0.002607487142086029, + -0.009182006120681763, + -0.021117188036441803, + -0.007080987095832825, + 0.18274644017219543, + 1.0 + ], + [ + 0.02217310667037964, + 0.007861021906137466, + -0.00955122709274292, + -0.011972099542617798, + -0.023963049054145813, + 0.23382124304771423, + 1.0 + ], + [ + 0.018668636679649353, + 0.006043525412678719, + -0.018869444727897644, + 0.017716124653816223, + -0.004449963569641113, + 0.13263016939163208, + 1.0 + ], + [ + 0.014892011880874634, + 0.013438784517347813, + -0.014707669615745544, + 0.014429599046707153, + -0.017750099301338196, + 0.11326324939727783, + 1.0 + ], + [ + 0.011973381042480469, + 0.015342599712312222, + -0.010154128074645996, + -0.0018945187330245972, + -0.025661244988441467, + 0.1347905397415161, + 1.0 + ], + [ + 0.003908500075340271, + 0.017271867021918297, + -0.0029042214155197144, + -0.013622075319290161, + -0.030408799648284912, + 0.14537978172302246, + 1.0 + ], + [ + 0.0025419145822525024, + 0.014906462281942368, + -0.007263302803039551, + 0.002182990312576294, + -0.006755933165550232, + 0.11759769916534424, + 1.0 + ], + [ + 0.003125220537185669, + 0.012293938547372818, + -0.00913555920124054, + 0.006788082420825958, + -0.011694297194480896, + 0.07960760593414307, + 1.0 + ], + [ + 0.006667226552963257, + 0.007745459675788879, + -0.015595555305480957, + 0.021566439419984818, + -0.0032653212547302246, + 0.03515815734863281, + 1.0 + ], + [ + 0.007914945483207703, + 0.005279719829559326, + -0.01927500218153, + 0.03519821912050247, + 0.000397413969039917, + 0.018462300300598145, + 1.0 + ], + [ + 0.014874279499053955, + 0.007495753467082977, + -0.007692411541938782, + 0.0074097346514463425, + -0.006432473659515381, + 0.01457512378692627, + 1.0 + ], + [ + 0.012843698263168335, + 0.016971707344055176, + -0.005835629999637604, + 0.0034970103297382593, + -0.00669175386428833, + 0.03402435779571533, + 1.0 + ], + [ + 0.007256805896759033, + 0.0209866464138031, + -0.003030911087989807, + -0.0004443940706551075, + 0.0033305585384368896, + 0.03330385684967041, + 1.0 + ], + [ + -0.0002351701259613037, + 0.016999617218971252, + -0.005652762949466705, + 0.008553768508136272, + 0.007348865270614624, + 0.0019413232803344727, + 1.0 + ], + [ + -0.0016354918479919434, + 0.006135016679763794, + -0.007992945611476898, + 0.0014840723015367985, + 0.026650309562683105, + 0.004884004592895508, + 1.0 + ], + [ + -0.0011955797672271729, + -0.004659205675125122, + -0.011985532939434052, + 0.008234908804297447, + 0.037401214241981506, + -0.0055495500564575195, + 1.0 + ], + [ + 0.0012301206588745117, + -0.010684475302696228, + -0.0052613019943237305, + 0.007870412431657314, + 0.005952656269073486, + -0.01111292839050293, + 1.0 + ], + [ + 0.00010320544242858887, + -0.00793766975402832, + -0.005497336387634277, + 0.004240414127707481, + 0.004568666219711304, + -0.005308389663696289, + 1.0 + ], + [ + 0.00012382864952087402, + 0.0003236532211303711, + -0.0034344494342803955, + -0.002321995794773102, + -0.002914056181907654, + -0.002123236656188965, + 1.0 + ], + [ + -0.0006113946437835693, + 0.00212821364402771, + -0.0009125173091888428, + 0.0011541079729795456, + -0.012356653809547424, + -0.011952757835388184, + 1.0 + ], + [ + -0.0033523738384246826, + 0.0056438446044921875, + -0.009318888187408447, + 0.02560199424624443, + 0.012306958436965942, + -0.00012183189392089844, + 1.0 + ], + [ + 0.0012175440788269043, + 0.008273288607597351, + -0.0022692158818244934, + 0.003391135483980179, + -0.002806231379508972, + 0.0011063814163208008, + 1.0 + ], + [ + -0.0015850961208343506, + 0.006182476878166199, + -0.00704241544008255, + 0.018580064177513123, + 0.008713513612747192, + -0.0003821849822998047, + 1.0 + ], + [ + -0.0002079308032989502, + 0.0036117136478424072, + -0.004500392824411392, + 0.008576415479183197, + 0.004479750990867615, + 0.007383584976196289, + 1.0 + ], + [ + -0.0005494356155395508, + 0.0012758374214172363, + -0.004840275272727013, + 0.0069778114557266235, + 0.0005803704261779785, + 0.0051261186599731445, + 1.0 + ], + [ + 0.00021600723266601562, + 0.0015555918216705322, + 0.00017678365111351013, + -0.0041157156229019165, + -0.008080407977104187, + 0.010312795639038086, + 1.0 + ], + [ + 0.0005047917366027832, + -0.00018599629402160645, + -0.0008858777582645416, + -0.008155256509780884, + -0.004625692963600159, + 0.012503385543823242, + 1.0 + ], + [ + -0.0013633370399475098, + -0.002731338143348694, + -0.002448735758662224, + 0.0024182721972465515, + 0.0012099891901016235, + 0.00142669677734375, + 1.0 + ], + [ + 0.004390120506286621, + -0.007523968815803528, + -0.00012766756117343903, + 0.0018268674612045288, + -0.010998964309692383, + -0.02000606060028076, + 1.0 + ], + [ + -0.0006936490535736084, + -0.0020534247159957886, + -0.007772432640194893, + 0.019026167690753937, + 0.006324261426925659, + -0.003453969955444336, + 1.0 + ], + [ + 0.0001081228256225586, + 0.0001373589038848877, + -0.0033057592809200287, + 0.0039050281047821045, + -0.0024637430906295776, + 0.0029791593551635742, + 0.0 + ], + [ + -0.0011130571365356445, + 0.0009702146053314209, + -0.0008809473365545273, + 0.001162104308605194, + -0.00875885784626007, + 0.0025135278701782227, + 0.0 + ], + [ + -0.0008647739887237549, + 0.0003254413604736328, + -0.0003203935921192169, + 0.008072853088378906, + -0.003982529044151306, + -0.019583940505981445, + 0.0 + ], + [ + -0.00047704577445983887, + -0.003269895911216736, + 0.0029655657708644867, + 0.00643707811832428, + -0.017782062292099, + -0.03416585922241211, + 0.0 + ], + [ + 0.0060422420501708984, + -0.009068325161933899, + 0.015138281509280205, + -0.02509528398513794, + -0.04768536984920502, + -0.043006181716918945, + 0.0 + ], + [ + 8.344650268554688e-06, + -0.010229624807834625, + 0.014759078621864319, + -0.017344117164611816, + -0.043622881174087524, + -0.02816593647003174, + 0.0 + ], + [ + -0.0009147226810455322, + -0.001646094024181366, + 0.007056068629026413, + 0.016803592443466187, + -0.0643564760684967, + -0.010950803756713867, + 0.0 + ], + [ + -0.0017416775226593018, + 0.0007944703102111816, + 0.010615956038236618, + 0.06370925158262253, + -0.1379677951335907, + -0.012830257415771484, + 0.0 + ], + [ + -0.0045737624168396, + 0.0027425438165664673, + 0.005537115037441254, + 0.0943312793970108, + -0.11132615804672241, + -0.03824615478515625, + 0.0 + ], + [ + -0.0015749931335449219, + -0.00011245906352996826, + 0.0035756826400756836, + 0.07246324419975281, + -0.06964421272277832, + -0.04992711544036865, + 0.0 + ], + [ + 0.00027057528495788574, + 0.0019327402114868164, + 0.00507161021232605, + 0.062302231788635254, + -0.06287336349487305, + -0.04862809181213379, + 0.0 + ], + [ + 0.0023939013481140137, + -0.0006954669952392578, + 0.00684000551700592, + 0.07615762948989868, + -0.06862127780914307, + -0.08502709865570068, + 0.0 + ], + [ + 0.000515282154083252, + 0.003230541944503784, + 0.007020086050033569, + 0.06473135948181152, + -0.05152475833892822, + -0.07778561115264893, + 0.0 + ], + [ + -8.988380432128906e-05, + 0.00426734983921051, + 0.007651925086975098, + 0.0473557710647583, + -0.04212599992752075, + -0.06382596492767334, + 0.0 + ], + [ + 4.118680953979492e-05, + 0.005240797996520996, + 0.0055615901947021484, + 0.05179542303085327, + -0.05975526571273804, + -0.05951082706451416, + 0.0 + ], + [ + 0.0022047758102416992, + 0.0002037733793258667, + -0.008852578699588776, + 0.09213066101074219, + -0.03913086652755737, + -0.09784448146820068, + 0.0 + ], + [ + 0.0013972222805023193, + -0.0015748143196105957, + -0.014559485018253326, + 0.13387352228164673, + -0.021161437034606934, + -0.14137256145477295, + 0.0 + ], + [ + 0.004749089479446411, + -0.007336243987083435, + -0.007476799190044403, + 0.06055063009262085, + -0.031699538230895996, + -0.07793921232223511, + 0.0 + ], + [ + 0.006008327007293701, + -0.01106879860162735, + -0.0066800713539123535, + 0.09462112188339233, + -0.03845977783203125, + -0.10956931114196777, + 0.0 + ], + [ + 0.0009718835353851318, + -0.0070289671421051025, + -0.0021855011582374573, + 0.07877099514007568, + -0.04471027851104736, + -0.07975658774375916, + 0.0 + ], + [ + -0.0004667937755584717, + -0.004260271787643433, + -0.006876140832901001, + 0.03261423110961914, + -0.029268980026245117, + -0.03255331516265869, + 0.0 + ], + [ + 7.870793342590332e-05, + -0.0008725300431251526, + -0.0058245472609996796, + 0.030362844467163086, + -0.018025994300842285, + -0.03154963254928589, + 0.0 + ], + [ + 0.00148811936378479, + -0.000367090106010437, + -0.0031955763697624207, + 0.019625186920166016, + -0.01910686492919922, + -0.018467694520950317, + 0.0 + ], + [ + -0.0005015730857849121, + 0.00010536611080169678, + -0.0008533932268619537, + -0.005958080291748047, + -0.01378166675567627, + 0.009452342987060547, + 0.0 + ], + [ + -0.00045040249824523926, + -0.002259880304336548, + -0.004846654832363129, + 0.04000043869018555, + -0.01133573055267334, + -0.04398065805435181, + 0.0 + ], + [ + -0.0003757476806640625, + -0.001792721450328827, + -0.004410676658153534, + 0.07257044315338135, + -0.002437591552734375, + -0.07414796948432922, + 0.0 + ], + [ + 6.151199340820312e-05, + -0.0010655447840690613, + -0.0013009682297706604, + 0.07620716094970703, + -0.002658843994140625, + -0.07482042908668518, + 0.0 + ], + [ + -0.0002574622631072998, + -0.0009348168969154358, + -0.0006531998515129089, + -0.0032851696014404297, + -0.01659214496612549, + 0.007351785898208618, + 0.0 + ], + [ + -0.0021861791610717773, + -0.0062360018491744995, + -0.0014711730182170868, + -0.047441720962524414, + -0.031186819076538086, + 0.05088447034358978, + 0.0 + ], + [ + -0.0010052025318145752, + -0.0028177425265312195, + 0.001501183956861496, + -0.06518781185150146, + -0.03528738021850586, + 0.07153405249118805, + 0.0 + ], + [ + -0.00037491321563720703, + -0.0020794272422790527, + 0.0031789056956768036, + -0.11697888374328613, + -0.03643918037414551, + 0.12305545806884766, + 0.0 + ], + [ + -0.0020179450511932373, + -0.005604594945907593, + 0.01400400698184967, + -0.49427932500839233, + -0.036240577697753906, + 0.5008299350738525, + 0.0 + ], + [ + -0.000503838062286377, + -0.0013104602694511414, + 0.009545434266328812, + -0.3777790069580078, + 0.004136204719543457, + 0.38898158073425293, + 0.0 + ], + [ + -0.002648979425430298, + -0.00038001686334609985, + 0.00205887109041214, + -0.1602667272090912, + 0.01856207847595215, + 0.1731806993484497, + 0.0 + ], + [ + -0.00030556321144104004, + -7.897615432739258e-06, + -0.0006813183426856995, + -0.01038920134305954, + 0.002890467643737793, + 0.010472536087036133, + 0.0 + ], + [ + 0.0002512931823730469, + 0.00016821175813674927, + -0.0028716400265693665, + 0.05098889768123627, + -0.005853533744812012, + -0.05273914337158203, + 0.0 + ], + [ + -2.9534101486206055e-05, + 0.003333255648612976, + -0.008326951414346695, + 0.12594391405582428, + -0.008247137069702148, + -0.11970376968383789, + 0.0 + ], + [ + 0.000787198543548584, + 0.0049742236733436584, + -0.0037086643278598785, + -0.01784449815750122, + 0.000928044319152832, + 0.030313491821289062, + 0.0 + ], + [ + 0.0008537173271179199, + 0.003200232982635498, + -0.0008458532392978668, + -0.023297682404518127, + 0.0018287897109985352, + 0.03243696689605713, + 0.0 + ], + [ + -0.0006361305713653564, + 0.0008774921298027039, + -0.0036621764302253723, + 0.06608717143535614, + 0.0037811994552612305, + -0.062433600425720215, + 1.0 + ], + [ + 0.0015850961208343506, + -0.00039146095514297485, + -0.002461746335029602, + 0.016968995332717896, + 0.0012644529342651367, + -0.015631794929504395, + 1.0 + ], + [ + 0.0002491176128387451, + -4.360079765319824e-05, + 0.00034202635288238525, + 0.010785311460494995, + -0.00043761730194091797, + -0.010407328605651855, + 1.0 + ], + [ + -0.0011313557624816895, + -6.61313533782959e-05, + -0.0023045316338539124, + 0.03823268413543701, + 0.005245089530944824, + -0.03326213359832764, + 1.0 + ], + [ + -0.00045377016067504883, + -0.0006114840507507324, + -0.00011458247900009155, + 0.01658448576927185, + 0.0031800270080566406, + -0.012555241584777832, + 1.0 + ], + [ + 3.606081008911133e-05, + -0.0032114386558532715, + -0.00024215877056121826, + 0.02430543303489685, + 0.0034438371658325195, + -0.029349446296691895, + 1.0 + ], + [ + -0.0015443265438079834, + -0.004905954003334045, + 0.0011825524270534515, + 0.015878289937973022, + 0.009235620498657227, + -0.021775484085083008, + 1.0 + ], + [ + 0.00038889050483703613, + -0.011019423604011536, + 0.004974868148565292, + -0.07042667269706726, + 0.022575736045837402, + 0.05975985527038574, + 1.0 + ], + [ + 0.0008800327777862549, + -0.01683536171913147, + 0.011655528098344803, + -0.13824298977851868, + 0.04595208168029785, + 0.12796640396118164, + 1.0 + ], + [ + 0.0001303255558013916, + -0.016452837735414505, + 0.011366724967956543, + -0.04072722792625427, + 0.06816864013671875, + 0.04167616367340088, + 1.0 + ], + [ + -0.002104133367538452, + -0.016345813870429993, + 0.01628986746072769, + -0.02752651274204254, + 0.13882851600646973, + 0.08704006671905518, + 1.0 + ], + [ + -0.00513911247253418, + -0.02435033954679966, + 0.026026315987110138, + 0.036501213908195496, + 0.24664556980133057, + 0.03383958339691162, + 1.0 + ], + [ + -0.01425027847290039, + -0.004879137501120567, + 0.012178458273410797, + 0.031807273626327515, + 0.2490323781967163, + 0.0731196403503418, + 1.0 + ], + [ + -0.014967352151870728, + 0.014033759944140911, + 0.016178712248802185, + -0.05557192862033844, + 0.25041359663009644, + 0.07774627208709717, + 1.0 + ], + [ + -0.01393042504787445, + 0.010348612442612648, + 0.013315245509147644, + -0.08632884174585342, + 0.11976704001426697, + -0.04758179187774658, + 1.0 + ], + [ + -0.015345573425292969, + 0.02076389640569687, + 0.00816991925239563, + -0.09498275816440582, + 0.07432322204113007, + 0.011733770370483398, + 1.0 + ], + [ + -0.006682977080345154, + 0.006452266126871109, + 0.010773003101348877, + -0.06166228652000427, + -0.04677392542362213, + 0.011709332466125488, + 1.0 + ], + [ + 0.0015133917331695557, + 0.006436705589294434, + -0.0071032047271728516, + 0.030487030744552612, + 0.008405447006225586, + -0.00831913948059082, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9311676621437073 + ], + [ + 0.6691625118255615 + ], + [ + 0.6229594349861145 + ], + [ + 0.6229594349861145 + ], + [ + 0.6229594349861145 + ], + [ + 0.6229594349861145 + ], + [ + 0.6229594349861145 + ], + [ + 0.6229594349861145 + ], + [ + 0.6229594349861145 + ], + [ + 0.6229594349861145 + ], + [ + 0.6229594349861145 + ], + [ + 0.6229594349861145 + ], + [ + 0.6229594349861145 + ], + [ + 0.6229594349861145 + ], + [ + 0.6229594349861145 + ], + [ + 0.6229594349861145 + ], + [ + 0.6229594349861145 + ], + [ + 0.6229594349861145 + ], + [ + 0.6229594349861145 + ], + [ + 0.6229594349861145 + ], + [ + 0.6229594349861145 + ], + [ + 0.6229594349861145 + ], + [ + 0.6229594349861145 + ], + [ + 0.6229594349861145 + ], + [ + 0.6229594349861145 + ], + [ + 0.6229594349861145 + ], + [ + 0.6229594349861145 + ], + [ + 0.6229594349861145 + ], + [ + 0.6229594349861145 + ], + [ + 0.6219554543495178 + ], + [ + 0.6219554543495178 + ], + [ + 0.6219554543495178 + ], + [ + 0.6219554543495178 + ], + [ + 0.6219554543495178 + ], + [ + 0.6219554543495178 + ], + [ + 0.6219554543495178 + ], + [ + 0.6219554543495178 + ], + [ + 0.6219554543495178 + ], + [ + 0.6219554543495178 + ], + [ + 0.6219554543495178 + ], + [ + 0.6340072751045227 + ], + [ + 0.729983389377594 + ], + [ + 0.9837720394134521 + ], + [ + 1.0041072368621826 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.1178528219461441, + -0.017246242612600327, + 0.23751169443130493 + ], + [ + 0.13830645382404327, + -0.018795710057020187, + 0.23249994218349457 + ], + [ + 0.1620129644870758, + -0.01618822291493416, + 0.2233179360628128 + ], + [ + 0.18418607115745544, + -0.008327201008796692, + 0.21376670897006989 + ], + [ + 0.2028547078371048, + -0.002283675828948617, + 0.19489726424217224 + ], + [ + 0.21774671971797943, + 0.01115510892122984, + 0.1801895946264267 + ], + [ + 0.2297201007604599, + 0.02649770863354206, + 0.1700354665517807 + ], + [ + 0.23362860083580017, + 0.04376957565546036, + 0.167131245136261 + ], + [ + 0.23617051541805267, + 0.058676037937402725, + 0.15986794233322144 + ], + [ + 0.23929573595523834, + 0.07096997648477554, + 0.1507323831319809 + ], + [ + 0.2459629625082016, + 0.07871543616056442, + 0.13513682782649994 + ], + [ + 0.2538779079914093, + 0.08399515599012375, + 0.11586182564496994 + ], + [ + 0.26875218749046326, + 0.09149090945720673, + 0.10816941410303116 + ], + [ + 0.2815958857536316, + 0.1084626168012619, + 0.10233378410339355 + ], + [ + 0.2888526916503906, + 0.129449263215065, + 0.09930287301540375 + ], + [ + 0.2886175215244293, + 0.14644888043403625, + 0.09365011006593704 + ], + [ + 0.2869820296764374, + 0.15258389711380005, + 0.08565716445446014 + ], + [ + 0.2857864499092102, + 0.14792469143867493, + 0.07367163151502609 + ], + [ + 0.2870165705680847, + 0.1372402161359787, + 0.06841032952070236 + ], + [ + 0.2871197760105133, + 0.12930254638195038, + 0.06291299313306808 + ], + [ + 0.2872436046600342, + 0.12962619960308075, + 0.05947854369878769 + ], + [ + 0.2866322100162506, + 0.13175441324710846, + 0.058566026389598846 + ], + [ + 0.2832798361778259, + 0.13739825785160065, + 0.0492471382021904 + ], + [ + 0.28449738025665283, + 0.145671546459198, + 0.046977922320365906 + ], + [ + 0.2829122841358185, + 0.1518540233373642, + 0.039935506880283356 + ], + [ + 0.28270435333251953, + 0.1554657369852066, + 0.035435114055871964 + ], + [ + 0.28215491771698, + 0.15674157440662384, + 0.03059483878314495 + ], + [ + 0.282370924949646, + 0.15829716622829437, + 0.03077162243425846 + ], + [ + 0.2828757166862488, + 0.15811116993427277, + 0.02988574467599392 + ], + [ + 0.28151237964630127, + 0.15537983179092407, + 0.027437008917331696 + ], + [ + 0.2859025001525879, + 0.14785586297512054, + 0.027309341356158257 + ], + [ + 0.2852088510990143, + 0.14580243825912476, + 0.019536908715963364 + ], + [ + 0.28531697392463684, + 0.14593979716300964, + 0.016231149435043335 + ], + [ + 0.2842039167881012, + 0.14691001176834106, + 0.015350202098488808 + ], + [ + 0.28333914279937744, + 0.1472354531288147, + 0.01502980850636959 + ], + [ + 0.2828620970249176, + 0.14396555721759796, + 0.017995374277234077 + ], + [ + 0.2889043390750885, + 0.13489723205566406, + 0.03313365578651428 + ], + [ + 0.28891268372535706, + 0.12466760724782944, + 0.0478927344083786 + ], + [ + 0.2879979610443115, + 0.12302151322364807, + 0.054948803037405014 + ], + [ + 0.2862562835216522, + 0.12381598353385925, + 0.06556475907564163 + ], + [ + 0.2816825211048126, + 0.12655852735042572, + 0.07110187411308289 + ], + [ + 0.2801075279712677, + 0.12644606828689575, + 0.07467755675315857 + ], + [ + 0.2803781032562256, + 0.12837880849838257, + 0.07974916696548462 + ], + [ + 0.2827720046043396, + 0.1276833415031433, + 0.08658917248249054 + ], + [ + 0.28328728675842285, + 0.1309138834476471, + 0.09360925853252411 + ], + [ + 0.28319740295410156, + 0.1351812332868576, + 0.1012611836194992 + ], + [ + 0.28323858976364136, + 0.1404220312833786, + 0.10682277381420135 + ], + [ + 0.28544336557388306, + 0.14062580466270447, + 0.09797019511461258 + ], + [ + 0.2868405878543854, + 0.13905099034309387, + 0.08341071009635925 + ], + [ + 0.2915896773338318, + 0.13171474635601044, + 0.07593391090631485 + ], + [ + 0.2975980043411255, + 0.12064594775438309, + 0.0692538395524025 + ], + [ + 0.2985698878765106, + 0.11361698061227798, + 0.06706833839416504 + ], + [ + 0.29810309410095215, + 0.10935670882463455, + 0.06019219756126404 + ], + [ + 0.29818180203437805, + 0.1084841787815094, + 0.05436765030026436 + ], + [ + 0.29966992139816284, + 0.10811708867549896, + 0.05117207393050194 + ], + [ + 0.29916834831237793, + 0.10822245478630066, + 0.050318680703639984 + ], + [ + 0.2987179458141327, + 0.10596257448196411, + 0.045472025871276855 + ], + [ + 0.29834219813346863, + 0.10416985303163528, + 0.04106134921312332 + ], + [ + 0.29840371012687683, + 0.10310430824756622, + 0.03976038098335266 + ], + [ + 0.29814624786376953, + 0.10216949135065079, + 0.03910718113183975 + ], + [ + 0.29596006870269775, + 0.09593348950147629, + 0.037636008113622665 + ], + [ + 0.2949548661708832, + 0.09311574697494507, + 0.03913719207048416 + ], + [ + 0.29457995295524597, + 0.09103631973266602, + 0.042316097766160965 + ], + [ + 0.29256200790405273, + 0.08543172478675842, + 0.056320104748010635 + ], + [ + 0.29205816984176636, + 0.08412126451730728, + 0.06586553901433945 + ], + [ + 0.28940919041633606, + 0.08374124765396118, + 0.06792441010475159 + ], + [ + 0.289103627204895, + 0.08373335003852844, + 0.06724309176206589 + ], + [ + 0.28935492038726807, + 0.08390156179666519, + 0.06437145173549652 + ], + [ + 0.28932538628578186, + 0.08723481744527817, + 0.056044500321149826 + ], + [ + 0.29011258482933044, + 0.09220904111862183, + 0.05233583599328995 + ], + [ + 0.29096630215644836, + 0.09540927410125732, + 0.05148998275399208 + ], + [ + 0.290330171585083, + 0.09628676623106003, + 0.04782780632376671 + ], + [ + 0.29191526770591736, + 0.09589530527591705, + 0.045366059988737106 + ], + [ + 0.2921643853187561, + 0.09585170447826385, + 0.04570808634161949 + ], + [ + 0.2910330295562744, + 0.09578557312488556, + 0.04340355470776558 + ], + [ + 0.29057925939559937, + 0.09517408907413483, + 0.04328897222876549 + ], + [ + 0.2906153202056885, + 0.09196265041828156, + 0.04304681345820427 + ], + [ + 0.2890709936618805, + 0.08705669641494751, + 0.04422936588525772 + ], + [ + 0.28945988416671753, + 0.07603727281093597, + 0.04920423403382301 + ], + [ + 0.2903399169445038, + 0.059201911091804504, + 0.060859762132167816 + ], + [ + 0.2904702425003052, + 0.04274907335639, + 0.07222648710012436 + ], + [ + 0.2883661091327667, + 0.026403259485960007, + 0.08851635456085205 + ], + [ + 0.28322699666023254, + 0.002052919240668416, + 0.11454267054796219 + ], + [ + 0.26897671818733215, + -0.002826218493282795, + 0.12672112882137299 + ], + [ + 0.2540093660354614, + 0.011207541450858116, + 0.14289984107017517 + ], + [ + 0.24007894098758698, + 0.021556153893470764, + 0.15621508657932281 + ], + [ + 0.224733367562294, + 0.04232005029916763, + 0.16438500583171844 + ], + [ + 0.21805039048194885, + 0.04877231642603874, + 0.17515800893306732 + ], + [ + 0.2195637822151184, + 0.055209022015333176, + 0.16805480420589447 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9933493795467193, + 0.05218114878116775, + 0.10263594821516066, + 0.055601457274680466, + -0.9979794452352937, + -0.030749062372485276, + 0.10082404526242432, + 0.0362512703188832, + -0.9942436106393581 + ], + [ + 0.9600213251612107, + 0.24261061272238024, + 0.1396393419856445, + 0.24891224316136704, + -0.9680821794487151, + -0.02931874891945559, + 0.1280693188866445, + 0.06290456603694862, + -0.98976828860679 + ], + [ + 0.8979558884164413, + 0.41085939059103643, + 0.15770156505692082, + 0.41883917976882484, + -0.9078474341448752, + -0.01966666741328605, + 0.13508872620917736, + 0.08371139396598862, + -0.9872909594296169 + ], + [ + 0.7737177710023587, + 0.606298559585172, + 0.18374674821636275, + 0.6133075977979021, + -0.7895199573877874, + 0.022628021781707607, + 0.1587910618344384, + 0.09518557417661774, + -0.982713134719466 + ], + [ + 0.6853201540925229, + 0.7082037182562873, + 0.16965783165704312, + 0.7097236095296375, + -0.7017188800679872, + 0.06231381413741323, + 0.16318297849599067, + 0.07770525596186338, + -0.9835309902209883 + ], + [ + 0.5988570171864824, + 0.7845389797182619, + 0.16083800007814536, + 0.7802109691776343, + -0.6168391415655152, + 0.1038283054259027, + 0.18066852670403122, + 0.06330926263467908, + -0.9815043661254125 + ], + [ + 0.486114549254265, + 0.8592096304970765, + 0.15953512423412983, + 0.8493058237862295, + -0.5074983578248212, + 0.14534453717943063, + 0.20584523964890702, + 0.06484001593295745, + -0.9764340784956745 + ], + [ + 0.3554943386156969, + 0.9208509056402503, + 0.16017922709801805, + 0.9045231223437193, + -0.3821152098583118, + 0.18927727687312765, + 0.23550307080324143, + 0.07759881427231033, + -0.96877073018634 + ], + [ + 0.24650437451319185, + 0.959490321554923, + 0.13643282665213086, + 0.9384246514800761, + -0.2714763645731688, + 0.21368143806291032, + 0.24206355950526204, + 0.07535851856669049, + -0.967329482047909 + ], + [ + 0.1705859657462891, + 0.9786840162053497, + 0.11435919164882744, + 0.9522039081848853, + -0.19358119051433315, + 0.23629227646388387, + 0.2533932625936154, + 0.068585123045897, + -0.9649289794430171 + ], + [ + 0.13689178988999257, + 0.9869181414667105, + 0.08516583766163703, + 0.9567875404864932, + -0.15399812306897825, + 0.246662077468425, + 0.2565506582149451, + 0.04771959906711294, + -0.9653520599420466 + ], + [ + 0.11921753012627517, + 0.9918169781428494, + 0.04567562126755072, + 0.9592527779024309, + -0.1269285159073416, + 0.252434664687774, + 0.25616652512976756, + 0.01371982934098652, + -0.96653529562339 + ], + [ + 0.1050425869167777, + 0.9938408463109927, + 0.0353047749983032, + 0.9592305790944364, + -0.1106233086114572, + 0.26007533470517014, + 0.26237902176809635, + 0.006546433815743269, + -0.9649426890444389 + ], + [ + 0.07221762043166918, + 0.9971135637081566, + 0.023434085610653188, + 0.9604763546341116, + -0.07585853019733818, + 0.267825793352821, + 0.26883040655393836, + 0.0031661436353391803, + -0.9631823233669339 + ], + [ + 0.04023306209005667, + 0.9990805127956964, + 0.014813158567495072, + 0.9632376661698129, + -0.042722206961522124, + 0.2652319956265998, + 0.26562096902652366, + 0.003597496938842676, + -0.9640708266663738 + ], + [ + 0.03843967055483333, + 0.9992459565392519, + 0.005469009745040665, + 0.9652383933412941, + -0.0385463221354303, + 0.2585131042515031, + 0.2585289843471187, + -0.004658260382064128, + -0.9659922695667186 + ], + [ + 0.03395353652368288, + 0.999421752947382, + 0.0018212888614493605, + 0.9719566650269885, + -0.033444646113421295, + 0.23276962206431134, + 0.23269593607785516, + -0.006133138016539322, + -0.9725301979634982 + ], + [ + 0.03967141502088839, + 0.9991910271149981, + -0.006593190662758805, + 0.979767640278092, + -0.037603138108857015, + 0.1965740956185869, + 0.19616714784626793, + -0.0142581673871955, + -0.980466804521509 + ], + [ + 0.05061613860771241, + 0.998639082082261, + -0.012569417263501165, + 0.9804150910653713, + -0.04728614180731339, + 0.19118124909168854, + 0.19032670785710673, + -0.022000102974254657, + -0.9814742685090616 + ], + [ + 0.055868684893485454, + 0.998309229528906, + -0.01604282661110744, + 0.9809904890676855, + -0.05189456989293889, + 0.18698827229099035, + 0.1858395824549095, + -0.02618464918666097, + -0.9822311406893777 + ], + [ + 0.057919246542367075, + 0.9982345404736593, + -0.013159144550713694, + 0.9803248873537574, + -0.05437869954339186, + 0.18975266077399844, + 0.18870208296361518, + -0.02389056804078958, + -0.9817437367479771 + ], + [ + 0.06946177037484602, + 0.9975219386915332, + -0.01118232021887157, + 0.977162000852135, + -0.06577892611016001, + 0.2020583009194285, + 0.2008220270464482, + -0.024962265700038705, + -0.9793096541666872 + ], + [ + 0.06975109143376629, + 0.9968576091156318, + -0.037545870506154724, + 0.9795447353460456, + -0.06132113689873847, + 0.19165549724777525, + 0.1887508852949945, + -0.05014603990060172, + -0.9807438391255096 + ], + [ + 0.0686299911973629, + 0.9968015589927157, + -0.04094601687516672, + 0.9790890684231159, + -0.059418415587724205, + 0.1945611677169923, + 0.19150592785239054, + -0.05344252874570998, + -0.9800353951356344 + ], + [ + 0.06911887619831997, + 0.995803449862964, + -0.05998391612841204, + 0.9806901392676721, + -0.056797235600810236, + 0.1871387847862105, + 0.18294652687666657, + -0.07176045755933491, + -0.9805003850252378 + ], + [ + 0.06192700925612549, + 0.9956101426748839, + -0.07018183046550602, + 0.9819818296993809, + -0.04819878217746043, + 0.18272537737508138, + 0.17854056027930437, + -0.08023291842820503, + -0.9806558760011818 + ], + [ + 0.056898444154443895, + 0.9953207265983944, + -0.07809749199844968, + 0.9823896525827617, + -0.0418714737139928, + 0.18209159834363417, + 0.17796948488750708, + -0.08708289667129068, + -0.9801752045201985 + ], + [ + 0.04669454709629517, + 0.9960521751800396, + -0.07549624885107264, + 0.9814556698001783, + -0.03168089585747225, + 0.1890531381774736, + 0.18591500070880457, + -0.0829239721478609, + -0.9790603798309201 + ], + [ + 0.034389204467497936, + 0.99698434281392, + -0.06956725379076702, + 0.9810928173944866, + -0.020411752492432433, + 0.1924584215282261, + 0.19045804334036748, + -0.07487042502940697, + -0.9788361217195015 + ], + [ + 0.0329971680769372, + 0.9968374970852808, + -0.07229240142404222, + 0.9813704855841673, + -0.018617520871220927, + 0.19122070479136166, + 0.18927006346276157, + -0.0772553708253488, + -0.9788812240284517 + ], + [ + 0.05250786687368786, + 0.9961854024661596, + -0.0696962540579485, + 0.9783759492719917, + -0.03733607539604872, + 0.2034367699314686, + 0.2000585559342659, + -0.07887116955742189, + -0.9766042764652119 + ], + [ + 0.05595787820736875, + 0.9945224576962437, + -0.0882824841310686, + 0.9794323454592857, + -0.03750992041133361, + 0.19825560909809806, + 0.19385818665883503, + -0.09756068372330376, + -0.9761664389113107 + ], + [ + 0.05301376567640853, + 0.9942886586604195, + -0.09262615131846605, + 0.9791148154251276, + -0.03352416473559866, + 0.2005250822061902, + 0.1962746006589384, + -0.10132222677204133, + -0.9752999987173843 + ], + [ + 0.050461999462159846, + 0.9943071078875874, + -0.09384541445644634, + 0.9774905783575247, + -0.029896705370060117, + 0.20885008075240763, + 0.20485545106868003, + -0.10227200111583339, + -0.9734344774843401 + ], + [ + 0.0695356566911779, + 0.9928053487371483, + -0.09747990545459176, + 0.9754934356896657, + -0.047222770018063076, + 0.21490129575736205, + 0.20875188472178816, + -0.11003431060687668, + -0.9717587669346599 + ], + [ + 0.10241066985887026, + 0.990229447061603, + -0.09464511012793915, + 0.9687038285469182, + -0.07765066870704862, + 0.23576103623773628, + 0.2261082644610774, + -0.11582752618190731, + -0.9671913135057506 + ], + [ + 0.14220685743663725, + 0.9884245164066867, + -0.05286005168559177, + 0.9516504610264567, + -0.12183560344380578, + 0.28198844969540177, + 0.27228406072726397, + -0.09040498382108808, + -0.9579605050179159 + ], + [ + 0.16670540123625027, + 0.9857933282839846, + -0.0205139735167299, + 0.9346774067372965, + -0.15136765166291893, + 0.3216612804875585, + 0.3139863922744159, + -0.07279662039433918, + -0.9466325567640589 + ], + [ + 0.17280130484227274, + 0.9847038940634668, + -0.022314794667501248, + 0.9110254245228774, + -0.15117802070509878, + 0.3836376961777868, + 0.3743960268455303, + -0.08662243977130613, + -0.9232140423598134 + ], + [ + 0.17247863115483236, + 0.9834450461724437, + -0.05556044414721242, + 0.8496365990802505, + -0.11999850477213464, + 0.5135348170823452, + 0.4983661016745632, + -0.13577996910933587, + -0.8562680822559993 + ], + [ + 0.19049028980129623, + 0.9758926777611044, + -0.10652197418222942, + 0.7834062882854619, + -0.0857262616116733, + 0.6155693263515354, + 0.5915978676146613, + -0.20070996378443276, + -0.7808504808677764 + ], + [ + 0.21708278546746285, + 0.9673253155904994, + -0.13098396112283706, + 0.7315825051267671, + -0.07238519987314751, + 0.677899270564417, + 0.6462678256312406, + -0.24298583633015702, + -0.7233918584673198 + ], + [ + 0.2384589995247316, + 0.9605179688307022, + -0.14332667964830043, + 0.6804214797393384, + -0.05993822085445477, + 0.7303656752546167, + 0.692938608720133, + -0.27168481966084357, + -0.6678498658462557 + ], + [ + 0.2752215142360165, + 0.9517911924428153, + -0.13544978438490762, + 0.6128217325450167, + -0.06513047097960656, + 0.7875325681332161, + 0.7407446538599913, + -0.2997524774514106, + -0.6012036344198057 + ], + [ + 0.30329613675551015, + 0.9452060348072784, + -0.12081806650118454, + 0.5553180498258379, + -0.07229031055900215, + 0.8284901776948902, + 0.774359940187256, + -0.3183703233079126, + -0.5468153438501924 + ], + [ + 0.3203730381101908, + 0.9419512394177871, + -0.10044390977725404, + 0.5068025788548403, + -0.08085202540337699, + 0.8582622536580851, + 0.8003201000338113, + -0.3258693182051151, + -0.5032861263082897 + ], + [ + 0.3214276584740071, + 0.9434350152453752, + -0.08133039024175126, + 0.4471727940206951, + -0.07551944221796081, + 0.8912537832373071, + 0.8346980008695611, + -0.3228423544952654, + -0.4461525092256138 + ], + [ + 0.3417375311942694, + 0.9372431401003094, + -0.06921528811005317, + 0.38879121789155663, + -0.07394069669605863, + 0.9183540506049406, + 0.8556032074879372, + -0.34074634217701205, + -0.38966021304380144 + ], + [ + 0.37927248259958746, + 0.9235429984411762, + -0.05675133454842762, + 0.3249071365659518, + -0.07549977941187525, + 0.9427274982290865, + 0.8663646671877032, + -0.37598951227266975, + -0.328700699892319 + ], + [ + 0.3810349881680737, + 0.9240418454690367, + -0.030967815775946594, + 0.2780563939961487, + -0.08258583655929547, + 0.9570079526094126, + 0.8817578916854754, + -0.3732643130838768, + -0.28840383670888836 + ], + [ + 0.3794447140846152, + 0.9252044544277616, + -0.00429260530132386, + 0.21767831999293707, + -0.08476293632099885, + 0.9723329643858091, + 0.8992429360068932, + -0.3698810107768046, + -0.23355979942711091 + ], + [ + 0.35884082809304, + 0.9333575047782979, + 0.008776580628616137, + 0.169409874523763, + -0.07437261329812028, + 0.9827354724467061, + 0.9178962656571514, + -0.35115877130613943, + -0.1848079079136449 + ], + [ + 0.3393571415294924, + 0.9405397291152929, + 0.01489122052295816, + 0.14690199700845608, + -0.06862699420344437, + 0.9867675202100685, + 0.9291159958626585, + -0.3326790549799186, + -0.16145622505747076 + ], + [ + 0.3281949875854271, + 0.9443983658588535, + 0.019994416393785908, + 0.12993704135378353, + -0.06610080352378866, + 0.9893164554669724, + 0.9356304908499007, + -0.32209068651023776, + -0.14440628191092397 + ], + [ + 0.3137388582295771, + 0.94925080785993, + 0.022154742473605937, + 0.11755931595405494, + -0.06198692803189887, + 0.9911293699540857, + 0.9422036595498959, + -0.3083513005168596, + -0.13104098366673436 + ], + [ + 0.3004684097518161, + 0.9535795387557928, + 0.020119592627687533, + 0.1158373249976174, + -0.05742172903562892, + 0.9916070084322494, + 0.9467314555240103, + -0.29561598113236054, + -0.12771351855046797 + ], + [ + 0.2950778577494306, + 0.9550951863774867, + 0.026874575802436795, + 0.09909181501431841, + -0.05856562907439772, + 0.9933533506704895, + 0.9503209300353093, + -0.2904535282100636, + -0.11192353589460502 + ], + [ + 0.29936232964834836, + 0.9536163729194416, + 0.031591278661713906, + 0.07638719139664024, + -0.056956854778354216, + 0.9954501060747798, + 0.9510768594483028, + -0.29558709375364467, + -0.08989481313305808 + ], + [ + 0.30174357433032684, + 0.9527931063354327, + 0.033706258618180274, + 0.05335544907424167, + -0.05217495339465544, + 0.99721159755207, + 0.9518949581778677, + -0.29910377924383147, + -0.0665801609911903 + ], + [ + 0.28577032774905486, + 0.9578101233909984, + 0.030579197306640216, + 0.0527004691459399, + -0.04756920711884116, + 0.9974767321025002, + 0.9568479400249528, + -0.2834377146108214, + -0.06407091076455018 + ], + [ + 0.2535542436929484, + 0.9669291689835869, + 0.02753593423159767, + 0.06023820185199236, + -0.04419416666024051, + 0.9972052119152033, + 0.9654437345298459, + -0.2511868981493995, + -0.06945169296098991 + ], + [ + 0.21595452198196627, + 0.976155275609591, + 0.022011868051205585, + 0.06793648095779131, + -0.037511117808827876, + 0.996984227857093, + 0.9740371034979171, + -0.21380784349573212, + -0.07441724980871312 + ], + [ + 0.1735591572433335, + 0.9846804337296442, + 0.0167827997361511, + 0.07914469257194728, + -0.0309322531370243, + 0.996383115750944, + 0.9816380883883202, + -0.17160314433560647, + -0.08330080599524375 + ], + [ + 0.09286549601351543, + 0.9956104653245295, + 0.011653368029807931, + 0.12417605640918711, + -0.02319349374712376, + 0.9919890971489883, + 0.9879050089278962, + -0.09067449026091368, + -0.12578485660482874 + ], + [ + 0.0398577894184699, + 0.9992001337572947, + 0.0032325411175913588, + 0.1540731274460969, + -0.009342286865376359, + 0.9880152797781536, + 0.9872551990350069, + -0.03888205724404287, + -0.154322252455112 + ], + [ + 0.01417380551217684, + 0.9998687397523783, + -0.007848981035408431, + 0.17687517212143156, + 0.0052188105773485205, + 0.9842194559665909, + 0.9841312294223354, + -0.015338425021786617, + -0.1767779850364125 + ], + [ + 0.012518194064099597, + 0.9998911907739733, + -0.007803936825673985, + 0.17985089640714047, + 0.005425750090893966, + 0.9836789193113264, + 0.9836142281803986, + -0.01371742864230513, + -0.17976340637772104 + ], + [ + 0.02127919800634026, + 0.9997506137272223, + -0.006775402884626858, + 0.17322324588548293, + 0.002987638935193604, + 0.9848780539226621, + 0.9846526813131137, + -0.02213107240137624, + -0.17311647182535977 + ], + [ + 0.039865985255872705, + 0.999101369963991, + -0.014392906435292507, + 0.16155280960723117, + 0.007769922310161603, + 0.9868334803883094, + 0.9860585139471127, + -0.041666303452197406, + -0.1610978777918602 + ], + [ + 0.035143388235442774, + 0.999030729703301, + -0.02650553473944328, + 0.16358150283271927, + 0.020413880016604324, + 0.9863185922579263, + 0.9859036637493152, + -0.03899839241761871, + -0.16270553523011871 + ], + [ + 0.030141038085048033, + 0.9989231373972058, + -0.03527156639105394, + 0.16640906584909837, + 0.029780230000878316, + 0.98560700114413, + 0.9855960331831628, + -0.0355767265725449, + -0.16533225910268162 + ], + [ + 0.04135649793023177, + 0.9983484042831077, + -0.039876104929132794, + 0.16782155210862554, + 0.03240232148630562, + 0.9852847386467274, + 0.9849495249639946, + -0.04743999607578586, + -0.1662043322104776 + ], + [ + 0.044291516843466716, + 0.9981576924867099, + -0.04146664280251494, + 0.16835890466365416, + 0.0334559533308702, + 0.9851578444123446, + 0.9847301867801959, + -0.05061541382157314, + -0.16656692086819458 + ], + [ + 0.04592727842290528, + 0.9980631830168794, + -0.04195912061614637, + 0.16747323211309834, + 0.03371603049380728, + 0.9852999268310807, + 0.9848062761895139, + -0.052279173615848606, + -0.16560038159311924 + ], + [ + 0.05300166003734366, + 0.9974597289729961, + -0.04759110326945026, + 0.17078422370631596, + 0.03790164378755517, + 0.9845792067331265, + 0.9838818897440471, + -0.06031214202230678, + -0.16834153545208086 + ], + [ + 0.05610618613175297, + 0.9970731479017036, + -0.051934897815783865, + 0.1730807671012904, + 0.04151622399303506, + 0.9840322409377594, + 0.9833082649593552, + -0.06419922802298295, + -0.17024486830408453 + ], + [ + 0.062299067149376525, + 0.9969276518174007, + -0.04747718688129071, + 0.17454805560588327, + 0.03595345423951829, + 0.9839920352383207, + 0.9826758379631215, + -0.06958883653353026, + -0.1717719165445465 + ], + [ + 0.06931813436865925, + 0.9966909934446151, + -0.04245067530716634, + 0.1816217372072772, + 0.029233258941860296, + 0.9829338539013948, + 0.9809222909188369, + -0.07584510635515057, + -0.17899435471689223 + ], + [ + 0.06497833164993949, + 0.9973651266071217, + -0.0322586522339397, + 0.20651250874730565, + 0.018186912375722564, + 0.97827492043348, + 0.9762839751562475, + -0.07022848742638255, + -0.20478661920867275 + ], + [ + 0.045943036496878864, + 0.9987181696295768, + -0.021242764631604405, + 0.25703818886180035, + 0.008730272358879854, + 0.9663618120617063, + 0.9653085552630782, + -0.04985779774806609, + -0.2563076142833471 + ], + [ + 0.043974610679691495, + 0.9987564338177125, + -0.02349083913559935, + 0.32328106991139005, + 0.008022469761494067, + 0.9462689838602303, + 0.9452806902991917, + -0.04920595377239384, + -0.32252626352102326 + ], + [ + 0.021851049149115842, + 0.9964869911081574, + -0.08084681937648197, + 0.45340374893576907, + 0.06219468927666916, + 0.889132645377937, + 0.8910373572988243, + -0.05608473212906662, + -0.4504519183219645 + ], + [ + 0.009416245457200323, + 0.9887888267124587, + -0.1490234561741502, + 0.6576741643581805, + 0.10613699332884863, + 0.7457879270830823, + 0.7532436709705956, + -0.10503139918953314, + -0.6493014533535484 + ], + [ + -0.0483729825418962, + 0.9735193242620214, + -0.2234282431753394, + 0.8216776689999957, + 0.16596683026050002, + 0.5452529867135216, + 0.5678959964876799, + -0.15721048483386718, + -0.8079473996687937 + ], + [ + -0.12770678615017456, + 0.9750440239760582, + -0.1816043173489268, + 0.9294224006990511, + 0.1815667899292554, + 0.3212592440282428, + 0.34621521897514274, + -0.12776013503187034, + -0.9294150687645601 + ], + [ + -0.08643362434637286, + 0.993751955725459, + -0.07061358986891401, + 0.9689533175771252, + 0.10033361891373299, + 0.22597042565777567, + 0.23164346944956726, + -0.04888982928482058, + -0.9715714526754418 + ], + [ + -0.0992561036505541, + 0.9946531740887673, + 0.028518225106956605, + 0.982313943672121, + 0.09337140428193952, + 0.1622994052045287, + 0.15876883181353846, + 0.0441230567567478, + -0.9863293638065356 + ], + [ + -0.10979741990291447, + 0.9905110943769014, + 0.08265771893136525, + 0.9726347130724983, + 0.08993877939370865, + 0.2142258875289096, + 0.20475898395196795, + 0.10391721646312185, + -0.9732805200010503 + ], + [ + -0.10187746288381933, + 0.9932733824619912, + 0.05503608133644479, + 0.9751918307363227, + 0.08878736734724085, + 0.20277499023470857, + 0.1965244916581546, + 0.07432893845644406, + -0.9776775199862391 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006325.json b/json/chunk-0006/episode_0006325.json new file mode 100644 index 0000000000000000000000000000000000000000..1397d97b5778b523d2cde8018ac1f1e9d2da2691 --- /dev/null +++ b/json/chunk-0006/episode_0006325.json @@ -0,0 +1,2182 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 35, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nTake clothes out of laundry machine." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006325.mp4", + "start": 0, + "end": 35, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.1969587802886963, + 0.07296010106801987, + 0.08546023070812225, + -0.0193348191678524, + -0.11760126799345016, + 0.28622347116470337, + 0.0, + 0.9913908839225769 + ], + [ + 0.19587410986423492, + 0.07237080484628677, + 0.0818401649594307, + -0.01653958112001419, + -0.10766220837831497, + 0.2952767312526703, + 0.0, + 0.9913908839225769 + ], + [ + 0.21960727870464325, + 0.07863684743642807, + 0.08151743561029434, + 0.06315982341766357, + -0.18230678141117096, + 0.3138359487056732, + 0.0, + 0.9913908839225769 + ], + [ + 0.24475376307964325, + 0.08247802406549454, + 0.08048588037490845, + 0.03567175194621086, + -0.23515939712524414, + 0.2995718717575073, + 0.0, + 0.9913908839225769 + ], + [ + 0.2746448814868927, + 0.08950536698102951, + 0.08586668968200684, + 0.0009241691441275179, + -0.2899233102798462, + 0.314897358417511, + 0.0, + 0.9913908839225769 + ], + [ + 0.30642229318618774, + 0.09206292778253555, + 0.09374847263097763, + -0.018520087003707886, + -0.33300283551216125, + 0.3030238747596741, + 0.0, + 0.9907060265541077 + ], + [ + 0.32490721344947815, + 0.09917466342449188, + 0.093263179063797, + 0.02847609855234623, + -0.3678632080554962, + 0.26370203495025635, + 0.0, + 0.9913908839225769 + ], + [ + 0.34177693724632263, + 0.10501285642385483, + 0.09233339875936508, + 0.05043208971619606, + -0.3873001039028168, + 0.24342529475688934, + 0.0, + 0.9913908839225769 + ], + [ + 0.3574770987033844, + 0.1115448847413063, + 0.08835173398256302, + 0.06374341994524002, + -0.377941370010376, + 0.2389981895685196, + 0.0, + 0.9913908839225769 + ], + [ + 0.3689287602901459, + 0.11861808598041534, + 0.08150341361761093, + 0.07138998806476593, + -0.3791658878326416, + 0.21998363733291626, + 0.0, + 0.9913908839225769 + ], + [ + 0.3736070692539215, + 0.12297556549310684, + 0.06606727093458176, + 0.07550224661827087, + -0.35018759965896606, + 0.20662695169448853, + 0.0, + 0.9913908839225769 + ], + [ + 0.3725048899650574, + 0.1250680834054947, + 0.05155758932232857, + 0.07545100152492523, + -0.32202771306037903, + 0.20350243151187897, + 0.0, + 0.9913908839225769 + ], + [ + 0.3725832402706146, + 0.13037650287151337, + 0.05037959665060043, + 0.0703326016664505, + -0.34457308053970337, + 0.23100745677947998, + 0.0, + 0.9568231701850891 + ], + [ + 0.3642616868019104, + 0.1367453783750534, + 0.042423564940690994, + 0.06159006804227829, + -0.34194156527519226, + 0.28342205286026, + 0.0, + 0.6911999583244324 + ], + [ + 0.34705182909965515, + 0.1443822979927063, + 0.03455404192209244, + 0.06438653916120529, + -0.3512715697288513, + 0.31588971614837646, + 0.0, + 0.40239205956459045 + ], + [ + 0.3341005742549896, + 0.15387023985385895, + 0.028656575828790665, + 0.05535572022199631, + -0.37181541323661804, + 0.3649293780326843, + 0.0, + 0.1862945258617401 + ], + [ + 0.32680001854896545, + 0.16394402086734772, + 0.039206720888614655, + 0.03655875101685524, + -0.42874976992607117, + 0.41279757022857666, + 0.0, + 0.08712529391050339 + ], + [ + 0.3174026906490326, + 0.16571055352687836, + 0.06555110961198807, + -0.016488604247570038, + -0.4952663481235504, + 0.508168637752533, + 0.0, + 0.08157449960708618 + ], + [ + 0.335466593503952, + 0.13723042607307434, + 0.11099795997142792, + -0.02298322319984436, + -0.5225200057029724, + 0.5955453515052795, + 0.0, + 0.09107078611850739 + ], + [ + 0.31393107771873474, + 0.1131090372800827, + 0.13478496670722961, + 0.010205709375441074, + -0.43023353815078735, + 0.5905869603157043, + 0.0, + 0.09475040435791016 + ], + [ + 0.2863841950893402, + 0.08356527239084244, + 0.14844155311584473, + 0.021835489198565483, + -0.3254946172237396, + 0.5809614062309265, + 0.0, + 0.09475040435791016 + ], + [ + 0.261927992105484, + 0.06657510250806808, + 0.14674778282642365, + 0.011764408089220524, + -0.253750205039978, + 0.572185218334198, + 0.0, + 0.09475040435791016 + ], + [ + 0.2355944812297821, + 0.07376657426357269, + 0.11632608622312546, + -0.001895754598081112, + -0.17655763030052185, + 0.5691246390342712, + 0.0, + 0.09475040435791016 + ], + [ + 0.21460536122322083, + 0.06868775188922882, + 0.11007073521614075, + 0.014042356982827187, + -0.12339548021554947, + 0.5940656065940857, + 0.0, + 0.09475040435791016 + ], + [ + 0.1921980381011963, + 0.06465216726064682, + 0.09597393125295639, + 0.019351378083229065, + -0.04658383131027222, + 0.6040275692939758, + 0.0, + 0.09475040435791016 + ], + [ + 0.19365566968917847, + 0.06371306627988815, + 0.06164136528968811, + 0.051148734986782074, + 0.014211838133633137, + 0.5425435900688171, + 0.0, + 0.09475040435791016 + ], + [ + 0.20855338871479034, + 0.06137103959918022, + 0.03718297928571701, + -0.0005228616064414382, + -0.06253283470869064, + 0.47449833154678345, + 0.0, + 0.09475040435791016 + ], + [ + 0.2208825796842575, + 0.06394466757774353, + 0.018177319318056107, + -0.07913293689489365, + -0.17168937623500824, + 0.41798266768455505, + 0.0, + 0.09475040435791016 + ], + [ + 0.22580265998840332, + 0.06973303109407425, + 0.0024513353127986193, + -0.09703836590051651, + -0.21384522318840027, + 0.4432010054588318, + 0.0, + 0.09475040435791016 + ], + [ + 0.2219831943511963, + 0.07202262431383133, + -0.014677081257104874, + -0.06396075338125229, + -0.12371962517499924, + 0.436642587184906, + 0.0, + 0.09475040435791016 + ], + [ + 0.2113000750541687, + 0.07570495456457138, + -0.020076744258403778, + -0.039853449910879135, + -0.11932778358459473, + 0.4484651982784271, + 0.0, + 0.09475040435791016 + ], + [ + 0.2056332230567932, + 0.07927984744310379, + -0.03347795829176903, + -0.026470215991139412, + -0.08448687940835953, + 0.4643908441066742, + 0.0, + 0.09475040435791016 + ], + [ + 0.20449507236480713, + 0.08465325087308884, + -0.03983129933476448, + -0.032788779586553574, + -0.06435151398181915, + 0.4528868794441223, + 0.0, + 0.12439525872468948 + ], + [ + 0.20158298313617706, + 0.08744785189628601, + -0.03700217604637146, + -0.04542224854230881, + -0.019570881500840187, + 0.46209797263145447, + 0.0, + 0.3110979497432709 + ], + [ + 0.20453166961669922, + 0.090281642973423, + -0.027513710781931877, + -0.051872238516807556, + -0.04877360537648201, + 0.45091143250465393, + 0.0, + 0.5918992757797241 + ] + ], + "left_gripper_pos": [ + [ + 0.9913908839225769 + ], + [ + 0.9913908839225769 + ], + [ + 0.9913908839225769 + ], + [ + 0.9913908839225769 + ], + [ + 0.9913908839225769 + ], + [ + 0.9907060265541077 + ], + [ + 0.9913908839225769 + ], + [ + 0.9913908839225769 + ], + [ + 0.9913908839225769 + ], + [ + 0.9913908839225769 + ], + [ + 0.9913908839225769 + ], + [ + 0.9913908839225769 + ], + [ + 0.9568231701850891 + ], + [ + 0.6911999583244324 + ], + [ + 0.40239205956459045 + ], + [ + 0.1862945258617401 + ], + [ + 0.08712529391050339 + ], + [ + 0.08157449960708618 + ], + [ + 0.09107078611850739 + ], + [ + 0.09475040435791016 + ], + [ + 0.09475040435791016 + ], + [ + 0.09475040435791016 + ], + [ + 0.09475040435791016 + ], + [ + 0.09475040435791016 + ], + [ + 0.09475040435791016 + ], + [ + 0.09475040435791016 + ], + [ + 0.09475040435791016 + ], + [ + 0.09475040435791016 + ], + [ + 0.09475040435791016 + ], + [ + 0.09475040435791016 + ], + [ + 0.09475040435791016 + ], + [ + 0.09475040435791016 + ], + [ + 0.12439525872468948 + ], + [ + 0.3110979497432709 + ], + [ + 0.5918992757797241 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.1969587802886963, + 0.07296010106801987, + 0.08546023070812225 + ], + [ + 0.19587410986423492, + 0.07237080484628677, + 0.0818401649594307 + ], + [ + 0.21960727870464325, + 0.07863684743642807, + 0.08151743561029434 + ], + [ + 0.24475376307964325, + 0.08247802406549454, + 0.08048588037490845 + ], + [ + 0.2746448814868927, + 0.08950536698102951, + 0.08586668968200684 + ], + [ + 0.30642229318618774, + 0.09206292778253555, + 0.09374847263097763 + ], + [ + 0.32490721344947815, + 0.09917466342449188, + 0.093263179063797 + ], + [ + 0.34177693724632263, + 0.10501285642385483, + 0.09233339875936508 + ], + [ + 0.3574770987033844, + 0.1115448847413063, + 0.08835173398256302 + ], + [ + 0.3689287602901459, + 0.11861808598041534, + 0.08150341361761093 + ], + [ + 0.3736070692539215, + 0.12297556549310684, + 0.06606727093458176 + ], + [ + 0.3725048899650574, + 0.1250680834054947, + 0.05155758932232857 + ], + [ + 0.3725832402706146, + 0.13037650287151337, + 0.05037959665060043 + ], + [ + 0.3642616868019104, + 0.1367453783750534, + 0.042423564940690994 + ], + [ + 0.34705182909965515, + 0.1443822979927063, + 0.03455404192209244 + ], + [ + 0.3341005742549896, + 0.15387023985385895, + 0.028656575828790665 + ], + [ + 0.32680001854896545, + 0.16394402086734772, + 0.039206720888614655 + ], + [ + 0.3174026906490326, + 0.16571055352687836, + 0.06555110961198807 + ], + [ + 0.335466593503952, + 0.13723042607307434, + 0.11099795997142792 + ], + [ + 0.31393107771873474, + 0.1131090372800827, + 0.13478496670722961 + ], + [ + 0.2863841950893402, + 0.08356527239084244, + 0.14844155311584473 + ], + [ + 0.261927992105484, + 0.06657510250806808, + 0.14674778282642365 + ], + [ + 0.2355944812297821, + 0.07376657426357269, + 0.11632608622312546 + ], + [ + 0.21460536122322083, + 0.06868775188922882, + 0.11007073521614075 + ], + [ + 0.1921980381011963, + 0.06465216726064682, + 0.09597393125295639 + ], + [ + 0.19365566968917847, + 0.06371306627988815, + 0.06164136528968811 + ], + [ + 0.20855338871479034, + 0.06137103959918022, + 0.03718297928571701 + ], + [ + 0.2208825796842575, + 0.06394466757774353, + 0.018177319318056107 + ], + [ + 0.22580265998840332, + 0.06973303109407425, + 0.0024513353127986193 + ], + [ + 0.2219831943511963, + 0.07202262431383133, + -0.014677081257104874 + ], + [ + 0.2113000750541687, + 0.07570495456457138, + -0.020076744258403778 + ], + [ + 0.2056332230567932, + 0.07927984744310379, + -0.03347795829176903 + ], + [ + 0.20449507236480713, + 0.08465325087308884, + -0.03983129933476448 + ], + [ + 0.20158298313617706, + 0.08744785189628601, + -0.03700217604637146 + ], + [ + 0.20453166961669922, + 0.090281642973423, + -0.027513710781931877 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9526908836949936, + 0.2801024537384802, + 0.11799447247280206, + 0.28038127839723503, + -0.9597780850230373, + 0.014572790873528889, + 0.11733038331474263, + 0.019200076020527028, + -0.9929073160330835 + ], + [ + 0.9511822500503395, + 0.28926455784466376, + 0.10760270797756205, + 0.2893197052519555, + -0.9571079568699641, + 0.015442378350646605, + 0.10745434073174961, + 0.0164430675706838, + -0.9940740365721111 + ], + [ + 0.9353939023123978, + 0.31897819438832997, + 0.15261441288929795, + 0.3035935810624617, + -0.9457272313675347, + 0.11589193840629375, + 0.18129860742558068, + -0.06207185638160407, + -0.9814672177871693 + ], + [ + 0.9291659210330541, + 0.30286302751965416, + 0.21195442376234086, + 0.28698889153634727, + -0.9524028051014987, + 0.10279237797393272, + 0.232997998544055, + -0.034682609423547575, + -0.9718585541518059 + ], + [ + 0.9111461229590907, + 0.30996995514734116, + 0.27153520862417246, + 0.29679300944748954, + -0.9507459401014416, + 0.08942072983222765, + 0.28587873680936804, + -0.00088559956028645, + -0.9582653930690072 + ], + [ + 0.902006457708643, + 0.29257875914997516, + 0.3174618401417199, + 0.28201465326568437, + -0.9560812521321823, + 0.07985220513420013, + 0.3268823727204358, + 0.01750168607932948, + -0.9449029608319781 + ], + [ + 0.9008422460408764, + 0.2704360221319302, + 0.33962862906634883, + 0.24321793509401687, + -0.9623713063758678, + 0.12118789012524567, + 0.3596224183732599, + -0.026567397273052094, + -0.9327196200388969 + ], + [ + 0.8986338959764435, + 0.2592001859237268, + 0.3539383909938345, + 0.2231758947374923, + -0.9646950453332188, + 0.1398427313722777, + 0.3776898741167398, + -0.04667690142505973, + -0.924754900426614 + ], + [ + 0.903007890487921, + 0.2590863909247099, + 0.3427112366908376, + 0.22002252977285133, + -0.9640378862248642, + 0.1490672342114476, + 0.3690079079219166, + -0.05920469542784762, + -0.9275386611513216 + ], + [ + 0.9065863831193416, + 0.24342381636656135, + 0.34474044666695114, + 0.20271474664337719, + -0.9676538879419583, + 0.15017551279793745, + 0.37014572999820194, + -0.0662631026767588, + -0.9266074356423801 + ], + [ + 0.9193278661018104, + 0.22990307376309196, + 0.31934440856694885, + 0.1927082933289895, + -0.970630978077005, + 0.14401047906143866, + 0.34307402742108034, + -0.0708525304527596, + -0.9366323348238202 + ], + [ + 0.929021101347001, + 0.22489032503416873, + 0.2938437254018395, + 0.19171185828931242, + -0.9717568800292217, + 0.13760497631674465, + 0.3164906896628466, + -0.071504600005169, + -0.9458967890498607 + ], + [ + 0.9162173984459068, + 0.2515001054486356, + 0.31191886083457626, + 0.21550010624910876, + -0.9655944725368725, + 0.14555761337993234, + 0.3377948830157695, + -0.06614387020400456, + -0.9388927550273238 + ], + [ + 0.9045192679194402, + 0.29892830314008184, + 0.30411636513721335, + 0.2634529986772424, + -0.9525121002104581, + 0.15268666097806544, + 0.3353168821435158, + -0.05798765846672148, + -0.9403191054185265 + ], + [ + 0.8924777172941096, + 0.33106269494824925, + 0.30640009162384096, + 0.2916919852929921, + -0.9416728479498305, + 0.1678333493376344, + 0.3440920078254195, + -0.06041307348296398, + -0.9369903685220109 + ], + [ + 0.8703179407793326, + 0.3751138825102325, + 0.31911793604515787, + 0.33249724664293057, + -0.9255444306439423, + 0.18114383201989176, + 0.36330739454694866, + -0.05154689177903972, + -0.9302422560900078 + ], + [ + 0.8330912887105557, + 0.4148243684676636, + 0.3658956791217819, + 0.36486174850812814, + -0.9092940638347483, + 0.20015046827444746, + 0.4157340606086748, + -0.03324227429483828, + -0.9088785078598404 + ], + [ + 0.7686627248376173, + 0.47966605201296264, + 0.4231761973357054, + 0.4281119396502644, + -0.8773311996394892, + 0.2168182032672158, + 0.47526601243314087, + 0.014506711737437408, + -0.8797225544115992 + ], + [ + 0.7173789184031989, + 0.5513175220892449, + 0.4259301319090159, + 0.4861081638565813, + -0.8340577888123409, + 0.2608571600578593, + 0.499065467110919, + 0.01991468701344598, + -0.8663354227887238 + ], + [ + 0.7549187684852942, + 0.5603552106095324, + 0.3407340472148231, + 0.5061021303476188, + -0.8282004608263199, + 0.24071690913742028, + 0.4170830692395084, + -0.009275485422219676, + -0.9088210377868315 + ], + [ + 0.7920426585025326, + 0.5545334845345893, + 0.25526660894477915, + 0.5200103807203087, + -0.8319042308077134, + 0.19371255691706288, + 0.31977747115042376, + -0.020687322063356883, + -0.947266807003437 + ], + [ + 0.8137980518130329, + 0.5439158568721869, + 0.20466624418380938, + 0.5241314170132845, + -0.8390624930466082, + 0.14580943200649593, + 0.2510358312372131, + -0.011387423124004384, + -0.9679108109891303 + ], + [ + 0.8292776192707505, + 0.5386134185838399, + 0.14897723147536907, + 0.5305172950373133, + -0.8425509493861963, + 0.09305534565360536, + 0.17564176565648854, + 0.0018662823604218282, + -0.9844523793191943 + ], + [ + 0.8223710108342679, + 0.5611117119697211, + 0.09412527412885965, + 0.5554787131958072, + -0.8276227757414416, + 0.08052291760959347, + 0.12308257279466675, + -0.01393512699762428, + -0.9922985903999891 + ], + [ + 0.8221619154496022, + 0.5685972779344574, + 0.02732984284197268, + 0.5673458387095881, + -0.8223889094443383, + 0.04236957542702252, + 0.046566984905138734, + -0.01932917868088701, + -0.9987281405709799 + ], + [ + 0.8563116723213082, + 0.515018502981534, + -0.03855206133196495, + 0.5162638444641741, + -0.8556532925793626, + 0.03645662898796599, + -0.014211359729281899, + -0.0511212723311415, + -0.9985913342152983 + ], + [ + 0.8877834349710708, + 0.456863132213757, + 0.05582697389973132, + 0.455999245040357, + -0.8895368492126884, + 0.02808705067085277, + 0.062492088407978305, + 0.0005218396283890054, + -0.9980453229036301 + ], + [ + 0.9004729570517038, + 0.3923045173053396, + 0.1877381669250684, + 0.39994963642281994, + -0.916531834358344, + -0.0031120624966796337, + 0.17084713033532195, + 0.0778881397232826, + -0.9822141801799809 + ], + [ + 0.8828064248626776, + 0.40824138235460505, + 0.23236133489541502, + 0.41906547370647007, + -0.9079508836360988, + 0.003053137992223169, + 0.21221909661562008, + 0.09467928304348788, + -0.9726247418167099 + ], + [ + 0.8992502406780334, + 0.41488710185269323, + 0.13862790973239303, + 0.4196670067512522, + -0.9076593553707627, + -0.005839353763585839, + 0.12340424662443338, + 0.0634286002068849, + -0.9903273219450485 + ], + [ + 0.8947057038953593, + 0.4289646676391823, + 0.12446291549821278, + 0.4304997554926884, + -0.9024546271526515, + 0.01567183625183132, + 0.1190447980293341, + 0.03955957340486018, + -0.9921004869539075 + ], + [ + 0.8909054186982042, + 0.44572441348156533, + 0.08727704257530705, + 0.4462807074291648, + -0.8947816643695442, + 0.014117481524422557, + 0.08438640358909491, + 0.026372719514353528, + -0.9960840399056273 + ], + [ + 0.8973264804488142, + 0.43543236442401434, + 0.07213767044655651, + 0.4366575125456921, + -0.8996268012736477, + -0.0013546835621054687, + 0.06430710864867427, + 0.03271504917094022, + -0.9973937644355867 + ], + [ + 0.8949477167218385, + 0.4445717955391421, + 0.0377425879540765, + 0.4457416447118649, + -0.8945920556639759, + -0.031928672262769485, + 0.019569632186875477, + 0.045397935569857724, + -0.9987772809500952 + ], + [ + 0.8989799500097162, + 0.43292469009023876, + 0.06641733351165735, + 0.4352678148371765, + -0.8999412681551915, + -0.02544883569232667, + 0.04875427004270928, + 0.05178732066342438, + -0.9974673401024748 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0010846704244613647, + -0.0005892962217330933, + -0.003620065748691559, + 0.002795238047838211, + 0.009939059615135193, + 0.009053260087966919, + 1.0 + ], + [ + 0.023733168840408325, + 0.006266042590141296, + -0.00032272934913635254, + 0.07969940453767776, + -0.07464457303285599, + 0.01855921745300293, + 1.0 + ], + [ + 0.025146484375, + 0.0038411766290664673, + -0.0010315552353858948, + -0.027488071471452713, + -0.05285261571407318, + -0.014264076948165894, + 1.0 + ], + [ + 0.02989111840724945, + 0.007027342915534973, + 0.005380809307098389, + -0.03474758192896843, + -0.05476391315460205, + 0.015325486660003662, + 1.0 + ], + [ + 0.031777411699295044, + 0.0025575608015060425, + 0.007881782948970795, + -0.019444257020950317, + -0.043079525232315063, + -0.011873483657836914, + 1.0 + ], + [ + 0.018484920263290405, + 0.007111735641956329, + -0.00048529356718063354, + 0.046996183693408966, + -0.03486037254333496, + -0.039321839809417725, + 1.0 + ], + [ + 0.016869723796844482, + 0.0058381929993629456, + -0.0009297803044319153, + 0.02195599116384983, + -0.019436895847320557, + -0.020276740193367004, + 1.0 + ], + [ + 0.015700161457061768, + 0.006532028317451477, + -0.003981664776802063, + 0.01331133022904396, + 0.009358733892440796, + -0.004427105188369751, + 1.0 + ], + [ + 0.011451661586761475, + 0.007073201239109039, + -0.006848320364952087, + 0.007646568119525909, + -0.001224517822265625, + -0.019014552235603333, + 1.0 + ], + [ + 0.004678308963775635, + 0.004357479512691498, + -0.015436142683029175, + 0.004112258553504944, + 0.028978288173675537, + -0.013356685638427734, + 1.0 + ], + [ + -0.0011021792888641357, + 0.002092517912387848, + -0.014509681612253189, + -5.124509334564209e-05, + 0.028159886598587036, + -0.003124520182609558, + 1.0 + ], + [ + 7.835030555725098e-05, + 0.005308419466018677, + -0.0011779926717281342, + -0.0051183998584747314, + -0.02254536747932434, + 0.027505025267601013, + 0.0 + ], + [ + -0.008321553468704224, + 0.006368875503540039, + -0.007956031709909439, + -0.00874253362417221, + 0.0026315152645111084, + 0.05241459608078003, + 0.0 + ], + [ + -0.01720985770225525, + 0.007636919617652893, + -0.007869523018598557, + 0.002796471118927002, + -0.009330004453659058, + 0.032467663288116455, + 0.0 + ], + [ + -0.012951254844665527, + 0.009487941861152649, + -0.005897466093301773, + -0.009030818939208984, + -0.020543843507766724, + 0.04903966188430786, + 0.0 + ], + [ + -0.00730055570602417, + 0.01007378101348877, + 0.01055014505982399, + -0.018796969205141068, + -0.056934356689453125, + 0.047868192195892334, + 0.0 + ], + [ + -0.009397327899932861, + 0.0017665326595306396, + 0.026344388723373413, + -0.05304735526442528, + -0.06651657819747925, + 0.0953710675239563, + 0.0 + ], + [ + 0.018063902854919434, + -0.028480127453804016, + 0.04544685035943985, + -0.0064946189522743225, + -0.027253657579421997, + 0.08737671375274658, + 0.0 + ], + [ + -0.021535515785217285, + -0.024121388792991638, + 0.023787006735801697, + 0.03318893164396286, + 0.09228646755218506, + -0.004958391189575195, + 0.0 + ], + [ + -0.02754688262939453, + -0.029543764889240265, + 0.013656586408615112, + 0.011629779823124409, + 0.10473892092704773, + -0.009625554084777832, + 0.0 + ], + [ + -0.0244562029838562, + -0.016990169882774353, + -0.0016937702894210815, + -0.01007108110934496, + 0.0717444121837616, + -0.008776187896728516, + 0.0 + ], + [ + -0.026333510875701904, + 0.007191471755504608, + -0.030421696603298187, + -0.013660162687301636, + 0.07719257473945618, + -0.003060579299926758, + 0.0 + ], + [ + -0.02098912000656128, + -0.005078822374343872, + -0.006255351006984711, + 0.015938110649585724, + 0.05316215008497238, + 0.024940967559814453, + 0.0 + ], + [ + -0.022407323122024536, + -0.004035584628582001, + -0.014096803963184357, + 0.005309021100401878, + 0.07681164890527725, + 0.009961962699890137, + 0.0 + ], + [ + 0.0014576315879821777, + -0.000939100980758667, + -0.03433256596326828, + 0.03179735690355301, + 0.06079566851258278, + -0.06148397922515869, + 0.0 + ], + [ + 0.014897719025611877, + -0.0023420266807079315, + -0.0244583860039711, + -0.051671598106622696, + -0.0767446756362915, + -0.06804525852203369, + 0.0 + ], + [ + 0.012329190969467163, + 0.0025736279785633087, + -0.019005659967660904, + -0.07861007750034332, + -0.1091565415263176, + -0.056515663862228394, + 0.0 + ], + [ + 0.004920080304145813, + 0.005788363516330719, + -0.015725983306765556, + -0.017905429005622864, + -0.04215584695339203, + 0.025218337774276733, + 0.0 + ], + [ + -0.0038194656372070312, + 0.00228959321975708, + -0.017128417268395424, + 0.03307761251926422, + 0.09012559801340103, + -0.006558418273925781, + 0.0 + ], + [ + -0.010683119297027588, + 0.0036823302507400513, + -0.005399663001298904, + 0.024107303470373154, + 0.0043918415904045105, + 0.011822611093521118, + 0.0 + ], + [ + -0.005666851997375488, + 0.0035748928785324097, + -0.01340121403336525, + 0.013383233919739723, + 0.0348409041762352, + 0.01592564582824707, + 0.0 + ], + [ + -0.001138150691986084, + 0.005373403429985046, + -0.006353341042995453, + -0.006318563595414162, + 0.020135365426540375, + -0.01150396466255188, + 1.0 + ], + [ + -0.002912089228630066, + 0.002794601023197174, + 0.0028291232883930206, + -0.012633468955755234, + 0.044780634343624115, + 0.009211093187332153, + 1.0 + ], + [ + 0.0029486864805221558, + 0.0028337910771369934, + 0.009488465264439583, + -0.006449989974498749, + -0.029202723875641823, + -0.011186540126800537, + 1.0 + ], + [ + 0.0006181448698043823, + 0.00020614266395568848, + 0.013922002166509628, + 0.0008835159242153168, + -0.018944431096315384, + 0.009977549314498901, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9913908839225769 + ], + [ + 0.9913908839225769 + ], + [ + 0.9913908839225769 + ], + [ + 0.9913908839225769 + ], + [ + 0.9907060265541077 + ], + [ + 0.9913908839225769 + ], + [ + 0.9913908839225769 + ], + [ + 0.9913908839225769 + ], + [ + 0.9913908839225769 + ], + [ + 0.9913908839225769 + ], + [ + 0.9913908839225769 + ], + [ + 0.9568231701850891 + ], + [ + 0.6911999583244324 + ], + [ + 0.40239205956459045 + ], + [ + 0.1862945258617401 + ], + [ + 0.08712529391050339 + ], + [ + 0.08157449960708618 + ], + [ + 0.09107078611850739 + ], + [ + 0.09475040435791016 + ], + [ + 0.09475040435791016 + ], + [ + 0.09475040435791016 + ], + [ + 0.09475040435791016 + ], + [ + 0.09475040435791016 + ], + [ + 0.09475040435791016 + ], + [ + 0.09475040435791016 + ], + [ + 0.09475040435791016 + ], + [ + 0.09475040435791016 + ], + [ + 0.09475040435791016 + ], + [ + 0.09475040435791016 + ], + [ + 0.09475040435791016 + ], + [ + 0.09475040435791016 + ], + [ + 0.12439525872468948 + ], + [ + 0.3110979497432709 + ], + [ + 0.5918992757797241 + ], + [ + 0.8862238526344299 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.19587410986423492, + 0.07237080484628677, + 0.0818401649594307 + ], + [ + 0.21960727870464325, + 0.07863684743642807, + 0.08151743561029434 + ], + [ + 0.24475376307964325, + 0.08247802406549454, + 0.08048588037490845 + ], + [ + 0.2746448814868927, + 0.08950536698102951, + 0.08586668968200684 + ], + [ + 0.30642229318618774, + 0.09206292778253555, + 0.09374847263097763 + ], + [ + 0.32490721344947815, + 0.09917466342449188, + 0.093263179063797 + ], + [ + 0.34177693724632263, + 0.10501285642385483, + 0.09233339875936508 + ], + [ + 0.3574770987033844, + 0.1115448847413063, + 0.08835173398256302 + ], + [ + 0.3689287602901459, + 0.11861808598041534, + 0.08150341361761093 + ], + [ + 0.3736070692539215, + 0.12297556549310684, + 0.06606727093458176 + ], + [ + 0.3725048899650574, + 0.1250680834054947, + 0.05155758932232857 + ], + [ + 0.3725832402706146, + 0.13037650287151337, + 0.05037959665060043 + ], + [ + 0.3642616868019104, + 0.1367453783750534, + 0.042423564940690994 + ], + [ + 0.34705182909965515, + 0.1443822979927063, + 0.03455404192209244 + ], + [ + 0.3341005742549896, + 0.15387023985385895, + 0.028656575828790665 + ], + [ + 0.32680001854896545, + 0.16394402086734772, + 0.039206720888614655 + ], + [ + 0.3174026906490326, + 0.16571055352687836, + 0.06555110961198807 + ], + [ + 0.335466593503952, + 0.13723042607307434, + 0.11099795997142792 + ], + [ + 0.31393107771873474, + 0.1131090372800827, + 0.13478496670722961 + ], + [ + 0.2863841950893402, + 0.08356527239084244, + 0.14844155311584473 + ], + [ + 0.261927992105484, + 0.06657510250806808, + 0.14674778282642365 + ], + [ + 0.2355944812297821, + 0.07376657426357269, + 0.11632608622312546 + ], + [ + 0.21460536122322083, + 0.06868775188922882, + 0.11007073521614075 + ], + [ + 0.1921980381011963, + 0.06465216726064682, + 0.09597393125295639 + ], + [ + 0.19365566968917847, + 0.06371306627988815, + 0.06164136528968811 + ], + [ + 0.20855338871479034, + 0.06137103959918022, + 0.03718297928571701 + ], + [ + 0.2208825796842575, + 0.06394466757774353, + 0.018177319318056107 + ], + [ + 0.22580265998840332, + 0.06973303109407425, + 0.0024513353127986193 + ], + [ + 0.2219831943511963, + 0.07202262431383133, + -0.014677081257104874 + ], + [ + 0.2113000750541687, + 0.07570495456457138, + -0.020076744258403778 + ], + [ + 0.2056332230567932, + 0.07927984744310379, + -0.03347795829176903 + ], + [ + 0.20449507236480713, + 0.08465325087308884, + -0.03983129933476448 + ], + [ + 0.20158298313617706, + 0.08744785189628601, + -0.03700217604637146 + ], + [ + 0.20453166961669922, + 0.090281642973423, + -0.027513710781931877 + ], + [ + 0.2051498144865036, + 0.09048778563737869, + -0.013591708615422249 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9511822500503395, + 0.28926455784466376, + 0.10760270797756205, + 0.2893197052519555, + -0.9571079568699641, + 0.015442378350646605, + 0.10745434073174961, + 0.0164430675706838, + -0.9940740365721111 + ], + [ + 0.9353939023123978, + 0.31897819438832997, + 0.15261441288929795, + 0.3035935810624617, + -0.9457272313675347, + 0.11589193840629375, + 0.18129860742558068, + -0.06207185638160407, + -0.9814672177871693 + ], + [ + 0.9291659210330541, + 0.30286302751965416, + 0.21195442376234086, + 0.28698889153634727, + -0.9524028051014987, + 0.10279237797393272, + 0.232997998544055, + -0.034682609423547575, + -0.9718585541518059 + ], + [ + 0.9111461229590907, + 0.30996995514734116, + 0.27153520862417246, + 0.29679300944748954, + -0.9507459401014416, + 0.08942072983222765, + 0.28587873680936804, + -0.00088559956028645, + -0.9582653930690072 + ], + [ + 0.902006457708643, + 0.29257875914997516, + 0.3174618401417199, + 0.28201465326568437, + -0.9560812521321823, + 0.07985220513420013, + 0.3268823727204358, + 0.01750168607932948, + -0.9449029608319781 + ], + [ + 0.9008422460408764, + 0.2704360221319302, + 0.33962862906634883, + 0.24321793509401687, + -0.9623713063758678, + 0.12118789012524567, + 0.3596224183732599, + -0.026567397273052094, + -0.9327196200388969 + ], + [ + 0.8986338959764435, + 0.2592001859237268, + 0.3539383909938345, + 0.2231758947374923, + -0.9646950453332188, + 0.1398427313722777, + 0.3776898741167398, + -0.04667690142505973, + -0.924754900426614 + ], + [ + 0.903007890487921, + 0.2590863909247099, + 0.3427112366908376, + 0.22002252977285133, + -0.9640378862248642, + 0.1490672342114476, + 0.3690079079219166, + -0.05920469542784762, + -0.9275386611513216 + ], + [ + 0.9065863831193416, + 0.24342381636656135, + 0.34474044666695114, + 0.20271474664337719, + -0.9676538879419583, + 0.15017551279793745, + 0.37014572999820194, + -0.0662631026767588, + -0.9266074356423801 + ], + [ + 0.9193278661018104, + 0.22990307376309196, + 0.31934440856694885, + 0.1927082933289895, + -0.970630978077005, + 0.14401047906143866, + 0.34307402742108034, + -0.0708525304527596, + -0.9366323348238202 + ], + [ + 0.929021101347001, + 0.22489032503416873, + 0.2938437254018395, + 0.19171185828931242, + -0.9717568800292217, + 0.13760497631674465, + 0.3164906896628466, + -0.071504600005169, + -0.9458967890498607 + ], + [ + 0.9162173984459068, + 0.2515001054486356, + 0.31191886083457626, + 0.21550010624910876, + -0.9655944725368725, + 0.14555761337993234, + 0.3377948830157695, + -0.06614387020400456, + -0.9388927550273238 + ], + [ + 0.9045192679194402, + 0.29892830314008184, + 0.30411636513721335, + 0.2634529986772424, + -0.9525121002104581, + 0.15268666097806544, + 0.3353168821435158, + -0.05798765846672148, + -0.9403191054185265 + ], + [ + 0.8924777172941096, + 0.33106269494824925, + 0.30640009162384096, + 0.2916919852929921, + -0.9416728479498305, + 0.1678333493376344, + 0.3440920078254195, + -0.06041307348296398, + -0.9369903685220109 + ], + [ + 0.8703179407793326, + 0.3751138825102325, + 0.31911793604515787, + 0.33249724664293057, + -0.9255444306439423, + 0.18114383201989176, + 0.36330739454694866, + -0.05154689177903972, + -0.9302422560900078 + ], + [ + 0.8330912887105557, + 0.4148243684676636, + 0.3658956791217819, + 0.36486174850812814, + -0.9092940638347483, + 0.20015046827444746, + 0.4157340606086748, + -0.03324227429483828, + -0.9088785078598404 + ], + [ + 0.7686627248376173, + 0.47966605201296264, + 0.4231761973357054, + 0.4281119396502644, + -0.8773311996394892, + 0.2168182032672158, + 0.47526601243314087, + 0.014506711737437408, + -0.8797225544115992 + ], + [ + 0.7173789184031989, + 0.5513175220892449, + 0.4259301319090159, + 0.4861081638565813, + -0.8340577888123409, + 0.2608571600578593, + 0.499065467110919, + 0.01991468701344598, + -0.8663354227887238 + ], + [ + 0.7549187684852942, + 0.5603552106095324, + 0.3407340472148231, + 0.5061021303476188, + -0.8282004608263199, + 0.24071690913742028, + 0.4170830692395084, + -0.009275485422219676, + -0.9088210377868315 + ], + [ + 0.7920426585025326, + 0.5545334845345893, + 0.25526660894477915, + 0.5200103807203087, + -0.8319042308077134, + 0.19371255691706288, + 0.31977747115042376, + -0.020687322063356883, + -0.947266807003437 + ], + [ + 0.8137980518130329, + 0.5439158568721869, + 0.20466624418380938, + 0.5241314170132845, + -0.8390624930466082, + 0.14580943200649593, + 0.2510358312372131, + -0.011387423124004384, + -0.9679108109891303 + ], + [ + 0.8292776192707505, + 0.5386134185838399, + 0.14897723147536907, + 0.5305172950373133, + -0.8425509493861963, + 0.09305534565360536, + 0.17564176565648854, + 0.0018662823604218282, + -0.9844523793191943 + ], + [ + 0.8223710108342679, + 0.5611117119697211, + 0.09412527412885965, + 0.5554787131958072, + -0.8276227757414416, + 0.08052291760959347, + 0.12308257279466675, + -0.01393512699762428, + -0.9922985903999891 + ], + [ + 0.8221619154496022, + 0.5685972779344574, + 0.02732984284197268, + 0.5673458387095881, + -0.8223889094443383, + 0.04236957542702252, + 0.046566984905138734, + -0.01932917868088701, + -0.9987281405709799 + ], + [ + 0.8563116723213082, + 0.515018502981534, + -0.03855206133196495, + 0.5162638444641741, + -0.8556532925793626, + 0.03645662898796599, + -0.014211359729281899, + -0.0511212723311415, + -0.9985913342152983 + ], + [ + 0.8877834349710708, + 0.456863132213757, + 0.05582697389973132, + 0.455999245040357, + -0.8895368492126884, + 0.02808705067085277, + 0.062492088407978305, + 0.0005218396283890054, + -0.9980453229036301 + ], + [ + 0.9004729570517038, + 0.3923045173053396, + 0.1877381669250684, + 0.39994963642281994, + -0.916531834358344, + -0.0031120624966796337, + 0.17084713033532195, + 0.0778881397232826, + -0.9822141801799809 + ], + [ + 0.8828064248626776, + 0.40824138235460505, + 0.23236133489541502, + 0.41906547370647007, + -0.9079508836360988, + 0.003053137992223169, + 0.21221909661562008, + 0.09467928304348788, + -0.9726247418167099 + ], + [ + 0.8992502406780334, + 0.41488710185269323, + 0.13862790973239303, + 0.4196670067512522, + -0.9076593553707627, + -0.005839353763585839, + 0.12340424662443338, + 0.0634286002068849, + -0.9903273219450485 + ], + [ + 0.8947057038953593, + 0.4289646676391823, + 0.12446291549821278, + 0.4304997554926884, + -0.9024546271526515, + 0.01567183625183132, + 0.1190447980293341, + 0.03955957340486018, + -0.9921004869539075 + ], + [ + 0.8909054186982042, + 0.44572441348156533, + 0.08727704257530705, + 0.4462807074291648, + -0.8947816643695442, + 0.014117481524422557, + 0.08438640358909491, + 0.026372719514353528, + -0.9960840399056273 + ], + [ + 0.8973264804488142, + 0.43543236442401434, + 0.07213767044655651, + 0.4366575125456921, + -0.8996268012736477, + -0.0013546835621054687, + 0.06430710864867427, + 0.03271504917094022, + -0.9973937644355867 + ], + [ + 0.8949477167218385, + 0.4445717955391421, + 0.0377425879540765, + 0.4457416447118649, + -0.8945920556639759, + -0.031928672262769485, + 0.019569632186875477, + 0.045397935569857724, + -0.9987772809500952 + ], + [ + 0.8989799500097162, + 0.43292469009023876, + 0.06641733351165735, + 0.4352678148371765, + -0.8999412681551915, + -0.02544883569232667, + 0.04875427004270928, + 0.05178732066342438, + -0.9974673401024748 + ], + [ + 0.8936046435770301, + 0.44107762204949313, + 0.08319418432038003, + 0.4437251557853525, + -0.8960272470622558, + -0.015593544988225197, + 0.06766629220545184, + 0.050849816609301324, + -0.9964113453037188 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006327.json b/json/chunk-0006/episode_0006327.json new file mode 100644 index 0000000000000000000000000000000000000000..22d364e9a18ed90d34304e57bc94688ceb82c609 --- /dev/null +++ b/json/chunk-0006/episode_0006327.json @@ -0,0 +1,2782 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 45, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nTake the red cube off the tower and place it on the yellow rectangular block." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006327.mp4", + "start": 0, + "end": 45, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.26833289861679077, + 0.02721589244902134, + 0.12215494364500046, + 0.049492593854665756, + -0.0885247066617012, + -0.24153542518615723, + 0.0, + 0.9994885921478271 + ], + [ + 0.2677014470100403, + 0.026327863335609436, + 0.1152510717511177, + 0.041765350848436356, + -0.06513091921806335, + -0.2486228197813034, + 0.0, + 0.9994885921478271 + ], + [ + 0.27442267537117004, + 0.008117380551993847, + 0.11433785408735275, + 0.049779459834098816, + -0.06160035356879234, + -0.41512396931648254, + 0.0, + 0.9988223910331726 + ], + [ + 0.2713416516780853, + -0.0037861557211726904, + 0.12996362149715424, + -0.006636456120759249, + -0.13749751448631287, + -0.48971623182296753, + 0.0, + 0.9988223910331726 + ], + [ + 0.2592266798019409, + -0.016350263729691505, + 0.14710915088653564, + -0.03460569307208061, + -0.19742777943611145, + -0.5711365342140198, + 0.0, + 0.9988223910331726 + ], + [ + 0.2515837848186493, + -0.028062021359801292, + 0.15214760601520538, + -0.05705995857715607, + -0.1770806759595871, + -0.6104450225830078, + 0.0, + 0.9988223910331726 + ], + [ + 0.2536059617996216, + -0.03393881022930145, + 0.1611708551645279, + -0.06424113363027573, + -0.18829810619354248, + -0.6464084386825562, + 0.0, + 0.9988223910331726 + ], + [ + 0.27128854393959045, + -0.04286537691950798, + 0.15519221127033234, + -0.03552061691880226, + -0.13655459880828857, + -0.700599193572998, + 0.0, + 0.9988223910331726 + ], + [ + 0.2939421832561493, + -0.05571341887116432, + 0.13840888440608978, + -0.010832852683961391, + -0.07797477394342422, + -0.7507703304290771, + 0.0, + 0.9988223910331726 + ], + [ + 0.30317404866218567, + -0.05999915301799774, + 0.1297973245382309, + 0.004847334697842598, + -0.037089429795742035, + -0.760597825050354, + 0.0, + 0.9988223910331726 + ], + [ + 0.30357497930526733, + -0.06422354280948639, + 0.12458508461713791, + 0.004461534321308136, + -0.024215877056121826, + -0.7489045858383179, + 0.0, + 0.9988223910331726 + ], + [ + 0.303247332572937, + -0.06611514091491699, + 0.12267753481864929, + 0.003273808164522052, + -0.017552824690937996, + -0.7283191084861755, + 0.0, + 0.9988223910331726 + ], + [ + 0.3031581938266754, + -0.06751266121864319, + 0.115071140229702, + -0.016438530758023262, + 9.274182843910239e-07, + -0.6946051716804504, + 0.0, + 0.939095675945282 + ], + [ + 0.30437636375427246, + -0.06776837259531021, + 0.10932660102844238, + -0.02104092761874199, + 0.010278508067131042, + -0.6592423915863037, + 0.0, + 0.6520930528640747 + ], + [ + 0.3047373592853546, + -0.06902147829532623, + 0.10826209932565689, + -0.02815822698175907, + 0.008684821426868439, + -0.6520647406578064, + 0.0, + 0.5849101543426514 + ], + [ + 0.3047359883785248, + -0.06919751316308975, + 0.10830504447221756, + -0.0372915081679821, + 0.004401103127747774, + -0.6438431143760681, + 0.0, + 0.5849101543426514 + ], + [ + 0.3040481209754944, + -0.0660456046462059, + 0.10940711200237274, + -0.05568557232618332, + 0.002716486109420657, + -0.6180586814880371, + 0.0, + 0.5849101543426514 + ], + [ + 0.3051563799381256, + -0.045177530497312546, + 0.13332980871200562, + -0.06453166157007217, + -0.07392582297325134, + -0.5214006304740906, + 0.0, + 0.5849101543426514 + ], + [ + 0.30481815338134766, + -0.031916871666908264, + 0.1397101730108261, + -0.09361543506383896, + -0.09017796814441681, + -0.45226162672042847, + 0.0, + 0.5849101543426514 + ], + [ + 0.3082912564277649, + -0.012473122216761112, + 0.14341090619564056, + -0.08906874060630798, + -0.09327597916126251, + -0.3674982488155365, + 0.0, + 0.5849101543426514 + ], + [ + 0.3161977231502533, + 0.0020432807505130768, + 0.1266113668680191, + -0.024581212550401688, + -0.05539096146821976, + -0.2581387162208557, + 0.0, + 0.5849101543426514 + ], + [ + 0.3205810785293579, + 0.018176963552832603, + 0.0946197584271431, + -0.0035101782996207476, + 0.024458589032292366, + -0.20365455746650696, + 0.0, + 0.5849101543426514 + ], + [ + 0.3243699371814728, + 0.026333989575505257, + 0.08270908147096634, + -0.0038325381465256214, + 0.040098607540130615, + -0.1589435636997223, + 0.0, + 0.5849101543426514 + ], + [ + 0.32349637150764465, + 0.034605566412210464, + 0.06893529742956161, + -0.03424947336316109, + 0.07672593742609024, + -0.13617612421512604, + 0.0, + 0.5849101543426514 + ], + [ + 0.32260897755622864, + 0.039586134254932404, + 0.06827761232852936, + -0.06867965310811996, + 0.07022836059331894, + -0.11295747011899948, + 0.0, + 0.5849101543426514 + ], + [ + 0.32762831449508667, + 0.04970299080014229, + 0.05923975631594658, + -0.09796690195798874, + 0.06711501628160477, + -0.08309955149888992, + 0.0, + 0.5849101543426514 + ], + [ + 0.3397158682346344, + 0.05201426148414612, + 0.06552618741989136, + -0.103783018887043, + 0.03757307305932045, + -0.08119800686836243, + 0.0, + 0.5849101543426514 + ], + [ + 0.3472995460033417, + 0.05102020502090454, + 0.06004719063639641, + -0.09689148515462875, + 0.04481416195631027, + -0.08978615701198578, + 0.0, + 0.5849101543426514 + ], + [ + 0.35053566098213196, + 0.0456942580640316, + 0.052994921803474426, + -0.09672769904136658, + 0.05907536670565605, + -0.11173192411661148, + 0.0, + 0.5849101543426514 + ], + [ + 0.35725805163383484, + 0.04336158186197281, + 0.051761824637651443, + -0.08516945689916611, + 0.05683025345206261, + -0.11761996150016785, + 0.0, + 0.5849101543426514 + ], + [ + 0.3639763593673706, + 0.04108969867229462, + 0.05178751423954964, + -0.07104620337486267, + 0.050297897309064865, + -0.12384161353111267, + 0.0, + 0.5849101543426514 + ], + [ + 0.3669312000274658, + 0.041839051991701126, + 0.05083359405398369, + -0.07145580649375916, + 0.04719527065753937, + -0.11861945688724518, + 0.0, + 0.5849101543426514 + ], + [ + 0.3660111427307129, + 0.043761152774095535, + 0.0504705049097538, + -0.06641889363527298, + 0.05217994749546051, + -0.10881369560956955, + 0.0, + 0.5849101543426514 + ], + [ + 0.3622257113456726, + 0.053434066474437714, + 0.05041428655385971, + -0.06773222237825394, + 0.056431498378515244, + -0.08432985842227936, + 0.0, + 0.5849101543426514 + ], + [ + 0.35944780707359314, + 0.06407828629016876, + 0.05071260407567024, + -0.07097982615232468, + 0.05974756181240082, + -0.06410745531320572, + 0.0, + 0.5849101543426514 + ], + [ + 0.3573535084724426, + 0.06446930021047592, + 0.051372893154621124, + -0.06913484632968903, + 0.05866334214806557, + -0.06289194524288177, + 0.0, + 0.5849101543426514 + ], + [ + 0.3566436469554901, + 0.06430988013744354, + 0.05142972990870476, + -0.07044213265180588, + 0.06307047605514526, + -0.06320058554410934, + 0.0, + 0.6330026388168335 + ], + [ + 0.35414940118789673, + 0.06390226632356644, + 0.04895211383700371, + -0.07614056020975113, + 0.0724848285317421, + -0.06376595795154572, + 0.0, + 0.9453431367874146 + ], + [ + 0.35184744000434875, + 0.05582553893327713, + 0.06391354650259018, + -0.07264092564582825, + 0.03837702050805092, + -0.08071351796388626, + 0.0, + 1.0073583126068115 + ], + [ + 0.34613150358200073, + 0.0430523157119751, + 0.10144121944904327, + -0.022102614864706993, + -0.04067602753639221, + -0.11218762397766113, + 0.0, + 1.002137303352356 + ], + [ + 0.3390361964702606, + 0.03224857524037361, + 0.12317276000976562, + 0.0126198036596179, + -0.08064683526754379, + -0.14535781741142273, + 0.0, + 1.0008161067962646 + ], + [ + 0.3346613049507141, + 0.01901896297931671, + 0.12167336046695709, + 0.03961344435811043, + -0.05195572227239609, + -0.1983143538236618, + 0.0, + 1.0008161067962646 + ], + [ + 0.32687118649482727, + 0.015549003146588802, + 0.1168241798877716, + 0.03892982006072998, + 0.01517853420227766, + -0.16566714644432068, + 0.0, + 1.0008161067962646 + ], + [ + 0.32746484875679016, + 0.016065387055277824, + 0.11618193984031677, + 0.03893357515335083, + 0.015116475522518158, + -0.16266335546970367, + 0.0, + 1.0008161067962646 + ], + [ + 0.32746484875679016, + 0.016065387055277824, + 0.11618193984031677, + 0.03891035541892052, + 0.015176165848970413, + -0.16419635713100433, + 0.0, + 1.0008161067962646 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.939095675945282 + ], + [ + 0.6520930528640747 + ], + [ + 0.5849101543426514 + ], + [ + 0.5849101543426514 + ], + [ + 0.5849101543426514 + ], + [ + 0.5849101543426514 + ], + [ + 0.5849101543426514 + ], + [ + 0.5849101543426514 + ], + [ + 0.5849101543426514 + ], + [ + 0.5849101543426514 + ], + [ + 0.5849101543426514 + ], + [ + 0.5849101543426514 + ], + [ + 0.5849101543426514 + ], + [ + 0.5849101543426514 + ], + [ + 0.5849101543426514 + ], + [ + 0.5849101543426514 + ], + [ + 0.5849101543426514 + ], + [ + 0.5849101543426514 + ], + [ + 0.5849101543426514 + ], + [ + 0.5849101543426514 + ], + [ + 0.5849101543426514 + ], + [ + 0.5849101543426514 + ], + [ + 0.5849101543426514 + ], + [ + 0.5849101543426514 + ], + [ + 0.6330026388168335 + ], + [ + 0.9453431367874146 + ], + [ + 1.0073583126068115 + ], + [ + 1.002137303352356 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.26833289861679077, + 0.02721589244902134, + 0.12215494364500046 + ], + [ + 0.2677014470100403, + 0.026327863335609436, + 0.1152510717511177 + ], + [ + 0.27442267537117004, + 0.008117380551993847, + 0.11433785408735275 + ], + [ + 0.2713416516780853, + -0.0037861557211726904, + 0.12996362149715424 + ], + [ + 0.2592266798019409, + -0.016350263729691505, + 0.14710915088653564 + ], + [ + 0.2515837848186493, + -0.028062021359801292, + 0.15214760601520538 + ], + [ + 0.2536059617996216, + -0.03393881022930145, + 0.1611708551645279 + ], + [ + 0.27128854393959045, + -0.04286537691950798, + 0.15519221127033234 + ], + [ + 0.2939421832561493, + -0.05571341887116432, + 0.13840888440608978 + ], + [ + 0.30317404866218567, + -0.05999915301799774, + 0.1297973245382309 + ], + [ + 0.30357497930526733, + -0.06422354280948639, + 0.12458508461713791 + ], + [ + 0.303247332572937, + -0.06611514091491699, + 0.12267753481864929 + ], + [ + 0.3031581938266754, + -0.06751266121864319, + 0.115071140229702 + ], + [ + 0.30437636375427246, + -0.06776837259531021, + 0.10932660102844238 + ], + [ + 0.3047373592853546, + -0.06902147829532623, + 0.10826209932565689 + ], + [ + 0.3047359883785248, + -0.06919751316308975, + 0.10830504447221756 + ], + [ + 0.3040481209754944, + -0.0660456046462059, + 0.10940711200237274 + ], + [ + 0.3051563799381256, + -0.045177530497312546, + 0.13332980871200562 + ], + [ + 0.30481815338134766, + -0.031916871666908264, + 0.1397101730108261 + ], + [ + 0.3082912564277649, + -0.012473122216761112, + 0.14341090619564056 + ], + [ + 0.3161977231502533, + 0.0020432807505130768, + 0.1266113668680191 + ], + [ + 0.3205810785293579, + 0.018176963552832603, + 0.0946197584271431 + ], + [ + 0.3243699371814728, + 0.026333989575505257, + 0.08270908147096634 + ], + [ + 0.32349637150764465, + 0.034605566412210464, + 0.06893529742956161 + ], + [ + 0.32260897755622864, + 0.039586134254932404, + 0.06827761232852936 + ], + [ + 0.32762831449508667, + 0.04970299080014229, + 0.05923975631594658 + ], + [ + 0.3397158682346344, + 0.05201426148414612, + 0.06552618741989136 + ], + [ + 0.3472995460033417, + 0.05102020502090454, + 0.06004719063639641 + ], + [ + 0.35053566098213196, + 0.0456942580640316, + 0.052994921803474426 + ], + [ + 0.35725805163383484, + 0.04336158186197281, + 0.051761824637651443 + ], + [ + 0.3639763593673706, + 0.04108969867229462, + 0.05178751423954964 + ], + [ + 0.3669312000274658, + 0.041839051991701126, + 0.05083359405398369 + ], + [ + 0.3660111427307129, + 0.043761152774095535, + 0.0504705049097538 + ], + [ + 0.3622257113456726, + 0.053434066474437714, + 0.05041428655385971 + ], + [ + 0.35944780707359314, + 0.06407828629016876, + 0.05071260407567024 + ], + [ + 0.3573535084724426, + 0.06446930021047592, + 0.051372893154621124 + ], + [ + 0.3566436469554901, + 0.06430988013744354, + 0.05142972990870476 + ], + [ + 0.35414940118789673, + 0.06390226632356644, + 0.04895211383700371 + ], + [ + 0.35184744000434875, + 0.05582553893327713, + 0.06391354650259018 + ], + [ + 0.34613150358200073, + 0.0430523157119751, + 0.10144121944904327 + ], + [ + 0.3390361964702606, + 0.03224857524037361, + 0.12317276000976562 + ], + [ + 0.3346613049507141, + 0.01901896297931671, + 0.12167336046695709 + ], + [ + 0.32687118649482727, + 0.015549003146588802, + 0.1168241798877716 + ], + [ + 0.32746484875679016, + 0.016065387055277824, + 0.11618193984031677 + ], + [ + 0.32746484875679016, + 0.016065387055277824, + 0.11618193984031677 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9671697688281157, + -0.2346540202665185, + 0.09757114859285916, + -0.23825713858768943, + -0.9708290804977904, + 0.026915281381058545, + 0.08840912948884876, + -0.04927866914371096, + -0.9948645327834583 + ], + [ + 0.9671971475193194, + -0.24322082884570378, + 0.07330283927721065, + -0.24554762489643395, + -0.9690756847197503, + 0.024467962576952062, + 0.06508488102633278, + -0.0416646816927216, + -0.9970095348396785 + ], + [ + 0.9133307222384225, + -0.40000072829898864, + 0.07633091887118992, + -0.4025384273581563, + -0.9151682098101152, + 0.020735531171672997, + 0.06156140280617244, + -0.04966452570223323, + -0.9968669061471087 + ], + [ + 0.8741377422686445, + -0.4711678394684471, + 0.11783070309606221, + -0.46593613433954495, + -0.8820190772032948, + -0.07032685238349418, + 0.13706467910515158, + 0.0065737736562779744, + -0.9905402865314049 + ], + [ + 0.8249445774801559, + -0.5459742622405027, + 0.1462140521872844, + -0.5300872687753962, + -0.837114738353016, + -0.13507924457296333, + 0.19614772894002086, + 0.03392668276004104, + -0.97998726962577 + ], + [ + 0.8065794488514886, + -0.5805308958488518, + 0.11141576035444159, + -0.564268043761579, + -0.8123007416804204, + -0.14754348462375244, + 0.17615665607608919, + 0.05613718937004468, + -0.9827601174700376 + ], + [ + 0.7841425012631875, + -0.6106733651825189, + 0.11044717637572182, + -0.5916767966638956, + -0.7893675929100507, + -0.16376010366674684, + 0.18718735534822578, + 0.0630622257778024, + -0.9802979392397427 + ], + [ + 0.7573396411640889, + -0.6479649107936016, + 0.08110574764890896, + -0.6386745080093468, + -0.7608571892163886, + -0.11485299489675979, + 0.13613060177809955, + 0.03518255246533583, + -0.990065981266681 + ], + [ + 0.7289419295992855, + -0.6827791401330474, + 0.04956116495045889, + -0.6801293335195311, + -0.7305450100571593, + -0.0610579885589366, + 0.0778957826737017, + 0.010799725911395192, + -0.9969030108099233 + ], + [ + 0.7239258156665224, + -0.6892163382345832, + 0.03020351837242106, + -0.6888805544326381, + -0.7245394226323381, + -0.022050096965311017, + 0.03708092685116832, + -0.004843982051071104, + -0.9993005257187387 + ], + [ + 0.732220363821229, + -0.680750948490705, + 0.020772215445450083, + -0.6806372343032687, + -0.7325013669904334, + -0.013217512517239825, + 0.024213510392010758, + -0.004460211446957793, + -0.9996968602673233 + ], + [ + 0.7461793203208859, + -0.6655696859958287, + 0.015277925542258848, + -0.6655136000952497, + -0.7463285326206104, + -0.009239560845973155, + 0.017551923362434697, + -0.0032732979975041384, + -0.99984059504828 + ], + [ + 0.7683064842264075, + -0.639995647314739, + -0.010522248516597405, + -0.6400821402716972, + -0.7682026883996167, + -0.012628667419983064, + -9.274182843910239e-07, + 0.016437790416886124, + -0.9998648903953724 + ], + [ + 0.7904147526229923, + -0.6122116532122261, + -0.02100977170476501, + -0.6124858160221147, + -0.7904139947710775, + -0.010336442412694772, + -0.010278327084582827, + 0.02103826373966328, + -0.9997258361426709 + ], + [ + 0.7948025741656161, + -0.6063939165724525, + -0.023985121296991298, + -0.6068059359241972, + -0.7946658426772466, + -0.017110073325971815, + -0.008684712250211668, + 0.028153444300521052, + -0.9995658854458509 + ], + [ + 0.7997870039840274, + -0.5997249960570888, + -0.025897439305427115, + -0.6002677558178301, + -0.7993371904079205, + -0.02717861946821525, + -0.00440108891974725, + 0.03728250441020303, + -0.9992950741804064 + ], + [ + 0.8150018895490911, + -0.5784326706549822, + -0.034461072971629, + -0.5794519313565015, + -0.8138292138070451, + -0.04378892555689277, + -0.0027164827684623555, + 0.05565659236021985, + -0.9984462751937216 + ], + [ + 0.8647540383479069, + -0.501188407705956, + 0.031790456778021205, + -0.49673471200940583, + -0.8629451357143241, + -0.09263000934858794, + 0.07385850692993648, + 0.06431075126411796, + -0.995192970345915 + ], + [ + 0.8958063100135155, + -0.44265932472697167, + 0.03979669800662442, + -0.435225238942754, + -0.8918437711721083, + -0.12326264320034089, + 0.09005579563355001, + 0.09309892616874418, + -0.9915757881367591 + ], + [ + 0.9291723043935091, + -0.365589431730276, + 0.05461864292702551, + -0.35772003518807216, + -0.9265531415581174, + -0.11634282227033838, + 0.09314078147138605, + 0.08856434539879446, + -0.9917061820675429 + ], + [ + 0.9653839325931524, + -0.2565199184219378, + 0.04723763482418095, + -0.2548898598630044, + -0.9662273380300492, + -0.037893146905258523, + 0.05536264110389132, + 0.02454104105713325, + -0.9981646734250988 + ], + [ + 0.9790410709487344, + -0.20216438857407537, + -0.0246605228660169, + -0.20218921360615166, + -0.9793453150246806, + 0.0015085889217657182, + -0.024456150491871054, + 0.003509121211809574, + -0.9996947447953498 + ], + [ + 0.9866013329208141, + -0.15812231147864567, + -0.0401888602914157, + -0.1581479470195312, + -0.9874121074508462, + 0.0025606469858225557, + -0.04008786265667349, + 0.003829448018789952, + -0.9991888202914857 + ], + [ + 0.987827595844416, + -0.13307559264061725, + -0.08054518937584099, + -0.13535624882162117, + -0.9905176465004749, + -0.023526110517890622, + -0.0766506803177961, + 0.034142035886998844, + -0.9964732784135811 + ], + [ + 0.9911777967798701, + -0.10766685923760944, + -0.0772943891399075, + -0.11243956372753047, + -0.9918273808933483, + -0.06029752083629786, + -0.0701706468501272, + 0.06845651124728719, + -0.9951832928604082 + ], + [ + 0.9943056203018736, + -0.07606897109254733, + -0.07463139468767464, + -0.0828170709922297, + -0.992315318373117, + -0.09193281065173264, + -0.06706464186420634, + 0.09759006383326399, + -0.9929645075493106 + ], + [ + 0.9960017931691945, + -0.07679368228947483, + -0.045641629727396306, + -0.08105156625425047, + -0.9916579928438624, + -0.10022509085361553, + -0.03756423314114627, + 0.10352369578654852, + -0.9939173873110441 + ], + [ + 0.99497198775253, + -0.08492859854344166, + -0.05308367674931479, + -0.08957554661369053, + -0.9916891130068589, + -0.09235217697773922, + -0.04479916334751552, + 0.09664282846189896, + -0.9943104136386415 + ], + [ + 0.9920309150933826, + -0.10531194454376709, + -0.06916688395031999, + -0.11130508729242887, + -0.9897549205692172, + -0.08942245105032565, + -0.05904101152428958, + 0.09640846200118339, + -0.9935892347508378 + ], + [ + 0.9914874933753504, + -0.11212522321187456, + -0.06618523098057869, + -0.11715949903997143, + -0.9900580620193692, + -0.07783755915465522, + -0.05679966782445283, + 0.08492919492223404, + -0.9947667211888894 + ], + [ + 0.991086436037988, + -0.11967205117267728, + -0.05853440415382409, + -0.12336908258010955, + -0.9902788807071702, + -0.06424801855852255, + -0.05027669206363143, + 0.07089667547549927, + -0.9962157977274103 + ], + [ + 0.991867292028741, + -0.11469489786571534, + -0.05517567767726121, + -0.1182097064575368, + -0.9908376141122653, + -0.06532448055313071, + -0.04717775220159265, + 0.07131551629124265, + -0.9963374713586348 + ], + [ + 0.9927326142425436, + -0.10491849449687565, + -0.05894120911276184, + -0.10845127900834153, + -0.9922696740647587, + -0.06032589835943009, + -0.05215627192026003, + 0.06627973629946414, + -0.9964370124877203 + ], + [ + 0.9948601665604025, + -0.08023308971737021, + -0.061772973911027054, + -0.08409586151332059, + -0.9944830718731709, + -0.06270012626808665, + -0.05640155199762159, + 0.06757270952171464, + -0.9961188653269014 + ], + [ + 0.9961651314668367, + -0.05967614871130124, + -0.06398271739029479, + -0.06394924113062805, + -0.9957042785202065, + -0.06695882537329736, + -0.05971202063635481, + 0.07079369330344054, + -0.9957021279378596 + ], + [ + 0.9963061538760578, + -0.05865823195880926, + -0.06271570435037402, + -0.06274237756258678, + -0.9958933670178903, + -0.06526710953890312, + -0.05862970071977855, + 0.06896095528076666, + -0.995895047100985 + ], + [ + 0.9960191940228923, + -0.05857453949937428, + -0.06719217558930386, + -0.06303294308792025, + -0.9958086217731548, + -0.0662724444088533, + -0.06302866985477805, + 0.07024394724590716, + -0.9955366264742103 + ], + [ + 0.9953471016396557, + -0.058040448824203346, + -0.0769119857877973, + -0.06355542564004449, + -0.9954272769463949, + -0.07131089806473043, + -0.0724213720475529, + 0.07586726969761487, + -0.9944844404310103 + ], + [ + 0.996010521621321, + -0.07763774134422484, + -0.04399343062993997, + -0.08056654403021256, + -0.994340336984476, + -0.06925551406658208, + -0.03836760094991506, + 0.0725236193564963, + -0.9966284422154438 + ], + [ + 0.9928916104256963, + -0.11281816962643393, + 0.037925064909743705, + -0.11185983653149681, + -0.9933702342394959, + -0.026513292856896818, + 0.0406648117838249, + 0.02208253448112206, + -0.9989287936351999 + ], + [ + 0.9862382228438523, + -0.14382905268900434, + 0.08153141360471976, + -0.1443757037447936, + -0.9895226051603941, + 0.0008185626321183708, + 0.08055944370460767, + -0.012578452972076062, + -0.9966704362781279 + ], + [ + 0.9790771245919011, + -0.19484607158427844, + 0.058677018406092026, + -0.19675115009783858, + -0.9800361391309889, + 0.028603337784296655, + 0.05193235057295604, + -0.0395496445672907, + -0.9978671537727697 + ], + [ + 0.9861949408788183, + -0.16536807007244408, + -0.008540490942525257, + -0.16489138357358912, + -0.9854638425249223, + 0.040888222010781225, + -0.015177951383886754, + -0.03891550432065169, + -0.9991272257902183 + ], + [ + 0.9866867178765893, + -0.16240485022464826, + -0.00860147600319539, + -0.16192847290840254, + -0.9859563647937881, + 0.04085604464667938, + -0.015115899823587032, + -0.038919292723895764, + -0.9991280189377111 + ], + [ + 0.9864364300579896, + -0.1639182237233052, + -0.008601475794624657, + -0.16344072664379608, + -0.9857068086398457, + 0.04085604331306067, + -0.015175583303351675, + -0.038896058057947686, + -0.9991280189940406 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0006314516067504883, + -0.0008880291134119034, + -0.0069038718938827515, + -0.007727243006229401, + 0.023393787443637848, + -0.007087394595146179, + 1.0 + ], + [ + 0.006721228361129761, + -0.018210481852293015, + -0.0009132176637649536, + 0.00801410898566246, + 0.0035305656492710114, + -0.16650114953517914, + 1.0 + ], + [ + -0.003081023693084717, + -0.011903536505997181, + 0.015625767409801483, + -0.05641591548919678, + -0.07589715719223022, + -0.07459226250648499, + 1.0 + ], + [ + -0.01211497187614441, + -0.012564107775688171, + 0.01714552938938141, + -0.02796923741698265, + -0.059930264949798584, + -0.08142030239105225, + 1.0 + ], + [ + -0.007642894983291626, + -0.011711757630109787, + 0.005038455128669739, + -0.022454265505075455, + 0.020347103476524353, + -0.03930848836898804, + 1.0 + ], + [ + 0.00202217698097229, + -0.00587678886950016, + 0.00902324914932251, + -0.007181175053119659, + -0.011217430233955383, + -0.03596341609954834, + 1.0 + ], + [ + 0.017682582139968872, + -0.008926566690206528, + -0.005978643894195557, + 0.028720516711473465, + 0.051743507385253906, + -0.054190754890441895, + 1.0 + ], + [ + 0.022653639316558838, + -0.012848041951656342, + -0.016783326864242554, + 0.024687763303518295, + 0.05857982486486435, + -0.0501711368560791, + 1.0 + ], + [ + 0.009231865406036377, + -0.00428573414683342, + -0.008611559867858887, + 0.015680186450481415, + 0.04088534414768219, + -0.009827494621276855, + 1.0 + ], + [ + 0.00040093064308166504, + -0.0042243897914886475, + -0.005212239921092987, + -0.000385800376534462, + 0.012873552739620209, + 0.011693239212036133, + 1.0 + ], + [ + -0.00032764673233032227, + -0.001891598105430603, + -0.001907549798488617, + -0.0011877261567860842, + 0.00666305236518383, + 0.020585477352142334, + 1.0 + ], + [ + -8.913874626159668e-05, + -0.0013975203037261963, + -0.007606394588947296, + -0.019712338224053383, + 0.017553752288222313, + 0.0337139368057251, + 0.0 + ], + [ + 0.001218169927597046, + -0.0002557113766670227, + -0.005744539201259613, + -0.004602396860718727, + 0.010277580469846725, + 0.03536278009414673, + 0.0 + ], + [ + 0.0003609955310821533, + -0.0012531057000160217, + -0.001064501702785492, + -0.007117299363017082, + -0.0015936866402626038, + 0.0071776509284973145, + 0.0 + ], + [ + -1.3709068298339844e-06, + -0.0001760348677635193, + 4.2945146560668945e-05, + -0.00913328118622303, + -0.004283718299120665, + 0.008221626281738281, + 0.0 + ], + [ + -0.0006878674030303955, + 0.00315190851688385, + 0.0011020675301551819, + -0.018394064158201218, + -0.001684617018327117, + 0.025784432888031006, + 0.0 + ], + [ + 0.0011082589626312256, + 0.020868074148893356, + 0.023922696709632874, + -0.008846089243888855, + -0.07664231210947037, + 0.09665805101394653, + 0.0 + ], + [ + -0.0003382265567779541, + 0.013260658830404282, + 0.006380364298820496, + -0.029083773493766785, + -0.016252145171165466, + 0.06913900375366211, + 0.0 + ], + [ + 0.0034731030464172363, + 0.019443750381469727, + 0.003700733184814453, + 0.004546694457530975, + -0.003098011016845703, + 0.08476337790489197, + 0.0 + ], + [ + 0.007906466722488403, + 0.014516402967274189, + -0.01679953932762146, + 0.0644875317811966, + 0.037885017693042755, + 0.10935953259468079, + 0.0 + ], + [ + 0.004383355379104614, + 0.016133682802319527, + -0.03199160844087601, + 0.02107103355228901, + 0.07984954863786697, + 0.054484158754348755, + 0.0 + ], + [ + 0.003788858652114868, + 0.008157026022672653, + -0.011910676956176758, + -0.00032235984690487385, + 0.01564001850783825, + 0.04471099376678467, + 0.0 + ], + [ + -0.000873565673828125, + 0.008271576836705208, + -0.013773784041404724, + -0.030416935682296753, + 0.036627329885959625, + 0.022767439484596252, + 0.0 + ], + [ + -0.0008873939514160156, + 0.004980567842721939, + -0.0006576851010322571, + -0.03443017974495888, + -0.006497576832771301, + 0.023218654096126556, + 0.0 + ], + [ + 0.005019336938858032, + 0.010116856545209885, + -0.009037856012582779, + -0.029287248849868774, + -0.0031133443117141724, + 0.029857918620109558, + 0.0 + ], + [ + 0.01208755373954773, + 0.00231127068400383, + 0.0062864311039447784, + -0.00581611692905426, + -0.029541943222284317, + 0.0019015446305274963, + 0.0 + ], + [ + 0.007583677768707275, + -0.0009940564632415771, + -0.005478996783494949, + 0.006891533732414246, + 0.007241088896989822, + -0.008588150143623352, + 0.0 + ], + [ + 0.003236114978790283, + -0.00532594695687294, + -0.007052268832921982, + 0.00016378611326217651, + 0.01426120474934578, + -0.021945767104625702, + 0.0 + ], + [ + 0.006722390651702881, + -0.002332676202058792, + -0.0012330971658229828, + 0.01155824214220047, + -0.002245113253593445, + -0.005888037383556366, + 0.0 + ], + [ + 0.006718307733535767, + -0.002271883189678192, + 2.568960189819336e-05, + 0.014123253524303436, + -0.006532356142997742, + -0.006221652030944824, + 0.0 + ], + [ + 0.002954840660095215, + 0.0007493533194065094, + -0.0009539201855659485, + -0.0004096031188964844, + -0.0031026266515254974, + 0.005222156643867493, + 0.0 + ], + [ + -0.0009200572967529297, + 0.0019221007823944092, + -0.0003630891442298889, + 0.0050369128584861755, + 0.004984676837921143, + 0.009805761277675629, + 0.0 + ], + [ + -0.003785431385040283, + 0.009672913700342178, + -5.6218355894088745e-05, + -0.001313328742980957, + 0.004251550883054733, + 0.02448383718729019, + 0.0 + ], + [ + -0.0027779042720794678, + 0.010644219815731049, + 0.0002983175218105316, + -0.0032476037740707397, + 0.0033160634338855743, + 0.02022240310907364, + 0.0 + ], + [ + -0.0020942986011505127, + 0.0003910139203071594, + 0.000660289078950882, + 0.0018449798226356506, + -0.0010842196643352509, + 0.001215510070323944, + 0.0 + ], + [ + -0.0007098615169525146, + -0.00015942007303237915, + 5.683675408363342e-05, + -0.0013072863221168518, + 0.004407133907079697, + -0.0003086403012275696, + 1.0 + ], + [ + -0.002494245767593384, + -0.0004076138138771057, + -0.00247761607170105, + -0.0056984275579452515, + 0.009414352476596832, + -0.0005653724074363708, + 1.0 + ], + [ + -0.0023019611835479736, + -0.008076727390289307, + 0.014961432665586472, + 0.003499634563922882, + -0.03410780802369118, + -0.016947560012340546, + 1.0 + ], + [ + -0.0057159364223480225, + -0.012773223221302032, + 0.037527672946453094, + 0.050538308918476105, + -0.07905304431915283, + -0.03147410601377487, + 1.0 + ], + [ + -0.007095307111740112, + -0.010803740471601486, + 0.02173154056072235, + 0.03472241759300232, + -0.03997080773115158, + -0.0331701934337616, + 1.0 + ], + [ + -0.004374891519546509, + -0.0132296122610569, + -0.0014993995428085327, + 0.026993639767169952, + 0.028691112995147705, + -0.052956536412239075, + 1.0 + ], + [ + -0.007790118455886841, + -0.003469959832727909, + -0.004849180579185486, + -0.0006836242973804474, + 0.06713425368070602, + 0.032647207379341125, + 1.0 + ], + [ + 0.0005936622619628906, + 0.0005163839086890221, + -0.000642240047454834, + 3.7550926208496094e-06, + -6.205867975950241e-05, + 0.0030037909746170044, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + -2.321973443031311e-05, + 5.969032645225525e-05, + -0.0015330016613006592, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + -2.3309141397476196e-05, + 5.965493619441986e-05, + -0.0015330016613006592, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.939095675945282 + ], + [ + 0.6520930528640747 + ], + [ + 0.5849101543426514 + ], + [ + 0.5849101543426514 + ], + [ + 0.5849101543426514 + ], + [ + 0.5849101543426514 + ], + [ + 0.5849101543426514 + ], + [ + 0.5849101543426514 + ], + [ + 0.5849101543426514 + ], + [ + 0.5849101543426514 + ], + [ + 0.5849101543426514 + ], + [ + 0.5849101543426514 + ], + [ + 0.5849101543426514 + ], + [ + 0.5849101543426514 + ], + [ + 0.5849101543426514 + ], + [ + 0.5849101543426514 + ], + [ + 0.5849101543426514 + ], + [ + 0.5849101543426514 + ], + [ + 0.5849101543426514 + ], + [ + 0.5849101543426514 + ], + [ + 0.5849101543426514 + ], + [ + 0.5849101543426514 + ], + [ + 0.5849101543426514 + ], + [ + 0.5849101543426514 + ], + [ + 0.6330026388168335 + ], + [ + 0.9453431367874146 + ], + [ + 1.0073583126068115 + ], + [ + 1.002137303352356 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2677014470100403, + 0.026327863335609436, + 0.1152510717511177 + ], + [ + 0.27442267537117004, + 0.008117380551993847, + 0.11433785408735275 + ], + [ + 0.2713416516780853, + -0.0037861557211726904, + 0.12996362149715424 + ], + [ + 0.2592266798019409, + -0.016350263729691505, + 0.14710915088653564 + ], + [ + 0.2515837848186493, + -0.028062021359801292, + 0.15214760601520538 + ], + [ + 0.2536059617996216, + -0.03393881022930145, + 0.1611708551645279 + ], + [ + 0.27128854393959045, + -0.04286537691950798, + 0.15519221127033234 + ], + [ + 0.2939421832561493, + -0.05571341887116432, + 0.13840888440608978 + ], + [ + 0.30317404866218567, + -0.05999915301799774, + 0.1297973245382309 + ], + [ + 0.30357497930526733, + -0.06422354280948639, + 0.12458508461713791 + ], + [ + 0.303247332572937, + -0.06611514091491699, + 0.12267753481864929 + ], + [ + 0.3031581938266754, + -0.06751266121864319, + 0.115071140229702 + ], + [ + 0.30437636375427246, + -0.06776837259531021, + 0.10932660102844238 + ], + [ + 0.3047373592853546, + -0.06902147829532623, + 0.10826209932565689 + ], + [ + 0.3047359883785248, + -0.06919751316308975, + 0.10830504447221756 + ], + [ + 0.3040481209754944, + -0.0660456046462059, + 0.10940711200237274 + ], + [ + 0.3051563799381256, + -0.045177530497312546, + 0.13332980871200562 + ], + [ + 0.30481815338134766, + -0.031916871666908264, + 0.1397101730108261 + ], + [ + 0.3082912564277649, + -0.012473122216761112, + 0.14341090619564056 + ], + [ + 0.3161977231502533, + 0.0020432807505130768, + 0.1266113668680191 + ], + [ + 0.3205810785293579, + 0.018176963552832603, + 0.0946197584271431 + ], + [ + 0.3243699371814728, + 0.026333989575505257, + 0.08270908147096634 + ], + [ + 0.32349637150764465, + 0.034605566412210464, + 0.06893529742956161 + ], + [ + 0.32260897755622864, + 0.039586134254932404, + 0.06827761232852936 + ], + [ + 0.32762831449508667, + 0.04970299080014229, + 0.05923975631594658 + ], + [ + 0.3397158682346344, + 0.05201426148414612, + 0.06552618741989136 + ], + [ + 0.3472995460033417, + 0.05102020502090454, + 0.06004719063639641 + ], + [ + 0.35053566098213196, + 0.0456942580640316, + 0.052994921803474426 + ], + [ + 0.35725805163383484, + 0.04336158186197281, + 0.051761824637651443 + ], + [ + 0.3639763593673706, + 0.04108969867229462, + 0.05178751423954964 + ], + [ + 0.3669312000274658, + 0.041839051991701126, + 0.05083359405398369 + ], + [ + 0.3660111427307129, + 0.043761152774095535, + 0.0504705049097538 + ], + [ + 0.3622257113456726, + 0.053434066474437714, + 0.05041428655385971 + ], + [ + 0.35944780707359314, + 0.06407828629016876, + 0.05071260407567024 + ], + [ + 0.3573535084724426, + 0.06446930021047592, + 0.051372893154621124 + ], + [ + 0.3566436469554901, + 0.06430988013744354, + 0.05142972990870476 + ], + [ + 0.35414940118789673, + 0.06390226632356644, + 0.04895211383700371 + ], + [ + 0.35184744000434875, + 0.05582553893327713, + 0.06391354650259018 + ], + [ + 0.34613150358200073, + 0.0430523157119751, + 0.10144121944904327 + ], + [ + 0.3390361964702606, + 0.03224857524037361, + 0.12317276000976562 + ], + [ + 0.3346613049507141, + 0.01901896297931671, + 0.12167336046695709 + ], + [ + 0.32687118649482727, + 0.015549003146588802, + 0.1168241798877716 + ], + [ + 0.32746484875679016, + 0.016065387055277824, + 0.11618193984031677 + ], + [ + 0.32746484875679016, + 0.016065387055277824, + 0.11618193984031677 + ], + [ + 0.32746484875679016, + 0.016065387055277824, + 0.11618193984031677 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9671971475193194, + -0.24322082884570378, + 0.07330283927721065, + -0.24554762489643395, + -0.9690756847197503, + 0.024467962576952062, + 0.06508488102633278, + -0.0416646816927216, + -0.9970095348396785 + ], + [ + 0.9133307222384225, + -0.40000072829898864, + 0.07633091887118992, + -0.4025384273581563, + -0.9151682098101152, + 0.020735531171672997, + 0.06156140280617244, + -0.04966452570223323, + -0.9968669061471087 + ], + [ + 0.8741377422686445, + -0.4711678394684471, + 0.11783070309606221, + -0.46593613433954495, + -0.8820190772032948, + -0.07032685238349418, + 0.13706467910515158, + 0.0065737736562779744, + -0.9905402865314049 + ], + [ + 0.8249445774801559, + -0.5459742622405027, + 0.1462140521872844, + -0.5300872687753962, + -0.837114738353016, + -0.13507924457296333, + 0.19614772894002086, + 0.03392668276004104, + -0.97998726962577 + ], + [ + 0.8065794488514886, + -0.5805308958488518, + 0.11141576035444159, + -0.564268043761579, + -0.8123007416804204, + -0.14754348462375244, + 0.17615665607608919, + 0.05613718937004468, + -0.9827601174700376 + ], + [ + 0.7841425012631875, + -0.6106733651825189, + 0.11044717637572182, + -0.5916767966638956, + -0.7893675929100507, + -0.16376010366674684, + 0.18718735534822578, + 0.0630622257778024, + -0.9802979392397427 + ], + [ + 0.7573396411640889, + -0.6479649107936016, + 0.08110574764890896, + -0.6386745080093468, + -0.7608571892163886, + -0.11485299489675979, + 0.13613060177809955, + 0.03518255246533583, + -0.990065981266681 + ], + [ + 0.7289419295992855, + -0.6827791401330474, + 0.04956116495045889, + -0.6801293335195311, + -0.7305450100571593, + -0.0610579885589366, + 0.0778957826737017, + 0.010799725911395192, + -0.9969030108099233 + ], + [ + 0.7239258156665224, + -0.6892163382345832, + 0.03020351837242106, + -0.6888805544326381, + -0.7245394226323381, + -0.022050096965311017, + 0.03708092685116832, + -0.004843982051071104, + -0.9993005257187387 + ], + [ + 0.732220363821229, + -0.680750948490705, + 0.020772215445450083, + -0.6806372343032687, + -0.7325013669904334, + -0.013217512517239825, + 0.024213510392010758, + -0.004460211446957793, + -0.9996968602673233 + ], + [ + 0.7461793203208859, + -0.6655696859958287, + 0.015277925542258848, + -0.6655136000952497, + -0.7463285326206104, + -0.009239560845973155, + 0.017551923362434697, + -0.0032732979975041384, + -0.99984059504828 + ], + [ + 0.7683064842264075, + -0.639995647314739, + -0.010522248516597405, + -0.6400821402716972, + -0.7682026883996167, + -0.012628667419983064, + -9.274182843910239e-07, + 0.016437790416886124, + -0.9998648903953724 + ], + [ + 0.7904147526229923, + -0.6122116532122261, + -0.02100977170476501, + -0.6124858160221147, + -0.7904139947710775, + -0.010336442412694772, + -0.010278327084582827, + 0.02103826373966328, + -0.9997258361426709 + ], + [ + 0.7948025741656161, + -0.6063939165724525, + -0.023985121296991298, + -0.6068059359241972, + -0.7946658426772466, + -0.017110073325971815, + -0.008684712250211668, + 0.028153444300521052, + -0.9995658854458509 + ], + [ + 0.7997870039840274, + -0.5997249960570888, + -0.025897439305427115, + -0.6002677558178301, + -0.7993371904079205, + -0.02717861946821525, + -0.00440108891974725, + 0.03728250441020303, + -0.9992950741804064 + ], + [ + 0.8150018895490911, + -0.5784326706549822, + -0.034461072971629, + -0.5794519313565015, + -0.8138292138070451, + -0.04378892555689277, + -0.0027164827684623555, + 0.05565659236021985, + -0.9984462751937216 + ], + [ + 0.8647540383479069, + -0.501188407705956, + 0.031790456778021205, + -0.49673471200940583, + -0.8629451357143241, + -0.09263000934858794, + 0.07385850692993648, + 0.06431075126411796, + -0.995192970345915 + ], + [ + 0.8958063100135155, + -0.44265932472697167, + 0.03979669800662442, + -0.435225238942754, + -0.8918437711721083, + -0.12326264320034089, + 0.09005579563355001, + 0.09309892616874418, + -0.9915757881367591 + ], + [ + 0.9291723043935091, + -0.365589431730276, + 0.05461864292702551, + -0.35772003518807216, + -0.9265531415581174, + -0.11634282227033838, + 0.09314078147138605, + 0.08856434539879446, + -0.9917061820675429 + ], + [ + 0.9653839325931524, + -0.2565199184219378, + 0.04723763482418095, + -0.2548898598630044, + -0.9662273380300492, + -0.037893146905258523, + 0.05536264110389132, + 0.02454104105713325, + -0.9981646734250988 + ], + [ + 0.9790410709487344, + -0.20216438857407537, + -0.0246605228660169, + -0.20218921360615166, + -0.9793453150246806, + 0.0015085889217657182, + -0.024456150491871054, + 0.003509121211809574, + -0.9996947447953498 + ], + [ + 0.9866013329208141, + -0.15812231147864567, + -0.0401888602914157, + -0.1581479470195312, + -0.9874121074508462, + 0.0025606469858225557, + -0.04008786265667349, + 0.003829448018789952, + -0.9991888202914857 + ], + [ + 0.987827595844416, + -0.13307559264061725, + -0.08054518937584099, + -0.13535624882162117, + -0.9905176465004749, + -0.023526110517890622, + -0.0766506803177961, + 0.034142035886998844, + -0.9964732784135811 + ], + [ + 0.9911777967798701, + -0.10766685923760944, + -0.0772943891399075, + -0.11243956372753047, + -0.9918273808933483, + -0.06029752083629786, + -0.0701706468501272, + 0.06845651124728719, + -0.9951832928604082 + ], + [ + 0.9943056203018736, + -0.07606897109254733, + -0.07463139468767464, + -0.0828170709922297, + -0.992315318373117, + -0.09193281065173264, + -0.06706464186420634, + 0.09759006383326399, + -0.9929645075493106 + ], + [ + 0.9960017931691945, + -0.07679368228947483, + -0.045641629727396306, + -0.08105156625425047, + -0.9916579928438624, + -0.10022509085361553, + -0.03756423314114627, + 0.10352369578654852, + -0.9939173873110441 + ], + [ + 0.99497198775253, + -0.08492859854344166, + -0.05308367674931479, + -0.08957554661369053, + -0.9916891130068589, + -0.09235217697773922, + -0.04479916334751552, + 0.09664282846189896, + -0.9943104136386415 + ], + [ + 0.9920309150933826, + -0.10531194454376709, + -0.06916688395031999, + -0.11130508729242887, + -0.9897549205692172, + -0.08942245105032565, + -0.05904101152428958, + 0.09640846200118339, + -0.9935892347508378 + ], + [ + 0.9914874933753504, + -0.11212522321187456, + -0.06618523098057869, + -0.11715949903997143, + -0.9900580620193692, + -0.07783755915465522, + -0.05679966782445283, + 0.08492919492223404, + -0.9947667211888894 + ], + [ + 0.991086436037988, + -0.11967205117267728, + -0.05853440415382409, + -0.12336908258010955, + -0.9902788807071702, + -0.06424801855852255, + -0.05027669206363143, + 0.07089667547549927, + -0.9962157977274103 + ], + [ + 0.991867292028741, + -0.11469489786571534, + -0.05517567767726121, + -0.1182097064575368, + -0.9908376141122653, + -0.06532448055313071, + -0.04717775220159265, + 0.07131551629124265, + -0.9963374713586348 + ], + [ + 0.9927326142425436, + -0.10491849449687565, + -0.05894120911276184, + -0.10845127900834153, + -0.9922696740647587, + -0.06032589835943009, + -0.05215627192026003, + 0.06627973629946414, + -0.9964370124877203 + ], + [ + 0.9948601665604025, + -0.08023308971737021, + -0.061772973911027054, + -0.08409586151332059, + -0.9944830718731709, + -0.06270012626808665, + -0.05640155199762159, + 0.06757270952171464, + -0.9961188653269014 + ], + [ + 0.9961651314668367, + -0.05967614871130124, + -0.06398271739029479, + -0.06394924113062805, + -0.9957042785202065, + -0.06695882537329736, + -0.05971202063635481, + 0.07079369330344054, + -0.9957021279378596 + ], + [ + 0.9963061538760578, + -0.05865823195880926, + -0.06271570435037402, + -0.06274237756258678, + -0.9958933670178903, + -0.06526710953890312, + -0.05862970071977855, + 0.06896095528076666, + -0.995895047100985 + ], + [ + 0.9960191940228923, + -0.05857453949937428, + -0.06719217558930386, + -0.06303294308792025, + -0.9958086217731548, + -0.0662724444088533, + -0.06302866985477805, + 0.07024394724590716, + -0.9955366264742103 + ], + [ + 0.9953471016396557, + -0.058040448824203346, + -0.0769119857877973, + -0.06355542564004449, + -0.9954272769463949, + -0.07131089806473043, + -0.0724213720475529, + 0.07586726969761487, + -0.9944844404310103 + ], + [ + 0.996010521621321, + -0.07763774134422484, + -0.04399343062993997, + -0.08056654403021256, + -0.994340336984476, + -0.06925551406658208, + -0.03836760094991506, + 0.0725236193564963, + -0.9966284422154438 + ], + [ + 0.9928916104256963, + -0.11281816962643393, + 0.037925064909743705, + -0.11185983653149681, + -0.9933702342394959, + -0.026513292856896818, + 0.0406648117838249, + 0.02208253448112206, + -0.9989287936351999 + ], + [ + 0.9862382228438523, + -0.14382905268900434, + 0.08153141360471976, + -0.1443757037447936, + -0.9895226051603941, + 0.0008185626321183708, + 0.08055944370460767, + -0.012578452972076062, + -0.9966704362781279 + ], + [ + 0.9790771245919011, + -0.19484607158427844, + 0.058677018406092026, + -0.19675115009783858, + -0.9800361391309889, + 0.028603337784296655, + 0.05193235057295604, + -0.0395496445672907, + -0.9978671537727697 + ], + [ + 0.9861949408788183, + -0.16536807007244408, + -0.008540490942525257, + -0.16489138357358912, + -0.9854638425249223, + 0.040888222010781225, + -0.015177951383886754, + -0.03891550432065169, + -0.9991272257902183 + ], + [ + 0.9866867178765893, + -0.16240485022464826, + -0.00860147600319539, + -0.16192847290840254, + -0.9859563647937881, + 0.04085604464667938, + -0.015115899823587032, + -0.038919292723895764, + -0.9991280189377111 + ], + [ + 0.9864364300579896, + -0.1639182237233052, + -0.008601475794624657, + -0.16344072664379608, + -0.9857068086398457, + 0.04085604331306067, + -0.015175583303351675, + -0.038896058057947686, + -0.9991280189940406 + ], + [ + 0.9861838214925782, + -0.16543120879516293, + -0.008601475621440199, + -0.16495259304486076, + -0.9854549333736913, + 0.04085604407221267, + -0.015235231342896373, + -0.03887273396643517, + -0.9991280189644887 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006331.json b/json/chunk-0006/episode_0006331.json new file mode 100644 index 0000000000000000000000000000000000000000..60f001731f38f930d99911294bff63a09f276be0 --- /dev/null +++ b/json/chunk-0006/episode_0006331.json @@ -0,0 +1,2302 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 37, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the pan to the bottom edge." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006331.mp4", + "start": 0, + "end": 37, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.31673744320869446, + 0.13441000878810883, + 0.18136224150657654, + -0.026226799935102463, + -0.11862008273601532, + -0.18924745917320251, + 0.0, + 1.0001531839370728 + ], + [ + 0.31715309619903564, + 0.13323724269866943, + 0.16945816576480865, + -0.05024926736950874, + -0.09388719499111176, + -0.18441709876060486, + 0.0, + 1.0001531839370728 + ], + [ + 0.3224194645881653, + 0.11258038133382797, + 0.15411271154880524, + -0.07887507975101471, + -0.11356619745492935, + -0.20325633883476257, + 0.0, + 1.0001531839370728 + ], + [ + 0.3230929672718048, + 0.07720321416854858, + 0.15686388313770294, + -0.068429134786129, + -0.13982057571411133, + -0.2646636962890625, + 0.0, + 1.0001531839370728 + ], + [ + 0.3172227740287781, + 0.04661772400140762, + 0.15496040880680084, + -0.060350507497787476, + -0.1625133603811264, + -0.28497132658958435, + 0.0, + 1.0001531839370728 + ], + [ + 0.31052446365356445, + 0.016432207077741623, + 0.14336945116519928, + -0.03853079676628113, + -0.1849202662706375, + -0.29139459133148193, + 0.0, + 1.0001531839370728 + ], + [ + 0.31094491481781006, + -0.007151897996664047, + 0.12869758903980255, + -0.0034969737753272057, + -0.18516375124454498, + -0.27474308013916016, + 0.0, + 1.0001531839370728 + ], + [ + 0.32176482677459717, + -0.03172629326581955, + 0.10876204818487167, + 0.010095612145960331, + -0.17916694283485413, + -0.2682477533817291, + 0.0, + 1.0001531839370728 + ], + [ + 0.3389750123023987, + -0.05339444428682327, + 0.09852708131074905, + 0.023749029263854027, + -0.188786119222641, + -0.26368921995162964, + 0.0, + 1.0001531839370728 + ], + [ + 0.3596256375312805, + -0.07828466594219208, + 0.08521019667387009, + 0.024704307317733765, + -0.18622145056724548, + -0.2720237076282501, + 0.0, + 1.0001531839370728 + ], + [ + 0.37159615755081177, + -0.09352698177099228, + 0.07599399983882904, + -0.009206556715071201, + -0.19055837392807007, + -0.2653930187225342, + 0.0, + 1.0001531839370728 + ], + [ + 0.373405396938324, + -0.09678101539611816, + 0.06440380215644836, + -0.013003215193748474, + -0.18023928999900818, + -0.283796489238739, + 0.0, + 1.0001531839370728 + ], + [ + 0.3687680661678314, + -0.09297222644090652, + 0.05747352913022041, + 0.01208744291216135, + -0.16527816653251648, + -0.29951199889183044, + 0.0, + 1.0001531839370728 + ], + [ + 0.3576740622520447, + -0.08703374862670898, + 0.044576775282621384, + 0.02134079486131668, + -0.12926146388053894, + -0.31529155373573303, + 0.0, + 1.0001531839370728 + ], + [ + 0.35289278626441956, + -0.07839316874742508, + 0.03773500770330429, + 0.031388767063617706, + -0.11165013909339905, + -0.3055649399757385, + 0.0, + 1.0001531839370728 + ], + [ + 0.3487268388271332, + -0.07613341510295868, + 0.032766424119472504, + 0.03557891026139259, + -0.10208013653755188, + -0.3081853687763214, + 0.0, + 0.9522681832313538 + ], + [ + 0.3463388681411743, + -0.07449184358119965, + 0.029800044372677803, + 0.04247300326824188, + -0.10005500912666321, + -0.311435729265213, + 0.0, + 0.6681591272354126 + ], + [ + 0.34598344564437866, + -0.07440255582332611, + 0.029232501983642578, + 0.04299638420343399, + -0.09666937589645386, + -0.31905677914619446, + 0.0, + 0.36359503865242004 + ], + [ + 0.3458499014377594, + -0.07421912997961044, + 0.02970411442220211, + 0.03440386801958084, + -0.09704063087701797, + -0.3218817114830017, + 0.0, + 0.1531343013048172 + ], + [ + 0.34689053893089294, + -0.07147502154111862, + 0.03610733523964882, + 0.034016817808151245, + -0.1092381551861763, + -0.31839433312416077, + 0.0, + 0.08397578448057175 + ], + [ + 0.3459150493144989, + -0.06822516769170761, + 0.0448920764029026, + 0.016460135579109192, + -0.11548085510730743, + -0.3073398172855377, + 0.0, + 0.07559127360582352 + ], + [ + 0.3451760411262512, + -0.06222140043973923, + 0.0804927870631218, + -0.01871342584490776, + -0.15143753588199615, + -0.2917712330818176, + 0.0, + 0.06895258277654648 + ], + [ + 0.33673378825187683, + -0.04719262942671776, + 0.12490901350975037, + -0.0514356829226017, + -0.2050011157989502, + -0.26803523302078247, + 0.0, + 0.06772904843091965 + ], + [ + 0.3195061981678009, + -0.019413882866501808, + 0.14474675059318542, + -0.06146438047289848, + -0.21702945232391357, + -0.2715904116630554, + 0.0, + 0.06772904843091965 + ], + [ + 0.2924472391605377, + 0.009611441753804684, + 0.13422086834907532, + -0.05784330144524574, + -0.17705638706684113, + -0.27431386709213257, + 0.0, + 0.06772904843091965 + ], + [ + 0.27094143629074097, + 0.031010620296001434, + 0.11490033566951752, + -0.06951688975095749, + -0.13125331699848175, + -0.27924007177352905, + 0.0, + 0.06772904843091965 + ], + [ + 0.2557995915412903, + 0.04216776788234711, + 0.0996352955698967, + -0.06807530671358109, + -0.10984062403440475, + -0.2972241938114166, + 0.0, + 0.06772904843091965 + ], + [ + 0.24303819239139557, + 0.045860450714826584, + 0.08323346078395844, + -0.06219017878174782, + -0.08628483861684799, + -0.32748880982398987, + 0.0, + 0.06772904843091965 + ], + [ + 0.23909664154052734, + 0.04504840448498726, + 0.07125745713710785, + -0.05591914430260658, + -0.07982654869556427, + -0.34613874554634094, + 0.0, + 0.06772904843091965 + ], + [ + 0.24044068157672882, + 0.039311155676841736, + 0.0543191023170948, + -0.05091582238674164, + -0.05321337282657623, + -0.3610605001449585, + 0.0, + 0.06772904843091965 + ], + [ + 0.24484549462795258, + 0.03271675109863281, + 0.036101359874010086, + -0.04385954514145851, + -0.021632472053170204, + -0.3668957054615021, + 0.0, + 0.06772904843091965 + ], + [ + 0.24818332493305206, + 0.02521205134689808, + 0.020562147721648216, + -0.03479438275098801, + 0.0032057100906968117, + -0.3819253444671631, + 0.0, + 0.06742517650127411 + ], + [ + 0.24701620638370514, + 0.01630210503935814, + 0.014809180982410908, + -0.03326452150940895, + 0.011694023385643959, + -0.4011131227016449, + 0.0, + 0.1051359549164772 + ], + [ + 0.23601152002811432, + 0.0024167124647647142, + 0.014140112325549126, + -0.07256923615932465, + 0.04440966993570328, + -0.4366684556007385, + 0.0, + 0.2716236412525177 + ], + [ + 0.23730666935443878, + -0.00016258310643024743, + 0.052004843950271606, + -0.0934729352593422, + -0.02680433727800846, + -0.418692409992218, + 0.0, + 0.5590677857398987 + ], + [ + 0.244888037443161, + 0.014587873592972755, + 0.10099846124649048, + -0.12472039461135864, + -0.11422992497682571, + -0.34868839383125305, + 0.0, + 0.8705081939697266 + ], + [ + 0.2587181329727173, + 0.03962153568863869, + 0.1372138410806656, + -0.1516602486371994, + -0.16033516824245453, + -0.2810373306274414, + 0.0, + 1.0112061500549316 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9522681832313538 + ], + [ + 0.6681591272354126 + ], + [ + 0.36359503865242004 + ], + [ + 0.1531343013048172 + ], + [ + 0.08397578448057175 + ], + [ + 0.07559127360582352 + ], + [ + 0.06895258277654648 + ], + [ + 0.06772904843091965 + ], + [ + 0.06772904843091965 + ], + [ + 0.06772904843091965 + ], + [ + 0.06772904843091965 + ], + [ + 0.06772904843091965 + ], + [ + 0.06772904843091965 + ], + [ + 0.06772904843091965 + ], + [ + 0.06772904843091965 + ], + [ + 0.06772904843091965 + ], + [ + 0.06742517650127411 + ], + [ + 0.1051359549164772 + ], + [ + 0.2716236412525177 + ], + [ + 0.5590677857398987 + ], + [ + 0.8705081939697266 + ], + [ + 1.0112061500549316 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.31673744320869446, + 0.13441000878810883, + 0.18136224150657654 + ], + [ + 0.31715309619903564, + 0.13323724269866943, + 0.16945816576480865 + ], + [ + 0.3224194645881653, + 0.11258038133382797, + 0.15411271154880524 + ], + [ + 0.3230929672718048, + 0.07720321416854858, + 0.15686388313770294 + ], + [ + 0.3172227740287781, + 0.04661772400140762, + 0.15496040880680084 + ], + [ + 0.31052446365356445, + 0.016432207077741623, + 0.14336945116519928 + ], + [ + 0.31094491481781006, + -0.007151897996664047, + 0.12869758903980255 + ], + [ + 0.32176482677459717, + -0.03172629326581955, + 0.10876204818487167 + ], + [ + 0.3389750123023987, + -0.05339444428682327, + 0.09852708131074905 + ], + [ + 0.3596256375312805, + -0.07828466594219208, + 0.08521019667387009 + ], + [ + 0.37159615755081177, + -0.09352698177099228, + 0.07599399983882904 + ], + [ + 0.373405396938324, + -0.09678101539611816, + 0.06440380215644836 + ], + [ + 0.3687680661678314, + -0.09297222644090652, + 0.05747352913022041 + ], + [ + 0.3576740622520447, + -0.08703374862670898, + 0.044576775282621384 + ], + [ + 0.35289278626441956, + -0.07839316874742508, + 0.03773500770330429 + ], + [ + 0.3487268388271332, + -0.07613341510295868, + 0.032766424119472504 + ], + [ + 0.3463388681411743, + -0.07449184358119965, + 0.029800044372677803 + ], + [ + 0.34598344564437866, + -0.07440255582332611, + 0.029232501983642578 + ], + [ + 0.3458499014377594, + -0.07421912997961044, + 0.02970411442220211 + ], + [ + 0.34689053893089294, + -0.07147502154111862, + 0.03610733523964882 + ], + [ + 0.3459150493144989, + -0.06822516769170761, + 0.0448920764029026 + ], + [ + 0.3451760411262512, + -0.06222140043973923, + 0.0804927870631218 + ], + [ + 0.33673378825187683, + -0.04719262942671776, + 0.12490901350975037 + ], + [ + 0.3195061981678009, + -0.019413882866501808, + 0.14474675059318542 + ], + [ + 0.2924472391605377, + 0.009611441753804684, + 0.13422086834907532 + ], + [ + 0.27094143629074097, + 0.031010620296001434, + 0.11490033566951752 + ], + [ + 0.2557995915412903, + 0.04216776788234711, + 0.0996352955698967 + ], + [ + 0.24303819239139557, + 0.045860450714826584, + 0.08323346078395844 + ], + [ + 0.23909664154052734, + 0.04504840448498726, + 0.07125745713710785 + ], + [ + 0.24044068157672882, + 0.039311155676841736, + 0.0543191023170948 + ], + [ + 0.24484549462795258, + 0.03271675109863281, + 0.036101359874010086 + ], + [ + 0.24818332493305206, + 0.02521205134689808, + 0.020562147721648216 + ], + [ + 0.24701620638370514, + 0.01630210503935814, + 0.014809180982410908 + ], + [ + 0.23601152002811432, + 0.0024167124647647142, + 0.014140112325549126 + ], + [ + 0.23730666935443878, + -0.00016258310643024743, + 0.052004843950271606 + ], + [ + 0.244888037443161, + 0.014587873592972755, + 0.10099846124649048 + ], + [ + 0.2587181329727173, + 0.03962153568863869, + 0.1372138410806656 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9752444261419927, + -0.19110311965279997, + 0.111256042253638, + -0.18679790323618417, + -0.9812245111490888, + -0.04801043706109266, + 0.1183420999709775, + 0.026039515725135676, + -0.992631397345087 + ], + [ + 0.9787138202845603, + -0.1877710941800418, + 0.08283280856297927, + -0.18256593998809667, + -0.9809390017152291, + -0.06654586741633386, + 0.09374932287896258, + 0.05000691056603559, + -0.9943391641464076 + ], + [ + 0.9731053416035425, + -0.209977339934854, + 0.09473917276679322, + -0.20055937848627925, + -0.9745670099698669, + -0.09997539086991003, + 0.1133222389641633, + 0.07828575727599918, + -0.9904692879458065 + ], + [ + 0.9557613476768223, + -0.2701699004237852, + 0.11631195635869304, + -0.2590318888030426, + -0.9604289607031308, + -0.10236548258974972, + 0.13936544360103284, + 0.06770846584959815, + -0.987923497433977 + ], + [ + 0.9470248578588445, + -0.2899832771618058, + 0.1380348418477537, + -0.2774256937426884, + -0.9551791285258917, + -0.10328512419465653, + 0.16179895873837732, + 0.05951916829910238, + -0.98502719026236 + ], + [ + 0.9415137901364703, + -0.2938593252800589, + 0.16491961656760923, + -0.28239030225115463, + -0.9550984115458309, + -0.08968133282424087, + 0.18386815977041887, + 0.037864511202169576, + -0.9822213490929937 + ], + [ + 0.946042154931399, + -0.27191767432942626, + 0.17625271481605828, + -0.26666209689405806, + -0.962314379042955, + -0.053313806534853736, + 0.18410748809545655, + 0.0034371899057082135, + -0.9829001060905087 + ], + [ + 0.948801768805247, + -0.26329399140313825, + 0.17450351745176407, + -0.26079959795187246, + -0.9646644976141616, + -0.03749635650244453, + 0.17820991336111375, + -0.009933837819336126, + -0.983942348741024 + ], + [ + 0.9482818658178331, + -0.2562680741987928, + 0.18731838432863676, + -0.25601309564553404, + -0.9663242851292935, + -0.02597442641041891, + 0.1876667200625605, + -0.02332488190327414, + -0.9819557790782427 + ], + [ + 0.94657571011882, + -0.2641940023261183, + 0.18492148103440767, + -0.2640360049382228, + -0.9641640249705427, + -0.02593686659691059, + 0.18514700405168474, + -0.024274721162356596, + -0.9824109755103388 + ], + [ + 0.9475218574965378, + -0.2639601449020167, + 0.1803534625939215, + -0.25754076480770316, + -0.9644912256326454, + -0.058561336561767895, + 0.18940719106880283, + 0.009039777704330197, + -0.9818570152473741 + ], + [ + 0.9444481360334709, + -0.2822163290693375, + 0.1684388967831664, + -0.2754664787138052, + -0.9592655017693059, + -0.06267309008098113, + 0.17926499225425882, + 0.012792213331143488, + -0.9837176535115 + ], + [ + 0.9424598998180828, + -0.2931322869623252, + 0.16075695809241458, + -0.2910331559746774, + -0.9559975512225718, + -0.03699167717021364, + 0.1645267132058147, + -0.011922432498581955, + -0.9863005709442778 + ], + [ + 0.942774615013795, + -0.30740798884333165, + 0.12913695706841058, + -0.3075066673319298, + -0.951342490444244, + -0.019675248962930745, + 0.12890180305953955, + -0.021161150031165834, + -0.9914315563352611 + ], + [ + 0.947739172859447, + -0.29734907584229814, + 0.11564595679669278, + -0.2989588918028045, + -0.9542593059054525, + -0.003571848944607039, + 0.11141831644631119, + -0.031188205921073513, + -0.993284075464665 + ], + [ + 0.9479251775975108, + -0.299683985680861, + 0.10783026663771862, + -0.3017509697498226, + -0.9533820447817702, + 0.0030048199235215636, + 0.10190294368549745, + -0.03538623198596624, + -0.9941647774157292 + ], + [ + 0.9471338697648796, + -0.3021120209810125, + 0.10800814563250671, + -0.3048930797390786, + -0.9523357830468464, + 0.00983698407898597, + 0.0998881508059106, + -0.04224787695634737, + -0.9941013400158242 + ], + [ + 0.9450984837026506, + -0.3094418792605094, + 0.10504560658435365, + -0.3122066000227535, + -0.949955464653147, + 0.01056664932019544, + 0.09651888418948328, + -0.04278245592936318, + -0.9944112662573111 + ], + [ + 0.9441786934380039, + -0.313003469077524, + 0.10273958926888453, + -0.31486383241417754, + -0.9491347511660657, + 0.0019977903761366246, + 0.09688839917740606, + -0.034235251924963184, + -0.9947062810852627 + ], + [ + 0.9440783086970302, + -0.3093394251109462, + 0.11412829237215608, + -0.3111760953819947, + -0.9503505513569399, + -0.0018075393152688427, + 0.10902102875395525, + -0.03380753773331982, + -0.9934643756480851 + ], + [ + 0.9467933039162798, + -0.3006755422844295, + 0.1147896246672954, + -0.30050921431733035, + -0.9535863377143639, + -0.019165297672810225, + 0.1152243540649074, + -0.016349764416371208, + -0.9932049302303394 + ], + [ + 0.9467748212084182, + -0.29030230635986426, + 0.13907555086323195, + -0.2843569727691196, + -0.956756180241563, + -0.06130843014754291, + 0.15085937148003134, + 0.018498175361842388, + -0.9883821465126393 + ], + [ + 0.9441015337234939, + -0.2745794297122656, + 0.1824237670914451, + -0.25929184456946924, + -0.9602459986483534, + -0.10341838047266606, + 0.20356825233987003, + 0.0503364565569918, + -0.9777659268866846 + ], + [ + 0.9407467329430911, + -0.2804992719757085, + 0.19056689869439192, + -0.2619707969748168, + -0.957978074376897, + -0.11683026382539964, + 0.21532971459898526, + 0.05998472667463507, + -0.9746973615315112 + ], + [ + 0.9475622310127328, + -0.28023518701693734, + 0.1536035752049876, + -0.2666515962962795, + -0.9582430818939568, + -0.1032817611924644, + 0.17613274695756645, + 0.05690725753323031, + -0.9827201124884074 + ], + [ + 0.9529969856737371, + -0.28369820012785385, + 0.10635824622936957, + -0.2732544844422691, + -0.956437742854617, + -0.10275617147089172, + 0.13087678185591492, + 0.06886345393154317, + -0.9890040913381792 + ], + [ + 0.9503909354559923, + -0.2993185893396779, + 0.08464899219003853, + -0.29110230201120213, + -0.9517546377998317, + -0.09706986757119918, + 0.10961988673075158, + 0.0676128057561328, + -0.9916713109346871 + ], + [ + 0.943330584317344, + -0.3261157829666906, + 0.06144839128505037, + -0.3204696449861885, + -0.9432998185371492, + -0.08651392367825858, + 0.08617781230644357, + 0.06191888603490528, + -0.9943537781988218 + ], + [ + 0.9376941456377772, + -0.34293024135437855, + 0.055933342482515115, + -0.33818772179600565, + -0.9377073208492409, + -0.07958671529951357, + 0.0797417962116867, + 0.05571202734029688, + -0.9952574621406098 + ], + [ + 0.9341984805699096, + -0.355341161934672, + 0.03171525714525486, + -0.3527665058027043, + -0.9333540618156975, + -0.06637761426783899, + 0.05318826265843832, + 0.05082178594910492, + -0.9972904064455451 + ], + [ + 0.9332270115275889, + -0.3592597948163079, + 0.0044435103049301015, + -0.35863554494823946, + -0.9322075266735779, + -0.04867928833508256, + 0.021630784890173095, + 0.04383522603654719, + -0.9988045765330473 + ], + [ + 0.9279439970229515, + -0.3723787107328041, + -0.015938449800496267, + -0.372705865055925, + -0.9274286752286776, + -0.031086822232168018, + -0.003205704600078436, + 0.03478718379740434, + -0.9993896013574798 + ], + [ + 0.9205640058437148, + -0.3898693102506262, + -0.023745148339679258, + -0.3904166584502412, + -0.9202694995834252, + -0.026055343809272664, + -0.011693756860826778, + 0.03325611313988216, + -0.9993784503326588 + ], + [ + 0.9052722442022202, + -0.4188929097555723, + -0.07078766865482447, + -0.42250590682422234, + -0.9051419974228818, + -0.046975772478552835, + -0.04439507377758023, + 0.07243407111177164, + -0.9963846560272078 + ], + [ + 0.9132931568048724, + -0.40707678335028596, + -0.013568426237965597, + -0.40642011427532865, + -0.9086159678529231, + -0.09612342937663383, + 0.02680112769678838, + 0.09330335160046647, + -0.995276938411767 + ], + [ + 0.9336966960303578, + -0.35233727808371956, + 0.06378810464772311, + -0.33943874212117214, + -0.9276770976141208, + -0.15555237995426838, + 0.11398166593443707, + 0.12358658921904245, + -0.9857659635004719 + ], + [ + 0.9484452717566871, + -0.29734232334761657, + 0.1097228746826534, + -0.2737950623646742, + -0.9430505173315868, + -0.18892322669632378, + 0.15964908489279855, + 0.14914175976857658, + -0.9758426641554591 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + 0.0004156529903411865, + -0.001172766089439392, + -0.011904075741767883, + -0.02402246743440628, + 0.024732887744903564, + 0.004830360412597656, + 1.0 + ], + [ + 0.005266368389129639, + -0.02065686136484146, + -0.015345454216003418, + -0.028625812381505966, + -0.019679002463817596, + -0.018839240074157715, + 1.0 + ], + [ + 0.0006735026836395264, + -0.03537716716527939, + 0.002751171588897705, + 0.010445944964885712, + -0.026254378259181976, + -0.06140735745429993, + 1.0 + ], + [ + -0.005870193243026733, + -0.03058549016714096, + -0.0019034743309020996, + 0.008078627288341522, + -0.022692784667015076, + -0.02030763030052185, + 1.0 + ], + [ + -0.006698310375213623, + -0.030185516923666, + -0.011590957641601562, + 0.021819710731506348, + -0.02240690588951111, + -0.006423264741897583, + 1.0 + ], + [ + 0.00042045116424560547, + -0.02358410507440567, + -0.014671862125396729, + 0.03503382205963135, + -0.0002434849739074707, + 0.016651511192321777, + 1.0 + ], + [ + 0.01081991195678711, + -0.024574395269155502, + -0.019935540854930878, + 0.013592585921287537, + 0.005996808409690857, + 0.00649532675743103, + 1.0 + ], + [ + 0.017210185527801514, + -0.021668151021003723, + -0.01023496687412262, + 0.013653417117893696, + -0.009619176387786865, + 0.004558533430099487, + 1.0 + ], + [ + 0.020650625228881836, + -0.024890221655368805, + -0.013316884636878967, + 0.0009552780538797379, + 0.002564668655395508, + -0.008334487676620483, + 1.0 + ], + [ + 0.01197052001953125, + -0.015242315828800201, + -0.009216196835041046, + -0.03391086310148239, + -0.004336923360824585, + 0.006630688905715942, + 1.0 + ], + [ + 0.001809239387512207, + -0.003254033625125885, + -0.011590197682380676, + -0.003796658478677273, + 0.01031908392906189, + -0.018403470516204834, + 1.0 + ], + [ + -0.004637330770492554, + 0.0038087889552116394, + -0.006930273026227951, + 0.02509065717458725, + 0.0149611234664917, + -0.01571550965309143, + 1.0 + ], + [ + -0.011094003915786743, + 0.00593847781419754, + -0.01289675384759903, + 0.00925335194915533, + 0.03601670265197754, + -0.015779554843902588, + 1.0 + ], + [ + -0.004781275987625122, + 0.008640579879283905, + -0.006841767579317093, + 0.010047972202301025, + 0.017611324787139893, + 0.009726613759994507, + 1.0 + ], + [ + -0.004165947437286377, + 0.0022597536444664, + -0.004968583583831787, + 0.004190143197774887, + 0.009570002555847168, + -0.0026204288005828857, + 0.0 + ], + [ + -0.0023879706859588623, + 0.0016415715217590332, + -0.0029663797467947006, + 0.006894093006849289, + 0.002025127410888672, + -0.0032503604888916016, + 0.0 + ], + [ + -0.0003554224967956543, + 8.928775787353516e-05, + -0.0005675423890352249, + 0.0005233809351921082, + 0.0033856332302093506, + -0.007621049880981445, + 0.0 + ], + [ + -0.0001335442066192627, + 0.00018342584371566772, + 0.00047161243855953217, + -0.00859251618385315, + -0.00037125498056411743, + -0.002824932336807251, + 0.0 + ], + [ + 0.001040637493133545, + 0.0027441084384918213, + 0.006403220817446709, + -0.00038705021142959595, + -0.012197524309158325, + 0.0034873783588409424, + 0.0 + ], + [ + -0.000975489616394043, + 0.0032498538494110107, + 0.008784741163253784, + -0.017556682229042053, + -0.006242699921131134, + 0.011054515838623047, + 0.0 + ], + [ + -0.0007390081882476807, + 0.006003767251968384, + 0.03560071066021919, + -0.03517356142401695, + -0.03595668077468872, + 0.015568584203720093, + 0.0 + ], + [ + -0.00844225287437439, + 0.015028771013021469, + 0.04441622644662857, + -0.03272225707769394, + -0.05356357991695404, + 0.023736000061035156, + 0.0 + ], + [ + -0.017227590084075928, + 0.02777874656021595, + 0.01983773708343506, + -0.010028697550296783, + -0.012028336524963379, + -0.0035551786422729492, + 0.0 + ], + [ + -0.027058959007263184, + 0.029025323688983917, + -0.010525882244110107, + 0.0036210790276527405, + 0.03997306525707245, + -0.0027234554290771484, + 0.0 + ], + [ + -0.021505802869796753, + 0.021399177610874176, + -0.0193205326795578, + -0.011673588305711746, + 0.045803070068359375, + -0.004926204681396484, + 0.0 + ], + [ + -0.015141844749450684, + 0.011157147586345673, + -0.015265040099620819, + 0.0014415830373764038, + 0.021412692964076996, + -0.017984122037887573, + 0.0 + ], + [ + -0.012761399149894714, + 0.003692682832479477, + -0.016401834785938263, + 0.005885127931833267, + 0.023555785417556763, + -0.030264616012573242, + 0.0 + ], + [ + -0.003941550850868225, + -0.000812046229839325, + -0.011976003646850586, + 0.006271034479141235, + 0.006458289921283722, + -0.018649935722351074, + 0.0 + ], + [ + 0.001344040036201477, + -0.005737248808145523, + -0.016938354820013046, + 0.0050033219158649445, + 0.026613175868988037, + -0.014921754598617554, + 0.0 + ], + [ + 0.004404813051223755, + -0.006594404578208923, + -0.018217742443084717, + 0.007056277245283127, + 0.03158090263605118, + -0.005835205316543579, + 0.0 + ], + [ + 0.0033378303050994873, + -0.007504699751734734, + -0.01553921215236187, + 0.009065162390470505, + 0.02483818307518959, + -0.01502963900566101, + 0.0 + ], + [ + -0.0011671185493469238, + -0.00890994630753994, + -0.0057529667392373085, + 0.0015298612415790558, + 0.008488313294947147, + -0.01918777823448181, + 1.0 + ], + [ + -0.01100468635559082, + -0.013885392807424068, + -0.0006690686568617821, + -0.039304714649915695, + 0.03271564841270447, + -0.03555533289909363, + 1.0 + ], + [ + 0.0012951493263244629, + -0.002579295542091131, + 0.03786472976207733, + -0.020903699100017548, + -0.07121400535106659, + 0.017976045608520508, + 1.0 + ], + [ + 0.007581368088722229, + 0.014750456437468529, + 0.04899361729621887, + -0.03124745935201645, + -0.0874255895614624, + 0.07000401616096497, + 1.0 + ], + [ + 0.013830095529556274, + 0.02503366209566593, + 0.03621537983417511, + -0.02693985402584076, + -0.046105243265628815, + 0.06765106320381165, + 1.0 + ], + [ + 0.00926363468170166, + 0.027118343859910965, + 0.01930980384349823, + 0.04709543287754059, + 0.0037382543087005615, + 0.03424276411533356, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9522681832313538 + ], + [ + 0.6681591272354126 + ], + [ + 0.36359503865242004 + ], + [ + 0.1531343013048172 + ], + [ + 0.08397578448057175 + ], + [ + 0.07559127360582352 + ], + [ + 0.06895258277654648 + ], + [ + 0.06772904843091965 + ], + [ + 0.06772904843091965 + ], + [ + 0.06772904843091965 + ], + [ + 0.06772904843091965 + ], + [ + 0.06772904843091965 + ], + [ + 0.06772904843091965 + ], + [ + 0.06772904843091965 + ], + [ + 0.06772904843091965 + ], + [ + 0.06772904843091965 + ], + [ + 0.06742517650127411 + ], + [ + 0.1051359549164772 + ], + [ + 0.2716236412525177 + ], + [ + 0.5590677857398987 + ], + [ + 0.8705081939697266 + ], + [ + 1.0112061500549316 + ], + [ + 1.00800359249115 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.31715309619903564, + 0.13323724269866943, + 0.16945816576480865 + ], + [ + 0.3224194645881653, + 0.11258038133382797, + 0.15411271154880524 + ], + [ + 0.3230929672718048, + 0.07720321416854858, + 0.15686388313770294 + ], + [ + 0.3172227740287781, + 0.04661772400140762, + 0.15496040880680084 + ], + [ + 0.31052446365356445, + 0.016432207077741623, + 0.14336945116519928 + ], + [ + 0.31094491481781006, + -0.007151897996664047, + 0.12869758903980255 + ], + [ + 0.32176482677459717, + -0.03172629326581955, + 0.10876204818487167 + ], + [ + 0.3389750123023987, + -0.05339444428682327, + 0.09852708131074905 + ], + [ + 0.3596256375312805, + -0.07828466594219208, + 0.08521019667387009 + ], + [ + 0.37159615755081177, + -0.09352698177099228, + 0.07599399983882904 + ], + [ + 0.373405396938324, + -0.09678101539611816, + 0.06440380215644836 + ], + [ + 0.3687680661678314, + -0.09297222644090652, + 0.05747352913022041 + ], + [ + 0.3576740622520447, + -0.08703374862670898, + 0.044576775282621384 + ], + [ + 0.35289278626441956, + -0.07839316874742508, + 0.03773500770330429 + ], + [ + 0.3487268388271332, + -0.07613341510295868, + 0.032766424119472504 + ], + [ + 0.3463388681411743, + -0.07449184358119965, + 0.029800044372677803 + ], + [ + 0.34598344564437866, + -0.07440255582332611, + 0.029232501983642578 + ], + [ + 0.3458499014377594, + -0.07421912997961044, + 0.02970411442220211 + ], + [ + 0.34689053893089294, + -0.07147502154111862, + 0.03610733523964882 + ], + [ + 0.3459150493144989, + -0.06822516769170761, + 0.0448920764029026 + ], + [ + 0.3451760411262512, + -0.06222140043973923, + 0.0804927870631218 + ], + [ + 0.33673378825187683, + -0.04719262942671776, + 0.12490901350975037 + ], + [ + 0.3195061981678009, + -0.019413882866501808, + 0.14474675059318542 + ], + [ + 0.2924472391605377, + 0.009611441753804684, + 0.13422086834907532 + ], + [ + 0.27094143629074097, + 0.031010620296001434, + 0.11490033566951752 + ], + [ + 0.2557995915412903, + 0.04216776788234711, + 0.0996352955698967 + ], + [ + 0.24303819239139557, + 0.045860450714826584, + 0.08323346078395844 + ], + [ + 0.23909664154052734, + 0.04504840448498726, + 0.07125745713710785 + ], + [ + 0.24044068157672882, + 0.039311155676841736, + 0.0543191023170948 + ], + [ + 0.24484549462795258, + 0.03271675109863281, + 0.036101359874010086 + ], + [ + 0.24818332493305206, + 0.02521205134689808, + 0.020562147721648216 + ], + [ + 0.24701620638370514, + 0.01630210503935814, + 0.014809180982410908 + ], + [ + 0.23601152002811432, + 0.0024167124647647142, + 0.014140112325549126 + ], + [ + 0.23730666935443878, + -0.00016258310643024743, + 0.052004843950271606 + ], + [ + 0.244888037443161, + 0.014587873592972755, + 0.10099846124649048 + ], + [ + 0.2587181329727173, + 0.03962153568863869, + 0.1372138410806656 + ], + [ + 0.26798176765441895, + 0.06673987954854965, + 0.15652364492416382 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9787138202845603, + -0.1877710941800418, + 0.08283280856297927, + -0.18256593998809667, + -0.9809390017152291, + -0.06654586741633386, + 0.09374932287896258, + 0.05000691056603559, + -0.9943391641464076 + ], + [ + 0.9731053416035425, + -0.209977339934854, + 0.09473917276679322, + -0.20055937848627925, + -0.9745670099698669, + -0.09997539086991003, + 0.1133222389641633, + 0.07828575727599918, + -0.9904692879458065 + ], + [ + 0.9557613476768223, + -0.2701699004237852, + 0.11631195635869304, + -0.2590318888030426, + -0.9604289607031308, + -0.10236548258974972, + 0.13936544360103284, + 0.06770846584959815, + -0.987923497433977 + ], + [ + 0.9470248578588445, + -0.2899832771618058, + 0.1380348418477537, + -0.2774256937426884, + -0.9551791285258917, + -0.10328512419465653, + 0.16179895873837732, + 0.05951916829910238, + -0.98502719026236 + ], + [ + 0.9415137901364703, + -0.2938593252800589, + 0.16491961656760923, + -0.28239030225115463, + -0.9550984115458309, + -0.08968133282424087, + 0.18386815977041887, + 0.037864511202169576, + -0.9822213490929937 + ], + [ + 0.946042154931399, + -0.27191767432942626, + 0.17625271481605828, + -0.26666209689405806, + -0.962314379042955, + -0.053313806534853736, + 0.18410748809545655, + 0.0034371899057082135, + -0.9829001060905087 + ], + [ + 0.948801768805247, + -0.26329399140313825, + 0.17450351745176407, + -0.26079959795187246, + -0.9646644976141616, + -0.03749635650244453, + 0.17820991336111375, + -0.009933837819336126, + -0.983942348741024 + ], + [ + 0.9482818658178331, + -0.2562680741987928, + 0.18731838432863676, + -0.25601309564553404, + -0.9663242851292935, + -0.02597442641041891, + 0.1876667200625605, + -0.02332488190327414, + -0.9819557790782427 + ], + [ + 0.94657571011882, + -0.2641940023261183, + 0.18492148103440767, + -0.2640360049382228, + -0.9641640249705427, + -0.02593686659691059, + 0.18514700405168474, + -0.024274721162356596, + -0.9824109755103388 + ], + [ + 0.9475218574965378, + -0.2639601449020167, + 0.1803534625939215, + -0.25754076480770316, + -0.9644912256326454, + -0.058561336561767895, + 0.18940719106880283, + 0.009039777704330197, + -0.9818570152473741 + ], + [ + 0.9444481360334709, + -0.2822163290693375, + 0.1684388967831664, + -0.2754664787138052, + -0.9592655017693059, + -0.06267309008098113, + 0.17926499225425882, + 0.012792213331143488, + -0.9837176535115 + ], + [ + 0.9424598998180828, + -0.2931322869623252, + 0.16075695809241458, + -0.2910331559746774, + -0.9559975512225718, + -0.03699167717021364, + 0.1645267132058147, + -0.011922432498581955, + -0.9863005709442778 + ], + [ + 0.942774615013795, + -0.30740798884333165, + 0.12913695706841058, + -0.3075066673319298, + -0.951342490444244, + -0.019675248962930745, + 0.12890180305953955, + -0.021161150031165834, + -0.9914315563352611 + ], + [ + 0.947739172859447, + -0.29734907584229814, + 0.11564595679669278, + -0.2989588918028045, + -0.9542593059054525, + -0.003571848944607039, + 0.11141831644631119, + -0.031188205921073513, + -0.993284075464665 + ], + [ + 0.9479251775975108, + -0.299683985680861, + 0.10783026663771862, + -0.3017509697498226, + -0.9533820447817702, + 0.0030048199235215636, + 0.10190294368549745, + -0.03538623198596624, + -0.9941647774157292 + ], + [ + 0.9471338697648796, + -0.3021120209810125, + 0.10800814563250671, + -0.3048930797390786, + -0.9523357830468464, + 0.00983698407898597, + 0.0998881508059106, + -0.04224787695634737, + -0.9941013400158242 + ], + [ + 0.9450984837026506, + -0.3094418792605094, + 0.10504560658435365, + -0.3122066000227535, + -0.949955464653147, + 0.01056664932019544, + 0.09651888418948328, + -0.04278245592936318, + -0.9944112662573111 + ], + [ + 0.9441786934380039, + -0.313003469077524, + 0.10273958926888453, + -0.31486383241417754, + -0.9491347511660657, + 0.0019977903761366246, + 0.09688839917740606, + -0.034235251924963184, + -0.9947062810852627 + ], + [ + 0.9440783086970302, + -0.3093394251109462, + 0.11412829237215608, + -0.3111760953819947, + -0.9503505513569399, + -0.0018075393152688427, + 0.10902102875395525, + -0.03380753773331982, + -0.9934643756480851 + ], + [ + 0.9467933039162798, + -0.3006755422844295, + 0.1147896246672954, + -0.30050921431733035, + -0.9535863377143639, + -0.019165297672810225, + 0.1152243540649074, + -0.016349764416371208, + -0.9932049302303394 + ], + [ + 0.9467748212084182, + -0.29030230635986426, + 0.13907555086323195, + -0.2843569727691196, + -0.956756180241563, + -0.06130843014754291, + 0.15085937148003134, + 0.018498175361842388, + -0.9883821465126393 + ], + [ + 0.9441015337234939, + -0.2745794297122656, + 0.1824237670914451, + -0.25929184456946924, + -0.9602459986483534, + -0.10341838047266606, + 0.20356825233987003, + 0.0503364565569918, + -0.9777659268866846 + ], + [ + 0.9407467329430911, + -0.2804992719757085, + 0.19056689869439192, + -0.2619707969748168, + -0.957978074376897, + -0.11683026382539964, + 0.21532971459898526, + 0.05998472667463507, + -0.9746973615315112 + ], + [ + 0.9475622310127328, + -0.28023518701693734, + 0.1536035752049876, + -0.2666515962962795, + -0.9582430818939568, + -0.1032817611924644, + 0.17613274695756645, + 0.05690725753323031, + -0.9827201124884074 + ], + [ + 0.9529969856737371, + -0.28369820012785385, + 0.10635824622936957, + -0.2732544844422691, + -0.956437742854617, + -0.10275617147089172, + 0.13087678185591492, + 0.06886345393154317, + -0.9890040913381792 + ], + [ + 0.9503909354559923, + -0.2993185893396779, + 0.08464899219003853, + -0.29110230201120213, + -0.9517546377998317, + -0.09706986757119918, + 0.10961988673075158, + 0.0676128057561328, + -0.9916713109346871 + ], + [ + 0.943330584317344, + -0.3261157829666906, + 0.06144839128505037, + -0.3204696449861885, + -0.9432998185371492, + -0.08651392367825858, + 0.08617781230644357, + 0.06191888603490528, + -0.9943537781988218 + ], + [ + 0.9376941456377772, + -0.34293024135437855, + 0.055933342482515115, + -0.33818772179600565, + -0.9377073208492409, + -0.07958671529951357, + 0.0797417962116867, + 0.05571202734029688, + -0.9952574621406098 + ], + [ + 0.9341984805699096, + -0.355341161934672, + 0.03171525714525486, + -0.3527665058027043, + -0.9333540618156975, + -0.06637761426783899, + 0.05318826265843832, + 0.05082178594910492, + -0.9972904064455451 + ], + [ + 0.9332270115275889, + -0.3592597948163079, + 0.0044435103049301015, + -0.35863554494823946, + -0.9322075266735779, + -0.04867928833508256, + 0.021630784890173095, + 0.04383522603654719, + -0.9988045765330473 + ], + [ + 0.9279439970229515, + -0.3723787107328041, + -0.015938449800496267, + -0.372705865055925, + -0.9274286752286776, + -0.031086822232168018, + -0.003205704600078436, + 0.03478718379740434, + -0.9993896013574798 + ], + [ + 0.9205640058437148, + -0.3898693102506262, + -0.023745148339679258, + -0.3904166584502412, + -0.9202694995834252, + -0.026055343809272664, + -0.011693756860826778, + 0.03325611313988216, + -0.9993784503326588 + ], + [ + 0.9052722442022202, + -0.4188929097555723, + -0.07078766865482447, + -0.42250590682422234, + -0.9051419974228818, + -0.046975772478552835, + -0.04439507377758023, + 0.07243407111177164, + -0.9963846560272078 + ], + [ + 0.9132931568048724, + -0.40707678335028596, + -0.013568426237965597, + -0.40642011427532865, + -0.9086159678529231, + -0.09612342937663383, + 0.02680112769678838, + 0.09330335160046647, + -0.995276938411767 + ], + [ + 0.9336966960303578, + -0.35233727808371956, + 0.06378810464772311, + -0.33943874212117214, + -0.9276770976141208, + -0.15555237995426838, + 0.11398166593443707, + 0.12358658921904245, + -0.9857659635004719 + ], + [ + 0.9484452717566871, + -0.29734232334761657, + 0.1097228746826534, + -0.2737950623646742, + -0.9430505173315868, + -0.18892322669632378, + 0.15964908489279855, + 0.14914175976857658, + -0.9758426641554591 + ], + [ + 0.9578349717957086, + -0.2587473476104725, + 0.12490787368960894, + -0.2413076285838605, + -0.9604273910365936, + -0.1391037560020426, + 0.15595767115582237, + 0.10309721941540172, + -0.9823686518596086 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006332.json b/json/chunk-0006/episode_0006332.json new file mode 100644 index 0000000000000000000000000000000000000000..73db66a9e787e1ceed3d60aef9881bfcdf9dae3b --- /dev/null +++ b/json/chunk-0006/episode_0006332.json @@ -0,0 +1,2182 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 35, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nTake broccoli out of pan." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006332.mp4", + "start": 0, + "end": 35, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.291313499212265, + 0.15187063813209534, + 0.06244875118136406, + 0.02542218565940857, + -0.167595773935318, + 0.24750417470932007, + 0.0, + 1.002137303352356 + ], + [ + 0.2872047424316406, + 0.14909997582435608, + 0.05322016030550003, + 0.014372450299561024, + -0.1275092512369156, + 0.25497502088546753, + 0.0, + 1.002137303352356 + ], + [ + 0.3019605875015259, + 0.1406518667936325, + 0.07027554512023926, + 0.02690766006708145, + -0.11036190390586853, + 0.22772066295146942, + 0.0, + 1.002137303352356 + ], + [ + 0.3127100467681885, + 0.1182388961315155, + 0.08461227267980576, + 0.012279486283659935, + -0.07590888440608978, + 0.26827067136764526, + 0.0, + 1.002137303352356 + ], + [ + 0.3151654005050659, + 0.0910172238945961, + 0.09058383107185364, + -0.017304139211773872, + -0.06235550343990326, + 0.3253503739833832, + 0.0, + 1.0027955770492554 + ], + [ + 0.3209690749645233, + 0.06609784066677094, + 0.0878482386469841, + -0.03556624427437782, + -0.07553832978010178, + 0.3620584309101105, + 0.0, + 1.002137303352356 + ], + [ + 0.3273892104625702, + 0.03319051116704941, + 0.08248331397771835, + -0.04719492420554161, + -0.09352439641952515, + 0.3907245993614197, + 0.0, + 1.002137303352356 + ], + [ + 0.33313798904418945, + 0.008162692189216614, + 0.07351145148277283, + -0.0014721298357471824, + -0.10213875025510788, + 0.3442685008049011, + 0.0, + 1.002137303352356 + ], + [ + 0.3392966091632843, + -0.009903945960104465, + 0.06976447999477386, + 0.04135148599743843, + -0.10071562230587006, + 0.31272178888320923, + 0.0, + 1.002137303352356 + ], + [ + 0.33825239539146423, + -0.01968822255730629, + 0.06597674638032913, + 0.06356555968523026, + -0.12470558285713196, + 0.30903714895248413, + 0.0, + 1.0027955770492554 + ], + [ + 0.335979700088501, + -0.023211413994431496, + 0.05794595927000046, + 0.025295952335000038, + -0.11922439932823181, + 0.3191821277141571, + 0.0, + 1.002137303352356 + ], + [ + 0.33261629939079285, + -0.020888516679406166, + 0.05077671259641647, + 0.01618620753288269, + -0.12183278799057007, + 0.33129826188087463, + 0.0, + 1.002137303352356 + ], + [ + 0.3324860632419586, + -0.019312292337417603, + 0.04597309231758118, + -0.00571768544614315, + -0.1159973070025444, + 0.34620779752731323, + 0.0, + 1.0027955770492554 + ], + [ + 0.33271193504333496, + -0.018039576709270477, + 0.04287239909172058, + -0.020613303408026695, + -0.11932682245969772, + 0.3639523386955261, + 0.0, + 1.002137303352356 + ], + [ + 0.33129048347473145, + -0.019868478178977966, + 0.03744315356016159, + -0.036831002682447433, + -0.12039097398519516, + 0.38142648339271545, + 0.0, + 1.002137303352356 + ], + [ + 0.32774603366851807, + -0.02266003005206585, + 0.028463955968618393, + -0.06852062046527863, + -0.13218390941619873, + 0.4110419452190399, + 0.0, + 1.002137303352356 + ], + [ + 0.32751086354255676, + -0.022755643352866173, + 0.026604631915688515, + -0.08260609209537506, + -0.13529306650161743, + 0.4211898446083069, + 0.0, + 0.9461179971694946 + ], + [ + 0.3274412751197815, + -0.023643776774406433, + 0.029506370425224304, + -0.057798516005277634, + -0.12953609228134155, + 0.43314334750175476, + 0.0, + 0.6941980719566345 + ], + [ + 0.32941100001335144, + -0.02551906369626522, + 0.03419993072748184, + -0.044715698808431625, + -0.12593397498130798, + 0.4595424234867096, + 0.0, + 0.6981924772262573 + ], + [ + 0.32688969373703003, + -0.026681074872612953, + 0.03595353662967682, + -0.026050612330436707, + -0.10970723628997803, + 0.504968523979187, + 0.0, + 0.7210758328437805 + ], + [ + 0.3277278542518616, + -0.024639440700411797, + 0.06391889601945877, + -0.07156408578157425, + -0.13318774104118347, + 0.6190474033355713, + 0.0, + 0.7220669984817505 + ], + [ + 0.32382676005363464, + -0.008408195339143276, + 0.08326724916696548, + -0.1210222989320755, + -0.1141590029001236, + 0.7237781286239624, + 0.0, + 0.7220669984817505 + ], + [ + 0.3146405518054962, + 0.022685710340738297, + 0.09356794506311417, + -0.10305826365947723, + -0.11608133465051651, + 0.7629956603050232, + 0.0, + 0.7220669984817505 + ], + [ + 0.29843848943710327, + 0.05059979856014252, + 0.0893157422542572, + 0.0011308395769447088, + -0.23780933022499084, + 0.7632924914360046, + 0.0, + 0.7220669984817505 + ], + [ + 0.2826349437236786, + 0.07135052978992462, + 0.07870085537433624, + 0.046566229313611984, + -0.24946999549865723, + 0.8113349080085754, + 0.0, + 0.7220669984817505 + ], + [ + 0.2588998079299927, + 0.09770599007606506, + 0.0692049041390419, + 0.06383123993873596, + -0.23693671822547913, + 0.8708734512329102, + 0.0, + 0.7220669984817505 + ], + [ + 0.2475620061159134, + 0.12060607969760895, + 0.0668717473745346, + 0.04174854978919029, + -0.1941266655921936, + 0.8635568022727966, + 0.0, + 0.7220669984817505 + ], + [ + 0.23261548578739166, + 0.13703274726867676, + 0.05377250537276268, + 0.03187086433172226, + -0.1711302399635315, + 0.8996768593788147, + 0.0, + 0.7220669984817505 + ], + [ + 0.21847811341285706, + 0.14654257893562317, + 0.03741828352212906, + -0.0010190081084147096, + -0.1666230708360672, + 0.9097484350204468, + 0.0, + 0.7220669984817505 + ], + [ + 0.20806430280208588, + 0.15394456684589386, + 0.024517526850104332, + -0.019825881347060204, + -0.14402517676353455, + 0.9367854595184326, + 0.0, + 0.8026900887489319 + ], + [ + 0.20576848089694977, + 0.15558573603630066, + 0.012509777210652828, + -0.05184542387723923, + -0.1483331024646759, + 0.913528561592102, + 0.0, + 1.0073583126068115 + ], + [ + 0.20564091205596924, + 0.15552090108394623, + 0.014472560957074165, + -0.043754853308200836, + -0.12843503057956696, + 0.8940297961235046, + 0.0, + 1.0041072368621826 + ], + [ + 0.21282513439655304, + 0.15022006630897522, + 0.02747097797691822, + 0.006464348640292883, + -0.10688167810440063, + 0.8849859237670898, + 0.0, + 1.0047606229782104 + ], + [ + 0.23397554457187653, + 0.14746063947677612, + 0.05694947764277458, + 0.08504757285118103, + -0.14231255650520325, + 0.8538996577262878, + 0.0, + 1.0047606229782104 + ], + [ + 0.2622017562389374, + 0.14722733199596405, + 0.08813584595918655, + 0.10389522463083267, + -0.18407204747200012, + 0.8080340623855591, + 0.0, + 1.0047606229782104 + ] + ], + "left_gripper_pos": [ + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.0027955770492554 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.0027955770492554 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.0027955770492554 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 0.9461179971694946 + ], + [ + 0.6941980719566345 + ], + [ + 0.6981924772262573 + ], + [ + 0.7210758328437805 + ], + [ + 0.7220669984817505 + ], + [ + 0.7220669984817505 + ], + [ + 0.7220669984817505 + ], + [ + 0.7220669984817505 + ], + [ + 0.7220669984817505 + ], + [ + 0.7220669984817505 + ], + [ + 0.7220669984817505 + ], + [ + 0.7220669984817505 + ], + [ + 0.7220669984817505 + ], + [ + 0.8026900887489319 + ], + [ + 1.0073583126068115 + ], + [ + 1.0041072368621826 + ], + [ + 1.0047606229782104 + ], + [ + 1.0047606229782104 + ], + [ + 1.0047606229782104 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.291313499212265, + 0.15187063813209534, + 0.06244875118136406 + ], + [ + 0.2872047424316406, + 0.14909997582435608, + 0.05322016030550003 + ], + [ + 0.3019605875015259, + 0.1406518667936325, + 0.07027554512023926 + ], + [ + 0.3127100467681885, + 0.1182388961315155, + 0.08461227267980576 + ], + [ + 0.3151654005050659, + 0.0910172238945961, + 0.09058383107185364 + ], + [ + 0.3209690749645233, + 0.06609784066677094, + 0.0878482386469841 + ], + [ + 0.3273892104625702, + 0.03319051116704941, + 0.08248331397771835 + ], + [ + 0.33313798904418945, + 0.008162692189216614, + 0.07351145148277283 + ], + [ + 0.3392966091632843, + -0.009903945960104465, + 0.06976447999477386 + ], + [ + 0.33825239539146423, + -0.01968822255730629, + 0.06597674638032913 + ], + [ + 0.335979700088501, + -0.023211413994431496, + 0.05794595927000046 + ], + [ + 0.33261629939079285, + -0.020888516679406166, + 0.05077671259641647 + ], + [ + 0.3324860632419586, + -0.019312292337417603, + 0.04597309231758118 + ], + [ + 0.33271193504333496, + -0.018039576709270477, + 0.04287239909172058 + ], + [ + 0.33129048347473145, + -0.019868478178977966, + 0.03744315356016159 + ], + [ + 0.32774603366851807, + -0.02266003005206585, + 0.028463955968618393 + ], + [ + 0.32751086354255676, + -0.022755643352866173, + 0.026604631915688515 + ], + [ + 0.3274412751197815, + -0.023643776774406433, + 0.029506370425224304 + ], + [ + 0.32941100001335144, + -0.02551906369626522, + 0.03419993072748184 + ], + [ + 0.32688969373703003, + -0.026681074872612953, + 0.03595353662967682 + ], + [ + 0.3277278542518616, + -0.024639440700411797, + 0.06391889601945877 + ], + [ + 0.32382676005363464, + -0.008408195339143276, + 0.08326724916696548 + ], + [ + 0.3146405518054962, + 0.022685710340738297, + 0.09356794506311417 + ], + [ + 0.29843848943710327, + 0.05059979856014252, + 0.0893157422542572 + ], + [ + 0.2826349437236786, + 0.07135052978992462, + 0.07870085537433624 + ], + [ + 0.2588998079299927, + 0.09770599007606506, + 0.0692049041390419 + ], + [ + 0.2475620061159134, + 0.12060607969760895, + 0.0668717473745346 + ], + [ + 0.23261548578739166, + 0.13703274726867676, + 0.05377250537276268 + ], + [ + 0.21847811341285706, + 0.14654257893562317, + 0.03741828352212906 + ], + [ + 0.20806430280208588, + 0.15394456684589386, + 0.024517526850104332 + ], + [ + 0.20576848089694977, + 0.15558573603630066, + 0.012509777210652828 + ], + [ + 0.20564091205596924, + 0.15552090108394623, + 0.014472560957074165 + ], + [ + 0.21282513439655304, + 0.15022006630897522, + 0.02747097797691822 + ], + [ + 0.23397554457187653, + 0.14746063947677612, + 0.05694947764277458 + ], + [ + 0.2622017562389374, + 0.14722733199596405, + 0.08813584595918655 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9559425199408363, + 0.2490168558665354, + 0.15544936173400206, + 0.24155239018839256, + -0.968174796785778, + 0.06549813480620492, + 0.16681229380186, + -0.02506328715795989, + -0.9856700717143639 + ], + [ + 0.9598137677725145, + 0.25396369591091533, + 0.11941512615074305, + 0.2501736304524594, + -0.9671086951113496, + 0.04597745606554447, + 0.1271640114991897, + -0.014255279698795673, + -0.9917792603095424 + ], + [ + 0.9682568662889676, + 0.2285625966584544, + 0.10118191682812308, + 0.22438417855518394, + -0.9731618942926249, + 0.051065329832533736, + 0.1101380102343594, + -0.026740734947544302, + -0.9935565166592596 + ], + [ + 0.9614540297916603, + 0.26594227365529727, + 0.06986312103268628, + 0.264301057238073, + -0.9639111971643373, + 0.03193986731422707, + 0.0758360055660477, + -0.012243817389384109, + -0.9970451289663479 + ], + [ + 0.9456972732212425, + 0.31857125524757907, + 0.06456797001523895, + 0.3190195846497155, + -0.9477415864128739, + 0.003519942262674801, + 0.062315102758720736, + 0.017269647176229044, + -0.9979071035194503 + ], + [ + 0.9325029201463246, + 0.35146644131017013, + 0.08312427173420699, + 0.3531899055187634, + -0.935528790218109, + -0.00654013093819673, + 0.07546651282671345, + 0.03545734487812835, + -0.9965177279586999 + ], + [ + 0.9205924821575253, + 0.3763606699004533, + 0.10422153303002211, + 0.3791940685064697, + -0.9252817677097226, + -0.008093747801923176, + 0.093388115970699, + 0.04697123051456499, + -0.9945211728763699 + ], + [ + 0.9364167672817736, + 0.33736653251251586, + 0.0964751817517537, + 0.33574922341338137, + -0.9413722314291236, + 0.03302697187850126, + 0.10196125210521702, + 0.0014644571122439352, + -0.9947872930604322 + ], + [ + 0.9466779823394712, + 0.3113414859585672, + 0.08286903447476253, + 0.30609053009073944, + -0.9494075967614239, + 0.07024103217114439, + 0.10054543819805149, + -0.04113021192273303, + -0.9940819485961673 + ], + [ + 0.9452290692140727, + 0.31105411800109967, + 0.09893099811108434, + 0.30177967715519444, + -0.9482998588345078, + 0.098267004587292, + 0.12438260798360838, + -0.06302946460989685, + -0.9902304042101442 + ], + [ + 0.9427521061690922, + 0.31654619787594923, + 0.10496175934130077, + 0.31156256461278703, + -0.9482445921564138, + 0.061326680800606506, + 0.11894214831439535, + -0.025113702562485598, + -0.9925835316475684 + ], + [ + 0.9386114971524103, + 0.3270884407121552, + 0.10964309994614949, + 0.3228599146172864, + -0.9448571589416663, + 0.05483087387595481, + 0.12153161295164688, + -0.016065526731896502, + -0.9924575385900384 + ], + [ + 0.9343448770720613, + 0.33870502988147994, + 0.11080863424020929, + 0.3370526907369606, + -0.9408754694806098, + 0.03389446262469669, + 0.11573735073937669, + 0.005679230813054435, + -0.9932636165596738 + ], + [ + 0.9278519993153083, + 0.3536018406852536, + 0.11855971335401345, + 0.3534391470032957, + -0.9351721290080751, + 0.02310537799056649, + 0.11904384373905273, + 0.02046527279331473, + -0.9926780625546872 + ], + [ + 0.9214165141130675, + 0.36788776766445297, + 0.12510075108722593, + 0.36955041730826, + -0.9291513540254763, + 0.010500018091131763, + 0.12010036047828294, + 0.03655614470220635, + -0.9920884797725942 + ], + [ + 0.9087080467028897, + 0.39035481555096735, + 0.1478945699935908, + 0.3960790665012605, + -0.9181594723853067, + -0.010225279880053128, + 0.13179931311243198, + 0.0678697373304602, + -0.9889502716607067 + ], + [ + 0.9042636134825314, + 0.39729581985112045, + 0.15640763683510223, + 0.40511049442539365, + -0.9140413740947022, + -0.020343395721504922, + 0.13488070520993095, + 0.08175816761580879, + -0.9874830618244431 + ], + [ + 0.9000465244874473, + 0.4122522303359773, + 0.14129526652042843, + 0.41620943824404183, + -0.9092671932399725, + 0.0016955276704578373, + 0.12917413547086645, + 0.05728236971804182, + -0.989966046309084 + ], + [ + 0.8891579093394402, + 0.4380626859323339, + 0.13228490258856035, + 0.44002557760834315, + -0.8978499006953458, + 0.01558996060935781, + 0.125601366670747, + 0.04434680388829387, + -0.9910891270089353 + ], + [ + 0.8699282320269981, + 0.4811198039259907, + 0.10839098390824517, + 0.48087150243425675, + -0.876272438592804, + 0.030153134318689774, + 0.10948730186191347, + 0.025891072454354812, + -0.9936509362437905 + ], + [ + 0.8072186609522002, + 0.5710411707967008, + 0.1493653730476717, + 0.575120597508365, + -0.8178566247258836, + 0.018623633201029423, + 0.13279432115929538, + 0.07086975833963688, + -0.9886066688125887 + ], + [ + 0.7444318271345487, + 0.647072097326615, + 0.16467833983391275, + 0.6579099421248341, + -0.7529354502985762, + -0.015579336859382419, + 0.11391120578071061, + 0.11994127123311793, + -0.9862242790828913 + ], + [ + 0.7179048412042526, + 0.6788110082256443, + 0.15436403106676513, + 0.6864387650635063, + -0.72716857019806, + 0.005262350634223992, + 0.11582081330048297, + 0.10218358785927131, + -0.9880000271146866 + ], + [ + 0.7022282505392636, + 0.6914962695196442, + 0.16943551394256545, + 0.671848413906197, + -0.7223791950284366, + 0.1636704228680178, + 0.23557417701499683, + -0.0010990134139356872, + -0.9718557502496054 + ], + [ + 0.6672163920275553, + 0.7323338246279189, + 0.13604945981361471, + 0.7027570122622372, + -0.6794500734724563, + 0.21090324647697456, + 0.24689039658517592, + -0.045108391282757995, + -0.9679929571592432 + ], + [ + 0.6261619123509105, + 0.7729789337988272, + 0.10210204417287282, + 0.7435219892712045, + -0.6313943716470298, + 0.220263930144369, + 0.23472603390174196, + -0.06200576872905467, + -0.9700819417209443 + ], + [ + 0.6375335117831072, + 0.7647272692210219, + 0.09350521409663355, + 0.7458799349075751, + -0.6430513969176456, + 0.17363186235405093, + 0.1929096784916975, + -0.04095246796010328, + -0.9803615411225629 + ], + [ + 0.6127794575694308, + 0.7861028862056361, + 0.08089245131705851, + 0.7716868177654568, + -0.6172975715294292, + 0.1531116046251614, + 0.1702961880604984, + -0.03140000769168356, + -0.9848925057329989 + ], + [ + 0.605441496687435, + 0.7892451478791965, + 0.10262889767518751, + 0.7784171951947249, + -0.6140774273126273, + 0.13029038141890148, + 0.16585314080250785, + 0.0010048951440094073, + -0.9861499510072965 + ], + [ + 0.5862475616465511, + 0.8038141531679762, + 0.10097823344821526, + 0.7973164844130264, + -0.594556884805468, + 0.10386786997753283, + 0.1435277678594822, + 0.019619324587419218, + -0.9894517987026998 + ], + [ + 0.6042470918839955, + 0.7859215372389885, + 0.13119751999805063, + 0.7829710359003887, + -0.6161983884113493, + 0.08518158874033349, + 0.14778974555362684, + 0.05125313086203067, + -0.9876898843695997 + ], + [ + 0.6211171988374117, + 0.7753470184525008, + 0.114238462372288, + 0.7731806839988719, + -0.630043746465969, + 0.07236371625450479, + 0.12808222046562104, + 0.043380623738521716, + -0.9908143450135615 + ], + [ + 0.6296865228311476, + 0.7743266273854097, + 0.06255523228919427, + 0.7694898465226332, + -0.6327534768375968, + 0.0866511029849415, + 0.10667829705892676, + -0.006427415644671718, + -0.9942728143043726 + ], + [ + 0.6504060646313353, + 0.7590398221647074, + 0.028818387514715445, + 0.7462274752618876, + -0.6455912291235956, + 0.16234691263757917, + 0.14183266991440263, + -0.08408634399743024, + -0.9863128208119865 + ], + [ + 0.6792489435930419, + 0.7321472409631307, + 0.05080639898488769, + 0.7107174574817732, + -0.6734725728038627, + 0.20326187372842291, + 0.18303433628251298, + -0.10195641829242964, + -0.9778053592155234 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.00410875678062439, + -0.002770662307739258, + -0.009228590875864029, + -0.011049735359847546, + 0.040086522698402405, + 0.007470846176147461, + 1.0 + ], + [ + 0.014755845069885254, + -0.008448109030723572, + 0.017055384814739227, + 0.012535209767520428, + 0.017147347331047058, + -0.027254357933998108, + 1.0 + ], + [ + 0.010749459266662598, + -0.022412970662117004, + 0.014336727559566498, + -0.014628173783421516, + 0.03445301949977875, + 0.04055000841617584, + 1.0 + ], + [ + 0.0024553537368774414, + -0.027221672236919403, + 0.005971558392047882, + -0.029583625495433807, + 0.013553380966186523, + 0.057079702615737915, + 1.0 + ], + [ + 0.0058036744594573975, + -0.024919383227825165, + -0.0027355924248695374, + -0.01826210506260395, + -0.013182826340198517, + 0.036708056926727295, + 1.0 + ], + [ + 0.006420135498046875, + -0.03290732949972153, + -0.005364924669265747, + -0.011628679931163788, + -0.01798606663942337, + 0.028666168451309204, + 1.0 + ], + [ + 0.005748778581619263, + -0.025027818977832794, + -0.008971862494945526, + 0.04572279378771782, + -0.008614353835582733, + -0.046456098556518555, + 1.0 + ], + [ + 0.006158620119094849, + -0.018066637217998505, + -0.0037469714879989624, + 0.04282361641526222, + 0.0014231279492378235, + -0.031546711921691895, + 1.0 + ], + [ + -0.0010442137718200684, + -0.009784276597201824, + -0.0037877336144447327, + 0.022214073687791824, + -0.023989960551261902, + -0.0036846399307250977, + 1.0 + ], + [ + -0.002272695302963257, + -0.003523191437125206, + -0.008030787110328674, + -0.038269609212875366, + 0.0054811835289001465, + 0.010144978761672974, + 1.0 + ], + [ + -0.00336340069770813, + 0.0023228973150253296, + -0.007169246673583984, + -0.009109744802117348, + -0.002608388662338257, + 0.01211613416671753, + 1.0 + ], + [ + -0.00013023614883422852, + 0.0015762243419885635, + -0.004803620278835297, + -0.02190389297902584, + 0.005835480988025665, + 0.014909535646438599, + 1.0 + ], + [ + 0.00022587180137634277, + 0.0012727156281471252, + -0.0031006932258605957, + -0.014895617961883545, + -0.0033295154571533203, + 0.01774454116821289, + 1.0 + ], + [ + -0.0014214515686035156, + -0.001828901469707489, + -0.0054292455315589905, + -0.016217699274420738, + -0.0010641515254974365, + 0.01747414469718933, + 1.0 + ], + [ + -0.003544449806213379, + -0.002791551873087883, + -0.008979197591543198, + -0.03168961778283119, + -0.01179293543100357, + 0.029615461826324463, + 1.0 + ], + [ + -0.0002351701259613037, + -9.561330080032349e-05, + -0.0018593240529298782, + -0.014085471630096436, + -0.003109157085418701, + 0.010147899389266968, + 0.0 + ], + [ + -6.958842277526855e-05, + -0.0008881334215402603, + 0.0029017385095357895, + 0.024807576090097427, + 0.005756974220275879, + 0.011953502893447876, + 0.0 + ], + [ + 0.0019697248935699463, + -0.0018752869218587875, + 0.004693560302257538, + 0.013082817196846008, + 0.0036021173000335693, + 0.026399075984954834, + 0.0 + ], + [ + -0.002521306276321411, + -0.0011620111763477325, + 0.0017536059021949768, + 0.01866508647799492, + 0.016226738691329956, + 0.04542610049247742, + 0.0 + ], + [ + 0.000838160514831543, + 0.0020416341722011566, + 0.027965359389781952, + -0.04551347345113754, + -0.023480504751205444, + 0.11407887935638428, + 0.0 + ], + [ + -0.0039010941982269287, + 0.016231246292591095, + 0.019348353147506714, + -0.04945821315050125, + 0.019028738141059875, + 0.10473072528839111, + 0.0 + ], + [ + -0.009186208248138428, + 0.031093906611204147, + 0.010300695896148682, + 0.017964035272598267, + -0.0019223317503929138, + 0.03921753168106079, + 0.0 + ], + [ + -0.016202062368392944, + 0.02791408821940422, + -0.004252202808856964, + 0.10418910533189774, + -0.12172799557447433, + 0.0002968311309814453, + 0.0 + ], + [ + -0.015803545713424683, + 0.020750731229782104, + -0.01061488687992096, + 0.04543539136648178, + -0.011660665273666382, + 0.0480424165725708, + 0.0 + ], + [ + -0.023735135793685913, + 0.026355460286140442, + -0.009495951235294342, + 0.017265010625123978, + 0.0125332772731781, + 0.05953854322433472, + 0.0 + ], + [ + -0.011337801814079285, + 0.022900089621543884, + -0.0023331567645072937, + -0.02208269014954567, + 0.04281005263328552, + -0.007316648960113525, + 0.0 + ], + [ + -0.014946520328521729, + 0.01642666757106781, + -0.013099242001771927, + -0.009877685457468033, + 0.02299642562866211, + 0.036120057106018066, + 0.0 + ], + [ + -0.014137372374534607, + 0.009509831666946411, + -0.01635422185063362, + -0.032889872789382935, + 0.004507169127464294, + 0.01007157564163208, + 0.0 + ], + [ + -0.01041381061077118, + 0.007401987910270691, + -0.012900756672024727, + -0.01880687288939953, + 0.022597894072532654, + 0.02703702449798584, + 1.0 + ], + [ + -0.0022958219051361084, + 0.0016411691904067993, + -0.012007749639451504, + -0.032019540667533875, + -0.004307925701141357, + -0.023256897926330566, + 1.0 + ], + [ + -0.00012756884098052979, + -6.483495235443115e-05, + 0.001962783746421337, + 0.008090570569038391, + 0.019898071885108948, + -0.019498765468597412, + 1.0 + ], + [ + 0.007184222340583801, + -0.005300834774971008, + 0.012998417019844055, + 0.05021920055150986, + 0.02155335247516632, + -0.009043872356414795, + 1.0 + ], + [ + 0.021150410175323486, + -0.0027594268321990967, + 0.02947849966585636, + 0.07858322560787201, + -0.03543087840080261, + -0.031086266040802002, + 1.0 + ], + [ + 0.028226211667060852, + -0.00023330748081207275, + 0.031186368316411972, + 0.018847651779651642, + -0.041759490966796875, + -0.04586559534072876, + 1.0 + ], + [ + 0.020661205053329468, + -0.004892528057098389, + -0.007619932293891907, + -0.009155333042144775, + -0.029158025979995728, + -0.03339052200317383, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.0027955770492554 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.0027955770492554 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.0027955770492554 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 0.9461179971694946 + ], + [ + 0.6941980719566345 + ], + [ + 0.6981924772262573 + ], + [ + 0.7210758328437805 + ], + [ + 0.7220669984817505 + ], + [ + 0.7220669984817505 + ], + [ + 0.7220669984817505 + ], + [ + 0.7220669984817505 + ], + [ + 0.7220669984817505 + ], + [ + 0.7220669984817505 + ], + [ + 0.7220669984817505 + ], + [ + 0.7220669984817505 + ], + [ + 0.7220669984817505 + ], + [ + 0.8026900887489319 + ], + [ + 1.0073583126068115 + ], + [ + 1.0041072368621826 + ], + [ + 1.0047606229782104 + ], + [ + 1.0047606229782104 + ], + [ + 1.0047606229782104 + ], + [ + 1.0047606229782104 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2872047424316406, + 0.14909997582435608, + 0.05322016030550003 + ], + [ + 0.3019605875015259, + 0.1406518667936325, + 0.07027554512023926 + ], + [ + 0.3127100467681885, + 0.1182388961315155, + 0.08461227267980576 + ], + [ + 0.3151654005050659, + 0.0910172238945961, + 0.09058383107185364 + ], + [ + 0.3209690749645233, + 0.06609784066677094, + 0.0878482386469841 + ], + [ + 0.3273892104625702, + 0.03319051116704941, + 0.08248331397771835 + ], + [ + 0.33313798904418945, + 0.008162692189216614, + 0.07351145148277283 + ], + [ + 0.3392966091632843, + -0.009903945960104465, + 0.06976447999477386 + ], + [ + 0.33825239539146423, + -0.01968822255730629, + 0.06597674638032913 + ], + [ + 0.335979700088501, + -0.023211413994431496, + 0.05794595927000046 + ], + [ + 0.33261629939079285, + -0.020888516679406166, + 0.05077671259641647 + ], + [ + 0.3324860632419586, + -0.019312292337417603, + 0.04597309231758118 + ], + [ + 0.33271193504333496, + -0.018039576709270477, + 0.04287239909172058 + ], + [ + 0.33129048347473145, + -0.019868478178977966, + 0.03744315356016159 + ], + [ + 0.32774603366851807, + -0.02266003005206585, + 0.028463955968618393 + ], + [ + 0.32751086354255676, + -0.022755643352866173, + 0.026604631915688515 + ], + [ + 0.3274412751197815, + -0.023643776774406433, + 0.029506370425224304 + ], + [ + 0.32941100001335144, + -0.02551906369626522, + 0.03419993072748184 + ], + [ + 0.32688969373703003, + -0.026681074872612953, + 0.03595353662967682 + ], + [ + 0.3277278542518616, + -0.024639440700411797, + 0.06391889601945877 + ], + [ + 0.32382676005363464, + -0.008408195339143276, + 0.08326724916696548 + ], + [ + 0.3146405518054962, + 0.022685710340738297, + 0.09356794506311417 + ], + [ + 0.29843848943710327, + 0.05059979856014252, + 0.0893157422542572 + ], + [ + 0.2826349437236786, + 0.07135052978992462, + 0.07870085537433624 + ], + [ + 0.2588998079299927, + 0.09770599007606506, + 0.0692049041390419 + ], + [ + 0.2475620061159134, + 0.12060607969760895, + 0.0668717473745346 + ], + [ + 0.23261548578739166, + 0.13703274726867676, + 0.05377250537276268 + ], + [ + 0.21847811341285706, + 0.14654257893562317, + 0.03741828352212906 + ], + [ + 0.20806430280208588, + 0.15394456684589386, + 0.024517526850104332 + ], + [ + 0.20576848089694977, + 0.15558573603630066, + 0.012509777210652828 + ], + [ + 0.20564091205596924, + 0.15552090108394623, + 0.014472560957074165 + ], + [ + 0.21282513439655304, + 0.15022006630897522, + 0.02747097797691822 + ], + [ + 0.23397554457187653, + 0.14746063947677612, + 0.05694947764277458 + ], + [ + 0.2622017562389374, + 0.14722733199596405, + 0.08813584595918655 + ], + [ + 0.28286296129226685, + 0.14233480393886566, + 0.08051591366529465 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9598137677725145, + 0.25396369591091533, + 0.11941512615074305, + 0.2501736304524594, + -0.9671086951113496, + 0.04597745606554447, + 0.1271640114991897, + -0.014255279698795673, + -0.9917792603095424 + ], + [ + 0.9682568662889676, + 0.2285625966584544, + 0.10118191682812308, + 0.22438417855518394, + -0.9731618942926249, + 0.051065329832533736, + 0.1101380102343594, + -0.026740734947544302, + -0.9935565166592596 + ], + [ + 0.9614540297916603, + 0.26594227365529727, + 0.06986312103268628, + 0.264301057238073, + -0.9639111971643373, + 0.03193986731422707, + 0.0758360055660477, + -0.012243817389384109, + -0.9970451289663479 + ], + [ + 0.9456972732212425, + 0.31857125524757907, + 0.06456797001523895, + 0.3190195846497155, + -0.9477415864128739, + 0.003519942262674801, + 0.062315102758720736, + 0.017269647176229044, + -0.9979071035194503 + ], + [ + 0.9325029201463246, + 0.35146644131017013, + 0.08312427173420699, + 0.3531899055187634, + -0.935528790218109, + -0.00654013093819673, + 0.07546651282671345, + 0.03545734487812835, + -0.9965177279586999 + ], + [ + 0.9205924821575253, + 0.3763606699004533, + 0.10422153303002211, + 0.3791940685064697, + -0.9252817677097226, + -0.008093747801923176, + 0.093388115970699, + 0.04697123051456499, + -0.9945211728763699 + ], + [ + 0.9364167672817736, + 0.33736653251251586, + 0.0964751817517537, + 0.33574922341338137, + -0.9413722314291236, + 0.03302697187850126, + 0.10196125210521702, + 0.0014644571122439352, + -0.9947872930604322 + ], + [ + 0.9466779823394712, + 0.3113414859585672, + 0.08286903447476253, + 0.30609053009073944, + -0.9494075967614239, + 0.07024103217114439, + 0.10054543819805149, + -0.04113021192273303, + -0.9940819485961673 + ], + [ + 0.9452290692140727, + 0.31105411800109967, + 0.09893099811108434, + 0.30177967715519444, + -0.9482998588345078, + 0.098267004587292, + 0.12438260798360838, + -0.06302946460989685, + -0.9902304042101442 + ], + [ + 0.9427521061690922, + 0.31654619787594923, + 0.10496175934130077, + 0.31156256461278703, + -0.9482445921564138, + 0.061326680800606506, + 0.11894214831439535, + -0.025113702562485598, + -0.9925835316475684 + ], + [ + 0.9386114971524103, + 0.3270884407121552, + 0.10964309994614949, + 0.3228599146172864, + -0.9448571589416663, + 0.05483087387595481, + 0.12153161295164688, + -0.016065526731896502, + -0.9924575385900384 + ], + [ + 0.9343448770720613, + 0.33870502988147994, + 0.11080863424020929, + 0.3370526907369606, + -0.9408754694806098, + 0.03389446262469669, + 0.11573735073937669, + 0.005679230813054435, + -0.9932636165596738 + ], + [ + 0.9278519993153083, + 0.3536018406852536, + 0.11855971335401345, + 0.3534391470032957, + -0.9351721290080751, + 0.02310537799056649, + 0.11904384373905273, + 0.02046527279331473, + -0.9926780625546872 + ], + [ + 0.9214165141130675, + 0.36788776766445297, + 0.12510075108722593, + 0.36955041730826, + -0.9291513540254763, + 0.010500018091131763, + 0.12010036047828294, + 0.03655614470220635, + -0.9920884797725942 + ], + [ + 0.9087080467028897, + 0.39035481555096735, + 0.1478945699935908, + 0.3960790665012605, + -0.9181594723853067, + -0.010225279880053128, + 0.13179931311243198, + 0.0678697373304602, + -0.9889502716607067 + ], + [ + 0.9042636134825314, + 0.39729581985112045, + 0.15640763683510223, + 0.40511049442539365, + -0.9140413740947022, + -0.020343395721504922, + 0.13488070520993095, + 0.08175816761580879, + -0.9874830618244431 + ], + [ + 0.9000465244874473, + 0.4122522303359773, + 0.14129526652042843, + 0.41620943824404183, + -0.9092671932399725, + 0.0016955276704578373, + 0.12917413547086645, + 0.05728236971804182, + -0.989966046309084 + ], + [ + 0.8891579093394402, + 0.4380626859323339, + 0.13228490258856035, + 0.44002557760834315, + -0.8978499006953458, + 0.01558996060935781, + 0.125601366670747, + 0.04434680388829387, + -0.9910891270089353 + ], + [ + 0.8699282320269981, + 0.4811198039259907, + 0.10839098390824517, + 0.48087150243425675, + -0.876272438592804, + 0.030153134318689774, + 0.10948730186191347, + 0.025891072454354812, + -0.9936509362437905 + ], + [ + 0.8072186609522002, + 0.5710411707967008, + 0.1493653730476717, + 0.575120597508365, + -0.8178566247258836, + 0.018623633201029423, + 0.13279432115929538, + 0.07086975833963688, + -0.9886066688125887 + ], + [ + 0.7444318271345487, + 0.647072097326615, + 0.16467833983391275, + 0.6579099421248341, + -0.7529354502985762, + -0.015579336859382419, + 0.11391120578071061, + 0.11994127123311793, + -0.9862242790828913 + ], + [ + 0.7179048412042526, + 0.6788110082256443, + 0.15436403106676513, + 0.6864387650635063, + -0.72716857019806, + 0.005262350634223992, + 0.11582081330048297, + 0.10218358785927131, + -0.9880000271146866 + ], + [ + 0.7022282505392636, + 0.6914962695196442, + 0.16943551394256545, + 0.671848413906197, + -0.7223791950284366, + 0.1636704228680178, + 0.23557417701499683, + -0.0010990134139356872, + -0.9718557502496054 + ], + [ + 0.6672163920275553, + 0.7323338246279189, + 0.13604945981361471, + 0.7027570122622372, + -0.6794500734724563, + 0.21090324647697456, + 0.24689039658517592, + -0.045108391282757995, + -0.9679929571592432 + ], + [ + 0.6261619123509105, + 0.7729789337988272, + 0.10210204417287282, + 0.7435219892712045, + -0.6313943716470298, + 0.220263930144369, + 0.23472603390174196, + -0.06200576872905467, + -0.9700819417209443 + ], + [ + 0.6375335117831072, + 0.7647272692210219, + 0.09350521409663355, + 0.7458799349075751, + -0.6430513969176456, + 0.17363186235405093, + 0.1929096784916975, + -0.04095246796010328, + -0.9803615411225629 + ], + [ + 0.6127794575694308, + 0.7861028862056361, + 0.08089245131705851, + 0.7716868177654568, + -0.6172975715294292, + 0.1531116046251614, + 0.1702961880604984, + -0.03140000769168356, + -0.9848925057329989 + ], + [ + 0.605441496687435, + 0.7892451478791965, + 0.10262889767518751, + 0.7784171951947249, + -0.6140774273126273, + 0.13029038141890148, + 0.16585314080250785, + 0.0010048951440094073, + -0.9861499510072965 + ], + [ + 0.5862475616465511, + 0.8038141531679762, + 0.10097823344821526, + 0.7973164844130264, + -0.594556884805468, + 0.10386786997753283, + 0.1435277678594822, + 0.019619324587419218, + -0.9894517987026998 + ], + [ + 0.6042470918839955, + 0.7859215372389885, + 0.13119751999805063, + 0.7829710359003887, + -0.6161983884113493, + 0.08518158874033349, + 0.14778974555362684, + 0.05125313086203067, + -0.9876898843695997 + ], + [ + 0.6211171988374117, + 0.7753470184525008, + 0.114238462372288, + 0.7731806839988719, + -0.630043746465969, + 0.07236371625450479, + 0.12808222046562104, + 0.043380623738521716, + -0.9908143450135615 + ], + [ + 0.6296865228311476, + 0.7743266273854097, + 0.06255523228919427, + 0.7694898465226332, + -0.6327534768375968, + 0.0866511029849415, + 0.10667829705892676, + -0.006427415644671718, + -0.9942728143043726 + ], + [ + 0.6504060646313353, + 0.7590398221647074, + 0.028818387514715445, + 0.7462274752618876, + -0.6455912291235956, + 0.16234691263757917, + 0.14183266991440263, + -0.08408634399743024, + -0.9863128208119865 + ], + [ + 0.6792489435930419, + 0.7321472409631307, + 0.05080639898488769, + 0.7107174574817732, + -0.6734725728038627, + 0.20326187372842291, + 0.18303433628251298, + -0.10195641829242964, + -0.9778053592155234 + ], + [ + 0.698484891820002, + 0.7106314152721567, + 0.08439103937913761, + 0.6836202984380773, + -0.6974631991024538, + 0.21496133015313396, + 0.21161791857646145, + -0.09245581391162994, + -0.9729695673613352 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006333.json b/json/chunk-0006/episode_0006333.json new file mode 100644 index 0000000000000000000000000000000000000000..d2ea7b175095d462085139d81a6bcf9f0d655f2d --- /dev/null +++ b/json/chunk-0006/episode_0006333.json @@ -0,0 +1,2182 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 35, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPour almonds in pot." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006333.mp4", + "start": 0, + "end": 35, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.20564669370651245, + -0.06480767577886581, + 0.10059454292058945, + -0.08561643213033676, + -0.1260351836681366, + 0.1585729867219925, + 0.0, + 0.9893313646316528 + ], + [ + 0.20298327505588531, + -0.06447917222976685, + 0.09855970740318298, + -0.057360000908374786, + -0.11041099578142166, + 0.13501006364822388, + 0.0, + 0.9893313646316528 + ], + [ + 0.21603696048259735, + -0.0805705189704895, + 0.11779838055372238, + 0.0006247097626328468, + -0.13340744376182556, + 0.020500974729657173, + 0.0, + 0.9893313646316528 + ], + [ + 0.2299525886774063, + -0.09903547167778015, + 0.12848708033561707, + 0.07606788724660873, + -0.08589568734169006, + -0.18976441025733948, + 0.0, + 0.9893313646316528 + ], + [ + 0.24475927650928497, + -0.11733822524547577, + 0.13807173073291779, + 0.15694890916347504, + -0.009006923995912075, + -0.41575080156326294, + 0.0, + 0.9893313646316528 + ], + [ + 0.2684267461299896, + -0.13873392343521118, + 0.13456641137599945, + 0.21616075932979584, + 0.20327746868133545, + -0.6481361389160156, + 0.0, + 0.9893313646316528 + ], + [ + 0.2807348668575287, + -0.15951253473758698, + 0.12097883224487305, + 0.22701261937618256, + 0.4195985496044159, + -0.8428254127502441, + 0.0, + 0.9893313646316528 + ], + [ + 0.28804072737693787, + -0.16719071567058563, + 0.10804075002670288, + 0.20530758798122406, + 0.5635016560554504, + -0.9516425132751465, + 0.0, + 0.9893313646316528 + ], + [ + 0.2930702269077301, + -0.16727545857429504, + 0.09141623973846436, + 0.19230522215366364, + 0.6769688129425049, + -1.003942847251892, + 0.0, + 0.9893313646316528 + ], + [ + 0.2991436719894409, + -0.16519524157047272, + 0.07845970243215561, + 0.13783101737499237, + 0.7672067284584045, + -1.0823620557785034, + 0.0, + 0.9893313646316528 + ], + [ + 0.3098470866680145, + -0.15037541091442108, + 0.06687553972005844, + 0.12301567196846008, + 0.8300314545631409, + -1.0925120115280151, + 0.0, + 0.9893313646316528 + ], + [ + 0.3131560981273651, + -0.1365475207567215, + 0.06048054248094559, + 0.12383934110403061, + 0.876495897769928, + -1.0879915952682495, + 0.0, + 0.9893313646316528 + ], + [ + 0.3074422776699066, + -0.126479834318161, + 0.05135701596736908, + 0.08577880263328552, + 0.9123989939689636, + -1.1181999444961548, + 0.0, + 0.9893313646316528 + ], + [ + 0.29972368478775024, + -0.11598706990480423, + 0.03929243981838226, + 0.030268346890807152, + 0.9410660862922668, + -1.1663035154342651, + 0.0, + 0.9893313646316528 + ], + [ + 0.2914387285709381, + -0.10578736662864685, + 0.029381800442934036, + 0.03676331415772438, + 0.9828386902809143, + -1.1802380084991455, + 0.0, + 0.9893313646316528 + ], + [ + 0.287493497133255, + -0.09645714610815048, + 0.028149235993623734, + 0.14556974172592163, + 0.9873729348182678, + -1.0910276174545288, + 0.0, + 0.9099614024162292 + ], + [ + 0.28258398175239563, + -0.09909360110759735, + 0.030216367915272713, + 0.07065637409687042, + 0.9364567995071411, + -1.1358349323272705, + 0.0, + 0.8853598833084106 + ], + [ + 0.2833283543586731, + -0.10569827258586884, + 0.041430894285440445, + -0.1415390521287918, + 0.8168061375617981, + -1.2481424808502197, + 0.0, + 0.9099614024162292 + ], + [ + 0.2831018567085266, + -0.11481279879808426, + 0.06598365306854248, + -0.3878214359283447, + 0.5950846672058105, + -1.3665157556533813, + 0.0, + 0.9107924103736877 + ], + [ + 0.2860599458217621, + -0.11444534361362457, + 0.06568583101034164, + -0.5149222016334534, + 0.3775016665458679, + -1.3006936311721802, + 0.0, + 0.9107924103736877 + ], + [ + 0.295107901096344, + -0.10089389979839325, + 0.07015466690063477, + -0.6067142486572266, + 0.1821649670600891, + -1.1594470739364624, + 0.0, + 0.9107924103736877 + ], + [ + 0.3010667562484741, + -0.10336943715810776, + 0.07954880595207214, + -0.6591184139251709, + 0.05834434926509857, + -1.1746050119400024, + 0.0, + 0.9107924103736877 + ], + [ + 0.3134302794933319, + -0.09933148324489594, + 0.08663573116064072, + -0.7073338627815247, + -0.042253278195858, + -1.1930683851242065, + 0.0, + 0.9107924103736877 + ], + [ + 0.3208080530166626, + -0.08902868628501892, + 0.0891653373837471, + -0.7372250556945801, + -0.14460760354995728, + -1.1533619165420532, + 0.0, + 0.9107924103736877 + ], + [ + 0.32352471351623535, + -0.08413662761449814, + 0.0873144119977951, + -0.7546481490135193, + -0.2231607437133789, + -1.1206074953079224, + 0.0, + 0.9107924103736877 + ], + [ + 0.3230721950531006, + -0.08534009754657745, + 0.07655756920576096, + -0.75233393907547, + -0.25131741166114807, + -1.0855722427368164, + 0.0, + 0.9107924103736877 + ], + [ + 0.3230293393135071, + -0.09192216396331787, + 0.06794199347496033, + -0.7456623911857605, + -0.2979270815849304, + -1.0643620491027832, + 0.0, + 0.9107924103736877 + ], + [ + 0.3222721815109253, + -0.09667973220348358, + 0.058375127613544464, + -0.7488802075386047, + -0.3389926552772522, + -1.028440237045288, + 0.0, + 0.9107924103736877 + ], + [ + 0.3241123557090759, + -0.09514404833316803, + 0.059698693454265594, + -0.7622551918029785, + -0.4104161560535431, + -0.984087347984314, + 0.0, + 0.9107924103736877 + ], + [ + 0.32998842000961304, + -0.0919487476348877, + 0.07775307446718216, + -0.7398894429206848, + -0.5237191319465637, + -0.95428067445755, + 0.0, + 0.9107924103736877 + ], + [ + 0.33349430561065674, + -0.08372948318719864, + 0.08980435132980347, + -0.8040643334388733, + -0.5908130407333374, + -0.88619065284729, + 0.0, + 0.9107924103736877 + ], + [ + 0.3402964174747467, + -0.07866921275854111, + 0.09390393644571304, + -0.7932254076004028, + -0.6186801195144653, + -0.8633741140365601, + 0.0, + 0.9107924103736877 + ], + [ + 0.3407957851886749, + -0.08261633664369583, + 0.09556914865970612, + -0.802951455116272, + -0.6293113231658936, + -0.8608085513114929, + 0.0, + 0.9107924103736877 + ], + [ + 0.3431297540664673, + -0.08577170222997665, + 0.09749957919120789, + -0.8473080992698669, + -0.6648610234260559, + -0.8487646579742432, + 0.0, + 0.9107924103736877 + ], + [ + 0.34670063853263855, + -0.08720357716083527, + 0.10003365576267242, + -0.8378961682319641, + -0.6783585548400879, + -0.8540892004966736, + 0.0, + 0.9107924103736877 + ] + ], + "left_gripper_pos": [ + [ + 0.9893313646316528 + ], + [ + 0.9893313646316528 + ], + [ + 0.9893313646316528 + ], + [ + 0.9893313646316528 + ], + [ + 0.9893313646316528 + ], + [ + 0.9893313646316528 + ], + [ + 0.9893313646316528 + ], + [ + 0.9893313646316528 + ], + [ + 0.9893313646316528 + ], + [ + 0.9893313646316528 + ], + [ + 0.9893313646316528 + ], + [ + 0.9893313646316528 + ], + [ + 0.9893313646316528 + ], + [ + 0.9893313646316528 + ], + [ + 0.9893313646316528 + ], + [ + 0.9099614024162292 + ], + [ + 0.8853598833084106 + ], + [ + 0.9099614024162292 + ], + [ + 0.9107924103736877 + ], + [ + 0.9107924103736877 + ], + [ + 0.9107924103736877 + ], + [ + 0.9107924103736877 + ], + [ + 0.9107924103736877 + ], + [ + 0.9107924103736877 + ], + [ + 0.9107924103736877 + ], + [ + 0.9107924103736877 + ], + [ + 0.9107924103736877 + ], + [ + 0.9107924103736877 + ], + [ + 0.9107924103736877 + ], + [ + 0.9107924103736877 + ], + [ + 0.9107924103736877 + ], + [ + 0.9107924103736877 + ], + [ + 0.9107924103736877 + ], + [ + 0.9107924103736877 + ], + [ + 0.9107924103736877 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.20564669370651245, + -0.06480767577886581, + 0.10059454292058945 + ], + [ + 0.20298327505588531, + -0.06447917222976685, + 0.09855970740318298 + ], + [ + 0.21603696048259735, + -0.0805705189704895, + 0.11779838055372238 + ], + [ + 0.2299525886774063, + -0.09903547167778015, + 0.12848708033561707 + ], + [ + 0.24475927650928497, + -0.11733822524547577, + 0.13807173073291779 + ], + [ + 0.2684267461299896, + -0.13873392343521118, + 0.13456641137599945 + ], + [ + 0.2807348668575287, + -0.15951253473758698, + 0.12097883224487305 + ], + [ + 0.28804072737693787, + -0.16719071567058563, + 0.10804075002670288 + ], + [ + 0.2930702269077301, + -0.16727545857429504, + 0.09141623973846436 + ], + [ + 0.2991436719894409, + -0.16519524157047272, + 0.07845970243215561 + ], + [ + 0.3098470866680145, + -0.15037541091442108, + 0.06687553972005844 + ], + [ + 0.3131560981273651, + -0.1365475207567215, + 0.06048054248094559 + ], + [ + 0.3074422776699066, + -0.126479834318161, + 0.05135701596736908 + ], + [ + 0.29972368478775024, + -0.11598706990480423, + 0.03929243981838226 + ], + [ + 0.2914387285709381, + -0.10578736662864685, + 0.029381800442934036 + ], + [ + 0.287493497133255, + -0.09645714610815048, + 0.028149235993623734 + ], + [ + 0.28258398175239563, + -0.09909360110759735, + 0.030216367915272713 + ], + [ + 0.2833283543586731, + -0.10569827258586884, + 0.041430894285440445 + ], + [ + 0.2831018567085266, + -0.11481279879808426, + 0.06598365306854248 + ], + [ + 0.2860599458217621, + -0.11444534361362457, + 0.06568583101034164 + ], + [ + 0.295107901096344, + -0.10089389979839325, + 0.07015466690063477 + ], + [ + 0.3010667562484741, + -0.10336943715810776, + 0.07954880595207214 + ], + [ + 0.3134302794933319, + -0.09933148324489594, + 0.08663573116064072 + ], + [ + 0.3208080530166626, + -0.08902868628501892, + 0.0891653373837471 + ], + [ + 0.32352471351623535, + -0.08413662761449814, + 0.0873144119977951 + ], + [ + 0.3230721950531006, + -0.08534009754657745, + 0.07655756920576096 + ], + [ + 0.3230293393135071, + -0.09192216396331787, + 0.06794199347496033 + ], + [ + 0.3222721815109253, + -0.09667973220348358, + 0.058375127613544464 + ], + [ + 0.3241123557090759, + -0.09514404833316803, + 0.059698693454265594 + ], + [ + 0.32998842000961304, + -0.0919487476348877, + 0.07775307446718216 + ], + [ + 0.33349430561065674, + -0.08372948318719864, + 0.08980435132980347 + ], + [ + 0.3402964174747467, + -0.07866921275854111, + 0.09390393644571304 + ], + [ + 0.3407957851886749, + -0.08261633664369583, + 0.09556914865970612 + ], + [ + 0.3431297540664673, + -0.08577170222997665, + 0.09749957919120789 + ], + [ + 0.34670063853263855, + -0.08720357716083527, + 0.10003365576267242 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.979621218593814, + 0.1467167275388109, + 0.13717313855516022, + 0.15665673394323307, + -0.9855341000030761, + -0.06466224123370595, + 0.12570177322142256, + 0.08483359942516416, + -0.9884342793618405 + ], + [ + 0.9848662832680419, + 0.1281195484920979, + 0.11672097230563903, + 0.1337806879057985, + -0.9901205588237585, + -0.04200007783301561, + 0.11018680331711285, + 0.056979472520452615, + -0.992276276087485 + ], + [ + 0.9909061467469639, + 0.020582611175917316, + 0.13297129185002876, + 0.020317388351824353, + -0.9997879639001194, + 0.003351264092048502, + 0.13301207490166322, + -0.0006191588120224329, + -0.9911142237768156 + ], + [ + 0.9784281163919245, + -0.18167952748447155, + 0.09834109185264381, + -0.1879321138341791, + -0.9804386174844206, + 0.05849476844176239, + 0.08579010224710154, + -0.07571437537388388, + -0.9934321273837357 + ], + [ + 0.914776240247058, + -0.39762486387306945, + 0.07126638695331708, + -0.4038605053645416, + -0.9041377589978442, + 0.1393972917995658, + 0.009006802215768411, + -0.15629900954350048, + -0.9876687183107333 + ], + [ + 0.7807959820126875, + -0.6241711481442133, + -0.027713034788304544, + -0.5912714608154678, + -0.7525177704082553, + 0.29002597270749964, + -0.20188039552662362, + -0.21006518760642634, + -0.9566174380900084 + ], + [ + 0.6076382913251475, + -0.7883798020843499, + -0.09608847267438556, + -0.681766785278627, + -0.579835370702807, + 0.44607734012476435, + -0.4073938602952939, + -0.20554374363472944, + -0.8898213371493846 + ], + [ + 0.490618860089978, + -0.8604641978026677, + -0.13745726035325423, + -0.6884600196982564, + -0.47947623830624664, + 0.5441739962335281, + -0.5341497312562153, + -0.17234819755223177, + -0.8276352840469103 + ], + [ + 0.41856280873779583, + -0.8923342639900346, + -0.16895187613900953, + -0.6575611438939181, + -0.42608218278206045, + 0.6213431544296576, + -0.6264331705636682, + -0.1489749469710888, + -0.7651064945434145 + ], + [ + 0.33778627014387236, + -0.9194455281061797, + -0.2012966878710099, + -0.6356790523000833, + -0.380575738893671, + 0.6716206142104364, + -0.6941272060430699, + -0.09890413444889073, + -0.7130255212962274 + ], + [ + 0.31060540220250427, + -0.9227536635655831, + -0.22814460436073303, + -0.5991245665494542, + -0.3763887294988889, + 0.7066691432793291, + -0.7379525986671158, + -0.08280821627415419, + -0.6697527614261429 + ], + [ + 0.2970591087063219, + -0.9229849421697995, + -0.244652166273706, + -0.5667109640591499, + -0.37663259521877696, + 0.7327936758965087, + -0.7685015088792957, + -0.07903597121931483, + -0.6349478294345647 + ], + [ + 0.26756319762812625, + -0.9256422163226299, + -0.26757507850385026, + -0.5502456920902454, + -0.3747515068424579, + 0.7461842845138416, + -0.7909738387653151, + -0.05241941892692614, + -0.609600353435121 + ], + [ + 0.23177363033990628, + -0.9285068292536532, + -0.2900966258135173, + -0.5414016225915196, + -0.37088732049283435, + 0.7545375262721633, + -0.8081864063038491, + -0.017823117768028474, + -0.5886570046628994 + ], + [ + 0.21116275502783327, + -0.9357149126452602, + -0.2825736950643641, + -0.512894815072372, + -0.3521675549954819, + 0.7828901084318167, + -0.8320752367189717, + -0.02038664910614768, + -0.5542879982259133 + ], + [ + 0.25427385641537886, + -0.9335979151864686, + -0.2524673022455206, + -0.4886903653763439, + -0.34929852399865824, + 0.7994825000715742, + -0.8345816513271707, + -0.07990916024986422, + -0.5450577890244068 + ], + [ + 0.24972629540911317, + -0.9285845125783416, + -0.27453156536341, + -0.5374622333656078, + -0.3687550283366955, + 0.758389132821704, + -0.8054632984108547, + -0.04183936036851932, + -0.5911669331390752 + ], + [ + 0.21706116594653646, + -0.9063067152192271, + -0.3626190675991337, + -0.6492281010219779, + -0.4114399115399241, + 0.639703112416546, + -0.7289631836254331, + 0.09656778521098208, + -0.677707414581041 + ], + [ + 0.16799084791949248, + -0.8634804925006623, + -0.47558439218092885, + -0.8108824859837933, + -0.3953847182891297, + 0.43144005199815283, + -0.5605788695090399, + 0.31316507406516325, + -0.7666022224372477 + ], + [ + 0.24804245939668002, + -0.7903400250446156, + -0.5602120876497778, + -0.8958847960875148, + -0.40717239348241085, + 0.17776690953334495, + -0.36859920031882604, + 0.4577917504698843, + -0.8090496540547069 + ], + [ + 0.3932304520021509, + -0.7116951529246898, + -0.5821166729459712, + -0.9014162063721993, + -0.42315951853751943, + -0.09156879796441336, + -0.1811591413860666, + 0.5607370428058036, + -0.8079327535863773 + ], + [ + 0.38525085457244895, + -0.7155146684008551, + -0.5827697129693787, + -0.9209677392590097, + -0.3380171181934098, + -0.19381138008995039, + -0.05831125359093703, + 0.6113781048675498, + -0.7891873102079231 + ], + [ + 0.36848035747754126, + -0.71663724497807, + -0.592159847729872, + -0.9286753732392747, + -0.2548176023669181, + -0.26949961161914326, + 0.04224070657691742, + 0.6492295808373313, + -0.7594186421689066 + ], + [ + 0.4011849786310175, + -0.7160391513367783, + -0.571260489333663, + -0.9045908521304564, + -0.21159095702591707, + -0.37006034257503356, + 0.14410413999162103, + 0.6652196634629517, + -0.7326095796394643 + ], + [ + 0.42434541903651224, + -0.7218966644202479, + -0.5466225125638778, + -0.8780384283854267, + -0.18050044630471163, + -0.4432472302928129, + 0.2213130895839123, + 0.6680455035270575, + -0.7104475502076866 + ], + [ + 0.45175472858630533, + -0.7250797960803695, + -0.5197854889432401, + -0.8567822494499634, + -0.19020273203001442, + -0.4793194109941503, + 0.24868020071444016, + 0.6618777908680484, + -0.7071604823010527 + ], + [ + 0.4636937533641202, + -0.7390287429801558, + -0.48869685914712563, + -0.8359562300261753, + -0.18218912369953144, + -0.5176720049278514, + 0.2935392385551188, + 0.6485704589747887, + -0.7022756404530299 + ], + [ + 0.4867810612983303, + -0.7441975676176659, + -0.4573993645745708, + -0.8077519294970276, + -0.1841504403871287, + -0.5600227099851003, + 0.332537244162365, + 0.642073668403538, + -0.6907679679803655 + ], + [ + 0.5076476409944894, + -0.7548613165063007, + -0.4153050269802959, + -0.7636099052248753, + -0.17097687713132448, + -0.6226289586333715, + 0.39899095883890257, + 0.6332071543569247, + -0.6632155866956225 + ], + [ + 0.5006974559716266, + -0.7975281164085689, + -0.33652780140924665, + -0.7065393256476374, + -0.15192340292009976, + -0.6911739730043073, + 0.5001042280334398, + 0.5838391757864295, + -0.639552638896987 + ], + [ + 0.5251737321837239, + -0.7911389880984615, + -0.3135149957095523, + -0.6433529120038962, + -0.1279555807918955, + -0.7548009008740753, + 0.5570364275703386, + 0.5981023916143047, + -0.5761804817111768 + ], + [ + 0.5294185829310432, + -0.8017945446750722, + -0.27720294402581713, + -0.6191622249774676, + -0.14180357328498322, + -0.7723534720350278, + 0.579960432450558, + 0.5805318722799848, + -0.5715143410789074 + ], + [ + 0.5269564669481233, + -0.8027592117713807, + -0.2790959151577526, + -0.6130912439792953, + -0.13162753947316097, + -0.7789693943975989, + 0.588588148451421, + 0.5815942217460842, + -0.5615266269146056 + ], + [ + 0.5201384197003541, + -0.802417965459928, + -0.2925430447964332, + -0.5906174847860958, + -0.09050678510041299, + -0.8018600305014172, + 0.6169497637705718, + 0.5898592463952206, + -0.5209981366814073 + ], + [ + 0.511469118774379, + -0.8108051763120145, + -0.28459498696534236, + -0.5870461804333447, + -0.08784034424119225, + -0.8047737917963097, + 0.627515834524342, + 0.5786873421712556, + -0.5209077052914334 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0026634186506271362, + 0.0003285035490989685, + -0.0020348355174064636, + 0.028256431221961975, + 0.015624187886714935, + -0.023562923073768616, + 1.0 + ], + [ + 0.013053685426712036, + -0.016091346740722656, + 0.019238673150539398, + 0.05798470973968506, + -0.0229964479804039, + -0.11450909078121185, + 1.0 + ], + [ + 0.01391562819480896, + -0.01846495270729065, + 0.010688699781894684, + 0.07544317841529846, + 0.0475117564201355, + -0.2102653831243515, + 1.0 + ], + [ + 0.014806687831878662, + -0.018302753567695618, + 0.00958465039730072, + 0.0808810219168663, + 0.07688876241445541, + -0.22598639130592346, + 1.0 + ], + [ + 0.02366746962070465, + -0.021395698189735413, + -0.003505319356918335, + 0.0592118501663208, + 0.2122843861579895, + -0.23238533735275269, + 1.0 + ], + [ + 0.012308120727539062, + -0.020778611302375793, + -0.013587579131126404, + 0.010851860046386719, + 0.21632108092308044, + -0.19468927383422852, + 1.0 + ], + [ + 0.00730586051940918, + -0.007678180932998657, + -0.012938082218170166, + -0.021705031394958496, + 0.14390310645103455, + -0.10881710052490234, + 1.0 + ], + [ + 0.005029499530792236, + -8.474290370941162e-05, + -0.016624510288238525, + -0.013002365827560425, + 0.11346715688705444, + -0.052300333976745605, + 1.0 + ], + [ + 0.006073445081710815, + 0.0020802170038223267, + -0.012956537306308746, + -0.054474204778671265, + 0.09023791551589966, + -0.07841920852661133, + 1.0 + ], + [ + 0.010703414678573608, + 0.014819830656051636, + -0.011584162712097168, + -0.014815345406532288, + 0.06282472610473633, + -0.010149955749511719, + 1.0 + ], + [ + 0.003309011459350586, + 0.013827890157699585, + -0.006394997239112854, + 0.0008236691355705261, + 0.04646444320678711, + 0.004520416259765625, + 1.0 + ], + [ + -0.005713820457458496, + 0.010067686438560486, + -0.009123526513576508, + -0.03806053847074509, + 0.035903096199035645, + -0.030208349227905273, + 1.0 + ], + [ + -0.007718592882156372, + 0.010492764413356781, + -0.012064576148986816, + -0.05551045387983322, + 0.028667092323303223, + -0.04810357093811035, + 1.0 + ], + [ + -0.008284956216812134, + 0.01019970327615738, + -0.009910639375448227, + 0.006494967266917229, + 0.04177260398864746, + -0.013934493064880371, + 1.0 + ], + [ + -0.0039452314376831055, + 0.009330220520496368, + -0.0012325644493103027, + 0.10880643129348755, + 0.004534244537353516, + 0.0892103910446167, + 0.0 + ], + [ + -0.004909515380859375, + -0.002636454999446869, + 0.002067131921648979, + -0.07491336762905121, + -0.05091613531112671, + -0.0448073148727417, + 0.0 + ], + [ + 0.0007443726062774658, + -0.006604671478271484, + 0.011214526370167732, + -0.21219542622566223, + -0.11965066194534302, + -0.11230754852294922, + 0.0 + ], + [ + -0.00022649765014648438, + -0.009114526212215424, + 0.024552758783102036, + -0.24628238379955292, + -0.22172147035598755, + -0.11837327480316162, + 0.0 + ], + [ + 0.0029580891132354736, + 0.0003674551844596863, + -0.0002978220582008362, + -0.12710076570510864, + -0.21758300065994263, + 0.06582212448120117, + 0.0 + ], + [ + 0.00904795527458191, + 0.013551443815231323, + 0.004468835890293121, + -0.0917920470237732, + -0.1953366994857788, + 0.14124655723571777, + 0.0 + ], + [ + 0.005958855152130127, + -0.002475537359714508, + 0.009394139051437378, + -0.052404165267944336, + -0.12382061779499054, + -0.015157938003540039, + 0.0 + ], + [ + 0.012363523244857788, + 0.0040379539132118225, + 0.007086925208568573, + -0.04821544885635376, + -0.10059762746095657, + -0.0184633731842041, + 0.0 + ], + [ + 0.0073777735233306885, + 0.010302796959877014, + 0.0025296062231063843, + -0.02989119291305542, + -0.10235432535409927, + 0.03970646858215332, + 0.0 + ], + [ + 0.002716660499572754, + 0.0048920586705207825, + -0.0018509253859519958, + -0.01742309331893921, + -0.07855314016342163, + 0.03275442123413086, + 0.0 + ], + [ + -0.0004525184631347656, + -0.0012034699320793152, + -0.01075684279203415, + 0.0023142099380493164, + -0.028156667947769165, + 0.03503525257110596, + 0.0 + ], + [ + -4.285573959350586e-05, + -0.0065820664167404175, + -0.008615575730800629, + 0.006671547889709473, + -0.04660966992378235, + 0.021210193634033203, + 0.0 + ], + [ + -0.0007571578025817871, + -0.0047575682401657104, + -0.009566865861415863, + -0.0032178163528442383, + -0.04106557369232178, + 0.03592181205749512, + 0.0 + ], + [ + 0.0018401741981506348, + 0.0015356838703155518, + 0.0013235658407211304, + -0.01337498426437378, + -0.0714235007762909, + 0.04435288906097412, + 0.0 + ], + [ + 0.005876064300537109, + 0.0031953006982803345, + 0.018054381012916565, + 0.0223657488822937, + -0.11330297589302063, + 0.029806673526763916, + 0.0 + ], + [ + 0.003505885601043701, + 0.008219264447689056, + 0.012051276862621307, + -0.06417489051818848, + -0.06709390878677368, + 0.06809002161026001, + 0.0 + ], + [ + 0.006802111864089966, + 0.005060270428657532, + 0.004099585115909576, + 0.010838925838470459, + -0.02786707878112793, + 0.02281653881072998, + 0.0 + ], + [ + 0.0004993677139282227, + -0.003947123885154724, + 0.0016652122139930725, + -0.00972604751586914, + -0.010631203651428223, + 0.0025655627250671387, + 0.0 + ], + [ + 0.0023339688777923584, + -0.0031553655862808228, + 0.00193043053150177, + -0.04435664415359497, + -0.035549700260162354, + 0.012043893337249756, + 0.0 + ], + [ + 0.0035708844661712646, + -0.001431874930858612, + 0.0025340765714645386, + 0.009411931037902832, + -0.013497531414031982, + -0.00532454252243042, + 0.0 + ], + [ + -0.0013665556907653809, + -0.0036348775029182434, + 0.00048103928565979004, + -0.014412641525268555, + 0.0037604570388793945, + 0.0017084479331970215, + 0.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9893313646316528 + ], + [ + 0.9893313646316528 + ], + [ + 0.9893313646316528 + ], + [ + 0.9893313646316528 + ], + [ + 0.9893313646316528 + ], + [ + 0.9893313646316528 + ], + [ + 0.9893313646316528 + ], + [ + 0.9893313646316528 + ], + [ + 0.9893313646316528 + ], + [ + 0.9893313646316528 + ], + [ + 0.9893313646316528 + ], + [ + 0.9893313646316528 + ], + [ + 0.9893313646316528 + ], + [ + 0.9893313646316528 + ], + [ + 0.9099614024162292 + ], + [ + 0.8853598833084106 + ], + [ + 0.9099614024162292 + ], + [ + 0.9107924103736877 + ], + [ + 0.9107924103736877 + ], + [ + 0.9107924103736877 + ], + [ + 0.9107924103736877 + ], + [ + 0.9107924103736877 + ], + [ + 0.9107924103736877 + ], + [ + 0.9107924103736877 + ], + [ + 0.9107924103736877 + ], + [ + 0.9107924103736877 + ], + [ + 0.9107924103736877 + ], + [ + 0.9107924103736877 + ], + [ + 0.9107924103736877 + ], + [ + 0.9107924103736877 + ], + [ + 0.9107924103736877 + ], + [ + 0.9107924103736877 + ], + [ + 0.9107924103736877 + ], + [ + 0.9107924103736877 + ], + [ + 0.9107924103736877 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.20298327505588531, + -0.06447917222976685, + 0.09855970740318298 + ], + [ + 0.21603696048259735, + -0.0805705189704895, + 0.11779838055372238 + ], + [ + 0.2299525886774063, + -0.09903547167778015, + 0.12848708033561707 + ], + [ + 0.24475927650928497, + -0.11733822524547577, + 0.13807173073291779 + ], + [ + 0.2684267461299896, + -0.13873392343521118, + 0.13456641137599945 + ], + [ + 0.2807348668575287, + -0.15951253473758698, + 0.12097883224487305 + ], + [ + 0.28804072737693787, + -0.16719071567058563, + 0.10804075002670288 + ], + [ + 0.2930702269077301, + -0.16727545857429504, + 0.09141623973846436 + ], + [ + 0.2991436719894409, + -0.16519524157047272, + 0.07845970243215561 + ], + [ + 0.3098470866680145, + -0.15037541091442108, + 0.06687553972005844 + ], + [ + 0.3131560981273651, + -0.1365475207567215, + 0.06048054248094559 + ], + [ + 0.3074422776699066, + -0.126479834318161, + 0.05135701596736908 + ], + [ + 0.29972368478775024, + -0.11598706990480423, + 0.03929243981838226 + ], + [ + 0.2914387285709381, + -0.10578736662864685, + 0.029381800442934036 + ], + [ + 0.287493497133255, + -0.09645714610815048, + 0.028149235993623734 + ], + [ + 0.28258398175239563, + -0.09909360110759735, + 0.030216367915272713 + ], + [ + 0.2833283543586731, + -0.10569827258586884, + 0.041430894285440445 + ], + [ + 0.2831018567085266, + -0.11481279879808426, + 0.06598365306854248 + ], + [ + 0.2860599458217621, + -0.11444534361362457, + 0.06568583101034164 + ], + [ + 0.295107901096344, + -0.10089389979839325, + 0.07015466690063477 + ], + [ + 0.3010667562484741, + -0.10336943715810776, + 0.07954880595207214 + ], + [ + 0.3134302794933319, + -0.09933148324489594, + 0.08663573116064072 + ], + [ + 0.3208080530166626, + -0.08902868628501892, + 0.0891653373837471 + ], + [ + 0.32352471351623535, + -0.08413662761449814, + 0.0873144119977951 + ], + [ + 0.3230721950531006, + -0.08534009754657745, + 0.07655756920576096 + ], + [ + 0.3230293393135071, + -0.09192216396331787, + 0.06794199347496033 + ], + [ + 0.3222721815109253, + -0.09667973220348358, + 0.058375127613544464 + ], + [ + 0.3241123557090759, + -0.09514404833316803, + 0.059698693454265594 + ], + [ + 0.32998842000961304, + -0.0919487476348877, + 0.07775307446718216 + ], + [ + 0.33349430561065674, + -0.08372948318719864, + 0.08980435132980347 + ], + [ + 0.3402964174747467, + -0.07866921275854111, + 0.09390393644571304 + ], + [ + 0.3407957851886749, + -0.08261633664369583, + 0.09556914865970612 + ], + [ + 0.3431297540664673, + -0.08577170222997665, + 0.09749957919120789 + ], + [ + 0.34670063853263855, + -0.08720357716083527, + 0.10003365576267242 + ], + [ + 0.34533408284187317, + -0.09083845466375351, + 0.10051469504833221 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9848662832680419, + 0.1281195484920979, + 0.11672097230563903, + 0.1337806879057985, + -0.9901205588237585, + -0.04200007783301561, + 0.11018680331711285, + 0.056979472520452615, + -0.992276276087485 + ], + [ + 0.9909061467469639, + 0.020582611175917316, + 0.13297129185002876, + 0.020317388351824353, + -0.9997879639001194, + 0.003351264092048502, + 0.13301207490166322, + -0.0006191588120224329, + -0.9911142237768156 + ], + [ + 0.9784281163919245, + -0.18167952748447155, + 0.09834109185264381, + -0.1879321138341791, + -0.9804386174844206, + 0.05849476844176239, + 0.08579010224710154, + -0.07571437537388388, + -0.9934321273837357 + ], + [ + 0.914776240247058, + -0.39762486387306945, + 0.07126638695331708, + -0.4038605053645416, + -0.9041377589978442, + 0.1393972917995658, + 0.009006802215768411, + -0.15629900954350048, + -0.9876687183107333 + ], + [ + 0.7807959820126875, + -0.6241711481442133, + -0.027713034788304544, + -0.5912714608154678, + -0.7525177704082553, + 0.29002597270749964, + -0.20188039552662362, + -0.21006518760642634, + -0.9566174380900084 + ], + [ + 0.6076382913251475, + -0.7883798020843499, + -0.09608847267438556, + -0.681766785278627, + -0.579835370702807, + 0.44607734012476435, + -0.4073938602952939, + -0.20554374363472944, + -0.8898213371493846 + ], + [ + 0.490618860089978, + -0.8604641978026677, + -0.13745726035325423, + -0.6884600196982564, + -0.47947623830624664, + 0.5441739962335281, + -0.5341497312562153, + -0.17234819755223177, + -0.8276352840469103 + ], + [ + 0.41856280873779583, + -0.8923342639900346, + -0.16895187613900953, + -0.6575611438939181, + -0.42608218278206045, + 0.6213431544296576, + -0.6264331705636682, + -0.1489749469710888, + -0.7651064945434145 + ], + [ + 0.33778627014387236, + -0.9194455281061797, + -0.2012966878710099, + -0.6356790523000833, + -0.380575738893671, + 0.6716206142104364, + -0.6941272060430699, + -0.09890413444889073, + -0.7130255212962274 + ], + [ + 0.31060540220250427, + -0.9227536635655831, + -0.22814460436073303, + -0.5991245665494542, + -0.3763887294988889, + 0.7066691432793291, + -0.7379525986671158, + -0.08280821627415419, + -0.6697527614261429 + ], + [ + 0.2970591087063219, + -0.9229849421697995, + -0.244652166273706, + -0.5667109640591499, + -0.37663259521877696, + 0.7327936758965087, + -0.7685015088792957, + -0.07903597121931483, + -0.6349478294345647 + ], + [ + 0.26756319762812625, + -0.9256422163226299, + -0.26757507850385026, + -0.5502456920902454, + -0.3747515068424579, + 0.7461842845138416, + -0.7909738387653151, + -0.05241941892692614, + -0.609600353435121 + ], + [ + 0.23177363033990628, + -0.9285068292536532, + -0.2900966258135173, + -0.5414016225915196, + -0.37088732049283435, + 0.7545375262721633, + -0.8081864063038491, + -0.017823117768028474, + -0.5886570046628994 + ], + [ + 0.21116275502783327, + -0.9357149126452602, + -0.2825736950643641, + -0.512894815072372, + -0.3521675549954819, + 0.7828901084318167, + -0.8320752367189717, + -0.02038664910614768, + -0.5542879982259133 + ], + [ + 0.25427385641537886, + -0.9335979151864686, + -0.2524673022455206, + -0.4886903653763439, + -0.34929852399865824, + 0.7994825000715742, + -0.8345816513271707, + -0.07990916024986422, + -0.5450577890244068 + ], + [ + 0.24972629540911317, + -0.9285845125783416, + -0.27453156536341, + -0.5374622333656078, + -0.3687550283366955, + 0.758389132821704, + -0.8054632984108547, + -0.04183936036851932, + -0.5911669331390752 + ], + [ + 0.21706116594653646, + -0.9063067152192271, + -0.3626190675991337, + -0.6492281010219779, + -0.4114399115399241, + 0.639703112416546, + -0.7289631836254331, + 0.09656778521098208, + -0.677707414581041 + ], + [ + 0.16799084791949248, + -0.8634804925006623, + -0.47558439218092885, + -0.8108824859837933, + -0.3953847182891297, + 0.43144005199815283, + -0.5605788695090399, + 0.31316507406516325, + -0.7666022224372477 + ], + [ + 0.24804245939668002, + -0.7903400250446156, + -0.5602120876497778, + -0.8958847960875148, + -0.40717239348241085, + 0.17776690953334495, + -0.36859920031882604, + 0.4577917504698843, + -0.8090496540547069 + ], + [ + 0.3932304520021509, + -0.7116951529246898, + -0.5821166729459712, + -0.9014162063721993, + -0.42315951853751943, + -0.09156879796441336, + -0.1811591413860666, + 0.5607370428058036, + -0.8079327535863773 + ], + [ + 0.38525085457244895, + -0.7155146684008551, + -0.5827697129693787, + -0.9209677392590097, + -0.3380171181934098, + -0.19381138008995039, + -0.05831125359093703, + 0.6113781048675498, + -0.7891873102079231 + ], + [ + 0.36848035747754126, + -0.71663724497807, + -0.592159847729872, + -0.9286753732392747, + -0.2548176023669181, + -0.26949961161914326, + 0.04224070657691742, + 0.6492295808373313, + -0.7594186421689066 + ], + [ + 0.4011849786310175, + -0.7160391513367783, + -0.571260489333663, + -0.9045908521304564, + -0.21159095702591707, + -0.37006034257503356, + 0.14410413999162103, + 0.6652196634629517, + -0.7326095796394643 + ], + [ + 0.42434541903651224, + -0.7218966644202479, + -0.5466225125638778, + -0.8780384283854267, + -0.18050044630471163, + -0.4432472302928129, + 0.2213130895839123, + 0.6680455035270575, + -0.7104475502076866 + ], + [ + 0.45175472858630533, + -0.7250797960803695, + -0.5197854889432401, + -0.8567822494499634, + -0.19020273203001442, + -0.4793194109941503, + 0.24868020071444016, + 0.6618777908680484, + -0.7071604823010527 + ], + [ + 0.4636937533641202, + -0.7390287429801558, + -0.48869685914712563, + -0.8359562300261753, + -0.18218912369953144, + -0.5176720049278514, + 0.2935392385551188, + 0.6485704589747887, + -0.7022756404530299 + ], + [ + 0.4867810612983303, + -0.7441975676176659, + -0.4573993645745708, + -0.8077519294970276, + -0.1841504403871287, + -0.5600227099851003, + 0.332537244162365, + 0.642073668403538, + -0.6907679679803655 + ], + [ + 0.5076476409944894, + -0.7548613165063007, + -0.4153050269802959, + -0.7636099052248753, + -0.17097687713132448, + -0.6226289586333715, + 0.39899095883890257, + 0.6332071543569247, + -0.6632155866956225 + ], + [ + 0.5006974559716266, + -0.7975281164085689, + -0.33652780140924665, + -0.7065393256476374, + -0.15192340292009976, + -0.6911739730043073, + 0.5001042280334398, + 0.5838391757864295, + -0.639552638896987 + ], + [ + 0.5251737321837239, + -0.7911389880984615, + -0.3135149957095523, + -0.6433529120038962, + -0.1279555807918955, + -0.7548009008740753, + 0.5570364275703386, + 0.5981023916143047, + -0.5761804817111768 + ], + [ + 0.5294185829310432, + -0.8017945446750722, + -0.27720294402581713, + -0.6191622249774676, + -0.14180357328498322, + -0.7723534720350278, + 0.579960432450558, + 0.5805318722799848, + -0.5715143410789074 + ], + [ + 0.5269564669481233, + -0.8027592117713807, + -0.2790959151577526, + -0.6130912439792953, + -0.13162753947316097, + -0.7789693943975989, + 0.588588148451421, + 0.5815942217460842, + -0.5615266269146056 + ], + [ + 0.5201384197003541, + -0.802417965459928, + -0.2925430447964332, + -0.5906174847860958, + -0.09050678510041299, + -0.8018600305014172, + 0.6169497637705718, + 0.5898592463952206, + -0.5209981366814073 + ], + [ + 0.511469118774379, + -0.8108051763120145, + -0.28459498696534236, + -0.5870461804333447, + -0.08784034424119225, + -0.8047737917963097, + 0.627515834524342, + 0.5786873421712556, + -0.5209077052914334 + ], + [ + 0.51402085031844, + -0.8050349856793408, + -0.2961439468741026, + -0.5879438909708885, + -0.07927255372687514, + -0.8050079771627308, + 0.624583498427488, + 0.5879069093469502, + -0.5140631473216077 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006335.json b/json/chunk-0006/episode_0006335.json new file mode 100644 index 0000000000000000000000000000000000000000..99685a82d45b6d31b30cd5a33b9325985c18f4b2 --- /dev/null +++ b/json/chunk-0006/episode_0006335.json @@ -0,0 +1,2542 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 41, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nFold the cloth from left side." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006335.mp4", + "start": 0, + "end": 41, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.4189664423465729, + -0.15591464936733246, + 0.03828142583370209, + 0.0795719251036644, + -0.2789587676525116, + -0.17003431916236877, + 0.0, + 1.0001531839370728 + ], + [ + 0.4157456159591675, + -0.15444006025791168, + 0.02243347465991974, + 0.08953803777694702, + -0.2403315305709839, + -0.17184308171272278, + 0.0, + 1.0008161067962646 + ], + [ + 0.4098464846611023, + -0.1423574537038803, + 0.027611054480075836, + 0.12426641583442688, + -0.19517387449741364, + -0.16856856644153595, + 0.0, + 1.0008161067962646 + ], + [ + 0.4119870960712433, + -0.10894199460744858, + 0.05858304724097252, + 0.15488794445991516, + -0.22164291143417358, + -0.14569614827632904, + 0.0, + 1.0008161067962646 + ], + [ + 0.4044959545135498, + -0.07451552152633667, + 0.08131173998117447, + 0.15408866107463837, + -0.247151181101799, + -0.1050616204738617, + 0.0, + 1.0008161067962646 + ], + [ + 0.3938245177268982, + -0.0238394383341074, + 0.10473888367414474, + 0.13210800290107727, + -0.29401397705078125, + -0.028396446257829666, + 0.0, + 1.0001531839370728 + ], + [ + 0.38299521803855896, + 0.025123462080955505, + 0.10282204300165176, + 0.1254769265651703, + -0.3266409635543823, + 0.07527945190668106, + 0.0, + 1.0001531839370728 + ], + [ + 0.3748486042022705, + 0.07359480857849121, + 0.09358309209346771, + 0.16571101546287537, + -0.35987192392349243, + 0.18753163516521454, + 0.0, + 1.0001531839370728 + ], + [ + 0.34930798411369324, + 0.12157519161701202, + 0.06696482002735138, + 0.14317172765731812, + -0.3910762667655945, + 0.2378610372543335, + 0.0, + 1.0001531839370728 + ], + [ + 0.32158493995666504, + 0.17282576858997345, + 0.05289441719651222, + 0.12854653596878052, + -0.4231017827987671, + 0.27236756682395935, + 0.0, + 1.0008161067962646 + ], + [ + 0.30566081404685974, + 0.21973922848701477, + 0.05963148921728134, + 0.14333556592464447, + -0.4520706236362457, + 0.3257017135620117, + 0.0, + 1.0001531839370728 + ], + [ + 0.3008285462856293, + 0.22481215000152588, + 0.04439277946949005, + 0.1365385353565216, + -0.408844530582428, + 0.33326804637908936, + 0.0, + 1.0001531839370728 + ], + [ + 0.3077258765697479, + 0.22538848221302032, + 0.03432250767946243, + 0.11596040427684784, + -0.36809301376342773, + 0.30340060591697693, + 0.0, + 1.0001531839370728 + ], + [ + 0.316401869058609, + 0.22292742133140564, + 0.04402080178260803, + 0.15165965259075165, + -0.33714717626571655, + 0.2530893087387085, + 0.0, + 1.0001531839370728 + ], + [ + 0.3201386034488678, + 0.20158469676971436, + 0.0611756294965744, + 0.1947525292634964, + -0.30520930886268616, + 0.2267131805419922, + 0.0, + 1.0001531839370728 + ], + [ + 0.3099868595600128, + 0.18534445762634277, + 0.06432294845581055, + 0.19738994538784027, + -0.28058794140815735, + 0.24579377472400665, + 0.0, + 1.0001531839370728 + ], + [ + 0.30367907881736755, + 0.17687436938285828, + 0.05261269211769104, + 0.15662319958209991, + -0.26845553517341614, + 0.2731642425060272, + 0.0, + 1.0001531839370728 + ], + [ + 0.3008181154727936, + 0.17868296802043915, + 0.03369976207613945, + 0.11594609171152115, + -0.23318663239479065, + 0.28572240471839905, + 0.0, + 1.0008161067962646 + ], + [ + 0.30456221103668213, + 0.1823854148387909, + 0.011803936213254929, + 0.06446699798107147, + -0.18647430837154388, + 0.28047651052474976, + 0.0, + 0.9886419177055359 + ], + [ + 0.31252938508987427, + 0.18512411415576935, + 0.00752115435898304, + 0.04524147883057594, + -0.18489637970924377, + 0.2697162628173828, + 0.0, + 0.905788779258728 + ], + [ + 0.3148294687271118, + 0.1859145313501358, + 0.008837686851620674, + 0.04298257455229759, + -0.17610490322113037, + 0.2517543435096741, + 0.0, + 0.6209517121315002 + ], + [ + 0.31372547149658203, + 0.179584801197052, + 0.010284616611897945, + 0.06219768524169922, + -0.1453925520181656, + 0.23676516115665436, + 0.0, + 0.3331759572029114 + ], + [ + 0.3089105188846588, + 0.1763620227575302, + 0.044427040964365005, + 0.12512347102165222, + -0.16960977017879486, + 0.2345397174358368, + 0.0, + 0.147182896733284 + ], + [ + 0.31146588921546936, + 0.15509068965911865, + 0.0755946934223175, + 0.1991662085056305, + -0.1840503215789795, + 0.21993617713451385, + 0.0, + 0.06895258277654648 + ], + [ + 0.320059210062027, + 0.11748962104320526, + 0.0838952362537384, + 0.236526221036911, + -0.17120960354804993, + 0.20985643565654755, + 0.0, + 0.06238236278295517 + ], + [ + 0.3423432409763336, + 0.07033286243677139, + 0.09420201927423477, + 0.24951393902301788, + -0.2076796442270279, + 0.18761231005191803, + 0.0, + 0.06238236278295517 + ], + [ + 0.36327269673347473, + 0.02200552262365818, + 0.08710531145334244, + 0.2680870294570923, + -0.18646107614040375, + 0.17083193361759186, + 0.0, + 0.06238236278295517 + ], + [ + 0.37308362126350403, + -0.017747649922966957, + 0.08015567064285278, + 0.280407190322876, + -0.18379929661750793, + 0.17204473912715912, + 0.0, + 0.0853668823838234 + ], + [ + 0.37573322653770447, + -0.03451455757021904, + 0.06113402545452118, + 0.2410653829574585, + -0.1537010669708252, + 0.19173285365104675, + 0.0, + 0.24456030130386353 + ], + [ + 0.3787153661251068, + -0.04650447517633438, + 0.050032105296850204, + 0.17039328813552856, + -0.13825421035289764, + 0.1693994104862213, + 0.0, + 0.5168834924697876 + ], + [ + 0.3815666437149048, + -0.05053345113992691, + 0.046950507909059525, + 0.1430472433567047, + -0.14232847094535828, + 0.1529162973165512, + 0.0, + 0.8224069476127625 + ], + [ + 0.3805060088634491, + -0.05508694052696228, + 0.04623177647590637, + 0.12076812237501144, + -0.13022878766059875, + 0.13813358545303345, + 0.0, + 1.00800359249115 + ], + [ + 0.3824385404586792, + -0.05737602338194847, + 0.04624506086111069, + 0.10898632556200027, + -0.14082235097885132, + 0.13171248137950897, + 0.0, + 1.0073583126068115 + ], + [ + 0.38261890411376953, + -0.06273314356803894, + 0.04506584629416466, + 0.0967291072010994, + -0.15673603117465973, + 0.11740155518054962, + 0.0, + 1.0008161067962646 + ], + [ + 0.38671618700027466, + -0.06637989729642868, + 0.05030987784266472, + 0.09155915677547455, + -0.16496437788009644, + 0.0868663340806961, + 0.0, + 1.0008161067962646 + ], + [ + 0.39754703640937805, + -0.06630390137434006, + 0.06648678332567215, + 0.09360527247190475, + -0.18206718564033508, + 0.045701395720243454, + 0.0, + 1.0008161067962646 + ], + [ + 0.3970278203487396, + -0.05969300866127014, + 0.0706905797123909, + 0.103853739798069, + -0.1815708726644516, + 0.053221650421619415, + 0.0, + 1.0008161067962646 + ], + [ + 0.3963623642921448, + -0.057024288922548294, + 0.09052654355764389, + 0.1014697253704071, + -0.22945743799209595, + 0.06528352200984955, + 0.0, + 1.0008161067962646 + ], + [ + 0.39299917221069336, + -0.05239318683743477, + 0.08671653270721436, + 0.10808679461479187, + -0.2145635187625885, + 0.06804237514734268, + 0.0, + 1.0008161067962646 + ], + [ + 0.39194008708000183, + -0.04710712656378746, + 0.09578601270914078, + 0.11773180961608887, + -0.2236025333404541, + 0.08049929887056351, + 0.0, + 1.0008161067962646 + ], + [ + 0.39438146352767944, + -0.04730658978223801, + 0.10468941181898117, + 0.12000355124473572, + -0.22583723068237305, + 0.07458814978599548, + 0.0, + 1.0008161067962646 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 0.9886419177055359 + ], + [ + 0.905788779258728 + ], + [ + 0.6209517121315002 + ], + [ + 0.3331759572029114 + ], + [ + 0.147182896733284 + ], + [ + 0.06895258277654648 + ], + [ + 0.06238236278295517 + ], + [ + 0.06238236278295517 + ], + [ + 0.06238236278295517 + ], + [ + 0.0853668823838234 + ], + [ + 0.24456030130386353 + ], + [ + 0.5168834924697876 + ], + [ + 0.8224069476127625 + ], + [ + 1.00800359249115 + ], + [ + 1.0073583126068115 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.4189664423465729, + -0.15591464936733246, + 0.03828142583370209 + ], + [ + 0.4157456159591675, + -0.15444006025791168, + 0.02243347465991974 + ], + [ + 0.4098464846611023, + -0.1423574537038803, + 0.027611054480075836 + ], + [ + 0.4119870960712433, + -0.10894199460744858, + 0.05858304724097252 + ], + [ + 0.4044959545135498, + -0.07451552152633667, + 0.08131173998117447 + ], + [ + 0.3938245177268982, + -0.0238394383341074, + 0.10473888367414474 + ], + [ + 0.38299521803855896, + 0.025123462080955505, + 0.10282204300165176 + ], + [ + 0.3748486042022705, + 0.07359480857849121, + 0.09358309209346771 + ], + [ + 0.34930798411369324, + 0.12157519161701202, + 0.06696482002735138 + ], + [ + 0.32158493995666504, + 0.17282576858997345, + 0.05289441719651222 + ], + [ + 0.30566081404685974, + 0.21973922848701477, + 0.05963148921728134 + ], + [ + 0.3008285462856293, + 0.22481215000152588, + 0.04439277946949005 + ], + [ + 0.3077258765697479, + 0.22538848221302032, + 0.03432250767946243 + ], + [ + 0.316401869058609, + 0.22292742133140564, + 0.04402080178260803 + ], + [ + 0.3201386034488678, + 0.20158469676971436, + 0.0611756294965744 + ], + [ + 0.3099868595600128, + 0.18534445762634277, + 0.06432294845581055 + ], + [ + 0.30367907881736755, + 0.17687436938285828, + 0.05261269211769104 + ], + [ + 0.3008181154727936, + 0.17868296802043915, + 0.03369976207613945 + ], + [ + 0.30456221103668213, + 0.1823854148387909, + 0.011803936213254929 + ], + [ + 0.31252938508987427, + 0.18512411415576935, + 0.00752115435898304 + ], + [ + 0.3148294687271118, + 0.1859145313501358, + 0.008837686851620674 + ], + [ + 0.31372547149658203, + 0.179584801197052, + 0.010284616611897945 + ], + [ + 0.3089105188846588, + 0.1763620227575302, + 0.044427040964365005 + ], + [ + 0.31146588921546936, + 0.15509068965911865, + 0.0755946934223175 + ], + [ + 0.320059210062027, + 0.11748962104320526, + 0.0838952362537384 + ], + [ + 0.3423432409763336, + 0.07033286243677139, + 0.09420201927423477 + ], + [ + 0.36327269673347473, + 0.02200552262365818, + 0.08710531145334244 + ], + [ + 0.37308362126350403, + -0.017747649922966957, + 0.08015567064285278 + ], + [ + 0.37573322653770447, + -0.03451455757021904, + 0.06113402545452118 + ], + [ + 0.3787153661251068, + -0.04650447517633438, + 0.050032105296850204 + ], + [ + 0.3815666437149048, + -0.05053345113992691, + 0.046950507909059525 + ], + [ + 0.3805060088634491, + -0.05508694052696228, + 0.04623177647590637 + ], + [ + 0.3824385404586792, + -0.05737602338194847, + 0.04624506086111069 + ], + [ + 0.38261890411376953, + -0.06273314356803894, + 0.04506584629416466 + ], + [ + 0.38671618700027466, + -0.06637989729642868, + 0.05030987784266472 + ], + [ + 0.39754703640937805, + -0.06630390137434006, + 0.06648678332567215 + ], + [ + 0.3970278203487396, + -0.05969300866127014, + 0.0706905797123909 + ], + [ + 0.3963623642921448, + -0.057024288922548294, + 0.09052654355764389 + ], + [ + 0.39299917221069336, + -0.05239318683743477, + 0.08671653270721436 + ], + [ + 0.39194008708000183, + -0.04710712656378746, + 0.09578601270914078 + ], + [ + 0.39438146352767944, + -0.04730658978223801, + 0.10468941181898117 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9474791067907774, + -0.147108984355583, + 0.2839758597430769, + -0.16267472756970314, + -0.9861641170861221, + 0.03189462622249015, + 0.2753548169273124, + -0.07641518758478794, + -0.9583008107589747 + ], + [ + 0.9569537085319365, + -0.14934326813753118, + 0.24886982137047975, + -0.16608392373211256, + -0.9849639229241777, + 0.047562598915114634, + 0.2380246415914093, + -0.08684848185095526, + -0.9673683947677146 + ], + [ + 0.967109003448324, + -0.14278049125405062, + 0.21050868572684026, + -0.164586063648812, + -0.9822569585241888, + 0.0899038101717559, + 0.19393711120303622, + -0.12159358020907964, + -0.9734492273098578 + ], + [ + 0.965201855670452, + -0.10988911103755213, + 0.2372967784983459, + -0.14162975604233893, + -0.9824843314927056, + 0.1211014061632622, + 0.21983264091964155, + -0.15049558680143543, + -0.9638592679118608 + ], + [ + 0.9642669498496437, + -0.06628531316189396, + 0.25650634823858615, + -0.10168184341206593, + -0.9866408112370721, + 0.1272820188470335, + 0.24464270303442384, + -0.1488158824201306, + -0.9581251384821969 + ], + [ + 0.9567025012449689, + 0.010012526716250594, + 0.29089529631875527, + -0.027174255614929754, + -0.9919706185744028, + 0.1235145809890111, + 0.28979628007169883, + -0.1260715717117578, + -0.9487486889913116 + ], + [ + 0.9444430657113327, + 0.1146587535435088, + 0.30802705378850764, + 0.0712317639109406, + -0.9863081783044614, + 0.14873537985251167, + 0.3208634155523426, + -0.11853078775400012, + -0.9396792649167591 + ], + [ + 0.9195324530572826, + 0.24095116674992736, + 0.3104876857724067, + 0.1744917517060454, + -0.9581790950685942, + 0.226815895298556, + 0.3521543643929631, + -0.1543870364226816, + -0.923120764918442 + ], + [ + 0.8984693118816187, + 0.2860707328872839, + 0.33304118572978747, + 0.21783462866433145, + -0.9490854403320405, + 0.22756296162690792, + 0.38118364361767065, + -0.1319104345192943, + -0.9150402543622261 + ], + [ + 0.8782070720568026, + 0.31748740939607323, + 0.35770670033476876, + 0.24529089552397057, + -0.9410306947849622, + 0.2330098883000033, + 0.4105906905453001, + -0.11688873490418851, + -0.9042965821510285 + ], + [ + 0.8522522556541351, + 0.37581079649028065, + 0.36391254165496906, + 0.287830577166533, + -0.9177445761360457, + 0.2736758151917161, + 0.4368290873790563, + -0.1284956739124345, + -0.890319723585505 + ], + [ + 0.8670939417093104, + 0.3752233600511303, + 0.32765153184893037, + 0.3001709595368001, + -0.9184815531923634, + 0.2574665638410166, + 0.39754935706370786, + -0.12489622299046307, + -0.9090409463720261 + ], + [ + 0.8904007254496153, + 0.3364925416934857, + 0.30652784131862587, + 0.2787543661078709, + -0.9354781964744587, + 0.21720162820912106, + 0.3598368401020078, + -0.10795051322505142, + -0.9267492299429497 + ], + [ + 0.9136391509885047, + 0.2959061949907919, + 0.2787526242873339, + 0.236299299084409, + -0.9445169727888686, + 0.22814541276556152, + 0.3307962258448865, + -0.142573531484013, + -0.9328701115841131 + ], + [ + 0.9293771773366883, + 0.27719117463812576, + 0.24376856841772282, + 0.21438780055414808, + -0.9429185141496351, + 0.2548382754756421, + 0.3004928172506704, + -0.18457986991159264, + -0.9357533534025806 + ], + [ + 0.9320126628926029, + 0.2912762087227494, + 0.21566308548275348, + 0.23381050564583028, + -0.9378955433916392, + 0.2562900644499191, + 0.27692064505464603, + -0.18844129037502333, + -0.9422339605556125 + ], + [ + 0.928431842303211, + 0.30631696269719766, + 0.21020045804286133, + 0.26011665194582134, + -0.9399738246178075, + 0.22088127221171822, + 0.2652426089035499, + -0.15039656710621546, + -0.9523797724777147 + ], + [ + 0.933490527303113, + 0.3056071690999854, + 0.18761581391249674, + 0.27422234647962573, + -0.9454816419406444, + 0.17568884268624077, + 0.23107907764781258, + -0.11255542167268293, + -0.9664024715021792 + ], + [ + 0.944265059572124, + 0.28771545211002414, + 0.1599478536535491, + 0.27201472698505846, + -0.9556213836700342, + 0.11311834234912205, + 0.18539548423437088, + -0.0633055265335774, + -0.9806227229346715 + ], + [ + 0.9474180698210735, + 0.2741992906456706, + 0.16496590552572496, + 0.2619162737687567, + -0.9606448280801843, + 0.09252772459043128, + 0.18384468040060623, + -0.044455182962215636, + -0.9819495252792756 + ], + [ + 0.9534980145816601, + 0.2561640602111565, + 0.15881281574535336, + 0.2452506416560472, + -0.965707140746761, + 0.08521643666577873, + 0.17519605862042012, + -0.042304758205792284, + -0.9836242415053728 + ], + [ + 0.9618452805641069, + 0.24285991940472296, + 0.12598696679929333, + 0.23208445712453252, + -0.9681098034430667, + 0.09434094147631783, + 0.14488085110795623, + -0.061501772528590404, + -0.9875358580619116 + ], + [ + 0.958664986990191, + 0.2510672722266005, + 0.1338905057716609, + 0.22906062192435717, + -0.9601221946160652, + 0.16030159977136083, + 0.1687977316278978, + -0.12300648853749506, + -0.9779451567316807 + ], + [ + 0.9594287176785715, + 0.2491918443753166, + 0.13190890944314487, + 0.214482600243026, + -0.9487197177377039, + 0.23222426955140038, + 0.1830129773722129, + -0.19451046725695545, + -0.9636762569664351 + ], + [ + 0.9637609981659648, + 0.24156685590602042, + 0.11318212112265352, + 0.2052737319284155, + -0.9425126997776972, + 0.2636901699683499, + 0.17037439183845693, + -0.23090098502482878, + -0.9579443103438945 + ], + [ + 0.9613414182184552, + 0.23075944963124326, + 0.1502423176858445, + 0.18250582892207964, + -0.9425319769533861, + 0.27986620880307345, + 0.2061899610242776, + -0.24162687935373953, + -0.9482099720771658 + ], + [ + 0.9683624319174708, + 0.21232031388016748, + 0.13112697954543384, + 0.16705548793099712, + -0.9418949820788447, + 0.29142118434806574, + 0.1853824813811109, + -0.2602958452386822, + -0.9475649890896465 + ], + [ + 0.9686418460790149, + 0.21434403950724304, + 0.12565670197945972, + 0.16831368083905365, + -0.9380970572899167, + 0.3027282873244707, + 0.18276618633392366, + -0.272085545062055, + -0.9447570996299722 + ], + [ + 0.9701027461354549, + 0.2209301917797351, + 0.10045154205196799, + 0.1883138082411513, + -0.9463245887008577, + 0.2626931336100492, + 0.1530966086043833, + -0.2359229178785345, + -0.9596362880036968 + ], + [ + 0.976280879191358, + 0.18918353189319453, + 0.10528644825316016, + 0.1669817141085465, + -0.9674718283833699, + 0.19004043895421435, + 0.13781419403936726, + -0.16795193522241852, + -0.9761144376436217 + ], + [ + 0.9783374496310996, + 0.17075119116383838, + 0.1170464239754695, + 0.15078083238105264, + -0.9751562096421346, + 0.16228218442842554, + 0.1418484234519085, + -0.14111838120002276, + -0.9797778458669559 + ], + [ + 0.982087583830404, + 0.15218775532057913, + 0.1110984465086814, + 0.13652874903440057, + -0.9811062541968668, + 0.13707814801380325, + 0.12986099635094625, + -0.11945461525732702, + -0.9843102745173714 + ], + [ + 0.9815250933725249, + 0.1456873080438711, + 0.12403104190075415, + 0.13003191560344035, + -0.9834516856722139, + 0.12615261738458322, + 0.14035737246242602, + -0.10769396558494582, + -0.9842265073508397 + ], + [ + 0.9809427623572144, + 0.1315561303245435, + 0.14298350098186124, + 0.11569624686600118, + -0.9867081013638778, + 0.11411179239681371, + 0.15609508461229488, + -0.09539448242390086, + -0.9831247211228885 + ], + [ + 0.9827048852220314, + 0.10135171432831247, + 0.15498044574547382, + 0.08557933292613401, + -0.9907540501401226, + 0.10527388045883351, + 0.16421719257334638, + -0.09019003344968332, + -0.9822924572293493 + ], + [ + 0.9824446343962367, + 0.062391527172893105, + 0.17581193839747783, + 0.044930376157247445, + -0.9938095003337318, + 0.10160678296642488, + 0.18106297701190227, + -0.09192374221849357, + -0.9791660859997833 + ], + [ + 0.9821685848426592, + 0.07160308225386183, + 0.1738328782478008, + 0.052322043907367576, + -0.9922079149188164, + 0.1130745651939911, + 0.18057484506299193, + -0.10196299419005574, + -0.978261863279089 + ], + [ + 0.9717155642260236, + 0.08789214943542635, + 0.2191890332761229, + 0.06352728987293767, + -0.9912340678986897, + 0.11584172857142383, + 0.22744921561153028, + -0.09864072538579774, + -0.9687811216229718 + ], + [ + 0.9748084949686037, + 0.09050912639408185, + 0.20385410512527316, + 0.06643083668502792, + -0.990302150862754, + 0.1220188261455185, + 0.2129209761258222, + -0.10540278950759906, + -0.9713675462406821 + ], + [ + 0.9719472377191375, + 0.10581743852350341, + 0.21005055771043138, + 0.07841051468584316, + -0.9877672849737249, + 0.13478717269212875, + 0.22174390245695566, + -0.11453584783796357, + -0.9683548839569093 + ], + [ + 0.9718971702492385, + 0.10071558464702887, + 0.21277279306981234, + 0.07262674537771074, + -0.9880501664597178, + 0.13594934503249528, + 0.22392241137805563, + -0.11667578826873398, + -0.9675978059682162 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0032208263874053955, + 0.0014745891094207764, + -0.01584795117378235, + 0.009966112673282623, + 0.03862723708152771, + -0.001808762550354004, + 1.0 + ], + [ + -0.0058991312980651855, + 0.012082606554031372, + 0.005177579820156097, + 0.03472837805747986, + 0.04515765607357025, + 0.0032745152711868286, + 1.0 + ], + [ + 0.002140611410140991, + 0.03341545909643173, + 0.030971992760896683, + 0.03062152862548828, + -0.02646903693675995, + 0.02287241816520691, + 1.0 + ], + [ + -0.0074911415576934814, + 0.03442647308111191, + 0.02272869274020195, + -0.0007992833852767944, + -0.025508269667625427, + 0.040634527802467346, + 1.0 + ], + [ + -0.010671436786651611, + 0.05067608505487442, + 0.023427143692970276, + -0.021980658173561096, + -0.04686279594898224, + 0.07666517794132233, + 1.0 + ], + [ + -0.010829299688339233, + 0.048962898552417755, + -0.001916840672492981, + -0.006631076335906982, + -0.032626986503601074, + 0.10367590188980103, + 1.0 + ], + [ + -0.008146613836288452, + 0.048471346497535706, + -0.009238950908184052, + 0.04023408889770508, + -0.03323096036911011, + 0.11225218325853348, + 1.0 + ], + [ + -0.02554062008857727, + 0.04798038303852081, + -0.026618272066116333, + -0.02253928780555725, + -0.03120434284210205, + 0.05032940208911896, + 1.0 + ], + [ + -0.027723044157028198, + 0.051250576972961426, + -0.014070402830839157, + -0.014625191688537598, + -0.03202551603317261, + 0.034506529569625854, + 1.0 + ], + [ + -0.015924125909805298, + 0.04691345989704132, + 0.006737072020769119, + 0.014789029955863953, + -0.028968840837478638, + 0.05333414673805237, + 1.0 + ], + [ + -0.004832267761230469, + 0.005072921514511108, + -0.01523870974779129, + -0.006797030568122864, + 0.04322609305381775, + 0.007566332817077637, + 1.0 + ], + [ + 0.006897330284118652, + 0.0005763322114944458, + -0.010070271790027618, + -0.020578131079673767, + 0.040751516819000244, + -0.029867440462112427, + 1.0 + ], + [ + 0.008675992488861084, + -0.002461060881614685, + 0.0096982941031456, + 0.03569924831390381, + 0.03094583749771118, + -0.05031129717826843, + 1.0 + ], + [ + 0.003736734390258789, + -0.021342724561691284, + 0.01715482771396637, + 0.04309287667274475, + 0.031937867403030396, + -0.02637612819671631, + 1.0 + ], + [ + -0.01015174388885498, + -0.016240239143371582, + 0.003147318959236145, + 0.002637416124343872, + 0.02462136745452881, + 0.019080594182014465, + 1.0 + ], + [ + -0.006307780742645264, + -0.008470088243484497, + -0.011710256338119507, + -0.040766745805740356, + 0.012132406234741211, + 0.02737046778202057, + 1.0 + ], + [ + -0.0028609633445739746, + 0.0018085986375808716, + -0.01891293004155159, + -0.040677107870578766, + 0.03526890277862549, + 0.012558162212371826, + 1.0 + ], + [ + 0.00374409556388855, + 0.0037024468183517456, + -0.02189582586288452, + -0.051479093730449677, + 0.046712324023246765, + -0.005245894193649292, + 1.0 + ], + [ + 0.007967174053192139, + 0.0027386993169784546, + -0.004282781854271889, + -0.01922551915049553, + 0.0015779286623001099, + -0.010760247707366943, + 0.0 + ], + [ + 0.002300083637237549, + 0.0007904171943664551, + 0.0013165324926376343, + -0.002258904278278351, + 0.008791476488113403, + -0.01796191930770874, + 0.0 + ], + [ + -0.0011039972305297852, + -0.006329730153083801, + 0.0014469297602772713, + 0.019215110689401627, + 0.030712351202964783, + -0.014989182353019714, + 0.0 + ], + [ + -0.004814952611923218, + -0.0032227784395217896, + 0.034142423421144485, + 0.062925785779953, + -0.024217218160629272, + -0.002225443720817566, + 0.0 + ], + [ + 0.002555370330810547, + -0.02127133309841156, + 0.0311676524579525, + 0.07404273748397827, + -0.014440551400184631, + -0.014603540301322937, + 0.0 + ], + [ + 0.008593320846557617, + -0.03760106861591339, + 0.008300542831420898, + 0.03736001253128052, + 0.012840718030929565, + -0.010079741477966309, + 0.0 + ], + [ + 0.02228403091430664, + -0.04715675860643387, + 0.010306783020496368, + 0.012987717986106873, + -0.036470040678977966, + -0.022244125604629517, + 0.0 + ], + [ + 0.020929455757141113, + -0.04832734167575836, + -0.007096707820892334, + 0.018573090434074402, + 0.021218568086624146, + -0.016780376434326172, + 0.0 + ], + [ + 0.009810924530029297, + -0.03975317254662514, + -0.0069496408104896545, + 0.012320160865783691, + 0.002661779522895813, + 0.0012128055095672607, + 1.0 + ], + [ + 0.0026496052742004395, + -0.016766907647252083, + -0.019021645188331604, + -0.03934180736541748, + 0.03009822964668274, + 0.019688114523887634, + 1.0 + ], + [ + 0.0029821395874023438, + -0.011989917606115341, + -0.011101920157670975, + -0.07067209482192993, + 0.015446856617927551, + -0.02233344316482544, + 1.0 + ], + [ + 0.0028512775897979736, + -0.004028975963592529, + -0.00308159738779068, + -0.027346044778823853, + -0.004074260592460632, + -0.016483113169670105, + 1.0 + ], + [ + -0.0010606348514556885, + -0.00455348938703537, + -0.0007187314331531525, + -0.022279120981693268, + 0.012099683284759521, + -0.014782711863517761, + 1.0 + ], + [ + 0.0019325315952301025, + -0.002289082854986191, + 1.3284385204315186e-05, + -0.01178179681301117, + -0.010593563318252563, + -0.006421104073524475, + 1.0 + ], + [ + 0.00018036365509033203, + -0.005357120186090469, + -0.0011792145669460297, + -0.012257218360900879, + -0.01591368019580841, + -0.01431092619895935, + 1.0 + ], + [ + 0.004097282886505127, + -0.00364675372838974, + 0.005244031548500061, + -0.005169950425624847, + -0.008228346705436707, + -0.030535221099853516, + 1.0 + ], + [ + 0.010830849409103394, + 7.599592208862305e-05, + 0.01617690548300743, + 0.0020461156964302063, + -0.017102807760238647, + -0.04116493836045265, + 1.0 + ], + [ + -0.0005192160606384277, + 0.006610892713069916, + 0.00420379638671875, + 0.010248467326164246, + 0.0004963129758834839, + 0.007520254701375961, + 1.0 + ], + [ + -0.0006654560565948486, + 0.0026687197387218475, + 0.01983596384525299, + -0.0023840144276618958, + -0.04788656532764435, + 0.012061871588230133, + 1.0 + ], + [ + -0.003363192081451416, + 0.004631102085113525, + -0.003810010850429535, + 0.006617069244384766, + 0.014893919229507446, + 0.0027588531374931335, + 1.0 + ], + [ + -0.0010590851306915283, + 0.005286060273647308, + 0.009069480001926422, + 0.009645015001296997, + -0.0090390145778656, + 0.012456923723220825, + 1.0 + ], + [ + 0.0024413764476776123, + -0.00019946321845054626, + 0.008903399109840393, + 0.0022717416286468506, + -0.0022346973419189453, + -0.005911149084568024, + 1.0 + ], + [ + 0.0013861358165740967, + -0.000681605190038681, + 0.0015828683972358704, + -0.00412934273481369, + -0.0005221515893936157, + -0.012583423405885696, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 0.9886419177055359 + ], + [ + 0.905788779258728 + ], + [ + 0.6209517121315002 + ], + [ + 0.3331759572029114 + ], + [ + 0.147182896733284 + ], + [ + 0.06895258277654648 + ], + [ + 0.06238236278295517 + ], + [ + 0.06238236278295517 + ], + [ + 0.06238236278295517 + ], + [ + 0.0853668823838234 + ], + [ + 0.24456030130386353 + ], + [ + 0.5168834924697876 + ], + [ + 0.8224069476127625 + ], + [ + 1.00800359249115 + ], + [ + 1.0073583126068115 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.4157456159591675, + -0.15444006025791168, + 0.02243347465991974 + ], + [ + 0.4098464846611023, + -0.1423574537038803, + 0.027611054480075836 + ], + [ + 0.4119870960712433, + -0.10894199460744858, + 0.05858304724097252 + ], + [ + 0.4044959545135498, + -0.07451552152633667, + 0.08131173998117447 + ], + [ + 0.3938245177268982, + -0.0238394383341074, + 0.10473888367414474 + ], + [ + 0.38299521803855896, + 0.025123462080955505, + 0.10282204300165176 + ], + [ + 0.3748486042022705, + 0.07359480857849121, + 0.09358309209346771 + ], + [ + 0.34930798411369324, + 0.12157519161701202, + 0.06696482002735138 + ], + [ + 0.32158493995666504, + 0.17282576858997345, + 0.05289441719651222 + ], + [ + 0.30566081404685974, + 0.21973922848701477, + 0.05963148921728134 + ], + [ + 0.3008285462856293, + 0.22481215000152588, + 0.04439277946949005 + ], + [ + 0.3077258765697479, + 0.22538848221302032, + 0.03432250767946243 + ], + [ + 0.316401869058609, + 0.22292742133140564, + 0.04402080178260803 + ], + [ + 0.3201386034488678, + 0.20158469676971436, + 0.0611756294965744 + ], + [ + 0.3099868595600128, + 0.18534445762634277, + 0.06432294845581055 + ], + [ + 0.30367907881736755, + 0.17687436938285828, + 0.05261269211769104 + ], + [ + 0.3008181154727936, + 0.17868296802043915, + 0.03369976207613945 + ], + [ + 0.30456221103668213, + 0.1823854148387909, + 0.011803936213254929 + ], + [ + 0.31252938508987427, + 0.18512411415576935, + 0.00752115435898304 + ], + [ + 0.3148294687271118, + 0.1859145313501358, + 0.008837686851620674 + ], + [ + 0.31372547149658203, + 0.179584801197052, + 0.010284616611897945 + ], + [ + 0.3089105188846588, + 0.1763620227575302, + 0.044427040964365005 + ], + [ + 0.31146588921546936, + 0.15509068965911865, + 0.0755946934223175 + ], + [ + 0.320059210062027, + 0.11748962104320526, + 0.0838952362537384 + ], + [ + 0.3423432409763336, + 0.07033286243677139, + 0.09420201927423477 + ], + [ + 0.36327269673347473, + 0.02200552262365818, + 0.08710531145334244 + ], + [ + 0.37308362126350403, + -0.017747649922966957, + 0.08015567064285278 + ], + [ + 0.37573322653770447, + -0.03451455757021904, + 0.06113402545452118 + ], + [ + 0.3787153661251068, + -0.04650447517633438, + 0.050032105296850204 + ], + [ + 0.3815666437149048, + -0.05053345113992691, + 0.046950507909059525 + ], + [ + 0.3805060088634491, + -0.05508694052696228, + 0.04623177647590637 + ], + [ + 0.3824385404586792, + -0.05737602338194847, + 0.04624506086111069 + ], + [ + 0.38261890411376953, + -0.06273314356803894, + 0.04506584629416466 + ], + [ + 0.38671618700027466, + -0.06637989729642868, + 0.05030987784266472 + ], + [ + 0.39754703640937805, + -0.06630390137434006, + 0.06648678332567215 + ], + [ + 0.3970278203487396, + -0.05969300866127014, + 0.0706905797123909 + ], + [ + 0.3963623642921448, + -0.057024288922548294, + 0.09052654355764389 + ], + [ + 0.39299917221069336, + -0.05239318683743477, + 0.08671653270721436 + ], + [ + 0.39194008708000183, + -0.04710712656378746, + 0.09578601270914078 + ], + [ + 0.39438146352767944, + -0.04730658978223801, + 0.10468941181898117 + ], + [ + 0.39576759934425354, + -0.04798819497227669, + 0.10627228021621704 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9569537085319365, + -0.14934326813753118, + 0.24886982137047975, + -0.16608392373211256, + -0.9849639229241777, + 0.047562598915114634, + 0.2380246415914093, + -0.08684848185095526, + -0.9673683947677146 + ], + [ + 0.967109003448324, + -0.14278049125405062, + 0.21050868572684026, + -0.164586063648812, + -0.9822569585241888, + 0.0899038101717559, + 0.19393711120303622, + -0.12159358020907964, + -0.9734492273098578 + ], + [ + 0.965201855670452, + -0.10988911103755213, + 0.2372967784983459, + -0.14162975604233893, + -0.9824843314927056, + 0.1211014061632622, + 0.21983264091964155, + -0.15049558680143543, + -0.9638592679118608 + ], + [ + 0.9642669498496437, + -0.06628531316189396, + 0.25650634823858615, + -0.10168184341206593, + -0.9866408112370721, + 0.1272820188470335, + 0.24464270303442384, + -0.1488158824201306, + -0.9581251384821969 + ], + [ + 0.9567025012449689, + 0.010012526716250594, + 0.29089529631875527, + -0.027174255614929754, + -0.9919706185744028, + 0.1235145809890111, + 0.28979628007169883, + -0.1260715717117578, + -0.9487486889913116 + ], + [ + 0.9444430657113327, + 0.1146587535435088, + 0.30802705378850764, + 0.0712317639109406, + -0.9863081783044614, + 0.14873537985251167, + 0.3208634155523426, + -0.11853078775400012, + -0.9396792649167591 + ], + [ + 0.9195324530572826, + 0.24095116674992736, + 0.3104876857724067, + 0.1744917517060454, + -0.9581790950685942, + 0.226815895298556, + 0.3521543643929631, + -0.1543870364226816, + -0.923120764918442 + ], + [ + 0.8984693118816187, + 0.2860707328872839, + 0.33304118572978747, + 0.21783462866433145, + -0.9490854403320405, + 0.22756296162690792, + 0.38118364361767065, + -0.1319104345192943, + -0.9150402543622261 + ], + [ + 0.8782070720568026, + 0.31748740939607323, + 0.35770670033476876, + 0.24529089552397057, + -0.9410306947849622, + 0.2330098883000033, + 0.4105906905453001, + -0.11688873490418851, + -0.9042965821510285 + ], + [ + 0.8522522556541351, + 0.37581079649028065, + 0.36391254165496906, + 0.287830577166533, + -0.9177445761360457, + 0.2736758151917161, + 0.4368290873790563, + -0.1284956739124345, + -0.890319723585505 + ], + [ + 0.8670939417093104, + 0.3752233600511303, + 0.32765153184893037, + 0.3001709595368001, + -0.9184815531923634, + 0.2574665638410166, + 0.39754935706370786, + -0.12489622299046307, + -0.9090409463720261 + ], + [ + 0.8904007254496153, + 0.3364925416934857, + 0.30652784131862587, + 0.2787543661078709, + -0.9354781964744587, + 0.21720162820912106, + 0.3598368401020078, + -0.10795051322505142, + -0.9267492299429497 + ], + [ + 0.9136391509885047, + 0.2959061949907919, + 0.2787526242873339, + 0.236299299084409, + -0.9445169727888686, + 0.22814541276556152, + 0.3307962258448865, + -0.142573531484013, + -0.9328701115841131 + ], + [ + 0.9293771773366883, + 0.27719117463812576, + 0.24376856841772282, + 0.21438780055414808, + -0.9429185141496351, + 0.2548382754756421, + 0.3004928172506704, + -0.18457986991159264, + -0.9357533534025806 + ], + [ + 0.9320126628926029, + 0.2912762087227494, + 0.21566308548275348, + 0.23381050564583028, + -0.9378955433916392, + 0.2562900644499191, + 0.27692064505464603, + -0.18844129037502333, + -0.9422339605556125 + ], + [ + 0.928431842303211, + 0.30631696269719766, + 0.21020045804286133, + 0.26011665194582134, + -0.9399738246178075, + 0.22088127221171822, + 0.2652426089035499, + -0.15039656710621546, + -0.9523797724777147 + ], + [ + 0.933490527303113, + 0.3056071690999854, + 0.18761581391249674, + 0.27422234647962573, + -0.9454816419406444, + 0.17568884268624077, + 0.23107907764781258, + -0.11255542167268293, + -0.9664024715021792 + ], + [ + 0.944265059572124, + 0.28771545211002414, + 0.1599478536535491, + 0.27201472698505846, + -0.9556213836700342, + 0.11311834234912205, + 0.18539548423437088, + -0.0633055265335774, + -0.9806227229346715 + ], + [ + 0.9474180698210735, + 0.2741992906456706, + 0.16496590552572496, + 0.2619162737687567, + -0.9606448280801843, + 0.09252772459043128, + 0.18384468040060623, + -0.044455182962215636, + -0.9819495252792756 + ], + [ + 0.9534980145816601, + 0.2561640602111565, + 0.15881281574535336, + 0.2452506416560472, + -0.965707140746761, + 0.08521643666577873, + 0.17519605862042012, + -0.042304758205792284, + -0.9836242415053728 + ], + [ + 0.9618452805641069, + 0.24285991940472296, + 0.12598696679929333, + 0.23208445712453252, + -0.9681098034430667, + 0.09434094147631783, + 0.14488085110795623, + -0.061501772528590404, + -0.9875358580619116 + ], + [ + 0.958664986990191, + 0.2510672722266005, + 0.1338905057716609, + 0.22906062192435717, + -0.9601221946160652, + 0.16030159977136083, + 0.1687977316278978, + -0.12300648853749506, + -0.9779451567316807 + ], + [ + 0.9594287176785715, + 0.2491918443753166, + 0.13190890944314487, + 0.214482600243026, + -0.9487197177377039, + 0.23222426955140038, + 0.1830129773722129, + -0.19451046725695545, + -0.9636762569664351 + ], + [ + 0.9637609981659648, + 0.24156685590602042, + 0.11318212112265352, + 0.2052737319284155, + -0.9425126997776972, + 0.2636901699683499, + 0.17037439183845693, + -0.23090098502482878, + -0.9579443103438945 + ], + [ + 0.9613414182184552, + 0.23075944963124326, + 0.1502423176858445, + 0.18250582892207964, + -0.9425319769533861, + 0.27986620880307345, + 0.2061899610242776, + -0.24162687935373953, + -0.9482099720771658 + ], + [ + 0.9683624319174708, + 0.21232031388016748, + 0.13112697954543384, + 0.16705548793099712, + -0.9418949820788447, + 0.29142118434806574, + 0.1853824813811109, + -0.2602958452386822, + -0.9475649890896465 + ], + [ + 0.9686418460790149, + 0.21434403950724304, + 0.12565670197945972, + 0.16831368083905365, + -0.9380970572899167, + 0.3027282873244707, + 0.18276618633392366, + -0.272085545062055, + -0.9447570996299722 + ], + [ + 0.9701027461354549, + 0.2209301917797351, + 0.10045154205196799, + 0.1883138082411513, + -0.9463245887008577, + 0.2626931336100492, + 0.1530966086043833, + -0.2359229178785345, + -0.9596362880036968 + ], + [ + 0.976280879191358, + 0.18918353189319453, + 0.10528644825316016, + 0.1669817141085465, + -0.9674718283833699, + 0.19004043895421435, + 0.13781419403936726, + -0.16795193522241852, + -0.9761144376436217 + ], + [ + 0.9783374496310996, + 0.17075119116383838, + 0.1170464239754695, + 0.15078083238105264, + -0.9751562096421346, + 0.16228218442842554, + 0.1418484234519085, + -0.14111838120002276, + -0.9797778458669559 + ], + [ + 0.982087583830404, + 0.15218775532057913, + 0.1110984465086814, + 0.13652874903440057, + -0.9811062541968668, + 0.13707814801380325, + 0.12986099635094625, + -0.11945461525732702, + -0.9843102745173714 + ], + [ + 0.9815250933725249, + 0.1456873080438711, + 0.12403104190075415, + 0.13003191560344035, + -0.9834516856722139, + 0.12615261738458322, + 0.14035737246242602, + -0.10769396558494582, + -0.9842265073508397 + ], + [ + 0.9809427623572144, + 0.1315561303245435, + 0.14298350098186124, + 0.11569624686600118, + -0.9867081013638778, + 0.11411179239681371, + 0.15609508461229488, + -0.09539448242390086, + -0.9831247211228885 + ], + [ + 0.9827048852220314, + 0.10135171432831247, + 0.15498044574547382, + 0.08557933292613401, + -0.9907540501401226, + 0.10527388045883351, + 0.16421719257334638, + -0.09019003344968332, + -0.9822924572293493 + ], + [ + 0.9824446343962367, + 0.062391527172893105, + 0.17581193839747783, + 0.044930376157247445, + -0.9938095003337318, + 0.10160678296642488, + 0.18106297701190227, + -0.09192374221849357, + -0.9791660859997833 + ], + [ + 0.9821685848426592, + 0.07160308225386183, + 0.1738328782478008, + 0.052322043907367576, + -0.9922079149188164, + 0.1130745651939911, + 0.18057484506299193, + -0.10196299419005574, + -0.978261863279089 + ], + [ + 0.9717155642260236, + 0.08789214943542635, + 0.2191890332761229, + 0.06352728987293767, + -0.9912340678986897, + 0.11584172857142383, + 0.22744921561153028, + -0.09864072538579774, + -0.9687811216229718 + ], + [ + 0.9748084949686037, + 0.09050912639408185, + 0.20385410512527316, + 0.06643083668502792, + -0.990302150862754, + 0.1220188261455185, + 0.2129209761258222, + -0.10540278950759906, + -0.9713675462406821 + ], + [ + 0.9719472377191375, + 0.10581743852350341, + 0.21005055771043138, + 0.07841051468584316, + -0.9877672849737249, + 0.13478717269212875, + 0.22174390245695566, + -0.11453584783796357, + -0.9683548839569093 + ], + [ + 0.9718971702492385, + 0.10071558464702887, + 0.21277279306981234, + 0.07262674537771074, + -0.9880501664597178, + 0.13594934503249528, + 0.22392241137805563, + -0.11667578826873398, + -0.9675978059682162 + ], + [ + 0.9726172645422414, + 0.08744724832715824, + 0.21533377690082806, + 0.06038427137845488, + -0.9897774559688364, + 0.1292065301211629, + 0.22443127341005842, + -0.11266572866611295, + -0.9679550801042748 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006336.json b/json/chunk-0006/episode_0006336.json new file mode 100644 index 0000000000000000000000000000000000000000..2c7916a7cf950f0b16b1c2c9bd1f2fe8e007a33c --- /dev/null +++ b/json/chunk-0006/episode_0006336.json @@ -0,0 +1,1582 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 25, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPlaced the lid on the silver pot." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006336.mp4", + "start": 0, + "end": 25, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2472710758447647, + 0.048139043152332306, + 0.09262514859437943, + 0.06675709038972855, + -0.05933394283056259, + -0.3001379072666168, + 0.0, + 1.0001531839370728 + ], + [ + 0.24566414952278137, + 0.046629711985588074, + 0.08657268434762955, + 0.05133209004998207, + -0.04144419729709625, + -0.29500773549079895, + 0.0, + 1.0001531839370728 + ], + [ + 0.25321057438850403, + 0.008345292881131172, + 0.08404979109764099, + 0.026701347902417183, + -0.06699112057685852, + -0.36365002393722534, + 0.0, + 1.0001531839370728 + ], + [ + 0.26593902707099915, + -0.03487320989370346, + 0.07652149349451065, + 0.024165436625480652, + -0.07118144631385803, + -0.4579867422580719, + 0.0, + 1.0001531839370728 + ], + [ + 0.2763378322124481, + -0.062347352504730225, + 0.07123252004384995, + 0.05213185399770737, + -0.05885429307818413, + -0.5212534666061401, + 0.0, + 1.0001531839370728 + ], + [ + 0.27949345111846924, + -0.077089324593544, + 0.058958299458026886, + 0.06355071067810059, + -0.025476887822151184, + -0.5590309500694275, + 0.0, + 1.0001531839370728 + ], + [ + 0.2782496511936188, + -0.08126676827669144, + 0.05490744486451149, + 0.06626328080892563, + -0.01310198288410902, + -0.5650028586387634, + 0.0, + 1.0001531839370728 + ], + [ + 0.273215651512146, + -0.07936261594295502, + 0.05020609498023987, + 0.06976685672998428, + 0.0016437844606116414, + -0.5678192973136902, + 0.0, + 0.9694526195526123 + ], + [ + 0.2678770124912262, + -0.0790853425860405, + 0.04534619674086571, + 0.06704450398683548, + 0.009034794755280018, + -0.5751146674156189, + 0.0, + 0.6911999583244324 + ], + [ + 0.267438679933548, + -0.0806351974606514, + 0.04499174654483795, + 0.06959187239408493, + 0.0019172743195667863, + -0.5844184756278992, + 0.0, + 0.3962334990501404 + ], + [ + 0.26759469509124756, + -0.08204753696918488, + 0.04550040885806084, + 0.05937312915921211, + -0.0012740712845698, + -0.5913378596305847, + 0.0, + 0.2810206115245819 + ], + [ + 0.2683696448802948, + -0.08513599634170532, + 0.04959280416369438, + 0.022436179220676422, + -0.0016146169509738684, + -0.6027935147285461, + 0.0, + 0.2810206115245819 + ], + [ + 0.28572946786880493, + -0.09209705144166946, + 0.08784781396389008, + 0.01629173569381237, + -0.07525338232517242, + -0.6074572801589966, + 0.0, + 0.2810206115245819 + ], + [ + 0.30790087580680847, + -0.08687850087881088, + 0.10752221941947937, + -0.004061214160174131, + -0.12768994271755219, + -0.5999478697776794, + 0.0, + 0.2810206115245819 + ], + [ + 0.3270498514175415, + -0.07751869410276413, + 0.10014710575342178, + -0.012881414033472538, + -0.11620284616947174, + -0.5810720920562744, + 0.0, + 0.2810206115245819 + ], + [ + 0.3417567312717438, + -0.07337480038404465, + 0.09530613571405411, + -0.008130282163619995, + -0.11607589572668076, + -0.5664373636245728, + 0.0, + 0.2810206115245819 + ], + [ + 0.3520665764808655, + -0.07335089892148972, + 0.08433698862791061, + -0.002206690376624465, + -0.09986022114753723, + -0.5567466616630554, + 0.0, + 0.2810206115245819 + ], + [ + 0.3675271272659302, + -0.07193537801504135, + 0.08145734667778015, + 0.02676881104707718, + -0.09828510135412216, + -0.5622214078903198, + 0.0, + 0.2810206115245819 + ], + [ + 0.3768640160560608, + -0.06510750204324722, + 0.07859037816524506, + 0.040779102593660355, + -0.089504674077034, + -0.5458369851112366, + 0.0, + 0.2810206115245819 + ], + [ + 0.3825634717941284, + -0.06111552566289902, + 0.07839328050613403, + 0.04078707844018936, + -0.09607343375682831, + -0.5354973673820496, + 0.0, + 0.2810206115245819 + ], + [ + 0.3850504755973816, + -0.05870891362428665, + 0.07757224887609482, + 0.039471518248319626, + -0.09326612949371338, + -0.5393515229225159, + 0.0, + 0.316539466381073 + ], + [ + 0.3791773021221161, + -0.05758150666952133, + 0.07684462517499924, + 0.0254752729088068, + -0.05589870736002922, + -0.5341781973838806, + 0.0, + 0.6029031276702881 + ], + [ + 0.3767191767692566, + -0.05871392786502838, + 0.08521369844675064, + 0.05257869511842728, + -0.04261162504553795, + -0.5328100919723511, + 0.0, + 0.8990517854690552 + ], + [ + 0.3648228943347931, + -0.06321292370557785, + 0.1320965737104416, + 0.11767984926700592, + -0.08237955719232559, + -0.49172455072402954, + 0.0, + 1.0086473226547241 + ], + [ + 0.3448273539543152, + -0.055043913424015045, + 0.13383707404136658, + 0.13089200854301453, + -0.006122519262135029, + -0.38498127460479736, + 0.0, + 1.0041072368621826 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9694526195526123 + ], + [ + 0.6911999583244324 + ], + [ + 0.3962334990501404 + ], + [ + 0.2810206115245819 + ], + [ + 0.2810206115245819 + ], + [ + 0.2810206115245819 + ], + [ + 0.2810206115245819 + ], + [ + 0.2810206115245819 + ], + [ + 0.2810206115245819 + ], + [ + 0.2810206115245819 + ], + [ + 0.2810206115245819 + ], + [ + 0.2810206115245819 + ], + [ + 0.2810206115245819 + ], + [ + 0.316539466381073 + ], + [ + 0.6029031276702881 + ], + [ + 0.8990517854690552 + ], + [ + 1.0086473226547241 + ], + [ + 1.0041072368621826 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2472710758447647, + 0.048139043152332306, + 0.09262514859437943 + ], + [ + 0.24566414952278137, + 0.046629711985588074, + 0.08657268434762955 + ], + [ + 0.25321057438850403, + 0.008345292881131172, + 0.08404979109764099 + ], + [ + 0.26593902707099915, + -0.03487320989370346, + 0.07652149349451065 + ], + [ + 0.2763378322124481, + -0.062347352504730225, + 0.07123252004384995 + ], + [ + 0.27949345111846924, + -0.077089324593544, + 0.058958299458026886 + ], + [ + 0.2782496511936188, + -0.08126676827669144, + 0.05490744486451149 + ], + [ + 0.273215651512146, + -0.07936261594295502, + 0.05020609498023987 + ], + [ + 0.2678770124912262, + -0.0790853425860405, + 0.04534619674086571 + ], + [ + 0.267438679933548, + -0.0806351974606514, + 0.04499174654483795 + ], + [ + 0.26759469509124756, + -0.08204753696918488, + 0.04550040885806084 + ], + [ + 0.2683696448802948, + -0.08513599634170532, + 0.04959280416369438 + ], + [ + 0.28572946786880493, + -0.09209705144166946, + 0.08784781396389008 + ], + [ + 0.30790087580680847, + -0.08687850087881088, + 0.10752221941947937 + ], + [ + 0.3270498514175415, + -0.07751869410276413, + 0.10014710575342178 + ], + [ + 0.3417567312717438, + -0.07337480038404465, + 0.09530613571405411 + ], + [ + 0.3520665764808655, + -0.07335089892148972, + 0.08433698862791061 + ], + [ + 0.3675271272659302, + -0.07193537801504135, + 0.08145734667778015 + ], + [ + 0.3768640160560608, + -0.06510750204324722, + 0.07859037816524506 + ], + [ + 0.3825634717941284, + -0.06111552566289902, + 0.07839328050613403 + ], + [ + 0.3850504755973816, + -0.05870891362428665, + 0.07757224887609482 + ], + [ + 0.3791773021221161, + -0.05758150666952133, + 0.07684462517499924 + ], + [ + 0.3767191767692566, + -0.05871392786502838, + 0.08521369844675064 + ], + [ + 0.3648228943347931, + -0.06321292370557785, + 0.1320965737104416 + ], + [ + 0.3448273539543152, + -0.055043913424015045, + 0.13383707404136658 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9536146516194707, + -0.29121454705872496, + 0.07624423780232192, + -0.2951316805295442, + -0.9543373838620182, + 0.046232552505845154, + 0.059299134601463084, + -0.06659012948463389, + -0.9960167505071071 + ], + [ + 0.9559783008568151, + -0.288330242045587, + 0.054508346267795285, + -0.2904975903238921, + -0.9561576862428975, + 0.037062502001900255, + 0.041432334075318863, + -0.05126549093261376, + -0.9978252407774165 + ], + [ + 0.9325084025649704, + -0.35389080777472515, + 0.07203731892761972, + -0.3548900933724879, + -0.9349073203853856, + 0.0011506154373579873, + 0.06694102457980369, + -0.02663828940398395, + -0.9974012736937103 + ], + [ + 0.8946731038891902, + -0.44047272217661626, + 0.07445682101462658, + -0.44102357145679427, + -0.8974424102058229, + -0.009763697222761183, + 0.07112135120184793, + -0.024101895823467893, + -0.997176439764267 + ], + [ + 0.8656942006603503, + -0.4946330368312521, + 0.07688764411874108, + -0.4971053416031516, + -0.867543822622941, + 0.015937226182400732, + 0.058820322105977506, + -0.05201802287542495, + -0.9969123808055955 + ], + [ + 0.8474943423217682, + -0.5279227563938288, + 0.05523497998673408, + -0.5301928029865587, + -0.8469161244470275, + 0.0403567814980653, + 0.025474131856631853, + -0.0634873328559992, + -0.997657469862769 + ], + [ + 0.8445145791624973, + -0.5335105007762724, + 0.0464937753192986, + -0.5353722755698871, + -0.8431980185275088, + 0.04892471872585622, + 0.01310160803532594, + -0.06620911653793796, + -0.9977197506084334 + ], + [ + 0.843074610467081, + -0.5365831339260311, + 0.03610736174104888, + -0.5377941048030005, + -0.8409631569432154, + 0.05965290858994632, + -0.0016437837203533041, + -0.06971017895702286, + -0.9975659321192062 + ], + [ + 0.8390956889603919, + -0.543216898748668, + 0.028876039928711135, + -0.5439088154027364, + -0.8369154871445404, + 0.06112011047771721, + -0.00903467184113903, + -0.0669915538817828, + -0.9977126371923064 + ], + [ + 0.834031529371952, + -0.5504902121106011, + 0.03676866034964728, + -0.5517134510569505, + -0.8319407002324354, + 0.05905031091869614, + -0.0019172731449358486, + -0.06953558561765419, + -0.9975776292582433 + ], + [ + 0.8301949289219179, + -0.5564271398230707, + 0.03413529054583754, + -0.5574717542042573, + -0.8287748883998163, + 0.04855334820895596, + 0.00127407093987884, + -0.05933820376611537, + -0.9982371232913807 + ], + [ + 0.8237539857920995, + -0.566773326515821, + 0.014048745204464799, + -0.5669451154265257, + -0.8235682728123483, + 0.01756519601053912, + 0.0016146162494261509, + -0.022434267696444233, + -0.9997470163232752 + ], + [ + 0.8187781253404364, + -0.5697000447954025, + 0.0710228162220939, + -0.5691660495589067, + -0.8216921332946128, + -0.029530426872241274, + 0.07518237488606676, + -0.016244908182720865, + -0.9970374684356782 + ], + [ + 0.8186455125718299, + -0.5650216429437108, + 0.1028108347947613, + -0.560002879904609, + -0.8250662501259113, + -0.07524930166926168, + 0.12734323399596142, + 0.004028139565241687, + -0.9918505304969559 + ], + [ + 0.8302375346772601, + -0.5501231822049285, + 0.08983384893094679, + -0.5452184912047299, + -0.8349855047492374, + -0.0744043258628094, + 0.11594150620663451, + 0.012794188500417948, + -0.9931736383327704 + ], + [ + 0.8381398810814785, + -0.5374060480475822, + 0.09336101575392525, + -0.5330181332006179, + -0.8432849613884041, + -0.06900828628133074, + 0.11581541097821718, + 0.008075482526600456, + -0.9932379257569202 + ], + [ + 0.8447492340038225, + -0.5286124681063055, + 0.08347209241726161, + -0.5257944191341585, + -0.8488604346331386, + -0.054554480309250246, + 0.0996943351315838, + 0.002195695106268894, + -0.9950156875475242 + ], + [ + 0.8419898125428091, + -0.530653856896764, + 0.09726067928363313, + -0.5304943537308828, + -0.8471699854099705, + -0.029643827015472142, + 0.09812693938862008, + -0.02663644084818878, + -0.9948173720764846 + ], + [ + 0.8512718577863526, + -0.5155875199229626, + 0.097497350941758, + -0.5170556131842946, + -0.855874275048651, + -0.011520337866536728, + 0.08938521698572331, + -0.04060461315706186, + -0.99516910541615 + ], + [ + 0.8560489825269868, + -0.5064805659088002, + 0.10323553589347008, + -0.5079157392638421, + -0.861295577771888, + -0.013839419014328485, + 0.09592570730818291, + -0.04058773296565023, + -0.9945606540629555 + ], + [ + 0.8543127415957177, + -0.5100262912837288, + 0.10011454313222343, + -0.5113475932418396, + -0.8592610176857517, + -0.013933498176145215, + 0.0931309746163263, + -0.03928976565228724, + -0.994878352303437 + ], + [ + 0.8593429975429384, + -0.5077438159476468, + 0.061039576840270046, + -0.5083386668799252, + -0.8611326225074294, + -0.006512004930680786, + 0.055869601114179254, + -0.025432731280752012, + -0.9981141036228991 + ], + [ + 0.8606011604889978, + -0.5053255193935497, + 0.06333847183686954, + -0.5074948183906318, + -0.8613298780788274, + 0.023661158791837656, + 0.042598730869011454, + -0.05250676697676218, + -0.9977115753312669 + ], + [ + 0.8785304503051252, + -0.46036484499720737, + 0.12746943703245567, + -0.47054563462231785, + -0.8799845505787435, + 0.06491530236089889, + 0.08228641215020888, + -0.11701025695820029, + -0.9897158916285127 + ], + [ + 0.926788094294593, + -0.3715887388059778, + 0.05464098705532033, + -0.3755347433994097, + -0.9191775399527001, + 0.11868574702314583, + 0.006122481011520575, + -0.13051612635642165, + -0.9914272822487681 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0016069263219833374, + -0.0015093311667442322, + -0.006052464246749878, + -0.015425000339746475, + 0.01788974553346634, + 0.005130171775817871, + 1.0 + ], + [ + 0.007546424865722656, + -0.03828442096710205, + -0.002522893249988556, + -0.024630742147564888, + -0.025546923279762268, + -0.06864228844642639, + 1.0 + ], + [ + 0.012728452682495117, + -0.043218500912189484, + -0.007528297603130341, + -0.002535911276936531, + -0.004190325736999512, + -0.09433671832084656, + 1.0 + ], + [ + 0.010398805141448975, + -0.027474142611026764, + -0.005288973450660706, + 0.027966417372226715, + 0.012327153235673904, + -0.06326672434806824, + 1.0 + ], + [ + 0.003155618906021118, + -0.014741972088813782, + -0.012274220585823059, + 0.011418856680393219, + 0.033377405256032944, + -0.037777483463287354, + 1.0 + ], + [ + -0.0012437999248504639, + -0.00417744368314743, + -0.004050854593515396, + 0.0027125701308250427, + 0.012374904938042164, + -0.0059719085693359375, + 1.0 + ], + [ + -0.005033999681472778, + 0.0019041523337364197, + -0.004701349884271622, + 0.003503575921058655, + 0.01474576722830534, + -0.002816438674926758, + 0.0 + ], + [ + -0.0053386390209198, + 0.00027727335691452026, + -0.004859898239374161, + -0.0027223527431488037, + 0.007391010411083698, + -0.007295370101928711, + 0.0 + ], + [ + -0.00043833255767822266, + -0.0015498548746109009, + -0.00035445019602775574, + 0.0025473684072494507, + -0.007117520552128553, + -0.009303808212280273, + 0.0 + ], + [ + 0.00015601515769958496, + -0.0014123395085334778, + 0.0005086623132228851, + -0.010218743234872818, + -0.003191345604136586, + -0.006919384002685547, + 0.0 + ], + [ + 0.0007749497890472412, + -0.0030884593725204468, + 0.004092395305633545, + -0.03693694993853569, + -0.00034054566640406847, + -0.011455655097961426, + 0.0 + ], + [ + 0.017359822988510132, + -0.006961055099964142, + 0.038255009800195694, + -0.006144443526864052, + -0.07363876700401306, + -0.0046637654304504395, + 0.0 + ], + [ + 0.02217140793800354, + 0.0052185505628585815, + 0.019674405455589294, + -0.02035295031964779, + -0.05243656039237976, + 0.007509410381317139, + 0.0 + ], + [ + 0.019148975610733032, + 0.009359806776046753, + -0.007375113666057587, + -0.008820200338959694, + 0.011487096548080444, + 0.01887577772140503, + 0.0 + ], + [ + 0.01470687985420227, + 0.004143893718719482, + -0.004840970039367676, + 0.004751131869852543, + 0.0001269504427909851, + 0.01463472843170166, + 0.0 + ], + [ + 0.010309845209121704, + 2.390146255493164e-05, + -0.010969147086143494, + 0.0059235915541648865, + 0.016215674579143524, + 0.009690701961517334, + 0.0 + ], + [ + 0.015460550785064697, + 0.0014155209064483643, + -0.0028796419501304626, + 0.028975501656532288, + 0.0015751197934150696, + -0.005474746227264404, + 0.0 + ], + [ + 0.009336888790130615, + 0.006827875971794128, + -0.002866968512535095, + 0.014010291546583176, + 0.008780427277088165, + 0.016384422779083252, + 0.0 + ], + [ + 0.005699455738067627, + 0.003991976380348206, + -0.00019709765911102295, + 7.975846529006958e-06, + -0.0065687596797943115, + 0.010339617729187012, + 0.0 + ], + [ + 0.002487003803253174, + 0.0024066120386123657, + -0.0008210316300392151, + -0.0013155601918697357, + 0.002807304263114929, + -0.0038541555404663086, + 1.0 + ], + [ + -0.005873173475265503, + 0.0011274069547653198, + -0.0007276237010955811, + -0.013996245339512825, + 0.03736742213368416, + 0.005173325538635254, + 1.0 + ], + [ + -0.002458125352859497, + -0.0011324211955070496, + 0.008369073271751404, + 0.027103422209620476, + 0.013287082314491272, + 0.001368105411529541, + 1.0 + ], + [ + -0.011896282434463501, + -0.004498995840549469, + 0.04688287526369095, + 0.06510115414857864, + -0.03976793214678764, + 0.04108554124832153, + 1.0 + ], + [ + -0.019995540380477905, + 0.008169010281562805, + 0.0017405003309249878, + 0.013212159276008606, + 0.07625703513622284, + 0.10674327611923218, + 1.0 + ], + [ + -0.019082963466644287, + 0.00521937757730484, + -0.01645287126302719, + -0.057871781289577484, + 0.03556198999285698, + 0.03838920593261719, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9694526195526123 + ], + [ + 0.6911999583244324 + ], + [ + 0.3962334990501404 + ], + [ + 0.2810206115245819 + ], + [ + 0.2810206115245819 + ], + [ + 0.2810206115245819 + ], + [ + 0.2810206115245819 + ], + [ + 0.2810206115245819 + ], + [ + 0.2810206115245819 + ], + [ + 0.2810206115245819 + ], + [ + 0.2810206115245819 + ], + [ + 0.2810206115245819 + ], + [ + 0.2810206115245819 + ], + [ + 0.316539466381073 + ], + [ + 0.6029031276702881 + ], + [ + 0.8990517854690552 + ], + [ + 1.0086473226547241 + ], + [ + 1.0041072368621826 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.24566414952278137, + 0.046629711985588074, + 0.08657268434762955 + ], + [ + 0.25321057438850403, + 0.008345292881131172, + 0.08404979109764099 + ], + [ + 0.26593902707099915, + -0.03487320989370346, + 0.07652149349451065 + ], + [ + 0.2763378322124481, + -0.062347352504730225, + 0.07123252004384995 + ], + [ + 0.27949345111846924, + -0.077089324593544, + 0.058958299458026886 + ], + [ + 0.2782496511936188, + -0.08126676827669144, + 0.05490744486451149 + ], + [ + 0.273215651512146, + -0.07936261594295502, + 0.05020609498023987 + ], + [ + 0.2678770124912262, + -0.0790853425860405, + 0.04534619674086571 + ], + [ + 0.267438679933548, + -0.0806351974606514, + 0.04499174654483795 + ], + [ + 0.26759469509124756, + -0.08204753696918488, + 0.04550040885806084 + ], + [ + 0.2683696448802948, + -0.08513599634170532, + 0.04959280416369438 + ], + [ + 0.28572946786880493, + -0.09209705144166946, + 0.08784781396389008 + ], + [ + 0.30790087580680847, + -0.08687850087881088, + 0.10752221941947937 + ], + [ + 0.3270498514175415, + -0.07751869410276413, + 0.10014710575342178 + ], + [ + 0.3417567312717438, + -0.07337480038404465, + 0.09530613571405411 + ], + [ + 0.3520665764808655, + -0.07335089892148972, + 0.08433698862791061 + ], + [ + 0.3675271272659302, + -0.07193537801504135, + 0.08145734667778015 + ], + [ + 0.3768640160560608, + -0.06510750204324722, + 0.07859037816524506 + ], + [ + 0.3825634717941284, + -0.06111552566289902, + 0.07839328050613403 + ], + [ + 0.3850504755973816, + -0.05870891362428665, + 0.07757224887609482 + ], + [ + 0.3791773021221161, + -0.05758150666952133, + 0.07684462517499924 + ], + [ + 0.3767191767692566, + -0.05871392786502838, + 0.08521369844675064 + ], + [ + 0.3648228943347931, + -0.06321292370557785, + 0.1320965737104416 + ], + [ + 0.3448273539543152, + -0.055043913424015045, + 0.13383707404136658 + ], + [ + 0.3257443904876709, + -0.049824535846710205, + 0.11738420277833939 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9559783008568151, + -0.288330242045587, + 0.054508346267795285, + -0.2904975903238921, + -0.9561576862428975, + 0.037062502001900255, + 0.041432334075318863, + -0.05126549093261376, + -0.9978252407774165 + ], + [ + 0.9325084025649704, + -0.35389080777472515, + 0.07203731892761972, + -0.3548900933724879, + -0.9349073203853856, + 0.0011506154373579873, + 0.06694102457980369, + -0.02663828940398395, + -0.9974012736937103 + ], + [ + 0.8946731038891902, + -0.44047272217661626, + 0.07445682101462658, + -0.44102357145679427, + -0.8974424102058229, + -0.009763697222761183, + 0.07112135120184793, + -0.024101895823467893, + -0.997176439764267 + ], + [ + 0.8656942006603503, + -0.4946330368312521, + 0.07688764411874108, + -0.4971053416031516, + -0.867543822622941, + 0.015937226182400732, + 0.058820322105977506, + -0.05201802287542495, + -0.9969123808055955 + ], + [ + 0.8474943423217682, + -0.5279227563938288, + 0.05523497998673408, + -0.5301928029865587, + -0.8469161244470275, + 0.0403567814980653, + 0.025474131856631853, + -0.0634873328559992, + -0.997657469862769 + ], + [ + 0.8445145791624973, + -0.5335105007762724, + 0.0464937753192986, + -0.5353722755698871, + -0.8431980185275088, + 0.04892471872585622, + 0.01310160803532594, + -0.06620911653793796, + -0.9977197506084334 + ], + [ + 0.843074610467081, + -0.5365831339260311, + 0.03610736174104888, + -0.5377941048030005, + -0.8409631569432154, + 0.05965290858994632, + -0.0016437837203533041, + -0.06971017895702286, + -0.9975659321192062 + ], + [ + 0.8390956889603919, + -0.543216898748668, + 0.028876039928711135, + -0.5439088154027364, + -0.8369154871445404, + 0.06112011047771721, + -0.00903467184113903, + -0.0669915538817828, + -0.9977126371923064 + ], + [ + 0.834031529371952, + -0.5504902121106011, + 0.03676866034964728, + -0.5517134510569505, + -0.8319407002324354, + 0.05905031091869614, + -0.0019172731449358486, + -0.06953558561765419, + -0.9975776292582433 + ], + [ + 0.8301949289219179, + -0.5564271398230707, + 0.03413529054583754, + -0.5574717542042573, + -0.8287748883998163, + 0.04855334820895596, + 0.00127407093987884, + -0.05933820376611537, + -0.9982371232913807 + ], + [ + 0.8237539857920995, + -0.566773326515821, + 0.014048745204464799, + -0.5669451154265257, + -0.8235682728123483, + 0.01756519601053912, + 0.0016146162494261509, + -0.022434267696444233, + -0.9997470163232752 + ], + [ + 0.8187781253404364, + -0.5697000447954025, + 0.0710228162220939, + -0.5691660495589067, + -0.8216921332946128, + -0.029530426872241274, + 0.07518237488606676, + -0.016244908182720865, + -0.9970374684356782 + ], + [ + 0.8186455125718299, + -0.5650216429437108, + 0.1028108347947613, + -0.560002879904609, + -0.8250662501259113, + -0.07524930166926168, + 0.12734323399596142, + 0.004028139565241687, + -0.9918505304969559 + ], + [ + 0.8302375346772601, + -0.5501231822049285, + 0.08983384893094679, + -0.5452184912047299, + -0.8349855047492374, + -0.0744043258628094, + 0.11594150620663451, + 0.012794188500417948, + -0.9931736383327704 + ], + [ + 0.8381398810814785, + -0.5374060480475822, + 0.09336101575392525, + -0.5330181332006179, + -0.8432849613884041, + -0.06900828628133074, + 0.11581541097821718, + 0.008075482526600456, + -0.9932379257569202 + ], + [ + 0.8447492340038225, + -0.5286124681063055, + 0.08347209241726161, + -0.5257944191341585, + -0.8488604346331386, + -0.054554480309250246, + 0.0996943351315838, + 0.002195695106268894, + -0.9950156875475242 + ], + [ + 0.8419898125428091, + -0.530653856896764, + 0.09726067928363313, + -0.5304943537308828, + -0.8471699854099705, + -0.029643827015472142, + 0.09812693938862008, + -0.02663644084818878, + -0.9948173720764846 + ], + [ + 0.8512718577863526, + -0.5155875199229626, + 0.097497350941758, + -0.5170556131842946, + -0.855874275048651, + -0.011520337866536728, + 0.08938521698572331, + -0.04060461315706186, + -0.99516910541615 + ], + [ + 0.8560489825269868, + -0.5064805659088002, + 0.10323553589347008, + -0.5079157392638421, + -0.861295577771888, + -0.013839419014328485, + 0.09592570730818291, + -0.04058773296565023, + -0.9945606540629555 + ], + [ + 0.8543127415957177, + -0.5100262912837288, + 0.10011454313222343, + -0.5113475932418396, + -0.8592610176857517, + -0.013933498176145215, + 0.0931309746163263, + -0.03928976565228724, + -0.994878352303437 + ], + [ + 0.8593429975429384, + -0.5077438159476468, + 0.061039576840270046, + -0.5083386668799252, + -0.8611326225074294, + -0.006512004930680786, + 0.055869601114179254, + -0.025432731280752012, + -0.9981141036228991 + ], + [ + 0.8606011604889978, + -0.5053255193935497, + 0.06333847183686954, + -0.5074948183906318, + -0.8613298780788274, + 0.023661158791837656, + 0.042598730869011454, + -0.05250676697676218, + -0.9977115753312669 + ], + [ + 0.8785304503051252, + -0.46036484499720737, + 0.12746943703245567, + -0.47054563462231785, + -0.8799845505787435, + 0.06491530236089889, + 0.08228641215020888, + -0.11701025695820029, + -0.9897158916285127 + ], + [ + 0.926788094294593, + -0.3715887388059778, + 0.05464098705532033, + -0.3755347433994097, + -0.9191775399527001, + 0.11868574702314583, + 0.006122481011520575, + -0.13051612635642165, + -0.9914272822487681 + ], + [ + 0.940128284355188, + -0.3408090493978022, + -0.0028285692385344625, + -0.33954731176055575, + -0.9373000158287598, + 0.07858946114834117, + -0.02943521753870276, + -0.07292374219671571, + -0.9969030523538767 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006338.json b/json/chunk-0006/episode_0006338.json new file mode 100644 index 0000000000000000000000000000000000000000..28f5bef025bc75a6a7c89faa10033c2ad0af1ccf --- /dev/null +++ b/json/chunk-0006/episode_0006338.json @@ -0,0 +1,2062 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 33, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the cloth from left to top of the table." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006338.mp4", + "start": 0, + "end": 33, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.11966270208358765, + -0.01821131631731987, + 0.2455100119113922, + -0.03825336694717407, + -0.12594924867153168, + 0.030075116083025932, + 0.0, + 0.9988223910331726 + ], + [ + 0.11997716873884201, + -0.018253212794661522, + 0.2441977858543396, + -0.03740695118904114, + -0.12303132563829422, + 0.026981733739376068, + 0.0, + 0.9988223910331726 + ], + [ + 0.15362964570522308, + 0.004512472078204155, + 0.22803114354610443, + -0.0027113771066069603, + -0.09843149036169052, + 0.12690673768520355, + 0.0, + 0.9988223910331726 + ], + [ + 0.1718410700559616, + 0.01323631126433611, + 0.21705442667007446, + 0.04520091414451599, + -0.09009506553411484, + 0.14090222120285034, + 0.0, + 0.9988223910331726 + ], + [ + 0.20532287657260895, + 0.035922225564718246, + 0.19869935512542725, + 0.08676301687955856, + -0.09286288172006607, + 0.19005253911018372, + 0.0, + 0.9988223910331726 + ], + [ + 0.23365826904773712, + 0.06539146602153778, + 0.17860928177833557, + 0.09939854592084885, + -0.11500131338834763, + 0.2384447604417801, + 0.0, + 0.9988223910331726 + ], + [ + 0.2501915395259857, + 0.09320679306983948, + 0.15898993611335754, + 0.06962070614099503, + -0.13920757174491882, + 0.2569527328014374, + 0.0, + 0.9988223910331726 + ], + [ + 0.2604873478412628, + 0.12903863191604614, + 0.1397842913866043, + 0.048112817108631134, + -0.19412179291248322, + 0.27642250061035156, + 0.0, + 0.9988223910331726 + ], + [ + 0.25654229521751404, + 0.15870870649814606, + 0.1162526085972786, + 0.06678113341331482, + -0.2156457155942917, + 0.27597928047180176, + 0.0, + 0.9988223910331726 + ], + [ + 0.2576271593570709, + 0.17228452861309052, + 0.09738542139530182, + 0.08882402628660202, + -0.1988513469696045, + 0.25565698742866516, + 0.0, + 0.9988223910331726 + ], + [ + 0.2588428258895874, + 0.17406879365444183, + 0.07594505697488785, + 0.07005839794874191, + -0.14638932049274445, + 0.24571861326694489, + 0.0, + 0.9988223910331726 + ], + [ + 0.26595452427864075, + 0.1771371215581894, + 0.06627781689167023, + 0.056524697691202164, + -0.1254112273454666, + 0.26883986592292786, + 0.0, + 0.9988223910331726 + ], + [ + 0.2750339210033417, + 0.1679079532623291, + 0.06518775969743729, + 0.04407322779297829, + -0.127857506275177, + 0.2649729549884796, + 0.0, + 0.9988223910331726 + ], + [ + 0.28078022599220276, + 0.1669381707906723, + 0.05704865604639053, + 0.04897433519363403, + -0.13623306155204773, + 0.2651469111442566, + 0.0, + 0.9988223910331726 + ], + [ + 0.28258222341537476, + 0.1657971441745758, + 0.04718978330492973, + 0.040814317762851715, + -0.12263544648885727, + 0.27526339888572693, + 0.0, + 0.9988223910331726 + ], + [ + 0.2924860417842865, + 0.15708494186401367, + 0.04538280889391899, + 0.058478210121393204, + -0.1424417495727539, + 0.24395021796226501, + 0.0, + 0.9988223910331726 + ], + [ + 0.2916508615016937, + 0.15294337272644043, + 0.0327591598033905, + 0.06059812009334564, + -0.10269251465797424, + 0.2269924283027649, + 0.0, + 0.9988223910331726 + ], + [ + 0.29210686683654785, + 0.14945665001869202, + 0.027745841071009636, + 0.06128033623099327, + -0.08691304922103882, + 0.2155134379863739, + 0.0, + 0.9988223910331726 + ], + [ + 0.29672127962112427, + 0.14928288757801056, + 0.018272504210472107, + 0.0693611204624176, + -0.0697287917137146, + 0.2040560394525528, + 0.0, + 0.9988223910331726 + ], + [ + 0.3012418746948242, + 0.15300625562667847, + 0.015389894135296345, + 0.0909549668431282, + -0.06611625850200653, + 0.20158328115940094, + 0.0, + 1.0001531839370728 + ], + [ + 0.3085305690765381, + 0.14373144507408142, + 0.014506053179502487, + 0.09037193655967712, + -0.06886085122823715, + 0.18159283697605133, + 0.0, + 1.0008161067962646 + ], + [ + 0.31934550404548645, + 0.1263384371995926, + 0.01612686924636364, + 0.08628935366868973, + -0.08378925174474716, + 0.1499551385641098, + 0.0, + 1.0014774799346924 + ], + [ + 0.33160361647605896, + 0.10468199849128723, + 0.018494782969355583, + 0.07879634946584702, + -0.10107197612524033, + 0.11763953417539597, + 0.0, + 1.0014774799346924 + ], + [ + 0.3414710760116577, + 0.08141126483678818, + 0.01752966269850731, + 0.060154207050800323, + -0.0932590439915657, + 0.101016104221344, + 0.0, + 1.0014774799346924 + ], + [ + 0.3510514795780182, + 0.059990476816892624, + 0.01843656226992607, + 0.04916958510875702, + -0.08949655294418335, + 0.07720176130533218, + 0.0, + 1.0014774799346924 + ], + [ + 0.36154863238334656, + 0.041418977081775665, + 0.018157532438635826, + 0.03578978776931763, + -0.08366498351097107, + 0.06591033190488815, + 0.0, + 1.0014774799346924 + ], + [ + 0.36428073048591614, + 0.03662526234984398, + 0.018243998289108276, + 0.038395851850509644, + -0.08566436171531677, + 0.06310291588306427, + 0.0, + 1.0014774799346924 + ], + [ + 0.3546885550022125, + 0.05069947615265846, + 0.01717052422463894, + 0.0492340624332428, + -0.07310319691896439, + 0.09087881445884705, + 0.0, + 1.0008161067962646 + ], + [ + 0.33152076601982117, + 0.07965501397848129, + 0.03311882168054581, + 0.06894039362668991, + -0.10630965232849121, + 0.1408747136592865, + 0.0, + 1.0001531839370728 + ], + [ + 0.31006091833114624, + 0.11049288511276245, + 0.048048216849565506, + 0.07169646769762039, + -0.1362563818693161, + 0.2150016725063324, + 0.0, + 1.0001531839370728 + ], + [ + 0.2871183753013611, + 0.13344906270503998, + 0.057679347693920135, + 0.0623311810195446, + -0.14617355167865753, + 0.25796249508857727, + 0.0, + 1.0001531839370728 + ], + [ + 0.25769564509391785, + 0.15511129796504974, + 0.07216640561819077, + 0.06305007636547089, + -0.1526695340871811, + 0.29810830950737, + 0.0, + 1.0001531839370728 + ], + [ + 0.23057499527931213, + 0.16775278747081757, + 0.10034258663654327, + 0.04354478046298027, + -0.17319457232952118, + 0.3116130232810974, + 0.0, + 0.9994885921478271 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.11966270208358765, + -0.01821131631731987, + 0.2455100119113922 + ], + [ + 0.11997716873884201, + -0.018253212794661522, + 0.2441977858543396 + ], + [ + 0.15362964570522308, + 0.004512472078204155, + 0.22803114354610443 + ], + [ + 0.1718410700559616, + 0.01323631126433611, + 0.21705442667007446 + ], + [ + 0.20532287657260895, + 0.035922225564718246, + 0.19869935512542725 + ], + [ + 0.23365826904773712, + 0.06539146602153778, + 0.17860928177833557 + ], + [ + 0.2501915395259857, + 0.09320679306983948, + 0.15898993611335754 + ], + [ + 0.2604873478412628, + 0.12903863191604614, + 0.1397842913866043 + ], + [ + 0.25654229521751404, + 0.15870870649814606, + 0.1162526085972786 + ], + [ + 0.2576271593570709, + 0.17228452861309052, + 0.09738542139530182 + ], + [ + 0.2588428258895874, + 0.17406879365444183, + 0.07594505697488785 + ], + [ + 0.26595452427864075, + 0.1771371215581894, + 0.06627781689167023 + ], + [ + 0.2750339210033417, + 0.1679079532623291, + 0.06518775969743729 + ], + [ + 0.28078022599220276, + 0.1669381707906723, + 0.05704865604639053 + ], + [ + 0.28258222341537476, + 0.1657971441745758, + 0.04718978330492973 + ], + [ + 0.2924860417842865, + 0.15708494186401367, + 0.04538280889391899 + ], + [ + 0.2916508615016937, + 0.15294337272644043, + 0.0327591598033905 + ], + [ + 0.29210686683654785, + 0.14945665001869202, + 0.027745841071009636 + ], + [ + 0.29672127962112427, + 0.14928288757801056, + 0.018272504210472107 + ], + [ + 0.3012418746948242, + 0.15300625562667847, + 0.015389894135296345 + ], + [ + 0.3085305690765381, + 0.14373144507408142, + 0.014506053179502487 + ], + [ + 0.31934550404548645, + 0.1263384371995926, + 0.01612686924636364 + ], + [ + 0.33160361647605896, + 0.10468199849128723, + 0.018494782969355583 + ], + [ + 0.3414710760116577, + 0.08141126483678818, + 0.01752966269850731 + ], + [ + 0.3510514795780182, + 0.059990476816892624, + 0.01843656226992607 + ], + [ + 0.36154863238334656, + 0.041418977081775665, + 0.018157532438635826 + ], + [ + 0.36428073048591614, + 0.03662526234984398, + 0.018243998289108276 + ], + [ + 0.3546885550022125, + 0.05069947615265846, + 0.01717052422463894 + ], + [ + 0.33152076601982117, + 0.07965501397848129, + 0.03311882168054581 + ], + [ + 0.31006091833114624, + 0.11049288511276245, + 0.048048216849565506 + ], + [ + 0.2871183753013611, + 0.13344906270503998, + 0.057679347693920135 + ], + [ + 0.25769564509391785, + 0.15511129796504974, + 0.07216640561819077 + ], + [ + 0.23057499527931213, + 0.16775278747081757, + 0.10034258663654327 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9916302327950203, + 0.02524667319441734, + 0.1266178774877723, + 0.029832389495979106, + -0.9989609993649415, + -0.03445214484988914, + 0.1256165193907809, + 0.03794110225615271, + -0.9913530969416164 + ], + [ + 0.9920799547013377, + 0.022371702901486316, + 0.12359963749574614, + 0.026774534912983018, + -0.9990605304302046, + -0.034076103308803535, + 0.1227211789382162, + 0.037115541836357804, + -0.9917469177134902 + ], + [ + 0.9871565990111598, + 0.12630159003109492, + 0.09782513677137118, + 0.1259537257034532, + -0.9919882195900563, + 0.00974839350710503, + 0.09827262085718243, + 0.002698249463507808, + -0.9951558729363421 + ], + [ + 0.9860740729870608, + 0.14431820886374955, + 0.08264488594624661, + 0.1398668672109599, + -0.9885074866740379, + 0.05736033687112394, + 0.08997322957024864, + -0.045002259718110456, + -0.9949269393181407 + ], + [ + 0.9777632319206333, + 0.19609060758435162, + 0.07434740023241139, + 0.18809653732718865, + -0.9767825195816463, + 0.10254560978049146, + 0.09272947185032425, + -0.08628083829525021, + -0.9919459975187306 + ], + [ + 0.9652880071521057, + 0.24609067411312965, + 0.08751253260454656, + 0.23463154375808323, + -0.9642206536760808, + 0.12339598736656801, + 0.11474799310669917, + -0.09857946611245649, + -0.9884912680135156 + ], + [ + 0.9578127459798093, + 0.26285461050217074, + 0.11619895600378446, + 0.2516760839635619, + -0.9623728024955497, + 0.10245846855008046, + 0.13875839577979945, + -0.0688915289031518, + -0.9879271556375008 + ], + [ + 0.9439684305104752, + 0.2815253148836401, + 0.17224139827363666, + 0.26778966145752703, + -0.9583926719852058, + 0.098854354995219, + 0.1929048973355868, + -0.04719092460129398, + -0.9800819951510291 + ], + [ + 0.9398737056485279, + 0.28562065589050856, + 0.1872385066143733, + 0.2661780106862074, + -0.9561232343777292, + 0.12238311693286716, + 0.21397823267248067, + -0.06518590040604075, + -0.9746610253470773 + ], + [ + 0.9484319907632783, + 0.2688381524784817, + 0.16793691276417216, + 0.2478978556037811, + -0.959251865744495, + 0.13558211995964708, + 0.19754344353547004, + -0.08695921939427619, + -0.9764295581753384 + ], + [ + 0.9595882470297091, + 0.25256084129075523, + 0.12411050563492146, + 0.24065162690421107, + -0.9650995433951064, + 0.10329407440368304, + 0.14586703065054255, + -0.06925238468863845, + -0.9868773564045993 + ], + [ + 0.9565081124596369, + 0.27200161337432066, + 0.10539142811760902, + 0.2635271115872299, + -0.9606630093878165, + 0.0876358593980539, + 0.1250827416448578, + -0.05605091181872399, + -0.9905617613389359 + ], + [ + 0.9572218215349605, + 0.26705072573499244, + 0.11140150026685797, + 0.2597455085945467, + -0.9626911649255202, + 0.07588143211158932, + 0.1275094315815626, + -0.0436993233215264, + -0.9908742170421976 + ], + [ + 0.9561124207370866, + 0.26815315101507636, + 0.11808016985486434, + 0.25962304557462995, + -0.9621546255961326, + 0.0827910058552209, + 0.13581205071281988, + -0.04850117570380408, + -0.9895467259490716 + ], + [ + 0.9551260680891283, + 0.27637752978081015, + 0.10653476000282396, + 0.26975912467028923, + -0.9601955482781924, + 0.07248809366965697, + 0.12232828255853696, + -0.04049654428465476, + -0.9916631591358428 + ], + [ + 0.960563603286927, + 0.24917609283588316, + 0.12340518141260709, + 0.2390915403240363, + -0.9667286631049825, + 0.09094463852659479, + 0.1419605557396661, + -0.05785297477482562, + -0.988180263880932 + ], + [ + 0.9692145478823875, + 0.2306840328548871, + 0.0860699550304568, + 0.22386251692912534, + -0.9711620769599443, + 0.08203532037485198, + 0.10251211483184096, + -0.060241989182404275, + -0.9929059215515087 + ], + [ + 0.9731794806312244, + 0.21864066334751328, + 0.07153991060449733, + 0.21304183055217238, + -0.9738962671895572, + 0.07835329724539841, + 0.08680366877799336, + -0.06101082760629991, + -0.994355470644917 + ], + [ + 0.9768730576206431, + 0.20688410887931474, + 0.054018467102527855, + 0.20215043857004777, + -0.97591958005956, + 0.08195226319210842, + 0.06967230067130259, + -0.06913710110774897, + -0.9951712575077637 + ], + [ + 0.9776101585708611, + 0.20527260442475181, + 0.04627672991617927, + 0.19978334291034922, + -0.9744994361793441, + 0.10216391134694341, + 0.06606809937194702, + -0.0906311577704911, + -0.9936905954503941 + ], + [ + 0.9812262770001043, + 0.18596708298061318, + 0.05110026782900848, + 0.18016843979429856, + -0.978422162061021, + 0.10114052644674956, + 0.06880644320558127, + -0.09003508669135141, + -0.9935589346072422 + ], + [ + 0.9853088853701796, + 0.15596969985446912, + 0.06956905301842914, + 0.1488696615161964, + -0.984021384515505, + 0.09767158592058228, + 0.08369124381097043, + -0.0858799600808908, + -0.9927841699815108 + ], + [ + 0.9880202934642092, + 0.12489164287654035, + 0.09065305975253687, + 0.11676940430185488, + -0.9890748873310099, + 0.08997651621473349, + 0.10089997979131746, + -0.07831312016992395, + -0.9918095831798375 + ], + [ + 0.9905788889947041, + 0.1062318719570266, + 0.08641906073617989, + 0.10040617620090769, + -0.9925381431029722, + 0.06918550618746916, + 0.09312391990638025, + -0.05985669441432561, + -0.9938536671336783 + ], + [ + 0.9930312004294151, + 0.08141166501141717, + 0.08521253296190207, + 0.07681642988472065, + -0.9954776429848423, + 0.05588826725805926, + 0.08937712835776415, + -0.04895307056162318, + -0.9947941122710308 + ], + [ + 0.9943384215764361, + 0.06880417256555864, + 0.08097585575003342, + 0.06563224217407408, + -0.9969927608408493, + 0.04120489798731048, + 0.08356741089734133, + -0.03565698625108129, + -0.995863980254033 + ], + [ + 0.9943500218645877, + 0.06629235801517787, + 0.08290571323305529, + 0.06282980356678265, + -0.997066995220372, + 0.04370151972160962, + 0.08555962717107657, + -0.03824565741370136, + -0.995598724329908 + ], + [ + 0.9932135345394921, + 0.09422347768978409, + 0.06818219019371079, + 0.09051138242371765, + -0.9943403953363195, + 0.05563153650726254, + 0.07303810279105098, + -0.049082730715131424, + -0.9961206358098548 + ], + [ + 0.9845039334332285, + 0.14731271000277227, + 0.09513658878759432, + 0.1396165292091016, + -0.9867153289348635, + 0.08306674675565331, + 0.10610951807498128, + -0.06849689859112512, + -0.9919924117942092 + ], + [ + 0.9679208884310677, + 0.22230747244789953, + 0.1170834806137883, + 0.21137162635096343, + -0.9723900913785707, + 0.09889158590357434, + 0.13583515492155063, + -0.07097110596997698, + -0.9881861731499976 + ], + [ + 0.9566002941476132, + 0.2633882558043872, + 0.12466957905208068, + 0.2523904036843604, + -0.9627194797423911, + 0.09731540192891197, + 0.145653566261681, + -0.06162653672617646, + -0.9874144057113972 + ], + [ + 0.9447754528624064, + 0.30228836565543926, + 0.1265744352466079, + 0.2902961980612957, + -0.9511800638590979, + 0.10480745922003304, + 0.15207715495692067, + -0.062275437424119, + -0.986404738854109 + ], + [ + 0.937600042628168, + 0.3134441678645748, + 0.15052878028915814, + 0.3020075005440673, + -0.9486380128363212, + 0.09421990350812702, + 0.1723300022595676, + -0.04287976485056606, + -0.9841055309709307 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + 0.000314466655254364, + -4.1896477341651917e-05, + -0.0013122260570526123, + 0.0008464157581329346, + 0.0029179230332374573, + -0.003093382343649864, + 1.0 + ], + [ + 0.03365247696638107, + 0.022765684872865677, + -0.01616664230823517, + 0.0346955731511116, + 0.0245998352766037, + 0.09992500394582748, + 1.0 + ], + [ + 0.018211424350738525, + 0.008723839186131954, + -0.010976716876029968, + 0.047912292182445526, + 0.008336424827575684, + 0.01399548351764679, + 1.0 + ], + [ + 0.03348180651664734, + 0.022685915231704712, + -0.018355071544647217, + 0.04156210273504257, + -0.002767816185951233, + 0.049150317907333374, + 1.0 + ], + [ + 0.028335392475128174, + 0.029469240456819534, + -0.020090073347091675, + 0.012635529041290283, + -0.022138431668281555, + 0.048392221331596375, + 1.0 + ], + [ + 0.016533270478248596, + 0.027815327048301697, + -0.019619345664978027, + -0.02977783977985382, + -0.024206258356571198, + 0.018507972359657288, + 1.0 + ], + [ + 0.0102958083152771, + 0.035831838846206665, + -0.019205644726753235, + -0.02150788903236389, + -0.05491422116756439, + 0.019469767808914185, + 1.0 + ], + [ + -0.003945052623748779, + 0.029670074582099915, + -0.023531682789325714, + 0.018668316304683685, + -0.02152392268180847, + -0.0004432201385498047, + 1.0 + ], + [ + 0.0010848641395568848, + 0.013575822114944458, + -0.018867187201976776, + 0.0220428928732872, + 0.016794368624687195, + -0.020322293043136597, + 1.0 + ], + [ + 0.0012156665325164795, + 0.0017842650413513184, + -0.02144036442041397, + -0.018765628337860107, + 0.052462026476860046, + -0.009938374161720276, + 1.0 + ], + [ + 0.007111698389053345, + 0.0030683279037475586, + -0.00966724008321762, + -0.01353370025753975, + 0.020978093147277832, + 0.02312125265598297, + 1.0 + ], + [ + 0.009079396724700928, + -0.00922916829586029, + -0.0010900571942329407, + -0.012451469898223877, + -0.002446278929710388, + -0.003866910934448242, + 1.0 + ], + [ + 0.005746304988861084, + -0.0009697824716567993, + -0.008139103651046753, + 0.0049011074006557465, + -0.008375555276870728, + 0.00017395615577697754, + 1.0 + ], + [ + 0.001801997423171997, + -0.0011410266160964966, + -0.0098588727414608, + -0.008160017430782318, + 0.01359761506319046, + 0.010116487741470337, + 1.0 + ], + [ + 0.009903818368911743, + -0.008712202310562134, + -0.0018069744110107422, + 0.01766389235854149, + -0.019806303083896637, + -0.031313180923461914, + 1.0 + ], + [ + -0.0008351802825927734, + -0.004141569137573242, + -0.012623649090528488, + 0.0021199099719524384, + 0.03974923491477966, + -0.016957789659500122, + 1.0 + ], + [ + 0.000456005334854126, + -0.003486722707748413, + -0.005013318732380867, + 0.0006822161376476288, + 0.015779465436935425, + -0.011478990316390991, + 1.0 + ], + [ + 0.004614412784576416, + -0.00017376244068145752, + -0.009473336860537529, + 0.008080784231424332, + 0.01718425750732422, + -0.011457398533821106, + 1.0 + ], + [ + 0.004520595073699951, + 0.0037233680486679077, + -0.002882610075175762, + 0.021593846380710602, + 0.003612533211708069, + -0.0024727582931518555, + 1.0 + ], + [ + 0.007288694381713867, + -0.009274810552597046, + -0.0008838409557938576, + -0.0005830302834510803, + -0.0027445927262306213, + -0.01999044418334961, + 1.0 + ], + [ + 0.010814934968948364, + -0.01739300787448883, + 0.0016208160668611526, + -0.004082582890987396, + -0.01492840051651001, + -0.03163769841194153, + 1.0 + ], + [ + 0.01225811243057251, + -0.02165643870830536, + 0.0023679137229919434, + -0.007493004202842712, + -0.017282724380493164, + -0.03231560438871384, + 1.0 + ], + [ + 0.009867459535598755, + -0.023270733654499054, + -0.0009651202708482742, + -0.018642142415046692, + 0.007812932133674622, + -0.01662342995405197, + 1.0 + ], + [ + 0.009580403566360474, + -0.021420788019895554, + 0.0009068995714187622, + -0.010984621942043304, + 0.0037624910473823547, + -0.02381434291601181, + 1.0 + ], + [ + 0.01049715280532837, + -0.01857149973511696, + -0.00027902983129024506, + -0.013379797339439392, + 0.00583156943321228, + -0.01129142940044403, + 1.0 + ], + [ + 0.00273209810256958, + -0.004793714731931686, + 8.646585047245026e-05, + 0.0026060640811920166, + -0.001999378204345703, + -0.002807416021823883, + 1.0 + ], + [ + -0.009592175483703613, + 0.014074213802814484, + -0.0010734740644693375, + 0.010838210582733154, + 0.012561164796352386, + 0.027775898575782776, + 1.0 + ], + [ + -0.023167788982391357, + 0.02895553782582283, + 0.015948297455906868, + 0.019706331193447113, + -0.033206455409526825, + 0.04999589920043945, + 1.0 + ], + [ + -0.021459847688674927, + 0.03083787113428116, + 0.014929395169019699, + 0.002756074070930481, + -0.02994672954082489, + 0.0741269588470459, + 1.0 + ], + [ + -0.022942543029785156, + 0.022956177592277527, + 0.00963113084435463, + -0.00936528667807579, + -0.00991716980934143, + 0.04296082258224487, + 1.0 + ], + [ + -0.029422730207443237, + 0.021662235260009766, + 0.01448705792427063, + 0.0007188953459262848, + -0.00649598240852356, + 0.040145814418792725, + 1.0 + ], + [ + -0.027120649814605713, + 0.012641489505767822, + 0.02817618101835251, + -0.019505295902490616, + -0.020525038242340088, + 0.013504713773727417, + 1.0 + ], + [ + -0.024890348315238953, + -0.010964006185531616, + 0.028857678174972534, + -0.05780662223696709, + 0.04162725806236267, + 0.004361927509307861, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.11997716873884201, + -0.018253212794661522, + 0.2441977858543396 + ], + [ + 0.15362964570522308, + 0.004512472078204155, + 0.22803114354610443 + ], + [ + 0.1718410700559616, + 0.01323631126433611, + 0.21705442667007446 + ], + [ + 0.20532287657260895, + 0.035922225564718246, + 0.19869935512542725 + ], + [ + 0.23365826904773712, + 0.06539146602153778, + 0.17860928177833557 + ], + [ + 0.2501915395259857, + 0.09320679306983948, + 0.15898993611335754 + ], + [ + 0.2604873478412628, + 0.12903863191604614, + 0.1397842913866043 + ], + [ + 0.25654229521751404, + 0.15870870649814606, + 0.1162526085972786 + ], + [ + 0.2576271593570709, + 0.17228452861309052, + 0.09738542139530182 + ], + [ + 0.2588428258895874, + 0.17406879365444183, + 0.07594505697488785 + ], + [ + 0.26595452427864075, + 0.1771371215581894, + 0.06627781689167023 + ], + [ + 0.2750339210033417, + 0.1679079532623291, + 0.06518775969743729 + ], + [ + 0.28078022599220276, + 0.1669381707906723, + 0.05704865604639053 + ], + [ + 0.28258222341537476, + 0.1657971441745758, + 0.04718978330492973 + ], + [ + 0.2924860417842865, + 0.15708494186401367, + 0.04538280889391899 + ], + [ + 0.2916508615016937, + 0.15294337272644043, + 0.0327591598033905 + ], + [ + 0.29210686683654785, + 0.14945665001869202, + 0.027745841071009636 + ], + [ + 0.29672127962112427, + 0.14928288757801056, + 0.018272504210472107 + ], + [ + 0.3012418746948242, + 0.15300625562667847, + 0.015389894135296345 + ], + [ + 0.3085305690765381, + 0.14373144507408142, + 0.014506053179502487 + ], + [ + 0.31934550404548645, + 0.1263384371995926, + 0.01612686924636364 + ], + [ + 0.33160361647605896, + 0.10468199849128723, + 0.018494782969355583 + ], + [ + 0.3414710760116577, + 0.08141126483678818, + 0.01752966269850731 + ], + [ + 0.3510514795780182, + 0.059990476816892624, + 0.01843656226992607 + ], + [ + 0.36154863238334656, + 0.041418977081775665, + 0.018157532438635826 + ], + [ + 0.36428073048591614, + 0.03662526234984398, + 0.018243998289108276 + ], + [ + 0.3546885550022125, + 0.05069947615265846, + 0.01717052422463894 + ], + [ + 0.33152076601982117, + 0.07965501397848129, + 0.03311882168054581 + ], + [ + 0.31006091833114624, + 0.11049288511276245, + 0.048048216849565506 + ], + [ + 0.2871183753013611, + 0.13344906270503998, + 0.057679347693920135 + ], + [ + 0.25769564509391785, + 0.15511129796504974, + 0.07216640561819077 + ], + [ + 0.23057499527931213, + 0.16775278747081757, + 0.10034258663654327 + ], + [ + 0.20568464696407318, + 0.15678878128528595, + 0.1292002648115158 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9920799547013377, + 0.022371702901486316, + 0.12359963749574614, + 0.026774534912983018, + -0.9990605304302046, + -0.034076103308803535, + 0.1227211789382162, + 0.037115541836357804, + -0.9917469177134902 + ], + [ + 0.9871565990111598, + 0.12630159003109492, + 0.09782513677137118, + 0.1259537257034532, + -0.9919882195900563, + 0.00974839350710503, + 0.09827262085718243, + 0.002698249463507808, + -0.9951558729363421 + ], + [ + 0.9860740729870608, + 0.14431820886374955, + 0.08264488594624661, + 0.1398668672109599, + -0.9885074866740379, + 0.05736033687112394, + 0.08997322957024864, + -0.045002259718110456, + -0.9949269393181407 + ], + [ + 0.9777632319206333, + 0.19609060758435162, + 0.07434740023241139, + 0.18809653732718865, + -0.9767825195816463, + 0.10254560978049146, + 0.09272947185032425, + -0.08628083829525021, + -0.9919459975187306 + ], + [ + 0.9652880071521057, + 0.24609067411312965, + 0.08751253260454656, + 0.23463154375808323, + -0.9642206536760808, + 0.12339598736656801, + 0.11474799310669917, + -0.09857946611245649, + -0.9884912680135156 + ], + [ + 0.9578127459798093, + 0.26285461050217074, + 0.11619895600378446, + 0.2516760839635619, + -0.9623728024955497, + 0.10245846855008046, + 0.13875839577979945, + -0.0688915289031518, + -0.9879271556375008 + ], + [ + 0.9439684305104752, + 0.2815253148836401, + 0.17224139827363666, + 0.26778966145752703, + -0.9583926719852058, + 0.098854354995219, + 0.1929048973355868, + -0.04719092460129398, + -0.9800819951510291 + ], + [ + 0.9398737056485279, + 0.28562065589050856, + 0.1872385066143733, + 0.2661780106862074, + -0.9561232343777292, + 0.12238311693286716, + 0.21397823267248067, + -0.06518590040604075, + -0.9746610253470773 + ], + [ + 0.9484319907632783, + 0.2688381524784817, + 0.16793691276417216, + 0.2478978556037811, + -0.959251865744495, + 0.13558211995964708, + 0.19754344353547004, + -0.08695921939427619, + -0.9764295581753384 + ], + [ + 0.9595882470297091, + 0.25256084129075523, + 0.12411050563492146, + 0.24065162690421107, + -0.9650995433951064, + 0.10329407440368304, + 0.14586703065054255, + -0.06925238468863845, + -0.9868773564045993 + ], + [ + 0.9565081124596369, + 0.27200161337432066, + 0.10539142811760902, + 0.2635271115872299, + -0.9606630093878165, + 0.0876358593980539, + 0.1250827416448578, + -0.05605091181872399, + -0.9905617613389359 + ], + [ + 0.9572218215349605, + 0.26705072573499244, + 0.11140150026685797, + 0.2597455085945467, + -0.9626911649255202, + 0.07588143211158932, + 0.1275094315815626, + -0.0436993233215264, + -0.9908742170421976 + ], + [ + 0.9561124207370866, + 0.26815315101507636, + 0.11808016985486434, + 0.25962304557462995, + -0.9621546255961326, + 0.0827910058552209, + 0.13581205071281988, + -0.04850117570380408, + -0.9895467259490716 + ], + [ + 0.9551260680891283, + 0.27637752978081015, + 0.10653476000282396, + 0.26975912467028923, + -0.9601955482781924, + 0.07248809366965697, + 0.12232828255853696, + -0.04049654428465476, + -0.9916631591358428 + ], + [ + 0.960563603286927, + 0.24917609283588316, + 0.12340518141260709, + 0.2390915403240363, + -0.9667286631049825, + 0.09094463852659479, + 0.1419605557396661, + -0.05785297477482562, + -0.988180263880932 + ], + [ + 0.9692145478823875, + 0.2306840328548871, + 0.0860699550304568, + 0.22386251692912534, + -0.9711620769599443, + 0.08203532037485198, + 0.10251211483184096, + -0.060241989182404275, + -0.9929059215515087 + ], + [ + 0.9731794806312244, + 0.21864066334751328, + 0.07153991060449733, + 0.21304183055217238, + -0.9738962671895572, + 0.07835329724539841, + 0.08680366877799336, + -0.06101082760629991, + -0.994355470644917 + ], + [ + 0.9768730576206431, + 0.20688410887931474, + 0.054018467102527855, + 0.20215043857004777, + -0.97591958005956, + 0.08195226319210842, + 0.06967230067130259, + -0.06913710110774897, + -0.9951712575077637 + ], + [ + 0.9776101585708611, + 0.20527260442475181, + 0.04627672991617927, + 0.19978334291034922, + -0.9744994361793441, + 0.10216391134694341, + 0.06606809937194702, + -0.0906311577704911, + -0.9936905954503941 + ], + [ + 0.9812262770001043, + 0.18596708298061318, + 0.05110026782900848, + 0.18016843979429856, + -0.978422162061021, + 0.10114052644674956, + 0.06880644320558127, + -0.09003508669135141, + -0.9935589346072422 + ], + [ + 0.9853088853701796, + 0.15596969985446912, + 0.06956905301842914, + 0.1488696615161964, + -0.984021384515505, + 0.09767158592058228, + 0.08369124381097043, + -0.0858799600808908, + -0.9927841699815108 + ], + [ + 0.9880202934642092, + 0.12489164287654035, + 0.09065305975253687, + 0.11676940430185488, + -0.9890748873310099, + 0.08997651621473349, + 0.10089997979131746, + -0.07831312016992395, + -0.9918095831798375 + ], + [ + 0.9905788889947041, + 0.1062318719570266, + 0.08641906073617989, + 0.10040617620090769, + -0.9925381431029722, + 0.06918550618746916, + 0.09312391990638025, + -0.05985669441432561, + -0.9938536671336783 + ], + [ + 0.9930312004294151, + 0.08141166501141717, + 0.08521253296190207, + 0.07681642988472065, + -0.9954776429848423, + 0.05588826725805926, + 0.08937712835776415, + -0.04895307056162318, + -0.9947941122710308 + ], + [ + 0.9943384215764361, + 0.06880417256555864, + 0.08097585575003342, + 0.06563224217407408, + -0.9969927608408493, + 0.04120489798731048, + 0.08356741089734133, + -0.03565698625108129, + -0.995863980254033 + ], + [ + 0.9943500218645877, + 0.06629235801517787, + 0.08290571323305529, + 0.06282980356678265, + -0.997066995220372, + 0.04370151972160962, + 0.08555962717107657, + -0.03824565741370136, + -0.995598724329908 + ], + [ + 0.9932135345394921, + 0.09422347768978409, + 0.06818219019371079, + 0.09051138242371765, + -0.9943403953363195, + 0.05563153650726254, + 0.07303810279105098, + -0.049082730715131424, + -0.9961206358098548 + ], + [ + 0.9845039334332285, + 0.14731271000277227, + 0.09513658878759432, + 0.1396165292091016, + -0.9867153289348635, + 0.08306674675565331, + 0.10610951807498128, + -0.06849689859112512, + -0.9919924117942092 + ], + [ + 0.9679208884310677, + 0.22230747244789953, + 0.1170834806137883, + 0.21137162635096343, + -0.9723900913785707, + 0.09889158590357434, + 0.13583515492155063, + -0.07097110596997698, + -0.9881861731499976 + ], + [ + 0.9566002941476132, + 0.2633882558043872, + 0.12466957905208068, + 0.2523904036843604, + -0.9627194797423911, + 0.09731540192891197, + 0.145653566261681, + -0.06162653672617646, + -0.9874144057113972 + ], + [ + 0.9447754528624064, + 0.30228836565543926, + 0.1265744352466079, + 0.2902961980612957, + -0.9511800638590979, + 0.10480745922003304, + 0.15207715495692067, + -0.062275437424119, + -0.986404738854109 + ], + [ + 0.937600042628168, + 0.3134441678645748, + 0.15052878028915814, + 0.3020075005440673, + -0.9486380128363212, + 0.09421990350812702, + 0.1723300022595676, + -0.04287976485056606, + -0.9841055309709307 + ], + [ + 0.9422792265452347, + 0.3089334034721151, + 0.12911239847686837, + 0.30805770404537786, + -0.9509785834847331, + 0.027206336241049834, + 0.13118807186480294, + 0.014138103568229986, + -0.9912566790836213 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006340.json b/json/chunk-0006/episode_0006340.json new file mode 100644 index 0000000000000000000000000000000000000000..60b9ef45fe11da017229c992bb1566dfcd5d006a --- /dev/null +++ b/json/chunk-0006/episode_0006340.json @@ -0,0 +1,1822 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 29, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nClose microwave." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006340.mp4", + "start": 0, + "end": 29, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.20415537059307098, + 0.03152036666870117, + 0.09749959409236908, + 0.1662532389163971, + -0.10492009669542313, + 0.4112696051597595, + 0.0, + 1.0014774799346924 + ], + [ + 0.20177902281284332, + 0.028602853417396545, + 0.09585215896368027, + 0.16367395222187042, + -0.088634192943573, + 0.40861210227012634, + 0.0, + 1.0014774799346924 + ], + [ + 0.20283004641532898, + 0.015037032775580883, + 0.12846378982067108, + 0.11578319221735, + -0.08428234606981277, + 0.3954116404056549, + 0.0, + 1.0014774799346924 + ], + [ + 0.20383259654045105, + 0.014733259566128254, + 0.16787296533584595, + 0.019114868715405464, + -0.08815337717533112, + 0.40156322717666626, + 0.0, + 1.0014774799346924 + ], + [ + 0.19787684082984924, + 0.03190598264336586, + 0.19178976118564606, + -0.02799980714917183, + -0.10368862748146057, + 0.41115301847457886, + 0.0, + 1.0014774799346924 + ], + [ + 0.1883707344532013, + 0.06884801387786865, + 0.1982736438512802, + -0.01398567482829094, + -0.12350475043058395, + 0.4413128197193146, + 0.0, + 1.0014774799346924 + ], + [ + 0.19074055552482605, + 0.10000040382146835, + 0.18640010058879852, + 0.011582281440496445, + -0.12277780473232269, + 0.4778815805912018, + 0.0, + 1.0014774799346924 + ], + [ + 0.2019861340522766, + 0.11454354226589203, + 0.1663978099822998, + 0.05075015500187874, + -0.12022519111633301, + 0.5107675790786743, + 0.0, + 1.0014774799346924 + ], + [ + 0.21000748872756958, + 0.1086045503616333, + 0.15640652179718018, + 0.024162624031305313, + -0.09167113900184631, + 0.5459336042404175, + 0.0, + 1.0014774799346924 + ], + [ + 0.21981491148471832, + 0.09881085157394409, + 0.15011581778526306, + 0.020070550963282585, + -0.08725973218679428, + 0.5587593913078308, + 0.0, + 1.0014774799346924 + ], + [ + 0.22644773125648499, + 0.08378380537033081, + 0.12517975270748138, + 0.020939568057656288, + -0.05398865044116974, + 0.5638379454612732, + 0.0, + 1.0014774799346924 + ], + [ + 0.232123464345932, + 0.06583327800035477, + 0.11667853593826294, + 0.025588538497686386, + -0.06538645178079605, + 0.5645714998245239, + 0.0, + 1.0014774799346924 + ], + [ + 0.23806753754615784, + 0.044166214764118195, + 0.11316564679145813, + 0.015133553184568882, + -0.03990348055958748, + 0.5639168620109558, + 0.0, + 1.0014774799346924 + ], + [ + 0.25019487738609314, + 0.0250296201556921, + 0.12480330467224121, + -0.015189430676400661, + -0.028408687561750412, + 0.5907983779907227, + 0.0, + 1.0014774799346924 + ], + [ + 0.26341530680656433, + -0.0002318060287507251, + 0.13850100338459015, + -0.04209651052951813, + -0.02359793707728386, + 0.6024301052093506, + 0.0, + 1.0014774799346924 + ], + [ + 0.2687346637248993, + -0.034171923995018005, + 0.1613120287656784, + -0.09851738065481186, + 0.041861433535814285, + 0.59086012840271, + 0.0, + 1.0014774799346924 + ], + [ + 0.2435593605041504, + -0.04935651645064354, + 0.17054171860218048, + -0.11652109026908875, + 0.022006375715136528, + 0.5040439963340759, + 0.0, + 1.0014774799346924 + ], + [ + 0.20406678318977356, + -0.031078878790140152, + 0.15891656279563904, + -0.05086449533700943, + -0.009093006141483784, + 0.41752713918685913, + 0.0, + 1.0014774799346924 + ], + [ + 0.18377432227134705, + 0.00767887756228447, + 0.13293495774269104, + 0.027443425729870796, + -0.0189619492739439, + 0.3816787898540497, + 0.0, + 1.0014774799346924 + ], + [ + 0.18386688828468323, + 0.051218390464782715, + 0.10351385176181793, + 0.08686430752277374, + -0.04559772089123726, + 0.4012238085269928, + 0.0, + 1.0014774799346924 + ], + [ + 0.1961606740951538, + 0.07203620672225952, + 0.09376180917024612, + 0.08179023861885071, + -0.06640517711639404, + 0.4532630443572998, + 0.0, + 1.0014774799346924 + ], + [ + 0.22878146171569824, + 0.0712737962603569, + 0.09837957471609116, + 0.06362271308898926, + -0.0761769488453865, + 0.5458499789237976, + 0.0, + 1.0014774799346924 + ], + [ + 0.2607432007789612, + 0.05812935158610344, + 0.10286736488342285, + 0.025207282975316048, + -0.08280649781227112, + 0.6070987582206726, + 0.0, + 1.0014774799346924 + ], + [ + 0.2809058129787445, + 0.04745325446128845, + 0.10549109429121017, + 0.015975186601281166, + -0.10284639894962311, + 0.6367816925048828, + 0.0, + 1.0014774799346924 + ], + [ + 0.28824466466903687, + 0.041106633841991425, + 0.10334739089012146, + 0.03017313778400421, + -0.1276242434978485, + 0.6296817660331726, + 0.0, + 1.0014774799346924 + ], + [ + 0.29209551215171814, + 0.03628535941243172, + 0.09748537093400955, + 0.03585716709494591, + -0.13975052535533905, + 0.6249739527702332, + 0.0, + 1.0014774799346924 + ], + [ + 0.2930464446544647, + 0.032930877059698105, + 0.09518931806087494, + 0.013092193752527237, + -0.16615571081638336, + 0.6236708760261536, + 0.0, + 1.0014774799346924 + ], + [ + 0.29234158992767334, + 0.03283488377928734, + 0.09900334477424622, + 0.02106289379298687, + -0.15163376927375793, + 0.6289955973625183, + 0.0, + 1.0014774799346924 + ], + [ + 0.27235785126686096, + 0.03378814458847046, + 0.09765049815177917, + 0.04138695448637009, + -0.112553171813488, + 0.555559515953064, + 0.0, + 1.0014774799346924 + ] + ], + "left_gripper_pos": [ + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.20415537059307098, + 0.03152036666870117, + 0.09749959409236908 + ], + [ + 0.20177902281284332, + 0.028602853417396545, + 0.09585215896368027 + ], + [ + 0.20283004641532898, + 0.015037032775580883, + 0.12846378982067108 + ], + [ + 0.20383259654045105, + 0.014733259566128254, + 0.16787296533584595 + ], + [ + 0.19787684082984924, + 0.03190598264336586, + 0.19178976118564606 + ], + [ + 0.1883707344532013, + 0.06884801387786865, + 0.1982736438512802 + ], + [ + 0.19074055552482605, + 0.10000040382146835, + 0.18640010058879852 + ], + [ + 0.2019861340522766, + 0.11454354226589203, + 0.1663978099822998 + ], + [ + 0.21000748872756958, + 0.1086045503616333, + 0.15640652179718018 + ], + [ + 0.21981491148471832, + 0.09881085157394409, + 0.15011581778526306 + ], + [ + 0.22644773125648499, + 0.08378380537033081, + 0.12517975270748138 + ], + [ + 0.232123464345932, + 0.06583327800035477, + 0.11667853593826294 + ], + [ + 0.23806753754615784, + 0.044166214764118195, + 0.11316564679145813 + ], + [ + 0.25019487738609314, + 0.0250296201556921, + 0.12480330467224121 + ], + [ + 0.26341530680656433, + -0.0002318060287507251, + 0.13850100338459015 + ], + [ + 0.2687346637248993, + -0.034171923995018005, + 0.1613120287656784 + ], + [ + 0.2435593605041504, + -0.04935651645064354, + 0.17054171860218048 + ], + [ + 0.20406678318977356, + -0.031078878790140152, + 0.15891656279563904 + ], + [ + 0.18377432227134705, + 0.00767887756228447, + 0.13293495774269104 + ], + [ + 0.18386688828468323, + 0.051218390464782715, + 0.10351385176181793 + ], + [ + 0.1961606740951538, + 0.07203620672225952, + 0.09376180917024612 + ], + [ + 0.22878146171569824, + 0.0712737962603569, + 0.09837957471609116 + ], + [ + 0.2607432007789612, + 0.05812935158610344, + 0.10286736488342285 + ], + [ + 0.2809058129787445, + 0.04745325446128845, + 0.10549109429121017 + ], + [ + 0.28824466466903687, + 0.041106633841991425, + 0.10334739089012146 + ], + [ + 0.29209551215171814, + 0.03628535941243172, + 0.09748537093400955 + ], + [ + 0.2930464446544647, + 0.032930877059698105, + 0.09518931806087494 + ], + [ + 0.29234158992767334, + 0.03283488377928734, + 0.09900334477424622 + ], + [ + 0.27235785126686096, + 0.03378814458847046, + 0.09765049815177917 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9115734864298161, + 0.41014724691090126, + 0.02851341245095461, + 0.39757500750271907, + -0.8970469274888101, + 0.19297907475189713, + 0.10472770525225363, + -0.16457838781047052, + -0.9807884899499502 + ], + [ + 0.9140708980781396, + 0.4052618727662819, + 0.0154015508501614, + 0.3957763559662931, + -0.8996777515887506, + 0.18423088599432286, + 0.08851818651930364, + -0.16230452174285553, + -0.9827623175911648 + ], + [ + 0.9195623268148481, + 0.39158386920755833, + 0.03266803451847949, + 0.38382081404066887, + -0.9129133049566158, + 0.1388195963916748, + 0.08418259803558553, + -0.1151145994634351, + -0.9897787223305784 + ], + [ + 0.9168770138962504, + 0.3923351850428717, + 0.07355028188981072, + 0.38933999564517896, + -0.9196252500546084, + 0.051997762000023984, + 0.08803924795059873, + -0.01903948632118932, + -0.995935032409704 + ], + [ + 0.9117373616652591, + 0.3968536709339678, + 0.10602899230826808, + 0.3975199706423392, + -0.9174594138669742, + 0.01568747421933027, + 0.10350292886767275, + 0.027845785553695587, + -0.9942392850530053 + ], + [ + 0.8973044537512201, + 0.425527311738924, + 0.11735085957277432, + 0.42387343863559257, + -0.9048391508107244, + 0.039967726722513836, + 0.12319101143128496, + 0.01387869317953106, + -0.9922859248110725 + ], + [ + 0.8812867654175045, + 0.46112780486364974, + 0.1034155920622423, + 0.45643711661526215, + -0.8872592723234572, + 0.06660437111777807, + 0.12246957040790948, + -0.011494836131103633, + -0.9924056998357179 + ], + [ + 0.8660724695298179, + 0.4935252309494565, + 0.07969519395050667, + 0.4853183359126155, + -0.8682721321492066, + 0.10280864438402532, + 0.11993577593667759, + -0.050362197622392586, + -0.9915034335296629 + ], + [ + 0.8510543972971607, + 0.5209548675610938, + 0.06566916175473689, + 0.5170361001965096, + -0.853245098894811, + 0.06816503726668906, + 0.09154279837732485, + -0.024058827410897612, + -0.9955104664888568 + ], + [ + 0.8446873837303859, + 0.531510915272948, + 0.06324057805261195, + 0.5281176658209306, + -0.8468154657650641, + 0.06320836961154042, + 0.08714903794401514, + -0.019992845890723525, + -0.995994644211816 + ], + [ + 0.8439787130458588, + 0.5352718109656124, + 0.03440959620585153, + 0.5336553086201877, + -0.8444210818990758, + 0.04653007657297305, + 0.05396242680743937, + -0.02090753046125332, + -0.9983240614465143 + ], + [ + 0.8430126296975312, + 0.5362910412963862, + 0.041492471554378824, + 0.5339104865076025, + -0.8436468949935906, + 0.056564202150199555, + 0.06533986966369137, + -0.02553107112738122, + -0.9975363982529261 + ], + [ + 0.8444952480109902, + 0.5349497168120012, + 0.025623750108371576, + 0.5340752131240074, + -0.8447485767882429, + 0.034110243927368444, + 0.0398928917653585, + -0.015120929104993526, + -0.9990895428787149 + ], + [ + 0.830161123010333, + 0.5566016865948423, + 0.03204796907761167, + 0.5567994912009885, + -0.8306407451821172, + 0.003206094449219792, + 0.028404866494018903, + 0.015182717907997693, + -0.9994811897361466 + ], + [ + 0.8237316327608719, + 0.5653262513855768, + 0.043271545886864854, + 0.5664886917780978, + -0.8237937520437526, + -0.021317039691638222, + 0.023595747003362432, + 0.042072361331487486, + -0.998835901004437 + ], + [ + 0.8297342939282071, + 0.5577926756546506, + 0.020207237947967437, + 0.5565875000699266, + -0.8241419533661608, + -0.10488277011844528, + -0.04184920841986653, + 0.09827192726223997, + -0.9942792726728221 + ], + [ + 0.8754245777732386, + 0.48193562718947575, + 0.037011618122333195, + 0.4828536074518592, + -0.8684634514485762, + -0.11235491653128589, + -0.02200459954810831, + 0.11622944869314762, + -0.992978606443872 + ], + [ + 0.9140566926763267, + 0.4045542332380917, + 0.028917727136742045, + 0.4054845028995734, + -0.9130997314838628, + -0.04279250252536816, + 0.009092880836193355, + 0.05084046354270873, + -0.9986653928042473 + ], + [ + 0.9278737936376772, + 0.37282156786777115, + 0.007368962819989074, + 0.3724120173295737, + -0.9274973836446885, + 0.032525262193795465, + 0.018960812982116017, + -0.027435048111398356, + -0.9994437481450282 + ], + [ + 0.9196268798760724, + 0.3927131831604708, + 0.007921968276308467, + 0.39013932154732883, + -0.9155684268726343, + 0.09760002815860298, + 0.04558192176719121, + -0.0866649380426744, + -0.9951941905588424 + ], + [ + 0.8970415403137056, + 0.4413113596279465, + 0.023680346596868202, + 0.43693627139191976, + -0.893643628382887, + 0.10240976610067642, + 0.06635638397125915, + -0.08151901197881317, + -0.9944603968948472 + ], + [ + 0.8522076950056733, + 0.5222299006413894, + 0.03190572752974723, + 0.517639191920913, + -0.850445149533965, + 0.09376947595895281, + 0.07610329533326489, + -0.06339541395272187, + -0.9950825643780427 + ], + [ + 0.8184923863777666, + 0.5720180146633297, + 0.05353133981371751, + 0.5685322818211932, + -0.819856368163548, + 0.06787179170218083, + 0.08271189738372771, + -0.025118249984814184, + -0.9962569023845627 + ], + [ + 0.7997651268509033, + 0.5958536925528629, + 0.07303505284640643, + 0.591469019652319, + -0.8029357893867188, + 0.07388177659918563, + 0.10266518720912049, + -0.015890097326498463, + -0.9945890428424552 + ], + [ + 0.8016418010919829, + 0.5917229202166303, + 0.08505532571393815, + 0.5840982073225729, + -0.8055858661456756, + 0.09930103961629788, + 0.12727806937786856, + -0.029923200975566604, + -0.9914156016014765 + ], + [ + 0.803071951222344, + 0.5887498393358344, + 0.09191881114313036, + 0.5793721120539947, + -0.8075353726983292, + 0.11051958023383965, + 0.13929607652059203, + -0.0354999791971763, + -0.9896142453213623 + ], + [ + 0.8005606787351994, + 0.5857264834727279, + 0.12659812882388563, + 0.5759757009895222, + -0.810405934871564, + 0.10721106563491892, + 0.1653922354062166, + -0.012911517479315328, + -0.9861433471781453 + ], + [ + 0.7993404320696087, + 0.5907749034468592, + 0.109726419408112, + 0.5815821156667964, + -0.8065677620508188, + 0.10588053625131597, + 0.15105335612062332, + -0.020819670450976775, + -0.988306341640591 + ], + [ + 0.8442296597934356, + 0.5309152946202473, + 0.07352027926603702, + 0.5240815483621801, + -0.8464269862336101, + 0.0943392158213528, + 0.11231568096824168, + -0.0411133422842756, + -0.9928216762817259 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.002376347780227661, + -0.0029175132513046265, + -0.0016474351286888123, + -0.0025792866945266724, + 0.016285903751850128, + -0.0026575028896331787, + 1.0 + ], + [ + 0.0010510236024856567, + -0.013565820641815662, + 0.032611630856990814, + -0.047890760004520416, + 0.004351846873760223, + -0.013200461864471436, + 1.0 + ], + [ + 0.0010025501251220703, + -0.0003037732094526291, + 0.039409175515174866, + -0.09666832536458969, + -0.003871031105518341, + 0.0061515867710113525, + 1.0 + ], + [ + -0.005955755710601807, + 0.01717272400856018, + 0.02391679584980011, + -0.04711467772722244, + -0.015535250306129456, + 0.009589791297912598, + 1.0 + ], + [ + -0.00950610637664795, + 0.03694203123450279, + 0.006483882665634155, + 0.01401413232088089, + -0.019816122949123383, + 0.030159801244735718, + 1.0 + ], + [ + 0.002369821071624756, + 0.0311523899435997, + -0.01187354326248169, + 0.025567956268787384, + 0.000726945698261261, + 0.03656876087188721, + 1.0 + ], + [ + 0.011245578527450562, + 0.014543138444423676, + -0.020002290606498718, + 0.039167873561382294, + 0.002552613615989685, + 0.032885998487472534, + 1.0 + ], + [ + 0.008021354675292969, + -0.005938991904258728, + -0.009991288185119629, + -0.026587530970573425, + 0.028554052114486694, + 0.035166025161743164, + 1.0 + ], + [ + 0.009807422757148743, + -0.009793698787689209, + -0.006290704011917114, + -0.004092073068022728, + 0.0044114068150520325, + 0.01282578706741333, + 1.0 + ], + [ + 0.006632819771766663, + -0.015027046203613281, + -0.024936065077781677, + 0.000869017094373703, + 0.03327108174562454, + 0.005078554153442383, + 1.0 + ], + [ + 0.0056757330894470215, + -0.017950527369976044, + -0.008501216769218445, + 0.004648970440030098, + -0.011397801339626312, + 0.0007335543632507324, + 1.0 + ], + [ + 0.00594407320022583, + -0.021667063236236572, + -0.0035128891468048096, + -0.010454985313117504, + 0.025482971221208572, + -0.0006546378135681152, + 1.0 + ], + [ + 0.012127339839935303, + -0.019136594608426094, + 0.011637657880783081, + -0.030322983860969543, + 0.011494792997837067, + 0.026881515979766846, + 1.0 + ], + [ + 0.013220429420471191, + -0.025261426344513893, + 0.013697698712348938, + -0.02690707892179489, + 0.004810750484466553, + 0.01163172721862793, + 1.0 + ], + [ + 0.005319356918334961, + -0.03394011780619621, + 0.022811025381088257, + -0.05642087012529373, + 0.06545937061309814, + -0.011569976806640625, + 1.0 + ], + [ + -0.0251753032207489, + -0.015184592455625534, + 0.009229689836502075, + -0.018003709614276886, + -0.019855057820677757, + -0.08681613206863403, + 1.0 + ], + [ + -0.03949257731437683, + 0.018277637660503387, + -0.011625155806541443, + 0.06565659493207932, + -0.031099382787942886, + -0.0865168571472168, + 1.0 + ], + [ + -0.020292460918426514, + 0.03875775635242462, + -0.025981605052947998, + 0.07830791920423508, + -0.009868943132460117, + -0.03584834933280945, + 1.0 + ], + [ + 9.256601333618164e-05, + 0.043539512902498245, + -0.029421105980873108, + 0.059420883655548096, + -0.026635771617293358, + 0.019545018672943115, + 1.0 + ], + [ + 0.012293785810470581, + 0.020817816257476807, + -0.009752042591571808, + -0.005074068903923035, + -0.020807456225156784, + 0.05203923583030701, + 1.0 + ], + [ + 0.032620787620544434, + -0.0007624104619026184, + 0.004617765545845032, + -0.01816752552986145, + -0.009771771728992462, + 0.0925869345664978, + 1.0 + ], + [ + 0.03196173906326294, + -0.013144444674253464, + 0.0044877901673316956, + -0.03841543197631836, + -0.006629548966884613, + 0.061248779296875, + 1.0 + ], + [ + 0.020162612199783325, + -0.010676097124814987, + 0.002623729407787323, + -0.009232096374034882, + -0.02003990113735199, + 0.029682934284210205, + 1.0 + ], + [ + 0.007338851690292358, + -0.006346620619297028, + -0.0021437034010887146, + 0.014197951182723045, + -0.024777844548225403, + -0.007099926471710205, + 1.0 + ], + [ + 0.0038508474826812744, + -0.004821274429559708, + -0.005862019956111908, + 0.005684029310941696, + -0.01212628185749054, + -0.004707813262939453, + 1.0 + ], + [ + 0.000950932502746582, + -0.003354482352733612, + -0.002296052873134613, + -0.02276497334241867, + -0.02640518546104431, + -0.0013030767440795898, + 1.0 + ], + [ + -0.0007048547267913818, + -9.59932804107666e-05, + 0.003814026713371277, + 0.007970700040459633, + 0.014521941542625427, + 0.005324721336364746, + 1.0 + ], + [ + -0.019983738660812378, + 0.0009532608091831207, + -0.001352846622467041, + 0.020324060693383217, + 0.03908059746026993, + -0.07343608140945435, + 1.0 + ], + [ + -0.046679526567459106, + 0.008076611906290054, + -0.007568053901195526, + 0.029491513967514038, + 0.004735425114631653, + -0.0937524139881134, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.20177902281284332, + 0.028602853417396545, + 0.09585215896368027 + ], + [ + 0.20283004641532898, + 0.015037032775580883, + 0.12846378982067108 + ], + [ + 0.20383259654045105, + 0.014733259566128254, + 0.16787296533584595 + ], + [ + 0.19787684082984924, + 0.03190598264336586, + 0.19178976118564606 + ], + [ + 0.1883707344532013, + 0.06884801387786865, + 0.1982736438512802 + ], + [ + 0.19074055552482605, + 0.10000040382146835, + 0.18640010058879852 + ], + [ + 0.2019861340522766, + 0.11454354226589203, + 0.1663978099822998 + ], + [ + 0.21000748872756958, + 0.1086045503616333, + 0.15640652179718018 + ], + [ + 0.21981491148471832, + 0.09881085157394409, + 0.15011581778526306 + ], + [ + 0.22644773125648499, + 0.08378380537033081, + 0.12517975270748138 + ], + [ + 0.232123464345932, + 0.06583327800035477, + 0.11667853593826294 + ], + [ + 0.23806753754615784, + 0.044166214764118195, + 0.11316564679145813 + ], + [ + 0.25019487738609314, + 0.0250296201556921, + 0.12480330467224121 + ], + [ + 0.26341530680656433, + -0.0002318060287507251, + 0.13850100338459015 + ], + [ + 0.2687346637248993, + -0.034171923995018005, + 0.1613120287656784 + ], + [ + 0.2435593605041504, + -0.04935651645064354, + 0.17054171860218048 + ], + [ + 0.20406678318977356, + -0.031078878790140152, + 0.15891656279563904 + ], + [ + 0.18377432227134705, + 0.00767887756228447, + 0.13293495774269104 + ], + [ + 0.18386688828468323, + 0.051218390464782715, + 0.10351385176181793 + ], + [ + 0.1961606740951538, + 0.07203620672225952, + 0.09376180917024612 + ], + [ + 0.22878146171569824, + 0.0712737962603569, + 0.09837957471609116 + ], + [ + 0.2607432007789612, + 0.05812935158610344, + 0.10286736488342285 + ], + [ + 0.2809058129787445, + 0.04745325446128845, + 0.10549109429121017 + ], + [ + 0.28824466466903687, + 0.041106633841991425, + 0.10334739089012146 + ], + [ + 0.29209551215171814, + 0.03628535941243172, + 0.09748537093400955 + ], + [ + 0.2930464446544647, + 0.032930877059698105, + 0.09518931806087494 + ], + [ + 0.29234158992767334, + 0.03283488377928734, + 0.09900334477424622 + ], + [ + 0.27235785126686096, + 0.03378814458847046, + 0.09765049815177917 + ], + [ + 0.22567832469940186, + 0.04186475649476051, + 0.09008244425058365 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9140708980781396, + 0.4052618727662819, + 0.0154015508501614, + 0.3957763559662931, + -0.8996777515887506, + 0.18423088599432286, + 0.08851818651930364, + -0.16230452174285553, + -0.9827623175911648 + ], + [ + 0.9195623268148481, + 0.39158386920755833, + 0.03266803451847949, + 0.38382081404066887, + -0.9129133049566158, + 0.1388195963916748, + 0.08418259803558553, + -0.1151145994634351, + -0.9897787223305784 + ], + [ + 0.9168770138962504, + 0.3923351850428717, + 0.07355028188981072, + 0.38933999564517896, + -0.9196252500546084, + 0.051997762000023984, + 0.08803924795059873, + -0.01903948632118932, + -0.995935032409704 + ], + [ + 0.9117373616652591, + 0.3968536709339678, + 0.10602899230826808, + 0.3975199706423392, + -0.9174594138669742, + 0.01568747421933027, + 0.10350292886767275, + 0.027845785553695587, + -0.9942392850530053 + ], + [ + 0.8973044537512201, + 0.425527311738924, + 0.11735085957277432, + 0.42387343863559257, + -0.9048391508107244, + 0.039967726722513836, + 0.12319101143128496, + 0.01387869317953106, + -0.9922859248110725 + ], + [ + 0.8812867654175045, + 0.46112780486364974, + 0.1034155920622423, + 0.45643711661526215, + -0.8872592723234572, + 0.06660437111777807, + 0.12246957040790948, + -0.011494836131103633, + -0.9924056998357179 + ], + [ + 0.8660724695298179, + 0.4935252309494565, + 0.07969519395050667, + 0.4853183359126155, + -0.8682721321492066, + 0.10280864438402532, + 0.11993577593667759, + -0.050362197622392586, + -0.9915034335296629 + ], + [ + 0.8510543972971607, + 0.5209548675610938, + 0.06566916175473689, + 0.5170361001965096, + -0.853245098894811, + 0.06816503726668906, + 0.09154279837732485, + -0.024058827410897612, + -0.9955104664888568 + ], + [ + 0.8446873837303859, + 0.531510915272948, + 0.06324057805261195, + 0.5281176658209306, + -0.8468154657650641, + 0.06320836961154042, + 0.08714903794401514, + -0.019992845890723525, + -0.995994644211816 + ], + [ + 0.8439787130458588, + 0.5352718109656124, + 0.03440959620585153, + 0.5336553086201877, + -0.8444210818990758, + 0.04653007657297305, + 0.05396242680743937, + -0.02090753046125332, + -0.9983240614465143 + ], + [ + 0.8430126296975312, + 0.5362910412963862, + 0.041492471554378824, + 0.5339104865076025, + -0.8436468949935906, + 0.056564202150199555, + 0.06533986966369137, + -0.02553107112738122, + -0.9975363982529261 + ], + [ + 0.8444952480109902, + 0.5349497168120012, + 0.025623750108371576, + 0.5340752131240074, + -0.8447485767882429, + 0.034110243927368444, + 0.0398928917653585, + -0.015120929104993526, + -0.9990895428787149 + ], + [ + 0.830161123010333, + 0.5566016865948423, + 0.03204796907761167, + 0.5567994912009885, + -0.8306407451821172, + 0.003206094449219792, + 0.028404866494018903, + 0.015182717907997693, + -0.9994811897361466 + ], + [ + 0.8237316327608719, + 0.5653262513855768, + 0.043271545886864854, + 0.5664886917780978, + -0.8237937520437526, + -0.021317039691638222, + 0.023595747003362432, + 0.042072361331487486, + -0.998835901004437 + ], + [ + 0.8297342939282071, + 0.5577926756546506, + 0.020207237947967437, + 0.5565875000699266, + -0.8241419533661608, + -0.10488277011844528, + -0.04184920841986653, + 0.09827192726223997, + -0.9942792726728221 + ], + [ + 0.8754245777732386, + 0.48193562718947575, + 0.037011618122333195, + 0.4828536074518592, + -0.8684634514485762, + -0.11235491653128589, + -0.02200459954810831, + 0.11622944869314762, + -0.992978606443872 + ], + [ + 0.9140566926763267, + 0.4045542332380917, + 0.028917727136742045, + 0.4054845028995734, + -0.9130997314838628, + -0.04279250252536816, + 0.009092880836193355, + 0.05084046354270873, + -0.9986653928042473 + ], + [ + 0.9278737936376772, + 0.37282156786777115, + 0.007368962819989074, + 0.3724120173295737, + -0.9274973836446885, + 0.032525262193795465, + 0.018960812982116017, + -0.027435048111398356, + -0.9994437481450282 + ], + [ + 0.9196268798760724, + 0.3927131831604708, + 0.007921968276308467, + 0.39013932154732883, + -0.9155684268726343, + 0.09760002815860298, + 0.04558192176719121, + -0.0866649380426744, + -0.9951941905588424 + ], + [ + 0.8970415403137056, + 0.4413113596279465, + 0.023680346596868202, + 0.43693627139191976, + -0.893643628382887, + 0.10240976610067642, + 0.06635638397125915, + -0.08151901197881317, + -0.9944603968948472 + ], + [ + 0.8522076950056733, + 0.5222299006413894, + 0.03190572752974723, + 0.517639191920913, + -0.850445149533965, + 0.09376947595895281, + 0.07610329533326489, + -0.06339541395272187, + -0.9950825643780427 + ], + [ + 0.8184923863777666, + 0.5720180146633297, + 0.05353133981371751, + 0.5685322818211932, + -0.819856368163548, + 0.06787179170218083, + 0.08271189738372771, + -0.025118249984814184, + -0.9962569023845627 + ], + [ + 0.7997651268509033, + 0.5958536925528629, + 0.07303505284640643, + 0.591469019652319, + -0.8029357893867188, + 0.07388177659918563, + 0.10266518720912049, + -0.015890097326498463, + -0.9945890428424552 + ], + [ + 0.8016418010919829, + 0.5917229202166303, + 0.08505532571393815, + 0.5840982073225729, + -0.8055858661456756, + 0.09930103961629788, + 0.12727806937786856, + -0.029923200975566604, + -0.9914156016014765 + ], + [ + 0.803071951222344, + 0.5887498393358344, + 0.09191881114313036, + 0.5793721120539947, + -0.8075353726983292, + 0.11051958023383965, + 0.13929607652059203, + -0.0354999791971763, + -0.9896142453213623 + ], + [ + 0.8005606787351994, + 0.5857264834727279, + 0.12659812882388563, + 0.5759757009895222, + -0.810405934871564, + 0.10721106563491892, + 0.1653922354062166, + -0.012911517479315328, + -0.9861433471781453 + ], + [ + 0.7993404320696087, + 0.5907749034468592, + 0.109726419408112, + 0.5815821156667964, + -0.8065677620508188, + 0.10588053625131597, + 0.15105335612062332, + -0.020819670450976775, + -0.988306341640591 + ], + [ + 0.8442296597934356, + 0.5309152946202473, + 0.07352027926603702, + 0.5240815483621801, + -0.8464269862336101, + 0.0943392158213528, + 0.11231568096824168, + -0.0411133422842756, + -0.9928216762817259 + ], + [ + 0.8900503299360556, + 0.4512703880048358, + 0.06454027495047765, + 0.4429793654440695, + -0.8896053973023687, + 0.11122732974077969, + 0.10760897718818727, + -0.07040791149053906, + -0.9916970475039504 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006341.json b/json/chunk-0006/episode_0006341.json new file mode 100644 index 0000000000000000000000000000000000000000..38788eaa85f4c854bfc7b16b65e19733fac9ddab --- /dev/null +++ b/json/chunk-0006/episode_0006341.json @@ -0,0 +1,982 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 15, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nEnd effector reaching pot or pan." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006341.mp4", + "start": 0, + "end": 15, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3127478361129761, + -0.09612952917814255, + 0.16348321735858917, + -0.10180053114891052, + -0.11603757739067078, + -0.15656153857707977, + 0.0, + 0.9994885921478271 + ], + [ + 0.312136709690094, + -0.09594443440437317, + 0.15193341672420502, + -0.0982680544257164, + -0.08426350355148315, + -0.15938763320446014, + 0.0, + 0.9994885921478271 + ], + [ + 0.32550668716430664, + -0.08121319115161896, + 0.1470348834991455, + -0.07360875606536865, + -0.12740905582904816, + -0.17941617965698242, + 0.0, + 0.9994885921478271 + ], + [ + 0.3329315781593323, + -0.06350929290056229, + 0.13676311075687408, + -0.06137523427605629, + -0.1129855364561081, + -0.16444118320941925, + 0.0, + 0.9994885921478271 + ], + [ + 0.34038400650024414, + -0.045440539717674255, + 0.14056026935577393, + -0.024293210357427597, + -0.13515692949295044, + -0.17273850739002228, + 0.0, + 0.9994885921478271 + ], + [ + 0.35790586471557617, + -0.02107364684343338, + 0.14265088737010956, + 0.02290971390902996, + -0.1502549797296524, + -0.17521248757839203, + 0.0, + 0.9994885921478271 + ], + [ + 0.365857869386673, + -0.008867915719747543, + 0.13961468636989594, + 0.02591201476752758, + -0.18538689613342285, + -0.17788608372211456, + 0.0, + 0.9994885921478271 + ], + [ + 0.374117910861969, + 0.0015370039036497474, + 0.12661468982696533, + 0.04533325135707855, + -0.1882244348526001, + -0.18743671476840973, + 0.0, + 0.9994885921478271 + ], + [ + 0.3785754144191742, + 0.008337887935340405, + 0.11753704398870468, + 0.022593986243009567, + -0.18088746070861816, + -0.2085903435945511, + 0.0, + 0.9994885921478271 + ], + [ + 0.3767651617527008, + 0.012610546313226223, + 0.10481629520654678, + 0.02723386138677597, + -0.19591255486011505, + -0.21119627356529236, + 0.0, + 0.9994885921478271 + ], + [ + 0.3681758940219879, + 0.016118306666612625, + 0.08128786832094193, + 0.010052351281046867, + -0.2077232003211975, + -0.20296907424926758, + 0.0, + 0.9994885921478271 + ], + [ + 0.36059874296188354, + 0.02031814679503441, + 0.0655808225274086, + -0.006982109975069761, + -0.2192436009645462, + -0.2125435620546341, + 0.0, + 0.9994885921478271 + ], + [ + 0.35159918665885925, + 0.021514466032385826, + 0.05040246248245239, + -0.025009019300341606, + -0.2261187732219696, + -0.19389542937278748, + 0.0, + 0.9994885921478271 + ], + [ + 0.3456026613712311, + 0.017775023356080055, + 0.04440637305378914, + -0.038033463060855865, + -0.2529725432395935, + -0.17921267449855804, + 0.0, + 0.9994885921478271 + ], + [ + 0.34593653678894043, + 0.018400078639388084, + 0.04398196190595627, + -0.0377260223031044, + -0.2542744576931, + -0.17587503790855408, + 0.0, + 1.0001531839370728 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3127478361129761, + -0.09612952917814255, + 0.16348321735858917 + ], + [ + 0.312136709690094, + -0.09594443440437317, + 0.15193341672420502 + ], + [ + 0.32550668716430664, + -0.08121319115161896, + 0.1470348834991455 + ], + [ + 0.3329315781593323, + -0.06350929290056229, + 0.13676311075687408 + ], + [ + 0.34038400650024414, + -0.045440539717674255, + 0.14056026935577393 + ], + [ + 0.35790586471557617, + -0.02107364684343338, + 0.14265088737010956 + ], + [ + 0.365857869386673, + -0.008867915719747543, + 0.13961468636989594 + ], + [ + 0.374117910861969, + 0.0015370039036497474, + 0.12661468982696533 + ], + [ + 0.3785754144191742, + 0.008337887935340405, + 0.11753704398870468 + ], + [ + 0.3767651617527008, + 0.012610546313226223, + 0.10481629520654678 + ], + [ + 0.3681758940219879, + 0.016118306666612625, + 0.08128786832094193 + ], + [ + 0.36059874296188354, + 0.02031814679503441, + 0.0655808225274086 + ], + [ + 0.35159918665885925, + 0.021514466032385826, + 0.05040246248245239 + ], + [ + 0.3456026613712311, + 0.017775023356080055, + 0.04440637305378914 + ], + [ + 0.34593653678894043, + 0.018400078639388084, + 0.04398196190595627 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9811266962631855, + -0.16673742912685494, + 0.0979236212966735, + -0.1548741780012551, + -0.9808208128997541, + -0.1183407029347955, + 0.1157773504107036, + 0.10094138254865044, + -0.9881328060645718 + ], + [ + 0.9838215635332243, + -0.16610057644509282, + 0.06712473189257459, + -0.15815050467290195, + -0.9812508418046305, + -0.11015989891703133, + 0.08416382238675099, + 0.09776187376637178, + -0.9916446273937753 + ], + [ + 0.9759725962877144, + -0.18716654186222798, + 0.111562434998313, + -0.1770086760183056, + -0.9796160152841533, + -0.09497574012896065, + 0.12706462886918796, + 0.07294620076557934, + -0.9892084875718583 + ], + [ + 0.9802199232071451, + -0.1702149870630193, + 0.10097405769263196, + -0.1626573073163891, + -0.9835204570454882, + -0.07893105187197247, + 0.11274529934485317, + 0.06094562127151079, + -0.9917530583383494 + ], + [ + 0.9761336855751991, + -0.1750544019222196, + 0.12852620064808631, + -0.1703132241055897, + -0.9842645099157671, + -0.047082695494564106, + 0.13474581099291114, + 0.024069293465506177, + -0.9905878232301939 + ], + [ + 0.9735949670125018, + -0.17089507201847845, + 0.15135294700706714, + -0.17235333185266413, + -0.9850288674163094, + -0.00352978127195752, + 0.14969024419517274, + -0.02264960742135491, + -0.9884734827381297 + ], + [ + 0.967355347730534, + -0.1721896271456674, + 0.18594182832427433, + -0.17391738516582675, + -0.9847346128737064, + -0.007105304043687248, + 0.18432681398597253, + -0.025465162711198606, + -0.9825350635645901 + ], + [ + 0.9651324736817628, + -0.17781857213042251, + 0.19209337221887532, + -0.18304996687388514, + -0.9830558291409223, + 0.00969259611887403, + 0.1871149856970072, + -0.04451732468996515, + -0.98132878788409 + ], + [ + 0.9623618830883829, + -0.20305188019467593, + 0.18063648559465756, + -0.20370235968561753, + -0.9789157531227562, + -0.015142554164294334, + 0.17990262543135177, + -0.022223461420630666, + -0.9834333546943549 + ], + [ + 0.9590763211843565, + -0.2043690513520058, + 0.19597423553355656, + -0.20561961787502106, + -0.9785294521779924, + -0.014166296805023338, + 0.19466171397686557, + -0.026709587599191797, + -0.9805067134098928 + ], + [ + 0.9584166775694546, + -0.1995376247329997, + 0.20401521627721964, + -0.19724501183921542, + -0.9798407970914397, + -0.031724086429082386, + 0.2062325809887368, + -0.009836090235692917, + -0.9784535624482132 + ], + [ + 0.954098418608461, + -0.21242612900412866, + 0.2111192727468432, + -0.20589730851179128, + -0.9771533639106263, + -0.0527029576565501, + 0.2174913928329922, + 0.006814918522561355, + -0.9760384474645948 + ], + [ + 0.9562820109705148, + -0.19812382741544834, + 0.21510849472868765, + -0.18777782679865543, + -0.9798740018972606, + -0.06772317305488312, + 0.22419679582224716, + 0.02436984645214483, + -0.9742391427811431 + ], + [ + 0.9526668003262054, + -0.18749041743221598, + 0.23931842997839403, + -0.17258154433268594, + -0.9815763172345064, + -0.08199721946559409, + 0.25028299605042137, + 0.03681408447098815, + -0.9674725552038093 + ], + [ + 0.9529158792305648, + -0.18418636577467, + 0.24088733834089246, + -0.16934377647822835, + -0.9822132238924584, + -0.08111638662363832, + 0.25154326164366236, + 0.036504321299035275, + -0.9671573925934522 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0006111264228820801, + 0.00018509477376937866, + -0.011549800634384155, + 0.0035324767231941223, + 0.03177407383918762, + -0.002826094627380371, + 1.0 + ], + [ + 0.013369977474212646, + 0.014731243252754211, + -0.004898533225059509, + 0.024659298360347748, + -0.043145552277565, + -0.020028546452522278, + 1.0 + ], + [ + 0.007424890995025635, + 0.01770389825105667, + -0.010271772742271423, + 0.012233521789312363, + 0.014423519372940063, + 0.014974996447563171, + 1.0 + ], + [ + 0.007452428340911865, + 0.01806875318288803, + 0.0037971585988998413, + 0.03708202391862869, + -0.022171393036842346, + -0.008297324180603027, + 1.0 + ], + [ + 0.01752185821533203, + 0.024366892874240875, + 0.0020906180143356323, + 0.04720292240381241, + -0.015098050236701965, + -0.002473980188369751, + 1.0 + ], + [ + 0.007952004671096802, + 0.012205731123685837, + -0.003036201000213623, + 0.0030023008584976196, + -0.03513191640377045, + -0.002673596143722534, + 1.0 + ], + [ + 0.00826004147529602, + 0.010404919274151325, + -0.012999996542930603, + 0.019421236589550972, + -0.002837538719177246, + -0.009550631046295166, + 1.0 + ], + [ + 0.0044575035572052, + 0.006800883915275335, + -0.00907764583826065, + -0.022739265114068985, + 0.007336974143981934, + -0.021153628826141357, + 1.0 + ], + [ + -0.0018102526664733887, + 0.0042726583778858185, + -0.012720748782157898, + 0.004639875143766403, + -0.015025094151496887, + -0.002605929970741272, + 1.0 + ], + [ + -0.00858926773071289, + 0.003507760353386402, + -0.02352842688560486, + -0.017181510105729103, + -0.011810645461082458, + 0.00822719931602478, + 1.0 + ], + [ + -0.00757715106010437, + 0.0041998401284217834, + -0.015707045793533325, + -0.017034461721777916, + -0.011520400643348694, + -0.009574487805366516, + 1.0 + ], + [ + -0.008999556303024292, + 0.0011963192373514175, + -0.015178360044956207, + -0.018026908859610558, + -0.006875172257423401, + 0.01864813268184662, + 1.0 + ], + [ + -0.005996525287628174, + -0.003739442676305771, + -0.005996089428663254, + -0.01302444376051426, + -0.0268537700176239, + 0.014682754874229431, + 1.0 + ], + [ + 0.0003338754177093506, + 0.0006250552833080292, + -0.0004244111478328705, + 0.00030744075775146484, + -0.0013019144535064697, + 0.0033376365900039673, + 1.0 + ], + [ + -0.00010231137275695801, + -0.0005728155374526978, + 0.00047745928168296814, + 0.0002635382115840912, + -0.00011518597602844238, + -0.0032823532819747925, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.312136709690094, + -0.09594443440437317, + 0.15193341672420502 + ], + [ + 0.32550668716430664, + -0.08121319115161896, + 0.1470348834991455 + ], + [ + 0.3329315781593323, + -0.06350929290056229, + 0.13676311075687408 + ], + [ + 0.34038400650024414, + -0.045440539717674255, + 0.14056026935577393 + ], + [ + 0.35790586471557617, + -0.02107364684343338, + 0.14265088737010956 + ], + [ + 0.365857869386673, + -0.008867915719747543, + 0.13961468636989594 + ], + [ + 0.374117910861969, + 0.0015370039036497474, + 0.12661468982696533 + ], + [ + 0.3785754144191742, + 0.008337887935340405, + 0.11753704398870468 + ], + [ + 0.3767651617527008, + 0.012610546313226223, + 0.10481629520654678 + ], + [ + 0.3681758940219879, + 0.016118306666612625, + 0.08128786832094193 + ], + [ + 0.36059874296188354, + 0.02031814679503441, + 0.0655808225274086 + ], + [ + 0.35159918665885925, + 0.021514466032385826, + 0.05040246248245239 + ], + [ + 0.3456026613712311, + 0.017775023356080055, + 0.04440637305378914 + ], + [ + 0.34593653678894043, + 0.018400078639388084, + 0.04398196190595627 + ], + [ + 0.34583422541618347, + 0.017827263101935387, + 0.044459421187639236 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9838215635332243, + -0.16610057644509282, + 0.06712473189257459, + -0.15815050467290195, + -0.9812508418046305, + -0.11015989891703133, + 0.08416382238675099, + 0.09776187376637178, + -0.9916446273937753 + ], + [ + 0.9759725962877144, + -0.18716654186222798, + 0.111562434998313, + -0.1770086760183056, + -0.9796160152841533, + -0.09497574012896065, + 0.12706462886918796, + 0.07294620076557934, + -0.9892084875718583 + ], + [ + 0.9802199232071451, + -0.1702149870630193, + 0.10097405769263196, + -0.1626573073163891, + -0.9835204570454882, + -0.07893105187197247, + 0.11274529934485317, + 0.06094562127151079, + -0.9917530583383494 + ], + [ + 0.9761336855751991, + -0.1750544019222196, + 0.12852620064808631, + -0.1703132241055897, + -0.9842645099157671, + -0.047082695494564106, + 0.13474581099291114, + 0.024069293465506177, + -0.9905878232301939 + ], + [ + 0.9735949670125018, + -0.17089507201847845, + 0.15135294700706714, + -0.17235333185266413, + -0.9850288674163094, + -0.00352978127195752, + 0.14969024419517274, + -0.02264960742135491, + -0.9884734827381297 + ], + [ + 0.967355347730534, + -0.1721896271456674, + 0.18594182832427433, + -0.17391738516582675, + -0.9847346128737064, + -0.007105304043687248, + 0.18432681398597253, + -0.025465162711198606, + -0.9825350635645901 + ], + [ + 0.9651324736817628, + -0.17781857213042251, + 0.19209337221887532, + -0.18304996687388514, + -0.9830558291409223, + 0.00969259611887403, + 0.1871149856970072, + -0.04451732468996515, + -0.98132878788409 + ], + [ + 0.9623618830883829, + -0.20305188019467593, + 0.18063648559465756, + -0.20370235968561753, + -0.9789157531227562, + -0.015142554164294334, + 0.17990262543135177, + -0.022223461420630666, + -0.9834333546943549 + ], + [ + 0.9590763211843565, + -0.2043690513520058, + 0.19597423553355656, + -0.20561961787502106, + -0.9785294521779924, + -0.014166296805023338, + 0.19466171397686557, + -0.026709587599191797, + -0.9805067134098928 + ], + [ + 0.9584166775694546, + -0.1995376247329997, + 0.20401521627721964, + -0.19724501183921542, + -0.9798407970914397, + -0.031724086429082386, + 0.2062325809887368, + -0.009836090235692917, + -0.9784535624482132 + ], + [ + 0.954098418608461, + -0.21242612900412866, + 0.2111192727468432, + -0.20589730851179128, + -0.9771533639106263, + -0.0527029576565501, + 0.2174913928329922, + 0.006814918522561355, + -0.9760384474645948 + ], + [ + 0.9562820109705148, + -0.19812382741544834, + 0.21510849472868765, + -0.18777782679865543, + -0.9798740018972606, + -0.06772317305488312, + 0.22419679582224716, + 0.02436984645214483, + -0.9742391427811431 + ], + [ + 0.9526668003262054, + -0.18749041743221598, + 0.23931842997839403, + -0.17258154433268594, + -0.9815763172345064, + -0.08199721946559409, + 0.25028299605042137, + 0.03681408447098815, + -0.9674725552038093 + ], + [ + 0.9529158792305648, + -0.18418636577467, + 0.24088733834089246, + -0.16934377647822835, + -0.9822132238924584, + -0.08111638662363832, + 0.25154326164366236, + 0.036504321299035275, + -0.9671573925934522 + ], + [ + 0.9523263840321047, + -0.18735002810621057, + 0.2407787890262312, + -0.17246550081314546, + -0.9816241765409863, + -0.08166778471038211, + 0.25165474226727214, + 0.03624835167055894, + -0.9671380189484644 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006343.json b/json/chunk-0006/episode_0006343.json new file mode 100644 index 0000000000000000000000000000000000000000..20921011a70fc9fbefbfb749873395f067aa85c3 --- /dev/null +++ b/json/chunk-0006/episode_0006343.json @@ -0,0 +1,1522 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 24, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut can in pot." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006343.mp4", + "start": 0, + "end": 24, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3858797550201416, + 0.11324701458215714, + 0.02868352085351944, + 0.018448004499077797, + -0.11262428760528564, + 0.027707966044545174, + 0.0, + 1.0054124593734741 + ], + [ + 0.36385849118232727, + 0.10187120735645294, + 0.015011298470199108, + 0.019736390560865402, + -0.00506534893065691, + 0.04220515862107277, + 0.0, + 1.0054124593734741 + ], + [ + 0.3540436029434204, + 0.0901680663228035, + 0.05689401924610138, + 0.07167693972587585, + -0.03351617604494095, + 0.06642675399780273, + 0.0, + 1.0054124593734741 + ], + [ + 0.33486318588256836, + 0.06648045033216476, + 0.07556983083486557, + 0.10968384891748428, + -0.017505712807178497, + 0.08252134919166565, + 0.0, + 1.0054124593734741 + ], + [ + 0.3104114532470703, + 0.044445909559726715, + 0.08486178517341614, + 0.13577137887477875, + -0.031665027141571045, + 0.07898840308189392, + 0.0, + 1.0054124593734741 + ], + [ + 0.28425511717796326, + 0.026849249377846718, + 0.08310645818710327, + 0.1428970843553543, + -0.0395493246614933, + 0.07548020780086517, + 0.0, + 1.0054124593734741 + ], + [ + 0.27090075612068176, + 0.014189029112458229, + 0.08197685331106186, + 0.1384301781654358, + -0.045118678361177444, + 0.07196147739887238, + 0.0, + 1.0054124593734741 + ], + [ + 0.26756551861763, + 0.004302486311644316, + 0.08541391044855118, + 0.12283013761043549, + -0.05145576596260071, + 0.06624162197113037, + 0.0, + 1.0054124593734741 + ], + [ + 0.2645573914051056, + -0.004185121972113848, + 0.08221267908811569, + 0.11114966869354248, + -0.04773242026567459, + 0.0668431743979454, + 0.0, + 1.0054124593734741 + ], + [ + 0.26288431882858276, + -0.01166537031531334, + 0.07542523741722107, + 0.0923139676451683, + -0.06384668499231339, + 0.07244806736707687, + 0.0, + 1.0054124593734741 + ], + [ + 0.260931134223938, + -0.013714032247662544, + 0.06917642056941986, + 0.07770992815494537, + -0.07563721388578415, + 0.08096972107887268, + 0.0, + 1.0054124593734741 + ], + [ + 0.2574912905693054, + -0.0163093414157629, + 0.06028958410024643, + 0.06055793538689613, + -0.09086927771568298, + 0.08234237879514694, + 0.0, + 1.0054124593734741 + ], + [ + 0.2552773952484131, + -0.01698298752307892, + 0.05315885692834854, + 0.04009544849395752, + -0.10432865470647812, + 0.08314256370067596, + 0.0, + 1.0054124593734741 + ], + [ + 0.2559327185153961, + -0.015210593119263649, + 0.044804856181144714, + 0.013343985192477703, + -0.11798655986785889, + 0.0895635336637497, + 0.0, + 1.0054124593734741 + ], + [ + 0.257742315530777, + -0.01267941389232874, + 0.03318681940436363, + -0.01046688575297594, + -0.12733137607574463, + 0.10460780560970306, + 0.0, + 1.0054124593734741 + ], + [ + 0.2597392499446869, + -0.011266971938312054, + 0.02698615938425064, + -0.026880349963903427, + -0.1308807134628296, + 0.12060084193944931, + 0.0, + 0.8740299344062805 + ], + [ + 0.2601316273212433, + -0.010832054540514946, + 0.026134731248021126, + -0.032670702785253525, + -0.12832681834697723, + 0.13588330149650574, + 0.0, + 0.8678563833236694 + ], + [ + 0.2632288932800293, + 0.007373368833214045, + 0.02874000184237957, + 0.07682257145643234, + -0.0910692811012268, + 0.0680834949016571, + 0.0, + 0.8678563833236694 + ], + [ + 0.28470396995544434, + 0.04811481013894081, + 0.04820585995912552, + 0.20444558560848236, + -0.10878687351942062, + 0.015652893111109734, + 0.0, + 0.8678563833236694 + ], + [ + 0.30077865719795227, + 0.08088529109954834, + 0.05336675047874451, + 0.2564522922039032, + -0.11197348684072495, + -0.04061120003461838, + 0.0, + 0.8678563833236694 + ], + [ + 0.3168027400970459, + 0.10347902029752731, + 0.04616308584809303, + 0.25575774908065796, + -0.12881994247436523, + -0.09482123702764511, + 0.0, + 0.8678563833236694 + ], + [ + 0.32961246371269226, + 0.11733077466487885, + 0.03452471271157265, + 0.2066715508699417, + -0.1275438666343689, + -0.13140489161014557, + 0.0, + 0.8678563833236694 + ], + [ + 0.3370895981788635, + 0.12414760887622833, + 0.02639233134686947, + 0.1755732297897339, + -0.11100533604621887, + -0.13790172338485718, + 0.0, + 0.905788779258728 + ], + [ + 0.3383661210536957, + 0.12690390646457672, + 0.02592923305928707, + 0.18709005415439606, + -0.10533622652292252, + -0.14799435436725616, + 0.0, + 0.9968144297599792 + ] + ], + "left_gripper_pos": [ + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 0.8740299344062805 + ], + [ + 0.8678563833236694 + ], + [ + 0.8678563833236694 + ], + [ + 0.8678563833236694 + ], + [ + 0.8678563833236694 + ], + [ + 0.8678563833236694 + ], + [ + 0.8678563833236694 + ], + [ + 0.905788779258728 + ], + [ + 0.9968144297599792 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3858797550201416, + 0.11324701458215714, + 0.02868352085351944 + ], + [ + 0.36385849118232727, + 0.10187120735645294, + 0.015011298470199108 + ], + [ + 0.3540436029434204, + 0.0901680663228035, + 0.05689401924610138 + ], + [ + 0.33486318588256836, + 0.06648045033216476, + 0.07556983083486557 + ], + [ + 0.3104114532470703, + 0.044445909559726715, + 0.08486178517341614 + ], + [ + 0.28425511717796326, + 0.026849249377846718, + 0.08310645818710327 + ], + [ + 0.27090075612068176, + 0.014189029112458229, + 0.08197685331106186 + ], + [ + 0.26756551861763, + 0.004302486311644316, + 0.08541391044855118 + ], + [ + 0.2645573914051056, + -0.004185121972113848, + 0.08221267908811569 + ], + [ + 0.26288431882858276, + -0.01166537031531334, + 0.07542523741722107 + ], + [ + 0.260931134223938, + -0.013714032247662544, + 0.06917642056941986 + ], + [ + 0.2574912905693054, + -0.0163093414157629, + 0.06028958410024643 + ], + [ + 0.2552773952484131, + -0.01698298752307892, + 0.05315885692834854 + ], + [ + 0.2559327185153961, + -0.015210593119263649, + 0.044804856181144714 + ], + [ + 0.257742315530777, + -0.01267941389232874, + 0.03318681940436363 + ], + [ + 0.2597392499446869, + -0.011266971938312054, + 0.02698615938425064 + ], + [ + 0.2601316273212433, + -0.010832054540514946, + 0.026134731248021126 + ], + [ + 0.2632288932800293, + 0.007373368833214045, + 0.02874000184237957 + ], + [ + 0.28470396995544434, + 0.04811481013894081, + 0.04820585995912552 + ], + [ + 0.30077865719795227, + 0.08088529109954834, + 0.05336675047874451 + ], + [ + 0.3168027400970459, + 0.10347902029752731, + 0.04616308584809303 + ], + [ + 0.32961246371269226, + 0.11733077466487885, + 0.03452471271157265 + ], + [ + 0.3370895981788635, + 0.12414760887622833, + 0.02639233134686947 + ], + [ + 0.3383661210536957, + 0.12690390646457672, + 0.02592923305928707 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9932831764838064, + 0.029772097080835183, + 0.11181302942702495, + 0.027528901821181798, + -0.9993886281485816, + 0.021552946244433862, + 0.11238634649617879, + -0.01833008899883051, + -0.9934955042467659 + ], + [ + 0.9990966770626555, + 0.04228428839206215, + 0.004227154780323249, + 0.04219208861872148, + -0.9989106939109934, + 0.019931212914614284, + 0.005065327269767014, + -0.019734856103722963, + -0.9997924174118423 + ], + [ + 0.9972341784770418, + 0.06860201359404881, + 0.028596450969685962, + 0.06634063448608542, + -0.9950732291958218, + 0.07367624280447088, + 0.033509901420376145, + -0.07157536076501236, + -0.9968721353504446 + ], + [ + 0.996444345560866, + 0.08384202194460144, + 0.008317545071607473, + 0.0824150928014668, + -0.990450305482787, + 0.1105257655371782, + 0.017504818716652444, + -0.10944728285935036, + -0.9938384544765826 + ], + [ + 0.9963823056549124, + 0.08245206466609716, + 0.020590240651781833, + 0.0788667363815146, + -0.9873698114484225, + 0.13740776300062188, + 0.03165973579057851, + -0.13528677863192737, + -0.9903005345131681 + ], + [ + 0.9963729751961375, + 0.08025472896347, + 0.028285557760054248, + 0.07534958903895517, + -0.9865647045177631, + 0.14495697027545662, + 0.03953901529449058, + -0.14229990259581704, + -0.989033570709692 + ], + [ + 0.9963968489852124, + 0.07741922183650715, + 0.034635002852169666, + 0.07182621507474946, + -0.9874229986735582, + 0.14084323384016137, + 0.045103371940199116, + -0.1378480532352497, + -0.9894258941724116 + ], + [ + 0.9964861728300788, + 0.07198231535326162, + 0.04282351731053606, + 0.06610557803484378, + -0.9898720810997476, + 0.1256316664377808, + 0.051433062432071505, + -0.12235934510955111, + -0.9911522742511466 + ], + [ + 0.9966303945252529, + 0.07166193886675998, + 0.039905177938402106, + 0.06671733345180636, + -0.9912563343928189, + 0.11384057687482259, + 0.04771429686707389, + -0.11079461198076677, + -0.9926972850927477 + ], + [ + 0.9953446239519529, + 0.0779426465261565, + 0.056692357707579855, + 0.07223722299379974, + -0.992704310499451, + 0.09653981318582368, + 0.06380331640353513, + -0.09199508556606874, + -0.9937132589673956 + ], + [ + 0.9938739793388267, + 0.08648421638142248, + 0.06881128911811403, + 0.08065002573993499, + -0.9932412629053012, + 0.08347075542026738, + 0.0755651145791046, + -0.07740977960938508, + -0.9941316006844734 + ], + [ + 0.9924999877243473, + 0.08757191073147937, + 0.0852932284416991, + 0.08191001761600962, + -0.994333213229956, + 0.06776584745973042, + 0.09074427464757794, + -0.06027123292772655, + -0.9940487186753254 + ], + [ + 0.9911271304231923, + 0.08714004241430692, + 0.10036744665040055, + 0.08259525669728562, + -0.9953980384579276, + 0.04858774130600649, + 0.10413949735906018, + -0.03986675359422567, + -0.9937633556575023 + ], + [ + 0.9890673896821873, + 0.09100029600992174, + 0.11603725605757087, + 0.08882199651935763, + -0.9957627036077129, + 0.023817872242767074, + 0.11771300523552555, + -0.013250819973276089, + -0.9929592459756122 + ], + [ + 0.9864821527633132, + 0.10308953209924276, + 0.12737939649338378, + 0.10357179741153222, + -0.9946178981340712, + 0.0028494722857201047, + 0.12698757837050048, + 0.010381959493359414, + -0.9918499734620526 + ], + [ + 0.9842459891870514, + 0.11678306096294176, + 0.1327461842816146, + 0.11927974708335025, + -0.9927998998578148, + -0.01098639058311295, + 0.13050737414006364, + 0.026647242154462104, + -0.9910891734756397 + ], + [ + 0.9826352633224302, + 0.1312514806929968, + 0.1311525374941492, + 0.13435164517290338, + -0.9908196246020426, + -0.015036852822372906, + 0.12797489876765913, + 0.032396301013592865, + -0.9912481550883432 + ], + [ + 0.9935488728522797, + 0.07479372733668385, + 0.08524397694294931, + 0.06774899235695189, + -0.9942658131280391, + 0.08273794099115993, + 0.09094345104834077, + -0.07642899447150132, + -0.9929188776105996 + ], + [ + 0.9939667616446679, + 0.03736641824651296, + 0.10312045157503347, + 0.015559726275507611, + -0.978708721703253, + 0.20466346273875116, + 0.10857242589093899, + -0.20182415328550637, + -0.9733853499445866 + ], + [ + 0.992918158608859, + -0.010952807345330733, + 0.11829440526097759, + -0.04034578075254572, + -0.9676491043556323, + 0.24905306425581245, + 0.11173964506950898, + -0.25206199009568736, + -0.9612382664400858 + ], + [ + 0.9872592341156611, + -0.05924683408907449, + 0.14767876388898912, + -0.09389471522376672, + -0.9662027791816432, + 0.24007492987547938, + 0.1284639525563723, + -0.25088244687919137, + -0.9594555803899958 + ], + [ + 0.9833261220822721, + -0.10236220014235486, + 0.15030541444890388, + -0.12996275795693846, + -0.9737016096045144, + 0.18712257212267028, + 0.12719834580239836, + -0.20353661939708587, + -0.9707695016787142 + ], + [ + 0.9844102773838123, + -0.11618565483842867, + 0.13205036687147345, + -0.13661899629278457, + -0.9779390556969069, + 0.15802042018230977, + 0.11077750508599359, + -0.17359751424604886, + -0.9785664246307018 + ], + [ + 0.983586665204458, + -0.1255389657709775, + 0.1296041670052586, + -0.1466374068487734, + -0.9746928883312656, + 0.16873424178015145, + 0.10514153767489291, + -0.18496956914478835, + -0.9771036360313836 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.02202126383781433, + -0.011375807225704193, + -0.013672222383320332, + 0.0012883860617876053, + 0.10755893588066101, + 0.014497192576527596, + 1.0 + ], + [ + -0.00981488823890686, + -0.011703141033649445, + 0.0418827198445797, + 0.05194054916501045, + -0.028450828045606613, + 0.024221595376729965, + 1.0 + ], + [ + -0.01918041706085205, + -0.023687615990638733, + 0.01867581158876419, + 0.03800690919160843, + 0.01601046323776245, + 0.016094595193862915, + 1.0 + ], + [ + -0.024451732635498047, + -0.02203454077243805, + 0.009291954338550568, + 0.026087529957294464, + -0.014159314334392548, + -0.0035329461097717285, + 1.0 + ], + [ + -0.026156336069107056, + -0.017596660181879997, + -0.0017553269863128662, + 0.0071257054805755615, + -0.007884297519922256, + -0.0035081952810287476, + 1.0 + ], + [ + -0.013354361057281494, + -0.012660220265388489, + -0.0011296048760414124, + -0.004466906189918518, + -0.005569353699684143, + -0.003518730401992798, + 1.0 + ], + [ + -0.003335237503051758, + -0.009886542335152626, + 0.003437057137489319, + -0.015600040555000305, + -0.0063370876014232635, + -0.005719855427742004, + 1.0 + ], + [ + -0.003008127212524414, + -0.008487608283758163, + -0.003201231360435486, + -0.011680468916893005, + 0.003723345696926117, + 0.000601552426815033, + 1.0 + ], + [ + -0.0016730725765228271, + -0.0074802483431994915, + -0.006787441670894623, + -0.018835701048374176, + -0.016114264726638794, + 0.00560489296913147, + 1.0 + ], + [ + -0.0019531846046447754, + -0.002048661932349205, + -0.0062488168478012085, + -0.014604039490222931, + -0.011790528893470764, + 0.008521653711795807, + 1.0 + ], + [ + -0.0034398436546325684, + -0.002595309168100357, + -0.008886836469173431, + -0.01715199276804924, + -0.015232063829898834, + 0.0013726577162742615, + 1.0 + ], + [ + -0.002213895320892334, + -0.0006736461073160172, + -0.007130727171897888, + -0.020462486892938614, + -0.013459376990795135, + 0.0008001849055290222, + 1.0 + ], + [ + 0.0006553232669830322, + 0.0017723944038152695, + -0.008354000747203827, + -0.026751462370157242, + -0.013657905161380768, + 0.0064209699630737305, + 1.0 + ], + [ + 0.0018095970153808594, + 0.00253117922693491, + -0.011618036776781082, + -0.023810870945453644, + -0.009344816207885742, + 0.01504427194595337, + 1.0 + ], + [ + 0.001996934413909912, + 0.0014124419540166855, + -0.006200660020112991, + -0.01641346514225006, + -0.003549337387084961, + 0.015993036329746246, + 0.0 + ], + [ + 0.0003923773765563965, + 0.0004349173977971077, + -0.0008514281362295151, + -0.005790352821350098, + 0.002553895115852356, + 0.015282459557056427, + 0.0 + ], + [ + 0.0030972659587860107, + 0.018205422908067703, + 0.002605270594358444, + 0.10949327051639557, + 0.03725753724575043, + -0.06779980659484863, + 0.0 + ], + [ + 0.02147507667541504, + 0.040741439908742905, + 0.01946585811674595, + 0.12762302160263062, + -0.017717592418193817, + -0.05243059992790222, + 0.0 + ], + [ + 0.016074687242507935, + 0.03277048096060753, + 0.005160890519618988, + 0.05200670659542084, + -0.0031866133213043213, + -0.05626409500837326, + 0.0 + ], + [ + 0.016024082899093628, + 0.022593729197978973, + -0.007203664630651474, + -0.0006945431232452393, + -0.01684645563364029, + -0.05421003699302673, + 0.0 + ], + [ + 0.012809723615646362, + 0.013851754367351532, + -0.011638373136520386, + -0.04908619821071625, + 0.0012760758399963379, + -0.03658365458250046, + 1.0 + ], + [ + 0.007477134466171265, + 0.006816834211349487, + -0.008132381364703178, + -0.031098321080207825, + 0.016538530588150024, + -0.006496831774711609, + 1.0 + ], + [ + 0.0012765228748321533, + 0.0027562975883483887, + -0.00046309828758239746, + 0.01151682436466217, + 0.005669109523296356, + -0.010092630982398987, + 1.0 + ], + [ + 0.00043073296546936035, + -0.00047728419303894043, + 3.884546458721161e-05, + 0.0005211532115936279, + -0.0014274045825004578, + -0.001806110143661499, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 0.8740299344062805 + ], + [ + 0.8678563833236694 + ], + [ + 0.8678563833236694 + ], + [ + 0.8678563833236694 + ], + [ + 0.8678563833236694 + ], + [ + 0.8678563833236694 + ], + [ + 0.8678563833236694 + ], + [ + 0.905788779258728 + ], + [ + 0.9968144297599792 + ], + [ + 1.0027955770492554 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.36385849118232727, + 0.10187120735645294, + 0.015011298470199108 + ], + [ + 0.3540436029434204, + 0.0901680663228035, + 0.05689401924610138 + ], + [ + 0.33486318588256836, + 0.06648045033216476, + 0.07556983083486557 + ], + [ + 0.3104114532470703, + 0.044445909559726715, + 0.08486178517341614 + ], + [ + 0.28425511717796326, + 0.026849249377846718, + 0.08310645818710327 + ], + [ + 0.27090075612068176, + 0.014189029112458229, + 0.08197685331106186 + ], + [ + 0.26756551861763, + 0.004302486311644316, + 0.08541391044855118 + ], + [ + 0.2645573914051056, + -0.004185121972113848, + 0.08221267908811569 + ], + [ + 0.26288431882858276, + -0.01166537031531334, + 0.07542523741722107 + ], + [ + 0.260931134223938, + -0.013714032247662544, + 0.06917642056941986 + ], + [ + 0.2574912905693054, + -0.0163093414157629, + 0.06028958410024643 + ], + [ + 0.2552773952484131, + -0.01698298752307892, + 0.05315885692834854 + ], + [ + 0.2559327185153961, + -0.015210593119263649, + 0.044804856181144714 + ], + [ + 0.257742315530777, + -0.01267941389232874, + 0.03318681940436363 + ], + [ + 0.2597392499446869, + -0.011266971938312054, + 0.02698615938425064 + ], + [ + 0.2601316273212433, + -0.010832054540514946, + 0.026134731248021126 + ], + [ + 0.2632288932800293, + 0.007373368833214045, + 0.02874000184237957 + ], + [ + 0.28470396995544434, + 0.04811481013894081, + 0.04820585995912552 + ], + [ + 0.30077865719795227, + 0.08088529109954834, + 0.05336675047874451 + ], + [ + 0.3168027400970459, + 0.10347902029752731, + 0.04616308584809303 + ], + [ + 0.32961246371269226, + 0.11733077466487885, + 0.03452471271157265 + ], + [ + 0.3370895981788635, + 0.12414760887622833, + 0.02639233134686947 + ], + [ + 0.3383661210536957, + 0.12690390646457672, + 0.02592923305928707 + ], + [ + 0.33879685401916504, + 0.12642662227153778, + 0.025968078523874283 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9990966770626555, + 0.04228428839206215, + 0.004227154780323249, + 0.04219208861872148, + -0.9989106939109934, + 0.019931212914614284, + 0.005065327269767014, + -0.019734856103722963, + -0.9997924174118423 + ], + [ + 0.9972341784770418, + 0.06860201359404881, + 0.028596450969685962, + 0.06634063448608542, + -0.9950732291958218, + 0.07367624280447088, + 0.033509901420376145, + -0.07157536076501236, + -0.9968721353504446 + ], + [ + 0.996444345560866, + 0.08384202194460144, + 0.008317545071607473, + 0.0824150928014668, + -0.990450305482787, + 0.1105257655371782, + 0.017504818716652444, + -0.10944728285935036, + -0.9938384544765826 + ], + [ + 0.9963823056549124, + 0.08245206466609716, + 0.020590240651781833, + 0.0788667363815146, + -0.9873698114484225, + 0.13740776300062188, + 0.03165973579057851, + -0.13528677863192737, + -0.9903005345131681 + ], + [ + 0.9963729751961375, + 0.08025472896347, + 0.028285557760054248, + 0.07534958903895517, + -0.9865647045177631, + 0.14495697027545662, + 0.03953901529449058, + -0.14229990259581704, + -0.989033570709692 + ], + [ + 0.9963968489852124, + 0.07741922183650715, + 0.034635002852169666, + 0.07182621507474946, + -0.9874229986735582, + 0.14084323384016137, + 0.045103371940199116, + -0.1378480532352497, + -0.9894258941724116 + ], + [ + 0.9964861728300788, + 0.07198231535326162, + 0.04282351731053606, + 0.06610557803484378, + -0.9898720810997476, + 0.1256316664377808, + 0.051433062432071505, + -0.12235934510955111, + -0.9911522742511466 + ], + [ + 0.9966303945252529, + 0.07166193886675998, + 0.039905177938402106, + 0.06671733345180636, + -0.9912563343928189, + 0.11384057687482259, + 0.04771429686707389, + -0.11079461198076677, + -0.9926972850927477 + ], + [ + 0.9953446239519529, + 0.0779426465261565, + 0.056692357707579855, + 0.07223722299379974, + -0.992704310499451, + 0.09653981318582368, + 0.06380331640353513, + -0.09199508556606874, + -0.9937132589673956 + ], + [ + 0.9938739793388267, + 0.08648421638142248, + 0.06881128911811403, + 0.08065002573993499, + -0.9932412629053012, + 0.08347075542026738, + 0.0755651145791046, + -0.07740977960938508, + -0.9941316006844734 + ], + [ + 0.9924999877243473, + 0.08757191073147937, + 0.0852932284416991, + 0.08191001761600962, + -0.994333213229956, + 0.06776584745973042, + 0.09074427464757794, + -0.06027123292772655, + -0.9940487186753254 + ], + [ + 0.9911271304231923, + 0.08714004241430692, + 0.10036744665040055, + 0.08259525669728562, + -0.9953980384579276, + 0.04858774130600649, + 0.10413949735906018, + -0.03986675359422567, + -0.9937633556575023 + ], + [ + 0.9890673896821873, + 0.09100029600992174, + 0.11603725605757087, + 0.08882199651935763, + -0.9957627036077129, + 0.023817872242767074, + 0.11771300523552555, + -0.013250819973276089, + -0.9929592459756122 + ], + [ + 0.9864821527633132, + 0.10308953209924276, + 0.12737939649338378, + 0.10357179741153222, + -0.9946178981340712, + 0.0028494722857201047, + 0.12698757837050048, + 0.010381959493359414, + -0.9918499734620526 + ], + [ + 0.9842459891870514, + 0.11678306096294176, + 0.1327461842816146, + 0.11927974708335025, + -0.9927998998578148, + -0.01098639058311295, + 0.13050737414006364, + 0.026647242154462104, + -0.9910891734756397 + ], + [ + 0.9826352633224302, + 0.1312514806929968, + 0.1311525374941492, + 0.13435164517290338, + -0.9908196246020426, + -0.015036852822372906, + 0.12797489876765913, + 0.032396301013592865, + -0.9912481550883432 + ], + [ + 0.9935488728522797, + 0.07479372733668385, + 0.08524397694294931, + 0.06774899235695189, + -0.9942658131280391, + 0.08273794099115993, + 0.09094345104834077, + -0.07642899447150132, + -0.9929188776105996 + ], + [ + 0.9939667616446679, + 0.03736641824651296, + 0.10312045157503347, + 0.015559726275507611, + -0.978708721703253, + 0.20466346273875116, + 0.10857242589093899, + -0.20182415328550637, + -0.9733853499445866 + ], + [ + 0.992918158608859, + -0.010952807345330733, + 0.11829440526097759, + -0.04034578075254572, + -0.9676491043556323, + 0.24905306425581245, + 0.11173964506950898, + -0.25206199009568736, + -0.9612382664400858 + ], + [ + 0.9872592341156611, + -0.05924683408907449, + 0.14767876388898912, + -0.09389471522376672, + -0.9662027791816432, + 0.24007492987547938, + 0.1284639525563723, + -0.25088244687919137, + -0.9594555803899958 + ], + [ + 0.9833261220822721, + -0.10236220014235486, + 0.15030541444890388, + -0.12996275795693846, + -0.9737016096045144, + 0.18712257212267028, + 0.12719834580239836, + -0.20353661939708587, + -0.9707695016787142 + ], + [ + 0.9844102773838123, + -0.11618565483842867, + 0.13205036687147345, + -0.13661899629278457, + -0.9779390556969069, + 0.15802042018230977, + 0.11077750508599359, + -0.17359751424604886, + -0.9785664246307018 + ], + [ + 0.983586665204458, + -0.1255389657709775, + 0.1296041670052586, + -0.1466374068487734, + -0.9746928883312656, + 0.16873424178015145, + 0.10514153767489291, + -0.18496956914478835, + -0.9771036360313836 + ], + [ + 0.983170817341784, + -0.12696967475415777, + 0.1313538945761106, + -0.14839108338884233, + -0.9744161239281988, + 0.16879959656181345, + 0.10656092294164042, + -0.18545058404213435, + -0.9768586645877986 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006344.json b/json/chunk-0006/episode_0006344.json new file mode 100644 index 0000000000000000000000000000000000000000..8158ab172fcf491702b505fcdf7c88bf3707c2e1 --- /dev/null +++ b/json/chunk-0006/episode_0006344.json @@ -0,0 +1,1882 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 30, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPick the printed object on top of the drawer and put in the drawer." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006344.mp4", + "start": 0, + "end": 30, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3581421971321106, + -0.08118566125631332, + 0.08827980607748032, + 0.06725601851940155, + -0.12241209298372269, + 0.015068563632667065, + 0.0, + 1.0001531839370728 + ], + [ + 0.3554466664791107, + -0.08066413551568985, + 0.07496940344572067, + 0.07716633379459381, + -0.0836012214422226, + 0.013268426060676575, + 0.0, + 1.0001531839370728 + ], + [ + 0.35541418194770813, + -0.05216965079307556, + 0.08393092453479767, + 0.08080754429101944, + -0.07371730357408524, + 0.07838868349790573, + 0.0, + 1.0001531839370728 + ], + [ + 0.36092814803123474, + -0.020058322697877884, + 0.11789804697036743, + 0.04657960683107376, + -0.1337316334247589, + 0.1456187665462494, + 0.0, + 1.0001531839370728 + ], + [ + 0.3665001392364502, + 0.005612543318420649, + 0.14206969738006592, + 0.07275339215993881, + -0.16034410893917084, + 0.16983254253864288, + 0.0, + 1.0001531839370728 + ], + [ + 0.36302196979522705, + 0.047361332923173904, + 0.16767992079257965, + 0.09613153338432312, + -0.18417102098464966, + 0.22809135913848877, + 0.0, + 1.0001531839370728 + ], + [ + 0.3587336838245392, + 0.07181794941425323, + 0.17579928040504456, + 0.10953899472951889, + -0.18276621401309967, + 0.22253763675689697, + 0.0, + 1.0001531839370728 + ], + [ + 0.3544459342956543, + 0.11855761706829071, + 0.18891872465610504, + 0.09904028475284576, + -0.21589122712612152, + 0.22118093073368073, + 0.0, + 1.0001531839370728 + ], + [ + 0.34830614924430847, + 0.1554042249917984, + 0.18153205513954163, + 0.061140645295381546, + -0.23169812560081482, + 0.26567021012306213, + 0.0, + 1.0001531839370728 + ], + [ + 0.3401634693145752, + 0.18201172351837158, + 0.1684713214635849, + 0.05335012078285217, + -0.2110835164785385, + 0.3409421145915985, + 0.0, + 1.0001531839370728 + ], + [ + 0.3415006697177887, + 0.18757390975952148, + 0.14425106346607208, + 0.0376552939414978, + -0.15646672248840332, + 0.3849295675754547, + 0.0, + 1.0001531839370728 + ], + [ + 0.3405693471431732, + 0.19355781376361847, + 0.10861754417419434, + 0.011781342327594757, + -0.09312015771865845, + 0.46510323882102966, + 0.0, + 1.0008161067962646 + ], + [ + 0.3450693190097809, + 0.19112004339694977, + 0.09983263909816742, + -0.0066586146131157875, + -0.08150197565555573, + 0.4847166836261749, + 0.0, + 0.9492040276527405 + ], + [ + 0.3502258062362671, + 0.18539153039455414, + 0.0988767147064209, + 1.4004311196913477e-05, + -0.07978037744760513, + 0.5042200088500977, + 0.0, + 0.6961957812309265 + ], + [ + 0.34927502274513245, + 0.17519906163215637, + 0.10254616290330887, + 0.018896840512752533, + -0.08851388096809387, + 0.5024691820144653, + 0.0, + 0.4356481730937958 + ], + [ + 0.3617650270462036, + 0.14880646765232086, + 0.10934038460254669, + 0.05239415913820267, + -0.08282402157783508, + 0.43960732221603394, + 0.0, + 0.2981022000312805 + ], + [ + 0.38582056760787964, + 0.10082674771547318, + 0.1202823668718338, + 0.04416533187031746, + -0.11599013954401016, + 0.3088267147541046, + 0.0, + 0.2418806254863739 + ], + [ + 0.40817028284072876, + 0.05953334644436836, + 0.12044707685709, + 0.038845714181661606, + -0.12530285120010376, + 0.1815815269947052, + 0.0, + 0.23329517245292664 + ], + [ + 0.41670897603034973, + 0.03587597608566284, + 0.10776954889297485, + 0.04055297374725342, + -0.08507183939218521, + 0.11556986719369888, + 0.0, + 0.23329517245292664 + ], + [ + 0.4130280911922455, + 0.025908246636390686, + 0.09886018931865692, + 0.03226659819483757, + -0.06771732866764069, + 0.09577298909425735, + 0.0, + 0.23329517245292664 + ], + [ + 0.40154990553855896, + 0.027153218165040016, + 0.09150883555412292, + 0.02125897817313671, + -0.04564115032553673, + 0.10620950907468796, + 0.0, + 0.23329517245292664 + ], + [ + 0.3894568085670471, + 0.02591908536851406, + 0.09183338284492493, + 0.025388486683368683, + -0.03852903097867966, + 0.11504435539245605, + 0.0, + 0.23329517245292664 + ], + [ + 0.3816412687301636, + 0.02637738175690174, + 0.09296570718288422, + 0.03077843226492405, + -0.04201062023639679, + 0.11555194854736328, + 0.0, + 0.23329517245292664 + ], + [ + 0.3809730112552643, + 0.027950264513492584, + 0.09264315664768219, + 0.04048645868897438, + -0.04030211269855499, + 0.13040488958358765, + 0.0, + 0.23329517245292664 + ], + [ + 0.3785204589366913, + 0.029604215174913406, + 0.09314044564962387, + 0.0494786761701107, + -0.02253996580839157, + 0.1304071694612503, + 0.0, + 0.2898603677749634 + ], + [ + 0.37706485390663147, + 0.03897380083799362, + 0.0920952707529068, + 0.04758979007601738, + -0.012289468199014664, + 0.13942255079746246, + 0.0, + 0.5769375562667847 + ], + [ + 0.3755268454551697, + 0.04992203041911125, + 0.09209331125020981, + 0.04771588370203972, + -0.010688048787415028, + 0.16710872948169708, + 0.0, + 0.8801529407501221 + ], + [ + 0.3751043379306793, + 0.049066558480262756, + 0.09202934056520462, + 0.03920723497867584, + -0.006832856684923172, + 0.16391536593437195, + 0.0, + 1.0067112445831299 + ], + [ + 0.37714123725891113, + 0.046635210514068604, + 0.09687016904354095, + 0.04819321259856224, + -0.008758150041103363, + 0.14974839985370636, + 0.0, + 1.0014774799346924 + ], + [ + 0.3815115690231323, + 0.03345462679862976, + 0.10798954218626022, + 0.07359925657510757, + -0.018707262352108955, + 0.0925321951508522, + 0.0, + 1.0008161067962646 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 0.9492040276527405 + ], + [ + 0.6961957812309265 + ], + [ + 0.4356481730937958 + ], + [ + 0.2981022000312805 + ], + [ + 0.2418806254863739 + ], + [ + 0.23329517245292664 + ], + [ + 0.23329517245292664 + ], + [ + 0.23329517245292664 + ], + [ + 0.23329517245292664 + ], + [ + 0.23329517245292664 + ], + [ + 0.23329517245292664 + ], + [ + 0.23329517245292664 + ], + [ + 0.2898603677749634 + ], + [ + 0.5769375562667847 + ], + [ + 0.8801529407501221 + ], + [ + 1.0067112445831299 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3581421971321106, + -0.08118566125631332, + 0.08827980607748032 + ], + [ + 0.3554466664791107, + -0.08066413551568985, + 0.07496940344572067 + ], + [ + 0.35541418194770813, + -0.05216965079307556, + 0.08393092453479767 + ], + [ + 0.36092814803123474, + -0.020058322697877884, + 0.11789804697036743 + ], + [ + 0.3665001392364502, + 0.005612543318420649, + 0.14206969738006592 + ], + [ + 0.36302196979522705, + 0.047361332923173904, + 0.16767992079257965 + ], + [ + 0.3587336838245392, + 0.07181794941425323, + 0.17579928040504456 + ], + [ + 0.3544459342956543, + 0.11855761706829071, + 0.18891872465610504 + ], + [ + 0.34830614924430847, + 0.1554042249917984, + 0.18153205513954163 + ], + [ + 0.3401634693145752, + 0.18201172351837158, + 0.1684713214635849 + ], + [ + 0.3415006697177887, + 0.18757390975952148, + 0.14425106346607208 + ], + [ + 0.3405693471431732, + 0.19355781376361847, + 0.10861754417419434 + ], + [ + 0.3450693190097809, + 0.19112004339694977, + 0.09983263909816742 + ], + [ + 0.3502258062362671, + 0.18539153039455414, + 0.0988767147064209 + ], + [ + 0.34927502274513245, + 0.17519906163215637, + 0.10254616290330887 + ], + [ + 0.3617650270462036, + 0.14880646765232086, + 0.10934038460254669 + ], + [ + 0.38582056760787964, + 0.10082674771547318, + 0.1202823668718338 + ], + [ + 0.40817028284072876, + 0.05953334644436836, + 0.12044707685709 + ], + [ + 0.41670897603034973, + 0.03587597608566284, + 0.10776954889297485 + ], + [ + 0.4130280911922455, + 0.025908246636390686, + 0.09886018931865692 + ], + [ + 0.40154990553855896, + 0.027153218165040016, + 0.09150883555412292 + ], + [ + 0.3894568085670471, + 0.02591908536851406, + 0.09183338284492493 + ], + [ + 0.3816412687301636, + 0.02637738175690174, + 0.09296570718288422 + ], + [ + 0.3809730112552643, + 0.027950264513492584, + 0.09264315664768219 + ], + [ + 0.3785204589366913, + 0.029604215174913406, + 0.09314044564962387 + ], + [ + 0.37706485390663147, + 0.03897380083799362, + 0.0920952707529068 + ], + [ + 0.3755268454551697, + 0.04992203041911125, + 0.09209331125020981 + ], + [ + 0.3751043379306793, + 0.049066558480262756, + 0.09202934056520462 + ], + [ + 0.37714123725891113, + 0.046635210514068604, + 0.09687016904354095 + ], + [ + 0.3815115690231323, + 0.03345462679862976, + 0.10798954218626022 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9924043118632735, + 0.023239209614658855, + 0.12080406007940692, + 0.014955239460029322, + -0.9975022432281367, + 0.06903343803932156, + 0.12210660345729132, + -0.06670242792673754, + -0.9902730752175395 + ], + [ + 0.9964197359185336, + 0.019665281055629764, + 0.0822252187169059, + 0.013221697498802901, + -0.9968509829904837, + 0.07818762322872255, + 0.08350387169041966, + -0.07682053392101368, + -0.9935420016188548 + ], + [ + 0.9942216299147312, + 0.08397968484581475, + 0.06686376554527225, + 0.07809575079166242, + -0.9932105001141406, + 0.08622039301293784, + 0.0736505554492433, + -0.08050040370219604, + -0.9940298188111871 + ], + [ + 0.980582052513656, + 0.15108995295731192, + 0.12502265556075423, + 0.14380907091640888, + -0.9874422914261209, + 0.0653962707292332, + 0.13333337695515327, + -0.04614701743871595, + -0.9899962946250083 + ], + [ + 0.9729700356197531, + 0.18000863560929653, + 0.14465891224592908, + 0.16684921717081702, + -0.9810442664877986, + 0.09855701862831617, + 0.15965791090823356, + -0.07175679966035428, + -0.9845609748445863 + ], + [ + 0.9576261638341786, + 0.24219707974055615, + 0.1558611718978818, + 0.22229470058831335, + -0.9656276236993373, + 0.13471584331147746, + 0.18313163689157175, + -0.0943603036976732, + -0.9785494042998012 + ], + [ + 0.9590959265229935, + 0.23876162434756845, + 0.15207856675386974, + 0.21702947543689602, + -0.9651097268463361, + 0.14649717382317035, + 0.18175040720335775, + -0.10749931109314627, + -0.9774511177526539 + ], + [ + 0.9529904383117184, + 0.23897240720283644, + 0.1862831529744978, + 0.21428917605659056, + -0.9662111046277425, + 0.14323494796670544, + 0.2142180513202049, + -0.09658307248021787, + -0.971999144340598 + ], + [ + 0.9391321064067254, + 0.2756042001756303, + 0.20511755546909893, + 0.255539964389826, + -0.9594298679245697, + 0.11913712743678931, + 0.22963060187116657, + -0.05946976862065668, + -0.9714592803120943 + ], + [ + 0.92152210828809, + 0.3444288795263191, + 0.17934812763036637, + 0.326953494085587, + -0.9373633434366813, + 0.12021387227118341, + 0.2095194898845926, + -0.05214124403436, + -0.9764132701008572 + ], + [ + 0.9155028219207528, + 0.38066480845011186, + 0.13018788984685836, + 0.37090683944563596, + -0.9239650789770436, + 0.0933629973993681, + 0.1558290714455659, + -0.03718650882490657, + -0.9870838181501242 + ], + [ + 0.8899029403787658, + 0.44946305378033985, + 0.07781850674279576, + 0.4465718622507458, + -0.8932219039724796, + 0.052232194187875836, + 0.09298563626242563, + -0.011730027716522873, + -0.9955983516954224 + ], + [ + 0.8818699273005965, + 0.4654677271039449, + 0.0751347213179645, + 0.4644109755247904, + -0.8850399721979842, + 0.03204205711098744, + 0.08141177516154072, + 0.0066364626480311, + -0.9966584571600083 + ], + [ + 0.8727666484256129, + 0.48312564201969754, + 0.06977099267587923, + 0.4815879580469239, + -0.8755510343938724, + 0.03851525458846493, + 0.07969577190865758, + -1.3959766750181596e-05, + -0.9968192332338938 + ], + [ + 0.8729651864426022, + 0.4829688909958479, + 0.06835812745733263, + 0.4797056552217513, + -0.8754352016686615, + 0.05912437760873034, + 0.08839834618081033, + -0.018821743000856365, + -0.9959073623499862 + ], + [ + 0.9018168347485315, + 0.428920752607792, + 0.05247270287020708, + 0.42412527557025587, + -0.9018332008234855, + 0.08255076326068289, + 0.08272936109141832, + -0.05219066846508167, + -0.9952044950353538 + ], + [ + 0.9462894025754777, + 0.3085125573822792, + 0.09672832320882986, + 0.301898791158903, + -0.9502088198689099, + 0.0772030992909421, + 0.11573023144424725, + -0.043854310857427484, + -0.992312104606752 + ], + [ + 0.9758480833813944, + 0.18522282600692086, + 0.11581460567160137, + 0.17916951070777087, + -0.981940848951314, + 0.06074912010482412, + 0.12497521591738331, + -0.03853146619040452, + -0.9914113785506099 + ], + [ + 0.989736929919526, + 0.11863979974234322, + 0.07965806594795043, + 0.11489575259627897, + -0.9921153271050325, + 0.050061399886629394, + 0.08496926261187616, + -0.04039524279381249, + -0.9955643870543095 + ], + [ + 0.9931358328796468, + 0.09774982362470623, + 0.06423542193984176, + 0.0954074730756146, + -0.9946903866045869, + 0.038580420911956716, + 0.06766558602256063, + -0.032187059166017266, + -0.9971887292235443 + ], + [ + 0.9933295617064988, + 0.1069503944214064, + 0.04310446581365963, + 0.10589954339244813, + -0.9940375635340707, + 0.025973236081006004, + 0.045625306018111746, + -0.021235239964603164, + -0.9987328952399633 + ], + [ + 0.9926524482522006, + 0.11572513990977434, + 0.035338491362466064, + 0.11470555859168866, + -0.9929573059308944, + 0.029638208897106975, + 0.03851949905022931, + -0.025366919232004164, + -0.9989358175586638 + ], + [ + 0.9924548663072431, + 0.11652418562567111, + 0.03815039327905239, + 0.11519324705743982, + -0.9927118271480188, + 0.03540824865488163, + 0.041998263957404934, + -0.0307464210066218, + -0.9986444829967509 + ], + [ + 0.9907041993019005, + 0.1315460013936513, + 0.03465312399945246, + 0.12993001352399125, + -0.9904847556167861, + 0.04536673314677539, + 0.040291203397706976, + -0.0404425321672217, + -0.9983691804741709 + ], + [ + 0.9912571710114766, + 0.13098395605868843, + 0.01588786245976059, + 0.1300048341106613, + -0.990150646899467, + 0.051965753650140716, + 0.022538057285048357, + -0.04944592702926361, + -0.9985224765993168 + ], + [ + 0.9902216283743439, + 0.13939289627481527, + 0.00554501287480893, + 0.13896079761699953, + -0.9890939709478695, + 0.0488161178323579, + 0.012289158852846848, + -0.04756823627899129, + -0.9987923905757372 + ], + [ + 0.9860134776947836, + 0.16664542183034953, + 0.002593296593830006, + 0.16632255339286373, + -0.9848626732347775, + 0.0488090473347518, + 0.010687845298127273, + -0.047695054794317106, + -0.9988047615580588 + ], + [ + 0.9865728977869715, + 0.1633211619005503, + 0.00033974648195409093, + 0.16317852232547075, + -0.9857940200869731, + 0.039785924803129584, + 0.006832803516390977, + -0.039196275795267556, + -0.9992081688816838 + ], + [ + 0.9887707221595762, + 0.14943332662524061, + 0.0014628375661133895, + 0.14918363103603888, + -0.9875976259303102, + 0.048940509679799585, + 0.008758038075602496, + -0.048172711679224434, + -0.9988006240579433 + ], + [ + 0.9955477230254133, + 0.09351969207771713, + 0.01178127211313065, + 0.09238403723960142, + -0.9928992307225744, + 0.07494202621914924, + 0.018706171233755783, + -0.07351996207975552, + -0.9971182950550874 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.002695530652999878, + 0.0005215257406234741, + -0.013310402631759644, + 0.00991031527519226, + 0.03881087154150009, + -0.00180013757199049, + 1.0 + ], + [ + -3.248453140258789e-05, + 0.02849448472261429, + 0.008961521089076996, + 0.0036412104964256287, + 0.00988391786813736, + 0.06512025743722916, + 1.0 + ], + [ + 0.005513966083526611, + 0.03211132809519768, + 0.03396712243556976, + -0.03422793745994568, + -0.060014329850673676, + 0.06723008304834366, + 1.0 + ], + [ + 0.005571991205215454, + 0.025670865550637245, + 0.024171650409698486, + 0.02617378532886505, + -0.026612475514411926, + 0.024213775992393494, + 1.0 + ], + [ + -0.0034781694412231445, + 0.041748788207769394, + 0.025610223412513733, + 0.023378141224384308, + -0.02382691204547882, + 0.058258816599845886, + 1.0 + ], + [ + -0.004288285970687866, + 0.02445661649107933, + 0.008119359612464905, + 0.01340746134519577, + 0.0014048069715499878, + -0.005553722381591797, + 1.0 + ], + [ + -0.004287749528884888, + 0.046739667654037476, + 0.013119444251060486, + -0.010498709976673126, + -0.03312501311302185, + -0.0013567060232162476, + 1.0 + ], + [ + -0.006139785051345825, + 0.03684660792350769, + -0.0073866695165634155, + -0.03789963945746422, + -0.0158068984746933, + 0.04448927938938141, + 1.0 + ], + [ + -0.008142679929733276, + 0.02660749852657318, + -0.013060733675956726, + -0.007790524512529373, + 0.020614609122276306, + 0.07527190446853638, + 1.0 + ], + [ + 0.001337200403213501, + 0.005562186241149902, + -0.024220257997512817, + -0.01569482684135437, + 0.05461679399013519, + 0.0439874529838562, + 1.0 + ], + [ + -0.0009313225746154785, + 0.005983904004096985, + -0.03563351929187775, + -0.025873951613903046, + 0.06334656476974487, + 0.08017367124557495, + 1.0 + ], + [ + 0.004499971866607666, + -0.002437770366668701, + -0.008784905076026917, + -0.01843995600938797, + 0.011618182063102722, + 0.019613444805145264, + 0.0 + ], + [ + 0.005156487226486206, + -0.00572851300239563, + -0.000955924391746521, + 0.0066726189106702805, + 0.001721598207950592, + 0.01950332522392273, + 0.0 + ], + [ + -0.0009507834911346436, + -0.010192468762397766, + 0.00366944819688797, + 0.018882835283875465, + -0.008733503520488739, + -0.0017508268356323242, + 0.0 + ], + [ + 0.012490004301071167, + -0.02639259397983551, + 0.0067942216992378235, + 0.033497318625450134, + 0.005689859390258789, + -0.0628618597984314, + 0.0 + ], + [ + 0.024055540561676025, + -0.04797971993684769, + 0.01094198226928711, + -0.008228827267885208, + -0.03316611796617508, + -0.13078060746192932, + 0.0 + ], + [ + 0.02234971523284912, + -0.04129340127110481, + 0.00016470998525619507, + -0.005319617688655853, + -0.009312711656093597, + -0.12724518775939941, + 0.0 + ], + [ + 0.008538693189620972, + -0.02365737035870552, + -0.012677527964115143, + 0.0017072595655918121, + 0.04023101180791855, + -0.06601165980100632, + 0.0 + ], + [ + -0.003680884838104248, + -0.009967729449272156, + -0.008909359574317932, + -0.008286375552415848, + 0.017354510724544525, + -0.01979687809944153, + 0.0 + ], + [ + -0.011478185653686523, + 0.0012449715286493301, + -0.007351353764533997, + -0.011007620021700859, + 0.022076178342103958, + 0.010436519980430603, + 0.0 + ], + [ + -0.01209309697151184, + -0.0012341327965259552, + 0.00032454729080200195, + 0.004129508510231972, + 0.007112119346857071, + 0.008834846317768097, + 0.0 + ], + [ + -0.007815539836883545, + 0.00045829638838768005, + 0.0011323243379592896, + 0.0053899455815553665, + -0.0034815892577171326, + 0.0005075931549072266, + 0.0 + ], + [ + -0.000668257474899292, + 0.0015728827565908432, + -0.00032255053520202637, + 0.009708026424050331, + 0.0017085075378417969, + 0.014852941036224365, + 0.0 + ], + [ + -0.002452552318572998, + 0.0016539506614208221, + 0.0004972890019416809, + 0.008992217481136322, + 0.01776214689016342, + 2.2798776626586914e-06, + 1.0 + ], + [ + -0.0014556050300598145, + 0.009369585663080215, + -0.0010451748967170715, + -0.0018888860940933228, + 0.010250497609376907, + 0.009015381336212158, + 1.0 + ], + [ + -0.001538008451461792, + 0.01094822958111763, + -1.959502696990967e-06, + 0.00012609362602233887, + 0.001601419411599636, + 0.02768617868423462, + 1.0 + ], + [ + -0.00042250752449035645, + -0.0008554719388484955, + -6.397068500518799e-05, + -0.008508648723363876, + 0.0038551921024918556, + -0.0031933635473251343, + 1.0 + ], + [ + 0.0020368993282318115, + -0.002431347966194153, + 0.004840828478336334, + 0.008985977619886398, + -0.001925293356180191, + -0.014166966080665588, + 1.0 + ], + [ + 0.004370331764221191, + -0.013180583715438843, + 0.011119373142719269, + 0.025406043976545334, + -0.009949112311005592, + -0.057216204702854156, + 1.0 + ], + [ + 0.002952665090560913, + -0.007214393466711044, + 0.034794844686985016, + 0.022892840206623077, + -0.07518192380666733, + -0.04177403822541237, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 0.9492040276527405 + ], + [ + 0.6961957812309265 + ], + [ + 0.4356481730937958 + ], + [ + 0.2981022000312805 + ], + [ + 0.2418806254863739 + ], + [ + 0.23329517245292664 + ], + [ + 0.23329517245292664 + ], + [ + 0.23329517245292664 + ], + [ + 0.23329517245292664 + ], + [ + 0.23329517245292664 + ], + [ + 0.23329517245292664 + ], + [ + 0.23329517245292664 + ], + [ + 0.2898603677749634 + ], + [ + 0.5769375562667847 + ], + [ + 0.8801529407501221 + ], + [ + 1.0067112445831299 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3554466664791107, + -0.08066413551568985, + 0.07496940344572067 + ], + [ + 0.35541418194770813, + -0.05216965079307556, + 0.08393092453479767 + ], + [ + 0.36092814803123474, + -0.020058322697877884, + 0.11789804697036743 + ], + [ + 0.3665001392364502, + 0.005612543318420649, + 0.14206969738006592 + ], + [ + 0.36302196979522705, + 0.047361332923173904, + 0.16767992079257965 + ], + [ + 0.3587336838245392, + 0.07181794941425323, + 0.17579928040504456 + ], + [ + 0.3544459342956543, + 0.11855761706829071, + 0.18891872465610504 + ], + [ + 0.34830614924430847, + 0.1554042249917984, + 0.18153205513954163 + ], + [ + 0.3401634693145752, + 0.18201172351837158, + 0.1684713214635849 + ], + [ + 0.3415006697177887, + 0.18757390975952148, + 0.14425106346607208 + ], + [ + 0.3405693471431732, + 0.19355781376361847, + 0.10861754417419434 + ], + [ + 0.3450693190097809, + 0.19112004339694977, + 0.09983263909816742 + ], + [ + 0.3502258062362671, + 0.18539153039455414, + 0.0988767147064209 + ], + [ + 0.34927502274513245, + 0.17519906163215637, + 0.10254616290330887 + ], + [ + 0.3617650270462036, + 0.14880646765232086, + 0.10934038460254669 + ], + [ + 0.38582056760787964, + 0.10082674771547318, + 0.1202823668718338 + ], + [ + 0.40817028284072876, + 0.05953334644436836, + 0.12044707685709 + ], + [ + 0.41670897603034973, + 0.03587597608566284, + 0.10776954889297485 + ], + [ + 0.4130280911922455, + 0.025908246636390686, + 0.09886018931865692 + ], + [ + 0.40154990553855896, + 0.027153218165040016, + 0.09150883555412292 + ], + [ + 0.3894568085670471, + 0.02591908536851406, + 0.09183338284492493 + ], + [ + 0.3816412687301636, + 0.02637738175690174, + 0.09296570718288422 + ], + [ + 0.3809730112552643, + 0.027950264513492584, + 0.09264315664768219 + ], + [ + 0.3785204589366913, + 0.029604215174913406, + 0.09314044564962387 + ], + [ + 0.37706485390663147, + 0.03897380083799362, + 0.0920952707529068 + ], + [ + 0.3755268454551697, + 0.04992203041911125, + 0.09209331125020981 + ], + [ + 0.3751043379306793, + 0.049066558480262756, + 0.09202934056520462 + ], + [ + 0.37714123725891113, + 0.046635210514068604, + 0.09687016904354095 + ], + [ + 0.3815115690231323, + 0.03345462679862976, + 0.10798954218626022 + ], + [ + 0.38446423411369324, + 0.026240233331918716, + 0.14278438687324524 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9964197359185336, + 0.019665281055629764, + 0.0822252187169059, + 0.013221697498802901, + -0.9968509829904837, + 0.07818762322872255, + 0.08350387169041966, + -0.07682053392101368, + -0.9935420016188548 + ], + [ + 0.9942216299147312, + 0.08397968484581475, + 0.06686376554527225, + 0.07809575079166242, + -0.9932105001141406, + 0.08622039301293784, + 0.0736505554492433, + -0.08050040370219604, + -0.9940298188111871 + ], + [ + 0.980582052513656, + 0.15108995295731192, + 0.12502265556075423, + 0.14380907091640888, + -0.9874422914261209, + 0.0653962707292332, + 0.13333337695515327, + -0.04614701743871595, + -0.9899962946250083 + ], + [ + 0.9729700356197531, + 0.18000863560929653, + 0.14465891224592908, + 0.16684921717081702, + -0.9810442664877986, + 0.09855701862831617, + 0.15965791090823356, + -0.07175679966035428, + -0.9845609748445863 + ], + [ + 0.9576261638341786, + 0.24219707974055615, + 0.1558611718978818, + 0.22229470058831335, + -0.9656276236993373, + 0.13471584331147746, + 0.18313163689157175, + -0.0943603036976732, + -0.9785494042998012 + ], + [ + 0.9590959265229935, + 0.23876162434756845, + 0.15207856675386974, + 0.21702947543689602, + -0.9651097268463361, + 0.14649717382317035, + 0.18175040720335775, + -0.10749931109314627, + -0.9774511177526539 + ], + [ + 0.9529904383117184, + 0.23897240720283644, + 0.1862831529744978, + 0.21428917605659056, + -0.9662111046277425, + 0.14323494796670544, + 0.2142180513202049, + -0.09658307248021787, + -0.971999144340598 + ], + [ + 0.9391321064067254, + 0.2756042001756303, + 0.20511755546909893, + 0.255539964389826, + -0.9594298679245697, + 0.11913712743678931, + 0.22963060187116657, + -0.05946976862065668, + -0.9714592803120943 + ], + [ + 0.92152210828809, + 0.3444288795263191, + 0.17934812763036637, + 0.326953494085587, + -0.9373633434366813, + 0.12021387227118341, + 0.2095194898845926, + -0.05214124403436, + -0.9764132701008572 + ], + [ + 0.9155028219207528, + 0.38066480845011186, + 0.13018788984685836, + 0.37090683944563596, + -0.9239650789770436, + 0.0933629973993681, + 0.1558290714455659, + -0.03718650882490657, + -0.9870838181501242 + ], + [ + 0.8899029403787658, + 0.44946305378033985, + 0.07781850674279576, + 0.4465718622507458, + -0.8932219039724796, + 0.052232194187875836, + 0.09298563626242563, + -0.011730027716522873, + -0.9955983516954224 + ], + [ + 0.8818699273005965, + 0.4654677271039449, + 0.0751347213179645, + 0.4644109755247904, + -0.8850399721979842, + 0.03204205711098744, + 0.08141177516154072, + 0.0066364626480311, + -0.9966584571600083 + ], + [ + 0.8727666484256129, + 0.48312564201969754, + 0.06977099267587923, + 0.4815879580469239, + -0.8755510343938724, + 0.03851525458846493, + 0.07969577190865758, + -1.3959766750181596e-05, + -0.9968192332338938 + ], + [ + 0.8729651864426022, + 0.4829688909958479, + 0.06835812745733263, + 0.4797056552217513, + -0.8754352016686615, + 0.05912437760873034, + 0.08839834618081033, + -0.018821743000856365, + -0.9959073623499862 + ], + [ + 0.9018168347485315, + 0.428920752607792, + 0.05247270287020708, + 0.42412527557025587, + -0.9018332008234855, + 0.08255076326068289, + 0.08272936109141832, + -0.05219066846508167, + -0.9952044950353538 + ], + [ + 0.9462894025754777, + 0.3085125573822792, + 0.09672832320882986, + 0.301898791158903, + -0.9502088198689099, + 0.0772030992909421, + 0.11573023144424725, + -0.043854310857427484, + -0.992312104606752 + ], + [ + 0.9758480833813944, + 0.18522282600692086, + 0.11581460567160137, + 0.17916951070777087, + -0.981940848951314, + 0.06074912010482412, + 0.12497521591738331, + -0.03853146619040452, + -0.9914113785506099 + ], + [ + 0.989736929919526, + 0.11863979974234322, + 0.07965806594795043, + 0.11489575259627897, + -0.9921153271050325, + 0.050061399886629394, + 0.08496926261187616, + -0.04039524279381249, + -0.9955643870543095 + ], + [ + 0.9931358328796468, + 0.09774982362470623, + 0.06423542193984176, + 0.0954074730756146, + -0.9946903866045869, + 0.038580420911956716, + 0.06766558602256063, + -0.032187059166017266, + -0.9971887292235443 + ], + [ + 0.9933295617064988, + 0.1069503944214064, + 0.04310446581365963, + 0.10589954339244813, + -0.9940375635340707, + 0.025973236081006004, + 0.045625306018111746, + -0.021235239964603164, + -0.9987328952399633 + ], + [ + 0.9926524482522006, + 0.11572513990977434, + 0.035338491362466064, + 0.11470555859168866, + -0.9929573059308944, + 0.029638208897106975, + 0.03851949905022931, + -0.025366919232004164, + -0.9989358175586638 + ], + [ + 0.9924548663072431, + 0.11652418562567111, + 0.03815039327905239, + 0.11519324705743982, + -0.9927118271480188, + 0.03540824865488163, + 0.041998263957404934, + -0.0307464210066218, + -0.9986444829967509 + ], + [ + 0.9907041993019005, + 0.1315460013936513, + 0.03465312399945246, + 0.12993001352399125, + -0.9904847556167861, + 0.04536673314677539, + 0.040291203397706976, + -0.0404425321672217, + -0.9983691804741709 + ], + [ + 0.9912571710114766, + 0.13098395605868843, + 0.01588786245976059, + 0.1300048341106613, + -0.990150646899467, + 0.051965753650140716, + 0.022538057285048357, + -0.04944592702926361, + -0.9985224765993168 + ], + [ + 0.9902216283743439, + 0.13939289627481527, + 0.00554501287480893, + 0.13896079761699953, + -0.9890939709478695, + 0.0488161178323579, + 0.012289158852846848, + -0.04756823627899129, + -0.9987923905757372 + ], + [ + 0.9860134776947836, + 0.16664542183034953, + 0.002593296593830006, + 0.16632255339286373, + -0.9848626732347775, + 0.0488090473347518, + 0.010687845298127273, + -0.047695054794317106, + -0.9988047615580588 + ], + [ + 0.9865728977869715, + 0.1633211619005503, + 0.00033974648195409093, + 0.16317852232547075, + -0.9857940200869731, + 0.039785924803129584, + 0.006832803516390977, + -0.039196275795267556, + -0.9992081688816838 + ], + [ + 0.9887707221595762, + 0.14943332662524061, + 0.0014628375661133895, + 0.14918363103603888, + -0.9875976259303102, + 0.048940509679799585, + 0.008758038075602496, + -0.048172711679224434, + -0.9988006240579433 + ], + [ + 0.9955477230254133, + 0.09351969207771713, + 0.01178127211313065, + 0.09238403723960142, + -0.9928992307225744, + 0.07494202621914924, + 0.018706171233755783, + -0.07351996207975552, + -0.9971182950550874 + ], + [ + 0.9943134011439221, + 0.05952094703446358, + 0.08830694859254332, + 0.05051290342254485, + -0.9936080585206143, + 0.10095282378774681, + 0.09375130342256668, + -0.09591810520968283, + -0.9909643839208117 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006346.json b/json/chunk-0006/episode_0006346.json new file mode 100644 index 0000000000000000000000000000000000000000..13aa5f0e72dac4b74376f44f51718eaaf283b487 --- /dev/null +++ b/json/chunk-0006/episode_0006346.json @@ -0,0 +1,1882 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 30, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut sushi on plate." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006346.mp4", + "start": 0, + "end": 30, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2844681441783905, + 0.07961597293615341, + 0.09328293055295944, + 0.0838269591331482, + -0.0711451843380928, + 0.2121451050043106, + 0.0, + 0.9974852800369263 + ], + [ + 0.2795279622077942, + 0.0762341171503067, + 0.08543159067630768, + 0.07755572348833084, + -0.04114620015025139, + 0.21826282143592834, + 0.0, + 0.9974852800369263 + ], + [ + 0.266577810049057, + 0.048292968422174454, + 0.0828603059053421, + 0.04313323646783829, + -0.017084848135709763, + 0.2159510850906372, + 0.0, + 0.9974852800369263 + ], + [ + 0.257783442735672, + 0.014378097839653492, + 0.09128274768590927, + -0.020570989698171616, + -0.06496687978506088, + 0.23295029997825623, + 0.0, + 0.9974852800369263 + ], + [ + 0.25038206577301025, + -0.013799456879496574, + 0.09146855026483536, + -0.08803758770227432, + -0.08895925432443619, + 0.34086713194847107, + 0.0, + 0.9974852800369263 + ], + [ + 0.24367071688175201, + -0.045352935791015625, + 0.0858938917517662, + -0.13221465051174164, + -0.08323413878679276, + 0.40966376662254333, + 0.0, + 0.9974852800369263 + ], + [ + 0.2424292415380478, + -0.06691385060548782, + 0.07797373831272125, + -0.11914660036563873, + -0.08317670971155167, + 0.42201104760169983, + 0.0, + 0.9974852800369263 + ], + [ + 0.23830613493919373, + -0.07973417639732361, + 0.06683903932571411, + -0.0724111869931221, + -0.07515788823366165, + 0.4346948266029358, + 0.0, + 0.9974852800369263 + ], + [ + 0.23741678893566132, + -0.08926454931497574, + 0.05115281790494919, + -0.036325473338365555, + -0.07310588657855988, + 0.47028806805610657, + 0.0, + 0.9974852800369263 + ], + [ + 0.23905961215496063, + -0.09540537744760513, + 0.03772226721048355, + -0.03210755065083504, + -0.061560600996017456, + 0.5078563094139099, + 0.0, + 0.9974852800369263 + ], + [ + 0.24003802239894867, + -0.10272549837827682, + 0.02529357187449932, + -0.040806081146001816, + -0.04595824331045151, + 0.5374756455421448, + 0.0, + 0.9974852800369263 + ], + [ + 0.24524271488189697, + -0.10603462159633636, + 0.016654793173074722, + -0.058033183217048645, + -0.06295536458492279, + 0.5684871673583984, + 0.0, + 0.9974852800369263 + ], + [ + 0.245528444647789, + -0.10564876347780228, + 0.009109582751989365, + -0.05900327116250992, + -0.0632225051522255, + 0.6076398491859436, + 0.0, + 0.9974852800369263 + ], + [ + 0.2464449107646942, + -0.10268823802471161, + 0.00623028539121151, + -0.057422004640102386, + -0.06217491254210472, + 0.6053925156593323, + 0.0, + 0.9974852800369263 + ], + [ + 0.24404805898666382, + -0.0993998646736145, + 0.0035799439065158367, + -0.04382595792412758, + -0.03640814870595932, + 0.5716772079467773, + 0.0, + 0.9499720335006714 + ], + [ + 0.23901353776454926, + -0.09295448660850525, + 0.002160747302696109, + -0.006543368566781282, + -0.009029739536345005, + 0.5257706046104431, + 0.0, + 0.6651484370231628 + ], + [ + 0.2354499101638794, + -0.07829422503709793, + 0.008622751571238041, + 0.005009480752050877, + -0.0011639767326414585, + 0.5415541529655457, + 0.0, + 0.6149309277534485 + ], + [ + 0.23672236502170563, + -0.04862503707408905, + 0.0336877778172493, + -0.028873858973383904, + -0.03188011795282364, + 0.5827910304069519, + 0.0, + 0.648074209690094 + ], + [ + 0.23155036568641663, + -0.006750593893229961, + 0.054864369332790375, + -0.06548204272985458, + -0.0752464234828949, + 0.6881551146507263, + 0.0, + 0.649078905582428 + ], + [ + 0.22060495615005493, + 0.035524364560842514, + 0.06203010678291321, + -0.07103031128644943, + -0.1002691239118576, + 0.8111487627029419, + 0.0, + 0.649078905582428 + ], + [ + 0.20958587527275085, + 0.06231500208377838, + 0.05173183232545853, + -0.06890783458948135, + -0.09085959196090698, + 0.8606644868850708, + 0.0, + 0.649078905582428 + ], + [ + 0.20025406777858734, + 0.07243521511554718, + 0.04083632305264473, + -0.023180758580565453, + -0.07159045338630676, + 0.8495949506759644, + 0.0, + 0.649078905582428 + ], + [ + 0.19429165124893188, + 0.07464924454689026, + 0.03313164785504341, + 0.001927763456478715, + -0.05202560871839523, + 0.8425290584564209, + 0.0, + 0.649078905582428 + ], + [ + 0.19014045596122742, + 0.07680237293243408, + 0.026716990396380424, + 0.014899455942213535, + -0.03251676261425018, + 0.8441703915596008, + 0.0, + 0.649078905582428 + ], + [ + 0.18657763302326202, + 0.08135180920362473, + 0.015829943120479584, + 0.03031524084508419, + -0.005826991982758045, + 0.8639619946479797, + 0.0, + 0.7280064821243286 + ], + [ + 0.18645912408828735, + 0.08001934736967087, + 0.016353171318769455, + 0.03413313254714012, + 0.00118289387319237, + 0.8474001288414001, + 0.0, + 0.9788280129432678 + ], + [ + 0.19146336615085602, + 0.07405321300029755, + 0.029203753918409348, + 0.019495848566293716, + -0.024905657395720482, + 0.8401005864143372, + 0.0, + 1.0001531839370728 + ], + [ + 0.19559058547019958, + 0.06771597266197205, + 0.044750455766916275, + -0.004796986468136311, + -0.06279192864894867, + 0.8252617120742798, + 0.0, + 1.0001531839370728 + ], + [ + 0.20129886269569397, + 0.055279508233070374, + 0.06393808126449585, + -0.04467826336622238, + -0.09841545671224594, + 0.7934502363204956, + 0.0, + 1.0001531839370728 + ], + [ + 0.20499087870121002, + 0.03985745087265968, + 0.08317110687494278, + -0.0786469578742981, + -0.13186338543891907, + 0.7459210157394409, + 0.0, + 1.0001531839370728 + ] + ], + "left_gripper_pos": [ + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9499720335006714 + ], + [ + 0.6651484370231628 + ], + [ + 0.6149309277534485 + ], + [ + 0.648074209690094 + ], + [ + 0.649078905582428 + ], + [ + 0.649078905582428 + ], + [ + 0.649078905582428 + ], + [ + 0.649078905582428 + ], + [ + 0.649078905582428 + ], + [ + 0.649078905582428 + ], + [ + 0.7280064821243286 + ], + [ + 0.9788280129432678 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2844681441783905, + 0.07961597293615341, + 0.09328293055295944 + ], + [ + 0.2795279622077942, + 0.0762341171503067, + 0.08543159067630768 + ], + [ + 0.266577810049057, + 0.048292968422174454, + 0.0828603059053421 + ], + [ + 0.257783442735672, + 0.014378097839653492, + 0.09128274768590927 + ], + [ + 0.25038206577301025, + -0.013799456879496574, + 0.09146855026483536 + ], + [ + 0.24367071688175201, + -0.045352935791015625, + 0.0858938917517662 + ], + [ + 0.2424292415380478, + -0.06691385060548782, + 0.07797373831272125 + ], + [ + 0.23830613493919373, + -0.07973417639732361, + 0.06683903932571411 + ], + [ + 0.23741678893566132, + -0.08926454931497574, + 0.05115281790494919 + ], + [ + 0.23905961215496063, + -0.09540537744760513, + 0.03772226721048355 + ], + [ + 0.24003802239894867, + -0.10272549837827682, + 0.02529357187449932 + ], + [ + 0.24524271488189697, + -0.10603462159633636, + 0.016654793173074722 + ], + [ + 0.245528444647789, + -0.10564876347780228, + 0.009109582751989365 + ], + [ + 0.2464449107646942, + -0.10268823802471161, + 0.00623028539121151 + ], + [ + 0.24404805898666382, + -0.0993998646736145, + 0.0035799439065158367 + ], + [ + 0.23901353776454926, + -0.09295448660850525, + 0.002160747302696109 + ], + [ + 0.2354499101638794, + -0.07829422503709793, + 0.008622751571238041 + ], + [ + 0.23672236502170563, + -0.04862503707408905, + 0.0336877778172493 + ], + [ + 0.23155036568641663, + -0.006750593893229961, + 0.054864369332790375 + ], + [ + 0.22060495615005493, + 0.035524364560842514, + 0.06203010678291321 + ], + [ + 0.20958587527275085, + 0.06231500208377838, + 0.05173183232545853 + ], + [ + 0.20025406777858734, + 0.07243521511554718, + 0.04083632305264473 + ], + [ + 0.19429165124893188, + 0.07464924454689026, + 0.03313164785504341 + ], + [ + 0.19014045596122742, + 0.07680237293243408, + 0.026716990396380424 + ], + [ + 0.18657763302326202, + 0.08135180920362473, + 0.015829943120479584 + ], + [ + 0.18645912408828735, + 0.08001934736967087, + 0.016353171318769455 + ], + [ + 0.19146336615085602, + 0.07405321300029755, + 0.029203753918409348 + ], + [ + 0.19559058547019958, + 0.06771597266197205, + 0.044750455766916275 + ], + [ + 0.20129886269569397, + 0.055279508233070374, + 0.06393808126449585 + ], + [ + 0.20499087870121002, + 0.03985745087265968, + 0.08317110687494278 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9751084584391397, + 0.2156364876715262, + 0.051617821197068946, + 0.21002473978487102, + -0.972895582749203, + 0.09676669750170377, + 0.07108518100660699, + -0.08351700576395651, + -0.9939677091281595 + ], + [ + 0.9754487753926063, + 0.21899451264132333, + 0.023261341707938095, + 0.21635071529808278, + -0.972650358704473, + 0.08452010235480936, + 0.04113459097975956, + -0.07741242242075103, + -0.9961502207397631 + ], + [ + 0.9766304881428699, + 0.2147967721709199, + 0.007432112403199893, + 0.2142452473060126, + -0.9757067011913284, + 0.045775618588079964, + 0.017084016992656062, + -0.04311356996688871, + -0.9989240994430483 + ], + [ + 0.9709369321787585, + 0.2295009639415006, + 0.06790273397458228, + 0.23036213450058646, + -0.9730919714545807, + -0.00503011719257605, + 0.0649211885260473, + 0.020526145292269683, + -0.9976792654153969 + ], + [ + 0.9387383762848789, + 0.3256478540989036, + 0.11279953905405898, + 0.332982530701595, + -0.9414265125504762, + -0.053279974799256974, + 0.08884196720914228, + 0.08757623300774772, + -0.9921882423585668 + ], + [ + 0.9140792958916227, + 0.3847715349232857, + 0.1281011582112127, + 0.3969220362893346, + -0.9136147419188514, + -0.08809654054773602, + 0.08313806547065919, + 0.13137339632257908, + -0.9878406211573136 + ], + [ + 0.9091131894153702, + 0.3976830386837218, + 0.12394115367501991, + 0.40817984231727344, + -0.9098444149525414, + -0.07464822104721383, + 0.08308083507560136, + 0.1184539628841067, + -0.9894777579714421 + ], + [ + 0.9044381237287844, + 0.41510285094033367, + 0.0983936150731484, + 0.41994475844189233, + -0.9069095390629099, + -0.03408060759259565, + 0.07508715071925717, + 0.07214368370070202, + -0.9945638283684745 + ], + [ + 0.8890567183284507, + 0.45047948232658347, + 0.08152538008386838, + 0.4519327331392013, + -0.8920517433844178, + 0.0007013145885890644, + 0.07304078526670778, + 0.036220479394867985, + -0.9966710192235092 + ], + [ + 0.8721338229143756, + 0.48432887991486956, + 0.06934068797729115, + 0.4853840461016194, + -0.8742990884059777, + 0.0018525124822520722, + 0.06152172558354646, + 0.0320412248967444, + -0.9975913177190039 + ], + [ + 0.85809679151945, + 0.5099330639589945, + 0.060317216989988744, + 0.5114286097888769, + -0.8592482590337928, + -0.011541509295261517, + 0.04594206649076742, + 0.040751682527079794, + -0.998112532181502 + ], + [ + 0.8410469341533765, + 0.5343763722674606, + 0.08415430656522886, + 0.5372912710778737, + -0.8432621994352077, + -0.015064960246181532, + 0.06291378684143163, + 0.057885712969302325, + -0.9963388478119813 + ], + [ + 0.8193575347725565, + 0.5668790643671335, + 0.08544797594842243, + 0.5697907227917527, + -0.8216962086210898, + -0.012404553929036301, + 0.06318039594598104, + 0.05885122870399233, + -0.996265411648994 + ], + [ + 0.8206899485164344, + 0.5652147138639986, + 0.08366800843649931, + 0.5679852703642537, + -0.8229528413216496, + -0.011889222424919549, + 0.062134861819574526, + 0.057279561732451384, + -0.9964227570436156 + ], + [ + 0.840437386192397, + 0.5391826365406429, + 0.054287055023933925, + 0.5406847808026094, + -0.8410500237922512, + -0.017170477206153115, + 0.03640010574881625, + 0.04378289542885039, + -0.998377729303564 + ], + [ + 0.8649021860655935, + 0.5018178305937337, + 0.011093846815073168, + 0.5018592178678096, + -0.8649485842106094, + -0.0011278799461302046, + 0.009029616828409677, + 0.006543055116785468, + -0.9999378252919884 + ], + [ + 0.8569080193707315, + 0.5154669094305973, + -0.001584809199287419, + 0.5154680314984699, + -0.8568948422231164, + 0.004892634720957025, + 0.0011639764698074145, + -0.005009456406497109, + -0.9999867751651963 + ], + [ + 0.8345055913061925, + 0.5493586742225205, + 0.042490765292908614, + 0.550076740490204, + -0.835088274247335, + -0.006569154152626525, + 0.031874718043853334, + 0.028855177543776582, + -0.999075262969984 + ], + [ + 0.7702333438600585, + 0.6299524504600542, + 0.09950128725562113, + 0.6333160742219659, + -0.7738878053088861, + -0.002900849233056328, + 0.07517543573688268, + 0.06525009542957297, + -0.9950332049274543 + ], + [ + 0.6852069552693034, + 0.7183579643009732, + 0.12022172672164139, + 0.7214368854739528, + -0.6920805441419786, + 0.02352319488899959, + 0.1001011924415186, + 0.07061413134426378, + -0.9924683348733507 + ], + [ + 0.6492445902366186, + 0.7524035091875853, + 0.1112223961740276, + 0.7551481239968619, + -0.6551238128117538, + 0.023750804428697075, + 0.0907346288497681, + 0.06856930252815319, + -0.993511689854879 + ], + [ + 0.6585960697283073, + 0.7497165223093457, + 0.06462470978508958, + 0.749089296285146, + -0.6613551494200746, + 0.038400423520785675, + 0.07152931657335632, + 0.023119310368852643, + -0.9971705242126931 + ], + [ + 0.6646769031833256, + 0.746394125130694, + 0.0331726445284319, + 0.7453189864352823, + -0.6655013927503534, + 0.04009369908630425, + 0.052002142587659186, + -0.0019251539485400718, + -0.9986451176211532 + ], + [ + 0.6640003854039289, + 0.7476590557854725, + 0.010460615919227569, + 0.7470251139927246, + -0.6639158030684283, + 0.03419481686104778, + 0.03251103270569249, + -0.014891028775057404, + -0.9993604404890308 + ], + [ + 0.6494187617765814, + 0.760186870998434, + -0.01926637003129142, + 0.7604086522398933, + -0.6489970878382729, + 0.02411351438820963, + 0.005826959008026088, + -0.03031008312512225, + -0.999523559206919 + ], + [ + 0.661933682319586, + 0.7490986718966196, + -0.026362472826999987, + 0.7495614724447696, + -0.6615788411427704, + 0.021703363301989766, + -0.0011828935973340633, + -0.03412648113869719, + -0.9994168219756099 + ], + [ + 0.6671809445649864, + 0.7448927314226977, + 0.002099019534293936, + 0.7444792970139685, + -0.6668995534579784, + 0.03155252628770609, + 0.024903082679856064, + -0.01948856770473358, + -0.9994998910464465 + ], + [ + 0.6770278046176819, + 0.7345126936646679, + 0.04609180643059766, + 0.7332773722865163, + -0.6785780592913495, + 0.04284988612548614, + 0.06275067383816262, + 0.004787514371711869, + -0.9980177516652682 + ], + [ + 0.6979962918053084, + 0.708988151338138, + 0.10068256000007021, + 0.7093284179048092, + -0.7038183292733395, + 0.03863877497469422, + 0.09825666480549096, + 0.04444727934321952, + -0.9941680276393356 + ], + [ + 0.7280870097413935, + 0.6689638125306422, + 0.14958851483420665, + 0.6727569403316743, + -0.7392033036475623, + 0.03125020179284815, + 0.13148157848687353, + 0.0778838455714502, + -0.9882543706544397 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0049401819705963135, + -0.00338185578584671, + -0.007851339876651764, + -0.006271235644817352, + 0.029998984187841415, + 0.006117716431617737, + 1.0 + ], + [ + -0.012950152158737183, + -0.027941148728132248, + -0.002571284770965576, + -0.034422487020492554, + 0.024061352014541626, + -0.0023117363452911377, + 1.0 + ], + [ + -0.00879436731338501, + -0.033914871513843536, + 0.00842244178056717, + -0.0637042224407196, + -0.04788203164935112, + 0.01699921488761902, + 1.0 + ], + [ + -0.007401376962661743, + -0.02817755565047264, + 0.00018580257892608643, + -0.067466601729393, + -0.023992374539375305, + 0.10791683197021484, + 1.0 + ], + [ + -0.00671134889125824, + -0.0315534770488739, + -0.005574658513069153, + -0.044177062809467316, + 0.005725115537643433, + 0.06879663467407227, + 1.0 + ], + [ + -0.0012414753437042236, + -0.0215609148144722, + -0.007920153439044952, + 0.013068050146102905, + 5.742907524108887e-05, + 0.012347280979156494, + 1.0 + ], + [ + -0.004123106598854065, + -0.012820325791835785, + -0.011134698987007141, + 0.04673541337251663, + 0.008018821477890015, + 0.012683779001235962, + 1.0 + ], + [ + -0.0008893460035324097, + -0.00953037291765213, + -0.015686221420764923, + 0.036085713654756546, + 0.002052001655101776, + 0.035593241453170776, + 1.0 + ], + [ + 0.0016428232192993164, + -0.0061408281326293945, + -0.013430550694465637, + 0.004217922687530518, + 0.01154528558254242, + 0.037568241357803345, + 1.0 + ], + [ + 0.0009784102439880371, + -0.007320120930671692, + -0.01242869533598423, + -0.008698530495166779, + 0.015602357685565948, + 0.029619336128234863, + 1.0 + ], + [ + 0.005204692482948303, + -0.00330912321805954, + -0.008638778701424599, + -0.01722710207104683, + -0.016997121274471283, + 0.031011521816253662, + 1.0 + ], + [ + 0.0002857297658920288, + 0.00038585811853408813, + -0.007545210421085358, + -0.0009700879454612732, + -0.00026714056730270386, + 0.039152681827545166, + 1.0 + ], + [ + 0.0009164661169052124, + 0.0029605254530906677, + -0.002879297360777855, + 0.0015812665224075317, + 0.0010475926101207733, + -0.002247333526611328, + 1.0 + ], + [ + -0.0023968517780303955, + 0.003288373351097107, + -0.002650341484695673, + 0.013596046715974808, + 0.0257667638361454, + -0.03371530771255493, + 0.0 + ], + [ + -0.005034521222114563, + 0.006445378065109253, + -0.001419196603819728, + 0.037282589823007584, + 0.02737841010093689, + -0.04590660333633423, + 0.0 + ], + [ + -0.003563627600669861, + 0.014660261571407318, + 0.0064620040357112885, + 0.011552849784493446, + 0.00786576233804226, + 0.01578354835510254, + 0.0 + ], + [ + 0.001272454857826233, + 0.02966918796300888, + 0.025065027177333832, + -0.033883340656757355, + -0.030716141685843468, + 0.04123687744140625, + 0.0 + ], + [ + -0.0051719993352890015, + 0.041874442249536514, + 0.021176591515541077, + -0.03660818189382553, + -0.04336630553007126, + 0.10536408424377441, + 0.0 + ], + [ + -0.010945409536361694, + 0.04227495938539505, + 0.007165737450122833, + -0.005548268556594849, + -0.025022700428962708, + 0.12299364805221558, + 0.0 + ], + [ + -0.011019080877304077, + 0.026790637522935867, + -0.010298274457454681, + 0.0021224766969680786, + 0.009409531950950623, + 0.049515724182128906, + 0.0 + ], + [ + -0.009331807494163513, + 0.010120213031768799, + -0.010895509272813797, + 0.04572707414627075, + 0.01926913857460022, + -0.011069536209106445, + 0.0 + ], + [ + -0.0059624165296554565, + 0.0022140294313430786, + -0.007704675197601318, + 0.025108521804213524, + 0.01956484466791153, + -0.007065892219543457, + 0.0 + ], + [ + -0.004151195287704468, + 0.0021531283855438232, + -0.006414657458662987, + 0.012971692718565464, + 0.01950884610414505, + 0.0016413331031799316, + 0.0 + ], + [ + -0.003562822937965393, + 0.004549436271190643, + -0.01088704727590084, + 0.015415784902870655, + 0.026689771562814713, + 0.019791603088378906, + 1.0 + ], + [ + -0.00011850893497467041, + -0.0013324618339538574, + 0.0005232281982898712, + 0.003817891702055931, + 0.007009885739535093, + -0.01656186580657959, + 1.0 + ], + [ + 0.0050042420625686646, + -0.0059661343693733215, + 0.012850582599639893, + -0.014637283980846405, + -0.026088550686836243, + -0.007299542427062988, + 1.0 + ], + [ + 0.004127219319343567, + -0.0063372403383255005, + 0.015546701848506927, + -0.024292834103107452, + -0.03788626939058304, + -0.014838874340057373, + 1.0 + ], + [ + 0.005708277225494385, + -0.012436464428901672, + 0.019187625497579575, + -0.039881277829408646, + -0.03562352806329727, + -0.03181147575378418, + 1.0 + ], + [ + 0.0036920160055160522, + -0.01542205736041069, + 0.01923302561044693, + -0.033968694508075714, + -0.033447928726673126, + -0.04752922058105469, + 1.0 + ], + [ + 0.005777105689048767, + -0.024822868406772614, + 0.011406198143959045, + -0.031058989465236664, + -0.018840700387954712, + -0.1043548583984375, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9499720335006714 + ], + [ + 0.6651484370231628 + ], + [ + 0.6149309277534485 + ], + [ + 0.648074209690094 + ], + [ + 0.649078905582428 + ], + [ + 0.649078905582428 + ], + [ + 0.649078905582428 + ], + [ + 0.649078905582428 + ], + [ + 0.649078905582428 + ], + [ + 0.649078905582428 + ], + [ + 0.7280064821243286 + ], + [ + 0.9788280129432678 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2795279622077942, + 0.0762341171503067, + 0.08543159067630768 + ], + [ + 0.266577810049057, + 0.048292968422174454, + 0.0828603059053421 + ], + [ + 0.257783442735672, + 0.014378097839653492, + 0.09128274768590927 + ], + [ + 0.25038206577301025, + -0.013799456879496574, + 0.09146855026483536 + ], + [ + 0.24367071688175201, + -0.045352935791015625, + 0.0858938917517662 + ], + [ + 0.2424292415380478, + -0.06691385060548782, + 0.07797373831272125 + ], + [ + 0.23830613493919373, + -0.07973417639732361, + 0.06683903932571411 + ], + [ + 0.23741678893566132, + -0.08926454931497574, + 0.05115281790494919 + ], + [ + 0.23905961215496063, + -0.09540537744760513, + 0.03772226721048355 + ], + [ + 0.24003802239894867, + -0.10272549837827682, + 0.02529357187449932 + ], + [ + 0.24524271488189697, + -0.10603462159633636, + 0.016654793173074722 + ], + [ + 0.245528444647789, + -0.10564876347780228, + 0.009109582751989365 + ], + [ + 0.2464449107646942, + -0.10268823802471161, + 0.00623028539121151 + ], + [ + 0.24404805898666382, + -0.0993998646736145, + 0.0035799439065158367 + ], + [ + 0.23901353776454926, + -0.09295448660850525, + 0.002160747302696109 + ], + [ + 0.2354499101638794, + -0.07829422503709793, + 0.008622751571238041 + ], + [ + 0.23672236502170563, + -0.04862503707408905, + 0.0336877778172493 + ], + [ + 0.23155036568641663, + -0.006750593893229961, + 0.054864369332790375 + ], + [ + 0.22060495615005493, + 0.035524364560842514, + 0.06203010678291321 + ], + [ + 0.20958587527275085, + 0.06231500208377838, + 0.05173183232545853 + ], + [ + 0.20025406777858734, + 0.07243521511554718, + 0.04083632305264473 + ], + [ + 0.19429165124893188, + 0.07464924454689026, + 0.03313164785504341 + ], + [ + 0.19014045596122742, + 0.07680237293243408, + 0.026716990396380424 + ], + [ + 0.18657763302326202, + 0.08135180920362473, + 0.015829943120479584 + ], + [ + 0.18645912408828735, + 0.08001934736967087, + 0.016353171318769455 + ], + [ + 0.19146336615085602, + 0.07405321300029755, + 0.029203753918409348 + ], + [ + 0.19559058547019958, + 0.06771597266197205, + 0.044750455766916275 + ], + [ + 0.20129886269569397, + 0.055279508233070374, + 0.06393808126449585 + ], + [ + 0.20499087870121002, + 0.03985745087265968, + 0.08317110687494278 + ], + [ + 0.2107679843902588, + 0.015034581534564495, + 0.09457730501890182 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9754487753926063, + 0.21899451264132333, + 0.023261341707938095, + 0.21635071529808278, + -0.972650358704473, + 0.08452010235480936, + 0.04113459097975956, + -0.07741242242075103, + -0.9961502207397631 + ], + [ + 0.9766304881428699, + 0.2147967721709199, + 0.007432112403199893, + 0.2142452473060126, + -0.9757067011913284, + 0.045775618588079964, + 0.017084016992656062, + -0.04311356996688871, + -0.9989240994430483 + ], + [ + 0.9709369321787585, + 0.2295009639415006, + 0.06790273397458228, + 0.23036213450058646, + -0.9730919714545807, + -0.00503011719257605, + 0.0649211885260473, + 0.020526145292269683, + -0.9976792654153969 + ], + [ + 0.9387383762848789, + 0.3256478540989036, + 0.11279953905405898, + 0.332982530701595, + -0.9414265125504762, + -0.053279974799256974, + 0.08884196720914228, + 0.08757623300774772, + -0.9921882423585668 + ], + [ + 0.9140792958916227, + 0.3847715349232857, + 0.1281011582112127, + 0.3969220362893346, + -0.9136147419188514, + -0.08809654054773602, + 0.08313806547065919, + 0.13137339632257908, + -0.9878406211573136 + ], + [ + 0.9091131894153702, + 0.3976830386837218, + 0.12394115367501991, + 0.40817984231727344, + -0.9098444149525414, + -0.07464822104721383, + 0.08308083507560136, + 0.1184539628841067, + -0.9894777579714421 + ], + [ + 0.9044381237287844, + 0.41510285094033367, + 0.0983936150731484, + 0.41994475844189233, + -0.9069095390629099, + -0.03408060759259565, + 0.07508715071925717, + 0.07214368370070202, + -0.9945638283684745 + ], + [ + 0.8890567183284507, + 0.45047948232658347, + 0.08152538008386838, + 0.4519327331392013, + -0.8920517433844178, + 0.0007013145885890644, + 0.07304078526670778, + 0.036220479394867985, + -0.9966710192235092 + ], + [ + 0.8721338229143756, + 0.48432887991486956, + 0.06934068797729115, + 0.4853840461016194, + -0.8742990884059777, + 0.0018525124822520722, + 0.06152172558354646, + 0.0320412248967444, + -0.9975913177190039 + ], + [ + 0.85809679151945, + 0.5099330639589945, + 0.060317216989988744, + 0.5114286097888769, + -0.8592482590337928, + -0.011541509295261517, + 0.04594206649076742, + 0.040751682527079794, + -0.998112532181502 + ], + [ + 0.8410469341533765, + 0.5343763722674606, + 0.08415430656522886, + 0.5372912710778737, + -0.8432621994352077, + -0.015064960246181532, + 0.06291378684143163, + 0.057885712969302325, + -0.9963388478119813 + ], + [ + 0.8193575347725565, + 0.5668790643671335, + 0.08544797594842243, + 0.5697907227917527, + -0.8216962086210898, + -0.012404553929036301, + 0.06318039594598104, + 0.05885122870399233, + -0.996265411648994 + ], + [ + 0.8206899485164344, + 0.5652147138639986, + 0.08366800843649931, + 0.5679852703642537, + -0.8229528413216496, + -0.011889222424919549, + 0.062134861819574526, + 0.057279561732451384, + -0.9964227570436156 + ], + [ + 0.840437386192397, + 0.5391826365406429, + 0.054287055023933925, + 0.5406847808026094, + -0.8410500237922512, + -0.017170477206153115, + 0.03640010574881625, + 0.04378289542885039, + -0.998377729303564 + ], + [ + 0.8649021860655935, + 0.5018178305937337, + 0.011093846815073168, + 0.5018592178678096, + -0.8649485842106094, + -0.0011278799461302046, + 0.009029616828409677, + 0.006543055116785468, + -0.9999378252919884 + ], + [ + 0.8569080193707315, + 0.5154669094305973, + -0.001584809199287419, + 0.5154680314984699, + -0.8568948422231164, + 0.004892634720957025, + 0.0011639764698074145, + -0.005009456406497109, + -0.9999867751651963 + ], + [ + 0.8345055913061925, + 0.5493586742225205, + 0.042490765292908614, + 0.550076740490204, + -0.835088274247335, + -0.006569154152626525, + 0.031874718043853334, + 0.028855177543776582, + -0.999075262969984 + ], + [ + 0.7702333438600585, + 0.6299524504600542, + 0.09950128725562113, + 0.6333160742219659, + -0.7738878053088861, + -0.002900849233056328, + 0.07517543573688268, + 0.06525009542957297, + -0.9950332049274543 + ], + [ + 0.6852069552693034, + 0.7183579643009732, + 0.12022172672164139, + 0.7214368854739528, + -0.6920805441419786, + 0.02352319488899959, + 0.1001011924415186, + 0.07061413134426378, + -0.9924683348733507 + ], + [ + 0.6492445902366186, + 0.7524035091875853, + 0.1112223961740276, + 0.7551481239968619, + -0.6551238128117538, + 0.023750804428697075, + 0.0907346288497681, + 0.06856930252815319, + -0.993511689854879 + ], + [ + 0.6585960697283073, + 0.7497165223093457, + 0.06462470978508958, + 0.749089296285146, + -0.6613551494200746, + 0.038400423520785675, + 0.07152931657335632, + 0.023119310368852643, + -0.9971705242126931 + ], + [ + 0.6646769031833256, + 0.746394125130694, + 0.0331726445284319, + 0.7453189864352823, + -0.6655013927503534, + 0.04009369908630425, + 0.052002142587659186, + -0.0019251539485400718, + -0.9986451176211532 + ], + [ + 0.6640003854039289, + 0.7476590557854725, + 0.010460615919227569, + 0.7470251139927246, + -0.6639158030684283, + 0.03419481686104778, + 0.03251103270569249, + -0.014891028775057404, + -0.9993604404890308 + ], + [ + 0.6494187617765814, + 0.760186870998434, + -0.01926637003129142, + 0.7604086522398933, + -0.6489970878382729, + 0.02411351438820963, + 0.005826959008026088, + -0.03031008312512225, + -0.999523559206919 + ], + [ + 0.661933682319586, + 0.7490986718966196, + -0.026362472826999987, + 0.7495614724447696, + -0.6615788411427704, + 0.021703363301989766, + -0.0011828935973340633, + -0.03412648113869719, + -0.9994168219756099 + ], + [ + 0.6671809445649864, + 0.7448927314226977, + 0.002099019534293936, + 0.7444792970139685, + -0.6668995534579784, + 0.03155252628770609, + 0.024903082679856064, + -0.01948856770473358, + -0.9994998910464465 + ], + [ + 0.6770278046176819, + 0.7345126936646679, + 0.04609180643059766, + 0.7332773722865163, + -0.6785780592913495, + 0.04284988612548614, + 0.06275067383816262, + 0.004787514371711869, + -0.9980177516652682 + ], + [ + 0.6979962918053084, + 0.708988151338138, + 0.10068256000007021, + 0.7093284179048092, + -0.7038183292733395, + 0.03863877497469422, + 0.09825666480549096, + 0.04444727934321952, + -0.9941680276393356 + ], + [ + 0.7280870097413935, + 0.6689638125306422, + 0.14958851483420665, + 0.6727569403316743, + -0.7392033036475623, + 0.03125020179284815, + 0.13148157848687353, + 0.0778838455714502, + -0.9882543706544397 + ], + [ + 0.7920788230959728, + 0.5816840880891359, + 0.1850804140551061, + 0.5916678438532703, + -0.8061802700267586, + 0.001592095978619333, + 0.15013427507708327, + 0.1082450640144545, + -0.9827220896894431 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006348.json b/json/chunk-0006/episode_0006348.json new file mode 100644 index 0000000000000000000000000000000000000000..974d7e1499f8212eb12cd1bca848a45ada522b77 --- /dev/null +++ b/json/chunk-0006/episode_0006348.json @@ -0,0 +1,1942 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 31, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut the cone block on the center of the table." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006348.mp4", + "start": 0, + "end": 31, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3724242150783539, + -0.06451662629842758, + 0.16379640996456146, + 0.10462818294763565, + -0.2947671413421631, + -0.08179017901420593, + 0.0, + 1.0001531839370728 + ], + [ + 0.3698958158493042, + -0.06414210796356201, + 0.1504129320383072, + 0.10850503295660019, + -0.2554425299167633, + -0.07965870946645737, + 0.0, + 1.0001531839370728 + ], + [ + 0.3593875765800476, + -0.06484249979257584, + 0.14359165728092194, + 0.10741151869297028, + -0.23364707827568054, + -0.07634952664375305, + 0.0, + 1.0001531839370728 + ], + [ + 0.34698525071144104, + -0.08136992156505585, + 0.15707509219646454, + 0.08132465183734894, + -0.2616308033466339, + -0.10323275625705719, + 0.0, + 1.0001531839370728 + ], + [ + 0.33200186491012573, + -0.10029315203428268, + 0.174668088555336, + 0.031878530979156494, + -0.29440855979919434, + -0.13126671314239502, + 0.0, + 1.0001531839370728 + ], + [ + 0.3160989284515381, + -0.12058684974908829, + 0.18459002673625946, + -0.014305965043604374, + -0.3140614628791809, + -0.17790190875530243, + 0.0, + 1.0001531839370728 + ], + [ + 0.30406492948532104, + -0.13051611185073853, + 0.17942772805690765, + -0.020133627578616142, + -0.29541119933128357, + -0.2162529081106186, + 0.0, + 1.0001531839370728 + ], + [ + 0.2905506193637848, + -0.13474586606025696, + 0.17202980816364288, + -0.01526472344994545, + -0.27940183877944946, + -0.24349407851696014, + 0.0, + 1.0001531839370728 + ], + [ + 0.2858162224292755, + -0.13287998735904694, + 0.16225531697273254, + 0.006301612593233585, + -0.26871371269226074, + -0.2548357844352722, + 0.0, + 1.0001531839370728 + ], + [ + 0.2878718972206116, + -0.1332063227891922, + 0.15794627368450165, + 0.03241436928510666, + -0.2843220829963684, + -0.257636159658432, + 0.0, + 1.0001531839370728 + ], + [ + 0.29406726360321045, + -0.13217207789421082, + 0.1420964151620865, + 0.06109597906470299, + -0.2526133954524994, + -0.25788307189941406, + 0.0, + 1.0001531839370728 + ], + [ + 0.3000229299068451, + -0.13247978687286377, + 0.13446207344532013, + 0.07365584373474121, + -0.23602807521820068, + -0.25210145115852356, + 0.0, + 1.0001531839370728 + ], + [ + 0.3022354245185852, + -0.13076476752758026, + 0.1275508999824524, + 0.07362965494394302, + -0.22041918337345123, + -0.2413083016872406, + 0.0, + 0.973810613155365 + ], + [ + 0.3012658953666687, + -0.13243994116783142, + 0.11958460509777069, + 0.05914613604545593, + -0.19190524518489838, + -0.22827495634555817, + 0.0, + 0.8270506262779236 + ], + [ + 0.2979542911052704, + -0.13352906703948975, + 0.11777138710021973, + 0.03468528017401695, + -0.16072219610214233, + -0.22333841025829315, + 0.0, + 0.5869058966636658 + ], + [ + 0.3000747859477997, + -0.12678825855255127, + 0.11968542635440826, + 0.02947906218469143, + -0.13747072219848633, + -0.21356718242168427, + 0.0, + 0.5809218287467957 + ], + [ + 0.30211400985717773, + -0.11758826673030853, + 0.12035447359085083, + 0.0339263454079628, + -0.12866051495075226, + -0.19235152006149292, + 0.0, + 0.5809218287467957 + ], + [ + 0.3005841076374054, + -0.1047406792640686, + 0.1279447078704834, + 0.043883588165044785, + -0.1451195776462555, + -0.14641673862934113, + 0.0, + 0.5809218287467957 + ], + [ + 0.2879529893398285, + -0.08727951347827911, + 0.11284609884023666, + 0.07671957463026047, + -0.10547082126140594, + -0.07347407191991806, + 0.0, + 0.5809218287467957 + ], + [ + 0.2766319811344147, + -0.0736110731959343, + 0.10145220905542374, + 0.10226206481456757, + -0.08427277207374573, + -0.012908551841974258, + 0.0, + 0.5809218287467957 + ], + [ + 0.27447745203971863, + -0.054731953889131546, + 0.09345327317714691, + 0.13118629157543182, + -0.10080064088106155, + 0.04299965873360634, + 0.0, + 0.5809218287467957 + ], + [ + 0.2826542854309082, + -0.029352527111768723, + 0.0929042175412178, + 0.13330860435962677, + -0.12897123396396637, + 0.12277856469154358, + 0.0, + 0.5809218287467957 + ], + [ + 0.29482507705688477, + -0.00849677249789238, + 0.07793250679969788, + 0.13677768409252167, + -0.11960066854953766, + 0.19152434170246124, + 0.0, + 0.5809218287467957 + ], + [ + 0.31249189376831055, + 0.004068850539624691, + 0.06697022914886475, + 0.1445232331752777, + -0.12635034322738647, + 0.2136077731847763, + 0.0, + 0.5809218287467957 + ], + [ + 0.32999125123023987, + 0.006003491580486298, + 0.05137723311781883, + 0.13247643411159515, + -0.10717983543872833, + 0.21711386740207672, + 0.0, + 0.5809218287467957 + ], + [ + 0.3460141718387604, + 0.006919756531715393, + 0.04081876575946808, + 0.12881885468959808, + -0.10681445896625519, + 0.2012593001127243, + 0.0, + 0.5809218287467957 + ], + [ + 0.357644259929657, + 0.0015447315527126193, + 0.030410202220082283, + 0.1020432859659195, + -0.09632851183414459, + 0.1723753660917282, + 0.0, + 0.5809218287467957 + ], + [ + 0.36355558037757874, + 0.0006370828486979008, + 0.03151217848062515, + 0.08427383750677109, + -0.11354788392782211, + 0.16668546199798584, + 0.0, + 0.6440550088882446 + ], + [ + 0.3650619387626648, + 0.001719352905638516, + 0.03150070086121559, + 0.07261084765195847, + -0.12071748822927475, + 0.16908642649650574, + 0.0, + 0.9132781028747559 + ], + [ + 0.366183876991272, + 0.001978566637262702, + 0.03219711408019066, + 0.07298485189676285, + -0.12873251736164093, + 0.16825245320796967, + 0.0, + 1.0073583126068115 + ], + [ + 0.3655473589897156, + 0.0021310574375092983, + 0.06332473456859589, + 0.0490759015083313, + -0.20911620557308197, + 0.21026505529880524, + 0.0, + 1.0001531839370728 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.973810613155365 + ], + [ + 0.8270506262779236 + ], + [ + 0.5869058966636658 + ], + [ + 0.5809218287467957 + ], + [ + 0.5809218287467957 + ], + [ + 0.5809218287467957 + ], + [ + 0.5809218287467957 + ], + [ + 0.5809218287467957 + ], + [ + 0.5809218287467957 + ], + [ + 0.5809218287467957 + ], + [ + 0.5809218287467957 + ], + [ + 0.5809218287467957 + ], + [ + 0.5809218287467957 + ], + [ + 0.5809218287467957 + ], + [ + 0.5809218287467957 + ], + [ + 0.6440550088882446 + ], + [ + 0.9132781028747559 + ], + [ + 1.0073583126068115 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3724242150783539, + -0.06451662629842758, + 0.16379640996456146 + ], + [ + 0.3698958158493042, + -0.06414210796356201, + 0.1504129320383072 + ], + [ + 0.3593875765800476, + -0.06484249979257584, + 0.14359165728092194 + ], + [ + 0.34698525071144104, + -0.08136992156505585, + 0.15707509219646454 + ], + [ + 0.33200186491012573, + -0.10029315203428268, + 0.174668088555336 + ], + [ + 0.3160989284515381, + -0.12058684974908829, + 0.18459002673625946 + ], + [ + 0.30406492948532104, + -0.13051611185073853, + 0.17942772805690765 + ], + [ + 0.2905506193637848, + -0.13474586606025696, + 0.17202980816364288 + ], + [ + 0.2858162224292755, + -0.13287998735904694, + 0.16225531697273254 + ], + [ + 0.2878718972206116, + -0.1332063227891922, + 0.15794627368450165 + ], + [ + 0.29406726360321045, + -0.13217207789421082, + 0.1420964151620865 + ], + [ + 0.3000229299068451, + -0.13247978687286377, + 0.13446207344532013 + ], + [ + 0.3022354245185852, + -0.13076476752758026, + 0.1275508999824524 + ], + [ + 0.3012658953666687, + -0.13243994116783142, + 0.11958460509777069 + ], + [ + 0.2979542911052704, + -0.13352906703948975, + 0.11777138710021973 + ], + [ + 0.3000747859477997, + -0.12678825855255127, + 0.11968542635440826 + ], + [ + 0.30211400985717773, + -0.11758826673030853, + 0.12035447359085083 + ], + [ + 0.3005841076374054, + -0.1047406792640686, + 0.1279447078704834 + ], + [ + 0.2879529893398285, + -0.08727951347827911, + 0.11284609884023666 + ], + [ + 0.2766319811344147, + -0.0736110731959343, + 0.10145220905542374 + ], + [ + 0.27447745203971863, + -0.054731953889131546, + 0.09345327317714691 + ], + [ + 0.2826542854309082, + -0.029352527111768723, + 0.0929042175412178 + ], + [ + 0.29482507705688477, + -0.00849677249789238, + 0.07793250679969788 + ], + [ + 0.31249189376831055, + 0.004068850539624691, + 0.06697022914886475 + ], + [ + 0.32999125123023987, + 0.006003491580486298, + 0.05137723311781883 + ], + [ + 0.3460141718387604, + 0.006919756531715393, + 0.04081876575946808 + ], + [ + 0.357644259929657, + 0.0015447315527126193, + 0.030410202220082283 + ], + [ + 0.36355558037757874, + 0.0006370828486979008, + 0.03151217848062515 + ], + [ + 0.3650619387626648, + 0.001719352905638516, + 0.03150070086121559 + ], + [ + 0.366183876991272, + 0.001978566637262702, + 0.03219711408019066 + ], + [ + 0.3655473589897156, + 0.0021310574375092983, + 0.06332473456859589 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9536710473467839, + -0.051012830010033275, + 0.29649489814642066, + -0.07817532489687272, + -0.9936856087205378, + 0.0804831013254538, + 0.29051704258056416, + -0.09993298852762444, + -0.9516371397618848 + ], + [ + 0.9644833936547851, + -0.051830697439770396, + 0.25900842103502353, + -0.07699242343811566, + -0.9931440376295736, + 0.08796071426468771, + 0.2526736038791447, + -0.10477833422867114, + -0.9618615028053623 + ], + [ + 0.9699944163437659, + -0.051087220423460214, + 0.2376992388951264, + -0.07420285292993851, + -0.9932337281103046, + 0.08933475225892741, + 0.23152703703666122, + -0.10429217254190658, + -0.9672219878949787 + ], + [ + 0.9608268457834312, + -0.08180883017877656, + 0.26480009011826733, + -0.09954266384660972, + -0.9935540678251134, + 0.054236264459225435, + 0.2586562013487851, + -0.07847056526462823, + -0.9627768899858713 + ], + [ + 0.9487409772316434, + -0.12165437728344064, + 0.29170322351548417, + -0.125258377786609, + -0.9921037523120413, + -0.006362660028232025, + 0.2901739080548308, + -0.030501756279696597, + -0.9564877134328703 + ], + [ + 0.9360758726938393, + -0.18129643412037888, + 0.3014855942424148, + -0.16830905164110055, + -0.9833343716948847, + -0.06874282929222116, + 0.30892397721144954, + 0.013605749470765066, + -0.9509894110268516 + ], + [ + 0.9343997691481876, + -0.22025249013747014, + 0.279974841734141, + -0.2052766309437202, + -0.9752527291650656, + -0.08211954118531768, + 0.2911332619337911, + 0.01926018806593019, + -0.956488614125362 + ], + [ + 0.9328660023184633, + -0.24515238883056192, + 0.263934325105769, + -0.23174556951235328, + -0.9693735259970224, + -0.08129549869147108, + 0.27578073306480966, + 0.014672196385303468, + -0.9611085859170477 + ], + [ + 0.9329768725337501, + -0.2504625114316773, + 0.25850084271522217, + -0.24303992009920702, + -0.9681072355614978, + -0.06082744192916549, + 0.2654915301008945, + -0.006075427623784161, + -0.9640940496776621 + ], + [ + 0.9281720931614534, + -0.24587078486106603, + 0.27936378188320904, + -0.2445659252088794, + -0.9688033223891729, + -0.04009527097332912, + 0.28050681578708675, + -0.03110755020092804, + -0.9593478235851092 + ], + [ + 0.9362440756604645, + -0.23980245538019898, + 0.25679138066592083, + -0.24694006395718585, + -0.9690199120502644, + -0.004584197085485055, + 0.24993526282520268, + -0.05912015260235121, + -0.9664559855227611 + ], + [ + 0.9415412169925454, + -0.2320988497377819, + 0.24419308068533588, + -0.24252368467970198, + -0.9700571479848616, + 0.013091677236189803, + 0.23384268017959617, + -0.07154895941853118, + -0.9696382559143117 + ], + [ + 0.9475330387421417, + -0.2227080013599599, + 0.2293082785734864, + -0.23319148012517552, + -0.9722388065054987, + 0.01932451090697439, + 0.2186386838807658, + -0.07178334942739846, + -0.9731619991840367 + ], + [ + 0.9561770706925591, + -0.21491999801966027, + 0.1988336086606746, + -0.2221433400559888, + -0.9749063119659683, + 0.014492044634333706, + 0.19072950991015106, + -0.058026522730070654, + -0.9799261077802195 + ], + [ + 0.9625955334288617, + -0.2159413499111657, + 0.16364343073080767, + -0.21863182364215517, + -0.9758061002630977, + -0.0016063561967901673, + 0.1600311367006768, + -0.034231390387609195, + -0.9865182447367207 + ], + [ + 0.968061186493732, + -0.20790788959894435, + 0.14011369899785364, + -0.20994782087652947, + -0.977712565601774, + -0.00022709820206884973, + 0.13703813963107003, + -0.02919672082460398, + -0.9901353946706205 + ], + [ + 0.9734444965712516, + -0.18678571807225713, + 0.13235145491974776, + -0.18958750589327217, + -0.9818245673402018, + 0.008780465613751036, + 0.1283058443887543, + -0.03363947816861988, + -0.9911639601015727 + ], + [ + 0.9789012952295204, + -0.13947757627133964, + 0.14932601888298044, + -0.14436060667256903, + -0.9892733285838362, + 0.022322557957935654, + 0.14461075146438943, + -0.043408375575805805, + -0.9885360102144861 + ], + [ + 0.9917600940659068, + -0.06514505990841404, + 0.11030882552140858, + -0.07300006191274933, + -0.9949607388298046, + 0.06873222787007463, + 0.10527538543799392, + -0.07621843187037006, + -0.9915179493403553 + ], + [ + 0.9963681324582032, + -0.004248758143452245, + 0.08504406314370784, + -0.012862384122199911, + -0.9948038276175335, + 0.10099457229078061, + 0.08417305802004284, + -0.10172164278924707, + -0.9912454810448376 + ], + [ + 0.9940042648138385, + 0.05576832419214372, + 0.09405006937105863, + 0.042768206469313085, + -0.989925162438681, + 0.13497797333694828, + 0.10063002557536786, + -0.13014632836754048, + -0.9863749445140777 + ], + [ + 0.984229428497908, + 0.13834964296442837, + 0.11023524105428557, + 0.12145317580011712, + -0.9815729421031313, + 0.14752520265727007, + 0.12861398900099125, + -0.13181022578926857, + -0.9828959793440172 + ], + [ + 0.9747021903181966, + 0.2045491795640882, + 0.09008481186397622, + 0.18899575350899073, + -0.9694496115264645, + 0.1563587409349264, + 0.11931573804187943, + -0.13537756036672044, + -0.9835835860793306 + ], + [ + 0.9694820588175548, + 0.2275132220137834, + 0.09133603582257394, + 0.21029717518709165, + -0.9632368145141533, + 0.16718234737243198, + 0.12601442671061627, + -0.14287257600230263, + -0.9816861979712566 + ], + [ + 0.9709196772834419, + 0.22732315485539908, + 0.07509436417205548, + 0.214176057259117, + -0.9649229338877898, + 0.1518299975443567, + 0.10697474823880856, + -0.13133131737696144, + -0.9855498406043579 + ], + [ + 0.9742314096621169, + 0.21166621243720712, + 0.07791389439792996, + 0.198764073101258, + -0.9689593770810238, + 0.14700533599482793, + 0.10661146125985914, + -0.12773073271238047, + -0.9860622983609078 + ], + [ + 0.980612817234576, + 0.18028301070490618, + 0.07678892320148287, + 0.17072781282204588, + -0.978374818902423, + 0.11676783661031, + 0.09617960596856809, + -0.10139403231367351, + -0.990186211581895 + ], + [ + 0.9797897283730069, + 0.17473092922152078, + 0.09737140518721926, + 0.16484623722293068, + -0.9810579898424912, + 0.10173956280450744, + 0.11330404338853486, + -0.08363206884679436, + -0.9900342775945763 + ], + [ + 0.9785651895307922, + 0.17645030270130627, + 0.10618597136713578, + 0.16705720113845376, + -0.981671299497675, + 0.09172432223970042, + 0.12042450492466639, + -0.07201909760031419, + -0.9901066549591945 + ], + [ + 0.9777211683351149, + 0.17624300993365813, + 0.11401630777631047, + 0.1660740748201813, + -0.9816866597292733, + 0.09333115118867231, + 0.12837725134165592, + -0.07231668935388615, + -0.9890852227077578 + ], + [ + 0.956670201466513, + 0.21842738263960795, + 0.192539876750849, + 0.20417213033034318, + -0.9746726004171226, + 0.09125274347927247, + 0.20759544027360327, + -0.047987503678925056, + -0.9770370170409484 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0025283992290496826, + 0.00037451833486557007, + -0.013383477926254272, + 0.0038768500089645386, + 0.03932461142539978, + 0.0021314695477485657, + 1.0 + ], + [ + -0.010508239269256592, + -0.0007003918290138245, + -0.006821274757385254, + -0.0010935142636299133, + 0.021795451641082764, + 0.003309182822704315, + 1.0 + ], + [ + -0.012402325868606567, + -0.01652742177248001, + 0.013483434915542603, + -0.026086866855621338, + -0.02798372507095337, + -0.026883229613304138, + 1.0 + ], + [ + -0.014983385801315308, + -0.018923230469226837, + 0.01759299635887146, + -0.049446120858192444, + -0.032777756452560425, + -0.02803395688533783, + 1.0 + ], + [ + -0.015902936458587646, + -0.020293697714805603, + 0.009921938180923462, + -0.04618449509143829, + -0.019652903079986572, + -0.04663519561290741, + 1.0 + ], + [ + -0.012033998966217041, + -0.009929262101650238, + -0.005162298679351807, + -0.005827662535011768, + 0.01865026354789734, + -0.03835099935531616, + 1.0 + ], + [ + -0.013514310121536255, + -0.004229754209518433, + -0.0073979198932647705, + 0.0048689041286706924, + 0.016009360551834106, + -0.027241170406341553, + 1.0 + ], + [ + -0.004734396934509277, + 0.001865878701210022, + -0.00977449119091034, + 0.02156633511185646, + 0.01068812608718872, + -0.011341705918312073, + 1.0 + ], + [ + 0.0020556747913360596, + -0.00032633543014526367, + -0.004309043288230896, + 0.026112757623195648, + -0.015608370304107666, + -0.00280037522315979, + 1.0 + ], + [ + 0.006195366382598877, + 0.0010342448949813843, + -0.01584985852241516, + 0.02868160977959633, + 0.03170868754386902, + -0.00024691224098205566, + 1.0 + ], + [ + 0.0059556663036346436, + -0.0003077089786529541, + -0.007634341716766357, + 0.012559864670038223, + 0.016585320234298706, + 0.005781620740890503, + 1.0 + ], + [ + 0.0022124946117401123, + 0.0017150193452835083, + -0.006911173462867737, + -2.6188790798187256e-05, + 0.01560889184474945, + 0.010793149471282959, + 0.0 + ], + [ + -0.0009695291519165039, + -0.0016751736402511597, + -0.007966294884681702, + -0.014483518898487091, + 0.028513938188552856, + 0.013033345341682434, + 0.0 + ], + [ + -0.0033116042613983154, + -0.0010891258716583252, + -0.0018132179975509644, + -0.02446085587143898, + 0.031183049082756042, + 0.004936546087265015, + 0.0 + ], + [ + 0.002120494842529297, + 0.0067408084869384766, + 0.0019140392541885376, + -0.005206217989325523, + 0.023251473903656006, + 0.009771227836608887, + 0.0 + ], + [ + 0.0020392239093780518, + 0.009199991822242737, + 0.0006690472364425659, + 0.00444728322327137, + 0.00881020724773407, + 0.021215662360191345, + 0.0 + ], + [ + -0.0015299022197723389, + 0.01284758746623993, + 0.007590234279632568, + 0.009957242757081985, + -0.016459062695503235, + 0.045934781432151794, + 0.0 + ], + [ + -0.012631118297576904, + 0.01746116578578949, + -0.015098609030246735, + 0.03283598646521568, + 0.03964875638484955, + 0.07294266670942307, + 0.0 + ], + [ + -0.011321008205413818, + 0.013668440282344818, + -0.011393889784812927, + 0.0255424901843071, + 0.021198049187660217, + 0.0605655200779438, + 0.0 + ], + [ + -0.002154529094696045, + 0.01887911930680275, + -0.007998935878276825, + 0.028924226760864258, + -0.016527868807315826, + 0.0559082105755806, + 0.0 + ], + [ + 0.008176833391189575, + 0.025379426777362823, + -0.0005490556359291077, + 0.0021223127841949463, + -0.028170593082904816, + 0.07977890968322754, + 0.0 + ], + [ + 0.012170791625976562, + 0.020855754613876343, + -0.014971710741519928, + 0.0034690797328948975, + 0.009370565414428711, + 0.06874577701091766, + 0.0 + ], + [ + 0.01766681671142578, + 0.01256562303751707, + -0.01096227765083313, + 0.0077455490827560425, + -0.006749674677848816, + 0.022083431482315063, + 0.0 + ], + [ + 0.01749935746192932, + 0.0019346410408616066, + -0.015592996031045914, + -0.012046799063682556, + 0.019170507788658142, + 0.003506094217300415, + 0.0 + ], + [ + 0.016022920608520508, + 0.0009162649512290955, + -0.010558467358350754, + -0.0036575794219970703, + 0.00036537647247314453, + -0.015854567289352417, + 0.0 + ], + [ + 0.011630088090896606, + -0.005375024862587452, + -0.010408563539385796, + -0.02677556872367859, + 0.010485947132110596, + -0.028883934020996094, + 0.0 + ], + [ + 0.005911320447921753, + -0.0009076487040147185, + 0.0011019762605428696, + -0.017769448459148407, + -0.01721937209367752, + -0.005689904093742371, + 1.0 + ], + [ + 0.0015063583850860596, + 0.0010822700569406152, + -1.1477619409561157e-05, + -0.011662989854812622, + -0.007169604301452637, + 0.0024009644985198975, + 1.0 + ], + [ + 0.0011219382286071777, + 0.00025921373162418604, + 0.0006964132189750671, + 0.0003740042448043823, + -0.00801502913236618, + -0.0008339732885360718, + 1.0 + ], + [ + -0.0006365180015563965, + 0.00015249080024659634, + 0.031127620488405228, + -0.02390895038843155, + -0.08038368821144104, + 0.04201260209083557, + 1.0 + ], + [ + -0.010865360498428345, + 0.0024410285986959934, + 0.048823267221450806, + -0.03209642320871353, + -0.11228011548519135, + 0.058248236775398254, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.973810613155365 + ], + [ + 0.8270506262779236 + ], + [ + 0.5869058966636658 + ], + [ + 0.5809218287467957 + ], + [ + 0.5809218287467957 + ], + [ + 0.5809218287467957 + ], + [ + 0.5809218287467957 + ], + [ + 0.5809218287467957 + ], + [ + 0.5809218287467957 + ], + [ + 0.5809218287467957 + ], + [ + 0.5809218287467957 + ], + [ + 0.5809218287467957 + ], + [ + 0.5809218287467957 + ], + [ + 0.5809218287467957 + ], + [ + 0.5809218287467957 + ], + [ + 0.6440550088882446 + ], + [ + 0.9132781028747559 + ], + [ + 1.0073583126068115 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3698958158493042, + -0.06414210796356201, + 0.1504129320383072 + ], + [ + 0.3593875765800476, + -0.06484249979257584, + 0.14359165728092194 + ], + [ + 0.34698525071144104, + -0.08136992156505585, + 0.15707509219646454 + ], + [ + 0.33200186491012573, + -0.10029315203428268, + 0.174668088555336 + ], + [ + 0.3160989284515381, + -0.12058684974908829, + 0.18459002673625946 + ], + [ + 0.30406492948532104, + -0.13051611185073853, + 0.17942772805690765 + ], + [ + 0.2905506193637848, + -0.13474586606025696, + 0.17202980816364288 + ], + [ + 0.2858162224292755, + -0.13287998735904694, + 0.16225531697273254 + ], + [ + 0.2878718972206116, + -0.1332063227891922, + 0.15794627368450165 + ], + [ + 0.29406726360321045, + -0.13217207789421082, + 0.1420964151620865 + ], + [ + 0.3000229299068451, + -0.13247978687286377, + 0.13446207344532013 + ], + [ + 0.3022354245185852, + -0.13076476752758026, + 0.1275508999824524 + ], + [ + 0.3012658953666687, + -0.13243994116783142, + 0.11958460509777069 + ], + [ + 0.2979542911052704, + -0.13352906703948975, + 0.11777138710021973 + ], + [ + 0.3000747859477997, + -0.12678825855255127, + 0.11968542635440826 + ], + [ + 0.30211400985717773, + -0.11758826673030853, + 0.12035447359085083 + ], + [ + 0.3005841076374054, + -0.1047406792640686, + 0.1279447078704834 + ], + [ + 0.2879529893398285, + -0.08727951347827911, + 0.11284609884023666 + ], + [ + 0.2766319811344147, + -0.0736110731959343, + 0.10145220905542374 + ], + [ + 0.27447745203971863, + -0.054731953889131546, + 0.09345327317714691 + ], + [ + 0.2826542854309082, + -0.029352527111768723, + 0.0929042175412178 + ], + [ + 0.29482507705688477, + -0.00849677249789238, + 0.07793250679969788 + ], + [ + 0.31249189376831055, + 0.004068850539624691, + 0.06697022914886475 + ], + [ + 0.32999125123023987, + 0.006003491580486298, + 0.05137723311781883 + ], + [ + 0.3460141718387604, + 0.006919756531715393, + 0.04081876575946808 + ], + [ + 0.357644259929657, + 0.0015447315527126193, + 0.030410202220082283 + ], + [ + 0.36355558037757874, + 0.0006370828486979008, + 0.03151217848062515 + ], + [ + 0.3650619387626648, + 0.001719352905638516, + 0.03150070086121559 + ], + [ + 0.366183876991272, + 0.001978566637262702, + 0.03219711408019066 + ], + [ + 0.3655473589897156, + 0.0021310574375092983, + 0.06332473456859589 + ], + [ + 0.35468199849128723, + 0.004572086036205292, + 0.11214800179004669 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9644833936547851, + -0.051830697439770396, + 0.25900842103502353, + -0.07699242343811566, + -0.9931440376295736, + 0.08796071426468771, + 0.2526736038791447, + -0.10477833422867114, + -0.9618615028053623 + ], + [ + 0.9699944163437659, + -0.051087220423460214, + 0.2376992388951264, + -0.07420285292993851, + -0.9932337281103046, + 0.08933475225892741, + 0.23152703703666122, + -0.10429217254190658, + -0.9672219878949787 + ], + [ + 0.9608268457834312, + -0.08180883017877656, + 0.26480009011826733, + -0.09954266384660972, + -0.9935540678251134, + 0.054236264459225435, + 0.2586562013487851, + -0.07847056526462823, + -0.9627768899858713 + ], + [ + 0.9487409772316434, + -0.12165437728344064, + 0.29170322351548417, + -0.125258377786609, + -0.9921037523120413, + -0.006362660028232025, + 0.2901739080548308, + -0.030501756279696597, + -0.9564877134328703 + ], + [ + 0.9360758726938393, + -0.18129643412037888, + 0.3014855942424148, + -0.16830905164110055, + -0.9833343716948847, + -0.06874282929222116, + 0.30892397721144954, + 0.013605749470765066, + -0.9509894110268516 + ], + [ + 0.9343997691481876, + -0.22025249013747014, + 0.279974841734141, + -0.2052766309437202, + -0.9752527291650656, + -0.08211954118531768, + 0.2911332619337911, + 0.01926018806593019, + -0.956488614125362 + ], + [ + 0.9328660023184633, + -0.24515238883056192, + 0.263934325105769, + -0.23174556951235328, + -0.9693735259970224, + -0.08129549869147108, + 0.27578073306480966, + 0.014672196385303468, + -0.9611085859170477 + ], + [ + 0.9329768725337501, + -0.2504625114316773, + 0.25850084271522217, + -0.24303992009920702, + -0.9681072355614978, + -0.06082744192916549, + 0.2654915301008945, + -0.006075427623784161, + -0.9640940496776621 + ], + [ + 0.9281720931614534, + -0.24587078486106603, + 0.27936378188320904, + -0.2445659252088794, + -0.9688033223891729, + -0.04009527097332912, + 0.28050681578708675, + -0.03110755020092804, + -0.9593478235851092 + ], + [ + 0.9362440756604645, + -0.23980245538019898, + 0.25679138066592083, + -0.24694006395718585, + -0.9690199120502644, + -0.004584197085485055, + 0.24993526282520268, + -0.05912015260235121, + -0.9664559855227611 + ], + [ + 0.9415412169925454, + -0.2320988497377819, + 0.24419308068533588, + -0.24252368467970198, + -0.9700571479848616, + 0.013091677236189803, + 0.23384268017959617, + -0.07154895941853118, + -0.9696382559143117 + ], + [ + 0.9475330387421417, + -0.2227080013599599, + 0.2293082785734864, + -0.23319148012517552, + -0.9722388065054987, + 0.01932451090697439, + 0.2186386838807658, + -0.07178334942739846, + -0.9731619991840367 + ], + [ + 0.9561770706925591, + -0.21491999801966027, + 0.1988336086606746, + -0.2221433400559888, + -0.9749063119659683, + 0.014492044634333706, + 0.19072950991015106, + -0.058026522730070654, + -0.9799261077802195 + ], + [ + 0.9625955334288617, + -0.2159413499111657, + 0.16364343073080767, + -0.21863182364215517, + -0.9758061002630977, + -0.0016063561967901673, + 0.1600311367006768, + -0.034231390387609195, + -0.9865182447367207 + ], + [ + 0.968061186493732, + -0.20790788959894435, + 0.14011369899785364, + -0.20994782087652947, + -0.977712565601774, + -0.00022709820206884973, + 0.13703813963107003, + -0.02919672082460398, + -0.9901353946706205 + ], + [ + 0.9734444965712516, + -0.18678571807225713, + 0.13235145491974776, + -0.18958750589327217, + -0.9818245673402018, + 0.008780465613751036, + 0.1283058443887543, + -0.03363947816861988, + -0.9911639601015727 + ], + [ + 0.9789012952295204, + -0.13947757627133964, + 0.14932601888298044, + -0.14436060667256903, + -0.9892733285838362, + 0.022322557957935654, + 0.14461075146438943, + -0.043408375575805805, + -0.9885360102144861 + ], + [ + 0.9917600940659068, + -0.06514505990841404, + 0.11030882552140858, + -0.07300006191274933, + -0.9949607388298046, + 0.06873222787007463, + 0.10527538543799392, + -0.07621843187037006, + -0.9915179493403553 + ], + [ + 0.9963681324582032, + -0.004248758143452245, + 0.08504406314370784, + -0.012862384122199911, + -0.9948038276175335, + 0.10099457229078061, + 0.08417305802004284, + -0.10172164278924707, + -0.9912454810448376 + ], + [ + 0.9940042648138385, + 0.05576832419214372, + 0.09405006937105863, + 0.042768206469313085, + -0.989925162438681, + 0.13497797333694828, + 0.10063002557536786, + -0.13014632836754048, + -0.9863749445140777 + ], + [ + 0.984229428497908, + 0.13834964296442837, + 0.11023524105428557, + 0.12145317580011712, + -0.9815729421031313, + 0.14752520265727007, + 0.12861398900099125, + -0.13181022578926857, + -0.9828959793440172 + ], + [ + 0.9747021903181966, + 0.2045491795640882, + 0.09008481186397622, + 0.18899575350899073, + -0.9694496115264645, + 0.1563587409349264, + 0.11931573804187943, + -0.13537756036672044, + -0.9835835860793306 + ], + [ + 0.9694820588175548, + 0.2275132220137834, + 0.09133603582257394, + 0.21029717518709165, + -0.9632368145141533, + 0.16718234737243198, + 0.12601442671061627, + -0.14287257600230263, + -0.9816861979712566 + ], + [ + 0.9709196772834419, + 0.22732315485539908, + 0.07509436417205548, + 0.214176057259117, + -0.9649229338877898, + 0.1518299975443567, + 0.10697474823880856, + -0.13133131737696144, + -0.9855498406043579 + ], + [ + 0.9742314096621169, + 0.21166621243720712, + 0.07791389439792996, + 0.198764073101258, + -0.9689593770810238, + 0.14700533599482793, + 0.10661146125985914, + -0.12773073271238047, + -0.9860622983609078 + ], + [ + 0.980612817234576, + 0.18028301070490618, + 0.07678892320148287, + 0.17072781282204588, + -0.978374818902423, + 0.11676783661031, + 0.09617960596856809, + -0.10139403231367351, + -0.990186211581895 + ], + [ + 0.9797897283730069, + 0.17473092922152078, + 0.09737140518721926, + 0.16484623722293068, + -0.9810579898424912, + 0.10173956280450744, + 0.11330404338853486, + -0.08363206884679436, + -0.9900342775945763 + ], + [ + 0.9785651895307922, + 0.17645030270130627, + 0.10618597136713578, + 0.16705720113845376, + -0.981671299497675, + 0.09172432223970042, + 0.12042450492466639, + -0.07201909760031419, + -0.9901066549591945 + ], + [ + 0.9777211683351149, + 0.17624300993365813, + 0.11401630777631047, + 0.1660740748201813, + -0.9816866597292733, + 0.09333115118867231, + 0.12837725134165592, + -0.07231668935388615, + -0.9890852227077578 + ], + [ + 0.956670201466513, + 0.21842738263960795, + 0.192539876750849, + 0.20417213033034318, + -0.9746726004171226, + 0.09125274347927247, + 0.20759544027360327, + -0.047987503678925056, + -0.9770370170409484 + ], + [ + 0.914796490952738, + 0.2704312821282832, + 0.3000238353648089, + 0.2517137654972336, + -0.962604494548519, + 0.10016370267813456, + 0.31589169093181413, + -0.016109274392192716, + -0.9486584901210742 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006349.json b/json/chunk-0006/episode_0006349.json new file mode 100644 index 0000000000000000000000000000000000000000..25c659478e76859fb71c448ac38493304011ad25 --- /dev/null +++ b/json/chunk-0006/episode_0006349.json @@ -0,0 +1,2302 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 37, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut the blue object in the drawer." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006349.mp4", + "start": 0, + "end": 37, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.27790725231170654, + 0.004915280733257532, + 0.10378313809633255, + 0.35426777601242065, + -0.1381472945213318, + -0.8415318131446838, + 0.0, + 1.0001531839370728 + ], + [ + 0.2735536992549896, + 0.004160165786743164, + 0.09527583420276642, + 0.32891029119491577, + -0.11975795775651932, + -0.8369117975234985, + 0.0, + 1.0001531839370728 + ], + [ + 0.2749783396720886, + -0.004959657322615385, + 0.09054575115442276, + 0.28246134519577026, + -0.1515275239944458, + -0.8084560632705688, + 0.0, + 1.0001531839370728 + ], + [ + 0.2924584150314331, + -0.03234467655420303, + 0.09856782853603363, + 0.33422523736953735, + -0.17351922392845154, + -0.8259652256965637, + 0.0, + 1.0001531839370728 + ], + [ + 0.3084844946861267, + -0.05583604797720909, + 0.0968296006321907, + 0.27784836292266846, + -0.2161777764558792, + -0.7056872844696045, + 0.0, + 1.0001531839370728 + ], + [ + 0.3175128102302551, + -0.07323569059371948, + 0.09437311440706253, + 0.2181677520275116, + -0.19850732386112213, + -0.5352665185928345, + 0.0, + 1.0001531839370728 + ], + [ + 0.32819864153862, + -0.08695270866155624, + 0.08715154975652695, + 0.13307657837867737, + -0.1910632699728012, + -0.43142420053482056, + 0.0, + 1.0001531839370728 + ], + [ + 0.3433033227920532, + -0.09437214583158493, + 0.07889039814472198, + 0.08252937346696854, + -0.19615662097930908, + -0.35020244121551514, + 0.0, + 1.0001531839370728 + ], + [ + 0.3578055500984192, + -0.10024067014455795, + 0.07261256873607635, + 0.05064466968178749, + -0.19562987983226776, + -0.2973303496837616, + 0.0, + 1.0001531839370728 + ], + [ + 0.3738930821418762, + -0.10315240919589996, + 0.0597749762237072, + 0.044523026794195175, + -0.17677521705627441, + -0.29428985714912415, + 0.0, + 1.0001531839370728 + ], + [ + 0.38343286514282227, + -0.09945259988307953, + 0.0467953085899353, + 0.07067180424928665, + -0.14889129996299744, + -0.3031265437602997, + 0.0, + 1.0001531839370728 + ], + [ + 0.3881419599056244, + -0.09304410219192505, + 0.03036458231508732, + 0.08289049565792084, + -0.1182362362742424, + -0.29372328519821167, + 0.0, + 0.9994885921478271 + ], + [ + 0.39397966861724854, + -0.09120837599039078, + 0.01983802579343319, + 0.08489112555980682, + -0.10362861305475235, + -0.29600802063941956, + 0.0, + 0.9795387983322144 + ], + [ + 0.39715445041656494, + -0.09267201274633408, + 0.010830219835042953, + 0.07392608374357224, + -0.0805099830031395, + -0.31201860308647156, + 0.0, + 0.8810233473777771 + ], + [ + 0.3977256417274475, + -0.09262125939130783, + 0.010236077941954136, + 0.07188238203525543, + -0.08316601067781448, + -0.3167365491390228, + 0.0, + 0.7768828272819519 + ], + [ + 0.3909720182418823, + -0.0924864411354065, + 0.009735564701259136, + 0.060819342732429504, + -0.06819363683462143, + -0.31406816840171814, + 0.0, + 0.775918185710907 + ], + [ + 0.3848400413990021, + -0.08613049983978271, + 0.020343894138932228, + 0.08573408424854279, + -0.07047970592975616, + -0.3533438444137573, + 0.0, + 0.7768828272819519 + ], + [ + 0.3763324022293091, + -0.07002206146717072, + 0.04879208281636238, + 0.1036524549126625, + -0.12632566690444946, + -0.3560043275356293, + 0.0, + 0.7768828272819519 + ], + [ + 0.36113059520721436, + -0.04428042843937874, + 0.07824157178401947, + 0.11561500281095505, + -0.1770603060722351, + -0.3191574513912201, + 0.0, + 0.775918185710907 + ], + [ + 0.3413715064525604, + -0.02203807234764099, + 0.10480792075395584, + 0.1696510761976242, + -0.21231482923030853, + -0.3168945908546448, + 0.0, + 0.775918185710907 + ], + [ + 0.32588526606559753, + 0.004251578822731972, + 0.11962240934371948, + 0.18440182507038116, + -0.2090158313512802, + -0.2743079364299774, + 0.0, + 0.775918185710907 + ], + [ + 0.315479040145874, + 0.032511431723833084, + 0.12849532067775726, + 0.1730467528104782, + -0.198863223195076, + -0.20391549170017242, + 0.0, + 0.775918185710907 + ], + [ + 0.3002033233642578, + 0.06125599890947342, + 0.12467276304960251, + 0.16560636460781097, + -0.17041201889514923, + -0.10655345767736435, + 0.0, + 0.775918185710907 + ], + [ + 0.29369980096817017, + 0.08058123290538788, + 0.1236017569899559, + 0.1566026210784912, + -0.15604281425476074, + -0.039193157106637955, + 0.0, + 0.775918185710907 + ], + [ + 0.2987891137599945, + 0.09730705618858337, + 0.11497166007757187, + 0.15567387640476227, + -0.12784753739833832, + 0.0056029730476439, + 0.0, + 0.775918185710907 + ], + [ + 0.3025485575199127, + 0.10789933800697327, + 0.1045340746641159, + 0.13971959054470062, + -0.10840977728366852, + 0.047651052474975586, + 0.0, + 0.775918185710907 + ], + [ + 0.3120012879371643, + 0.11531723290681839, + 0.09874308109283447, + 0.13330449163913727, + -0.10809469223022461, + 0.07701858133077621, + 0.0, + 0.775918185710907 + ], + [ + 0.3152879476547241, + 0.11638898402452469, + 0.09627979248762131, + 0.10838694870471954, + -0.11452211439609528, + 0.11101096123456955, + 0.0, + 0.775918185710907 + ], + [ + 0.3151675760746002, + 0.12120497226715088, + 0.07579594105482101, + 0.09154951572418213, + -0.08806804567575455, + 0.17045295238494873, + 0.0, + 0.775918185710907 + ], + [ + 0.31724703311920166, + 0.1224966049194336, + 0.07124022394418716, + 0.08817726373672485, + -0.0777178704738617, + 0.1923065334558487, + 0.0, + 0.775918185710907 + ], + [ + 0.32139265537261963, + 0.12288080900907516, + 0.07056893408298492, + 0.08158348500728607, + -0.07865077257156372, + 0.19668199121952057, + 0.0, + 0.8130597472190857 + ], + [ + 0.3208552300930023, + 0.11906580626964569, + 0.0715862438082695, + 0.057936325669288635, + -0.0723118782043457, + 0.20808611810207367, + 0.0, + 0.9716382026672363 + ], + [ + 0.3223791718482971, + 0.11307113617658615, + 0.0721878930926323, + 0.04888039454817772, + -0.07317781448364258, + 0.19373305141925812, + 0.0, + 0.9716382026672363 + ], + [ + 0.32198742032051086, + 0.11207658797502518, + 0.07384928315877914, + 0.04413110017776489, + -0.07510337233543396, + 0.1908363401889801, + 0.0, + 0.9716382026672363 + ], + [ + 0.31898921728134155, + 0.11151860654354095, + 0.08069553971290588, + 0.050155431032180786, + -0.06933041661977768, + 0.17803148925304413, + 0.0, + 0.9745318293571472 + ], + [ + 0.3220266103744507, + 0.10490809381008148, + 0.10873890668153763, + 0.07890991121530533, + -0.11592299491167068, + 0.13089090585708618, + 0.0, + 0.9893313646316528 + ], + [ + 0.32390016317367554, + 0.09760264307260513, + 0.14463163912296295, + 0.11889971047639847, + -0.1729709506034851, + 0.0957164540886879, + 0.0, + 0.9900195002555847 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9795387983322144 + ], + [ + 0.8810233473777771 + ], + [ + 0.7768828272819519 + ], + [ + 0.775918185710907 + ], + [ + 0.7768828272819519 + ], + [ + 0.7768828272819519 + ], + [ + 0.775918185710907 + ], + [ + 0.775918185710907 + ], + [ + 0.775918185710907 + ], + [ + 0.775918185710907 + ], + [ + 0.775918185710907 + ], + [ + 0.775918185710907 + ], + [ + 0.775918185710907 + ], + [ + 0.775918185710907 + ], + [ + 0.775918185710907 + ], + [ + 0.775918185710907 + ], + [ + 0.775918185710907 + ], + [ + 0.775918185710907 + ], + [ + 0.8130597472190857 + ], + [ + 0.9716382026672363 + ], + [ + 0.9716382026672363 + ], + [ + 0.9716382026672363 + ], + [ + 0.9745318293571472 + ], + [ + 0.9893313646316528 + ], + [ + 0.9900195002555847 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.27790725231170654, + 0.004915280733257532, + 0.10378313809633255 + ], + [ + 0.2735536992549896, + 0.004160165786743164, + 0.09527583420276642 + ], + [ + 0.2749783396720886, + -0.004959657322615385, + 0.09054575115442276 + ], + [ + 0.2924584150314331, + -0.03234467655420303, + 0.09856782853603363 + ], + [ + 0.3084844946861267, + -0.05583604797720909, + 0.0968296006321907 + ], + [ + 0.3175128102302551, + -0.07323569059371948, + 0.09437311440706253 + ], + [ + 0.32819864153862, + -0.08695270866155624, + 0.08715154975652695 + ], + [ + 0.3433033227920532, + -0.09437214583158493, + 0.07889039814472198 + ], + [ + 0.3578055500984192, + -0.10024067014455795, + 0.07261256873607635 + ], + [ + 0.3738930821418762, + -0.10315240919589996, + 0.0597749762237072 + ], + [ + 0.38343286514282227, + -0.09945259988307953, + 0.0467953085899353 + ], + [ + 0.3881419599056244, + -0.09304410219192505, + 0.03036458231508732 + ], + [ + 0.39397966861724854, + -0.09120837599039078, + 0.01983802579343319 + ], + [ + 0.39715445041656494, + -0.09267201274633408, + 0.010830219835042953 + ], + [ + 0.3977256417274475, + -0.09262125939130783, + 0.010236077941954136 + ], + [ + 0.3909720182418823, + -0.0924864411354065, + 0.009735564701259136 + ], + [ + 0.3848400413990021, + -0.08613049983978271, + 0.020343894138932228 + ], + [ + 0.3763324022293091, + -0.07002206146717072, + 0.04879208281636238 + ], + [ + 0.36113059520721436, + -0.04428042843937874, + 0.07824157178401947 + ], + [ + 0.3413715064525604, + -0.02203807234764099, + 0.10480792075395584 + ], + [ + 0.32588526606559753, + 0.004251578822731972, + 0.11962240934371948 + ], + [ + 0.315479040145874, + 0.032511431723833084, + 0.12849532067775726 + ], + [ + 0.3002033233642578, + 0.06125599890947342, + 0.12467276304960251 + ], + [ + 0.29369980096817017, + 0.08058123290538788, + 0.1236017569899559 + ], + [ + 0.2987891137599945, + 0.09730705618858337, + 0.11497166007757187 + ], + [ + 0.3025485575199127, + 0.10789933800697327, + 0.1045340746641159 + ], + [ + 0.3120012879371643, + 0.11531723290681839, + 0.09874308109283447 + ], + [ + 0.3152879476547241, + 0.11638898402452469, + 0.09627979248762131 + ], + [ + 0.3151675760746002, + 0.12120497226715088, + 0.07579594105482101 + ], + [ + 0.31724703311920166, + 0.1224966049194336, + 0.07124022394418716 + ], + [ + 0.32139265537261963, + 0.12288080900907516, + 0.07056893408298492 + ], + [ + 0.3208552300930023, + 0.11906580626964569, + 0.0715862438082695 + ], + [ + 0.3223791718482971, + 0.11307113617658615, + 0.0721878930926323 + ], + [ + 0.32198742032051086, + 0.11207658797502518, + 0.07384928315877914 + ], + [ + 0.31898921728134155, + 0.11151860654354095, + 0.08069553971290588 + ], + [ + 0.3220266103744507, + 0.10490809381008148, + 0.10873890668153763 + ], + [ + 0.32390016317367554, + 0.09760264307260513, + 0.14463163912296295 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.6599732311965212, + -0.6675282736656702, + 0.34473372037117767, + -0.7385605993254694, + -0.6605648653989697, + 0.13484175808867455, + 0.13770829760049616, + -0.34359869391103787, + -0.9289652104974665 + ], + [ + 0.6649621525494696, + -0.6769257450441203, + 0.3155897200056407, + -0.7372596559369214, + -0.6625134604666172, + 0.13237867814840953, + 0.11947190215505984, + -0.3206983791618078, + -0.939616418650952 + ], + [ + 0.6827025488481432, + -0.665506328055556, + 0.301692819129423, + -0.7149348444030412, + -0.6936760096869562, + 0.08764566072077118, + 0.15094832908862327, + -0.275526624671359, + -0.9493680429857327 + ], + [ + 0.6676685931398864, + -0.6561294907357484, + 0.35172822053604513, + -0.7241620678586909, + -0.6819773894388489, + 0.10245066992849713, + 0.17264978774742268, + -0.32311133016503857, + -0.9304789729541177 + ], + [ + 0.7434494245213327, + -0.57890108303106, + 0.3348977295300244, + -0.6334615907663049, + -0.7701308518301869, + 0.07499922721690921, + 0.21449793985659185, + -0.2679029808060687, + -0.9392649395524681 + ], + [ + 0.8432414603077361, + -0.4612659121934293, + 0.27600289467040096, + -0.500053556157495, + -0.8615154449657474, + 0.08796350981920573, + 0.19720618801731318, + -0.21219070746343746, + -0.9571232016171409 + ], + [ + 0.8918413749155245, + -0.391579346102552, + 0.22646098492827446, + -0.4105555280128696, + -0.9108761871395911, + 0.04181782060454832, + 0.1899029236395802, + -0.1302696718654734, + -0.9731221363144512 + ], + [ + 0.9212901630923839, + -0.32682861845404204, + 0.21073084622008048, + -0.33650853554708743, + -0.9416185792538502, + 0.01079151091903597, + 0.19490110541801348, + -0.08085484131072965, + -0.9774845542224457 + ], + [ + 0.9378843985741784, + -0.2831845531653032, + 0.20044790784570252, + -0.28738048808447614, + -0.9577790196379096, + -0.008473760072908013, + 0.19438443862480345, + -0.049657410222568865, + -0.9796677149066961 + ], + [ + 0.9420942611346148, + -0.28228230934517184, + 0.18103894875959958, + -0.2855399840153944, + -0.9583303032730526, + -0.008363453656671755, + 0.17585596568132833, + -0.04381469684176409, + -0.9834403650831868 + ], + [ + 0.9438484411424061, + -0.28776323879588883, + 0.16230353831864086, + -0.29520303758128696, + -0.9551522635726207, + 0.023223264087558666, + 0.14834179032164724, + -0.06983173912913425, + -0.9864675572234342 + ], + [ + 0.9504898009822855, + -0.27917563688978325, + 0.13649213162611082, + -0.2874967032149473, + -0.9567137704761235, + 0.04521511939491332, + 0.11796094213421729, + -0.08221754769234893, + -0.9896087565206083 + ], + [ + 0.9513772590527693, + -0.28226431422915854, + 0.1233214006974586, + -0.29013929027699936, + -0.9556226119487164, + 0.05103543641306868, + 0.10344323658315897, + -0.08433433728355325, + -0.9910535890455898 + ], + [ + 0.9486330602964257, + -0.3004888041017765, + 0.09900401770696922, + -0.30598603281260384, + -0.9509398740771183, + 0.04567169379164939, + 0.08042303548263886, + -0.07361952526115793, + -0.9940383799753808 + ], + [ + 0.946972561169056, + -0.3049934003227909, + 0.10110387802878702, + -0.31039058417806487, + -0.9496612223217742, + 0.04244111299097807, + 0.0830701730256873, + -0.07157226123195483, + -0.9939701996416325 + ], + [ + 0.9488740709362506, + -0.30442003524998545, + 0.08346520019303905, + -0.3082123125143877, + -0.9506056817441709, + 0.03679685109126686, + 0.0681407948251257, + -0.06064058025857831, + -0.9958310861318311 + ], + [ + 0.9358915768347528, + -0.3391084532809449, + 0.0954589614607519, + -0.34517790630413786, + -0.9368615039206242, + 0.05606010587822745, + 0.0704213704016892, + -0.08541650534288721, + -0.993853536093602 + ], + [ + 0.9298280880190973, + -0.3344428745992766, + 0.15351772002124833, + -0.34575462393271494, + -0.9368097382871184, + 0.05330341714719287, + 0.1259899470588692, + -0.10264247600381327, + -0.9867071781232313 + ], + [ + 0.9346553804586302, + -0.2923793687537788, + 0.20232059832571408, + -0.3088611601784301, + -0.9495366115309186, + 0.05463521845490503, + 0.1761366046935367, + -0.11355407561828383, + -0.9777941339553585 + ], + [ + 0.928871492136232, + -0.2733369488019952, + 0.24996932515055836, + -0.3046201504997762, + -0.9476530483532158, + 0.09570926734831622, + 0.21072331386465964, + -0.16504730342078658, + -0.9635118435325137 + ], + [ + 0.9416622034959287, + -0.22966438105199824, + 0.24602147585768727, + -0.2649852544042067, + -0.9565988963146406, + 0.12124919182390112, + 0.20749725168187141, + -0.17936784451404295, + -0.9616506990060664 + ], + [ + 0.9599812971469839, + -0.16616963850454025, + 0.22544081344615693, + -0.19851422426581677, + -0.97154375500393, + 0.12920849382685698, + 0.19755508571569483, + -0.16879094570543277, + -0.9656508710479841 + ], + [ + 0.9799256773675141, + -0.07709873011878005, + 0.18385171375293197, + -0.10481143349212443, + -0.9836979719022289, + 0.14612619027664916, + 0.16958841424208343, + -0.16246256765640824, + -0.9720317298655133 + ], + [ + 0.9870913809849413, + -0.014483938981743365, + 0.15950179026209996, + -0.03870704894876631, + -0.9879540260263087, + 0.14982859146399954, + 0.15541032767136034, + -0.15406835486231882, + -0.9757615344350787 + ], + [ + 0.9918230606372003, + 0.025303155265170428, + 0.1250870365860623, + 0.005557216030033204, + -0.9877810060036023, + 0.15574916220804075, + 0.1274995440707603, + -0.15378047506799336, + -0.9798445957138358 + ], + [ + 0.9930009801569164, + 0.06221991799447709, + 0.1003879236370779, + 0.047353387800389286, + -0.9884133083744157, + 0.1442109166886063, + 0.10819755113323583, + -0.13844787334265107, + -0.9844417079216361 + ], + [ + 0.9912162922845912, + 0.09055623510303279, + 0.09638376519701057, + 0.07649338186195179, + -0.9870866702869765, + 0.14074326937048048, + 0.10788431044832163, + -0.1321343014729115, + -0.9853433421571164 + ], + [ + 0.9873344359572561, + 0.12241826989614178, + 0.10091817858345646, + 0.11005741172166882, + -0.9866431830280447, + 0.12009411105218848, + 0.11427194624269817, + -0.10746625786694022, + -0.9876198285382803 + ], + [ + 0.9816887131340012, + 0.17684279180576465, + 0.07080888003387502, + 0.16897136105535523, + -0.9800170197311189, + 0.10495389549910304, + 0.08795424747224838, + -0.09106738177678568, + -0.99195301417351 + ], + [ + 0.978603143308456, + 0.1970920310871944, + 0.059081462310392824, + 0.19054650752802435, + -0.9764457891006537, + 0.10122079537562743, + 0.07763965723573574, + -0.08779722221987706, + -0.993108116669475 + ], + [ + 0.977688591053484, + 0.20104583897694284, + 0.060873553813708084, + 0.1948122677941102, + -0.9762071789610276, + 0.09522459798743277, + 0.0785697094354378, + -0.0812410879728323, + -0.9935928171963712 + ], + [ + 0.9758711013499549, + 0.2103343096510773, + 0.05860948501420424, + 0.20604779455866928, + -0.9759221874272356, + 0.07155550604074826, + 0.07224887478386027, + -0.057752595360242215, + -0.9957131805000985 + ], + [ + 0.9786661399527152, + 0.19579900696164731, + 0.06225219179181226, + 0.19200819202194286, + -0.9794325499276484, + 0.06200592180339489, + 0.073112520860086, + -0.04873016535018929, + -0.9961324863081347 + ], + [ + 0.9790781836110793, + 0.19274555342401736, + 0.06523083635902979, + 0.18914542291674555, + -0.9802621175390364, + 0.05753424986501135, + 0.07503278860921223, + -0.04399241472291959, + -0.9962101927205782 + ], + [ + 0.9818297888716432, + 0.18028798447655567, + 0.05921577777624611, + 0.1766670754775436, + -0.9823415119788319, + 0.06159462870538705, + 0.06927488813759615, + -0.05001396301557991, + -0.9963431102672411 + ], + [ + 0.9847918695161494, + 0.13915087793823888, + 0.10402887533711618, + 0.12964150484173081, + -0.9871708575298274, + 0.09320288764945694, + 0.11566353771720543, + -0.07829898602691576, + -0.9901975635346201 + ], + [ + 0.9805687658568347, + 0.11521778203668429, + 0.158775810905034, + 0.09414424623017614, + -0.9864436187471625, + 0.1344092553909687, + 0.1721097217700266, + -0.11684968864121888, + -0.9781228930644116 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.004353553056716919, + -0.0007551149465143681, + -0.008507303893566132, + -0.025357484817504883, + 0.01838933676481247, + 0.004620015621185303, + 1.0 + ], + [ + 0.001424640417098999, + -0.009119823575019836, + -0.0047300830483436584, + -0.04644894599914551, + -0.03176956623792648, + 0.028455734252929688, + 1.0 + ], + [ + 0.017480075359344482, + -0.02738501876592636, + 0.00802207738161087, + 0.05176389217376709, + -0.021991699934005737, + -0.017509162425994873, + 1.0 + ], + [ + 0.016026079654693604, + -0.023491371423006058, + -0.001738227903842926, + -0.056376874446868896, + -0.04265855252742767, + 0.12027794122695923, + 1.0 + ], + [ + 0.009028315544128418, + -0.01739964261651039, + -0.002456486225128174, + -0.05968061089515686, + 0.01767045259475708, + 0.17042076587677002, + 1.0 + ], + [ + 0.010685831308364868, + -0.013717018067836761, + -0.0072215646505355835, + -0.08509117364883423, + 0.007444053888320923, + 0.10384231805801392, + 1.0 + ], + [ + 0.015104681253433228, + -0.0074194371700286865, + -0.008261151611804962, + -0.05054720491170883, + -0.0050933510065078735, + 0.08122175931930542, + 1.0 + ], + [ + 0.014502227306365967, + -0.0058685243129730225, + -0.00627782940864563, + -0.031884703785181046, + 0.0005267411470413208, + 0.05287209153175354, + 1.0 + ], + [ + 0.01608753204345703, + -0.0029117390513420105, + -0.012837592512369156, + -0.006121642887592316, + 0.018854662775993347, + 0.003040492534637451, + 1.0 + ], + [ + 0.009539783000946045, + 0.0036998093128204346, + -0.012979667633771896, + 0.026148777455091476, + 0.027883917093276978, + -0.008836686611175537, + 1.0 + ], + [ + 0.004709094762802124, + 0.00640849769115448, + -0.016430726274847984, + 0.012218691408634186, + 0.030655063688755035, + 0.009403258562088013, + 1.0 + ], + [ + 0.0058377087116241455, + 0.0018357262015342712, + -0.010526556521654129, + 0.0020006299018859863, + 0.014607623219490051, + -0.0022847354412078857, + 0.0 + ], + [ + 0.0031747817993164062, + -0.0014636367559432983, + -0.009007805958390236, + -0.010965041816234589, + 0.023118630051612854, + -0.016010582447052002, + 0.0 + ], + [ + 0.0005711913108825684, + 5.075335502624512e-05, + -0.0005941418930888176, + -0.002043701708316803, + -0.002656027674674988, + -0.0047179460525512695, + 0.0 + ], + [ + -0.0067536234855651855, + 0.00013481825590133667, + -0.0005005132406949997, + -0.011063039302825928, + 0.014972373843193054, + 0.0026683807373046875, + 0.0 + ], + [ + -0.006131976842880249, + 0.006355941295623779, + 0.010608329437673092, + 0.02491474151611328, + -0.002286069095134735, + -0.039275676012039185, + 0.0 + ], + [ + -0.008507639169692993, + 0.016108438372612, + 0.028448188677430153, + 0.01791837066411972, + -0.0558459609746933, + -0.0026604831218719482, + 0.0 + ], + [ + -0.015201807022094727, + 0.025741633027791977, + 0.02944948896765709, + 0.011962547898292542, + -0.050734639167785645, + 0.03684687614440918, + 0.0 + ], + [ + -0.01975908875465393, + 0.022242356091737747, + 0.02656634896993637, + 0.05403607338666916, + -0.035254523158073425, + 0.0022628605365753174, + 0.0 + ], + [ + -0.01548624038696289, + 0.026289651170372963, + 0.014814488589763641, + 0.014750748872756958, + 0.0032989978790283203, + 0.04258665442466736, + 0.0 + ], + [ + -0.01040622591972351, + 0.028259852901101112, + 0.00887291133403778, + -0.011355072259902954, + 0.010152608156204224, + 0.07039244472980499, + 0.0 + ], + [ + -0.015275716781616211, + 0.028744567185640335, + -0.0038225576281547546, + -0.007440388202667236, + 0.028451204299926758, + 0.09736203402280807, + 0.0 + ], + [ + -0.0065035223960876465, + 0.01932523399591446, + -0.0010710060596466064, + -0.009003743529319763, + 0.014369204640388489, + 0.0673602968454361, + 0.0 + ], + [ + 0.005089312791824341, + 0.016725823283195496, + -0.008630096912384033, + -0.0009287446737289429, + 0.028195276856422424, + 0.04479613155126572, + 0.0 + ], + [ + 0.003759443759918213, + 0.010592281818389893, + -0.010437585413455963, + -0.015954285860061646, + 0.0194377601146698, + 0.042048078030347824, + 0.0 + ], + [ + 0.009452730417251587, + 0.007417894899845123, + -0.005790993571281433, + -0.0064150989055633545, + 0.0003150850534439087, + 0.02936752885580063, + 0.0 + ], + [ + 0.0032866597175598145, + 0.0010717511177062988, + -0.0024632886052131653, + -0.024917542934417725, + -0.0064274221658706665, + 0.033992379903793335, + 0.0 + ], + [ + -0.00012037158012390137, + 0.00481598824262619, + -0.020483851432800293, + -0.016837432980537415, + 0.02645406872034073, + 0.05944199115037918, + 0.0 + ], + [ + 0.0020794570446014404, + 0.0012916326522827148, + -0.00455571711063385, + -0.0033722519874572754, + 0.010350175201892853, + 0.021853581070899963, + 0.0 + ], + [ + 0.004145622253417969, + 0.00038420408964157104, + -0.00067128986120224, + -0.006593778729438782, + -0.0009329020977020264, + 0.004375457763671875, + 1.0 + ], + [ + -0.0005374252796173096, + -0.003815002739429474, + 0.0010173097252845764, + -0.023647159337997437, + 0.006338894367218018, + 0.0114041268825531, + 1.0 + ], + [ + 0.0015239417552947998, + -0.00599467009305954, + 0.000601649284362793, + -0.009055931121110916, + -0.000865936279296875, + -0.014353066682815552, + 1.0 + ], + [ + -0.0003917515277862549, + -0.0009945482015609741, + 0.0016613900661468506, + -0.0047492943704128265, + -0.0019255578517913818, + -0.002896711230278015, + 1.0 + ], + [ + -0.0029982030391693115, + -0.0005579814314842224, + 0.0068462565541267395, + 0.0060243308544158936, + 0.0057729557156562805, + -0.012804850935935974, + 1.0 + ], + [ + 0.003037393093109131, + -0.006610512733459473, + 0.028043366968631744, + 0.028754480183124542, + -0.046592578291893005, + -0.04714058339595795, + 1.0 + ], + [ + 0.0018735527992248535, + -0.007305450737476349, + 0.035892732441425323, + 0.03998979926109314, + -0.05704795569181442, + -0.035174451768398285, + 1.0 + ], + [ + -0.00235554575920105, + -0.0017759576439857483, + 0.024158984422683716, + 0.00875256210565567, + -0.04892358183860779, + 0.0007370859384536743, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9795387983322144 + ], + [ + 0.8810233473777771 + ], + [ + 0.7768828272819519 + ], + [ + 0.775918185710907 + ], + [ + 0.7768828272819519 + ], + [ + 0.7768828272819519 + ], + [ + 0.775918185710907 + ], + [ + 0.775918185710907 + ], + [ + 0.775918185710907 + ], + [ + 0.775918185710907 + ], + [ + 0.775918185710907 + ], + [ + 0.775918185710907 + ], + [ + 0.775918185710907 + ], + [ + 0.775918185710907 + ], + [ + 0.775918185710907 + ], + [ + 0.775918185710907 + ], + [ + 0.775918185710907 + ], + [ + 0.775918185710907 + ], + [ + 0.8130597472190857 + ], + [ + 0.9716382026672363 + ], + [ + 0.9716382026672363 + ], + [ + 0.9716382026672363 + ], + [ + 0.9745318293571472 + ], + [ + 0.9893313646316528 + ], + [ + 0.9900195002555847 + ], + [ + 0.9900195002555847 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2735536992549896, + 0.004160165786743164, + 0.09527583420276642 + ], + [ + 0.2749783396720886, + -0.004959657322615385, + 0.09054575115442276 + ], + [ + 0.2924584150314331, + -0.03234467655420303, + 0.09856782853603363 + ], + [ + 0.3084844946861267, + -0.05583604797720909, + 0.0968296006321907 + ], + [ + 0.3175128102302551, + -0.07323569059371948, + 0.09437311440706253 + ], + [ + 0.32819864153862, + -0.08695270866155624, + 0.08715154975652695 + ], + [ + 0.3433033227920532, + -0.09437214583158493, + 0.07889039814472198 + ], + [ + 0.3578055500984192, + -0.10024067014455795, + 0.07261256873607635 + ], + [ + 0.3738930821418762, + -0.10315240919589996, + 0.0597749762237072 + ], + [ + 0.38343286514282227, + -0.09945259988307953, + 0.0467953085899353 + ], + [ + 0.3881419599056244, + -0.09304410219192505, + 0.03036458231508732 + ], + [ + 0.39397966861724854, + -0.09120837599039078, + 0.01983802579343319 + ], + [ + 0.39715445041656494, + -0.09267201274633408, + 0.010830219835042953 + ], + [ + 0.3977256417274475, + -0.09262125939130783, + 0.010236077941954136 + ], + [ + 0.3909720182418823, + -0.0924864411354065, + 0.009735564701259136 + ], + [ + 0.3848400413990021, + -0.08613049983978271, + 0.020343894138932228 + ], + [ + 0.3763324022293091, + -0.07002206146717072, + 0.04879208281636238 + ], + [ + 0.36113059520721436, + -0.04428042843937874, + 0.07824157178401947 + ], + [ + 0.3413715064525604, + -0.02203807234764099, + 0.10480792075395584 + ], + [ + 0.32588526606559753, + 0.004251578822731972, + 0.11962240934371948 + ], + [ + 0.315479040145874, + 0.032511431723833084, + 0.12849532067775726 + ], + [ + 0.3002033233642578, + 0.06125599890947342, + 0.12467276304960251 + ], + [ + 0.29369980096817017, + 0.08058123290538788, + 0.1236017569899559 + ], + [ + 0.2987891137599945, + 0.09730705618858337, + 0.11497166007757187 + ], + [ + 0.3025485575199127, + 0.10789933800697327, + 0.1045340746641159 + ], + [ + 0.3120012879371643, + 0.11531723290681839, + 0.09874308109283447 + ], + [ + 0.3152879476547241, + 0.11638898402452469, + 0.09627979248762131 + ], + [ + 0.3151675760746002, + 0.12120497226715088, + 0.07579594105482101 + ], + [ + 0.31724703311920166, + 0.1224966049194336, + 0.07124022394418716 + ], + [ + 0.32139265537261963, + 0.12288080900907516, + 0.07056893408298492 + ], + [ + 0.3208552300930023, + 0.11906580626964569, + 0.0715862438082695 + ], + [ + 0.3223791718482971, + 0.11307113617658615, + 0.0721878930926323 + ], + [ + 0.32198742032051086, + 0.11207658797502518, + 0.07384928315877914 + ], + [ + 0.31898921728134155, + 0.11151860654354095, + 0.08069553971290588 + ], + [ + 0.3220266103744507, + 0.10490809381008148, + 0.10873890668153763 + ], + [ + 0.32390016317367554, + 0.09760264307260513, + 0.14463163912296295 + ], + [ + 0.3215446174144745, + 0.09582668542861938, + 0.16879062354564667 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.6649621525494696, + -0.6769257450441203, + 0.3155897200056407, + -0.7372596559369214, + -0.6625134604666172, + 0.13237867814840953, + 0.11947190215505984, + -0.3206983791618078, + -0.939616418650952 + ], + [ + 0.6827025488481432, + -0.665506328055556, + 0.301692819129423, + -0.7149348444030412, + -0.6936760096869562, + 0.08764566072077118, + 0.15094832908862327, + -0.275526624671359, + -0.9493680429857327 + ], + [ + 0.6676685931398864, + -0.6561294907357484, + 0.35172822053604513, + -0.7241620678586909, + -0.6819773894388489, + 0.10245066992849713, + 0.17264978774742268, + -0.32311133016503857, + -0.9304789729541177 + ], + [ + 0.7434494245213327, + -0.57890108303106, + 0.3348977295300244, + -0.6334615907663049, + -0.7701308518301869, + 0.07499922721690921, + 0.21449793985659185, + -0.2679029808060687, + -0.9392649395524681 + ], + [ + 0.8432414603077361, + -0.4612659121934293, + 0.27600289467040096, + -0.500053556157495, + -0.8615154449657474, + 0.08796350981920573, + 0.19720618801731318, + -0.21219070746343746, + -0.9571232016171409 + ], + [ + 0.8918413749155245, + -0.391579346102552, + 0.22646098492827446, + -0.4105555280128696, + -0.9108761871395911, + 0.04181782060454832, + 0.1899029236395802, + -0.1302696718654734, + -0.9731221363144512 + ], + [ + 0.9212901630923839, + -0.32682861845404204, + 0.21073084622008048, + -0.33650853554708743, + -0.9416185792538502, + 0.01079151091903597, + 0.19490110541801348, + -0.08085484131072965, + -0.9774845542224457 + ], + [ + 0.9378843985741784, + -0.2831845531653032, + 0.20044790784570252, + -0.28738048808447614, + -0.9577790196379096, + -0.008473760072908013, + 0.19438443862480345, + -0.049657410222568865, + -0.9796677149066961 + ], + [ + 0.9420942611346148, + -0.28228230934517184, + 0.18103894875959958, + -0.2855399840153944, + -0.9583303032730526, + -0.008363453656671755, + 0.17585596568132833, + -0.04381469684176409, + -0.9834403650831868 + ], + [ + 0.9438484411424061, + -0.28776323879588883, + 0.16230353831864086, + -0.29520303758128696, + -0.9551522635726207, + 0.023223264087558666, + 0.14834179032164724, + -0.06983173912913425, + -0.9864675572234342 + ], + [ + 0.9504898009822855, + -0.27917563688978325, + 0.13649213162611082, + -0.2874967032149473, + -0.9567137704761235, + 0.04521511939491332, + 0.11796094213421729, + -0.08221754769234893, + -0.9896087565206083 + ], + [ + 0.9513772590527693, + -0.28226431422915854, + 0.1233214006974586, + -0.29013929027699936, + -0.9556226119487164, + 0.05103543641306868, + 0.10344323658315897, + -0.08433433728355325, + -0.9910535890455898 + ], + [ + 0.9486330602964257, + -0.3004888041017765, + 0.09900401770696922, + -0.30598603281260384, + -0.9509398740771183, + 0.04567169379164939, + 0.08042303548263886, + -0.07361952526115793, + -0.9940383799753808 + ], + [ + 0.946972561169056, + -0.3049934003227909, + 0.10110387802878702, + -0.31039058417806487, + -0.9496612223217742, + 0.04244111299097807, + 0.0830701730256873, + -0.07157226123195483, + -0.9939701996416325 + ], + [ + 0.9488740709362506, + -0.30442003524998545, + 0.08346520019303905, + -0.3082123125143877, + -0.9506056817441709, + 0.03679685109126686, + 0.0681407948251257, + -0.06064058025857831, + -0.9958310861318311 + ], + [ + 0.9358915768347528, + -0.3391084532809449, + 0.0954589614607519, + -0.34517790630413786, + -0.9368615039206242, + 0.05606010587822745, + 0.0704213704016892, + -0.08541650534288721, + -0.993853536093602 + ], + [ + 0.9298280880190973, + -0.3344428745992766, + 0.15351772002124833, + -0.34575462393271494, + -0.9368097382871184, + 0.05330341714719287, + 0.1259899470588692, + -0.10264247600381327, + -0.9867071781232313 + ], + [ + 0.9346553804586302, + -0.2923793687537788, + 0.20232059832571408, + -0.3088611601784301, + -0.9495366115309186, + 0.05463521845490503, + 0.1761366046935367, + -0.11355407561828383, + -0.9777941339553585 + ], + [ + 0.928871492136232, + -0.2733369488019952, + 0.24996932515055836, + -0.3046201504997762, + -0.9476530483532158, + 0.09570926734831622, + 0.21072331386465964, + -0.16504730342078658, + -0.9635118435325137 + ], + [ + 0.9416622034959287, + -0.22966438105199824, + 0.24602147585768727, + -0.2649852544042067, + -0.9565988963146406, + 0.12124919182390112, + 0.20749725168187141, + -0.17936784451404295, + -0.9616506990060664 + ], + [ + 0.9599812971469839, + -0.16616963850454025, + 0.22544081344615693, + -0.19851422426581677, + -0.97154375500393, + 0.12920849382685698, + 0.19755508571569483, + -0.16879094570543277, + -0.9656508710479841 + ], + [ + 0.9799256773675141, + -0.07709873011878005, + 0.18385171375293197, + -0.10481143349212443, + -0.9836979719022289, + 0.14612619027664916, + 0.16958841424208343, + -0.16246256765640824, + -0.9720317298655133 + ], + [ + 0.9870913809849413, + -0.014483938981743365, + 0.15950179026209996, + -0.03870704894876631, + -0.9879540260263087, + 0.14982859146399954, + 0.15541032767136034, + -0.15406835486231882, + -0.9757615344350787 + ], + [ + 0.9918230606372003, + 0.025303155265170428, + 0.1250870365860623, + 0.005557216030033204, + -0.9877810060036023, + 0.15574916220804075, + 0.1274995440707603, + -0.15378047506799336, + -0.9798445957138358 + ], + [ + 0.9930009801569164, + 0.06221991799447709, + 0.1003879236370779, + 0.047353387800389286, + -0.9884133083744157, + 0.1442109166886063, + 0.10819755113323583, + -0.13844787334265107, + -0.9844417079216361 + ], + [ + 0.9912162922845912, + 0.09055623510303279, + 0.09638376519701057, + 0.07649338186195179, + -0.9870866702869765, + 0.14074326937048048, + 0.10788431044832163, + -0.1321343014729115, + -0.9853433421571164 + ], + [ + 0.9873344359572561, + 0.12241826989614178, + 0.10091817858345646, + 0.11005741172166882, + -0.9866431830280447, + 0.12009411105218848, + 0.11427194624269817, + -0.10746625786694022, + -0.9876198285382803 + ], + [ + 0.9816887131340012, + 0.17684279180576465, + 0.07080888003387502, + 0.16897136105535523, + -0.9800170197311189, + 0.10495389549910304, + 0.08795424747224838, + -0.09106738177678568, + -0.99195301417351 + ], + [ + 0.978603143308456, + 0.1970920310871944, + 0.059081462310392824, + 0.19054650752802435, + -0.9764457891006537, + 0.10122079537562743, + 0.07763965723573574, + -0.08779722221987706, + -0.993108116669475 + ], + [ + 0.977688591053484, + 0.20104583897694284, + 0.060873553813708084, + 0.1948122677941102, + -0.9762071789610276, + 0.09522459798743277, + 0.0785697094354378, + -0.0812410879728323, + -0.9935928171963712 + ], + [ + 0.9758711013499549, + 0.2103343096510773, + 0.05860948501420424, + 0.20604779455866928, + -0.9759221874272356, + 0.07155550604074826, + 0.07224887478386027, + -0.057752595360242215, + -0.9957131805000985 + ], + [ + 0.9786661399527152, + 0.19579900696164731, + 0.06225219179181226, + 0.19200819202194286, + -0.9794325499276484, + 0.06200592180339489, + 0.073112520860086, + -0.04873016535018929, + -0.9961324863081347 + ], + [ + 0.9790781836110793, + 0.19274555342401736, + 0.06523083635902979, + 0.18914542291674555, + -0.9802621175390364, + 0.05753424986501135, + 0.07503278860921223, + -0.04399241472291959, + -0.9962101927205782 + ], + [ + 0.9818297888716432, + 0.18028798447655567, + 0.05921577777624611, + 0.1766670754775436, + -0.9823415119788319, + 0.06159462870538705, + 0.06927488813759615, + -0.05001396301557991, + -0.9963431102672411 + ], + [ + 0.9847918695161494, + 0.13915087793823888, + 0.10402887533711618, + 0.12964150484173081, + -0.9871708575298274, + 0.09320288764945694, + 0.11566353771720543, + -0.07829898602691576, + -0.9901975635346201 + ], + [ + 0.9805687658568347, + 0.11521778203668429, + 0.158775810905034, + 0.09414424623017614, + -0.9864436187471625, + 0.1344092553909687, + 0.1721097217700266, + -0.11684968864121888, + -0.9781228930644116 + ], + [ + 0.9709481769907818, + 0.12340748535871733, + 0.20501275608048325, + 0.09394289555545045, + -0.9845551144092393, + 0.1477361129354222, + 0.22007809971220554, + -0.12418461759834855, + -0.9675452499904161 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006350.json b/json/chunk-0006/episode_0006350.json new file mode 100644 index 0000000000000000000000000000000000000000..479cc6e8b2619a4fd40dee3262f979ddf6c21c25 --- /dev/null +++ b/json/chunk-0006/episode_0006350.json @@ -0,0 +1,2182 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 35, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPlacing the green wash cloth on the right side of the burner." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006350.mp4", + "start": 0, + "end": 35, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2630840837955475, + -0.09690402448177338, + 0.08130045980215073, + 0.05422593280673027, + -0.3239666223526001, + -0.31330782175064087, + 0.0, + 1.0001531839370728 + ], + [ + 0.252950519323349, + -0.09281539171934128, + 0.06853682547807693, + 0.05246588587760925, + -0.26938197016716003, + -0.3104831874370575, + 0.0, + 0.9994885921478271 + ], + [ + 0.24997806549072266, + -0.07730519771575928, + 0.06678026169538498, + -0.0015040975995361805, + -0.21179704368114471, + -0.26667317748069763, + 0.0, + 0.9994885921478271 + ], + [ + 0.26357796788215637, + -0.05835659056901932, + 0.07436158508062363, + -0.06728062778711319, + -0.2364485114812851, + -0.17155100405216217, + 0.0, + 1.0001531839370728 + ], + [ + 0.26610228419303894, + -0.04004979506134987, + 0.07475816458463669, + -0.11318104714155197, + -0.23081986606121063, + -0.11240731924772263, + 0.0, + 0.9994885921478271 + ], + [ + 0.2770479619503021, + -0.019431160762906075, + 0.08040279895067215, + -0.14734019339084625, + -0.24525851011276245, + -0.054769836366176605, + 0.0, + 0.9994885921478271 + ], + [ + 0.28623488545417786, + 0.0027628939133137465, + 0.07952258735895157, + -0.16939690709114075, + -0.2367527037858963, + -0.00358754163607955, + 0.0, + 0.9994885921478271 + ], + [ + 0.2963793873786926, + 0.030156146734952927, + 0.07730510830879211, + -0.17698466777801514, + -0.23497000336647034, + 0.05666432902216911, + 0.0, + 0.9994885921478271 + ], + [ + 0.3016873896121979, + 0.048868414014577866, + 0.0663500651717186, + -0.1886468231678009, + -0.19593577086925507, + 0.0914224311709404, + 0.0, + 0.9994885921478271 + ], + [ + 0.30952197313308716, + 0.06518102437257767, + 0.06081210821866989, + -0.1842028647661209, + -0.19089163839817047, + 0.12058263272047043, + 0.0, + 0.9994885921478271 + ], + [ + 0.31378695368766785, + 0.06970882415771484, + 0.04719071090221405, + -0.1824200600385666, + -0.14826567471027374, + 0.12302841246128082, + 0.0, + 0.9994885921478271 + ], + [ + 0.3136385381221771, + 0.07040125876665115, + 0.03619099780917168, + -0.18392400443553925, + -0.12015435099601746, + 0.12932035326957703, + 0.0, + 0.9994885921478271 + ], + [ + 0.31416061520576477, + 0.07159281522035599, + 0.025034265592694283, + -0.18560189008712769, + -0.09727736562490463, + 0.13683916628360748, + 0.0, + 0.9994885921478271 + ], + [ + 0.3116892874240875, + 0.07479836046695709, + 0.011497844941914082, + -0.17434579133987427, + -0.059333208948373795, + 0.14828847348690033, + 0.0, + 0.9994885921478271 + ], + [ + 0.3135606348514557, + 0.0794888362288475, + 0.006353713106364012, + -0.15509521961212158, + -0.045454856008291245, + 0.15375372767448425, + 0.0, + 0.9994885921478271 + ], + [ + 0.3167257606983185, + 0.08397005498409271, + 0.005107450764626265, + -0.13146261870861053, + -0.04325265437364578, + 0.15872687101364136, + 0.0, + 0.9994885921478271 + ], + [ + 0.31851431727409363, + 0.08271989971399307, + 0.0050335717387497425, + -0.10447578877210617, + -0.0398067869246006, + 0.14396433532238007, + 0.0, + 0.9994885921478271 + ], + [ + 0.3198435604572296, + 0.08087731897830963, + 0.005125332623720169, + -0.10788695514202118, + -0.04496774077415466, + 0.14404307305812836, + 0.0, + 0.9994885921478271 + ], + [ + 0.3216671943664551, + 0.07571116089820862, + 0.006030847318470478, + -0.12141618877649307, + -0.05949247628450394, + 0.13844045996665955, + 0.0, + 0.9994885921478271 + ], + [ + 0.31835904717445374, + 0.06462707370519638, + 0.004807814955711365, + -0.12648209929466248, + -0.059565018862485886, + 0.12253771722316742, + 0.0, + 0.9994885921478271 + ], + [ + 0.31526121497154236, + 0.04743317514657974, + 0.0058542583137750626, + -0.1281164139509201, + -0.06249815970659256, + 0.09091471880674362, + 0.0, + 0.9994885921478271 + ], + [ + 0.30535760521888733, + 0.034288085997104645, + 0.006592176388949156, + -0.12504994869232178, + -0.06465643644332886, + 0.06965021044015884, + 0.0, + 1.0001531839370728 + ], + [ + 0.28803619742393494, + 0.010879028588533401, + 0.007375536020845175, + -0.1210879385471344, + -0.06810765713453293, + 0.015899663791060448, + 0.0, + 1.0001531839370728 + ], + [ + 0.2738153338432312, + -0.002687174826860428, + 0.006911819335073233, + -0.11375746130943298, + -0.07067546248435974, + -0.0016750100767239928, + 0.0, + 1.0001531839370728 + ], + [ + 0.26625776290893555, + -0.01283014751970768, + 0.005954471882432699, + -0.11171233654022217, + -0.06852656602859497, + -0.02419964224100113, + 0.0, + 1.0001531839370728 + ], + [ + 0.26761943101882935, + -0.02186666801571846, + 0.00648629991337657, + -0.11318372935056686, + -0.048705969005823135, + -0.04919185861945152, + 0.0, + 1.0001531839370728 + ], + [ + 0.27237778902053833, + -0.025917772203683853, + 0.007636085152626038, + -0.12601755559444427, + -0.055989570915699005, + -0.03677474334836006, + 0.0, + 1.0001531839370728 + ], + [ + 0.27051183581352234, + -0.03169722110033035, + 0.007421898189932108, + -0.11809223145246506, + -0.048522818833589554, + -0.06351106613874435, + 0.0, + 1.0001531839370728 + ], + [ + 0.26942873001098633, + -0.03140662610530853, + 0.007298945914953947, + -0.11396674811840057, + -0.04187759384512901, + -0.06702005863189697, + 0.0, + 1.0001531839370728 + ], + [ + 0.26916295289993286, + -0.031200386583805084, + 0.007721534464508295, + -0.11518373340368271, + -0.041122205555438995, + -0.07077033072710037, + 0.0, + 1.0001531839370728 + ], + [ + 0.269487589597702, + -0.029330527409911156, + 0.011831800453364849, + -0.11613437533378601, + -0.047604791820049286, + -0.0656924694776535, + 0.0, + 1.0001531839370728 + ], + [ + 0.2718045115470886, + -0.029032615944743156, + 0.024669134989380836, + -0.11842643469572067, + -0.08108711987733841, + -0.0585666261613369, + 0.0, + 1.0001531839370728 + ], + [ + 0.2736310362815857, + -0.029342452064156532, + 0.04201483726501465, + -0.11989269405603409, + -0.12462282180786133, + -0.0514579601585865, + 0.0, + 1.0001531839370728 + ], + [ + 0.27329221367836, + -0.02794530615210533, + 0.05770012363791466, + -0.1120995581150055, + -0.1573008894920349, + -0.042021214962005615, + 0.0, + 1.0001531839370728 + ], + [ + 0.27490365505218506, + -0.029318751767277718, + 0.076414555311203, + -0.11250302940607071, + -0.2167004495859146, + -0.03368416801095009, + 0.0, + 1.0001531839370728 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2630840837955475, + -0.09690402448177338, + 0.08130045980215073 + ], + [ + 0.252950519323349, + -0.09281539171934128, + 0.06853682547807693 + ], + [ + 0.24997806549072266, + -0.07730519771575928, + 0.06678026169538498 + ], + [ + 0.26357796788215637, + -0.05835659056901932, + 0.07436158508062363 + ], + [ + 0.26610228419303894, + -0.04004979506134987, + 0.07475816458463669 + ], + [ + 0.2770479619503021, + -0.019431160762906075, + 0.08040279895067215 + ], + [ + 0.28623488545417786, + 0.0027628939133137465, + 0.07952258735895157 + ], + [ + 0.2963793873786926, + 0.030156146734952927, + 0.07730510830879211 + ], + [ + 0.3016873896121979, + 0.048868414014577866, + 0.0663500651717186 + ], + [ + 0.30952197313308716, + 0.06518102437257767, + 0.06081210821866989 + ], + [ + 0.31378695368766785, + 0.06970882415771484, + 0.04719071090221405 + ], + [ + 0.3136385381221771, + 0.07040125876665115, + 0.03619099780917168 + ], + [ + 0.31416061520576477, + 0.07159281522035599, + 0.025034265592694283 + ], + [ + 0.3116892874240875, + 0.07479836046695709, + 0.011497844941914082 + ], + [ + 0.3135606348514557, + 0.0794888362288475, + 0.006353713106364012 + ], + [ + 0.3167257606983185, + 0.08397005498409271, + 0.005107450764626265 + ], + [ + 0.31851431727409363, + 0.08271989971399307, + 0.0050335717387497425 + ], + [ + 0.3198435604572296, + 0.08087731897830963, + 0.005125332623720169 + ], + [ + 0.3216671943664551, + 0.07571116089820862, + 0.006030847318470478 + ], + [ + 0.31835904717445374, + 0.06462707370519638, + 0.004807814955711365 + ], + [ + 0.31526121497154236, + 0.04743317514657974, + 0.0058542583137750626 + ], + [ + 0.30535760521888733, + 0.034288085997104645, + 0.006592176388949156 + ], + [ + 0.28803619742393494, + 0.010879028588533401, + 0.007375536020845175 + ], + [ + 0.2738153338432312, + -0.002687174826860428, + 0.006911819335073233 + ], + [ + 0.26625776290893555, + -0.01283014751970768, + 0.005954471882432699 + ], + [ + 0.26761943101882935, + -0.02186666801571846, + 0.00648629991337657 + ], + [ + 0.27237778902053833, + -0.025917772203683853, + 0.007636085152626038 + ], + [ + 0.27051183581352234, + -0.03169722110033035, + 0.007421898189932108 + ], + [ + 0.26942873001098633, + -0.03140662610530853, + 0.007298945914953947 + ], + [ + 0.26916295289993286, + -0.031200386583805084, + 0.007721534464508295 + ], + [ + 0.269487589597702, + -0.029330527409911156, + 0.011831800453364849 + ], + [ + 0.2718045115470886, + -0.029032615944743156, + 0.024669134989380836 + ], + [ + 0.2736310362815857, + -0.029342452064156532, + 0.04201483726501465 + ], + [ + 0.27329221367836, + -0.02794530615210533, + 0.05770012363791466 + ], + [ + 0.27490365505218506, + -0.029318751767277718, + 0.076414555311203 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9018318308519784, + -0.2913407420487455, + 0.31909233911934454, + -0.2921742351448504, + -0.9552385438805596, + -0.04640625607037885, + 0.31832933446305267, + -0.05137992124784024, + -0.9465867834028084 + ], + [ + 0.917846001520429, + -0.2918090362964149, + 0.2690840088684542, + -0.2945003936564818, + -0.9551398483108541, + -0.031263210086232694, + 0.2661357466202877, + -0.05055053416608216, + -0.9626091667267592 + ], + [ + 0.9430974937080563, + -0.26382838441255546, + 0.20238997242907905, + -0.25763516269042347, + -0.9645685155781154, + -0.056848058022326564, + 0.21021712657883415, + 0.0014704875693502505, + -0.9776536182919013 + ], + [ + 0.9579056473403855, + -0.18584208359470167, + 0.21881382670795074, + -0.16596094164061181, + -0.9804034295540626, + -0.10614179746166924, + 0.23425143893508665, + 0.0653592784829552, + -0.9699765090315482 + ], + [ + 0.9673354779237511, + -0.13712783172828058, + 0.21320889032948168, + -0.10919588719958004, + -0.9844329366239537, + -0.13772454940436651, + 0.22877572285696132, + 0.10994430888154041, + -0.967250700478338 + ], + [ + 0.9686199696346672, + -0.08974182063865549, + 0.23177955055050845, + -0.053104267436040124, + -0.9857304641195366, + -0.1597353714327687, + 0.24280710699033883, + 0.14241438738815135, + -0.9595638858668243 + ], + [ + 0.9720984872835716, + -0.04307774681294392, + 0.23058369142355137, + -0.0034874587592395936, + -0.985538419617801, + -0.1694162362014033, + 0.23454715656429145, + 0.16388511581826756, + -0.9581906387357574 + ], + [ + 0.9709604349231095, + 0.01482542166019618, + 0.23878031888437368, + 0.055077782937259276, + -0.9851205420027898, + -0.16280035488550268, + 0.23281381325136602, + 0.17122419395846736, + -0.9573296212708718 + ], + [ + 0.976769704635277, + 0.05331876059324388, + 0.20755253280920063, + 0.08954828355219406, + -0.9814899726156537, + -0.16928832968571486, + 0.1946844858214691, + 0.18394168484528942, + -0.9634642741465335 + ], + [ + 0.9747060679331021, + 0.08375565436731716, + 0.20720297173518873, + 0.11810560468866182, + -0.9801245075464933, + -0.15939578365775411, + 0.18973441247047532, + 0.17983586980423708, + -0.9652253170406571 + ], + [ + 0.9815532364681545, + 0.09408620443565316, + 0.16643626441909828, + 0.12137191661715835, + -0.9792631677460086, + -0.16221130094025674, + 0.14772305790082021, + 0.1794197158367649, + -0.9726183546147409 + ], + [ + 0.9845001203828461, + 0.10504611485949089, + 0.14044510215414535, + 0.1280304167541257, + -0.9777512871766605, + -0.16616447517489555, + 0.11986544686408408, + 0.18157019077290806, + -0.9760453577937673 + ], + [ + 0.9859686025751406, + 0.11631413767737417, + 0.11973694547796697, + 0.13576759544951048, + -0.9760829578763535, + -0.1697916940524686, + 0.09712401743072023, + 0.18366567648779095, + -0.9781788407639983 + ], + [ + 0.9872850104051375, + 0.13533257236883403, + 0.08338706785444575, + 0.1474856187846966, + -0.9755517312695747, + -0.16293192403157425, + 0.05929840201070166, + 0.17315863961399625, + -0.9831072093347741 + ], + [ + 0.9871824538594097, + 0.1443739988594825, + 0.06802169687266676, + 0.1529904619543737, + -0.9774165673536964, + -0.14577644670352186, + 0.045439204912741935, + 0.1543146211991578, + -0.9869763301827753 + ], + [ + 0.9865058223691651, + 0.15110061090730748, + 0.06304655276203074, + 0.1579133833829458, + -0.9798049003530535, + -0.12266099866173222, + 0.04323916951431689, + 0.1309616838146989, + -0.99044404768373 + ], + [ + 0.9888710304938507, + 0.13857802621702067, + 0.05413146681759385, + 0.1433539031657343, + -0.9848542127180331, + -0.09752865291129766, + 0.039796274915861206, + 0.10420321655946053, + -0.9937595011679049 + ], + [ + 0.988643311942953, + 0.1379206167133834, + 0.05968505035491211, + 0.14340037180019766, + -0.9845845965935848, + -0.10014741892935795, + 0.044952587445368335, + 0.10756893434466679, + -0.9931808441799099 + ], + [ + 0.9886801860900903, + 0.12985026673659222, + 0.07516912837928136, + 0.13775452299526342, + -0.9841347346126895, + -0.11181464807063204, + 0.059457388331581464, + 0.12090381448592802, + -0.9908819741097022 + ], + [ + 0.9907414704351167, + 0.1138017917535442, + 0.07403033806316038, + 0.12201451300815892, + -0.9854912221997236, + -0.11798097127366391, + 0.05952980241395626, + 0.12592141660963893, + -0.9902524927833191 + ], + [ + 0.9939257915095103, + 0.08209844551039744, + 0.07328960510856666, + 0.09061227301854607, + -0.9884327582410598, + -0.12161454853093372, + 0.06245748114202018, + 0.12751677411519893, + -0.9898679383476603 + ], + [ + 0.9954909713814923, + 0.06101140993905515, + 0.07263149286075174, + 0.06944849371306325, + -0.9903466059912337, + -0.1199604381562141, + 0.06461139697390456, + 0.12446368088278933, + -0.9901182553221548 + ], + [ + 0.9975554659781368, + 0.0075630990510212074, + 0.06946863918263003, + 0.015862133189949234, + -0.9926830352890638, + -0.11970289963052484, + 0.06805501471461388, + 0.12051220262710179, + -0.9903763547208494 + ], + [ + 0.9975021295944202, + -0.009680026752788229, + 0.06996998311177408, + -0.00167082768121536, + -0.9935217742317112, + -0.11362962845284837, + 0.07061663960750561, + 0.11322888858210163, + -0.9910562592512121 + ], + [ + 0.9973608636876774, + -0.03167758823500336, + 0.06532869191850961, + -0.024140488676336076, + -0.9932909846555991, + -0.11309401667806296, + 0.06847294641416897, + 0.11121847960444284, + -0.9914342668093726 + ], + [ + 0.9976058578023645, + -0.054349531356837184, + 0.04276307893148783, + -0.04911370846231824, + -0.9921292348272568, + -0.1151843090102134, + 0.04868671399352083, + 0.11280828800391438, + -0.9924232433987724 + ], + [ + 0.997757938201287, + -0.043503485453260604, + 0.05085807221802774, + -0.03670884171580503, + -0.9911409461040963, + -0.12764045556076756, + 0.0559603225169419, + 0.1254873368483619, + -0.9905157094132859 + ], + [ + 0.9968092220779632, + -0.06872942802195711, + 0.04059113824593504, + -0.06339367544378532, + -0.9906704069547047, + -0.12063741831591027, + 0.048503780203753226, + 0.11767926966111972, + -0.9918664087456392 + ], + [ + 0.9968802263697534, + -0.07128569985146103, + 0.033884557982612064, + -0.06691118262315209, + -0.9909635369468542, + -0.11625042830782294, + 0.041865354566285255, + 0.11362049743980394, + -0.9926417655169316 + ], + [ + 0.9966535425854782, + -0.0749556990421774, + 0.03260918939371214, + -0.07065149147654172, + -0.9905529993715884, + -0.11752923971544395, + 0.04111061668178449, + 0.1148320452532683, + -0.9925338878743611 + ], + [ + 0.9967125750907426, + -0.07070519953897605, + 0.039557773119007024, + -0.06557086126109041, + -0.9907595632823227, + -0.11872636572430102, + 0.047586813398882745, + 0.11574222445924921, + -0.9921387164443111 + ], + [ + 0.9950053393036921, + -0.06767669642970581, + 0.07337737742319454, + -0.05834082497010892, + -0.9907330975838888, + -0.12265511605163312, + 0.08099828948164035, + 0.11776159863127675, + -0.9897330362218159 + ], + [ + 0.9909312180820256, + -0.06591338906085836, + 0.11709289548467537, + -0.05103635384965366, + -0.9907426190860008, + -0.1257948858751602, + 0.12430048920340635, + 0.11867808504152547, + -0.9851217693842068 + ], + [ + 0.9867818417161136, + -0.05925368357166431, + 0.1508330131056983, + -0.041490195653869445, + -0.9921100387800965, + -0.11830568294194027, + 0.1566529939833845, + 0.11048380847411238, + -0.9814546181770695 + ], + [ + 0.976058204327413, + -0.057589305984483426, + 0.2097471182194681, + -0.03289014879240621, + -0.9923016162180114, + -0.11939740601677848, + 0.21500841815510238, + 0.10964020379107114, + -0.9704382545196231 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.010133564472198486, + 0.004088632762432098, + -0.012763634324073792, + -0.0017600469291210175, + 0.054584652185440063, + 0.002824634313583374, + 1.0 + ], + [ + -0.0029724538326263428, + 0.015510194003582, + -0.0017565637826919556, + -0.053969983011484146, + 0.05758492648601532, + 0.04381000995635986, + 1.0 + ], + [ + 0.013599902391433716, + 0.01894860714673996, + 0.0075813233852386475, + -0.065776526927948, + -0.02465146780014038, + 0.09512217342853546, + 1.0 + ], + [ + 0.0025243163108825684, + 0.01830679550766945, + 0.0003965795040130615, + -0.04590041935443878, + 0.005628645420074463, + 0.059143684804439545, + 1.0 + ], + [ + 0.010945677757263184, + 0.020618634298443794, + 0.005644634366035461, + -0.03415914624929428, + -0.014438644051551819, + 0.05763748288154602, + 1.0 + ], + [ + 0.009186923503875732, + 0.02219405397772789, + -0.0008802115917205811, + -0.022056713700294495, + 0.00850580632686615, + 0.05118229612708092, + 1.0 + ], + [ + 0.01014450192451477, + 0.02739325352013111, + -0.0022174790501594543, + -0.00758776068687439, + 0.0017827004194259644, + 0.0602518692612648, + 1.0 + ], + [ + 0.005308002233505249, + 0.01871226727962494, + -0.010955043137073517, + -0.011662155389785767, + 0.03903423249721527, + 0.034758102148771286, + 1.0 + ], + [ + 0.007834583520889282, + 0.0163126103579998, + -0.005537956953048706, + 0.004443958401679993, + 0.005044132471084595, + 0.02916020154953003, + 1.0 + ], + [ + 0.0042649805545806885, + 0.0045277997851371765, + -0.013621397316455841, + 0.0017828047275543213, + 0.04262596368789673, + 0.0024457797408103943, + 1.0 + ], + [ + -0.00014841556549072266, + 0.0006924346089363098, + -0.010999713093042374, + -0.0015039443969726562, + 0.028111323714256287, + 0.006291940808296204, + 1.0 + ], + [ + 0.0005220770835876465, + 0.001191556453704834, + -0.011156732216477394, + -0.00167788565158844, + 0.022876985371112823, + 0.0075188130140304565, + 1.0 + ], + [ + -0.002471327781677246, + 0.0032055452466011047, + -0.013536420650780201, + 0.011256098747253418, + 0.03794415667653084, + 0.011449307203292847, + 1.0 + ], + [ + 0.001871347427368164, + 0.004690475761890411, + -0.00514413183555007, + 0.019250571727752686, + 0.01387835294008255, + 0.005465254187583923, + 1.0 + ], + [ + 0.003165125846862793, + 0.004481218755245209, + -0.0012462623417377472, + 0.023632600903511047, + 0.002202201634645462, + 0.0049731433391571045, + 1.0 + ], + [ + 0.0017885565757751465, + -0.00125015527009964, + -7.387902587652206e-05, + 0.026986829936504364, + 0.0034458674490451813, + -0.014762535691261292, + 1.0 + ], + [ + 0.0013292431831359863, + -0.0018425807356834412, + 9.176088497042656e-05, + -0.0034111663699150085, + -0.005160953849554062, + 7.873773574829102e-05, + 1.0 + ], + [ + 0.0018236339092254639, + -0.005166158080101013, + 0.000905514694750309, + -0.013529233634471893, + -0.014524735510349274, + -0.005602613091468811, + 1.0 + ], + [ + -0.0033081471920013428, + -0.011084087193012238, + -0.0012230323627591133, + -0.005065910518169403, + -7.254257798194885e-05, + -0.015902742743492126, + 1.0 + ], + [ + -0.003097832202911377, + -0.017193898558616638, + 0.0010464433580636978, + -0.0016343146562576294, + -0.002933140844106674, + -0.0316229984164238, + 1.0 + ], + [ + -0.00990360975265503, + -0.013145089149475098, + 0.0007379180751740932, + 0.0030664652585983276, + -0.0021582767367362976, + -0.021264508366584778, + 1.0 + ], + [ + -0.017321407794952393, + -0.023409057408571243, + 0.000783359631896019, + 0.003962010145187378, + -0.003451220691204071, + -0.05375054478645325, + 1.0 + ], + [ + -0.014220863580703735, + -0.01356620341539383, + -0.00046371668577194214, + 0.007330477237701416, + -0.0025678053498268127, + -0.017574673518538475, + 1.0 + ], + [ + -0.007557570934295654, + -0.010142972692847252, + -0.0009573474526405334, + 0.0020451247692108154, + 0.0021488964557647705, + -0.022524632513523102, + 1.0 + ], + [ + 0.0013616681098937988, + -0.00903652049601078, + 0.0005318280309438705, + -0.001471392810344696, + 0.019820597022771835, + -0.024992216378450394, + 1.0 + ], + [ + 0.004758358001708984, + -0.004051104187965393, + 0.0011497852392494678, + -0.012833826243877411, + -0.00728360190987587, + 0.012417115271091461, + 1.0 + ], + [ + -0.0018659532070159912, + -0.0057794488966465, + -0.00021418696269392967, + 0.007925324141979218, + 0.007466752082109451, + -0.026736322790384293, + 1.0 + ], + [ + -0.0010831058025360107, + 0.00029059499502182007, + -0.00012295227497816086, + 0.004125483334064484, + 0.006645224988460541, + -0.0035089924931526184, + 1.0 + ], + [ + -0.0002657771110534668, + 0.00020623952150344849, + 0.000422588549554348, + -0.001216985285282135, + 0.0007553882896900177, + -0.0037502720952033997, + 1.0 + ], + [ + 0.00032463669776916504, + 0.0018698591738939285, + 0.004110265988856554, + -0.000950641930103302, + -0.0064825862646102905, + 0.005077861249446869, + 1.0 + ], + [ + 0.0023169219493865967, + 0.00029791146516799927, + 0.012837334536015987, + -0.002292059361934662, + -0.033482328057289124, + 0.007125843316316605, + 1.0 + ], + [ + 0.0018265247344970703, + -0.00030983611941337585, + 0.017345702275633812, + -0.0014662593603134155, + -0.04353570193052292, + 0.007108666002750397, + 1.0 + ], + [ + -0.000338822603225708, + 0.0013971459120512009, + 0.01568528637290001, + 0.007793135941028595, + -0.032678067684173584, + 0.009436745196580887, + 1.0 + ], + [ + 0.0016114413738250732, + -0.0013734456151723862, + 0.018714431673288345, + -0.00040347129106521606, + -0.0593995600938797, + 0.008337046951055527, + 1.0 + ], + [ + 0.0009210705757141113, + 0.0029756929725408554, + 0.01343025267124176, + 0.024947799742221832, + -0.046145662665367126, + 0.0022775977849960327, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.252950519323349, + -0.09281539171934128, + 0.06853682547807693 + ], + [ + 0.24997806549072266, + -0.07730519771575928, + 0.06678026169538498 + ], + [ + 0.26357796788215637, + -0.05835659056901932, + 0.07436158508062363 + ], + [ + 0.26610228419303894, + -0.04004979506134987, + 0.07475816458463669 + ], + [ + 0.2770479619503021, + -0.019431160762906075, + 0.08040279895067215 + ], + [ + 0.28623488545417786, + 0.0027628939133137465, + 0.07952258735895157 + ], + [ + 0.2963793873786926, + 0.030156146734952927, + 0.07730510830879211 + ], + [ + 0.3016873896121979, + 0.048868414014577866, + 0.0663500651717186 + ], + [ + 0.30952197313308716, + 0.06518102437257767, + 0.06081210821866989 + ], + [ + 0.31378695368766785, + 0.06970882415771484, + 0.04719071090221405 + ], + [ + 0.3136385381221771, + 0.07040125876665115, + 0.03619099780917168 + ], + [ + 0.31416061520576477, + 0.07159281522035599, + 0.025034265592694283 + ], + [ + 0.3116892874240875, + 0.07479836046695709, + 0.011497844941914082 + ], + [ + 0.3135606348514557, + 0.0794888362288475, + 0.006353713106364012 + ], + [ + 0.3167257606983185, + 0.08397005498409271, + 0.005107450764626265 + ], + [ + 0.31851431727409363, + 0.08271989971399307, + 0.0050335717387497425 + ], + [ + 0.3198435604572296, + 0.08087731897830963, + 0.005125332623720169 + ], + [ + 0.3216671943664551, + 0.07571116089820862, + 0.006030847318470478 + ], + [ + 0.31835904717445374, + 0.06462707370519638, + 0.004807814955711365 + ], + [ + 0.31526121497154236, + 0.04743317514657974, + 0.0058542583137750626 + ], + [ + 0.30535760521888733, + 0.034288085997104645, + 0.006592176388949156 + ], + [ + 0.28803619742393494, + 0.010879028588533401, + 0.007375536020845175 + ], + [ + 0.2738153338432312, + -0.002687174826860428, + 0.006911819335073233 + ], + [ + 0.26625776290893555, + -0.01283014751970768, + 0.005954471882432699 + ], + [ + 0.26761943101882935, + -0.02186666801571846, + 0.00648629991337657 + ], + [ + 0.27237778902053833, + -0.025917772203683853, + 0.007636085152626038 + ], + [ + 0.27051183581352234, + -0.03169722110033035, + 0.007421898189932108 + ], + [ + 0.26942873001098633, + -0.03140662610530853, + 0.007298945914953947 + ], + [ + 0.26916295289993286, + -0.031200386583805084, + 0.007721534464508295 + ], + [ + 0.269487589597702, + -0.029330527409911156, + 0.011831800453364849 + ], + [ + 0.2718045115470886, + -0.029032615944743156, + 0.024669134989380836 + ], + [ + 0.2736310362815857, + -0.029342452064156532, + 0.04201483726501465 + ], + [ + 0.27329221367836, + -0.02794530615210533, + 0.05770012363791466 + ], + [ + 0.27490365505218506, + -0.029318751767277718, + 0.076414555311203 + ], + [ + 0.27582472562789917, + -0.026343058794736862, + 0.08984480798244476 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.917846001520429, + -0.2918090362964149, + 0.2690840088684542, + -0.2945003936564818, + -0.9551398483108541, + -0.031263210086232694, + 0.2661357466202877, + -0.05055053416608216, + -0.9626091667267592 + ], + [ + 0.9430974937080563, + -0.26382838441255546, + 0.20238997242907905, + -0.25763516269042347, + -0.9645685155781154, + -0.056848058022326564, + 0.21021712657883415, + 0.0014704875693502505, + -0.9776536182919013 + ], + [ + 0.9579056473403855, + -0.18584208359470167, + 0.21881382670795074, + -0.16596094164061181, + -0.9804034295540626, + -0.10614179746166924, + 0.23425143893508665, + 0.0653592784829552, + -0.9699765090315482 + ], + [ + 0.9673354779237511, + -0.13712783172828058, + 0.21320889032948168, + -0.10919588719958004, + -0.9844329366239537, + -0.13772454940436651, + 0.22877572285696132, + 0.10994430888154041, + -0.967250700478338 + ], + [ + 0.9686199696346672, + -0.08974182063865549, + 0.23177955055050845, + -0.053104267436040124, + -0.9857304641195366, + -0.1597353714327687, + 0.24280710699033883, + 0.14241438738815135, + -0.9595638858668243 + ], + [ + 0.9720984872835716, + -0.04307774681294392, + 0.23058369142355137, + -0.0034874587592395936, + -0.985538419617801, + -0.1694162362014033, + 0.23454715656429145, + 0.16388511581826756, + -0.9581906387357574 + ], + [ + 0.9709604349231095, + 0.01482542166019618, + 0.23878031888437368, + 0.055077782937259276, + -0.9851205420027898, + -0.16280035488550268, + 0.23281381325136602, + 0.17122419395846736, + -0.9573296212708718 + ], + [ + 0.976769704635277, + 0.05331876059324388, + 0.20755253280920063, + 0.08954828355219406, + -0.9814899726156537, + -0.16928832968571486, + 0.1946844858214691, + 0.18394168484528942, + -0.9634642741465335 + ], + [ + 0.9747060679331021, + 0.08375565436731716, + 0.20720297173518873, + 0.11810560468866182, + -0.9801245075464933, + -0.15939578365775411, + 0.18973441247047532, + 0.17983586980423708, + -0.9652253170406571 + ], + [ + 0.9815532364681545, + 0.09408620443565316, + 0.16643626441909828, + 0.12137191661715835, + -0.9792631677460086, + -0.16221130094025674, + 0.14772305790082021, + 0.1794197158367649, + -0.9726183546147409 + ], + [ + 0.9845001203828461, + 0.10504611485949089, + 0.14044510215414535, + 0.1280304167541257, + -0.9777512871766605, + -0.16616447517489555, + 0.11986544686408408, + 0.18157019077290806, + -0.9760453577937673 + ], + [ + 0.9859686025751406, + 0.11631413767737417, + 0.11973694547796697, + 0.13576759544951048, + -0.9760829578763535, + -0.1697916940524686, + 0.09712401743072023, + 0.18366567648779095, + -0.9781788407639983 + ], + [ + 0.9872850104051375, + 0.13533257236883403, + 0.08338706785444575, + 0.1474856187846966, + -0.9755517312695747, + -0.16293192403157425, + 0.05929840201070166, + 0.17315863961399625, + -0.9831072093347741 + ], + [ + 0.9871824538594097, + 0.1443739988594825, + 0.06802169687266676, + 0.1529904619543737, + -0.9774165673536964, + -0.14577644670352186, + 0.045439204912741935, + 0.1543146211991578, + -0.9869763301827753 + ], + [ + 0.9865058223691651, + 0.15110061090730748, + 0.06304655276203074, + 0.1579133833829458, + -0.9798049003530535, + -0.12266099866173222, + 0.04323916951431689, + 0.1309616838146989, + -0.99044404768373 + ], + [ + 0.9888710304938507, + 0.13857802621702067, + 0.05413146681759385, + 0.1433539031657343, + -0.9848542127180331, + -0.09752865291129766, + 0.039796274915861206, + 0.10420321655946053, + -0.9937595011679049 + ], + [ + 0.988643311942953, + 0.1379206167133834, + 0.05968505035491211, + 0.14340037180019766, + -0.9845845965935848, + -0.10014741892935795, + 0.044952587445368335, + 0.10756893434466679, + -0.9931808441799099 + ], + [ + 0.9886801860900903, + 0.12985026673659222, + 0.07516912837928136, + 0.13775452299526342, + -0.9841347346126895, + -0.11181464807063204, + 0.059457388331581464, + 0.12090381448592802, + -0.9908819741097022 + ], + [ + 0.9907414704351167, + 0.1138017917535442, + 0.07403033806316038, + 0.12201451300815892, + -0.9854912221997236, + -0.11798097127366391, + 0.05952980241395626, + 0.12592141660963893, + -0.9902524927833191 + ], + [ + 0.9939257915095103, + 0.08209844551039744, + 0.07328960510856666, + 0.09061227301854607, + -0.9884327582410598, + -0.12161454853093372, + 0.06245748114202018, + 0.12751677411519893, + -0.9898679383476603 + ], + [ + 0.9954909713814923, + 0.06101140993905515, + 0.07263149286075174, + 0.06944849371306325, + -0.9903466059912337, + -0.1199604381562141, + 0.06461139697390456, + 0.12446368088278933, + -0.9901182553221548 + ], + [ + 0.9975554659781368, + 0.0075630990510212074, + 0.06946863918263003, + 0.015862133189949234, + -0.9926830352890638, + -0.11970289963052484, + 0.06805501471461388, + 0.12051220262710179, + -0.9903763547208494 + ], + [ + 0.9975021295944202, + -0.009680026752788229, + 0.06996998311177408, + -0.00167082768121536, + -0.9935217742317112, + -0.11362962845284837, + 0.07061663960750561, + 0.11322888858210163, + -0.9910562592512121 + ], + [ + 0.9973608636876774, + -0.03167758823500336, + 0.06532869191850961, + -0.024140488676336076, + -0.9932909846555991, + -0.11309401667806296, + 0.06847294641416897, + 0.11121847960444284, + -0.9914342668093726 + ], + [ + 0.9976058578023645, + -0.054349531356837184, + 0.04276307893148783, + -0.04911370846231824, + -0.9921292348272568, + -0.1151843090102134, + 0.04868671399352083, + 0.11280828800391438, + -0.9924232433987724 + ], + [ + 0.997757938201287, + -0.043503485453260604, + 0.05085807221802774, + -0.03670884171580503, + -0.9911409461040963, + -0.12764045556076756, + 0.0559603225169419, + 0.1254873368483619, + -0.9905157094132859 + ], + [ + 0.9968092220779632, + -0.06872942802195711, + 0.04059113824593504, + -0.06339367544378532, + -0.9906704069547047, + -0.12063741831591027, + 0.048503780203753226, + 0.11767926966111972, + -0.9918664087456392 + ], + [ + 0.9968802263697534, + -0.07128569985146103, + 0.033884557982612064, + -0.06691118262315209, + -0.9909635369468542, + -0.11625042830782294, + 0.041865354566285255, + 0.11362049743980394, + -0.9926417655169316 + ], + [ + 0.9966535425854782, + -0.0749556990421774, + 0.03260918939371214, + -0.07065149147654172, + -0.9905529993715884, + -0.11752923971544395, + 0.04111061668178449, + 0.1148320452532683, + -0.9925338878743611 + ], + [ + 0.9967125750907426, + -0.07070519953897605, + 0.039557773119007024, + -0.06557086126109041, + -0.9907595632823227, + -0.11872636572430102, + 0.047586813398882745, + 0.11574222445924921, + -0.9921387164443111 + ], + [ + 0.9950053393036921, + -0.06767669642970581, + 0.07337737742319454, + -0.05834082497010892, + -0.9907330975838888, + -0.12265511605163312, + 0.08099828948164035, + 0.11776159863127675, + -0.9897330362218159 + ], + [ + 0.9909312180820256, + -0.06591338906085836, + 0.11709289548467537, + -0.05103635384965366, + -0.9907426190860008, + -0.1257948858751602, + 0.12430048920340635, + 0.11867808504152547, + -0.9851217693842068 + ], + [ + 0.9867818417161136, + -0.05925368357166431, + 0.1508330131056983, + -0.041490195653869445, + -0.9921100387800965, + -0.11830568294194027, + 0.1566529939833845, + 0.11048380847411238, + -0.9814546181770695 + ], + [ + 0.976058204327413, + -0.057589305984483426, + 0.2097471182194681, + -0.03289014879240621, + -0.9923016162180114, + -0.11939740601677848, + 0.21500841815510238, + 0.10964020379107114, + -0.9704382545196231 + ], + [ + 0.9651781765719524, + -0.05399033660765189, + 0.255961190461041, + -0.030322906734053304, + -0.9949647789861716, + -0.09552805820383971, + 0.25982996131400776, + 0.08444010972275397, + -0.9619554350766829 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006351.json b/json/chunk-0006/episode_0006351.json new file mode 100644 index 0000000000000000000000000000000000000000..0d79257049f07ddc04b4a631bdb599097b5732d6 --- /dev/null +++ b/json/chunk-0006/episode_0006351.json @@ -0,0 +1,2422 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 39, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the orange bucket to the bottom of the right table." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006351.mp4", + "start": 0, + "end": 39, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3502999246120453, + -0.103791743516922, + 0.0728401467204094, + -0.12990477681159973, + 0.18411830067634583, + 0.5457693934440613, + 0.0, + 0.9994885921478271 + ], + [ + 0.3499542474746704, + -0.10444486886262894, + 0.07169008255004883, + -0.12826627492904663, + 0.1922270953655243, + 0.5516726970672607, + 0.0, + 0.9994885921478271 + ], + [ + 0.34358450770378113, + -0.10453581809997559, + 0.07569285482168198, + -0.13787250220775604, + 0.2096274048089981, + 0.562537431716919, + 0.0, + 1.0001531839370728 + ], + [ + 0.3457050919532776, + -0.08161329478025436, + 0.10920408368110657, + -0.2037423700094223, + 0.16429279744625092, + 0.6133487820625305, + 0.0, + 1.0001531839370728 + ], + [ + 0.3459610044956207, + -0.060813769698143005, + 0.13149192929267883, + -0.2585371136665344, + 0.13912077248096466, + 0.6403647065162659, + 0.0, + 1.0001531839370728 + ], + [ + 0.34112149477005005, + -0.027197306975722313, + 0.14923033118247986, + -0.2513659596443176, + 0.07599719613790512, + 0.7614747881889343, + 0.0, + 1.0001531839370728 + ], + [ + 0.3396645188331604, + 0.013438781723380089, + 0.1536785066127777, + -0.19800503551959991, + 0.036663930863142014, + 0.7397037744522095, + 0.0, + 1.0001531839370728 + ], + [ + 0.33774569630622864, + 0.04758968576788902, + 0.1516740769147873, + -0.1132594645023346, + 0.018749801442027092, + 0.5938659906387329, + 0.0, + 1.0001531839370728 + ], + [ + 0.33308348059654236, + 0.07606890052556992, + 0.15167446434497833, + -0.031536366790533066, + 0.005370560567826033, + 0.5064007639884949, + 0.0, + 1.0001531839370728 + ], + [ + 0.33064553141593933, + 0.08714812994003296, + 0.14639264345169067, + 0.005870933644473553, + 0.02540838159620762, + 0.48481252789497375, + 0.0, + 1.0001531839370728 + ], + [ + 0.32774874567985535, + 0.093387670814991, + 0.13938261568546295, + -0.013394893147051334, + 0.025012483820319176, + 0.42010045051574707, + 0.0, + 1.0001531839370728 + ], + [ + 0.328156977891922, + 0.09524315595626831, + 0.13078223168849945, + -0.019193008542060852, + 0.04456356167793274, + 0.3722178637981415, + 0.0, + 1.0001531839370728 + ], + [ + 0.3301315903663635, + 0.09095771610736847, + 0.1052432730793953, + -0.003708479693159461, + 0.11992791295051575, + 0.3178941011428833, + 0.0, + 1.0001531839370728 + ], + [ + 0.3349558115005493, + 0.0845770463347435, + 0.09225010126829147, + 0.02985612489283085, + 0.150807723402977, + 0.27387017011642456, + 0.0, + 0.9545519351959229 + ], + [ + 0.337496280670166, + 0.08191148191690445, + 0.09113530814647675, + 0.04253653809428215, + 0.13961564004421234, + 0.25554293394088745, + 0.0, + 0.672171950340271 + ], + [ + 0.3384301960468292, + 0.07921001315116882, + 0.09039954841136932, + 0.05323205515742302, + 0.1354648470878601, + 0.2566984295845032, + 0.0, + 0.3644362688064575 + ], + [ + 0.33784881234169006, + 0.0758848488330841, + 0.08725742995738983, + 0.0645662471652031, + 0.13596312701702118, + 0.24936936795711517, + 0.0, + 0.1556580364704132 + ], + [ + 0.3380339741706848, + 0.07526689022779465, + 0.08731243759393692, + 0.07308916747570038, + 0.1342223733663559, + 0.26356154680252075, + 0.0, + 0.07954961806535721 + ], + [ + 0.3382495045661926, + 0.07537143677473068, + 0.08800727128982544, + 0.07394212484359741, + 0.13243553042411804, + 0.2937123775482178, + 0.0, + 0.07788556814193726 + ], + [ + 0.339657187461853, + 0.07346969097852707, + 0.09517156332731247, + 0.0625351071357727, + 0.11359594017267227, + 0.32738983631134033, + 0.0, + 0.07788556814193726 + ], + [ + 0.33751633763313293, + 0.07496699690818787, + 0.115189328789711, + 0.07570041716098785, + 0.06449729949235916, + 0.38436833024024963, + 0.0, + 0.07788556814193726 + ], + [ + 0.3286721408367157, + 0.06633418798446655, + 0.14928452670574188, + 0.02458588033914566, + -0.022416647523641586, + 0.3902660310268402, + 0.0, + 0.07788556814193726 + ], + [ + 0.3225862979888916, + 0.04453564062714577, + 0.1592419296503067, + -0.0027656350284814835, + -0.04004518687725067, + 0.3168094754219055, + 0.0, + 0.07788556814193726 + ], + [ + 0.3134658932685852, + 0.007209465838968754, + 0.15802335739135742, + -0.002862157067283988, + -0.036827731877565384, + 0.18049617111682892, + 0.0, + 0.07788556814193726 + ], + [ + 0.29698583483695984, + -0.027475891634821892, + 0.14182379841804504, + -0.010978486388921738, + 0.007718674372881651, + 0.05343285948038101, + 0.0, + 0.07788556814193726 + ], + [ + 0.2741420269012451, + -0.06328881531953812, + 0.13036656379699707, + -0.008674203418195248, + 0.03816733509302139, + -0.094596266746521, + 0.0, + 0.07788556814193726 + ], + [ + 0.25254571437835693, + -0.08069884777069092, + 0.12482520192861557, + -0.017569463700056076, + 0.04787259176373482, + -0.19912393391132355, + 0.0, + 0.07788556814193726 + ], + [ + 0.23307853937149048, + -0.10039767622947693, + 0.11743923276662827, + -0.020532779395580292, + 0.061368949711322784, + -0.318899542093277, + 0.0, + 0.07788556814193726 + ], + [ + 0.22337065637111664, + -0.10432205349206924, + 0.10761388391256332, + 0.0015387434978038073, + 0.08752935379743576, + -0.3664665222167969, + 0.0, + 0.07788556814193726 + ], + [ + 0.22417935729026794, + -0.10738089680671692, + 0.09483352303504944, + 0.0046006254851818085, + 0.11959600448608398, + -0.38203924894332886, + 0.0, + 0.07788556814193726 + ], + [ + 0.2260112315416336, + -0.10715249925851822, + 0.08678697049617767, + 0.016272924840450287, + 0.14801688492298126, + -0.37553930282592773, + 0.0, + 0.07788556814193726 + ], + [ + 0.2306099832057953, + -0.10885631293058395, + 0.08432294428348541, + 0.029805568978190422, + 0.16838160157203674, + -0.3692324757575989, + 0.0, + 0.10996698588132858 + ], + [ + 0.2301434725522995, + -0.1093890517950058, + 0.0789327546954155, + 0.03084453009068966, + 0.2051185816526413, + -0.3575785756111145, + 0.0, + 0.2958413064479828 + ], + [ + 0.23091575503349304, + -0.11053167283535004, + 0.08127191662788391, + 0.02515936642885208, + 0.20878565311431885, + -0.36540818214416504, + 0.0, + 0.5869058966636658 + ], + [ + 0.23265260457992554, + -0.11163095384836197, + 0.08309639990329742, + 0.023573298007249832, + 0.20275110006332397, + -0.3634851574897766, + 0.0, + 0.8888095021247864 + ], + [ + 0.23485250771045685, + -0.11336459219455719, + 0.08795727789402008, + 0.012856673449277878, + 0.18980538845062256, + -0.3642752170562744, + 0.0, + 1.0131081342697144 + ], + [ + 0.25186657905578613, + -0.10653140395879745, + 0.11259227246046066, + -0.012598249129951, + 0.1100994199514389, + -0.31321942806243896, + 0.0, + 1.0086473226547241 + ], + [ + 0.267026424407959, + -0.09691933542490005, + 0.13295979797840118, + -0.028504887595772743, + 0.05749764293432236, + -0.2516578733921051, + 0.0, + 1.0027955770492554 + ], + [ + 0.27479037642478943, + -0.09127649664878845, + 0.15351584553718567, + -0.06804998964071274, + -0.008966783992946148, + -0.22776132822036743, + 0.0, + 1.0014774799346924 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9545519351959229 + ], + [ + 0.672171950340271 + ], + [ + 0.3644362688064575 + ], + [ + 0.1556580364704132 + ], + [ + 0.07954961806535721 + ], + [ + 0.07788556814193726 + ], + [ + 0.07788556814193726 + ], + [ + 0.07788556814193726 + ], + [ + 0.07788556814193726 + ], + [ + 0.07788556814193726 + ], + [ + 0.07788556814193726 + ], + [ + 0.07788556814193726 + ], + [ + 0.07788556814193726 + ], + [ + 0.07788556814193726 + ], + [ + 0.07788556814193726 + ], + [ + 0.07788556814193726 + ], + [ + 0.07788556814193726 + ], + [ + 0.07788556814193726 + ], + [ + 0.10996698588132858 + ], + [ + 0.2958413064479828 + ], + [ + 0.5869058966636658 + ], + [ + 0.8888095021247864 + ], + [ + 1.0131081342697144 + ], + [ + 1.0086473226547241 + ], + [ + 1.0027955770492554 + ], + [ + 1.0014774799346924 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3502999246120453, + -0.103791743516922, + 0.0728401467204094 + ], + [ + 0.3499542474746704, + -0.10444486886262894, + 0.07169008255004883 + ], + [ + 0.34358450770378113, + -0.10453581809997559, + 0.07569285482168198 + ], + [ + 0.3457050919532776, + -0.08161329478025436, + 0.10920408368110657 + ], + [ + 0.3459610044956207, + -0.060813769698143005, + 0.13149192929267883 + ], + [ + 0.34112149477005005, + -0.027197306975722313, + 0.14923033118247986 + ], + [ + 0.3396645188331604, + 0.013438781723380089, + 0.1536785066127777 + ], + [ + 0.33774569630622864, + 0.04758968576788902, + 0.1516740769147873 + ], + [ + 0.33308348059654236, + 0.07606890052556992, + 0.15167446434497833 + ], + [ + 0.33064553141593933, + 0.08714812994003296, + 0.14639264345169067 + ], + [ + 0.32774874567985535, + 0.093387670814991, + 0.13938261568546295 + ], + [ + 0.328156977891922, + 0.09524315595626831, + 0.13078223168849945 + ], + [ + 0.3301315903663635, + 0.09095771610736847, + 0.1052432730793953 + ], + [ + 0.3349558115005493, + 0.0845770463347435, + 0.09225010126829147 + ], + [ + 0.337496280670166, + 0.08191148191690445, + 0.09113530814647675 + ], + [ + 0.3384301960468292, + 0.07921001315116882, + 0.09039954841136932 + ], + [ + 0.33784881234169006, + 0.0758848488330841, + 0.08725742995738983 + ], + [ + 0.3380339741706848, + 0.07526689022779465, + 0.08731243759393692 + ], + [ + 0.3382495045661926, + 0.07537143677473068, + 0.08800727128982544 + ], + [ + 0.339657187461853, + 0.07346969097852707, + 0.09517156332731247 + ], + [ + 0.33751633763313293, + 0.07496699690818787, + 0.115189328789711 + ], + [ + 0.3286721408367157, + 0.06633418798446655, + 0.14928452670574188 + ], + [ + 0.3225862979888916, + 0.04453564062714577, + 0.1592419296503067 + ], + [ + 0.3134658932685852, + 0.007209465838968754, + 0.15802335739135742 + ], + [ + 0.29698583483695984, + -0.027475891634821892, + 0.14182379841804504 + ], + [ + 0.2741420269012451, + -0.06328881531953812, + 0.13036656379699707 + ], + [ + 0.25254571437835693, + -0.08069884777069092, + 0.12482520192861557 + ], + [ + 0.23307853937149048, + -0.10039767622947693, + 0.11743923276662827 + ], + [ + 0.22337065637111664, + -0.10432205349206924, + 0.10761388391256332 + ], + [ + 0.22417935729026794, + -0.10738089680671692, + 0.09483352303504944 + ], + [ + 0.2260112315416336, + -0.10715249925851822, + 0.08678697049617767 + ], + [ + 0.2306099832057953, + -0.10885631293058395, + 0.08432294428348541 + ], + [ + 0.2301434725522995, + -0.1093890517950058, + 0.0789327546954155 + ], + [ + 0.23091575503349304, + -0.11053167283535004, + 0.08127191662788391 + ], + [ + 0.23265260457992554, + -0.11163095384836197, + 0.08309639990329742 + ], + [ + 0.23485250771045685, + -0.11336459219455719, + 0.08795727789402008 + ], + [ + 0.25186657905578613, + -0.10653140395879745, + 0.11259227246046066 + ], + [ + 0.267026424407959, + -0.09691933542490005, + 0.13295979797840118 + ], + [ + 0.27479037642478943, + -0.09127649664878845, + 0.15351584553718567 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.840281600926217, + 0.534973079383692, + -0.0879240324348495, + 0.5103024741065076, + -0.8352159711255426, + -0.20495283969146316, + -0.18307980791352071, + 0.12735024896539243, + -0.9748146993263908 + ], + [ + 0.8359626735635168, + 0.5406192238727243, + -0.09432530512959082, + 0.5144589852883024, + -0.8318448407049452, + -0.20824532035245058, + -0.1910454418840385, + 0.12555881399494684, + -0.973517654366635 + ], + [ + 0.8273864322671854, + 0.5524660617708116, + -0.10105910296270924, + 0.5216588585125416, + -0.8226241636153855, + -0.22618912611237352, + -0.2080954757691043, + 0.13442743777792093, + -0.9688268869807923 + ], + [ + 0.8067137515949195, + 0.5907642315493279, + -0.014510193299275359, + 0.5678580681679218, + -0.7817627707169427, + -0.2576512851463476, + -0.16355469239445874, + 0.19961110450799283, + -0.9661290128926121 + ], + [ + 0.7941304026268422, + 0.6060601364120485, + 0.04525499614339588, + 0.5917151841976481, + -0.7540442302617928, + -0.28511478319940514, + -0.13867243566647575, + 0.25319638595586175, + -0.9574244334281519 + ], + [ + 0.7217299798328571, + 0.6819746436355124, + 0.11839096945578294, + 0.6879980907785622, + -0.6880421307478403, + -0.2307740310369121, + -0.07592406269106942, + 0.24800929771721938, + -0.9657778859294175 + ], + [ + 0.7381718481160785, + 0.6662247717238812, + 0.10605129037572099, + 0.6736161229105915, + -0.7193749039854538, + -0.1695319039910244, + -0.036655717204767416, + 0.1965815379362506, + -0.9798020500789036 + ], + [ + 0.8286379111262716, + 0.5577402412662894, + 0.04780204510803336, + 0.55947090932883, + -0.8222878833661026, + -0.10409101058240677, + -0.018748702863427707, + 0.11299761122039736, + -0.9934183539674626 + ], + [ + 0.8744833045229652, + 0.48493979159704786, + 0.010599463967875254, + 0.4850258832960211, + -0.8739789553715542, + -0.030177443572328065, + -0.005370534750754401, + 0.03153068495066781, + -0.9994883557415926 + ], + [ + 0.8844767549643031, + 0.4659025018058021, + -0.025213661751330996, + 0.46589207225231005, + -0.8848165988453011, + -0.006645556431322007, + -0.02540564780249311, + -0.005869004935088562, + -0.9996599961190843 + ], + [ + 0.9127623783262884, + 0.408121448879407, + -0.01737019506831583, + 0.4077245967843994, + -0.9128294379314058, + -0.022429231436517427, + -0.025009875832092646, + 0.013390302849730966, + -0.99959752195594 + ], + [ + 0.9305982315922687, + 0.36441176019123, + -0.03451087352808309, + 0.3633212553568531, + -0.931040532773427, + -0.03407626357001695, + -0.044548813264353004, + 0.019172776723845094, + -0.9988232115191532 + ], + [ + 0.9430729066821385, + 0.31298617487188307, + -0.11248620813757253, + 0.3103217851544623, + -0.9497505453727558, + -0.04091810385025724, + -0.11964063833267534, + 0.00368183421947579, + -0.9928104359625407 + ], + [ + 0.9518044327467748, + 0.26602117653524726, + -0.15264683238899293, + 0.26738968679722686, + -0.9635152950948247, + -0.011875668941752664, + -0.1502367371785989, + -0.029512874362488225, + -0.9882094479657604 + ], + [ + 0.9581117427595993, + 0.24681657101443313, + -0.14527032958880695, + 0.2503111775306147, + -0.9681468553074216, + 0.005998413255802859, + -0.13916250496955138, + -0.042109937437944334, + -0.9893738173105107 + ], + [ + 0.9583723246038774, + 0.2465787266022851, + -0.1439493626958997, + 0.25156259270461456, + -0.9676877538091745, + 0.017224200401956134, + -0.13505091404760045, + -0.052719471876623195, + -0.9894351458786763 + ], + [ + 0.9601249555430287, + 0.23780363332863683, + -0.14700170651797403, + 0.24451529159866922, + -0.9692073594962752, + 0.029143892545020356, + -0.13554461227918677, + -0.06392594366888289, + -0.9887067976949121 + ], + [ + 0.9567845283260311, + 0.2503905931817821, + -0.14787804841155308, + 0.2581775534961395, + -0.9654364419060384, + 0.03573272324574224, + -0.13381971912495685, + -0.07236730951116055, + -0.9883598814639503 + ], + [ + 0.9487939400953445, + 0.2793792223497829, + -0.147435780452313, + 0.2869724566002256, + -0.9573844215874301, + 0.032586476559055264, + -0.13204873490944072, + -0.0732278595954624, + -0.9885346793046179 + ], + [ + 0.9407821726427846, + 0.31423644149211055, + -0.12721777578584198, + 0.31950003964438406, + -0.9473120368431963, + 0.02279538372634403, + -0.11335179003773353, + -0.062091575035342794, + -0.9916128317064435 + ], + [ + 0.9251079572361874, + 0.36938097211489646, + -0.08793727820294958, + 0.37419397493626555, + -0.9262083147954144, + 0.04601115870347525, + -0.064452591722027, + -0.07547088871407992, + -0.9950628162970523 + ], + [ + 0.9245755341495921, + 0.3808290803391582, + 0.011370717656656185, + 0.38033887486154605, + -0.9243187607500746, + 0.03125969920679762, + 0.02241477015384289, + -0.024577227131579563, + -0.999446615875742 + ], + [ + 0.9494724133239966, + 0.311430003804107, + 0.0389035868176647, + 0.31128664660924654, + -0.9502650768454151, + 0.009844154140778081, + 0.04003448487836115, + 0.0027634142923645554, + -0.9991944773476147 + ], + [ + 0.9830876934378084, + 0.17941330008000134, + 0.03673492569112929, + 0.17939598164902198, + -0.983769631031181, + 0.0037940517863815633, + 0.036819407644789255, + 0.0028602124357065685, + -0.99931784253335 + ], + [ + 0.9985430580696935, + 0.05348883473728118, + -0.00712079625272173, + 0.05340584640203465, + -0.9985081018287095, + -0.011374803405334163, + -0.007718597729331144, + 0.010977938826370897, + -0.9999099499996074 + ], + [ + 0.994804080377613, + -0.0941221877712633, + -0.03880535315137646, + -0.09438645786175409, + -0.9955229195771935, + -0.005031219416046356, + -0.038158069085886794, + 0.008667777434390865, + -0.9992341224147546 + ], + [ + 0.979117213719869, + -0.1969560030275803, + -0.05037672745266685, + -0.1975840251131876, + -0.9802552654318283, + -0.007756778535392881, + -0.0478543082439997, + 0.017548431969143897, + -0.9987001640722368 + ], + [ + 0.947793440326211, + -0.31225998099251895, + -0.06466296270011457, + -0.31293157729654775, + -0.9497756335362149, + -0.0002717932598913144, + -0.0613304362066624, + 0.02049268677926455, + -0.997907123625875 + ], + [ + 0.9300252324344672, + -0.3584439806711836, + -0.08106158002291745, + -0.35694708978250184, + -0.933549978889577, + 0.03275991469880989, + -0.08741763055024017, + -0.0015328521999422168, + -0.996170571856605 + ], + [ + 0.9212781951773054, + -0.37331886108510537, + -0.10899318808516036, + -0.37015043802049774, + -0.9276918473544755, + 0.04874925215092758, + -0.1193111072955111, + -0.004567746726877334, + -0.9928464107633963 + ], + [ + 0.9201374680001961, + -0.3689582754608804, + -0.13121292219565048, + -0.36276380262588964, + -0.9293066045095404, + 0.06922180523038853, + -0.14747699307550752, + -0.016094277985743265, + -0.9889345330857473 + ], + [ + 0.9194150540452146, + -0.36539714311731075, + -0.1454678184229848, + -0.35579563787220836, + -0.9303879630618966, + 0.08824795896021151, + -0.16758705936361365, + -0.02937968671109828, + -0.9854194089536771 + ], + [ + 0.9171099039456829, + -0.3557247107192829, + -0.17991485282883904, + -0.34266974603022893, + -0.9341029409498737, + 0.10014559832751219, + -0.203683257142846, + -0.03019314313680336, + -0.9785711547287719 + ], + [ + 0.9136950971411658, + -0.3620874957985229, + -0.18453702838874983, + -0.34957052977978803, + -0.9318191745044019, + 0.09753702238336684, + -0.207272077641138, + -0.024610392363587384, + -0.9779737288997269 + ], + [ + 0.9155180560168621, + -0.3598713350211938, + -0.1797757251053932, + -0.3482511903898193, + -0.93271622320553, + 0.09360318029472153, + -0.20136483679922884, + -0.0230882913892732, + -0.9792441642928205 + ], + [ + 0.9176016287128986, + -0.3585091319081812, + -0.17169290411044477, + -0.34987386156326844, + -0.933440839474565, + 0.07922423995108152, + -0.1886677820356272, + -0.01262543224852062, + -0.9819598089954066 + ], + [ + 0.9455862889148801, + -0.30678169250282955, + -0.10840462795141269, + -0.3062573898814723, + -0.9516975368956212, + 0.021867999675219962, + -0.10987711936146098, + 0.0125216377485887, + -0.9938663024918997 + ], + [ + 0.966900445077281, + -0.24732254693551695, + -0.06273027249011837, + -0.24859845519718174, + -0.9685153234312779, + -0.013299486921746933, + -0.057465967171277145, + 0.02845392865907829, + -0.9979419003934715 + ], + [ + 0.9741351584787864, + -0.2258685896477918, + -0.006638766905651048, + -0.2257881572518878, + -0.9717819171818084, + -0.06826136156894444, + 0.00896666383371874, + 0.06799474721599319, + -0.9976453845383773 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.00034567713737487793, + -0.0006531253457069397, + -0.0011500641703605652, + 0.0016385018825531006, + 0.008108794689178467, + 0.005903303623199463, + 1.0 + ], + [ + -0.006369739770889282, + -9.094923734664917e-05, + 0.004002772271633148, + -0.009606227278709412, + 0.017400309443473816, + 0.010864734649658203, + 1.0 + ], + [ + 0.00212058424949646, + 0.022922523319721222, + 0.03351122885942459, + -0.06586986780166626, + -0.04533460736274719, + 0.05081135034561157, + 1.0 + ], + [ + 0.00025591254234313965, + 0.02079952508211136, + 0.022287845611572266, + -0.05479474365711212, + -0.025172024965286255, + 0.02701592445373535, + 1.0 + ], + [ + -0.004839509725570679, + 0.03361646085977554, + 0.017738401889801025, + 0.007171154022216797, + -0.06312357634305954, + 0.12111008167266846, + 1.0 + ], + [ + -0.0014569759368896484, + 0.0406360886991024, + 0.0044481754302978516, + 0.05336092412471771, + -0.03933326527476311, + -0.021771013736724854, + 1.0 + ], + [ + -0.0019188225269317627, + 0.03415090590715408, + -0.0020044296979904175, + 0.08474557101726532, + -0.01791412942111492, + -0.14583778381347656, + 1.0 + ], + [ + -0.004662215709686279, + 0.028479214757680893, + 3.8743019104003906e-07, + 0.08172309398651123, + -0.013379240408539772, + -0.08746522665023804, + 1.0 + ], + [ + -0.0024379491806030273, + 0.011079229414463043, + -0.005281820893287659, + 0.03740730136632919, + 0.0200378205627203, + -0.021588236093521118, + 1.0 + ], + [ + -0.0028967857360839844, + 0.006239540874958038, + -0.007010027766227722, + -0.019265826791524887, + -0.000395897775888443, + -0.06471207737922668, + 1.0 + ], + [ + 0.0004082322120666504, + 0.0018554851412773132, + -0.008600383996963501, + -0.005798115395009518, + 0.019551077857613564, + -0.04788258671760559, + 1.0 + ], + [ + 0.0019746124744415283, + -0.004285439848899841, + -0.025538958609104156, + 0.015484528616070747, + 0.07536435127258301, + -0.05432376265525818, + 1.0 + ], + [ + 0.004824221134185791, + -0.0063806697726249695, + -0.01299317181110382, + 0.03356460481882095, + 0.030879810452461243, + -0.04402393102645874, + 0.0 + ], + [ + 0.0025404691696166992, + -0.0026655644178390503, + -0.0011147931218147278, + 0.012680413201451302, + -0.011192083358764648, + -0.01832723617553711, + 0.0 + ], + [ + 0.000933915376663208, + -0.0027014687657356262, + -0.0007357597351074219, + 0.01069551706314087, + -0.004150792956352234, + 0.0011554956436157227, + 0.0 + ], + [ + -0.0005813837051391602, + -0.003325164318084717, + -0.003142118453979492, + 0.011334192007780075, + 0.0004982799291610718, + -0.0073290616273880005, + 0.0 + ], + [ + 0.00018516182899475098, + -0.0006179586052894592, + 5.500763654708862e-05, + 0.008522920310497284, + -0.0017407536506652832, + 0.014192178845405579, + 0.0 + ], + [ + 0.0002155303955078125, + 0.00010454654693603516, + 0.0006948336958885193, + 0.0008529573678970337, + -0.001786842942237854, + 0.03015083074569702, + 0.0 + ], + [ + 0.0014076828956604004, + -0.0019017457962036133, + 0.00716429203748703, + -0.011407017707824707, + -0.01883959025144577, + 0.03367745876312256, + 0.0 + ], + [ + -0.0021408498287200928, + 0.0014973059296607971, + 0.02001776546239853, + 0.013165310025215149, + -0.04909864068031311, + 0.0569784939289093, + 0.0 + ], + [ + -0.008844196796417236, + -0.008632808923721313, + 0.034095197916030884, + -0.051114536821842194, + -0.08691394329071045, + 0.005897700786590576, + 0.0 + ], + [ + -0.006085842847824097, + -0.021798547357320786, + 0.00995740294456482, + -0.027351515367627144, + -0.017628539353609085, + -0.07345655560493469, + 0.0 + ], + [ + -0.009120404720306396, + -0.03732617571949959, + -0.0012185722589492798, + -9.652203880250454e-05, + 0.0032174549996852875, + -0.1363133043050766, + 0.0 + ], + [ + -0.016480058431625366, + -0.03468535840511322, + -0.016199558973312378, + -0.008116329088807106, + 0.04454640671610832, + -0.1270633041858673, + 0.0 + ], + [ + -0.02284380793571472, + -0.035812921822071075, + -0.011457234621047974, + 0.00230428297072649, + 0.030448660254478455, + -0.1480291187763214, + 0.0 + ], + [ + -0.021596312522888184, + -0.0174100324511528, + -0.0055413618683815, + -0.008895260281860828, + 0.009705256670713425, + -0.10452766716480255, + 0.0 + ], + [ + -0.019467175006866455, + -0.01969882845878601, + -0.007385969161987305, + -0.0029633156955242157, + 0.013496357947587967, + -0.11977560818195343, + 0.0 + ], + [ + -0.00970788300037384, + -0.003924377262592316, + -0.009825348854064941, + 0.02207152359187603, + 0.026160404086112976, + -0.0475669801235199, + 0.0 + ], + [ + 0.0008087009191513062, + -0.0030588433146476746, + -0.012780360877513885, + 0.003061881987378001, + 0.032066650688648224, + -0.015572726726531982, + 0.0 + ], + [ + 0.0018318742513656616, + 0.00022839754819869995, + -0.008046552538871765, + 0.011672299355268478, + 0.028420880436897278, + 0.006499946117401123, + 0.0 + ], + [ + 0.004598751664161682, + -0.0017038136720657349, + -0.0024640262126922607, + 0.013532644137740135, + 0.02036471664905548, + 0.006306827068328857, + 1.0 + ], + [ + -0.0004665106534957886, + -0.0005327388644218445, + -0.005390189588069916, + 0.001038961112499237, + 0.03673698008060455, + 0.011653900146484375, + 1.0 + ], + [ + 0.0007722824811935425, + -0.0011426210403442383, + 0.0023391619324684143, + -0.005685163661837578, + 0.0036670714616775513, + -0.007829606533050537, + 1.0 + ], + [ + 0.0017368495464324951, + -0.0010992810130119324, + 0.0018244832754135132, + -0.0015860684216022491, + -0.006034553050994873, + 0.0019230246543884277, + 1.0 + ], + [ + 0.002199903130531311, + -0.001733638346195221, + 0.004860877990722656, + -0.010716624557971954, + -0.012945711612701416, + -0.0007900595664978027, + 1.0 + ], + [ + 0.017014071345329285, + 0.006833188235759735, + 0.024634994566440582, + -0.025454923510551453, + -0.07970596849918365, + 0.05105578899383545, + 1.0 + ], + [ + 0.015159845352172852, + 0.0096120685338974, + 0.02036752551794052, + -0.015906639397144318, + -0.05260177701711655, + 0.06156155467033386, + 1.0 + ], + [ + 0.007763952016830444, + 0.005642838776111603, + 0.020556047558784485, + -0.039545103907585144, + -0.06646442413330078, + 0.02389654517173767, + 1.0 + ], + [ + 0.00016236305236816406, + 0.0010919347405433655, + 0.0013473927974700928, + -0.0017595216631889343, + -0.004510257393121719, + 0.004926711320877075, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9545519351959229 + ], + [ + 0.672171950340271 + ], + [ + 0.3644362688064575 + ], + [ + 0.1556580364704132 + ], + [ + 0.07954961806535721 + ], + [ + 0.07788556814193726 + ], + [ + 0.07788556814193726 + ], + [ + 0.07788556814193726 + ], + [ + 0.07788556814193726 + ], + [ + 0.07788556814193726 + ], + [ + 0.07788556814193726 + ], + [ + 0.07788556814193726 + ], + [ + 0.07788556814193726 + ], + [ + 0.07788556814193726 + ], + [ + 0.07788556814193726 + ], + [ + 0.07788556814193726 + ], + [ + 0.07788556814193726 + ], + [ + 0.07788556814193726 + ], + [ + 0.10996698588132858 + ], + [ + 0.2958413064479828 + ], + [ + 0.5869058966636658 + ], + [ + 0.8888095021247864 + ], + [ + 1.0131081342697144 + ], + [ + 1.0086473226547241 + ], + [ + 1.0027955770492554 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3499542474746704, + -0.10444486886262894, + 0.07169008255004883 + ], + [ + 0.34358450770378113, + -0.10453581809997559, + 0.07569285482168198 + ], + [ + 0.3457050919532776, + -0.08161329478025436, + 0.10920408368110657 + ], + [ + 0.3459610044956207, + -0.060813769698143005, + 0.13149192929267883 + ], + [ + 0.34112149477005005, + -0.027197306975722313, + 0.14923033118247986 + ], + [ + 0.3396645188331604, + 0.013438781723380089, + 0.1536785066127777 + ], + [ + 0.33774569630622864, + 0.04758968576788902, + 0.1516740769147873 + ], + [ + 0.33308348059654236, + 0.07606890052556992, + 0.15167446434497833 + ], + [ + 0.33064553141593933, + 0.08714812994003296, + 0.14639264345169067 + ], + [ + 0.32774874567985535, + 0.093387670814991, + 0.13938261568546295 + ], + [ + 0.328156977891922, + 0.09524315595626831, + 0.13078223168849945 + ], + [ + 0.3301315903663635, + 0.09095771610736847, + 0.1052432730793953 + ], + [ + 0.3349558115005493, + 0.0845770463347435, + 0.09225010126829147 + ], + [ + 0.337496280670166, + 0.08191148191690445, + 0.09113530814647675 + ], + [ + 0.3384301960468292, + 0.07921001315116882, + 0.09039954841136932 + ], + [ + 0.33784881234169006, + 0.0758848488330841, + 0.08725742995738983 + ], + [ + 0.3380339741706848, + 0.07526689022779465, + 0.08731243759393692 + ], + [ + 0.3382495045661926, + 0.07537143677473068, + 0.08800727128982544 + ], + [ + 0.339657187461853, + 0.07346969097852707, + 0.09517156332731247 + ], + [ + 0.33751633763313293, + 0.07496699690818787, + 0.115189328789711 + ], + [ + 0.3286721408367157, + 0.06633418798446655, + 0.14928452670574188 + ], + [ + 0.3225862979888916, + 0.04453564062714577, + 0.1592419296503067 + ], + [ + 0.3134658932685852, + 0.007209465838968754, + 0.15802335739135742 + ], + [ + 0.29698583483695984, + -0.027475891634821892, + 0.14182379841804504 + ], + [ + 0.2741420269012451, + -0.06328881531953812, + 0.13036656379699707 + ], + [ + 0.25254571437835693, + -0.08069884777069092, + 0.12482520192861557 + ], + [ + 0.23307853937149048, + -0.10039767622947693, + 0.11743923276662827 + ], + [ + 0.22337065637111664, + -0.10432205349206924, + 0.10761388391256332 + ], + [ + 0.22417935729026794, + -0.10738089680671692, + 0.09483352303504944 + ], + [ + 0.2260112315416336, + -0.10715249925851822, + 0.08678697049617767 + ], + [ + 0.2306099832057953, + -0.10885631293058395, + 0.08432294428348541 + ], + [ + 0.2301434725522995, + -0.1093890517950058, + 0.0789327546954155 + ], + [ + 0.23091575503349304, + -0.11053167283535004, + 0.08127191662788391 + ], + [ + 0.23265260457992554, + -0.11163095384836197, + 0.08309639990329742 + ], + [ + 0.23485250771045685, + -0.11336459219455719, + 0.08795727789402008 + ], + [ + 0.25186657905578613, + -0.10653140395879745, + 0.11259227246046066 + ], + [ + 0.267026424407959, + -0.09691933542490005, + 0.13295979797840118 + ], + [ + 0.27479037642478943, + -0.09127649664878845, + 0.15351584553718567 + ], + [ + 0.2749527394771576, + -0.09018456190824509, + 0.15486323833465576 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8359626735635168, + 0.5406192238727243, + -0.09432530512959082, + 0.5144589852883024, + -0.8318448407049452, + -0.20824532035245058, + -0.1910454418840385, + 0.12555881399494684, + -0.973517654366635 + ], + [ + 0.8273864322671854, + 0.5524660617708116, + -0.10105910296270924, + 0.5216588585125416, + -0.8226241636153855, + -0.22618912611237352, + -0.2080954757691043, + 0.13442743777792093, + -0.9688268869807923 + ], + [ + 0.8067137515949195, + 0.5907642315493279, + -0.014510193299275359, + 0.5678580681679218, + -0.7817627707169427, + -0.2576512851463476, + -0.16355469239445874, + 0.19961110450799283, + -0.9661290128926121 + ], + [ + 0.7941304026268422, + 0.6060601364120485, + 0.04525499614339588, + 0.5917151841976481, + -0.7540442302617928, + -0.28511478319940514, + -0.13867243566647575, + 0.25319638595586175, + -0.9574244334281519 + ], + [ + 0.7217299798328571, + 0.6819746436355124, + 0.11839096945578294, + 0.6879980907785622, + -0.6880421307478403, + -0.2307740310369121, + -0.07592406269106942, + 0.24800929771721938, + -0.9657778859294175 + ], + [ + 0.7381718481160785, + 0.6662247717238812, + 0.10605129037572099, + 0.6736161229105915, + -0.7193749039854538, + -0.1695319039910244, + -0.036655717204767416, + 0.1965815379362506, + -0.9798020500789036 + ], + [ + 0.8286379111262716, + 0.5577402412662894, + 0.04780204510803336, + 0.55947090932883, + -0.8222878833661026, + -0.10409101058240677, + -0.018748702863427707, + 0.11299761122039736, + -0.9934183539674626 + ], + [ + 0.8744833045229652, + 0.48493979159704786, + 0.010599463967875254, + 0.4850258832960211, + -0.8739789553715542, + -0.030177443572328065, + -0.005370534750754401, + 0.03153068495066781, + -0.9994883557415926 + ], + [ + 0.8844767549643031, + 0.4659025018058021, + -0.025213661751330996, + 0.46589207225231005, + -0.8848165988453011, + -0.006645556431322007, + -0.02540564780249311, + -0.005869004935088562, + -0.9996599961190843 + ], + [ + 0.9127623783262884, + 0.408121448879407, + -0.01737019506831583, + 0.4077245967843994, + -0.9128294379314058, + -0.022429231436517427, + -0.025009875832092646, + 0.013390302849730966, + -0.99959752195594 + ], + [ + 0.9305982315922687, + 0.36441176019123, + -0.03451087352808309, + 0.3633212553568531, + -0.931040532773427, + -0.03407626357001695, + -0.044548813264353004, + 0.019172776723845094, + -0.9988232115191532 + ], + [ + 0.9430729066821385, + 0.31298617487188307, + -0.11248620813757253, + 0.3103217851544623, + -0.9497505453727558, + -0.04091810385025724, + -0.11964063833267534, + 0.00368183421947579, + -0.9928104359625407 + ], + [ + 0.9518044327467748, + 0.26602117653524726, + -0.15264683238899293, + 0.26738968679722686, + -0.9635152950948247, + -0.011875668941752664, + -0.1502367371785989, + -0.029512874362488225, + -0.9882094479657604 + ], + [ + 0.9581117427595993, + 0.24681657101443313, + -0.14527032958880695, + 0.2503111775306147, + -0.9681468553074216, + 0.005998413255802859, + -0.13916250496955138, + -0.042109937437944334, + -0.9893738173105107 + ], + [ + 0.9583723246038774, + 0.2465787266022851, + -0.1439493626958997, + 0.25156259270461456, + -0.9676877538091745, + 0.017224200401956134, + -0.13505091404760045, + -0.052719471876623195, + -0.9894351458786763 + ], + [ + 0.9601249555430287, + 0.23780363332863683, + -0.14700170651797403, + 0.24451529159866922, + -0.9692073594962752, + 0.029143892545020356, + -0.13554461227918677, + -0.06392594366888289, + -0.9887067976949121 + ], + [ + 0.9567845283260311, + 0.2503905931817821, + -0.14787804841155308, + 0.2581775534961395, + -0.9654364419060384, + 0.03573272324574224, + -0.13381971912495685, + -0.07236730951116055, + -0.9883598814639503 + ], + [ + 0.9487939400953445, + 0.2793792223497829, + -0.147435780452313, + 0.2869724566002256, + -0.9573844215874301, + 0.032586476559055264, + -0.13204873490944072, + -0.0732278595954624, + -0.9885346793046179 + ], + [ + 0.9407821726427846, + 0.31423644149211055, + -0.12721777578584198, + 0.31950003964438406, + -0.9473120368431963, + 0.02279538372634403, + -0.11335179003773353, + -0.062091575035342794, + -0.9916128317064435 + ], + [ + 0.9251079572361874, + 0.36938097211489646, + -0.08793727820294958, + 0.37419397493626555, + -0.9262083147954144, + 0.04601115870347525, + -0.064452591722027, + -0.07547088871407992, + -0.9950628162970523 + ], + [ + 0.9245755341495921, + 0.3808290803391582, + 0.011370717656656185, + 0.38033887486154605, + -0.9243187607500746, + 0.03125969920679762, + 0.02241477015384289, + -0.024577227131579563, + -0.999446615875742 + ], + [ + 0.9494724133239966, + 0.311430003804107, + 0.0389035868176647, + 0.31128664660924654, + -0.9502650768454151, + 0.009844154140778081, + 0.04003448487836115, + 0.0027634142923645554, + -0.9991944773476147 + ], + [ + 0.9830876934378084, + 0.17941330008000134, + 0.03673492569112929, + 0.17939598164902198, + -0.983769631031181, + 0.0037940517863815633, + 0.036819407644789255, + 0.0028602124357065685, + -0.99931784253335 + ], + [ + 0.9985430580696935, + 0.05348883473728118, + -0.00712079625272173, + 0.05340584640203465, + -0.9985081018287095, + -0.011374803405334163, + -0.007718597729331144, + 0.010977938826370897, + -0.9999099499996074 + ], + [ + 0.994804080377613, + -0.0941221877712633, + -0.03880535315137646, + -0.09438645786175409, + -0.9955229195771935, + -0.005031219416046356, + -0.038158069085886794, + 0.008667777434390865, + -0.9992341224147546 + ], + [ + 0.979117213719869, + -0.1969560030275803, + -0.05037672745266685, + -0.1975840251131876, + -0.9802552654318283, + -0.007756778535392881, + -0.0478543082439997, + 0.017548431969143897, + -0.9987001640722368 + ], + [ + 0.947793440326211, + -0.31225998099251895, + -0.06466296270011457, + -0.31293157729654775, + -0.9497756335362149, + -0.0002717932598913144, + -0.0613304362066624, + 0.02049268677926455, + -0.997907123625875 + ], + [ + 0.9300252324344672, + -0.3584439806711836, + -0.08106158002291745, + -0.35694708978250184, + -0.933549978889577, + 0.03275991469880989, + -0.08741763055024017, + -0.0015328521999422168, + -0.996170571856605 + ], + [ + 0.9212781951773054, + -0.37331886108510537, + -0.10899318808516036, + -0.37015043802049774, + -0.9276918473544755, + 0.04874925215092758, + -0.1193111072955111, + -0.004567746726877334, + -0.9928464107633963 + ], + [ + 0.9201374680001961, + -0.3689582754608804, + -0.13121292219565048, + -0.36276380262588964, + -0.9293066045095404, + 0.06922180523038853, + -0.14747699307550752, + -0.016094277985743265, + -0.9889345330857473 + ], + [ + 0.9194150540452146, + -0.36539714311731075, + -0.1454678184229848, + -0.35579563787220836, + -0.9303879630618966, + 0.08824795896021151, + -0.16758705936361365, + -0.02937968671109828, + -0.9854194089536771 + ], + [ + 0.9171099039456829, + -0.3557247107192829, + -0.17991485282883904, + -0.34266974603022893, + -0.9341029409498737, + 0.10014559832751219, + -0.203683257142846, + -0.03019314313680336, + -0.9785711547287719 + ], + [ + 0.9136950971411658, + -0.3620874957985229, + -0.18453702838874983, + -0.34957052977978803, + -0.9318191745044019, + 0.09753702238336684, + -0.207272077641138, + -0.024610392363587384, + -0.9779737288997269 + ], + [ + 0.9155180560168621, + -0.3598713350211938, + -0.1797757251053932, + -0.3482511903898193, + -0.93271622320553, + 0.09360318029472153, + -0.20136483679922884, + -0.0230882913892732, + -0.9792441642928205 + ], + [ + 0.9176016287128986, + -0.3585091319081812, + -0.17169290411044477, + -0.34987386156326844, + -0.933440839474565, + 0.07922423995108152, + -0.1886677820356272, + -0.01262543224852062, + -0.9819598089954066 + ], + [ + 0.9455862889148801, + -0.30678169250282955, + -0.10840462795141269, + -0.3062573898814723, + -0.9516975368956212, + 0.021867999675219962, + -0.10987711936146098, + 0.0125216377485887, + -0.9938663024918997 + ], + [ + 0.966900445077281, + -0.24732254693551695, + -0.06273027249011837, + -0.24859845519718174, + -0.9685153234312779, + -0.013299486921746933, + -0.057465967171277145, + 0.02845392865907829, + -0.9979419003934715 + ], + [ + 0.9741351584787864, + -0.2258685896477918, + -0.006638766905651048, + -0.2257881572518878, + -0.9717819171818084, + -0.06826136156894444, + 0.00896666383371874, + 0.06799474721599319, + -0.9976453845383773 + ], + [ + 0.9751863635235637, + -0.22137355248330773, + -0.0023036185899066794, + -0.22097496860382884, + -0.9726917175981913, + -0.07099919553359142, + 0.013476633415820678, + 0.06974648935108131, + -0.9974737127237865 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006352.json b/json/chunk-0006/episode_0006352.json new file mode 100644 index 0000000000000000000000000000000000000000..aa65568ef521507fe6ce81337d8ab6a579817a76 --- /dev/null +++ b/json/chunk-0006/episode_0006352.json @@ -0,0 +1,1702 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 27, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nUnfold the cloth from bottom to top left." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006352.mp4", + "start": 0, + "end": 27, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.18787148594856262, + -0.10262582451105118, + 0.04404302313923836, + -0.10568003356456757, + -0.026136843487620354, + 0.13050445914268494, + 0.0, + 1.0014774799346924 + ], + [ + 0.1865098923444748, + -0.10235387831926346, + 0.039821285754442215, + -0.09667543321847916, + -0.008903173729777336, + 0.12474741786718369, + 0.0, + 1.0014774799346924 + ], + [ + 0.2044471949338913, + -0.08895512670278549, + 0.03260306268930435, + -0.09512858092784882, + -0.0007053993758745492, + 0.10035161674022675, + 0.0, + 1.0014774799346924 + ], + [ + 0.22841084003448486, + -0.07745204120874405, + 0.030496692284941673, + -0.10035468637943268, + -0.022802289575338364, + 0.033846694976091385, + 0.0, + 1.0014774799346924 + ], + [ + 0.25516465306282043, + -0.05894455313682556, + 0.03851603716611862, + -0.07428279519081116, + -0.06311145424842834, + -0.02953004650771618, + 0.0, + 1.0014774799346924 + ], + [ + 0.2688172161579132, + -0.03873912990093231, + 0.04793401062488556, + -0.026057599112391472, + -0.08581789582967758, + -0.05262270197272301, + 0.0, + 1.0014774799346924 + ], + [ + 0.2747040390968323, + -0.01776023954153061, + 0.04896776005625725, + 0.006535693071782589, + -0.11055382341146469, + -0.0579824224114418, + 0.0, + 1.0014774799346924 + ], + [ + 0.27836963534355164, + 0.00874788872897625, + 0.050638195127248764, + 0.031415924429893494, + -0.1319754421710968, + -0.04626857861876488, + 0.0, + 1.0014774799346924 + ], + [ + 0.28825271129608154, + 0.029933663085103035, + 0.05704798549413681, + 0.043453801423311234, + -0.1768655627965927, + -0.04859921708703041, + 0.0, + 1.0014774799346924 + ], + [ + 0.29065024852752686, + 0.043974414467811584, + 0.04903862625360489, + 0.030221419408917427, + -0.16295075416564941, + -0.05154325067996979, + 0.0, + 1.0014774799346924 + ], + [ + 0.2896808981895447, + 0.05374666303396225, + 0.034767914563417435, + -0.0011762655340135098, + -0.12895649671554565, + -0.04548618942499161, + 0.0, + 1.0014774799346924 + ], + [ + 0.2867584228515625, + 0.056456707417964935, + 0.016116302460432053, + -0.05235177278518677, + -0.09678427875041962, + -0.04546777904033661, + 0.0, + 1.0014774799346924 + ], + [ + 0.2843785583972931, + 0.056625403463840485, + 0.008706215769052505, + -0.07055146992206573, + -0.0767870768904686, + -0.04319633170962334, + 0.0, + 0.9657809734344482 + ], + [ + 0.28559818863868713, + 0.05589738488197327, + 0.007983711548149586, + -0.07444256544113159, + -0.08431564271450043, + -0.051304493099451065, + 0.0, + 0.6921995282173157 + ], + [ + 0.2809920310974121, + 0.05710138380527496, + 0.007892953231930733, + -0.057948771864175797, + -0.0518217571079731, + -0.04728609323501587, + 0.0, + 0.38924968242645264 + ], + [ + 0.2834431231021881, + 0.053775615990161896, + 0.020349936559796333, + -0.029633086174726486, + -0.07224123179912567, + -0.04073161631822586, + 0.0, + 0.1660143882036209 + ], + [ + 0.2834596335887909, + 0.05004053935408592, + 0.027427315711975098, + -0.016429981216788292, + -0.07412661612033844, + -0.048251692205667496, + 0.0, + 0.08712529391050339 + ], + [ + 0.31293290853500366, + 0.05776701122522354, + 0.04824729636311531, + 0.03891625255346298, + -0.1131734624505043, + -0.14946693181991577, + 0.0, + 0.08157449960708618 + ], + [ + 0.3428325355052948, + 0.06764709204435349, + 0.042367227375507355, + 0.04369150847196579, + -0.08622772991657257, + -0.274933785200119, + 0.0, + 0.08157449960708618 + ], + [ + 0.36343640089035034, + 0.08477367460727692, + 0.04401077330112457, + 0.05769922956824303, + -0.08525704592466354, + -0.32021090388298035, + 0.0, + 0.08157449960708618 + ], + [ + 0.374626100063324, + 0.08756519854068756, + 0.03808267042040825, + 0.04929487407207489, + -0.07042894512414932, + -0.3530673384666443, + 0.0, + 0.10160017013549805 + ], + [ + 0.37580370903015137, + 0.0872311145067215, + 0.03681225702166557, + 0.04950892925262451, + -0.07027868926525116, + -0.357677161693573, + 0.0, + 0.2737756073474884 + ], + [ + 0.37919867038726807, + 0.09049877524375916, + 0.0380663201212883, + 0.0652729719877243, + -0.07277171313762665, + -0.3592645823955536, + 0.0, + 0.5759422183036804 + ], + [ + 0.38813164830207825, + 0.09559348225593567, + 0.04613768681883812, + 0.10057350248098373, + -0.06724265217781067, + -0.3844965100288391, + 0.0, + 0.8562611937522888 + ], + [ + 0.4104122519493103, + 0.09551053494215012, + 0.06239728629589081, + 0.16429080069065094, + -0.09028793126344681, + -0.4429408013820648, + 0.0, + 1.0223946571350098 + ], + [ + 0.4336321949958801, + 0.09772779047489166, + 0.062307871878147125, + 0.19319996237754822, + -0.12637293338775635, + -0.5044234395027161, + 0.0, + 1.0112061500549316 + ], + [ + 0.44155076146125793, + 0.09784166514873505, + 0.07016681134700775, + 0.18909411132335663, + -0.13782741129398346, + -0.4989313781261444, + 0.0, + 1.00800359249115 + ] + ], + "left_gripper_pos": [ + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 0.9657809734344482 + ], + [ + 0.6921995282173157 + ], + [ + 0.38924968242645264 + ], + [ + 0.1660143882036209 + ], + [ + 0.08712529391050339 + ], + [ + 0.08157449960708618 + ], + [ + 0.08157449960708618 + ], + [ + 0.08157449960708618 + ], + [ + 0.10160017013549805 + ], + [ + 0.2737756073474884 + ], + [ + 0.5759422183036804 + ], + [ + 0.8562611937522888 + ], + [ + 1.0223946571350098 + ], + [ + 1.0112061500549316 + ], + [ + 1.00800359249115 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.18787148594856262, + -0.10262582451105118, + 0.04404302313923836 + ], + [ + 0.1865098923444748, + -0.10235387831926346, + 0.039821285754442215 + ], + [ + 0.2044471949338913, + -0.08895512670278549, + 0.03260306268930435 + ], + [ + 0.22841084003448486, + -0.07745204120874405, + 0.030496692284941673 + ], + [ + 0.25516465306282043, + -0.05894455313682556, + 0.03851603716611862 + ], + [ + 0.2688172161579132, + -0.03873912990093231, + 0.04793401062488556 + ], + [ + 0.2747040390968323, + -0.01776023954153061, + 0.04896776005625725 + ], + [ + 0.27836963534355164, + 0.00874788872897625, + 0.050638195127248764 + ], + [ + 0.28825271129608154, + 0.029933663085103035, + 0.05704798549413681 + ], + [ + 0.29065024852752686, + 0.043974414467811584, + 0.04903862625360489 + ], + [ + 0.2896808981895447, + 0.05374666303396225, + 0.034767914563417435 + ], + [ + 0.2867584228515625, + 0.056456707417964935, + 0.016116302460432053 + ], + [ + 0.2843785583972931, + 0.056625403463840485, + 0.008706215769052505 + ], + [ + 0.28559818863868713, + 0.05589738488197327, + 0.007983711548149586 + ], + [ + 0.2809920310974121, + 0.05710138380527496, + 0.007892953231930733 + ], + [ + 0.2834431231021881, + 0.053775615990161896, + 0.020349936559796333 + ], + [ + 0.2834596335887909, + 0.05004053935408592, + 0.027427315711975098 + ], + [ + 0.31293290853500366, + 0.05776701122522354, + 0.04824729636311531 + ], + [ + 0.3428325355052948, + 0.06764709204435349, + 0.042367227375507355 + ], + [ + 0.36343640089035034, + 0.08477367460727692, + 0.04401077330112457 + ], + [ + 0.374626100063324, + 0.08756519854068756, + 0.03808267042040825 + ], + [ + 0.37580370903015137, + 0.0872311145067215, + 0.03681225702166557 + ], + [ + 0.37919867038726807, + 0.09049877524375916, + 0.0380663201212883 + ], + [ + 0.38813164830207825, + 0.09559348225593567, + 0.04613768681883812 + ], + [ + 0.4104122519493103, + 0.09551053494215012, + 0.06239728629589081 + ], + [ + 0.4336321949958801, + 0.09772779047489166, + 0.062307871878147125 + ], + [ + 0.44155076146125793, + 0.09784166514873505, + 0.07016681134700775 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9911577289694861, + 0.12667506878988516, + 0.039494091344504975, + 0.13008988146665063, + -0.9863236140731138, + -0.10120450119309696, + 0.02613386775896426, + 0.10544740522567939, + -0.9940814180373395 + ], + [ + 0.9921898011826064, + 0.12299043945730369, + 0.0208026496225606, + 0.12441918670819134, + -0.9877029064649875, + -0.09467224799004204, + 0.008903056109669776, + 0.0965210876581647, + -0.9952911208431393 + ], + [ + 0.9949687531274386, + 0.09966364535209565, + 0.010214602055962849, + 0.1001832456642977, + -0.9904771476192105, + -0.09443694897803268, + 0.0007053993173748068, + 0.09498514536096828, + -0.9954784400340163 + ], + [ + 0.9991674432510728, + 0.03138700097657901, + 0.026062933772132407, + 0.033831435752164865, + -0.9944761306483176, + -0.09936125766966444, + 0.022800313639541717, + 0.10016028025343449, + -0.9947100401410915 + ], + [ + 0.9975740209525955, + -0.03412296737856664, + 0.06067697930642191, + -0.029466973030697438, + -0.9966693232461117, + -0.07603918463888182, + 0.06306956651887521, + 0.07406674825735965, + -0.9952569249101973 + ], + [ + 0.9949407430681073, + -0.054810682960715125, + 0.08419445834769755, + -0.05240485141183617, + -0.998159271590634, + -0.030525400671537656, + 0.08571259727476223, + 0.02595876674718026, + -0.9959816730730439 + ], + [ + 0.9922248972394496, + -0.05722884307767462, + 0.11051973949550373, + -0.05759616294723971, + -0.99833995451744, + 0.00013125498237999845, + 0.11032876013043075, + -0.0064957473862736785, + -0.9938739205522877 + ], + [ + 0.9902429812583251, + -0.04210024777614683, + 0.13283978020838463, + -0.04584985807443489, + -0.9986280682449904, + 0.025293711230925796, + 0.13159266158558794, + -0.03113760508559269, + -0.9908147258525961 + ], + [ + 0.9832377253640515, + -0.0409001855764075, + 0.17768159792376267, + -0.04782223978557895, + -0.9982477381096273, + 0.03484948695323499, + 0.1759449027474704, + -0.04276246226339796, + -0.9834707738506289 + ], + [ + 0.9854424110097295, + -0.04660132361052511, + 0.16349792421030412, + -0.05083793368997381, + -0.9984684727009754, + 0.021822317024443125, + 0.16223057381845463, + -0.029816533331837706, + -0.9863022940552284 + ], + [ + 0.990670897456524, + -0.04562158500492125, + 0.12841278719163424, + -0.04509294739389677, + -0.998958112366764, + -0.007022523190612629, + 0.1285993741353995, + 0.001166498294117441, + -0.9916959414325105 + ], + [ + 0.9942914117996494, + -0.05044122883665437, + 0.09402271456891857, + -0.04523940126768842, + -0.9973680597206729, + -0.05665995077620029, + 0.09663324994224885, + 0.052082971137106186, + -0.9939564271753215 + ], + [ + 0.9961232529376093, + -0.04847805829737724, + 0.07340533237246506, + -0.043055653301696736, + -0.9963482641508751, + -0.07373158917521448, + 0.07671163976711791, + 0.07028523591234938, + -0.9945729284155012 + ], + [ + 0.9951364289410463, + -0.05739516854166909, + 0.08005799412011061, + -0.05109981206161985, + -0.9955970867354871, + -0.07858275950282255, + 0.08421577644200282, + 0.07410961821440397, + -0.9936878118837859 + ], + [ + 0.9975412747657857, + -0.05018576074238721, + 0.048916199334774806, + -0.04720501804402361, + -0.9970637323326408, + -0.060295936333784286, + 0.051798565714843516, + 0.05783859512135672, + -0.9969812463152319 + ], + [ + 0.9965644825791986, + -0.04283925951003921, + 0.07088039155003165, + -0.04061414512178299, + -0.9986448360012666, + -0.032542015057923694, + 0.07217841282323292, + 0.02955146988958243, + -0.9969538541726414 + ], + [ + 0.9960931892900837, + -0.049441773947443736, + 0.07317013898332592, + -0.04810051739506669, + -0.9986426144647651, + -0.019981711671057036, + 0.07405875016658223, + 0.016384125362931178, + -0.9971192817109974 + ], + [ + 0.9825246402793226, + -0.14445348817505327, + 0.11738194494064143, + -0.14795840275934552, + -0.988756180638804, + 0.021668555592574433, + 0.11293202511640053, + -0.03865753487516944, + -0.9928504180894945 + ], + [ + 0.95886740327132, + -0.2676038435276255, + 0.09466512490330356, + -0.27047456587319424, + -0.9625458943358628, + 0.01867914647089964, + 0.08612091592303825, + -0.04351533323342892, + -0.9953339156354317 + ], + [ + 0.9457214998431638, + -0.309581962309618, + 0.09884256849618751, + -0.3136234612359008, + -0.9491351928096481, + 0.027976960746407816, + 0.08515379790009768, + -0.05745776172736704, + -0.9947097246536152 + ], + [ + 0.9359903377434238, + -0.3421039083033727, + 0.08298797246896346, + -0.3449203491130469, + -0.9383756830765714, + 0.02193240019496877, + 0.0703707355275308, + -0.04915275510219155, + -0.9963091720179929 + ], + [ + 0.9344002703289104, + -0.34641515881294466, + 0.08302212087065454, + -0.34923511685066405, + -0.9367814485205208, + 0.021802542652126975, + 0.07022085137309496, + -0.04936654183145804, + -0.9963091772035629 + ], + [ + 0.9336779228574937, + -0.34639746677806776, + 0.09085335094675083, + -0.35065532330471866, + -0.9358294569375821, + 0.03555378694278969, + 0.07270750034610791, + -0.06505399709201173, + -0.995229419207337 + ], + [ + 0.9248924737942428, + -0.36694323957993524, + 0.09963217776074276, + -0.3742447707284924, + -0.9248336073954357, + 0.06799742799785298, + 0.06719198985849548, + -0.1001771309158297, + -0.9926982315589812 + ], + [ + 0.8998150445709658, + -0.4095034182742606, + 0.15046539796726296, + -0.42685255321294346, + -0.8976496671641437, + 0.10964475753857757, + 0.09016531139713399, + -0.16288654168407574, + -0.9825162549082127 + ], + [ + 0.8684720254086269, + -0.45312566624752315, + 0.20108075907549083, + -0.4794487009705459, + -0.8708608457180257, + 0.108306650455736, + 0.12603683675931154, + -0.1904692048154326, + -0.9735687945885917 + ], + [ + 0.8697672659368489, + -0.4472812735471549, + 0.2084331198221005, + -0.47394988260469423, + -0.874799394166453, + 0.10048646050589857, + 0.13739145491527305, + -0.18618668668850122, + -0.9728607843963197 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0013615936040878296, + 0.0002719461917877197, + -0.004221737384796143, + 0.00900460034608841, + 0.017233669757843018, + -0.005757041275501251, + 1.0 + ], + [ + 0.017937302589416504, + 0.013398751616477966, + -0.007218223065137863, + 0.0015468522906303406, + 0.008197774179279804, + -0.02439580112695694, + 1.0 + ], + [ + 0.023963645100593567, + 0.011503085494041443, + -0.0021063704043626785, + -0.005226105451583862, + -0.022096890956163406, + -0.06650492548942566, + 1.0 + ], + [ + 0.02675381302833557, + 0.018507488071918488, + 0.008019344881176949, + 0.02607189118862152, + -0.04030916467308998, + -0.06337673962116241, + 1.0 + ], + [ + 0.013652563095092773, + 0.02020542323589325, + 0.009417973458766937, + 0.048225194215774536, + -0.022706441581249237, + -0.02309265546500683, + 1.0 + ], + [ + 0.005886822938919067, + 0.020978890359401703, + 0.0010337494313716888, + 0.032593291252851486, + -0.02473592758178711, + -0.005359720438718796, + 1.0 + ], + [ + 0.0036655962467193604, + 0.02650812827050686, + 0.0016704350709915161, + 0.02488023042678833, + -0.02142161875963211, + 0.011713843792676926, + 1.0 + ], + [ + 0.009883075952529907, + 0.021185774356126785, + 0.006409790366888046, + 0.01203787699341774, + -0.04489012062549591, + -0.0023306384682655334, + 1.0 + ], + [ + 0.0023975372314453125, + 0.01404075138270855, + -0.008009359240531921, + -0.013232382014393806, + 0.013914808630943298, + -0.002944033592939377, + 1.0 + ], + [ + -0.0009693503379821777, + 0.009772248566150665, + -0.014270711690187454, + -0.031397685408592224, + 0.03399425745010376, + 0.00605706125497818, + 1.0 + ], + [ + -0.0029224753379821777, + 0.0027100443840026855, + -0.018651612102985382, + -0.05117550864815712, + 0.03217221796512604, + 1.841038465499878e-05, + 1.0 + ], + [ + -0.002379864454269409, + 0.00016869604587554932, + -0.007410086691379547, + -0.018199697136878967, + 0.01999720185995102, + 0.002271447330713272, + 0.0 + ], + [ + 0.001219630241394043, + -0.000728018581867218, + -0.0007225042209029198, + -0.003891095519065857, + -0.00752856582403183, + -0.008108161389827728, + 0.0 + ], + [ + -0.004606157541275024, + 0.0012039989233016968, + -9.0758316218853e-05, + 0.016493793576955795, + 0.03249388560652733, + 0.004018399864435196, + 0.0 + ], + [ + 0.002451092004776001, + -0.0033257678151130676, + 0.0124569833278656, + 0.02831568568944931, + -0.020419474691152573, + 0.0065544769167900085, + 0.0 + ], + [ + 1.6510486602783203e-05, + -0.0037350766360759735, + 0.007077379152178764, + 0.013203104957938194, + -0.0018853843212127686, + -0.007520075887441635, + 0.0 + ], + [ + 0.02947327494621277, + 0.007726471871137619, + 0.020819980651140213, + 0.05534623563289642, + -0.03904684633016586, + -0.10121524333953857, + 0.0 + ], + [ + 0.029899626970291138, + 0.009880080819129944, + -0.005880068987607956, + 0.004775255918502808, + 0.026945732533931732, + -0.12546685338020325, + 0.0 + ], + [ + 0.020603865385055542, + 0.01712658256292343, + 0.001643545925617218, + 0.014007721096277237, + 0.0009706839919090271, + -0.04527711868286133, + 0.0 + ], + [ + 0.011189699172973633, + 0.0027915239334106445, + -0.005928102880716324, + -0.008404355496168137, + 0.014828100800514221, + -0.03285643458366394, + 1.0 + ], + [ + 0.0011776089668273926, + -0.00033408403396606445, + -0.0012704133987426758, + 0.00021405518054962158, + 0.00015025585889816284, + -0.004609823226928711, + 1.0 + ], + [ + 0.0033949613571166992, + 0.0032676607370376587, + 0.0012540630996227264, + 0.015764042735099792, + -0.0024930238723754883, + -0.0015874207019805908, + 1.0 + ], + [ + 0.00893297791481018, + 0.005094707012176514, + 0.00807136669754982, + 0.03530053049325943, + 0.005529060959815979, + -0.025231927633285522, + 1.0 + ], + [ + 0.022280603647232056, + -8.294731378555298e-05, + 0.01625959947705269, + 0.0637172982096672, + -0.02304527908563614, + -0.05844429135322571, + 1.0 + ], + [ + 0.023219943046569824, + 0.0022172555327415466, + -8.941441774368286e-05, + 0.028909161686897278, + -0.03608500212430954, + -0.061482638120651245, + 1.0 + ], + [ + 0.007918566465377808, + 0.00011387467384338379, + 0.007858939468860626, + -0.004105851054191589, + -0.011454477906227112, + 0.005492061376571655, + 1.0 + ], + [ + -0.012472003698348999, + -0.005821973085403442, + -0.009598273783922195, + -0.07548145949840546, + 0.02980101853609085, + 0.12268242239952087, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 0.9657809734344482 + ], + [ + 0.6921995282173157 + ], + [ + 0.38924968242645264 + ], + [ + 0.1660143882036209 + ], + [ + 0.08712529391050339 + ], + [ + 0.08157449960708618 + ], + [ + 0.08157449960708618 + ], + [ + 0.08157449960708618 + ], + [ + 0.10160017013549805 + ], + [ + 0.2737756073474884 + ], + [ + 0.5759422183036804 + ], + [ + 0.8562611937522888 + ], + [ + 1.0223946571350098 + ], + [ + 1.0112061500549316 + ], + [ + 1.00800359249115 + ], + [ + 1.0067112445831299 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.1865098923444748, + -0.10235387831926346, + 0.039821285754442215 + ], + [ + 0.2044471949338913, + -0.08895512670278549, + 0.03260306268930435 + ], + [ + 0.22841084003448486, + -0.07745204120874405, + 0.030496692284941673 + ], + [ + 0.25516465306282043, + -0.05894455313682556, + 0.03851603716611862 + ], + [ + 0.2688172161579132, + -0.03873912990093231, + 0.04793401062488556 + ], + [ + 0.2747040390968323, + -0.01776023954153061, + 0.04896776005625725 + ], + [ + 0.27836963534355164, + 0.00874788872897625, + 0.050638195127248764 + ], + [ + 0.28825271129608154, + 0.029933663085103035, + 0.05704798549413681 + ], + [ + 0.29065024852752686, + 0.043974414467811584, + 0.04903862625360489 + ], + [ + 0.2896808981895447, + 0.05374666303396225, + 0.034767914563417435 + ], + [ + 0.2867584228515625, + 0.056456707417964935, + 0.016116302460432053 + ], + [ + 0.2843785583972931, + 0.056625403463840485, + 0.008706215769052505 + ], + [ + 0.28559818863868713, + 0.05589738488197327, + 0.007983711548149586 + ], + [ + 0.2809920310974121, + 0.05710138380527496, + 0.007892953231930733 + ], + [ + 0.2834431231021881, + 0.053775615990161896, + 0.020349936559796333 + ], + [ + 0.2834596335887909, + 0.05004053935408592, + 0.027427315711975098 + ], + [ + 0.31293290853500366, + 0.05776701122522354, + 0.04824729636311531 + ], + [ + 0.3428325355052948, + 0.06764709204435349, + 0.042367227375507355 + ], + [ + 0.36343640089035034, + 0.08477367460727692, + 0.04401077330112457 + ], + [ + 0.374626100063324, + 0.08756519854068756, + 0.03808267042040825 + ], + [ + 0.37580370903015137, + 0.0872311145067215, + 0.03681225702166557 + ], + [ + 0.37919867038726807, + 0.09049877524375916, + 0.0380663201212883 + ], + [ + 0.38813164830207825, + 0.09559348225593567, + 0.04613768681883812 + ], + [ + 0.4104122519493103, + 0.09551053494215012, + 0.06239728629589081 + ], + [ + 0.4336321949958801, + 0.09772779047489166, + 0.062307871878147125 + ], + [ + 0.44155076146125793, + 0.09784166514873505, + 0.07016681134700775 + ], + [ + 0.42907875776290894, + 0.0920196920633316, + 0.060568537563085556 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9921898011826064, + 0.12299043945730369, + 0.0208026496225606, + 0.12441918670819134, + -0.9877029064649875, + -0.09467224799004204, + 0.008903056109669776, + 0.0965210876581647, + -0.9952911208431393 + ], + [ + 0.9949687531274386, + 0.09966364535209565, + 0.010214602055962849, + 0.1001832456642977, + -0.9904771476192105, + -0.09443694897803268, + 0.0007053993173748068, + 0.09498514536096828, + -0.9954784400340163 + ], + [ + 0.9991674432510728, + 0.03138700097657901, + 0.026062933772132407, + 0.033831435752164865, + -0.9944761306483176, + -0.09936125766966444, + 0.022800313639541717, + 0.10016028025343449, + -0.9947100401410915 + ], + [ + 0.9975740209525955, + -0.03412296737856664, + 0.06067697930642191, + -0.029466973030697438, + -0.9966693232461117, + -0.07603918463888182, + 0.06306956651887521, + 0.07406674825735965, + -0.9952569249101973 + ], + [ + 0.9949407430681073, + -0.054810682960715125, + 0.08419445834769755, + -0.05240485141183617, + -0.998159271590634, + -0.030525400671537656, + 0.08571259727476223, + 0.02595876674718026, + -0.9959816730730439 + ], + [ + 0.9922248972394496, + -0.05722884307767462, + 0.11051973949550373, + -0.05759616294723971, + -0.99833995451744, + 0.00013125498237999845, + 0.11032876013043075, + -0.0064957473862736785, + -0.9938739205522877 + ], + [ + 0.9902429812583251, + -0.04210024777614683, + 0.13283978020838463, + -0.04584985807443489, + -0.9986280682449904, + 0.025293711230925796, + 0.13159266158558794, + -0.03113760508559269, + -0.9908147258525961 + ], + [ + 0.9832377253640515, + -0.0409001855764075, + 0.17768159792376267, + -0.04782223978557895, + -0.9982477381096273, + 0.03484948695323499, + 0.1759449027474704, + -0.04276246226339796, + -0.9834707738506289 + ], + [ + 0.9854424110097295, + -0.04660132361052511, + 0.16349792421030412, + -0.05083793368997381, + -0.9984684727009754, + 0.021822317024443125, + 0.16223057381845463, + -0.029816533331837706, + -0.9863022940552284 + ], + [ + 0.990670897456524, + -0.04562158500492125, + 0.12841278719163424, + -0.04509294739389677, + -0.998958112366764, + -0.007022523190612629, + 0.1285993741353995, + 0.001166498294117441, + -0.9916959414325105 + ], + [ + 0.9942914117996494, + -0.05044122883665437, + 0.09402271456891857, + -0.04523940126768842, + -0.9973680597206729, + -0.05665995077620029, + 0.09663324994224885, + 0.052082971137106186, + -0.9939564271753215 + ], + [ + 0.9961232529376093, + -0.04847805829737724, + 0.07340533237246506, + -0.043055653301696736, + -0.9963482641508751, + -0.07373158917521448, + 0.07671163976711791, + 0.07028523591234938, + -0.9945729284155012 + ], + [ + 0.9951364289410463, + -0.05739516854166909, + 0.08005799412011061, + -0.05109981206161985, + -0.9955970867354871, + -0.07858275950282255, + 0.08421577644200282, + 0.07410961821440397, + -0.9936878118837859 + ], + [ + 0.9975412747657857, + -0.05018576074238721, + 0.048916199334774806, + -0.04720501804402361, + -0.9970637323326408, + -0.060295936333784286, + 0.051798565714843516, + 0.05783859512135672, + -0.9969812463152319 + ], + [ + 0.9965644825791986, + -0.04283925951003921, + 0.07088039155003165, + -0.04061414512178299, + -0.9986448360012666, + -0.032542015057923694, + 0.07217841282323292, + 0.02955146988958243, + -0.9969538541726414 + ], + [ + 0.9960931892900837, + -0.049441773947443736, + 0.07317013898332592, + -0.04810051739506669, + -0.9986426144647651, + -0.019981711671057036, + 0.07405875016658223, + 0.016384125362931178, + -0.9971192817109974 + ], + [ + 0.9825246402793226, + -0.14445348817505327, + 0.11738194494064143, + -0.14795840275934552, + -0.988756180638804, + 0.021668555592574433, + 0.11293202511640053, + -0.03865753487516944, + -0.9928504180894945 + ], + [ + 0.95886740327132, + -0.2676038435276255, + 0.09466512490330356, + -0.27047456587319424, + -0.9625458943358628, + 0.01867914647089964, + 0.08612091592303825, + -0.04351533323342892, + -0.9953339156354317 + ], + [ + 0.9457214998431638, + -0.309581962309618, + 0.09884256849618751, + -0.3136234612359008, + -0.9491351928096481, + 0.027976960746407816, + 0.08515379790009768, + -0.05745776172736704, + -0.9947097246536152 + ], + [ + 0.9359903377434238, + -0.3421039083033727, + 0.08298797246896346, + -0.3449203491130469, + -0.9383756830765714, + 0.02193240019496877, + 0.0703707355275308, + -0.04915275510219155, + -0.9963091720179929 + ], + [ + 0.9344002703289104, + -0.34641515881294466, + 0.08302212087065454, + -0.34923511685066405, + -0.9367814485205208, + 0.021802542652126975, + 0.07022085137309496, + -0.04936654183145804, + -0.9963091772035629 + ], + [ + 0.9336779228574937, + -0.34639746677806776, + 0.09085335094675083, + -0.35065532330471866, + -0.9358294569375821, + 0.03555378694278969, + 0.07270750034610791, + -0.06505399709201173, + -0.995229419207337 + ], + [ + 0.9248924737942428, + -0.36694323957993524, + 0.09963217776074276, + -0.3742447707284924, + -0.9248336073954357, + 0.06799742799785298, + 0.06719198985849548, + -0.1001771309158297, + -0.9926982315589812 + ], + [ + 0.8998150445709658, + -0.4095034182742606, + 0.15046539796726296, + -0.42685255321294346, + -0.8976496671641437, + 0.10964475753857757, + 0.09016531139713399, + -0.16288654168407574, + -0.9825162549082127 + ], + [ + 0.8684720254086269, + -0.45312566624752315, + 0.20108075907549083, + -0.4794487009705459, + -0.8708608457180257, + 0.108306650455736, + 0.12603683675931154, + -0.1904692048154326, + -0.9735687945885917 + ], + [ + 0.8697672659368489, + -0.4472812735471549, + 0.2084331198221005, + -0.47394988260469423, + -0.874799394166453, + 0.10048646050589857, + 0.13739145491527305, + -0.18618668668850122, + -0.9728607843963197 + ], + [ + 0.9246280137152085, + -0.35369759502125664, + 0.14128357133526498, + -0.3652925651123454, + -0.9285445706043792, + 0.06607815277965573, + 0.1078164093573454, + -0.11270754933591517, + -0.987761423723351 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006353.json b/json/chunk-0006/episode_0006353.json new file mode 100644 index 0000000000000000000000000000000000000000..b68758fe936124b8a1ef9dd01f74acc39fc43381 --- /dev/null +++ b/json/chunk-0006/episode_0006353.json @@ -0,0 +1,1822 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 29, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut the pepper to the left of the spoon." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006353.mp4", + "start": 0, + "end": 29, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3029068410396576, + -0.005030504427850246, + 0.08647574484348297, + 0.0884576216340065, + -0.1382073611021042, + -0.12067966163158417, + 0.0, + 1.0008161067962646 + ], + [ + 0.3007168471813202, + -0.005807925947010517, + 0.07920973002910614, + 0.07815204560756683, + -0.11225923150777817, + -0.11870919913053513, + 0.0, + 1.0008161067962646 + ], + [ + 0.29383009672164917, + 0.02640109322965145, + 0.0891113430261612, + 0.028435466811060905, + -0.10320788621902466, + -0.0428544357419014, + 0.0, + 1.0008161067962646 + ], + [ + 0.29028940200805664, + 0.05456280708312988, + 0.10683213919401169, + -0.03655783459544182, + -0.1309622824192047, + 0.013010263442993164, + 0.0, + 1.0008161067962646 + ], + [ + 0.2786896824836731, + 0.088900625705719, + 0.11597132682800293, + -0.04858728498220444, + -0.1145404577255249, + 0.06987679749727249, + 0.0, + 1.0008161067962646 + ], + [ + 0.2628905177116394, + 0.1280505657196045, + 0.1287909597158432, + 0.03889584168791771, + -0.09707707911729813, + 0.13498248159885406, + 0.0, + 1.0008161067962646 + ], + [ + 0.25379425287246704, + 0.1538865864276886, + 0.12323348224163055, + 0.049171093851327896, + -0.07721495628356934, + 0.1983662247657776, + 0.0, + 1.0008161067962646 + ], + [ + 0.25249210000038147, + 0.17538128793239594, + 0.10893286019563675, + 0.09098394960165024, + -0.03826877102255821, + 0.23935751616954803, + 0.0, + 1.0008161067962646 + ], + [ + 0.25326773524284363, + 0.1920763999223709, + 0.09111829847097397, + 0.10184161365032196, + 0.016014156863093376, + 0.2704552710056305, + 0.0, + 1.0008161067962646 + ], + [ + 0.2515603303909302, + 0.20175352692604065, + 0.07994882017374039, + 0.1017087772488594, + 0.05592837184667587, + 0.27797672152519226, + 0.0, + 1.0008161067962646 + ], + [ + 0.2501934766769409, + 0.20313701033592224, + 0.07753092795610428, + 0.1017354279756546, + 0.06408046185970306, + 0.2812452018260956, + 0.0, + 0.9453431367874146 + ], + [ + 0.25018367171287537, + 0.2028433233499527, + 0.07715945690870285, + 0.09906596690416336, + 0.0655851736664772, + 0.26177048683166504, + 0.0, + 0.6561112403869629 + ], + [ + 0.2503565549850464, + 0.2034768909215927, + 0.07719559967517853, + 0.101880744099617, + 0.06475437432527542, + 0.24958883225917816, + 0.0, + 0.3519224226474762 + ], + [ + 0.24936296045780182, + 0.20186908543109894, + 0.07596611231565475, + 0.09787151962518692, + 0.06986939162015915, + 0.2345806211233139, + 0.0, + 0.20083679258823395 + ], + [ + 0.24919025599956512, + 0.19874578714370728, + 0.07871095836162567, + 0.08582572638988495, + 0.05760396271944046, + 0.21808680891990662, + 0.0, + 0.13806100189685822 + ], + [ + 0.25819361209869385, + 0.1824641078710556, + 0.09877921640872955, + 0.08637978136539459, + 0.015917571261525154, + 0.17901672422885895, + 0.0, + 0.09549706429243088 + ], + [ + 0.28107377886772156, + 0.13713118433952332, + 0.12165884673595428, + 0.09518691152334213, + -0.031632065773010254, + 0.061836931854486465, + 0.0, + 0.0951233059167862 + ], + [ + 0.3130321502685547, + 0.08372238278388977, + 0.13734596967697144, + 0.12843681871891022, + -0.08251354098320007, + -0.06031665578484535, + 0.0, + 0.0951233059167862 + ], + [ + 0.3437972664833069, + 0.04461371526122093, + 0.12376811355352402, + 0.17701660096645355, + -0.05162142589688301, + -0.12093207985162735, + 0.0, + 0.0951233059167862 + ], + [ + 0.36722734570503235, + 0.024797163903713226, + 0.1117435023188591, + 0.24740973114967346, + -0.024845199659466743, + -0.1317591816186905, + 0.0, + 0.0951233059167862 + ], + [ + 0.3781425654888153, + 0.02697901614010334, + 0.09373296052217484, + 0.3282424509525299, + 0.02725798822939396, + -0.11933232098817825, + 0.0, + 0.0951233059167862 + ], + [ + 0.3785078823566437, + 0.0327538326382637, + 0.08464347571134567, + 0.38138970732688904, + 0.05793618783354759, + -0.11762035638093948, + 0.0, + 0.0951233059167862 + ], + [ + 0.3760235011577606, + 0.037043821066617966, + 0.08223237842321396, + 0.40453919768333435, + 0.0712047815322876, + -0.12424073368310928, + 0.0, + 0.12661112844944 + ], + [ + 0.37358957529067993, + 0.036210667341947556, + 0.07684578746557236, + 0.3955567181110382, + 0.08378462493419647, + -0.14997336268424988, + 0.0, + 0.31967243552207947 + ], + [ + 0.3707496225833893, + 0.03602463752031326, + 0.07383040338754654, + 0.3842770457267761, + 0.09401164948940277, + -0.14852705597877502, + 0.0, + 0.6179407835006714 + ], + [ + 0.36708441376686096, + 0.035412244498729706, + 0.07491254061460495, + 0.3702720105648041, + 0.09555689990520477, + -0.15236593782901764, + 0.0, + 0.9107924103736877 + ], + [ + 0.3595649003982544, + 0.03592955321073532, + 0.10207809507846832, + 0.29573601484298706, + -0.010595547035336494, + -0.1246197372674942, + 0.0, + 1.00800359249115 + ], + [ + 0.34460100531578064, + 0.043701011687517166, + 0.12170907109975815, + 0.17974624037742615, + -0.11446510255336761, + -0.06005711480975151, + 0.0, + 1.003452181816101 + ], + [ + 0.33146026730537415, + 0.05011865496635437, + 0.12421334534883499, + 0.08337927609682083, + -0.14340025186538696, + 0.010707869194447994, + 0.0, + 1.0001531839370728 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9453431367874146 + ], + [ + 0.6561112403869629 + ], + [ + 0.3519224226474762 + ], + [ + 0.20083679258823395 + ], + [ + 0.13806100189685822 + ], + [ + 0.09549706429243088 + ], + [ + 0.0951233059167862 + ], + [ + 0.0951233059167862 + ], + [ + 0.0951233059167862 + ], + [ + 0.0951233059167862 + ], + [ + 0.0951233059167862 + ], + [ + 0.0951233059167862 + ], + [ + 0.12661112844944 + ], + [ + 0.31967243552207947 + ], + [ + 0.6179407835006714 + ], + [ + 0.9107924103736877 + ], + [ + 1.00800359249115 + ], + [ + 1.003452181816101 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3029068410396576, + -0.005030504427850246, + 0.08647574484348297 + ], + [ + 0.3007168471813202, + -0.005807925947010517, + 0.07920973002910614 + ], + [ + 0.29383009672164917, + 0.02640109322965145, + 0.0891113430261612 + ], + [ + 0.29028940200805664, + 0.05456280708312988, + 0.10683213919401169 + ], + [ + 0.2786896824836731, + 0.088900625705719, + 0.11597132682800293 + ], + [ + 0.2628905177116394, + 0.1280505657196045, + 0.1287909597158432 + ], + [ + 0.25379425287246704, + 0.1538865864276886, + 0.12323348224163055 + ], + [ + 0.25249210000038147, + 0.17538128793239594, + 0.10893286019563675 + ], + [ + 0.25326773524284363, + 0.1920763999223709, + 0.09111829847097397 + ], + [ + 0.2515603303909302, + 0.20175352692604065, + 0.07994882017374039 + ], + [ + 0.2501934766769409, + 0.20313701033592224, + 0.07753092795610428 + ], + [ + 0.25018367171287537, + 0.2028433233499527, + 0.07715945690870285 + ], + [ + 0.2503565549850464, + 0.2034768909215927, + 0.07719559967517853 + ], + [ + 0.24936296045780182, + 0.20186908543109894, + 0.07596611231565475 + ], + [ + 0.24919025599956512, + 0.19874578714370728, + 0.07871095836162567 + ], + [ + 0.25819361209869385, + 0.1824641078710556, + 0.09877921640872955 + ], + [ + 0.28107377886772156, + 0.13713118433952332, + 0.12165884673595428 + ], + [ + 0.3130321502685547, + 0.08372238278388977, + 0.13734596967697144 + ], + [ + 0.3437972664833069, + 0.04461371526122093, + 0.12376811355352402 + ], + [ + 0.36722734570503235, + 0.024797163903713226, + 0.1117435023188591 + ], + [ + 0.3781425654888153, + 0.02697901614010334, + 0.09373296052217484 + ], + [ + 0.3785078823566437, + 0.0327538326382637, + 0.08464347571134567 + ], + [ + 0.3760235011577606, + 0.037043821066617966, + 0.08223237842321396 + ], + [ + 0.37358957529067993, + 0.036210667341947556, + 0.07684578746557236 + ], + [ + 0.3707496225833893, + 0.03602463752031326, + 0.07383040338754654 + ], + [ + 0.36708441376686096, + 0.035412244498729706, + 0.07491254061460495 + ], + [ + 0.3595649003982544, + 0.03592955321073532, + 0.10207809507846832 + ], + [ + 0.34460100531578064, + 0.043701011687517166, + 0.12170907109975815 + ], + [ + 0.33146026730537415, + 0.05011865496635437, + 0.12421334534883499 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.983260949075561, + -0.10783405422779023, + 0.14686634322343683, + -0.1192390104030129, + -0.9903108502320067, + 0.07117919858265853, + 0.13776779166821446, + -0.08749992378029453, + -0.9865920123928156 + ], + [ + 0.9867121785359341, + -0.10938468933388651, + 0.12014185976669521, + -0.11768513387590115, + -0.990967287101709, + 0.06429654080034557, + 0.11202359569966654, + -0.07758109069617682, + -0.9906724425222039 + ], + [ + 0.9937655666776204, + -0.039897527836580564, + 0.1041066076598276, + -0.04261335232579402, + -0.9988034888803876, + 0.023993599228194, + 0.10302475765303087, + -0.028280344285293368, + -0.9942766825374311 + ], + [ + 0.9913527824396179, + 0.008228647484848554, + 0.13096545387924857, + 0.012898488635327445, + -0.9993093567666521, + -0.03484879437719626, + 0.13058824503052263, + 0.036236705688981616, + -0.9907742484646329 + ], + [ + 0.9910230110660816, + 0.0642002312741594, + 0.11726773572411806, + 0.06936244457319198, + -0.9967699209078239, + -0.04047932875235659, + 0.11429016939504472, + 0.048249923085482094, + -0.9922750133415116 + ], + [ + 0.9862382364940275, + 0.13820590019818016, + 0.09073736841875411, + 0.13393934479443312, + -0.9896470132940729, + 0.05156588983192737, + 0.09692467587352567, + -0.03870294857670636, + -0.9945389328619972 + ], + [ + 0.9774686871064623, + 0.2005467640275768, + 0.06584801564539935, + 0.19648067567192093, + -0.9784577262031021, + 0.06337051460230604, + 0.07713825130163851, + -0.04900483110391369, + -0.995815352720876 + ], + [ + 0.9707792079222904, + 0.2394749967934493, + 0.015474345755070826, + 0.236904929052889, + -0.9666480992312696, + 0.09730111429484682, + 0.038259430944744176, + -0.09079194988186275, + -0.9951346832366126 + ], + [ + 0.963525798549312, + 0.2642170359954893, + -0.04251344986788068, + 0.2671359283808086, + -0.9590912897133134, + 0.09371389312250654, + -0.01601347239152123, + -0.10165262360515527, + -0.9946910640073904 + ], + [ + 0.9601090533880837, + 0.2675347094570558, + -0.08133747499133732, + 0.27398153749899967, + -0.9582005731610711, + 0.0823758381048644, + -0.05589921924250736, + -0.10137475439932445, + -0.9932766162849876 + ], + [ + 0.9587387640439303, + 0.2698689955817869, + -0.08939075759380194, + 0.27698248001060966, + -0.9575482145265263, + 0.0798881882648081, + -0.06403661520324613, + -0.10135157660706946, + -0.9927875753818498 + ], + [ + 0.9638566105526024, + 0.2512611031731586, + -0.08859058824873138, + 0.2582347442608904, + -0.9628747954459688, + 0.07865713668445087, + -0.06553816560265822, + -0.09869136906078058, + -0.9929575834457116 + ], + [ + 0.9669831736463302, + 0.23934745099433902, + -0.08750051192640843, + 0.24648787067896344, + -0.9656149786753361, + 0.08265254119493702, + -0.06470912990468708, + -0.1014914314626739, + -0.9927296801479423 + ], + [ + 0.970238855580659, + 0.22468784941953543, + -0.09028805815143687, + 0.23186800088869128, + -0.9695429944095575, + 0.07888987359116834, + -0.06981255822138974, + -0.0974769322176936, + -0.9927862078010613 + ], + [ + 0.9746938166044576, + 0.21074756040642506, + -0.0745481700364019, + 0.2160032775575444, + -0.9737873660250945, + 0.07127937888553258, + -0.05757211093432744, + -0.08557821891491486, + -0.9946666881372457 + ], + [ + 0.9838945952044718, + 0.1760469636038056, + -0.03096598348687048, + 0.17803954013215587, + -0.9805949342113262, + 0.0820700746229443, + -0.015916899099989685, + -0.08626147230928491, + -0.9961453762970922 + ], + [ + 0.997589410131133, + 0.06451794957886162, + 0.025550009322063014, + 0.061766616305267474, + -0.9933847457258675, + 0.0968071901738261, + 0.03162679092819729, + -0.09499569011956772, + -0.9949751579583739 + ], + [ + 0.9947853778534762, + -0.04924610396483667, + 0.0893133430860159, + -0.06007499782078715, + -0.990596161484606, + 0.12292371410267404, + 0.08241994082592091, + -0.12764821227204093, + -0.9883890363910371 + ], + [ + 0.9913742620690722, + -0.10973257580335515, + 0.07166473550194424, + -0.12047683203468317, + -0.9782803127583883, + 0.16868005991295104, + 0.051598502399676796, + -0.17585901022384642, + -0.9830621562613423 + ], + [ + 0.9910263585074983, + -0.12134674506015576, + 0.05605108568683667, + -0.13133773182125613, + -0.961945532961339, + 0.2396063267440436, + 0.024842643647875945, + -0.24481780792873534, + -0.9692507848733235 + ], + [ + 0.9925195097309769, + -0.12141716052459818, + 0.012763069126388665, + -0.11900507921153054, + -0.9388324286316555, + 0.32315857109388996, + -0.027254612916685433, + -0.32226005659983886, + -0.9462587605909021 + ], + [ + 0.9914244580985512, + -0.13032108059744363, + -0.00969328818867872, + -0.11715244741330169, + -0.9192062498274548, + 0.37594570664288807, + -0.057903781820082836, + -0.37158617604811606, + -0.9265909916575225 + ], + [ + 0.9897775848868401, + -0.1417052460827153, + -0.016123141387796552, + -0.12360733983350705, + -0.9087279949118592, + 0.39866609688153276, + -0.071144627308446, + -0.39259782793096154, + -0.9169544086316578 + ], + [ + 0.9853065550543855, + -0.16975887914640228, + -0.01878604582707033, + -0.14888767573314507, + -0.9076060378727786, + 0.3925350175865315, + -0.08368663323160663, + -0.38397031521698904, + -0.9195451834741591 + ], + [ + 0.9846228958009203, + -0.17199380791948088, + -0.030592206556024695, + -0.1473281033254475, + -0.9116550022676219, + 0.38363991816669496, + -0.09387322853261217, + -0.3732335554016799, + -0.922975909808639 + ], + [ + 0.9839055149006763, + -0.1756174739910938, + -0.03299152280544022, + -0.15108466259483339, + -0.9161885133851065, + 0.37117655188574805, + -0.09541154268032637, + -0.36021814331065494, + -0.92797603781196 + ], + [ + 0.9921893076694677, + -0.11583741177952098, + 0.04628252130776568, + -0.12429045148574672, + -0.9495533839988949, + 0.28792404311852143, + 0.010595348783845146, + -0.2914276324724007, + -0.9565341988740809 + ], + [ + 0.9916649314370093, + -0.03867143696864244, + 0.12290314772539901, + -0.05962824206600132, + -0.9833408445161563, + 0.17171271430610474, + 0.1142153076699848, + -0.17760997570246978, + -0.9774505409609316 + ], + [ + 0.9896790508501438, + 0.022571654466297855, + 0.14151288536035275, + 0.010597758864998034, + -0.996341390750382, + 0.08480283358847068, + 0.14290928526655514, + -0.08242786841990124, + -0.9862974108717683 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0021899938583374023, + -0.0007774215191602707, + -0.007266014814376831, + -0.010305576026439667, + 0.02594812959432602, + 0.0019704625010490417, + 1.0 + ], + [ + -0.0068867504596710205, + 0.03220902010798454, + 0.009901612997055054, + -0.04971657693386078, + 0.00905134528875351, + 0.07585476338863373, + 1.0 + ], + [ + -0.0035406947135925293, + 0.02816171385347843, + 0.017720796167850494, + -0.06499329954385757, + -0.027754396200180054, + 0.05586469918489456, + 1.0 + ], + [ + -0.011599719524383545, + 0.03433781862258911, + 0.009139187633991241, + -0.012029450386762619, + 0.01642182469367981, + 0.05686653405427933, + 1.0 + ], + [ + -0.01579916477203369, + 0.0391499400138855, + 0.012819632887840271, + 0.08748312294483185, + 0.017463378608226776, + 0.06510568410158157, + 1.0 + ], + [ + -0.009096264839172363, + 0.025836020708084106, + -0.0055574774742126465, + 0.010275252163410187, + 0.01986212283372879, + 0.06338374316692352, + 1.0 + ], + [ + -0.0013021528720855713, + 0.021494701504707336, + -0.014300622045993805, + 0.04181285575032234, + 0.038946185261011124, + 0.04099129140377045, + 1.0 + ], + [ + 0.0007756352424621582, + 0.016695111989974976, + -0.01781456172466278, + 0.010857664048671722, + 0.05428292602300644, + 0.03109775483608246, + 1.0 + ], + [ + -0.0017074048519134521, + 0.009677127003669739, + -0.011169478297233582, + -0.00013283640146255493, + 0.03991421312093735, + 0.007521450519561768, + 1.0 + ], + [ + -0.0013668537139892578, + 0.0013834834098815918, + -0.0024178922176361084, + 2.6650726795196533e-05, + 0.008152090013027191, + 0.0032684803009033203, + 0.0 + ], + [ + -9.804964065551758e-06, + -0.00029368698596954346, + -0.0003714710474014282, + -0.0026694610714912415, + 0.0015047118067741394, + -0.019474714994430542, + 0.0 + ], + [ + 0.0001728832721710205, + 0.0006335675716400146, + 3.614276647567749e-05, + 0.002814777195453644, + -0.0008307993412017822, + -0.012181654572486877, + 0.0 + ], + [ + -0.0009935945272445679, + -0.0016078054904937744, + -0.0012294873595237732, + -0.004009224474430084, + 0.005115017294883728, + -0.015008211135864258, + 0.0 + ], + [ + -0.00017270445823669434, + -0.0031232982873916626, + 0.0027448460459709167, + -0.012045793235301971, + -0.012265428900718689, + -0.016493812203407288, + 0.0 + ], + [ + 0.009003356099128723, + -0.016281679272651672, + 0.020068258047103882, + 0.0005540549755096436, + -0.041686393320560455, + -0.03907008469104767, + 0.0 + ], + [ + 0.02288016676902771, + -0.04533292353153229, + 0.02287963032722473, + 0.00880713015794754, + -0.04754963517189026, + -0.11717979609966278, + 0.0 + ], + [ + 0.03195837140083313, + -0.053408801555633545, + 0.01568712294101715, + 0.033249907195568085, + -0.05088147521018982, + -0.12215358763933182, + 0.0 + ], + [ + 0.030765116214752197, + -0.03910866752266884, + -0.013577856123447418, + 0.048579782247543335, + 0.030892115086317062, + -0.060615424066782, + 0.0 + ], + [ + 0.023430079221725464, + -0.019816551357507706, + -0.012024611234664917, + 0.07039313018321991, + 0.026776226237416267, + -0.010827101767063141, + 0.0 + ], + [ + 0.010915219783782959, + 0.002181852236390114, + -0.018010541796684265, + 0.08083271980285645, + 0.0521031878888607, + 0.012426860630512238, + 0.0 + ], + [ + 0.00036531686782836914, + 0.005774816498160362, + -0.009089484810829163, + 0.05314725637435913, + 0.030678199604153633, + 0.0017119646072387695, + 0.0 + ], + [ + -0.0024843811988830566, + 0.004289988428354263, + -0.002411097288131714, + 0.023149490356445312, + 0.013268593698740005, + -0.0066203773021698, + 1.0 + ], + [ + -0.0024339258670806885, + -0.0008331537246704102, + -0.0053865909576416016, + -0.008982479572296143, + 0.012579843401908875, + -0.025732629001140594, + 1.0 + ], + [ + -0.0028399527072906494, + -0.0001860298216342926, + -0.003015384078025818, + -0.011279672384262085, + 0.010227024555206299, + 0.0014463067054748535, + 1.0 + ], + [ + -0.0036652088165283203, + -0.0006123930215835571, + 0.0010821372270584106, + -0.014005035161972046, + 0.001545250415802002, + -0.0038388818502426147, + 1.0 + ], + [ + -0.007519513368606567, + 0.0005173087120056152, + 0.027165554463863373, + -0.07453599572181702, + -0.10615244507789612, + 0.027746200561523438, + 1.0 + ], + [ + -0.014963895082473755, + 0.007771458476781845, + 0.019630976021289825, + -0.11598977446556091, + -0.10386955738067627, + 0.06456261873245239, + 1.0 + ], + [ + -0.013140738010406494, + 0.006417643278837204, + 0.0025042742490768433, + -0.09636696428060532, + -0.028935149312019348, + 0.07076498121023178, + 1.0 + ], + [ + -0.002730637788772583, + 0.002461981028318405, + -0.0028600022196769714, + -0.006103977560997009, + 0.010310977697372437, + -0.011464235372841358, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9453431367874146 + ], + [ + 0.6561112403869629 + ], + [ + 0.3519224226474762 + ], + [ + 0.20083679258823395 + ], + [ + 0.13806100189685822 + ], + [ + 0.09549706429243088 + ], + [ + 0.0951233059167862 + ], + [ + 0.0951233059167862 + ], + [ + 0.0951233059167862 + ], + [ + 0.0951233059167862 + ], + [ + 0.0951233059167862 + ], + [ + 0.0951233059167862 + ], + [ + 0.12661112844944 + ], + [ + 0.31967243552207947 + ], + [ + 0.6179407835006714 + ], + [ + 0.9107924103736877 + ], + [ + 1.00800359249115 + ], + [ + 1.003452181816101 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3007168471813202, + -0.005807925947010517, + 0.07920973002910614 + ], + [ + 0.29383009672164917, + 0.02640109322965145, + 0.0891113430261612 + ], + [ + 0.29028940200805664, + 0.05456280708312988, + 0.10683213919401169 + ], + [ + 0.2786896824836731, + 0.088900625705719, + 0.11597132682800293 + ], + [ + 0.2628905177116394, + 0.1280505657196045, + 0.1287909597158432 + ], + [ + 0.25379425287246704, + 0.1538865864276886, + 0.12323348224163055 + ], + [ + 0.25249210000038147, + 0.17538128793239594, + 0.10893286019563675 + ], + [ + 0.25326773524284363, + 0.1920763999223709, + 0.09111829847097397 + ], + [ + 0.2515603303909302, + 0.20175352692604065, + 0.07994882017374039 + ], + [ + 0.2501934766769409, + 0.20313701033592224, + 0.07753092795610428 + ], + [ + 0.25018367171287537, + 0.2028433233499527, + 0.07715945690870285 + ], + [ + 0.2503565549850464, + 0.2034768909215927, + 0.07719559967517853 + ], + [ + 0.24936296045780182, + 0.20186908543109894, + 0.07596611231565475 + ], + [ + 0.24919025599956512, + 0.19874578714370728, + 0.07871095836162567 + ], + [ + 0.25819361209869385, + 0.1824641078710556, + 0.09877921640872955 + ], + [ + 0.28107377886772156, + 0.13713118433952332, + 0.12165884673595428 + ], + [ + 0.3130321502685547, + 0.08372238278388977, + 0.13734596967697144 + ], + [ + 0.3437972664833069, + 0.04461371526122093, + 0.12376811355352402 + ], + [ + 0.36722734570503235, + 0.024797163903713226, + 0.1117435023188591 + ], + [ + 0.3781425654888153, + 0.02697901614010334, + 0.09373296052217484 + ], + [ + 0.3785078823566437, + 0.0327538326382637, + 0.08464347571134567 + ], + [ + 0.3760235011577606, + 0.037043821066617966, + 0.08223237842321396 + ], + [ + 0.37358957529067993, + 0.036210667341947556, + 0.07684578746557236 + ], + [ + 0.3707496225833893, + 0.03602463752031326, + 0.07383040338754654 + ], + [ + 0.36708441376686096, + 0.035412244498729706, + 0.07491254061460495 + ], + [ + 0.3595649003982544, + 0.03592955321073532, + 0.10207809507846832 + ], + [ + 0.34460100531578064, + 0.043701011687517166, + 0.12170907109975815 + ], + [ + 0.33146026730537415, + 0.05011865496635437, + 0.12421334534883499 + ], + [ + 0.32872962951660156, + 0.052580635994672775, + 0.12135334312915802 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9867121785359341, + -0.10938468933388651, + 0.12014185976669521, + -0.11768513387590115, + -0.990967287101709, + 0.06429654080034557, + 0.11202359569966654, + -0.07758109069617682, + -0.9906724425222039 + ], + [ + 0.9937655666776204, + -0.039897527836580564, + 0.1041066076598276, + -0.04261335232579402, + -0.9988034888803876, + 0.023993599228194, + 0.10302475765303087, + -0.028280344285293368, + -0.9942766825374311 + ], + [ + 0.9913527824396179, + 0.008228647484848554, + 0.13096545387924857, + 0.012898488635327445, + -0.9993093567666521, + -0.03484879437719626, + 0.13058824503052263, + 0.036236705688981616, + -0.9907742484646329 + ], + [ + 0.9910230110660816, + 0.0642002312741594, + 0.11726773572411806, + 0.06936244457319198, + -0.9967699209078239, + -0.04047932875235659, + 0.11429016939504472, + 0.048249923085482094, + -0.9922750133415116 + ], + [ + 0.9862382364940275, + 0.13820590019818016, + 0.09073736841875411, + 0.13393934479443312, + -0.9896470132940729, + 0.05156588983192737, + 0.09692467587352567, + -0.03870294857670636, + -0.9945389328619972 + ], + [ + 0.9774686871064623, + 0.2005467640275768, + 0.06584801564539935, + 0.19648067567192093, + -0.9784577262031021, + 0.06337051460230604, + 0.07713825130163851, + -0.04900483110391369, + -0.995815352720876 + ], + [ + 0.9707792079222904, + 0.2394749967934493, + 0.015474345755070826, + 0.236904929052889, + -0.9666480992312696, + 0.09730111429484682, + 0.038259430944744176, + -0.09079194988186275, + -0.9951346832366126 + ], + [ + 0.963525798549312, + 0.2642170359954893, + -0.04251344986788068, + 0.2671359283808086, + -0.9590912897133134, + 0.09371389312250654, + -0.01601347239152123, + -0.10165262360515527, + -0.9946910640073904 + ], + [ + 0.9601090533880837, + 0.2675347094570558, + -0.08133747499133732, + 0.27398153749899967, + -0.9582005731610711, + 0.0823758381048644, + -0.05589921924250736, + -0.10137475439932445, + -0.9932766162849876 + ], + [ + 0.9587387640439303, + 0.2698689955817869, + -0.08939075759380194, + 0.27698248001060966, + -0.9575482145265263, + 0.0798881882648081, + -0.06403661520324613, + -0.10135157660706946, + -0.9927875753818498 + ], + [ + 0.9638566105526024, + 0.2512611031731586, + -0.08859058824873138, + 0.2582347442608904, + -0.9628747954459688, + 0.07865713668445087, + -0.06553816560265822, + -0.09869136906078058, + -0.9929575834457116 + ], + [ + 0.9669831736463302, + 0.23934745099433902, + -0.08750051192640843, + 0.24648787067896344, + -0.9656149786753361, + 0.08265254119493702, + -0.06470912990468708, + -0.1014914314626739, + -0.9927296801479423 + ], + [ + 0.970238855580659, + 0.22468784941953543, + -0.09028805815143687, + 0.23186800088869128, + -0.9695429944095575, + 0.07888987359116834, + -0.06981255822138974, + -0.0974769322176936, + -0.9927862078010613 + ], + [ + 0.9746938166044576, + 0.21074756040642506, + -0.0745481700364019, + 0.2160032775575444, + -0.9737873660250945, + 0.07127937888553258, + -0.05757211093432744, + -0.08557821891491486, + -0.9946666881372457 + ], + [ + 0.9838945952044718, + 0.1760469636038056, + -0.03096598348687048, + 0.17803954013215587, + -0.9805949342113262, + 0.0820700746229443, + -0.015916899099989685, + -0.08626147230928491, + -0.9961453762970922 + ], + [ + 0.997589410131133, + 0.06451794957886162, + 0.025550009322063014, + 0.061766616305267474, + -0.9933847457258675, + 0.0968071901738261, + 0.03162679092819729, + -0.09499569011956772, + -0.9949751579583739 + ], + [ + 0.9947853778534762, + -0.04924610396483667, + 0.0893133430860159, + -0.06007499782078715, + -0.990596161484606, + 0.12292371410267404, + 0.08241994082592091, + -0.12764821227204093, + -0.9883890363910371 + ], + [ + 0.9913742620690722, + -0.10973257580335515, + 0.07166473550194424, + -0.12047683203468317, + -0.9782803127583883, + 0.16868005991295104, + 0.051598502399676796, + -0.17585901022384642, + -0.9830621562613423 + ], + [ + 0.9910263585074983, + -0.12134674506015576, + 0.05605108568683667, + -0.13133773182125613, + -0.961945532961339, + 0.2396063267440436, + 0.024842643647875945, + -0.24481780792873534, + -0.9692507848733235 + ], + [ + 0.9925195097309769, + -0.12141716052459818, + 0.012763069126388665, + -0.11900507921153054, + -0.9388324286316555, + 0.32315857109388996, + -0.027254612916685433, + -0.32226005659983886, + -0.9462587605909021 + ], + [ + 0.9914244580985512, + -0.13032108059744363, + -0.00969328818867872, + -0.11715244741330169, + -0.9192062498274548, + 0.37594570664288807, + -0.057903781820082836, + -0.37158617604811606, + -0.9265909916575225 + ], + [ + 0.9897775848868401, + -0.1417052460827153, + -0.016123141387796552, + -0.12360733983350705, + -0.9087279949118592, + 0.39866609688153276, + -0.071144627308446, + -0.39259782793096154, + -0.9169544086316578 + ], + [ + 0.9853065550543855, + -0.16975887914640228, + -0.01878604582707033, + -0.14888767573314507, + -0.9076060378727786, + 0.3925350175865315, + -0.08368663323160663, + -0.38397031521698904, + -0.9195451834741591 + ], + [ + 0.9846228958009203, + -0.17199380791948088, + -0.030592206556024695, + -0.1473281033254475, + -0.9116550022676219, + 0.38363991816669496, + -0.09387322853261217, + -0.3732335554016799, + -0.922975909808639 + ], + [ + 0.9839055149006763, + -0.1756174739910938, + -0.03299152280544022, + -0.15108466259483339, + -0.9161885133851065, + 0.37117655188574805, + -0.09541154268032637, + -0.36021814331065494, + -0.92797603781196 + ], + [ + 0.9921893076694677, + -0.11583741177952098, + 0.04628252130776568, + -0.12429045148574672, + -0.9495533839988949, + 0.28792404311852143, + 0.010595348783845146, + -0.2914276324724007, + -0.9565341988740809 + ], + [ + 0.9916649314370093, + -0.03867143696864244, + 0.12290314772539901, + -0.05962824206600132, + -0.9833408445161563, + 0.17171271430610474, + 0.1142153076699848, + -0.17760997570246978, + -0.9774505409609316 + ], + [ + 0.9896790508501438, + 0.022571654466297855, + 0.14151288536035275, + 0.010597758864998034, + -0.996341390750382, + 0.08480283358847068, + 0.14290928526655514, + -0.08242786841990124, + -0.9862974108717683 + ], + [ + 0.991156403889605, + 0.009489864691815588, + 0.13235907787816067, + -0.0007496774974397992, + -0.9970232125993671, + 0.07709832372812599, + 0.13269672570291932, + -0.0765157239145531, + -0.9881988276564367 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006355.json b/json/chunk-0006/episode_0006355.json new file mode 100644 index 0000000000000000000000000000000000000000..435f2fcafea8e91d7a50190bf23ed5c61fff2cc1 --- /dev/null +++ b/json/chunk-0006/episode_0006355.json @@ -0,0 +1,1042 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 16, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut sweet potato in pan which is on stove." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006355.mp4", + "start": 0, + "end": 16, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.4285888075828552, + 0.10490823537111282, + 0.056820109486579895, + 0.2243853360414505, + -0.22559529542922974, + -0.014890922233462334, + 0.0, + 1.0008161067962646 + ], + [ + 0.4253545105457306, + 0.10149261355400085, + 0.037488821893930435, + 0.19481094181537628, + -0.18382643163204193, + -0.01719032973051071, + 0.0, + 1.0008161067962646 + ], + [ + 0.4260754883289337, + 0.1053706482052803, + 0.031347110867500305, + 0.16581052541732788, + -0.18949581682682037, + -0.009390418417751789, + 0.0, + 1.0008161067962646 + ], + [ + 0.42627382278442383, + 0.10725581645965576, + 0.025956908240914345, + 0.15666726231575012, + -0.20523451268672943, + -0.009124197997152805, + 0.0, + 1.0008161067962646 + ], + [ + 0.4234287440776825, + 0.11267217993736267, + 0.01577686332166195, + 0.13236822187900543, + -0.19765160977840424, + 0.011838270351290703, + 0.0, + 0.8553624749183655 + ], + [ + 0.4238479733467102, + 0.11228376626968384, + 0.015660978853702545, + 0.12019585818052292, + -0.1997535526752472, + 0.018728183582425117, + 0.0, + 0.7797733545303345 + ], + [ + 0.4221932590007782, + 0.11343548446893692, + 0.015727341175079346, + 0.14341267943382263, + -0.18620336055755615, + 0.01721346750855446, + 0.0, + 0.7807356715202332 + ], + [ + 0.4208996593952179, + 0.10986973345279694, + 0.029258523136377335, + 0.2101745307445526, + -0.17500674724578857, + 0.009547555819153786, + 0.0, + 0.7807356715202332 + ], + [ + 0.4240444600582123, + 0.0993274375796318, + 0.06505080312490463, + 0.2697402238845825, + -0.22313205897808075, + 0.010287158191204071, + 0.0, + 0.7807356715202332 + ], + [ + 0.4162903130054474, + 0.09654213488101959, + 0.07831013202667236, + 0.2867288887500763, + -0.2197827845811844, + 0.054197005927562714, + 0.0, + 0.7807356715202332 + ], + [ + 0.3987569510936737, + 0.09464695304632187, + 0.08760993927717209, + 0.28124213218688965, + -0.21608321368694305, + 0.10427544265985489, + 0.0, + 0.7807356715202332 + ], + [ + 0.37812212109565735, + 0.0907660648226738, + 0.09019099175930023, + 0.26935455203056335, + -0.18025971949100494, + 0.1620800495147705, + 0.0, + 0.7807356715202332 + ], + [ + 0.36348772048950195, + 0.076467365026474, + 0.09340965002775192, + 0.24625566601753235, + -0.170771986246109, + 0.19505664706230164, + 0.0, + 0.7807356715202332 + ], + [ + 0.35182270407676697, + 0.07073335349559784, + 0.0862734466791153, + 0.21746782958507538, + -0.14729921519756317, + 0.2324717491865158, + 0.0, + 0.7807356715202332 + ], + [ + 0.3417185842990875, + 0.06594446301460266, + 0.07896503061056137, + 0.19522720575332642, + -0.12674637138843536, + 0.26937994360923767, + 0.0, + 0.7807356715202332 + ], + [ + 0.3330087959766388, + 0.06194430962204933, + 0.07271061837673187, + 0.17500466108322144, + -0.11216665059328079, + 0.2958294749259949, + 0.0, + 0.7807356715202332 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.8553624749183655 + ], + [ + 0.7797733545303345 + ], + [ + 0.7807356715202332 + ], + [ + 0.7807356715202332 + ], + [ + 0.7807356715202332 + ], + [ + 0.7807356715202332 + ], + [ + 0.7807356715202332 + ], + [ + 0.7807356715202332 + ], + [ + 0.7807356715202332 + ], + [ + 0.7807356715202332 + ], + [ + 0.7807356715202332 + ], + [ + 0.7807356715202332 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.4285888075828552, + 0.10490823537111282, + 0.056820109486579895 + ], + [ + 0.4253545105457306, + 0.10149261355400085, + 0.037488821893930435 + ], + [ + 0.4260754883289337, + 0.1053706482052803, + 0.031347110867500305 + ], + [ + 0.42627382278442383, + 0.10725581645965576, + 0.025956908240914345 + ], + [ + 0.4234287440776825, + 0.11267217993736267, + 0.01577686332166195 + ], + [ + 0.4238479733467102, + 0.11228376626968384, + 0.015660978853702545 + ], + [ + 0.4221932590007782, + 0.11343548446893692, + 0.015727341175079346 + ], + [ + 0.4208996593952179, + 0.10986973345279694, + 0.029258523136377335 + ], + [ + 0.4240444600582123, + 0.0993274375796318, + 0.06505080312490463 + ], + [ + 0.4162903130054474, + 0.09654213488101959, + 0.07831013202667236 + ], + [ + 0.3987569510936737, + 0.09464695304632187, + 0.08760993927717209 + ], + [ + 0.37812212109565735, + 0.0907660648226738, + 0.09019099175930023 + ], + [ + 0.36348772048950195, + 0.076467365026474, + 0.09340965002775192 + ], + [ + 0.35182270407676697, + 0.07073335349559784, + 0.0862734466791153 + ], + [ + 0.3417185842990875, + 0.06594446301460266, + 0.07896503061056137 + ], + [ + 0.3330087959766388, + 0.06194430962204933, + 0.07271061837673187 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9745530616874233, + 0.03524926643485063, + 0.22136806267272263, + -0.014513066576850824, + -0.9755640916229019, + 0.2192352025440219, + 0.22368661304200893, + -0.2168690673004966, + -0.9502273974128548 + ], + [ + 0.9830061868285143, + 0.018515675852762, + 0.18263626804273983, + -0.016899865190121825, + -0.9815475837966938, + 0.19046977529106257, + 0.18279286423003435, + -0.19031949582370067, + -0.9645544351129139 + ], + [ + 0.9820560293564549, + 0.02182691417394422, + 0.1873220249257345, + -0.00922218809764648, + -0.986533357417342, + 0.16329998759815872, + 0.18836376098211102, + -0.1620972563633032, + -0.9686297399048638 + ], + [ + 0.978972466889358, + 0.022784178454416153, + 0.2027160336153059, + -0.008932586505255961, + -0.988001775800873, + 0.15418398072642758, + 0.2037967565269149, + -0.15275265047284314, + -0.967023014101852 + ], + [ + 0.9804617207829709, + 0.03764956000899108, + 0.193073366134288, + 0.011607513168390498, + -0.9908758479167791, + 0.1342770257834514, + 0.19636720631852228, + -0.1294123821213929, + -0.9719528566943592 + ], + [ + 0.9799436293882144, + 0.04238061605221283, + 0.19471611798844038, + 0.018354710181876795, + -0.9921654980252527, + 0.12357479169491288, + 0.19842778997809915, + -0.1175223719609876, + -0.9730441430135994 + ], + [ + 0.9825685977835673, + 0.04349095570526178, + 0.18074149335854706, + 0.016915083331802364, + -0.9891319598200639, + 0.14605425710467385, + 0.18512922677284893, + -0.14045106918198574, + -0.972625655923246 + ], + [ + 0.9846804827479904, + 0.04566132994443929, + 0.1682836588706396, + 0.00940157754431387, + -0.9776031264636348, + 0.21024684889007203, + 0.1741147817816253, + -0.20544383679300673, + -0.9630560070364057 + ], + [ + 0.9751575551220877, + 0.06888017406907004, + 0.21053091057734746, + 0.01003195391264513, + -0.963182549800503, + 0.2686610050984254, + 0.22128511605846207, + -0.25987477249632407, + -0.9399457431314728 + ], + [ + 0.9745118510438916, + 0.11352730213272476, + 0.19348954453787037, + 0.05286739744771039, + -0.9544256821099645, + 0.2937288811404736, + 0.21801763796104506, + -0.2760129870121941, + -0.9361010311598277 + ], + [ + 0.9714392778153148, + 0.15918202272662255, + 0.17597389908256483, + 0.10166601208459622, + -0.9492990795781784, + 0.297481561611536, + 0.21440557713006075, + -0.27109470882458103, + -0.9383698137423439 + ], + [ + 0.9709032786331427, + 0.20263689425318873, + 0.12761313657627732, + 0.15875666841979216, + -0.9436102534365757, + 0.2905099134997104, + 0.17928509076792126, + -0.2617975910828499, + -0.9483242470439922 + ], + [ + 0.9667664012697019, + 0.22861704756471085, + 0.11444199814239632, + 0.19100274591622046, + -0.943411148898859, + 0.2710965790743191, + 0.16994315646266323, + -0.24022832825487, + -0.9557246851867839 + ], + [ + 0.9625622885762777, + 0.2557715716928671, + 0.08974822407468239, + 0.2278886775161717, + -0.9428850542058832, + 0.24297021466652918, + 0.14676713280135012, + -0.21342136179147936, + -0.9658730408601026 + ], + [ + 0.9562038148088826, + 0.2847155446715017, + 0.06790672402163254, + 0.26399898121807136, + -0.939098755451206, + 0.2199956031965552, + 0.1264072880049264, + -0.19243332905815957, + -0.973134426174942 + ], + [ + 0.9505495423046142, + 0.30572257141479453, + 0.05467428053494916, + 0.28970137246137506, + -0.9362682721813459, + 0.19868275541816113, + 0.11193159705143196, + -0.17301858811723966, + -0.9785376261275971 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.003234297037124634, + -0.003415621817111969, + -0.01933128759264946, + -0.02957439422607422, + 0.041768863797187805, + -0.002299407497048378, + 1.0 + ], + [ + 0.000720977783203125, + 0.0038780346512794495, + -0.00614171102643013, + -0.0290004163980484, + -0.005669385194778442, + 0.007799911312758923, + 1.0 + ], + [ + 0.0001983344554901123, + 0.0018851682543754578, + -0.00539020262658596, + -0.009143263101577759, + -0.015738695859909058, + 0.00026622042059898376, + 1.0 + ], + [ + -0.002845078706741333, + 0.005416363477706909, + -0.010180044919252396, + -0.02429904043674469, + 0.007582902908325195, + 0.020962469279766083, + 0.0 + ], + [ + 0.00041922926902770996, + -0.000388413667678833, + -0.00011588446795940399, + -0.012172363698482513, + -0.0021019428968429565, + 0.006889913231134415, + 0.0 + ], + [ + -0.0016547143459320068, + 0.0011517181992530823, + 6.636232137680054e-05, + 0.023216821253299713, + 0.01355019211769104, + -0.0015147160738706589, + 0.0 + ], + [ + -0.0012935996055603027, + -0.003565751016139984, + 0.013531181961297989, + 0.06676185131072998, + 0.011196613311767578, + -0.007665911689400673, + 0.0 + ], + [ + 0.0031448006629943848, + -0.01054229587316513, + 0.0357922799885273, + 0.05956569314002991, + -0.048125311732292175, + 0.0007396023720502853, + 0.0 + ], + [ + -0.007754147052764893, + -0.002785302698612213, + 0.01325932890176773, + 0.016988664865493774, + 0.0033492743968963623, + 0.04390984773635864, + 0.0 + ], + [ + -0.01753336191177368, + -0.0018951818346977234, + 0.009299807250499725, + -0.0054867565631866455, + 0.003699570894241333, + 0.050078436732292175, + 0.0 + ], + [ + -0.020634829998016357, + -0.0038808882236480713, + 0.0025810524821281433, + -0.011887580156326294, + 0.03582349419593811, + 0.05780460685491562, + 0.0 + ], + [ + -0.014634400606155396, + -0.014298699796199799, + 0.0032186582684516907, + -0.023098886013031006, + 0.009487733244895935, + 0.03297659754753113, + 0.0 + ], + [ + -0.011665016412734985, + -0.00573401153087616, + -0.007136203348636627, + -0.02878783643245697, + 0.023472771048545837, + 0.03741510212421417, + 0.0 + ], + [ + -0.010104119777679443, + -0.004788890480995178, + -0.0073084160685539246, + -0.022240623831748962, + 0.020552843809127808, + 0.03690819442272186, + 0.0 + ], + [ + -0.00870978832244873, + -0.0040001533925533295, + -0.006254412233829498, + -0.02022254467010498, + 0.014579720795154572, + 0.026449531316757202, + 0.0 + ], + [ + -0.0007611513137817383, + -0.0008219629526138306, + 0.0037003979086875916, + -0.003113165497779846, + -0.009387709200382233, + -0.005276739597320557, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.8553624749183655 + ], + [ + 0.7797733545303345 + ], + [ + 0.7807356715202332 + ], + [ + 0.7807356715202332 + ], + [ + 0.7807356715202332 + ], + [ + 0.7807356715202332 + ], + [ + 0.7807356715202332 + ], + [ + 0.7807356715202332 + ], + [ + 0.7807356715202332 + ], + [ + 0.7807356715202332 + ], + [ + 0.7807356715202332 + ], + [ + 0.7807356715202332 + ], + [ + 0.9515043497085571 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.4253545105457306, + 0.10149261355400085, + 0.037488821893930435 + ], + [ + 0.4260754883289337, + 0.1053706482052803, + 0.031347110867500305 + ], + [ + 0.42627382278442383, + 0.10725581645965576, + 0.025956908240914345 + ], + [ + 0.4234287440776825, + 0.11267217993736267, + 0.01577686332166195 + ], + [ + 0.4238479733467102, + 0.11228376626968384, + 0.015660978853702545 + ], + [ + 0.4221932590007782, + 0.11343548446893692, + 0.015727341175079346 + ], + [ + 0.4208996593952179, + 0.10986973345279694, + 0.029258523136377335 + ], + [ + 0.4240444600582123, + 0.0993274375796318, + 0.06505080312490463 + ], + [ + 0.4162903130054474, + 0.09654213488101959, + 0.07831013202667236 + ], + [ + 0.3987569510936737, + 0.09464695304632187, + 0.08760993927717209 + ], + [ + 0.37812212109565735, + 0.0907660648226738, + 0.09019099175930023 + ], + [ + 0.36348772048950195, + 0.076467365026474, + 0.09340965002775192 + ], + [ + 0.35182270407676697, + 0.07073335349559784, + 0.0862734466791153 + ], + [ + 0.3417185842990875, + 0.06594446301460266, + 0.07896503061056137 + ], + [ + 0.3330087959766388, + 0.06194430962204933, + 0.07271061837673187 + ], + [ + 0.33224764466285706, + 0.0611223466694355, + 0.07641101628541946 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9830061868285143, + 0.018515675852762, + 0.18263626804273983, + -0.016899865190121825, + -0.9815475837966938, + 0.19046977529106257, + 0.18279286423003435, + -0.19031949582370067, + -0.9645544351129139 + ], + [ + 0.9820560293564549, + 0.02182691417394422, + 0.1873220249257345, + -0.00922218809764648, + -0.986533357417342, + 0.16329998759815872, + 0.18836376098211102, + -0.1620972563633032, + -0.9686297399048638 + ], + [ + 0.978972466889358, + 0.022784178454416153, + 0.2027160336153059, + -0.008932586505255961, + -0.988001775800873, + 0.15418398072642758, + 0.2037967565269149, + -0.15275265047284314, + -0.967023014101852 + ], + [ + 0.9804617207829709, + 0.03764956000899108, + 0.193073366134288, + 0.011607513168390498, + -0.9908758479167791, + 0.1342770257834514, + 0.19636720631852228, + -0.1294123821213929, + -0.9719528566943592 + ], + [ + 0.9799436293882144, + 0.04238061605221283, + 0.19471611798844038, + 0.018354710181876795, + -0.9921654980252527, + 0.12357479169491288, + 0.19842778997809915, + -0.1175223719609876, + -0.9730441430135994 + ], + [ + 0.9825685977835673, + 0.04349095570526178, + 0.18074149335854706, + 0.016915083331802364, + -0.9891319598200639, + 0.14605425710467385, + 0.18512922677284893, + -0.14045106918198574, + -0.972625655923246 + ], + [ + 0.9846804827479904, + 0.04566132994443929, + 0.1682836588706396, + 0.00940157754431387, + -0.9776031264636348, + 0.21024684889007203, + 0.1741147817816253, + -0.20544383679300673, + -0.9630560070364057 + ], + [ + 0.9751575551220877, + 0.06888017406907004, + 0.21053091057734746, + 0.01003195391264513, + -0.963182549800503, + 0.2686610050984254, + 0.22128511605846207, + -0.25987477249632407, + -0.9399457431314728 + ], + [ + 0.9745118510438916, + 0.11352730213272476, + 0.19348954453787037, + 0.05286739744771039, + -0.9544256821099645, + 0.2937288811404736, + 0.21801763796104506, + -0.2760129870121941, + -0.9361010311598277 + ], + [ + 0.9714392778153148, + 0.15918202272662255, + 0.17597389908256483, + 0.10166601208459622, + -0.9492990795781784, + 0.297481561611536, + 0.21440557713006075, + -0.27109470882458103, + -0.9383698137423439 + ], + [ + 0.9709032786331427, + 0.20263689425318873, + 0.12761313657627732, + 0.15875666841979216, + -0.9436102534365757, + 0.2905099134997104, + 0.17928509076792126, + -0.2617975910828499, + -0.9483242470439922 + ], + [ + 0.9667664012697019, + 0.22861704756471085, + 0.11444199814239632, + 0.19100274591622046, + -0.943411148898859, + 0.2710965790743191, + 0.16994315646266323, + -0.24022832825487, + -0.9557246851867839 + ], + [ + 0.9625622885762777, + 0.2557715716928671, + 0.08974822407468239, + 0.2278886775161717, + -0.9428850542058832, + 0.24297021466652918, + 0.14676713280135012, + -0.21342136179147936, + -0.9658730408601026 + ], + [ + 0.9562038148088826, + 0.2847155446715017, + 0.06790672402163254, + 0.26399898121807136, + -0.939098755451206, + 0.2199956031965552, + 0.1264072880049264, + -0.19243332905815957, + -0.973134426174942 + ], + [ + 0.9505495423046142, + 0.30572257141479453, + 0.05467428053494916, + 0.28970137246137506, + -0.9362682721813459, + 0.19868275541816113, + 0.11193159705143196, + -0.17301858811723966, + -0.9785376261275971 + ], + [ + 0.9510163046975919, + 0.3021308965607198, + 0.0654592204563441, + 0.2843679905176645, + -0.9380246540463233, + 0.19810248451299323, + 0.12125524387952095, + -0.1697841857909354, + -0.9779930961346438 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006357.json b/json/chunk-0006/episode_0006357.json new file mode 100644 index 0000000000000000000000000000000000000000..7045dcda3d9e2fbf56cc38f81c0733d812d65825 --- /dev/null +++ b/json/chunk-0006/episode_0006357.json @@ -0,0 +1,1162 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 18, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut corn into bowl." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006357.mp4", + "start": 0, + "end": 18, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2303747683763504, + 0.14258912205696106, + 0.05058547854423523, + 0.017978454008698463, + -0.1588970422744751, + -0.041318319737911224, + 0.0, + 1.0001531839370728 + ], + [ + 0.23217815160751343, + 0.11829041689634323, + 0.04202422872185707, + 0.00990139041095972, + -0.13698694109916687, + 0.01891586370766163, + 0.0, + 0.9994885921478271 + ], + [ + 0.24351930618286133, + 0.07619983702898026, + 0.057935554534196854, + 0.03363489359617233, + -0.16109107434749603, + 0.03815125674009323, + 0.0, + 1.0001531839370728 + ], + [ + 0.2465517818927765, + 0.04030657187104225, + 0.07231009751558304, + 0.03427216410636902, + -0.1489531248807907, + 0.030407138168811798, + 0.0, + 1.0001531839370728 + ], + [ + 0.2603132426738739, + -0.0018255581380799413, + 0.08800966292619705, + 0.012746953405439854, + -0.18080760538578033, + 0.039844874292612076, + 0.0, + 1.0001531839370728 + ], + [ + 0.26522231101989746, + -0.0273249801248312, + 0.08061527460813522, + -0.01254635863006115, + -0.1804233193397522, + 0.07077974826097488, + 0.0, + 1.0001531839370728 + ], + [ + 0.27553504705429077, + -0.03710870072245598, + 0.06959224492311478, + -0.03278389945626259, + -0.2147546410560608, + 0.0925670638680458, + 0.0, + 1.0001531839370728 + ], + [ + 0.28241005539894104, + -0.03844607248902321, + 0.05287856236100197, + -0.04103397950530052, + -0.24428658187389374, + 0.08919008821249008, + 0.0, + 1.0001531839370728 + ], + [ + 0.2873005270957947, + -0.034217968583106995, + 0.04363473132252693, + -0.019644958898425102, + -0.25366899371147156, + 0.07232796400785446, + 0.0, + 1.0001531839370728 + ], + [ + 0.29057013988494873, + -0.02501773089170456, + 0.03546113893389702, + -0.013025232590734959, + -0.2472778558731079, + 0.06740692257881165, + 0.0, + 1.0001531839370728 + ], + [ + 0.3007962703704834, + -0.021297885105013847, + 0.028395459055900574, + -0.03217984363436699, + -0.2838880717754364, + 0.07831181585788727, + 0.0, + 0.8205437660217285 + ], + [ + 0.3043704926967621, + -0.018337802961468697, + 0.026095030829310417, + -0.008045870810747147, + -0.30415281653404236, + 0.07316716015338898, + 0.0, + 0.6581199765205383 + ], + [ + 0.30949461460113525, + -0.013404307886958122, + 0.03517552837729454, + 0.041392628103494644, + -0.27904996275901794, + 0.04917827621102333, + 0.0, + 0.6581199765205383 + ], + [ + 0.3358817398548126, + -0.0012836846290156245, + 0.06384290754795074, + 0.10093402117490768, + -0.3162393271923065, + 0.02600000984966755, + 0.0, + 0.6581199765205383 + ], + [ + 0.3637586534023285, + 0.015477311797440052, + 0.07503621280193329, + 0.13741129636764526, + -0.3648618459701538, + -0.0019249629694968462, + 0.0, + 0.6581199765205383 + ], + [ + 0.3866928517818451, + 0.0366554893553257, + 0.07234316319227219, + 0.211288720369339, + -0.451077401638031, + -0.08458209037780762, + 0.0, + 0.6581199765205383 + ], + [ + 0.40278980135917664, + 0.045490920543670654, + 0.05587993934750557, + 0.2663673162460327, + -0.5162712335586548, + -0.18946190178394318, + 0.0, + 0.6581199765205383 + ], + [ + 0.41258442401885986, + 0.059354234486818314, + 0.04534248635172844, + 0.22322498261928558, + -0.530625581741333, + -0.17694829404354095, + 0.0, + 0.8827611207962036 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.8205437660217285 + ], + [ + 0.6581199765205383 + ], + [ + 0.6581199765205383 + ], + [ + 0.6581199765205383 + ], + [ + 0.6581199765205383 + ], + [ + 0.6581199765205383 + ], + [ + 0.6581199765205383 + ], + [ + 0.8827611207962036 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2303747683763504, + 0.14258912205696106, + 0.05058547854423523 + ], + [ + 0.23217815160751343, + 0.11829041689634323, + 0.04202422872185707 + ], + [ + 0.24351930618286133, + 0.07619983702898026, + 0.057935554534196854 + ], + [ + 0.2465517818927765, + 0.04030657187104225, + 0.07231009751558304 + ], + [ + 0.2603132426738739, + -0.0018255581380799413, + 0.08800966292619705 + ], + [ + 0.26522231101989746, + -0.0273249801248312, + 0.08061527460813522 + ], + [ + 0.27553504705429077, + -0.03710870072245598, + 0.06959224492311478 + ], + [ + 0.28241005539894104, + -0.03844607248902321, + 0.05287856236100197 + ], + [ + 0.2873005270957947, + -0.034217968583106995, + 0.04363473132252693 + ], + [ + 0.29057013988494873, + -0.02501773089170456, + 0.03546113893389702 + ], + [ + 0.3007962703704834, + -0.021297885105013847, + 0.028395459055900574 + ], + [ + 0.3043704926967621, + -0.018337802961468697, + 0.026095030829310417 + ], + [ + 0.30949461460113525, + -0.013404307886958122, + 0.03517552837729454 + ], + [ + 0.3358817398548126, + -0.0012836846290156245, + 0.06384290754795074 + ], + [ + 0.3637586534023285, + 0.015477311797440052, + 0.07503621280193329 + ], + [ + 0.3866928517818451, + 0.0366554893553257, + 0.07234316319227219 + ], + [ + 0.40278980135917664, + 0.045490920543670654, + 0.05587993934750557 + ], + [ + 0.41258442401885986, + 0.059354234486818314, + 0.04534248635172844 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9865596755579741, + -0.03845775271481899, + 0.15881123328993585, + -0.04078620087287555, + -0.9991025486978026, + 0.011427292063828934, + 0.1582292399694255, + -0.017751012412829715, + -0.9872428319197952 + ], + [ + 0.9904547286783245, + 0.020265667576322435, + 0.13634050446009216, + 0.018737541535552654, + -0.9997465161561472, + 0.012482306311331301, + 0.13655890661524006, + -0.009808473445570202, + -0.990583393194494 + ], + [ + 0.9863346181070718, + 0.043510364389950464, + 0.1589052211673055, + 0.03764817288905164, + -0.9985014083128405, + 0.0397184173323892, + 0.1603952499349423, + -0.033193158751879705, + -0.9864945909686376 + ], + [ + 0.9884698363727108, + 0.03546734269575096, + 0.1472054692713837, + 0.030065805683201597, + -0.9987961775851971, + 0.03875877926120953, + 0.1484029309344195, + -0.033886033159715875, + -0.9883462484609188 + ], + [ + 0.982918023029426, + 0.04212142360572923, + 0.17915899552451056, + 0.039184984139258895, + -0.9990338150385176, + 0.019899081074037633, + 0.17982407242060475, + -0.012538823031361836, + -0.9836188697331185 + ], + [ + 0.981304619943504, + 0.0684694003272208, + 0.17986990881291334, + 0.06957271395069058, + -0.9975768676516732, + 0.00017492801772398068, + 0.17944603743485218, + 0.012342380042227517, + -0.9836903909786975 + ], + [ + 0.972845785557263, + 0.0854299105660549, + 0.21511115244019227, + 0.09031157520493216, + -0.9958293654227701, + -0.012949685157826017, + 0.21310771198498582, + 0.03202507365110653, + -0.9765037110785424 + ], + [ + 0.9664533335278535, + 0.07911448120691558, + 0.24435395019573608, + 0.08642735253628919, + -0.996070529431381, + -0.019334247641332673, + 0.2418641495684461, + 0.03980451308142073, + -0.9694933387558077 + ], + [ + 0.9654673211967375, + 0.06733413632838074, + 0.2516723381424878, + 0.06995230952835822, + -0.9975492677196766, + -0.0014604326707842036, + 0.2509572196467845, + 0.019015061315919162, + -0.9678113976133508 + ], + [ + 0.967380391926569, + 0.06416937672771163, + 0.24506625309571806, + 0.06530707693151629, + -0.9978591120921759, + 0.0034897159304093546, + 0.24476552661406087, + 0.01262867787976871, + -0.9695000533658316 + ], + [ + 0.9570315555611536, + 0.06920720907561848, + 0.2816042682065774, + 0.07510046564326806, + -0.9971240585172572, + -0.010175066891062954, + 0.28009020282823655, + 0.030886471764138487, + -0.9594766824376715 + ], + [ + 0.9515482946944042, + 0.07069638431165456, + 0.2992621995999997, + 0.06974659215749879, + -0.9974683417212955, + 0.013867953929265412, + 0.2994849841754788, + 0.007676490671364113, + -0.9540701314601487 + ], + [ + 0.9601553123663686, + 0.06050060144608038, + 0.2728396110525444, + 0.047256886272353166, + -0.9973751656305161, + 0.05485950859552609, + 0.27544248552916273, + -0.039780098141699666, + -0.9604941337443732 + ], + [ + 0.9500904635589988, + 0.05719083920193502, + 0.3066876570154472, + 0.024707929185796812, + -0.993759561955884, + 0.10877247471947493, + 0.31099458080422526, + -0.09576607401698983, + -0.9455745500899314 + ], + [ + 0.9341713354529966, + 0.04697006975318104, + 0.3537198447434729, + -0.0017982474490377612, + -0.9906661647053033, + 0.13629862953895414, + 0.35682023810887925, + -0.127962348585302, + -0.9253674702627366 + ], + [ + 0.8967605864303992, + 0.008495065736554785, + 0.4424344973927073, + -0.07603128406699944, + -0.9819896773568135, + 0.1729610285809607, + 0.4359354246538461, + -0.1887434963721725, + -0.8799637481789111 + ], + [ + 0.8541038453338163, + -0.05407350387520201, + 0.5172839428830622, + -0.16378457142093752, + -0.971942003278221, + 0.1688293707504079, + 0.49364079607590017, + -0.22892094365124696, + -0.8389958080988096 + ], + [ + 0.8490232513735149, + -0.06137593171715906, + 0.5247785377023304, + -0.15182107467934214, + -0.9796820969816433, + 0.1310471294491401, + 0.5060729985983792, + -0.1909345014906963, + -0.8410910392045229 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + 0.001803383231163025, + -0.02429870516061783, + -0.008561249822378159, + -0.008077063597738743, + 0.021910101175308228, + 0.060234181582927704, + 1.0 + ], + [ + 0.0113411545753479, + -0.042090579867362976, + 0.015911325812339783, + 0.023733504116535187, + -0.024104133248329163, + 0.019235393032431602, + 1.0 + ], + [ + 0.003032475709915161, + -0.035893265157938004, + 0.014374542981386185, + 0.0006372705101966858, + 0.012137949466705322, + -0.007744118571281433, + 1.0 + ], + [ + 0.013761460781097412, + -0.04213213175535202, + 0.015699565410614014, + -0.02152521163225174, + -0.031854480504989624, + 0.009437736123800278, + 1.0 + ], + [ + 0.00490906834602356, + -0.02549942210316658, + -0.007394388318061829, + -0.025293312966823578, + 0.0003842860460281372, + 0.030934873968362808, + 1.0 + ], + [ + 0.01031273603439331, + -0.009783720597624779, + -0.011023029685020447, + -0.02023754082620144, + -0.034331321716308594, + 0.021787315607070923, + 1.0 + ], + [ + 0.0068750083446502686, + -0.0013373717665672302, + -0.016713682562112808, + -0.008250080049037933, + -0.029531940817832947, + -0.003376975655555725, + 1.0 + ], + [ + 0.004890471696853638, + 0.004228103905916214, + -0.009243831038475037, + 0.02138902060687542, + -0.00938241183757782, + -0.01686212420463562, + 1.0 + ], + [ + 0.0032696127891540527, + 0.009200237691402435, + -0.008173592388629913, + 0.006619726307690144, + 0.0063911378383636475, + -0.004921041429042816, + 1.0 + ], + [ + 0.010226130485534668, + 0.003719845786690712, + -0.007065679877996445, + -0.019154611974954605, + -0.03661021590232849, + 0.010904893279075623, + 0.0 + ], + [ + 0.0035742223262786865, + 0.0029600821435451508, + -0.0023004282265901566, + 0.024133972823619843, + -0.020264744758605957, + -0.005144655704498291, + 0.0 + ], + [ + 0.005124121904373169, + 0.004933495074510574, + 0.009080497547984123, + 0.04943849891424179, + 0.025102853775024414, + -0.023988883942365646, + 0.0 + ], + [ + 0.026387125253677368, + 0.012120623141527176, + 0.028667379170656204, + 0.05954139307141304, + -0.037189364433288574, + -0.02317826636135578, + 0.0 + ], + [ + 0.02787691354751587, + 0.016760995611548424, + 0.011193305253982544, + 0.03647727519273758, + -0.04862251877784729, + -0.027924973517656326, + 0.0 + ], + [ + 0.0229341983795166, + 0.02117817848920822, + -0.0026930496096611023, + 0.07387742400169373, + -0.0862155556678772, + -0.08265712857246399, + 0.0 + ], + [ + 0.016096949577331543, + 0.008835431188344955, + -0.016463223844766617, + 0.055078595876693726, + -0.06519383192062378, + -0.10487981140613556, + 0.0 + ], + [ + 0.009794622659683228, + 0.01386331394314766, + -0.01053745299577713, + -0.04314233362674713, + -0.014354348182678223, + 0.012513607740402222, + 1.0 + ], + [ + 0.005273997783660889, + -0.0016791000962257385, + 0.0027753934264183044, + -0.047537460923194885, + -0.017159759998321533, + 0.030096232891082764, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.8205437660217285 + ], + [ + 0.6581199765205383 + ], + [ + 0.6581199765205383 + ], + [ + 0.6581199765205383 + ], + [ + 0.6581199765205383 + ], + [ + 0.6581199765205383 + ], + [ + 0.6581199765205383 + ], + [ + 0.8827611207962036 + ], + [ + 1.0168675184249878 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.23217815160751343, + 0.11829041689634323, + 0.04202422872185707 + ], + [ + 0.24351930618286133, + 0.07619983702898026, + 0.057935554534196854 + ], + [ + 0.2465517818927765, + 0.04030657187104225, + 0.07231009751558304 + ], + [ + 0.2603132426738739, + -0.0018255581380799413, + 0.08800966292619705 + ], + [ + 0.26522231101989746, + -0.0273249801248312, + 0.08061527460813522 + ], + [ + 0.27553504705429077, + -0.03710870072245598, + 0.06959224492311478 + ], + [ + 0.28241005539894104, + -0.03844607248902321, + 0.05287856236100197 + ], + [ + 0.2873005270957947, + -0.034217968583106995, + 0.04363473132252693 + ], + [ + 0.29057013988494873, + -0.02501773089170456, + 0.03546113893389702 + ], + [ + 0.3007962703704834, + -0.021297885105013847, + 0.028395459055900574 + ], + [ + 0.3043704926967621, + -0.018337802961468697, + 0.026095030829310417 + ], + [ + 0.30949461460113525, + -0.013404307886958122, + 0.03517552837729454 + ], + [ + 0.3358817398548126, + -0.0012836846290156245, + 0.06384290754795074 + ], + [ + 0.3637586534023285, + 0.015477311797440052, + 0.07503621280193329 + ], + [ + 0.3866928517818451, + 0.0366554893553257, + 0.07234316319227219 + ], + [ + 0.40278980135917664, + 0.045490920543670654, + 0.05587993934750557 + ], + [ + 0.41258442401885986, + 0.059354234486818314, + 0.04534248635172844 + ], + [ + 0.41785842180252075, + 0.057675134390592575, + 0.048117879778146744 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9904547286783245, + 0.020265667576322435, + 0.13634050446009216, + 0.018737541535552654, + -0.9997465161561472, + 0.012482306311331301, + 0.13655890661524006, + -0.009808473445570202, + -0.990583393194494 + ], + [ + 0.9863346181070718, + 0.043510364389950464, + 0.1589052211673055, + 0.03764817288905164, + -0.9985014083128405, + 0.0397184173323892, + 0.1603952499349423, + -0.033193158751879705, + -0.9864945909686376 + ], + [ + 0.9884698363727108, + 0.03546734269575096, + 0.1472054692713837, + 0.030065805683201597, + -0.9987961775851971, + 0.03875877926120953, + 0.1484029309344195, + -0.033886033159715875, + -0.9883462484609188 + ], + [ + 0.982918023029426, + 0.04212142360572923, + 0.17915899552451056, + 0.039184984139258895, + -0.9990338150385176, + 0.019899081074037633, + 0.17982407242060475, + -0.012538823031361836, + -0.9836188697331185 + ], + [ + 0.981304619943504, + 0.0684694003272208, + 0.17986990881291334, + 0.06957271395069058, + -0.9975768676516732, + 0.00017492801772398068, + 0.17944603743485218, + 0.012342380042227517, + -0.9836903909786975 + ], + [ + 0.972845785557263, + 0.0854299105660549, + 0.21511115244019227, + 0.09031157520493216, + -0.9958293654227701, + -0.012949685157826017, + 0.21310771198498582, + 0.03202507365110653, + -0.9765037110785424 + ], + [ + 0.9664533335278535, + 0.07911448120691558, + 0.24435395019573608, + 0.08642735253628919, + -0.996070529431381, + -0.019334247641332673, + 0.2418641495684461, + 0.03980451308142073, + -0.9694933387558077 + ], + [ + 0.9654673211967375, + 0.06733413632838074, + 0.2516723381424878, + 0.06995230952835822, + -0.9975492677196766, + -0.0014604326707842036, + 0.2509572196467845, + 0.019015061315919162, + -0.9678113976133508 + ], + [ + 0.967380391926569, + 0.06416937672771163, + 0.24506625309571806, + 0.06530707693151629, + -0.9978591120921759, + 0.0034897159304093546, + 0.24476552661406087, + 0.01262867787976871, + -0.9695000533658316 + ], + [ + 0.9570315555611536, + 0.06920720907561848, + 0.2816042682065774, + 0.07510046564326806, + -0.9971240585172572, + -0.010175066891062954, + 0.28009020282823655, + 0.030886471764138487, + -0.9594766824376715 + ], + [ + 0.9515482946944042, + 0.07069638431165456, + 0.2992621995999997, + 0.06974659215749879, + -0.9974683417212955, + 0.013867953929265412, + 0.2994849841754788, + 0.007676490671364113, + -0.9540701314601487 + ], + [ + 0.9601553123663686, + 0.06050060144608038, + 0.2728396110525444, + 0.047256886272353166, + -0.9973751656305161, + 0.05485950859552609, + 0.27544248552916273, + -0.039780098141699666, + -0.9604941337443732 + ], + [ + 0.9500904635589988, + 0.05719083920193502, + 0.3066876570154472, + 0.024707929185796812, + -0.993759561955884, + 0.10877247471947493, + 0.31099458080422526, + -0.09576607401698983, + -0.9455745500899314 + ], + [ + 0.9341713354529966, + 0.04697006975318104, + 0.3537198447434729, + -0.0017982474490377612, + -0.9906661647053033, + 0.13629862953895414, + 0.35682023810887925, + -0.127962348585302, + -0.9253674702627366 + ], + [ + 0.8967605864303992, + 0.008495065736554785, + 0.4424344973927073, + -0.07603128406699944, + -0.9819896773568135, + 0.1729610285809607, + 0.4359354246538461, + -0.1887434963721725, + -0.8799637481789111 + ], + [ + 0.8541038453338163, + -0.05407350387520201, + 0.5172839428830622, + -0.16378457142093752, + -0.971942003278221, + 0.1688293707504079, + 0.49364079607590017, + -0.22892094365124696, + -0.8389958080988096 + ], + [ + 0.8490232513735149, + -0.06137593171715906, + 0.5247785377023304, + -0.15182107467934214, + -0.9796820969816433, + 0.1310471294491401, + 0.5060729985983792, + -0.1909345014906963, + -0.8410910392045229 + ], + [ + 0.8444915047766637, + -0.054024416540039165, + 0.5328371803633398, + -0.12491456122667935, + -0.9873285022334688, + 0.09787124741700777, + 0.5207978981846915, + -0.14921055959590568, + -0.8405389688476581 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006358.json b/json/chunk-0006/episode_0006358.json new file mode 100644 index 0000000000000000000000000000000000000000..8d4fd2dc62003a5f259b3746c0a4329112601b32 --- /dev/null +++ b/json/chunk-0006/episode_0006358.json @@ -0,0 +1,2482 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 40, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPlace pot on top of orange towel." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006358.mp4", + "start": 0, + "end": 40, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.28196167945861816, + -0.044778719544410706, + 0.11108051240444183, + -0.01774892583489418, + -0.3563872277736664, + 0.03652900457382202, + 0.0, + 1.0008161067962646 + ], + [ + 0.278761625289917, + -0.045590054243803024, + 0.10333611816167831, + -0.009534061886370182, + -0.3235659897327423, + 0.012132101692259312, + 0.0, + 1.0008161067962646 + ], + [ + 0.27575409412384033, + -0.02695932798087597, + 0.09635359793901443, + 0.03780118003487587, + -0.25620466470718384, + -0.16982939839363098, + 0.0, + 1.0008161067962646 + ], + [ + 0.275461882352829, + -0.0013904876541346312, + 0.09563475102186203, + 0.053042829036712646, + -0.24382531642913818, + -0.28912487626075745, + 0.0, + 1.0008161067962646 + ], + [ + 0.27437499165534973, + 0.022535450756549835, + 0.09205012023448944, + 0.08131017535924911, + -0.19520631432533264, + -0.4796021580696106, + 0.0, + 1.0008161067962646 + ], + [ + 0.2845725119113922, + 0.057944778352975845, + 0.08239070326089859, + 0.06724456697702408, + -0.2048541009426117, + -0.6680018305778503, + 0.0, + 1.0008161067962646 + ], + [ + 0.30428263545036316, + 0.07963871210813522, + 0.07742049545049667, + 0.07784438133239746, + -0.19717858731746674, + -0.7302544116973877, + 0.0, + 1.0008161067962646 + ], + [ + 0.321792334318161, + 0.09651967138051987, + 0.07257179170846939, + 0.13240011036396027, + -0.193626269698143, + -0.802386462688446, + 0.0, + 1.0008161067962646 + ], + [ + 0.340130090713501, + 0.10286261141300201, + 0.06052187457680702, + 0.14113369584083557, + -0.21616387367248535, + -0.8372976779937744, + 0.0, + 1.0008161067962646 + ], + [ + 0.3512159287929535, + 0.11086323112249374, + 0.04306754469871521, + 0.135746568441391, + -0.17542120814323425, + -0.8320368528366089, + 0.0, + 1.0008161067962646 + ], + [ + 0.3581473231315613, + 0.11045165359973907, + 0.028476368635892868, + 0.13451604545116425, + -0.15575267374515533, + -0.8217670321464539, + 0.0, + 1.0008161067962646 + ], + [ + 0.35919734835624695, + 0.11349854618310928, + 0.01892346516251564, + 0.12414475530385971, + -0.13183461129665375, + -0.8088324666023254, + 0.0, + 0.9583302736282349 + ], + [ + 0.35962554812431335, + 0.11158514767885208, + 0.015374782495200634, + 0.12766267359256744, + -0.11121674627065659, + -0.7985303997993469, + 0.0, + 0.6581199765205383 + ], + [ + 0.3605726361274719, + 0.11208076775074005, + 0.012839735485613346, + 0.1465546041727066, + -0.11945561319589615, + -0.7805675268173218, + 0.0, + 0.3831871449947357 + ], + [ + 0.3568309545516968, + 0.11415855586528778, + 0.011748552322387695, + 0.15007048845291138, + -0.10089529305696487, + -0.7697219252586365, + 0.0, + 0.17351533472537994 + ], + [ + 0.35064250230789185, + 0.11378980427980423, + 0.018966682255268097, + 0.16782937943935394, + -0.10328686982393265, + -0.7677610516548157, + 0.0, + 0.08783477544784546 + ], + [ + 0.3451440930366516, + 0.11301528662443161, + 0.026256296783685684, + 0.18819314241409302, + -0.1008424311876297, + -0.763757050037384, + 0.0, + 0.07755524665117264 + ], + [ + 0.34146958589553833, + 0.10843192040920258, + 0.04117251932621002, + 0.2399420142173767, + -0.0820276290178299, + -0.7612621784210205, + 0.0, + 0.07722585648298264 + ], + [ + 0.3327813446521759, + 0.09629308432340622, + 0.05643418803811073, + 0.30177104473114014, + -0.051203615963459015, + -0.7522916197776794, + 0.0, + 0.07689721137285233 + ], + [ + 0.3189682364463806, + 0.08027027547359467, + 0.06454365700483322, + 0.3145601451396942, + -0.005113729741424322, + -0.6932641267776489, + 0.0, + 0.07689721137285233 + ], + [ + 0.29981082677841187, + 0.06565537303686142, + 0.06701923906803131, + 0.2841321527957916, + 0.0045449077151715755, + -0.5781256556510925, + 0.0, + 0.07689721137285233 + ], + [ + 0.2865789234638214, + 0.050033893436193466, + 0.06596385687589645, + 0.2944659888744354, + -0.0034131710417568684, + -0.4929884076118469, + 0.0, + 0.07494325935840607 + ], + [ + 0.2719120979309082, + 0.04386667162179947, + 0.06257236003875732, + 0.3011285066604614, + -0.04854532703757286, + -0.3999904990196228, + 0.0, + 0.07365728914737701 + ], + [ + 0.26374414563179016, + 0.0389137901365757, + 0.05530378967523575, + 0.2904423177242279, + -0.14421460032463074, + -0.29353460669517517, + 0.0, + 0.07365728914737701 + ], + [ + 0.26036062836647034, + 0.03212960809469223, + 0.04715025797486305, + 0.29083240032196045, + -0.20012269914150238, + -0.20826396346092224, + 0.0, + 0.07365728914737701 + ], + [ + 0.2635103464126587, + 0.029905660077929497, + 0.044785276055336, + 0.29427745938301086, + -0.21749772131443024, + -0.19484977424144745, + 0.0, + 0.07365728914737701 + ], + [ + 0.264480322599411, + 0.02767503261566162, + 0.0332442969083786, + 0.27948975563049316, + -0.20221243798732758, + -0.18404394388198853, + 0.0, + 0.07365728914737701 + ], + [ + 0.26630324125289917, + 0.020449282601475716, + 0.024531185626983643, + 0.2808634340763092, + -0.16917066276073456, + -0.1892865002155304, + 0.0, + 0.07365728914737701 + ], + [ + 0.27066728472709656, + 0.017495084553956985, + 0.021779973059892654, + 0.2715764343738556, + -0.1669827103614807, + -0.1937987059354782, + 0.0, + 0.07365728914737701 + ], + [ + 0.2717708349227905, + 0.015657765790820122, + 0.015188967809081078, + 0.257311075925827, + -0.14881201088428497, + -0.20264099538326263, + 0.0, + 0.1004381775856018 + ], + [ + 0.27198994159698486, + 0.017892997711896896, + 0.014816696755588055, + 0.23655150830745697, + -0.15107381343841553, + -0.20621658861637115, + 0.0, + 0.26805928349494934 + ], + [ + 0.2732352614402771, + 0.020282819867134094, + 0.025475764647126198, + 0.2361467182636261, + -0.20059767365455627, + -0.21551738679409027, + 0.0, + 0.5334634184837341 + ], + [ + 0.2723665237426758, + 0.01968287117779255, + 0.03412526845932007, + 0.23184086382389069, + -0.21492943167686462, + -0.21431244909763336, + 0.0, + 0.8298270106315613 + ], + [ + 0.2724059820175171, + 0.02370184101164341, + 0.05602966994047165, + 0.21556971967220306, + -0.27576348185539246, + -0.2098539173603058, + 0.0, + 1.0124757289886475 + ], + [ + 0.2719042897224426, + 0.025658519938588142, + 0.07120892405509949, + 0.213963583111763, + -0.2704424262046814, + -0.2390112578868866, + 0.0, + 1.0099300146102905 + ], + [ + 0.2832943797111511, + 0.03362688049674034, + 0.09144094586372375, + 0.18734069168567657, + -0.24687497317790985, + -0.3273669481277466, + 0.0, + 1.0047606229782104 + ], + [ + 0.2907862365245819, + 0.042578909546136856, + 0.09807929396629333, + 0.1664758026599884, + -0.21618860960006714, + -0.366371214389801, + 0.0, + 1.002137303352356 + ], + [ + 0.29663386940956116, + 0.05821835994720459, + 0.10192295908927917, + 0.1327814757823944, + -0.23312509059906006, + -0.27000561356544495, + 0.0, + 1.0014774799346924 + ], + [ + 0.3014379143714905, + 0.07449115812778473, + 0.10624226182699203, + 0.1256113499403, + -0.23648834228515625, + -0.21335554122924805, + 0.0, + 1.0014774799346924 + ], + [ + 0.303020715713501, + 0.09432161599397659, + 0.10759866237640381, + 0.08639029413461685, + -0.25800013542175293, + -0.11755646765232086, + 0.0, + 1.0014774799346924 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9583302736282349 + ], + [ + 0.6581199765205383 + ], + [ + 0.3831871449947357 + ], + [ + 0.17351533472537994 + ], + [ + 0.08783477544784546 + ], + [ + 0.07755524665117264 + ], + [ + 0.07722585648298264 + ], + [ + 0.07689721137285233 + ], + [ + 0.07689721137285233 + ], + [ + 0.07689721137285233 + ], + [ + 0.07494325935840607 + ], + [ + 0.07365728914737701 + ], + [ + 0.07365728914737701 + ], + [ + 0.07365728914737701 + ], + [ + 0.07365728914737701 + ], + [ + 0.07365728914737701 + ], + [ + 0.07365728914737701 + ], + [ + 0.07365728914737701 + ], + [ + 0.1004381775856018 + ], + [ + 0.26805928349494934 + ], + [ + 0.5334634184837341 + ], + [ + 0.8298270106315613 + ], + [ + 1.0124757289886475 + ], + [ + 1.0099300146102905 + ], + [ + 1.0047606229782104 + ], + [ + 1.002137303352356 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.28196167945861816, + -0.044778719544410706, + 0.11108051240444183 + ], + [ + 0.278761625289917, + -0.045590054243803024, + 0.10333611816167831 + ], + [ + 0.27575409412384033, + -0.02695932798087597, + 0.09635359793901443 + ], + [ + 0.275461882352829, + -0.0013904876541346312, + 0.09563475102186203 + ], + [ + 0.27437499165534973, + 0.022535450756549835, + 0.09205012023448944 + ], + [ + 0.2845725119113922, + 0.057944778352975845, + 0.08239070326089859 + ], + [ + 0.30428263545036316, + 0.07963871210813522, + 0.07742049545049667 + ], + [ + 0.321792334318161, + 0.09651967138051987, + 0.07257179170846939 + ], + [ + 0.340130090713501, + 0.10286261141300201, + 0.06052187457680702 + ], + [ + 0.3512159287929535, + 0.11086323112249374, + 0.04306754469871521 + ], + [ + 0.3581473231315613, + 0.11045165359973907, + 0.028476368635892868 + ], + [ + 0.35919734835624695, + 0.11349854618310928, + 0.01892346516251564 + ], + [ + 0.35962554812431335, + 0.11158514767885208, + 0.015374782495200634 + ], + [ + 0.3605726361274719, + 0.11208076775074005, + 0.012839735485613346 + ], + [ + 0.3568309545516968, + 0.11415855586528778, + 0.011748552322387695 + ], + [ + 0.35064250230789185, + 0.11378980427980423, + 0.018966682255268097 + ], + [ + 0.3451440930366516, + 0.11301528662443161, + 0.026256296783685684 + ], + [ + 0.34146958589553833, + 0.10843192040920258, + 0.04117251932621002 + ], + [ + 0.3327813446521759, + 0.09629308432340622, + 0.05643418803811073 + ], + [ + 0.3189682364463806, + 0.08027027547359467, + 0.06454365700483322 + ], + [ + 0.29981082677841187, + 0.06565537303686142, + 0.06701923906803131 + ], + [ + 0.2865789234638214, + 0.050033893436193466, + 0.06596385687589645 + ], + [ + 0.2719120979309082, + 0.04386667162179947, + 0.06257236003875732 + ], + [ + 0.26374414563179016, + 0.0389137901365757, + 0.05530378967523575 + ], + [ + 0.26036062836647034, + 0.03212960809469223, + 0.04715025797486305 + ], + [ + 0.2635103464126587, + 0.029905660077929497, + 0.044785276055336 + ], + [ + 0.264480322599411, + 0.02767503261566162, + 0.0332442969083786 + ], + [ + 0.26630324125289917, + 0.020449282601475716, + 0.024531185626983643 + ], + [ + 0.27066728472709656, + 0.017495084553956985, + 0.021779973059892654 + ], + [ + 0.2717708349227905, + 0.015657765790820122, + 0.015188967809081078 + ], + [ + 0.27198994159698486, + 0.017892997711896896, + 0.014816696755588055 + ], + [ + 0.2732352614402771, + 0.020282819867134094, + 0.025475764647126198 + ], + [ + 0.2723665237426758, + 0.01968287117779255, + 0.03412526845932007 + ], + [ + 0.2724059820175171, + 0.02370184101164341, + 0.05602966994047165 + ], + [ + 0.2719042897224426, + 0.025658519938588142, + 0.07120892405509949 + ], + [ + 0.2832943797111511, + 0.03362688049674034, + 0.09144094586372375 + ], + [ + 0.2907862365245819, + 0.042578909546136856, + 0.09807929396629333 + ], + [ + 0.29663386940956116, + 0.05821835994720459, + 0.10192295908927917 + ], + [ + 0.3014379143714905, + 0.07449115812778473, + 0.10624226182699203 + ], + [ + 0.303020715713501, + 0.09432161599397659, + 0.10759866237640381 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.936538208778199, + 0.030327148650802327, + 0.3492512670746303, + 0.034226033242936355, + -0.9994016284782351, + -0.0049963630277580825, + 0.34889075961821636, + 0.01663277035745611, + -0.9370157889829073 + ], + [ + 0.9480378698411424, + 0.009100171335482674, + 0.3180273325183448, + 0.011502256181508064, + -0.9999177366695778, + -0.005676089879786314, + 0.317949517140385, + 0.009039180010007137, + -0.9480645535905994 + ], + [ + 0.953441927797366, + -0.1594542904725241, + 0.2559742556741707, + -0.1634973647145677, + -0.986528153939603, + -0.005550965313365876, + 0.253410935141784, + -0.03655859316798803, + -0.9666676612032409 + ], + [ + 0.9301430237577977, + -0.2724443809364516, + 0.24618695061041398, + -0.2766803266150877, + -0.9607949730514471, + -0.017916936770477437, + 0.24141655332406095, + -0.05144977215909265, + -0.9690567417473076 + ], + [ + 0.8703289812192484, + -0.44592491608934637, + 0.2089938603418162, + -0.4526626963811716, + -0.8915168977105844, + -0.017149472336563693, + 0.19396893502515386, + -0.07967804156230737, + -0.977766568224749 + ], + [ + 0.768645840740805, + -0.6072877160416468, + 0.20096069629850918, + -0.6064669159337823, + -0.7917534008730105, + -0.07296870619511472, + 0.203424313663898, + -0.06578892118694957, + -0.9768778667056746 + ], + [ + 0.7305689146555823, + -0.6536892760249593, + 0.19738133485446285, + -0.6541337248552834, + -0.7529109545061496, + -0.07234752650638222, + 0.19590337145112507, + -0.07625893386747411, + -0.9776535398900161 + ], + [ + 0.6820054024255229, + -0.6950696798698575, + 0.2274791664922623, + -0.7055803931892872, + -0.7071745178483839, + -0.04539284142633707, + 0.19241865764330518, + -0.1295466766517748, + -0.9727243796467883 + ], + [ + 0.6538922980245171, + -0.7152524211826206, + 0.24665529910507777, + -0.7255489794781877, + -0.685228004897172, + -0.06357090279995796, + 0.21448436064752263, + -0.1373919768292186, + -0.96701597905132 + ], + [ + 0.6630371521256271, + -0.7165994725827786, + 0.21648771511386436, + -0.7279584420371069, + -0.6846377090915008, + -0.036711223853877324, + 0.1745228969735664, + -0.13325315449934055, + -0.9755948724998142 + ], + [ + 0.6726855851550732, + -0.7115685361148033, + 0.202889925664171, + -0.7234851342038641, + -0.6900125527750285, + -0.021258824024520007, + 0.1551237058305203, + -0.13248734061911174, + -0.9789707556740813 + ], + [ + 0.6843530645806015, + -0.7066767598116709, + 0.1796352975926981, + -0.7172035816765358, + -0.696807004339852, + -0.008889383177147839, + 0.13145305408961702, + -0.12275160220950111, + -0.9836931120657055 + ], + [ + 0.693449274256764, + -0.7006423477462045, + 0.16801310835007685, + -0.7119057901804693, + -0.7022040733983617, + 0.009979238962502489, + 0.11098761165233609, + -0.12652960067682037, + -0.9857342492843978 + ], + [ + 0.7054509261068294, + -0.6837744718565965, + 0.18652469673544503, + -0.6986680846910219, + -0.7151436261723845, + 0.020796667502076024, + 0.11917171765648121, + -0.14498988096500243, + -0.982230133995368 + ], + [ + 0.71445221885962, + -0.6772996683983975, + 0.17556533300736277, + -0.692396319413903, + -0.7205132499885586, + 0.03805250915517908, + 0.10072419683792876, + -0.14874748999006793, + -0.9837320877113893 + ], + [ + 0.7156331869268029, + -0.6723766768603018, + 0.18915270598985495, + -0.6908247585605761, + -0.7213203079157263, + 0.04957989862921363, + 0.10310332064831373, + -0.1661523933100532, + -0.9806952062025347 + ], + [ + 0.7185733865989715, + -0.6658253729455701, + 0.2008204691100428, + -0.6881260903988591, + -0.7225169755290805, + 0.06672108950467909, + 0.10067160366293154, + -0.18613380352370895, + -0.977353280754575 + ], + [ + 0.7215316433862617, + -0.6559763318963343, + 0.2215561770390314, + -0.687516278487331, + -0.716657822464201, + 0.1171449201450944, + 0.08193567237321724, + -0.23684724506039748, + -0.9680857028693528 + ], + [ + 0.7291679767598721, + -0.641329461083254, + 0.23876889247675764, + -0.6824181576392488, + -0.7075260636835677, + 0.1836091700669906, + 0.051181244535158765, + -0.29682215475785967, + -0.9535602176332302 + ], + [ + 0.769154115110597, + -0.6064776743013762, + 0.2014616037423227, + -0.6390428758733726, + -0.7324343450571194, + 0.23487045999068978, + 0.005113707453917052, + -0.3093941834533135, + -0.9509201276875643 + ], + [ + 0.837479715923888, + -0.5256121941698874, + 0.1495310895966452, + -0.546449512189488, + -0.8032133066349552, + 0.23715251352750086, + -0.004544892068444439, + -0.2803216106268969, + -0.9598953789719107 + ], + [ + 0.8809173675952169, + -0.45201748324988017, + 0.1402311887760988, + -0.4732577963201367, + -0.843473995825949, + 0.2541233491586618, + 0.0034131644146701556, + -0.2902271751608581, + -0.9569516900590265 + ], + [ + 0.9199795939501979, + -0.35863038997636104, + 0.15818277434863767, + -0.38895083059549335, + -0.8852236723792338, + 0.2551397680458666, + 0.04852626190326928, + -0.2962487016761861, + -0.9538773027286419 + ], + [ + 0.947290269254465, + -0.23782299946375704, + 0.21466570918958022, + -0.28633385955805196, + -0.9290440501766024, + 0.23428630711598364, + 0.1437152276079101, + -0.28340319997755326, + -0.9481711657691823 + ], + [ + 0.9588647901984984, + -0.14230772796725877, + 0.24561519635068774, + -0.20263517946442444, + -0.9490903053309648, + 0.24117747898632014, + 0.19878958262698454, + -0.281026872180532, + -0.9388858284964241 + ], + [ + 0.9579630546274995, + -0.12389155030879889, + 0.25876180114312186, + -0.18905757687939995, + -0.9510205703670745, + 0.2445753613166581, + 0.2157869750314879, + -0.283215039326598, + -0.9344652068996434 + ], + [ + 0.9630804065423149, + -0.12143705876920706, + 0.24026895615491675, + -0.17927787910492898, + -0.9551026192182553, + 0.23587799563771641, + 0.20083717932177705, + -0.270244384807367, + -0.9416115971472313 + ], + [ + 0.9681184473385447, + -0.1349507521113366, + 0.21103309320433647, + -0.18547217957886647, + -0.9524360888377197, + 0.24179654108727858, + 0.16836490882921626, + -0.2732284596891251, + -0.9471005576446663 + ], + [ + 0.9676308689402486, + -0.1417787107779519, + 0.20878050350567, + -0.18990911624137552, + -0.9539016489653419, + 0.23239227971174337, + 0.16620778875359282, + -0.2645192644616708, + -0.9499497511375523 + ], + [ + 0.9687125293760755, + -0.15767294805607054, + 0.1916644904021439, + -0.199032676131825, + -0.9548833400109981, + 0.22041733325953436, + 0.1482633780190169, + -0.2516685288643541, + -0.9563895243663231 + ], + [ + 0.9676639653973478, + -0.1645334134029907, + 0.19119415771785678, + -0.20242593641749712, + -0.9587763354689169, + 0.19942838015261016, + 0.15049980178385466, + -0.23168231356483632, + -0.9610791409890577 + ], + [ + 0.9572774368391213, + -0.16237888077324586, + 0.23927600798565307, + -0.20956462458186115, + -0.959723873236508, + 0.187116956109752, + 0.1992550552497625, + -0.22926662691884153, + -0.9527508786344261 + ], + [ + 0.9546406679345502, + -0.15910173123413993, + 0.2516899565810602, + -0.20778229787391664, + -0.9614021453050693, + 0.18036749067680083, + 0.21327848418373435, + -0.22448285930357884, + -0.9508521094592884 + ], + [ + 0.9411078473350649, + -0.14653108156889919, + 0.3047042202179159, + -0.20044630631052932, + -0.9675566487832473, + 0.15380315237925615, + 0.2722816519173208, + -0.20582218910890013, + -0.9399467689713044 + ], + [ + 0.9362585789410791, + -0.17622938742852828, + 0.30391294208341507, + -0.2281371932558372, + -0.9628473882262247, + 0.14449334946386586, + 0.26715780806965067, + -0.20461698363650985, + -0.9416786052549545 + ], + [ + 0.9181833002291833, + -0.2728278640631915, + 0.28723576339126394, + -0.3118017732104341, + -0.9449595872141978, + 0.09915156456053353, + 0.24437487882978978, + -0.18059993112592643, + -0.9527143241676573 + ], + [ + 0.9119004197083986, + -0.32009056224456967, + 0.25686505503396434, + -0.3498910102051468, + -0.9334593838782137, + 0.07892945981905215, + 0.21450852084070723, + -0.16185058112858525, + -0.9632188141201723 + ], + [ + 0.9376986573411836, + -0.2349119933518744, + 0.25600309255942694, + -0.259521399443468, + -0.9634439533147855, + 0.06651610370490206, + 0.2310192010449467, + -0.12881034197853175, + -0.9643847907074895 + ], + [ + 0.9501237226795276, + -0.18138565493023448, + 0.2537009179863685, + -0.2058471081127288, + -0.9758408644092781, + 0.07322277945133873, + 0.234290161302652, + -0.12179430009028652, + -0.9645072673558736 + ], + [ + 0.9602287986714929, + -0.09498558743220406, + 0.2625612164468712, + -0.1134039839535042, + -0.9919766415062132, + 0.055873778550651045, + 0.2551473900030627, + -0.0834270992316822, + -0.9632962828166691 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.003200054168701172, + -0.0008113346993923187, + -0.007744394242763519, + 0.008214863948523998, + 0.03282123804092407, + -0.024396903812885284, + 1.0 + ], + [ + -0.00300753116607666, + 0.018630726262927055, + -0.006982520222663879, + 0.04733524098992348, + 0.06736132502555847, + -0.18196150660514832, + 1.0 + ], + [ + -0.00029221177101135254, + 0.02556884102523327, + -0.0007188469171524048, + 0.015241649001836777, + 0.012379348278045654, + -0.11929547786712646, + 1.0 + ], + [ + -0.001086890697479248, + 0.023925937712192535, + -0.003584630787372589, + 0.02826734632253647, + 0.04861900210380554, + -0.19047728180885315, + 1.0 + ], + [ + 0.01019752025604248, + 0.03540932759642601, + -0.00965941697359085, + -0.014065608382225037, + -0.009647786617279053, + -0.18839967250823975, + 1.0 + ], + [ + 0.019710123538970947, + 0.021693933755159378, + -0.0049702078104019165, + 0.010599814355373383, + 0.0076755136251449585, + -0.062252581119537354, + 1.0 + ], + [ + 0.01750969886779785, + 0.016880959272384644, + -0.004848703742027283, + 0.054555729031562805, + 0.0035523176193237305, + -0.07213205099105835, + 1.0 + ], + [ + 0.018337756395339966, + 0.006342940032482147, + -0.012049917131662369, + 0.008733585476875305, + -0.022537603974342346, + -0.03491121530532837, + 1.0 + ], + [ + 0.011085838079452515, + 0.00800061970949173, + -0.017454329878091812, + -0.00538712739944458, + 0.0407426655292511, + 0.005260825157165527, + 1.0 + ], + [ + 0.006931394338607788, + -0.0004115775227546692, + -0.014591176062822342, + -0.0012305229902267456, + 0.01966853439807892, + 0.01026982069015503, + 1.0 + ], + [ + 0.001050025224685669, + 0.0030468925833702087, + -0.009552903473377228, + -0.010371290147304535, + 0.023918062448501587, + 0.012934565544128418, + 0.0 + ], + [ + 0.00042819976806640625, + -0.0019133985042572021, + -0.0035486826673150063, + 0.003517918288707733, + 0.020617865025997162, + 0.010302066802978516, + 0.0 + ], + [ + 0.0009470880031585693, + 0.00049562007188797, + -0.002535047009587288, + 0.01889193058013916, + -0.008238866925239563, + 0.017962872982025146, + 0.0 + ], + [ + -0.0037416815757751465, + 0.0020777881145477295, + -0.0010911831632256508, + 0.003515884280204773, + 0.018560320138931274, + 0.010845601558685303, + 0.0 + ], + [ + -0.006188452243804932, + -0.000368751585483551, + 0.007218129932880402, + 0.017758890986442566, + -0.0023915767669677734, + 0.0019608736038208008, + 0.0 + ], + [ + -0.005498409271240234, + -0.0007745176553726196, + 0.007289614528417587, + 0.020363762974739075, + 0.002444438636302948, + 0.004004001617431641, + 0.0 + ], + [ + -0.0036745071411132812, + -0.004583366215229034, + 0.014916222542524338, + 0.05174887180328369, + 0.018814802169799805, + 0.0024948716163635254, + 0.0 + ], + [ + -0.008688241243362427, + -0.012138836085796356, + 0.015261668711900711, + 0.06182903051376343, + 0.03082401305437088, + 0.008970558643341064, + 0.0 + ], + [ + -0.013813108205795288, + -0.016022808849811554, + 0.008109468966722488, + 0.012789100408554077, + 0.046089887619018555, + 0.05902749300003052, + 0.0 + ], + [ + -0.01915740966796875, + -0.014614902436733246, + 0.0024755820631980896, + -0.030427992343902588, + 0.009658637456595898, + 0.1151384711265564, + 0.0 + ], + [ + -0.013231903314590454, + -0.015621479600667953, + -0.0010553821921348572, + 0.010333836078643799, + -0.007958078756928444, + 0.0851372480392456, + 0.0 + ], + [ + -0.014666825532913208, + -0.006167221814393997, + -0.0033914968371391296, + 0.006662517786026001, + -0.04513215646147728, + 0.09299790859222412, + 0.0 + ], + [ + -0.008167952299118042, + -0.00495288148522377, + -0.007268570363521576, + -0.01068618893623352, + -0.09566926956176758, + 0.10645589232444763, + 0.0 + ], + [ + -0.0033835172653198242, + -0.006784182041883469, + -0.008153531700372696, + 0.00039008259773254395, + -0.05590809881687164, + 0.08527064323425293, + 0.0 + ], + [ + 0.0031497180461883545, + -0.0022239480167627335, + -0.002364981919527054, + 0.003445059061050415, + -0.017375022172927856, + 0.013414189219474792, + 0.0 + ], + [ + 0.0009699761867523193, + -0.0022306274622678757, + -0.011540979146957397, + -0.0147877037525177, + 0.015285283327102661, + 0.010805830359458923, + 0.0 + ], + [ + 0.0018229186534881592, + -0.0072257500141859055, + -0.008713111281394958, + 0.00137367844581604, + 0.03304177522659302, + -0.00524255633354187, + 0.0 + ], + [ + 0.004364043474197388, + -0.00295419804751873, + -0.002751212567090988, + -0.009286999702453613, + 0.002187952399253845, + -0.004512205719947815, + 0.0 + ], + [ + 0.0011035501956939697, + -0.0018373187631368637, + -0.006591005250811577, + -0.014265358448028564, + 0.01817069947719574, + -0.008842289447784424, + 1.0 + ], + [ + 0.00021910667419433594, + 0.0022352319210767746, + -0.0003722710534930229, + -0.020759567618370056, + -0.002261802554130554, + -0.0035755932331085205, + 1.0 + ], + [ + 0.0012453198432922363, + 0.002389822155237198, + 0.010659067891538143, + -0.0004047900438308716, + -0.04952386021614075, + -0.009300798177719116, + 1.0 + ], + [ + -0.0008687376976013184, + -0.0005999486893415451, + 0.00864950381219387, + -0.004305854439735413, + -0.01433175802230835, + 0.0012049376964569092, + 1.0 + ], + [ + 3.9458274841308594e-05, + 0.004018969833850861, + 0.02190440148115158, + -0.016271144151687622, + -0.06083405017852783, + 0.004458531737327576, + 1.0 + ], + [ + -0.0005016922950744629, + 0.0019566789269447327, + 0.015179254114627838, + -0.0016061365604400635, + 0.00532105565071106, + -0.02915734052658081, + 1.0 + ], + [ + 0.011390089988708496, + 0.007968360558152199, + 0.020232021808624268, + -0.026622891426086426, + 0.023567453026771545, + -0.08835569024085999, + 1.0 + ], + [ + 0.007491856813430786, + 0.008952029049396515, + 0.00663834810256958, + -0.02086488902568817, + 0.030686363577842712, + -0.03900426626205444, + 1.0 + ], + [ + 0.005847632884979248, + 0.015639450401067734, + 0.00384366512298584, + -0.033694326877593994, + -0.01693648099899292, + 0.09636560082435608, + 1.0 + ], + [ + 0.004804044961929321, + 0.01627279818058014, + 0.00431930273771286, + -0.007170125842094421, + -0.0033632516860961914, + 0.0566500723361969, + 1.0 + ], + [ + 0.001582801342010498, + 0.019830457866191864, + 0.0013564005494117737, + -0.039221055805683136, + -0.02151179313659668, + 0.09579907357692719, + 1.0 + ], + [ + -0.006363987922668457, + 0.015150457620620728, + 0.00018591433763504028, + -0.02236820012331009, + -0.0005423426628112793, + 0.11866040527820587, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9583302736282349 + ], + [ + 0.6581199765205383 + ], + [ + 0.3831871449947357 + ], + [ + 0.17351533472537994 + ], + [ + 0.08783477544784546 + ], + [ + 0.07755524665117264 + ], + [ + 0.07722585648298264 + ], + [ + 0.07689721137285233 + ], + [ + 0.07689721137285233 + ], + [ + 0.07689721137285233 + ], + [ + 0.07494325935840607 + ], + [ + 0.07365728914737701 + ], + [ + 0.07365728914737701 + ], + [ + 0.07365728914737701 + ], + [ + 0.07365728914737701 + ], + [ + 0.07365728914737701 + ], + [ + 0.07365728914737701 + ], + [ + 0.07365728914737701 + ], + [ + 0.1004381775856018 + ], + [ + 0.26805928349494934 + ], + [ + 0.5334634184837341 + ], + [ + 0.8298270106315613 + ], + [ + 1.0124757289886475 + ], + [ + 1.0099300146102905 + ], + [ + 1.0047606229782104 + ], + [ + 1.002137303352356 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.278761625289917, + -0.045590054243803024, + 0.10333611816167831 + ], + [ + 0.27575409412384033, + -0.02695932798087597, + 0.09635359793901443 + ], + [ + 0.275461882352829, + -0.0013904876541346312, + 0.09563475102186203 + ], + [ + 0.27437499165534973, + 0.022535450756549835, + 0.09205012023448944 + ], + [ + 0.2845725119113922, + 0.057944778352975845, + 0.08239070326089859 + ], + [ + 0.30428263545036316, + 0.07963871210813522, + 0.07742049545049667 + ], + [ + 0.321792334318161, + 0.09651967138051987, + 0.07257179170846939 + ], + [ + 0.340130090713501, + 0.10286261141300201, + 0.06052187457680702 + ], + [ + 0.3512159287929535, + 0.11086323112249374, + 0.04306754469871521 + ], + [ + 0.3581473231315613, + 0.11045165359973907, + 0.028476368635892868 + ], + [ + 0.35919734835624695, + 0.11349854618310928, + 0.01892346516251564 + ], + [ + 0.35962554812431335, + 0.11158514767885208, + 0.015374782495200634 + ], + [ + 0.3605726361274719, + 0.11208076775074005, + 0.012839735485613346 + ], + [ + 0.3568309545516968, + 0.11415855586528778, + 0.011748552322387695 + ], + [ + 0.35064250230789185, + 0.11378980427980423, + 0.018966682255268097 + ], + [ + 0.3451440930366516, + 0.11301528662443161, + 0.026256296783685684 + ], + [ + 0.34146958589553833, + 0.10843192040920258, + 0.04117251932621002 + ], + [ + 0.3327813446521759, + 0.09629308432340622, + 0.05643418803811073 + ], + [ + 0.3189682364463806, + 0.08027027547359467, + 0.06454365700483322 + ], + [ + 0.29981082677841187, + 0.06565537303686142, + 0.06701923906803131 + ], + [ + 0.2865789234638214, + 0.050033893436193466, + 0.06596385687589645 + ], + [ + 0.2719120979309082, + 0.04386667162179947, + 0.06257236003875732 + ], + [ + 0.26374414563179016, + 0.0389137901365757, + 0.05530378967523575 + ], + [ + 0.26036062836647034, + 0.03212960809469223, + 0.04715025797486305 + ], + [ + 0.2635103464126587, + 0.029905660077929497, + 0.044785276055336 + ], + [ + 0.264480322599411, + 0.02767503261566162, + 0.0332442969083786 + ], + [ + 0.26630324125289917, + 0.020449282601475716, + 0.024531185626983643 + ], + [ + 0.27066728472709656, + 0.017495084553956985, + 0.021779973059892654 + ], + [ + 0.2717708349227905, + 0.015657765790820122, + 0.015188967809081078 + ], + [ + 0.27198994159698486, + 0.017892997711896896, + 0.014816696755588055 + ], + [ + 0.2732352614402771, + 0.020282819867134094, + 0.025475764647126198 + ], + [ + 0.2723665237426758, + 0.01968287117779255, + 0.03412526845932007 + ], + [ + 0.2724059820175171, + 0.02370184101164341, + 0.05602966994047165 + ], + [ + 0.2719042897224426, + 0.025658519938588142, + 0.07120892405509949 + ], + [ + 0.2832943797111511, + 0.03362688049674034, + 0.09144094586372375 + ], + [ + 0.2907862365245819, + 0.042578909546136856, + 0.09807929396629333 + ], + [ + 0.29663386940956116, + 0.05821835994720459, + 0.10192295908927917 + ], + [ + 0.3014379143714905, + 0.07449115812778473, + 0.10624226182699203 + ], + [ + 0.303020715713501, + 0.09432161599397659, + 0.10759866237640381 + ], + [ + 0.2966567277908325, + 0.10947207361459732, + 0.10778457671403885 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9480378698411424, + 0.009100171335482674, + 0.3180273325183448, + 0.011502256181508064, + -0.9999177366695778, + -0.005676089879786314, + 0.317949517140385, + 0.009039180010007137, + -0.9480645535905994 + ], + [ + 0.953441927797366, + -0.1594542904725241, + 0.2559742556741707, + -0.1634973647145677, + -0.986528153939603, + -0.005550965313365876, + 0.253410935141784, + -0.03655859316798803, + -0.9666676612032409 + ], + [ + 0.9301430237577977, + -0.2724443809364516, + 0.24618695061041398, + -0.2766803266150877, + -0.9607949730514471, + -0.017916936770477437, + 0.24141655332406095, + -0.05144977215909265, + -0.9690567417473076 + ], + [ + 0.8703289812192484, + -0.44592491608934637, + 0.2089938603418162, + -0.4526626963811716, + -0.8915168977105844, + -0.017149472336563693, + 0.19396893502515386, + -0.07967804156230737, + -0.977766568224749 + ], + [ + 0.768645840740805, + -0.6072877160416468, + 0.20096069629850918, + -0.6064669159337823, + -0.7917534008730105, + -0.07296870619511472, + 0.203424313663898, + -0.06578892118694957, + -0.9768778667056746 + ], + [ + 0.7305689146555823, + -0.6536892760249593, + 0.19738133485446285, + -0.6541337248552834, + -0.7529109545061496, + -0.07234752650638222, + 0.19590337145112507, + -0.07625893386747411, + -0.9776535398900161 + ], + [ + 0.6820054024255229, + -0.6950696798698575, + 0.2274791664922623, + -0.7055803931892872, + -0.7071745178483839, + -0.04539284142633707, + 0.19241865764330518, + -0.1295466766517748, + -0.9727243796467883 + ], + [ + 0.6538922980245171, + -0.7152524211826206, + 0.24665529910507777, + -0.7255489794781877, + -0.685228004897172, + -0.06357090279995796, + 0.21448436064752263, + -0.1373919768292186, + -0.96701597905132 + ], + [ + 0.6630371521256271, + -0.7165994725827786, + 0.21648771511386436, + -0.7279584420371069, + -0.6846377090915008, + -0.036711223853877324, + 0.1745228969735664, + -0.13325315449934055, + -0.9755948724998142 + ], + [ + 0.6726855851550732, + -0.7115685361148033, + 0.202889925664171, + -0.7234851342038641, + -0.6900125527750285, + -0.021258824024520007, + 0.1551237058305203, + -0.13248734061911174, + -0.9789707556740813 + ], + [ + 0.6843530645806015, + -0.7066767598116709, + 0.1796352975926981, + -0.7172035816765358, + -0.696807004339852, + -0.008889383177147839, + 0.13145305408961702, + -0.12275160220950111, + -0.9836931120657055 + ], + [ + 0.693449274256764, + -0.7006423477462045, + 0.16801310835007685, + -0.7119057901804693, + -0.7022040733983617, + 0.009979238962502489, + 0.11098761165233609, + -0.12652960067682037, + -0.9857342492843978 + ], + [ + 0.7054509261068294, + -0.6837744718565965, + 0.18652469673544503, + -0.6986680846910219, + -0.7151436261723845, + 0.020796667502076024, + 0.11917171765648121, + -0.14498988096500243, + -0.982230133995368 + ], + [ + 0.71445221885962, + -0.6772996683983975, + 0.17556533300736277, + -0.692396319413903, + -0.7205132499885586, + 0.03805250915517908, + 0.10072419683792876, + -0.14874748999006793, + -0.9837320877113893 + ], + [ + 0.7156331869268029, + -0.6723766768603018, + 0.18915270598985495, + -0.6908247585605761, + -0.7213203079157263, + 0.04957989862921363, + 0.10310332064831373, + -0.1661523933100532, + -0.9806952062025347 + ], + [ + 0.7185733865989715, + -0.6658253729455701, + 0.2008204691100428, + -0.6881260903988591, + -0.7225169755290805, + 0.06672108950467909, + 0.10067160366293154, + -0.18613380352370895, + -0.977353280754575 + ], + [ + 0.7215316433862617, + -0.6559763318963343, + 0.2215561770390314, + -0.687516278487331, + -0.716657822464201, + 0.1171449201450944, + 0.08193567237321724, + -0.23684724506039748, + -0.9680857028693528 + ], + [ + 0.7291679767598721, + -0.641329461083254, + 0.23876889247675764, + -0.6824181576392488, + -0.7075260636835677, + 0.1836091700669906, + 0.051181244535158765, + -0.29682215475785967, + -0.9535602176332302 + ], + [ + 0.769154115110597, + -0.6064776743013762, + 0.2014616037423227, + -0.6390428758733726, + -0.7324343450571194, + 0.23487045999068978, + 0.005113707453917052, + -0.3093941834533135, + -0.9509201276875643 + ], + [ + 0.837479715923888, + -0.5256121941698874, + 0.1495310895966452, + -0.546449512189488, + -0.8032133066349552, + 0.23715251352750086, + -0.004544892068444439, + -0.2803216106268969, + -0.9598953789719107 + ], + [ + 0.8809173675952169, + -0.45201748324988017, + 0.1402311887760988, + -0.4732577963201367, + -0.843473995825949, + 0.2541233491586618, + 0.0034131644146701556, + -0.2902271751608581, + -0.9569516900590265 + ], + [ + 0.9199795939501979, + -0.35863038997636104, + 0.15818277434863767, + -0.38895083059549335, + -0.8852236723792338, + 0.2551397680458666, + 0.04852626190326928, + -0.2962487016761861, + -0.9538773027286419 + ], + [ + 0.947290269254465, + -0.23782299946375704, + 0.21466570918958022, + -0.28633385955805196, + -0.9290440501766024, + 0.23428630711598364, + 0.1437152276079101, + -0.28340319997755326, + -0.9481711657691823 + ], + [ + 0.9588647901984984, + -0.14230772796725877, + 0.24561519635068774, + -0.20263517946442444, + -0.9490903053309648, + 0.24117747898632014, + 0.19878958262698454, + -0.281026872180532, + -0.9388858284964241 + ], + [ + 0.9579630546274995, + -0.12389155030879889, + 0.25876180114312186, + -0.18905757687939995, + -0.9510205703670745, + 0.2445753613166581, + 0.2157869750314879, + -0.283215039326598, + -0.9344652068996434 + ], + [ + 0.9630804065423149, + -0.12143705876920706, + 0.24026895615491675, + -0.17927787910492898, + -0.9551026192182553, + 0.23587799563771641, + 0.20083717932177705, + -0.270244384807367, + -0.9416115971472313 + ], + [ + 0.9681184473385447, + -0.1349507521113366, + 0.21103309320433647, + -0.18547217957886647, + -0.9524360888377197, + 0.24179654108727858, + 0.16836490882921626, + -0.2732284596891251, + -0.9471005576446663 + ], + [ + 0.9676308689402486, + -0.1417787107779519, + 0.20878050350567, + -0.18990911624137552, + -0.9539016489653419, + 0.23239227971174337, + 0.16620778875359282, + -0.2645192644616708, + -0.9499497511375523 + ], + [ + 0.9687125293760755, + -0.15767294805607054, + 0.1916644904021439, + -0.199032676131825, + -0.9548833400109981, + 0.22041733325953436, + 0.1482633780190169, + -0.2516685288643541, + -0.9563895243663231 + ], + [ + 0.9676639653973478, + -0.1645334134029907, + 0.19119415771785678, + -0.20242593641749712, + -0.9587763354689169, + 0.19942838015261016, + 0.15049980178385466, + -0.23168231356483632, + -0.9610791409890577 + ], + [ + 0.9572774368391213, + -0.16237888077324586, + 0.23927600798565307, + -0.20956462458186115, + -0.959723873236508, + 0.187116956109752, + 0.1992550552497625, + -0.22926662691884153, + -0.9527508786344261 + ], + [ + 0.9546406679345502, + -0.15910173123413993, + 0.2516899565810602, + -0.20778229787391664, + -0.9614021453050693, + 0.18036749067680083, + 0.21327848418373435, + -0.22448285930357884, + -0.9508521094592884 + ], + [ + 0.9411078473350649, + -0.14653108156889919, + 0.3047042202179159, + -0.20044630631052932, + -0.9675566487832473, + 0.15380315237925615, + 0.2722816519173208, + -0.20582218910890013, + -0.9399467689713044 + ], + [ + 0.9362585789410791, + -0.17622938742852828, + 0.30391294208341507, + -0.2281371932558372, + -0.9628473882262247, + 0.14449334946386586, + 0.26715780806965067, + -0.20461698363650985, + -0.9416786052549545 + ], + [ + 0.9181833002291833, + -0.2728278640631915, + 0.28723576339126394, + -0.3118017732104341, + -0.9449595872141978, + 0.09915156456053353, + 0.24437487882978978, + -0.18059993112592643, + -0.9527143241676573 + ], + [ + 0.9119004197083986, + -0.32009056224456967, + 0.25686505503396434, + -0.3498910102051468, + -0.9334593838782137, + 0.07892945981905215, + 0.21450852084070723, + -0.16185058112858525, + -0.9632188141201723 + ], + [ + 0.9376986573411836, + -0.2349119933518744, + 0.25600309255942694, + -0.259521399443468, + -0.9634439533147855, + 0.06651610370490206, + 0.2310192010449467, + -0.12881034197853175, + -0.9643847907074895 + ], + [ + 0.9501237226795276, + -0.18138565493023448, + 0.2537009179863685, + -0.2058471081127288, + -0.9758408644092781, + 0.07322277945133873, + 0.234290161302652, + -0.12179430009028652, + -0.9645072673558736 + ], + [ + 0.9602287986714929, + -0.09498558743220406, + 0.2625612164468712, + -0.1134039839535042, + -0.9919766415062132, + 0.055873778550651045, + 0.2551473900030627, + -0.0834270992316822, + -0.9632962828166691 + ], + [ + 0.9667630629662051, + 0.01745912871758623, + 0.2550771626559769, + 0.0010672486924449033, + -0.9979326199180085, + 0.06425999598356352, + 0.25567174475179966, + -0.06185195977494878, + -0.9647830294981189 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006359.json b/json/chunk-0006/episode_0006359.json new file mode 100644 index 0000000000000000000000000000000000000000..cdd6666dca29f108b6d1800566f4a3e64fd6a07e --- /dev/null +++ b/json/chunk-0006/episode_0006359.json @@ -0,0 +1,1342 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 21, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut pear on plate." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006359.mp4", + "start": 0, + "end": 21, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2390264868736267, + 0.12583668529987335, + 0.1307365894317627, + 0.18414106965065002, + -0.1308348923921585, + 0.020217308774590492, + 0.0, + 0.9961419701576233 + ], + [ + 0.23381608724594116, + 0.11355867236852646, + 0.12728197872638702, + 0.15224963426589966, + -0.05625264719128609, + 0.04065614938735962, + 0.0, + 0.9961419701576233 + ], + [ + 0.2478744387626648, + 0.05997437611222267, + 0.15580740571022034, + 0.13462631404399872, + -0.0030768197029829025, + 0.014217285439372063, + 0.0, + 0.9961419701576233 + ], + [ + 0.24729791283607483, + 0.010995322838425636, + 0.1634681075811386, + 0.15237517654895782, + -0.022946175187826157, + 0.010378479957580566, + 0.0, + 0.9961419701576233 + ], + [ + 0.24031387269496918, + -0.04083593189716339, + 0.151401549577713, + 0.1458924114704132, + -0.08411236852407455, + 0.08558916300535202, + 0.0, + 0.9961419701576233 + ], + [ + 0.23617157340049744, + -0.08889108896255493, + 0.13250291347503662, + 0.12508955597877502, + -0.14635273814201355, + 0.14926713705062866, + 0.0, + 0.9961419701576233 + ], + [ + 0.24072223901748657, + -0.128188818693161, + 0.1108027920126915, + 0.12029057741165161, + -0.16098448634147644, + 0.10972713679075241, + 0.0, + 0.9961419701576233 + ], + [ + 0.2557388246059418, + -0.15181948244571686, + 0.08946582674980164, + 0.11774450540542603, + -0.21453379094600677, + 0.0431586317718029, + 0.0, + 0.9961419701576233 + ], + [ + 0.2704193592071533, + -0.16391116380691528, + 0.07112114131450653, + 0.07654287666082382, + -0.26729217171669006, + 0.005057016387581825, + 0.0, + 0.9961419701576233 + ], + [ + 0.27744150161743164, + -0.16023316979408264, + 0.05166862532496452, + 0.048977892845869064, + -0.289183109998703, + -0.01630045473575592, + 0.0, + 0.9961419701576233 + ], + [ + 0.28369516134262085, + -0.1578572541475296, + 0.036045633256435394, + 0.01661493256688118, + -0.3212675154209137, + -0.025776412338018417, + 0.0, + 0.9961419701576233 + ], + [ + 0.2866353392601013, + -0.1502501219511032, + 0.0220915786921978, + 0.0072890156880021095, + -0.34354424476623535, + -0.04139731824398041, + 0.0, + 0.9961419701576233 + ], + [ + 0.2860824167728424, + -0.15102115273475647, + 0.015335939824581146, + -0.024251727387309074, + -0.3767727315425873, + -0.04006442800164223, + 0.0, + 0.9961419701576233 + ], + [ + 0.28332680463790894, + -0.14893847703933716, + -0.0058950381353497505, + -0.037831418216228485, + -0.42343801259994507, + -0.06128956750035286, + 0.0, + 0.9716382026672363 + ], + [ + 0.28252336382865906, + -0.15157945454120636, + -0.010774237103760242, + -0.0768660455942154, + -0.43556347489356995, + -0.03654659166932106, + 0.0, + 0.8625253438949585 + ], + [ + 0.287690669298172, + -0.14905193448066711, + -0.009953205473721027, + -0.11913462728261948, + -0.4236832857131958, + 0.05780750513076782, + 0.0, + 0.680191159248352 + ], + [ + 0.28482553362846375, + -0.142314150929451, + -0.006258029956370592, + -0.014293146319687366, + -0.3425065279006958, + 0.06767851114273071, + 0.0, + 0.6791892647743225 + ], + [ + 0.28094926476478577, + -0.13196255266666412, + 0.04397566244006157, + 0.08650022745132446, + -0.1718689352273941, + 0.1376238465309143, + 0.0, + 0.6791892647743225 + ], + [ + 0.27910885214805603, + -0.09375971555709839, + 0.08741079270839691, + 0.22828146815299988, + -0.1560213416814804, + 0.18310630321502686, + 0.0, + 0.6791892647743225 + ], + [ + 0.280242383480072, + -0.039231330156326294, + 0.11390446126461029, + 0.2901616096496582, + -0.17506010830402374, + 0.2810823917388916, + 0.0, + 0.6791892647743225 + ], + [ + 0.27201998233795166, + 0.004050420131534338, + 0.11837037652730942, + 0.32361316680908203, + -0.24748724699020386, + 0.28743574023246765, + 0.0, + 0.6791892647743225 + ] + ], + "left_gripper_pos": [ + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9716382026672363 + ], + [ + 0.8625253438949585 + ], + [ + 0.680191159248352 + ], + [ + 0.6791892647743225 + ], + [ + 0.6791892647743225 + ], + [ + 0.6791892647743225 + ], + [ + 0.6791892647743225 + ], + [ + 0.6791892647743225 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2390264868736267, + 0.12583668529987335, + 0.1307365894317627 + ], + [ + 0.23381608724594116, + 0.11355867236852646, + 0.12728197872638702 + ], + [ + 0.2478744387626648, + 0.05997437611222267, + 0.15580740571022034 + ], + [ + 0.24729791283607483, + 0.010995322838425636, + 0.1634681075811386 + ], + [ + 0.24031387269496918, + -0.04083593189716339, + 0.151401549577713 + ], + [ + 0.23617157340049744, + -0.08889108896255493, + 0.13250291347503662 + ], + [ + 0.24072223901748657, + -0.128188818693161, + 0.1108027920126915 + ], + [ + 0.2557388246059418, + -0.15181948244571686, + 0.08946582674980164 + ], + [ + 0.2704193592071533, + -0.16391116380691528, + 0.07112114131450653 + ], + [ + 0.27744150161743164, + -0.16023316979408264, + 0.05166862532496452 + ], + [ + 0.28369516134262085, + -0.1578572541475296, + 0.036045633256435394 + ], + [ + 0.2866353392601013, + -0.1502501219511032, + 0.0220915786921978 + ], + [ + 0.2860824167728424, + -0.15102115273475647, + 0.015335939824581146 + ], + [ + 0.28332680463790894, + -0.14893847703933716, + -0.0058950381353497505 + ], + [ + 0.28252336382865906, + -0.15157945454120636, + -0.010774237103760242 + ], + [ + 0.287690669298172, + -0.14905193448066711, + -0.009953205473721027 + ], + [ + 0.28482553362846375, + -0.142314150929451, + -0.006258029956370592 + ], + [ + 0.28094926476478577, + -0.13196255266666412, + 0.04397566244006157 + ], + [ + 0.27910885214805603, + -0.09375971555709839, + 0.08741079270839691 + ], + [ + 0.280242383480072, + -0.039231330156326294, + 0.11390446126461029 + ], + [ + 0.27201998233795166, + 0.004050420131534338, + 0.11837037652730942 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.991250701384363, + 0.04375714495390329, + 0.12452854801406466, + 0.020043152387189334, + -0.9824100619349658, + 0.1856575941116337, + 0.13046194482450435, + -0.181537275716089, + -0.97469169406443 + ], + [ + 0.9975931966913225, + 0.04869463652676697, + 0.049362397517894396, + 0.04058065939147976, + -0.9872690311987625, + 0.1537955464869183, + 0.05622298461075577, + -0.1514222322163532, + -0.9868689292870031 + ], + [ + 0.9998942031721008, + 0.014501094915768162, + 0.0011404863321977405, + 0.014216739190788533, + -0.9908455359812887, + 0.13424979758917416, + 0.003076814848369082, + -0.13421938038970754, + -0.9909468659510419 + ], + [ + 0.9996829063111806, + 0.013740463837618658, + 0.021101812309800114, + 0.010375561536849693, + -0.9883239718130069, + 0.15201340224650345, + 0.022944161610875716, + -0.15174625660387575, + -0.9881531455471284 + ], + [ + 0.9928170640726894, + 0.0967453126171661, + 0.07038907424232932, + 0.08518248475108689, + -0.9847108716424652, + 0.15194881888572687, + 0.08401322263617908, + -0.14486146401214983, + -0.985878762661282 + ], + [ + 0.9783087446155615, + 0.1655435493881666, + 0.12452844440003295, + 0.14712364346159248, + -0.9784479624726982, + 0.1448938172166498, + 0.14583083947955136, + -0.12342980996904007, + -0.9815795679758703 + ], + [ + 0.981133734870306, + 0.12783500056545294, + 0.14503381305707524, + 0.10809115156665525, + -0.9846969224113661, + 0.13670506189083986, + 0.16029004102700317, + -0.1184490760791938, + -0.9799372016224034 + ], + [ + 0.9761659101507252, + 0.06783218911119754, + 0.20615263757708346, + 0.04215616261985563, + -0.9910723606823935, + 0.12648491548242186, + 0.21289192989113953, + -0.11477965852802424, + -0.9703105977857892 + ], + [ + 0.9644772924483397, + 0.02523875567927205, + 0.2629573303090859, + 0.0048774190508527795, + -0.9969571394884917, + 0.07779892548310785, + 0.2641207359048548, + -0.07375274391292708, + -0.9616656225686722 + ], + [ + 0.9583498140960703, + -0.0023206309401100607, + 0.28558754961319144, + -0.015622921485408316, + -0.9988956998544086, + 0.04430919923257405, + 0.2851693499419039, + -0.046925424712100136, + -0.9573277632918106 + ], + [ + 0.9485207407412702, + -0.02052549620000153, + 0.3160492183021117, + -0.024454878095784626, + -0.9996650421679308, + 0.008471269368239952, + 0.31576947813389505, + -0.015764119802027955, + -0.9487049747977054 + ], + [ + 0.9407601026836676, + -0.0389313884788858, + 0.3368304858377891, + -0.03896720776664152, + -0.9992183173617208, + -0.006656648382076836, + 0.3368263438590965, + -0.006863034308328253, + -0.9415417743481147 + ], + [ + 0.9291106733427641, + -0.0489566300139405, + 0.36654686611432624, + -0.03724421743320154, + -0.998546351917278, + -0.038962178333407455, + 0.3679214929143772, + 0.022548424565232466, + -0.9295834247668587 + ], + [ + 0.9099698715806744, + -0.07671931423971201, + 0.40751561888845295, + -0.05584159871747996, + -0.9964562908764178, + -0.06290132133339763, + 0.41089724830926583, + 0.034481983634932094, + -0.9110293322042236 + ], + [ + 0.9060270382159439, + -0.06880843080813401, + 0.4175887999831501, + -0.03312695022797562, + -0.9951976514842066, + -0.09210993241183864, + 0.4219213329404409, + 0.06962064586056703, + -0.9039553940763447 + ], + [ + 0.9100581574622673, + 0.00858446373807676, + 0.41439167102961033, + 0.05266687044182213, + -0.9940763835272648, + -0.09507020811599576, + 0.4111208469467919, + 0.10834413087788405, + -0.9051194388090825 + ], + [ + 0.9397594668722951, + 0.0628307621345656, + 0.3360125589222659, + 0.0636988061919242, + -0.9979333930204332, + 0.008450158841650159, + 0.3358490829429541, + 0.01346248210082656, + -0.9418195979390435 + ], + [ + 0.9759509364660638, + 0.151312365600753, + 0.15692143775570336, + 0.13516858026333672, + -0.9848143111675371, + 0.10895057333122717, + 0.17102404661510887, + -0.08511956611680573, + -0.9815831268636802 + ], + [ + 0.9713392253953538, + 0.21193825091991125, + 0.10762103421433394, + 0.17987309929894452, + -0.9513702257630194, + 0.25008071033211166, + 0.15538911595393723, + -0.2235550744864232, + -0.9622252082098159 + ], + [ + 0.9460716284016578, + 0.31367487704217756, + 0.08097249808429036, + 0.2731560285945631, + -0.9067711331957589, + 0.3211726888222685, + 0.174167327521214, + -0.28173424271013686, + -0.9435526262528572 + ], + [ + 0.9297550280272797, + 0.343481390040823, + 0.13257496955917517, + 0.2748563274081176, + -0.8871123853550754, + 0.37079052716237215, + 0.24496854316771752, + -0.30830528773482335, + -0.9192052341088109 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.005210399627685547, + -0.012278012931346893, + -0.0034546107053756714, + -0.031891435384750366, + 0.07458224892616272, + 0.020438840612769127, + 1.0 + ], + [ + 0.014058351516723633, + -0.05358429625630379, + 0.028525426983833313, + -0.01762332022190094, + 0.053175829350948334, + -0.026438863947987556, + 1.0 + ], + [ + -0.0005765259265899658, + -0.048979051411151886, + 0.007660701870918274, + 0.017748862504959106, + -0.019869355484843254, + -0.0038388054817914963, + 1.0 + ], + [ + -0.006984040141105652, + -0.05183125287294388, + -0.012066558003425598, + -0.006482765078544617, + -0.0611661933362484, + 0.07521068304777145, + 1.0 + ], + [ + -0.004142299294471741, + -0.04805515706539154, + -0.01889863610267639, + -0.020802855491638184, + -0.062240369617938995, + 0.06367797404527664, + 1.0 + ], + [ + 0.004550665616989136, + -0.03929772973060608, + -0.021700121462345123, + -0.004798978567123413, + -0.01463174819946289, + -0.03954000025987625, + 1.0 + ], + [ + 0.0150165855884552, + -0.023630663752555847, + -0.021336965262889862, + -0.002546072006225586, + -0.053549304604530334, + -0.06656850874423981, + 1.0 + ], + [ + 0.014680534601211548, + -0.012091681361198425, + -0.018344685435295105, + -0.0412016287446022, + -0.05275838077068329, + -0.03810161352157593, + 1.0 + ], + [ + 0.00702214241027832, + 0.0036779940128326416, + -0.019452515989542007, + -0.027564983814954758, + -0.02189093828201294, + -0.021357471123337746, + 1.0 + ], + [ + 0.006253659725189209, + 0.0023759156465530396, + -0.015622992068529129, + -0.032362960278987885, + -0.03208440542221069, + -0.009475957602262497, + 1.0 + ], + [ + 0.0029401779174804688, + 0.007607132196426392, + -0.013954054564237595, + -0.00932591687887907, + -0.022276729345321655, + -0.01562090590596199, + 1.0 + ], + [ + -0.0005529224872589111, + -0.0007710307836532593, + -0.0067556388676166534, + -0.03154074400663376, + -0.03322848677635193, + 0.0013328902423381805, + 1.0 + ], + [ + -0.0027556121349334717, + 0.0020826756954193115, + -0.021230977028608322, + -0.01357969082891941, + -0.04666528105735779, + -0.021225139498710632, + 1.0 + ], + [ + -0.0008034408092498779, + -0.0026409775018692017, + -0.004879198968410492, + -0.03903462737798691, + -0.012125462293624878, + 0.0247429758310318, + 0.0 + ], + [ + 0.0051673054695129395, + 0.0025275200605392456, + 0.0008210316300392151, + -0.04226858168840408, + 0.011880189180374146, + 0.09435409307479858, + 0.0 + ], + [ + -0.002865135669708252, + 0.0067377835512161255, + 0.0036951755173504353, + 0.10484147816896439, + 0.0811767578125, + 0.00987100601196289, + 0.0 + ], + [ + -0.0038762688636779785, + 0.010351598262786865, + 0.050233691930770874, + 0.10079337656497955, + 0.1706375926733017, + 0.0699453353881836, + 0.0 + ], + [ + -0.0018404126167297363, + 0.038202837109565735, + 0.04343513026833534, + 0.14178124070167542, + 0.015847593545913696, + 0.04548245668411255, + 0.0 + ], + [ + 0.0011335313320159912, + 0.054528385400772095, + 0.02649366855621338, + 0.061880141496658325, + -0.019038766622543335, + 0.09797608852386475, + 0.0 + ], + [ + -0.008222401142120361, + 0.04328174889087677, + 0.004465915262699127, + 0.03345155715942383, + -0.07242713868618011, + 0.00635334849357605, + 0.0 + ], + [ + -0.0038425028324127197, + 0.050325941294431686, + -0.010170973837375641, + 0.015105575323104858, + -0.02764517068862915, + 0.02705356478691101, + 0.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9716382026672363 + ], + [ + 0.8625253438949585 + ], + [ + 0.680191159248352 + ], + [ + 0.6791892647743225 + ], + [ + 0.6791892647743225 + ], + [ + 0.6791892647743225 + ], + [ + 0.6791892647743225 + ], + [ + 0.6791892647743225 + ], + [ + 0.6791892647743225 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.23381608724594116, + 0.11355867236852646, + 0.12728197872638702 + ], + [ + 0.2478744387626648, + 0.05997437611222267, + 0.15580740571022034 + ], + [ + 0.24729791283607483, + 0.010995322838425636, + 0.1634681075811386 + ], + [ + 0.24031387269496918, + -0.04083593189716339, + 0.151401549577713 + ], + [ + 0.23617157340049744, + -0.08889108896255493, + 0.13250291347503662 + ], + [ + 0.24072223901748657, + -0.128188818693161, + 0.1108027920126915 + ], + [ + 0.2557388246059418, + -0.15181948244571686, + 0.08946582674980164 + ], + [ + 0.2704193592071533, + -0.16391116380691528, + 0.07112114131450653 + ], + [ + 0.27744150161743164, + -0.16023316979408264, + 0.05166862532496452 + ], + [ + 0.28369516134262085, + -0.1578572541475296, + 0.036045633256435394 + ], + [ + 0.2866353392601013, + -0.1502501219511032, + 0.0220915786921978 + ], + [ + 0.2860824167728424, + -0.15102115273475647, + 0.015335939824581146 + ], + [ + 0.28332680463790894, + -0.14893847703933716, + -0.0058950381353497505 + ], + [ + 0.28252336382865906, + -0.15157945454120636, + -0.010774237103760242 + ], + [ + 0.287690669298172, + -0.14905193448066711, + -0.009953205473721027 + ], + [ + 0.28482553362846375, + -0.142314150929451, + -0.006258029956370592 + ], + [ + 0.28094926476478577, + -0.13196255266666412, + 0.04397566244006157 + ], + [ + 0.27910885214805603, + -0.09375971555709839, + 0.08741079270839691 + ], + [ + 0.280242383480072, + -0.039231330156326294, + 0.11390446126461029 + ], + [ + 0.27201998233795166, + 0.004050420131534338, + 0.11837037652730942 + ], + [ + 0.26817747950553894, + 0.05437636002898216, + 0.10819940268993378 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9975931966913225, + 0.04869463652676697, + 0.049362397517894396, + 0.04058065939147976, + -0.9872690311987625, + 0.1537955464869183, + 0.05622298461075577, + -0.1514222322163532, + -0.9868689292870031 + ], + [ + 0.9998942031721008, + 0.014501094915768162, + 0.0011404863321977405, + 0.014216739190788533, + -0.9908455359812887, + 0.13424979758917416, + 0.003076814848369082, + -0.13421938038970754, + -0.9909468659510419 + ], + [ + 0.9996829063111806, + 0.013740463837618658, + 0.021101812309800114, + 0.010375561536849693, + -0.9883239718130069, + 0.15201340224650345, + 0.022944161610875716, + -0.15174625660387575, + -0.9881531455471284 + ], + [ + 0.9928170640726894, + 0.0967453126171661, + 0.07038907424232932, + 0.08518248475108689, + -0.9847108716424652, + 0.15194881888572687, + 0.08401322263617908, + -0.14486146401214983, + -0.985878762661282 + ], + [ + 0.9783087446155615, + 0.1655435493881666, + 0.12452844440003295, + 0.14712364346159248, + -0.9784479624726982, + 0.1448938172166498, + 0.14583083947955136, + -0.12342980996904007, + -0.9815795679758703 + ], + [ + 0.981133734870306, + 0.12783500056545294, + 0.14503381305707524, + 0.10809115156665525, + -0.9846969224113661, + 0.13670506189083986, + 0.16029004102700317, + -0.1184490760791938, + -0.9799372016224034 + ], + [ + 0.9761659101507252, + 0.06783218911119754, + 0.20615263757708346, + 0.04215616261985563, + -0.9910723606823935, + 0.12648491548242186, + 0.21289192989113953, + -0.11477965852802424, + -0.9703105977857892 + ], + [ + 0.9644772924483397, + 0.02523875567927205, + 0.2629573303090859, + 0.0048774190508527795, + -0.9969571394884917, + 0.07779892548310785, + 0.2641207359048548, + -0.07375274391292708, + -0.9616656225686722 + ], + [ + 0.9583498140960703, + -0.0023206309401100607, + 0.28558754961319144, + -0.015622921485408316, + -0.9988956998544086, + 0.04430919923257405, + 0.2851693499419039, + -0.046925424712100136, + -0.9573277632918106 + ], + [ + 0.9485207407412702, + -0.02052549620000153, + 0.3160492183021117, + -0.024454878095784626, + -0.9996650421679308, + 0.008471269368239952, + 0.31576947813389505, + -0.015764119802027955, + -0.9487049747977054 + ], + [ + 0.9407601026836676, + -0.0389313884788858, + 0.3368304858377891, + -0.03896720776664152, + -0.9992183173617208, + -0.006656648382076836, + 0.3368263438590965, + -0.006863034308328253, + -0.9415417743481147 + ], + [ + 0.9291106733427641, + -0.0489566300139405, + 0.36654686611432624, + -0.03724421743320154, + -0.998546351917278, + -0.038962178333407455, + 0.3679214929143772, + 0.022548424565232466, + -0.9295834247668587 + ], + [ + 0.9099698715806744, + -0.07671931423971201, + 0.40751561888845295, + -0.05584159871747996, + -0.9964562908764178, + -0.06290132133339763, + 0.41089724830926583, + 0.034481983634932094, + -0.9110293322042236 + ], + [ + 0.9060270382159439, + -0.06880843080813401, + 0.4175887999831501, + -0.03312695022797562, + -0.9951976514842066, + -0.09210993241183864, + 0.4219213329404409, + 0.06962064586056703, + -0.9039553940763447 + ], + [ + 0.9100581574622673, + 0.00858446373807676, + 0.41439167102961033, + 0.05266687044182213, + -0.9940763835272648, + -0.09507020811599576, + 0.4111208469467919, + 0.10834413087788405, + -0.9051194388090825 + ], + [ + 0.9397594668722951, + 0.0628307621345656, + 0.3360125589222659, + 0.0636988061919242, + -0.9979333930204332, + 0.008450158841650159, + 0.3358490829429541, + 0.01346248210082656, + -0.9418195979390435 + ], + [ + 0.9759509364660638, + 0.151312365600753, + 0.15692143775570336, + 0.13516858026333672, + -0.9848143111675371, + 0.10895057333122717, + 0.17102404661510887, + -0.08511956611680573, + -0.9815831268636802 + ], + [ + 0.9713392253953538, + 0.21193825091991125, + 0.10762103421433394, + 0.17987309929894452, + -0.9513702257630194, + 0.25008071033211166, + 0.15538911595393723, + -0.2235550744864232, + -0.9622252082098159 + ], + [ + 0.9460716284016578, + 0.31367487704217756, + 0.08097249808429036, + 0.2731560285945631, + -0.9067711331957589, + 0.3211726888222685, + 0.174167327521214, + -0.28173424271013686, + -0.9435526262528572 + ], + [ + 0.9297550280272797, + 0.343481390040823, + 0.13257496955917517, + 0.2748563274081176, + -0.8871123853550754, + 0.37079052716237215, + 0.24496854316771752, + -0.30830528773482335, + -0.9192052341088109 + ], + [ + 0.9151883480326285, + 0.37759929141511633, + 0.14088670181429513, + 0.2976966924198487, + -0.8689985481194537, + 0.3952444847035355, + 0.27167437668574873, + -0.31978164188877906, + -0.9077074058105543 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006361.json b/json/chunk-0006/episode_0006361.json new file mode 100644 index 0000000000000000000000000000000000000000..2c1a3cadef93bf34edc7fcf0763789e74f4f8d06 --- /dev/null +++ b/json/chunk-0006/episode_0006361.json @@ -0,0 +1,2182 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 35, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nClose low fridge." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006361.mp4", + "start": 0, + "end": 35, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.16210070252418518, + -0.05126221850514412, + -0.016236307099461555, + 0.022570835426449776, + -0.05680710822343826, + 0.026751933619379997, + 0.0, + 0.9994885921478271 + ], + [ + 0.15961605310440063, + -0.049645327031612396, + -0.017754273489117622, + 0.02893407829105854, + -0.04797055572271347, + 0.027137568220496178, + 0.0, + 0.9994885921478271 + ], + [ + 0.16979126632213593, + -0.021047182381153107, + -0.0035627344623208046, + 0.040788982063531876, + -0.13487066328525543, + 0.10410692542791367, + 0.0, + 0.9994885921478271 + ], + [ + 0.17539478838443756, + 0.00904928706586361, + 0.009437339380383492, + 0.04890809953212738, + -0.14700448513031006, + 0.14088067412376404, + 0.0, + 0.9994885921478271 + ], + [ + 0.18709330260753632, + 0.03371301293373108, + 0.019090941175818443, + 0.05801575630903244, + -0.1653299480676651, + 0.1953815370798111, + 0.0, + 0.9994885921478271 + ], + [ + 0.2030736207962036, + 0.05980733409523964, + 0.03429209068417549, + 0.04813874885439873, + -0.1629195660352707, + 0.23056122660636902, + 0.0, + 0.9994885921478271 + ], + [ + 0.20853596925735474, + 0.08317940682172775, + 0.03978625684976578, + 0.055225059390068054, + -0.175934836268425, + 0.2231796532869339, + 0.0, + 0.9994885921478271 + ], + [ + 0.21004150807857513, + 0.10368035733699799, + 0.03608837351202965, + 0.06934849172830582, + -0.16333691775798798, + 0.2247149497270584, + 0.0, + 0.9994885921478271 + ], + [ + 0.20758117735385895, + 0.11349516361951828, + 0.02312811091542244, + 0.06541099399328232, + -0.12772443890571594, + 0.2176821529865265, + 0.0, + 0.9994885921478271 + ], + [ + 0.2085825800895691, + 0.11632383614778519, + 0.013088097795844078, + 0.06226919963955879, + -0.1240575909614563, + 0.23530597984790802, + 0.0, + 0.9994885921478271 + ], + [ + 0.2123076319694519, + 0.1095026507973671, + 0.004383152816444635, + 0.030468706041574478, + -0.11905218660831451, + 0.2670198976993561, + 0.0, + 0.9994885921478271 + ], + [ + 0.2150437980890274, + 0.09443694353103638, + -0.002524500247091055, + 0.013354668393731117, + -0.0942644476890564, + 0.312073290348053, + 0.0, + 1.0001531839370728 + ], + [ + 0.21803660690784454, + 0.07464483380317688, + -0.0066304258070886135, + 0.014589963480830193, + -0.10468533635139465, + 0.3293205201625824, + 0.0, + 1.0001531839370728 + ], + [ + 0.22228045761585236, + 0.05313673987984657, + -0.008420704863965511, + 0.02085866406559944, + -0.11369629204273224, + 0.33935773372650146, + 0.0, + 1.0001531839370728 + ], + [ + 0.2264697253704071, + 0.03227078169584274, + -0.00546314986422658, + -0.00670854514464736, + -0.09644331783056259, + 0.3674159348011017, + 0.0, + 1.0001531839370728 + ], + [ + 0.23153343796730042, + 0.01636921800673008, + 0.015278756618499756, + -0.054071832448244095, + -0.09822734445333481, + 0.36934342980384827, + 0.0, + 1.0001531839370728 + ], + [ + 0.22918686270713806, + 0.007035830058157444, + 0.03752722963690758, + -0.11640217155218124, + -0.10435730963945389, + 0.35980820655822754, + 0.0, + 0.9994885921478271 + ], + [ + 0.22421298921108246, + 0.006712042260915041, + 0.04852285981178284, + -0.13669654726982117, + -0.1100475937128067, + 0.32585409283638, + 0.0, + 0.9994885921478271 + ], + [ + 0.20572221279144287, + 0.019141728058457375, + 0.03778388723731041, + -0.09928032010793686, + -0.10107368230819702, + 0.2748037278652191, + 0.0, + 1.0001531839370728 + ], + [ + 0.18551190197467804, + 0.0464317686855793, + 0.01624366268515587, + -0.0453050397336483, + -0.11186403781175613, + 0.21181273460388184, + 0.0, + 1.0001531839370728 + ], + [ + 0.18016375601291656, + 0.06713666766881943, + 0.0023202490992844105, + -0.019473740831017494, + -0.14309468865394592, + 0.1840183287858963, + 0.0, + 0.9994885921478271 + ], + [ + 0.18322841823101044, + 0.0750168114900589, + -0.01899036020040512, + -0.05057873576879501, + -0.14522042870521545, + 0.18762311339378357, + 0.0, + 0.9994885921478271 + ], + [ + 0.19867368042469025, + 0.07463046163320541, + -0.036095041781663895, + -0.04661467671394348, + -0.16138319671154022, + 0.21791304647922516, + 0.0, + 0.9994885921478271 + ], + [ + 0.2157803326845169, + 0.06353757530450821, + -0.04413818567991257, + -0.03708919882774353, + -0.15717297792434692, + 0.2591175138950348, + 0.0, + 0.9994885921478271 + ], + [ + 0.22409433126449585, + 0.048656608909368515, + -0.055338915437459946, + -0.02340630069375038, + -0.1311294585466385, + 0.290326327085495, + 0.0, + 0.9994885921478271 + ], + [ + 0.23073409497737885, + 0.03017495945096016, + -0.06043350696563721, + -0.02440943755209446, + -0.12189129739999771, + 0.30779901146888733, + 0.0, + 0.9994885921478271 + ], + [ + 0.24451351165771484, + 0.011858968995511532, + -0.06448934227228165, + -0.0476805754005909, + -0.1096501350402832, + 0.34189075231552124, + 0.0, + 0.9994885921478271 + ], + [ + 0.2616422772407532, + -0.0016642389819025993, + -0.06805197149515152, + -0.06203734502196312, + -0.1098981723189354, + 0.3756425678730011, + 0.0, + 0.9994885921478271 + ], + [ + 0.2749917507171631, + -0.009483234956860542, + -0.06882882863283157, + -0.07884235680103302, + -0.10457518696784973, + 0.394856333732605, + 0.0, + 0.9994885921478271 + ], + [ + 0.2930939793586731, + -0.016459699720144272, + -0.0692293718457222, + -0.0946897640824318, + -0.11112204939126968, + 0.4232792258262634, + 0.0, + 0.9994885921478271 + ], + [ + 0.30435484647750854, + -0.016207534819841385, + -0.07050587236881256, + -0.09423500299453735, + -0.11546161770820618, + 0.4363287091255188, + 0.0, + 0.9994885921478271 + ], + [ + 0.313234806060791, + -0.01626109890639782, + -0.07097513973712921, + -0.10004335641860962, + -0.12562622129917145, + 0.45115652680397034, + 0.0, + 0.9994885921478271 + ], + [ + 0.31299465894699097, + -0.016271835193037987, + -0.0710124522447586, + -0.09846755117177963, + -0.12498009204864502, + 0.44332292675971985, + 0.0, + 0.9994885921478271 + ], + [ + 0.3117637634277344, + -0.014676898717880249, + -0.07135297358036041, + -0.0949598029255867, + -0.11979120969772339, + 0.4476606249809265, + 0.0, + 0.9994885921478271 + ], + [ + 0.2961432933807373, + -0.011705783195793629, + -0.06411498039960861, + -0.08244334906339645, + -0.11654812842607498, + 0.41425222158432007, + 0.0, + 0.9994885921478271 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.16210070252418518, + -0.05126221850514412, + -0.016236307099461555 + ], + [ + 0.15961605310440063, + -0.049645327031612396, + -0.017754273489117622 + ], + [ + 0.16979126632213593, + -0.021047182381153107, + -0.0035627344623208046 + ], + [ + 0.17539478838443756, + 0.00904928706586361, + 0.009437339380383492 + ], + [ + 0.18709330260753632, + 0.03371301293373108, + 0.019090941175818443 + ], + [ + 0.2030736207962036, + 0.05980733409523964, + 0.03429209068417549 + ], + [ + 0.20853596925735474, + 0.08317940682172775, + 0.03978625684976578 + ], + [ + 0.21004150807857513, + 0.10368035733699799, + 0.03608837351202965 + ], + [ + 0.20758117735385895, + 0.11349516361951828, + 0.02312811091542244 + ], + [ + 0.2085825800895691, + 0.11632383614778519, + 0.013088097795844078 + ], + [ + 0.2123076319694519, + 0.1095026507973671, + 0.004383152816444635 + ], + [ + 0.2150437980890274, + 0.09443694353103638, + -0.002524500247091055 + ], + [ + 0.21803660690784454, + 0.07464483380317688, + -0.0066304258070886135 + ], + [ + 0.22228045761585236, + 0.05313673987984657, + -0.008420704863965511 + ], + [ + 0.2264697253704071, + 0.03227078169584274, + -0.00546314986422658 + ], + [ + 0.23153343796730042, + 0.01636921800673008, + 0.015278756618499756 + ], + [ + 0.22918686270713806, + 0.007035830058157444, + 0.03752722963690758 + ], + [ + 0.22421298921108246, + 0.006712042260915041, + 0.04852285981178284 + ], + [ + 0.20572221279144287, + 0.019141728058457375, + 0.03778388723731041 + ], + [ + 0.18551190197467804, + 0.0464317686855793, + 0.01624366268515587 + ], + [ + 0.18016375601291656, + 0.06713666766881943, + 0.0023202490992844105 + ], + [ + 0.18322841823101044, + 0.0750168114900589, + -0.01899036020040512 + ], + [ + 0.19867368042469025, + 0.07463046163320541, + -0.036095041781663895 + ], + [ + 0.2157803326845169, + 0.06353757530450821, + -0.04413818567991257 + ], + [ + 0.22409433126449585, + 0.048656608909368515, + -0.055338915437459946 + ], + [ + 0.23073409497737885, + 0.03017495945096016, + -0.06043350696563721 + ], + [ + 0.24451351165771484, + 0.011858968995511532, + -0.06448934227228165 + ], + [ + 0.2616422772407532, + -0.0016642389819025993, + -0.06805197149515152 + ], + [ + 0.2749917507171631, + -0.009483234956860542, + -0.06882882863283157 + ], + [ + 0.2930939793586731, + -0.016459699720144272, + -0.0692293718457222 + ], + [ + 0.30435484647750854, + -0.016207534819841385, + -0.07050587236881256 + ], + [ + 0.313234806060791, + -0.01626109890639782, + -0.07097513973712921 + ], + [ + 0.31299465894699097, + -0.016271835193037987, + -0.0710124522447586 + ], + [ + 0.3117637634277344, + -0.014676898717880249, + -0.07135297358036041 + ], + [ + 0.2961432933807373, + -0.011705783195793629, + -0.06411498039960861 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9980296756371827, + 0.028022856730851167, + 0.05613809801001705, + 0.026705594698414995, + -0.9993532935566524, + 0.024079158400484642, + 0.056776559946372936, + -0.022532513355456613, + -0.9981326104694418 + ], + [ + 0.9984818558761256, + 0.028509627274334058, + 0.04712944556056829, + 0.027103023126302257, + -0.9991757494798623, + 0.030219989887002856, + 0.047952159738463784, + -0.02889676113397447, + -0.9984315537744102 + ], + [ + 0.9855536652558468, + 0.10928590298636455, + 0.1293853326665011, + 0.10297525493593811, + -0.9931887215933057, + 0.05451843881416031, + 0.1344621499591792, + -0.04040735958101821, + -0.9900945285779764 + ], + [ + 0.9794138625551178, + 0.1473372559472839, + 0.1379862994821924, + 0.13890064061175442, + -0.9879032934257324, + 0.06894704399925573, + 0.14647558797461432, + -0.0483613052813468, + -0.9880314196820743 + ], + [ + 0.9675972169571195, + 0.20317538229948626, + 0.14991794343671588, + 0.19149354335367721, + -0.9774706004216318, + 0.08877752060757191, + 0.16457778887410685, + -0.05719256366724704, + -0.9847046065041423 + ], + [ + 0.9606466387204096, + 0.23585774681832586, + 0.14672817991429474, + 0.22549780663388055, + -0.9706268556280959, + 0.08387041395405488, + 0.16219979876216908, + -0.04748294851099728, + -0.9856148308960321 + ], + [ + 0.9601448190293094, + 0.2304155527383161, + 0.15821061768247827, + 0.21791491197155244, + -0.971573620991159, + 0.09250832467707323, + 0.17502861946437667, + -0.05434493583053088, + -0.9830623633920537 + ], + [ + 0.9618824607759802, + 0.23327742116950798, + 0.1427017043487878, + 0.2198626753827644, + -0.9700036598396572, + 0.10369813822438491, + 0.16261160974874458, + -0.06837064187335433, + -0.9843185052129962 + ], + [ + 0.9684471997570555, + 0.22363466296963586, + 0.10998890308197029, + 0.21420785863616293, + -0.9725144520281283, + 0.09127230628695097, + 0.1273774492648809, + -0.06483192203603665, + -0.9897332000614538 + ], + [ + 0.9649695545915209, + 0.24017668973114342, + 0.10558842939087597, + 0.23134879431608668, + -0.9687631322212399, + 0.08930693711792884, + 0.12373962211003774, + -0.06175071949931235, + -0.9903915157963453 + ], + [ + 0.9577340031775726, + 0.2672256732785869, + 0.10647074104310134, + 0.2619904417716116, + -0.9631591127206595, + 0.060708582617844266, + 0.11877115633762675, + -0.030248357376191408, + -0.9924608049178895 + ], + [ + 0.947473881358948, + 0.3082013213354437, + 0.08547040230217953, + 0.3056693408686149, + -0.951228252804751, + 0.04160607069847798, + 0.09412490741326823, + -0.013294983757299157, + -0.9954716194906494 + ], + [ + 0.941081985754066, + 0.32480830608344075, + 0.09415020121268786, + 0.32162968047371293, + -0.9456685658877962, + 0.04759529525169427, + 0.10449423298709404, + -0.01450957583544294, + -0.9944196435517121 + ], + [ + 0.9368804155980611, + 0.3350404339868807, + 0.10001497119275292, + 0.330732286374879, + -0.9419758415587931, + 0.05742533124718549, + 0.11345149456066926, + -0.02072248811042263, + -0.993327406683448 + ], + [ + 0.9289217670442832, + 0.35859407681121924, + 0.09227480039119831, + 0.3575357878047615, + -0.9334697110631257, + 0.02832770669420565, + 0.09629387908976716, + 0.0066773200937005235, + -0.9953305492378958 + ], + [ + 0.928069210311898, + 0.3555328105894292, + 0.11083303417948567, + 0.35926302575910296, + -0.933114997269017, + -0.015049258920508336, + 0.09806946106441128, + 0.053784965055519565, + -0.9937250919346419 + ], + [ + 0.9308724582817592, + 0.3383887590659259, + 0.13772985932722487, + 0.35017923257862416, + -0.9338902664544402, + -0.07227361408080134, + 0.1041679964438226, + 0.11550765325067218, + -0.9878294440627908 + ], + [ + 0.9416468527894908, + 0.3029533303977974, + 0.1466986170096016, + 0.3181816159497482, + -0.9433310211305369, + -0.09427111882451153, + 0.10982560677389278, + 0.13544690536775367, + -0.984678867409596 + ], + [ + 0.9575663733540327, + 0.2603959553696151, + 0.12353374862259482, + 0.26997313226756786, + -0.9604528765413544, + -0.06815262135146367, + 0.10090167726674977, + 0.09861145151848798, + -0.9899972894680941 + ], + [ + 0.9715408502962484, + 0.2050740241736334, + 0.11854543776491279, + 0.20891845935375936, + -0.9777111343004005, + -0.02083303161510356, + 0.1116308807942246, + 0.04500647147084889, + -0.9927300559461516 + ], + [ + 0.97306832551338, + 0.1802168012719423, + 0.14373565466472005, + 0.18111134618167088, + -0.98343806980424, + 0.006945728469595466, + 0.14260685175281507, + 0.01927348953925134, + -0.9895917433134386 + ], + [ + 0.9721091154565769, + 0.1790979578483379, + 0.1514192495714684, + 0.18456090259303545, + -0.9825586088643138, + -0.022712405875829587, + 0.1447105417040367, + 0.05002501015671377, + -0.9882086609003915 + ], + [ + 0.963664028443627, + 0.20864722660901422, + 0.1667872150740797, + 0.21338328505364892, + -0.9769089224846922, + -0.010794944627517972, + 0.1606835833043123, + 0.04599230368403645, + -0.9859338182952858 + ], + [ + 0.9547016999477085, + 0.25044105630498015, + 0.1606982931888249, + 0.25306929626254815, + -0.9674388802803103, + 0.00423606080671491, + 0.15652666036855956, + 0.036623629514635964, + -0.9869944854734704 + ], + [ + 0.9499246397941812, + 0.28325437814638277, + 0.1319474742948894, + 0.28380728214585127, + -0.9587640831500761, + 0.01499531468087368, + 0.1307539877513481, + 0.02320323516881282, + -0.9911432815515728 + ], + [ + 0.9459318410642502, + 0.30004340294622717, + 0.12323517521083882, + 0.3007139832499727, + -0.9536178799318671, + 0.013566110429534118, + 0.12158968845561402, + 0.02422592459946951, + -0.9922847636835748 + ], + [ + 0.9364644708604314, + 0.3299741157086825, + 0.11895956362716627, + 0.333255533964933, + -0.9428003881495238, + -0.00825694779293415, + 0.1094305437153641, + 0.04737627114263898, + -0.9928647667405565 + ], + [ + 0.924659995798671, + 0.3598390375736833, + 0.12457832559336796, + 0.3646571383261936, + -0.930977124171942, + -0.017514729124138043, + 0.10967708802367593, + 0.061623545066686714, + -0.9920551774251576 + ], + [ + 0.9180092033328848, + 0.3758918178340039, + 0.1263504803377088, + 0.38257409730436615, + -0.9233470014163653, + -0.032670706254312884, + 0.10438468598348642, + 0.07833042998001649, + -0.991447518061987 + ], + [ + 0.906123509413436, + 0.3993529420047389, + 0.13948983260595843, + 0.40821908026699893, + -0.911969172992263, + -0.04085841428363555, + 0.1108934993326668, + 0.0939651809127579, + -0.989380198195713 + ], + [ + 0.9002748393070366, + 0.41091525318790534, + 0.14371453791530325, + 0.41980110205542376, + -0.9068694427708092, + -0.03680826648476829, + 0.11520524477531895, + 0.09346907759297565, + -0.9889344180026182 + ], + [ + 0.8928513554506371, + 0.4225645134661291, + 0.15574238032434579, + 0.432570639751505, + -0.9008998329904478, + -0.03552650479228643, + 0.12529604421103335, + 0.099089469051541, + -0.9871586389371011 + ], + [ + 0.8962854555829192, + 0.41579571869770476, + 0.15422808571456112, + 0.4255978358589481, + -0.904212106797522, + -0.035594213475879447, + 0.12465498073762929, + 0.09754171535012986, + -0.9873939181217674 + ], + [ + 0.8950019544789657, + 0.4206931375086238, + 0.14828616095907937, + 0.4297558336575701, + -0.9023055944560842, + -0.03397848805553057, + 0.11950491586591222, + 0.09413765594278982, + -0.9883606005995376 + ], + [ + 0.9092073240594692, + 0.392372332221141, + 0.1392335978992207, + 0.3997748965012379, + -0.9161627217282158, + -0.028738466259916686, + 0.11628445297649995, + 0.08179132119540812, + -0.9898424651292071 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.002484649419784546, + 0.001616891473531723, + -0.001517966389656067, + 0.006363242864608765, + 0.008836552500724792, + 0.0003856346011161804, + 1.0 + ], + [ + 0.01017521321773529, + 0.02859814465045929, + 0.014191539026796818, + 0.011854903772473335, + -0.08690010756254196, + 0.07696935534477234, + 1.0 + ], + [ + 0.005603522062301636, + 0.030096469447016716, + 0.013000073842704296, + 0.008119117468595505, + -0.012133821845054626, + 0.03677374869585037, + 1.0 + ], + [ + 0.011698514223098755, + 0.02466372586786747, + 0.009653601795434952, + 0.00910765677690506, + -0.01832546293735504, + 0.05450086295604706, + 1.0 + ], + [ + 0.015980318188667297, + 0.02609432116150856, + 0.015201149508357048, + -0.009877007454633713, + 0.002410382032394409, + 0.03517968952655792, + 1.0 + ], + [ + 0.005462348461151123, + 0.023372072726488113, + 0.005494166165590286, + 0.007086310535669327, + -0.013015270233154297, + -0.00738157331943512, + 1.0 + ], + [ + 0.001505538821220398, + 0.020500950515270233, + -0.0036978833377361298, + 0.014123432338237762, + 0.012597918510437012, + 0.0015352964401245117, + 1.0 + ], + [ + -0.0024603307247161865, + 0.009814806282520294, + -0.012960262596607208, + -0.0039374977350234985, + 0.035612478852272034, + -0.007032796740531921, + 1.0 + ], + [ + 0.001001402735710144, + 0.0028286725282669067, + -0.010040013119578362, + -0.003141794353723526, + 0.0036668479442596436, + 0.01762382686138153, + 1.0 + ], + [ + 0.0037250518798828125, + -0.006821185350418091, + -0.00870494544506073, + -0.031800493597984314, + 0.005005404353141785, + 0.03171391785144806, + 1.0 + ], + [ + 0.0027361661195755005, + -0.015065707266330719, + -0.00690765306353569, + -0.01711403764784336, + 0.024787738919258118, + 0.0450533926486969, + 1.0 + ], + [ + 0.0029928088188171387, + -0.019792109727859497, + -0.004105925559997559, + 0.0012352950870990753, + -0.010420888662338257, + 0.01724722981452942, + 1.0 + ], + [ + 0.0042438507080078125, + -0.021508093923330307, + -0.0017902790568768978, + 0.006268700584769249, + -0.009010955691337585, + 0.010037213563919067, + 1.0 + ], + [ + 0.0041892677545547485, + -0.02086595818400383, + 0.0029575549997389317, + -0.02756720967590809, + 0.017252974212169647, + 0.02805820107460022, + 1.0 + ], + [ + 0.0050637125968933105, + -0.015901563689112663, + 0.020741906017065048, + -0.0473632887005806, + -0.0017840266227722168, + 0.001927495002746582, + 1.0 + ], + [ + -0.0023465752601623535, + -0.009333387948572636, + 0.02224847301840782, + -0.06233033910393715, + -0.00612996518611908, + -0.009535223245620728, + 1.0 + ], + [ + -0.004973873496055603, + -0.00032378779724240303, + 0.01099563017487526, + -0.020294375717639923, + -0.005690284073352814, + -0.033954113721847534, + 1.0 + ], + [ + -0.018490776419639587, + 0.012429686263203621, + -0.010738972574472427, + 0.03741622716188431, + 0.00897391140460968, + -0.05105036497116089, + 1.0 + ], + [ + -0.02021031081676483, + 0.027290040627121925, + -0.02154022455215454, + 0.05397528037428856, + -0.010790355503559113, + -0.06299099326133728, + 1.0 + ], + [ + -0.005348145961761475, + 0.020704898983240128, + -0.013923414051532745, + 0.025831298902630806, + -0.03123065084218979, + -0.027794405817985535, + 1.0 + ], + [ + 0.003064662218093872, + 0.007880143821239471, + -0.021310608834028244, + -0.03110499493777752, + -0.0021257400512695312, + 0.003604784607887268, + 1.0 + ], + [ + 0.01544526219367981, + -0.0003863498568534851, + -0.017104681581258774, + 0.003964059054851532, + -0.016162768006324768, + 0.03028993308544159, + 1.0 + ], + [ + 0.01710665225982666, + -0.011092886328697205, + -0.008043143898248672, + 0.009525477886199951, + 0.004210218787193298, + 0.04120446741580963, + 1.0 + ], + [ + 0.008313998579978943, + -0.014880966395139694, + -0.011200729757547379, + 0.013682898133993149, + 0.026043519377708435, + 0.031208813190460205, + 1.0 + ], + [ + 0.006639763712882996, + -0.018481649458408356, + -0.005094591528177261, + -0.001003136858344078, + 0.009238161146640778, + 0.017472684383392334, + 1.0 + ], + [ + 0.013779416680335999, + -0.018315989524126053, + -0.00405583530664444, + -0.023271137848496437, + 0.012241162359714508, + 0.03409174084663391, + 1.0 + ], + [ + 0.01712876558303833, + -0.013523207977414131, + -0.003562629222869873, + -0.014356769621372223, + -0.00024803727865219116, + 0.03375181555747986, + 1.0 + ], + [ + 0.013349473476409912, + -0.007818995974957943, + -0.0007768571376800537, + -0.0168050117790699, + 0.005322985351085663, + 0.019213765859603882, + 1.0 + ], + [ + 0.01810222864151001, + -0.0069764647632837296, + -0.000400543212890625, + -0.015847407281398773, + -0.006546862423419952, + 0.028422892093658447, + 1.0 + ], + [ + 0.01126086711883545, + 0.00025216490030288696, + -0.0012765005230903625, + 0.0004547610878944397, + -0.004339568316936493, + 0.013049483299255371, + 1.0 + ], + [ + 0.00887995958328247, + -5.356408655643463e-05, + -0.0004692673683166504, + -0.005808353424072266, + -0.010164603590965271, + 0.014827817678451538, + 1.0 + ], + [ + -0.00024014711380004883, + -1.0736286640167236e-05, + -3.731250762939453e-05, + 0.0015758052468299866, + 0.0006461292505264282, + -0.007833600044250488, + 1.0 + ], + [ + -0.0012308955192565918, + 0.0015949364751577377, + -0.00034052133560180664, + 0.003507748246192932, + 0.005188882350921631, + 0.004337698221206665, + 1.0 + ], + [ + -0.01562047004699707, + 0.0029711155220866203, + 0.0072379931807518005, + 0.012516453862190247, + 0.003243081271648407, + -0.033408403396606445, + 1.0 + ], + [ + -0.012898117303848267, + 0.0010678162798285484, + 0.008824914693832397, + 0.007365889847278595, + -0.007249034941196442, + -0.035787612199783325, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.15961605310440063, + -0.049645327031612396, + -0.017754273489117622 + ], + [ + 0.16979126632213593, + -0.021047182381153107, + -0.0035627344623208046 + ], + [ + 0.17539478838443756, + 0.00904928706586361, + 0.009437339380383492 + ], + [ + 0.18709330260753632, + 0.03371301293373108, + 0.019090941175818443 + ], + [ + 0.2030736207962036, + 0.05980733409523964, + 0.03429209068417549 + ], + [ + 0.20853596925735474, + 0.08317940682172775, + 0.03978625684976578 + ], + [ + 0.21004150807857513, + 0.10368035733699799, + 0.03608837351202965 + ], + [ + 0.20758117735385895, + 0.11349516361951828, + 0.02312811091542244 + ], + [ + 0.2085825800895691, + 0.11632383614778519, + 0.013088097795844078 + ], + [ + 0.2123076319694519, + 0.1095026507973671, + 0.004383152816444635 + ], + [ + 0.2150437980890274, + 0.09443694353103638, + -0.002524500247091055 + ], + [ + 0.21803660690784454, + 0.07464483380317688, + -0.0066304258070886135 + ], + [ + 0.22228045761585236, + 0.05313673987984657, + -0.008420704863965511 + ], + [ + 0.2264697253704071, + 0.03227078169584274, + -0.00546314986422658 + ], + [ + 0.23153343796730042, + 0.01636921800673008, + 0.015278756618499756 + ], + [ + 0.22918686270713806, + 0.007035830058157444, + 0.03752722963690758 + ], + [ + 0.22421298921108246, + 0.006712042260915041, + 0.04852285981178284 + ], + [ + 0.20572221279144287, + 0.019141728058457375, + 0.03778388723731041 + ], + [ + 0.18551190197467804, + 0.0464317686855793, + 0.01624366268515587 + ], + [ + 0.18016375601291656, + 0.06713666766881943, + 0.0023202490992844105 + ], + [ + 0.18322841823101044, + 0.0750168114900589, + -0.01899036020040512 + ], + [ + 0.19867368042469025, + 0.07463046163320541, + -0.036095041781663895 + ], + [ + 0.2157803326845169, + 0.06353757530450821, + -0.04413818567991257 + ], + [ + 0.22409433126449585, + 0.048656608909368515, + -0.055338915437459946 + ], + [ + 0.23073409497737885, + 0.03017495945096016, + -0.06043350696563721 + ], + [ + 0.24451351165771484, + 0.011858968995511532, + -0.06448934227228165 + ], + [ + 0.2616422772407532, + -0.0016642389819025993, + -0.06805197149515152 + ], + [ + 0.2749917507171631, + -0.009483234956860542, + -0.06882882863283157 + ], + [ + 0.2930939793586731, + -0.016459699720144272, + -0.0692293718457222 + ], + [ + 0.30435484647750854, + -0.016207534819841385, + -0.07050587236881256 + ], + [ + 0.313234806060791, + -0.01626109890639782, + -0.07097513973712921 + ], + [ + 0.31299465894699097, + -0.016271835193037987, + -0.0710124522447586 + ], + [ + 0.3117637634277344, + -0.014676898717880249, + -0.07135297358036041 + ], + [ + 0.2961432933807373, + -0.011705783195793629, + -0.06411498039960861 + ], + [ + 0.28324517607688904, + -0.01063796691596508, + -0.055290065705776215 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9984818558761256, + 0.028509627274334058, + 0.04712944556056829, + 0.027103023126302257, + -0.9991757494798623, + 0.030219989887002856, + 0.047952159738463784, + -0.02889676113397447, + -0.9984315537744102 + ], + [ + 0.9855536652558468, + 0.10928590298636455, + 0.1293853326665011, + 0.10297525493593811, + -0.9931887215933057, + 0.05451843881416031, + 0.1344621499591792, + -0.04040735958101821, + -0.9900945285779764 + ], + [ + 0.9794138625551178, + 0.1473372559472839, + 0.1379862994821924, + 0.13890064061175442, + -0.9879032934257324, + 0.06894704399925573, + 0.14647558797461432, + -0.0483613052813468, + -0.9880314196820743 + ], + [ + 0.9675972169571195, + 0.20317538229948626, + 0.14991794343671588, + 0.19149354335367721, + -0.9774706004216318, + 0.08877752060757191, + 0.16457778887410685, + -0.05719256366724704, + -0.9847046065041423 + ], + [ + 0.9606466387204096, + 0.23585774681832586, + 0.14672817991429474, + 0.22549780663388055, + -0.9706268556280959, + 0.08387041395405488, + 0.16219979876216908, + -0.04748294851099728, + -0.9856148308960321 + ], + [ + 0.9601448190293094, + 0.2304155527383161, + 0.15821061768247827, + 0.21791491197155244, + -0.971573620991159, + 0.09250832467707323, + 0.17502861946437667, + -0.05434493583053088, + -0.9830623633920537 + ], + [ + 0.9618824607759802, + 0.23327742116950798, + 0.1427017043487878, + 0.2198626753827644, + -0.9700036598396572, + 0.10369813822438491, + 0.16261160974874458, + -0.06837064187335433, + -0.9843185052129962 + ], + [ + 0.9684471997570555, + 0.22363466296963586, + 0.10998890308197029, + 0.21420785863616293, + -0.9725144520281283, + 0.09127230628695097, + 0.1273774492648809, + -0.06483192203603665, + -0.9897332000614538 + ], + [ + 0.9649695545915209, + 0.24017668973114342, + 0.10558842939087597, + 0.23134879431608668, + -0.9687631322212399, + 0.08930693711792884, + 0.12373962211003774, + -0.06175071949931235, + -0.9903915157963453 + ], + [ + 0.9577340031775726, + 0.2672256732785869, + 0.10647074104310134, + 0.2619904417716116, + -0.9631591127206595, + 0.060708582617844266, + 0.11877115633762675, + -0.030248357376191408, + -0.9924608049178895 + ], + [ + 0.947473881358948, + 0.3082013213354437, + 0.08547040230217953, + 0.3056693408686149, + -0.951228252804751, + 0.04160607069847798, + 0.09412490741326823, + -0.013294983757299157, + -0.9954716194906494 + ], + [ + 0.941081985754066, + 0.32480830608344075, + 0.09415020121268786, + 0.32162968047371293, + -0.9456685658877962, + 0.04759529525169427, + 0.10449423298709404, + -0.01450957583544294, + -0.9944196435517121 + ], + [ + 0.9368804155980611, + 0.3350404339868807, + 0.10001497119275292, + 0.330732286374879, + -0.9419758415587931, + 0.05742533124718549, + 0.11345149456066926, + -0.02072248811042263, + -0.993327406683448 + ], + [ + 0.9289217670442832, + 0.35859407681121924, + 0.09227480039119831, + 0.3575357878047615, + -0.9334697110631257, + 0.02832770669420565, + 0.09629387908976716, + 0.0066773200937005235, + -0.9953305492378958 + ], + [ + 0.928069210311898, + 0.3555328105894292, + 0.11083303417948567, + 0.35926302575910296, + -0.933114997269017, + -0.015049258920508336, + 0.09806946106441128, + 0.053784965055519565, + -0.9937250919346419 + ], + [ + 0.9308724582817592, + 0.3383887590659259, + 0.13772985932722487, + 0.35017923257862416, + -0.9338902664544402, + -0.07227361408080134, + 0.1041679964438226, + 0.11550765325067218, + -0.9878294440627908 + ], + [ + 0.9416468527894908, + 0.3029533303977974, + 0.1466986170096016, + 0.3181816159497482, + -0.9433310211305369, + -0.09427111882451153, + 0.10982560677389278, + 0.13544690536775367, + -0.984678867409596 + ], + [ + 0.9575663733540327, + 0.2603959553696151, + 0.12353374862259482, + 0.26997313226756786, + -0.9604528765413544, + -0.06815262135146367, + 0.10090167726674977, + 0.09861145151848798, + -0.9899972894680941 + ], + [ + 0.9715408502962484, + 0.2050740241736334, + 0.11854543776491279, + 0.20891845935375936, + -0.9777111343004005, + -0.02083303161510356, + 0.1116308807942246, + 0.04500647147084889, + -0.9927300559461516 + ], + [ + 0.97306832551338, + 0.1802168012719423, + 0.14373565466472005, + 0.18111134618167088, + -0.98343806980424, + 0.006945728469595466, + 0.14260685175281507, + 0.01927348953925134, + -0.9895917433134386 + ], + [ + 0.9721091154565769, + 0.1790979578483379, + 0.1514192495714684, + 0.18456090259303545, + -0.9825586088643138, + -0.022712405875829587, + 0.1447105417040367, + 0.05002501015671377, + -0.9882086609003915 + ], + [ + 0.963664028443627, + 0.20864722660901422, + 0.1667872150740797, + 0.21338328505364892, + -0.9769089224846922, + -0.010794944627517972, + 0.1606835833043123, + 0.04599230368403645, + -0.9859338182952858 + ], + [ + 0.9547016999477085, + 0.25044105630498015, + 0.1606982931888249, + 0.25306929626254815, + -0.9674388802803103, + 0.00423606080671491, + 0.15652666036855956, + 0.036623629514635964, + -0.9869944854734704 + ], + [ + 0.9499246397941812, + 0.28325437814638277, + 0.1319474742948894, + 0.28380728214585127, + -0.9587640831500761, + 0.01499531468087368, + 0.1307539877513481, + 0.02320323516881282, + -0.9911432815515728 + ], + [ + 0.9459318410642502, + 0.30004340294622717, + 0.12323517521083882, + 0.3007139832499727, + -0.9536178799318671, + 0.013566110429534118, + 0.12158968845561402, + 0.02422592459946951, + -0.9922847636835748 + ], + [ + 0.9364644708604314, + 0.3299741157086825, + 0.11895956362716627, + 0.333255533964933, + -0.9428003881495238, + -0.00825694779293415, + 0.1094305437153641, + 0.04737627114263898, + -0.9928647667405565 + ], + [ + 0.924659995798671, + 0.3598390375736833, + 0.12457832559336796, + 0.3646571383261936, + -0.930977124171942, + -0.017514729124138043, + 0.10967708802367593, + 0.061623545066686714, + -0.9920551774251576 + ], + [ + 0.9180092033328848, + 0.3758918178340039, + 0.1263504803377088, + 0.38257409730436615, + -0.9233470014163653, + -0.032670706254312884, + 0.10438468598348642, + 0.07833042998001649, + -0.991447518061987 + ], + [ + 0.906123509413436, + 0.3993529420047389, + 0.13948983260595843, + 0.40821908026699893, + -0.911969172992263, + -0.04085841428363555, + 0.1108934993326668, + 0.0939651809127579, + -0.989380198195713 + ], + [ + 0.9002748393070366, + 0.41091525318790534, + 0.14371453791530325, + 0.41980110205542376, + -0.9068694427708092, + -0.03680826648476829, + 0.11520524477531895, + 0.09346907759297565, + -0.9889344180026182 + ], + [ + 0.8928513554506371, + 0.4225645134661291, + 0.15574238032434579, + 0.432570639751505, + -0.9008998329904478, + -0.03552650479228643, + 0.12529604421103335, + 0.099089469051541, + -0.9871586389371011 + ], + [ + 0.8962854555829192, + 0.41579571869770476, + 0.15422808571456112, + 0.4255978358589481, + -0.904212106797522, + -0.035594213475879447, + 0.12465498073762929, + 0.09754171535012986, + -0.9873939181217674 + ], + [ + 0.8950019544789657, + 0.4206931375086238, + 0.14828616095907937, + 0.4297558336575701, + -0.9023055944560842, + -0.03397848805553057, + 0.11950491586591222, + 0.09413765594278982, + -0.9883606005995376 + ], + [ + 0.9092073240594692, + 0.392372332221141, + 0.1392335978992207, + 0.3997748965012379, + -0.9161627217282158, + -0.028738466259916686, + 0.11628445297649995, + 0.08179132119540812, + -0.9898424651292071 + ], + [ + 0.9221215469513699, + 0.3598468012200777, + 0.1421342052417005, + 0.36666639868453743, + -0.9300376449349348, + -0.024201881736582314, + 0.12348119178127408, + 0.07443291379193463, + -0.9895514825519278 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006363.json b/json/chunk-0006/episode_0006363.json new file mode 100644 index 0000000000000000000000000000000000000000..de959ffe5bd7b7657990da84c1d8b99abff039c6 --- /dev/null +++ b/json/chunk-0006/episode_0006363.json @@ -0,0 +1,1402 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 22, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nTake carrot off plate." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006363.mp4", + "start": 0, + "end": 22, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3114618957042694, + -0.12789461016654968, + 0.021454012021422386, + 0.0016074044397100806, + -0.10926306247711182, + 0.03702672943472862, + 0.0, + 0.9605803489685059 + ], + [ + 0.3080202341079712, + -0.12459152936935425, + 0.017924539744853973, + 0.029785500839352608, + -0.05889430269598961, + -0.09518958628177643, + 0.0, + 0.9605803489685059 + ], + [ + 0.32336726784706116, + -0.1200791746377945, + 0.03170369192957878, + 0.048980019986629486, + -0.06528805196285248, + -0.3510463833808899, + 0.0, + 0.9605803489685059 + ], + [ + 0.3435468077659607, + -0.12201225757598877, + 0.053378842771053314, + 0.0637483149766922, + -0.08392515033483505, + -0.6126193404197693, + 0.0, + 0.9605803489685059 + ], + [ + 0.36412322521209717, + -0.1183634027838707, + 0.061960168182849884, + 0.06428366899490356, + -0.06988570094108582, + -0.8271384239196777, + 0.0, + 0.9605803489685059 + ], + [ + 0.3842594027519226, + -0.11205914616584778, + 0.06626469641923904, + 0.06579207628965378, + -0.04140371084213257, + -1.0482594966888428, + 0.0, + 0.9605803489685059 + ], + [ + 0.40044882893562317, + -0.0957488939166069, + 0.06372753530740738, + 0.07588467746973038, + 0.021178362891077995, + -1.2381508350372314, + 0.0, + 0.9605803489685059 + ], + [ + 0.4126932621002197, + -0.08287731558084488, + 0.06306429952383041, + 0.1048172265291214, + 0.0688520222902298, + -1.389928936958313, + 0.0, + 0.9605803489685059 + ], + [ + 0.42615392804145813, + -0.06753695011138916, + 0.06341320276260376, + 0.15013088285923004, + 0.05532265827059746, + -1.4811489582061768, + 0.0, + 0.9605803489685059 + ], + [ + 0.43660271167755127, + -0.05323300138115883, + 0.055490851402282715, + 0.2102993279695511, + 0.016254495829343796, + -1.5419824123382568, + 0.0, + 0.9605803489685059 + ], + [ + 0.44420576095581055, + -0.05073262378573418, + 0.045443519949913025, + 0.24239099025726318, + -0.013062561862170696, + -1.584502935409546, + 0.0, + 0.9605803489685059 + ], + [ + 0.44212061166763306, + -0.05086774379014969, + 0.02522636391222477, + 0.22501736879348755, + -0.05114114657044411, + -1.581412672996521, + 0.0, + 0.9605803489685059 + ], + [ + 0.4418751001358032, + -0.05127740278840065, + 0.015653079375624657, + 0.21645788848400116, + -0.07745738327503204, + -1.5639374256134033, + 0.0, + 0.9605803489685059 + ], + [ + 0.4418875277042389, + -0.054570071399211884, + 0.008756470866501331, + 0.20670077204704285, + -0.09939897805452347, + -1.5557345151901245, + 0.0, + 0.7893680930137634 + ], + [ + 0.4403158128261566, + -0.05637802556157112, + 0.0069742691703140736, + 0.19286970794200897, + -0.11188586801290512, + -1.5479114055633545, + 0.0, + 0.5899012684822083 + ], + [ + 0.43380746245384216, + -0.05742286145687103, + 0.007284096442162991, + 0.13785985112190247, + -0.08327502012252808, + -1.514114260673523, + 0.0, + 0.5889025926589966 + ], + [ + 0.4188251793384552, + -0.06520097702741623, + 0.013871468603610992, + 0.06816180795431137, + -0.018315773457288742, + -1.4448261260986328, + 0.0, + 0.5889025926589966 + ], + [ + 0.3993270993232727, + -0.08056599646806717, + 0.038758330047130585, + 0.08277752250432968, + 0.005508065223693848, + -1.3443992137908936, + 0.0, + 0.5889025926589966 + ], + [ + 0.3685449957847595, + -0.09768354892730713, + 0.031013458967208862, + 0.10011810809373856, + 0.006702718324959278, + -1.2419489622116089, + 0.0, + 0.5889025926589966 + ], + [ + 0.3435743451118469, + -0.1088034138083458, + 0.02472800947725773, + 0.1202242523431778, + -0.016722630709409714, + -1.1880227327346802, + 0.0, + 0.5889025926589966 + ], + [ + 0.33151671290397644, + -0.10243169963359833, + 0.01550449337810278, + 0.11541155725717545, + -0.008896131068468094, + -1.1822547912597656, + 0.0, + 0.5889025926589966 + ], + [ + 0.3317450284957886, + -0.10103980451822281, + 0.021583134308457375, + 0.13905327022075653, + -0.060482561588287354, + -1.1580358743667603, + 0.0, + 0.5889025926589966 + ] + ], + "left_gripper_pos": [ + [ + 0.9605803489685059 + ], + [ + 0.9605803489685059 + ], + [ + 0.9605803489685059 + ], + [ + 0.9605803489685059 + ], + [ + 0.9605803489685059 + ], + [ + 0.9605803489685059 + ], + [ + 0.9605803489685059 + ], + [ + 0.9605803489685059 + ], + [ + 0.9605803489685059 + ], + [ + 0.9605803489685059 + ], + [ + 0.9605803489685059 + ], + [ + 0.9605803489685059 + ], + [ + 0.9605803489685059 + ], + [ + 0.7893680930137634 + ], + [ + 0.5899012684822083 + ], + [ + 0.5889025926589966 + ], + [ + 0.5889025926589966 + ], + [ + 0.5889025926589966 + ], + [ + 0.5889025926589966 + ], + [ + 0.5889025926589966 + ], + [ + 0.5889025926589966 + ], + [ + 0.5889025926589966 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3114618957042694, + -0.12789461016654968, + 0.021454012021422386 + ], + [ + 0.3080202341079712, + -0.12459152936935425, + 0.017924539744853973 + ], + [ + 0.32336726784706116, + -0.1200791746377945, + 0.03170369192957878 + ], + [ + 0.3435468077659607, + -0.12201225757598877, + 0.053378842771053314 + ], + [ + 0.36412322521209717, + -0.1183634027838707, + 0.061960168182849884 + ], + [ + 0.3842594027519226, + -0.11205914616584778, + 0.06626469641923904 + ], + [ + 0.40044882893562317, + -0.0957488939166069, + 0.06372753530740738 + ], + [ + 0.4126932621002197, + -0.08287731558084488, + 0.06306429952383041 + ], + [ + 0.42615392804145813, + -0.06753695011138916, + 0.06341320276260376 + ], + [ + 0.43660271167755127, + -0.05323300138115883, + 0.055490851402282715 + ], + [ + 0.44420576095581055, + -0.05073262378573418, + 0.045443519949913025 + ], + [ + 0.44212061166763306, + -0.05086774379014969, + 0.02522636391222477 + ], + [ + 0.4418751001358032, + -0.05127740278840065, + 0.015653079375624657 + ], + [ + 0.4418875277042389, + -0.054570071399211884, + 0.008756470866501331 + ], + [ + 0.4403158128261566, + -0.05637802556157112, + 0.0069742691703140736 + ], + [ + 0.43380746245384216, + -0.05742286145687103, + 0.007284096442162991 + ], + [ + 0.4188251793384552, + -0.06520097702741623, + 0.013871468603610992 + ], + [ + 0.3993270993232727, + -0.08056599646806717, + 0.038758330047130585 + ], + [ + 0.3685449957847595, + -0.09768354892730713, + 0.031013458967208862 + ], + [ + 0.3435743451118469, + -0.1088034138083458, + 0.02472800947725773 + ], + [ + 0.33151671290397644, + -0.10243169963359833, + 0.01550449337810278 + ], + [ + 0.3317450284957886, + -0.10103980451822281, + 0.021583134308457375 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9933554040597768, + 0.037193382183828574, + 0.10891140228169384, + 0.03679751952089315, + -0.9993068093924965, + 0.005642983155919039, + 0.10904578754975715, + -0.0015978183614419957, + -0.9940354436307273 + ], + [ + 0.9937469719830722, + -0.09325875273710268, + 0.06139837711531939, + -0.0948811107874934, + -0.9951979521918002, + 0.024054329526690708, + 0.05886026240347931, + -0.029729463351482816, + -0.9978234455647081 + ], + [ + 0.9370128205968201, + -0.34046869990450945, + 0.07802588302944184, + -0.3431479232832806, + -0.938985699138574, + 0.023566067971021287, + 0.06524167980335015, + -0.048856127543800185, + -0.9966727657651034 + ], + [ + 0.8152650909453109, + -0.5694753958152378, + 0.10507428347132482, + -0.5729885877960256, + -0.819553503743484, + 0.0040165603811298835, + 0.08382666485940056, + -0.06348092676432288, + -0.9944562645967355 + ], + [ + 0.6753321132638643, + -0.7314401618900476, + 0.09445542000766492, + -0.734200566337953, + -0.6788878483361976, + -0.0077985749004016135, + 0.06982882774035688, + -0.06408259479538204, + -0.995498546388039 + ], + [ + 0.49865232927938485, + -0.8633229354255285, + 0.07758455820904452, + -0.8658132400117431, + -0.5003584308136416, + -0.0029789484852739134, + 0.041391882351635254, + -0.06568827811686738, + -0.9969813248970261 + ], + [ + 0.3264714101080302, + -0.9429859308358796, + 0.0647607336868907, + -0.9449698208836946, + -0.3240874455169363, + 0.04471426257186054, + -0.021176779762578826, + -0.07579486726617377, + -0.9968985314940486 + ], + [ + 0.1794566739216396, + -0.9795840547125841, + 0.09061115791024624, + -0.9813573190114561, + -0.17181506423775533, + 0.0861243062301431, + -0.06879763518922549, + -0.10437750453919316, + -0.9921553416368534 + ], + [ + 0.08939037080685458, + -0.98552145932771, + 0.14407225552337852, + -0.9944606006433774, + -0.08028324840221618, + 0.06784330323621257, + -0.05529444253291361, + -0.14933871979687208, + -0.9872388117342253 + ], + [ + 0.028806121704742782, + -0.9776602786792344, + 0.20820803741732205, + -0.9994528613124182, + -0.024783589715330068, + 0.021903234812289077, + -0.016253780075774243, + -0.2087250659927159, + -0.9778392820190773 + ], + [ + -0.01370501010971098, + -0.9707186383647451, + 0.23982805888633582, + -0.9998207598765859, + 0.010170554736682713, + -0.015968967911364512, + 0.013062190386714218, + -0.24000392694212982, + -0.970684034191692 + ], + [ + -0.010602266981147135, + -0.9748563853310461, + 0.22258171513883848, + -0.9986362973587903, + -0.0010566487631282206, + -0.05219606394084539, + 0.051118856915877114, + -0.22283157647128457, + -0.9735157682312783 + ], + [ + 0.0068382823587027075, + -0.9765273587846005, + 0.21528482398802495, + -0.9969782247678806, + -0.023317411172547653, + -0.07409937702096883, + 0.07737995369000934, + -0.2141275691763734, + -0.9737359636398102 + ], + [ + 0.01498689965138722, + -0.9782955934221131, + 0.20667153826716025, + -0.9949511205740549, + -0.03510460638610402, + -0.09402092468652368, + 0.09923537931237777, + -0.20421899642626723, + -0.9738824061412017 + ], + [ + 0.02273984375260968, + -0.9807115086056535, + 0.19413355298487153, + -0.9934870920692387, + -0.043854168641906666, + -0.1051675319884195, + 0.11165257452434726, + -0.19047768578274527, + -0.9753214617862844 + ], + [ + 0.056455400436645986, + -0.9882740396823352, + 0.14187039949015542, + -0.9949342059281231, + -0.06752660067470861, + -0.07447203552672595, + 0.08317880520729694, + -0.13694736467444993, + -0.9870798881919387 + ], + [ + 0.12561623239342756, + -0.9896158039117428, + 0.06986503279463412, + -0.9919098407179409, + -0.1265830768316797, + -0.009570399507540028, + 0.018314749416501772, + -0.06809761602244215, + -0.9975105436264172 + ], + [ + 0.22446463643358766, + -0.9712469534040136, + 0.07934092572033016, + -0.9744666687552948, + -0.22325564023433703, + 0.023908797303811746, + -0.005508037372403962, + -0.08268176707701587, + -0.9965607793392866 + ], + [ + 0.32294511694695155, + -0.9418922766354241, + 0.09244128219933645, + -0.9463939590255037, + -0.32070110511941835, + 0.03859113233913947, + -0.006702668136867797, + -0.09994868878440252, + -0.9949700165583513 + ], + [ + 0.3734425561017394, + -0.9201873584275577, + 0.11745587546952527, + -0.9275025805790242, + -0.3726592018994792, + 0.02939527613229087, + 0.016721851316456537, + -0.11991807465831236, + -0.9926429544699311 + ], + [ + 0.37882407347114283, + -0.9189178124872424, + 0.10991985831682824, + -0.9254259464152141, + -0.3772668950893722, + 0.035447250544013376, + 0.008896013727261523, + -0.11515096075711234, + -0.9933081682823708 + ], + [ + 0.4004059858626852, + -0.903814491430583, + 0.15097818241523242, + -0.9143420392376689, + -0.40494203233015197, + 0.0007653332783936068, + 0.06044569271695043, + -0.1383521432157891, + -0.9885367988595899 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0034416615962982178, + 0.0033030807971954346, + -0.0035294722765684128, + 0.028178095817565918, + 0.05036875978112221, + -0.13221631944179535, + 1.0 + ], + [ + 0.015347033739089966, + 0.004512354731559753, + 0.013779152184724808, + 0.01919451914727688, + -0.006393749266862869, + -0.25585681200027466, + 1.0 + ], + [ + 0.020179539918899536, + -0.001933082938194275, + 0.021675150841474533, + 0.014768294990062714, + -0.018637098371982574, + -0.2615729570388794, + 1.0 + ], + [ + 0.020576417446136475, + 0.0036488547921180725, + 0.00858132541179657, + 0.0005353540182113647, + 0.014039449393749237, + -0.21451908349990845, + 1.0 + ], + [ + 0.02013617753982544, + 0.006304256618022919, + 0.00430452823638916, + 0.0015084072947502136, + 0.028481990098953247, + -0.22112107276916504, + 1.0 + ], + [ + 0.01618942618370056, + 0.016310252249240875, + -0.002537161111831665, + 0.010092601180076599, + 0.06258207559585571, + -0.18989133834838867, + 1.0 + ], + [ + 0.012244433164596558, + 0.012871578335762024, + -0.0006632357835769653, + 0.02893254905939102, + 0.04767365753650665, + -0.15177810192108154, + 1.0 + ], + [ + 0.013460665941238403, + 0.015340365469455719, + 0.00034890323877334595, + 0.04531365633010864, + -0.01352936401963234, + -0.09122002124786377, + 1.0 + ], + [ + 0.01044878363609314, + 0.014303948730230331, + -0.007922351360321045, + 0.060168445110321045, + -0.03906816244125366, + -0.06083345413208008, + 1.0 + ], + [ + 0.007603049278259277, + 0.002500377595424652, + -0.01004733145236969, + 0.0320916622877121, + -0.029317058622837067, + -0.04252052307128906, + 1.0 + ], + [ + -0.0020851492881774902, + -0.00013512000441551208, + -0.020217156037688255, + -0.017373621463775635, + -0.038078583776950836, + 0.0030902624130249023, + 1.0 + ], + [ + -0.000245511531829834, + -0.0004096589982509613, + -0.009573284536600113, + -0.00855948030948639, + -0.026316236704587936, + 0.017475247383117676, + 1.0 + ], + [ + 1.2427568435668945e-05, + -0.0032926686108112335, + -0.006896608509123325, + -0.009757116436958313, + -0.021941594779491425, + 0.008202910423278809, + 0.0 + ], + [ + -0.0015717148780822754, + -0.0018079541623592377, + -0.0017822016961872578, + -0.013831064105033875, + -0.012486889958381653, + 0.00782310962677002, + 0.0 + ], + [ + -0.006508350372314453, + -0.0010448358952999115, + 0.000309827271848917, + -0.055009856820106506, + 0.028610847890377045, + 0.03379714488983154, + 0.0 + ], + [ + -0.014982283115386963, + -0.0077781155705451965, + 0.006587372161448002, + -0.0696980431675911, + 0.06495924293994904, + 0.06928813457489014, + 0.0 + ], + [ + -0.019498080015182495, + -0.01536501944065094, + 0.024886861443519592, + 0.01461571455001831, + 0.02382383868098259, + 0.10042691230773926, + 0.0 + ], + [ + -0.030782103538513184, + -0.01711755245923996, + -0.007744871079921722, + 0.017340585589408875, + 0.0011946531012654305, + 0.10245025157928467, + 0.0 + ], + [ + -0.024970650672912598, + -0.011119864881038666, + -0.006285449489951134, + 0.02010614424943924, + -0.023425348103046417, + 0.05392622947692871, + 0.0 + ], + [ + -0.012057632207870483, + 0.006371714174747467, + -0.00922351609915495, + -0.00481269508600235, + 0.00782649964094162, + 0.005767941474914551, + 0.0 + ], + [ + 0.0002283155918121338, + 0.0013918951153755188, + 0.006078640930354595, + 0.023641712963581085, + -0.05158643051981926, + 0.02421891689300537, + 0.0 + ], + [ + 0.0017978847026824951, + -0.004003368318080902, + -0.0023217443376779556, + -0.010677218437194824, + -0.06312105804681778, + 0.02887427806854248, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9605803489685059 + ], + [ + 0.9605803489685059 + ], + [ + 0.9605803489685059 + ], + [ + 0.9605803489685059 + ], + [ + 0.9605803489685059 + ], + [ + 0.9605803489685059 + ], + [ + 0.9605803489685059 + ], + [ + 0.9605803489685059 + ], + [ + 0.9605803489685059 + ], + [ + 0.9605803489685059 + ], + [ + 0.9605803489685059 + ], + [ + 0.9605803489685059 + ], + [ + 0.7893680930137634 + ], + [ + 0.5899012684822083 + ], + [ + 0.5889025926589966 + ], + [ + 0.5889025926589966 + ], + [ + 0.5889025926589966 + ], + [ + 0.5889025926589966 + ], + [ + 0.5889025926589966 + ], + [ + 0.5889025926589966 + ], + [ + 0.5889025926589966 + ], + [ + 0.8102405071258545 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3080202341079712, + -0.12459152936935425, + 0.017924539744853973 + ], + [ + 0.32336726784706116, + -0.1200791746377945, + 0.03170369192957878 + ], + [ + 0.3435468077659607, + -0.12201225757598877, + 0.053378842771053314 + ], + [ + 0.36412322521209717, + -0.1183634027838707, + 0.061960168182849884 + ], + [ + 0.3842594027519226, + -0.11205914616584778, + 0.06626469641923904 + ], + [ + 0.40044882893562317, + -0.0957488939166069, + 0.06372753530740738 + ], + [ + 0.4126932621002197, + -0.08287731558084488, + 0.06306429952383041 + ], + [ + 0.42615392804145813, + -0.06753695011138916, + 0.06341320276260376 + ], + [ + 0.43660271167755127, + -0.05323300138115883, + 0.055490851402282715 + ], + [ + 0.44420576095581055, + -0.05073262378573418, + 0.045443519949913025 + ], + [ + 0.44212061166763306, + -0.05086774379014969, + 0.02522636391222477 + ], + [ + 0.4418751001358032, + -0.05127740278840065, + 0.015653079375624657 + ], + [ + 0.4418875277042389, + -0.054570071399211884, + 0.008756470866501331 + ], + [ + 0.4403158128261566, + -0.05637802556157112, + 0.0069742691703140736 + ], + [ + 0.43380746245384216, + -0.05742286145687103, + 0.007284096442162991 + ], + [ + 0.4188251793384552, + -0.06520097702741623, + 0.013871468603610992 + ], + [ + 0.3993270993232727, + -0.08056599646806717, + 0.038758330047130585 + ], + [ + 0.3685449957847595, + -0.09768354892730713, + 0.031013458967208862 + ], + [ + 0.3435743451118469, + -0.1088034138083458, + 0.02472800947725773 + ], + [ + 0.33151671290397644, + -0.10243169963359833, + 0.01550449337810278 + ], + [ + 0.3317450284957886, + -0.10103980451822281, + 0.021583134308457375 + ], + [ + 0.33354291319847107, + -0.10504317283630371, + 0.01926138997077942 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9937469719830722, + -0.09325875273710268, + 0.06139837711531939, + -0.0948811107874934, + -0.9951979521918002, + 0.024054329526690708, + 0.05886026240347931, + -0.029729463351482816, + -0.9978234455647081 + ], + [ + 0.9370128205968201, + -0.34046869990450945, + 0.07802588302944184, + -0.3431479232832806, + -0.938985699138574, + 0.023566067971021287, + 0.06524167980335015, + -0.048856127543800185, + -0.9966727657651034 + ], + [ + 0.8152650909453109, + -0.5694753958152378, + 0.10507428347132482, + -0.5729885877960256, + -0.819553503743484, + 0.0040165603811298835, + 0.08382666485940056, + -0.06348092676432288, + -0.9944562645967355 + ], + [ + 0.6753321132638643, + -0.7314401618900476, + 0.09445542000766492, + -0.734200566337953, + -0.6788878483361976, + -0.0077985749004016135, + 0.06982882774035688, + -0.06408259479538204, + -0.995498546388039 + ], + [ + 0.49865232927938485, + -0.8633229354255285, + 0.07758455820904452, + -0.8658132400117431, + -0.5003584308136416, + -0.0029789484852739134, + 0.041391882351635254, + -0.06568827811686738, + -0.9969813248970261 + ], + [ + 0.3264714101080302, + -0.9429859308358796, + 0.0647607336868907, + -0.9449698208836946, + -0.3240874455169363, + 0.04471426257186054, + -0.021176779762578826, + -0.07579486726617377, + -0.9968985314940486 + ], + [ + 0.1794566739216396, + -0.9795840547125841, + 0.09061115791024624, + -0.9813573190114561, + -0.17181506423775533, + 0.0861243062301431, + -0.06879763518922549, + -0.10437750453919316, + -0.9921553416368534 + ], + [ + 0.08939037080685458, + -0.98552145932771, + 0.14407225552337852, + -0.9944606006433774, + -0.08028324840221618, + 0.06784330323621257, + -0.05529444253291361, + -0.14933871979687208, + -0.9872388117342253 + ], + [ + 0.028806121704742782, + -0.9776602786792344, + 0.20820803741732205, + -0.9994528613124182, + -0.024783589715330068, + 0.021903234812289077, + -0.016253780075774243, + -0.2087250659927159, + -0.9778392820190773 + ], + [ + -0.01370501010971098, + -0.9707186383647451, + 0.23982805888633582, + -0.9998207598765859, + 0.010170554736682713, + -0.015968967911364512, + 0.013062190386714218, + -0.24000392694212982, + -0.970684034191692 + ], + [ + -0.010602266981147135, + -0.9748563853310461, + 0.22258171513883848, + -0.9986362973587903, + -0.0010566487631282206, + -0.05219606394084539, + 0.051118856915877114, + -0.22283157647128457, + -0.9735157682312783 + ], + [ + 0.0068382823587027075, + -0.9765273587846005, + 0.21528482398802495, + -0.9969782247678806, + -0.023317411172547653, + -0.07409937702096883, + 0.07737995369000934, + -0.2141275691763734, + -0.9737359636398102 + ], + [ + 0.01498689965138722, + -0.9782955934221131, + 0.20667153826716025, + -0.9949511205740549, + -0.03510460638610402, + -0.09402092468652368, + 0.09923537931237777, + -0.20421899642626723, + -0.9738824061412017 + ], + [ + 0.02273984375260968, + -0.9807115086056535, + 0.19413355298487153, + -0.9934870920692387, + -0.043854168641906666, + -0.1051675319884195, + 0.11165257452434726, + -0.19047768578274527, + -0.9753214617862844 + ], + [ + 0.056455400436645986, + -0.9882740396823352, + 0.14187039949015542, + -0.9949342059281231, + -0.06752660067470861, + -0.07447203552672595, + 0.08317880520729694, + -0.13694736467444993, + -0.9870798881919387 + ], + [ + 0.12561623239342756, + -0.9896158039117428, + 0.06986503279463412, + -0.9919098407179409, + -0.1265830768316797, + -0.009570399507540028, + 0.018314749416501772, + -0.06809761602244215, + -0.9975105436264172 + ], + [ + 0.22446463643358766, + -0.9712469534040136, + 0.07934092572033016, + -0.9744666687552948, + -0.22325564023433703, + 0.023908797303811746, + -0.005508037372403962, + -0.08268176707701587, + -0.9965607793392866 + ], + [ + 0.32294511694695155, + -0.9418922766354241, + 0.09244128219933645, + -0.9463939590255037, + -0.32070110511941835, + 0.03859113233913947, + -0.006702668136867797, + -0.09994868878440252, + -0.9949700165583513 + ], + [ + 0.3734425561017394, + -0.9201873584275577, + 0.11745587546952527, + -0.9275025805790242, + -0.3726592018994792, + 0.02939527613229087, + 0.016721851316456537, + -0.11991807465831236, + -0.9926429544699311 + ], + [ + 0.37882407347114283, + -0.9189178124872424, + 0.10991985831682824, + -0.9254259464152141, + -0.3772668950893722, + 0.035447250544013376, + 0.008896013727261523, + -0.11515096075711234, + -0.9933081682823708 + ], + [ + 0.4004059858626852, + -0.903814491430583, + 0.15097818241523242, + -0.9143420392376689, + -0.40494203233015197, + 0.0007653332783936068, + 0.06044569271695043, + -0.1383521432157891, + -0.9885367988595899 + ], + [ + 0.42415706070582787, + -0.8898684558454992, + 0.16800273552695302, + -0.8971569422518146, + -0.43817027411466664, + -0.05582321964605827, + 0.12328912694462087, + -0.1270470077310936, + -0.9842046784098359 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006364.json b/json/chunk-0006/episode_0006364.json new file mode 100644 index 0000000000000000000000000000000000000000..e831d5b2c9887b01a0a5cab27d0a3198f508a1f4 --- /dev/null +++ b/json/chunk-0006/episode_0006364.json @@ -0,0 +1,2422 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 39, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the pot to the right side of the table." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006364.mp4", + "start": 0, + "end": 39, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.31459611654281616, + 0.21049578487873077, + 0.11210275441408157, + 0.12306735664606094, + 0.16039791703224182, + -1.4870545864105225, + 0.0, + 0.9994885921478271 + ], + [ + 0.3120986521244049, + 0.20861051976680756, + 0.09843103587627411, + 0.09326374530792236, + 0.14514075219631195, + -1.5026402473449707, + 0.0, + 0.9994885921478271 + ], + [ + 0.3051163852214813, + 0.19377227127552032, + 0.07839810848236084, + 0.0850423201918602, + 0.16830193996429443, + -1.7183741331100464, + 0.0, + 0.9994885921478271 + ], + [ + 0.3068855106830597, + 0.1810639202594757, + 0.08576072007417679, + 0.13663224875926971, + 0.1460033357143402, + -1.8912537097930908, + 0.0, + 0.9994885921478271 + ], + [ + 0.30826181173324585, + 0.17350250482559204, + 0.0899348109960556, + 0.11980844289064407, + 0.10032958537340164, + -1.9968019723892212, + 0.0, + 0.9994885921478271 + ], + [ + 0.3146127164363861, + 0.17434467375278473, + 0.07868660241365433, + 0.05235922336578369, + 0.055076442658901215, + -2.0134999752044678, + 0.0, + 0.9994885921478271 + ], + [ + 0.31509485840797424, + 0.1775641143321991, + 0.07562857866287231, + 0.043935369700193405, + 0.07404469698667526, + -2.0321075916290283, + 0.0, + 0.9994885921478271 + ], + [ + 0.3120901882648468, + 0.17734995484352112, + 0.05901793763041496, + 0.043339911848306656, + 0.0615612231194973, + -2.061124563217163, + 0.0, + 0.9994885921478271 + ], + [ + 0.30939850211143494, + 0.17208686470985413, + 0.043432462960481644, + 0.0708058774471283, + 0.07669682800769806, + -2.112058401107788, + 0.0, + 0.9994885921478271 + ], + [ + 0.3129923343658447, + 0.173756942152977, + 0.03884539380669594, + 0.08414768427610397, + 0.12403522431850433, + -2.136909008026123, + 0.0, + 0.9672539830207825 + ], + [ + 0.31224381923675537, + 0.17245689034461975, + 0.03407182916998863, + 0.07021337747573853, + 0.1468249410390854, + -2.169874429702759, + 0.0, + 0.704176664352417 + ], + [ + 0.3171524405479431, + 0.1756518930196762, + 0.031180642545223236, + 0.08185073733329773, + 0.0984378382563591, + -2.1571102142333984, + 0.0, + 0.4085940718650818 + ], + [ + 0.3167456090450287, + 0.17858365178108215, + 0.031390126794576645, + 0.06336508691310883, + 0.10372317582368851, + -2.142430305480957, + 0.0, + 0.18178488314151764 + ], + [ + 0.32413050532341003, + 0.17991723120212555, + 0.03786934167146683, + 0.0842108428478241, + 0.10081175714731216, + -2.1102793216705322, + 0.0, + 0.07624256610870361 + ], + [ + 0.3314492702484131, + 0.1845439374446869, + 0.0464988611638546, + 0.12067338824272156, + 0.10717984288930893, + -2.063264846801758, + 0.0, + 0.057568058371543884 + ], + [ + 0.3363328278064728, + 0.18414469063282013, + 0.05523323267698288, + 0.1440315693616867, + 0.05319783464074135, + -2.018550395965576, + 0.0, + 0.05592256039381027 + ], + [ + 0.3358149826526642, + 0.1759052872657776, + 0.06001273915171623, + 0.16960982978343964, + -0.015157566405832767, + -2.0028631687164307, + 0.0, + 0.05592256039381027 + ], + [ + 0.33588749170303345, + 0.15869055688381195, + 0.0748395174741745, + 0.20153823494911194, + -0.06548283249139786, + -2.023373603820801, + 0.0, + 0.05592256039381027 + ], + [ + 0.33595800399780273, + 0.13621331751346588, + 0.09963727742433548, + 0.24692627787590027, + -0.04150371626019478, + -2.0513346195220947, + 0.0, + 0.05592256039381027 + ], + [ + 0.33400097489356995, + 0.10005377233028412, + 0.11425494402647018, + 0.2868843376636505, + -0.02790793776512146, + -2.0606491565704346, + 0.0, + 0.05592256039381027 + ], + [ + 0.3282312750816345, + 0.06471733748912811, + 0.11725055426359177, + 0.278719425201416, + -0.03673570975661278, + -2.114633083343506, + 0.0, + 0.05592256039381027 + ], + [ + 0.3241925835609436, + 0.02960435301065445, + 0.10098177939653397, + 0.2734220623970032, + -0.003601878648623824, + -2.172800064086914, + 0.0, + 0.05565106123685837 + ], + [ + 0.3211268186569214, + -0.0030629022512584925, + 0.08870501816272736, + 0.27423152327537537, + 0.005655444227159023, + -2.2410669326782227, + 0.0, + 0.05565106123685837 + ], + [ + 0.3100636899471283, + -0.028128191828727722, + 0.06880936026573181, + 0.2580167055130005, + 0.019121520221233368, + -2.2469513416290283, + 0.0, + 0.05565106123685837 + ], + [ + 0.3112078011035919, + -0.04141603037714958, + 0.06842748820781708, + 0.2534690499305725, + 0.044428110122680664, + -2.2298381328582764, + 0.0, + 0.05565106123685837 + ], + [ + 0.3105831742286682, + -0.05069185793399811, + 0.06038670614361763, + 0.2120663821697235, + 0.0574636310338974, + -2.213057279586792, + 0.0, + 0.05565106123685837 + ], + [ + 0.31233373284339905, + -0.05443912744522095, + 0.05540908873081207, + 0.20344489812850952, + 0.07506520301103592, + -2.2004804611206055, + 0.0, + 0.05565106123685837 + ], + [ + 0.31893277168273926, + -0.05538332462310791, + 0.047475941479206085, + 0.17021414637565613, + 0.06772379577159882, + -2.1818854808807373, + 0.0, + 0.05565106123685837 + ], + [ + 0.32361334562301636, + -0.05750948190689087, + 0.044512778520584106, + 0.1594228893518448, + 0.07599040120840073, + -2.165454626083374, + 0.0, + 0.05565106123685837 + ], + [ + 0.3248894214630127, + -0.05765644460916519, + 0.04393390566110611, + 0.138645738363266, + 0.07832188904285431, + -2.1548147201538086, + 0.0, + 0.05565106123685837 + ], + [ + 0.32192912697792053, + -0.05522643029689789, + 0.043762292712926865, + 0.11437691003084183, + 0.07824781537055969, + -2.1391170024871826, + 0.0, + 0.07788556814193726 + ], + [ + 0.3174512982368469, + -0.05190637707710266, + 0.04294119030237198, + 0.08312265574932098, + 0.0765601247549057, + -2.1187896728515625, + 0.0, + 0.22810569405555725 + ], + [ + 0.3103719651699066, + -0.04542047157883644, + 0.04231415316462517, + 0.03505288437008858, + 0.06008414924144745, + -2.107506275177002, + 0.0, + 0.4737623631954193 + ], + [ + 0.30915331840515137, + -0.03883049264550209, + 0.047918740659952164, + 0.004285311792045832, + 0.042063917964696884, + -2.0767061710357666, + 0.0, + 0.7701175808906555 + ], + [ + 0.3114112913608551, + -0.033409953117370605, + 0.06654764711856842, + 0.02425788901746273, + 0.03245941549539566, + -2.037766933441162, + 0.0, + 0.9893313646316528 + ], + [ + 0.311562716960907, + -0.030867595225572586, + 0.0874166414141655, + 0.07806309312582016, + 0.014501216821372509, + -2.014014959335327, + 0.0, + 0.9981546401977539 + ], + [ + 0.31159508228302, + -0.023709416389465332, + 0.10601139813661575, + 0.11399880796670914, + 0.06460441648960114, + -1.9973478317260742, + 0.0, + 0.9981546401977539 + ], + [ + 0.31673941016197205, + -0.002272917190566659, + 0.11855550855398178, + 0.12563754618167877, + 0.11331912875175476, + -1.9052194356918335, + 0.0, + 0.9981546401977539 + ], + [ + 0.32538044452667236, + 0.035471878945827484, + 0.13176870346069336, + 0.15050432085990906, + 0.15691383183002472, + -1.779199242591858, + 0.0, + 0.9981546401977539 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9672539830207825 + ], + [ + 0.704176664352417 + ], + [ + 0.4085940718650818 + ], + [ + 0.18178488314151764 + ], + [ + 0.07624256610870361 + ], + [ + 0.057568058371543884 + ], + [ + 0.05592256039381027 + ], + [ + 0.05592256039381027 + ], + [ + 0.05592256039381027 + ], + [ + 0.05592256039381027 + ], + [ + 0.05592256039381027 + ], + [ + 0.05592256039381027 + ], + [ + 0.05565106123685837 + ], + [ + 0.05565106123685837 + ], + [ + 0.05565106123685837 + ], + [ + 0.05565106123685837 + ], + [ + 0.05565106123685837 + ], + [ + 0.05565106123685837 + ], + [ + 0.05565106123685837 + ], + [ + 0.05565106123685837 + ], + [ + 0.05565106123685837 + ], + [ + 0.07788556814193726 + ], + [ + 0.22810569405555725 + ], + [ + 0.4737623631954193 + ], + [ + 0.7701175808906555 + ], + [ + 0.9893313646316528 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.31459611654281616, + 0.21049578487873077, + 0.11210275441408157 + ], + [ + 0.3120986521244049, + 0.20861051976680756, + 0.09843103587627411 + ], + [ + 0.3051163852214813, + 0.19377227127552032, + 0.07839810848236084 + ], + [ + 0.3068855106830597, + 0.1810639202594757, + 0.08576072007417679 + ], + [ + 0.30826181173324585, + 0.17350250482559204, + 0.0899348109960556 + ], + [ + 0.3146127164363861, + 0.17434467375278473, + 0.07868660241365433 + ], + [ + 0.31509485840797424, + 0.1775641143321991, + 0.07562857866287231 + ], + [ + 0.3120901882648468, + 0.17734995484352112, + 0.05901793763041496 + ], + [ + 0.30939850211143494, + 0.17208686470985413, + 0.043432462960481644 + ], + [ + 0.3129923343658447, + 0.173756942152977, + 0.03884539380669594 + ], + [ + 0.31224381923675537, + 0.17245689034461975, + 0.03407182916998863 + ], + [ + 0.3171524405479431, + 0.1756518930196762, + 0.031180642545223236 + ], + [ + 0.3167456090450287, + 0.17858365178108215, + 0.031390126794576645 + ], + [ + 0.32413050532341003, + 0.17991723120212555, + 0.03786934167146683 + ], + [ + 0.3314492702484131, + 0.1845439374446869, + 0.0464988611638546 + ], + [ + 0.3363328278064728, + 0.18414469063282013, + 0.05523323267698288 + ], + [ + 0.3358149826526642, + 0.1759052872657776, + 0.06001273915171623 + ], + [ + 0.33588749170303345, + 0.15869055688381195, + 0.0748395174741745 + ], + [ + 0.33595800399780273, + 0.13621331751346588, + 0.09963727742433548 + ], + [ + 0.33400097489356995, + 0.10005377233028412, + 0.11425494402647018 + ], + [ + 0.3282312750816345, + 0.06471733748912811, + 0.11725055426359177 + ], + [ + 0.3241925835609436, + 0.02960435301065445, + 0.10098177939653397 + ], + [ + 0.3211268186569214, + -0.0030629022512584925, + 0.08870501816272736 + ], + [ + 0.3100636899471283, + -0.028128191828727722, + 0.06880936026573181 + ], + [ + 0.3112078011035919, + -0.04141603037714958, + 0.06842748820781708 + ], + [ + 0.3105831742286682, + -0.05069185793399811, + 0.06038670614361763 + ], + [ + 0.31233373284339905, + -0.05443912744522095, + 0.05540908873081207 + ], + [ + 0.31893277168273926, + -0.05538332462310791, + 0.047475941479206085 + ], + [ + 0.32361334562301636, + -0.05750948190689087, + 0.044512778520584106 + ], + [ + 0.3248894214630127, + -0.05765644460916519, + 0.04393390566110611 + ], + [ + 0.32192912697792053, + -0.05522643029689789, + 0.043762292712926865 + ], + [ + 0.3174512982368469, + -0.05190637707710266, + 0.04294119030237198 + ], + [ + 0.3103719651699066, + -0.04542047157883644, + 0.04231415316462517 + ], + [ + 0.30915331840515137, + -0.03883049264550209, + 0.047918740659952164 + ], + [ + 0.3114112913608551, + -0.033409953117370605, + 0.06654764711856842 + ], + [ + 0.311562716960907, + -0.030867595225572586, + 0.0874166414141655 + ], + [ + 0.31159508228302, + -0.023709416389465332, + 0.10601139813661575 + ], + [ + 0.31673941016197205, + -0.002272917190566659, + 0.11855550855398178 + ], + [ + 0.32538044452667236, + 0.035471878945827484, + 0.13176870346069336 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.08257023004081598, + -0.9905988706140256, + 0.10906894447652728, + -0.9837045005860252, + -0.06347434775278737, + 0.16821552456345124, + -0.1597110285415681, + -0.12118120611536788, + -0.979697658794089 + ], + [ + 0.067387256259265, + -0.9942597591697636, + 0.08310528857739406, + -0.9871882434789537, + -0.05436927763219723, + 0.15001117820579593, + -0.14463170340829895, + -0.09214940556203743, + -0.9851853416610384 + ], + [ + -0.144965080295421, + -0.98346336316367, + 0.10855845802951232, + -0.975154356976645, + 0.16058479192124486, + 0.15259916340883478, + -0.16750852385597553, + -0.0837397033575694, + -0.9823077707710441 + ], + [ + -0.31164922100615117, + -0.934004110296102, + 0.1746742253346101, + -0.9389935198221785, + 0.33087234987553255, + 0.09388640913252135, + -0.14548516342986714, + -0.1347583393999428, + -0.9801399171465035 + ], + [ + -0.4111586733296082, + -0.8991488046498535, + 0.14993322661296826, + -0.9060442866131926, + 0.4211760071736197, + 0.041164568221684135, + -0.10016135003796212, + -0.11892097408794719, + -0.9878388056158485 + ], + [ + -0.42773446677961063, + -0.901124282208765, + 0.07083963539220355, + -0.9022266219491503, + 0.4304002139351351, + 0.027253962846070654, + -0.05504860193490114, + -0.05225594567442193, + -0.9971153231029422 + ], + [ + -0.44390302585074953, + -0.8931591863709852, + 0.0722272209189078, + -0.8930159566681649, + 0.4476026696487297, + 0.04662993951714454, + -0.07397705574427278, + -0.04380088953948345, + -0.9962975847099895 + ], + [ + -0.47002342435700517, + -0.880094701968857, + 0.06716618287548569, + -0.8805072296314977, + 0.4728247545038271, + 0.033819670238790026, + -0.06152234652855361, + -0.04324427239235566, + -0.9971684580766061 + ], + [ + -0.5137034563969586, + -0.8521187381259773, + 0.1000120743730957, + -0.8545395723078043, + 0.5185729851107018, + 0.029054749583679658, + -0.07662165650658115, + -0.0705387499745172, + -0.9945619168790949 + ], + [ + -0.5322346869978696, + -0.8354288513086181, + 0.1370579160699692, + -0.8375083498874027, + 0.5432334878005225, + 0.05896729263718471, + -0.123717427330023, + -0.08340271058690225, + -0.9888063440540811 + ], + [ + -0.5578143159874807, + -0.81803346802351, + 0.14022993287044075, + -0.8169700670785611, + 0.5709682697893443, + 0.08096384619948568, + -0.1462979780347988, + -0.06940086517610441, + -0.9868031321067732 + ], + [ + -0.5506157600582153, + -0.8257512398375698, + 0.12229952854459676, + -0.8289532767994644, + 0.5581351623683011, + 0.036353891284720295, + -0.09827893802308317, + -0.08136356945726311, + -0.9918272127272112 + ], + [ + -0.5380993731633255, + -0.8357832865373972, + 0.10915751254945136, + -0.8364981134770065, + 0.545435164930419, + 0.052643964580340846, + -0.10353729159411987, + -0.062982368977945, + -0.9926294628144385 + ], + [ + -0.5110843621437959, + -0.8505855905707775, + 0.12368074985797296, + -0.8536182675528383, + 0.5191349452490621, + 0.04283412099417905, + -0.10064108540829568, + -0.08368429801709865, + -0.9913971505876065 + ], + [ + -0.47008944323121554, + -0.8686717790383525, + 0.15628581402324865, + -0.8761120459261522, + 0.48071161447631355, + 0.03666096958166409, + -0.10697475564663579, + -0.11968994949418152, + -0.9870312647755506 + ], + [ + -0.4323296261912722, + -0.8887835887195997, + 0.1521671013722234, + -0.9001465177131821, + 0.4353388854518668, + -0.014707190838447154, + -0.05317274646044588, + -0.14333104072822522, + -0.9882453500005033 + ], + [ + -0.4187004960016031, + -0.8961429274083895, + 0.14702975312477953, + -0.907997885693257, + 0.41041650230789706, + -0.08425042557712722, + 0.015156985999423833, + -0.16877839994879065, + -0.9855374764493431 + ], + [ + -0.43634758465866746, + -0.8868485162936612, + 0.1519884683463822, + -0.8973956259607987, + 0.41665403941905094, + -0.1451912598685432, + 0.06543604411159018, + -0.19974764224771235, + -0.9776599631505354 + ], + [ + -0.46185849669447787, + -0.8645377263335666, + 0.19814451488018503, + -0.8859825954327737, + 0.43924249970205764, + -0.14866360363482956, + 0.04149180185678608, + -0.24421414005228032, + -0.9688332592232795 + ], + [ + -0.47031281822190146, + -0.8500534866779837, + 0.23709686375567146, + -0.8820585027133218, + 0.4442995245162698, + -0.15675053526463467, + 0.027904315209399358, + -0.2828550906404539, + -0.9587566671953187 + ], + [ + -0.5170739236420172, + -0.8279342689727832, + 0.2171621600324335, + -0.8551524145262758, + 0.48880807973579676, + -0.1725717506282047, + 0.03672744776498449, + -0.27493909770257463, + -0.9607599008780311 + ], + [ + -0.5662914211102833, + -0.7941362671344383, + 0.22059377960104934, + -0.824197217238205, + 0.544457013904364, + -0.15577389738702313, + 0.003601870860448886, + -0.2700262010104275, + -0.9628462376175032 + ], + [ + -0.6211881368631775, + -0.7534198922082949, + 0.2156009384146904, + -0.7836410625484342, + 0.5991863165809326, + -0.16395866280906007, + -0.005655414079872648, + -0.2708029247386656, + -0.9626181965060547 + ], + [ + -0.6256842251282131, + -0.7511124127713378, + 0.21059295763754085, + -0.7798420753270163, + 0.6088888072419476, + -0.14526099946348509, + -0.019120355000881967, + -0.25511676502397473, + -0.9667211843279024 + ], + [ + -0.6117553491267392, + -0.7584990010225108, + 0.22457662002682913, + -0.7897992366467448, + 0.6015986093763285, + -0.11956704808887368, + -0.04441349577595535, + -0.2505162243135582, + -0.967093099318074 + ], + [ + -0.5980187042938611, + -0.7755642878882828, + 0.20217236375685171, + -0.7994217869036669, + 0.595268130770718, + -0.0811212617781791, + -0.0574320114434463, + -0.21013302415631027, + -0.9759844651532542 + ], + [ + -0.587231146553614, + -0.7826222513586087, + 0.20654779639519402, + -0.8059375729332157, + 0.5889907243362706, + -0.05962009040879715, + -0.07499472682692923, + -0.20147540376983472, + -0.976618376144918 + ], + [ + -0.5724445676034511, + -0.8006103612579978, + 0.1770035775560391, + -0.8171460776710813, + 0.5748567898283374, + -0.04256711095466163, + -0.06767203830287485, + -0.16900509055823576, + -0.9832892629319905 + ], + [ + -0.5586089977901255, + -0.8110841486833769, + 0.17348916779578114, + -0.8259494857834133, + 0.5631045027524048, + -0.026847083902750313, + -0.07591728737267844, + -0.15829031156242057, + -0.9844697774657408 + ], + [ + -0.5496904309642432, + -0.8202861056949194, + 0.15802257721669927, + -0.8316962455339952, + 0.5551106588287422, + -0.011554722816923713, + -0.07824183836669911, + -0.13777830474564182, + -0.9873678916545829 + ], + [ + -0.5365706266487313, + -0.8324976760953059, + 0.13798399151243154, + -0.8402271881541029, + 0.5422195826940379, + 0.00402447881756246, + -0.07816799155944383, + -0.11377848407769592, + -0.9904262827977377 + ], + [ + -0.5194493651901408, + -0.847316156142877, + 0.11057887927999317, + -0.8510712940546574, + 0.5245971607375821, + 0.021805306285354834, + -0.07648535441305325, + -0.08278375737623339, + -0.993628119607624 + ], + [ + -0.5103886421688688, + -0.8577916363666801, + 0.060802487814162545, + -0.8578447826678154, + 0.512805748442946, + 0.03365402224814076, + -0.060048004085288056, + -0.03498246622585329, + -0.9975823095174302 + ], + [ + -0.4841748533955059, + -0.8746385639300721, + 0.02412662068714666, + -0.873960171552021, + 0.4847566927591882, + 0.03470687779008458, + -0.042051514600572715, + -0.0042815080888793, + -0.9991062700275094 + ], + [ + -0.4499461615317391, + -0.8923190806995598, + 0.03626444460275366, + -0.8924658021742249, + 0.45075375551184577, + 0.0180511451571398, + -0.0324537158484358, + -0.024242733168091994, + -0.9991791862404706 + ], + [ + -0.42880422734273305, + -0.9001399648410865, + 0.07664840708644058, + -0.9032810548568232, + 0.4285648658159882, + -0.020383614126752478, + -0.014500708594620416, + -0.07797563391220978, + -0.9968498031129075 + ], + [ + -0.41287065961506314, + -0.9014503134799495, + 0.1300966977133666, + -0.9084987018396967, + 0.41773404695430544, + 0.011330259077521262, + -0.06455948562843616, + -0.11351474944727925, + -0.9914365710792157 + ], + [ + -0.326119146469593, + -0.9325037396024372, + 0.15518723508527935, + -0.9385413944131193, + 0.3390215796543659, + 0.06484149521514465, + -0.1130767583503408, + -0.12450359093667945, + -0.9857547882535749 + ], + [ + -0.20435574718002197, + -0.9624550192808892, + 0.17865907325271316, + -0.9663426907038881, + 0.22748252531780794, + 0.12013952221564128, + -0.15627070332491824, + -0.14809468773746165, + -0.9765487344450758 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.002497464418411255, + -0.0018852651119232178, + -0.013671718537807465, + -0.02980361133813858, + -0.01525716483592987, + -0.015585660934448242, + 1.0 + ], + [ + -0.006982266902923584, + -0.014838248491287231, + -0.02003292739391327, + -0.008221425116062164, + 0.023161187767982483, + -0.21573388576507568, + 1.0 + ], + [ + 0.0017691254615783691, + -0.012708351016044617, + 0.0073626115918159485, + 0.051589928567409515, + -0.022298604249954224, + -0.17287957668304443, + 1.0 + ], + [ + 0.0013763010501861572, + -0.007561415433883667, + 0.004174090921878815, + -0.01682380586862564, + -0.04567375034093857, + -0.10554826259613037, + 1.0 + ], + [ + 0.006350904703140259, + 0.000842168927192688, + -0.011248208582401276, + -0.06744921952486038, + -0.04525314271450043, + -0.016698002815246582, + 1.0 + ], + [ + 0.00048214197158813477, + 0.0032194405794143677, + -0.003058023750782013, + -0.008423853665590286, + 0.018968254327774048, + -0.018607616424560547, + 1.0 + ], + [ + -0.0030046701431274414, + -0.00021415948867797852, + -0.01661064103245735, + -0.0005954578518867493, + -0.012483473867177963, + -0.029016971588134766, + 1.0 + ], + [ + -0.0026916861534118652, + -0.005263090133666992, + -0.015585474669933319, + 0.02746596559882164, + 0.01513560488820076, + -0.050933837890625, + 1.0 + ], + [ + 0.00359383225440979, + 0.0016700774431228638, + -0.004587069153785706, + 0.013341806828975677, + 0.047338396310806274, + -0.02485060691833496, + 0.0 + ], + [ + -0.0007485151290893555, + -0.0013000518083572388, + -0.004773564636707306, + -0.013934306800365448, + 0.022789716720581055, + -0.03296542167663574, + 0.0 + ], + [ + 0.004908621311187744, + 0.0031950026750564575, + -0.002891186624765396, + 0.011637359857559204, + -0.04838710278272629, + 0.012764215469360352, + 0.0 + ], + [ + -0.0004068315029144287, + 0.002931758761405945, + 0.0002094842493534088, + -0.018485650420188904, + 0.005285337567329407, + 0.014679908752441406, + 0.0 + ], + [ + 0.007384896278381348, + 0.001333579421043396, + 0.0064792148768901825, + 0.02084575593471527, + -0.0029114186763763428, + 0.032150983810424805, + 0.0 + ], + [ + 0.007318764925003052, + 0.00462670624256134, + 0.008629519492387772, + 0.03646254539489746, + 0.006368085741996765, + 0.047014474868774414, + 0.0 + ], + [ + 0.004883557558059692, + -0.00039924681186676025, + 0.00873437151312828, + 0.02335818111896515, + -0.05398200824856758, + 0.04471445083618164, + 0.0 + ], + [ + -0.0005178451538085938, + -0.008239403367042542, + 0.004779506474733353, + 0.02557826042175293, + -0.06835540384054184, + 0.015687227249145508, + 0.0 + ], + [ + 7.25090503692627e-05, + -0.017214730381965637, + 0.014826778322458267, + 0.0319284051656723, + -0.050325267016887665, + -0.020510435104370117, + 0.0 + ], + [ + 7.051229476928711e-05, + -0.02247723937034607, + 0.02479775995016098, + 0.04538804292678833, + 0.02397911623120308, + -0.027961015701293945, + 0.0 + ], + [ + -0.001957029104232788, + -0.03615954518318176, + 0.014617666602134705, + 0.039958059787750244, + 0.013595778495073318, + -0.009314537048339844, + 0.0 + ], + [ + -0.005769699811935425, + -0.035336434841156006, + 0.002995610237121582, + -0.008164912462234497, + -0.008827771991491318, + -0.05398392677307129, + 0.0 + ], + [ + -0.004038691520690918, + -0.03511298447847366, + -0.0162687748670578, + -0.005297362804412842, + 0.03313383087515831, + -0.0581669807434082, + 0.0 + ], + [ + -0.003065764904022217, + -0.03266725689172745, + -0.01227676123380661, + 0.0008094608783721924, + 0.009257323108613491, + -0.0682668685913086, + 0.0 + ], + [ + -0.01106312870979309, + -0.025065289810299873, + -0.019895657896995544, + -0.016214817762374878, + 0.013466075994074345, + -0.005884408950805664, + 0.0 + ], + [ + 0.001144111156463623, + -0.01328783854842186, + -0.0003818720579147339, + -0.0045476555824279785, + 0.025306589901447296, + 0.017113208770751953, + 0.0 + ], + [ + -0.0006246268749237061, + -0.009275827556848526, + -0.008040782064199448, + -0.041402667760849, + 0.013035520911216736, + 0.016780853271484375, + 0.0 + ], + [ + 0.001750558614730835, + -0.0037472695112228394, + -0.004977617412805557, + -0.00862148404121399, + 0.01760157197713852, + 0.012576818466186523, + 0.0 + ], + [ + 0.00659903883934021, + -0.0009441971778869629, + -0.007933147251605988, + -0.033230751752853394, + -0.007341407239437103, + 0.018594980239868164, + 0.0 + ], + [ + 0.0046805739402771, + -0.002126157283782959, + -0.0029631629586219788, + -0.01079125702381134, + 0.00826660543680191, + 0.01643085479736328, + 0.0 + ], + [ + 0.0012760758399963379, + -0.0001469627022743225, + -0.0005788728594779968, + -0.020777150988578796, + 0.0023314878344535828, + 0.01063990592956543, + 0.0 + ], + [ + -0.002960294485092163, + 0.0024300143122673035, + -0.000171612948179245, + -0.024268828332424164, + -7.40736722946167e-05, + 0.015697717666625977, + 1.0 + ], + [ + -0.004477828741073608, + 0.003320053219795227, + -0.0008211024105548859, + -0.031254254281520844, + -0.0016876906156539917, + 0.020327329635620117, + 1.0 + ], + [ + -0.007079333066940308, + 0.00648590549826622, + -0.0006270371377468109, + -0.04806977137923241, + -0.016475975513458252, + 0.011283397674560547, + 1.0 + ], + [ + -0.001218646764755249, + 0.006589978933334351, + 0.005604587495326996, + -0.030767573043704033, + -0.018020231276750565, + 0.03080010414123535, + 1.0 + ], + [ + 0.0022579729557037354, + 0.005420539528131485, + 0.018628906458616257, + 0.019972577691078186, + -0.009604502469301224, + 0.03893923759460449, + 1.0 + ], + [ + 0.00015142560005187988, + 0.0025423578917980194, + 0.020868994295597076, + 0.05380520224571228, + -0.017958197742700577, + 0.02375197410583496, + 1.0 + ], + [ + 3.236532211303711e-05, + 0.007158178836107254, + 0.018594756722450256, + 0.03593571484088898, + 0.05010319873690605, + 0.01666712760925293, + 1.0 + ], + [ + 0.005144327878952026, + 0.021436499431729317, + 0.012544110417366028, + 0.011638738214969635, + 0.048714712262153625, + 0.09212839603424072, + 1.0 + ], + [ + 0.008641034364700317, + 0.03774479776620865, + 0.013213194906711578, + 0.024866774678230286, + 0.04359470307826996, + 0.12602019309997559, + 1.0 + ], + [ + 0.004931926727294922, + 0.03247816860675812, + -0.0033462196588516235, + -0.011513665318489075, + 0.004530608654022217, + 0.061913132667541504, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9672539830207825 + ], + [ + 0.704176664352417 + ], + [ + 0.4085940718650818 + ], + [ + 0.18178488314151764 + ], + [ + 0.07624256610870361 + ], + [ + 0.057568058371543884 + ], + [ + 0.05592256039381027 + ], + [ + 0.05592256039381027 + ], + [ + 0.05592256039381027 + ], + [ + 0.05592256039381027 + ], + [ + 0.05592256039381027 + ], + [ + 0.05592256039381027 + ], + [ + 0.05565106123685837 + ], + [ + 0.05565106123685837 + ], + [ + 0.05565106123685837 + ], + [ + 0.05565106123685837 + ], + [ + 0.05565106123685837 + ], + [ + 0.05565106123685837 + ], + [ + 0.05565106123685837 + ], + [ + 0.05565106123685837 + ], + [ + 0.05565106123685837 + ], + [ + 0.07788556814193726 + ], + [ + 0.22810569405555725 + ], + [ + 0.4737623631954193 + ], + [ + 0.7701175808906555 + ], + [ + 0.9893313646316528 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3120986521244049, + 0.20861051976680756, + 0.09843103587627411 + ], + [ + 0.3051163852214813, + 0.19377227127552032, + 0.07839810848236084 + ], + [ + 0.3068855106830597, + 0.1810639202594757, + 0.08576072007417679 + ], + [ + 0.30826181173324585, + 0.17350250482559204, + 0.0899348109960556 + ], + [ + 0.3146127164363861, + 0.17434467375278473, + 0.07868660241365433 + ], + [ + 0.31509485840797424, + 0.1775641143321991, + 0.07562857866287231 + ], + [ + 0.3120901882648468, + 0.17734995484352112, + 0.05901793763041496 + ], + [ + 0.30939850211143494, + 0.17208686470985413, + 0.043432462960481644 + ], + [ + 0.3129923343658447, + 0.173756942152977, + 0.03884539380669594 + ], + [ + 0.31224381923675537, + 0.17245689034461975, + 0.03407182916998863 + ], + [ + 0.3171524405479431, + 0.1756518930196762, + 0.031180642545223236 + ], + [ + 0.3167456090450287, + 0.17858365178108215, + 0.031390126794576645 + ], + [ + 0.32413050532341003, + 0.17991723120212555, + 0.03786934167146683 + ], + [ + 0.3314492702484131, + 0.1845439374446869, + 0.0464988611638546 + ], + [ + 0.3363328278064728, + 0.18414469063282013, + 0.05523323267698288 + ], + [ + 0.3358149826526642, + 0.1759052872657776, + 0.06001273915171623 + ], + [ + 0.33588749170303345, + 0.15869055688381195, + 0.0748395174741745 + ], + [ + 0.33595800399780273, + 0.13621331751346588, + 0.09963727742433548 + ], + [ + 0.33400097489356995, + 0.10005377233028412, + 0.11425494402647018 + ], + [ + 0.3282312750816345, + 0.06471733748912811, + 0.11725055426359177 + ], + [ + 0.3241925835609436, + 0.02960435301065445, + 0.10098177939653397 + ], + [ + 0.3211268186569214, + -0.0030629022512584925, + 0.08870501816272736 + ], + [ + 0.3100636899471283, + -0.028128191828727722, + 0.06880936026573181 + ], + [ + 0.3112078011035919, + -0.04141603037714958, + 0.06842748820781708 + ], + [ + 0.3105831742286682, + -0.05069185793399811, + 0.06038670614361763 + ], + [ + 0.31233373284339905, + -0.05443912744522095, + 0.05540908873081207 + ], + [ + 0.31893277168273926, + -0.05538332462310791, + 0.047475941479206085 + ], + [ + 0.32361334562301636, + -0.05750948190689087, + 0.044512778520584106 + ], + [ + 0.3248894214630127, + -0.05765644460916519, + 0.04393390566110611 + ], + [ + 0.32192912697792053, + -0.05522643029689789, + 0.043762292712926865 + ], + [ + 0.3174512982368469, + -0.05190637707710266, + 0.04294119030237198 + ], + [ + 0.3103719651699066, + -0.04542047157883644, + 0.04231415316462517 + ], + [ + 0.30915331840515137, + -0.03883049264550209, + 0.047918740659952164 + ], + [ + 0.3114112913608551, + -0.033409953117370605, + 0.06654764711856842 + ], + [ + 0.311562716960907, + -0.030867595225572586, + 0.0874166414141655 + ], + [ + 0.31159508228302, + -0.023709416389465332, + 0.10601139813661575 + ], + [ + 0.31673941016197205, + -0.002272917190566659, + 0.11855550855398178 + ], + [ + 0.32538044452667236, + 0.035471878945827484, + 0.13176870346069336 + ], + [ + 0.3303123712539673, + 0.0679500475525856, + 0.12842248380184174 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.067387256259265, + -0.9942597591697636, + 0.08310528857739406, + -0.9871882434789537, + -0.05436927763219723, + 0.15001117820579593, + -0.14463170340829895, + -0.09214940556203743, + -0.9851853416610384 + ], + [ + -0.144965080295421, + -0.98346336316367, + 0.10855845802951232, + -0.975154356976645, + 0.16058479192124486, + 0.15259916340883478, + -0.16750852385597553, + -0.0837397033575694, + -0.9823077707710441 + ], + [ + -0.31164922100615117, + -0.934004110296102, + 0.1746742253346101, + -0.9389935198221785, + 0.33087234987553255, + 0.09388640913252135, + -0.14548516342986714, + -0.1347583393999428, + -0.9801399171465035 + ], + [ + -0.4111586733296082, + -0.8991488046498535, + 0.14993322661296826, + -0.9060442866131926, + 0.4211760071736197, + 0.041164568221684135, + -0.10016135003796212, + -0.11892097408794719, + -0.9878388056158485 + ], + [ + -0.42773446677961063, + -0.901124282208765, + 0.07083963539220355, + -0.9022266219491503, + 0.4304002139351351, + 0.027253962846070654, + -0.05504860193490114, + -0.05225594567442193, + -0.9971153231029422 + ], + [ + -0.44390302585074953, + -0.8931591863709852, + 0.0722272209189078, + -0.8930159566681649, + 0.4476026696487297, + 0.04662993951714454, + -0.07397705574427278, + -0.04380088953948345, + -0.9962975847099895 + ], + [ + -0.47002342435700517, + -0.880094701968857, + 0.06716618287548569, + -0.8805072296314977, + 0.4728247545038271, + 0.033819670238790026, + -0.06152234652855361, + -0.04324427239235566, + -0.9971684580766061 + ], + [ + -0.5137034563969586, + -0.8521187381259773, + 0.1000120743730957, + -0.8545395723078043, + 0.5185729851107018, + 0.029054749583679658, + -0.07662165650658115, + -0.0705387499745172, + -0.9945619168790949 + ], + [ + -0.5322346869978696, + -0.8354288513086181, + 0.1370579160699692, + -0.8375083498874027, + 0.5432334878005225, + 0.05896729263718471, + -0.123717427330023, + -0.08340271058690225, + -0.9888063440540811 + ], + [ + -0.5578143159874807, + -0.81803346802351, + 0.14022993287044075, + -0.8169700670785611, + 0.5709682697893443, + 0.08096384619948568, + -0.1462979780347988, + -0.06940086517610441, + -0.9868031321067732 + ], + [ + -0.5506157600582153, + -0.8257512398375698, + 0.12229952854459676, + -0.8289532767994644, + 0.5581351623683011, + 0.036353891284720295, + -0.09827893802308317, + -0.08136356945726311, + -0.9918272127272112 + ], + [ + -0.5380993731633255, + -0.8357832865373972, + 0.10915751254945136, + -0.8364981134770065, + 0.545435164930419, + 0.052643964580340846, + -0.10353729159411987, + -0.062982368977945, + -0.9926294628144385 + ], + [ + -0.5110843621437959, + -0.8505855905707775, + 0.12368074985797296, + -0.8536182675528383, + 0.5191349452490621, + 0.04283412099417905, + -0.10064108540829568, + -0.08368429801709865, + -0.9913971505876065 + ], + [ + -0.47008944323121554, + -0.8686717790383525, + 0.15628581402324865, + -0.8761120459261522, + 0.48071161447631355, + 0.03666096958166409, + -0.10697475564663579, + -0.11968994949418152, + -0.9870312647755506 + ], + [ + -0.4323296261912722, + -0.8887835887195997, + 0.1521671013722234, + -0.9001465177131821, + 0.4353388854518668, + -0.014707190838447154, + -0.05317274646044588, + -0.14333104072822522, + -0.9882453500005033 + ], + [ + -0.4187004960016031, + -0.8961429274083895, + 0.14702975312477953, + -0.907997885693257, + 0.41041650230789706, + -0.08425042557712722, + 0.015156985999423833, + -0.16877839994879065, + -0.9855374764493431 + ], + [ + -0.43634758465866746, + -0.8868485162936612, + 0.1519884683463822, + -0.8973956259607987, + 0.41665403941905094, + -0.1451912598685432, + 0.06543604411159018, + -0.19974764224771235, + -0.9776599631505354 + ], + [ + -0.46185849669447787, + -0.8645377263335666, + 0.19814451488018503, + -0.8859825954327737, + 0.43924249970205764, + -0.14866360363482956, + 0.04149180185678608, + -0.24421414005228032, + -0.9688332592232795 + ], + [ + -0.47031281822190146, + -0.8500534866779837, + 0.23709686375567146, + -0.8820585027133218, + 0.4442995245162698, + -0.15675053526463467, + 0.027904315209399358, + -0.2828550906404539, + -0.9587566671953187 + ], + [ + -0.5170739236420172, + -0.8279342689727832, + 0.2171621600324335, + -0.8551524145262758, + 0.48880807973579676, + -0.1725717506282047, + 0.03672744776498449, + -0.27493909770257463, + -0.9607599008780311 + ], + [ + -0.5662914211102833, + -0.7941362671344383, + 0.22059377960104934, + -0.824197217238205, + 0.544457013904364, + -0.15577389738702313, + 0.003601870860448886, + -0.2700262010104275, + -0.9628462376175032 + ], + [ + -0.6211881368631775, + -0.7534198922082949, + 0.2156009384146904, + -0.7836410625484342, + 0.5991863165809326, + -0.16395866280906007, + -0.005655414079872648, + -0.2708029247386656, + -0.9626181965060547 + ], + [ + -0.6256842251282131, + -0.7511124127713378, + 0.21059295763754085, + -0.7798420753270163, + 0.6088888072419476, + -0.14526099946348509, + -0.019120355000881967, + -0.25511676502397473, + -0.9667211843279024 + ], + [ + -0.6117553491267392, + -0.7584990010225108, + 0.22457662002682913, + -0.7897992366467448, + 0.6015986093763285, + -0.11956704808887368, + -0.04441349577595535, + -0.2505162243135582, + -0.967093099318074 + ], + [ + -0.5980187042938611, + -0.7755642878882828, + 0.20217236375685171, + -0.7994217869036669, + 0.595268130770718, + -0.0811212617781791, + -0.0574320114434463, + -0.21013302415631027, + -0.9759844651532542 + ], + [ + -0.587231146553614, + -0.7826222513586087, + 0.20654779639519402, + -0.8059375729332157, + 0.5889907243362706, + -0.05962009040879715, + -0.07499472682692923, + -0.20147540376983472, + -0.976618376144918 + ], + [ + -0.5724445676034511, + -0.8006103612579978, + 0.1770035775560391, + -0.8171460776710813, + 0.5748567898283374, + -0.04256711095466163, + -0.06767203830287485, + -0.16900509055823576, + -0.9832892629319905 + ], + [ + -0.5586089977901255, + -0.8110841486833769, + 0.17348916779578114, + -0.8259494857834133, + 0.5631045027524048, + -0.026847083902750313, + -0.07591728737267844, + -0.15829031156242057, + -0.9844697774657408 + ], + [ + -0.5496904309642432, + -0.8202861056949194, + 0.15802257721669927, + -0.8316962455339952, + 0.5551106588287422, + -0.011554722816923713, + -0.07824183836669911, + -0.13777830474564182, + -0.9873678916545829 + ], + [ + -0.5365706266487313, + -0.8324976760953059, + 0.13798399151243154, + -0.8402271881541029, + 0.5422195826940379, + 0.00402447881756246, + -0.07816799155944383, + -0.11377848407769592, + -0.9904262827977377 + ], + [ + -0.5194493651901408, + -0.847316156142877, + 0.11057887927999317, + -0.8510712940546574, + 0.5245971607375821, + 0.021805306285354834, + -0.07648535441305325, + -0.08278375737623339, + -0.993628119607624 + ], + [ + -0.5103886421688688, + -0.8577916363666801, + 0.060802487814162545, + -0.8578447826678154, + 0.512805748442946, + 0.03365402224814076, + -0.060048004085288056, + -0.03498246622585329, + -0.9975823095174302 + ], + [ + -0.4841748533955059, + -0.8746385639300721, + 0.02412662068714666, + -0.873960171552021, + 0.4847566927591882, + 0.03470687779008458, + -0.042051514600572715, + -0.0042815080888793, + -0.9991062700275094 + ], + [ + -0.4499461615317391, + -0.8923190806995598, + 0.03626444460275366, + -0.8924658021742249, + 0.45075375551184577, + 0.0180511451571398, + -0.0324537158484358, + -0.024242733168091994, + -0.9991791862404706 + ], + [ + -0.42880422734273305, + -0.9001399648410865, + 0.07664840708644058, + -0.9032810548568232, + 0.4285648658159882, + -0.020383614126752478, + -0.014500708594620416, + -0.07797563391220978, + -0.9968498031129075 + ], + [ + -0.41287065961506314, + -0.9014503134799495, + 0.1300966977133666, + -0.9084987018396967, + 0.41773404695430544, + 0.011330259077521262, + -0.06455948562843616, + -0.11351474944727925, + -0.9914365710792157 + ], + [ + -0.326119146469593, + -0.9325037396024372, + 0.15518723508527935, + -0.9385413944131193, + 0.3390215796543659, + 0.06484149521514465, + -0.1130767583503408, + -0.12450359093667945, + -0.9857547882535749 + ], + [ + -0.20435574718002197, + -0.9624550192808892, + 0.17865907325271316, + -0.9663426907038881, + 0.22748252531780794, + 0.12013952221564128, + -0.15627070332491824, + -0.14809468773746165, + -0.9765487344450758 + ], + [ + -0.1440682893935592, + -0.976498492518423, + 0.1602966690248457, + -0.9764249507760789, + 0.1665902976261473, + 0.13726612196300808, + -0.1607440309720565, + -0.13674197177925618, + -0.9774778716987795 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006365.json b/json/chunk-0006/episode_0006365.json new file mode 100644 index 0000000000000000000000000000000000000000..627260cf012a6187ec37c475528e85c7316248c8 --- /dev/null +++ b/json/chunk-0006/episode_0006365.json @@ -0,0 +1,2182 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 35, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the knife to the right side of the silver pot." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006365.mp4", + "start": 0, + "end": 35, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.4047088027000427, + 0.0703967735171318, + 0.12214308977127075, + 0.028643984347581863, + -0.1523108035326004, + -0.032083410769701004, + 0.0, + 1.0001531839370728 + ], + [ + 0.40148210525512695, + 0.06720829755067825, + 0.1049080640077591, + 0.00029783687205053866, + -0.11292614787817001, + -0.03451525792479515, + 0.0, + 1.0001531839370728 + ], + [ + 0.3800182044506073, + 0.07430018484592438, + 0.08574501425027847, + -0.15000508725643158, + -0.10429148375988007, + -0.026336390525102615, + 0.0, + 1.0008161067962646 + ], + [ + 0.3395478129386902, + 0.10663332790136337, + 0.11585722118616104, + -0.12205198407173157, + -0.17240692675113678, + -0.008574003353714943, + 0.0, + 1.0001531839370728 + ], + [ + 0.30046892166137695, + 0.13054968416690826, + 0.11483795195817947, + -0.0640001967549324, + -0.1703791320323944, + -0.010095055215060711, + 0.0, + 1.0001531839370728 + ], + [ + 0.2735878825187683, + 0.1478678286075592, + 0.09200112521648407, + -0.003024227451533079, + -0.10386878997087479, + -0.02916376292705536, + 0.0, + 1.0001531839370728 + ], + [ + 0.2580088973045349, + 0.1507241576910019, + 0.07445238530635834, + 0.04113883525133133, + -0.05217049643397331, + -0.027337996289134026, + 0.0, + 1.0001531839370728 + ], + [ + 0.24621039628982544, + 0.15112681686878204, + 0.060535985976457596, + 0.06383658200502396, + -0.004861487541347742, + -0.003954827319830656, + 0.0, + 1.0001531839370728 + ], + [ + 0.2401372343301773, + 0.15383753180503845, + 0.04531348496675491, + 0.06648184359073639, + 0.05888304486870766, + 0.011004029773175716, + 0.0, + 1.0008161067962646 + ], + [ + 0.24133436381816864, + 0.15523387491703033, + 0.029077891260385513, + 0.054688118398189545, + 0.13200214505195618, + 0.022487444803118706, + 0.0, + 1.0001531839370728 + ], + [ + 0.24939915537834167, + 0.15489709377288818, + 0.020475322380661964, + 0.07338359206914902, + 0.18642966449260712, + 0.01071374025195837, + 0.0, + 1.0001531839370728 + ], + [ + 0.2543303072452545, + 0.15233397483825684, + 0.015531742013990879, + 0.10409995168447495, + 0.2178579866886139, + 0.0005654226406477392, + 0.0, + 0.9492040276527405 + ], + [ + 0.2559906542301178, + 0.1498962640762329, + 0.015183722600340843, + 0.1315213292837143, + 0.22149239480495453, + -0.012708185240626335, + 0.0, + 0.6651484370231628 + ], + [ + 0.25444483757019043, + 0.14963483810424805, + 0.014078376814723015, + 0.1300557553768158, + 0.22396183013916016, + -0.01058599166572094, + 0.0, + 0.4813377559185028 + ], + [ + 0.25438064336776733, + 0.1484997421503067, + 0.013971506617963314, + 0.11484828591346741, + 0.22081080079078674, + -0.005643242970108986, + 0.0, + 0.4813377559185028 + ], + [ + 0.24807117879390717, + 0.15348553657531738, + 0.027787266299128532, + 0.08901596814393997, + 0.20864081382751465, + 0.03322695195674896, + 0.0, + 0.4813377559185028 + ], + [ + 0.2432362586259842, + 0.16900072991847992, + 0.0809975266456604, + 0.15735968947410583, + 0.12150111794471741, + 0.15457665920257568, + 0.0, + 0.4813377559185028 + ], + [ + 0.22799208760261536, + 0.17676182091236115, + 0.11633610725402832, + 0.2092183381319046, + 0.17034240067005157, + 0.2524432837963104, + 0.0, + 0.4813377559185028 + ], + [ + 0.22361969947814941, + 0.17353332042694092, + 0.11660072207450867, + 0.2006300389766693, + 0.20156876742839813, + 0.25942835211753845, + 0.0, + 0.4813377559185028 + ], + [ + 0.23257574439048767, + 0.14233271777629852, + 0.11903893202543259, + 0.11372331529855728, + 0.1441185474395752, + 0.10951495170593262, + 0.0, + 0.4813377559185028 + ], + [ + 0.24442845582962036, + 0.09226598590612411, + 0.10053934156894684, + -0.022474640980362892, + 0.08282072842121124, + -0.10078734159469604, + 0.0, + 0.4813377559185028 + ], + [ + 0.24306175112724304, + 0.04220033437013626, + 0.07436978816986084, + -0.11494583636522293, + 0.03119879774749279, + -0.1780349761247635, + 0.0, + 0.4813377559185028 + ], + [ + 0.24161876738071442, + -0.006245274096727371, + 0.054409485310316086, + -0.09787017852067947, + 0.0075239394791424274, + -0.2056126892566681, + 0.0, + 0.4813377559185028 + ], + [ + 0.244711771607399, + -0.03900698944926262, + 0.04033932834863663, + -0.0304294191300869, + -0.017340341582894325, + -0.18911626935005188, + 0.0, + 0.4813377559185028 + ], + [ + 0.24664996564388275, + -0.04492746666073799, + 0.02086186408996582, + -0.0006325693102553487, + 0.010775583796203136, + -0.13545891642570496, + 0.0, + 0.4813377559185028 + ], + [ + 0.25803905725479126, + -0.04425451159477234, + 0.010879302397370338, + -0.011002724058926105, + 0.018931439146399498, + -0.11081741005182266, + 0.0, + 0.562038779258728 + ], + [ + 0.26136112213134766, + -0.0417957529425621, + 0.007437152788043022, + -0.015411274507641792, + 0.02649480290710926, + -0.11415905505418777, + 0.0, + 0.8535622954368591 + ], + [ + 0.2567932903766632, + -0.04028917849063873, + 0.024105411022901535, + -0.0287972092628479, + -0.009601636789739132, + -0.13807252049446106, + 0.0, + 1.013738751411438 + ], + [ + 0.2554769515991211, + -0.045135851949453354, + 0.06360197812318802, + -0.03018268756568432, + -0.13369283080101013, + -0.19068118929862976, + 0.0, + 1.00800359249115 + ], + [ + 0.2559681236743927, + -0.04467301815748215, + 0.09088987857103348, + -0.006654004100710154, + -0.2208288460969925, + -0.23841077089309692, + 0.0, + 1.0027955770492554 + ], + [ + 0.2615436017513275, + -0.035005368292331696, + 0.09102685749530792, + -0.026105836033821106, + -0.20951135456562042, + -0.22063715755939484, + 0.0, + 1.002137303352356 + ], + [ + 0.26129254698753357, + -0.035176560282707214, + 0.09098896384239197, + -0.026735477149486542, + -0.20828017592430115, + -0.22436542809009552, + 0.0, + 1.0008161067962646 + ], + [ + 0.26127952337265015, + -0.03536189720034599, + 0.09100012481212616, + -0.028103580698370934, + -0.2084430456161499, + -0.22335101664066315, + 0.0, + 1.0008161067962646 + ], + [ + 0.26127952337265015, + -0.03536189720034599, + 0.09100012481212616, + -0.028103580698370934, + -0.2084430456161499, + -0.22335101664066315, + 0.0, + 1.0008161067962646 + ], + [ + 0.26127952337265015, + -0.03536189720034599, + 0.09100012481212616, + -0.028103580698370934, + -0.2084430456161499, + -0.22335101664066315, + 0.0, + 1.0008161067962646 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9492040276527405 + ], + [ + 0.6651484370231628 + ], + [ + 0.4813377559185028 + ], + [ + 0.4813377559185028 + ], + [ + 0.4813377559185028 + ], + [ + 0.4813377559185028 + ], + [ + 0.4813377559185028 + ], + [ + 0.4813377559185028 + ], + [ + 0.4813377559185028 + ], + [ + 0.4813377559185028 + ], + [ + 0.4813377559185028 + ], + [ + 0.4813377559185028 + ], + [ + 0.4813377559185028 + ], + [ + 0.4813377559185028 + ], + [ + 0.562038779258728 + ], + [ + 0.8535622954368591 + ], + [ + 1.013738751411438 + ], + [ + 1.00800359249115 + ], + [ + 1.0027955770492554 + ], + [ + 1.002137303352356 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.4047088027000427, + 0.0703967735171318, + 0.12214308977127075 + ], + [ + 0.40148210525512695, + 0.06720829755067825, + 0.1049080640077591 + ], + [ + 0.3800182044506073, + 0.07430018484592438, + 0.08574501425027847 + ], + [ + 0.3395478129386902, + 0.10663332790136337, + 0.11585722118616104 + ], + [ + 0.30046892166137695, + 0.13054968416690826, + 0.11483795195817947 + ], + [ + 0.2735878825187683, + 0.1478678286075592, + 0.09200112521648407 + ], + [ + 0.2580088973045349, + 0.1507241576910019, + 0.07445238530635834 + ], + [ + 0.24621039628982544, + 0.15112681686878204, + 0.060535985976457596 + ], + [ + 0.2401372343301773, + 0.15383753180503845, + 0.04531348496675491 + ], + [ + 0.24133436381816864, + 0.15523387491703033, + 0.029077891260385513 + ], + [ + 0.24939915537834167, + 0.15489709377288818, + 0.020475322380661964 + ], + [ + 0.2543303072452545, + 0.15233397483825684, + 0.015531742013990879 + ], + [ + 0.2559906542301178, + 0.1498962640762329, + 0.015183722600340843 + ], + [ + 0.25444483757019043, + 0.14963483810424805, + 0.014078376814723015 + ], + [ + 0.25438064336776733, + 0.1484997421503067, + 0.013971506617963314 + ], + [ + 0.24807117879390717, + 0.15348553657531738, + 0.027787266299128532 + ], + [ + 0.2432362586259842, + 0.16900072991847992, + 0.0809975266456604 + ], + [ + 0.22799208760261536, + 0.17676182091236115, + 0.11633610725402832 + ], + [ + 0.22361969947814941, + 0.17353332042694092, + 0.11660072207450867 + ], + [ + 0.23257574439048767, + 0.14233271777629852, + 0.11903893202543259 + ], + [ + 0.24442845582962036, + 0.09226598590612411, + 0.10053934156894684 + ], + [ + 0.24306175112724304, + 0.04220033437013626, + 0.07436978816986084 + ], + [ + 0.24161876738071442, + -0.006245274096727371, + 0.054409485310316086 + ], + [ + 0.244711771607399, + -0.03900698944926262, + 0.04033932834863663 + ], + [ + 0.24664996564388275, + -0.04492746666073799, + 0.02086186408996582 + ], + [ + 0.25803905725479126, + -0.04425451159477234, + 0.010879302397370338 + ], + [ + 0.26136112213134766, + -0.0417957529425621, + 0.007437152788043022 + ], + [ + 0.2567932903766632, + -0.04028917849063873, + 0.024105411022901535 + ], + [ + 0.2554769515991211, + -0.045135851949453354, + 0.06360197812318802 + ], + [ + 0.2559681236743927, + -0.04467301815748215, + 0.09088987857103348 + ], + [ + 0.2615436017513275, + -0.035005368292331696, + 0.09102685749530792 + ], + [ + 0.26129254698753357, + -0.035176560282707214, + 0.09098896384239197 + ], + [ + 0.26127952337265015, + -0.03536189720034599, + 0.09100012481212616 + ], + [ + 0.26127952337265015, + -0.03536189720034599, + 0.09100012481212616 + ], + [ + 0.26127952337265015, + -0.03536189720034599, + 0.09100012481212616 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.987914445471068, + -0.02772163928929655, + 0.15250101358583207, + -0.031706544699683314, + -0.9992147613352792, + 0.02376038200214795, + 0.1517225871543159, + -0.028308504813838935, + -0.9880176542463225 + ], + [ + 0.9930388167535011, + -0.03447486163846827, + 0.1126294470190417, + -0.034288608011960535, + -0.9994055214649484, + -0.003590964491151585, + 0.11268628923435525, + -0.0002959398301427905, + -0.9936305715094561 + ], + [ + 0.994221672239376, + -0.04158964705473296, + 0.09896245604976397, + -0.02619026574578978, + -0.9880177505736359, + -0.1521019215249341, + 0.10410252845009882, + 0.14863117374654297, + -0.9833979040861441 + ], + [ + 0.9851384912750674, + -0.02939591813731641, + 0.16922775483102068, + -0.008446787713484399, + -0.9923453358752016, + -0.123204651470862, + 0.17155408705596956, + 0.1199442135477883, + -0.977845888088095 + ], + [ + 0.9854703367865066, + -0.020917874824016247, + 0.1685546137806264, + -0.009948715423286899, + -0.9977923650047417, + -0.06566139961705848, + 0.16955600365459136, + 0.06303045970871053, + -0.9835028839681117 + ], + [ + 0.9941875447521742, + -0.029472920178262058, + 0.10354937390351275, + -0.029002472769823234, + -0.9995610533483635, + -0.006046255233246475, + 0.10368212205042564, + 0.003007923748317423, + -0.9946059370232238 + ], + [ + 0.9982662769317183, + -0.025167610273952732, + 0.05320744058854766, + -0.02729740049655664, + -0.9988391971184255, + 0.03968765835810126, + 0.052146833719948806, + -0.04107127576442207, + -0.9977944968980669 + ], + [ + 0.9999803627657573, + -0.0036366352256156456, + 0.0051038188741814785, + -0.003954770276386296, + -0.9979565593552616, + 0.06377354805771136, + 0.004861468391921428, + -0.06379248015278934, + -0.9979513443054377 + ], + [ + 0.9982064555581627, + 0.007070225608132663, + -0.05944648006282036, + 0.010984736936050656, + -0.9977735055940243, + 0.06578272637293735, + -0.05884902409093084, + -0.06631774607494655, + -0.9960616190372378 + ], + [ + 0.9910497277662527, + 0.01525933689613828, + -0.13261821040839922, + 0.022289933406576583, + -0.9984142939555486, + 0.05169193838475819, + -0.13161913220792287, + -0.05418533254242709, + -0.9898183438258253 + ], + [ + 0.9826158672605961, + -0.0029040814413108297, + -0.18562764804492063, + 0.010527893984434126, + -0.9973969874721996, + 0.0713331117338478, + -0.18535161411749076, + -0.07204731564994864, + -0.980027531986565 + ], + [ + 0.9763625048420643, + -0.02189705093188417, + -0.2150273896484268, + 0.0005520575245486822, + -0.9945990315145397, + 0.10379047038543207, + -0.21613873870969888, + -0.10145583113269602, + -0.9710771132912949 + ], + [ + 0.9754919026330262, + -0.04140590796889549, + -0.21610436988332896, + -0.01239739919152001, + -0.9909173648272969, + 0.1338995167168748, + -0.2196858037987102, + -0.12793876218331132, + -0.9671451911374618 + ], + [ + 0.9749705722918303, + -0.03929805431482079, + -0.21883337517849163, + -0.010321415905850485, + -0.9911942009555198, + 0.1320133491956293, + -0.22209424021941573, + -0.12645046033612567, + -0.9667907889208205 + ], + [ + 0.9757046513779571, + -0.03070454015490303, + -0.216927786355955, + -0.005506196865381481, + -0.9932547249578747, + 0.11582198903893931, + -0.21902080968597154, + -0.11181360633989257, + -0.9692923203872859 + ], + [ + 0.9777733529263879, + 0.014685899298171911, + -0.20914969440305997, + 0.032500389574693006, + -0.9961026294401711, + 0.08199558707558836, + -0.2071303816068097, + -0.08697054664759306, + -0.9744399052949527 + ], + [ + 0.9807925128872117, + 0.13329225299757455, + -0.1424051331772111, + 0.152826784892815, + -0.9787929195361029, + 0.13641258917459625, + -0.12120239471113553, + -0.1555557647817094, + -0.9803633936247639 + ], + [ + 0.9542905611096214, + 0.2102313965765344, + -0.21244360397659287, + 0.24615556264180832, + -0.9559838071325706, + 0.15969470711582934, + -0.16951980402766595, + -0.20468932652631322, + -0.964035951429523 + ], + [ + 0.9469679919819736, + 0.21281904302476756, + -0.24074816113036215, + 0.2513343323064292, + -0.9573843166741037, + 0.14228957653510949, + -0.20020658222373736, + -0.1952519529031182, + -0.9601010359966332 + ], + [ + 0.9837042204985402, + 0.09239002651543032, + -0.15424036298530186, + 0.10816308522082108, + -0.9893696812645574, + 0.09720278180166353, + -0.14362017117686843, + -0.11230190022856468, + -0.9832403214047829 + ], + [ + 0.9915149718930131, + -0.09874173556638387, + -0.08454661536298128, + -0.1002719119612658, + -0.9948610462758285, + -0.014037174736967048, + -0.08272607922311886, + 0.022395719687081053, + -0.9963206449512467 + ], + [ + 0.9837146395451006, + -0.17240614713733765, + -0.050809727158404414, + -0.1770097701707692, + -0.9783324910790965, + -0.10739216993366485, + -0.031193736690949617, + 0.11463706786300995, + -0.9929175662979417 + ], + [ + 0.9789083688603731, + -0.20247024657454127, + -0.027280114134073385, + -0.2041612029207504, + -0.9744015147204594, + -0.09412699576862359, + -0.007523868491394102, + 0.09771124481101835, + -0.9951863664864011 + ], + [ + 0.9820230925192283, + -0.18842210858907316, + 0.011302864850063689, + -0.187962731543246, + -0.9816168924344898, + -0.0331404290566192, + 0.017339472592121322, + 0.03042014927811317, + -0.9993867905911726 + ], + [ + 0.9907819369415287, + -0.13503825696571223, + -0.010762090227052294, + -0.13503719753559232, + -0.9908401834091327, + 0.0008283860753644715, + -0.010775375266150014, + 0.0006325325436013261, + -0.9999417438983409 + ], + [ + 0.9936879368499837, + -0.11037703662251258, + -0.02002982639104489, + -0.11057091654377377, + -0.993828907868794, + -0.008841623097038846, + -0.018930308330629385, + 0.011000530475972197, + -0.9997602871467512 + ], + [ + 0.993142246400532, + -0.1134921330903165, + -0.028071589572287208, + -0.11387127853040735, + -0.9934194551241975, + -0.012293010477218811, + -0.02649170323621049, + 0.01540525583534756, + -0.9995303235781754 + ], + [ + 0.9904374664497942, + -0.13785099777475, + 0.005543235969923672, + -0.13762789127397837, + -0.99003440788161, + -0.02984015338411349, + 0.009601489258983055, + 0.02879190203885996, + -0.999539312774137 + ], + [ + 0.9731135122696613, + -0.19339113919580686, + 0.12509979823625358, + -0.18783651497085646, + -0.9806657587937505, + -0.05488272199044321, + 0.1332949206901993, + 0.02990880823478441, + -0.9906250185151634 + ], + [ + 0.948117625495866, + -0.23756966675256372, + 0.2112667074177967, + -0.230423827285994, + -0.971348805808657, + -0.058192415940314685, + 0.21903841681987088, + 0.00649237192187992, + -0.9756946351517327 + ], + [ + 0.9544209690873404, + -0.22407412764710222, + 0.19715830970459228, + -0.2140656818649741, + -0.9742375986854375, + -0.0709717208141099, + 0.20798196463651716, + 0.025532070554939664, + -0.977799373981755 + ], + [ + 0.9538651649948411, + -0.22779731988010044, + 0.19557512128286608, + -0.21767933135666478, + -0.9733572419148568, + -0.07205128945423657, + 0.20677755127063457, + 0.026154553472503516, + -0.9780383344343789 + ], + [ + 0.9540526366681692, + -0.22708163905406667, + 0.1954929555534739, + -0.21670414531838897, + -0.9734876162321177, + -0.07322004127652082, + 0.20693689827660144, + 0.02749163958783551, + -0.9779679595387732 + ], + [ + 0.9540526366681692, + -0.22708163905406667, + 0.1954929555534739, + -0.21670414531838897, + -0.9734876162321177, + -0.07322004127652082, + 0.20693689827660144, + 0.02749163958783551, + -0.9779679595387732 + ], + [ + 0.9540526366681692, + -0.22708163905406667, + 0.1954929555534739, + -0.21670414531838897, + -0.9734876162321177, + -0.07322004127652082, + 0.20693689827660144, + 0.02749163958783551, + -0.9779679595387732 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0032266974449157715, + -0.0031884759664535522, + -0.017235025763511658, + -0.028346147388219833, + 0.03938465565443039, + -0.0024318471550941467, + 1.0 + ], + [ + -0.021463900804519653, + 0.007091887295246124, + -0.01916304975748062, + -0.150302916765213, + 0.008634664118289948, + 0.008178867399692535, + 1.0 + ], + [ + -0.040470391511917114, + 0.032333143055438995, + 0.03011220693588257, + 0.027953103184700012, + -0.06811544299125671, + 0.017762387171387672, + 1.0 + ], + [ + -0.03907889127731323, + 0.02391635626554489, + -0.0010192692279815674, + 0.058051787316799164, + 0.0020277947187423706, + -0.001521051861345768, + 1.0 + ], + [ + -0.026881039142608643, + 0.01731814444065094, + -0.022836826741695404, + 0.06097596883773804, + 0.06651034206151962, + -0.019068706780672073, + 1.0 + ], + [ + -0.015578985214233398, + 0.002856329083442688, + -0.017548739910125732, + 0.044163063168525696, + 0.051698293536901474, + 0.0018257666379213333, + 1.0 + ], + [ + -0.011798501014709473, + 0.00040265917778015137, + -0.013916399329900742, + 0.022697746753692627, + 0.04730900749564171, + 0.023383168503642082, + 1.0 + ], + [ + -0.006073161959648132, + 0.0027107149362564087, + -0.015222501009702682, + 0.002645261585712433, + 0.06374453008174896, + 0.014958856627345085, + 1.0 + ], + [ + 0.001197129487991333, + 0.0013963431119918823, + -0.0162355937063694, + -0.011793725192546844, + 0.07311910390853882, + 0.01148341502994299, + 1.0 + ], + [ + 0.008064791560173035, + -0.0003367811441421509, + -0.008602568879723549, + 0.018695473670959473, + 0.05442751944065094, + -0.011773704551160336, + 1.0 + ], + [ + 0.004931151866912842, + -0.0025631189346313477, + -0.004943580366671085, + 0.030716359615325928, + 0.031428322196006775, + -0.01014831755310297, + 0.0 + ], + [ + 0.0016603469848632812, + -0.0024377107620239258, + -0.00034801941365003586, + 0.02742137759923935, + 0.003634408116340637, + -0.013273607939481735, + 0.0 + ], + [ + -0.0015458166599273682, + -0.0002614259719848633, + -0.0011053457856178284, + -0.0014655739068984985, + 0.0024694353342056274, + 0.0021221935749053955, + 0.0 + ], + [ + -6.41942024230957e-05, + -0.0011350959539413452, + -0.00010687019675970078, + -0.015207469463348389, + -0.003151029348373413, + 0.004942748695611954, + 0.0 + ], + [ + -0.0063094645738601685, + 0.004985794425010681, + 0.013815759681165218, + -0.025832317769527435, + -0.012169986963272095, + 0.0388701930642128, + 0.0 + ], + [ + -0.004834920167922974, + 0.015515193343162537, + 0.05321025848388672, + 0.06834372133016586, + -0.08713969588279724, + 0.12134970724582672, + 0.0 + ], + [ + -0.015244171023368835, + 0.007761090993881226, + 0.03533858060836792, + 0.05185864865779877, + 0.04884128272533417, + 0.09786662459373474, + 0.0 + ], + [ + -0.004372388124465942, + -0.003228500485420227, + 0.0002646148204803467, + -0.00858829915523529, + 0.031226366758346558, + 0.006985068321228027, + 0.0 + ], + [ + 0.008956044912338257, + -0.031200602650642395, + 0.0024382099509239197, + -0.08690672367811203, + -0.05745021998882294, + -0.14991340041160583, + 0.0 + ], + [ + 0.01185271143913269, + -0.05006673187017441, + -0.01849959045648575, + -0.13619795441627502, + -0.06129781901836395, + -0.21030229330062866, + 0.0 + ], + [ + -0.0013667047023773193, + -0.050065651535987854, + -0.026169553399086, + -0.09247119724750519, + -0.0516219288110733, + -0.07724763453006744, + 0.0 + ], + [ + -0.0014429837465286255, + -0.04844560846686363, + -0.019960302859544754, + 0.017075657844543457, + -0.02367485873401165, + -0.027577713131904602, + 0.0 + ], + [ + 0.0030930042266845703, + -0.03276171535253525, + -0.014070156961679459, + 0.06744076311588287, + -0.024864280596375465, + 0.01649641990661621, + 0.0 + ], + [ + 0.0019381940364837646, + -0.005920477211475372, + -0.019477464258670807, + 0.029796849936246872, + 0.028115924447774887, + 0.053657352924346924, + 0.0 + ], + [ + 0.011389091610908508, + 0.0006729550659656525, + -0.009982561692595482, + -0.010370154865086079, + 0.008155855350196362, + 0.024641506373882294, + 1.0 + ], + [ + 0.0033220648765563965, + 0.0024587586522102356, + -0.0034421496093273163, + -0.004408550448715687, + 0.007563363760709763, + -0.0033416450023651123, + 1.0 + ], + [ + -0.004567831754684448, + 0.0015065744519233704, + 0.016668258234858513, + -0.013385934755206108, + -0.03609643876552582, + -0.023913465440273285, + 1.0 + ], + [ + -0.0013163387775421143, + -0.004846673458814621, + 0.039496567100286484, + -0.0013854783028364182, + -0.12409119307994843, + -0.0526086688041687, + 1.0 + ], + [ + 0.0004911720752716064, + 0.00046283379197120667, + 0.02728790044784546, + 0.023528683930635452, + -0.08713601529598236, + -0.04772958159446716, + 1.0 + ], + [ + 0.0055754780769348145, + 0.009667649865150452, + 0.00013697892427444458, + -0.01945183239877224, + 0.01131749153137207, + 0.017773613333702087, + 1.0 + ], + [ + -0.0002510547637939453, + -0.0001711919903755188, + -3.789365291595459e-05, + -0.0006296411156654358, + 0.001231178641319275, + -0.0037282705307006836, + 1.0 + ], + [ + -1.3023614883422852e-05, + -0.0001853369176387787, + 1.1160969734191895e-05, + -0.0013681035488843918, + -0.00016286969184875488, + 0.001014411449432373, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9492040276527405 + ], + [ + 0.6651484370231628 + ], + [ + 0.4813377559185028 + ], + [ + 0.4813377559185028 + ], + [ + 0.4813377559185028 + ], + [ + 0.4813377559185028 + ], + [ + 0.4813377559185028 + ], + [ + 0.4813377559185028 + ], + [ + 0.4813377559185028 + ], + [ + 0.4813377559185028 + ], + [ + 0.4813377559185028 + ], + [ + 0.4813377559185028 + ], + [ + 0.4813377559185028 + ], + [ + 0.4813377559185028 + ], + [ + 0.562038779258728 + ], + [ + 0.8535622954368591 + ], + [ + 1.013738751411438 + ], + [ + 1.00800359249115 + ], + [ + 1.0027955770492554 + ], + [ + 1.002137303352356 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.40148210525512695, + 0.06720829755067825, + 0.1049080640077591 + ], + [ + 0.3800182044506073, + 0.07430018484592438, + 0.08574501425027847 + ], + [ + 0.3395478129386902, + 0.10663332790136337, + 0.11585722118616104 + ], + [ + 0.30046892166137695, + 0.13054968416690826, + 0.11483795195817947 + ], + [ + 0.2735878825187683, + 0.1478678286075592, + 0.09200112521648407 + ], + [ + 0.2580088973045349, + 0.1507241576910019, + 0.07445238530635834 + ], + [ + 0.24621039628982544, + 0.15112681686878204, + 0.060535985976457596 + ], + [ + 0.2401372343301773, + 0.15383753180503845, + 0.04531348496675491 + ], + [ + 0.24133436381816864, + 0.15523387491703033, + 0.029077891260385513 + ], + [ + 0.24939915537834167, + 0.15489709377288818, + 0.020475322380661964 + ], + [ + 0.2543303072452545, + 0.15233397483825684, + 0.015531742013990879 + ], + [ + 0.2559906542301178, + 0.1498962640762329, + 0.015183722600340843 + ], + [ + 0.25444483757019043, + 0.14963483810424805, + 0.014078376814723015 + ], + [ + 0.25438064336776733, + 0.1484997421503067, + 0.013971506617963314 + ], + [ + 0.24807117879390717, + 0.15348553657531738, + 0.027787266299128532 + ], + [ + 0.2432362586259842, + 0.16900072991847992, + 0.0809975266456604 + ], + [ + 0.22799208760261536, + 0.17676182091236115, + 0.11633610725402832 + ], + [ + 0.22361969947814941, + 0.17353332042694092, + 0.11660072207450867 + ], + [ + 0.23257574439048767, + 0.14233271777629852, + 0.11903893202543259 + ], + [ + 0.24442845582962036, + 0.09226598590612411, + 0.10053934156894684 + ], + [ + 0.24306175112724304, + 0.04220033437013626, + 0.07436978816986084 + ], + [ + 0.24161876738071442, + -0.006245274096727371, + 0.054409485310316086 + ], + [ + 0.244711771607399, + -0.03900698944926262, + 0.04033932834863663 + ], + [ + 0.24664996564388275, + -0.04492746666073799, + 0.02086186408996582 + ], + [ + 0.25803905725479126, + -0.04425451159477234, + 0.010879302397370338 + ], + [ + 0.26136112213134766, + -0.0417957529425621, + 0.007437152788043022 + ], + [ + 0.2567932903766632, + -0.04028917849063873, + 0.024105411022901535 + ], + [ + 0.2554769515991211, + -0.045135851949453354, + 0.06360197812318802 + ], + [ + 0.2559681236743927, + -0.04467301815748215, + 0.09088987857103348 + ], + [ + 0.2615436017513275, + -0.035005368292331696, + 0.09102685749530792 + ], + [ + 0.26129254698753357, + -0.035176560282707214, + 0.09098896384239197 + ], + [ + 0.26127952337265015, + -0.03536189720034599, + 0.09100012481212616 + ], + [ + 0.26127952337265015, + -0.03536189720034599, + 0.09100012481212616 + ], + [ + 0.26127952337265015, + -0.03536189720034599, + 0.09100012481212616 + ], + [ + 0.26127952337265015, + -0.03536189720034599, + 0.09100012481212616 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9930388167535011, + -0.03447486163846827, + 0.1126294470190417, + -0.034288608011960535, + -0.9994055214649484, + -0.003590964491151585, + 0.11268628923435525, + -0.0002959398301427905, + -0.9936305715094561 + ], + [ + 0.994221672239376, + -0.04158964705473296, + 0.09896245604976397, + -0.02619026574578978, + -0.9880177505736359, + -0.1521019215249341, + 0.10410252845009882, + 0.14863117374654297, + -0.9833979040861441 + ], + [ + 0.9851384912750674, + -0.02939591813731641, + 0.16922775483102068, + -0.008446787713484399, + -0.9923453358752016, + -0.123204651470862, + 0.17155408705596956, + 0.1199442135477883, + -0.977845888088095 + ], + [ + 0.9854703367865066, + -0.020917874824016247, + 0.1685546137806264, + -0.009948715423286899, + -0.9977923650047417, + -0.06566139961705848, + 0.16955600365459136, + 0.06303045970871053, + -0.9835028839681117 + ], + [ + 0.9941875447521742, + -0.029472920178262058, + 0.10354937390351275, + -0.029002472769823234, + -0.9995610533483635, + -0.006046255233246475, + 0.10368212205042564, + 0.003007923748317423, + -0.9946059370232238 + ], + [ + 0.9982662769317183, + -0.025167610273952732, + 0.05320744058854766, + -0.02729740049655664, + -0.9988391971184255, + 0.03968765835810126, + 0.052146833719948806, + -0.04107127576442207, + -0.9977944968980669 + ], + [ + 0.9999803627657573, + -0.0036366352256156456, + 0.0051038188741814785, + -0.003954770276386296, + -0.9979565593552616, + 0.06377354805771136, + 0.004861468391921428, + -0.06379248015278934, + -0.9979513443054377 + ], + [ + 0.9982064555581627, + 0.007070225608132663, + -0.05944648006282036, + 0.010984736936050656, + -0.9977735055940243, + 0.06578272637293735, + -0.05884902409093084, + -0.06631774607494655, + -0.9960616190372378 + ], + [ + 0.9910497277662527, + 0.01525933689613828, + -0.13261821040839922, + 0.022289933406576583, + -0.9984142939555486, + 0.05169193838475819, + -0.13161913220792287, + -0.05418533254242709, + -0.9898183438258253 + ], + [ + 0.9826158672605961, + -0.0029040814413108297, + -0.18562764804492063, + 0.010527893984434126, + -0.9973969874721996, + 0.0713331117338478, + -0.18535161411749076, + -0.07204731564994864, + -0.980027531986565 + ], + [ + 0.9763625048420643, + -0.02189705093188417, + -0.2150273896484268, + 0.0005520575245486822, + -0.9945990315145397, + 0.10379047038543207, + -0.21613873870969888, + -0.10145583113269602, + -0.9710771132912949 + ], + [ + 0.9754919026330262, + -0.04140590796889549, + -0.21610436988332896, + -0.01239739919152001, + -0.9909173648272969, + 0.1338995167168748, + -0.2196858037987102, + -0.12793876218331132, + -0.9671451911374618 + ], + [ + 0.9749705722918303, + -0.03929805431482079, + -0.21883337517849163, + -0.010321415905850485, + -0.9911942009555198, + 0.1320133491956293, + -0.22209424021941573, + -0.12645046033612567, + -0.9667907889208205 + ], + [ + 0.9757046513779571, + -0.03070454015490303, + -0.216927786355955, + -0.005506196865381481, + -0.9932547249578747, + 0.11582198903893931, + -0.21902080968597154, + -0.11181360633989257, + -0.9692923203872859 + ], + [ + 0.9777733529263879, + 0.014685899298171911, + -0.20914969440305997, + 0.032500389574693006, + -0.9961026294401711, + 0.08199558707558836, + -0.2071303816068097, + -0.08697054664759306, + -0.9744399052949527 + ], + [ + 0.9807925128872117, + 0.13329225299757455, + -0.1424051331772111, + 0.152826784892815, + -0.9787929195361029, + 0.13641258917459625, + -0.12120239471113553, + -0.1555557647817094, + -0.9803633936247639 + ], + [ + 0.9542905611096214, + 0.2102313965765344, + -0.21244360397659287, + 0.24615556264180832, + -0.9559838071325706, + 0.15969470711582934, + -0.16951980402766595, + -0.20468932652631322, + -0.964035951429523 + ], + [ + 0.9469679919819736, + 0.21281904302476756, + -0.24074816113036215, + 0.2513343323064292, + -0.9573843166741037, + 0.14228957653510949, + -0.20020658222373736, + -0.1952519529031182, + -0.9601010359966332 + ], + [ + 0.9837042204985402, + 0.09239002651543032, + -0.15424036298530186, + 0.10816308522082108, + -0.9893696812645574, + 0.09720278180166353, + -0.14362017117686843, + -0.11230190022856468, + -0.9832403214047829 + ], + [ + 0.9915149718930131, + -0.09874173556638387, + -0.08454661536298128, + -0.1002719119612658, + -0.9948610462758285, + -0.014037174736967048, + -0.08272607922311886, + 0.022395719687081053, + -0.9963206449512467 + ], + [ + 0.9837146395451006, + -0.17240614713733765, + -0.050809727158404414, + -0.1770097701707692, + -0.9783324910790965, + -0.10739216993366485, + -0.031193736690949617, + 0.11463706786300995, + -0.9929175662979417 + ], + [ + 0.9789083688603731, + -0.20247024657454127, + -0.027280114134073385, + -0.2041612029207504, + -0.9744015147204594, + -0.09412699576862359, + -0.007523868491394102, + 0.09771124481101835, + -0.9951863664864011 + ], + [ + 0.9820230925192283, + -0.18842210858907316, + 0.011302864850063689, + -0.187962731543246, + -0.9816168924344898, + -0.0331404290566192, + 0.017339472592121322, + 0.03042014927811317, + -0.9993867905911726 + ], + [ + 0.9907819369415287, + -0.13503825696571223, + -0.010762090227052294, + -0.13503719753559232, + -0.9908401834091327, + 0.0008283860753644715, + -0.010775375266150014, + 0.0006325325436013261, + -0.9999417438983409 + ], + [ + 0.9936879368499837, + -0.11037703662251258, + -0.02002982639104489, + -0.11057091654377377, + -0.993828907868794, + -0.008841623097038846, + -0.018930308330629385, + 0.011000530475972197, + -0.9997602871467512 + ], + [ + 0.993142246400532, + -0.1134921330903165, + -0.028071589572287208, + -0.11387127853040735, + -0.9934194551241975, + -0.012293010477218811, + -0.02649170323621049, + 0.01540525583534756, + -0.9995303235781754 + ], + [ + 0.9904374664497942, + -0.13785099777475, + 0.005543235969923672, + -0.13762789127397837, + -0.99003440788161, + -0.02984015338411349, + 0.009601489258983055, + 0.02879190203885996, + -0.999539312774137 + ], + [ + 0.9731135122696613, + -0.19339113919580686, + 0.12509979823625358, + -0.18783651497085646, + -0.9806657587937505, + -0.05488272199044321, + 0.1332949206901993, + 0.02990880823478441, + -0.9906250185151634 + ], + [ + 0.948117625495866, + -0.23756966675256372, + 0.2112667074177967, + -0.230423827285994, + -0.971348805808657, + -0.058192415940314685, + 0.21903841681987088, + 0.00649237192187992, + -0.9756946351517327 + ], + [ + 0.9544209690873404, + -0.22407412764710222, + 0.19715830970459228, + -0.2140656818649741, + -0.9742375986854375, + -0.0709717208141099, + 0.20798196463651716, + 0.025532070554939664, + -0.977799373981755 + ], + [ + 0.9538651649948411, + -0.22779731988010044, + 0.19557512128286608, + -0.21767933135666478, + -0.9733572419148568, + -0.07205128945423657, + 0.20677755127063457, + 0.026154553472503516, + -0.9780383344343789 + ], + [ + 0.9540526366681692, + -0.22708163905406667, + 0.1954929555534739, + -0.21670414531838897, + -0.9734876162321177, + -0.07322004127652082, + 0.20693689827660144, + 0.02749163958783551, + -0.9779679595387732 + ], + [ + 0.9540526366681692, + -0.22708163905406667, + 0.1954929555534739, + -0.21670414531838897, + -0.9734876162321177, + -0.07322004127652082, + 0.20693689827660144, + 0.02749163958783551, + -0.9779679595387732 + ], + [ + 0.9540526366681692, + -0.22708163905406667, + 0.1954929555534739, + -0.21670414531838897, + -0.9734876162321177, + -0.07322004127652082, + 0.20693689827660144, + 0.02749163958783551, + -0.9779679595387732 + ], + [ + 0.9540526366681692, + -0.22708163905406667, + 0.1954929555534739, + -0.21670414531838897, + -0.9734876162321177, + -0.07322004127652082, + 0.20693689827660144, + 0.02749163958783551, + -0.9779679595387732 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006366.json b/json/chunk-0006/episode_0006366.json new file mode 100644 index 0000000000000000000000000000000000000000..3ecd568864fb4817624273849aca7bae958a13de --- /dev/null +++ b/json/chunk-0006/episode_0006366.json @@ -0,0 +1,1942 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 31, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nClose low fridge." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006366.mp4", + "start": 0, + "end": 31, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2322780191898346, + -0.08194682002067566, + 0.03386145830154419, + 0.021578077226877213, + -0.08456730842590332, + -0.044749680906534195, + 0.0, + 0.9994885921478271 + ], + [ + 0.22830037772655487, + -0.0792265385389328, + 0.030087532475590706, + 0.02733016200363636, + -0.06838229298591614, + -0.046781037002801895, + 0.0, + 0.9994885921478271 + ], + [ + 0.2261868417263031, + -0.04238753393292427, + 0.028081459924578667, + 0.05666135251522064, + -0.07415325939655304, + -0.009317955002188683, + 0.0, + 0.9994885921478271 + ], + [ + 0.23095695674419403, + -0.005885230842977762, + 0.02646767720580101, + 0.0904402956366539, + -0.11806252598762512, + 0.022252783179283142, + 0.0, + 0.9994885921478271 + ], + [ + 0.23420299589633942, + 0.039868008345365524, + 0.03501332551240921, + 0.12503011524677277, + -0.17798884212970734, + 0.05791595205664635, + 0.0, + 0.9994885921478271 + ], + [ + 0.23006431758403778, + 0.08254332840442657, + 0.0449165478348732, + 0.14471541345119476, + -0.2265491485595703, + 0.07687635719776154, + 0.0, + 0.9994885921478271 + ], + [ + 0.22886376082897186, + 0.10388308763504028, + 0.05365706980228424, + 0.13898934423923492, + -0.21391354501247406, + 0.11503539234399796, + 0.0, + 0.9994885921478271 + ], + [ + 0.22782254219055176, + 0.10836581885814667, + 0.042775750160217285, + 0.11898557096719742, + -0.17656585574150085, + 0.1378127932548523, + 0.0, + 0.9994885921478271 + ], + [ + 0.22932499647140503, + 0.10343733429908752, + 0.025684500113129616, + 0.08927778154611588, + -0.1509675234556198, + 0.1946260631084442, + 0.0, + 0.9994885921478271 + ], + [ + 0.22870318591594696, + 0.0927370935678482, + 0.014277606271207333, + 0.018970569595694542, + -0.10417700558900833, + 0.22859357297420502, + 0.0, + 0.9994885921478271 + ], + [ + 0.23567265272140503, + 0.08252649754285812, + 0.0077294944785535336, + 0.028435630723834038, + -0.1222032830119133, + 0.2248566448688507, + 0.0, + 1.0001531839370728 + ], + [ + 0.23819983005523682, + 0.06070626527070999, + -0.005624348763376474, + 0.05890664830803871, + -0.08124347031116486, + 0.23717071115970612, + 0.0, + 0.9994885921478271 + ], + [ + 0.24965934455394745, + 0.039329394698143005, + -0.0055586183443665504, + 0.08140572905540466, + -0.14741171896457672, + 0.2419464886188507, + 0.0, + 0.9994885921478271 + ], + [ + 0.26361164450645447, + 0.027361808344721794, + 0.0015909546054899693, + 0.11480315029621124, + -0.20241068303585052, + 0.26798737049102783, + 0.0, + 0.9994885921478271 + ], + [ + 0.27617132663726807, + 0.018846675753593445, + 0.007788610178977251, + 0.0860290601849556, + -0.20842677354812622, + 0.31389743089675903, + 0.0, + 0.9994885921478271 + ], + [ + 0.28712522983551025, + 0.012809361331164837, + 0.014838284812867641, + 0.04371113330125809, + -0.20389294624328613, + 0.3383047580718994, + 0.0, + 0.9994885921478271 + ], + [ + 0.28182411193847656, + 0.007073643151670694, + 0.019123462960124016, + 0.019242050126194954, + -0.15180054306983948, + 0.3304542005062103, + 0.0, + 0.9994885921478271 + ], + [ + 0.2641157805919647, + 0.008335343562066555, + 0.04703262075781822, + -0.053160086274147034, + -0.16636432707309723, + 0.24424059689044952, + 0.0, + 0.9994885921478271 + ], + [ + 0.23531505465507507, + 0.0254344642162323, + 0.051610056310892105, + -0.03964739665389061, + -0.13652066886425018, + 0.1873517483472824, + 0.0, + 0.9994885921478271 + ], + [ + 0.21775569021701813, + 0.04476996138691902, + 0.036550674587488174, + 0.002246781950816512, + -0.12890274822711945, + 0.15773862600326538, + 0.0, + 0.9994885921478271 + ], + [ + 0.21386337280273438, + 0.05417817085981369, + 0.004111078102141619, + 0.03229021653532982, + -0.09813186526298523, + 0.1571381688117981, + 0.0, + 0.9994885921478271 + ], + [ + 0.21864108741283417, + 0.05187360942363739, + -0.030262093991041183, + -0.030711134895682335, + -0.11513149738311768, + 0.18393145501613617, + 0.0, + 0.9994885921478271 + ], + [ + 0.22697190940380096, + 0.0465235561132431, + -0.04620373994112015, + -0.05383303388953209, + -0.11219526082277298, + 0.2354937493801117, + 0.0, + 0.9994885921478271 + ], + [ + 0.24498125910758972, + 0.03373127803206444, + -0.054901983588933945, + -0.05553275719285011, + -0.11414346843957901, + 0.27502167224884033, + 0.0, + 0.9994885921478271 + ], + [ + 0.2620740532875061, + 0.024072999134659767, + -0.05826869606971741, + -0.05033992975950241, + -0.11609749495983124, + 0.3085421025753021, + 0.0, + 0.9994885921478271 + ], + [ + 0.27598997950553894, + 0.0168231762945652, + -0.06199202314019203, + -0.046920668333768845, + -0.12283975630998611, + 0.32636529207229614, + 0.0, + 0.9994885921478271 + ], + [ + 0.2953001856803894, + 0.013505787588655949, + -0.06746336817741394, + -0.04862535372376442, + -0.12619341909885406, + 0.3712214529514313, + 0.0, + 0.9994885921478271 + ], + [ + 0.3145595192909241, + 0.012488596141338348, + -0.0710543841123581, + -0.06269695609807968, + -0.14198102056980133, + 0.41848158836364746, + 0.0, + 0.9994885921478271 + ], + [ + 0.3290310204029083, + 0.010579153895378113, + -0.06923913955688477, + -0.08105696737766266, + -0.1656419336795807, + 0.4574618339538574, + 0.0, + 0.9994885921478271 + ], + [ + 0.3331337869167328, + 0.00866958498954773, + -0.06735584139823914, + -0.08893696963787079, + -0.1720193773508072, + 0.47522127628326416, + 0.0, + 0.9994885921478271 + ], + [ + 0.32596197724342346, + 0.007828551344573498, + -0.0705915316939354, + -0.08326448500156403, + -0.16314588487148285, + 0.44575825333595276, + 0.0, + 0.9994885921478271 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2322780191898346, + -0.08194682002067566, + 0.03386145830154419 + ], + [ + 0.22830037772655487, + -0.0792265385389328, + 0.030087532475590706 + ], + [ + 0.2261868417263031, + -0.04238753393292427, + 0.028081459924578667 + ], + [ + 0.23095695674419403, + -0.005885230842977762, + 0.02646767720580101 + ], + [ + 0.23420299589633942, + 0.039868008345365524, + 0.03501332551240921 + ], + [ + 0.23006431758403778, + 0.08254332840442657, + 0.0449165478348732 + ], + [ + 0.22886376082897186, + 0.10388308763504028, + 0.05365706980228424 + ], + [ + 0.22782254219055176, + 0.10836581885814667, + 0.042775750160217285 + ], + [ + 0.22932499647140503, + 0.10343733429908752, + 0.025684500113129616 + ], + [ + 0.22870318591594696, + 0.0927370935678482, + 0.014277606271207333 + ], + [ + 0.23567265272140503, + 0.08252649754285812, + 0.0077294944785535336 + ], + [ + 0.23819983005523682, + 0.06070626527070999, + -0.005624348763376474 + ], + [ + 0.24965934455394745, + 0.039329394698143005, + -0.0055586183443665504 + ], + [ + 0.26361164450645447, + 0.027361808344721794, + 0.0015909546054899693 + ], + [ + 0.27617132663726807, + 0.018846675753593445, + 0.007788610178977251 + ], + [ + 0.28712522983551025, + 0.012809361331164837, + 0.014838284812867641 + ], + [ + 0.28182411193847656, + 0.007073643151670694, + 0.019123462960124016 + ], + [ + 0.2641157805919647, + 0.008335343562066555, + 0.04703262075781822 + ], + [ + 0.23531505465507507, + 0.0254344642162323, + 0.051610056310892105 + ], + [ + 0.21775569021701813, + 0.04476996138691902, + 0.036550674587488174 + ], + [ + 0.21386337280273438, + 0.05417817085981369, + 0.004111078102141619 + ], + [ + 0.21864108741283417, + 0.05187360942363739, + -0.030262093991041183 + ], + [ + 0.22697190940380096, + 0.0465235561132431, + -0.04620373994112015 + ], + [ + 0.24498125910758972, + 0.03373127803206444, + -0.054901983588933945 + ], + [ + 0.2620740532875061, + 0.024072999134659767, + -0.05826869606971741 + ], + [ + 0.27598997950553894, + 0.0168231762945652, + -0.06199202314019203 + ], + [ + 0.2953001856803894, + 0.013505787588655949, + -0.06746336817741394 + ], + [ + 0.3145595192909241, + 0.012488596141338348, + -0.0710543841123581 + ], + [ + 0.3290310204029083, + 0.010579153895378113, + -0.06923913955688477 + ], + [ + 0.3331337869167328, + 0.00866958498954773, + -0.06735584139823914 + ], + [ + 0.32596197724342346, + 0.007828551344573498, + -0.0705915316939354 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9954287934625368, + -0.04290367308208446, + 0.08532755698943015, + -0.04457487908173633, + -0.9988478638555175, + 0.017777092735276934, + 0.08446654545183799, + -0.021499295507892157, + -0.996194350010126 + ], + [ + 0.9965713657153047, + -0.044881344264861574, + 0.069506675746372, + -0.04665468095401593, + -0.9986202479472814, + 0.024102720485226894, + 0.06832901127201611, + -0.027262892852538044, + -0.997290269125243 + ], + [ + 0.9972086141242882, + -0.005107520187941926, + 0.07449089309335831, + -0.009292213925706408, + -0.9983909260144117, + 0.055939374437369835, + 0.07408532025087884, + -0.05647541137180963, + -0.9956514918553125 + ], + [ + 0.9927928521283341, + 0.03279567977524565, + 0.11526836578596622, + 0.02209605142184882, + -0.9954297798745104, + 0.09290488604237579, + 0.11778844287302034, + -0.08968833105294893, + -0.9889802252818233 + ], + [ + 0.9825515878455466, + 0.07947373680485882, + 0.16815558979845818, + 0.056969121270477215, + -0.9892523275858167, + 0.13466384662452605, + 0.17705054770845802, + -0.1227345001387802, + -0.976518994199201 + ], + [ + 0.9715692511954209, + 0.108294273787222, + 0.21053631609883205, + 0.07483819351739432, + -0.9841365940926282, + 0.1608552422484717, + 0.22461619470247945, + -0.14052584969556198, + -0.9642614016151005 + ], + [ + 0.9707489737027479, + 0.1428911343681497, + 0.19294702323188412, + 0.11216569426498513, + -0.9804351803591315, + 0.1617581965286817, + 0.21228586171743924, + -0.13538456645105865, + -0.96778392840641 + ], + [ + 0.9751189470905205, + 0.1570584923936369, + 0.15644701656507398, + 0.13524113492519863, + -0.9806510563139148, + 0.14153918600354876, + 0.17564986322004028, + -0.11685946995190784, + -0.9774921942569875 + ], + [ + 0.9699608275750581, + 0.20578535012953228, + 0.12972425618200253, + 0.19119994949742855, + -0.9746193229530596, + 0.11644635949096872, + 0.15039472158985098, + -0.08814513598937239, + -0.9846887136142699 + ], + [ + 0.9687055823564203, + 0.2284884236581095, + 0.09696666935468685, + 0.2253793488522181, + -0.973363802536159, + 0.04203637738078664, + 0.10398867160637777, + -0.018866588631281517, + -0.9943995213247839 + ], + [ + 0.9675562822669465, + 0.22625505009931976, + 0.11244328770682285, + 0.22130383706154197, + -0.9736592304377487, + 0.05488455780280309, + 0.12189935335186775, + -0.028219767680210672, + -0.9921412159387751 + ], + [ + 0.9688005141510974, + 0.2391899651594822, + 0.0649132062647891, + 0.23417850401867202, + -0.9691981252765114, + 0.07625891564972836, + 0.08115412519487951, + -0.058678399155918215, + -0.9949727902994898 + ], + [ + 0.9603438934268734, + 0.25039510222468914, + 0.12264542037761426, + 0.23699438152880048, + -0.9647967008231529, + 0.11402188037627296, + 0.14687841734405907, + -0.08043394098667074, + -0.9858788524234899 + ], + [ + 0.9446192820147801, + 0.28525455041398096, + 0.16224750695772977, + 0.25938541951296645, + -0.9518603807919221, + 0.16334325704705036, + 0.2010313811074364, + -0.11221255253657672, + -0.973136540709094 + ], + [ + 0.9305525550414077, + 0.3245365995052294, + 0.16955216863104533, + 0.30208550280214475, + -0.9421302133983472, + 0.145378849901766, + 0.2069209784016196, + -0.0840634081129663, + -0.9747394790987741 + ], + [ + 0.9237785081407632, + 0.3399178400087497, + 0.17632109896723233, + 0.325013594954882, + -0.939481081055729, + 0.10835802431229143, + 0.20248316224251925, + -0.04279205980255339, + -0.9783503506546747 + ], + [ + 0.9350176557619722, + 0.32716476752714985, + 0.1367669488666486, + 0.32074138353386583, + -0.9447758833085282, + 0.06725693426980081, + 0.15121821418786838, + -0.019019600613491842, + -0.98831741181178 + ], + [ + 0.9569243511077098, + 0.23294000786351032, + 0.1733053345792806, + 0.23848081042778363, + -0.9710782885256277, + -0.011569814684997296, + 0.16559797497190648, + 0.05240143405180253, + -0.9848001829785159 + ], + [ + 0.9733592749052268, + 0.1808111904995777, + 0.14099303297005866, + 0.18452461060425177, + -0.9827335962436275, + -0.013614216665513055, + 0.13609698761295153, + 0.03926820856865895, + -0.9899169751845293 + ], + [ + 0.9793915752185709, + 0.15737014368892258, + 0.1265969204452212, + 0.15578205874635634, + -0.9875371756387945, + 0.02241153506788237, + 0.1285460717549649, + -0.002228139735294307, + -0.9917010350048481 + ], + [ + 0.9829273893358071, + 0.15953479798568368, + 0.09166458162868227, + 0.1557393851003309, + -0.9866693252877733, + 0.047211084130115544, + 0.09797444167774105, + -0.03212928209339756, + -0.9946701553832293 + ], + [ + 0.9766236012455347, + 0.17934191458863522, + 0.11850240150260828, + 0.18168528754213606, + -0.9833138071413039, + -0.00918765345482064, + 0.11487731621575271, + 0.03050302209547796, + -0.9929112588051908 + ], + [ + 0.9662855016862998, + 0.2271271685612837, + 0.12126655982664938, + 0.23185616551033297, + -0.9723961865289827, + -0.02623690032639061, + 0.11196002744596487, + 0.0534687359606161, + -0.9922731713238411 + ], + [ + 0.9561565650874654, + 0.2650650380048516, + 0.12451967180982401, + 0.2698006228026698, + -0.9626524664495826, + -0.02253558904991852, + 0.11389577242124127, + 0.055143036423667344, + -0.9919611880303316 + ], + [ + 0.9463634453071339, + 0.29773171558592876, + 0.1255071907130077, + 0.3016256788321611, + -0.953340354365256, + -0.012810878493159136, + 0.11583686483779537, + 0.04997993870532559, + -0.9920099931308971 + ], + [ + 0.9400763335001662, + 0.31480570065292235, + 0.13097273773311213, + 0.3181864668028831, + -0.9480139589433133, + -0.005187098622849131, + 0.12253105539569009, + 0.04655002132167138, + -0.9913724002505667 + ], + [ + 0.9244747646410301, + 0.35662436801809677, + 0.1347793369831035, + 0.3598693986649048, + -0.9330026377317584, + 0.0003064149815777753, + 0.12585875196612953, + 0.04821968603458742, + -0.9908755907944519 + ], + [ + 0.9045129642637408, + 0.39747408404558016, + 0.15450129446366456, + 0.40228445189974826, + -0.915514718461079, + 0.00014156571040358987, + 0.14150447780384906, + 0.062025420540761655, + -0.9879925758669453 + ], + [ + 0.8848965128181546, + 0.4282444546706253, + 0.1832071195290422, + 0.4356270531613739, + -0.9001272506475575, + -5.652970279096392e-05, + 0.16488551226899076, + 0.0798600005354906, + -0.9830743350114804 + ], + [ + 0.8760680262179448, + 0.44220809849251386, + 0.19224154354933115, + 0.4507825055535454, + -0.892633290793621, + -0.000969976194891059, + 0.17117227031695886, + 0.08750888980318511, + -0.9813471598165207 + ], + [ + 0.8903027630622853, + 0.41746001506274744, + 0.1819014181018697, + 0.4254171144952912, + -0.9049821252235852, + -0.005256588276028873, + 0.16242311651412425, + 0.08206393147792825, + -0.9833027216336917 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.003977641463279724, + 0.002720281481742859, + -0.0037739258259534836, + 0.005752084776759148, + 0.016185015439987183, + -0.0020313560962677, + 1.0 + ], + [ + -0.00211353600025177, + 0.03683900460600853, + -0.002006072551012039, + 0.029331190511584282, + -0.005770966410636902, + 0.03746308386325836, + 1.0 + ], + [ + 0.00477011501789093, + 0.036502301692962646, + -0.0016137827187776566, + 0.03377894312143326, + -0.04390926659107208, + 0.031570740044116974, + 1.0 + ], + [ + 0.0032460391521453857, + 0.04575324058532715, + 0.0085456483066082, + 0.034589819610118866, + -0.059926316142082214, + 0.035663168877363205, + 1.0 + ], + [ + -0.004138678312301636, + 0.04267532005906105, + 0.00990322232246399, + 0.019685298204421997, + -0.048560306429862976, + 0.01896040514111519, + 1.0 + ], + [ + -0.001200556755065918, + 0.02133975923061371, + 0.008740521967411041, + -0.005726069211959839, + 0.012635603547096252, + 0.03815903514623642, + 1.0 + ], + [ + -0.001041218638420105, + 0.004482731223106384, + -0.010881319642066956, + -0.020003773272037506, + 0.037347689270973206, + 0.02277740091085434, + 1.0 + ], + [ + 0.0015024542808532715, + -0.004928484559059143, + -0.01709125004708767, + -0.029707789421081543, + 0.025598332285881042, + 0.05681326985359192, + 1.0 + ], + [ + -0.0006218105554580688, + -0.010700240731239319, + -0.011406893841922283, + -0.07030721008777618, + 0.04679051786661148, + 0.0339675098657608, + 1.0 + ], + [ + 0.006969466805458069, + -0.010210596024990082, + -0.006548111792653799, + 0.009465061128139496, + -0.018026277422904968, + -0.003736928105354309, + 1.0 + ], + [ + 0.002527177333831787, + -0.021820232272148132, + -0.013353843241930008, + 0.030471017584204674, + 0.040959812700748444, + 0.012314066290855408, + 1.0 + ], + [ + 0.011459514498710632, + -0.021376870572566986, + 6.573041900992393e-05, + 0.02249908074736595, + -0.06616824865341187, + 0.004775777459144592, + 1.0 + ], + [ + 0.013952299952507019, + -0.011967586353421211, + 0.00714957294985652, + 0.03339742124080658, + -0.054998964071273804, + 0.026040881872177124, + 1.0 + ], + [ + 0.012559682130813599, + -0.00851513259112835, + 0.006197655573487282, + -0.028774090111255646, + -0.006016090512275696, + 0.0459100604057312, + 1.0 + ], + [ + 0.010953903198242188, + -0.006037314422428608, + 0.00704967463389039, + -0.04231792688369751, + 0.004533827304840088, + 0.02440732717514038, + 1.0 + ], + [ + -0.005301117897033691, + -0.0057357181794941425, + 0.004285178147256374, + -0.024469083175063133, + 0.052092403173446655, + -0.007850557565689087, + 1.0 + ], + [ + -0.01770833134651184, + 0.0012617004103958607, + 0.027909157797694206, + -0.07240213453769684, + -0.014563784003257751, + -0.0862136036157608, + 1.0 + ], + [ + -0.02880072593688965, + 0.01709911972284317, + 0.004577435553073883, + 0.013512689620256424, + 0.029843658208847046, + -0.056888848543167114, + 1.0 + ], + [ + -0.017559364438056946, + 0.019335497170686722, + -0.01505938172340393, + 0.041894178837537766, + 0.007617920637130737, + -0.02961312234401703, + 1.0 + ], + [ + -0.0038923174142837524, + 0.009408209472894669, + -0.03243959695100784, + 0.030043434351682663, + 0.030770882964134216, + -0.0006004571914672852, + 1.0 + ], + [ + 0.0047777146100997925, + -0.0023045614361763, + -0.034373171627521515, + -0.063001349568367, + -0.016999632120132446, + 0.026793286204338074, + 1.0 + ], + [ + 0.008330821990966797, + -0.005350053310394287, + -0.015941645950078964, + -0.023121898993849754, + 0.002936236560344696, + 0.051562294363975525, + 1.0 + ], + [ + 0.018009349703788757, + -0.012792278081178665, + -0.008698243647813797, + -0.0016997233033180237, + -0.0019482076168060303, + 0.03952792286872864, + 1.0 + ], + [ + 0.017092794179916382, + -0.00965827889740467, + -0.0033667124807834625, + 0.005192827433347702, + -0.001954026520252228, + 0.03352043032646179, + 1.0 + ], + [ + 0.013915926218032837, + -0.007249822840094566, + -0.0037233270704746246, + 0.0034192614257335663, + -0.006742261350154877, + 0.01782318949699402, + 1.0 + ], + [ + 0.019310206174850464, + -0.003317388705909252, + -0.005471345037221909, + -0.001704685389995575, + -0.0033536627888679504, + 0.04485616087913513, + 1.0 + ], + [ + 0.019259333610534668, + -0.0010171914473176003, + -0.003591015934944153, + -0.014071602374315262, + -0.015787601470947266, + 0.047260135412216187, + 1.0 + ], + [ + 0.014471501111984253, + -0.0019094422459602356, + 0.0018152445554733276, + -0.018360011279582977, + -0.023660913109779358, + 0.03898024559020996, + 1.0 + ], + [ + 0.004102766513824463, + -0.0019095689058303833, + 0.0018832981586456299, + -0.00788000226020813, + -0.0063774436712265015, + 0.01775944232940674, + 1.0 + ], + [ + -0.007171809673309326, + -0.0008410336449742317, + -0.0032356902956962585, + 0.005672484636306763, + 0.00887349247932434, + -0.0294630229473114, + 1.0 + ], + [ + -0.020849615335464478, + -0.0010175271891057491, + 0.011111211031675339, + 0.010961860418319702, + 0.00803808867931366, + -0.05548247694969177, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.22830037772655487, + -0.0792265385389328, + 0.030087532475590706 + ], + [ + 0.2261868417263031, + -0.04238753393292427, + 0.028081459924578667 + ], + [ + 0.23095695674419403, + -0.005885230842977762, + 0.02646767720580101 + ], + [ + 0.23420299589633942, + 0.039868008345365524, + 0.03501332551240921 + ], + [ + 0.23006431758403778, + 0.08254332840442657, + 0.0449165478348732 + ], + [ + 0.22886376082897186, + 0.10388308763504028, + 0.05365706980228424 + ], + [ + 0.22782254219055176, + 0.10836581885814667, + 0.042775750160217285 + ], + [ + 0.22932499647140503, + 0.10343733429908752, + 0.025684500113129616 + ], + [ + 0.22870318591594696, + 0.0927370935678482, + 0.014277606271207333 + ], + [ + 0.23567265272140503, + 0.08252649754285812, + 0.0077294944785535336 + ], + [ + 0.23819983005523682, + 0.06070626527070999, + -0.005624348763376474 + ], + [ + 0.24965934455394745, + 0.039329394698143005, + -0.0055586183443665504 + ], + [ + 0.26361164450645447, + 0.027361808344721794, + 0.0015909546054899693 + ], + [ + 0.27617132663726807, + 0.018846675753593445, + 0.007788610178977251 + ], + [ + 0.28712522983551025, + 0.012809361331164837, + 0.014838284812867641 + ], + [ + 0.28182411193847656, + 0.007073643151670694, + 0.019123462960124016 + ], + [ + 0.2641157805919647, + 0.008335343562066555, + 0.04703262075781822 + ], + [ + 0.23531505465507507, + 0.0254344642162323, + 0.051610056310892105 + ], + [ + 0.21775569021701813, + 0.04476996138691902, + 0.036550674587488174 + ], + [ + 0.21386337280273438, + 0.05417817085981369, + 0.004111078102141619 + ], + [ + 0.21864108741283417, + 0.05187360942363739, + -0.030262093991041183 + ], + [ + 0.22697190940380096, + 0.0465235561132431, + -0.04620373994112015 + ], + [ + 0.24498125910758972, + 0.03373127803206444, + -0.054901983588933945 + ], + [ + 0.2620740532875061, + 0.024072999134659767, + -0.05826869606971741 + ], + [ + 0.27598997950553894, + 0.0168231762945652, + -0.06199202314019203 + ], + [ + 0.2953001856803894, + 0.013505787588655949, + -0.06746336817741394 + ], + [ + 0.3145595192909241, + 0.012488596141338348, + -0.0710543841123581 + ], + [ + 0.3290310204029083, + 0.010579153895378113, + -0.06923913955688477 + ], + [ + 0.3331337869167328, + 0.00866958498954773, + -0.06735584139823914 + ], + [ + 0.32596197724342346, + 0.007828551344573498, + -0.0705915316939354 + ], + [ + 0.305112361907959, + 0.006811024155467749, + -0.059480320662260056 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9965713657153047, + -0.044881344264861574, + 0.069506675746372, + -0.04665468095401593, + -0.9986202479472814, + 0.024102720485226894, + 0.06832901127201611, + -0.027262892852538044, + -0.997290269125243 + ], + [ + 0.9972086141242882, + -0.005107520187941926, + 0.07449089309335831, + -0.009292213925706408, + -0.9983909260144117, + 0.055939374437369835, + 0.07408532025087884, + -0.05647541137180963, + -0.9956514918553125 + ], + [ + 0.9927928521283341, + 0.03279567977524565, + 0.11526836578596622, + 0.02209605142184882, + -0.9954297798745104, + 0.09290488604237579, + 0.11778844287302034, + -0.08968833105294893, + -0.9889802252818233 + ], + [ + 0.9825515878455466, + 0.07947373680485882, + 0.16815558979845818, + 0.056969121270477215, + -0.9892523275858167, + 0.13466384662452605, + 0.17705054770845802, + -0.1227345001387802, + -0.976518994199201 + ], + [ + 0.9715692511954209, + 0.108294273787222, + 0.21053631609883205, + 0.07483819351739432, + -0.9841365940926282, + 0.1608552422484717, + 0.22461619470247945, + -0.14052584969556198, + -0.9642614016151005 + ], + [ + 0.9707489737027479, + 0.1428911343681497, + 0.19294702323188412, + 0.11216569426498513, + -0.9804351803591315, + 0.1617581965286817, + 0.21228586171743924, + -0.13538456645105865, + -0.96778392840641 + ], + [ + 0.9751189470905205, + 0.1570584923936369, + 0.15644701656507398, + 0.13524113492519863, + -0.9806510563139148, + 0.14153918600354876, + 0.17564986322004028, + -0.11685946995190784, + -0.9774921942569875 + ], + [ + 0.9699608275750581, + 0.20578535012953228, + 0.12972425618200253, + 0.19119994949742855, + -0.9746193229530596, + 0.11644635949096872, + 0.15039472158985098, + -0.08814513598937239, + -0.9846887136142699 + ], + [ + 0.9687055823564203, + 0.2284884236581095, + 0.09696666935468685, + 0.2253793488522181, + -0.973363802536159, + 0.04203637738078664, + 0.10398867160637777, + -0.018866588631281517, + -0.9943995213247839 + ], + [ + 0.9675562822669465, + 0.22625505009931976, + 0.11244328770682285, + 0.22130383706154197, + -0.9736592304377487, + 0.05488455780280309, + 0.12189935335186775, + -0.028219767680210672, + -0.9921412159387751 + ], + [ + 0.9688005141510974, + 0.2391899651594822, + 0.0649132062647891, + 0.23417850401867202, + -0.9691981252765114, + 0.07625891564972836, + 0.08115412519487951, + -0.058678399155918215, + -0.9949727902994898 + ], + [ + 0.9603438934268734, + 0.25039510222468914, + 0.12264542037761426, + 0.23699438152880048, + -0.9647967008231529, + 0.11402188037627296, + 0.14687841734405907, + -0.08043394098667074, + -0.9858788524234899 + ], + [ + 0.9446192820147801, + 0.28525455041398096, + 0.16224750695772977, + 0.25938541951296645, + -0.9518603807919221, + 0.16334325704705036, + 0.2010313811074364, + -0.11221255253657672, + -0.973136540709094 + ], + [ + 0.9305525550414077, + 0.3245365995052294, + 0.16955216863104533, + 0.30208550280214475, + -0.9421302133983472, + 0.145378849901766, + 0.2069209784016196, + -0.0840634081129663, + -0.9747394790987741 + ], + [ + 0.9237785081407632, + 0.3399178400087497, + 0.17632109896723233, + 0.325013594954882, + -0.939481081055729, + 0.10835802431229143, + 0.20248316224251925, + -0.04279205980255339, + -0.9783503506546747 + ], + [ + 0.9350176557619722, + 0.32716476752714985, + 0.1367669488666486, + 0.32074138353386583, + -0.9447758833085282, + 0.06725693426980081, + 0.15121821418786838, + -0.019019600613491842, + -0.98831741181178 + ], + [ + 0.9569243511077098, + 0.23294000786351032, + 0.1733053345792806, + 0.23848081042778363, + -0.9710782885256277, + -0.011569814684997296, + 0.16559797497190648, + 0.05240143405180253, + -0.9848001829785159 + ], + [ + 0.9733592749052268, + 0.1808111904995777, + 0.14099303297005866, + 0.18452461060425177, + -0.9827335962436275, + -0.013614216665513055, + 0.13609698761295153, + 0.03926820856865895, + -0.9899169751845293 + ], + [ + 0.9793915752185709, + 0.15737014368892258, + 0.1265969204452212, + 0.15578205874635634, + -0.9875371756387945, + 0.02241153506788237, + 0.1285460717549649, + -0.002228139735294307, + -0.9917010350048481 + ], + [ + 0.9829273893358071, + 0.15953479798568368, + 0.09166458162868227, + 0.1557393851003309, + -0.9866693252877733, + 0.047211084130115544, + 0.09797444167774105, + -0.03212928209339756, + -0.9946701553832293 + ], + [ + 0.9766236012455347, + 0.17934191458863522, + 0.11850240150260828, + 0.18168528754213606, + -0.9833138071413039, + -0.00918765345482064, + 0.11487731621575271, + 0.03050302209547796, + -0.9929112588051908 + ], + [ + 0.9662855016862998, + 0.2271271685612837, + 0.12126655982664938, + 0.23185616551033297, + -0.9723961865289827, + -0.02623690032639061, + 0.11196002744596487, + 0.0534687359606161, + -0.9922731713238411 + ], + [ + 0.9561565650874654, + 0.2650650380048516, + 0.12451967180982401, + 0.2698006228026698, + -0.9626524664495826, + -0.02253558904991852, + 0.11389577242124127, + 0.055143036423667344, + -0.9919611880303316 + ], + [ + 0.9463634453071339, + 0.29773171558592876, + 0.1255071907130077, + 0.3016256788321611, + -0.953340354365256, + -0.012810878493159136, + 0.11583686483779537, + 0.04997993870532559, + -0.9920099931308971 + ], + [ + 0.9400763335001662, + 0.31480570065292235, + 0.13097273773311213, + 0.3181864668028831, + -0.9480139589433133, + -0.005187098622849131, + 0.12253105539569009, + 0.04655002132167138, + -0.9913724002505667 + ], + [ + 0.9244747646410301, + 0.35662436801809677, + 0.1347793369831035, + 0.3598693986649048, + -0.9330026377317584, + 0.0003064149815777753, + 0.12585875196612953, + 0.04821968603458742, + -0.9908755907944519 + ], + [ + 0.9045129642637408, + 0.39747408404558016, + 0.15450129446366456, + 0.40228445189974826, + -0.915514718461079, + 0.00014156571040358987, + 0.14150447780384906, + 0.062025420540761655, + -0.9879925758669453 + ], + [ + 0.8848965128181546, + 0.4282444546706253, + 0.1832071195290422, + 0.4356270531613739, + -0.9001272506475575, + -5.652970279096392e-05, + 0.16488551226899076, + 0.0798600005354906, + -0.9830743350114804 + ], + [ + 0.8760680262179448, + 0.44220809849251386, + 0.19224154354933115, + 0.4507825055535454, + -0.892633290793621, + -0.000969976194891059, + 0.17117227031695886, + 0.08750888980318511, + -0.9813471598165207 + ], + [ + 0.8903027630622853, + 0.41746001506274744, + 0.1819014181018697, + 0.4254171144952912, + -0.9049821252235852, + -0.005256588276028873, + 0.16242311651412425, + 0.08206393147792825, + -0.9833027216336917 + ], + [ + 0.9137017957586089, + 0.36912861784043377, + 0.16997968089952453, + 0.3758762005568768, + -0.9266337162073318, + -0.008187664057370099, + 0.15448660227482403, + 0.07137239998067088, + -0.9854135528997859 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006368.json b/json/chunk-0006/episode_0006368.json new file mode 100644 index 0000000000000000000000000000000000000000..6c4feb8fa56190bc51ae630e2d94bc8298b4a8a4 --- /dev/null +++ b/json/chunk-0006/episode_0006368.json @@ -0,0 +1,1942 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 31, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut silver lid on silver pot on left of the table." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006368.mp4", + "start": 0, + "end": 31, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.318469375371933, + -0.003891912056133151, + 0.05653355270624161, + 0.07807934284210205, + -0.027753131464123726, + -0.17171958088874817, + 0.0, + 1.0014774799346924 + ], + [ + 0.3151155114173889, + -0.00435635494068265, + 0.046597789973020554, + 0.07036332786083221, + 0.002332379575818777, + -0.17090104520320892, + 0.0, + 1.0014774799346924 + ], + [ + 0.31196969747543335, + -0.01602562703192234, + 0.03950117528438568, + 0.055261287838220596, + -0.01166629046201706, + -0.22159887850284576, + 0.0, + 1.0014774799346924 + ], + [ + 0.31800350546836853, + -0.019104424864053726, + 0.024264654144644737, + 0.07439357787370682, + -0.020488495007157326, + -0.2428770363330841, + 0.0, + 1.0014774799346924 + ], + [ + 0.3351716697216034, + -0.023375768214464188, + 0.009663119912147522, + 0.06241520866751671, + -0.047127511352300644, + -0.2571098208427429, + 0.0, + 1.0014774799346924 + ], + [ + 0.3533056974411011, + -0.016884397715330124, + 0.00409316923469305, + 0.060140322893857956, + -0.09703346341848373, + -0.22651787102222443, + 0.0, + 0.9476637244224548 + ], + [ + 0.36132633686065674, + -0.010325918905436993, + 0.0038662937004119158, + 0.03470489755272865, + -0.11361215263605118, + -0.23116032779216766, + 0.0, + 0.6791892647743225 + ], + [ + 0.3567330539226532, + -0.004974134732037783, + 0.003806779161095619, + 0.00874630082398653, + -0.12593810260295868, + -0.24181978404521942, + 0.0, + 0.3849146366119385 + ], + [ + 0.3424176275730133, + -0.007738614920526743, + 0.008806390687823296, + -0.022539028897881508, + -0.11567115783691406, + -0.26482006907463074, + 0.0, + 0.25545796751976013 + ], + [ + 0.33936652541160583, + -0.008955089375376701, + 0.0175204835832119, + -0.03547108173370361, + -0.13136814534664154, + -0.24177557229995728, + 0.0, + 0.519798994064331 + ], + [ + 0.3352867066860199, + -0.008882204070687294, + 0.021385731175541878, + -0.02657015435397625, + -0.14098358154296875, + -0.23893441259860992, + 0.0, + 0.832595944404602 + ], + [ + 0.33403536677360535, + -0.012649196200072765, + 0.02019265480339527, + -0.02576567977666855, + -0.13586711883544922, + -0.2502132058143616, + 0.0, + 1.0149952173233032 + ], + [ + 0.32870951294898987, + -0.013889973051846027, + 0.01600421592593193, + -0.015117527917027473, + -0.11992359906435013, + -0.2609466314315796, + 0.0, + 0.9759697914123535 + ], + [ + 0.3233375549316406, + -0.010719763115048409, + 0.011590165086090565, + 0.005482375621795654, + -0.10642111301422119, + -0.27015790343284607, + 0.0, + 0.7730204463005066 + ], + [ + 0.3210945427417755, + -0.00984453596174717, + 0.010047558695077896, + 0.009698472917079926, + -0.09904143959283829, + -0.2772057354450226, + 0.0, + 0.4606100916862488 + ], + [ + 0.3203814923763275, + -0.010013770312070847, + 0.010243022814393044, + 0.007213277276605368, + -0.09339860081672668, + -0.2791284918785095, + 0.0, + 0.2788355052471161 + ], + [ + 0.32016944885253906, + -0.009389249607920647, + 0.02043020725250244, + -0.008955406956374645, + -0.10130426287651062, + -0.2699345052242279, + 0.0, + 0.2788355052471161 + ], + [ + 0.31913232803344727, + 0.020820850506424904, + 0.04026097059249878, + 0.010161144658923149, + -0.11958189308643341, + -0.1793280392885208, + 0.0, + 0.2788355052471161 + ], + [ + 0.31567803025245667, + 0.0617811344563961, + 0.05517061799764633, + 0.023156194016337395, + -0.12559373676776886, + -0.05855049565434456, + 0.0, + 0.2788355052471161 + ], + [ + 0.3110799789428711, + 0.1103563979268074, + 0.06258873641490936, + 0.044686246663331985, + -0.13734689354896545, + 0.07139096409082413, + 0.0, + 0.2788355052471161 + ], + [ + 0.31317955255508423, + 0.1481228917837143, + 0.05625800043344498, + 0.03174913674592972, + -0.11697118729352951, + 0.17608262598514557, + 0.0, + 0.2788355052471161 + ], + [ + 0.3150746822357178, + 0.16479401290416718, + 0.051357802003622055, + 0.035503458231687546, + -0.10488849878311157, + 0.21856902539730072, + 0.0, + 0.2788355052471161 + ], + [ + 0.31128203868865967, + 0.17566296458244324, + 0.04182092845439911, + 0.05247166007757187, + -0.07687270641326904, + 0.23889100551605225, + 0.0, + 0.2788355052471161 + ], + [ + 0.3039136826992035, + 0.18798352777957916, + 0.03931520879268646, + 0.07912129163742065, + -0.06376690417528152, + 0.2567595839500427, + 0.0, + 0.2788355052471161 + ], + [ + 0.2977645695209503, + 0.19719968736171722, + 0.03963737562298775, + 0.09024820476770401, + -0.06085895001888275, + 0.27791693806648254, + 0.0, + 0.2788355052471161 + ], + [ + 0.29324057698249817, + 0.20354846119880676, + 0.03717537224292755, + 0.08283082395792007, + -0.05594963952898979, + 0.29780328273773193, + 0.0, + 0.2788355052471161 + ], + [ + 0.2965417206287384, + 0.20493821799755096, + 0.03400995209813118, + 0.07139381021261215, + -0.0554112084209919, + 0.2982719838619232, + 0.0, + 0.2788355052471161 + ], + [ + 0.3047216832637787, + 0.2060239017009735, + 0.03300539776682854, + 0.054639533162117004, + -0.05523453652858734, + 0.3030058443546295, + 0.0, + 0.3220333158969879 + ], + [ + 0.30879345536231995, + 0.20087426900863647, + 0.03309955447912216, + 0.06414657831192017, + -0.05578171834349632, + 0.27680617570877075, + 0.0, + 0.6179407835006714 + ], + [ + 0.3121766746044159, + 0.190134197473526, + 0.038146622478961945, + 0.06918066740036011, + -0.06866317987442017, + 0.21402093768119812, + 0.0, + 0.9173964858055115 + ], + [ + 0.3135870099067688, + 0.18101847171783447, + 0.06011582165956497, + 0.08636849373579025, + -0.09792675822973251, + 0.14405791461467743, + 0.0, + 1.0105689764022827 + ] + ], + "left_gripper_pos": [ + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 0.9476637244224548 + ], + [ + 0.6791892647743225 + ], + [ + 0.3849146366119385 + ], + [ + 0.25545796751976013 + ], + [ + 0.519798994064331 + ], + [ + 0.832595944404602 + ], + [ + 1.0149952173233032 + ], + [ + 0.9759697914123535 + ], + [ + 0.7730204463005066 + ], + [ + 0.4606100916862488 + ], + [ + 0.2788355052471161 + ], + [ + 0.2788355052471161 + ], + [ + 0.2788355052471161 + ], + [ + 0.2788355052471161 + ], + [ + 0.2788355052471161 + ], + [ + 0.2788355052471161 + ], + [ + 0.2788355052471161 + ], + [ + 0.2788355052471161 + ], + [ + 0.2788355052471161 + ], + [ + 0.2788355052471161 + ], + [ + 0.2788355052471161 + ], + [ + 0.2788355052471161 + ], + [ + 0.3220333158969879 + ], + [ + 0.6179407835006714 + ], + [ + 0.9173964858055115 + ], + [ + 1.0105689764022827 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.318469375371933, + -0.003891912056133151, + 0.05653355270624161 + ], + [ + 0.3151155114173889, + -0.00435635494068265, + 0.046597789973020554 + ], + [ + 0.31196969747543335, + -0.01602562703192234, + 0.03950117528438568 + ], + [ + 0.31800350546836853, + -0.019104424864053726, + 0.024264654144644737 + ], + [ + 0.3351716697216034, + -0.023375768214464188, + 0.009663119912147522 + ], + [ + 0.3533056974411011, + -0.016884397715330124, + 0.00409316923469305 + ], + [ + 0.36132633686065674, + -0.010325918905436993, + 0.0038662937004119158 + ], + [ + 0.3567330539226532, + -0.004974134732037783, + 0.003806779161095619 + ], + [ + 0.3424176275730133, + -0.007738614920526743, + 0.008806390687823296 + ], + [ + 0.33936652541160583, + -0.008955089375376701, + 0.0175204835832119 + ], + [ + 0.3352867066860199, + -0.008882204070687294, + 0.021385731175541878 + ], + [ + 0.33403536677360535, + -0.012649196200072765, + 0.02019265480339527 + ], + [ + 0.32870951294898987, + -0.013889973051846027, + 0.01600421592593193 + ], + [ + 0.3233375549316406, + -0.010719763115048409, + 0.011590165086090565 + ], + [ + 0.3210945427417755, + -0.00984453596174717, + 0.010047558695077896 + ], + [ + 0.3203814923763275, + -0.010013770312070847, + 0.010243022814393044 + ], + [ + 0.32016944885253906, + -0.009389249607920647, + 0.02043020725250244 + ], + [ + 0.31913232803344727, + 0.020820850506424904, + 0.04026097059249878 + ], + [ + 0.31567803025245667, + 0.0617811344563961, + 0.05517061799764633 + ], + [ + 0.3110799789428711, + 0.1103563979268074, + 0.06258873641490936 + ], + [ + 0.31317955255508423, + 0.1481228917837143, + 0.05625800043344498 + ], + [ + 0.3150746822357178, + 0.16479401290416718, + 0.051357802003622055 + ], + [ + 0.31128203868865967, + 0.17566296458244324, + 0.04182092845439911 + ], + [ + 0.3039136826992035, + 0.18798352777957916, + 0.03931520879268646 + ], + [ + 0.2977645695209503, + 0.19719968736171722, + 0.03963737562298775 + ], + [ + 0.29324057698249817, + 0.20354846119880676, + 0.03717537224292755 + ], + [ + 0.2965417206287384, + 0.20493821799755096, + 0.03400995209813118 + ], + [ + 0.3047216832637787, + 0.2060239017009735, + 0.03300539776682854 + ], + [ + 0.30879345536231995, + 0.20087426900863647, + 0.03309955447912216 + ], + [ + 0.3121766746044159, + 0.190134197473526, + 0.038146622478961945 + ], + [ + 0.3135870099067688, + 0.18101847171783447, + 0.06011582165956497 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.984912957523338, + -0.16822365668754785, + 0.04058654251474207, + -0.17081108725991356, + -0.9826604098246224, + 0.07212552552592424, + 0.027749568856418865, + -0.07796999611372687, + -0.996569436183103 + ], + [ + 0.9854292455257225, + -0.1698110910293468, + 0.00966413089873445, + -0.17006987410468613, + -0.9829656086284138, + 0.06967675491717475, + -0.002332377461130681, + -0.07030508955399116, + -0.9975228089613709 + ], + [ + 0.9754808930508438, + -0.2188255769687785, + 0.023503066970267696, + -0.21977472815154728, + -0.9741997122968291, + 0.0513224066728003, + 0.011666025828926086, + -0.05522940724882003, + -0.998405537052105 + ], + [ + 0.9704463548043161, + -0.2383530094378393, + 0.03770564067802944, + -0.24044573764998559, + -0.9683315338384035, + 0.06723011096316032, + 0.02048706159920681, + -0.07430937670368272, + -0.9970247724309262 + ], + [ + 0.9660551507034643, + -0.2509494109314028, + 0.06133383203819131, + -0.25400410876592755, + -0.9659929738938214, + 0.048368244931958085, + 0.04711006823741588, + -0.06230543749106471, + -0.9969446694424486 + ], + [ + 0.9698704519014482, + -0.21850548368533546, + 0.10773421057360662, + -0.22352925297534287, + -0.9740003903826018, + 0.03684986565544614, + 0.09688126543747137, + -0.05982134346516177, + -0.99349656631176 + ], + [ + 0.9671257697147618, + -0.2251401823814882, + 0.11823554385572745, + -0.22763010621994673, + -0.9737162961011978, + 0.007817253306636313, + 0.11336789799553128, + -0.03447423652808833, + -0.9929548059805542 + ], + [ + 0.9632145062326654, + -0.23839409285600682, + 0.12404060413559717, + -0.23757332130997133, + -0.9711297377374677, + -0.021585863052150565, + 0.12560546160383096, + -0.008676921880406044, + -0.9920423272431321 + ], + [ + 0.9586901111743764, + -0.26417954544587335, + 0.10546297219628092, + -0.25998657810127085, + -0.9642136752856754, + -0.05195158899670048, + 0.11541338719426619, + 0.022386517373231746, + -0.9930652515803 + ], + [ + 0.9625486062064617, + -0.24378661453130238, + 0.11860972668952571, + -0.2373639351855862, + -0.9691914136639976, + -0.06577511651980775, + 0.13099062166128772, + 0.03515807525089588, + -0.9907599945402729 + ], + [ + 0.9619508508601267, + -0.2402109746406452, + 0.13018927832839963, + -0.23431929452958025, + -0.9703642701872555, + -0.059056340515772625, + 0.14051700516534657, + 0.026303437154607083, + -0.9897288014669552 + ], + [ + 0.9599308861995218, + -0.2509092411681659, + 0.12480883949711258, + -0.24532861535482217, + -0.9676740186551429, + -0.058488153568836854, + 0.13544948950913965, + 0.025525405309638413, + -0.9904553949953991 + ], + [ + 0.959207109305428, + -0.2597130823615062, + 0.11167289871858119, + -0.2561422728038752, + -0.9655691914181155, + -0.045467270283489784, + 0.1196363554309064, + 0.015008378808260463, + -0.9927043321275262 + ], + [ + 0.9582765825938668, + -0.26631839046496925, + 0.10382921627542098, + -0.2653737529289604, + -0.9638696996353412, + -0.023064548148101077, + 0.10622034884436697, + -0.00545133240824717, + -0.9943276725840208 + ], + [ + 0.9571103863250142, + -0.27273390292848193, + 0.09775441975777736, + -0.2723279883250627, + -0.9620411011913695, + -0.01773094451296322, + 0.0988795993297243, + -0.00965079332980966, + -0.9950526051543701 + ], + [ + 0.9571061308683438, + -0.2748641204469665, + 0.09163825372159808, + -0.2743171366293842, + -0.9614562586947597, + -0.018760894651665222, + 0.09326286938371699, + -0.007181776074941889, + -0.9956156182416611 + ], + [ + 0.9588471268843666, + -0.2675304834258002, + 0.09507695674322092, + -0.26530113504334296, + -0.9635082062361017, + -0.035598374406745646, + 0.10113107836025756, + 0.008909374481218696, + -0.9948332161905553 + ], + [ + 0.9769368941732799, + -0.17716648516490502, + 0.11919035756880224, + -0.17709462873307125, + -0.9841291889753152, + -0.011279711019512736, + 0.1192970966828661, + -0.010088406271634147, + -0.9928073462570355 + ], + [ + 0.9904233748768636, + -0.055605956033036065, + 0.12637055096491548, + -0.05805613659257463, + -0.9981884973966411, + 0.015786344383066305, + 0.12526381561116742, + -0.02297175044894299, + -0.9918574873336611 + ], + [ + 0.9880594688979497, + 0.07735975363371532, + 0.133243965862745, + 0.07065860005409923, + -0.9960207551104497, + 0.054314064731009665, + 0.13691547815895883, + -0.04425069385829253, + -0.9895938701980542 + ], + [ + 0.9778097957758779, + 0.17873321046356125, + 0.10928148407723942, + 0.17397710280599896, + -0.9833923402508079, + 0.05168629252780546, + 0.11670463137325135, + -0.03152688715092773, + -0.9926661495198705 + ], + [ + 0.9708437248386581, + 0.22032415527455648, + 0.09444431451364763, + 0.21564125457897945, + -0.9747877263605653, + 0.05733879890966635, + 0.10469628104667061, + -0.035300922641660584, + -0.9938775244443572 + ], + [ + 0.9687316060869171, + 0.24021303154303505, + 0.06210293749225456, + 0.23592645802541565, + -0.9693106692892296, + 0.06910522994424938, + 0.07679701668583112, + -0.05229269431737701, + -0.9956744911612356 + ], + [ + 0.9652521576305919, + 0.2580247685878758, + 0.04137017022760117, + 0.2534315736262033, + -0.9629130075723621, + 0.0925795730023366, + 0.06372369793753227, + -0.07887812525105942, + -0.994845481307547 + ], + [ + 0.9598487218863982, + 0.27850784310443577, + 0.0335233116258303, + 0.27384519309026545, + -0.9562116809391433, + 0.10328616294980174, + 0.06082138862606449, + -0.08995889375071682, + -0.9940865938743688 + ], + [ + 0.9544874611434816, + 0.2968378874061023, + 0.028999226199211907, + 0.29296175412929315, + -0.9513482041470807, + 0.09544634662265648, + 0.055920453658375134, + -0.08260667688756683, + -0.995012080226283 + ], + [ + 0.9543786863225019, + 0.29689650894992403, + 0.03184000732856733, + 0.29341789693992415, + -0.9522497826371599, + 0.0844173514322371, + 0.05538285699282387, + -0.0712236929738234, + -0.9959216458690326 + ], + [ + 0.9529883225698036, + 0.30082275639481015, + 0.03631702466641841, + 0.29793540294562104, + -0.9521198718885251, + 0.06857291904687665, + 0.055206455394482296, + -0.05452906371842247, + -0.9969848687381216 + ], + [ + 0.9604369789207976, + 0.2761605928015524, + 0.03600189585266932, + 0.2728597358226424, + -0.9589780794920623, + 0.07686746789451021, + 0.055752794443768315, + -0.06400289085042116, + -0.9963911159150807 + ], + [ + 0.9748821777274452, + 0.21651720402238891, + 0.052201914828107134, + 0.21189032982982034, + -0.9738400580233207, + 0.08208550123953139, + 0.06860923898429198, + -0.06896261125756746, + -0.9952572182981311 + ], + [ + 0.9849002235448499, + 0.15137147491949976, + 0.0840132503953958, + 0.1428723707081342, + -0.9847420059183603, + 0.09935123284650807, + 0.09777031936913012, + -0.08584787918509595, + -0.991499423242333 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0033538639545440674, + -0.00046444288454949856, + -0.009935762733221054, + -0.007716014981269836, + 0.03008551150560379, + 0.0008185356855392456, + 1.0 + ], + [ + -0.0031458139419555664, + -0.011669272556900978, + -0.0070966146886348724, + -0.015102040022611618, + -0.013998670503497124, + -0.05069783329963684, + 1.0 + ], + [ + 0.006033807992935181, + -0.003078797832131386, + -0.015236521139740944, + 0.01913229003548622, + -0.008822204545140266, + -0.021278157830238342, + 1.0 + ], + [ + 0.017168164253234863, + -0.004271343350410461, + -0.014601534232497215, + -0.01197836920619011, + -0.026639016345143318, + -0.014232784509658813, + 1.0 + ], + [ + 0.01813402771949768, + 0.006491370499134064, + -0.005569950677454472, + -0.0022748857736587524, + -0.04990595206618309, + 0.030591949820518494, + 0.0 + ], + [ + 0.008020639419555664, + 0.006558478809893131, + -0.0002268755342811346, + -0.025435425341129303, + -0.016578689217567444, + -0.004642456769943237, + 0.0 + ], + [ + -0.00459328293800354, + 0.00535178417339921, + -5.951453931629658e-05, + -0.025958597660064697, + -0.012325949966907501, + -0.010659456253051758, + 0.0 + ], + [ + -0.014315426349639893, + -0.0027644801884889603, + 0.004999611526727676, + -0.03128533065319061, + 0.010266944766044617, + -0.023000285029411316, + 1.0 + ], + [ + -0.0030511021614074707, + -0.0012164744548499584, + 0.008714092895388603, + -0.012932052835822105, + -0.015696987509727478, + 0.023044496774673462, + 1.0 + ], + [ + -0.0040798187255859375, + 7.288530468940735e-05, + 0.003865247592329979, + 0.008900927379727364, + -0.00961543619632721, + 0.002841159701347351, + 1.0 + ], + [ + -0.0012513399124145508, + -0.0037669921293854713, + -0.0011930763721466064, + 0.0008044745773077011, + 0.005116462707519531, + -0.011278793215751648, + 1.0 + ], + [ + -0.0053258538246154785, + -0.001240776851773262, + -0.004188438877463341, + 0.010648151859641075, + 0.01594351977109909, + -0.010733425617218018, + 0.0 + ], + [ + -0.005371958017349243, + 0.003170209936797619, + -0.004414050839841366, + 0.020599903538823128, + 0.013502486050128937, + -0.00921127200126648, + 0.0 + ], + [ + -0.0022430121898651123, + 0.000875227153301239, + -0.0015426063910126686, + 0.004216097295284271, + 0.007379673421382904, + -0.007047832012176514, + 0.0 + ], + [ + -0.000713050365447998, + -0.00016923435032367706, + 0.0001954641193151474, + -0.002485195640474558, + 0.005642838776111603, + -0.0019227564334869385, + 0.0 + ], + [ + -0.00021204352378845215, + 0.0006245207041501999, + 0.010187184438109398, + -0.016168683767318726, + -0.007905662059783936, + 0.009193986654281616, + 0.0 + ], + [ + -0.0010371208190917969, + 0.03021010011434555, + 0.019830763339996338, + 0.01911655068397522, + -0.01827763020992279, + 0.09060646593570709, + 0.0 + ], + [ + -0.0034542977809906006, + 0.04096028208732605, + 0.014909647405147552, + 0.012995049357414246, + -0.006011843681335449, + 0.12077754735946655, + 0.0 + ], + [ + -0.004598051309585571, + 0.0485752634704113, + 0.007418118417263031, + 0.02153005264699459, + -0.011753156781196594, + 0.12994146347045898, + 0.0 + ], + [ + 0.0020995736122131348, + 0.03776649385690689, + -0.006330735981464386, + -0.012937109917402267, + 0.020375706255435944, + 0.10469166189432144, + 0.0 + ], + [ + 0.001895129680633545, + 0.01667112112045288, + -0.004900198429822922, + 0.0037543214857578278, + 0.012082688510417938, + 0.04248639941215515, + 0.0 + ], + [ + -0.0037926435470581055, + 0.010868951678276062, + -0.009536873549222946, + 0.016968201845884323, + 0.02801579236984253, + 0.020321980118751526, + 0.0 + ], + [ + -0.007368355989456177, + 0.012320563197135925, + -0.0025057196617126465, + 0.026649631559848785, + 0.013105802237987518, + 0.01786857843399048, + 0.0 + ], + [ + -0.006149113178253174, + 0.009216159582138062, + 0.0003221668303012848, + 0.011126913130283356, + 0.002907954156398773, + 0.02115735411643982, + 0.0 + ], + [ + -0.0045239925384521484, + 0.006348773837089539, + -0.002462003380060196, + -0.0074173808097839355, + 0.00490931048989296, + 0.01988634467124939, + 0.0 + ], + [ + 0.0033011436462402344, + 0.0013897567987442017, + -0.0031654201447963715, + -0.011437013745307922, + 0.0005384311079978943, + 0.0004687011241912842, + 0.0 + ], + [ + 0.008179962635040283, + 0.0010856837034225464, + -0.0010045543313026428, + -0.016754277050495148, + 0.00017667189240455627, + 0.004733860492706299, + 1.0 + ], + [ + 0.00407177209854126, + -0.005149632692337036, + 9.415671229362488e-05, + 0.009507045149803162, + -0.0005471818149089813, + -0.026199668645858765, + 1.0 + ], + [ + 0.0033832192420959473, + -0.010740071535110474, + 0.005047067999839783, + 0.005034089088439941, + -0.012881461530923843, + -0.06278523802757263, + 1.0 + ], + [ + 0.0014103353023529053, + -0.009115725755691528, + 0.021969199180603027, + 0.017187826335430145, + -0.029263578355312347, + -0.06996302306652069, + 1.0 + ], + [ + -0.0014415383338928223, + -0.0040082186460494995, + 0.0015443675220012665, + 0.004100732505321503, + 0.030406370759010315, + -0.05847746133804321, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 0.9476637244224548 + ], + [ + 0.6791892647743225 + ], + [ + 0.3849146366119385 + ], + [ + 0.25545796751976013 + ], + [ + 0.519798994064331 + ], + [ + 0.832595944404602 + ], + [ + 1.0149952173233032 + ], + [ + 0.9759697914123535 + ], + [ + 0.7730204463005066 + ], + [ + 0.4606100916862488 + ], + [ + 0.2788355052471161 + ], + [ + 0.2788355052471161 + ], + [ + 0.2788355052471161 + ], + [ + 0.2788355052471161 + ], + [ + 0.2788355052471161 + ], + [ + 0.2788355052471161 + ], + [ + 0.2788355052471161 + ], + [ + 0.2788355052471161 + ], + [ + 0.2788355052471161 + ], + [ + 0.2788355052471161 + ], + [ + 0.2788355052471161 + ], + [ + 0.2788355052471161 + ], + [ + 0.3220333158969879 + ], + [ + 0.6179407835006714 + ], + [ + 0.9173964858055115 + ], + [ + 1.0105689764022827 + ], + [ + 1.0054124593734741 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3151155114173889, + -0.00435635494068265, + 0.046597789973020554 + ], + [ + 0.31196969747543335, + -0.01602562703192234, + 0.03950117528438568 + ], + [ + 0.31800350546836853, + -0.019104424864053726, + 0.024264654144644737 + ], + [ + 0.3351716697216034, + -0.023375768214464188, + 0.009663119912147522 + ], + [ + 0.3533056974411011, + -0.016884397715330124, + 0.00409316923469305 + ], + [ + 0.36132633686065674, + -0.010325918905436993, + 0.0038662937004119158 + ], + [ + 0.3567330539226532, + -0.004974134732037783, + 0.003806779161095619 + ], + [ + 0.3424176275730133, + -0.007738614920526743, + 0.008806390687823296 + ], + [ + 0.33936652541160583, + -0.008955089375376701, + 0.0175204835832119 + ], + [ + 0.3352867066860199, + -0.008882204070687294, + 0.021385731175541878 + ], + [ + 0.33403536677360535, + -0.012649196200072765, + 0.02019265480339527 + ], + [ + 0.32870951294898987, + -0.013889973051846027, + 0.01600421592593193 + ], + [ + 0.3233375549316406, + -0.010719763115048409, + 0.011590165086090565 + ], + [ + 0.3210945427417755, + -0.00984453596174717, + 0.010047558695077896 + ], + [ + 0.3203814923763275, + -0.010013770312070847, + 0.010243022814393044 + ], + [ + 0.32016944885253906, + -0.009389249607920647, + 0.02043020725250244 + ], + [ + 0.31913232803344727, + 0.020820850506424904, + 0.04026097059249878 + ], + [ + 0.31567803025245667, + 0.0617811344563961, + 0.05517061799764633 + ], + [ + 0.3110799789428711, + 0.1103563979268074, + 0.06258873641490936 + ], + [ + 0.31317955255508423, + 0.1481228917837143, + 0.05625800043344498 + ], + [ + 0.3150746822357178, + 0.16479401290416718, + 0.051357802003622055 + ], + [ + 0.31128203868865967, + 0.17566296458244324, + 0.04182092845439911 + ], + [ + 0.3039136826992035, + 0.18798352777957916, + 0.03931520879268646 + ], + [ + 0.2977645695209503, + 0.19719968736171722, + 0.03963737562298775 + ], + [ + 0.29324057698249817, + 0.20354846119880676, + 0.03717537224292755 + ], + [ + 0.2965417206287384, + 0.20493821799755096, + 0.03400995209813118 + ], + [ + 0.3047216832637787, + 0.2060239017009735, + 0.03300539776682854 + ], + [ + 0.30879345536231995, + 0.20087426900863647, + 0.03309955447912216 + ], + [ + 0.3121766746044159, + 0.190134197473526, + 0.038146622478961945 + ], + [ + 0.3135870099067688, + 0.18101847171783447, + 0.06011582165956497 + ], + [ + 0.312145471572876, + 0.17701025307178497, + 0.06166018918156624 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9854292455257225, + -0.1698110910293468, + 0.00966413089873445, + -0.17006987410468613, + -0.9829656086284138, + 0.06967675491717475, + -0.002332377461130681, + -0.07030508955399116, + -0.9975228089613709 + ], + [ + 0.9754808930508438, + -0.2188255769687785, + 0.023503066970267696, + -0.21977472815154728, + -0.9741997122968291, + 0.0513224066728003, + 0.011666025828926086, + -0.05522940724882003, + -0.998405537052105 + ], + [ + 0.9704463548043161, + -0.2383530094378393, + 0.03770564067802944, + -0.24044573764998559, + -0.9683315338384035, + 0.06723011096316032, + 0.02048706159920681, + -0.07430937670368272, + -0.9970247724309262 + ], + [ + 0.9660551507034643, + -0.2509494109314028, + 0.06133383203819131, + -0.25400410876592755, + -0.9659929738938214, + 0.048368244931958085, + 0.04711006823741588, + -0.06230543749106471, + -0.9969446694424486 + ], + [ + 0.9698704519014482, + -0.21850548368533546, + 0.10773421057360662, + -0.22352925297534287, + -0.9740003903826018, + 0.03684986565544614, + 0.09688126543747137, + -0.05982134346516177, + -0.99349656631176 + ], + [ + 0.9671257697147618, + -0.2251401823814882, + 0.11823554385572745, + -0.22763010621994673, + -0.9737162961011978, + 0.007817253306636313, + 0.11336789799553128, + -0.03447423652808833, + -0.9929548059805542 + ], + [ + 0.9632145062326654, + -0.23839409285600682, + 0.12404060413559717, + -0.23757332130997133, + -0.9711297377374677, + -0.021585863052150565, + 0.12560546160383096, + -0.008676921880406044, + -0.9920423272431321 + ], + [ + 0.9586901111743764, + -0.26417954544587335, + 0.10546297219628092, + -0.25998657810127085, + -0.9642136752856754, + -0.05195158899670048, + 0.11541338719426619, + 0.022386517373231746, + -0.9930652515803 + ], + [ + 0.9625486062064617, + -0.24378661453130238, + 0.11860972668952571, + -0.2373639351855862, + -0.9691914136639976, + -0.06577511651980775, + 0.13099062166128772, + 0.03515807525089588, + -0.9907599945402729 + ], + [ + 0.9619508508601267, + -0.2402109746406452, + 0.13018927832839963, + -0.23431929452958025, + -0.9703642701872555, + -0.059056340515772625, + 0.14051700516534657, + 0.026303437154607083, + -0.9897288014669552 + ], + [ + 0.9599308861995218, + -0.2509092411681659, + 0.12480883949711258, + -0.24532861535482217, + -0.9676740186551429, + -0.058488153568836854, + 0.13544948950913965, + 0.025525405309638413, + -0.9904553949953991 + ], + [ + 0.959207109305428, + -0.2597130823615062, + 0.11167289871858119, + -0.2561422728038752, + -0.9655691914181155, + -0.045467270283489784, + 0.1196363554309064, + 0.015008378808260463, + -0.9927043321275262 + ], + [ + 0.9582765825938668, + -0.26631839046496925, + 0.10382921627542098, + -0.2653737529289604, + -0.9638696996353412, + -0.023064548148101077, + 0.10622034884436697, + -0.00545133240824717, + -0.9943276725840208 + ], + [ + 0.9571103863250142, + -0.27273390292848193, + 0.09775441975777736, + -0.2723279883250627, + -0.9620411011913695, + -0.01773094451296322, + 0.0988795993297243, + -0.00965079332980966, + -0.9950526051543701 + ], + [ + 0.9571061308683438, + -0.2748641204469665, + 0.09163825372159808, + -0.2743171366293842, + -0.9614562586947597, + -0.018760894651665222, + 0.09326286938371699, + -0.007181776074941889, + -0.9956156182416611 + ], + [ + 0.9588471268843666, + -0.2675304834258002, + 0.09507695674322092, + -0.26530113504334296, + -0.9635082062361017, + -0.035598374406745646, + 0.10113107836025756, + 0.008909374481218696, + -0.9948332161905553 + ], + [ + 0.9769368941732799, + -0.17716648516490502, + 0.11919035756880224, + -0.17709462873307125, + -0.9841291889753152, + -0.011279711019512736, + 0.1192970966828661, + -0.010088406271634147, + -0.9928073462570355 + ], + [ + 0.9904233748768636, + -0.055605956033036065, + 0.12637055096491548, + -0.05805613659257463, + -0.9981884973966411, + 0.015786344383066305, + 0.12526381561116742, + -0.02297175044894299, + -0.9918574873336611 + ], + [ + 0.9880594688979497, + 0.07735975363371532, + 0.133243965862745, + 0.07065860005409923, + -0.9960207551104497, + 0.054314064731009665, + 0.13691547815895883, + -0.04425069385829253, + -0.9895938701980542 + ], + [ + 0.9778097957758779, + 0.17873321046356125, + 0.10928148407723942, + 0.17397710280599896, + -0.9833923402508079, + 0.05168629252780546, + 0.11670463137325135, + -0.03152688715092773, + -0.9926661495198705 + ], + [ + 0.9708437248386581, + 0.22032415527455648, + 0.09444431451364763, + 0.21564125457897945, + -0.9747877263605653, + 0.05733879890966635, + 0.10469628104667061, + -0.035300922641660584, + -0.9938775244443572 + ], + [ + 0.9687316060869171, + 0.24021303154303505, + 0.06210293749225456, + 0.23592645802541565, + -0.9693106692892296, + 0.06910522994424938, + 0.07679701668583112, + -0.05229269431737701, + -0.9956744911612356 + ], + [ + 0.9652521576305919, + 0.2580247685878758, + 0.04137017022760117, + 0.2534315736262033, + -0.9629130075723621, + 0.0925795730023366, + 0.06372369793753227, + -0.07887812525105942, + -0.994845481307547 + ], + [ + 0.9598487218863982, + 0.27850784310443577, + 0.0335233116258303, + 0.27384519309026545, + -0.9562116809391433, + 0.10328616294980174, + 0.06082138862606449, + -0.08995889375071682, + -0.9940865938743688 + ], + [ + 0.9544874611434816, + 0.2968378874061023, + 0.028999226199211907, + 0.29296175412929315, + -0.9513482041470807, + 0.09544634662265648, + 0.055920453658375134, + -0.08260667688756683, + -0.995012080226283 + ], + [ + 0.9543786863225019, + 0.29689650894992403, + 0.03184000732856733, + 0.29341789693992415, + -0.9522497826371599, + 0.0844173514322371, + 0.05538285699282387, + -0.0712236929738234, + -0.9959216458690326 + ], + [ + 0.9529883225698036, + 0.30082275639481015, + 0.03631702466641841, + 0.29793540294562104, + -0.9521198718885251, + 0.06857291904687665, + 0.055206455394482296, + -0.05452906371842247, + -0.9969848687381216 + ], + [ + 0.9604369789207976, + 0.2761605928015524, + 0.03600189585266932, + 0.2728597358226424, + -0.9589780794920623, + 0.07686746789451021, + 0.055752794443768315, + -0.06400289085042116, + -0.9963911159150807 + ], + [ + 0.9748821777274452, + 0.21651720402238891, + 0.052201914828107134, + 0.21189032982982034, + -0.9738400580233207, + 0.08208550123953139, + 0.06860923898429198, + -0.06896261125756746, + -0.9952572182981311 + ], + [ + 0.9849002235448499, + 0.15137147491949976, + 0.0840132503953958, + 0.1428723707081342, + -0.9847420059183603, + 0.09935123284650807, + 0.09777031936913012, + -0.08584787918509595, + -0.991499423242333 + ], + [ + 0.9940699313268994, + 0.09119971313246777, + 0.059224859276226414, + 0.08528125741401632, + -0.9917446206144341, + 0.09575862685009649, + 0.06746909489253225, + -0.09014000114758887, + -0.993641133119747 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006369.json b/json/chunk-0006/episode_0006369.json new file mode 100644 index 0000000000000000000000000000000000000000..8bd67ba4a67a641686d4187426bdb214392646ff --- /dev/null +++ b/json/chunk-0006/episode_0006369.json @@ -0,0 +1,1882 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 30, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nClose oven." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006369.mp4", + "start": 0, + "end": 30, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.30883246660232544, + 0.0033863522112369537, + -0.052762314677238464, + 0.09660796076059341, + -0.2068161964416504, + 0.08161155134439468, + 0.0, + 0.9988223910331726 + ], + [ + 0.3006667196750641, + 0.003543542232364416, + -0.06021976098418236, + 0.09661628305912018, + -0.17248760163784027, + 0.09945398569107056, + 0.0, + 0.9988223910331726 + ], + [ + 0.2880800664424896, + 0.0005782369989901781, + -0.04174106940627098, + 0.06910095363855362, + -0.17622442543506622, + 0.23829050362110138, + 0.0, + 0.9988223910331726 + ], + [ + 0.27834945917129517, + -0.004103044979274273, + -0.005722961388528347, + 0.03750099241733551, + -0.25158610939979553, + 0.4081674814224243, + 0.0, + 0.9988223910331726 + ], + [ + 0.26924940943717957, + -0.014791317284107208, + 0.023174593225121498, + -0.007060356438159943, + -0.25889140367507935, + 0.5172289609909058, + 0.0, + 0.9988223910331726 + ], + [ + 0.2557937204837799, + -0.028875648975372314, + 0.04931359738111496, + -0.02481265552341938, + -0.20033401250839233, + 0.6145904660224915, + 0.0, + 0.9988223910331726 + ], + [ + 0.2489178329706192, + -0.04331475496292114, + 0.0726933404803276, + -0.026195518672466278, + -0.14100675284862518, + 0.6751407384872437, + 0.0, + 0.9988223910331726 + ], + [ + 0.2388477325439453, + -0.059796713292598724, + 0.09798227250576019, + -0.06103867292404175, + -0.1167396828532219, + 0.709771454334259, + 0.0, + 0.9988223910331726 + ], + [ + 0.23243649303913116, + -0.07191196084022522, + 0.1165136769413948, + -0.11481349915266037, + -0.0800049901008606, + 0.7169926166534424, + 0.0, + 0.9988223910331726 + ], + [ + 0.22939881682395935, + -0.08306335657835007, + 0.1342347264289856, + -0.15314780175685883, + -0.05628682300448418, + 0.7371309399604797, + 0.0, + 0.9988223910331726 + ], + [ + 0.22435735166072845, + -0.09276484698057175, + 0.1516556739807129, + -0.17677153646945953, + -0.051409896463155746, + 0.7899985909461975, + 0.0, + 0.9988223910331726 + ], + [ + 0.22271469235420227, + -0.1026410385966301, + 0.17175497114658356, + -0.17238694429397583, + -0.039977770298719406, + 0.8472684025764465, + 0.0, + 0.9988223910331726 + ], + [ + 0.21880845725536346, + -0.1176379919052124, + 0.18894672393798828, + -0.19150985777378082, + 0.0010955239413306117, + 0.8403693437576294, + 0.0, + 0.9988223910331726 + ], + [ + 0.2190825492143631, + -0.13049134612083435, + 0.20036962628364563, + -0.22441114485263824, + 0.04039947688579559, + 0.8270174264907837, + 0.0, + 0.9988223910331726 + ], + [ + 0.221004456281662, + -0.14816801249980927, + 0.1979454904794693, + -0.18741247057914734, + 0.09211288392543793, + 0.8384544849395752, + 0.0, + 0.9988223910331726 + ], + [ + 0.21683160960674286, + -0.16440212726593018, + 0.19087901711463928, + -0.15679873526096344, + 0.09659605473279953, + 0.8367905616760254, + 0.0, + 0.9988223910331726 + ], + [ + 0.21297398209571838, + -0.16878032684326172, + 0.1666986346244812, + -0.11666201800107956, + 0.0686313733458519, + 0.8321247696876526, + 0.0, + 0.9988223910331726 + ], + [ + 0.21117155253887177, + -0.1631563901901245, + 0.1536594033241272, + -0.09751114994287491, + 0.031106455251574516, + 0.8334770202636719, + 0.0, + 0.9988223910331726 + ], + [ + 0.21275196969509125, + -0.14858101308345795, + 0.15263955295085907, + -0.10067997127771378, + -0.010779250413179398, + 0.8683620095252991, + 0.0, + 0.9988223910331726 + ], + [ + 0.2231501340866089, + -0.11990676075220108, + 0.1609753668308258, + -0.12750868499279022, + -0.06617623567581177, + 0.9132151007652283, + 0.0, + 0.9988223910331726 + ], + [ + 0.23253093659877777, + -0.09464731067419052, + 0.1646091639995575, + -0.12860901653766632, + -0.07345014810562134, + 0.9415203928947449, + 0.0, + 0.9988223910331726 + ], + [ + 0.23888050019741058, + -0.0756530687212944, + 0.16454163193702698, + -0.12104950845241547, + -0.08018134534358978, + 0.961661696434021, + 0.0, + 0.9988223910331726 + ], + [ + 0.2396797388792038, + -0.07771861553192139, + 0.15765701234340668, + -0.1458602249622345, + -0.056846655905246735, + 0.896502673625946, + 0.0, + 0.9988223910331726 + ], + [ + 0.23314686119556427, + -0.08350180089473724, + 0.1244087815284729, + -0.1521490067243576, + -0.022587276995182037, + 0.7450509667396545, + 0.0, + 0.9988223910331726 + ], + [ + 0.2474394291639328, + -0.0778786912560463, + 0.08077481389045715, + -0.07320789992809296, + -0.11860930174589157, + 0.7416854500770569, + 0.0, + 0.9988223910331726 + ], + [ + 0.26525017619132996, + -0.06619255989789963, + 0.055719103664159775, + -0.02450595796108246, + -0.15406490862369537, + 0.7567797303199768, + 0.0, + 0.9988223910331726 + ], + [ + 0.27543577551841736, + -0.060077790170907974, + 0.051836490631103516, + -0.017714815214276314, + -0.18850567936897278, + 0.7621414065361023, + 0.0, + 0.9988223910331726 + ], + [ + 0.28690728545188904, + -0.0506630465388298, + 0.05204958841204643, + -0.017853615805506706, + -0.21169647574424744, + 0.7908782362937927, + 0.0, + 0.9988223910331726 + ], + [ + 0.2982039451599121, + -0.03918355703353882, + 0.051387663930654526, + -0.00583011656999588, + -0.21370068192481995, + 0.8363296985626221, + 0.0, + 0.9988223910331726 + ], + [ + 0.3011768162250519, + -0.03660387173295021, + 0.051093898713588715, + -0.0023106851149350405, + -0.200974240899086, + 0.852026104927063, + 0.0, + 0.9988223910331726 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.30883246660232544, + 0.0033863522112369537, + -0.052762314677238464 + ], + [ + 0.3006667196750641, + 0.003543542232364416, + -0.06021976098418236 + ], + [ + 0.2880800664424896, + 0.0005782369989901781, + -0.04174106940627098 + ], + [ + 0.27834945917129517, + -0.004103044979274273, + -0.005722961388528347 + ], + [ + 0.26924940943717957, + -0.014791317284107208, + 0.023174593225121498 + ], + [ + 0.2557937204837799, + -0.028875648975372314, + 0.04931359738111496 + ], + [ + 0.2489178329706192, + -0.04331475496292114, + 0.0726933404803276 + ], + [ + 0.2388477325439453, + -0.059796713292598724, + 0.09798227250576019 + ], + [ + 0.23243649303913116, + -0.07191196084022522, + 0.1165136769413948 + ], + [ + 0.22939881682395935, + -0.08306335657835007, + 0.1342347264289856 + ], + [ + 0.22435735166072845, + -0.09276484698057175, + 0.1516556739807129 + ], + [ + 0.22271469235420227, + -0.1026410385966301, + 0.17175497114658356 + ], + [ + 0.21880845725536346, + -0.1176379919052124, + 0.18894672393798828 + ], + [ + 0.2190825492143631, + -0.13049134612083435, + 0.20036962628364563 + ], + [ + 0.221004456281662, + -0.14816801249980927, + 0.1979454904794693 + ], + [ + 0.21683160960674286, + -0.16440212726593018, + 0.19087901711463928 + ], + [ + 0.21297398209571838, + -0.16878032684326172, + 0.1666986346244812 + ], + [ + 0.21117155253887177, + -0.1631563901901245, + 0.1536594033241272 + ], + [ + 0.21275196969509125, + -0.14858101308345795, + 0.15263955295085907 + ], + [ + 0.2231501340866089, + -0.11990676075220108, + 0.1609753668308258 + ], + [ + 0.23253093659877777, + -0.09464731067419052, + 0.1646091639995575 + ], + [ + 0.23888050019741058, + -0.0756530687212944, + 0.16454163193702698 + ], + [ + 0.2396797388792038, + -0.07771861553192139, + 0.15765701234340668 + ], + [ + 0.23314686119556427, + -0.08350180089473724, + 0.1244087815284729 + ], + [ + 0.2474394291639328, + -0.0778786912560463, + 0.08077481389045715 + ], + [ + 0.26525017619132996, + -0.06619255989789963, + 0.055719103664159775 + ], + [ + 0.27543577551841736, + -0.060077790170907974, + 0.051836490631103516 + ], + [ + 0.28690728545188904, + -0.0506630465388298, + 0.05204958841204643 + ], + [ + 0.2982039451599121, + -0.03918355703353882, + 0.051387663930654526 + ], + [ + 0.3011768162250519, + -0.03660387173295021, + 0.051093898713588715 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9754322061742181, + 0.10088205211299213, + 0.19584387332660944, + 0.07978374603796039, + -0.9904095288432995, + 0.11279857731613291, + 0.2053449902633316, + -0.09440220727220794, + -0.9741260997611588 + ], + [ + 0.9802927142111023, + 0.11530204883817498, + 0.1604108225723856, + 0.09781673531717626, + -0.9887739219858303, + 0.1129513943811631, + 0.17163356535514768, + -0.09503456599826544, + -0.980566341717378 + ], + [ + 0.9566931538729623, + 0.24724112605355308, + 0.15365557237007538, + 0.2323861120106086, + -0.9665666055279011, + 0.10837754390492395, + 0.1753137310001623, + -0.06797663323556062, + -0.9821630582834812 + ], + [ + 0.8889547241298467, + 0.4052155373758398, + 0.21344757369536174, + 0.3844322457132344, + -0.9134997613218756, + 0.13315417575410507, + 0.24894044850748318, + -0.036311903476478606, + -0.9678378473498581 + ], + [ + 0.8402263364416812, + 0.4928900820741893, + 0.22600679313394564, + 0.4779948387744557, + -0.8700648172665436, + 0.12044977318334192, + 0.25600905775923877, + 0.006825008998921286, + -0.9666502891932489 + ], + [ + 0.8006696041818782, + 0.5724127997793084, + 0.17683826392511257, + 0.5650915931027908, + -0.8196050392468788, + 0.09444083357145974, + 0.19899667420282277, + 0.024313911448706323, + -0.9796985032989893 + ], + [ + 0.7728713597780393, + 0.6219192234469654, + 0.1260410280105974, + 0.6188039953516308, + -0.782651890510363, + 0.06736195972070332, + 0.14053994653372925, + 0.025932562304531004, + -0.9897353311065632 + ], + [ + 0.7533481460868984, + 0.6450576029258109, + 0.12793459147173566, + 0.647225010106094, + -0.7617283477165191, + 0.029490855840892883, + 0.1164747057545101, + 0.06058558568396048, + -0.9913440521467467 + ], + [ + 0.7513742213008926, + 0.6458929122358049, + 0.1351263315865135, + 0.6550187983667247, + -0.7548389593774042, + -0.034183609994405825, + 0.07991966810923015, + 0.11419497068430175, + -0.9902385345560544 + ], + [ + 0.7392275286842909, + 0.6579451209031825, + 0.14370413604003276, + 0.6711019287875312, + -0.7375028233399646, + -0.07557636365449186, + 0.056257106333077005, + 0.15230825140246707, + -0.9867306291697605 + ], + [ + 0.7029163964447264, + 0.6929221891812636, + 0.16052220827476116, + 0.7094137648634269, + -0.6992971135162699, + -0.08783881402951672, + 0.051387253589379345, + 0.1756200067419958, + -0.9831159460615428 + ], + [ + 0.6615039093432852, + 0.7338274559428518, + 0.1546280790412691, + 0.7488759624010214, + -0.657358513570947, + -0.08405104147920853, + 0.03996712225686483, + 0.17139734402912263, + -0.9843909688727684 + ], + [ + 0.6671873506634066, + 0.7314106197363367, + 0.1410657451391088, + 0.7448891454052194, + -0.6548348748015623, + -0.12779455309638033, + -0.0010955237221943193, + 0.19034125165220933, + -0.98171737671656 + ], + [ + 0.6765212327663057, + 0.7235477478815995, + 0.1371046248374697, + 0.7353147568399558, + -0.6534820629916009, + -0.17964799392600472, + -0.040388488332128776, + 0.22235073618881196, + -0.9741298271414025 + ], + [ + 0.6657783726690069, + 0.7420484197557412, + 0.07812362782293678, + 0.7404581994633498, + -0.6441612500117897, + -0.19177575141488357, + -0.09198267953100539, + 0.18552742848769377, + -0.9783244655762425 + ], + [ + 0.6667265854925812, + 0.7434767365123985, + 0.05213446520563403, + 0.7390357552841701, + -0.6504491926973841, + -0.1753339674189735, + -0.0964459050917151, + 0.15542905128770174, + -0.9831276607881831 + ], + [ + 0.6717212002694868, + 0.739712486919217, + 0.04020032094781841, + 0.7376230436960948, + -0.6628278501886699, + -0.12873028556938598, + -0.06857750736961445, + 0.11612354502879142, + -0.9908644951621373 + ], + [ + 0.6719806441571438, + 0.7387925304405832, + 0.051260226719651046, + 0.7399153427050148, + -0.666870631766118, + -0.08836767575068924, + -0.031101438999996532, + 0.09730959589402513, + -0.9947680850525267 + ], + [ + 0.6460401109190063, + 0.758706562535541, + 0.08364524522805274, + 0.7632273497093972, + -0.6436328705890013, + -0.05675156872661288, + 0.010779041670184564, + 0.10050412858616789, + -0.9948782500375649 + ], + [ + 0.6098664144197178, + 0.77990790386777, + 0.1407359870374952, + 0.789740496240482, + -0.6128978958661582, + -0.025809258816804855, + 0.0661279453837327, + 0.1268851083753208, + -0.9897106971796905 + ], + [ + 0.5869726347940578, + 0.7962376181890092, + 0.1465222897159858, + 0.8062740827448818, + -0.5913078319803099, + -0.016647862705018286, + 0.073384122920569, + 0.1279089645780906, + -0.9890672713641573 + ], + [ + 0.5703197168420968, + 0.8086081835977365, + 0.14452759598055887, + 0.8175084942608185, + -0.5759034615251108, + -0.003881341881902492, + 0.08009545800205958, + 0.12036614317225662, + -0.9894931577253457 + ], + [ + 0.62333718285601, + 0.76769757753063, + 0.14863103956689364, + 0.7798863337930778, + -0.6241665379016383, + -0.046834168367491144, + 0.05681604378980482, + 0.14510879510727454, + -0.9877830605707865 + ], + [ + 0.7348658487594693, + 0.667660516435828, + 0.1191705463596978, + 0.6778363268533236, + -0.7288826462702386, + -0.09627046257336108, + 0.022585356428880363, + 0.15152400060300095, + -0.9881955165432814 + ], + [ + 0.7321506613773692, + 0.6673405504494941, + 0.13642579950451916, + 0.6707854277376372, + -0.741202853924152, + 0.02579223273637852, + 0.11833139473325005, + 0.07262863801874944, + -0.9903144762952955 + ], + [ + 0.7184391783625419, + 0.6836436926060456, + 0.12836061917008124, + 0.678451440232994, + -0.7294141615008037, + 0.08751356607895663, + 0.15345615086900988, + 0.02421327243579885, + -0.9878587587294136 + ], + [ + 0.7105450391315543, + 0.6879625573323529, + 0.14776084418501143, + 0.6782405655351404, + -0.725537563780839, + 0.11655461726391667, + 0.18739125547397104, + 0.017400093439238908, + -0.9821312306001653 + ], + [ + 0.687522378287896, + 0.708219922268367, + 0.16042917769390724, + 0.6950993218410554, + -0.7057760943321709, + 0.13681022419881975, + 0.2101188047973337, + 0.017454121903280294, + -0.9775200465970636 + ], + [ + 0.6549463947939321, + 0.741347060789059, + 0.1464573501257428, + 0.7253055958716937, + -0.6710976637929154, + 0.15349175303220247, + 0.21207784548047043, + 0.005697465323699538, + -0.9772361671291374 + ], + [ + 0.6452065135065763, + 0.7523103217770525, + 0.1331830870508569, + 0.7374678234837083, + -0.6588050191518056, + 0.1487183783753418, + 0.1996240573049512, + 0.0022641749263305894, + -0.9798699450728208 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.008165746927261353, + 0.0001571900211274624, + -0.007457446306943893, + 8.322298526763916e-06, + 0.03432859480381012, + 0.017842434346675873, + 1.0 + ], + [ + -0.012586653232574463, + -0.002965305233374238, + 0.018478691577911377, + -0.02751532942056656, + -0.003736823797225952, + 0.13883651793003082, + 1.0 + ], + [ + -0.009730607271194458, + -0.004681281745433807, + 0.03601810708642006, + -0.03159996122121811, + -0.07536168396472931, + 0.16987697780132294, + 1.0 + ], + [ + -0.0091000497341156, + -0.010688272304832935, + 0.02889755368232727, + -0.04456134885549545, + -0.0073052942752838135, + 0.10906147956848145, + 1.0 + ], + [ + -0.013455688953399658, + -0.014084331691265106, + 0.02613900415599346, + -0.017752299085259438, + 0.05855739116668701, + 0.0973615050315857, + 1.0 + ], + [ + -0.006875887513160706, + -0.014439105987548828, + 0.023379743099212646, + -0.0013828631490468979, + 0.05932725965976715, + 0.0605502724647522, + 1.0 + ], + [ + -0.01007010042667389, + -0.016481958329677582, + 0.025288932025432587, + -0.03484315425157547, + 0.02426706999540329, + 0.03463071584701538, + 1.0 + ], + [ + -0.006411239504814148, + -0.012115247547626495, + 0.018531404435634613, + -0.05377482622861862, + 0.0367346927523613, + 0.00722116231918335, + 1.0 + ], + [ + -0.003037676215171814, + -0.011151395738124847, + 0.01772104948759079, + -0.038334302604198456, + 0.02371816709637642, + 0.020138323307037354, + 1.0 + ], + [ + -0.005041465163230896, + -0.00970149040222168, + 0.017420947551727295, + -0.023623734712600708, + 0.00487692654132843, + 0.05286765098571777, + 1.0 + ], + [ + -0.001642659306526184, + -0.00987619161605835, + 0.020099297165870667, + 0.004384592175483704, + 0.01143212616443634, + 0.05726981163024902, + 1.0 + ], + [ + -0.003906235098838806, + -0.014996953308582306, + 0.017191752791404724, + -0.019122913479804993, + 0.04107329249382019, + -0.006899058818817139, + 1.0 + ], + [ + 0.0002740919589996338, + -0.012853354215621948, + 0.011422902345657349, + -0.03290128707885742, + 0.03930395469069481, + -0.013351917266845703, + 1.0 + ], + [ + 0.0019219070672988892, + -0.017676666378974915, + -0.0024241358041763306, + 0.036998674273490906, + 0.051713407039642334, + 0.011437058448791504, + 1.0 + ], + [ + -0.004172846674919128, + -0.01623411476612091, + -0.007066473364830017, + 0.0306137353181839, + 0.004483170807361603, + -0.0016639232635498047, + 1.0 + ], + [ + -0.003857627511024475, + -0.004378199577331543, + -0.02418038249015808, + 0.04013671725988388, + -0.027964681386947632, + -0.004665791988372803, + 1.0 + ], + [ + -0.0018024295568466187, + 0.005623936653137207, + -0.013039231300354004, + 0.01915086805820465, + -0.03752491623163223, + 0.0013522505760192871, + 1.0 + ], + [ + 0.0015804171562194824, + 0.014575377106666565, + -0.0010198503732681274, + -0.003168821334838867, + -0.041885703802108765, + 0.0348849892616272, + 1.0 + ], + [ + 0.01039816439151764, + 0.028674252331256866, + 0.008335813879966736, + -0.026828713715076447, + -0.05539698526263237, + 0.0448530912399292, + 1.0 + ], + [ + 0.009380802512168884, + 0.02525945007801056, + 0.0036337971687316895, + -0.0011003315448760986, + -0.00727391242980957, + 0.0283052921295166, + 1.0 + ], + [ + 0.0063495635986328125, + 0.018994241952896118, + -6.753206253051758e-05, + 0.0075595080852508545, + -0.006731197237968445, + 0.020141303539276123, + 1.0 + ], + [ + 0.0007992386817932129, + -0.0020655468106269836, + -0.0068846195936203, + -0.02481071650981903, + 0.023334689438343048, + -0.06515902280807495, + 1.0 + ], + [ + -0.006532877683639526, + -0.005783185362815857, + -0.03324823081493378, + -0.006288781762123108, + 0.0342593789100647, + -0.1514517068862915, + 1.0 + ], + [ + 0.01429256796836853, + 0.0056231096386909485, + -0.04363396763801575, + 0.07894110679626465, + -0.09602202475070953, + -0.0033655166625976562, + 1.0 + ], + [ + 0.017810747027397156, + 0.011686131358146667, + -0.02505571022629738, + 0.0487019419670105, + -0.0354556068778038, + 0.015094280242919922, + 1.0 + ], + [ + 0.010185599327087402, + 0.0061147697269916534, + -0.003882613033056259, + 0.006791142746806145, + -0.034440770745277405, + 0.005361676216125488, + 1.0 + ], + [ + 0.01147150993347168, + 0.00941474363207817, + 0.00021309778094291687, + -0.00013880059123039246, + -0.023190796375274658, + 0.02873682975769043, + 1.0 + ], + [ + 0.011296659708023071, + 0.011479489505290985, + -0.0006619244813919067, + 0.012023499235510826, + -0.0020042061805725098, + 0.045451462268829346, + 1.0 + ], + [ + 0.0029728710651397705, + 0.002579685300588608, + -0.00029376521706581116, + 0.0035194314550608397, + 0.012726441025733948, + 0.015696406364440918, + 1.0 + ], + [ + 0.0077440738677978516, + 0.0009061023592948914, + 0.004798613488674164, + -0.01448634173721075, + -0.013476759195327759, + 0.001069486141204834, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3006667196750641, + 0.003543542232364416, + -0.06021976098418236 + ], + [ + 0.2880800664424896, + 0.0005782369989901781, + -0.04174106940627098 + ], + [ + 0.27834945917129517, + -0.004103044979274273, + -0.005722961388528347 + ], + [ + 0.26924940943717957, + -0.014791317284107208, + 0.023174593225121498 + ], + [ + 0.2557937204837799, + -0.028875648975372314, + 0.04931359738111496 + ], + [ + 0.2489178329706192, + -0.04331475496292114, + 0.0726933404803276 + ], + [ + 0.2388477325439453, + -0.059796713292598724, + 0.09798227250576019 + ], + [ + 0.23243649303913116, + -0.07191196084022522, + 0.1165136769413948 + ], + [ + 0.22939881682395935, + -0.08306335657835007, + 0.1342347264289856 + ], + [ + 0.22435735166072845, + -0.09276484698057175, + 0.1516556739807129 + ], + [ + 0.22271469235420227, + -0.1026410385966301, + 0.17175497114658356 + ], + [ + 0.21880845725536346, + -0.1176379919052124, + 0.18894672393798828 + ], + [ + 0.2190825492143631, + -0.13049134612083435, + 0.20036962628364563 + ], + [ + 0.221004456281662, + -0.14816801249980927, + 0.1979454904794693 + ], + [ + 0.21683160960674286, + -0.16440212726593018, + 0.19087901711463928 + ], + [ + 0.21297398209571838, + -0.16878032684326172, + 0.1666986346244812 + ], + [ + 0.21117155253887177, + -0.1631563901901245, + 0.1536594033241272 + ], + [ + 0.21275196969509125, + -0.14858101308345795, + 0.15263955295085907 + ], + [ + 0.2231501340866089, + -0.11990676075220108, + 0.1609753668308258 + ], + [ + 0.23253093659877777, + -0.09464731067419052, + 0.1646091639995575 + ], + [ + 0.23888050019741058, + -0.0756530687212944, + 0.16454163193702698 + ], + [ + 0.2396797388792038, + -0.07771861553192139, + 0.15765701234340668 + ], + [ + 0.23314686119556427, + -0.08350180089473724, + 0.1244087815284729 + ], + [ + 0.2474394291639328, + -0.0778786912560463, + 0.08077481389045715 + ], + [ + 0.26525017619132996, + -0.06619255989789963, + 0.055719103664159775 + ], + [ + 0.27543577551841736, + -0.060077790170907974, + 0.051836490631103516 + ], + [ + 0.28690728545188904, + -0.0506630465388298, + 0.05204958841204643 + ], + [ + 0.2982039451599121, + -0.03918355703353882, + 0.051387663930654526 + ], + [ + 0.3011768162250519, + -0.03660387173295021, + 0.051093898713588715 + ], + [ + 0.30892089009284973, + -0.03569776937365532, + 0.05589251220226288 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9802927142111023, + 0.11530204883817498, + 0.1604108225723856, + 0.09781673531717626, + -0.9887739219858303, + 0.1129513943811631, + 0.17163356535514768, + -0.09503456599826544, + -0.980566341717378 + ], + [ + 0.9566931538729623, + 0.24724112605355308, + 0.15365557237007538, + 0.2323861120106086, + -0.9665666055279011, + 0.10837754390492395, + 0.1753137310001623, + -0.06797663323556062, + -0.9821630582834812 + ], + [ + 0.8889547241298467, + 0.4052155373758398, + 0.21344757369536174, + 0.3844322457132344, + -0.9134997613218756, + 0.13315417575410507, + 0.24894044850748318, + -0.036311903476478606, + -0.9678378473498581 + ], + [ + 0.8402263364416812, + 0.4928900820741893, + 0.22600679313394564, + 0.4779948387744557, + -0.8700648172665436, + 0.12044977318334192, + 0.25600905775923877, + 0.006825008998921286, + -0.9666502891932489 + ], + [ + 0.8006696041818782, + 0.5724127997793084, + 0.17683826392511257, + 0.5650915931027908, + -0.8196050392468788, + 0.09444083357145974, + 0.19899667420282277, + 0.024313911448706323, + -0.9796985032989893 + ], + [ + 0.7728713597780393, + 0.6219192234469654, + 0.1260410280105974, + 0.6188039953516308, + -0.782651890510363, + 0.06736195972070332, + 0.14053994653372925, + 0.025932562304531004, + -0.9897353311065632 + ], + [ + 0.7533481460868984, + 0.6450576029258109, + 0.12793459147173566, + 0.647225010106094, + -0.7617283477165191, + 0.029490855840892883, + 0.1164747057545101, + 0.06058558568396048, + -0.9913440521467467 + ], + [ + 0.7513742213008926, + 0.6458929122358049, + 0.1351263315865135, + 0.6550187983667247, + -0.7548389593774042, + -0.034183609994405825, + 0.07991966810923015, + 0.11419497068430175, + -0.9902385345560544 + ], + [ + 0.7392275286842909, + 0.6579451209031825, + 0.14370413604003276, + 0.6711019287875312, + -0.7375028233399646, + -0.07557636365449186, + 0.056257106333077005, + 0.15230825140246707, + -0.9867306291697605 + ], + [ + 0.7029163964447264, + 0.6929221891812636, + 0.16052220827476116, + 0.7094137648634269, + -0.6992971135162699, + -0.08783881402951672, + 0.051387253589379345, + 0.1756200067419958, + -0.9831159460615428 + ], + [ + 0.6615039093432852, + 0.7338274559428518, + 0.1546280790412691, + 0.7488759624010214, + -0.657358513570947, + -0.08405104147920853, + 0.03996712225686483, + 0.17139734402912263, + -0.9843909688727684 + ], + [ + 0.6671873506634066, + 0.7314106197363367, + 0.1410657451391088, + 0.7448891454052194, + -0.6548348748015623, + -0.12779455309638033, + -0.0010955237221943193, + 0.19034125165220933, + -0.98171737671656 + ], + [ + 0.6765212327663057, + 0.7235477478815995, + 0.1371046248374697, + 0.7353147568399558, + -0.6534820629916009, + -0.17964799392600472, + -0.040388488332128776, + 0.22235073618881196, + -0.9741298271414025 + ], + [ + 0.6657783726690069, + 0.7420484197557412, + 0.07812362782293678, + 0.7404581994633498, + -0.6441612500117897, + -0.19177575141488357, + -0.09198267953100539, + 0.18552742848769377, + -0.9783244655762425 + ], + [ + 0.6667265854925812, + 0.7434767365123985, + 0.05213446520563403, + 0.7390357552841701, + -0.6504491926973841, + -0.1753339674189735, + -0.0964459050917151, + 0.15542905128770174, + -0.9831276607881831 + ], + [ + 0.6717212002694868, + 0.739712486919217, + 0.04020032094781841, + 0.7376230436960948, + -0.6628278501886699, + -0.12873028556938598, + -0.06857750736961445, + 0.11612354502879142, + -0.9908644951621373 + ], + [ + 0.6719806441571438, + 0.7387925304405832, + 0.051260226719651046, + 0.7399153427050148, + -0.666870631766118, + -0.08836767575068924, + -0.031101438999996532, + 0.09730959589402513, + -0.9947680850525267 + ], + [ + 0.6460401109190063, + 0.758706562535541, + 0.08364524522805274, + 0.7632273497093972, + -0.6436328705890013, + -0.05675156872661288, + 0.010779041670184564, + 0.10050412858616789, + -0.9948782500375649 + ], + [ + 0.6098664144197178, + 0.77990790386777, + 0.1407359870374952, + 0.789740496240482, + -0.6128978958661582, + -0.025809258816804855, + 0.0661279453837327, + 0.1268851083753208, + -0.9897106971796905 + ], + [ + 0.5869726347940578, + 0.7962376181890092, + 0.1465222897159858, + 0.8062740827448818, + -0.5913078319803099, + -0.016647862705018286, + 0.073384122920569, + 0.1279089645780906, + -0.9890672713641573 + ], + [ + 0.5703197168420968, + 0.8086081835977365, + 0.14452759598055887, + 0.8175084942608185, + -0.5759034615251108, + -0.003881341881902492, + 0.08009545800205958, + 0.12036614317225662, + -0.9894931577253457 + ], + [ + 0.62333718285601, + 0.76769757753063, + 0.14863103956689364, + 0.7798863337930778, + -0.6241665379016383, + -0.046834168367491144, + 0.05681604378980482, + 0.14510879510727454, + -0.9877830605707865 + ], + [ + 0.7348658487594693, + 0.667660516435828, + 0.1191705463596978, + 0.6778363268533236, + -0.7288826462702386, + -0.09627046257336108, + 0.022585356428880363, + 0.15152400060300095, + -0.9881955165432814 + ], + [ + 0.7321506613773692, + 0.6673405504494941, + 0.13642579950451916, + 0.6707854277376372, + -0.741202853924152, + 0.02579223273637852, + 0.11833139473325005, + 0.07262863801874944, + -0.9903144762952955 + ], + [ + 0.7184391783625419, + 0.6836436926060456, + 0.12836061917008124, + 0.678451440232994, + -0.7294141615008037, + 0.08751356607895663, + 0.15345615086900988, + 0.02421327243579885, + -0.9878587587294136 + ], + [ + 0.7105450391315543, + 0.6879625573323529, + 0.14776084418501143, + 0.6782405655351404, + -0.725537563780839, + 0.11655461726391667, + 0.18739125547397104, + 0.017400093439238908, + -0.9821312306001653 + ], + [ + 0.687522378287896, + 0.708219922268367, + 0.16042917769390724, + 0.6950993218410554, + -0.7057760943321709, + 0.13681022419881975, + 0.2101188047973337, + 0.017454121903280294, + -0.9775200465970636 + ], + [ + 0.6549463947939321, + 0.741347060789059, + 0.1464573501257428, + 0.7253055958716937, + -0.6710976637929154, + 0.15349175303220247, + 0.21207784548047043, + 0.005697465323699538, + -0.9772361671291374 + ], + [ + 0.6452065135065763, + 0.7523103217770525, + 0.1331830870508569, + 0.7374678234837083, + -0.6588050191518056, + 0.1487183783753418, + 0.1996240573049512, + 0.0022641749263305894, + -0.9798699450728208 + ], + [ + 0.6425896891518375, + 0.7508628360136996, + 0.15258929480539773, + 0.7360638248516987, + -0.6602542422691806, + 0.1492460428629105, + 0.2128110362279937, + 0.016411491675465073, + -0.9769555393161724 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006370.json b/json/chunk-0006/episode_0006370.json new file mode 100644 index 0000000000000000000000000000000000000000..7c108808dfb7fc821ff34bc312a7906b7ebdd1c6 --- /dev/null +++ b/json/chunk-0006/episode_0006370.json @@ -0,0 +1,2422 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 39, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nUnfold the yellow cloth with a green object on it from bottom right to top left." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006370.mp4", + "start": 0, + "end": 39, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2475031018257141, + -0.0737275779247284, + 0.10095855593681335, + 0.15458640456199646, + -0.39346441626548767, + -1.2377474308013916, + 0.0, + 1.0008161067962646 + ], + [ + 0.24537688493728638, + -0.07322157174348831, + 0.09585189819335938, + 0.13880206644535065, + -0.3786639869213104, + -1.2272990942001343, + 0.0, + 1.0008161067962646 + ], + [ + 0.2402394413948059, + -0.08558235317468643, + 0.0856083557009697, + 0.17605997622013092, + -0.2960745096206665, + -1.2270601987838745, + 0.0, + 1.0008161067962646 + ], + [ + 0.23936203122138977, + -0.08387842029333115, + 0.07754822075366974, + 0.19540256261825562, + -0.25923091173171997, + -1.219152569770813, + 0.0, + 1.0001531839370728 + ], + [ + 0.23450754582881927, + -0.09346719086170197, + 0.05871477350592613, + 0.22090765833854675, + -0.23375622928142548, + -1.2068018913269043, + 0.0, + 0.9994885921478271 + ], + [ + 0.22847993671894073, + -0.10607413202524185, + 0.0387469157576561, + 0.3037821650505066, + -0.18571311235427856, + -1.1936787366867065, + 0.0, + 0.9994885921478271 + ], + [ + 0.22227829694747925, + -0.11517088860273361, + 0.01660282351076603, + 0.3812966048717499, + -0.16557914018630981, + -1.2188645601272583, + 0.0, + 0.9994885921478271 + ], + [ + 0.21604356169700623, + -0.1269979327917099, + 0.006553509272634983, + 0.4688520133495331, + -0.17408215999603271, + -1.2543647289276123, + 0.0, + 0.9994885921478271 + ], + [ + 0.21587137877941132, + -0.13021932542324066, + 0.0017255308339372277, + 0.498572438955307, + -0.16449272632598877, + -1.2745810747146606, + 0.0, + 0.9994885921478271 + ], + [ + 0.21366459131240845, + -0.13120993971824646, + -0.00772586464881897, + 0.49885764718055725, + -0.14312532544136047, + -1.2838850021362305, + 0.0, + 0.9994885921478271 + ], + [ + 0.2159605175256729, + -0.13303272426128387, + -0.019425470381975174, + 0.49176687002182007, + -0.11905389279127121, + -1.2916030883789062, + 0.0, + 0.9994885921478271 + ], + [ + 0.2231605350971222, + -0.1372988224029541, + -0.022519107908010483, + 0.4973238408565521, + -0.1253892481327057, + -1.287854790687561, + 0.0, + 0.9492040276527405 + ], + [ + 0.22551482915878296, + -0.13808056712150574, + -0.025852447375655174, + 0.4941655099391937, + -0.1285441368818283, + -1.2855829000473022, + 0.0, + 0.6701657772064209 + ], + [ + 0.22656862437725067, + -0.13644307851791382, + -0.027236122637987137, + 0.48250073194503784, + -0.13435885310173035, + -1.2794991731643677, + 0.0, + 0.3331759572029114 + ], + [ + 0.22552308440208435, + -0.13462865352630615, + -0.028103597462177277, + 0.47523024678230286, + -0.13135913014411926, + -1.284014344215393, + 0.0, + 0.15975023806095123 + ], + [ + 0.22440005838871002, + -0.1327323466539383, + -0.0195786040276289, + 0.46339771151542664, + -0.15783663094043732, + -1.2771672010421753, + 0.0, + 0.07462053745985031 + ], + [ + 0.22645901143550873, + -0.12965451180934906, + -0.0028019724413752556, + 0.4587074816226959, + -0.1941453069448471, + -1.276307463645935, + 0.0, + 0.061804234981536865 + ], + [ + 0.2308390736579895, + -0.12179866433143616, + 0.017038891091942787, + 0.40824344754219055, + -0.22663897275924683, + -1.2585484981536865, + 0.0, + 0.05952305346727371 + ], + [ + 0.24404621124267578, + -0.11505365371704102, + 0.02523493953049183, + 0.3405563533306122, + -0.2321670651435852, + -1.2222158908843994, + 0.0, + 0.059241458773612976 + ], + [ + 0.2656792402267456, + -0.10222193598747253, + 0.03802088648080826, + 0.3178795278072357, + -0.258323609828949, + -1.1438748836517334, + 0.0, + 0.059241458773612976 + ], + [ + 0.28901249170303345, + -0.08720260113477707, + 0.05451167747378349, + 0.31451302766799927, + -0.2876335680484772, + -1.0797977447509766, + 0.0, + 0.059241458773612976 + ], + [ + 0.3041011095046997, + -0.07462465763092041, + 0.06507612019777298, + 0.30444636940956116, + -0.2971428334712982, + -1.0371325016021729, + 0.0, + 0.059241458773612976 + ], + [ + 0.3190302848815918, + -0.06070318445563316, + 0.07351423799991608, + 0.2926667034626007, + -0.29976826906204224, + -0.9995869398117065, + 0.0, + 0.059241458773612976 + ], + [ + 0.33592647314071655, + -0.04028768092393875, + 0.08760883659124374, + 0.2810668349266052, + -0.3238699734210968, + -0.9446640610694885, + 0.0, + 0.059241458773612976 + ], + [ + 0.350647896528244, + -0.026342373341321945, + 0.09536492079496384, + 0.2646118700504303, + -0.34926697611808777, + -0.9020705223083496, + 0.0, + 0.059241458773612976 + ], + [ + 0.3680197298526764, + -0.011418168433010578, + 0.09883963316679001, + 0.250530481338501, + -0.3584009110927582, + -0.8663935661315918, + 0.0, + 0.059241458773612976 + ], + [ + 0.3847418427467346, + -0.004055113065987825, + 0.09068524837493896, + 0.23733294010162354, + -0.33916065096855164, + -0.8669411540031433, + 0.0, + 0.059241458773612976 + ], + [ + 0.3969723880290985, + 0.0047278921119868755, + 0.07639975845813751, + 0.22351747751235962, + -0.3032226264476776, + -0.8773900270462036, + 0.0, + 0.059241458773612976 + ], + [ + 0.4088079333305359, + 0.01617925614118576, + 0.07347913831472397, + 0.23078680038452148, + -0.2876203656196594, + -0.8855493068695068, + 0.0, + 0.059241458773612976 + ], + [ + 0.41902491450309753, + 0.02256954275071621, + 0.07368720322847366, + 0.24453458189964294, + -0.28842592239379883, + -0.9071635603904724, + 0.0, + 0.059241458773612976 + ], + [ + 0.42593738436698914, + 0.025657417252659798, + 0.06357619166374207, + 0.2376873642206192, + -0.26295116543769836, + -0.9308264255523682, + 0.0, + 0.059241458773612976 + ], + [ + 0.4362175464630127, + 0.028018146753311157, + 0.06905659288167953, + 0.2556678354740143, + -0.2561834156513214, + -0.9505658745765686, + 0.0, + 0.059241458773612976 + ], + [ + 0.4453108310699463, + 0.029937783256173134, + 0.06465110927820206, + 0.24796812236309052, + -0.23928086459636688, + -0.9596755504608154, + 0.0, + 0.059241458773612976 + ], + [ + 0.45259106159210205, + 0.0331563837826252, + 0.05612603947520256, + 0.25167444348335266, + -0.22391586005687714, + -0.9677625894546509, + 0.0, + 0.08259850740432739 + ], + [ + 0.45660796761512756, + 0.03320910781621933, + 0.05000705644488335, + 0.25353631377220154, + -0.21386100351810455, + -0.9911578297615051, + 0.0, + 0.24054749310016632 + ], + [ + 0.45773062109947205, + 0.03724740818142891, + 0.04459098353981972, + 0.2663920521736145, + -0.1928499937057495, + -1.001346468925476, + 0.0, + 0.5091317892074585 + ], + [ + 0.4591580927371979, + 0.03890063241124153, + 0.04506811499595642, + 0.28227120637893677, + -0.18614467978477478, + -1.0129585266113281, + 0.0, + 0.8335172533988953 + ], + [ + 0.4552154242992401, + 0.0379650704562664, + 0.03781824931502342, + 0.2805236577987671, + -0.18298661708831787, + -1.0172514915466309, + 0.0, + 1.003452181816101 + ], + [ + 0.4446789026260376, + 0.03342808037996292, + 0.05559087172150612, + 0.30624595284461975, + -0.22065135836601257, + -1.0247925519943237, + 0.0, + 1.0008161067962646 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9492040276527405 + ], + [ + 0.6701657772064209 + ], + [ + 0.3331759572029114 + ], + [ + 0.15975023806095123 + ], + [ + 0.07462053745985031 + ], + [ + 0.061804234981536865 + ], + [ + 0.05952305346727371 + ], + [ + 0.059241458773612976 + ], + [ + 0.059241458773612976 + ], + [ + 0.059241458773612976 + ], + [ + 0.059241458773612976 + ], + [ + 0.059241458773612976 + ], + [ + 0.059241458773612976 + ], + [ + 0.059241458773612976 + ], + [ + 0.059241458773612976 + ], + [ + 0.059241458773612976 + ], + [ + 0.059241458773612976 + ], + [ + 0.059241458773612976 + ], + [ + 0.059241458773612976 + ], + [ + 0.059241458773612976 + ], + [ + 0.059241458773612976 + ], + [ + 0.059241458773612976 + ], + [ + 0.08259850740432739 + ], + [ + 0.24054749310016632 + ], + [ + 0.5091317892074585 + ], + [ + 0.8335172533988953 + ], + [ + 1.003452181816101 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2475031018257141, + -0.0737275779247284, + 0.10095855593681335 + ], + [ + 0.24537688493728638, + -0.07322157174348831, + 0.09585189819335938 + ], + [ + 0.2402394413948059, + -0.08558235317468643, + 0.0856083557009697 + ], + [ + 0.23936203122138977, + -0.08387842029333115, + 0.07754822075366974 + ], + [ + 0.23450754582881927, + -0.09346719086170197, + 0.05871477350592613 + ], + [ + 0.22847993671894073, + -0.10607413202524185, + 0.0387469157576561 + ], + [ + 0.22227829694747925, + -0.11517088860273361, + 0.01660282351076603 + ], + [ + 0.21604356169700623, + -0.1269979327917099, + 0.006553509272634983 + ], + [ + 0.21587137877941132, + -0.13021932542324066, + 0.0017255308339372277 + ], + [ + 0.21366459131240845, + -0.13120993971824646, + -0.00772586464881897 + ], + [ + 0.2159605175256729, + -0.13303272426128387, + -0.019425470381975174 + ], + [ + 0.2231605350971222, + -0.1372988224029541, + -0.022519107908010483 + ], + [ + 0.22551482915878296, + -0.13808056712150574, + -0.025852447375655174 + ], + [ + 0.22656862437725067, + -0.13644307851791382, + -0.027236122637987137 + ], + [ + 0.22552308440208435, + -0.13462865352630615, + -0.028103597462177277 + ], + [ + 0.22440005838871002, + -0.1327323466539383, + -0.0195786040276289 + ], + [ + 0.22645901143550873, + -0.12965451180934906, + -0.0028019724413752556 + ], + [ + 0.2308390736579895, + -0.12179866433143616, + 0.017038891091942787 + ], + [ + 0.24404621124267578, + -0.11505365371704102, + 0.02523493953049183 + ], + [ + 0.2656792402267456, + -0.10222193598747253, + 0.03802088648080826 + ], + [ + 0.28901249170303345, + -0.08720260113477707, + 0.05451167747378349 + ], + [ + 0.3041011095046997, + -0.07462465763092041, + 0.06507612019777298 + ], + [ + 0.3190302848815918, + -0.06070318445563316, + 0.07351423799991608 + ], + [ + 0.33592647314071655, + -0.04028768092393875, + 0.08760883659124374 + ], + [ + 0.350647896528244, + -0.026342373341321945, + 0.09536492079496384 + ], + [ + 0.3680197298526764, + -0.011418168433010578, + 0.09883963316679001 + ], + [ + 0.3847418427467346, + -0.004055113065987825, + 0.09068524837493896 + ], + [ + 0.3969723880290985, + 0.0047278921119868755, + 0.07639975845813751 + ], + [ + 0.4088079333305359, + 0.01617925614118576, + 0.07347913831472397 + ], + [ + 0.41902491450309753, + 0.02256954275071621, + 0.07368720322847366 + ], + [ + 0.42593738436698914, + 0.025657417252659798, + 0.06357619166374207 + ], + [ + 0.4362175464630127, + 0.028018146753311157, + 0.06905659288167953 + ], + [ + 0.4453108310699463, + 0.029937783256173134, + 0.06465110927820206 + ], + [ + 0.45259106159210205, + 0.0331563837826252, + 0.05612603947520256 + ], + [ + 0.45660796761512756, + 0.03320910781621933, + 0.05000705644488335 + ], + [ + 0.45773062109947205, + 0.03724740818142891, + 0.04459098353981972 + ], + [ + 0.4591580927371979, + 0.03890063241124153, + 0.04506811499595642 + ], + [ + 0.4552154242992401, + 0.0379650704562664, + 0.03781824931502342 + ], + [ + 0.4446789026260376, + 0.03342808037996292, + 0.05559087172150612 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.30194431120181786, + -0.9144817142105092, + 0.2693563203406757, + -0.8728352858912723, + -0.37881481871457023, + -0.3076652349963325, + 0.38339039716190204, + -0.14220593340946175, + -0.9125728879750828 + ], + [ + 0.3129242208271692, + -0.9153012854147, + 0.2535783684345076, + -0.8748803064272961, + -0.3817028108479731, + -0.29813992288259067, + 0.36967943064956926, + -0.12855551761380873, + -0.920223123729053 + ], + [ + 0.3223435597088306, + -0.9097255752815213, + 0.2617135976462528, + -0.9005366149542201, + -0.37991156780493623, + -0.21142612368103955, + 0.29176777519293395, + -0.16753082798906146, + -0.9417032372421076 + ], + [ + 0.33293276324372084, + -0.9037987733065568, + 0.2688931991115876, + -0.9074398030831882, + -0.38461180601928463, + -0.16919445159617078, + 0.2563372367395055, + -0.18767401535680842, + -0.9481928522302872 + ], + [ + 0.34632746258955377, + -0.893704284834775, + 0.2852191086239569, + -0.9090672910455307, + -0.39478745916255636, + -0.13318979855496804, + 0.2316332208631166, + -0.2131560774548456, + -0.9491630722044777 + ], + [ + 0.36191015252091263, + -0.8668199795226879, + 0.3429929512432819, + -0.9137430535139908, + -0.4027335964947919, + -0.053658945286857884, + 0.18464743068133294, + -0.2939877095299338, + -0.9378041122687218 + ], + [ + 0.3399972142609774, + -0.8501504033598419, + 0.4020524666780111, + -0.9258699057941959, + -0.37753117061967545, + -0.01533403910208464, + 0.16482357792325042, + -0.36703474886941656, + -0.9154882201770498 + ], + [ + 0.30647415491122887, + -0.8234429921563332, + 0.4775094041378378, + -0.9359881850683524, + -0.35197623606711137, + -0.0062327085990724895, + 0.17320424297314405, + -0.4450329964313365, + -0.878604531233163 + ], + [ + 0.28796216091318344, + -0.8171595003484764, + 0.49932769287556883, + -0.9435375459799866, + -0.3312594105802173, + 0.00202539579135666, + 0.16375192581546777, + -0.4717176633244462, + -0.8664108453265402 + ], + [ + 0.2800975892099763, + -0.822922370210457, + 0.4943117570177379, + -0.949315530647051, + -0.31395428334915354, + 0.01525553142396105, + 0.1426371753473387, + -0.47353086549233847, + -0.8691508244459125 + ], + [ + 0.27362950833954724, + -0.8319113055240419, + 0.4827530133589447, + -0.9544736257033994, + -0.29683497167835127, + 0.02948045836344726, + 0.1187728504434585, + -0.46884174230756825, + -0.8752602074055116 + ], + [ + 0.27698959225919517, + -0.8272604996553139, + 0.4887911941618068, + -0.9526996002476731, + -0.3026532330020575, + 0.02764945282146214, + 0.12506093501972843, + -0.4733297859457427, + -0.8719625429274751 + ], + [ + 0.2790409033775636, + -0.8276925784765146, + 0.4868892787658524, + -0.951684500544302, + -0.30604555549204593, + 0.025154112731466727, + 0.12819042735702033, + -0.4703840064229053, + -0.8731014264308361 + ], + [ + 0.28460660594180265, + -0.8306684619185444, + 0.47852793672696603, + -0.9492392458421922, + -0.313944153011371, + 0.01959395169226416, + 0.13395497007290702, + -0.4598140658612485, + -0.8778536841802932 + ], + [ + 0.28043014434117225, + -0.8359200313286101, + 0.471801478768735, + -0.9508957527335704, + -0.30900405675849546, + 0.01771328145910725, + 0.13098168413196679, + -0.453601360370941, + -0.8815268596540811 + ], + [ + 0.28583022779079514, + -0.8359176165856839, + 0.4685539661157201, + -0.9453014697921942, + -0.3261562860349372, + -0.00521615649814669, + 0.1571820985029118, + -0.4414338176460946, + -0.8834194771164009 + ], + [ + 0.2847977917843225, + -0.8332312860132318, + 0.4739365377384508, + -0.9389723192496848, + -0.34199518204992885, + -0.03701728160608547, + 0.19292796966132697, + -0.4344708499581673, + -0.8797805857479387 + ], + [ + 0.29934259896444027, + -0.8460346070628904, + 0.4411569472389114, + -0.9273091423194391, + -0.36684615505307316, + -0.07430782659695692, + 0.2247037227461999, + -0.3868453724354448, + -0.8943483073217512 + ], + [ + 0.3323998244021257, + -0.8596317258736443, + 0.3879995523308444, + -0.9146421901675954, + -0.3941773316477506, + -0.0897434965915844, + 0.23008698507925318, + -0.3250500378196546, + -0.9172799203136308 + ], + [ + 0.4003314976443588, + -0.8315804254782935, + 0.38497881494332287, + -0.8800425026299967, + -0.46600407684598844, + -0.09146252745059255, + 0.25546014475560963, + -0.30218238916961826, + -0.9183822287681662 + ], + [ + 0.45213623804441905, + -0.7972258321817243, + 0.40000474340837217, + -0.8456336792814012, + -0.525768957344899, + -0.09203631868701605, + 0.28368380763103246, + -0.2966445280038299, + -0.9118802121404677 + ], + [ + 0.48639871360879033, + -0.7767098574204521, + 0.4001725737548928, + -0.823219673066339, + -0.5608617846542903, + -0.08799675216139757, + 0.29278944871061174, + -0.286628428283563, + -0.9122052854612446 + ], + [ + 0.5165395284810319, + -0.7594151198207214, + 0.39556995753503993, + -0.8037322463213948, + -0.5893309257139063, + -0.08187512577306887, + 0.2952988177080273, + -0.27564059168575006, + -0.9147791386314904 + ], + [ + 0.5555487531176206, + -0.7267746636910097, + 0.4039358502612467, + -0.7681733800117516, + -0.6345475700722325, + -0.08519999739874372, + 0.31823771170428217, + -0.2629600150826061, + -0.910811061261872 + ], + [ + 0.5825543055618458, + -0.701814601460155, + 0.40998383657002796, + -0.7372403885615175, + -0.6686299819846551, + -0.09700802371382695, + 0.34220913276097426, + -0.24574420108829365, + -0.9069193443115314 + ], + [ + 0.6064310060977597, + -0.6818936337435171, + 0.4089773919219994, + -0.7135802617092288, + -0.6936285093368939, + -0.09840071714203397, + 0.3507772012862967, + -0.23216494846367353, + -0.907223672399818 + ], + [ + 0.6102954487742749, + -0.6903617575797639, + 0.388510114252879, + -0.7189249288649985, + -0.6886521794526502, + -0.09436695603637553, + 0.3326956745463679, + -0.22171788246890145, + -0.916599568367585 + ], + [ + 0.6100015489128852, + -0.7076373207499603, + 0.356577526781623, + -0.7339875525258942, + -0.6741636364283611, + -0.08225365678641053, + 0.2985973594339526, + -0.21154860812472068, + -0.9306378475752878 + ], + [ + 0.6068672516125722, + -0.7126692359265717, + 0.3518731292441064, + -0.7424572842672298, + -0.6663252964453487, + -0.06904911553052875, + 0.2836711475612792, + -0.21934712097690026, + -0.9334974668205651 + ], + [ + 0.5905381379368028, + -0.7219042191373591, + 0.3607201214706676, + -0.7552195646714944, + -0.6519064206497582, + -0.06827465014936819, + 0.284443521247245, + -0.23210410833783168, + -0.9301717938709859 + ], + [ + 0.5766447799118954, + -0.7430141157348839, + 0.3397216825860112, + -0.7745427441536007, + -0.6294731034832574, + -0.06202539375261122, + 0.25993140495017497, + -0.22736234474922445, + -0.9384785713647186 + ], + [ + 0.5622539831868693, + -0.7500485367921352, + 0.3482781228364427, + -0.7871872546630669, + -0.6144748322360526, + -0.052506253384700594, + 0.25339037962504224, + -0.24463824926705885, + -0.9359195705342553 + ], + [ + 0.5574378198606883, + -0.7605780650247363, + 0.33284243117756346, + -0.7956708875555766, + -0.6038761724400525, + -0.04734350066982053, + 0.23700404149609794, + -0.23844197483325003, + -0.9417932410843348 + ], + [ + 0.552985213677269, + -0.766311389339167, + 0.3270691181132528, + -0.8030575380519039, + -0.5948197725510467, + -0.035889117575330684, + 0.22204941799590483, + -0.24280916941375325, + -0.9443186767274505 + ], + [ + 0.5352437432380422, + -0.7807561969490553, + 0.3223878041275379, + -0.817600541166728, + -0.5747508999863311, + -0.03450736224018326, + 0.21223451747630845, + -0.24511459338552144, + -0.9459785122829419 + ], + [ + 0.5291736912104775, + -0.7852875651370963, + 0.3214010649822572, + -0.8265850615727861, + -0.5626430441714826, + -0.013781902269305674, + 0.19165683007759413, + -0.2583722989921675, + -0.9468428668993132 + ], + [ + 0.5202084741477565, + -0.7875385854344455, + 0.33040296590190504, + -0.8337455613640642, + -0.5521386359348388, + -0.0033564287176888474, + 0.18507156002634312, + -0.273725963620421, + -0.943833997326589 + ], + [ + 0.5169291324536541, + -0.7909296290664295, + 0.3274363967025538, + -0.8364641258339672, + -0.5480123636604441, + -0.0031961645936575134, + 0.18196713498192224, + -0.27223660874344735, + -0.944867816494105 + ], + [ + 0.5066863835024957, + -0.7805795932121383, + 0.36601148538527367, + -0.8338866334045404, + -0.551505513419007, + -0.0217887883481232, + 0.2188652357100221, + -0.2941720029663091, + -0.9303552231639194 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0021262168884277344, + 0.0005060061812400818, + -0.0051066577434539795, + -0.015784338116645813, + 0.014800429344177246, + 0.010448336601257324, + 1.0 + ], + [ + -0.005137443542480469, + -0.01236078143119812, + -0.010243542492389679, + 0.03725790977478027, + 0.08258947730064392, + 0.00023889541625976562, + 1.0 + ], + [ + -0.0008774101734161377, + 0.0017039328813552856, + -0.008060134947299957, + 0.019342586398124695, + 0.03684359788894653, + 0.007907629013061523, + 1.0 + ], + [ + -0.004854485392570496, + -0.009588770568370819, + -0.018833447247743607, + 0.025505095720291138, + 0.025474682450294495, + 0.012350678443908691, + 1.0 + ], + [ + -0.00602760910987854, + -0.012606941163539886, + -0.019967857748270035, + 0.08287450671195984, + 0.04804311692714691, + 0.013123154640197754, + 1.0 + ], + [ + -0.006201639771461487, + -0.00909675657749176, + -0.022144092246890068, + 0.07751443982124329, + 0.02013397216796875, + -0.025185823440551758, + 1.0 + ], + [ + -0.0062347352504730225, + -0.011827044188976288, + -0.010049314238131046, + 0.0875554084777832, + -0.0085030198097229, + -0.035500168800354004, + 1.0 + ], + [ + -0.00017218291759490967, + -0.0032213926315307617, + -0.004827978555113077, + 0.029720425605773926, + 0.009589433670043945, + -0.02021634578704834, + 1.0 + ], + [ + -0.0022067874670028687, + -0.0009906142950057983, + -0.009451395832002163, + 0.00028520822525024414, + 0.021367400884628296, + -0.009303927421569824, + 1.0 + ], + [ + 0.0022959262132644653, + -0.0018227845430374146, + -0.011699605733156204, + -0.007090777158737183, + 0.024071432650089264, + -0.007718086242675781, + 1.0 + ], + [ + 0.00720001757144928, + -0.004266098141670227, + -0.003093637526035309, + 0.005556970834732056, + -0.006335355341434479, + 0.003748297691345215, + 0.0 + ], + [ + 0.0023542940616607666, + -0.0007817447185516357, + -0.0033333394676446915, + -0.0031583309173583984, + -0.0031548887491226196, + 0.002271890640258789, + 0.0 + ], + [ + 0.0010537952184677124, + 0.001637488603591919, + -0.0013836752623319626, + -0.011664777994155884, + -0.005814716219902039, + 0.00608372688293457, + 0.0 + ], + [ + -0.0010455399751663208, + 0.001814424991607666, + -0.0008674748241901398, + -0.007270485162734985, + 0.002999722957611084, + -0.004515171051025391, + 0.0 + ], + [ + -0.0011230260133743286, + 0.0018963068723678589, + 0.008524993434548378, + -0.01183253526687622, + -0.026477500796318054, + 0.0068471431732177734, + 0.0 + ], + [ + 0.002058953046798706, + 0.0030778348445892334, + 0.016776632517576218, + -0.004690229892730713, + -0.03630867600440979, + 0.0008597373962402344, + 0.0 + ], + [ + 0.004380062222480774, + 0.007855847477912903, + 0.019840862601995468, + -0.05046403408050537, + -0.03249366581439972, + 0.017758965492248535, + 0.0 + ], + [ + 0.01320713758468628, + 0.006745010614395142, + 0.008196048438549042, + -0.06768709421157837, + -0.005528092384338379, + 0.03633260726928711, + 0.0 + ], + [ + 0.021633028984069824, + 0.012831717729568481, + 0.01278594695031643, + -0.022676825523376465, + -0.02615654468536377, + 0.07834100723266602, + 0.0 + ], + [ + 0.023333251476287842, + 0.015019334852695465, + 0.016490790992975235, + -0.00336650013923645, + -0.029309958219528198, + 0.06407713890075684, + 0.0 + ], + [ + 0.01508861780166626, + 0.012577943503856659, + 0.010564442723989487, + -0.01006665825843811, + -0.009509265422821045, + 0.04266524314880371, + 0.0 + ], + [ + 0.01492917537689209, + 0.013921473175287247, + 0.008438117802143097, + -0.01177966594696045, + -0.0026254355907440186, + 0.03754556179046631, + 0.0 + ], + [ + 0.016896188259124756, + 0.020415503531694412, + 0.014094598591327667, + -0.011599868535995483, + -0.024101704359054565, + 0.05492287874221802, + 0.0 + ], + [ + 0.014721423387527466, + 0.013945307582616806, + 0.007756084203720093, + -0.016454964876174927, + -0.025397002696990967, + 0.042593538761138916, + 0.0 + ], + [ + 0.017371833324432373, + 0.014924204908311367, + 0.003474712371826172, + -0.014081388711929321, + -0.00913393497467041, + 0.03567695617675781, + 0.0 + ], + [ + 0.016722112894058228, + 0.007363055367022753, + -0.008154384791851044, + -0.013197541236877441, + 0.019240260124206543, + -0.0005475878715515137, + 0.0 + ], + [ + 0.012230545282363892, + 0.008783005177974701, + -0.014285489916801453, + -0.013815462589263916, + 0.03593802452087402, + -0.010448873043060303, + 0.0 + ], + [ + 0.011835545301437378, + 0.011451363563537598, + -0.0029206201434135437, + 0.007269322872161865, + 0.015602260828018188, + -0.008159279823303223, + 0.0 + ], + [ + 0.010216981172561646, + 0.006390286609530449, + 0.00020806491374969482, + 0.01374778151512146, + -0.0008055567741394043, + -0.021614253520965576, + 0.0 + ], + [ + 0.0069124698638916016, + 0.0030878745019435883, + -0.010111011564731598, + -0.006847217679023743, + 0.025474756956100464, + -0.023662865161895752, + 0.0 + ], + [ + 0.01028016209602356, + 0.0023607295006513596, + 0.0054804012179374695, + 0.01798047125339508, + 0.006767749786376953, + -0.01973944902420044, + 0.0 + ], + [ + 0.009093284606933594, + 0.0019196365028619766, + -0.004405483603477478, + -0.007699713110923767, + 0.01690255105495453, + -0.009109675884246826, + 0.0 + ], + [ + 0.007280230522155762, + 0.0032186005264520645, + -0.008525069802999496, + 0.003706321120262146, + 0.015365004539489746, + -0.00808703899383545, + 1.0 + ], + [ + 0.004016906023025513, + 5.272403359413147e-05, + -0.006118983030319214, + 0.001861870288848877, + 0.010054856538772583, + -0.023395240306854248, + 1.0 + ], + [ + 0.0011226534843444824, + 0.0040383003652095795, + -0.005416072905063629, + 0.012855738401412964, + 0.02101100981235504, + -0.010188639163970947, + 1.0 + ], + [ + 0.00142747163772583, + 0.001653224229812622, + 0.0004771314561367035, + 0.015879154205322266, + 0.0067053139209747314, + -0.01161205768585205, + 1.0 + ], + [ + -0.003942668437957764, + -0.0009355619549751282, + -0.007249865680932999, + -0.0017475485801696777, + 0.003158062696456909, + -0.004292964935302734, + 1.0 + ], + [ + -0.010536521673202515, + -0.004536990076303482, + 0.017772622406482697, + 0.02572229504585266, + -0.0376647412776947, + -0.007541060447692871, + 1.0 + ], + [ + -0.025992989540100098, + -0.008422648534178734, + 0.03493588790297508, + -0.03356495499610901, + -0.009679615497589111, + -0.02874171733856201, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9492040276527405 + ], + [ + 0.6701657772064209 + ], + [ + 0.3331759572029114 + ], + [ + 0.15975023806095123 + ], + [ + 0.07462053745985031 + ], + [ + 0.061804234981536865 + ], + [ + 0.05952305346727371 + ], + [ + 0.059241458773612976 + ], + [ + 0.059241458773612976 + ], + [ + 0.059241458773612976 + ], + [ + 0.059241458773612976 + ], + [ + 0.059241458773612976 + ], + [ + 0.059241458773612976 + ], + [ + 0.059241458773612976 + ], + [ + 0.059241458773612976 + ], + [ + 0.059241458773612976 + ], + [ + 0.059241458773612976 + ], + [ + 0.059241458773612976 + ], + [ + 0.059241458773612976 + ], + [ + 0.059241458773612976 + ], + [ + 0.059241458773612976 + ], + [ + 0.059241458773612976 + ], + [ + 0.08259850740432739 + ], + [ + 0.24054749310016632 + ], + [ + 0.5091317892074585 + ], + [ + 0.8335172533988953 + ], + [ + 1.003452181816101 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.24537688493728638, + -0.07322157174348831, + 0.09585189819335938 + ], + [ + 0.2402394413948059, + -0.08558235317468643, + 0.0856083557009697 + ], + [ + 0.23936203122138977, + -0.08387842029333115, + 0.07754822075366974 + ], + [ + 0.23450754582881927, + -0.09346719086170197, + 0.05871477350592613 + ], + [ + 0.22847993671894073, + -0.10607413202524185, + 0.0387469157576561 + ], + [ + 0.22227829694747925, + -0.11517088860273361, + 0.01660282351076603 + ], + [ + 0.21604356169700623, + -0.1269979327917099, + 0.006553509272634983 + ], + [ + 0.21587137877941132, + -0.13021932542324066, + 0.0017255308339372277 + ], + [ + 0.21366459131240845, + -0.13120993971824646, + -0.00772586464881897 + ], + [ + 0.2159605175256729, + -0.13303272426128387, + -0.019425470381975174 + ], + [ + 0.2231605350971222, + -0.1372988224029541, + -0.022519107908010483 + ], + [ + 0.22551482915878296, + -0.13808056712150574, + -0.025852447375655174 + ], + [ + 0.22656862437725067, + -0.13644307851791382, + -0.027236122637987137 + ], + [ + 0.22552308440208435, + -0.13462865352630615, + -0.028103597462177277 + ], + [ + 0.22440005838871002, + -0.1327323466539383, + -0.0195786040276289 + ], + [ + 0.22645901143550873, + -0.12965451180934906, + -0.0028019724413752556 + ], + [ + 0.2308390736579895, + -0.12179866433143616, + 0.017038891091942787 + ], + [ + 0.24404621124267578, + -0.11505365371704102, + 0.02523493953049183 + ], + [ + 0.2656792402267456, + -0.10222193598747253, + 0.03802088648080826 + ], + [ + 0.28901249170303345, + -0.08720260113477707, + 0.05451167747378349 + ], + [ + 0.3041011095046997, + -0.07462465763092041, + 0.06507612019777298 + ], + [ + 0.3190302848815918, + -0.06070318445563316, + 0.07351423799991608 + ], + [ + 0.33592647314071655, + -0.04028768092393875, + 0.08760883659124374 + ], + [ + 0.350647896528244, + -0.026342373341321945, + 0.09536492079496384 + ], + [ + 0.3680197298526764, + -0.011418168433010578, + 0.09883963316679001 + ], + [ + 0.3847418427467346, + -0.004055113065987825, + 0.09068524837493896 + ], + [ + 0.3969723880290985, + 0.0047278921119868755, + 0.07639975845813751 + ], + [ + 0.4088079333305359, + 0.01617925614118576, + 0.07347913831472397 + ], + [ + 0.41902491450309753, + 0.02256954275071621, + 0.07368720322847366 + ], + [ + 0.42593738436698914, + 0.025657417252659798, + 0.06357619166374207 + ], + [ + 0.4362175464630127, + 0.028018146753311157, + 0.06905659288167953 + ], + [ + 0.4453108310699463, + 0.029937783256173134, + 0.06465110927820206 + ], + [ + 0.45259106159210205, + 0.0331563837826252, + 0.05612603947520256 + ], + [ + 0.45660796761512756, + 0.03320910781621933, + 0.05000705644488335 + ], + [ + 0.45773062109947205, + 0.03724740818142891, + 0.04459098353981972 + ], + [ + 0.4591580927371979, + 0.03890063241124153, + 0.04506811499595642 + ], + [ + 0.4552154242992401, + 0.0379650704562664, + 0.03781824931502342 + ], + [ + 0.4446789026260376, + 0.03342808037996292, + 0.05559087172150612 + ], + [ + 0.4186859130859375, + 0.025005431845784187, + 0.0905267596244812 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.3129242208271692, + -0.9153012854147, + 0.2535783684345076, + -0.8748803064272961, + -0.3817028108479731, + -0.29813992288259067, + 0.36967943064956926, + -0.12855551761380873, + -0.920223123729053 + ], + [ + 0.3223435597088306, + -0.9097255752815213, + 0.2617135976462528, + -0.9005366149542201, + -0.37991156780493623, + -0.21142612368103955, + 0.29176777519293395, + -0.16753082798906146, + -0.9417032372421076 + ], + [ + 0.33293276324372084, + -0.9037987733065568, + 0.2688931991115876, + -0.9074398030831882, + -0.38461180601928463, + -0.16919445159617078, + 0.2563372367395055, + -0.18767401535680842, + -0.9481928522302872 + ], + [ + 0.34632746258955377, + -0.893704284834775, + 0.2852191086239569, + -0.9090672910455307, + -0.39478745916255636, + -0.13318979855496804, + 0.2316332208631166, + -0.2131560774548456, + -0.9491630722044777 + ], + [ + 0.36191015252091263, + -0.8668199795226879, + 0.3429929512432819, + -0.9137430535139908, + -0.4027335964947919, + -0.053658945286857884, + 0.18464743068133294, + -0.2939877095299338, + -0.9378041122687218 + ], + [ + 0.3399972142609774, + -0.8501504033598419, + 0.4020524666780111, + -0.9258699057941959, + -0.37753117061967545, + -0.01533403910208464, + 0.16482357792325042, + -0.36703474886941656, + -0.9154882201770498 + ], + [ + 0.30647415491122887, + -0.8234429921563332, + 0.4775094041378378, + -0.9359881850683524, + -0.35197623606711137, + -0.0062327085990724895, + 0.17320424297314405, + -0.4450329964313365, + -0.878604531233163 + ], + [ + 0.28796216091318344, + -0.8171595003484764, + 0.49932769287556883, + -0.9435375459799866, + -0.3312594105802173, + 0.00202539579135666, + 0.16375192581546777, + -0.4717176633244462, + -0.8664108453265402 + ], + [ + 0.2800975892099763, + -0.822922370210457, + 0.4943117570177379, + -0.949315530647051, + -0.31395428334915354, + 0.01525553142396105, + 0.1426371753473387, + -0.47353086549233847, + -0.8691508244459125 + ], + [ + 0.27362950833954724, + -0.8319113055240419, + 0.4827530133589447, + -0.9544736257033994, + -0.29683497167835127, + 0.02948045836344726, + 0.1187728504434585, + -0.46884174230756825, + -0.8752602074055116 + ], + [ + 0.27698959225919517, + -0.8272604996553139, + 0.4887911941618068, + -0.9526996002476731, + -0.3026532330020575, + 0.02764945282146214, + 0.12506093501972843, + -0.4733297859457427, + -0.8719625429274751 + ], + [ + 0.2790409033775636, + -0.8276925784765146, + 0.4868892787658524, + -0.951684500544302, + -0.30604555549204593, + 0.025154112731466727, + 0.12819042735702033, + -0.4703840064229053, + -0.8731014264308361 + ], + [ + 0.28460660594180265, + -0.8306684619185444, + 0.47852793672696603, + -0.9492392458421922, + -0.313944153011371, + 0.01959395169226416, + 0.13395497007290702, + -0.4598140658612485, + -0.8778536841802932 + ], + [ + 0.28043014434117225, + -0.8359200313286101, + 0.471801478768735, + -0.9508957527335704, + -0.30900405675849546, + 0.01771328145910725, + 0.13098168413196679, + -0.453601360370941, + -0.8815268596540811 + ], + [ + 0.28583022779079514, + -0.8359176165856839, + 0.4685539661157201, + -0.9453014697921942, + -0.3261562860349372, + -0.00521615649814669, + 0.1571820985029118, + -0.4414338176460946, + -0.8834194771164009 + ], + [ + 0.2847977917843225, + -0.8332312860132318, + 0.4739365377384508, + -0.9389723192496848, + -0.34199518204992885, + -0.03701728160608547, + 0.19292796966132697, + -0.4344708499581673, + -0.8797805857479387 + ], + [ + 0.29934259896444027, + -0.8460346070628904, + 0.4411569472389114, + -0.9273091423194391, + -0.36684615505307316, + -0.07430782659695692, + 0.2247037227461999, + -0.3868453724354448, + -0.8943483073217512 + ], + [ + 0.3323998244021257, + -0.8596317258736443, + 0.3879995523308444, + -0.9146421901675954, + -0.3941773316477506, + -0.0897434965915844, + 0.23008698507925318, + -0.3250500378196546, + -0.9172799203136308 + ], + [ + 0.4003314976443588, + -0.8315804254782935, + 0.38497881494332287, + -0.8800425026299967, + -0.46600407684598844, + -0.09146252745059255, + 0.25546014475560963, + -0.30218238916961826, + -0.9183822287681662 + ], + [ + 0.45213623804441905, + -0.7972258321817243, + 0.40000474340837217, + -0.8456336792814012, + -0.525768957344899, + -0.09203631868701605, + 0.28368380763103246, + -0.2966445280038299, + -0.9118802121404677 + ], + [ + 0.48639871360879033, + -0.7767098574204521, + 0.4001725737548928, + -0.823219673066339, + -0.5608617846542903, + -0.08799675216139757, + 0.29278944871061174, + -0.286628428283563, + -0.9122052854612446 + ], + [ + 0.5165395284810319, + -0.7594151198207214, + 0.39556995753503993, + -0.8037322463213948, + -0.5893309257139063, + -0.08187512577306887, + 0.2952988177080273, + -0.27564059168575006, + -0.9147791386314904 + ], + [ + 0.5555487531176206, + -0.7267746636910097, + 0.4039358502612467, + -0.7681733800117516, + -0.6345475700722325, + -0.08519999739874372, + 0.31823771170428217, + -0.2629600150826061, + -0.910811061261872 + ], + [ + 0.5825543055618458, + -0.701814601460155, + 0.40998383657002796, + -0.7372403885615175, + -0.6686299819846551, + -0.09700802371382695, + 0.34220913276097426, + -0.24574420108829365, + -0.9069193443115314 + ], + [ + 0.6064310060977597, + -0.6818936337435171, + 0.4089773919219994, + -0.7135802617092288, + -0.6936285093368939, + -0.09840071714203397, + 0.3507772012862967, + -0.23216494846367353, + -0.907223672399818 + ], + [ + 0.6102954487742749, + -0.6903617575797639, + 0.388510114252879, + -0.7189249288649985, + -0.6886521794526502, + -0.09436695603637553, + 0.3326956745463679, + -0.22171788246890145, + -0.916599568367585 + ], + [ + 0.6100015489128852, + -0.7076373207499603, + 0.356577526781623, + -0.7339875525258942, + -0.6741636364283611, + -0.08225365678641053, + 0.2985973594339526, + -0.21154860812472068, + -0.9306378475752878 + ], + [ + 0.6068672516125722, + -0.7126692359265717, + 0.3518731292441064, + -0.7424572842672298, + -0.6663252964453487, + -0.06904911553052875, + 0.2836711475612792, + -0.21934712097690026, + -0.9334974668205651 + ], + [ + 0.5905381379368028, + -0.7219042191373591, + 0.3607201214706676, + -0.7552195646714944, + -0.6519064206497582, + -0.06827465014936819, + 0.284443521247245, + -0.23210410833783168, + -0.9301717938709859 + ], + [ + 0.5766447799118954, + -0.7430141157348839, + 0.3397216825860112, + -0.7745427441536007, + -0.6294731034832574, + -0.06202539375261122, + 0.25993140495017497, + -0.22736234474922445, + -0.9384785713647186 + ], + [ + 0.5622539831868693, + -0.7500485367921352, + 0.3482781228364427, + -0.7871872546630669, + -0.6144748322360526, + -0.052506253384700594, + 0.25339037962504224, + -0.24463824926705885, + -0.9359195705342553 + ], + [ + 0.5574378198606883, + -0.7605780650247363, + 0.33284243117756346, + -0.7956708875555766, + -0.6038761724400525, + -0.04734350066982053, + 0.23700404149609794, + -0.23844197483325003, + -0.9417932410843348 + ], + [ + 0.552985213677269, + -0.766311389339167, + 0.3270691181132528, + -0.8030575380519039, + -0.5948197725510467, + -0.035889117575330684, + 0.22204941799590483, + -0.24280916941375325, + -0.9443186767274505 + ], + [ + 0.5352437432380422, + -0.7807561969490553, + 0.3223878041275379, + -0.817600541166728, + -0.5747508999863311, + -0.03450736224018326, + 0.21223451747630845, + -0.24511459338552144, + -0.9459785122829419 + ], + [ + 0.5291736912104775, + -0.7852875651370963, + 0.3214010649822572, + -0.8265850615727861, + -0.5626430441714826, + -0.013781902269305674, + 0.19165683007759413, + -0.2583722989921675, + -0.9468428668993132 + ], + [ + 0.5202084741477565, + -0.7875385854344455, + 0.33040296590190504, + -0.8337455613640642, + -0.5521386359348388, + -0.0033564287176888474, + 0.18507156002634312, + -0.273725963620421, + -0.943833997326589 + ], + [ + 0.5169291324536541, + -0.7909296290664295, + 0.3274363967025538, + -0.8364641258339672, + -0.5480123636604441, + -0.0031961645936575134, + 0.18196713498192224, + -0.27223660874344735, + -0.944867816494105 + ], + [ + 0.5066863835024957, + -0.7805795932121383, + 0.36601148538527367, + -0.8338866334045404, + -0.551505513419007, + -0.0217887883481232, + 0.2188652357100221, + -0.2941720029663091, + -0.9303552231639194 + ], + [ + 0.4814428738964355, + -0.8066581363062876, + 0.3428052075234678, + -0.8462221780187117, + -0.5296723210369851, + -0.057924586805266395, + 0.2282997691711685, + -0.26220198980587434, + -0.937618969485063 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006371.json b/json/chunk-0006/episode_0006371.json new file mode 100644 index 0000000000000000000000000000000000000000..6e4b088ec52b2b011c753c3de1a6da69a6ffef2e --- /dev/null +++ b/json/chunk-0006/episode_0006371.json @@ -0,0 +1,1222 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 19, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the can to the bottom right side of the table." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006371.mp4", + "start": 0, + "end": 19, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.34681472182273865, + 0.17042139172554016, + 0.11375070363283157, + 0.14537040889263153, + -0.08717647939920425, + -0.059437982738018036, + 0.0, + 1.0008161067962646 + ], + [ + 0.34608763456344604, + 0.16920562088489532, + 0.09951997548341751, + 0.1260147988796234, + -0.054591141641139984, + -0.05311156436800957, + 0.0, + 1.0008161067962646 + ], + [ + 0.35819771885871887, + 0.1437234729528427, + 0.09605392068624496, + 0.11226003617048264, + -0.05741311237215996, + -0.08636270463466644, + 0.0, + 1.0008161067962646 + ], + [ + 0.38373619318008423, + 0.10382545739412308, + 0.09333944320678711, + 0.11425936967134476, + -0.08836638182401657, + -0.13976383209228516, + 0.0, + 1.0008161067962646 + ], + [ + 0.4189181923866272, + 0.05508291348814964, + 0.09117860347032547, + 0.11335545033216476, + -0.12529709935188293, + -0.17655116319656372, + 0.0, + 1.0008161067962646 + ], + [ + 0.4531119465827942, + 0.003555361879989505, + 0.09212713688611984, + 0.1188262403011322, + -0.1480873078107834, + -0.19158382713794708, + 0.0, + 1.0008161067962646 + ], + [ + 0.47757479548454285, + -0.04410281032323837, + 0.09540487080812454, + 0.11873415112495422, + -0.1834937334060669, + -0.2146635204553604, + 0.0, + 1.0008161067962646 + ], + [ + 0.4904104173183441, + -0.08509649336338043, + 0.08888792991638184, + 0.11918661743402481, + -0.19758367538452148, + -0.24863794445991516, + 0.0, + 0.9994885921478271 + ], + [ + 0.48784953355789185, + -0.11247742921113968, + 0.08670201152563095, + 0.12596720457077026, + -0.20840984582901, + -0.2810286283493042, + 0.0, + 0.9994885921478271 + ], + [ + 0.47764140367507935, + -0.11667980998754501, + 0.06380490958690643, + 0.12486796081066132, + -0.16015425324440002, + -0.29057303071022034, + 0.0, + 1.0001531839370728 + ], + [ + 0.46480900049209595, + -0.11825467646121979, + 0.05779420956969261, + 0.13790009915828705, + -0.13927394151687622, + -0.29608237743377686, + 0.0, + 0.9968144297599792 + ], + [ + 0.4453369081020355, + -0.11407750099897385, + 0.06484024971723557, + 0.14203514158725739, + -0.13728129863739014, + -0.309548020362854, + 0.0, + 0.9994885921478271 + ], + [ + 0.41665178537368774, + -0.10711676627397537, + 0.06964713335037231, + 0.13685187697410583, + -0.11650186032056808, + -0.33044782280921936, + 0.0, + 1.0001531839370728 + ], + [ + 0.3898260295391083, + -0.10031593590974808, + 0.07647117227315903, + 0.1304892897605896, + -0.12012480944395065, + -0.35240915417671204, + 0.0, + 0.9994885921478271 + ], + [ + 0.3607807755470276, + -0.09586352854967117, + 0.07949094474315643, + 0.10527963936328888, + -0.12310086190700531, + -0.3699951469898224, + 0.0, + 0.9994885921478271 + ], + [ + 0.33396440744400024, + -0.09446893632411957, + 0.08259499818086624, + 0.10605325549840927, + -0.11312820762395859, + -0.41220617294311523, + 0.0, + 0.9994885921478271 + ], + [ + 0.31216421723365784, + -0.08981627225875854, + 0.08307769149541855, + 0.10321067273616791, + -0.11417745798826218, + -0.4405411183834076, + 0.0, + 0.9994885921478271 + ], + [ + 0.2990640699863434, + -0.08633878827095032, + 0.0846858099102974, + 0.09230181574821472, + -0.10765320062637329, + -0.44987326860427856, + 0.0, + 0.9994885921478271 + ], + [ + 0.30605632066726685, + -0.08310014754533768, + 0.09407750517129898, + 0.11386793851852417, + -0.15464654564857483, + -0.47667160630226135, + 0.0, + 0.9994885921478271 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9968144297599792 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.34681472182273865, + 0.17042139172554016, + 0.11375070363283157 + ], + [ + 0.34608763456344604, + 0.16920562088489532, + 0.09951997548341751 + ], + [ + 0.35819771885871887, + 0.1437234729528427, + 0.09605392068624496 + ], + [ + 0.38373619318008423, + 0.10382545739412308, + 0.09333944320678711 + ], + [ + 0.4189181923866272, + 0.05508291348814964, + 0.09117860347032547 + ], + [ + 0.4531119465827942, + 0.003555361879989505, + 0.09212713688611984 + ], + [ + 0.47757479548454285, + -0.04410281032323837, + 0.09540487080812454 + ], + [ + 0.4904104173183441, + -0.08509649336338043, + 0.08888792991638184 + ], + [ + 0.48784953355789185, + -0.11247742921113968, + 0.08670201152563095 + ], + [ + 0.47764140367507935, + -0.11667980998754501, + 0.06380490958690643 + ], + [ + 0.46480900049209595, + -0.11825467646121979, + 0.05779420956969261 + ], + [ + 0.4453369081020355, + -0.11407750099897385, + 0.06484024971723557 + ], + [ + 0.41665178537368774, + -0.10711676627397537, + 0.06964713335037231 + ], + [ + 0.3898260295391083, + -0.10031593590974808, + 0.07647117227315903 + ], + [ + 0.3607807755470276, + -0.09586352854967117, + 0.07949094474315643 + ], + [ + 0.33396440744400024, + -0.09446893632411957, + 0.08259499818086624 + ], + [ + 0.31216421723365784, + -0.08981627225875854, + 0.08307769149541855 + ], + [ + 0.2990640699863434, + -0.08633878827095032, + 0.0846858099102974 + ], + [ + 0.30605632066726685, + -0.08310014754533768, + 0.09407750517129898 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9944433257087943, + -0.0461863961214214, + 0.09460068058184032, + -0.059177410420500946, + -0.9884542346784738, + 0.13948569834257432, + 0.08706610160766254, + -0.1443088450494536, + -0.985694907763724 + ], + [ + 0.9971022866806475, + -0.045817633140861146, + 0.06072704825358631, + -0.05300751353035318, + -0.9910357815925854, + 0.12263067769731516, + 0.054564030327252794, + -0.1254943189811508, + -0.9905927228169525 + ], + [ + 0.9946315196867634, + -0.07930827103675368, + 0.06647058139327762, + -0.0861132670999089, + -0.9905564365246989, + 0.1066885715007457, + 0.05738157609354482, + -0.11183981493480216, + -0.9920681481230863 + ], + [ + 0.9863852018709329, + -0.12843737287916032, + 0.10270382065891556, + -0.138765701019424, + -0.9851936804424922, + 0.10068511427596755, + 0.08825142350481938, + -0.1135660744416058, + -0.9896031694499048 + ], + [ + 0.9767377283717313, + -0.16059227481669308, + 0.1421039452106431, + -0.17425851989198815, + -0.9806199171612052, + 0.08954633611602612, + 0.12496950916236846, + -0.11222610808519774, + -0.9857930423997554 + ], + [ + 0.9709592311668327, + -0.17190010871333794, + 0.16639869000763283, + -0.18832992007812493, + -0.9781119306287822, + 0.08848102827727408, + 0.14754664555753463, + -0.11724932317919498, + -0.9820807418938324 + ], + [ + 0.9606456452153114, + -0.1904009339868408, + 0.20225584952183007, + -0.2094425703001411, + -0.9747732955375884, + 0.07714163631178751, + 0.1824657613771113, + -0.11646676196979265, + -0.9762897824321133 + ], + [ + 0.9503905749977719, + -0.2217149405750716, + 0.21817479249720187, + -0.2412961493715202, + -0.9681162004864088, + 0.06728440126980928, + 0.19630059412513665, + -0.1165911981307001, + -0.9735874738638364 + ], + [ + 0.9399807014126649, + -0.2501720084775508, + 0.23205656023060972, + -0.2713426674782235, + -0.9603674734638081, + 0.06377674120354375, + 0.20690441700832918, + -0.12291575198911574, + -0.9706092314291027 + ], + [ + 0.9458190198479787, + -0.26524214649859634, + 0.18727782947969512, + -0.28283483738230764, + -0.9563105802725795, + 0.07399005893797904, + 0.15947048772964922, + -0.12294989946941463, + -0.9795164550755278 + ], + [ + 0.9472252785074727, + -0.27075255878327315, + 0.17163135980569136, + -0.2889500555001288, + -0.9529748271331603, + 0.09136106543268646, + 0.13882412320239204, + -0.13613240159063297, + -0.9809158129290472 + ], + [ + 0.9435102283784037, + -0.2831089989671876, + 0.1721561606481996, + -0.30176214045106814, + -0.9487812696747352, + 0.09356127887532606, + 0.1368505006776431, + -0.1402262351280731, + -0.9806164099412594 + ], + [ + 0.9394852107899465, + -0.30643312327914, + 0.15318707407729062, + -0.32226720302077977, + -0.9421987065676286, + 0.09168122599230061, + 0.11623849863162138, + -0.1355003258286827, + -0.9839350959977937 + ], + [ + 0.9317804527412498, + -0.3275907679867118, + 0.15642722467393083, + -0.3426725735335227, + -0.9359467938548485, + 0.08111169102381338, + 0.11983611824998569, + -0.1291816078344996, + -0.9843532988516214 + ], + [ + 0.9252738420725339, + -0.3475784936519615, + 0.15184698853439585, + -0.35887447190952737, + -0.9318330198011385, + 0.0538176236928847, + 0.12279018929861395, + -0.10429004726686261, + -0.9869377667579078 + ], + [ + 0.9103824301195116, + -0.38743208179904354, + 0.14525912337113855, + -0.39807077597583185, + -0.9158788054105851, + 0.05201606591889072, + 0.11288705968219509, + -0.10517792445441468, + -0.9880253620043211 + ], + [ + 0.8986315588005662, + -0.41354258203475464, + 0.14643720282664793, + -0.42365242980309464, + -0.9047130146336168, + 0.04486624426545069, + 0.11392954072407456, + -0.10235669981286691, + -0.9882019863134358 + ], + [ + 0.8952892010105118, + -0.4240823760467318, + 0.13642354958187247, + -0.43233405575803685, + -0.9009754470829969, + 0.03647612898047833, + 0.10744538513014865, + -0.09163723086252737, + -0.9899788417608135 + ], + [ + 0.8779233400245514, + -0.44030265241547667, + 0.1881068401627958, + -0.4533487612219706, + -0.8908029545526467, + 0.030740801205884523, + 0.15403087268025314, + -0.11226606983488363, + -0.9816673671999026 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0007270872592926025, + -0.0012157708406448364, + -0.014230728149414062, + -0.019355610013008118, + 0.03258533775806427, + 0.006326418370008469, + 1.0 + ], + [ + 0.012110084295272827, + -0.025482147932052612, + -0.0034660547971725464, + -0.013754762709140778, + -0.0028219707310199738, + -0.033251140266656876, + 1.0 + ], + [ + 0.025538474321365356, + -0.039898015558719635, + -0.0027144774794578552, + 0.0019993335008621216, + -0.030953269451856613, + -0.05340112745761871, + 1.0 + ], + [ + 0.03518199920654297, + -0.048742543905973434, + -0.0021608397364616394, + -0.0009039193391799927, + -0.036930717527866364, + -0.036787331104278564, + 1.0 + ], + [ + 0.03419375419616699, + -0.05152755230665207, + 0.0009485334157943726, + 0.005470789968967438, + -0.02279020845890045, + -0.015032663941383362, + 1.0 + ], + [ + 0.024462848901748657, + -0.04765817150473595, + 0.0032777339220046997, + -9.208917617797852e-05, + -0.03540642559528351, + -0.02307969331741333, + 1.0 + ], + [ + 0.01283562183380127, + -0.04099368304014206, + -0.006516940891742706, + 0.00045246630907058716, + -0.01408994197845459, + -0.03397442400455475, + 1.0 + ], + [ + -0.0025608837604522705, + -0.027380935847759247, + -0.002185918390750885, + 0.006780587136745453, + -0.010826170444488525, + -0.03239068388938904, + 1.0 + ], + [ + -0.0102081298828125, + -0.0042023807764053345, + -0.022897101938724518, + -0.0010992437601089478, + 0.048255592584609985, + -0.009544402360916138, + 1.0 + ], + [ + -0.012832403182983398, + -0.0015748664736747742, + -0.006010700017213821, + 0.013032138347625732, + 0.020880311727523804, + -0.0055093467235565186, + 1.0 + ], + [ + -0.019472092390060425, + 0.004177175462245941, + 0.0070460401475429535, + 0.004135042428970337, + 0.001992642879486084, + -0.013465642929077148, + 1.0 + ], + [ + -0.02868512272834778, + 0.006960734724998474, + 0.004806883633136749, + -0.00518326461315155, + 0.020779438316822052, + -0.020899802446365356, + 1.0 + ], + [ + -0.026825755834579468, + 0.006800830364227295, + 0.006824038922786713, + -0.006362587213516235, + -0.0036229491233825684, + -0.021961331367492676, + 1.0 + ], + [ + -0.02904525399208069, + 0.004452407360076904, + 0.003019772469997406, + -0.02520965039730072, + -0.002976052463054657, + -0.01758599281311035, + 1.0 + ], + [ + -0.026816368103027344, + 0.0013945922255516052, + 0.0031040534377098083, + 0.0007736161351203918, + 0.009972654283046722, + -0.04221102595329285, + 1.0 + ], + [ + -0.021800190210342407, + 0.004652664065361023, + 0.00048269331455230713, + -0.0028425827622413635, + -0.0010492503643035889, + -0.02833494544029236, + 1.0 + ], + [ + -0.013100147247314453, + 0.0034774839878082275, + 0.0016081184148788452, + -0.010908856987953186, + 0.0065242573618888855, + -0.009332150220870972, + 1.0 + ], + [ + 0.006992250680923462, + 0.0032386407256126404, + 0.009391695261001587, + 0.021566122770309448, + -0.04699334502220154, + -0.026798337697982788, + 1.0 + ], + [ + 0.017781376838684082, + -0.0008371025323867798, + 0.03906182199716568, + 0.027197346091270447, + -0.12960496544837952, + -0.005674004554748535, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9968144297599792 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.34608763456344604, + 0.16920562088489532, + 0.09951997548341751 + ], + [ + 0.35819771885871887, + 0.1437234729528427, + 0.09605392068624496 + ], + [ + 0.38373619318008423, + 0.10382545739412308, + 0.09333944320678711 + ], + [ + 0.4189181923866272, + 0.05508291348814964, + 0.09117860347032547 + ], + [ + 0.4531119465827942, + 0.003555361879989505, + 0.09212713688611984 + ], + [ + 0.47757479548454285, + -0.04410281032323837, + 0.09540487080812454 + ], + [ + 0.4904104173183441, + -0.08509649336338043, + 0.08888792991638184 + ], + [ + 0.48784953355789185, + -0.11247742921113968, + 0.08670201152563095 + ], + [ + 0.47764140367507935, + -0.11667980998754501, + 0.06380490958690643 + ], + [ + 0.46480900049209595, + -0.11825467646121979, + 0.05779420956969261 + ], + [ + 0.4453369081020355, + -0.11407750099897385, + 0.06484024971723557 + ], + [ + 0.41665178537368774, + -0.10711676627397537, + 0.06964713335037231 + ], + [ + 0.3898260295391083, + -0.10031593590974808, + 0.07647117227315903 + ], + [ + 0.3607807755470276, + -0.09586352854967117, + 0.07949094474315643 + ], + [ + 0.33396440744400024, + -0.09446893632411957, + 0.08259499818086624 + ], + [ + 0.31216421723365784, + -0.08981627225875854, + 0.08307769149541855 + ], + [ + 0.2990640699863434, + -0.08633878827095032, + 0.0846858099102974 + ], + [ + 0.30605632066726685, + -0.08310014754533768, + 0.09407750517129898 + ], + [ + 0.3238376975059509, + -0.08393725007772446, + 0.13313932716846466 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9971022866806475, + -0.045817633140861146, + 0.06072704825358631, + -0.05300751353035318, + -0.9910357815925854, + 0.12263067769731516, + 0.054564030327252794, + -0.1254943189811508, + -0.9905927228169525 + ], + [ + 0.9946315196867634, + -0.07930827103675368, + 0.06647058139327762, + -0.0861132670999089, + -0.9905564365246989, + 0.1066885715007457, + 0.05738157609354482, + -0.11183981493480216, + -0.9920681481230863 + ], + [ + 0.9863852018709329, + -0.12843737287916032, + 0.10270382065891556, + -0.138765701019424, + -0.9851936804424922, + 0.10068511427596755, + 0.08825142350481938, + -0.1135660744416058, + -0.9896031694499048 + ], + [ + 0.9767377283717313, + -0.16059227481669308, + 0.1421039452106431, + -0.17425851989198815, + -0.9806199171612052, + 0.08954633611602612, + 0.12496950916236846, + -0.11222610808519774, + -0.9857930423997554 + ], + [ + 0.9709592311668327, + -0.17190010871333794, + 0.16639869000763283, + -0.18832992007812493, + -0.9781119306287822, + 0.08848102827727408, + 0.14754664555753463, + -0.11724932317919498, + -0.9820807418938324 + ], + [ + 0.9606456452153114, + -0.1904009339868408, + 0.20225584952183007, + -0.2094425703001411, + -0.9747732955375884, + 0.07714163631178751, + 0.1824657613771113, + -0.11646676196979265, + -0.9762897824321133 + ], + [ + 0.9503905749977719, + -0.2217149405750716, + 0.21817479249720187, + -0.2412961493715202, + -0.9681162004864088, + 0.06728440126980928, + 0.19630059412513665, + -0.1165911981307001, + -0.9735874738638364 + ], + [ + 0.9399807014126649, + -0.2501720084775508, + 0.23205656023060972, + -0.2713426674782235, + -0.9603674734638081, + 0.06377674120354375, + 0.20690441700832918, + -0.12291575198911574, + -0.9706092314291027 + ], + [ + 0.9458190198479787, + -0.26524214649859634, + 0.18727782947969512, + -0.28283483738230764, + -0.9563105802725795, + 0.07399005893797904, + 0.15947048772964922, + -0.12294989946941463, + -0.9795164550755278 + ], + [ + 0.9472252785074727, + -0.27075255878327315, + 0.17163135980569136, + -0.2889500555001288, + -0.9529748271331603, + 0.09136106543268646, + 0.13882412320239204, + -0.13613240159063297, + -0.9809158129290472 + ], + [ + 0.9435102283784037, + -0.2831089989671876, + 0.1721561606481996, + -0.30176214045106814, + -0.9487812696747352, + 0.09356127887532606, + 0.1368505006776431, + -0.1402262351280731, + -0.9806164099412594 + ], + [ + 0.9394852107899465, + -0.30643312327914, + 0.15318707407729062, + -0.32226720302077977, + -0.9421987065676286, + 0.09168122599230061, + 0.11623849863162138, + -0.1355003258286827, + -0.9839350959977937 + ], + [ + 0.9317804527412498, + -0.3275907679867118, + 0.15642722467393083, + -0.3426725735335227, + -0.9359467938548485, + 0.08111169102381338, + 0.11983611824998569, + -0.1291816078344996, + -0.9843532988516214 + ], + [ + 0.9252738420725339, + -0.3475784936519615, + 0.15184698853439585, + -0.35887447190952737, + -0.9318330198011385, + 0.0538176236928847, + 0.12279018929861395, + -0.10429004726686261, + -0.9869377667579078 + ], + [ + 0.9103824301195116, + -0.38743208179904354, + 0.14525912337113855, + -0.39807077597583185, + -0.9158788054105851, + 0.05201606591889072, + 0.11288705968219509, + -0.10517792445441468, + -0.9880253620043211 + ], + [ + 0.8986315588005662, + -0.41354258203475464, + 0.14643720282664793, + -0.42365242980309464, + -0.9047130146336168, + 0.04486624426545069, + 0.11392954072407456, + -0.10235669981286691, + -0.9882019863134358 + ], + [ + 0.8952892010105118, + -0.4240823760467318, + 0.13642354958187247, + -0.43233405575803685, + -0.9009754470829969, + 0.03647612898047833, + 0.10744538513014865, + -0.09163723086252737, + -0.9899788417608135 + ], + [ + 0.8779233400245514, + -0.44030265241547667, + 0.1881068401627958, + -0.4533487612219706, + -0.8908029545526467, + 0.030740801205884523, + 0.15403087268025314, + -0.11226606983488363, + -0.9816673671999026 + ], + [ + 0.8503594066628553, + -0.4243201938860566, + 0.31119327203603875, + -0.44524465619211906, + -0.8953989400342192, + -0.004234892909893789, + 0.28043907650746236, + -0.13495596039484864, + -0.9503372102162188 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006372.json b/json/chunk-0006/episode_0006372.json new file mode 100644 index 0000000000000000000000000000000000000000..bcf982a07084fe4decfe7fca4ffb5010655fcdbc --- /dev/null +++ b/json/chunk-0006/episode_0006372.json @@ -0,0 +1,2362 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 38, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nUnfold the cloth from the top to the bottom." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006372.mp4", + "start": 0, + "end": 38, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3149315416812897, + -0.020695365965366364, + 0.07473263144493103, + -0.327495276927948, + 0.1560286581516266, + 1.212665319442749, + 0.0, + 0.9994885921478271 + ], + [ + 0.3112648129463196, + -0.020937182009220123, + 0.06565257161855698, + -0.2958550751209259, + 0.1683453917503357, + 1.2238008975982666, + 0.0, + 0.9994885921478271 + ], + [ + 0.3205658197402954, + -0.013957363553345203, + 0.06054219603538513, + -0.23757222294807434, + 0.16894122958183289, + 1.3467904329299927, + 0.0, + 0.9994885921478271 + ], + [ + 0.327889621257782, + -0.005569664295762777, + 0.06225926801562309, + -0.2229735255241394, + 0.1365356296300888, + 1.4358159303665161, + 0.0, + 0.9994885921478271 + ], + [ + 0.3304164707660675, + 0.001226993277668953, + 0.06021801009774208, + -0.20545370876789093, + 0.10649200528860092, + 1.491316556930542, + 0.0, + 0.9994885921478271 + ], + [ + 0.3371756374835968, + 0.0030524367466568947, + 0.056068189442157745, + -0.19814060628414154, + 0.1183563768863678, + 1.5314587354660034, + 0.0, + 0.9994885921478271 + ], + [ + 0.34062352776527405, + 0.013566282577812672, + 0.05078946799039841, + -0.18555648624897003, + 0.09750901907682419, + 1.587984561920166, + 0.0, + 0.9994885921478271 + ], + [ + 0.3427363932132721, + 0.018085727468132973, + 0.0442420095205307, + -0.17197167873382568, + 0.08345136046409607, + 1.6273856163024902, + 0.0, + 0.9994885921478271 + ], + [ + 0.34925052523612976, + 0.027139347046613693, + 0.035100314766168594, + -0.15926213562488556, + 0.06798888742923737, + 1.685706377029419, + 0.0, + 0.9994885921478271 + ], + [ + 0.35489779710769653, + 0.041272375732660294, + 0.027320431545376778, + -0.14853663742542267, + 0.06182841211557388, + 1.7387529611587524, + 0.0, + 0.9994885921478271 + ], + [ + 0.35612598061561584, + 0.04383357614278793, + 0.019502274692058563, + -0.11642851680517197, + 0.058980993926525116, + 1.7668848037719727, + 0.0, + 0.9994885921478271 + ], + [ + 0.3569430708885193, + 0.044560495764017105, + 0.013081795535981655, + -0.091376893222332, + 0.05475739389657974, + 1.7775136232376099, + 0.0, + 0.9994885921478271 + ], + [ + 0.35316330194473267, + 0.041531868278980255, + 0.0035312871914356947, + -0.05301100015640259, + 0.0676901787519455, + 1.7760112285614014, + 0.0, + 0.9994885921478271 + ], + [ + 0.3508399426937103, + 0.0367351658642292, + -0.004286837764084339, + -0.0270805973559618, + 0.0935463011264801, + 1.7611595392227173, + 0.0, + 0.9994885921478271 + ], + [ + 0.35062938928604126, + 0.035908106714487076, + -0.007890560664236546, + -0.01637047342956066, + 0.0977616161108017, + 1.7473520040512085, + 0.0, + 0.9422301650047302 + ], + [ + 0.3502996265888214, + 0.036248281598091125, + -0.008221405558288097, + -0.016138987615704536, + 0.095340795814991, + 1.7485995292663574, + 0.0, + 0.6360166668891907 + ], + [ + 0.3506108224391937, + 0.0370686799287796, + -0.008283590897917747, + -0.018229763954877853, + 0.09073401242494583, + 1.7569516897201538, + 0.0, + 0.3445223569869995 + ], + [ + 0.3514944016933441, + 0.03648455813527107, + -0.007912217639386654, + -0.021982287988066673, + 0.09523200243711472, + 1.751538634300232, + 0.0, + 0.15667486190795898 + ], + [ + 0.35170120000839233, + 0.03559925779700279, + -0.007821856997907162, + -0.02207227796316147, + 0.1010294035077095, + 1.7534154653549194, + 0.0, + 0.0686454325914383 + ], + [ + 0.3507435917854309, + 0.03335079550743103, + -0.007914884015917778, + -0.014203924685716629, + 0.11411357671022415, + 1.7614208459854126, + 0.0, + 0.05271430313587189 + ], + [ + 0.34864869713783264, + 0.03482426702976227, + 0.008586790412664413, + -0.04970226064324379, + 0.1279830038547516, + 1.7617933750152588, + 0.0, + 0.052451856434345245 + ], + [ + 0.33564719557762146, + 0.0399906300008297, + 0.024828456342220306, + -0.07758378237485886, + 0.14614415168762207, + 1.7867717742919922, + 0.0, + 0.052451856434345245 + ], + [ + 0.31834882497787476, + 0.03624855354428291, + 0.03726539388298988, + -0.09155617654323578, + 0.15223237872123718, + 1.7803981304168701, + 0.0, + 0.052451856434345245 + ], + [ + 0.2934243679046631, + 0.031334612518548965, + 0.04832027480006218, + -0.10390429943799973, + 0.15203072130680084, + 1.7880090475082397, + 0.0, + 0.052451856434345245 + ], + [ + 0.2728855609893799, + 0.02717311680316925, + 0.04716068506240845, + -0.09773018211126328, + 0.15130579471588135, + 1.7896844148635864, + 0.0, + 0.052451856434345245 + ], + [ + 0.25237664580345154, + 0.02172194980084896, + 0.03803175687789917, + -0.0896218791604042, + 0.14132893085479736, + 1.8009710311889648, + 0.0, + 0.052451856434345245 + ], + [ + 0.24137748777866364, + 0.018137499690055847, + 0.02534959465265274, + -0.0888826847076416, + 0.15630634129047394, + 1.8431098461151123, + 0.0, + 0.052190229296684265 + ], + [ + 0.23121249675750732, + 0.014285633340477943, + 0.00678410055115819, + -0.060540709644556046, + 0.161614790558815, + 1.8897006511688232, + 0.0, + 0.052190229296684265 + ], + [ + 0.22300861775875092, + 0.008613445796072483, + -0.006752567831426859, + -0.034597862511873245, + 0.14932122826576233, + 1.8945034742355347, + 0.0, + 0.07494325935840607 + ], + [ + 0.2225724160671234, + 0.00794277898967266, + -0.011972859501838684, + -0.024005308747291565, + 0.1465109884738922, + 1.9255483150482178, + 0.0, + 0.23199117183685303 + ], + [ + 0.22257958352565765, + 0.006067100912332535, + -0.01152398157864809, + -0.015327065251767635, + 0.1575586050748825, + 1.9423741102218628, + 0.0, + 0.5014150738716125 + ], + [ + 0.22023651003837585, + 0.0045564123429358006, + -0.011729871854186058, + 0.002723058918491006, + 0.16304925084114075, + 1.9424734115600586, + 0.0, + 0.8045819997787476 + ], + [ + 0.22517113387584686, + 0.00297760427929461, + -0.007420687470585108, + 0.00707428902387619, + 0.1789972186088562, + 1.9462287425994873, + 0.0, + 1.013738751411438 + ], + [ + 0.23478995263576508, + 0.005909422878175974, + 0.006432431749999523, + -0.03509869799017906, + 0.19046519696712494, + 1.9493346214294434, + 0.0, + 1.0092895030975342 + ], + [ + 0.2431093007326126, + 0.009941808879375458, + 0.024345751851797104, + -0.06228018179535866, + 0.18765494227409363, + 1.9461265802383423, + 0.0, + 0.9988223910331726 + ], + [ + 0.2562752366065979, + 0.012666547670960426, + 0.05141332373023033, + -0.13330712914466858, + 0.19760268926620483, + 1.9284007549285889, + 0.0, + 0.9988223910331726 + ], + [ + 0.2697593867778778, + 0.014186350628733635, + 0.06201251223683357, + -0.1821407973766327, + 0.20603525638580322, + 1.8973788022994995, + 0.0, + 0.9988223910331726 + ], + [ + 0.2691391408443451, + 0.014321018010377884, + 0.0614481158554554, + -0.17796796560287476, + 0.20326566696166992, + 1.8957910537719727, + 0.0, + 0.9994885921478271 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9422301650047302 + ], + [ + 0.6360166668891907 + ], + [ + 0.3445223569869995 + ], + [ + 0.15667486190795898 + ], + [ + 0.0686454325914383 + ], + [ + 0.05271430313587189 + ], + [ + 0.052451856434345245 + ], + [ + 0.052451856434345245 + ], + [ + 0.052451856434345245 + ], + [ + 0.052451856434345245 + ], + [ + 0.052451856434345245 + ], + [ + 0.052451856434345245 + ], + [ + 0.052190229296684265 + ], + [ + 0.052190229296684265 + ], + [ + 0.07494325935840607 + ], + [ + 0.23199117183685303 + ], + [ + 0.5014150738716125 + ], + [ + 0.8045819997787476 + ], + [ + 1.013738751411438 + ], + [ + 1.0092895030975342 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3149315416812897, + -0.020695365965366364, + 0.07473263144493103 + ], + [ + 0.3112648129463196, + -0.020937182009220123, + 0.06565257161855698 + ], + [ + 0.3205658197402954, + -0.013957363553345203, + 0.06054219603538513 + ], + [ + 0.327889621257782, + -0.005569664295762777, + 0.06225926801562309 + ], + [ + 0.3304164707660675, + 0.001226993277668953, + 0.06021801009774208 + ], + [ + 0.3371756374835968, + 0.0030524367466568947, + 0.056068189442157745 + ], + [ + 0.34062352776527405, + 0.013566282577812672, + 0.05078946799039841 + ], + [ + 0.3427363932132721, + 0.018085727468132973, + 0.0442420095205307 + ], + [ + 0.34925052523612976, + 0.027139347046613693, + 0.035100314766168594 + ], + [ + 0.35489779710769653, + 0.041272375732660294, + 0.027320431545376778 + ], + [ + 0.35612598061561584, + 0.04383357614278793, + 0.019502274692058563 + ], + [ + 0.3569430708885193, + 0.044560495764017105, + 0.013081795535981655 + ], + [ + 0.35316330194473267, + 0.041531868278980255, + 0.0035312871914356947 + ], + [ + 0.3508399426937103, + 0.0367351658642292, + -0.004286837764084339 + ], + [ + 0.35062938928604126, + 0.035908106714487076, + -0.007890560664236546 + ], + [ + 0.3502996265888214, + 0.036248281598091125, + -0.008221405558288097 + ], + [ + 0.3506108224391937, + 0.0370686799287796, + -0.008283590897917747 + ], + [ + 0.3514944016933441, + 0.03648455813527107, + -0.007912217639386654 + ], + [ + 0.35170120000839233, + 0.03559925779700279, + -0.007821856997907162 + ], + [ + 0.3507435917854309, + 0.03335079550743103, + -0.007914884015917778 + ], + [ + 0.34864869713783264, + 0.03482426702976227, + 0.008586790412664413 + ], + [ + 0.33564719557762146, + 0.0399906300008297, + 0.024828456342220306 + ], + [ + 0.31834882497787476, + 0.03624855354428291, + 0.03726539388298988 + ], + [ + 0.2934243679046631, + 0.031334612518548965, + 0.04832027480006218 + ], + [ + 0.2728855609893799, + 0.02717311680316925, + 0.04716068506240845 + ], + [ + 0.25237664580345154, + 0.02172194980084896, + 0.03803175687789917 + ], + [ + 0.24137748777866364, + 0.018137499690055847, + 0.02534959465265274 + ], + [ + 0.23121249675750732, + 0.014285633340477943, + 0.00678410055115819 + ], + [ + 0.22300861775875092, + 0.008613445796072483, + -0.006752567831426859 + ], + [ + 0.2225724160671234, + 0.00794277898967266, + -0.011972859501838684 + ], + [ + 0.22257958352565765, + 0.006067100912332535, + -0.01152398157864809 + ], + [ + 0.22023651003837585, + 0.0045564123429358006, + -0.011729871854186058 + ], + [ + 0.22517113387584686, + 0.00297760427929461, + -0.007420687470585108 + ], + [ + 0.23478995263576508, + 0.005909422878175974, + 0.006432431749999523 + ], + [ + 0.2431093007326126, + 0.009941808879375458, + 0.024345751851797104 + ], + [ + 0.2562752366065979, + 0.012666547670960426, + 0.05141332373023033 + ], + [ + 0.2697593867778778, + 0.014186350628733635, + 0.06201251223683357 + ], + [ + 0.2691391408443451, + 0.014321018010377884, + 0.0614481158554554 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.3462663353191931, + 0.9042982795359322, + 0.24968829899089978, + 0.9251765244731074, + -0.28507917329315374, + -0.25055590896714763, + -0.15539634354925375, + 0.3177648290526264, + -0.9353488599601099 + ], + [ + 0.3352663464838002, + 0.9161543257506752, + 0.21967641731357962, + 0.9271046425093372, + -0.2793593842373468, + -0.24987059906312392, + -0.16755136153740557, + 0.2874362291828503, + -0.943030728767682 + ], + [ + 0.2189747113498896, + 0.9564194375741999, + 0.1931629757988921, + 0.9611344535156627, + -0.17731610725056274, + -0.21161181530022175, + -0.16813874643989937, + 0.23199322735751957, + -0.9580754168675143 + ], + [ + 0.13331849941431861, + 0.9704237515952345, + 0.20125585719115185, + 0.9816821039016292, + -0.10141478200711773, + -0.16129255677098117, + -0.1361118091613866, + 0.21907255494534175, + -0.9661680966977407 + ], + [ + 0.0789463444830405, + 0.9775997303750456, + 0.19510571970960522, + 0.9911961118114584, + -0.05611021680876849, + -0.11992460756458465, + -0.10629083978693436, + 0.20285564014912408, + -0.9734227481608786 + ], + [ + 0.03905231405139037, + 0.9805899165574739, + 0.19214143830272035, + 0.9922358454300932, + -0.015332257695449714, + -0.12342183322892497, + -0.11808024310129035, + 0.19546953066850808, + -0.9735752250182692 + ], + [ + -0.01710574460042058, + 0.9823798487479349, + 0.18611079032568087, + 0.9951027487658684, + 0.03485097788538716, + -0.09249826343799773, + -0.09735457308353909, + 0.1836171073577204, + -0.9781650397480504 + ], + [ + -0.05636226309467535, + 0.9828653810268247, + 0.17549626229023033, + 0.9949247796183244, + 0.06996603811774865, + -0.07231484226308163, + -0.08335453317171912, + 0.1705297519176653, + -0.9818205668606785 + ], + [ + -0.11439243324837128, + 0.9795978108711638, + 0.16523468204932307, + 0.9911099840486468, + 0.12390927468649632, + -0.04845091501466197, + -0.0679365198888531, + 0.15822332502855052, + -0.9850634541400374 + ], + [ + -0.16684866788631136, + 0.9735434361103112, + 0.15612398928765503, + 0.9840445305693011, + 0.17434289828822458, + -0.0355093744397966, + -0.06178902719097674, + 0.14770826592642078, + -0.9870989739108245 + ], + [ + -0.19449547540031425, + 0.9728616271829839, + 0.1253465771518402, + 0.9791306268582806, + 0.20023157892084303, + -0.03479267668599783, + -0.05894680311022755, + 0.11596365446872856, + -0.991502751002407 + ], + [ + -0.20494056848819764, + 0.973601782160823, + 0.10049344834865429, + 0.9772430540806386, + 0.20927968783748063, + -0.03461250510715309, + -0.054730034157493175, + 0.09111301790587323, + -0.9943354772556412 + ], + [ + -0.20331088502948924, + 0.976911617091916, + 0.06563822376773362, + 0.9767751622431685, + 0.207000004804753, + -0.055328839095571306, + -0.06763849830796931, + 0.05286483142590662, + -0.9963083574601554 + ], + [ + -0.1883882580152827, + 0.981096960398561, + 0.04425628247685763, + 0.977642291519308, + 0.1916297787203931, + -0.08656545350455562, + -0.09340992492686993, + 0.02695889842477471, + -0.9952626807636661 + ], + [ + -0.1748011869509129, + 0.9840419465227741, + 0.03325646590096698, + 0.9797538569582362, + 0.17718925457788098, + -0.09320057852607638, + -0.09760596711273592, + 0.01629157898440254, + -0.9950917845295393 + ], + [ + -0.17606459391377827, + 0.9838347093948989, + 0.032718853278063606, + 0.9797647166339685, + 0.17835689087308937, + -0.0908290675788568, + -0.09519642224966242, + 0.01606499511173183, + -0.9953288688282502 + ], + [ + -0.18432072221545437, + 0.9822540828285096, + 0.0346812359741786, + 0.9786806311572556, + 0.186674469051624, + -0.0856555007102872, + -0.09060956660093378, + 0.01815377015987632, + -0.9957210186941788 + ], + [ + -0.1789453213933367, + 0.9830971479816377, + 0.038711362437990685, + 0.9792531955174986, + 0.18177244822706923, + -0.08956537352294919, + -0.0950881223928804, + 0.02188092081946004, + -0.9952283528336043 + ], + [ + -0.18067974775544188, + 0.9827276328934956, + 0.04001535078663247, + 0.9783570761035046, + 0.18375050524295117, + -0.09514821838143811, + -0.10085762434854169, + 0.02195794549832788, + -0.9946585284610299 + ], + [ + -0.18823983230070268, + 0.9814806192568701, + 0.03551843969763083, + 0.9755000166397347, + 0.191041021101851, + -0.10910108061902679, + -0.11386607515533603, + 0.014111069396505242, + -0.9933958901914213 + ], + [ + -0.1882852883676877, + 0.9793992209275866, + 0.07297819010316071, + 0.9737855188870037, + 0.1958292473986511, + -0.11572669989784834, + -0.12763390376489092, + 0.04927546965493353, + -0.9905965448657794 + ], + [ + -0.21201586095605196, + 0.9714108351883878, + 0.10681883720422443, + 0.9663554137084912, + 0.22468022723173176, + -0.1252038732922734, + -0.14562447973934292, + 0.07667975462725449, + -0.9863638913357227 + ], + [ + -0.2056641028636445, + 0.9711323475304752, + 0.1208480052513925, + 0.9668019702096489, + 0.2207601749963068, + -0.12868137213420255, + -0.1516450697913828, + 0.0903709506177087, + -0.9842951102654214 + ], + [ + -0.21302291083727115, + 0.9678503408723077, + 0.13374212923298784, + 0.9652385336547081, + 0.22968486646728364, + -0.1247374653583051, + -0.15144574146051232, + 0.1025211187476183, + -0.9831345826509268 + ], + [ + -0.21466352348671336, + 0.9682879432717427, + 0.12782030589404597, + 0.9649872014789943, + 0.23046463112453086, + -0.125242783354462, + -0.1507291367520165, + 0.09645990211073252, + -0.9838578223599077 + ], + [ + -0.2258729187454343, + 0.9668427532724134, + 0.11914912933814467, + 0.9639191819540863, + 0.23950664117686699, + -0.11617391916063168, + -0.14085891962663902, + 0.08860958907925799, + -0.9860563399141153 + ], + [ + -0.26568153089723956, + 0.955632669931886, + 0.12719875903071554, + 0.9514094668758388, + 0.2812077411478022, + -0.12546805433090458, + -0.1556706474552324, + 0.0876835587633486, + -0.9839096721973329 + ], + [ + -0.30944067205359654, + 0.944787428463156, + 0.10781087837966513, + 0.9372052849380276, + 0.3221968322199836, + -0.13354944848870776, + -0.16091216350310095, + 0.05971529389850021, + -0.9851605753943702 + ], + [ + -0.31454380569655943, + 0.945858534562946, + 0.08008637145208361, + 0.93751298092835, + 0.32277171386361697, + -0.1299531889581105, + -0.14876694824040732, + 0.03420604221448983, + -0.9882804975244914 + ], + [ + -0.3436363719679024, + 0.9362453039716261, + 0.07320365190217418, + 0.9276862206623699, + 0.3505436714493152, + -0.12852007780888916, + -0.14598739621592627, + 0.023745845908532487, + -0.9890014231274807 + ], + [ + -0.3585885544536164, + 0.9307730302907555, + 0.07124475207501127, + 0.9202142565668472, + 0.365284065890427, + -0.14061747123911264, + -0.1569075225283676, + 0.015136620822439467, + -0.987497297254067 + ], + [ + -0.3583616393118797, + 0.9318766555480308, + 0.05641661381472415, + 0.919362078948906, + 0.362765322490176, + -0.15223235066616006, + -0.16232776490929834, + -0.002686939377063685, + -0.986733235021673 + ], + [ + -0.3608163961693552, + 0.9307877060846073, + 0.05870071939178941, + 0.9154847092077949, + 0.3654938957809027, + -0.16823186188596348, + -0.1780429034308251, + -0.0069612031038733535, + -0.9839981027366205 + ], + [ + -0.36287956941482735, + 0.9261783840406485, + 0.10252813778257477, + 0.9124023146980716, + 0.3755080857936962, + -0.16283640144990696, + -0.1893156999165961, + 0.034456906991301814, + -0.9813115139066096 + ], + [ + -0.3601442910664584, + 0.924326357718278, + 0.1261620943053035, + 0.9140531314600439, + 0.376672000403269, + -0.1504163454558309, + -0.18655552117352697, + 0.061147269272322315, + -0.9805396723132686 + ], + [ + -0.34321962067026385, + 0.9192935933735761, + 0.19261251560908133, + 0.9185091446279569, + 0.37136825017808467, + -0.135744517364374, + -0.1963192380328007, + 0.13032617519886777, + -0.971840442066626 + ], + [ + -0.31402283866308306, + 0.9195886302243297, + 0.23610677237241784, + 0.9271118717391655, + 0.3505993923203761, + -0.132452419324391, + -0.2045806297729103, + 0.17730430696044713, + -0.9626577526073301 + ], + [ + -0.3127301429113631, + 0.9212737634903271, + 0.2312023149084081, + 0.9281426778510061, + 0.34812663389301396, + -0.1317536197828444, + -0.20186883678815143, + 0.1733854073406632, + -0.963943189848401 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0036667287349700928, + -0.00024181604385375977, + -0.009080059826374054, + 0.031640201807022095, + 0.012316733598709106, + 0.011135578155517578, + 1.0 + ], + [ + 0.00930100679397583, + 0.00697981845587492, + -0.0051103755831718445, + 0.05828285217285156, + 0.0005958378314971924, + 0.12298953533172607, + 1.0 + ], + [ + 0.007323801517486572, + 0.008387699723243713, + 0.0017170719802379608, + 0.014598697423934937, + -0.03240559995174408, + 0.08902549743652344, + 1.0 + ], + [ + 0.0025268495082855225, + 0.00679665757343173, + -0.002041257917881012, + 0.017519816756248474, + -0.030043624341487885, + 0.05550062656402588, + 1.0 + ], + [ + 0.006759166717529297, + 0.0018254434689879417, + -0.004149820655584335, + 0.00731310248374939, + 0.011864371597766876, + 0.040142178535461426, + 1.0 + ], + [ + 0.003447890281677246, + 0.010513845831155777, + -0.005278721451759338, + 0.012584120035171509, + -0.02084735780954361, + 0.0565258264541626, + 1.0 + ], + [ + 0.002112865447998047, + 0.004519444890320301, + -0.006547458469867706, + 0.013584807515144348, + -0.014057658612728119, + 0.03940105438232422, + 1.0 + ], + [ + 0.006514132022857666, + 0.00905361957848072, + -0.009141694754362106, + 0.012709543108940125, + -0.015462473034858704, + 0.05832076072692871, + 1.0 + ], + [ + 0.0056472718715667725, + 0.0141330286860466, + -0.007779883220791817, + 0.01072549819946289, + -0.006160475313663483, + 0.053046584129333496, + 1.0 + ], + [ + 0.0012281835079193115, + 0.0025612004101276398, + -0.007818156853318214, + 0.0321081206202507, + -0.002847418189048767, + 0.028131842613220215, + 1.0 + ], + [ + 0.0008170902729034424, + 0.0007269196212291718, + -0.006420479156076908, + 0.025051623582839966, + -0.0042236000299453735, + 0.010628819465637207, + 1.0 + ], + [ + -0.003779768943786621, + -0.00302862748503685, + -0.009550508111715317, + 0.03836589306592941, + 0.012932784855365753, + -0.001502394676208496, + 1.0 + ], + [ + -0.002323359251022339, + -0.004796702414751053, + -0.007818125188350677, + 0.02593040280044079, + 0.025856122374534607, + -0.014851689338684082, + 1.0 + ], + [ + -0.00021055340766906738, + -0.0008270591497421265, + -0.0036037229001522064, + 0.010710123926401138, + 0.004215314984321594, + -0.013807535171508789, + 0.0 + ], + [ + -0.00032976269721984863, + 0.0003401748836040497, + -0.0003308448940515518, + 0.00023148581385612488, + -0.0024208202958106995, + 0.0012475252151489258, + 0.0 + ], + [ + 0.00031119585037231445, + 0.0008203983306884766, + -6.218533962965012e-05, + -0.002090776339173317, + -0.004606783390045166, + 0.008352160453796387, + 0.0 + ], + [ + 0.0008835792541503906, + -0.0005841217935085297, + 0.0003713732585310936, + -0.00375252403318882, + 0.004497990012168884, + -0.005413055419921875, + 0.0 + ], + [ + 0.00020679831504821777, + -0.00088530033826828, + 9.036064147949219e-05, + -8.998997509479523e-05, + 0.005797401070594788, + 0.0018768310546875, + 0.0 + ], + [ + -0.0009576082229614258, + -0.002248462289571762, + -9.30270180106163e-05, + 0.00786835327744484, + 0.013084173202514648, + 0.008005380630493164, + 0.0 + ], + [ + -0.0020948946475982666, + 0.0014734715223312378, + 0.01650167442858219, + -0.03549833595752716, + 0.013869427144527435, + 0.0003725290298461914, + 0.0 + ], + [ + -0.013001501560211182, + 0.005166362971067429, + 0.016241665929555893, + -0.027881521731615067, + 0.018161147832870483, + 0.0249783992767334, + 0.0 + ], + [ + -0.017298370599746704, + -0.0037420764565467834, + 0.012436937540769577, + -0.013972394168376923, + 0.006088227033615112, + -0.00637364387512207, + 0.0 + ], + [ + -0.02492445707321167, + -0.004913941025733948, + 0.011054880917072296, + -0.012348122894763947, + -0.00020165741443634033, + 0.007610917091369629, + 0.0 + ], + [ + -0.020538806915283203, + -0.004161495715379715, + -0.0011595897376537323, + 0.00617411732673645, + -0.0007249265909194946, + 0.0016753673553466797, + 0.0 + ], + [ + -0.020508915185928345, + -0.00545116700232029, + -0.009128928184509277, + 0.00810830295085907, + -0.009976863861083984, + 0.011286616325378418, + 0.0 + ], + [ + -0.010999158024787903, + -0.0035844501107931137, + -0.01268216222524643, + 0.0007391944527626038, + 0.014977410435676575, + 0.04213881492614746, + 0.0 + ], + [ + -0.010164991021156311, + -0.0038518663495779037, + -0.018565494567155838, + 0.028341975063085556, + 0.0053084492683410645, + 0.04659080505371094, + 0.0 + ], + [ + -0.008203878998756409, + -0.00567218754440546, + -0.013536668382585049, + 0.0259428471326828, + -0.012293562293052673, + 0.004802823066711426, + 1.0 + ], + [ + -0.00043620169162750244, + -0.0006706668063998222, + -0.005220291670411825, + 0.01059255376458168, + -0.002810239791870117, + 0.031044840812683105, + 1.0 + ], + [ + 7.167458534240723e-06, + -0.001875678077340126, + 0.0004488779231905937, + 0.00867824349552393, + 0.011047616600990295, + 0.01682579517364502, + 1.0 + ], + [ + -0.0023430734872817993, + -0.0015106885693967342, + -0.00020589027553796768, + 0.018050124868750572, + 0.00549064576625824, + 9.930133819580078e-05, + 1.0 + ], + [ + 0.004934623837471008, + -0.0015788080636411905, + 0.00430918438360095, + 0.004351230338215828, + 0.015947967767715454, + 0.003755331039428711, + 1.0 + ], + [ + 0.009618818759918213, + 0.002931818598881364, + 0.013853119686245918, + -0.04217298701405525, + 0.011467978358268738, + 0.0031058788299560547, + 1.0 + ], + [ + 0.008319348096847534, + 0.004032386001199484, + 0.017913319170475006, + -0.027181483805179596, + -0.002810254693031311, + -0.0032080411911010742, + 1.0 + ], + [ + 0.01316593587398529, + 0.0027247387915849686, + 0.027067571878433228, + -0.07102695107460022, + 0.009947746992111206, + -0.017725825309753418, + 1.0 + ], + [ + 0.013484150171279907, + 0.0015198029577732086, + 0.010599188506603241, + -0.04883366823196411, + 0.008432567119598389, + -0.031021952629089355, + 1.0 + ], + [ + -0.0006202459335327148, + 0.00013466738164424896, + -0.0005643963813781738, + 0.004172831773757935, + -0.0027695894241333008, + -0.0015877485275268555, + 1.0 + ], + [ + 7.429718971252441e-05, + 1.1256895959377289e-05, + 0.00041154399514198303, + -0.0015424787998199463, + 0.000266343355178833, + -0.0003116130828857422, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9422301650047302 + ], + [ + 0.6360166668891907 + ], + [ + 0.3445223569869995 + ], + [ + 0.15667486190795898 + ], + [ + 0.0686454325914383 + ], + [ + 0.05271430313587189 + ], + [ + 0.052451856434345245 + ], + [ + 0.052451856434345245 + ], + [ + 0.052451856434345245 + ], + [ + 0.052451856434345245 + ], + [ + 0.052451856434345245 + ], + [ + 0.052451856434345245 + ], + [ + 0.052190229296684265 + ], + [ + 0.052190229296684265 + ], + [ + 0.07494325935840607 + ], + [ + 0.23199117183685303 + ], + [ + 0.5014150738716125 + ], + [ + 0.8045819997787476 + ], + [ + 1.013738751411438 + ], + [ + 1.0092895030975342 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3112648129463196, + -0.020937182009220123, + 0.06565257161855698 + ], + [ + 0.3205658197402954, + -0.013957363553345203, + 0.06054219603538513 + ], + [ + 0.327889621257782, + -0.005569664295762777, + 0.06225926801562309 + ], + [ + 0.3304164707660675, + 0.001226993277668953, + 0.06021801009774208 + ], + [ + 0.3371756374835968, + 0.0030524367466568947, + 0.056068189442157745 + ], + [ + 0.34062352776527405, + 0.013566282577812672, + 0.05078946799039841 + ], + [ + 0.3427363932132721, + 0.018085727468132973, + 0.0442420095205307 + ], + [ + 0.34925052523612976, + 0.027139347046613693, + 0.035100314766168594 + ], + [ + 0.35489779710769653, + 0.041272375732660294, + 0.027320431545376778 + ], + [ + 0.35612598061561584, + 0.04383357614278793, + 0.019502274692058563 + ], + [ + 0.3569430708885193, + 0.044560495764017105, + 0.013081795535981655 + ], + [ + 0.35316330194473267, + 0.041531868278980255, + 0.0035312871914356947 + ], + [ + 0.3508399426937103, + 0.0367351658642292, + -0.004286837764084339 + ], + [ + 0.35062938928604126, + 0.035908106714487076, + -0.007890560664236546 + ], + [ + 0.3502996265888214, + 0.036248281598091125, + -0.008221405558288097 + ], + [ + 0.3506108224391937, + 0.0370686799287796, + -0.008283590897917747 + ], + [ + 0.3514944016933441, + 0.03648455813527107, + -0.007912217639386654 + ], + [ + 0.35170120000839233, + 0.03559925779700279, + -0.007821856997907162 + ], + [ + 0.3507435917854309, + 0.03335079550743103, + -0.007914884015917778 + ], + [ + 0.34864869713783264, + 0.03482426702976227, + 0.008586790412664413 + ], + [ + 0.33564719557762146, + 0.0399906300008297, + 0.024828456342220306 + ], + [ + 0.31834882497787476, + 0.03624855354428291, + 0.03726539388298988 + ], + [ + 0.2934243679046631, + 0.031334612518548965, + 0.04832027480006218 + ], + [ + 0.2728855609893799, + 0.02717311680316925, + 0.04716068506240845 + ], + [ + 0.25237664580345154, + 0.02172194980084896, + 0.03803175687789917 + ], + [ + 0.24137748777866364, + 0.018137499690055847, + 0.02534959465265274 + ], + [ + 0.23121249675750732, + 0.014285633340477943, + 0.00678410055115819 + ], + [ + 0.22300861775875092, + 0.008613445796072483, + -0.006752567831426859 + ], + [ + 0.2225724160671234, + 0.00794277898967266, + -0.011972859501838684 + ], + [ + 0.22257958352565765, + 0.006067100912332535, + -0.01152398157864809 + ], + [ + 0.22023651003837585, + 0.0045564123429358006, + -0.011729871854186058 + ], + [ + 0.22517113387584686, + 0.00297760427929461, + -0.007420687470585108 + ], + [ + 0.23478995263576508, + 0.005909422878175974, + 0.006432431749999523 + ], + [ + 0.2431093007326126, + 0.009941808879375458, + 0.024345751851797104 + ], + [ + 0.2562752366065979, + 0.012666547670960426, + 0.05141332373023033 + ], + [ + 0.2697593867778778, + 0.014186350628733635, + 0.06201251223683357 + ], + [ + 0.2691391408443451, + 0.014321018010377884, + 0.0614481158554554 + ], + [ + 0.2692134380340576, + 0.014332274906337261, + 0.06185965985059738 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.3352663464838002, + 0.9161543257506752, + 0.21967641731357962, + 0.9271046425093372, + -0.2793593842373468, + -0.24987059906312392, + -0.16755136153740557, + 0.2874362291828503, + -0.943030728767682 + ], + [ + 0.2189747113498896, + 0.9564194375741999, + 0.1931629757988921, + 0.9611344535156627, + -0.17731610725056274, + -0.21161181530022175, + -0.16813874643989937, + 0.23199322735751957, + -0.9580754168675143 + ], + [ + 0.13331849941431861, + 0.9704237515952345, + 0.20125585719115185, + 0.9816821039016292, + -0.10141478200711773, + -0.16129255677098117, + -0.1361118091613866, + 0.21907255494534175, + -0.9661680966977407 + ], + [ + 0.0789463444830405, + 0.9775997303750456, + 0.19510571970960522, + 0.9911961118114584, + -0.05611021680876849, + -0.11992460756458465, + -0.10629083978693436, + 0.20285564014912408, + -0.9734227481608786 + ], + [ + 0.03905231405139037, + 0.9805899165574739, + 0.19214143830272035, + 0.9922358454300932, + -0.015332257695449714, + -0.12342183322892497, + -0.11808024310129035, + 0.19546953066850808, + -0.9735752250182692 + ], + [ + -0.01710574460042058, + 0.9823798487479349, + 0.18611079032568087, + 0.9951027487658684, + 0.03485097788538716, + -0.09249826343799773, + -0.09735457308353909, + 0.1836171073577204, + -0.9781650397480504 + ], + [ + -0.05636226309467535, + 0.9828653810268247, + 0.17549626229023033, + 0.9949247796183244, + 0.06996603811774865, + -0.07231484226308163, + -0.08335453317171912, + 0.1705297519176653, + -0.9818205668606785 + ], + [ + -0.11439243324837128, + 0.9795978108711638, + 0.16523468204932307, + 0.9911099840486468, + 0.12390927468649632, + -0.04845091501466197, + -0.0679365198888531, + 0.15822332502855052, + -0.9850634541400374 + ], + [ + -0.16684866788631136, + 0.9735434361103112, + 0.15612398928765503, + 0.9840445305693011, + 0.17434289828822458, + -0.0355093744397966, + -0.06178902719097674, + 0.14770826592642078, + -0.9870989739108245 + ], + [ + -0.19449547540031425, + 0.9728616271829839, + 0.1253465771518402, + 0.9791306268582806, + 0.20023157892084303, + -0.03479267668599783, + -0.05894680311022755, + 0.11596365446872856, + -0.991502751002407 + ], + [ + -0.20494056848819764, + 0.973601782160823, + 0.10049344834865429, + 0.9772430540806386, + 0.20927968783748063, + -0.03461250510715309, + -0.054730034157493175, + 0.09111301790587323, + -0.9943354772556412 + ], + [ + -0.20331088502948924, + 0.976911617091916, + 0.06563822376773362, + 0.9767751622431685, + 0.207000004804753, + -0.055328839095571306, + -0.06763849830796931, + 0.05286483142590662, + -0.9963083574601554 + ], + [ + -0.1883882580152827, + 0.981096960398561, + 0.04425628247685763, + 0.977642291519308, + 0.1916297787203931, + -0.08656545350455562, + -0.09340992492686993, + 0.02695889842477471, + -0.9952626807636661 + ], + [ + -0.1748011869509129, + 0.9840419465227741, + 0.03325646590096698, + 0.9797538569582362, + 0.17718925457788098, + -0.09320057852607638, + -0.09760596711273592, + 0.01629157898440254, + -0.9950917845295393 + ], + [ + -0.17606459391377827, + 0.9838347093948989, + 0.032718853278063606, + 0.9797647166339685, + 0.17835689087308937, + -0.0908290675788568, + -0.09519642224966242, + 0.01606499511173183, + -0.9953288688282502 + ], + [ + -0.18432072221545437, + 0.9822540828285096, + 0.0346812359741786, + 0.9786806311572556, + 0.186674469051624, + -0.0856555007102872, + -0.09060956660093378, + 0.01815377015987632, + -0.9957210186941788 + ], + [ + -0.1789453213933367, + 0.9830971479816377, + 0.038711362437990685, + 0.9792531955174986, + 0.18177244822706923, + -0.08956537352294919, + -0.0950881223928804, + 0.02188092081946004, + -0.9952283528336043 + ], + [ + -0.18067974775544188, + 0.9827276328934956, + 0.04001535078663247, + 0.9783570761035046, + 0.18375050524295117, + -0.09514821838143811, + -0.10085762434854169, + 0.02195794549832788, + -0.9946585284610299 + ], + [ + -0.18823983230070268, + 0.9814806192568701, + 0.03551843969763083, + 0.9755000166397347, + 0.191041021101851, + -0.10910108061902679, + -0.11386607515533603, + 0.014111069396505242, + -0.9933958901914213 + ], + [ + -0.1882852883676877, + 0.9793992209275866, + 0.07297819010316071, + 0.9737855188870037, + 0.1958292473986511, + -0.11572669989784834, + -0.12763390376489092, + 0.04927546965493353, + -0.9905965448657794 + ], + [ + -0.21201586095605196, + 0.9714108351883878, + 0.10681883720422443, + 0.9663554137084912, + 0.22468022723173176, + -0.1252038732922734, + -0.14562447973934292, + 0.07667975462725449, + -0.9863638913357227 + ], + [ + -0.2056641028636445, + 0.9711323475304752, + 0.1208480052513925, + 0.9668019702096489, + 0.2207601749963068, + -0.12868137213420255, + -0.1516450697913828, + 0.0903709506177087, + -0.9842951102654214 + ], + [ + -0.21302291083727115, + 0.9678503408723077, + 0.13374212923298784, + 0.9652385336547081, + 0.22968486646728364, + -0.1247374653583051, + -0.15144574146051232, + 0.1025211187476183, + -0.9831345826509268 + ], + [ + -0.21466352348671336, + 0.9682879432717427, + 0.12782030589404597, + 0.9649872014789943, + 0.23046463112453086, + -0.125242783354462, + -0.1507291367520165, + 0.09645990211073252, + -0.9838578223599077 + ], + [ + -0.2258729187454343, + 0.9668427532724134, + 0.11914912933814467, + 0.9639191819540863, + 0.23950664117686699, + -0.11617391916063168, + -0.14085891962663902, + 0.08860958907925799, + -0.9860563399141153 + ], + [ + -0.26568153089723956, + 0.955632669931886, + 0.12719875903071554, + 0.9514094668758388, + 0.2812077411478022, + -0.12546805433090458, + -0.1556706474552324, + 0.0876835587633486, + -0.9839096721973329 + ], + [ + -0.30944067205359654, + 0.944787428463156, + 0.10781087837966513, + 0.9372052849380276, + 0.3221968322199836, + -0.13354944848870776, + -0.16091216350310095, + 0.05971529389850021, + -0.9851605753943702 + ], + [ + -0.31454380569655943, + 0.945858534562946, + 0.08008637145208361, + 0.93751298092835, + 0.32277171386361697, + -0.1299531889581105, + -0.14876694824040732, + 0.03420604221448983, + -0.9882804975244914 + ], + [ + -0.3436363719679024, + 0.9362453039716261, + 0.07320365190217418, + 0.9276862206623699, + 0.3505436714493152, + -0.12852007780888916, + -0.14598739621592627, + 0.023745845908532487, + -0.9890014231274807 + ], + [ + -0.3585885544536164, + 0.9307730302907555, + 0.07124475207501127, + 0.9202142565668472, + 0.365284065890427, + -0.14061747123911264, + -0.1569075225283676, + 0.015136620822439467, + -0.987497297254067 + ], + [ + -0.3583616393118797, + 0.9318766555480308, + 0.05641661381472415, + 0.919362078948906, + 0.362765322490176, + -0.15223235066616006, + -0.16232776490929834, + -0.002686939377063685, + -0.986733235021673 + ], + [ + -0.3608163961693552, + 0.9307877060846073, + 0.05870071939178941, + 0.9154847092077949, + 0.3654938957809027, + -0.16823186188596348, + -0.1780429034308251, + -0.0069612031038733535, + -0.9839981027366205 + ], + [ + -0.36287956941482735, + 0.9261783840406485, + 0.10252813778257477, + 0.9124023146980716, + 0.3755080857936962, + -0.16283640144990696, + -0.1893156999165961, + 0.034456906991301814, + -0.9813115139066096 + ], + [ + -0.3601442910664584, + 0.924326357718278, + 0.1261620943053035, + 0.9140531314600439, + 0.376672000403269, + -0.1504163454558309, + -0.18655552117352697, + 0.061147269272322315, + -0.9805396723132686 + ], + [ + -0.34321962067026385, + 0.9192935933735761, + 0.19261251560908133, + 0.9185091446279569, + 0.37136825017808467, + -0.135744517364374, + -0.1963192380328007, + 0.13032617519886777, + -0.971840442066626 + ], + [ + -0.31402283866308306, + 0.9195886302243297, + 0.23610677237241784, + 0.9271118717391655, + 0.3505993923203761, + -0.132452419324391, + -0.2045806297729103, + 0.17730430696044713, + -0.9626577526073301 + ], + [ + -0.3127301429113631, + 0.9212737634903271, + 0.2312023149084081, + 0.9281426778510061, + 0.34812663389301396, + -0.1317536197828444, + -0.20186883678815143, + 0.1733854073406632, + -0.963943189848401 + ], + [ + -0.31242374330491585, + 0.9210096845615869, + 0.2326640616062342, + 0.9281890934394141, + 0.34808660173465256, + -0.13153221853576155, + -0.20212968965360345, + 0.1748624563380797, + -0.963621663270368 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006375.json b/json/chunk-0006/episode_0006375.json new file mode 100644 index 0000000000000000000000000000000000000000..615129e45560a87c4f59f9174acac1e7ab68bb17 --- /dev/null +++ b/json/chunk-0006/episode_0006375.json @@ -0,0 +1,2002 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 32, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the spoon to the lower left of the stove." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006375.mp4", + "start": 0, + "end": 32, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3403608202934265, + 0.12740971148014069, + 0.12117774039506912, + 0.09237758815288544, + -0.2150467038154602, + 0.010096695274114609, + 0.0, + 1.0001531839370728 + ], + [ + 0.33898690342903137, + 0.126315176486969, + 0.10853005945682526, + 0.0781821459531784, + -0.18106423318386078, + 0.02034902013838291, + 0.0, + 1.0001531839370728 + ], + [ + 0.34060972929000854, + 0.08815011382102966, + 0.09704332798719406, + 0.044238731265068054, + -0.15212567150592804, + 0.031018849462270737, + 0.0, + 1.0001531839370728 + ], + [ + 0.34818825125694275, + 0.037933435291051865, + 0.09420452266931534, + -0.00869444478303194, + -0.15811052918434143, + -0.02236345037817955, + 0.0, + 1.0001531839370728 + ], + [ + 0.3502958118915558, + -0.006151801440864801, + 0.0911029502749443, + -0.058609507977962494, + -0.1622105836868286, + -0.033550262451171875, + 0.0, + 1.0001531839370728 + ], + [ + 0.3570835292339325, + -0.052468203008174896, + 0.07992102205753326, + -0.10615665465593338, + -0.11907873302698135, + -0.03808348625898361, + 0.0, + 1.0001531839370728 + ], + [ + 0.37439435720443726, + -0.08487668633460999, + 0.07747448980808258, + -0.10142618417739868, + -0.1325094997882843, + -0.055586911737918854, + 0.0, + 1.0001531839370728 + ], + [ + 0.3837040662765503, + -0.10179796814918518, + 0.07132573425769806, + -0.09288337826728821, + -0.11990263313055038, + -0.047163911163806915, + 0.0, + 1.0001531839370728 + ], + [ + 0.39588508009910583, + -0.10899528115987778, + 0.06631774455308914, + -0.11540579050779343, + -0.10748709738254547, + -0.03488890454173088, + 0.0, + 1.0001531839370728 + ], + [ + 0.3971860408782959, + -0.10747097432613373, + 0.05023697763681412, + -0.09778708964586258, + -0.0851999968290329, + -0.050810232758522034, + 0.0, + 0.9468915462493896 + ], + [ + 0.3964195251464844, + -0.10420109331607819, + 0.04662706330418587, + -0.07428682595491409, + -0.08039449155330658, + -0.04455721378326416, + 0.0, + 0.7240482568740845 + ], + [ + 0.3964987099170685, + -0.09831048548221588, + 0.0452694408595562, + -0.03728721663355827, + -0.08210598677396774, + -0.04893307760357857, + 0.0, + 0.413944274187088 + ], + [ + 0.39561212062835693, + -0.09548232704401016, + 0.043425220996141434, + -0.023250211030244827, + -0.08008899539709091, + -0.06328023970127106, + 0.0, + 0.3228223919868469 + ], + [ + 0.3949522376060486, + -0.09308366477489471, + 0.04625985026359558, + 0.003074869280681014, + -0.07309703528881073, + -0.11041585355997086, + 0.0, + 0.3228223919868469 + ], + [ + 0.3915642499923706, + -0.08736386895179749, + 0.06305433809757233, + 0.04053056985139847, + -0.10267562419176102, + -0.18201494216918945, + 0.0, + 0.3228223919868469 + ], + [ + 0.38031014800071716, + -0.07516583800315857, + 0.09634577482938766, + 0.04879741743206978, + -0.1829911768436432, + -0.2191297858953476, + 0.0, + 0.3228223919868469 + ], + [ + 0.35971513390541077, + -0.03696395829319954, + 0.11189226806163788, + 0.0831926017999649, + -0.18978866934776306, + -0.14760707318782806, + 0.0, + 0.3228223919868469 + ], + [ + 0.3325400650501251, + 0.010998973622918129, + 0.10962384194135666, + 0.09186144173145294, + -0.12485116720199585, + -0.05748937278985977, + 0.0, + 0.3228223919868469 + ], + [ + 0.3111443817615509, + 0.0609731450676918, + 0.09212543815374374, + 0.11998452991247177, + -0.08765477687120438, + 0.042109403759241104, + 0.0, + 0.3228223919868469 + ], + [ + 0.3030928373336792, + 0.08812902122735977, + 0.07043563574552536, + 0.16885192692279816, + -0.030773067846894264, + 0.07801833748817444, + 0.0, + 0.3228223919868469 + ], + [ + 0.29169097542762756, + 0.10380721092224121, + 0.05620808154344559, + 0.18637146055698395, + -0.009748716838657856, + 0.10706755518913269, + 0.0, + 0.3228223919868469 + ], + [ + 0.28906646370887756, + 0.10400771349668503, + 0.04763149842619896, + 0.1880587637424469, + -0.0014020598027855158, + 0.09285589307546616, + 0.0, + 0.3228223919868469 + ], + [ + 0.28937551379203796, + 0.10246244072914124, + 0.046243004500865936, + 0.17641672492027283, + 0.007552760187536478, + 0.09308234602212906, + 0.0, + 0.39711064100265503 + ], + [ + 0.2866330146789551, + 0.10338669270277023, + 0.0490846149623394, + 0.17000718414783478, + -0.002173863584175706, + 0.10398323833942413, + 0.0, + 0.6921995282173157 + ], + [ + 0.28345659375190735, + 0.1015700250864029, + 0.06992613524198532, + 0.1620815396308899, + -0.04569712653756142, + 0.10451322048902512, + 0.0, + 0.9650423526763916 + ], + [ + 0.28352290391921997, + 0.09833227843046188, + 0.09275875985622406, + 0.15285000205039978, + -0.10765053331851959, + 0.09584516286849976, + 0.0, + 1.0067112445831299 + ], + [ + 0.287934273481369, + 0.09518842399120331, + 0.12196986377239227, + 0.13498173654079437, + -0.188315287232399, + 0.07871630042791367, + 0.0, + 1.0014774799346924 + ], + [ + 0.28754159808158875, + 0.09654144197702408, + 0.12418986856937408, + 0.13711893558502197, + -0.19371260702610016, + 0.07860134541988373, + 0.0, + 1.0001531839370728 + ], + [ + 0.28756123781204224, + 0.0965469479560852, + 0.12372517585754395, + 0.13681697845458984, + -0.19220753014087677, + 0.07865925133228302, + 0.0, + 1.0001531839370728 + ], + [ + 0.28770899772644043, + 0.09610571712255478, + 0.12372517585754395, + 0.13681697845458984, + -0.19220753014087677, + 0.07712526619434357, + 0.0, + 1.0001531839370728 + ], + [ + 0.2876087427139282, + 0.09634760767221451, + 0.12370308488607407, + 0.135375514626503, + -0.1924854964017868, + 0.07945822924375534, + 0.0, + 1.0008161067962646 + ], + [ + 0.2876087427139282, + 0.09634760767221451, + 0.12370308488607407, + 0.135375514626503, + -0.1924854964017868, + 0.07945822924375534, + 0.0, + 1.0001531839370728 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9468915462493896 + ], + [ + 0.7240482568740845 + ], + [ + 0.413944274187088 + ], + [ + 0.3228223919868469 + ], + [ + 0.3228223919868469 + ], + [ + 0.3228223919868469 + ], + [ + 0.3228223919868469 + ], + [ + 0.3228223919868469 + ], + [ + 0.3228223919868469 + ], + [ + 0.3228223919868469 + ], + [ + 0.3228223919868469 + ], + [ + 0.3228223919868469 + ], + [ + 0.3228223919868469 + ], + [ + 0.39711064100265503 + ], + [ + 0.6921995282173157 + ], + [ + 0.9650423526763916 + ], + [ + 1.0067112445831299 + ], + [ + 1.0014774799346924 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3403608202934265, + 0.12740971148014069, + 0.12117774039506912 + ], + [ + 0.33898690342903137, + 0.126315176486969, + 0.10853005945682526 + ], + [ + 0.34060972929000854, + 0.08815011382102966, + 0.09704332798719406 + ], + [ + 0.34818825125694275, + 0.037933435291051865, + 0.09420452266931534 + ], + [ + 0.3502958118915558, + -0.006151801440864801, + 0.0911029502749443 + ], + [ + 0.3570835292339325, + -0.052468203008174896, + 0.07992102205753326 + ], + [ + 0.37439435720443726, + -0.08487668633460999, + 0.07747448980808258 + ], + [ + 0.3837040662765503, + -0.10179796814918518, + 0.07132573425769806 + ], + [ + 0.39588508009910583, + -0.10899528115987778, + 0.06631774455308914 + ], + [ + 0.3971860408782959, + -0.10747097432613373, + 0.05023697763681412 + ], + [ + 0.3964195251464844, + -0.10420109331607819, + 0.04662706330418587 + ], + [ + 0.3964987099170685, + -0.09831048548221588, + 0.0452694408595562 + ], + [ + 0.39561212062835693, + -0.09548232704401016, + 0.043425220996141434 + ], + [ + 0.3949522376060486, + -0.09308366477489471, + 0.04625985026359558 + ], + [ + 0.3915642499923706, + -0.08736386895179749, + 0.06305433809757233 + ], + [ + 0.38031014800071716, + -0.07516583800315857, + 0.09634577482938766 + ], + [ + 0.35971513390541077, + -0.03696395829319954, + 0.11189226806163788 + ], + [ + 0.3325400650501251, + 0.010998973622918129, + 0.10962384194135666 + ], + [ + 0.3111443817615509, + 0.0609731450676918, + 0.09212543815374374 + ], + [ + 0.3030928373336792, + 0.08812902122735977, + 0.07043563574552536 + ], + [ + 0.29169097542762756, + 0.10380721092224121, + 0.05620808154344559 + ], + [ + 0.28906646370887756, + 0.10400771349668503, + 0.04763149842619896 + ], + [ + 0.28937551379203796, + 0.10246244072914124, + 0.046243004500865936 + ], + [ + 0.2866330146789551, + 0.10338669270277023, + 0.0490846149623394 + ], + [ + 0.28345659375190735, + 0.1015700250864029, + 0.06992613524198532 + ], + [ + 0.28352290391921997, + 0.09833227843046188, + 0.09275875985622406 + ], + [ + 0.287934273481369, + 0.09518842399120331, + 0.12196986377239227 + ], + [ + 0.28754159808158875, + 0.09654144197702408, + 0.12418986856937408 + ], + [ + 0.28756123781204224, + 0.0965469479560852, + 0.12372517585754395 + ], + [ + 0.28770899772644043, + 0.09610571712255478, + 0.12372517585754395 + ], + [ + 0.2876087427139282, + 0.09634760767221451, + 0.12370308488607407 + ], + [ + 0.2876087427139282, + 0.09634760767221451, + 0.12370308488607407 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9769166318563519, + 0.029737182086142278, + 0.21154099934531923, + 0.009863964730571478, + -0.9954867230007136, + 0.09438689807962926, + 0.21339305659330804, + -0.09012149760670814, + -0.9728008630068588 + ], + [ + 0.9834489567672704, + 0.03434697860766541, + 0.1779000688417306, + 0.020014985321786423, + -0.9964527531007302, + 0.08173928798652588, + 0.18007651095003085, + -0.07682575023063631, + -0.9806478747774675 + ], + [ + 0.9879756974957987, + 0.03768204148910748, + 0.14994694030523997, + 0.03065570205268479, + -0.99833320489652, + 0.04889826103963149, + 0.151539595780598, + -0.04371356483125241, + -0.9874841138774825 + ], + [ + 0.9872796155198439, + -0.023729344415868638, + 0.1572128461436359, + -0.022082660169284077, + -0.9996815496748184, + -0.0122129177349966, + 0.15745258619291513, + 0.008585886870147072, + -0.9874892230540118 + ], + [ + 0.9863173155298487, + -0.042941075442497624, + 0.15916726147620278, + -0.033103626430875326, + -0.9974038365525332, + -0.06395104961931422, + 0.1615001640962548, + 0.0578070140219045, + -0.9851781798876553 + ], + [ + 0.9921985478180396, + -0.05043829529626892, + 0.11400885963546709, + -0.037804658215711495, + -0.9931704062590407, + -0.11037822225622726, + 0.11879751480972359, + 0.10520704586128365, + -0.9873290373407313 + ], + [ + 0.9897024407809064, + -0.06862977237519471, + 0.1256146211873667, + -0.05507123553443416, + -0.9925809152107032, + -0.10839873512266562, + 0.13212205617922976, + 0.10036474033848694, + -0.9861392808157278 + ], + [ + 0.9917162599688248, + -0.05802519004932201, + 0.11459466406943357, + -0.04680792979108911, + -0.9940591638122135, + -0.09826187739726618, + 0.1196155400527822, + 0.09208396255973651, + -0.988540675145529 + ], + [ + 0.993623777579585, + -0.04699557748427784, + 0.10248514197381899, + -0.034680517722680146, + -0.9923127257662908, + -0.11879695270822471, + 0.10728024197848111, + 0.11448523913235517, + -0.9876153500740282 + ], + [ + 0.995086794406864, + -0.05884314507334799, + 0.07962258395046329, + -0.05060414703630995, + -0.9935162982171007, + -0.10180660823206154, + 0.08509695587856933, + 0.09727717848943739, + -0.9916126555491993 + ], + [ + 0.9957808003409124, + -0.05037404267554898, + 0.07670106581354602, + -0.04439860407836086, + -0.9959867433042678, + -0.07771210406398377, + 0.08030791759412584, + 0.07397880092756609, + -0.9940210135530408 + ], + [ + 0.9954382448755065, + -0.051933249689592044, + 0.08003523109137335, + -0.04874877186710489, + -0.9979592139496263, + -0.041242751296352215, + 0.08201376640918286, + 0.037152992742473495, + -0.9959384505327915 + ], + [ + 0.994799479700035, + -0.06507712921160644, + 0.07835153120466733, + -0.06303531129730786, + -0.9976111224688716, + -0.028259473739793255, + 0.08000340441625949, + 0.023173596612836196, + -0.9965251826731899 + ], + [ + 0.9912562231517551, + -0.10996791473506044, + 0.0729257004885128, + -0.10989737589974378, + -0.9939304067017135, + -0.004991332899799514, + 0.07303195761629433, + -0.003066653320589856, + -0.9973248862853784 + ], + [ + 0.9783014466169995, + -0.17677848913673372, + 0.10805390009444331, + -0.18005829692527392, + -0.9834250280942328, + 0.021312527448129802, + 0.10249531333410379, + -0.04030607766070905, + -0.9939165613109345 + ], + [ + 0.9597900263366417, + -0.2084575763169142, + 0.18801208530513708, + -0.2137508721987345, + -0.9768546092705083, + 0.008101665337603509, + 0.1819716186084756, + -0.04796364480562507, + -0.9821332999129858 + ], + [ + 0.9713652211091025, + -0.1310571675117386, + 0.1981757453965147, + -0.14443084987478907, + -0.9880104798574392, + 0.05454375579586212, + 0.18865136316525852, + -0.08160459874095695, + -0.978647716310735 + ], + [ + 0.9905770122976327, + -0.045811169979719624, + 0.1290678868370644, + -0.0570104720485055, + -0.9947949588786165, + 0.08445588118360264, + 0.12452706044993836, + -0.09101827560870107, + -0.9880327346403642 + ], + [ + 0.9952777125806002, + 0.05226358463322209, + 0.08179726500081706, + 0.041935340590563225, + -0.9914892750937412, + 0.12324952163655954, + 0.08754257278536724, + -0.11923730580390236, + -0.9889988689855742 + ], + [ + 0.9964860996435684, + 0.08198568106401356, + 0.01714063352440243, + 0.07790231318440118, + -0.9823767305735244, + 0.16990346914701962, + 0.03076821115481843, + -0.16797115028522794, + -0.9853116308326972 + ], + [ + 0.9942264964159095, + 0.10680857909882695, + -0.010276247147404067, + 0.10685803364845321, + -0.9768629222426098, + 0.1852570964697824, + 0.009748562423811353, + -0.1852856135227931, + -0.9826363553991633 + ], + [ + 0.995691009628369, + 0.09134871200865194, + -0.015963275340609977, + 0.09272242217952062, + -0.97811264289433, + 0.1862745560602204, + 0.00140205934343065, + -0.18695205434717696, + -0.9823680387741492 + ], + [ + 0.9956425669784774, + 0.09018555051194962, + -0.02371592923258001, + 0.09294533726190471, + -0.9803402487217647, + 0.174052179007961, + -0.007552688380897895, + -0.17549804333668534, + -0.9844508081581406 + ], + [ + 0.9945962625079744, + 0.1026653917538539, + -0.015430228164095124, + 0.10379570766524858, + -0.9802218572872827, + 0.16849795715835866, + 0.002173861872011122, + -0.16918902988166082, + -0.9855812226763778 + ], + [ + 0.9935052271539617, + 0.11028723310570215, + 0.028001604090534798, + 0.1042141516485651, + -0.9807394575566621, + 0.16519542060127956, + 0.045681223866315346, + -0.16120435045417447, + -0.9858632679944633 + ], + [ + 0.989648210454702, + 0.11086642234257917, + 0.09113207964686529, + 0.09514451435991407, + -0.9822395335638061, + 0.1617189540269553, + 0.10744273326298917, + -0.15137415598877252, + -0.9826199285418878 + ], + [ + 0.9792792292785728, + 0.10303423244058472, + 0.17434488248567584, + 0.07724484690571363, + -0.9858544150620913, + 0.14874241469431265, + 0.18720423267137262, + -0.13219311346647966, + -0.9733856152738035 + ], + [ + 0.9782665620631693, + 0.10401541616906057, + 0.1793748219463498, + 0.07705181312465514, + -0.9854892768536231, + 0.15124120900312368, + 0.1925033808620274, + -0.13413306231388458, + -0.9720857832264542 + ], + [ + 0.9785498270749547, + 0.10381747055230486, + 0.17793866566796993, + 0.07713113970807522, + -0.9855447096835172, + 0.15083902844478056, + 0.19102623699091612, + -0.1338788931196895, + -0.9724121650607509 + ], + [ + 0.9786669937328735, + 0.10230553806082407, + 0.1781698410504582, + 0.07562996865628463, + -0.9857028045304186, + 0.15056589581282137, + 0.19102623699091614, + -0.13387889311968953, + -0.9724121650607512 + ], + [ + 0.9784349195531317, + 0.10438514582555779, + 0.1782381820206719, + 0.07790873699090044, + -0.985675134418262, + 0.1495819443984603, + 0.19129907710059615, + -0.1324698860893237, + -0.9725514857219344 + ], + [ + 0.9784349195531317, + 0.10438514582555779, + 0.1782381820206719, + 0.07790873699090044, + -0.985675134418262, + 0.1495819443984603, + 0.19129907710059615, + -0.1324698860893237, + -0.9725514857219344 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0013739168643951416, + -0.001094534993171692, + -0.012647680938243866, + -0.014195442199707031, + 0.033982470631599426, + 0.010252324864268303, + 1.0 + ], + [ + 0.0016228258609771729, + -0.03816506266593933, + -0.011486731469631195, + -0.03394341468811035, + 0.02893856167793274, + 0.010669829323887825, + 1.0 + ], + [ + 0.007578521966934204, + -0.0502166785299778, + -0.002838805317878723, + -0.05293317511677742, + -0.005984857678413391, + -0.05338229984045029, + 1.0 + ], + [ + 0.002107560634613037, + -0.04408523812890053, + -0.0031015723943710327, + -0.04991506412625313, + -0.004100054502487183, + -0.011186812072992325, + 1.0 + ], + [ + 0.006787717342376709, + -0.04631640017032623, + -0.011181928217411041, + -0.047547146677970886, + 0.04313185065984726, + -0.004533223807811737, + 1.0 + ], + [ + 0.01731082797050476, + -0.03240848332643509, + -0.0024465322494506836, + 0.0047304704785346985, + -0.013430766761302948, + -0.01750342547893524, + 1.0 + ], + [ + 0.009309709072113037, + -0.016921281814575195, + -0.0061487555503845215, + 0.008542805910110474, + 0.012606866657733917, + 0.008423000574111938, + 1.0 + ], + [ + 0.012181013822555542, + -0.0071973130106925964, + -0.005007989704608917, + -0.02252241224050522, + 0.012415535748004913, + 0.012275006622076035, + 1.0 + ], + [ + 0.0013009607791900635, + 0.001524306833744049, + -0.016080766916275024, + 0.017618700861930847, + 0.022287100553512573, + -0.015921328216791153, + 0.0 + ], + [ + -0.0007665157318115234, + 0.003269881010055542, + -0.00360991433262825, + 0.023500263690948486, + 0.004805505275726318, + 0.0062530189752578735, + 0.0 + ], + [ + 7.918477058410645e-05, + 0.005890607833862305, + -0.0013576224446296692, + 0.03699960932135582, + -0.0017114952206611633, + -0.004375863820314407, + 0.0 + ], + [ + -0.0008865892887115479, + 0.002828158438205719, + -0.0018442198634147644, + 0.014037005603313446, + 0.002016991376876831, + -0.01434716209769249, + 0.0 + ], + [ + -0.0006598830223083496, + 0.002398662269115448, + 0.0028346292674541473, + 0.026325080543756485, + 0.006991960108280182, + -0.0471356138586998, + 0.0 + ], + [ + -0.0033879876136779785, + 0.005719795823097229, + 0.016794487833976746, + 0.03745570033788681, + -0.029578588902950287, + -0.0715990886092186, + 0.0 + ], + [ + -0.011254101991653442, + 0.012198030948638916, + 0.03329143673181534, + 0.00826684758067131, + -0.08031555265188217, + -0.03711484372615814, + 0.0 + ], + [ + -0.020595014095306396, + 0.03820187970995903, + 0.015546493232250214, + 0.034395184367895126, + -0.006797492504119873, + 0.07152271270751953, + 0.0 + ], + [ + -0.027175068855285645, + 0.04796293377876282, + -0.0022684261202812195, + 0.008668839931488037, + 0.06493750214576721, + 0.09011770039796829, + 0.0 + ], + [ + -0.02139568328857422, + 0.04997417330741882, + -0.017498403787612915, + 0.02812308818101883, + 0.03719639033079147, + 0.09959878027439117, + 0.0 + ], + [ + -0.008051544427871704, + 0.02715587615966797, + -0.021689802408218384, + 0.048867397010326385, + 0.05688171088695526, + 0.035908933728933334, + 0.0 + ], + [ + -0.011401861906051636, + 0.01567818969488144, + -0.014227554202079773, + 0.01751953363418579, + 0.021024350076913834, + 0.029049217700958252, + 0.0 + ], + [ + -0.00262451171875, + 0.00020050257444381714, + -0.008576583117246628, + 0.0016873031854629517, + 0.008346657268702984, + -0.014211662113666534, + 0.0 + ], + [ + 0.0003090500831604004, + -0.0015452727675437927, + -0.001388493925333023, + -0.011642038822174072, + 0.008954820223152637, + 0.00022645294666290283, + 1.0 + ], + [ + -0.0027424991130828857, + 0.0009242519736289978, + 0.002841610461473465, + -0.006409540772438049, + -0.009726624004542828, + 0.010900892317295074, + 1.0 + ], + [ + -0.0031764209270477295, + -0.00181666761636734, + 0.02084152027964592, + -0.007925644516944885, + -0.043523263186216354, + 0.0005299821496009827, + 1.0 + ], + [ + 6.631016731262207e-05, + -0.0032377466559410095, + 0.02283262461423874, + -0.009231537580490112, + -0.061953406780958176, + -0.00866805762052536, + 1.0 + ], + [ + 0.004411369562149048, + -0.0031438544392585754, + 0.029211103916168213, + -0.017868265509605408, + -0.0806647539138794, + -0.01712886244058609, + 1.0 + ], + [ + -0.00039267539978027344, + 0.0013530179858207703, + 0.0022200047969818115, + 0.0021371990442276, + -0.005397319793701172, + -0.00011495500802993774, + 1.0 + ], + [ + 1.963973045349121e-05, + 5.505979061126709e-06, + -0.00046469271183013916, + -0.0003019571304321289, + 0.0015050768852233887, + 5.790591239929199e-05, + 1.0 + ], + [ + 0.00014775991439819336, + -0.000441230833530426, + 0.0, + 0.0, + 0.0, + -0.0015339851379394531, + 1.0 + ], + [ + -0.00010025501251220703, + 0.000241890549659729, + -2.209097146987915e-05, + -0.001441463828086853, + -0.0002779662609100342, + 0.0023329630494117737, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9468915462493896 + ], + [ + 0.7240482568740845 + ], + [ + 0.413944274187088 + ], + [ + 0.3228223919868469 + ], + [ + 0.3228223919868469 + ], + [ + 0.3228223919868469 + ], + [ + 0.3228223919868469 + ], + [ + 0.3228223919868469 + ], + [ + 0.3228223919868469 + ], + [ + 0.3228223919868469 + ], + [ + 0.3228223919868469 + ], + [ + 0.3228223919868469 + ], + [ + 0.3228223919868469 + ], + [ + 0.39711064100265503 + ], + [ + 0.6921995282173157 + ], + [ + 0.9650423526763916 + ], + [ + 1.0067112445831299 + ], + [ + 1.0014774799346924 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.33898690342903137, + 0.126315176486969, + 0.10853005945682526 + ], + [ + 0.34060972929000854, + 0.08815011382102966, + 0.09704332798719406 + ], + [ + 0.34818825125694275, + 0.037933435291051865, + 0.09420452266931534 + ], + [ + 0.3502958118915558, + -0.006151801440864801, + 0.0911029502749443 + ], + [ + 0.3570835292339325, + -0.052468203008174896, + 0.07992102205753326 + ], + [ + 0.37439435720443726, + -0.08487668633460999, + 0.07747448980808258 + ], + [ + 0.3837040662765503, + -0.10179796814918518, + 0.07132573425769806 + ], + [ + 0.39588508009910583, + -0.10899528115987778, + 0.06631774455308914 + ], + [ + 0.3971860408782959, + -0.10747097432613373, + 0.05023697763681412 + ], + [ + 0.3964195251464844, + -0.10420109331607819, + 0.04662706330418587 + ], + [ + 0.3964987099170685, + -0.09831048548221588, + 0.0452694408595562 + ], + [ + 0.39561212062835693, + -0.09548232704401016, + 0.043425220996141434 + ], + [ + 0.3949522376060486, + -0.09308366477489471, + 0.04625985026359558 + ], + [ + 0.3915642499923706, + -0.08736386895179749, + 0.06305433809757233 + ], + [ + 0.38031014800071716, + -0.07516583800315857, + 0.09634577482938766 + ], + [ + 0.35971513390541077, + -0.03696395829319954, + 0.11189226806163788 + ], + [ + 0.3325400650501251, + 0.010998973622918129, + 0.10962384194135666 + ], + [ + 0.3111443817615509, + 0.0609731450676918, + 0.09212543815374374 + ], + [ + 0.3030928373336792, + 0.08812902122735977, + 0.07043563574552536 + ], + [ + 0.29169097542762756, + 0.10380721092224121, + 0.05620808154344559 + ], + [ + 0.28906646370887756, + 0.10400771349668503, + 0.04763149842619896 + ], + [ + 0.28937551379203796, + 0.10246244072914124, + 0.046243004500865936 + ], + [ + 0.2866330146789551, + 0.10338669270277023, + 0.0490846149623394 + ], + [ + 0.28345659375190735, + 0.1015700250864029, + 0.06992613524198532 + ], + [ + 0.28352290391921997, + 0.09833227843046188, + 0.09275875985622406 + ], + [ + 0.287934273481369, + 0.09518842399120331, + 0.12196986377239227 + ], + [ + 0.28754159808158875, + 0.09654144197702408, + 0.12418986856937408 + ], + [ + 0.28756123781204224, + 0.0965469479560852, + 0.12372517585754395 + ], + [ + 0.28770899772644043, + 0.09610571712255478, + 0.12372517585754395 + ], + [ + 0.2876087427139282, + 0.09634760767221451, + 0.12370308488607407 + ], + [ + 0.2876087427139282, + 0.09634760767221451, + 0.12370308488607407 + ], + [ + 0.2876087427139282, + 0.09634760767221451, + 0.12370308488607407 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9834489567672704, + 0.03434697860766541, + 0.1779000688417306, + 0.020014985321786423, + -0.9964527531007302, + 0.08173928798652588, + 0.18007651095003085, + -0.07682575023063631, + -0.9806478747774675 + ], + [ + 0.9879756974957987, + 0.03768204148910748, + 0.14994694030523997, + 0.03065570205268479, + -0.99833320489652, + 0.04889826103963149, + 0.151539595780598, + -0.04371356483125241, + -0.9874841138774825 + ], + [ + 0.9872796155198439, + -0.023729344415868638, + 0.1572128461436359, + -0.022082660169284077, + -0.9996815496748184, + -0.0122129177349966, + 0.15745258619291513, + 0.008585886870147072, + -0.9874892230540118 + ], + [ + 0.9863173155298487, + -0.042941075442497624, + 0.15916726147620278, + -0.033103626430875326, + -0.9974038365525332, + -0.06395104961931422, + 0.1615001640962548, + 0.0578070140219045, + -0.9851781798876553 + ], + [ + 0.9921985478180396, + -0.05043829529626892, + 0.11400885963546709, + -0.037804658215711495, + -0.9931704062590407, + -0.11037822225622726, + 0.11879751480972359, + 0.10520704586128365, + -0.9873290373407313 + ], + [ + 0.9897024407809064, + -0.06862977237519471, + 0.1256146211873667, + -0.05507123553443416, + -0.9925809152107032, + -0.10839873512266562, + 0.13212205617922976, + 0.10036474033848694, + -0.9861392808157278 + ], + [ + 0.9917162599688248, + -0.05802519004932201, + 0.11459466406943357, + -0.04680792979108911, + -0.9940591638122135, + -0.09826187739726618, + 0.1196155400527822, + 0.09208396255973651, + -0.988540675145529 + ], + [ + 0.993623777579585, + -0.04699557748427784, + 0.10248514197381899, + -0.034680517722680146, + -0.9923127257662908, + -0.11879695270822471, + 0.10728024197848111, + 0.11448523913235517, + -0.9876153500740282 + ], + [ + 0.995086794406864, + -0.05884314507334799, + 0.07962258395046329, + -0.05060414703630995, + -0.9935162982171007, + -0.10180660823206154, + 0.08509695587856933, + 0.09727717848943739, + -0.9916126555491993 + ], + [ + 0.9957808003409124, + -0.05037404267554898, + 0.07670106581354602, + -0.04439860407836086, + -0.9959867433042678, + -0.07771210406398377, + 0.08030791759412584, + 0.07397880092756609, + -0.9940210135530408 + ], + [ + 0.9954382448755065, + -0.051933249689592044, + 0.08003523109137335, + -0.04874877186710489, + -0.9979592139496263, + -0.041242751296352215, + 0.08201376640918286, + 0.037152992742473495, + -0.9959384505327915 + ], + [ + 0.994799479700035, + -0.06507712921160644, + 0.07835153120466733, + -0.06303531129730786, + -0.9976111224688716, + -0.028259473739793255, + 0.08000340441625949, + 0.023173596612836196, + -0.9965251826731899 + ], + [ + 0.9912562231517551, + -0.10996791473506044, + 0.0729257004885128, + -0.10989737589974378, + -0.9939304067017135, + -0.004991332899799514, + 0.07303195761629433, + -0.003066653320589856, + -0.9973248862853784 + ], + [ + 0.9783014466169995, + -0.17677848913673372, + 0.10805390009444331, + -0.18005829692527392, + -0.9834250280942328, + 0.021312527448129802, + 0.10249531333410379, + -0.04030607766070905, + -0.9939165613109345 + ], + [ + 0.9597900263366417, + -0.2084575763169142, + 0.18801208530513708, + -0.2137508721987345, + -0.9768546092705083, + 0.008101665337603509, + 0.1819716186084756, + -0.04796364480562507, + -0.9821332999129858 + ], + [ + 0.9713652211091025, + -0.1310571675117386, + 0.1981757453965147, + -0.14443084987478907, + -0.9880104798574392, + 0.05454375579586212, + 0.18865136316525852, + -0.08160459874095695, + -0.978647716310735 + ], + [ + 0.9905770122976327, + -0.045811169979719624, + 0.1290678868370644, + -0.0570104720485055, + -0.9947949588786165, + 0.08445588118360264, + 0.12452706044993836, + -0.09101827560870107, + -0.9880327346403642 + ], + [ + 0.9952777125806002, + 0.05226358463322209, + 0.08179726500081706, + 0.041935340590563225, + -0.9914892750937412, + 0.12324952163655954, + 0.08754257278536724, + -0.11923730580390236, + -0.9889988689855742 + ], + [ + 0.9964860996435684, + 0.08198568106401356, + 0.01714063352440243, + 0.07790231318440118, + -0.9823767305735244, + 0.16990346914701962, + 0.03076821115481843, + -0.16797115028522794, + -0.9853116308326972 + ], + [ + 0.9942264964159095, + 0.10680857909882695, + -0.010276247147404067, + 0.10685803364845321, + -0.9768629222426098, + 0.1852570964697824, + 0.009748562423811353, + -0.1852856135227931, + -0.9826363553991633 + ], + [ + 0.995691009628369, + 0.09134871200865194, + -0.015963275340609977, + 0.09272242217952062, + -0.97811264289433, + 0.1862745560602204, + 0.00140205934343065, + -0.18695205434717696, + -0.9823680387741492 + ], + [ + 0.9956425669784774, + 0.09018555051194962, + -0.02371592923258001, + 0.09294533726190471, + -0.9803402487217647, + 0.174052179007961, + -0.007552688380897895, + -0.17549804333668534, + -0.9844508081581406 + ], + [ + 0.9945962625079744, + 0.1026653917538539, + -0.015430228164095124, + 0.10379570766524858, + -0.9802218572872827, + 0.16849795715835866, + 0.002173861872011122, + -0.16918902988166082, + -0.9855812226763778 + ], + [ + 0.9935052271539617, + 0.11028723310570215, + 0.028001604090534798, + 0.1042141516485651, + -0.9807394575566621, + 0.16519542060127956, + 0.045681223866315346, + -0.16120435045417447, + -0.9858632679944633 + ], + [ + 0.989648210454702, + 0.11086642234257917, + 0.09113207964686529, + 0.09514451435991407, + -0.9822395335638061, + 0.1617189540269553, + 0.10744273326298917, + -0.15137415598877252, + -0.9826199285418878 + ], + [ + 0.9792792292785728, + 0.10303423244058472, + 0.17434488248567584, + 0.07724484690571363, + -0.9858544150620913, + 0.14874241469431265, + 0.18720423267137262, + -0.13219311346647966, + -0.9733856152738035 + ], + [ + 0.9782665620631693, + 0.10401541616906057, + 0.1793748219463498, + 0.07705181312465514, + -0.9854892768536231, + 0.15124120900312368, + 0.1925033808620274, + -0.13413306231388458, + -0.9720857832264542 + ], + [ + 0.9785498270749547, + 0.10381747055230486, + 0.17793866566796993, + 0.07713113970807522, + -0.9855447096835172, + 0.15083902844478056, + 0.19102623699091612, + -0.1338788931196895, + -0.9724121650607509 + ], + [ + 0.9786669937328735, + 0.10230553806082407, + 0.1781698410504582, + 0.07562996865628463, + -0.9857028045304186, + 0.15056589581282137, + 0.19102623699091614, + -0.13387889311968953, + -0.9724121650607512 + ], + [ + 0.9784349195531317, + 0.10438514582555779, + 0.1782381820206719, + 0.07790873699090044, + -0.985675134418262, + 0.1495819443984603, + 0.19129907710059615, + -0.1324698860893237, + -0.9725514857219344 + ], + [ + 0.9784349195531317, + 0.10438514582555779, + 0.1782381820206719, + 0.07790873699090044, + -0.985675134418262, + 0.1495819443984603, + 0.19129907710059615, + -0.1324698860893237, + -0.9725514857219344 + ], + [ + 0.9784349195531317, + 0.10438514582555779, + 0.1782381820206719, + 0.07790873699090044, + -0.985675134418262, + 0.1495819443984603, + 0.19129907710059615, + -0.1324698860893237, + -0.9725514857219344 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006376.json b/json/chunk-0006/episode_0006376.json new file mode 100644 index 0000000000000000000000000000000000000000..a81a8ffa2ea0aa28100438b127996f82e073b80b --- /dev/null +++ b/json/chunk-0006/episode_0006376.json @@ -0,0 +1,1462 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 23, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut the fork on the cloth." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006376.mp4", + "start": 0, + "end": 23, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.27943170070648193, + 0.06026516482234001, + 0.15235914289951324, + -0.035876769572496414, + -0.15738478302955627, + -0.04994660243391991, + 0.0, + 0.9994885921478271 + ], + [ + 0.2789456844329834, + 0.059046778827905655, + 0.1448240727186203, + -0.042780689895153046, + -0.13582640886306763, + -0.03973960876464844, + 0.0, + 0.9994885921478271 + ], + [ + 0.28314208984375, + 0.01583239808678627, + 0.119937963783741, + -0.038130808621644974, + -0.10880116373300552, + -0.03700631856918335, + 0.0, + 0.9994885921478271 + ], + [ + 0.2833847999572754, + -0.00785798579454422, + 0.09594683349132538, + -0.022962229326367378, + -0.10735876858234406, + -0.007648970931768417, + 0.0, + 0.9988223910331726 + ], + [ + 0.28553494811058044, + -0.03353765979409218, + 0.06913256645202637, + -0.00038583207060582936, + -0.08145925402641296, + -0.05402914807200432, + 0.0, + 0.9994885921478271 + ], + [ + 0.28951749205589294, + -0.03848452866077423, + 0.04461776092648506, + 0.05005394667387009, + -0.0549115315079689, + -0.10066692531108856, + 0.0, + 0.9994885921478271 + ], + [ + 0.2902401387691498, + -0.04988107457756996, + 0.02535909414291382, + 0.05338873714208603, + -0.020643802359700203, + -0.15337540209293365, + 0.0, + 0.9994885921478271 + ], + [ + 0.290932297706604, + -0.05860947072505951, + 0.009553019888699055, + 0.02710716798901558, + 0.0014562286669388413, + -0.16616474092006683, + 0.0, + 0.9994885921478271 + ], + [ + 0.29482606053352356, + -0.07066623121500015, + 0.004228650126606226, + -0.010566527023911476, + -0.013316056691110134, + -0.1774713099002838, + 0.0, + 0.9499720335006714 + ], + [ + 0.2985701262950897, + -0.07345516234636307, + 0.003188550239428878, + -0.02265244722366333, + -0.026991449296474457, + -0.1914215087890625, + 0.0, + 0.6701657772064209 + ], + [ + 0.2982986271381378, + -0.07467284053564072, + 0.004502323921769857, + -0.029171060770750046, + -0.023799212649464607, + -0.2423979938030243, + 0.0, + 0.400628000497818 + ], + [ + 0.2946300804615021, + -0.07150024175643921, + 0.013807064853608608, + -0.05268974229693413, + -0.013622901402413845, + -0.2689918875694275, + 0.0, + 0.37205085158348083 + ], + [ + 0.2982030510902405, + -0.04424608126282692, + 0.05947107821702957, + -0.05432339757680893, + -0.07298891246318817, + -0.2580625116825104, + 0.0, + 0.37120094895362854 + ], + [ + 0.30559536814689636, + -0.006029664538800716, + 0.08367954939603806, + -0.04833652451634407, + -0.09661785513162613, + -0.19749057292938232, + 0.0, + 0.37120094895362854 + ], + [ + 0.3109009563922882, + 0.037518829107284546, + 0.0868096798658371, + -0.019639307633042336, + -0.11357870697975159, + -0.13836821913719177, + 0.0, + 0.37120094895362854 + ], + [ + 0.3158092200756073, + 0.05015651136636734, + 0.06941386312246323, + -0.0005392868770286441, + -0.10259086638689041, + -0.10839301347732544, + 0.0, + 0.37120094895362854 + ], + [ + 0.3255598843097687, + 0.057376373559236526, + 0.054343413561582565, + 0.0011548656038939953, + -0.09511902928352356, + -0.07408987730741501, + 0.0, + 0.37120094895362854 + ], + [ + 0.3339197635650635, + 0.05832643061876297, + 0.044029127806425095, + 9.132760169450194e-05, + -0.0899755135178566, + -0.049286261200904846, + 0.0, + 0.37120094895362854 + ], + [ + 0.34105637669563293, + 0.056861840188503265, + 0.04417501017451286, + -0.006427622865885496, + -0.1021062508225441, + -0.03450928255915642, + 0.0, + 0.44022873044013977 + ], + [ + 0.3424760699272156, + 0.05511636659502983, + 0.048915017396211624, + -0.015109128318727016, + -0.09132735431194305, + -0.03160490840673447, + 0.0, + 0.7506401538848877 + ], + [ + 0.3428507149219513, + 0.05001979321241379, + 0.06136266142129898, + -0.013744895346462727, + -0.1167214885354042, + -0.05661041662096977, + 0.0, + 0.9886419177055359 + ], + [ + 0.33762624859809875, + 0.03455449268221855, + 0.10323905199766159, + -0.019907571375370026, + -0.17904552817344666, + -0.12233848869800568, + 0.0, + 1.0047606229782104 + ], + [ + 0.3267844021320343, + 0.01117872353643179, + 0.134714275598526, + -0.017215149477124214, + -0.2325054556131363, + -0.18536481261253357, + 0.0, + 1.0001531839370728 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9499720335006714 + ], + [ + 0.6701657772064209 + ], + [ + 0.400628000497818 + ], + [ + 0.37205085158348083 + ], + [ + 0.37120094895362854 + ], + [ + 0.37120094895362854 + ], + [ + 0.37120094895362854 + ], + [ + 0.37120094895362854 + ], + [ + 0.37120094895362854 + ], + [ + 0.37120094895362854 + ], + [ + 0.44022873044013977 + ], + [ + 0.7506401538848877 + ], + [ + 0.9886419177055359 + ], + [ + 1.0047606229782104 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.27943170070648193, + 0.06026516482234001, + 0.15235914289951324 + ], + [ + 0.2789456844329834, + 0.059046778827905655, + 0.1448240727186203 + ], + [ + 0.28314208984375, + 0.01583239808678627, + 0.119937963783741 + ], + [ + 0.2833847999572754, + -0.00785798579454422, + 0.09594683349132538 + ], + [ + 0.28553494811058044, + -0.03353765979409218, + 0.06913256645202637 + ], + [ + 0.28951749205589294, + -0.03848452866077423, + 0.04461776092648506 + ], + [ + 0.2902401387691498, + -0.04988107457756996, + 0.02535909414291382 + ], + [ + 0.290932297706604, + -0.05860947072505951, + 0.009553019888699055 + ], + [ + 0.29482606053352356, + -0.07066623121500015, + 0.004228650126606226 + ], + [ + 0.2985701262950897, + -0.07345516234636307, + 0.003188550239428878 + ], + [ + 0.2982986271381378, + -0.07467284053564072, + 0.004502323921769857 + ], + [ + 0.2946300804615021, + -0.07150024175643921, + 0.013807064853608608 + ], + [ + 0.2982030510902405, + -0.04424608126282692, + 0.05947107821702957 + ], + [ + 0.30559536814689636, + -0.006029664538800716, + 0.08367954939603806 + ], + [ + 0.3109009563922882, + 0.037518829107284546, + 0.0868096798658371 + ], + [ + 0.3158092200756073, + 0.05015651136636734, + 0.06941386312246323 + ], + [ + 0.3255598843097687, + 0.057376373559236526, + 0.054343413561582565 + ], + [ + 0.3339197635650635, + 0.05832643061876297, + 0.044029127806425095 + ], + [ + 0.34105637669563293, + 0.056861840188503265, + 0.04417501017451286 + ], + [ + 0.3424760699272156, + 0.05511636659502983, + 0.048915017396211624 + ], + [ + 0.3428507149219513, + 0.05001979321241379, + 0.06136266142129898 + ], + [ + 0.33762624859809875, + 0.03455449268221855, + 0.10323905199766159 + ], + [ + 0.3267844021320343, + 0.01117872353643179, + 0.134714275598526 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9864088994326236, + -0.055508669763339964, + 0.1546488625927279, + -0.049308782891737395, + -0.9978295464061233, + -0.043644475580367686, + 0.15673585119510938, + 0.035425751933505556, + -0.9870050096377879 + ], + [ + 0.9900075234924669, + -0.045479357551490615, + 0.1334793297294244, + -0.039363235125516705, + -0.998066177191687, + -0.048108644404363396, + 0.13540915459733882, + 0.042373741664807826, + -0.9898832390077924 + ], + [ + 0.9934063825813093, + -0.04110763789004461, + 0.10702299357529878, + -0.03677910385935711, + -0.998435798371683, + -0.04211002314417309, + 0.108586631617433, + 0.03789615596602297, + -0.9933643967834658 + ], + [ + 0.9942134957360987, + -0.01010705554617362, + 0.1069456512645244, + -0.007604858441302314, + -0.9996883158931432, + -0.023778923331789346, + 0.10715265290367038, + 0.02282801995175937, + -0.9939804779173422 + ], + [ + 0.995229648532602, + -0.054034210400362756, + 0.08122961767780777, + -0.05382379346284183, + -0.9985390108682115, + -0.004779438419216967, + 0.08136919527034071, + 0.0003845526531845861, + -0.9966839550129791 + ], + [ + 0.9934377339189597, + -0.09763901290794215, + 0.05956586257517577, + -0.10034551283252362, + -0.9939672317518384, + 0.04427098663871051, + 0.05488394009489351, + -0.049957635672134765, + -0.9972421911239567 + ], + [ + 0.9880504579802676, + -0.1514684813875637, + 0.028523527676793583, + -0.1527422222078561, + -0.9870212066836379, + 0.04958781212940704, + 0.020642336107849848, + -0.05335200748726083, + -0.9983623877415905 + ], + [ + 0.9862253291838355, + -0.16537930235098183, + 0.003047364457606566, + -0.16540096576442206, + -0.9858575299271312, + 0.026971303457043124, + -0.0014562281522586757, + -0.027103819654763783, + -0.9996315633070468 + ], + [ + 0.9842059922800421, + -0.17666980023289905, + 0.01124039348624159, + -0.17652551621364007, + -0.9842134698039103, + -0.012750999257136202, + 0.0133156631665832, + 0.01056539361382858, + -0.9998555223492139 + ], + [ + 0.9813771844673871, + -0.19080595083858268, + 0.022179065161737545, + -0.1901853316564053, + -0.9813666069337209, + -0.027370100806151605, + 0.026988172031601886, + 0.02264225960411554, + -0.9993792906851795 + ], + [ + 0.9704902642506609, + -0.24060287593175514, + 0.01609046574996531, + -0.23996322926887134, + -0.9701855639025531, + -0.034023818038841046, + 0.0237969660574087, + 0.029158664037529404, + -0.9992914873639267 + ], + [ + 0.9639498483788564, + -0.2660825284978356, + -0.0008819515733705409, + -0.26573505197448083, + -0.9625107593975661, + -0.0543867648977239, + 0.013622480042166948, + 0.05266047922416607, + -0.9985195551241757 + ], + [ + 0.9643119118261068, + -0.2586596537316725, + 0.05654838849772463, + -0.25452820861565356, + -0.964449444848592, + -0.07108206067741975, + 0.07292412309506817, + 0.05415211780395411, + -0.9958662663270412 + ], + [ + 0.9759888187356358, + -0.20055062424234488, + 0.0850016048026409, + -0.1952942065514392, + -0.9785022086613865, + -0.06628424045150239, + 0.09646760383912492, + 0.0480923565735199, + -0.9941735897964417 + ], + [ + 0.984060832111093, + -0.14010491472265238, + 0.10952119235737841, + -0.13703843168038785, + -0.9899443992797486, + -0.03507926135535781, + 0.11333466789735279, + 0.0195115146827747, + -0.9933652670832521 + ], + [ + 0.9889042547372864, + -0.10823577477451783, + 0.10175161925715083, + -0.10761208912674976, + -0.9941251074582538, + -0.011615033142098323, + 0.10241100153923309, + 0.0005364513728440008, + -0.9947420263483673 + ], + [ + 0.9927485965325817, + -0.07391267963883968, + 0.09480052674534692, + -0.07368750226105891, + -0.997264054353328, + -0.005878597221165953, + 0.0949756605300296, + -0.0011496448880044907, + -0.9954789310796667 + ], + [ + 0.9947455236068207, + -0.049258113383861366, + 0.0897495489128202, + -0.04906702429130133, + -0.9987860781931599, + -0.004335566251811886, + 0.08985416179225587, + -9.095817534801121e-05, + -0.9959549293694074 + ], + [ + 0.9941993989117961, + -0.03515648687113768, + 0.10164436351467329, + -0.03432273393256706, + -0.9993613645192216, + -0.00994047492194402, + 0.10192892199379788, + 0.006394101747635271, + -0.9947711346455642 + ], + [ + 0.9953352426465986, + -0.03297325911318222, + 0.09066707742666104, + -0.03146795734426905, + -0.9993429813748962, + -0.017982581497484166, + 0.09120045178734844, + 0.015045589393218924, + -0.9957188899652324 + ], + [ + 0.9916047355486298, + -0.05817290972872757, + 0.11548143145642634, + -0.05619520035387207, + -0.9982131858231821, + -0.020310960241248593, + 0.1164566352541587, + 0.013650942180916224, + -0.9931019604667253 + ], + [ + 0.9766595779904497, + -0.1255279865019493, + 0.17429513281868347, + -0.12008273634455069, + -0.9918966848373827, + -0.04148617891074468, + 0.1780904409324689, + 0.019588037506999792, + -0.9838191417303805 + ], + [ + 0.956422187456489, + -0.18817630485067366, + 0.22326279948457917, + -0.17934585497405786, + -0.9819924027001049, + -0.05938000793953796, + 0.23041628337547954, + 0.016751099427253082, + -0.9729479621353906 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.00048601627349853516, + -0.0012183859944343567, + -0.007535070180892944, + -0.0069039203226566315, + 0.021558374166488647, + 0.010206993669271469, + 1.0 + ], + [ + 0.0041964054107666016, + -0.043214380741119385, + -0.024886108934879303, + 0.004649881273508072, + 0.027025245130062103, + 0.002733290195465088, + 1.0 + ], + [ + 0.00024271011352539062, + -0.02369038388133049, + -0.02399113029241562, + 0.015168579295277596, + 0.0014423951506614685, + 0.029357347637414932, + 1.0 + ], + [ + 0.0021501481533050537, + -0.02567967399954796, + -0.02681426703929901, + 0.02257639728486538, + 0.02589951455593109, + -0.0463801771402359, + 1.0 + ], + [ + 0.0039825439453125, + -0.004946868866682053, + -0.024514805525541306, + 0.050439778715372086, + 0.02654772251844406, + -0.046637777239084244, + 1.0 + ], + [ + 0.0007226467132568359, + -0.01139654591679573, + -0.019258666783571243, + 0.0033347904682159424, + 0.03426773101091385, + -0.05270847678184509, + 1.0 + ], + [ + 0.0006921589374542236, + -0.008728396147489548, + -0.015806075185537338, + -0.02628156915307045, + 0.02210003137588501, + -0.012789338827133179, + 1.0 + ], + [ + 0.0038937628269195557, + -0.012056760489940643, + -0.005324369762092829, + -0.037673696875572205, + -0.014772285707294941, + -0.01130656898021698, + 0.0 + ], + [ + 0.003744065761566162, + -0.002788931131362915, + -0.0010400998871773481, + -0.012085920199751854, + -0.013675392605364323, + -0.013950198888778687, + 0.0 + ], + [ + -0.0002714991569519043, + -0.001217678189277649, + 0.0013137736823409796, + -0.006518613547086716, + 0.0031922366470098495, + -0.05097648501396179, + 0.0 + ], + [ + -0.003668546676635742, + 0.0031725987792015076, + 0.009304741397500038, + -0.023518681526184082, + 0.010176311247050762, + -0.026593893766403198, + 0.0 + ], + [ + 0.0035729706287384033, + 0.02725416049361229, + 0.04566401243209839, + -0.0016336552798748016, + -0.05936601012945175, + 0.010929375886917114, + 0.0 + ], + [ + 0.007392317056655884, + 0.03821641579270363, + 0.024208471179008484, + 0.005986873060464859, + -0.023628942668437958, + 0.06057193875312805, + 0.0 + ], + [ + 0.005305588245391846, + 0.04354849457740784, + 0.0031301304697990417, + 0.028697216883301735, + -0.016960851848125458, + 0.05912235379219055, + 0.0 + ], + [ + 0.004908263683319092, + 0.012637682259082794, + -0.01739581674337387, + 0.019100021570920944, + 0.010987840592861176, + 0.029975205659866333, + 0.0 + ], + [ + 0.009750664234161377, + 0.007219862192869186, + -0.015070449560880661, + 0.0016941524809226394, + 0.007471837103366852, + 0.03430313616991043, + 0.0 + ], + [ + 0.0083598792552948, + 0.0009500570595264435, + -0.01031428575515747, + -0.0010635380167514086, + 0.005143515765666962, + 0.024803616106510162, + 0.0 + ], + [ + 0.007136613130569458, + -0.0014645904302597046, + 0.00014588236808776855, + -0.0065189506858587265, + -0.0121307373046875, + 0.014776978641748428, + 1.0 + ], + [ + 0.0014196932315826416, + -0.0017454735934734344, + 0.004740007221698761, + -0.008681505918502808, + 0.010778896510601044, + 0.0029043741524219513, + 1.0 + ], + [ + 0.0003746449947357178, + -0.005096573382616043, + 0.012447644025087357, + 0.0013642329722642899, + -0.02539413422346115, + -0.025005508214235306, + 1.0 + ], + [ + -0.005224466323852539, + -0.015465300530195236, + 0.04187639057636261, + -0.006162676028907299, + -0.06232403963804245, + -0.0657280683517456, + 1.0 + ], + [ + -0.010841846466064453, + -0.023375768214464188, + 0.03147522360086441, + 0.0026924218982458115, + -0.053459927439689636, + -0.0630263239145279, + 1.0 + ], + [ + -0.013500332832336426, + -0.0027568768709897995, + 0.004973962903022766, + -0.008939428254961967, + 0.0040677934885025024, + 0.03317031264305115, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9499720335006714 + ], + [ + 0.6701657772064209 + ], + [ + 0.400628000497818 + ], + [ + 0.37205085158348083 + ], + [ + 0.37120094895362854 + ], + [ + 0.37120094895362854 + ], + [ + 0.37120094895362854 + ], + [ + 0.37120094895362854 + ], + [ + 0.37120094895362854 + ], + [ + 0.37120094895362854 + ], + [ + 0.44022873044013977 + ], + [ + 0.7506401538848877 + ], + [ + 0.9886419177055359 + ], + [ + 1.0047606229782104 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2789456844329834, + 0.059046778827905655, + 0.1448240727186203 + ], + [ + 0.28314208984375, + 0.01583239808678627, + 0.119937963783741 + ], + [ + 0.2833847999572754, + -0.00785798579454422, + 0.09594683349132538 + ], + [ + 0.28553494811058044, + -0.03353765979409218, + 0.06913256645202637 + ], + [ + 0.28951749205589294, + -0.03848452866077423, + 0.04461776092648506 + ], + [ + 0.2902401387691498, + -0.04988107457756996, + 0.02535909414291382 + ], + [ + 0.290932297706604, + -0.05860947072505951, + 0.009553019888699055 + ], + [ + 0.29482606053352356, + -0.07066623121500015, + 0.004228650126606226 + ], + [ + 0.2985701262950897, + -0.07345516234636307, + 0.003188550239428878 + ], + [ + 0.2982986271381378, + -0.07467284053564072, + 0.004502323921769857 + ], + [ + 0.2946300804615021, + -0.07150024175643921, + 0.013807064853608608 + ], + [ + 0.2982030510902405, + -0.04424608126282692, + 0.05947107821702957 + ], + [ + 0.30559536814689636, + -0.006029664538800716, + 0.08367954939603806 + ], + [ + 0.3109009563922882, + 0.037518829107284546, + 0.0868096798658371 + ], + [ + 0.3158092200756073, + 0.05015651136636734, + 0.06941386312246323 + ], + [ + 0.3255598843097687, + 0.057376373559236526, + 0.054343413561582565 + ], + [ + 0.3339197635650635, + 0.05832643061876297, + 0.044029127806425095 + ], + [ + 0.34105637669563293, + 0.056861840188503265, + 0.04417501017451286 + ], + [ + 0.3424760699272156, + 0.05511636659502983, + 0.048915017396211624 + ], + [ + 0.3428507149219513, + 0.05001979321241379, + 0.06136266142129898 + ], + [ + 0.33762624859809875, + 0.03455449268221855, + 0.10323905199766159 + ], + [ + 0.3267844021320343, + 0.01117872353643179, + 0.134714275598526 + ], + [ + 0.3132840692996979, + 0.00842184666544199, + 0.13968823850154877 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9900075234924669, + -0.045479357551490615, + 0.1334793297294244, + -0.039363235125516705, + -0.998066177191687, + -0.048108644404363396, + 0.13540915459733882, + 0.042373741664807826, + -0.9898832390077924 + ], + [ + 0.9934063825813093, + -0.04110763789004461, + 0.10702299357529878, + -0.03677910385935711, + -0.998435798371683, + -0.04211002314417309, + 0.108586631617433, + 0.03789615596602297, + -0.9933643967834658 + ], + [ + 0.9942134957360987, + -0.01010705554617362, + 0.1069456512645244, + -0.007604858441302314, + -0.9996883158931432, + -0.023778923331789346, + 0.10715265290367038, + 0.02282801995175937, + -0.9939804779173422 + ], + [ + 0.995229648532602, + -0.054034210400362756, + 0.08122961767780777, + -0.05382379346284183, + -0.9985390108682115, + -0.004779438419216967, + 0.08136919527034071, + 0.0003845526531845861, + -0.9966839550129791 + ], + [ + 0.9934377339189597, + -0.09763901290794215, + 0.05956586257517577, + -0.10034551283252362, + -0.9939672317518384, + 0.04427098663871051, + 0.05488394009489351, + -0.049957635672134765, + -0.9972421911239567 + ], + [ + 0.9880504579802676, + -0.1514684813875637, + 0.028523527676793583, + -0.1527422222078561, + -0.9870212066836379, + 0.04958781212940704, + 0.020642336107849848, + -0.05335200748726083, + -0.9983623877415905 + ], + [ + 0.9862253291838355, + -0.16537930235098183, + 0.003047364457606566, + -0.16540096576442206, + -0.9858575299271312, + 0.026971303457043124, + -0.0014562281522586757, + -0.027103819654763783, + -0.9996315633070468 + ], + [ + 0.9842059922800421, + -0.17666980023289905, + 0.01124039348624159, + -0.17652551621364007, + -0.9842134698039103, + -0.012750999257136202, + 0.0133156631665832, + 0.01056539361382858, + -0.9998555223492139 + ], + [ + 0.9813771844673871, + -0.19080595083858268, + 0.022179065161737545, + -0.1901853316564053, + -0.9813666069337209, + -0.027370100806151605, + 0.026988172031601886, + 0.02264225960411554, + -0.9993792906851795 + ], + [ + 0.9704902642506609, + -0.24060287593175514, + 0.01609046574996531, + -0.23996322926887134, + -0.9701855639025531, + -0.034023818038841046, + 0.0237969660574087, + 0.029158664037529404, + -0.9992914873639267 + ], + [ + 0.9639498483788564, + -0.2660825284978356, + -0.0008819515733705409, + -0.26573505197448083, + -0.9625107593975661, + -0.0543867648977239, + 0.013622480042166948, + 0.05266047922416607, + -0.9985195551241757 + ], + [ + 0.9643119118261068, + -0.2586596537316725, + 0.05654838849772463, + -0.25452820861565356, + -0.964449444848592, + -0.07108206067741975, + 0.07292412309506817, + 0.05415211780395411, + -0.9958662663270412 + ], + [ + 0.9759888187356358, + -0.20055062424234488, + 0.0850016048026409, + -0.1952942065514392, + -0.9785022086613865, + -0.06628424045150239, + 0.09646760383912492, + 0.0480923565735199, + -0.9941735897964417 + ], + [ + 0.984060832111093, + -0.14010491472265238, + 0.10952119235737841, + -0.13703843168038785, + -0.9899443992797486, + -0.03507926135535781, + 0.11333466789735279, + 0.0195115146827747, + -0.9933652670832521 + ], + [ + 0.9889042547372864, + -0.10823577477451783, + 0.10175161925715083, + -0.10761208912674976, + -0.9941251074582538, + -0.011615033142098323, + 0.10241100153923309, + 0.0005364513728440008, + -0.9947420263483673 + ], + [ + 0.9927485965325817, + -0.07391267963883968, + 0.09480052674534692, + -0.07368750226105891, + -0.997264054353328, + -0.005878597221165953, + 0.0949756605300296, + -0.0011496448880044907, + -0.9954789310796667 + ], + [ + 0.9947455236068207, + -0.049258113383861366, + 0.0897495489128202, + -0.04906702429130133, + -0.9987860781931599, + -0.004335566251811886, + 0.08985416179225587, + -9.095817534801121e-05, + -0.9959549293694074 + ], + [ + 0.9941993989117961, + -0.03515648687113768, + 0.10164436351467329, + -0.03432273393256706, + -0.9993613645192216, + -0.00994047492194402, + 0.10192892199379788, + 0.006394101747635271, + -0.9947711346455642 + ], + [ + 0.9953352426465986, + -0.03297325911318222, + 0.09066707742666104, + -0.03146795734426905, + -0.9993429813748962, + -0.017982581497484166, + 0.09120045178734844, + 0.015045589393218924, + -0.9957188899652324 + ], + [ + 0.9916047355486298, + -0.05817290972872757, + 0.11548143145642634, + -0.05619520035387207, + -0.9982131858231821, + -0.020310960241248593, + 0.1164566352541587, + 0.013650942180916224, + -0.9931019604667253 + ], + [ + 0.9766595779904497, + -0.1255279865019493, + 0.17429513281868347, + -0.12008273634455069, + -0.9918966848373827, + -0.04148617891074468, + 0.1780904409324689, + 0.019588037506999792, + -0.9838191417303805 + ], + [ + 0.956422187456489, + -0.18817630485067366, + 0.22326279948457917, + -0.17934585497405786, + -0.9819924027001049, + -0.05938000793953796, + 0.23041628337547954, + 0.016751099427253082, + -0.9729479621353906 + ], + [ + 0.9627624329884715, + -0.15740950855925423, + 0.21979705239436878, + -0.14766907269292423, + -0.9872048485218671, + -0.06017002596749893, + 0.22645605003207728, + 0.025472213685734265, + -0.9736882579829222 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006377.json b/json/chunk-0006/episode_0006377.json new file mode 100644 index 0000000000000000000000000000000000000000..4ffbb3949386e7de853b6fa03776bcf3686927f9 --- /dev/null +++ b/json/chunk-0006/episode_0006377.json @@ -0,0 +1,1522 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 24, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut corn on plate." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006377.mp4", + "start": 0, + "end": 24, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2806474268436432, + -0.04425269737839699, + 0.09220634400844574, + 0.07672582566738129, + -0.1736072599887848, + 0.019713781774044037, + 0.0, + 1.0105689764022827 + ], + [ + 0.28745153546333313, + -0.03075680136680603, + 0.08897091448307037, + 0.11018328368663788, + -0.13016073405742645, + -0.0101256612688303, + 0.0, + 1.0105689764022827 + ], + [ + 0.3208557069301605, + 0.011176969856023788, + 0.1027749627828598, + 0.17032453417778015, + -0.15364626049995422, + -0.008872788399457932, + 0.0, + 1.0105689764022827 + ], + [ + 0.34428077936172485, + 0.03302869573235512, + 0.10280025005340576, + 0.20027834177017212, + -0.16723862290382385, + -0.03602534160017967, + 0.0, + 1.0105689764022827 + ], + [ + 0.36885973811149597, + 0.06331503391265869, + 0.08238161355257034, + 0.2207564115524292, + -0.23780974745750427, + -0.063993901014328, + 0.0, + 1.0105689764022827 + ], + [ + 0.386146605014801, + 0.08438534289598465, + 0.06418568640947342, + 0.22374914586544037, + -0.3046882748603821, + -0.05330359563231468, + 0.0, + 1.0105689764022827 + ], + [ + 0.41418999433517456, + 0.09141501039266586, + 0.04739046096801758, + 0.21407587826251984, + -0.3403419554233551, + -0.05936208739876747, + 0.0, + 1.0105689764022827 + ], + [ + 0.4306352436542511, + 0.09452338516712189, + 0.04068981856107712, + 0.20292679965496063, + -0.37102439999580383, + -0.07567530870437622, + 0.0, + 1.0105689764022827 + ], + [ + 0.43166154623031616, + 0.09668383747339249, + 0.03097936138510704, + 0.17197063565254211, + -0.3716835081577301, + -0.06132540479302406, + 0.0, + 1.0105689764022827 + ], + [ + 0.4330756962299347, + 0.0972578376531601, + 0.03131157159805298, + 0.1746411919593811, + -0.3820123076438904, + -0.07564833015203476, + 0.0, + 1.0105689764022827 + ], + [ + 0.4210202693939209, + 0.09874943643808365, + 0.018749598413705826, + 0.16557805240154266, + -0.34563884139060974, + -0.06994203478097916, + 0.0, + 1.0105689764022827 + ], + [ + 0.4089120030403137, + 0.09785674512386322, + 0.015187637880444527, + 0.15277744829654694, + -0.334730863571167, + -0.05420372635126114, + 0.0, + 1.0099300146102905 + ], + [ + 0.40416818857192993, + 0.0975586399435997, + 0.014002721756696701, + 0.15723726153373718, + -0.33921125531196594, + -0.050757817924022675, + 0.0, + 0.8481387495994568 + ], + [ + 0.40382418036460876, + 0.09897302836179733, + 0.014166392385959625, + 0.16660887002944946, + -0.3463691771030426, + -0.04573764652013779, + 0.0, + 0.6029031276702881 + ], + [ + 0.40009379386901855, + 0.08756207674741745, + 0.022766122594475746, + 0.16828536987304688, + -0.3146767020225525, + -0.04204363748431206, + 0.0, + 0.5869058966636658 + ], + [ + 0.3926871716976166, + 0.06932320445775986, + 0.06136114522814751, + 0.19542884826660156, + -0.3224714398384094, + -0.01167139783501625, + 0.0, + 0.5849101543426514 + ], + [ + 0.3765568435192108, + 0.03531747683882713, + 0.0955616906285286, + 0.20709273219108582, + -0.3239884674549103, + 0.004087622277438641, + 0.0, + 0.5849101543426514 + ], + [ + 0.3585268557071686, + 0.00330472644418478, + 0.09870833158493042, + 0.19485875964164734, + -0.2889554798603058, + 0.027133462950587273, + 0.0, + 0.5849101543426514 + ], + [ + 0.3450711965560913, + -0.029706720262765884, + 0.09939082711935043, + 0.19907549023628235, + -0.29766589403152466, + 0.023174166679382324, + 0.0, + 0.5849101543426514 + ], + [ + 0.34424102306365967, + -0.057359687983989716, + 0.10367698222398758, + 0.19466544687747955, + -0.3194744884967804, + -0.022334793582558632, + 0.0, + 0.5849101543426514 + ], + [ + 0.3501565754413605, + -0.06360864639282227, + 0.1005442887544632, + 0.17736554145812988, + -0.3215159475803375, + -0.008064108900725842, + 0.0, + 0.5849101543426514 + ], + [ + 0.3528463840484619, + -0.0660480186343193, + 0.10034245252609253, + 0.1633695662021637, + -0.3434396982192993, + 0.01631223037838936, + 0.0, + 0.5849101543426514 + ], + [ + 0.35608479380607605, + -0.07230550795793533, + 0.09384656697511673, + 0.14754915237426758, + -0.35307592153549194, + 0.011083227582275867, + 0.0, + 0.5849101543426514 + ], + [ + 0.35914602875709534, + -0.07174048572778702, + 0.08734842389822006, + 0.11377621442079544, + -0.34424906969070435, + 0.01082020066678524, + 0.0, + 0.8205437660217285 + ] + ], + "left_gripper_pos": [ + [ + 1.0105689764022827 + ], + [ + 1.0105689764022827 + ], + [ + 1.0105689764022827 + ], + [ + 1.0105689764022827 + ], + [ + 1.0105689764022827 + ], + [ + 1.0105689764022827 + ], + [ + 1.0105689764022827 + ], + [ + 1.0105689764022827 + ], + [ + 1.0105689764022827 + ], + [ + 1.0105689764022827 + ], + [ + 1.0105689764022827 + ], + [ + 1.0099300146102905 + ], + [ + 0.8481387495994568 + ], + [ + 0.6029031276702881 + ], + [ + 0.5869058966636658 + ], + [ + 0.5849101543426514 + ], + [ + 0.5849101543426514 + ], + [ + 0.5849101543426514 + ], + [ + 0.5849101543426514 + ], + [ + 0.5849101543426514 + ], + [ + 0.5849101543426514 + ], + [ + 0.5849101543426514 + ], + [ + 0.5849101543426514 + ], + [ + 0.8205437660217285 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2806474268436432, + -0.04425269737839699, + 0.09220634400844574 + ], + [ + 0.28745153546333313, + -0.03075680136680603, + 0.08897091448307037 + ], + [ + 0.3208557069301605, + 0.011176969856023788, + 0.1027749627828598 + ], + [ + 0.34428077936172485, + 0.03302869573235512, + 0.10280025005340576 + ], + [ + 0.36885973811149597, + 0.06331503391265869, + 0.08238161355257034 + ], + [ + 0.386146605014801, + 0.08438534289598465, + 0.06418568640947342 + ], + [ + 0.41418999433517456, + 0.09141501039266586, + 0.04739046096801758 + ], + [ + 0.4306352436542511, + 0.09452338516712189, + 0.04068981856107712 + ], + [ + 0.43166154623031616, + 0.09668383747339249, + 0.03097936138510704 + ], + [ + 0.4330756962299347, + 0.0972578376531601, + 0.03131157159805298 + ], + [ + 0.4210202693939209, + 0.09874943643808365, + 0.018749598413705826 + ], + [ + 0.4089120030403137, + 0.09785674512386322, + 0.015187637880444527 + ], + [ + 0.40416818857192993, + 0.0975586399435997, + 0.014002721756696701 + ], + [ + 0.40382418036460876, + 0.09897302836179733, + 0.014166392385959625 + ], + [ + 0.40009379386901855, + 0.08756207674741745, + 0.022766122594475746 + ], + [ + 0.3926871716976166, + 0.06932320445775986, + 0.06136114522814751 + ], + [ + 0.3765568435192108, + 0.03531747683882713, + 0.0955616906285286 + ], + [ + 0.3585268557071686, + 0.00330472644418478, + 0.09870833158493042 + ], + [ + 0.3450711965560913, + -0.029706720262765884, + 0.09939082711935043 + ], + [ + 0.34424102306365967, + -0.057359687983989716, + 0.10367698222398758 + ], + [ + 0.3501565754413605, + -0.06360864639282227, + 0.1005442887544632 + ], + [ + 0.3528463840484619, + -0.0660480186343193, + 0.10034245252609253 + ], + [ + 0.35608479380607605, + -0.07230550795793533, + 0.09384656697511673 + ], + [ + 0.35914602875709534, + -0.07174048572778702, + 0.08734842389822006 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9847766817027908, + 0.03289228939203945, + 0.1706838729141999, + 0.01941618792278788, + -0.9966032783833338, + 0.08003072636268137, + 0.17273650112523237, + -0.07549836298981406, + -0.9820703123325086 + ], + [ + 0.9914902138548758, + 0.004207338429474359, + 0.13011323581155287, + -0.010039837184076156, + -0.994029520044929, + 0.10864858465974439, + 0.12979351871079747, + -0.10903032414236083, + -0.9855283004145958 + ], + [ + 0.9881807166104325, + 0.01719572719123955, + 0.15232589499378268, + -0.008768148494962564, + -0.9857211824733713, + 0.16815727755666512, + 0.15304244800467198, + -0.1675053951061383, + -0.9739198897851271 + ], + [ + 0.9854083950290858, + -0.0022031587687046314, + 0.17019236498045645, + -0.0355150394809488, + -0.9805681237379057, + 0.19293739056955725, + 0.16646013629955872, + -0.19616651294388424, + -0.966338306299905 + ], + [ + 0.9698669700731325, + -0.010920646065695976, + 0.24339022135383717, + -0.06215043393840502, + -0.9770336217698677, + 0.20382008118074038, + 0.23557458250505295, + -0.21280517244832994, + -0.948271361297391 + ], + [ + 0.9525856331378125, + 0.014520332495366533, + 0.30392395674519856, + -0.05082438383582345, + -0.9772340031439063, + 0.20598685663664354, + 0.2999958225494852, + -0.21166686808180504, + -0.9301610846564685 + ], + [ + 0.9409801948664042, + 0.012818092443916858, + 0.3382188187775533, + -0.05592425370422265, + -0.9796591807410362, + 0.19271836300007208, + 0.3338094527073941, + -0.2002587977990006, + -0.9211230445425242 + ], + [ + 0.9292891490960856, + -0.0011896144488456814, + 0.369351136711039, + -0.07045879463390786, + -0.9822020491382014, + 0.17411115107153655, + 0.36257031818808655, + -0.1878236393167317, + -0.9128335252842155 + ], + [ + 0.9299657876144987, + 0.0016498874428923574, + 0.3676423693454965, + -0.05710212965305105, + -0.9872063369445064, + 0.14887241210410773, + 0.36318449947049064, + -0.15943941221678826, + -0.9179739065879453 + ], + [ + 0.9252625362019832, + -0.009838070028055063, + 0.3791997514229106, + -0.07012839075591124, + -0.9868678360206282, + 0.14551248413091197, + 0.3727884760974517, + -0.1612299184583487, + -0.9138017648718206 + ], + [ + 0.9385588554960121, + -0.01322424996586196, + 0.344865762265344, + -0.0657519681907476, + -0.987814220651784, + 0.14106645298281253, + 0.3387978061455819, + -0.15507477129097932, + -0.9279913048407251 + ], + [ + 0.9431116094306584, + -0.0036249060222650308, + 0.33245654184185164, + -0.05117028693205837, + -0.9896092225679065, + 0.13436959605444332, + 0.3285149827517824, + -0.1437374226319409, + -0.9334974340847021 + ], + [ + 0.9418028948892769, + 0.0019271040943521743, + 0.3361600711684636, + -0.04784495546539809, + -0.9890352232866274, + 0.139714663993743, + 0.33274339574917344, + -0.14766723864209003, + -0.9313840342292369 + ], + [ + 0.9396278431987984, + 0.01115241359589638, + 0.3420162860984266, + -0.043006359133232426, + -0.987695641607444, + 0.15035881292349712, + 0.3394848588076914, + -0.15599020232260047, + -0.9275867007561484 + ], + [ + 0.9500561816646517, + 0.010357045378558168, + 0.31190701064870124, + -0.03996737014043025, + -0.9871810981485857, + 0.15451889457995244, + 0.30950906449543664, + -0.15926773392366422, + -0.9374635608523569 + ], + [ + 0.9483904883065415, + 0.05008702519474707, + 0.31312421113165484, + -0.011069545333326759, + -0.9816159130727029, + 0.19054570152212225, + 0.31691157576805834, + -0.184177873561362, + -0.9304007545324873 + ], + [ + 0.9479653131031581, + 0.06945746647026041, + 0.3107047239820531, + 0.003874945713815095, + -0.97835708777809, + 0.2068873935020918, + 0.31835004311126797, + -0.1949181088198504, + -0.9277177269542426 + ], + [ + 0.9581892060166137, + 0.08177090281730207, + 0.27420241597348194, + 0.026005373568114963, + -0.9792170117094438, + 0.20114115572008026, + 0.2849511642700093, + -0.18560054803601775, + -0.9404016538425992 + ], + [ + 0.9557669606761576, + 0.0807007347756368, + 0.2828372469929183, + 0.022153068704797295, + -0.9786426001508103, + 0.20437197145651478, + 0.29328954708073257, + -0.1890662650414777, + -0.9371420324563642 + ], + [ + 0.9491638042704701, + 0.038826447907218356, + 0.31237890390632483, + -0.02120290340168346, + -0.9822245261816901, + 0.18650849056944638, + 0.31406768307189414, + -0.18365044816188839, + -0.9314687344939656 + ], + [ + 0.9487266125196724, + 0.047815701161893265, + 0.3124603549561824, + -0.007650800564571417, + -0.9847295291896048, + 0.1739230277816599, + 0.31600518974799785, + -0.16739597684656404, + -0.9338732820827009 + ], + [ + 0.9414767236037382, + 0.07085374439121338, + 0.3295471526475613, + 0.015358947517093314, + -0.9856602490273717, + 0.16804159074011085, + 0.3367279044622492, + -0.1531457488572384, + -0.9290644207822287 + ], + [ + 0.9382559142647708, + 0.06179490538799197, + 0.3403780677647546, + 0.010399329642421368, + -0.9885101977354275, + 0.1507960308365381, + 0.3457856175293689, + -0.1379455640502985, + -0.928118164927655 + ], + [ + 0.9412740460460215, + 0.04906332187909174, + 0.3340598160305139, + 0.010185171545992595, + -0.9930617327622511, + 0.11715228211099436, + 0.33748989987958283, + -0.10686994605324711, + -0.9352429535205519 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + 0.006804108619689941, + 0.013495896011590958, + -0.003235429525375366, + 0.03345745801925659, + 0.04344652593135834, + -0.029839443042874336, + 1.0 + ], + [ + 0.03340417146682739, + 0.04193377122282982, + 0.013804048299789429, + 0.06014125049114227, + -0.02348552644252777, + 0.0012528728693723679, + 1.0 + ], + [ + 0.02342507243156433, + 0.02185172587633133, + 2.5287270545959473e-05, + 0.029953807592391968, + -0.013592362403869629, + -0.02715255320072174, + 1.0 + ], + [ + 0.024578958749771118, + 0.030286338180303574, + -0.02041863650083542, + 0.02047806978225708, + -0.07057112455368042, + -0.02796855941414833, + 1.0 + ], + [ + 0.017286866903305054, + 0.021070308983325958, + -0.018195927143096924, + 0.0029927343130111694, + -0.06687852740287781, + 0.010690305382013321, + 1.0 + ], + [ + 0.028043389320373535, + 0.007029667496681213, + -0.01679522544145584, + -0.009673267602920532, + -0.03565368056297302, + -0.006058491766452789, + 1.0 + ], + [ + 0.016445249319076538, + 0.003108374774456024, + -0.00670064240694046, + -0.011149078607559204, + -0.03068244457244873, + -0.01631322130560875, + 1.0 + ], + [ + 0.0010263025760650635, + 0.0021604523062705994, + -0.009710457175970078, + -0.030956164002418518, + -0.0006591081619262695, + 0.014349903911352158, + 1.0 + ], + [ + 0.0014141499996185303, + 0.0005740001797676086, + 0.0003322102129459381, + 0.0026705563068389893, + -0.010328799486160278, + -0.014322925359010696, + 1.0 + ], + [ + -0.012055426836013794, + 0.0014915987849235535, + -0.012561973184347153, + -0.00906313955783844, + 0.03637346625328064, + 0.005706295371055603, + 1.0 + ], + [ + -0.012108266353607178, + -0.0008926913142204285, + -0.003561960533261299, + -0.012800604104995728, + 0.010907977819442749, + 0.015738308429718018, + 1.0 + ], + [ + -0.004743814468383789, + -0.0002981051802635193, + -0.0011849161237478256, + 0.004459813237190247, + -0.00448039174079895, + 0.0034459084272384644, + 0.0 + ], + [ + -0.000344008207321167, + 0.0014143884181976318, + 0.0001636706292629242, + 0.00937160849571228, + -0.00715792179107666, + 0.005020171403884888, + 0.0 + ], + [ + -0.00373038649559021, + -0.011410951614379883, + 0.008599730208516121, + 0.0016764998435974121, + 0.03169247508049011, + 0.0036940090358257294, + 0.0 + ], + [ + -0.0074066221714019775, + -0.018238872289657593, + 0.03859502077102661, + 0.027143478393554688, + -0.007794737815856934, + 0.030372239649295807, + 0.0 + ], + [ + -0.01613032817840576, + -0.034005727618932724, + 0.03420054540038109, + 0.011663883924484253, + -0.0015170276165008545, + 0.015759021043777466, + 0.0 + ], + [ + -0.018029987812042236, + -0.03201274946331978, + 0.003146640956401825, + -0.012233972549438477, + 0.03503298759460449, + 0.023045841604471207, + 0.0 + ], + [ + -0.01345565915107727, + -0.03301144763827324, + 0.0006824955344200134, + 0.00421673059463501, + -0.008710414171218872, + -0.003959296271204948, + 0.0 + ], + [ + -0.0008301734924316406, + -0.02765296772122383, + 0.004286155104637146, + -0.004410043358802795, + -0.021808594465255737, + -0.04550895839929581, + 0.0 + ], + [ + 0.005915552377700806, + -0.00624895840883255, + -0.0031326934695243835, + -0.01729990541934967, + -0.002041459083557129, + 0.01427068468183279, + 0.0 + ], + [ + 0.0026898086071014404, + -0.00243937224149704, + -0.0002018362283706665, + -0.013995975255966187, + -0.021923750638961792, + 0.024376340210437775, + 0.0 + ], + [ + 0.0032384097576141357, + -0.006257489323616028, + -0.0064958855509757996, + -0.015820413827896118, + -0.009636223316192627, + -0.005229002796113491, + 0.0 + ], + [ + 0.003061234951019287, + 0.0005650222301483154, + -0.0064981430768966675, + -0.03377293795347214, + 0.008826851844787598, + -0.0002630269154906273, + 1.0 + ], + [ + 0.004381716251373291, + 0.0022290125489234924, + -0.004151880741119385, + -0.011476241052150726, + -0.008385717868804932, + -0.004204041324555874, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0105689764022827 + ], + [ + 1.0105689764022827 + ], + [ + 1.0105689764022827 + ], + [ + 1.0105689764022827 + ], + [ + 1.0105689764022827 + ], + [ + 1.0105689764022827 + ], + [ + 1.0105689764022827 + ], + [ + 1.0105689764022827 + ], + [ + 1.0105689764022827 + ], + [ + 1.0105689764022827 + ], + [ + 1.0099300146102905 + ], + [ + 0.8481387495994568 + ], + [ + 0.6029031276702881 + ], + [ + 0.5869058966636658 + ], + [ + 0.5849101543426514 + ], + [ + 0.5849101543426514 + ], + [ + 0.5849101543426514 + ], + [ + 0.5849101543426514 + ], + [ + 0.5849101543426514 + ], + [ + 0.5849101543426514 + ], + [ + 0.5849101543426514 + ], + [ + 0.5849101543426514 + ], + [ + 0.8205437660217285 + ], + [ + 1.013738751411438 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.28745153546333313, + -0.03075680136680603, + 0.08897091448307037 + ], + [ + 0.3208557069301605, + 0.011176969856023788, + 0.1027749627828598 + ], + [ + 0.34428077936172485, + 0.03302869573235512, + 0.10280025005340576 + ], + [ + 0.36885973811149597, + 0.06331503391265869, + 0.08238161355257034 + ], + [ + 0.386146605014801, + 0.08438534289598465, + 0.06418568640947342 + ], + [ + 0.41418999433517456, + 0.09141501039266586, + 0.04739046096801758 + ], + [ + 0.4306352436542511, + 0.09452338516712189, + 0.04068981856107712 + ], + [ + 0.43166154623031616, + 0.09668383747339249, + 0.03097936138510704 + ], + [ + 0.4330756962299347, + 0.0972578376531601, + 0.03131157159805298 + ], + [ + 0.4210202693939209, + 0.09874943643808365, + 0.018749598413705826 + ], + [ + 0.4089120030403137, + 0.09785674512386322, + 0.015187637880444527 + ], + [ + 0.40416818857192993, + 0.0975586399435997, + 0.014002721756696701 + ], + [ + 0.40382418036460876, + 0.09897302836179733, + 0.014166392385959625 + ], + [ + 0.40009379386901855, + 0.08756207674741745, + 0.022766122594475746 + ], + [ + 0.3926871716976166, + 0.06932320445775986, + 0.06136114522814751 + ], + [ + 0.3765568435192108, + 0.03531747683882713, + 0.0955616906285286 + ], + [ + 0.3585268557071686, + 0.00330472644418478, + 0.09870833158493042 + ], + [ + 0.3450711965560913, + -0.029706720262765884, + 0.09939082711935043 + ], + [ + 0.34424102306365967, + -0.057359687983989716, + 0.10367698222398758 + ], + [ + 0.3501565754413605, + -0.06360864639282227, + 0.1005442887544632 + ], + [ + 0.3528463840484619, + -0.0660480186343193, + 0.10034245252609253 + ], + [ + 0.35608479380607605, + -0.07230550795793533, + 0.09384656697511673 + ], + [ + 0.35914602875709534, + -0.07174048572778702, + 0.08734842389822006 + ], + [ + 0.36352774500846863, + -0.06951147317886353, + 0.08319654315710068 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9914902138548758, + 0.004207338429474359, + 0.13011323581155287, + -0.010039837184076156, + -0.994029520044929, + 0.10864858465974439, + 0.12979351871079747, + -0.10903032414236083, + -0.9855283004145958 + ], + [ + 0.9881807166104325, + 0.01719572719123955, + 0.15232589499378268, + -0.008768148494962564, + -0.9857211824733713, + 0.16815727755666512, + 0.15304244800467198, + -0.1675053951061383, + -0.9739198897851271 + ], + [ + 0.9854083950290858, + -0.0022031587687046314, + 0.17019236498045645, + -0.0355150394809488, + -0.9805681237379057, + 0.19293739056955725, + 0.16646013629955872, + -0.19616651294388424, + -0.966338306299905 + ], + [ + 0.9698669700731325, + -0.010920646065695976, + 0.24339022135383717, + -0.06215043393840502, + -0.9770336217698677, + 0.20382008118074038, + 0.23557458250505295, + -0.21280517244832994, + -0.948271361297391 + ], + [ + 0.9525856331378125, + 0.014520332495366533, + 0.30392395674519856, + -0.05082438383582345, + -0.9772340031439063, + 0.20598685663664354, + 0.2999958225494852, + -0.21166686808180504, + -0.9301610846564685 + ], + [ + 0.9409801948664042, + 0.012818092443916858, + 0.3382188187775533, + -0.05592425370422265, + -0.9796591807410362, + 0.19271836300007208, + 0.3338094527073941, + -0.2002587977990006, + -0.9211230445425242 + ], + [ + 0.9292891490960856, + -0.0011896144488456814, + 0.369351136711039, + -0.07045879463390786, + -0.9822020491382014, + 0.17411115107153655, + 0.36257031818808655, + -0.1878236393167317, + -0.9128335252842155 + ], + [ + 0.9299657876144987, + 0.0016498874428923574, + 0.3676423693454965, + -0.05710212965305105, + -0.9872063369445064, + 0.14887241210410773, + 0.36318449947049064, + -0.15943941221678826, + -0.9179739065879453 + ], + [ + 0.9252625362019832, + -0.009838070028055063, + 0.3791997514229106, + -0.07012839075591124, + -0.9868678360206282, + 0.14551248413091197, + 0.3727884760974517, + -0.1612299184583487, + -0.9138017648718206 + ], + [ + 0.9385588554960121, + -0.01322424996586196, + 0.344865762265344, + -0.0657519681907476, + -0.987814220651784, + 0.14106645298281253, + 0.3387978061455819, + -0.15507477129097932, + -0.9279913048407251 + ], + [ + 0.9431116094306584, + -0.0036249060222650308, + 0.33245654184185164, + -0.05117028693205837, + -0.9896092225679065, + 0.13436959605444332, + 0.3285149827517824, + -0.1437374226319409, + -0.9334974340847021 + ], + [ + 0.9418028948892769, + 0.0019271040943521743, + 0.3361600711684636, + -0.04784495546539809, + -0.9890352232866274, + 0.139714663993743, + 0.33274339574917344, + -0.14766723864209003, + -0.9313840342292369 + ], + [ + 0.9396278431987984, + 0.01115241359589638, + 0.3420162860984266, + -0.043006359133232426, + -0.987695641607444, + 0.15035881292349712, + 0.3394848588076914, + -0.15599020232260047, + -0.9275867007561484 + ], + [ + 0.9500561816646517, + 0.010357045378558168, + 0.31190701064870124, + -0.03996737014043025, + -0.9871810981485857, + 0.15451889457995244, + 0.30950906449543664, + -0.15926773392366422, + -0.9374635608523569 + ], + [ + 0.9483904883065415, + 0.05008702519474707, + 0.31312421113165484, + -0.011069545333326759, + -0.9816159130727029, + 0.19054570152212225, + 0.31691157576805834, + -0.184177873561362, + -0.9304007545324873 + ], + [ + 0.9479653131031581, + 0.06945746647026041, + 0.3107047239820531, + 0.003874945713815095, + -0.97835708777809, + 0.2068873935020918, + 0.31835004311126797, + -0.1949181088198504, + -0.9277177269542426 + ], + [ + 0.9581892060166137, + 0.08177090281730207, + 0.27420241597348194, + 0.026005373568114963, + -0.9792170117094438, + 0.20114115572008026, + 0.2849511642700093, + -0.18560054803601775, + -0.9404016538425992 + ], + [ + 0.9557669606761576, + 0.0807007347756368, + 0.2828372469929183, + 0.022153068704797295, + -0.9786426001508103, + 0.20437197145651478, + 0.29328954708073257, + -0.1890662650414777, + -0.9371420324563642 + ], + [ + 0.9491638042704701, + 0.038826447907218356, + 0.31237890390632483, + -0.02120290340168346, + -0.9822245261816901, + 0.18650849056944638, + 0.31406768307189414, + -0.18365044816188839, + -0.9314687344939656 + ], + [ + 0.9487266125196724, + 0.047815701161893265, + 0.3124603549561824, + -0.007650800564571417, + -0.9847295291896048, + 0.1739230277816599, + 0.31600518974799785, + -0.16739597684656404, + -0.9338732820827009 + ], + [ + 0.9414767236037382, + 0.07085374439121338, + 0.3295471526475613, + 0.015358947517093314, + -0.9856602490273717, + 0.16804159074011085, + 0.3367279044622492, + -0.1531457488572384, + -0.9290644207822287 + ], + [ + 0.9382559142647708, + 0.06179490538799197, + 0.3403780677647546, + 0.010399329642421368, + -0.9885101977354275, + 0.1507960308365381, + 0.3457856175293689, + -0.1379455640502985, + -0.928118164927655 + ], + [ + 0.9412740460460215, + 0.04906332187909174, + 0.3340598160305139, + 0.010185171545992595, + -0.9930617327622511, + 0.11715228211099436, + 0.33748989987958283, + -0.10686994605324711, + -0.9352429535205519 + ], + [ + 0.9384454504792619, + 0.041850667904159276, + 0.34288286348365493, + 0.006208995231243027, + -0.9945167975827723, + 0.10439246957479827, + 0.34537166191364543, + -0.09583768007251924, + -0.9335596147141991 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006378.json b/json/chunk-0006/episode_0006378.json new file mode 100644 index 0000000000000000000000000000000000000000..20bb8da57ca68a84fd021c548a03ae4c3cdd96c2 --- /dev/null +++ b/json/chunk-0006/episode_0006378.json @@ -0,0 +1,1582 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 25, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the yellow bell pepper to the left side of the table." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006378.mp4", + "start": 0, + "end": 25, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3870554566383362, + 0.09099814295768738, + 0.10690583288669586, + 0.048144105821847916, + -0.21769331395626068, + -0.043677039444446564, + 0.0, + 1.0001531839370728 + ], + [ + 0.3836521804332733, + 0.08955918997526169, + 0.09189098328351974, + 0.036253251135349274, + -0.17792782187461853, + -0.041348256170749664, + 0.0, + 1.0001531839370728 + ], + [ + 0.3595714271068573, + 0.06505990028381348, + 0.08801819384098053, + 0.019647419452667236, + -0.15237824618816376, + -0.08632771670818329, + 0.0, + 1.0001531839370728 + ], + [ + 0.33307433128356934, + 0.0369841493666172, + 0.09652409702539444, + -0.017174966633319855, + -0.18270373344421387, + -0.10870617628097534, + 0.0, + 1.0001531839370728 + ], + [ + 0.29988211393356323, + 0.017997751012444496, + 0.09312009066343307, + -0.02481801249086857, + -0.1759263277053833, + -0.11825891584157944, + 0.0, + 1.0001531839370728 + ], + [ + 0.27482885122299194, + 0.01383777055889368, + 0.08522854000329971, + -0.004364155698567629, + -0.16313239932060242, + -0.10541164129972458, + 0.0, + 1.0001531839370728 + ], + [ + 0.25541651248931885, + 0.021842949092388153, + 0.06924384832382202, + 0.044719815254211426, + -0.13257047533988953, + -0.05086018517613411, + 0.0, + 1.0001531839370728 + ], + [ + 0.24653016030788422, + 0.02870088256895542, + 0.057904984802007675, + 0.08662642538547516, + -0.12644417583942413, + -0.016083085909485817, + 0.0, + 1.0001531839370728 + ], + [ + 0.2430112063884735, + 0.02352394349873066, + 0.04987013712525368, + 0.13067252933979034, + -0.11692208796739578, + -0.012821551412343979, + 0.0, + 1.0001531839370728 + ], + [ + 0.24015772342681885, + 0.015614093281328678, + 0.04203612729907036, + 0.13136200606822968, + -0.10048259049654007, + 0.023424360901117325, + 0.0, + 1.0001531839370728 + ], + [ + 0.23971594870090485, + 0.009993379935622215, + 0.03944643959403038, + 0.11247089505195618, + -0.09441171586513519, + 0.060513194650411606, + 0.0, + 1.0001531839370728 + ], + [ + 0.23986081779003143, + 0.007229815237224102, + 0.03919168561697006, + 0.09266168624162674, + -0.09870981425046921, + 0.10668612271547318, + 0.0, + 1.0001531839370728 + ], + [ + 0.24283890426158905, + 0.008494237437844276, + 0.029710859060287476, + 0.0990433543920517, + -0.08303926885128021, + 0.1444837599992752, + 0.0, + 1.0001531839370728 + ], + [ + 0.24324513971805573, + 0.012009459547698498, + 0.006167181301862001, + 0.11057765781879425, + -0.014712776057422161, + 0.18349003791809082, + 0.0, + 1.0001531839370728 + ], + [ + 0.24339698255062103, + 0.013379600830376148, + -0.003032645909115672, + 0.11136078089475632, + 0.0033213840797543526, + 0.19815948605537415, + 0.0, + 0.9476637244224548 + ], + [ + 0.24551573395729065, + 0.012232478708028793, + -0.003153761150315404, + 0.10417104512453079, + -0.005495001561939716, + 0.16524916887283325, + 0.0, + 0.8092992901802063 + ], + [ + 0.25180405378341675, + 0.011709971353411674, + 0.023584067821502686, + 0.09351170808076859, + -0.08886205404996872, + 0.129556342959404, + 0.0, + 0.8083573579788208 + ], + [ + 0.25195184350013733, + 0.029419967904686928, + 0.052893057465553284, + 0.08307643979787827, + -0.17093251645565033, + 0.12960098683834076, + 0.0, + 0.8083573579788208 + ], + [ + 0.24526101350784302, + 0.05875442177057266, + 0.05069185420870781, + 0.03956885263323784, + -0.13898000121116638, + 0.17925332486629486, + 0.0, + 0.8083573579788208 + ], + [ + 0.23849929869174957, + 0.08865267783403397, + 0.03140781447291374, + 0.014073655940592289, + -0.08318957686424255, + 0.188093900680542, + 0.0, + 0.8083573579788208 + ], + [ + 0.23684552311897278, + 0.11967829614877701, + 0.011012030765414238, + -0.04195001348853111, + -0.05743789300322533, + 0.21508365869522095, + 0.0, + 0.8083573579788208 + ], + [ + 0.23923833668231964, + 0.14117878675460815, + -0.0017402531811967492, + -0.05089530721306801, + -0.04420282691717148, + 0.21477560698986053, + 0.0, + 0.8083573579788208 + ], + [ + 0.2385537177324295, + 0.1477947235107422, + -0.0008569458150304854, + -0.059981994330883026, + -0.05686940252780914, + 0.20511303842067719, + 0.0, + 0.8083573579788208 + ], + [ + 0.23691757023334503, + 0.14469045400619507, + 0.0005200544837862253, + -0.07402873039245605, + -0.056008752435445786, + 0.18649239838123322, + 0.0, + 0.8544629216194153 + ], + [ + 0.2401675432920456, + 0.14545419812202454, + 0.020244190469384193, + -0.07607901841402054, + -0.10648085176944733, + 0.16722963750362396, + 0.0, + 1.0092895030975342 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9476637244224548 + ], + [ + 0.8092992901802063 + ], + [ + 0.8083573579788208 + ], + [ + 0.8083573579788208 + ], + [ + 0.8083573579788208 + ], + [ + 0.8083573579788208 + ], + [ + 0.8083573579788208 + ], + [ + 0.8083573579788208 + ], + [ + 0.8083573579788208 + ], + [ + 0.8544629216194153 + ], + [ + 1.0092895030975342 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3870554566383362, + 0.09099814295768738, + 0.10690583288669586 + ], + [ + 0.3836521804332733, + 0.08955918997526169, + 0.09189098328351974 + ], + [ + 0.3595714271068573, + 0.06505990028381348, + 0.08801819384098053 + ], + [ + 0.33307433128356934, + 0.0369841493666172, + 0.09652409702539444 + ], + [ + 0.29988211393356323, + 0.017997751012444496, + 0.09312009066343307 + ], + [ + 0.27482885122299194, + 0.01383777055889368, + 0.08522854000329971 + ], + [ + 0.25541651248931885, + 0.021842949092388153, + 0.06924384832382202 + ], + [ + 0.24653016030788422, + 0.02870088256895542, + 0.057904984802007675 + ], + [ + 0.2430112063884735, + 0.02352394349873066, + 0.04987013712525368 + ], + [ + 0.24015772342681885, + 0.015614093281328678, + 0.04203612729907036 + ], + [ + 0.23971594870090485, + 0.009993379935622215, + 0.03944643959403038 + ], + [ + 0.23986081779003143, + 0.007229815237224102, + 0.03919168561697006 + ], + [ + 0.24283890426158905, + 0.008494237437844276, + 0.029710859060287476 + ], + [ + 0.24324513971805573, + 0.012009459547698498, + 0.006167181301862001 + ], + [ + 0.24339698255062103, + 0.013379600830376148, + -0.003032645909115672 + ], + [ + 0.24551573395729065, + 0.012232478708028793, + -0.003153761150315404 + ], + [ + 0.25180405378341675, + 0.011709971353411674, + 0.023584067821502686 + ], + [ + 0.25195184350013733, + 0.029419967904686928, + 0.052893057465553284 + ], + [ + 0.24526101350784302, + 0.05875442177057266, + 0.05069185420870781 + ], + [ + 0.23849929869174957, + 0.08865267783403397, + 0.03140781447291374 + ], + [ + 0.23684552311897278, + 0.11967829614877701, + 0.011012030765414238 + ], + [ + 0.23923833668231964, + 0.14117878675460815, + -0.0017402531811967492 + ], + [ + 0.2385537177324295, + 0.1477947235107422, + -0.0008569458150304854 + ], + [ + 0.23691757023334503, + 0.14469045400619507, + 0.0005200544837862253 + ], + [ + 0.2401675432920456, + 0.14545419812202454, + 0.020244190469384193 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9754670583410091, + -0.03322842468010791, + 0.21762327514495544, + -0.04263262648895491, + -0.9983425481212529, + 0.0386602608555255, + 0.21597795547275617, + -0.046989662735993476, + -0.9752668836507092 + ], + [ + 0.9833713378534628, + -0.034899721677439724, + 0.17822127065849394, + -0.04068387807929144, + -0.9987539437180112, + 0.028902975143559863, + 0.1769904911364457, + -0.03567308978147441, + -0.9835658578421288 + ], + [ + 0.9847321071082998, + -0.08323291971509165, + 0.1528887121593675, + -0.085221483280232, + -0.9963409067307664, + 0.006488170962026953, + 0.15178924868898308, + -0.019418513089741418, + -0.9882221133590456 + ], + [ + 0.977551593108794, + -0.11157813429426366, + 0.17872661457620131, + -0.1066864663988093, + -0.993612150714089, + -0.03678167805658354, + 0.18168896691267328, + 0.016888277020871173, + -0.9832110177380398 + ], + [ + 0.9776882012196038, + -0.12226000398540872, + 0.17081648814287095, + -0.11616236913332782, + -0.9921973329891556, + -0.04528527803314408, + 0.17502024223874282, + 0.02443243407224338, + -0.9842616374582509 + ], + [ + 0.9812464221787504, + -0.10592037743198791, + 0.16104760974962273, + -0.10381961553842763, + -0.9943652901619828, + -0.02142795255101864, + 0.16240981002037602, + 0.004306200847714508, + -0.9867139961728548 + ], + [ + 0.989943642927657, + -0.044885868978642926, + 0.13415231117335066, + -0.05039217528304103, + -0.9980088418487176, + 0.03793389331487628, + 0.13218249694026316, + -0.04431264331783027, + -0.9902344051510349 + ], + [ + 0.991888282826458, + -0.005112913948918748, + 0.12700981262300592, + -0.01595400007297757, + -0.9962969001894156, + 0.0844864282274537, + 0.12610751077256088, + -0.08582741277652617, + -0.9882967929437168 + ], + [ + 0.9930907624420404, + 0.0024872302111265485, + 0.11732242427670662, + -0.01273366204691222, + -0.9915878795240473, + 0.12880734075307385, + 0.11665586741849605, + -0.12941132433786587, + -0.984705091755881 + ], + [ + 0.9946829167546916, + 0.036356346188408384, + 0.09635409284617032, + 0.023304074100625384, + -0.990804680455431, + 0.13327792509610964, + 0.10031358455708962, + -0.1303238323540259, + -0.9863837404752107 + ], + [ + 0.9937243102286906, + 0.07065526600882467, + 0.08671694555123562, + 0.060206940089298645, + -0.9912231463120362, + 0.1176936641470214, + 0.09427152075572633, + -0.11173409327725575, + -0.9892564747192271 + ], + [ + 0.9894742487182332, + 0.11509390158817165, + 0.08771604722455605, + 0.10596550713097302, + -0.9890778041549325, + 0.10245198205272954, + 0.09854959371790424, + -0.09207872254364399, + -0.9908630008395545 + ], + [ + 0.9861704911786556, + 0.15139212188718312, + 0.06744025325386623, + 0.1434854591649151, + -0.9835497648471232, + 0.10973505856107456, + 0.08294386859004592, + -0.09854078089636427, + -0.9916703228208719 + ], + [ + 0.9831064682236378, + 0.18294402160115314, + -0.005758219971675399, + 0.1824423798798494, + -0.9769116939708606, + 0.11116798193167098, + 0.014712245261077964, + -0.11034050545189837, + -0.993784947911769 + ], + [ + 0.9804251634751734, + 0.1952838615844633, + -0.025113984736386534, + 0.19686408324790813, + -0.9744302462889353, + 0.10830617639010856, + -0.003321377973065266, + -0.11113014227447385, + -0.9938003118969198 + ], + [ + 0.986362506341551, + 0.16416998181771061, + -0.011714228680811184, + 0.16449562713142366, + -0.9809363550259006, + 0.10346524074847548, + 0.0054949739083474895, + -0.10398117357710919, + -0.9945640858201514 + ], + [ + 0.9877067414547908, + 0.13684693617444707, + 0.07555335164257487, + 0.12868446324894675, + -0.98621630655412, + 0.10400819970118265, + 0.08874515087085172, + -0.09300705750865056, + -0.9917025690450202 + ], + [ + 0.9771623330451171, + 0.14278954895385, + 0.15736873764309003, + 0.12735503843274232, + -0.9863693785476124, + 0.10419281764781847, + 0.17010134938799973, + -0.08177159514863887, + -0.9820279716806588 + ], + [ + 0.9744894061468021, + 0.18354770688312075, + 0.12915353888144507, + 0.17657575942068407, + -0.982229807296675, + 0.06360508503999975, + 0.13853302311240326, + -0.039177097338686184, + -0.9895826173450368 + ], + [ + 0.9789651722901177, + 0.18811700540357376, + 0.07898850372662793, + 0.18634010702697937, + -0.9820464882290062, + 0.029360849276714687, + 0.08309365773723999, + -0.014024522632442367, + -0.9964430524665111 + ], + [ + 0.9753474378212598, + 0.21088937356187315, + 0.06498498021992663, + 0.21307719360128202, + -0.9766128693362863, + -0.02873000197958899, + 0.057406315876437464, + 0.041868551030888636, + -0.9974725757293121 + ], + [ + 0.976069899782845, + 0.2106558561142557, + 0.05395980932765443, + 0.21292001564174529, + -0.9762382226619494, + -0.04029887781262659, + 0.0441884337471444, + 0.05082364507400133, + -0.9977295923367042 + ], + [ + 0.9774552264752078, + 0.19997570510228718, + 0.06775690079352358, + 0.2033485586851661, + -0.977971267409276, + -0.047133467966615675, + 0.05683875365422679, + 0.05984912272320708, + -0.9965878980763797 + ], + [ + 0.9811197439243948, + 0.18083692175720864, + 0.06857153790828147, + 0.1851225177440696, + -0.9807369171592825, + -0.06232778469513453, + 0.055979473968824654, + 0.07384515590262919, + -0.9956973392772975 + ], + [ + 0.9804649599760201, + 0.15800462460623899, + 0.11714521271594082, + 0.16550854091902495, + -0.9845419908951394, + -0.05730611701285612, + 0.10627974944492942, + 0.07557517295565527, + -0.9914600385747507 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.003403276205062866, + -0.0014389529824256897, + -0.015014849603176117, + -0.011890854686498642, + 0.03976549208164215, + 0.0023287832736968994, + 1.0 + ], + [ + -0.024080753326416016, + -0.02449928969144821, + -0.003872789442539215, + -0.016605831682682037, + 0.025549575686454773, + -0.044979460537433624, + 1.0 + ], + [ + -0.026497095823287964, + -0.028075750917196274, + 0.00850590318441391, + -0.03682238608598709, + -0.03032548725605011, + -0.022378459572792053, + 1.0 + ], + [ + -0.033192217350006104, + -0.018986398354172707, + -0.0034040063619613647, + -0.007643045857548714, + 0.006777405738830566, + -0.009552739560604095, + 1.0 + ], + [ + -0.02505326271057129, + -0.004159980453550816, + -0.007891550660133362, + 0.020453857257962227, + 0.012793928384780884, + 0.012847274541854858, + 1.0 + ], + [ + -0.019412338733673096, + 0.008005178533494473, + -0.01598469167947769, + 0.04908397048711777, + 0.03056192398071289, + 0.05455145612359047, + 1.0 + ], + [ + -0.008886352181434631, + 0.006857933476567268, + -0.011338863521814346, + 0.04190661013126373, + 0.006126299500465393, + 0.03477709740400314, + 1.0 + ], + [ + -0.0035189539194107056, + -0.005176939070224762, + -0.008034847676753998, + 0.044046103954315186, + 0.00952208787202835, + 0.003261534497141838, + 1.0 + ], + [ + -0.002853482961654663, + -0.007909850217401981, + -0.007834009826183319, + 0.0006894767284393311, + 0.016439497470855713, + 0.036245912313461304, + 1.0 + ], + [ + -0.00044177472591400146, + -0.005620713345706463, + -0.002589687705039978, + -0.0188911110162735, + 0.006070874631404877, + 0.03708883374929428, + 1.0 + ], + [ + 0.00014486908912658691, + -0.0027635646983981133, + -0.000254753977060318, + -0.019809208810329437, + -0.004298098385334015, + 0.04617292806506157, + 1.0 + ], + [ + 0.002978086471557617, + 0.0012644222006201744, + -0.009480826556682587, + 0.006381668150424957, + 0.015670545399188995, + 0.03779763728380203, + 1.0 + ], + [ + 0.0004062354564666748, + 0.0035152221098542213, + -0.02354367822408676, + 0.011534303426742554, + 0.06832649558782578, + 0.03900627791881561, + 1.0 + ], + [ + 0.00015184283256530762, + 0.0013701412826776505, + -0.00919982697814703, + 0.0007831230759620667, + 0.018034160137176514, + 0.014669448137283325, + 0.0 + ], + [ + 0.0021187514066696167, + -0.0011471221223473549, + -0.00012111524119973183, + -0.007189735770225525, + -0.008816385641694069, + -0.032910317182540894, + 0.0 + ], + [ + 0.006288319826126099, + -0.0005225073546171188, + 0.02673782967031002, + -0.010659337043762207, + -0.08336704969406128, + -0.03569282591342926, + 0.0 + ], + [ + 0.00014778971672058105, + 0.017709996551275253, + 0.029308989644050598, + -0.01043526828289032, + -0.08207046240568161, + 4.464387893676758e-05, + 0.0 + ], + [ + -0.0066908299922943115, + 0.029334453865885735, + -0.0022012032568454742, + -0.04350758716464043, + 0.03195251524448395, + 0.0496523380279541, + 0.0 + ], + [ + -0.006761714816093445, + 0.029898256063461304, + -0.019284039735794067, + -0.025495197623968124, + 0.05579042434692383, + 0.008840575814247131, + 0.0 + ], + [ + -0.0016537755727767944, + 0.031025618314743042, + -0.020395783707499504, + -0.05602366849780083, + 0.025751683861017227, + 0.026989758014678955, + 0.0 + ], + [ + 0.002392813563346863, + 0.021500490605831146, + -0.012752284295856953, + -0.008945293724536896, + 0.013235066086053848, + -0.0003080517053604126, + 0.0 + ], + [ + -0.0006846189498901367, + 0.006615936756134033, + 0.0008833073661662638, + -0.009086687117815018, + -0.012666575610637665, + -0.00966256856918335, + 0.0 + ], + [ + -0.0016361474990844727, + -0.003104269504547119, + 0.0013770002406090498, + -0.014046736061573029, + 0.0008606500923633575, + -0.01862064003944397, + 1.0 + ], + [ + 0.0032499730587005615, + 0.0007637441158294678, + 0.019724136218428612, + -0.0020502880215644836, + -0.05047209933400154, + -0.019262760877609253, + 1.0 + ], + [ + 0.005711182951927185, + 1.9297003746032715e-05, + 0.02067372016608715, + 0.015396229922771454, + -0.042045190930366516, + -0.03370778262615204, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9476637244224548 + ], + [ + 0.8092992901802063 + ], + [ + 0.8083573579788208 + ], + [ + 0.8083573579788208 + ], + [ + 0.8083573579788208 + ], + [ + 0.8083573579788208 + ], + [ + 0.8083573579788208 + ], + [ + 0.8083573579788208 + ], + [ + 0.8083573579788208 + ], + [ + 0.8544629216194153 + ], + [ + 1.0092895030975342 + ], + [ + 1.0054124593734741 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3836521804332733, + 0.08955918997526169, + 0.09189098328351974 + ], + [ + 0.3595714271068573, + 0.06505990028381348, + 0.08801819384098053 + ], + [ + 0.33307433128356934, + 0.0369841493666172, + 0.09652409702539444 + ], + [ + 0.29988211393356323, + 0.017997751012444496, + 0.09312009066343307 + ], + [ + 0.27482885122299194, + 0.01383777055889368, + 0.08522854000329971 + ], + [ + 0.25541651248931885, + 0.021842949092388153, + 0.06924384832382202 + ], + [ + 0.24653016030788422, + 0.02870088256895542, + 0.057904984802007675 + ], + [ + 0.2430112063884735, + 0.02352394349873066, + 0.04987013712525368 + ], + [ + 0.24015772342681885, + 0.015614093281328678, + 0.04203612729907036 + ], + [ + 0.23971594870090485, + 0.009993379935622215, + 0.03944643959403038 + ], + [ + 0.23986081779003143, + 0.007229815237224102, + 0.03919168561697006 + ], + [ + 0.24283890426158905, + 0.008494237437844276, + 0.029710859060287476 + ], + [ + 0.24324513971805573, + 0.012009459547698498, + 0.006167181301862001 + ], + [ + 0.24339698255062103, + 0.013379600830376148, + -0.003032645909115672 + ], + [ + 0.24551573395729065, + 0.012232478708028793, + -0.003153761150315404 + ], + [ + 0.25180405378341675, + 0.011709971353411674, + 0.023584067821502686 + ], + [ + 0.25195184350013733, + 0.029419967904686928, + 0.052893057465553284 + ], + [ + 0.24526101350784302, + 0.05875442177057266, + 0.05069185420870781 + ], + [ + 0.23849929869174957, + 0.08865267783403397, + 0.03140781447291374 + ], + [ + 0.23684552311897278, + 0.11967829614877701, + 0.011012030765414238 + ], + [ + 0.23923833668231964, + 0.14117878675460815, + -0.0017402531811967492 + ], + [ + 0.2385537177324295, + 0.1477947235107422, + -0.0008569458150304854 + ], + [ + 0.23691757023334503, + 0.14469045400619507, + 0.0005200544837862253 + ], + [ + 0.2401675432920456, + 0.14545419812202454, + 0.020244190469384193 + ], + [ + 0.24587872624397278, + 0.14547349512577057, + 0.040917910635471344 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9833713378534628, + -0.034899721677439724, + 0.17822127065849394, + -0.04068387807929144, + -0.9987539437180112, + 0.028902975143559863, + 0.1769904911364457, + -0.03567308978147441, + -0.9835658578421288 + ], + [ + 0.9847321071082998, + -0.08323291971509165, + 0.1528887121593675, + -0.085221483280232, + -0.9963409067307664, + 0.006488170962026953, + 0.15178924868898308, + -0.019418513089741418, + -0.9882221133590456 + ], + [ + 0.977551593108794, + -0.11157813429426366, + 0.17872661457620131, + -0.1066864663988093, + -0.993612150714089, + -0.03678167805658354, + 0.18168896691267328, + 0.016888277020871173, + -0.9832110177380398 + ], + [ + 0.9776882012196038, + -0.12226000398540872, + 0.17081648814287095, + -0.11616236913332782, + -0.9921973329891556, + -0.04528527803314408, + 0.17502024223874282, + 0.02443243407224338, + -0.9842616374582509 + ], + [ + 0.9812464221787504, + -0.10592037743198791, + 0.16104760974962273, + -0.10381961553842763, + -0.9943652901619828, + -0.02142795255101864, + 0.16240981002037602, + 0.004306200847714508, + -0.9867139961728548 + ], + [ + 0.989943642927657, + -0.044885868978642926, + 0.13415231117335066, + -0.05039217528304103, + -0.9980088418487176, + 0.03793389331487628, + 0.13218249694026316, + -0.04431264331783027, + -0.9902344051510349 + ], + [ + 0.991888282826458, + -0.005112913948918748, + 0.12700981262300592, + -0.01595400007297757, + -0.9962969001894156, + 0.0844864282274537, + 0.12610751077256088, + -0.08582741277652617, + -0.9882967929437168 + ], + [ + 0.9930907624420404, + 0.0024872302111265485, + 0.11732242427670662, + -0.01273366204691222, + -0.9915878795240473, + 0.12880734075307385, + 0.11665586741849605, + -0.12941132433786587, + -0.984705091755881 + ], + [ + 0.9946829167546916, + 0.036356346188408384, + 0.09635409284617032, + 0.023304074100625384, + -0.990804680455431, + 0.13327792509610964, + 0.10031358455708962, + -0.1303238323540259, + -0.9863837404752107 + ], + [ + 0.9937243102286906, + 0.07065526600882467, + 0.08671694555123562, + 0.060206940089298645, + -0.9912231463120362, + 0.1176936641470214, + 0.09427152075572633, + -0.11173409327725575, + -0.9892564747192271 + ], + [ + 0.9894742487182332, + 0.11509390158817165, + 0.08771604722455605, + 0.10596550713097302, + -0.9890778041549325, + 0.10245198205272954, + 0.09854959371790424, + -0.09207872254364399, + -0.9908630008395545 + ], + [ + 0.9861704911786556, + 0.15139212188718312, + 0.06744025325386623, + 0.1434854591649151, + -0.9835497648471232, + 0.10973505856107456, + 0.08294386859004592, + -0.09854078089636427, + -0.9916703228208719 + ], + [ + 0.9831064682236378, + 0.18294402160115314, + -0.005758219971675399, + 0.1824423798798494, + -0.9769116939708606, + 0.11116798193167098, + 0.014712245261077964, + -0.11034050545189837, + -0.993784947911769 + ], + [ + 0.9804251634751734, + 0.1952838615844633, + -0.025113984736386534, + 0.19686408324790813, + -0.9744302462889353, + 0.10830617639010856, + -0.003321377973065266, + -0.11113014227447385, + -0.9938003118969198 + ], + [ + 0.986362506341551, + 0.16416998181771061, + -0.011714228680811184, + 0.16449562713142366, + -0.9809363550259006, + 0.10346524074847548, + 0.0054949739083474895, + -0.10398117357710919, + -0.9945640858201514 + ], + [ + 0.9877067414547908, + 0.13684693617444707, + 0.07555335164257487, + 0.12868446324894675, + -0.98621630655412, + 0.10400819970118265, + 0.08874515087085172, + -0.09300705750865056, + -0.9917025690450202 + ], + [ + 0.9771623330451171, + 0.14278954895385, + 0.15736873764309003, + 0.12735503843274232, + -0.9863693785476124, + 0.10419281764781847, + 0.17010134938799973, + -0.08177159514863887, + -0.9820279716806588 + ], + [ + 0.9744894061468021, + 0.18354770688312075, + 0.12915353888144507, + 0.17657575942068407, + -0.982229807296675, + 0.06360508503999975, + 0.13853302311240326, + -0.039177097338686184, + -0.9895826173450368 + ], + [ + 0.9789651722901177, + 0.18811700540357376, + 0.07898850372662793, + 0.18634010702697937, + -0.9820464882290062, + 0.029360849276714687, + 0.08309365773723999, + -0.014024522632442367, + -0.9964430524665111 + ], + [ + 0.9753474378212598, + 0.21088937356187315, + 0.06498498021992663, + 0.21307719360128202, + -0.9766128693362863, + -0.02873000197958899, + 0.057406315876437464, + 0.041868551030888636, + -0.9974725757293121 + ], + [ + 0.976069899782845, + 0.2106558561142557, + 0.05395980932765443, + 0.21292001564174529, + -0.9762382226619494, + -0.04029887781262659, + 0.0441884337471444, + 0.05082364507400133, + -0.9977295923367042 + ], + [ + 0.9774552264752078, + 0.19997570510228718, + 0.06775690079352358, + 0.2033485586851661, + -0.977971267409276, + -0.047133467966615675, + 0.05683875365422679, + 0.05984912272320708, + -0.9965878980763797 + ], + [ + 0.9811197439243948, + 0.18083692175720864, + 0.06857153790828147, + 0.1851225177440696, + -0.9807369171592825, + -0.06232778469513453, + 0.055979473968824654, + 0.07384515590262919, + -0.9956973392772975 + ], + [ + 0.9804649599760201, + 0.15800462460623899, + 0.11714521271594082, + 0.16550854091902495, + -0.9845419908951394, + -0.05730611701285612, + 0.10627974944492942, + 0.07557517295565527, + -0.9914600385747507 + ], + [ + 0.9801874573258815, + 0.12398594910234725, + 0.15446693149737045, + 0.1316597929665627, + -0.9904696565795795, + -0.04044203643650613, + 0.14798056432189, + 0.05997786108490361, + -0.987169898630755 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006379.json b/json/chunk-0006/episode_0006379.json new file mode 100644 index 0000000000000000000000000000000000000000..8c52853e7167d94d98b33a81d632e9dc4e0a19c7 --- /dev/null +++ b/json/chunk-0006/episode_0006379.json @@ -0,0 +1,1942 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 31, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nFold the cloth to the right and place the stove on the left." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006379.mp4", + "start": 0, + "end": 31, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.34631073474884033, + -0.12110768258571625, + -0.019992917776107788, + -0.11623018980026245, + -0.0013779522851109505, + -0.45204704999923706, + 0.0, + 0.9988223910331726 + ], + [ + 0.34206709265708923, + -0.11962047219276428, + -0.025455042719841003, + -0.11439619958400726, + 0.01829703338444233, + -0.4512280225753784, + 0.0, + 0.9981546401977539 + ], + [ + 0.32652518153190613, + -0.09092061966657639, + -0.006519211921840906, + -0.0646430104970932, + 0.028356697410345078, + -0.40744662284851074, + 0.0, + 0.9988223910331726 + ], + [ + 0.32720449566841125, + -0.05096425488591194, + 0.030788520351052284, + -0.015438104048371315, + -0.00012249218707438558, + -0.3500007390975952, + 0.0, + 0.9988223910331726 + ], + [ + 0.31574103236198425, + -0.008610784076154232, + 0.06808827817440033, + 0.02942877635359764, + -0.09053484350442886, + -0.30448800325393677, + 0.0, + 0.9988223910331726 + ], + [ + 0.29619717597961426, + 0.0464593842625618, + 0.06975240260362625, + 0.04033753275871277, + -0.08785291761159897, + -0.26340028643608093, + 0.0, + 0.9988223910331726 + ], + [ + 0.27004119753837585, + 0.09396035224199295, + 0.055916085839271545, + 0.008830646984279156, + 0.04573426395654678, + -0.311140239238739, + 0.0, + 0.9988223910331726 + ], + [ + 0.25031614303588867, + 0.11973802000284195, + 0.042998846620321274, + 0.010147408582270145, + 0.06102200970053673, + -0.303758442401886, + 0.0, + 0.9988223910331726 + ], + [ + 0.23941516876220703, + 0.13849276304244995, + 0.01071529183536768, + -0.048943277448415756, + 0.13712473213672638, + -0.29033249616622925, + 0.0, + 0.9988223910331726 + ], + [ + 0.24123328924179077, + 0.14647434651851654, + -0.007302877958863974, + -0.07330526411533356, + 0.11457861959934235, + -0.30423030257225037, + 0.0, + 0.9605803489685059 + ], + [ + 0.2485991269350052, + 0.15019591152668, + -0.013224026188254356, + -0.031075740233063698, + 0.06613007932901382, + -0.31938573718070984, + 0.0, + 0.649078905582428 + ], + [ + 0.24607795476913452, + 0.1453070342540741, + -0.007477103266865015, + 0.005025853402912617, + 0.06926533579826355, + -0.32800203561782837, + 0.0, + 0.3453405201435089 + ], + [ + 0.2536877989768982, + 0.13496853411197662, + 0.015759212896227837, + 0.07324127852916718, + 0.040431126952171326, + -0.3567473292350769, + 0.0, + 0.13759112358093262 + ], + [ + 0.26288121938705444, + 0.11605512350797653, + 0.019582809880375862, + 0.09105713665485382, + 0.05837941914796829, + -0.4171401560306549, + 0.0, + 0.05115113407373428 + ], + [ + 0.2862398326396942, + 0.08560334146022797, + 0.029841499403119087, + 0.12197457253932953, + 0.06166653707623482, + -0.515815019607544, + 0.0, + 0.05089319497346878 + ], + [ + 0.3178819417953491, + 0.03830413520336151, + 0.03653739392757416, + 0.14426302909851074, + 0.08069785684347153, + -0.6574748754501343, + 0.0, + 0.05089319497346878 + ], + [ + 0.34768879413604736, + -0.012040735222399235, + 0.04255203902721405, + 0.17016680538654327, + 0.07850777357816696, + -0.810414731502533, + 0.0, + 0.05089319497346878 + ], + [ + 0.36330103874206543, + -0.059609800577163696, + 0.040858831256628036, + 0.18721897900104523, + 0.02817542478442192, + -0.9662160277366638, + 0.0, + 0.05089319497346878 + ], + [ + 0.3742997348308563, + -0.0942169576883316, + 0.018413741141557693, + 0.12840911746025085, + 0.04343099892139435, + -1.0920817852020264, + 0.0, + 0.05089319497346878 + ], + [ + 0.3761763870716095, + -0.11968687921762466, + -0.019290782511234283, + 0.0415547713637352, + 0.07639438658952713, + -1.1927801370620728, + 0.0, + 0.05089319497346878 + ], + [ + 0.37499263882637024, + -0.12890537083148956, + -0.025547588244080544, + 0.033776186406612396, + 0.08360517024993896, + -1.214500069618225, + 0.0, + 0.0686454325914383 + ], + [ + 0.3664838969707489, + -0.13166917860507965, + -0.023991655558347702, + 0.06322532892227173, + 0.030851298943161964, + -1.229590654373169, + 0.0, + 0.20867010951042175 + ], + [ + 0.3528742790222168, + -0.13731501996517181, + -0.02076530270278454, + 0.04475315287709236, + -0.018635163083672523, + -1.24046790599823, + 0.0, + 0.45315688848495483 + ], + [ + 0.34304776787757874, + -0.1327969878911972, + -0.0036574965342879295, + 0.058242857456207275, + -0.010287651792168617, + -1.0407893657684326, + 0.0, + 0.7681795358657837 + ], + [ + 0.3314848244190216, + -0.11464080959558487, + 0.019230438396334648, + 0.16769686341285706, + -0.14139704406261444, + -0.8629955649375916, + 0.0, + 1.0001531839370728 + ], + [ + 0.3371564745903015, + -0.10681937634944916, + 0.041648104786872864, + 0.22873704135417938, + -0.38807353377342224, + -0.9543270468711853, + 0.0, + 1.0047606229782104 + ], + [ + 0.3436395823955536, + -0.09462679177522659, + 0.058312349021434784, + 0.26615527272224426, + -0.418614000082016, + -0.895073652267456, + 0.0, + 1.0008161067962646 + ], + [ + 0.34139958024024963, + -0.07689737528562546, + 0.0783565565943718, + 0.2785574495792389, + -0.3391999900341034, + -0.7306376099586487, + 0.0, + 1.0008161067962646 + ], + [ + 0.3338795006275177, + -0.05550479516386986, + 0.08715757727622986, + 0.24224500358104706, + -0.24619773030281067, + -0.6139401197433472, + 0.0, + 1.0008161067962646 + ], + [ + 0.32260242104530334, + -0.009668057784438133, + 0.09237056970596313, + 0.2169034481048584, + -0.18549881875514984, + -0.40931254625320435, + 0.0, + 1.0008161067962646 + ], + [ + 0.30397120118141174, + 0.028769999742507935, + 0.08096028864383698, + 0.1656275987625122, + -0.1393636018037796, + -0.2683166563510895, + 0.0, + 1.0008161067962646 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9981546401977539 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9605803489685059 + ], + [ + 0.649078905582428 + ], + [ + 0.3453405201435089 + ], + [ + 0.13759112358093262 + ], + [ + 0.05115113407373428 + ], + [ + 0.05089319497346878 + ], + [ + 0.05089319497346878 + ], + [ + 0.05089319497346878 + ], + [ + 0.05089319497346878 + ], + [ + 0.05089319497346878 + ], + [ + 0.05089319497346878 + ], + [ + 0.0686454325914383 + ], + [ + 0.20867010951042175 + ], + [ + 0.45315688848495483 + ], + [ + 0.7681795358657837 + ], + [ + 1.0001531839370728 + ], + [ + 1.0047606229782104 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.34631073474884033, + -0.12110768258571625, + -0.019992917776107788 + ], + [ + 0.34206709265708923, + -0.11962047219276428, + -0.025455042719841003 + ], + [ + 0.32652518153190613, + -0.09092061966657639, + -0.006519211921840906 + ], + [ + 0.32720449566841125, + -0.05096425488591194, + 0.030788520351052284 + ], + [ + 0.31574103236198425, + -0.008610784076154232, + 0.06808827817440033 + ], + [ + 0.29619717597961426, + 0.0464593842625618, + 0.06975240260362625 + ], + [ + 0.27004119753837585, + 0.09396035224199295, + 0.055916085839271545 + ], + [ + 0.25031614303588867, + 0.11973802000284195, + 0.042998846620321274 + ], + [ + 0.23941516876220703, + 0.13849276304244995, + 0.01071529183536768 + ], + [ + 0.24123328924179077, + 0.14647434651851654, + -0.007302877958863974 + ], + [ + 0.2485991269350052, + 0.15019591152668, + -0.013224026188254356 + ], + [ + 0.24607795476913452, + 0.1453070342540741, + -0.007477103266865015 + ], + [ + 0.2536877989768982, + 0.13496853411197662, + 0.015759212896227837 + ], + [ + 0.26288121938705444, + 0.11605512350797653, + 0.019582809880375862 + ], + [ + 0.2862398326396942, + 0.08560334146022797, + 0.029841499403119087 + ], + [ + 0.3178819417953491, + 0.03830413520336151, + 0.03653739392757416 + ], + [ + 0.34768879413604736, + -0.012040735222399235, + 0.04255203902721405 + ], + [ + 0.36330103874206543, + -0.059609800577163696, + 0.040858831256628036 + ], + [ + 0.3742997348308563, + -0.0942169576883316, + 0.018413741141557693 + ], + [ + 0.3761763870716095, + -0.11968687921762466, + -0.019290782511234283 + ], + [ + 0.37499263882637024, + -0.12890537083148956, + -0.025547588244080544 + ], + [ + 0.3664838969707489, + -0.13166917860507965, + -0.023991655558347702 + ], + [ + 0.3528742790222168, + -0.13731501996517181, + -0.02076530270278454 + ], + [ + 0.34304776787757874, + -0.1327969878911972, + -0.0036574965342879295 + ], + [ + 0.3314848244190216, + -0.11464080959558487, + 0.019230438396334648 + ], + [ + 0.3371564745903015, + -0.10681937634944916, + 0.041648104786872864 + ], + [ + 0.3436395823955536, + -0.09462679177522659, + 0.058312349021434784 + ], + [ + 0.34139958024024963, + -0.07689737528562546, + 0.0783565565943718 + ], + [ + 0.3338795006275177, + -0.05550479516386986, + 0.08715757727622986 + ], + [ + 0.32260242104530334, + -0.009668057784438133, + 0.09237056970596313 + ], + [ + 0.30397120118141174, + 0.028769999742507935, + 0.08096028864383698 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8995539661401364, + -0.434004431406478, + -0.04942484720350602, + -0.436807467026666, + -0.8934156074879382, + -0.10491801106914947, + 0.001377951849045933, + 0.11596855529193162, + -0.9932519294882863 + ], + [ + 0.899761643279606, + -0.4313413603463651, + -0.06613332093075203, + -0.43599798303430154, + -0.8949410527081818, + -0.09479594383512267, + -0.018296012483695816, + 0.11412774873849928, + -0.9932975953333814 + ], + [ + 0.9177665192239074, + -0.39375701883172337, + -0.051575442919929805, + -0.3961069671279906, + -0.916943762275839, + -0.04809789409209785, + -0.02835289728225481, + 0.06457202911620098, + -0.9975101835427638 + ], + [ + 0.9393724523648475, + -0.3428594165151562, + -0.005178440396384782, + -0.34289849917098864, + -0.9392598705298685, + -0.01454355109655462, + 0.00012249218676806638, + 0.01543749069963074, + -0.9998808273372197 + ], + [ + 0.9500934860110805, + -0.29713702052117213, + 0.09503661860100987, + -0.29857692478032144, + -0.9543850718554724, + 0.000977040506604323, + 0.090411215167365, + -0.029304021144303544, + -0.9954732977416999 + ], + [ + 0.9617866722062748, + -0.25673704873724296, + 0.09514454777899753, + -0.25936094183079245, + -0.9656460908663101, + 0.016109905252914468, + 0.087739951099962, + -0.040171071684784634, + -0.995333103026656 + ], + [ + 0.9509896876408033, + -0.30651672214984443, + -0.04081804801019561, + -0.30582421256339204, + -0.9518243975286738, + 0.02240239449609111, + -0.04571832248485048, + -0.008821298753150932, + -0.9989154216836774 + ], + [ + 0.9524429939118529, + -0.2996837789073832, + -0.05515411143348179, + -0.29855196755535285, + -0.9539848265207309, + 0.027922633060631995, + -0.06098414562042961, + -0.01012834774293725, + -0.9980873461551071 + ], + [ + 0.9491547233301882, + -0.27952025336391295, + -0.14482313053986937, + -0.2835836336760307, + -0.9589158567504327, + -0.0077911734470976594, + -0.13669540552298362, + 0.048464498676431766, + -0.9894268838458704 + ], + [ + 0.9478219626311312, + -0.2907655852218588, + -0.1307245256432792, + -0.29759471940878823, + -0.9540238173914871, + -0.03572028597000311, + -0.11432808112653246, + 0.07275940008249221, + -0.9907750297446745 + ], + [ + 0.9473532076892737, + -0.31188244732613013, + -0.07246543266073452, + -0.313297117279164, + -0.9496147450007854, + -0.008760843661375032, + -0.06608188999574374, + 0.031002824499663382, + -0.997332446422773 + ], + [ + 0.9444178331425959, + -0.32247744903655734, + -0.06390032320042514, + -0.3213797401703235, + -0.9465638683491803, + 0.02705375655784636, + -0.06920996351898763, + -0.005013780879776223, + -0.9975895162595636 + ], + [ + 0.9362719307194485, + -0.3510634961244209, + -0.012218569301474767, + -0.3489428122888354, + -0.933492619270378, + 0.0826464973225592, + -0.04042011255346554, + -0.0731160136811896, + -0.9965040205862379 + ], + [ + 0.9126938226303318, + -0.408319602021021, + -0.01628154592867498, + -0.40445729025092136, + -0.908314229392282, + 0.10667502541076346, + -0.0583462637648247, + -0.09077644677392968, + -0.9941606259633227 + ], + [ + 0.8682375376682021, + -0.49610209996287763, + 0.006803278348008243, + -0.4923064434657472, + -0.8597294761535107, + 0.136013210957309, + -0.061627460648355226, + -0.12144107313933515, + -0.9906836638649101 + ], + [ + 0.7889620015599687, + -0.6139447982766275, + 0.02471325076875784, + -0.6091312992564855, + -0.7762333672576291, + 0.1625448240393671, + -0.08061029934564405, + -0.14329530426693676, + -0.9863916237552162 + ], + [ + 0.6870751538856827, + -0.7232612238434365, + 0.06943295325319362, + -0.7223412730757529, + -0.6696202478354207, + 0.17271887244922232, + -0.07842715170313425, + -0.1688251337133321, + -0.9825208680238855 + ], + [ + 0.5681912160527758, + -0.8113443861628666, + 0.13740097904479848, + -0.8224141885235241, + -0.5541700544693972, + 0.1285708102353677, + -0.028171697067472364, + -0.1860533196999899, + -0.9821356921082505 + ], + [ + 0.46020422737365385, + -0.8828412561617637, + 0.0938263583761916, + -0.8867508123050455, + -0.45191122592670663, + 0.09720720527699238, + -0.04341734657669113, + -0.12793576630536263, + -0.9908316576069314 + ], + [ + 0.36800098311829577, + -0.9297664957910574, + 0.010466122891761569, + -0.9266879294854529, + -0.3658121244509731, + 0.08620307970502097, + -0.0763201006939343, + -0.04142164783157934, + -0.9962226103241105 + ], + [ + 0.3475871691439642, + -0.9376442400991428, + 0.002537489977512568, + -0.9339216273679626, + -0.34596363194154395, + 0.08999755167887598, + -0.08350780670608748, + -0.03365181098717655, + -0.995938754058914 + ], + [ + 0.33446426764293385, + -0.9411212057724921, + 0.04923951376086799, + -0.9419034732717405, + -0.3321182861695537, + 0.05015267720102825, + -0.030846405118068645, + -0.06315314748394758, + -0.9975270318413247 + ], + [ + 0.32429739347997383, + -0.9447183475003651, + 0.04835746558985174, + -0.9457716275484978, + -0.3248175348676163, + -0.00309799399449193, + 0.018634084532383705, + -0.04473044755760422, + -0.9988252890045064 + ], + [ + 0.5055125953759791, + -0.8610378172361194, + 0.055415640441136296, + -0.8627578941224067, + -0.5051988118092812, + 0.020566396766599045, + 0.010287470326187976, + -0.058206853855454835, + -0.9982515364969583 + ], + [ + 0.6436757905329074, + -0.7338416861861924, + 0.21715859710645366, + -0.75221090101117, + -0.658915831924097, + 0.0029473445233416246, + 0.14092635339708806, + -0.1652461983078019, + -0.9761318849740632 + ], + [ + 0.5351660045449574, + -0.7450654180070987, + 0.3980890232966664, + -0.7552524868492679, + -0.6331075138054518, + -0.1696129625679475, + 0.3784059046677033, + -0.20988663333568153, + -0.9015301284259057 + ], + [ + 0.5714547763100155, + -0.6859088340040923, + 0.4505202659899074, + -0.7128826294293785, + -0.686861593933137, + -0.14149030863450018, + 0.4064945206153778, + -0.2403127591593448, + -0.8814828316506779 + ], + [ + 0.7023141089457596, + -0.5734825800359064, + 0.4217494786850172, + -0.629320105004933, + -0.7770974348800096, + -0.008705293762374083, + 0.33273277237492493, + -0.2593015755799979, + -0.9066706100284859 + ], + [ + 0.7927371745593841, + -0.5114843335999127, + 0.3315894276864966, + -0.5587210871904319, + -0.8271989395574119, + 0.059771741850441665, + 0.2437181134022398, + -0.23264928729086443, + -0.941528433093078 + ], + [ + 0.9016561508663232, + -0.35224027057119217, + 0.25088439049263106, + -0.39115118035925384, + -0.9116953113578935, + 0.1257474188665344, + 0.18443681765983755, + -0.21151465915147932, + -0.9598148828058173 + ], + [ + 0.9548700476316735, + -0.23939744106940766, + 0.1758182508879687, + -0.2625383671962749, + -0.9570949963048563, + 0.12264898612756939, + 0.13891291475524936, + -0.163272879737041, + -0.9767523579989834 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.004243642091751099, + 0.0014872103929519653, + -0.005462124943733215, + 0.001833990216255188, + 0.019674986600875854, + 0.0008190274238586426, + 1.0 + ], + [ + -0.015541911125183105, + 0.028699852526187897, + 0.018935831263661385, + 0.04975318908691406, + 0.010059664025902748, + 0.043781399726867676, + 1.0 + ], + [ + 0.000679314136505127, + 0.039956364780664444, + 0.0373077318072319, + 0.049204908311367035, + -0.028479188680648804, + 0.05744588375091553, + 1.0 + ], + [ + -0.011463463306427002, + 0.042353469878435135, + 0.037299759685993195, + 0.044866882264614105, + -0.09041234850883484, + 0.04551273584365845, + 1.0 + ], + [ + -0.019543856382369995, + 0.055070169270038605, + 0.0016641244292259216, + 0.010908756405115128, + 0.002681925892829895, + 0.041087716817855835, + 1.0 + ], + [ + -0.026155978441238403, + 0.04750096797943115, + -0.013836316764354706, + -0.03150688484311104, + 0.13358718156814575, + -0.04773995280265808, + 1.0 + ], + [ + -0.019725054502487183, + 0.025777667760849, + -0.012917239218950272, + 0.0013167615979909897, + 0.015287745743989944, + 0.007381796836853027, + 1.0 + ], + [ + -0.01090097427368164, + 0.018754743039608, + -0.03228355571627617, + -0.05909068509936333, + 0.07610271871089935, + 0.013425946235656738, + 1.0 + ], + [ + 0.0018181204795837402, + 0.00798158347606659, + -0.018018169328570366, + -0.0243619866669178, + -0.022546112537384033, + -0.013897806406021118, + 0.0 + ], + [ + 0.0073658376932144165, + 0.003721565008163452, + -0.005921148229390383, + 0.04222952574491501, + -0.04844854027032852, + -0.015155434608459473, + 0.0 + ], + [ + -0.0025211721658706665, + -0.004888877272605896, + 0.005746922921389341, + 0.03610159456729889, + 0.0031352564692497253, + -0.00861629843711853, + 0.0 + ], + [ + 0.007609844207763672, + -0.010338500142097473, + 0.023236315697431564, + 0.06821542233228683, + -0.028834208846092224, + -0.028745293617248535, + 0.0 + ], + [ + 0.00919342041015625, + -0.01891341060400009, + 0.0038235969841480255, + 0.017815858125686646, + 0.017948292195796967, + -0.060392826795578, + 0.0 + ], + [ + 0.02335861325263977, + -0.030451782047748566, + 0.010258689522743225, + 0.030917435884475708, + 0.0032871179282665253, + -0.09867486357688904, + 0.0 + ], + [ + 0.03164210915565491, + -0.047299206256866455, + 0.0066958945244550705, + 0.022288456559181213, + 0.01903131976723671, + -0.14165985584259033, + 0.0 + ], + [ + 0.029806852340698242, + -0.05034486949443817, + 0.006014645099639893, + 0.025903776288032532, + -0.0021900832653045654, + -0.15293985605239868, + 0.0 + ], + [ + 0.015612244606018066, + -0.047569066286087036, + -0.0016932077705860138, + 0.017052173614501953, + -0.05033234879374504, + -0.15580129623413086, + 0.0 + ], + [ + 0.010998696088790894, + -0.03460715711116791, + -0.022445090115070343, + -0.05880986154079437, + 0.015255574136972427, + -0.12586575746536255, + 0.0 + ], + [ + 0.0018766522407531738, + -0.02546992152929306, + -0.03770452365279198, + -0.08685434609651566, + 0.03296338766813278, + -0.10069835186004639, + 0.0 + ], + [ + -0.0011837482452392578, + -0.009218491613864899, + -0.00625680573284626, + -0.007778584957122803, + 0.007210783660411835, + -0.021719932556152344, + 1.0 + ], + [ + -0.008508741855621338, + -0.002763807773590088, + 0.0015559326857328415, + 0.029449142515659332, + -0.05275387316942215, + -0.015090584754943848, + 1.0 + ], + [ + -0.013609617948532104, + -0.005645841360092163, + 0.0032263528555631638, + -0.018472176045179367, + -0.04948646202683449, + -0.010877251625061035, + 1.0 + ], + [ + -0.009826511144638062, + 0.004518032073974609, + 0.017107807099819183, + 0.013489704579114914, + 0.008347511291503906, + 0.19967854022979736, + 1.0 + ], + [ + -0.011562943458557129, + 0.018156178295612335, + 0.022887933999300003, + 0.10945400595664978, + -0.13110938668251038, + 0.17779380083084106, + 1.0 + ], + [ + 0.005671650171279907, + 0.007821433246135712, + 0.022417666390538216, + 0.06104017794132233, + -0.2466764897108078, + -0.09133148193359375, + 1.0 + ], + [ + 0.006483107805252075, + 0.012192584574222565, + 0.01666424423456192, + 0.03741823136806488, + -0.03054046630859375, + 0.05925339460372925, + 1.0 + ], + [ + -0.002240002155303955, + 0.017729416489601135, + 0.02004420757293701, + 0.012402176856994629, + 0.0794140100479126, + 0.16443604230880737, + 1.0 + ], + [ + -0.007520079612731934, + 0.0213925801217556, + 0.008801020681858063, + -0.036312445998191833, + 0.09300225973129272, + 0.11669749021530151, + 1.0 + ], + [ + -0.011277079582214355, + 0.045836739242076874, + 0.005212992429733276, + -0.02534155547618866, + 0.06069891154766083, + 0.20462757349014282, + 1.0 + ], + [ + -0.0186312198638916, + 0.03843805938959122, + -0.01141028106212616, + -0.05127584934234619, + 0.04613521695137024, + 0.14099588990211487, + 1.0 + ], + [ + -0.016138583421707153, + 0.036223866045475006, + -0.00943329930305481, + -0.05699332803487778, + 0.01802968978881836, + 0.11734618246555328, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9981546401977539 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9605803489685059 + ], + [ + 0.649078905582428 + ], + [ + 0.3453405201435089 + ], + [ + 0.13759112358093262 + ], + [ + 0.05115113407373428 + ], + [ + 0.05089319497346878 + ], + [ + 0.05089319497346878 + ], + [ + 0.05089319497346878 + ], + [ + 0.05089319497346878 + ], + [ + 0.05089319497346878 + ], + [ + 0.05089319497346878 + ], + [ + 0.0686454325914383 + ], + [ + 0.20867010951042175 + ], + [ + 0.45315688848495483 + ], + [ + 0.7681795358657837 + ], + [ + 1.0001531839370728 + ], + [ + 1.0047606229782104 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.34206709265708923, + -0.11962047219276428, + -0.025455042719841003 + ], + [ + 0.32652518153190613, + -0.09092061966657639, + -0.006519211921840906 + ], + [ + 0.32720449566841125, + -0.05096425488591194, + 0.030788520351052284 + ], + [ + 0.31574103236198425, + -0.008610784076154232, + 0.06808827817440033 + ], + [ + 0.29619717597961426, + 0.0464593842625618, + 0.06975240260362625 + ], + [ + 0.27004119753837585, + 0.09396035224199295, + 0.055916085839271545 + ], + [ + 0.25031614303588867, + 0.11973802000284195, + 0.042998846620321274 + ], + [ + 0.23941516876220703, + 0.13849276304244995, + 0.01071529183536768 + ], + [ + 0.24123328924179077, + 0.14647434651851654, + -0.007302877958863974 + ], + [ + 0.2485991269350052, + 0.15019591152668, + -0.013224026188254356 + ], + [ + 0.24607795476913452, + 0.1453070342540741, + -0.007477103266865015 + ], + [ + 0.2536877989768982, + 0.13496853411197662, + 0.015759212896227837 + ], + [ + 0.26288121938705444, + 0.11605512350797653, + 0.019582809880375862 + ], + [ + 0.2862398326396942, + 0.08560334146022797, + 0.029841499403119087 + ], + [ + 0.3178819417953491, + 0.03830413520336151, + 0.03653739392757416 + ], + [ + 0.34768879413604736, + -0.012040735222399235, + 0.04255203902721405 + ], + [ + 0.36330103874206543, + -0.059609800577163696, + 0.040858831256628036 + ], + [ + 0.3742997348308563, + -0.0942169576883316, + 0.018413741141557693 + ], + [ + 0.3761763870716095, + -0.11968687921762466, + -0.019290782511234283 + ], + [ + 0.37499263882637024, + -0.12890537083148956, + -0.025547588244080544 + ], + [ + 0.3664838969707489, + -0.13166917860507965, + -0.023991655558347702 + ], + [ + 0.3528742790222168, + -0.13731501996517181, + -0.02076530270278454 + ], + [ + 0.34304776787757874, + -0.1327969878911972, + -0.0036574965342879295 + ], + [ + 0.3314848244190216, + -0.11464080959558487, + 0.019230438396334648 + ], + [ + 0.3371564745903015, + -0.10681937634944916, + 0.041648104786872864 + ], + [ + 0.3436395823955536, + -0.09462679177522659, + 0.058312349021434784 + ], + [ + 0.34139958024024963, + -0.07689737528562546, + 0.0783565565943718 + ], + [ + 0.3338795006275177, + -0.05550479516386986, + 0.08715757727622986 + ], + [ + 0.32260242104530334, + -0.009668057784438133, + 0.09237056970596313 + ], + [ + 0.30397120118141174, + 0.028769999742507935, + 0.08096028864383698 + ], + [ + 0.2878326177597046, + 0.06499386578798294, + 0.07152698934078217 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.899761643279606, + -0.4313413603463651, + -0.06613332093075203, + -0.43599798303430154, + -0.8949410527081818, + -0.09479594383512267, + -0.018296012483695816, + 0.11412774873849928, + -0.9932975953333814 + ], + [ + 0.9177665192239074, + -0.39375701883172337, + -0.051575442919929805, + -0.3961069671279906, + -0.916943762275839, + -0.04809789409209785, + -0.02835289728225481, + 0.06457202911620098, + -0.9975101835427638 + ], + [ + 0.9393724523648475, + -0.3428594165151562, + -0.005178440396384782, + -0.34289849917098864, + -0.9392598705298685, + -0.01454355109655462, + 0.00012249218676806638, + 0.01543749069963074, + -0.9998808273372197 + ], + [ + 0.9500934860110805, + -0.29713702052117213, + 0.09503661860100987, + -0.29857692478032144, + -0.9543850718554724, + 0.000977040506604323, + 0.090411215167365, + -0.029304021144303544, + -0.9954732977416999 + ], + [ + 0.9617866722062748, + -0.25673704873724296, + 0.09514454777899753, + -0.25936094183079245, + -0.9656460908663101, + 0.016109905252914468, + 0.087739951099962, + -0.040171071684784634, + -0.995333103026656 + ], + [ + 0.9509896876408033, + -0.30651672214984443, + -0.04081804801019561, + -0.30582421256339204, + -0.9518243975286738, + 0.02240239449609111, + -0.04571832248485048, + -0.008821298753150932, + -0.9989154216836774 + ], + [ + 0.9524429939118529, + -0.2996837789073832, + -0.05515411143348179, + -0.29855196755535285, + -0.9539848265207309, + 0.027922633060631995, + -0.06098414562042961, + -0.01012834774293725, + -0.9980873461551071 + ], + [ + 0.9491547233301882, + -0.27952025336391295, + -0.14482313053986937, + -0.2835836336760307, + -0.9589158567504327, + -0.0077911734470976594, + -0.13669540552298362, + 0.048464498676431766, + -0.9894268838458704 + ], + [ + 0.9478219626311312, + -0.2907655852218588, + -0.1307245256432792, + -0.29759471940878823, + -0.9540238173914871, + -0.03572028597000311, + -0.11432808112653246, + 0.07275940008249221, + -0.9907750297446745 + ], + [ + 0.9473532076892737, + -0.31188244732613013, + -0.07246543266073452, + -0.313297117279164, + -0.9496147450007854, + -0.008760843661375032, + -0.06608188999574374, + 0.031002824499663382, + -0.997332446422773 + ], + [ + 0.9444178331425959, + -0.32247744903655734, + -0.06390032320042514, + -0.3213797401703235, + -0.9465638683491803, + 0.02705375655784636, + -0.06920996351898763, + -0.005013780879776223, + -0.9975895162595636 + ], + [ + 0.9362719307194485, + -0.3510634961244209, + -0.012218569301474767, + -0.3489428122888354, + -0.933492619270378, + 0.0826464973225592, + -0.04042011255346554, + -0.0731160136811896, + -0.9965040205862379 + ], + [ + 0.9126938226303318, + -0.408319602021021, + -0.01628154592867498, + -0.40445729025092136, + -0.908314229392282, + 0.10667502541076346, + -0.0583462637648247, + -0.09077644677392968, + -0.9941606259633227 + ], + [ + 0.8682375376682021, + -0.49610209996287763, + 0.006803278348008243, + -0.4923064434657472, + -0.8597294761535107, + 0.136013210957309, + -0.061627460648355226, + -0.12144107313933515, + -0.9906836638649101 + ], + [ + 0.7889620015599687, + -0.6139447982766275, + 0.02471325076875784, + -0.6091312992564855, + -0.7762333672576291, + 0.1625448240393671, + -0.08061029934564405, + -0.14329530426693676, + -0.9863916237552162 + ], + [ + 0.6870751538856827, + -0.7232612238434365, + 0.06943295325319362, + -0.7223412730757529, + -0.6696202478354207, + 0.17271887244922232, + -0.07842715170313425, + -0.1688251337133321, + -0.9825208680238855 + ], + [ + 0.5681912160527758, + -0.8113443861628666, + 0.13740097904479848, + -0.8224141885235241, + -0.5541700544693972, + 0.1285708102353677, + -0.028171697067472364, + -0.1860533196999899, + -0.9821356921082505 + ], + [ + 0.46020422737365385, + -0.8828412561617637, + 0.0938263583761916, + -0.8867508123050455, + -0.45191122592670663, + 0.09720720527699238, + -0.04341734657669113, + -0.12793576630536263, + -0.9908316576069314 + ], + [ + 0.36800098311829577, + -0.9297664957910574, + 0.010466122891761569, + -0.9266879294854529, + -0.3658121244509731, + 0.08620307970502097, + -0.0763201006939343, + -0.04142164783157934, + -0.9962226103241105 + ], + [ + 0.3475871691439642, + -0.9376442400991428, + 0.002537489977512568, + -0.9339216273679626, + -0.34596363194154395, + 0.08999755167887598, + -0.08350780670608748, + -0.03365181098717655, + -0.995938754058914 + ], + [ + 0.33446426764293385, + -0.9411212057724921, + 0.04923951376086799, + -0.9419034732717405, + -0.3321182861695537, + 0.05015267720102825, + -0.030846405118068645, + -0.06315314748394758, + -0.9975270318413247 + ], + [ + 0.32429739347997383, + -0.9447183475003651, + 0.04835746558985174, + -0.9457716275484978, + -0.3248175348676163, + -0.00309799399449193, + 0.018634084532383705, + -0.04473044755760422, + -0.9988252890045064 + ], + [ + 0.5055125953759791, + -0.8610378172361194, + 0.055415640441136296, + -0.8627578941224067, + -0.5051988118092812, + 0.020566396766599045, + 0.010287470326187976, + -0.058206853855454835, + -0.9982515364969583 + ], + [ + 0.6436757905329074, + -0.7338416861861924, + 0.21715859710645366, + -0.75221090101117, + -0.658915831924097, + 0.0029473445233416246, + 0.14092635339708806, + -0.1652461983078019, + -0.9761318849740632 + ], + [ + 0.5351660045449574, + -0.7450654180070987, + 0.3980890232966664, + -0.7552524868492679, + -0.6331075138054518, + -0.1696129625679475, + 0.3784059046677033, + -0.20988663333568153, + -0.9015301284259057 + ], + [ + 0.5714547763100155, + -0.6859088340040923, + 0.4505202659899074, + -0.7128826294293785, + -0.686861593933137, + -0.14149030863450018, + 0.4064945206153778, + -0.2403127591593448, + -0.8814828316506779 + ], + [ + 0.7023141089457596, + -0.5734825800359064, + 0.4217494786850172, + -0.629320105004933, + -0.7770974348800096, + -0.008705293762374083, + 0.33273277237492493, + -0.2593015755799979, + -0.9066706100284859 + ], + [ + 0.7927371745593841, + -0.5114843335999127, + 0.3315894276864966, + -0.5587210871904319, + -0.8271989395574119, + 0.059771741850441665, + 0.2437181134022398, + -0.23264928729086443, + -0.941528433093078 + ], + [ + 0.9016561508663232, + -0.35224027057119217, + 0.25088439049263106, + -0.39115118035925384, + -0.9116953113578935, + 0.1257474188665344, + 0.18443681765983755, + -0.21151465915147932, + -0.9598148828058173 + ], + [ + 0.9548700476316735, + -0.23939744106940766, + 0.1758182508879687, + -0.2625383671962749, + -0.9570949963048563, + 0.12264898612756939, + 0.13891291475524936, + -0.163272879737041, + -0.9767523579989834 + ], + [ + 0.9813572775434999, + -0.13653746771728925, + 0.13526054015033354, + -0.14929192511276634, + -0.984771382548151, + 0.08909121848042716, + 0.12103641976088837, + -0.10762362205182106, + -0.9867965043857383 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006380.json b/json/chunk-0006/episode_0006380.json new file mode 100644 index 0000000000000000000000000000000000000000..066a072d0ad8fd2529a47f0703ab5de10349443f --- /dev/null +++ b/json/chunk-0006/episode_0006380.json @@ -0,0 +1,1822 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 29, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nUnfold the cloth from the left to the right." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006380.mp4", + "start": 0, + "end": 29, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.4036754369735718, + -0.10370450466871262, + 0.1497480720281601, + -0.1351957470178604, + -0.31594234704971313, + -0.0822252705693245, + 0.0, + 1.0001531839370728 + ], + [ + 0.40305936336517334, + -0.10400880873203278, + 0.1353977471590042, + -0.13274958729743958, + -0.2792561948299408, + -0.08388100564479828, + 0.0, + 1.0001531839370728 + ], + [ + 0.4016948640346527, + -0.09073716402053833, + 0.122396320104599, + -0.15244004130363464, + -0.2500006854534149, + -0.07352875918149948, + 0.0, + 1.0001531839370728 + ], + [ + 0.40219005942344666, + -0.06035051494836807, + 0.11296313256025314, + -0.1814136952161789, + -0.23142029345035553, + -0.019840050488710403, + 0.0, + 1.0001531839370728 + ], + [ + 0.39733970165252686, + -0.04756208509206772, + 0.09255144000053406, + -0.16625317931175232, + -0.17757757008075714, + -0.010807284153997898, + 0.0, + 1.0001531839370728 + ], + [ + 0.39572182297706604, + -0.040678396821022034, + 0.07205841690301895, + -0.1437678188085556, + -0.12481421232223511, + -0.0027453843504190445, + 0.0, + 1.0001531839370728 + ], + [ + 0.3918800354003906, + -0.03722545504570007, + 0.049626424908638, + -0.1467284858226776, + -0.05943102762103081, + 0.004813598468899727, + 0.0, + 1.0001531839370728 + ], + [ + 0.3921903669834137, + -0.030169334262609482, + 0.04581848904490471, + -0.15615549683570862, + -0.05288553610444069, + 0.04167751595377922, + 0.0, + 1.0001531839370728 + ], + [ + 0.38702186942100525, + -0.025264155119657516, + 0.0311778225004673, + -0.1450200080871582, + 0.0009319711243733764, + 0.0492730550467968, + 0.0, + 1.0001531839370728 + ], + [ + 0.386536180973053, + -0.020069314166903496, + 0.03018878400325775, + -0.15307749807834625, + 0.008775790221989155, + 0.06822184473276138, + 0.0, + 0.9620732665061951 + ], + [ + 0.3834175169467926, + -0.0159049890935421, + 0.025989560410380363, + -0.1322629600763321, + 0.0341387614607811, + 0.07383246719837189, + 0.0, + 0.7339323163032532 + ], + [ + 0.38381680846214294, + -0.016082847490906715, + 0.023035794496536255, + -0.1379861682653427, + 0.021238211542367935, + 0.07330845296382904, + 0.0, + 0.4283607602119446 + ], + [ + 0.3835854232311249, + -0.016444893553853035, + 0.022669943049550056, + -0.13633403182029724, + 0.02242504619061947, + 0.08038206398487091, + 0.0, + 0.20684583485126495 + ], + [ + 0.3830079436302185, + -0.01533583551645279, + 0.021515578031539917, + -0.13307902216911316, + 0.019860930740833282, + 0.08626251667737961, + 0.0, + 0.08397578448057175 + ], + [ + 0.37968987226486206, + -0.01565069518983364, + 0.032320208847522736, + -0.13285771012306213, + -0.0024230354465544224, + 0.1019236370921135, + 0.0, + 0.05784503370523453 + ], + [ + 0.378246545791626, + -0.030262373387813568, + 0.06327331811189651, + -0.17325124144554138, + -0.0643354281783104, + 0.08908995240926743, + 0.0, + 0.05592256039381027 + ], + [ + 0.369495153427124, + -0.05516798421740532, + 0.08398673683404922, + -0.18492412567138672, + -0.10427858680486679, + 0.031460247933864594, + 0.0, + 0.05565106123685837 + ], + [ + 0.3580390512943268, + -0.07197222858667374, + 0.08491651713848114, + -0.1885966956615448, + -0.10469042509794235, + -0.031994447112083435, + 0.0, + 0.05538023263216019 + ], + [ + 0.3395993113517761, + -0.09724409133195877, + 0.07152481377124786, + -0.19155912101268768, + -0.08662796020507812, + -0.1571902334690094, + 0.0, + 0.05511022359132767 + ], + [ + 0.32565343379974365, + -0.11692608147859573, + 0.06307701021432877, + -0.18941080570220947, + -0.08108934760093689, + -0.2747270464897156, + 0.0, + 0.05511022359132767 + ], + [ + 0.31173184514045715, + -0.132374107837677, + 0.05447464436292648, + -0.19018256664276123, + -0.06888651102781296, + -0.36372247338294983, + 0.0, + 0.05511022359132767 + ], + [ + 0.3007971942424774, + -0.1432151347398758, + 0.03646637126803398, + -0.18336237967014313, + -0.04940593242645264, + -0.4360469579696655, + 0.0, + 0.07624256610870361 + ], + [ + 0.2916005551815033, + -0.14313149452209473, + 0.02716759406030178, + -0.17903056740760803, + -0.039520975202322006, + -0.4368782639503479, + 0.0, + 0.22681957483291626 + ], + [ + 0.28136318922042847, + -0.13761168718338013, + 0.03044343739748001, + -0.16911251842975616, + -0.05461328849196434, + -0.4247796833515167, + 0.0, + 0.48323801159858704 + ], + [ + 0.27902281284332275, + -0.13335368037223816, + 0.04266228899359703, + -0.17239223420619965, + -0.09155959635972977, + -0.3981265723705292, + 0.0, + 0.7941413521766663 + ], + [ + 0.2819422781467438, + -0.1301368772983551, + 0.04629649221897125, + -0.16454504430294037, + -0.10643217712640762, + -0.38527724146842957, + 0.0, + 1.0054124593734741 + ], + [ + 0.2799746096134186, + -0.12960225343704224, + 0.047258954495191574, + -0.1691364198923111, + -0.09150008857250214, + -0.3844902217388153, + 0.0, + 1.0073583126068115 + ], + [ + 0.2860078513622284, + -0.12549670040607452, + 0.06682085990905762, + -0.17524220049381256, + -0.16674819588661194, + -0.37315449118614197, + 0.0, + 1.0008161067962646 + ], + [ + 0.28500300645828247, + -0.11587846279144287, + 0.0926646888256073, + -0.1632939577102661, + -0.2586613595485687, + -0.36591029167175293, + 0.0, + 1.0008161067962646 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9620732665061951 + ], + [ + 0.7339323163032532 + ], + [ + 0.4283607602119446 + ], + [ + 0.20684583485126495 + ], + [ + 0.08397578448057175 + ], + [ + 0.05784503370523453 + ], + [ + 0.05592256039381027 + ], + [ + 0.05565106123685837 + ], + [ + 0.05538023263216019 + ], + [ + 0.05511022359132767 + ], + [ + 0.05511022359132767 + ], + [ + 0.05511022359132767 + ], + [ + 0.07624256610870361 + ], + [ + 0.22681957483291626 + ], + [ + 0.48323801159858704 + ], + [ + 0.7941413521766663 + ], + [ + 1.0054124593734741 + ], + [ + 1.0073583126068115 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.4036754369735718, + -0.10370450466871262, + 0.1497480720281601 + ], + [ + 0.40305936336517334, + -0.10400880873203278, + 0.1353977471590042 + ], + [ + 0.4016948640346527, + -0.09073716402053833, + 0.122396320104599 + ], + [ + 0.40219005942344666, + -0.06035051494836807, + 0.11296313256025314 + ], + [ + 0.39733970165252686, + -0.04756208509206772, + 0.09255144000053406 + ], + [ + 0.39572182297706604, + -0.040678396821022034, + 0.07205841690301895 + ], + [ + 0.3918800354003906, + -0.03722545504570007, + 0.049626424908638 + ], + [ + 0.3921903669834137, + -0.030169334262609482, + 0.04581848904490471 + ], + [ + 0.38702186942100525, + -0.025264155119657516, + 0.0311778225004673 + ], + [ + 0.386536180973053, + -0.020069314166903496, + 0.03018878400325775 + ], + [ + 0.3834175169467926, + -0.0159049890935421, + 0.025989560410380363 + ], + [ + 0.38381680846214294, + -0.016082847490906715, + 0.023035794496536255 + ], + [ + 0.3835854232311249, + -0.016444893553853035, + 0.022669943049550056 + ], + [ + 0.3830079436302185, + -0.01533583551645279, + 0.021515578031539917 + ], + [ + 0.37968987226486206, + -0.01565069518983364, + 0.032320208847522736 + ], + [ + 0.378246545791626, + -0.030262373387813568, + 0.06327331811189651 + ], + [ + 0.369495153427124, + -0.05516798421740532, + 0.08398673683404922 + ], + [ + 0.3580390512943268, + -0.07197222858667374, + 0.08491651713848114 + ], + [ + 0.3395993113517761, + -0.09724409133195877, + 0.07152481377124786 + ], + [ + 0.32565343379974365, + -0.11692608147859573, + 0.06307701021432877 + ], + [ + 0.31173184514045715, + -0.132374107837677, + 0.05447464436292648 + ], + [ + 0.3007971942424774, + -0.1432151347398758, + 0.03646637126803398 + ], + [ + 0.2916005551815033, + -0.14313149452209473, + 0.02716759406030178 + ], + [ + 0.28136318922042847, + -0.13761168718338013, + 0.03044343739748001 + ], + [ + 0.27902281284332275, + -0.13335368037223816, + 0.04266228899359703 + ], + [ + 0.2819422781467438, + -0.1301368772983551, + 0.04629649221897125 + ], + [ + 0.2799746096134186, + -0.12960225343704224, + 0.047258954495191574 + ], + [ + 0.2860078513622284, + -0.12549670040607452, + 0.06682085990905762 + ], + [ + 0.28500300645828247, + -0.11587846279144287, + 0.0926646888256073 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.947292635645311, + -0.1231208258082859, + 0.29576667274127794, + -0.07806741041996393, + -0.9840875588423568, + -0.15961565074268985, + 0.31071231369625724, + 0.12811299225284362, + -0.9418306213611564 + ], + [ + 0.9578809832176209, + -0.11940107282376444, + 0.2611654758933072, + -0.08053699554104862, + -0.9846599787887305, + -0.15478539505068897, + 0.27564073417995505, + 0.12723250363138675, + -0.952803272286795 + ], + [ + 0.966294230374349, + -0.11007757591406855, + 0.23271954715091467, + -0.07117873745821651, + -0.9829729373145676, + -0.169404226160463, + 0.24740462339879302, + 0.1471296427918368, + -0.9576762608172178 + ], + [ + 0.9731500572942232, + -0.06088626506432457, + 0.2219725855027309, + -0.01930987997022336, + -0.9825750871684276, + -0.18486028943905972, + 0.22936018513200135, + 0.17561053727630974, + -0.9573687088440588 + ], + [ + 0.9842170124942702, + -0.03988917286776414, + 0.1724115025303687, + -0.010637127056010994, + -0.9858382290846983, + -0.16736139818709794, + 0.17664575807204647, + 0.16288597227223622, + -0.9707030628323372 + ], + [ + 0.9922170738856377, + -0.020553110907524753, + 0.12281224662811523, + -0.002724024070646914, + -0.989630498881776, + -0.14361077736670294, + 0.12449039313410713, + 0.14215852178124663, + -0.9819842649972989 + ], + [ + 0.9982229313344984, + -0.00392189730349061, + 0.05946089538092896, + 0.0048050814863652685, + -0.9892850142975855, + -0.1459180306820749, + 0.05939604826813225, + 0.14594443876957572, + -0.9875081418613028 + ], + [ + 0.9977347180834414, + 0.032944613382607006, + 0.05865223593373418, + 0.041607198201216215, + -0.9873172017762415, + -0.15321091388859093, + 0.05286088713595883, + 0.15530420318137905, + -0.986451383031823 + ], + [ + 0.9987858948443963, + 0.048870628137570794, + 0.006196609179045144, + 0.04925309827770593, + -0.9882954496809977, + -0.14438225808554572, + -0.0009319709894596621, + 0.1445121650425104, + -0.9895025849308333 + ], + [ + 0.9976353749595458, + 0.0687068094642508, + 0.0017415402865108651, + 0.06816631215170123, + -0.9859162765536205, + -0.15271689334936653, + -0.008775677578582318, + 0.1524744895380473, + -0.988268444059178 + ], + [ + 0.9966945378252775, + 0.07761014146235831, + -0.02401383375158725, + 0.07372242485595251, + -0.9882333765373607, + -0.1340141692916285, + -0.03413213064862163, + 0.13180083246990346, + -0.9906884163134368 + ], + [ + 0.9970892219167632, + 0.07545985980556394, + -0.010903811056151697, + 0.07322629119852508, + -0.9876207248001311, + -0.13871991285526553, + -0.021236614954658607, + 0.13751768432964645, + -0.9902716257077545 + ], + [ + 0.9965204820572358, + 0.08258819905665435, + -0.011230236729166159, + 0.08027534138895617, + -0.9872772570723919, + -0.13725701159686096, + -0.022423166709927864, + 0.13587791227492688, + -0.9904718040158974 + ], + [ + 0.9960852072224274, + 0.08801909721712875, + -0.008179148961579607, + 0.08613858163078067, + -0.9872455915041284, + -0.1338890839848466, + -0.019859625054149566, + 0.13266039567536958, + -0.9909625697835228 + ], + [ + 0.994807360872872, + 0.10053129196939098, + 0.015867390715457248, + 0.10174695899075603, + -0.9860760628473306, + -0.13153537400882404, + 0.0024230330755742385, + 0.13246681703156032, + -0.9911844789423623 + ], + [ + 0.9939735090676282, + 0.07660127746756748, + 0.07841497026794503, + 0.08878808125657348, + -0.9821090581767117, + -0.16606768040178232, + 0.0642910561319541, + 0.17202918978356302, + -0.9829916672911571 + ], + [ + 0.9940757684210186, + 0.011789050203268288, + 0.10804806769889906, + 0.0312841919677936, + -0.9830658325594179, + -0.1805626433877739, + 0.10408970156112128, + 0.18287314496547324, + -0.977610733819629 + ], + [ + 0.9940159841067234, + -0.051003339459123186, + 0.0965964942653682, + -0.03181384793131025, + -0.9811388753078744, + -0.19066826280061008, + 0.10449929387390774, + 0.1864541947064117, + -0.9768903371700622 + ], + [ + 0.9839674087999104, + -0.16994966255244073, + 0.054085586045646894, + -0.15595668687563966, + -0.9670264760007692, + -0.20133878546446754, + 0.08651965232456282, + 0.18967579421698683, + -0.9780273221386975 + ], + [ + 0.9593365665743289, + -0.28111128516002015, + 0.025491123730822463, + -0.2703928058061159, + -0.9411480073671044, + -0.2028007859876906, + 0.08100050988527377, + 0.18766159325927842, + -0.9788881671640101 + ], + [ + 0.9323624348199395, + -0.3615019019478165, + -0.004082281806162179, + -0.35491187653755596, + -0.9130992569990906, + -0.20071698174369573, + 0.06883204216950359, + 0.1885898241046417, + -0.9796407648801451 + ], + [ + 0.9053222999976734, + -0.42344150639828837, + -0.032997329983968135, + -0.4218442513469145, + -0.887429849690527, + -0.18578398608009775, + 0.04938583534257367, + 0.18211411954430398, + -0.9820363978642132 + ], + [ + 0.9053694110716739, + -0.42272535474537093, + -0.04011862349496395, + -0.42278260965944475, + -0.8886179249010374, + -0.17780058637170942, + 0.03951068798793496, + 0.17793666850869844, + -0.9832484159838477 + ], + [ + 0.9097711170264369, + -0.4146117528489845, + -0.02033737996796407, + -0.41150561051935636, + -0.8943456009368198, + -0.17552515089311302, + 0.054586144171946835, + 0.16805665855434257, + -0.9842648588565925 + ], + [ + 0.9179278708957618, + -0.3964029323329104, + 0.01652691957513927, + -0.3860682112883384, + -0.9020448268215049, + -0.19304524505199158, + 0.0914317235175842, + 0.17082109249864505, + -0.9810506583720194 + ], + [ + 0.9214505217441128, + -0.3868653872720461, + 0.03555429802923393, + -0.3736894916625534, + -0.9076377970044425, + -0.19118000227509258, + 0.10623135035611764, + 0.1628766452864614, + -0.9809108515159487 + ], + [ + 0.9231119682121283, + -0.3839922026729724, + 0.020353929102015486, + -0.37351755891144267, + -0.907992940862691, + -0.18982479429294516, + 0.09137246482594163, + 0.16762698956278158, + -0.9816069809459138 + ], + [ + 0.9182662251633996, + -0.38591728368185907, + 0.08862838078051555, + -0.35949816504692456, + -0.9063710484383442, + -0.221929249718623, + 0.16597653163039267, + 0.17192839413078997, + -0.971026476590393 + ], + [ + 0.9027340073103591, + -0.3918698940857491, + 0.17750858614333076, + -0.34589664619191185, + -0.9064978674114724, + -0.2421097406789737, + 0.25578667322315257, + 0.1571610717947556, + -0.9538729345744934 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0006160736083984375, + -0.0003043040633201599, + -0.014350324869155884, + 0.0024461597204208374, + 0.03668615221977234, + -0.0016557350754737854, + 1.0 + ], + [ + -0.0013644993305206299, + 0.013271644711494446, + -0.013001427054405212, + -0.01969045400619507, + 0.02925550937652588, + 0.010352246463298798, + 1.0 + ], + [ + 0.0004951953887939453, + 0.030386649072170258, + -0.009433187544345856, + -0.02897365391254425, + 0.018580392003059387, + 0.05368870869278908, + 1.0 + ], + [ + -0.0048503577709198, + 0.012788429856300354, + -0.020411692559719086, + 0.015160515904426575, + 0.05384272336959839, + 0.009032766334712505, + 1.0 + ], + [ + -0.0016178786754608154, + 0.006883688271045685, + -0.020493023097515106, + 0.022485360503196716, + 0.052763357758522034, + 0.008061899803578854, + 1.0 + ], + [ + -0.003841787576675415, + 0.0034529417753219604, + -0.02243199199438095, + -0.0029606670141220093, + 0.065383180975914, + 0.007558982819318771, + 1.0 + ], + [ + 0.0003103315830230713, + 0.007056120783090591, + -0.0038079358637332916, + -0.009427011013031006, + 0.006545491516590118, + 0.036863915622234344, + 1.0 + ], + [ + -0.005168497562408447, + 0.004905179142951965, + -0.014640666544437408, + 0.011135488748550415, + 0.0538175068795681, + 0.007595539093017578, + 1.0 + ], + [ + -0.0004856884479522705, + 0.005194840952754021, + -0.000989038497209549, + -0.00805748999118805, + 0.007843819446861744, + 0.018948789685964584, + 0.0 + ], + [ + -0.003118664026260376, + 0.004164325073361397, + -0.004199223592877388, + 0.02081453800201416, + 0.025362972170114517, + 0.005610622465610504, + 0.0 + ], + [ + 0.0003992915153503418, + -0.0001778583973646164, + -0.0029537659138441086, + -0.00572320818901062, + -0.012900549918413162, + -0.0005240142345428467, + 0.0 + ], + [ + -0.0002313852310180664, + -0.0003620460629463196, + -0.0003658514469861984, + 0.0016521364450454712, + 0.0011868346482515335, + 0.00707361102104187, + 0.0 + ], + [ + -0.0005774796009063721, + 0.0011090580374002457, + -0.0011543650180101395, + 0.003255009651184082, + -0.0025641154497861862, + 0.0058804526925086975, + 0.0 + ], + [ + -0.0033180713653564453, + -0.00031485967338085175, + 0.010804630815982819, + 0.0002213120460510254, + -0.022283965721726418, + 0.015661120414733887, + 0.0 + ], + [ + -0.001443326473236084, + -0.014611678197979927, + 0.03095310926437378, + -0.04039353132247925, + -0.06191239133477211, + -0.01283368468284607, + 0.0 + ], + [ + -0.008751392364501953, + -0.02490561082959175, + 0.02071341872215271, + -0.011672884225845337, + -0.039943158626556396, + -0.05762970447540283, + 0.0 + ], + [ + -0.011456102132797241, + -0.016804244369268417, + 0.0009297803044319153, + -0.003672569990158081, + -0.0004118382930755615, + -0.06345469504594803, + 0.0 + ], + [ + -0.01843973994255066, + -0.025271862745285034, + -0.013391703367233276, + -0.0029624253511428833, + 0.018062464892864227, + -0.12519578635692596, + 0.0 + ], + [ + -0.01394587755203247, + -0.019681990146636963, + -0.008447803556919098, + 0.0021483153104782104, + 0.005538612604141235, + -0.11753681302070618, + 0.0 + ], + [ + -0.013921588659286499, + -0.015448026359081268, + -0.008602365851402283, + -0.0007717609405517578, + 0.012202836573123932, + -0.08899542689323425, + 0.0 + ], + [ + -0.010934650897979736, + -0.010841026902198792, + -0.018008273094892502, + 0.006820186972618103, + 0.01948057860136032, + -0.0723244845867157, + 1.0 + ], + [ + -0.009196639060974121, + 8.36402177810669e-05, + -0.0092987772077322, + 0.004331812262535095, + 0.00988495722413063, + -0.000831305980682373, + 1.0 + ], + [ + -0.010237365961074829, + 0.0055198073387146, + 0.0032758433371782303, + 0.009918048977851868, + -0.015092313289642334, + 0.012098580598831177, + 1.0 + ], + [ + -0.002340376377105713, + 0.004258006811141968, + 0.01221885159611702, + -0.0032797157764434814, + -0.03694630786776543, + 0.02665311098098755, + 1.0 + ], + [ + 0.0029194653034210205, + 0.0032168030738830566, + 0.003634203225374222, + 0.007847189903259277, + -0.014872580766677856, + 0.01284933090209961, + 1.0 + ], + [ + -0.0019676685333251953, + 0.0005346238613128662, + 0.0009624622762203217, + -0.0045913755893707275, + 0.014932088553905487, + 0.0007870197296142578, + 1.0 + ], + [ + 0.0060332417488098145, + 0.004105553030967712, + 0.019561905413866043, + -0.006105780601501465, + -0.0752481073141098, + 0.01133573055267334, + 1.0 + ], + [ + -0.0010048449039459229, + 0.009618237614631653, + 0.025843828916549683, + 0.011948242783546448, + -0.09191316366195679, + 0.007244199514389038, + 1.0 + ], + [ + 0.0006971061229705811, + 0.0009979158639907837, + 0.0014241263270378113, + 0.002039864659309387, + -0.005962967872619629, + 0.002149045467376709, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9620732665061951 + ], + [ + 0.7339323163032532 + ], + [ + 0.4283607602119446 + ], + [ + 0.20684583485126495 + ], + [ + 0.08397578448057175 + ], + [ + 0.05784503370523453 + ], + [ + 0.05592256039381027 + ], + [ + 0.05565106123685837 + ], + [ + 0.05538023263216019 + ], + [ + 0.05511022359132767 + ], + [ + 0.05511022359132767 + ], + [ + 0.05511022359132767 + ], + [ + 0.07624256610870361 + ], + [ + 0.22681957483291626 + ], + [ + 0.48323801159858704 + ], + [ + 0.7941413521766663 + ], + [ + 1.0054124593734741 + ], + [ + 1.0073583126068115 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.40305936336517334, + -0.10400880873203278, + 0.1353977471590042 + ], + [ + 0.4016948640346527, + -0.09073716402053833, + 0.122396320104599 + ], + [ + 0.40219005942344666, + -0.06035051494836807, + 0.11296313256025314 + ], + [ + 0.39733970165252686, + -0.04756208509206772, + 0.09255144000053406 + ], + [ + 0.39572182297706604, + -0.040678396821022034, + 0.07205841690301895 + ], + [ + 0.3918800354003906, + -0.03722545504570007, + 0.049626424908638 + ], + [ + 0.3921903669834137, + -0.030169334262609482, + 0.04581848904490471 + ], + [ + 0.38702186942100525, + -0.025264155119657516, + 0.0311778225004673 + ], + [ + 0.386536180973053, + -0.020069314166903496, + 0.03018878400325775 + ], + [ + 0.3834175169467926, + -0.0159049890935421, + 0.025989560410380363 + ], + [ + 0.38381680846214294, + -0.016082847490906715, + 0.023035794496536255 + ], + [ + 0.3835854232311249, + -0.016444893553853035, + 0.022669943049550056 + ], + [ + 0.3830079436302185, + -0.01533583551645279, + 0.021515578031539917 + ], + [ + 0.37968987226486206, + -0.01565069518983364, + 0.032320208847522736 + ], + [ + 0.378246545791626, + -0.030262373387813568, + 0.06327331811189651 + ], + [ + 0.369495153427124, + -0.05516798421740532, + 0.08398673683404922 + ], + [ + 0.3580390512943268, + -0.07197222858667374, + 0.08491651713848114 + ], + [ + 0.3395993113517761, + -0.09724409133195877, + 0.07152481377124786 + ], + [ + 0.32565343379974365, + -0.11692608147859573, + 0.06307701021432877 + ], + [ + 0.31173184514045715, + -0.132374107837677, + 0.05447464436292648 + ], + [ + 0.3007971942424774, + -0.1432151347398758, + 0.03646637126803398 + ], + [ + 0.2916005551815033, + -0.14313149452209473, + 0.02716759406030178 + ], + [ + 0.28136318922042847, + -0.13761168718338013, + 0.03044343739748001 + ], + [ + 0.27902281284332275, + -0.13335368037223816, + 0.04266228899359703 + ], + [ + 0.2819422781467438, + -0.1301368772983551, + 0.04629649221897125 + ], + [ + 0.2799746096134186, + -0.12960225343704224, + 0.047258954495191574 + ], + [ + 0.2860078513622284, + -0.12549670040607452, + 0.06682085990905762 + ], + [ + 0.28500300645828247, + -0.11587846279144287, + 0.0926646888256073 + ], + [ + 0.28570011258125305, + -0.11488054692745209, + 0.09408881515264511 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9578809832176209, + -0.11940107282376444, + 0.2611654758933072, + -0.08053699554104862, + -0.9846599787887305, + -0.15478539505068897, + 0.27564073417995505, + 0.12723250363138675, + -0.952803272286795 + ], + [ + 0.966294230374349, + -0.11007757591406855, + 0.23271954715091467, + -0.07117873745821651, + -0.9829729373145676, + -0.169404226160463, + 0.24740462339879302, + 0.1471296427918368, + -0.9576762608172178 + ], + [ + 0.9731500572942232, + -0.06088626506432457, + 0.2219725855027309, + -0.01930987997022336, + -0.9825750871684276, + -0.18486028943905972, + 0.22936018513200135, + 0.17561053727630974, + -0.9573687088440588 + ], + [ + 0.9842170124942702, + -0.03988917286776414, + 0.1724115025303687, + -0.010637127056010994, + -0.9858382290846983, + -0.16736139818709794, + 0.17664575807204647, + 0.16288597227223622, + -0.9707030628323372 + ], + [ + 0.9922170738856377, + -0.020553110907524753, + 0.12281224662811523, + -0.002724024070646914, + -0.989630498881776, + -0.14361077736670294, + 0.12449039313410713, + 0.14215852178124663, + -0.9819842649972989 + ], + [ + 0.9982229313344984, + -0.00392189730349061, + 0.05946089538092896, + 0.0048050814863652685, + -0.9892850142975855, + -0.1459180306820749, + 0.05939604826813225, + 0.14594443876957572, + -0.9875081418613028 + ], + [ + 0.9977347180834414, + 0.032944613382607006, + 0.05865223593373418, + 0.041607198201216215, + -0.9873172017762415, + -0.15321091388859093, + 0.05286088713595883, + 0.15530420318137905, + -0.986451383031823 + ], + [ + 0.9987858948443963, + 0.048870628137570794, + 0.006196609179045144, + 0.04925309827770593, + -0.9882954496809977, + -0.14438225808554572, + -0.0009319709894596621, + 0.1445121650425104, + -0.9895025849308333 + ], + [ + 0.9976353749595458, + 0.0687068094642508, + 0.0017415402865108651, + 0.06816631215170123, + -0.9859162765536205, + -0.15271689334936653, + -0.008775677578582318, + 0.1524744895380473, + -0.988268444059178 + ], + [ + 0.9966945378252775, + 0.07761014146235831, + -0.02401383375158725, + 0.07372242485595251, + -0.9882333765373607, + -0.1340141692916285, + -0.03413213064862163, + 0.13180083246990346, + -0.9906884163134368 + ], + [ + 0.9970892219167632, + 0.07545985980556394, + -0.010903811056151697, + 0.07322629119852508, + -0.9876207248001311, + -0.13871991285526553, + -0.021236614954658607, + 0.13751768432964645, + -0.9902716257077545 + ], + [ + 0.9965204820572358, + 0.08258819905665435, + -0.011230236729166159, + 0.08027534138895617, + -0.9872772570723919, + -0.13725701159686096, + -0.022423166709927864, + 0.13587791227492688, + -0.9904718040158974 + ], + [ + 0.9960852072224274, + 0.08801909721712875, + -0.008179148961579607, + 0.08613858163078067, + -0.9872455915041284, + -0.1338890839848466, + -0.019859625054149566, + 0.13266039567536958, + -0.9909625697835228 + ], + [ + 0.994807360872872, + 0.10053129196939098, + 0.015867390715457248, + 0.10174695899075603, + -0.9860760628473306, + -0.13153537400882404, + 0.0024230330755742385, + 0.13246681703156032, + -0.9911844789423623 + ], + [ + 0.9939735090676282, + 0.07660127746756748, + 0.07841497026794503, + 0.08878808125657348, + -0.9821090581767117, + -0.16606768040178232, + 0.0642910561319541, + 0.17202918978356302, + -0.9829916672911571 + ], + [ + 0.9940757684210186, + 0.011789050203268288, + 0.10804806769889906, + 0.0312841919677936, + -0.9830658325594179, + -0.1805626433877739, + 0.10408970156112128, + 0.18287314496547324, + -0.977610733819629 + ], + [ + 0.9940159841067234, + -0.051003339459123186, + 0.0965964942653682, + -0.03181384793131025, + -0.9811388753078744, + -0.19066826280061008, + 0.10449929387390774, + 0.1864541947064117, + -0.9768903371700622 + ], + [ + 0.9839674087999104, + -0.16994966255244073, + 0.054085586045646894, + -0.15595668687563966, + -0.9670264760007692, + -0.20133878546446754, + 0.08651965232456282, + 0.18967579421698683, + -0.9780273221386975 + ], + [ + 0.9593365665743289, + -0.28111128516002015, + 0.025491123730822463, + -0.2703928058061159, + -0.9411480073671044, + -0.2028007859876906, + 0.08100050988527377, + 0.18766159325927842, + -0.9788881671640101 + ], + [ + 0.9323624348199395, + -0.3615019019478165, + -0.004082281806162179, + -0.35491187653755596, + -0.9130992569990906, + -0.20071698174369573, + 0.06883204216950359, + 0.1885898241046417, + -0.9796407648801451 + ], + [ + 0.9053222999976734, + -0.42344150639828837, + -0.032997329983968135, + -0.4218442513469145, + -0.887429849690527, + -0.18578398608009775, + 0.04938583534257367, + 0.18211411954430398, + -0.9820363978642132 + ], + [ + 0.9053694110716739, + -0.42272535474537093, + -0.04011862349496395, + -0.42278260965944475, + -0.8886179249010374, + -0.17780058637170942, + 0.03951068798793496, + 0.17793666850869844, + -0.9832484159838477 + ], + [ + 0.9097711170264369, + -0.4146117528489845, + -0.02033737996796407, + -0.41150561051935636, + -0.8943456009368198, + -0.17552515089311302, + 0.054586144171946835, + 0.16805665855434257, + -0.9842648588565925 + ], + [ + 0.9179278708957618, + -0.3964029323329104, + 0.01652691957513927, + -0.3860682112883384, + -0.9020448268215049, + -0.19304524505199158, + 0.0914317235175842, + 0.17082109249864505, + -0.9810506583720194 + ], + [ + 0.9214505217441128, + -0.3868653872720461, + 0.03555429802923393, + -0.3736894916625534, + -0.9076377970044425, + -0.19118000227509258, + 0.10623135035611764, + 0.1628766452864614, + -0.9809108515159487 + ], + [ + 0.9231119682121283, + -0.3839922026729724, + 0.020353929102015486, + -0.37351755891144267, + -0.907992940862691, + -0.18982479429294516, + 0.09137246482594163, + 0.16762698956278158, + -0.9816069809459138 + ], + [ + 0.9182662251633996, + -0.38591728368185907, + 0.08862838078051555, + -0.35949816504692456, + -0.9063710484383442, + -0.221929249718623, + 0.16597653163039267, + 0.17192839413078997, + -0.971026476590393 + ], + [ + 0.9027340073103591, + -0.3918698940857491, + 0.17750858614333076, + -0.34589664619191185, + -0.9064978674114724, + -0.2421097406789737, + 0.25578667322315257, + 0.1571610717947556, + -0.9538729345744934 + ], + [ + 0.9020337723723238, + -0.3904212123480701, + 0.1841367710383174, + -0.3434070499936979, + -0.9075000848672174, + -0.2418991400989652, + 0.2615466908878421, + 0.1549673285394573, + -0.9526691217683941 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006381.json b/json/chunk-0006/episode_0006381.json new file mode 100644 index 0000000000000000000000000000000000000000..4ab8c9dc62cf606f696c6e61b2a4b9a82dff6034 --- /dev/null +++ b/json/chunk-0006/episode_0006381.json @@ -0,0 +1,1162 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 18, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPick up any cup." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006381.mp4", + "start": 0, + "end": 18, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2735176682472229, + 0.25243934988975525, + 0.053519509732723236, + -0.016827287152409554, + 0.01123146340250969, + 0.3547551929950714, + 0.0, + 1.0014774799346924 + ], + [ + 0.2645583748817444, + 0.24607989192008972, + 0.030365662649273872, + -0.03185538202524185, + 0.061489660292863846, + 0.35316693782806396, + 0.0, + 1.0014774799346924 + ], + [ + 0.24954907596111298, + 0.24167722463607788, + 0.004903286229819059, + -0.006856550928205252, + 0.05384330078959465, + 0.34967464208602905, + 0.0, + 1.0014774799346924 + ], + [ + 0.24935834109783173, + 0.24356628954410553, + -0.0028712863568216562, + 0.013421950861811638, + 0.014177796430885792, + 0.3492565155029297, + 0.0, + 1.0014774799346924 + ], + [ + 0.2560310363769531, + 0.24752025306224823, + -0.0036136002745479345, + 0.032830312848091125, + -0.03475291654467583, + 0.37105292081832886, + 0.0, + 1.0014774799346924 + ], + [ + 0.2617306113243103, + 0.24599841237068176, + -0.01774011366069317, + 0.04523162543773651, + -0.07334571331739426, + 0.38910171389579773, + 0.0, + 1.0014774799346924 + ], + [ + 0.2723018229007721, + 0.243763267993927, + -0.030749375000596046, + 0.056894127279520035, + -0.10429376363754272, + 0.3999614119529724, + 0.0, + 1.0014774799346924 + ], + [ + 0.2834654450416565, + 0.24284754693508148, + -0.04283128306269646, + 0.06876778602600098, + -0.11034784466028214, + 0.41071927547454834, + 0.0, + 1.0014774799346924 + ], + [ + 0.28318917751312256, + 0.24531273543834686, + -0.04825710505247116, + 0.087067611515522, + -0.12498410046100616, + 0.40754538774490356, + 0.0, + 1.0014774799346924 + ], + [ + 0.2758585810661316, + 0.24270254373550415, + -0.05534064397215843, + 0.08934883773326874, + -0.12853772938251495, + 0.4011750817298889, + 0.0, + 0.9499720335006714 + ], + [ + 0.26806479692459106, + 0.24222128093242645, + -0.06048496812582016, + 0.0931975394487381, + -0.1266285926103592, + 0.3945508599281311, + 0.0, + 0.7950940132141113 + ], + [ + 0.2632800042629242, + 0.2419935017824173, + -0.06268451362848282, + 0.100663922727108, + -0.1181793138384819, + 0.41194814443588257, + 0.0, + 0.47187528014183044 + ], + [ + 0.2647983431816101, + 0.24129429459571838, + -0.062400151044130325, + 0.11393789947032928, + -0.12139343470335007, + 0.44320476055145264, + 0.0, + 0.21794094145298004 + ], + [ + 0.26503610610961914, + 0.2390531599521637, + -0.06314582377672195, + 0.11333239823579788, + -0.12000426650047302, + 0.4530341923236847, + 0.0, + 0.10434377193450928 + ], + [ + 0.2655932903289795, + 0.23653505742549896, + -0.06301742047071457, + 0.10954891890287399, + -0.11557329446077347, + 0.46096599102020264, + 0.0, + 0.08783477544784546 + ], + [ + 0.2571619153022766, + 0.2268170267343521, + -0.05876311659812927, + 0.11621753126382828, + -0.04704122245311737, + 0.4608667492866516, + 0.0, + 0.09966801106929779 + ], + [ + 0.26120415329933167, + 0.22614715993404388, + -0.03373068571090698, + 0.1292921006679535, + -0.06012706086039543, + 0.4573984444141388, + 0.0, + 0.1059318259358406 + ], + [ + 0.26506978273391724, + 0.22581852972507477, + -0.008149083703756332, + 0.14790292084217072, + -0.08674841374158859, + 0.45157238841056824, + 0.0, + 0.10834171622991562 + ] + ], + "left_gripper_pos": [ + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 0.9499720335006714 + ], + [ + 0.7950940132141113 + ], + [ + 0.47187528014183044 + ], + [ + 0.21794094145298004 + ], + [ + 0.10434377193450928 + ], + [ + 0.08783477544784546 + ], + [ + 0.09966801106929779 + ], + [ + 0.1059318259358406 + ], + [ + 0.10834171622991562 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2735176682472229, + 0.25243934988975525, + 0.053519509732723236 + ], + [ + 0.2645583748817444, + 0.24607989192008972, + 0.030365662649273872 + ], + [ + 0.24954907596111298, + 0.24167722463607788, + 0.004903286229819059 + ], + [ + 0.24935834109783173, + 0.24356628954410553, + -0.0028712863568216562 + ], + [ + 0.2560310363769531, + 0.24752025306224823, + -0.0036136002745479345 + ], + [ + 0.2617306113243103, + 0.24599841237068176, + -0.01774011366069317 + ], + [ + 0.2723018229007721, + 0.243763267993927, + -0.030749375000596046 + ], + [ + 0.2834654450416565, + 0.24284754693508148, + -0.04283128306269646 + ], + [ + 0.28318917751312256, + 0.24531273543834686, + -0.04825710505247116 + ], + [ + 0.2758585810661316, + 0.24270254373550415, + -0.05534064397215843 + ], + [ + 0.26806479692459106, + 0.24222128093242645, + -0.06048496812582016 + ], + [ + 0.2632800042629242, + 0.2419935017824173, + -0.06268451362848282 + ], + [ + 0.2647983431816101, + 0.24129429459571838, + -0.062400151044130325 + ], + [ + 0.26503610610961914, + 0.2390531599521637, + -0.06314582377672195 + ], + [ + 0.2655932903289795, + 0.23653505742549896, + -0.06301742047071457 + ], + [ + 0.2571619153022766, + 0.2268170267343521, + -0.05876311659812927 + ], + [ + 0.26120415329933167, + 0.22614715993404388, + -0.03373068571090698 + ], + [ + 0.26506978273391724, + 0.22581852972507477, + -0.008149083703756332 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9376724084652039, + 0.3474888491699355, + -0.004685520848068158, + 0.347338903575549, + -0.9375331485067443, + -0.019679469351752694, + -0.011231227270398889, + 0.01682543175032674, + -0.9997953612516993 + ], + [ + 0.9365088146570943, + 0.3475319601950569, + -0.046613053027505263, + 0.34521735850136187, + -0.9371290973813559, + -0.05112758776381868, + -0.06145091910546001, + 0.03178980157513113, + -0.9976037254626245 + ], + [ + 0.9381227267651971, + 0.34293077185886683, + -0.04821032294968693, + 0.3420956722900805, + -0.9393357282239152, + -0.02487851849376998, + -0.05381728836562794, + 0.0068465607664588285, + -0.9985273276574067 + ], + [ + 0.9395329567720082, + 0.3419896869685608, + -0.01791304402923179, + 0.3421649115493566, + -0.9396078715437066, + 0.007760221486915504, + -0.014177321456058255, + -0.013420198964649221, + -0.9998094327501019 + ], + [ + 0.9313833470680454, + 0.3634644050220657, + 0.02046184464510928, + 0.36237795428245345, + -0.9310303350572664, + 0.04318255959549264, + 0.03474592140653145, + -0.0328045954876752, + -0.9988576372339059 + ], + [ + 0.9227625850491287, + 0.3820351942874939, + 0.050579857247391155, + 0.37833749183857046, + -0.9230469024589224, + 0.06960717010688086, + 0.07327996931460375, + -0.04509463589724891, + -0.9962913830353776 + ], + [ + 0.916071200170756, + 0.39420531123350344, + 0.07359163548262512, + 0.38726702374461863, + -0.9172806361661788, + 0.09284657685965317, + 0.10410479593993688, + -0.05655446144971371, + -0.9929570908918659 + ], + [ + 0.9112575563918595, + 0.40526288553410816, + 0.07329160611765367, + 0.3968404748780874, + -0.9116455971457874, + 0.10686413197717312, + 0.11012403651006916, + -0.06829567199514852, + -0.9915686550962873 + ], + [ + 0.9109350157626634, + 0.4048077684905598, + 0.07954915227184173, + 0.39326523019046306, + -0.9103222203911003, + 0.1290577924243951, + 0.12465895788397002, + -0.08627934649676888, + -0.9884412064393978 + ], + [ + 0.9130081495383217, + 0.39947243787824105, + 0.08269153676298939, + 0.3872789206471281, + -0.9124640281342642, + 0.1320016476540673, + 0.12818407271968474, + -0.08849389095642668, + -0.9877943484169096 + ], + [ + 0.9157777709816146, + 0.3935753665480714, + 0.08030881036658911, + 0.3813158738189332, + -0.9146452313905727, + 0.13424717899527397, + 0.12629045312156004, + -0.09231755814056689, + -0.9876883060507066 + ], + [ + 0.9099509980938086, + 0.4092257745283169, + 0.06725657239096278, + 0.39760247677463323, + -0.906959543035345, + 0.13905631147055383, + 0.11790441692641945, + -0.09979304965185476, + -0.9879979229281931 + ], + [ + 0.8967338717666451, + 0.43849359134142907, + 0.059931073567035684, + 0.4256809156930663, + -0.8916205187016416, + 0.15430038446137326, + 0.12109550462801742, + -0.11285486689864489, + -0.9862046733696684 + ], + [ + 0.8926568088811547, + 0.4470607146385799, + 0.05745031753572587, + 0.43454780497441126, + -0.8874292531669361, + 0.1537450025707991, + 0.11971644310634429, + -0.11227661399604187, + -0.9864390174762702 + ], + [ + 0.889648381469754, + 0.45343862992962997, + 0.054029309044140564, + 0.44184605533671967, + -0.8846464398501287, + 0.14890513706341094, + 0.11531617723297811, + -0.10860057710727336, + -0.9873743433573406 + ], + [ + 0.8946765513345536, + 0.44660844198971567, + -0.009734887550891077, + 0.44423262337990904, + -0.8872005501589986, + 0.12462969197817171, + 0.047023874969142884, + -0.11582781764795912, + -0.9921555683670769 + ], + [ + 0.8955830929961675, + 0.44488071451802774, + -0.003474678308447894, + 0.4408174391991491, + -0.8862943459715041, + 0.14199407592166763, + 0.06009083821451137, + -0.12869919249503053, + -0.9898614089930997 + ], + [ + 0.8963786932881761, + 0.4431043603083364, + 0.012797034606558302, + 0.4347399322028798, + -0.8843671793532183, + 0.16998789201312986, + 0.08663965354972798, + -0.1468101425602879, + -0.9853630561748348 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.008959293365478516, + -0.006359457969665527, + -0.023153847083449364, + -0.015028094872832298, + 0.050258196890354156, + -0.0015882551670074463, + 1.0 + ], + [ + -0.015009298920631409, + -0.004402667284011841, + -0.025462375953793526, + 0.024998830631375313, + -0.0076463595032691956, + -0.003492295742034912, + 1.0 + ], + [ + -0.00019073486328125, + 0.001889064908027649, + -0.007774572819471359, + 0.020278502255678177, + -0.03966550529003143, + -0.00041812658309936523, + 1.0 + ], + [ + 0.006672695279121399, + 0.0039539635181427, + -0.0007423139177262783, + 0.019408361986279488, + -0.048930712044239044, + 0.02179640531539917, + 1.0 + ], + [ + 0.005699574947357178, + -0.0015218406915664673, + -0.01412651315331459, + 0.012401312589645386, + -0.03859279677271843, + 0.018048793077468872, + 1.0 + ], + [ + 0.010571211576461792, + -0.0022351443767547607, + -0.013009261339902878, + 0.011662501841783524, + -0.030948050320148468, + 0.010859698057174683, + 1.0 + ], + [ + 0.0111636221408844, + -0.00091572105884552, + -0.01208190806210041, + 0.011873658746480942, + -0.00605408102273941, + 0.010757863521575928, + 1.0 + ], + [ + -0.00027626752853393555, + 0.002465188503265381, + -0.005425821989774704, + 0.018299825489521027, + -0.01463625580072403, + -0.0031738877296447754, + 1.0 + ], + [ + -0.007330596446990967, + -0.0026101917028427124, + -0.007083538919687271, + 0.0022812262177467346, + -0.003553628921508789, + -0.0063703060150146484, + 0.0 + ], + [ + -0.007793784141540527, + -0.00048126280307769775, + -0.005144324153661728, + 0.0038487017154693604, + 0.0019091367721557617, + -0.0066242218017578125, + 0.0 + ], + [ + -0.00478479266166687, + -0.00022777915000915527, + -0.0021995455026626587, + 0.0074663832783699036, + 0.008449278771877289, + 0.017397284507751465, + 0.0 + ], + [ + 0.001518338918685913, + -0.0006992071866989136, + 0.0002843625843524933, + 0.013273976743221283, + -0.003214120864868164, + 0.03125661611557007, + 0.0 + ], + [ + 0.0002377629280090332, + -0.0022411346435546875, + -0.000745672732591629, + -0.0006055012345314026, + 0.0013891682028770447, + 0.009829431772232056, + 0.0 + ], + [ + 0.0005571842193603516, + -0.002518102526664734, + 0.00012840330600738525, + -0.003783479332923889, + 0.0044309720396995544, + 0.007931798696517944, + 0.0 + ], + [ + -0.00843137502670288, + -0.00971803069114685, + 0.004254303872585297, + 0.006668612360954285, + 0.0685320720076561, + -9.924173355102539e-05, + 0.0 + ], + [ + 0.004042237997055054, + -0.0006698668003082275, + 0.02503243088722229, + 0.013074569404125214, + -0.013085838407278061, + -0.0034683048725128174, + 0.0 + ], + [ + 0.0038656294345855713, + -0.0003286302089691162, + 0.02558160200715065, + 0.018610820174217224, + -0.02662135288119316, + -0.005826056003570557, + 0.0 + ], + [ + -0.0004571974277496338, + -0.004161044955253601, + 0.009529459290206432, + 0.02103067934513092, + 0.02556636556982994, + 0.0024532079696655273, + 0.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 0.9499720335006714 + ], + [ + 0.7950940132141113 + ], + [ + 0.47187528014183044 + ], + [ + 0.21794094145298004 + ], + [ + 0.10434377193450928 + ], + [ + 0.08783477544784546 + ], + [ + 0.09966801106929779 + ], + [ + 0.1059318259358406 + ], + [ + 0.10834171622991562 + ], + [ + 0.10834171622991562 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2645583748817444, + 0.24607989192008972, + 0.030365662649273872 + ], + [ + 0.24954907596111298, + 0.24167722463607788, + 0.004903286229819059 + ], + [ + 0.24935834109783173, + 0.24356628954410553, + -0.0028712863568216562 + ], + [ + 0.2560310363769531, + 0.24752025306224823, + -0.0036136002745479345 + ], + [ + 0.2617306113243103, + 0.24599841237068176, + -0.01774011366069317 + ], + [ + 0.2723018229007721, + 0.243763267993927, + -0.030749375000596046 + ], + [ + 0.2834654450416565, + 0.24284754693508148, + -0.04283128306269646 + ], + [ + 0.28318917751312256, + 0.24531273543834686, + -0.04825710505247116 + ], + [ + 0.2758585810661316, + 0.24270254373550415, + -0.05534064397215843 + ], + [ + 0.26806479692459106, + 0.24222128093242645, + -0.06048496812582016 + ], + [ + 0.2632800042629242, + 0.2419935017824173, + -0.06268451362848282 + ], + [ + 0.2647983431816101, + 0.24129429459571838, + -0.062400151044130325 + ], + [ + 0.26503610610961914, + 0.2390531599521637, + -0.06314582377672195 + ], + [ + 0.2655932903289795, + 0.23653505742549896, + -0.06301742047071457 + ], + [ + 0.2571619153022766, + 0.2268170267343521, + -0.05876311659812927 + ], + [ + 0.26120415329933167, + 0.22614715993404388, + -0.03373068571090698 + ], + [ + 0.26506978273391724, + 0.22581852972507477, + -0.008149083703756332 + ], + [ + 0.2646125853061676, + 0.22165748476982117, + 0.0013803753536194563 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9365088146570943, + 0.3475319601950569, + -0.046613053027505263, + 0.34521735850136187, + -0.9371290973813559, + -0.05112758776381868, + -0.06145091910546001, + 0.03178980157513113, + -0.9976037254626245 + ], + [ + 0.9381227267651971, + 0.34293077185886683, + -0.04821032294968693, + 0.3420956722900805, + -0.9393357282239152, + -0.02487851849376998, + -0.05381728836562794, + 0.0068465607664588285, + -0.9985273276574067 + ], + [ + 0.9395329567720082, + 0.3419896869685608, + -0.01791304402923179, + 0.3421649115493566, + -0.9396078715437066, + 0.007760221486915504, + -0.014177321456058255, + -0.013420198964649221, + -0.9998094327501019 + ], + [ + 0.9313833470680454, + 0.3634644050220657, + 0.02046184464510928, + 0.36237795428245345, + -0.9310303350572664, + 0.04318255959549264, + 0.03474592140653145, + -0.0328045954876752, + -0.9988576372339059 + ], + [ + 0.9227625850491287, + 0.3820351942874939, + 0.050579857247391155, + 0.37833749183857046, + -0.9230469024589224, + 0.06960717010688086, + 0.07327996931460375, + -0.04509463589724891, + -0.9962913830353776 + ], + [ + 0.916071200170756, + 0.39420531123350344, + 0.07359163548262512, + 0.38726702374461863, + -0.9172806361661788, + 0.09284657685965317, + 0.10410479593993688, + -0.05655446144971371, + -0.9929570908918659 + ], + [ + 0.9112575563918595, + 0.40526288553410816, + 0.07329160611765367, + 0.3968404748780874, + -0.9116455971457874, + 0.10686413197717312, + 0.11012403651006916, + -0.06829567199514852, + -0.9915686550962873 + ], + [ + 0.9109350157626634, + 0.4048077684905598, + 0.07954915227184173, + 0.39326523019046306, + -0.9103222203911003, + 0.1290577924243951, + 0.12465895788397002, + -0.08627934649676888, + -0.9884412064393978 + ], + [ + 0.9130081495383217, + 0.39947243787824105, + 0.08269153676298939, + 0.3872789206471281, + -0.9124640281342642, + 0.1320016476540673, + 0.12818407271968474, + -0.08849389095642668, + -0.9877943484169096 + ], + [ + 0.9157777709816146, + 0.3935753665480714, + 0.08030881036658911, + 0.3813158738189332, + -0.9146452313905727, + 0.13424717899527397, + 0.12629045312156004, + -0.09231755814056689, + -0.9876883060507066 + ], + [ + 0.9099509980938086, + 0.4092257745283169, + 0.06725657239096278, + 0.39760247677463323, + -0.906959543035345, + 0.13905631147055383, + 0.11790441692641945, + -0.09979304965185476, + -0.9879979229281931 + ], + [ + 0.8967338717666451, + 0.43849359134142907, + 0.059931073567035684, + 0.4256809156930663, + -0.8916205187016416, + 0.15430038446137326, + 0.12109550462801742, + -0.11285486689864489, + -0.9862046733696684 + ], + [ + 0.8926568088811547, + 0.4470607146385799, + 0.05745031753572587, + 0.43454780497441126, + -0.8874292531669361, + 0.1537450025707991, + 0.11971644310634429, + -0.11227661399604187, + -0.9864390174762702 + ], + [ + 0.889648381469754, + 0.45343862992962997, + 0.054029309044140564, + 0.44184605533671967, + -0.8846464398501287, + 0.14890513706341094, + 0.11531617723297811, + -0.10860057710727336, + -0.9873743433573406 + ], + [ + 0.8946765513345536, + 0.44660844198971567, + -0.009734887550891077, + 0.44423262337990904, + -0.8872005501589986, + 0.12462969197817171, + 0.047023874969142884, + -0.11582781764795912, + -0.9921555683670769 + ], + [ + 0.8955830929961675, + 0.44488071451802774, + -0.003474678308447894, + 0.4408174391991491, + -0.8862943459715041, + 0.14199407592166763, + 0.06009083821451137, + -0.12869919249503053, + -0.9898614089930997 + ], + [ + 0.8963786932881761, + 0.4431043603083364, + 0.012797034606558302, + 0.4347399322028798, + -0.8843671793532183, + 0.16998789201312986, + 0.08663965354972798, + -0.1468101425602879, + -0.9853630561748348 + ], + [ + 0.8970073346447832, + 0.44158208485719413, + -0.019573040812188157, + 0.4377662239909051, + -0.8813868819820697, + 0.17753280655323922, + 0.061143885435966, + -0.16781664578670052, + -0.9839202196675778 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006383.json b/json/chunk-0006/episode_0006383.json new file mode 100644 index 0000000000000000000000000000000000000000..23c32a2c772561b7b89af7ce497c8a18d2da16ab --- /dev/null +++ b/json/chunk-0006/episode_0006383.json @@ -0,0 +1,1042 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 16, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nClose small4fbox flaps." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006383.mp4", + "start": 0, + "end": 16, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.21562762558460236, + -0.037322476506233215, + 0.18452297151088715, + 0.22838564217090607, + -0.08536981046199799, + 0.06891700625419617, + 0.0, + 0.9961419701576233 + ], + [ + 0.21430306136608124, + -0.03836563602089882, + 0.17410461604595184, + 0.23067502677440643, + -0.07962359488010406, + 0.08352463692426682, + 0.0, + 0.9961419701576233 + ], + [ + 0.21334366500377655, + -0.050790347158908844, + 0.15308886766433716, + 0.1984349489212036, + -0.12854361534118652, + 0.12339875847101212, + 0.0, + 0.9961419701576233 + ], + [ + 0.21616709232330322, + -0.05500376224517822, + 0.1375809907913208, + 0.15366551280021667, + -0.16647176444530487, + 0.14768104255199432, + 0.0, + 0.9961419701576233 + ], + [ + 0.22299930453300476, + -0.061130981892347336, + 0.12266144901514053, + 0.11583507806062698, + -0.19517628848552704, + 0.1500343531370163, + 0.0, + 0.9961419701576233 + ], + [ + 0.2327437847852707, + -0.06718805432319641, + 0.11528313905000687, + 0.10645521432161331, + -0.22731579840183258, + 0.1464628130197525, + 0.0, + 0.9961419701576233 + ], + [ + 0.23805193603038788, + -0.06559696048498154, + 0.11312437057495117, + 0.1338804066181183, + -0.25528961420059204, + 0.13673195242881775, + 0.0, + 0.9961419701576233 + ], + [ + 0.24478620290756226, + -0.06380169093608856, + 0.1206418052315712, + 0.17820626497268677, + -0.26421812176704407, + 0.12394031882286072, + 0.0, + 0.9961419701576233 + ], + [ + 0.2587757706642151, + -0.05414167419075966, + 0.12797950208187103, + 0.21047528088092804, + -0.2647574841976166, + 0.11295666545629501, + 0.0, + 0.9961419701576233 + ], + [ + 0.26899412274360657, + -0.052304450422525406, + 0.13400062918663025, + 0.2522577941417694, + -0.2840985655784607, + 0.06940331310033798, + 0.0, + 0.9961419701576233 + ], + [ + 0.2779173254966736, + -0.049445804208517075, + 0.14685475826263428, + 0.2932339310646057, + -0.30100274085998535, + 0.030844099819660187, + 0.0, + 0.9961419701576233 + ], + [ + 0.28588059544563293, + -0.04287425056099892, + 0.15953299403190613, + 0.34895795583724976, + -0.3072774112224579, + 0.002818453824147582, + 0.0, + 0.9961419701576233 + ], + [ + 0.29301324486732483, + -0.03386630862951279, + 0.16765521466732025, + 0.39016199111938477, + -0.322529673576355, + -0.03274647146463394, + 0.0, + 0.9961419701576233 + ], + [ + 0.3020196557044983, + -0.02220691554248333, + 0.16488604247570038, + 0.38850468397140503, + -0.34435397386550903, + -0.06921898573637009, + 0.0, + 0.9961419701576233 + ], + [ + 0.3053267002105713, + -0.016741598024964333, + 0.15727858245372772, + 0.392080157995224, + -0.35090896487236023, + -0.1141430214047432, + 0.0, + 0.9961419701576233 + ], + [ + 0.3142062723636627, + -0.00890310388058424, + 0.15226835012435913, + 0.39954838156700134, + -0.36539316177368164, + -0.15579544007778168, + 0.0, + 0.9961419701576233 + ] + ], + "left_gripper_pos": [ + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.21562762558460236, + -0.037322476506233215, + 0.18452297151088715 + ], + [ + 0.21430306136608124, + -0.03836563602089882, + 0.17410461604595184 + ], + [ + 0.21334366500377655, + -0.050790347158908844, + 0.15308886766433716 + ], + [ + 0.21616709232330322, + -0.05500376224517822, + 0.1375809907913208 + ], + [ + 0.22299930453300476, + -0.061130981892347336, + 0.12266144901514053 + ], + [ + 0.2327437847852707, + -0.06718805432319641, + 0.11528313905000687 + ], + [ + 0.23805193603038788, + -0.06559696048498154, + 0.11312437057495117 + ], + [ + 0.24478620290756226, + -0.06380169093608856, + 0.1206418052315712 + ], + [ + 0.2587757706642151, + -0.05414167419075966, + 0.12797950208187103 + ], + [ + 0.26899412274360657, + -0.052304450422525406, + 0.13400062918663025 + ], + [ + 0.2779173254966736, + -0.049445804208517075, + 0.14685475826263428 + ], + [ + 0.28588059544563293, + -0.04287425056099892, + 0.15953299403190613 + ], + [ + 0.29301324486732483, + -0.03386630862951279, + 0.16765521466732025 + ], + [ + 0.3020196557044983, + -0.02220691554248333, + 0.16488604247570038 + ], + [ + 0.3053267002105713, + -0.016741598024964333, + 0.15727858245372772 + ], + [ + 0.3142062723636627, + -0.00890310388058424, + 0.15226835012435913 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9939930182373552, + 0.08633321412474745, + 0.06726407536184198, + 0.06861168242260013, + -0.9703915970170336, + 0.23158710126833798, + 0.08526615231458093, + -0.22558086039737874, + -0.970485939461178 + ], + [ + 0.9933566060620184, + 0.09933984000082599, + 0.058088289538928695, + 0.08316323221593075, + -0.9686012966546681, + 0.23429768442367255, + 0.07953948705106978, + -0.22791034269533705, + -0.9704279188544335 + ], + [ + 0.9842084042654153, + 0.14574901731125842, + 0.10045417326386961, + 0.12207032365375406, + -0.9698110817188347, + 0.21110495460413, + 0.12818991011929437, + -0.19550879706076288, + -0.9722878468928123 + ], + [ + 0.9754409857994314, + 0.1704977699790992, + 0.13944674128421833, + 0.14511061799761238, + -0.9737278736000894, + 0.175490560197976, + 0.16570392803728148, + -0.15094548223250204, + -0.9745551136937372 + ], + [ + 0.9699927346412389, + 0.17063341083454484, + 0.17320027092986937, + 0.1466341470782215, + -0.978789457183324, + 0.14307209866852516, + 0.1939394793585185, + -0.11338182223682564, + -0.9744393468720377 + ], + [ + 0.9638437332201979, + 0.1688029929028776, + 0.20618149169889807, + 0.14218541135410745, + -0.9801984409658901, + 0.13781990105242925, + 0.22536318849851003, + -0.1035208477316004, + -0.9687594476208815 + ], + [ + 0.9585594314192925, + 0.16847928248879562, + 0.22973582178054722, + 0.1318886424304554, + -0.9772071357248872, + 0.16634782801772166, + 0.252525647083567, + -0.1291547337902201, + -0.9589316202444277 + ], + [ + 0.9578924115949053, + 0.16760380063017088, + 0.23313321046821683, + 0.1193331511269401, + -0.9708910007118811, + 0.20767826987625992, + 0.26115460335022017, + -0.1711129181301158, + -0.9500098117377447 + ], + [ + 0.9590052205799702, + 0.1645511653960934, + 0.2307203954295119, + 0.10878911357185492, + -0.9655372762605682, + 0.2364375116591554, + 0.2616752102676386, + -0.20164494072034314, + -0.9438566640191065 + ], + [ + 0.9576037674449158, + 0.13694283883195696, + 0.25345943160188056, + 0.0665677901204862, + -0.961168666024271, + 0.26781248061208524, + 0.28029226513369687, + -0.23958600615596956, + -0.9295347178887151 + ], + [ + 0.954585422158905, + 0.1151789062110184, + 0.27477352741073635, + 0.029452668655391284, + -0.954215954872704, + 0.2976649992448715, + 0.2964780128623048, + -0.27605385530799426, + -0.9142729662736463 + ], + [ + 0.9531568027007492, + 0.1060665219670862, + 0.283270193248585, + 0.0026864355489844977, + -0.9394343055122081, + 0.3427184977366066, + 0.30246469633549994, + -0.32590348041191725, + -0.8957131398645846 + ], + [ + 0.9479281572728435, + 0.09020988669148425, + 0.30544129549296534, + -0.031052402634956417, + -0.9282986655550293, + 0.3705365512595871, + 0.31696680731569976, + -0.3607267163267252, + -0.8771592097152207 + ], + [ + 0.939039645036687, + 0.06356461823247868, + 0.3378817609139804, + -0.06510338093757108, + -0.9321049841466931, + 0.356288995507005, + 0.33758864738001854, + -0.35656673686401585, + -0.871145261895097 + ], + [ + 0.932949945072019, + 0.025244171699342337, + 0.3591199406679204, + -0.10695462019706287, + -0.9330630706351751, + 0.3434443411025434, + 0.3437515224818918, + -0.3588259160262428, + -0.8678011597015235 + ], + [ + 0.9226713343146015, + -0.0056310916866944005, + 0.3855462354122127, + -0.14492241786158472, + -0.9316467305328862, + 0.33321443889564006, + 0.3573165286342986, + -0.36332170358210103, + -0.8604198033930499 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0013245642185211182, + -0.0010431595146656036, + -0.010418355464935303, + 0.002289384603500366, + 0.005746215581893921, + 0.014607630670070648, + 1.0 + ], + [ + -0.0009593963623046875, + -0.012424711138010025, + -0.021015748381614685, + -0.03224007785320282, + -0.04892002046108246, + 0.0398741215467453, + 1.0 + ], + [ + 0.0028234273195266724, + -0.004213415086269379, + -0.015507876873016357, + -0.04476943612098694, + -0.03792814910411835, + 0.024282284080982208, + 1.0 + ], + [ + 0.006832212209701538, + -0.006127219647169113, + -0.014919541776180267, + -0.03783043473958969, + -0.028704524040222168, + 0.0023533105850219727, + 1.0 + ], + [ + 0.00974448025226593, + -0.006057072430849075, + -0.007378309965133667, + -0.009379863739013672, + -0.03213950991630554, + -0.003571540117263794, + 1.0 + ], + [ + 0.0053081512451171875, + 0.0015910938382148743, + -0.0021587684750556946, + 0.027425192296504974, + -0.02797381579875946, + -0.009730860590934753, + 1.0 + ], + [ + 0.0067342668771743774, + 0.0017952695488929749, + 0.007517434656620026, + 0.04432585835456848, + -0.008928507566452026, + -0.012791633605957031, + 1.0 + ], + [ + 0.013989567756652832, + 0.009660016745328903, + 0.007337696850299835, + 0.03226901590824127, + -0.0005393624305725098, + -0.010983653366565704, + 1.0 + ], + [ + 0.01021835207939148, + 0.001837223768234253, + 0.006021127104759216, + 0.04178251326084137, + -0.019341081380844116, + -0.04355335235595703, + 1.0 + ], + [ + 0.008923202753067017, + 0.0028586462140083313, + 0.012854129076004028, + 0.040976136922836304, + -0.016904175281524658, + -0.038559213280677795, + 1.0 + ], + [ + 0.00796326994895935, + 0.006571553647518158, + 0.01267823576927185, + 0.05572402477264404, + -0.006274670362472534, + -0.02802564576268196, + 1.0 + ], + [ + 0.0071326494216918945, + 0.00900794193148613, + 0.008122220635414124, + 0.04120403528213501, + -0.015252262353897095, + -0.03556492552161217, + 1.0 + ], + [ + 0.009006410837173462, + 0.011659393087029457, + -0.002769172191619873, + -0.0016573071479797363, + -0.021824300289154053, + -0.036472514271736145, + 1.0 + ], + [ + 0.003307044506072998, + 0.005465317517518997, + -0.007607460021972656, + 0.0035754740238189697, + -0.006554991006851196, + -0.04492403566837311, + 1.0 + ], + [ + 0.00887957215309143, + 0.007838494144380093, + -0.005010232329368591, + 0.007468223571777344, + -0.014484196901321411, + -0.04165241867303848, + 1.0 + ], + [ + 0.00404706597328186, + 0.00455116992816329, + -0.008388310670852661, + -0.002225935459136963, + -0.00734826922416687, + -0.024263665080070496, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.21430306136608124, + -0.03836563602089882, + 0.17410461604595184 + ], + [ + 0.21334366500377655, + -0.050790347158908844, + 0.15308886766433716 + ], + [ + 0.21616709232330322, + -0.05500376224517822, + 0.1375809907913208 + ], + [ + 0.22299930453300476, + -0.061130981892347336, + 0.12266144901514053 + ], + [ + 0.2327437847852707, + -0.06718805432319641, + 0.11528313905000687 + ], + [ + 0.23805193603038788, + -0.06559696048498154, + 0.11312437057495117 + ], + [ + 0.24478620290756226, + -0.06380169093608856, + 0.1206418052315712 + ], + [ + 0.2587757706642151, + -0.05414167419075966, + 0.12797950208187103 + ], + [ + 0.26899412274360657, + -0.052304450422525406, + 0.13400062918663025 + ], + [ + 0.2779173254966736, + -0.049445804208517075, + 0.14685475826263428 + ], + [ + 0.28588059544563293, + -0.04287425056099892, + 0.15953299403190613 + ], + [ + 0.29301324486732483, + -0.03386630862951279, + 0.16765521466732025 + ], + [ + 0.3020196557044983, + -0.02220691554248333, + 0.16488604247570038 + ], + [ + 0.3053267002105713, + -0.016741598024964333, + 0.15727858245372772 + ], + [ + 0.3142062723636627, + -0.00890310388058424, + 0.15226835012435913 + ], + [ + 0.3182533383369446, + -0.00435193395242095, + 0.14388003945350647 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9933566060620184, + 0.09933984000082599, + 0.058088289538928695, + 0.08316323221593075, + -0.9686012966546681, + 0.23429768442367255, + 0.07953948705106978, + -0.22791034269533705, + -0.9704279188544335 + ], + [ + 0.9842084042654153, + 0.14574901731125842, + 0.10045417326386961, + 0.12207032365375406, + -0.9698110817188347, + 0.21110495460413, + 0.12818991011929437, + -0.19550879706076288, + -0.9722878468928123 + ], + [ + 0.9754409857994314, + 0.1704977699790992, + 0.13944674128421833, + 0.14511061799761238, + -0.9737278736000894, + 0.175490560197976, + 0.16570392803728148, + -0.15094548223250204, + -0.9745551136937372 + ], + [ + 0.9699927346412389, + 0.17063341083454484, + 0.17320027092986937, + 0.1466341470782215, + -0.978789457183324, + 0.14307209866852516, + 0.1939394793585185, + -0.11338182223682564, + -0.9744393468720377 + ], + [ + 0.9638437332201979, + 0.1688029929028776, + 0.20618149169889807, + 0.14218541135410745, + -0.9801984409658901, + 0.13781990105242925, + 0.22536318849851003, + -0.1035208477316004, + -0.9687594476208815 + ], + [ + 0.9585594314192925, + 0.16847928248879562, + 0.22973582178054722, + 0.1318886424304554, + -0.9772071357248872, + 0.16634782801772166, + 0.252525647083567, + -0.1291547337902201, + -0.9589316202444277 + ], + [ + 0.9578924115949053, + 0.16760380063017088, + 0.23313321046821683, + 0.1193331511269401, + -0.9708910007118811, + 0.20767826987625992, + 0.26115460335022017, + -0.1711129181301158, + -0.9500098117377447 + ], + [ + 0.9590052205799702, + 0.1645511653960934, + 0.2307203954295119, + 0.10878911357185492, + -0.9655372762605682, + 0.2364375116591554, + 0.2616752102676386, + -0.20164494072034314, + -0.9438566640191065 + ], + [ + 0.9576037674449158, + 0.13694283883195696, + 0.25345943160188056, + 0.0665677901204862, + -0.961168666024271, + 0.26781248061208524, + 0.28029226513369687, + -0.23958600615596956, + -0.9295347178887151 + ], + [ + 0.954585422158905, + 0.1151789062110184, + 0.27477352741073635, + 0.029452668655391284, + -0.954215954872704, + 0.2976649992448715, + 0.2964780128623048, + -0.27605385530799426, + -0.9142729662736463 + ], + [ + 0.9531568027007492, + 0.1060665219670862, + 0.283270193248585, + 0.0026864355489844977, + -0.9394343055122081, + 0.3427184977366066, + 0.30246469633549994, + -0.32590348041191725, + -0.8957131398645846 + ], + [ + 0.9479281572728435, + 0.09020988669148425, + 0.30544129549296534, + -0.031052402634956417, + -0.9282986655550293, + 0.3705365512595871, + 0.31696680731569976, + -0.3607267163267252, + -0.8771592097152207 + ], + [ + 0.939039645036687, + 0.06356461823247868, + 0.3378817609139804, + -0.06510338093757108, + -0.9321049841466931, + 0.356288995507005, + 0.33758864738001854, + -0.35656673686401585, + -0.871145261895097 + ], + [ + 0.932949945072019, + 0.025244171699342337, + 0.3591199406679204, + -0.10695462019706287, + -0.9330630706351751, + 0.3434443411025434, + 0.3437515224818918, + -0.3588259160262428, + -0.8678011597015235 + ], + [ + 0.9226713343146015, + -0.0056310916866944005, + 0.3855462354122127, + -0.14492241786158472, + -0.9316467305328862, + 0.33321443889564006, + 0.3573165286342986, + -0.36332170358210103, + -0.8604198033930499 + ], + [ + 0.916275749125847, + -0.026499178312834423, + 0.3996705457156088, + -0.16679021704735458, + -0.9324291826600029, + 0.32055708200146726, + 0.3641699809994836, + -0.36037981751583104, + -0.8587820515509695 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006384.json b/json/chunk-0006/episode_0006384.json new file mode 100644 index 0000000000000000000000000000000000000000..d7e4daa4eb64df6e376ba709950f6e110d60ff2e --- /dev/null +++ b/json/chunk-0006/episode_0006384.json @@ -0,0 +1,2782 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 45, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPlace the spatula on the far edge of the table." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006384.mp4", + "start": 0, + "end": 45, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.35818371176719666, + -0.012008460238575935, + 0.07198032736778259, + 0.10652486979961395, + -0.12966406345367432, + -0.0424857996404171, + 0.0, + 1.0001531839370728 + ], + [ + 0.3529373109340668, + -0.012080371379852295, + 0.06045953184366226, + 0.10722610354423523, + -0.09116805344820023, + -0.031604133546352386, + 0.0, + 1.0001531839370728 + ], + [ + 0.3345280587673187, + -0.004807672463357449, + 0.05215946212410927, + 0.11984948813915253, + -0.026037706062197685, + 0.04168001189827919, + 0.0, + 1.0001531839370728 + ], + [ + 0.3235628008842468, + 0.00291628111153841, + 0.06518026441335678, + 0.10830454528331757, + -0.07366129755973816, + 0.1130896732211113, + 0.0, + 1.0001531839370728 + ], + [ + 0.3079606294631958, + 0.009669803082942963, + 0.07160225510597229, + 0.15320193767547607, + -0.04580416902899742, + 0.2317003756761551, + 0.0, + 1.0001531839370728 + ], + [ + 0.2846905291080475, + 0.011212754063308239, + 0.08347608894109726, + 0.16895970702171326, + -0.03178897500038147, + 0.3499302864074707, + 0.0, + 1.0001531839370728 + ], + [ + 0.2549199163913727, + 0.019633891060948372, + 0.0871749296784401, + 0.1259893923997879, + -0.03981674835085869, + 0.5141893029212952, + 0.0, + 1.0001531839370728 + ], + [ + 0.23136760294437408, + 0.0215457733720541, + 0.09699372947216034, + 0.11235982179641724, + -0.05819585546851158, + 0.6362525224685669, + 0.0, + 1.0001531839370728 + ], + [ + 0.21429230272769928, + 0.03333161398768425, + 0.09410474449396133, + 0.06388313323259354, + -0.07034393399953842, + 0.7482448816299438, + 0.0, + 1.0001531839370728 + ], + [ + 0.2087891697883606, + 0.036168064922094345, + 0.0833246186375618, + 0.07649505883455276, + -0.08331077545881271, + 0.8133831024169922, + 0.0, + 1.0001531839370728 + ], + [ + 0.20786796510219574, + 0.03784049302339554, + 0.07263055443763733, + 0.09172599017620087, + -0.06784594804048538, + 0.8428149819374084, + 0.0, + 1.0001531839370728 + ], + [ + 0.2042127102613449, + 0.03823969140648842, + 0.06181982159614563, + 0.0851937085390091, + -0.07609596103429794, + 0.8790165185928345, + 0.0, + 1.0001531839370728 + ], + [ + 0.20886115729808807, + 0.03900166600942612, + 0.051920294761657715, + -0.007421441376209259, + -0.044465065002441406, + 0.8765242099761963, + 0.0, + 1.0001531839370728 + ], + [ + 0.21261419355869293, + 0.038225963711738586, + 0.046846430748701096, + -0.020260103046894073, + -0.0432368628680706, + 0.8713937401771545, + 0.0, + 1.0001531839370728 + ], + [ + 0.21578873693943024, + 0.03805473819375038, + 0.04438408464193344, + -0.0271109938621521, + -0.05368690937757492, + 0.8739935755729675, + 0.0, + 1.0001531839370728 + ], + [ + 0.2141726166009903, + 0.036240410059690475, + 0.03582625091075897, + 0.012616775929927826, + -0.027902742847800255, + 0.8679888248443604, + 0.0, + 1.0001531839370728 + ], + [ + 0.21506325900554657, + 0.03600846976041794, + 0.032004717737436295, + 0.01976649835705757, + -0.019543293863534927, + 0.8569132089614868, + 0.0, + 0.9453431367874146 + ], + [ + 0.215479776263237, + 0.035645801573991776, + 0.03233486786484718, + 0.026972008869051933, + -0.026529038324952126, + 0.854946494102478, + 0.0, + 0.6611326336860657 + ], + [ + 0.21702027320861816, + 0.03726348653435707, + 0.034681789577007294, + 0.03972941264510155, + -0.03501608967781067, + 0.8584617376327515, + 0.0, + 0.44759801030158997 + ], + [ + 0.21549372375011444, + 0.037032000720500946, + 0.03588059917092323, + 0.048906076699495316, + -0.02433265931904316, + 0.8541467189788818, + 0.0, + 0.4448287785053253 + ], + [ + 0.21661734580993652, + 0.03707989305257797, + 0.046776898205280304, + 0.036087073385715485, + -0.044267572462558746, + 0.8571339249610901, + 0.0, + 0.4448287785053253 + ], + [ + 0.22044572234153748, + 0.03382553905248642, + 0.05715315788984299, + 0.028461378067731857, + -0.07860422879457474, + 0.8378245234489441, + 0.0, + 0.4448287785053253 + ], + [ + 0.22194403409957886, + 0.02811196632683277, + 0.06958983093500137, + 0.002518292050808668, + -0.1057535856962204, + 0.8241925835609436, + 0.0, + 0.4448287785053253 + ], + [ + 0.22867277264595032, + 0.010112940333783627, + 0.09121846407651901, + -0.027827274054288864, + -0.17726382613182068, + 0.748087465763092, + 0.0, + 0.4448287785053253 + ], + [ + 0.24135327339172363, + -0.006741591729223728, + 0.10338911414146423, + -0.08686086535453796, + -0.21883685886859894, + 0.6746135354042053, + 0.0, + 0.4448287785053253 + ], + [ + 0.2643754184246063, + -0.030686337500810623, + 0.10982585698366165, + -0.11285006254911423, + -0.25974878668785095, + 0.5317913889884949, + 0.0, + 0.4448287785053253 + ], + [ + 0.2922920882701874, + -0.0552634634077549, + 0.09575715661048889, + -0.042747266590595245, + -0.26728856563568115, + 0.3282356560230255, + 0.0, + 0.4448287785053253 + ], + [ + 0.3202888071537018, + -0.07651149481534958, + 0.09070470929145813, + -0.03408878296613693, + -0.33391401171684265, + 0.22405588626861572, + 0.0, + 0.4448287785053253 + ], + [ + 0.33701542019844055, + -0.0908401757478714, + 0.07899080961942673, + 0.010959679260849953, + -0.34904640913009644, + 0.1372312605381012, + 0.0, + 0.4448287785053253 + ], + [ + 0.3384424149990082, + -0.09855291992425919, + 0.06417600810527802, + 0.010271557606756687, + -0.3293650150299072, + 0.10200245678424835, + 0.0, + 0.4448287785053253 + ], + [ + 0.34038665890693665, + -0.10513727366924286, + 0.054684996604919434, + 0.007883207872509956, + -0.3123607039451599, + 0.08587287366390228, + 0.0, + 0.4448287785053253 + ], + [ + 0.3414894640445709, + -0.1079043447971344, + 0.041128162294626236, + 0.030651330947875977, + -0.30316081643104553, + 0.050619322806596756, + 0.0, + 0.4448287785053253 + ], + [ + 0.34289783239364624, + -0.10733744502067566, + 0.031740523874759674, + 0.04543820396065712, + -0.2983933389186859, + 0.030794544145464897, + 0.0, + 0.4448287785053253 + ], + [ + 0.3427552878856659, + -0.10733316093683243, + 0.0301444660872221, + 0.04602397233247757, + -0.29550421237945557, + 0.031782567501068115, + 0.0, + 0.4448287785053253 + ], + [ + 0.3426715135574341, + -0.10961020737886429, + 0.02646719291806221, + 0.0285225510597229, + -0.2970317602157593, + 0.03902207314968109, + 0.0, + 0.4448287785053253 + ], + [ + 0.3421891927719116, + -0.11036524921655655, + 0.024794943630695343, + 0.010112150572240353, + -0.29434719681739807, + 0.02748950943350792, + 0.0, + 0.4448287785053253 + ], + [ + 0.3422694802284241, + -0.10918287932872772, + 0.023357613012194633, + 0.019584855064749718, + -0.2966921329498291, + 0.01818777620792389, + 0.0, + 0.4448287785053253 + ], + [ + 0.3419751226902008, + -0.11014115065336227, + 0.02199162356555462, + 0.014150814153254032, + -0.29487156867980957, + 0.015815094113349915, + 0.0, + 0.4448287785053253 + ], + [ + 0.3412001132965088, + -0.10849115997552872, + 0.018482737243175507, + 0.015015663579106331, + -0.281734824180603, + 0.014127220958471298, + 0.0, + 0.5178548097610474 + ], + [ + 0.34064754843711853, + -0.10539642721414566, + 0.017043832689523697, + 0.0036674507427960634, + -0.2644016742706299, + 0.02632661536335945, + 0.0, + 0.8242669105529785 + ], + [ + 0.34211114048957825, + -0.1051211953163147, + 0.014816694892942905, + 0.01177598349750042, + -0.253009557723999, + 0.004448870662599802, + 0.0, + 1.00800359249115 + ], + [ + 0.34165820479393005, + -0.10498151183128357, + 0.014936914667487144, + 0.01322399452328682, + -0.24855121970176697, + 0.0043419124558568, + 0.0, + 1.0054124593734741 + ], + [ + 0.3392155170440674, + -0.10381902754306793, + 0.015111380256712437, + 0.02198183536529541, + -0.23169991374015808, + -0.0001145144269685261, + 0.0, + 0.9994885921478271 + ], + [ + 0.34149831533432007, + -0.10378852486610413, + 0.03904827684164047, + 0.007573388982564211, + -0.2667511999607086, + 0.016766292974352837, + 0.0, + 0.9994885921478271 + ], + [ + 0.34837788343429565, + -0.09544742852449417, + 0.06514837592840195, + 0.014617240987718105, + -0.3143822252750397, + 0.0556727796792984, + 0.0, + 0.9994885921478271 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9453431367874146 + ], + [ + 0.6611326336860657 + ], + [ + 0.44759801030158997 + ], + [ + 0.4448287785053253 + ], + [ + 0.4448287785053253 + ], + [ + 0.4448287785053253 + ], + [ + 0.4448287785053253 + ], + [ + 0.4448287785053253 + ], + [ + 0.4448287785053253 + ], + [ + 0.4448287785053253 + ], + [ + 0.4448287785053253 + ], + [ + 0.4448287785053253 + ], + [ + 0.4448287785053253 + ], + [ + 0.4448287785053253 + ], + [ + 0.4448287785053253 + ], + [ + 0.4448287785053253 + ], + [ + 0.4448287785053253 + ], + [ + 0.4448287785053253 + ], + [ + 0.4448287785053253 + ], + [ + 0.4448287785053253 + ], + [ + 0.4448287785053253 + ], + [ + 0.4448287785053253 + ], + [ + 0.5178548097610474 + ], + [ + 0.8242669105529785 + ], + [ + 1.00800359249115 + ], + [ + 1.0054124593734741 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.35818371176719666, + -0.012008460238575935, + 0.07198032736778259 + ], + [ + 0.3529373109340668, + -0.012080371379852295, + 0.06045953184366226 + ], + [ + 0.3345280587673187, + -0.004807672463357449, + 0.05215946212410927 + ], + [ + 0.3235628008842468, + 0.00291628111153841, + 0.06518026441335678 + ], + [ + 0.3079606294631958, + 0.009669803082942963, + 0.07160225510597229 + ], + [ + 0.2846905291080475, + 0.011212754063308239, + 0.08347608894109726 + ], + [ + 0.2549199163913727, + 0.019633891060948372, + 0.0871749296784401 + ], + [ + 0.23136760294437408, + 0.0215457733720541, + 0.09699372947216034 + ], + [ + 0.21429230272769928, + 0.03333161398768425, + 0.09410474449396133 + ], + [ + 0.2087891697883606, + 0.036168064922094345, + 0.0833246186375618 + ], + [ + 0.20786796510219574, + 0.03784049302339554, + 0.07263055443763733 + ], + [ + 0.2042127102613449, + 0.03823969140648842, + 0.06181982159614563 + ], + [ + 0.20886115729808807, + 0.03900166600942612, + 0.051920294761657715 + ], + [ + 0.21261419355869293, + 0.038225963711738586, + 0.046846430748701096 + ], + [ + 0.21578873693943024, + 0.03805473819375038, + 0.04438408464193344 + ], + [ + 0.2141726166009903, + 0.036240410059690475, + 0.03582625091075897 + ], + [ + 0.21506325900554657, + 0.03600846976041794, + 0.032004717737436295 + ], + [ + 0.215479776263237, + 0.035645801573991776, + 0.03233486786484718 + ], + [ + 0.21702027320861816, + 0.03726348653435707, + 0.034681789577007294 + ], + [ + 0.21549372375011444, + 0.037032000720500946, + 0.03588059917092323 + ], + [ + 0.21661734580993652, + 0.03707989305257797, + 0.046776898205280304 + ], + [ + 0.22044572234153748, + 0.03382553905248642, + 0.05715315788984299 + ], + [ + 0.22194403409957886, + 0.02811196632683277, + 0.06958983093500137 + ], + [ + 0.22867277264595032, + 0.010112940333783627, + 0.09121846407651901 + ], + [ + 0.24135327339172363, + -0.006741591729223728, + 0.10338911414146423 + ], + [ + 0.2643754184246063, + -0.030686337500810623, + 0.10982585698366165 + ], + [ + 0.2922920882701874, + -0.0552634634077549, + 0.09575715661048889 + ], + [ + 0.3202888071537018, + -0.07651149481534958, + 0.09070470929145813 + ], + [ + 0.33701542019844055, + -0.0908401757478714, + 0.07899080961942673 + ], + [ + 0.3384424149990082, + -0.09855291992425919, + 0.06417600810527802 + ], + [ + 0.34038665890693665, + -0.10513727366924286, + 0.054684996604919434 + ], + [ + 0.3414894640445709, + -0.1079043447971344, + 0.041128162294626236 + ], + [ + 0.34289783239364624, + -0.10733744502067566, + 0.031740523874759674 + ], + [ + 0.3427552878856659, + -0.10733316093683243, + 0.0301444660872221 + ], + [ + 0.3426715135574341, + -0.10961020737886429, + 0.02646719291806221 + ], + [ + 0.3421891927719116, + -0.11036524921655655, + 0.024794943630695343 + ], + [ + 0.3422694802284241, + -0.10918287932872772, + 0.023357613012194633 + ], + [ + 0.3419751226902008, + -0.11014115065336227, + 0.02199162356555462 + ], + [ + 0.3412001132965088, + -0.10849115997552872, + 0.018482737243175507 + ], + [ + 0.34064754843711853, + -0.10539642721414566, + 0.017043832689523697 + ], + [ + 0.34211114048957825, + -0.1051211953163147, + 0.014816694892942905 + ], + [ + 0.34165820479393005, + -0.10498151183128357, + 0.014936914667487144 + ], + [ + 0.3392155170440674, + -0.10381902754306793, + 0.015111380256712437 + ], + [ + 0.34149831533432007, + -0.10378852486610413, + 0.03904827684164047 + ], + [ + 0.34837788343429565, + -0.09544742852449417, + 0.06514837592840195 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9907105759536278, + -0.02849692982914832, + 0.13296796487854984, + -0.04211647476659028, + -0.9940182266299441, + 0.10076689774274034, + 0.12930103343309302, + -0.10543097323734293, + -0.9859845600390305 + ], + [ + 0.9953497754560715, + -0.021678895902700602, + 0.09385547385202396, + -0.03146764477738473, + -0.9940681654256223, + 0.10410701138493031, + 0.09104181364467874, + -0.10657630111698166, + -0.9901277090398541 + ], + [ + 0.9987928465106133, + 0.04447913123702674, + 0.02084362357234729, + 0.04165382118464675, + -0.9918346832125463, + 0.12053597121766359, + 0.02603476406545357, + -0.11952224923028894, + -0.992490112292807 + ], + [ + 0.9909177306441058, + 0.12009181904571002, + 0.06049798420961984, + 0.11254275195325354, + -0.9868926766450409, + 0.1156588680870384, + 0.07359470142560141, + -0.10779981346309903, + -0.9914449153328678 + ], + [ + 0.9722565400899577, + 0.23374392489288787, + 0.0089998793310242, + 0.2293919466185691, + -0.9602733053533686, + 0.15891668840074671, + 0.04578815435075466, + -0.15244328978798802, + -0.9872509753450576 + ], + [ + 0.9389220067463392, + 0.3429712012043891, + -0.028217377479937827, + 0.34265911145962763, + -0.9241875117243571, + 0.16870736944911233, + 0.03178362127142407, + -0.16807200337105302, + -0.9852622001790767 + ], + [ + 0.8700016382273337, + 0.49228593927283804, + -0.027417211309959718, + 0.491439328562981, + -0.8613303988611403, + 0.12883062655779975, + 0.03980622844884692, + -0.12555675207637562, + -0.9912875295214348 + ], + [ + 0.8029664492174349, + 0.5956840286342042, + -0.020135030699472627, + 0.5931795221406444, + -0.7953812773028224, + 0.12452581350518152, + 0.058163011821440055, + -0.11193373819476851, + -0.9920120474619265 + ], + [ + 0.7310715917397853, + 0.682254176991799, + 0.007972811818926253, + 0.6786709181233544, + -0.7283363682899822, + 0.09450883302508196, + 0.07028593489923883, + -0.06368180747594084, + -0.9954920967802494 + ], + [ + 0.6846612542447896, + 0.7288599227055732, + 0.0014764855495018117, + 0.7240955216542577, + -0.6804142591145572, + 0.11279233801033306, + 0.08321443658524985, + -0.07615542703717537, + -0.9936174859957858 + ], + [ + 0.6638332549901506, + 0.7475125288858407, + -0.023461217527589128, + 0.7448015811809857, + -0.6579312220382776, + 0.11134231781996541, + 0.06779391004718077, + -0.09138668516755492, + -0.9935051381520887 + ], + [ + 0.6360627983917864, + 0.7714453576831358, + -0.01720978242594289, + 0.7678832525770022, + -0.6306135742493294, + 0.11261363320774843, + 0.07602254214227182, + -0.08484444638056222, + -0.9934898051840302 + ], + [ + 0.6391938071287775, + 0.7682873921290984, + 0.03414322807948428, + 0.7677600130309358, + -0.6400621181865223, + 0.029411685659262755, + 0.04445041415955604, + 0.007414037904604036, + -0.9989840803150931 + ], + [ + 0.643159007536475, + 0.7645061590681932, + 0.043322324170052696, + 0.7645117587990016, + -0.6442985983954826, + 0.02002715066288301, + 0.043223392772360404, + 0.02023978390238419, + -0.9988603953830741 + ], + [ + 0.6408443497105423, + 0.7656826434072261, + 0.055214210390032374, + 0.7657930551585337, + -0.6426487217758372, + 0.023740620692000277, + 0.05366112293859552, + 0.027068616233659384, + -0.9981922529754295 + ], + [ + 0.6461108408325134, + 0.7631973146157945, + 0.008404779708122609, + 0.7627335185585963, + -0.6460424198687754, + 0.029440981595723552, + 0.02789912231460876, + -0.012611530174261245, + -0.9995311842462633 + ], + [ + 0.6546486195249913, + 0.7559302745464115, + -0.002145921296466938, + 0.7556806820626359, + -0.6543538076922506, + 0.027709224384719715, + 0.019542049825258256, + -0.019761436760531857, + -0.9996137223476812 + ], + [ + 0.6560279621589685, + 0.7547308302160147, + -0.0029473355757931967, + 0.7542703017369443, + -0.6554804137507102, + 0.03770595585391168, + 0.026525926623028044, + -0.02695924907417127, + -0.9992845311052037 + ], + [ + 0.6532017977664658, + 0.7571496650415945, + -0.00719695227566966, + 0.7563741044649628, + -0.6520342953723761, + 0.05243559624028745, + 0.03500893442369506, + -0.03969461406349901, + -0.9985983737844095 + ], + [ + 0.6566676844939197, + 0.7538904464430694, + -0.020898490454184657, + 0.7537874970274279, + -0.655179907699089, + 0.0504350857294669, + 0.02433025825015928, + -0.04887211177433281, + -0.9985086655729121 + ], + [ + 0.6539655342479556, + 0.7565224883068329, + 0.0016747244023591346, + 0.7552289333333653, + -0.6529736305720477, + 0.05704994332780703, + 0.044253115957332424, + -0.03604389634316387, + -0.9983699210535493 + ], + [ + 0.6670152619711449, + 0.7443834347447625, + 0.03136785576277442, + 0.7408945472665892, + -0.6671495065476143, + 0.07737445149343483, + 0.07852330945776675, + -0.02836966673868266, + -0.9965085307617468 + ], + [ + 0.6753556234245236, + 0.7341778703541451, + 0.06984007868785133, + 0.7298990283021483, + -0.6789525635581188, + 0.07918854034163292, + 0.10555657436869076, + -0.002504220459693264, + -0.9944101460099029 + ], + [ + 0.7215051167786121, + 0.6763784713429333, + 0.14813011161164413, + 0.669578711078741, + -0.7360448888352513, + 0.09951015671595756, + 0.17633693921698107, + 0.027387681962869774, + -0.9839487785165889 + ], + [ + 0.7623232592818943, + 0.6075329715145918, + 0.22308504405378674, + 0.609699338360107, + -0.7897673882125772, + 0.0673363892641418, + 0.21709436925235423, + 0.08468270802551418, + -0.9724705002211573 + ], + [ + 0.8329872362040276, + 0.4789242638800628, + 0.27706283364629664, + 0.490067977216911, + -0.8710837524027918, + 0.03234925047658653, + 0.25683777375553757, + 0.10883310969926248, + -0.9603070926560355 + ], + [ + 0.9129989275797655, + 0.31139460770663774, + 0.26356471032637785, + 0.3109260882116014, + -0.9493864204342937, + 0.04461381360509632, + 0.2641172578754174, + 0.04121678039570803, + -0.9636094909797135 + ], + [ + 0.921151694621024, + 0.21116586233770057, + 0.3269381196495619, + 0.20991390377273395, + -0.9769197290790395, + 0.03954738852348775, + 0.32774335767442697, + 0.032199713031509945, + -0.9442179144567112 + ], + [ + 0.9308647424747133, + 0.14050563511777364, + 0.3372669531952951, + 0.1285517370326723, + -0.9900263155147724, + 0.057639790892468845, + 0.34200187444423313, + -0.010298596428442153, + -0.9396428346921162 + ], + [ + 0.9413295630983299, + 0.1051252257566585, + 0.32069820789446035, + 0.09635232606199484, + -0.9944114956689022, + 0.04315097384740759, + 0.3234422404379953, + -0.009719269064503197, + -0.946197998787411 + ], + [ + 0.9481042589122141, + 0.08817831278210178, + 0.30548796930063116, + 0.0816171550010183, + -0.9960764579768143, + 0.03421008438901639, + 0.3073059619370593, + -0.007501667765616751, + -0.9515811950320757 + ], + [ + 0.9531751602672167, + 0.059711388489641866, + 0.2964652828481012, + 0.048290333204620485, + -0.9977870751879659, + 0.04570553912635809, + 0.29853836867068245, + -0.029248977289529056, + -0.9539493381511223 + ], + [ + 0.9553568932901578, + 0.04410511778682352, + 0.292143706124209, + 0.0294290831851967, + -0.9980830857365309, + 0.05444339289136174, + 0.2939849239431446, + -0.043415349263305814, + -0.9548235292149478 + ], + [ + 0.9561722928060612, + 0.04513527430089285, + 0.2893049489445068, + 0.03039984707682806, + -0.9980108292229382, + 0.05522892404754316, + 0.291222244630636, + -0.044013540729268594, + -0.9556424082598928 + ], + [ + 0.9554815259020802, + 0.04733688938117878, + 0.29122890063238266, + 0.03730380636393527, + -0.9985066724842602, + 0.03991053789630425, + 0.29268324121923034, + -0.027269835131961438, + -0.9558205252040162 + ], + [ + 0.9566301706358584, + 0.030417172162553848, + 0.28971280998057686, + 0.026303920155770853, + -0.9994904450610086, + 0.018081869819951732, + 0.2901151847346965, + -0.009677079589442698, + -0.956942805875551 + ], + [ + 0.9561506354412167, + 0.023907770954714583, + 0.291897894533919, + 0.017392171569739812, + -0.9995387343934179, + 0.02489640165352164, + 0.2923584695428657, + -0.018727971998634737, + -0.9561254040926702 + ], + [ + 0.9567198160207664, + 0.01992466662371201, + 0.290327748059198, + 0.015131875532300722, + -0.9997098012611416, + 0.01874405519848603, + 0.2906169643638619, + -0.013539605693773694, + -0.9567436747120889 + ], + [ + 0.9604787105270163, + 0.018299277293743636, + 0.2777512971614835, + 0.013569797727580544, + -0.9997285181429922, + 0.01894071279675941, + 0.2780224940791528, + -0.014423122482439588, + -0.960466275474503 + ], + [ + 0.96491455194359, + 0.027281484490004695, + 0.26114292648188386, + 0.025408804740672777, + -0.9996215228959935, + 0.010545311979509135, + 0.2613317816285484, + -0.003539995355427377, + -0.9652425437907989 + ], + [ + 0.9681538772617794, + 0.007396200659153432, + 0.2502466106839278, + 0.004307219798280757, + -0.9999076545709082, + 0.012889150015220795, + 0.25031883229312385, + -0.011400813405854263, + -0.9680963297384677 + ], + [ + 0.969260702289086, + 0.007594495809000023, + 0.2459187154965531, + 0.00420847156259589, + -0.9998890147672023, + 0.014291497996371897, + 0.2459999588723022, + -0.01281724546384914, + -0.9691850898840453 + ], + [ + 0.9732774398809287, + 0.004932847044759329, + 0.22957938069186076, + -0.00011145430879654604, + -0.9997589806226483, + 0.02195377512639103, + 0.22963234222722714, + -0.021392701661924425, + -0.9730423113713204 + ], + [ + 0.9644967857495981, + 0.01876106426659816, + 0.2634273576268778, + 0.016172551125394362, + -0.9997973057724225, + 0.011991495332191337, + 0.26359893563668063, + -0.0073054662951816274, + -0.9646047020896278 + ], + [ + 0.9495142016301347, + 0.06015099196028984, + 0.30790361977229347, + 0.052916777366432584, + -0.9980925003599679, + 0.03179898423438815, + 0.30922903417344133, + -0.01390031983015514, + -0.9508860002822526 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.005246400833129883, + -7.191114127635956e-05, + -0.01152079552412033, + 0.0007012337446212769, + 0.03849601000547409, + 0.010881666094064713, + 1.0 + ], + [ + -0.018409252166748047, + 0.007272698916494846, + -0.008300069719552994, + 0.012623384594917297, + 0.06513034552335739, + 0.07328414916992188, + 1.0 + ], + [ + -0.0109652578830719, + 0.007723953574895859, + 0.013020802289247513, + -0.011544942855834961, + -0.047623589634895325, + 0.07140965759754181, + 1.0 + ], + [ + -0.015602171421051025, + 0.0067535219714045525, + 0.006421990692615509, + 0.04489739239215851, + 0.027857128530740738, + 0.11861070245504379, + 1.0 + ], + [ + -0.023270100355148315, + 0.0015429509803652763, + 0.01187383383512497, + 0.015757769346237183, + 0.014015194028615952, + 0.11822991073131561, + 1.0 + ], + [ + -0.029770612716674805, + 0.008421136997640133, + 0.0036988407373428345, + -0.042970314621925354, + -0.008027773350477219, + 0.16425901651382446, + 1.0 + ], + [ + -0.023552313446998596, + 0.0019118823111057281, + 0.009818799793720245, + -0.013629570603370667, + -0.018379107117652893, + 0.12206321954727173, + 1.0 + ], + [ + -0.017075300216674805, + 0.01178584061563015, + -0.002888984978199005, + -0.0484766885638237, + -0.01214807853102684, + 0.11199235916137695, + 1.0 + ], + [ + -0.005503132939338684, + 0.002836450934410095, + -0.010780125856399536, + 0.012611925601959229, + -0.012966841459274292, + 0.06513822078704834, + 1.0 + ], + [ + -0.000921204686164856, + 0.0016724281013011932, + -0.010694064199924469, + 0.015230931341648102, + 0.015464827418327332, + 0.02943187952041626, + 1.0 + ], + [ + -0.00365525484085083, + 0.00039919838309288025, + -0.0108107328414917, + -0.0065322816371917725, + -0.008250012993812561, + 0.036201536655426025, + 1.0 + ], + [ + 0.004648447036743164, + 0.0007619746029376984, + -0.009899526834487915, + -0.09261514991521835, + 0.03163089603185654, + -0.0024923086166381836, + 1.0 + ], + [ + 0.0037530362606048584, + -0.0007757022976875305, + -0.005073864012956619, + -0.012838661670684814, + 0.0012282021343708038, + -0.005130469799041748, + 1.0 + ], + [ + 0.0031745433807373047, + -0.00017122551798820496, + -0.0024623461067676544, + -0.006850890815258026, + -0.010450046509504318, + 0.0025998353958129883, + 1.0 + ], + [ + -0.0016161203384399414, + -0.001814328134059906, + -0.008557833731174469, + 0.039727769792079926, + 0.025784166529774666, + -0.006004750728607178, + 1.0 + ], + [ + 0.0008906424045562744, + -0.00023194029927253723, + -0.0038215331733226776, + 0.0071497224271297455, + 0.008359448984265327, + -0.011075615882873535, + 0.0 + ], + [ + 0.0004165172576904297, + -0.0003626681864261627, + 0.00033015012741088867, + 0.007205510511994362, + -0.006985744461417198, + -0.001966714859008789, + 0.0 + ], + [ + 0.0015404969453811646, + 0.0016176849603652954, + 0.0023469217121601105, + 0.012757403776049614, + -0.008487051352858543, + 0.0035152435302734375, + 0.0 + ], + [ + -0.0015265494585037231, + -0.00023148581385612488, + 0.0011988095939159393, + 0.009176664054393768, + 0.01068343035876751, + -0.004315018653869629, + 0.0 + ], + [ + 0.0011236220598220825, + 4.789233207702637e-05, + 0.010896299034357071, + -0.012819003313779831, + -0.019934913143515587, + 0.002987205982208252, + 0.0 + ], + [ + 0.003828376531600952, + -0.0032543540000915527, + 0.010376259684562683, + -0.007625695317983627, + -0.03433665633201599, + -0.019309401512145996, + 0.0 + ], + [ + 0.0014983117580413818, + -0.005713572725653648, + 0.012436673045158386, + -0.025943085551261902, + -0.02714935690164566, + -0.013631939888000488, + 0.0 + ], + [ + 0.00672873854637146, + -0.01799902692437172, + 0.02162863314151764, + -0.03034556657075882, + -0.07151024043560028, + -0.07610511779785156, + 0.0 + ], + [ + 0.012680500745773315, + -0.016854532063007355, + 0.012170650064945221, + -0.0590335913002491, + -0.04157303273677826, + -0.07347393035888672, + 0.0 + ], + [ + 0.02302214503288269, + -0.02394474670290947, + 0.006436742842197418, + -0.025989197194576263, + -0.040911927819252014, + -0.14282214641571045, + 0.0 + ], + [ + 0.027916669845581055, + -0.024577125906944275, + -0.01406870037317276, + 0.07010279595851898, + -0.0075397789478302, + -0.20355573296546936, + 0.0 + ], + [ + 0.027996718883514404, + -0.02124803140759468, + -0.005052447319030762, + 0.008658483624458313, + -0.0666254460811615, + -0.10417976975440979, + 0.0 + ], + [ + 0.01672661304473877, + -0.01432868093252182, + -0.011713899672031403, + 0.045048460364341736, + -0.015132397413253784, + -0.08682462573051453, + 0.0 + ], + [ + 0.001426994800567627, + -0.007712744176387787, + -0.014814801514148712, + -0.0006881216540932655, + 0.01968139410018921, + -0.035228803753852844, + 0.0 + ], + [ + 0.0019442439079284668, + -0.006584353744983673, + -0.009491011500358582, + -0.002388349734246731, + 0.017004311084747314, + -0.01612958312034607, + 0.0 + ], + [ + 0.0011028051376342773, + -0.0027670711278915405, + -0.013556834310293198, + 0.02276812307536602, + 0.00919988751411438, + -0.03525355085730553, + 0.0 + ], + [ + 0.0014083683490753174, + 0.0005668997764587402, + -0.009387638419866562, + 0.014786873012781143, + 0.004767477512359619, + -0.01982477866113186, + 0.0 + ], + [ + -0.00014254450798034668, + 4.284083843231201e-06, + -0.0015960577875375748, + 0.0005857683718204498, + 0.0028891265392303467, + 0.000988023355603218, + 0.0 + ], + [ + -8.377432823181152e-05, + -0.0022770464420318604, + -0.0036772731691598892, + -0.01750142127275467, + -0.001527547836303711, + 0.007239505648612976, + 0.0 + ], + [ + -0.00048232078552246094, + -0.0007550418376922607, + -0.001672249287366867, + -0.018410399556159973, + 0.002684563398361206, + -0.011532563716173172, + 0.0 + ], + [ + 8.028745651245117e-05, + 0.001182369887828827, + -0.0014373306185007095, + 0.009472704492509365, + -0.0023449361324310303, + -0.00930173322558403, + 0.0 + ], + [ + -0.0002943575382232666, + -0.000958271324634552, + -0.0013659894466400146, + -0.005434040911495686, + 0.0018205642700195312, + -0.0023726820945739746, + 0.0 + ], + [ + -0.0007750093936920166, + 0.0016499906778335571, + -0.0035088863223791122, + 0.0008648494258522987, + 0.013136744499206543, + -0.0016878731548786163, + 1.0 + ], + [ + -0.0005525648593902588, + 0.0030947327613830566, + -0.0014389045536518097, + -0.011348213069140911, + 0.017333149909973145, + 0.012199394404888153, + 1.0 + ], + [ + 0.0014635920524597168, + 0.00027523189783096313, + -0.0022271377965807915, + 0.008108532987535, + 0.01139211654663086, + -0.021877745166420937, + 1.0 + ], + [ + -0.00045293569564819336, + 0.00013968348503112793, + 0.00012021977454423904, + 0.0014480110257863998, + 0.004458338022232056, + -0.00010695820674300194, + 1.0 + ], + [ + -0.002442687749862671, + 0.0011624842882156372, + 0.0001744655892252922, + 0.00875784084200859, + 0.016851305961608887, + -0.004456426948308945, + 1.0 + ], + [ + 0.0022827982902526855, + 3.0502676963806152e-05, + 0.02393689751625061, + -0.014408446848392487, + -0.03505128622055054, + 0.016880806535482407, + 1.0 + ], + [ + 0.006879568099975586, + 0.008341096341609955, + 0.026100099086761475, + 0.007043852005153894, + -0.047631025314331055, + 0.038906484842300415, + 1.0 + ], + [ + 0.000766068696975708, + 0.008705459535121918, + 0.024242140352725983, + 0.01030802819877863, + -0.03147381544113159, + 0.019623354077339172, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9453431367874146 + ], + [ + 0.6611326336860657 + ], + [ + 0.44759801030158997 + ], + [ + 0.4448287785053253 + ], + [ + 0.4448287785053253 + ], + [ + 0.4448287785053253 + ], + [ + 0.4448287785053253 + ], + [ + 0.4448287785053253 + ], + [ + 0.4448287785053253 + ], + [ + 0.4448287785053253 + ], + [ + 0.4448287785053253 + ], + [ + 0.4448287785053253 + ], + [ + 0.4448287785053253 + ], + [ + 0.4448287785053253 + ], + [ + 0.4448287785053253 + ], + [ + 0.4448287785053253 + ], + [ + 0.4448287785053253 + ], + [ + 0.4448287785053253 + ], + [ + 0.4448287785053253 + ], + [ + 0.4448287785053253 + ], + [ + 0.4448287785053253 + ], + [ + 0.4448287785053253 + ], + [ + 0.5178548097610474 + ], + [ + 0.8242669105529785 + ], + [ + 1.00800359249115 + ], + [ + 1.0054124593734741 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3529373109340668, + -0.012080371379852295, + 0.06045953184366226 + ], + [ + 0.3345280587673187, + -0.004807672463357449, + 0.05215946212410927 + ], + [ + 0.3235628008842468, + 0.00291628111153841, + 0.06518026441335678 + ], + [ + 0.3079606294631958, + 0.009669803082942963, + 0.07160225510597229 + ], + [ + 0.2846905291080475, + 0.011212754063308239, + 0.08347608894109726 + ], + [ + 0.2549199163913727, + 0.019633891060948372, + 0.0871749296784401 + ], + [ + 0.23136760294437408, + 0.0215457733720541, + 0.09699372947216034 + ], + [ + 0.21429230272769928, + 0.03333161398768425, + 0.09410474449396133 + ], + [ + 0.2087891697883606, + 0.036168064922094345, + 0.0833246186375618 + ], + [ + 0.20786796510219574, + 0.03784049302339554, + 0.07263055443763733 + ], + [ + 0.2042127102613449, + 0.03823969140648842, + 0.06181982159614563 + ], + [ + 0.20886115729808807, + 0.03900166600942612, + 0.051920294761657715 + ], + [ + 0.21261419355869293, + 0.038225963711738586, + 0.046846430748701096 + ], + [ + 0.21578873693943024, + 0.03805473819375038, + 0.04438408464193344 + ], + [ + 0.2141726166009903, + 0.036240410059690475, + 0.03582625091075897 + ], + [ + 0.21506325900554657, + 0.03600846976041794, + 0.032004717737436295 + ], + [ + 0.215479776263237, + 0.035645801573991776, + 0.03233486786484718 + ], + [ + 0.21702027320861816, + 0.03726348653435707, + 0.034681789577007294 + ], + [ + 0.21549372375011444, + 0.037032000720500946, + 0.03588059917092323 + ], + [ + 0.21661734580993652, + 0.03707989305257797, + 0.046776898205280304 + ], + [ + 0.22044572234153748, + 0.03382553905248642, + 0.05715315788984299 + ], + [ + 0.22194403409957886, + 0.02811196632683277, + 0.06958983093500137 + ], + [ + 0.22867277264595032, + 0.010112940333783627, + 0.09121846407651901 + ], + [ + 0.24135327339172363, + -0.006741591729223728, + 0.10338911414146423 + ], + [ + 0.2643754184246063, + -0.030686337500810623, + 0.10982585698366165 + ], + [ + 0.2922920882701874, + -0.0552634634077549, + 0.09575715661048889 + ], + [ + 0.3202888071537018, + -0.07651149481534958, + 0.09070470929145813 + ], + [ + 0.33701542019844055, + -0.0908401757478714, + 0.07899080961942673 + ], + [ + 0.3384424149990082, + -0.09855291992425919, + 0.06417600810527802 + ], + [ + 0.34038665890693665, + -0.10513727366924286, + 0.054684996604919434 + ], + [ + 0.3414894640445709, + -0.1079043447971344, + 0.041128162294626236 + ], + [ + 0.34289783239364624, + -0.10733744502067566, + 0.031740523874759674 + ], + [ + 0.3427552878856659, + -0.10733316093683243, + 0.0301444660872221 + ], + [ + 0.3426715135574341, + -0.10961020737886429, + 0.02646719291806221 + ], + [ + 0.3421891927719116, + -0.11036524921655655, + 0.024794943630695343 + ], + [ + 0.3422694802284241, + -0.10918287932872772, + 0.023357613012194633 + ], + [ + 0.3419751226902008, + -0.11014115065336227, + 0.02199162356555462 + ], + [ + 0.3412001132965088, + -0.10849115997552872, + 0.018482737243175507 + ], + [ + 0.34064754843711853, + -0.10539642721414566, + 0.017043832689523697 + ], + [ + 0.34211114048957825, + -0.1051211953163147, + 0.014816694892942905 + ], + [ + 0.34165820479393005, + -0.10498151183128357, + 0.014936914667487144 + ], + [ + 0.3392155170440674, + -0.10381902754306793, + 0.015111380256712437 + ], + [ + 0.34149831533432007, + -0.10378852486610413, + 0.03904827684164047 + ], + [ + 0.34837788343429565, + -0.09544742852449417, + 0.06514837592840195 + ], + [ + 0.34914395213127136, + -0.08674196898937225, + 0.08939051628112793 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9953497754560715, + -0.021678895902700602, + 0.09385547385202396, + -0.03146764477738473, + -0.9940681654256223, + 0.10410701138493031, + 0.09104181364467874, + -0.10657630111698166, + -0.9901277090398541 + ], + [ + 0.9987928465106133, + 0.04447913123702674, + 0.02084362357234729, + 0.04165382118464675, + -0.9918346832125463, + 0.12053597121766359, + 0.02603476406545357, + -0.11952224923028894, + -0.992490112292807 + ], + [ + 0.9909177306441058, + 0.12009181904571002, + 0.06049798420961984, + 0.11254275195325354, + -0.9868926766450409, + 0.1156588680870384, + 0.07359470142560141, + -0.10779981346309903, + -0.9914449153328678 + ], + [ + 0.9722565400899577, + 0.23374392489288787, + 0.0089998793310242, + 0.2293919466185691, + -0.9602733053533686, + 0.15891668840074671, + 0.04578815435075466, + -0.15244328978798802, + -0.9872509753450576 + ], + [ + 0.9389220067463392, + 0.3429712012043891, + -0.028217377479937827, + 0.34265911145962763, + -0.9241875117243571, + 0.16870736944911233, + 0.03178362127142407, + -0.16807200337105302, + -0.9852622001790767 + ], + [ + 0.8700016382273337, + 0.49228593927283804, + -0.027417211309959718, + 0.491439328562981, + -0.8613303988611403, + 0.12883062655779975, + 0.03980622844884692, + -0.12555675207637562, + -0.9912875295214348 + ], + [ + 0.8029664492174349, + 0.5956840286342042, + -0.020135030699472627, + 0.5931795221406444, + -0.7953812773028224, + 0.12452581350518152, + 0.058163011821440055, + -0.11193373819476851, + -0.9920120474619265 + ], + [ + 0.7310715917397853, + 0.682254176991799, + 0.007972811818926253, + 0.6786709181233544, + -0.7283363682899822, + 0.09450883302508196, + 0.07028593489923883, + -0.06368180747594084, + -0.9954920967802494 + ], + [ + 0.6846612542447896, + 0.7288599227055732, + 0.0014764855495018117, + 0.7240955216542577, + -0.6804142591145572, + 0.11279233801033306, + 0.08321443658524985, + -0.07615542703717537, + -0.9936174859957858 + ], + [ + 0.6638332549901506, + 0.7475125288858407, + -0.023461217527589128, + 0.7448015811809857, + -0.6579312220382776, + 0.11134231781996541, + 0.06779391004718077, + -0.09138668516755492, + -0.9935051381520887 + ], + [ + 0.6360627983917864, + 0.7714453576831358, + -0.01720978242594289, + 0.7678832525770022, + -0.6306135742493294, + 0.11261363320774843, + 0.07602254214227182, + -0.08484444638056222, + -0.9934898051840302 + ], + [ + 0.6391938071287775, + 0.7682873921290984, + 0.03414322807948428, + 0.7677600130309358, + -0.6400621181865223, + 0.029411685659262755, + 0.04445041415955604, + 0.007414037904604036, + -0.9989840803150931 + ], + [ + 0.643159007536475, + 0.7645061590681932, + 0.043322324170052696, + 0.7645117587990016, + -0.6442985983954826, + 0.02002715066288301, + 0.043223392772360404, + 0.02023978390238419, + -0.9988603953830741 + ], + [ + 0.6408443497105423, + 0.7656826434072261, + 0.055214210390032374, + 0.7657930551585337, + -0.6426487217758372, + 0.023740620692000277, + 0.05366112293859552, + 0.027068616233659384, + -0.9981922529754295 + ], + [ + 0.6461108408325134, + 0.7631973146157945, + 0.008404779708122609, + 0.7627335185585963, + -0.6460424198687754, + 0.029440981595723552, + 0.02789912231460876, + -0.012611530174261245, + -0.9995311842462633 + ], + [ + 0.6546486195249913, + 0.7559302745464115, + -0.002145921296466938, + 0.7556806820626359, + -0.6543538076922506, + 0.027709224384719715, + 0.019542049825258256, + -0.019761436760531857, + -0.9996137223476812 + ], + [ + 0.6560279621589685, + 0.7547308302160147, + -0.0029473355757931967, + 0.7542703017369443, + -0.6554804137507102, + 0.03770595585391168, + 0.026525926623028044, + -0.02695924907417127, + -0.9992845311052037 + ], + [ + 0.6532017977664658, + 0.7571496650415945, + -0.00719695227566966, + 0.7563741044649628, + -0.6520342953723761, + 0.05243559624028745, + 0.03500893442369506, + -0.03969461406349901, + -0.9985983737844095 + ], + [ + 0.6566676844939197, + 0.7538904464430694, + -0.020898490454184657, + 0.7537874970274279, + -0.655179907699089, + 0.0504350857294669, + 0.02433025825015928, + -0.04887211177433281, + -0.9985086655729121 + ], + [ + 0.6539655342479556, + 0.7565224883068329, + 0.0016747244023591346, + 0.7552289333333653, + -0.6529736305720477, + 0.05704994332780703, + 0.044253115957332424, + -0.03604389634316387, + -0.9983699210535493 + ], + [ + 0.6670152619711449, + 0.7443834347447625, + 0.03136785576277442, + 0.7408945472665892, + -0.6671495065476143, + 0.07737445149343483, + 0.07852330945776675, + -0.02836966673868266, + -0.9965085307617468 + ], + [ + 0.6753556234245236, + 0.7341778703541451, + 0.06984007868785133, + 0.7298990283021483, + -0.6789525635581188, + 0.07918854034163292, + 0.10555657436869076, + -0.002504220459693264, + -0.9944101460099029 + ], + [ + 0.7215051167786121, + 0.6763784713429333, + 0.14813011161164413, + 0.669578711078741, + -0.7360448888352513, + 0.09951015671595756, + 0.17633693921698107, + 0.027387681962869774, + -0.9839487785165889 + ], + [ + 0.7623232592818943, + 0.6075329715145918, + 0.22308504405378674, + 0.609699338360107, + -0.7897673882125772, + 0.0673363892641418, + 0.21709436925235423, + 0.08468270802551418, + -0.9724705002211573 + ], + [ + 0.8329872362040276, + 0.4789242638800628, + 0.27706283364629664, + 0.490067977216911, + -0.8710837524027918, + 0.03234925047658653, + 0.25683777375553757, + 0.10883310969926248, + -0.9603070926560355 + ], + [ + 0.9129989275797655, + 0.31139460770663774, + 0.26356471032637785, + 0.3109260882116014, + -0.9493864204342937, + 0.04461381360509632, + 0.2641172578754174, + 0.04121678039570803, + -0.9636094909797135 + ], + [ + 0.921151694621024, + 0.21116586233770057, + 0.3269381196495619, + 0.20991390377273395, + -0.9769197290790395, + 0.03954738852348775, + 0.32774335767442697, + 0.032199713031509945, + -0.9442179144567112 + ], + [ + 0.9308647424747133, + 0.14050563511777364, + 0.3372669531952951, + 0.1285517370326723, + -0.9900263155147724, + 0.057639790892468845, + 0.34200187444423313, + -0.010298596428442153, + -0.9396428346921162 + ], + [ + 0.9413295630983299, + 0.1051252257566585, + 0.32069820789446035, + 0.09635232606199484, + -0.9944114956689022, + 0.04315097384740759, + 0.3234422404379953, + -0.009719269064503197, + -0.946197998787411 + ], + [ + 0.9481042589122141, + 0.08817831278210178, + 0.30548796930063116, + 0.0816171550010183, + -0.9960764579768143, + 0.03421008438901639, + 0.3073059619370593, + -0.007501667765616751, + -0.9515811950320757 + ], + [ + 0.9531751602672167, + 0.059711388489641866, + 0.2964652828481012, + 0.048290333204620485, + -0.9977870751879659, + 0.04570553912635809, + 0.29853836867068245, + -0.029248977289529056, + -0.9539493381511223 + ], + [ + 0.9553568932901578, + 0.04410511778682352, + 0.292143706124209, + 0.0294290831851967, + -0.9980830857365309, + 0.05444339289136174, + 0.2939849239431446, + -0.043415349263305814, + -0.9548235292149478 + ], + [ + 0.9561722928060612, + 0.04513527430089285, + 0.2893049489445068, + 0.03039984707682806, + -0.9980108292229382, + 0.05522892404754316, + 0.291222244630636, + -0.044013540729268594, + -0.9556424082598928 + ], + [ + 0.9554815259020802, + 0.04733688938117878, + 0.29122890063238266, + 0.03730380636393527, + -0.9985066724842602, + 0.03991053789630425, + 0.29268324121923034, + -0.027269835131961438, + -0.9558205252040162 + ], + [ + 0.9566301706358584, + 0.030417172162553848, + 0.28971280998057686, + 0.026303920155770853, + -0.9994904450610086, + 0.018081869819951732, + 0.2901151847346965, + -0.009677079589442698, + -0.956942805875551 + ], + [ + 0.9561506354412167, + 0.023907770954714583, + 0.291897894533919, + 0.017392171569739812, + -0.9995387343934179, + 0.02489640165352164, + 0.2923584695428657, + -0.018727971998634737, + -0.9561254040926702 + ], + [ + 0.9567198160207664, + 0.01992466662371201, + 0.290327748059198, + 0.015131875532300722, + -0.9997098012611416, + 0.01874405519848603, + 0.2906169643638619, + -0.013539605693773694, + -0.9567436747120889 + ], + [ + 0.9604787105270163, + 0.018299277293743636, + 0.2777512971614835, + 0.013569797727580544, + -0.9997285181429922, + 0.01894071279675941, + 0.2780224940791528, + -0.014423122482439588, + -0.960466275474503 + ], + [ + 0.96491455194359, + 0.027281484490004695, + 0.26114292648188386, + 0.025408804740672777, + -0.9996215228959935, + 0.010545311979509135, + 0.2613317816285484, + -0.003539995355427377, + -0.9652425437907989 + ], + [ + 0.9681538772617794, + 0.007396200659153432, + 0.2502466106839278, + 0.004307219798280757, + -0.9999076545709082, + 0.012889150015220795, + 0.25031883229312385, + -0.011400813405854263, + -0.9680963297384677 + ], + [ + 0.969260702289086, + 0.007594495809000023, + 0.2459187154965531, + 0.00420847156259589, + -0.9998890147672023, + 0.014291497996371897, + 0.2459999588723022, + -0.01281724546384914, + -0.9691850898840453 + ], + [ + 0.9732774398809287, + 0.004932847044759329, + 0.22957938069186076, + -0.00011145430879654604, + -0.9997589806226483, + 0.02195377512639103, + 0.22963234222722714, + -0.021392701661924425, + -0.9730423113713204 + ], + [ + 0.9644967857495981, + 0.01876106426659816, + 0.2634273576268778, + 0.016172551125394362, + -0.9997973057724225, + 0.011991495332191337, + 0.26359893563668063, + -0.0073054662951816274, + -0.9646047020896278 + ], + [ + 0.9495142016301347, + 0.06015099196028984, + 0.30790361977229347, + 0.052916777366432584, + -0.9980925003599679, + 0.03179898423438815, + 0.30922903417344133, + -0.01390031983015514, + -0.9508860002822526 + ], + [ + 0.9381199618413291, + 0.08362654489635192, + 0.33606180708840117, + 0.0707706015298624, + -0.9962212824339025, + 0.050345589527306805, + 0.33900215213760043, + -0.023446906287377545, + -0.9404933723485914 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006385.json b/json/chunk-0006/episode_0006385.json new file mode 100644 index 0000000000000000000000000000000000000000..c338617b27ffb3bad3f3829f52d7f89e2a1a303f --- /dev/null +++ b/json/chunk-0006/episode_0006385.json @@ -0,0 +1,2362 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 38, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut the sushi roll shape on the yellow cloth." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006385.mp4", + "start": 0, + "end": 38, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.27825671434402466, + -0.09774380922317505, + 0.09382860362529755, + -0.3118531107902527, + 0.004707307554781437, + 0.9847249388694763, + 0.0, + 0.9994885921478271 + ], + [ + 0.27516910433769226, + -0.09695376455783844, + 0.08694911003112793, + -0.2827320396900177, + 0.01464823354035616, + 0.9855718612670898, + 0.0, + 0.9994885921478271 + ], + [ + 0.2815853953361511, + -0.043041352182626724, + 0.08799020946025848, + -0.22498774528503418, + 0.01359756849706173, + 1.1471326351165771, + 0.0, + 0.9994885921478271 + ], + [ + 0.2860782742500305, + 0.0015372087946161628, + 0.0952177569270134, + -0.2182711511850357, + 0.01741483062505722, + 1.2012509107589722, + 0.0, + 0.9994885921478271 + ], + [ + 0.28640222549438477, + 0.04411282017827034, + 0.1017737090587616, + -0.2276926040649414, + 0.008134378120303154, + 1.2961689233779907, + 0.0, + 0.9994885921478271 + ], + [ + 0.28541553020477295, + 0.08344784379005432, + 0.10994760692119598, + -0.24105273187160492, + -0.026982437819242477, + 1.383812427520752, + 0.0, + 0.9994885921478271 + ], + [ + 0.28490498661994934, + 0.11484342068433762, + 0.10181982070207596, + -0.2229364514350891, + -0.05560607090592384, + 1.4292117357254028, + 0.0, + 0.9994885921478271 + ], + [ + 0.2775101959705353, + 0.1485094130039215, + 0.09100161492824554, + -0.22244268655776978, + -0.06694252043962479, + 1.5169589519500732, + 0.0, + 0.9994885921478271 + ], + [ + 0.27511388063430786, + 0.1699122190475464, + 0.07984713464975357, + -0.2202121913433075, + -0.1116318553686142, + 1.5453412532806396, + 0.0, + 0.9994885921478271 + ], + [ + 0.26856809854507446, + 0.1924334168434143, + 0.06914190948009491, + -0.21110719442367554, + -0.15708884596824646, + 1.5867575407028198, + 0.0, + 0.9994885921478271 + ], + [ + 0.2638867497444153, + 0.19787389039993286, + 0.052079398185014725, + -0.17704063653945923, + -0.16613954305648804, + 1.591330885887146, + 0.0, + 0.9994885921478271 + ], + [ + 0.26356327533721924, + 0.20121121406555176, + 0.03930220752954483, + -0.15679363906383514, + -0.17481017112731934, + 1.5889406204223633, + 0.0, + 0.9994885921478271 + ], + [ + 0.26189810037612915, + 0.19467584788799286, + 0.024699149653315544, + -0.12929576635360718, + -0.17375315725803375, + 1.6181364059448242, + 0.0, + 0.9994885921478271 + ], + [ + 0.2667818069458008, + 0.1789638102054596, + 0.010513500310480595, + -0.09748664498329163, + -0.16115900874137878, + 1.5996760129928589, + 0.0, + 0.9468915462493896 + ], + [ + 0.26690611243247986, + 0.17592565715312958, + 0.00842077936977148, + -0.10140206664800644, + -0.16333149373531342, + 1.601728916168213, + 0.0, + 0.7681795358657837 + ], + [ + 0.26851311326026917, + 0.17233069241046906, + 0.00919273030012846, + -0.11721780151128769, + -0.17778868973255157, + 1.6103370189666748, + 0.0, + 0.5640211701393127 + ], + [ + 0.2675727605819702, + 0.17020337283611298, + 0.009703626856207848, + -0.1223139613866806, + -0.17195527255535126, + 1.6187862157821655, + 0.0, + 0.505268931388855 + ], + [ + 0.2666001319885254, + 0.16536377370357513, + 0.01254262775182724, + -0.12583604454994202, + -0.15579570829868317, + 1.6217831373214722, + 0.0, + 0.505268931388855 + ], + [ + 0.26768091320991516, + 0.1659000962972641, + 0.03511496260762215, + -0.16061685979366302, + -0.17204780876636505, + 1.6410894393920898, + 0.0, + 0.505268931388855 + ], + [ + 0.27358171343803406, + 0.16331468522548676, + 0.062362853437662125, + -0.2187725007534027, + -0.17572537064552307, + 1.6453720331192017, + 0.0, + 0.505268931388855 + ], + [ + 0.2837933897972107, + 0.1419053077697754, + 0.0864003449678421, + -0.2871348559856415, + -0.1615971326828003, + 1.60966956615448, + 0.0, + 0.505268931388855 + ], + [ + 0.2884250581264496, + 0.11156173795461655, + 0.10046104341745377, + -0.33146345615386963, + -0.1446542590856552, + 1.5265369415283203, + 0.0, + 0.505268931388855 + ], + [ + 0.2858164310455322, + 0.07951536774635315, + 0.10962004214525223, + -0.35812681913375854, + -0.1417888104915619, + 1.4436546564102173, + 0.0, + 0.505268931388855 + ], + [ + 0.27963367104530334, + 0.03774453327059746, + 0.10685224831104279, + -0.35019350051879883, + -0.1312730610370636, + 1.3338229656219482, + 0.0, + 0.505268931388855 + ], + [ + 0.2766808569431305, + -0.00856850016862154, + 0.09960784018039703, + -0.3342430293560028, + -0.1351616531610489, + 1.211142897605896, + 0.0, + 0.505268931388855 + ], + [ + 0.2773427665233612, + -0.04498572647571564, + 0.09252061694860458, + -0.34085941314697266, + -0.12196661531925201, + 1.1237561702728271, + 0.0, + 0.505268931388855 + ], + [ + 0.2718488574028015, + -0.08078121393918991, + 0.07950083911418915, + -0.3155114948749542, + -0.11350904405117035, + 1.0210448503494263, + 0.0, + 0.505268931388855 + ], + [ + 0.26994746923446655, + -0.09694277495145798, + 0.06736628711223602, + -0.3070872128009796, + -0.11302681267261505, + 0.9787681698799133, + 0.0, + 0.505268931388855 + ], + [ + 0.27043601870536804, + -0.10005643218755722, + 0.04483078792691231, + -0.26416632533073425, + -0.10997004806995392, + 0.9654021859169006, + 0.0, + 0.5043045878410339 + ], + [ + 0.27093207836151123, + -0.09897308051586151, + 0.025813788175582886, + -0.22012461721897125, + -0.11136896908283234, + 0.956456184387207, + 0.0, + 0.505268931388855 + ], + [ + 0.27316445112228394, + -0.09884928911924362, + 0.018710391595959663, + -0.2059643417596817, + -0.11172936111688614, + 0.9547398686408997, + 0.0, + 0.505268931388855 + ], + [ + 0.27609187364578247, + -0.0964975506067276, + 0.019072972238063812, + -0.19361138343811035, + -0.12070329487323761, + 0.9734044671058655, + 0.0, + 0.5551114082336426 + ], + [ + 0.27326324582099915, + -0.09226790815591812, + 0.019517064094543457, + -0.1598716676235199, + -0.12214050441980362, + 1.0088139772415161, + 0.0, + 0.8870869278907776 + ], + [ + 0.27246344089508057, + -0.09085831791162491, + 0.019434567540884018, + -0.15630295872688293, + -0.11562647670507431, + 1.0200179815292358, + 0.0, + 1.00800359249115 + ], + [ + 0.2704293429851532, + -0.08463461697101593, + 0.02298046462237835, + -0.15688243508338928, + -0.11896543204784393, + 1.044114589691162, + 0.0, + 1.0027955770492554 + ], + [ + 0.26746082305908203, + -0.0794893279671669, + 0.042413730174303055, + -0.1982211172580719, + -0.13247424364089966, + 1.0771561861038208, + 0.0, + 1.0001531839370728 + ], + [ + 0.26572638750076294, + -0.07609096169471741, + 0.07289840281009674, + -0.27830973267555237, + -0.11830827593803406, + 1.1054916381835938, + 0.0, + 1.0001531839370728 + ], + [ + 0.25927138328552246, + -0.06915102154016495, + 0.09896761178970337, + -0.3489048480987549, + -0.07262761145830154, + 1.090120553970337, + 0.0, + 1.0001531839370728 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9468915462493896 + ], + [ + 0.7681795358657837 + ], + [ + 0.5640211701393127 + ], + [ + 0.505268931388855 + ], + [ + 0.505268931388855 + ], + [ + 0.505268931388855 + ], + [ + 0.505268931388855 + ], + [ + 0.505268931388855 + ], + [ + 0.505268931388855 + ], + [ + 0.505268931388855 + ], + [ + 0.505268931388855 + ], + [ + 0.505268931388855 + ], + [ + 0.505268931388855 + ], + [ + 0.505268931388855 + ], + [ + 0.505268931388855 + ], + [ + 0.5043045878410339 + ], + [ + 0.505268931388855 + ], + [ + 0.505268931388855 + ], + [ + 0.5551114082336426 + ], + [ + 0.8870869278907776 + ], + [ + 1.00800359249115 + ], + [ + 1.0027955770492554 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.27825671434402466, + -0.09774380922317505, + 0.09382860362529755 + ], + [ + 0.27516910433769226, + -0.09695376455783844, + 0.08694911003112793 + ], + [ + 0.2815853953361511, + -0.043041352182626724, + 0.08799020946025848 + ], + [ + 0.2860782742500305, + 0.0015372087946161628, + 0.0952177569270134 + ], + [ + 0.28640222549438477, + 0.04411282017827034, + 0.1017737090587616 + ], + [ + 0.28541553020477295, + 0.08344784379005432, + 0.10994760692119598 + ], + [ + 0.28490498661994934, + 0.11484342068433762, + 0.10181982070207596 + ], + [ + 0.2775101959705353, + 0.1485094130039215, + 0.09100161492824554 + ], + [ + 0.27511388063430786, + 0.1699122190475464, + 0.07984713464975357 + ], + [ + 0.26856809854507446, + 0.1924334168434143, + 0.06914190948009491 + ], + [ + 0.2638867497444153, + 0.19787389039993286, + 0.052079398185014725 + ], + [ + 0.26356327533721924, + 0.20121121406555176, + 0.03930220752954483 + ], + [ + 0.26189810037612915, + 0.19467584788799286, + 0.024699149653315544 + ], + [ + 0.2667818069458008, + 0.1789638102054596, + 0.010513500310480595 + ], + [ + 0.26690611243247986, + 0.17592565715312958, + 0.00842077936977148 + ], + [ + 0.26851311326026917, + 0.17233069241046906, + 0.00919273030012846 + ], + [ + 0.2675727605819702, + 0.17020337283611298, + 0.009703626856207848 + ], + [ + 0.2666001319885254, + 0.16536377370357513, + 0.01254262775182724 + ], + [ + 0.26768091320991516, + 0.1659000962972641, + 0.03511496260762215 + ], + [ + 0.27358171343803406, + 0.16331468522548676, + 0.062362853437662125 + ], + [ + 0.2837933897972107, + 0.1419053077697754, + 0.0864003449678421 + ], + [ + 0.2884250581264496, + 0.11156173795461655, + 0.10046104341745377 + ], + [ + 0.2858164310455322, + 0.07951536774635315, + 0.10962004214525223 + ], + [ + 0.27963367104530334, + 0.03774453327059746, + 0.10685224831104279 + ], + [ + 0.2766808569431305, + -0.00856850016862154, + 0.09960784018039703 + ], + [ + 0.2773427665233612, + -0.04498572647571564, + 0.09252061694860458 + ], + [ + 0.2718488574028015, + -0.08078121393918991, + 0.07950083911418915 + ], + [ + 0.26994746923446655, + -0.09694277495145798, + 0.06736628711223602 + ], + [ + 0.27043601870536804, + -0.10005643218755722, + 0.04483078792691231 + ], + [ + 0.27093207836151123, + -0.09897308051586151, + 0.025813788175582886 + ], + [ + 0.27316445112228394, + -0.09884928911924362, + 0.018710391595959663 + ], + [ + 0.27609187364578247, + -0.0964975506067276, + 0.019072972238063812 + ], + [ + 0.27326324582099915, + -0.09226790815591812, + 0.019517064094543457 + ], + [ + 0.27246344089508057, + -0.09085831791162491, + 0.019434567540884018 + ], + [ + 0.2704293429851532, + -0.08463461697101593, + 0.02298046462237835 + ], + [ + 0.26746082305908203, + -0.0794893279671669, + 0.042413730174303055 + ], + [ + 0.26572638750076294, + -0.07609096169471741, + 0.07289840281009674 + ], + [ + 0.25927138328552246, + -0.06915102154016495, + 0.09896761178970337 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.5530861663902619, + 0.7937346347462564, + 0.25314229625242374, + 0.8331107573228047, + -0.5252115088407173, + -0.17343395577071796, + -0.004707290170129885, + 0.30681949186041524, + -0.9517560826355512 + ], + [ + 0.5523272461079866, + 0.8027493154249739, + 0.22478467428075144, + 0.8334986849463797, + -0.5270486243690309, + -0.16583030405618893, + -0.014647709698910202, + 0.2789503255697115, + -0.9601938140110716 + ], + [ + 0.4110649806956827, + 0.8898610465575506, + 0.19792144771388273, + 0.9115046347504728, + -0.397976633794991, + -0.10379739775936207, + -0.013597149483093929, + 0.2230737922139417, + -0.9747067255093842 + ], + [ + 0.3611368045132311, + 0.9117286634828384, + 0.19578317754538802, + 0.932350236101153, + -0.34910539150454595, + -0.09406626847378044, + -0.017413950387430988, + 0.2165092834181813, + -0.9761252401847056 + ], + [ + 0.2711793498155729, + 0.938181291243825, + 0.21512234889400034, + 0.962494464184388, + -0.26242155926542643, + -0.06884280388762458, + -0.008134288414532412, + 0.22572281673054484, + -0.9741576070427298 + ], + [ + 0.18582854982351787, + 0.9529632689412451, + 0.23943424592005366, + 0.9822117260495398, + -0.1868497752026766, + -0.018635630321866173, + 0.02697916383567825, + 0.23863815611826544, + -0.9707337200093558 + ], + [ + 0.140893920757939, + 0.9637597258509287, + 0.2265305584710336, + 0.9884634811423321, + -0.149784742207203, + 0.022460575458000842, + 0.055577419348494486, + 0.22075262587263714, + -0.9737450531986784 + ], + [ + 0.05369084355135839, + 0.9731541755767074, + 0.22380403007176375, + 0.996314549877282, + -0.06722150421257184, + 0.05327839218884842, + 0.0668925333768509, + 0.22011864966199154, + -0.9731768436668686 + ], + [ + 0.025293899994511204, + 0.9749156275651856, + 0.2211328509115006, + 0.9934536858721048, + -0.04916367608953759, + 0.10311501821021221, + 0.11140014654477359, + 0.21707706484689557, + -0.9697770647253211 + ], + [ + -0.01576401251263465, + 0.9781981719113366, + 0.20707446095262638, + 0.9875610902184981, + -0.017171217836986774, + 0.15629536897952662, + 0.15644356489147493, + 0.20696252256704362, + -0.9657597658096619 + ], + [ + -0.020250386122861175, + 0.9847597058232986, + 0.1727374992544643, + 0.9860226186412007, + -0.008907308876348274, + 0.16637324116735638, + 0.16537629028922202, + 0.17369220372657015, + -0.9708149674241655 + ], + [ + -0.017866786450761063, + 0.9880631937189689, + 0.15300948715617024, + 0.9845974773571108, + -0.00923293629702937, + 0.17459255559544506, + 0.17392120492894614, + 0.15377216297238694, + -0.9726795651039746 + ], + [ + -0.046609858916802416, + 0.9915967973380981, + 0.12067855054060773, + 0.9838393955879863, + 0.024661918122202475, + 0.17734664779352094, + 0.17288020343816454, + 0.12699441445732967, + -0.9767214822843913 + ], + [ + -0.028501500066936303, + 0.9952879149093501, + 0.09268026181087732, + 0.9866303833551799, + 0.013126915079546275, + 0.16244436198558915, + 0.1604623044030752, + 0.09607107023393002, + -0.9823554338068081 + ], + [ + -0.03051604176098427, + 0.9948963777593476, + 0.09617675767341854, + 0.9862190304803549, + 0.014316294132408203, + 0.16482435390652503, + 0.16260625791657252, + 0.09988113557446163, + -0.9816226177318477 + ], + [ + -0.03890727901824276, + 0.9931791932741342, + 0.10991502939424128, + 0.9834678663484443, + 0.01859234802279608, + 0.18012573512698882, + 0.17685355382189952, + 0.11510610167293282, + -0.977483199783109 + ], + [ + -0.04726399160589423, + 0.9923877712925421, + 0.1137217063119402, + 0.9841177709668077, + 0.02676022308680126, + 0.17548818572105165, + 0.17110911128516695, + 0.12020982426310192, + -0.9778912363784811 + ], + [ + -0.05034745652016398, + 0.991796304099872, + 0.11749563734787967, + 0.9866045702342835, + 0.031113041835192312, + 0.16013556950467345, + 0.15516621930940616, + 0.1239841514129763, + -0.9800772288874124 + ], + [ + -0.06919830340793287, + 0.9866140717291872, + 0.14766268408578398, + 0.9828031635237954, + 0.042019269244007784, + 0.17981190944934577, + 0.1712002820473255, + 0.15756603212035886, + -0.9725550930146644 + ], + [ + -0.07335919702300236, + 0.9762782886485626, + 0.2037133557859534, + 0.9818633114932331, + 0.03489419118482179, + 0.18635136963569504, + 0.17482238345155537, + 0.21368925694800667, + -0.9611316432775097 + ], + [ + -0.038357120033360725, + 0.9601055587274624, + 0.27699467042413284, + 0.9862259453921655, + -0.008259507597323468, + 0.16519735218695106, + 0.16089473570653623, + 0.2795158253746599, + -0.9465642014079376 + ], + [ + 0.04378283397432242, + 0.9425655776655554, + 0.3311392384619712, + 0.9885867448211262, + -0.08870104541374185, + 0.12177180505551544, + 0.14415030840461657, + 0.32202834711016765, + -0.9356914193495347 + ], + [ + 0.12552694827241928, + 0.9227147163581322, + 0.36447295849424133, + 0.9819741760151275, + -0.16788833449146434, + 0.08683446770202105, + 0.14131419920455454, + 0.3470029673616838, + -0.9271565335720616 + ], + [ + 0.2327417773178458, + 0.9025128721046152, + 0.3623558758684732, + 0.9636894775110274, + -0.2641659338865116, + 0.03897371304340835, + 0.13089635604344768, + 0.3401277334463411, + -0.9312246071250488 + ], + [ + 0.34873992050554026, + 0.8686604432159152, + 0.3518657446210409, + 0.9274819528511483, + -0.3738497146079146, + 0.0036902605600901695, + 0.1347504915805876, + 0.3250621867881758, + -0.936043203991824 + ], + [ + 0.42908702965489054, + 0.8322694862441329, + 0.35101541739483527, + 0.8950318895258982, + -0.4441025927384613, + -0.041119385387878515, + 0.12166444720477536, + 0.33181378722094074, + -0.9354663932480167 + ], + [ + 0.5191130873984332, + 0.7922022634910869, + 0.32083823994540495, + 0.8471673621698265, + -0.5266526884705142, + -0.07031647176158468, + 0.11326545354116092, + 0.3083058861688795, + -0.9445202049653237 + ], + [ + 0.5544844184311414, + 0.7719647938251183, + 0.31083337467463434, + 0.8245157836441032, + -0.5602298317769454, + -0.07947488980128155, + 0.11278631228491032, + 0.30035461155393994, + -0.9471358693869917 + ], + [ + 0.5656485833841527, + 0.7774458167045893, + 0.2749903311100867, + 0.8173107978631563, + -0.5729079728582493, + -0.06147775477147811, + 0.10974852988442234, + 0.25952737182036345, + -0.9594794440029566 + ], + [ + 0.5728484569743373, + 0.7834481036037098, + 0.24094338401763962, + 0.8120916154403601, + -0.582340716145249, + -0.03723571472262863, + 0.11113889271351987, + 0.2169985236797464, + -0.9698246167463596 + ], + [ + 0.5742182370963184, + 0.7857375029049763, + 0.22997824400288053, + 0.8110744880560196, + -0.5842188707492306, + -0.029094430483507253, + 0.11149704485170048, + 0.2032360391002196, + -0.972760772955094 + ], + [ + 0.5583954128649392, + 0.7983258540832149, + 0.22554465986517902, + 0.8207897994537517, + -0.5711332972497785, + -0.010529097077429286, + 0.12041041484881566, + 0.19100415564825107, + -0.9741759309904113 + ], + [ + 0.528894929244899, + 0.8250743294979446, + 0.1988026776040753, + 0.8398963560147441, + -0.5424818851545727, + 0.01695628002524703, + 0.12183704269304566, + 0.15800555396142713, + -0.9798928410520994 + ], + [ + 0.5198560615085419, + 0.8323307810544673, + 0.1922892254446088, + 0.8464275917686801, + -0.5322740768960905, + 0.01564093849766425, + 0.11536900452677913, + 0.15462786933045192, + -0.9812136438211736 + ], + [ + 0.49911466574490404, + 0.8445421599548316, + 0.19399250113646327, + 0.8583696275822607, + -0.5125246852452935, + 0.02280415441327109, + 0.11868501540904053, + 0.15513538304668228, + -0.9807379262801634 + ], + [ + 0.46968289349665937, + 0.8510450069762654, + 0.23477728948383067, + 0.8728980325251041, + -0.4874620969855402, + 0.02072990150151338, + 0.13208710902434204, + 0.195200153952881, + -0.9718281203620132 + ], + [ + 0.4455586201470694, + 0.8447470468374131, + 0.29644551417100096, + 0.8874378006515174, + -0.4604095213560384, + -0.02184542559670591, + 0.11803247852789153, + 0.2728103727943151, + -0.9547998923902272 + ], + [ + 0.46115954301376816, + 0.8217876106624842, + 0.33465952675663935, + 0.884345166674342, + -0.4565152975051626, + -0.09760844903748285, + 0.07256377930526028, + 0.340967602721165, + -0.937270287498499 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0030876100063323975, + 0.0007900446653366089, + -0.006879493594169617, + 0.029121071100234985, + 0.009940925985574722, + 0.0008469223976135254, + 1.0 + ], + [ + 0.006416290998458862, + 0.053912412375211716, + 0.0010410994291305542, + 0.05774429440498352, + -0.0010506650432944298, + 0.1615607738494873, + 1.0 + ], + [ + 0.0044928789138793945, + 0.04457855969667435, + 0.007227547466754913, + 0.006716594099998474, + 0.003817262127995491, + 0.05411827564239502, + 1.0 + ], + [ + 0.00032395124435424805, + 0.04257561266422272, + 0.0065559521317481995, + -0.0094214528799057, + -0.009280452504754066, + 0.09491801261901855, + 1.0 + ], + [ + -0.0009866952896118164, + 0.03933502361178398, + 0.008173897862434387, + -0.013360127806663513, + -0.03511681407690048, + 0.08764350414276123, + 1.0 + ], + [ + -0.0005105435848236084, + 0.031395576894283295, + -0.008127786219120026, + 0.018116280436515808, + -0.028623633086681366, + 0.04539930820465088, + 1.0 + ], + [ + -0.0073947906494140625, + 0.03366599231958389, + -0.010818205773830414, + 0.0004937648773193359, + -0.011336449533700943, + 0.08774721622467041, + 1.0 + ], + [ + -0.002396315336227417, + 0.021402806043624878, + -0.011154480278491974, + 0.0022304952144622803, + -0.04468933492898941, + 0.028382301330566406, + 1.0 + ], + [ + -0.0065457820892333984, + 0.02252119779586792, + -0.010705225169658661, + 0.009104996919631958, + -0.04545699059963226, + 0.041416287422180176, + 1.0 + ], + [ + -0.00468134880065918, + 0.005440473556518555, + -0.017062511295080185, + 0.03406655788421631, + -0.009050697088241577, + 0.004573345184326172, + 1.0 + ], + [ + -0.0003234744071960449, + 0.0033373236656188965, + -0.012777190655469894, + 0.020246997475624084, + -0.008670628070831299, + -0.002390265464782715, + 1.0 + ], + [ + -0.0016651749610900879, + -0.006535366177558899, + -0.014603057876229286, + 0.027497872710227966, + 0.0010570138692855835, + 0.029195785522460938, + 1.0 + ], + [ + 0.004883706569671631, + -0.015712037682533264, + -0.01418564934283495, + 0.03180912137031555, + 0.012594148516654968, + -0.018460392951965332, + 0.0 + ], + [ + 0.00012430548667907715, + -0.003038153052330017, + -0.002092720940709114, + -0.003915421664714813, + -0.0021724849939346313, + 0.002052903175354004, + 0.0 + ], + [ + 0.0016070008277893066, + -0.0035949647426605225, + 0.0007719509303569794, + -0.01581573486328125, + -0.01445719599723816, + 0.008608102798461914, + 0.0 + ], + [ + -0.0009403526782989502, + -0.002127319574356079, + 0.0005108965560793877, + -0.005096159875392914, + 0.005833417177200317, + 0.008449196815490723, + 0.0 + ], + [ + -0.0009726285934448242, + -0.004839599132537842, + 0.0028390008956193924, + -0.0035220831632614136, + 0.01615956425666809, + 0.0029969215393066406, + 0.0 + ], + [ + 0.0010807812213897705, + 0.0005363225936889648, + 0.022572334855794907, + -0.03478081524372101, + -0.016252100467681885, + 0.019306302070617676, + 0.0 + ], + [ + 0.0059008002281188965, + -0.0025854110717773438, + 0.027247890830039978, + -0.058155640959739685, + -0.00367756187915802, + 0.004282593727111816, + 0.0 + ], + [ + 0.010211676359176636, + -0.021409377455711365, + 0.024037491530179977, + -0.06836235523223877, + 0.014128237962722778, + -0.03570246696472168, + 0.0 + ], + [ + 0.004631668329238892, + -0.030343569815158844, + 0.014060698449611664, + -0.04432860016822815, + 0.01694287359714508, + -0.08313262462615967, + 0.0 + ], + [ + -0.0026086270809173584, + -0.0320463702082634, + 0.009158998727798462, + -0.026663362979888916, + 0.0028654485940933228, + -0.08288228511810303, + 0.0 + ], + [ + -0.006182760000228882, + -0.04177083447575569, + -0.002767793834209442, + 0.007933318614959717, + 0.010515749454498291, + -0.10983169078826904, + 0.0 + ], + [ + -0.0029528141021728516, + -0.04631303250789642, + -0.007244408130645752, + 0.01595047116279602, + -0.0038885921239852905, + -0.12268006801605225, + 0.0 + ], + [ + 0.0006619095802307129, + -0.03641722723841667, + -0.00708722323179245, + -0.006616383790969849, + 0.013195037841796875, + -0.08738672733306885, + 0.0 + ], + [ + -0.005493909120559692, + -0.035795487463474274, + -0.013019777834415436, + 0.025347918272018433, + 0.008457571268081665, + -0.10271131992340088, + 0.0 + ], + [ + -0.001901388168334961, + -0.016161561012268066, + -0.012134552001953125, + 0.00842428207397461, + 0.00048223137855529785, + -0.04227668046951294, + 0.0 + ], + [ + 0.0004885494709014893, + -0.003113657236099243, + -0.022535499185323715, + 0.04292088747024536, + 0.003056764602661133, + -0.013365983963012695, + 0.0 + ], + [ + 0.0004960596561431885, + 0.0010833516716957092, + -0.019016999751329422, + 0.044041708111763, + -0.001398921012878418, + -0.008946001529693604, + 0.0 + ], + [ + 0.002232372760772705, + 0.0001237913966178894, + -0.007103396579623222, + 0.01416027545928955, + -0.0003603920340538025, + -0.001716315746307373, + 0.0 + ], + [ + 0.002927422523498535, + 0.0023517385125160217, + 0.00036258064210414886, + 0.01235295832157135, + -0.008973933756351471, + 0.01866459846496582, + 1.0 + ], + [ + -0.002828627824783325, + 0.004229642450809479, + 0.0004440918564796448, + 0.033739715814590454, + -0.0014372095465660095, + 0.035409510135650635, + 1.0 + ], + [ + -0.0007998049259185791, + 0.0014095902442932129, + -8.249655365943909e-05, + 0.003568708896636963, + 0.006514027714729309, + 0.011204004287719727, + 1.0 + ], + [ + -0.002034097909927368, + 0.006223700940608978, + 0.0035458970814943314, + -0.0005794763565063477, + -0.003338955342769623, + 0.02409660816192627, + 1.0 + ], + [ + -0.002968519926071167, + 0.0051452890038490295, + 0.019433265551924706, + -0.04133868217468262, + -0.013508811593055725, + 0.03304159641265869, + 1.0 + ], + [ + -0.0017344355583190918, + 0.0033983662724494934, + 0.030484672635793686, + -0.08008861541748047, + 0.0141659677028656, + 0.02833545207977295, + 1.0 + ], + [ + -0.0064550042152404785, + 0.00693994015455246, + 0.02606920897960663, + -0.07059511542320251, + 0.04568066447973251, + -0.015371084213256836, + 1.0 + ], + [ + -0.004747152328491211, + 0.0015348419547080994, + 0.015199773013591766, + -0.04815766215324402, + 0.0673445463180542, + -0.030063629150390625, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9468915462493896 + ], + [ + 0.7681795358657837 + ], + [ + 0.5640211701393127 + ], + [ + 0.505268931388855 + ], + [ + 0.505268931388855 + ], + [ + 0.505268931388855 + ], + [ + 0.505268931388855 + ], + [ + 0.505268931388855 + ], + [ + 0.505268931388855 + ], + [ + 0.505268931388855 + ], + [ + 0.505268931388855 + ], + [ + 0.505268931388855 + ], + [ + 0.505268931388855 + ], + [ + 0.505268931388855 + ], + [ + 0.505268931388855 + ], + [ + 0.5043045878410339 + ], + [ + 0.505268931388855 + ], + [ + 0.505268931388855 + ], + [ + 0.5551114082336426 + ], + [ + 0.8870869278907776 + ], + [ + 1.00800359249115 + ], + [ + 1.0027955770492554 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.27516910433769226, + -0.09695376455783844, + 0.08694911003112793 + ], + [ + 0.2815853953361511, + -0.043041352182626724, + 0.08799020946025848 + ], + [ + 0.2860782742500305, + 0.0015372087946161628, + 0.0952177569270134 + ], + [ + 0.28640222549438477, + 0.04411282017827034, + 0.1017737090587616 + ], + [ + 0.28541553020477295, + 0.08344784379005432, + 0.10994760692119598 + ], + [ + 0.28490498661994934, + 0.11484342068433762, + 0.10181982070207596 + ], + [ + 0.2775101959705353, + 0.1485094130039215, + 0.09100161492824554 + ], + [ + 0.27511388063430786, + 0.1699122190475464, + 0.07984713464975357 + ], + [ + 0.26856809854507446, + 0.1924334168434143, + 0.06914190948009491 + ], + [ + 0.2638867497444153, + 0.19787389039993286, + 0.052079398185014725 + ], + [ + 0.26356327533721924, + 0.20121121406555176, + 0.03930220752954483 + ], + [ + 0.26189810037612915, + 0.19467584788799286, + 0.024699149653315544 + ], + [ + 0.2667818069458008, + 0.1789638102054596, + 0.010513500310480595 + ], + [ + 0.26690611243247986, + 0.17592565715312958, + 0.00842077936977148 + ], + [ + 0.26851311326026917, + 0.17233069241046906, + 0.00919273030012846 + ], + [ + 0.2675727605819702, + 0.17020337283611298, + 0.009703626856207848 + ], + [ + 0.2666001319885254, + 0.16536377370357513, + 0.01254262775182724 + ], + [ + 0.26768091320991516, + 0.1659000962972641, + 0.03511496260762215 + ], + [ + 0.27358171343803406, + 0.16331468522548676, + 0.062362853437662125 + ], + [ + 0.2837933897972107, + 0.1419053077697754, + 0.0864003449678421 + ], + [ + 0.2884250581264496, + 0.11156173795461655, + 0.10046104341745377 + ], + [ + 0.2858164310455322, + 0.07951536774635315, + 0.10962004214525223 + ], + [ + 0.27963367104530334, + 0.03774453327059746, + 0.10685224831104279 + ], + [ + 0.2766808569431305, + -0.00856850016862154, + 0.09960784018039703 + ], + [ + 0.2773427665233612, + -0.04498572647571564, + 0.09252061694860458 + ], + [ + 0.2718488574028015, + -0.08078121393918991, + 0.07950083911418915 + ], + [ + 0.26994746923446655, + -0.09694277495145798, + 0.06736628711223602 + ], + [ + 0.27043601870536804, + -0.10005643218755722, + 0.04483078792691231 + ], + [ + 0.27093207836151123, + -0.09897308051586151, + 0.025813788175582886 + ], + [ + 0.27316445112228394, + -0.09884928911924362, + 0.018710391595959663 + ], + [ + 0.27609187364578247, + -0.0964975506067276, + 0.019072972238063812 + ], + [ + 0.27326324582099915, + -0.09226790815591812, + 0.019517064094543457 + ], + [ + 0.27246344089508057, + -0.09085831791162491, + 0.019434567540884018 + ], + [ + 0.2704293429851532, + -0.08463461697101593, + 0.02298046462237835 + ], + [ + 0.26746082305908203, + -0.0794893279671669, + 0.042413730174303055 + ], + [ + 0.26572638750076294, + -0.07609096169471741, + 0.07289840281009674 + ], + [ + 0.25927138328552246, + -0.06915102154016495, + 0.09896761178970337 + ], + [ + 0.25452423095703125, + -0.06761617958545685, + 0.11416738480329514 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.5523272461079866, + 0.8027493154249739, + 0.22478467428075144, + 0.8334986849463797, + -0.5270486243690309, + -0.16583030405618893, + -0.014647709698910202, + 0.2789503255697115, + -0.9601938140110716 + ], + [ + 0.4110649806956827, + 0.8898610465575506, + 0.19792144771388273, + 0.9115046347504728, + -0.397976633794991, + -0.10379739775936207, + -0.013597149483093929, + 0.2230737922139417, + -0.9747067255093842 + ], + [ + 0.3611368045132311, + 0.9117286634828384, + 0.19578317754538802, + 0.932350236101153, + -0.34910539150454595, + -0.09406626847378044, + -0.017413950387430988, + 0.2165092834181813, + -0.9761252401847056 + ], + [ + 0.2711793498155729, + 0.938181291243825, + 0.21512234889400034, + 0.962494464184388, + -0.26242155926542643, + -0.06884280388762458, + -0.008134288414532412, + 0.22572281673054484, + -0.9741576070427298 + ], + [ + 0.18582854982351787, + 0.9529632689412451, + 0.23943424592005366, + 0.9822117260495398, + -0.1868497752026766, + -0.018635630321866173, + 0.02697916383567825, + 0.23863815611826544, + -0.9707337200093558 + ], + [ + 0.140893920757939, + 0.9637597258509287, + 0.2265305584710336, + 0.9884634811423321, + -0.149784742207203, + 0.022460575458000842, + 0.055577419348494486, + 0.22075262587263714, + -0.9737450531986784 + ], + [ + 0.05369084355135839, + 0.9731541755767074, + 0.22380403007176375, + 0.996314549877282, + -0.06722150421257184, + 0.05327839218884842, + 0.0668925333768509, + 0.22011864966199154, + -0.9731768436668686 + ], + [ + 0.025293899994511204, + 0.9749156275651856, + 0.2211328509115006, + 0.9934536858721048, + -0.04916367608953759, + 0.10311501821021221, + 0.11140014654477359, + 0.21707706484689557, + -0.9697770647253211 + ], + [ + -0.01576401251263465, + 0.9781981719113366, + 0.20707446095262638, + 0.9875610902184981, + -0.017171217836986774, + 0.15629536897952662, + 0.15644356489147493, + 0.20696252256704362, + -0.9657597658096619 + ], + [ + -0.020250386122861175, + 0.9847597058232986, + 0.1727374992544643, + 0.9860226186412007, + -0.008907308876348274, + 0.16637324116735638, + 0.16537629028922202, + 0.17369220372657015, + -0.9708149674241655 + ], + [ + -0.017866786450761063, + 0.9880631937189689, + 0.15300948715617024, + 0.9845974773571108, + -0.00923293629702937, + 0.17459255559544506, + 0.17392120492894614, + 0.15377216297238694, + -0.9726795651039746 + ], + [ + -0.046609858916802416, + 0.9915967973380981, + 0.12067855054060773, + 0.9838393955879863, + 0.024661918122202475, + 0.17734664779352094, + 0.17288020343816454, + 0.12699441445732967, + -0.9767214822843913 + ], + [ + -0.028501500066936303, + 0.9952879149093501, + 0.09268026181087732, + 0.9866303833551799, + 0.013126915079546275, + 0.16244436198558915, + 0.1604623044030752, + 0.09607107023393002, + -0.9823554338068081 + ], + [ + -0.03051604176098427, + 0.9948963777593476, + 0.09617675767341854, + 0.9862190304803549, + 0.014316294132408203, + 0.16482435390652503, + 0.16260625791657252, + 0.09988113557446163, + -0.9816226177318477 + ], + [ + -0.03890727901824276, + 0.9931791932741342, + 0.10991502939424128, + 0.9834678663484443, + 0.01859234802279608, + 0.18012573512698882, + 0.17685355382189952, + 0.11510610167293282, + -0.977483199783109 + ], + [ + -0.04726399160589423, + 0.9923877712925421, + 0.1137217063119402, + 0.9841177709668077, + 0.02676022308680126, + 0.17548818572105165, + 0.17110911128516695, + 0.12020982426310192, + -0.9778912363784811 + ], + [ + -0.05034745652016398, + 0.991796304099872, + 0.11749563734787967, + 0.9866045702342835, + 0.031113041835192312, + 0.16013556950467345, + 0.15516621930940616, + 0.1239841514129763, + -0.9800772288874124 + ], + [ + -0.06919830340793287, + 0.9866140717291872, + 0.14766268408578398, + 0.9828031635237954, + 0.042019269244007784, + 0.17981190944934577, + 0.1712002820473255, + 0.15756603212035886, + -0.9725550930146644 + ], + [ + -0.07335919702300236, + 0.9762782886485626, + 0.2037133557859534, + 0.9818633114932331, + 0.03489419118482179, + 0.18635136963569504, + 0.17482238345155537, + 0.21368925694800667, + -0.9611316432775097 + ], + [ + -0.038357120033360725, + 0.9601055587274624, + 0.27699467042413284, + 0.9862259453921655, + -0.008259507597323468, + 0.16519735218695106, + 0.16089473570653623, + 0.2795158253746599, + -0.9465642014079376 + ], + [ + 0.04378283397432242, + 0.9425655776655554, + 0.3311392384619712, + 0.9885867448211262, + -0.08870104541374185, + 0.12177180505551544, + 0.14415030840461657, + 0.32202834711016765, + -0.9356914193495347 + ], + [ + 0.12552694827241928, + 0.9227147163581322, + 0.36447295849424133, + 0.9819741760151275, + -0.16788833449146434, + 0.08683446770202105, + 0.14131419920455454, + 0.3470029673616838, + -0.9271565335720616 + ], + [ + 0.2327417773178458, + 0.9025128721046152, + 0.3623558758684732, + 0.9636894775110274, + -0.2641659338865116, + 0.03897371304340835, + 0.13089635604344768, + 0.3401277334463411, + -0.9312246071250488 + ], + [ + 0.34873992050554026, + 0.8686604432159152, + 0.3518657446210409, + 0.9274819528511483, + -0.3738497146079146, + 0.0036902605600901695, + 0.1347504915805876, + 0.3250621867881758, + -0.936043203991824 + ], + [ + 0.42908702965489054, + 0.8322694862441329, + 0.35101541739483527, + 0.8950318895258982, + -0.4441025927384613, + -0.041119385387878515, + 0.12166444720477536, + 0.33181378722094074, + -0.9354663932480167 + ], + [ + 0.5191130873984332, + 0.7922022634910869, + 0.32083823994540495, + 0.8471673621698265, + -0.5266526884705142, + -0.07031647176158468, + 0.11326545354116092, + 0.3083058861688795, + -0.9445202049653237 + ], + [ + 0.5544844184311414, + 0.7719647938251183, + 0.31083337467463434, + 0.8245157836441032, + -0.5602298317769454, + -0.07947488980128155, + 0.11278631228491032, + 0.30035461155393994, + -0.9471358693869917 + ], + [ + 0.5656485833841527, + 0.7774458167045893, + 0.2749903311100867, + 0.8173107978631563, + -0.5729079728582493, + -0.06147775477147811, + 0.10974852988442234, + 0.25952737182036345, + -0.9594794440029566 + ], + [ + 0.5728484569743373, + 0.7834481036037098, + 0.24094338401763962, + 0.8120916154403601, + -0.582340716145249, + -0.03723571472262863, + 0.11113889271351987, + 0.2169985236797464, + -0.9698246167463596 + ], + [ + 0.5742182370963184, + 0.7857375029049763, + 0.22997824400288053, + 0.8110744880560196, + -0.5842188707492306, + -0.029094430483507253, + 0.11149704485170048, + 0.2032360391002196, + -0.972760772955094 + ], + [ + 0.5583954128649392, + 0.7983258540832149, + 0.22554465986517902, + 0.8207897994537517, + -0.5711332972497785, + -0.010529097077429286, + 0.12041041484881566, + 0.19100415564825107, + -0.9741759309904113 + ], + [ + 0.528894929244899, + 0.8250743294979446, + 0.1988026776040753, + 0.8398963560147441, + -0.5424818851545727, + 0.01695628002524703, + 0.12183704269304566, + 0.15800555396142713, + -0.9798928410520994 + ], + [ + 0.5198560615085419, + 0.8323307810544673, + 0.1922892254446088, + 0.8464275917686801, + -0.5322740768960905, + 0.01564093849766425, + 0.11536900452677913, + 0.15462786933045192, + -0.9812136438211736 + ], + [ + 0.49911466574490404, + 0.8445421599548316, + 0.19399250113646327, + 0.8583696275822607, + -0.5125246852452935, + 0.02280415441327109, + 0.11868501540904053, + 0.15513538304668228, + -0.9807379262801634 + ], + [ + 0.46968289349665937, + 0.8510450069762654, + 0.23477728948383067, + 0.8728980325251041, + -0.4874620969855402, + 0.02072990150151338, + 0.13208710902434204, + 0.195200153952881, + -0.9718281203620132 + ], + [ + 0.4455586201470694, + 0.8447470468374131, + 0.29644551417100096, + 0.8874378006515174, + -0.4604095213560384, + -0.02184542559670591, + 0.11803247852789153, + 0.2728103727943151, + -0.9547998923902272 + ], + [ + 0.46115954301376816, + 0.8217876106624842, + 0.33465952675663935, + 0.884345166674342, + -0.4565152975051626, + -0.09760844903748285, + 0.07256377930526028, + 0.340967602721165, + -0.937270287498499 + ], + [ + 0.48881560070591595, + 0.8035140318090502, + 0.33974182726370183, + 0.8723711354798648, + -0.452574780040802, + -0.18478276557241718, + 0.0052830377706104825, + 0.3867056621734212, + -0.9221880612732578 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006387.json b/json/chunk-0006/episode_0006387.json new file mode 100644 index 0000000000000000000000000000000000000000..3869569d46589647df57f77e08e90799c57e292b --- /dev/null +++ b/json/chunk-0006/episode_0006387.json @@ -0,0 +1,2182 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 35, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut carrot on plate." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006387.mp4", + "start": 0, + "end": 35, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.24761080741882324, + 0.0012632670113816857, + 0.07500118762254715, + 0.010284987278282642, + 0.225886732339859, + -0.03859338536858559, + 0.0, + 1.0143678188323975 + ], + [ + 0.24519547820091248, + 0.0012753698974847794, + 0.0689973533153534, + 0.009093955159187317, + 0.24889804422855377, + -0.04041276499629021, + 0.0, + 1.0143678188323975 + ], + [ + 0.25645244121551514, + 0.004937442485243082, + 0.07429149746894836, + 0.01806344836950302, + 0.20324358344078064, + -0.03721147030591965, + 0.0, + 1.0143678188323975 + ], + [ + 0.2705812156200409, + 0.011429908685386181, + 0.08082564175128937, + 0.06723342835903168, + 0.16324542462825775, + 0.00515883369371295, + 0.0, + 1.0143678188323975 + ], + [ + 0.2878658175468445, + 0.01963060349225998, + 0.09177660942077637, + 0.1063234955072403, + 0.16159258782863617, + 0.13198330998420715, + 0.0, + 1.0143678188323975 + ], + [ + 0.3016895055770874, + 0.038857027888298035, + 0.09505272656679153, + 0.13966132700443268, + 0.13153280317783356, + 0.372209370136261, + 0.0, + 1.0143678188323975 + ], + [ + 0.309937447309494, + 0.06729702651500702, + 0.08925293385982513, + 0.11084569245576859, + 0.12608468532562256, + 0.5016233325004578, + 0.0, + 1.0143678188323975 + ], + [ + 0.30686038732528687, + 0.08552877604961395, + 0.07298712432384491, + 0.1237337589263916, + 0.062019411474466324, + 0.5612301826477051, + 0.0, + 1.0143678188323975 + ], + [ + 0.30331775546073914, + 0.08836580067873001, + 0.05676227807998657, + 0.13586421310901642, + 0.015616540797054768, + 0.5783159136772156, + 0.0, + 1.0143678188323975 + ], + [ + 0.3031410276889801, + 0.0864335373044014, + 0.04315321892499924, + 0.14416232705116272, + -0.04358777776360512, + 0.576618492603302, + 0.0, + 1.0149952173233032 + ], + [ + 0.31109949946403503, + 0.08747772872447968, + 0.04027040675282478, + 0.15268871188163757, + -0.12161430716514587, + 0.5741614103317261, + 0.0, + 1.0143678188323975 + ], + [ + 0.3162936866283417, + 0.09204231947660446, + 0.0364333875477314, + 0.17205001413822174, + -0.20623831450939178, + 0.576904833316803, + 0.0, + 1.0143678188323975 + ], + [ + 0.3187488913536072, + 0.09379705786705017, + 0.03414759784936905, + 0.169183149933815, + -0.24686463177204132, + 0.5853316187858582, + 0.0, + 0.9515043497085571 + ], + [ + 0.3165610432624817, + 0.09467435628175735, + 0.025920022279024124, + 0.137023463845253, + -0.18717320263385773, + 0.5590530037879944, + 0.0, + 0.6601285338401794 + ], + [ + 0.3160566985607147, + 0.09572897106409073, + 0.024295849725604057, + 0.14733007550239563, + -0.1539848893880844, + 0.5591031908988953, + 0.0, + 0.5364033579826355 + ], + [ + 0.31640419363975525, + 0.09561468660831451, + 0.024474283680319786, + 0.14914993941783905, + -0.14705689251422882, + 0.5192020535469055, + 0.0, + 0.5699762105941772 + ], + [ + 0.31178441643714905, + 0.09311812371015549, + 0.028654539957642555, + 0.15647822618484497, + -0.09292367100715637, + 0.5219086408615112, + 0.0, + 0.570969820022583 + ], + [ + 0.3056850731372833, + 0.08155187219381332, + 0.05278667435050011, + 0.08449097722768784, + -0.10604068636894226, + 0.5620498061180115, + 0.0, + 0.570969820022583 + ], + [ + 0.2907080054283142, + 0.06244261562824249, + 0.057015545666217804, + 0.01617485098540783, + -0.08238180726766586, + 0.6110072135925293, + 0.0, + 0.570969820022583 + ], + [ + 0.27580690383911133, + 0.04099693149328232, + 0.05455952137708664, + -0.08391202241182327, + -0.07692235708236694, + 0.641380250453949, + 0.0, + 0.570969820022583 + ], + [ + 0.2695155441761017, + 0.026036230847239494, + 0.04738714173436165, + -0.13441571593284607, + -0.032512977719306946, + 0.623651385307312, + 0.0, + 0.570969820022583 + ], + [ + 0.2681000232696533, + 0.017140556126832962, + 0.044549424201250076, + -0.16754193603992462, + 0.002431524218991399, + 0.561748206615448, + 0.0, + 0.570969820022583 + ], + [ + 0.26783984899520874, + 0.009469487704336643, + 0.03726181015372276, + -0.20323655009269714, + 0.026252800598740578, + 0.5412445664405823, + 0.0, + 0.570969820022583 + ], + [ + 0.2672351896762848, + -0.0006884256727062166, + 0.029786577448248863, + -0.23450496792793274, + 0.045958612114191055, + 0.5413646101951599, + 0.0, + 0.570969820022583 + ], + [ + 0.2683655321598053, + -0.005779746454209089, + 0.022434642538428307, + -0.2585688531398773, + 0.041523102670907974, + 0.5288751125335693, + 0.0, + 0.570969820022583 + ], + [ + 0.27072590589523315, + -0.00898736622184515, + 0.019632017239928246, + -0.26773932576179504, + 0.03738277405500412, + 0.5544602274894714, + 0.0, + 0.6811928749084473 + ], + [ + 0.26663467288017273, + -0.015262982808053493, + 0.01982557401061058, + -0.23301221430301666, + 0.06328646838665009, + 0.5247472524642944, + 0.0, + 0.9568231701850891 + ], + [ + 0.26211580634117126, + -0.016553472727537155, + 0.027238747105002403, + -0.20215155184268951, + 0.07741083949804306, + 0.5443593859672546, + 0.0, + 1.0086473226547241 + ], + [ + 0.2633036971092224, + -0.016560163348913193, + 0.04848222807049751, + -0.16301922500133514, + 0.05106186121702194, + 0.5672234296798706, + 0.0, + 1.0086473226547241 + ], + [ + 0.2642213702201843, + -0.016797825694084167, + 0.07641801983118057, + -0.08414535224437714, + 0.04201087728142738, + 0.580133318901062, + 0.0, + 1.0086473226547241 + ], + [ + 0.2707924246788025, + -0.020003248006105423, + 0.11044157296419144, + 0.015455344691872597, + 0.04461176320910454, + 0.6136940717697144, + 0.0, + 1.0086473226547241 + ], + [ + 0.27539631724357605, + -0.02955605834722519, + 0.14398658275604248, + 0.07670573890209198, + 0.037222228944301605, + 0.6319475769996643, + 0.0, + 1.0086473226547241 + ], + [ + 0.2727004587650299, + -0.0374453105032444, + 0.1526186317205429, + 0.10417076200246811, + 0.03894376382231712, + 0.6581050753593445, + 0.0, + 1.0086473226547241 + ], + [ + 0.2727004587650299, + -0.0374453105032444, + 0.1526186317205429, + 0.10434799641370773, + 0.03846483305096626, + 0.6626854538917542, + 0.0, + 1.0086473226547241 + ], + [ + 0.2727004587650299, + -0.0374453105032444, + 0.1526186317205429, + 0.10434799641370773, + 0.03846483305096626, + 0.6626854538917542, + 0.0, + 1.0086473226547241 + ] + ], + "left_gripper_pos": [ + [ + 1.0143678188323975 + ], + [ + 1.0143678188323975 + ], + [ + 1.0143678188323975 + ], + [ + 1.0143678188323975 + ], + [ + 1.0143678188323975 + ], + [ + 1.0143678188323975 + ], + [ + 1.0143678188323975 + ], + [ + 1.0143678188323975 + ], + [ + 1.0143678188323975 + ], + [ + 1.0149952173233032 + ], + [ + 1.0143678188323975 + ], + [ + 1.0143678188323975 + ], + [ + 0.9515043497085571 + ], + [ + 0.6601285338401794 + ], + [ + 0.5364033579826355 + ], + [ + 0.5699762105941772 + ], + [ + 0.570969820022583 + ], + [ + 0.570969820022583 + ], + [ + 0.570969820022583 + ], + [ + 0.570969820022583 + ], + [ + 0.570969820022583 + ], + [ + 0.570969820022583 + ], + [ + 0.570969820022583 + ], + [ + 0.570969820022583 + ], + [ + 0.570969820022583 + ], + [ + 0.6811928749084473 + ], + [ + 0.9568231701850891 + ], + [ + 1.0086473226547241 + ], + [ + 1.0086473226547241 + ], + [ + 1.0086473226547241 + ], + [ + 1.0086473226547241 + ], + [ + 1.0086473226547241 + ], + [ + 1.0086473226547241 + ], + [ + 1.0086473226547241 + ], + [ + 1.0086473226547241 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.24761080741882324, + 0.0012632670113816857, + 0.07500118762254715 + ], + [ + 0.24519547820091248, + 0.0012753698974847794, + 0.0689973533153534 + ], + [ + 0.25645244121551514, + 0.004937442485243082, + 0.07429149746894836 + ], + [ + 0.2705812156200409, + 0.011429908685386181, + 0.08082564175128937 + ], + [ + 0.2878658175468445, + 0.01963060349225998, + 0.09177660942077637 + ], + [ + 0.3016895055770874, + 0.038857027888298035, + 0.09505272656679153 + ], + [ + 0.309937447309494, + 0.06729702651500702, + 0.08925293385982513 + ], + [ + 0.30686038732528687, + 0.08552877604961395, + 0.07298712432384491 + ], + [ + 0.30331775546073914, + 0.08836580067873001, + 0.05676227807998657 + ], + [ + 0.3031410276889801, + 0.0864335373044014, + 0.04315321892499924 + ], + [ + 0.31109949946403503, + 0.08747772872447968, + 0.04027040675282478 + ], + [ + 0.3162936866283417, + 0.09204231947660446, + 0.0364333875477314 + ], + [ + 0.3187488913536072, + 0.09379705786705017, + 0.03414759784936905 + ], + [ + 0.3165610432624817, + 0.09467435628175735, + 0.025920022279024124 + ], + [ + 0.3160566985607147, + 0.09572897106409073, + 0.024295849725604057 + ], + [ + 0.31640419363975525, + 0.09561468660831451, + 0.024474283680319786 + ], + [ + 0.31178441643714905, + 0.09311812371015549, + 0.028654539957642555 + ], + [ + 0.3056850731372833, + 0.08155187219381332, + 0.05278667435050011 + ], + [ + 0.2907080054283142, + 0.06244261562824249, + 0.057015545666217804 + ], + [ + 0.27580690383911133, + 0.04099693149328232, + 0.05455952137708664 + ], + [ + 0.2695155441761017, + 0.026036230847239494, + 0.04738714173436165 + ], + [ + 0.2681000232696533, + 0.017140556126832962, + 0.044549424201250076 + ], + [ + 0.26783984899520874, + 0.009469487704336643, + 0.03726181015372276 + ], + [ + 0.2672351896762848, + -0.0006884256727062166, + 0.029786577448248863 + ], + [ + 0.2683655321598053, + -0.005779746454209089, + 0.022434642538428307 + ], + [ + 0.27072590589523315, + -0.00898736622184515, + 0.019632017239928246 + ], + [ + 0.26663467288017273, + -0.015262982808053493, + 0.01982557401061058 + ], + [ + 0.26211580634117126, + -0.016553472727537155, + 0.027238747105002403 + ], + [ + 0.2633036971092224, + -0.016560163348913193, + 0.04848222807049751 + ], + [ + 0.2642213702201843, + -0.016797825694084167, + 0.07641801983118057 + ], + [ + 0.2707924246788025, + -0.020003248006105423, + 0.11044157296419144 + ], + [ + 0.27539631724357605, + -0.02955605834722519, + 0.14398658275604248 + ], + [ + 0.2727004587650299, + -0.0374453105032444, + 0.1526186317205429 + ], + [ + 0.2727004587650299, + -0.0374453105032444, + 0.1526186317205429 + ], + [ + 0.2727004587650299, + -0.0374453105032444, + 0.1526186317205429 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9738701726862958, + -0.0408835443788177, + -0.22339521604320492, + -0.0376036182897013, + -0.9991136395092992, + 0.018918330740449633, + -0.2239706557642929, + -0.010023529593304107, + -0.9745443418393056 + ], + [ + 0.9683931373569608, + -0.04263840462311126, + -0.24575739657462783, + -0.03915676343739824, + -0.9990516938235713, + 0.019038407111978347, + -0.24633611062337304, + -0.008813598552784217, + -0.9691443860867689 + ], + [ + 0.9787390049045452, + -0.04084014832472399, + -0.2010025934242537, + -0.03643713706020202, + -0.9990090699725019, + 0.025558035048362827, + -0.20184720786108817, + -0.017690686744494526, + -0.9792572411175684 + ], + [ + 0.9866919000918458, + -0.0057713354049249085, + -0.16249857224230296, + 0.005090224575928592, + -0.9977837348089228, + 0.06634537033225409, + -0.16252133369779398, + -0.06628959374141004, + -0.9844757517860403 + ], + [ + 0.9783884462829346, + 0.11393160606204143, + -0.17255618598065026, + 0.12988601008086018, + -0.9879519048439448, + 0.08414664640076615, + -0.16089025006301544, + -0.10474074114376263, + -0.9813988509160358 + ], + [ + 0.9234796293329632, + 0.3431259161591171, + -0.17160996435819026, + 0.3605329936178983, + -0.929095877691219, + 0.0824427714848284, + -0.13115385895950316, + -0.1380052742367107, + -0.9817093304858017 + ], + [ + 0.8698429446628763, + 0.46570179755326196, + -0.16277311625657578, + 0.4770324593525715, + -0.8781109309806809, + 0.03689479118085358, + -0.12575088208141263, + -0.10974073376783199, + -0.9859734717566413 + ], + [ + 0.8449733496580241, + 0.52168304332394, + -0.11775755039899019, + 0.5312048193081284, + -0.8441997666602401, + 0.07175091577544397, + -0.06197966046629567, + -0.12318098992567104, + -0.9904468513804335 + ], + [ + 0.8372822758835125, + 0.5398060695389653, + -0.08699309041653475, + 0.5465478331943499, + -0.8308237458785703, + 0.10496365711455356, + -0.01561590605397576, + -0.13543009478396728, + -0.9906638344589545 + ], + [ + 0.8375147859678942, + 0.5447846228236759, + -0.0421746134542795, + 0.5446744824292493, + -0.826201974035871, + 0.14394445557109714, + 0.043573977045733986, + -0.1435270456537558, + -0.9886866519228035 + ], + [ + 0.8334464965501753, + 0.5523046860161064, + 0.01806851385390988, + 0.539119345910858, + -0.8198577712824316, + 0.19283040665946052, + 0.12131474870306373, + -0.15097274148817177, + -0.9810657282132825 + ], + [ + 0.8203928169154203, + 0.566764139355444, + 0.07572341972114376, + 0.5338736065950261, + -0.8066580716926726, + 0.2535384143562441, + 0.20477938894039333, + -0.16757435875975218, + -0.9643569028899296 + ], + [ + 0.8082591245629902, + 0.5788838696370205, + 0.1077527402655603, + 0.535726616082366, + -0.7988964438713554, + 0.2734254282078367, + 0.24436485095366184, + -0.16327258632045616, + -0.9558388369252545 + ], + [ + 0.8329509751047572, + 0.5469605440324299, + 0.08382622706398057, + 0.5211200260424591, + -0.8263304520183399, + 0.21356943256157349, + 0.18608221712334666, + -0.1342093414741097, + -0.9733248487178087 + ], + [ + 0.8377005629666552, + 0.5437668111652254, + 0.05074861456779553, + 0.5241500152277192, + -0.8266045278684627, + 0.20491880353968805, + 0.15337707893336072, + -0.14506070998915443, + -0.9774624606987788 + ], + [ + 0.858844397637335, + 0.5095829008929007, + 0.052072716124082465, + 0.4908319599741114, + -0.8477724469427742, + 0.20091258117060107, + 0.1465274299062651, + -0.14699369143686813, + -0.9782241905426523 + ], + [ + 0.863129301149707, + 0.504979905270857, + 0.0017620355996432469, + 0.49638475558171513, + -0.8490689950530822, + 0.18078721211863882, + 0.09278999904568942, + -0.15516809244230942, + -0.983520655179603 + ], + [ + 0.8414115571849864, + 0.5385787247938636, + 0.04426678930024873, + 0.5299283426496517, + -0.8383859401836093, + 0.12761256583518346, + 0.10584206674158482, + -0.08391646144745116, + -0.9908357504682644 + ], + [ + 0.8162927551862715, + 0.5747078261740128, + 0.05811241145182942, + 0.5717470727125749, + -0.8181999040390913, + 0.06044999483063515, + 0.08228865459471164, + -0.016119291695442853, + -0.9964781712412117 + ], + [ + 0.7989013044578214, + 0.5910360005425377, + 0.11150404386511485, + 0.5965327467983286, + -0.8023049376768867, + -0.021341719155886573, + 0.07684652062932452, + 0.08356574083898852, + -0.993534790143354 + ], + [ + 0.8113224416834235, + 0.5751989756921974, + 0.10441280564899788, + 0.5836944186220683, + -0.8069734085536237, + -0.08997079279851132, + 0.03250724981130023, + 0.13394049518347237, + -0.9904560679099869 + ], + [ + 0.8463226916925816, + 0.5255511456270735, + 0.08679801182224094, + 0.5326649877998811, + -0.8342586670939937, + -0.14240957534767573, + -0.002431521823004615, + 0.16675871703939038, + -0.9859947352765128 + ], + [ + 0.8567728080494598, + 0.5091403611902602, + 0.08195393824640126, + 0.5150255373957812, + -0.8366986612478592, + -0.18623653265733606, + -0.026249785089224105, + 0.2017707681332742, + -0.9790809496204479 + ], + [ + 0.8561013652865144, + 0.5103505225833413, + 0.08144198213130961, + 0.5147618333069752, + -0.8280485637754059, + -0.2221617226255001, + -0.04594243490508611, + 0.2321161780841614, + -0.971602476605836 + ], + [ + 0.8626309976005744, + 0.4969533610982681, + 0.09436693738684199, + 0.5041275479617635, + -0.8293183586281192, + -0.24101135954228795, + -0.04151117156498484, + 0.2554768422685245, + -0.9659236024136721 + ], + [ + 0.8495907605290195, + 0.5161326825398191, + 0.10863974244249805, + 0.5261166398073696, + -0.8146883217809983, + -0.2438938696881551, + -0.037374067767965924, + 0.26436715448011044, + -0.9636976635286425 + ], + [ + 0.8637180312761603, + 0.5000938095761807, + 0.06242871192020364, + 0.49999132958553244, + -0.8347456552948432, + -0.23066937661005973, + -0.06324423126044415, + 0.23044711451863484, + -0.9710274427750794 + ], + [ + 0.8528973576929391, + 0.5206072937647624, + 0.039168136531277736, + 0.5163192998332552, + -0.8299985003036344, + -0.21099021331193235, + -0.07733354938252657, + 0.20017626026241936, + -0.97670312120278 + ], + [ + 0.8422967941608086, + 0.5371552196841097, + 0.044725613607197866, + 0.5365920816747592, + -0.827763374025503, + -0.16394125321548483, + -0.05103967506139696, + 0.1620866021237755, + -0.9854556737781747 + ], + [ + 0.835651611319438, + 0.5491483702639686, + 0.011065800271744886, + 0.5476518134288291, + -0.8314955091948225, + -0.09323470081979995, + -0.04199852077563912, + 0.08397193355681387, + -0.9955826628800785 + ], + [ + 0.8167128273535101, + 0.5752591366402912, + -0.0453550807308559, + 0.575318405911435, + -0.8178255022280462, + -0.013045295127724114, + -0.04459696688969817, + -0.015439352878635924, + -0.9988857476843527 + ], + [ + 0.8063196735026215, + 0.5866793883583297, + -0.07520558089744225, + 0.5903081648949939, + -0.8061905405230377, + 0.03991344171424634, + -0.03721363434186813, + -0.07657746174082819, + -0.9963689265389609 + ], + [ + 0.7905527608679126, + 0.6051003332017123, + -0.0942333223615598, + 0.6111550393289972, + -0.7893399928354793, + 0.05858236606059357, + -0.03893392077472717, + -0.1039036210613581, + -0.9938250285354283 + ], + [ + 0.7877597660135163, + 0.6087319876294296, + -0.09423331834895032, + 0.6147810481851516, + -0.7865191473234877, + 0.058582366680604486, + -0.03845534868775873, + -0.10408168969736373, + -0.9938250288793521 + ], + [ + 0.7877597660135163, + 0.6087319876294296, + -0.09423331834895032, + 0.6147810481851516, + -0.7865191473234877, + 0.058582366680604486, + -0.03845534868775873, + -0.10408168969736373, + -0.9938250288793521 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0024153292179107666, + 1.2102886103093624e-05, + -0.006003834307193756, + -0.0011910321190953255, + 0.023011311888694763, + -0.0018193796277046204, + 1.0 + ], + [ + 0.011256963014602661, + 0.0036620725877583027, + 0.005294144153594971, + 0.008969493210315704, + -0.04565446078777313, + 0.0032012946903705597, + 1.0 + ], + [ + 0.014128774404525757, + 0.006492466200143099, + 0.006534144282341003, + 0.049169979989528656, + -0.03999815881252289, + 0.042370304465293884, + 1.0 + ], + [ + 0.01728460192680359, + 0.008200694806873798, + 0.010950967669487, + 0.03909006714820862, + -0.001652836799621582, + 0.1268244832754135, + 1.0 + ], + [ + 0.01382368803024292, + 0.019226424396038055, + 0.0032761171460151672, + 0.03333783149719238, + -0.030059784650802612, + 0.24022606015205383, + 1.0 + ], + [ + 0.008247941732406616, + 0.028439998626708984, + -0.0057997927069664, + -0.028815634548664093, + -0.0054481178522109985, + 0.12941396236419678, + 1.0 + ], + [ + -0.0030770599842071533, + 0.018231749534606934, + -0.016265809535980225, + 0.012888066470623016, + -0.06406527757644653, + 0.059606850147247314, + 1.0 + ], + [ + -0.0035426318645477295, + 0.0028370246291160583, + -0.016224846243858337, + 0.012130454182624817, + -0.04640287160873413, + 0.017085731029510498, + 1.0 + ], + [ + -0.0001767277717590332, + -0.0019322633743286133, + -0.013609059154987335, + 0.008298113942146301, + -0.05920431762933731, + -0.0016974210739135742, + 1.0 + ], + [ + 0.007958471775054932, + 0.0010441914200782776, + -0.0028828121721744537, + 0.008526384830474854, + -0.07802653312683105, + -0.0024570822715759277, + 1.0 + ], + [ + 0.005194187164306641, + 0.004564590752124786, + -0.003837019205093384, + 0.019361302256584167, + -0.08462400734424591, + 0.0027434229850769043, + 1.0 + ], + [ + 0.002455204725265503, + 0.0017547383904457092, + -0.0022857896983623505, + -0.0028668642044067383, + -0.040626317262649536, + 0.008426785469055176, + 0.0 + ], + [ + -0.0021878480911254883, + 0.0008772984147071838, + -0.008227575570344925, + -0.03215968608856201, + 0.059691429138183594, + -0.02627861499786377, + 0.0 + ], + [ + -0.0005043447017669678, + 0.001054614782333374, + -0.0016241725534200668, + 0.01030661165714264, + 0.033188313245773315, + 5.0187110900878906e-05, + 0.0 + ], + [ + 0.00034749507904052734, + -0.0001142844557762146, + 0.00017843395471572876, + 0.0018198639154434204, + 0.006927996873855591, + -0.039901137351989746, + 0.0 + ], + [ + -0.004619777202606201, + -0.002496562898159027, + 0.004180256277322769, + 0.00732828676700592, + 0.05413322150707245, + 0.002706587314605713, + 0.0 + ], + [ + -0.006099343299865723, + -0.011566251516342163, + 0.02413213439285755, + -0.07198724895715714, + -0.013117015361785889, + 0.040141165256500244, + 0.0 + ], + [ + -0.014977067708969116, + -0.01910925656557083, + 0.004228871315717697, + -0.06831612437963486, + 0.023658879101276398, + 0.04895740747451782, + 0.0 + ], + [ + -0.01490110158920288, + -0.021445684134960175, + -0.0024560242891311646, + -0.10008687525987625, + 0.00545945018529892, + 0.030373036861419678, + 0.0 + ], + [ + -0.0062913596630096436, + -0.014960700646042824, + -0.007172379642724991, + -0.0505036935210228, + 0.04440937936306, + -0.017728865146636963, + 0.0 + ], + [ + -0.0014155209064483643, + -0.008895674720406532, + -0.0028377175331115723, + -0.03312622010707855, + 0.034944500774145126, + -0.061903178691864014, + 0.0 + ], + [ + -0.0002601742744445801, + -0.007671068422496319, + -0.007287614047527313, + -0.03569461405277252, + 0.023821275681257248, + -0.020503640174865723, + 0.0 + ], + [ + -0.0006046593189239502, + -0.010157912969589233, + -0.0074752327054739, + -0.031268417835235596, + 0.019705811515450478, + 0.00012004375457763672, + 0.0 + ], + [ + 0.0011303424835205078, + -0.005091320723295212, + -0.007351934909820557, + -0.02406388521194458, + -0.004435509443283081, + -0.012489497661590576, + 0.0 + ], + [ + 0.0023603737354278564, + -0.0032076197676360607, + -0.002802625298500061, + -0.009170472621917725, + -0.004140328615903854, + 0.0255851149559021, + 1.0 + ], + [ + -0.004091233015060425, + -0.0062756165862083435, + 0.0001935567706823349, + 0.03472711145877838, + 0.025903694331645966, + -0.029712975025177002, + 1.0 + ], + [ + -0.004518866539001465, + -0.0012904899194836617, + 0.007413173094391823, + 0.03086066246032715, + 0.014124371111392975, + 0.019612133502960205, + 1.0 + ], + [ + 0.0011878907680511475, + -6.690621376037598e-06, + 0.02124348096549511, + 0.03913232684135437, + -0.026348978281021118, + 0.022864043712615967, + 1.0 + ], + [ + 0.0009176731109619141, + -0.00023766234517097473, + 0.02793579176068306, + 0.07887387275695801, + -0.009050983935594559, + 0.012909889221191406, + 1.0 + ], + [ + 0.006571054458618164, + -0.0032054223120212555, + 0.034023553133010864, + 0.09960069507360458, + 0.0026008859276771545, + 0.033560752868652344, + 1.0 + ], + [ + 0.00460389256477356, + -0.009552810341119766, + 0.033545009791851044, + 0.06125039607286453, + -0.007389534264802933, + 0.01825350522994995, + 1.0 + ], + [ + -0.0026958584785461426, + -0.00788925215601921, + 0.008632048964500427, + 0.02746502310037613, + 0.0017215348780155182, + 0.026157498359680176, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.00017723441123962402, + -0.0004789307713508606, + 0.004580378532409668, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + -9.897351264953613e-05, + -0.0006564967334270477, + -9.98377799987793e-06, + -0.0010209828615188599, + 0.0011019296944141388, + -0.0012606978416442871, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0143678188323975 + ], + [ + 1.0143678188323975 + ], + [ + 1.0143678188323975 + ], + [ + 1.0143678188323975 + ], + [ + 1.0143678188323975 + ], + [ + 1.0143678188323975 + ], + [ + 1.0143678188323975 + ], + [ + 1.0143678188323975 + ], + [ + 1.0149952173233032 + ], + [ + 1.0143678188323975 + ], + [ + 1.0143678188323975 + ], + [ + 0.9515043497085571 + ], + [ + 0.6601285338401794 + ], + [ + 0.5364033579826355 + ], + [ + 0.5699762105941772 + ], + [ + 0.570969820022583 + ], + [ + 0.570969820022583 + ], + [ + 0.570969820022583 + ], + [ + 0.570969820022583 + ], + [ + 0.570969820022583 + ], + [ + 0.570969820022583 + ], + [ + 0.570969820022583 + ], + [ + 0.570969820022583 + ], + [ + 0.570969820022583 + ], + [ + 0.6811928749084473 + ], + [ + 0.9568231701850891 + ], + [ + 1.0086473226547241 + ], + [ + 1.0086473226547241 + ], + [ + 1.0086473226547241 + ], + [ + 1.0086473226547241 + ], + [ + 1.0086473226547241 + ], + [ + 1.0086473226547241 + ], + [ + 1.0086473226547241 + ], + [ + 1.0086473226547241 + ], + [ + 1.0086473226547241 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.24519547820091248, + 0.0012753698974847794, + 0.0689973533153534 + ], + [ + 0.25645244121551514, + 0.004937442485243082, + 0.07429149746894836 + ], + [ + 0.2705812156200409, + 0.011429908685386181, + 0.08082564175128937 + ], + [ + 0.2878658175468445, + 0.01963060349225998, + 0.09177660942077637 + ], + [ + 0.3016895055770874, + 0.038857027888298035, + 0.09505272656679153 + ], + [ + 0.309937447309494, + 0.06729702651500702, + 0.08925293385982513 + ], + [ + 0.30686038732528687, + 0.08552877604961395, + 0.07298712432384491 + ], + [ + 0.30331775546073914, + 0.08836580067873001, + 0.05676227807998657 + ], + [ + 0.3031410276889801, + 0.0864335373044014, + 0.04315321892499924 + ], + [ + 0.31109949946403503, + 0.08747772872447968, + 0.04027040675282478 + ], + [ + 0.3162936866283417, + 0.09204231947660446, + 0.0364333875477314 + ], + [ + 0.3187488913536072, + 0.09379705786705017, + 0.03414759784936905 + ], + [ + 0.3165610432624817, + 0.09467435628175735, + 0.025920022279024124 + ], + [ + 0.3160566985607147, + 0.09572897106409073, + 0.024295849725604057 + ], + [ + 0.31640419363975525, + 0.09561468660831451, + 0.024474283680319786 + ], + [ + 0.31178441643714905, + 0.09311812371015549, + 0.028654539957642555 + ], + [ + 0.3056850731372833, + 0.08155187219381332, + 0.05278667435050011 + ], + [ + 0.2907080054283142, + 0.06244261562824249, + 0.057015545666217804 + ], + [ + 0.27580690383911133, + 0.04099693149328232, + 0.05455952137708664 + ], + [ + 0.2695155441761017, + 0.026036230847239494, + 0.04738714173436165 + ], + [ + 0.2681000232696533, + 0.017140556126832962, + 0.044549424201250076 + ], + [ + 0.26783984899520874, + 0.009469487704336643, + 0.03726181015372276 + ], + [ + 0.2672351896762848, + -0.0006884256727062166, + 0.029786577448248863 + ], + [ + 0.2683655321598053, + -0.005779746454209089, + 0.022434642538428307 + ], + [ + 0.27072590589523315, + -0.00898736622184515, + 0.019632017239928246 + ], + [ + 0.26663467288017273, + -0.015262982808053493, + 0.01982557401061058 + ], + [ + 0.26211580634117126, + -0.016553472727537155, + 0.027238747105002403 + ], + [ + 0.2633036971092224, + -0.016560163348913193, + 0.04848222807049751 + ], + [ + 0.2642213702201843, + -0.016797825694084167, + 0.07641801983118057 + ], + [ + 0.2707924246788025, + -0.020003248006105423, + 0.11044157296419144 + ], + [ + 0.27539631724357605, + -0.02955605834722519, + 0.14398658275604248 + ], + [ + 0.2727004587650299, + -0.0374453105032444, + 0.1526186317205429 + ], + [ + 0.2727004587650299, + -0.0374453105032444, + 0.1526186317205429 + ], + [ + 0.2727004587650299, + -0.0374453105032444, + 0.1526186317205429 + ], + [ + 0.27260148525238037, + -0.03810180723667145, + 0.15260864794254303 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9683931373569608, + -0.04263840462311126, + -0.24575739657462783, + -0.03915676343739824, + -0.9990516938235713, + 0.019038407111978347, + -0.24633611062337304, + -0.008813598552784217, + -0.9691443860867689 + ], + [ + 0.9787390049045452, + -0.04084014832472399, + -0.2010025934242537, + -0.03643713706020202, + -0.9990090699725019, + 0.025558035048362827, + -0.20184720786108817, + -0.017690686744494526, + -0.9792572411175684 + ], + [ + 0.9866919000918458, + -0.0057713354049249085, + -0.16249857224230296, + 0.005090224575928592, + -0.9977837348089228, + 0.06634537033225409, + -0.16252133369779398, + -0.06628959374141004, + -0.9844757517860403 + ], + [ + 0.9783884462829346, + 0.11393160606204143, + -0.17255618598065026, + 0.12988601008086018, + -0.9879519048439448, + 0.08414664640076615, + -0.16089025006301544, + -0.10474074114376263, + -0.9813988509160358 + ], + [ + 0.9234796293329632, + 0.3431259161591171, + -0.17160996435819026, + 0.3605329936178983, + -0.929095877691219, + 0.0824427714848284, + -0.13115385895950316, + -0.1380052742367107, + -0.9817093304858017 + ], + [ + 0.8698429446628763, + 0.46570179755326196, + -0.16277311625657578, + 0.4770324593525715, + -0.8781109309806809, + 0.03689479118085358, + -0.12575088208141263, + -0.10974073376783199, + -0.9859734717566413 + ], + [ + 0.8449733496580241, + 0.52168304332394, + -0.11775755039899019, + 0.5312048193081284, + -0.8441997666602401, + 0.07175091577544397, + -0.06197966046629567, + -0.12318098992567104, + -0.9904468513804335 + ], + [ + 0.8372822758835125, + 0.5398060695389653, + -0.08699309041653475, + 0.5465478331943499, + -0.8308237458785703, + 0.10496365711455356, + -0.01561590605397576, + -0.13543009478396728, + -0.9906638344589545 + ], + [ + 0.8375147859678942, + 0.5447846228236759, + -0.0421746134542795, + 0.5446744824292493, + -0.826201974035871, + 0.14394445557109714, + 0.043573977045733986, + -0.1435270456537558, + -0.9886866519228035 + ], + [ + 0.8334464965501753, + 0.5523046860161064, + 0.01806851385390988, + 0.539119345910858, + -0.8198577712824316, + 0.19283040665946052, + 0.12131474870306373, + -0.15097274148817177, + -0.9810657282132825 + ], + [ + 0.8203928169154203, + 0.566764139355444, + 0.07572341972114376, + 0.5338736065950261, + -0.8066580716926726, + 0.2535384143562441, + 0.20477938894039333, + -0.16757435875975218, + -0.9643569028899296 + ], + [ + 0.8082591245629902, + 0.5788838696370205, + 0.1077527402655603, + 0.535726616082366, + -0.7988964438713554, + 0.2734254282078367, + 0.24436485095366184, + -0.16327258632045616, + -0.9558388369252545 + ], + [ + 0.8329509751047572, + 0.5469605440324299, + 0.08382622706398057, + 0.5211200260424591, + -0.8263304520183399, + 0.21356943256157349, + 0.18608221712334666, + -0.1342093414741097, + -0.9733248487178087 + ], + [ + 0.8377005629666552, + 0.5437668111652254, + 0.05074861456779553, + 0.5241500152277192, + -0.8266045278684627, + 0.20491880353968805, + 0.15337707893336072, + -0.14506070998915443, + -0.9774624606987788 + ], + [ + 0.858844397637335, + 0.5095829008929007, + 0.052072716124082465, + 0.4908319599741114, + -0.8477724469427742, + 0.20091258117060107, + 0.1465274299062651, + -0.14699369143686813, + -0.9782241905426523 + ], + [ + 0.863129301149707, + 0.504979905270857, + 0.0017620355996432469, + 0.49638475558171513, + -0.8490689950530822, + 0.18078721211863882, + 0.09278999904568942, + -0.15516809244230942, + -0.983520655179603 + ], + [ + 0.8414115571849864, + 0.5385787247938636, + 0.04426678930024873, + 0.5299283426496517, + -0.8383859401836093, + 0.12761256583518346, + 0.10584206674158482, + -0.08391646144745116, + -0.9908357504682644 + ], + [ + 0.8162927551862715, + 0.5747078261740128, + 0.05811241145182942, + 0.5717470727125749, + -0.8181999040390913, + 0.06044999483063515, + 0.08228865459471164, + -0.016119291695442853, + -0.9964781712412117 + ], + [ + 0.7989013044578214, + 0.5910360005425377, + 0.11150404386511485, + 0.5965327467983286, + -0.8023049376768867, + -0.021341719155886573, + 0.07684652062932452, + 0.08356574083898852, + -0.993534790143354 + ], + [ + 0.8113224416834235, + 0.5751989756921974, + 0.10441280564899788, + 0.5836944186220683, + -0.8069734085536237, + -0.08997079279851132, + 0.03250724981130023, + 0.13394049518347237, + -0.9904560679099869 + ], + [ + 0.8463226916925816, + 0.5255511456270735, + 0.08679801182224094, + 0.5326649877998811, + -0.8342586670939937, + -0.14240957534767573, + -0.002431521823004615, + 0.16675871703939038, + -0.9859947352765128 + ], + [ + 0.8567728080494598, + 0.5091403611902602, + 0.08195393824640126, + 0.5150255373957812, + -0.8366986612478592, + -0.18623653265733606, + -0.026249785089224105, + 0.2017707681332742, + -0.9790809496204479 + ], + [ + 0.8561013652865144, + 0.5103505225833413, + 0.08144198213130961, + 0.5147618333069752, + -0.8280485637754059, + -0.2221617226255001, + -0.04594243490508611, + 0.2321161780841614, + -0.971602476605836 + ], + [ + 0.8626309976005744, + 0.4969533610982681, + 0.09436693738684199, + 0.5041275479617635, + -0.8293183586281192, + -0.24101135954228795, + -0.04151117156498484, + 0.2554768422685245, + -0.9659236024136721 + ], + [ + 0.8495907605290195, + 0.5161326825398191, + 0.10863974244249805, + 0.5261166398073696, + -0.8146883217809983, + -0.2438938696881551, + -0.037374067767965924, + 0.26436715448011044, + -0.9636976635286425 + ], + [ + 0.8637180312761603, + 0.5000938095761807, + 0.06242871192020364, + 0.49999132958553244, + -0.8347456552948432, + -0.23066937661005973, + -0.06324423126044415, + 0.23044711451863484, + -0.9710274427750794 + ], + [ + 0.8528973576929391, + 0.5206072937647624, + 0.039168136531277736, + 0.5163192998332552, + -0.8299985003036344, + -0.21099021331193235, + -0.07733354938252657, + 0.20017626026241936, + -0.97670312120278 + ], + [ + 0.8422967941608086, + 0.5371552196841097, + 0.044725613607197866, + 0.5365920816747592, + -0.827763374025503, + -0.16394125321548483, + -0.05103967506139696, + 0.1620866021237755, + -0.9854556737781747 + ], + [ + 0.835651611319438, + 0.5491483702639686, + 0.011065800271744886, + 0.5476518134288291, + -0.8314955091948225, + -0.09323470081979995, + -0.04199852077563912, + 0.08397193355681387, + -0.9955826628800785 + ], + [ + 0.8167128273535101, + 0.5752591366402912, + -0.0453550807308559, + 0.575318405911435, + -0.8178255022280462, + -0.013045295127724114, + -0.04459696688969817, + -0.015439352878635924, + -0.9988857476843527 + ], + [ + 0.8063196735026215, + 0.5866793883583297, + -0.07520558089744225, + 0.5903081648949939, + -0.8061905405230377, + 0.03991344171424634, + -0.03721363434186813, + -0.07657746174082819, + -0.9963689265389609 + ], + [ + 0.7905527608679126, + 0.6051003332017123, + -0.0942333223615598, + 0.6111550393289972, + -0.7893399928354793, + 0.05858236606059357, + -0.03893392077472717, + -0.1039036210613581, + -0.9938250285354283 + ], + [ + 0.7877597660135163, + 0.6087319876294296, + -0.09423331834895032, + 0.6147810481851516, + -0.7865191473234877, + 0.058582366680604486, + -0.03845534868775873, + -0.10408168969736373, + -0.9938250288793521 + ], + [ + 0.7877597660135163, + 0.6087319876294296, + -0.09423331834895032, + 0.6147810481851516, + -0.7865191473234877, + 0.058582366680604486, + -0.03845534868775873, + -0.10408168969736373, + -0.9938250288793521 + ], + [ + 0.7885002752586137, + 0.6077461392984508, + -0.09440310421230255, + 0.613761031666627, + -0.7874152311895082, + 0.057224555029213385, + -0.039556439736261266, + -0.10306252402596133, + -0.9938880239829787 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006388.json b/json/chunk-0006/episode_0006388.json new file mode 100644 index 0000000000000000000000000000000000000000..0bbe89779c7604a3f48d19f906d12ef01fc7a97e --- /dev/null +++ b/json/chunk-0006/episode_0006388.json @@ -0,0 +1,1762 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 28, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMoves the pot to the upper left burner of the stove." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006388.mp4", + "start": 0, + "end": 28, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.33574968576431274, + 0.017607729882001877, + 0.016118453815579414, + 0.04675599932670593, + -0.0026288889348506927, + -0.09543786942958832, + 0.0, + 0.9981546401977539 + ], + [ + 0.3294993042945862, + 0.016211524605751038, + 0.0030916498508304358, + 0.04024185985326767, + 0.039771828800439835, + -0.09613730013370514, + 0.0, + 0.9981546401977539 + ], + [ + 0.35068774223327637, + 0.003019774565473199, + -0.003694729181006551, + 0.034965772181749344, + 0.01029009185731411, + -0.13902559876441956, + 0.0, + 0.9981546401977539 + ], + [ + 0.3736167848110199, + -0.019554583355784416, + -0.0026411095168441534, + 0.02374196983873844, + -0.05028432980179787, + -0.24207912385463715, + 0.0, + 0.9981546401977539 + ], + [ + 0.40197303891181946, + -0.040602535009384155, + 0.0059807877987623215, + 0.02121066488325596, + -0.20095746219158173, + -0.34388217329978943, + 0.0, + 0.9981546401977539 + ], + [ + 0.43328332901000977, + -0.04993664473295212, + 0.014852861873805523, + 0.08424422144889832, + -0.42005372047424316, + -0.44727715849876404, + 0.0, + 0.9981546401977539 + ], + [ + 0.45252326130867004, + -0.05506299063563347, + 0.018591981381177902, + 0.1485823541879654, + -0.5586154460906982, + -0.521174430847168, + 0.0, + 0.9981546401977539 + ], + [ + 0.467422753572464, + -0.05572544410824776, + 0.0010664515430107713, + 0.1609494686126709, + -0.5458618402481079, + -0.5428241491317749, + 0.0, + 0.9981546401977539 + ], + [ + 0.48009616136550903, + -0.0563557967543602, + -0.01883861795067787, + 0.153194859623909, + -0.5338464379310608, + -0.5385106801986694, + 0.0, + 0.9981546401977539 + ], + [ + 0.4910525977611542, + -0.05727829411625862, + -0.03429971635341644, + 0.1526067852973938, + -0.5239749550819397, + -0.5437009930610657, + 0.0, + 0.9981546401977539 + ], + [ + 0.4995000660419464, + -0.05869493633508682, + -0.040883854031562805, + 0.1492912322282791, + -0.524249792098999, + -0.5455107688903809, + 0.0, + 0.9484345316886902 + ], + [ + 0.49952682852745056, + -0.0569533072412014, + -0.04215081408619881, + 0.15961165726184845, + -0.5178170800209045, + -0.5554614663124084, + 0.0, + 0.6701657772064209 + ], + [ + 0.499100923538208, + -0.05155418440699577, + -0.04384646937251091, + 0.17563225328922272, + -0.5187860727310181, + -0.5494579672813416, + 0.0, + 0.3788849711418152 + ], + [ + 0.4947129189968109, + -0.04702295362949371, + -0.0412161648273468, + 0.17451925575733185, + -0.520075798034668, + -0.5424553155899048, + 0.0, + 0.17243100702762604 + ], + [ + 0.4837435483932495, + -0.03170854598283768, + -0.03322383761405945, + 0.22780506312847137, + -0.4944915473461151, + -0.5856499075889587, + 0.0, + 0.08641935139894485 + ], + [ + 0.48276862502098083, + 0.0032544718123972416, + -0.020897386595606804, + 0.26093265414237976, + -0.5149359107017517, + -0.5440943241119385, + 0.0, + 0.08089608699083328 + ], + [ + 0.4851503372192383, + 0.039078861474990845, + -0.015233298763632774, + 0.27139607071876526, + -0.5205016732215881, + -0.4974648058414459, + 0.0, + 0.08089608699083328 + ], + [ + 0.4964747130870819, + 0.07195732742547989, + -0.013402339071035385, + 0.2758322060108185, + -0.5264477133750916, + -0.4570302963256836, + 0.0, + 0.08089608699083328 + ], + [ + 0.5043630003929138, + 0.10310477763414383, + -0.03132285550236702, + 0.25452494621276855, + -0.5139737129211426, + -0.3899281919002533, + 0.0, + 0.08089608699083328 + ], + [ + 0.5182545781135559, + 0.13042032718658447, + -0.03691822662949562, + 0.2751232385635376, + -0.5003938674926758, + -0.3607618510723114, + 0.0, + 0.08089608699083328 + ], + [ + 0.5226572155952454, + 0.14561353623867035, + -0.03624041751027107, + 0.2829626500606537, + -0.514667272567749, + -0.32508230209350586, + 0.0, + 0.08089608699083328 + ], + [ + 0.520592212677002, + 0.1504901647567749, + -0.03645234555006027, + 0.27592745423316956, + -0.5108683705329895, + -0.3048286437988281, + 0.0, + 0.08055824041366577 + ], + [ + 0.5106956362724304, + 0.1476597934961319, + -0.04012124612927437, + 0.2469993680715561, + -0.5107388496398926, + -0.27206695079803467, + 0.0, + 0.10633110255002975 + ], + [ + 0.49891579151153564, + 0.1406974196434021, + -0.03908227011561394, + 0.2084304392337799, + -0.5296382904052734, + -0.2458556890487671, + 0.0, + 0.27666032314300537 + ], + [ + 0.4936576783657074, + 0.12384305149316788, + -0.007782433647662401, + 0.22959700226783752, + -0.6200913786888123, + -0.31326061487197876, + 0.0, + 0.5521479845046997 + ], + [ + 0.47584089636802673, + 0.11190689355134964, + 0.027387987822294235, + 0.25275641679763794, + -0.6732247471809387, + -0.3428535461425781, + 0.0, + 0.8517581820487976 + ], + [ + 0.4413488507270813, + 0.09526417404413223, + 0.039124391973018646, + 0.2031872719526291, + -0.5045344829559326, + -0.33309781551361084, + 0.0, + 0.9968144297599792 + ], + [ + 0.4054291844367981, + 0.08360391855239868, + 0.03492000699043274, + 0.1755850613117218, + -0.2585948407649994, + -0.2924707531929016, + 0.0, + 0.9968144297599792 + ] + ], + "left_gripper_pos": [ + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9484345316886902 + ], + [ + 0.6701657772064209 + ], + [ + 0.3788849711418152 + ], + [ + 0.17243100702762604 + ], + [ + 0.08641935139894485 + ], + [ + 0.08089608699083328 + ], + [ + 0.08089608699083328 + ], + [ + 0.08089608699083328 + ], + [ + 0.08089608699083328 + ], + [ + 0.08089608699083328 + ], + [ + 0.08089608699083328 + ], + [ + 0.08055824041366577 + ], + [ + 0.10633110255002975 + ], + [ + 0.27666032314300537 + ], + [ + 0.5521479845046997 + ], + [ + 0.8517581820487976 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.33574968576431274, + 0.017607729882001877, + 0.016118453815579414 + ], + [ + 0.3294993042945862, + 0.016211524605751038, + 0.0030916498508304358 + ], + [ + 0.35068774223327637, + 0.003019774565473199, + -0.003694729181006551 + ], + [ + 0.3736167848110199, + -0.019554583355784416, + -0.0026411095168441534 + ], + [ + 0.40197303891181946, + -0.040602535009384155, + 0.0059807877987623215 + ], + [ + 0.43328332901000977, + -0.04993664473295212, + 0.014852861873805523 + ], + [ + 0.45252326130867004, + -0.05506299063563347, + 0.018591981381177902 + ], + [ + 0.467422753572464, + -0.05572544410824776, + 0.0010664515430107713 + ], + [ + 0.48009616136550903, + -0.0563557967543602, + -0.01883861795067787 + ], + [ + 0.4910525977611542, + -0.05727829411625862, + -0.03429971635341644 + ], + [ + 0.4995000660419464, + -0.05869493633508682, + -0.040883854031562805 + ], + [ + 0.49952682852745056, + -0.0569533072412014, + -0.04215081408619881 + ], + [ + 0.499100923538208, + -0.05155418440699577, + -0.04384646937251091 + ], + [ + 0.4947129189968109, + -0.04702295362949371, + -0.0412161648273468 + ], + [ + 0.4837435483932495, + -0.03170854598283768, + -0.03322383761405945 + ], + [ + 0.48276862502098083, + 0.0032544718123972416, + -0.020897386595606804 + ], + [ + 0.4851503372192383, + 0.039078861474990845, + -0.015233298763632774 + ], + [ + 0.4964747130870819, + 0.07195732742547989, + -0.013402339071035385 + ], + [ + 0.5043630003929138, + 0.10310477763414383, + -0.03132285550236702 + ], + [ + 0.5182545781135559, + 0.13042032718658447, + -0.03691822662949562 + ], + [ + 0.5226572155952454, + 0.14561353623867035, + -0.03624041751027107 + ], + [ + 0.520592212677002, + 0.1504901647567749, + -0.03645234555006027 + ], + [ + 0.5106956362724304, + 0.1476597934961319, + -0.04012124612927437 + ], + [ + 0.49891579151153564, + 0.1406974196434021, + -0.03908227011561394 + ], + [ + 0.4936576783657074, + 0.12384305149316788, + -0.007782433647662401 + ], + [ + 0.47584089636802673, + 0.11190689355134964, + 0.027387987822294235 + ], + [ + 0.4413488507270813, + 0.09526417404413223, + 0.039124391973018646 + ], + [ + 0.4054291844367981, + 0.08360391855239868, + 0.03492000699043274 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9954458224683669, + -0.0950666000871903, + 0.007067961384932139, + -0.09529272526885653, + -0.9943730817722354, + 0.04627602789373408, + 0.0026288859067848474, + -0.046738803949712436, + -0.9989036856295204 + ], + [ + 0.9945952245634606, + -0.09750381867144362, + -0.03568395465816622, + -0.0959133711337295, + -0.9944229637709626, + 0.043858800288411916, + -0.03976134446071067, + -0.040199184935289144, + -0.9984002509100324 + ], + [ + 0.9902990653784277, + -0.1388497268637158, + -0.005339893302679238, + -0.13857084418234863, + -0.989696304781598, + 0.03604643455657488, + -0.010289910262180874, + -0.03495679692880483, + -0.9993358494996938 + ], + [ + 0.9696145278988236, + -0.23849564188132646, + 0.054474728922273945, + -0.23941863727154225, + -0.9708540968565142, + 0.011001760948116019, + 0.05026314171019187, + -0.023709732612070728, + -0.9984545383565969 + ], + [ + 0.9225070270126612, + -0.33308303626853686, + 0.19502942358114414, + -0.33035978059469395, + -0.9426684404234164, + -0.047314128916309275, + 0.19960761628176035, + -0.02078226118149816, + -0.9796554992151563 + ], + [ + 0.8232468997067384, + -0.40003892652752104, + 0.4027820743106025, + -0.3949125859430205, + -0.913272171554741, + -0.09988989001637671, + 0.40780950404207056, + -0.07682966826946466, + -0.9098288907737345 + ], + [ + 0.73540642025383, + -0.4243689048457505, + 0.5282882069945013, + -0.42221324112697733, + -0.8967454718327281, + -0.1326029327147411, + 0.5300126187804396, + -0.12553322806140071, + -0.8386465480677687 + ], + [ + 0.7318226953362525, + -0.438641984591031, + 0.521563756356616, + -0.44149037603027774, + -0.8881628236023289, + -0.12748743719826602, + 0.5191548809974011, + -0.13696717900570035, + -0.8436339261858748 + ], + [ + 0.7390221771935059, + -0.4401926465726412, + 0.5099771127408991, + -0.4414970006213869, + -0.8882421188325236, + -0.12691074333651844, + 0.5088483271648724, + -0.13136351181086178, + -0.8507743576919959 + ], + [ + 0.7409835190244037, + -0.44620512867766965, + 0.501841018327473, + -0.4479035307074853, + -0.8851988827391296, + -0.12571939061722032, + 0.5003257456037812, + -0.13162036749356348, + -0.8557746357230269 + ], + [ + 0.7400541226154748, + -0.4494368129533427, + 0.5003263402642137, + -0.4491724468620468, + -0.8839835651369935, + -0.12968103002232992, + 0.5005636908324469, + -0.12876182559296348, + -0.8560703146880901 + ], + [ + 0.7382686225254445, + -0.4537897563906087, + 0.4990333636034114, + -0.4582026962400636, + -0.8803428852126125, + -0.12266496489979814, + 0.49498457567152393, + -0.13809873804812514, + -0.8578572191202896 + ], + [ + 0.740596735667586, + -0.44030736823212935, + 0.507588314088309, + -0.45351157949838994, + -0.8849318696698584, + -0.1059378747355465, + 0.495826302629652, + -0.15173993384440648, + -0.855062143997443 + ], + [ + 0.7432060382162315, + -0.43449874514436065, + 0.5087785620748081, + -0.44798386346123015, + -0.8879793258411977, + -0.10393832285043925, + 0.4969459154045673, + -0.15067699674000729, + -0.8546000232951837 + ], + [ + 0.733525777643841, + -0.4491419404093637, + 0.5101092538832346, + -0.48652831523717666, + -0.8710656916490285, + -0.0673406215034758, + 0.4745841674608132, + -0.19878651412334664, + -0.8574694104154478 + ], + [ + 0.7446463777041921, + -0.3914170187150315, + 0.5406426635331901, + -0.45051763143396767, + -0.8924012512715815, + -0.02557089157700404, + 0.4924790715747759, + -0.22452778043964167, + -0.8408636273925129 + ], + [ + 0.762416155276516, + -0.3425727143844305, + 0.5489677053640396, + -0.4140035777041955, + -0.910248703203631, + 0.006952407082031181, + 0.4973154369426931, + -0.23257522154217453, + -0.8358146460209386 + ], + [ + 0.7758611420657786, + -0.3018036348924186, + 0.5540343438796093, + -0.38153399701969787, + -0.9238332564845648, + 0.03104711470164781, + 0.5024652200407095, + -0.2354711875768408, + -0.83191467259004 + ], + [ + 0.8054324958433867, + -0.2533793395670793, + 0.5357960478764688, + -0.33100937923482704, + -0.9421923445481171, + 0.052022848187083595, + 0.49164141963230373, + -0.219254409660268, + -0.8427432695349516 + ], + [ + 0.8209142293284994, + -0.21776466654981613, + 0.5278999697749978, + -0.30970868436231996, + -0.9464481983621413, + 0.09119396168397258, + 0.47977115265150844, + -0.23835762588913406, + -0.8443964017355468 + ], + [ + 0.82486590748672, + -0.17644811690303328, + 0.5370868614176704, + -0.2780123145241079, + -0.9538349156742418, + 0.113613848687829, + 0.49224525151499315, + -0.24303295184416027, + -0.835840652683785 + ], + [ + 0.8321048964299782, + -0.16171251732372705, + 0.5305190883258387, + -0.2618092381578255, + -0.9577940454395485, + 0.11868651707655542, + 0.4889349283416708, + -0.23765443034239386, + -0.8393229459428343 + ], + [ + 0.8402951459029699, + -0.14544859110332073, + 0.52225355443306, + -0.23442947386559745, + -0.96610063488079, + 0.10813133248986329, + 0.48882194054175315, + -0.21329385980143267, + -0.8459071106309494 + ], + [ + 0.8370392618375375, + -0.1367197140798272, + 0.5297858000403559, + -0.2100399734150225, + -0.974381401996071, + 0.08039958340679919, + 0.5052212225454176, + -0.17857380330300554, + -0.8443120945856529 + ], + [ + 0.7742195961728043, + -0.17425977918926383, + 0.6084550486756839, + -0.2507902149368068, + -0.9671241403696975, + 0.04213270945624055, + 0.5811095292575834, + -0.18521454173763668, + -0.7924691088837137 + ], + [ + 0.736312814513582, + -0.17864583877217832, + 0.652632441327024, + -0.26282740444660246, + -0.9642929786356517, + 0.032570029564678055, + 0.6235103805510768, + -0.19551142074919003, + -0.7569742992345803 + ], + [ + 0.8272823685192101, + -0.22806124476586484, + 0.5134120678101466, + -0.28623127496333456, + -0.9574880213073255, + 0.035893541004575036, + 0.4833999792822815, + -0.17664868436766643, + -0.8573912189549545 + ], + [ + 0.9256966659719678, + -0.24111218764316558, + 0.2914628545429247, + -0.2787324052897081, + -0.9556912681476393, + 0.09467019714657288, + 0.2557223667374387, + -0.1688760283648451, + -0.9518860006292345 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0062503814697265625, + -0.0013962052762508392, + -0.013026803731918335, + -0.006514139473438263, + 0.04240071773529053, + -0.0006994307041168213, + 1.0 + ], + [ + 0.021188437938690186, + -0.013191750273108482, + -0.0067863790318369865, + -0.005276087671518326, + -0.029481736943125725, + -0.042888298630714417, + 1.0 + ], + [ + 0.02292904257774353, + -0.02257435768842697, + 0.0010536196641623974, + -0.011223802343010902, + -0.06057441979646683, + -0.10305352509021759, + 1.0 + ], + [ + 0.02835625410079956, + -0.02104795165359974, + 0.008621897548437119, + -0.002531304955482483, + -0.15067313611507416, + -0.10180304944515228, + 1.0 + ], + [ + 0.03131029009819031, + -0.009334109723567963, + 0.008872074075043201, + 0.0630335584282875, + -0.21909625828266144, + -0.10339498519897461, + 1.0 + ], + [ + 0.01923993229866028, + -0.005126345902681351, + 0.0037391195073723793, + 0.06433813273906708, + -0.13856172561645508, + -0.07389727234840393, + 1.0 + ], + [ + 0.014899492263793945, + -0.0006624534726142883, + -0.017525529488921165, + 0.012367114424705505, + 0.012753605842590332, + -0.021649718284606934, + 1.0 + ], + [ + 0.012673407793045044, + -0.000630352646112442, + -0.01990506984293461, + -0.007754608988761902, + 0.01201540231704712, + 0.004313468933105469, + 1.0 + ], + [ + 0.010956436395645142, + -0.0009224973618984222, + -0.015461098402738571, + -0.0005880743265151978, + 0.009871482849121094, + -0.00519031286239624, + 1.0 + ], + [ + 0.008447468280792236, + -0.0014166422188282013, + -0.006584137678146362, + -0.003315553069114685, + -0.00027483701705932617, + -0.0018097758293151855, + 0.0 + ], + [ + 2.676248550415039e-05, + 0.0017416290938854218, + -0.0012669600546360016, + 0.010320425033569336, + 0.006432712078094482, + -0.009950697422027588, + 0.0 + ], + [ + -0.0004259049892425537, + 0.0053991228342056274, + -0.0016956552863121033, + 0.016020596027374268, + -0.0009689927101135254, + 0.0060034990310668945, + 0.0 + ], + [ + -0.004388004541397095, + 0.00453123077750206, + 0.0026303045451641083, + -0.0011129975318908691, + -0.0012897253036499023, + 0.007002651691436768, + 0.0 + ], + [ + -0.010969370603561401, + 0.015314407646656036, + 0.007992327213287354, + 0.053285807371139526, + 0.025584250688552856, + -0.043194591999053955, + 0.0 + ], + [ + -0.0009749233722686768, + 0.03496301919221878, + 0.012326451018452644, + 0.033127591013908386, + -0.020444363355636597, + 0.041555583477020264, + 0.0 + ], + [ + 0.0023817121982574463, + 0.03582438826560974, + 0.0056640878319740295, + 0.010463416576385498, + -0.005565762519836426, + 0.046629518270492554, + 0.0 + ], + [ + 0.011324375867843628, + 0.032878465950489044, + 0.0018309596925973892, + 0.004436135292053223, + -0.005946040153503418, + 0.04043450951576233, + 0.0 + ], + [ + 0.00788828730583191, + 0.03114745020866394, + -0.017920516431331635, + -0.021307259798049927, + 0.012474000453948975, + 0.0671021044254303, + 0.0 + ], + [ + 0.01389157772064209, + 0.027315549552440643, + -0.005595371127128601, + 0.020598292350769043, + 0.013579845428466797, + 0.029166340827941895, + 0.0 + ], + [ + 0.004402637481689453, + 0.015193209052085876, + 0.0006778091192245483, + 0.007839411497116089, + -0.014273405075073242, + 0.03567954897880554, + 0.0 + ], + [ + -0.002065002918243408, + 0.004876628518104553, + -0.00021192803978919983, + -0.007035195827484131, + 0.0037989020347595215, + 0.020253658294677734, + 0.0 + ], + [ + -0.009896576404571533, + -0.0028303712606430054, + -0.003668900579214096, + -0.028928086161613464, + 0.00012952089309692383, + 0.03276169300079346, + 1.0 + ], + [ + -0.011779844760894775, + -0.006962373852729797, + 0.001038976013660431, + -0.038568928837776184, + -0.01889944076538086, + 0.026211261749267578, + 1.0 + ], + [ + -0.005258113145828247, + -0.016854368150234222, + 0.031299836933612823, + 0.021166563034057617, + -0.09045308828353882, + -0.06740492582321167, + 1.0 + ], + [ + -0.017816781997680664, + -0.011936157941818237, + 0.03517042100429535, + 0.023159414529800415, + -0.053133368492126465, + -0.029592931270599365, + 1.0 + ], + [ + -0.034492045640945435, + -0.016642719507217407, + 0.011736404150724411, + -0.04956914484500885, + 0.1686902642250061, + 0.009755730628967285, + 1.0 + ], + [ + -0.0359196662902832, + -0.011660255491733551, + -0.004204384982585907, + -0.027602210640907288, + 0.24593964219093323, + 0.04062706232070923, + 1.0 + ], + [ + -0.02378961443901062, + -0.013466015458106995, + 0.0012977942824363708, + -0.07704801112413406, + 0.20818427205085754, + 0.06873981654644012, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9484345316886902 + ], + [ + 0.6701657772064209 + ], + [ + 0.3788849711418152 + ], + [ + 0.17243100702762604 + ], + [ + 0.08641935139894485 + ], + [ + 0.08089608699083328 + ], + [ + 0.08089608699083328 + ], + [ + 0.08089608699083328 + ], + [ + 0.08089608699083328 + ], + [ + 0.08089608699083328 + ], + [ + 0.08089608699083328 + ], + [ + 0.08055824041366577 + ], + [ + 0.10633110255002975 + ], + [ + 0.27666032314300537 + ], + [ + 0.5521479845046997 + ], + [ + 0.8517581820487976 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3294993042945862, + 0.016211524605751038, + 0.0030916498508304358 + ], + [ + 0.35068774223327637, + 0.003019774565473199, + -0.003694729181006551 + ], + [ + 0.3736167848110199, + -0.019554583355784416, + -0.0026411095168441534 + ], + [ + 0.40197303891181946, + -0.040602535009384155, + 0.0059807877987623215 + ], + [ + 0.43328332901000977, + -0.04993664473295212, + 0.014852861873805523 + ], + [ + 0.45252326130867004, + -0.05506299063563347, + 0.018591981381177902 + ], + [ + 0.467422753572464, + -0.05572544410824776, + 0.0010664515430107713 + ], + [ + 0.48009616136550903, + -0.0563557967543602, + -0.01883861795067787 + ], + [ + 0.4910525977611542, + -0.05727829411625862, + -0.03429971635341644 + ], + [ + 0.4995000660419464, + -0.05869493633508682, + -0.040883854031562805 + ], + [ + 0.49952682852745056, + -0.0569533072412014, + -0.04215081408619881 + ], + [ + 0.499100923538208, + -0.05155418440699577, + -0.04384646937251091 + ], + [ + 0.4947129189968109, + -0.04702295362949371, + -0.0412161648273468 + ], + [ + 0.4837435483932495, + -0.03170854598283768, + -0.03322383761405945 + ], + [ + 0.48276862502098083, + 0.0032544718123972416, + -0.020897386595606804 + ], + [ + 0.4851503372192383, + 0.039078861474990845, + -0.015233298763632774 + ], + [ + 0.4964747130870819, + 0.07195732742547989, + -0.013402339071035385 + ], + [ + 0.5043630003929138, + 0.10310477763414383, + -0.03132285550236702 + ], + [ + 0.5182545781135559, + 0.13042032718658447, + -0.03691822662949562 + ], + [ + 0.5226572155952454, + 0.14561353623867035, + -0.03624041751027107 + ], + [ + 0.520592212677002, + 0.1504901647567749, + -0.03645234555006027 + ], + [ + 0.5106956362724304, + 0.1476597934961319, + -0.04012124612927437 + ], + [ + 0.49891579151153564, + 0.1406974196434021, + -0.03908227011561394 + ], + [ + 0.4936576783657074, + 0.12384305149316788, + -0.007782433647662401 + ], + [ + 0.47584089636802673, + 0.11190689355134964, + 0.027387987822294235 + ], + [ + 0.4413488507270813, + 0.09526417404413223, + 0.039124391973018646 + ], + [ + 0.4054291844367981, + 0.08360391855239868, + 0.03492000699043274 + ], + [ + 0.3816395699977875, + 0.07013790309429169, + 0.03621780127286911 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9945952245634606, + -0.09750381867144362, + -0.03568395465816622, + -0.0959133711337295, + -0.9944229637709626, + 0.043858800288411916, + -0.03976134446071067, + -0.040199184935289144, + -0.9984002509100324 + ], + [ + 0.9902990653784277, + -0.1388497268637158, + -0.005339893302679238, + -0.13857084418234863, + -0.989696304781598, + 0.03604643455657488, + -0.010289910262180874, + -0.03495679692880483, + -0.9993358494996938 + ], + [ + 0.9696145278988236, + -0.23849564188132646, + 0.054474728922273945, + -0.23941863727154225, + -0.9708540968565142, + 0.011001760948116019, + 0.05026314171019187, + -0.023709732612070728, + -0.9984545383565969 + ], + [ + 0.9225070270126612, + -0.33308303626853686, + 0.19502942358114414, + -0.33035978059469395, + -0.9426684404234164, + -0.047314128916309275, + 0.19960761628176035, + -0.02078226118149816, + -0.9796554992151563 + ], + [ + 0.8232468997067384, + -0.40003892652752104, + 0.4027820743106025, + -0.3949125859430205, + -0.913272171554741, + -0.09988989001637671, + 0.40780950404207056, + -0.07682966826946466, + -0.9098288907737345 + ], + [ + 0.73540642025383, + -0.4243689048457505, + 0.5282882069945013, + -0.42221324112697733, + -0.8967454718327281, + -0.1326029327147411, + 0.5300126187804396, + -0.12553322806140071, + -0.8386465480677687 + ], + [ + 0.7318226953362525, + -0.438641984591031, + 0.521563756356616, + -0.44149037603027774, + -0.8881628236023289, + -0.12748743719826602, + 0.5191548809974011, + -0.13696717900570035, + -0.8436339261858748 + ], + [ + 0.7390221771935059, + -0.4401926465726412, + 0.5099771127408991, + -0.4414970006213869, + -0.8882421188325236, + -0.12691074333651844, + 0.5088483271648724, + -0.13136351181086178, + -0.8507743576919959 + ], + [ + 0.7409835190244037, + -0.44620512867766965, + 0.501841018327473, + -0.4479035307074853, + -0.8851988827391296, + -0.12571939061722032, + 0.5003257456037812, + -0.13162036749356348, + -0.8557746357230269 + ], + [ + 0.7400541226154748, + -0.4494368129533427, + 0.5003263402642137, + -0.4491724468620468, + -0.8839835651369935, + -0.12968103002232992, + 0.5005636908324469, + -0.12876182559296348, + -0.8560703146880901 + ], + [ + 0.7382686225254445, + -0.4537897563906087, + 0.4990333636034114, + -0.4582026962400636, + -0.8803428852126125, + -0.12266496489979814, + 0.49498457567152393, + -0.13809873804812514, + -0.8578572191202896 + ], + [ + 0.740596735667586, + -0.44030736823212935, + 0.507588314088309, + -0.45351157949838994, + -0.8849318696698584, + -0.1059378747355465, + 0.495826302629652, + -0.15173993384440648, + -0.855062143997443 + ], + [ + 0.7432060382162315, + -0.43449874514436065, + 0.5087785620748081, + -0.44798386346123015, + -0.8879793258411977, + -0.10393832285043925, + 0.4969459154045673, + -0.15067699674000729, + -0.8546000232951837 + ], + [ + 0.733525777643841, + -0.4491419404093637, + 0.5101092538832346, + -0.48652831523717666, + -0.8710656916490285, + -0.0673406215034758, + 0.4745841674608132, + -0.19878651412334664, + -0.8574694104154478 + ], + [ + 0.7446463777041921, + -0.3914170187150315, + 0.5406426635331901, + -0.45051763143396767, + -0.8924012512715815, + -0.02557089157700404, + 0.4924790715747759, + -0.22452778043964167, + -0.8408636273925129 + ], + [ + 0.762416155276516, + -0.3425727143844305, + 0.5489677053640396, + -0.4140035777041955, + -0.910248703203631, + 0.006952407082031181, + 0.4973154369426931, + -0.23257522154217453, + -0.8358146460209386 + ], + [ + 0.7758611420657786, + -0.3018036348924186, + 0.5540343438796093, + -0.38153399701969787, + -0.9238332564845648, + 0.03104711470164781, + 0.5024652200407095, + -0.2354711875768408, + -0.83191467259004 + ], + [ + 0.8054324958433867, + -0.2533793395670793, + 0.5357960478764688, + -0.33100937923482704, + -0.9421923445481171, + 0.052022848187083595, + 0.49164141963230373, + -0.219254409660268, + -0.8427432695349516 + ], + [ + 0.8209142293284994, + -0.21776466654981613, + 0.5278999697749978, + -0.30970868436231996, + -0.9464481983621413, + 0.09119396168397258, + 0.47977115265150844, + -0.23835762588913406, + -0.8443964017355468 + ], + [ + 0.82486590748672, + -0.17644811690303328, + 0.5370868614176704, + -0.2780123145241079, + -0.9538349156742418, + 0.113613848687829, + 0.49224525151499315, + -0.24303295184416027, + -0.835840652683785 + ], + [ + 0.8321048964299782, + -0.16171251732372705, + 0.5305190883258387, + -0.2618092381578255, + -0.9577940454395485, + 0.11868651707655542, + 0.4889349283416708, + -0.23765443034239386, + -0.8393229459428343 + ], + [ + 0.8402951459029699, + -0.14544859110332073, + 0.52225355443306, + -0.23442947386559745, + -0.96610063488079, + 0.10813133248986329, + 0.48882194054175315, + -0.21329385980143267, + -0.8459071106309494 + ], + [ + 0.8370392618375375, + -0.1367197140798272, + 0.5297858000403559, + -0.2100399734150225, + -0.974381401996071, + 0.08039958340679919, + 0.5052212225454176, + -0.17857380330300554, + -0.8443120945856529 + ], + [ + 0.7742195961728043, + -0.17425977918926383, + 0.6084550486756839, + -0.2507902149368068, + -0.9671241403696975, + 0.04213270945624055, + 0.5811095292575834, + -0.18521454173763668, + -0.7924691088837137 + ], + [ + 0.736312814513582, + -0.17864583877217832, + 0.652632441327024, + -0.26282740444660246, + -0.9642929786356517, + 0.032570029564678055, + 0.6235103805510768, + -0.19551142074919003, + -0.7569742992345803 + ], + [ + 0.8272823685192101, + -0.22806124476586484, + 0.5134120678101466, + -0.28623127496333456, + -0.9574880213073255, + 0.035893541004575036, + 0.4833999792822815, + -0.17664868436766643, + -0.8573912189549545 + ], + [ + 0.9256966659719678, + -0.24111218764316558, + 0.2914628545429247, + -0.2787324052897081, + -0.9556912681476393, + 0.09467019714657288, + 0.2557223667374387, + -0.1688760283648451, + -0.9518860006292345 + ], + [ + 0.9738377755693345, + -0.21595922949515828, + 0.07072197727741797, + -0.22158725722806255, + -0.9714463541469558, + 0.084800167739995, + 0.05038922809802204, + -0.09825269569047161, + -0.9938849699443294 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006389.json b/json/chunk-0006/episode_0006389.json new file mode 100644 index 0000000000000000000000000000000000000000..174ca314d41d9adfd25a8d7255b84451613193f4 --- /dev/null +++ b/json/chunk-0006/episode_0006389.json @@ -0,0 +1,2422 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 39, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut the broccoli on the bottom left side of the burner." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006389.mp4", + "start": 0, + "end": 39, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2821642756462097, + 0.13600686192512512, + 0.11308407783508301, + 0.004473173525184393, + -0.4262031614780426, + 0.17032453417778015, + 0.0, + 0.9981546401977539 + ], + [ + 0.2814968228340149, + 0.13503362238407135, + 0.10590153932571411, + -0.004761263262480497, + -0.40319445729255676, + 0.17223000526428223, + 0.0, + 0.9988223910331726 + ], + [ + 0.2889613211154938, + 0.11939642578363419, + 0.10610092431306839, + -0.01323016732931137, + -0.397390216588974, + 0.1254747360944748, + 0.0, + 0.9988223910331726 + ], + [ + 0.30459144711494446, + 0.10342820733785629, + 0.10852348059415817, + 0.0038059400394558907, + -0.3858524262905121, + 0.080313540995121, + 0.0, + 0.9981546401977539 + ], + [ + 0.3165627717971802, + 0.07814789563417435, + 0.11272735893726349, + -0.0407857671380043, + -0.41359490156173706, + 0.04486974701285362, + 0.0, + 0.9981546401977539 + ], + [ + 0.329342246055603, + 0.03340805694460869, + 0.11926040798425674, + -0.0440080352127552, + -0.43300944566726685, + -0.09427966922521591, + 0.0, + 0.9988223910331726 + ], + [ + 0.34267327189445496, + -0.00791843794286251, + 0.11190447211265564, + -0.08433622121810913, + -0.4291931092739105, + -0.2052992433309555, + 0.0, + 0.9988223910331726 + ], + [ + 0.3560451865196228, + -0.04164528846740723, + 0.10495182871818542, + -0.13168103992938995, + -0.42730817198753357, + -0.2713156044483185, + 0.0, + 0.9988223910331726 + ], + [ + 0.37038591504096985, + -0.07278689742088318, + 0.09681671112775803, + -0.169221892952919, + -0.42321377992630005, + -0.3264339864253998, + 0.0, + 0.9988223910331726 + ], + [ + 0.37932059168815613, + -0.09775427728891373, + 0.08760591596364975, + -0.15924419462680817, + -0.40349459648132324, + -0.36725249886512756, + 0.0, + 0.9981546401977539 + ], + [ + 0.38203340768814087, + -0.10074785351753235, + 0.07059013843536377, + -0.11065392941236496, + -0.3805832266807556, + -0.3901238441467285, + 0.0, + 0.9988223910331726 + ], + [ + 0.3846237063407898, + -0.09473966062068939, + 0.053827039897441864, + -0.04356851056218147, + -0.34833353757858276, + -0.41381770372390747, + 0.0, + 0.9988223910331726 + ], + [ + 0.3864685893058777, + -0.09080252796411514, + 0.03977504000067711, + -0.0041606794111430645, + -0.3259744942188263, + -0.43398505449295044, + 0.0, + 0.9981546401977539 + ], + [ + 0.3898649215698242, + -0.0933607965707779, + 0.0333966501057148, + 0.013727370649576187, + -0.3226683735847473, + -0.45297572016716003, + 0.0, + 0.9988223910331726 + ], + [ + 0.3939675986766815, + -0.09836652129888535, + 0.024539202451705933, + 0.0010586325079202652, + -0.3122997283935547, + -0.4585600793361664, + 0.0, + 0.9988223910331726 + ], + [ + 0.3917214572429657, + -0.10509494692087173, + 0.016784721985459328, + 0.0018619089387357235, + -0.2999121844768524, + -0.4685070514678955, + 0.0, + 0.9476637244224548 + ], + [ + 0.3947930335998535, + -0.10321790724992752, + 0.014468243345618248, + 0.02916618250310421, + -0.3079334795475006, + -0.4745592474937439, + 0.0, + 0.6941980719566345 + ], + [ + 0.39610522985458374, + -0.1027926579117775, + 0.01459899079054594, + 0.028346698731184006, + -0.31707778573036194, + -0.4619450569152832, + 0.0, + 0.6711689233779907 + ], + [ + 0.3953845798969269, + -0.1020466759800911, + 0.012979350052773952, + 0.03385887295007706, + -0.3137761950492859, + -0.4590347707271576, + 0.0, + 0.6711689233779907 + ], + [ + 0.39342406392097473, + -0.10266821086406708, + 0.012011257000267506, + 0.03911980986595154, + -0.3073619306087494, + -0.4568747580051422, + 0.0, + 0.6711689233779907 + ], + [ + 0.39122751355171204, + -0.10264559835195541, + 0.017295094206929207, + 0.03410697728395462, + -0.3067789077758789, + -0.45169615745544434, + 0.0, + 0.6711689233779907 + ], + [ + 0.39272087812423706, + -0.10567700862884521, + 0.04851232469081879, + 0.009907779283821583, + -0.3794909119606018, + -0.4114171266555786, + 0.0, + 0.6711689233779907 + ], + [ + 0.3885329067707062, + -0.09690722078084946, + 0.08708932995796204, + -0.011687397956848145, + -0.45007967948913574, + -0.3759538233280182, + 0.0, + 0.6711689233779907 + ], + [ + 0.3768562972545624, + -0.07937005162239075, + 0.11461064219474792, + -0.06583904474973679, + -0.49279674887657166, + -0.32765451073646545, + 0.0, + 0.6711689233779907 + ], + [ + 0.3538481891155243, + -0.03761288896203041, + 0.14123253524303436, + -0.06561366468667984, + -0.49083176255226135, + -0.2613973021507263, + 0.0, + 0.6711689233779907 + ], + [ + 0.3293479382991791, + 0.0027674015145748854, + 0.1529977172613144, + -0.005693039391189814, + -0.5064428448677063, + -0.25654396414756775, + 0.0, + 0.6711689233779907 + ], + [ + 0.3151009976863861, + 0.0457439161837101, + 0.14356392621994019, + 0.013670731335878372, + -0.48909395933151245, + -0.2189379334449768, + 0.0, + 0.6711689233779907 + ], + [ + 0.30843353271484375, + 0.08549926429986954, + 0.12468567490577698, + 0.037055496126413345, + -0.4621236026287079, + -0.17717716097831726, + 0.0, + 0.6711689233779907 + ], + [ + 0.3024654984474182, + 0.10307895392179489, + 0.09550236910581589, + 0.0372282937169075, + -0.41822415590286255, + -0.1770453155040741, + 0.0, + 0.6711689233779907 + ], + [ + 0.2866770327091217, + 0.11503423005342484, + 0.06780260056257248, + 0.07562989741563797, + -0.3315702974796295, + -0.19497254490852356, + 0.0, + 0.6711689233779907 + ], + [ + 0.2681959867477417, + 0.1323583424091339, + 0.0414128340780735, + 0.08388127386569977, + -0.27442121505737305, + -0.15612828731536865, + 0.0, + 0.6711689233779907 + ], + [ + 0.26520827412605286, + 0.13959260284900665, + 0.029908685013651848, + 0.09850114583969116, + -0.2468404620885849, + -0.1528705209493637, + 0.0, + 0.6711689233779907 + ], + [ + 0.26026374101638794, + 0.1429966539144516, + 0.0187365785241127, + 0.08160132169723511, + -0.21354378759860992, + -0.13235299289226532, + 0.0, + 0.7141282558441162 + ], + [ + 0.26366034150123596, + 0.1470160186290741, + 0.017751354724168777, + 0.07456665486097336, + -0.19438964128494263, + -0.10852359235286713, + 0.0, + 0.9872581958770752 + ], + [ + 0.26324835419654846, + 0.14813192188739777, + 0.018171025440096855, + 0.0769856721162796, + -0.18920904397964478, + -0.09644284099340439, + 0.0, + 1.0041072368621826 + ], + [ + 0.26133835315704346, + 0.14775410294532776, + 0.017235569655895233, + 0.08877333253622055, + -0.16506503522396088, + -0.08837982267141342, + 0.0, + 1.0001531839370728 + ], + [ + 0.2627842128276825, + 0.14485275745391846, + 0.022546064108610153, + 0.07475049048662186, + -0.16828973591327667, + -0.09836436063051224, + 0.0, + 1.0001531839370728 + ], + [ + 0.26766839623451233, + 0.14222289621829987, + 0.05840574949979782, + 0.09404291957616806, + -0.2571937143802643, + -0.09931805729866028, + 0.0, + 1.0001531839370728 + ], + [ + 0.2614997327327728, + 0.14021196961402893, + 0.09067340940237045, + 0.086189866065979, + -0.3160187602043152, + -0.06004801765084267, + 0.0, + 1.0001531839370728 + ] + ], + "left_gripper_pos": [ + [ + 0.9981546401977539 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9981546401977539 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9981546401977539 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9476637244224548 + ], + [ + 0.6941980719566345 + ], + [ + 0.6711689233779907 + ], + [ + 0.6711689233779907 + ], + [ + 0.6711689233779907 + ], + [ + 0.6711689233779907 + ], + [ + 0.6711689233779907 + ], + [ + 0.6711689233779907 + ], + [ + 0.6711689233779907 + ], + [ + 0.6711689233779907 + ], + [ + 0.6711689233779907 + ], + [ + 0.6711689233779907 + ], + [ + 0.6711689233779907 + ], + [ + 0.6711689233779907 + ], + [ + 0.6711689233779907 + ], + [ + 0.6711689233779907 + ], + [ + 0.6711689233779907 + ], + [ + 0.7141282558441162 + ], + [ + 0.9872581958770752 + ], + [ + 1.0041072368621826 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2821642756462097, + 0.13600686192512512, + 0.11308407783508301 + ], + [ + 0.2814968228340149, + 0.13503362238407135, + 0.10590153932571411 + ], + [ + 0.2889613211154938, + 0.11939642578363419, + 0.10610092431306839 + ], + [ + 0.30459144711494446, + 0.10342820733785629, + 0.10852348059415817 + ], + [ + 0.3165627717971802, + 0.07814789563417435, + 0.11272735893726349 + ], + [ + 0.329342246055603, + 0.03340805694460869, + 0.11926040798425674 + ], + [ + 0.34267327189445496, + -0.00791843794286251, + 0.11190447211265564 + ], + [ + 0.3560451865196228, + -0.04164528846740723, + 0.10495182871818542 + ], + [ + 0.37038591504096985, + -0.07278689742088318, + 0.09681671112775803 + ], + [ + 0.37932059168815613, + -0.09775427728891373, + 0.08760591596364975 + ], + [ + 0.38203340768814087, + -0.10074785351753235, + 0.07059013843536377 + ], + [ + 0.3846237063407898, + -0.09473966062068939, + 0.053827039897441864 + ], + [ + 0.3864685893058777, + -0.09080252796411514, + 0.03977504000067711 + ], + [ + 0.3898649215698242, + -0.0933607965707779, + 0.0333966501057148 + ], + [ + 0.3939675986766815, + -0.09836652129888535, + 0.024539202451705933 + ], + [ + 0.3917214572429657, + -0.10509494692087173, + 0.016784721985459328 + ], + [ + 0.3947930335998535, + -0.10321790724992752, + 0.014468243345618248 + ], + [ + 0.39610522985458374, + -0.1027926579117775, + 0.01459899079054594 + ], + [ + 0.3953845798969269, + -0.1020466759800911, + 0.012979350052773952 + ], + [ + 0.39342406392097473, + -0.10266821086406708, + 0.012011257000267506 + ], + [ + 0.39122751355171204, + -0.10264559835195541, + 0.017295094206929207 + ], + [ + 0.39272087812423706, + -0.10567700862884521, + 0.04851232469081879 + ], + [ + 0.3885329067707062, + -0.09690722078084946, + 0.08708932995796204 + ], + [ + 0.3768562972545624, + -0.07937005162239075, + 0.11461064219474792 + ], + [ + 0.3538481891155243, + -0.03761288896203041, + 0.14123253524303436 + ], + [ + 0.3293479382991791, + 0.0027674015145748854, + 0.1529977172613144 + ], + [ + 0.3151009976863861, + 0.0457439161837101, + 0.14356392621994019 + ], + [ + 0.30843353271484375, + 0.08549926429986954, + 0.12468567490577698 + ], + [ + 0.3024654984474182, + 0.10307895392179489, + 0.09550236910581589 + ], + [ + 0.2866770327091217, + 0.11503423005342484, + 0.06780260056257248 + ], + [ + 0.2681959867477417, + 0.1323583424091339, + 0.0414128340780735 + ], + [ + 0.26520827412605286, + 0.13959260284900665, + 0.029908685013651848 + ], + [ + 0.26026374101638794, + 0.1429966539144516, + 0.0187365785241127 + ], + [ + 0.26366034150123596, + 0.1470160186290741, + 0.017751354724168777 + ], + [ + 0.26324835419654846, + 0.14813192188739777, + 0.018171025440096855 + ], + [ + 0.26133835315704346, + 0.14775410294532776, + 0.017235569655895233 + ], + [ + 0.2627842128276825, + 0.14485275745391846, + 0.022546064108610153 + ], + [ + 0.26766839623451233, + 0.14222289621829987, + 0.05840574949979782 + ], + [ + 0.2614997327327728, + 0.14021196961402893, + 0.09067340940237045 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8973662692491009, + 0.1713230189489151, + 0.4066721062381586, + 0.15433886612445624, + -0.9852064930052317, + 0.07448275333088869, + 0.4134166097502224, + -0.004072998718698824, + -0.9105328755536893 + ], + [ + 0.9062037290709208, + 0.1695373662215421, + 0.38736530933037916, + 0.15763723775094837, + -0.9855140292529897, + 0.06255077473372155, + 0.39235864039448476, + 0.00437945204340905, + -0.9198018904675024 + ], + [ + 0.9148251458893188, + 0.12005495060868404, + 0.3855927401844249, + 0.11539366278060498, + -0.9926922973158141, + 0.03530305142516578, + 0.3870132491771606, + 0.012198839461125542, + -0.9219934562008232 + ], + [ + 0.9234915511721566, + 0.08165438849456226, + 0.3748278481559542, + 0.07432875871218571, + -0.9966544673960224, + 0.0339868834678423, + 0.37634902755547234, + -0.003526111049033309, + -0.9264712494184157 + ], + [ + 0.9147603245644236, + 0.028446477189929348, + 0.402994226432927, + 0.041072631804664694, + -0.9988977867701229, + -0.022721146590537845, + 0.40190370428677175, + 0.03733643691132153, + -0.9149204353162838 + ], + [ + 0.9036759246633196, + -0.11242693862013507, + 0.41319487733562105, + -0.08545160071709028, + -0.9928572395104953, + -0.08326179127598782, + 0.41960439358851037, + 0.039933512544022026, + -0.9068282458421303 + ], + [ + 0.8902065069813538, + -0.23745329327041909, + 0.3887779680525753, + -0.18537038624441826, + -0.9683743878031439, + -0.1669995956596348, + 0.4161372307684715, + 0.07659620461823596, + -0.9060699899049903 + ], + [ + 0.8767929308493085, + -0.31810246627454053, + 0.36061749453227415, + -0.24390189620032984, + -0.9404955088228242, + -0.23660106279131762, + 0.4144225156076387, + 0.1194948485674269, + -0.9022056083417375 + ], + [ + 0.8636247047840483, + -0.38160141490703386, + 0.3294430594618973, + -0.2923761033107622, + -0.9114826844830253, + -0.28933636152483894, + 0.4106928091645627, + 0.15355675181693446, + -0.8987500990108165 + ], + [ + 0.8583668584866396, + -0.41261871099157976, + 0.3048805267501093, + -0.3302186139114215, + -0.8991535649643458, + -0.2871907617565844, + 0.39263469444026017, + 0.14583780700337923, + -0.9080579996730651 + ], + [ + 0.858686380963867, + -0.4159148098274046, + 0.29945378627329344, + -0.35309157549513204, + -0.9036056131185259, + -0.24253501861599075, + 0.37146202829029906, + 0.1025269082091494, + -0.9227698492210993 + ], + [ + 0.860604488236856, + -0.41533788935332877, + 0.2947106250105359, + -0.37795826093530965, + -0.9087455307521602, + -0.1770003201373675, + 0.3413319027242181, + 0.040938954621438525, + -0.9390508687910194 + ], + [ + 0.8595182030295475, + -0.42169498534047517, + 0.288793694528732, + -0.39834639657348664, + -0.9067291786526344, + -0.13842812184248587, + 0.3202321142511734, + 0.003941562966144105, + -0.9473309121334572 + ], + [ + 0.8527461037079782, + -0.43368804298991803, + 0.2910992339021817, + -0.4150574869747611, + -0.9009690334739184, + -0.12642026430627917, + 0.31709835243510515, + -0.013018528666805335, + -0.9483033021108245 + ], + [ + 0.853317435352132, + -0.4423654946456033, + 0.27597486057793624, + -0.42124584284907257, + -0.8968342958653719, + -0.13505623140765372, + 0.3072479363745753, + -0.0010074257362049088, + -0.9516289669230081 + ], + [ + 0.8524158576593512, + -0.45106313190845615, + 0.26444140493464185, + -0.43139841338954776, + -0.8924902727283709, + -0.13174415360925423, + 0.29543631214841104, + -0.0017787968328696474, + -0.9553607807242109 + ], + [ + 0.8476541315916811, + -0.44889011019648106, + 0.2828076062685455, + -0.4354525731726897, + -0.8931547273533017, + -0.11249750896679081, + 0.30308996966715496, + -0.027790321592974628, + -0.9525566483484973 + ], + [ + 0.8505627443108869, + -0.43760025274211634, + 0.29163168001842493, + -0.42347275082616753, + -0.8987662613334921, + -0.11353429788542121, + 0.31179135218612414, + -0.026930025782625516, + -0.9497688805247809 + ], + [ + 0.8527097670636814, + -0.43346205037280494, + 0.2915419421640832, + -0.42144939753286337, + -0.9005963799581748, + -0.1063323362172432, + 0.30865265019660565, + -0.03219955423347127, + -0.9506296493555085 + ], + [ + 0.8553772656840632, + -0.4301891487229736, + 0.2885602704321213, + -0.420471285038495, + -0.9019688050188059, + -0.09826582941706734, + 0.30254525580304903, + -0.037276951242702014, + -0.9524057943424731 + ], + [ + 0.8577017935507649, + -0.4269731992670799, + 0.286428909936542, + -0.4161129320859588, + -0.903679755244403, + -0.10105903082971956, + 0.3019895049345712, + -0.032508261550726995, + -0.9527568167377876 + ], + [ + 0.8513451995307083, + -0.39652498621366755, + 0.3434811298226868, + -0.37145644476502676, + -0.9179778021230509, + -0.13905705466411805, + 0.37044764930897495, + -0.009202723378633634, + -0.92880775675264 + ], + [ + 0.8375256913100184, + -0.37186406325619487, + 0.40033465357656467, + -0.33059534403375385, + -0.9282275474798508, + -0.17058821355165493, + 0.4350372798955043, + 0.010523238956412787, + -0.9003509463220365 + ], + [ + 0.8341430918371906, + -0.3505954717350365, + 0.4257794235742018, + -0.28353048925511964, + -0.9347315583708877, + -0.21421338764952175, + 0.47309170781471627, + 0.057963169206134466, + -0.879104377768952 + ], + [ + 0.8519814025299873, + -0.2877301286837299, + 0.43742320787845707, + -0.22792060343019865, + -0.9559641945015362, + -0.184890933696174, + 0.47135961672066234, + 0.05782587551151405, + -0.880043339754513 + ], + [ + 0.8458562689728198, + -0.2564061620914117, + 0.4677425063867229, + -0.2218886667090569, + -0.9665563075211009, + -0.1285858622759598, + 0.48506967728920947, + 0.00497839660209376, + -0.8744613334743936 + ], + [ + 0.8616862764026436, + -0.21090338601365452, + 0.4615371304969108, + -0.19172908271388342, + -0.9774324197543168, + -0.0886894788287427, + 0.4698262656568275, + -0.012067583900540212, + -0.8826764149549731 + ], + [ + 0.881094926080855, + -0.1598718056024405, + 0.44509856999094966, + -0.1577641939359636, + -0.9865806349240624, + -0.042060788206709304, + 0.44584996394113174, + -0.033161070040779214, + -0.8944932381451759 + ], + [ + 0.8995272571159224, + -0.16111976404653497, + 0.4060678949869022, + -0.16094219152122222, + -0.9863486299462452, + -0.034842376375773164, + 0.406138307345972, + -0.034011789672901714, + -0.9131784455786256 + ], + [ + 0.9276173219281268, + -0.16905560437372383, + 0.3330860349650299, + -0.18318705618753692, + -0.983013830876575, + 0.011238805572873635, + 0.3255281961739019, + -0.07144236092960277, + -0.9428294557132644 + ], + [ + 0.9508740437661191, + -0.13251987819263908, + 0.2797803330752126, + -0.149676490348341, + -0.9878939147876526, + 0.040774518544416924, + 0.2709898542913955, + -0.08064796965413402, + -0.959197791835341 + ], + [ + 0.9583807885628358, + -0.12778888889418188, + 0.2552964237682687, + -0.14766020975977134, + -0.987206288557496, + 0.060168150098156986, + 0.2443414139424124, + -0.09536112262198079, + -0.9649888754410064 + ], + [ + 0.9687388118267783, + -0.11440473682389231, + 0.2201287592585248, + -0.12896942801248087, + -0.990235296725121, + 0.05292394314339188, + 0.21192451745509563, + -0.07965935796858647, + -0.974034078248527 + ], + [ + 0.9753936461500092, + -0.09370385567442543, + 0.19956658658687604, + -0.10627074701084005, + -0.9929132823284804, + 0.05319532033404359, + 0.19316770791192994, + -0.07309446769373132, + -0.9784392855014672 + ], + [ + 0.9775892335061072, + -0.0816100810727077, + 0.19405948881785712, + -0.09457488564150815, + -0.9937977391893594, + 0.058494825309711465, + 0.18808211381956974, + -0.07553706540119283, + -0.9792442341988736 + ], + [ + 0.9825577662828398, + -0.07340633305115808, + 0.17085592230080573, + -0.08706508754513882, + -0.9934604701337194, + 0.07386450306098691, + 0.16431648258173562, + -0.08745172696792036, + -0.9825234292383538 + ], + [ + 0.981107087270607, + -0.0854832520608485, + 0.1735554577778723, + -0.09681843005688098, + -0.9936155428771418, + 0.05791670358612905, + 0.16749649222806495, + -0.07362585530955909, + -0.9831196053996836 + ], + [ + 0.9623417211529771, + -0.07494820075930718, + 0.2613066760174109, + -0.09589341774323078, + -0.9930434481991595, + 0.06833126972510706, + 0.25436757686829464, + -0.09081562195826051, + -0.9628341802441822 + ], + [ + 0.9487671677691101, + -0.03308402894607599, + 0.31423925342336884, + -0.05704016191814231, + -0.9960978231316585, + 0.0673464674702618, + 0.31078494379833316, + -0.0818203750973199, + -0.9469520288415884 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0006674528121948242, + -0.000973239541053772, + -0.0071825385093688965, + -0.00923443678766489, + 0.02300870418548584, + 0.0019054710865020752, + 1.0 + ], + [ + 0.007464498281478882, + -0.015637196600437164, + 0.00019938498735427856, + -0.008468903601169586, + 0.005804240703582764, + -0.046755269169807434, + 1.0 + ], + [ + 0.015630125999450684, + -0.015968218445777893, + 0.0024225562810897827, + 0.017036106437444687, + 0.011537790298461914, + -0.04516119509935379, + 1.0 + ], + [ + 0.011971324682235718, + -0.025280311703681946, + 0.004203878343105316, + -0.04459170624613762, + -0.027742475271224976, + -0.03544379398226738, + 1.0 + ], + [ + 0.012779474258422852, + -0.04473983868956566, + 0.006533049046993256, + -0.0032222680747509003, + -0.019414544105529785, + -0.13914941251277924, + 1.0 + ], + [ + 0.013331025838851929, + -0.04132649302482605, + -0.007355935871601105, + -0.04032818600535393, + 0.0038163363933563232, + -0.1110195741057396, + 1.0 + ], + [ + 0.013371914625167847, + -0.03372684866189957, + -0.006952643394470215, + -0.04734481871128082, + 0.0018849372863769531, + -0.06601636111736298, + 1.0 + ], + [ + 0.014340728521347046, + -0.031141608953475952, + -0.008135117590427399, + -0.03754085302352905, + 0.0040943920612335205, + -0.0551183819770813, + 1.0 + ], + [ + 0.00893467664718628, + -0.024967379868030548, + -0.009210795164108276, + 0.00997769832611084, + 0.019719183444976807, + -0.04081851243972778, + 1.0 + ], + [ + 0.002712815999984741, + -0.002993576228618622, + -0.01701577752828598, + 0.04859026521444321, + 0.022911369800567627, + -0.022871345281600952, + 1.0 + ], + [ + 0.0025902986526489258, + 0.0060081928968429565, + -0.016763098537921906, + 0.06708541512489319, + 0.03224968910217285, + -0.023693859577178955, + 1.0 + ], + [ + 0.0018448829650878906, + 0.003937132656574249, + -0.014051999896764755, + 0.03940783068537712, + 0.02235904335975647, + -0.02016735076904297, + 1.0 + ], + [ + 0.003396332263946533, + -0.0025582686066627502, + -0.006378389894962311, + 0.01788805052638054, + 0.0033061206340789795, + -0.018990665674209595, + 1.0 + ], + [ + 0.0041026771068573, + -0.005005724728107452, + -0.008857447654008865, + -0.012668738141655922, + 0.010368645191192627, + -0.005584359169006348, + 1.0 + ], + [ + -0.0022461414337158203, + -0.006728425621986389, + -0.007754480466246605, + 0.0008032764308154583, + 0.01238754391670227, + -0.009946972131729126, + 0.0 + ], + [ + 0.0030715763568878174, + 0.0018770396709442139, + -0.0023164786398410797, + 0.0273042730987072, + -0.008021295070648193, + -0.006052196025848389, + 0.0 + ], + [ + 0.0013121962547302246, + 0.0004252493381500244, + 0.0001307474449276924, + -0.0008194837719202042, + -0.009144306182861328, + 0.012614190578460693, + 0.0 + ], + [ + -0.0007206499576568604, + 0.0007459819316864014, + -0.001619640737771988, + 0.005512174218893051, + 0.00330159068107605, + 0.0029102861881256104, + 0.0 + ], + [ + -0.0019605159759521484, + -0.0006215348839759827, + -0.0009680930525064468, + 0.005260936915874481, + 0.006414264440536499, + 0.002160012722015381, + 0.0 + ], + [ + -0.0021965503692626953, + 2.261251211166382e-05, + 0.005283837206661701, + -0.005012832581996918, + 0.0005830228328704834, + 0.005178600549697876, + 0.0 + ], + [ + 0.0014933645725250244, + -0.003031410276889801, + 0.03121723048388958, + -0.024199198931455612, + -0.0727120041847229, + 0.04027903079986572, + 0.0 + ], + [ + -0.004187971353530884, + 0.008769787847995758, + 0.03857700526714325, + -0.021595176309347153, + -0.07058876752853394, + 0.035463303327560425, + 0.0 + ], + [ + -0.011676609516143799, + 0.01753716915845871, + 0.02752131223678589, + -0.05415164679288864, + -0.04271706938743591, + 0.048299312591552734, + 0.0 + ], + [ + -0.023008108139038086, + 0.041757162660360336, + 0.026621893048286438, + 0.0002253800630569458, + 0.0019649863243103027, + 0.06625720858573914, + 0.0 + ], + [ + -0.024500250816345215, + 0.040380291640758514, + 0.01176518201828003, + 0.059920623898506165, + -0.015611082315444946, + 0.004853338003158569, + 0.0 + ], + [ + -0.014246940612792969, + 0.042976513504981995, + -0.009433791041374207, + 0.0193637702614069, + 0.017348885536193848, + 0.03760603070259094, + 0.0 + ], + [ + -0.006667464971542358, + 0.03975534811615944, + -0.018878251314163208, + 0.023384764790534973, + 0.026970356702804565, + 0.041760772466659546, + 0.0 + ], + [ + -0.005968034267425537, + 0.017579689621925354, + -0.02918330579996109, + 0.00017279759049415588, + 0.04389944672584534, + 0.00013184547424316406, + 0.0 + ], + [ + -0.01578846573829651, + 0.011955276131629944, + -0.027699768543243408, + 0.03840160369873047, + 0.08665385842323303, + -0.017927229404449463, + 0.0 + ], + [ + -0.018481045961380005, + 0.017324112355709076, + -0.026389766484498978, + 0.008251376450061798, + 0.05714908242225647, + 0.03884425759315491, + 0.0 + ], + [ + -0.0029877126216888428, + 0.007234260439872742, + -0.011504149064421654, + 0.014619871973991394, + 0.027580752968788147, + 0.003257766366004944, + 0.0 + ], + [ + -0.004944533109664917, + 0.0034040510654449463, + -0.011172106489539146, + -0.016899824142456055, + 0.033296674489974976, + 0.02051752805709839, + 1.0 + ], + [ + 0.0033966004848480225, + 0.0040193647146224976, + -0.000985223799943924, + -0.007034666836261749, + 0.019154146313667297, + 0.023829400539398193, + 1.0 + ], + [ + -0.0004119873046875, + 0.0011159032583236694, + 0.0004196707159280777, + 0.002419017255306244, + 0.0051805973052978516, + 0.012080751359462738, + 1.0 + ], + [ + -0.0019100010395050049, + -0.0003778189420700073, + -0.000935455784201622, + 0.011787660419940948, + 0.0241440087556839, + 0.008063018321990967, + 1.0 + ], + [ + 0.001445859670639038, + -0.0029013454914093018, + 0.00531049445271492, + -0.014022842049598694, + -0.003224700689315796, + -0.009984537959098816, + 1.0 + ], + [ + 0.004884183406829834, + -0.0026298612356185913, + 0.03585968539118767, + 0.019292429089546204, + -0.08890397846698761, + -0.0009536966681480408, + 1.0 + ], + [ + -0.006168663501739502, + -0.002010926604270935, + 0.03226765990257263, + -0.007853053510189056, + -0.0588250458240509, + 0.03927003964781761, + 1.0 + ], + [ + -0.005627065896987915, + 0.0030560195446014404, + 0.03960057348012924, + 0.017218053340911865, + -0.12292763590812683, + 0.02583323046565056, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9981546401977539 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9981546401977539 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9476637244224548 + ], + [ + 0.6941980719566345 + ], + [ + 0.6711689233779907 + ], + [ + 0.6711689233779907 + ], + [ + 0.6711689233779907 + ], + [ + 0.6711689233779907 + ], + [ + 0.6711689233779907 + ], + [ + 0.6711689233779907 + ], + [ + 0.6711689233779907 + ], + [ + 0.6711689233779907 + ], + [ + 0.6711689233779907 + ], + [ + 0.6711689233779907 + ], + [ + 0.6711689233779907 + ], + [ + 0.6711689233779907 + ], + [ + 0.6711689233779907 + ], + [ + 0.6711689233779907 + ], + [ + 0.6711689233779907 + ], + [ + 0.7141282558441162 + ], + [ + 0.9872581958770752 + ], + [ + 1.0041072368621826 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2814968228340149, + 0.13503362238407135, + 0.10590153932571411 + ], + [ + 0.2889613211154938, + 0.11939642578363419, + 0.10610092431306839 + ], + [ + 0.30459144711494446, + 0.10342820733785629, + 0.10852348059415817 + ], + [ + 0.3165627717971802, + 0.07814789563417435, + 0.11272735893726349 + ], + [ + 0.329342246055603, + 0.03340805694460869, + 0.11926040798425674 + ], + [ + 0.34267327189445496, + -0.00791843794286251, + 0.11190447211265564 + ], + [ + 0.3560451865196228, + -0.04164528846740723, + 0.10495182871818542 + ], + [ + 0.37038591504096985, + -0.07278689742088318, + 0.09681671112775803 + ], + [ + 0.37932059168815613, + -0.09775427728891373, + 0.08760591596364975 + ], + [ + 0.38203340768814087, + -0.10074785351753235, + 0.07059013843536377 + ], + [ + 0.3846237063407898, + -0.09473966062068939, + 0.053827039897441864 + ], + [ + 0.3864685893058777, + -0.09080252796411514, + 0.03977504000067711 + ], + [ + 0.3898649215698242, + -0.0933607965707779, + 0.0333966501057148 + ], + [ + 0.3939675986766815, + -0.09836652129888535, + 0.024539202451705933 + ], + [ + 0.3917214572429657, + -0.10509494692087173, + 0.016784721985459328 + ], + [ + 0.3947930335998535, + -0.10321790724992752, + 0.014468243345618248 + ], + [ + 0.39610522985458374, + -0.1027926579117775, + 0.01459899079054594 + ], + [ + 0.3953845798969269, + -0.1020466759800911, + 0.012979350052773952 + ], + [ + 0.39342406392097473, + -0.10266821086406708, + 0.012011257000267506 + ], + [ + 0.39122751355171204, + -0.10264559835195541, + 0.017295094206929207 + ], + [ + 0.39272087812423706, + -0.10567700862884521, + 0.04851232469081879 + ], + [ + 0.3885329067707062, + -0.09690722078084946, + 0.08708932995796204 + ], + [ + 0.3768562972545624, + -0.07937005162239075, + 0.11461064219474792 + ], + [ + 0.3538481891155243, + -0.03761288896203041, + 0.14123253524303436 + ], + [ + 0.3293479382991791, + 0.0027674015145748854, + 0.1529977172613144 + ], + [ + 0.3151009976863861, + 0.0457439161837101, + 0.14356392621994019 + ], + [ + 0.30843353271484375, + 0.08549926429986954, + 0.12468567490577698 + ], + [ + 0.3024654984474182, + 0.10307895392179489, + 0.09550236910581589 + ], + [ + 0.2866770327091217, + 0.11503423005342484, + 0.06780260056257248 + ], + [ + 0.2681959867477417, + 0.1323583424091339, + 0.0414128340780735 + ], + [ + 0.26520827412605286, + 0.13959260284900665, + 0.029908685013651848 + ], + [ + 0.26026374101638794, + 0.1429966539144516, + 0.0187365785241127 + ], + [ + 0.26366034150123596, + 0.1470160186290741, + 0.017751354724168777 + ], + [ + 0.26324835419654846, + 0.14813192188739777, + 0.018171025440096855 + ], + [ + 0.26133835315704346, + 0.14775410294532776, + 0.017235569655895233 + ], + [ + 0.2627842128276825, + 0.14485275745391846, + 0.022546064108610153 + ], + [ + 0.26766839623451233, + 0.14222289621829987, + 0.05840574949979782 + ], + [ + 0.2614997327327728, + 0.14021196961402893, + 0.09067340940237045 + ], + [ + 0.2558726668357849, + 0.14326798915863037, + 0.1302739828824997 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9062037290709208, + 0.1695373662215421, + 0.38736530933037916, + 0.15763723775094837, + -0.9855140292529897, + 0.06255077473372155, + 0.39235864039448476, + 0.00437945204340905, + -0.9198018904675024 + ], + [ + 0.9148251458893188, + 0.12005495060868404, + 0.3855927401844249, + 0.11539366278060498, + -0.9926922973158141, + 0.03530305142516578, + 0.3870132491771606, + 0.012198839461125542, + -0.9219934562008232 + ], + [ + 0.9234915511721566, + 0.08165438849456226, + 0.3748278481559542, + 0.07432875871218571, + -0.9966544673960224, + 0.0339868834678423, + 0.37634902755547234, + -0.003526111049033309, + -0.9264712494184157 + ], + [ + 0.9147603245644236, + 0.028446477189929348, + 0.402994226432927, + 0.041072631804664694, + -0.9988977867701229, + -0.022721146590537845, + 0.40190370428677175, + 0.03733643691132153, + -0.9149204353162838 + ], + [ + 0.9036759246633196, + -0.11242693862013507, + 0.41319487733562105, + -0.08545160071709028, + -0.9928572395104953, + -0.08326179127598782, + 0.41960439358851037, + 0.039933512544022026, + -0.9068282458421303 + ], + [ + 0.8902065069813538, + -0.23745329327041909, + 0.3887779680525753, + -0.18537038624441826, + -0.9683743878031439, + -0.1669995956596348, + 0.4161372307684715, + 0.07659620461823596, + -0.9060699899049903 + ], + [ + 0.8767929308493085, + -0.31810246627454053, + 0.36061749453227415, + -0.24390189620032984, + -0.9404955088228242, + -0.23660106279131762, + 0.4144225156076387, + 0.1194948485674269, + -0.9022056083417375 + ], + [ + 0.8636247047840483, + -0.38160141490703386, + 0.3294430594618973, + -0.2923761033107622, + -0.9114826844830253, + -0.28933636152483894, + 0.4106928091645627, + 0.15355675181693446, + -0.8987500990108165 + ], + [ + 0.8583668584866396, + -0.41261871099157976, + 0.3048805267501093, + -0.3302186139114215, + -0.8991535649643458, + -0.2871907617565844, + 0.39263469444026017, + 0.14583780700337923, + -0.9080579996730651 + ], + [ + 0.858686380963867, + -0.4159148098274046, + 0.29945378627329344, + -0.35309157549513204, + -0.9036056131185259, + -0.24253501861599075, + 0.37146202829029906, + 0.1025269082091494, + -0.9227698492210993 + ], + [ + 0.860604488236856, + -0.41533788935332877, + 0.2947106250105359, + -0.37795826093530965, + -0.9087455307521602, + -0.1770003201373675, + 0.3413319027242181, + 0.040938954621438525, + -0.9390508687910194 + ], + [ + 0.8595182030295475, + -0.42169498534047517, + 0.288793694528732, + -0.39834639657348664, + -0.9067291786526344, + -0.13842812184248587, + 0.3202321142511734, + 0.003941562966144105, + -0.9473309121334572 + ], + [ + 0.8527461037079782, + -0.43368804298991803, + 0.2910992339021817, + -0.4150574869747611, + -0.9009690334739184, + -0.12642026430627917, + 0.31709835243510515, + -0.013018528666805335, + -0.9483033021108245 + ], + [ + 0.853317435352132, + -0.4423654946456033, + 0.27597486057793624, + -0.42124584284907257, + -0.8968342958653719, + -0.13505623140765372, + 0.3072479363745753, + -0.0010074257362049088, + -0.9516289669230081 + ], + [ + 0.8524158576593512, + -0.45106313190845615, + 0.26444140493464185, + -0.43139841338954776, + -0.8924902727283709, + -0.13174415360925423, + 0.29543631214841104, + -0.0017787968328696474, + -0.9553607807242109 + ], + [ + 0.8476541315916811, + -0.44889011019648106, + 0.2828076062685455, + -0.4354525731726897, + -0.8931547273533017, + -0.11249750896679081, + 0.30308996966715496, + -0.027790321592974628, + -0.9525566483484973 + ], + [ + 0.8505627443108869, + -0.43760025274211634, + 0.29163168001842493, + -0.42347275082616753, + -0.8987662613334921, + -0.11353429788542121, + 0.31179135218612414, + -0.026930025782625516, + -0.9497688805247809 + ], + [ + 0.8527097670636814, + -0.43346205037280494, + 0.2915419421640832, + -0.42144939753286337, + -0.9005963799581748, + -0.1063323362172432, + 0.30865265019660565, + -0.03219955423347127, + -0.9506296493555085 + ], + [ + 0.8553772656840632, + -0.4301891487229736, + 0.2885602704321213, + -0.420471285038495, + -0.9019688050188059, + -0.09826582941706734, + 0.30254525580304903, + -0.037276951242702014, + -0.9524057943424731 + ], + [ + 0.8577017935507649, + -0.4269731992670799, + 0.286428909936542, + -0.4161129320859588, + -0.903679755244403, + -0.10105903082971956, + 0.3019895049345712, + -0.032508261550726995, + -0.9527568167377876 + ], + [ + 0.8513451995307083, + -0.39652498621366755, + 0.3434811298226868, + -0.37145644476502676, + -0.9179778021230509, + -0.13905705466411805, + 0.37044764930897495, + -0.009202723378633634, + -0.92880775675264 + ], + [ + 0.8375256913100184, + -0.37186406325619487, + 0.40033465357656467, + -0.33059534403375385, + -0.9282275474798508, + -0.17058821355165493, + 0.4350372798955043, + 0.010523238956412787, + -0.9003509463220365 + ], + [ + 0.8341430918371906, + -0.3505954717350365, + 0.4257794235742018, + -0.28353048925511964, + -0.9347315583708877, + -0.21421338764952175, + 0.47309170781471627, + 0.057963169206134466, + -0.879104377768952 + ], + [ + 0.8519814025299873, + -0.2877301286837299, + 0.43742320787845707, + -0.22792060343019865, + -0.9559641945015362, + -0.184890933696174, + 0.47135961672066234, + 0.05782587551151405, + -0.880043339754513 + ], + [ + 0.8458562689728198, + -0.2564061620914117, + 0.4677425063867229, + -0.2218886667090569, + -0.9665563075211009, + -0.1285858622759598, + 0.48506967728920947, + 0.00497839660209376, + -0.8744613334743936 + ], + [ + 0.8616862764026436, + -0.21090338601365452, + 0.4615371304969108, + -0.19172908271388342, + -0.9774324197543168, + -0.0886894788287427, + 0.4698262656568275, + -0.012067583900540212, + -0.8826764149549731 + ], + [ + 0.881094926080855, + -0.1598718056024405, + 0.44509856999094966, + -0.1577641939359636, + -0.9865806349240624, + -0.042060788206709304, + 0.44584996394113174, + -0.033161070040779214, + -0.8944932381451759 + ], + [ + 0.8995272571159224, + -0.16111976404653497, + 0.4060678949869022, + -0.16094219152122222, + -0.9863486299462452, + -0.034842376375773164, + 0.406138307345972, + -0.034011789672901714, + -0.9131784455786256 + ], + [ + 0.9276173219281268, + -0.16905560437372383, + 0.3330860349650299, + -0.18318705618753692, + -0.983013830876575, + 0.011238805572873635, + 0.3255281961739019, + -0.07144236092960277, + -0.9428294557132644 + ], + [ + 0.9508740437661191, + -0.13251987819263908, + 0.2797803330752126, + -0.149676490348341, + -0.9878939147876526, + 0.040774518544416924, + 0.2709898542913955, + -0.08064796965413402, + -0.959197791835341 + ], + [ + 0.9583807885628358, + -0.12778888889418188, + 0.2552964237682687, + -0.14766020975977134, + -0.987206288557496, + 0.060168150098156986, + 0.2443414139424124, + -0.09536112262198079, + -0.9649888754410064 + ], + [ + 0.9687388118267783, + -0.11440473682389231, + 0.2201287592585248, + -0.12896942801248087, + -0.990235296725121, + 0.05292394314339188, + 0.21192451745509563, + -0.07965935796858647, + -0.974034078248527 + ], + [ + 0.9753936461500092, + -0.09370385567442543, + 0.19956658658687604, + -0.10627074701084005, + -0.9929132823284804, + 0.05319532033404359, + 0.19316770791192994, + -0.07309446769373132, + -0.9784392855014672 + ], + [ + 0.9775892335061072, + -0.0816100810727077, + 0.19405948881785712, + -0.09457488564150815, + -0.9937977391893594, + 0.058494825309711465, + 0.18808211381956974, + -0.07553706540119283, + -0.9792442341988736 + ], + [ + 0.9825577662828398, + -0.07340633305115808, + 0.17085592230080573, + -0.08706508754513882, + -0.9934604701337194, + 0.07386450306098691, + 0.16431648258173562, + -0.08745172696792036, + -0.9825234292383538 + ], + [ + 0.981107087270607, + -0.0854832520608485, + 0.1735554577778723, + -0.09681843005688098, + -0.9936155428771418, + 0.05791670358612905, + 0.16749649222806495, + -0.07362585530955909, + -0.9831196053996836 + ], + [ + 0.9623417211529771, + -0.07494820075930718, + 0.2613066760174109, + -0.09589341774323078, + -0.9930434481991595, + 0.06833126972510706, + 0.25436757686829464, + -0.09081562195826051, + -0.9628341802441822 + ], + [ + 0.9487671677691101, + -0.03308402894607599, + 0.31423925342336884, + -0.05704016191814231, + -0.9960978231316585, + 0.0673464674702618, + 0.31078494379833316, + -0.0818203750973199, + -0.9469520288415884 + ], + [ + 0.9046701472224743, + 0.009817582764312143, + 0.42599945985075127, + -0.030965180649860858, + -0.9955766846319813, + 0.0887030022294228, + 0.4249859789590563, + -0.09343810831698908, + -0.9003645026334359 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006390.json b/json/chunk-0006/episode_0006390.json new file mode 100644 index 0000000000000000000000000000000000000000..ff01dbf17a0a56948dceed0131c9276002501bd8 --- /dev/null +++ b/json/chunk-0006/episode_0006390.json @@ -0,0 +1,2782 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 45, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPicking up the corn." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006390.mp4", + "start": 0, + "end": 45, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3107317090034485, + 0.09101296216249466, + 0.17825230956077576, + 0.03605404868721962, + -0.03965868428349495, + 0.07008219510316849, + 0.0, + 0.9974852800369263 + ], + [ + 0.31018176674842834, + 0.0911111831665039, + 0.16660365462303162, + 0.02957403101027012, + -0.00027569709345698357, + 0.07010336220264435, + 0.0, + 0.9974852800369263 + ], + [ + 0.33087286353111267, + 0.09117382019758224, + 0.16176702082157135, + 0.02394075132906437, + 0.021611424162983894, + 0.07124635577201843, + 0.0, + 0.9974852800369263 + ], + [ + 0.3598003387451172, + 0.08311813324689865, + 0.15756085515022278, + -0.0022093215957283974, + 0.012071347795426846, + 0.046006083488464355, + 0.0, + 0.9974852800369263 + ], + [ + 0.3927624523639679, + 0.07549282908439636, + 0.1490737795829773, + 0.005710089113563299, + -0.014563481323421001, + 0.012075013481080532, + 0.0, + 0.9974852800369263 + ], + [ + 0.4165984094142914, + 0.062269020825624466, + 0.11978981643915176, + 0.031557127833366394, + -0.02279941365122795, + -0.02641340158879757, + 0.0, + 0.9974852800369263 + ], + [ + 0.43004634976387024, + 0.059895288199186325, + 0.08824920654296875, + 0.059588029980659485, + -0.030191736295819283, + -0.0024316078051924706, + 0.0, + 0.9974852800369263 + ], + [ + 0.44723066687583923, + 0.0496971569955349, + 0.06472443044185638, + 0.08987189829349518, + -0.04285377636551857, + 0.033312615007162094, + 0.0, + 0.9974852800369263 + ], + [ + 0.460285484790802, + 0.04393799975514412, + 0.050612471997737885, + 0.09263913333415985, + -0.07540480047464371, + 0.08437629044055939, + 0.0, + 0.9974852800369263 + ], + [ + 0.46649855375289917, + 0.044660817831754684, + 0.03696810454130173, + 0.0971742495894432, + -0.08288286626338959, + 0.10744107514619827, + 0.0, + 0.9974852800369263 + ], + [ + 0.4717787504196167, + 0.04767008498311043, + 0.02729719690978527, + 0.11816664040088654, + -0.08693154156208038, + 0.11161351203918457, + 0.0, + 0.9974852800369263 + ], + [ + 0.4757571816444397, + 0.04190642759203911, + 0.018729688599705696, + 0.09412828087806702, + -0.07050161808729172, + 0.11901653558015823, + 0.0, + 0.9981546401977539 + ], + [ + 0.47497421503067017, + 0.03184755519032478, + 0.01892729476094246, + 0.08310665935277939, + -0.049123797565698624, + 0.0995694175362587, + 0.0, + 0.9981546401977539 + ], + [ + 0.4715366065502167, + 0.021705608814954758, + 0.011894626542925835, + 0.09378518164157867, + -0.035356998443603516, + 0.08152289688587189, + 0.0, + 0.9974852800369263 + ], + [ + 0.4752267003059387, + 0.027037348598241806, + 0.021097660064697266, + 0.07948961853981018, + -0.04892243817448616, + 0.11030463874340057, + 0.0, + 0.9981546401977539 + ], + [ + 0.47473829984664917, + 0.02975153736770153, + 0.024378636851906776, + 0.07847648859024048, + -0.04581117257475853, + 0.11794989556074142, + 0.0, + 0.9981546401977539 + ], + [ + 0.4682653844356537, + 0.0276483166962862, + 0.05306173861026764, + 0.059199199080467224, + -0.07506664842367172, + 0.1252652257680893, + 0.0, + 0.9974852800369263 + ], + [ + 0.4569077491760254, + 0.02014964632689953, + 0.060555290430784225, + 0.055706191807985306, + -0.07466477155685425, + 0.15600238740444183, + 0.0, + 0.9974852800369263 + ], + [ + 0.45340850949287415, + 0.01895470730960369, + 0.06298637390136719, + 0.05547630786895752, + -0.06592322140932083, + 0.20858162641525269, + 0.0, + 0.9981546401977539 + ], + [ + 0.45250439643859863, + 0.0126923443749547, + 0.06797085702419281, + 0.05164576694369316, + -0.07390585541725159, + 0.23182038962841034, + 0.0, + 0.9974852800369263 + ], + [ + 0.45023614168167114, + -0.0020830477587878704, + 0.058604855090379715, + 0.07872092723846436, + -0.07761642336845398, + 0.21913841366767883, + 0.0, + 0.9981546401977539 + ], + [ + 0.4516969919204712, + -0.017689865082502365, + 0.05714992433786392, + 0.08435902744531631, + -0.09254617989063263, + 0.21269682049751282, + 0.0, + 0.9981546401977539 + ], + [ + 0.45084241032600403, + -0.020463822409510612, + 0.03962388262152672, + 0.09367094188928604, + -0.07065045088529587, + 0.2383306622505188, + 0.0, + 0.9974852800369263 + ], + [ + 0.44549453258514404, + -0.019969850778579712, + 0.013045473955571651, + 0.12544667720794678, + -0.01997131109237671, + 0.2666899561882019, + 0.0, + 0.9981546401977539 + ], + [ + 0.445207417011261, + -0.013965480029582977, + 0.004918250720947981, + 0.12731888890266418, + -0.0008283036877401173, + 0.2957763075828552, + 0.0, + 0.9522681832313538 + ], + [ + 0.4442877173423767, + -0.014423787593841553, + 0.003626907942816615, + 0.11970176547765732, + 0.0012842471478506923, + 0.2927563488483429, + 0.0, + 0.6711689233779907 + ], + [ + 0.4401601552963257, + -0.015409870073199272, + 0.005372005980461836, + 0.10600543022155762, + 0.002684991806745529, + 0.27191293239593506, + 0.0, + 0.400628000497818 + ], + [ + 0.44244512915611267, + -0.019043004140257835, + 0.022871343418955803, + 0.06935211271047592, + -0.021865321323275566, + 0.24476155638694763, + 0.0, + 0.15718480944633484 + ], + [ + 0.43478554487228394, + -0.016537226736545563, + 0.03364444896578789, + 0.06802241504192352, + -0.025755852460861206, + 0.22129955887794495, + 0.0, + 0.0853668823838234 + ], + [ + 0.4334459900856018, + -0.013209542259573936, + 0.053112201392650604, + 0.049903225153684616, + -0.06227589026093483, + 0.19196820259094238, + 0.0, + 0.228750541806221 + ], + [ + 0.4441007077693939, + -0.009711978957057, + 0.062245097011327744, + 0.02780551090836525, + -0.09807024151086807, + 0.15592238306999207, + 0.0, + 0.4889543354511261 + ], + [ + 0.45233097672462463, + -0.0031071817502379417, + 0.04667266830801964, + 0.0400342158973217, + -0.08732153475284576, + 0.09848397970199585, + 0.0, + 0.8092992901802063 + ], + [ + 0.45267730951309204, + 0.0023846179246902466, + 0.02751389518380165, + 0.04257584363222122, + -0.0644233301281929, + 0.10961629450321198, + 0.0, + 1.0041072368621826 + ], + [ + 0.45647314190864563, + 0.003924035932868719, + 0.006716486997902393, + 0.054257724434137344, + -0.041859909892082214, + 0.14384230971336365, + 0.0, + 0.9900195002555847 + ], + [ + 0.46002206206321716, + 0.006185606122016907, + 0.0036921685095876455, + 0.06818421185016632, + -0.043986719101667404, + 0.15875673294067383, + 0.0, + 0.9311676621437073 + ], + [ + 0.4586137533187866, + 0.006830629426985979, + 0.0029814084991812706, + 0.07679779827594757, + -0.044006749987602234, + 0.1548827886581421, + 0.0, + 0.6701657772064209 + ], + [ + 0.4529712498188019, + -0.0010219457326456904, + 0.004596150945872068, + 0.0756128579378128, + -0.039467744529247284, + 0.1421433687210083, + 0.0, + 0.6330026388168335 + ], + [ + 0.45403656363487244, + -0.01652120240032673, + 0.010023502632975578, + 0.07944577187299728, + -0.03854091838002205, + 0.10608107596635818, + 0.0, + 0.6330026388168335 + ], + [ + 0.46801134943962097, + -0.052165448665618896, + 0.029558967798948288, + 0.029582450166344643, + -0.0779331624507904, + 0.06639808416366577, + 0.0, + 0.6330026388168335 + ], + [ + 0.47071221470832825, + -0.07534466683864594, + 0.01821582019329071, + 0.041635483503341675, + -0.06081810221076012, + 0.029751982539892197, + 0.0, + 0.6330026388168335 + ], + [ + 0.47220805287361145, + -0.10103165358304977, + 0.010198812931776047, + 0.04247596114873886, + -0.03661564365029335, + -0.004558614455163479, + 0.0, + 0.6330026388168335 + ], + [ + 0.47063443064689636, + -0.10648546367883682, + 0.005474283825606108, + 0.04635001718997955, + -0.025723770260810852, + -0.001452115480788052, + 0.0, + 0.7001883387565613 + ], + [ + 0.4699372351169586, + -0.10338189452886581, + 0.003908069338649511, + 0.05289775878190994, + -0.03450745344161987, + 0.013479865156114101, + 0.0, + 0.9635607004165649 + ], + [ + 0.4692184031009674, + -0.10035442560911179, + 0.004531055223196745, + 0.04452989995479584, + -0.02484816312789917, + 0.033293552696704865, + 0.0, + 0.9961419701576233 + ], + [ + 0.47333744168281555, + -0.09977226704359055, + 0.029626991599798203, + 0.03259855881333351, + -0.06938443332910538, + 0.038760725408792496, + 0.0, + 0.9961419701576233 + ] + ], + "left_gripper_pos": [ + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9974852800369263 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9981546401977539 + ], + [ + 0.9974852800369263 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9974852800369263 + ], + [ + 0.9981546401977539 + ], + [ + 0.9522681832313538 + ], + [ + 0.6711689233779907 + ], + [ + 0.400628000497818 + ], + [ + 0.15718480944633484 + ], + [ + 0.0853668823838234 + ], + [ + 0.228750541806221 + ], + [ + 0.4889543354511261 + ], + [ + 0.8092992901802063 + ], + [ + 1.0041072368621826 + ], + [ + 0.9900195002555847 + ], + [ + 0.9311676621437073 + ], + [ + 0.6701657772064209 + ], + [ + 0.6330026388168335 + ], + [ + 0.6330026388168335 + ], + [ + 0.6330026388168335 + ], + [ + 0.6330026388168335 + ], + [ + 0.6330026388168335 + ], + [ + 0.7001883387565613 + ], + [ + 0.9635607004165649 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3107317090034485, + 0.09101296216249466, + 0.17825230956077576 + ], + [ + 0.31018176674842834, + 0.0911111831665039, + 0.16660365462303162 + ], + [ + 0.33087286353111267, + 0.09117382019758224, + 0.16176702082157135 + ], + [ + 0.3598003387451172, + 0.08311813324689865, + 0.15756085515022278 + ], + [ + 0.3927624523639679, + 0.07549282908439636, + 0.1490737795829773 + ], + [ + 0.4165984094142914, + 0.062269020825624466, + 0.11978981643915176 + ], + [ + 0.43004634976387024, + 0.059895288199186325, + 0.08824920654296875 + ], + [ + 0.44723066687583923, + 0.0496971569955349, + 0.06472443044185638 + ], + [ + 0.460285484790802, + 0.04393799975514412, + 0.050612471997737885 + ], + [ + 0.46649855375289917, + 0.044660817831754684, + 0.03696810454130173 + ], + [ + 0.4717787504196167, + 0.04767008498311043, + 0.02729719690978527 + ], + [ + 0.4757571816444397, + 0.04190642759203911, + 0.018729688599705696 + ], + [ + 0.47497421503067017, + 0.03184755519032478, + 0.01892729476094246 + ], + [ + 0.4715366065502167, + 0.021705608814954758, + 0.011894626542925835 + ], + [ + 0.4752267003059387, + 0.027037348598241806, + 0.021097660064697266 + ], + [ + 0.47473829984664917, + 0.02975153736770153, + 0.024378636851906776 + ], + [ + 0.4682653844356537, + 0.0276483166962862, + 0.05306173861026764 + ], + [ + 0.4569077491760254, + 0.02014964632689953, + 0.060555290430784225 + ], + [ + 0.45340850949287415, + 0.01895470730960369, + 0.06298637390136719 + ], + [ + 0.45250439643859863, + 0.0126923443749547, + 0.06797085702419281 + ], + [ + 0.45023614168167114, + -0.0020830477587878704, + 0.058604855090379715 + ], + [ + 0.4516969919204712, + -0.017689865082502365, + 0.05714992433786392 + ], + [ + 0.45084241032600403, + -0.020463822409510612, + 0.03962388262152672 + ], + [ + 0.44549453258514404, + -0.019969850778579712, + 0.013045473955571651 + ], + [ + 0.445207417011261, + -0.013965480029582977, + 0.004918250720947981 + ], + [ + 0.4442877173423767, + -0.014423787593841553, + 0.003626907942816615 + ], + [ + 0.4401601552963257, + -0.015409870073199272, + 0.005372005980461836 + ], + [ + 0.44244512915611267, + -0.019043004140257835, + 0.022871343418955803 + ], + [ + 0.43478554487228394, + -0.016537226736545563, + 0.03364444896578789 + ], + [ + 0.4334459900856018, + -0.013209542259573936, + 0.053112201392650604 + ], + [ + 0.4441007077693939, + -0.009711978957057, + 0.062245097011327744 + ], + [ + 0.45233097672462463, + -0.0031071817502379417, + 0.04667266830801964 + ], + [ + 0.45267730951309204, + 0.0023846179246902466, + 0.02751389518380165 + ], + [ + 0.45647314190864563, + 0.003924035932868719, + 0.006716486997902393 + ], + [ + 0.46002206206321716, + 0.006185606122016907, + 0.0036921685095876455 + ], + [ + 0.4586137533187866, + 0.006830629426985979, + 0.0029814084991812706 + ], + [ + 0.4529712498188019, + -0.0010219457326456904, + 0.004596150945872068 + ], + [ + 0.45403656363487244, + -0.01652120240032673, + 0.010023502632975578 + ], + [ + 0.46801134943962097, + -0.052165448665618896, + 0.029558967798948288 + ], + [ + 0.47071221470832825, + -0.07534466683864594, + 0.01821582019329071 + ], + [ + 0.47220805287361145, + -0.10103165358304977, + 0.010198812931776047 + ], + [ + 0.47063443064689636, + -0.10648546367883682, + 0.005474283825606108 + ], + [ + 0.4699372351169586, + -0.10338189452886581, + 0.003908069338649511 + ], + [ + 0.4692184031009674, + -0.10035442560911179, + 0.004531055223196745 + ], + [ + 0.47333744168281555, + -0.09977226704359055, + 0.029626991599798203 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.996760875549159, + 0.07140499679830241, + 0.03700112710050938, + 0.0699697801973984, + -0.9967968888802727, + 0.0387323143865237, + 0.03964828916361187, + -0.03601789486967801, + -0.9985643316359518 + ], + [ + 0.9975437275666463, + 0.07002345861382228, + -0.001796339666729067, + 0.07004595337030206, + -0.9971069887223397, + 0.029516393030194304, + 0.000275697089964412, + -0.029569719052195142, + -0.9995626822297281 + ], + [ + 0.9972301264894614, + 0.07064970495164845, + -0.023252828044305163, + 0.07116947292183155, + -0.9972140375642085, + 0.022339861434626233, + -0.02160974191983075, + -0.02393287436006454, + -0.9994799830807137 + ], + [ + 0.9988691260435425, + 0.04601638446336495, + -0.01195664660049048, + 0.045986505380717635, + -0.9989382423244061, + -0.0027621268426925357, + -0.012071054629917968, + 0.0022091588321529083, + -0.9999247017937778 + ], + [ + 0.9998210600216694, + 0.012157672522630872, + 0.014492720102802557, + 0.012073439577245224, + -0.9999097925064685, + 0.005885482685892771, + 0.014562966521980325, + -0.005709452557277377, + -0.9998776535944666 + ], + [ + 0.9993913816706351, + -0.025678129719221607, + 0.023611435716236865, + -0.02640346647670498, + -0.9991724722303232, + 0.030939096547210092, + 0.022797438462964958, + -0.031543690197358004, + -0.9992423491867529 + ], + [ + 0.9995413091403055, + -0.0006295665467195144, + 0.03027829202659028, + -0.002430497239200146, + -0.9982265788569852, + 0.059479323690246895, + 0.03018714967091907, + -0.05952563237330769, + -0.9977702316091132 + ], + [ + 0.998527612955545, + 0.037014894538234214, + 0.03965480737091993, + 0.033275875937957985, + -0.9952836006779492, + 0.09112228213833413, + 0.04284066112775333, + -0.08966856642023412, + -0.9950498610372633 + ], + [ + 0.9936109461887099, + 0.09085888515951057, + 0.0669473718793111, + 0.08403672969746273, + -0.9915824428196874, + 0.09849917336453293, + 0.07533336362948018, + -0.09224381865096218, + -0.9928826528069449 + ], + [ + 0.9908207333602516, + 0.11471447618020819, + 0.07151827247741471, + 0.10686636866138735, + -0.9886819283782361, + 0.10529778605184899, + 0.08278800391712399, + -0.09668833152450694, + -0.9918656728380236 + ], + [ + 0.9900250046302062, + 0.12077711526507963, + 0.07254914634374268, + 0.11096132059691684, + -0.9857074475864084, + 0.12676124448772222, + 0.08682209130370197, + -0.11744665257440721, + -0.989276608568462 + ], + [ + 0.9904592521409039, + 0.12478421427089913, + 0.05847537701695718, + 0.11844079304636625, + -0.9877442682807832, + 0.10165155690400283, + 0.0704432281417369, + -0.09375585500252355, + -0.993099990565762 + ], + [ + 0.9938467033174591, + 0.1031178805277938, + 0.04044048739165278, + 0.09928506074378185, + -0.9912075904583549, + 0.08746421743116388, + 0.04910404278796536, + -0.08291088790501526, + -0.99534646111225 + ], + [ + 0.9960559307550276, + 0.08437418191034433, + 0.02745141589600798, + 0.08138173206004291, + -0.9920292604692462, + 0.09620270297526846, + 0.03534963217125263, + -0.09358922908006277, + -0.9949831454379299 + ], + [ + 0.992733416675244, + 0.11359308005645094, + 0.03971115182898794, + 0.10994938523040651, + -0.9903566977811799, + 0.08428964258680935, + 0.04890292530873664, + -0.07931092814514984, + -0.995649677634158 + ], + [ + 0.9920101131072394, + 0.12087963296959149, + 0.0361116300670435, + 0.11755313555612155, + -0.9895731789638837, + 0.08322369732376396, + 0.04579515054988097, + -0.07831371405092606, + -0.9958763810723014 + ], + [ + 0.9893704533094235, + 0.12912137766441178, + 0.06688629118399468, + 0.12458603805506158, + -0.9898721658519197, + 0.06805449576164964, + 0.07499616816910405, + -0.058998009302636455, + -0.995436994318715 + ], + [ + 0.9851040002527728, + 0.15923222463361378, + 0.06492462802523695, + 0.1549375114248608, + -0.9856786378577868, + 0.06657319598974636, + 0.07459541701375592, + -0.055522261382696, + -0.9956670137407865 + ], + [ + 0.9762005361242857, + 0.21032739908660017, + 0.052866799261192095, + 0.20662268518920587, + -0.9760641691490992, + 0.06786607155627201, + 0.06587548281310346, + -0.05532741541717564, + -0.9962927771831912 + ], + [ + 0.970593001804047, + 0.23315305171923567, + 0.05990725601308131, + 0.22912242775527797, + -0.9710763457833165, + 0.06718365693863569, + 0.07383859389598972, + -0.051481891322369536, + -0.9959404986831969 + ], + [ + 0.9731464672228267, + 0.22266727085726792, + 0.05835443274257562, + 0.21673424250894954, + -0.9717367303687036, + 0.09356278627965971, + 0.07753851595048451, + -0.07840289115407363, + -0.9939017885097495 + ], + [ + 0.9732822720590224, + 0.21795727905664666, + 0.07222356541912463, + 0.21019335737306807, + -0.9723454516285461, + 0.10179919063291659, + 0.09241412993620192, + -0.08389843385607537, + -0.9921797626361026 + ], + [ + 0.969309238836544, + 0.24146193464697618, + 0.04621399812458111, + 0.23549185282885116, + -0.9659146531608653, + 0.10748241744750385, + 0.07059169042708985, + -0.09330068019936498, + -0.9931323156140783 + ], + [ + 0.9644561375647834, + 0.26387920262749903, + -0.013860921120031532, + 0.2634873022975264, + -0.9564097015810183, + 0.12591633829523646, + 0.019969983515074015, + -0.12509296200180026, + -0.9919440259490577 + ], + [ + 0.9565758223361357, + 0.28922385131556033, + -0.03622512873877358, + 0.2914824352085454, + -0.9488028643702895, + 0.12170092246006456, + 0.0008283035930253882, + -0.1269751487218233, + -0.9919055527217443 + ], + [ + 0.9574512627591281, + 0.2863804730004009, + -0.035683387241376305, + 0.28859215192226095, + -0.9506450653949814, + 0.11396722989109792, + -0.0012842467948345655, + -0.11941601368425567, + -0.9928434752698594 + ], + [ + 0.9632554219511765, + 0.26679332928509986, + -0.03098889366584869, + 0.2685736080071584, + -0.9579281168726661, + 0.10120247026038975, + -0.0026849885806480393, + -0.10580662717316028, + -0.994383099455417 + ], + [ + 0.9699632212396032, + 0.24321238498194586, + 0.004368665000421995, + 0.24226707030012778, + -0.9674957477268331, + 0.07251651383435836, + 0.021863579091381896, + -0.06927996768106556, + -0.9973576439710207 + ], + [ + 0.9752894477330868, + 0.22069780042877776, + 0.010147611856470895, + 0.21942487524306595, + -0.9729725731346862, + 0.07195203994489797, + 0.02575300497136508, + -0.06794742683550738, + -0.9973564708374724 + ], + [ + 0.9797277134618215, + 0.19360123692479841, + 0.051499209081883865, + 0.1904214590776646, + -0.9798162753710222, + 0.060825442380562006, + 0.06223564410853981, + -0.04978581704909374, + -0.9968189890963904 + ], + [ + 0.9831219710061527, + 0.15792048087977595, + 0.09237051392991616, + 0.15454517847396876, + -0.9870641239255407, + 0.042663837960892625, + 0.0979131142157457, + -0.02766833890576878, + -0.9948102759253993 + ], + [ + 0.9913627303610129, + 0.10171963408643475, + 0.0827831679297173, + 0.0979502281334014, + -0.9940137911985197, + 0.04839768295859129, + 0.08721060520242119, + -0.03987102893665423, + -0.9953916874234786 + ], + [ + 0.991936132855883, + 0.11202147598772154, + 0.05927813469103664, + 0.10916996628246901, + -0.992797607735473, + 0.049343981766847046, + 0.06437877598091574, + -0.04247468648800933, + -0.9970212004821887 + ], + [ + 0.9888055689763421, + 0.14538185283716287, + 0.033580703194042626, + 0.14322122024524547, + -0.9878908109240626, + 0.059660940013221905, + 0.04184768611089205, + -0.05418360044729309, + -0.9976537017471206 + ], + [ + 0.986469499344167, + 0.16068158560391066, + 0.03254773281630125, + 0.15793778187012097, + -0.9846565477282018, + 0.07421010762642194, + 0.04397253599252945, + -0.06806549099060524, + -0.9967113448810508 + ], + [ + 0.9870730673338378, + 0.15714440596239046, + 0.031502308151884775, + 0.15411494252377597, + -0.9845967255022354, + 0.08257041008235896, + 0.043992547494571405, + -0.07664805154081292, + -0.9960872110211709 + ], + [ + 0.9891437332074372, + 0.14421100304904658, + 0.028246445016004644, + 0.14155486866580477, + -0.9866639013132854, + 0.08035275354494166, + 0.039457498824191216, + -0.07548200080042432, + -0.9963661843628093 + ], + [ + 0.9936402422963136, + 0.10858900659334775, + 0.02979088008757338, + 0.10580360025783, + -0.9909184707505717, + 0.08298302535958195, + 0.03853137762659947, + -0.07930329105666163, + -0.9961055772184885 + ], + [ + 0.9947678930599944, + 0.06861798760730582, + 0.07568626502677558, + 0.06614791977075278, + -0.9972071041097033, + 0.0346762775271732, + 0.07785429754985745, + -0.02948835854813063, + -0.9965285470387465 + ], + [ + 0.9977094098481328, + 0.032250592860506466, + 0.05946286875551919, + 0.029692594560295632, + -0.9986159359944464, + 0.04341154461906864, + 0.06078061639016302, + -0.041546499709137166, + -0.9972861199440962 + ], + [ + 0.9993193387117589, + -0.003000033486553368, + 0.03676763625489408, + -0.004555543139014868, + -0.9990947370960458, + 0.042296020305598425, + 0.036607462400461706, + -0.042434727595008534, + -0.9984283587671856 + ], + [ + 0.9996681080949934, + -0.0002588178080719243, + 0.025760564262436187, + -0.0014516345557395783, + -0.9989267075981837, + 0.0462960646726008, + 0.025720933398565893, + -0.046318094308761, + -0.9985955476191107 + ], + [ + 0.9993138789858295, + 0.015284590385259578, + 0.03373651675929509, + 0.013471432297372604, + -0.9984859262401552, + 0.053332688027110726, + 0.0345006054751605, + -0.052841616147641095, + -0.9980067493883762 + ], + [ + 0.9991372922211555, + 0.03435979855969859, + 0.02332542681097024, + 0.0332771264602614, + -0.9984182619544163, + 0.04531674139289236, + 0.024845606201595587, + -0.04450144310985261, + -0.9987003141151082 + ], + [ + 0.996844570121087, + 0.04098835330884291, + 0.06797689249395435, + 0.03865778033398946, + -0.9986304477111285, + 0.03525343846945793, + 0.06932877497658659, + -0.03251436293855847, + -0.9970638581168939 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0005499422550201416, + 9.822100400924683e-05, + -0.01164865493774414, + -0.006480017676949501, + 0.03938298672437668, + 2.1167099475860596e-05, + 1.0 + ], + [ + 0.020691096782684326, + 6.263703107833862e-05, + -0.004836633801460266, + -0.0056332796812057495, + 0.021887121722102165, + 0.0011429935693740845, + 1.0 + ], + [ + 0.028927475214004517, + -0.008055686950683594, + -0.004206165671348572, + -0.02615007385611534, + -0.009540076367557049, + -0.025240272283554077, + 1.0 + ], + [ + 0.03296211361885071, + -0.007625304162502289, + -0.008487075567245483, + 0.00791941024363041, + -0.026634829118847847, + -0.03393106907606125, + 1.0 + ], + [ + 0.023835957050323486, + -0.013223808258771896, + -0.02928396314382553, + 0.025847038254141808, + -0.00823593232780695, + -0.03848841413855553, + 1.0 + ], + [ + 0.013447940349578857, + -0.002373732626438141, + -0.031540609896183014, + 0.02803090214729309, + -0.0073923226445913315, + 0.023981794714927673, + 1.0 + ], + [ + 0.017184317111968994, + -0.010198131203651428, + -0.023524776101112366, + 0.030283868312835693, + -0.012662040069699287, + 0.03574422374367714, + 1.0 + ], + [ + 0.013054817914962769, + -0.005759157240390778, + -0.0141119584441185, + 0.002767235040664673, + -0.03255102410912514, + 0.05106367543339729, + 1.0 + ], + [ + 0.006213068962097168, + 0.0007228180766105652, + -0.013644367456436157, + 0.004535116255283356, + -0.00747806578874588, + 0.023064784705638885, + 1.0 + ], + [ + 0.005280196666717529, + 0.0030092671513557434, + -0.009670907631516457, + 0.02099239081144333, + -0.004048675298690796, + 0.004172436892986298, + 1.0 + ], + [ + 0.003978431224822998, + -0.00576365739107132, + -0.008567508310079575, + -0.02403835952281952, + 0.016429923474788666, + 0.007403023540973663, + 1.0 + ], + [ + -0.0007829666137695312, + -0.010058872401714325, + 0.000197606161236763, + -0.011021621525287628, + 0.021377820521593094, + -0.019447118043899536, + 1.0 + ], + [ + -0.003437608480453491, + -0.010141946375370026, + -0.0070326682180166245, + 0.010678522288799286, + 0.013766799122095108, + -0.01804652065038681, + 1.0 + ], + [ + 0.003690093755722046, + 0.005331739783287048, + 0.009203033521771431, + -0.014295563101768494, + -0.013565439730882645, + 0.028781741857528687, + 1.0 + ], + [ + -0.0004884004592895508, + 0.0027141887694597244, + 0.003280976787209511, + -0.0010131299495697021, + 0.0031112655997276306, + 0.007645256817340851, + 1.0 + ], + [ + -0.006472915410995483, + -0.002103220671415329, + 0.028683101758360863, + -0.019277289509773254, + -0.029255475848913193, + 0.00731533020734787, + 1.0 + ], + [ + -0.011357635259628296, + -0.007498670369386673, + 0.007493551820516586, + -0.0034930072724819183, + 0.00040187686681747437, + 0.03073716163635254, + 1.0 + ], + [ + -0.003499239683151245, + -0.0011949390172958374, + 0.002431083470582962, + -0.00022988393902778625, + 0.008741550147533417, + 0.05257923901081085, + 1.0 + ], + [ + -0.0009041130542755127, + -0.006262362934648991, + 0.0049844831228256226, + -0.0038305409252643585, + -0.007982634007930756, + 0.023238763213157654, + 1.0 + ], + [ + -0.0022682547569274902, + -0.014775391668081284, + -0.009366001933813095, + 0.027075160294771194, + -0.0037105679512023926, + -0.012681975960731506, + 1.0 + ], + [ + 0.0014608502388000488, + -0.015606816858053207, + -0.0014549307525157928, + 0.005638100206851959, + -0.01492975652217865, + -0.006441593170166016, + 1.0 + ], + [ + -0.0008545815944671631, + -0.0027739573270082474, + -0.017526041716337204, + 0.009311914443969727, + 0.02189572900533676, + 0.02563384175300598, + 1.0 + ], + [ + -0.005347877740859985, + 0.0004939716309309006, + -0.026578407734632492, + 0.031775735318660736, + 0.05067913979291916, + 0.028359293937683105, + 1.0 + ], + [ + -0.00028711557388305664, + 0.006004370748996735, + -0.008127223700284958, + 0.0018722116947174072, + 0.019143007695674896, + 0.02908635139465332, + 0.0 + ], + [ + -0.0009196996688842773, + -0.00045830756425857544, + -0.0012913427781313658, + -0.0076171234250068665, + 0.0021125508937984705, + -0.003019958734512329, + 0.0 + ], + [ + -0.004127562046051025, + -0.0009860824793577194, + 0.0017450980376452208, + -0.013696335256099701, + 0.001400744658894837, + -0.020843416452407837, + 0.0 + ], + [ + 0.0022849738597869873, + -0.0036331340670585632, + 0.01749933697283268, + -0.036653317511081696, + -0.024550313130021095, + -0.027151376008987427, + 0.0 + ], + [ + -0.007659584283828735, + 0.0025057774037122726, + 0.010773105546832085, + -0.0013296976685523987, + -0.00389053113758564, + -0.023461997509002686, + 1.0 + ], + [ + -0.001339554786682129, + 0.0033276844769716263, + 0.019467752426862717, + -0.018119189888238907, + -0.036520037800073624, + -0.029331356287002563, + 1.0 + ], + [ + 0.010654717683792114, + 0.0034975633025169373, + 0.00913289561867714, + -0.022097714245319366, + -0.03579435124993324, + -0.03604581952095032, + 1.0 + ], + [ + 0.008230268955230713, + 0.0066047972068190575, + -0.015572428703308105, + 0.012228704988956451, + 0.010748706758022308, + -0.057438403367996216, + 1.0 + ], + [ + 0.0003463327884674072, + 0.005491799674928188, + -0.019158773124217987, + 0.002541627734899521, + 0.022898204624652863, + 0.011132314801216125, + 1.0 + ], + [ + 0.003795832395553589, + 0.0015394180081784725, + -0.020797409117221832, + 0.011681880801916122, + 0.022563420236110687, + 0.03422601521015167, + 1.0 + ], + [ + 0.003548920154571533, + 0.0022615701891481876, + -0.003024318488314748, + 0.013926487416028976, + -0.00212680920958519, + 0.01491442322731018, + 0.0 + ], + [ + -0.001408308744430542, + 0.0006450233049690723, + -0.0007107600104063749, + 0.00861358642578125, + -2.0030885934829712e-05, + -0.0038739442825317383, + 0.0 + ], + [ + -0.005642503499984741, + -0.007852574810385704, + 0.0016147424466907978, + -0.0011849403381347656, + 0.00453900545835495, + -0.012739419937133789, + 0.0 + ], + [ + 0.0010653138160705566, + -0.015499256551265717, + 0.00542735168710351, + 0.0038329139351844788, + 0.000926826149225235, + -0.036062292754650116, + 0.0 + ], + [ + 0.013974785804748535, + -0.03564424812793732, + 0.01953546516597271, + -0.04986332356929779, + -0.039392244070768356, + -0.03968299180269241, + 0.0 + ], + [ + 0.0027008652687072754, + -0.02317921817302704, + -0.011343147605657578, + 0.012053033336997032, + 0.01711506024003029, + -0.036646101623773575, + 0.0 + ], + [ + 0.0014958381652832031, + -0.02568698674440384, + -0.008017007261514664, + 0.0008404776453971863, + 0.024202458560466766, + -0.03431059792637825, + 0.0 + ], + [ + -0.0015736222267150879, + -0.005453810095787048, + -0.004724529106169939, + 0.003874056041240692, + 0.010891873389482498, + 0.0031064990907907486, + 1.0 + ], + [ + -0.0006971955299377441, + 0.0031035691499710083, + -0.0015662144869565964, + 0.006547741591930389, + -0.008783683180809021, + 0.014931980520486832, + 1.0 + ], + [ + -0.0007188320159912109, + 0.0030274689197540283, + 0.0006229858845472336, + -0.008367858827114105, + 0.009659290313720703, + 0.01981368660926819, + 1.0 + ], + [ + 0.0041190385818481445, + 0.0005821585655212402, + 0.02509593591094017, + -0.011931341141462326, + -0.04453627020120621, + 0.005467172712087631, + 1.0 + ], + [ + 0.002973198890686035, + 0.0007902160286903381, + 0.024196982383728027, + -0.004008570685982704, + -0.047044701874256134, + 0.0069923438131809235, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9974852800369263 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9981546401977539 + ], + [ + 0.9974852800369263 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9974852800369263 + ], + [ + 0.9981546401977539 + ], + [ + 0.9522681832313538 + ], + [ + 0.6711689233779907 + ], + [ + 0.400628000497818 + ], + [ + 0.15718480944633484 + ], + [ + 0.0853668823838234 + ], + [ + 0.228750541806221 + ], + [ + 0.4889543354511261 + ], + [ + 0.8092992901802063 + ], + [ + 1.0041072368621826 + ], + [ + 0.9900195002555847 + ], + [ + 0.9311676621437073 + ], + [ + 0.6701657772064209 + ], + [ + 0.6330026388168335 + ], + [ + 0.6330026388168335 + ], + [ + 0.6330026388168335 + ], + [ + 0.6330026388168335 + ], + [ + 0.6330026388168335 + ], + [ + 0.7001883387565613 + ], + [ + 0.9635607004165649 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.31018176674842834, + 0.0911111831665039, + 0.16660365462303162 + ], + [ + 0.33087286353111267, + 0.09117382019758224, + 0.16176702082157135 + ], + [ + 0.3598003387451172, + 0.08311813324689865, + 0.15756085515022278 + ], + [ + 0.3927624523639679, + 0.07549282908439636, + 0.1490737795829773 + ], + [ + 0.4165984094142914, + 0.062269020825624466, + 0.11978981643915176 + ], + [ + 0.43004634976387024, + 0.059895288199186325, + 0.08824920654296875 + ], + [ + 0.44723066687583923, + 0.0496971569955349, + 0.06472443044185638 + ], + [ + 0.460285484790802, + 0.04393799975514412, + 0.050612471997737885 + ], + [ + 0.46649855375289917, + 0.044660817831754684, + 0.03696810454130173 + ], + [ + 0.4717787504196167, + 0.04767008498311043, + 0.02729719690978527 + ], + [ + 0.4757571816444397, + 0.04190642759203911, + 0.018729688599705696 + ], + [ + 0.47497421503067017, + 0.03184755519032478, + 0.01892729476094246 + ], + [ + 0.4715366065502167, + 0.021705608814954758, + 0.011894626542925835 + ], + [ + 0.4752267003059387, + 0.027037348598241806, + 0.021097660064697266 + ], + [ + 0.47473829984664917, + 0.02975153736770153, + 0.024378636851906776 + ], + [ + 0.4682653844356537, + 0.0276483166962862, + 0.05306173861026764 + ], + [ + 0.4569077491760254, + 0.02014964632689953, + 0.060555290430784225 + ], + [ + 0.45340850949287415, + 0.01895470730960369, + 0.06298637390136719 + ], + [ + 0.45250439643859863, + 0.0126923443749547, + 0.06797085702419281 + ], + [ + 0.45023614168167114, + -0.0020830477587878704, + 0.058604855090379715 + ], + [ + 0.4516969919204712, + -0.017689865082502365, + 0.05714992433786392 + ], + [ + 0.45084241032600403, + -0.020463822409510612, + 0.03962388262152672 + ], + [ + 0.44549453258514404, + -0.019969850778579712, + 0.013045473955571651 + ], + [ + 0.445207417011261, + -0.013965480029582977, + 0.004918250720947981 + ], + [ + 0.4442877173423767, + -0.014423787593841553, + 0.003626907942816615 + ], + [ + 0.4401601552963257, + -0.015409870073199272, + 0.005372005980461836 + ], + [ + 0.44244512915611267, + -0.019043004140257835, + 0.022871343418955803 + ], + [ + 0.43478554487228394, + -0.016537226736545563, + 0.03364444896578789 + ], + [ + 0.4334459900856018, + -0.013209542259573936, + 0.053112201392650604 + ], + [ + 0.4441007077693939, + -0.009711978957057, + 0.062245097011327744 + ], + [ + 0.45233097672462463, + -0.0031071817502379417, + 0.04667266830801964 + ], + [ + 0.45267730951309204, + 0.0023846179246902466, + 0.02751389518380165 + ], + [ + 0.45647314190864563, + 0.003924035932868719, + 0.006716486997902393 + ], + [ + 0.46002206206321716, + 0.006185606122016907, + 0.0036921685095876455 + ], + [ + 0.4586137533187866, + 0.006830629426985979, + 0.0029814084991812706 + ], + [ + 0.4529712498188019, + -0.0010219457326456904, + 0.004596150945872068 + ], + [ + 0.45403656363487244, + -0.01652120240032673, + 0.010023502632975578 + ], + [ + 0.46801134943962097, + -0.052165448665618896, + 0.029558967798948288 + ], + [ + 0.47071221470832825, + -0.07534466683864594, + 0.01821582019329071 + ], + [ + 0.47220805287361145, + -0.10103165358304977, + 0.010198812931776047 + ], + [ + 0.47063443064689636, + -0.10648546367883682, + 0.005474283825606108 + ], + [ + 0.4699372351169586, + -0.10338189452886581, + 0.003908069338649511 + ], + [ + 0.4692184031009674, + -0.10035442560911179, + 0.004531055223196745 + ], + [ + 0.47333744168281555, + -0.09977226704359055, + 0.029626991599798203 + ], + [ + 0.4763106405735016, + -0.09898205101490021, + 0.05382397398352623 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9975437275666463, + 0.07002345861382228, + -0.001796339666729067, + 0.07004595337030206, + -0.9971069887223397, + 0.029516393030194304, + 0.000275697089964412, + -0.029569719052195142, + -0.9995626822297281 + ], + [ + 0.9972301264894614, + 0.07064970495164845, + -0.023252828044305163, + 0.07116947292183155, + -0.9972140375642085, + 0.022339861434626233, + -0.02160974191983075, + -0.02393287436006454, + -0.9994799830807137 + ], + [ + 0.9988691260435425, + 0.04601638446336495, + -0.01195664660049048, + 0.045986505380717635, + -0.9989382423244061, + -0.0027621268426925357, + -0.012071054629917968, + 0.0022091588321529083, + -0.9999247017937778 + ], + [ + 0.9998210600216694, + 0.012157672522630872, + 0.014492720102802557, + 0.012073439577245224, + -0.9999097925064685, + 0.005885482685892771, + 0.014562966521980325, + -0.005709452557277377, + -0.9998776535944666 + ], + [ + 0.9993913816706351, + -0.025678129719221607, + 0.023611435716236865, + -0.02640346647670498, + -0.9991724722303232, + 0.030939096547210092, + 0.022797438462964958, + -0.031543690197358004, + -0.9992423491867529 + ], + [ + 0.9995413091403055, + -0.0006295665467195144, + 0.03027829202659028, + -0.002430497239200146, + -0.9982265788569852, + 0.059479323690246895, + 0.03018714967091907, + -0.05952563237330769, + -0.9977702316091132 + ], + [ + 0.998527612955545, + 0.037014894538234214, + 0.03965480737091993, + 0.033275875937957985, + -0.9952836006779492, + 0.09112228213833413, + 0.04284066112775333, + -0.08966856642023412, + -0.9950498610372633 + ], + [ + 0.9936109461887099, + 0.09085888515951057, + 0.0669473718793111, + 0.08403672969746273, + -0.9915824428196874, + 0.09849917336453293, + 0.07533336362948018, + -0.09224381865096218, + -0.9928826528069449 + ], + [ + 0.9908207333602516, + 0.11471447618020819, + 0.07151827247741471, + 0.10686636866138735, + -0.9886819283782361, + 0.10529778605184899, + 0.08278800391712399, + -0.09668833152450694, + -0.9918656728380236 + ], + [ + 0.9900250046302062, + 0.12077711526507963, + 0.07254914634374268, + 0.11096132059691684, + -0.9857074475864084, + 0.12676124448772222, + 0.08682209130370197, + -0.11744665257440721, + -0.989276608568462 + ], + [ + 0.9904592521409039, + 0.12478421427089913, + 0.05847537701695718, + 0.11844079304636625, + -0.9877442682807832, + 0.10165155690400283, + 0.0704432281417369, + -0.09375585500252355, + -0.993099990565762 + ], + [ + 0.9938467033174591, + 0.1031178805277938, + 0.04044048739165278, + 0.09928506074378185, + -0.9912075904583549, + 0.08746421743116388, + 0.04910404278796536, + -0.08291088790501526, + -0.99534646111225 + ], + [ + 0.9960559307550276, + 0.08437418191034433, + 0.02745141589600798, + 0.08138173206004291, + -0.9920292604692462, + 0.09620270297526846, + 0.03534963217125263, + -0.09358922908006277, + -0.9949831454379299 + ], + [ + 0.992733416675244, + 0.11359308005645094, + 0.03971115182898794, + 0.10994938523040651, + -0.9903566977811799, + 0.08428964258680935, + 0.04890292530873664, + -0.07931092814514984, + -0.995649677634158 + ], + [ + 0.9920101131072394, + 0.12087963296959149, + 0.0361116300670435, + 0.11755313555612155, + -0.9895731789638837, + 0.08322369732376396, + 0.04579515054988097, + -0.07831371405092606, + -0.9958763810723014 + ], + [ + 0.9893704533094235, + 0.12912137766441178, + 0.06688629118399468, + 0.12458603805506158, + -0.9898721658519197, + 0.06805449576164964, + 0.07499616816910405, + -0.058998009302636455, + -0.995436994318715 + ], + [ + 0.9851040002527728, + 0.15923222463361378, + 0.06492462802523695, + 0.1549375114248608, + -0.9856786378577868, + 0.06657319598974636, + 0.07459541701375592, + -0.055522261382696, + -0.9956670137407865 + ], + [ + 0.9762005361242857, + 0.21032739908660017, + 0.052866799261192095, + 0.20662268518920587, + -0.9760641691490992, + 0.06786607155627201, + 0.06587548281310346, + -0.05532741541717564, + -0.9962927771831912 + ], + [ + 0.970593001804047, + 0.23315305171923567, + 0.05990725601308131, + 0.22912242775527797, + -0.9710763457833165, + 0.06718365693863569, + 0.07383859389598972, + -0.051481891322369536, + -0.9959404986831969 + ], + [ + 0.9731464672228267, + 0.22266727085726792, + 0.05835443274257562, + 0.21673424250894954, + -0.9717367303687036, + 0.09356278627965971, + 0.07753851595048451, + -0.07840289115407363, + -0.9939017885097495 + ], + [ + 0.9732822720590224, + 0.21795727905664666, + 0.07222356541912463, + 0.21019335737306807, + -0.9723454516285461, + 0.10179919063291659, + 0.09241412993620192, + -0.08389843385607537, + -0.9921797626361026 + ], + [ + 0.969309238836544, + 0.24146193464697618, + 0.04621399812458111, + 0.23549185282885116, + -0.9659146531608653, + 0.10748241744750385, + 0.07059169042708985, + -0.09330068019936498, + -0.9931323156140783 + ], + [ + 0.9644561375647834, + 0.26387920262749903, + -0.013860921120031532, + 0.2634873022975264, + -0.9564097015810183, + 0.12591633829523646, + 0.019969983515074015, + -0.12509296200180026, + -0.9919440259490577 + ], + [ + 0.9565758223361357, + 0.28922385131556033, + -0.03622512873877358, + 0.2914824352085454, + -0.9488028643702895, + 0.12170092246006456, + 0.0008283035930253882, + -0.1269751487218233, + -0.9919055527217443 + ], + [ + 0.9574512627591281, + 0.2863804730004009, + -0.035683387241376305, + 0.28859215192226095, + -0.9506450653949814, + 0.11396722989109792, + -0.0012842467948345655, + -0.11941601368425567, + -0.9928434752698594 + ], + [ + 0.9632554219511765, + 0.26679332928509986, + -0.03098889366584869, + 0.2685736080071584, + -0.9579281168726661, + 0.10120247026038975, + -0.0026849885806480393, + -0.10580662717316028, + -0.994383099455417 + ], + [ + 0.9699632212396032, + 0.24321238498194586, + 0.004368665000421995, + 0.24226707030012778, + -0.9674957477268331, + 0.07251651383435836, + 0.021863579091381896, + -0.06927996768106556, + -0.9973576439710207 + ], + [ + 0.9752894477330868, + 0.22069780042877776, + 0.010147611856470895, + 0.21942487524306595, + -0.9729725731346862, + 0.07195203994489797, + 0.02575300497136508, + -0.06794742683550738, + -0.9973564708374724 + ], + [ + 0.9797277134618215, + 0.19360123692479841, + 0.051499209081883865, + 0.1904214590776646, + -0.9798162753710222, + 0.060825442380562006, + 0.06223564410853981, + -0.04978581704909374, + -0.9968189890963904 + ], + [ + 0.9831219710061527, + 0.15792048087977595, + 0.09237051392991616, + 0.15454517847396876, + -0.9870641239255407, + 0.042663837960892625, + 0.0979131142157457, + -0.02766833890576878, + -0.9948102759253993 + ], + [ + 0.9913627303610129, + 0.10171963408643475, + 0.0827831679297173, + 0.0979502281334014, + -0.9940137911985197, + 0.04839768295859129, + 0.08721060520242119, + -0.03987102893665423, + -0.9953916874234786 + ], + [ + 0.991936132855883, + 0.11202147598772154, + 0.05927813469103664, + 0.10916996628246901, + -0.992797607735473, + 0.049343981766847046, + 0.06437877598091574, + -0.04247468648800933, + -0.9970212004821887 + ], + [ + 0.9888055689763421, + 0.14538185283716287, + 0.033580703194042626, + 0.14322122024524547, + -0.9878908109240626, + 0.059660940013221905, + 0.04184768611089205, + -0.05418360044729309, + -0.9976537017471206 + ], + [ + 0.986469499344167, + 0.16068158560391066, + 0.03254773281630125, + 0.15793778187012097, + -0.9846565477282018, + 0.07421010762642194, + 0.04397253599252945, + -0.06806549099060524, + -0.9967113448810508 + ], + [ + 0.9870730673338378, + 0.15714440596239046, + 0.031502308151884775, + 0.15411494252377597, + -0.9845967255022354, + 0.08257041008235896, + 0.043992547494571405, + -0.07664805154081292, + -0.9960872110211709 + ], + [ + 0.9891437332074372, + 0.14421100304904658, + 0.028246445016004644, + 0.14155486866580477, + -0.9866639013132854, + 0.08035275354494166, + 0.039457498824191216, + -0.07548200080042432, + -0.9963661843628093 + ], + [ + 0.9936402422963136, + 0.10858900659334775, + 0.02979088008757338, + 0.10580360025783, + -0.9909184707505717, + 0.08298302535958195, + 0.03853137762659947, + -0.07930329105666163, + -0.9961055772184885 + ], + [ + 0.9947678930599944, + 0.06861798760730582, + 0.07568626502677558, + 0.06614791977075278, + -0.9972071041097033, + 0.0346762775271732, + 0.07785429754985745, + -0.02948835854813063, + -0.9965285470387465 + ], + [ + 0.9977094098481328, + 0.032250592860506466, + 0.05946286875551919, + 0.029692594560295632, + -0.9986159359944464, + 0.04341154461906864, + 0.06078061639016302, + -0.041546499709137166, + -0.9972861199440962 + ], + [ + 0.9993193387117589, + -0.003000033486553368, + 0.03676763625489408, + -0.004555543139014868, + -0.9990947370960458, + 0.042296020305598425, + 0.036607462400461706, + -0.042434727595008534, + -0.9984283587671856 + ], + [ + 0.9996681080949934, + -0.0002588178080719243, + 0.025760564262436187, + -0.0014516345557395783, + -0.9989267075981837, + 0.0462960646726008, + 0.025720933398565893, + -0.046318094308761, + -0.9985955476191107 + ], + [ + 0.9993138789858295, + 0.015284590385259578, + 0.03373651675929509, + 0.013471432297372604, + -0.9984859262401552, + 0.053332688027110726, + 0.0345006054751605, + -0.052841616147641095, + -0.9980067493883762 + ], + [ + 0.9991372922211555, + 0.03435979855969859, + 0.02332542681097024, + 0.0332771264602614, + -0.9984182619544163, + 0.04531674139289236, + 0.024845606201595587, + -0.04450144310985261, + -0.9987003141151082 + ], + [ + 0.996844570121087, + 0.04098835330884291, + 0.06797689249395435, + 0.03865778033398946, + -0.9986304477111285, + 0.03525343846945793, + 0.06932877497658659, + -0.03251436293855847, + -0.9970638581168939 + ], + [ + 0.9921903772325398, + 0.04903568150517635, + 0.11468983070208544, + 0.04542745785765925, + -0.9983933916616967, + 0.03386711618730194, + 0.11616626618662024, + -0.028392559334736313, + -0.9928238822543918 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006392.json b/json/chunk-0006/episode_0006392.json new file mode 100644 index 0000000000000000000000000000000000000000..70a0732d8ca512418631a1dd84415d684b373d04 --- /dev/null +++ b/json/chunk-0006/episode_0006392.json @@ -0,0 +1,4762 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 78, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nSweep into pile." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006392.mp4", + "start": 0, + "end": 78, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.31287476420402527, + 0.031023802235722542, + 0.06971290707588196, + 0.06531909108161926, + -0.22191676497459412, + 0.05319893732666969, + 0.0, + 1.0008161067962646 + ], + [ + 0.3091356158256531, + 0.029775287955999374, + 0.059780921787023544, + 0.06094122678041458, + -0.18822051584720612, + 0.055060554295778275, + 0.0, + 1.0014774799346924 + ], + [ + 0.3092821538448334, + 0.027169618755578995, + 0.05733587220311165, + 0.04625089466571808, + -0.18252049386501312, + 0.04490760713815689, + 0.0, + 1.0014774799346924 + ], + [ + 0.31097611784935, + 0.023900020867586136, + 0.05073563754558563, + 0.05390891805291176, + -0.17700250446796417, + 0.03593522682785988, + 0.0, + 1.0014774799346924 + ], + [ + 0.31169161200523376, + 0.024567512795329094, + 0.04453350231051445, + 0.059546392410993576, + -0.16548548638820648, + 0.04169372096657753, + 0.0, + 1.0008161067962646 + ], + [ + 0.31673663854599, + 0.02527647465467453, + 0.03625987842679024, + 0.06199461221694946, + -0.1736459583044052, + 0.04470238462090492, + 0.0, + 1.0008161067962646 + ], + [ + 0.3221386969089508, + 0.027534369379281998, + 0.031732574105262756, + 0.07007071375846863, + -0.17491145431995392, + 0.054132599383592606, + 0.0, + 1.0008161067962646 + ], + [ + 0.32448476552963257, + 0.030446739867329597, + 0.0263742096722126, + 0.0906800702214241, + -0.1663486659526825, + 0.054006557911634445, + 0.0, + 1.0008161067962646 + ], + [ + 0.3226987421512604, + 0.0338834784924984, + 0.018527043983340263, + 0.10529393702745438, + -0.14484624564647675, + 0.06754978001117706, + 0.0, + 0.9694526195526123 + ], + [ + 0.324716717004776, + 0.03474902734160423, + 0.018315035849809647, + 0.11099232733249664, + -0.14924193918704987, + 0.08125265687704086, + 0.0, + 0.6911999583244324 + ], + [ + 0.3242679536342621, + 0.0352645069360733, + 0.018317580223083496, + 0.11450061202049255, + -0.14668644964694977, + 0.08114006370306015, + 0.0, + 0.39711064100265503 + ], + [ + 0.320364773273468, + 0.027790842577815056, + 0.01750713400542736, + 0.07980126887559891, + -0.1194121241569519, + 0.11754802614450455, + 0.0, + 0.3729017674922943 + ], + [ + 0.3310927748680115, + -0.0005595698021352291, + 0.04254832863807678, + -0.006295723840594292, + -0.14043959975242615, + 0.14794272184371948, + 0.0, + 0.3729017674922943 + ], + [ + 0.3461163341999054, + -0.016287175938487053, + 0.06659345328807831, + -0.08498162031173706, + -0.1453140676021576, + 0.22878728806972504, + 0.0, + 0.3729017674922943 + ], + [ + 0.35892200469970703, + -0.03251364082098007, + 0.08533663302659988, + -0.13861826062202454, + -0.15192535519599915, + 0.3043297529220581, + 0.0, + 0.3729017674922943 + ], + [ + 0.37206950783729553, + -0.04608131945133209, + 0.07169196009635925, + -0.125223308801651, + -0.09234539419412613, + 0.44790688157081604, + 0.0, + 0.3729017674922943 + ], + [ + 0.38638800382614136, + -0.05194875970482826, + 0.05314136669039726, + -0.0851135328412056, + -0.07915433496236801, + 0.5614901781082153, + 0.0, + 0.3729017674922943 + ], + [ + 0.39356085658073425, + -0.049767158925533295, + 0.03370419517159462, + -0.050666872411966324, + -0.08568047732114792, + 0.6338568329811096, + 0.0, + 0.3729017674922943 + ], + [ + 0.40127116441726685, + -0.04853377118706703, + 0.026329081505537033, + -0.03721337020397186, + -0.08945322036743164, + 0.6555494070053101, + 0.0, + 0.3729017674922943 + ], + [ + 0.4152708351612091, + -0.048395056277513504, + 0.02595616690814495, + -0.048182591795921326, + -0.09565718472003937, + 0.6609612107276917, + 0.0, + 0.3729017674922943 + ], + [ + 0.4302104711532593, + -0.03947073593735695, + 0.028141885995864868, + -0.053584590554237366, + -0.09495106339454651, + 0.6986216306686401, + 0.0, + 0.3729017674922943 + ], + [ + 0.4390607178211212, + -0.03421024978160858, + 0.024163905531167984, + -0.050758931785821915, + -0.09160008281469345, + 0.7205383777618408, + 0.0, + 0.3729017674922943 + ], + [ + 0.44240644574165344, + -0.030209030956029892, + 0.02653663419187069, + -0.06048351153731346, + -0.10173657536506653, + 0.7360489964485168, + 0.0, + 0.3729017674922943 + ], + [ + 0.44546476006507874, + -0.02363760955631733, + 0.026861324906349182, + -0.07386543601751328, + -0.11255666613578796, + 0.7598522305488586, + 0.0, + 0.3729017674922943 + ], + [ + 0.44577446579933167, + -0.02285432629287243, + 0.02524328976869583, + -0.07574326545000076, + -0.1200498566031456, + 0.7663758397102356, + 0.0, + 0.3729017674922943 + ], + [ + 0.44671499729156494, + -0.019312063232064247, + 0.024356896057724953, + -0.08254377543926239, + -0.12486152350902557, + 0.7889740467071533, + 0.0, + 0.3729017674922943 + ], + [ + 0.44568827748298645, + -0.016275104135274887, + 0.02193663828074932, + -0.07833230495452881, + -0.1329241693019867, + 0.80125492811203, + 0.0, + 0.3729017674922943 + ], + [ + 0.4415085017681122, + -0.014632469974458218, + 0.02105611003935337, + -0.07610946148633957, + -0.13613751530647278, + 0.8081955313682556, + 0.0, + 0.3729017674922943 + ], + [ + 0.43545645475387573, + -0.013222738169133663, + 0.02251235954463482, + -0.08276373893022537, + -0.14522580802440643, + 0.8113704919815063, + 0.0, + 0.3729017674922943 + ], + [ + 0.4272964596748352, + -0.011233274824917316, + 0.0229136124253273, + -0.0817285105586052, + -0.1449199914932251, + 0.8221996426582336, + 0.0, + 0.3729017674922943 + ], + [ + 0.4238034188747406, + -0.003966222982853651, + 0.03334491327404976, + -0.10517926514148712, + -0.15792645514011383, + 0.846584677696228, + 0.0, + 0.3729017674922943 + ], + [ + 0.418617308139801, + 0.0032726472709327936, + 0.04198028892278671, + -0.12634515762329102, + -0.16391612589359283, + 0.8730518221855164, + 0.0, + 0.3729017674922943 + ], + [ + 0.4167020320892334, + 0.0008303821086883545, + 0.050755444914102554, + -0.15352042019367218, + -0.16179369390010834, + 0.8729042410850525, + 0.0, + 0.3729017674922943 + ], + [ + 0.4177277982234955, + -0.0030634994618594646, + 0.05344843491911888, + -0.1589994728565216, + -0.15728193521499634, + 0.8604329824447632, + 0.0, + 0.3729017674922943 + ], + [ + 0.42451125383377075, + -0.013622968457639217, + 0.05095715448260307, + -0.16625630855560303, + -0.1510399580001831, + 0.8431298136711121, + 0.0, + 0.3729017674922943 + ], + [ + 0.4295468330383301, + -0.01798393204808235, + 0.03840714320540428, + -0.1301059126853943, + -0.13724924623966217, + 0.8395928144454956, + 0.0, + 0.3729017674922943 + ], + [ + 0.43695223331451416, + -0.018720682710409164, + 0.03139583393931389, + -0.11675609648227692, + -0.13738107681274414, + 0.8452351093292236, + 0.0, + 0.3729017674922943 + ], + [ + 0.44034305214881897, + -0.01747911609709263, + 0.032013531774282455, + -0.11574654281139374, + -0.14676642417907715, + 0.8514955043792725, + 0.0, + 0.3729017674922943 + ], + [ + 0.4426012337207794, + -0.015802651643753052, + 0.027456147596240044, + -0.10767930746078491, + -0.14261317253112793, + 0.8600872755050659, + 0.0, + 0.3729017674922943 + ], + [ + 0.4446796178817749, + -0.012930153869092464, + 0.028429904952645302, + -0.10669387876987457, + -0.14389696717262268, + 0.8659440875053406, + 0.0, + 0.3729017674922943 + ], + [ + 0.4457490146160126, + -0.0110162990167737, + 0.027880573645234108, + -0.10638996213674545, + -0.1367776244878769, + 0.8748964667320251, + 0.0, + 0.3729017674922943 + ], + [ + 0.44661396741867065, + -0.008831162005662918, + 0.02895326353609562, + -0.11113638430833817, + -0.13047213852405548, + 0.8839975595474243, + 0.0, + 0.3729017674922943 + ], + [ + 0.4463549554347992, + -0.0048604002222418785, + 0.023230858147144318, + -0.10670741647481918, + -0.12084298580884933, + 0.8919249176979065, + 0.0, + 0.3729017674922943 + ], + [ + 0.44622451066970825, + -0.0021237926557660103, + 0.022878605872392654, + -0.10671984404325485, + -0.12082543969154358, + 0.898012638092041, + 0.0, + 0.3729017674922943 + ], + [ + 0.44219058752059937, + 0.003015072550624609, + 0.020693695172667503, + -0.10917024314403534, + -0.12329083681106567, + 0.9190858006477356, + 0.0, + 0.3729017674922943 + ], + [ + 0.4360188841819763, + 0.009840661659836769, + 0.022461779415607452, + -0.11454211175441742, + -0.1288430541753769, + 0.932013988494873, + 0.0, + 0.3729017674922943 + ], + [ + 0.42615368962287903, + 0.049451716244220734, + 0.02646063268184662, + -0.11907216906547546, + -0.11872775852680206, + 1.0535573959350586, + 0.0, + 0.3729017674922943 + ], + [ + 0.4234190583229065, + 0.057995542883872986, + 0.033168647438287735, + -0.1272815316915512, + -0.12283843755722046, + 1.0698432922363281, + 0.0, + 0.3729017674922943 + ], + [ + 0.42160093784332275, + 0.05525589734315872, + 0.036872830241918564, + -0.1343127340078354, + -0.11599946767091751, + 1.0791728496551514, + 0.0, + 0.3729017674922943 + ], + [ + 0.4127148687839508, + 0.06237869709730148, + 0.03483382612466812, + -0.12316624075174332, + -0.09992325305938721, + 1.1096761226654053, + 0.0, + 0.3729017674922943 + ], + [ + 0.4064636826515198, + 0.06148097664117813, + 0.04372679069638252, + -0.14207056164741516, + -0.10779178887605667, + 1.1150143146514893, + 0.0, + 0.3729017674922943 + ], + [ + 0.40881285071372986, + 0.05886607617139816, + 0.0450122244656086, + -0.15349192917346954, + -0.11291157454252243, + 1.108406662940979, + 0.0, + 0.3729017674922943 + ], + [ + 0.4235995411872864, + 0.04578173905611038, + 0.056643467396497726, + -0.19773605465888977, + -0.14117954671382904, + 1.0846846103668213, + 0.0, + 0.3729017674922943 + ], + [ + 0.4386509656906128, + 0.029429899528622627, + 0.051402486860752106, + -0.188910111784935, + -0.14933162927627563, + 1.0529303550720215, + 0.0, + 0.3729017674922943 + ], + [ + 0.44723206758499146, + 0.02705882303416729, + 0.04050543159246445, + -0.1115027442574501, + -0.15120375156402588, + 1.089004635810852, + 0.0, + 0.3729017674922943 + ], + [ + 0.446529358625412, + 0.03199343383312225, + 0.02684168703854084, + 0.023255258798599243, + -0.1542166769504547, + 1.1738471984863281, + 0.0, + 0.3729017674922943 + ], + [ + 0.44081106781959534, + 0.039286576211452484, + 0.025355210527777672, + 0.1485019028186798, + -0.17757564783096313, + 1.2482577562332153, + 0.0, + 0.3729017674922943 + ], + [ + 0.4329550862312317, + 0.038794271647930145, + 0.01970328390598297, + 0.14736638963222504, + -0.1532461792230606, + 1.2637780904769897, + 0.0, + 0.3729017674922943 + ], + [ + 0.42223769426345825, + 0.04205859452486038, + 0.020541362464427948, + 0.12093743681907654, + -0.11249706149101257, + 1.258556842803955, + 0.0, + 0.3729017674922943 + ], + [ + 0.410753071308136, + 0.04870742931962013, + 0.020556267350912094, + 0.09668692946434021, + -0.07196031510829926, + 1.244545578956604, + 0.0, + 0.3729017674922943 + ], + [ + 0.4039149582386017, + 0.05598246306180954, + 0.022353965789079666, + 0.0796579122543335, + -0.06661269068717957, + 1.235222339630127, + 0.0, + 0.3729017674922943 + ], + [ + 0.3977009654045105, + 0.05621359497308731, + 0.024996962398290634, + 0.07027765363454819, + -0.0683649480342865, + 1.2388644218444824, + 0.0, + 0.3729017674922943 + ], + [ + 0.38939139246940613, + 0.055687300860881805, + 0.02211197465658188, + 0.05936933308839798, + -0.08013942837715149, + 1.2427668571472168, + 0.0, + 0.3729017674922943 + ], + [ + 0.3805560767650604, + 0.057162027806043625, + 0.020384274423122406, + 0.05093938484787941, + -0.10477535426616669, + 1.2645026445388794, + 0.0, + 0.3729017674922943 + ], + [ + 0.3715471029281616, + 0.05351618677377701, + 0.019452949985861778, + 0.03557070344686508, + -0.13975904881954193, + 1.2728122472763062, + 0.0, + 0.3729017674922943 + ], + [ + 0.3681310713291168, + 0.05341258645057678, + 0.01886018179357052, + 0.015175879001617432, + -0.15265819430351257, + 1.280570149421692, + 0.0, + 0.3729017674922943 + ], + [ + 0.3609580993652344, + 0.053828563541173935, + 0.0194307342171669, + 0.01107905711978674, + -0.15673215687274933, + 1.2929649353027344, + 0.0, + 0.3729017674922943 + ], + [ + 0.3537181317806244, + 0.05432099476456642, + 0.019296489655971527, + 0.01410726923495531, + -0.16265128552913666, + 1.3008605241775513, + 0.0, + 0.3729017674922943 + ], + [ + 0.3454011082649231, + 0.05437245965003967, + 0.01871839165687561, + 0.022339778020977974, + -0.16469962894916534, + 1.2993505001068115, + 0.0, + 0.3729017674922943 + ], + [ + 0.34503912925720215, + 0.05425272136926651, + 0.01923505961894989, + 0.015632113441824913, + -0.16764187812805176, + 1.2776087522506714, + 0.0, + 0.3729017674922943 + ], + [ + 0.35902535915374756, + 0.04712878167629242, + 0.02003762312233448, + -0.055703528225421906, + -0.1775800883769989, + 1.1830039024353027, + 0.0, + 0.3729017674922943 + ], + [ + 0.38388705253601074, + 0.028768837451934814, + 0.03256911039352417, + -0.15419018268585205, + -0.1925414353609085, + 1.1071090698242188, + 0.0, + 0.3729017674922943 + ], + [ + 0.39446115493774414, + 0.021848781034350395, + 0.04009128734469414, + -0.2086988240480423, + -0.17556607723236084, + 1.0905873775482178, + 0.0, + 0.3729017674922943 + ], + [ + 0.40421369671821594, + 0.022251391783356667, + 0.048582497984170914, + -0.17587625980377197, + -0.17944911122322083, + 1.0521224737167358, + 0.0, + 0.43382158875465393 + ], + [ + 0.4072761833667755, + 0.01711818389594555, + 0.015391580760478973, + 0.10220778733491898, + -0.20860186219215393, + 0.880346953868866, + 0.0, + 0.7368898391723633 + ], + [ + 0.40989887714385986, + 0.011158652603626251, + 0.01671501062810421, + 0.19107431173324585, + -0.2649862766265869, + 0.80230712890625, + 0.0, + 0.9809558987617493 + ], + [ + 0.40809211134910583, + 0.011227128095924854, + 0.015387946739792824, + 0.1931164264678955, + -0.26785990595817566, + 0.7967777848243713, + 0.0, + 0.9974852800369263 + ], + [ + 0.4047181308269501, + 0.005516190081834793, + 0.01827484928071499, + 0.14666153490543365, + -0.2537367045879364, + 0.7879256010055542, + 0.0, + 0.9988223910331726 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9694526195526123 + ], + [ + 0.6911999583244324 + ], + [ + 0.39711064100265503 + ], + [ + 0.3729017674922943 + ], + [ + 0.3729017674922943 + ], + [ + 0.3729017674922943 + ], + [ + 0.3729017674922943 + ], + [ + 0.3729017674922943 + ], + [ + 0.3729017674922943 + ], + [ + 0.3729017674922943 + ], + [ + 0.3729017674922943 + ], + [ + 0.3729017674922943 + ], + [ + 0.3729017674922943 + ], + [ + 0.3729017674922943 + ], + [ + 0.3729017674922943 + ], + [ + 0.3729017674922943 + ], + [ + 0.3729017674922943 + ], + [ + 0.3729017674922943 + ], + [ + 0.3729017674922943 + ], + [ + 0.3729017674922943 + ], + [ + 0.3729017674922943 + ], + [ + 0.3729017674922943 + ], + [ + 0.3729017674922943 + ], + [ + 0.3729017674922943 + ], + [ + 0.3729017674922943 + ], + [ + 0.3729017674922943 + ], + [ + 0.3729017674922943 + ], + [ + 0.3729017674922943 + ], + [ + 0.3729017674922943 + ], + [ + 0.3729017674922943 + ], + [ + 0.3729017674922943 + ], + [ + 0.3729017674922943 + ], + [ + 0.3729017674922943 + ], + [ + 0.3729017674922943 + ], + [ + 0.3729017674922943 + ], + [ + 0.3729017674922943 + ], + [ + 0.3729017674922943 + ], + [ + 0.3729017674922943 + ], + [ + 0.3729017674922943 + ], + [ + 0.3729017674922943 + ], + [ + 0.3729017674922943 + ], + [ + 0.3729017674922943 + ], + [ + 0.3729017674922943 + ], + [ + 0.3729017674922943 + ], + [ + 0.3729017674922943 + ], + [ + 0.3729017674922943 + ], + [ + 0.3729017674922943 + ], + [ + 0.3729017674922943 + ], + [ + 0.3729017674922943 + ], + [ + 0.3729017674922943 + ], + [ + 0.3729017674922943 + ], + [ + 0.3729017674922943 + ], + [ + 0.3729017674922943 + ], + [ + 0.3729017674922943 + ], + [ + 0.3729017674922943 + ], + [ + 0.3729017674922943 + ], + [ + 0.3729017674922943 + ], + [ + 0.3729017674922943 + ], + [ + 0.3729017674922943 + ], + [ + 0.3729017674922943 + ], + [ + 0.3729017674922943 + ], + [ + 0.3729017674922943 + ], + [ + 0.3729017674922943 + ], + [ + 0.3729017674922943 + ], + [ + 0.3729017674922943 + ], + [ + 0.43382158875465393 + ], + [ + 0.7368898391723633 + ], + [ + 0.9809558987617493 + ], + [ + 0.9974852800369263 + ], + [ + 0.9988223910331726 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.31287476420402527, + 0.031023802235722542, + 0.06971290707588196 + ], + [ + 0.3091356158256531, + 0.029775287955999374, + 0.059780921787023544 + ], + [ + 0.3092821538448334, + 0.027169618755578995, + 0.05733587220311165 + ], + [ + 0.31097611784935, + 0.023900020867586136, + 0.05073563754558563 + ], + [ + 0.31169161200523376, + 0.024567512795329094, + 0.04453350231051445 + ], + [ + 0.31673663854599, + 0.02527647465467453, + 0.03625987842679024 + ], + [ + 0.3221386969089508, + 0.027534369379281998, + 0.031732574105262756 + ], + [ + 0.32448476552963257, + 0.030446739867329597, + 0.0263742096722126 + ], + [ + 0.3226987421512604, + 0.0338834784924984, + 0.018527043983340263 + ], + [ + 0.324716717004776, + 0.03474902734160423, + 0.018315035849809647 + ], + [ + 0.3242679536342621, + 0.0352645069360733, + 0.018317580223083496 + ], + [ + 0.320364773273468, + 0.027790842577815056, + 0.01750713400542736 + ], + [ + 0.3310927748680115, + -0.0005595698021352291, + 0.04254832863807678 + ], + [ + 0.3461163341999054, + -0.016287175938487053, + 0.06659345328807831 + ], + [ + 0.35892200469970703, + -0.03251364082098007, + 0.08533663302659988 + ], + [ + 0.37206950783729553, + -0.04608131945133209, + 0.07169196009635925 + ], + [ + 0.38638800382614136, + -0.05194875970482826, + 0.05314136669039726 + ], + [ + 0.39356085658073425, + -0.049767158925533295, + 0.03370419517159462 + ], + [ + 0.40127116441726685, + -0.04853377118706703, + 0.026329081505537033 + ], + [ + 0.4152708351612091, + -0.048395056277513504, + 0.02595616690814495 + ], + [ + 0.4302104711532593, + -0.03947073593735695, + 0.028141885995864868 + ], + [ + 0.4390607178211212, + -0.03421024978160858, + 0.024163905531167984 + ], + [ + 0.44240644574165344, + -0.030209030956029892, + 0.02653663419187069 + ], + [ + 0.44546476006507874, + -0.02363760955631733, + 0.026861324906349182 + ], + [ + 0.44577446579933167, + -0.02285432629287243, + 0.02524328976869583 + ], + [ + 0.44671499729156494, + -0.019312063232064247, + 0.024356896057724953 + ], + [ + 0.44568827748298645, + -0.016275104135274887, + 0.02193663828074932 + ], + [ + 0.4415085017681122, + -0.014632469974458218, + 0.02105611003935337 + ], + [ + 0.43545645475387573, + -0.013222738169133663, + 0.02251235954463482 + ], + [ + 0.4272964596748352, + -0.011233274824917316, + 0.0229136124253273 + ], + [ + 0.4238034188747406, + -0.003966222982853651, + 0.03334491327404976 + ], + [ + 0.418617308139801, + 0.0032726472709327936, + 0.04198028892278671 + ], + [ + 0.4167020320892334, + 0.0008303821086883545, + 0.050755444914102554 + ], + [ + 0.4177277982234955, + -0.0030634994618594646, + 0.05344843491911888 + ], + [ + 0.42451125383377075, + -0.013622968457639217, + 0.05095715448260307 + ], + [ + 0.4295468330383301, + -0.01798393204808235, + 0.03840714320540428 + ], + [ + 0.43695223331451416, + -0.018720682710409164, + 0.03139583393931389 + ], + [ + 0.44034305214881897, + -0.01747911609709263, + 0.032013531774282455 + ], + [ + 0.4426012337207794, + -0.015802651643753052, + 0.027456147596240044 + ], + [ + 0.4446796178817749, + -0.012930153869092464, + 0.028429904952645302 + ], + [ + 0.4457490146160126, + -0.0110162990167737, + 0.027880573645234108 + ], + [ + 0.44661396741867065, + -0.008831162005662918, + 0.02895326353609562 + ], + [ + 0.4463549554347992, + -0.0048604002222418785, + 0.023230858147144318 + ], + [ + 0.44622451066970825, + -0.0021237926557660103, + 0.022878605872392654 + ], + [ + 0.44219058752059937, + 0.003015072550624609, + 0.020693695172667503 + ], + [ + 0.4360188841819763, + 0.009840661659836769, + 0.022461779415607452 + ], + [ + 0.42615368962287903, + 0.049451716244220734, + 0.02646063268184662 + ], + [ + 0.4234190583229065, + 0.057995542883872986, + 0.033168647438287735 + ], + [ + 0.42160093784332275, + 0.05525589734315872, + 0.036872830241918564 + ], + [ + 0.4127148687839508, + 0.06237869709730148, + 0.03483382612466812 + ], + [ + 0.4064636826515198, + 0.06148097664117813, + 0.04372679069638252 + ], + [ + 0.40881285071372986, + 0.05886607617139816, + 0.0450122244656086 + ], + [ + 0.4235995411872864, + 0.04578173905611038, + 0.056643467396497726 + ], + [ + 0.4386509656906128, + 0.029429899528622627, + 0.051402486860752106 + ], + [ + 0.44723206758499146, + 0.02705882303416729, + 0.04050543159246445 + ], + [ + 0.446529358625412, + 0.03199343383312225, + 0.02684168703854084 + ], + [ + 0.44081106781959534, + 0.039286576211452484, + 0.025355210527777672 + ], + [ + 0.4329550862312317, + 0.038794271647930145, + 0.01970328390598297 + ], + [ + 0.42223769426345825, + 0.04205859452486038, + 0.020541362464427948 + ], + [ + 0.410753071308136, + 0.04870742931962013, + 0.020556267350912094 + ], + [ + 0.4039149582386017, + 0.05598246306180954, + 0.022353965789079666 + ], + [ + 0.3977009654045105, + 0.05621359497308731, + 0.024996962398290634 + ], + [ + 0.38939139246940613, + 0.055687300860881805, + 0.02211197465658188 + ], + [ + 0.3805560767650604, + 0.057162027806043625, + 0.020384274423122406 + ], + [ + 0.3715471029281616, + 0.05351618677377701, + 0.019452949985861778 + ], + [ + 0.3681310713291168, + 0.05341258645057678, + 0.01886018179357052 + ], + [ + 0.3609580993652344, + 0.053828563541173935, + 0.0194307342171669 + ], + [ + 0.3537181317806244, + 0.05432099476456642, + 0.019296489655971527 + ], + [ + 0.3454011082649231, + 0.05437245965003967, + 0.01871839165687561 + ], + [ + 0.34503912925720215, + 0.05425272136926651, + 0.01923505961894989 + ], + [ + 0.35902535915374756, + 0.04712878167629242, + 0.02003762312233448 + ], + [ + 0.38388705253601074, + 0.028768837451934814, + 0.03256911039352417 + ], + [ + 0.39446115493774414, + 0.021848781034350395, + 0.04009128734469414 + ], + [ + 0.40421369671821594, + 0.022251391783356667, + 0.048582497984170914 + ], + [ + 0.4072761833667755, + 0.01711818389594555, + 0.015391580760478973 + ], + [ + 0.40989887714385986, + 0.011158652603626251, + 0.01671501062810421 + ], + [ + 0.40809211134910583, + 0.011227128095924854, + 0.015387946739792824 + ], + [ + 0.4047181308269501, + 0.005516190081834793, + 0.01827484928071499 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9740973251137862, + 0.06740662484315406, + 0.21584890116333874, + 0.051869884569465535, + -0.9956918318255329, + 0.0768589039127203, + 0.22009978709875397, + -0.06367199512477001, + -0.9733971238687292 + ], + [ + 0.9808500668894015, + 0.06630903390427098, + 0.183129075533458, + 0.05406079080472822, + -0.9960038838794986, + 0.07108933952796112, + 0.18711113590757802, + -0.059827880788446496, + -0.9805151949356723 + ], + [ + 0.9823978945633001, + 0.05322799720939738, + 0.17905629581411306, + 0.044146819556398965, + -0.9975467832479116, + 0.05432746593389638, + 0.1815087741147781, + -0.045466422168676385, + -0.9823377063792929 + ], + [ + 0.9837403985648787, + 0.04535684433565716, + 0.17377452317104566, + 0.035366158924315924, + -0.9975617350743586, + 0.060164935954215834, + 0.17607970648076784, + -0.053040940671766276, + -0.9829458762202019 + ], + [ + 0.9854813121812935, + 0.05140260065451155, + 0.1618158088302512, + 0.0411122083025683, + -0.996951500517215, + 0.06631358793610477, + 0.1647312042993732, + -0.05869819641544428, + -0.9845903473362168 + ], + [ + 0.9839774239286828, + 0.05529519332635863, + 0.16950183123988358, + 0.044015459914003574, + -0.9966035377840936, + 0.0695990500279098, + 0.17277461760117455, + -0.061023192896056906, + -0.9830692251522976 + ], + [ + 0.9832994903252616, + 0.06613934056533584, + 0.16955146698174883, + 0.053280610958956795, + -0.9954256165311688, + 0.07930333189332403, + 0.17402094363012988, + -0.06894512008202563, + -0.9823254458655513 + ], + [ + 0.9847580633922828, + 0.06873112773961366, + 0.15977355433087584, + 0.05323516059124472, + -0.9936299637292335, + 0.09932528810059499, + 0.1655825300588948, + -0.08930580753278436, + -0.98214403143338 + ], + [ + 0.9872713739146091, + 0.08226008709823743, + 0.13611947810416597, + 0.06679158442989513, + -0.9911697677325154, + 0.11454857389952845, + 0.1443402871623315, + -0.10399889231939892, + -0.9840478199245369 + ], + [ + 0.9856215690349388, + 0.0970789448595097, + 0.1382960632775558, + 0.08026107667021283, + -0.9892310796655217, + 0.1223929352353498, + 0.1486885410004539, + -0.10953332592754861, + -0.9827991495144904 + ], + [ + 0.9860061027674464, + 0.09716437037661753, + 0.13546604901106166, + 0.08018063729032192, + -0.9888299878422346, + 0.12564362517710084, + 0.14616097532881242, + -0.1130236270575381, + -0.9827831037506133 + ], + [ + 0.9860271643275077, + 0.1263352692729865, + 0.10858098795818695, + 0.11644235716245666, + -0.9888249834249294, + 0.09309312333968997, + 0.11912853842259975, + -0.07914892224414583, + -0.9897190709695783 + ], + [ + 0.9793385259777737, + 0.14652908626252079, + 0.1393745974514458, + 0.14595238644864375, + -0.989186720433721, + 0.01440600595326606, + 0.1399783998537902, + 0.006233698472858959, + -0.9901349345305024 + ], + [ + 0.9636772640271984, + 0.2140075918043936, + 0.1597713411320596, + 0.22440625149478577, + -0.9732149336860464, + -0.04994524142020812, + 0.1448031943263403, + 0.08398478136274426, + -0.985889746073231 + ], + [ + 0.9430588297817883, + 0.27682881549032656, + 0.18440675281785746, + 0.29620223961539893, + -0.9511628865403715, + -0.08691027853487623, + 0.15134158984702595, + 0.13658319875596234, + -0.9789998738509436 + ], + [ + 0.897515061721643, + 0.41930763576245966, + 0.1365570231591609, + 0.4312345707436157, + -0.8992856430684889, + -0.07295256792233995, + 0.09221420160888792, + 0.12436413776563807, + -0.987942357761547 + ], + [ + 0.8438122756469089, + 0.5248308432157933, + 0.11195280021948666, + 0.5307810366936334, + -0.8469775283975233, + -0.030009289829221346, + 0.07907170514170515, + 0.08474463050259726, + -0.9932602947097812 + ], + [ + 0.8027935193387672, + 0.5880046422737173, + 0.09885902069226989, + 0.5900842038827749, + -0.8072820995216751, + 0.009810408753385146, + 0.08557568367070552, + 0.05045941395254693, + -0.9950530889896565 + ], + [ + 0.7895436492662131, + 0.6065381103895755, + 0.09344702535894113, + 0.6071575313414133, + -0.7941903874486231, + 0.024927106121791807, + 0.08933396912033077, + 0.03705602689508747, + -0.9953121584869536 + ], + [ + 0.7857936514594784, + 0.6095320665265387, + 0.10487610405553671, + 0.611069485100391, + -0.791310340892324, + 0.020543338969546535, + 0.09551136950710842, + 0.04794376156250206, + -0.9942730882519728 + ], + [ + 0.7622802278156984, + 0.6383514495643412, + 0.10694054946722224, + 0.6402657351454957, + -0.7678962495361766, + 0.019878087102936804, + 0.09480845257594388, + 0.05331769675612734, + -0.9940666881717628 + ], + [ + 0.7483002743855608, + 0.655452046382877, + 0.10212401405640792, + 0.6570232607718729, + -0.7535448870921984, + 0.022148091157068988, + 0.09147204031391334, + 0.05052443002850257, + -0.9945250865670031 + ], + [ + 0.7372947545905417, + 0.6655875252841692, + 0.11571383253253943, + 0.6678935353961235, + -0.7438932299002652, + 0.02326129584994864, + 0.10156116496643934, + 0.06013408928924685, + -0.9930101817584818 + ], + [ + 0.7203505308128635, + 0.6809270812850778, + 0.13203568733570067, + 0.6844556381436269, + -0.7286705908771174, + 0.0236569102841732, + 0.11231915317979632, + 0.07333130275249292, + -0.9909626268763095 + ], + [ + 0.7152436881025586, + 0.6850115320597955, + 0.13851233726474244, + 0.6885372906353989, + -0.7246483629342915, + 0.028304584454035813, + 0.119761705206273, + 0.07512623404472742, + -0.9899561520210592 + ], + [ + 0.6990885730638006, + 0.6999799905615846, + 0.14595608868774054, + 0.7041062554181886, + -0.7094613678772086, + 0.02998247105855358, + 0.12453733613899086, + 0.08180819215215909, + -0.9888366253351459 + ], + [ + 0.689667936231446, + 0.7088112490761127, + 0.1481376080454225, + 0.7118940375349065, + -0.7011210742003867, + 0.040448963328436255, + 0.13253307910294523, + 0.0775619268407952, + -0.9881392262471093 + ], + [ + 0.6844126600316969, + 0.7138199731817642, + 0.14845994973433857, + 0.7163519393977044, + -0.6962657985530072, + 0.045319274999614675, + 0.1357173891197605, + 0.07533248736188489, + -0.9878794494463313 + ], + [ + 0.6812574364537995, + 0.7145120343576538, + 0.15925092789206596, + 0.71759711807376, + -0.6948247755963309, + 0.04767501808853568, + 0.1447158643985898, + 0.08179904630003439, + -0.9860863220914149 + ], + [ + 0.6734767656934161, + 0.7221750980673166, + 0.1577725381763172, + 0.7249647276273937, + -0.6869770233184652, + 0.04988700360454621, + 0.14441326035816304, + 0.08078178732835081, + -0.9862145370398688 + ], + [ + 0.65430012270556, + 0.7339433169484211, + 0.18225958667307093, + 0.7397007794765924, + -0.6712509826972212, + 0.047590703606234616, + 0.15727080552095726, + 0.10367895511994889, + -0.9820980439834024 + ], + [ + 0.6338788778521406, + 0.7469739212701481, + 0.20056801628178222, + 0.7560217259813165, + -0.6531266657395625, + 0.04308953868577442, + 0.1631830814059534, + 0.12432022941669668, + -0.9787317111959934 + ], + [ + 0.6342115800165284, + 0.7413575707213257, + 0.21946440282449747, + 0.7561918353802196, + -0.6539203421516266, + 0.023708526411279837, + 0.1610887329307466, + 0.1509209675773192, + -0.9753323954777122 + ], + [ + 0.644060076668946, + 0.7323898558434089, + 0.22088847117688706, + 0.7487672014356389, + -0.6626851652542475, + 0.014001778679600785, + 0.1566342736933176, + 0.1563760557426292, + -0.9751985610607439 + ], + [ + 0.6575565620665291, + 0.7198697287514877, + 0.22227672237664903, + 0.7382270996491422, + -0.67455185791257, + 0.0007350716393143553, + 0.15046633187149128, + 0.16360734889961112, + -0.9749833426060052 + ], + [ + 0.661486372716247, + 0.7262266219931439, + 0.1871648263406604, + 0.7373712826132284, + -0.6753352743354917, + 0.0143477808572774, + 0.136818749767803, + 0.1285191065430869, + -0.9822237367144727 + ], + [ + 0.6573034250415039, + 0.7324477589577159, + 0.1774048697937232, + 0.7410783263990661, + -0.6709729021640465, + 0.024459736366450366, + 0.13694933942983237, + 0.11539343551249655, + -0.9838339460855963 + ], + [ + 0.6517755573635905, + 0.7361055623641194, + 0.18258484022498792, + 0.7441790501918358, + -0.6671553790622937, + 0.0331849580958615, + 0.14624009053251405, + 0.1142466684190421, + -0.9826299072775015 + ], + [ + 0.6457484283706942, + 0.7435449618145705, + 0.17363714181288245, + 0.7502052799027573, + -0.660169769133968, + 0.03698532043431266, + 0.14213024049372333, + 0.10638028803200436, + -0.9841149470744889 + ], + [ + 0.6412248148170442, + 0.7474815329609393, + 0.17349955257928312, + 0.7538348115984456, + -0.6558689708432022, + 0.03961022478369368, + 0.1434008845341732, + 0.10539094347923302, + -0.9840370599461047 + ], + [ + 0.6350889981382252, + 0.7538555607878993, + 0.1684154325260839, + 0.7603092922150455, + -0.648563993916718, + 0.03597952148448349, + 0.13635154790189405, + 0.10519762004892419, + -0.9850592449801181 + ], + [ + 0.6286758009115623, + 0.7593600268720496, + 0.1677470921866786, + 0.7667073322843388, + -0.6413111785026314, + 0.029662079310099794, + 0.13010228272262664, + 0.10996509408192415, + -0.9853837192251126 + ], + [ + 0.6233359084130606, + 0.7657932793660897, + 0.15815498272452322, + 0.7726061497335158, + -0.6343360105818772, + 0.026411419367771423, + 0.12054908824547851, + 0.10572832617987651, + -0.9870610104580086 + ], + [ + 0.6186222947705126, + 0.7696399182228166, + 0.15799003984695065, + 0.7763881586704706, + -0.6296612387934423, + 0.027352357071808123, + 0.12053167006700394, + 0.10574081822590391, + -0.9870617994187472 + ], + [ + 0.6019431281875902, + 0.7821873013261329, + 0.16077156487351676, + 0.7890124864523378, + -0.6135891851354474, + 0.03110639977748575, + 0.12297872437961528, + 0.1081264885629733, + -0.9865013410132819 + ], + [ + 0.591276389009327, + 0.7888061634025201, + 0.1678602644412556, + 0.7961679190584023, + -0.6041008751093904, + 0.034333327165928275, + 0.12848687272365553, + 0.11334447172344167, + -0.985212745688681 + ], + [ + 0.4910010507354875, + 0.8560756176375147, + 0.16140788414199247, + 0.8630688258828226, + -0.5032109098503372, + 0.04348542280858572, + 0.11844901842519835, + 0.1179547247639676, + -0.9859292636593984 + ], + [ + 0.4766428392276648, + 0.8625600234730475, + 0.16971095933723848, + 0.8705159763129111, + -0.4900192166708556, + 0.04564101529611344, + 0.12252974658004237, + 0.12598163834248413, + -0.9844364316722405 + ], + [ + 0.4688852991016824, + 0.8663116623830388, + 0.17219372783426717, + 0.875643160851817, + -0.48146922881394505, + 0.03790035037758672, + 0.11573949688746975, + 0.13300934299680192, + -0.9843337256925593 + ], + [ + 0.4427320931901839, + 0.8833172830123507, + 0.1540742392196603, + 0.8910874390713003, + -0.45255652656753365, + 0.03399656145084439, + 0.09975705282730701, + 0.12224225044070491, + -0.9874742339010177 + ], + [ + 0.437609953638711, + 0.8821654773367325, + 0.17401608854235218, + 0.8927056569757341, + -0.4494079495538216, + 0.0333032262904392, + 0.10758317005855328, + 0.14077132333356945, + -0.9841795039763162 + ], + [ + 0.4432475275327352, + 0.8767823813895386, + 0.18650545574059343, + 0.8892899936793128, + -0.45626096966613583, + 0.0314521016971021, + 0.11267180870991891, + 0.15191636924376106, + -0.9819503451182388 + ], + [ + 0.4625433542131063, + 0.8540128776614729, + 0.23815047818902035, + 0.8753593852748972, + -0.48252825576668124, + 0.03020643967630969, + 0.14071102332242197, + 0.19449546826374747, + -0.9707584255315133 + ], + [ + 0.48951777092864324, + 0.8395893914689709, + 0.23550372752424795, + 0.8592075923408327, + -0.510495541956673, + 0.03400904153650873, + 0.14877723350338792, + 0.18569856050902922, + -0.9712782193665996 + ], + [ + 0.4580808495718576, + 0.8728966899963613, + 0.1679681632004168, + 0.876055399476577, + -0.4753428942690633, + 0.08109297081649802, + 0.1506282586484371, + 0.11000227934596074, + -0.9824513353012623 + ], + [ + 0.38201831029965566, + 0.9233762959674044, + 0.03792395867143174, + 0.9112997149979226, + -0.38320786059716877, + 0.15061396024687068, + 0.15360611980159217, + -0.02297719787218032, + -0.9878649747498094 + ], + [ + 0.3119907564903252, + 0.9462795492156998, + -0.0849516486051134, + 0.9335195297643245, + -0.28869863931079526, + 0.21258970626229773, + 0.1766438660502801, + -0.14563004633737986, + -0.9734417466857395 + ], + [ + 0.2986758915526361, + 0.9496808116407768, + -0.09433487057580121, + 0.9420677176074045, + -0.27757635089124677, + 0.1883076866935467, + 0.15264706760109562, + -0.14511280242354446, + -0.9775689987543446 + ], + [ + 0.3052488156375029, + 0.9488575416179376, + -0.08057621402539174, + 0.9456325235936033, + -0.2920583691760677, + 0.1431119817353153, + 0.11225992550280477, + -0.11988025153869042, + -0.9864210228990079 + ], + [ + 0.31966436145406685, + 0.9450509188112546, + -0.06850880870491881, + 0.9447991009284737, + -0.3124222582802113, + 0.09872685255714578, + 0.07189822599279615, + -0.0962865171511379, + -0.9927535201216828 + ], + [ + 0.3285808470606565, + 0.9429715674078153, + -0.05328461321384975, + 0.9421273457271034, + -0.3232656880016813, + 0.08885583489001982, + 0.0665634387490934, + -0.07939721670970416, + -0.9946182134872897 + ], + [ + 0.3251088627054361, + 0.9446439871882237, + -0.04418104638317923, + 0.9432060952400012, + -0.3205306915404423, + 0.08730600026753782, + 0.06831170684800228, + -0.0700557866970356, + -0.9952013351366505 + ], + [ + 0.32114418187738086, + 0.9465414724825153, + -0.030424584088192718, + 0.9436407279592393, + -0.31711389810677665, + 0.09476788572128148, + 0.08005367563619228, + -0.059144031805049326, + -0.995034367506459 + ], + [ + 0.2998733497108103, + 0.9538265815623437, + -0.017053634167306694, + 0.9482289869877811, + -0.29605849415300584, + 0.11493979413580711, + 0.10458375767462731, + -0.050638131333500855, + -0.9932260655488792 + ], + [ + 0.29073106605065785, + 0.9567800962003797, + 0.00687711769859066, + 0.9466095809831826, + -0.28867221787799374, + 0.1435223042465653, + 0.1393045168825891, + -0.035216447012615844, + -0.9896231876001674 + ], + [ + 0.2828409059851399, + 0.9587292159535216, + 0.028970888468444, + 0.9470358861447766, + -0.28392485992407246, + 0.15003234408311272, + 0.15206594706075052, + -0.014998813094427493, + -0.9882565372160588 + ], + [ + 0.2709090103480992, + 0.9620677654699845, + 0.03215466926908637, + 0.9498651627207628, + -0.2725910208850868, + 0.15313493390564092, + 0.15609125780027633, + -0.010943033236585728, + -0.9876820182943044 + ], + [ + 0.26314990393559573, + 0.9643012914358323, + 0.02958289022176233, + 0.9510673807775284, + -0.2644413657322258, + 0.15981739989953195, + 0.16193506500958485, + -0.013920611511757858, + -0.9867032235152982 + ], + [ + 0.2644962464517631, + 0.9641258451105539, + 0.022429676832017312, + 0.9503473865706507, + -0.2645293661716172, + 0.16390259080068606, + 0.16395603206732845, + -0.022035635291568823, + -0.9862215016546914 + ], + [ + 0.2849536704044781, + 0.957964342558282, + 0.03325243013516767, + 0.9439067201663331, + -0.28647299733094017, + 0.16423557904748376, + 0.16685775183626073, + -0.015412338794139058, + -0.9858605126817095 + ], + [ + 0.37219898258325745, + 0.9205912274253848, + 0.11823582093177767, + 0.9111878608779674, + -0.38666373118972064, + 0.14222461520804835, + 0.1766482367662411, + 0.054799187675246004, + -0.9827473986114189 + ], + [ + 0.43898438302161025, + 0.8706545730623555, + 0.22193090336576418, + 0.8778817487453324, + -0.4682280201276069, + 0.10042985804639343, + 0.19135398266817863, + 0.15074195027592452, + -0.9698765476822488 + ], + [ + 0.45486310204330516, + 0.8509361181704159, + 0.2626923698789244, + 0.8732648551310686, + -0.4840359683381913, + 0.05583613657680225, + 0.17466554094169676, + 0.2040022160369181, + -0.9632627080187269 + ], + [ + 0.48776851544062155, + 0.8395981909695736, + 0.2390747855075304, + 0.8545314897893073, + -0.5152041992363054, + 0.06588297236573519, + 0.17848755783896833, + 0.17216129300715888, + -0.968763480363904 + ], + [ + 0.623076957302936, + 0.7803936130691062, + 0.05254439988297192, + 0.7542465744714556, + -0.6172699269057709, + 0.2238078243400336, + 0.2070922745449243, + -0.09981806459098819, + -0.9732158772878292 + ], + [ + 0.6707898706467776, + 0.7404471808083453, + 0.042177267225996184, + 0.6938670061008665, + -0.6466409895000884, + 0.3168659157166746, + 0.2618960238000943, + -0.18328503248034272, + -0.947532094224982 + ], + [ + 0.6740873687862603, + 0.7373204570262186, + 0.04432564600165467, + 0.689606357015115, + -0.6496968551970221, + 0.3199016547494573, + 0.264668267095165, + -0.18507441745888975, + -0.9464133179510391 + ], + [ + 0.6827339296278068, + 0.7271548955224704, + 0.07155514833104591, + 0.6861938164632443, + -0.6717407342043925, + 0.2791100719396396, + 0.2510227630765388, + -0.14145721589317606, + -0.9575893840729287 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0037391483783721924, + -0.0012485142797231674, + -0.009931985288858414, + -0.004377864301204681, + 0.033696249127388, + 0.0018616169691085815, + 1.0 + ], + [ + 0.00014653801918029785, + -0.0026056692004203796, + -0.0024450495839118958, + -0.014690332114696503, + 0.005700021982192993, + -0.010152947157621384, + 1.0 + ], + [ + 0.0016939640045166016, + -0.003269597887992859, + -0.006600234657526016, + 0.00765802338719368, + 0.00551798939704895, + -0.008972380310297012, + 1.0 + ], + [ + 0.0007154941558837891, + 0.0006674919277429581, + -0.006202135235071182, + 0.005637474358081818, + 0.01151701807975769, + 0.005758494138717651, + 1.0 + ], + [ + 0.005045026540756226, + 0.0007089618593454361, + -0.008273623883724213, + 0.002448219805955887, + -0.00816047191619873, + 0.0030086636543273926, + 1.0 + ], + [ + 0.005402058362960815, + 0.0022578947246074677, + -0.004527304321527481, + 0.008076101541519165, + -0.001265496015548706, + 0.009430214762687683, + 1.0 + ], + [ + 0.0023460686206817627, + 0.0029123704880476, + -0.005358364433050156, + 0.020609356462955475, + 0.008562788367271423, + -0.0001260414719581604, + 1.0 + ], + [ + -0.0017860233783721924, + 0.0034367386251688004, + -0.007847165688872337, + 0.014613866806030273, + 0.02150242030620575, + 0.013543222099542618, + 0.0 + ], + [ + 0.002017974853515625, + 0.000865548849105835, + -0.00021200813353061676, + 0.005698390305042267, + -0.00439569354057312, + 0.0137028768658638, + 0.0 + ], + [ + -0.000448763370513916, + 0.0005154795944690704, + 2.5443732738494873e-06, + 0.0035082846879959106, + 0.0025554895401000977, + -0.00011259317398071289, + 0.0 + ], + [ + -0.0039031803607940674, + -0.007473664358258247, + -0.0008104462176561356, + -0.034699343144893646, + 0.027274325489997864, + 0.0364079624414444, + 0.0 + ], + [ + 0.010728001594543457, + -0.028350412845611572, + 0.02504119463264942, + -0.08609699457883835, + -0.021027475595474243, + 0.030394695699214935, + 0.0 + ], + [ + 0.015023559331893921, + -0.015727605670690536, + 0.024045124650001526, + -0.07868589460849762, + -0.004874467849731445, + 0.08084456622600555, + 0.0 + ], + [ + 0.012805670499801636, + -0.01622646488249302, + 0.018743179738521576, + -0.053636640310287476, + -0.006611287593841553, + 0.07554246485233307, + 0.0 + ], + [ + 0.013147503137588501, + -0.01356767863035202, + -0.013644672930240631, + 0.013394951820373535, + 0.059579961001873016, + 0.14357712864875793, + 0.0 + ], + [ + 0.014318495988845825, + -0.00586744025349617, + -0.01855059340596199, + 0.040109775960445404, + 0.013191059231758118, + 0.11358329653739929, + 0.0 + ], + [ + 0.0071728527545928955, + 0.0021816007792949677, + -0.019437171518802643, + 0.03444666042923927, + -0.006526142358779907, + 0.07236665487289429, + 0.0 + ], + [ + 0.007710307836532593, + 0.0012333877384662628, + -0.007375113666057587, + 0.013453502207994461, + -0.003772743046283722, + 0.02169257402420044, + 0.0 + ], + [ + 0.01399967074394226, + 0.00013871490955352783, + -0.0003729145973920822, + -0.010969221591949463, + -0.006203964352607727, + 0.005411803722381592, + 0.0 + ], + [ + 0.014939635992050171, + 0.008924320340156555, + 0.0021857190877199173, + -0.00540199875831604, + 0.0007061213254928589, + 0.037660419940948486, + 0.0 + ], + [ + 0.008850246667861938, + 0.005260486155748367, + -0.003977980464696884, + 0.002825658768415451, + 0.003350980579853058, + 0.021916747093200684, + 0.0 + ], + [ + 0.0033457279205322266, + 0.00400121882557869, + 0.0023727286607027054, + -0.009724579751491547, + -0.010136492550373077, + 0.015510618686676025, + 0.0 + ], + [ + 0.003058314323425293, + 0.0065714213997125626, + 0.00032469071447849274, + -0.013381924480199814, + -0.010820090770721436, + 0.023803234100341797, + 0.0 + ], + [ + 0.0003097057342529297, + 0.0007832832634449005, + -0.0016180351376533508, + -0.0018778294324874878, + -0.0074931904673576355, + 0.006523609161376953, + 0.0 + ], + [ + 0.0009405314922332764, + 0.0035422630608081818, + -0.0008863937109708786, + -0.006800509989261627, + -0.004811666905879974, + 0.022598206996917725, + 0.0 + ], + [ + -0.0010267198085784912, + 0.00303695909678936, + -0.0024202577769756317, + 0.0042114704847335815, + -0.00806264579296112, + 0.012280881404876709, + 0.0 + ], + [ + -0.004179775714874268, + 0.0016426341608166695, + -0.0008805282413959503, + 0.0022228434681892395, + -0.003213346004486084, + 0.006940603256225586, + 0.0 + ], + [ + -0.00605204701423645, + 0.0014097318053245544, + 0.0014562495052814484, + -0.006654277443885803, + -0.009088292717933655, + 0.0031749606132507324, + 0.0 + ], + [ + -0.008159995079040527, + 0.0019894633442163467, + 0.000401252880692482, + 0.0010352283716201782, + 0.00030581653118133545, + 0.010829150676727295, + 0.0 + ], + [ + -0.0034930408000946045, + 0.007267051842063665, + 0.010431300848722458, + -0.023450754582881927, + -0.013006463646888733, + 0.024385035037994385, + 0.0 + ], + [ + -0.005186110734939575, + 0.007238870486617088, + 0.008635375648736954, + -0.021165892481803894, + -0.005989670753479004, + 0.02646714448928833, + 0.0 + ], + [ + -0.001915276050567627, + -0.002442265162244439, + 0.008775155991315842, + -0.027175262570381165, + 0.002122431993484497, + -0.0001475811004638672, + 0.0 + ], + [ + 0.001025766134262085, + -0.003893881570547819, + 0.002692990005016327, + -0.005479052662849426, + 0.0045117586851119995, + -0.012471258640289307, + 0.0 + ], + [ + 0.0067834556102752686, + -0.01055946946144104, + -0.002491280436515808, + -0.007256835699081421, + 0.006241977214813232, + -0.017303168773651123, + 0.0 + ], + [ + 0.005035579204559326, + -0.004360963590443134, + -0.012550011277198792, + 0.03615039587020874, + 0.013790711760520935, + -0.003536999225616455, + 0.0 + ], + [ + 0.007405400276184082, + -0.0007367506623268127, + -0.007011309266090393, + 0.01334981620311737, + -0.00013183057308197021, + 0.005642294883728027, + 0.0 + ], + [ + 0.0033908188343048096, + 0.001241566613316536, + 0.0006176978349685669, + 0.0010095536708831787, + -0.009385347366333008, + 0.006260395050048828, + 0.0 + ], + [ + 0.0022581815719604492, + 0.0016764644533395767, + -0.004557384178042412, + 0.008067235350608826, + 0.004153251647949219, + 0.008591771125793457, + 0.0 + ], + [ + 0.0020783841609954834, + 0.0028724977746605873, + 0.0009737573564052582, + 0.0009854286909103394, + -0.001283794641494751, + 0.005856812000274658, + 0.0 + ], + [ + 0.001069396734237671, + 0.0019138548523187637, + -0.0005493313074111938, + 0.0003039166331291199, + 0.007119342684745789, + 0.00895237922668457, + 0.0 + ], + [ + 0.0008649528026580811, + 0.0021851370111107826, + 0.0010726898908615112, + -0.004746422171592712, + 0.006305485963821411, + 0.00910109281539917, + 0.0 + ], + [ + -0.00025901198387145996, + 0.00397076178342104, + -0.005722405388951302, + 0.004428967833518982, + 0.009629152715206146, + 0.007927358150482178, + 0.0 + ], + [ + -0.00013044476509094238, + 0.0027366075664758682, + -0.0003522522747516632, + -1.2427568435668945e-05, + 1.7546117305755615e-05, + 0.0060877203941345215, + 0.0 + ], + [ + -0.004033923149108887, + 0.005138865206390619, + -0.002184910699725151, + -0.002450399100780487, + -0.0024653971195220947, + 0.02107316255569458, + 0.0 + ], + [ + -0.006171703338623047, + 0.00682558910921216, + 0.001768084242939949, + -0.00537186861038208, + -0.005552217364311218, + 0.012928187847137451, + 0.0 + ], + [ + -0.00986519455909729, + 0.039611056447029114, + 0.003998853266239166, + -0.004530057311058044, + 0.010115295648574829, + 0.12154340744018555, + 0.0 + ], + [ + -0.002734631299972534, + 0.008543826639652252, + 0.006708014756441116, + -0.008209362626075745, + -0.004110679030418396, + 0.01628589630126953, + 0.0 + ], + [ + -0.0018181204795837402, + -0.002739645540714264, + 0.003704182803630829, + -0.00703120231628418, + 0.006838969886302948, + 0.009329557418823242, + 0.0 + ], + [ + -0.008886069059371948, + 0.007122799754142761, + -0.0020390041172504425, + 0.011146493256092072, + 0.016076214611530304, + 0.030503273010253906, + 0.0 + ], + [ + -0.00625118613243103, + -0.000897720456123352, + 0.008892964571714401, + -0.018904320895671844, + -0.007868535816669464, + 0.005338191986083984, + 0.0 + ], + [ + 0.002349168062210083, + -0.0026149004697799683, + 0.0012854337692260742, + -0.011421367526054382, + -0.005119785666465759, + -0.006607651710510254, + 0.0 + ], + [ + 0.014786690473556519, + -0.01308433711528778, + 0.01163124293088913, + -0.04424412548542023, + -0.02826797217130661, + -0.023722052574157715, + 0.0 + ], + [ + 0.015051424503326416, + -0.016351839527487755, + -0.005240980535745621, + 0.008825942873954773, + -0.008152082562446594, + -0.031754255294799805, + 0.0 + ], + [ + 0.008581101894378662, + -0.0023710764944553375, + -0.010897055268287659, + 0.0774073675274849, + -0.0018721222877502441, + 0.036074280738830566, + 0.0 + ], + [ + -0.0007027089595794678, + 0.004934610798954964, + -0.013663744553923607, + 0.13475799560546875, + -0.003012925386428833, + 0.08484256267547607, + 0.0 + ], + [ + -0.00571829080581665, + 0.007293142378330231, + -0.0014864765107631683, + 0.12524664402008057, + -0.023358970880508423, + 0.07441055774688721, + 0.0 + ], + [ + -0.007855981588363647, + -0.0004923045635223389, + -0.005651926621794701, + -0.001135513186454773, + 0.024329468607902527, + 0.015520334243774414, + 0.0 + ], + [ + -0.010717391967773438, + 0.003264322876930237, + 0.0008380785584449768, + -0.0264289528131485, + 0.040749117732048035, + -0.005221247673034668, + 0.0 + ], + [ + -0.011484622955322266, + 0.00664883479475975, + 1.4904886484146118e-05, + -0.024250507354736328, + 0.04053674638271332, + -0.014011263847351074, + 0.0 + ], + [ + -0.006838113069534302, + 0.007275033742189407, + 0.001797698438167572, + -0.017029017210006714, + 0.00534762442111969, + -0.00932323932647705, + 0.0 + ], + [ + -0.0062139928340911865, + 0.000231131911277771, + 0.002642996609210968, + -0.009380258619785309, + -0.0017522573471069336, + 0.0036420822143554688, + 0.0 + ], + [ + -0.00830957293510437, + -0.0005262941122055054, + -0.0028849877417087555, + -0.010908320546150208, + -0.01177448034286499, + 0.003902435302734375, + 0.0 + ], + [ + -0.008835315704345703, + 0.0014747269451618195, + -0.0017277002334594727, + -0.00842994824051857, + -0.024635925889015198, + 0.021735787391662598, + 0.0 + ], + [ + -0.009008973836898804, + -0.003645841032266617, + -0.0009313244372606277, + -0.015368681401014328, + -0.034983694553375244, + 0.008309602737426758, + 0.0 + ], + [ + -0.0034160315990448, + -0.00010360032320022583, + -0.0005927681922912598, + -0.02039482444524765, + -0.012899145483970642, + 0.007757902145385742, + 0.0 + ], + [ + -0.007172971963882446, + 0.0004159770905971527, + 0.0005705524235963821, + -0.004096821881830692, + -0.004073962569236755, + 0.01239478588104248, + 0.0 + ], + [ + -0.007239967584609985, + 0.0004924312233924866, + -0.00013424456119537354, + 0.0030282121151685715, + -0.005919128656387329, + 0.007895588874816895, + 0.0 + ], + [ + -0.008317023515701294, + 5.146488547325134e-05, + -0.0005780979990959167, + 0.008232508786022663, + -0.0020483434200286865, + -0.001510024070739746, + 0.0 + ], + [ + -0.00036197900772094727, + -0.00011973828077316284, + 0.0005166679620742798, + -0.006707664579153061, + -0.0029422491788864136, + -0.021741747856140137, + 0.0 + ], + [ + 0.01398622989654541, + -0.007123939692974091, + 0.0008025635033845901, + -0.07133564352989197, + -0.009938210248947144, + -0.09460484981536865, + 0.0 + ], + [ + 0.024861693382263184, + -0.018359944224357605, + 0.01253148727118969, + -0.09848665446043015, + -0.014961346983909607, + -0.07589483261108398, + 0.0 + ], + [ + 0.010574102401733398, + -0.006920056417584419, + 0.007522176951169968, + -0.05450864136219025, + 0.01697535812854767, + -0.016521692276000977, + 0.0 + ], + [ + 0.009752541780471802, + 0.00040261074900627136, + 0.008491210639476776, + 0.032822564244270325, + -0.0038830339908599854, + -0.038464903831481934, + 1.0 + ], + [ + 0.0030624866485595703, + -0.0051332078874111176, + -0.03319091722369194, + 0.27808403968811035, + -0.029152750968933105, + -0.17177551984786987, + 1.0 + ], + [ + 0.0026226937770843506, + -0.005959531292319298, + 0.0013234298676252365, + 0.08886652439832687, + -0.05638441443443298, + -0.07803982496261597, + 1.0 + ], + [ + -0.0018067657947540283, + 6.847549229860306e-05, + -0.001327063888311386, + 0.002042114734649658, + -0.002873629331588745, + -0.005529344081878662, + 1.0 + ], + [ + -0.0033739805221557617, + -0.005710938014090061, + 0.002886902540922165, + -0.04645489156246185, + 0.014123201370239258, + -0.008852183818817139, + 1.0 + ], + [ + 0.0010522902011871338, + -0.0032442123629152775, + 0.020741021260619164, + -0.07122626900672913, + -0.010397553443908691, + 0.007362544536590576, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9694526195526123 + ], + [ + 0.6911999583244324 + ], + [ + 0.39711064100265503 + ], + [ + 0.3729017674922943 + ], + [ + 0.3729017674922943 + ], + [ + 0.3729017674922943 + ], + [ + 0.3729017674922943 + ], + [ + 0.3729017674922943 + ], + [ + 0.3729017674922943 + ], + [ + 0.3729017674922943 + ], + [ + 0.3729017674922943 + ], + [ + 0.3729017674922943 + ], + [ + 0.3729017674922943 + ], + [ + 0.3729017674922943 + ], + [ + 0.3729017674922943 + ], + [ + 0.3729017674922943 + ], + [ + 0.3729017674922943 + ], + [ + 0.3729017674922943 + ], + [ + 0.3729017674922943 + ], + [ + 0.3729017674922943 + ], + [ + 0.3729017674922943 + ], + [ + 0.3729017674922943 + ], + [ + 0.3729017674922943 + ], + [ + 0.3729017674922943 + ], + [ + 0.3729017674922943 + ], + [ + 0.3729017674922943 + ], + [ + 0.3729017674922943 + ], + [ + 0.3729017674922943 + ], + [ + 0.3729017674922943 + ], + [ + 0.3729017674922943 + ], + [ + 0.3729017674922943 + ], + [ + 0.3729017674922943 + ], + [ + 0.3729017674922943 + ], + [ + 0.3729017674922943 + ], + [ + 0.3729017674922943 + ], + [ + 0.3729017674922943 + ], + [ + 0.3729017674922943 + ], + [ + 0.3729017674922943 + ], + [ + 0.3729017674922943 + ], + [ + 0.3729017674922943 + ], + [ + 0.3729017674922943 + ], + [ + 0.3729017674922943 + ], + [ + 0.3729017674922943 + ], + [ + 0.3729017674922943 + ], + [ + 0.3729017674922943 + ], + [ + 0.3729017674922943 + ], + [ + 0.3729017674922943 + ], + [ + 0.3729017674922943 + ], + [ + 0.3729017674922943 + ], + [ + 0.3729017674922943 + ], + [ + 0.3729017674922943 + ], + [ + 0.3729017674922943 + ], + [ + 0.3729017674922943 + ], + [ + 0.3729017674922943 + ], + [ + 0.3729017674922943 + ], + [ + 0.3729017674922943 + ], + [ + 0.3729017674922943 + ], + [ + 0.3729017674922943 + ], + [ + 0.3729017674922943 + ], + [ + 0.3729017674922943 + ], + [ + 0.3729017674922943 + ], + [ + 0.3729017674922943 + ], + [ + 0.3729017674922943 + ], + [ + 0.3729017674922943 + ], + [ + 0.3729017674922943 + ], + [ + 0.43382158875465393 + ], + [ + 0.7368898391723633 + ], + [ + 0.9809558987617493 + ], + [ + 0.9974852800369263 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3091356158256531, + 0.029775287955999374, + 0.059780921787023544 + ], + [ + 0.3092821538448334, + 0.027169618755578995, + 0.05733587220311165 + ], + [ + 0.31097611784935, + 0.023900020867586136, + 0.05073563754558563 + ], + [ + 0.31169161200523376, + 0.024567512795329094, + 0.04453350231051445 + ], + [ + 0.31673663854599, + 0.02527647465467453, + 0.03625987842679024 + ], + [ + 0.3221386969089508, + 0.027534369379281998, + 0.031732574105262756 + ], + [ + 0.32448476552963257, + 0.030446739867329597, + 0.0263742096722126 + ], + [ + 0.3226987421512604, + 0.0338834784924984, + 0.018527043983340263 + ], + [ + 0.324716717004776, + 0.03474902734160423, + 0.018315035849809647 + ], + [ + 0.3242679536342621, + 0.0352645069360733, + 0.018317580223083496 + ], + [ + 0.320364773273468, + 0.027790842577815056, + 0.01750713400542736 + ], + [ + 0.3310927748680115, + -0.0005595698021352291, + 0.04254832863807678 + ], + [ + 0.3461163341999054, + -0.016287175938487053, + 0.06659345328807831 + ], + [ + 0.35892200469970703, + -0.03251364082098007, + 0.08533663302659988 + ], + [ + 0.37206950783729553, + -0.04608131945133209, + 0.07169196009635925 + ], + [ + 0.38638800382614136, + -0.05194875970482826, + 0.05314136669039726 + ], + [ + 0.39356085658073425, + -0.049767158925533295, + 0.03370419517159462 + ], + [ + 0.40127116441726685, + -0.04853377118706703, + 0.026329081505537033 + ], + [ + 0.4152708351612091, + -0.048395056277513504, + 0.02595616690814495 + ], + [ + 0.4302104711532593, + -0.03947073593735695, + 0.028141885995864868 + ], + [ + 0.4390607178211212, + -0.03421024978160858, + 0.024163905531167984 + ], + [ + 0.44240644574165344, + -0.030209030956029892, + 0.02653663419187069 + ], + [ + 0.44546476006507874, + -0.02363760955631733, + 0.026861324906349182 + ], + [ + 0.44577446579933167, + -0.02285432629287243, + 0.02524328976869583 + ], + [ + 0.44671499729156494, + -0.019312063232064247, + 0.024356896057724953 + ], + [ + 0.44568827748298645, + -0.016275104135274887, + 0.02193663828074932 + ], + [ + 0.4415085017681122, + -0.014632469974458218, + 0.02105611003935337 + ], + [ + 0.43545645475387573, + -0.013222738169133663, + 0.02251235954463482 + ], + [ + 0.4272964596748352, + -0.011233274824917316, + 0.0229136124253273 + ], + [ + 0.4238034188747406, + -0.003966222982853651, + 0.03334491327404976 + ], + [ + 0.418617308139801, + 0.0032726472709327936, + 0.04198028892278671 + ], + [ + 0.4167020320892334, + 0.0008303821086883545, + 0.050755444914102554 + ], + [ + 0.4177277982234955, + -0.0030634994618594646, + 0.05344843491911888 + ], + [ + 0.42451125383377075, + -0.013622968457639217, + 0.05095715448260307 + ], + [ + 0.4295468330383301, + -0.01798393204808235, + 0.03840714320540428 + ], + [ + 0.43695223331451416, + -0.018720682710409164, + 0.03139583393931389 + ], + [ + 0.44034305214881897, + -0.01747911609709263, + 0.032013531774282455 + ], + [ + 0.4426012337207794, + -0.015802651643753052, + 0.027456147596240044 + ], + [ + 0.4446796178817749, + -0.012930153869092464, + 0.028429904952645302 + ], + [ + 0.4457490146160126, + -0.0110162990167737, + 0.027880573645234108 + ], + [ + 0.44661396741867065, + -0.008831162005662918, + 0.02895326353609562 + ], + [ + 0.4463549554347992, + -0.0048604002222418785, + 0.023230858147144318 + ], + [ + 0.44622451066970825, + -0.0021237926557660103, + 0.022878605872392654 + ], + [ + 0.44219058752059937, + 0.003015072550624609, + 0.020693695172667503 + ], + [ + 0.4360188841819763, + 0.009840661659836769, + 0.022461779415607452 + ], + [ + 0.42615368962287903, + 0.049451716244220734, + 0.02646063268184662 + ], + [ + 0.4234190583229065, + 0.057995542883872986, + 0.033168647438287735 + ], + [ + 0.42160093784332275, + 0.05525589734315872, + 0.036872830241918564 + ], + [ + 0.4127148687839508, + 0.06237869709730148, + 0.03483382612466812 + ], + [ + 0.4064636826515198, + 0.06148097664117813, + 0.04372679069638252 + ], + [ + 0.40881285071372986, + 0.05886607617139816, + 0.0450122244656086 + ], + [ + 0.4235995411872864, + 0.04578173905611038, + 0.056643467396497726 + ], + [ + 0.4386509656906128, + 0.029429899528622627, + 0.051402486860752106 + ], + [ + 0.44723206758499146, + 0.02705882303416729, + 0.04050543159246445 + ], + [ + 0.446529358625412, + 0.03199343383312225, + 0.02684168703854084 + ], + [ + 0.44081106781959534, + 0.039286576211452484, + 0.025355210527777672 + ], + [ + 0.4329550862312317, + 0.038794271647930145, + 0.01970328390598297 + ], + [ + 0.42223769426345825, + 0.04205859452486038, + 0.020541362464427948 + ], + [ + 0.410753071308136, + 0.04870742931962013, + 0.020556267350912094 + ], + [ + 0.4039149582386017, + 0.05598246306180954, + 0.022353965789079666 + ], + [ + 0.3977009654045105, + 0.05621359497308731, + 0.024996962398290634 + ], + [ + 0.38939139246940613, + 0.055687300860881805, + 0.02211197465658188 + ], + [ + 0.3805560767650604, + 0.057162027806043625, + 0.020384274423122406 + ], + [ + 0.3715471029281616, + 0.05351618677377701, + 0.019452949985861778 + ], + [ + 0.3681310713291168, + 0.05341258645057678, + 0.01886018179357052 + ], + [ + 0.3609580993652344, + 0.053828563541173935, + 0.0194307342171669 + ], + [ + 0.3537181317806244, + 0.05432099476456642, + 0.019296489655971527 + ], + [ + 0.3454011082649231, + 0.05437245965003967, + 0.01871839165687561 + ], + [ + 0.34503912925720215, + 0.05425272136926651, + 0.01923505961894989 + ], + [ + 0.35902535915374756, + 0.04712878167629242, + 0.02003762312233448 + ], + [ + 0.38388705253601074, + 0.028768837451934814, + 0.03256911039352417 + ], + [ + 0.39446115493774414, + 0.021848781034350395, + 0.04009128734469414 + ], + [ + 0.40421369671821594, + 0.022251391783356667, + 0.048582497984170914 + ], + [ + 0.4072761833667755, + 0.01711818389594555, + 0.015391580760478973 + ], + [ + 0.40989887714385986, + 0.011158652603626251, + 0.01671501062810421 + ], + [ + 0.40809211134910583, + 0.011227128095924854, + 0.015387946739792824 + ], + [ + 0.4047181308269501, + 0.005516190081834793, + 0.01827484928071499 + ], + [ + 0.4057704210281372, + 0.0022719777189195156, + 0.03901587054133415 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9808500668894015, + 0.06630903390427098, + 0.183129075533458, + 0.05406079080472822, + -0.9960038838794986, + 0.07108933952796112, + 0.18711113590757802, + -0.059827880788446496, + -0.9805151949356723 + ], + [ + 0.9823978945633001, + 0.05322799720939738, + 0.17905629581411306, + 0.044146819556398965, + -0.9975467832479116, + 0.05432746593389638, + 0.1815087741147781, + -0.045466422168676385, + -0.9823377063792929 + ], + [ + 0.9837403985648787, + 0.04535684433565716, + 0.17377452317104566, + 0.035366158924315924, + -0.9975617350743586, + 0.060164935954215834, + 0.17607970648076784, + -0.053040940671766276, + -0.9829458762202019 + ], + [ + 0.9854813121812935, + 0.05140260065451155, + 0.1618158088302512, + 0.0411122083025683, + -0.996951500517215, + 0.06631358793610477, + 0.1647312042993732, + -0.05869819641544428, + -0.9845903473362168 + ], + [ + 0.9839774239286828, + 0.05529519332635863, + 0.16950183123988358, + 0.044015459914003574, + -0.9966035377840936, + 0.0695990500279098, + 0.17277461760117455, + -0.061023192896056906, + -0.9830692251522976 + ], + [ + 0.9832994903252616, + 0.06613934056533584, + 0.16955146698174883, + 0.053280610958956795, + -0.9954256165311688, + 0.07930333189332403, + 0.17402094363012988, + -0.06894512008202563, + -0.9823254458655513 + ], + [ + 0.9847580633922828, + 0.06873112773961366, + 0.15977355433087584, + 0.05323516059124472, + -0.9936299637292335, + 0.09932528810059499, + 0.1655825300588948, + -0.08930580753278436, + -0.98214403143338 + ], + [ + 0.9872713739146091, + 0.08226008709823743, + 0.13611947810416597, + 0.06679158442989513, + -0.9911697677325154, + 0.11454857389952845, + 0.1443402871623315, + -0.10399889231939892, + -0.9840478199245369 + ], + [ + 0.9856215690349388, + 0.0970789448595097, + 0.1382960632775558, + 0.08026107667021283, + -0.9892310796655217, + 0.1223929352353498, + 0.1486885410004539, + -0.10953332592754861, + -0.9827991495144904 + ], + [ + 0.9860061027674464, + 0.09716437037661753, + 0.13546604901106166, + 0.08018063729032192, + -0.9888299878422346, + 0.12564362517710084, + 0.14616097532881242, + -0.1130236270575381, + -0.9827831037506133 + ], + [ + 0.9860271643275077, + 0.1263352692729865, + 0.10858098795818695, + 0.11644235716245666, + -0.9888249834249294, + 0.09309312333968997, + 0.11912853842259975, + -0.07914892224414583, + -0.9897190709695783 + ], + [ + 0.9793385259777737, + 0.14652908626252079, + 0.1393745974514458, + 0.14595238644864375, + -0.989186720433721, + 0.01440600595326606, + 0.1399783998537902, + 0.006233698472858959, + -0.9901349345305024 + ], + [ + 0.9636772640271984, + 0.2140075918043936, + 0.1597713411320596, + 0.22440625149478577, + -0.9732149336860464, + -0.04994524142020812, + 0.1448031943263403, + 0.08398478136274426, + -0.985889746073231 + ], + [ + 0.9430588297817883, + 0.27682881549032656, + 0.18440675281785746, + 0.29620223961539893, + -0.9511628865403715, + -0.08691027853487623, + 0.15134158984702595, + 0.13658319875596234, + -0.9789998738509436 + ], + [ + 0.897515061721643, + 0.41930763576245966, + 0.1365570231591609, + 0.4312345707436157, + -0.8992856430684889, + -0.07295256792233995, + 0.09221420160888792, + 0.12436413776563807, + -0.987942357761547 + ], + [ + 0.8438122756469089, + 0.5248308432157933, + 0.11195280021948666, + 0.5307810366936334, + -0.8469775283975233, + -0.030009289829221346, + 0.07907170514170515, + 0.08474463050259726, + -0.9932602947097812 + ], + [ + 0.8027935193387672, + 0.5880046422737173, + 0.09885902069226989, + 0.5900842038827749, + -0.8072820995216751, + 0.009810408753385146, + 0.08557568367070552, + 0.05045941395254693, + -0.9950530889896565 + ], + [ + 0.7895436492662131, + 0.6065381103895755, + 0.09344702535894113, + 0.6071575313414133, + -0.7941903874486231, + 0.024927106121791807, + 0.08933396912033077, + 0.03705602689508747, + -0.9953121584869536 + ], + [ + 0.7857936514594784, + 0.6095320665265387, + 0.10487610405553671, + 0.611069485100391, + -0.791310340892324, + 0.020543338969546535, + 0.09551136950710842, + 0.04794376156250206, + -0.9942730882519728 + ], + [ + 0.7622802278156984, + 0.6383514495643412, + 0.10694054946722224, + 0.6402657351454957, + -0.7678962495361766, + 0.019878087102936804, + 0.09480845257594388, + 0.05331769675612734, + -0.9940666881717628 + ], + [ + 0.7483002743855608, + 0.655452046382877, + 0.10212401405640792, + 0.6570232607718729, + -0.7535448870921984, + 0.022148091157068988, + 0.09147204031391334, + 0.05052443002850257, + -0.9945250865670031 + ], + [ + 0.7372947545905417, + 0.6655875252841692, + 0.11571383253253943, + 0.6678935353961235, + -0.7438932299002652, + 0.02326129584994864, + 0.10156116496643934, + 0.06013408928924685, + -0.9930101817584818 + ], + [ + 0.7203505308128635, + 0.6809270812850778, + 0.13203568733570067, + 0.6844556381436269, + -0.7286705908771174, + 0.0236569102841732, + 0.11231915317979632, + 0.07333130275249292, + -0.9909626268763095 + ], + [ + 0.7152436881025586, + 0.6850115320597955, + 0.13851233726474244, + 0.6885372906353989, + -0.7246483629342915, + 0.028304584454035813, + 0.119761705206273, + 0.07512623404472742, + -0.9899561520210592 + ], + [ + 0.6990885730638006, + 0.6999799905615846, + 0.14595608868774054, + 0.7041062554181886, + -0.7094613678772086, + 0.02998247105855358, + 0.12453733613899086, + 0.08180819215215909, + -0.9888366253351459 + ], + [ + 0.689667936231446, + 0.7088112490761127, + 0.1481376080454225, + 0.7118940375349065, + -0.7011210742003867, + 0.040448963328436255, + 0.13253307910294523, + 0.0775619268407952, + -0.9881392262471093 + ], + [ + 0.6844126600316969, + 0.7138199731817642, + 0.14845994973433857, + 0.7163519393977044, + -0.6962657985530072, + 0.045319274999614675, + 0.1357173891197605, + 0.07533248736188489, + -0.9878794494463313 + ], + [ + 0.6812574364537995, + 0.7145120343576538, + 0.15925092789206596, + 0.71759711807376, + -0.6948247755963309, + 0.04767501808853568, + 0.1447158643985898, + 0.08179904630003439, + -0.9860863220914149 + ], + [ + 0.6734767656934161, + 0.7221750980673166, + 0.1577725381763172, + 0.7249647276273937, + -0.6869770233184652, + 0.04988700360454621, + 0.14441326035816304, + 0.08078178732835081, + -0.9862145370398688 + ], + [ + 0.65430012270556, + 0.7339433169484211, + 0.18225958667307093, + 0.7397007794765924, + -0.6712509826972212, + 0.047590703606234616, + 0.15727080552095726, + 0.10367895511994889, + -0.9820980439834024 + ], + [ + 0.6338788778521406, + 0.7469739212701481, + 0.20056801628178222, + 0.7560217259813165, + -0.6531266657395625, + 0.04308953868577442, + 0.1631830814059534, + 0.12432022941669668, + -0.9787317111959934 + ], + [ + 0.6342115800165284, + 0.7413575707213257, + 0.21946440282449747, + 0.7561918353802196, + -0.6539203421516266, + 0.023708526411279837, + 0.1610887329307466, + 0.1509209675773192, + -0.9753323954777122 + ], + [ + 0.644060076668946, + 0.7323898558434089, + 0.22088847117688706, + 0.7487672014356389, + -0.6626851652542475, + 0.014001778679600785, + 0.1566342736933176, + 0.1563760557426292, + -0.9751985610607439 + ], + [ + 0.6575565620665291, + 0.7198697287514877, + 0.22227672237664903, + 0.7382270996491422, + -0.67455185791257, + 0.0007350716393143553, + 0.15046633187149128, + 0.16360734889961112, + -0.9749833426060052 + ], + [ + 0.661486372716247, + 0.7262266219931439, + 0.1871648263406604, + 0.7373712826132284, + -0.6753352743354917, + 0.0143477808572774, + 0.136818749767803, + 0.1285191065430869, + -0.9822237367144727 + ], + [ + 0.6573034250415039, + 0.7324477589577159, + 0.1774048697937232, + 0.7410783263990661, + -0.6709729021640465, + 0.024459736366450366, + 0.13694933942983237, + 0.11539343551249655, + -0.9838339460855963 + ], + [ + 0.6517755573635905, + 0.7361055623641194, + 0.18258484022498792, + 0.7441790501918358, + -0.6671553790622937, + 0.0331849580958615, + 0.14624009053251405, + 0.1142466684190421, + -0.9826299072775015 + ], + [ + 0.6457484283706942, + 0.7435449618145705, + 0.17363714181288245, + 0.7502052799027573, + -0.660169769133968, + 0.03698532043431266, + 0.14213024049372333, + 0.10638028803200436, + -0.9841149470744889 + ], + [ + 0.6412248148170442, + 0.7474815329609393, + 0.17349955257928312, + 0.7538348115984456, + -0.6558689708432022, + 0.03961022478369368, + 0.1434008845341732, + 0.10539094347923302, + -0.9840370599461047 + ], + [ + 0.6350889981382252, + 0.7538555607878993, + 0.1684154325260839, + 0.7603092922150455, + -0.648563993916718, + 0.03597952148448349, + 0.13635154790189405, + 0.10519762004892419, + -0.9850592449801181 + ], + [ + 0.6286758009115623, + 0.7593600268720496, + 0.1677470921866786, + 0.7667073322843388, + -0.6413111785026314, + 0.029662079310099794, + 0.13010228272262664, + 0.10996509408192415, + -0.9853837192251126 + ], + [ + 0.6233359084130606, + 0.7657932793660897, + 0.15815498272452322, + 0.7726061497335158, + -0.6343360105818772, + 0.026411419367771423, + 0.12054908824547851, + 0.10572832617987651, + -0.9870610104580086 + ], + [ + 0.6186222947705126, + 0.7696399182228166, + 0.15799003984695065, + 0.7763881586704706, + -0.6296612387934423, + 0.027352357071808123, + 0.12053167006700394, + 0.10574081822590391, + -0.9870617994187472 + ], + [ + 0.6019431281875902, + 0.7821873013261329, + 0.16077156487351676, + 0.7890124864523378, + -0.6135891851354474, + 0.03110639977748575, + 0.12297872437961528, + 0.1081264885629733, + -0.9865013410132819 + ], + [ + 0.591276389009327, + 0.7888061634025201, + 0.1678602644412556, + 0.7961679190584023, + -0.6041008751093904, + 0.034333327165928275, + 0.12848687272365553, + 0.11334447172344167, + -0.985212745688681 + ], + [ + 0.4910010507354875, + 0.8560756176375147, + 0.16140788414199247, + 0.8630688258828226, + -0.5032109098503372, + 0.04348542280858572, + 0.11844901842519835, + 0.1179547247639676, + -0.9859292636593984 + ], + [ + 0.4766428392276648, + 0.8625600234730475, + 0.16971095933723848, + 0.8705159763129111, + -0.4900192166708556, + 0.04564101529611344, + 0.12252974658004237, + 0.12598163834248413, + -0.9844364316722405 + ], + [ + 0.4688852991016824, + 0.8663116623830388, + 0.17219372783426717, + 0.875643160851817, + -0.48146922881394505, + 0.03790035037758672, + 0.11573949688746975, + 0.13300934299680192, + -0.9843337256925593 + ], + [ + 0.4427320931901839, + 0.8833172830123507, + 0.1540742392196603, + 0.8910874390713003, + -0.45255652656753365, + 0.03399656145084439, + 0.09975705282730701, + 0.12224225044070491, + -0.9874742339010177 + ], + [ + 0.437609953638711, + 0.8821654773367325, + 0.17401608854235218, + 0.8927056569757341, + -0.4494079495538216, + 0.0333032262904392, + 0.10758317005855328, + 0.14077132333356945, + -0.9841795039763162 + ], + [ + 0.4432475275327352, + 0.8767823813895386, + 0.18650545574059343, + 0.8892899936793128, + -0.45626096966613583, + 0.0314521016971021, + 0.11267180870991891, + 0.15191636924376106, + -0.9819503451182388 + ], + [ + 0.4625433542131063, + 0.8540128776614729, + 0.23815047818902035, + 0.8753593852748972, + -0.48252825576668124, + 0.03020643967630969, + 0.14071102332242197, + 0.19449546826374747, + -0.9707584255315133 + ], + [ + 0.48951777092864324, + 0.8395893914689709, + 0.23550372752424795, + 0.8592075923408327, + -0.510495541956673, + 0.03400904153650873, + 0.14877723350338792, + 0.18569856050902922, + -0.9712782193665996 + ], + [ + 0.4580808495718576, + 0.8728966899963613, + 0.1679681632004168, + 0.876055399476577, + -0.4753428942690633, + 0.08109297081649802, + 0.1506282586484371, + 0.11000227934596074, + -0.9824513353012623 + ], + [ + 0.38201831029965566, + 0.9233762959674044, + 0.03792395867143174, + 0.9112997149979226, + -0.38320786059716877, + 0.15061396024687068, + 0.15360611980159217, + -0.02297719787218032, + -0.9878649747498094 + ], + [ + 0.3119907564903252, + 0.9462795492156998, + -0.0849516486051134, + 0.9335195297643245, + -0.28869863931079526, + 0.21258970626229773, + 0.1766438660502801, + -0.14563004633737986, + -0.9734417466857395 + ], + [ + 0.2986758915526361, + 0.9496808116407768, + -0.09433487057580121, + 0.9420677176074045, + -0.27757635089124677, + 0.1883076866935467, + 0.15264706760109562, + -0.14511280242354446, + -0.9775689987543446 + ], + [ + 0.3052488156375029, + 0.9488575416179376, + -0.08057621402539174, + 0.9456325235936033, + -0.2920583691760677, + 0.1431119817353153, + 0.11225992550280477, + -0.11988025153869042, + -0.9864210228990079 + ], + [ + 0.31966436145406685, + 0.9450509188112546, + -0.06850880870491881, + 0.9447991009284737, + -0.3124222582802113, + 0.09872685255714578, + 0.07189822599279615, + -0.0962865171511379, + -0.9927535201216828 + ], + [ + 0.3285808470606565, + 0.9429715674078153, + -0.05328461321384975, + 0.9421273457271034, + -0.3232656880016813, + 0.08885583489001982, + 0.0665634387490934, + -0.07939721670970416, + -0.9946182134872897 + ], + [ + 0.3251088627054361, + 0.9446439871882237, + -0.04418104638317923, + 0.9432060952400012, + -0.3205306915404423, + 0.08730600026753782, + 0.06831170684800228, + -0.0700557866970356, + -0.9952013351366505 + ], + [ + 0.32114418187738086, + 0.9465414724825153, + -0.030424584088192718, + 0.9436407279592393, + -0.31711389810677665, + 0.09476788572128148, + 0.08005367563619228, + -0.059144031805049326, + -0.995034367506459 + ], + [ + 0.2998733497108103, + 0.9538265815623437, + -0.017053634167306694, + 0.9482289869877811, + -0.29605849415300584, + 0.11493979413580711, + 0.10458375767462731, + -0.050638131333500855, + -0.9932260655488792 + ], + [ + 0.29073106605065785, + 0.9567800962003797, + 0.00687711769859066, + 0.9466095809831826, + -0.28867221787799374, + 0.1435223042465653, + 0.1393045168825891, + -0.035216447012615844, + -0.9896231876001674 + ], + [ + 0.2828409059851399, + 0.9587292159535216, + 0.028970888468444, + 0.9470358861447766, + -0.28392485992407246, + 0.15003234408311272, + 0.15206594706075052, + -0.014998813094427493, + -0.9882565372160588 + ], + [ + 0.2709090103480992, + 0.9620677654699845, + 0.03215466926908637, + 0.9498651627207628, + -0.2725910208850868, + 0.15313493390564092, + 0.15609125780027633, + -0.010943033236585728, + -0.9876820182943044 + ], + [ + 0.26314990393559573, + 0.9643012914358323, + 0.02958289022176233, + 0.9510673807775284, + -0.2644413657322258, + 0.15981739989953195, + 0.16193506500958485, + -0.013920611511757858, + -0.9867032235152982 + ], + [ + 0.2644962464517631, + 0.9641258451105539, + 0.022429676832017312, + 0.9503473865706507, + -0.2645293661716172, + 0.16390259080068606, + 0.16395603206732845, + -0.022035635291568823, + -0.9862215016546914 + ], + [ + 0.2849536704044781, + 0.957964342558282, + 0.03325243013516767, + 0.9439067201663331, + -0.28647299733094017, + 0.16423557904748376, + 0.16685775183626073, + -0.015412338794139058, + -0.9858605126817095 + ], + [ + 0.37219898258325745, + 0.9205912274253848, + 0.11823582093177767, + 0.9111878608779674, + -0.38666373118972064, + 0.14222461520804835, + 0.1766482367662411, + 0.054799187675246004, + -0.9827473986114189 + ], + [ + 0.43898438302161025, + 0.8706545730623555, + 0.22193090336576418, + 0.8778817487453324, + -0.4682280201276069, + 0.10042985804639343, + 0.19135398266817863, + 0.15074195027592452, + -0.9698765476822488 + ], + [ + 0.45486310204330516, + 0.8509361181704159, + 0.2626923698789244, + 0.8732648551310686, + -0.4840359683381913, + 0.05583613657680225, + 0.17466554094169676, + 0.2040022160369181, + -0.9632627080187269 + ], + [ + 0.48776851544062155, + 0.8395981909695736, + 0.2390747855075304, + 0.8545314897893073, + -0.5152041992363054, + 0.06588297236573519, + 0.17848755783896833, + 0.17216129300715888, + -0.968763480363904 + ], + [ + 0.623076957302936, + 0.7803936130691062, + 0.05254439988297192, + 0.7542465744714556, + -0.6172699269057709, + 0.2238078243400336, + 0.2070922745449243, + -0.09981806459098819, + -0.9732158772878292 + ], + [ + 0.6707898706467776, + 0.7404471808083453, + 0.042177267225996184, + 0.6938670061008665, + -0.6466409895000884, + 0.3168659157166746, + 0.2618960238000943, + -0.18328503248034272, + -0.947532094224982 + ], + [ + 0.6740873687862603, + 0.7373204570262186, + 0.04432564600165467, + 0.689606357015115, + -0.6496968551970221, + 0.3199016547494573, + 0.264668267095165, + -0.18507441745888975, + -0.9464133179510391 + ], + [ + 0.6827339296278068, + 0.7271548955224704, + 0.07155514833104591, + 0.6861938164632443, + -0.6717407342043925, + 0.2791100719396396, + 0.2510227630765388, + -0.14145721589317606, + -0.9575893840729287 + ], + [ + 0.6757995186669877, + 0.7258090316286756, + 0.12843776771538745, + 0.6893007764077348, + -0.6840385082206781, + 0.23865405698400166, + 0.2610736490210406, + -0.07275004383141931, + -0.9625736236306109 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006393.json b/json/chunk-0006/episode_0006393.json new file mode 100644 index 0000000000000000000000000000000000000000..e0781b04a82eebe1b396bc36f6cf78739154a2dd --- /dev/null +++ b/json/chunk-0006/episode_0006393.json @@ -0,0 +1,1282 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 20, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut cup from counter to sink." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006393.mp4", + "start": 0, + "end": 20, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2809331715106964, + 0.06968275457620621, + 0.1778896301984787, + 0.13268877565860748, + 0.2916213870048523, + -0.02004709467291832, + 0.0, + 0.898204505443573 + ], + [ + 0.28254255652427673, + 0.0692530944943428, + 0.16216592490673065, + 0.12236650288105011, + 0.342660129070282, + -0.023982513695955276, + 0.0, + 0.898204505443573 + ], + [ + 0.2848132848739624, + 0.07035458832979202, + 0.1585739552974701, + 0.13023629784584045, + 0.3408714234828949, + -0.01566055603325367, + 0.0, + 0.898204505443573 + ], + [ + 0.2787037491798401, + 0.07327359914779663, + 0.1445872187614441, + 0.13521774113178253, + 0.353495329618454, + -0.007759708445519209, + 0.0, + 0.7329457402229309 + ], + [ + 0.2727733254432678, + 0.07604527473449707, + 0.14036957919597626, + 0.1451508104801178, + 0.3356846570968628, + 0.0024855772498995066, + 0.0, + 0.5452468395233154 + ], + [ + 0.2704167068004608, + 0.07658865302801132, + 0.13840195536613464, + 0.14731131494045258, + 0.33927521109580994, + 0.002500897739082575, + 0.0, + 0.3669656813144684 + ], + [ + 0.2686998248100281, + 0.07717280834913254, + 0.1364753693342209, + 0.14608240127563477, + 0.34536489844322205, + 0.004569849465042353, + 0.0, + 0.20989185571670532 + ], + [ + 0.2682926058769226, + 0.0764288678765297, + 0.13621075451374054, + 0.1435423493385315, + 0.3483562767505646, + 0.0014468429144471884, + 0.0, + 0.11201969534158707 + ], + [ + 0.27516987919807434, + 0.07467616349458694, + 0.14981421828269958, + 0.1370571255683899, + 0.3261130154132843, + 0.008258233778178692, + 0.0, + 0.10874665528535843 + ], + [ + 0.3028501868247986, + 0.06859149783849716, + 0.19603131711483002, + 0.15936319530010223, + 0.23027870059013367, + 0.013589836657047272, + 0.0, + 0.10874665528535843 + ], + [ + 0.32059919834136963, + 0.05335245653986931, + 0.2149922251701355, + 0.15037597715854645, + 0.20907403528690338, + -0.009093064814805984, + 0.0, + 0.10874665528535843 + ], + [ + 0.33242204785346985, + 0.021884877234697342, + 0.20791804790496826, + 0.09080345928668976, + 0.22646357119083405, + -0.06989754736423492, + 0.0, + 0.10874665528535843 + ], + [ + 0.3343607783317566, + -0.009900541044771671, + 0.20167188346385956, + 0.050599340349435806, + 0.23792967200279236, + -0.13162828981876373, + 0.0, + 0.10874665528535843 + ], + [ + 0.33562707901000977, + -0.04640057682991028, + 0.18601132929325104, + 0.020801106467843056, + 0.24814832210540771, + -0.1932738572359085, + 0.0, + 0.10874665528535843 + ], + [ + 0.3358994722366333, + -0.05028722062706947, + 0.16292448341846466, + 0.04786735400557518, + 0.2475649118423462, + -0.17932094633579254, + 0.0, + 0.10874665528535843 + ], + [ + 0.3356457054615021, + -0.044218145310878754, + 0.14070391654968262, + 0.08986076712608337, + 0.243728369474411, + -0.1458764225244522, + 0.0, + 0.10874665528535843 + ], + [ + 0.3323966860771179, + -0.03632776811718941, + 0.11254062503576279, + 0.12256955355405807, + 0.25202998518943787, + -0.12658293545246124, + 0.0, + 0.10874665528535843 + ], + [ + 0.3289174735546112, + -0.03245442733168602, + 0.09669983386993408, + 0.12403152883052826, + 0.26880499720573425, + -0.11935977637767792, + 0.0, + 0.10874665528535843 + ], + [ + 0.32459041476249695, + -0.030818771570920944, + 0.08888246864080429, + 0.12947715818881989, + 0.27827003598213196, + -0.10980692505836487, + 0.0, + 0.10874665528535843 + ], + [ + 0.3191355764865875, + -0.029001040384173393, + 0.08553564548492432, + 0.13736028969287872, + 0.30381569266319275, + -0.10758146643638611, + 0.0, + 0.2365749180316925 + ] + ], + "left_gripper_pos": [ + [ + 0.898204505443573 + ], + [ + 0.898204505443573 + ], + [ + 0.898204505443573 + ], + [ + 0.7329457402229309 + ], + [ + 0.5452468395233154 + ], + [ + 0.3669656813144684 + ], + [ + 0.20989185571670532 + ], + [ + 0.11201969534158707 + ], + [ + 0.10874665528535843 + ], + [ + 0.10874665528535843 + ], + [ + 0.10874665528535843 + ], + [ + 0.10874665528535843 + ], + [ + 0.10874665528535843 + ], + [ + 0.10874665528535843 + ], + [ + 0.10874665528535843 + ], + [ + 0.10874665528535843 + ], + [ + 0.10874665528535843 + ], + [ + 0.10874665528535843 + ], + [ + 0.10874665528535843 + ], + [ + 0.2365749180316925 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2809331715106964, + 0.06968275457620621, + 0.1778896301984787 + ], + [ + 0.28254255652427673, + 0.0692530944943428, + 0.16216592490673065 + ], + [ + 0.2848132848739624, + 0.07035458832979202, + 0.1585739552974701 + ], + [ + 0.2787037491798401, + 0.07327359914779663, + 0.1445872187614441 + ], + [ + 0.2727733254432678, + 0.07604527473449707, + 0.14036957919597626 + ], + [ + 0.2704167068004608, + 0.07658865302801132, + 0.13840195536613464 + ], + [ + 0.2686998248100281, + 0.07717280834913254, + 0.1364753693342209 + ], + [ + 0.2682926058769226, + 0.0764288678765297, + 0.13621075451374054 + ], + [ + 0.27516987919807434, + 0.07467616349458694, + 0.14981421828269958 + ], + [ + 0.3028501868247986, + 0.06859149783849716, + 0.19603131711483002 + ], + [ + 0.32059919834136963, + 0.05335245653986931, + 0.2149922251701355 + ], + [ + 0.33242204785346985, + 0.021884877234697342, + 0.20791804790496826 + ], + [ + 0.3343607783317566, + -0.009900541044771671, + 0.20167188346385956 + ], + [ + 0.33562707901000977, + -0.04640057682991028, + 0.18601132929325104 + ], + [ + 0.3358994722366333, + -0.05028722062706947, + 0.16292448341846466 + ], + [ + 0.3356457054615021, + -0.044218145310878754, + 0.14070391654968262 + ], + [ + 0.3323966860771179, + -0.03632776811718941, + 0.11254062503576279 + ], + [ + 0.3289174735546112, + -0.03245442733168602, + 0.09669983386993408 + ], + [ + 0.32459041476249695, + -0.030818771570920944, + 0.08888246864080429 + ], + [ + 0.3191355764865875, + -0.029001040384173393, + 0.08553564548492432 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9575865243948523, + -0.057898814302088444, + -0.2822689773953188, + -0.019199399770989833, + -0.9902481042491241, + 0.1379857785405773, + -0.2875055327221034, + -0.126713927148628, + -0.9493598629185623 + ], + [ + 0.9415933634854822, + -0.06480096366444674, + -0.3304584284721083, + -0.022586106117374626, + -0.9912536673217575, + 0.1300232088191225, + -0.3359937583505848, + -0.11496522139032087, + -0.9348214761226462 + ], + [ + 0.9423481304578168, + -0.058938096753336694, + -0.329402947427238, + -0.014758902274689342, + -0.9907297553716867, + 0.1350434249595443, + -0.3343085039694677, + -0.12239629313117383, + -0.9344821943736779 + ], + [ + 0.938140191256851, + -0.05435444207964812, + -0.3419628286448246, + -0.007279840479623975, + -0.9904800512529344, + 0.1374637115480889, + -0.3461791233901182, + -0.1264707978001054, + -0.929604836386222 + ], + [ + 0.9441820775257184, + -0.04518764705920403, + -0.32631009949505324, + 0.0023468423246671456, + -0.9895994778369281, + 0.14383103210358564, + -0.3294156899880785, + -0.1365684810566931, + -0.934256042619766 + ], + [ + 0.9429931766496742, + -0.04637466757824303, + -0.32956525757300914, + 0.002358334420181473, + -0.9892883675272687, + 0.1459553497957318, + -0.3328037064861493, + -0.1384121240435219, + -0.9327828133423351 + ], + [ + 0.9409421573360935, + -0.04475736217578474, + -0.33559594020006245, + 0.004299993947388947, + -0.9895637939312932, + 0.1440312736608183, + -0.33854005169219004, + -0.1369681578739042, + -0.9309298346969436 + ], + [ + 0.9399340888728412, + -0.0473985463632937, + -0.3380492366171361, + 0.001359937925477197, + -0.9897850882720021, + 0.14256096802148888, + -0.34135327615773753, + -0.1344576395636627, + -0.9302682860440571 + ], + [ + 0.9472624420903112, + -0.03558855027159217, + -0.31847656255157336, + 0.007822892533195715, + -0.9909500512512592, + 0.1340029786144352, + -0.3203633377237694, + -0.12942739669286815, + -0.9384113601335999 + ], + [ + 0.9735129168389614, + -0.0228001356010278, + -0.22749231759396107, + 0.013230696031186349, + -0.9877295857164498, + 0.15561238441377453, + -0.22824887607659158, + -0.15450054795043525, + -0.9612658483753532 + ], + [ + 0.9781830805669591, + -0.040082706109252346, + -0.2038412067357653, + -0.008894927309239076, + -0.988391214808165, + 0.15166966327582784, + -0.20755418849229965, + -0.14654754573516046, + -0.9671840960635694 + ], + [ + 0.9720870405882472, + -0.08986354779686201, + -0.21672869744854775, + -0.06805737129932915, + -0.9920264386346388, + 0.10607421581939797, + -0.22453280324310812, + -0.08836338510512184, + -0.9704519217563307 + ], + [ + 0.9634212144055372, + -0.14289814583871174, + -0.2267149830717372, + -0.1275509888754925, + -0.9885161175735744, + 0.0810347489300186, + -0.23569113023243748, + -0.049152875939515714, + -0.970584198262382 + ], + [ + 0.9513198802327266, + -0.1970447277167257, + -0.2369891574588011, + -0.18618941185884352, + -0.9801871501063503, + 0.06757702034012408, + -0.2456094224284747, + -0.02016249105227433, + -0.9691591642082937 + ], + [ + 0.9539659095253354, + -0.1896942598119934, + -0.2323039630696805, + -0.1729235654682199, + -0.9807466707298523, + 0.09073813067321271, + -0.24504384091271872, + -0.046390253789893275, + -0.968401497512293 + ], + [ + 0.9601377790877025, + -0.16619934397406644, + -0.22475146991982958, + -0.14106349387247308, + -0.9822390367563784, + 0.1237237461783008, + -0.2413224727724811, + -0.08708761527617916, + -0.966529467424808 + ], + [ + 0.9606600352226504, + -0.15554283597872828, + -0.2300841648217246, + -0.12225684941886758, + -0.9807077935321186, + 0.15253028052008544, + -0.2493703260137189, + -0.11840037956467053, + -0.9611429605541277 + ], + [ + 0.9572295323246407, + -0.1507838870177274, + -0.24693286913931634, + -0.11480039919189775, + -0.981345317092783, + 0.15421490513386088, + -0.26557953759830677, + -0.11927106956798034, + -0.9566827693510421 + ], + [ + 0.9557410418351598, + -0.14392262477372014, + -0.25660346652001226, + -0.10537083084275603, + -0.9817705092518014, + 0.15818866954041486, + -0.274692644530849, + -0.12414888336872884, + -0.9534836159048288 + ], + [ + 0.9486853889313709, + -0.14708993147499339, + -0.2799296070207924, + -0.10245654019119046, + -0.9804555696611419, + 0.16795693880425647, + -0.29916331693605835, + -0.13065767478080856, + -0.9452141989097963 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + 0.0016093850135803223, + -0.0004296600818634033, + -0.015723705291748047, + -0.010322272777557373, + 0.05103874206542969, + -0.003935419023036957, + 1.0 + ], + [ + 0.002270728349685669, + 0.0011014938354492188, + -0.003591969609260559, + 0.007869794964790344, + -0.001788705587387085, + 0.008321957662701607, + 1.0 + ], + [ + -0.0061095356941223145, + 0.002919010818004608, + -0.013986736536026001, + 0.004981443285942078, + 0.012623906135559082, + 0.007900847122073174, + 0.0 + ], + [ + -0.005930423736572266, + 0.0027716755867004395, + -0.0042176395654678345, + 0.009933069348335266, + -0.017810672521591187, + 0.010245285928249359, + 0.0 + ], + [ + -0.002356618642807007, + 0.0005433782935142517, + -0.0019676238298416138, + 0.002160504460334778, + 0.0035905539989471436, + 1.5320489183068275e-05, + 0.0 + ], + [ + -0.0017168819904327393, + 0.0005841553211212158, + -0.0019265860319137573, + -0.00122891366481781, + 0.006089687347412109, + 0.002068951725959778, + 0.0 + ], + [ + -0.00040721893310546875, + -0.0007439404726028442, + -0.0002646148204803467, + -0.0025400519371032715, + 0.0029913783073425293, + -0.0031230065505951643, + 0.0 + ], + [ + 0.006877273321151733, + -0.001752704381942749, + 0.013603463768959045, + -0.0064852237701416016, + -0.022243261337280273, + 0.00681139063090086, + 0.0 + ], + [ + 0.027680307626724243, + -0.006084665656089783, + 0.04621709883213043, + 0.02230606973171234, + -0.09583431482315063, + 0.00533160287886858, + 0.0 + ], + [ + 0.017749011516571045, + -0.015239041298627853, + 0.01896090805530548, + -0.008987218141555786, + -0.021204665303230286, + -0.022682901471853256, + 0.0 + ], + [ + 0.01182284951210022, + -0.03146757930517197, + -0.007074177265167236, + -0.05957251787185669, + 0.017389535903930664, + -0.06080448254942894, + 0.0 + ], + [ + 0.0019387304782867432, + -0.03178541734814644, + -0.006246164441108704, + -0.04020411893725395, + 0.011466100811958313, + -0.06173074245452881, + 0.0 + ], + [ + 0.0012663006782531738, + -0.03650003671646118, + -0.01566055417060852, + -0.02979823388159275, + 0.010218650102615356, + -0.061645567417144775, + 0.0 + ], + [ + 0.00027239322662353516, + -0.003886643797159195, + -0.023086845874786377, + 0.027066247537732124, + -0.0005834102630615234, + 0.013952910900115967, + 0.0 + ], + [ + -0.0002537667751312256, + 0.00606907531619072, + -0.022220566868782043, + 0.041993413120508194, + -0.0038365423679351807, + 0.03344452381134033, + 0.0 + ], + [ + -0.0032490193843841553, + 0.007890377193689346, + -0.02816329151391983, + 0.0327087864279747, + 0.008301615715026855, + 0.019293487071990967, + 0.0 + ], + [ + -0.003479212522506714, + 0.0038733407855033875, + -0.015840791165828705, + 0.0014619752764701843, + 0.016775012016296387, + 0.007223159074783325, + 0.0 + ], + [ + -0.004327058792114258, + 0.0016356557607650757, + -0.007817365229129791, + 0.005445629358291626, + 0.009465038776397705, + 0.00955285131931305, + 0.0 + ], + [ + -0.005454838275909424, + 0.001817731186747551, + -0.0033468231558799744, + 0.007883131504058838, + 0.02554565668106079, + 0.0022254586219787598, + 1.0 + ], + [ + -0.004238218069076538, + 0.003594672307372093, + 0.00047100335359573364, + 0.03186410665512085, + 0.02391543984413147, + 0.02638857066631317, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.898204505443573 + ], + [ + 0.898204505443573 + ], + [ + 0.7329457402229309 + ], + [ + 0.5452468395233154 + ], + [ + 0.3669656813144684 + ], + [ + 0.20989185571670532 + ], + [ + 0.11201969534158707 + ], + [ + 0.10874665528535843 + ], + [ + 0.10874665528535843 + ], + [ + 0.10874665528535843 + ], + [ + 0.10874665528535843 + ], + [ + 0.10874665528535843 + ], + [ + 0.10874665528535843 + ], + [ + 0.10874665528535843 + ], + [ + 0.10874665528535843 + ], + [ + 0.10874665528535843 + ], + [ + 0.10874665528535843 + ], + [ + 0.10874665528535843 + ], + [ + 0.2365749180316925 + ], + [ + 0.3103247880935669 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.28254255652427673, + 0.0692530944943428, + 0.16216592490673065 + ], + [ + 0.2848132848739624, + 0.07035458832979202, + 0.1585739552974701 + ], + [ + 0.2787037491798401, + 0.07327359914779663, + 0.1445872187614441 + ], + [ + 0.2727733254432678, + 0.07604527473449707, + 0.14036957919597626 + ], + [ + 0.2704167068004608, + 0.07658865302801132, + 0.13840195536613464 + ], + [ + 0.2686998248100281, + 0.07717280834913254, + 0.1364753693342209 + ], + [ + 0.2682926058769226, + 0.0764288678765297, + 0.13621075451374054 + ], + [ + 0.27516987919807434, + 0.07467616349458694, + 0.14981421828269958 + ], + [ + 0.3028501868247986, + 0.06859149783849716, + 0.19603131711483002 + ], + [ + 0.32059919834136963, + 0.05335245653986931, + 0.2149922251701355 + ], + [ + 0.33242204785346985, + 0.021884877234697342, + 0.20791804790496826 + ], + [ + 0.3343607783317566, + -0.009900541044771671, + 0.20167188346385956 + ], + [ + 0.33562707901000977, + -0.04640057682991028, + 0.18601132929325104 + ], + [ + 0.3358994722366333, + -0.05028722062706947, + 0.16292448341846466 + ], + [ + 0.3356457054615021, + -0.044218145310878754, + 0.14070391654968262 + ], + [ + 0.3323966860771179, + -0.03632776811718941, + 0.11254062503576279 + ], + [ + 0.3289174735546112, + -0.03245442733168602, + 0.09669983386993408 + ], + [ + 0.32459041476249695, + -0.030818771570920944, + 0.08888246864080429 + ], + [ + 0.3191355764865875, + -0.029001040384173393, + 0.08553564548492432 + ], + [ + 0.314897358417511, + -0.0254063680768013, + 0.08600664883852005 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9415933634854822, + -0.06480096366444674, + -0.3304584284721083, + -0.022586106117374626, + -0.9912536673217575, + 0.1300232088191225, + -0.3359937583505848, + -0.11496522139032087, + -0.9348214761226462 + ], + [ + 0.9423481304578168, + -0.058938096753336694, + -0.329402947427238, + -0.014758902274689342, + -0.9907297553716867, + 0.1350434249595443, + -0.3343085039694677, + -0.12239629313117383, + -0.9344821943736779 + ], + [ + 0.938140191256851, + -0.05435444207964812, + -0.3419628286448246, + -0.007279840479623975, + -0.9904800512529344, + 0.1374637115480889, + -0.3461791233901182, + -0.1264707978001054, + -0.929604836386222 + ], + [ + 0.9441820775257184, + -0.04518764705920403, + -0.32631009949505324, + 0.0023468423246671456, + -0.9895994778369281, + 0.14383103210358564, + -0.3294156899880785, + -0.1365684810566931, + -0.934256042619766 + ], + [ + 0.9429931766496742, + -0.04637466757824303, + -0.32956525757300914, + 0.002358334420181473, + -0.9892883675272687, + 0.1459553497957318, + -0.3328037064861493, + -0.1384121240435219, + -0.9327828133423351 + ], + [ + 0.9409421573360935, + -0.04475736217578474, + -0.33559594020006245, + 0.004299993947388947, + -0.9895637939312932, + 0.1440312736608183, + -0.33854005169219004, + -0.1369681578739042, + -0.9309298346969436 + ], + [ + 0.9399340888728412, + -0.0473985463632937, + -0.3380492366171361, + 0.001359937925477197, + -0.9897850882720021, + 0.14256096802148888, + -0.34135327615773753, + -0.1344576395636627, + -0.9302682860440571 + ], + [ + 0.9472624420903112, + -0.03558855027159217, + -0.31847656255157336, + 0.007822892533195715, + -0.9909500512512592, + 0.1340029786144352, + -0.3203633377237694, + -0.12942739669286815, + -0.9384113601335999 + ], + [ + 0.9735129168389614, + -0.0228001356010278, + -0.22749231759396107, + 0.013230696031186349, + -0.9877295857164498, + 0.15561238441377453, + -0.22824887607659158, + -0.15450054795043525, + -0.9612658483753532 + ], + [ + 0.9781830805669591, + -0.040082706109252346, + -0.2038412067357653, + -0.008894927309239076, + -0.988391214808165, + 0.15166966327582784, + -0.20755418849229965, + -0.14654754573516046, + -0.9671840960635694 + ], + [ + 0.9720870405882472, + -0.08986354779686201, + -0.21672869744854775, + -0.06805737129932915, + -0.9920264386346388, + 0.10607421581939797, + -0.22453280324310812, + -0.08836338510512184, + -0.9704519217563307 + ], + [ + 0.9634212144055372, + -0.14289814583871174, + -0.2267149830717372, + -0.1275509888754925, + -0.9885161175735744, + 0.0810347489300186, + -0.23569113023243748, + -0.049152875939515714, + -0.970584198262382 + ], + [ + 0.9513198802327266, + -0.1970447277167257, + -0.2369891574588011, + -0.18618941185884352, + -0.9801871501063503, + 0.06757702034012408, + -0.2456094224284747, + -0.02016249105227433, + -0.9691591642082937 + ], + [ + 0.9539659095253354, + -0.1896942598119934, + -0.2323039630696805, + -0.1729235654682199, + -0.9807466707298523, + 0.09073813067321271, + -0.24504384091271872, + -0.046390253789893275, + -0.968401497512293 + ], + [ + 0.9601377790877025, + -0.16619934397406644, + -0.22475146991982958, + -0.14106349387247308, + -0.9822390367563784, + 0.1237237461783008, + -0.2413224727724811, + -0.08708761527617916, + -0.966529467424808 + ], + [ + 0.9606600352226504, + -0.15554283597872828, + -0.2300841648217246, + -0.12225684941886758, + -0.9807077935321186, + 0.15253028052008544, + -0.2493703260137189, + -0.11840037956467053, + -0.9611429605541277 + ], + [ + 0.9572295323246407, + -0.1507838870177274, + -0.24693286913931634, + -0.11480039919189775, + -0.981345317092783, + 0.15421490513386088, + -0.26557953759830677, + -0.11927106956798034, + -0.9566827693510421 + ], + [ + 0.9557410418351598, + -0.14392262477372014, + -0.25660346652001226, + -0.10537083084275603, + -0.9817705092518014, + 0.15818866954041486, + -0.274692644530849, + -0.12414888336872884, + -0.9534836159048288 + ], + [ + 0.9486853889313709, + -0.14708993147499339, + -0.2799296070207924, + -0.10245654019119046, + -0.9804555696611419, + 0.16795693880425647, + -0.29916331693605835, + -0.13065767478080856, + -0.9452141989097963 + ], + [ + 0.9436561262655944, + -0.13397960944769696, + -0.3025930924751175, + -0.07678698162835529, + -0.9780715376689038, + 0.19359707294892797, + -0.32189575146904165, + -0.15945385368258902, + -0.9332510882565057 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006394.json b/json/chunk-0006/episode_0006394.json new file mode 100644 index 0000000000000000000000000000000000000000..599646bc3882f8babdb6eed005e46b1f6a5cbe57 --- /dev/null +++ b/json/chunk-0006/episode_0006394.json @@ -0,0 +1,2542 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 41, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMoved the orange pot on the right burner." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006394.mp4", + "start": 0, + "end": 41, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.27776283025741577, + 0.014938171952962875, + 0.1328475922346115, + -0.37934601306915283, + -0.3013080656528473, + -0.0759269967675209, + 0.0, + 0.9994885921478271 + ], + [ + 0.2757839560508728, + 0.01507502980530262, + 0.1258217990398407, + -0.3824253976345062, + -0.2730795741081238, + -0.07459548860788345, + 0.0, + 0.9994885921478271 + ], + [ + 0.28110048174858093, + 0.04535389691591263, + 0.1380191445350647, + -0.23385438323020935, + -0.1611366719007492, + -0.033825408667325974, + 0.0, + 0.9994885921478271 + ], + [ + 0.2849422097206116, + 0.06871723383665085, + 0.15218396484851837, + -0.05732310190796852, + -0.12899444997310638, + 0.010997828096151352, + 0.0, + 0.9994885921478271 + ], + [ + 0.2897731065750122, + 0.0818776860833168, + 0.15968210995197296, + 0.03946844860911369, + -0.11184238642454147, + 0.01667638123035431, + 0.0, + 0.9994885921478271 + ], + [ + 0.29014986753463745, + 0.08366379886865616, + 0.15826794505119324, + 0.04364332929253578, + -0.10714562982320786, + -0.011472581885755062, + 0.0, + 0.9994885921478271 + ], + [ + 0.2992270588874817, + 0.08373522758483887, + 0.1421070545911789, + 0.004834908060729504, + -0.10489913821220398, + -0.02399548888206482, + 0.0, + 0.9994885921478271 + ], + [ + 0.3099718689918518, + 0.08080340921878815, + 0.12517453730106354, + -0.021872475743293762, + -0.1741177886724472, + -0.018255379050970078, + 0.0, + 0.9994885921478271 + ], + [ + 0.3160565495491028, + 0.07659899443387985, + 0.10502050817012787, + -0.04645340517163277, + -0.21005667746067047, + -0.03094261698424816, + 0.0, + 0.9994885921478271 + ], + [ + 0.3182048797607422, + 0.07486318796873093, + 0.09343165159225464, + -0.03134359046816826, + -0.24821136891841888, + -0.043582044541835785, + 0.0, + 0.9994885921478271 + ], + [ + 0.31844964623451233, + 0.07367068529129028, + 0.08130092918872833, + -0.009696231223642826, + -0.253652423620224, + -0.03697974607348442, + 0.0, + 0.9568231701850891 + ], + [ + 0.3173493444919586, + 0.07037635147571564, + 0.08027972280979156, + -0.01614934764802456, + -0.24435704946517944, + -0.028110302984714508, + 0.0, + 0.6871993541717529 + ], + [ + 0.3123084306716919, + 0.06718200445175171, + 0.07698483765125275, + -0.026183784008026123, + -0.21707850694656372, + -0.018675891682505608, + 0.0, + 0.39273425936698914 + ], + [ + 0.3124055564403534, + 0.06407276540994644, + 0.07615389674901962, + -0.01989767700433731, + -0.21285265684127808, + -0.01124141737818718, + 0.0, + 0.17027510702610016 + ], + [ + 0.3102845251560211, + 0.06081049516797066, + 0.08277124166488647, + -0.03454263135790825, + -0.2153192013502121, + -0.021760201081633568, + 0.0, + 0.065320685505867 + ], + [ + 0.3085678815841675, + 0.06284274160861969, + 0.09788800776004791, + -0.04298883676528931, + -0.26291772723197937, + -0.03218835964798927, + 0.0, + 0.05538023263216019 + ], + [ + 0.3006109893321991, + 0.061660803854465485, + 0.1111709251999855, + -0.030628496780991554, + -0.29409611225128174, + -0.05159959942102432, + 0.0, + 0.05538023263216019 + ], + [ + 0.29352259635925293, + 0.05688491463661194, + 0.12258429825305939, + -0.024007074534893036, + -0.28913676738739014, + -0.043624453246593475, + 0.0, + 0.05538023263216019 + ], + [ + 0.290815144777298, + 0.049052800983190536, + 0.12428487092256546, + -0.019842471927404404, + -0.26620063185691833, + -0.03273262083530426, + 0.0, + 0.05538023263216019 + ], + [ + 0.2939510643482208, + 0.031791601330041885, + 0.12527889013290405, + -0.03806344047188759, + -0.2629840672016144, + -0.011435871943831444, + 0.0, + 0.05538023263216019 + ], + [ + 0.2999167740345001, + 0.010800600051879883, + 0.12512841820716858, + -0.03941444307565689, + -0.29173335433006287, + 0.014143314212560654, + 0.0, + 0.05538023263216019 + ], + [ + 0.30376797914505005, + -0.013156630098819733, + 0.125054731965065, + -0.030553678050637245, + -0.3145936131477356, + 0.04551765322685242, + 0.0, + 0.05538023263216019 + ], + [ + 0.30449628829956055, + -0.03619078919291496, + 0.12369061261415482, + -0.02122397907078266, + -0.3272159993648529, + 0.07007762044668198, + 0.0, + 0.05538023263216019 + ], + [ + 0.30701056122779846, + -0.050331465899944305, + 0.10969286412000656, + 0.005294464062899351, + -0.3122362196445465, + 0.0817457064986229, + 0.0, + 0.05538023263216019 + ], + [ + 0.314822793006897, + -0.054464664310216904, + 0.10072679072618484, + 0.022314362227916718, + -0.33684077858924866, + 0.06803680211305618, + 0.0, + 0.05538023263216019 + ], + [ + 0.31730619072914124, + -0.052232518792152405, + 0.09119127690792084, + 0.039156246930360794, + -0.35303640365600586, + 0.0497601218521595, + 0.0, + 0.05538023263216019 + ], + [ + 0.31731513142585754, + -0.045763831585645676, + 0.0800960436463356, + 0.0613822415471077, + -0.3544599115848541, + 0.03316240757703781, + 0.0, + 0.05538023263216019 + ], + [ + 0.3199253976345062, + -0.04330231621861458, + 0.08036686480045319, + 0.03269634023308754, + -0.36293283104896545, + 0.04920562729239464, + 0.0, + 0.05538023263216019 + ], + [ + 0.32534241676330566, + -0.041667237877845764, + 0.07039395719766617, + 0.00946690235286951, + -0.3681730031967163, + 0.0599135123193264, + 0.0, + 0.05538023263216019 + ], + [ + 0.32569026947021484, + -0.039264727383852005, + 0.06448549032211304, + 0.0031272717751562595, + -0.38734710216522217, + 0.05755436420440674, + 0.0, + 0.05538023263216019 + ], + [ + 0.3249049186706543, + -0.038510631769895554, + 0.06147755682468414, + -0.018318939954042435, + -0.3936021625995636, + 0.058493901044130325, + 0.0, + 0.07238461822271347 + ], + [ + 0.3238603174686432, + -0.03598830848932266, + 0.06019243225455284, + -0.027291608974337578, + -0.3870933949947357, + 0.0628041997551918, + 0.0, + 0.21731513738632202 + ], + [ + 0.32164841890335083, + -0.033580511808395386, + 0.05825866758823395, + -0.03852258622646332, + -0.37413209676742554, + 0.0652938187122345, + 0.0, + 0.464354008436203 + ], + [ + 0.31753402948379517, + -0.030516086146235466, + 0.06162095069885254, + -0.05607124790549278, + -0.3562923073768616, + 0.06765694171190262, + 0.0, + 0.7652681469917297 + ], + [ + 0.3103720545768738, + -0.026092741638422012, + 0.07407807558774948, + -0.0797094777226448, + -0.3383602797985077, + 0.07400345802307129, + 0.0, + 0.9879508018493652 + ], + [ + 0.3005889058113098, + -0.019964709877967834, + 0.0903976559638977, + -0.10960335284471512, + -0.32183903455734253, + 0.06959976255893707, + 0.0, + 0.9974852800369263 + ], + [ + 0.2882918417453766, + -0.011709733866155148, + 0.100649394094944, + -0.12924852967262268, + -0.2828657031059265, + 0.06198656186461449, + 0.0, + 0.9974852800369263 + ], + [ + 0.27511826157569885, + 0.003172728233039379, + 0.1135886162519455, + -0.16405725479125977, + -0.2664143741130829, + 0.024638457223773003, + 0.0, + 0.9974852800369263 + ], + [ + 0.263904869556427, + 0.02692902274429798, + 0.12120465934276581, + -0.1335226148366928, + -0.22223633527755737, + 0.007852600887417793, + 0.0, + 0.9974852800369263 + ], + [ + 0.2584802508354187, + 0.06305019557476044, + 0.13226643204689026, + -0.06059128791093826, + -0.19702355563640594, + -0.03475448489189148, + 0.0, + 0.9974852800369263 + ], + [ + 0.2550390958786011, + 0.09918291121721268, + 0.13099895417690277, + -0.006909729912877083, + -0.16208304464817047, + -0.07521335035562515, + 0.0, + 0.9974852800369263 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9568231701850891 + ], + [ + 0.6871993541717529 + ], + [ + 0.39273425936698914 + ], + [ + 0.17027510702610016 + ], + [ + 0.065320685505867 + ], + [ + 0.05538023263216019 + ], + [ + 0.05538023263216019 + ], + [ + 0.05538023263216019 + ], + [ + 0.05538023263216019 + ], + [ + 0.05538023263216019 + ], + [ + 0.05538023263216019 + ], + [ + 0.05538023263216019 + ], + [ + 0.05538023263216019 + ], + [ + 0.05538023263216019 + ], + [ + 0.05538023263216019 + ], + [ + 0.05538023263216019 + ], + [ + 0.05538023263216019 + ], + [ + 0.05538023263216019 + ], + [ + 0.05538023263216019 + ], + [ + 0.05538023263216019 + ], + [ + 0.07238461822271347 + ], + [ + 0.21731513738632202 + ], + [ + 0.464354008436203 + ], + [ + 0.7652681469917297 + ], + [ + 0.9879508018493652 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.27776283025741577, + 0.014938171952962875, + 0.1328475922346115 + ], + [ + 0.2757839560508728, + 0.01507502980530262, + 0.1258217990398407 + ], + [ + 0.28110048174858093, + 0.04535389691591263, + 0.1380191445350647 + ], + [ + 0.2849422097206116, + 0.06871723383665085, + 0.15218396484851837 + ], + [ + 0.2897731065750122, + 0.0818776860833168, + 0.15968210995197296 + ], + [ + 0.29014986753463745, + 0.08366379886865616, + 0.15826794505119324 + ], + [ + 0.2992270588874817, + 0.08373522758483887, + 0.1421070545911789 + ], + [ + 0.3099718689918518, + 0.08080340921878815, + 0.12517453730106354 + ], + [ + 0.3160565495491028, + 0.07659899443387985, + 0.10502050817012787 + ], + [ + 0.3182048797607422, + 0.07486318796873093, + 0.09343165159225464 + ], + [ + 0.31844964623451233, + 0.07367068529129028, + 0.08130092918872833 + ], + [ + 0.3173493444919586, + 0.07037635147571564, + 0.08027972280979156 + ], + [ + 0.3123084306716919, + 0.06718200445175171, + 0.07698483765125275 + ], + [ + 0.3124055564403534, + 0.06407276540994644, + 0.07615389674901962 + ], + [ + 0.3102845251560211, + 0.06081049516797066, + 0.08277124166488647 + ], + [ + 0.3085678815841675, + 0.06284274160861969, + 0.09788800776004791 + ], + [ + 0.3006109893321991, + 0.061660803854465485, + 0.1111709251999855 + ], + [ + 0.29352259635925293, + 0.05688491463661194, + 0.12258429825305939 + ], + [ + 0.290815144777298, + 0.049052800983190536, + 0.12428487092256546 + ], + [ + 0.2939510643482208, + 0.031791601330041885, + 0.12527889013290405 + ], + [ + 0.2999167740345001, + 0.010800600051879883, + 0.12512841820716858 + ], + [ + 0.30376797914505005, + -0.013156630098819733, + 0.125054731965065 + ], + [ + 0.30449628829956055, + -0.03619078919291496, + 0.12369061261415482 + ], + [ + 0.30701056122779846, + -0.050331465899944305, + 0.10969286412000656 + ], + [ + 0.314822793006897, + -0.054464664310216904, + 0.10072679072618484 + ], + [ + 0.31730619072914124, + -0.052232518792152405, + 0.09119127690792084 + ], + [ + 0.31731513142585754, + -0.045763831585645676, + 0.0800960436463356 + ], + [ + 0.3199253976345062, + -0.04330231621861458, + 0.08036686480045319 + ], + [ + 0.32534241676330566, + -0.041667237877845764, + 0.07039395719766617 + ], + [ + 0.32569026947021484, + -0.039264727383852005, + 0.06448549032211304 + ], + [ + 0.3249049186706543, + -0.038510631769895554, + 0.06147755682468414 + ], + [ + 0.3238603174686432, + -0.03598830848932266, + 0.06019243225455284 + ], + [ + 0.32164841890335083, + -0.033580511808395386, + 0.05825866758823395 + ], + [ + 0.31753402948379517, + -0.030516086146235466, + 0.06162095069885254 + ], + [ + 0.3103720545768738, + -0.026092741638422012, + 0.07407807558774948 + ], + [ + 0.3005889058113098, + -0.019964709877967834, + 0.0903976559638977 + ], + [ + 0.2882918417453766, + -0.011709733866155148, + 0.100649394094944 + ], + [ + 0.27511826157569885, + 0.003172728233039379, + 0.1135886162519455 + ], + [ + 0.263904869556427, + 0.02692902274429798, + 0.12120465934276581 + ], + [ + 0.2584802508354187, + 0.06305019557476044, + 0.13226643204689026 + ], + [ + 0.2550390958786011, + 0.09918291121721268, + 0.13099895417690277 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9521978369269287, + -0.18004240692445306, + 0.2467873802699964, + -0.07243677274349651, + -0.9178945840132732, + -0.3901569512306645, + 0.2967695963305291, + 0.3536301236432634, + -0.8870589283389605 + ], + [ + 0.9602670032832697, + -0.16950656949504145, + 0.2217088300077181, + -0.07176474704197097, + -0.9176816032736063, + -0.39078164759259765, + 0.2696981710864397, + 0.3593438435693674, + -0.8933839592254963 + ], + [ + 0.9864809387958816, + -0.0700557677624372, + 0.1481470445051539, + -0.03338085286145916, + -0.97096665560482, + -0.23687438098247962, + 0.16044025696388733, + 0.2287267870338032, + -0.9601786192363145 + ], + [ + 0.991631772953018, + 0.0036101534381149194, + 0.1290480285095731, + 0.010906235488306406, + -0.9983781552091838, + -0.05587587340329058, + 0.12863701216029516, + 0.056815719596430496, + -0.9900628733111912 + ], + [ + 0.9936139782089577, + 0.02106591423227976, + 0.11084894931990531, + 0.01657142170503573, + -0.9990088447570206, + 0.04131242040739057, + 0.11160936470763812, + -0.039211673705688, + -0.9929782446533035 + ], + [ + 0.9941999643932726, + -0.006795944726614516, + 0.10733240859911808, + -0.01140654095019493, + -0.9990355616173068, + 0.042400913286670554, + 0.10694073884150401, + -0.043379277993819, + -0.993318638009359 + ], + [ + 0.9942168332262878, + -0.023486805469822937, + 0.10479150012436295, + -0.023861298791116703, + -0.9997125837460034, + 0.0023212754880421295, + 0.10470686199811699, + -0.004808312460003819, + -0.9944915048313858 + ], + [ + 0.984715650454558, + -0.022038238459714046, + 0.17276980000986777, + -0.01797835464952722, + -0.9995250585550508, + -0.025028705212583168, + 0.1732393330452203, + 0.02154004099613892, + -0.9846441794475466 + ], + [ + 0.9775509355159967, + -0.04058243396716148, + 0.20675404355199545, + -0.030257641478057817, + -0.9981435041494159, + -0.05285849275670097, + 0.2085153318199522, + 0.04541597932034355, + -0.976964044997762 + ], + [ + 0.9684329394216841, + -0.05123847532085378, + 0.2439513486125277, + -0.0422330299512393, + -0.9982243201170599, + -0.04200687929341119, + 0.24567053755836188, + 0.03037804097745197, + -0.9688772685960578 + ], + [ + 0.9673405399612145, + -0.03940106248914614, + 0.2503993530787825, + -0.0357883225514833, + -0.9991793945626257, + -0.018966640462034307, + 0.2509411797941848, + 0.00938582741112826, + -0.9679568329875622 + ], + [ + 0.9699097438806904, + -0.032008275145712646, + 0.24135152588597744, + -0.027271640398052, + -0.9993647758932704, + -0.02294128012540587, + 0.2419325243849876, + 0.015668919107244068, + -0.9701665519995615 + ], + [ + 0.9763605434291972, + -0.02430617810598467, + 0.2147773240836258, + -0.018236524034027625, + -0.9993775920048957, + -0.03019698312170517, + 0.21537761820996862, + 0.025566351018015174, + -0.9761961090220677 + ], + [ + 0.9773705133907082, + -0.01544177752883242, + 0.21097021368224803, + -0.01098749270591434, + -0.9996916285286382, + -0.02226932540057704, + 0.2112490344555942, + 0.01944734831562783, + -0.9772387866253928 + ], + [ + 0.9766769666462543, + -0.0291226429780304, + 0.21272981570209018, + -0.021256042248934886, + -0.999006306654163, + -0.03917371482409324, + 0.21365926961071116, + 0.03373827101648904, + -0.9763254813730075 + ], + [ + 0.9651355749369225, + -0.04331660261073941, + 0.2581414223433335, + -0.031076864551233794, + -0.998199140297872, + -0.05130988986787382, + 0.2598991159677929, + 0.041498774040353965, + -0.9647436453650821 + ], + [ + 0.9557907291733799, + -0.060417743716355755, + 0.2877738318027606, + -0.04936223582518593, + -0.9977427958398313, + -0.045526728677290046, + 0.2898748897378963, + 0.029308865449580418, + -0.9566156692765914 + ], + [ + 0.9575784582632145, + -0.05043589730084774, + 0.2837247196380728, + -0.041800356701614624, + -0.9984622359338098, + -0.036412821830705, + 0.28512493130181105, + 0.023008339303722578, + -0.9582141670172811 + ], + [ + 0.9642605518641149, + -0.03793711058556113, + 0.26222578774623173, + -0.03157405224017402, + -0.9990967658638638, + -0.028438207846186343, + 0.26306779989928, + 0.019142311270769742, + -0.9645874271290112 + ], + [ + 0.9655553902420011, + -0.02131939635663626, + 0.2593227173110868, + -0.011042449175782731, + -0.9990972039733512, + -0.04102244908379175, + 0.2599631756438159, + 0.03674588890774961, + -0.9649191090229078 + ], + [ + 0.9576509906581978, + 0.0027998298500767115, + 0.2879179415114369, + 0.013545262046882233, + -0.9992836971969329, + -0.03533579477682718, + 0.28761277086988657, + 0.037739282839494646, + -0.9570029469982352 + ], + [ + 0.949937288509352, + 0.0360377354986493, + 0.3103553278415397, + 0.04326880246745136, + -0.9989281252506012, + -0.016444187920113512, + 0.30943005450752975, + 0.029049650659667553, + -0.9504783843749517 + ], + [ + 0.9446166105445062, + 0.063200204885816, + 0.3220329069921268, + 0.06630505842384389, + -0.9977985122732619, + 0.0013297115010552068, + 0.3214079935390835, + 0.020096343141384435, + -0.9467275419472724 + ], + [ + 0.9484711505126256, + 0.08327450464269265, + 0.3057250946876461, + 0.07770660931003728, + -0.9965139090443036, + 0.03035970933290403, + 0.3071874989559198, + -0.005038447951041315, + -0.9516356732108413 + ], + [ + 0.941619924908742, + 0.07532477944138326, + 0.3281434055667767, + 0.06416384401225965, + -0.9969366639254769, + 0.0447245932649049, + 0.3305070621581716, + -0.021058625863235467, + -0.9435685540226141 + ], + [ + 0.9371657657889647, + 0.06321946651006698, + 0.34310876772149906, + 0.04667201011199307, + -0.9973234482433948, + 0.05628199584245575, + 0.3457485370978293, + -0.03673198385721509, + -0.9376079726925448 + ], + [ + 0.937318439544326, + 0.054373591631591355, + 0.34420583293034174, + 0.03109513586705131, + -0.9968619698090517, + 0.07279633008487876, + 0.3470839025590196, + -0.05753021537851171, + -0.9360678602018674 + ], + [ + 0.9337281294622719, + 0.06075114416104377, + 0.35279041757679674, + 0.045981794600216064, + -0.997684980912078, + 0.05010342730602066, + 0.35501754156130094, + -0.030561042940158874, + -0.9343599776521785 + ], + [ + 0.9313124227091122, + 0.06327607343592541, + 0.35868274259882515, + 0.055865059257990575, + -0.9979569770041644, + 0.03099947100855792, + 0.35991147031149884, + -0.008832359777579013, + -0.9329446516053213 + ], + [ + 0.9243812803094933, + 0.05870163043485098, + 0.37692620922094566, + 0.05326099896739932, + -0.998271373021097, + 0.02485018703286293, + 0.3777333909020708, + -0.002895581265265677, + -0.9259098773675327 + ], + [ + 0.9219540602828782, + 0.051437513254862274, + 0.38386832763080453, + 0.05399028019047242, + -0.998532918960754, + 0.0041303022492876745, + 0.3835176141624646, + 0.016917209636108925, + -0.9233786047149125 + ], + [ + 0.9241845467945438, + 0.05245859592663334, + 0.3783266038485397, + 0.05811910535909046, + -0.9983033430233067, + -0.0035503381175546467, + 0.37749846762393974, + 0.025269171373359794, + -0.9256653692991227 + ], + [ + 0.9288416799269775, + 0.051153852085544876, + 0.36692835410641256, + 0.06073395347434099, + -0.9980471622303813, + -0.014603042808267413, + 0.36546480066595644, + 0.03584892440079204, + -0.9301345784850166 + ], + [ + 0.9350523398826793, + 0.047996306311754056, + 0.35124560674883143, + 0.06335948638041053, + -0.9974656727014494, + -0.03236985121769603, + 0.34880180212484146, + 0.05252224635974248, + -0.9357236325282106 + ], + [ + 0.9407184046224476, + 0.04734269785709599, + 0.33586835540760385, + 0.06974377901891085, + -0.9960507521901026, + -0.054942737005831514, + 0.33194079064308757, + 0.07511037226070948, + -0.9403051331807667 + ], + [ + 0.9463585384476394, + 0.03461060796357431, + 0.32125943180495065, + 0.06597289100921525, + -0.9939991746646821, + -0.08725375876039462, + 0.31631170442956136, + 0.1037677530947004, + -0.9429629680207718 + ], + [ + 0.9584153116979393, + 0.0255252438431143, + 0.28423327080004374, + 0.05948507670811046, + -0.9919829756288631, + -0.11149574750427069, + 0.27910860959843514, + 0.12376686951383808, + -0.9522500438743872 + ], + [ + 0.9644282941218582, + -0.018680298763600486, + 0.26368373468097156, + 0.023766834712081533, + -0.987332638993549, + -0.15687382683482454, + 0.26327400757570235, + 0.15756048494510466, + -0.9517675611822942 + ], + [ + 0.9753769015349905, + -0.021559021183450842, + 0.21948828797366993, + 0.007659402957999063, + -0.9912989473515533, + -0.13140673698874392, + 0.2204115094506821, + 0.12985224520705616, + -0.9667249665320319 + ], + [ + 0.9800613704001774, + -0.046530135698131955, + 0.1931700202444465, + -0.03407524873375463, + -0.9971502595113616, + -0.067307038117549, + 0.19575134143361364, + 0.059382711527328116, + -0.9788539757791267 + ], + [ + 0.9841031392031461, + -0.07625255384642841, + 0.16039501065310957, + -0.07415758463500334, + -0.9970652173991711, + -0.01901591159651348, + 0.16137429798953712, + 0.0068191117193981896, + -0.9868697156482931 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0019788742065429688, + 0.00013685785233974457, + -0.007025793194770813, + -0.0030793845653533936, + 0.02822849154472351, + 0.0013315081596374512, + 1.0 + ], + [ + 0.00531652569770813, + 0.030278867110610008, + 0.012197345495223999, + 0.14857101440429688, + 0.11194290220737457, + 0.04077007994055748, + 1.0 + ], + [ + 0.0038417279720306396, + 0.02336333692073822, + 0.014164820313453674, + 0.17653128504753113, + 0.03214222192764282, + 0.044823236763477325, + 1.0 + ], + [ + 0.004830896854400635, + 0.013160452246665955, + 0.00749814510345459, + 0.09679155051708221, + 0.01715206354856491, + 0.005678553134202957, + 1.0 + ], + [ + 0.00037676095962524414, + 0.0017861127853393555, + -0.0014141649007797241, + 0.004174880683422089, + 0.004696756601333618, + -0.028148964047431946, + 1.0 + ], + [ + 0.009077191352844238, + 7.142871618270874e-05, + -0.016160890460014343, + -0.038808420300483704, + 0.0022464916110038757, + -0.012522906996309757, + 1.0 + ], + [ + 0.010744810104370117, + -0.00293181836605072, + -0.016932517290115356, + -0.02670738473534584, + -0.06921865046024323, + 0.005740109831094742, + 1.0 + ], + [ + 0.0060846805572509766, + -0.004204414784908295, + -0.02015402913093567, + -0.024580929428339005, + -0.03593888878822327, + -0.012687237933278084, + 1.0 + ], + [ + 0.0021483302116394043, + -0.0017358064651489258, + -0.01158885657787323, + 0.015109814703464508, + -0.03815469145774841, + -0.012639427557587624, + 1.0 + ], + [ + 0.0002447664737701416, + -0.0011925026774406433, + -0.012130722403526306, + 0.021647360175848007, + -0.005441054701805115, + 0.006602298468351364, + 0.0 + ], + [ + -0.001100301742553711, + -0.003294333815574646, + -0.0010212063789367676, + -0.006453116424381733, + 0.009295374155044556, + 0.008869443088769913, + 0.0 + ], + [ + -0.005040913820266724, + -0.0031943470239639282, + -0.0032948851585388184, + -0.010034436360001564, + 0.027278542518615723, + 0.0094344113022089, + 0.0 + ], + [ + 9.712576866149902e-05, + -0.0031092390418052673, + -0.0008309409022331238, + 0.006286107003688812, + 0.0042258501052856445, + 0.007434474304318428, + 0.0 + ], + [ + -0.0021210312843322754, + -0.0032622702419757843, + 0.006617344915866852, + -0.014644954353570938, + -0.002466544508934021, + -0.010518783703446388, + 0.0 + ], + [ + -0.0017166435718536377, + 0.0020322464406490326, + 0.015116766095161438, + -0.008446205407381058, + -0.04759852588176727, + -0.010428158566355705, + 0.0 + ], + [ + -0.007956892251968384, + -0.0011819377541542053, + 0.013282917439937592, + 0.012360339984297752, + -0.031178385019302368, + -0.01941123977303505, + 0.0 + ], + [ + -0.007088392972946167, + -0.004775889217853546, + 0.011413373053073883, + 0.006621422246098518, + 0.0049593448638916016, + 0.007975146174430847, + 0.0 + ], + [ + -0.002707451581954956, + -0.007832113653421402, + 0.001700572669506073, + 0.004164602607488632, + 0.022936135530471802, + 0.010891832411289215, + 0.0 + ], + [ + 0.0031359195709228516, + -0.01726119965314865, + 0.0009940192103385925, + -0.018220968544483185, + 0.003216564655303955, + 0.021296748891472816, + 0.0 + ], + [ + 0.005965709686279297, + -0.020991001278162003, + -0.00015047192573547363, + -0.0013510026037693024, + -0.028749287128448486, + 0.025579186156392097, + 0.0 + ], + [ + 0.0038512051105499268, + -0.023957230150699615, + -7.368624210357666e-05, + 0.008860765025019646, + -0.02286025881767273, + 0.03137433901429176, + 0.0 + ], + [ + 0.000728309154510498, + -0.02303415909409523, + -0.0013641193509101868, + 0.009329698979854584, + -0.01262238621711731, + 0.02455996721982956, + 0.0 + ], + [ + 0.002514272928237915, + -0.014140676707029343, + -0.013997748494148254, + 0.0265184435993433, + 0.014979779720306396, + 0.011668086051940918, + 0.0 + ], + [ + 0.007812231779098511, + -0.004133198410272598, + -0.008966073393821716, + 0.01701989769935608, + -0.02460455894470215, + -0.013708904385566711, + 0.0 + ], + [ + 0.0024833977222442627, + 0.002232145518064499, + -0.009535513818264008, + 0.016841884702444077, + -0.016195625066757202, + -0.018276680260896683, + 0.0 + ], + [ + 8.940696716308594e-06, + 0.006468687206506729, + -0.011095233261585236, + 0.022225994616746902, + -0.0014235079288482666, + -0.01659771427512169, + 0.0 + ], + [ + 0.0026102662086486816, + 0.0024615153670310974, + 0.00027082115411758423, + -0.028685901314020157, + -0.008472919464111328, + 0.016043219715356827, + 0.0 + ], + [ + 0.0054170191287994385, + 0.001635078340768814, + -0.009972907602787018, + -0.023229438811540604, + -0.0052401721477508545, + 0.010707885026931763, + 0.0 + ], + [ + 0.0003478527069091797, + 0.002402510493993759, + -0.005908466875553131, + -0.006339630577713251, + -0.01917409896850586, + -0.0023591481149196625, + 0.0 + ], + [ + -0.0007853507995605469, + 0.0007540956139564514, + -0.003007933497428894, + -0.021446211263537407, + -0.006255060434341431, + 0.000939536839723587, + 1.0 + ], + [ + -0.0010446012020111084, + 0.0025223232805728912, + -0.0012851245701313019, + -0.008972669020295143, + 0.006508767604827881, + 0.004310298711061478, + 1.0 + ], + [ + -0.0022118985652923584, + 0.0024077966809272766, + -0.0019337646663188934, + -0.01123097725212574, + 0.01296129822731018, + 0.002489618957042694, + 1.0 + ], + [ + -0.004114389419555664, + 0.0030644256621599197, + 0.0033622831106185913, + -0.017548661679029465, + 0.017839789390563965, + 0.0023631229996681213, + 1.0 + ], + [ + -0.007161974906921387, + 0.004423344507813454, + 0.012457124888896942, + -0.023638229817152023, + 0.017932027578353882, + 0.006346516311168671, + 1.0 + ], + [ + -0.009783148765563965, + 0.006128031760454178, + 0.016319580376148224, + -0.029893875122070312, + 0.01652124524116516, + -0.004403695464134216, + 1.0 + ], + [ + -0.012297064065933228, + 0.008254976011812687, + 0.010251738131046295, + -0.019645176827907562, + 0.038973331451416016, + -0.007613200694322586, + 1.0 + ], + [ + -0.013173580169677734, + 0.014882462099194527, + 0.012939222157001495, + -0.034808725118637085, + 0.016451328992843628, + -0.03734810650348663, + 1.0 + ], + [ + -0.01121339201927185, + 0.023756295442581177, + 0.0076160430908203125, + 0.030534639954566956, + 0.04417803883552551, + -0.01678585633635521, + 1.0 + ], + [ + -0.005424618721008301, + 0.036121174693107605, + 0.01106177270412445, + 0.07293132692575455, + 0.025212779641151428, + -0.042607083916664124, + 1.0 + ], + [ + -0.003441154956817627, + 0.03613271564245224, + -0.0012674778699874878, + 0.05368155986070633, + 0.034940510988235474, + -0.04045886546373367, + 1.0 + ], + [ + -0.0029298365116119385, + 0.03306028991937637, + 0.002919703722000122, + 0.01658003218472004, + 0.029821351170539856, + -0.04878390580415726, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9568231701850891 + ], + [ + 0.6871993541717529 + ], + [ + 0.39273425936698914 + ], + [ + 0.17027510702610016 + ], + [ + 0.065320685505867 + ], + [ + 0.05538023263216019 + ], + [ + 0.05538023263216019 + ], + [ + 0.05538023263216019 + ], + [ + 0.05538023263216019 + ], + [ + 0.05538023263216019 + ], + [ + 0.05538023263216019 + ], + [ + 0.05538023263216019 + ], + [ + 0.05538023263216019 + ], + [ + 0.05538023263216019 + ], + [ + 0.05538023263216019 + ], + [ + 0.05538023263216019 + ], + [ + 0.05538023263216019 + ], + [ + 0.05538023263216019 + ], + [ + 0.05538023263216019 + ], + [ + 0.05538023263216019 + ], + [ + 0.07238461822271347 + ], + [ + 0.21731513738632202 + ], + [ + 0.464354008436203 + ], + [ + 0.7652681469917297 + ], + [ + 0.9879508018493652 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2757839560508728, + 0.01507502980530262, + 0.1258217990398407 + ], + [ + 0.28110048174858093, + 0.04535389691591263, + 0.1380191445350647 + ], + [ + 0.2849422097206116, + 0.06871723383665085, + 0.15218396484851837 + ], + [ + 0.2897731065750122, + 0.0818776860833168, + 0.15968210995197296 + ], + [ + 0.29014986753463745, + 0.08366379886865616, + 0.15826794505119324 + ], + [ + 0.2992270588874817, + 0.08373522758483887, + 0.1421070545911789 + ], + [ + 0.3099718689918518, + 0.08080340921878815, + 0.12517453730106354 + ], + [ + 0.3160565495491028, + 0.07659899443387985, + 0.10502050817012787 + ], + [ + 0.3182048797607422, + 0.07486318796873093, + 0.09343165159225464 + ], + [ + 0.31844964623451233, + 0.07367068529129028, + 0.08130092918872833 + ], + [ + 0.3173493444919586, + 0.07037635147571564, + 0.08027972280979156 + ], + [ + 0.3123084306716919, + 0.06718200445175171, + 0.07698483765125275 + ], + [ + 0.3124055564403534, + 0.06407276540994644, + 0.07615389674901962 + ], + [ + 0.3102845251560211, + 0.06081049516797066, + 0.08277124166488647 + ], + [ + 0.3085678815841675, + 0.06284274160861969, + 0.09788800776004791 + ], + [ + 0.3006109893321991, + 0.061660803854465485, + 0.1111709251999855 + ], + [ + 0.29352259635925293, + 0.05688491463661194, + 0.12258429825305939 + ], + [ + 0.290815144777298, + 0.049052800983190536, + 0.12428487092256546 + ], + [ + 0.2939510643482208, + 0.031791601330041885, + 0.12527889013290405 + ], + [ + 0.2999167740345001, + 0.010800600051879883, + 0.12512841820716858 + ], + [ + 0.30376797914505005, + -0.013156630098819733, + 0.125054731965065 + ], + [ + 0.30449628829956055, + -0.03619078919291496, + 0.12369061261415482 + ], + [ + 0.30701056122779846, + -0.050331465899944305, + 0.10969286412000656 + ], + [ + 0.314822793006897, + -0.054464664310216904, + 0.10072679072618484 + ], + [ + 0.31730619072914124, + -0.052232518792152405, + 0.09119127690792084 + ], + [ + 0.31731513142585754, + -0.045763831585645676, + 0.0800960436463356 + ], + [ + 0.3199253976345062, + -0.04330231621861458, + 0.08036686480045319 + ], + [ + 0.32534241676330566, + -0.041667237877845764, + 0.07039395719766617 + ], + [ + 0.32569026947021484, + -0.039264727383852005, + 0.06448549032211304 + ], + [ + 0.3249049186706543, + -0.038510631769895554, + 0.06147755682468414 + ], + [ + 0.3238603174686432, + -0.03598830848932266, + 0.06019243225455284 + ], + [ + 0.32164841890335083, + -0.033580511808395386, + 0.05825866758823395 + ], + [ + 0.31753402948379517, + -0.030516086146235466, + 0.06162095069885254 + ], + [ + 0.3103720545768738, + -0.026092741638422012, + 0.07407807558774948 + ], + [ + 0.3005889058113098, + -0.019964709877967834, + 0.0903976559638977 + ], + [ + 0.2882918417453766, + -0.011709733866155148, + 0.100649394094944 + ], + [ + 0.27511826157569885, + 0.003172728233039379, + 0.1135886162519455 + ], + [ + 0.263904869556427, + 0.02692902274429798, + 0.12120465934276581 + ], + [ + 0.2584802508354187, + 0.06305019557476044, + 0.13226643204689026 + ], + [ + 0.2550390958786011, + 0.09918291121721268, + 0.13099895417690277 + ], + [ + 0.25210925936698914, + 0.13224320113658905, + 0.1339186578989029 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9602670032832697, + -0.16950656949504145, + 0.2217088300077181, + -0.07176474704197097, + -0.9176816032736063, + -0.39078164759259765, + 0.2696981710864397, + 0.3593438435693674, + -0.8933839592254963 + ], + [ + 0.9864809387958816, + -0.0700557677624372, + 0.1481470445051539, + -0.03338085286145916, + -0.97096665560482, + -0.23687438098247962, + 0.16044025696388733, + 0.2287267870338032, + -0.9601786192363145 + ], + [ + 0.991631772953018, + 0.0036101534381149194, + 0.1290480285095731, + 0.010906235488306406, + -0.9983781552091838, + -0.05587587340329058, + 0.12863701216029516, + 0.056815719596430496, + -0.9900628733111912 + ], + [ + 0.9936139782089577, + 0.02106591423227976, + 0.11084894931990531, + 0.01657142170503573, + -0.9990088447570206, + 0.04131242040739057, + 0.11160936470763812, + -0.039211673705688, + -0.9929782446533035 + ], + [ + 0.9941999643932726, + -0.006795944726614516, + 0.10733240859911808, + -0.01140654095019493, + -0.9990355616173068, + 0.042400913286670554, + 0.10694073884150401, + -0.043379277993819, + -0.993318638009359 + ], + [ + 0.9942168332262878, + -0.023486805469822937, + 0.10479150012436295, + -0.023861298791116703, + -0.9997125837460034, + 0.0023212754880421295, + 0.10470686199811699, + -0.004808312460003819, + -0.9944915048313858 + ], + [ + 0.984715650454558, + -0.022038238459714046, + 0.17276980000986777, + -0.01797835464952722, + -0.9995250585550508, + -0.025028705212583168, + 0.1732393330452203, + 0.02154004099613892, + -0.9846441794475466 + ], + [ + 0.9775509355159967, + -0.04058243396716148, + 0.20675404355199545, + -0.030257641478057817, + -0.9981435041494159, + -0.05285849275670097, + 0.2085153318199522, + 0.04541597932034355, + -0.976964044997762 + ], + [ + 0.9684329394216841, + -0.05123847532085378, + 0.2439513486125277, + -0.0422330299512393, + -0.9982243201170599, + -0.04200687929341119, + 0.24567053755836188, + 0.03037804097745197, + -0.9688772685960578 + ], + [ + 0.9673405399612145, + -0.03940106248914614, + 0.2503993530787825, + -0.0357883225514833, + -0.9991793945626257, + -0.018966640462034307, + 0.2509411797941848, + 0.00938582741112826, + -0.9679568329875622 + ], + [ + 0.9699097438806904, + -0.032008275145712646, + 0.24135152588597744, + -0.027271640398052, + -0.9993647758932704, + -0.02294128012540587, + 0.2419325243849876, + 0.015668919107244068, + -0.9701665519995615 + ], + [ + 0.9763605434291972, + -0.02430617810598467, + 0.2147773240836258, + -0.018236524034027625, + -0.9993775920048957, + -0.03019698312170517, + 0.21537761820996862, + 0.025566351018015174, + -0.9761961090220677 + ], + [ + 0.9773705133907082, + -0.01544177752883242, + 0.21097021368224803, + -0.01098749270591434, + -0.9996916285286382, + -0.02226932540057704, + 0.2112490344555942, + 0.01944734831562783, + -0.9772387866253928 + ], + [ + 0.9766769666462543, + -0.0291226429780304, + 0.21272981570209018, + -0.021256042248934886, + -0.999006306654163, + -0.03917371482409324, + 0.21365926961071116, + 0.03373827101648904, + -0.9763254813730075 + ], + [ + 0.9651355749369225, + -0.04331660261073941, + 0.2581414223433335, + -0.031076864551233794, + -0.998199140297872, + -0.05130988986787382, + 0.2598991159677929, + 0.041498774040353965, + -0.9647436453650821 + ], + [ + 0.9557907291733799, + -0.060417743716355755, + 0.2877738318027606, + -0.04936223582518593, + -0.9977427958398313, + -0.045526728677290046, + 0.2898748897378963, + 0.029308865449580418, + -0.9566156692765914 + ], + [ + 0.9575784582632145, + -0.05043589730084774, + 0.2837247196380728, + -0.041800356701614624, + -0.9984622359338098, + -0.036412821830705, + 0.28512493130181105, + 0.023008339303722578, + -0.9582141670172811 + ], + [ + 0.9642605518641149, + -0.03793711058556113, + 0.26222578774623173, + -0.03157405224017402, + -0.9990967658638638, + -0.028438207846186343, + 0.26306779989928, + 0.019142311270769742, + -0.9645874271290112 + ], + [ + 0.9655553902420011, + -0.02131939635663626, + 0.2593227173110868, + -0.011042449175782731, + -0.9990972039733512, + -0.04102244908379175, + 0.2599631756438159, + 0.03674588890774961, + -0.9649191090229078 + ], + [ + 0.9576509906581978, + 0.0027998298500767115, + 0.2879179415114369, + 0.013545262046882233, + -0.9992836971969329, + -0.03533579477682718, + 0.28761277086988657, + 0.037739282839494646, + -0.9570029469982352 + ], + [ + 0.949937288509352, + 0.0360377354986493, + 0.3103553278415397, + 0.04326880246745136, + -0.9989281252506012, + -0.016444187920113512, + 0.30943005450752975, + 0.029049650659667553, + -0.9504783843749517 + ], + [ + 0.9446166105445062, + 0.063200204885816, + 0.3220329069921268, + 0.06630505842384389, + -0.9977985122732619, + 0.0013297115010552068, + 0.3214079935390835, + 0.020096343141384435, + -0.9467275419472724 + ], + [ + 0.9484711505126256, + 0.08327450464269265, + 0.3057250946876461, + 0.07770660931003728, + -0.9965139090443036, + 0.03035970933290403, + 0.3071874989559198, + -0.005038447951041315, + -0.9516356732108413 + ], + [ + 0.941619924908742, + 0.07532477944138326, + 0.3281434055667767, + 0.06416384401225965, + -0.9969366639254769, + 0.0447245932649049, + 0.3305070621581716, + -0.021058625863235467, + -0.9435685540226141 + ], + [ + 0.9371657657889647, + 0.06321946651006698, + 0.34310876772149906, + 0.04667201011199307, + -0.9973234482433948, + 0.05628199584245575, + 0.3457485370978293, + -0.03673198385721509, + -0.9376079726925448 + ], + [ + 0.937318439544326, + 0.054373591631591355, + 0.34420583293034174, + 0.03109513586705131, + -0.9968619698090517, + 0.07279633008487876, + 0.3470839025590196, + -0.05753021537851171, + -0.9360678602018674 + ], + [ + 0.9337281294622719, + 0.06075114416104377, + 0.35279041757679674, + 0.045981794600216064, + -0.997684980912078, + 0.05010342730602066, + 0.35501754156130094, + -0.030561042940158874, + -0.9343599776521785 + ], + [ + 0.9313124227091122, + 0.06327607343592541, + 0.35868274259882515, + 0.055865059257990575, + -0.9979569770041644, + 0.03099947100855792, + 0.35991147031149884, + -0.008832359777579013, + -0.9329446516053213 + ], + [ + 0.9243812803094933, + 0.05870163043485098, + 0.37692620922094566, + 0.05326099896739932, + -0.998271373021097, + 0.02485018703286293, + 0.3777333909020708, + -0.002895581265265677, + -0.9259098773675327 + ], + [ + 0.9219540602828782, + 0.051437513254862274, + 0.38386832763080453, + 0.05399028019047242, + -0.998532918960754, + 0.0041303022492876745, + 0.3835176141624646, + 0.016917209636108925, + -0.9233786047149125 + ], + [ + 0.9241845467945438, + 0.05245859592663334, + 0.3783266038485397, + 0.05811910535909046, + -0.9983033430233067, + -0.0035503381175546467, + 0.37749846762393974, + 0.025269171373359794, + -0.9256653692991227 + ], + [ + 0.9288416799269775, + 0.051153852085544876, + 0.36692835410641256, + 0.06073395347434099, + -0.9980471622303813, + -0.014603042808267413, + 0.36546480066595644, + 0.03584892440079204, + -0.9301345784850166 + ], + [ + 0.9350523398826793, + 0.047996306311754056, + 0.35124560674883143, + 0.06335948638041053, + -0.9974656727014494, + -0.03236985121769603, + 0.34880180212484146, + 0.05252224635974248, + -0.9357236325282106 + ], + [ + 0.9407184046224476, + 0.04734269785709599, + 0.33586835540760385, + 0.06974377901891085, + -0.9960507521901026, + -0.054942737005831514, + 0.33194079064308757, + 0.07511037226070948, + -0.9403051331807667 + ], + [ + 0.9463585384476394, + 0.03461060796357431, + 0.32125943180495065, + 0.06597289100921525, + -0.9939991746646821, + -0.08725375876039462, + 0.31631170442956136, + 0.1037677530947004, + -0.9429629680207718 + ], + [ + 0.9584153116979393, + 0.0255252438431143, + 0.28423327080004374, + 0.05948507670811046, + -0.9919829756288631, + -0.11149574750427069, + 0.27910860959843514, + 0.12376686951383808, + -0.9522500438743872 + ], + [ + 0.9644282941218582, + -0.018680298763600486, + 0.26368373468097156, + 0.023766834712081533, + -0.987332638993549, + -0.15687382683482454, + 0.26327400757570235, + 0.15756048494510466, + -0.9517675611822942 + ], + [ + 0.9753769015349905, + -0.021559021183450842, + 0.21948828797366993, + 0.007659402957999063, + -0.9912989473515533, + -0.13140673698874392, + 0.2204115094506821, + 0.12985224520705616, + -0.9667249665320319 + ], + [ + 0.9800613704001774, + -0.046530135698131955, + 0.1931700202444465, + -0.03407524873375463, + -0.9971502595113616, + -0.067307038117549, + 0.19575134143361364, + 0.059382711527328116, + -0.9788539757791267 + ], + [ + 0.9841031392031461, + -0.07625255384642841, + 0.16039501065310957, + -0.07415758463500334, + -0.9970652173991711, + -0.01901591159651348, + 0.16137429798953712, + 0.0068191117193981896, + -0.9868697156482931 + ], + [ + 0.9836554071940563, + -0.12240849417539622, + 0.1320537786343401, + -0.12259955226454015, + -0.9924335116386102, + -0.006713773990160012, + 0.13187641821959523, + -0.009585694047311081, + -0.9912198165831845 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006395.json b/json/chunk-0006/episode_0006395.json new file mode 100644 index 0000000000000000000000000000000000000000..a88cb5e44be21a3aa4ec685d28d7eaa572cfa8a4 --- /dev/null +++ b/json/chunk-0006/episode_0006395.json @@ -0,0 +1,2242 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 36, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nFolds the cloth from the bottom left to the top right." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006395.mp4", + "start": 0, + "end": 36, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.21846997737884521, + 0.24364399909973145, + 0.1370718628168106, + -0.01542450487613678, + -0.20505981147289276, + 0.5933541655540466, + 0.0, + 1.0008161067962646 + ], + [ + 0.2179284542798996, + 0.24334782361984253, + 0.1264328956604004, + -0.02410762570798397, + -0.17353887856006622, + 0.600693941116333, + 0.0, + 1.0008161067962646 + ], + [ + 0.2172866314649582, + 0.24982929229736328, + 0.11727145314216614, + -0.0005480367108248174, + -0.1635047346353531, + 0.6260493993759155, + 0.0, + 1.0008161067962646 + ], + [ + 0.21851994097232819, + 0.2547479569911957, + 0.10490595549345016, + 0.038775764405727386, + -0.18003882467746735, + 0.6290814280509949, + 0.0, + 1.0008161067962646 + ], + [ + 0.21726571023464203, + 0.2578144669532776, + 0.09582346677780151, + 0.05757209286093712, + -0.2086702585220337, + 0.6197572350502014, + 0.0, + 1.0008161067962646 + ], + [ + 0.20935392379760742, + 0.2600555717945099, + 0.07983437925577164, + 0.028372138738632202, + -0.20154255628585815, + 0.667381227016449, + 0.0, + 1.0008161067962646 + ], + [ + 0.2023485004901886, + 0.2588345408439636, + 0.0644577145576477, + 0.017090966925024986, + -0.1835678219795227, + 0.69420325756073, + 0.0, + 1.0008161067962646 + ], + [ + 0.19616509974002838, + 0.25560083985328674, + 0.045763783156871796, + 0.030719133093953133, + -0.16760456562042236, + 0.7049972414970398, + 0.0, + 1.0008161067962646 + ], + [ + 0.19519220292568207, + 0.2551966607570648, + 0.0359133705496788, + 0.03450792282819748, + -0.17304843664169312, + 0.7093479037284851, + 0.0, + 1.0008161067962646 + ], + [ + 0.1935964971780777, + 0.2546534836292267, + 0.026014039292931557, + 0.03920749947428703, + -0.1752377152442932, + 0.7192562222480774, + 0.0, + 1.0008161067962646 + ], + [ + 0.19233320653438568, + 0.25591546297073364, + 0.013935383409261703, + 0.04132357984781265, + -0.15974846482276917, + 0.7562616467475891, + 0.0, + 0.9709111452102661 + ], + [ + 0.19541482627391815, + 0.2596098482608795, + 0.01363183744251728, + 0.03018961288034916, + -0.15398144721984863, + 0.7937667965888977, + 0.0, + 0.704176664352417 + ], + [ + 0.19192615151405334, + 0.2614348232746124, + 0.014711153693497181, + -0.007597486488521099, + -0.12458650767803192, + 0.8362359404563904, + 0.0, + 0.40327540040016174 + ], + [ + 0.18675971031188965, + 0.2572347819805145, + 0.01678995043039322, + -0.0480603389441967, + -0.08464233577251434, + 0.829526960849762, + 0.0, + 0.1778956800699234 + ], + [ + 0.1857818067073822, + 0.2640787363052368, + 0.05405660718679428, + -0.09718087315559387, + -0.09582214057445526, + 0.807926595211029, + 0.0, + 0.07755524665117264 + ], + [ + 0.1869105100631714, + 0.2639849781990051, + 0.08735746145248413, + -0.1379048228263855, + -0.09054827690124512, + 0.7846491932868958, + 0.0, + 0.0665184035897255 + ], + [ + 0.18758492171764374, + 0.24759268760681152, + 0.11080188304185867, + -0.16235186159610748, + -0.0662609338760376, + 0.7478705048561096, + 0.0, + 0.0665184035897255 + ], + [ + 0.2008037120103836, + 0.21954894065856934, + 0.12188924103975296, + -0.15810762345790863, + -0.05872930958867073, + 0.6865081787109375, + 0.0, + 0.0665184035897255 + ], + [ + 0.2181483805179596, + 0.18161888420581818, + 0.12327009439468384, + -0.1425117701292038, + -0.041013650596141815, + 0.6274586915969849, + 0.0, + 0.0665184035897255 + ], + [ + 0.23842409253120422, + 0.15078136324882507, + 0.1284046471118927, + -0.1445433795452118, + -0.03526504337787628, + 0.5984699726104736, + 0.0, + 0.0665184035897255 + ], + [ + 0.2555970251560211, + 0.12076035141944885, + 0.13317981362342834, + -0.15118668973445892, + -0.04025615379214287, + 0.5789871215820312, + 0.0, + 0.0665184035897255 + ], + [ + 0.2762255370616913, + 0.10325057059526443, + 0.14178955554962158, + -0.17408055067062378, + -0.04752640426158905, + 0.5904182195663452, + 0.0, + 0.0665184035897255 + ], + [ + 0.2912035584449768, + 0.08966213464736938, + 0.1338331401348114, + -0.15909558534622192, + -0.035030514001846313, + 0.5808878540992737, + 0.0, + 0.0665184035897255 + ], + [ + 0.3138507306575775, + 0.07564368098974228, + 0.11936050653457642, + -0.12989363074302673, + -0.033075232058763504, + 0.5802482962608337, + 0.0, + 0.0665184035897255 + ], + [ + 0.33027592301368713, + 0.07053988426923752, + 0.10506299883127213, + -0.10967166721820831, + -0.01595272123813629, + 0.6054295301437378, + 0.0, + 0.0665184035897255 + ], + [ + 0.34479913115501404, + 0.06277421861886978, + 0.09339715540409088, + -0.09206175059080124, + -0.013517510145902634, + 0.6045031547546387, + 0.0, + 0.0665184035897255 + ], + [ + 0.35668671131134033, + 0.05881551653146744, + 0.08275652676820755, + -0.08609247952699661, + -7.341349555645138e-05, + 0.6161765456199646, + 0.0, + 0.0665184035897255 + ], + [ + 0.36853501200675964, + 0.05281869322061539, + 0.07280790060758591, + -0.08347269892692566, + 0.010450146161019802, + 0.6136321425437927, + 0.0, + 0.0665184035897255 + ], + [ + 0.37838611006736755, + 0.050045933574438095, + 0.06334547698497772, + -0.07853664457798004, + 0.01860984042286873, + 0.6237758994102478, + 0.0, + 0.0665184035897255 + ], + [ + 0.3863457441329956, + 0.04762928560376167, + 0.05321771651506424, + -0.06520401686429977, + 0.013636264950037003, + 0.6250282526016235, + 0.0, + 0.0665184035897255 + ], + [ + 0.3934134244918823, + 0.04691781848669052, + 0.04316099360585213, + -0.05302702635526657, + 0.0038626492023468018, + 0.6377612352371216, + 0.0, + 0.0822562649846077 + ], + [ + 0.3980686068534851, + 0.04524228349328041, + 0.030653061345219612, + -0.03650664910674095, + 0.008256635628640652, + 0.6493175625801086, + 0.0, + 0.25065502524375916 + ], + [ + 0.39954274892807007, + 0.04628103971481323, + 0.03108426369726658, + -0.038276009261608124, + 0.002869723131880164, + 0.6671494841575623, + 0.0, + 0.4956514239311218 + ], + [ + 0.3954160213470459, + 0.05234044790267944, + 0.034339286386966705, + -0.05415439233183861, + 0.03136855736374855, + 0.6710761785507202, + 0.0, + 0.8335172533988953 + ], + [ + 0.39151298999786377, + 0.06841234862804413, + 0.06774894148111343, + -0.11166052520275116, + 0.01302111241966486, + 0.6988176107406616, + 0.0, + 0.9981546401977539 + ], + [ + 0.3816007673740387, + 0.08607593923807144, + 0.10077941417694092, + -0.18367965519428253, + 0.013408001512289047, + 0.7206709384918213, + 0.0, + 1.002137303352356 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9709111452102661 + ], + [ + 0.704176664352417 + ], + [ + 0.40327540040016174 + ], + [ + 0.1778956800699234 + ], + [ + 0.07755524665117264 + ], + [ + 0.0665184035897255 + ], + [ + 0.0665184035897255 + ], + [ + 0.0665184035897255 + ], + [ + 0.0665184035897255 + ], + [ + 0.0665184035897255 + ], + [ + 0.0665184035897255 + ], + [ + 0.0665184035897255 + ], + [ + 0.0665184035897255 + ], + [ + 0.0665184035897255 + ], + [ + 0.0665184035897255 + ], + [ + 0.0665184035897255 + ], + [ + 0.0665184035897255 + ], + [ + 0.0665184035897255 + ], + [ + 0.0665184035897255 + ], + [ + 0.0665184035897255 + ], + [ + 0.0822562649846077 + ], + [ + 0.25065502524375916 + ], + [ + 0.4956514239311218 + ], + [ + 0.8335172533988953 + ], + [ + 0.9981546401977539 + ], + [ + 1.002137303352356 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.21846997737884521, + 0.24364399909973145, + 0.1370718628168106 + ], + [ + 0.2179284542798996, + 0.24334782361984253, + 0.1264328956604004 + ], + [ + 0.2172866314649582, + 0.24982929229736328, + 0.11727145314216614 + ], + [ + 0.21851994097232819, + 0.2547479569911957, + 0.10490595549345016 + ], + [ + 0.21726571023464203, + 0.2578144669532776, + 0.09582346677780151 + ], + [ + 0.20935392379760742, + 0.2600555717945099, + 0.07983437925577164 + ], + [ + 0.2023485004901886, + 0.2588345408439636, + 0.0644577145576477 + ], + [ + 0.19616509974002838, + 0.25560083985328674, + 0.045763783156871796 + ], + [ + 0.19519220292568207, + 0.2551966607570648, + 0.0359133705496788 + ], + [ + 0.1935964971780777, + 0.2546534836292267, + 0.026014039292931557 + ], + [ + 0.19233320653438568, + 0.25591546297073364, + 0.013935383409261703 + ], + [ + 0.19541482627391815, + 0.2596098482608795, + 0.01363183744251728 + ], + [ + 0.19192615151405334, + 0.2614348232746124, + 0.014711153693497181 + ], + [ + 0.18675971031188965, + 0.2572347819805145, + 0.01678995043039322 + ], + [ + 0.1857818067073822, + 0.2640787363052368, + 0.05405660718679428 + ], + [ + 0.1869105100631714, + 0.2639849781990051, + 0.08735746145248413 + ], + [ + 0.18758492171764374, + 0.24759268760681152, + 0.11080188304185867 + ], + [ + 0.2008037120103836, + 0.21954894065856934, + 0.12188924103975296 + ], + [ + 0.2181483805179596, + 0.18161888420581818, + 0.12327009439468384 + ], + [ + 0.23842409253120422, + 0.15078136324882507, + 0.1284046471118927 + ], + [ + 0.2555970251560211, + 0.12076035141944885, + 0.13317981362342834 + ], + [ + 0.2762255370616913, + 0.10325057059526443, + 0.14178955554962158 + ], + [ + 0.2912035584449768, + 0.08966213464736938, + 0.1338331401348114 + ], + [ + 0.3138507306575775, + 0.07564368098974228, + 0.11936050653457642 + ], + [ + 0.33027592301368713, + 0.07053988426923752, + 0.10506299883127213 + ], + [ + 0.34479913115501404, + 0.06277421861886978, + 0.09339715540409088 + ], + [ + 0.35668671131134033, + 0.05881551653146744, + 0.08275652676820755 + ], + [ + 0.36853501200675964, + 0.05281869322061539, + 0.07280790060758591 + ], + [ + 0.37838611006736755, + 0.050045933574438095, + 0.06334547698497772 + ], + [ + 0.3863457441329956, + 0.04762928560376167, + 0.05321771651506424 + ], + [ + 0.3934134244918823, + 0.04691781848669052, + 0.04316099360585213 + ], + [ + 0.3980686068534851, + 0.04524228349328041, + 0.030653061345219612 + ], + [ + 0.39954274892807007, + 0.04628103971481323, + 0.03108426369726658 + ], + [ + 0.3954160213470459, + 0.05234044790267944, + 0.034339286386966705 + ], + [ + 0.39151298999786377, + 0.06841234862804413, + 0.06774894148111343 + ], + [ + 0.3816007673740387, + 0.08607593923807144, + 0.10077941417694092 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.811699878407282, + 0.556474626477506, + 0.17742406116511777, + 0.5474302458852889, + -0.8307273665940701, + 0.10105527339853784, + 0.20362571862015716, + 0.015100744299579173, + -0.9789323440555139 + ], + [ + 0.8125528365825812, + 0.5616172213144774, + 0.15602558919807527, + 0.5567254739705172, + -0.8270564405938562, + 0.07768134077450177, + 0.17266914719747803, + 0.023743226301968127, + -0.9846936705447381 + ], + [ + 0.7995409332920209, + 0.5858755973363408, + 0.1322273815679273, + 0.5781331007407469, + -0.8104008218527571, + 0.09493485012504911, + 0.1627771907191355, + 0.0005407274377757926, + -0.98666270518117 + ], + [ + 0.7954992399299998, + 0.593572863605846, + 0.12186966341771899, + 0.5788917798393386, + -0.8038760084672634, + 0.13662968288473354, + 0.17906777070493474, + -0.038139462522377945, + -0.9830972052107914 + ], + [ + 0.7963611645651294, + 0.5895783344708028, + 0.1349306603226448, + 0.5682375969105975, + -0.8057472237076729, + 0.1669654004416679, + 0.20715918765466332, + -0.056292086566510045, + -0.9766863733872038 + ], + [ + 0.7695469647211997, + 0.6231424975563712, + 0.1396098020469777, + 0.6064033935315639, + -0.7816143001550641, + 0.1461301136197209, + 0.20018090169092473, + -0.027794127658863098, + -0.9793646374389321 + ], + [ + 0.7556508009992263, + 0.6420774768509312, + 0.12933824132857993, + 0.6290242637535421, + -0.7664555909985887, + 0.12990112638587362, + 0.18253860566615046, + -0.01680299817729919, + -0.9830550934173077 + ], + [ + 0.7509410070404285, + 0.6516283365477525, + 0.10708928495940136, + 0.638950992239078, + -0.7579336355414275, + 0.13144669501989045, + 0.16682096229732196, + -0.030283908647389744, + -0.9855220197515792 + ], + [ + 0.7474538726766569, + 0.6554589913336699, + 0.10810281633942781, + 0.641610997452492, + -0.7544656899461283, + 0.13826369965443255, + 0.17218605102820184, + -0.033985781938343944, + -0.9844779989706997 + ], + [ + 0.7407746366902248, + 0.6634600142277803, + 0.10523187329578036, + 0.6487354845733212, + -0.7472155441796137, + 0.14426088032374565, + 0.17434221718185106, + -0.038597150895338266, + -0.9839283770940235 + ], + [ + 0.7181445435852569, + 0.6904012575740409, + 0.08726120592168182, + 0.6774696953031257, + -0.7222760007399837, + 0.13911215152151712, + 0.15906987918714643, + -0.04078580997403793, + -0.9864244984995804 + ], + [ + 0.6928685772071517, + 0.7159206785879272, + 0.08596927758879638, + 0.7045634462355058, + -0.6975441772336932, + 0.13047019213643335, + 0.15337367749286454, + -0.029827885905175044, + -0.987717982156214 + ], + [ + 0.6650658692403546, + 0.7414712770373503, + 0.08892544574064506, + 0.7363733661615862, + -0.6709422597669998, + 0.0871249084166306, + 0.12426445662145741, + 0.0075385268688655666, + -0.9922204973861513 + ], + [ + 0.6728074339050576, + 0.7340179044217545, + 0.09245470712942466, + 0.7349713768074579, + -0.6774409152024207, + 0.029847641170722968, + 0.08454130443659577, + 0.04786984852705048, + -0.9952694335938164 + ], + [ + 0.6878287824496129, + 0.7130306403645044, + 0.13593701458862373, + 0.7195399581334672, + -0.6944487416662202, + 0.0017871338762020586, + 0.09567556993909783, + 0.09658287166774432, + -0.9907158695696968 + ], + [ + 0.704737215024149, + 0.691072601992682, + 0.16051204482863712, + 0.7036823506690831, + -0.7097011263962439, + -0.03399206596745825, + 0.09042459353980992, + 0.13690496691854032, + -0.9864483883692007 + ], + [ + 0.7315299169424285, + 0.6632894945946198, + 0.15783227483191478, + 0.6785866864518771, + -0.7307764605766334, + -0.07406668372048014, + 0.06621245795516831, + 0.16128487538359507, + -0.98468426380441 + ], + [ + 0.7721304764802591, + 0.6187863243570964, + 0.14463060560960944, + 0.6327474687154309, + -0.7696742678810067, + -0.08504212012909483, + 0.05869555455554555, + 0.1571782623344296, + -0.9858244396062346 + ], + [ + 0.8088413349736501, + 0.5764234405056732, + 0.11623989019973181, + 0.5865957025641129, + -0.8047343957342322, + -0.09114841773489198, + 0.041002153252699944, + 0.14191042793911302, + -0.9890299560027388 + ], + [ + 0.8256848803253597, + 0.5533081005828038, + 0.10997556197422356, + 0.5630287475477025, + -0.8204439328944463, + -0.09934979824618978, + 0.03525773442752486, + 0.14395102919445568, + -0.9889565174247525 + ], + [ + 0.8363391764428785, + 0.53586130917684, + 0.11571274464867853, + 0.5467331151871411, + -0.8307861377230666, + -0.10429426698027781, + 0.04024528176832054, + 0.1504893707026255, + -0.9877921170979831 + ], + [ + 0.829769917409618, + 0.5414589485499206, + 0.13529261323978492, + 0.556079873050737, + -0.8227337091557732, + -0.11783216287015927, + 0.04750851449910627, + 0.17300708324805078, + -0.9837741052681201 + ], + [ + 0.8354628790926198, + 0.5371975083942024, + 0.11584737646287688, + 0.5484297061793015, + -0.8284630678613727, + -0.11346278054854747, + 0.035023349901968474, + 0.15832808394212206, + -0.9867652115862521 + ], + [ + 0.8358691350532013, + 0.5400308010896901, + 0.09843537443338388, + 0.5479317630468721, + -0.8316293676113182, + -0.09035141377280767, + 0.03306920183130296, + 0.12945782634057368, + -0.9910333491308021 + ], + [ + 0.8221530956260796, + 0.5642604711607777, + 0.07532866677349231, + 0.5690428978777355, + -0.8183113347223049, + -0.0809736984452934, + 0.01595204461389625, + 0.10943801967514497, + -0.9938656106950372 + ], + [ + 0.8227094131124417, + 0.5649241152770975, + 0.06332428882008931, + 0.5683014249714734, + -0.8200066092040622, + -0.06799008190206074, + 0.013517098489481082, + 0.09192336395087314, + -0.995674335919321 + ], + [ + 0.816094061522775, + 0.5757735212564795, + 0.04975273828821551, + 0.577919092397647, + -0.8130751695277744, + -0.07013053072422248, + 7.34134954905076e-05, + 0.08598616701130166, + -0.9962963282543821 + ], + [ + 0.8175172388229552, + 0.5745480973827526, + 0.039497443222946224, + 0.5758093110116671, + -0.8142135587954411, + -0.07416143219984234, + -0.0104499559597235, + 0.08337124484809802, + -0.9964637644956881 + ], + [ + 0.8115381809280551, + 0.5834887067156928, + 0.030768653386715798, + 0.5840029920421436, + -0.8083240235837886, + -0.0745169657402866, + -0.01860876626237233, + 0.07844234846410003, + -0.9967449582443993 + ], + [ + 0.8108711929943864, + 0.5845972985406598, + 0.027090716321714753, + 0.5850657844852201, + -0.8087034351194946, + -0.06080116652354363, + -0.01363584234856592, + 0.06515176563142676, + -0.9977821962926343 + ], + [ + 0.8034247331904467, + 0.5947258338058076, + 0.02845840300942492, + 0.5953938008689729, + -0.8021795269981203, + -0.04488015543500471, + -0.0038626395971950583, + 0.05300178364035694, + -0.9985869471139122 + ], + [ + 0.7964694657477961, + 0.6044801432922124, + 0.015496660828914597, + 0.6046223777273247, + -0.7957837040963645, + -0.03405989791566813, + -0.0082565418170225, + 0.03649729661352891, + -0.9992996431787252 + ], + [ + 0.7855853746506426, + 0.618382245382956, + 0.02142469906773505, + 0.6187466233013014, + -0.7849452675757861, + -0.03183619109778973, + -0.0028697191930381095, + 0.0382665063144142, + -0.9992634483489536 + ], + [ + 0.7827676460005353, + 0.6222470725283947, + 0.009131982513304934, + 0.6215232487079064, + -0.7809491854635906, + -0.06186453781710621, + -0.03136341324458326, + 0.0541012980768204, + -0.9980427775682025 + ], + [ + 0.765538465672621, + 0.6404174265766132, + 0.061776834757032155, + 0.6432583600615516, + -0.7599021538729277, + -0.09363438871594516, + -0.013020744469219185, + 0.1114191916874004, + -0.9936881925117123 + ], + [ + 0.7512956164433695, + 0.6506284604163886, + 0.11062324895417441, + 0.659829624206979, + -0.7371079347516342, + -0.14593409315529182, + -0.013407599779761976, + 0.18263214126319705, + -0.983089892759439 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0005415230989456177, + -0.000296175479888916, + -0.010638967156410217, + -0.00868312083184719, + 0.03152093291282654, + 0.007339775562286377, + 1.0 + ], + [ + -0.0006418228149414062, + 0.006481468677520752, + -0.009161442518234253, + 0.023559588938951492, + 0.010034143924713135, + 0.02535545825958252, + 1.0 + ], + [ + 0.0012333095073699951, + 0.0049186646938323975, + -0.012365497648715973, + 0.039323799312114716, + -0.016534090042114258, + 0.0030320286750793457, + 1.0 + ], + [ + -0.0012542307376861572, + 0.003066509962081909, + -0.009082488715648651, + 0.018796328455209732, + -0.028631433844566345, + -0.009324193000793457, + 1.0 + ], + [ + -0.007911786437034607, + 0.0022411048412323, + -0.015989087522029877, + -0.029199954122304916, + 0.007127702236175537, + 0.04762399196624756, + 1.0 + ], + [ + -0.007005423307418823, + -0.0012210309505462646, + -0.015376664698123932, + -0.011281171813607216, + 0.01797473430633545, + 0.026822030544281006, + 1.0 + ], + [ + -0.006183400750160217, + -0.00323370099067688, + -0.01869393140077591, + 0.013628166168928146, + 0.015963256359100342, + 0.010793983936309814, + 1.0 + ], + [ + -0.0009728968143463135, + -0.00040417909622192383, + -0.009850412607192993, + 0.0037887897342443466, + -0.005443871021270752, + 0.0043506622314453125, + 1.0 + ], + [ + -0.0015957057476043701, + -0.0005431771278381348, + -0.009899331256747246, + 0.004699576646089554, + -0.0021892786026000977, + 0.009908318519592285, + 1.0 + ], + [ + -0.0012632906436920166, + 0.001261979341506958, + -0.012078655883669853, + 0.0021160803735256195, + 0.015489250421524048, + 0.03700542449951172, + 0.0 + ], + [ + 0.0030816197395324707, + 0.003694385290145874, + -0.0003035459667444229, + -0.011133966967463493, + 0.005767017602920532, + 0.037505149841308594, + 0.0 + ], + [ + -0.003488674759864807, + 0.0018249750137329102, + 0.0010793162509799004, + -0.037787098437547684, + 0.02939493954181671, + 0.042469143867492676, + 0.0 + ], + [ + -0.005166441202163696, + -0.0042000412940979, + 0.002078796736896038, + -0.04046285152435303, + 0.03994417190551758, + -0.006708979606628418, + 0.0 + ], + [ + -0.0009779036045074463, + 0.00684395432472229, + 0.03726665675640106, + -0.04912053421139717, + -0.011179804801940918, + -0.02160036563873291, + 0.0 + ], + [ + 0.0011287033557891846, + -9.375810623168945e-05, + 0.03330085426568985, + -0.040723949670791626, + 0.005273863673210144, + -0.0232774019241333, + 0.0 + ], + [ + 0.0006744116544723511, + -0.016392290592193604, + 0.023444421589374542, + -0.024447038769721985, + 0.02428734302520752, + -0.03677868843078613, + 0.0 + ], + [ + 0.013218790292739868, + -0.028043746948242188, + 0.011087357997894287, + 0.0042442381381988525, + 0.007531624287366867, + -0.06136232614517212, + 0.0 + ], + [ + 0.01734466850757599, + -0.03793005645275116, + 0.0013808533549308777, + 0.015595853328704834, + 0.017715658992528915, + -0.05904948711395264, + 0.0 + ], + [ + 0.02027571201324463, + -0.030837520956993103, + 0.005134552717208862, + -0.0020316094160079956, + 0.0057486072182655334, + -0.02898871898651123, + 0.0 + ], + [ + 0.017172932624816895, + -0.03002101182937622, + 0.0047751665115356445, + -0.006643310189247131, + -0.004991110414266586, + -0.019482851028442383, + 0.0 + ], + [ + 0.020628511905670166, + -0.017509780824184418, + 0.008609741926193237, + -0.022893860936164856, + -0.007270250469446182, + 0.011431097984313965, + 0.0 + ], + [ + 0.014978021383285522, + -0.01358843594789505, + -0.00795641541481018, + 0.014984965324401855, + 0.012495890259742737, + -0.009530365467071533, + 0.0 + ], + [ + 0.022647172212600708, + -0.014018453657627106, + -0.014472633600234985, + 0.02920195460319519, + 0.0019552819430828094, + -0.0006395578384399414, + 0.0 + ], + [ + 0.01642519235610962, + -0.005103796720504761, + -0.01429750770330429, + 0.02022196352481842, + 0.017122510820627213, + 0.025181233882904053, + 0.0 + ], + [ + 0.014523208141326904, + -0.007765665650367737, + -0.011665843427181244, + 0.017609916627407074, + 0.002435211092233658, + -0.0009263753890991211, + 0.0 + ], + [ + 0.011887580156326294, + -0.003958702087402344, + -0.010640628635883331, + 0.0059692710638046265, + 0.01344409678131342, + 0.011673390865325928, + 0.0 + ], + [ + 0.011848300695419312, + -0.005996823310852051, + -0.009948626160621643, + 0.0026197806000709534, + 0.010523559525609016, + -0.002544403076171875, + 0.0 + ], + [ + 0.00985109806060791, + -0.002772759646177292, + -0.009462423622608185, + 0.004936054348945618, + 0.008159694261848927, + 0.010143756866455078, + 0.0 + ], + [ + 0.007959634065628052, + -0.002416647970676422, + -0.010127760469913483, + 0.013332627713680267, + -0.004973575472831726, + 0.0012523531913757324, + 0.0 + ], + [ + 0.007067680358886719, + -0.0007114671170711517, + -0.010056722909212112, + 0.012176990509033203, + -0.0097736157476902, + 0.012732982635498047, + 1.0 + ], + [ + 0.004655182361602783, + -0.0016755349934101105, + -0.012507932260632515, + 0.01652037724852562, + 0.00439398642629385, + 0.01155632734298706, + 1.0 + ], + [ + 0.001474142074584961, + 0.0010387562215328217, + 0.00043120235204696655, + -0.0017693601548671722, + -0.005386912263929844, + 0.017831921577453613, + 1.0 + ], + [ + -0.00412672758102417, + 0.006059408187866211, + 0.0032550226897001266, + -0.015878383070230484, + 0.028498833999037743, + 0.003926694393157959, + 1.0 + ], + [ + -0.003903031349182129, + 0.016071900725364685, + 0.03340965509414673, + -0.05750613287091255, + -0.018347445875406265, + 0.027741432189941406, + 1.0 + ], + [ + -0.009912222623825073, + 0.017663590610027313, + 0.033030472695827484, + -0.07201912999153137, + 0.00038688909262418747, + 0.021853327751159668, + 1.0 + ], + [ + -0.020859092473983765, + 0.03569012135267258, + 0.03963305056095123, + -0.07240797579288483, + -0.018598152324557304, + 0.031820714473724365, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9709111452102661 + ], + [ + 0.704176664352417 + ], + [ + 0.40327540040016174 + ], + [ + 0.1778956800699234 + ], + [ + 0.07755524665117264 + ], + [ + 0.0665184035897255 + ], + [ + 0.0665184035897255 + ], + [ + 0.0665184035897255 + ], + [ + 0.0665184035897255 + ], + [ + 0.0665184035897255 + ], + [ + 0.0665184035897255 + ], + [ + 0.0665184035897255 + ], + [ + 0.0665184035897255 + ], + [ + 0.0665184035897255 + ], + [ + 0.0665184035897255 + ], + [ + 0.0665184035897255 + ], + [ + 0.0665184035897255 + ], + [ + 0.0665184035897255 + ], + [ + 0.0665184035897255 + ], + [ + 0.0665184035897255 + ], + [ + 0.0822562649846077 + ], + [ + 0.25065502524375916 + ], + [ + 0.4956514239311218 + ], + [ + 0.8335172533988953 + ], + [ + 0.9981546401977539 + ], + [ + 1.002137303352356 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2179284542798996, + 0.24334782361984253, + 0.1264328956604004 + ], + [ + 0.2172866314649582, + 0.24982929229736328, + 0.11727145314216614 + ], + [ + 0.21851994097232819, + 0.2547479569911957, + 0.10490595549345016 + ], + [ + 0.21726571023464203, + 0.2578144669532776, + 0.09582346677780151 + ], + [ + 0.20935392379760742, + 0.2600555717945099, + 0.07983437925577164 + ], + [ + 0.2023485004901886, + 0.2588345408439636, + 0.0644577145576477 + ], + [ + 0.19616509974002838, + 0.25560083985328674, + 0.045763783156871796 + ], + [ + 0.19519220292568207, + 0.2551966607570648, + 0.0359133705496788 + ], + [ + 0.1935964971780777, + 0.2546534836292267, + 0.026014039292931557 + ], + [ + 0.19233320653438568, + 0.25591546297073364, + 0.013935383409261703 + ], + [ + 0.19541482627391815, + 0.2596098482608795, + 0.01363183744251728 + ], + [ + 0.19192615151405334, + 0.2614348232746124, + 0.014711153693497181 + ], + [ + 0.18675971031188965, + 0.2572347819805145, + 0.01678995043039322 + ], + [ + 0.1857818067073822, + 0.2640787363052368, + 0.05405660718679428 + ], + [ + 0.1869105100631714, + 0.2639849781990051, + 0.08735746145248413 + ], + [ + 0.18758492171764374, + 0.24759268760681152, + 0.11080188304185867 + ], + [ + 0.2008037120103836, + 0.21954894065856934, + 0.12188924103975296 + ], + [ + 0.2181483805179596, + 0.18161888420581818, + 0.12327009439468384 + ], + [ + 0.23842409253120422, + 0.15078136324882507, + 0.1284046471118927 + ], + [ + 0.2555970251560211, + 0.12076035141944885, + 0.13317981362342834 + ], + [ + 0.2762255370616913, + 0.10325057059526443, + 0.14178955554962158 + ], + [ + 0.2912035584449768, + 0.08966213464736938, + 0.1338331401348114 + ], + [ + 0.3138507306575775, + 0.07564368098974228, + 0.11936050653457642 + ], + [ + 0.33027592301368713, + 0.07053988426923752, + 0.10506299883127213 + ], + [ + 0.34479913115501404, + 0.06277421861886978, + 0.09339715540409088 + ], + [ + 0.35668671131134033, + 0.05881551653146744, + 0.08275652676820755 + ], + [ + 0.36853501200675964, + 0.05281869322061539, + 0.07280790060758591 + ], + [ + 0.37838611006736755, + 0.050045933574438095, + 0.06334547698497772 + ], + [ + 0.3863457441329956, + 0.04762928560376167, + 0.05321771651506424 + ], + [ + 0.3934134244918823, + 0.04691781848669052, + 0.04316099360585213 + ], + [ + 0.3980686068534851, + 0.04524228349328041, + 0.030653061345219612 + ], + [ + 0.39954274892807007, + 0.04628103971481323, + 0.03108426369726658 + ], + [ + 0.3954160213470459, + 0.05234044790267944, + 0.034339286386966705 + ], + [ + 0.39151298999786377, + 0.06841234862804413, + 0.06774894148111343 + ], + [ + 0.3816007673740387, + 0.08607593923807144, + 0.10077941417694092 + ], + [ + 0.36074167490005493, + 0.12176606059074402, + 0.14041246473789215 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8125528365825812, + 0.5616172213144774, + 0.15602558919807527, + 0.5567254739705172, + -0.8270564405938562, + 0.07768134077450177, + 0.17266914719747803, + 0.023743226301968127, + -0.9846936705447381 + ], + [ + 0.7995409332920209, + 0.5858755973363408, + 0.1322273815679273, + 0.5781331007407469, + -0.8104008218527571, + 0.09493485012504911, + 0.1627771907191355, + 0.0005407274377757926, + -0.98666270518117 + ], + [ + 0.7954992399299998, + 0.593572863605846, + 0.12186966341771899, + 0.5788917798393386, + -0.8038760084672634, + 0.13662968288473354, + 0.17906777070493474, + -0.038139462522377945, + -0.9830972052107914 + ], + [ + 0.7963611645651294, + 0.5895783344708028, + 0.1349306603226448, + 0.5682375969105975, + -0.8057472237076729, + 0.1669654004416679, + 0.20715918765466332, + -0.056292086566510045, + -0.9766863733872038 + ], + [ + 0.7695469647211997, + 0.6231424975563712, + 0.1396098020469777, + 0.6064033935315639, + -0.7816143001550641, + 0.1461301136197209, + 0.20018090169092473, + -0.027794127658863098, + -0.9793646374389321 + ], + [ + 0.7556508009992263, + 0.6420774768509312, + 0.12933824132857993, + 0.6290242637535421, + -0.7664555909985887, + 0.12990112638587362, + 0.18253860566615046, + -0.01680299817729919, + -0.9830550934173077 + ], + [ + 0.7509410070404285, + 0.6516283365477525, + 0.10708928495940136, + 0.638950992239078, + -0.7579336355414275, + 0.13144669501989045, + 0.16682096229732196, + -0.030283908647389744, + -0.9855220197515792 + ], + [ + 0.7474538726766569, + 0.6554589913336699, + 0.10810281633942781, + 0.641610997452492, + -0.7544656899461283, + 0.13826369965443255, + 0.17218605102820184, + -0.033985781938343944, + -0.9844779989706997 + ], + [ + 0.7407746366902248, + 0.6634600142277803, + 0.10523187329578036, + 0.6487354845733212, + -0.7472155441796137, + 0.14426088032374565, + 0.17434221718185106, + -0.038597150895338266, + -0.9839283770940235 + ], + [ + 0.7181445435852569, + 0.6904012575740409, + 0.08726120592168182, + 0.6774696953031257, + -0.7222760007399837, + 0.13911215152151712, + 0.15906987918714643, + -0.04078580997403793, + -0.9864244984995804 + ], + [ + 0.6928685772071517, + 0.7159206785879272, + 0.08596927758879638, + 0.7045634462355058, + -0.6975441772336932, + 0.13047019213643335, + 0.15337367749286454, + -0.029827885905175044, + -0.987717982156214 + ], + [ + 0.6650658692403546, + 0.7414712770373503, + 0.08892544574064506, + 0.7363733661615862, + -0.6709422597669998, + 0.0871249084166306, + 0.12426445662145741, + 0.0075385268688655666, + -0.9922204973861513 + ], + [ + 0.6728074339050576, + 0.7340179044217545, + 0.09245470712942466, + 0.7349713768074579, + -0.6774409152024207, + 0.029847641170722968, + 0.08454130443659577, + 0.04786984852705048, + -0.9952694335938164 + ], + [ + 0.6878287824496129, + 0.7130306403645044, + 0.13593701458862373, + 0.7195399581334672, + -0.6944487416662202, + 0.0017871338762020586, + 0.09567556993909783, + 0.09658287166774432, + -0.9907158695696968 + ], + [ + 0.704737215024149, + 0.691072601992682, + 0.16051204482863712, + 0.7036823506690831, + -0.7097011263962439, + -0.03399206596745825, + 0.09042459353980992, + 0.13690496691854032, + -0.9864483883692007 + ], + [ + 0.7315299169424285, + 0.6632894945946198, + 0.15783227483191478, + 0.6785866864518771, + -0.7307764605766334, + -0.07406668372048014, + 0.06621245795516831, + 0.16128487538359507, + -0.98468426380441 + ], + [ + 0.7721304764802591, + 0.6187863243570964, + 0.14463060560960944, + 0.6327474687154309, + -0.7696742678810067, + -0.08504212012909483, + 0.05869555455554555, + 0.1571782623344296, + -0.9858244396062346 + ], + [ + 0.8088413349736501, + 0.5764234405056732, + 0.11623989019973181, + 0.5865957025641129, + -0.8047343957342322, + -0.09114841773489198, + 0.041002153252699944, + 0.14191042793911302, + -0.9890299560027388 + ], + [ + 0.8256848803253597, + 0.5533081005828038, + 0.10997556197422356, + 0.5630287475477025, + -0.8204439328944463, + -0.09934979824618978, + 0.03525773442752486, + 0.14395102919445568, + -0.9889565174247525 + ], + [ + 0.8363391764428785, + 0.53586130917684, + 0.11571274464867853, + 0.5467331151871411, + -0.8307861377230666, + -0.10429426698027781, + 0.04024528176832054, + 0.1504893707026255, + -0.9877921170979831 + ], + [ + 0.829769917409618, + 0.5414589485499206, + 0.13529261323978492, + 0.556079873050737, + -0.8227337091557732, + -0.11783216287015927, + 0.04750851449910627, + 0.17300708324805078, + -0.9837741052681201 + ], + [ + 0.8354628790926198, + 0.5371975083942024, + 0.11584737646287688, + 0.5484297061793015, + -0.8284630678613727, + -0.11346278054854747, + 0.035023349901968474, + 0.15832808394212206, + -0.9867652115862521 + ], + [ + 0.8358691350532013, + 0.5400308010896901, + 0.09843537443338388, + 0.5479317630468721, + -0.8316293676113182, + -0.09035141377280767, + 0.03306920183130296, + 0.12945782634057368, + -0.9910333491308021 + ], + [ + 0.8221530956260796, + 0.5642604711607777, + 0.07532866677349231, + 0.5690428978777355, + -0.8183113347223049, + -0.0809736984452934, + 0.01595204461389625, + 0.10943801967514497, + -0.9938656106950372 + ], + [ + 0.8227094131124417, + 0.5649241152770975, + 0.06332428882008931, + 0.5683014249714734, + -0.8200066092040622, + -0.06799008190206074, + 0.013517098489481082, + 0.09192336395087314, + -0.995674335919321 + ], + [ + 0.816094061522775, + 0.5757735212564795, + 0.04975273828821551, + 0.577919092397647, + -0.8130751695277744, + -0.07013053072422248, + 7.34134954905076e-05, + 0.08598616701130166, + -0.9962963282543821 + ], + [ + 0.8175172388229552, + 0.5745480973827526, + 0.039497443222946224, + 0.5758093110116671, + -0.8142135587954411, + -0.07416143219984234, + -0.0104499559597235, + 0.08337124484809802, + -0.9964637644956881 + ], + [ + 0.8115381809280551, + 0.5834887067156928, + 0.030768653386715798, + 0.5840029920421436, + -0.8083240235837886, + -0.0745169657402866, + -0.01860876626237233, + 0.07844234846410003, + -0.9967449582443993 + ], + [ + 0.8108711929943864, + 0.5845972985406598, + 0.027090716321714753, + 0.5850657844852201, + -0.8087034351194946, + -0.06080116652354363, + -0.01363584234856592, + 0.06515176563142676, + -0.9977821962926343 + ], + [ + 0.8034247331904467, + 0.5947258338058076, + 0.02845840300942492, + 0.5953938008689729, + -0.8021795269981203, + -0.04488015543500471, + -0.0038626395971950583, + 0.05300178364035694, + -0.9985869471139122 + ], + [ + 0.7964694657477961, + 0.6044801432922124, + 0.015496660828914597, + 0.6046223777273247, + -0.7957837040963645, + -0.03405989791566813, + -0.0082565418170225, + 0.03649729661352891, + -0.9992996431787252 + ], + [ + 0.7855853746506426, + 0.618382245382956, + 0.02142469906773505, + 0.6187466233013014, + -0.7849452675757861, + -0.03183619109778973, + -0.0028697191930381095, + 0.0382665063144142, + -0.9992634483489536 + ], + [ + 0.7827676460005353, + 0.6222470725283947, + 0.009131982513304934, + 0.6215232487079064, + -0.7809491854635906, + -0.06186453781710621, + -0.03136341324458326, + 0.0541012980768204, + -0.9980427775682025 + ], + [ + 0.765538465672621, + 0.6404174265766132, + 0.061776834757032155, + 0.6432583600615516, + -0.7599021538729277, + -0.09363438871594516, + -0.013020744469219185, + 0.1114191916874004, + -0.9936881925117123 + ], + [ + 0.7512956164433695, + 0.6506284604163886, + 0.11062324895417441, + 0.659829624206979, + -0.7371079347516342, + -0.14593409315529182, + -0.013407599779761976, + 0.18263214126319705, + -0.983089892759439 + ], + [ + 0.7299783600448914, + 0.6602113455795091, + 0.17678397278674624, + 0.6834505515744567, + -0.7070805983771611, + -0.18147278294875752, + 0.0051901270448869025, + 0.25329430820034193, + -0.9673753439149502 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006396.json b/json/chunk-0006/episode_0006396.json new file mode 100644 index 0000000000000000000000000000000000000000..3bc0a9da02d5655b687a95f0d8601f708db1f2e6 --- /dev/null +++ b/json/chunk-0006/episode_0006396.json @@ -0,0 +1,1822 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 29, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nTake spoon out of bowl sink." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006396.mp4", + "start": 0, + "end": 29, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.31768879294395447, + 0.07874180376529694, + 0.08083372563123703, + 0.03505551815032959, + -0.1974012404680252, + 0.47444409132003784, + 0.0, + 0.9927561283111572 + ], + [ + 0.3143977224826813, + 0.07689104974269867, + 0.07065469771623611, + 0.03879815340042114, + -0.1635504961013794, + 0.46149057149887085, + 0.0, + 0.9927561283111572 + ], + [ + 0.3227245509624481, + 0.06642003357410431, + 0.05944852903485298, + 0.029139773920178413, + -0.16234010457992554, + 0.24717529118061066, + 0.0, + 0.9927561283111572 + ], + [ + 0.3290233016014099, + 0.05412041395902634, + 0.05392701178789139, + 0.012285873293876648, + -0.1806960105895996, + 0.06656476855278015, + 0.0, + 0.9927561283111572 + ], + [ + 0.33565279841423035, + 0.03952809423208237, + 0.044640038162469864, + -0.017384087666869164, + -0.1680743247270584, + -0.044257283210754395, + 0.0, + 0.9927561283111572 + ], + [ + 0.338520348072052, + 0.02899009920656681, + 0.04059147834777832, + 0.0024895607493817806, + -0.16737355291843414, + -0.09990651905536652, + 0.0, + 0.9927561283111572 + ], + [ + 0.34242478013038635, + 0.02192559652030468, + 0.029727021232247353, + 0.03179776296019554, + -0.1673084795475006, + -0.13048958778381348, + 0.0, + 0.9927561283111572 + ], + [ + 0.34447845816612244, + 0.01845255121588707, + 0.02754732221364975, + 0.06802854686975479, + -0.18789298832416534, + -0.14432381093502045, + 0.0, + 0.9927561283111572 + ], + [ + 0.3451922833919525, + 0.018414683640003204, + 0.02222738042473793, + 0.07949113100767136, + -0.18680745363235474, + -0.1428210437297821, + 0.0, + 0.9927561283111572 + ], + [ + 0.34399059414863586, + 0.01778262108564377, + 0.013609865680336952, + 0.09125975519418716, + -0.17426806688308716, + -0.13839298486709595, + 0.0, + 0.9927561283111572 + ], + [ + 0.3427366614341736, + 0.017170583829283714, + 0.013079419732093811, + 0.08321243524551392, + -0.16197867691516876, + -0.12490185350179672, + 0.0, + 0.9927561283111572 + ], + [ + 0.3443720042705536, + 0.019288061186671257, + 0.008312753401696682, + 0.07862899452447891, + -0.14625845849514008, + -0.10574217885732651, + 0.0, + 0.9560673832893372 + ], + [ + 0.34549808502197266, + 0.019438011571764946, + 0.008229313418269157, + 0.07822414487600327, + -0.14025631546974182, + -0.10343735665082932, + 0.0, + 0.680191159248352 + ], + [ + 0.34617504477500916, + 0.02062603086233139, + 0.00653470354154706, + 0.07399201393127441, + -0.13472311198711395, + -0.093424953520298, + 0.0, + 0.4283607602119446 + ], + [ + 0.3445524275302887, + 0.02267041802406311, + 0.006298723630607128, + 0.06850399076938629, + -0.12624135613441467, + -0.07893305271863937, + 0.0, + 0.4283607602119446 + ], + [ + 0.34337756037712097, + 0.02853863313794136, + 0.009252860210835934, + 0.06849624961614609, + -0.12489621341228485, + -0.05837203189730644, + 0.0, + 0.4485226273536682 + ], + [ + 0.3443034589290619, + 0.03818664327263832, + 0.03183254227042198, + 0.05880272388458252, + -0.16729597747325897, + -0.017548788338899612, + 0.0, + 0.4485226273536682 + ], + [ + 0.3473580777645111, + 0.04482363909482956, + 0.056135158985853195, + 0.07265789806842804, + -0.23143640160560608, + 0.0458829440176487, + 0.0, + 0.4485226273536682 + ], + [ + 0.34963175654411316, + 0.035800501704216, + 0.06465514004230499, + 0.07006394863128662, + -0.22407078742980957, + 0.12521207332611084, + 0.0, + 0.4485226273536682 + ], + [ + 0.35039111971855164, + 0.014845449477434158, + 0.06624013185501099, + 0.07553786039352417, + -0.23384203016757965, + 0.2511582374572754, + 0.0, + 0.4485226273536682 + ], + [ + 0.35051506757736206, + -0.0057365125976502895, + 0.0642457902431488, + 0.06346716731786728, + -0.18329712748527527, + 0.4232288599014282, + 0.0, + 0.4485226273536682 + ], + [ + 0.34740781784057617, + -0.023744847625494003, + 0.051007229834795, + 0.05111110955476761, + -0.14769843220710754, + 0.48666444420814514, + 0.0, + 0.4485226273536682 + ], + [ + 0.3431673049926758, + -0.03301367536187172, + 0.029990460723638535, + 0.0826018676161766, + -0.13661696016788483, + 0.4926898777484894, + 0.0, + 0.4485226273536682 + ], + [ + 0.34177812933921814, + -0.03762918710708618, + 0.013500300236046314, + 0.08215770125389099, + -0.11705522984266281, + 0.5334646105766296, + 0.0, + 0.4485226273536682 + ], + [ + 0.3393823206424713, + -0.043158773332834244, + -0.0067773545160889626, + 0.11297382414340973, + -0.10066485404968262, + 0.5340330004692078, + 0.0, + 0.4485226273536682 + ], + [ + 0.34009242057800293, + -0.04686255007982254, + -0.007634405046701431, + 0.0842084139585495, + -0.08895034343004227, + 0.5641072392463684, + 0.0, + 0.5188266634941101 + ], + [ + 0.3402012884616852, + -0.04316017031669617, + -0.011564788408577442, + 0.09825636446475983, + -0.0933970957994461, + 0.5652959942817688, + 0.0, + 0.817743182182312 + ], + [ + 0.3430030941963196, + -0.04058833792805672, + -0.012780949473381042, + 0.07906614243984222, + -0.1082836389541626, + 0.5612921714782715, + 0.0, + 1.0008161067962646 + ], + [ + 0.34030646085739136, + -0.03619619831442833, + -0.011104763485491276, + 0.07803358137607574, + -0.08157634735107422, + 0.5700173377990723, + 0.0, + 1.0008161067962646 + ] + ], + "left_gripper_pos": [ + [ + 0.9927561283111572 + ], + [ + 0.9927561283111572 + ], + [ + 0.9927561283111572 + ], + [ + 0.9927561283111572 + ], + [ + 0.9927561283111572 + ], + [ + 0.9927561283111572 + ], + [ + 0.9927561283111572 + ], + [ + 0.9927561283111572 + ], + [ + 0.9927561283111572 + ], + [ + 0.9927561283111572 + ], + [ + 0.9927561283111572 + ], + [ + 0.9560673832893372 + ], + [ + 0.680191159248352 + ], + [ + 0.4283607602119446 + ], + [ + 0.4283607602119446 + ], + [ + 0.4485226273536682 + ], + [ + 0.4485226273536682 + ], + [ + 0.4485226273536682 + ], + [ + 0.4485226273536682 + ], + [ + 0.4485226273536682 + ], + [ + 0.4485226273536682 + ], + [ + 0.4485226273536682 + ], + [ + 0.4485226273536682 + ], + [ + 0.4485226273536682 + ], + [ + 0.4485226273536682 + ], + [ + 0.5188266634941101 + ], + [ + 0.817743182182312 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.31768879294395447, + 0.07874180376529694, + 0.08083372563123703 + ], + [ + 0.3143977224826813, + 0.07689104974269867, + 0.07065469771623611 + ], + [ + 0.3227245509624481, + 0.06642003357410431, + 0.05944852903485298 + ], + [ + 0.3290233016014099, + 0.05412041395902634, + 0.05392701178789139 + ], + [ + 0.33565279841423035, + 0.03952809423208237, + 0.044640038162469864 + ], + [ + 0.338520348072052, + 0.02899009920656681, + 0.04059147834777832 + ], + [ + 0.34242478013038635, + 0.02192559652030468, + 0.029727021232247353 + ], + [ + 0.34447845816612244, + 0.01845255121588707, + 0.02754732221364975 + ], + [ + 0.3451922833919525, + 0.018414683640003204, + 0.02222738042473793 + ], + [ + 0.34399059414863586, + 0.01778262108564377, + 0.013609865680336952 + ], + [ + 0.3427366614341736, + 0.017170583829283714, + 0.013079419732093811 + ], + [ + 0.3443720042705536, + 0.019288061186671257, + 0.008312753401696682 + ], + [ + 0.34549808502197266, + 0.019438011571764946, + 0.008229313418269157 + ], + [ + 0.34617504477500916, + 0.02062603086233139, + 0.00653470354154706 + ], + [ + 0.3445524275302887, + 0.02267041802406311, + 0.006298723630607128 + ], + [ + 0.34337756037712097, + 0.02853863313794136, + 0.009252860210835934 + ], + [ + 0.3443034589290619, + 0.03818664327263832, + 0.03183254227042198 + ], + [ + 0.3473580777645111, + 0.04482363909482956, + 0.056135158985853195 + ], + [ + 0.34963175654411316, + 0.035800501704216, + 0.06465514004230499 + ], + [ + 0.35039111971855164, + 0.014845449477434158, + 0.06624013185501099 + ], + [ + 0.35051506757736206, + -0.0057365125976502895, + 0.0642457902431488 + ], + [ + 0.34740781784057617, + -0.023744847625494003, + 0.051007229834795 + ], + [ + 0.3431673049926758, + -0.03301367536187172, + 0.029990460723638535 + ], + [ + 0.34177812933921814, + -0.03762918710708618, + 0.013500300236046314 + ], + [ + 0.3393823206424713, + -0.043158773332834244, + -0.0067773545160889626 + ], + [ + 0.34009242057800293, + -0.04686255007982254, + -0.007634405046701431 + ], + [ + 0.3402012884616852, + -0.04316017031669617, + -0.011564788408577442 + ], + [ + 0.3430030941963196, + -0.04058833792805672, + -0.012780949473381042 + ], + [ + 0.34030646085739136, + -0.03619619831442833, + -0.011104763485491276 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8722714333517059, + 0.46267784790898203, + 0.1583406315917478, + 0.4479719000273372, + -0.8858600743400443, + 0.12071911810541339, + 0.19612170543939814, + -0.034367684597078924, + -0.9799771114219851 + ], + [ + 0.8834411507179553, + 0.45060308673570587, + 0.12840791035753496, + 0.43934111834153483, + -0.8919036964524303, + 0.10717825333947328, + 0.1628223416873259, + -0.03827080452178585, + -0.9859128919781456 + ], + [ + 0.9568587680677992, + 0.2491282250350325, + 0.14952065229481692, + 0.24144915191941346, + -0.9680436030177748, + 0.06777823908719219, + 0.1616279833728348, + -0.028752567663754433, + -0.9864328080733993 + ], + [ + 0.9815402882195072, + 0.06871360474766872, + 0.17848558239966492, + 0.06543267185586127, + -0.9975632211641345, + 0.024211262553591902, + 0.17971429563551586, + -0.012085541080851196, + -0.9836446063701123 + ], + [ + 0.9849433339597595, + -0.0471412396248501, + 0.1663259823805839, + -0.043619399006217995, + -0.9987411994867706, + -0.02476619627765117, + 0.16728412034192067, + 0.01713826054065165, + -0.9857597593263131 + ], + [ + 0.9811088918089945, + -0.09932741789195962, + 0.16601026012943673, + -0.09834660152337066, + -0.995051776626272, + -0.014138875545942247, + 0.16659318227985973, + -0.0024547683834361313, + -0.9860226598461385 + ], + [ + 0.9776535746967149, + -0.12480446044472533, + 0.16916658811903773, + -0.1283026658984537, + -0.9916859986290174, + 0.009864382723639207, + 0.16652901791004754, + -0.03134847326856061, + -0.9855381065274167 + ], + [ + 0.972186347388472, + -0.13092542982671265, + 0.1941963897093663, + -0.14129201105377656, + -0.989140537290652, + 0.040466839520031966, + 0.1867893828991386, + -0.06677970734475462, + -0.9801276432807658 + ], + [ + 0.9725977074607499, + -0.12728891584883026, + 0.19455392914079747, + -0.1398596608615111, + -0.9887919330815799, + 0.052247376359918864, + 0.18572284379094603, + -0.07802592501740248, + -0.979499351872875 + ], + [ + 0.9754374902283538, + -0.12172733296014222, + 0.18358692509931349, + -0.1358621875492872, + -0.9884972889903049, + 0.06644227308829985, + 0.17338733705588935, + -0.08975280535575796, + -0.98075545641074 + ], + [ + 0.9792219821395232, + -0.11084642000168655, + 0.16981572620800753, + -0.12294664844102092, + -0.9904465680726039, + 0.06244771757495034, + 0.16127129729701836, + -0.08202845217368458, + -0.9834952474222365 + ], + [ + 0.9837974225982636, + -0.09383567677952243, + 0.1527661515269073, + -0.10441835485848061, + -0.9925503113188439, + 0.0627748888450962, + 0.14573756707747465, + -0.07770936407019917, + -0.9862666050709329 + ], + [ + 0.9848878069555589, + -0.09207130584445085, + 0.14669315713545822, + -0.1022390801104323, + -0.9927414918953174, + 0.06333640949432799, + 0.1397969177358473, + -0.07737703089133226, + -0.9871522764406713 + ], + [ + 0.9866171383900468, + -0.08314791326589147, + 0.1402606386502042, + -0.0924437735182348, + -0.9938411241928441, + 0.06110620754729649, + 0.13431593715097503, + -0.07325465434108439, + -0.9882271928279568 + ], + [ + 0.9889533183100174, + -0.07007466390325495, + 0.13061728707354106, + -0.07822362745692094, + -0.9952277913640872, + 0.05833273012676743, + 0.12590630766997665, + -0.06790570502842372, + -0.9897153211472006 + ], + [ + 0.9905207046956612, + -0.049690581017169125, + 0.12806084384926866, + -0.05788446423934325, + -0.9964532783654642, + 0.06107579581505988, + 0.12457175590371525, + -0.06790957364683455, + -0.9898839161427819 + ], + [ + 0.9858868097495344, + -0.007733071897913289, + 0.167234559708532, + -0.01730289518658187, + -0.9982896315475835, + 0.05584282731695735, + 0.166516690394828, + -0.05794834892912014, + -0.9843343845850054 + ], + [ + 0.9723135459315013, + 0.062379614179226606, + 0.22520024896291965, + 0.04464394119810301, + -0.9955481721104186, + 0.0830105747595123, + 0.2293758638401401, + -0.07065847962173465, + -0.9707698451976835 + ], + [ + 0.9673679162284978, + 0.14001247430191466, + 0.2111772281558543, + 0.121763145323592, + -0.9877942859471762, + 0.09714002826340012, + 0.22220047500543258, + -0.06825654320256813, + -0.9726088593146764 + ], + [ + 0.942262451284171, + 0.264755419199611, + 0.2050513128570115, + 0.24176196906594247, + -0.96151715025391, + 0.13052172264017414, + 0.23171668738635126, + -0.07341210916489546, + -0.9700092984165966 + ], + [ + 0.8964937082664726, + 0.42042019259687197, + 0.13980662607844438, + 0.4038264281773604, + -0.9051838665459714, + 0.13253823467362327, + 0.1822724525103672, + -0.062362083044862494, + -0.9812684258928144 + ], + [ + 0.8742742217930553, + 0.47371491020756723, + 0.10601306030477728, + 0.4625882904328698, + -0.8792272958377473, + 0.11389221135897556, + 0.14716201501251172, + -0.05053262412421486, + -0.9878207303132377 + ], + [ + 0.8728543501799102, + 0.4812852951577802, + 0.0805589724170758, + 0.46859035240095315, + -0.8727446186032334, + 0.13689379947918495, + 0.13619238234481873, + -0.0817391911140867, + -0.9873045830073198 + ], + [ + 0.8551581271671125, + 0.5150568551552254, + 0.05848943064901162, + 0.5050397186566099, + -0.8532722773456601, + 0.12985108121460848, + 0.11678809921943521, + -0.08150372182274708, + -0.9898068918782852 + ], + [ + 0.8564037001108129, + 0.5155158159243501, + 0.028568268557277975, + 0.5064321001548701, + -0.8495074543183179, + 0.1478634944478824, + 0.10049492708210095, + -0.1121629555132305, + -0.9885950844715448 + ], + [ + 0.8417253144675277, + 0.539081093718608, + 0.02983403056395828, + 0.5325478164735041, + -0.8380770180892699, + 0.11840496155102975, + 0.08883309154726513, + -0.08377640566261627, + -0.9925171009611916 + ], + [ + 0.8407497706615891, + 0.5408076328944045, + 0.02582493631427355, + 0.5333311727487, + -0.8354564740002214, + 0.1325531599985972, + 0.09326137092591788, + -0.09767079529863754, + -0.9908394079964472 + ], + [ + 0.8416097162053419, + 0.5378439162984349, + 0.049163068349381486, + 0.5291630140644111, + -0.8393797384210351, + 0.12421014159279657, + 0.10807215244933212, + -0.0785211845873255, + -0.9910372512857281 + ], + [ + 0.8390919038591943, + 0.5433523116034351, + 0.02632569758156865, + 0.5378520475171962, + -0.8359017439238596, + 0.10946894302316983, + 0.08148589975886943, + -0.07769517346820003, + -0.9936415390674013 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0032910704612731934, + -0.0018507540225982666, + -0.010179027915000916, + 0.0037426352500915527, + 0.03385074436664581, + -0.012953519821166992, + 1.0 + ], + [ + 0.008326828479766846, + -0.01047101616859436, + -0.011206168681383133, + -0.00965837948024273, + 0.0012103915214538574, + -0.2143152803182602, + 1.0 + ], + [ + 0.006298750638961792, + -0.012299619615077972, + -0.005521517246961594, + -0.016853900626301765, + -0.018355906009674072, + -0.1806105226278305, + 1.0 + ], + [ + 0.006629496812820435, + -0.01459231972694397, + -0.009286973625421524, + -0.02966996096074581, + 0.012621685862541199, + -0.11082205176353455, + 1.0 + ], + [ + 0.0028675496578216553, + -0.010537995025515556, + -0.004048559814691544, + 0.01987364888191223, + 0.0007007718086242676, + -0.05564923584461212, + 1.0 + ], + [ + 0.0039044320583343506, + -0.007064502686262131, + -0.010864457115530968, + 0.029308201745152473, + 6.507337093353271e-05, + -0.03058306872844696, + 1.0 + ], + [ + 0.002053678035736084, + -0.00347304530441761, + -0.002179699018597603, + 0.03623078390955925, + -0.020584508776664734, + -0.01383422315120697, + 1.0 + ], + [ + 0.0007138252258300781, + -3.7867575883865356e-05, + -0.0053199417889118195, + 0.011462584137916565, + 0.001085534691810608, + 0.0015027672052383423, + 1.0 + ], + [ + -0.0012016892433166504, + -0.000632062554359436, + -0.008617514744400978, + 0.011768624186515808, + 0.012539386749267578, + 0.004428058862686157, + 1.0 + ], + [ + -0.0012539327144622803, + -0.000612037256360054, + -0.0005304459482431412, + -0.008047319948673248, + 0.012289389967918396, + 0.013491131365299225, + 1.0 + ], + [ + 0.0016353428363800049, + 0.0021174773573875427, + -0.004766666330397129, + -0.004583440721035004, + 0.015720218420028687, + 0.019159674644470215, + 0.0 + ], + [ + 0.0011260807514190674, + 0.00014995038509368896, + -8.343998342752457e-05, + -0.00040484964847564697, + 0.006002143025398254, + 0.0023048222064971924, + 0.0 + ], + [ + 0.000676959753036499, + 0.0011880192905664444, + -0.0016946098767220974, + -0.004232130944728851, + 0.005533203482627869, + 0.010012403130531311, + 0.0 + ], + [ + -0.001622617244720459, + 0.00204438716173172, + -0.00023597991093993187, + -0.0054880231618881226, + 0.00848175585269928, + 0.01449190080165863, + 0.0 + ], + [ + -0.0011748671531677246, + 0.00586821511387825, + 0.0029541365802288055, + -7.741153240203857e-06, + 0.0013451427221298218, + 0.02056102082133293, + 0.0 + ], + [ + 0.000925898551940918, + 0.00964801013469696, + 0.022579681128263474, + -0.009693525731563568, + -0.04239976406097412, + 0.04082324355840683, + 0.0 + ], + [ + 0.0030546188354492188, + 0.006636995822191238, + 0.024302616715431213, + 0.01385517418384552, + -0.0641404241323471, + 0.06343173235654831, + 0.0 + ], + [ + 0.0022736787796020508, + -0.009023137390613556, + 0.008519981056451797, + -0.0025939494371414185, + 0.007365614175796509, + 0.07932913303375244, + 0.0 + ], + [ + 0.0007593631744384766, + -0.020955052226781845, + 0.0015849918127059937, + 0.005473911762237549, + -0.00977124273777008, + 0.12594616413116455, + 0.0 + ], + [ + 0.0001239478588104248, + -0.020581962540745735, + -0.0019943416118621826, + -0.012070693075656891, + 0.05054490268230438, + 0.17207062244415283, + 0.0 + ], + [ + -0.0031072497367858887, + -0.018008334562182426, + -0.013238560408353806, + -0.01235605776309967, + 0.035598695278167725, + 0.06343558430671692, + 0.0 + ], + [ + -0.004240512847900391, + -0.009268827736377716, + -0.021016769111156464, + 0.031490758061409, + 0.011081472039222717, + 0.006025433540344238, + 0.0 + ], + [ + -0.0013891756534576416, + -0.004615511745214462, + -0.016490161418914795, + -0.000444166362285614, + 0.019561730325222015, + 0.04077473282814026, + 0.0 + ], + [ + -0.002395808696746826, + -0.005529586225748062, + -0.020277654752135277, + 0.030816122889518738, + 0.016390375792980194, + 0.000568389892578125, + 0.0 + ], + [ + 0.0007100999355316162, + -0.0037037767469882965, + -0.0008570505306124687, + -0.02876541018486023, + 0.01171451061964035, + 0.030074238777160645, + 1.0 + ], + [ + 0.00010886788368225098, + 0.0037023797631263733, + -0.003930383361876011, + 0.014047950506210327, + -0.004446752369403839, + 0.0011887550354003906, + 1.0 + ], + [ + 0.0028018057346343994, + 0.00257183238863945, + -0.0012161610648036003, + -0.019190222024917603, + -0.014886543154716492, + -0.0040038228034973145, + 1.0 + ], + [ + -0.0026966333389282227, + 0.0043921396136283875, + 0.0016761859878897667, + -0.0010325610637664795, + 0.02670729160308838, + 0.008725166320800781, + 1.0 + ], + [ + 0.00928497314453125, + 0.009956764057278633, + 0.03239661455154419, + -0.05983863025903702, + -0.06184084713459015, + 0.003814399242401123, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9927561283111572 + ], + [ + 0.9927561283111572 + ], + [ + 0.9927561283111572 + ], + [ + 0.9927561283111572 + ], + [ + 0.9927561283111572 + ], + [ + 0.9927561283111572 + ], + [ + 0.9927561283111572 + ], + [ + 0.9927561283111572 + ], + [ + 0.9927561283111572 + ], + [ + 0.9927561283111572 + ], + [ + 0.9560673832893372 + ], + [ + 0.680191159248352 + ], + [ + 0.4283607602119446 + ], + [ + 0.4283607602119446 + ], + [ + 0.4485226273536682 + ], + [ + 0.4485226273536682 + ], + [ + 0.4485226273536682 + ], + [ + 0.4485226273536682 + ], + [ + 0.4485226273536682 + ], + [ + 0.4485226273536682 + ], + [ + 0.4485226273536682 + ], + [ + 0.4485226273536682 + ], + [ + 0.4485226273536682 + ], + [ + 0.4485226273536682 + ], + [ + 0.5188266634941101 + ], + [ + 0.817743182182312 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3143977224826813, + 0.07689104974269867, + 0.07065469771623611 + ], + [ + 0.3227245509624481, + 0.06642003357410431, + 0.05944852903485298 + ], + [ + 0.3290233016014099, + 0.05412041395902634, + 0.05392701178789139 + ], + [ + 0.33565279841423035, + 0.03952809423208237, + 0.044640038162469864 + ], + [ + 0.338520348072052, + 0.02899009920656681, + 0.04059147834777832 + ], + [ + 0.34242478013038635, + 0.02192559652030468, + 0.029727021232247353 + ], + [ + 0.34447845816612244, + 0.01845255121588707, + 0.02754732221364975 + ], + [ + 0.3451922833919525, + 0.018414683640003204, + 0.02222738042473793 + ], + [ + 0.34399059414863586, + 0.01778262108564377, + 0.013609865680336952 + ], + [ + 0.3427366614341736, + 0.017170583829283714, + 0.013079419732093811 + ], + [ + 0.3443720042705536, + 0.019288061186671257, + 0.008312753401696682 + ], + [ + 0.34549808502197266, + 0.019438011571764946, + 0.008229313418269157 + ], + [ + 0.34617504477500916, + 0.02062603086233139, + 0.00653470354154706 + ], + [ + 0.3445524275302887, + 0.02267041802406311, + 0.006298723630607128 + ], + [ + 0.34337756037712097, + 0.02853863313794136, + 0.009252860210835934 + ], + [ + 0.3443034589290619, + 0.03818664327263832, + 0.03183254227042198 + ], + [ + 0.3473580777645111, + 0.04482363909482956, + 0.056135158985853195 + ], + [ + 0.34963175654411316, + 0.035800501704216, + 0.06465514004230499 + ], + [ + 0.35039111971855164, + 0.014845449477434158, + 0.06624013185501099 + ], + [ + 0.35051506757736206, + -0.0057365125976502895, + 0.0642457902431488 + ], + [ + 0.34740781784057617, + -0.023744847625494003, + 0.051007229834795 + ], + [ + 0.3431673049926758, + -0.03301367536187172, + 0.029990460723638535 + ], + [ + 0.34177812933921814, + -0.03762918710708618, + 0.013500300236046314 + ], + [ + 0.3393823206424713, + -0.043158773332834244, + -0.0067773545160889626 + ], + [ + 0.34009242057800293, + -0.04686255007982254, + -0.007634405046701431 + ], + [ + 0.3402012884616852, + -0.04316017031669617, + -0.011564788408577442 + ], + [ + 0.3430030941963196, + -0.04058833792805672, + -0.012780949473381042 + ], + [ + 0.34030646085739136, + -0.03619619831442833, + -0.011104763485491276 + ], + [ + 0.3495914340019226, + -0.026239434257149696, + 0.02129185013473034 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8834411507179553, + 0.45060308673570587, + 0.12840791035753496, + 0.43934111834153483, + -0.8919036964524303, + 0.10717825333947328, + 0.1628223416873259, + -0.03827080452178585, + -0.9859128919781456 + ], + [ + 0.9568587680677992, + 0.2491282250350325, + 0.14952065229481692, + 0.24144915191941346, + -0.9680436030177748, + 0.06777823908719219, + 0.1616279833728348, + -0.028752567663754433, + -0.9864328080733993 + ], + [ + 0.9815402882195072, + 0.06871360474766872, + 0.17848558239966492, + 0.06543267185586127, + -0.9975632211641345, + 0.024211262553591902, + 0.17971429563551586, + -0.012085541080851196, + -0.9836446063701123 + ], + [ + 0.9849433339597595, + -0.0471412396248501, + 0.1663259823805839, + -0.043619399006217995, + -0.9987411994867706, + -0.02476619627765117, + 0.16728412034192067, + 0.01713826054065165, + -0.9857597593263131 + ], + [ + 0.9811088918089945, + -0.09932741789195962, + 0.16601026012943673, + -0.09834660152337066, + -0.995051776626272, + -0.014138875545942247, + 0.16659318227985973, + -0.0024547683834361313, + -0.9860226598461385 + ], + [ + 0.9776535746967149, + -0.12480446044472533, + 0.16916658811903773, + -0.1283026658984537, + -0.9916859986290174, + 0.009864382723639207, + 0.16652901791004754, + -0.03134847326856061, + -0.9855381065274167 + ], + [ + 0.972186347388472, + -0.13092542982671265, + 0.1941963897093663, + -0.14129201105377656, + -0.989140537290652, + 0.040466839520031966, + 0.1867893828991386, + -0.06677970734475462, + -0.9801276432807658 + ], + [ + 0.9725977074607499, + -0.12728891584883026, + 0.19455392914079747, + -0.1398596608615111, + -0.9887919330815799, + 0.052247376359918864, + 0.18572284379094603, + -0.07802592501740248, + -0.979499351872875 + ], + [ + 0.9754374902283538, + -0.12172733296014222, + 0.18358692509931349, + -0.1358621875492872, + -0.9884972889903049, + 0.06644227308829985, + 0.17338733705588935, + -0.08975280535575796, + -0.98075545641074 + ], + [ + 0.9792219821395232, + -0.11084642000168655, + 0.16981572620800753, + -0.12294664844102092, + -0.9904465680726039, + 0.06244771757495034, + 0.16127129729701836, + -0.08202845217368458, + -0.9834952474222365 + ], + [ + 0.9837974225982636, + -0.09383567677952243, + 0.1527661515269073, + -0.10441835485848061, + -0.9925503113188439, + 0.0627748888450962, + 0.14573756707747465, + -0.07770936407019917, + -0.9862666050709329 + ], + [ + 0.9848878069555589, + -0.09207130584445085, + 0.14669315713545822, + -0.1022390801104323, + -0.9927414918953174, + 0.06333640949432799, + 0.1397969177358473, + -0.07737703089133226, + -0.9871522764406713 + ], + [ + 0.9866171383900468, + -0.08314791326589147, + 0.1402606386502042, + -0.0924437735182348, + -0.9938411241928441, + 0.06110620754729649, + 0.13431593715097503, + -0.07325465434108439, + -0.9882271928279568 + ], + [ + 0.9889533183100174, + -0.07007466390325495, + 0.13061728707354106, + -0.07822362745692094, + -0.9952277913640872, + 0.05833273012676743, + 0.12590630766997665, + -0.06790570502842372, + -0.9897153211472006 + ], + [ + 0.9905207046956612, + -0.049690581017169125, + 0.12806084384926866, + -0.05788446423934325, + -0.9964532783654642, + 0.06107579581505988, + 0.12457175590371525, + -0.06790957364683455, + -0.9898839161427819 + ], + [ + 0.9858868097495344, + -0.007733071897913289, + 0.167234559708532, + -0.01730289518658187, + -0.9982896315475835, + 0.05584282731695735, + 0.166516690394828, + -0.05794834892912014, + -0.9843343845850054 + ], + [ + 0.9723135459315013, + 0.062379614179226606, + 0.22520024896291965, + 0.04464394119810301, + -0.9955481721104186, + 0.0830105747595123, + 0.2293758638401401, + -0.07065847962173465, + -0.9707698451976835 + ], + [ + 0.9673679162284978, + 0.14001247430191466, + 0.2111772281558543, + 0.121763145323592, + -0.9877942859471762, + 0.09714002826340012, + 0.22220047500543258, + -0.06825654320256813, + -0.9726088593146764 + ], + [ + 0.942262451284171, + 0.264755419199611, + 0.2050513128570115, + 0.24176196906594247, + -0.96151715025391, + 0.13052172264017414, + 0.23171668738635126, + -0.07341210916489546, + -0.9700092984165966 + ], + [ + 0.8964937082664726, + 0.42042019259687197, + 0.13980662607844438, + 0.4038264281773604, + -0.9051838665459714, + 0.13253823467362327, + 0.1822724525103672, + -0.062362083044862494, + -0.9812684258928144 + ], + [ + 0.8742742217930553, + 0.47371491020756723, + 0.10601306030477728, + 0.4625882904328698, + -0.8792272958377473, + 0.11389221135897556, + 0.14716201501251172, + -0.05053262412421486, + -0.9878207303132377 + ], + [ + 0.8728543501799102, + 0.4812852951577802, + 0.0805589724170758, + 0.46859035240095315, + -0.8727446186032334, + 0.13689379947918495, + 0.13619238234481873, + -0.0817391911140867, + -0.9873045830073198 + ], + [ + 0.8551581271671125, + 0.5150568551552254, + 0.05848943064901162, + 0.5050397186566099, + -0.8532722773456601, + 0.12985108121460848, + 0.11678809921943521, + -0.08150372182274708, + -0.9898068918782852 + ], + [ + 0.8564037001108129, + 0.5155158159243501, + 0.028568268557277975, + 0.5064321001548701, + -0.8495074543183179, + 0.1478634944478824, + 0.10049492708210095, + -0.1121629555132305, + -0.9885950844715448 + ], + [ + 0.8417253144675277, + 0.539081093718608, + 0.02983403056395828, + 0.5325478164735041, + -0.8380770180892699, + 0.11840496155102975, + 0.08883309154726513, + -0.08377640566261627, + -0.9925171009611916 + ], + [ + 0.8407497706615891, + 0.5408076328944045, + 0.02582493631427355, + 0.5333311727487, + -0.8354564740002214, + 0.1325531599985972, + 0.09326137092591788, + -0.09767079529863754, + -0.9908394079964472 + ], + [ + 0.8416097162053419, + 0.5378439162984349, + 0.049163068349381486, + 0.5291630140644111, + -0.8393797384210351, + 0.12421014159279657, + 0.10807215244933212, + -0.0785211845873255, + -0.9910372512857281 + ], + [ + 0.8390919038591943, + 0.5433523116034351, + 0.02632569758156865, + 0.5378520475171962, + -0.8359017439238596, + 0.10946894302316983, + 0.08148589975886943, + -0.07769517346820003, + -0.9936415390674013 + ], + [ + 0.8312048775766405, + 0.5449480445195275, + 0.11013664361666761, + 0.5372807409456993, + -0.8382764288006044, + 0.09285491008097091, + 0.14292605396372668, + -0.018007156678607784, + -0.9895695455129516 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006397.json b/json/chunk-0006/episode_0006397.json new file mode 100644 index 0000000000000000000000000000000000000000..471ea7766a80e10bcc11d251ffeae9cceb110e21 --- /dev/null +++ b/json/chunk-0006/episode_0006397.json @@ -0,0 +1,1282 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 20, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nClose large4fbox flaps." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006397.mp4", + "start": 0, + "end": 20, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2607251703739166, + 0.11320973187685013, + 0.12410350143909454, + -0.022362245246767998, + -0.0862155631184578, + 0.10306232422590256, + 0.0, + 0.9974852800369263 + ], + [ + 0.25960424542427063, + 0.11306033283472061, + 0.11286945641040802, + -0.036470189690589905, + -0.08730535954236984, + 0.10339999943971634, + 0.0, + 0.9974852800369263 + ], + [ + 0.26419252157211304, + 0.12749019265174866, + 0.09936616569757462, + -0.037797439843416214, + -0.16499891877174377, + 0.08168300241231918, + 0.0, + 0.9968144297599792 + ], + [ + 0.2728483974933624, + 0.14169342815876007, + 0.08253645896911621, + -0.03492271527647972, + -0.21230605244636536, + 0.022909948602318764, + 0.0, + 0.9974852800369263 + ], + [ + 0.2766532897949219, + 0.15653912723064423, + 0.07097320258617401, + -0.0212722085416317, + -0.24883827567100525, + -0.012008987367153168, + 0.0, + 0.9974852800369263 + ], + [ + 0.27912402153015137, + 0.17076416313648224, + 0.06563489884138107, + 0.0005538573022931814, + -0.29332247376441956, + -0.026950983330607414, + 0.0, + 0.9968144297599792 + ], + [ + 0.2833749055862427, + 0.17746928334236145, + 0.06520425528287888, + 0.024384338408708572, + -0.3177247941493988, + -0.03992815315723419, + 0.0, + 0.9968144297599792 + ], + [ + 0.2872850298881531, + 0.17839261889457703, + 0.07064729183912277, + 0.07142513245344162, + -0.33027324080467224, + -0.06914621591567993, + 0.0, + 0.9968144297599792 + ], + [ + 0.2897142469882965, + 0.1708465963602066, + 0.0990026593208313, + 0.14374695718288422, + -0.35456037521362305, + -0.09385675191879272, + 0.0, + 0.9968144297599792 + ], + [ + 0.2926742434501648, + 0.15982133150100708, + 0.11754598468542099, + 0.18935032188892365, + -0.3709297180175781, + -0.11124231666326523, + 0.0, + 0.9968144297599792 + ], + [ + 0.29720693826675415, + 0.14195629954338074, + 0.13350094854831696, + 0.2114807814359665, + -0.389424204826355, + -0.15546055138111115, + 0.0, + 0.9968144297599792 + ], + [ + 0.3039744794368744, + 0.13320940732955933, + 0.1400834321975708, + 0.21456703543663025, + -0.38915249705314636, + -0.1907115876674652, + 0.0, + 0.9968144297599792 + ], + [ + 0.31559690833091736, + 0.12004325538873672, + 0.15143044292926788, + 0.23185664415359497, + -0.4038413465023041, + -0.2474392205476761, + 0.0, + 0.9974852800369263 + ], + [ + 0.32598876953125, + 0.09250909090042114, + 0.1731429398059845, + 0.2408248782157898, + -0.4572998285293579, + -0.3123173117637634, + 0.0, + 0.9974852800369263 + ], + [ + 0.3273761570453644, + 0.07835350185632706, + 0.182573139667511, + 0.1777491420507431, + -0.45699113607406616, + -0.2925451099872589, + 0.0, + 0.9974852800369263 + ], + [ + 0.3212455213069916, + 0.057807356119155884, + 0.1910727173089981, + 0.007990870624780655, + -0.4254031479358673, + -0.17654648423194885, + 0.0, + 0.9981546401977539 + ], + [ + 0.3241804242134094, + 0.03195420280098915, + 0.2021142989397049, + -0.1461591273546219, + -0.4180566072463989, + -0.11423696577548981, + 0.0, + 0.9974852800369263 + ], + [ + 0.32747554779052734, + 0.018050841987133026, + 0.20528849959373474, + -0.2329111546278, + -0.41713032126426697, + -0.06768802553415298, + 0.0, + 0.9974852800369263 + ], + [ + 0.3324356973171234, + -0.0006148083484731615, + 0.2067030370235443, + -0.2788301110267639, + -0.4329282343387604, + -0.05707315355539322, + 0.0, + 0.9974852800369263 + ], + [ + 0.3388157784938812, + -0.010820144787430763, + 0.19703616201877594, + -0.37965673208236694, + -0.38251760601997375, + -0.00910506583750248, + 0.0, + 0.9974852800369263 + ] + ], + "left_gripper_pos": [ + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9968144297599792 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9981546401977539 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2607251703739166, + 0.11320973187685013, + 0.12410350143909454 + ], + [ + 0.25960424542427063, + 0.11306033283472061, + 0.11286945641040802 + ], + [ + 0.26419252157211304, + 0.12749019265174866, + 0.09936616569757462 + ], + [ + 0.2728483974933624, + 0.14169342815876007, + 0.08253645896911621 + ], + [ + 0.2766532897949219, + 0.15653912723064423, + 0.07097320258617401 + ], + [ + 0.27912402153015137, + 0.17076416313648224, + 0.06563489884138107 + ], + [ + 0.2833749055862427, + 0.17746928334236145, + 0.06520425528287888 + ], + [ + 0.2872850298881531, + 0.17839261889457703, + 0.07064729183912277 + ], + [ + 0.2897142469882965, + 0.1708465963602066, + 0.0990026593208313 + ], + [ + 0.2926742434501648, + 0.15982133150100708, + 0.11754598468542099 + ], + [ + 0.29720693826675415, + 0.14195629954338074, + 0.13350094854831696 + ], + [ + 0.3039744794368744, + 0.13320940732955933, + 0.1400834321975708 + ], + [ + 0.31559690833091736, + 0.12004325538873672, + 0.15143044292926788 + ], + [ + 0.32598876953125, + 0.09250909090042114, + 0.1731429398059845 + ], + [ + 0.3273761570453644, + 0.07835350185632706, + 0.182573139667511 + ], + [ + 0.3212455213069916, + 0.057807356119155884, + 0.1910727173089981 + ], + [ + 0.3241804242134094, + 0.03195420280098915, + 0.2021142989397049 + ], + [ + 0.32747554779052734, + 0.018050841987133026, + 0.20528849959373474 + ], + [ + 0.3324356973171234, + -0.0006148083484731615, + 0.2067030370235443 + ], + [ + 0.3388157784938812, + -0.010820144787430763, + 0.19703616201877594 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9909992265742538, + 0.10093903785539446, + 0.08793090222474664, + 0.10249784617078958, + -0.9946431677937535, + -0.013385077196500507, + 0.08610879432194987, + 0.022277329239259507, + -0.9960366439757052 + ], + [ + 0.9908706308003012, + 0.0999848978264426, + 0.0904345798024685, + 0.10282272924956223, + -0.9943257227793857, + -0.027273492055905287, + 0.08719449160975953, + 0.036323232591389025, + -0.9955288762296287 + ], + [ + 0.9831296143190659, + 0.07534781897757548, + 0.16666993617376508, + 0.08048405790223592, + -0.9964603676445575, + -0.02427039631449072, + 0.16425126444698668, + 0.03727521816160742, + -0.985713995152027 + ], + [ + 0.9772910657620733, + 0.015538672466675826, + 0.21133083646170583, + 0.022393606102128358, + -0.9992965416964131, + -0.03008235627957987, + 0.21071473414873867, + 0.034131677538061754, + -0.9769515491574104 + ], + [ + 0.9691292969538555, + -0.017244089864364896, + 0.2459492775969767, + -0.011638820990175967, + -0.9996387569976581, + -0.024225881906236882, + 0.2462781834261485, + 0.02061545228526418, + -0.9689799066520366 + ], + [ + 0.9569408747049314, + -0.02678763562538546, + 0.28904426113756787, + -0.025796743733937613, + -0.999641006293899, + -0.007237855238045012, + 0.28913438109586087, + -0.0005302012098487184, + -0.9572883727252676 + ], + [ + 0.9491915335030465, + -0.032294689104610926, + 0.31303751497507687, + -0.03791961827819831, + -0.9992099852053885, + 0.011895714164478901, + 0.312406042316359, + -0.02316157424450634, + -0.949666260431919 + ], + [ + 0.9436932706236733, + -0.04582668397392066, + 0.3276323030709107, + -0.06535701349802747, + -0.9966657717429583, + 0.04884465398211117, + 0.3243015136662382, + -0.06750744012305546, + -0.943541877057833 + ], + [ + 0.9336716601200967, + -0.04323720166555625, + 0.3555105842035013, + -0.08788961691063604, + -0.9899912974307016, + 0.11042031629540816, + 0.3471781190223318, + -0.13434200907984203, + -0.9281269192672452 + ], + [ + 0.9262300624149988, + -0.04122387887789274, + 0.3746978293091228, + -0.10346311067362071, + -0.9836302038283322, + 0.14753645937995186, + 0.36248207708581376, + -0.17542010696295596, + -0.9153330158279334 + ], + [ + 0.9139710773184853, + -0.07265387647405257, + 0.3992220986601075, + -0.1432422700913223, + -0.9782693978405923, + 0.149902092405976, + 0.3796557939560151, + -0.19419165657128065, + -0.9045170416491497 + ], + [ + 0.9084561285327029, + -0.1058910142318657, + 0.4043446001077798, + -0.17538458316175148, + -0.9746673366517956, + 0.13879420324089276, + 0.37940441552590315, + -0.1970042536826106, + -0.9040141666536016 + ], + [ + 0.8915511317839611, + -0.15082355785147053, + 0.4270700572643341, + -0.22522004211758903, + -0.9657144048926205, + 0.12911863076815247, + 0.3929535749211208, + -0.21130059767997625, + -0.8949522587137234 + ], + [ + 0.8538427855188979, + -0.1981859007550567, + 0.4813261330524621, + -0.2756925993102504, + -0.9565184885386415, + 0.09521539670300501, + 0.441526996120155, + -0.21399703228236538, + -0.8713547967799645 + ], + [ + 0.8592570491647968, + -0.20914166428099995, + 0.46683732468856787, + -0.2587967536814068, + -0.9649266223544543, + 0.044055121786117035, + 0.4412500014102788, + -0.15867065807324893, + -0.8832451859602921 + ], + [ + 0.8967139280931977, + -0.1723787430667505, + 0.40766370957247927, + -0.15997724753376907, + -0.9850038533529467, + -0.06461183445287733, + 0.4126880316112726, + -0.0072785863032640355, + -0.9108433513762064 + ], + [ + 0.907923033067521, + -0.1715152942579467, + 0.3824372757212398, + -0.10417191796175179, + -0.9761494498939676, + -0.19047431055098993, + 0.40598519373696834, + 0.1330967892449508, + -0.9041356464375475 + ], + [ + 0.9121617125366647, + -0.15910638086635787, + 0.3776852787040934, + -0.06183689286877711, + -0.9644457595277971, + -0.256944693677815, + 0.4051385057761291, + 0.21102022769502518, + -0.8895691398879715 + ], + [ + 0.9062631473016584, + -0.17011899052302, + 0.3869711060354779, + -0.051779529241218966, + -0.9532262007763268, + -0.29778967494707986, + 0.41953067610658723, + 0.24983862635100754, + -0.8726824580502299 + ], + [ + 0.9276894067758983, + -0.14678063939784664, + 0.34328968591226555, + -0.0084469065491843, + -0.9274939224266379, + -0.37374279074170774, + 0.37325730311077904, + 0.3438174919337437, + -0.8616661290284415 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.001120924949645996, + -0.0001493990421295166, + -0.011234045028686523, + -0.014107944443821907, + -0.0010897964239120483, + 0.00033767521381378174, + 1.0 + ], + [ + 0.004588276147842407, + 0.014429859817028046, + -0.013503290712833405, + -0.0013272501528263092, + -0.07769355922937393, + -0.021716997027397156, + 1.0 + ], + [ + 0.00865587592124939, + 0.014203235507011414, + -0.016829706728458405, + 0.002874724566936493, + -0.04730713367462158, + -0.05877305567264557, + 1.0 + ], + [ + 0.0038048923015594482, + 0.014845699071884155, + -0.0115632563829422, + 0.013650506734848022, + -0.03653222322463989, + -0.03491893410682678, + 1.0 + ], + [ + 0.002470731735229492, + 0.014225035905838013, + -0.005338303744792938, + 0.021826066076755524, + -0.04448419809341431, + -0.014941995963454247, + 1.0 + ], + [ + 0.004250884056091309, + 0.006705120205879211, + -0.00043064355850219727, + 0.023830480873584747, + -0.024402320384979248, + -0.012977169826626778, + 1.0 + ], + [ + 0.0039101243019104, + 0.0009233355522155762, + 0.0054430365562438965, + 0.04704079404473305, + -0.012548446655273438, + -0.02921806275844574, + 1.0 + ], + [ + 0.0024292171001434326, + -0.007546022534370422, + 0.028355367481708527, + 0.0723218247294426, + -0.024287134408950806, + -0.024710536003112793, + 1.0 + ], + [ + 0.002959996461868286, + -0.011025264859199524, + 0.01854332536458969, + 0.04560336470603943, + -0.016369342803955078, + -0.017385564744472504, + 1.0 + ], + [ + 0.0045326948165893555, + -0.017865031957626343, + 0.015954963862895966, + 0.022130459547042847, + -0.018494486808776855, + -0.04421823471784592, + 1.0 + ], + [ + 0.006767541170120239, + -0.008746892213821411, + 0.006582483649253845, + 0.0030862540006637573, + 0.00027170777320861816, + -0.035251036286354065, + 1.0 + ], + [ + 0.011622428894042969, + -0.013166151940822601, + 0.011347010731697083, + 0.01728960871696472, + -0.014688849449157715, + -0.056727632880210876, + 1.0 + ], + [ + 0.010391861200332642, + -0.027534164488315582, + 0.021712496876716614, + 0.008968234062194824, + -0.05345848202705383, + -0.06487809121608734, + 1.0 + ], + [ + 0.0013873875141143799, + -0.014155589044094086, + 0.00943019986152649, + -0.06307573616504669, + 0.00030869245529174805, + 0.019772201776504517, + 1.0 + ], + [ + -0.006130635738372803, + -0.020546145737171173, + 0.008499577641487122, + -0.16975827515125275, + 0.03158798813819885, + 0.11599862575531006, + 1.0 + ], + [ + 0.0029349029064178467, + -0.025853153318166733, + 0.011041581630706787, + -0.15414999425411224, + 0.007346540689468384, + 0.062309518456459045, + 1.0 + ], + [ + 0.00329512357711792, + -0.013903360813856125, + 0.003174200654029846, + -0.0867520272731781, + 0.000926285982131958, + 0.04654894024133682, + 1.0 + ], + [ + 0.004960149526596069, + -0.018665650859475136, + 0.0014145374298095703, + -0.04591895639896393, + -0.015797913074493408, + 0.010614871978759766, + 1.0 + ], + [ + 0.0063800811767578125, + -0.010205336846411228, + -0.009666875004768372, + -0.10082662105560303, + 0.05041062831878662, + 0.04796808958053589, + 1.0 + ], + [ + 0.0025861263275146484, + -0.009402699768543243, + -0.006170377135276794, + -0.061203330755233765, + 0.03336620330810547, + 0.031242746859788895, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9974852800369263 + ], + [ + 0.9968144297599792 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9981546401977539 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.25960424542427063, + 0.11306033283472061, + 0.11286945641040802 + ], + [ + 0.26419252157211304, + 0.12749019265174866, + 0.09936616569757462 + ], + [ + 0.2728483974933624, + 0.14169342815876007, + 0.08253645896911621 + ], + [ + 0.2766532897949219, + 0.15653912723064423, + 0.07097320258617401 + ], + [ + 0.27912402153015137, + 0.17076416313648224, + 0.06563489884138107 + ], + [ + 0.2833749055862427, + 0.17746928334236145, + 0.06520425528287888 + ], + [ + 0.2872850298881531, + 0.17839261889457703, + 0.07064729183912277 + ], + [ + 0.2897142469882965, + 0.1708465963602066, + 0.0990026593208313 + ], + [ + 0.2926742434501648, + 0.15982133150100708, + 0.11754598468542099 + ], + [ + 0.29720693826675415, + 0.14195629954338074, + 0.13350094854831696 + ], + [ + 0.3039744794368744, + 0.13320940732955933, + 0.1400834321975708 + ], + [ + 0.31559690833091736, + 0.12004325538873672, + 0.15143044292926788 + ], + [ + 0.32598876953125, + 0.09250909090042114, + 0.1731429398059845 + ], + [ + 0.3273761570453644, + 0.07835350185632706, + 0.182573139667511 + ], + [ + 0.3212455213069916, + 0.057807356119155884, + 0.1910727173089981 + ], + [ + 0.3241804242134094, + 0.03195420280098915, + 0.2021142989397049 + ], + [ + 0.32747554779052734, + 0.018050841987133026, + 0.20528849959373474 + ], + [ + 0.3324356973171234, + -0.0006148083484731615, + 0.2067030370235443 + ], + [ + 0.3388157784938812, + -0.010820144787430763, + 0.19703616201877594 + ], + [ + 0.3414019048213959, + -0.020222844555974007, + 0.19086578488349915 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9908706308003012, + 0.0999848978264426, + 0.0904345798024685, + 0.10282272924956223, + -0.9943257227793857, + -0.027273492055905287, + 0.08719449160975953, + 0.036323232591389025, + -0.9955288762296287 + ], + [ + 0.9831296143190659, + 0.07534781897757548, + 0.16666993617376508, + 0.08048405790223592, + -0.9964603676445575, + -0.02427039631449072, + 0.16425126444698668, + 0.03727521816160742, + -0.985713995152027 + ], + [ + 0.9772910657620733, + 0.015538672466675826, + 0.21133083646170583, + 0.022393606102128358, + -0.9992965416964131, + -0.03008235627957987, + 0.21071473414873867, + 0.034131677538061754, + -0.9769515491574104 + ], + [ + 0.9691292969538555, + -0.017244089864364896, + 0.2459492775969767, + -0.011638820990175967, + -0.9996387569976581, + -0.024225881906236882, + 0.2462781834261485, + 0.02061545228526418, + -0.9689799066520366 + ], + [ + 0.9569408747049314, + -0.02678763562538546, + 0.28904426113756787, + -0.025796743733937613, + -0.999641006293899, + -0.007237855238045012, + 0.28913438109586087, + -0.0005302012098487184, + -0.9572883727252676 + ], + [ + 0.9491915335030465, + -0.032294689104610926, + 0.31303751497507687, + -0.03791961827819831, + -0.9992099852053885, + 0.011895714164478901, + 0.312406042316359, + -0.02316157424450634, + -0.949666260431919 + ], + [ + 0.9436932706236733, + -0.04582668397392066, + 0.3276323030709107, + -0.06535701349802747, + -0.9966657717429583, + 0.04884465398211117, + 0.3243015136662382, + -0.06750744012305546, + -0.943541877057833 + ], + [ + 0.9336716601200967, + -0.04323720166555625, + 0.3555105842035013, + -0.08788961691063604, + -0.9899912974307016, + 0.11042031629540816, + 0.3471781190223318, + -0.13434200907984203, + -0.9281269192672452 + ], + [ + 0.9262300624149988, + -0.04122387887789274, + 0.3746978293091228, + -0.10346311067362071, + -0.9836302038283322, + 0.14753645937995186, + 0.36248207708581376, + -0.17542010696295596, + -0.9153330158279334 + ], + [ + 0.9139710773184853, + -0.07265387647405257, + 0.3992220986601075, + -0.1432422700913223, + -0.9782693978405923, + 0.149902092405976, + 0.3796557939560151, + -0.19419165657128065, + -0.9045170416491497 + ], + [ + 0.9084561285327029, + -0.1058910142318657, + 0.4043446001077798, + -0.17538458316175148, + -0.9746673366517956, + 0.13879420324089276, + 0.37940441552590315, + -0.1970042536826106, + -0.9040141666536016 + ], + [ + 0.8915511317839611, + -0.15082355785147053, + 0.4270700572643341, + -0.22522004211758903, + -0.9657144048926205, + 0.12911863076815247, + 0.3929535749211208, + -0.21130059767997625, + -0.8949522587137234 + ], + [ + 0.8538427855188979, + -0.1981859007550567, + 0.4813261330524621, + -0.2756925993102504, + -0.9565184885386415, + 0.09521539670300501, + 0.441526996120155, + -0.21399703228236538, + -0.8713547967799645 + ], + [ + 0.8592570491647968, + -0.20914166428099995, + 0.46683732468856787, + -0.2587967536814068, + -0.9649266223544543, + 0.044055121786117035, + 0.4412500014102788, + -0.15867065807324893, + -0.8832451859602921 + ], + [ + 0.8967139280931977, + -0.1723787430667505, + 0.40766370957247927, + -0.15997724753376907, + -0.9850038533529467, + -0.06461183445287733, + 0.4126880316112726, + -0.0072785863032640355, + -0.9108433513762064 + ], + [ + 0.907923033067521, + -0.1715152942579467, + 0.3824372757212398, + -0.10417191796175179, + -0.9761494498939676, + -0.19047431055098993, + 0.40598519373696834, + 0.1330967892449508, + -0.9041356464375475 + ], + [ + 0.9121617125366647, + -0.15910638086635787, + 0.3776852787040934, + -0.06183689286877711, + -0.9644457595277971, + -0.256944693677815, + 0.4051385057761291, + 0.21102022769502518, + -0.8895691398879715 + ], + [ + 0.9062631473016584, + -0.17011899052302, + 0.3869711060354779, + -0.051779529241218966, + -0.9532262007763268, + -0.29778967494707986, + 0.41953067610658723, + 0.24983862635100754, + -0.8726824580502299 + ], + [ + 0.9276894067758983, + -0.14678063939784664, + 0.34328968591226555, + -0.0084469065491843, + -0.9274939224266379, + -0.37374279074170774, + 0.37325730311077904, + 0.3438174919337437, + -0.8616661290284415 + ], + [ + 0.939433112473695, + -0.1259251475908652, + 0.3187605439702429, + 0.020800268607269384, + -0.9073947945357055, + -0.41976426202735573, + 0.3421005349511336, + 0.4009707521175627, + -0.8498174391788066 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006398.json b/json/chunk-0006/episode_0006398.json new file mode 100644 index 0000000000000000000000000000000000000000..74d3e65b5541e8418130436c9e2b4416a579713f --- /dev/null +++ b/json/chunk-0006/episode_0006398.json @@ -0,0 +1,1342 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 21, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut banana in pot or pan." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006398.mp4", + "start": 0, + "end": 21, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.24965445697307587, + 0.21495270729064941, + 0.07043004781007767, + 0.163679301738739, + -0.0330096073448658, + -0.04225743189454079, + 0.0, + 0.9927561283111572 + ], + [ + 0.2370411902666092, + 0.20295783877372742, + 0.05970367044210434, + 0.1443461775779724, + 0.036933913826942444, + -0.04496235400438309, + 0.0, + 0.9927561283111572 + ], + [ + 0.22667428851127625, + 0.16515199840068817, + 0.10204310715198517, + 0.25440463423728943, + 0.05004112049937248, + -0.08903207629919052, + 0.0, + 0.9927561283111572 + ], + [ + 0.21574530005455017, + 0.12503813207149506, + 0.1250384896993637, + 0.30473217368125916, + 0.07034525275230408, + -0.09733152389526367, + 0.0, + 0.9927561283111572 + ], + [ + 0.2057710438966751, + 0.07509557902812958, + 0.14526240527629852, + 0.2908448278903961, + 0.09958993643522263, + -0.09616453945636749, + 0.0, + 0.9927561283111572 + ], + [ + 0.20604325830936432, + 0.0274859257042408, + 0.15068602561950684, + 0.2563241720199585, + 0.13486048579216003, + -0.07163693010807037, + 0.0, + 0.9927561283111572 + ], + [ + 0.2172977775335312, + -0.023832904174923897, + 0.14990976452827454, + 0.25371119379997253, + 0.16284286975860596, + -0.06316880881786346, + 0.0, + 0.9927561283111572 + ], + [ + 0.2252168208360672, + -0.067081019282341, + 0.14342427253723145, + 0.23365266621112823, + 0.15861782431602478, + -0.03514258190989494, + 0.0, + 0.9927561283111572 + ], + [ + 0.23444399237632751, + -0.09867684543132782, + 0.1171426773071289, + 0.22684839367866516, + 0.09505138546228409, + 0.020499099045991898, + 0.0, + 0.9927561283111572 + ], + [ + 0.24208521842956543, + -0.12328442931175232, + 0.08881954848766327, + 0.2338120937347412, + 0.03842921555042267, + 0.07982233911752701, + 0.0, + 0.9927561283111572 + ], + [ + 0.2427392303943634, + -0.13255861401557922, + 0.054017942398786545, + 0.21479645371437073, + -0.03351195529103279, + 0.13817773759365082, + 0.0, + 0.9927561283111572 + ], + [ + 0.24099396169185638, + -0.1365438997745514, + 0.033850278705358505, + 0.21443422138690948, + -0.06819652020931244, + 0.15470874309539795, + 0.0, + 0.9927561283111572 + ], + [ + 0.23866282403469086, + -0.1312551498413086, + 0.010844215750694275, + 0.2142326831817627, + -0.10030218213796616, + 0.1652546375989914, + 0.0, + 0.9927561283111572 + ], + [ + 0.239915668964386, + -0.13802248239517212, + -0.003070751903578639, + 0.16155678033828735, + -0.1359938085079193, + 0.18249770998954773, + 0.0, + 0.993436336517334 + ], + [ + 0.24085071682929993, + -0.14077892899513245, + -0.013252482749521732, + 0.10888700932264328, + -0.15727004408836365, + 0.23040814697742462, + 0.0, + 0.9091293215751648 + ], + [ + 0.23365788161754608, + -0.13607552647590637, + -0.009448401629924774, + 0.09916120767593384, + -0.1197461262345314, + 0.27383702993392944, + 0.0, + 0.6049063205718994 + ], + [ + 0.22141098976135254, + -0.12320274114608765, + 0.034677840769290924, + 0.0730585902929306, + -0.024767182767391205, + 0.3166147470474243, + 0.0, + 0.5699762105941772 + ], + [ + 0.21153080463409424, + -0.09082791954278946, + 0.08455101400613785, + 0.11390870809555054, + 0.045994941145181656, + 0.34639909863471985, + 0.0, + 0.5699762105941772 + ], + [ + 0.2063802033662796, + -0.0574951209127903, + 0.1187843605875969, + 0.19816742837429047, + 0.05000029131770134, + 0.3347223401069641, + 0.0, + 0.5699762105941772 + ], + [ + 0.20490723848342896, + -0.020227815955877304, + 0.131469264626503, + 0.258248895406723, + 0.02209419384598732, + 0.26674968004226685, + 0.0, + 0.5699762105941772 + ], + [ + 0.20830513536930084, + 0.016139687970280647, + 0.13930539786815643, + 0.30837374925613403, + 0.0516662523150444, + 0.2111005187034607, + 0.0, + 0.5699762105941772 + ] + ], + "left_gripper_pos": [ + [ + 0.9927561283111572 + ], + [ + 0.9927561283111572 + ], + [ + 0.9927561283111572 + ], + [ + 0.9927561283111572 + ], + [ + 0.9927561283111572 + ], + [ + 0.9927561283111572 + ], + [ + 0.9927561283111572 + ], + [ + 0.9927561283111572 + ], + [ + 0.9927561283111572 + ], + [ + 0.9927561283111572 + ], + [ + 0.9927561283111572 + ], + [ + 0.9927561283111572 + ], + [ + 0.9927561283111572 + ], + [ + 0.993436336517334 + ], + [ + 0.9091293215751648 + ], + [ + 0.6049063205718994 + ], + [ + 0.5699762105941772 + ], + [ + 0.5699762105941772 + ], + [ + 0.5699762105941772 + ], + [ + 0.5699762105941772 + ], + [ + 0.5699762105941772 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.24965445697307587, + 0.21495270729064941, + 0.07043004781007767 + ], + [ + 0.2370411902666092, + 0.20295783877372742, + 0.05970367044210434 + ], + [ + 0.22667428851127625, + 0.16515199840068817, + 0.10204310715198517 + ], + [ + 0.21574530005455017, + 0.12503813207149506, + 0.1250384896993637 + ], + [ + 0.2057710438966751, + 0.07509557902812958, + 0.14526240527629852 + ], + [ + 0.20604325830936432, + 0.0274859257042408, + 0.15068602561950684 + ], + [ + 0.2172977775335312, + -0.023832904174923897, + 0.14990976452827454 + ], + [ + 0.2252168208360672, + -0.067081019282341, + 0.14342427253723145 + ], + [ + 0.23444399237632751, + -0.09867684543132782, + 0.1171426773071289 + ], + [ + 0.24208521842956543, + -0.12328442931175232, + 0.08881954848766327 + ], + [ + 0.2427392303943634, + -0.13255861401557922, + 0.054017942398786545 + ], + [ + 0.24099396169185638, + -0.1365438997745514, + 0.033850278705358505 + ], + [ + 0.23866282403469086, + -0.1312551498413086, + 0.010844215750694275 + ], + [ + 0.239915668964386, + -0.13802248239517212, + -0.003070751903578639 + ], + [ + 0.24085071682929993, + -0.14077892899513245, + -0.013252482749521732 + ], + [ + 0.23365788161754608, + -0.13607552647590637, + -0.009448401629924774 + ], + [ + 0.22141098976135254, + -0.12320274114608765, + 0.034677840769290924 + ], + [ + 0.21153080463409424, + -0.09082791954278946, + 0.08455101400613785 + ], + [ + 0.2063802033662796, + -0.0574951209127903, + 0.1187843605875969 + ], + [ + 0.20490723848342896, + -0.020227815955877304, + 0.131469264626503 + ], + [ + 0.20830513536930084, + 0.016139687970280647, + 0.13930539786815643 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.998563006280481, + -0.036307110789808604, + 0.03941720682880239, + -0.04222184293796249, + -0.985980831421582, + 0.16142836196941335, + 0.03300361293873822, + -0.16286065754288992, + -0.9860969362885615 + ], + [ + 0.9983080734061172, + -0.04978596182088275, + -0.03003911745933832, + -0.04491655304872263, + -0.9883613007385753, + 0.14534250054465292, + -0.0369255173882182, + -0.14374733808986084, + -0.9889252797647006 + ], + [ + 0.9947924244507648, + -0.09859133275500703, + -0.025841465921285334, + -0.08880319820812971, + -0.9628607424049843, + 0.2549768278164315, + -0.050020238337867826, + -0.2513542119020765, + -0.9666017980097642 + ], + [ + 0.9928055239214347, + -0.11368968674592722, + -0.03757454988017948, + -0.09693757838746514, + -0.9473630628047989, + 0.30513330386813664, + -0.07028725039051681, + -0.2992956437383002, + -0.9515680848325132 + ], + [ + 0.990447665747479, + -0.12036355408275473, + -0.06727582228362773, + -0.09554063313892106, + -0.9508381863363485, + 0.2945822988979784, + -0.0994253933096801, + -0.28534077565810945, + -0.9532550723243198 + ], + [ + 0.9883785594670084, + -0.10323692366260748, + -0.11157939226668215, + -0.07092577411940013, + -0.9624075883751232, + 0.2621853703079998, + -0.1344520648836789, + -0.2512245438460584, + -0.9585451845467978 + ], + [ + 0.9848022741837489, + -0.10171764458606752, + -0.14077642395791634, + -0.06229166273807152, + -0.9634881407611225, + 0.2604042076580216, + -0.1621241176254875, + -0.24767745838597852, + -0.9551814733816916 + ], + [ + 0.9868368600362305, + -0.07072941386953147, + -0.14543163922443206, + -0.0346942788520153, + -0.970941568356551, + 0.2367884664679834, + -0.15795353332157988, + -0.22862594089690091, + -0.9606148346034612 + ], + [ + 0.9952768663720775, + -0.0013686213003745208, + -0.09706743089375873, + 0.02040513731042603, + -0.9746128725916846, + 0.22296497247309494, + -0.09490832226902508, + -0.2238925533695158, + -0.9699817188533802 + ], + [ + 0.9960799277170775, + 0.06869492283435162, + -0.05572957182613242, + 0.079678728856184, + -0.9704025525941642, + 0.22796970431746666, + -0.038419757508400376, + -0.23151650804103135, + -0.9720720285747774 + ], + [ + 0.9899125147485006, + 0.14164681163205678, + 0.0030649467812673085, + 0.1376611141482949, + -0.9667237837894751, + 0.215625934217594, + 0.033505683036605914, + -0.21302888679761875, + -0.9764712297830478 + ], + [ + 0.9857597341015331, + 0.16489056202774938, + 0.032997714742808014, + 0.15373414278839204, + -0.9631925096252352, + 0.22051304438277447, + 0.06814367149774858, + -0.21230000460672183, + -0.9748257013839924 + ], + [ + 0.9814189228946262, + 0.18174118046654295, + 0.06153893976158473, + 0.1636767023484393, + -0.960325749732156, + 0.22579723538988128, + 0.1001340845701047, + -0.21152918882272614, + -0.9722286600297829 + ], + [ + 0.974313872085166, + 0.20056881684542632, + 0.10239447432179724, + 0.17981072041348123, + -0.9666299357749853, + 0.18246827693611029, + 0.13557501055429147, + -0.1593697492401679, + -0.9778653790478167 + ], + [ + 0.9615579459528808, + 0.24359307375280734, + 0.1267624983760429, + 0.22555642283168623, + -0.9639203879077652, + 0.14135694498367296, + 0.15662252933167212, + -0.10733079798176727, + -0.981809290600953 + ], + [ + 0.9558461598572147, + 0.2804847833803983, + 0.0876721448252897, + 0.26849094950464236, + -0.9548127522507917, + 0.12745673059263524, + 0.11946015536701396, + -0.09828984907567544, + -0.9879617284330245 + ], + [ + 0.9500034174666644, + 0.31223861524185703, + 0.000744280528732948, + 0.3112558736385165, + -0.9471970475709943, + 0.07705539694476136, + 0.024764650758324347, + -0.07297122874557078, + -0.9970265351775645 + ], + [ + 0.9396065992071788, + 0.3323971224726396, + -0.08155729089559535, + 0.3391539407459822, + -0.9362800288560758, + 0.09140192580977964, + -0.04597872554552295, + -0.11354232927492151, + -0.9924686877982773 + ], + [ + 0.9433211644819398, + 0.3127842043146311, + -0.11095594698663178, + 0.32809637943159947, + -0.9292491046726797, + 0.169849543034119, + -0.04997946022430628, + -0.19662691320438888, + -0.9792037124926564 + ], + [ + 0.9643973316330232, + 0.24941364277900202, + -0.08792395313458885, + 0.2635331340903436, + -0.9341315135134705, + 0.2407251600841804, + -0.022092396330547076, + -0.25532557697328656, + -0.9666026979931479 + ], + [ + 0.9764961271038571, + 0.18432569417998385, + -0.11171102101509361, + 0.20925650888961733, + -0.9349608028132279, + 0.28646118531168185, + -0.05164326905316055, + -0.30310449628455083, + -0.9515569542037888 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.012613266706466675, + -0.011994868516921997, + -0.010726377367973328, + -0.0193331241607666, + 0.06994351744651794, + -0.0027049221098423004, + 1.0 + ], + [ + -0.010366901755332947, + -0.037805840373039246, + 0.04233943670988083, + 0.11005845665931702, + 0.013107206672430038, + -0.044069722294807434, + 1.0 + ], + [ + -0.010928988456726074, + -0.040113866329193115, + 0.02299538254737854, + 0.05032753944396973, + 0.020304132252931595, + -0.00829944759607315, + 1.0 + ], + [ + -0.009974256157875061, + -0.04994255304336548, + 0.020223915576934814, + -0.013887345790863037, + 0.02924468368291855, + 0.0011669844388961792, + 1.0 + ], + [ + 0.000272214412689209, + -0.04760965332388878, + 0.005423620343208313, + -0.03452065587043762, + 0.03527054935693741, + 0.02452760934829712, + 1.0 + ], + [ + 0.01125451922416687, + -0.051318831741809845, + -0.0007762610912322998, + -0.002612978219985962, + 0.027982383966445923, + 0.00846812129020691, + 1.0 + ], + [ + 0.00791904330253601, + -0.043248116970062256, + -0.006485491991043091, + -0.0200585275888443, + -0.004225045442581177, + 0.02802622690796852, + 1.0 + ], + [ + 0.009227171540260315, + -0.031595826148986816, + -0.02628159523010254, + -0.006804272532463074, + -0.06356643885374069, + 0.05564168095588684, + 1.0 + ], + [ + 0.007641226053237915, + -0.0246075838804245, + -0.028323128819465637, + 0.00696370005607605, + -0.05662216991186142, + 0.05932324007153511, + 1.0 + ], + [ + 0.0006540119647979736, + -0.009274184703826904, + -0.034801606088876724, + -0.019015640020370483, + -0.07194116711616516, + 0.05835539847612381, + 1.0 + ], + [ + -0.001745268702507019, + -0.003985285758972168, + -0.02016766369342804, + -0.0003622323274612427, + -0.03468456491827965, + 0.01653100550174713, + 1.0 + ], + [ + -0.0023311376571655273, + 0.005288749933242798, + -0.02300606295466423, + -0.00020153820514678955, + -0.03210566192865372, + 0.010545894503593445, + 1.0 + ], + [ + 0.0012528449296951294, + -0.006767332553863525, + -0.013914967887103558, + -0.05267590284347534, + -0.035691626369953156, + 0.017243072390556335, + 1.0 + ], + [ + 0.0009350478649139404, + -0.002756446599960327, + -0.01018173061311245, + -0.052669771015644073, + -0.021276235580444336, + 0.04791043698787689, + 0.0 + ], + [ + -0.007192835211753845, + 0.004703402519226074, + 0.003804081119596958, + -0.009725801646709442, + 0.037523917853832245, + 0.04342888295650482, + 0.0 + ], + [ + -0.012246891856193542, + 0.012872785329818726, + 0.0441262423992157, + -0.026102617383003235, + 0.0949789434671402, + 0.04277771711349487, + 0.0 + ], + [ + -0.0098801851272583, + 0.03237482160329819, + 0.049873173236846924, + 0.040850117802619934, + 0.07076212763786316, + 0.029784351587295532, + 0.0 + ], + [ + -0.005150601267814636, + 0.03333279862999916, + 0.034233346581459045, + 0.08425872027873993, + 0.004005350172519684, + -0.011676758527755737, + 0.0 + ], + [ + -0.001472964882850647, + 0.037267304956912994, + 0.012684904038906097, + 0.060081467032432556, + -0.02790609747171402, + -0.06797266006469727, + 0.0 + ], + [ + 0.003397896885871887, + 0.0363675057888031, + 0.007836133241653442, + 0.05012485384941101, + 0.029572058469057083, + -0.05564916133880615, + 0.0 + ], + [ + 0.008771136403083801, + 0.015022093430161476, + -0.0006746649742126465, + -0.002890259027481079, + -0.03746407479047775, + -0.032452136278152466, + 0.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9927561283111572 + ], + [ + 0.9927561283111572 + ], + [ + 0.9927561283111572 + ], + [ + 0.9927561283111572 + ], + [ + 0.9927561283111572 + ], + [ + 0.9927561283111572 + ], + [ + 0.9927561283111572 + ], + [ + 0.9927561283111572 + ], + [ + 0.9927561283111572 + ], + [ + 0.9927561283111572 + ], + [ + 0.9927561283111572 + ], + [ + 0.9927561283111572 + ], + [ + 0.993436336517334 + ], + [ + 0.9091293215751648 + ], + [ + 0.6049063205718994 + ], + [ + 0.5699762105941772 + ], + [ + 0.5699762105941772 + ], + [ + 0.5699762105941772 + ], + [ + 0.5699762105941772 + ], + [ + 0.5699762105941772 + ], + [ + 0.5699762105941772 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2370411902666092, + 0.20295783877372742, + 0.05970367044210434 + ], + [ + 0.22667428851127625, + 0.16515199840068817, + 0.10204310715198517 + ], + [ + 0.21574530005455017, + 0.12503813207149506, + 0.1250384896993637 + ], + [ + 0.2057710438966751, + 0.07509557902812958, + 0.14526240527629852 + ], + [ + 0.20604325830936432, + 0.0274859257042408, + 0.15068602561950684 + ], + [ + 0.2172977775335312, + -0.023832904174923897, + 0.14990976452827454 + ], + [ + 0.2252168208360672, + -0.067081019282341, + 0.14342427253723145 + ], + [ + 0.23444399237632751, + -0.09867684543132782, + 0.1171426773071289 + ], + [ + 0.24208521842956543, + -0.12328442931175232, + 0.08881954848766327 + ], + [ + 0.2427392303943634, + -0.13255861401557922, + 0.054017942398786545 + ], + [ + 0.24099396169185638, + -0.1365438997745514, + 0.033850278705358505 + ], + [ + 0.23866282403469086, + -0.1312551498413086, + 0.010844215750694275 + ], + [ + 0.239915668964386, + -0.13802248239517212, + -0.003070751903578639 + ], + [ + 0.24085071682929993, + -0.14077892899513245, + -0.013252482749521732 + ], + [ + 0.23365788161754608, + -0.13607552647590637, + -0.009448401629924774 + ], + [ + 0.22141098976135254, + -0.12320274114608765, + 0.034677840769290924 + ], + [ + 0.21153080463409424, + -0.09082791954278946, + 0.08455101400613785 + ], + [ + 0.2063802033662796, + -0.0574951209127903, + 0.1187843605875969 + ], + [ + 0.20490723848342896, + -0.020227815955877304, + 0.131469264626503 + ], + [ + 0.20830513536930084, + 0.016139687970280647, + 0.13930539786815643 + ], + [ + 0.21707627177238464, + 0.031161781400442123, + 0.1386307328939438 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9983080734061172, + -0.04978596182088275, + -0.03003911745933832, + -0.04491655304872263, + -0.9883613007385753, + 0.14534250054465292, + -0.0369255173882182, + -0.14374733808986084, + -0.9889252797647006 + ], + [ + 0.9947924244507648, + -0.09859133275500703, + -0.025841465921285334, + -0.08880319820812971, + -0.9628607424049843, + 0.2549768278164315, + -0.050020238337867826, + -0.2513542119020765, + -0.9666017980097642 + ], + [ + 0.9928055239214347, + -0.11368968674592722, + -0.03757454988017948, + -0.09693757838746514, + -0.9473630628047989, + 0.30513330386813664, + -0.07028725039051681, + -0.2992956437383002, + -0.9515680848325132 + ], + [ + 0.990447665747479, + -0.12036355408275473, + -0.06727582228362773, + -0.09554063313892106, + -0.9508381863363485, + 0.2945822988979784, + -0.0994253933096801, + -0.28534077565810945, + -0.9532550723243198 + ], + [ + 0.9883785594670084, + -0.10323692366260748, + -0.11157939226668215, + -0.07092577411940013, + -0.9624075883751232, + 0.2621853703079998, + -0.1344520648836789, + -0.2512245438460584, + -0.9585451845467978 + ], + [ + 0.9848022741837489, + -0.10171764458606752, + -0.14077642395791634, + -0.06229166273807152, + -0.9634881407611225, + 0.2604042076580216, + -0.1621241176254875, + -0.24767745838597852, + -0.9551814733816916 + ], + [ + 0.9868368600362305, + -0.07072941386953147, + -0.14543163922443206, + -0.0346942788520153, + -0.970941568356551, + 0.2367884664679834, + -0.15795353332157988, + -0.22862594089690091, + -0.9606148346034612 + ], + [ + 0.9952768663720775, + -0.0013686213003745208, + -0.09706743089375873, + 0.02040513731042603, + -0.9746128725916846, + 0.22296497247309494, + -0.09490832226902508, + -0.2238925533695158, + -0.9699817188533802 + ], + [ + 0.9960799277170775, + 0.06869492283435162, + -0.05572957182613242, + 0.079678728856184, + -0.9704025525941642, + 0.22796970431746666, + -0.038419757508400376, + -0.23151650804103135, + -0.9720720285747774 + ], + [ + 0.9899125147485006, + 0.14164681163205678, + 0.0030649467812673085, + 0.1376611141482949, + -0.9667237837894751, + 0.215625934217594, + 0.033505683036605914, + -0.21302888679761875, + -0.9764712297830478 + ], + [ + 0.9857597341015331, + 0.16489056202774938, + 0.032997714742808014, + 0.15373414278839204, + -0.9631925096252352, + 0.22051304438277447, + 0.06814367149774858, + -0.21230000460672183, + -0.9748257013839924 + ], + [ + 0.9814189228946262, + 0.18174118046654295, + 0.06153893976158473, + 0.1636767023484393, + -0.960325749732156, + 0.22579723538988128, + 0.1001340845701047, + -0.21152918882272614, + -0.9722286600297829 + ], + [ + 0.974313872085166, + 0.20056881684542632, + 0.10239447432179724, + 0.17981072041348123, + -0.9666299357749853, + 0.18246827693611029, + 0.13557501055429147, + -0.1593697492401679, + -0.9778653790478167 + ], + [ + 0.9615579459528808, + 0.24359307375280734, + 0.1267624983760429, + 0.22555642283168623, + -0.9639203879077652, + 0.14135694498367296, + 0.15662252933167212, + -0.10733079798176727, + -0.981809290600953 + ], + [ + 0.9558461598572147, + 0.2804847833803983, + 0.0876721448252897, + 0.26849094950464236, + -0.9548127522507917, + 0.12745673059263524, + 0.11946015536701396, + -0.09828984907567544, + -0.9879617284330245 + ], + [ + 0.9500034174666644, + 0.31223861524185703, + 0.000744280528732948, + 0.3112558736385165, + -0.9471970475709943, + 0.07705539694476136, + 0.024764650758324347, + -0.07297122874557078, + -0.9970265351775645 + ], + [ + 0.9396065992071788, + 0.3323971224726396, + -0.08155729089559535, + 0.3391539407459822, + -0.9362800288560758, + 0.09140192580977964, + -0.04597872554552295, + -0.11354232927492151, + -0.9924686877982773 + ], + [ + 0.9433211644819398, + 0.3127842043146311, + -0.11095594698663178, + 0.32809637943159947, + -0.9292491046726797, + 0.169849543034119, + -0.04997946022430628, + -0.19662691320438888, + -0.9792037124926564 + ], + [ + 0.9643973316330232, + 0.24941364277900202, + -0.08792395313458885, + 0.2635331340903436, + -0.9341315135134705, + 0.2407251600841804, + -0.022092396330547076, + -0.25532557697328656, + -0.9666026979931479 + ], + [ + 0.9764961271038571, + 0.18432569417998385, + -0.11171102101509361, + 0.20925650888961733, + -0.9349608028132279, + 0.28646118531168185, + -0.05164326905316055, + -0.30310449628455083, + -0.9515569542037888 + ], + [ + 0.9839855293913695, + 0.1652691860487493, + -0.06677255492468814, + 0.17768170900712976, + -0.939282269088417, + 0.29356094641559627, + -0.014201698232685932, + -0.3007239849411729, + -0.9536054722202517 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006400.json b/json/chunk-0006/episode_0006400.json new file mode 100644 index 0000000000000000000000000000000000000000..e70cdac198ee6068d89765e9a02b52b40fa6e198 --- /dev/null +++ b/json/chunk-0006/episode_0006400.json @@ -0,0 +1,1282 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 20, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nTurn faucet left." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006400.mp4", + "start": 0, + "end": 20, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3231108784675598, + -0.09661579877138138, + 0.1219705194234848, + -0.46728837490081787, + -0.10280906409025192, + -1.1072314977645874, + 0.0, + 0.9994885921478271 + ], + [ + 0.33351966738700867, + -0.07890301197767258, + 0.09738326072692871, + -0.4255247116088867, + -0.15155799686908722, + -1.0357487201690674, + 0.0, + 0.9994885921478271 + ], + [ + 0.3479803204536438, + -0.016581207513809204, + 0.10647257417440414, + -0.334319144487381, + -0.256092369556427, + -0.9176543951034546, + 0.0, + 0.9994885921478271 + ], + [ + 0.3456439971923828, + 0.02668100968003273, + 0.13135860860347748, + -0.27560561895370483, + -0.3467002511024475, + -0.9158739447593689, + 0.0, + 0.9994885921478271 + ], + [ + 0.35316309332847595, + 0.07378826290369034, + 0.13389122486114502, + -0.2922515273094177, + -0.31833791732788086, + -0.943044900894165, + 0.0, + 0.9994885921478271 + ], + [ + 0.36742302775382996, + 0.0722094178199768, + 0.12819327414035797, + -0.3386366665363312, + -0.24838513135910034, + -1.0329768657684326, + 0.0, + 0.9994885921478271 + ], + [ + 0.37727090716362, + 0.042363084852695465, + 0.12434573471546173, + -0.3568395674228668, + -0.17620103061199188, + -1.0906771421432495, + 0.0, + 0.9988223910331726 + ], + [ + 0.37531352043151855, + 0.038877617567777634, + 0.12155984342098236, + -0.3531527519226074, + -0.16096341609954834, + -1.1029716730117798, + 0.0, + 0.9988223910331726 + ], + [ + 0.3642563223838806, + 0.022269977256655693, + 0.12168728560209274, + -0.36144182085990906, + -0.1377258598804474, + -1.101104974746704, + 0.0, + 0.9988223910331726 + ], + [ + 0.3376539349555969, + -0.04400248825550079, + 0.10772906243801117, + -0.4870671033859253, + -0.06653527915477753, + -1.213186264038086, + 0.0, + 0.9988223910331726 + ], + [ + 0.30926838517189026, + -0.08390644192695618, + 0.1212911456823349, + -0.5278507471084595, + 0.030792199075222015, + -1.3645938634872437, + 0.0, + 0.9988223910331726 + ], + [ + 0.28987500071525574, + -0.11318345367908478, + 0.1553705781698227, + -0.4538724720478058, + 0.04121954366564751, + -1.497300624847412, + 0.0, + 0.9988223910331726 + ], + [ + 0.2927054166793823, + -0.10537455976009369, + 0.155220165848732, + -0.45104989409446716, + 0.04828226566314697, + -1.4751617908477783, + 0.0, + 0.9988223910331726 + ], + [ + 0.29176557064056396, + -0.10858438163995743, + 0.15511827170848846, + -0.4496256113052368, + 0.04774204269051552, + -1.4856382608413696, + 0.0, + 0.9988223910331726 + ], + [ + 0.2922000586986542, + -0.10746226459741592, + 0.15514765679836273, + -0.45019006729125977, + 0.04632944613695145, + -1.480863332748413, + 0.0, + 0.9988223910331726 + ], + [ + 0.2920348644256592, + -0.10791036486625671, + 0.15514765679836273, + -0.45019006729125977, + 0.04632944613695145, + -1.4823973178863525, + 0.0, + 0.9988223910331726 + ], + [ + 0.2922000586986542, + -0.10746226459741592, + 0.15514765679836273, + -0.45019006729125977, + 0.04632944613695145, + -1.480863332748413, + 0.0, + 0.9988223910331726 + ], + [ + 0.2922000586986542, + -0.10746226459741592, + 0.15514765679836273, + -0.45019006729125977, + 0.04632944613695145, + -1.480863332748413, + 0.0, + 0.9988223910331726 + ], + [ + 0.2920348644256592, + -0.10791036486625671, + 0.15514765679836273, + -0.45019006729125977, + 0.04632944613695145, + -1.4823973178863525, + 0.0, + 0.9988223910331726 + ], + [ + 0.291991263628006, + -0.10739018768072128, + 0.15524955093860626, + -0.45161399245262146, + 0.04686952382326126, + -1.4811251163482666, + 0.0, + 0.9988223910331726 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3231108784675598, + -0.09661579877138138, + 0.1219705194234848 + ], + [ + 0.33351966738700867, + -0.07890301197767258, + 0.09738326072692871 + ], + [ + 0.3479803204536438, + -0.016581207513809204, + 0.10647257417440414 + ], + [ + 0.3456439971923828, + 0.02668100968003273, + 0.13135860860347748 + ], + [ + 0.35316309332847595, + 0.07378826290369034, + 0.13389122486114502 + ], + [ + 0.36742302775382996, + 0.0722094178199768, + 0.12819327414035797 + ], + [ + 0.37727090716362, + 0.042363084852695465, + 0.12434573471546173 + ], + [ + 0.37531352043151855, + 0.038877617567777634, + 0.12155984342098236 + ], + [ + 0.3642563223838806, + 0.022269977256655693, + 0.12168728560209274 + ], + [ + 0.3376539349555969, + -0.04400248825550079, + 0.10772906243801117 + ], + [ + 0.30926838517189026, + -0.08390644192695618, + 0.1212911456823349 + ], + [ + 0.28987500071525574, + -0.11318345367908478, + 0.1553705781698227 + ], + [ + 0.2927054166793823, + -0.10537455976009369, + 0.155220165848732 + ], + [ + 0.29176557064056396, + -0.10858438163995743, + 0.15511827170848846 + ], + [ + 0.2922000586986542, + -0.10746226459741592, + 0.15514765679836273 + ], + [ + 0.2920348644256592, + -0.10791036486625671, + 0.15514765679836273 + ], + [ + 0.2922000586986542, + -0.10746226459741592, + 0.15514765679836273 + ], + [ + 0.2922000586986542, + -0.10746226459741592, + 0.15514765679836273 + ], + [ + 0.2920348644256592, + -0.10791036486625671, + 0.15514765679836273 + ], + [ + 0.291991263628006, + -0.10739018768072128, + 0.15524955093860626 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.44477856770091173, + -0.8192429519649753, + -0.3619571954936638, + -0.8897412596694063, + -0.35785151886043853, + -0.2833774537453097, + 0.10262804955675353, + 0.4480884690605082, + -0.8880789420649419 + ], + [ + 0.5040372434996474, + -0.8153074486648583, + -0.28499161622208613, + -0.8503834217446927, + -0.41079824208073606, + -0.3287747562164179, + 0.15097845272443766, + 0.4080668676270797, + -0.9003815515424326 + ], + [ + 0.587866341000409, + -0.8007156511665686, + -0.11518511664138435, + -0.7682780147724794, + -0.5080313336528351, + -0.3894265733667647, + 0.25330230385065455, + 0.3174249675180264, + -0.9138267521035544 + ], + [ + 0.5728558099507987, + -0.8194866966023103, + -0.01666658625654513, + -0.7459053076542667, + -0.5127742271249038, + -0.42507395122454966, + 0.3397962522141874, + 0.2559377777669604, + -0.9050051717492567 + ], + [ + 0.5578172881700321, + -0.8279938512927785, + -0.0571494115453868, + -0.7686859713336323, + -0.4894393443386745, + -0.411790001928409, + 0.31298841910444886, + 0.27363353309614846, + -0.9094849856219822 + ], + [ + 0.496543455928625, + -0.8518892260684531, + -0.16652129858654657, + -0.8324708984001424, + -0.41303339858418014, + -0.36931776963864266, + 0.24583897105893815, + 0.3220064567093242, + -0.9142620205095412 + ], + [ + 0.45473339517008216, + -0.8593494875919221, + -0.23395725569554604, + -0.8732071405758863, + -0.37847992037973566, + -0.30702156197347685, + 0.17529069845366713, + 0.3439061035295101, + -0.9224975680134748 + ], + [ + 0.44511652129342727, + -0.8624653991021948, + -0.2408832036965839, + -0.8810136503819853, + -0.373642082146197, + -0.2901836354622078, + 0.16026924318860075, + 0.34138692095765266, + -0.9261580534049286 + ], + [ + 0.4483252073454929, + -0.8560668566665486, + -0.2572042872420202, + -0.8832642450706445, + -0.3800751957440062, + -0.2745671483625449, + 0.13729086582291328, + 0.3502747243196549, + -0.9265305368223891 + ], + [ + 0.3492619845894106, + -0.83869484045676, + -0.4178600611590878, + -0.9346633894097685, + -0.2801812300422212, + -0.21886714424296755, + 0.06648619870101136, + 0.46700047422164165, + -0.8817540147110485 + ], + [ + 0.20464723990165562, + -0.8424155313281305, + -0.4984531871477781, + -0.9783514947643777, + -0.19205526771593723, + -0.07709167811682349, + -0.030787333319767574, + 0.5034390198620915, + -0.8634820747342438 + ], + [ + 0.073367182423134, + -0.8950029944563083, + -0.4399851093588648, + -0.9964532943410715, + -0.08401403381685835, + 0.004740708664952298, + -0.04120787230756709, + 0.4380767992442209, + -0.8979925552162569 + ], + [ + 0.0953775451884179, + -0.893868487143762, + -0.43806649217345245, + -0.9942704650122408, + -0.1068814236781036, + 0.0016135913002535418, + -0.04826350876359742, + 0.4354026745024241, + -0.8989411241888773 + ], + [ + 0.08495826219067104, + -0.8955820651648615, + -0.4367091231478715, + -0.995240936788299, + -0.0972685339317767, + 0.005857477913882525, + -0.04772390832999768, + 0.4341331556813006, + -0.8995836991141544 + ], + [ + 0.0897154446446059, + -0.894915892246123, + -0.4371231917864188, + -0.9948900726594062, + -0.10093435043000054, + 0.002449536085761067, + -0.04631287419262867, + 0.43466976281839464, + -0.8993983071895447 + ], + [ + 0.08818919310264228, + -0.8950696710611259, + -0.4371189199364778, + -0.9950265242213008, + -0.09956144453516413, + 0.0031200734204203384, + -0.04631287419262867, + 0.43466976281839464, + -0.8993983071895446 + ], + [ + 0.0897154446446059, + -0.894915892246123, + -0.4371231917864188, + -0.9948900726594062, + -0.10093435043000054, + 0.002449536085761067, + -0.04631287419262867, + 0.43466976281839464, + -0.8993983071895447 + ], + [ + 0.0897154446446059, + -0.894915892246123, + -0.4371231917864188, + -0.9948900726594062, + -0.10093435043000054, + 0.002449536085761067, + -0.04631287419262867, + 0.43466976281839464, + -0.8993983071895447 + ], + [ + 0.08818919310264228, + -0.8950696710611259, + -0.4371189199364778, + -0.9950265242213008, + -0.09956144453516413, + 0.0031200734204203384, + -0.04631287419262867, + 0.43466976281839464, + -0.8993983071895446 + ], + [ + 0.08945274272159232, + -0.8942978634390429, + -0.4384398912826566, + -0.9948884674467736, + -0.1009381194267942, + 0.0029040296128544363, + -0.046852365585898864, + 0.4359390180919177, + -0.8987558224256798 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + 0.010408788919448853, + 0.0177127867937088, + -0.02458725869655609, + 0.04176366329193115, + -0.0487489327788353, + 0.07148277759552002, + 1.0 + ], + [ + 0.014460653066635132, + 0.06232180446386337, + 0.009089313447475433, + 0.09120556712150574, + -0.10453437268733978, + 0.11809432506561279, + 1.0 + ], + [ + -0.0023363232612609863, + 0.043262217193841934, + 0.024886034429073334, + 0.05871352553367615, + -0.09060788154602051, + 0.0017804503440856934, + 1.0 + ], + [ + 0.00751909613609314, + 0.04710725322365761, + 0.0025326162576675415, + -0.01664590835571289, + 0.02836233377456665, + -0.027170956134796143, + 1.0 + ], + [ + 0.014259934425354004, + -0.0015788450837135315, + -0.005697950720787048, + -0.04638513922691345, + 0.06995278596878052, + -0.08993196487426758, + 1.0 + ], + [ + 0.009847879409790039, + -0.02984633296728134, + -0.0038475394248962402, + -0.018202900886535645, + 0.07218410074710846, + -0.057700276374816895, + 1.0 + ], + [ + -0.0019573867321014404, + -0.0034854672849178314, + -0.00278589129447937, + 0.0036868155002593994, + 0.015237614512443542, + -0.012294530868530273, + 1.0 + ], + [ + -0.01105719804763794, + -0.01660764031112194, + 0.00012744218111038208, + -0.008289068937301636, + 0.023237556219100952, + 0.0018666982650756836, + 1.0 + ], + [ + -0.02660238742828369, + -0.06627246737480164, + -0.013958223164081573, + -0.12562528252601624, + 0.07119058072566986, + -0.11208128929138184, + 1.0 + ], + [ + -0.028385549783706665, + -0.03990395367145538, + 0.01356208324432373, + -0.04078364372253418, + 0.09732747822999954, + -0.15140759944915771, + 1.0 + ], + [ + -0.01939338445663452, + -0.0292770117521286, + 0.03407943248748779, + 0.07397827506065369, + 0.010427344590425491, + -0.13270676136016846, + 1.0 + ], + [ + 0.002830415964126587, + 0.007808893918991089, + -0.00015041232109069824, + 0.002822577953338623, + 0.007062721997499466, + 0.02213883399963379, + 1.0 + ], + [ + -0.0009398460388183594, + -0.003209821879863739, + -0.00010189414024353027, + 0.0014242827892303467, + -0.0005402229726314545, + -0.010476469993591309, + 1.0 + ], + [ + 0.00043448805809020996, + 0.001122117042541504, + 2.9385089874267578e-05, + -0.0005644559860229492, + -0.0014125965535640717, + 0.004774928092956543, + 1.0 + ], + [ + -0.00016519427299499512, + -0.0004481002688407898, + 0.0, + 0.0, + 0.0, + -0.0015339851379394531, + 1.0 + ], + [ + 0.00016519427299499512, + 0.0004481002688407898, + 0.0, + 0.0, + 0.0, + 0.0015339851379394531, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + -0.00016519427299499512, + -0.0004481002688407898, + 0.0, + 0.0, + 0.0, + -0.0015339851379394531, + 1.0 + ], + [ + -4.360079765319824e-05, + 0.0005201771855354309, + 0.00010189414024353027, + -0.0014239251613616943, + 0.0005400776863098145, + 0.0012722015380859375, + 1.0 + ], + [ + 0.00020879507064819336, + -7.207691669464111e-05, + -0.00010189414024353027, + 0.0014239251613616943, + -0.0005400776863098145, + 0.0002617835998535156, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.33351966738700867, + -0.07890301197767258, + 0.09738326072692871 + ], + [ + 0.3479803204536438, + -0.016581207513809204, + 0.10647257417440414 + ], + [ + 0.3456439971923828, + 0.02668100968003273, + 0.13135860860347748 + ], + [ + 0.35316309332847595, + 0.07378826290369034, + 0.13389122486114502 + ], + [ + 0.36742302775382996, + 0.0722094178199768, + 0.12819327414035797 + ], + [ + 0.37727090716362, + 0.042363084852695465, + 0.12434573471546173 + ], + [ + 0.37531352043151855, + 0.038877617567777634, + 0.12155984342098236 + ], + [ + 0.3642563223838806, + 0.022269977256655693, + 0.12168728560209274 + ], + [ + 0.3376539349555969, + -0.04400248825550079, + 0.10772906243801117 + ], + [ + 0.30926838517189026, + -0.08390644192695618, + 0.1212911456823349 + ], + [ + 0.28987500071525574, + -0.11318345367908478, + 0.1553705781698227 + ], + [ + 0.2927054166793823, + -0.10537455976009369, + 0.155220165848732 + ], + [ + 0.29176557064056396, + -0.10858438163995743, + 0.15511827170848846 + ], + [ + 0.2922000586986542, + -0.10746226459741592, + 0.15514765679836273 + ], + [ + 0.2920348644256592, + -0.10791036486625671, + 0.15514765679836273 + ], + [ + 0.2922000586986542, + -0.10746226459741592, + 0.15514765679836273 + ], + [ + 0.2922000586986542, + -0.10746226459741592, + 0.15514765679836273 + ], + [ + 0.2920348644256592, + -0.10791036486625671, + 0.15514765679836273 + ], + [ + 0.291991263628006, + -0.10739018768072128, + 0.15524955093860626 + ], + [ + 0.2922000586986542, + -0.10746226459741592, + 0.15514765679836273 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.5040372434996474, + -0.8153074486648583, + -0.28499161622208613, + -0.8503834217446927, + -0.41079824208073606, + -0.3287747562164179, + 0.15097845272443766, + 0.4080668676270797, + -0.9003815515424326 + ], + [ + 0.587866341000409, + -0.8007156511665686, + -0.11518511664138435, + -0.7682780147724794, + -0.5080313336528351, + -0.3894265733667647, + 0.25330230385065455, + 0.3174249675180264, + -0.9138267521035544 + ], + [ + 0.5728558099507987, + -0.8194866966023103, + -0.01666658625654513, + -0.7459053076542667, + -0.5127742271249038, + -0.42507395122454966, + 0.3397962522141874, + 0.2559377777669604, + -0.9050051717492567 + ], + [ + 0.5578172881700321, + -0.8279938512927785, + -0.0571494115453868, + -0.7686859713336323, + -0.4894393443386745, + -0.411790001928409, + 0.31298841910444886, + 0.27363353309614846, + -0.9094849856219822 + ], + [ + 0.496543455928625, + -0.8518892260684531, + -0.16652129858654657, + -0.8324708984001424, + -0.41303339858418014, + -0.36931776963864266, + 0.24583897105893815, + 0.3220064567093242, + -0.9142620205095412 + ], + [ + 0.45473339517008216, + -0.8593494875919221, + -0.23395725569554604, + -0.8732071405758863, + -0.37847992037973566, + -0.30702156197347685, + 0.17529069845366713, + 0.3439061035295101, + -0.9224975680134748 + ], + [ + 0.44511652129342727, + -0.8624653991021948, + -0.2408832036965839, + -0.8810136503819853, + -0.373642082146197, + -0.2901836354622078, + 0.16026924318860075, + 0.34138692095765266, + -0.9261580534049286 + ], + [ + 0.4483252073454929, + -0.8560668566665486, + -0.2572042872420202, + -0.8832642450706445, + -0.3800751957440062, + -0.2745671483625449, + 0.13729086582291328, + 0.3502747243196549, + -0.9265305368223891 + ], + [ + 0.3492619845894106, + -0.83869484045676, + -0.4178600611590878, + -0.9346633894097685, + -0.2801812300422212, + -0.21886714424296755, + 0.06648619870101136, + 0.46700047422164165, + -0.8817540147110485 + ], + [ + 0.20464723990165562, + -0.8424155313281305, + -0.4984531871477781, + -0.9783514947643777, + -0.19205526771593723, + -0.07709167811682349, + -0.030787333319767574, + 0.5034390198620915, + -0.8634820747342438 + ], + [ + 0.073367182423134, + -0.8950029944563083, + -0.4399851093588648, + -0.9964532943410715, + -0.08401403381685835, + 0.004740708664952298, + -0.04120787230756709, + 0.4380767992442209, + -0.8979925552162569 + ], + [ + 0.0953775451884179, + -0.893868487143762, + -0.43806649217345245, + -0.9942704650122408, + -0.1068814236781036, + 0.0016135913002535418, + -0.04826350876359742, + 0.4354026745024241, + -0.8989411241888773 + ], + [ + 0.08495826219067104, + -0.8955820651648615, + -0.4367091231478715, + -0.995240936788299, + -0.0972685339317767, + 0.005857477913882525, + -0.04772390832999768, + 0.4341331556813006, + -0.8995836991141544 + ], + [ + 0.0897154446446059, + -0.894915892246123, + -0.4371231917864188, + -0.9948900726594062, + -0.10093435043000054, + 0.002449536085761067, + -0.04631287419262867, + 0.43466976281839464, + -0.8993983071895447 + ], + [ + 0.08818919310264228, + -0.8950696710611259, + -0.4371189199364778, + -0.9950265242213008, + -0.09956144453516413, + 0.0031200734204203384, + -0.04631287419262867, + 0.43466976281839464, + -0.8993983071895446 + ], + [ + 0.0897154446446059, + -0.894915892246123, + -0.4371231917864188, + -0.9948900726594062, + -0.10093435043000054, + 0.002449536085761067, + -0.04631287419262867, + 0.43466976281839464, + -0.8993983071895447 + ], + [ + 0.0897154446446059, + -0.894915892246123, + -0.4371231917864188, + -0.9948900726594062, + -0.10093435043000054, + 0.002449536085761067, + -0.04631287419262867, + 0.43466976281839464, + -0.8993983071895447 + ], + [ + 0.08818919310264228, + -0.8950696710611259, + -0.4371189199364778, + -0.9950265242213008, + -0.09956144453516413, + 0.0031200734204203384, + -0.04631287419262867, + 0.43466976281839464, + -0.8993983071895446 + ], + [ + 0.08945274272159232, + -0.8942978634390429, + -0.4384398912826566, + -0.9948884674467736, + -0.1009381194267942, + 0.0029040296128544363, + -0.046852365585898864, + 0.4359390180919177, + -0.8987558224256798 + ], + [ + 0.0897154446446059, + -0.894915892246123, + -0.4371231917864188, + -0.9948900726594062, + -0.10093435043000054, + 0.002449536085761067, + -0.04631287419262867, + 0.43466976281839464, + -0.8993983071895447 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006401.json b/json/chunk-0006/episode_0006401.json new file mode 100644 index 0000000000000000000000000000000000000000..c701ce65d78680a95a7d5581b4e009d41d1fe903 --- /dev/null +++ b/json/chunk-0006/episode_0006401.json @@ -0,0 +1,2182 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 35, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nClose microwave." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006401.mp4", + "start": 0, + "end": 35, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.28806790709495544, + -0.013802162371575832, + 0.0529632568359375, + -0.1284743696451187, + -0.14364664256572723, + -0.00019685094594024122, + 0.0, + 1.0067112445831299 + ], + [ + 0.28344276547431946, + -0.013492771424353123, + 0.04716239497065544, + -0.12836213409900665, + -0.11391355097293854, + -0.006976652890443802, + 0.0, + 1.0067112445831299 + ], + [ + 0.27516379952430725, + -0.007807849440723658, + 0.056768544018268585, + -0.12809507548809052, + -0.08726087957620621, + -0.03193880617618561, + 0.0, + 1.0067112445831299 + ], + [ + 0.27097055315971375, + 0.0026536788791418076, + 0.07832613587379456, + -0.05792152136564255, + -0.10109353810548782, + -0.045348845422267914, + 0.0, + 1.0067112445831299 + ], + [ + 0.25995954871177673, + 0.016092808917164803, + 0.10839657485485077, + -0.011446142569184303, + -0.08278115838766098, + -0.0827406793832779, + 0.0, + 1.0067112445831299 + ], + [ + 0.24848486483097076, + 0.032605309039354324, + 0.13630087673664093, + 0.0442807711660862, + -0.05845588073134422, + -0.09172823280096054, + 0.0, + 1.0067112445831299 + ], + [ + 0.2352120727300644, + 0.04842613637447357, + 0.15868379175662994, + 0.08962351083755493, + 0.0030802576802670956, + -0.13935232162475586, + 0.0, + 1.0067112445831299 + ], + [ + 0.22359144687652588, + 0.059775322675704956, + 0.17559051513671875, + 0.1301003396511078, + 0.03840811178088188, + -0.19363343715667725, + 0.0, + 1.0067112445831299 + ], + [ + 0.21663157641887665, + 0.07389947772026062, + 0.1823442131280899, + 0.15096540749073029, + 0.07714100927114487, + -0.2479073703289032, + 0.0, + 1.0067112445831299 + ], + [ + 0.21028250455856323, + 0.0888734981417656, + 0.18849606812000275, + 0.1895865947008133, + 0.09792029112577438, + -0.31408268213272095, + 0.0, + 1.0067112445831299 + ], + [ + 0.20460155606269836, + 0.11018602550029755, + 0.18805859982967377, + 0.19956104457378387, + 0.11951187252998352, + -0.3778817355632782, + 0.0, + 1.0067112445831299 + ], + [ + 0.19663824141025543, + 0.1268005222082138, + 0.18490619957447052, + 0.18534870445728302, + 0.16495738923549652, + -0.3946983516216278, + 0.0, + 1.0067112445831299 + ], + [ + 0.19386063516139984, + 0.1378728300333023, + 0.1813344806432724, + 0.2118273377418518, + 0.18140989542007446, + -0.38616859912872314, + 0.0, + 1.0067112445831299 + ], + [ + 0.18936006724834442, + 0.14748835563659668, + 0.16256877779960632, + 0.19837680459022522, + 0.16583998501300812, + -0.38087308406829834, + 0.0, + 1.0067112445831299 + ], + [ + 0.18650156259536743, + 0.14874643087387085, + 0.13235066831111908, + 0.1502273827791214, + 0.09899958968162537, + -0.3677695393562317, + 0.0, + 1.0067112445831299 + ], + [ + 0.19062493741512299, + 0.14511646330356598, + 0.10886272042989731, + 0.11174336075782776, + 0.03593846410512924, + -0.3414788544178009, + 0.0, + 1.0067112445831299 + ], + [ + 0.20360860228538513, + 0.1301223337650299, + 0.09300287812948227, + 0.0793817862868309, + -0.029117848724126816, + -0.33918407559394836, + 0.0, + 1.0067112445831299 + ], + [ + 0.2164081186056137, + 0.1114119365811348, + 0.08393798023462296, + 0.055221863090991974, + -0.08054210245609283, + -0.33340346813201904, + 0.0, + 1.0067112445831299 + ], + [ + 0.23095548152923584, + 0.09307500720024109, + 0.07490833103656769, + 0.010953952558338642, + -0.14720021188259125, + -0.30962443351745605, + 0.0, + 1.0067112445831299 + ], + [ + 0.24525873363018036, + 0.08074714988470078, + 0.07232538610696793, + -0.010218282230198383, + -0.21584489941596985, + -0.2811853289604187, + 0.0, + 1.0067112445831299 + ], + [ + 0.2665967643260956, + 0.06785725057125092, + 0.06480646133422852, + -0.03242458403110504, + -0.34136641025543213, + -0.27319520711898804, + 0.0, + 1.0067112445831299 + ], + [ + 0.2824430763721466, + 0.06285110116004944, + 0.06356565654277802, + -0.03923396021127701, + -0.4408137798309326, + -0.30497071146965027, + 0.0, + 1.0067112445831299 + ], + [ + 0.3011448085308075, + 0.05930164083838463, + 0.07012489438056946, + -0.025415150448679924, + -0.5117194056510925, + -0.3115626573562622, + 0.0, + 1.0067112445831299 + ], + [ + 0.3182743489742279, + 0.05322059988975525, + 0.07303722202777863, + -0.011487327516078949, + -0.5581602454185486, + -0.3390153646469116, + 0.0, + 1.0067112445831299 + ], + [ + 0.33493396639823914, + 0.05226562172174454, + 0.07281704992055893, + 0.007890191860496998, + -0.5801550149917603, + -0.39298325777053833, + 0.0, + 1.0067112445831299 + ], + [ + 0.3441479206085205, + 0.050131186842918396, + 0.07496688514947891, + 0.023418273776769638, + -0.5830985307693481, + -0.4210604429244995, + 0.0, + 1.0067112445831299 + ], + [ + 0.3481297791004181, + 0.04695155844092369, + 0.07525388151407242, + 0.025988014414906502, + -0.5776942372322083, + -0.43182775378227234, + 0.0, + 1.0067112445831299 + ], + [ + 0.34827134013175964, + 0.0456971637904644, + 0.07333199679851532, + 0.03078131005167961, + -0.5627914071083069, + -0.4336901307106018, + 0.0, + 1.0067112445831299 + ], + [ + 0.33329829573631287, + 0.03857883810997009, + 0.07336066663265228, + 0.02274203673005104, + -0.47061052918434143, + -0.3768227696418762, + 0.0, + 1.0067112445831299 + ], + [ + 0.3098744750022888, + 0.03399284556508064, + 0.07749909907579422, + 0.00924662034958601, + -0.342904269695282, + -0.30397483706474304, + 0.0, + 1.0067112445831299 + ], + [ + 0.2968640625476837, + 0.03500053286552429, + 0.07522113621234894, + -0.02803191728889942, + -0.2650353014469147, + -0.21776951849460602, + 0.0, + 1.0067112445831299 + ], + [ + 0.28603631258010864, + 0.02868630923330784, + 0.07421304285526276, + -0.052346035838127136, + -0.17485439777374268, + -0.1337478905916214, + 0.0, + 1.0067112445831299 + ], + [ + 0.2832973301410675, + 0.022320739924907684, + 0.07343386113643646, + -0.04281243681907654, + -0.14694438874721527, + -0.11804787814617157, + 0.0, + 1.0067112445831299 + ], + [ + 0.28306007385253906, + 0.02227676659822464, + 0.07340304553508759, + -0.043704062700271606, + -0.145346537232399, + -0.11501386016607285, + 0.0, + 1.0067112445831299 + ], + [ + 0.28306007385253906, + 0.02227676659822464, + 0.07340304553508759, + -0.043704062700271606, + -0.145346537232399, + -0.11501386016607285, + 0.0, + 1.0067112445831299 + ] + ], + "left_gripper_pos": [ + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.28806790709495544, + -0.013802162371575832, + 0.0529632568359375 + ], + [ + 0.28344276547431946, + -0.013492771424353123, + 0.04716239497065544 + ], + [ + 0.27516379952430725, + -0.007807849440723658, + 0.056768544018268585 + ], + [ + 0.27097055315971375, + 0.0026536788791418076, + 0.07832613587379456 + ], + [ + 0.25995954871177673, + 0.016092808917164803, + 0.10839657485485077 + ], + [ + 0.24848486483097076, + 0.032605309039354324, + 0.13630087673664093 + ], + [ + 0.2352120727300644, + 0.04842613637447357, + 0.15868379175662994 + ], + [ + 0.22359144687652588, + 0.059775322675704956, + 0.17559051513671875 + ], + [ + 0.21663157641887665, + 0.07389947772026062, + 0.1823442131280899 + ], + [ + 0.21028250455856323, + 0.0888734981417656, + 0.18849606812000275 + ], + [ + 0.20460155606269836, + 0.11018602550029755, + 0.18805859982967377 + ], + [ + 0.19663824141025543, + 0.1268005222082138, + 0.18490619957447052 + ], + [ + 0.19386063516139984, + 0.1378728300333023, + 0.1813344806432724 + ], + [ + 0.18936006724834442, + 0.14748835563659668, + 0.16256877779960632 + ], + [ + 0.18650156259536743, + 0.14874643087387085, + 0.13235066831111908 + ], + [ + 0.19062493741512299, + 0.14511646330356598, + 0.10886272042989731 + ], + [ + 0.20360860228538513, + 0.1301223337650299, + 0.09300287812948227 + ], + [ + 0.2164081186056137, + 0.1114119365811348, + 0.08393798023462296 + ], + [ + 0.23095548152923584, + 0.09307500720024109, + 0.07490833103656769 + ], + [ + 0.24525873363018036, + 0.08074714988470078, + 0.07232538610696793 + ], + [ + 0.2665967643260956, + 0.06785725057125092, + 0.06480646133422852 + ], + [ + 0.2824430763721466, + 0.06285110116004944, + 0.06356565654277802 + ], + [ + 0.3011448085308075, + 0.05930164083838463, + 0.07012489438056946 + ], + [ + 0.3182743489742279, + 0.05322059988975525, + 0.07303722202777863 + ], + [ + 0.33493396639823914, + 0.05226562172174454, + 0.07281704992055893 + ], + [ + 0.3441479206085205, + 0.050131186842918396, + 0.07496688514947891 + ], + [ + 0.3481297791004181, + 0.04695155844092369, + 0.07525388151407242 + ], + [ + 0.34827134013175964, + 0.0456971637904644, + 0.07333199679851532 + ], + [ + 0.33329829573631287, + 0.03857883810997009, + 0.07336066663265228 + ], + [ + 0.3098744750022888, + 0.03399284556508064, + 0.07749909907579422 + ], + [ + 0.2968640625476837, + 0.03500053286552429, + 0.07522113621234894 + ], + [ + 0.28603631258010864, + 0.02868630923330784, + 0.07421304285526276 + ], + [ + 0.2832973301410675, + 0.022320739924907684, + 0.07343386113643646 + ], + [ + 0.28306007385253906, + 0.02227676659822464, + 0.07340304553508759 + ], + [ + 0.28306007385253906, + 0.02227676659822464, + 0.07340304553508759 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9897005303633845, + -0.018536185731450064, + 0.14194812438691917, + -0.0001948234881160773, + -0.9917548838170839, + -0.1281491805232103, + 0.1431531426209134, + 0.1268016571007298, + -0.9815439457886055 + ], + [ + 0.9934946854159461, + -0.02146939353074622, + 0.11183637687126831, + -0.0069313800276166095, + -0.9916472371513242, + -0.12879329571471584, + 0.11366734808722846, + 0.12718027438076804, + -0.9853450724427709 + ], + [ + 0.9956871248117642, + -0.04279907453087337, + 0.08231274933679975, + -0.03181187579109276, + -0.9909457014257038, + -0.1304401065032219, + 0.08715018096787963, + 0.12725901164640774, + -0.9880333951400859 + ], + [ + 0.993871565025818, + -0.051093528980616296, + 0.09802430070874205, + -0.04510184979696778, + -0.9970318102818234, + -0.06239705466639914, + 0.10092143170814968, + 0.05759358108727715, + -0.9932259783350013 + ], + [ + 0.9931662535763006, + -0.08358407513525196, + 0.08145241028355044, + -0.08236328997717773, + -0.9964354417828643, + -0.018240033528570336, + 0.08268664475809023, + 0.011406697277152194, + -0.9965103140639723 + ], + [ + 0.9940950369760576, + -0.08893458347185527, + 0.0621747321848531, + -0.09144319473100461, + -0.9950566931473731, + 0.038733958744260326, + 0.05842259491804666, + -0.04419069229263214, + -0.9973133826023491 + ], + [ + 0.9903014695700947, + -0.13861728300256565, + 0.009394052389554281, + -0.13890108498475268, + -0.9862932801595046, + 0.08906208004680746, + -0.003080252809361742, + -0.08950315282263552, + -0.9959817757757612 + ], + [ + 0.9805878294574125, + -0.1956879793687725, + -0.012398526144995108, + -0.19228377704608987, + -0.9720597795524313, + 0.13463556016658124, + -0.03839866931146007, + -0.12963795627456637, + -0.990817613129714 + ], + [ + 0.9665450500055931, + -0.2538206340397321, + -0.036956082657029134, + -0.24464612277139516, + -0.9555581977555246, + 0.16448952950001466, + -0.07706452441044592, + -0.14994537818112685, + -0.9856862800300661 + ], + [ + 0.9465241604678544, + -0.3209311622885329, + -0.03309384720389151, + -0.30746420406787633, + -0.928346987009174, + 0.20889623004711158, + -0.09776388324698694, + -0.18755015538015365, + -0.9773776968753428 + ], + [ + 0.9228184604666065, + -0.38359817386467143, + -0.03547576679554031, + -0.3663207258293305, + -0.9022817397508096, + 0.22736927659674, + -0.11922757587871496, + -0.19682505714451526, + -0.9731622074608856 + ], + [ + 0.9105816718003718, + -0.40587895922177597, + -0.0781235524172311, + -0.37930989540068827, + -0.8956648556089613, + 0.23218197535144153, + -0.16421029880113752, + -0.18178761478171823, + -0.9695299071609986 + ], + [ + 0.9111576517644383, + -0.4033620010940929, + -0.08420706445710824, + -0.3704613555027342, + -0.8913665005428463, + 0.26119752255539663, + -0.1804165117448827, + -0.20679665805657765, + -0.9616054411797177 + ], + [ + 0.9156036412779214, + -0.3946431330179648, + -0.07698551578300938, + -0.36663099320695197, + -0.8980397650422789, + 0.24311786282149664, + -0.16508084958193964, + -0.19437432434499433, + -0.9669368827057595 + ], + [ + 0.9285625548710034, + -0.36928883573276766, + -0.037380977710215466, + -0.35777456653208856, + -0.9173034226980167, + 0.17479070412719233, + -0.09883795442142045, + -0.14893013969522934, + -0.983895762901817 + ], + [ + 0.9416520222550886, + -0.33656766661707027, + 0.0036979414330832704, + -0.3346646855267166, + -0.9350420127556787, + 0.11702983655082519, + -0.03593072841184557, + -0.11143895265906606, + -0.9931215145117159 + ], + [ + 0.9426267081181823, + -0.3294928694369455, + 0.05375256396197895, + -0.33257672741325667, + -0.9408249231504572, + 0.06512437609700586, + 0.02911373430817559, + -0.07926482807111782, + -0.9964283604482004 + ], + [ + 0.9418707450265202, + -0.3225660205954044, + 0.09397160220211935, + -0.32620006814124836, + -0.9449468375333548, + 0.025864836754885052, + 0.08045505085346209, + -0.05501487610598651, + -0.9952388397762671 + ], + [ + 0.9421479153244585, + -0.30315249057343446, + 0.143024029830307, + -0.30140579152828245, + -0.9528804564402833, + -0.03425470139071087, + 0.1466692008670749, + -0.010835275413248276, + -0.9891262519636876 + ], + [ + 0.9384342738638897, + -0.27958262789634375, + 0.2029154203507674, + -0.2710555770972019, + -0.9600697546483568, + -0.06924550768061993, + 0.2141727988378936, + 0.009981001353500406, + -0.9767447936129091 + ], + [ + 0.9073517701448621, + -0.2801182356821271, + 0.31344303988654343, + -0.25424099715842274, + -0.9594793260937927, + -0.12149460137179678, + 0.33477497006030166, + 0.030548270604622133, + -0.9418028045106844 + ], + [ + 0.8626716617443387, + -0.31599778249113175, + 0.39489619583372604, + -0.2715613056006627, + -0.9480965020103491, + -0.16543119468892048, + 0.426675592603707, + 0.03547427710930061, + -0.9037087552634687 + ], + [ + 0.8299266476093136, + -0.3182922123711487, + 0.4581613549087773, + -0.26727901432525747, + -0.9477336792773934, + -0.1742492515468989, + 0.48967712636929017, + 0.02215718184280735, + -0.8716222640590933 + ], + [ + 0.799951805737788, + -0.33827430156735383, + 0.49562849534300546, + -0.28208654196802374, + -0.9409971080516643, + -0.18695353828940275, + 0.529626558376159, + 0.009743692191553285, + -0.8481749637457484 + ], + [ + 0.772621240502983, + -0.3789387400260229, + 0.5093739785571326, + -0.3202874577730216, + -0.925398229428235, + -0.20261801836061596, + 0.5481535944577275, + -0.006599111953758341, + -0.8363516536747537 + ], + [ + 0.7618492580899927, + -0.3968493469781892, + 0.5119534195126665, + -0.34119043683479156, + -0.9176756049282411, + -0.20361868758066104, + 0.5506131071453091, + -0.019546864776007297, + -0.8345316808349559 + ], + [ + 0.7608228939792698, + -0.40550248605263356, + 0.5066717456126226, + -0.3506138739120673, + -0.9138347079449564, + -0.20488054562483218, + 0.5460937972705617, + -0.021768333888694452, + -0.8374411646332706 + ], + [ + 0.7674688188805762, + -0.4051225602890131, + 0.49685744755505884, + -0.3554108983346808, + -0.9138917672748317, + -0.19617576571080275, + 0.5335491593011727, + -0.026029768576757595, + -0.8453684083030616 + ], + [ + 0.8287572165356767, + -0.3582852622956839, + 0.42987573420902747, + -0.3279668139442228, + -0.9333921348463232, + -0.14566019208520403, + 0.45343052939928186, + -0.020268039587882605, + -0.8910611435698175 + ], + [ + 0.898605493030539, + -0.29633601401653864, + 0.3235631850073981, + -0.2818896847655391, + -0.9550440484258965, + -0.09180997325486401, + 0.3362236956523542, + -0.008708177941661586, + -0.9417418935774332 + ], + [ + 0.9422897044311308, + -0.2231358924672668, + 0.2496006538772059, + -0.20850851552599994, + -0.9744119729940528, + -0.08393751151291842, + 0.2619433371480104, + 0.027049591099937424, + -0.9647041037256399 + ], + [ + 0.9759571350046189, + -0.14218775083388788, + 0.1651978030918592, + -0.13131615980524022, + -0.9884977936430827, + -0.07502118458650572, + 0.1739647573722364, + 0.0515243192634136, + -0.9834030240531403 + ], + [ + 0.9823385255565608, + -0.12388888407479075, + 0.14022327057256026, + -0.11650465784035306, + -0.9913924694410781, + -0.05972969309333152, + 0.14641613950949753, + 0.042338114485937786, + -0.9883166487279829 + ], + [ + 0.9829186319180321, + -0.12093694566992225, + 0.1387271357752849, + -0.11355039685682569, + -0.9917184418398781, + -0.06000699532839083, + 0.14483532166581964, + 0.043229472431599324, + -0.9885109722766076 + ], + [ + 0.9829186319180321, + -0.12093694566992225, + 0.1387271357752849, + -0.11355039685682569, + -0.9917184418398781, + -0.06000699532839083, + 0.14483532166581964, + 0.043229472431599324, + -0.9885109722766076 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.004625141620635986, + 0.00030939094722270966, + -0.005800861865282059, + 0.00011223554611206055, + 0.029733091592788696, + -0.006779802031815052, + 1.0 + ], + [ + -0.008278965950012207, + 0.005684921983629465, + 0.009606149047613144, + 0.0002670586109161377, + 0.02665267139673233, + -0.024962153285741806, + 1.0 + ], + [ + -0.004193246364593506, + 0.010461527854204178, + 0.02155759185552597, + 0.07017355412244797, + -0.013832658529281616, + -0.013410039246082306, + 1.0 + ], + [ + -0.011011004447937012, + 0.013439130038022995, + 0.030070438981056213, + 0.046475380659103394, + 0.018312379717826843, + -0.03739183396100998, + 1.0 + ], + [ + -0.01147468388080597, + 0.016512500122189522, + 0.02790430188179016, + 0.05572691559791565, + 0.024325277656316757, + -0.008987553417682648, + 1.0 + ], + [ + -0.013272792100906372, + 0.015820827335119247, + 0.022382915019989014, + 0.045342739671468735, + 0.06153613701462746, + -0.04762408882379532, + 1.0 + ], + [ + -0.011620625853538513, + 0.011349186301231384, + 0.016906723380088806, + 0.040476828813552856, + 0.03532785549759865, + -0.05428111553192139, + 1.0 + ], + [ + -0.006959870457649231, + 0.014124155044555664, + 0.006753697991371155, + 0.020865067839622498, + 0.038732897490262985, + -0.05427393317222595, + 1.0 + ], + [ + -0.0063490718603134155, + 0.014974020421504974, + 0.006151854991912842, + 0.03862118721008301, + 0.020779281854629517, + -0.06617531180381775, + 1.0 + ], + [ + -0.005680948495864868, + 0.021312527358531952, + -0.0004374682903289795, + 0.009974449872970581, + 0.021591581404209137, + -0.06379905343055725, + 1.0 + ], + [ + -0.007963314652442932, + 0.01661449670791626, + -0.003152400255203247, + -0.014212340116500854, + 0.045445516705513, + -0.01681661605834961, + 1.0 + ], + [ + -0.002777606248855591, + 0.011072307825088501, + -0.00357171893119812, + 0.026478633284568787, + 0.016452506184577942, + 0.008529752492904663, + 1.0 + ], + [ + -0.00450056791305542, + 0.009615525603294373, + -0.018765702843666077, + -0.013450533151626587, + -0.015569910407066345, + 0.005295515060424805, + 1.0 + ], + [ + -0.0028585046529769897, + 0.00125807523727417, + -0.030218109488487244, + -0.04814942181110382, + -0.06684039533138275, + 0.01310354471206665, + 1.0 + ], + [ + 0.004123374819755554, + -0.0036299675703048706, + -0.02348794788122177, + -0.03848402202129364, + -0.06306112557649612, + 0.026290684938430786, + 1.0 + ], + [ + 0.012983664870262146, + -0.014994129538536072, + -0.01585984230041504, + -0.03236157447099686, + -0.06505630910396576, + 0.002294778823852539, + 1.0 + ], + [ + 0.012799516320228577, + -0.01871039718389511, + -0.009064897894859314, + -0.024159923195838928, + -0.05142425373196602, + 0.005780607461929321, + 1.0 + ], + [ + 0.014547362923622131, + -0.018336929380893707, + -0.009029649198055267, + -0.044267911463975906, + -0.06665810942649841, + 0.02377903461456299, + 1.0 + ], + [ + 0.014303252100944519, + -0.012327857315540314, + -0.002582944929599762, + -0.021172234788537025, + -0.0686446875333786, + 0.028439104557037354, + 1.0 + ], + [ + 0.021338030695915222, + -0.01288989931344986, + -0.00751892477273941, + -0.022206302732229233, + -0.12552151083946228, + 0.007990121841430664, + 1.0 + ], + [ + 0.015846312046051025, + -0.005006149411201477, + -0.0012408047914505005, + -0.0068093761801719666, + -0.09944736957550049, + -0.03177550435066223, + 1.0 + ], + [ + 0.01870173215866089, + -0.00354946032166481, + 0.006559237837791443, + 0.013818809762597084, + -0.07090562582015991, + -0.0065919458866119385, + 1.0 + ], + [ + 0.01712954044342041, + -0.006081040948629379, + 0.0029123276472091675, + 0.013927822932600975, + -0.046440839767456055, + -0.027452707290649414, + 1.0 + ], + [ + 0.01665961742401123, + -0.0009549781680107117, + -0.00022017210721969604, + 0.019377518445253372, + -0.02199476957321167, + -0.05396789312362671, + 1.0 + ], + [ + 0.009213954210281372, + -0.0021344348788261414, + 0.002149835228919983, + 0.01552808191627264, + -0.0029435157775878906, + -0.02807718515396118, + 1.0 + ], + [ + 0.003981858491897583, + -0.003179628401994705, + 0.00028699636459350586, + 0.0025697406381368637, + 0.005404293537139893, + -0.010767310857772827, + 1.0 + ], + [ + 0.00014156103134155273, + -0.0012543946504592896, + -0.0019218847155570984, + 0.0047932956367731094, + 0.014902830123901367, + -0.0018623769283294678, + 1.0 + ], + [ + -0.014973044395446777, + -0.0071183256804943085, + 2.866983413696289e-05, + -0.00803927332162857, + 0.09218087792396545, + 0.056867361068725586, + 1.0 + ], + [ + -0.023423820734024048, + -0.00458599254488945, + 0.004138432443141937, + -0.01349541638046503, + 0.12770625948905945, + 0.07284793257713318, + 1.0 + ], + [ + -0.013010412454605103, + 0.0010076873004436493, + -0.002277962863445282, + -0.03727853670716286, + 0.07786896824836731, + 0.08620531857013702, + 1.0 + ], + [ + -0.010827749967575073, + -0.0063142236322164536, + -0.0010080933570861816, + -0.024314118549227715, + 0.090180903673172, + 0.08402162790298462, + 1.0 + ], + [ + -0.0027389824390411377, + -0.006365569308400154, + -0.0007791817188262939, + 0.009533599019050598, + 0.027910009026527405, + 0.01570001244544983, + 1.0 + ], + [ + -0.00023725628852844238, + -4.3973326683044434e-05, + -3.081560134887695e-05, + -0.0008916258811950684, + 0.0015978515148162842, + 0.0030340179800987244, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.28344276547431946, + -0.013492771424353123, + 0.04716239497065544 + ], + [ + 0.27516379952430725, + -0.007807849440723658, + 0.056768544018268585 + ], + [ + 0.27097055315971375, + 0.0026536788791418076, + 0.07832613587379456 + ], + [ + 0.25995954871177673, + 0.016092808917164803, + 0.10839657485485077 + ], + [ + 0.24848486483097076, + 0.032605309039354324, + 0.13630087673664093 + ], + [ + 0.2352120727300644, + 0.04842613637447357, + 0.15868379175662994 + ], + [ + 0.22359144687652588, + 0.059775322675704956, + 0.17559051513671875 + ], + [ + 0.21663157641887665, + 0.07389947772026062, + 0.1823442131280899 + ], + [ + 0.21028250455856323, + 0.0888734981417656, + 0.18849606812000275 + ], + [ + 0.20460155606269836, + 0.11018602550029755, + 0.18805859982967377 + ], + [ + 0.19663824141025543, + 0.1268005222082138, + 0.18490619957447052 + ], + [ + 0.19386063516139984, + 0.1378728300333023, + 0.1813344806432724 + ], + [ + 0.18936006724834442, + 0.14748835563659668, + 0.16256877779960632 + ], + [ + 0.18650156259536743, + 0.14874643087387085, + 0.13235066831111908 + ], + [ + 0.19062493741512299, + 0.14511646330356598, + 0.10886272042989731 + ], + [ + 0.20360860228538513, + 0.1301223337650299, + 0.09300287812948227 + ], + [ + 0.2164081186056137, + 0.1114119365811348, + 0.08393798023462296 + ], + [ + 0.23095548152923584, + 0.09307500720024109, + 0.07490833103656769 + ], + [ + 0.24525873363018036, + 0.08074714988470078, + 0.07232538610696793 + ], + [ + 0.2665967643260956, + 0.06785725057125092, + 0.06480646133422852 + ], + [ + 0.2824430763721466, + 0.06285110116004944, + 0.06356565654277802 + ], + [ + 0.3011448085308075, + 0.05930164083838463, + 0.07012489438056946 + ], + [ + 0.3182743489742279, + 0.05322059988975525, + 0.07303722202777863 + ], + [ + 0.33493396639823914, + 0.05226562172174454, + 0.07281704992055893 + ], + [ + 0.3441479206085205, + 0.050131186842918396, + 0.07496688514947891 + ], + [ + 0.3481297791004181, + 0.04695155844092369, + 0.07525388151407242 + ], + [ + 0.34827134013175964, + 0.0456971637904644, + 0.07333199679851532 + ], + [ + 0.33329829573631287, + 0.03857883810997009, + 0.07336066663265228 + ], + [ + 0.3098744750022888, + 0.03399284556508064, + 0.07749909907579422 + ], + [ + 0.2968640625476837, + 0.03500053286552429, + 0.07522113621234894 + ], + [ + 0.28603631258010864, + 0.02868630923330784, + 0.07421304285526276 + ], + [ + 0.2832973301410675, + 0.022320739924907684, + 0.07343386113643646 + ], + [ + 0.28306007385253906, + 0.02227676659822464, + 0.07340304553508759 + ], + [ + 0.28306007385253906, + 0.02227676659822464, + 0.07340304553508759 + ], + [ + 0.28306007385253906, + 0.02227676659822464, + 0.07340304553508759 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9934946854159461, + -0.02146939353074622, + 0.11183637687126831, + -0.0069313800276166095, + -0.9916472371513242, + -0.12879329571471584, + 0.11366734808722846, + 0.12718027438076804, + -0.9853450724427709 + ], + [ + 0.9956871248117642, + -0.04279907453087337, + 0.08231274933679975, + -0.03181187579109276, + -0.9909457014257038, + -0.1304401065032219, + 0.08715018096787963, + 0.12725901164640774, + -0.9880333951400859 + ], + [ + 0.993871565025818, + -0.051093528980616296, + 0.09802430070874205, + -0.04510184979696778, + -0.9970318102818234, + -0.06239705466639914, + 0.10092143170814968, + 0.05759358108727715, + -0.9932259783350013 + ], + [ + 0.9931662535763006, + -0.08358407513525196, + 0.08145241028355044, + -0.08236328997717773, + -0.9964354417828643, + -0.018240033528570336, + 0.08268664475809023, + 0.011406697277152194, + -0.9965103140639723 + ], + [ + 0.9940950369760576, + -0.08893458347185527, + 0.0621747321848531, + -0.09144319473100461, + -0.9950566931473731, + 0.038733958744260326, + 0.05842259491804666, + -0.04419069229263214, + -0.9973133826023491 + ], + [ + 0.9903014695700947, + -0.13861728300256565, + 0.009394052389554281, + -0.13890108498475268, + -0.9862932801595046, + 0.08906208004680746, + -0.003080252809361742, + -0.08950315282263552, + -0.9959817757757612 + ], + [ + 0.9805878294574125, + -0.1956879793687725, + -0.012398526144995108, + -0.19228377704608987, + -0.9720597795524313, + 0.13463556016658124, + -0.03839866931146007, + -0.12963795627456637, + -0.990817613129714 + ], + [ + 0.9665450500055931, + -0.2538206340397321, + -0.036956082657029134, + -0.24464612277139516, + -0.9555581977555246, + 0.16448952950001466, + -0.07706452441044592, + -0.14994537818112685, + -0.9856862800300661 + ], + [ + 0.9465241604678544, + -0.3209311622885329, + -0.03309384720389151, + -0.30746420406787633, + -0.928346987009174, + 0.20889623004711158, + -0.09776388324698694, + -0.18755015538015365, + -0.9773776968753428 + ], + [ + 0.9228184604666065, + -0.38359817386467143, + -0.03547576679554031, + -0.3663207258293305, + -0.9022817397508096, + 0.22736927659674, + -0.11922757587871496, + -0.19682505714451526, + -0.9731622074608856 + ], + [ + 0.9105816718003718, + -0.40587895922177597, + -0.0781235524172311, + -0.37930989540068827, + -0.8956648556089613, + 0.23218197535144153, + -0.16421029880113752, + -0.18178761478171823, + -0.9695299071609986 + ], + [ + 0.9111576517644383, + -0.4033620010940929, + -0.08420706445710824, + -0.3704613555027342, + -0.8913665005428463, + 0.26119752255539663, + -0.1804165117448827, + -0.20679665805657765, + -0.9616054411797177 + ], + [ + 0.9156036412779214, + -0.3946431330179648, + -0.07698551578300938, + -0.36663099320695197, + -0.8980397650422789, + 0.24311786282149664, + -0.16508084958193964, + -0.19437432434499433, + -0.9669368827057595 + ], + [ + 0.9285625548710034, + -0.36928883573276766, + -0.037380977710215466, + -0.35777456653208856, + -0.9173034226980167, + 0.17479070412719233, + -0.09883795442142045, + -0.14893013969522934, + -0.983895762901817 + ], + [ + 0.9416520222550886, + -0.33656766661707027, + 0.0036979414330832704, + -0.3346646855267166, + -0.9350420127556787, + 0.11702983655082519, + -0.03593072841184557, + -0.11143895265906606, + -0.9931215145117159 + ], + [ + 0.9426267081181823, + -0.3294928694369455, + 0.05375256396197895, + -0.33257672741325667, + -0.9408249231504572, + 0.06512437609700586, + 0.02911373430817559, + -0.07926482807111782, + -0.9964283604482004 + ], + [ + 0.9418707450265202, + -0.3225660205954044, + 0.09397160220211935, + -0.32620006814124836, + -0.9449468375333548, + 0.025864836754885052, + 0.08045505085346209, + -0.05501487610598651, + -0.9952388397762671 + ], + [ + 0.9421479153244585, + -0.30315249057343446, + 0.143024029830307, + -0.30140579152828245, + -0.9528804564402833, + -0.03425470139071087, + 0.1466692008670749, + -0.010835275413248276, + -0.9891262519636876 + ], + [ + 0.9384342738638897, + -0.27958262789634375, + 0.2029154203507674, + -0.2710555770972019, + -0.9600697546483568, + -0.06924550768061993, + 0.2141727988378936, + 0.009981001353500406, + -0.9767447936129091 + ], + [ + 0.9073517701448621, + -0.2801182356821271, + 0.31344303988654343, + -0.25424099715842274, + -0.9594793260937927, + -0.12149460137179678, + 0.33477497006030166, + 0.030548270604622133, + -0.9418028045106844 + ], + [ + 0.8626716617443387, + -0.31599778249113175, + 0.39489619583372604, + -0.2715613056006627, + -0.9480965020103491, + -0.16543119468892048, + 0.426675592603707, + 0.03547427710930061, + -0.9037087552634687 + ], + [ + 0.8299266476093136, + -0.3182922123711487, + 0.4581613549087773, + -0.26727901432525747, + -0.9477336792773934, + -0.1742492515468989, + 0.48967712636929017, + 0.02215718184280735, + -0.8716222640590933 + ], + [ + 0.799951805737788, + -0.33827430156735383, + 0.49562849534300546, + -0.28208654196802374, + -0.9409971080516643, + -0.18695353828940275, + 0.529626558376159, + 0.009743692191553285, + -0.8481749637457484 + ], + [ + 0.772621240502983, + -0.3789387400260229, + 0.5093739785571326, + -0.3202874577730216, + -0.925398229428235, + -0.20261801836061596, + 0.5481535944577275, + -0.006599111953758341, + -0.8363516536747537 + ], + [ + 0.7618492580899927, + -0.3968493469781892, + 0.5119534195126665, + -0.34119043683479156, + -0.9176756049282411, + -0.20361868758066104, + 0.5506131071453091, + -0.019546864776007297, + -0.8345316808349559 + ], + [ + 0.7608228939792698, + -0.40550248605263356, + 0.5066717456126226, + -0.3506138739120673, + -0.9138347079449564, + -0.20488054562483218, + 0.5460937972705617, + -0.021768333888694452, + -0.8374411646332706 + ], + [ + 0.7674688188805762, + -0.4051225602890131, + 0.49685744755505884, + -0.3554108983346808, + -0.9138917672748317, + -0.19617576571080275, + 0.5335491593011727, + -0.026029768576757595, + -0.8453684083030616 + ], + [ + 0.8287572165356767, + -0.3582852622956839, + 0.42987573420902747, + -0.3279668139442228, + -0.9333921348463232, + -0.14566019208520403, + 0.45343052939928186, + -0.020268039587882605, + -0.8910611435698175 + ], + [ + 0.898605493030539, + -0.29633601401653864, + 0.3235631850073981, + -0.2818896847655391, + -0.9550440484258965, + -0.09180997325486401, + 0.3362236956523542, + -0.008708177941661586, + -0.9417418935774332 + ], + [ + 0.9422897044311308, + -0.2231358924672668, + 0.2496006538772059, + -0.20850851552599994, + -0.9744119729940528, + -0.08393751151291842, + 0.2619433371480104, + 0.027049591099937424, + -0.9647041037256399 + ], + [ + 0.9759571350046189, + -0.14218775083388788, + 0.1651978030918592, + -0.13131615980524022, + -0.9884977936430827, + -0.07502118458650572, + 0.1739647573722364, + 0.0515243192634136, + -0.9834030240531403 + ], + [ + 0.9823385255565608, + -0.12388888407479075, + 0.14022327057256026, + -0.11650465784035306, + -0.9913924694410781, + -0.05972969309333152, + 0.14641613950949753, + 0.042338114485937786, + -0.9883166487279829 + ], + [ + 0.9829186319180321, + -0.12093694566992225, + 0.1387271357752849, + -0.11355039685682569, + -0.9917184418398781, + -0.06000699532839083, + 0.14483532166581964, + 0.043229472431599324, + -0.9885109722766076 + ], + [ + 0.9829186319180321, + -0.12093694566992225, + 0.1387271357752849, + -0.11355039685682569, + -0.9917184418398781, + -0.06000699532839083, + 0.14483532166581964, + 0.043229472431599324, + -0.9885109722766076 + ], + [ + 0.9829186319180321, + -0.12093694566992225, + 0.1387271357752849, + -0.11355039685682569, + -0.9917184418398781, + -0.06000699532839083, + 0.14483532166581964, + 0.043229472431599324, + -0.9885109722766076 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006403.json b/json/chunk-0006/episode_0006403.json new file mode 100644 index 0000000000000000000000000000000000000000..87ad6e4d4a783512df0348981208b3eea7162c6b --- /dev/null +++ b/json/chunk-0006/episode_0006403.json @@ -0,0 +1,2782 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 45, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPlacing the red object to the top of another red object." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006403.mp4", + "start": 0, + "end": 45, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3944481611251831, + 0.1447804868221283, + -0.00015267703565768898, + 0.3194746971130371, + 0.028759926557540894, + 0.6566526889801025, + 0.0, + 0.9941151142120361 + ], + [ + 0.38664719462394714, + 0.14179332554340363, + -0.019194846972823143, + 0.3325396478176117, + 0.07573726773262024, + 0.6565454602241516, + 0.0, + 0.9947922229766846 + ], + [ + 0.37383097410202026, + 0.13438323140144348, + -0.02066897042095661, + 0.30070871114730835, + 0.10420642793178558, + 0.632290780544281, + 0.0, + 0.9974852800369263 + ], + [ + 0.36653488874435425, + 0.13676434755325317, + 0.01163390465080738, + 0.22749894857406616, + 0.05368702486157417, + 0.6121954321861267, + 0.0, + 0.9974852800369263 + ], + [ + 0.35447412729263306, + 0.13401667773723602, + 0.024641891941428185, + 0.1825750768184662, + 0.046731021255254745, + 0.5948506593704224, + 0.0, + 0.9974852800369263 + ], + [ + 0.3479931056499481, + 0.13415367901325226, + 0.04105740040540695, + 0.14206157624721527, + 0.01452998723834753, + 0.5752150416374207, + 0.0, + 0.9974852800369263 + ], + [ + 0.33289605379104614, + 0.12921404838562012, + 0.04372807964682579, + 0.10277864336967468, + 0.007054547779262066, + 0.4239826798439026, + 0.0, + 0.9974852800369263 + ], + [ + 0.32644233107566833, + 0.12223940342664719, + 0.035987839102745056, + 0.13441725075244904, + -0.05403607711195946, + 0.2855393886566162, + 0.0, + 0.9974852800369263 + ], + [ + 0.3246687054634094, + 0.10686630010604858, + 0.023131662979722023, + 0.11706472188234329, + -0.09109138697385788, + 0.19533894956111908, + 0.0, + 0.9974852800369263 + ], + [ + 0.32103803753852844, + 0.09796830266714096, + 0.012734043411910534, + 0.11530127376317978, + -0.14791497588157654, + 0.11721433699131012, + 0.0, + 0.9988223910331726 + ], + [ + 0.3316706418991089, + 0.09047546982765198, + 0.014121891930699348, + 0.11545408517122269, + -0.19888557493686676, + 0.06551101058721542, + 0.0, + 0.9988223910331726 + ], + [ + 0.33669471740722656, + 0.08485011011362076, + 0.004697948694229126, + 0.0998159721493721, + -0.18576782941818237, + 0.014739569276571274, + 0.0, + 0.9988223910331726 + ], + [ + 0.34691205620765686, + 0.08104006946086884, + 0.004301916342228651, + 0.11155923455953598, + -0.1855640560388565, + 0.005055260378867388, + 0.0, + 0.9988223910331726 + ], + [ + 0.35403141379356384, + 0.07447954267263412, + -0.0032526489812880754, + 0.11088316142559052, + -0.15443168580532074, + 0.008431044407188892, + 0.0, + 0.9988223910331726 + ], + [ + 0.3613583743572235, + 0.06679510325193405, + -0.009319808334112167, + 0.11009944975376129, + -0.14647813141345978, + 0.009491252712905407, + 0.0, + 0.9988223910331726 + ], + [ + 0.3655419647693634, + 0.05940265581011772, + -0.01540888287127018, + 0.10836746543645859, + -0.12888704240322113, + 0.009123619645833969, + 0.0, + 0.9988223910331726 + ], + [ + 0.36745601892471313, + 0.05215510353446007, + -0.015244701877236366, + 0.11076376587152481, + -0.13482196629047394, + -0.0006358386017382145, + 0.0, + 0.9988223910331726 + ], + [ + 0.3671000003814697, + 0.04823450371623039, + -0.022565914317965508, + 0.11660058796405792, + -0.12369494140148163, + -0.007254695985466242, + 0.0, + 0.9499720335006714 + ], + [ + 0.3661658465862274, + 0.04731078818440437, + -0.03644666075706482, + 0.14738710224628448, + -0.10537364333868027, + -0.008367054164409637, + 0.0, + 0.680191159248352 + ], + [ + 0.36975643038749695, + 0.04751014709472656, + -0.035558734089136124, + 0.15837973356246948, + -0.10930956155061722, + -0.013434206135571003, + 0.0, + 0.4085940718650818 + ], + [ + 0.3666802644729614, + 0.047955624759197235, + -0.030125277116894722, + 0.12862201035022736, + -0.10491788387298584, + -0.02072397992014885, + 0.0, + 0.27090853452682495 + ], + [ + 0.3553854525089264, + 0.05742484703660011, + -0.013381781987845898, + 0.0752003863453865, + -0.06843439489603043, + -0.016920313239097595, + 0.0, + 0.18800361454486847 + ], + [ + 0.34766149520874023, + 0.07790591567754745, + 0.017927074804902077, + 0.026935020461678505, + -0.07944931834936142, + 0.04059258848428726, + 0.0, + 0.18178488314151764 + ], + [ + 0.34085002541542053, + 0.10491674393415451, + 0.04360577091574669, + -0.04647117480635643, + -0.06074563413858414, + 0.14750732481479645, + 0.0, + 0.18178488314151764 + ], + [ + 0.33491426706314087, + 0.1316646784543991, + 0.06651288270950317, + -0.11418922990560532, + -0.039737068116664886, + 0.31304022669792175, + 0.0, + 0.18178488314151764 + ], + [ + 0.3356902599334717, + 0.14314447343349457, + 0.08318614959716797, + -0.1427101045846939, + -0.009958201088011265, + 0.4879407584667206, + 0.0, + 0.18178488314151764 + ], + [ + 0.3351820707321167, + 0.15265130996704102, + 0.09187377244234085, + -0.14469081163406372, + -0.010762156918644905, + 0.5150339603424072, + 0.0, + 0.18178488314151764 + ], + [ + 0.34331533312797546, + 0.1607283502817154, + 0.09229468554258347, + -0.10029403865337372, + -0.08464430272579193, + 0.46921807527542114, + 0.0, + 0.18178488314151764 + ], + [ + 0.3562239110469818, + 0.1558801680803299, + 0.0782223492860794, + -0.033297907561063766, + -0.11838185042142868, + 0.38792768120765686, + 0.0, + 0.18178488314151764 + ], + [ + 0.3665187358856201, + 0.15564769506454468, + 0.06689070165157318, + -0.01743418164551258, + -0.12475787848234177, + 0.3884810209274292, + 0.0, + 0.18178488314151764 + ], + [ + 0.37625423073768616, + 0.1596222072839737, + 0.05915091186761856, + -0.017240894958376884, + -0.11211252957582474, + 0.4052050709724426, + 0.0, + 0.18178488314151764 + ], + [ + 0.38631904125213623, + 0.15793931484222412, + 0.050207268446683884, + 0.0016632818151265383, + -0.11357825994491577, + 0.40749481320381165, + 0.0, + 0.18178488314151764 + ], + [ + 0.39422979950904846, + 0.15784993767738342, + 0.04556560888886452, + 0.008381241001188755, + -0.11710454523563385, + 0.41938549280166626, + 0.0, + 0.18178488314151764 + ], + [ + 0.39478549361228943, + 0.15896356105804443, + 0.04476016014814377, + 0.01674801856279373, + -0.12078943848609924, + 0.42492926120758057, + 0.0, + 0.18178488314151764 + ], + [ + 0.3970336616039276, + 0.158037930727005, + 0.0421365350484848, + 0.034759435802698135, + -0.1327107846736908, + 0.4122055470943451, + 0.0, + 0.18178488314151764 + ], + [ + 0.39680489897727966, + 0.15511663258075714, + 0.0396307148039341, + 0.03547167032957077, + -0.13094475865364075, + 0.3994939923286438, + 0.0, + 0.18178488314151764 + ], + [ + 0.3893141448497772, + 0.1520405262708664, + 0.030697770416736603, + 0.036796923726797104, + -0.1056785061955452, + 0.38111186027526855, + 0.0, + 0.18178488314151764 + ], + [ + 0.386614590883255, + 0.15230807662010193, + 0.03031161241233349, + 0.045858465135097504, + -0.10695059597492218, + 0.36653023958206177, + 0.0, + 0.18178488314151764 + ], + [ + 0.38385263085365295, + 0.15080562233924866, + 0.029219049960374832, + 0.04814744368195534, + -0.10038263350725174, + 0.3547838628292084, + 0.0, + 0.18178488314151764 + ], + [ + 0.38412314653396606, + 0.15158185362815857, + 0.03022032044827938, + 0.04878620803356171, + -0.10315331071615219, + 0.35015594959259033, + 0.0, + 0.18178488314151764 + ], + [ + 0.3825806677341461, + 0.15063290297985077, + 0.030357779935002327, + 0.047398556023836136, + -0.09034284204244614, + 0.34012916684150696, + 0.0, + 0.18178488314151764 + ], + [ + 0.3818199038505554, + 0.1517515778541565, + 0.031653184443712234, + 0.04848673194646835, + -0.08370493352413177, + 0.33300939202308655, + 0.0, + 0.18178488314151764 + ], + [ + 0.3806624412536621, + 0.1609213948249817, + 0.036907926201820374, + 0.049900613725185394, + -0.08013002574443817, + 0.3450218737125397, + 0.0, + 0.18178488314151764 + ], + [ + 0.38636597990989685, + 0.1688811480998993, + 0.047857630997896194, + 0.0522180013358593, + -0.10419590771198273, + 0.3489868640899658, + 0.0, + 0.18178488314151764 + ], + [ + 0.38749760389328003, + 0.1733628660440445, + 0.04615889489650726, + 0.05084696784615517, + -0.10426130890846252, + 0.35905158519744873, + 0.0, + 0.18178488314151764 + ] + ], + "left_gripper_pos": [ + [ + 0.9941151142120361 + ], + [ + 0.9947922229766846 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9499720335006714 + ], + [ + 0.680191159248352 + ], + [ + 0.4085940718650818 + ], + [ + 0.27090853452682495 + ], + [ + 0.18800361454486847 + ], + [ + 0.18178488314151764 + ], + [ + 0.18178488314151764 + ], + [ + 0.18178488314151764 + ], + [ + 0.18178488314151764 + ], + [ + 0.18178488314151764 + ], + [ + 0.18178488314151764 + ], + [ + 0.18178488314151764 + ], + [ + 0.18178488314151764 + ], + [ + 0.18178488314151764 + ], + [ + 0.18178488314151764 + ], + [ + 0.18178488314151764 + ], + [ + 0.18178488314151764 + ], + [ + 0.18178488314151764 + ], + [ + 0.18178488314151764 + ], + [ + 0.18178488314151764 + ], + [ + 0.18178488314151764 + ], + [ + 0.18178488314151764 + ], + [ + 0.18178488314151764 + ], + [ + 0.18178488314151764 + ], + [ + 0.18178488314151764 + ], + [ + 0.18178488314151764 + ], + [ + 0.18178488314151764 + ], + [ + 0.18178488314151764 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3944481611251831, + 0.1447804868221283, + -0.00015267703565768898 + ], + [ + 0.38664719462394714, + 0.14179332554340363, + -0.019194846972823143 + ], + [ + 0.37383097410202026, + 0.13438323140144348, + -0.02066897042095661 + ], + [ + 0.36653488874435425, + 0.13676434755325317, + 0.01163390465080738 + ], + [ + 0.35447412729263306, + 0.13401667773723602, + 0.024641891941428185 + ], + [ + 0.3479931056499481, + 0.13415367901325226, + 0.04105740040540695 + ], + [ + 0.33289605379104614, + 0.12921404838562012, + 0.04372807964682579 + ], + [ + 0.32644233107566833, + 0.12223940342664719, + 0.035987839102745056 + ], + [ + 0.3246687054634094, + 0.10686630010604858, + 0.023131662979722023 + ], + [ + 0.32103803753852844, + 0.09796830266714096, + 0.012734043411910534 + ], + [ + 0.3316706418991089, + 0.09047546982765198, + 0.014121891930699348 + ], + [ + 0.33669471740722656, + 0.08485011011362076, + 0.004697948694229126 + ], + [ + 0.34691205620765686, + 0.08104006946086884, + 0.004301916342228651 + ], + [ + 0.35403141379356384, + 0.07447954267263412, + -0.0032526489812880754 + ], + [ + 0.3613583743572235, + 0.06679510325193405, + -0.009319808334112167 + ], + [ + 0.3655419647693634, + 0.05940265581011772, + -0.01540888287127018 + ], + [ + 0.36745601892471313, + 0.05215510353446007, + -0.015244701877236366 + ], + [ + 0.3671000003814697, + 0.04823450371623039, + -0.022565914317965508 + ], + [ + 0.3661658465862274, + 0.04731078818440437, + -0.03644666075706482 + ], + [ + 0.36975643038749695, + 0.04751014709472656, + -0.035558734089136124 + ], + [ + 0.3666802644729614, + 0.047955624759197235, + -0.030125277116894722 + ], + [ + 0.3553854525089264, + 0.05742484703660011, + -0.013381781987845898 + ], + [ + 0.34766149520874023, + 0.07790591567754745, + 0.017927074804902077 + ], + [ + 0.34085002541542053, + 0.10491674393415451, + 0.04360577091574669 + ], + [ + 0.33491426706314087, + 0.1316646784543991, + 0.06651288270950317 + ], + [ + 0.3356902599334717, + 0.14314447343349457, + 0.08318614959716797 + ], + [ + 0.3351820707321167, + 0.15265130996704102, + 0.09187377244234085 + ], + [ + 0.34331533312797546, + 0.1607283502817154, + 0.09229468554258347 + ], + [ + 0.3562239110469818, + 0.1558801680803299, + 0.0782223492860794 + ], + [ + 0.3665187358856201, + 0.15564769506454468, + 0.06689070165157318 + ], + [ + 0.37625423073768616, + 0.1596222072839737, + 0.05915091186761856 + ], + [ + 0.38631904125213623, + 0.15793931484222412, + 0.050207268446683884 + ], + [ + 0.39422979950904846, + 0.15784993767738342, + 0.04556560888886452 + ], + [ + 0.39478549361228943, + 0.15896356105804443, + 0.04476016014814377 + ], + [ + 0.3970336616039276, + 0.158037930727005, + 0.0421365350484848 + ], + [ + 0.39680489897727966, + 0.15511663258075714, + 0.0396307148039341 + ], + [ + 0.3893141448497772, + 0.1520405262708664, + 0.030697770416736603 + ], + [ + 0.386614590883255, + 0.15230807662010193, + 0.03031161241233349 + ], + [ + 0.38385263085365295, + 0.15080562233924866, + 0.029219049960374832 + ], + [ + 0.38412314653396606, + 0.15158185362815857, + 0.03022032044827938 + ], + [ + 0.3825806677341461, + 0.15063290297985077, + 0.030357779935002327 + ], + [ + 0.3818199038505554, + 0.1517515778541565, + 0.031653184443712234 + ], + [ + 0.3806624412536621, + 0.1609213948249817, + 0.036907926201820374 + ], + [ + 0.38636597990989685, + 0.1688811480998993, + 0.047857630997896194 + ], + [ + 0.38749760389328003, + 0.1733628660440445, + 0.04615889489650726 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.7917125559125394, + 0.5724264900019588, + -0.21335215572961014, + 0.6102166201108948, + -0.7574766296060476, + 0.23208798362064947, + -0.028755962005649185, + -0.3139380020715879, + -0.9490079164603579 + ], + [ + 0.7898348240838972, + 0.5573797438207373, + -0.2559077408807497, + 0.6086343535319316, + -0.763787834945729, + 0.21492409564700693, + -0.07566488198052808, + -0.3255087777115165, + -0.9425066903039085 + ], + [ + 0.8022999119858183, + 0.539620892808734, + -0.255194324529079, + 0.5877883297180277, + -0.7886860983156524, + 0.18021963758404366, + -0.10401793439036959, + -0.294590445140262, + -0.9499456505280831 + ], + [ + 0.8172092161376312, + 0.5499536327682019, + -0.17239518225512057, + 0.5738375803034593, + -0.8042564620560491, + 0.15453793926592196, + -0.053661238256205536, + -0.22521666245228117, + -0.9728298548372505 + ], + [ + 0.8273280189872007, + 0.5440464846715047, + -0.1397918864429993, + 0.5597733021788525, + -0.819219406047346, + 0.12463312129292456, + -0.04671401466901907, + -0.18136423923147563, + -0.9823058655843865 + ], + [ + 0.8389867644381688, + 0.5368088466984428, + -0.08909248679804752, + 0.5439578140125393, + -0.8317417880004141, + 0.11097519843899173, + -0.01452947598064535, + -0.14156927703482036, + -0.9898217183551621 + ], + [ + 0.91143504368628, + 0.40856310367078524, + -0.04860402719410066, + 0.4113835136728103, + -0.9069456476416182, + 0.09062668978915149, + -0.00705448926587925, + -0.10259523645287615, + -0.9946981711244758 + ], + [ + 0.9581093654647541, + 0.2860791549557965, + 0.01360738433730654, + 0.2812639098905899, + -0.9488159274640552, + 0.14366262138629654, + 0.05400978431528762, + -0.13381723689533304, + -0.9895331678665016 + ], + [ + 0.97691483170306, + 0.20319306962481967, + 0.06595443923667708, + 0.19329432408261424, + -0.972205634207788, + 0.13211172957794992, + 0.09096546529330042, + -0.11631328931414181, + -0.9890381705742693 + ], + [ + 0.9822936984861159, + 0.13300830978094486, + 0.13193892315645223, + 0.11566912421698779, + -0.9845611653417169, + 0.13137718753206734, + 0.1473761975942623, + -0.11378972374593918, + -0.9825131831952588 + ], + [ + 0.9781845775066426, + 0.08773994420897158, + 0.18829932160886348, + 0.0641736910735656, + -0.9897217865697898, + 0.12779875806555602, + 0.1975769968952515, + -0.11292691166994033, + -0.9737611837193675 + ], + [ + 0.9826879647805127, + 0.03306920486346414, + 0.18229314733481292, + 0.014485446360741096, + -0.9946431559663669, + 0.10234824929130676, + 0.18470120659937136, + -0.09793579518727369, + -0.9779028808126973 + ], + [ + 0.982819779681001, + 0.025563667581412826, + 0.18278889344699306, + 0.004968452215881689, + -0.9936671860832114, + 0.11225345332795553, + 0.18450093536447904, + -0.10941673638552749, + -0.9767227767633827 + ], + [ + 0.9880639895426122, + 0.025399523724584983, + 0.15193556780326528, + 0.008330608760772988, + -0.9936799328257669, + 0.11194102043957721, + 0.1538185734130027, + -0.10933917547678487, + -0.9820309522511218 + ], + [ + 0.989246686917408, + 0.025470028182958425, + 0.14402176949090356, + 0.009389472249321858, + -0.9937481967815766, + 0.11124908630745749, + 0.14595489109245663, + -0.10870050164430804, + -0.9833012614191364 + ], + [ + 0.9916642821627438, + 0.02297067448879484, + 0.1267844611779378, + 0.00904781877632993, + -0.9939657862132251, + 0.10931675449315227, + 0.12853049621798274, + -0.10725839804442013, + -0.9858882023794098 + ], + [ + 0.9909250768020069, + 0.014225819846195129, + 0.13366045868034204, + -0.0006300685001714088, + -0.9938812093721773, + 0.1104524543438611, + 0.1344138950355242, + -0.10953432204839371, + -0.9848528504882225 + ], + [ + 0.9923334159404166, + 0.007147825402839642, + 0.12338273866321217, + -0.007199203548810739, + -0.9932878431497302, + 0.11544449800323749, + 0.12337975148413446, + -0.11544769050512545, + -0.9856212597548542 + ], + [ + 0.9944185233885012, + 0.007169142750883303, + 0.10526349668355997, + -0.008320547815371686, + -0.9892527800762109, + 0.14597844222877449, + 0.10517874702564439, + -0.14603951692506034, + -0.9836716376263016 + ], + [ + 0.9939419571773284, + 0.003938601215115599, + 0.1098356644399707, + -0.013353624493856513, + -0.9876261567335668, + 0.15625701663784836, + 0.10909200921872614, + -0.15677710915867799, + -0.9815904805816268 + ], + [ + 0.9942876125546011, + -0.007121309430141979, + 0.10649615238341474, + -0.020608546944462992, + -0.9918049896780325, + 0.12608786715063228, + 0.10472550459801656, + -0.12756233535710218, + -0.9862861751464089 + ], + [ + 0.9975164705069464, + -0.011734991428535443, + 0.06944912557791134, + -0.01687990206132436, + -0.9971179654805112, + 0.07396507163794293, + 0.06838099131896523, + -0.07495367163907403, + -0.9948396791111909 + ], + [ + 0.9960243952372858, + 0.042702420841793015, + 0.0781786885695182, + 0.0404534299948828, + -0.9987270658657467, + 0.03012918699277867, + 0.07936576147085361, + -0.026846809148334722, + -0.9964839811781746 + ], + [ + 0.9873160874701962, + 0.1440247707010001, + 0.06681174183531464, + 0.1467019014942221, + -0.9884871283067889, + -0.037037133660392546, + 0.06070828214110439, + 0.04636876746607119, + -0.9970779517586145 + ], + [ + 0.9506506734321173, + 0.3016404693381782, + 0.0726383119332061, + 0.30770943024601866, + -0.9465996572969116, + -0.09624965113204385, + 0.03972661124149345, + 0.11385128924528325, + -0.9927032186391128 + ], + [ + 0.8832563233400503, + 0.462791127381914, + 0.07538328525869194, + 0.4687847104895952, + -0.8749846226087131, + -0.12100746013975416, + 0.009958036503382686, + 0.14221913589550744, + -0.9897851054113375 + ], + [ + 0.8702255961977408, + 0.48606693792801375, + 0.08028912488980706, + 0.4925358790711705, + -0.8619464014415087, + -0.12023647063026573, + 0.010761949167132245, + 0.14417812904639127, + -0.9894932276447405 + ], + [ + 0.8887288872816574, + 0.4423665520471766, + 0.12030294485589282, + 0.45057008485306344, + -0.8912677920792794, + -0.05126715749512434, + 0.08454326434796919, + 0.09976751190652836, + -0.9914125680166509 + ], + [ + 0.9192160506127911, + 0.3744214314834509, + 0.12186239757080883, + 0.3756233939709132, + -0.9266691485478336, + 0.013833113583175604, + 0.1181055383866248, + 0.033058747337375155, + -0.9924506038221191 + ], + [ + 0.9182924552796927, + 0.3767178361964942, + 0.12174825858231185, + 0.3758390911694503, + -0.9261665389521245, + 0.030992251844050692, + 0.12443449732817559, + 0.01729780381651941, + -0.9920770342356535 + ], + [ + 0.9132519312976443, + 0.3923760573080914, + 0.10959899466911231, + 0.39173238859537224, + -0.9196453288243566, + 0.028252520186793285, + 0.11187781597120593, + 0.017131807344768192, + -0.9935742828146341 + ], + [ + 0.9122010366166774, + 0.3964830434739161, + 0.10339470505359623, + 0.3937570602847322, + -0.9180405575292298, + 0.04644256891416612, + 0.1133342237428094, + -0.0016525643957328272, + -0.9935555458853486 + ], + [ + 0.9070839652322308, + 0.40807934223573755, + 0.10329535545716115, + 0.4044104072067542, + -0.912908519936388, + 0.055229129727174794, + 0.11683707699801776, + -0.008323741226254025, + -0.9931162131244047 + ], + [ + 0.9044296940323531, + 0.41403702923440505, + 0.10286042472832968, + 0.4092525615124816, + -0.9101082027649647, + 0.06492611304704884, + 0.12049593125087832, + -0.016625212259521637, + -0.9925745981382504 + ], + [ + 0.9081828019071322, + 0.4046024338713791, + 0.10724210379075418, + 0.3971082968455279, + -0.913843687302509, + 0.0848216703077602, + 0.13232157381377663, + -0.03444685301606693, + -0.9906081038537564 + ], + [ + 0.9133710156033804, + 0.39297352967165966, + 0.10641988927379398, + 0.3856224000521119, + -0.9188773234940002, + 0.08342558927901898, + 0.13057087130634593, + -0.03516062209204762, + -0.990815309843566 + ], + [ + 0.9230731395775166, + 0.3753031112653077, + 0.08416385010850626, + 0.36987774305269716, + -0.9261799126686667, + 0.07335683037934666, + 0.10548191401728531, + -0.03658338480295907, + -0.9937480675561634 + ], + [ + 0.9282422128430868, + 0.36257002476882144, + 0.08312262890035271, + 0.35633061953284967, + -0.9308412317556621, + 0.08101290543448779, + 0.10674682140234953, + -0.04558046075609486, + -0.9932409263203752 + ], + [ + 0.9330010031154059, + 0.35150793130648644, + 0.07714468493862965, + 0.3456389099636899, + -0.9349593851177878, + 0.07990426834206148, + 0.10021413126280306, + -0.0478865577046657, + -0.9938128624074248 + ], + [ + 0.9343261937454422, + 0.3473529752456751, + 0.0798778709601847, + 0.3412208163257012, + -0.936479001422448, + 0.08108905228720428, + 0.10297047240435744, + -0.048507633242535465, + -0.9935009266880587 + ], + [ + 0.938867072693375, + 0.33726399148168557, + 0.06914925785584936, + 0.33224835846816997, + -0.9402267449410754, + 0.07473082625474324, + 0.09021999837829536, + -0.04718758467384983, + -0.9948033392310607 + ], + [ + 0.9417540221804969, + 0.33033402646483057, + 0.06307767169441988, + 0.3257440625493768, + -0.9426275671238554, + 0.07310318332322684, + 0.08360722110370647, + -0.04829803989495092, + -0.9953276505360543 + ], + [ + 0.9380484561987736, + 0.3415535673817474, + 0.058363125617973174, + 0.3371320265889565, + -0.9385462675674175, + 0.07397905300348295, + 0.08004430317718005, + -0.0497198576433113, + -0.9955505237228336 + ], + [ + 0.9346230782519723, + 0.34658118677595895, + 0.07975702208442555, + 0.34009138114132553, + -0.9365824621354043, + 0.08456443752411279, + 0.10400747123256755, + -0.0519111991130214, + -0.9932208582860385 + ], + [ + 0.931146503098042, + 0.35588449844846604, + 0.07945069875319939, + 0.3494783267509203, + -0.9331618378956558, + 0.08410638160436287, + 0.1040725175042136, + -0.05054906585967243, + -0.9932843012154423 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.007800966501235962, + -0.0029871612787246704, + -0.01904216967523098, + 0.013064950704574585, + 0.046977341175079346, + -0.00010722875595092773, + 1.0 + ], + [ + -0.01281622052192688, + -0.007410094141960144, + -0.0014741234481334686, + -0.031830936670303345, + 0.028469160199165344, + -0.024254679679870605, + 1.0 + ], + [ + -0.007296085357666016, + 0.0023811161518096924, + 0.03230287507176399, + -0.07320976257324219, + -0.05051940307021141, + -0.020095348358154297, + 1.0 + ], + [ + -0.012060761451721191, + -0.002747669816017151, + 0.013007987290620804, + -0.044923871755599976, + -0.0069560036063194275, + -0.017344772815704346, + 1.0 + ], + [ + -0.0064810216426849365, + 0.00013700127601623535, + 0.016415508463978767, + -0.040513500571250916, + -0.03220103308558464, + -0.01963561773300171, + 1.0 + ], + [ + -0.015097051858901978, + -0.004939630627632141, + 0.0026706792414188385, + -0.03928293287754059, + -0.0074754394590854645, + -0.15123236179351807, + 1.0 + ], + [ + -0.006453722715377808, + -0.006974644958972931, + -0.007740240544080734, + 0.03163860738277435, + -0.0610906258225441, + -0.13844329118728638, + 1.0 + ], + [ + -0.0017736256122589111, + -0.015373103320598602, + -0.012856176123023033, + -0.017352528870105743, + -0.03705530986189842, + -0.09020043909549713, + 1.0 + ], + [ + -0.0036306679248809814, + -0.008897997438907623, + -0.010397619567811489, + -0.0017634481191635132, + -0.05682358890771866, + -0.07812461256980896, + 1.0 + ], + [ + 0.010632604360580444, + -0.007492832839488983, + 0.0013878485187888145, + 0.00015281140804290771, + -0.05097059905529022, + -0.051703326404094696, + 1.0 + ], + [ + 0.005024075508117676, + -0.0056253597140312195, + -0.009423943236470222, + -0.015638113021850586, + 0.013117745518684387, + -0.05077144131064415, + 1.0 + ], + [ + 0.010217338800430298, + -0.0038100406527519226, + -0.00039603235200047493, + 0.01174326241016388, + 0.0002037733793258667, + -0.009684309363365173, + 1.0 + ], + [ + 0.007119357585906982, + -0.006560526788234711, + -0.00755456555634737, + -0.0006760731339454651, + 0.031132370233535767, + 0.0033757840283215046, + 1.0 + ], + [ + 0.007326960563659668, + -0.007684439420700073, + -0.0060671595856547356, + -0.0007837116718292236, + 0.007953554391860962, + 0.0010602083057165146, + 1.0 + ], + [ + 0.004183590412139893, + -0.00739244744181633, + -0.006089074537158012, + -0.0017319843173027039, + 0.017591089010238647, + -0.00036763306707143784, + 1.0 + ], + [ + 0.0019140541553497314, + -0.007247552275657654, + 0.00016418099403381348, + 0.002396300435066223, + -0.005934923887252808, + -0.009759457781910896, + 1.0 + ], + [ + -0.0003560185432434082, + -0.003920599818229675, + -0.007321212440729141, + 0.005836822092533112, + 0.01112702488899231, + -0.006618857383728027, + 0.0 + ], + [ + -0.0009341537952423096, + -0.0009237155318260193, + -0.013880746439099312, + 0.030786514282226562, + 0.01832129806280136, + -0.0011123581789433956, + 0.0 + ], + [ + 0.0035905838012695312, + 0.00019935891032218933, + 0.0008879266679286957, + 0.010992631316184998, + -0.003935918211936951, + -0.0050671519711613655, + 0.0 + ], + [ + -0.0030761659145355225, + 0.0004454776644706726, + 0.005433456972241402, + -0.029757723212242126, + 0.004391677677631378, + -0.0072897737845778465, + 0.0 + ], + [ + -0.011294811964035034, + 0.009469222277402878, + 0.0167434960603714, + -0.05342162400484085, + 0.036483488976955414, + 0.0038036666810512543, + 0.0 + ], + [ + -0.007723957300186157, + 0.020481068640947342, + 0.0313088558614254, + -0.04826536774635315, + -0.011014923453330994, + 0.05751290172338486, + 0.0 + ], + [ + -0.006811469793319702, + 0.027010828256607056, + 0.025678696110844612, + -0.07340619713068008, + 0.018703684210777283, + 0.10691473633050919, + 0.0 + ], + [ + -0.005935758352279663, + 0.0267479345202446, + 0.022907111793756485, + -0.06771805882453918, + 0.02100856602191925, + 0.1655329018831253, + 0.0 + ], + [ + 0.0007759928703308105, + 0.011479794979095459, + 0.016673266887664795, + -0.028520874679088593, + 0.029778867959976196, + 0.17490053176879883, + 0.0 + ], + [ + -0.0005081892013549805, + 0.009506836533546448, + 0.008687622845172882, + -0.001980707049369812, + -0.0008039558306336403, + 0.027093201875686646, + 0.0 + ], + [ + 0.008133262395858765, + 0.008077040314674377, + 0.00042091310024261475, + 0.04439677298069, + -0.07388214766979218, + -0.045815885066986084, + 0.0 + ], + [ + 0.012908577919006348, + -0.004848182201385498, + -0.014072336256504059, + 0.06699612736701965, + -0.03373754769563675, + -0.08129039406776428, + 0.0 + ], + [ + 0.010294824838638306, + -0.00023247301578521729, + -0.011331647634506226, + 0.015863725915551186, + -0.006376028060913086, + 0.0005533397197723389, + 0.0 + ], + [ + 0.00973549485206604, + 0.003974512219429016, + -0.00773978978395462, + 0.0001932866871356964, + 0.012645348906517029, + 0.016724050045013428, + 0.0 + ], + [ + 0.010064810514450073, + -0.0016828924417495728, + -0.008943643420934677, + 0.018904177471995354, + -0.001465730369091034, + 0.0022897422313690186, + 0.0 + ], + [ + 0.007910758256912231, + -8.937716484069824e-05, + -0.0046416595578193665, + 0.00671795941889286, + -0.0035262852907180786, + 0.011890679597854614, + 0.0 + ], + [ + 0.0005556941032409668, + 0.0011136233806610107, + -0.0008054487407207489, + 0.008366777561604977, + -0.003684893250465393, + 0.005543768405914307, + 0.0 + ], + [ + 0.0022481679916381836, + -0.0009256303310394287, + -0.002623625099658966, + 0.018011417239904404, + -0.011921346187591553, + -0.012723714113235474, + 0.0 + ], + [ + -0.00022876262664794922, + -0.0029212981462478638, + -0.002505820244550705, + 0.0007122345268726349, + 0.0017660260200500488, + -0.012711554765701294, + 0.0 + ], + [ + -0.007490754127502441, + -0.003076106309890747, + -0.008932944387197495, + 0.0013252533972263336, + 0.02526625245809555, + -0.018382132053375244, + 0.0 + ], + [ + -0.002699553966522217, + 0.00026755034923553467, + -0.0003861580044031143, + 0.0090615414083004, + -0.0012720897793769836, + -0.014581620693206787, + 0.0 + ], + [ + -0.0027619600296020508, + -0.0015024542808532715, + -0.0010925624519586563, + 0.002288978546857834, + 0.006567962467670441, + -0.011746376752853394, + 0.0 + ], + [ + 0.00027051568031311035, + 0.0007762312889099121, + 0.0010012704879045486, + 0.000638764351606369, + -0.0027706772089004517, + -0.004627913236618042, + 0.0 + ], + [ + -0.0015424787998199463, + -0.0009489506483078003, + 0.00013745948672294617, + -0.0013876520097255707, + 0.012810468673706055, + -0.010026782751083374, + 0.0 + ], + [ + -0.0007607638835906982, + 0.001118674874305725, + 0.0012954045087099075, + 0.0010881759226322174, + 0.006637908518314362, + -0.00711977481842041, + 0.0 + ], + [ + -0.0011574625968933105, + 0.009169816970825195, + 0.005254741758108139, + 0.001413881778717041, + 0.0035749077796936035, + 0.012012481689453125, + 0.0 + ], + [ + 0.005703538656234741, + 0.007959753274917603, + 0.010949704796075821, + 0.0023173876106739044, + -0.024065881967544556, + 0.0039649903774261475, + 0.0 + ], + [ + 0.0011316239833831787, + 0.004481717944145203, + -0.0016987361013889313, + -0.001371033489704132, + -6.540119647979736e-05, + 0.01006472110748291, + 0.0 + ], + [ + 0.000981658697128296, + 0.001801520586013794, + -0.000762641429901123, + -0.0008697174489498138, + -0.008122190833091736, + 0.011854439973831177, + 0.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9947922229766846 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9499720335006714 + ], + [ + 0.680191159248352 + ], + [ + 0.4085940718650818 + ], + [ + 0.27090853452682495 + ], + [ + 0.18800361454486847 + ], + [ + 0.18178488314151764 + ], + [ + 0.18178488314151764 + ], + [ + 0.18178488314151764 + ], + [ + 0.18178488314151764 + ], + [ + 0.18178488314151764 + ], + [ + 0.18178488314151764 + ], + [ + 0.18178488314151764 + ], + [ + 0.18178488314151764 + ], + [ + 0.18178488314151764 + ], + [ + 0.18178488314151764 + ], + [ + 0.18178488314151764 + ], + [ + 0.18178488314151764 + ], + [ + 0.18178488314151764 + ], + [ + 0.18178488314151764 + ], + [ + 0.18178488314151764 + ], + [ + 0.18178488314151764 + ], + [ + 0.18178488314151764 + ], + [ + 0.18178488314151764 + ], + [ + 0.18178488314151764 + ], + [ + 0.18178488314151764 + ], + [ + 0.18178488314151764 + ], + [ + 0.18178488314151764 + ], + [ + 0.18178488314151764 + ], + [ + 0.18178488314151764 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.38664719462394714, + 0.14179332554340363, + -0.019194846972823143 + ], + [ + 0.37383097410202026, + 0.13438323140144348, + -0.02066897042095661 + ], + [ + 0.36653488874435425, + 0.13676434755325317, + 0.01163390465080738 + ], + [ + 0.35447412729263306, + 0.13401667773723602, + 0.024641891941428185 + ], + [ + 0.3479931056499481, + 0.13415367901325226, + 0.04105740040540695 + ], + [ + 0.33289605379104614, + 0.12921404838562012, + 0.04372807964682579 + ], + [ + 0.32644233107566833, + 0.12223940342664719, + 0.035987839102745056 + ], + [ + 0.3246687054634094, + 0.10686630010604858, + 0.023131662979722023 + ], + [ + 0.32103803753852844, + 0.09796830266714096, + 0.012734043411910534 + ], + [ + 0.3316706418991089, + 0.09047546982765198, + 0.014121891930699348 + ], + [ + 0.33669471740722656, + 0.08485011011362076, + 0.004697948694229126 + ], + [ + 0.34691205620765686, + 0.08104006946086884, + 0.004301916342228651 + ], + [ + 0.35403141379356384, + 0.07447954267263412, + -0.0032526489812880754 + ], + [ + 0.3613583743572235, + 0.06679510325193405, + -0.009319808334112167 + ], + [ + 0.3655419647693634, + 0.05940265581011772, + -0.01540888287127018 + ], + [ + 0.36745601892471313, + 0.05215510353446007, + -0.015244701877236366 + ], + [ + 0.3671000003814697, + 0.04823450371623039, + -0.022565914317965508 + ], + [ + 0.3661658465862274, + 0.04731078818440437, + -0.03644666075706482 + ], + [ + 0.36975643038749695, + 0.04751014709472656, + -0.035558734089136124 + ], + [ + 0.3666802644729614, + 0.047955624759197235, + -0.030125277116894722 + ], + [ + 0.3553854525089264, + 0.05742484703660011, + -0.013381781987845898 + ], + [ + 0.34766149520874023, + 0.07790591567754745, + 0.017927074804902077 + ], + [ + 0.34085002541542053, + 0.10491674393415451, + 0.04360577091574669 + ], + [ + 0.33491426706314087, + 0.1316646784543991, + 0.06651288270950317 + ], + [ + 0.3356902599334717, + 0.14314447343349457, + 0.08318614959716797 + ], + [ + 0.3351820707321167, + 0.15265130996704102, + 0.09187377244234085 + ], + [ + 0.34331533312797546, + 0.1607283502817154, + 0.09229468554258347 + ], + [ + 0.3562239110469818, + 0.1558801680803299, + 0.0782223492860794 + ], + [ + 0.3665187358856201, + 0.15564769506454468, + 0.06689070165157318 + ], + [ + 0.37625423073768616, + 0.1596222072839737, + 0.05915091186761856 + ], + [ + 0.38631904125213623, + 0.15793931484222412, + 0.050207268446683884 + ], + [ + 0.39422979950904846, + 0.15784993767738342, + 0.04556560888886452 + ], + [ + 0.39478549361228943, + 0.15896356105804443, + 0.04476016014814377 + ], + [ + 0.3970336616039276, + 0.158037930727005, + 0.0421365350484848 + ], + [ + 0.39680489897727966, + 0.15511663258075714, + 0.0396307148039341 + ], + [ + 0.3893141448497772, + 0.1520405262708664, + 0.030697770416736603 + ], + [ + 0.386614590883255, + 0.15230807662010193, + 0.03031161241233349 + ], + [ + 0.38385263085365295, + 0.15080562233924866, + 0.029219049960374832 + ], + [ + 0.38412314653396606, + 0.15158185362815857, + 0.03022032044827938 + ], + [ + 0.3825806677341461, + 0.15063290297985077, + 0.030357779935002327 + ], + [ + 0.3818199038505554, + 0.1517515778541565, + 0.031653184443712234 + ], + [ + 0.3806624412536621, + 0.1609213948249817, + 0.036907926201820374 + ], + [ + 0.38636597990989685, + 0.1688811480998993, + 0.047857630997896194 + ], + [ + 0.38749760389328003, + 0.1733628660440445, + 0.04615889489650726 + ], + [ + 0.3884792625904083, + 0.1751643866300583, + 0.04539625346660614 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.7898348240838972, + 0.5573797438207373, + -0.2559077408807497, + 0.6086343535319316, + -0.763787834945729, + 0.21492409564700693, + -0.07566488198052808, + -0.3255087777115165, + -0.9425066903039085 + ], + [ + 0.8022999119858183, + 0.539620892808734, + -0.255194324529079, + 0.5877883297180277, + -0.7886860983156524, + 0.18021963758404366, + -0.10401793439036959, + -0.294590445140262, + -0.9499456505280831 + ], + [ + 0.8172092161376312, + 0.5499536327682019, + -0.17239518225512057, + 0.5738375803034593, + -0.8042564620560491, + 0.15453793926592196, + -0.053661238256205536, + -0.22521666245228117, + -0.9728298548372505 + ], + [ + 0.8273280189872007, + 0.5440464846715047, + -0.1397918864429993, + 0.5597733021788525, + -0.819219406047346, + 0.12463312129292456, + -0.04671401466901907, + -0.18136423923147563, + -0.9823058655843865 + ], + [ + 0.8389867644381688, + 0.5368088466984428, + -0.08909248679804752, + 0.5439578140125393, + -0.8317417880004141, + 0.11097519843899173, + -0.01452947598064535, + -0.14156927703482036, + -0.9898217183551621 + ], + [ + 0.91143504368628, + 0.40856310367078524, + -0.04860402719410066, + 0.4113835136728103, + -0.9069456476416182, + 0.09062668978915149, + -0.00705448926587925, + -0.10259523645287615, + -0.9946981711244758 + ], + [ + 0.9581093654647541, + 0.2860791549557965, + 0.01360738433730654, + 0.2812639098905899, + -0.9488159274640552, + 0.14366262138629654, + 0.05400978431528762, + -0.13381723689533304, + -0.9895331678665016 + ], + [ + 0.97691483170306, + 0.20319306962481967, + 0.06595443923667708, + 0.19329432408261424, + -0.972205634207788, + 0.13211172957794992, + 0.09096546529330042, + -0.11631328931414181, + -0.9890381705742693 + ], + [ + 0.9822936984861159, + 0.13300830978094486, + 0.13193892315645223, + 0.11566912421698779, + -0.9845611653417169, + 0.13137718753206734, + 0.1473761975942623, + -0.11378972374593918, + -0.9825131831952588 + ], + [ + 0.9781845775066426, + 0.08773994420897158, + 0.18829932160886348, + 0.0641736910735656, + -0.9897217865697898, + 0.12779875806555602, + 0.1975769968952515, + -0.11292691166994033, + -0.9737611837193675 + ], + [ + 0.9826879647805127, + 0.03306920486346414, + 0.18229314733481292, + 0.014485446360741096, + -0.9946431559663669, + 0.10234824929130676, + 0.18470120659937136, + -0.09793579518727369, + -0.9779028808126973 + ], + [ + 0.982819779681001, + 0.025563667581412826, + 0.18278889344699306, + 0.004968452215881689, + -0.9936671860832114, + 0.11225345332795553, + 0.18450093536447904, + -0.10941673638552749, + -0.9767227767633827 + ], + [ + 0.9880639895426122, + 0.025399523724584983, + 0.15193556780326528, + 0.008330608760772988, + -0.9936799328257669, + 0.11194102043957721, + 0.1538185734130027, + -0.10933917547678487, + -0.9820309522511218 + ], + [ + 0.989246686917408, + 0.025470028182958425, + 0.14402176949090356, + 0.009389472249321858, + -0.9937481967815766, + 0.11124908630745749, + 0.14595489109245663, + -0.10870050164430804, + -0.9833012614191364 + ], + [ + 0.9916642821627438, + 0.02297067448879484, + 0.1267844611779378, + 0.00904781877632993, + -0.9939657862132251, + 0.10931675449315227, + 0.12853049621798274, + -0.10725839804442013, + -0.9858882023794098 + ], + [ + 0.9909250768020069, + 0.014225819846195129, + 0.13366045868034204, + -0.0006300685001714088, + -0.9938812093721773, + 0.1104524543438611, + 0.1344138950355242, + -0.10953432204839371, + -0.9848528504882225 + ], + [ + 0.9923334159404166, + 0.007147825402839642, + 0.12338273866321217, + -0.007199203548810739, + -0.9932878431497302, + 0.11544449800323749, + 0.12337975148413446, + -0.11544769050512545, + -0.9856212597548542 + ], + [ + 0.9944185233885012, + 0.007169142750883303, + 0.10526349668355997, + -0.008320547815371686, + -0.9892527800762109, + 0.14597844222877449, + 0.10517874702564439, + -0.14603951692506034, + -0.9836716376263016 + ], + [ + 0.9939419571773284, + 0.003938601215115599, + 0.1098356644399707, + -0.013353624493856513, + -0.9876261567335668, + 0.15625701663784836, + 0.10909200921872614, + -0.15677710915867799, + -0.9815904805816268 + ], + [ + 0.9942876125546011, + -0.007121309430141979, + 0.10649615238341474, + -0.020608546944462992, + -0.9918049896780325, + 0.12608786715063228, + 0.10472550459801656, + -0.12756233535710218, + -0.9862861751464089 + ], + [ + 0.9975164705069464, + -0.011734991428535443, + 0.06944912557791134, + -0.01687990206132436, + -0.9971179654805112, + 0.07396507163794293, + 0.06838099131896523, + -0.07495367163907403, + -0.9948396791111909 + ], + [ + 0.9960243952372858, + 0.042702420841793015, + 0.0781786885695182, + 0.0404534299948828, + -0.9987270658657467, + 0.03012918699277867, + 0.07936576147085361, + -0.026846809148334722, + -0.9964839811781746 + ], + [ + 0.9873160874701962, + 0.1440247707010001, + 0.06681174183531464, + 0.1467019014942221, + -0.9884871283067889, + -0.037037133660392546, + 0.06070828214110439, + 0.04636876746607119, + -0.9970779517586145 + ], + [ + 0.9506506734321173, + 0.3016404693381782, + 0.0726383119332061, + 0.30770943024601866, + -0.9465996572969116, + -0.09624965113204385, + 0.03972661124149345, + 0.11385128924528325, + -0.9927032186391128 + ], + [ + 0.8832563233400503, + 0.462791127381914, + 0.07538328525869194, + 0.4687847104895952, + -0.8749846226087131, + -0.12100746013975416, + 0.009958036503382686, + 0.14221913589550744, + -0.9897851054113375 + ], + [ + 0.8702255961977408, + 0.48606693792801375, + 0.08028912488980706, + 0.4925358790711705, + -0.8619464014415087, + -0.12023647063026573, + 0.010761949167132245, + 0.14417812904639127, + -0.9894932276447405 + ], + [ + 0.8887288872816574, + 0.4423665520471766, + 0.12030294485589282, + 0.45057008485306344, + -0.8912677920792794, + -0.05126715749512434, + 0.08454326434796919, + 0.09976751190652836, + -0.9914125680166509 + ], + [ + 0.9192160506127911, + 0.3744214314834509, + 0.12186239757080883, + 0.3756233939709132, + -0.9266691485478336, + 0.013833113583175604, + 0.1181055383866248, + 0.033058747337375155, + -0.9924506038221191 + ], + [ + 0.9182924552796927, + 0.3767178361964942, + 0.12174825858231185, + 0.3758390911694503, + -0.9261665389521245, + 0.030992251844050692, + 0.12443449732817559, + 0.01729780381651941, + -0.9920770342356535 + ], + [ + 0.9132519312976443, + 0.3923760573080914, + 0.10959899466911231, + 0.39173238859537224, + -0.9196453288243566, + 0.028252520186793285, + 0.11187781597120593, + 0.017131807344768192, + -0.9935742828146341 + ], + [ + 0.9122010366166774, + 0.3964830434739161, + 0.10339470505359623, + 0.3937570602847322, + -0.9180405575292298, + 0.04644256891416612, + 0.1133342237428094, + -0.0016525643957328272, + -0.9935555458853486 + ], + [ + 0.9070839652322308, + 0.40807934223573755, + 0.10329535545716115, + 0.4044104072067542, + -0.912908519936388, + 0.055229129727174794, + 0.11683707699801776, + -0.008323741226254025, + -0.9931162131244047 + ], + [ + 0.9044296940323531, + 0.41403702923440505, + 0.10286042472832968, + 0.4092525615124816, + -0.9101082027649647, + 0.06492611304704884, + 0.12049593125087832, + -0.016625212259521637, + -0.9925745981382504 + ], + [ + 0.9081828019071322, + 0.4046024338713791, + 0.10724210379075418, + 0.3971082968455279, + -0.913843687302509, + 0.0848216703077602, + 0.13232157381377663, + -0.03444685301606693, + -0.9906081038537564 + ], + [ + 0.9133710156033804, + 0.39297352967165966, + 0.10641988927379398, + 0.3856224000521119, + -0.9188773234940002, + 0.08342558927901898, + 0.13057087130634593, + -0.03516062209204762, + -0.990815309843566 + ], + [ + 0.9230731395775166, + 0.3753031112653077, + 0.08416385010850626, + 0.36987774305269716, + -0.9261799126686667, + 0.07335683037934666, + 0.10548191401728531, + -0.03658338480295907, + -0.9937480675561634 + ], + [ + 0.9282422128430868, + 0.36257002476882144, + 0.08312262890035271, + 0.35633061953284967, + -0.9308412317556621, + 0.08101290543448779, + 0.10674682140234953, + -0.04558046075609486, + -0.9932409263203752 + ], + [ + 0.9330010031154059, + 0.35150793130648644, + 0.07714468493862965, + 0.3456389099636899, + -0.9349593851177878, + 0.07990426834206148, + 0.10021413126280306, + -0.0478865577046657, + -0.9938128624074248 + ], + [ + 0.9343261937454422, + 0.3473529752456751, + 0.0798778709601847, + 0.3412208163257012, + -0.936479001422448, + 0.08108905228720428, + 0.10297047240435744, + -0.048507633242535465, + -0.9935009266880587 + ], + [ + 0.938867072693375, + 0.33726399148168557, + 0.06914925785584936, + 0.33224835846816997, + -0.9402267449410754, + 0.07473082625474324, + 0.09021999837829536, + -0.04718758467384983, + -0.9948033392310607 + ], + [ + 0.9417540221804969, + 0.33033402646483057, + 0.06307767169441988, + 0.3257440625493768, + -0.9426275671238554, + 0.07310318332322684, + 0.08360722110370647, + -0.04829803989495092, + -0.9953276505360543 + ], + [ + 0.9380484561987736, + 0.3415535673817474, + 0.058363125617973174, + 0.3371320265889565, + -0.9385462675674175, + 0.07397905300348295, + 0.08004430317718005, + -0.0497198576433113, + -0.9955505237228336 + ], + [ + 0.9346230782519723, + 0.34658118677595895, + 0.07975702208442555, + 0.34009138114132553, + -0.9365824621354043, + 0.08456443752411279, + 0.10400747123256755, + -0.0519111991130214, + -0.9932208582860385 + ], + [ + 0.931146503098042, + 0.35588449844846604, + 0.07945069875319939, + 0.3494783267509203, + -0.9331618378956558, + 0.08410638160436287, + 0.1040725175042136, + -0.05054906585967243, + -0.9932843012154423 + ], + [ + 0.9261199227697596, + 0.36722892500809945, + 0.0862832850923632, + 0.3601734594633703, + -0.9288049620884595, + 0.0871574523379554, + 0.11214708086759219, + -0.04964130374245555, + -0.9924508920927155 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006404.json b/json/chunk-0006/episode_0006404.json new file mode 100644 index 0000000000000000000000000000000000000000..bce7c3e7e76a3fb03184125c09892fadbb032eee --- /dev/null +++ b/json/chunk-0006/episode_0006404.json @@ -0,0 +1,982 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 15, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nEnd effector transition from object to object." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006404.mp4", + "start": 0, + "end": 15, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.36672601103782654, + -0.09936168044805527, + 0.0504595972597599, + -0.001000120653770864, + -0.36887311935424805, + -0.02889009192585945, + 0.0, + 0.9994885921478271 + ], + [ + 0.3646053075790405, + -0.0992816686630249, + 0.0467396005988121, + 0.003310598200187087, + -0.35258570313453674, + -0.030043825507164, + 0.0, + 0.9994885921478271 + ], + [ + 0.34944266080856323, + -0.09902139008045197, + 0.04545159265398979, + 0.041311655193567276, + -0.2510257363319397, + -0.04118169844150543, + 0.0, + 0.9994885921478271 + ], + [ + 0.3484359085559845, + -0.09767840057611465, + 0.06633330881595612, + 0.050763003528118134, + -0.23486413061618805, + -0.0347597673535347, + 0.0, + 0.9994885921478271 + ], + [ + 0.34719201922416687, + -0.09672355651855469, + 0.08063457161188126, + 0.05833053961396217, + -0.21575257182121277, + -0.04479324072599411, + 0.0, + 0.9994885921478271 + ], + [ + 0.3424128293991089, + -0.08866160362958908, + 0.094516821205616, + 0.06993690878152847, + -0.19878476858139038, + -0.05954347550868988, + 0.0, + 0.9994885921478271 + ], + [ + 0.34127670526504517, + -0.07530765980482101, + 0.10562702268362045, + 0.07927677780389786, + -0.19458697736263275, + -0.0855584591627121, + 0.0, + 0.9994885921478271 + ], + [ + 0.33519694209098816, + -0.057819049805402756, + 0.11187860369682312, + 0.11527702212333679, + -0.21035167574882507, + -0.09420903772115707, + 0.0, + 0.9994885921478271 + ], + [ + 0.32337096333503723, + -0.040948573499917984, + 0.11060202121734619, + 0.14546924829483032, + -0.2042725682258606, + -0.09457118809223175, + 0.0, + 0.9994885921478271 + ], + [ + 0.3097456693649292, + -0.025233672931790352, + 0.10846485942602158, + 0.186696395277977, + -0.21357528865337372, + -0.09297466278076172, + 0.0, + 0.9994885921478271 + ], + [ + 0.2968337833881378, + -0.010641477070748806, + 0.10838612914085388, + 0.2071588635444641, + -0.23575124144554138, + -0.10187192261219025, + 0.0, + 0.9994885921478271 + ], + [ + 0.2854606807231903, + -0.0007931684958748519, + 0.1020638644695282, + 0.23717470467090607, + -0.24969805777072906, + -0.10492973774671555, + 0.0, + 0.9994885921478271 + ], + [ + 0.27788016200065613, + 0.007303988095372915, + 0.09225272387266159, + 0.23363694548606873, + -0.2538260519504547, + -0.09882044792175293, + 0.0, + 0.9994885921478271 + ], + [ + 0.2701892554759979, + 0.01582171767950058, + 0.07424919307231903, + 0.22031641006469727, + -0.277253657579422, + -0.09866872429847717, + 0.0, + 0.9994885921478271 + ], + [ + 0.27067968249320984, + 0.022626269608736038, + 0.06776687502861023, + 0.21497103571891785, + -0.31677913665771484, + -0.1031099408864975, + 0.0, + 0.9994885921478271 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.36672601103782654, + -0.09936168044805527, + 0.0504595972597599 + ], + [ + 0.3646053075790405, + -0.0992816686630249, + 0.0467396005988121 + ], + [ + 0.34944266080856323, + -0.09902139008045197, + 0.04545159265398979 + ], + [ + 0.3484359085559845, + -0.09767840057611465, + 0.06633330881595612 + ], + [ + 0.34719201922416687, + -0.09672355651855469, + 0.08063457161188126 + ], + [ + 0.3424128293991089, + -0.08866160362958908, + 0.094516821205616 + ], + [ + 0.34127670526504517, + -0.07530765980482101, + 0.10562702268362045 + ], + [ + 0.33519694209098816, + -0.057819049805402756, + 0.11187860369682312 + ], + [ + 0.32337096333503723, + -0.040948573499917984, + 0.11060202121734619 + ], + [ + 0.3097456693649292, + -0.025233672931790352, + 0.10846485942602158 + ], + [ + 0.2968337833881378, + -0.010641477070748806, + 0.10838612914085388 + ], + [ + 0.2854606807231903, + -0.0007931684958748519, + 0.1020638644695282 + ], + [ + 0.27788016200065613, + 0.007303988095372915, + 0.09225272387266159 + ], + [ + 0.2701892554759979, + 0.01582171767950058, + 0.07424919307231903 + ], + [ + 0.27067968249320984, + 0.022626269608736038, + 0.06776687502861023 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9323450306109392, + -0.029246516401421934, + 0.3603850512624912, + -0.026943029945014896, + -0.9995717938575198, + -0.011414992853352287, + 0.3605645809455902, + 0.0009328466333813632, + -0.9327337845091116 + ], + [ + 0.9380594213925987, + -0.028896425051527782, + 0.3452673146358111, + -0.028191376223073782, + -0.999577582571124, + -0.007064186288380191, + 0.3453255974341199, + -0.0031069342621410875, + -0.9384777987338107 + ], + [ + 0.9678368675828567, + -0.030884829991024005, + 0.24967563962835781, + -0.03987971300165441, + -0.9987220274321879, + 0.0310470676980301, + 0.24839767760248832, + -0.04000548960037774, + -0.9678316767721153 + ], + [ + 0.9719584925794128, + -0.02290710477046889, + 0.23403408566657655, + -0.03379866449147576, + -0.9985189153182263, + 0.04263362558246149, + 0.23271084843932047, + -0.049348153995338276, + -0.9712931692933416 + ], + [ + 0.9758357639614157, + -0.03223415115706885, + 0.2161146021744543, + -0.04374010408135019, + -0.9978567667882108, + 0.04866904837707589, + 0.21408261271946413, + -0.05694587319692919, + -0.9751542454694265 + ], + [ + 0.9785699934884641, + -0.045587522394401746, + 0.20080474507821663, + -0.05833641721493422, + -0.9966087543332431, + 0.05803320784573985, + 0.19747817669431925, + -0.06850378521134168, + -0.9779108349646228 + ], + [ + 0.9775387562332385, + -0.06992872408968316, + 0.19881638164186063, + -0.08384138963890704, + -0.9945213972536286, + 0.062432457809275727, + 0.1933613235509883, + -0.07769918887529642, + -0.9780461311220094 + ], + [ + 0.9736208985957282, + -0.06953489024940258, + 0.21731830308478356, + -0.0919962151173777, + -0.9912172737251205, + 0.09500006670006281, + 0.20880383670259384, + -0.11248651166670054, + -0.9714667994694072 + ], + [ + 0.9748331897236294, + -0.06415912071627518, + 0.21350376915213576, + -0.09246696333883829, + -0.9877934077228445, + 0.12535567139217924, + 0.2028549060391392, + -0.14194291418807958, + -0.9688663975015581 + ], + [ + 0.9730584608552726, + -0.052055564198850914, + 0.2246050978804955, + -0.09073136907587831, + -0.9820313358683371, + 0.16547590168440157, + 0.21195530289092654, + -0.18139645423378126, + -0.9602969727994706 + ], + [ + 0.9672980938326716, + -0.05172906547870664, + 0.24831129948590644, + -0.09888281841132135, + -0.9784312362813489, + 0.18136842087856614, + 0.23357351281922675, + -0.1999910489338229, + -0.9515497855896115 + ], + [ + 0.9636575769389952, + -0.04406394006888904, + 0.26348139136126814, + -0.10148908390526255, + -0.9727406869473009, + 0.20850784590840662, + 0.24711139240458938, + -0.2276706505962036, + -0.9418609422844576 + ], + [ + 0.9632363054240191, + -0.03812671253936113, + 0.2659364091357681, + -0.0954985086816987, + -0.9738202894094403, + 0.20628639987668915, + 0.25110924864022277, + -0.2240990801530758, + -0.9416601019061431 + ], + [ + 0.9571327147241252, + -0.03660124015230527, + 0.2873278886988519, + -0.09474673317171937, + -0.9769746293462124, + 0.19116388300910314, + 0.2737152223719272, + -0.21019258510505157, + -0.9385622271372006 + ], + [ + 0.9451968085683473, + -0.03446061201527369, + 0.32467746963986244, + -0.09780604651965853, + -0.9786332750300736, + 0.18086152235372413, + 0.3115075766918124, + -0.20270515342103426, + -0.928371504539077 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0021207034587860107, + 8.001178503036499e-05, + -0.0037199966609477997, + 0.004310718737542629, + 0.016287416219711304, + -0.0011537335813045502, + 1.0 + ], + [ + -0.015162646770477295, + 0.000260278582572937, + -0.0012880079448223114, + 0.038001056760549545, + 0.10155996680259705, + -0.01113787293434143, + 1.0 + ], + [ + -0.0010067522525787354, + 0.0013429895043373108, + 0.020881716161966324, + 0.009451348334550858, + 0.016161605715751648, + 0.006421931087970734, + 1.0 + ], + [ + -0.001243889331817627, + 0.000954844057559967, + 0.01430126279592514, + 0.00756753608584404, + 0.01911155879497528, + -0.010033473372459412, + 1.0 + ], + [ + -0.004779189825057983, + 0.008061952888965607, + 0.013882249593734741, + 0.0116063691675663, + 0.016967803239822388, + -0.01475023478269577, + 1.0 + ], + [ + -0.0011361241340637207, + 0.013353943824768066, + 0.011110201478004456, + 0.009339869022369385, + 0.004197791218757629, + -0.026014983654022217, + 1.0 + ], + [ + -0.006079763174057007, + 0.01748860999941826, + 0.006251581013202667, + 0.036000244319438934, + -0.015764698386192322, + -0.008650578558444977, + 1.0 + ], + [ + -0.011825978755950928, + 0.01687047630548477, + -0.0012765824794769287, + 0.03019222617149353, + 0.0060791075229644775, + -0.0003621503710746765, + 1.0 + ], + [ + -0.013625293970108032, + 0.015714900568127632, + -0.0021371617913246155, + 0.04122714698314667, + -0.009302720427513123, + 0.0015965253114700317, + 1.0 + ], + [ + -0.012911885976791382, + 0.014592195861041546, + -7.873028516769409e-05, + 0.02046246826648712, + -0.022175952792167664, + -0.008897259831428528, + 1.0 + ], + [ + -0.01137310266494751, + 0.009848308749496937, + -0.006322264671325684, + 0.030015841126441956, + -0.013946816325187683, + -0.003057815134525299, + 1.0 + ], + [ + -0.00758051872253418, + 0.008097156882286072, + -0.009811140596866608, + -0.0035377591848373413, + -0.004127994179725647, + 0.006109289824962616, + 1.0 + ], + [ + -0.007690906524658203, + 0.008517729118466377, + -0.01800353080034256, + -0.01332053542137146, + -0.023427605628967285, + 0.00015172362327575684, + 1.0 + ], + [ + 0.0004904270172119141, + 0.006804551929235458, + -0.006482318043708801, + -0.005345374345779419, + -0.03952547907829285, + -0.004441216588020325, + 1.0 + ], + [ + 0.005531907081604004, + 0.005792953073978424, + -0.0049494728446006775, + -0.0015834122896194458, + -0.03658893704414368, + -0.014173410832881927, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3646053075790405, + -0.0992816686630249, + 0.0467396005988121 + ], + [ + 0.34944266080856323, + -0.09902139008045197, + 0.04545159265398979 + ], + [ + 0.3484359085559845, + -0.09767840057611465, + 0.06633330881595612 + ], + [ + 0.34719201922416687, + -0.09672355651855469, + 0.08063457161188126 + ], + [ + 0.3424128293991089, + -0.08866160362958908, + 0.094516821205616 + ], + [ + 0.34127670526504517, + -0.07530765980482101, + 0.10562702268362045 + ], + [ + 0.33519694209098816, + -0.057819049805402756, + 0.11187860369682312 + ], + [ + 0.32337096333503723, + -0.040948573499917984, + 0.11060202121734619 + ], + [ + 0.3097456693649292, + -0.025233672931790352, + 0.10846485942602158 + ], + [ + 0.2968337833881378, + -0.010641477070748806, + 0.10838612914085388 + ], + [ + 0.2854606807231903, + -0.0007931684958748519, + 0.1020638644695282 + ], + [ + 0.27788016200065613, + 0.007303988095372915, + 0.09225272387266159 + ], + [ + 0.2701892554759979, + 0.01582171767950058, + 0.07424919307231903 + ], + [ + 0.27067968249320984, + 0.022626269608736038, + 0.06776687502861023 + ], + [ + 0.27621158957481384, + 0.028419222682714462, + 0.06281740218400955 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9380594213925987, + -0.028896425051527782, + 0.3452673146358111, + -0.028191376223073782, + -0.999577582571124, + -0.007064186288380191, + 0.3453255974341199, + -0.0031069342621410875, + -0.9384777987338107 + ], + [ + 0.9678368675828567, + -0.030884829991024005, + 0.24967563962835781, + -0.03987971300165441, + -0.9987220274321879, + 0.0310470676980301, + 0.24839767760248832, + -0.04000548960037774, + -0.9678316767721153 + ], + [ + 0.9719584925794128, + -0.02290710477046889, + 0.23403408566657655, + -0.03379866449147576, + -0.9985189153182263, + 0.04263362558246149, + 0.23271084843932047, + -0.049348153995338276, + -0.9712931692933416 + ], + [ + 0.9758357639614157, + -0.03223415115706885, + 0.2161146021744543, + -0.04374010408135019, + -0.9978567667882108, + 0.04866904837707589, + 0.21408261271946413, + -0.05694587319692919, + -0.9751542454694265 + ], + [ + 0.9785699934884641, + -0.045587522394401746, + 0.20080474507821663, + -0.05833641721493422, + -0.9966087543332431, + 0.05803320784573985, + 0.19747817669431925, + -0.06850378521134168, + -0.9779108349646228 + ], + [ + 0.9775387562332385, + -0.06992872408968316, + 0.19881638164186063, + -0.08384138963890704, + -0.9945213972536286, + 0.062432457809275727, + 0.1933613235509883, + -0.07769918887529642, + -0.9780461311220094 + ], + [ + 0.9736208985957282, + -0.06953489024940258, + 0.21731830308478356, + -0.0919962151173777, + -0.9912172737251205, + 0.09500006670006281, + 0.20880383670259384, + -0.11248651166670054, + -0.9714667994694072 + ], + [ + 0.9748331897236294, + -0.06415912071627518, + 0.21350376915213576, + -0.09246696333883829, + -0.9877934077228445, + 0.12535567139217924, + 0.2028549060391392, + -0.14194291418807958, + -0.9688663975015581 + ], + [ + 0.9730584608552726, + -0.052055564198850914, + 0.2246050978804955, + -0.09073136907587831, + -0.9820313358683371, + 0.16547590168440157, + 0.21195530289092654, + -0.18139645423378126, + -0.9602969727994706 + ], + [ + 0.9672980938326716, + -0.05172906547870664, + 0.24831129948590644, + -0.09888281841132135, + -0.9784312362813489, + 0.18136842087856614, + 0.23357351281922675, + -0.1999910489338229, + -0.9515497855896115 + ], + [ + 0.9636575769389952, + -0.04406394006888904, + 0.26348139136126814, + -0.10148908390526255, + -0.9727406869473009, + 0.20850784590840662, + 0.24711139240458938, + -0.2276706505962036, + -0.9418609422844576 + ], + [ + 0.9632363054240191, + -0.03812671253936113, + 0.2659364091357681, + -0.0954985086816987, + -0.9738202894094403, + 0.20628639987668915, + 0.25110924864022277, + -0.2240990801530758, + -0.9416601019061431 + ], + [ + 0.9571327147241252, + -0.03660124015230527, + 0.2873278886988519, + -0.09474673317171937, + -0.9769746293462124, + 0.19116388300910314, + 0.2737152223719272, + -0.21019258510505157, + -0.9385622271372006 + ], + [ + 0.9451968085683473, + -0.03446061201527369, + 0.32467746963986244, + -0.09780604651965853, + -0.9786332750300736, + 0.18086152235372413, + 0.3115075766918124, + -0.20270515342103426, + -0.928371504539077 + ], + [ + 0.9317671383714047, + -0.04157839438789389, + 0.36066776536209605, + -0.10978461174379113, + -0.9791806258895216, + 0.17074144460812532, + 0.346059733103157, + -0.19868703783269112, + -0.9169329976186058 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006405.json b/json/chunk-0006/episode_0006405.json new file mode 100644 index 0000000000000000000000000000000000000000..8a421fc5e3e21f50fcc6db557a5fb223a3565a63 --- /dev/null +++ b/json/chunk-0006/episode_0006405.json @@ -0,0 +1,1282 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 20, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nTurn lever vertical to front." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006405.mp4", + "start": 0, + "end": 20, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3627876937389374, + -0.038924265652894974, + 0.05795631185173988, + 0.1817106455564499, + -0.19393767416477203, + -0.03476211801171303, + 0.0, + 0.9988223910331726 + ], + [ + 0.3586483299732208, + -0.037302885204553604, + 0.047066278755664825, + 0.18745069205760956, + -0.12651269137859344, + -0.069356769323349, + 0.0, + 0.9988223910331726 + ], + [ + 0.37009209394454956, + -0.024285994470119476, + 0.0618404820561409, + 0.21529193222522736, + -0.13533660769462585, + -0.08424994349479675, + 0.0, + 0.9988223910331726 + ], + [ + 0.37965646386146545, + -0.02531404048204422, + 0.06877315044403076, + 0.27044031023979187, + -0.1718343049287796, + -0.11521303653717041, + 0.0, + 0.9988223910331726 + ], + [ + 0.3907887935638428, + -0.03499630093574524, + 0.0728558748960495, + 0.30090680718421936, + -0.22105586528778076, + -0.14870582520961761, + 0.0, + 0.9988223910331726 + ], + [ + 0.4037359058856964, + -0.039080504328012466, + 0.07939037680625916, + 0.2916165888309479, + -0.24907313287258148, + -0.15174554288387299, + 0.0, + 0.9988223910331726 + ], + [ + 0.41478630900382996, + -0.04246315732598305, + 0.08499737828969955, + 0.293448269367218, + -0.26794981956481934, + -0.17357254028320312, + 0.0, + 0.9988223910331726 + ], + [ + 0.4261249005794525, + -0.0431833490729332, + 0.08730591833591461, + 0.296749085187912, + -0.2778496742248535, + -0.18866951763629913, + 0.0, + 0.9988223910331726 + ], + [ + 0.43233734369277954, + -0.04573140665888786, + 0.08722565323114395, + 0.2935839593410492, + -0.28830987215042114, + -0.20612455904483795, + 0.0, + 0.9988223910331726 + ], + [ + 0.4365348815917969, + -0.04163854196667671, + 0.08507699519395828, + 0.2913866937160492, + -0.293003648519516, + -0.2105899304151535, + 0.0, + 0.9988223910331726 + ], + [ + 0.44106325507164, + -0.03775754198431969, + 0.08645200729370117, + 0.2910859286785126, + -0.30222082138061523, + -0.21227648854255676, + 0.0, + 0.9988223910331726 + ], + [ + 0.44444072246551514, + -0.03683985397219658, + 0.08393856137990952, + 0.2833356261253357, + -0.3023874759674072, + -0.2194884717464447, + 0.0, + 0.9865638017654419 + ], + [ + 0.45011162757873535, + -0.034694869071245193, + 0.08546683937311172, + 0.281926691532135, + -0.31399208307266235, + -0.21276456117630005, + 0.0, + 0.7912794351577759 + ], + [ + 0.45003387331962585, + -0.03420675918459892, + 0.08452317863702774, + 0.28132370114326477, + -0.3128518760204315, + -0.2013569176197052, + 0.0, + 0.4956514239311218 + ], + [ + 0.44761964678764343, + -0.03530240058898926, + 0.0817091315984726, + 0.2769725024700165, + -0.31828588247299194, + -0.1800341010093689, + 0.0, + 0.43931102752685547 + ], + [ + 0.4317863881587982, + -0.035729434341192245, + 0.07935120165348053, + 0.2718404531478882, + -0.32009801268577576, + -0.11743856966495514, + 0.0, + 0.43931102752685547 + ], + [ + 0.4117804765701294, + -0.0371466800570488, + 0.06994087249040604, + 0.27231746912002563, + -0.3121033310890198, + -0.07848531752824783, + 0.0, + 0.4356481730937958 + ], + [ + 0.39831218123435974, + -0.03732185810804367, + 0.058354269713163376, + 0.25069403648376465, + -0.32569441199302673, + -0.05193421617150307, + 0.0, + 0.4329093396663666 + ], + [ + 0.39084485173225403, + -0.036167774349451065, + 0.048060983419418335, + 0.2201855182647705, + -0.35002022981643677, + -0.05365503579378128, + 0.0, + 0.39886748790740967 + ], + [ + 0.3899018466472626, + -0.03478613123297691, + 0.045183971524238586, + 0.18858970701694489, + -0.3766460716724396, + -0.03923356905579567, + 0.0, + 0.3953573703765869 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9865638017654419 + ], + [ + 0.7912794351577759 + ], + [ + 0.4956514239311218 + ], + [ + 0.43931102752685547 + ], + [ + 0.43931102752685547 + ], + [ + 0.4356481730937958 + ], + [ + 0.4329093396663666 + ], + [ + 0.39886748790740967 + ], + [ + 0.3953573703765869 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3627876937389374, + -0.038924265652894974, + 0.05795631185173988 + ], + [ + 0.3586483299732208, + -0.037302885204553604, + 0.047066278755664825 + ], + [ + 0.37009209394454956, + -0.024285994470119476, + 0.0618404820561409 + ], + [ + 0.37965646386146545, + -0.02531404048204422, + 0.06877315044403076 + ], + [ + 0.3907887935638428, + -0.03499630093574524, + 0.0728558748960495 + ], + [ + 0.4037359058856964, + -0.039080504328012466, + 0.07939037680625916 + ], + [ + 0.41478630900382996, + -0.04246315732598305, + 0.08499737828969955 + ], + [ + 0.4261249005794525, + -0.0431833490729332, + 0.08730591833591461 + ], + [ + 0.43233734369277954, + -0.04573140665888786, + 0.08722565323114395 + ], + [ + 0.4365348815917969, + -0.04163854196667671, + 0.08507699519395828 + ], + [ + 0.44106325507164, + -0.03775754198431969, + 0.08645200729370117 + ], + [ + 0.44444072246551514, + -0.03683985397219658, + 0.08393856137990952 + ], + [ + 0.45011162757873535, + -0.034694869071245193, + 0.08546683937311172 + ], + [ + 0.45003387331962585, + -0.03420675918459892, + 0.08452317863702774 + ], + [ + 0.44761964678764343, + -0.03530240058898926, + 0.0817091315984726 + ], + [ + 0.4317863881587982, + -0.035729434341192245, + 0.07935120165348053 + ], + [ + 0.4117804765701294, + -0.0371466800570488, + 0.06994087249040604 + ], + [ + 0.39831218123435974, + -0.03732185810804367, + 0.058354269713163376 + ], + [ + 0.39084485173225403, + -0.036167774349451065, + 0.048060983419418335 + ], + [ + 0.3899018466472626, + -0.03478613123297691, + 0.045183971524238586 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9806601434167105, + 0.0006236932759519503, + 0.1957173832867534, + -0.03410356171139343, + -0.9841522411048182, + 0.1740152677409669, + 0.19272423353723214, + -0.17732449727846614, + -0.9650976077436029 + ], + [ + 0.9896229356351746, + -0.04463031286299972, + 0.13658177198502724, + -0.06874731818064486, + -0.9817499093938381, + 0.17731588098125903, + 0.12617547902737836, + -0.18486549320774173, + -0.974630441712791 + ], + [ + 0.9873414764231373, + -0.05348572275826098, + 0.1493187409389922, + -0.08338083754983379, + -0.9758745860348678, + 0.2017831218431407, + 0.13492384838888802, + -0.2116791671192562, + -0.9679811389400262 + ], + [ + 0.978740730343088, + -0.06540187140763742, + 0.19439438773755152, + -0.11326529842768349, + -0.962516046131995, + 0.2464423525097072, + 0.17098992642716254, + -0.2632213064225802, + -0.9494614204408852 + ], + [ + 0.9648986864273048, + -0.07723287955810307, + 0.25100917761314073, + -0.1445531511792915, + -0.9541558179698351, + 0.2620897966698661, + 0.21925991748379045, + -0.28917426813165514, + -0.931827951520839 + ], + [ + 0.9580046428789043, + -0.07472550841513537, + 0.27684508775588285, + -0.1464991289024392, + -0.9574873149884227, + 0.2485076394541776, + 0.24650580003985595, + -0.2786290365851351, + -0.9282245151461741 + ], + [ + 0.9498259755868637, + -0.08988871275784968, + 0.29958410408297687, + -0.16653954554273434, + -0.9560943613602774, + 0.24113927914278743, + 0.26475497326940367, + -0.27893295160991727, + -0.9230932849042384 + ], + [ + 0.9445826893911712, + -0.1005724772404536, + 0.3124879513265446, + -0.1803590880531426, + -0.9543651151955008, + 0.238029044980896, + 0.27428842895605565, + -0.28119815739011716, + -0.9196159274508147 + ], + [ + 0.9384309599114294, + -0.11537126259556935, + 0.3256329302248428, + -0.19622053361223185, + -0.9537904398967465, + 0.22755504597899356, + 0.2843322627994301, + -0.27744056756118973, + -0.9177046887766679 + ], + [ + 0.9362299784340454, + -0.11908323371964244, + 0.3305943298489243, + -0.20012782062879633, + -0.954030303115441, + 0.22310319618469748, + 0.2888291586591539, + -0.27503702329746865, + -0.917023638148937 + ], + [ + 0.9332489697305127, + -0.1183194309503393, + 0.3391856022246881, + -0.20113709605563906, + -0.9544278132725832, + 0.22047997152126875, + 0.2976411078585097, + -0.27398551332379373, + -0.9145172001670915 + ], + [ + 0.9317256884910363, + -0.12779346112647938, + 0.3399353948902931, + -0.20785157976238866, + -0.9552204940022503, + 0.21059802617397985, + 0.297800205164778, + -0.2668756997769035, + -0.9165655452134366 + ], + [ + 0.9296615109944544, + -0.11883764181546758, + 0.34872208112370334, + -0.20083878318575543, + -0.9570067609242611, + 0.20928889773162695, + 0.3088579902543776, + -0.264604751342437, + -0.9135595587716402 + ], + [ + 0.9322365099429875, + -0.108416805072506, + 0.345225847681179, + -0.19029100658768278, + -0.9583683093496654, + 0.21288380973223486, + 0.3077733294831844, + -0.2641514338634832, + -0.9140566709163612 + ], + [ + 0.9344226003161962, + -0.0880501184694993, + 0.34511096861129337, + -0.17006936059690742, + -0.9616639797449598, + 0.2151250860481972, + 0.31293899821606935, + -0.25971054406510397, + -0.913575183932297 + ], + [ + 0.9426664733097935, + -0.0289605265551817, + 0.33247737968066804, + -0.11121716866444037, + -0.9665426201828876, + 0.231140876446084, + 0.31465959621778883, + -0.25486594765022075, + -0.9143482308379085 + ], + [ + 0.9487601503121756, + 0.006818631727150644, + 0.31592354049830945, + -0.07461701685257116, + -0.9666605401242441, + 0.2449483638702808, + 0.30706103298145887, + -0.25597051866977544, + -0.9166202133906306 + ], + [ + 0.9461513684348427, + 0.02898100565370226, + 0.32242470333424245, + -0.04918185480858764, + -0.9715548366351083, + 0.23165134268662127, + 0.31996676884711195, + -0.23503467982880208, + -0.9178125985795308 + ], + [ + 0.938013947627909, + 0.02245438593770415, + 0.3458693895210557, + -0.05037752454407115, + -0.9784692614007588, + 0.20014996756099088, + 0.3429168107228321, + -0.2051675048491228, + -0.9166866181403911 + ], + [ + 0.9291878549098287, + 0.030372439002464235, + 0.3683577679880159, + -0.03647407230965937, + -0.9842183114854931, + 0.17315876352583123, + 0.3678037144146604, + -0.17433252790482504, + -0.9134158950757822 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.004139363765716553, + 0.0016213804483413696, + -0.010890033096075058, + 0.005740046501159668, + 0.06742498278617859, + -0.03459465131163597, + 1.0 + ], + [ + 0.011443763971328735, + 0.013016890734434128, + 0.014774203300476074, + 0.027841240167617798, + -0.00882391631603241, + -0.014893174171447754, + 1.0 + ], + [ + 0.009564369916915894, + -0.0010280460119247437, + 0.006932668387889862, + 0.055148378014564514, + -0.03649769723415375, + -0.030963093042373657, + 1.0 + ], + [ + 0.01113232970237732, + -0.00968226045370102, + 0.004082724452018738, + 0.03046649694442749, + -0.04922156035900116, + -0.033492788672447205, + 1.0 + ], + [ + 0.012947112321853638, + -0.004084203392267227, + 0.006534501910209656, + -0.009290218353271484, + -0.02801726758480072, + -0.003039717674255371, + 1.0 + ], + [ + 0.011050403118133545, + -0.003382652997970581, + 0.005607001483440399, + 0.0018316805362701416, + -0.018876686692237854, + -0.02182699739933014, + 1.0 + ], + [ + 0.011338591575622559, + -0.0007201917469501495, + 0.0023085400462150574, + 0.0033008158206939697, + -0.00989985466003418, + -0.015096977353096008, + 1.0 + ], + [ + 0.006212443113327026, + -0.002548057585954666, + -8.02651047706604e-05, + -0.003165125846862793, + -0.010460197925567627, + -0.01745504140853882, + 1.0 + ], + [ + 0.004197537899017334, + 0.004092864692211151, + -0.002148658037185669, + -0.002197265625, + -0.004693776369094849, + -0.004465371370315552, + 1.0 + ], + [ + 0.00452837347984314, + 0.003880999982357025, + 0.0013750120997428894, + -0.0003007650375366211, + -0.009217172861099243, + -0.0016865581274032593, + 1.0 + ], + [ + 0.003377467393875122, + 0.0009176880121231079, + -0.0025134459137916565, + -0.00775030255317688, + -0.0001666545867919922, + -0.0072119832038879395, + 1.0 + ], + [ + 0.005670905113220215, + 0.0021449849009513855, + 0.0015282779932022095, + -0.0014089345932006836, + -0.011604607105255127, + 0.006723910570144653, + 0.0 + ], + [ + -7.775425910949707e-05, + 0.00048810988664627075, + -0.0009436607360839844, + -0.0006029903888702393, + 0.001140207052230835, + 0.011407643556594849, + 0.0 + ], + [ + -0.002414226531982422, + -0.001095641404390335, + -0.0028140470385551453, + -0.004351198673248291, + -0.005434006452560425, + 0.021322816610336304, + 0.0 + ], + [ + -0.015833258628845215, + -0.00042703375220298767, + -0.0023579299449920654, + -0.005132049322128296, + -0.0018121302127838135, + 0.06259553134441376, + 0.0 + ], + [ + -0.020005911588668823, + -0.0014172457158565521, + -0.009410329163074493, + 0.00047701597213745117, + 0.007994681596755981, + 0.038953252136707306, + 0.0 + ], + [ + -0.013468295335769653, + -0.00017517805099487305, + -0.01158660277724266, + -0.021623432636260986, + -0.013591080904006958, + 0.026551101356744766, + 0.0 + ], + [ + -0.007467329502105713, + 0.0011540837585926056, + -0.010293286293745041, + -0.03050851821899414, + -0.024325817823410034, + -0.0017208196222782135, + 0.0 + ], + [ + -0.0009430050849914551, + 0.0013816431164741516, + -0.0028770118951797485, + -0.03159581124782562, + -0.026625841856002808, + 0.014421466737985611, + 0.0 + ], + [ + 0.0008282065391540527, + 0.00048473477363586426, + -0.0018958337604999542, + -0.025499746203422546, + -0.011362046003341675, + 0.01248418353497982, + 0.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9865638017654419 + ], + [ + 0.7912794351577759 + ], + [ + 0.4956514239311218 + ], + [ + 0.43931102752685547 + ], + [ + 0.43931102752685547 + ], + [ + 0.4356481730937958 + ], + [ + 0.4329093396663666 + ], + [ + 0.39886748790740967 + ], + [ + 0.3953573703765869 + ], + [ + 0.3953573703765869 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3586483299732208, + -0.037302885204553604, + 0.047066278755664825 + ], + [ + 0.37009209394454956, + -0.024285994470119476, + 0.0618404820561409 + ], + [ + 0.37965646386146545, + -0.02531404048204422, + 0.06877315044403076 + ], + [ + 0.3907887935638428, + -0.03499630093574524, + 0.0728558748960495 + ], + [ + 0.4037359058856964, + -0.039080504328012466, + 0.07939037680625916 + ], + [ + 0.41478630900382996, + -0.04246315732598305, + 0.08499737828969955 + ], + [ + 0.4261249005794525, + -0.0431833490729332, + 0.08730591833591461 + ], + [ + 0.43233734369277954, + -0.04573140665888786, + 0.08722565323114395 + ], + [ + 0.4365348815917969, + -0.04163854196667671, + 0.08507699519395828 + ], + [ + 0.44106325507164, + -0.03775754198431969, + 0.08645200729370117 + ], + [ + 0.44444072246551514, + -0.03683985397219658, + 0.08393856137990952 + ], + [ + 0.45011162757873535, + -0.034694869071245193, + 0.08546683937311172 + ], + [ + 0.45003387331962585, + -0.03420675918459892, + 0.08452317863702774 + ], + [ + 0.44761964678764343, + -0.03530240058898926, + 0.0817091315984726 + ], + [ + 0.4317863881587982, + -0.035729434341192245, + 0.07935120165348053 + ], + [ + 0.4117804765701294, + -0.0371466800570488, + 0.06994087249040604 + ], + [ + 0.39831218123435974, + -0.03732185810804367, + 0.058354269713163376 + ], + [ + 0.39084485173225403, + -0.036167774349451065, + 0.048060983419418335 + ], + [ + 0.3899018466472626, + -0.03478613123297691, + 0.045183971524238586 + ], + [ + 0.3907300531864166, + -0.03430139645934105, + 0.04328813776373863 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9896229356351746, + -0.04463031286299972, + 0.13658177198502724, + -0.06874731818064486, + -0.9817499093938381, + 0.17731588098125903, + 0.12617547902737836, + -0.18486549320774173, + -0.974630441712791 + ], + [ + 0.9873414764231373, + -0.05348572275826098, + 0.1493187409389922, + -0.08338083754983379, + -0.9758745860348678, + 0.2017831218431407, + 0.13492384838888802, + -0.2116791671192562, + -0.9679811389400262 + ], + [ + 0.978740730343088, + -0.06540187140763742, + 0.19439438773755152, + -0.11326529842768349, + -0.962516046131995, + 0.2464423525097072, + 0.17098992642716254, + -0.2632213064225802, + -0.9494614204408852 + ], + [ + 0.9648986864273048, + -0.07723287955810307, + 0.25100917761314073, + -0.1445531511792915, + -0.9541558179698351, + 0.2620897966698661, + 0.21925991748379045, + -0.28917426813165514, + -0.931827951520839 + ], + [ + 0.9580046428789043, + -0.07472550841513537, + 0.27684508775588285, + -0.1464991289024392, + -0.9574873149884227, + 0.2485076394541776, + 0.24650580003985595, + -0.2786290365851351, + -0.9282245151461741 + ], + [ + 0.9498259755868637, + -0.08988871275784968, + 0.29958410408297687, + -0.16653954554273434, + -0.9560943613602774, + 0.24113927914278743, + 0.26475497326940367, + -0.27893295160991727, + -0.9230932849042384 + ], + [ + 0.9445826893911712, + -0.1005724772404536, + 0.3124879513265446, + -0.1803590880531426, + -0.9543651151955008, + 0.238029044980896, + 0.27428842895605565, + -0.28119815739011716, + -0.9196159274508147 + ], + [ + 0.9384309599114294, + -0.11537126259556935, + 0.3256329302248428, + -0.19622053361223185, + -0.9537904398967465, + 0.22755504597899356, + 0.2843322627994301, + -0.27744056756118973, + -0.9177046887766679 + ], + [ + 0.9362299784340454, + -0.11908323371964244, + 0.3305943298489243, + -0.20012782062879633, + -0.954030303115441, + 0.22310319618469748, + 0.2888291586591539, + -0.27503702329746865, + -0.917023638148937 + ], + [ + 0.9332489697305127, + -0.1183194309503393, + 0.3391856022246881, + -0.20113709605563906, + -0.9544278132725832, + 0.22047997152126875, + 0.2976411078585097, + -0.27398551332379373, + -0.9145172001670915 + ], + [ + 0.9317256884910363, + -0.12779346112647938, + 0.3399353948902931, + -0.20785157976238866, + -0.9552204940022503, + 0.21059802617397985, + 0.297800205164778, + -0.2668756997769035, + -0.9165655452134366 + ], + [ + 0.9296615109944544, + -0.11883764181546758, + 0.34872208112370334, + -0.20083878318575543, + -0.9570067609242611, + 0.20928889773162695, + 0.3088579902543776, + -0.264604751342437, + -0.9135595587716402 + ], + [ + 0.9322365099429875, + -0.108416805072506, + 0.345225847681179, + -0.19029100658768278, + -0.9583683093496654, + 0.21288380973223486, + 0.3077733294831844, + -0.2641514338634832, + -0.9140566709163612 + ], + [ + 0.9344226003161962, + -0.0880501184694993, + 0.34511096861129337, + -0.17006936059690742, + -0.9616639797449598, + 0.2151250860481972, + 0.31293899821606935, + -0.25971054406510397, + -0.913575183932297 + ], + [ + 0.9426664733097935, + -0.0289605265551817, + 0.33247737968066804, + -0.11121716866444037, + -0.9665426201828876, + 0.231140876446084, + 0.31465959621778883, + -0.25486594765022075, + -0.9143482308379085 + ], + [ + 0.9487601503121756, + 0.006818631727150644, + 0.31592354049830945, + -0.07461701685257116, + -0.9666605401242441, + 0.2449483638702808, + 0.30706103298145887, + -0.25597051866977544, + -0.9166202133906306 + ], + [ + 0.9461513684348427, + 0.02898100565370226, + 0.32242470333424245, + -0.04918185480858764, + -0.9715548366351083, + 0.23165134268662127, + 0.31996676884711195, + -0.23503467982880208, + -0.9178125985795308 + ], + [ + 0.938013947627909, + 0.02245438593770415, + 0.3458693895210557, + -0.05037752454407115, + -0.9784692614007588, + 0.20014996756099088, + 0.3429168107228321, + -0.2051675048491228, + -0.9166866181403911 + ], + [ + 0.9291878549098287, + 0.030372439002464235, + 0.3683577679880159, + -0.03647407230965937, + -0.9842183114854931, + 0.17315876352583123, + 0.3678037144146604, + -0.17433252790482504, + -0.9134158950757822 + ], + [ + 0.9253333646630765, + 0.03501789564854434, + 0.37753398684841344, + -0.02475800421684416, + -0.9880203375170493, + 0.15232483014891324, + 0.3783453521169635, + -0.1502982356418205, + -0.9133812100620677 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006406.json b/json/chunk-0006/episode_0006406.json new file mode 100644 index 0000000000000000000000000000000000000000..1716891d943641e9c7b3396d097931df66894264 --- /dev/null +++ b/json/chunk-0006/episode_0006406.json @@ -0,0 +1,1402 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 22, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nTake sushi out of pan." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006406.mp4", + "start": 0, + "end": 22, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.18363244831562042, + 0.12451909482479095, + 0.1292048692703247, + 0.04866644740104675, + -0.11279220134019852, + -0.09820209443569183, + 0.0, + 0.9759697914123535 + ], + [ + 0.1882263571023941, + 0.11243019253015518, + 0.11946920305490494, + 0.04822380468249321, + -0.10389478504657745, + -0.08569763600826263, + 0.0, + 0.9759697914123535 + ], + [ + 0.20747481286525726, + 0.0850079134106636, + 0.11464974284172058, + 0.07290349900722504, + -0.1321699321269989, + -0.046162139624357224, + 0.0, + 0.9759697914123535 + ], + [ + 0.2317066490650177, + 0.04491209238767624, + 0.10254672914743423, + 0.07194669544696808, + -0.15441173315048218, + -0.01933893747627735, + 0.0, + 0.9759697914123535 + ], + [ + 0.2442038506269455, + -0.004169002640992403, + 0.08795724809169769, + 0.05634218081831932, + -0.14340850710868835, + -0.03808287903666496, + 0.0, + 0.9759697914123535 + ], + [ + 0.24942409992218018, + -0.03423771634697914, + 0.0793447196483612, + 0.0555904321372509, + -0.13809959590435028, + -0.08450501412153244, + 0.0, + 0.9759697914123535 + ], + [ + 0.24880287051200867, + -0.04460235685110092, + 0.0675782561302185, + 0.04639765992760658, + -0.1545882225036621, + -0.1129278913140297, + 0.0, + 0.9759697914123535 + ], + [ + 0.24394391477108002, + -0.042365912348032, + 0.057134389877319336, + 0.045283738523721695, + -0.16348829865455627, + -0.13417434692382812, + 0.0, + 0.9759697914123535 + ], + [ + 0.24040338397026062, + -0.04233497008681297, + 0.04539192095398903, + 0.07615871727466583, + -0.15363569557666779, + -0.16515247523784637, + 0.0, + 0.9759697914123535 + ], + [ + 0.2353058010339737, + -0.04105447605252266, + 0.034549131989479065, + 0.1066218689084053, + -0.1636173576116562, + -0.1741311103105545, + 0.0, + 0.9759697914123535 + ], + [ + 0.23113061487674713, + -0.03916070982813835, + 0.026630491018295288, + 0.14033231139183044, + -0.19765356183052063, + -0.15838612616062164, + 0.0, + 0.9759697914123535 + ], + [ + 0.2238907516002655, + -0.04116658866405487, + 0.017584750428795815, + 0.13982492685317993, + -0.2054852843284607, + -0.1491844803094864, + 0.0, + 0.9759697914123535 + ], + [ + 0.2222433239221573, + -0.03759113326668739, + 0.014131206087768078, + 0.11449814587831497, + -0.21194012463092804, + -0.1337057203054428, + 0.0, + 0.85895174741745 + ], + [ + 0.22148127853870392, + -0.03717595711350441, + 0.013186711817979813, + 0.11103235185146332, + -0.21417514979839325, + -0.13038939237594604, + 0.0, + 0.639030933380127 + ], + [ + 0.21975447237491608, + -0.03599007800221443, + 0.013271110132336617, + 0.11686237901449203, + -0.1987934708595276, + -0.12676618993282318, + 0.0, + 0.6049063205718994 + ], + [ + 0.22277557849884033, + -0.034965213388204575, + 0.02277814783155918, + 0.14749589562416077, + -0.15391699969768524, + -0.11900259554386139, + 0.0, + 0.6049063205718994 + ], + [ + 0.23154836893081665, + -0.03907221555709839, + 0.05491342768073082, + 0.1734084039926529, + -0.12298909574747086, + -0.15066370368003845, + 0.0, + 0.6049063205718994 + ], + [ + 0.25165581703186035, + -0.0378471240401268, + 0.08724325895309448, + 0.18965208530426025, + -0.13827063143253326, + -0.19803966581821442, + 0.0, + 0.6049063205718994 + ], + [ + 0.2832241356372833, + -0.043264709413051605, + 0.08804885298013687, + 0.1794402301311493, + -0.17795208096504211, + -0.22613820433616638, + 0.0, + 0.6049063205718994 + ], + [ + 0.31544026732444763, + -0.0461118184030056, + 0.06757225096225739, + 0.16242001950740814, + -0.216739684343338, + -0.22722065448760986, + 0.0, + 0.6049063205718994 + ], + [ + 0.3339940905570984, + -0.05346780642867088, + 0.042932961136102676, + 0.1416020542383194, + -0.26458540558815, + -0.23208123445510864, + 0.0, + 0.6049063205718994 + ], + [ + 0.3377608060836792, + -0.05468085780739784, + 0.034733742475509644, + 0.13325969874858856, + -0.3076440691947937, + -0.21068181097507477, + 0.0, + 0.7398436665534973 + ] + ], + "left_gripper_pos": [ + [ + 0.9759697914123535 + ], + [ + 0.9759697914123535 + ], + [ + 0.9759697914123535 + ], + [ + 0.9759697914123535 + ], + [ + 0.9759697914123535 + ], + [ + 0.9759697914123535 + ], + [ + 0.9759697914123535 + ], + [ + 0.9759697914123535 + ], + [ + 0.9759697914123535 + ], + [ + 0.9759697914123535 + ], + [ + 0.9759697914123535 + ], + [ + 0.9759697914123535 + ], + [ + 0.85895174741745 + ], + [ + 0.639030933380127 + ], + [ + 0.6049063205718994 + ], + [ + 0.6049063205718994 + ], + [ + 0.6049063205718994 + ], + [ + 0.6049063205718994 + ], + [ + 0.6049063205718994 + ], + [ + 0.6049063205718994 + ], + [ + 0.6049063205718994 + ], + [ + 0.7398436665534973 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.18363244831562042, + 0.12451909482479095, + 0.1292048692703247 + ], + [ + 0.1882263571023941, + 0.11243019253015518, + 0.11946920305490494 + ], + [ + 0.20747481286525726, + 0.0850079134106636, + 0.11464974284172058 + ], + [ + 0.2317066490650177, + 0.04491209238767624, + 0.10254672914743423 + ], + [ + 0.2442038506269455, + -0.004169002640992403, + 0.08795724809169769 + ], + [ + 0.24942409992218018, + -0.03423771634697914, + 0.0793447196483612 + ], + [ + 0.24880287051200867, + -0.04460235685110092, + 0.0675782561302185 + ], + [ + 0.24394391477108002, + -0.042365912348032, + 0.057134389877319336 + ], + [ + 0.24040338397026062, + -0.04233497008681297, + 0.04539192095398903 + ], + [ + 0.2353058010339737, + -0.04105447605252266, + 0.034549131989479065 + ], + [ + 0.23113061487674713, + -0.03916070982813835, + 0.026630491018295288 + ], + [ + 0.2238907516002655, + -0.04116658866405487, + 0.017584750428795815 + ], + [ + 0.2222433239221573, + -0.03759113326668739, + 0.014131206087768078 + ], + [ + 0.22148127853870392, + -0.03717595711350441, + 0.013186711817979813 + ], + [ + 0.21975447237491608, + -0.03599007800221443, + 0.013271110132336617 + ], + [ + 0.22277557849884033, + -0.034965213388204575, + 0.02277814783155918 + ], + [ + 0.23154836893081665, + -0.03907221555709839, + 0.05491342768073082 + ], + [ + 0.25165581703186035, + -0.0378471240401268, + 0.08724325895309448 + ], + [ + 0.2832241356372833, + -0.043264709413051605, + 0.08804885298013687 + ], + [ + 0.31544026732444763, + -0.0461118184030056, + 0.06757225096225739 + ], + [ + 0.3339940905570984, + -0.05346780642867088, + 0.042932961136102676 + ], + [ + 0.3377608060836792, + -0.05468085780739784, + 0.034733742475509644 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9888583633931766, + -0.09247922844383591, + 0.11664788662380952, + -0.09742132968723144, + -0.9945406067385831, + 0.03739072171037445, + 0.11255319484288336, + -0.048338120096707536, + -0.9924692461110198 + ], + [ + 0.9909577824554815, + -0.0805123653719719, + 0.1073332772867999, + -0.08513124514245149, + -0.9955998284356709, + 0.03916187839416131, + 0.10370797699025278, + -0.04794518371091461, + -0.99345151611315 + ], + [ + 0.9902222709464802, + -0.03643428352000837, + 0.13465658953790338, + -0.04574327545370077, + -0.9967242222577388, + 0.06669615817625962, + 0.13178545774235717, + -0.0722036546795897, + -0.9886451463384363 + ], + [ + 0.9879174098765713, + -0.00823399597002307, + 0.15476237453958894, + -0.019107655133382497, + -0.9974402387084316, + 0.06890477284318267, + 0.1537988581819452, + -0.07102937079569638, + -0.9855459094868676 + ], + [ + 0.9890169891906053, + -0.029971072841276602, + 0.14473123327427706, + -0.03768283333518492, + -0.9979957022497492, + 0.05083878797594317, + 0.14291745577144516, + -0.05573430795993721, + -0.9881640996069652 + ], + [ + 0.9869449454061421, + -0.07665268700967666, + 0.14164759197199092, + -0.08360089205672076, + -0.9955379219230267, + 0.04376227668325703, + 0.1376610532597641, + -0.05503282281855044, + -0.9889493530146194 + ], + [ + 0.9817813935188632, + -0.10547080175665927, + 0.1580544378274989, + -0.11134421885317325, + -0.9933658498019966, + 0.02875331937592252, + 0.15397324529974643, + -0.04582792188136644, + -0.987011672326067 + ], + [ + 0.977797495616652, + -0.1263333054509174, + 0.1671883772863678, + -0.13198834392720502, + -0.9909818193595373, + 0.023110836553774973, + 0.16276097392543923, + -0.044664635145791366, + -0.9856540649407053 + ], + [ + 0.9747748022819778, + -0.15244115449213297, + 0.16302079392898589, + -0.1624662719057376, + -0.9854482835558117, + 0.0499638962647598, + 0.15303200753169965, + -0.07518892773547431, + -0.9853567018175741 + ], + [ + 0.9717239315964791, + -0.15519617387528933, + 0.17795153378701842, + -0.17093858263892198, + -0.9822878526890616, + 0.0767500842013144, + 0.16288831059372502, + -0.1049986765344372, + -0.9810416281677037 + ], + [ + 0.9682568649442405, + -0.12905145899371376, + 0.21406626175076018, + -0.154653845912627, + -0.9821078914978512, + 0.10745360581236271, + 0.19636912036464535, + -0.13714886215072666, + -0.970891012512721 + ], + [ + 0.9680883763275197, + -0.11905968119284965, + 0.22052140017196437, + -0.1455048185299262, + -0.9834681212834404, + 0.10779054784067804, + 0.20404225886840183, + -0.13643770275652276, + -0.9694078140093585 + ], + [ + 0.9688990416651407, + -0.10861643410667496, + 0.22234459134937773, + -0.1303248869726715, + -0.9877891546483473, + 0.0853698412477347, + 0.2103570081930522, + -0.11169179110862787, + -0.9712233898043304 + ], + [ + 0.9688573300468953, + -0.10586899482818547, + 0.223846442787172, + -0.1270495423890872, + -0.9884678943150581, + 0.08239924567056657, + 0.21254149663800845, + -0.10827270127979853, + -0.9711349722692777 + ], + [ + 0.9724395150268352, + -0.10272312754688966, + 0.2093068290366058, + -0.12393704021905809, + -0.9881211510132148, + 0.09086363949379886, + 0.19748670759348103, + -0.1143002624113563, + -0.9736192532692552 + ], + [ + 0.981189298069071, + -0.09506150894453916, + 0.16802044777916653, + -0.11731840287434003, + -0.9848214082480246, + 0.12791867026901188, + 0.1533099921783912, + -0.14522432087486392, + -0.9774486906864711 + ], + [ + 0.9812036174040748, + -0.12691592575823962, + 0.1453678402607919, + -0.14896059331372313, + -0.9770210474025802, + 0.15244872768242, + 0.12267926814576977, + -0.1712373228046213, + -0.9775620575932376 + ], + [ + 0.9710965383158319, + -0.16774443470826683, + 0.16980376290121468, + -0.19486990020244854, + -0.9679866717018921, + 0.15820090202834172, + 0.13783045841212194, + -0.18671799064872466, + -0.9726968472766873 + ], + [ + 0.9591498674164918, + -0.18982673453215965, + 0.20975543542846176, + -0.22067497738689495, + -0.9659758068757686, + 0.13488252253721272, + 0.17701436718588698, + -0.17566032957832362, + -0.9684055774427442 + ], + [ + 0.9515013914899981, + -0.1884249760185303, + 0.24318949484920938, + -0.22000000841269274, + -0.9693070679273923, + 0.10974426802533561, + 0.2150467351321858, + -0.15792351464686272, + -0.963750520223242 + ], + [ + 0.939323783614588, + -0.1917842604489872, + 0.2844110176839319, + -0.22199956702880688, + -0.9719379668330884, + 0.07779961996941029, + 0.26150912369360474, + -0.13621815617749874, + -0.9555404712269416 + ], + [ + 0.9319763210708392, + -0.16792860391139824, + 0.32127888345117367, + -0.19930810699064888, + -0.977632572972789, + 0.06716271845606328, + 0.3028141599249747, + -0.12662754933652115, + -0.9445999408733619 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + 0.004593908786773682, + -0.012088902294635773, + -0.00973566621541977, + -0.0004426427185535431, + 0.008897416293621063, + 0.0125044584274292, + 1.0 + ], + [ + 0.01924845576286316, + -0.027422279119491577, + -0.004819460213184357, + 0.024679694324731827, + -0.028275147080421448, + 0.03953549638390541, + 1.0 + ], + [ + 0.024231836199760437, + -0.040095821022987366, + -0.012103013694286346, + -0.000956803560256958, + -0.022241801023483276, + 0.026823202148079872, + 1.0 + ], + [ + 0.012497201561927795, + -0.049081094563007355, + -0.014589481055736542, + -0.015604514628648758, + 0.011003226041793823, + -0.01874394156038761, + 1.0 + ], + [ + 0.00522024929523468, + -0.030068714171648026, + -0.008612528443336487, + -0.0007517486810684204, + 0.005308911204338074, + -0.04642213508486748, + 1.0 + ], + [ + -0.0006212294101715088, + -0.01036464050412178, + -0.0117664635181427, + -0.009192772209644318, + -0.01648862659931183, + -0.028422877192497253, + 1.0 + ], + [ + -0.00485895574092865, + 0.002236444503068924, + -0.01044386625289917, + -0.0011139214038848877, + -0.008900076150894165, + -0.02124645560979843, + 1.0 + ], + [ + -0.003540530800819397, + 3.094226121902466e-05, + -0.011742468923330307, + 0.030874978750944138, + 0.009852603077888489, + -0.03097812831401825, + 1.0 + ], + [ + -0.005097582936286926, + 0.0012804940342903137, + -0.010842788964509964, + 0.03046315163373947, + -0.009981662034988403, + -0.00897863507270813, + 1.0 + ], + [ + -0.0041751861572265625, + 0.0018937662243843079, + -0.007918640971183777, + 0.03371044248342514, + -0.03403620421886444, + 0.01574498414993286, + 1.0 + ], + [ + -0.007239863276481628, + -0.002005878835916519, + -0.009045740589499474, + -0.0005073845386505127, + -0.007831722497940063, + 0.009201645851135254, + 1.0 + ], + [ + -0.0016474276781082153, + 0.0035754553973674774, + -0.0034535443410277367, + -0.02532678097486496, + -0.006454840302467346, + 0.015478760004043579, + 0.0 + ], + [ + -0.0007620453834533691, + 0.0004151761531829834, + -0.0009444942697882652, + -0.003465794026851654, + -0.00223502516746521, + 0.003316327929496765, + 0.0 + ], + [ + -0.0017268061637878418, + 0.001185879111289978, + 8.43983143568039e-05, + 0.005830027163028717, + 0.015381678938865662, + 0.0036232024431228638, + 0.0 + ], + [ + 0.0030211061239242554, + 0.0010248646140098572, + 0.009507037699222565, + 0.03063351660966873, + 0.044876471161842346, + 0.007763594388961792, + 0.0 + ], + [ + 0.008772790431976318, + -0.004107002168893814, + 0.03213527798652649, + 0.025912508368492126, + 0.030927903950214386, + -0.03166110813617706, + 0.0 + ], + [ + 0.0201074481010437, + 0.0012250915169715881, + 0.03232983127236366, + 0.01624368131160736, + -0.015281535685062408, + -0.047375962138175964, + 0.0 + ], + [ + 0.031568318605422974, + -0.005417585372924805, + 0.0008055940270423889, + -0.010211855173110962, + -0.03968144953250885, + -0.028098538517951965, + 0.0 + ], + [ + 0.03221613168716431, + -0.0028471089899539948, + -0.020476602017879486, + -0.01702021062374115, + -0.0387876033782959, + -0.0010824501514434814, + 0.0 + ], + [ + 0.018553823232650757, + -0.007355988025665283, + -0.02463928982615471, + -0.020817965269088745, + -0.04784572124481201, + -0.004860579967498779, + 1.0 + ], + [ + 0.0037667155265808105, + -0.0012130513787269592, + -0.008199218660593033, + -0.008342355489730835, + -0.04305866360664368, + 0.021399423480033875, + 1.0 + ], + [ + -0.001011580228805542, + -0.0011871792376041412, + -0.002513416111469269, + 0.0016124248504638672, + -0.013893663883209229, + 0.0025378167629241943, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9759697914123535 + ], + [ + 0.9759697914123535 + ], + [ + 0.9759697914123535 + ], + [ + 0.9759697914123535 + ], + [ + 0.9759697914123535 + ], + [ + 0.9759697914123535 + ], + [ + 0.9759697914123535 + ], + [ + 0.9759697914123535 + ], + [ + 0.9759697914123535 + ], + [ + 0.9759697914123535 + ], + [ + 0.9759697914123535 + ], + [ + 0.85895174741745 + ], + [ + 0.639030933380127 + ], + [ + 0.6049063205718994 + ], + [ + 0.6049063205718994 + ], + [ + 0.6049063205718994 + ], + [ + 0.6049063205718994 + ], + [ + 0.6049063205718994 + ], + [ + 0.6049063205718994 + ], + [ + 0.6049063205718994 + ], + [ + 0.7398436665534973 + ], + [ + 0.9406655430793762 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.1882263571023941, + 0.11243019253015518, + 0.11946920305490494 + ], + [ + 0.20747481286525726, + 0.0850079134106636, + 0.11464974284172058 + ], + [ + 0.2317066490650177, + 0.04491209238767624, + 0.10254672914743423 + ], + [ + 0.2442038506269455, + -0.004169002640992403, + 0.08795724809169769 + ], + [ + 0.24942409992218018, + -0.03423771634697914, + 0.0793447196483612 + ], + [ + 0.24880287051200867, + -0.04460235685110092, + 0.0675782561302185 + ], + [ + 0.24394391477108002, + -0.042365912348032, + 0.057134389877319336 + ], + [ + 0.24040338397026062, + -0.04233497008681297, + 0.04539192095398903 + ], + [ + 0.2353058010339737, + -0.04105447605252266, + 0.034549131989479065 + ], + [ + 0.23113061487674713, + -0.03916070982813835, + 0.026630491018295288 + ], + [ + 0.2238907516002655, + -0.04116658866405487, + 0.017584750428795815 + ], + [ + 0.2222433239221573, + -0.03759113326668739, + 0.014131206087768078 + ], + [ + 0.22148127853870392, + -0.03717595711350441, + 0.013186711817979813 + ], + [ + 0.21975447237491608, + -0.03599007800221443, + 0.013271110132336617 + ], + [ + 0.22277557849884033, + -0.034965213388204575, + 0.02277814783155918 + ], + [ + 0.23154836893081665, + -0.03907221555709839, + 0.05491342768073082 + ], + [ + 0.25165581703186035, + -0.0378471240401268, + 0.08724325895309448 + ], + [ + 0.2832241356372833, + -0.043264709413051605, + 0.08804885298013687 + ], + [ + 0.31544026732444763, + -0.0461118184030056, + 0.06757225096225739 + ], + [ + 0.3339940905570984, + -0.05346780642867088, + 0.042932961136102676 + ], + [ + 0.3377608060836792, + -0.05468085780739784, + 0.034733742475509644 + ], + [ + 0.33674922585487366, + -0.055868037045001984, + 0.032220326364040375 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9909577824554815, + -0.0805123653719719, + 0.1073332772867999, + -0.08513124514245149, + -0.9955998284356709, + 0.03916187839416131, + 0.10370797699025278, + -0.04794518371091461, + -0.99345151611315 + ], + [ + 0.9902222709464802, + -0.03643428352000837, + 0.13465658953790338, + -0.04574327545370077, + -0.9967242222577388, + 0.06669615817625962, + 0.13178545774235717, + -0.0722036546795897, + -0.9886451463384363 + ], + [ + 0.9879174098765713, + -0.00823399597002307, + 0.15476237453958894, + -0.019107655133382497, + -0.9974402387084316, + 0.06890477284318267, + 0.1537988581819452, + -0.07102937079569638, + -0.9855459094868676 + ], + [ + 0.9890169891906053, + -0.029971072841276602, + 0.14473123327427706, + -0.03768283333518492, + -0.9979957022497492, + 0.05083878797594317, + 0.14291745577144516, + -0.05573430795993721, + -0.9881640996069652 + ], + [ + 0.9869449454061421, + -0.07665268700967666, + 0.14164759197199092, + -0.08360089205672076, + -0.9955379219230267, + 0.04376227668325703, + 0.1376610532597641, + -0.05503282281855044, + -0.9889493530146194 + ], + [ + 0.9817813935188632, + -0.10547080175665927, + 0.1580544378274989, + -0.11134421885317325, + -0.9933658498019966, + 0.02875331937592252, + 0.15397324529974643, + -0.04582792188136644, + -0.987011672326067 + ], + [ + 0.977797495616652, + -0.1263333054509174, + 0.1671883772863678, + -0.13198834392720502, + -0.9909818193595373, + 0.023110836553774973, + 0.16276097392543923, + -0.044664635145791366, + -0.9856540649407053 + ], + [ + 0.9747748022819778, + -0.15244115449213297, + 0.16302079392898589, + -0.1624662719057376, + -0.9854482835558117, + 0.0499638962647598, + 0.15303200753169965, + -0.07518892773547431, + -0.9853567018175741 + ], + [ + 0.9717239315964791, + -0.15519617387528933, + 0.17795153378701842, + -0.17093858263892198, + -0.9822878526890616, + 0.0767500842013144, + 0.16288831059372502, + -0.1049986765344372, + -0.9810416281677037 + ], + [ + 0.9682568649442405, + -0.12905145899371376, + 0.21406626175076018, + -0.154653845912627, + -0.9821078914978512, + 0.10745360581236271, + 0.19636912036464535, + -0.13714886215072666, + -0.970891012512721 + ], + [ + 0.9680883763275197, + -0.11905968119284965, + 0.22052140017196437, + -0.1455048185299262, + -0.9834681212834404, + 0.10779054784067804, + 0.20404225886840183, + -0.13643770275652276, + -0.9694078140093585 + ], + [ + 0.9688990416651407, + -0.10861643410667496, + 0.22234459134937773, + -0.1303248869726715, + -0.9877891546483473, + 0.0853698412477347, + 0.2103570081930522, + -0.11169179110862787, + -0.9712233898043304 + ], + [ + 0.9688573300468953, + -0.10586899482818547, + 0.223846442787172, + -0.1270495423890872, + -0.9884678943150581, + 0.08239924567056657, + 0.21254149663800845, + -0.10827270127979853, + -0.9711349722692777 + ], + [ + 0.9724395150268352, + -0.10272312754688966, + 0.2093068290366058, + -0.12393704021905809, + -0.9881211510132148, + 0.09086363949379886, + 0.19748670759348103, + -0.1143002624113563, + -0.9736192532692552 + ], + [ + 0.981189298069071, + -0.09506150894453916, + 0.16802044777916653, + -0.11731840287434003, + -0.9848214082480246, + 0.12791867026901188, + 0.1533099921783912, + -0.14522432087486392, + -0.9774486906864711 + ], + [ + 0.9812036174040748, + -0.12691592575823962, + 0.1453678402607919, + -0.14896059331372313, + -0.9770210474025802, + 0.15244872768242, + 0.12267926814576977, + -0.1712373228046213, + -0.9775620575932376 + ], + [ + 0.9710965383158319, + -0.16774443470826683, + 0.16980376290121468, + -0.19486990020244854, + -0.9679866717018921, + 0.15820090202834172, + 0.13783045841212194, + -0.18671799064872466, + -0.9726968472766873 + ], + [ + 0.9591498674164918, + -0.18982673453215965, + 0.20975543542846176, + -0.22067497738689495, + -0.9659758068757686, + 0.13488252253721272, + 0.17701436718588698, + -0.17566032957832362, + -0.9684055774427442 + ], + [ + 0.9515013914899981, + -0.1884249760185303, + 0.24318949484920938, + -0.22000000841269274, + -0.9693070679273923, + 0.10974426802533561, + 0.2150467351321858, + -0.15792351464686272, + -0.963750520223242 + ], + [ + 0.939323783614588, + -0.1917842604489872, + 0.2844110176839319, + -0.22199956702880688, + -0.9719379668330884, + 0.07779961996941029, + 0.26150912369360474, + -0.13621815617749874, + -0.9555404712269416 + ], + [ + 0.9319763210708392, + -0.16792860391139824, + 0.32127888345117367, + -0.19930810699064888, + -0.977632572972789, + 0.06716271845606328, + 0.3028141599249747, + -0.12662754933652115, + -0.9445999408733619 + ], + [ + 0.9282728700714968, + -0.16319088808774798, + 0.33418290311498267, + -0.19605390902051215, + -0.978311817840798, + 0.06684947143253891, + 0.3160258588264614, + -0.1275724151929609, + -0.9401345304980729 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006408.json b/json/chunk-0006/episode_0006408.json new file mode 100644 index 0000000000000000000000000000000000000000..4721037a04db20ff3b002753b6ede4f7c8a24967 --- /dev/null +++ b/json/chunk-0006/episode_0006408.json @@ -0,0 +1,1642 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 26, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut the donkey in the drawer." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006408.mp4", + "start": 0, + "end": 26, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.31323057413101196, + 0.12978367507457733, + 0.0983724445104599, + 0.04715925082564354, + -0.17729923129081726, + -0.04973471909761429, + 0.0, + 0.9994885921478271 + ], + [ + 0.31112658977508545, + 0.12884533405303955, + 0.08707449585199356, + 0.028110109269618988, + -0.14179758727550507, + -0.03937973454594612, + 0.0, + 0.9994885921478271 + ], + [ + 0.3301365077495575, + 0.13986836373806, + 0.08605481684207916, + 0.02715708129107952, + -0.11834827065467834, + 0.01783270761370659, + 0.0, + 1.0001531839370728 + ], + [ + 0.3506057858467102, + 0.1446589082479477, + 0.09014430642127991, + 0.0020326643716543913, + -0.13211286067962646, + 0.05637337267398834, + 0.0, + 1.0001531839370728 + ], + [ + 0.3731972575187683, + 0.14763323962688446, + 0.08511237055063248, + -0.02348712831735611, + -0.1357375532388687, + 0.09069827198982239, + 0.0, + 1.0001531839370728 + ], + [ + 0.3904150426387787, + 0.14312779903411865, + 0.07213407009840012, + -0.04738519713282585, + -0.10259868204593658, + 0.11847414076328278, + 0.0, + 1.0001531839370728 + ], + [ + 0.40552714467048645, + 0.14091642200946808, + 0.055557649582624435, + -0.08411615341901779, + -0.08535528182983398, + 0.1659153699874878, + 0.0, + 1.0001531839370728 + ], + [ + 0.4110572040081024, + 0.136138454079628, + 0.04776983708143234, + -0.1311672329902649, + -0.06727255135774612, + 0.1984829604625702, + 0.0, + 1.0001531839370728 + ], + [ + 0.40916532278060913, + 0.1236024722456932, + 0.03461950272321701, + -0.13926993310451508, + -0.040672291070222855, + 0.1768113076686859, + 0.0, + 1.0001531839370728 + ], + [ + 0.3996916115283966, + 0.11355794966220856, + 0.013955825939774513, + -0.0994434580206871, + 0.014145087450742722, + 0.11593125015497208, + 0.0, + 0.9994885921478271 + ], + [ + 0.3926254212856293, + 0.11536641418933868, + 0.005630044266581535, + -0.05535884201526642, + 0.03992913290858269, + 0.10334832966327667, + 0.0, + 0.9672539830207825 + ], + [ + 0.3940623104572296, + 0.11219596117734909, + 0.005189076531678438, + -0.04519794508814812, + 0.03703492879867554, + 0.07922536134719849, + 0.0, + 0.7418107390403748 + ], + [ + 0.4006252586841583, + 0.11480048298835754, + 0.01064357627183199, + -0.044440094381570816, + 0.010940328240394592, + 0.056697044521570206, + 0.0, + 0.6249675154685974 + ], + [ + 0.40912768244743347, + 0.13360127806663513, + 0.034949660301208496, + -0.05109177157282829, + -0.05778567120432854, + 0.09625077247619629, + 0.0, + 0.5759422183036804 + ], + [ + 0.4145992398262024, + 0.1357383280992508, + 0.0876486748456955, + -0.05710839107632637, + -0.18135374784469604, + 0.100856713950634, + 0.0, + 0.5749470591545105 + ], + [ + 0.407011479139328, + 0.1095375269651413, + 0.12365498393774033, + -0.0725773498415947, + -0.257232129573822, + 0.0469353049993515, + 0.0, + 0.5749470591545105 + ], + [ + 0.389577716588974, + 0.06893490999937057, + 0.14710691571235657, + -0.09175674617290497, + -0.3066648244857788, + -0.050264231860637665, + 0.0, + 0.5749470591545105 + ], + [ + 0.3695637285709381, + 0.03543073683977127, + 0.14329391717910767, + -0.09506163746118546, + -0.2923467457294464, + -0.13972623646259308, + 0.0, + 0.5749470591545105 + ], + [ + 0.35361820459365845, + 0.013679682277143002, + 0.12566153705120087, + -0.09746873378753662, + -0.24242009222507477, + -0.20318545401096344, + 0.0, + 0.573952317237854 + ], + [ + 0.33702555298805237, + -0.0014393305173143744, + 0.10164687782526016, + -0.09922108799219131, + -0.1816614419221878, + -0.2438010722398758, + 0.0, + 0.573952317237854 + ], + [ + 0.3280515670776367, + -0.008651102893054485, + 0.08964881300926208, + -0.08007097989320755, + -0.14920300245285034, + -0.27592650055885315, + 0.0, + 0.573952317237854 + ], + [ + 0.32194027304649353, + -0.004689237102866173, + 0.08082150667905807, + -0.05913213640451431, + -0.11923695355653763, + -0.27227523922920227, + 0.0, + 0.6450598835945129 + ], + [ + 0.31987670063972473, + -0.0016710901400074363, + 0.08009708672761917, + -0.047198306769132614, + -0.10313712060451508, + -0.2682352662086487, + 0.0, + 0.9406655430793762 + ], + [ + 0.31956982612609863, + 0.0019488818943500519, + 0.08232400566339493, + -0.045703139156103134, + -0.09287860989570618, + -0.2604182958602905, + 0.0, + 1.0092895030975342 + ], + [ + 0.31939828395843506, + 0.006439658347517252, + 0.10000995546579361, + -0.05524291843175888, + -0.1310727745294571, + -0.2426193207502365, + 0.0, + 1.003452181816101 + ], + [ + 0.31484919786453247, + 0.006110157817602158, + 0.12407587468624115, + -0.041804201900959015, + -0.1760343760251999, + -0.23914191126823425, + 0.0, + 1.0008161067962646 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9672539830207825 + ], + [ + 0.7418107390403748 + ], + [ + 0.6249675154685974 + ], + [ + 0.5759422183036804 + ], + [ + 0.5749470591545105 + ], + [ + 0.5749470591545105 + ], + [ + 0.5749470591545105 + ], + [ + 0.5749470591545105 + ], + [ + 0.573952317237854 + ], + [ + 0.573952317237854 + ], + [ + 0.573952317237854 + ], + [ + 0.6450598835945129 + ], + [ + 0.9406655430793762 + ], + [ + 1.0092895030975342 + ], + [ + 1.003452181816101 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.31323057413101196, + 0.12978367507457733, + 0.0983724445104599 + ], + [ + 0.31112658977508545, + 0.12884533405303955, + 0.08707449585199356 + ], + [ + 0.3301365077495575, + 0.13986836373806, + 0.08605481684207916 + ], + [ + 0.3506057858467102, + 0.1446589082479477, + 0.09014430642127991 + ], + [ + 0.3731972575187683, + 0.14763323962688446, + 0.08511237055063248 + ], + [ + 0.3904150426387787, + 0.14312779903411865, + 0.07213407009840012 + ], + [ + 0.40552714467048645, + 0.14091642200946808, + 0.055557649582624435 + ], + [ + 0.4110572040081024, + 0.136138454079628, + 0.04776983708143234 + ], + [ + 0.40916532278060913, + 0.1236024722456932, + 0.03461950272321701 + ], + [ + 0.3996916115283966, + 0.11355794966220856, + 0.013955825939774513 + ], + [ + 0.3926254212856293, + 0.11536641418933868, + 0.005630044266581535 + ], + [ + 0.3940623104572296, + 0.11219596117734909, + 0.005189076531678438 + ], + [ + 0.4006252586841583, + 0.11480048298835754, + 0.01064357627183199 + ], + [ + 0.40912768244743347, + 0.13360127806663513, + 0.034949660301208496 + ], + [ + 0.4145992398262024, + 0.1357383280992508, + 0.0876486748456955 + ], + [ + 0.407011479139328, + 0.1095375269651413, + 0.12365498393774033 + ], + [ + 0.389577716588974, + 0.06893490999937057, + 0.14710691571235657 + ], + [ + 0.3695637285709381, + 0.03543073683977127, + 0.14329391717910767 + ], + [ + 0.35361820459365845, + 0.013679682277143002, + 0.12566153705120087 + ], + [ + 0.33702555298805237, + -0.0014393305173143744, + 0.10164687782526016 + ], + [ + 0.3280515670776367, + -0.008651102893054485, + 0.08964881300926208 + ], + [ + 0.32194027304649353, + -0.004689237102866173, + 0.08082150667905807 + ], + [ + 0.31987670063972473, + -0.0016710901400074363, + 0.08009708672761917 + ], + [ + 0.31956982612609863, + 0.0019488818943500519, + 0.08232400566339493 + ], + [ + 0.31939828395843506, + 0.006439658347517252, + 0.10000995546579361 + ], + [ + 0.31484919786453247, + 0.006110157817602158, + 0.12407587468624115 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9831064893872233, + -0.04135474852798293, + 0.17830147306995695, + -0.048934879245353155, + -0.9980664149353439, + 0.03832504365754241, + 0.1763717894618411, + -0.04640276017972553, + -0.9832292589878165 + ], + [ + 0.9891960550898655, + -0.03538500458096135, + 0.14226407152001824, + -0.03897442685260211, + -0.998986340608252, + 0.02252299557440159, + 0.14132288790623648, + -0.02782431902021486, + -0.9895724574910634 + ], + [ + 0.9928471273105367, + 0.021030779630359465, + 0.1175256912311267, + 0.01770702954359448, + -0.9994151587913287, + 0.029254084891610313, + 0.11807219357646044, + -0.026963803259972947, + -0.9926388620328142 + ], + [ + 0.9897110670115346, + 0.056610737398049255, + 0.13140482580993323, + 0.05585252900697177, + -0.9983942930466584, + 0.009451487469639076, + 0.13172888384259224, + -0.002014949903217271, + -0.9912837339220656 + ], + [ + 0.9867293318191513, + 0.08738404218612045, + 0.13685486801332652, + 0.08974085507938293, + -0.995902899466783, + -0.011135248684945481, + 0.1353211168197776, + 0.023268949371828357, + -0.9905285212136897 + ], + [ + 0.98776837680308, + 0.11324719879754622, + 0.10718538031054914, + 0.11757562710709688, + -0.992448956058877, + -0.034943404642618414, + 0.10241877610175251, + 0.047118378390537896, + -0.993624804802932 + ], + [ + 0.9826770330033646, + 0.1575070341760358, + 0.09765952586805557, + 0.16455394388279665, + -0.9839634045883535, + -0.06883326218852004, + 0.08525167658364108, + 0.08371112599867009, + -0.9928366426677215 + ], + [ + 0.9781493034793021, + 0.18686906513080034, + 0.09112569670568929, + 0.19673628751577663, + -0.9736790293720394, + -0.115082496217423, + 0.06722182143817768, + 0.13049559478489764, + -0.9891673905180406 + ], + [ + 0.9835954500439938, + 0.16863186765854699, + 0.0640568799017198, + 0.17574603083839668, + -0.9758709542839494, + -0.12957319641609122, + 0.040661078408010434, + 0.13870534883314317, + -0.9894986118776385 + ], + [ + 0.9931881271470563, + 0.11649511590787766, + -0.0024964101691728573, + 0.1156601657410463, + -0.9882177963920958, + -0.10024127370850633, + -0.014144615755696557, + 0.09926970768346269, + -0.9949600268259843 + ], + [ + 0.9938715040192514, + 0.10520334384992483, + -0.03393655759362753, + 0.1030822242951839, + -0.9929127166015833, + -0.05914720826227846, + -0.0399185236809744, + 0.055286468992497846, + -0.9976722496959977 + ], + [ + 0.9961797485131553, + 0.08072938719099985, + -0.03329676705074664, + 0.07908823976514077, + -0.9957128608549647, + -0.0479682088353598, + -0.03702646328124878, + 0.04515157551832177, + -0.9982937324480681 + ], + [ + 0.9983334044492447, + 0.05709596507222925, + -0.00839430361922113, + 0.056663282238073195, + -0.9973798999188384, + -0.04497341085459797, + -0.010940109998960253, + 0.04442280957299739, + -0.9989529157987637 + ], + [ + 0.9937100676084547, + 0.09304102854033544, + 0.062319086496491524, + 0.09594181986407077, + -0.9943560567869403, + -0.04529017037170035, + 0.05775351707706554, + 0.05098430483280061, + -0.9970281500168114 + ], + [ + 0.9786020400730983, + 0.09027944082754434, + 0.18489907984799786, + 0.09903460984814684, + -0.9943328295168542, + -0.038657084696496286, + 0.18036128524989975, + 0.05614131018129763, + -0.9819969246765143 + ], + [ + 0.9660328156435352, + 0.02836705921419094, + 0.25685776034872354, + 0.04537436848033799, + -0.9971345959277306, + -0.06052903674313753, + 0.25440472830675576, + 0.07012779445826148, + -0.9645518786771325 + ], + [ + 0.9521416384277225, + -0.07765751960333087, + 0.2956274852263075, + -0.04789901371514561, + -0.9931458742663762, + -0.10661593179629289, + 0.3018807460857494, + 0.0873532030135917, + -0.9493352585182844 + ], + [ + 0.9482378554557506, + -0.16573215250249845, + 0.27088341238910796, + -0.1333627375061091, + -0.981973345932643, + -0.13395046891566462, + 0.2882001903634964, + 0.0908911519606743, + -0.9532467932123905 + ], + [ + 0.9507901290433017, + -0.2237125563216188, + 0.21436142996786633, + -0.19588990043315063, + -0.9700661327439746, + -0.14352297729436903, + 0.24005265551980937, + 0.09446899092927884, + -0.9661523339156677 + ], + [ + 0.9544589428266631, + -0.2575727991510038, + 0.15054693485994627, + -0.2374208768365032, + -0.9613344734819709, + -0.13952547200180798, + 0.18066392473428175, + 0.09742834922474047, + -0.9787074450860928 + ], + [ + 0.9514833227830951, + -0.2830057083257058, + 0.12077771119170046, + -0.2694116793572132, + -0.95585117338714, + -0.11732809280114326, + 0.1486500369712917, + 0.07909679759315863, + -0.9857214936882224 + ], + [ + 0.9563227817651142, + -0.27522449998364523, + 0.09847949880958146, + -0.26701411390552127, + -0.9595875982228371, + -0.08885439950940213, + 0.11895461341319727, + 0.058678070398400006, + -0.9911643072679914 + ], + [ + 0.9591162107345208, + -0.2694188420465908, + 0.08665784359496204, + -0.2636218738005958, + -0.9618789196556647, + -0.07274923763115561, + 0.10295436833916985, + 0.04693007002259631, + -0.9935783645830646 + ], + [ + 0.9621175665515918, + -0.2613102965168014, + 0.07776063957520502, + -0.2563749765037623, + -0.9641823273490095, + -0.06800228709788199, + 0.09274513224713687, + 0.045490312838546196, + -0.9946501756307654 + ], + [ + 0.9623855038045832, + -0.24688465814713728, + 0.11341123241712071, + -0.2381852844168349, + -0.9674974759430907, + -0.08494942219356531, + 0.1306977901652147, + 0.054741205826326925, + -0.9899098383340826 + ], + [ + 0.9565273046450953, + -0.2437727121497382, + 0.16009491022374794, + -0.2332084514071572, + -0.9689591619610265, + -0.08204852615410387, + 0.17512662179310323, + 0.04114616948083945, + -0.9836857521975142 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0021039843559265137, + -0.0009383410215377808, + -0.011297948658466339, + -0.01904914155602455, + 0.035501644015312195, + 0.010354984551668167, + 1.0 + ], + [ + 0.019009917974472046, + 0.011023029685020447, + -0.0010196790099143982, + -0.0009530279785394669, + 0.02344931662082672, + 0.05721244215965271, + 1.0 + ], + [ + 0.02046927809715271, + 0.004790544509887695, + 0.004089489579200745, + -0.02512441761791706, + -0.01376459002494812, + 0.038540665060281754, + 1.0 + ], + [ + 0.022591471672058105, + 0.0029743313789367676, + -0.00503193587064743, + -0.02551979199051857, + -0.0036246925592422485, + 0.034324899315834045, + 1.0 + ], + [ + 0.017217785120010376, + -0.004505440592765808, + -0.01297830045223236, + -0.023898068815469742, + 0.03313887119293213, + 0.027775868773460388, + 1.0 + ], + [ + 0.015112102031707764, + -0.0022113770246505737, + -0.01657642051577568, + -0.03673095628619194, + 0.0172434002161026, + 0.04744122922420502, + 1.0 + ], + [ + 0.005530059337615967, + -0.004777967929840088, + -0.007787812501192093, + -0.0470510795712471, + 0.01808273047208786, + 0.0325675904750824, + 1.0 + ], + [ + -0.0018918812274932861, + -0.012535981833934784, + -0.013150334358215332, + -0.008102700114250183, + 0.02660026028752327, + -0.021671652793884277, + 1.0 + ], + [ + -0.009473711252212524, + -0.01004452258348465, + -0.020663676783442497, + 0.03982647508382797, + 0.054817378520965576, + -0.06088005751371384, + 1.0 + ], + [ + -0.007066190242767334, + 0.001808464527130127, + -0.008325781673192978, + 0.044084616005420685, + 0.025784045457839966, + -0.012582920491695404, + 0.0 + ], + [ + 0.0014368891716003418, + -0.0031704530119895935, + -0.00044096773490309715, + 0.010160896927118301, + -0.0028942041099071503, + -0.024122968316078186, + 0.0 + ], + [ + 0.006562948226928711, + 0.0026045218110084534, + 0.005454499740153551, + 0.000757850706577301, + -0.026094600558280945, + -0.02252831682562828, + 0.0 + ], + [ + 0.008502423763275146, + 0.018800795078277588, + 0.02430608496069908, + -0.006651677191257477, + -0.06872600317001343, + 0.03955372795462608, + 0.0 + ], + [ + 0.005471557378768921, + 0.0021370500326156616, + 0.052699014544487, + -0.006016619503498077, + -0.12356807291507721, + 0.004605941474437714, + 0.0 + ], + [ + -0.00758776068687439, + -0.026200801134109497, + 0.03600630909204483, + -0.015468958765268326, + -0.07587838172912598, + -0.0539214089512825, + 0.0 + ], + [ + -0.017433762550354004, + -0.04060261696577072, + 0.02345193177461624, + -0.019179396331310272, + -0.04943269491195679, + -0.09719953685998917, + 0.0 + ], + [ + -0.02001398801803589, + -0.033504173159599304, + -0.0038129985332489014, + -0.003304891288280487, + 0.014318078756332397, + -0.08946200460195541, + 0.0 + ], + [ + -0.015945523977279663, + -0.021751053631305695, + -0.0176323801279068, + -0.0024070963263511658, + 0.04992665350437164, + -0.06345921754837036, + 0.0 + ], + [ + -0.01659265160560608, + -0.01511901244521141, + -0.024014659225940704, + -0.0017523542046546936, + 0.06075865030288696, + -0.040615618228912354, + 0.0 + ], + [ + -0.00897398591041565, + -0.007211772259324789, + -0.011998064815998077, + 0.019150108098983765, + 0.03245843946933746, + -0.032125428318977356, + 0.0 + ], + [ + -0.0061112940311431885, + 0.0039618657901883125, + -0.00882730633020401, + 0.020938843488693237, + 0.029966048896312714, + 0.003651261329650879, + 1.0 + ], + [ + -0.002063572406768799, + 0.0030181468464434147, + -0.0007244199514389038, + 0.011933829635381699, + 0.016099832952022552, + 0.004039973020553589, + 1.0 + ], + [ + -0.00030687451362609863, + 0.00361997215077281, + 0.002226918935775757, + 0.00149516761302948, + 0.010258510708808899, + 0.007816970348358154, + 1.0 + ], + [ + -0.00017154216766357422, + 0.0044907764531672, + 0.01768594980239868, + -0.009539779275655746, + -0.038194164633750916, + 0.017798975110054016, + 1.0 + ], + [ + -0.004549086093902588, + -0.0003295005299150944, + 0.02406591922044754, + 0.013438716530799866, + -0.0449616014957428, + 0.0034774094820022583, + 1.0 + ], + [ + -0.006055295467376709, + 0.004979334771633148, + 0.016249343752861023, + 0.0297206062823534, + -0.01916317641735077, + 0.01697497069835663, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9672539830207825 + ], + [ + 0.7418107390403748 + ], + [ + 0.6249675154685974 + ], + [ + 0.5759422183036804 + ], + [ + 0.5749470591545105 + ], + [ + 0.5749470591545105 + ], + [ + 0.5749470591545105 + ], + [ + 0.5749470591545105 + ], + [ + 0.573952317237854 + ], + [ + 0.573952317237854 + ], + [ + 0.573952317237854 + ], + [ + 0.6450598835945129 + ], + [ + 0.9406655430793762 + ], + [ + 1.0092895030975342 + ], + [ + 1.003452181816101 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.31112658977508545, + 0.12884533405303955, + 0.08707449585199356 + ], + [ + 0.3301365077495575, + 0.13986836373806, + 0.08605481684207916 + ], + [ + 0.3506057858467102, + 0.1446589082479477, + 0.09014430642127991 + ], + [ + 0.3731972575187683, + 0.14763323962688446, + 0.08511237055063248 + ], + [ + 0.3904150426387787, + 0.14312779903411865, + 0.07213407009840012 + ], + [ + 0.40552714467048645, + 0.14091642200946808, + 0.055557649582624435 + ], + [ + 0.4110572040081024, + 0.136138454079628, + 0.04776983708143234 + ], + [ + 0.40916532278060913, + 0.1236024722456932, + 0.03461950272321701 + ], + [ + 0.3996916115283966, + 0.11355794966220856, + 0.013955825939774513 + ], + [ + 0.3926254212856293, + 0.11536641418933868, + 0.005630044266581535 + ], + [ + 0.3940623104572296, + 0.11219596117734909, + 0.005189076531678438 + ], + [ + 0.4006252586841583, + 0.11480048298835754, + 0.01064357627183199 + ], + [ + 0.40912768244743347, + 0.13360127806663513, + 0.034949660301208496 + ], + [ + 0.4145992398262024, + 0.1357383280992508, + 0.0876486748456955 + ], + [ + 0.407011479139328, + 0.1095375269651413, + 0.12365498393774033 + ], + [ + 0.389577716588974, + 0.06893490999937057, + 0.14710691571235657 + ], + [ + 0.3695637285709381, + 0.03543073683977127, + 0.14329391717910767 + ], + [ + 0.35361820459365845, + 0.013679682277143002, + 0.12566153705120087 + ], + [ + 0.33702555298805237, + -0.0014393305173143744, + 0.10164687782526016 + ], + [ + 0.3280515670776367, + -0.008651102893054485, + 0.08964881300926208 + ], + [ + 0.32194027304649353, + -0.004689237102866173, + 0.08082150667905807 + ], + [ + 0.31987670063972473, + -0.0016710901400074363, + 0.08009708672761917 + ], + [ + 0.31956982612609863, + 0.0019488818943500519, + 0.08232400566339493 + ], + [ + 0.31939828395843506, + 0.006439658347517252, + 0.10000995546579361 + ], + [ + 0.31484919786453247, + 0.006110157817602158, + 0.12407587468624115 + ], + [ + 0.30879390239715576, + 0.011089492589235306, + 0.14032521843910217 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9891960550898655, + -0.03538500458096135, + 0.14226407152001824, + -0.03897442685260211, + -0.998986340608252, + 0.02252299557440159, + 0.14132288790623648, + -0.02782431902021486, + -0.9895724574910634 + ], + [ + 0.9928471273105367, + 0.021030779630359465, + 0.1175256912311267, + 0.01770702954359448, + -0.9994151587913287, + 0.029254084891610313, + 0.11807219357646044, + -0.026963803259972947, + -0.9926388620328142 + ], + [ + 0.9897110670115346, + 0.056610737398049255, + 0.13140482580993323, + 0.05585252900697177, + -0.9983942930466584, + 0.009451487469639076, + 0.13172888384259224, + -0.002014949903217271, + -0.9912837339220656 + ], + [ + 0.9867293318191513, + 0.08738404218612045, + 0.13685486801332652, + 0.08974085507938293, + -0.995902899466783, + -0.011135248684945481, + 0.1353211168197776, + 0.023268949371828357, + -0.9905285212136897 + ], + [ + 0.98776837680308, + 0.11324719879754622, + 0.10718538031054914, + 0.11757562710709688, + -0.992448956058877, + -0.034943404642618414, + 0.10241877610175251, + 0.047118378390537896, + -0.993624804802932 + ], + [ + 0.9826770330033646, + 0.1575070341760358, + 0.09765952586805557, + 0.16455394388279665, + -0.9839634045883535, + -0.06883326218852004, + 0.08525167658364108, + 0.08371112599867009, + -0.9928366426677215 + ], + [ + 0.9781493034793021, + 0.18686906513080034, + 0.09112569670568929, + 0.19673628751577663, + -0.9736790293720394, + -0.115082496217423, + 0.06722182143817768, + 0.13049559478489764, + -0.9891673905180406 + ], + [ + 0.9835954500439938, + 0.16863186765854699, + 0.0640568799017198, + 0.17574603083839668, + -0.9758709542839494, + -0.12957319641609122, + 0.040661078408010434, + 0.13870534883314317, + -0.9894986118776385 + ], + [ + 0.9931881271470563, + 0.11649511590787766, + -0.0024964101691728573, + 0.1156601657410463, + -0.9882177963920958, + -0.10024127370850633, + -0.014144615755696557, + 0.09926970768346269, + -0.9949600268259843 + ], + [ + 0.9938715040192514, + 0.10520334384992483, + -0.03393655759362753, + 0.1030822242951839, + -0.9929127166015833, + -0.05914720826227846, + -0.0399185236809744, + 0.055286468992497846, + -0.9976722496959977 + ], + [ + 0.9961797485131553, + 0.08072938719099985, + -0.03329676705074664, + 0.07908823976514077, + -0.9957128608549647, + -0.0479682088353598, + -0.03702646328124878, + 0.04515157551832177, + -0.9982937324480681 + ], + [ + 0.9983334044492447, + 0.05709596507222925, + -0.00839430361922113, + 0.056663282238073195, + -0.9973798999188384, + -0.04497341085459797, + -0.010940109998960253, + 0.04442280957299739, + -0.9989529157987637 + ], + [ + 0.9937100676084547, + 0.09304102854033544, + 0.062319086496491524, + 0.09594181986407077, + -0.9943560567869403, + -0.04529017037170035, + 0.05775351707706554, + 0.05098430483280061, + -0.9970281500168114 + ], + [ + 0.9786020400730983, + 0.09027944082754434, + 0.18489907984799786, + 0.09903460984814684, + -0.9943328295168542, + -0.038657084696496286, + 0.18036128524989975, + 0.05614131018129763, + -0.9819969246765143 + ], + [ + 0.9660328156435352, + 0.02836705921419094, + 0.25685776034872354, + 0.04537436848033799, + -0.9971345959277306, + -0.06052903674313753, + 0.25440472830675576, + 0.07012779445826148, + -0.9645518786771325 + ], + [ + 0.9521416384277225, + -0.07765751960333087, + 0.2956274852263075, + -0.04789901371514561, + -0.9931458742663762, + -0.10661593179629289, + 0.3018807460857494, + 0.0873532030135917, + -0.9493352585182844 + ], + [ + 0.9482378554557506, + -0.16573215250249845, + 0.27088341238910796, + -0.1333627375061091, + -0.981973345932643, + -0.13395046891566462, + 0.2882001903634964, + 0.0908911519606743, + -0.9532467932123905 + ], + [ + 0.9507901290433017, + -0.2237125563216188, + 0.21436142996786633, + -0.19588990043315063, + -0.9700661327439746, + -0.14352297729436903, + 0.24005265551980937, + 0.09446899092927884, + -0.9661523339156677 + ], + [ + 0.9544589428266631, + -0.2575727991510038, + 0.15054693485994627, + -0.2374208768365032, + -0.9613344734819709, + -0.13952547200180798, + 0.18066392473428175, + 0.09742834922474047, + -0.9787074450860928 + ], + [ + 0.9514833227830951, + -0.2830057083257058, + 0.12077771119170046, + -0.2694116793572132, + -0.95585117338714, + -0.11732809280114326, + 0.1486500369712917, + 0.07909679759315863, + -0.9857214936882224 + ], + [ + 0.9563227817651142, + -0.27522449998364523, + 0.09847949880958146, + -0.26701411390552127, + -0.9595875982228371, + -0.08885439950940213, + 0.11895461341319727, + 0.058678070398400006, + -0.9911643072679914 + ], + [ + 0.9591162107345208, + -0.2694188420465908, + 0.08665784359496204, + -0.2636218738005958, + -0.9618789196556647, + -0.07274923763115561, + 0.10295436833916985, + 0.04693007002259631, + -0.9935783645830646 + ], + [ + 0.9621175665515918, + -0.2613102965168014, + 0.07776063957520502, + -0.2563749765037623, + -0.9641823273490095, + -0.06800228709788199, + 0.09274513224713687, + 0.045490312838546196, + -0.9946501756307654 + ], + [ + 0.9623855038045832, + -0.24688465814713728, + 0.11341123241712071, + -0.2381852844168349, + -0.9674974759430907, + -0.08494942219356531, + 0.1306977901652147, + 0.054741205826326925, + -0.9899098383340826 + ], + [ + 0.9565273046450953, + -0.2437727121497382, + 0.16009491022374794, + -0.2332084514071572, + -0.9689591619610265, + -0.08204852615410387, + 0.17512662179310323, + 0.04114616948083945, + -0.9836857521975142 + ], + [ + 0.9568983857885345, + -0.22261381337430783, + 0.18651694124193183, + -0.21615935316214188, + -0.9748346407264538, + -0.05452116359956529, + 0.19396033954347938, + 0.011853832067099425, + -0.9809377520258376 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006409.json b/json/chunk-0006/episode_0006409.json new file mode 100644 index 0000000000000000000000000000000000000000..d93544a11d4e4ee42cbf60b66796b64c0068f79b --- /dev/null +++ b/json/chunk-0006/episode_0006409.json @@ -0,0 +1,5602 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 92, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nSweep into pile." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006409.mp4", + "start": 0, + "end": 92, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.25369274616241455, + -0.07272631675004959, + 0.06527762860059738, + 0.09795685112476349, + -0.005861571058630943, + -0.7548548579216003, + 0.0, + 0.9994885921478271 + ], + [ + 0.25176194310188293, + -0.07207827270030975, + 0.0573861300945282, + 0.08595055341720581, + 0.02041465789079666, + -0.7520226836204529, + 0.0, + 1.0001531839370728 + ], + [ + 0.2524186074733734, + -0.07166790962219238, + 0.04741637408733368, + 0.0810263454914093, + 0.04079897329211235, + -0.7466117739677429, + 0.0, + 1.0001531839370728 + ], + [ + 0.25456538796424866, + -0.07550465315580368, + 0.04057702049612999, + 0.08329622447490692, + 0.04699411615729332, + -0.7668912410736084, + 0.0, + 1.0001531839370728 + ], + [ + 0.26074397563934326, + -0.07830950617790222, + 0.037017229944467545, + 0.0867493525147438, + 0.05010456219315529, + -0.7741054892539978, + 0.0, + 1.0001531839370728 + ], + [ + 0.26506906747817993, + -0.07958970218896866, + 0.03128426894545555, + 0.08350600302219391, + 0.060189295560121536, + -0.8044704794883728, + 0.0, + 0.9628177285194397 + ], + [ + 0.2659117579460144, + -0.07925637811422348, + 0.026008741930127144, + 0.07020355761051178, + 0.0872635766863823, + -0.8284833431243896, + 0.0, + 0.6781873106956482 + ], + [ + 0.2639339566230774, + -0.07656244933605194, + 0.02107931859791279, + 0.06686478853225708, + 0.1181393563747406, + -0.8353308439254761, + 0.0, + 0.37631502747535706 + ], + [ + 0.2639915943145752, + -0.07650061696767807, + 0.020170526579022408, + 0.07709483802318573, + 0.13408279418945312, + -0.8450944423675537, + 0.0, + 0.33882394433021545 + ], + [ + 0.2647368311882019, + -0.07693305611610413, + 0.020567236468195915, + 0.0761897936463356, + 0.13378655910491943, + -0.8453336358070374, + 0.0, + 0.33882394433021545 + ], + [ + 0.2752291262149811, + -0.07416161149740219, + 0.020742803812026978, + 0.078334741294384, + 0.12634491920471191, + -0.8206084966659546, + 0.0, + 0.33882394433021545 + ], + [ + 0.2924431562423706, + -0.06593599915504456, + 0.021414723247289658, + 0.08637774735689163, + 0.10751237720251083, + -0.7680758237838745, + 0.0, + 0.33882394433021545 + ], + [ + 0.30859604477882385, + -0.0568055585026741, + 0.0213541928678751, + 0.09267794340848923, + 0.08807038515806198, + -0.7183738946914673, + 0.0, + 0.33882394433021545 + ], + [ + 0.31897643208503723, + -0.049720168113708496, + 0.021319221705198288, + 0.10093981772661209, + 0.07318510860204697, + -0.6626909971237183, + 0.0, + 0.3380139172077179 + ], + [ + 0.3278404176235199, + -0.03690307214856148, + 0.02070590853691101, + 0.10704421997070312, + 0.05823764577507973, + -0.5729072690010071, + 0.0, + 0.3380139172077179 + ], + [ + 0.33005577325820923, + -0.028245538473129272, + 0.02057603746652603, + 0.10915597528219223, + 0.05042913928627968, + -0.5033242702484131, + 0.0, + 0.3380139172077179 + ], + [ + 0.33304643630981445, + -0.013941808603703976, + 0.019961094483733177, + 0.0991583839058876, + 0.026729345321655273, + -0.4217531979084015, + 0.0, + 0.3380139172077179 + ], + [ + 0.3343859016895294, + -0.001347926678135991, + 0.019556695595383644, + 0.08806389570236206, + 0.01582496054470539, + -0.3602807819843292, + 0.0, + 0.3380139172077179 + ], + [ + 0.33361196517944336, + 0.013495598919689655, + 0.019362011924386024, + 0.07461010664701462, + 0.003541800891980529, + -0.2970762252807617, + 0.0, + 0.3380139172077179 + ], + [ + 0.33263713121414185, + 0.028480447828769684, + 0.01945396140217781, + 0.053669799119234085, + -0.0022544164676219225, + -0.2357843816280365, + 0.0, + 0.3380139172077179 + ], + [ + 0.33267179131507874, + 0.04772459343075752, + 0.021187951788306236, + 0.03807360678911209, + -0.002719828160479665, + -0.18628063797950745, + 0.0, + 0.3380139172077179 + ], + [ + 0.33444586396217346, + 0.06400367617607117, + 0.02134370617568493, + 0.02832748182117939, + 0.0013900843914598227, + -0.1563381403684616, + 0.0, + 0.3380139172077179 + ], + [ + 0.3353806436061859, + 0.07998976856470108, + 0.021669480949640274, + 0.009299700148403645, + 1.2206998690089677e-05, + -0.11049361526966095, + 0.0, + 0.3380139172077179 + ], + [ + 0.33249974250793457, + 0.10176856815814972, + 0.02247525379061699, + -0.0001156764556071721, + -0.0033153952099382877, + -0.05741936340928078, + 0.0, + 0.3380139172077179 + ], + [ + 0.3281729519367218, + 0.12041273713111877, + 0.023089326918125153, + -0.0012528033694252372, + -0.0037774979136884212, + -0.01667751930654049, + 0.0, + 0.3380139172077179 + ], + [ + 0.32318541407585144, + 0.13986320793628693, + 0.022723978385329247, + -0.0012136881705373526, + -0.0037955394946038723, + 0.027796152979135513, + 0.0, + 0.3380139172077179 + ], + [ + 0.32073041796684265, + 0.15207256376743317, + 0.023750772699713707, + 0.0005849497974850237, + -0.004740281030535698, + 0.04993332922458649, + 0.0, + 0.3380139172077179 + ], + [ + 0.31761041283607483, + 0.1563020944595337, + 0.023752404376864433, + -0.00650006253272295, + -0.0010706165339797735, + 0.06404581665992737, + 0.0, + 0.3380139172077179 + ], + [ + 0.31893861293792725, + 0.13331210613250732, + 0.0368632897734642, + -0.0500345304608345, + -0.009024846367537975, + 0.04296911507844925, + 0.0, + 0.3380139172077179 + ], + [ + 0.33290815353393555, + 0.09656479209661484, + 0.07019922137260437, + -0.07880543172359467, + -0.08944777399301529, + -0.007651808205991983, + 0.0, + 0.3380139172077179 + ], + [ + 0.33773306012153625, + 0.05833541229367256, + 0.0895262286067009, + -0.07207294553518295, + -0.14327463507652283, + -0.0787782296538353, + 0.0, + 0.3380139172077179 + ], + [ + 0.3380656838417053, + 0.015085677616298199, + 0.09176047891378403, + -0.0784398689866066, + -0.14117445051670074, + -0.15672223269939423, + 0.0, + 0.3380139172077179 + ], + [ + 0.33879679441452026, + -0.024051709100604057, + 0.0890212282538414, + -0.08458243310451508, + -0.1277242749929428, + -0.20074725151062012, + 0.0, + 0.3380139172077179 + ], + [ + 0.3467296361923218, + -0.04781138896942139, + 0.0714852511882782, + -0.09162060916423798, + -0.08299727737903595, + -0.1919180303812027, + 0.0, + 0.3380139172077179 + ], + [ + 0.35722649097442627, + -0.055515214800834656, + 0.04978940263390541, + -0.0763329416513443, + -0.05027822032570839, + -0.1700742542743683, + 0.0, + 0.3380139172077179 + ], + [ + 0.36431172490119934, + -0.06180813908576965, + 0.030160777270793915, + -0.06247665733098984, + -0.01769225485622883, + -0.1593661606311798, + 0.0, + 0.3380139172077179 + ], + [ + 0.3708283305168152, + -0.06197937950491905, + 0.02442002482712269, + -0.06156831979751587, + -0.011175787076354027, + -0.15288686752319336, + 0.0, + 0.3380139172077179 + ], + [ + 0.37263724207878113, + -0.06274711340665817, + 0.024380147457122803, + -0.06490051001310349, + -0.003291528671979904, + -0.14769284427165985, + 0.0, + 0.3380139172077179 + ], + [ + 0.3792969286441803, + -0.05537884682416916, + 0.02450278401374817, + -0.07609980553388596, + -0.003632024861872196, + -0.11952059715986252, + 0.0, + 0.3380139172077179 + ], + [ + 0.38519608974456787, + -0.038921285420656204, + 0.02307623066008091, + -0.08124492317438126, + 0.00802023895084858, + -0.07919789850711823, + 0.0, + 0.3372049927711487 + ], + [ + 0.392586886882782, + -0.023978600278496742, + 0.021248817443847656, + -0.08299117535352707, + 0.006298959255218506, + -0.04087536409497261, + 0.0, + 0.3380139172077179 + ], + [ + 0.39524704217910767, + -0.011098679155111313, + 0.01971789076924324, + -0.07786738872528076, + 0.009537782520055771, + -0.011999835260212421, + 0.0, + 0.3372049927711487 + ], + [ + 0.39700621366500854, + 0.01087671797722578, + 0.018408512696623802, + -0.06998217850923538, + 0.012936382554471493, + 0.038553401827812195, + 0.0, + 0.3372049927711487 + ], + [ + 0.3931412398815155, + 0.0381896011531353, + 0.016989538446068764, + -0.06858773529529572, + 0.01941552944481373, + 0.11158023774623871, + 0.0, + 0.3372049927711487 + ], + [ + 0.38750314712524414, + 0.06134502589702606, + 0.01771950162947178, + -0.052208755165338516, + 0.019779592752456665, + 0.15865492820739746, + 0.0, + 0.3372049927711487 + ], + [ + 0.3789585530757904, + 0.08346273005008698, + 0.018690261989831924, + -0.048075318336486816, + 0.023012055084109306, + 0.2165825366973877, + 0.0, + 0.3372049927711487 + ], + [ + 0.3698611855506897, + 0.10261593014001846, + 0.01866621896624565, + -0.039315417408943176, + 0.025584975257515907, + 0.28476646542549133, + 0.0, + 0.3372049927711487 + ], + [ + 0.3582722842693329, + 0.12069210410118103, + 0.020084841176867485, + -0.03274189308285713, + 0.02387276105582714, + 0.37442368268966675, + 0.0, + 0.3372049927711487 + ], + [ + 0.3447073996067047, + 0.139040008187294, + 0.02011818438768387, + -0.023796727880835533, + 0.030297016724944115, + 0.44841501116752625, + 0.0, + 0.3372049927711487 + ], + [ + 0.340855211019516, + 0.14577369391918182, + 0.02056148648262024, + -0.018691090866923332, + 0.020967496559023857, + 0.4717528223991394, + 0.0, + 0.3372049927711487 + ], + [ + 0.3323201537132263, + 0.15898510813713074, + 0.021067386493086815, + -0.003399305511265993, + 0.010916521772742271, + 0.49785637855529785, + 0.0, + 0.3372049927711487 + ], + [ + 0.32630446553230286, + 0.16872917115688324, + 0.020808234810829163, + 0.004309340845793486, + 0.007454133592545986, + 0.5268163084983826, + 0.0, + 0.3372049927711487 + ], + [ + 0.32416197657585144, + 0.16708849370479584, + 0.02248123101890087, + -0.0020553553476929665, + 0.010857905261218548, + 0.529289722442627, + 0.0, + 0.3372049927711487 + ], + [ + 0.3200523555278778, + 0.15852481126785278, + 0.02913905680179596, + -0.037338756024837494, + 0.03338117524981499, + 0.5189394950866699, + 0.0, + 0.3372049927711487 + ], + [ + 0.32271191477775574, + 0.14589031040668488, + 0.04086001589894295, + -0.0852905660867691, + 0.029326820746064186, + 0.5065784454345703, + 0.0, + 0.3372049927711487 + ], + [ + 0.3207867443561554, + 0.12495183944702148, + 0.050323620438575745, + -0.10905008018016815, + 0.02267548441886902, + 0.4481184184551239, + 0.0, + 0.3372049927711487 + ], + [ + 0.312822163105011, + 0.09170559048652649, + 0.038933854550123215, + -0.10041003674268723, + 0.04635076969861984, + 0.2873099744319916, + 0.0, + 0.3372049927711487 + ], + [ + 0.3025566637516022, + 0.07355261594057083, + 0.028871264308691025, + -0.06838136166334152, + 0.05609782785177231, + 0.1611412614583969, + 0.0, + 0.3372049927711487 + ], + [ + 0.2972336411476135, + 0.06342101097106934, + 0.02426716312766075, + -0.029142236337065697, + 0.046549487859010696, + -0.015413072891533375, + 0.0, + 0.3372049927711487 + ], + [ + 0.2935754954814911, + 0.060902636498212814, + 0.024557044729590416, + -0.005257202312350273, + 0.08152887970209122, + -0.17385831475257874, + 0.0, + 0.3372049927711487 + ], + [ + 0.2906235158443451, + 0.06440991163253784, + 0.026313019916415215, + -0.001386911841109395, + 0.10662877559661865, + -0.2727842628955841, + 0.0, + 0.3372049927711487 + ], + [ + 0.28916800022125244, + 0.07757576555013657, + 0.02617495320737362, + -0.0020973447244614363, + 0.09809603542089462, + -0.3070455491542816, + 0.0, + 0.3372049927711487 + ], + [ + 0.2824890911579132, + 0.08885885775089264, + 0.02839594893157482, + 0.02039121650159359, + 0.06685374677181244, + -0.2998935580253601, + 0.0, + 0.3372049927711487 + ], + [ + 0.2748318016529083, + 0.09642507135868073, + 0.02410190738737583, + 0.037256065756082535, + 0.03527308255434036, + -0.28879106044769287, + 0.0, + 0.3372049927711487 + ], + [ + 0.27256473898887634, + 0.10698183625936508, + 0.0239398330450058, + 0.04185131564736366, + 0.02350768633186817, + -0.27971407771110535, + 0.0, + 0.3372049927711487 + ], + [ + 0.27334532141685486, + 0.11872339248657227, + 0.028186611831188202, + 0.04261013865470886, + 0.015966322273015976, + -0.26276907324790955, + 0.0, + 0.3372049927711487 + ], + [ + 0.28206783533096313, + 0.13225334882736206, + 0.029113121330738068, + 0.04441850259900093, + 0.001546374405734241, + -0.2556733191013336, + 0.0, + 0.3372049927711487 + ], + [ + 0.28772422671318054, + 0.1453237384557724, + 0.032982151955366135, + 0.046048250049352646, + -0.0015892779920250177, + -0.25588393211364746, + 0.0, + 0.3372049927711487 + ], + [ + 0.2880001366138458, + 0.1501493901014328, + 0.02911350503563881, + 0.03725846856832504, + 0.010992360301315784, + -0.24264483153820038, + 0.0, + 0.3372049927711487 + ], + [ + 0.28835269808769226, + 0.1494523584842682, + 0.029774082824587822, + 0.035447876900434494, + 0.005369685124605894, + -0.23755691945552826, + 0.0, + 0.3372049927711487 + ], + [ + 0.28910842537879944, + 0.13469035923480988, + 0.04570349305868149, + 0.03283611685037613, + -0.024778684601187706, + -0.2497972846031189, + 0.0, + 0.3372049927711487 + ], + [ + 0.287840336561203, + 0.11977783590555191, + 0.0525963194668293, + 0.03479008376598358, + -0.03303693234920502, + -0.29023072123527527, + 0.0, + 0.3372049927711487 + ], + [ + 0.28437507152557373, + 0.10179963707923889, + 0.04712136089801788, + 0.02695474959909916, + -0.02359977550804615, + -0.3392243981361389, + 0.0, + 0.3372049927711487 + ], + [ + 0.2849612832069397, + 0.09984114021062851, + 0.03944050148129463, + 0.05226416140794754, + -0.006229131016880274, + -0.3529246747493744, + 0.0, + 0.3372049927711487 + ], + [ + 0.2847451865673065, + 0.10482820868492126, + 0.02516084536910057, + 0.06744484603404999, + 0.023365864530205727, + -0.34950974583625793, + 0.0, + 0.3372049927711487 + ], + [ + 0.2858888804912567, + 0.10916776955127716, + 0.022886134684085846, + 0.07492953538894653, + 0.028286611661314964, + -0.33909767866134644, + 0.0, + 0.3372049927711487 + ], + [ + 0.2870451807975769, + 0.11614379286766052, + 0.02281629480421543, + 0.0804387554526329, + 0.027227390557527542, + -0.32805636525154114, + 0.0, + 0.3372049927711487 + ], + [ + 0.2895618975162506, + 0.1285749226808548, + 0.02419978752732277, + 0.0899420827627182, + 0.017302891239523888, + -0.2965920567512512, + 0.0, + 0.3372049927711487 + ], + [ + 0.28598296642303467, + 0.13844835758209229, + 0.024689558893442154, + 0.09379871934652328, + 0.0207075122743845, + -0.27245602011680603, + 0.0, + 0.3372049927711487 + ], + [ + 0.2851436138153076, + 0.14737527072429657, + 0.024400580674409866, + 0.1038869097828865, + 0.02612823247909546, + -0.26847776770591736, + 0.0, + 0.3372049927711487 + ], + [ + 0.2869495451450348, + 0.14949390292167664, + 0.02364465408027172, + 0.10583532601594925, + 0.025565771386027336, + -0.26478466391563416, + 0.0, + 0.3372049927711487 + ], + [ + 0.2888685464859009, + 0.16223488748073578, + 0.024499598890542984, + 0.11280837655067444, + 0.027781682088971138, + -0.22787372767925262, + 0.0, + 0.3372049927711487 + ], + [ + 0.2900988757610321, + 0.17126086354255676, + 0.023815494030714035, + 0.11839669197797775, + 0.028374729678034782, + -0.19708193838596344, + 0.0, + 0.3372049927711487 + ], + [ + 0.29331088066101074, + 0.17587445676326752, + 0.023530112579464912, + 0.12126059830188751, + 0.029230840504169464, + -0.18249475955963135, + 0.0, + 0.3372049927711487 + ], + [ + 0.2923186123371124, + 0.16834214329719543, + 0.02392541989684105, + 0.10994536429643631, + 0.015461012721061707, + -0.1736457794904709, + 0.0, + 0.3372049927711487 + ], + [ + 0.2892105281352997, + 0.14000344276428223, + 0.024732859805226326, + 0.039759017527103424, + 0.02389981970191002, + -0.1637171059846878, + 0.0, + 0.3372049927711487 + ], + [ + 0.29686102271080017, + 0.09966952353715897, + 0.038447730243206024, + 0.02012731321156025, + 0.0020409938879311085, + -0.18209655582904816, + 0.0, + 0.3372049927711487 + ], + [ + 0.30197757482528687, + 0.06381431967020035, + 0.04685260355472565, + 0.05559229478240013, + -0.010796970687806606, + -0.2134239375591278, + 0.0, + 0.3372049927711487 + ], + [ + 0.3079599440097809, + 0.021628843620419502, + 0.044552795588970184, + 0.09858262538909912, + -0.008403673768043518, + -0.27370741963386536, + 0.0, + 0.3372049927711487 + ], + [ + 0.3120901584625244, + -0.010567408986389637, + 0.027352185919880867, + 0.06948260217905045, + 0.0342562273144722, + -0.29735127091407776, + 0.0, + 0.3372049927711487 + ], + [ + 0.3244202435016632, + -0.03463942930102348, + 0.024182114750146866, + 0.009828636422753334, + 0.042477481067180634, + -0.3096712529659271, + 0.0, + 0.39886748790740967 + ], + [ + 0.32817140221595764, + -0.049773573875427246, + 0.03299029543995857, + -0.09489763528108597, + 0.057923316955566406, + -0.32205501198768616, + 0.0, + 0.6971942782402039 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9628177285194397 + ], + [ + 0.6781873106956482 + ], + [ + 0.37631502747535706 + ], + [ + 0.33882394433021545 + ], + [ + 0.33882394433021545 + ], + [ + 0.33882394433021545 + ], + [ + 0.33882394433021545 + ], + [ + 0.33882394433021545 + ], + [ + 0.3380139172077179 + ], + [ + 0.3380139172077179 + ], + [ + 0.3380139172077179 + ], + [ + 0.3380139172077179 + ], + [ + 0.3380139172077179 + ], + [ + 0.3380139172077179 + ], + [ + 0.3380139172077179 + ], + [ + 0.3380139172077179 + ], + [ + 0.3380139172077179 + ], + [ + 0.3380139172077179 + ], + [ + 0.3380139172077179 + ], + [ + 0.3380139172077179 + ], + [ + 0.3380139172077179 + ], + [ + 0.3380139172077179 + ], + [ + 0.3380139172077179 + ], + [ + 0.3380139172077179 + ], + [ + 0.3380139172077179 + ], + [ + 0.3380139172077179 + ], + [ + 0.3380139172077179 + ], + [ + 0.3380139172077179 + ], + [ + 0.3380139172077179 + ], + [ + 0.3380139172077179 + ], + [ + 0.3380139172077179 + ], + [ + 0.3380139172077179 + ], + [ + 0.3380139172077179 + ], + [ + 0.3380139172077179 + ], + [ + 0.3372049927711487 + ], + [ + 0.3380139172077179 + ], + [ + 0.3372049927711487 + ], + [ + 0.3372049927711487 + ], + [ + 0.3372049927711487 + ], + [ + 0.3372049927711487 + ], + [ + 0.3372049927711487 + ], + [ + 0.3372049927711487 + ], + [ + 0.3372049927711487 + ], + [ + 0.3372049927711487 + ], + [ + 0.3372049927711487 + ], + [ + 0.3372049927711487 + ], + [ + 0.3372049927711487 + ], + [ + 0.3372049927711487 + ], + [ + 0.3372049927711487 + ], + [ + 0.3372049927711487 + ], + [ + 0.3372049927711487 + ], + [ + 0.3372049927711487 + ], + [ + 0.3372049927711487 + ], + [ + 0.3372049927711487 + ], + [ + 0.3372049927711487 + ], + [ + 0.3372049927711487 + ], + [ + 0.3372049927711487 + ], + [ + 0.3372049927711487 + ], + [ + 0.3372049927711487 + ], + [ + 0.3372049927711487 + ], + [ + 0.3372049927711487 + ], + [ + 0.3372049927711487 + ], + [ + 0.3372049927711487 + ], + [ + 0.3372049927711487 + ], + [ + 0.3372049927711487 + ], + [ + 0.3372049927711487 + ], + [ + 0.3372049927711487 + ], + [ + 0.3372049927711487 + ], + [ + 0.3372049927711487 + ], + [ + 0.3372049927711487 + ], + [ + 0.3372049927711487 + ], + [ + 0.3372049927711487 + ], + [ + 0.3372049927711487 + ], + [ + 0.3372049927711487 + ], + [ + 0.3372049927711487 + ], + [ + 0.3372049927711487 + ], + [ + 0.3372049927711487 + ], + [ + 0.3372049927711487 + ], + [ + 0.3372049927711487 + ], + [ + 0.3372049927711487 + ], + [ + 0.3372049927711487 + ], + [ + 0.3372049927711487 + ], + [ + 0.3372049927711487 + ], + [ + 0.3372049927711487 + ], + [ + 0.3372049927711487 + ], + [ + 0.39886748790740967 + ], + [ + 0.6971942782402039 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.25369274616241455, + -0.07272631675004959, + 0.06527762860059738 + ], + [ + 0.25176194310188293, + -0.07207827270030975, + 0.0573861300945282 + ], + [ + 0.2524186074733734, + -0.07166790962219238, + 0.04741637408733368 + ], + [ + 0.25456538796424866, + -0.07550465315580368, + 0.04057702049612999 + ], + [ + 0.26074397563934326, + -0.07830950617790222, + 0.037017229944467545 + ], + [ + 0.26506906747817993, + -0.07958970218896866, + 0.03128426894545555 + ], + [ + 0.2659117579460144, + -0.07925637811422348, + 0.026008741930127144 + ], + [ + 0.2639339566230774, + -0.07656244933605194, + 0.02107931859791279 + ], + [ + 0.2639915943145752, + -0.07650061696767807, + 0.020170526579022408 + ], + [ + 0.2647368311882019, + -0.07693305611610413, + 0.020567236468195915 + ], + [ + 0.2752291262149811, + -0.07416161149740219, + 0.020742803812026978 + ], + [ + 0.2924431562423706, + -0.06593599915504456, + 0.021414723247289658 + ], + [ + 0.30859604477882385, + -0.0568055585026741, + 0.0213541928678751 + ], + [ + 0.31897643208503723, + -0.049720168113708496, + 0.021319221705198288 + ], + [ + 0.3278404176235199, + -0.03690307214856148, + 0.02070590853691101 + ], + [ + 0.33005577325820923, + -0.028245538473129272, + 0.02057603746652603 + ], + [ + 0.33304643630981445, + -0.013941808603703976, + 0.019961094483733177 + ], + [ + 0.3343859016895294, + -0.001347926678135991, + 0.019556695595383644 + ], + [ + 0.33361196517944336, + 0.013495598919689655, + 0.019362011924386024 + ], + [ + 0.33263713121414185, + 0.028480447828769684, + 0.01945396140217781 + ], + [ + 0.33267179131507874, + 0.04772459343075752, + 0.021187951788306236 + ], + [ + 0.33444586396217346, + 0.06400367617607117, + 0.02134370617568493 + ], + [ + 0.3353806436061859, + 0.07998976856470108, + 0.021669480949640274 + ], + [ + 0.33249974250793457, + 0.10176856815814972, + 0.02247525379061699 + ], + [ + 0.3281729519367218, + 0.12041273713111877, + 0.023089326918125153 + ], + [ + 0.32318541407585144, + 0.13986320793628693, + 0.022723978385329247 + ], + [ + 0.32073041796684265, + 0.15207256376743317, + 0.023750772699713707 + ], + [ + 0.31761041283607483, + 0.1563020944595337, + 0.023752404376864433 + ], + [ + 0.31893861293792725, + 0.13331210613250732, + 0.0368632897734642 + ], + [ + 0.33290815353393555, + 0.09656479209661484, + 0.07019922137260437 + ], + [ + 0.33773306012153625, + 0.05833541229367256, + 0.0895262286067009 + ], + [ + 0.3380656838417053, + 0.015085677616298199, + 0.09176047891378403 + ], + [ + 0.33879679441452026, + -0.024051709100604057, + 0.0890212282538414 + ], + [ + 0.3467296361923218, + -0.04781138896942139, + 0.0714852511882782 + ], + [ + 0.35722649097442627, + -0.055515214800834656, + 0.04978940263390541 + ], + [ + 0.36431172490119934, + -0.06180813908576965, + 0.030160777270793915 + ], + [ + 0.3708283305168152, + -0.06197937950491905, + 0.02442002482712269 + ], + [ + 0.37263724207878113, + -0.06274711340665817, + 0.024380147457122803 + ], + [ + 0.3792969286441803, + -0.05537884682416916, + 0.02450278401374817 + ], + [ + 0.38519608974456787, + -0.038921285420656204, + 0.02307623066008091 + ], + [ + 0.392586886882782, + -0.023978600278496742, + 0.021248817443847656 + ], + [ + 0.39524704217910767, + -0.011098679155111313, + 0.01971789076924324 + ], + [ + 0.39700621366500854, + 0.01087671797722578, + 0.018408512696623802 + ], + [ + 0.3931412398815155, + 0.0381896011531353, + 0.016989538446068764 + ], + [ + 0.38750314712524414, + 0.06134502589702606, + 0.01771950162947178 + ], + [ + 0.3789585530757904, + 0.08346273005008698, + 0.018690261989831924 + ], + [ + 0.3698611855506897, + 0.10261593014001846, + 0.01866621896624565 + ], + [ + 0.3582722842693329, + 0.12069210410118103, + 0.020084841176867485 + ], + [ + 0.3447073996067047, + 0.139040008187294, + 0.02011818438768387 + ], + [ + 0.340855211019516, + 0.14577369391918182, + 0.02056148648262024 + ], + [ + 0.3323201537132263, + 0.15898510813713074, + 0.021067386493086815 + ], + [ + 0.32630446553230286, + 0.16872917115688324, + 0.020808234810829163 + ], + [ + 0.32416197657585144, + 0.16708849370479584, + 0.02248123101890087 + ], + [ + 0.3200523555278778, + 0.15852481126785278, + 0.02913905680179596 + ], + [ + 0.32271191477775574, + 0.14589031040668488, + 0.04086001589894295 + ], + [ + 0.3207867443561554, + 0.12495183944702148, + 0.050323620438575745 + ], + [ + 0.312822163105011, + 0.09170559048652649, + 0.038933854550123215 + ], + [ + 0.3025566637516022, + 0.07355261594057083, + 0.028871264308691025 + ], + [ + 0.2972336411476135, + 0.06342101097106934, + 0.02426716312766075 + ], + [ + 0.2935754954814911, + 0.060902636498212814, + 0.024557044729590416 + ], + [ + 0.2906235158443451, + 0.06440991163253784, + 0.026313019916415215 + ], + [ + 0.28916800022125244, + 0.07757576555013657, + 0.02617495320737362 + ], + [ + 0.2824890911579132, + 0.08885885775089264, + 0.02839594893157482 + ], + [ + 0.2748318016529083, + 0.09642507135868073, + 0.02410190738737583 + ], + [ + 0.27256473898887634, + 0.10698183625936508, + 0.0239398330450058 + ], + [ + 0.27334532141685486, + 0.11872339248657227, + 0.028186611831188202 + ], + [ + 0.28206783533096313, + 0.13225334882736206, + 0.029113121330738068 + ], + [ + 0.28772422671318054, + 0.1453237384557724, + 0.032982151955366135 + ], + [ + 0.2880001366138458, + 0.1501493901014328, + 0.02911350503563881 + ], + [ + 0.28835269808769226, + 0.1494523584842682, + 0.029774082824587822 + ], + [ + 0.28910842537879944, + 0.13469035923480988, + 0.04570349305868149 + ], + [ + 0.287840336561203, + 0.11977783590555191, + 0.0525963194668293 + ], + [ + 0.28437507152557373, + 0.10179963707923889, + 0.04712136089801788 + ], + [ + 0.2849612832069397, + 0.09984114021062851, + 0.03944050148129463 + ], + [ + 0.2847451865673065, + 0.10482820868492126, + 0.02516084536910057 + ], + [ + 0.2858888804912567, + 0.10916776955127716, + 0.022886134684085846 + ], + [ + 0.2870451807975769, + 0.11614379286766052, + 0.02281629480421543 + ], + [ + 0.2895618975162506, + 0.1285749226808548, + 0.02419978752732277 + ], + [ + 0.28598296642303467, + 0.13844835758209229, + 0.024689558893442154 + ], + [ + 0.2851436138153076, + 0.14737527072429657, + 0.024400580674409866 + ], + [ + 0.2869495451450348, + 0.14949390292167664, + 0.02364465408027172 + ], + [ + 0.2888685464859009, + 0.16223488748073578, + 0.024499598890542984 + ], + [ + 0.2900988757610321, + 0.17126086354255676, + 0.023815494030714035 + ], + [ + 0.29331088066101074, + 0.17587445676326752, + 0.023530112579464912 + ], + [ + 0.2923186123371124, + 0.16834214329719543, + 0.02392541989684105 + ], + [ + 0.2892105281352997, + 0.14000344276428223, + 0.024732859805226326 + ], + [ + 0.29686102271080017, + 0.09966952353715897, + 0.038447730243206024 + ], + [ + 0.30197757482528687, + 0.06381431967020035, + 0.04685260355472565 + ], + [ + 0.3079599440097809, + 0.021628843620419502, + 0.044552795588970184 + ], + [ + 0.3120901584625244, + -0.010567408986389637, + 0.027352185919880867 + ], + [ + 0.3244202435016632, + -0.03463942930102348, + 0.024182114750146866 + ], + [ + 0.32817140221595764, + -0.049773573875427246, + 0.03299029543995857 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.728358487077904, + -0.6814806886529956, + 0.0712599838242046, + -0.6851711878646101, + -0.7252720228923236, + 0.06723790694151723, + 0.005861537493363947, + -0.09779858793825154, + -0.9951889662649491 + ], + [ + 0.7301564577074493, + -0.6818753996604333, + 0.043789115154731176, + -0.6829749972758222, + -0.726415642936497, + 0.07658633555175771, + -0.020413239924138488, + -0.0858268782787787, + -0.9961009218953265 + ], + [ + 0.7333834081466504, + -0.6793506298800781, + 0.02512963065276419, + -0.6785905568242371, + -0.72934402468665, + 0.08701810066216446, + -0.04078765553663344, + -0.08087036129151316, + -0.9958897287453088 + ], + [ + 0.7192763403548796, + -0.6943086048172432, + 0.024023061470684115, + -0.6931339874220762, + -0.7148626497741886, + 0.09239408767988666, + -0.04697682073176268, + -0.08310808164407768, + -0.9954326823444049 + ], + [ + 0.7141492888902878, + -0.6995507361809351, + 0.024890975999507986, + -0.6981994171703089, + -0.7093243300277897, + 0.09683268401561695, + -0.05008360051491191, + -0.0865318573667474, + -0.9949893821645152 + ], + [ + 0.6922370356019802, + -0.7214324574563743, + 0.01852284722819356, + -0.7191588891920914, + -0.6874615071029938, + 0.1010305317598458, + -0.06015296033429739, + -0.08325794604802988, + -0.9947108804988931 + ], + [ + 0.6734219802519243, + -0.7392244101010583, + -0.007078702163492448, + -0.734102999684016, + -0.6698240047873465, + 0.1114835793539595, + -0.08715286781573259, + -0.0698789962820264, + -0.9937410646190032 + ], + [ + 0.6662557648745251, + -0.745145195666374, + -0.0293580167379004, + -0.7363498891764876, + -0.6635935609294801, + 0.1320319150914169, + -0.11786473807393055, + -0.06634925220568588, + -0.9908106177522071 + ], + [ + 0.6577038613099844, + -0.7526448915221112, + -0.030843120523171154, + -0.7413197122020428, + -0.6539876342616746, + 0.15081531266253764, + -0.1336813940629653, + -0.07632720025317341, + -0.9880806866763943 + ], + [ + 0.6575527694517366, + -0.7527582831150385, + -0.03129413024914867, + -0.7415066061687455, + -0.653960540621384, + 0.15001188059049095, + -0.1333878120161654, + -0.07543592321889162, + -0.9881888043757899 + ], + [ + 0.6763418063295501, + -0.7360402757127867, + -0.02839847776776193, + -0.7257296200074511, + -0.6724716777303158, + 0.1452527496965709, + -0.1260090459241784, + -0.07763089062492487, + -0.9889869388248052 + ], + [ + 0.7150959624896388, + -0.6988206449487117, + -0.016954958698961548, + -0.6907411387346601, + -0.7101357797815571, + 0.13632260829952078, + -0.10730537586981287, + -0.08577225931212401, + -0.9905193970043856 + ], + [ + 0.7499590456814728, + -0.6614651643729637, + -0.005026541712024338, + -0.6556104561451273, + -0.744288557992519, + 0.12731642562762596, + -0.08795657788768765, + -0.09218665175861777, + -0.9918494148023793 + ], + [ + 0.7862292227757839, + -0.6179174817120245, + 0.004647047240610602, + -0.6135935990262318, + -0.7797935535578998, + 0.12419705738695569, + -0.07311979545528428, + -0.1004987543415968, + -0.9922466910443011 + ], + [ + 0.8389039276008021, + -0.5442003316421223, + 0.00928435762731726, + -0.5411583959495673, + -0.8321477654329099, + 0.1211515042345985, + -0.058204731330358445, + -0.10665878081817104, + -0.9925906073125726 + ], + [ + 0.8748703552395523, + -0.4842798782563885, + 0.008652227400919657, + -0.4817270165619172, + -0.8681217515037418, + 0.11959810232787958, + -0.05040776762934558, + -0.10880084596202862, + -0.9927846860626793 + ], + [ + 0.9120467461026519, + -0.40976374333387877, + 0.01626061415113872, + -0.4092144244232647, + -0.9068078477621535, + 0.10120811272278252, + -0.026726162603359603, + -0.09896060774863122, + -0.9947323812697164 + ], + [ + 0.9356807013349547, + -0.3524732750783484, + 0.01625470716040824, + -0.35249286046294, + -0.9316809029071214, + 0.08786056271630543, + -0.015824300047142806, + -0.08793910116503617, + -0.9960001536216267 + ], + [ + 0.9561904416526992, + -0.29216382714860945, + 0.018442814261752476, + -0.29272392281962734, + -0.9534589772995881, + 0.07230963708879086, + -0.0035417934870514032, + -0.0745404367622113, + -0.9972117021907605 + ], + [ + 0.9723289335349908, + -0.23315178265652614, + 0.01472043663726096, + -0.23360514254979142, + -0.970959617146394, + 0.05163389628160715, + 0.0022544145579837674, + -0.05364390100479392, + -0.9985575844687119 + ], + [ + 0.982696241011604, + -0.18496920992402766, + 0.00972055974436993, + -0.1852044828147557, + -0.9820068751669742, + 0.03690252931864157, + 0.0027198248071752004, + -0.03806426808537556, + -0.9992715917347708 + ], + [ + 0.9878031096328069, + -0.15567848383430646, + 0.0030374777049867407, + -0.1557019083582021, + -0.987401630347003, + 0.02819461157197172, + -0.0013900839437751681, + -0.02832366606094472, + -0.9995978379365861 + ], + [ + 0.9939017885475777, + -0.11026426394046655, + 0.001013321071349087, + -0.11026891934228654, + -0.9938587979023915, + 0.009244201376978244, + -1.2206998689786534e-05, + -0.009299566101757088, + -0.9999567580257201 + ], + [ + 0.9983464743636695, + -0.05738819932630082, + 0.0033032868049922737, + -0.057387501431118995, + -0.998351932535411, + -0.00030574875926152496, + 0.003315389136223029, + 0.00011567581960091914, + -0.9999944973918509 + ], + [ + 0.9998537996537066, + -0.016681464908346048, + 0.0037560679649450155, + -0.016676627219866836, + -0.9998600698274966, + -0.001315624993382964, + 0.003777488929866407, + 0.001252794103289467, + -0.9999920805108006 + ], + [ + 0.9996065115431766, + 0.027787948498941655, + 0.0038277929282314878, + 0.027792373587097362, + -0.9996131036061847, + -0.0011077315588191344, + 0.003795530381444165, + 0.0012136791303129389, + -0.9999920604345278 + ], + [ + 0.9987423692176799, + 0.049915342525965384, + 0.0047051578051199435, + 0.04991202093194411, + -0.9987532810569273, + 0.0008208194147710855, + 0.004740263277994415, + -0.0005849431921510966, + -0.999988593807708 + ], + [ + 0.9979491957080935, + 0.0639937442517564, + 0.0014844130861456828, + 0.0640020043923988, + -0.9979291310144123, + -0.006418170033232528, + 0.0010706163294528137, + 0.006500013035441818, + -0.9999783015701963 + ], + [ + 0.9990362835467599, + 0.042451193003370906, + 0.01115349136675093, + 0.042954144344251814, + -0.9978460472922014, + -0.04958031249379923, + 0.009024723858978397, + 0.05001161980900196, + -0.9987078613104778 + ], + [ + 0.995973056515512, + -0.01466007066694622, + 0.08844632848902442, + -0.007621143547119997, + -0.9968134653250997, + -0.0794029817928782, + 0.08932854452067637, + 0.07840916830706789, + -0.9929110803386229 + ], + [ + 0.9866841125731892, + -0.08874260141443913, + 0.13630558568839496, + -0.07789042388964293, + -0.993501358501032, + -0.08299477406979192, + 0.14278495670745617, + 0.07127272515346983, + -0.9871842050940889 + ], + [ + 0.9779175418858738, + -0.16649204706857718, + 0.12632370931382952, + -0.15452866748805855, + -0.9829861437109982, + -0.09929316288922306, + 0.14070597782701083, + 0.07757989130628777, + -0.9870071875466 + ], + [ + 0.9719357682098317, + -0.20923371246610412, + 0.10752728045485153, + -0.1977773731005374, + -0.9742689105554295, + -0.10809348090697961, + 0.1273772866872876, + 0.08379345733879469, + -0.9883084960392663 + ], + [ + 0.9782610945315399, + -0.19738769787615684, + 0.06358716578921299, + -0.19008546950700905, + -0.9760762027663428, + -0.10555927564898027, + 0.08290202173803578, + 0.09117753627066538, + -0.9923779076900885 + ], + [ + 0.9843267503697828, + -0.17253991788583786, + 0.036480477551863774, + -0.16904164706183075, + -0.9820535908164314, + -0.08364009997110869, + 0.05025703995548439, + 0.07616246779419597, + -0.9958280516406491 + ], + [ + 0.9871735465577968, + -0.1594733964326496, + 0.007524945630128348, + -0.1586675951569446, + -0.9852264710381307, + -0.06444683865685955, + 0.017691331877881526, + 0.06242624925451093, + -0.9978927698808125 + ], + [ + 0.9882738302041549, + -0.1526830094367212, + 0.001653832807434797, + -0.15228244651502387, + -0.9863582010260507, + -0.06251044514360553, + 0.011175554438494016, + 0.06152558734379478, + -0.9980429394995954 + ], + [ + 0.9891078649754073, + -0.14705782706438855, + -0.0062949934782563985, + -0.14715569075614685, + -0.9869994302991951, + -0.06463224634147377, + 0.0032915227284911965, + 0.06485460730097797, + -0.9978892953579386 + ], + [ + 0.9928593633966207, + -0.1191653047269238, + -0.005469430043118425, + -0.11923545181306588, + -0.9899594419078763, + -0.07591581132004241, + 0.003632016876504817, + 0.07602587406130645, + -0.9970992302306844 + ], + [ + 0.9968334242046052, + -0.07820532677517437, + -0.014389275607527613, + -0.07911258771449058, + -0.9936287654032574, + -0.08026876745232243, + -0.008020152968505513, + 0.08115296314483027, + -0.996669390379365 + ], + [ + 0.9991448968058315, + -0.04020161879045308, + -0.009659453063805007, + -0.040863171975690886, + -0.9957471393405923, + -0.08257018633328106, + -0.006298917601451309, + 0.08289429619494174, + -0.9965384384434932 + ], + [ + 0.9998825218126609, + -0.011221319782536182, + -0.010441482456626364, + -0.011999001483104187, + -0.9969069901232676, + -0.07766902218243786, + -0.009537637913154259, + 0.07778518512998232, + -0.9969245199298351 + ], + [ + 0.9991732979998651, + 0.03935338601098725, + -0.010199586930017508, + 0.03854062668936425, + -0.996776110208474, + -0.07037049248126008, + -0.012936021740234345, + 0.06991921858211982, + -0.9974687775636899 + ], + [ + 0.9935940777711524, + 0.11240931041154725, + -0.011617037096171352, + 0.11132786353411431, + -0.9912966316660936, + -0.07026446362413277, + -0.01941430964580073, + 0.06852105501419156, + -0.9974607509073825 + ], + [ + 0.987247531639709, + 0.1587940677242715, + -0.011258566821819043, + 0.1579592669015936, + -0.9859321634442144, + -0.05465015174839037, + -0.019778303041792913, + 0.05217483245579678, + -0.9984420892505467 + ], + [ + 0.9763789607541984, + 0.21572492900820417, + -0.012119405965516333, + 0.21483636514056587, + -0.975271511731165, + -0.051873062554641206, + -0.02301002411431092, + 0.04804407778294367, + -0.99858014469558 + ], + [ + 0.9594131892053073, + 0.2816812581452968, + -0.013490781614992101, + 0.28084138626150196, + -0.9587031730721128, + -0.04490369365853824, + -0.025582184066623895, + 0.039292426129530746, + -0.9989002237997728 + ], + [ + 0.9304533568537818, + 0.36626746500080715, + -0.01023204776238791, + 0.36563198746306463, + -0.9299339257034351, + -0.039193667468196386, + -0.02387049357132333, + 0.03272671550401529, + -0.99917924399428 + ], + [ + 0.9007218379252252, + 0.43406457348957583, + -0.016974001470408628, + 0.4333388308013135, + -0.9005677588102229, + -0.03457122374581434, + -0.03029238195248692, + 0.023783562240447424, + -0.9992580816599883 + ], + [ + 0.8905772890095195, + 0.45471802257248084, + -0.010179010179173453, + 0.4543484574765322, + -0.8904394180970047, + -0.026174833099061347, + -0.02096596024871659, + 0.018685894328093314, + -0.99960555513863 + ], + [ + 0.8785559001248732, + 0.477573077874534, + -0.007967787975224122, + 0.4775147795010633, + -0.8785854548266668, + -0.008199629569063008, + -0.010916304952903194, + 0.003399096418638308, + -0.9999346380787656 + ], + [ + 0.8643881423084163, + 0.5027514371956211, + -0.008609984572742547, + 0.5027699039899919, + -0.8644202815332303, + -2.2713558124067956e-05, + -0.007454064562357582, + -0.004309207786681004, + -0.9999629331378997 + ], + [ + 0.8631150412430078, + 0.5049385774799493, + -0.00833417978006663, + 0.5048906179623005, + -0.8631528306104839, + -0.0072563698056264895, + -0.010857691915302666, + 0.0020552327446910733, + -0.999938941408243 + ], + [ + 0.8678618803114043, + 0.49669570678098757, + -0.010446605558216103, + 0.4956832331944417, + -0.8671224782012095, + -0.04895651262189435, + -0.03337497613869503, + 0.03730928387852264, + -0.9987462782429847 + ], + [ + 0.8740337243353179, + 0.48560877359699745, + 0.01578504767664375, + 0.48497962106701736, + -0.8700192527527851, + -0.08866378623303851, + -0.02932261711079149, + 0.08515056573567663, + -0.9959365267328377 + ], + [ + 0.9010322361116275, + 0.4329208508300804, + 0.026841132692923417, + 0.4331591162773875, + -0.8948411986594939, + -0.10785364698253143, + -0.022673541264490532, + 0.10880609403061521, + -0.9938043793565855 + ], + [ + 0.9579796455713965, + 0.2864004006494344, + -0.015805352851002624, + 0.2830691486380056, + -0.9528630779209644, + -0.10919620792106632, + -0.046334174863225594, + 0.10013373678650705, + -0.9938945512462146 + ], + [ + 0.9854921256361482, + 0.16385122742351138, + -0.044249808823943526, + 0.16019239609577884, + -0.9841233283410377, + -0.07641773909277756, + -0.05606840948555515, + 0.06822059723256228, + -0.9960935114591366 + ], + [ + 0.9987981178204826, + -0.014050205095324748, + -0.046956485974152876, + -0.015395767367152119, + -0.9994775638232128, + -0.02841777192519027, + -0.046532678683244094, + 0.029106548245968793, + -0.9984926232395346 + ], + [ + 0.98165310996924, + -0.1725597032695679, + -0.08111917464593578, + -0.1724091870155848, + -0.9849851238406724, + 0.008909435739729712, + -0.08143858987202722, + 0.005239715650104258, + -0.9966645882439898 + ], + [ + 0.957555048513083, + -0.26927138495253977, + -0.10286520457787744, + -0.26788366506059347, + -0.9630633517633378, + 0.027337199638396106, + -0.10642683430794707, + 0.0013790344835733302, + -0.9943195800159434 + ], + [ + 0.9486479801408704, + -0.30204721735881884, + -0.09399195848816633, + -0.3007906320571773, + -0.9532906806589108, + 0.02760206216054147, + -0.09793878415260487, + 0.00208726008562711, + -0.9951902521146619 + ], + [ + 0.953233762584408, + -0.2966584268240782, + -0.05778556622060187, + -0.29475858770699176, + -0.9547669291930614, + 0.039210787957286, + -0.06680395828206732, + -0.02034425504938967, + -0.9975586912279062 + ], + [ + 0.9579926024421833, + -0.2858550954550134, + -0.02317408182557004, + -0.28461640717074954, + -0.9575495900903371, + 0.04574148321864451, + -0.03526576860451404, + -0.03722427863952, + -0.9986844740179455 + ], + [ + 0.9608688606174105, + -0.2767843305704884, + -0.011021208937580906, + -0.2760045709127131, + -0.9600212973086616, + 0.04669674024044236, + -0.02350552128944107, + -0.04182753954562467, + -0.9988483105078922 + ], + [ + 0.9655513152329652, + -0.2601765418339375, + -0.0043387476562214535, + -0.2597224593026503, + -0.9646212232026656, + 0.04527847038909734, + -0.01596564391667772, + -0.042591816424362355, + -0.9989649820629346 + ], + [ + 0.9674920779299326, + -0.2527138883333485, + 0.009734977465865421, + -0.2528965952141792, + -0.9665215927358557, + 0.043351158051663605, + -0.0015463737894335465, + -0.04440384463967707, + -0.9990124660430012 + ], + [ + 0.9674387280834982, + -0.25276158794145925, + 0.013186624492060562, + -0.25310033899972023, + -0.9664329475003481, + 0.04413135375235501, + 0.0015892773229908407, + -0.046031919871983795, + -0.9989387051018142 + ], + [ + 0.9706472492947595, + -0.24050152634315652, + -0.0017126771818800927, + -0.24025630130807085, + -0.9699338287954845, + 0.038797905096765804, + -0.010992138931200723, + -0.037247598375521614, + -0.9992456100964234 + ], + [ + 0.9719017903108077, + -0.23536598515703092, + 0.003124583445396594, + -0.23532546982728494, + -0.9712604509033914, + 0.03570797896140879, + -0.005369659320157345, + -0.03543994274827636, + -0.9993573821295285 + ], + [ + 0.9686651062435241, + -0.2462861215069604, + 0.03211009653179318, + -0.2471316539495328, + -0.9686413086742113, + 0.02568970116758651, + 0.02477614906297368, + -0.03282013837524577, + -0.9991541327316017 + ], + [ + 0.9576550260129449, + -0.2848992706101927, + 0.04158433308261339, + -0.2860171485679529, + -0.9579268572933735, + 0.023881515887777094, + 0.03303092304497529, + -0.034764086092126806, + -0.9988495464488012 + ], + [ + 0.94275044206571, + -0.33203516683929085, + 0.03121300957794943, + -0.3326631298637511, + -0.9428821081581115, + 0.017566221693039598, + 0.023597584922231907, + -0.026943980725205235, + -0.9993583821074992 + ], + [ + 0.9383476269431632, + -0.34486638024270877, + 0.023893739523674747, + -0.3456369908426653, + -0.9371970066666424, + 0.0468704731820841, + 0.00622909073309212, + -0.05223935751305319, + -0.9986151650937722 + ], + [ + 0.9392842411732766, + -0.3431380616026085, + 0.0011768445720255257, + -0.3423437599983762, + -0.9368654309588546, + 0.07130157266466211, + -0.02336373843622741, + -0.06737532897050927, + -0.9974541096072538 + ], + [ + 0.9426779348673474, + -0.33369961506629836, + -0.0016964724688064287, + -0.3325032211816024, + -0.9397048013912779, + 0.07997808541117643, + -0.028282839639814622, + -0.07482949382952808, + -0.9967951784770657 + ], + [ + 0.9463195012072912, + -0.3232326736026864, + 0.000200874197359242, + -0.3220842343402662, + -0.942904541200074, + 0.08481021267349163, + -0.02722402659836519, + -0.08032225656651805, + -0.996397103305622 + ], + [ + 0.9561949001236162, + -0.292567648621253, + 0.009771589318982353, + -0.2922190151398116, + -0.9520182761621321, + 0.09093541138633021, + -0.01730202786688307, + -0.0898074208153957, + -0.9958088506325801 + ], + [ + 0.9629064079635976, + -0.26978256619302654, + 0.005349437442100712, + -0.269039977930161, + -0.958357292891679, + 0.09575379593870398, + -0.02070603240556193, + -0.09364115622757832, + -0.9953906740985582 + ], + [ + 0.9638467115634197, + -0.26644604072340633, + 0.0024543820410023193, + -0.26517350435985126, + -0.9582589040577183, + 0.10687789939747538, + -0.026125259690542017, + -0.1036647489599131, + -0.9942691238438314 + ], + [ + 0.9648334793658423, + -0.26284344277500366, + 0.003111540613004697, + -0.2616159223313074, + -0.959041844696603, + 0.10860869810321937, + -0.02556298647541677, + -0.10560333664766604, + -0.9940797095863779 + ], + [ + 0.9737730254068142, + -0.22751696557696457, + -0.0014578630631915026, + -0.2258195555739039, + -0.9672507267151892, + 0.11589460724875653, + -0.027778108475294376, + -0.1125258283399386, + -0.9932604465325025 + ], + [ + 0.9802473902926739, + -0.19772410565297568, + -0.0044979848969453565, + -0.1957297744148314, + -0.9731207575854706, + 0.12135009915034736, + -0.028370922295925832, + -0.1180727284346848, + -0.9925995776586185 + ], + [ + 0.9829738992069652, + -0.18362748007120291, + -0.0065773885817331425, + -0.18140593918231193, + -0.9755312624554427, + 0.12422013202969, + -0.02922667800552224, + -0.1209119701881921, + -0.9922328843361177 + ], + [ + 0.9848436950135995, + -0.1734021110889288, + 0.003821552284537782, + -0.17275379163469726, + -0.9787212220261148, + 0.1107289349336685, + -0.015460396754167244, + -0.10971088107207866, + -0.9938432968564975 + ], + [ + 0.9863464935883488, + -0.16379511076973108, + -0.017080874506331594, + -0.16294017906246844, + -0.9856937238758141, + 0.043108940591495906, + -0.023897544498551273, + -0.0397371916441252, + -0.9989243529753281 + ], + [ + 0.9834641369126553, + -0.18109557973101786, + 0.0016378060120571599, + -0.1810914844943854, + -0.983259547959486, + 0.020162727745218188, + -0.0020409924709183145, + -0.02012591236179311, + -0.9997953700639646 + ], + [ + 0.9772544652657158, + -0.210893880181902, + 0.022304291516237387, + -0.21179504260485707, + -0.9759286912356413, + 0.05201970348911035, + 0.010796760913649266, + -0.05556042588848428, + -0.9983969496291861 + ], + [ + 0.9627413935440289, + -0.26819397239142384, + 0.0346554805162128, + -0.2702931539764972, + -0.9583243635537545, + 0.09249878449325243, + 0.00840357485472556, + -0.09841954781546085, + -0.9951095279100997 + ], + [ + 0.9555549490363937, + -0.29455526260250603, + -0.01232625836268887, + -0.2928168526843739, + -0.9531121569225194, + 0.0763904909692343, + -0.0342495278226238, + -0.06938597552583477, + -0.9970017834709504 + ], + [ + 0.9515746792444497, + -0.3051283347849215, + -0.03744768527163341, + -0.30447065272684504, + -0.952260612710786, + 0.02230128040645525, + -0.04246470827535959, + -0.009819612571749506, + -0.9990497103548097 + ], + [ + 0.9469961138754931, + -0.3098890036749969, + -0.08465911472506688, + -0.31598575954500735, + -0.9460551440301103, + -0.07164261454561983, + -0.057890932532470796, + 0.09459635223139003, + -0.9938310571093236 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0019308030605316162, + 0.0006480440497398376, + -0.007891498506069183, + -0.012006297707557678, + 0.026276228949427605, + 0.002832174301147461, + 1.0 + ], + [ + 0.0006566643714904785, + 0.0004103630781173706, + -0.009969756007194519, + -0.004924207925796509, + 0.02038431540131569, + 0.005410909652709961, + 1.0 + ], + [ + 0.002146780490875244, + -0.0038367435336112976, + -0.00683935359120369, + 0.0022698789834976196, + 0.006195142865180969, + -0.02027946710586548, + 1.0 + ], + [ + 0.0061785876750946045, + -0.0028048530220985413, + -0.003559790551662445, + 0.0034531280398368835, + 0.003110446035861969, + -0.007214248180389404, + 1.0 + ], + [ + 0.00432509183883667, + -0.0012801960110664368, + -0.005732960999011993, + -0.0032433494925498962, + 0.010084733366966248, + -0.030364990234375, + 0.0 + ], + [ + 0.0008426904678344727, + 0.0003333240747451782, + -0.005275527015328407, + -0.013302445411682129, + 0.027074281126260757, + -0.024012863636016846, + 0.0 + ], + [ + -0.0019778013229370117, + 0.0026939287781715393, + -0.0049294233322143555, + -0.0033387690782546997, + 0.030875779688358307, + -0.006847500801086426, + 0.0 + ], + [ + 5.7637691497802734e-05, + 6.183236837387085e-05, + -0.0009087920188903809, + 0.01023004949092865, + 0.015943437814712524, + -0.009763598442077637, + 0.0 + ], + [ + 0.000745236873626709, + -0.0004324391484260559, + 0.0003967098891735077, + -0.0009050443768501282, + -0.0002962350845336914, + -0.00023919343948364258, + 0.0 + ], + [ + 0.010492295026779175, + 0.002771444618701935, + 0.00017556734383106232, + 0.002144947648048401, + -0.0074416399002075195, + 0.024725139141082764, + 0.0 + ], + [ + 0.017214030027389526, + 0.008225612342357635, + 0.00067191943526268, + 0.00804300606250763, + -0.01883254200220108, + 0.05253267288208008, + 0.0 + ], + [ + 0.016152888536453247, + 0.009130440652370453, + -6.053037941455841e-05, + 0.006300196051597595, + -0.019441992044448853, + 0.04970192909240723, + 0.0 + ], + [ + 0.010380387306213379, + 0.007085390388965607, + -3.497116267681122e-05, + 0.008261874318122864, + -0.014885276556015015, + 0.05568289756774902, + 0.0 + ], + [ + 0.008863985538482666, + 0.012817095965147018, + -0.0006133131682872772, + 0.006104402244091034, + -0.01494746282696724, + 0.08978372812271118, + 0.0 + ], + [ + 0.002215355634689331, + 0.008657533675432205, + -0.00012987107038497925, + 0.0021117553114891052, + -0.007808506488800049, + 0.069582998752594, + 0.0 + ], + [ + 0.0029906630516052246, + 0.014303729869425297, + -0.0006149429827928543, + -0.009997591376304626, + -0.023699793964624405, + 0.0815710723400116, + 0.0 + ], + [ + 0.0013394653797149658, + 0.012593882158398628, + -0.0004043988883495331, + -0.011094488203525543, + -0.010904384776949883, + 0.061472415924072266, + 0.0 + ], + [ + -0.0007739365100860596, + 0.014843525364995003, + -0.00019468367099761963, + -0.013453789055347443, + -0.012283159419894218, + 0.0632045567035675, + 0.0 + ], + [ + -0.0009748339653015137, + 0.014984848909080029, + 9.19494777917862e-05, + -0.020940307527780533, + -0.005796217359602451, + 0.06129184365272522, + 0.0 + ], + [ + 3.466010093688965e-05, + 0.01924414560198784, + 0.0017339903861284256, + -0.015596192330121994, + -0.0004654116928577423, + 0.04950374364852905, + 0.0 + ], + [ + 0.0017740726470947266, + 0.016279082745313644, + 0.00015575438737869263, + -0.009746124967932701, + 0.0041099125519394875, + 0.029942497611045837, + 0.0 + ], + [ + 0.0009347796440124512, + 0.015986092388629913, + 0.00032577477395534515, + -0.01902778074145317, + -0.0013778774300590158, + 0.04584452509880066, + 0.0 + ], + [ + -0.0028809010982513428, + 0.02177879959344864, + 0.0008057728409767151, + -0.00941537693142891, + -0.0033276022877544165, + 0.05307425186038017, + 0.0 + ], + [ + -0.0043267905712127686, + 0.018644168972969055, + 0.0006140731275081635, + -0.001137126935645938, + -0.0004621027037501335, + 0.04074184596538544, + 0.0 + ], + [ + -0.004987537860870361, + 0.019450470805168152, + -0.00036534853279590607, + 3.911519888788462e-05, + -1.804158091545105e-05, + 0.04447367042303085, + 0.0 + ], + [ + -0.002454996109008789, + 0.01220935583114624, + 0.0010267943143844604, + 0.0017986379098147154, + -0.0009447415359318256, + 0.022137176245450974, + 0.0 + ], + [ + -0.0031200051307678223, + 0.004229530692100525, + 1.6316771507263184e-06, + -0.007085012272000313, + 0.0036696644965559244, + 0.014112487435340881, + 0.0 + ], + [ + 0.001328200101852417, + -0.022989988327026367, + 0.01311088539659977, + -0.04353446885943413, + -0.007954229600727558, + -0.02107670158147812, + 0.0 + ], + [ + 0.0139695405960083, + -0.03674731403589249, + 0.03333593159914017, + -0.028770901262760162, + -0.08042293041944504, + -0.050620924681425095, + 0.0 + ], + [ + 0.004824906587600708, + -0.038229379802942276, + 0.019327007234096527, + 0.006732486188411713, + -0.05382686108350754, + -0.07112642377614975, + 0.0 + ], + [ + 0.0003326237201690674, + -0.04324973374605179, + 0.00223425030708313, + -0.006366923451423645, + 0.0021001845598220825, + -0.07794400304555893, + 0.0 + ], + [ + 0.0007311105728149414, + -0.03913738578557968, + -0.002739250659942627, + -0.006142564117908478, + 0.013450175523757935, + -0.04402501881122589, + 0.0 + ], + [ + 0.007932841777801514, + -0.02375967986881733, + -0.017535977065563202, + -0.0070381760597229, + 0.04472699761390686, + 0.00882922112941742, + 0.0 + ], + [ + 0.010496854782104492, + -0.007703825831413269, + -0.021695848554372787, + 0.015287667512893677, + 0.03271905705332756, + 0.02184377610683441, + 0.0 + ], + [ + 0.007085233926773071, + -0.0062929242849349976, + -0.019628625363111496, + 0.013856284320354462, + 0.03258596360683441, + 0.010708093643188477, + 0.0 + ], + [ + 0.006516605615615845, + -0.0001712404191493988, + -0.0057407524436712265, + 0.0009083375334739685, + 0.006516467779874802, + 0.00647929310798645, + 0.0 + ], + [ + 0.0018089115619659424, + -0.0007677339017391205, + -3.987736999988556e-05, + -0.003332190215587616, + 0.007884258404374123, + 0.005194023251533508, + 0.0 + ], + [ + 0.00665968656539917, + 0.007368266582489014, + 0.0001226365566253662, + -0.01119929552078247, + -0.000340496189892292, + 0.028172247111797333, + 0.0 + ], + [ + 0.005899161100387573, + 0.016457561403512955, + -0.0014265533536672592, + -0.0051451176404953, + 0.011652263812720776, + 0.04032269865274429, + 0.0 + ], + [ + 0.007390797138214111, + 0.014942685142159462, + -0.0018274132162332535, + -0.001746252179145813, + -0.0017212796956300735, + 0.038322534412145615, + 0.0 + ], + [ + 0.0026601552963256836, + 0.01287992112338543, + -0.001530926674604416, + 0.005123786628246307, + 0.003238823264837265, + 0.028875529766082764, + 0.0 + ], + [ + 0.001759171485900879, + 0.021975398063659668, + -0.0013093780726194382, + 0.00788521021604538, + 0.003398600034415722, + 0.05055323615670204, + 0.0 + ], + [ + -0.003864973783493042, + 0.027312882244586945, + -0.0014189742505550385, + 0.0013944432139396667, + 0.0064791468903422356, + 0.07302683591842651, + 0.0 + ], + [ + -0.005638092756271362, + 0.023155424743890762, + 0.0007299631834030151, + 0.0163789801299572, + 0.0003640633076429367, + 0.04707469046115875, + 0.0 + ], + [ + -0.008544594049453735, + 0.022117704153060913, + 0.0009707603603601456, + 0.0041334368288517, + 0.0032324623316526413, + 0.057927608489990234, + 0.0 + ], + [ + -0.009097367525100708, + 0.019153200089931488, + -2.4043023586273193e-05, + 0.00875990092754364, + 0.002572920173406601, + 0.06818392872810364, + 0.0 + ], + [ + -0.011588901281356812, + 0.018076173961162567, + 0.0014186222106218338, + 0.006573524326086044, + -0.0017122142016887665, + 0.08965721726417542, + 0.0 + ], + [ + -0.013564884662628174, + 0.018347904086112976, + 3.334321081638336e-05, + 0.008945165202021599, + 0.006424255669116974, + 0.0739913284778595, + 0.0 + ], + [ + -0.0038521885871887207, + 0.006733685731887817, + 0.00044330209493637085, + 0.005105637013912201, + -0.009329520165920258, + 0.02333781123161316, + 0.0 + ], + [ + -0.008535057306289673, + 0.013211414217948914, + 0.0005059000104665756, + 0.015291785821318626, + -0.010050974786281586, + 0.026103556156158447, + 0.0 + ], + [ + -0.006015688180923462, + 0.009744063019752502, + -0.0002591516822576523, + 0.007708646357059479, + -0.0034623881801962852, + 0.028959929943084717, + 0.0 + ], + [ + -0.002142488956451416, + -0.0016406774520874023, + 0.0016729962080717087, + -0.006364696193486452, + 0.0034037716686725616, + 0.0024734139442443848, + 0.0 + ], + [ + -0.004109621047973633, + -0.008563682436943054, + 0.006657825782895088, + -0.0352834016084671, + 0.022523269057273865, + -0.010350227355957031, + 0.0 + ], + [ + 0.0026595592498779297, + -0.012634500861167908, + 0.011720959097146988, + -0.04795181006193161, + -0.004054354503750801, + -0.01236104965209961, + 0.0 + ], + [ + -0.0019251704216003418, + -0.02093847095966339, + 0.009463604539632797, + -0.023759514093399048, + -0.0066513363271951675, + -0.05846002697944641, + 0.0 + ], + [ + -0.00796458125114441, + -0.033246248960494995, + -0.01138976588845253, + 0.008640043437480927, + 0.023675285279750824, + -0.16080844402313232, + 0.0 + ], + [ + -0.010265499353408813, + -0.018152974545955658, + -0.01006259024143219, + 0.0320286750793457, + 0.009747058153152466, + -0.12616871297359467, + 0.0 + ], + [ + -0.0053230226039886475, + -0.010131604969501495, + -0.0046041011810302734, + 0.039239123463630676, + -0.009548339992761612, + -0.176554337143898, + 0.0 + ], + [ + -0.0036581456661224365, + -0.0025183744728565216, + 0.0002898816019296646, + 0.023885034024715424, + 0.03497939184308052, + -0.15844523906707764, + 0.0 + ], + [ + -0.002951979637145996, + 0.0035072751343250275, + 0.0017559751868247986, + 0.003870290471240878, + 0.025099895894527435, + -0.09892594814300537, + 0.0 + ], + [ + -0.0014555156230926514, + 0.013165853917598724, + -0.00013806670904159546, + -0.0007104328833520412, + -0.00853274017572403, + -0.03426128625869751, + 0.0 + ], + [ + -0.006678909063339233, + 0.011283092200756073, + 0.0022209957242012024, + 0.022488560527563095, + -0.031242288649082184, + 0.007151991128921509, + 0.0 + ], + [ + -0.007657289505004883, + 0.007566213607788086, + -0.00429404154419899, + 0.016864849254488945, + -0.031580664217472076, + 0.011102497577667236, + 0.0 + ], + [ + -0.0022670626640319824, + 0.010556764900684357, + -0.00016207434237003326, + 0.004595249891281128, + -0.01176539622247219, + 0.009076982736587524, + 0.0 + ], + [ + 0.0007805824279785156, + 0.011741556227207184, + 0.0042467787861824036, + 0.0007588230073451996, + -0.007541364058852196, + 0.0169450044631958, + 0.0 + ], + [ + 0.008722513914108276, + 0.013529956340789795, + 0.0009265094995498657, + 0.0018083639442920685, + -0.014419947750866413, + 0.007095754146575928, + 0.0 + ], + [ + 0.005656391382217407, + 0.01307038962841034, + 0.003869030624628067, + 0.001629747450351715, + -0.003135652281343937, + -0.00021061301231384277, + 0.0 + ], + [ + 0.0002759099006652832, + 0.0048256516456604, + -0.0038686469197273254, + -0.008789781481027603, + 0.012581638060510159, + 0.013239100575447083, + 0.0 + ], + [ + 0.00035256147384643555, + -0.0006970316171646118, + 0.0006605777889490128, + -0.0018105916678905487, + -0.00562267517670989, + 0.005087912082672119, + 0.0 + ], + [ + 0.0007557272911071777, + -0.014761999249458313, + 0.015929410234093666, + -0.002611760050058365, + -0.030148370191454887, + -0.012240365147590637, + 0.0 + ], + [ + -0.0012680888175964355, + -0.014912523329257965, + 0.006892826408147812, + 0.0019539669156074524, + -0.008258247748017311, + -0.04043343663215637, + 0.0 + ], + [ + -0.0034652650356292725, + -0.01797819882631302, + -0.005474958568811417, + -0.007835334166884422, + 0.009437156841158867, + -0.04899367690086365, + 0.0 + ], + [ + 0.0005862116813659668, + -0.001958496868610382, + -0.007680859416723251, + 0.02530941180884838, + 0.017370644956827164, + -0.013700276613235474, + 0.0 + ], + [ + -0.0002160966396331787, + 0.004987068474292755, + -0.014279656112194061, + 0.015180684626102448, + 0.029594995081424713, + 0.003414928913116455, + 0.0 + ], + [ + 0.0011436939239501953, + 0.004339560866355896, + -0.0022747106850147247, + 0.007484689354896545, + 0.004920747131109238, + 0.010412067174911499, + 0.0 + ], + [ + 0.0011563003063201904, + 0.006976023316383362, + -6.983987987041473e-05, + 0.005509220063686371, + -0.0010592211037874222, + 0.011041313409805298, + 0.0 + ], + [ + 0.002516716718673706, + 0.012431129813194275, + 0.001383492723107338, + 0.009503327310085297, + -0.009924499318003654, + 0.03146430850028992, + 0.0 + ], + [ + -0.0035789310932159424, + 0.009873434901237488, + 0.0004897713661193848, + 0.0038566365838050842, + 0.003404621034860611, + 0.02413603663444519, + 0.0 + ], + [ + -0.0008393526077270508, + 0.008926913142204285, + -0.0002889782190322876, + 0.01008819043636322, + 0.00542072020471096, + 0.003978252410888672, + 0.0 + ], + [ + 0.0018059313297271729, + 0.002118632197380066, + -0.0007559265941381454, + 0.0019484162330627441, + -0.0005624610930681229, + 0.003693103790283203, + 0.0 + ], + [ + 0.0019190013408660889, + 0.012740984559059143, + 0.0008549448102712631, + 0.006973050534725189, + 0.002215910702943802, + 0.03691093623638153, + 0.0 + ], + [ + 0.0012303292751312256, + 0.009025976061820984, + -0.000684104859828949, + 0.005588315427303314, + 0.0005930475890636444, + 0.030791789293289185, + 0.0 + ], + [ + 0.0032120048999786377, + 0.004613593220710754, + -0.0002853814512491226, + 0.0028639063239097595, + 0.0008561108261346817, + 0.014587178826332092, + 0.0 + ], + [ + -0.0009922683238983154, + -0.0075323134660720825, + 0.0003953073173761368, + -0.011315234005451202, + -0.013769827783107758, + 0.008848980069160461, + 0.0 + ], + [ + -0.003108084201812744, + -0.028338700532913208, + 0.0008074399083852768, + -0.07018634676933289, + 0.008438806980848312, + 0.009928673505783081, + 0.0 + ], + [ + 0.007650494575500488, + -0.04033391922712326, + 0.013714870437979698, + -0.019631704315543175, + -0.021858826279640198, + -0.01837944984436035, + 0.0 + ], + [ + 0.005116552114486694, + -0.03585520386695862, + 0.008404873311519623, + 0.03546497970819473, + -0.012837965041399002, + -0.03132738173007965, + 0.0 + ], + [ + 0.0059823691844940186, + -0.042185477912425995, + -0.0022998079657554626, + 0.04299033060669899, + 0.0023932969197630882, + -0.06028348207473755, + 0.0 + ], + [ + 0.00413021445274353, + -0.032196253538131714, + -0.017200609669089317, + -0.029100023210048676, + 0.04265990108251572, + -0.023643851280212402, + 0.0 + ], + [ + 0.012330085039138794, + -0.02407202124595642, + -0.003170071169734001, + -0.05965396761894226, + 0.008221253752708435, + -0.012319982051849365, + 1.0 + ], + [ + 0.0037511587142944336, + -0.015134144574403763, + 0.008808180689811707, + -0.10472626984119415, + 0.015445835888385773, + -0.012383759021759033, + 1.0 + ], + [ + -0.003733813762664795, + -0.004728052765130997, + 0.04411054030060768, + -0.0015574172139167786, + -0.07165925204753876, + -0.010079503059387207, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9628177285194397 + ], + [ + 0.6781873106956482 + ], + [ + 0.37631502747535706 + ], + [ + 0.33882394433021545 + ], + [ + 0.33882394433021545 + ], + [ + 0.33882394433021545 + ], + [ + 0.33882394433021545 + ], + [ + 0.33882394433021545 + ], + [ + 0.3380139172077179 + ], + [ + 0.3380139172077179 + ], + [ + 0.3380139172077179 + ], + [ + 0.3380139172077179 + ], + [ + 0.3380139172077179 + ], + [ + 0.3380139172077179 + ], + [ + 0.3380139172077179 + ], + [ + 0.3380139172077179 + ], + [ + 0.3380139172077179 + ], + [ + 0.3380139172077179 + ], + [ + 0.3380139172077179 + ], + [ + 0.3380139172077179 + ], + [ + 0.3380139172077179 + ], + [ + 0.3380139172077179 + ], + [ + 0.3380139172077179 + ], + [ + 0.3380139172077179 + ], + [ + 0.3380139172077179 + ], + [ + 0.3380139172077179 + ], + [ + 0.3380139172077179 + ], + [ + 0.3380139172077179 + ], + [ + 0.3380139172077179 + ], + [ + 0.3380139172077179 + ], + [ + 0.3380139172077179 + ], + [ + 0.3380139172077179 + ], + [ + 0.3380139172077179 + ], + [ + 0.3380139172077179 + ], + [ + 0.3372049927711487 + ], + [ + 0.3380139172077179 + ], + [ + 0.3372049927711487 + ], + [ + 0.3372049927711487 + ], + [ + 0.3372049927711487 + ], + [ + 0.3372049927711487 + ], + [ + 0.3372049927711487 + ], + [ + 0.3372049927711487 + ], + [ + 0.3372049927711487 + ], + [ + 0.3372049927711487 + ], + [ + 0.3372049927711487 + ], + [ + 0.3372049927711487 + ], + [ + 0.3372049927711487 + ], + [ + 0.3372049927711487 + ], + [ + 0.3372049927711487 + ], + [ + 0.3372049927711487 + ], + [ + 0.3372049927711487 + ], + [ + 0.3372049927711487 + ], + [ + 0.3372049927711487 + ], + [ + 0.3372049927711487 + ], + [ + 0.3372049927711487 + ], + [ + 0.3372049927711487 + ], + [ + 0.3372049927711487 + ], + [ + 0.3372049927711487 + ], + [ + 0.3372049927711487 + ], + [ + 0.3372049927711487 + ], + [ + 0.3372049927711487 + ], + [ + 0.3372049927711487 + ], + [ + 0.3372049927711487 + ], + [ + 0.3372049927711487 + ], + [ + 0.3372049927711487 + ], + [ + 0.3372049927711487 + ], + [ + 0.3372049927711487 + ], + [ + 0.3372049927711487 + ], + [ + 0.3372049927711487 + ], + [ + 0.3372049927711487 + ], + [ + 0.3372049927711487 + ], + [ + 0.3372049927711487 + ], + [ + 0.3372049927711487 + ], + [ + 0.3372049927711487 + ], + [ + 0.3372049927711487 + ], + [ + 0.3372049927711487 + ], + [ + 0.3372049927711487 + ], + [ + 0.3372049927711487 + ], + [ + 0.3372049927711487 + ], + [ + 0.3372049927711487 + ], + [ + 0.3372049927711487 + ], + [ + 0.3372049927711487 + ], + [ + 0.3372049927711487 + ], + [ + 0.3372049927711487 + ], + [ + 0.3372049927711487 + ], + [ + 0.39886748790740967 + ], + [ + 0.6971942782402039 + ], + [ + 0.9665181636810303 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.25176194310188293, + -0.07207827270030975, + 0.0573861300945282 + ], + [ + 0.2524186074733734, + -0.07166790962219238, + 0.04741637408733368 + ], + [ + 0.25456538796424866, + -0.07550465315580368, + 0.04057702049612999 + ], + [ + 0.26074397563934326, + -0.07830950617790222, + 0.037017229944467545 + ], + [ + 0.26506906747817993, + -0.07958970218896866, + 0.03128426894545555 + ], + [ + 0.2659117579460144, + -0.07925637811422348, + 0.026008741930127144 + ], + [ + 0.2639339566230774, + -0.07656244933605194, + 0.02107931859791279 + ], + [ + 0.2639915943145752, + -0.07650061696767807, + 0.020170526579022408 + ], + [ + 0.2647368311882019, + -0.07693305611610413, + 0.020567236468195915 + ], + [ + 0.2752291262149811, + -0.07416161149740219, + 0.020742803812026978 + ], + [ + 0.2924431562423706, + -0.06593599915504456, + 0.021414723247289658 + ], + [ + 0.30859604477882385, + -0.0568055585026741, + 0.0213541928678751 + ], + [ + 0.31897643208503723, + -0.049720168113708496, + 0.021319221705198288 + ], + [ + 0.3278404176235199, + -0.03690307214856148, + 0.02070590853691101 + ], + [ + 0.33005577325820923, + -0.028245538473129272, + 0.02057603746652603 + ], + [ + 0.33304643630981445, + -0.013941808603703976, + 0.019961094483733177 + ], + [ + 0.3343859016895294, + -0.001347926678135991, + 0.019556695595383644 + ], + [ + 0.33361196517944336, + 0.013495598919689655, + 0.019362011924386024 + ], + [ + 0.33263713121414185, + 0.028480447828769684, + 0.01945396140217781 + ], + [ + 0.33267179131507874, + 0.04772459343075752, + 0.021187951788306236 + ], + [ + 0.33444586396217346, + 0.06400367617607117, + 0.02134370617568493 + ], + [ + 0.3353806436061859, + 0.07998976856470108, + 0.021669480949640274 + ], + [ + 0.33249974250793457, + 0.10176856815814972, + 0.02247525379061699 + ], + [ + 0.3281729519367218, + 0.12041273713111877, + 0.023089326918125153 + ], + [ + 0.32318541407585144, + 0.13986320793628693, + 0.022723978385329247 + ], + [ + 0.32073041796684265, + 0.15207256376743317, + 0.023750772699713707 + ], + [ + 0.31761041283607483, + 0.1563020944595337, + 0.023752404376864433 + ], + [ + 0.31893861293792725, + 0.13331210613250732, + 0.0368632897734642 + ], + [ + 0.33290815353393555, + 0.09656479209661484, + 0.07019922137260437 + ], + [ + 0.33773306012153625, + 0.05833541229367256, + 0.0895262286067009 + ], + [ + 0.3380656838417053, + 0.015085677616298199, + 0.09176047891378403 + ], + [ + 0.33879679441452026, + -0.024051709100604057, + 0.0890212282538414 + ], + [ + 0.3467296361923218, + -0.04781138896942139, + 0.0714852511882782 + ], + [ + 0.35722649097442627, + -0.055515214800834656, + 0.04978940263390541 + ], + [ + 0.36431172490119934, + -0.06180813908576965, + 0.030160777270793915 + ], + [ + 0.3708283305168152, + -0.06197937950491905, + 0.02442002482712269 + ], + [ + 0.37263724207878113, + -0.06274711340665817, + 0.024380147457122803 + ], + [ + 0.3792969286441803, + -0.05537884682416916, + 0.02450278401374817 + ], + [ + 0.38519608974456787, + -0.038921285420656204, + 0.02307623066008091 + ], + [ + 0.392586886882782, + -0.023978600278496742, + 0.021248817443847656 + ], + [ + 0.39524704217910767, + -0.011098679155111313, + 0.01971789076924324 + ], + [ + 0.39700621366500854, + 0.01087671797722578, + 0.018408512696623802 + ], + [ + 0.3931412398815155, + 0.0381896011531353, + 0.016989538446068764 + ], + [ + 0.38750314712524414, + 0.06134502589702606, + 0.01771950162947178 + ], + [ + 0.3789585530757904, + 0.08346273005008698, + 0.018690261989831924 + ], + [ + 0.3698611855506897, + 0.10261593014001846, + 0.01866621896624565 + ], + [ + 0.3582722842693329, + 0.12069210410118103, + 0.020084841176867485 + ], + [ + 0.3447073996067047, + 0.139040008187294, + 0.02011818438768387 + ], + [ + 0.340855211019516, + 0.14577369391918182, + 0.02056148648262024 + ], + [ + 0.3323201537132263, + 0.15898510813713074, + 0.021067386493086815 + ], + [ + 0.32630446553230286, + 0.16872917115688324, + 0.020808234810829163 + ], + [ + 0.32416197657585144, + 0.16708849370479584, + 0.02248123101890087 + ], + [ + 0.3200523555278778, + 0.15852481126785278, + 0.02913905680179596 + ], + [ + 0.32271191477775574, + 0.14589031040668488, + 0.04086001589894295 + ], + [ + 0.3207867443561554, + 0.12495183944702148, + 0.050323620438575745 + ], + [ + 0.312822163105011, + 0.09170559048652649, + 0.038933854550123215 + ], + [ + 0.3025566637516022, + 0.07355261594057083, + 0.028871264308691025 + ], + [ + 0.2972336411476135, + 0.06342101097106934, + 0.02426716312766075 + ], + [ + 0.2935754954814911, + 0.060902636498212814, + 0.024557044729590416 + ], + [ + 0.2906235158443451, + 0.06440991163253784, + 0.026313019916415215 + ], + [ + 0.28916800022125244, + 0.07757576555013657, + 0.02617495320737362 + ], + [ + 0.2824890911579132, + 0.08885885775089264, + 0.02839594893157482 + ], + [ + 0.2748318016529083, + 0.09642507135868073, + 0.02410190738737583 + ], + [ + 0.27256473898887634, + 0.10698183625936508, + 0.0239398330450058 + ], + [ + 0.27334532141685486, + 0.11872339248657227, + 0.028186611831188202 + ], + [ + 0.28206783533096313, + 0.13225334882736206, + 0.029113121330738068 + ], + [ + 0.28772422671318054, + 0.1453237384557724, + 0.032982151955366135 + ], + [ + 0.2880001366138458, + 0.1501493901014328, + 0.02911350503563881 + ], + [ + 0.28835269808769226, + 0.1494523584842682, + 0.029774082824587822 + ], + [ + 0.28910842537879944, + 0.13469035923480988, + 0.04570349305868149 + ], + [ + 0.287840336561203, + 0.11977783590555191, + 0.0525963194668293 + ], + [ + 0.28437507152557373, + 0.10179963707923889, + 0.04712136089801788 + ], + [ + 0.2849612832069397, + 0.09984114021062851, + 0.03944050148129463 + ], + [ + 0.2847451865673065, + 0.10482820868492126, + 0.02516084536910057 + ], + [ + 0.2858888804912567, + 0.10916776955127716, + 0.022886134684085846 + ], + [ + 0.2870451807975769, + 0.11614379286766052, + 0.02281629480421543 + ], + [ + 0.2895618975162506, + 0.1285749226808548, + 0.02419978752732277 + ], + [ + 0.28598296642303467, + 0.13844835758209229, + 0.024689558893442154 + ], + [ + 0.2851436138153076, + 0.14737527072429657, + 0.024400580674409866 + ], + [ + 0.2869495451450348, + 0.14949390292167664, + 0.02364465408027172 + ], + [ + 0.2888685464859009, + 0.16223488748073578, + 0.024499598890542984 + ], + [ + 0.2900988757610321, + 0.17126086354255676, + 0.023815494030714035 + ], + [ + 0.29331088066101074, + 0.17587445676326752, + 0.023530112579464912 + ], + [ + 0.2923186123371124, + 0.16834214329719543, + 0.02392541989684105 + ], + [ + 0.2892105281352997, + 0.14000344276428223, + 0.024732859805226326 + ], + [ + 0.29686102271080017, + 0.09966952353715897, + 0.038447730243206024 + ], + [ + 0.30197757482528687, + 0.06381431967020035, + 0.04685260355472565 + ], + [ + 0.3079599440097809, + 0.021628843620419502, + 0.044552795588970184 + ], + [ + 0.3120901584625244, + -0.010567408986389637, + 0.027352185919880867 + ], + [ + 0.3244202435016632, + -0.03463942930102348, + 0.024182114750146866 + ], + [ + 0.32817140221595764, + -0.049773573875427246, + 0.03299029543995857 + ], + [ + 0.32443758845329285, + -0.05450162664055824, + 0.07710083574056625 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.7301564577074493, + -0.6818753996604333, + 0.043789115154731176, + -0.6829749972758222, + -0.726415642936497, + 0.07658633555175771, + -0.020413239924138488, + -0.0858268782787787, + -0.9961009218953265 + ], + [ + 0.7333834081466504, + -0.6793506298800781, + 0.02512963065276419, + -0.6785905568242371, + -0.72934402468665, + 0.08701810066216446, + -0.04078765553663344, + -0.08087036129151316, + -0.9958897287453088 + ], + [ + 0.7192763403548796, + -0.6943086048172432, + 0.024023061470684115, + -0.6931339874220762, + -0.7148626497741886, + 0.09239408767988666, + -0.04697682073176268, + -0.08310808164407768, + -0.9954326823444049 + ], + [ + 0.7141492888902878, + -0.6995507361809351, + 0.024890975999507986, + -0.6981994171703089, + -0.7093243300277897, + 0.09683268401561695, + -0.05008360051491191, + -0.0865318573667474, + -0.9949893821645152 + ], + [ + 0.6922370356019802, + -0.7214324574563743, + 0.01852284722819356, + -0.7191588891920914, + -0.6874615071029938, + 0.1010305317598458, + -0.06015296033429739, + -0.08325794604802988, + -0.9947108804988931 + ], + [ + 0.6734219802519243, + -0.7392244101010583, + -0.007078702163492448, + -0.734102999684016, + -0.6698240047873465, + 0.1114835793539595, + -0.08715286781573259, + -0.0698789962820264, + -0.9937410646190032 + ], + [ + 0.6662557648745251, + -0.745145195666374, + -0.0293580167379004, + -0.7363498891764876, + -0.6635935609294801, + 0.1320319150914169, + -0.11786473807393055, + -0.06634925220568588, + -0.9908106177522071 + ], + [ + 0.6577038613099844, + -0.7526448915221112, + -0.030843120523171154, + -0.7413197122020428, + -0.6539876342616746, + 0.15081531266253764, + -0.1336813940629653, + -0.07632720025317341, + -0.9880806866763943 + ], + [ + 0.6575527694517366, + -0.7527582831150385, + -0.03129413024914867, + -0.7415066061687455, + -0.653960540621384, + 0.15001188059049095, + -0.1333878120161654, + -0.07543592321889162, + -0.9881888043757899 + ], + [ + 0.6763418063295501, + -0.7360402757127867, + -0.02839847776776193, + -0.7257296200074511, + -0.6724716777303158, + 0.1452527496965709, + -0.1260090459241784, + -0.07763089062492487, + -0.9889869388248052 + ], + [ + 0.7150959624896388, + -0.6988206449487117, + -0.016954958698961548, + -0.6907411387346601, + -0.7101357797815571, + 0.13632260829952078, + -0.10730537586981287, + -0.08577225931212401, + -0.9905193970043856 + ], + [ + 0.7499590456814728, + -0.6614651643729637, + -0.005026541712024338, + -0.6556104561451273, + -0.744288557992519, + 0.12731642562762596, + -0.08795657788768765, + -0.09218665175861777, + -0.9918494148023793 + ], + [ + 0.7862292227757839, + -0.6179174817120245, + 0.004647047240610602, + -0.6135935990262318, + -0.7797935535578998, + 0.12419705738695569, + -0.07311979545528428, + -0.1004987543415968, + -0.9922466910443011 + ], + [ + 0.8389039276008021, + -0.5442003316421223, + 0.00928435762731726, + -0.5411583959495673, + -0.8321477654329099, + 0.1211515042345985, + -0.058204731330358445, + -0.10665878081817104, + -0.9925906073125726 + ], + [ + 0.8748703552395523, + -0.4842798782563885, + 0.008652227400919657, + -0.4817270165619172, + -0.8681217515037418, + 0.11959810232787958, + -0.05040776762934558, + -0.10880084596202862, + -0.9927846860626793 + ], + [ + 0.9120467461026519, + -0.40976374333387877, + 0.01626061415113872, + -0.4092144244232647, + -0.9068078477621535, + 0.10120811272278252, + -0.026726162603359603, + -0.09896060774863122, + -0.9947323812697164 + ], + [ + 0.9356807013349547, + -0.3524732750783484, + 0.01625470716040824, + -0.35249286046294, + -0.9316809029071214, + 0.08786056271630543, + -0.015824300047142806, + -0.08793910116503617, + -0.9960001536216267 + ], + [ + 0.9561904416526992, + -0.29216382714860945, + 0.018442814261752476, + -0.29272392281962734, + -0.9534589772995881, + 0.07230963708879086, + -0.0035417934870514032, + -0.0745404367622113, + -0.9972117021907605 + ], + [ + 0.9723289335349908, + -0.23315178265652614, + 0.01472043663726096, + -0.23360514254979142, + -0.970959617146394, + 0.05163389628160715, + 0.0022544145579837674, + -0.05364390100479392, + -0.9985575844687119 + ], + [ + 0.982696241011604, + -0.18496920992402766, + 0.00972055974436993, + -0.1852044828147557, + -0.9820068751669742, + 0.03690252931864157, + 0.0027198248071752004, + -0.03806426808537556, + -0.9992715917347708 + ], + [ + 0.9878031096328069, + -0.15567848383430646, + 0.0030374777049867407, + -0.1557019083582021, + -0.987401630347003, + 0.02819461157197172, + -0.0013900839437751681, + -0.02832366606094472, + -0.9995978379365861 + ], + [ + 0.9939017885475777, + -0.11026426394046655, + 0.001013321071349087, + -0.11026891934228654, + -0.9938587979023915, + 0.009244201376978244, + -1.2206998689786534e-05, + -0.009299566101757088, + -0.9999567580257201 + ], + [ + 0.9983464743636695, + -0.05738819932630082, + 0.0033032868049922737, + -0.057387501431118995, + -0.998351932535411, + -0.00030574875926152496, + 0.003315389136223029, + 0.00011567581960091914, + -0.9999944973918509 + ], + [ + 0.9998537996537066, + -0.016681464908346048, + 0.0037560679649450155, + -0.016676627219866836, + -0.9998600698274966, + -0.001315624993382964, + 0.003777488929866407, + 0.001252794103289467, + -0.9999920805108006 + ], + [ + 0.9996065115431766, + 0.027787948498941655, + 0.0038277929282314878, + 0.027792373587097362, + -0.9996131036061847, + -0.0011077315588191344, + 0.003795530381444165, + 0.0012136791303129389, + -0.9999920604345278 + ], + [ + 0.9987423692176799, + 0.049915342525965384, + 0.0047051578051199435, + 0.04991202093194411, + -0.9987532810569273, + 0.0008208194147710855, + 0.004740263277994415, + -0.0005849431921510966, + -0.999988593807708 + ], + [ + 0.9979491957080935, + 0.0639937442517564, + 0.0014844130861456828, + 0.0640020043923988, + -0.9979291310144123, + -0.006418170033232528, + 0.0010706163294528137, + 0.006500013035441818, + -0.9999783015701963 + ], + [ + 0.9990362835467599, + 0.042451193003370906, + 0.01115349136675093, + 0.042954144344251814, + -0.9978460472922014, + -0.04958031249379923, + 0.009024723858978397, + 0.05001161980900196, + -0.9987078613104778 + ], + [ + 0.995973056515512, + -0.01466007066694622, + 0.08844632848902442, + -0.007621143547119997, + -0.9968134653250997, + -0.0794029817928782, + 0.08932854452067637, + 0.07840916830706789, + -0.9929110803386229 + ], + [ + 0.9866841125731892, + -0.08874260141443913, + 0.13630558568839496, + -0.07789042388964293, + -0.993501358501032, + -0.08299477406979192, + 0.14278495670745617, + 0.07127272515346983, + -0.9871842050940889 + ], + [ + 0.9779175418858738, + -0.16649204706857718, + 0.12632370931382952, + -0.15452866748805855, + -0.9829861437109982, + -0.09929316288922306, + 0.14070597782701083, + 0.07757989130628777, + -0.9870071875466 + ], + [ + 0.9719357682098317, + -0.20923371246610412, + 0.10752728045485153, + -0.1977773731005374, + -0.9742689105554295, + -0.10809348090697961, + 0.1273772866872876, + 0.08379345733879469, + -0.9883084960392663 + ], + [ + 0.9782610945315399, + -0.19738769787615684, + 0.06358716578921299, + -0.19008546950700905, + -0.9760762027663428, + -0.10555927564898027, + 0.08290202173803578, + 0.09117753627066538, + -0.9923779076900885 + ], + [ + 0.9843267503697828, + -0.17253991788583786, + 0.036480477551863774, + -0.16904164706183075, + -0.9820535908164314, + -0.08364009997110869, + 0.05025703995548439, + 0.07616246779419597, + -0.9958280516406491 + ], + [ + 0.9871735465577968, + -0.1594733964326496, + 0.007524945630128348, + -0.1586675951569446, + -0.9852264710381307, + -0.06444683865685955, + 0.017691331877881526, + 0.06242624925451093, + -0.9978927698808125 + ], + [ + 0.9882738302041549, + -0.1526830094367212, + 0.001653832807434797, + -0.15228244651502387, + -0.9863582010260507, + -0.06251044514360553, + 0.011175554438494016, + 0.06152558734379478, + -0.9980429394995954 + ], + [ + 0.9891078649754073, + -0.14705782706438855, + -0.0062949934782563985, + -0.14715569075614685, + -0.9869994302991951, + -0.06463224634147377, + 0.0032915227284911965, + 0.06485460730097797, + -0.9978892953579386 + ], + [ + 0.9928593633966207, + -0.1191653047269238, + -0.005469430043118425, + -0.11923545181306588, + -0.9899594419078763, + -0.07591581132004241, + 0.003632016876504817, + 0.07602587406130645, + -0.9970992302306844 + ], + [ + 0.9968334242046052, + -0.07820532677517437, + -0.014389275607527613, + -0.07911258771449058, + -0.9936287654032574, + -0.08026876745232243, + -0.008020152968505513, + 0.08115296314483027, + -0.996669390379365 + ], + [ + 0.9991448968058315, + -0.04020161879045308, + -0.009659453063805007, + -0.040863171975690886, + -0.9957471393405923, + -0.08257018633328106, + -0.006298917601451309, + 0.08289429619494174, + -0.9965384384434932 + ], + [ + 0.9998825218126609, + -0.011221319782536182, + -0.010441482456626364, + -0.011999001483104187, + -0.9969069901232676, + -0.07766902218243786, + -0.009537637913154259, + 0.07778518512998232, + -0.9969245199298351 + ], + [ + 0.9991732979998651, + 0.03935338601098725, + -0.010199586930017508, + 0.03854062668936425, + -0.996776110208474, + -0.07037049248126008, + -0.012936021740234345, + 0.06991921858211982, + -0.9974687775636899 + ], + [ + 0.9935940777711524, + 0.11240931041154725, + -0.011617037096171352, + 0.11132786353411431, + -0.9912966316660936, + -0.07026446362413277, + -0.01941430964580073, + 0.06852105501419156, + -0.9974607509073825 + ], + [ + 0.987247531639709, + 0.1587940677242715, + -0.011258566821819043, + 0.1579592669015936, + -0.9859321634442144, + -0.05465015174839037, + -0.019778303041792913, + 0.05217483245579678, + -0.9984420892505467 + ], + [ + 0.9763789607541984, + 0.21572492900820417, + -0.012119405965516333, + 0.21483636514056587, + -0.975271511731165, + -0.051873062554641206, + -0.02301002411431092, + 0.04804407778294367, + -0.99858014469558 + ], + [ + 0.9594131892053073, + 0.2816812581452968, + -0.013490781614992101, + 0.28084138626150196, + -0.9587031730721128, + -0.04490369365853824, + -0.025582184066623895, + 0.039292426129530746, + -0.9989002237997728 + ], + [ + 0.9304533568537818, + 0.36626746500080715, + -0.01023204776238791, + 0.36563198746306463, + -0.9299339257034351, + -0.039193667468196386, + -0.02387049357132333, + 0.03272671550401529, + -0.99917924399428 + ], + [ + 0.9007218379252252, + 0.43406457348957583, + -0.016974001470408628, + 0.4333388308013135, + -0.9005677588102229, + -0.03457122374581434, + -0.03029238195248692, + 0.023783562240447424, + -0.9992580816599883 + ], + [ + 0.8905772890095195, + 0.45471802257248084, + -0.010179010179173453, + 0.4543484574765322, + -0.8904394180970047, + -0.026174833099061347, + -0.02096596024871659, + 0.018685894328093314, + -0.99960555513863 + ], + [ + 0.8785559001248732, + 0.477573077874534, + -0.007967787975224122, + 0.4775147795010633, + -0.8785854548266668, + -0.008199629569063008, + -0.010916304952903194, + 0.003399096418638308, + -0.9999346380787656 + ], + [ + 0.8643881423084163, + 0.5027514371956211, + -0.008609984572742547, + 0.5027699039899919, + -0.8644202815332303, + -2.2713558124067956e-05, + -0.007454064562357582, + -0.004309207786681004, + -0.9999629331378997 + ], + [ + 0.8631150412430078, + 0.5049385774799493, + -0.00833417978006663, + 0.5048906179623005, + -0.8631528306104839, + -0.0072563698056264895, + -0.010857691915302666, + 0.0020552327446910733, + -0.999938941408243 + ], + [ + 0.8678618803114043, + 0.49669570678098757, + -0.010446605558216103, + 0.4956832331944417, + -0.8671224782012095, + -0.04895651262189435, + -0.03337497613869503, + 0.03730928387852264, + -0.9987462782429847 + ], + [ + 0.8740337243353179, + 0.48560877359699745, + 0.01578504767664375, + 0.48497962106701736, + -0.8700192527527851, + -0.08866378623303851, + -0.02932261711079149, + 0.08515056573567663, + -0.9959365267328377 + ], + [ + 0.9010322361116275, + 0.4329208508300804, + 0.026841132692923417, + 0.4331591162773875, + -0.8948411986594939, + -0.10785364698253143, + -0.022673541264490532, + 0.10880609403061521, + -0.9938043793565855 + ], + [ + 0.9579796455713965, + 0.2864004006494344, + -0.015805352851002624, + 0.2830691486380056, + -0.9528630779209644, + -0.10919620792106632, + -0.046334174863225594, + 0.10013373678650705, + -0.9938945512462146 + ], + [ + 0.9854921256361482, + 0.16385122742351138, + -0.044249808823943526, + 0.16019239609577884, + -0.9841233283410377, + -0.07641773909277756, + -0.05606840948555515, + 0.06822059723256228, + -0.9960935114591366 + ], + [ + 0.9987981178204826, + -0.014050205095324748, + -0.046956485974152876, + -0.015395767367152119, + -0.9994775638232128, + -0.02841777192519027, + -0.046532678683244094, + 0.029106548245968793, + -0.9984926232395346 + ], + [ + 0.98165310996924, + -0.1725597032695679, + -0.08111917464593578, + -0.1724091870155848, + -0.9849851238406724, + 0.008909435739729712, + -0.08143858987202722, + 0.005239715650104258, + -0.9966645882439898 + ], + [ + 0.957555048513083, + -0.26927138495253977, + -0.10286520457787744, + -0.26788366506059347, + -0.9630633517633378, + 0.027337199638396106, + -0.10642683430794707, + 0.0013790344835733302, + -0.9943195800159434 + ], + [ + 0.9486479801408704, + -0.30204721735881884, + -0.09399195848816633, + -0.3007906320571773, + -0.9532906806589108, + 0.02760206216054147, + -0.09793878415260487, + 0.00208726008562711, + -0.9951902521146619 + ], + [ + 0.953233762584408, + -0.2966584268240782, + -0.05778556622060187, + -0.29475858770699176, + -0.9547669291930614, + 0.039210787957286, + -0.06680395828206732, + -0.02034425504938967, + -0.9975586912279062 + ], + [ + 0.9579926024421833, + -0.2858550954550134, + -0.02317408182557004, + -0.28461640717074954, + -0.9575495900903371, + 0.04574148321864451, + -0.03526576860451404, + -0.03722427863952, + -0.9986844740179455 + ], + [ + 0.9608688606174105, + -0.2767843305704884, + -0.011021208937580906, + -0.2760045709127131, + -0.9600212973086616, + 0.04669674024044236, + -0.02350552128944107, + -0.04182753954562467, + -0.9988483105078922 + ], + [ + 0.9655513152329652, + -0.2601765418339375, + -0.0043387476562214535, + -0.2597224593026503, + -0.9646212232026656, + 0.04527847038909734, + -0.01596564391667772, + -0.042591816424362355, + -0.9989649820629346 + ], + [ + 0.9674920779299326, + -0.2527138883333485, + 0.009734977465865421, + -0.2528965952141792, + -0.9665215927358557, + 0.043351158051663605, + -0.0015463737894335465, + -0.04440384463967707, + -0.9990124660430012 + ], + [ + 0.9674387280834982, + -0.25276158794145925, + 0.013186624492060562, + -0.25310033899972023, + -0.9664329475003481, + 0.04413135375235501, + 0.0015892773229908407, + -0.046031919871983795, + -0.9989387051018142 + ], + [ + 0.9706472492947595, + -0.24050152634315652, + -0.0017126771818800927, + -0.24025630130807085, + -0.9699338287954845, + 0.038797905096765804, + -0.010992138931200723, + -0.037247598375521614, + -0.9992456100964234 + ], + [ + 0.9719017903108077, + -0.23536598515703092, + 0.003124583445396594, + -0.23532546982728494, + -0.9712604509033914, + 0.03570797896140879, + -0.005369659320157345, + -0.03543994274827636, + -0.9993573821295285 + ], + [ + 0.9686651062435241, + -0.2462861215069604, + 0.03211009653179318, + -0.2471316539495328, + -0.9686413086742113, + 0.02568970116758651, + 0.02477614906297368, + -0.03282013837524577, + -0.9991541327316017 + ], + [ + 0.9576550260129449, + -0.2848992706101927, + 0.04158433308261339, + -0.2860171485679529, + -0.9579268572933735, + 0.023881515887777094, + 0.03303092304497529, + -0.034764086092126806, + -0.9988495464488012 + ], + [ + 0.94275044206571, + -0.33203516683929085, + 0.03121300957794943, + -0.3326631298637511, + -0.9428821081581115, + 0.017566221693039598, + 0.023597584922231907, + -0.026943980725205235, + -0.9993583821074992 + ], + [ + 0.9383476269431632, + -0.34486638024270877, + 0.023893739523674747, + -0.3456369908426653, + -0.9371970066666424, + 0.0468704731820841, + 0.00622909073309212, + -0.05223935751305319, + -0.9986151650937722 + ], + [ + 0.9392842411732766, + -0.3431380616026085, + 0.0011768445720255257, + -0.3423437599983762, + -0.9368654309588546, + 0.07130157266466211, + -0.02336373843622741, + -0.06737532897050927, + -0.9974541096072538 + ], + [ + 0.9426779348673474, + -0.33369961506629836, + -0.0016964724688064287, + -0.3325032211816024, + -0.9397048013912779, + 0.07997808541117643, + -0.028282839639814622, + -0.07482949382952808, + -0.9967951784770657 + ], + [ + 0.9463195012072912, + -0.3232326736026864, + 0.000200874197359242, + -0.3220842343402662, + -0.942904541200074, + 0.08481021267349163, + -0.02722402659836519, + -0.08032225656651805, + -0.996397103305622 + ], + [ + 0.9561949001236162, + -0.292567648621253, + 0.009771589318982353, + -0.2922190151398116, + -0.9520182761621321, + 0.09093541138633021, + -0.01730202786688307, + -0.0898074208153957, + -0.9958088506325801 + ], + [ + 0.9629064079635976, + -0.26978256619302654, + 0.005349437442100712, + -0.269039977930161, + -0.958357292891679, + 0.09575379593870398, + -0.02070603240556193, + -0.09364115622757832, + -0.9953906740985582 + ], + [ + 0.9638467115634197, + -0.26644604072340633, + 0.0024543820410023193, + -0.26517350435985126, + -0.9582589040577183, + 0.10687789939747538, + -0.026125259690542017, + -0.1036647489599131, + -0.9942691238438314 + ], + [ + 0.9648334793658423, + -0.26284344277500366, + 0.003111540613004697, + -0.2616159223313074, + -0.959041844696603, + 0.10860869810321937, + -0.02556298647541677, + -0.10560333664766604, + -0.9940797095863779 + ], + [ + 0.9737730254068142, + -0.22751696557696457, + -0.0014578630631915026, + -0.2258195555739039, + -0.9672507267151892, + 0.11589460724875653, + -0.027778108475294376, + -0.1125258283399386, + -0.9932604465325025 + ], + [ + 0.9802473902926739, + -0.19772410565297568, + -0.0044979848969453565, + -0.1957297744148314, + -0.9731207575854706, + 0.12135009915034736, + -0.028370922295925832, + -0.1180727284346848, + -0.9925995776586185 + ], + [ + 0.9829738992069652, + -0.18362748007120291, + -0.0065773885817331425, + -0.18140593918231193, + -0.9755312624554427, + 0.12422013202969, + -0.02922667800552224, + -0.1209119701881921, + -0.9922328843361177 + ], + [ + 0.9848436950135995, + -0.1734021110889288, + 0.003821552284537782, + -0.17275379163469726, + -0.9787212220261148, + 0.1107289349336685, + -0.015460396754167244, + -0.10971088107207866, + -0.9938432968564975 + ], + [ + 0.9863464935883488, + -0.16379511076973108, + -0.017080874506331594, + -0.16294017906246844, + -0.9856937238758141, + 0.043108940591495906, + -0.023897544498551273, + -0.0397371916441252, + -0.9989243529753281 + ], + [ + 0.9834641369126553, + -0.18109557973101786, + 0.0016378060120571599, + -0.1810914844943854, + -0.983259547959486, + 0.020162727745218188, + -0.0020409924709183145, + -0.02012591236179311, + -0.9997953700639646 + ], + [ + 0.9772544652657158, + -0.210893880181902, + 0.022304291516237387, + -0.21179504260485707, + -0.9759286912356413, + 0.05201970348911035, + 0.010796760913649266, + -0.05556042588848428, + -0.9983969496291861 + ], + [ + 0.9627413935440289, + -0.26819397239142384, + 0.0346554805162128, + -0.2702931539764972, + -0.9583243635537545, + 0.09249878449325243, + 0.00840357485472556, + -0.09841954781546085, + -0.9951095279100997 + ], + [ + 0.9555549490363937, + -0.29455526260250603, + -0.01232625836268887, + -0.2928168526843739, + -0.9531121569225194, + 0.0763904909692343, + -0.0342495278226238, + -0.06938597552583477, + -0.9970017834709504 + ], + [ + 0.9515746792444497, + -0.3051283347849215, + -0.03744768527163341, + -0.30447065272684504, + -0.952260612710786, + 0.02230128040645525, + -0.04246470827535959, + -0.009819612571749506, + -0.9990497103548097 + ], + [ + 0.9469961138754931, + -0.3098890036749969, + -0.08465911472506688, + -0.31598575954500735, + -0.9460551440301103, + -0.07164261454561983, + -0.057890932532470796, + 0.09459635223139003, + -0.9938310571093236 + ], + [ + 0.9452593332958795, + -0.32579654839252986, + -0.01847706341775839, + -0.32603087076737797, + -0.9405230449777512, + -0.09550012132162436, + 0.013735505949735927, + 0.09629647408547007, + -0.995257918810502 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006410.json b/json/chunk-0006/episode_0006410.json new file mode 100644 index 0000000000000000000000000000000000000000..63d54b6f35a1b9c0f688db80cbcacdb933da92a8 --- /dev/null +++ b/json/chunk-0006/episode_0006410.json @@ -0,0 +1,2182 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 35, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nTake carrot out of pot cardboard fence." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006410.mp4", + "start": 0, + "end": 35, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.34377142786979675, + 0.11266283690929413, + 0.07957759499549866, + -0.03447572886943817, + -0.1574566662311554, + 0.5626691579818726, + 0.0, + 0.9994885921478271 + ], + [ + 0.33890408277511597, + 0.11044469475746155, + 0.06810983270406723, + -0.02872677892446518, + -0.11459334194660187, + 0.5715159773826599, + 0.0, + 0.9994885921478271 + ], + [ + 0.3326411247253418, + 0.10086391121149063, + 0.06702262163162231, + -0.04125721752643585, + -0.05330333486199379, + 0.603413999080658, + 0.0, + 0.9994885921478271 + ], + [ + 0.32415634393692017, + 0.0861235111951828, + 0.070576973259449, + -0.05494866147637367, + 0.02676396444439888, + 0.6302452683448792, + 0.0, + 0.9994885921478271 + ], + [ + 0.30806511640548706, + 0.06501065194606781, + 0.0831952914595604, + -0.05948780104517937, + 0.05932452529668808, + 0.6342393755912781, + 0.0, + 0.9994885921478271 + ], + [ + 0.2870664894580841, + 0.04202594608068466, + 0.07778198271989822, + -0.025328243151307106, + 0.05912736803293228, + 0.6187320947647095, + 0.0, + 0.9994885921478271 + ], + [ + 0.27051684260368347, + 0.02156788855791092, + 0.07302083820104599, + -0.014564218930900097, + 0.024358080700039864, + 0.5613217353820801, + 0.0, + 0.9994885921478271 + ], + [ + 0.2649170160293579, + 0.011776951141655445, + 0.06009681150317192, + 0.008866406045854092, + -0.004964478313922882, + 0.5453307032585144, + 0.0, + 0.9994885921478271 + ], + [ + 0.26375913619995117, + 0.007654694840312004, + 0.05343016982078552, + 0.013884791173040867, + -0.07455794513225555, + 0.5494587421417236, + 0.0, + 0.9994885921478271 + ], + [ + 0.2635590136051178, + 0.0046728430315852165, + 0.04986068978905678, + 0.013524278067052364, + -0.09882104396820068, + 0.5555508136749268, + 0.0, + 0.9994885921478271 + ], + [ + 0.2629590332508087, + 0.0029858052730560303, + 0.04727848246693611, + 0.00837728101760149, + -0.10794076323509216, + 0.5637914538383484, + 0.0, + 0.9994885921478271 + ], + [ + 0.2631083130836487, + 0.00341559830121696, + 0.04598318412899971, + 0.00844673439860344, + -0.11931021511554718, + 0.576278567314148, + 0.0, + 0.9994885921478271 + ], + [ + 0.2623032331466675, + 0.004406133200973272, + 0.0440884605050087, + 0.011891827918589115, + -0.12869134545326233, + 0.5795173048973083, + 0.0, + 0.9994885921478271 + ], + [ + 0.2628670036792755, + 0.005364139564335346, + 0.038463789969682693, + 0.020810091868042946, + -0.1265375018119812, + 0.5806779861450195, + 0.0, + 0.9994885921478271 + ], + [ + 0.262850284576416, + 0.005401006434112787, + 0.036090899258852005, + 0.016759125515818596, + -0.13305112719535828, + 0.5787531733512878, + 0.0, + 0.9994885921478271 + ], + [ + 0.2628493905067444, + 0.005616051610559225, + 0.031118126586079597, + 0.019787833094596863, + -0.12615710496902466, + 0.5832580924034119, + 0.0, + 0.9994885921478271 + ], + [ + 0.26264631748199463, + 0.005448904354125261, + 0.0231629665941, + 0.014788137748837471, + -0.12541845440864563, + 0.5940827131271362, + 0.0, + 0.9994885921478271 + ], + [ + 0.26316702365875244, + 0.004967206157743931, + 0.015255800448358059, + 0.02440645545721054, + -0.12323047965765, + 0.5964000821113586, + 0.0, + 0.9994885921478271 + ], + [ + 0.26413118839263916, + 0.005523350089788437, + 0.010071595199406147, + 0.037203021347522736, + -0.129412442445755, + 0.5905536413192749, + 0.0, + 0.9492040276527405 + ], + [ + 0.26396775245666504, + 0.005433106329292059, + 0.009229970164597034, + 0.03760722279548645, + -0.13210605084896088, + 0.5893983840942383, + 0.0, + 0.6711689233779907 + ], + [ + 0.26330795884132385, + 0.005228932481259108, + 0.009427628479897976, + 0.041821595281362534, + -0.12792092561721802, + 0.5897487998008728, + 0.0, + 0.519798994064331 + ], + [ + 0.25858283042907715, + 0.0040847365744411945, + 0.00937560386955738, + 0.05222576856613159, + -0.09934564679861069, + 0.5883389711380005, + 0.0, + 0.5472165942192078 + ], + [ + 0.2623443007469177, + 0.007126987911760807, + 0.031169282272458076, + 0.01250506192445755, + -0.11014816910028458, + 0.6180819272994995, + 0.0, + 0.5521479845046997 + ], + [ + 0.26615095138549805, + 0.0057996828109025955, + 0.05866459757089615, + -0.048339564353227615, + -0.12645132839679718, + 0.6591527462005615, + 0.0, + 0.5521479845046997 + ], + [ + 0.27787187695503235, + 0.0014349558623507619, + 0.08149082958698273, + -0.10376261174678802, + -0.13966616988182068, + 0.7086409330368042, + 0.0, + 0.5521479845046997 + ], + [ + 0.29797908663749695, + -0.01825072430074215, + 0.08246085047721863, + -0.09985876828432083, + -0.13909153640270233, + 0.7060043215751648, + 0.0, + 0.5521479845046997 + ], + [ + 0.3141387403011322, + -0.037089478224515915, + 0.06782767176628113, + -0.06501516699790955, + -0.12176921963691711, + 0.7002931833267212, + 0.0, + 0.5521479845046997 + ], + [ + 0.3207433223724365, + -0.0517331026494503, + 0.04180248826742172, + -0.011120536364614964, + -0.1035282164812088, + 0.67091965675354, + 0.0, + 0.5521479845046997 + ], + [ + 0.321004718542099, + -0.05961497500538826, + 0.025939475744962692, + 0.022257288917899132, + -0.10268839448690414, + 0.6377463340759277, + 0.0, + 0.5531353950500488 + ], + [ + 0.3236108422279358, + -0.06265244632959366, + 0.011837007477879524, + 0.04581146687269211, + -0.09219719469547272, + 0.6323885917663574, + 0.0, + 0.5256435871124268 + ], + [ + 0.3221326470375061, + -0.06316561251878738, + 0.007056236267089844, + 0.05578327551484108, + -0.08089275658130646, + 0.6366909742355347, + 0.0, + 0.5988990664482117 + ], + [ + 0.3231557011604309, + -0.06609650701284409, + 0.007121130358427763, + 0.05865229293704033, + -0.07374294847249985, + 0.6278274059295654, + 0.0, + 0.8930966854095459 + ], + [ + 0.32063624262809753, + -0.06673049926757812, + 0.007916366681456566, + 0.06908310204744339, + -0.054585158824920654, + 0.6141494512557983, + 0.0, + 0.9988223910331726 + ], + [ + 0.3168417513370514, + -0.0686846598982811, + 0.009225933812558651, + 0.06749419867992401, + -0.023793010041117668, + 0.6102760434150696, + 0.0, + 0.9988223910331726 + ], + [ + 0.3191469609737396, + -0.06769765168428421, + 0.04099201038479805, + 0.004815651569515467, + -0.04091091826558113, + 0.6238325834274292, + 0.0, + 0.9981546401977539 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9492040276527405 + ], + [ + 0.6711689233779907 + ], + [ + 0.519798994064331 + ], + [ + 0.5472165942192078 + ], + [ + 0.5521479845046997 + ], + [ + 0.5521479845046997 + ], + [ + 0.5521479845046997 + ], + [ + 0.5521479845046997 + ], + [ + 0.5521479845046997 + ], + [ + 0.5521479845046997 + ], + [ + 0.5531353950500488 + ], + [ + 0.5256435871124268 + ], + [ + 0.5988990664482117 + ], + [ + 0.8930966854095459 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9981546401977539 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.34377142786979675, + 0.11266283690929413, + 0.07957759499549866 + ], + [ + 0.33890408277511597, + 0.11044469475746155, + 0.06810983270406723 + ], + [ + 0.3326411247253418, + 0.10086391121149063, + 0.06702262163162231 + ], + [ + 0.32415634393692017, + 0.0861235111951828, + 0.070576973259449 + ], + [ + 0.30806511640548706, + 0.06501065194606781, + 0.0831952914595604 + ], + [ + 0.2870664894580841, + 0.04202594608068466, + 0.07778198271989822 + ], + [ + 0.27051684260368347, + 0.02156788855791092, + 0.07302083820104599 + ], + [ + 0.2649170160293579, + 0.011776951141655445, + 0.06009681150317192 + ], + [ + 0.26375913619995117, + 0.007654694840312004, + 0.05343016982078552 + ], + [ + 0.2635590136051178, + 0.0046728430315852165, + 0.04986068978905678 + ], + [ + 0.2629590332508087, + 0.0029858052730560303, + 0.04727848246693611 + ], + [ + 0.2631083130836487, + 0.00341559830121696, + 0.04598318412899971 + ], + [ + 0.2623032331466675, + 0.004406133200973272, + 0.0440884605050087 + ], + [ + 0.2628670036792755, + 0.005364139564335346, + 0.038463789969682693 + ], + [ + 0.262850284576416, + 0.005401006434112787, + 0.036090899258852005 + ], + [ + 0.2628493905067444, + 0.005616051610559225, + 0.031118126586079597 + ], + [ + 0.26264631748199463, + 0.005448904354125261, + 0.0231629665941 + ], + [ + 0.26316702365875244, + 0.004967206157743931, + 0.015255800448358059 + ], + [ + 0.26413118839263916, + 0.005523350089788437, + 0.010071595199406147 + ], + [ + 0.26396775245666504, + 0.005433106329292059, + 0.009229970164597034 + ], + [ + 0.26330795884132385, + 0.005228932481259108, + 0.009427628479897976 + ], + [ + 0.25858283042907715, + 0.0040847365744411945, + 0.00937560386955738 + ], + [ + 0.2623443007469177, + 0.007126987911760807, + 0.031169282272458076 + ], + [ + 0.26615095138549805, + 0.0057996828109025955, + 0.05866459757089615 + ], + [ + 0.27787187695503235, + 0.0014349558623507619, + 0.08149082958698273 + ], + [ + 0.29797908663749695, + -0.01825072430074215, + 0.08246085047721863 + ], + [ + 0.3141387403011322, + -0.037089478224515915, + 0.06782767176628113 + ], + [ + 0.3207433223724365, + -0.0517331026494503, + 0.04180248826742172 + ], + [ + 0.321004718542099, + -0.05961497500538826, + 0.025939475744962692 + ], + [ + 0.3236108422279358, + -0.06265244632959366, + 0.011837007477879524 + ], + [ + 0.3221326470375061, + -0.06316561251878738, + 0.007056236267089844 + ], + [ + 0.3231557011604309, + -0.06609650701284409, + 0.007121130358427763 + ], + [ + 0.32063624262809753, + -0.06673049926757812, + 0.007916366681456566 + ], + [ + 0.3168417513370514, + -0.0686846598982811, + 0.009225933812558651 + ], + [ + 0.3191469609737396, + -0.06769765168428421, + 0.04099201038479805 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8353707036563434, + 0.5285570718523919, + 0.1509410787941124, + 0.5268466576335501, + -0.8482149081040216, + 0.05444326414206404, + 0.15680684555548569, + 0.03404249498657625, + -0.9870424113086663 + ], + [ + 0.8355655884992176, + 0.5379222403698734, + 0.11166830629776861, + 0.5373601145306628, + -0.8425113938307512, + 0.03766508432165808, + 0.11434270692767881, + 0.02853444551451519, + -0.9930314852972337 + ], + [ + 0.8222336516969952, + 0.5651645763114073, + 0.06723707087441633, + 0.5666509210990784, + -0.8239494148159552, + -0.003754389698822351, + 0.0532780971374714, + 0.04118693369494832, + -0.9977299638971547 + ], + [ + 0.8075936554743418, + 0.589640798482907, + 0.010780371145287869, + 0.5891318603349464, + -0.8057974752263014, + -0.060117219306979955, + -0.026760769343864253, + 0.054901345005001226, + -0.9981331091296223 + ], + [ + 0.8041055865890785, + 0.5943562265632762, + -0.012445142092291344, + 0.5915225550234253, + -0.8020090242895755, + -0.08296138774539458, + -0.05928973363738925, + 0.05934813310919274, + -0.9964750506568947 + ], + [ + 0.8131909498643475, + 0.5810358606846118, + -0.033433630631628034, + 0.57898921028057, + -0.813485209183104, + -0.05489361364496678, + -0.059092922058412406, + 0.025281278425218462, + -0.9979323040786807 + ], + [ + 0.8463011594239322, + 0.5325494058174759, + -0.012863822183218323, + 0.532147675738949, + -0.8462736878256907, + -0.025292222115499047, + -0.02435567209793874, + 0.014559383824835698, + -0.9995973317187771 + ], + [ + 0.8549452658535979, + 0.5187180993211682, + -0.0003547268748723938, + 0.5186944635833959, + -0.8548993650002843, + 0.0101552533224875, + 0.004964457921488749, + -0.008866180617685257, + -0.999948371166632 + ], + [ + 0.8504380737670694, + 0.5230573767310134, + 0.05626778238590439, + 0.5207748921390478, + -0.8521850005958352, + 0.050736934052419844, + 0.0744888877948914, + -0.013845772161463998, + -0.9971257193495378 + ], + [ + 0.8454649632305745, + 0.5284967322510872, + 0.07668246181132808, + 0.5248382082399259, + -0.8488286572248472, + 0.06351980671701482, + 0.09866028137516823, + -0.013457885189930179, + -0.99503016748498 + ], + [ + 0.8403158323351353, + 0.5351387611054403, + 0.08657833614388398, + 0.5312845504439714, + -0.8447231165568307, + 0.06464969307013257, + 0.1077312785891643, + -0.008328428246049041, + -0.9941451649012303 + ], + [ + 0.832535396500222, + 0.5457308788153699, + 0.0951978018738973, + 0.5410335502178183, + -0.8379185360595255, + 0.07193903298324747, + 0.11902735447333633, + -0.008386586627783361, + -0.9928555554821723 + ], + [ + 0.8298079260766789, + 0.5488583407951616, + 0.10086291469070151, + 0.5430916765340316, + -0.8358321852336591, + 0.08022461596655608, + 0.12833642000529816, + -0.011793212756023852, + -0.9916605686590121 + ], + [ + 0.8294061968615661, + 0.5506677519256981, + 0.09407649864196166, + 0.5442048305601942, + -0.8344692479012342, + 0.08661510666216929, + 0.1262000911354005, + -0.02064222120428364, + -0.9917900159313815 + ], + [ + 0.8297463899311861, + 0.5487648682012193, + 0.10187270401958573, + 0.5421462352607033, + -0.835811713127476, + 0.0865808280831243, + 0.13265891597932641, + -0.01661022657917874, + -0.9910225589683507 + ], + [ + 0.828039340961939, + 0.5527164731082973, + 0.09410287016899271, + 0.5463693725961695, + -0.8331381585372588, + 0.0857981204806573, + 0.12582272651705503, + -0.019629293004845172, + -0.9918585243611833 + ], + [ + 0.8221534948116329, + 0.5612205071677562, + 0.09536861802178258, + 0.5553522709942217, + -0.8275362777192169, + 0.08226520625503567, + 0.12508991194568297, + -0.014671448223999982, + -0.9920369259944065 + ], + [ + 0.8210888111708036, + 0.5639822562325303, + 0.0879612347854502, + 0.5574084019753134, + -0.8254316786650704, + 0.08920996168305032, + 0.12291882515483085, + -0.024218970065395577, + -0.9921211639268298 + ], + [ + 0.8236866868148681, + 0.5604227223370463, + 0.08640957268890967, + 0.5521647824661523, + -0.8273850288161363, + 0.10270378325567406, + 0.12905152059566233, + -0.03688341604645349, + -0.9909517236741112 + ], + [ + 0.8240320761430784, + 0.559584904040649, + 0.08852046462341687, + 0.5510176195664985, + -0.8279345542988161, + 0.10442201264719136, + 0.13172213335122276, + -0.037270752176988275, + -0.9905857714592736 + ], + [ + 0.824289876827432, + 0.5600987288617768, + 0.08267776537400456, + 0.5516081025631568, + -0.8273873555855751, + 0.10563458242348084, + 0.12757233299775844, + -0.041467791652451715, + -0.9909620184996891 + ], + [ + 0.8277619761068338, + 0.5585303381301517, + 0.05342258230306651, + 0.5522435876176816, + -0.8278560358453382, + 0.09839412507662357, + 0.09918231115910495, + -0.051944636899882574, + -0.9937125458856186 + ], + [ + 0.810052432839875, + 0.5805479865068517, + 0.08233523797888871, + 0.5759613046065992, + -0.8141311666055833, + 0.07388517549073338, + 0.10992557321235162, + -0.012428955075654117, + -0.993862107854839 + ], + [ + 0.7841997160825884, + 0.6069145525045059, + 0.12917248644445664, + 0.6075573317743284, + -0.793320217961801, + 0.0389502295282029, + 0.12611460622484114, + 0.04793493226548129, + -0.9908568758228694 + ], + [ + 0.751853911609416, + 0.6363544586934954, + 0.17253607883143968, + 0.6444653314822363, + -0.7645474610706348, + 0.011472414215728408, + 0.1392125429518175, + 0.10256794173305016, + -0.9849363863791071 + ], + [ + 0.753611250492783, + 0.6350484390848742, + 0.16965719302926321, + 0.6425325423897835, + -0.7661369649776825, + 0.013641219333560384, + 0.13864348199906448, + 0.09873009121159598, + -0.9854087243314446 + ], + [ + 0.758991240886338, + 0.6370459194868366, + 0.13455405130648534, + 0.6396699899074044, + -0.7681235293815808, + 0.028434971817208807, + 0.12146851554900386, + 0.06448829409710849, + -0.9904981876080172 + ], + [ + 0.779056514360387, + 0.6207680104369221, + 0.08785228881952419, + 0.6183777920006875, + -0.7839162816721704, + 0.05553530129235283, + 0.1033433780800599, + 0.011060766133649758, + -0.9945842375885203 + ], + [ + 0.7992072222966985, + 0.5970717399442178, + 0.06908801045608172, + 0.5922498817302624, + -0.8018823086093558, + 0.07889765985008501, + 0.10250801636596744, + -0.02213821355290268, + -0.9944857998389923 + ], + [ + 0.803192149478323, + 0.5938538808357717, + 0.04711623109592483, + 0.5885627461772854, + -0.8032796039307344, + 0.09130044754071685, + 0.09206663254754094, + -0.04560094434522009, + -0.9947081426459625 + ], + [ + 0.8014381689556046, + 0.5972357166490752, + 0.03172317921887892, + 0.5925938608296004, + -0.8001382681664274, + 0.09279691763576085, + 0.08080456328794582, + -0.05557203050362343, + -0.995179567705019 + ], + [ + 0.8071060587872922, + 0.5898730350940631, + 0.025092077191067194, + 0.5857914625851486, + -0.8053771203246136, + 0.09064246477223331, + 0.07367613067470857, + -0.0584593579040285, + -0.9955673413899495 + ], + [ + 0.8160466499891388, + 0.5779669035753785, + 0.004703553230603098, + 0.5754053210745178, + -0.8131442392358995, + 0.08777905602477969, + 0.0545580564228159, + -0.06892535505138413, + -0.9961288641086582 + ], + [ + 0.8192579016672116, + 0.5731037251659846, + -0.01919923844086044, + 0.5729314880915456, + -0.8167044392281332, + 0.06887211989090816, + 0.02379076520510763, + -0.06742387667534464, + -0.9974407352544928 + ], + [ + 0.8109664867696045, + 0.5843032286107521, + 0.030382468162016958, + 0.5836613638538326, + -0.8115211553042493, + 0.02779976327130345, + 0.04089950709787179, + -0.004811603548467184, + -0.999151679571447 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.004867345094680786, + -0.0022181421518325806, + -0.011467762291431427, + 0.005748949944972992, + 0.04286332428455353, + 0.008846819400787354, + 1.0 + ], + [ + -0.00626295804977417, + -0.009580783545970917, + -0.0010872110724449158, + -0.012530438601970673, + 0.06129000708460808, + 0.03189802169799805, + 1.0 + ], + [ + -0.00848478078842163, + -0.01474040001630783, + 0.0035543516278266907, + -0.01369144394993782, + 0.08006729930639267, + 0.02683126926422119, + 1.0 + ], + [ + -0.016091227531433105, + -0.02111285924911499, + 0.01261831820011139, + -0.004539139568805695, + 0.0325605608522892, + 0.003994107246398926, + 1.0 + ], + [ + -0.020998626947402954, + -0.022984705865383148, + -0.00541330873966217, + 0.03415955603122711, + -0.00019715726375579834, + -0.015507280826568604, + 1.0 + ], + [ + -0.016549646854400635, + -0.020458057522773743, + -0.004761144518852234, + 0.010764024220407009, + -0.03476928919553757, + -0.057410359382629395, + 1.0 + ], + [ + -0.0055998265743255615, + -0.009790937416255474, + -0.01292402669787407, + 0.02343062497675419, + -0.029322559013962746, + -0.015991032123565674, + 1.0 + ], + [ + -0.0011578798294067383, + -0.004122256301343441, + -0.006666641682386398, + 0.005018385127186775, + -0.06959346681833267, + 0.0041280388832092285, + 1.0 + ], + [ + -0.00020012259483337402, + -0.0029818518087267876, + -0.0035694800317287445, + -0.0003605131059885025, + -0.02426309883594513, + 0.006092071533203125, + 1.0 + ], + [ + -0.000599980354309082, + -0.0016870377585291862, + -0.0025822073221206665, + -0.005146997049450874, + -0.00911971926689148, + 0.00824064016342163, + 1.0 + ], + [ + 0.00014927983283996582, + 0.0004297930281609297, + -0.0012952983379364014, + 6.945338100194931e-05, + -0.011369451880455017, + 0.01248711347579956, + 1.0 + ], + [ + -0.0008050799369812012, + 0.0009905348997563124, + -0.0018947236239910126, + 0.003445093519985676, + -0.009381130337715149, + 0.0032387375831604004, + 1.0 + ], + [ + 0.0005637705326080322, + 0.0009580063633620739, + -0.005624670535326004, + 0.00891826394945383, + 0.002153843641281128, + 0.0011606812477111816, + 1.0 + ], + [ + -1.671910285949707e-05, + 3.6866869777441025e-05, + -0.0023728907108306885, + -0.00405096635222435, + -0.006513625383377075, + -0.0019248127937316895, + 1.0 + ], + [ + -8.940696716308594e-07, + 0.00021504517644643784, + -0.0049727726727724075, + 0.003028707578778267, + 0.006894022226333618, + 0.0045049190521240234, + 1.0 + ], + [ + -0.00020307302474975586, + -0.00016714725643396378, + -0.007955159991979599, + -0.004999695345759392, + 0.0007386505603790283, + 0.010824620723724365, + 1.0 + ], + [ + 0.0005207061767578125, + -0.0004816981963813305, + -0.00790716614574194, + 0.00961831770837307, + 0.002187974750995636, + 0.002317368984222412, + 1.0 + ], + [ + 0.0009641647338867188, + 0.0005561439320445061, + -0.005184205248951912, + 0.012796565890312195, + -0.006181962788105011, + -0.00584644079208374, + 0.0 + ], + [ + -0.0001634359359741211, + -9.024376049637794e-05, + -0.0008416250348091125, + 0.0004042014479637146, + -0.0026936084032058716, + -0.001155257225036621, + 0.0 + ], + [ + -0.0006597936153411865, + -0.00020417384803295135, + 0.00019765831530094147, + 0.004214372485876083, + 0.004185125231742859, + 0.0003504157066345215, + 0.0 + ], + [ + -0.004725128412246704, + -0.001144195906817913, + -5.2024610340595245e-05, + 0.010404173284769058, + 0.02857527881860733, + -0.0014098286628723145, + 0.0 + ], + [ + 0.003761470317840576, + 0.0030422513373196125, + 0.021793678402900696, + -0.03972070664167404, + -0.01080252230167389, + 0.029742956161499023, + 0.0 + ], + [ + 0.0038066506385803223, + -0.0013273051008582115, + 0.027495315298438072, + -0.060844626277685165, + -0.016303159296512604, + 0.04107081890106201, + 0.0 + ], + [ + 0.011720925569534302, + -0.0043647270649671555, + 0.02282623201608658, + -0.05542304739356041, + -0.013214841485023499, + 0.049488186836242676, + 0.0 + ], + [ + 0.0201072096824646, + -0.01968568004667759, + 0.0009700208902359009, + 0.0039038434624671936, + 0.0005746334791183472, + -0.0026366114616394043, + 0.0 + ], + [ + 0.016159653663635254, + -0.018838753923773766, + -0.0146331787109375, + 0.034843601286411285, + 0.017322316765785217, + -0.0057111382484436035, + 0.0 + ], + [ + 0.006604582071304321, + -0.014643624424934387, + -0.026025183498859406, + 0.05389463156461716, + 0.018241003155708313, + -0.029373526573181152, + 0.0 + ], + [ + 0.0002613961696624756, + -0.007881872355937958, + -0.01586301252245903, + 0.03337782621383667, + 0.000839821994304657, + -0.033173322677612305, + 0.0 + ], + [ + 0.002606123685836792, + -0.0030374713242053986, + -0.014102468267083168, + 0.023554177954792976, + 0.010491199791431427, + -0.0053577423095703125, + 1.0 + ], + [ + -0.0014781951904296875, + -0.0005131661891937256, + -0.0047807712107896805, + 0.009971808642148972, + 0.01130443811416626, + 0.004302382469177246, + 1.0 + ], + [ + 0.0010230541229248047, + -0.0029308944940567017, + 6.489409133791924e-05, + 0.0028690174221992493, + 0.00714980810880661, + -0.008863568305969238, + 1.0 + ], + [ + -0.002519458532333374, + -0.0006339922547340393, + 0.0007952363230288029, + 0.010430809110403061, + 0.019157789647579193, + -0.01367795467376709, + 1.0 + ], + [ + -0.0037944912910461426, + -0.0019541606307029724, + 0.0013095671311020851, + -0.0015889033675193787, + 0.030792148783802986, + -0.0038734078407287598, + 1.0 + ], + [ + 0.0023052096366882324, + 0.0009870082139968872, + 0.031766075640916824, + -0.06267854571342468, + -0.017117908224463463, + 0.01355654001235962, + 1.0 + ], + [ + -0.002299368381500244, + 0.003870852291584015, + 0.022572960704565048, + -0.04035714268684387, + 0.007020179182291031, + 0.012578964233398438, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9492040276527405 + ], + [ + 0.6711689233779907 + ], + [ + 0.519798994064331 + ], + [ + 0.5472165942192078 + ], + [ + 0.5521479845046997 + ], + [ + 0.5521479845046997 + ], + [ + 0.5521479845046997 + ], + [ + 0.5521479845046997 + ], + [ + 0.5521479845046997 + ], + [ + 0.5521479845046997 + ], + [ + 0.5531353950500488 + ], + [ + 0.5256435871124268 + ], + [ + 0.5988990664482117 + ], + [ + 0.8930966854095459 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.33890408277511597, + 0.11044469475746155, + 0.06810983270406723 + ], + [ + 0.3326411247253418, + 0.10086391121149063, + 0.06702262163162231 + ], + [ + 0.32415634393692017, + 0.0861235111951828, + 0.070576973259449 + ], + [ + 0.30806511640548706, + 0.06501065194606781, + 0.0831952914595604 + ], + [ + 0.2870664894580841, + 0.04202594608068466, + 0.07778198271989822 + ], + [ + 0.27051684260368347, + 0.02156788855791092, + 0.07302083820104599 + ], + [ + 0.2649170160293579, + 0.011776951141655445, + 0.06009681150317192 + ], + [ + 0.26375913619995117, + 0.007654694840312004, + 0.05343016982078552 + ], + [ + 0.2635590136051178, + 0.0046728430315852165, + 0.04986068978905678 + ], + [ + 0.2629590332508087, + 0.0029858052730560303, + 0.04727848246693611 + ], + [ + 0.2631083130836487, + 0.00341559830121696, + 0.04598318412899971 + ], + [ + 0.2623032331466675, + 0.004406133200973272, + 0.0440884605050087 + ], + [ + 0.2628670036792755, + 0.005364139564335346, + 0.038463789969682693 + ], + [ + 0.262850284576416, + 0.005401006434112787, + 0.036090899258852005 + ], + [ + 0.2628493905067444, + 0.005616051610559225, + 0.031118126586079597 + ], + [ + 0.26264631748199463, + 0.005448904354125261, + 0.0231629665941 + ], + [ + 0.26316702365875244, + 0.004967206157743931, + 0.015255800448358059 + ], + [ + 0.26413118839263916, + 0.005523350089788437, + 0.010071595199406147 + ], + [ + 0.26396775245666504, + 0.005433106329292059, + 0.009229970164597034 + ], + [ + 0.26330795884132385, + 0.005228932481259108, + 0.009427628479897976 + ], + [ + 0.25858283042907715, + 0.0040847365744411945, + 0.00937560386955738 + ], + [ + 0.2623443007469177, + 0.007126987911760807, + 0.031169282272458076 + ], + [ + 0.26615095138549805, + 0.0057996828109025955, + 0.05866459757089615 + ], + [ + 0.27787187695503235, + 0.0014349558623507619, + 0.08149082958698273 + ], + [ + 0.29797908663749695, + -0.01825072430074215, + 0.08246085047721863 + ], + [ + 0.3141387403011322, + -0.037089478224515915, + 0.06782767176628113 + ], + [ + 0.3207433223724365, + -0.0517331026494503, + 0.04180248826742172 + ], + [ + 0.321004718542099, + -0.05961497500538826, + 0.025939475744962692 + ], + [ + 0.3236108422279358, + -0.06265244632959366, + 0.011837007477879524 + ], + [ + 0.3221326470375061, + -0.06316561251878738, + 0.007056236267089844 + ], + [ + 0.3231557011604309, + -0.06609650701284409, + 0.007121130358427763 + ], + [ + 0.32063624262809753, + -0.06673049926757812, + 0.007916366681456566 + ], + [ + 0.3168417513370514, + -0.0686846598982811, + 0.009225933812558651 + ], + [ + 0.3191469609737396, + -0.06769765168428421, + 0.04099201038479805 + ], + [ + 0.3168475925922394, + -0.0638267993927002, + 0.0635649710893631 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8355655884992176, + 0.5379222403698734, + 0.11166830629776861, + 0.5373601145306628, + -0.8425113938307512, + 0.03766508432165808, + 0.11434270692767881, + 0.02853444551451519, + -0.9930314852972337 + ], + [ + 0.8222336516969952, + 0.5651645763114073, + 0.06723707087441633, + 0.5666509210990784, + -0.8239494148159552, + -0.003754389698822351, + 0.0532780971374714, + 0.04118693369494832, + -0.9977299638971547 + ], + [ + 0.8075936554743418, + 0.589640798482907, + 0.010780371145287869, + 0.5891318603349464, + -0.8057974752263014, + -0.060117219306979955, + -0.026760769343864253, + 0.054901345005001226, + -0.9981331091296223 + ], + [ + 0.8041055865890785, + 0.5943562265632762, + -0.012445142092291344, + 0.5915225550234253, + -0.8020090242895755, + -0.08296138774539458, + -0.05928973363738925, + 0.05934813310919274, + -0.9964750506568947 + ], + [ + 0.8131909498643475, + 0.5810358606846118, + -0.033433630631628034, + 0.57898921028057, + -0.813485209183104, + -0.05489361364496678, + -0.059092922058412406, + 0.025281278425218462, + -0.9979323040786807 + ], + [ + 0.8463011594239322, + 0.5325494058174759, + -0.012863822183218323, + 0.532147675738949, + -0.8462736878256907, + -0.025292222115499047, + -0.02435567209793874, + 0.014559383824835698, + -0.9995973317187771 + ], + [ + 0.8549452658535979, + 0.5187180993211682, + -0.0003547268748723938, + 0.5186944635833959, + -0.8548993650002843, + 0.0101552533224875, + 0.004964457921488749, + -0.008866180617685257, + -0.999948371166632 + ], + [ + 0.8504380737670694, + 0.5230573767310134, + 0.05626778238590439, + 0.5207748921390478, + -0.8521850005958352, + 0.050736934052419844, + 0.0744888877948914, + -0.013845772161463998, + -0.9971257193495378 + ], + [ + 0.8454649632305745, + 0.5284967322510872, + 0.07668246181132808, + 0.5248382082399259, + -0.8488286572248472, + 0.06351980671701482, + 0.09866028137516823, + -0.013457885189930179, + -0.99503016748498 + ], + [ + 0.8403158323351353, + 0.5351387611054403, + 0.08657833614388398, + 0.5312845504439714, + -0.8447231165568307, + 0.06464969307013257, + 0.1077312785891643, + -0.008328428246049041, + -0.9941451649012303 + ], + [ + 0.832535396500222, + 0.5457308788153699, + 0.0951978018738973, + 0.5410335502178183, + -0.8379185360595255, + 0.07193903298324747, + 0.11902735447333633, + -0.008386586627783361, + -0.9928555554821723 + ], + [ + 0.8298079260766789, + 0.5488583407951616, + 0.10086291469070151, + 0.5430916765340316, + -0.8358321852336591, + 0.08022461596655608, + 0.12833642000529816, + -0.011793212756023852, + -0.9916605686590121 + ], + [ + 0.8294061968615661, + 0.5506677519256981, + 0.09407649864196166, + 0.5442048305601942, + -0.8344692479012342, + 0.08661510666216929, + 0.1262000911354005, + -0.02064222120428364, + -0.9917900159313815 + ], + [ + 0.8297463899311861, + 0.5487648682012193, + 0.10187270401958573, + 0.5421462352607033, + -0.835811713127476, + 0.0865808280831243, + 0.13265891597932641, + -0.01661022657917874, + -0.9910225589683507 + ], + [ + 0.828039340961939, + 0.5527164731082973, + 0.09410287016899271, + 0.5463693725961695, + -0.8331381585372588, + 0.0857981204806573, + 0.12582272651705503, + -0.019629293004845172, + -0.9918585243611833 + ], + [ + 0.8221534948116329, + 0.5612205071677562, + 0.09536861802178258, + 0.5553522709942217, + -0.8275362777192169, + 0.08226520625503567, + 0.12508991194568297, + -0.014671448223999982, + -0.9920369259944065 + ], + [ + 0.8210888111708036, + 0.5639822562325303, + 0.0879612347854502, + 0.5574084019753134, + -0.8254316786650704, + 0.08920996168305032, + 0.12291882515483085, + -0.024218970065395577, + -0.9921211639268298 + ], + [ + 0.8236866868148681, + 0.5604227223370463, + 0.08640957268890967, + 0.5521647824661523, + -0.8273850288161363, + 0.10270378325567406, + 0.12905152059566233, + -0.03688341604645349, + -0.9909517236741112 + ], + [ + 0.8240320761430784, + 0.559584904040649, + 0.08852046462341687, + 0.5510176195664985, + -0.8279345542988161, + 0.10442201264719136, + 0.13172213335122276, + -0.037270752176988275, + -0.9905857714592736 + ], + [ + 0.824289876827432, + 0.5600987288617768, + 0.08267776537400456, + 0.5516081025631568, + -0.8273873555855751, + 0.10563458242348084, + 0.12757233299775844, + -0.041467791652451715, + -0.9909620184996891 + ], + [ + 0.8277619761068338, + 0.5585303381301517, + 0.05342258230306651, + 0.5522435876176816, + -0.8278560358453382, + 0.09839412507662357, + 0.09918231115910495, + -0.051944636899882574, + -0.9937125458856186 + ], + [ + 0.810052432839875, + 0.5805479865068517, + 0.08233523797888871, + 0.5759613046065992, + -0.8141311666055833, + 0.07388517549073338, + 0.10992557321235162, + -0.012428955075654117, + -0.993862107854839 + ], + [ + 0.7841997160825884, + 0.6069145525045059, + 0.12917248644445664, + 0.6075573317743284, + -0.793320217961801, + 0.0389502295282029, + 0.12611460622484114, + 0.04793493226548129, + -0.9908568758228694 + ], + [ + 0.751853911609416, + 0.6363544586934954, + 0.17253607883143968, + 0.6444653314822363, + -0.7645474610706348, + 0.011472414215728408, + 0.1392125429518175, + 0.10256794173305016, + -0.9849363863791071 + ], + [ + 0.753611250492783, + 0.6350484390848742, + 0.16965719302926321, + 0.6425325423897835, + -0.7661369649776825, + 0.013641219333560384, + 0.13864348199906448, + 0.09873009121159598, + -0.9854087243314446 + ], + [ + 0.758991240886338, + 0.6370459194868366, + 0.13455405130648534, + 0.6396699899074044, + -0.7681235293815808, + 0.028434971817208807, + 0.12146851554900386, + 0.06448829409710849, + -0.9904981876080172 + ], + [ + 0.779056514360387, + 0.6207680104369221, + 0.08785228881952419, + 0.6183777920006875, + -0.7839162816721704, + 0.05553530129235283, + 0.1033433780800599, + 0.011060766133649758, + -0.9945842375885203 + ], + [ + 0.7992072222966985, + 0.5970717399442178, + 0.06908801045608172, + 0.5922498817302624, + -0.8018823086093558, + 0.07889765985008501, + 0.10250801636596744, + -0.02213821355290268, + -0.9944857998389923 + ], + [ + 0.803192149478323, + 0.5938538808357717, + 0.04711623109592483, + 0.5885627461772854, + -0.8032796039307344, + 0.09130044754071685, + 0.09206663254754094, + -0.04560094434522009, + -0.9947081426459625 + ], + [ + 0.8014381689556046, + 0.5972357166490752, + 0.03172317921887892, + 0.5925938608296004, + -0.8001382681664274, + 0.09279691763576085, + 0.08080456328794582, + -0.05557203050362343, + -0.995179567705019 + ], + [ + 0.8071060587872922, + 0.5898730350940631, + 0.025092077191067194, + 0.5857914625851486, + -0.8053771203246136, + 0.09064246477223331, + 0.07367613067470857, + -0.0584593579040285, + -0.9955673413899495 + ], + [ + 0.8160466499891388, + 0.5779669035753785, + 0.004703553230603098, + 0.5754053210745178, + -0.8131442392358995, + 0.08777905602477969, + 0.0545580564228159, + -0.06892535505138413, + -0.9961288641086582 + ], + [ + 0.8192579016672116, + 0.5731037251659846, + -0.01919923844086044, + 0.5729314880915456, + -0.8167044392281332, + 0.06887211989090816, + 0.02379076520510763, + -0.06742387667534464, + -0.9974407352544928 + ], + [ + 0.8109664867696045, + 0.5843032286107521, + 0.030382468162016958, + 0.5836613638538326, + -0.8115211553042493, + 0.02779976327130345, + 0.04089950709787179, + -0.004811603548467184, + -0.999151679571447 + ], + [ + 0.8037717763902531, + 0.5929696600310265, + 0.048351977841097765, + 0.5939720439233872, + -0.8044412758623446, + -0.008452498236451219, + 0.03388425173927917, + 0.03551360262846305, + -0.9987945942547031 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006411.json b/json/chunk-0006/episode_0006411.json new file mode 100644 index 0000000000000000000000000000000000000000..59c1c224ded2bcea56066351416630aacc86392c --- /dev/null +++ b/json/chunk-0006/episode_0006411.json @@ -0,0 +1,2602 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 42, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut the green object in the middle of the table." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006411.mp4", + "start": 0, + "end": 42, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3098596930503845, + -0.09858225286006927, + 0.07935124635696411, + -0.041054703295230865, + -0.25285065174102783, + -0.02294090948998928, + 0.0, + 0.9994885921478271 + ], + [ + 0.30571237206459045, + -0.0982479453086853, + 0.06962305307388306, + -0.03422173857688904, + -0.21952101588249207, + -0.025163864716887474, + 0.0, + 0.9994885921478271 + ], + [ + 0.30284079909324646, + -0.07495226711034775, + 0.06612922251224518, + -0.06937216222286224, + -0.16231897473335266, + 0.05090148001909256, + 0.0, + 0.9994885921478271 + ], + [ + 0.2993941009044647, + -0.04093233495950699, + 0.07685702294111252, + -0.08505275100469589, + -0.1826123595237732, + 0.1904735267162323, + 0.0, + 0.9994885921478271 + ], + [ + 0.29165777564048767, + -0.00936277024447918, + 0.09018446505069733, + -0.09225615859031677, + -0.21216541528701782, + 0.3071003258228302, + 0.0, + 0.9994885921478271 + ], + [ + 0.2827742099761963, + 0.0366944894194603, + 0.10584016144275665, + -0.0635123997926712, + -0.23842822015285492, + 0.5109214782714844, + 0.0, + 0.9994885921478271 + ], + [ + 0.2824416160583496, + 0.07923344522714615, + 0.11627159267663956, + -0.05967852845788002, + -0.2781391739845276, + 0.6370935440063477, + 0.0, + 0.9994885921478271 + ], + [ + 0.28688865900039673, + 0.12166327238082886, + 0.10616911202669144, + -0.0365772470831871, + -0.25697124004364014, + 0.7239647507667542, + 0.0, + 0.9994885921478271 + ], + [ + 0.28673258423805237, + 0.16249164938926697, + 0.09642577171325684, + -0.04200208932161331, + -0.2382287234067917, + 0.8112195730209351, + 0.0, + 0.9994885921478271 + ], + [ + 0.28928273916244507, + 0.19411610066890717, + 0.07641270011663437, + -0.02670358680188656, + -0.2229078710079193, + 0.8242558240890503, + 0.0, + 0.9994885921478271 + ], + [ + 0.28642311692237854, + 0.2139873206615448, + 0.05266178399324417, + -0.034170497208833694, + -0.20279057323932648, + 0.8295955061912537, + 0.0, + 0.9994885921478271 + ], + [ + 0.2843230664730072, + 0.2309761345386505, + 0.035005439072847366, + -0.015126556158065796, + -0.17634619772434235, + 0.8380702137947083, + 0.0, + 0.9994885921478271 + ], + [ + 0.2863750755786896, + 0.24580515921115875, + 0.0186950471252203, + -0.026829775422811508, + -0.16040968894958496, + 0.8631532192230225, + 0.0, + 0.9994885921478271 + ], + [ + 0.29554131627082825, + 0.2548043727874756, + 0.007794911041855812, + -0.06445030868053436, + -0.16253800690174103, + 0.863269567489624, + 0.0, + 1.0001531839370728 + ], + [ + 0.3105396330356598, + 0.2607288062572479, + 0.00947919674217701, + -0.10772281885147095, + -0.18520772457122803, + 0.8688622117042542, + 0.0, + 1.0001531839370728 + ], + [ + 0.32035496830940247, + 0.2612500488758087, + 0.010177905671298504, + -0.12803301215171814, + -0.18658940494060516, + 0.866137683391571, + 0.0, + 1.0001531839370728 + ], + [ + 0.32287660241127014, + 0.25939589738845825, + 0.010349825955927372, + -0.13158313930034637, + -0.1879497915506363, + 0.8601565957069397, + 0.0, + 1.0001531839370728 + ], + [ + 0.3276679813861847, + 0.2593693435192108, + 0.011865184642374516, + -0.1524454802274704, + -0.19351568818092346, + 0.8590924143791199, + 0.0, + 1.0001531839370728 + ], + [ + 0.32951924204826355, + 0.25851643085479736, + 0.013622346334159374, + -0.15892170369625092, + -0.19259418547153473, + 0.8518763184547424, + 0.0, + 0.9994885921478271 + ], + [ + 0.3377423584461212, + 0.2612898349761963, + 0.023384923115372658, + -0.16944821178913116, + -0.21078549325466156, + 0.8451766967773438, + 0.0, + 0.9994885921478271 + ], + [ + 0.34961485862731934, + 0.26713308691978455, + 0.0302128829061985, + -0.16526062786579132, + -0.23168829083442688, + 0.8270562291145325, + 0.0, + 0.9994885921478271 + ], + [ + 0.3573106825351715, + 0.26843196153640747, + 0.021388964727520943, + -0.1674194484949112, + -0.20700837671756744, + 0.8268018364906311, + 0.0, + 0.9994885921478271 + ], + [ + 0.3639633357524872, + 0.2644996643066406, + 0.012968550436198711, + -0.14932234585285187, + -0.18067297339439392, + 0.8082199692726135, + 0.0, + 0.9643021821975708 + ], + [ + 0.37199151515960693, + 0.2498587816953659, + 0.011307725682854652, + -0.1292967051267624, + -0.173690527677536, + 0.7792847752571106, + 0.0, + 0.6892001032829285 + ], + [ + 0.3740334212779999, + 0.23816794157028198, + 0.010589622892439365, + -0.13213439285755157, + -0.14232072234153748, + 0.7588862776756287, + 0.0, + 0.41037410497665405 + ], + [ + 0.37532663345336914, + 0.228069469332695, + 0.0120865972712636, + -0.1188112124800682, + -0.12262625247240067, + 0.739836573600769, + 0.0, + 0.2610139548778534 + ], + [ + 0.3772604167461395, + 0.20152783393859863, + 0.041691865772008896, + -0.13089695572853088, + -0.1426572948694229, + 0.7035888433456421, + 0.0, + 0.20382753014564514 + ], + [ + 0.36677226424217224, + 0.18344086408615112, + 0.08315002918243408, + -0.15649814903736115, + -0.18928024172782898, + 0.7177111506462097, + 0.0, + 0.17844799160957336 + ], + [ + 0.3447105884552002, + 0.15610656142234802, + 0.10501200705766678, + -0.1619395613670349, + -0.21549546718597412, + 0.7138646245002747, + 0.0, + 0.17081251740455627 + ], + [ + 0.3106708526611328, + 0.12179257720708847, + 0.11443930119276047, + -0.16448965668678284, + -0.23131288588047028, + 0.6658015847206116, + 0.0, + 0.17081251740455627 + ], + [ + 0.27952346205711365, + 0.10079912841320038, + 0.11538784950971603, + -0.17777343094348907, + -0.24085357785224915, + 0.611163318157196, + 0.0, + 0.17027510702610016 + ], + [ + 0.25253769755363464, + 0.08344560861587524, + 0.10263942182064056, + -0.12423699349164963, + -0.23811912536621094, + 0.5739681124687195, + 0.0, + 0.17027510702610016 + ], + [ + 0.23014219105243683, + 0.0738479495048523, + 0.08307357877492905, + -0.06728831678628922, + -0.20715990662574768, + 0.5378639101982117, + 0.0, + 0.17027510702610016 + ], + [ + 0.22056663036346436, + 0.07042735069990158, + 0.07009035348892212, + -0.038114890456199646, + -0.19266493618488312, + 0.5104478597640991, + 0.0, + 0.17027510702610016 + ], + [ + 0.2213440090417862, + 0.07290195673704147, + 0.0476345494389534, + -0.00753313722088933, + -0.15492132306098938, + 0.49033430218696594, + 0.0, + 0.17027510702610016 + ], + [ + 0.2216382771730423, + 0.07426244765520096, + 0.02956407330930233, + 0.011629312299191952, + -0.11703813821077347, + 0.4529212713241577, + 0.0, + 0.17027510702610016 + ], + [ + 0.21771425008773804, + 0.07876839488744736, + 0.014250616542994976, + -0.03900619223713875, + -0.11410882323980331, + 0.45815330743789673, + 0.0, + 0.17027510702610016 + ], + [ + 0.21564792096614838, + 0.08258265256881714, + 0.01012916024774313, + -0.036605022847652435, + -0.10383221507072449, + 0.4658844769001007, + 0.0, + 0.19905558228492737 + ], + [ + 0.2158288061618805, + 0.08024533092975616, + 0.012611796148121357, + -0.053152892738580704, + -0.07869525998830795, + 0.44281506538391113, + 0.0, + 0.45408597588539124 + ], + [ + 0.2155028134584427, + 0.07955455034971237, + 0.013310042209923267, + -0.060268666595220566, + -0.07610036432743073, + 0.44008710980415344, + 0.0, + 0.7768828272819519 + ], + [ + 0.21257410943508148, + 0.07904107123613358, + 0.027541933581233025, + -0.06265946477651596, + -0.10783983767032623, + 0.4484218657016754, + 0.0, + 0.9961419701576233 + ], + [ + 0.20933908224105835, + 0.0788349136710167, + 0.03839336708188057, + -0.05459148809313774, + -0.11506059020757675, + 0.4503370225429535, + 0.0, + 0.9994885921478271 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9643021821975708 + ], + [ + 0.6892001032829285 + ], + [ + 0.41037410497665405 + ], + [ + 0.2610139548778534 + ], + [ + 0.20382753014564514 + ], + [ + 0.17844799160957336 + ], + [ + 0.17081251740455627 + ], + [ + 0.17081251740455627 + ], + [ + 0.17027510702610016 + ], + [ + 0.17027510702610016 + ], + [ + 0.17027510702610016 + ], + [ + 0.17027510702610016 + ], + [ + 0.17027510702610016 + ], + [ + 0.17027510702610016 + ], + [ + 0.17027510702610016 + ], + [ + 0.19905558228492737 + ], + [ + 0.45408597588539124 + ], + [ + 0.7768828272819519 + ], + [ + 0.9961419701576233 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3098596930503845, + -0.09858225286006927, + 0.07935124635696411 + ], + [ + 0.30571237206459045, + -0.0982479453086853, + 0.06962305307388306 + ], + [ + 0.30284079909324646, + -0.07495226711034775, + 0.06612922251224518 + ], + [ + 0.2993941009044647, + -0.04093233495950699, + 0.07685702294111252 + ], + [ + 0.29165777564048767, + -0.00936277024447918, + 0.09018446505069733 + ], + [ + 0.2827742099761963, + 0.0366944894194603, + 0.10584016144275665 + ], + [ + 0.2824416160583496, + 0.07923344522714615, + 0.11627159267663956 + ], + [ + 0.28688865900039673, + 0.12166327238082886, + 0.10616911202669144 + ], + [ + 0.28673258423805237, + 0.16249164938926697, + 0.09642577171325684 + ], + [ + 0.28928273916244507, + 0.19411610066890717, + 0.07641270011663437 + ], + [ + 0.28642311692237854, + 0.2139873206615448, + 0.05266178399324417 + ], + [ + 0.2843230664730072, + 0.2309761345386505, + 0.035005439072847366 + ], + [ + 0.2863750755786896, + 0.24580515921115875, + 0.0186950471252203 + ], + [ + 0.29554131627082825, + 0.2548043727874756, + 0.007794911041855812 + ], + [ + 0.3105396330356598, + 0.2607288062572479, + 0.00947919674217701 + ], + [ + 0.32035496830940247, + 0.2612500488758087, + 0.010177905671298504 + ], + [ + 0.32287660241127014, + 0.25939589738845825, + 0.010349825955927372 + ], + [ + 0.3276679813861847, + 0.2593693435192108, + 0.011865184642374516 + ], + [ + 0.32951924204826355, + 0.25851643085479736, + 0.013622346334159374 + ], + [ + 0.3377423584461212, + 0.2612898349761963, + 0.023384923115372658 + ], + [ + 0.34961485862731934, + 0.26713308691978455, + 0.0302128829061985 + ], + [ + 0.3573106825351715, + 0.26843196153640747, + 0.021388964727520943 + ], + [ + 0.3639633357524872, + 0.2644996643066406, + 0.012968550436198711 + ], + [ + 0.37199151515960693, + 0.2498587816953659, + 0.011307725682854652 + ], + [ + 0.3740334212779999, + 0.23816794157028198, + 0.010589622892439365 + ], + [ + 0.37532663345336914, + 0.228069469332695, + 0.0120865972712636 + ], + [ + 0.3772604167461395, + 0.20152783393859863, + 0.041691865772008896 + ], + [ + 0.36677226424217224, + 0.18344086408615112, + 0.08315002918243408 + ], + [ + 0.3447105884552002, + 0.15610656142234802, + 0.10501200705766678 + ], + [ + 0.3106708526611328, + 0.12179257720708847, + 0.11443930119276047 + ], + [ + 0.27952346205711365, + 0.10079912841320038, + 0.11538784950971603 + ], + [ + 0.25253769755363464, + 0.08344560861587524, + 0.10263942182064056 + ], + [ + 0.23014219105243683, + 0.0738479495048523, + 0.08307357877492905 + ], + [ + 0.22056663036346436, + 0.07042735069990158, + 0.07009035348892212 + ], + [ + 0.2213440090417862, + 0.07290195673704147, + 0.0476345494389534 + ], + [ + 0.2216382771730423, + 0.07426244765520096, + 0.02956407330930233 + ], + [ + 0.21771425008773804, + 0.07876839488744736, + 0.014250616542994976 + ], + [ + 0.21564792096614838, + 0.08258265256881714, + 0.01012916024774313 + ], + [ + 0.2158288061618805, + 0.08024533092975616, + 0.012611796148121357 + ], + [ + 0.2155028134584427, + 0.07955455034971237, + 0.013310042209923267 + ], + [ + 0.21257410943508148, + 0.07904107123613358, + 0.027541933581233025 + ], + [ + 0.20933908224105835, + 0.0788349136710167, + 0.03839336708188057 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9679484589437434, + -0.03318443091260542, + 0.24894693083755584, + -0.022209514304818614, + -0.9986589380275563, + -0.046766045075647106, + 0.25016498216732164, + 0.03973813084028888, + -0.9673873901672193 + ], + [ + 0.9756928702142647, + -0.03259486335367014, + 0.21670486357256874, + -0.024557387020385093, + -0.9989106157228292, + -0.03968017816201213, + 0.21776215868644644, + 0.033393961717555674, + -0.9754304104163584 + ], + [ + 0.9855769988739304, + 0.03956958539592128, + 0.16453640084264595, + 0.050210700057370196, + -0.996872585613315, + -0.0610240415932367, + 0.16160713131048945, + 0.06840537964384945, + -0.9844815077721751 + ], + [ + 0.9655880526726519, + 0.1734916212193664, + 0.19375337391258943, + 0.18617592398796912, + -0.9812859432596043, + -0.049157124492127106, + 0.1815991130569248, + 0.08353774552730295, + -0.9798179459517741 + ], + [ + 0.9318404246079258, + 0.28251848295347304, + 0.22772072777019817, + 0.2955175862375573, + -0.9550249044540069, + -0.024429246753493096, + 0.21057725254843748, + 0.09005963947453563, + -0.9734199926274724 + ], + [ + 0.8476174280320368, + 0.47491966504896543, + 0.23663475536390116, + 0.47514816613407485, + -0.8778653699882117, + 0.059888332710851, + 0.23617560398097942, + 0.061674175513244646, + -0.9697511949768255 + ], + [ + 0.7729353879154371, + 0.5806391688092605, + 0.2557910118680945, + 0.5719999568747343, + -0.812138552851192, + 0.11509570064982388, + 0.2745668141697295, + 0.05735090772832401, + -0.9598562069077964 + ], + [ + 0.7245854097249362, + 0.6549541467926825, + 0.21450186389123868, + 0.6406110633582052, + -0.75484047842119, + 0.14083081211133686, + 0.2541524139504008, + 0.03536831542409486, + -0.9665172697615112 + ], + [ + 0.6691663932115943, + 0.7176646443133619, + 0.19280507384081563, + 0.7046481062533998, + -0.6951924226793991, + 0.14205119430207427, + 0.23598174622136336, + 0.040803844815459185, + -0.9709004386128335 + ], + [ + 0.6623015368630953, + 0.7297724596164972, + 0.1696727186499651, + 0.7158814745051258, + -0.6831940320334574, + 0.1440820219674694, + 0.22106648033826634, + 0.026039811427033162, + -0.9749110418349438 + ], + [ + 0.6613387678297011, + 0.7325820325948678, + 0.16110431305419645, + 0.7225424996807277, + -0.6798556768203474, + 0.12541369482744952, + 0.20140350126206333, + 0.03346377465736998, + -0.9789365686626803 + ], + [ + 0.6585248117167277, + 0.741493638112166, + 0.12857782465352321, + 0.7318251968272014, + -0.670794626551228, + 0.12027655747828052, + 0.17543361605540667, + 0.014891394467357141, + -0.9843786328077937 + ], + [ + 0.6416992667326609, + 0.7568372694319374, + 0.12417487134510773, + 0.7501404710866955, + -0.6530666451751725, + 0.10389047404587076, + 0.15972264934127456, + 0.02648215547220511, + -0.986806653164109 + ], + [ + 0.6413895853685503, + 0.7516197766560813, + 0.15390617635501624, + 0.7499550824426917, + -0.6565274118688428, + 0.08086489833774661, + 0.16182328046092237, + 0.06355681556104838, + -0.9847709160493135 + ], + [ + 0.634653097460107, + 0.746384534111482, + 0.20031368681015846, + 0.7505357833237932, + -0.6570713310220416, + 0.07037971227181145, + 0.1841507095691793, + 0.10567588744888304, + -0.9772006564554995 + ], + [ + 0.6365301698070466, + 0.7402536694619053, + 0.21645749645968926, + 0.7486093160596872, + -0.6605168225033046, + 0.05745971718330331, + 0.18550858425975786, + 0.1254672548449272, + -0.9745996783949901 + ], + [ + 0.6408310412164736, + 0.7354011517974329, + 0.22027419855357389, + 0.7445968392692254, + -0.6652606212932808, + 0.05480741470601823, + 0.18684518608647538, + 0.12889317938311218, + -0.9738970298470077 + ], + [ + 0.640933904772301, + 0.7293945659494467, + 0.23913865617408891, + 0.7431154279316663, + -0.6676647741337733, + 0.044757235737182176, + 0.19231014139474623, + 0.14902119494996513, + -0.9699533457710309 + ], + [ + 0.6463959971805612, + 0.7230859901289461, + 0.24355464624636, + 0.7386041231470528, + -0.6730675859841952, + 0.03799965746663102, + 0.19140575774809185, + 0.15532763944852063, + -0.9691424871112757 + ], + [ + 0.648911582166422, + 0.7139598666770074, + 0.2630115345471003, + 0.7315308416993315, + -0.6804905015717377, + 0.0423710386149796, + 0.2092280721436259, + 0.16490599153819213, + -0.9638618302339123 + ], + [ + 0.6589545656756219, + 0.7003394130062368, + 0.27441499041658063, + 0.7162772249646427, + -0.6956207993958203, + 0.055304976673625154, + 0.22962102989970848, + 0.16011374094061837, + -0.9600196730222759 + ], + [ + 0.6627735351915311, + 0.7022867522150207, + 0.2598548801023336, + 0.7200606902508377, + -0.69296319657825, + 0.03625755843325314, + 0.20553307131750667, + 0.1630807341513143, + -0.9649667511077576 + ], + [ + 0.6795426515962223, + 0.6965462215494928, + 0.2303153184369206, + 0.7112894639486537, + -0.7024286777907474, + 0.025714802989318213, + 0.1796916334647003, + 0.14634655398152493, + -0.9727762348045517 + ], + [ + 0.7007121638921242, + 0.6810523745454778, + 0.21253264807926156, + 0.6921966654890482, + -0.7211376390201762, + 0.028710309546377558, + 0.1728185165410808, + 0.1269967271797673, + -0.9767320981856633 + ], + [ + 0.7182666129739571, + 0.6685556863340605, + 0.19268203589674177, + 0.6811565704154099, + -0.7321368698438611, + 0.0011534275661229804, + 0.14184075319468892, + 0.13041816624085356, + -0.9812605681711339 + ], + [ + 0.7330326230458005, + 0.658706058168237, + 0.16961574951358765, + 0.6691047729898884, + -0.7431465092345675, + -0.005662912203672259, + 0.12231915758679372, + 0.1176418069605348, + -0.9854940024892678 + ], + [ + 0.7547793048878273, + 0.6272736364178074, + 0.1919270329271729, + 0.6403864293332985, + -0.7680076629730251, + -0.008333711085713784, + 0.14217391476215385, + 0.1291975799691777, + -0.9813738142478182 + ], + [ + 0.739858755531533, + 0.627533773684846, + 0.24250852510414567, + 0.6459162728551581, + -0.7633930617583506, + 0.004816816387635925, + 0.18815204044663575, + 0.15307643889269107, + -0.9701373168431879 + ], + [ + 0.7383550426311691, + 0.6201343674374374, + 0.2650758331951323, + 0.6396154602173504, + -0.7685219725731733, + 0.016310754831871485, + 0.2138314618386903, + 0.15750347296236916, + -0.9640896026473477 + ], + [ + 0.7654765407445657, + 0.5798296110866555, + 0.2790040997491458, + 0.6012383198895744, + -0.7989951183428367, + 0.010921701363732536, + 0.22925563955134293, + 0.15938764999652444, + -0.9602278004528355 + ], + [ + 0.7953409220546689, + 0.5302311790719685, + 0.29374770542964057, + 0.557257093763206, + -0.8302784565810549, + -0.010110192281375233, + 0.23853165231435047, + 0.17173404227855082, + -0.955829519091587 + ], + [ + 0.8160580105303363, + 0.5142383934980599, + 0.263833656120298, + 0.5276477931531016, + -0.8491511247832995, + 0.023025500209958, + 0.23587524208769936, + 0.1204211025185854, + -0.9642933310141044 + ], + [ + 0.8404428683479878, + 0.49926648102789756, + 0.21068641618534967, + 0.5013491414753624, + -0.8639463802873619, + 0.04738871522083702, + 0.20568136372779006, + 0.06579994612751973, + -0.9764043955783338 + ], + [ + 0.8563818347586956, + 0.4818470250412664, + 0.1855629207417556, + 0.47952831087356984, + -0.8754568171964869, + 0.060232551788359796, + 0.19147519987212655, + 0.03740061073134648, + -0.9807846053802287 + ], + [ + 0.8716102568165385, + 0.46988205157202406, + 0.13966537803863208, + 0.46528092625820955, + -0.8826978314413689, + 0.06601664963482815, + 0.15430236509046405, + 0.00744284751763773, + -0.987995639741552 + ], + [ + 0.8930212364150947, + 0.4387855547263681, + 0.09990149285735958, + 0.4346004783561828, + -0.8985175825486837, + 0.0615514261690681, + 0.11677112453099298, + -0.011549494116308345, + -0.99309169448819 + ], + [ + 0.891038139555157, + 0.437973929397512, + 0.11928902307500085, + 0.4394162334760231, + -0.8981524596303502, + 0.015347084990239212, + 0.11386135259968623, + 0.03874269515735365, + -0.9927409510824636 + ], + [ + 0.8886128588970378, + 0.4455234118301478, + 0.10897741286183008, + 0.44679385258938903, + -0.8945300150586354, + 0.013831321250295932, + 0.10364574420189465, + 0.03639974821921268, + -0.9939479956408249 + ], + [ + 0.9007526618073985, + 0.42410580714441504, + 0.09369581950797316, + 0.4271586027877652, + -0.9040625741313288, + -0.014366284120812763, + 0.07861405924699931, + 0.0529634440101839, + -0.9954972141032287 + ], + [ + 0.902096099255283, + 0.42110186384036796, + 0.09431780308388986, + 0.4247852789514407, + -0.9050228027870345, + -0.0221628793627505, + 0.07602693269197412, + 0.06005786131447983, + -0.995295412829669 + ], + [ + 0.8958976624263447, + 0.42661980455560966, + 0.12394725015080012, + 0.43102547400863833, + -0.9022859263384456, + -0.00985636277751285, + 0.107630939857646, + 0.062254714620715676, + -0.9922398557268567 + ], + [ + 0.8943475183157891, + 0.4289807291719189, + 0.12695688434078087, + 0.43239090786594825, + -0.901685923767112, + 0.0007730945033721549, + 0.11480687817918678, + 0.05420358732942797, + -0.9919079351650387 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.004147320985794067, + 0.00033430755138397217, + -0.009728193283081055, + 0.006832964718341827, + 0.03332963585853577, + -0.0022229552268981934, + 1.0 + ], + [ + -0.002871572971343994, + 0.023295678198337555, + -0.0034938305616378784, + -0.035150423645973206, + 0.057202041149139404, + 0.07606534659862518, + 1.0 + ], + [ + -0.0034466981887817383, + 0.03401993215084076, + 0.01072780042886734, + -0.01568058878183365, + -0.020293384790420532, + 0.13957205414772034, + 1.0 + ], + [ + -0.007736325263977051, + 0.03156956285238266, + 0.013327442109584808, + -0.00720340758562088, + -0.02955305576324463, + 0.1166267991065979, + 1.0 + ], + [ + -0.008883565664291382, + 0.046057261526584625, + 0.015655696392059326, + 0.02874375879764557, + -0.026262804865837097, + 0.20382115244865417, + 1.0 + ], + [ + -0.0003325939178466797, + 0.04253895580768585, + 0.010431431233882904, + 0.0038338713347911835, + -0.03971095383167267, + 0.12617206573486328, + 1.0 + ], + [ + 0.004447042942047119, + 0.04242982715368271, + -0.01010248064994812, + 0.023101281374692917, + 0.02116793394088745, + 0.0868712067604065, + 1.0 + ], + [ + -0.00015607476234436035, + 0.04082837700843811, + -0.0097433403134346, + -0.0054248422384262085, + 0.01874251663684845, + 0.08725482225418091, + 1.0 + ], + [ + 0.0025501549243927, + 0.0316244512796402, + -0.020013071596622467, + 0.015298502519726753, + 0.015320852398872375, + 0.013036251068115234, + 1.0 + ], + [ + -0.0028596222400665283, + 0.019871219992637634, + -0.023750916123390198, + -0.007466910406947136, + 0.020117297768592834, + 0.005339682102203369, + 1.0 + ], + [ + -0.002100050449371338, + 0.016988813877105713, + -0.017656344920396805, + 0.0190439410507679, + 0.02644437551498413, + 0.00847470760345459, + 1.0 + ], + [ + 0.002052009105682373, + 0.01482902467250824, + -0.016310391947627068, + -0.011703219264745712, + 0.015936508774757385, + 0.02508300542831421, + 1.0 + ], + [ + 0.009166240692138672, + 0.008999213576316833, + -0.010900136083364487, + -0.037620533257722855, + -0.002128317952156067, + 0.0001163482666015625, + 1.0 + ], + [ + 0.014998316764831543, + 0.005924433469772339, + 0.0016842857003211975, + -0.043272510170936584, + -0.022669717669487, + 0.005592644214630127, + 1.0 + ], + [ + 0.009815335273742676, + 0.000521242618560791, + 0.0006987089291214943, + -0.020310193300247192, + -0.0013816803693771362, + -0.0027245283126831055, + 1.0 + ], + [ + 0.0025216341018676758, + -0.0018541514873504639, + 0.0001719202846288681, + -0.003550127148628235, + -0.001360386610031128, + -0.005981087684631348, + 1.0 + ], + [ + 0.004791378974914551, + -2.6553869247436523e-05, + 0.0015153586864471436, + -0.020862340927124023, + -0.00556589663028717, + -0.0010641813278198242, + 1.0 + ], + [ + 0.0018512606620788574, + -0.0008529126644134521, + 0.0017571616917848587, + -0.006476223468780518, + 0.0009215027093887329, + -0.007216095924377441, + 1.0 + ], + [ + 0.008223116397857666, + 0.0027734041213989258, + 0.009762576781213284, + -0.010526508092880249, + -0.01819130778312683, + -0.006699621677398682, + 1.0 + ], + [ + 0.01187250018119812, + 0.005843251943588257, + 0.006827959790825844, + 0.004187583923339844, + -0.02090279757976532, + -0.01812046766281128, + 1.0 + ], + [ + 0.007695823907852173, + 0.0012988746166229248, + -0.008823918178677559, + -0.002158820629119873, + 0.024679914116859436, + -0.0002543926239013672, + 1.0 + ], + [ + 0.006652653217315674, + -0.003932297229766846, + -0.008420414291322231, + 0.018097102642059326, + 0.026335403323173523, + -0.018581867218017578, + 0.0 + ], + [ + 0.008028179407119751, + -0.01464088261127472, + -0.001660824753344059, + 0.020025640726089478, + 0.00698244571685791, + -0.02893519401550293, + 0.0 + ], + [ + 0.0020419061183929443, + -0.011690840125083923, + -0.000718102790415287, + -0.0028376877307891846, + 0.031369805335998535, + -0.020398497581481934, + 0.0 + ], + [ + 0.0012932121753692627, + -0.010098472237586975, + 0.001496974378824234, + 0.013323180377483368, + 0.01969446986913681, + -0.01904970407485962, + 0.0 + ], + [ + 0.0019337832927703857, + -0.026541635394096375, + 0.02960526943206787, + -0.012085743248462677, + -0.020031042397022247, + -0.03624773025512695, + 0.0 + ], + [ + -0.010488152503967285, + -0.01808696985244751, + 0.041458163410425186, + -0.02560119330883026, + -0.04662294685840607, + 0.014122307300567627, + 0.0 + ], + [ + -0.022061675786972046, + -0.0273343026638031, + 0.021861977875232697, + -0.005441412329673767, + -0.02621522545814514, + -0.0038465261459350586, + 0.0 + ], + [ + -0.03403973579406738, + -0.03431398421525955, + 0.009427294135093689, + -0.002550095319747925, + -0.015817418694496155, + -0.048063039779663086, + 0.0 + ], + [ + -0.031147390604019165, + -0.020993448793888092, + 0.0009485483169555664, + -0.013283774256706238, + -0.00954069197177887, + -0.05463826656341553, + 0.0 + ], + [ + -0.026985764503479004, + -0.017353519797325134, + -0.01274842768907547, + 0.05353643745183945, + 0.002734452486038208, + -0.03719520568847656, + 0.0 + ], + [ + -0.022395506501197815, + -0.00959765911102295, + -0.019565843045711517, + 0.05694867670536041, + 0.030959218740463257, + -0.03610420227050781, + 0.0 + ], + [ + -0.009575560688972473, + -0.003420598804950714, + -0.012983225286006927, + 0.02917342633008957, + 0.014494970440864563, + -0.02741605043411255, + 0.0 + ], + [ + 0.0007773786783218384, + 0.0024746060371398926, + -0.02245580404996872, + 0.030581753700971603, + 0.03774361312389374, + -0.02011355757713318, + 0.0 + ], + [ + 0.0002942681312561035, + 0.0013604909181594849, + -0.01807047612965107, + 0.01916244998574257, + 0.03788318485021591, + -0.03741303086280823, + 0.0 + ], + [ + -0.00392402708530426, + 0.004505947232246399, + -0.015313456766307354, + -0.050635505467653275, + 0.002929314970970154, + 0.005232036113739014, + 0.0 + ], + [ + -0.0020663291215896606, + 0.0038142576813697815, + -0.004121456295251846, + 0.002401169389486313, + 0.010276608169078827, + 0.0077311694622039795, + 1.0 + ], + [ + 0.0001808851957321167, + -0.002337321639060974, + 0.0024826359003782272, + -0.01654786989092827, + 0.025136955082416534, + -0.023069411516189575, + 1.0 + ], + [ + -0.0003259927034378052, + -0.0006907805800437927, + 0.0006982460618019104, + -0.007115773856639862, + 0.002594895660877228, + -0.0027279555797576904, + 1.0 + ], + [ + -0.002928704023361206, + -0.0005134791135787964, + 0.014231891371309757, + -0.002390798181295395, + -0.03173947334289551, + 0.008334755897521973, + 1.0 + ], + [ + -0.0032350271940231323, + -0.00020615756511688232, + 0.010851433500647545, + 0.00806797668337822, + -0.007220752537250519, + 0.0019151568412780762, + 1.0 + ], + [ + 9.219348430633545e-05, + -0.0017926767468452454, + 0.026268627494573593, + -0.006236135959625244, + -0.04671376198530197, + 0.003586024045944214, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9643021821975708 + ], + [ + 0.6892001032829285 + ], + [ + 0.41037410497665405 + ], + [ + 0.2610139548778534 + ], + [ + 0.20382753014564514 + ], + [ + 0.17844799160957336 + ], + [ + 0.17081251740455627 + ], + [ + 0.17081251740455627 + ], + [ + 0.17027510702610016 + ], + [ + 0.17027510702610016 + ], + [ + 0.17027510702610016 + ], + [ + 0.17027510702610016 + ], + [ + 0.17027510702610016 + ], + [ + 0.17027510702610016 + ], + [ + 0.17027510702610016 + ], + [ + 0.19905558228492737 + ], + [ + 0.45408597588539124 + ], + [ + 0.7768828272819519 + ], + [ + 0.9961419701576233 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.30571237206459045, + -0.0982479453086853, + 0.06962305307388306 + ], + [ + 0.30284079909324646, + -0.07495226711034775, + 0.06612922251224518 + ], + [ + 0.2993941009044647, + -0.04093233495950699, + 0.07685702294111252 + ], + [ + 0.29165777564048767, + -0.00936277024447918, + 0.09018446505069733 + ], + [ + 0.2827742099761963, + 0.0366944894194603, + 0.10584016144275665 + ], + [ + 0.2824416160583496, + 0.07923344522714615, + 0.11627159267663956 + ], + [ + 0.28688865900039673, + 0.12166327238082886, + 0.10616911202669144 + ], + [ + 0.28673258423805237, + 0.16249164938926697, + 0.09642577171325684 + ], + [ + 0.28928273916244507, + 0.19411610066890717, + 0.07641270011663437 + ], + [ + 0.28642311692237854, + 0.2139873206615448, + 0.05266178399324417 + ], + [ + 0.2843230664730072, + 0.2309761345386505, + 0.035005439072847366 + ], + [ + 0.2863750755786896, + 0.24580515921115875, + 0.0186950471252203 + ], + [ + 0.29554131627082825, + 0.2548043727874756, + 0.007794911041855812 + ], + [ + 0.3105396330356598, + 0.2607288062572479, + 0.00947919674217701 + ], + [ + 0.32035496830940247, + 0.2612500488758087, + 0.010177905671298504 + ], + [ + 0.32287660241127014, + 0.25939589738845825, + 0.010349825955927372 + ], + [ + 0.3276679813861847, + 0.2593693435192108, + 0.011865184642374516 + ], + [ + 0.32951924204826355, + 0.25851643085479736, + 0.013622346334159374 + ], + [ + 0.3377423584461212, + 0.2612898349761963, + 0.023384923115372658 + ], + [ + 0.34961485862731934, + 0.26713308691978455, + 0.0302128829061985 + ], + [ + 0.3573106825351715, + 0.26843196153640747, + 0.021388964727520943 + ], + [ + 0.3639633357524872, + 0.2644996643066406, + 0.012968550436198711 + ], + [ + 0.37199151515960693, + 0.2498587816953659, + 0.011307725682854652 + ], + [ + 0.3740334212779999, + 0.23816794157028198, + 0.010589622892439365 + ], + [ + 0.37532663345336914, + 0.228069469332695, + 0.0120865972712636 + ], + [ + 0.3772604167461395, + 0.20152783393859863, + 0.041691865772008896 + ], + [ + 0.36677226424217224, + 0.18344086408615112, + 0.08315002918243408 + ], + [ + 0.3447105884552002, + 0.15610656142234802, + 0.10501200705766678 + ], + [ + 0.3106708526611328, + 0.12179257720708847, + 0.11443930119276047 + ], + [ + 0.27952346205711365, + 0.10079912841320038, + 0.11538784950971603 + ], + [ + 0.25253769755363464, + 0.08344560861587524, + 0.10263942182064056 + ], + [ + 0.23014219105243683, + 0.0738479495048523, + 0.08307357877492905 + ], + [ + 0.22056663036346436, + 0.07042735069990158, + 0.07009035348892212 + ], + [ + 0.2213440090417862, + 0.07290195673704147, + 0.0476345494389534 + ], + [ + 0.2216382771730423, + 0.07426244765520096, + 0.02956407330930233 + ], + [ + 0.21771425008773804, + 0.07876839488744736, + 0.014250616542994976 + ], + [ + 0.21564792096614838, + 0.08258265256881714, + 0.01012916024774313 + ], + [ + 0.2158288061618805, + 0.08024533092975616, + 0.012611796148121357 + ], + [ + 0.2155028134584427, + 0.07955455034971237, + 0.013310042209923267 + ], + [ + 0.21257410943508148, + 0.07904107123613358, + 0.027541933581233025 + ], + [ + 0.20933908224105835, + 0.0788349136710167, + 0.03839336708188057 + ], + [ + 0.20943127572536469, + 0.07704223692417145, + 0.06466199457645416 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9756928702142647, + -0.03259486335367014, + 0.21670486357256874, + -0.024557387020385093, + -0.9989106157228292, + -0.03968017816201213, + 0.21776215868644644, + 0.033393961717555674, + -0.9754304104163584 + ], + [ + 0.9855769988739304, + 0.03956958539592128, + 0.16453640084264595, + 0.050210700057370196, + -0.996872585613315, + -0.0610240415932367, + 0.16160713131048945, + 0.06840537964384945, + -0.9844815077721751 + ], + [ + 0.9655880526726519, + 0.1734916212193664, + 0.19375337391258943, + 0.18617592398796912, + -0.9812859432596043, + -0.049157124492127106, + 0.1815991130569248, + 0.08353774552730295, + -0.9798179459517741 + ], + [ + 0.9318404246079258, + 0.28251848295347304, + 0.22772072777019817, + 0.2955175862375573, + -0.9550249044540069, + -0.024429246753493096, + 0.21057725254843748, + 0.09005963947453563, + -0.9734199926274724 + ], + [ + 0.8476174280320368, + 0.47491966504896543, + 0.23663475536390116, + 0.47514816613407485, + -0.8778653699882117, + 0.059888332710851, + 0.23617560398097942, + 0.061674175513244646, + -0.9697511949768255 + ], + [ + 0.7729353879154371, + 0.5806391688092605, + 0.2557910118680945, + 0.5719999568747343, + -0.812138552851192, + 0.11509570064982388, + 0.2745668141697295, + 0.05735090772832401, + -0.9598562069077964 + ], + [ + 0.7245854097249362, + 0.6549541467926825, + 0.21450186389123868, + 0.6406110633582052, + -0.75484047842119, + 0.14083081211133686, + 0.2541524139504008, + 0.03536831542409486, + -0.9665172697615112 + ], + [ + 0.6691663932115943, + 0.7176646443133619, + 0.19280507384081563, + 0.7046481062533998, + -0.6951924226793991, + 0.14205119430207427, + 0.23598174622136336, + 0.040803844815459185, + -0.9709004386128335 + ], + [ + 0.6623015368630953, + 0.7297724596164972, + 0.1696727186499651, + 0.7158814745051258, + -0.6831940320334574, + 0.1440820219674694, + 0.22106648033826634, + 0.026039811427033162, + -0.9749110418349438 + ], + [ + 0.6613387678297011, + 0.7325820325948678, + 0.16110431305419645, + 0.7225424996807277, + -0.6798556768203474, + 0.12541369482744952, + 0.20140350126206333, + 0.03346377465736998, + -0.9789365686626803 + ], + [ + 0.6585248117167277, + 0.741493638112166, + 0.12857782465352321, + 0.7318251968272014, + -0.670794626551228, + 0.12027655747828052, + 0.17543361605540667, + 0.014891394467357141, + -0.9843786328077937 + ], + [ + 0.6416992667326609, + 0.7568372694319374, + 0.12417487134510773, + 0.7501404710866955, + -0.6530666451751725, + 0.10389047404587076, + 0.15972264934127456, + 0.02648215547220511, + -0.986806653164109 + ], + [ + 0.6413895853685503, + 0.7516197766560813, + 0.15390617635501624, + 0.7499550824426917, + -0.6565274118688428, + 0.08086489833774661, + 0.16182328046092237, + 0.06355681556104838, + -0.9847709160493135 + ], + [ + 0.634653097460107, + 0.746384534111482, + 0.20031368681015846, + 0.7505357833237932, + -0.6570713310220416, + 0.07037971227181145, + 0.1841507095691793, + 0.10567588744888304, + -0.9772006564554995 + ], + [ + 0.6365301698070466, + 0.7402536694619053, + 0.21645749645968926, + 0.7486093160596872, + -0.6605168225033046, + 0.05745971718330331, + 0.18550858425975786, + 0.1254672548449272, + -0.9745996783949901 + ], + [ + 0.6408310412164736, + 0.7354011517974329, + 0.22027419855357389, + 0.7445968392692254, + -0.6652606212932808, + 0.05480741470601823, + 0.18684518608647538, + 0.12889317938311218, + -0.9738970298470077 + ], + [ + 0.640933904772301, + 0.7293945659494467, + 0.23913865617408891, + 0.7431154279316663, + -0.6676647741337733, + 0.044757235737182176, + 0.19231014139474623, + 0.14902119494996513, + -0.9699533457710309 + ], + [ + 0.6463959971805612, + 0.7230859901289461, + 0.24355464624636, + 0.7386041231470528, + -0.6730675859841952, + 0.03799965746663102, + 0.19140575774809185, + 0.15532763944852063, + -0.9691424871112757 + ], + [ + 0.648911582166422, + 0.7139598666770074, + 0.2630115345471003, + 0.7315308416993315, + -0.6804905015717377, + 0.0423710386149796, + 0.2092280721436259, + 0.16490599153819213, + -0.9638618302339123 + ], + [ + 0.6589545656756219, + 0.7003394130062368, + 0.27441499041658063, + 0.7162772249646427, + -0.6956207993958203, + 0.055304976673625154, + 0.22962102989970848, + 0.16011374094061837, + -0.9600196730222759 + ], + [ + 0.6627735351915311, + 0.7022867522150207, + 0.2598548801023336, + 0.7200606902508377, + -0.69296319657825, + 0.03625755843325314, + 0.20553307131750667, + 0.1630807341513143, + -0.9649667511077576 + ], + [ + 0.6795426515962223, + 0.6965462215494928, + 0.2303153184369206, + 0.7112894639486537, + -0.7024286777907474, + 0.025714802989318213, + 0.1796916334647003, + 0.14634655398152493, + -0.9727762348045517 + ], + [ + 0.7007121638921242, + 0.6810523745454778, + 0.21253264807926156, + 0.6921966654890482, + -0.7211376390201762, + 0.028710309546377558, + 0.1728185165410808, + 0.1269967271797673, + -0.9767320981856633 + ], + [ + 0.7182666129739571, + 0.6685556863340605, + 0.19268203589674177, + 0.6811565704154099, + -0.7321368698438611, + 0.0011534275661229804, + 0.14184075319468892, + 0.13041816624085356, + -0.9812605681711339 + ], + [ + 0.7330326230458005, + 0.658706058168237, + 0.16961574951358765, + 0.6691047729898884, + -0.7431465092345675, + -0.005662912203672259, + 0.12231915758679372, + 0.1176418069605348, + -0.9854940024892678 + ], + [ + 0.7547793048878273, + 0.6272736364178074, + 0.1919270329271729, + 0.6403864293332985, + -0.7680076629730251, + -0.008333711085713784, + 0.14217391476215385, + 0.1291975799691777, + -0.9813738142478182 + ], + [ + 0.739858755531533, + 0.627533773684846, + 0.24250852510414567, + 0.6459162728551581, + -0.7633930617583506, + 0.004816816387635925, + 0.18815204044663575, + 0.15307643889269107, + -0.9701373168431879 + ], + [ + 0.7383550426311691, + 0.6201343674374374, + 0.2650758331951323, + 0.6396154602173504, + -0.7685219725731733, + 0.016310754831871485, + 0.2138314618386903, + 0.15750347296236916, + -0.9640896026473477 + ], + [ + 0.7654765407445657, + 0.5798296110866555, + 0.2790040997491458, + 0.6012383198895744, + -0.7989951183428367, + 0.010921701363732536, + 0.22925563955134293, + 0.15938764999652444, + -0.9602278004528355 + ], + [ + 0.7953409220546689, + 0.5302311790719685, + 0.29374770542964057, + 0.557257093763206, + -0.8302784565810549, + -0.010110192281375233, + 0.23853165231435047, + 0.17173404227855082, + -0.955829519091587 + ], + [ + 0.8160580105303363, + 0.5142383934980599, + 0.263833656120298, + 0.5276477931531016, + -0.8491511247832995, + 0.023025500209958, + 0.23587524208769936, + 0.1204211025185854, + -0.9642933310141044 + ], + [ + 0.8404428683479878, + 0.49926648102789756, + 0.21068641618534967, + 0.5013491414753624, + -0.8639463802873619, + 0.04738871522083702, + 0.20568136372779006, + 0.06579994612751973, + -0.9764043955783338 + ], + [ + 0.8563818347586956, + 0.4818470250412664, + 0.1855629207417556, + 0.47952831087356984, + -0.8754568171964869, + 0.060232551788359796, + 0.19147519987212655, + 0.03740061073134648, + -0.9807846053802287 + ], + [ + 0.8716102568165385, + 0.46988205157202406, + 0.13966537803863208, + 0.46528092625820955, + -0.8826978314413689, + 0.06601664963482815, + 0.15430236509046405, + 0.00744284751763773, + -0.987995639741552 + ], + [ + 0.8930212364150947, + 0.4387855547263681, + 0.09990149285735958, + 0.4346004783561828, + -0.8985175825486837, + 0.0615514261690681, + 0.11677112453099298, + -0.011549494116308345, + -0.99309169448819 + ], + [ + 0.891038139555157, + 0.437973929397512, + 0.11928902307500085, + 0.4394162334760231, + -0.8981524596303502, + 0.015347084990239212, + 0.11386135259968623, + 0.03874269515735365, + -0.9927409510824636 + ], + [ + 0.8886128588970378, + 0.4455234118301478, + 0.10897741286183008, + 0.44679385258938903, + -0.8945300150586354, + 0.013831321250295932, + 0.10364574420189465, + 0.03639974821921268, + -0.9939479956408249 + ], + [ + 0.9007526618073985, + 0.42410580714441504, + 0.09369581950797316, + 0.4271586027877652, + -0.9040625741313288, + -0.014366284120812763, + 0.07861405924699931, + 0.0529634440101839, + -0.9954972141032287 + ], + [ + 0.902096099255283, + 0.42110186384036796, + 0.09431780308388986, + 0.4247852789514407, + -0.9050228027870345, + -0.0221628793627505, + 0.07602693269197412, + 0.06005786131447983, + -0.995295412829669 + ], + [ + 0.8958976624263447, + 0.42661980455560966, + 0.12394725015080012, + 0.43102547400863833, + -0.9022859263384456, + -0.00985636277751285, + 0.107630939857646, + 0.062254714620715676, + -0.9922398557268567 + ], + [ + 0.8943475183157891, + 0.4289807291719189, + 0.12695688434078087, + 0.43239090786594825, + -0.901685923767112, + 0.0007730945033721549, + 0.11480687817918678, + 0.05420358732942797, + -0.9919079351650387 + ], + [ + 0.8869990590642116, + 0.4288838081231437, + 0.17114715407798492, + 0.43276926770064567, + -0.9013651383993587, + 0.015863423720990616, + 0.16106964379748873, + 0.05999638662532354, + -0.9851177612036313 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006412.json b/json/chunk-0006/episode_0006412.json new file mode 100644 index 0000000000000000000000000000000000000000..508450e9dea2ea90526252487cf50b3a474b4da8 --- /dev/null +++ b/json/chunk-0006/episode_0006412.json @@ -0,0 +1,2062 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 33, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut the silver pot on top of the blue cloth." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006412.mp4", + "start": 0, + "end": 33, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.28875628113746643, + 0.006105122622102499, + 0.09713046997785568, + -0.020800601691007614, + -0.1066121831536293, + -0.08741401135921478, + 0.0, + 0.9994885921478271 + ], + [ + 0.28615349531173706, + 0.0060163638554513454, + 0.08758073300123215, + -0.024389319121837616, + -0.07624105364084244, + -0.08997645229101181, + 0.0, + 0.9994885921478271 + ], + [ + 0.30046403408050537, + 0.004390196409076452, + 0.07571101188659668, + -0.03383369743824005, + -0.09882117807865143, + -0.10692115128040314, + 0.0, + 0.9994885921478271 + ], + [ + 0.3196057081222534, + -0.0015574403805658221, + 0.06648704409599304, + -0.05317099764943123, + -0.1301102489233017, + -0.06953222304582596, + 0.0, + 0.9994885921478271 + ], + [ + 0.335830956697464, + -0.014340576715767384, + 0.05073923245072365, + -0.0863758847117424, + -0.12416847050189972, + -0.05991172790527344, + 0.0, + 0.9994885921478271 + ], + [ + 0.3371428847312927, + -0.022170742973685265, + 0.03463609144091606, + -0.1154821440577507, + -0.09691934287548065, + -0.06312283873558044, + 0.0, + 0.9994885921478271 + ], + [ + 0.3376705050468445, + -0.028537360951304436, + 0.019142650067806244, + -0.14472337067127228, + -0.08757984638214111, + -0.051785361021757126, + 0.0, + 0.9994885921478271 + ], + [ + 0.33772116899490356, + -0.03222622722387314, + 0.00213169539347291, + -0.16668623685836792, + -0.06962420046329498, + -0.03696388006210327, + 0.0, + 0.9994885921478271 + ], + [ + 0.3412477672100067, + -0.03459938243031502, + -0.0161005686968565, + -0.17554019391536713, + -0.03131472319364548, + -0.04042751342058182, + 0.0, + 0.9994885921478271 + ], + [ + 0.34426358342170715, + -0.03991485387086868, + -0.03580942377448082, + -0.17591509222984314, + 0.006696670316159725, + -0.04039068892598152, + 0.0, + 0.9994885921478271 + ], + [ + 0.34836235642433167, + -0.037490617483854294, + -0.03845469653606415, + -0.1560254991054535, + 0.0017244273331016302, + -0.025685060769319534, + 0.0, + 0.9499720335006714 + ], + [ + 0.35022875666618347, + -0.036227982491254807, + -0.03984420746564865, + -0.10004796832799911, + -0.012568713165819645, + -0.024547070264816284, + 0.0, + 0.6591242551803589 + ], + [ + 0.34858939051628113, + -0.03213713318109512, + -0.04161103069782257, + -0.06499556452035904, + -0.0212751105427742, + -0.02490522339940071, + 0.0, + 0.36191558837890625 + ], + [ + 0.3467223048210144, + -0.03002895414829254, + -0.03853563964366913, + -0.035505034029483795, + -0.05081081762909889, + -0.05569227784872055, + 0.0, + 0.1602664440870285 + ], + [ + 0.34968000650405884, + -0.028022782877087593, + -0.036294423043727875, + -0.00844274926930666, + -0.07703849673271179, + -0.10355563461780548, + 0.0, + 0.07238461822271347 + ], + [ + 0.35531818866729736, + -0.025843864306807518, + -0.022647464647889137, + 0.017656581476330757, + -0.09190107136964798, + -0.09683990478515625, + 0.0, + 0.061804234981536865 + ], + [ + 0.35775288939476013, + -0.029505418613553047, + 0.012013901956379414, + 0.07053983211517334, + -0.1419714093208313, + -0.017115019261837006, + 0.0, + 0.0609428733587265 + ], + [ + 0.34242382645606995, + -0.03228286653757095, + 0.04260073974728584, + 0.09522917866706848, + -0.1849678009748459, + 0.10044675320386887, + 0.0, + 0.0609428733587265 + ], + [ + 0.3017643094062805, + -0.037233248353004456, + 0.05275215581059456, + 0.10425421595573425, + -0.15105067193508148, + 0.21154473721981049, + 0.0, + 0.0609428733587265 + ], + [ + 0.2637055218219757, + -0.036639291793107986, + 0.038233526051044464, + 0.08910660445690155, + -0.08973538130521774, + 0.2914525270462036, + 0.0, + 0.0609428733587265 + ], + [ + 0.23751172423362732, + -0.03883052617311478, + 0.01870456337928772, + 0.06409598886966705, + -0.04921969026327133, + 0.30209988355636597, + 0.0, + 0.06065736711025238 + ], + [ + 0.23417550325393677, + -0.04651651903986931, + 0.008374739438295364, + 0.037881191819906235, + -0.047214873135089874, + 0.2653135359287262, + 0.0, + 0.0609428733587265 + ], + [ + 0.23698550462722778, + -0.04979913681745529, + -0.0028302890714257956, + 0.03198482096195221, + -0.025191541761159897, + 0.2190544456243515, + 0.0, + 0.06065736711025238 + ], + [ + 0.24969294667243958, + -0.053139377385377884, + -0.014115186408162117, + 0.02608976513147354, + -0.009982542134821415, + 0.17495417594909668, + 0.0, + 0.06065736711025238 + ], + [ + 0.2552758753299713, + -0.05170414224267006, + -0.024537626653909683, + 0.007421351037919521, + 0.013546586968004704, + 0.18164974451065063, + 0.0, + 0.06065736711025238 + ], + [ + 0.25701433420181274, + -0.05053875222802162, + -0.03088443912565708, + -0.03289763629436493, + 0.02383333258330822, + 0.21751467883586884, + 0.0, + 0.06065736711025238 + ], + [ + 0.2530088722705841, + -0.05127423629164696, + -0.03429849073290825, + -0.05842312052845955, + 0.024441076442599297, + 0.23529380559921265, + 0.0, + 0.08641935139894485 + ], + [ + 0.24372506141662598, + -0.043865591287612915, + -0.034818295389413834, + -0.05069771409034729, + 0.04732848331332207, + 0.2548081874847412, + 0.0, + 0.24590691924095154 + ], + [ + 0.2532842755317688, + -0.037528373301029205, + -0.015519616194069386, + -0.021663490682840347, + -0.007978896610438824, + 0.24907253682613373, + 0.0, + 0.5110665559768677 + ], + [ + 0.26492786407470703, + -0.034197356551885605, + 0.006415957119315863, + 0.023036755621433258, + -0.04625306278467178, + 0.18564416468143463, + 0.0, + 0.8261235952377319 + ], + [ + 0.28252896666526794, + -0.032151248306035995, + 0.041689660400152206, + 0.07322242856025696, + -0.10839075595140457, + 0.13358408212661743, + 0.0, + 1.0131081342697144 + ], + [ + 0.2919645607471466, + -0.032405659556388855, + 0.05994655191898346, + 0.08121015876531601, + -0.12929807603359222, + 0.10767149180173874, + 0.0, + 1.00800359249115 + ], + [ + 0.29883572459220886, + -0.03581240028142929, + 0.06493085622787476, + 0.046550996601581573, + -0.14808394014835358, + 0.09247379750013351, + 0.0, + 1.0047606229782104 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9499720335006714 + ], + [ + 0.6591242551803589 + ], + [ + 0.36191558837890625 + ], + [ + 0.1602664440870285 + ], + [ + 0.07238461822271347 + ], + [ + 0.061804234981536865 + ], + [ + 0.0609428733587265 + ], + [ + 0.0609428733587265 + ], + [ + 0.0609428733587265 + ], + [ + 0.0609428733587265 + ], + [ + 0.06065736711025238 + ], + [ + 0.0609428733587265 + ], + [ + 0.06065736711025238 + ], + [ + 0.06065736711025238 + ], + [ + 0.06065736711025238 + ], + [ + 0.06065736711025238 + ], + [ + 0.08641935139894485 + ], + [ + 0.24590691924095154 + ], + [ + 0.5110665559768677 + ], + [ + 0.8261235952377319 + ], + [ + 1.0131081342697144 + ], + [ + 1.00800359249115 + ], + [ + 1.0047606229782104 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.28875628113746643, + 0.006105122622102499, + 0.09713046997785568 + ], + [ + 0.28615349531173706, + 0.0060163638554513454, + 0.08758073300123215 + ], + [ + 0.30046403408050537, + 0.004390196409076452, + 0.07571101188659668 + ], + [ + 0.3196057081222534, + -0.0015574403805658221, + 0.06648704409599304 + ], + [ + 0.335830956697464, + -0.014340576715767384, + 0.05073923245072365 + ], + [ + 0.3371428847312927, + -0.022170742973685265, + 0.03463609144091606 + ], + [ + 0.3376705050468445, + -0.028537360951304436, + 0.019142650067806244 + ], + [ + 0.33772116899490356, + -0.03222622722387314, + 0.00213169539347291 + ], + [ + 0.3412477672100067, + -0.03459938243031502, + -0.0161005686968565 + ], + [ + 0.34426358342170715, + -0.03991485387086868, + -0.03580942377448082 + ], + [ + 0.34836235642433167, + -0.037490617483854294, + -0.03845469653606415 + ], + [ + 0.35022875666618347, + -0.036227982491254807, + -0.03984420746564865 + ], + [ + 0.34858939051628113, + -0.03213713318109512, + -0.04161103069782257 + ], + [ + 0.3467223048210144, + -0.03002895414829254, + -0.03853563964366913 + ], + [ + 0.34968000650405884, + -0.028022782877087593, + -0.036294423043727875 + ], + [ + 0.35531818866729736, + -0.025843864306807518, + -0.022647464647889137 + ], + [ + 0.35775288939476013, + -0.029505418613553047, + 0.012013901956379414 + ], + [ + 0.34242382645606995, + -0.03228286653757095, + 0.04260073974728584 + ], + [ + 0.3017643094062805, + -0.037233248353004456, + 0.05275215581059456 + ], + [ + 0.2637055218219757, + -0.036639291793107986, + 0.038233526051044464 + ], + [ + 0.23751172423362732, + -0.03883052617311478, + 0.01870456337928772 + ], + [ + 0.23417550325393677, + -0.04651651903986931, + 0.008374739438295364 + ], + [ + 0.23698550462722778, + -0.04979913681745529, + -0.0028302890714257956 + ], + [ + 0.24969294667243958, + -0.053139377385377884, + -0.014115186408162117 + ], + [ + 0.2552758753299713, + -0.05170414224267006, + -0.024537626653909683 + ], + [ + 0.25701433420181274, + -0.05053875222802162, + -0.03088443912565708 + ], + [ + 0.2530088722705841, + -0.05127423629164696, + -0.03429849073290825 + ], + [ + 0.24372506141662598, + -0.043865591287612915, + -0.034818295389413834 + ], + [ + 0.2532842755317688, + -0.037528373301029205, + -0.015519616194069386 + ], + [ + 0.26492786407470703, + -0.034197356551885605, + 0.006415957119315863 + ], + [ + 0.28252896666526794, + -0.032151248306035995, + 0.041689660400152206 + ], + [ + 0.2919645607471466, + -0.032405659556388855, + 0.05994655191898346 + ], + [ + 0.29883572459220886, + -0.03581240028142929, + 0.06493085622787476 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9905258080161914, + -0.08948863223263703, + 0.10416529342829704, + -0.08680705056521931, + -0.9957731069351027, + -0.030007590322789508, + 0.10641033608648572, + 0.020681010757328828, + -0.9941072055709166 + ], + [ + 0.9930616585046826, + -0.09167834197082575, + 0.07364525796960263, + -0.08959407296011723, + -0.9954917432615548, + -0.031130229496228956, + 0.07616721406449219, + 0.024316058717461286, + -0.996798517650434 + ], + [ + 0.9894383981466486, + -0.10997482104124633, + 0.09443090071549667, + -0.10619688704621576, + -0.9933641802914404, + -0.04415683973755544, + 0.09866041483131638, + 0.03366220508018912, + -0.9945516469718664 + ], + [ + 0.9891516287442778, + -0.07625669875511992, + 0.12555465442393282, + -0.06888896732917082, + -0.995694717205007, + -0.06201887059888702, + 0.12974346046280227, + 0.05269673637913406, + -0.9901462964845776 + ], + [ + 0.9905206374374983, + -0.07031782730605043, + 0.11800114394940649, + -0.05941490818855812, + -0.9938447064574136, + -0.09350170122261149, + 0.12384964874943043, + 0.08560433756261283, + -0.9886016194074886 + ], + [ + 0.9933247573550827, + -0.0737886790395558, + 0.08866316749960469, + -0.06278488927555259, + -0.9906576649553682, + -0.12105969000387123, + 0.09676768109302887, + 0.1146848800442945, + -0.9886775987070321 + ], + [ + 0.9948319117193493, + -0.06381868827185853, + 0.07897241576704869, + -0.05156383126176996, + -0.9875663360550166, + -0.14850556621378552, + 0.08746792972531114, + 0.14366595601647825, + -0.9857532421206835 + ], + [ + 0.9968957828420025, + -0.04797777407721035, + 0.06242540625760645, + -0.036865928002827245, + -0.9850398112226783, + -0.16833738045627497, + 0.06956796320377223, + 0.1655134541388901, + -0.9837507789042366 + ], + [ + 0.9986930540814377, + -0.045258838556826185, + 0.023744920761658496, + -0.04039668714281968, + -0.9836068252195933, + -0.17574333856313648, + 0.03130960551293237, + 0.17455443538884716, + -0.9841496114355301 + ], + [ + 0.9991620026883409, + -0.038585505332546455, + -0.013654712082486118, + -0.0403788021227226, + -0.9838111196499758, + -0.17460020959951505, + -0.006696620263802907, + 0.175005256010477, + -0.9845447250611571 + ], + [ + 0.9996686706269451, + -0.0251023909206359, + -0.005693762993281546, + -0.02568219850940467, + -0.9875337402127271, + -0.15529821834517407, + -0.0017244264784613082, + 0.15539299183531222, + -0.9878512258643964 + ], + [ + 0.9996197743585102, + -0.025676833027398826, + 0.010050221745015266, + -0.024542666502710985, + -0.9946688056660846, + -0.10015799796192629, + 0.012568382249820584, + 0.09987325608233469, + -0.9949207850312177 + ], + [ + 0.999463644507998, + -0.02623134937740346, + 0.01960458152144657, + -0.024897013183646694, + -0.9975446592811876, + -0.0654583186013267, + 0.02127350561905047, + 0.06493511414804831, + -0.9976627029759387 + ], + [ + 0.9971609949483488, + -0.05742850120750087, + 0.048702334673805636, + -0.05559165398891118, + -0.9977199706443654, + -0.03826784791680748, + 0.05078895707136026, + 0.03545176196561748, + -0.9980799839758018 + ], + [ + 0.9916927966838394, + -0.10401325022866226, + 0.07567457156968495, + -0.10306405227203572, + -0.9945402896066429, + -0.016352781977469442, + 0.07696231632853036, + 0.008417608092875839, + -0.9969984682733182 + ], + [ + 0.9911145192930677, + -0.0950608444868923, + 0.09303464672856813, + -0.096280596104267, + -0.9953162003684899, + 0.008701040043488047, + 0.091771762870055, + -0.01758115836542783, + -0.9956248522461919 + ], + [ + 0.9897939907339623, + -0.0071003273644362165, + 0.14232863822244157, + -0.01694199748753839, + -0.9975376789399797, + 0.06805547601898145, + 0.14149496326042516, + -0.06977223263129649, + -0.9874770938738656 + ], + [ + 0.9779876186773276, + 0.11722303857501376, + 0.1726238017803206, + 0.09856740442272965, + -0.9886978097850354, + 0.11296507297231512, + 0.18391488384363197, + -0.093463362626835, + -0.9784885872340405 + ], + [ + 0.9665750843689366, + 0.22414077224578732, + 0.12447297093845508, + 0.2075796273109201, + -0.9691111969284232, + 0.13316976501225267, + 0.15047692382103936, + -0.10288052393442207, + -0.983245794901934 + ], + [ + 0.9539736749161809, + 0.2938422109142004, + 0.059924808318185696, + 0.28618766507149673, + -0.9517359700038939, + 0.11088401039677391, + 0.0896149983420271, + -0.08863068591521585, + -0.992025077095512 + ], + [ + 0.9535576244088173, + 0.2999233361264478, + 0.027818148367481824, + 0.29716533223945046, + -0.951815765066588, + 0.07575958477792251, + 0.04919981958127953, + -0.06397454038512511, + -0.9967379976381366 + ], + [ + 0.9639349134158041, + 0.2637486548446979, + 0.03558271723293638, + 0.26191963361035375, + -0.9638493365991345, + 0.04891382081607012, + 0.047197332842913386, + -0.037829927372663184, + -0.9981689778627137 + ], + [ + 0.9757936530723377, + 0.21798189054504094, + 0.01762503952200029, + 0.217237812272544, + -0.9754290667736907, + 0.0366860819936629, + 0.02518887736246318, + -0.03196922093853116, + -0.9991714013970786 + ], + [ + 0.9846854516564029, + 0.17426020941841908, + 0.005285897244033109, + 0.17405434053428642, + -0.9843540652667482, + 0.027425548927979458, + 0.00998237634035109, + -0.026085505674130045, + -0.9996098731786938 + ], + [ + 0.9834567570397857, + 0.18054856900835559, + -0.014663603302852024, + 0.18063584428164015, + -0.9835380769930646, + 0.004852099076085852, + -0.013546172649402161, + -0.007420601985024853, + -0.9998807108214124 + ], + [ + 0.9761594970326328, + 0.21645214116467673, + -0.01615880373740367, + 0.21574224471499256, + -0.9757393201529436, + -0.037256716881757225, + -0.023831076315041614, + 0.03288236142216686, + -0.9991750748036945 + ], + [ + 0.9721554500835692, + 0.23411860502993795, + -0.010112351440124331, + 0.23305907747707513, + -0.9704540873696141, + -0.06246863783646728, + -0.024438643136380785, + 0.05837245143425898, + -0.9979956962007438 + ], + [ + 0.9666280340476346, + 0.2540560449108337, + -0.032951021797039036, + 0.2517775416363723, + -0.9658639745158093, + -0.06094958785806996, + -0.04731081610741183, + 0.05061925302479475, + -0.9975968012691612 + ], + [ + 0.9691106140540648, + 0.24627987940538773, + 0.013070528980156499, + 0.2464973758229599, + -0.9689566643845757, + -0.01902698759949233, + 0.00797881195090359, + 0.021661106730369615, + -0.9997335320049376 + ], + [ + 0.9817664489420463, + 0.1855774391319352, + 0.0411783173157566, + 0.18438226346324987, + -0.9823601937023602, + 0.03117099211173946, + 0.04623657266594227, + -0.02301008288325585, + -0.9986654672280466 + ], + [ + 0.9852746609005018, + 0.14067377786466487, + 0.09718400490144577, + 0.13240552904585626, + -0.9873811681037665, + 0.08687464965183184, + 0.10817864144778408, + -0.07272769139278748, + -0.9914676315640301 + ], + [ + 0.9859100049144869, + 0.11750840650868762, + 0.11905140322274732, + 0.10656653358611455, + -0.989808351630027, + 0.09446163751961936, + 0.12893810968428096, + -0.08044377815118745, + -0.9883844203688191 + ], + [ + 0.9848297012659929, + 0.0990784955063407, + 0.14245669950035794, + 0.09133142819441552, + -0.9940146682019881, + 0.0599450550359217, + 0.14754331475300253, + -0.046024896822169904, + -0.9879841492373271 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.00260278582572937, + -8.875876665115356e-05, + -0.009549736976623535, + -0.003588717430830002, + 0.030371129512786865, + -0.0025624409317970276, + 1.0 + ], + [ + 0.01431053876876831, + -0.0016261674463748932, + -0.011869721114635468, + -0.009444378316402435, + -0.02258012443780899, + -0.016944698989391327, + 1.0 + ], + [ + 0.019141674041748047, + -0.005947636906057596, + -0.009223967790603638, + -0.019337300211191177, + -0.03128907084465027, + 0.03738892823457718, + 1.0 + ], + [ + 0.01622524857521057, + -0.01278313621878624, + -0.015747811645269394, + -0.03320488706231117, + 0.0059417784214019775, + 0.00962049514055252, + 1.0 + ], + [ + 0.0013119280338287354, + -0.007830166257917881, + -0.016103141009807587, + -0.0291062593460083, + 0.027249127626419067, + -0.003211110830307007, + 1.0 + ], + [ + 0.0005276203155517578, + -0.006366617977619171, + -0.015493441373109818, + -0.029241226613521576, + 0.009339496493339539, + 0.011337477713823318, + 1.0 + ], + [ + 5.066394805908203e-05, + -0.0036888662725687027, + -0.01701095513999462, + -0.021962866187095642, + 0.01795564591884613, + 0.014821480959653854, + 1.0 + ], + [ + 0.0035265982151031494, + -0.0023731552064418793, + -0.01823226362466812, + -0.008853957056999207, + 0.038309477269649506, + -0.003463633358478546, + 1.0 + ], + [ + 0.0030158162117004395, + -0.005315471440553665, + -0.01970885507762432, + -0.0003748983144760132, + 0.03801139444112778, + 3.682449460029602e-05, + 1.0 + ], + [ + 0.004098773002624512, + 0.002424236387014389, + -0.0026452727615833282, + 0.01988959312438965, + -0.004972242750227451, + 0.014705628156661987, + 0.0 + ], + [ + 0.0018664002418518066, + 0.0012626349925994873, + -0.0013895109295845032, + 0.055977530777454376, + -0.014293140731751919, + 0.0011379905045032501, + 0.0 + ], + [ + -0.0016393661499023438, + 0.004090849310159683, + -0.0017668232321739197, + 0.035052403807640076, + -0.008706397376954556, + -0.0003581531345844269, + 0.0 + ], + [ + -0.0018670856952667236, + 0.002108179032802582, + 0.0030753910541534424, + 0.029490530490875244, + -0.029535707086324692, + -0.03078705444931984, + 0.0 + ], + [ + 0.0029577016830444336, + 0.0020061712712049484, + 0.0022412165999412537, + 0.02706228569149971, + -0.0262276791036129, + -0.04786335676908493, + 0.0 + ], + [ + 0.005638182163238525, + 0.002178918570280075, + 0.013646958395838737, + 0.02609933167695999, + -0.014862574636936188, + 0.006715729832649231, + 0.0 + ], + [ + 0.0024347007274627686, + -0.003661554306745529, + 0.034661367535591125, + 0.05288325250148773, + -0.05007033795118332, + 0.07972488552331924, + 0.0 + ], + [ + -0.015329062938690186, + -0.002777447924017906, + 0.030586838722229004, + 0.02468934655189514, + -0.04299639165401459, + 0.11756177246570587, + 0.0 + ], + [ + -0.04065951704978943, + -0.004950381815433502, + 0.010151416063308716, + 0.009025037288665771, + 0.033917129039764404, + 0.11109798401594162, + 0.0 + ], + [ + -0.03805878758430481, + 0.0005939565598964691, + -0.014518629759550095, + -0.015147611498832703, + 0.06131529062986374, + 0.07990778982639313, + 0.0 + ], + [ + -0.02619379758834839, + -0.00219123438000679, + -0.019528962671756744, + -0.025010615587234497, + 0.04051569104194641, + 0.010647356510162354, + 0.0 + ], + [ + -0.0033362209796905518, + -0.007685992866754532, + -0.010329823940992355, + -0.02621479704976082, + 0.0020048171281814575, + -0.03678634762763977, + 0.0 + ], + [ + 0.0028100013732910156, + -0.0032826177775859833, + -0.011205028742551804, + -0.005896370857954025, + 0.022023331373929977, + -0.046259090304374695, + 0.0 + ], + [ + 0.012707442045211792, + -0.003340240567922592, + -0.011284897103905678, + -0.005895055830478668, + 0.015208999626338482, + -0.04410026967525482, + 0.0 + ], + [ + 0.005582928657531738, + 0.0014352351427078247, + -0.010422440245747566, + -0.018668413162231445, + 0.02352912910282612, + 0.006695568561553955, + 0.0 + ], + [ + 0.0017384588718414307, + 0.0011653900146484375, + -0.006346812471747398, + -0.040318988263607025, + 0.010286745615303516, + 0.0358649343252182, + 0.0 + ], + [ + -0.004005461931228638, + -0.0007354840636253357, + -0.0034140516072511673, + -0.02552548423409462, + 0.0006077438592910767, + 0.01777912676334381, + 1.0 + ], + [ + -0.00928381085395813, + 0.007408645004034042, + -0.0005198046565055847, + 0.007725406438112259, + 0.02288740687072277, + 0.019514381885528564, + 1.0 + ], + [ + 0.009559214115142822, + 0.00633721798658371, + 0.019298680126667023, + 0.029034223407506943, + -0.055307380855083466, + -0.005735650658607483, + 1.0 + ], + [ + 0.011643588542938232, + 0.0033310167491436005, + 0.02193557284772396, + 0.044700246304273605, + -0.038274165242910385, + -0.0634283721446991, + 1.0 + ], + [ + 0.017601102590560913, + 0.0020461082458496094, + 0.035273704677820206, + 0.0501856729388237, + -0.06213769316673279, + -0.0520600825548172, + 1.0 + ], + [ + 0.009435594081878662, + -0.0002544112503528595, + 0.018256891518831253, + 0.007987730205059052, + -0.020907320082187653, + -0.025912590324878693, + 1.0 + ], + [ + 0.006871163845062256, + -0.003406740725040436, + 0.004984304308891296, + -0.034659162163734436, + -0.018785864114761353, + -0.015197694301605225, + 1.0 + ], + [ + 0.005853116512298584, + 0.0024755820631980896, + 0.0012355595827102661, + -0.06251303106546402, + -0.016755297780036926, + 0.010303646326065063, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9499720335006714 + ], + [ + 0.6591242551803589 + ], + [ + 0.36191558837890625 + ], + [ + 0.1602664440870285 + ], + [ + 0.07238461822271347 + ], + [ + 0.061804234981536865 + ], + [ + 0.0609428733587265 + ], + [ + 0.0609428733587265 + ], + [ + 0.0609428733587265 + ], + [ + 0.0609428733587265 + ], + [ + 0.06065736711025238 + ], + [ + 0.0609428733587265 + ], + [ + 0.06065736711025238 + ], + [ + 0.06065736711025238 + ], + [ + 0.06065736711025238 + ], + [ + 0.06065736711025238 + ], + [ + 0.08641935139894485 + ], + [ + 0.24590691924095154 + ], + [ + 0.5110665559768677 + ], + [ + 0.8261235952377319 + ], + [ + 1.0131081342697144 + ], + [ + 1.00800359249115 + ], + [ + 1.0047606229782104 + ], + [ + 1.0047606229782104 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.28615349531173706, + 0.0060163638554513454, + 0.08758073300123215 + ], + [ + 0.30046403408050537, + 0.004390196409076452, + 0.07571101188659668 + ], + [ + 0.3196057081222534, + -0.0015574403805658221, + 0.06648704409599304 + ], + [ + 0.335830956697464, + -0.014340576715767384, + 0.05073923245072365 + ], + [ + 0.3371428847312927, + -0.022170742973685265, + 0.03463609144091606 + ], + [ + 0.3376705050468445, + -0.028537360951304436, + 0.019142650067806244 + ], + [ + 0.33772116899490356, + -0.03222622722387314, + 0.00213169539347291 + ], + [ + 0.3412477672100067, + -0.03459938243031502, + -0.0161005686968565 + ], + [ + 0.34426358342170715, + -0.03991485387086868, + -0.03580942377448082 + ], + [ + 0.34836235642433167, + -0.037490617483854294, + -0.03845469653606415 + ], + [ + 0.35022875666618347, + -0.036227982491254807, + -0.03984420746564865 + ], + [ + 0.34858939051628113, + -0.03213713318109512, + -0.04161103069782257 + ], + [ + 0.3467223048210144, + -0.03002895414829254, + -0.03853563964366913 + ], + [ + 0.34968000650405884, + -0.028022782877087593, + -0.036294423043727875 + ], + [ + 0.35531818866729736, + -0.025843864306807518, + -0.022647464647889137 + ], + [ + 0.35775288939476013, + -0.029505418613553047, + 0.012013901956379414 + ], + [ + 0.34242382645606995, + -0.03228286653757095, + 0.04260073974728584 + ], + [ + 0.3017643094062805, + -0.037233248353004456, + 0.05275215581059456 + ], + [ + 0.2637055218219757, + -0.036639291793107986, + 0.038233526051044464 + ], + [ + 0.23751172423362732, + -0.03883052617311478, + 0.01870456337928772 + ], + [ + 0.23417550325393677, + -0.04651651903986931, + 0.008374739438295364 + ], + [ + 0.23698550462722778, + -0.04979913681745529, + -0.0028302890714257956 + ], + [ + 0.24969294667243958, + -0.053139377385377884, + -0.014115186408162117 + ], + [ + 0.2552758753299713, + -0.05170414224267006, + -0.024537626653909683 + ], + [ + 0.25701433420181274, + -0.05053875222802162, + -0.03088443912565708 + ], + [ + 0.2530088722705841, + -0.05127423629164696, + -0.03429849073290825 + ], + [ + 0.24372506141662598, + -0.043865591287612915, + -0.034818295389413834 + ], + [ + 0.2532842755317688, + -0.037528373301029205, + -0.015519616194069386 + ], + [ + 0.26492786407470703, + -0.034197356551885605, + 0.006415957119315863 + ], + [ + 0.28252896666526794, + -0.032151248306035995, + 0.041689660400152206 + ], + [ + 0.2919645607471466, + -0.032405659556388855, + 0.05994655191898346 + ], + [ + 0.29883572459220886, + -0.03581240028142929, + 0.06493085622787476 + ], + [ + 0.30468884110450745, + -0.0333368182182312, + 0.06616641581058502 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9930616585046826, + -0.09167834197082575, + 0.07364525796960263, + -0.08959407296011723, + -0.9954917432615548, + -0.031130229496228956, + 0.07616721406449219, + 0.024316058717461286, + -0.996798517650434 + ], + [ + 0.9894383981466486, + -0.10997482104124633, + 0.09443090071549667, + -0.10619688704621576, + -0.9933641802914404, + -0.04415683973755544, + 0.09866041483131638, + 0.03366220508018912, + -0.9945516469718664 + ], + [ + 0.9891516287442778, + -0.07625669875511992, + 0.12555465442393282, + -0.06888896732917082, + -0.995694717205007, + -0.06201887059888702, + 0.12974346046280227, + 0.05269673637913406, + -0.9901462964845776 + ], + [ + 0.9905206374374983, + -0.07031782730605043, + 0.11800114394940649, + -0.05941490818855812, + -0.9938447064574136, + -0.09350170122261149, + 0.12384964874943043, + 0.08560433756261283, + -0.9886016194074886 + ], + [ + 0.9933247573550827, + -0.0737886790395558, + 0.08866316749960469, + -0.06278488927555259, + -0.9906576649553682, + -0.12105969000387123, + 0.09676768109302887, + 0.1146848800442945, + -0.9886775987070321 + ], + [ + 0.9948319117193493, + -0.06381868827185853, + 0.07897241576704869, + -0.05156383126176996, + -0.9875663360550166, + -0.14850556621378552, + 0.08746792972531114, + 0.14366595601647825, + -0.9857532421206835 + ], + [ + 0.9968957828420025, + -0.04797777407721035, + 0.06242540625760645, + -0.036865928002827245, + -0.9850398112226783, + -0.16833738045627497, + 0.06956796320377223, + 0.1655134541388901, + -0.9837507789042366 + ], + [ + 0.9986930540814377, + -0.045258838556826185, + 0.023744920761658496, + -0.04039668714281968, + -0.9836068252195933, + -0.17574333856313648, + 0.03130960551293237, + 0.17455443538884716, + -0.9841496114355301 + ], + [ + 0.9991620026883409, + -0.038585505332546455, + -0.013654712082486118, + -0.0403788021227226, + -0.9838111196499758, + -0.17460020959951505, + -0.006696620263802907, + 0.175005256010477, + -0.9845447250611571 + ], + [ + 0.9996686706269451, + -0.0251023909206359, + -0.005693762993281546, + -0.02568219850940467, + -0.9875337402127271, + -0.15529821834517407, + -0.0017244264784613082, + 0.15539299183531222, + -0.9878512258643964 + ], + [ + 0.9996197743585102, + -0.025676833027398826, + 0.010050221745015266, + -0.024542666502710985, + -0.9946688056660846, + -0.10015799796192629, + 0.012568382249820584, + 0.09987325608233469, + -0.9949207850312177 + ], + [ + 0.999463644507998, + -0.02623134937740346, + 0.01960458152144657, + -0.024897013183646694, + -0.9975446592811876, + -0.0654583186013267, + 0.02127350561905047, + 0.06493511414804831, + -0.9976627029759387 + ], + [ + 0.9971609949483488, + -0.05742850120750087, + 0.048702334673805636, + -0.05559165398891118, + -0.9977199706443654, + -0.03826784791680748, + 0.05078895707136026, + 0.03545176196561748, + -0.9980799839758018 + ], + [ + 0.9916927966838394, + -0.10401325022866226, + 0.07567457156968495, + -0.10306405227203572, + -0.9945402896066429, + -0.016352781977469442, + 0.07696231632853036, + 0.008417608092875839, + -0.9969984682733182 + ], + [ + 0.9911145192930677, + -0.0950608444868923, + 0.09303464672856813, + -0.096280596104267, + -0.9953162003684899, + 0.008701040043488047, + 0.091771762870055, + -0.01758115836542783, + -0.9956248522461919 + ], + [ + 0.9897939907339623, + -0.0071003273644362165, + 0.14232863822244157, + -0.01694199748753839, + -0.9975376789399797, + 0.06805547601898145, + 0.14149496326042516, + -0.06977223263129649, + -0.9874770938738656 + ], + [ + 0.9779876186773276, + 0.11722303857501376, + 0.1726238017803206, + 0.09856740442272965, + -0.9886978097850354, + 0.11296507297231512, + 0.18391488384363197, + -0.093463362626835, + -0.9784885872340405 + ], + [ + 0.9665750843689366, + 0.22414077224578732, + 0.12447297093845508, + 0.2075796273109201, + -0.9691111969284232, + 0.13316976501225267, + 0.15047692382103936, + -0.10288052393442207, + -0.983245794901934 + ], + [ + 0.9539736749161809, + 0.2938422109142004, + 0.059924808318185696, + 0.28618766507149673, + -0.9517359700038939, + 0.11088401039677391, + 0.0896149983420271, + -0.08863068591521585, + -0.992025077095512 + ], + [ + 0.9535576244088173, + 0.2999233361264478, + 0.027818148367481824, + 0.29716533223945046, + -0.951815765066588, + 0.07575958477792251, + 0.04919981958127953, + -0.06397454038512511, + -0.9967379976381366 + ], + [ + 0.9639349134158041, + 0.2637486548446979, + 0.03558271723293638, + 0.26191963361035375, + -0.9638493365991345, + 0.04891382081607012, + 0.047197332842913386, + -0.037829927372663184, + -0.9981689778627137 + ], + [ + 0.9757936530723377, + 0.21798189054504094, + 0.01762503952200029, + 0.217237812272544, + -0.9754290667736907, + 0.0366860819936629, + 0.02518887736246318, + -0.03196922093853116, + -0.9991714013970786 + ], + [ + 0.9846854516564029, + 0.17426020941841908, + 0.005285897244033109, + 0.17405434053428642, + -0.9843540652667482, + 0.027425548927979458, + 0.00998237634035109, + -0.026085505674130045, + -0.9996098731786938 + ], + [ + 0.9834567570397857, + 0.18054856900835559, + -0.014663603302852024, + 0.18063584428164015, + -0.9835380769930646, + 0.004852099076085852, + -0.013546172649402161, + -0.007420601985024853, + -0.9998807108214124 + ], + [ + 0.9761594970326328, + 0.21645214116467673, + -0.01615880373740367, + 0.21574224471499256, + -0.9757393201529436, + -0.037256716881757225, + -0.023831076315041614, + 0.03288236142216686, + -0.9991750748036945 + ], + [ + 0.9721554500835692, + 0.23411860502993795, + -0.010112351440124331, + 0.23305907747707513, + -0.9704540873696141, + -0.06246863783646728, + -0.024438643136380785, + 0.05837245143425898, + -0.9979956962007438 + ], + [ + 0.9666280340476346, + 0.2540560449108337, + -0.032951021797039036, + 0.2517775416363723, + -0.9658639745158093, + -0.06094958785806996, + -0.04731081610741183, + 0.05061925302479475, + -0.9975968012691612 + ], + [ + 0.9691106140540648, + 0.24627987940538773, + 0.013070528980156499, + 0.2464973758229599, + -0.9689566643845757, + -0.01902698759949233, + 0.00797881195090359, + 0.021661106730369615, + -0.9997335320049376 + ], + [ + 0.9817664489420463, + 0.1855774391319352, + 0.0411783173157566, + 0.18438226346324987, + -0.9823601937023602, + 0.03117099211173946, + 0.04623657266594227, + -0.02301008288325585, + -0.9986654672280466 + ], + [ + 0.9852746609005018, + 0.14067377786466487, + 0.09718400490144577, + 0.13240552904585626, + -0.9873811681037665, + 0.08687464965183184, + 0.10817864144778408, + -0.07272769139278748, + -0.9914676315640301 + ], + [ + 0.9859100049144869, + 0.11750840650868762, + 0.11905140322274732, + 0.10656653358611455, + -0.989808351630027, + 0.09446163751961936, + 0.12893810968428096, + -0.08044377815118745, + -0.9883844203688191 + ], + [ + 0.9848297012659929, + 0.0990784955063407, + 0.14245669950035794, + 0.09133142819441552, + -0.9940146682019881, + 0.0599450550359217, + 0.14754331475300253, + -0.046024896822169904, + -0.9879841492373271 + ], + [ + 0.9812393246862183, + 0.0999781883658611, + 0.16484462241885403, + 0.10120587350162842, + -0.9948650445563911, + 0.0009561843870918478, + 0.1640937502103799, + 0.015744998281680734, + -0.9863190843591151 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006414.json b/json/chunk-0006/episode_0006414.json new file mode 100644 index 0000000000000000000000000000000000000000..4b55ace34bb55860c4f44a2240f57b84cb8f3f50 --- /dev/null +++ b/json/chunk-0006/episode_0006414.json @@ -0,0 +1,1642 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 26, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nOpen the drawer." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006414.mp4", + "start": 0, + "end": 26, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2116605043411255, + 0.20413996279239655, + 0.13871902227401733, + 0.16489893198013306, + 0.16892749071121216, + -0.6553506255149841, + 0.0, + 1.0001531839370728 + ], + [ + 0.2108650654554367, + 0.20241712033748627, + 0.13037356734275818, + 0.13556960225105286, + 0.17000825703144073, + -0.6539994478225708, + 0.0, + 1.0001531839370728 + ], + [ + 0.224295511841774, + 0.17476198077201843, + 0.1199984923005104, + 0.10803594440221786, + 0.11598636955022812, + -0.6524205207824707, + 0.0, + 1.0001531839370728 + ], + [ + 0.23974891006946564, + 0.13964664936065674, + 0.10919376462697983, + 0.09141682088375092, + 0.08090835064649582, + -0.657153308391571, + 0.0, + 1.0001531839370728 + ], + [ + 0.25296056270599365, + 0.10494589060544968, + 0.10097474604845047, + 0.08296089619398117, + 0.04326392710208893, + -0.6666156649589539, + 0.0, + 1.0001531839370728 + ], + [ + 0.2723618447780609, + 0.06425929814577103, + 0.09027404338121414, + 0.08991735428571701, + 0.031304094940423965, + -0.6932101845741272, + 0.0, + 1.0001531839370728 + ], + [ + 0.2917228639125824, + 0.039185378700494766, + 0.0737648755311966, + 0.0654139518737793, + 0.034782446920871735, + -0.6645923852920532, + 0.0, + 0.9994885921478271 + ], + [ + 0.313934326171875, + 0.014770960435271263, + 0.058538246899843216, + 0.031131381168961525, + 0.017623839899897575, + -0.6254909038543701, + 0.0, + 1.0001531839370728 + ], + [ + 0.3291223645210266, + 0.008523284457623959, + 0.05176081508398056, + 0.011895067989826202, + -0.0013302486622706056, + -0.5654666423797607, + 0.0, + 1.0001531839370728 + ], + [ + 0.33945515751838684, + -0.00047638913383707404, + 0.05439732223749161, + -0.029050856828689575, + -0.05368923023343086, + -0.5094017386436462, + 0.0, + 0.9994885921478271 + ], + [ + 0.3404954671859741, + -0.006870031822472811, + 0.055547166615724564, + -0.06473062932491302, + -0.07516996562480927, + -0.4775305390357971, + 0.0, + 0.9994885921478271 + ], + [ + 0.3409270644187927, + -0.01099630631506443, + 0.056286685168743134, + -0.07547629624605179, + -0.0837080329656601, + -0.46898549795150757, + 0.0, + 0.9994885921478271 + ], + [ + 0.3392740488052368, + -0.015287048183381557, + 0.04489336907863617, + -0.06115244701504707, + -0.06339094787836075, + -0.48138001561164856, + 0.0, + 1.0001531839370728 + ], + [ + 0.3374629318714142, + -0.01404586248099804, + 0.02800425887107849, + -0.05893779173493385, + -0.043780069798231125, + -0.47344398498535156, + 0.0, + 0.9994885921478271 + ], + [ + 0.33918893337249756, + -0.013517361134290695, + 0.02333671785891056, + -0.05432360619306564, + -0.04570544883608818, + -0.4634057879447937, + 0.0, + 0.9643021821975708 + ], + [ + 0.3386138081550598, + -0.015660764649510384, + 0.019125275313854218, + -0.04480468109250069, + -0.028705798089504242, + -0.484716534614563, + 0.0, + 0.6902000904083252 + ], + [ + 0.3480963408946991, + -0.00429760105907917, + 0.02672671526670456, + -0.04061818867921829, + -0.031518351286649704, + -0.4819408357143402, + 0.0, + 0.39711064100265503 + ], + [ + 0.36267030239105225, + 0.023197419941425323, + 0.03330487757921219, + -0.020715422928333282, + -0.036221958696842194, + -0.4619675576686859, + 0.0, + 0.18686315417289734 + ], + [ + 0.37292155623435974, + 0.0510081984102726, + 0.0330316536128521, + -0.004838997032493353, + -0.021653050556778908, + -0.44035494327545166, + 0.0, + 0.1270572394132614 + ], + [ + 0.38101887702941895, + 0.06758572906255722, + 0.03442659229040146, + 0.014139542356133461, + -0.010691085830330849, + -0.4401152431964874, + 0.0, + 0.12307736277580261 + ], + [ + 0.3838452994823456, + 0.08123333752155304, + 0.03579090163111687, + 0.022108113393187523, + -0.004826121497899294, + -0.42793962359428406, + 0.0, + 0.12307736277580261 + ], + [ + 0.38242289423942566, + 0.08218704164028168, + 0.034494757652282715, + 0.012183545157313347, + 0.008990112692117691, + -0.4338396489620209, + 0.0, + 0.1541406512260437 + ], + [ + 0.38166552782058716, + 0.08164851367473602, + 0.035099875181913376, + 0.010159815661609173, + 0.013850032351911068, + -0.46665138006210327, + 0.0, + 0.3754602372646332 + ], + [ + 0.3777051568031311, + 0.0813102051615715, + 0.0409206785261631, + 0.004875537473708391, + 0.024302322417497635, + -0.5060138702392578, + 0.0, + 0.6751802563667297 + ], + [ + 0.36719536781311035, + 0.08542439341545105, + 0.08155304938554764, + 0.04399494454264641, + -0.00909030344337225, + -0.5440043807029724, + 0.0, + 0.9507390260696411 + ], + [ + 0.3366002142429352, + 0.11146260052919388, + 0.10783770680427551, + 0.08847274631261826, + -0.0011347460094839334, + -0.5203168392181396, + 0.0, + 1.0047606229782104 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9643021821975708 + ], + [ + 0.6902000904083252 + ], + [ + 0.39711064100265503 + ], + [ + 0.18686315417289734 + ], + [ + 0.1270572394132614 + ], + [ + 0.12307736277580261 + ], + [ + 0.12307736277580261 + ], + [ + 0.1541406512260437 + ], + [ + 0.3754602372646332 + ], + [ + 0.6751802563667297 + ], + [ + 0.9507390260696411 + ], + [ + 1.0047606229782104 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2116605043411255, + 0.20413996279239655, + 0.13871902227401733 + ], + [ + 0.2108650654554367, + 0.20241712033748627, + 0.13037356734275818 + ], + [ + 0.224295511841774, + 0.17476198077201843, + 0.1199984923005104 + ], + [ + 0.23974891006946564, + 0.13964664936065674, + 0.10919376462697983 + ], + [ + 0.25296056270599365, + 0.10494589060544968, + 0.10097474604845047 + ], + [ + 0.2723618447780609, + 0.06425929814577103, + 0.09027404338121414 + ], + [ + 0.2917228639125824, + 0.039185378700494766, + 0.0737648755311966 + ], + [ + 0.313934326171875, + 0.014770960435271263, + 0.058538246899843216 + ], + [ + 0.3291223645210266, + 0.008523284457623959, + 0.05176081508398056 + ], + [ + 0.33945515751838684, + -0.00047638913383707404, + 0.05439732223749161 + ], + [ + 0.3404954671859741, + -0.006870031822472811, + 0.055547166615724564 + ], + [ + 0.3409270644187927, + -0.01099630631506443, + 0.056286685168743134 + ], + [ + 0.3392740488052368, + -0.015287048183381557, + 0.04489336907863617 + ], + [ + 0.3374629318714142, + -0.01404586248099804, + 0.02800425887107849 + ], + [ + 0.33918893337249756, + -0.013517361134290695, + 0.02333671785891056 + ], + [ + 0.3386138081550598, + -0.015660764649510384, + 0.019125275313854218 + ], + [ + 0.3480963408946991, + -0.00429760105907917, + 0.02672671526670456 + ], + [ + 0.36267030239105225, + 0.023197419941425323, + 0.03330487757921219 + ], + [ + 0.37292155623435974, + 0.0510081984102726, + 0.0330316536128521 + ], + [ + 0.38101887702941895, + 0.06758572906255722, + 0.03442659229040146 + ], + [ + 0.3838452994823456, + 0.08123333752155304, + 0.03579090163111687 + ], + [ + 0.38242289423942566, + 0.08218704164028168, + 0.034494757652282715 + ], + [ + 0.38166552782058716, + 0.08164851367473602, + 0.035099875181913376 + ], + [ + 0.3777051568031311, + 0.0813102051615715, + 0.0409206785261631 + ], + [ + 0.36719536781311035, + 0.08542439341545105, + 0.08155304938554764 + ], + [ + 0.3366002142429352, + 0.11146260052919388, + 0.10783770680427551 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.7815488115090888, + -0.6230510177519483, + -0.03144653410142044, + -0.6007623251293502, + -0.7652600879029283, + 0.23121770383770165, + -0.16812520314904406, + -0.1618160286901875, + -0.9723936902947432 + ], + [ + 0.7822151668912997, + -0.6209318688010467, + -0.05082368534901882, + -0.5995948730365438, + -0.7724634060641982, + 0.20925170135506388, + -0.1691904870656365, + -0.1332062333336455, + -0.976540157130036 + ], + [ + 0.789277666783559, + -0.6134874561146493, + -0.025959697738554686, + -0.6030324576454642, + -0.7824080927704544, + 0.15552951936327428, + -0.11572648678142927, + -0.10710143583199948, + -0.9874900823299196 + ], + [ + 0.7891443857185108, + -0.6141562120059006, + -0.00795523371859759, + -0.6088671849414306, + -0.7839214256155542, + 0.12144113620340898, + -0.08082010635016625, + -0.09099091007040351, + -0.9925667557872909 + ], + [ + 0.785183383804154, + -0.6190198278227332, + 0.01736394425734457, + -0.6177511262279212, + -0.7809997199394187, + 0.0917768135134588, + -0.043250431697190575, + -0.08278822510999385, + -0.9956281986470368 + ], + [ + 0.7688217867832898, + -0.6385900981269281, + 0.03340279541580502, + -0.6386966681170172, + -0.7642952448883928, + 0.08899070050972943, + -0.0312989824686126, + -0.08975224351085584, + -0.9954722037712542 + ], + [ + 0.7866921247350748, + -0.6172086584498222, + 0.01299895435735106, + -0.616365289478847, + -0.7840827468599872, + 0.07285654398991646, + -0.034775433936487375, + -0.06532777365767282, + -0.9972577155296725 + ], + [ + 0.8105499007105776, + -0.58565629613923, + 0.003944775095198612, + -0.5854043823557544, + -0.8099618224608627, + 0.035546522678826215, + -0.017622927587405204, + -0.031121519056065985, + -0.9993602370891552 + ], + [ + 0.8443379137106507, + -0.53575861241779, + 0.007496445218246791, + -0.5358094044623389, + -0.8442874057460015, + 0.009330519192452851, + 0.001330248269944503, + -0.011894776956766186, + -0.9999283697949015 + ], + [ + 0.8717784329256935, + -0.488810111120628, + 0.032665565231012564, + -0.4869523580851064, + -0.8719079022901485, + -0.05151709307935843, + 0.053663440450427105, + 0.029004916656185743, + -0.9981377409800669 + ], + [ + 0.8856245369607999, + -0.46293925021213905, + 0.036829745396770586, + -0.45828952703721454, + -0.8840399558905877, + -0.09189159807606866, + 0.07509919401015311, + 0.06450276739791923, + -0.9950876866171318 + ], + [ + 0.8889038747309339, + -0.45631865162413565, + 0.04028882808251932, + -0.4503989538191313, + -0.8866381302940998, + -0.10494573982403933, + 0.08361030969302834, + 0.0751406287471275, + -0.9936615128022833 + ], + [ + 0.8845765386181835, + -0.4655688763810812, + 0.027748309345451045, + -0.46207284568129575, + -0.8829074964922972, + -0.08344481962167348, + 0.06334850124717052, + 0.060991589444461154, + -0.9961259927372518 + ], + [ + 0.8891504742905461, + -0.4574568684808742, + 0.012026950925699526, + -0.4555172486493435, + -0.8872824896463058, + -0.07234514323702274, + 0.04376608563521733, + 0.05884723482650093, + -0.9973071406048617 + ], + [ + 0.8936011363626374, + -0.4485570597384125, + 0.016540049886065285, + -0.44653048636872733, + -0.8921068131686443, + -0.06896345874007238, + 0.045689537475346285, + 0.054240188577438786, + -0.9974820640534711 + ], + [ + 0.8844425419105139, + -0.4666274100948281, + 0.004500023006836414, + -0.4657655993393348, + -0.88332009841876, + -0.0529906614559803, + 0.028701855879701345, + 0.04477123940282674, + -0.9985848684971126 + ], + [ + 0.8856569244222152, + -0.4642514170821242, + 0.009079314964338716, + -0.46326961336107747, + -0.8847730381982635, + -0.05057604387149689, + 0.031513133123507044, + 0.04058685273156033, + -0.9986789423163414 + ], + [ + 0.8945900845079927, + -0.44628615556169693, + 0.023178611993459185, + -0.44541792073916897, + -0.894650860777767, + -0.03468015562242838, + 0.03621403849859706, + 0.02070035418927198, + -0.9991296406132993 + ], + [ + 0.9043883671334854, + -0.42635035851521785, + 0.017522933189784772, + -0.4261606505362874, + -0.9045451713769079, + -0.013606354148294163, + 0.021651358574390208, + 0.004837843803353102, + -0.9997538766812649 + ], + [ + 0.904650867636472, + -0.4258643866046952, + 0.015694964363941202, + -0.42601938068949247, + -0.9046765354180764, + 0.008237326076314215, + 0.010690882167528084, + -0.014138263180212073, + -0.9998428949353629 + ], + [ + 0.9098121349608568, + -0.41479862610457413, + 0.01356388070300929, + -0.4149922743980727, + -0.9096446680504189, + 0.018110496331078953, + 0.004826102763360887, + -0.02210605503478566, + -0.9997439827590445 + ], + [ + 0.9073217486035776, + -0.42042601247712913, + -0.0030352172124440586, + -0.4203408433189794, + -0.9072450322822081, + 0.014833301626538163, + -0.00898999159260328, + -0.012182751406619884, + -0.9998853737400748 + ], + [ + 0.8929941752852479, + -0.45000067144075123, + -0.007797346310969817, + -0.4498550786370679, + -0.8929704346721395, + 0.015303954583310058, + -0.013849589562784207, + -0.010158666463844078, + -0.9998524843018689 + ], + [ + 0.8744252241500989, + -0.4847923719834914, + -0.018891358783036355, + -0.4845513809252791, + -0.874615686702211, + 0.01604243802621493, + -0.02429993031789008, + -0.004874078481111891, + -0.9996928311964158 + ], + [ + 0.8556076617293575, + -0.5167235640591847, + 0.03053338395911129, + -0.5175450684234255, + -0.8550219947486851, + 0.032931605587502646, + 0.009090178249781113, + -0.04397893634403356, + -0.9989911019711007 + ], + [ + 0.8676611463853906, + -0.49512362390818504, + 0.04490804049628743, + -0.4971547519688781, + -0.8643179865237012, + 0.07610237030722865, + 0.0011347457659582824, + -0.08835731559775563, + -0.9960881974666729 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0007954388856887817, + -0.0017228424549102783, + -0.008345454931259155, + -0.0293293297290802, + 0.0010807663202285767, + 0.00135117769241333, + 1.0 + ], + [ + 0.01343044638633728, + -0.027655139565467834, + -0.010375075042247772, + -0.02753365784883499, + -0.054021887481212616, + 0.0015789270401000977, + 1.0 + ], + [ + 0.01545339822769165, + -0.035115331411361694, + -0.010804727673530579, + -0.01661912351846695, + -0.0350780189037323, + -0.004732787609100342, + 1.0 + ], + [ + 0.013211652636528015, + -0.03470075875520706, + -0.008219018578529358, + -0.008455924689769745, + -0.03764442354440689, + -0.009462356567382812, + 1.0 + ], + [ + 0.01940128207206726, + -0.04068659245967865, + -0.010700702667236328, + 0.00695645809173584, + -0.011959832161664963, + -0.02659451961517334, + 1.0 + ], + [ + 0.019361019134521484, + -0.02507391944527626, + -0.016509167850017548, + -0.024503402411937714, + 0.003478351980447769, + 0.028617799282073975, + 1.0 + ], + [ + 0.022211462259292603, + -0.024414418265223503, + -0.015226628631353378, + -0.03428257256746292, + -0.01715860702097416, + 0.039101481437683105, + 1.0 + ], + [ + 0.015188038349151611, + -0.0062476759776473045, + -0.006777431815862656, + -0.019236313179135323, + -0.018954088911414146, + 0.060024261474609375, + 1.0 + ], + [ + 0.01033279299736023, + -0.008999673649668694, + 0.0026365071535110474, + -0.04094592481851578, + -0.05235898122191429, + 0.0560649037361145, + 1.0 + ], + [ + 0.0010403096675872803, + -0.006393642630428076, + 0.001149844378232956, + -0.03567977249622345, + -0.021480735391378403, + 0.03187119960784912, + 1.0 + ], + [ + 0.0004315972328186035, + -0.0041262744925916195, + 0.00073951855301857, + -0.010745666921138763, + -0.00853806734085083, + 0.00854504108428955, + 1.0 + ], + [ + -0.0016530156135559082, + -0.004290741868317127, + -0.011393316090106964, + 0.014323849231004715, + 0.020317085087299347, + -0.012394517660140991, + 1.0 + ], + [ + -0.0018111169338226318, + 0.0012411857023835182, + -0.016889110207557678, + 0.00221465528011322, + 0.019610878080129623, + 0.007936030626296997, + 1.0 + ], + [ + 0.001726001501083374, + 0.0005285013467073441, + -0.004667541012167931, + 0.00461418554186821, + -0.0019253790378570557, + 0.010038197040557861, + 0.0 + ], + [ + -0.0005751252174377441, + -0.0021434035152196884, + -0.004211442545056343, + 0.009518925100564957, + 0.01699965074658394, + -0.021310746669769287, + 0.0 + ], + [ + 0.009482532739639282, + 0.011363163590431213, + 0.007601439952850342, + 0.004186492413282394, + -0.002812553197145462, + 0.0027756989002227783, + 0.0 + ], + [ + 0.01457396149635315, + 0.027495021000504494, + 0.006578162312507629, + 0.01990276575088501, + -0.00470360741019249, + 0.019973278045654297, + 0.0 + ], + [ + 0.010251253843307495, + 0.027810778468847275, + -0.00027322396636009216, + 0.015876425430178642, + 0.014568908140063286, + 0.021612614393234253, + 0.0 + ], + [ + 0.008097320795059204, + 0.016577530652284622, + 0.0013949386775493622, + 0.0189785398542881, + 0.010961964726448059, + 0.0002397000789642334, + 0.0 + ], + [ + 0.0028264224529266357, + 0.013647608458995819, + 0.0013643093407154083, + 0.007968571037054062, + 0.005864964332431555, + 0.01217561960220337, + 0.0 + ], + [ + -0.0014224052429199219, + 0.0009537041187286377, + -0.0012961439788341522, + -0.009924568235874176, + 0.013816233724355698, + -0.005900025367736816, + 1.0 + ], + [ + -0.000757366418838501, + -0.0005385279655456543, + 0.000605117529630661, + -0.002023729495704174, + 0.004859919659793377, + -0.0328117311000824, + 1.0 + ], + [ + -0.003960371017456055, + -0.00033830851316452026, + 0.005820803344249725, + -0.005284278187900782, + 0.010452290065586567, + -0.03936249017715454, + 1.0 + ], + [ + -0.010509788990020752, + 0.004114188253879547, + 0.04063237085938454, + 0.039119407534599304, + -0.03339262679219246, + -0.0379905104637146, + 1.0 + ], + [ + -0.03059515357017517, + 0.02603820711374283, + 0.026284657418727875, + 0.04447780176997185, + 0.00795555766671896, + 0.023687541484832764, + 1.0 + ], + [ + -0.040637582540512085, + 0.036914654076099396, + 0.01701921969652176, + 0.047484733164310455, + 0.02492094784975052, + 0.03131791949272156, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9643021821975708 + ], + [ + 0.6902000904083252 + ], + [ + 0.39711064100265503 + ], + [ + 0.18686315417289734 + ], + [ + 0.1270572394132614 + ], + [ + 0.12307736277580261 + ], + [ + 0.12307736277580261 + ], + [ + 0.1541406512260437 + ], + [ + 0.3754602372646332 + ], + [ + 0.6751802563667297 + ], + [ + 0.9507390260696411 + ], + [ + 1.0047606229782104 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2108650654554367, + 0.20241712033748627, + 0.13037356734275818 + ], + [ + 0.224295511841774, + 0.17476198077201843, + 0.1199984923005104 + ], + [ + 0.23974891006946564, + 0.13964664936065674, + 0.10919376462697983 + ], + [ + 0.25296056270599365, + 0.10494589060544968, + 0.10097474604845047 + ], + [ + 0.2723618447780609, + 0.06425929814577103, + 0.09027404338121414 + ], + [ + 0.2917228639125824, + 0.039185378700494766, + 0.0737648755311966 + ], + [ + 0.313934326171875, + 0.014770960435271263, + 0.058538246899843216 + ], + [ + 0.3291223645210266, + 0.008523284457623959, + 0.05176081508398056 + ], + [ + 0.33945515751838684, + -0.00047638913383707404, + 0.05439732223749161 + ], + [ + 0.3404954671859741, + -0.006870031822472811, + 0.055547166615724564 + ], + [ + 0.3409270644187927, + -0.01099630631506443, + 0.056286685168743134 + ], + [ + 0.3392740488052368, + -0.015287048183381557, + 0.04489336907863617 + ], + [ + 0.3374629318714142, + -0.01404586248099804, + 0.02800425887107849 + ], + [ + 0.33918893337249756, + -0.013517361134290695, + 0.02333671785891056 + ], + [ + 0.3386138081550598, + -0.015660764649510384, + 0.019125275313854218 + ], + [ + 0.3480963408946991, + -0.00429760105907917, + 0.02672671526670456 + ], + [ + 0.36267030239105225, + 0.023197419941425323, + 0.03330487757921219 + ], + [ + 0.37292155623435974, + 0.0510081984102726, + 0.0330316536128521 + ], + [ + 0.38101887702941895, + 0.06758572906255722, + 0.03442659229040146 + ], + [ + 0.3838452994823456, + 0.08123333752155304, + 0.03579090163111687 + ], + [ + 0.38242289423942566, + 0.08218704164028168, + 0.034494757652282715 + ], + [ + 0.38166552782058716, + 0.08164851367473602, + 0.035099875181913376 + ], + [ + 0.3777051568031311, + 0.0813102051615715, + 0.0409206785261631 + ], + [ + 0.36719536781311035, + 0.08542439341545105, + 0.08155304938554764 + ], + [ + 0.3366002142429352, + 0.11146260052919388, + 0.10783770680427551 + ], + [ + 0.2959626317024231, + 0.14837725460529327, + 0.12485692650079727 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.7822151668912997, + -0.6209318688010467, + -0.05082368534901882, + -0.5995948730365438, + -0.7724634060641982, + 0.20925170135506388, + -0.1691904870656365, + -0.1332062333336455, + -0.976540157130036 + ], + [ + 0.789277666783559, + -0.6134874561146493, + -0.025959697738554686, + -0.6030324576454642, + -0.7824080927704544, + 0.15552951936327428, + -0.11572648678142927, + -0.10710143583199948, + -0.9874900823299196 + ], + [ + 0.7891443857185108, + -0.6141562120059006, + -0.00795523371859759, + -0.6088671849414306, + -0.7839214256155542, + 0.12144113620340898, + -0.08082010635016625, + -0.09099091007040351, + -0.9925667557872909 + ], + [ + 0.785183383804154, + -0.6190198278227332, + 0.01736394425734457, + -0.6177511262279212, + -0.7809997199394187, + 0.0917768135134588, + -0.043250431697190575, + -0.08278822510999385, + -0.9956281986470368 + ], + [ + 0.7688217867832898, + -0.6385900981269281, + 0.03340279541580502, + -0.6386966681170172, + -0.7642952448883928, + 0.08899070050972943, + -0.0312989824686126, + -0.08975224351085584, + -0.9954722037712542 + ], + [ + 0.7866921247350748, + -0.6172086584498222, + 0.01299895435735106, + -0.616365289478847, + -0.7840827468599872, + 0.07285654398991646, + -0.034775433936487375, + -0.06532777365767282, + -0.9972577155296725 + ], + [ + 0.8105499007105776, + -0.58565629613923, + 0.003944775095198612, + -0.5854043823557544, + -0.8099618224608627, + 0.035546522678826215, + -0.017622927587405204, + -0.031121519056065985, + -0.9993602370891552 + ], + [ + 0.8443379137106507, + -0.53575861241779, + 0.007496445218246791, + -0.5358094044623389, + -0.8442874057460015, + 0.009330519192452851, + 0.001330248269944503, + -0.011894776956766186, + -0.9999283697949015 + ], + [ + 0.8717784329256935, + -0.488810111120628, + 0.032665565231012564, + -0.4869523580851064, + -0.8719079022901485, + -0.05151709307935843, + 0.053663440450427105, + 0.029004916656185743, + -0.9981377409800669 + ], + [ + 0.8856245369607999, + -0.46293925021213905, + 0.036829745396770586, + -0.45828952703721454, + -0.8840399558905877, + -0.09189159807606866, + 0.07509919401015311, + 0.06450276739791923, + -0.9950876866171318 + ], + [ + 0.8889038747309339, + -0.45631865162413565, + 0.04028882808251932, + -0.4503989538191313, + -0.8866381302940998, + -0.10494573982403933, + 0.08361030969302834, + 0.0751406287471275, + -0.9936615128022833 + ], + [ + 0.8845765386181835, + -0.4655688763810812, + 0.027748309345451045, + -0.46207284568129575, + -0.8829074964922972, + -0.08344481962167348, + 0.06334850124717052, + 0.060991589444461154, + -0.9961259927372518 + ], + [ + 0.8891504742905461, + -0.4574568684808742, + 0.012026950925699526, + -0.4555172486493435, + -0.8872824896463058, + -0.07234514323702274, + 0.04376608563521733, + 0.05884723482650093, + -0.9973071406048617 + ], + [ + 0.8936011363626374, + -0.4485570597384125, + 0.016540049886065285, + -0.44653048636872733, + -0.8921068131686443, + -0.06896345874007238, + 0.045689537475346285, + 0.054240188577438786, + -0.9974820640534711 + ], + [ + 0.8844425419105139, + -0.4666274100948281, + 0.004500023006836414, + -0.4657655993393348, + -0.88332009841876, + -0.0529906614559803, + 0.028701855879701345, + 0.04477123940282674, + -0.9985848684971126 + ], + [ + 0.8856569244222152, + -0.4642514170821242, + 0.009079314964338716, + -0.46326961336107747, + -0.8847730381982635, + -0.05057604387149689, + 0.031513133123507044, + 0.04058685273156033, + -0.9986789423163414 + ], + [ + 0.8945900845079927, + -0.44628615556169693, + 0.023178611993459185, + -0.44541792073916897, + -0.894650860777767, + -0.03468015562242838, + 0.03621403849859706, + 0.02070035418927198, + -0.9991296406132993 + ], + [ + 0.9043883671334854, + -0.42635035851521785, + 0.017522933189784772, + -0.4261606505362874, + -0.9045451713769079, + -0.013606354148294163, + 0.021651358574390208, + 0.004837843803353102, + -0.9997538766812649 + ], + [ + 0.904650867636472, + -0.4258643866046952, + 0.015694964363941202, + -0.42601938068949247, + -0.9046765354180764, + 0.008237326076314215, + 0.010690882167528084, + -0.014138263180212073, + -0.9998428949353629 + ], + [ + 0.9098121349608568, + -0.41479862610457413, + 0.01356388070300929, + -0.4149922743980727, + -0.9096446680504189, + 0.018110496331078953, + 0.004826102763360887, + -0.02210605503478566, + -0.9997439827590445 + ], + [ + 0.9073217486035776, + -0.42042601247712913, + -0.0030352172124440586, + -0.4203408433189794, + -0.9072450322822081, + 0.014833301626538163, + -0.00898999159260328, + -0.012182751406619884, + -0.9998853737400748 + ], + [ + 0.8929941752852479, + -0.45000067144075123, + -0.007797346310969817, + -0.4498550786370679, + -0.8929704346721395, + 0.015303954583310058, + -0.013849589562784207, + -0.010158666463844078, + -0.9998524843018689 + ], + [ + 0.8744252241500989, + -0.4847923719834914, + -0.018891358783036355, + -0.4845513809252791, + -0.874615686702211, + 0.01604243802621493, + -0.02429993031789008, + -0.004874078481111891, + -0.9996928311964158 + ], + [ + 0.8556076617293575, + -0.5167235640591847, + 0.03053338395911129, + -0.5175450684234255, + -0.8550219947486851, + 0.032931605587502646, + 0.009090178249781113, + -0.04397893634403356, + -0.9989911019711007 + ], + [ + 0.8676611463853906, + -0.49512362390818504, + 0.04490804049628743, + -0.4971547519688781, + -0.8643179865237012, + 0.07610237030722865, + 0.0011347457659582824, + -0.08835731559775563, + -0.9960881974666729 + ], + [ + 0.8825538246780612, + -0.46825344199295066, + 0.04286561101723013, + -0.46960948652325657, + -0.8731427609041, + 0.13072356041712202, + -0.02378395916346529, + -0.13550067580097175, + -0.9904917415829324 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006415.json b/json/chunk-0006/episode_0006415.json new file mode 100644 index 0000000000000000000000000000000000000000..9fcbffcf4acd406fa25cbb148bc8103beb661fdb --- /dev/null +++ b/json/chunk-0006/episode_0006415.json @@ -0,0 +1,1282 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 20, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut spoon in pot." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006415.mp4", + "start": 0, + "end": 20, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2593610882759094, + -0.006273141596466303, + 0.12179052829742432, + 0.0069982497952878475, + -0.29731473326683044, + 0.4007246196269989, + 0.0, + 0.9981546401977539 + ], + [ + 0.2553772032260895, + -0.0037631976883858442, + 0.11258357763290405, + 0.010312850587069988, + -0.2863796353340149, + 0.464852511882782, + 0.0, + 0.9988223910331726 + ], + [ + 0.252873033285141, + -0.0018627109238877892, + 0.10562563687562943, + -0.006358775310218334, + -0.294071227312088, + 0.5483048558235168, + 0.0, + 0.9981546401977539 + ], + [ + 0.2519772946834564, + -0.0012334034545347095, + 0.09722040593624115, + -0.025363950058817863, + -0.30219683051109314, + 0.5948749780654907, + 0.0, + 0.9988223910331726 + ], + [ + 0.2520811855792999, + 0.003214619355276227, + 0.08772590011358261, + -0.05298012122511864, + -0.3010810315608978, + 0.6544275283813477, + 0.0, + 0.9981546401977539 + ], + [ + 0.2563382685184479, + 0.005724786315113306, + 0.08093967288732529, + -0.07107418030500412, + -0.29851043224334717, + 0.6712943315505981, + 0.0, + 0.9981546401977539 + ], + [ + 0.2597586214542389, + 0.007727301213890314, + 0.07262670248746872, + -0.08184871077537537, + -0.2867855131626129, + 0.6724936962127686, + 0.0, + 0.9988223910331726 + ], + [ + 0.26329392194747925, + 0.008998109959065914, + 0.06598547101020813, + -0.09463562816381454, + -0.276705265045166, + 0.6631091237068176, + 0.0, + 0.9988223910331726 + ], + [ + 0.2669406533241272, + 0.0084287840873003, + 0.06318993866443634, + -0.12017999589443207, + -0.27926161885261536, + 0.6576594114303589, + 0.0, + 0.8888095021247864 + ], + [ + 0.2776694893836975, + 0.004772692918777466, + 0.061696525663137436, + -0.15123790502548218, + -0.2840021550655365, + 0.614849328994751, + 0.0, + 0.657115638256073 + ], + [ + 0.2796246409416199, + 0.0024266785476356745, + 0.060067273676395416, + -0.16297581791877747, + -0.2815093696117401, + 0.5825036764144897, + 0.0, + 0.39886748790740967 + ], + [ + 0.27977073192596436, + 0.0007213291828520596, + 0.06059623137116432, + -0.1676093488931656, + -0.2709764838218689, + 0.5639922022819519, + 0.0, + 0.2737756073474884 + ], + [ + 0.2768024206161499, + 0.002276885323226452, + 0.0636444166302681, + -0.14644645154476166, + -0.26003676652908325, + 0.5394166707992554, + 0.0, + 0.2673496901988983 + ], + [ + 0.27018943428993225, + 0.007992176339030266, + 0.07077373564243317, + -0.07359956949949265, + -0.2503744959831238, + 0.503657877445221, + 0.0, + 0.2673496901988983 + ], + [ + 0.27817094326019287, + 0.018663160502910614, + 0.0980248749256134, + -0.029853586107492447, + -0.3200012445449829, + 0.49185454845428467, + 0.0, + 0.2673496901988983 + ], + [ + 0.2830715775489807, + 0.019987549632787704, + 0.1191236823797226, + -0.011665428057312965, + -0.3804819881916046, + 0.4883163273334503, + 0.0, + 0.2673496901988983 + ], + [ + 0.2863280475139618, + 0.016969336196780205, + 0.1361246109008789, + -0.01866750791668892, + -0.44278034567832947, + 0.5142636299133301, + 0.0, + 0.2673496901988983 + ], + [ + 0.28688737750053406, + 0.00542109040543437, + 0.15321911871433258, + -0.060579244047403336, + -0.5078157782554626, + 0.5972774624824524, + 0.0, + 0.2673496901988983 + ], + [ + 0.28951436281204224, + -0.010407720692455769, + 0.17043240368366241, + -0.10890194773674011, + -0.5438565015792847, + 0.6806338429450989, + 0.0, + 0.2673496901988983 + ], + [ + 0.29167187213897705, + -0.027255278080701828, + 0.18263763189315796, + -0.16664265096187592, + -0.5795183181762695, + 0.7571902871131897, + 0.0, + 0.2673496901988983 + ] + ], + "left_gripper_pos": [ + [ + 0.9981546401977539 + ], + [ + 0.9988223910331726 + ], + [ + 0.9981546401977539 + ], + [ + 0.9988223910331726 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.8888095021247864 + ], + [ + 0.657115638256073 + ], + [ + 0.39886748790740967 + ], + [ + 0.2737756073474884 + ], + [ + 0.2673496901988983 + ], + [ + 0.2673496901988983 + ], + [ + 0.2673496901988983 + ], + [ + 0.2673496901988983 + ], + [ + 0.2673496901988983 + ], + [ + 0.2673496901988983 + ], + [ + 0.2673496901988983 + ], + [ + 0.2673496901988983 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2593610882759094, + -0.006273141596466303, + 0.12179052829742432 + ], + [ + 0.2553772032260895, + -0.0037631976883858442, + 0.11258357763290405 + ], + [ + 0.252873033285141, + -0.0018627109238877892, + 0.10562563687562943 + ], + [ + 0.2519772946834564, + -0.0012334034545347095, + 0.09722040593624115 + ], + [ + 0.2520811855792999, + 0.003214619355276227, + 0.08772590011358261 + ], + [ + 0.2563382685184479, + 0.005724786315113306, + 0.08093967288732529 + ], + [ + 0.2597586214542389, + 0.007727301213890314, + 0.07262670248746872 + ], + [ + 0.26329392194747925, + 0.008998109959065914, + 0.06598547101020813 + ], + [ + 0.2669406533241272, + 0.0084287840873003, + 0.06318993866443634 + ], + [ + 0.2776694893836975, + 0.004772692918777466, + 0.061696525663137436 + ], + [ + 0.2796246409416199, + 0.0024266785476356745, + 0.060067273676395416 + ], + [ + 0.27977073192596436, + 0.0007213291828520596, + 0.06059623137116432 + ], + [ + 0.2768024206161499, + 0.002276885323226452, + 0.0636444166302681 + ], + [ + 0.27018943428993225, + 0.007992176339030266, + 0.07077373564243317 + ], + [ + 0.27817094326019287, + 0.018663160502910614, + 0.0980248749256134 + ], + [ + 0.2830715775489807, + 0.019987549632787704, + 0.1191236823797226 + ], + [ + 0.2863280475139618, + 0.016969336196780205, + 0.1361246109008789 + ], + [ + 0.28688737750053406, + 0.00542109040543437, + 0.15321911871433258 + ], + [ + 0.28951436281204224, + -0.010407720692455769, + 0.17043240368366241 + ], + [ + 0.29167187213897705, + -0.027255278080701828, + 0.18263763189315796 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8803808803300268, + 0.3919638382299057, + 0.26700909173548204, + 0.37297127257663226, + -0.9199562913111725, + 0.12071806786707721, + 0.2929538110042166, + -0.006691158126443872, + -0.956103181158306 + ], + [ + 0.8574821900467097, + 0.4508711447626673, + 0.24786993479060884, + 0.4300333526237088, + -0.8925342268259226, + 0.13584538849539796, + 0.2824811664233773, + -0.009892662162154342, + -0.9592218334939181 + ], + [ + 0.8167739672844635, + 0.519657882469272, + 0.2506710425117958, + 0.49886535433646906, + -0.8543527659421283, + 0.14565270189661578, + 0.289851073155073, + 0.006085763270738967, + -0.9570524117707793 + ], + [ + 0.7906878244422847, + 0.5539735964658863, + 0.2606262049322324, + 0.5350104380240859, + -0.8321820919493035, + 0.14572850456982228, + 0.29761820422145285, + 0.02421198582380847, + -0.9543779043222161 + ], + [ + 0.7577067436261878, + 0.5953915193651009, + 0.26718800371931894, + 0.581323436434892, + -0.8018424333678065, + 0.13824534097871982, + 0.29655278267945173, + 0.05057322136181545, + -0.9536764631499314 + ], + [ + 0.748388800543937, + 0.6040762324262529, + 0.27387243132179495, + 0.5944924317350347, + -0.7940308897731222, + 0.12686092659234746, + 0.29409684090478183, + 0.06787379099334082, + -0.953362573560563 + ], + [ + 0.750321269157737, + 0.60276186007363, + 0.27147031714369874, + 0.597496676582266, + -0.7940583865688284, + 0.1116646774627321, + 0.28287049072441195, + 0.07841822977016726, + -0.9559471045602072 + ], + [ + 0.7581040971804655, + 0.5924715119520015, + 0.2724989639677561, + 0.5921542377257404, + -0.8004465686896317, + 0.09294433504222611, + 0.2731877313893111, + 0.0908999350841551, + -0.9576563398318092 + ], + [ + 0.7607647036540035, + 0.5807025326079195, + 0.28986485522909455, + 0.587585208275008, + -0.8059174105021418, + 0.07239302774395615, + 0.27564594807588083, + 0.11524624103314574, + -0.9543257385385131 + ], + [ + 0.7841383524009278, + 0.5357669323472096, + 0.3131786047884163, + 0.5537284193068468, + -0.8318875488700804, + 0.036714352600458355, + 0.2801997179618486, + 0.14462676183262327, + -0.9489843085193297 + ], + [ + 0.8022165724119279, + 0.5051847574581562, + 0.3181775161440572, + 0.5284623365524596, + -0.848818812221568, + 0.015303034479519181, + 0.27780592109091706, + 0.15586848575228496, + -0.947907635456175 + ], + [ + 0.8142890316148876, + 0.48933433220541145, + 0.3122263350788542, + 0.5150581041707513, + -0.8571552604414059, + 9.394497053741291e-05, + 0.2676724160606029, + 0.16073820585881235, + -0.9500077404198188 + ], + [ + 0.8291626529054216, + 0.4759456863403055, + 0.29319788314532297, + 0.49636741949341007, + -0.8680954546224886, + 0.005446698929385638, + 0.257116082523626, + 0.14101767732390785, + -0.9560362622776782 + ], + [ + 0.8485145922696581, + 0.46536913718890033, + 0.25190187148473886, + 0.4675837910476441, + -0.8822450781486971, + 0.05485453884512964, + 0.24776679570710955, + 0.07124035537851534, + -0.9661968881706118 + ], + [ + 0.836711323759997, + 0.4637744484756412, + 0.2912514749025456, + 0.4482870691823565, + -0.8855001147893892, + 0.1221812191454623, + 0.31456774198205134, + 0.028333860469290775, + -0.9488120615038682 + ], + [ + 0.8199680365638092, + 0.46528198780769214, + 0.3334142930880648, + 0.43558949028362315, + -0.8850962448246775, + 0.16390983299273876, + 0.37136803169920896, + 0.01083093804694682, + -0.9284225739461951 + ], + [ + 0.78669259244177, + 0.48484492241717086, + 0.38215201975592683, + 0.4444575370698787, + -0.8744374928497226, + 0.19446482674372834, + 0.4284533378782619, + 0.016866306797235567, + -0.9034064782566024 + ], + [ + 0.7225260478922392, + 0.5370188257354127, + 0.43539280072479386, + 0.49142423201392127, + -0.841909809565489, + 0.2229127559089648, + 0.486269816364073, + 0.052902300168900365, + -0.8722058314011035 + ], + [ + 0.6650429848230155, + 0.5818504836110632, + 0.468153653258486, + 0.5384921193737471, + -0.8079603974011068, + 0.23922005267915197, + 0.5174399150723348, + 0.09300543507246217, + -0.8506502943847827 + ], + [ + 0.6081067487811431, + 0.6113507035024306, + 0.5064153427907873, + 0.574732512967022, + -0.7790941450939446, + 0.25038939997321624, + 0.5476209643772226, + 0.1387898786202313, + -0.8251355336956117 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.003983885049819946, + 0.0025099439080804586, + -0.009206950664520264, + 0.0033146007917821407, + 0.010935097932815552, + 0.06412789225578308, + 1.0 + ], + [ + -0.0025041699409484863, + 0.001900486764498055, + -0.006957940757274628, + -0.016671625897288322, + -0.00769159197807312, + 0.08345234394073486, + 1.0 + ], + [ + -0.0008957386016845703, + 0.0006293074693530798, + -0.008405230939388275, + -0.019005175679922104, + -0.008125603199005127, + 0.04657012224197388, + 1.0 + ], + [ + 0.00010389089584350586, + 0.004448022693395615, + -0.009494505822658539, + -0.027616171166300774, + 0.0011157989501953125, + 0.059552550315856934, + 1.0 + ], + [ + 0.004257082939147949, + 0.002510166959837079, + -0.006786227226257324, + -0.018094059079885483, + 0.002570599317550659, + 0.01686680316925049, + 1.0 + ], + [ + 0.0034203529357910156, + 0.002002514898777008, + -0.008312970399856567, + -0.010774530470371246, + 0.011724919080734253, + 0.0011993646621704102, + 1.0 + ], + [ + 0.0035353004932403564, + 0.0012708087451756, + -0.00664123147726059, + -0.012786917388439178, + 0.0100802481174469, + -0.009384572505950928, + 1.0 + ], + [ + 0.0036467313766479492, + -0.0005693258717656136, + -0.0027955323457717896, + -0.025544367730617523, + -0.002556353807449341, + -0.00544971227645874, + 0.0 + ], + [ + 0.010728836059570312, + -0.0036560911685228348, + -0.0014934130012989044, + -0.03105790913105011, + -0.004740536212921143, + -0.04281008243560791, + 0.0 + ], + [ + 0.0019551515579223633, + -0.0023460143711417913, + -0.0016292519867420197, + -0.011737912893295288, + 0.0024927854537963867, + -0.03234565258026123, + 0.0 + ], + [ + 0.00014609098434448242, + -0.0017053494229912758, + 0.0005289576947689056, + -0.0046335309743881226, + 0.010532885789871216, + -0.018511474132537842, + 0.0 + ], + [ + -0.002968311309814453, + 0.0015555561985820532, + 0.003048185259103775, + 0.02116289734840393, + 0.010939717292785645, + -0.024575531482696533, + 0.0 + ], + [ + -0.006612986326217651, + 0.005715291015803814, + 0.00712931901216507, + 0.07284688204526901, + 0.009662270545959473, + -0.035758793354034424, + 0.0 + ], + [ + 0.00798150897026062, + 0.010670984163880348, + 0.027251139283180237, + 0.0437459833920002, + -0.06962674856185913, + -0.01180332899093628, + 0.0 + ], + [ + 0.004900634288787842, + 0.0013243891298770905, + 0.021098807454109192, + 0.01818815805017948, + -0.060480743646621704, + -0.0035382211208343506, + 0.0 + ], + [ + 0.003256469964981079, + -0.0030182134360074997, + 0.01700092852115631, + -0.007002079859375954, + -0.062298357486724854, + 0.02594730257987976, + 0.0 + ], + [ + 0.0005593299865722656, + -0.011548245325684547, + 0.017094507813453674, + -0.041911736130714417, + -0.06503543257713318, + 0.08301383256912231, + 0.0 + ], + [ + 0.0026269853115081787, + -0.01582881063222885, + 0.017213284969329834, + -0.04832270368933678, + -0.03604072332382202, + 0.08335638046264648, + 0.0 + ], + [ + 0.0021575093269348145, + -0.016847558319568634, + 0.012205228209495544, + -0.0577407032251358, + -0.03566181659698486, + 0.07655644416809082, + 0.0 + ], + [ + -0.0024043023586273193, + -0.01694965362548828, + -0.0006201267242431641, + -0.08235867321491241, + -0.03569149971008301, + 0.07000434398651123, + 0.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9981546401977539 + ], + [ + 0.9988223910331726 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.8888095021247864 + ], + [ + 0.657115638256073 + ], + [ + 0.39886748790740967 + ], + [ + 0.2737756073474884 + ], + [ + 0.2673496901988983 + ], + [ + 0.2673496901988983 + ], + [ + 0.2673496901988983 + ], + [ + 0.2673496901988983 + ], + [ + 0.2673496901988983 + ], + [ + 0.2673496901988983 + ], + [ + 0.2673496901988983 + ], + [ + 0.2673496901988983 + ], + [ + 0.2673496901988983 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2553772032260895, + -0.0037631976883858442, + 0.11258357763290405 + ], + [ + 0.252873033285141, + -0.0018627109238877892, + 0.10562563687562943 + ], + [ + 0.2519772946834564, + -0.0012334034545347095, + 0.09722040593624115 + ], + [ + 0.2520811855792999, + 0.003214619355276227, + 0.08772590011358261 + ], + [ + 0.2563382685184479, + 0.005724786315113306, + 0.08093967288732529 + ], + [ + 0.2597586214542389, + 0.007727301213890314, + 0.07262670248746872 + ], + [ + 0.26329392194747925, + 0.008998109959065914, + 0.06598547101020813 + ], + [ + 0.2669406533241272, + 0.0084287840873003, + 0.06318993866443634 + ], + [ + 0.2776694893836975, + 0.004772692918777466, + 0.061696525663137436 + ], + [ + 0.2796246409416199, + 0.0024266785476356745, + 0.060067273676395416 + ], + [ + 0.27977073192596436, + 0.0007213291828520596, + 0.06059623137116432 + ], + [ + 0.2768024206161499, + 0.002276885323226452, + 0.0636444166302681 + ], + [ + 0.27018943428993225, + 0.007992176339030266, + 0.07077373564243317 + ], + [ + 0.27817094326019287, + 0.018663160502910614, + 0.0980248749256134 + ], + [ + 0.2830715775489807, + 0.019987549632787704, + 0.1191236823797226 + ], + [ + 0.2863280475139618, + 0.016969336196780205, + 0.1361246109008789 + ], + [ + 0.28688737750053406, + 0.00542109040543437, + 0.15321911871433258 + ], + [ + 0.28951436281204224, + -0.010407720692455769, + 0.17043240368366241 + ], + [ + 0.29167187213897705, + -0.027255278080701828, + 0.18263763189315796 + ], + [ + 0.28926756978034973, + -0.04420493170619011, + 0.1820175051689148 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8574821900467097, + 0.4508711447626673, + 0.24786993479060884, + 0.4300333526237088, + -0.8925342268259226, + 0.13584538849539796, + 0.2824811664233773, + -0.009892662162154342, + -0.9592218334939181 + ], + [ + 0.8167739672844635, + 0.519657882469272, + 0.2506710425117958, + 0.49886535433646906, + -0.8543527659421283, + 0.14565270189661578, + 0.289851073155073, + 0.006085763270738967, + -0.9570524117707793 + ], + [ + 0.7906878244422847, + 0.5539735964658863, + 0.2606262049322324, + 0.5350104380240859, + -0.8321820919493035, + 0.14572850456982228, + 0.29761820422145285, + 0.02421198582380847, + -0.9543779043222161 + ], + [ + 0.7577067436261878, + 0.5953915193651009, + 0.26718800371931894, + 0.581323436434892, + -0.8018424333678065, + 0.13824534097871982, + 0.29655278267945173, + 0.05057322136181545, + -0.9536764631499314 + ], + [ + 0.748388800543937, + 0.6040762324262529, + 0.27387243132179495, + 0.5944924317350347, + -0.7940308897731222, + 0.12686092659234746, + 0.29409684090478183, + 0.06787379099334082, + -0.953362573560563 + ], + [ + 0.750321269157737, + 0.60276186007363, + 0.27147031714369874, + 0.597496676582266, + -0.7940583865688284, + 0.1116646774627321, + 0.28287049072441195, + 0.07841822977016726, + -0.9559471045602072 + ], + [ + 0.7581040971804655, + 0.5924715119520015, + 0.2724989639677561, + 0.5921542377257404, + -0.8004465686896317, + 0.09294433504222611, + 0.2731877313893111, + 0.0908999350841551, + -0.9576563398318092 + ], + [ + 0.7607647036540035, + 0.5807025326079195, + 0.28986485522909455, + 0.587585208275008, + -0.8059174105021418, + 0.07239302774395615, + 0.27564594807588083, + 0.11524624103314574, + -0.9543257385385131 + ], + [ + 0.7841383524009278, + 0.5357669323472096, + 0.3131786047884163, + 0.5537284193068468, + -0.8318875488700804, + 0.036714352600458355, + 0.2801997179618486, + 0.14462676183262327, + -0.9489843085193297 + ], + [ + 0.8022165724119279, + 0.5051847574581562, + 0.3181775161440572, + 0.5284623365524596, + -0.848818812221568, + 0.015303034479519181, + 0.27780592109091706, + 0.15586848575228496, + -0.947907635456175 + ], + [ + 0.8142890316148876, + 0.48933433220541145, + 0.3122263350788542, + 0.5150581041707513, + -0.8571552604414059, + 9.394497053741291e-05, + 0.2676724160606029, + 0.16073820585881235, + -0.9500077404198188 + ], + [ + 0.8291626529054216, + 0.4759456863403055, + 0.29319788314532297, + 0.49636741949341007, + -0.8680954546224886, + 0.005446698929385638, + 0.257116082523626, + 0.14101767732390785, + -0.9560362622776782 + ], + [ + 0.8485145922696581, + 0.46536913718890033, + 0.25190187148473886, + 0.4675837910476441, + -0.8822450781486971, + 0.05485453884512964, + 0.24776679570710955, + 0.07124035537851534, + -0.9661968881706118 + ], + [ + 0.836711323759997, + 0.4637744484756412, + 0.2912514749025456, + 0.4482870691823565, + -0.8855001147893892, + 0.1221812191454623, + 0.31456774198205134, + 0.028333860469290775, + -0.9488120615038682 + ], + [ + 0.8199680365638092, + 0.46528198780769214, + 0.3334142930880648, + 0.43558949028362315, + -0.8850962448246775, + 0.16390983299273876, + 0.37136803169920896, + 0.01083093804694682, + -0.9284225739461951 + ], + [ + 0.78669259244177, + 0.48484492241717086, + 0.38215201975592683, + 0.4444575370698787, + -0.8744374928497226, + 0.19446482674372834, + 0.4284533378782619, + 0.016866306797235567, + -0.9034064782566024 + ], + [ + 0.7225260478922392, + 0.5370188257354127, + 0.43539280072479386, + 0.49142423201392127, + -0.841909809565489, + 0.2229127559089648, + 0.486269816364073, + 0.052902300168900365, + -0.8722058314011035 + ], + [ + 0.6650429848230155, + 0.5818504836110632, + 0.468153653258486, + 0.5384921193737471, + -0.8079603974011068, + 0.23922005267915197, + 0.5174399150723348, + 0.09300543507246217, + -0.8506502943847827 + ], + [ + 0.6081067487811431, + 0.6113507035024306, + 0.5064153427907873, + 0.574732512967022, + -0.7790941450939446, + 0.25038939997321624, + 0.5476209643772226, + 0.1387898786202313, + -0.8251355336956117 + ], + [ + 0.5528273287828123, + 0.6170564137613104, + 0.5600208271010025, + 0.6010848878455137, + -0.760748794149821, + 0.24486369637686056, + 0.5771298832625171, + 0.2012527128652526, + -0.7914660090046631 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006416.json b/json/chunk-0006/episode_0006416.json new file mode 100644 index 0000000000000000000000000000000000000000..e263065589aa1ac05a747742d20c10396303d4cf --- /dev/null +++ b/json/chunk-0006/episode_0006416.json @@ -0,0 +1,1762 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 28, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the jar to the top right of the counter." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006416.mp4", + "start": 0, + "end": 28, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2946579158306122, + 0.07219623774290085, + 0.08890746533870697, + -0.07036730647087097, + -0.1343420296907425, + 0.5561156868934631, + 0.0, + 0.9954678416252136 + ], + [ + 0.2934912443161011, + 0.07099965214729309, + 0.07969539612531662, + -0.06398934125900269, + -0.10238067060709, + 0.5612946152687073, + 0.0, + 0.9954678416252136 + ], + [ + 0.31177565455436707, + 0.039822548627853394, + 0.07627084106206894, + -0.09243065118789673, + -0.09552828967571259, + 0.5190557837486267, + 0.0, + 0.9981546401977539 + ], + [ + 0.33380427956581116, + 0.0032215770334005356, + 0.07003562152385712, + -0.16495145857334137, + -0.06741846352815628, + 0.47253113985061646, + 0.0, + 0.9981546401977539 + ], + [ + 0.3449946939945221, + -0.028964610770344734, + 0.06865262240171432, + -0.18566453456878662, + -0.09930462390184402, + 0.3740893602371216, + 0.0, + 0.9981546401977539 + ], + [ + 0.35038042068481445, + -0.052043527364730835, + 0.05307504162192345, + -0.18052494525909424, + -0.106948621571064, + 0.3124665319919586, + 0.0, + 0.9981546401977539 + ], + [ + 0.3533792197704315, + -0.057449229061603546, + 0.037423275411129, + -0.13310550153255463, + -0.10156602412462234, + 0.2966195344924927, + 0.0, + 0.9981546401977539 + ], + [ + 0.35467782616615295, + -0.06016296520829201, + 0.023872369900345802, + -0.13838902115821838, + -0.07600206881761551, + 0.29015177488327026, + 0.0, + 0.9981546401977539 + ], + [ + 0.3581971824169159, + -0.062492359429597855, + 0.015833744779229164, + -0.13884936273097992, + -0.059284940361976624, + 0.27777400612831116, + 0.0, + 0.9553104043006897 + ], + [ + 0.3589792251586914, + -0.06944693624973297, + 0.017834747210144997, + -0.1227872222661972, + -0.0664621964097023, + 0.24882306158542633, + 0.0, + 0.6731748580932617 + ], + [ + 0.3583807349205017, + -0.06889085471630096, + 0.017595309764146805, + -0.10950416326522827, + -0.06685427576303482, + 0.2551588714122772, + 0.0, + 0.365278422832489 + ], + [ + 0.35449597239494324, + -0.069538913667202, + 0.015269382856786251, + -0.11142817884683609, + -0.056812211871147156, + 0.2327965348958969, + 0.0, + 0.1526326984167099 + ], + [ + 0.34706196188926697, + -0.0701175108551979, + 0.019157646223902702, + -0.11338880658149719, + -0.050014086067676544, + 0.19487757980823517, + 0.0, + 0.07689721137285233 + ], + [ + 0.34263771772384644, + -0.07203466445207596, + 0.03390995040535927, + -0.14509975910186768, + -0.07633447647094727, + 0.14890046417713165, + 0.0, + 0.07494325935840607 + ], + [ + 0.34261104464530945, + -0.052595797926187515, + 0.05478367581963539, + -0.15599524974822998, + -0.09659841656684875, + 0.14573881030082703, + 0.0, + 0.07494325935840607 + ], + [ + 0.3473255932331085, + -0.020733149722218513, + 0.07614355534315109, + -0.1662800908088684, + -0.11154067516326904, + 0.201621875166893, + 0.0, + 0.07494325935840607 + ], + [ + 0.3676391541957855, + 0.02819468453526497, + 0.10150802880525589, + -0.15816612541675568, + -0.18751810491085052, + 0.32624900341033936, + 0.0, + 0.07462053745985031 + ], + [ + 0.38616108894348145, + 0.07693305611610413, + 0.10156373679637909, + -0.14408114552497864, + -0.19394367933273315, + 0.4732232093811035, + 0.0, + 0.07333792001008987 + ], + [ + 0.3993853032588959, + 0.1303880512714386, + 0.08558370172977448, + -0.09518762677907944, + -0.17347925901412964, + 0.6023810505867004, + 0.0, + 0.07333792001008987 + ], + [ + 0.4104052484035492, + 0.17436808347702026, + 0.05842503905296326, + -0.06425834447145462, + -0.13867999613285065, + 0.6731454730033875, + 0.0, + 0.07333792001008987 + ], + [ + 0.412504643201828, + 0.18706898391246796, + 0.04155970737338066, + -0.05082700401544571, + -0.11518125236034393, + 0.6933428645133972, + 0.0, + 0.07333792001008987 + ], + [ + 0.41236016154289246, + 0.18223056197166443, + 0.025021137669682503, + -0.04729591682553291, + -0.08300761878490448, + 0.6782512664794922, + 0.0, + 0.07270156592130661 + ], + [ + 0.4145292341709137, + 0.17968593537807465, + 0.0237971730530262, + -0.0499735027551651, + -0.08235897123813629, + 0.6718475222587585, + 0.0, + 0.103162482380867 + ], + [ + 0.4153739809989929, + 0.1767546534538269, + 0.023402107879519463, + -0.04815646633505821, + -0.08079370111227036, + 0.6797868013381958, + 0.0, + 0.2788355052471161 + ], + [ + 0.41286700963974, + 0.16941921412944794, + 0.018448038026690483, + -0.03997299075126648, + -0.060657866299152374, + 0.6688802242279053, + 0.0, + 0.5630297660827637 + ], + [ + 0.4093855917453766, + 0.16961240768432617, + 0.02407262846827507, + -0.0279763862490654, + -0.06699498742818832, + 0.6764042973518372, + 0.0, + 0.8634164333343506 + ], + [ + 0.4081936776638031, + 0.16978295147418976, + 0.04975959658622742, + -0.012909937649965286, + -0.0988425761461258, + 0.6891368627548218, + 0.0, + 1.0092895030975342 + ], + [ + 0.40526440739631653, + 0.16641108691692352, + 0.08076471835374832, + -0.03222973272204399, + -0.14945009350776672, + 0.7082951068878174, + 0.0, + 1.0067112445831299 + ] + ], + "left_gripper_pos": [ + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9553104043006897 + ], + [ + 0.6731748580932617 + ], + [ + 0.365278422832489 + ], + [ + 0.1526326984167099 + ], + [ + 0.07689721137285233 + ], + [ + 0.07494325935840607 + ], + [ + 0.07494325935840607 + ], + [ + 0.07494325935840607 + ], + [ + 0.07462053745985031 + ], + [ + 0.07333792001008987 + ], + [ + 0.07333792001008987 + ], + [ + 0.07333792001008987 + ], + [ + 0.07333792001008987 + ], + [ + 0.07270156592130661 + ], + [ + 0.103162482380867 + ], + [ + 0.2788355052471161 + ], + [ + 0.5630297660827637 + ], + [ + 0.8634164333343506 + ], + [ + 1.0092895030975342 + ], + [ + 1.0067112445831299 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2946579158306122, + 0.07219623774290085, + 0.08890746533870697 + ], + [ + 0.2934912443161011, + 0.07099965214729309, + 0.07969539612531662 + ], + [ + 0.31177565455436707, + 0.039822548627853394, + 0.07627084106206894 + ], + [ + 0.33380427956581116, + 0.0032215770334005356, + 0.07003562152385712 + ], + [ + 0.3449946939945221, + -0.028964610770344734, + 0.06865262240171432 + ], + [ + 0.35038042068481445, + -0.052043527364730835, + 0.05307504162192345 + ], + [ + 0.3533792197704315, + -0.057449229061603546, + 0.037423275411129 + ], + [ + 0.35467782616615295, + -0.06016296520829201, + 0.023872369900345802 + ], + [ + 0.3581971824169159, + -0.062492359429597855, + 0.015833744779229164 + ], + [ + 0.3589792251586914, + -0.06944693624973297, + 0.017834747210144997 + ], + [ + 0.3583807349205017, + -0.06889085471630096, + 0.017595309764146805 + ], + [ + 0.35449597239494324, + -0.069538913667202, + 0.015269382856786251 + ], + [ + 0.34706196188926697, + -0.0701175108551979, + 0.019157646223902702 + ], + [ + 0.34263771772384644, + -0.07203466445207596, + 0.03390995040535927 + ], + [ + 0.34261104464530945, + -0.052595797926187515, + 0.05478367581963539 + ], + [ + 0.3473255932331085, + -0.020733149722218513, + 0.07614355534315109 + ], + [ + 0.3676391541957855, + 0.02819468453526497, + 0.10150802880525589 + ], + [ + 0.38616108894348145, + 0.07693305611610413, + 0.10156373679637909 + ], + [ + 0.3993853032588959, + 0.1303880512714386, + 0.08558370172977448 + ], + [ + 0.4104052484035492, + 0.17436808347702026, + 0.05842503905296326 + ], + [ + 0.412504643201828, + 0.18706898391246796, + 0.04155970737338066 + ], + [ + 0.41236016154289246, + 0.18223056197166443, + 0.025021137669682503 + ], + [ + 0.4145292341709137, + 0.17968593537807465, + 0.0237971730530262 + ], + [ + 0.4153739809989929, + 0.1767546534538269, + 0.023402107879519463 + ], + [ + 0.41286700963974, + 0.16941921412944794, + 0.018448038026690483 + ], + [ + 0.4093855917453766, + 0.16961240768432617, + 0.02407262846827507 + ], + [ + 0.4081936776638031, + 0.16978295147418976, + 0.04975959658622742 + ], + [ + 0.40526440739631653, + 0.16641108691692352, + 0.08076471835374832 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8416594288975842, + 0.5185867349794302, + 0.15058952171770545, + 0.5231347226151088, + -0.8521813712625946, + 0.010815381057435017, + 0.13393829826530607, + 0.06967574022842324, + -0.9885372140093744 + ], + [ + 0.8421338212794017, + 0.5256606146098667, + 0.12038083446018222, + 0.5294954172805838, + -0.8483127837971841, + 0.00015467751065854907, + 0.10220190867206427, + 0.06361084101196221, + -0.9927277727401091 + ], + [ + 0.8643291192333332, + 0.4862987799878786, + 0.12825236928661932, + 0.4937987899444758, + -0.8689487211664499, + -0.03302839736594588, + 0.0953830629341608, + 0.09187827036624122, + -0.9911914319342182 + ], + [ + 0.8883962928689801, + 0.4391137337356582, + 0.13390726515534063, + 0.4541075421640517, + -0.8833676450591481, + -0.11596526985429288, + 0.06736740284720244, + 0.1638314148977064, + -0.9841853994681278 + ], + [ + 0.9262548483775414, + 0.34210897917966354, + 0.1581562588762978, + 0.3636246976322962, + -0.921530979420797, + -0.1362267713761431, + 0.0991414904513701, + 0.18369022927852038, + -0.977971811730116 + ], + [ + 0.946141342525658, + 0.2841735979101409, + 0.15511907108589582, + 0.30565028250374876, + -0.9420063249684479, + -0.13857123989059697, + 0.10674485827956397, + 0.17852016684465757, + -0.9781288694546498 + ], + [ + 0.9514016769201229, + 0.27683528039076727, + 0.1348965406692974, + 0.2907827609638837, + -0.9518038665108469, + -0.0975437625951692, + 0.10139149411957087, + 0.13202888784643746, + -0.9860467218617148 + ], + [ + 0.9554343623841101, + 0.2733260222056158, + 0.1115260721128673, + 0.28527176180805086, + -0.9520362504687301, + -0.11066616333989492, + 0.07592892130538895, + 0.13754949428731764, + -0.9875803438357325 + ], + [ + 0.9599787280235657, + 0.26369047593556394, + 0.09438312689846928, + 0.2737339098000844, + -0.95466172636999, + -0.11700741356781373, + 0.05925021829340437, + 0.13816049039123265, + -0.9886359747283313 + ], + [ + 0.9670631246426219, + 0.23652563294484888, + 0.09404540348410288, + 0.24571973777069886, + -0.9639090753164452, + -0.10247489932903088, + 0.0664132774853649, + 0.12220850822522404, + -0.9902799387501585 + ], + [ + 0.9654616210187213, + 0.24382298855865198, + 0.09183794744129853, + 0.2518353012942059, + -0.9636702456249697, + -0.08898673338856343, + 0.06680448609157769, + 0.10904131303060406, + -0.9917898732547143 + ], + [ + 0.9714551825680552, + 0.2231251198209666, + 0.08056059313675996, + 0.23032731465496226, + -0.9684472680634209, + -0.09517991964869114, + 0.05678165536069975, + 0.11101833130333295, + -0.9921949272845144 + ], + [ + 0.979844608590447, + 0.18685344452865424, + 0.07064229104446496, + 0.1934042895014418, + -0.9758666772768594, + -0.10138544759019603, + 0.049993237729479376, + 0.11300450631899171, + -0.9923359601127658 + ], + [ + 0.9860549536474236, + 0.1358873442851042, + 0.0960742319798532, + 0.14791884630050792, + -0.9801783597200004, + -0.1317968059011137, + 0.07626036517420963, + 0.14417008288736843, + -0.9866100262534054 + ], + [ + 0.9847863055806878, + 0.12863438578310837, + 0.11682947887816048, + 0.14454641563063192, + -0.979561107352034, + -0.13987984376454424, + 0.09644825591516265, + 0.15463903697792206, + -0.9832520033915335 + ], + [ + 0.9736547386537787, + 0.1794463201048532, + 0.14069636846013087, + 0.19901416449048084, + -0.9699192012060229, + -0.14017883386598237, + 0.11130953341559827, + 0.16448635606851228, + -0.9800787858320906 + ], + [ + 0.9306457979702224, + 0.2886778381073616, + 0.22486330182141356, + 0.3148739081601263, + -0.9448379045779953, + -0.09019842588776966, + 0.18642108432346527, + 0.15474637268227986, + -0.9702065447425824 + ], + [ + 0.8734160675306589, + 0.4264035275124654, + 0.23521140428177686, + 0.44721300457841145, + -0.8934929729061827, + -0.04087585966338958, + 0.19273012612258902, + 0.14089123142409368, + -0.9710843214636786 + ], + [ + 0.8116209048832288, + 0.5505230437260674, + 0.19543767570024856, + 0.5581013785007413, + -0.8295541991055133, + 0.019044213346391385, + 0.1726104228373867, + 0.0936173545503021, + -0.9805311993276409 + ], + [ + 0.7743580745884605, + 0.6152213169632466, + 0.14789287837370846, + 0.6174628790658374, + -0.7857850038152583, + 0.03579833452524692, + 0.13823590450884732, + 0.06359763307751995, + -0.9883552882296719 + ], + [ + 0.7640176806245563, + 0.6337956801588288, + 0.1207477515528986, + 0.6348770178114215, + -0.7718522965591871, + 0.034281256557834726, + 0.11492674165723513, + 0.05046848628912647, + -0.9920911127228864 + ], + [ + 0.7759900355756045, + 0.623678319770755, + 0.09415316317203354, + 0.6252719493380937, + -0.7802598817986552, + 0.01514946291089627, + 0.08291232754127756, + 0.047115499609747334, + -0.9954424521981226 + ], + [ + 0.7800201077740163, + 0.6184396794370149, + 0.09539913189361045, + 0.6203232655841365, + -0.7842537710144206, + 0.012044452029625632, + 0.08226589599126223, + 0.04978338625990862, + -0.9953662325040226 + ], + [ + 0.7751698514290101, + 0.6248770704611294, + 0.09295347356308606, + 0.6265766275753076, + -0.7792473849386728, + 0.013237931960631333, + 0.08070583133752393, + 0.047980828235419035, + -0.9955824470680279 + ], + [ + 0.7830737158997502, + 0.6177120165547891, + 0.07230089951565898, + 0.618967437846428, + -0.7853920958256848, + 0.006210209365771047, + 0.0606206759512435, + 0.03988885080262972, + -0.9973635311303798 + ], + [ + 0.7780792309579017, + 0.6242877535819951, + 0.06969584693155087, + 0.624588739111271, + -0.7806957368032874, + 0.020076690777224432, + 0.06694488275703006, + 0.027909985036147132, + -0.9973662393564007 + ], + [ + 0.7680280518020339, + 0.6348350453718594, + 0.08436454713255756, + 0.6327675971926399, + -0.7725408926768844, + 0.0527800822759475, + 0.0986817084784487, + 0.012846568012966637, + -0.9950361230136637 + ], + [ + 0.7510063250019783, + 0.646558108182624, + 0.13398549380559663, + 0.6432883987188728, + -0.7621989487343613, + 0.07233808555624936, + 0.1488943782710814, + 0.03186495397048218, + -0.9883395615008677 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0011666715145111084, + -0.0011965855956077576, + -0.00921206921339035, + 0.006377965211868286, + 0.031961359083652496, + 0.005178928375244141, + 1.0 + ], + [ + 0.01828441023826599, + -0.031177103519439697, + -0.0034245550632476807, + -0.028441309928894043, + 0.006852380931377411, + -0.042238831520080566, + 1.0 + ], + [ + 0.022028625011444092, + -0.03660096973180771, + -0.0062352195382118225, + -0.07252080738544464, + 0.028109826147556305, + -0.046524643898010254, + 1.0 + ], + [ + 0.011190414428710938, + -0.03218618780374527, + -0.0013829991221427917, + -0.02071307599544525, + -0.031886160373687744, + -0.09844177961349487, + 1.0 + ], + [ + 0.005385726690292358, + -0.0230789165943861, + -0.015577580779790878, + 0.005139589309692383, + -0.007643997669219971, + -0.061622828245162964, + 1.0 + ], + [ + 0.0029987990856170654, + -0.005405701696872711, + -0.01565176621079445, + 0.04741944372653961, + 0.00538259744644165, + -0.015846997499465942, + 1.0 + ], + [ + 0.0012986063957214355, + -0.0027137361466884613, + -0.013550905510783195, + -0.005283519625663757, + 0.025563955307006836, + -0.006467759609222412, + 1.0 + ], + [ + 0.0035193562507629395, + -0.002329394221305847, + -0.008038625121116638, + -0.00046034157276153564, + 0.016717128455638885, + -0.012377768754959106, + 0.0 + ], + [ + 0.0007820427417755127, + -0.006954576820135117, + 0.0020010024309158325, + 0.016062140464782715, + -0.0071772560477256775, + -0.028950944542884827, + 0.0 + ], + [ + -0.0005984902381896973, + 0.0005560815334320068, + -0.00023943744599819183, + 0.013283059000968933, + -0.00039207935333251953, + 0.006335809826850891, + 0.0 + ], + [ + -0.0038847625255584717, + -0.0006480589509010315, + -0.0023259269073605537, + -0.0019240155816078186, + 0.010042063891887665, + -0.02236233651638031, + 0.0 + ], + [ + -0.0074340105056762695, + -0.0005785971879959106, + 0.0038882633671164513, + -0.0019606277346611023, + 0.006798125803470612, + -0.03791895508766174, + 0.0 + ], + [ + -0.004424244165420532, + -0.0019171535968780518, + 0.014752304181456566, + -0.03171095252037048, + -0.02632039040327072, + -0.045977115631103516, + 0.0 + ], + [ + -2.6673078536987305e-05, + 0.019438866525888443, + 0.020873725414276123, + -0.010895490646362305, + -0.02026394009590149, + -0.0031616538763046265, + 0.0 + ], + [ + 0.004714548587799072, + 0.03186264634132385, + 0.0213598795235157, + -0.010284841060638428, + -0.014942258596420288, + 0.05588306486606598, + 0.0 + ], + [ + 0.020313560962677002, + 0.04892783612012863, + 0.025364473462104797, + 0.008113965392112732, + -0.07597742974758148, + 0.12462712824344635, + 0.0 + ], + [ + 0.018521934747695923, + 0.04873837158083916, + 5.570799112319946e-05, + 0.014084979891777039, + -0.006425574421882629, + 0.14697420597076416, + 0.0 + ], + [ + 0.013224214315414429, + 0.05345499515533447, + -0.015980035066604614, + 0.0488935187458992, + 0.020464420318603516, + 0.12915784120559692, + 0.0 + ], + [ + 0.01101994514465332, + 0.043980032205581665, + -0.027158662676811218, + 0.030929282307624817, + 0.03479926288127899, + 0.07076442241668701, + 0.0 + ], + [ + 0.0020993947982788086, + 0.012700900435447693, + -0.016865331679582596, + 0.013431340456008911, + 0.023498743772506714, + 0.020197391510009766, + 0.0 + ], + [ + -0.00014448165893554688, + -0.004838421940803528, + -0.016538569703698158, + 0.003531087189912796, + 0.03217363357543945, + -0.01509159803390503, + 0.0 + ], + [ + 0.0021690726280212402, + -0.0025446265935897827, + -0.0012239646166563034, + -0.002677585929632187, + 0.0006486475467681885, + -0.006403744220733643, + 1.0 + ], + [ + 0.0008447468280792236, + -0.0029312819242477417, + -0.00039506517350673676, + 0.0018170364201068878, + 0.0015652701258659363, + 0.007939279079437256, + 1.0 + ], + [ + -0.0025069713592529297, + -0.007335439324378967, + -0.0049540698528289795, + 0.008183475583791733, + 0.02013583481311798, + -0.010906577110290527, + 1.0 + ], + [ + -0.0034814178943634033, + 0.00019319355487823486, + 0.005624590441584587, + 0.01199660450220108, + -0.00633712112903595, + 0.007524073123931885, + 1.0 + ], + [ + -0.0011919140815734863, + 0.00017054378986358643, + 0.025686968117952347, + 0.015066448599100113, + -0.03184758871793747, + 0.01273256540298462, + 1.0 + ], + [ + -0.0029292702674865723, + -0.0033718645572662354, + 0.031005121767520905, + -0.019319795072078705, + -0.05060751736164093, + 0.019158244132995605, + 1.0 + ], + [ + -0.0044387876987457275, + -0.003974094986915588, + 0.02812202274799347, + -0.03458051010966301, + -0.049951449036598206, + 0.002487778663635254, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9954678416252136 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9553104043006897 + ], + [ + 0.6731748580932617 + ], + [ + 0.365278422832489 + ], + [ + 0.1526326984167099 + ], + [ + 0.07689721137285233 + ], + [ + 0.07494325935840607 + ], + [ + 0.07494325935840607 + ], + [ + 0.07494325935840607 + ], + [ + 0.07462053745985031 + ], + [ + 0.07333792001008987 + ], + [ + 0.07333792001008987 + ], + [ + 0.07333792001008987 + ], + [ + 0.07333792001008987 + ], + [ + 0.07270156592130661 + ], + [ + 0.103162482380867 + ], + [ + 0.2788355052471161 + ], + [ + 0.5630297660827637 + ], + [ + 0.8634164333343506 + ], + [ + 1.0092895030975342 + ], + [ + 1.0067112445831299 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2934912443161011, + 0.07099965214729309, + 0.07969539612531662 + ], + [ + 0.31177565455436707, + 0.039822548627853394, + 0.07627084106206894 + ], + [ + 0.33380427956581116, + 0.0032215770334005356, + 0.07003562152385712 + ], + [ + 0.3449946939945221, + -0.028964610770344734, + 0.06865262240171432 + ], + [ + 0.35038042068481445, + -0.052043527364730835, + 0.05307504162192345 + ], + [ + 0.3533792197704315, + -0.057449229061603546, + 0.037423275411129 + ], + [ + 0.35467782616615295, + -0.06016296520829201, + 0.023872369900345802 + ], + [ + 0.3581971824169159, + -0.062492359429597855, + 0.015833744779229164 + ], + [ + 0.3589792251586914, + -0.06944693624973297, + 0.017834747210144997 + ], + [ + 0.3583807349205017, + -0.06889085471630096, + 0.017595309764146805 + ], + [ + 0.35449597239494324, + -0.069538913667202, + 0.015269382856786251 + ], + [ + 0.34706196188926697, + -0.0701175108551979, + 0.019157646223902702 + ], + [ + 0.34263771772384644, + -0.07203466445207596, + 0.03390995040535927 + ], + [ + 0.34261104464530945, + -0.052595797926187515, + 0.05478367581963539 + ], + [ + 0.3473255932331085, + -0.020733149722218513, + 0.07614355534315109 + ], + [ + 0.3676391541957855, + 0.02819468453526497, + 0.10150802880525589 + ], + [ + 0.38616108894348145, + 0.07693305611610413, + 0.10156373679637909 + ], + [ + 0.3993853032588959, + 0.1303880512714386, + 0.08558370172977448 + ], + [ + 0.4104052484035492, + 0.17436808347702026, + 0.05842503905296326 + ], + [ + 0.412504643201828, + 0.18706898391246796, + 0.04155970737338066 + ], + [ + 0.41236016154289246, + 0.18223056197166443, + 0.025021137669682503 + ], + [ + 0.4145292341709137, + 0.17968593537807465, + 0.0237971730530262 + ], + [ + 0.4153739809989929, + 0.1767546534538269, + 0.023402107879519463 + ], + [ + 0.41286700963974, + 0.16941921412944794, + 0.018448038026690483 + ], + [ + 0.4093855917453766, + 0.16961240768432617, + 0.02407262846827507 + ], + [ + 0.4081936776638031, + 0.16978295147418976, + 0.04975959658622742 + ], + [ + 0.40526440739631653, + 0.16641108691692352, + 0.08076471835374832 + ], + [ + 0.4008256196975708, + 0.16243699193000793, + 0.10888674110174179 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8421338212794017, + 0.5256606146098667, + 0.12038083446018222, + 0.5294954172805838, + -0.8483127837971841, + 0.00015467751065854907, + 0.10220190867206427, + 0.06361084101196221, + -0.9927277727401091 + ], + [ + 0.8643291192333332, + 0.4862987799878786, + 0.12825236928661932, + 0.4937987899444758, + -0.8689487211664499, + -0.03302839736594588, + 0.0953830629341608, + 0.09187827036624122, + -0.9911914319342182 + ], + [ + 0.8883962928689801, + 0.4391137337356582, + 0.13390726515534063, + 0.4541075421640517, + -0.8833676450591481, + -0.11596526985429288, + 0.06736740284720244, + 0.1638314148977064, + -0.9841853994681278 + ], + [ + 0.9262548483775414, + 0.34210897917966354, + 0.1581562588762978, + 0.3636246976322962, + -0.921530979420797, + -0.1362267713761431, + 0.0991414904513701, + 0.18369022927852038, + -0.977971811730116 + ], + [ + 0.946141342525658, + 0.2841735979101409, + 0.15511907108589582, + 0.30565028250374876, + -0.9420063249684479, + -0.13857123989059697, + 0.10674485827956397, + 0.17852016684465757, + -0.9781288694546498 + ], + [ + 0.9514016769201229, + 0.27683528039076727, + 0.1348965406692974, + 0.2907827609638837, + -0.9518038665108469, + -0.0975437625951692, + 0.10139149411957087, + 0.13202888784643746, + -0.9860467218617148 + ], + [ + 0.9554343623841101, + 0.2733260222056158, + 0.1115260721128673, + 0.28527176180805086, + -0.9520362504687301, + -0.11066616333989492, + 0.07592892130538895, + 0.13754949428731764, + -0.9875803438357325 + ], + [ + 0.9599787280235657, + 0.26369047593556394, + 0.09438312689846928, + 0.2737339098000844, + -0.95466172636999, + -0.11700741356781373, + 0.05925021829340437, + 0.13816049039123265, + -0.9886359747283313 + ], + [ + 0.9670631246426219, + 0.23652563294484888, + 0.09404540348410288, + 0.24571973777069886, + -0.9639090753164452, + -0.10247489932903088, + 0.0664132774853649, + 0.12220850822522404, + -0.9902799387501585 + ], + [ + 0.9654616210187213, + 0.24382298855865198, + 0.09183794744129853, + 0.2518353012942059, + -0.9636702456249697, + -0.08898673338856343, + 0.06680448609157769, + 0.10904131303060406, + -0.9917898732547143 + ], + [ + 0.9714551825680552, + 0.2231251198209666, + 0.08056059313675996, + 0.23032731465496226, + -0.9684472680634209, + -0.09517991964869114, + 0.05678165536069975, + 0.11101833130333295, + -0.9921949272845144 + ], + [ + 0.979844608590447, + 0.18685344452865424, + 0.07064229104446496, + 0.1934042895014418, + -0.9758666772768594, + -0.10138544759019603, + 0.049993237729479376, + 0.11300450631899171, + -0.9923359601127658 + ], + [ + 0.9860549536474236, + 0.1358873442851042, + 0.0960742319798532, + 0.14791884630050792, + -0.9801783597200004, + -0.1317968059011137, + 0.07626036517420963, + 0.14417008288736843, + -0.9866100262534054 + ], + [ + 0.9847863055806878, + 0.12863438578310837, + 0.11682947887816048, + 0.14454641563063192, + -0.979561107352034, + -0.13987984376454424, + 0.09644825591516265, + 0.15463903697792206, + -0.9832520033915335 + ], + [ + 0.9736547386537787, + 0.1794463201048532, + 0.14069636846013087, + 0.19901416449048084, + -0.9699192012060229, + -0.14017883386598237, + 0.11130953341559827, + 0.16448635606851228, + -0.9800787858320906 + ], + [ + 0.9306457979702224, + 0.2886778381073616, + 0.22486330182141356, + 0.3148739081601263, + -0.9448379045779953, + -0.09019842588776966, + 0.18642108432346527, + 0.15474637268227986, + -0.9702065447425824 + ], + [ + 0.8734160675306589, + 0.4264035275124654, + 0.23521140428177686, + 0.44721300457841145, + -0.8934929729061827, + -0.04087585966338958, + 0.19273012612258902, + 0.14089123142409368, + -0.9710843214636786 + ], + [ + 0.8116209048832288, + 0.5505230437260674, + 0.19543767570024856, + 0.5581013785007413, + -0.8295541991055133, + 0.019044213346391385, + 0.1726104228373867, + 0.0936173545503021, + -0.9805311993276409 + ], + [ + 0.7743580745884605, + 0.6152213169632466, + 0.14789287837370846, + 0.6174628790658374, + -0.7857850038152583, + 0.03579833452524692, + 0.13823590450884732, + 0.06359763307751995, + -0.9883552882296719 + ], + [ + 0.7640176806245563, + 0.6337956801588288, + 0.1207477515528986, + 0.6348770178114215, + -0.7718522965591871, + 0.034281256557834726, + 0.11492674165723513, + 0.05046848628912647, + -0.9920911127228864 + ], + [ + 0.7759900355756045, + 0.623678319770755, + 0.09415316317203354, + 0.6252719493380937, + -0.7802598817986552, + 0.01514946291089627, + 0.08291232754127756, + 0.047115499609747334, + -0.9954424521981226 + ], + [ + 0.7800201077740163, + 0.6184396794370149, + 0.09539913189361045, + 0.6203232655841365, + -0.7842537710144206, + 0.012044452029625632, + 0.08226589599126223, + 0.04978338625990862, + -0.9953662325040226 + ], + [ + 0.7751698514290101, + 0.6248770704611294, + 0.09295347356308606, + 0.6265766275753076, + -0.7792473849386728, + 0.013237931960631333, + 0.08070583133752393, + 0.047980828235419035, + -0.9955824470680279 + ], + [ + 0.7830737158997502, + 0.6177120165547891, + 0.07230089951565898, + 0.618967437846428, + -0.7853920958256848, + 0.006210209365771047, + 0.0606206759512435, + 0.03988885080262972, + -0.9973635311303798 + ], + [ + 0.7780792309579017, + 0.6242877535819951, + 0.06969584693155087, + 0.624588739111271, + -0.7806957368032874, + 0.020076690777224432, + 0.06694488275703006, + 0.027909985036147132, + -0.9973662393564007 + ], + [ + 0.7680280518020339, + 0.6348350453718594, + 0.08436454713255756, + 0.6327675971926399, + -0.7725408926768844, + 0.0527800822759475, + 0.0986817084784487, + 0.012846568012966637, + -0.9950361230136637 + ], + [ + 0.7510063250019783, + 0.646558108182624, + 0.13398549380559663, + 0.6432883987188728, + -0.7621989487343613, + 0.07233808555624936, + 0.1488943782710814, + 0.03186495397048218, + -0.9883395615008677 + ], + [ + 0.7428347336844618, + 0.6409498203047133, + 0.19333878628793294, + 0.6394996292484239, + -0.7647883588492317, + 0.07835170936123827, + 0.19808276710270328, + 0.06543771099339556, + -0.9779985293224533 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006417.json b/json/chunk-0006/episode_0006417.json new file mode 100644 index 0000000000000000000000000000000000000000..13bfc05ac52f0f7630f2075f3e64e0452d09a503 --- /dev/null +++ b/json/chunk-0006/episode_0006417.json @@ -0,0 +1,2782 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 45, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut the garnet cylinder in the middle of the red arc." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006417.mp4", + "start": 0, + "end": 45, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3950730562210083, + 0.12935695052146912, + 0.09757599234580994, + -0.11400499939918518, + -0.3155876398086548, + 1.3572255373001099, + 0.0, + 1.0001531839370728 + ], + [ + 0.39184463024139404, + 0.1274721622467041, + 0.0812884047627449, + -0.07777951657772064, + -0.29187729954719543, + 1.3419336080551147, + 0.0, + 1.0001531839370728 + ], + [ + 0.37128812074661255, + 0.12470661103725433, + 0.07923468947410583, + -0.09297720342874527, + -0.25793230533599854, + 1.2584199905395508, + 0.0, + 1.0001531839370728 + ], + [ + 0.350718230009079, + 0.13269300758838654, + 0.10208942741155624, + -0.17843998968601227, + -0.2766444683074951, + 1.2312463521957397, + 0.0, + 1.0001531839370728 + ], + [ + 0.33202821016311646, + 0.13502874970436096, + 0.10312022268772125, + -0.2214110791683197, + -0.29978302121162415, + 1.0922125577926636, + 0.0, + 1.0001531839370728 + ], + [ + 0.31072208285331726, + 0.13982802629470825, + 0.09646933525800705, + -0.22419776022434235, + -0.33786502480506897, + 0.8779435157775879, + 0.0, + 1.0001531839370728 + ], + [ + 0.3021446168422699, + 0.14275023341178894, + 0.0924806296825409, + -0.2255484163761139, + -0.3908635675907135, + 0.6571237444877625, + 0.0, + 1.0001531839370728 + ], + [ + 0.29681649804115295, + 0.14482325315475464, + 0.08053917437791824, + -0.1123022809624672, + -0.46975085139274597, + 0.3937297463417053, + 0.0, + 1.0001531839370728 + ], + [ + 0.2953769862651825, + 0.1462949514389038, + 0.05768100544810295, + 0.01788536086678505, + -0.471710205078125, + 0.14990271627902985, + 0.0, + 1.0001531839370728 + ], + [ + 0.2974759042263031, + 0.13516569137573242, + 0.03860832005739212, + 0.1348104625940323, + -0.47615495324134827, + -0.011265563778579235, + 0.0, + 1.0001531839370728 + ], + [ + 0.2990402281284332, + 0.12466181069612503, + 0.019158262759447098, + 0.19018463790416718, + -0.4231656789779663, + -0.1234947070479393, + 0.0, + 1.0001531839370728 + ], + [ + 0.2975969612598419, + 0.11317740380764008, + 0.006550378166139126, + 0.18164454400539398, + -0.3648146688938141, + -0.1690661758184433, + 0.0, + 1.0001531839370728 + ], + [ + 0.3039255738258362, + 0.10604409873485565, + -0.0012632068246603012, + 0.1503630131483078, + -0.31324872374534607, + -0.19892297685146332, + 0.0, + 1.0001531839370728 + ], + [ + 0.31224289536476135, + 0.10760965198278427, + -0.004296372178941965, + 0.13127128779888153, + -0.2765079140663147, + -0.18816907703876495, + 0.0, + 1.0001531839370728 + ], + [ + 0.3169061243534088, + 0.11035081744194031, + -0.014379679225385189, + 0.1413990706205368, + -0.25220197439193726, + -0.1888662427663803, + 0.0, + 1.0001531839370728 + ], + [ + 0.31888458132743835, + 0.11178267747163773, + -0.018540125340223312, + 0.14781039953231812, + -0.23981504142284393, + -0.19413790106773376, + 0.0, + 1.0001531839370728 + ], + [ + 0.3198460042476654, + 0.11022282391786575, + -0.023455781862139702, + 0.15143683552742004, + -0.2240617871284485, + -0.20170104503631592, + 0.0, + 1.0001531839370728 + ], + [ + 0.32082346081733704, + 0.10475075989961624, + -0.03177693858742714, + 0.1537073701620102, + -0.2115612030029297, + -0.21143849194049835, + 0.0, + 1.0001531839370728 + ], + [ + 0.32761430740356445, + 0.1022675558924675, + -0.03779565915465355, + 0.1637648046016693, + -0.2088194340467453, + -0.21042756736278534, + 0.0, + 1.0001531839370728 + ], + [ + 0.33204710483551025, + 0.10413119196891785, + -0.045494548976421356, + 0.18180206418037415, + -0.1971280723810196, + -0.1982842981815338, + 0.0, + 0.9628177285194397 + ], + [ + 0.33670562505722046, + 0.10666579753160477, + -0.04559514671564102, + 0.2055431753396988, + -0.21117886900901794, + -0.1711428165435791, + 0.0, + 0.6861988306045532 + ], + [ + 0.33076992630958557, + 0.09950048476457596, + -0.046862754970788956, + 0.1502223014831543, + -0.17314055562019348, + -0.15344519913196564, + 0.0, + 0.5246683359146118 + ], + [ + 0.3305128216743469, + 0.09598936140537262, + -0.030053986236453056, + 0.12839549779891968, + -0.177293598651886, + -0.1361216902732849, + 0.0, + 0.5236935019493103 + ], + [ + 0.3256284296512604, + 0.08953332901000977, + -0.020351214334368706, + 0.090836301445961, + -0.15404868125915527, + -0.09921935945749283, + 0.0, + 0.5236935019493103 + ], + [ + 0.3252873420715332, + 0.08249317109584808, + -0.0012084494810551405, + 0.0572235994040966, + -0.1687232255935669, + -0.04833873361349106, + 0.0, + 0.5236935019493103 + ], + [ + 0.32249969244003296, + 0.07840932160615921, + 0.007104463875293732, + 0.016756968572735786, + -0.14561879634857178, + 0.030912121757864952, + 0.0, + 0.5236935019493103 + ], + [ + 0.3311135172843933, + 0.07939925044775009, + 0.03243434056639671, + -0.010244074277579784, + -0.15176087617874146, + 0.1696716994047165, + 0.0, + 0.5236935019493103 + ], + [ + 0.3385511636734009, + 0.07985071837902069, + 0.04602837562561035, + -0.051623884588479996, + -0.16471946239471436, + 0.35492661595344543, + 0.0, + 0.5236935019493103 + ], + [ + 0.3511711061000824, + 0.08051629364490509, + 0.06422507017850876, + -0.09506482630968094, + -0.16243895888328552, + 0.4963507056236267, + 0.0, + 0.5236935019493103 + ], + [ + 0.35718369483947754, + 0.08418026566505432, + 0.07525591552257538, + -0.10463382303714752, + -0.16101357340812683, + 0.6199105381965637, + 0.0, + 0.5236935019493103 + ], + [ + 0.36804771423339844, + 0.09047698974609375, + 0.08444082736968994, + -0.10932936519384384, + -0.162668377161026, + 0.7524085640907288, + 0.0, + 0.5236935019493103 + ], + [ + 0.3815733790397644, + 0.0948730930685997, + 0.08465828001499176, + -0.12083504348993301, + -0.13815325498580933, + 0.886258065700531, + 0.0, + 0.5236935019493103 + ], + [ + 0.39610180258750916, + 0.09832854568958282, + 0.07749193906784058, + -0.12102213501930237, + -0.10699447989463806, + 1.0387041568756104, + 0.0, + 0.5236935019493103 + ], + [ + 0.4074046015739441, + 0.10049562156200409, + 0.07508030533790588, + -0.12282781302928925, + -0.0973370298743248, + 1.112855076789856, + 0.0, + 0.5236935019493103 + ], + [ + 0.41439834237098694, + 0.09840474277734756, + 0.0704382136464119, + -0.1273423433303833, + -0.10147373378276825, + 1.1582096815109253, + 0.0, + 0.5236935019493103 + ], + [ + 0.4175451695919037, + 0.09933247417211533, + 0.0632588118314743, + -0.1351262629032135, + -0.10437890887260437, + 1.2021770477294922, + 0.0, + 0.5236935019493103 + ], + [ + 0.42424851655960083, + 0.10107514262199402, + 0.06461042165756226, + -0.18012771010398865, + -0.11809898912906647, + 1.2754510641098022, + 0.0, + 0.5236935019493103 + ], + [ + 0.42896151542663574, + 0.1008845865726471, + 0.05581764876842499, + -0.19702360033988953, + -0.11776037514209747, + 1.3315331935882568, + 0.0, + 0.5236935019493103 + ], + [ + 0.4335937201976776, + 0.09870770573616028, + 0.053862690925598145, + -0.2219427525997162, + -0.12162885069847107, + 1.3785154819488525, + 0.0, + 0.5236935019493103 + ], + [ + 0.435675710439682, + 0.10110527276992798, + 0.04829622060060501, + -0.22921998798847198, + -0.1242089718580246, + 1.4280009269714355, + 0.0, + 0.5236935019493103 + ], + [ + 0.4364761710166931, + 0.10381098836660385, + 0.04810526594519615, + -0.23452474176883698, + -0.13625535368919373, + 1.4532874822616577, + 0.0, + 0.5236935019493103 + ], + [ + 0.4375351369380951, + 0.10575056821107864, + 0.048601943999528885, + -0.24244068562984467, + -0.1456378847360611, + 1.4707311391830444, + 0.0, + 0.5236935019493103 + ], + [ + 0.43390172719955444, + 0.10621312260627747, + 0.04779214784502983, + -0.2203834503889084, + -0.14491938054561615, + 1.4905976057052612, + 0.0, + 0.5928986668586731 + ], + [ + 0.4319745600223541, + 0.10401924699544907, + 0.047551896423101425, + -0.20696717500686646, + -0.14208917319774628, + 1.4876091480255127, + 0.0, + 0.875784695148468 + ], + [ + 0.4310566782951355, + 0.10235001891851425, + 0.04655278101563454, + -0.200394406914711, + -0.13836409151554108, + 1.4713722467422485, + 0.0, + 1.0118417739868164 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9628177285194397 + ], + [ + 0.6861988306045532 + ], + [ + 0.5246683359146118 + ], + [ + 0.5236935019493103 + ], + [ + 0.5236935019493103 + ], + [ + 0.5236935019493103 + ], + [ + 0.5236935019493103 + ], + [ + 0.5236935019493103 + ], + [ + 0.5236935019493103 + ], + [ + 0.5236935019493103 + ], + [ + 0.5236935019493103 + ], + [ + 0.5236935019493103 + ], + [ + 0.5236935019493103 + ], + [ + 0.5236935019493103 + ], + [ + 0.5236935019493103 + ], + [ + 0.5236935019493103 + ], + [ + 0.5236935019493103 + ], + [ + 0.5236935019493103 + ], + [ + 0.5236935019493103 + ], + [ + 0.5236935019493103 + ], + [ + 0.5236935019493103 + ], + [ + 0.5236935019493103 + ], + [ + 0.5236935019493103 + ], + [ + 0.5928986668586731 + ], + [ + 0.875784695148468 + ], + [ + 1.0118417739868164 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3950730562210083, + 0.12935695052146912, + 0.09757599234580994 + ], + [ + 0.39184463024139404, + 0.1274721622467041, + 0.0812884047627449 + ], + [ + 0.37128812074661255, + 0.12470661103725433, + 0.07923468947410583 + ], + [ + 0.350718230009079, + 0.13269300758838654, + 0.10208942741155624 + ], + [ + 0.33202821016311646, + 0.13502874970436096, + 0.10312022268772125 + ], + [ + 0.31072208285331726, + 0.13982802629470825, + 0.09646933525800705 + ], + [ + 0.3021446168422699, + 0.14275023341178894, + 0.0924806296825409 + ], + [ + 0.29681649804115295, + 0.14482325315475464, + 0.08053917437791824 + ], + [ + 0.2953769862651825, + 0.1462949514389038, + 0.05768100544810295 + ], + [ + 0.2974759042263031, + 0.13516569137573242, + 0.03860832005739212 + ], + [ + 0.2990402281284332, + 0.12466181069612503, + 0.019158262759447098 + ], + [ + 0.2975969612598419, + 0.11317740380764008, + 0.006550378166139126 + ], + [ + 0.3039255738258362, + 0.10604409873485565, + -0.0012632068246603012 + ], + [ + 0.31224289536476135, + 0.10760965198278427, + -0.004296372178941965 + ], + [ + 0.3169061243534088, + 0.11035081744194031, + -0.014379679225385189 + ], + [ + 0.31888458132743835, + 0.11178267747163773, + -0.018540125340223312 + ], + [ + 0.3198460042476654, + 0.11022282391786575, + -0.023455781862139702 + ], + [ + 0.32082346081733704, + 0.10475075989961624, + -0.03177693858742714 + ], + [ + 0.32761430740356445, + 0.1022675558924675, + -0.03779565915465355 + ], + [ + 0.33204710483551025, + 0.10413119196891785, + -0.045494548976421356 + ], + [ + 0.33670562505722046, + 0.10666579753160477, + -0.04559514671564102 + ], + [ + 0.33076992630958557, + 0.09950048476457596, + -0.046862754970788956 + ], + [ + 0.3305128216743469, + 0.09598936140537262, + -0.030053986236453056 + ], + [ + 0.3256284296512604, + 0.08953332901000977, + -0.020351214334368706 + ], + [ + 0.3252873420715332, + 0.08249317109584808, + -0.0012084494810551405 + ], + [ + 0.32249969244003296, + 0.07840932160615921, + 0.007104463875293732 + ], + [ + 0.3311135172843933, + 0.07939925044775009, + 0.03243434056639671 + ], + [ + 0.3385511636734009, + 0.07985071837902069, + 0.04602837562561035 + ], + [ + 0.3511711061000824, + 0.08051629364490509, + 0.06422507017850876 + ], + [ + 0.35718369483947754, + 0.08418026566505432, + 0.07525591552257538 + ], + [ + 0.36804771423339844, + 0.09047698974609375, + 0.08444082736968994 + ], + [ + 0.3815733790397644, + 0.0948730930685997, + 0.08465828001499176 + ], + [ + 0.39610180258750916, + 0.09832854568958282, + 0.07749193906784058 + ], + [ + 0.4074046015739441, + 0.10049562156200409, + 0.07508030533790588 + ], + [ + 0.41439834237098694, + 0.09840474277734756, + 0.0704382136464119 + ], + [ + 0.4175451695919037, + 0.09933247417211533, + 0.0632588118314743 + ], + [ + 0.42424851655960083, + 0.10107514262199402, + 0.06461042165756226 + ], + [ + 0.42896151542663574, + 0.1008845865726471, + 0.05581764876842499 + ], + [ + 0.4335937201976776, + 0.09870770573616028, + 0.053862690925598145 + ], + [ + 0.435675710439682, + 0.10110527276992798, + 0.04829622060060501 + ], + [ + 0.4364761710166931, + 0.10381098836660385, + 0.04810526594519615 + ], + [ + 0.4375351369380951, + 0.10575056821107864, + 0.048601943999528885 + ], + [ + 0.43390172719955444, + 0.10621312260627747, + 0.04779214784502983 + ], + [ + 0.4319745600223541, + 0.10401924699544907, + 0.047551896423101425 + ], + [ + 0.4310566782951355, + 0.10235001891851425, + 0.04655278101563454 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.20148353120973217, + 0.9634527629140855, + 0.1765309046157965, + 0.9290164998242708, + -0.24508055778291393, + 0.27724332859615614, + 0.31037514350462614, + 0.10814015826708585, + -0.9444432097614193 + ], + [ + 0.21727465907558657, + 0.965908086150319, + 0.14075969463243365, + 0.9327332399496301, + -0.24795969443576865, + 0.26177221592137356, + 0.2877506309578723, + 0.07441477705905311, + -0.9548099367615516 + ], + [ + 0.29715450342713984, + 0.9402175515999724, + 0.1664035959837486, + 0.9201263359875944, + -0.32852997506094767, + 0.21315623685104168, + 0.25508180435894323, + 0.08977199535381747, + -0.9627430923850764 + ], + [ + 0.32039886348643276, + 0.9117864680992552, + 0.2568851978368715, + 0.9070529107024211, + -0.3734853815161824, + 0.19432881150250952, + 0.27312924680976297, + 0.17074573606622828, + -0.946702861595091 + ], + [ + 0.4399834895302038, + 0.8361131380900197, + 0.327611582905862, + 0.8480594395294063, + -0.5068468015015044, + 0.1546011217060325, + 0.29531291195254905, + 0.20981215436898312, + -0.9320778636536498 + ], + [ + 0.602623618341212, + 0.7030990197486057, + 0.37748714288819896, + 0.7259270233010949, + -0.6794516787886764, + 0.10665539382732293, + 0.3314735758074199, + 0.20975505862743699, + -0.919852207651666 + ], + [ + 0.7320387869041572, + 0.5279097508514345, + 0.4306164295795815, + 0.564772630621756, + -0.8237449865808198, + 0.049760152567562305, + 0.380986994749784, + 0.20677401200088422, + -0.9011622594142449 + ], + [ + 0.823453781775276, + 0.33437188934341644, + 0.4583877276901179, + 0.3420804688258353, + -0.9371285615602727, + 0.06907251230315957, + 0.45266413832762614, + 0.09992746731948889, + -0.8860641506952076 + ], + [ + 0.8808027633324106, + 0.157353777550178, + 0.4465716972633609, + 0.13303267395313462, + -0.9874137848571107, + 0.08553551972739067, + 0.4544103869487016, + -0.015931295140224996, + -0.8906499840387843 + ], + [ + 0.8887075268782116, + 0.05043840890459392, + 0.455691670515477, + -0.010012214887966865, + -0.9915579484929333, + 0.12927718411816852, + 0.4583652334362307, + -0.11945208950729429, + -0.8807000119730279 + ], + [ + 0.9048495050679116, + -0.043922054209178205, + 0.4234598284753837, + -0.11231567924909906, + -0.9840533218380768, + 0.1379284161232191, + 0.41064895150623343, + -0.17236563733381544, + -0.8953532965781378 + ], + [ + 0.920870521772726, + -0.10196192124213278, + 0.3762994136942557, + -0.1571885790755917, + -0.9803694224731582, + 0.11902750139292574, + 0.3567761661577521, + -0.1687588874585857, + -0.9188205511227514 + ], + [ + 0.9325771012092379, + -0.15013412076900637, + 0.3282677201326571, + -0.18799728556396425, + -0.9783411170508234, + 0.08663532367532631, + 0.3081508898587774, + -0.1425075593386705, + -0.94060333010817 + ], + [ + 0.9450335126219757, + -0.15034800435000004, + 0.29035691417519754, + -0.17995503979657454, + -0.9805809486371297, + 0.07795631354624527, + 0.2729978821771039, + -0.12592251886727648, + -0.9537377394068755 + ], + [ + 0.9511455570990572, + -0.15133020516310208, + 0.26911205512948994, + -0.18180614865709405, + -0.9790174012056259, + 0.09204049351811092, + 0.24953687807856945, + -0.13647013278324388, + -0.9587008132555876 + ], + [ + 0.9531338834098411, + -0.15649355087404776, + 0.25893159102532587, + -0.18739968345552116, + -0.9772636025141852, + 0.09918270938911852, + 0.2375229650725278, + -0.14305809916194082, + -0.9607898944760641 + ], + [ + 0.955236972690295, + -0.16520338858805256, + 0.24541834977137666, + -0.195328376312161, + -0.975229746938231, + 0.10379675377413722, + 0.2221916996936107, + -0.14708766462833978, + -0.9638444207969694 + ], + [ + 0.9559308347934666, + -0.17595873369345819, + 0.23502077169488955, + -0.20518744580972234, + -0.9729499668003241, + 0.10614364882239173, + 0.2099865499815381, + -0.1496892986831177, + -0.9661773971101829 + ], + [ + 0.9566972157098751, + -0.17303114950203216, + 0.23407404545352198, + -0.20434045773047058, + -0.9719169166793077, + 0.11671539918575004, + 0.20730512484614036, + -0.15949209502226938, + -0.9651874723792954 + ], + [ + 0.9614185669459009, + -0.15902410802158945, + 0.22446753039053988, + -0.19317249911730955, + -0.9712238731284413, + 0.13931465770033813, + 0.1958538350823469, + -0.177300652377049, + -0.9644717486532249 + ], + [ + 0.9634998185493415, + -0.12456690539340845, + 0.23696241418439137, + -0.16652508864199442, + -0.9719346628692809, + 0.1661698106334379, + 0.20961272506258136, + -0.19956476942057266, + -0.9572023862788641 + ], + [ + 0.9734746212244142, + -0.125642747265738, + 0.1912094712390078, + -0.15055852110766021, + -0.9810612339342107, + 0.12186462568505221, + 0.1722767934280682, + -0.14742033554093395, + -0.9739547993182953 + ], + [ + 0.975219355565365, + -0.1122111257819655, + 0.1906721578558829, + -0.1335745339244205, + -0.9856589764054527, + 0.1031223841764219, + 0.17636624511949175, + -0.1260358896588572, + -0.9762222606048032 + ], + [ + 0.9832979860845272, + -0.0847979392532833, + 0.16104154762206413, + -0.09788361180077168, + -0.9923580389216125, + 0.07512869710361982, + 0.15344011568996196, + -0.08963722489037741, + -0.9840839897137861 + ], + [ + 0.9846484690088559, + -0.03864807471311095, + 0.17021668190716782, + -0.04763376670677144, + -0.9976610620580374, + 0.049024784778250716, + 0.16792384210659617, + -0.05638024099095998, + -0.9841863907197459 + ], + [ + 0.9889436197247226, + 0.033333099327413414, + 0.14449713317222646, + 0.0305800865668985, + -0.9993067829682457, + 0.02123232957582458, + 0.14510470464917513, + -0.016578842024828896, + -0.9892773962270599 + ], + [ + 0.9743117046556106, + 0.16732348839259636, + 0.1507300646958384, + 0.1669179772311301, + -0.9858500449858926, + 0.015429765985982748, + 0.1511790033309748, + 0.010126155906706711, + -0.9884545360907636 + ], + [ + 0.9249800366082827, + 0.3391246598996542, + 0.17148293478968588, + 0.3428176416638346, + -0.9393632948769273, + 0.008524365196865894, + 0.1639755970874522, + 0.05090250765833387, + -0.9851502110205868 + ], + [ + 0.8677506321108241, + 0.4605707714981954, + 0.18677099590895369, + 0.4699507326438875, + -0.8826664693605659, + -0.006797996324403081, + 0.16172553712614063, + 0.09367213197162913, + -0.9823799582305979 + ], + [ + 0.803402484295603, + 0.5641564000258603, + 0.19045210562636364, + 0.5734477709500898, + -0.8192066790637828, + 0.007620431068024576, + 0.16031875192886005, + 0.10309206219273492, + -0.9816669111734502 + ], + [ + 0.7204073968943425, + 0.6664183483200529, + 0.19209312200672307, + 0.6743773087335955, + -0.7377624834871658, + 0.03036055704499048, + 0.16195193103248245, + 0.10767127277608433, + -0.9809069624860596 + ], + [ + 0.626290668988979, + 0.7585655685847842, + 0.17982846297229982, + 0.7673296532157515, + -0.640565113127406, + 0.02969072481209823, + 0.13771420127616246, + 0.1193926882255198, + -0.9832498079151362 + ], + [ + 0.5044361886169393, + 0.8489036502277352, + 0.15781864352364558, + 0.8568196603989935, + -0.5147366485551882, + 0.030104022786444196, + 0.10679045447683863, + 0.12003655803212837, + -0.9870091304382297 + ], + [ + 0.4400097233132075, + 0.8849429338274034, + 0.1525367079059414, + 0.8927187856568924, + -0.44945169000303303, + 0.03234730419525906, + 0.0971833994317844, + 0.12193925628100805, + -0.9877682950229355 + ], + [ + 0.39891759837956403, + 0.9035104906208831, + 0.15663187108979845, + 0.9113743055115964, + -0.409518853079513, + 0.0411240103308873, + 0.10129967895475069, + 0.12634517129851305, + -0.9868005232736823 + ], + [ + 0.35836670738012993, + 0.9192648789206306, + 0.1628661580088479, + 0.9277488106621539, + -0.37013625091215036, + 0.047762957149414274, + 0.10418947814670843, + 0.13398223070144924, + -0.9854914076235168 + ], + [ + 0.28904270706948915, + 0.935078883719152, + 0.2051384769186075, + 0.9500377175913127, + -0.30655582612908877, + 0.05875253713841779, + 0.11782465210570645, + 0.17790729802022306, + -0.9769679343086511 + ], + [ + 0.23534550527986015, + 0.9472672013334795, + 0.21747952184609165, + 0.9647844170364552, + -0.2547453162250129, + 0.06554275326109983, + 0.11748839001448003, + 0.19439566131798186, + -0.9738617997809288 + ], + [ + 0.18968642979740874, + 0.9523908251241251, + 0.23868551395110058, + 0.9743193969458599, + -0.21262628295412606, + 0.07410652152252171, + 0.1213291848063309, + 0.21849892452023695, + -0.9682651748863691 + ], + [ + 0.14121425133806315, + 0.9599261445779964, + 0.24207505483765562, + 0.9821964382005351, + -0.16645181798110004, + 0.08708587185628407, + 0.12388983818381848, + 0.2254674904424369, + -0.9663414090001405 + ], + [ + 0.11615198257329246, + 0.9622167890407222, + 0.24626726910504398, + 0.9838992856831333, + -0.14537673784647148, + 0.10396056812724042, + 0.13583413627109292, + 0.23022696406216392, + -0.9636102077303902 + ], + [ + 0.09884070875732737, + 0.9624183976932573, + 0.2529453341611432, + 0.9844641474589596, + -0.1316426676055275, + 0.11619186905117104, + 0.1451235909845573, + 0.23753112605981516, + -0.960478061952746 + ], + [ + 0.07927299984714453, + 0.9701481498044862, + 0.2291906606434182, + 0.9863370500674442, + -0.10964283415492859, + 0.12295394496609835, + 0.14441265581480778, + 0.2163123120615345, + -0.9655847805817501 + ], + [ + 0.08225389953978013, + 0.9728564114253976, + 0.21629770863094527, + 0.9864990964884098, + -0.11031750204846491, + 0.12103545500942273, + 0.1416115413306797, + 0.20342185597984422, + -0.9687960156150853 + ], + [ + 0.09831172126336152, + 0.9724233377704578, + 0.2114891430348084, + 0.9855516447098399, + -0.12459277649691647, + 0.11473707184044457, + 0.13792302589475416, + 0.19715347373087788, + -0.9706223502082998 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.003228425979614258, + -0.0018847882747650146, + -0.016287587583065033, + 0.03622548282146454, + 0.02371034026145935, + -0.015291929244995117, + 1.0 + ], + [ + -0.020556509494781494, + -0.002765551209449768, + -0.0020537152886390686, + -0.015197686851024628, + 0.0339449942111969, + -0.08351361751556396, + 1.0 + ], + [ + -0.02056989073753357, + 0.007986396551132202, + 0.02285473793745041, + -0.085462786257267, + -0.018712162971496582, + -0.027173638343811035, + 1.0 + ], + [ + -0.018690019845962524, + 0.0023357421159744263, + 0.0010307952761650085, + -0.042971089482307434, + -0.02313855290412903, + -0.13903379440307617, + 1.0 + ], + [ + -0.021306127309799194, + 0.00479927659034729, + -0.006650887429714203, + -0.002786681056022644, + -0.038082003593444824, + -0.21426904201507568, + 1.0 + ], + [ + -0.008577466011047363, + 0.0029222071170806885, + -0.003988705575466156, + -0.0013506561517715454, + -0.05299854278564453, + -0.22081977128982544, + 1.0 + ], + [ + -0.005328118801116943, + 0.0020730197429656982, + -0.01194145530462265, + 0.1132461354136467, + -0.07888728380203247, + -0.26339399814605713, + 1.0 + ], + [ + -0.001439511775970459, + 0.00147169828414917, + -0.022858168929815292, + 0.13018764555454254, + -0.0019593536853790283, + -0.24382703006267548, + 1.0 + ], + [ + 0.0020989179611206055, + -0.011129260063171387, + -0.01907268539071083, + 0.11692510545253754, + -0.004444748163223267, + -0.16116827726364136, + 1.0 + ], + [ + 0.001564323902130127, + -0.010503880679607391, + -0.019450057297945023, + 0.05537417531013489, + 0.05298927426338196, + -0.11222914606332779, + 1.0 + ], + [ + -0.0014432668685913086, + -0.011484406888484955, + -0.012607884593307972, + -0.008540093898773193, + 0.05835101008415222, + -0.045571468770504, + 1.0 + ], + [ + 0.006328612565994263, + -0.007133305072784424, + -0.007813584990799427, + -0.03128153085708618, + 0.05156594514846802, + -0.02985680103302002, + 1.0 + ], + [ + 0.008317321538925171, + 0.0015655532479286194, + -0.003033165354281664, + -0.01909172534942627, + 0.03674080967903137, + 0.010753899812698364, + 1.0 + ], + [ + 0.004663228988647461, + 0.0027411654591560364, + -0.010083306580781937, + 0.010127782821655273, + 0.02430593967437744, + -0.0006971657276153564, + 1.0 + ], + [ + 0.001978456974029541, + 0.0014318600296974182, + -0.004160446114838123, + 0.006411328911781311, + 0.012386932969093323, + -0.005271658301353455, + 1.0 + ], + [ + 0.0009614229202270508, + -0.0015598535537719727, + -0.0049156565219163895, + 0.0036264359951019287, + 0.015753254294395447, + -0.007563143968582153, + 1.0 + ], + [ + 0.0009774565696716309, + -0.005472064018249512, + -0.008321156725287437, + 0.002270534634590149, + 0.012500584125518799, + -0.009737446904182434, + 1.0 + ], + [ + 0.006790846586227417, + -0.0024832040071487427, + -0.00601872056722641, + 0.010057434439659119, + 0.002741768956184387, + 0.0010109245777130127, + 1.0 + ], + [ + 0.004432797431945801, + 0.001863636076450348, + -0.007698889821767807, + 0.018037259578704834, + 0.011691361665725708, + 0.012143269181251526, + 0.0 + ], + [ + 0.004658520221710205, + 0.00253460556268692, + -0.00010059773921966553, + 0.023741111159324646, + -0.014050796627998352, + 0.027141481637954712, + 0.0 + ], + [ + -0.005935698747634888, + -0.007165312767028809, + -0.001267608255147934, + -0.055320873856544495, + 0.03803831338882446, + 0.017697617411613464, + 0.0 + ], + [ + -0.00025710463523864746, + -0.0035111233592033386, + 0.0168087687343359, + -0.02182680368423462, + -0.004153043031692505, + 0.017323508858680725, + 0.0 + ], + [ + -0.004884392023086548, + -0.006456032395362854, + 0.00970277190208435, + -0.03755919635295868, + 0.023244917392730713, + 0.036902330815792084, + 0.0 + ], + [ + -0.00034108757972717285, + -0.007040157914161682, + 0.019142765551805496, + -0.033612702041864395, + -0.014674544334411621, + 0.05088062584400177, + 0.0 + ], + [ + -0.002787649631500244, + -0.004083849489688873, + 0.008312913589179516, + -0.04046662896871567, + 0.023104429244995117, + 0.07925085723400116, + 0.0 + ], + [ + 0.008613824844360352, + 0.0009899288415908813, + 0.02532987669110298, + -0.027001041918992996, + -0.006142079830169678, + 0.138759583234787, + 0.0 + ], + [ + 0.007437646389007568, + 0.00045146793127059937, + 0.013594035059213638, + -0.04137980937957764, + -0.0129585862159729, + 0.18525491654872894, + 0.0 + ], + [ + 0.012619942426681519, + 0.0006655752658843994, + 0.018196694552898407, + -0.04344094172120094, + 0.002280503511428833, + 0.14142408967018127, + 0.0 + ], + [ + 0.006012588739395142, + 0.003663972020149231, + 0.01103084534406662, + -0.009568996727466583, + 0.0014253854751586914, + 0.12355983257293701, + 0.0 + ], + [ + 0.010864019393920898, + 0.006296724081039429, + 0.009184911847114563, + -0.00469554215669632, + -0.00165480375289917, + 0.13249802589416504, + 0.0 + ], + [ + 0.013525664806365967, + 0.004396103322505951, + 0.00021745264530181885, + -0.011505678296089172, + 0.024515122175216675, + 0.13384950160980225, + 0.0 + ], + [ + 0.014528423547744751, + 0.0034554526209831238, + -0.007166340947151184, + -0.00018709152936935425, + 0.031158775091171265, + 0.15244609117507935, + 0.0 + ], + [ + 0.011302798986434937, + 0.0021670758724212646, + -0.0024116337299346924, + -0.0018056780099868774, + 0.009657450020313263, + 0.0741509199142456, + 0.0 + ], + [ + 0.006993740797042847, + -0.0020908787846565247, + -0.004642091691493988, + -0.004514530301094055, + -0.004136703908443451, + 0.045354604721069336, + 0.0 + ], + [ + 0.003146827220916748, + 0.0009277313947677612, + -0.0071794018149375916, + -0.0077839195728302, + -0.0029051750898361206, + 0.043967366218566895, + 0.0 + ], + [ + 0.0067033469676971436, + 0.0017426684498786926, + 0.0013516098260879517, + -0.045001447200775146, + -0.013720080256462097, + 0.07327401638031006, + 0.0 + ], + [ + 0.004712998867034912, + -0.00019055604934692383, + -0.008792772889137268, + -0.01689589023590088, + 0.00033861398696899414, + 0.05608212947845459, + 0.0 + ], + [ + 0.00463220477104187, + -0.0021768808364868164, + -0.0019549578428268433, + -0.02491915225982666, + -0.003868475556373596, + 0.0469822883605957, + 0.0 + ], + [ + 0.0020819902420043945, + 0.0023975670337677, + -0.0055664703249931335, + -0.007277235388755798, + -0.002580121159553528, + 0.04948544502258301, + 0.0 + ], + [ + 0.0008004605770111084, + 0.002705715596675873, + -0.00019095465540885925, + -0.00530475378036499, + -0.012046381831169128, + 0.025286555290222168, + 0.0 + ], + [ + 0.0010589659214019775, + 0.0019395798444747925, + 0.0004966780543327332, + -0.00791594386100769, + -0.00938253104686737, + 0.01744365692138672, + 1.0 + ], + [ + -0.0036334097385406494, + 0.000462554395198822, + -0.000809796154499054, + 0.02205723524093628, + 0.0007185041904449463, + 0.019866466522216797, + 1.0 + ], + [ + -0.0019271671772003174, + -0.0021938756108283997, + -0.00024025142192840576, + 0.013416275382041931, + 0.002830207347869873, + -0.002988457679748535, + 1.0 + ], + [ + -0.0009178817272186279, + -0.0016692280769348145, + -0.0009991154074668884, + 0.0065727680921554565, + 0.0037250816822052, + -0.01623690128326416, + 1.0 + ], + [ + -0.0029001235961914062, + -0.001385234296321869, + -0.0010529980063438416, + 0.010015517473220825, + 0.00646701455116272, + -0.00908517837524414, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9628177285194397 + ], + [ + 0.6861988306045532 + ], + [ + 0.5246683359146118 + ], + [ + 0.5236935019493103 + ], + [ + 0.5236935019493103 + ], + [ + 0.5236935019493103 + ], + [ + 0.5236935019493103 + ], + [ + 0.5236935019493103 + ], + [ + 0.5236935019493103 + ], + [ + 0.5236935019493103 + ], + [ + 0.5236935019493103 + ], + [ + 0.5236935019493103 + ], + [ + 0.5236935019493103 + ], + [ + 0.5236935019493103 + ], + [ + 0.5236935019493103 + ], + [ + 0.5236935019493103 + ], + [ + 0.5236935019493103 + ], + [ + 0.5236935019493103 + ], + [ + 0.5236935019493103 + ], + [ + 0.5236935019493103 + ], + [ + 0.5236935019493103 + ], + [ + 0.5236935019493103 + ], + [ + 0.5236935019493103 + ], + [ + 0.5928986668586731 + ], + [ + 0.875784695148468 + ], + [ + 1.0118417739868164 + ], + [ + 1.0073583126068115 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.39184463024139404, + 0.1274721622467041, + 0.0812884047627449 + ], + [ + 0.37128812074661255, + 0.12470661103725433, + 0.07923468947410583 + ], + [ + 0.350718230009079, + 0.13269300758838654, + 0.10208942741155624 + ], + [ + 0.33202821016311646, + 0.13502874970436096, + 0.10312022268772125 + ], + [ + 0.31072208285331726, + 0.13982802629470825, + 0.09646933525800705 + ], + [ + 0.3021446168422699, + 0.14275023341178894, + 0.0924806296825409 + ], + [ + 0.29681649804115295, + 0.14482325315475464, + 0.08053917437791824 + ], + [ + 0.2953769862651825, + 0.1462949514389038, + 0.05768100544810295 + ], + [ + 0.2974759042263031, + 0.13516569137573242, + 0.03860832005739212 + ], + [ + 0.2990402281284332, + 0.12466181069612503, + 0.019158262759447098 + ], + [ + 0.2975969612598419, + 0.11317740380764008, + 0.006550378166139126 + ], + [ + 0.3039255738258362, + 0.10604409873485565, + -0.0012632068246603012 + ], + [ + 0.31224289536476135, + 0.10760965198278427, + -0.004296372178941965 + ], + [ + 0.3169061243534088, + 0.11035081744194031, + -0.014379679225385189 + ], + [ + 0.31888458132743835, + 0.11178267747163773, + -0.018540125340223312 + ], + [ + 0.3198460042476654, + 0.11022282391786575, + -0.023455781862139702 + ], + [ + 0.32082346081733704, + 0.10475075989961624, + -0.03177693858742714 + ], + [ + 0.32761430740356445, + 0.1022675558924675, + -0.03779565915465355 + ], + [ + 0.33204710483551025, + 0.10413119196891785, + -0.045494548976421356 + ], + [ + 0.33670562505722046, + 0.10666579753160477, + -0.04559514671564102 + ], + [ + 0.33076992630958557, + 0.09950048476457596, + -0.046862754970788956 + ], + [ + 0.3305128216743469, + 0.09598936140537262, + -0.030053986236453056 + ], + [ + 0.3256284296512604, + 0.08953332901000977, + -0.020351214334368706 + ], + [ + 0.3252873420715332, + 0.08249317109584808, + -0.0012084494810551405 + ], + [ + 0.32249969244003296, + 0.07840932160615921, + 0.007104463875293732 + ], + [ + 0.3311135172843933, + 0.07939925044775009, + 0.03243434056639671 + ], + [ + 0.3385511636734009, + 0.07985071837902069, + 0.04602837562561035 + ], + [ + 0.3511711061000824, + 0.08051629364490509, + 0.06422507017850876 + ], + [ + 0.35718369483947754, + 0.08418026566505432, + 0.07525591552257538 + ], + [ + 0.36804771423339844, + 0.09047698974609375, + 0.08444082736968994 + ], + [ + 0.3815733790397644, + 0.0948730930685997, + 0.08465828001499176 + ], + [ + 0.39610180258750916, + 0.09832854568958282, + 0.07749193906784058 + ], + [ + 0.4074046015739441, + 0.10049562156200409, + 0.07508030533790588 + ], + [ + 0.41439834237098694, + 0.09840474277734756, + 0.0704382136464119 + ], + [ + 0.4175451695919037, + 0.09933247417211533, + 0.0632588118314743 + ], + [ + 0.42424851655960083, + 0.10107514262199402, + 0.06461042165756226 + ], + [ + 0.42896151542663574, + 0.1008845865726471, + 0.05581764876842499 + ], + [ + 0.4335937201976776, + 0.09870770573616028, + 0.053862690925598145 + ], + [ + 0.435675710439682, + 0.10110527276992798, + 0.04829622060060501 + ], + [ + 0.4364761710166931, + 0.10381098836660385, + 0.04810526594519615 + ], + [ + 0.4375351369380951, + 0.10575056821107864, + 0.048601943999528885 + ], + [ + 0.43390172719955444, + 0.10621312260627747, + 0.04779214784502983 + ], + [ + 0.4319745600223541, + 0.10401924699544907, + 0.047551896423101425 + ], + [ + 0.4310566782951355, + 0.10235001891851425, + 0.04655278101563454 + ], + [ + 0.4281565546989441, + 0.10096478462219238, + 0.045499783009290695 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.21727465907558657, + 0.965908086150319, + 0.14075969463243365, + 0.9327332399496301, + -0.24795969443576865, + 0.26177221592137356, + 0.2877506309578723, + 0.07441477705905311, + -0.9548099367615516 + ], + [ + 0.29715450342713984, + 0.9402175515999724, + 0.1664035959837486, + 0.9201263359875944, + -0.32852997506094767, + 0.21315623685104168, + 0.25508180435894323, + 0.08977199535381747, + -0.9627430923850764 + ], + [ + 0.32039886348643276, + 0.9117864680992552, + 0.2568851978368715, + 0.9070529107024211, + -0.3734853815161824, + 0.19432881150250952, + 0.27312924680976297, + 0.17074573606622828, + -0.946702861595091 + ], + [ + 0.4399834895302038, + 0.8361131380900197, + 0.327611582905862, + 0.8480594395294063, + -0.5068468015015044, + 0.1546011217060325, + 0.29531291195254905, + 0.20981215436898312, + -0.9320778636536498 + ], + [ + 0.602623618341212, + 0.7030990197486057, + 0.37748714288819896, + 0.7259270233010949, + -0.6794516787886764, + 0.10665539382732293, + 0.3314735758074199, + 0.20975505862743699, + -0.919852207651666 + ], + [ + 0.7320387869041572, + 0.5279097508514345, + 0.4306164295795815, + 0.564772630621756, + -0.8237449865808198, + 0.049760152567562305, + 0.380986994749784, + 0.20677401200088422, + -0.9011622594142449 + ], + [ + 0.823453781775276, + 0.33437188934341644, + 0.4583877276901179, + 0.3420804688258353, + -0.9371285615602727, + 0.06907251230315957, + 0.45266413832762614, + 0.09992746731948889, + -0.8860641506952076 + ], + [ + 0.8808027633324106, + 0.157353777550178, + 0.4465716972633609, + 0.13303267395313462, + -0.9874137848571107, + 0.08553551972739067, + 0.4544103869487016, + -0.015931295140224996, + -0.8906499840387843 + ], + [ + 0.8887075268782116, + 0.05043840890459392, + 0.455691670515477, + -0.010012214887966865, + -0.9915579484929333, + 0.12927718411816852, + 0.4583652334362307, + -0.11945208950729429, + -0.8807000119730279 + ], + [ + 0.9048495050679116, + -0.043922054209178205, + 0.4234598284753837, + -0.11231567924909906, + -0.9840533218380768, + 0.1379284161232191, + 0.41064895150623343, + -0.17236563733381544, + -0.8953532965781378 + ], + [ + 0.920870521772726, + -0.10196192124213278, + 0.3762994136942557, + -0.1571885790755917, + -0.9803694224731582, + 0.11902750139292574, + 0.3567761661577521, + -0.1687588874585857, + -0.9188205511227514 + ], + [ + 0.9325771012092379, + -0.15013412076900637, + 0.3282677201326571, + -0.18799728556396425, + -0.9783411170508234, + 0.08663532367532631, + 0.3081508898587774, + -0.1425075593386705, + -0.94060333010817 + ], + [ + 0.9450335126219757, + -0.15034800435000004, + 0.29035691417519754, + -0.17995503979657454, + -0.9805809486371297, + 0.07795631354624527, + 0.2729978821771039, + -0.12592251886727648, + -0.9537377394068755 + ], + [ + 0.9511455570990572, + -0.15133020516310208, + 0.26911205512948994, + -0.18180614865709405, + -0.9790174012056259, + 0.09204049351811092, + 0.24953687807856945, + -0.13647013278324388, + -0.9587008132555876 + ], + [ + 0.9531338834098411, + -0.15649355087404776, + 0.25893159102532587, + -0.18739968345552116, + -0.9772636025141852, + 0.09918270938911852, + 0.2375229650725278, + -0.14305809916194082, + -0.9607898944760641 + ], + [ + 0.955236972690295, + -0.16520338858805256, + 0.24541834977137666, + -0.195328376312161, + -0.975229746938231, + 0.10379675377413722, + 0.2221916996936107, + -0.14708766462833978, + -0.9638444207969694 + ], + [ + 0.9559308347934666, + -0.17595873369345819, + 0.23502077169488955, + -0.20518744580972234, + -0.9729499668003241, + 0.10614364882239173, + 0.2099865499815381, + -0.1496892986831177, + -0.9661773971101829 + ], + [ + 0.9566972157098751, + -0.17303114950203216, + 0.23407404545352198, + -0.20434045773047058, + -0.9719169166793077, + 0.11671539918575004, + 0.20730512484614036, + -0.15949209502226938, + -0.9651874723792954 + ], + [ + 0.9614185669459009, + -0.15902410802158945, + 0.22446753039053988, + -0.19317249911730955, + -0.9712238731284413, + 0.13931465770033813, + 0.1958538350823469, + -0.177300652377049, + -0.9644717486532249 + ], + [ + 0.9634998185493415, + -0.12456690539340845, + 0.23696241418439137, + -0.16652508864199442, + -0.9719346628692809, + 0.1661698106334379, + 0.20961272506258136, + -0.19956476942057266, + -0.9572023862788641 + ], + [ + 0.9734746212244142, + -0.125642747265738, + 0.1912094712390078, + -0.15055852110766021, + -0.9810612339342107, + 0.12186462568505221, + 0.1722767934280682, + -0.14742033554093395, + -0.9739547993182953 + ], + [ + 0.975219355565365, + -0.1122111257819655, + 0.1906721578558829, + -0.1335745339244205, + -0.9856589764054527, + 0.1031223841764219, + 0.17636624511949175, + -0.1260358896588572, + -0.9762222606048032 + ], + [ + 0.9832979860845272, + -0.0847979392532833, + 0.16104154762206413, + -0.09788361180077168, + -0.9923580389216125, + 0.07512869710361982, + 0.15344011568996196, + -0.08963722489037741, + -0.9840839897137861 + ], + [ + 0.9846484690088559, + -0.03864807471311095, + 0.17021668190716782, + -0.04763376670677144, + -0.9976610620580374, + 0.049024784778250716, + 0.16792384210659617, + -0.05638024099095998, + -0.9841863907197459 + ], + [ + 0.9889436197247226, + 0.033333099327413414, + 0.14449713317222646, + 0.0305800865668985, + -0.9993067829682457, + 0.02123232957582458, + 0.14510470464917513, + -0.016578842024828896, + -0.9892773962270599 + ], + [ + 0.9743117046556106, + 0.16732348839259636, + 0.1507300646958384, + 0.1669179772311301, + -0.9858500449858926, + 0.015429765985982748, + 0.1511790033309748, + 0.010126155906706711, + -0.9884545360907636 + ], + [ + 0.9249800366082827, + 0.3391246598996542, + 0.17148293478968588, + 0.3428176416638346, + -0.9393632948769273, + 0.008524365196865894, + 0.1639755970874522, + 0.05090250765833387, + -0.9851502110205868 + ], + [ + 0.8677506321108241, + 0.4605707714981954, + 0.18677099590895369, + 0.4699507326438875, + -0.8826664693605659, + -0.006797996324403081, + 0.16172553712614063, + 0.09367213197162913, + -0.9823799582305979 + ], + [ + 0.803402484295603, + 0.5641564000258603, + 0.19045210562636364, + 0.5734477709500898, + -0.8192066790637828, + 0.007620431068024576, + 0.16031875192886005, + 0.10309206219273492, + -0.9816669111734502 + ], + [ + 0.7204073968943425, + 0.6664183483200529, + 0.19209312200672307, + 0.6743773087335955, + -0.7377624834871658, + 0.03036055704499048, + 0.16195193103248245, + 0.10767127277608433, + -0.9809069624860596 + ], + [ + 0.626290668988979, + 0.7585655685847842, + 0.17982846297229982, + 0.7673296532157515, + -0.640565113127406, + 0.02969072481209823, + 0.13771420127616246, + 0.1193926882255198, + -0.9832498079151362 + ], + [ + 0.5044361886169393, + 0.8489036502277352, + 0.15781864352364558, + 0.8568196603989935, + -0.5147366485551882, + 0.030104022786444196, + 0.10679045447683863, + 0.12003655803212837, + -0.9870091304382297 + ], + [ + 0.4400097233132075, + 0.8849429338274034, + 0.1525367079059414, + 0.8927187856568924, + -0.44945169000303303, + 0.03234730419525906, + 0.0971833994317844, + 0.12193925628100805, + -0.9877682950229355 + ], + [ + 0.39891759837956403, + 0.9035104906208831, + 0.15663187108979845, + 0.9113743055115964, + -0.409518853079513, + 0.0411240103308873, + 0.10129967895475069, + 0.12634517129851305, + -0.9868005232736823 + ], + [ + 0.35836670738012993, + 0.9192648789206306, + 0.1628661580088479, + 0.9277488106621539, + -0.37013625091215036, + 0.047762957149414274, + 0.10418947814670843, + 0.13398223070144924, + -0.9854914076235168 + ], + [ + 0.28904270706948915, + 0.935078883719152, + 0.2051384769186075, + 0.9500377175913127, + -0.30655582612908877, + 0.05875253713841779, + 0.11782465210570645, + 0.17790729802022306, + -0.9769679343086511 + ], + [ + 0.23534550527986015, + 0.9472672013334795, + 0.21747952184609165, + 0.9647844170364552, + -0.2547453162250129, + 0.06554275326109983, + 0.11748839001448003, + 0.19439566131798186, + -0.9738617997809288 + ], + [ + 0.18968642979740874, + 0.9523908251241251, + 0.23868551395110058, + 0.9743193969458599, + -0.21262628295412606, + 0.07410652152252171, + 0.1213291848063309, + 0.21849892452023695, + -0.9682651748863691 + ], + [ + 0.14121425133806315, + 0.9599261445779964, + 0.24207505483765562, + 0.9821964382005351, + -0.16645181798110004, + 0.08708587185628407, + 0.12388983818381848, + 0.2254674904424369, + -0.9663414090001405 + ], + [ + 0.11615198257329246, + 0.9622167890407222, + 0.24626726910504398, + 0.9838992856831333, + -0.14537673784647148, + 0.10396056812724042, + 0.13583413627109292, + 0.23022696406216392, + -0.9636102077303902 + ], + [ + 0.09884070875732737, + 0.9624183976932573, + 0.2529453341611432, + 0.9844641474589596, + -0.1316426676055275, + 0.11619186905117104, + 0.1451235909845573, + 0.23753112605981516, + -0.960478061952746 + ], + [ + 0.07927299984714453, + 0.9701481498044862, + 0.2291906606434182, + 0.9863370500674442, + -0.10964283415492859, + 0.12295394496609835, + 0.14441265581480778, + 0.2163123120615345, + -0.9655847805817501 + ], + [ + 0.08225389953978013, + 0.9728564114253976, + 0.21629770863094527, + 0.9864990964884098, + -0.11031750204846491, + 0.12103545500942273, + 0.1416115413306797, + 0.20342185597984422, + -0.9687960156150853 + ], + [ + 0.09831172126336152, + 0.9724233377704578, + 0.2114891430348084, + 0.9855516447098399, + -0.12459277649691647, + 0.11473707184044457, + 0.13792302589475416, + 0.19715347373087788, + -0.9706223502082998 + ], + [ + 0.10735580467292621, + 0.9734623715922226, + 0.20210329610640823, + 0.9854839125575476, + -0.13108015024339642, + 0.10788629339465261, + 0.13151497744856647, + 0.18758732714715737, + -0.9734037216902806 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006420.json b/json/chunk-0006/episode_0006420.json new file mode 100644 index 0000000000000000000000000000000000000000..7aeee45b880594a8eeee955265bb4bac7530794c --- /dev/null +++ b/json/chunk-0006/episode_0006420.json @@ -0,0 +1,1882 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 30, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut the silver pot to the lower left burner of the stove." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006420.mp4", + "start": 0, + "end": 30, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.36341211199760437, + 0.05334201082587242, + 0.017459513619542122, + 0.06605049967765808, + -0.06995942443609238, + -0.08872073143720627, + 0.0, + 1.0008161067962646 + ], + [ + 0.35841989517211914, + 0.052151113748550415, + 0.004377399571239948, + 0.05434262752532959, + -0.03324548527598381, + -0.0854232907295227, + 0.0, + 1.0014774799346924 + ], + [ + 0.36584359407424927, + 0.04381910338997841, + -0.0004348395159468055, + 0.0017480341484770179, + -0.054981779307127, + -0.12239082157611847, + 0.0, + 1.0014774799346924 + ], + [ + 0.3830017149448395, + 0.039855796843767166, + 0.002737499540671706, + -0.002554922131821513, + -0.0790332704782486, + -0.1609906405210495, + 0.0, + 1.0014774799346924 + ], + [ + 0.40636610984802246, + 0.02116178162395954, + 0.01301730889827013, + -0.010641015134751797, + -0.17573046684265137, + -0.2323005050420761, + 0.0, + 1.0008161067962646 + ], + [ + 0.43171581625938416, + 0.005547138396650553, + 0.018791276961565018, + -0.009855633601546288, + -0.2727413773536682, + -0.28902667760849, + 0.0, + 1.0014774799346924 + ], + [ + 0.45322173833847046, + -0.013791747391223907, + 0.02456962689757347, + -0.007238232996314764, + -0.3385852873325348, + -0.35477763414382935, + 0.0, + 1.0014774799346924 + ], + [ + 0.4669724702835083, + -0.03138863667845726, + 0.02208053693175316, + -0.02675761468708515, + -0.38598257303237915, + -0.39626413583755493, + 0.0, + 1.0014774799346924 + ], + [ + 0.47570568323135376, + -0.03679191693663597, + 0.005297038704156876, + -0.051503632217645645, + -0.38486823439598083, + -0.39258214831352234, + 0.0, + 1.0014774799346924 + ], + [ + 0.477929025888443, + -0.03416379168629646, + -0.0153174614533782, + -0.04363596439361572, + -0.3463710844516754, + -0.4049823582172394, + 0.0, + 1.0008161067962646 + ], + [ + 0.4803868234157562, + -0.030442290008068085, + -0.025787901133298874, + -0.04188438504934311, + -0.3224833011627197, + -0.40189996361732483, + 0.0, + 0.9968144297599792 + ], + [ + 0.48026660084724426, + -0.0241911131888628, + -0.03484656661748886, + -0.04754283279180527, + -0.3013096749782562, + -0.39058032631874084, + 0.0, + 0.9359400868415833 + ], + [ + 0.4795294404029846, + -0.02224598079919815, + -0.03620774671435356, + -0.041584763675928116, + -0.2946113049983978, + -0.3901565372943878, + 0.0, + 0.6279802918434143 + ], + [ + 0.4759819805622101, + -0.019393017515540123, + -0.03967292234301567, + -0.05181609094142914, + -0.2898174226284027, + -0.3715510964393616, + 0.0, + 0.3396349251270294 + ], + [ + 0.47292202711105347, + -0.015514226630330086, + -0.031308043748140335, + -0.04885398969054222, + -0.3044103682041168, + -0.36348652839660645, + 0.0, + 0.1526326984167099 + ], + [ + 0.4628450572490692, + -0.0016030151164159179, + -0.0056893546134233475, + -0.008564337156713009, + -0.31287047266960144, + -0.3700738847255707, + 0.0, + 0.07888144999742508 + ], + [ + 0.44296491146087646, + 0.01234220527112484, + 0.03878653049468994, + 0.05972627177834511, + -0.3033471703529358, + -0.3576916456222534, + 0.0, + 0.07624256610870361 + ], + [ + 0.40499722957611084, + 0.047280918806791306, + 0.06137668341398239, + 0.09893322736024857, + -0.24677105247974396, + -0.24594762921333313, + 0.0, + 0.07624256610870361 + ], + [ + 0.36169055104255676, + 0.08920468389987946, + 0.05843113362789154, + 0.12428997457027435, + -0.18192575871944427, + -0.10975871235132217, + 0.0, + 0.07591649144887924 + ], + [ + 0.33141371607780457, + 0.11708133667707443, + 0.037074632942676544, + 0.12743090093135834, + -0.12868599593639374, + -0.023199589923024178, + 0.0, + 0.07591649144887924 + ], + [ + 0.3238016963005066, + 0.14133206009864807, + 0.03140668198466301, + 0.13503286242485046, + -0.16769357025623322, + 0.04381835460662842, + 0.0, + 0.07591649144887924 + ], + [ + 0.3288782238960266, + 0.15011480450630188, + 0.005305972415953875, + 0.13420529663562775, + -0.13761137425899506, + 0.053343821316957474, + 0.0, + 0.07591649144887924 + ], + [ + 0.3494414985179901, + 0.14946550130844116, + -0.009004762396216393, + 0.11659429222345352, + -0.13717709481716156, + 0.01631929725408554, + 0.0, + 0.07591649144887924 + ], + [ + 0.36321237683296204, + 0.14579938352108002, + -0.020833734422922134, + 0.10661234706640244, + -0.11847754567861557, + -0.014434273354709148, + 0.0, + 0.07591649144887924 + ], + [ + 0.3793888986110687, + 0.13910676538944244, + -0.028762493282556534, + 0.09458360821008682, + -0.10513539612293243, + -0.03149380162358284, + 0.0, + 0.07591649144887924 + ], + [ + 0.3875560462474823, + 0.14078783988952637, + -0.03116537816822529, + 0.09391016513109207, + -0.1118929386138916, + -0.03112468682229519, + 0.0, + 0.07559127360582352 + ], + [ + 0.3898440897464752, + 0.1405174881219864, + -0.030027711763978004, + 0.08140288293361664, + -0.11519438028335571, + -0.01070399396121502, + 0.0, + 0.10082460194826126 + ], + [ + 0.386116623878479, + 0.14195169508457184, + -0.03107522428035736, + 0.041772257536649704, + -0.11237183958292007, + 0.048417143523693085, + 0.0, + 0.2716236412525177 + ], + [ + 0.3870841860771179, + 0.14205564558506012, + -1.2923312169732526e-05, + 0.04225657507777214, + -0.13469713926315308, + 0.054522667080163956, + 0.0, + 0.5462315082550049 + ], + [ + 0.384989470243454, + 0.13581444323062897, + 0.04835580289363861, + 0.06902589648962021, + -0.16502581536769867, + 0.025440024212002754, + 0.0, + 0.8643063306808472 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 0.9968144297599792 + ], + [ + 0.9359400868415833 + ], + [ + 0.6279802918434143 + ], + [ + 0.3396349251270294 + ], + [ + 0.1526326984167099 + ], + [ + 0.07888144999742508 + ], + [ + 0.07624256610870361 + ], + [ + 0.07624256610870361 + ], + [ + 0.07591649144887924 + ], + [ + 0.07591649144887924 + ], + [ + 0.07591649144887924 + ], + [ + 0.07591649144887924 + ], + [ + 0.07591649144887924 + ], + [ + 0.07591649144887924 + ], + [ + 0.07591649144887924 + ], + [ + 0.07559127360582352 + ], + [ + 0.10082460194826126 + ], + [ + 0.2716236412525177 + ], + [ + 0.5462315082550049 + ], + [ + 0.8643063306808472 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.36341211199760437, + 0.05334201082587242, + 0.017459513619542122 + ], + [ + 0.35841989517211914, + 0.052151113748550415, + 0.004377399571239948 + ], + [ + 0.36584359407424927, + 0.04381910338997841, + -0.0004348395159468055 + ], + [ + 0.3830017149448395, + 0.039855796843767166, + 0.002737499540671706 + ], + [ + 0.40636610984802246, + 0.02116178162395954, + 0.01301730889827013 + ], + [ + 0.43171581625938416, + 0.005547138396650553, + 0.018791276961565018 + ], + [ + 0.45322173833847046, + -0.013791747391223907, + 0.02456962689757347 + ], + [ + 0.4669724702835083, + -0.03138863667845726, + 0.02208053693175316 + ], + [ + 0.47570568323135376, + -0.03679191693663597, + 0.005297038704156876 + ], + [ + 0.477929025888443, + -0.03416379168629646, + -0.0153174614533782 + ], + [ + 0.4803868234157562, + -0.030442290008068085, + -0.025787901133298874 + ], + [ + 0.48026660084724426, + -0.0241911131888628, + -0.03484656661748886 + ], + [ + 0.4795294404029846, + -0.02224598079919815, + -0.03620774671435356 + ], + [ + 0.4759819805622101, + -0.019393017515540123, + -0.03967292234301567 + ], + [ + 0.47292202711105347, + -0.015514226630330086, + -0.031308043748140335 + ], + [ + 0.4628450572490692, + -0.0016030151164159179, + -0.0056893546134233475 + ], + [ + 0.44296491146087646, + 0.01234220527112484, + 0.03878653049468994 + ], + [ + 0.40499722957611084, + 0.047280918806791306, + 0.06137668341398239 + ], + [ + 0.36169055104255676, + 0.08920468389987946, + 0.05843113362789154 + ], + [ + 0.33141371607780457, + 0.11708133667707443, + 0.037074632942676544 + ], + [ + 0.3238016963005066, + 0.14133206009864807, + 0.03140668198466301 + ], + [ + 0.3288782238960266, + 0.15011480450630188, + 0.005305972415953875 + ], + [ + 0.3494414985179901, + 0.14946550130844116, + -0.009004762396216393 + ], + [ + 0.36321237683296204, + 0.14579938352108002, + -0.020833734422922134 + ], + [ + 0.3793888986110687, + 0.13910676538944244, + -0.028762493282556534 + ], + [ + 0.3875560462474823, + 0.14078783988952637, + -0.03116537816822529 + ], + [ + 0.3898440897464752, + 0.1405174881219864, + -0.030027711763978004 + ], + [ + 0.386116623878479, + 0.14195169508457184, + -0.03107522428035736 + ], + [ + 0.3870841860771179, + 0.14205564558506012, + -1.2923312169732526e-05 + ], + [ + 0.384989470243454, + 0.13581444323062897, + 0.04835580289363861 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9936303552433506, + -0.08381559559794971, + 0.07532372185131118, + -0.08838764424727583, + -0.9943037285133562, + 0.05956273842642635, + 0.06990237108560586, + -0.06584103127229124, + -0.9953786300285994 + ], + [ + 0.9958030834915272, + -0.08339464726630938, + 0.03770347087595477, + -0.08527229186027593, + -0.9950368721972433, + 0.051286052770928035, + 0.033239361450877025, + -0.054285870862079165, + -0.9979720382230572 + ], + [ + 0.9910197746234164, + -0.12198996168986126, + 0.054756328878578564, + -0.12190100569895812, + -0.9925297994793194, + -0.004974128579411178, + 0.054954081876922065, + -0.00174539177496567, + -0.9984873572021913 + ], + [ + 0.9839878325601222, + -0.16049469757730947, + 0.07752030329662256, + -0.15979575072710187, + -0.9870334164176012, + -0.015177382006117469, + 0.07895101913968115, + 0.0025469441622600984, + -0.9968752427722536 + ], + [ + 0.9581521297337781, + -0.23201414590141267, + 0.1676720978226949, + -0.22667129524610885, + -0.9726559874438326, + -0.050600928856240616, + 0.174827401164911, + 0.010476936160011809, + -0.984543352834512 + ], + [ + 0.9230910091354884, + -0.287550244614174, + 0.25537784883492703, + -0.2744839704596044, + -0.9577185256549003, + -0.08621934573015147, + 0.2693724908262854, + 0.009491176941403653, + -0.9629892931628629 + ], + [ + 0.88448497009433, + -0.34962721284478393, + 0.3089452212215314, + -0.32765942849213403, + -0.9368640248286416, + -0.12216831791461774, + 0.33215303189560214, + 0.006827226396362358, + -0.943200801729034 + ], + [ + 0.8546394130962545, + -0.3951282326262298, + 0.33684588963524803, + -0.3575781201491239, + -0.9182915280239241, + -0.1699369222685445, + 0.37646960245564104, + 0.024786071515241453, + -0.9260973432019621 + ], + [ + 0.8563372833438773, + -0.3999255393788049, + 0.32672009443528166, + -0.3545892076408192, + -0.9153047843085453, + -0.19100692565072763, + 0.37543701333230767, + 0.04771493240546994, + -0.9256188925500912 + ], + [ + 0.8645242454844909, + -0.4072387024773587, + 0.29454111457321047, + -0.37060307808356374, + -0.912399616546527, + -0.1737247772792887, + 0.3394866528811696, + 0.041031438316342886, + -0.9397155067280908 + ], + [ + 0.8728782062585294, + -0.40303741501769164, + 0.2750354143283173, + -0.3710034495829302, + -0.9143214233461091, + -0.16239696797634845, + 0.31692282567915225, + 0.03971368663574269, + -0.9476195152366479 + ], + [ + 0.8830298015176212, + -0.3933367278499633, + 0.2560167731927612, + -0.36357291450028517, + -0.9182736648836272, + -0.1568062888501591, + 0.2967711331540151, + 0.045383861729420084, + -0.9538695925654649 + ], + [ + 0.8850024658669736, + -0.39116861711458967, + 0.2525029670994696, + -0.3639465677056128, + -0.9194588276479778, + -0.14878965056585844, + 0.2903679239597241, + 0.03978161943493483, + -0.9560878053246229 + ], + [ + 0.8929070461223804, + -0.37636512025032787, + 0.24711597124419496, + -0.3479200494758332, + -0.9251409987661657, + -0.15187419654001558, + 0.2857772666916305, + 0.04963293927320623, + -0.9570098877134777 + ], + [ + 0.8916907201558117, + -0.36879178449332123, + 0.2624505272965592, + -0.33918898027254735, + -0.9283437152732956, + -0.15208149780379024, + 0.29973070454940015, + 0.046589333573323954, + -0.9528855853393492 + ], + [ + 0.8870411452385201, + -0.36412859015832894, + 0.28384569132407483, + -0.3441259835772534, + -0.9313130366398625, + -0.11930354232639376, + 0.3077910233923696, + 0.008148473105153854, + -0.9514190918334212 + ], + [ + 0.8939392960826303, + -0.3327865770383021, + 0.3002093087537779, + -0.3341274536602718, + -0.9412799990499595, + -0.04848513276263986, + 0.29871621922787167, + -0.056965406446703, + -0.9526403113655058 + ], + [ + 0.9405248892131481, + -0.21888361861239586, + 0.25981319110803136, + -0.2360997524908276, + -0.9710387234476497, + 0.036615631073745644, + 0.24427410760120513, + -0.09577974247356243, + -0.964964455970961 + ], + [ + 0.9775789633469096, + -0.08639927490505385, + 0.19202743480415185, + -0.10773076602664465, + -0.9887717727288874, + 0.10355898563565683, + 0.18092388585505842, + -0.12192434847254574, + -0.9759103446406597 + ], + [ + 0.9914645040941817, + -0.0067046783146950326, + 0.13020439474140244, + -0.02300569744927554, + -0.9920030786398955, + 0.12409927418741053, + 0.1283311147234017, + -0.1260354682526556, + -0.983690086224408 + ], + [ + 0.9850259465223694, + 0.06585374231789383, + 0.15933351593572345, + 0.043189861965966816, + -0.9889615033748644, + 0.14173842339284545, + 0.16690871906845292, + -0.13273443210130983, + -0.9769969549766631 + ], + [ + 0.9891374901289806, + 0.07116770423672007, + 0.12861642000544046, + 0.05281447868421264, + -0.9886196769790188, + 0.14086080054868236, + 0.1371774633919726, + -0.13253788953946552, + -0.9816394711775646 + ], + [ + 0.9904740613630679, + 0.03211351323109331, + 0.13390241235655848, + 0.016165275697838214, + -0.9928187359849369, + 0.1185311829810413, + 0.136747276494131, + -0.11523749279305155, + -0.9838803294233547 + ], + [ + 0.9928862995116307, + -0.0017753506056793949, + 0.11905311576068776, + -0.014332587660961994, + -0.9944002485877811, + 0.10470302067992296, + 0.11820056333639721, + -0.10566453396852915, + -0.9873518284219522 + ], + [ + 0.9939852124857658, + -0.021441782928851186, + 0.10739481972822948, + -0.03131472705372983, + -0.9953487148281668, + 0.09110611263503023, + 0.10494181830508409, + -0.09392116819305667, + -0.9900333473858717 + ], + [ + 0.9932652085292323, + -0.020517044297873103, + 0.11403190965102589, + -0.030925055367851877, + -0.9954373208168001, + 0.0902672768813044, + 0.11165960091221852, + -0.09318578871453462, + -0.9893677487697757 + ], + [ + 0.9933155535302328, + -0.0013227807954613695, + 0.11542296723743625, + -0.010632849777649955, + -0.9967315556753283, + 0.0800821355025306, + 0.11493978258433002, + -0.08077410582610556, + -0.9900830218761758 + ], + [ + 0.9925284360738761, + 0.05303331253213164, + 0.10988526446532798, + 0.04809297778517205, + -0.9977301686683854, + 0.04713359753626144, + 0.11213549425806607, + -0.041496726266352285, + -0.992826093853639 + ], + [ + 0.989469515490077, + 0.06011153596695669, + 0.13166883138968855, + 0.054002038589037946, + -0.9973135064188974, + 0.049492926188222854, + 0.13429019973200207, + -0.04186135638196751, + -0.9900574574729497 + ], + [ + 0.9860949309398015, + 0.03670345872426108, + 0.16207912664036864, + 0.025091692223187124, + -0.9970076340692703, + 0.07311760792704405, + 0.1642777956882945, + -0.0680340629778389, + -0.9840651259538276 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0049922168254852295, + -0.0011908970773220062, + -0.013082114048302174, + -0.011707872152328491, + 0.036713939160108566, + 0.0032974407076835632, + 1.0 + ], + [ + 0.007423698902130127, + -0.008332010358572006, + -0.004812239203602076, + -0.05259459465742111, + -0.02173629403114319, + -0.036967530846595764, + 1.0 + ], + [ + 0.01715812087059021, + -0.003963306546211243, + 0.00317233894020319, + -0.004302956163883209, + -0.024051491171121597, + -0.03859981894493103, + 1.0 + ], + [ + 0.023364394903182983, + -0.018694015219807625, + 0.01027980912476778, + -0.00808609277009964, + -0.09669719636440277, + -0.07130986452102661, + 1.0 + ], + [ + 0.025349706411361694, + -0.015614643692970276, + 0.0057739680632948875, + 0.0007853815332055092, + -0.09701091051101685, + -0.05672617256641388, + 1.0 + ], + [ + 0.021505922079086304, + -0.019338885322213173, + 0.005778349936008453, + 0.0026174006052315235, + -0.06584390997886658, + -0.06575095653533936, + 1.0 + ], + [ + 0.013750731945037842, + -0.017596889287233353, + -0.0024890899658203125, + -0.0195193812251091, + -0.04739728569984436, + -0.041486501693725586, + 1.0 + ], + [ + 0.008733212947845459, + -0.005403280258178711, + -0.016783498227596283, + -0.024746017530560493, + 0.0011143386363983154, + 0.0036819875240325928, + 1.0 + ], + [ + 0.0022233426570892334, + 0.002628125250339508, + -0.02061450108885765, + 0.007867667824029922, + 0.03849714994430542, + -0.012400209903717041, + 1.0 + ], + [ + 0.0024577975273132324, + 0.0037215016782283783, + -0.010470439679920673, + 0.0017515793442726135, + 0.02388778328895569, + 0.0030823945999145508, + 1.0 + ], + [ + -0.00012022256851196289, + 0.006251176819205284, + -0.009058665484189987, + -0.005658447742462158, + 0.0211736261844635, + 0.011319637298583984, + 0.0 + ], + [ + -0.0007371604442596436, + 0.00194513238966465, + -0.0013611800968647003, + 0.0059580691158771515, + 0.0066983699798583984, + 0.00042378902435302734, + 0.0 + ], + [ + -0.003547459840774536, + 0.0028529632836580276, + -0.0034651756286621094, + -0.010231327265501022, + 0.004793882369995117, + 0.018605440855026245, + 0.0 + ], + [ + -0.003059953451156616, + 0.0038787908852100372, + 0.008364878594875336, + 0.002962101250886917, + -0.014592945575714111, + 0.008064568042755127, + 0.0 + ], + [ + -0.010076969861984253, + 0.013911211863160133, + 0.025618689134716988, + 0.04028965160250664, + -0.00846010446548462, + -0.006587356328964233, + 0.0 + ], + [ + -0.01988014578819275, + 0.013945220038294792, + 0.04447588324546814, + 0.0682906061410904, + 0.00952330231666565, + 0.01238223910331726, + 0.0 + ], + [ + -0.037967681884765625, + 0.034938715398311615, + 0.02259015291929245, + 0.03920695558190346, + 0.056576117873191833, + 0.11174401640892029, + 0.0 + ], + [ + -0.04330667853355408, + 0.04192376509308815, + -0.002945549786090851, + 0.025356747210025787, + 0.06484529376029968, + 0.13618892431259155, + 0.0 + ], + [ + -0.030276834964752197, + 0.027876652777194977, + -0.021356500685214996, + 0.0031409263610839844, + 0.05323976278305054, + 0.08655912429094315, + 0.0 + ], + [ + -0.007612019777297974, + 0.02425072342157364, + -0.0056679509580135345, + 0.0076019614934921265, + -0.03900757431983948, + 0.06701794266700745, + 0.0 + ], + [ + 0.0050765275955200195, + 0.008782744407653809, + -0.026100710034370422, + -0.0008275657892227173, + 0.03008219599723816, + 0.009525466710329056, + 0.0 + ], + [ + 0.0205632746219635, + -0.0006493031978607178, + -0.01431073434650898, + -0.017611004412174225, + 0.0004342794418334961, + -0.03702452406287193, + 0.0 + ], + [ + 0.013770878314971924, + -0.003666117787361145, + -0.011828972026705742, + -0.009981945157051086, + 0.01869954913854599, + -0.030753571540117264, + 0.0 + ], + [ + 0.01617652177810669, + -0.006692618131637573, + -0.0079287588596344, + -0.012028738856315613, + 0.013342149555683136, + -0.017059527337551117, + 0.0 + ], + [ + 0.008167147636413574, + 0.0016810745000839233, + -0.0024028848856687546, + -0.000673443078994751, + -0.0067575424909591675, + 0.00036911480128765106, + 0.0 + ], + [ + 0.00228804349899292, + -0.00027035176753997803, + 0.001137666404247284, + -0.012507282197475433, + -0.0033014416694641113, + 0.02042069286108017, + 1.0 + ], + [ + -0.003727465867996216, + 0.0014342069625854492, + -0.0010475125163793564, + -0.039630625396966934, + 0.0028225407004356384, + 0.05912113934755325, + 1.0 + ], + [ + 0.000967562198638916, + 0.00010395050048828125, + 0.031062301248311996, + 0.0004843175411224365, + -0.022325299680233, + 0.006105523556470871, + 1.0 + ], + [ + -0.0020947158336639404, + -0.006241202354431152, + 0.048368725925683975, + 0.026769321411848068, + -0.030328676104545593, + -0.0290826428681612, + 1.0 + ], + [ + -0.00972798466682434, + -0.019061684608459473, + 0.0028357282280921936, + -0.013117145746946335, + 0.026303738355636597, + -0.021117033436894417, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 0.9968144297599792 + ], + [ + 0.9359400868415833 + ], + [ + 0.6279802918434143 + ], + [ + 0.3396349251270294 + ], + [ + 0.1526326984167099 + ], + [ + 0.07888144999742508 + ], + [ + 0.07624256610870361 + ], + [ + 0.07624256610870361 + ], + [ + 0.07591649144887924 + ], + [ + 0.07591649144887924 + ], + [ + 0.07591649144887924 + ], + [ + 0.07591649144887924 + ], + [ + 0.07591649144887924 + ], + [ + 0.07591649144887924 + ], + [ + 0.07591649144887924 + ], + [ + 0.07559127360582352 + ], + [ + 0.10082460194826126 + ], + [ + 0.2716236412525177 + ], + [ + 0.5462315082550049 + ], + [ + 0.8643063306808472 + ], + [ + 1.0156210660934448 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.35841989517211914, + 0.052151113748550415, + 0.004377399571239948 + ], + [ + 0.36584359407424927, + 0.04381910338997841, + -0.0004348395159468055 + ], + [ + 0.3830017149448395, + 0.039855796843767166, + 0.002737499540671706 + ], + [ + 0.40636610984802246, + 0.02116178162395954, + 0.01301730889827013 + ], + [ + 0.43171581625938416, + 0.005547138396650553, + 0.018791276961565018 + ], + [ + 0.45322173833847046, + -0.013791747391223907, + 0.02456962689757347 + ], + [ + 0.4669724702835083, + -0.03138863667845726, + 0.02208053693175316 + ], + [ + 0.47570568323135376, + -0.03679191693663597, + 0.005297038704156876 + ], + [ + 0.477929025888443, + -0.03416379168629646, + -0.0153174614533782 + ], + [ + 0.4803868234157562, + -0.030442290008068085, + -0.025787901133298874 + ], + [ + 0.48026660084724426, + -0.0241911131888628, + -0.03484656661748886 + ], + [ + 0.4795294404029846, + -0.02224598079919815, + -0.03620774671435356 + ], + [ + 0.4759819805622101, + -0.019393017515540123, + -0.03967292234301567 + ], + [ + 0.47292202711105347, + -0.015514226630330086, + -0.031308043748140335 + ], + [ + 0.4628450572490692, + -0.0016030151164159179, + -0.0056893546134233475 + ], + [ + 0.44296491146087646, + 0.01234220527112484, + 0.03878653049468994 + ], + [ + 0.40499722957611084, + 0.047280918806791306, + 0.06137668341398239 + ], + [ + 0.36169055104255676, + 0.08920468389987946, + 0.05843113362789154 + ], + [ + 0.33141371607780457, + 0.11708133667707443, + 0.037074632942676544 + ], + [ + 0.3238016963005066, + 0.14133206009864807, + 0.03140668198466301 + ], + [ + 0.3288782238960266, + 0.15011480450630188, + 0.005305972415953875 + ], + [ + 0.3494414985179901, + 0.14946550130844116, + -0.009004762396216393 + ], + [ + 0.36321237683296204, + 0.14579938352108002, + -0.020833734422922134 + ], + [ + 0.3793888986110687, + 0.13910676538944244, + -0.028762493282556534 + ], + [ + 0.3875560462474823, + 0.14078783988952637, + -0.03116537816822529 + ], + [ + 0.3898440897464752, + 0.1405174881219864, + -0.030027711763978004 + ], + [ + 0.386116623878479, + 0.14195169508457184, + -0.03107522428035736 + ], + [ + 0.3870841860771179, + 0.14205564558506012, + -1.2923312169732526e-05 + ], + [ + 0.384989470243454, + 0.13581444323062897, + 0.04835580289363861 + ], + [ + 0.37526148557662964, + 0.1167527586221695, + 0.051191531121730804 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9958030834915272, + -0.08339464726630938, + 0.03770347087595477, + -0.08527229186027593, + -0.9950368721972433, + 0.051286052770928035, + 0.033239361450877025, + -0.054285870862079165, + -0.9979720382230572 + ], + [ + 0.9910197746234164, + -0.12198996168986126, + 0.054756328878578564, + -0.12190100569895812, + -0.9925297994793194, + -0.004974128579411178, + 0.054954081876922065, + -0.00174539177496567, + -0.9984873572021913 + ], + [ + 0.9839878325601222, + -0.16049469757730947, + 0.07752030329662256, + -0.15979575072710187, + -0.9870334164176012, + -0.015177382006117469, + 0.07895101913968115, + 0.0025469441622600984, + -0.9968752427722536 + ], + [ + 0.9581521297337781, + -0.23201414590141267, + 0.1676720978226949, + -0.22667129524610885, + -0.9726559874438326, + -0.050600928856240616, + 0.174827401164911, + 0.010476936160011809, + -0.984543352834512 + ], + [ + 0.9230910091354884, + -0.287550244614174, + 0.25537784883492703, + -0.2744839704596044, + -0.9577185256549003, + -0.08621934573015147, + 0.2693724908262854, + 0.009491176941403653, + -0.9629892931628629 + ], + [ + 0.88448497009433, + -0.34962721284478393, + 0.3089452212215314, + -0.32765942849213403, + -0.9368640248286416, + -0.12216831791461774, + 0.33215303189560214, + 0.006827226396362358, + -0.943200801729034 + ], + [ + 0.8546394130962545, + -0.3951282326262298, + 0.33684588963524803, + -0.3575781201491239, + -0.9182915280239241, + -0.1699369222685445, + 0.37646960245564104, + 0.024786071515241453, + -0.9260973432019621 + ], + [ + 0.8563372833438773, + -0.3999255393788049, + 0.32672009443528166, + -0.3545892076408192, + -0.9153047843085453, + -0.19100692565072763, + 0.37543701333230767, + 0.04771493240546994, + -0.9256188925500912 + ], + [ + 0.8645242454844909, + -0.4072387024773587, + 0.29454111457321047, + -0.37060307808356374, + -0.912399616546527, + -0.1737247772792887, + 0.3394866528811696, + 0.041031438316342886, + -0.9397155067280908 + ], + [ + 0.8728782062585294, + -0.40303741501769164, + 0.2750354143283173, + -0.3710034495829302, + -0.9143214233461091, + -0.16239696797634845, + 0.31692282567915225, + 0.03971368663574269, + -0.9476195152366479 + ], + [ + 0.8830298015176212, + -0.3933367278499633, + 0.2560167731927612, + -0.36357291450028517, + -0.9182736648836272, + -0.1568062888501591, + 0.2967711331540151, + 0.045383861729420084, + -0.9538695925654649 + ], + [ + 0.8850024658669736, + -0.39116861711458967, + 0.2525029670994696, + -0.3639465677056128, + -0.9194588276479778, + -0.14878965056585844, + 0.2903679239597241, + 0.03978161943493483, + -0.9560878053246229 + ], + [ + 0.8929070461223804, + -0.37636512025032787, + 0.24711597124419496, + -0.3479200494758332, + -0.9251409987661657, + -0.15187419654001558, + 0.2857772666916305, + 0.04963293927320623, + -0.9570098877134777 + ], + [ + 0.8916907201558117, + -0.36879178449332123, + 0.2624505272965592, + -0.33918898027254735, + -0.9283437152732956, + -0.15208149780379024, + 0.29973070454940015, + 0.046589333573323954, + -0.9528855853393492 + ], + [ + 0.8870411452385201, + -0.36412859015832894, + 0.28384569132407483, + -0.3441259835772534, + -0.9313130366398625, + -0.11930354232639376, + 0.3077910233923696, + 0.008148473105153854, + -0.9514190918334212 + ], + [ + 0.8939392960826303, + -0.3327865770383021, + 0.3002093087537779, + -0.3341274536602718, + -0.9412799990499595, + -0.04848513276263986, + 0.29871621922787167, + -0.056965406446703, + -0.9526403113655058 + ], + [ + 0.9405248892131481, + -0.21888361861239586, + 0.25981319110803136, + -0.2360997524908276, + -0.9710387234476497, + 0.036615631073745644, + 0.24427410760120513, + -0.09577974247356243, + -0.964964455970961 + ], + [ + 0.9775789633469096, + -0.08639927490505385, + 0.19202743480415185, + -0.10773076602664465, + -0.9887717727288874, + 0.10355898563565683, + 0.18092388585505842, + -0.12192434847254574, + -0.9759103446406597 + ], + [ + 0.9914645040941817, + -0.0067046783146950326, + 0.13020439474140244, + -0.02300569744927554, + -0.9920030786398955, + 0.12409927418741053, + 0.1283311147234017, + -0.1260354682526556, + -0.983690086224408 + ], + [ + 0.9850259465223694, + 0.06585374231789383, + 0.15933351593572345, + 0.043189861965966816, + -0.9889615033748644, + 0.14173842339284545, + 0.16690871906845292, + -0.13273443210130983, + -0.9769969549766631 + ], + [ + 0.9891374901289806, + 0.07116770423672007, + 0.12861642000544046, + 0.05281447868421264, + -0.9886196769790188, + 0.14086080054868236, + 0.1371774633919726, + -0.13253788953946552, + -0.9816394711775646 + ], + [ + 0.9904740613630679, + 0.03211351323109331, + 0.13390241235655848, + 0.016165275697838214, + -0.9928187359849369, + 0.1185311829810413, + 0.136747276494131, + -0.11523749279305155, + -0.9838803294233547 + ], + [ + 0.9928862995116307, + -0.0017753506056793949, + 0.11905311576068776, + -0.014332587660961994, + -0.9944002485877811, + 0.10470302067992296, + 0.11820056333639721, + -0.10566453396852915, + -0.9873518284219522 + ], + [ + 0.9939852124857658, + -0.021441782928851186, + 0.10739481972822948, + -0.03131472705372983, + -0.9953487148281668, + 0.09110611263503023, + 0.10494181830508409, + -0.09392116819305667, + -0.9900333473858717 + ], + [ + 0.9932652085292323, + -0.020517044297873103, + 0.11403190965102589, + -0.030925055367851877, + -0.9954373208168001, + 0.0902672768813044, + 0.11165960091221852, + -0.09318578871453462, + -0.9893677487697757 + ], + [ + 0.9933155535302328, + -0.0013227807954613695, + 0.11542296723743625, + -0.010632849777649955, + -0.9967315556753283, + 0.0800821355025306, + 0.11493978258433002, + -0.08077410582610556, + -0.9900830218761758 + ], + [ + 0.9925284360738761, + 0.05303331253213164, + 0.10988526446532798, + 0.04809297778517205, + -0.9977301686683854, + 0.04713359753626144, + 0.11213549425806607, + -0.041496726266352285, + -0.992826093853639 + ], + [ + 0.989469515490077, + 0.06011153596695669, + 0.13166883138968855, + 0.054002038589037946, + -0.9973135064188974, + 0.049492926188222854, + 0.13429019973200207, + -0.04186135638196751, + -0.9900574574729497 + ], + [ + 0.9860949309398015, + 0.03670345872426108, + 0.16207912664036864, + 0.025091692223187124, + -0.9970076340692703, + 0.07311760792704405, + 0.1642777956882945, + -0.0680340629778389, + -0.9840651259538276 + ], + [ + 0.9903842586157166, + 0.012043050890914845, + 0.1378186678626537, + 0.0042814491459604205, + -0.9983947801305358, + 0.05647594356280993, + 0.13827758126105685, + -0.05534282187725859, + -0.9888460358353336 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006421.json b/json/chunk-0006/episode_0006421.json new file mode 100644 index 0000000000000000000000000000000000000000..cdb23bdbb26be9e14d22ca3a91c204efcf6805e4 --- /dev/null +++ b/json/chunk-0006/episode_0006421.json @@ -0,0 +1,4882 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 80, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nSweep into pile." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006421.mp4", + "start": 0, + "end": 80, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.27038517594337463, + 0.18678657710552216, + 0.030044075101614, + 0.2004195600748062, + -0.28689706325531006, + 0.7231296896934509, + 0.0, + 0.9994885921478271 + ], + [ + 0.2673470675945282, + 0.18453295528888702, + 0.0200521070510149, + 0.20066437125205994, + -0.2537020146846771, + 0.7270312309265137, + 0.0, + 0.9994885921478271 + ], + [ + 0.2673255503177643, + 0.18066903948783875, + 0.0215668473392725, + 0.1435057818889618, + -0.22658699750900269, + 0.7080708146095276, + 0.0, + 0.9994885921478271 + ], + [ + 0.27294862270355225, + 0.1850455105304718, + 0.03514932096004486, + 0.08288378268480301, + -0.24590341746807098, + 0.7057115435600281, + 0.0, + 0.9994885921478271 + ], + [ + 0.27195194363594055, + 0.18373264372348785, + 0.03546241298317909, + 0.0804792121052742, + -0.23108543455600739, + 0.7098105549812317, + 0.0, + 0.9994885921478271 + ], + [ + 0.27073442935943604, + 0.18653924763202667, + 0.03594878688454628, + 0.0955694317817688, + -0.23874986171722412, + 0.7242809534072876, + 0.0, + 0.9994885921478271 + ], + [ + 0.26714983582496643, + 0.1843491643667221, + 0.03065800666809082, + 0.11300370842218399, + -0.24779562652111053, + 0.7275041341781616, + 0.0, + 0.9994885921478271 + ], + [ + 0.26240649819374084, + 0.17760565876960754, + 0.023812590166926384, + 0.14004139602184296, + -0.25009647011756897, + 0.731813907623291, + 0.0, + 0.9994885921478271 + ], + [ + 0.26165837049484253, + 0.17719492316246033, + 0.02258020080626011, + 0.15476253628730774, + -0.26699087023735046, + 0.7499655485153198, + 0.0, + 0.9499720335006714 + ], + [ + 0.266141414642334, + 0.17543095350265503, + 0.022502029314637184, + 0.14478638768196106, + -0.2869858741760254, + 0.7516992092132568, + 0.0, + 0.6530976295471191 + ], + [ + 0.27074071764945984, + 0.17597238719463348, + 0.01649717055261135, + 0.1503651738166809, + -0.2833605408668518, + 0.7608151435852051, + 0.0, + 0.3918617069721222 + ], + [ + 0.27955058217048645, + 0.1811351627111435, + 0.016345158219337463, + 0.15078330039978027, + -0.28782373666763306, + 0.7719131708145142, + 0.0, + 0.3849146366119385 + ], + [ + 0.2861466109752655, + 0.18938447535037994, + 0.01660887897014618, + 0.15276972949504852, + -0.2786349952220917, + 0.8085595369338989, + 0.0, + 0.3849146366119385 + ], + [ + 0.2927839457988739, + 0.20313237607479095, + 0.016942260786890984, + 0.1550292670726776, + -0.26397955417633057, + 0.8619314432144165, + 0.0, + 0.3849146366119385 + ], + [ + 0.28803154826164246, + 0.2146320790052414, + 0.020810680463910103, + 0.15884068608283997, + -0.25954997539520264, + 0.896466851234436, + 0.0, + 0.3849146366119385 + ], + [ + 0.2891802489757538, + 0.21613790094852448, + 0.021936427801847458, + 0.1587095707654953, + -0.26041316986083984, + 0.9025586843490601, + 0.0, + 0.3849146366119385 + ], + [ + 0.2924949526786804, + 0.21890120208263397, + 0.01794370450079441, + 0.16777479648590088, + -0.255881667137146, + 0.870803713798523, + 0.0, + 0.3849146366119385 + ], + [ + 0.29406222701072693, + 0.225904181599617, + 0.014766346663236618, + 0.19323432445526123, + -0.2626242935657501, + 0.8398230075836182, + 0.0, + 0.3849146366119385 + ], + [ + 0.3018338084220886, + 0.23202374577522278, + 0.013907461427152157, + 0.20593106746673584, + -0.2722029983997345, + 0.8056564331054688, + 0.0, + 0.3849146366119385 + ], + [ + 0.3073616325855255, + 0.23749808967113495, + 0.011322872713208199, + 0.20458929240703583, + -0.23410889506340027, + 0.7533742189407349, + 0.0, + 0.3840504586696625 + ], + [ + 0.3083040714263916, + 0.23678243160247803, + 0.011203921400010586, + 0.17505018413066864, + -0.2022632211446762, + 0.7273788452148438, + 0.0, + 0.3840504586696625 + ], + [ + 0.30908992886543274, + 0.23486125469207764, + 0.010927226394414902, + 0.14253602921962738, + -0.14506669342517853, + 0.7177280783653259, + 0.0, + 0.3840504586696625 + ], + [ + 0.3097532093524933, + 0.22693578898906708, + 0.01106254942715168, + 0.13777850568294525, + -0.14136651158332825, + 0.687822163105011, + 0.0, + 0.3840504586696625 + ], + [ + 0.3104168772697449, + 0.21664400398731232, + 0.010477717965841293, + 0.1315080225467682, + -0.15761418640613556, + 0.6559005975723267, + 0.0, + 0.3840504586696625 + ], + [ + 0.31094029545783997, + 0.20915834605693817, + 0.010119388811290264, + 0.12691308557987213, + -0.16115505993366241, + 0.6290405988693237, + 0.0, + 0.3840504586696625 + ], + [ + 0.31632599234580994, + 0.19195158779621124, + 0.010022439993917942, + 0.12275942414999008, + -0.16611120104789734, + 0.6066279411315918, + 0.0, + 0.3840504586696625 + ], + [ + 0.32331863045692444, + 0.18269214034080505, + 0.01055812742561102, + 0.11864054948091507, + -0.1748369336128235, + 0.6143250465393066, + 0.0, + 0.3840504586696625 + ], + [ + 0.32952290773391724, + 0.1785416305065155, + 0.011157866567373276, + 0.12109147757291794, + -0.16720005869865417, + 0.63148432970047, + 0.0, + 0.3840504586696625 + ], + [ + 0.3387008607387543, + 0.17365682125091553, + 0.010438323952257633, + 0.12565256655216217, + -0.16802771389484406, + 0.6216930150985718, + 0.0, + 0.3840504586696625 + ], + [ + 0.350107342004776, + 0.1641722321510315, + 0.010549124330282211, + 0.1280495822429657, + -0.1739829033613205, + 0.6040821075439453, + 0.0, + 0.3840504586696625 + ], + [ + 0.354396790266037, + 0.15882770717144012, + 0.010191936045885086, + 0.12713004648685455, + -0.17209571599960327, + 0.5971312522888184, + 0.0, + 0.3840504586696625 + ], + [ + 0.35473379492759705, + 0.15399838984012604, + 0.009234881028532982, + 0.12003524601459503, + -0.1673879623413086, + 0.5956371426582336, + 0.0, + 0.3840504586696625 + ], + [ + 0.3565639555454254, + 0.14415675401687622, + 0.009479614906013012, + 0.11532675474882126, + -0.17657703161239624, + 0.5669594407081604, + 0.0, + 0.3840504586696625 + ], + [ + 0.35632866621017456, + 0.14360378682613373, + 0.009758555330336094, + 0.10561472922563553, + -0.17516858875751495, + 0.5657591223716736, + 0.0, + 0.3840504586696625 + ], + [ + 0.35122349858283997, + 0.15095612406730652, + 0.015085116028785706, + 0.07812719792127609, + -0.14542226493358612, + 0.5953049659729004, + 0.0, + 0.3840504586696625 + ], + [ + 0.3476252257823944, + 0.17153818905353546, + 0.04395374283194542, + 0.04516908526420593, + -0.17540611326694489, + 0.6215718984603882, + 0.0, + 0.3840504586696625 + ], + [ + 0.34514695405960083, + 0.1897701770067215, + 0.07048768550157547, + 0.00877446960657835, + -0.1819504201412201, + 0.6451234221458435, + 0.0, + 0.3840504586696625 + ], + [ + 0.34622395038604736, + 0.2061556875705719, + 0.09063411504030228, + -0.005931294057518244, + -0.19085997343063354, + 0.6464981436729431, + 0.0, + 0.3849146366119385 + ], + [ + 0.35579395294189453, + 0.21653231978416443, + 0.09376920759677887, + 0.051528725773096085, + -0.2800619900226593, + 0.5482540130615234, + 0.0, + 0.3840504586696625 + ], + [ + 0.36973264813423157, + 0.21690300107002258, + 0.0689903050661087, + 0.14285816252231598, + -0.3661002814769745, + 0.41300421953201294, + 0.0, + 0.3840504586696625 + ], + [ + 0.38367512822151184, + 0.21023516356945038, + 0.060586828738451004, + 0.21934626996517181, + -0.42064645886421204, + 0.2864398658275604, + 0.0, + 0.3840504586696625 + ], + [ + 0.38839811086654663, + 0.20567339658737183, + 0.04582572728395462, + 0.2805005609989166, + -0.3543885350227356, + 0.16766995191574097, + 0.0, + 0.3840504586696625 + ], + [ + 0.40292927622795105, + 0.20557250082492828, + 0.049451157450675964, + 0.35591524839401245, + -0.326935350894928, + 0.055078644305467606, + 0.0, + 0.3840504586696625 + ], + [ + 0.4201008975505829, + 0.2121938019990921, + 0.05097990110516548, + 0.4294593930244446, + -0.33928272128105164, + -0.017755253240466118, + 0.0, + 0.3840504586696625 + ], + [ + 0.4356446862220764, + 0.2191794067621231, + 0.0591486357152462, + 0.45315173268318176, + -0.33877936005592346, + -0.06300951540470123, + 0.0, + 0.3840504586696625 + ], + [ + 0.4408819079399109, + 0.22028912603855133, + 0.048174746334552765, + 0.4587935209274292, + -0.30190128087997437, + -0.11795344948768616, + 0.0, + 0.3840504586696625 + ], + [ + 0.4359127879142761, + 0.22034499049186707, + 0.0401792898774147, + 0.4279831051826477, + -0.2558838427066803, + -0.161365807056427, + 0.0, + 0.3840504586696625 + ], + [ + 0.41989269852638245, + 0.22357559204101562, + 0.0218467116355896, + 0.4227304756641388, + -0.2268519103527069, + -0.20960040390491486, + 0.0, + 0.3840504586696625 + ], + [ + 0.4084671139717102, + 0.21647503972053528, + 0.022876134142279625, + 0.41013452410697937, + -0.23577114939689636, + -0.24863561987876892, + 0.0, + 0.3840504586696625 + ], + [ + 0.4042225778102875, + 0.21566495299339294, + 0.022115541622042656, + 0.39349621534347534, + -0.2505435645580292, + -0.27280986309051514, + 0.0, + 0.3840504586696625 + ], + [ + 0.40026646852493286, + 0.21301878988742828, + 0.019554102793335915, + 0.3501899540424347, + -0.23581460118293762, + -0.27050724625587463, + 0.0, + 0.3840504586696625 + ], + [ + 0.39628371596336365, + 0.21367041766643524, + 0.021330920979380608, + 0.31286919116973877, + -0.21691147983074188, + -0.24628692865371704, + 0.0, + 0.3840504586696625 + ], + [ + 0.39883553981781006, + 0.21443191170692444, + 0.025894921272993088, + 0.3188689351081848, + -0.21492153406143188, + -0.23823463916778564, + 0.0, + 0.3840504586696625 + ], + [ + 0.4027915596961975, + 0.20587356388568878, + 0.026010951027274132, + 0.3136006295681, + -0.21597690880298615, + -0.2413034588098526, + 0.0, + 0.3840504586696625 + ], + [ + 0.40814635157585144, + 0.19739964604377747, + 0.02679836004972458, + 0.3204061985015869, + -0.21974903345108032, + -0.25378769636154175, + 0.0, + 0.3840504586696625 + ], + [ + 0.40982550382614136, + 0.19597160816192627, + 0.024902814999222755, + 0.3463248908519745, + -0.22401897609233856, + -0.2639492154121399, + 0.0, + 0.3840504586696625 + ], + [ + 0.4097836911678314, + 0.1912170797586441, + 0.01824556104838848, + 0.3713488280773163, + -0.21756750345230103, + -0.2880830466747284, + 0.0, + 0.3840504586696625 + ], + [ + 0.4051092863082886, + 0.1871921718120575, + 0.014767148531973362, + 0.3924420475959778, + -0.2218056321144104, + -0.3086124658584595, + 0.0, + 0.3840504586696625 + ], + [ + 0.3955305814743042, + 0.1816154420375824, + 0.012559049762785435, + 0.3942851126194, + -0.22437429428100586, + -0.33515992760658264, + 0.0, + 0.3840504586696625 + ], + [ + 0.3843551576137543, + 0.17487411201000214, + 0.01225883886218071, + 0.37319210171699524, + -0.21589979529380798, + -0.34269604086875916, + 0.0, + 0.3840504586696625 + ], + [ + 0.3759132921695709, + 0.16912025213241577, + 0.013259250670671463, + 0.3438897430896759, + -0.20550882816314697, + -0.33866599202156067, + 0.0, + 0.3840504586696625 + ], + [ + 0.37423455715179443, + 0.16777274012565613, + 0.012233204208314419, + 0.3346903622150421, + -0.19724655151367188, + -0.3348652720451355, + 0.0, + 0.3840504586696625 + ], + [ + 0.37293943762779236, + 0.1627415418624878, + 0.011892997659742832, + 0.3242686092853546, + -0.18933738768100739, + -0.3336664140224457, + 0.0, + 0.3840504586696625 + ], + [ + 0.371599018573761, + 0.15659475326538086, + 0.011615577153861523, + 0.32203957438468933, + -0.18662886321544647, + -0.3419099748134613, + 0.0, + 0.3840504586696625 + ], + [ + 0.3713987469673157, + 0.14658738672733307, + 0.01262942049652338, + 0.3226538598537445, + -0.1922300159931183, + -0.3498145043849945, + 0.0, + 0.3840504586696625 + ], + [ + 0.3719359338283539, + 0.1376427263021469, + 0.012211707420647144, + 0.30707114934921265, + -0.1853342056274414, + -0.3489835858345032, + 0.0, + 0.3840504586696625 + ], + [ + 0.3700532019138336, + 0.12918588519096375, + 0.011660591699182987, + 0.28016090393066406, + -0.16791276633739471, + -0.33518245816230774, + 0.0, + 0.3840504586696625 + ], + [ + 0.3684307932853699, + 0.12071943283081055, + 0.011640197597444057, + 0.27055805921554565, + -0.16482864320278168, + -0.3325542211532593, + 0.0, + 0.3840504586696625 + ], + [ + 0.3651093542575836, + 0.11352191865444183, + 0.010908713564276695, + 0.26078081130981445, + -0.1603451669216156, + -0.33242759108543396, + 0.0, + 0.3840504586696625 + ], + [ + 0.35861271619796753, + 0.10394667834043503, + 0.010597527958452702, + 0.24692228436470032, + -0.1529969573020935, + -0.34133997559547424, + 0.0, + 0.3840504586696625 + ], + [ + 0.3577835261821747, + 0.10255640000104904, + 0.011420901864767075, + 0.24378253519535065, + -0.15653154253959656, + -0.34016740322113037, + 0.0, + 0.3840504586696625 + ], + [ + 0.36628830432891846, + 0.1071258932352066, + 0.01838086172938347, + 0.23874226212501526, + -0.1778242439031601, + -0.3216416537761688, + 0.0, + 0.3840504586696625 + ], + [ + 0.38401147723197937, + 0.13356462121009827, + 0.03646582365036011, + 0.22047123312950134, + -0.23808105289936066, + -0.2479047030210495, + 0.0, + 0.3840504586696625 + ], + [ + 0.3952932357788086, + 0.1634756624698639, + 0.053212061524391174, + 0.2035444974899292, + -0.278682142496109, + -0.18015167117118835, + 0.0, + 0.3840504586696625 + ], + [ + 0.3988974988460541, + 0.17933198809623718, + 0.05919553339481354, + 0.20309078693389893, + -0.2860543131828308, + -0.1491558849811554, + 0.0, + 0.3840504586696625 + ], + [ + 0.3943382203578949, + 0.18710178136825562, + 0.037107955664396286, + 0.18108415603637695, + -0.22650887072086334, + -0.11028832942247391, + 0.0, + 0.3840504586696625 + ], + [ + 0.3885557949542999, + 0.1873583197593689, + 0.03319010138511658, + 0.16305813193321228, + -0.1921643763780594, + -0.07909896969795227, + 0.0, + 0.3840504586696625 + ], + [ + 0.38648563623428345, + 0.1908392310142517, + 0.02983013726770878, + 0.15693975985050201, + -0.14751935005187988, + -0.03173210099339485, + 0.0, + 0.4503740966320038 + ], + [ + 0.3867186903953552, + 0.19667252898216248, + 0.03490551561117172, + 0.1811206340789795, + -0.1452680081129074, + 0.018110401928424835, + 0.0, + 0.7662391662597656 + ], + [ + 0.3909355700016022, + 0.20243225991725922, + 0.051436152309179306, + 0.14087863266468048, + -0.1598566621541977, + 0.043781060725450516, + 0.0, + 0.9994885921478271 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9499720335006714 + ], + [ + 0.6530976295471191 + ], + [ + 0.3918617069721222 + ], + [ + 0.3849146366119385 + ], + [ + 0.3849146366119385 + ], + [ + 0.3849146366119385 + ], + [ + 0.3849146366119385 + ], + [ + 0.3849146366119385 + ], + [ + 0.3849146366119385 + ], + [ + 0.3849146366119385 + ], + [ + 0.3849146366119385 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3849146366119385 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.4503740966320038 + ], + [ + 0.7662391662597656 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.27038517594337463, + 0.18678657710552216, + 0.030044075101614 + ], + [ + 0.2673470675945282, + 0.18453295528888702, + 0.0200521070510149 + ], + [ + 0.2673255503177643, + 0.18066903948783875, + 0.0215668473392725 + ], + [ + 0.27294862270355225, + 0.1850455105304718, + 0.03514932096004486 + ], + [ + 0.27195194363594055, + 0.18373264372348785, + 0.03546241298317909 + ], + [ + 0.27073442935943604, + 0.18653924763202667, + 0.03594878688454628 + ], + [ + 0.26714983582496643, + 0.1843491643667221, + 0.03065800666809082 + ], + [ + 0.26240649819374084, + 0.17760565876960754, + 0.023812590166926384 + ], + [ + 0.26165837049484253, + 0.17719492316246033, + 0.02258020080626011 + ], + [ + 0.266141414642334, + 0.17543095350265503, + 0.022502029314637184 + ], + [ + 0.27074071764945984, + 0.17597238719463348, + 0.01649717055261135 + ], + [ + 0.27955058217048645, + 0.1811351627111435, + 0.016345158219337463 + ], + [ + 0.2861466109752655, + 0.18938447535037994, + 0.01660887897014618 + ], + [ + 0.2927839457988739, + 0.20313237607479095, + 0.016942260786890984 + ], + [ + 0.28803154826164246, + 0.2146320790052414, + 0.020810680463910103 + ], + [ + 0.2891802489757538, + 0.21613790094852448, + 0.021936427801847458 + ], + [ + 0.2924949526786804, + 0.21890120208263397, + 0.01794370450079441 + ], + [ + 0.29406222701072693, + 0.225904181599617, + 0.014766346663236618 + ], + [ + 0.3018338084220886, + 0.23202374577522278, + 0.013907461427152157 + ], + [ + 0.3073616325855255, + 0.23749808967113495, + 0.011322872713208199 + ], + [ + 0.3083040714263916, + 0.23678243160247803, + 0.011203921400010586 + ], + [ + 0.30908992886543274, + 0.23486125469207764, + 0.010927226394414902 + ], + [ + 0.3097532093524933, + 0.22693578898906708, + 0.01106254942715168 + ], + [ + 0.3104168772697449, + 0.21664400398731232, + 0.010477717965841293 + ], + [ + 0.31094029545783997, + 0.20915834605693817, + 0.010119388811290264 + ], + [ + 0.31632599234580994, + 0.19195158779621124, + 0.010022439993917942 + ], + [ + 0.32331863045692444, + 0.18269214034080505, + 0.01055812742561102 + ], + [ + 0.32952290773391724, + 0.1785416305065155, + 0.011157866567373276 + ], + [ + 0.3387008607387543, + 0.17365682125091553, + 0.010438323952257633 + ], + [ + 0.350107342004776, + 0.1641722321510315, + 0.010549124330282211 + ], + [ + 0.354396790266037, + 0.15882770717144012, + 0.010191936045885086 + ], + [ + 0.35473379492759705, + 0.15399838984012604, + 0.009234881028532982 + ], + [ + 0.3565639555454254, + 0.14415675401687622, + 0.009479614906013012 + ], + [ + 0.35632866621017456, + 0.14360378682613373, + 0.009758555330336094 + ], + [ + 0.35122349858283997, + 0.15095612406730652, + 0.015085116028785706 + ], + [ + 0.3476252257823944, + 0.17153818905353546, + 0.04395374283194542 + ], + [ + 0.34514695405960083, + 0.1897701770067215, + 0.07048768550157547 + ], + [ + 0.34622395038604736, + 0.2061556875705719, + 0.09063411504030228 + ], + [ + 0.35579395294189453, + 0.21653231978416443, + 0.09376920759677887 + ], + [ + 0.36973264813423157, + 0.21690300107002258, + 0.0689903050661087 + ], + [ + 0.38367512822151184, + 0.21023516356945038, + 0.060586828738451004 + ], + [ + 0.38839811086654663, + 0.20567339658737183, + 0.04582572728395462 + ], + [ + 0.40292927622795105, + 0.20557250082492828, + 0.049451157450675964 + ], + [ + 0.4201008975505829, + 0.2121938019990921, + 0.05097990110516548 + ], + [ + 0.4356446862220764, + 0.2191794067621231, + 0.0591486357152462 + ], + [ + 0.4408819079399109, + 0.22028912603855133, + 0.048174746334552765 + ], + [ + 0.4359127879142761, + 0.22034499049186707, + 0.0401792898774147 + ], + [ + 0.41989269852638245, + 0.22357559204101562, + 0.0218467116355896 + ], + [ + 0.4084671139717102, + 0.21647503972053528, + 0.022876134142279625 + ], + [ + 0.4042225778102875, + 0.21566495299339294, + 0.022115541622042656 + ], + [ + 0.40026646852493286, + 0.21301878988742828, + 0.019554102793335915 + ], + [ + 0.39628371596336365, + 0.21367041766643524, + 0.021330920979380608 + ], + [ + 0.39883553981781006, + 0.21443191170692444, + 0.025894921272993088 + ], + [ + 0.4027915596961975, + 0.20587356388568878, + 0.026010951027274132 + ], + [ + 0.40814635157585144, + 0.19739964604377747, + 0.02679836004972458 + ], + [ + 0.40982550382614136, + 0.19597160816192627, + 0.024902814999222755 + ], + [ + 0.4097836911678314, + 0.1912170797586441, + 0.01824556104838848 + ], + [ + 0.4051092863082886, + 0.1871921718120575, + 0.014767148531973362 + ], + [ + 0.3955305814743042, + 0.1816154420375824, + 0.012559049762785435 + ], + [ + 0.3843551576137543, + 0.17487411201000214, + 0.01225883886218071 + ], + [ + 0.3759132921695709, + 0.16912025213241577, + 0.013259250670671463 + ], + [ + 0.37423455715179443, + 0.16777274012565613, + 0.012233204208314419 + ], + [ + 0.37293943762779236, + 0.1627415418624878, + 0.011892997659742832 + ], + [ + 0.371599018573761, + 0.15659475326538086, + 0.011615577153861523 + ], + [ + 0.3713987469673157, + 0.14658738672733307, + 0.01262942049652338 + ], + [ + 0.3719359338283539, + 0.1376427263021469, + 0.012211707420647144 + ], + [ + 0.3700532019138336, + 0.12918588519096375, + 0.011660591699182987 + ], + [ + 0.3684307932853699, + 0.12071943283081055, + 0.011640197597444057 + ], + [ + 0.3651093542575836, + 0.11352191865444183, + 0.010908713564276695 + ], + [ + 0.35861271619796753, + 0.10394667834043503, + 0.010597527958452702 + ], + [ + 0.3577835261821747, + 0.10255640000104904, + 0.011420901864767075 + ], + [ + 0.36628830432891846, + 0.1071258932352066, + 0.01838086172938347 + ], + [ + 0.38401147723197937, + 0.13356462121009827, + 0.03646582365036011 + ], + [ + 0.3952932357788086, + 0.1634756624698639, + 0.053212061524391174 + ], + [ + 0.3988974988460541, + 0.17933198809623718, + 0.05919553339481354 + ], + [ + 0.3943382203578949, + 0.18710178136825562, + 0.037107955664396286 + ], + [ + 0.3885557949542999, + 0.1873583197593689, + 0.03319010138511658 + ], + [ + 0.38648563623428345, + 0.1908392310142517, + 0.02983013726770878 + ], + [ + 0.3867186903953552, + 0.19667252898216248, + 0.03490551561117172 + ], + [ + 0.3909355700016022, + 0.20243225991725922, + 0.051436152309179306 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.7190939889146873, + 0.690725249940115, + 0.0761739076188756, + 0.6346869930462927, + -0.6974519666677159, + 0.3327659463484661, + 0.2829774831406529, + -0.19094340335947912, + -0.9399278486931221 + ], + [ + 0.723234516103214, + 0.6886956578169624, + 0.05128475037485211, + 0.6433787876177725, + -0.6989079987043223, + 0.31239613472417327, + 0.2509891837518796, + -0.19294014681029947, + -0.948566565607488 + ], + [ + 0.7402012331980802, + 0.6680895643410214, + 0.07588457281072089, + 0.6337453192404119, + -0.7309142532208261, + 0.2532414357476092, + 0.22465307634864448, + -0.13935813021588017, + -0.9644222658305976 + ], + [ + 0.7382531801202499, + 0.6616889554860051, + 0.1309578872392852, + 0.6290650044336384, + -0.745466220574171, + 0.22035728755765682, + 0.2434326646924036, + -0.08029844438531164, + -0.9665881737275989 + ], + [ + 0.7383235697068172, + 0.663546453777394, + 0.12076593101875764, + 0.6343671044751115, + -0.7440310446767656, + 0.20975266700822592, + 0.22903424018090734, + -0.07825540388142838, + -0.9702676994459358 + ], + [ + 0.7277308812593258, + 0.6764753260184458, + 0.11308800886814892, + 0.6438020867003492, + -0.7306056691471241, + 0.22745159786284008, + 0.23648813420931103, + -0.09271725566646453, + -0.9672005339534706 + ], + [ + 0.7240247030160819, + 0.6814215980353169, + 0.1070179197773415, + 0.6446953354022174, + -0.7236808353483819, + 0.2462802733880458, + 0.24526751503836952, + -0.10931904811359855, + -0.9632721275872358 + ], + [ + 0.7208177528799495, + 0.6873799755743745, + 0.08905355867382511, + 0.6474309149811205, + -0.7135954888078826, + 0.2676092088844258, + 0.24749742919838394, + -0.1352414416235333, + -0.9594033432335847 + ], + [ + 0.7057871695598348, + 0.7032244565856425, + 0.08567283667852615, + 0.6574634120099305, + -0.6952470347963609, + 0.2904710355183944, + 0.26383012176962994, + -0.14868397447840848, + -0.9530407874694171 + ], + [ + 0.7006519424528538, + 0.7055711626803518, + 0.10609519277959623, + 0.6549522000788881, + -0.6949965930162206, + 0.2966771836654618, + 0.2830626629367906, + -0.13838016508785755, + -0.9490660982046458 + ], + [ + 0.6953910929977185, + 0.7120655440640083, + 0.09692207558790054, + 0.6620152230761837, + -0.68722406483263, + 0.2990968557680077, + 0.279583748087813, + -0.14382539995336513, + -0.9492877235766959 + ], + [ + 0.6871003354229979, + 0.7201483947742445, + 0.09632973873982488, + 0.6688147225274325, + -0.6787051345349324, + 0.303391178656323, + 0.28386615858914477, + -0.14403343313272216, + -0.9479843744217752 + ], + [ + 0.6639080808102016, + 0.7437719548809028, + 0.07764882077376084, + 0.6953970864923977, + -0.6522250651409214, + 0.30170408764185785, + 0.2750435462482257, + -0.14630701806325505, + -0.9502343416929525 + ], + [ + 0.6284223540337484, + 0.7762244763576672, + 0.05060540735877003, + 0.7328054658554745, + -0.6125819349669257, + 0.29620857881654594, + 0.26092430734414707, + -0.1490601732705354, + -0.9537817206161663 + ], + [ + 0.6034606540149472, + 0.7966386177482906, + 0.03467206033603605, + 0.7549624238328437, + -0.5848041940869515, + 0.29670826274094475, + 0.2566456266065925, + -0.15287565957471688, + -0.9543385432084912 + ], + [ + 0.5987128930262471, + 0.8002637151528731, + 0.03347921644637103, + 0.7584504054610941, + -0.5798758266145649, + 0.29748446709698506, + 0.2574798131505532, + -0.15271546063773747, + -0.9541394729818906 + ], + [ + 0.6232368303992859, + 0.7813349417687917, + 0.03303879545338359, + 0.7399439296512454, + -0.602840563484383, + 0.2984396689284187, + 0.25309846741164654, + -0.1615517371896396, + -0.9538564892083532 + ], + [ + 0.6447041250922132, + 0.7639510416706922, + 0.027118204574567123, + 0.7189966974759691, + -0.6180511848627582, + 0.3178938217524688, + 0.2596157547371378, + -0.18544955869455387, + -0.9477384243937044 + ], + [ + 0.6671356383006686, + 0.7441231433111922, + 0.03479637477999524, + 0.6947284225235949, + -0.6383505864008465, + 0.331452783635275, + 0.26885397346335893, + -0.19694993381660675, + -0.9428299234340186 + ], + [ + 0.709488146978667, + 0.7042119476443917, + 0.0266852410832161, + 0.6654423900081455, + -0.6819315861799244, + 0.30357163462744496, + 0.23197628085005598, + -0.19762298592275207, + -0.9524348589577931 + ], + [ + 0.7316934271399604, + 0.680884496982753, + 0.031953567073527284, + 0.651359479121838, + -0.7122425614379893, + 0.2616130016539306, + 0.20088692749481435, + -0.1706072549594392, + -0.964643772030327 + ], + [ + 0.7453893762829068, + 0.6664745160532732, + 0.014366529717870766, + 0.6507668861315652, + -0.7321571582391599, + 0.20111776538581635, + 0.14455842292722237, + -0.14056178389133026, + -0.9794617130189833 + ], + [ + 0.7649229946391622, + 0.6437910906123376, + 0.02063598605428127, + 0.6285229463379822, + -0.7530235012662037, + 0.19471649254084572, + 0.14089612556375566, + -0.13597293182455145, + -0.980642464720021 + ], + [ + 0.782675638794042, + 0.6209186337808822, + 0.04334621854350237, + 0.6023135766934605, + -0.7731033520077517, + 0.19882042763536448, + 0.1569624151479235, + -0.12950388927774018, + -0.9790768830346622 + ], + [ + 0.7981151100662829, + 0.6000594355999799, + 0.054230478804070954, + 0.580745530144661, + -0.7901395550738843, + 0.19599518546291084, + 0.16045840676288, + -0.1249326108551236, + -0.9791041530113334 + ], + [ + 0.8102663039188858, + 0.5824445609434934, + 0.06501423044972232, + 0.5622530068389142, + -0.8038494583398913, + 0.19415870989287018, + 0.16534833846830196, + -0.1207658136808806, + -0.9788133352237122 + ], + [ + 0.8047049680789925, + 0.5891796743478224, + 0.07291930940691455, + 0.5676197326554024, + -0.7995508421116321, + 0.19628115033998839, + 0.1739475594804275, + -0.11655797790787888, + -0.9778325441182807 + ], + [ + 0.7958960769860186, + 0.6022468761741429, + 0.062033336011793914, + 0.5821109137764553, + -0.7893739402667523, + 0.195027348056835, + 0.16642211001127735, + -0.11911121931299454, + -0.9788341017420501 + ], + [ + 0.8014452235055605, + 0.5948577080937495, + 0.061885869482248, + 0.5742098479722467, + -0.7942782402641617, + 0.19850724806554587, + 0.16723816613384554, + -0.12355721008633323, + -0.9781436559237453 + ], + [ + 0.8105987170750157, + 0.5815500170052167, + 0.06876988874188564, + 0.5594317335472611, + -0.8037294103966857, + 0.20262075501710808, + 0.1731064856573704, + -0.12577206599491347, + -0.9768395631006794 + ], + [ + 0.814736334848394, + 0.5756897213587748, + 0.06918127925719555, + 0.5539666096951812, + -0.8080702906771162, + 0.20035818093561344, + 0.17124748179355104, + -0.12491497126788889, + -0.9772771101036339 + ], + [ + 0.816221429691627, + 0.5735143762940668, + 0.06974122092553262, + 0.5531948618719821, + -0.8106416603499471, + 0.19192587971276698, + 0.16660739032406385, + -0.1180735308572945, + -0.9789283011540204 + ], + [ + 0.8304214750077334, + 0.5505529515708478, + 0.08539099110918297, + 0.5287186721112813, + -0.8270783727893504, + 0.19078241801854898, + 0.17566086532538833, + -0.11328200554699194, + -0.9779112677602133 + ], + [ + 0.8312635405992507, + 0.548578942819909, + 0.08978902808800751, + 0.5278536227789477, + -0.8296297999297866, + 0.1818926826114863, + 0.17427414894223006, + -0.10380529159466442, + -0.9792103872240164 + ], + [ + 0.8192380588258008, + 0.5684151098005934, + 0.0758502862335616, + 0.5548423400232418, + -0.819109716135698, + 0.14563396118223795, + 0.1449102504616812, + -0.07722393335278663, + -0.9864266234386911 + ], + [ + 0.8004897985875262, + 0.588125749520332, + 0.11543043406506331, + 0.5733786083545911, + -0.8075464897646496, + 0.13822314694053556, + 0.1745080337367132, + -0.04446087740857099, + -0.9836514507392371 + ], + [ + 0.7858357561223959, + 0.6025425291093244, + 0.13930062818982925, + 0.5913712327670023, + -0.798040119339998, + 0.1158103319200735, + 0.18094814023685946, + -0.008629515533359465, + -0.9834547788314829 + ], + [ + 0.7837040738480938, + 0.6014862171672225, + 0.1549911455269824, + 0.5914563162509098, + -0.7988619509967486, + 0.10953998912074087, + 0.1897033225876793, + 0.005823556261697192, + -0.9818241877198084 + ], + [ + 0.8201845209667734, + 0.5326565291190545, + 0.20874475694815953, + 0.5008911813688187, + -0.8448827459564346, + 0.1878328246395282, + 0.27641522388148865, + -0.049499167386496845, + -0.9597627083996283 + ], + [ + 0.8552216254183228, + 0.4439549939747262, + 0.2673947171163672, + 0.37476462847011643, + -0.8861328990572979, + 0.2726168711873197, + 0.3579768772763079, + -0.13293776187828993, + -0.9242186466428242 + ], + [ + 0.8756328452055001, + 0.3610026848781731, + 0.32084915756172894, + 0.257908653146391, + -0.9111673450182939, + 0.3213365774457182, + 0.40835064225434403, + -0.19862308748749205, + -0.8909537710158708 + ], + [ + 0.9247065961541807, + 0.2550828544924481, + 0.2825782163807633, + 0.15651497980508827, + -0.9314091810887669, + 0.3286031017506766, + 0.3470169623023661, + -0.259633731875381, + -0.9012045012908564 + ], + [ + 0.9455948570128054, + 0.16333245565486731, + 0.28137674978697713, + 0.0521348131664574, + -0.929746291441126, + 0.3644911450331429, + 0.32114222339491727, + -0.32999142789051933, + -0.8876786185730428 + ], + [ + 0.9428449911814126, + 0.12241162898513783, + 0.30993340525559177, + -0.016742210943758107, + -0.9115079876044061, + 0.410941464087138, + 0.33281078855234936, + -0.39264307153262085, + -0.8573612992202253 + ], + [ + 0.9412893816110585, + 0.08859585294692372, + 0.3257684375547742, + -0.059388803725002506, + -0.9064492225729885, + 0.41811813747903637, + 0.33233607998287645, + -0.4129171608657508, + -0.8479694264560388 + ], + [ + 0.9481387075835817, + 0.025254735668215837, + 0.316851999375204, + -0.1123577937150399, + -0.9058537157581463, + 0.40841739904006064, + 0.29733603443448337, + -0.4228371364644881, + -0.8560374049381766 + ], + [ + 0.9548717321840855, + -0.042493720781252506, + 0.2939630227935627, + -0.1554351165456131, + -0.9148625657672906, + 0.3726478368408182, + 0.2531005721451759, + -0.4015230621668628, + -0.8801814193266806 + ], + [ + 0.9530541311204598, + -0.09950231462946946, + 0.28598446205625055, + -0.20273818301442859, + -0.9112114538709409, + 0.35859575496987356, + 0.22491120981897056, + -0.3997411358839413, + -0.8886067589096894 + ], + [ + 0.9424343081936364, + -0.13539657286418874, + 0.3057537289980521, + -0.23927378836767713, + -0.9117868555922694, + 0.3337555754880237, + 0.2335928700533514, + -0.3877015579357327, + -0.8916960653913661 + ], + [ + 0.9329500839545946, + -0.15730050500939816, + 0.32382200662231686, + -0.2610259830399731, + -0.91503143150202, + 0.30754335554744167, + 0.24793058913157764, + -0.3714485569862303, + -0.8947381697936645 + ], + [ + 0.9369662304719806, + -0.17376214960428585, + 0.30315177439695806, + -0.259824775357963, + -0.9265690362138045, + 0.27195754676052775, + 0.23363511950327687, + -0.3335813791186768, + -0.9133116086199552 + ], + [ + 0.9470982809301646, + -0.16772700212210986, + 0.2736283958551397, + -0.23809149874036697, + -0.9388934641255121, + 0.24857896381222938, + 0.21521450807669334, + -0.30057730416903666, + -0.9291587591643214 + ], + [ + 0.9493990275320292, + -0.15912103128930816, + 0.2707803241054731, + -0.23055816168790505, + -0.9385483044651585, + 0.2568462852849361, + 0.21327076827435087, + -0.30628022722174536, + -0.9277435000110025 + ], + [ + 0.9484679289914378, + -0.16312013103724443, + 0.2716623097249317, + -0.23341668865510462, + -0.9394673102194886, + 0.2508342530162992, + 0.21430174318464718, + -0.3013187612468747, + -0.9291295749187355 + ], + [ + 0.9446908598434104, + -0.17183883082287893, + 0.2793395703256949, + -0.2450343863753432, + -0.935943404519258, + 0.2529191432663007, + 0.21798469859597225, + -0.30737820312820907, + -0.9262836020462073 + ], + [ + 0.941245076149992, + -0.17260905684248445, + 0.29028231106862795, + -0.2543759078937944, + -0.9277233886164601, + 0.2731706640494187, + 0.22214995860139958, + -0.33096136890873007, + -0.9171226571094271 + ], + [ + 0.9361871786949922, + -0.18964912505423887, + 0.2959506307026092, + -0.2774169007245019, + -0.9156920390877248, + 0.29077130660327594, + 0.21585511260918133, + -0.35431807591135694, + -0.9098710191246622 + ], + [ + 0.929415142400552, + -0.20048627539783417, + 0.30982696211541216, + -0.29629594431242956, + -0.9058802428419629, + 0.30263790081976133, + 0.21999137815052416, + -0.37307671999964004, + -0.9013420851894929 + ], + [ + 0.9206859898663832, + -0.2229668614418501, + 0.320348383424248, + -0.3206753296707435, + -0.9000118294434885, + 0.2952050809223057, + 0.22249638424998763, + -0.37451900560659923, + -0.9001282538811488 + ], + [ + 0.9199861341061265, + -0.23933511060060236, + 0.31039364988069734, + -0.3282263758125575, + -0.9032681932628581, + 0.27635849409888774, + 0.21422642057742852, + -0.3561253653889998, + -0.909550309138056 + ], + [ + 0.9233512320600412, + -0.24788428716054153, + 0.29321644297705163, + -0.3252381475106955, + -0.9108324363822365, + 0.2541739959905625, + 0.2040653073332541, + -0.3300570450890415, + -0.9216396786868909 + ], + [ + 0.9261415148321303, + -0.24961022149353573, + 0.28276603726472427, + -0.32226952453665036, + -0.9132039627073429, + 0.24940103458191054, + 0.1959700182664907, + -0.32210752835280654, + -0.9261978687726924 + ], + [ + 0.9279626855845975, + -0.2537821445661719, + 0.2729100167857825, + -0.32165655693062667, + -0.9152456785409122, + 0.2426157606086623, + 0.18820816546089603, + -0.31292166913075836, + -0.9309445286601475 + ], + [ + 0.9257564545007501, + -0.26272383696454105, + 0.2719396485267094, + -0.32946496790311297, + -0.9133736701736261, + 0.23916808641238255, + 0.18554735749883838, + -0.3110059872802924, + -0.9321198710471787 + ], + [ + 0.9221324829204284, + -0.2681284601324115, + 0.27888853115541856, + -0.33641080196633116, + -0.9117204860346433, + 0.23578279764461807, + 0.1910483087163426, + -0.3112440910471632, + -0.9309283858196877 + ], + [ + 0.9236277724994046, + -0.2736048849869786, + 0.2684252312638478, + -0.33608697182822084, + -0.9148097673290249, + 0.22398356405493677, + 0.18427502607549578, + -0.2970916634822955, + -0.9368987449314882 + ], + [ + 0.9310687217574735, + -0.2724763001524121, + 0.24262667046340392, + -0.32431516221979895, + -0.9227319513266763, + 0.20829167423401682, + 0.16712483633275477, + -0.27262137087197863, + -0.9474950539314878 + ], + [ + 0.9324006430500235, + -0.27313072921503273, + 0.2367037084592624, + -0.3220337122099663, + -0.9251432159604869, + 0.2010082539662409, + 0.1640832990897356, + -0.2636467991854873, + -0.9505614321226566 + ], + [ + 0.9331274287891903, + -0.2763928500299735, + 0.22995693965084726, + -0.3221524788475971, + -0.9267268726026573, + 0.19337808554344235, + 0.15965895531921562, + -0.25452759388405616, + -0.9537949055944731 + ], + [ + 0.9312996584249256, + -0.2894959985476751, + 0.22107241583359477, + -0.3308397709943301, + -0.9261955068668428, + 0.1808505708812988, + 0.15240076163207505, + -0.24156562231525613, + -0.9583423490430791 + ], + [ + 0.9311733259632914, + -0.28830713107735423, + 0.22314845996422905, + -0.32956574244872966, + -0.927379646539933, + 0.17706894868295353, + 0.15589309932989154, + -0.238423969754331, + -0.9585673436060225 + ], + [ + 0.9337572941154387, + -0.26747239174817883, + 0.23781470799494867, + -0.3111394501962722, + -0.93503218391434, + 0.17002075630916744, + 0.1768885474466206, + -0.23275165884884394, + -0.9563143348739137 + ], + [ + 0.9420833500219317, + -0.18943526177838865, + 0.27675484314896376, + -0.23845184924205443, + -0.958618386735089, + 0.15553618294936858, + 0.2358382437275573, + -0.21252075241813037, + -0.948269609650722 + ], + [ + 0.9458597066212405, + -0.12077278923931906, + 0.30126956163830354, + -0.17226585945961714, + -0.973470449277381, + 0.15059800147522945, + 0.2750888748296084, + -0.19434304145775017, + -0.9415715018955974 + ], + [ + 0.9487127391353435, + -0.08926842044622198, + 0.3032742780279108, + -0.14256489604874945, + -0.9770303547502265, + 0.15838856117553496, + 0.28216907877533864, + -0.1935015116418563, + -0.9396476871548153 + ], + [ + 0.9685359560497822, + -0.0680655103897692, + 0.23938502069702472, + -0.10725342518577625, + -0.9821243868648628, + 0.15468804579293294, + 0.22457694588860594, + -0.17549579772945462, + -0.9585230411182867 + ], + [ + 0.9785240333098599, + -0.04706167401778501, + 0.2006886022514677, + -0.07756206986863644, + -0.9861000341553593, + 0.14693824538387532, + 0.19098387772976236, + -0.15934842791017093, + -0.9685727835169953 + ], + [ + 0.9886407859033736, + -0.008375230962086666, + 0.15006415946085028, + -0.03138218315277856, + -0.9879418433327785, + 0.15161158521959067, + 0.14698488027319428, + -0.1545987377004206, + -0.9769824334513447 + ], + [ + 0.989304883616116, + 0.04388438833849102, + 0.13910430515788916, + 0.01791866814290514, + -0.983008930457668, + 0.1826810443709351, + 0.14475762012856894, + -0.1782346854588849, + -0.973281885331318 + ], + [ + 0.9863040894229054, + 0.06566255150852879, + 0.15130324688202554, + 0.043209050194076816, + -0.9881660468369139, + 0.14717622722448004, + 0.15917669794595915, + -0.13862284518828716, + -0.9774694295081177 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0030381083488464355, + -0.002253621816635132, + -0.009991968050599098, + 0.00024481117725372314, + 0.033195048570632935, + 0.003901541233062744, + 1.0 + ], + [ + -2.1517276763916016e-05, + -0.003863915801048279, + 0.0015147402882575989, + -0.057158589363098145, + 0.02711501717567444, + -0.018960416316986084, + 1.0 + ], + [ + 0.005623072385787964, + 0.004376471042633057, + 0.013582473620772362, + -0.06062199920415878, + -0.0193164199590683, + -0.0023592710494995117, + 1.0 + ], + [ + -0.0009966790676116943, + -0.0013128668069839478, + 0.00031309202313423157, + -0.0024045705795288086, + 0.014817982912063599, + 0.004099011421203613, + 1.0 + ], + [ + -0.0012175142765045166, + 0.0028066039085388184, + 0.0004863739013671875, + 0.015090219676494598, + -0.007664427161216736, + 0.014470398426055908, + 1.0 + ], + [ + -0.0035845935344696045, + -0.0021900832653045654, + -0.00529078021645546, + 0.01743427664041519, + -0.009045764803886414, + 0.0032231807708740234, + 1.0 + ], + [ + -0.004743337631225586, + -0.006743505597114563, + -0.006845416501164436, + 0.027037687599658966, + -0.002300843596458435, + 0.0043097734451293945, + 1.0 + ], + [ + -0.0007481276988983154, + -0.0004107356071472168, + -0.001232389360666275, + 0.014721140265464783, + -0.016894400119781494, + 0.01815164089202881, + 0.0 + ], + [ + 0.004483044147491455, + -0.0017639696598052979, + -7.81714916229248e-05, + -0.00997614860534668, + -0.019995003938674927, + 0.0017336606979370117, + 0.0 + ], + [ + 0.0045993030071258545, + 0.0005414336919784546, + -0.006004858762025833, + 0.005578786134719849, + 0.003625333309173584, + 0.009115934371948242, + 0.0 + ], + [ + 0.008809864521026611, + 0.00516277551651001, + -0.00015201233327388763, + 0.00041812658309936523, + -0.00446319580078125, + 0.011098027229309082, + 0.0 + ], + [ + 0.006596028804779053, + 0.00824931263923645, + 0.0002637207508087158, + 0.0019864290952682495, + 0.009188741445541382, + 0.036646366119384766, + 0.0 + ], + [ + 0.0066373348236083984, + 0.01374790072441101, + 0.0003333818167448044, + 0.0022595375776290894, + 0.014655441045761108, + 0.05337190628051758, + 0.0 + ], + [ + -0.004752397537231445, + 0.01149970293045044, + 0.0038684196770191193, + 0.0038114190101623535, + 0.00442957878112793, + 0.03453540802001953, + 0.0 + ], + [ + 0.0011487007141113281, + 0.001505821943283081, + 0.001125747337937355, + -0.00013111531734466553, + -0.000863194465637207, + 0.0060918331146240234, + 0.0 + ], + [ + 0.0033147037029266357, + 0.002763301134109497, + -0.003992723301053047, + 0.009065225720405579, + 0.004531502723693848, + -0.03175497055053711, + 0.0 + ], + [ + 0.0015672743320465088, + 0.007002979516983032, + -0.0031773578375577927, + 0.02545952796936035, + -0.006742626428604126, + -0.030980706214904785, + 0.0 + ], + [ + 0.007771581411361694, + 0.006119564175605774, + -0.0008588852360844612, + 0.01269674301147461, + -0.009578704833984375, + -0.034166574478149414, + 0.0 + ], + [ + 0.00552782416343689, + 0.00547434389591217, + -0.0025845887139439583, + -0.0013417750597000122, + 0.03809410333633423, + -0.05228221416473389, + 0.0 + ], + [ + 0.0009424388408660889, + -0.0007156580686569214, + -0.00011895131319761276, + -0.029539108276367188, + 0.03184567391872406, + -0.025995373725891113, + 0.0 + ], + [ + 0.0007858574390411377, + -0.0019211769104003906, + -0.00027669500559568405, + -0.03251415491104126, + 0.05719652771949768, + -0.009650766849517822, + 0.0 + ], + [ + 0.0006632804870605469, + -0.007925465703010559, + 0.00013532303273677826, + -0.004757523536682129, + 0.0037001818418502808, + -0.02990591526031494, + 0.0 + ], + [ + 0.0006636679172515869, + -0.01029178500175476, + -0.0005848314613103867, + -0.006270483136177063, + -0.016247674822807312, + -0.031921565532684326, + 0.0 + ], + [ + 0.0005234181880950928, + -0.0074856579303741455, + -0.0003583291545510292, + -0.004594936966896057, + -0.0035408735275268555, + -0.02685999870300293, + 0.0 + ], + [ + 0.005385696887969971, + -0.01720675826072693, + -9.694881737232208e-05, + -0.0041536614298820496, + -0.004956141114234924, + -0.022412657737731934, + 0.0 + ], + [ + 0.006992638111114502, + -0.009259447455406189, + 0.0005356874316930771, + -0.004118874669075012, + -0.008725732564926147, + 0.007697105407714844, + 0.0 + ], + [ + 0.006204277276992798, + -0.004150509834289551, + 0.0005997391417622566, + 0.0024509280920028687, + 0.0076368749141693115, + 0.01715928316116333, + 0.0 + ], + [ + 0.009177953004837036, + -0.004884809255599976, + -0.0007195426151156425, + 0.004561088979244232, + -0.0008276551961898804, + -0.009791314601898193, + 0.0 + ], + [ + 0.011406481266021729, + -0.009484589099884033, + 0.0001108003780245781, + 0.002397015690803528, + -0.00595518946647644, + -0.017610907554626465, + 0.0 + ], + [ + 0.004289448261260986, + -0.00534452497959137, + -0.00035718828439712524, + -0.000919535756111145, + 0.0018871873617172241, + -0.006950855255126953, + 0.0 + ], + [ + 0.0003370046615600586, + -0.004829317331314087, + -0.0009570550173521042, + -0.0070948004722595215, + 0.004707753658294678, + -0.0014941096305847168, + 0.0 + ], + [ + 0.0018301606178283691, + -0.009841635823249817, + 0.00024473387748003006, + -0.004708491265773773, + -0.009189069271087646, + -0.028677701950073242, + 0.0 + ], + [ + -0.0002352893352508545, + -0.0005529671907424927, + 0.00027894042432308197, + -0.00971202552318573, + 0.0014084428548812866, + -0.0012003183364868164, + 0.0 + ], + [ + -0.005105167627334595, + 0.0073523372411727905, + 0.005326560698449612, + -0.027487531304359436, + 0.029746323823928833, + 0.029545843601226807, + 0.0 + ], + [ + -0.0035982728004455566, + 0.020582064986228943, + 0.028868626803159714, + -0.03295811265707016, + -0.029983848333358765, + 0.026266932487487793, + 0.0 + ], + [ + -0.002478271722793579, + 0.018231987953186035, + 0.02653394266963005, + -0.03639461472630501, + -0.0065443068742752075, + 0.023551523685455322, + 0.0 + ], + [ + 0.0010769963264465332, + 0.016385510563850403, + 0.020146429538726807, + -0.014705764129757881, + -0.008909553289413452, + 0.0013747215270996094, + 0.0 + ], + [ + 0.009570002555847168, + 0.01037663221359253, + 0.003135092556476593, + 0.05746002122759819, + -0.08920201659202576, + -0.09824413061141968, + 0.0 + ], + [ + 0.013938695192337036, + 0.0003706812858581543, + -0.024778902530670166, + 0.09132944047451019, + -0.08603829145431519, + -0.1352497935295105, + 0.0 + ], + [ + 0.013942480087280273, + -0.006667837500572205, + -0.0084034763276577, + 0.07648810744285583, + -0.05454617738723755, + -0.12656435370445251, + 0.0 + ], + [ + 0.00472298264503479, + -0.004561766982078552, + -0.014761101454496384, + 0.06115429103374481, + 0.06625792384147644, + -0.11876991391181946, + 0.0 + ], + [ + 0.014531165361404419, + -0.00010089576244354248, + 0.003625430166721344, + 0.07541468739509583, + 0.027453184127807617, + -0.11259131133556366, + 0.0 + ], + [ + 0.017171621322631836, + 0.006621301174163818, + 0.0015287436544895172, + 0.07354414463043213, + -0.012347370386123657, + -0.07283389568328857, + 0.0 + ], + [ + 0.01554378867149353, + 0.006985604763031006, + 0.008168734610080719, + 0.023692339658737183, + 0.0005033612251281738, + -0.045254260301589966, + 0.0 + ], + [ + 0.005237221717834473, + 0.0011097192764282227, + -0.010973889380693436, + 0.0056417882442474365, + 0.0368780791759491, + -0.054943934082984924, + 0.0 + ], + [ + -0.004969120025634766, + 5.586445331573486e-05, + -0.007995456457138062, + -0.030810415744781494, + 0.04601743817329407, + -0.043412357568740845, + 0.0 + ], + [ + -0.016020089387893677, + 0.0032306015491485596, + -0.018332578241825104, + -0.005252629518508911, + 0.02903193235397339, + -0.048234596848487854, + 0.0 + ], + [ + -0.011425584554672241, + -0.007100552320480347, + 0.0010294225066900253, + -0.012595951557159424, + -0.008919239044189453, + -0.039035215973854065, + 0.0 + ], + [ + -0.0042445361614227295, + -0.000810086727142334, + -0.000760592520236969, + -0.01663830876350403, + -0.014772415161132812, + -0.024174243211746216, + 0.0 + ], + [ + -0.003956109285354614, + -0.0026461631059646606, + -0.0025614388287067413, + -0.04330626130104065, + 0.014728963375091553, + 0.002302616834640503, + 0.0 + ], + [ + -0.003982752561569214, + 0.000651627779006958, + 0.001776818186044693, + -0.03732076287269592, + 0.01890312135219574, + 0.024220317602157593, + 0.0 + ], + [ + 0.002551823854446411, + 0.0007614940404891968, + 0.00456400029361248, + 0.005999743938446045, + 0.0019899457693099976, + 0.008052289485931396, + 0.0 + ], + [ + 0.003956019878387451, + -0.008558347821235657, + 0.000116029754281044, + -0.005268305540084839, + -0.0010553747415542603, + -0.0030688196420669556, + 0.0 + ], + [ + 0.005354791879653931, + -0.008473917841911316, + 0.0007874090224504471, + 0.0068055689334869385, + -0.0037721246480941772, + -0.012484237551689148, + 0.0 + ], + [ + 0.001679152250289917, + -0.0014280378818511963, + -0.0018955450505018234, + 0.025918692350387573, + -0.00426994264125824, + -0.010161519050598145, + 0.0 + ], + [ + -4.1812658309936523e-05, + -0.0047545284032821655, + -0.006657253950834274, + 0.025023937225341797, + 0.006451472640037537, + -0.0241338312625885, + 0.0 + ], + [ + -0.004674404859542847, + -0.004024907946586609, + -0.003478412516415119, + 0.0210932195186615, + -0.004238128662109375, + -0.02052941918373108, + 0.0 + ], + [ + -0.009578704833984375, + -0.005576729774475098, + -0.0022080987691879272, + 0.0018430650234222412, + -0.002568662166595459, + -0.02654746174812317, + 0.0 + ], + [ + -0.011175423860549927, + -0.006741330027580261, + -0.0003002109006047249, + -0.021093010902404785, + 0.008474498987197876, + -0.007536113262176514, + 0.0 + ], + [ + -0.00844186544418335, + -0.005753859877586365, + 0.0010004118084907532, + -0.029302358627319336, + 0.01039096713066101, + 0.004030048847198486, + 0.0 + ], + [ + -0.0016787350177764893, + -0.0013475120067596436, + -0.0010260464623570442, + -0.009199380874633789, + 0.008262276649475098, + 0.003800719976425171, + 0.0 + ], + [ + -0.0012951195240020752, + -0.005031198263168335, + -0.0003402065485715866, + -0.0104217529296875, + 0.00790916383266449, + 0.0011988580226898193, + 0.0 + ], + [ + -0.001340419054031372, + -0.006146788597106934, + -0.0002774205058813095, + -0.002229034900665283, + 0.002708524465560913, + -0.008243560791015625, + 0.0 + ], + [ + -0.0002002716064453125, + -0.01000736653804779, + 0.0010138433426618576, + 0.0006142854690551758, + -0.005601152777671814, + -0.007904529571533203, + 0.0 + ], + [ + 0.000537186861038208, + -0.008944660425186157, + -0.00041771307587623596, + -0.01558271050453186, + 0.00689581036567688, + 0.000830918550491333, + 0.0 + ], + [ + -0.0018827319145202637, + -0.008456841111183167, + -0.0005511157214641571, + -0.026910245418548584, + 0.017421439290046692, + 0.013801127672195435, + 0.0 + ], + [ + -0.0016224086284637451, + -0.008466452360153198, + -2.039410173892975e-05, + -0.009602844715118408, + 0.003084123134613037, + 0.002628237009048462, + 0.0 + ], + [ + -0.003321439027786255, + -0.007197514176368713, + -0.0007314840331673622, + -0.009777247905731201, + 0.004483476281166077, + 0.00012663006782531738, + 0.0 + ], + [ + -0.006496638059616089, + -0.009575240314006805, + -0.0003111856058239937, + -0.013858526945114136, + 0.007348209619522095, + -0.008912384510040283, + 0.0 + ], + [ + -0.0008291900157928467, + -0.0013902783393859863, + 0.000823373906314373, + -0.0031397491693496704, + -0.0035345852375030518, + 0.001172572374343872, + 0.0 + ], + [ + 0.008504778146743774, + 0.004569493234157562, + 0.006959959864616394, + -0.005040273070335388, + -0.021292701363563538, + 0.018525749444961548, + 0.0 + ], + [ + 0.017723172903060913, + 0.026438727974891663, + 0.01808496192097664, + -0.018271028995513916, + -0.06025680899620056, + 0.07373695075511932, + 0.0 + ], + [ + 0.011281758546829224, + 0.029911041259765625, + 0.016746237874031067, + -0.016926735639572144, + -0.04060108959674835, + 0.06775303184986115, + 0.0 + ], + [ + 0.0036042630672454834, + 0.01585632562637329, + 0.005983471870422363, + -0.00045371055603027344, + -0.007372170686721802, + 0.03099578619003296, + 0.0 + ], + [ + -0.00455927848815918, + 0.007769793272018433, + -0.02208757773041725, + -0.022006630897521973, + 0.05954544246196747, + 0.03886755555868149, + 0.0 + ], + [ + -0.005782425403594971, + 0.00025653839111328125, + -0.003917854279279709, + -0.018026024103164673, + 0.034344494342803955, + 0.031189359724521637, + 0.0 + ], + [ + -0.0020701587200164795, + 0.0034809112548828125, + -0.0033599641174077988, + -0.006118372082710266, + 0.044645026326179504, + 0.04736686870455742, + 1.0 + ], + [ + 0.00023305416107177734, + 0.005833297967910767, + 0.005075378343462944, + 0.024180874228477478, + 0.002251341938972473, + 0.04984250292181969, + 1.0 + ], + [ + 0.004216879606246948, + 0.005759730935096741, + 0.016530636698007584, + -0.04024200141429901, + -0.014588654041290283, + 0.02567065879702568, + 1.0 + ], + [ + -0.006281614303588867, + 0.021600037813186646, + 0.01966463401913643, + -0.044638924300670624, + -0.005356833338737488, + 0.03349621966481209, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9499720335006714 + ], + [ + 0.6530976295471191 + ], + [ + 0.3918617069721222 + ], + [ + 0.3849146366119385 + ], + [ + 0.3849146366119385 + ], + [ + 0.3849146366119385 + ], + [ + 0.3849146366119385 + ], + [ + 0.3849146366119385 + ], + [ + 0.3849146366119385 + ], + [ + 0.3849146366119385 + ], + [ + 0.3849146366119385 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3849146366119385 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.3840504586696625 + ], + [ + 0.4503740966320038 + ], + [ + 0.7662391662597656 + ], + [ + 0.9994885921478271 + ], + [ + 1.0099300146102905 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2673470675945282, + 0.18453295528888702, + 0.0200521070510149 + ], + [ + 0.2673255503177643, + 0.18066903948783875, + 0.0215668473392725 + ], + [ + 0.27294862270355225, + 0.1850455105304718, + 0.03514932096004486 + ], + [ + 0.27195194363594055, + 0.18373264372348785, + 0.03546241298317909 + ], + [ + 0.27073442935943604, + 0.18653924763202667, + 0.03594878688454628 + ], + [ + 0.26714983582496643, + 0.1843491643667221, + 0.03065800666809082 + ], + [ + 0.26240649819374084, + 0.17760565876960754, + 0.023812590166926384 + ], + [ + 0.26165837049484253, + 0.17719492316246033, + 0.02258020080626011 + ], + [ + 0.266141414642334, + 0.17543095350265503, + 0.022502029314637184 + ], + [ + 0.27074071764945984, + 0.17597238719463348, + 0.01649717055261135 + ], + [ + 0.27955058217048645, + 0.1811351627111435, + 0.016345158219337463 + ], + [ + 0.2861466109752655, + 0.18938447535037994, + 0.01660887897014618 + ], + [ + 0.2927839457988739, + 0.20313237607479095, + 0.016942260786890984 + ], + [ + 0.28803154826164246, + 0.2146320790052414, + 0.020810680463910103 + ], + [ + 0.2891802489757538, + 0.21613790094852448, + 0.021936427801847458 + ], + [ + 0.2924949526786804, + 0.21890120208263397, + 0.01794370450079441 + ], + [ + 0.29406222701072693, + 0.225904181599617, + 0.014766346663236618 + ], + [ + 0.3018338084220886, + 0.23202374577522278, + 0.013907461427152157 + ], + [ + 0.3073616325855255, + 0.23749808967113495, + 0.011322872713208199 + ], + [ + 0.3083040714263916, + 0.23678243160247803, + 0.011203921400010586 + ], + [ + 0.30908992886543274, + 0.23486125469207764, + 0.010927226394414902 + ], + [ + 0.3097532093524933, + 0.22693578898906708, + 0.01106254942715168 + ], + [ + 0.3104168772697449, + 0.21664400398731232, + 0.010477717965841293 + ], + [ + 0.31094029545783997, + 0.20915834605693817, + 0.010119388811290264 + ], + [ + 0.31632599234580994, + 0.19195158779621124, + 0.010022439993917942 + ], + [ + 0.32331863045692444, + 0.18269214034080505, + 0.01055812742561102 + ], + [ + 0.32952290773391724, + 0.1785416305065155, + 0.011157866567373276 + ], + [ + 0.3387008607387543, + 0.17365682125091553, + 0.010438323952257633 + ], + [ + 0.350107342004776, + 0.1641722321510315, + 0.010549124330282211 + ], + [ + 0.354396790266037, + 0.15882770717144012, + 0.010191936045885086 + ], + [ + 0.35473379492759705, + 0.15399838984012604, + 0.009234881028532982 + ], + [ + 0.3565639555454254, + 0.14415675401687622, + 0.009479614906013012 + ], + [ + 0.35632866621017456, + 0.14360378682613373, + 0.009758555330336094 + ], + [ + 0.35122349858283997, + 0.15095612406730652, + 0.015085116028785706 + ], + [ + 0.3476252257823944, + 0.17153818905353546, + 0.04395374283194542 + ], + [ + 0.34514695405960083, + 0.1897701770067215, + 0.07048768550157547 + ], + [ + 0.34622395038604736, + 0.2061556875705719, + 0.09063411504030228 + ], + [ + 0.35579395294189453, + 0.21653231978416443, + 0.09376920759677887 + ], + [ + 0.36973264813423157, + 0.21690300107002258, + 0.0689903050661087 + ], + [ + 0.38367512822151184, + 0.21023516356945038, + 0.060586828738451004 + ], + [ + 0.38839811086654663, + 0.20567339658737183, + 0.04582572728395462 + ], + [ + 0.40292927622795105, + 0.20557250082492828, + 0.049451157450675964 + ], + [ + 0.4201008975505829, + 0.2121938019990921, + 0.05097990110516548 + ], + [ + 0.4356446862220764, + 0.2191794067621231, + 0.0591486357152462 + ], + [ + 0.4408819079399109, + 0.22028912603855133, + 0.048174746334552765 + ], + [ + 0.4359127879142761, + 0.22034499049186707, + 0.0401792898774147 + ], + [ + 0.41989269852638245, + 0.22357559204101562, + 0.0218467116355896 + ], + [ + 0.4084671139717102, + 0.21647503972053528, + 0.022876134142279625 + ], + [ + 0.4042225778102875, + 0.21566495299339294, + 0.022115541622042656 + ], + [ + 0.40026646852493286, + 0.21301878988742828, + 0.019554102793335915 + ], + [ + 0.39628371596336365, + 0.21367041766643524, + 0.021330920979380608 + ], + [ + 0.39883553981781006, + 0.21443191170692444, + 0.025894921272993088 + ], + [ + 0.4027915596961975, + 0.20587356388568878, + 0.026010951027274132 + ], + [ + 0.40814635157585144, + 0.19739964604377747, + 0.02679836004972458 + ], + [ + 0.40982550382614136, + 0.19597160816192627, + 0.024902814999222755 + ], + [ + 0.4097836911678314, + 0.1912170797586441, + 0.01824556104838848 + ], + [ + 0.4051092863082886, + 0.1871921718120575, + 0.014767148531973362 + ], + [ + 0.3955305814743042, + 0.1816154420375824, + 0.012559049762785435 + ], + [ + 0.3843551576137543, + 0.17487411201000214, + 0.01225883886218071 + ], + [ + 0.3759132921695709, + 0.16912025213241577, + 0.013259250670671463 + ], + [ + 0.37423455715179443, + 0.16777274012565613, + 0.012233204208314419 + ], + [ + 0.37293943762779236, + 0.1627415418624878, + 0.011892997659742832 + ], + [ + 0.371599018573761, + 0.15659475326538086, + 0.011615577153861523 + ], + [ + 0.3713987469673157, + 0.14658738672733307, + 0.01262942049652338 + ], + [ + 0.3719359338283539, + 0.1376427263021469, + 0.012211707420647144 + ], + [ + 0.3700532019138336, + 0.12918588519096375, + 0.011660591699182987 + ], + [ + 0.3684307932853699, + 0.12071943283081055, + 0.011640197597444057 + ], + [ + 0.3651093542575836, + 0.11352191865444183, + 0.010908713564276695 + ], + [ + 0.35861271619796753, + 0.10394667834043503, + 0.010597527958452702 + ], + [ + 0.3577835261821747, + 0.10255640000104904, + 0.011420901864767075 + ], + [ + 0.36628830432891846, + 0.1071258932352066, + 0.01838086172938347 + ], + [ + 0.38401147723197937, + 0.13356462121009827, + 0.03646582365036011 + ], + [ + 0.3952932357788086, + 0.1634756624698639, + 0.053212061524391174 + ], + [ + 0.3988974988460541, + 0.17933198809623718, + 0.05919553339481354 + ], + [ + 0.3943382203578949, + 0.18710178136825562, + 0.037107955664396286 + ], + [ + 0.3885557949542999, + 0.1873583197593689, + 0.03319010138511658 + ], + [ + 0.38648563623428345, + 0.1908392310142517, + 0.02983013726770878 + ], + [ + 0.3867186903953552, + 0.19667252898216248, + 0.03490551561117172 + ], + [ + 0.3909355700016022, + 0.20243225991725922, + 0.051436152309179306 + ], + [ + 0.3846539556980133, + 0.22403229773044586, + 0.07110078632831573 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.723234516103214, + 0.6886956578169624, + 0.05128475037485211, + 0.6433787876177725, + -0.6989079987043223, + 0.31239613472417327, + 0.2509891837518796, + -0.19294014681029947, + -0.948566565607488 + ], + [ + 0.7402012331980802, + 0.6680895643410214, + 0.07588457281072089, + 0.6337453192404119, + -0.7309142532208261, + 0.2532414357476092, + 0.22465307634864448, + -0.13935813021588017, + -0.9644222658305976 + ], + [ + 0.7382531801202499, + 0.6616889554860051, + 0.1309578872392852, + 0.6290650044336384, + -0.745466220574171, + 0.22035728755765682, + 0.2434326646924036, + -0.08029844438531164, + -0.9665881737275989 + ], + [ + 0.7383235697068172, + 0.663546453777394, + 0.12076593101875764, + 0.6343671044751115, + -0.7440310446767656, + 0.20975266700822592, + 0.22903424018090734, + -0.07825540388142838, + -0.9702676994459358 + ], + [ + 0.7277308812593258, + 0.6764753260184458, + 0.11308800886814892, + 0.6438020867003492, + -0.7306056691471241, + 0.22745159786284008, + 0.23648813420931103, + -0.09271725566646453, + -0.9672005339534706 + ], + [ + 0.7240247030160819, + 0.6814215980353169, + 0.1070179197773415, + 0.6446953354022174, + -0.7236808353483819, + 0.2462802733880458, + 0.24526751503836952, + -0.10931904811359855, + -0.9632721275872358 + ], + [ + 0.7208177528799495, + 0.6873799755743745, + 0.08905355867382511, + 0.6474309149811205, + -0.7135954888078826, + 0.2676092088844258, + 0.24749742919838394, + -0.1352414416235333, + -0.9594033432335847 + ], + [ + 0.7057871695598348, + 0.7032244565856425, + 0.08567283667852615, + 0.6574634120099305, + -0.6952470347963609, + 0.2904710355183944, + 0.26383012176962994, + -0.14868397447840848, + -0.9530407874694171 + ], + [ + 0.7006519424528538, + 0.7055711626803518, + 0.10609519277959623, + 0.6549522000788881, + -0.6949965930162206, + 0.2966771836654618, + 0.2830626629367906, + -0.13838016508785755, + -0.9490660982046458 + ], + [ + 0.6953910929977185, + 0.7120655440640083, + 0.09692207558790054, + 0.6620152230761837, + -0.68722406483263, + 0.2990968557680077, + 0.279583748087813, + -0.14382539995336513, + -0.9492877235766959 + ], + [ + 0.6871003354229979, + 0.7201483947742445, + 0.09632973873982488, + 0.6688147225274325, + -0.6787051345349324, + 0.303391178656323, + 0.28386615858914477, + -0.14403343313272216, + -0.9479843744217752 + ], + [ + 0.6639080808102016, + 0.7437719548809028, + 0.07764882077376084, + 0.6953970864923977, + -0.6522250651409214, + 0.30170408764185785, + 0.2750435462482257, + -0.14630701806325505, + -0.9502343416929525 + ], + [ + 0.6284223540337484, + 0.7762244763576672, + 0.05060540735877003, + 0.7328054658554745, + -0.6125819349669257, + 0.29620857881654594, + 0.26092430734414707, + -0.1490601732705354, + -0.9537817206161663 + ], + [ + 0.6034606540149472, + 0.7966386177482906, + 0.03467206033603605, + 0.7549624238328437, + -0.5848041940869515, + 0.29670826274094475, + 0.2566456266065925, + -0.15287565957471688, + -0.9543385432084912 + ], + [ + 0.5987128930262471, + 0.8002637151528731, + 0.03347921644637103, + 0.7584504054610941, + -0.5798758266145649, + 0.29748446709698506, + 0.2574798131505532, + -0.15271546063773747, + -0.9541394729818906 + ], + [ + 0.6232368303992859, + 0.7813349417687917, + 0.03303879545338359, + 0.7399439296512454, + -0.602840563484383, + 0.2984396689284187, + 0.25309846741164654, + -0.1615517371896396, + -0.9538564892083532 + ], + [ + 0.6447041250922132, + 0.7639510416706922, + 0.027118204574567123, + 0.7189966974759691, + -0.6180511848627582, + 0.3178938217524688, + 0.2596157547371378, + -0.18544955869455387, + -0.9477384243937044 + ], + [ + 0.6671356383006686, + 0.7441231433111922, + 0.03479637477999524, + 0.6947284225235949, + -0.6383505864008465, + 0.331452783635275, + 0.26885397346335893, + -0.19694993381660675, + -0.9428299234340186 + ], + [ + 0.709488146978667, + 0.7042119476443917, + 0.0266852410832161, + 0.6654423900081455, + -0.6819315861799244, + 0.30357163462744496, + 0.23197628085005598, + -0.19762298592275207, + -0.9524348589577931 + ], + [ + 0.7316934271399604, + 0.680884496982753, + 0.031953567073527284, + 0.651359479121838, + -0.7122425614379893, + 0.2616130016539306, + 0.20088692749481435, + -0.1706072549594392, + -0.964643772030327 + ], + [ + 0.7453893762829068, + 0.6664745160532732, + 0.014366529717870766, + 0.6507668861315652, + -0.7321571582391599, + 0.20111776538581635, + 0.14455842292722237, + -0.14056178389133026, + -0.9794617130189833 + ], + [ + 0.7649229946391622, + 0.6437910906123376, + 0.02063598605428127, + 0.6285229463379822, + -0.7530235012662037, + 0.19471649254084572, + 0.14089612556375566, + -0.13597293182455145, + -0.980642464720021 + ], + [ + 0.782675638794042, + 0.6209186337808822, + 0.04334621854350237, + 0.6023135766934605, + -0.7731033520077517, + 0.19882042763536448, + 0.1569624151479235, + -0.12950388927774018, + -0.9790768830346622 + ], + [ + 0.7981151100662829, + 0.6000594355999799, + 0.054230478804070954, + 0.580745530144661, + -0.7901395550738843, + 0.19599518546291084, + 0.16045840676288, + -0.1249326108551236, + -0.9791041530113334 + ], + [ + 0.8102663039188858, + 0.5824445609434934, + 0.06501423044972232, + 0.5622530068389142, + -0.8038494583398913, + 0.19415870989287018, + 0.16534833846830196, + -0.1207658136808806, + -0.9788133352237122 + ], + [ + 0.8047049680789925, + 0.5891796743478224, + 0.07291930940691455, + 0.5676197326554024, + -0.7995508421116321, + 0.19628115033998839, + 0.1739475594804275, + -0.11655797790787888, + -0.9778325441182807 + ], + [ + 0.7958960769860186, + 0.6022468761741429, + 0.062033336011793914, + 0.5821109137764553, + -0.7893739402667523, + 0.195027348056835, + 0.16642211001127735, + -0.11911121931299454, + -0.9788341017420501 + ], + [ + 0.8014452235055605, + 0.5948577080937495, + 0.061885869482248, + 0.5742098479722467, + -0.7942782402641617, + 0.19850724806554587, + 0.16723816613384554, + -0.12355721008633323, + -0.9781436559237453 + ], + [ + 0.8105987170750157, + 0.5815500170052167, + 0.06876988874188564, + 0.5594317335472611, + -0.8037294103966857, + 0.20262075501710808, + 0.1731064856573704, + -0.12577206599491347, + -0.9768395631006794 + ], + [ + 0.814736334848394, + 0.5756897213587748, + 0.06918127925719555, + 0.5539666096951812, + -0.8080702906771162, + 0.20035818093561344, + 0.17124748179355104, + -0.12491497126788889, + -0.9772771101036339 + ], + [ + 0.816221429691627, + 0.5735143762940668, + 0.06974122092553262, + 0.5531948618719821, + -0.8106416603499471, + 0.19192587971276698, + 0.16660739032406385, + -0.1180735308572945, + -0.9789283011540204 + ], + [ + 0.8304214750077334, + 0.5505529515708478, + 0.08539099110918297, + 0.5287186721112813, + -0.8270783727893504, + 0.19078241801854898, + 0.17566086532538833, + -0.11328200554699194, + -0.9779112677602133 + ], + [ + 0.8312635405992507, + 0.548578942819909, + 0.08978902808800751, + 0.5278536227789477, + -0.8296297999297866, + 0.1818926826114863, + 0.17427414894223006, + -0.10380529159466442, + -0.9792103872240164 + ], + [ + 0.8192380588258008, + 0.5684151098005934, + 0.0758502862335616, + 0.5548423400232418, + -0.819109716135698, + 0.14563396118223795, + 0.1449102504616812, + -0.07722393335278663, + -0.9864266234386911 + ], + [ + 0.8004897985875262, + 0.588125749520332, + 0.11543043406506331, + 0.5733786083545911, + -0.8075464897646496, + 0.13822314694053556, + 0.1745080337367132, + -0.04446087740857099, + -0.9836514507392371 + ], + [ + 0.7858357561223959, + 0.6025425291093244, + 0.13930062818982925, + 0.5913712327670023, + -0.798040119339998, + 0.1158103319200735, + 0.18094814023685946, + -0.008629515533359465, + -0.9834547788314829 + ], + [ + 0.7837040738480938, + 0.6014862171672225, + 0.1549911455269824, + 0.5914563162509098, + -0.7988619509967486, + 0.10953998912074087, + 0.1897033225876793, + 0.005823556261697192, + -0.9818241877198084 + ], + [ + 0.8201845209667734, + 0.5326565291190545, + 0.20874475694815953, + 0.5008911813688187, + -0.8448827459564346, + 0.1878328246395282, + 0.27641522388148865, + -0.049499167386496845, + -0.9597627083996283 + ], + [ + 0.8552216254183228, + 0.4439549939747262, + 0.2673947171163672, + 0.37476462847011643, + -0.8861328990572979, + 0.2726168711873197, + 0.3579768772763079, + -0.13293776187828993, + -0.9242186466428242 + ], + [ + 0.8756328452055001, + 0.3610026848781731, + 0.32084915756172894, + 0.257908653146391, + -0.9111673450182939, + 0.3213365774457182, + 0.40835064225434403, + -0.19862308748749205, + -0.8909537710158708 + ], + [ + 0.9247065961541807, + 0.2550828544924481, + 0.2825782163807633, + 0.15651497980508827, + -0.9314091810887669, + 0.3286031017506766, + 0.3470169623023661, + -0.259633731875381, + -0.9012045012908564 + ], + [ + 0.9455948570128054, + 0.16333245565486731, + 0.28137674978697713, + 0.0521348131664574, + -0.929746291441126, + 0.3644911450331429, + 0.32114222339491727, + -0.32999142789051933, + -0.8876786185730428 + ], + [ + 0.9428449911814126, + 0.12241162898513783, + 0.30993340525559177, + -0.016742210943758107, + -0.9115079876044061, + 0.410941464087138, + 0.33281078855234936, + -0.39264307153262085, + -0.8573612992202253 + ], + [ + 0.9412893816110585, + 0.08859585294692372, + 0.3257684375547742, + -0.059388803725002506, + -0.9064492225729885, + 0.41811813747903637, + 0.33233607998287645, + -0.4129171608657508, + -0.8479694264560388 + ], + [ + 0.9481387075835817, + 0.025254735668215837, + 0.316851999375204, + -0.1123577937150399, + -0.9058537157581463, + 0.40841739904006064, + 0.29733603443448337, + -0.4228371364644881, + -0.8560374049381766 + ], + [ + 0.9548717321840855, + -0.042493720781252506, + 0.2939630227935627, + -0.1554351165456131, + -0.9148625657672906, + 0.3726478368408182, + 0.2531005721451759, + -0.4015230621668628, + -0.8801814193266806 + ], + [ + 0.9530541311204598, + -0.09950231462946946, + 0.28598446205625055, + -0.20273818301442859, + -0.9112114538709409, + 0.35859575496987356, + 0.22491120981897056, + -0.3997411358839413, + -0.8886067589096894 + ], + [ + 0.9424343081936364, + -0.13539657286418874, + 0.3057537289980521, + -0.23927378836767713, + -0.9117868555922694, + 0.3337555754880237, + 0.2335928700533514, + -0.3877015579357327, + -0.8916960653913661 + ], + [ + 0.9329500839545946, + -0.15730050500939816, + 0.32382200662231686, + -0.2610259830399731, + -0.91503143150202, + 0.30754335554744167, + 0.24793058913157764, + -0.3714485569862303, + -0.8947381697936645 + ], + [ + 0.9369662304719806, + -0.17376214960428585, + 0.30315177439695806, + -0.259824775357963, + -0.9265690362138045, + 0.27195754676052775, + 0.23363511950327687, + -0.3335813791186768, + -0.9133116086199552 + ], + [ + 0.9470982809301646, + -0.16772700212210986, + 0.2736283958551397, + -0.23809149874036697, + -0.9388934641255121, + 0.24857896381222938, + 0.21521450807669334, + -0.30057730416903666, + -0.9291587591643214 + ], + [ + 0.9493990275320292, + -0.15912103128930816, + 0.2707803241054731, + -0.23055816168790505, + -0.9385483044651585, + 0.2568462852849361, + 0.21327076827435087, + -0.30628022722174536, + -0.9277435000110025 + ], + [ + 0.9484679289914378, + -0.16312013103724443, + 0.2716623097249317, + -0.23341668865510462, + -0.9394673102194886, + 0.2508342530162992, + 0.21430174318464718, + -0.3013187612468747, + -0.9291295749187355 + ], + [ + 0.9446908598434104, + -0.17183883082287893, + 0.2793395703256949, + -0.2450343863753432, + -0.935943404519258, + 0.2529191432663007, + 0.21798469859597225, + -0.30737820312820907, + -0.9262836020462073 + ], + [ + 0.941245076149992, + -0.17260905684248445, + 0.29028231106862795, + -0.2543759078937944, + -0.9277233886164601, + 0.2731706640494187, + 0.22214995860139958, + -0.33096136890873007, + -0.9171226571094271 + ], + [ + 0.9361871786949922, + -0.18964912505423887, + 0.2959506307026092, + -0.2774169007245019, + -0.9156920390877248, + 0.29077130660327594, + 0.21585511260918133, + -0.35431807591135694, + -0.9098710191246622 + ], + [ + 0.929415142400552, + -0.20048627539783417, + 0.30982696211541216, + -0.29629594431242956, + -0.9058802428419629, + 0.30263790081976133, + 0.21999137815052416, + -0.37307671999964004, + -0.9013420851894929 + ], + [ + 0.9206859898663832, + -0.2229668614418501, + 0.320348383424248, + -0.3206753296707435, + -0.9000118294434885, + 0.2952050809223057, + 0.22249638424998763, + -0.37451900560659923, + -0.9001282538811488 + ], + [ + 0.9199861341061265, + -0.23933511060060236, + 0.31039364988069734, + -0.3282263758125575, + -0.9032681932628581, + 0.27635849409888774, + 0.21422642057742852, + -0.3561253653889998, + -0.909550309138056 + ], + [ + 0.9233512320600412, + -0.24788428716054153, + 0.29321644297705163, + -0.3252381475106955, + -0.9108324363822365, + 0.2541739959905625, + 0.2040653073332541, + -0.3300570450890415, + -0.9216396786868909 + ], + [ + 0.9261415148321303, + -0.24961022149353573, + 0.28276603726472427, + -0.32226952453665036, + -0.9132039627073429, + 0.24940103458191054, + 0.1959700182664907, + -0.32210752835280654, + -0.9261978687726924 + ], + [ + 0.9279626855845975, + -0.2537821445661719, + 0.2729100167857825, + -0.32165655693062667, + -0.9152456785409122, + 0.2426157606086623, + 0.18820816546089603, + -0.31292166913075836, + -0.9309445286601475 + ], + [ + 0.9257564545007501, + -0.26272383696454105, + 0.2719396485267094, + -0.32946496790311297, + -0.9133736701736261, + 0.23916808641238255, + 0.18554735749883838, + -0.3110059872802924, + -0.9321198710471787 + ], + [ + 0.9221324829204284, + -0.2681284601324115, + 0.27888853115541856, + -0.33641080196633116, + -0.9117204860346433, + 0.23578279764461807, + 0.1910483087163426, + -0.3112440910471632, + -0.9309283858196877 + ], + [ + 0.9236277724994046, + -0.2736048849869786, + 0.2684252312638478, + -0.33608697182822084, + -0.9148097673290249, + 0.22398356405493677, + 0.18427502607549578, + -0.2970916634822955, + -0.9368987449314882 + ], + [ + 0.9310687217574735, + -0.2724763001524121, + 0.24262667046340392, + -0.32431516221979895, + -0.9227319513266763, + 0.20829167423401682, + 0.16712483633275477, + -0.27262137087197863, + -0.9474950539314878 + ], + [ + 0.9324006430500235, + -0.27313072921503273, + 0.2367037084592624, + -0.3220337122099663, + -0.9251432159604869, + 0.2010082539662409, + 0.1640832990897356, + -0.2636467991854873, + -0.9505614321226566 + ], + [ + 0.9331274287891903, + -0.2763928500299735, + 0.22995693965084726, + -0.3221524788475971, + -0.9267268726026573, + 0.19337808554344235, + 0.15965895531921562, + -0.25452759388405616, + -0.9537949055944731 + ], + [ + 0.9312996584249256, + -0.2894959985476751, + 0.22107241583359477, + -0.3308397709943301, + -0.9261955068668428, + 0.1808505708812988, + 0.15240076163207505, + -0.24156562231525613, + -0.9583423490430791 + ], + [ + 0.9311733259632914, + -0.28830713107735423, + 0.22314845996422905, + -0.32956574244872966, + -0.927379646539933, + 0.17706894868295353, + 0.15589309932989154, + -0.238423969754331, + -0.9585673436060225 + ], + [ + 0.9337572941154387, + -0.26747239174817883, + 0.23781470799494867, + -0.3111394501962722, + -0.93503218391434, + 0.17002075630916744, + 0.1768885474466206, + -0.23275165884884394, + -0.9563143348739137 + ], + [ + 0.9420833500219317, + -0.18943526177838865, + 0.27675484314896376, + -0.23845184924205443, + -0.958618386735089, + 0.15553618294936858, + 0.2358382437275573, + -0.21252075241813037, + -0.948269609650722 + ], + [ + 0.9458597066212405, + -0.12077278923931906, + 0.30126956163830354, + -0.17226585945961714, + -0.973470449277381, + 0.15059800147522945, + 0.2750888748296084, + -0.19434304145775017, + -0.9415715018955974 + ], + [ + 0.9487127391353435, + -0.08926842044622198, + 0.3032742780279108, + -0.14256489604874945, + -0.9770303547502265, + 0.15838856117553496, + 0.28216907877533864, + -0.1935015116418563, + -0.9396476871548153 + ], + [ + 0.9685359560497822, + -0.0680655103897692, + 0.23938502069702472, + -0.10725342518577625, + -0.9821243868648628, + 0.15468804579293294, + 0.22457694588860594, + -0.17549579772945462, + -0.9585230411182867 + ], + [ + 0.9785240333098599, + -0.04706167401778501, + 0.2006886022514677, + -0.07756206986863644, + -0.9861000341553593, + 0.14693824538387532, + 0.19098387772976236, + -0.15934842791017093, + -0.9685727835169953 + ], + [ + 0.9886407859033736, + -0.008375230962086666, + 0.15006415946085028, + -0.03138218315277856, + -0.9879418433327785, + 0.15161158521959067, + 0.14698488027319428, + -0.1545987377004206, + -0.9769824334513447 + ], + [ + 0.989304883616116, + 0.04388438833849102, + 0.13910430515788916, + 0.01791866814290514, + -0.983008930457668, + 0.1826810443709351, + 0.14475762012856894, + -0.1782346854588849, + -0.973281885331318 + ], + [ + 0.9863040894229054, + 0.06566255150852879, + 0.15130324688202554, + 0.043209050194076816, + -0.9881660468369139, + 0.14717622722448004, + 0.15917669794595915, + -0.13862284518828716, + -0.9774694295081177 + ], + [ + 0.9834395001559351, + 0.09259942533474762, + 0.15579504472453096, + 0.07614917236807726, + -0.991181907538614, + 0.10844228748864929, + 0.16446292311855873, + -0.09478276528878288, + -0.9818188093143817 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006422.json b/json/chunk-0006/episode_0006422.json new file mode 100644 index 0000000000000000000000000000000000000000..c34d02ffd17724112f18ca453709035a83eb444e --- /dev/null +++ b/json/chunk-0006/episode_0006422.json @@ -0,0 +1,922 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 14, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut pepper in pot or pan." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006422.mp4", + "start": 0, + "end": 14, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.48352110385894775, + -0.06559152901172638, + 0.046951454132795334, + -0.27795952558517456, + -0.39780256152153015, + 0.9285805821418762, + 0.0, + 1.0001531839370728 + ], + [ + 0.4792558252811432, + -0.06486258655786514, + 0.030092021450400352, + -0.2417418658733368, + -0.3797587454319, + 0.9168190956115723, + 0.0, + 1.0001531839370728 + ], + [ + 0.4803481996059418, + -0.06520120799541473, + 0.03054012358188629, + -0.24922068417072296, + -0.38291341066360474, + 0.9181668758392334, + 0.0, + 1.0001531839370728 + ], + [ + 0.48216888308525085, + -0.06788686662912369, + 0.030316678807139397, + -0.27052509784698486, + -0.376219242811203, + 0.9230272769927979, + 0.0, + 1.0001531839370728 + ], + [ + 0.4832954704761505, + -0.06816185265779495, + 0.0284542515873909, + -0.28087547421455383, + -0.37031248211860657, + 0.9268603324890137, + 0.0, + 0.8158720135688782 + ], + [ + 0.4854026138782501, + -0.06691497564315796, + 0.02603752911090851, + -0.29895392060279846, + -0.3596075773239136, + 0.9353907704353333, + 0.0, + 0.6179407835006714 + ], + [ + 0.48649832606315613, + -0.06487882137298584, + 0.026269542053341866, + -0.29833000898361206, + -0.3561837375164032, + 0.935252845287323, + 0.0, + 0.6169373393058777 + ], + [ + 0.4884029030799866, + -0.058248527348041534, + 0.030829889699816704, + -0.24943386018276215, + -0.3853806257247925, + 0.9222590923309326, + 0.0, + 0.6169373393058777 + ], + [ + 0.4930621385574341, + -0.05030016973614693, + 0.047041602432727814, + -0.20780104398727417, + -0.4325343370437622, + 0.9218549132347107, + 0.0, + 0.6169373393058777 + ], + [ + 0.4887044429779053, + -0.043147437274456024, + 0.049829352647066116, + -0.15008659660816193, + -0.4544989764690399, + 0.911850094795227, + 0.0, + 0.6169373393058777 + ], + [ + 0.4712724983692169, + -0.03595256060361862, + 0.05266822502017021, + -0.09647220373153687, + -0.46348994970321655, + 0.8772596120834351, + 0.0, + 0.6169373393058777 + ], + [ + 0.45512330532073975, + -0.0286676287651062, + 0.07001791149377823, + -0.07389488071203232, + -0.47431981563568115, + 0.8427408337593079, + 0.0, + 0.6169373393058777 + ], + [ + 0.4409780204296112, + -0.018031857907772064, + 0.07653743028640747, + -0.035525716841220856, + -0.46131402254104614, + 0.8165079355239868, + 0.0, + 0.6169373393058777 + ], + [ + 0.43063026666641235, + -0.018851669505238533, + 0.0789884626865387, + -0.040786437690258026, + -0.4313982129096985, + 0.8100982308387756, + 0.0, + 0.6169373393058777 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.8158720135688782 + ], + [ + 0.6179407835006714 + ], + [ + 0.6169373393058777 + ], + [ + 0.6169373393058777 + ], + [ + 0.6169373393058777 + ], + [ + 0.6169373393058777 + ], + [ + 0.6169373393058777 + ], + [ + 0.6169373393058777 + ], + [ + 0.6169373393058777 + ], + [ + 0.6169373393058777 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.48352110385894775, + -0.06559152901172638, + 0.046951454132795334 + ], + [ + 0.4792558252811432, + -0.06486258655786514, + 0.030092021450400352 + ], + [ + 0.4803481996059418, + -0.06520120799541473, + 0.03054012358188629 + ], + [ + 0.48216888308525085, + -0.06788686662912369, + 0.030316678807139397 + ], + [ + 0.4832954704761505, + -0.06816185265779495, + 0.0284542515873909 + ], + [ + 0.4854026138782501, + -0.06691497564315796, + 0.02603752911090851 + ], + [ + 0.48649832606315613, + -0.06487882137298584, + 0.026269542053341866 + ], + [ + 0.4884029030799866, + -0.058248527348041534, + 0.030829889699816704 + ], + [ + 0.4930621385574341, + -0.05030016973614693, + 0.047041602432727814 + ], + [ + 0.4887044429779053, + -0.043147437274456024, + 0.049829352647066116 + ], + [ + 0.4712724983692169, + -0.03595256060361862, + 0.05266822502017021 + ], + [ + 0.45512330532073975, + -0.0286676287651062, + 0.07001791149377823 + ], + [ + 0.4409780204296112, + -0.018031857907772064, + 0.07653743028640747 + ], + [ + 0.43063026666641235, + -0.018851669505238533, + 0.0789884626865387 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.5522002420833909, + 0.7063651321252284, + 0.44285798260927073, + 0.7382419819488548, + -0.6611017766184116, + 0.13395229389676994, + 0.38739342886950384, + 0.2529678656859176, + -0.88652895621014 + ], + [ + 0.5650055290523694, + 0.7166062005533882, + 0.4089551386994537, + 0.7371247660754354, + -0.6610909257304466, + 0.140020952557451, + 0.37069641403510617, + 0.22233834857104268, + -0.9017482061951745 + ], + [ + 0.5632985642651471, + 0.7139808533220112, + 0.4158438031116933, + 0.7369528348390556, + -0.6617311216414449, + 0.13788561155477744, + 0.3736244728594523, + 0.22878650253178853, + -0.8989224046266555 + ], + [ + 0.5612066752978838, + 0.7091843030255511, + 0.42673726336383955, + 0.7416598492637139, + -0.65975906444074, + 0.121072890765872, + 0.36740677129201205, + 0.24854697992621613, + -0.8962347143345522 + ], + [ + 0.5596528533335148, + 0.7081731648127152, + 0.4304409975766696, + 0.7455281269752163, + -0.6570514626978705, + 0.11167447002522539, + 0.3619067499294278, + 0.25840693490255257, + -0.8956837390227573 + ], + [ + 0.5555404814874301, + 0.7076198150528761, + 0.43663368030105953, + 0.7533500379607121, + -0.6505949697033482, + 0.09586399585502937, + 0.35190693902409476, + 0.2756816692151166, + -0.8945172572541343 + ], + [ + 0.556356354543498, + 0.7083618977979805, + 0.4343858060608254, + 0.7542386112786644, + -0.6498741192270845, + 0.09374298061856692, + 0.34870004877473343, + 0.2754760441614925, + -0.8958354899632153 + ], + [ + 0.5597195868815268, + 0.7162532065180449, + 0.4167677149369805, + 0.7385148934886152, + -0.6592835799481724, + 0.14121229870737706, + 0.37591187285941463, + 0.2287498751110938, + -0.8979775935289179 + ], + [ + 0.5486871532792114, + 0.7273209727160502, + 0.4122458131670148, + 0.7233507663253863, + -0.6602420257900966, + 0.20209932270313394, + 0.4191730867825739, + 0.1873090228151529, + -0.8883745005847482 + ], + [ + 0.5501256384189138, + 0.7415576190544924, + 0.3839974994403152, + 0.7103731853881465, + -0.6573004755698243, + 0.2516466218672147, + 0.43901220875470043, + 0.13434426834783525, + -0.8883804917524947 + ], + [ + 0.5718173721459485, + 0.7378856463405952, + 0.35853823483224806, + 0.6878597280217902, + -0.6694035879018427, + 0.28062043950847343, + 0.4470725751797921, + 0.0861603704069465, + -0.8903384205421258 + ], + [ + 0.5919594680641624, + 0.7219949740206517, + 0.3582000078979791, + 0.6640621477862239, + -0.6887740879781172, + 0.2908809371675295, + 0.45673345842705826, + 0.06567734174607848, + -0.8871758758749178 + ], + [ + 0.613190097768789, + 0.7174729280518694, + 0.3305003805005074, + 0.6525806456056419, + -0.6958599068360317, + 0.299862453533404, + 0.4451251565337851, + 0.031805464480594486, + -0.8949033508988258 + ], + [ + 0.6262633247246062, + 0.7119979156087701, + 0.31757395402275856, + 0.6579909443138288, + -0.701204001318242, + 0.2745193358149526, + 0.41814132216976396, + 0.037039393948248525, + -0.9076265300166518 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.004265278577804565, + 0.0007289424538612366, + -0.01685943268239498, + 0.03621765971183777, + 0.018043816089630127, + -0.011761486530303955, + 1.0 + ], + [ + 0.001092374324798584, + -0.00033862143754959106, + 0.000448102131485939, + -0.007478818297386169, + -0.003154665231704712, + 0.0013477802276611328, + 1.0 + ], + [ + 0.001820683479309082, + -0.002685658633708954, + -0.00022344477474689484, + -0.021304413676261902, + 0.006694167852401733, + 0.004860401153564453, + 1.0 + ], + [ + 0.0011265873908996582, + -0.00027498602867126465, + -0.001862427219748497, + -0.01035037636756897, + 0.0059067606925964355, + 0.0038330554962158203, + 0.0 + ], + [ + 0.0021071434020996094, + 0.0012468770146369934, + -0.0024167224764823914, + -0.01807844638824463, + 0.010704904794692993, + 0.00853043794631958, + 0.0 + ], + [ + 0.0010957121849060059, + 0.002036154270172119, + 0.00023201294243335724, + 0.0006239116191864014, + 0.003423839807510376, + -0.0001379251480102539, + 0.0 + ], + [ + 0.0019045770168304443, + 0.006630294024944305, + 0.004560347646474838, + 0.048896148800849915, + -0.029196888208389282, + -0.01299375295639038, + 0.0 + ], + [ + 0.00465923547744751, + 0.007948357611894608, + 0.01621171273291111, + 0.041632816195487976, + -0.04715371131896973, + -0.00040417909622192383, + 0.0 + ], + [ + -0.004357695579528809, + 0.007152732461690903, + 0.0027877502143383026, + 0.057714447379112244, + -0.02196463942527771, + -0.010004818439483643, + 0.0 + ], + [ + -0.017431944608688354, + 0.007194876670837402, + 0.0028388723731040955, + 0.05361439287662506, + -0.008990973234176636, + -0.03459048271179199, + 0.0 + ], + [ + -0.016149193048477173, + 0.007284931838512421, + 0.017349686473608017, + 0.022577323019504547, + -0.0108298659324646, + -0.0345187783241272, + 0.0 + ], + [ + -0.01414528489112854, + 0.010635770857334137, + 0.006519518792629242, + 0.03836916387081146, + 0.01300579309463501, + -0.026232898235321045, + 0.0 + ], + [ + -0.010347753763198853, + -0.0008198115974664688, + 0.0024510324001312256, + -0.00526072084903717, + 0.029915809631347656, + -0.006409704685211182, + 0.0 + ], + [ + -0.011279493570327759, + 0.009865312837064266, + -0.017204295843839645, + -0.007728688418865204, + 0.024267643690109253, + 0.0012332797050476074, + 0.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.8158720135688782 + ], + [ + 0.6179407835006714 + ], + [ + 0.6169373393058777 + ], + [ + 0.6169373393058777 + ], + [ + 0.6169373393058777 + ], + [ + 0.6169373393058777 + ], + [ + 0.6169373393058777 + ], + [ + 0.6169373393058777 + ], + [ + 0.6169373393058777 + ], + [ + 0.6169373393058777 + ], + [ + 0.6169373393058777 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.4792558252811432, + -0.06486258655786514, + 0.030092021450400352 + ], + [ + 0.4803481996059418, + -0.06520120799541473, + 0.03054012358188629 + ], + [ + 0.48216888308525085, + -0.06788686662912369, + 0.030316678807139397 + ], + [ + 0.4832954704761505, + -0.06816185265779495, + 0.0284542515873909 + ], + [ + 0.4854026138782501, + -0.06691497564315796, + 0.02603752911090851 + ], + [ + 0.48649832606315613, + -0.06487882137298584, + 0.026269542053341866 + ], + [ + 0.4884029030799866, + -0.058248527348041534, + 0.030829889699816704 + ], + [ + 0.4930621385574341, + -0.05030016973614693, + 0.047041602432727814 + ], + [ + 0.4887044429779053, + -0.043147437274456024, + 0.049829352647066116 + ], + [ + 0.4712724983692169, + -0.03595256060361862, + 0.05266822502017021 + ], + [ + 0.45512330532073975, + -0.0286676287651062, + 0.07001791149377823 + ], + [ + 0.4409780204296112, + -0.018031857907772064, + 0.07653743028640747 + ], + [ + 0.43063026666641235, + -0.018851669505238533, + 0.0789884626865387 + ], + [ + 0.4193507730960846, + -0.008986356668174267, + 0.06178416684269905 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.5650055290523694, + 0.7166062005533882, + 0.4089551386994537, + 0.7371247660754354, + -0.6610909257304466, + 0.140020952557451, + 0.37069641403510617, + 0.22233834857104268, + -0.9017482061951745 + ], + [ + 0.5632985642651471, + 0.7139808533220112, + 0.4158438031116933, + 0.7369528348390556, + -0.6617311216414449, + 0.13788561155477744, + 0.3736244728594523, + 0.22878650253178853, + -0.8989224046266555 + ], + [ + 0.5612066752978838, + 0.7091843030255511, + 0.42673726336383955, + 0.7416598492637139, + -0.65975906444074, + 0.121072890765872, + 0.36740677129201205, + 0.24854697992621613, + -0.8962347143345522 + ], + [ + 0.5596528533335148, + 0.7081731648127152, + 0.4304409975766696, + 0.7455281269752163, + -0.6570514626978705, + 0.11167447002522539, + 0.3619067499294278, + 0.25840693490255257, + -0.8956837390227573 + ], + [ + 0.5555404814874301, + 0.7076198150528761, + 0.43663368030105953, + 0.7533500379607121, + -0.6505949697033482, + 0.09586399585502937, + 0.35190693902409476, + 0.2756816692151166, + -0.8945172572541343 + ], + [ + 0.556356354543498, + 0.7083618977979805, + 0.4343858060608254, + 0.7542386112786644, + -0.6498741192270845, + 0.09374298061856692, + 0.34870004877473343, + 0.2754760441614925, + -0.8958354899632153 + ], + [ + 0.5597195868815268, + 0.7162532065180449, + 0.4167677149369805, + 0.7385148934886152, + -0.6592835799481724, + 0.14121229870737706, + 0.37591187285941463, + 0.2287498751110938, + -0.8979775935289179 + ], + [ + 0.5486871532792114, + 0.7273209727160502, + 0.4122458131670148, + 0.7233507663253863, + -0.6602420257900966, + 0.20209932270313394, + 0.4191730867825739, + 0.1873090228151529, + -0.8883745005847482 + ], + [ + 0.5501256384189138, + 0.7415576190544924, + 0.3839974994403152, + 0.7103731853881465, + -0.6573004755698243, + 0.2516466218672147, + 0.43901220875470043, + 0.13434426834783525, + -0.8883804917524947 + ], + [ + 0.5718173721459485, + 0.7378856463405952, + 0.35853823483224806, + 0.6878597280217902, + -0.6694035879018427, + 0.28062043950847343, + 0.4470725751797921, + 0.0861603704069465, + -0.8903384205421258 + ], + [ + 0.5919594680641624, + 0.7219949740206517, + 0.3582000078979791, + 0.6640621477862239, + -0.6887740879781172, + 0.2908809371675295, + 0.45673345842705826, + 0.06567734174607848, + -0.8871758758749178 + ], + [ + 0.613190097768789, + 0.7174729280518694, + 0.3305003805005074, + 0.6525806456056419, + -0.6958599068360317, + 0.299862453533404, + 0.4451251565337851, + 0.031805464480594486, + -0.8949033508988258 + ], + [ + 0.6262633247246062, + 0.7119979156087701, + 0.31757395402275856, + 0.6579909443138288, + -0.701204001318242, + 0.2745193358149526, + 0.41814132216976396, + 0.037039393948248525, + -0.9076265300166518 + ], + [ + 0.6322532735379803, + 0.7111292006871157, + 0.3074915576574613, + 0.6659269820584937, + -0.7016495956328208, + 0.25343460599287915, + 0.3959760758770342, + 0.044532065732492354, + -0.9171803761826909 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006424.json b/json/chunk-0006/episode_0006424.json new file mode 100644 index 0000000000000000000000000000000000000000..a01f5af5dc94c5c0e05e616c8de52da5d63b83e3 --- /dev/null +++ b/json/chunk-0006/episode_0006424.json @@ -0,0 +1,2182 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 35, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPick up the metal bowl and place it behind the orange towel ." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006424.mp4", + "start": 0, + "end": 35, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3354751467704773, + -0.031650934368371964, + 0.09590446949005127, + -0.007161678746342659, + -0.09854046255350113, + -0.12633298337459564, + 0.0, + 1.0008161067962646 + ], + [ + 0.3318122327327728, + -0.031536538153886795, + 0.08335535228252411, + -0.010252502746880054, + -0.06022157892584801, + -0.12084884196519852, + 0.0, + 1.0008161067962646 + ], + [ + 0.3108113706111908, + -0.0453774593770504, + 0.061544019728899, + -0.028898561373353004, + -0.012507328763604164, + -0.12981905043125153, + 0.0, + 1.0008161067962646 + ], + [ + 0.2960027754306793, + -0.05968496948480606, + 0.04746308922767639, + -0.014543604105710983, + -0.014660872519016266, + -0.13901539146900177, + 0.0, + 1.0008161067962646 + ], + [ + 0.27748754620552063, + -0.07875166088342667, + 0.038435500115156174, + 0.0273544080555439, + -0.04416241869330406, + -0.16735044121742249, + 0.0, + 1.0008161067962646 + ], + [ + 0.2710902690887451, + -0.08407401293516159, + 0.030229367315769196, + 0.06612046808004379, + -0.07317756116390228, + -0.14121493697166443, + 0.0, + 1.0008161067962646 + ], + [ + 0.27104657888412476, + -0.0889042317867279, + 0.029758699238300323, + 0.06112553924322128, + -0.08592462539672852, + -0.1406514197587967, + 0.0, + 1.0008161067962646 + ], + [ + 0.2705658972263336, + -0.08907056599855423, + 0.029278161004185677, + 0.060642946511507034, + -0.0817183330655098, + -0.15068188309669495, + 0.0, + 1.0008161067962646 + ], + [ + 0.27033981680870056, + -0.08131817728281021, + 0.029052989557385445, + 0.05863398313522339, + -0.06379513442516327, + -0.1391352117061615, + 0.0, + 1.0001531839370728 + ], + [ + 0.2722494602203369, + -0.07096362113952637, + 0.04091256111860275, + 0.04352699965238571, + -0.07920573651790619, + -0.11291318386793137, + 0.0, + 1.0008161067962646 + ], + [ + 0.2721361517906189, + -0.0605483278632164, + 0.051681842654943466, + 0.04275060072541237, + -0.0851248949766159, + -0.1034141331911087, + 0.0, + 1.0008161067962646 + ], + [ + 0.27132102847099304, + -0.0613156259059906, + 0.054906636476516724, + 0.03268754854798317, + -0.08689069002866745, + -0.12064053118228912, + 0.0, + 1.0008161067962646 + ], + [ + 0.27025407552719116, + -0.06455030292272568, + 0.05394633859395981, + 0.016361085698008537, + -0.08061046153306961, + -0.14472781121730804, + 0.0, + 1.0008161067962646 + ], + [ + 0.27047842741012573, + -0.07965490221977234, + 0.05401523411273956, + -0.022297397255897522, + -0.1052263155579567, + -0.23806411027908325, + 0.0, + 1.0001531839370728 + ], + [ + 0.26373058557510376, + -0.08847647160291672, + 0.04503751918673515, + -0.023037351667881012, + -0.0974530279636383, + -0.2701803147792816, + 0.0, + 1.0001531839370728 + ], + [ + 0.2572993338108063, + -0.09943623095750809, + 0.025255991145968437, + -0.0035369801335036755, + -0.04589680954813957, + -0.31486254930496216, + 0.0, + 1.0001531839370728 + ], + [ + 0.25505971908569336, + -0.09827213734388351, + 0.01267163548618555, + 0.008031975477933884, + -0.011213390156626701, + -0.3201407790184021, + 0.0, + 0.9484345316886902 + ], + [ + 0.2561315894126892, + -0.09642887860536575, + 0.012013349682092667, + 0.018562527373433113, + -0.014898299239575863, + -0.3235262632369995, + 0.0, + 0.6541022062301636 + ], + [ + 0.2523033022880554, + -0.09110157936811447, + 0.012450726702809334, + 0.02157781273126602, + 0.01914592832326889, + -0.33156388998031616, + 0.0, + 0.3494465947151184 + ], + [ + 0.2599024772644043, + -0.08851245045661926, + 0.030804786831140518, + 0.007870701141655445, + -0.018501540645956993, + -0.3246706426143646, + 0.0, + 0.17844799160957336 + ], + [ + 0.27244070172309875, + -0.08304187655448914, + 0.06506013125181198, + 0.00013085638056509197, + -0.09820616245269775, + -0.32035067677497864, + 0.0, + 0.08501782268285751 + ], + [ + 0.2937685251235962, + -0.05856870859861374, + 0.1039305254817009, + 0.007907591760158539, + -0.2008371353149414, + -0.25311776995658875, + 0.0, + 0.07722585648298264 + ], + [ + 0.3140769600868225, + -0.01839207112789154, + 0.12418746948242188, + 0.0034154555760324, + -0.24498048424720764, + -0.15122735500335693, + 0.0, + 0.07656946033239365 + ], + [ + 0.3310716450214386, + 0.024834955111145973, + 0.10561094433069229, + 0.016889644786715508, + -0.19439280033111572, + -0.06031998619437218, + 0.0, + 0.07656946033239365 + ], + [ + 0.34048229455947876, + 0.04456816613674164, + 0.08825518190860748, + 0.01840648055076599, + -0.16007199883460999, + -0.00689221965149045, + 0.0, + 0.07656946033239365 + ], + [ + 0.3547193109989166, + 0.060231465846300125, + 0.07063984870910645, + 0.04628703370690346, + -0.13304492831230164, + 0.01129207108169794, + 0.0, + 0.07656946033239365 + ], + [ + 0.3670201599597931, + 0.06862252205610275, + 0.05880916118621826, + 0.07162438333034515, + -0.1351260542869568, + 0.024278750643134117, + 0.0, + 0.07656946033239365 + ], + [ + 0.3764539361000061, + 0.07919158786535263, + 0.04767465591430664, + 0.07838963717222214, + -0.11841946840286255, + 0.035011276602745056, + 0.0, + 0.07656946033239365 + ], + [ + 0.3757380545139313, + 0.08654569834470749, + 0.043377865105867386, + 0.0636793002486229, + -0.09922074526548386, + 0.045693811029195786, + 0.0, + 0.07656946033239365 + ], + [ + 0.3761977553367615, + 0.08949733525514603, + 0.036879975348711014, + 0.04414743930101395, + -0.07361260056495667, + 0.04860526695847511, + 0.0, + 0.10355531424283981 + ], + [ + 0.37333592772483826, + 0.08892843872308731, + 0.035048387944698334, + 0.019462279975414276, + -0.0621124729514122, + 0.06602584570646286, + 0.0, + 0.2854207158088684 + ], + [ + 0.3702321946620941, + 0.08362248539924622, + 0.041877828538417816, + -0.004236466716974974, + -0.09551402926445007, + 0.07357069104909897, + 0.0, + 0.5719637274742126 + ], + [ + 0.379587858915329, + 0.06679201126098633, + 0.09206662327051163, + 0.000951777386944741, + -0.23200266063213348, + 0.060298092663288116, + 0.0, + 0.875784695148468 + ], + [ + 0.3696557879447937, + 0.03476261720061302, + 0.12904052436351776, + 0.00189132709056139, + -0.2819582223892212, + 0.00865453202277422, + 0.0, + 1.0131081342697144 + ], + [ + 0.3502633273601532, + 0.02154742181301117, + 0.13290737569332123, + -0.029648100957274437, + -0.26095011830329895, + 0.013876666314899921, + 0.0, + 1.0086473226547241 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9484345316886902 + ], + [ + 0.6541022062301636 + ], + [ + 0.3494465947151184 + ], + [ + 0.17844799160957336 + ], + [ + 0.08501782268285751 + ], + [ + 0.07722585648298264 + ], + [ + 0.07656946033239365 + ], + [ + 0.07656946033239365 + ], + [ + 0.07656946033239365 + ], + [ + 0.07656946033239365 + ], + [ + 0.07656946033239365 + ], + [ + 0.07656946033239365 + ], + [ + 0.07656946033239365 + ], + [ + 0.10355531424283981 + ], + [ + 0.2854207158088684 + ], + [ + 0.5719637274742126 + ], + [ + 0.875784695148468 + ], + [ + 1.0131081342697144 + ], + [ + 1.0086473226547241 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3354751467704773, + -0.031650934368371964, + 0.09590446949005127 + ], + [ + 0.3318122327327728, + -0.031536538153886795, + 0.08335535228252411 + ], + [ + 0.3108113706111908, + -0.0453774593770504, + 0.061544019728899 + ], + [ + 0.2960027754306793, + -0.05968496948480606, + 0.04746308922767639 + ], + [ + 0.27748754620552063, + -0.07875166088342667, + 0.038435500115156174 + ], + [ + 0.2710902690887451, + -0.08407401293516159, + 0.030229367315769196 + ], + [ + 0.27104657888412476, + -0.0889042317867279, + 0.029758699238300323 + ], + [ + 0.2705658972263336, + -0.08907056599855423, + 0.029278161004185677 + ], + [ + 0.27033981680870056, + -0.08131817728281021, + 0.029052989557385445 + ], + [ + 0.2722494602203369, + -0.07096362113952637, + 0.04091256111860275 + ], + [ + 0.2721361517906189, + -0.0605483278632164, + 0.051681842654943466 + ], + [ + 0.27132102847099304, + -0.0613156259059906, + 0.054906636476516724 + ], + [ + 0.27025407552719116, + -0.06455030292272568, + 0.05394633859395981 + ], + [ + 0.27047842741012573, + -0.07965490221977234, + 0.05401523411273956 + ], + [ + 0.26373058557510376, + -0.08847647160291672, + 0.04503751918673515 + ], + [ + 0.2572993338108063, + -0.09943623095750809, + 0.025255991145968437 + ], + [ + 0.25505971908569336, + -0.09827213734388351, + 0.01267163548618555 + ], + [ + 0.2561315894126892, + -0.09642887860536575, + 0.012013349682092667 + ], + [ + 0.2523033022880554, + -0.09110157936811447, + 0.012450726702809334 + ], + [ + 0.2599024772644043, + -0.08851245045661926, + 0.030804786831140518 + ], + [ + 0.27244070172309875, + -0.08304187655448914, + 0.06506013125181198 + ], + [ + 0.2937685251235962, + -0.05856870859861374, + 0.1039305254817009 + ], + [ + 0.3140769600868225, + -0.01839207112789154, + 0.12418746948242188 + ], + [ + 0.3310716450214386, + 0.024834955111145973, + 0.10561094433069229 + ], + [ + 0.34048229455947876, + 0.04456816613674164, + 0.08825518190860748 + ], + [ + 0.3547193109989166, + 0.060231465846300125, + 0.07063984870910645 + ], + [ + 0.3670201599597931, + 0.06862252205610275, + 0.05880916118621826 + ], + [ + 0.3764539361000061, + 0.07919158786535263, + 0.04767465591430664 + ], + [ + 0.3757380545139313, + 0.08654569834470749, + 0.043377865105867386 + ], + [ + 0.3761977553367615, + 0.08949733525514603, + 0.036879975348711014 + ], + [ + 0.37333592772483826, + 0.08892843872308731, + 0.035048387944698334 + ], + [ + 0.3702321946620941, + 0.08362248539924622, + 0.041877828538417816 + ], + [ + 0.379587858915329, + 0.06679201126098633, + 0.09206662327051163 + ], + [ + 0.3696557879447937, + 0.03476261720061302, + 0.12904052436351776 + ], + [ + 0.3502633273601532, + 0.02154742181301117, + 0.13290737569332123 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.987218073516937, + -0.1266929266385768, + 0.09669217993850113, + -0.12538596960259965, + -0.9919163825593372, + -0.019499965056741706, + 0.09838106498876317, + 0.0071268752023861395, + -0.9951232957284871 + ], + [ + 0.9909071112710216, + -0.12116110345567653, + 0.058507126419971904, + -0.12033636322357226, + -0.9925801013598855, + -0.017432787227650164, + 0.06018518520902145, + 0.010233738017111985, + -0.9981347674976327 + ], + [ + 0.9915077772651015, + -0.12975900916095467, + 0.008656047850218689, + -0.12944459242073392, + -0.9911245308959098, + -0.030269815813662594, + 0.012507002672426002, + 0.028892279209682688, + -0.9995042826752779 + ], + [ + 0.9902464796403849, + -0.13876456753767114, + 0.012502174047272182, + -0.1385531803181329, + -0.9902186317907131, + -0.01643403414440393, + 0.014660347320446751, + 0.014541528482645491, + -0.9997867863528866 + ], + [ + 0.985068185539841, + -0.16531745373192935, + 0.048070878178340576, + -0.16640798718139432, + -0.985861816131694, + 0.019617882040502316, + 0.04414806495739507, + -0.027324329545471916, + -0.9986512551313438 + ], + [ + 0.9873960866692219, + -0.13565589880959014, + 0.0815257330446547, + -0.14036938507481225, + -0.9885622205731954, + 0.05514682029919317, + 0.0731122682183034, + -0.06589547157092564, + -0.9951444031206826 + ], + [ + 0.9864720667838668, + -0.13473562547016626, + 0.09337651034564122, + -0.13967094219858778, + -0.989010674446317, + 0.048475908826964204, + 0.08581893357835034, + -0.06086211514895355, + -0.9944500558494984 + ], + [ + 0.9853696761172807, + -0.144945346955293, + 0.08965181417314176, + -0.14961138633407678, + -0.9875941773434985, + 0.047688299995014304, + 0.08162741247719067, + -0.06040353692647973, + -0.9948308289649304 + ], + [ + 0.9883217397247975, + -0.13474862288199507, + 0.07115439142284453, + -0.1384046161029247, + -0.9891525461227586, + 0.04920775081494533, + 0.06375187078628779, + -0.05848118612228713, + -0.9962507966576382 + ], + [ + 0.9905169058627106, + -0.10914571620574154, + 0.08344741957722748, + -0.1123201614656972, + -0.9930788803894963, + 0.03432955945922028, + 0.07912294565094141, + -0.043376836655986795, + -0.9959206843485269 + ], + [ + 0.9910559305379609, + -0.09952135983385808, + 0.08890242675178255, + -0.10285611601217719, + -0.9941238361155162, + 0.03374044851302026, + 0.0850221262050407, + -0.042582829917584886, + -0.9954687040041913 + ], + [ + 0.9889865516329684, + -0.11746826683164828, + 0.09003780859560363, + -0.1198940797182003, + -0.9925427722708863, + 0.022005791541082738, + 0.08678139396008631, + -0.03255843209358272, + -0.995695203444283 + ], + [ + 0.9863318836628308, + -0.14290017422016305, + 0.08203021076395799, + -0.1437547614590136, + -0.9896027558965484, + 0.004577562650424785, + 0.08052318813853811, + -0.016307229372383488, + -0.996619330758842 + ], + [ + 0.966421137987503, + -0.23803886460848514, + 0.09678679138623464, + -0.23451740575611177, + -0.9710025186371762, + -0.0464294647576616, + 0.10503223528213826, + 0.022172228939892256, + -0.994221616047184 + ], + [ + 0.9591501234194619, + -0.2689943927531053, + 0.0875959897016958, + -0.26563880545465557, + -0.96286884592085, + -0.04816233582037383, + 0.09729884778893907, + 0.022926016279304344, + -0.9949911215666732 + ], + [ + 0.9498376509409867, + -0.30983814454322395, + 0.042529531397851636, + -0.30935965873229815, + -0.9507827513917771, + -0.01757160222969243, + 0.04588069750935182, + 0.0035332480658365204, + -0.9989406777953138 + ], + [ + 0.9491314492275709, + -0.31460455208666205, + 0.013170721070679538, + -0.314680404916592, + -0.9491888498475237, + 0.004095129627315756, + 0.011213155162602365, + -0.008031384157513893, + -0.9999048764856653 + ], + [ + 0.9480150541202518, + -0.3175949044459991, + 0.020023332173055193, + -0.31787657079853776, + -0.9480448434998778, + 0.01286314310944638, + 0.014897748109630349, + -0.018559401478189175, + -0.999716762747346 + ], + [ + 0.9453611238361941, + -0.3258369305954017, + -0.01107430355984802, + -0.325462476724998, + -0.9451798429621475, + 0.02663157340602424, + -0.019144758635157366, + -0.021572183900052576, + -0.9995839730100639 + ], + [ + 0.947593634615721, + -0.3188487692377865, + 0.02004410116008391, + -0.31894205694097344, + -0.9477729353070883, + 0.0015580159325943943, + 0.018500485129524357, + -0.00786927283388644, + -0.9997978828718521 + ], + [ + 0.9445518311188339, + -0.3148872358689682, + 0.09310138031661418, + -0.3133821202370976, + -0.9491290806460542, + -0.03075117863883102, + 0.09804838114808102, + -0.00013022586825073117, + -0.9951816407045821 + ], + [ + 0.9486767480824482, + -0.24888856558439776, + 0.19510743084016993, + -0.24539006393809698, + -0.9685011314492834, + -0.042299821535251095, + 0.19948970942925212, + -0.007748567790137214, + -0.9798692849196946 + ], + [ + 0.9590697491446419, + -0.14983179426517607, + 0.24028243735843835, + -0.14615344629236143, + -0.9887059493800253, + -0.033161963111507244, + 0.24253739178217393, + -0.0033134706609670977, + -0.9701363999457393 + ], + [ + 0.9793806997751563, + -0.05701831794485858, + 0.19381010377858066, + -0.05914798435794037, + -0.99823560440335, + 0.005214791258643604, + 0.19317080745888604, + -0.01657074289877803, + -0.9810252033589476 + ], + [ + 0.987192362480291, + -0.003957437143933536, + 0.1594853540355148, + -0.0068040543377943605, + -0.9998270773541, + 0.017306652886290862, + 0.15938928541514333, + -0.018170142564383835, + -0.9870485811823244 + ], + [ + 0.9910993796512446, + 0.017417256670459024, + 0.1319797667257902, + 0.011192040350357275, + -0.9987959517752747, + 0.047763845637883974, + 0.13265277188100755, + -0.04586159490683881, + -0.9901009828420972 + ], + [ + 0.9905923297681585, + 0.033851927955012295, + 0.13259292280593282, + 0.024055070831695138, + -0.9969080716061837, + 0.07480407965961222, + 0.1347152172984683, + -0.07091081539630001, + -0.9883437997417992 + ], + [ + 0.9923880644089622, + 0.044142657125837634, + 0.11496675798031579, + 0.034758976577079936, + -0.9959943076793056, + 0.08238417698645092, + 0.11814289299804613, + -0.07776094708972878, + -0.9899472167452974 + ], + [ + 0.9940430119464905, + 0.05188243365105563, + 0.0958472924958937, + 0.045453252264633565, + -0.9966435543423877, + 0.06808544224972007, + 0.09905802470732582, + -0.06332328691892258, + -0.9930647859404073 + ], + [ + 0.9961140107011708, + 0.051780777395334696, + 0.07124344725771548, + 0.048454550928523965, + -0.9976881055235468, + 0.047650819417419145, + 0.07354613639847554, + -0.04401357959961002, + -0.9963201145373338 + ], + [ + 0.995896927750517, + 0.06717075349932465, + 0.06064156306869485, + 0.06585065476438166, + -0.9975524129646203, + 0.023513286787811595, + 0.06207254275590578, + -0.01942352343928929, + -0.9978826214405278 + ], + [ + 0.9927492289196688, + 0.07310074780943866, + 0.0954214291923161, + 0.07316930767171474, + -0.9973156453017753, + 0.0027849687872129473, + 0.09536886753152359, + 0.0042171442949763185, + -0.9954330689703604 + ], + [ + 0.9714391933785098, + 0.060479974334660534, + 0.229451664349137, + 0.05864702519082358, + -0.9981689810423816, + 0.014805800251269648, + 0.22992698842105752, + -0.0009262771142564919, + -0.9732074403776054 + ], + [ + 0.9604764587804431, + 0.009180625806858968, + 0.278209791772997, + 0.008312681813190196, + -0.9999562070017296, + 0.004299232464841905, + 0.27823707777658346, + -0.0018166420969824453, + -0.9605107122577233 + ], + [ + 0.9660522651636825, + 0.006222810513327659, + 0.25827175145848486, + 0.013406445460870572, + -0.999570416183202, + -0.026062431034828987, + 0.25799862052387573, + 0.028640176686880497, + -0.9657206905141473 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0036629140377044678, + 0.00011439621448516846, + -0.01254911720752716, + -0.0030908240005373955, + 0.03831888362765312, + 0.005484141409397125, + 1.0 + ], + [ + -0.02100086212158203, + -0.013840921223163605, + -0.021811332553625107, + -0.018646057695150375, + 0.047714248299598694, + -0.008970208466053009, + 1.0 + ], + [ + -0.014808595180511475, + -0.014307510107755661, + -0.01408093050122261, + 0.014354957267642021, + -0.0021535437554121017, + -0.009196341037750244, + 1.0 + ], + [ + -0.01851522922515869, + -0.019066691398620605, + -0.009027589112520218, + 0.04189801216125488, + -0.029501546174287796, + -0.028335049748420715, + 1.0 + ], + [ + -0.006397277116775513, + -0.005322352051734924, + -0.008206132799386978, + 0.03876606002449989, + -0.02901514247059822, + 0.026135504245758057, + 1.0 + ], + [ + -4.369020462036133e-05, + -0.004830218851566315, + -0.00047066807746887207, + -0.00499492883682251, + -0.012747064232826233, + 0.0005635172128677368, + 1.0 + ], + [ + -0.0004806816577911377, + -0.00016633421182632446, + -0.0004805382341146469, + -0.00048259273171424866, + 0.0042062923312187195, + -0.010030463337898254, + 1.0 + ], + [ + -0.00022608041763305664, + 0.0077523887157440186, + -0.00022517144680023193, + -0.0020089633762836456, + 0.017923198640346527, + 0.011546671390533447, + 1.0 + ], + [ + 0.0019096434116363525, + 0.010354556143283844, + 0.011859571561217308, + -0.015106983482837677, + -0.01541060209274292, + 0.026222027838230133, + 1.0 + ], + [ + -0.00011330842971801758, + 0.010415293276309967, + 0.010769281536340714, + -0.0007763989269733429, + -0.005919158458709717, + 0.009499050676822662, + 1.0 + ], + [ + -0.0008151233196258545, + -0.0007672980427742004, + 0.0032247938215732574, + -0.0100630521774292, + -0.0017657950520515442, + -0.01722639799118042, + 1.0 + ], + [ + -0.0010669529438018799, + -0.003234677016735077, + -0.0009602978825569153, + -0.016326462849974632, + 0.006280228495597839, + -0.02408728003501892, + 1.0 + ], + [ + 0.0002243518829345703, + -0.015104599297046661, + 6.889551877975464e-05, + -0.03865848481655121, + -0.024615854024887085, + -0.09333629906177521, + 1.0 + ], + [ + -0.006747841835021973, + -0.008821569383144379, + -0.00897771492600441, + -0.00073995441198349, + 0.00777328759431839, + -0.032116204500198364, + 1.0 + ], + [ + -0.006431251764297485, + -0.01095975935459137, + -0.019781528040766716, + 0.01950037106871605, + 0.051556218415498734, + -0.04468223452568054, + 1.0 + ], + [ + -0.002239614725112915, + 0.0011640936136245728, + -0.012584355659782887, + 0.011568956077098846, + 0.03468342125415802, + -0.005278229713439941, + 0.0 + ], + [ + 0.0010718703269958496, + 0.0018432587385177612, + -0.0006582858040928841, + 0.01053055189549923, + -0.0036849090829491615, + -0.003385484218597412, + 0.0 + ], + [ + -0.003828287124633789, + 0.005327299237251282, + 0.0004373770207166672, + 0.0030152853578329086, + 0.03404422849416733, + -0.00803762674331665, + 0.0 + ], + [ + 0.007599174976348877, + 0.0025891289114952087, + 0.018354060128331184, + -0.013707111589610577, + -0.03764747083187103, + 0.006893247365951538, + 0.0 + ], + [ + 0.012538224458694458, + 0.005470573902130127, + 0.03425534442067146, + -0.007739844731986523, + -0.07970461994409561, + 0.004319965839385986, + 0.0 + ], + [ + 0.021327823400497437, + 0.024473167955875397, + 0.038870394229888916, + 0.007776735350489616, + -0.10263097286224365, + 0.06723290681838989, + 0.0 + ], + [ + 0.02030843496322632, + 0.0401766374707222, + 0.020256944000720978, + -0.004492136184126139, + -0.044143348932266235, + 0.10189041495323181, + 0.0 + ], + [ + 0.01699468493461609, + 0.043227024376392365, + -0.018576525151729584, + 0.01347418874502182, + 0.05058768391609192, + 0.09090736508369446, + 0.0 + ], + [ + 0.009410649538040161, + 0.019733211025595665, + -0.01735576242208481, + 0.0015168357640504837, + 0.03432080149650574, + 0.053427767008543015, + 0.0 + ], + [ + 0.014237016439437866, + 0.015663299709558487, + -0.017615333199501038, + 0.027880553156137466, + 0.02702707052230835, + 0.018184291198849678, + 0.0 + ], + [ + 0.012300848960876465, + 0.008391056209802628, + -0.011830687522888184, + 0.025337349623441696, + -0.0020811259746551514, + 0.012986679561436176, + 0.0 + ], + [ + 0.009433776140213013, + 0.010569065809249878, + -0.011134505271911621, + 0.006765253841876984, + 0.01670658588409424, + 0.010732525959610939, + 0.0 + ], + [ + -0.0007158815860748291, + 0.007354110479354858, + -0.004296790808439255, + -0.014710336923599243, + 0.019198723137378693, + 0.01068253442645073, + 0.0 + ], + [ + 0.0004597008228302002, + 0.0029516369104385376, + -0.006497889757156372, + -0.019531860947608948, + 0.02560814470052719, + 0.0029114559292793274, + 1.0 + ], + [ + -0.0028618276119232178, + -0.0005688965320587158, + -0.00183158740401268, + -0.02468515932559967, + 0.011500127613544464, + 0.017420578747987747, + 1.0 + ], + [ + -0.0031037330627441406, + -0.005305953323841095, + 0.006829440593719482, + -0.023698747158050537, + -0.03340155631303787, + 0.007544845342636108, + 1.0 + ], + [ + 0.009355664253234863, + -0.016830474138259888, + 0.05018879473209381, + 0.005188243929296732, + -0.1364886313676834, + -0.013272598385810852, + 1.0 + ], + [ + -0.009932070970535278, + -0.032029394060373306, + 0.036973901093006134, + 0.0009395497036166489, + -0.04995556175708771, + -0.05164356157183647, + 1.0 + ], + [ + -0.019392460584640503, + -0.013215195387601852, + 0.003866851329803467, + -0.0315394289791584, + 0.02100810408592224, + 0.005222134292125702, + 1.0 + ], + [ + -0.0066110193729400635, + -0.005605090409517288, + -0.007863461971282959, + -0.011537166312336922, + 0.02749750018119812, + -0.018694689497351646, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9484345316886902 + ], + [ + 0.6541022062301636 + ], + [ + 0.3494465947151184 + ], + [ + 0.17844799160957336 + ], + [ + 0.08501782268285751 + ], + [ + 0.07722585648298264 + ], + [ + 0.07656946033239365 + ], + [ + 0.07656946033239365 + ], + [ + 0.07656946033239365 + ], + [ + 0.07656946033239365 + ], + [ + 0.07656946033239365 + ], + [ + 0.07656946033239365 + ], + [ + 0.07656946033239365 + ], + [ + 0.10355531424283981 + ], + [ + 0.2854207158088684 + ], + [ + 0.5719637274742126 + ], + [ + 0.875784695148468 + ], + [ + 1.0131081342697144 + ], + [ + 1.0086473226547241 + ], + [ + 1.0027955770492554 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3318122327327728, + -0.031536538153886795, + 0.08335535228252411 + ], + [ + 0.3108113706111908, + -0.0453774593770504, + 0.061544019728899 + ], + [ + 0.2960027754306793, + -0.05968496948480606, + 0.04746308922767639 + ], + [ + 0.27748754620552063, + -0.07875166088342667, + 0.038435500115156174 + ], + [ + 0.2710902690887451, + -0.08407401293516159, + 0.030229367315769196 + ], + [ + 0.27104657888412476, + -0.0889042317867279, + 0.029758699238300323 + ], + [ + 0.2705658972263336, + -0.08907056599855423, + 0.029278161004185677 + ], + [ + 0.27033981680870056, + -0.08131817728281021, + 0.029052989557385445 + ], + [ + 0.2722494602203369, + -0.07096362113952637, + 0.04091256111860275 + ], + [ + 0.2721361517906189, + -0.0605483278632164, + 0.051681842654943466 + ], + [ + 0.27132102847099304, + -0.0613156259059906, + 0.054906636476516724 + ], + [ + 0.27025407552719116, + -0.06455030292272568, + 0.05394633859395981 + ], + [ + 0.27047842741012573, + -0.07965490221977234, + 0.05401523411273956 + ], + [ + 0.26373058557510376, + -0.08847647160291672, + 0.04503751918673515 + ], + [ + 0.2572993338108063, + -0.09943623095750809, + 0.025255991145968437 + ], + [ + 0.25505971908569336, + -0.09827213734388351, + 0.01267163548618555 + ], + [ + 0.2561315894126892, + -0.09642887860536575, + 0.012013349682092667 + ], + [ + 0.2523033022880554, + -0.09110157936811447, + 0.012450726702809334 + ], + [ + 0.2599024772644043, + -0.08851245045661926, + 0.030804786831140518 + ], + [ + 0.27244070172309875, + -0.08304187655448914, + 0.06506013125181198 + ], + [ + 0.2937685251235962, + -0.05856870859861374, + 0.1039305254817009 + ], + [ + 0.3140769600868225, + -0.01839207112789154, + 0.12418746948242188 + ], + [ + 0.3310716450214386, + 0.024834955111145973, + 0.10561094433069229 + ], + [ + 0.34048229455947876, + 0.04456816613674164, + 0.08825518190860748 + ], + [ + 0.3547193109989166, + 0.060231465846300125, + 0.07063984870910645 + ], + [ + 0.3670201599597931, + 0.06862252205610275, + 0.05880916118621826 + ], + [ + 0.3764539361000061, + 0.07919158786535263, + 0.04767465591430664 + ], + [ + 0.3757380545139313, + 0.08654569834470749, + 0.043377865105867386 + ], + [ + 0.3761977553367615, + 0.08949733525514603, + 0.036879975348711014 + ], + [ + 0.37333592772483826, + 0.08892843872308731, + 0.035048387944698334 + ], + [ + 0.3702321946620941, + 0.08362248539924622, + 0.041877828538417816 + ], + [ + 0.379587858915329, + 0.06679201126098633, + 0.09206662327051163 + ], + [ + 0.3696557879447937, + 0.03476261720061302, + 0.12904052436351776 + ], + [ + 0.3502633273601532, + 0.02154742181301117, + 0.13290737569332123 + ], + [ + 0.34365230798721313, + 0.01594233140349388, + 0.12504391372203827 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9909071112710216, + -0.12116110345567653, + 0.058507126419971904, + -0.12033636322357226, + -0.9925801013598855, + -0.017432787227650164, + 0.06018518520902145, + 0.010233738017111985, + -0.9981347674976327 + ], + [ + 0.9915077772651015, + -0.12975900916095467, + 0.008656047850218689, + -0.12944459242073392, + -0.9911245308959098, + -0.030269815813662594, + 0.012507002672426002, + 0.028892279209682688, + -0.9995042826752779 + ], + [ + 0.9902464796403849, + -0.13876456753767114, + 0.012502174047272182, + -0.1385531803181329, + -0.9902186317907131, + -0.01643403414440393, + 0.014660347320446751, + 0.014541528482645491, + -0.9997867863528866 + ], + [ + 0.985068185539841, + -0.16531745373192935, + 0.048070878178340576, + -0.16640798718139432, + -0.985861816131694, + 0.019617882040502316, + 0.04414806495739507, + -0.027324329545471916, + -0.9986512551313438 + ], + [ + 0.9873960866692219, + -0.13565589880959014, + 0.0815257330446547, + -0.14036938507481225, + -0.9885622205731954, + 0.05514682029919317, + 0.0731122682183034, + -0.06589547157092564, + -0.9951444031206826 + ], + [ + 0.9864720667838668, + -0.13473562547016626, + 0.09337651034564122, + -0.13967094219858778, + -0.989010674446317, + 0.048475908826964204, + 0.08581893357835034, + -0.06086211514895355, + -0.9944500558494984 + ], + [ + 0.9853696761172807, + -0.144945346955293, + 0.08965181417314176, + -0.14961138633407678, + -0.9875941773434985, + 0.047688299995014304, + 0.08162741247719067, + -0.06040353692647973, + -0.9948308289649304 + ], + [ + 0.9883217397247975, + -0.13474862288199507, + 0.07115439142284453, + -0.1384046161029247, + -0.9891525461227586, + 0.04920775081494533, + 0.06375187078628779, + -0.05848118612228713, + -0.9962507966576382 + ], + [ + 0.9905169058627106, + -0.10914571620574154, + 0.08344741957722748, + -0.1123201614656972, + -0.9930788803894963, + 0.03432955945922028, + 0.07912294565094141, + -0.043376836655986795, + -0.9959206843485269 + ], + [ + 0.9910559305379609, + -0.09952135983385808, + 0.08890242675178255, + -0.10285611601217719, + -0.9941238361155162, + 0.03374044851302026, + 0.0850221262050407, + -0.042582829917584886, + -0.9954687040041913 + ], + [ + 0.9889865516329684, + -0.11746826683164828, + 0.09003780859560363, + -0.1198940797182003, + -0.9925427722708863, + 0.022005791541082738, + 0.08678139396008631, + -0.03255843209358272, + -0.995695203444283 + ], + [ + 0.9863318836628308, + -0.14290017422016305, + 0.08203021076395799, + -0.1437547614590136, + -0.9896027558965484, + 0.004577562650424785, + 0.08052318813853811, + -0.016307229372383488, + -0.996619330758842 + ], + [ + 0.966421137987503, + -0.23803886460848514, + 0.09678679138623464, + -0.23451740575611177, + -0.9710025186371762, + -0.0464294647576616, + 0.10503223528213826, + 0.022172228939892256, + -0.994221616047184 + ], + [ + 0.9591501234194619, + -0.2689943927531053, + 0.0875959897016958, + -0.26563880545465557, + -0.96286884592085, + -0.04816233582037383, + 0.09729884778893907, + 0.022926016279304344, + -0.9949911215666732 + ], + [ + 0.9498376509409867, + -0.30983814454322395, + 0.042529531397851636, + -0.30935965873229815, + -0.9507827513917771, + -0.01757160222969243, + 0.04588069750935182, + 0.0035332480658365204, + -0.9989406777953138 + ], + [ + 0.9491314492275709, + -0.31460455208666205, + 0.013170721070679538, + -0.314680404916592, + -0.9491888498475237, + 0.004095129627315756, + 0.011213155162602365, + -0.008031384157513893, + -0.9999048764856653 + ], + [ + 0.9480150541202518, + -0.3175949044459991, + 0.020023332173055193, + -0.31787657079853776, + -0.9480448434998778, + 0.01286314310944638, + 0.014897748109630349, + -0.018559401478189175, + -0.999716762747346 + ], + [ + 0.9453611238361941, + -0.3258369305954017, + -0.01107430355984802, + -0.325462476724998, + -0.9451798429621475, + 0.02663157340602424, + -0.019144758635157366, + -0.021572183900052576, + -0.9995839730100639 + ], + [ + 0.947593634615721, + -0.3188487692377865, + 0.02004410116008391, + -0.31894205694097344, + -0.9477729353070883, + 0.0015580159325943943, + 0.018500485129524357, + -0.00786927283388644, + -0.9997978828718521 + ], + [ + 0.9445518311188339, + -0.3148872358689682, + 0.09310138031661418, + -0.3133821202370976, + -0.9491290806460542, + -0.03075117863883102, + 0.09804838114808102, + -0.00013022586825073117, + -0.9951816407045821 + ], + [ + 0.9486767480824482, + -0.24888856558439776, + 0.19510743084016993, + -0.24539006393809698, + -0.9685011314492834, + -0.042299821535251095, + 0.19948970942925212, + -0.007748567790137214, + -0.9798692849196946 + ], + [ + 0.9590697491446419, + -0.14983179426517607, + 0.24028243735843835, + -0.14615344629236143, + -0.9887059493800253, + -0.033161963111507244, + 0.24253739178217393, + -0.0033134706609670977, + -0.9701363999457393 + ], + [ + 0.9793806997751563, + -0.05701831794485858, + 0.19381010377858066, + -0.05914798435794037, + -0.99823560440335, + 0.005214791258643604, + 0.19317080745888604, + -0.01657074289877803, + -0.9810252033589476 + ], + [ + 0.987192362480291, + -0.003957437143933536, + 0.1594853540355148, + -0.0068040543377943605, + -0.9998270773541, + 0.017306652886290862, + 0.15938928541514333, + -0.018170142564383835, + -0.9870485811823244 + ], + [ + 0.9910993796512446, + 0.017417256670459024, + 0.1319797667257902, + 0.011192040350357275, + -0.9987959517752747, + 0.047763845637883974, + 0.13265277188100755, + -0.04586159490683881, + -0.9901009828420972 + ], + [ + 0.9905923297681585, + 0.033851927955012295, + 0.13259292280593282, + 0.024055070831695138, + -0.9969080716061837, + 0.07480407965961222, + 0.1347152172984683, + -0.07091081539630001, + -0.9883437997417992 + ], + [ + 0.9923880644089622, + 0.044142657125837634, + 0.11496675798031579, + 0.034758976577079936, + -0.9959943076793056, + 0.08238417698645092, + 0.11814289299804613, + -0.07776094708972878, + -0.9899472167452974 + ], + [ + 0.9940430119464905, + 0.05188243365105563, + 0.0958472924958937, + 0.045453252264633565, + -0.9966435543423877, + 0.06808544224972007, + 0.09905802470732582, + -0.06332328691892258, + -0.9930647859404073 + ], + [ + 0.9961140107011708, + 0.051780777395334696, + 0.07124344725771548, + 0.048454550928523965, + -0.9976881055235468, + 0.047650819417419145, + 0.07354613639847554, + -0.04401357959961002, + -0.9963201145373338 + ], + [ + 0.995896927750517, + 0.06717075349932465, + 0.06064156306869485, + 0.06585065476438166, + -0.9975524129646203, + 0.023513286787811595, + 0.06207254275590578, + -0.01942352343928929, + -0.9978826214405278 + ], + [ + 0.9927492289196688, + 0.07310074780943866, + 0.0954214291923161, + 0.07316930767171474, + -0.9973156453017753, + 0.0027849687872129473, + 0.09536886753152359, + 0.0042171442949763185, + -0.9954330689703604 + ], + [ + 0.9714391933785098, + 0.060479974334660534, + 0.229451664349137, + 0.05864702519082358, + -0.9981689810423816, + 0.014805800251269648, + 0.22992698842105752, + -0.0009262771142564919, + -0.9732074403776054 + ], + [ + 0.9604764587804431, + 0.009180625806858968, + 0.278209791772997, + 0.008312681813190196, + -0.9999562070017296, + 0.004299232464841905, + 0.27823707777658346, + -0.0018166420969824453, + -0.9605107122577233 + ], + [ + 0.9660522651636825, + 0.006222810513327659, + 0.25827175145848486, + 0.013406445460870572, + -0.999570416183202, + -0.026062431034828987, + 0.25799862052387573, + 0.028640176686880497, + -0.9657206905141473 + ], + [ + 0.9728621821125223, + -0.014338826496686406, + 0.23094062585426417, + -0.004687308816180787, + -0.9990945183662736, + -0.0422867887941997, + 0.23133785628669395, + 0.040056727589275476, + -0.9720484837823241 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006425.json b/json/chunk-0006/episode_0006425.json new file mode 100644 index 0000000000000000000000000000000000000000..df4f894747f3a08c898aa869d981ba011091d354 --- /dev/null +++ b/json/chunk-0006/episode_0006425.json @@ -0,0 +1,1882 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 30, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPlace the can in front of the red spoon and against the wall." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006425.mp4", + "start": 0, + "end": 30, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.28448888659477234, + -0.08143868297338486, + 0.12390324473381042, + -0.026170173659920692, + -0.12596549093723297, + 0.056854214519262314, + 0.0, + 1.0008161067962646 + ], + [ + 0.2806994616985321, + -0.0803145095705986, + 0.11468302458524704, + -0.013394579291343689, + -0.09439565241336823, + 0.041727859526872635, + 0.0, + 1.0008161067962646 + ], + [ + 0.2692590653896332, + -0.05058359354734421, + 0.10455798357725143, + 0.02051897719502449, + -0.05216692015528679, + 0.02143525332212448, + 0.0, + 1.0008161067962646 + ], + [ + 0.2526032030582428, + -0.03662635013461113, + 0.10649935901165009, + 0.04766792431473732, + -0.07385975122451782, + -0.044982779771089554, + 0.0, + 1.0008161067962646 + ], + [ + 0.23076306283473969, + -0.012875018641352654, + 0.1145864799618721, + 0.11496203392744064, + -0.06550773233175278, + -0.08979975432157516, + 0.0, + 1.0008161067962646 + ], + [ + 0.21723541617393494, + 0.01583799347281456, + 0.10894428938627243, + 0.16372324526309967, + -0.00919867679476738, + -0.1656912863254547, + 0.0, + 1.0008161067962646 + ], + [ + 0.21677374839782715, + 0.03184650465846062, + 0.09565018862485886, + 0.17302554845809937, + 0.04559629037976265, + -0.28408873081207275, + 0.0, + 1.0008161067962646 + ], + [ + 0.2166643738746643, + 0.04876808449625969, + 0.08670948445796967, + 0.1643737554550171, + 0.047387342900037766, + -0.4043007791042328, + 0.0, + 1.0008161067962646 + ], + [ + 0.2158670574426651, + 0.06270575523376465, + 0.07967384159564972, + 0.15882442891597748, + 0.052206285297870636, + -0.4819677472114563, + 0.0, + 1.0008161067962646 + ], + [ + 0.21637940406799316, + 0.06925814598798752, + 0.07384299486875534, + 0.15303364396095276, + 0.029993081465363503, + -0.5344724059104919, + 0.0, + 1.0008161067962646 + ], + [ + 0.22250165045261383, + 0.07284548878669739, + 0.06257592141628265, + 0.1388445943593979, + -9.426456927030813e-06, + -0.5562492609024048, + 0.0, + 1.0008161067962646 + ], + [ + 0.2285880595445633, + 0.06988023966550827, + 0.05445170775055885, + 0.11875659972429276, + -0.029946094378829002, + -0.5656488537788391, + 0.0, + 1.0008161067962646 + ], + [ + 0.23752959072589874, + 0.06859483569860458, + 0.05065592750906944, + 0.11388394981622696, + -0.06000767648220062, + -0.5415441989898682, + 0.0, + 1.0008161067962646 + ], + [ + 0.2512803077697754, + 0.05791144073009491, + 0.04989170655608177, + 0.11884531378746033, + -0.07251797616481781, + -0.5201205611228943, + 0.0, + 1.0008161067962646 + ], + [ + 0.2679070234298706, + 0.04843899607658386, + 0.052558355033397675, + 0.13236141204833984, + -0.08372922986745834, + -0.4905194342136383, + 0.0, + 1.0008161067962646 + ], + [ + 0.28078770637512207, + 0.03839755803346634, + 0.05348413437604904, + 0.13348017632961273, + -0.08854960650205612, + -0.4879664480686188, + 0.0, + 1.0008161067962646 + ], + [ + 0.29167747497558594, + 0.03300395980477333, + 0.054867763072252274, + 0.14278185367584229, + -0.10342656075954437, + -0.46542131900787354, + 0.0, + 1.0008161067962646 + ], + [ + 0.30531272292137146, + 0.029614659026265144, + 0.05141638219356537, + 0.12891259789466858, + -0.12210452556610107, + -0.4553634524345398, + 0.0, + 1.0008161067962646 + ], + [ + 0.3174947202205658, + 0.020691387355327606, + 0.051893074065446854, + 0.12973861396312714, + -0.13461895287036896, + -0.4712153375148773, + 0.0, + 1.0008161067962646 + ], + [ + 0.3270050287246704, + 0.013094281777739525, + 0.054740339517593384, + 0.14171743392944336, + -0.1465637981891632, + -0.48897621035575867, + 0.0, + 1.0008161067962646 + ], + [ + 0.3357512354850769, + 0.00993542093783617, + 0.05491655319929123, + 0.13455036282539368, + -0.14525090157985687, + -0.4901617169380188, + 0.0, + 1.0008161067962646 + ], + [ + 0.3465394675731659, + 0.008324612863361835, + 0.05464041233062744, + 0.12834548950195312, + -0.15205460786819458, + -0.48433271050453186, + 0.0, + 1.0008161067962646 + ], + [ + 0.35721829533576965, + -0.002451700158417225, + 0.0549115352332592, + 0.11758553236722946, + -0.16080725193023682, + -0.5059258937835693, + 0.0, + 1.0008161067962646 + ], + [ + 0.3650950491428375, + -0.011433636769652367, + 0.05766100436449051, + 0.1214679554104805, + -0.14934583008289337, + -0.5200867056846619, + 0.0, + 1.0008161067962646 + ], + [ + 0.3689376711845398, + -0.011563671752810478, + 0.06230419874191284, + 0.12763702869415283, + -0.15607644617557526, + -0.531051754951477, + 0.0, + 1.0008161067962646 + ], + [ + 0.36308783292770386, + -0.009737774729728699, + 0.0635671317577362, + 0.1293449103832245, + -0.1462448686361313, + -0.5112693905830383, + 0.0, + 1.0008161067962646 + ], + [ + 0.3541715741157532, + -0.0022923259530216455, + 0.08668462187051773, + 0.16533561050891876, + -0.1612735539674759, + -0.48288485407829285, + 0.0, + 1.0008161067962646 + ], + [ + 0.33232787251472473, + 0.011089363135397434, + 0.09692633152008057, + 0.15509282052516937, + -0.12109430134296417, + -0.4131987392902374, + 0.0, + 1.0008161067962646 + ], + [ + 0.3173888027667999, + 0.03241859748959541, + 0.1103806123137474, + 0.13688752055168152, + -0.09683069586753845, + -0.30711331963539124, + 0.0, + 1.0008161067962646 + ], + [ + 0.2972610294818878, + 0.05955403670668602, + 0.11358829587697983, + 0.11805051565170288, + -0.10530319809913635, + -0.1441984325647354, + 0.0, + 1.0008161067962646 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.28448888659477234, + -0.08143868297338486, + 0.12390324473381042 + ], + [ + 0.2806994616985321, + -0.0803145095705986, + 0.11468302458524704 + ], + [ + 0.2692590653896332, + -0.05058359354734421, + 0.10455798357725143 + ], + [ + 0.2526032030582428, + -0.03662635013461113, + 0.10649935901165009 + ], + [ + 0.23076306283473969, + -0.012875018641352654, + 0.1145864799618721 + ], + [ + 0.21723541617393494, + 0.01583799347281456, + 0.10894428938627243 + ], + [ + 0.21677374839782715, + 0.03184650465846062, + 0.09565018862485886 + ], + [ + 0.2166643738746643, + 0.04876808449625969, + 0.08670948445796967 + ], + [ + 0.2158670574426651, + 0.06270575523376465, + 0.07967384159564972 + ], + [ + 0.21637940406799316, + 0.06925814598798752, + 0.07384299486875534 + ], + [ + 0.22250165045261383, + 0.07284548878669739, + 0.06257592141628265 + ], + [ + 0.2285880595445633, + 0.06988023966550827, + 0.05445170775055885 + ], + [ + 0.23752959072589874, + 0.06859483569860458, + 0.05065592750906944 + ], + [ + 0.2512803077697754, + 0.05791144073009491, + 0.04989170655608177 + ], + [ + 0.2679070234298706, + 0.04843899607658386, + 0.052558355033397675 + ], + [ + 0.28078770637512207, + 0.03839755803346634, + 0.05348413437604904 + ], + [ + 0.29167747497558594, + 0.03300395980477333, + 0.054867763072252274 + ], + [ + 0.30531272292137146, + 0.029614659026265144, + 0.05141638219356537 + ], + [ + 0.3174947202205658, + 0.020691387355327606, + 0.051893074065446854 + ], + [ + 0.3270050287246704, + 0.013094281777739525, + 0.054740339517593384 + ], + [ + 0.3357512354850769, + 0.00993542093783617, + 0.05491655319929123 + ], + [ + 0.3465394675731659, + 0.008324612863361835, + 0.05464041233062744 + ], + [ + 0.35721829533576965, + -0.002451700158417225, + 0.0549115352332592 + ], + [ + 0.3650950491428375, + -0.011433636769652367, + 0.05766100436449051 + ], + [ + 0.3689376711845398, + -0.011563671752810478, + 0.06230419874191284 + ], + [ + 0.36308783292770386, + -0.009737774729728699, + 0.0635671317577362 + ], + [ + 0.3541715741157532, + -0.0022923259530216455, + 0.08668462187051773 + ], + [ + 0.33232787251472473, + 0.011089363135397434, + 0.09692633152008057 + ], + [ + 0.3173888027667999, + 0.03241859748959541, + 0.1103806123137474 + ], + [ + 0.2972610294818878, + 0.05955403670668602, + 0.11358829587697983 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9904738689038676, + 0.05352199190061871, + 0.1268736040380135, + 0.05637336736791852, + -0.998229173124167, + -0.018988453740200313, + 0.12563263298286093, + 0.02595985953028508, + -0.9917371260686785 + ], + [ + 0.9946814321943842, + 0.04045063246037652, + 0.09472378149801841, + 0.04153003410431152, + -0.9990925563494775, + -0.009450931930818243, + 0.09425552883000299, + 0.013334548384619982, + -0.9954587309900671 + ], + [ + 0.9984102010439551, + 0.022498705522492737, + 0.05168054470670264, + 0.021404453914611266, + -0.9995368845077968, + 0.021630207143359875, + 0.052143262306712436, + -0.020489625625167703, + -0.9984293943177724 + ], + [ + 0.9962648115872775, + -0.04140388049458589, + 0.0757769349667625, + -0.04484501191458709, + -0.9980118094923149, + 0.04428716541229983, + 0.07379261547978527, + -0.047519962056654826, + -0.9961408048598286 + ], + [ + 0.9938344887951875, + -0.0816084571172236, + 0.07505377144524203, + -0.08948676263887133, + -0.9900698437940779, + 0.10841505302302215, + 0.06546089056545637, + -0.11446293782931083, + -0.991268433709992 + ], + [ + 0.9862628461624062, + -0.16124980410680792, + 0.03583432649214189, + -0.1649272112522092, + -0.9733622661718099, + 0.15926366120822238, + 0.009198547069972874, + -0.16298588732891678, + -0.9865855194879999 + ], + [ + 0.9589197925361411, + -0.2836305077983455, + 0.00515427283880146, + -0.27999151802115646, + -0.9433848858179382, + 0.1778474263139167, + -0.04558049274253781, + -0.1719845698204589, + -0.9840445754258387 + ], + [ + 0.9183456127741975, + -0.3952000797452512, + 0.021406365121879916, + -0.392934416378931, + -0.9039362314738429, + 0.16882486148022233, + -0.0473696097021396, + -0.16345086845353393, + -0.9854135850892521 + ], + [ + 0.8848773056404099, + -0.46500261846334906, + 0.02765354922605286, + -0.4628921396483356, + -0.8711066927694999, + 0.1640243788708555, + -0.05218257385712677, + -0.15794206100470257, + -0.9860686002257817 + ], + [ + 0.8601504643812632, + -0.5073678196944839, + 0.05214474243069136, + -0.5091579945435162, + -0.8481519604462645, + 0.14627504429526927, + -0.029988584780248427, + -0.15236845975996471, + -0.9878686842152928 + ], + [ + 0.8492414875409335, + -0.522922309444359, + 0.0730832000164214, + -0.5280046361069229, + -0.8410695554241344, + 0.11752917590217521, + 9.426456926892035e-06, + -0.13839892060282338, + -0.9903765640841442 + ], + [ + 0.8438624999659247, + -0.5291939030452865, + 0.08859962827775178, + -0.5357234180202372, + -0.8401960735562687, + 0.08408910372541381, + 0.029941618793480316, + -0.1184245369859013, + -0.9925115256276377 + ], + [ + 0.8553713542648268, + -0.5062809041723109, + 0.10963344550648567, + -0.5145320643098505, + -0.85487572778256, + 0.06666516965614062, + 0.0599716691463552, + -0.11343339948492102, + -0.9917339677459346 + ], + [ + 0.8654785578056694, + -0.4860245456281456, + 0.12135488051814251, + -0.4956785462124957, + -0.8659076762191851, + 0.06713177406681062, + 0.0724544325992887, + -0.1182541217533033, + -0.990336467007587 + ], + [ + 0.878998109395724, + -0.457227714430795, + 0.1352964923238359, + -0.4694338155702884, + -0.8795721505877058, + 0.0773610025118495, + 0.08363143235568142, + -0.1315129235737281, + -0.9877804080134549 + ], + [ + 0.8798273925369502, + -0.45426472143128727, + 0.13981173843632097, + -0.46699378908931655, + -0.880948739722362, + 0.07645991716961861, + 0.08843393180015338, + -0.1325627430484787, + -0.9872216361394379 + ], + [ + 0.8888571987408161, + -0.4311039201821856, + 0.1551846972165128, + -0.4464010693691164, + -0.891132281342118, + 0.08129786230954313, + 0.10324226611586129, + -0.14153680494325094, + -0.9845345942798138 + ], + [ + 0.8914144324300248, + -0.422076798358884, + 0.16501965320097792, + -0.4365143127407286, + -0.897535377499778, + 0.06233378625449276, + 0.12180133179873882, + -0.12759867720100138, + -0.9843185526792678 + ], + [ + 0.8829557815607241, + -0.4346828175232992, + 0.17731310148575452, + -0.4498622381278259, + -0.8914115036243973, + 0.05485889091765162, + 0.13421272113743365, + -0.12820444358951744, + -0.9826243260416404 + ], + [ + 0.8733493364405115, + -0.44680334961563395, + 0.19397861560277077, + -0.4646863028998742, + -0.8836529347723263, + 0.05678142975921763, + 0.1460396399480781, + -0.13972922972844365, + -0.9793611008832908 + ], + [ + 0.8729662413668188, + -0.44938356798794443, + 0.18969541443143503, + -0.4658111988834318, + -0.8834232187926789, + 0.05082660221540306, + 0.1447406937549677, + -0.13273215631642302, + -0.9805265454086001 + ], + [ + 0.8747748409801861, + -0.4446309308031509, + 0.1925417174567997, + -0.46024560057992076, + -0.8867338268075317, + 0.0433255991545277, + 0.1514693524608806, + -0.12651662249836743, + -0.9803318721212155 + ], + [ + 0.8634407360539404, + -0.4648404255974134, + 0.19594252742333707, + -0.4783651862713327, + -0.8777889610814161, + 0.025559506395887034, + 0.16011509574747396, + -0.11580120264498045, + -0.9802822234335138 + ], + [ + 0.8581165523505586, + -0.4776486296966937, + 0.188381976661415, + -0.4914235837785364, + -0.8703417650145829, + 0.03175017129970129, + 0.1487912762504943, + -0.11982069362247649, + -0.9815824761534702 + ], + [ + 0.8517937521368638, + -0.4852594308469262, + 0.19740995059702715, + -0.5002846252999263, + -0.8652813740118381, + 0.03167708125282606, + 0.15544355087656647, + -0.1257435030619997, + -0.9798091007581944 + ], + [ + 0.8628144233196541, + -0.46880493237954124, + 0.18913806144768067, + -0.4840617223985476, + -0.8740355920308365, + 0.04178555697674285, + 0.1457241223000649, + -0.12760767704146556, + -0.981061038335514 + ], + [ + 0.8741663862918798, + -0.43459780212570315, + 0.21669766834210366, + -0.45831068224372534, + -0.8858529812585261, + 0.07222059357740454, + 0.16057536429567018, + -0.1624476715219083, + -0.9735637146065085 + ], + [ + 0.9091344182709826, + -0.37963172775578236, + 0.17133114368450755, + -0.398600446152674, + -0.9123411680421201, + 0.09354826253025302, + 0.12079856721820445, + -0.15334061554819534, + -0.980762133129807 + ], + [ + 0.9487449611429302, + -0.28690472697687114, + 0.13254688357040723, + -0.30089214464093733, + -0.948281754215941, + 0.101121866648689, + 0.09667944972576815, + -0.13582117750728345, + -0.9860049146638458 + ], + [ + 0.9841396378260089, + -0.13044824365409238, + 0.12021825563222371, + -0.14290324023888937, + -0.984512669255241, + 0.10155524607398049, + 0.10510869226147956, + -0.11712412135629026, + -0.9875394184576121 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0037894248962402344, + 0.0011241734027862549, + -0.009220220148563385, + 0.012775594368577003, + 0.031569838523864746, + -0.015126354992389679, + 1.0 + ], + [ + -0.011440396308898926, + 0.029730916023254395, + -0.010125041007995605, + 0.03391355648636818, + 0.042228732258081436, + -0.020292606204748154, + 1.0 + ], + [ + -0.01665586233139038, + 0.013957243412733078, + 0.0019413754343986511, + 0.02714894711971283, + -0.021692831069231033, + -0.06641803681850433, + 1.0 + ], + [ + -0.021840140223503113, + 0.023751331493258476, + 0.008087120950222015, + 0.06729410588741302, + 0.008352018892765045, + -0.04481697455048561, + 1.0 + ], + [ + -0.013527646660804749, + 0.028713012114167213, + -0.00564219057559967, + 0.04876121133565903, + 0.0563090555369854, + -0.07589153200387955, + 1.0 + ], + [ + -0.0004616677761077881, + 0.016008511185646057, + -0.013294100761413574, + 0.009302303194999695, + 0.05479496717453003, + -0.11839744448661804, + 1.0 + ], + [ + -0.0001093745231628418, + 0.016921579837799072, + -0.00894070416688919, + -0.008651793003082275, + 0.001791052520275116, + -0.12021204829216003, + 1.0 + ], + [ + -0.0007973164319992065, + 0.013937670737504959, + -0.007035642862319946, + -0.005549326539039612, + 0.0048189423978328705, + -0.07766696810722351, + 1.0 + ], + [ + 0.000512346625328064, + 0.00655239075422287, + -0.005830846726894379, + -0.005790784955024719, + -0.022213203832507133, + -0.052504658699035645, + 1.0 + ], + [ + 0.0061222463846206665, + 0.0035873427987098694, + -0.011267073452472687, + -0.01418904960155487, + -0.03000250831246376, + -0.021776854991912842, + 1.0 + ], + [ + 0.006086409091949463, + -0.0029652491211891174, + -0.0081242136657238, + -0.020087994635105133, + -0.029936667531728745, + -0.009399592876434326, + 1.0 + ], + [ + 0.00894153118133545, + -0.0012854039669036865, + -0.0037957802414894104, + -0.004872649908065796, + -0.03006158210337162, + 0.024104654788970947, + 1.0 + ], + [ + 0.013750717043876648, + -0.010683394968509674, + -0.0007642209529876709, + 0.004961363971233368, + -0.012510299682617188, + 0.021423637866973877, + 1.0 + ], + [ + 0.016626715660095215, + -0.009472444653511047, + 0.0026666484773159027, + 0.013516098260879517, + -0.011211253702640533, + 0.02960112690925598, + 1.0 + ], + [ + 0.012880682945251465, + -0.010041438043117523, + 0.0009257793426513672, + 0.0011187642812728882, + -0.004820376634597778, + 0.0025529861450195312, + 1.0 + ], + [ + 0.010889768600463867, + -0.005393598228693008, + 0.0013836286962032318, + 0.009301677346229553, + -0.01487695425748825, + 0.02254512906074524, + 1.0 + ], + [ + 0.013635247945785522, + -0.0033893007785081863, + -0.003451380878686905, + -0.013869255781173706, + -0.0186779648065567, + 0.01005786657333374, + 1.0 + ], + [ + 0.012181997299194336, + -0.008923271670937538, + 0.000476691871881485, + 0.0008260160684585571, + -0.012514427304267883, + -0.015851885080337524, + 1.0 + ], + [ + 0.009510308504104614, + -0.007597105577588081, + 0.00284726545214653, + 0.011978819966316223, + -0.01194484531879425, + -0.017760872840881348, + 1.0 + ], + [ + 0.008746206760406494, + -0.0031588608399033546, + 0.00017621368169784546, + -0.007167071104049683, + 0.0013128966093063354, + -0.0011855065822601318, + 1.0 + ], + [ + 0.01078823208808899, + -0.0016108080744743347, + -0.00027614086866378784, + -0.006204873323440552, + -0.0068037062883377075, + 0.0058290064334869385, + 1.0 + ], + [ + 0.01067882776260376, + -0.01077631302177906, + 0.00027112290263175964, + -0.010759957134723663, + -0.008752644062042236, + -0.021593183279037476, + 1.0 + ], + [ + 0.007876753807067871, + -0.008981936611235142, + 0.002749469131231308, + 0.0038824230432510376, + 0.011461421847343445, + -0.01416081190109253, + 1.0 + ], + [ + 0.0038426220417022705, + -0.00013003498315811157, + 0.004643194377422333, + 0.006169073283672333, + -0.006730616092681885, + -0.010965049266815186, + 1.0 + ], + [ + -0.0058498382568359375, + 0.0018258970230817795, + 0.0012629330158233643, + 0.0017078816890716553, + 0.00983157753944397, + 0.01978236436843872, + 1.0 + ], + [ + -0.008916258811950684, + 0.007445449009537697, + 0.023117490112781525, + 0.035990700125694275, + -0.015028685331344604, + 0.028384536504745483, + 1.0 + ], + [ + -0.021843701601028442, + 0.013381688855588436, + 0.010241709649562836, + -0.01024278998374939, + 0.04017925262451172, + 0.06968611478805542, + 1.0 + ], + [ + -0.014939069747924805, + 0.021329235285520554, + 0.01345428079366684, + -0.018205299973487854, + 0.02426360547542572, + 0.10608541965484619, + 1.0 + ], + [ + -0.02012777328491211, + 0.027135439217090607, + 0.003207683563232422, + -0.018837004899978638, + -0.0084725022315979, + 0.16291488707065582, + 1.0 + ], + [ + -0.01180306077003479, + 0.029937919229269028, + 0.00800468772649765, + -0.020118527114391327, + -0.02970127761363983, + 0.12698665261268616, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2806994616985321, + -0.0803145095705986, + 0.11468302458524704 + ], + [ + 0.2692590653896332, + -0.05058359354734421, + 0.10455798357725143 + ], + [ + 0.2526032030582428, + -0.03662635013461113, + 0.10649935901165009 + ], + [ + 0.23076306283473969, + -0.012875018641352654, + 0.1145864799618721 + ], + [ + 0.21723541617393494, + 0.01583799347281456, + 0.10894428938627243 + ], + [ + 0.21677374839782715, + 0.03184650465846062, + 0.09565018862485886 + ], + [ + 0.2166643738746643, + 0.04876808449625969, + 0.08670948445796967 + ], + [ + 0.2158670574426651, + 0.06270575523376465, + 0.07967384159564972 + ], + [ + 0.21637940406799316, + 0.06925814598798752, + 0.07384299486875534 + ], + [ + 0.22250165045261383, + 0.07284548878669739, + 0.06257592141628265 + ], + [ + 0.2285880595445633, + 0.06988023966550827, + 0.05445170775055885 + ], + [ + 0.23752959072589874, + 0.06859483569860458, + 0.05065592750906944 + ], + [ + 0.2512803077697754, + 0.05791144073009491, + 0.04989170655608177 + ], + [ + 0.2679070234298706, + 0.04843899607658386, + 0.052558355033397675 + ], + [ + 0.28078770637512207, + 0.03839755803346634, + 0.05348413437604904 + ], + [ + 0.29167747497558594, + 0.03300395980477333, + 0.054867763072252274 + ], + [ + 0.30531272292137146, + 0.029614659026265144, + 0.05141638219356537 + ], + [ + 0.3174947202205658, + 0.020691387355327606, + 0.051893074065446854 + ], + [ + 0.3270050287246704, + 0.013094281777739525, + 0.054740339517593384 + ], + [ + 0.3357512354850769, + 0.00993542093783617, + 0.05491655319929123 + ], + [ + 0.3465394675731659, + 0.008324612863361835, + 0.05464041233062744 + ], + [ + 0.35721829533576965, + -0.002451700158417225, + 0.0549115352332592 + ], + [ + 0.3650950491428375, + -0.011433636769652367, + 0.05766100436449051 + ], + [ + 0.3689376711845398, + -0.011563671752810478, + 0.06230419874191284 + ], + [ + 0.36308783292770386, + -0.009737774729728699, + 0.0635671317577362 + ], + [ + 0.3541715741157532, + -0.0022923259530216455, + 0.08668462187051773 + ], + [ + 0.33232787251472473, + 0.011089363135397434, + 0.09692633152008057 + ], + [ + 0.3173888027667999, + 0.03241859748959541, + 0.1103806123137474 + ], + [ + 0.2972610294818878, + 0.05955403670668602, + 0.11358829587697983 + ], + [ + 0.285457968711853, + 0.08949195593595505, + 0.12159298360347748 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9946814321943842, + 0.04045063246037652, + 0.09472378149801841, + 0.04153003410431152, + -0.9990925563494775, + -0.009450931930818243, + 0.09425552883000299, + 0.013334548384619982, + -0.9954587309900671 + ], + [ + 0.9984102010439551, + 0.022498705522492737, + 0.05168054470670264, + 0.021404453914611266, + -0.9995368845077968, + 0.021630207143359875, + 0.052143262306712436, + -0.020489625625167703, + -0.9984293943177724 + ], + [ + 0.9962648115872775, + -0.04140388049458589, + 0.0757769349667625, + -0.04484501191458709, + -0.9980118094923149, + 0.04428716541229983, + 0.07379261547978527, + -0.047519962056654826, + -0.9961408048598286 + ], + [ + 0.9938344887951875, + -0.0816084571172236, + 0.07505377144524203, + -0.08948676263887133, + -0.9900698437940779, + 0.10841505302302215, + 0.06546089056545637, + -0.11446293782931083, + -0.991268433709992 + ], + [ + 0.9862628461624062, + -0.16124980410680792, + 0.03583432649214189, + -0.1649272112522092, + -0.9733622661718099, + 0.15926366120822238, + 0.009198547069972874, + -0.16298588732891678, + -0.9865855194879999 + ], + [ + 0.9589197925361411, + -0.2836305077983455, + 0.00515427283880146, + -0.27999151802115646, + -0.9433848858179382, + 0.1778474263139167, + -0.04558049274253781, + -0.1719845698204589, + -0.9840445754258387 + ], + [ + 0.9183456127741975, + -0.3952000797452512, + 0.021406365121879916, + -0.392934416378931, + -0.9039362314738429, + 0.16882486148022233, + -0.0473696097021396, + -0.16345086845353393, + -0.9854135850892521 + ], + [ + 0.8848773056404099, + -0.46500261846334906, + 0.02765354922605286, + -0.4628921396483356, + -0.8711066927694999, + 0.1640243788708555, + -0.05218257385712677, + -0.15794206100470257, + -0.9860686002257817 + ], + [ + 0.8601504643812632, + -0.5073678196944839, + 0.05214474243069136, + -0.5091579945435162, + -0.8481519604462645, + 0.14627504429526927, + -0.029988584780248427, + -0.15236845975996471, + -0.9878686842152928 + ], + [ + 0.8492414875409335, + -0.522922309444359, + 0.0730832000164214, + -0.5280046361069229, + -0.8410695554241344, + 0.11752917590217521, + 9.426456926892035e-06, + -0.13839892060282338, + -0.9903765640841442 + ], + [ + 0.8438624999659247, + -0.5291939030452865, + 0.08859962827775178, + -0.5357234180202372, + -0.8401960735562687, + 0.08408910372541381, + 0.029941618793480316, + -0.1184245369859013, + -0.9925115256276377 + ], + [ + 0.8553713542648268, + -0.5062809041723109, + 0.10963344550648567, + -0.5145320643098505, + -0.85487572778256, + 0.06666516965614062, + 0.0599716691463552, + -0.11343339948492102, + -0.9917339677459346 + ], + [ + 0.8654785578056694, + -0.4860245456281456, + 0.12135488051814251, + -0.4956785462124957, + -0.8659076762191851, + 0.06713177406681062, + 0.0724544325992887, + -0.1182541217533033, + -0.990336467007587 + ], + [ + 0.878998109395724, + -0.457227714430795, + 0.1352964923238359, + -0.4694338155702884, + -0.8795721505877058, + 0.0773610025118495, + 0.08363143235568142, + -0.1315129235737281, + -0.9877804080134549 + ], + [ + 0.8798273925369502, + -0.45426472143128727, + 0.13981173843632097, + -0.46699378908931655, + -0.880948739722362, + 0.07645991716961861, + 0.08843393180015338, + -0.1325627430484787, + -0.9872216361394379 + ], + [ + 0.8888571987408161, + -0.4311039201821856, + 0.1551846972165128, + -0.4464010693691164, + -0.891132281342118, + 0.08129786230954313, + 0.10324226611586129, + -0.14153680494325094, + -0.9845345942798138 + ], + [ + 0.8914144324300248, + -0.422076798358884, + 0.16501965320097792, + -0.4365143127407286, + -0.897535377499778, + 0.06233378625449276, + 0.12180133179873882, + -0.12759867720100138, + -0.9843185526792678 + ], + [ + 0.8829557815607241, + -0.4346828175232992, + 0.17731310148575452, + -0.4498622381278259, + -0.8914115036243973, + 0.05485889091765162, + 0.13421272113743365, + -0.12820444358951744, + -0.9826243260416404 + ], + [ + 0.8733493364405115, + -0.44680334961563395, + 0.19397861560277077, + -0.4646863028998742, + -0.8836529347723263, + 0.05678142975921763, + 0.1460396399480781, + -0.13972922972844365, + -0.9793611008832908 + ], + [ + 0.8729662413668188, + -0.44938356798794443, + 0.18969541443143503, + -0.4658111988834318, + -0.8834232187926789, + 0.05082660221540306, + 0.1447406937549677, + -0.13273215631642302, + -0.9805265454086001 + ], + [ + 0.8747748409801861, + -0.4446309308031509, + 0.1925417174567997, + -0.46024560057992076, + -0.8867338268075317, + 0.0433255991545277, + 0.1514693524608806, + -0.12651662249836743, + -0.9803318721212155 + ], + [ + 0.8634407360539404, + -0.4648404255974134, + 0.19594252742333707, + -0.4783651862713327, + -0.8777889610814161, + 0.025559506395887034, + 0.16011509574747396, + -0.11580120264498045, + -0.9802822234335138 + ], + [ + 0.8581165523505586, + -0.4776486296966937, + 0.188381976661415, + -0.4914235837785364, + -0.8703417650145829, + 0.03175017129970129, + 0.1487912762504943, + -0.11982069362247649, + -0.9815824761534702 + ], + [ + 0.8517937521368638, + -0.4852594308469262, + 0.19740995059702715, + -0.5002846252999263, + -0.8652813740118381, + 0.03167708125282606, + 0.15544355087656647, + -0.1257435030619997, + -0.9798091007581944 + ], + [ + 0.8628144233196541, + -0.46880493237954124, + 0.18913806144768067, + -0.4840617223985476, + -0.8740355920308365, + 0.04178555697674285, + 0.1457241223000649, + -0.12760767704146556, + -0.981061038335514 + ], + [ + 0.8741663862918798, + -0.43459780212570315, + 0.21669766834210366, + -0.45831068224372534, + -0.8858529812585261, + 0.07222059357740454, + 0.16057536429567018, + -0.1624476715219083, + -0.9735637146065085 + ], + [ + 0.9091344182709826, + -0.37963172775578236, + 0.17133114368450755, + -0.398600446152674, + -0.9123411680421201, + 0.09354826253025302, + 0.12079856721820445, + -0.15334061554819534, + -0.980762133129807 + ], + [ + 0.9487449611429302, + -0.28690472697687114, + 0.13254688357040723, + -0.30089214464093733, + -0.948281754215941, + 0.101121866648689, + 0.09667944972576815, + -0.13582117750728345, + -0.9860049146638458 + ], + [ + 0.9841396378260089, + -0.13044824365409238, + 0.12021825563222371, + -0.14290324023888937, + -0.984512669255241, + 0.10155524607398049, + 0.10510869226147956, + -0.11712412135629026, + -0.9875394184576121 + ], + [ + 0.9907539574908463, + -0.003970344937805276, + 0.13561280204059312, + -0.017054326916248166, + -0.995287581877404, + 0.09545564045180104, + 0.13459474599574822, + -0.09688583860247392, + -0.9861528221470723 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006427.json b/json/chunk-0006/episode_0006427.json new file mode 100644 index 0000000000000000000000000000000000000000..b9a1287382071be409e19229aa8e2dc9cdccbc3b --- /dev/null +++ b/json/chunk-0006/episode_0006427.json @@ -0,0 +1,2542 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 41, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the block from the red arch and put it on top of the cube." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006427.mp4", + "start": 0, + "end": 41, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2815125584602356, + 0.008203431032598019, + 0.11534057557582855, + 0.023116709664463997, + 0.08898072689771652, + 0.09572315961122513, + 0.0, + 0.9988223910331726 + ], + [ + 0.2788762152194977, + 0.007444846909493208, + 0.10612643510103226, + 0.02151712216436863, + 0.12448770552873611, + 0.09719271957874298, + 0.0, + 0.9988223910331726 + ], + [ + 0.2790347933769226, + 0.021013256162405014, + 0.10595254600048065, + 0.004350636154413223, + 0.12264174968004227, + 0.11071374267339706, + 0.0, + 0.9988223910331726 + ], + [ + 0.28262627124786377, + 0.04428231716156006, + 0.11191295087337494, + -0.008476577699184418, + 0.10115333646535873, + 0.1491299420595169, + 0.0, + 0.9988223910331726 + ], + [ + 0.2839615046977997, + 0.052302468568086624, + 0.10926627367734909, + -0.016373375430703163, + 0.11139824241399765, + 0.14850027859210968, + 0.0, + 0.9988223910331726 + ], + [ + 0.2862677574157715, + 0.0609249547123909, + 0.104519784450531, + -0.026486650109291077, + 0.12111257761716843, + 0.14823894202709198, + 0.0, + 0.9988223910331726 + ], + [ + 0.2898721694946289, + 0.07252942770719528, + 0.09037293493747711, + -0.038650911301374435, + 0.13613709807395935, + 0.1483672708272934, + 0.0, + 0.9988223910331726 + ], + [ + 0.29549896717071533, + 0.08200772851705551, + 0.0777883231639862, + -0.0661841407418251, + 0.18425044417381287, + 0.15218685567378998, + 0.0, + 0.9988223910331726 + ], + [ + 0.29952147603034973, + 0.08897984027862549, + 0.07607448846101761, + -0.0796966403722763, + 0.18623603880405426, + 0.16184933483600616, + 0.0, + 0.9988223910331726 + ], + [ + 0.30235761404037476, + 0.09071660786867142, + 0.07234577089548111, + -0.09554779529571533, + 0.1925685703754425, + 0.16478386521339417, + 0.0, + 0.9988223910331726 + ], + [ + 0.3004872500896454, + 0.09186898916959763, + 0.06584252417087555, + -0.10070517659187317, + 0.21505875885486603, + 0.17045678198337555, + 0.0, + 0.9988223910331726 + ], + [ + 0.30192768573760986, + 0.09159727394580841, + 0.06135137006640434, + -0.10413311421871185, + 0.2269468456506729, + 0.16877302527427673, + 0.0, + 0.9988223910331726 + ], + [ + 0.3016667068004608, + 0.09028322994709015, + 0.05409088730812073, + -0.11727971583604813, + 0.24498838186264038, + 0.17097821831703186, + 0.0, + 0.9988223910331726 + ], + [ + 0.302534282207489, + 0.08934584259986877, + 0.05405247583985329, + -0.12351471930742264, + 0.24093078076839447, + 0.1733705699443817, + 0.0, + 0.9988223910331726 + ], + [ + 0.30478426814079285, + 0.08991199731826782, + 0.05386316403746605, + -0.11898893117904663, + 0.2288704365491867, + 0.18943466246128082, + 0.0, + 0.9665181636810303 + ], + [ + 0.3039632737636566, + 0.09087102860212326, + 0.053496748208999634, + -0.10402494668960571, + 0.2351493090391159, + 0.22333629429340363, + 0.0, + 0.6821943521499634 + ], + [ + 0.30066701769828796, + 0.09086506813764572, + 0.05121786892414093, + -0.10956744104623795, + 0.23376482725143433, + 0.24286489188671112, + 0.0, + 0.5110665559768677 + ], + [ + 0.2995002865791321, + 0.09120643138885498, + 0.05162045732140541, + -0.11010900139808655, + 0.2388601452112198, + 0.2521243095397949, + 0.0, + 0.5110665559768677 + ], + [ + 0.29599690437316895, + 0.09136926382780075, + 0.0532727986574173, + -0.09578102082014084, + 0.25945037603378296, + 0.2553228735923767, + 0.0, + 0.5100988745689392 + ], + [ + 0.29801782965660095, + 0.08545961230993271, + 0.06896153837442398, + -0.07025355845689774, + 0.23162053525447845, + 0.23597778379917145, + 0.0, + 0.5100988745689392 + ], + [ + 0.3019198477268219, + 0.06264924257993698, + 0.07873783260583878, + -0.060795269906520844, + 0.22659477591514587, + 0.1658894419670105, + 0.0, + 0.5100988745689392 + ], + [ + 0.30576005578041077, + 0.04098419100046158, + 0.08215881884098053, + -0.06807158142328262, + 0.21676471829414368, + 0.09689243137836456, + 0.0, + 0.5100988745689392 + ], + [ + 0.3136001527309418, + 0.009948580525815487, + 0.08722969889640808, + -0.07838109135627747, + 0.20135480165481567, + 0.013559820130467415, + 0.0, + 0.5100988745689392 + ], + [ + 0.3169267475605011, + -0.018482044339179993, + 0.08424265682697296, + -0.07961560040712357, + 0.20234571397304535, + -0.03416180610656738, + 0.0, + 0.5100988745689392 + ], + [ + 0.3220296800136566, + -0.04490754380822182, + 0.07985668629407883, + -0.08461064100265503, + 0.21770089864730835, + -0.09006600826978683, + 0.0, + 0.5100988745689392 + ], + [ + 0.3225712478160858, + -0.05708562955260277, + 0.07876967638731003, + -0.10066331177949905, + 0.20523075759410858, + -0.10133614391088486, + 0.0, + 0.5100988745689392 + ], + [ + 0.3215344250202179, + -0.06114084646105766, + 0.060915764421224594, + -0.1325141340494156, + 0.24165727198123932, + -0.11286012083292007, + 0.0, + 0.5100988745689392 + ], + [ + 0.3188636600971222, + -0.060149237513542175, + 0.05612090602517128, + -0.14413127303123474, + 0.2519706189632416, + -0.10553690046072006, + 0.0, + 0.5100988745689392 + ], + [ + 0.3194435238838196, + -0.05817024037241936, + 0.05627784505486488, + -0.1490609496831894, + 0.24760711193084717, + -0.10608331859111786, + 0.0, + 0.5110665559768677 + ], + [ + 0.3188907206058502, + -0.05812748149037361, + 0.055904120206832886, + -0.15083932876586914, + 0.25125592947006226, + -0.11281758546829224, + 0.0, + 0.5100988745689392 + ], + [ + 0.3152122497558594, + -0.057495273649692535, + 0.05337662622332573, + -0.14869333803653717, + 0.2655249238014221, + -0.11005417257547379, + 0.0, + 0.5110665559768677 + ], + [ + 0.30643507838249207, + -0.05317247658967972, + 0.051068518310785294, + -0.14416135847568512, + 0.2846740782260895, + -0.0959213376045227, + 0.0, + 0.5100988745689392 + ], + [ + 0.30305254459381104, + -0.04357710853219032, + 0.0531255267560482, + -0.1426098495721817, + 0.27517929673194885, + -0.06826233863830566, + 0.0, + 0.5100988745689392 + ], + [ + 0.30275142192840576, + -0.043091386556625366, + 0.05317653715610504, + -0.15679208934307098, + 0.27659228444099426, + -0.06873636692762375, + 0.0, + 0.5660048723220825 + ], + [ + 0.3041708767414093, + -0.042520083487033844, + 0.05508572235703468, + -0.15644828975200653, + 0.2747291922569275, + -0.07038135826587677, + 0.0, + 0.8687413334846497 + ], + [ + 0.3042079210281372, + -0.04183925688266754, + 0.05627033859491348, + -0.14502884447574615, + 0.2757124900817871, + -0.056932855397462845, + 0.0, + 1.00800359249115 + ], + [ + 0.30682963132858276, + -0.037771791219711304, + 0.07589827477931976, + -0.12601207196712494, + 0.21744082868099213, + -0.030013617128133774, + 0.0, + 1.0008161067962646 + ], + [ + 0.305692195892334, + -0.024144699797034264, + 0.10319414734840393, + -0.10200449824333191, + 0.1547909826040268, + 0.01690780743956566, + 0.0, + 1.0001531839370728 + ], + [ + 0.29709261655807495, + -0.0042603653855621815, + 0.11706198006868362, + -0.0795440673828125, + 0.13725383579730988, + 0.0667237788438797, + 0.0, + 1.0001531839370728 + ], + [ + 0.2870073616504669, + 0.013849190436303616, + 0.11368799954652786, + -0.05044444277882576, + 0.1696995347738266, + 0.1017933338880539, + 0.0, + 1.0001531839370728 + ], + [ + 0.2817821204662323, + 0.026641283184289932, + 0.10461468249559402, + 0.008219705894589424, + 0.17315305769443512, + 0.15148711204528809, + 0.0, + 1.0001531839370728 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9665181636810303 + ], + [ + 0.6821943521499634 + ], + [ + 0.5110665559768677 + ], + [ + 0.5110665559768677 + ], + [ + 0.5100988745689392 + ], + [ + 0.5100988745689392 + ], + [ + 0.5100988745689392 + ], + [ + 0.5100988745689392 + ], + [ + 0.5100988745689392 + ], + [ + 0.5100988745689392 + ], + [ + 0.5100988745689392 + ], + [ + 0.5100988745689392 + ], + [ + 0.5100988745689392 + ], + [ + 0.5100988745689392 + ], + [ + 0.5110665559768677 + ], + [ + 0.5100988745689392 + ], + [ + 0.5110665559768677 + ], + [ + 0.5100988745689392 + ], + [ + 0.5100988745689392 + ], + [ + 0.5660048723220825 + ], + [ + 0.8687413334846497 + ], + [ + 1.00800359249115 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2815125584602356, + 0.008203431032598019, + 0.11534057557582855 + ], + [ + 0.2788762152194977, + 0.007444846909493208, + 0.10612643510103226 + ], + [ + 0.2790347933769226, + 0.021013256162405014, + 0.10595254600048065 + ], + [ + 0.28262627124786377, + 0.04428231716156006, + 0.11191295087337494 + ], + [ + 0.2839615046977997, + 0.052302468568086624, + 0.10926627367734909 + ], + [ + 0.2862677574157715, + 0.0609249547123909, + 0.104519784450531 + ], + [ + 0.2898721694946289, + 0.07252942770719528, + 0.09037293493747711 + ], + [ + 0.29549896717071533, + 0.08200772851705551, + 0.0777883231639862 + ], + [ + 0.29952147603034973, + 0.08897984027862549, + 0.07607448846101761 + ], + [ + 0.30235761404037476, + 0.09071660786867142, + 0.07234577089548111 + ], + [ + 0.3004872500896454, + 0.09186898916959763, + 0.06584252417087555 + ], + [ + 0.30192768573760986, + 0.09159727394580841, + 0.06135137006640434 + ], + [ + 0.3016667068004608, + 0.09028322994709015, + 0.05409088730812073 + ], + [ + 0.302534282207489, + 0.08934584259986877, + 0.05405247583985329 + ], + [ + 0.30478426814079285, + 0.08991199731826782, + 0.05386316403746605 + ], + [ + 0.3039632737636566, + 0.09087102860212326, + 0.053496748208999634 + ], + [ + 0.30066701769828796, + 0.09086506813764572, + 0.05121786892414093 + ], + [ + 0.2995002865791321, + 0.09120643138885498, + 0.05162045732140541 + ], + [ + 0.29599690437316895, + 0.09136926382780075, + 0.0532727986574173 + ], + [ + 0.29801782965660095, + 0.08545961230993271, + 0.06896153837442398 + ], + [ + 0.3019198477268219, + 0.06264924257993698, + 0.07873783260583878 + ], + [ + 0.30576005578041077, + 0.04098419100046158, + 0.08215881884098053 + ], + [ + 0.3136001527309418, + 0.009948580525815487, + 0.08722969889640808 + ], + [ + 0.3169267475605011, + -0.018482044339179993, + 0.08424265682697296 + ], + [ + 0.3220296800136566, + -0.04490754380822182, + 0.07985668629407883 + ], + [ + 0.3225712478160858, + -0.05708562955260277, + 0.07876967638731003 + ], + [ + 0.3215344250202179, + -0.06114084646105766, + 0.060915764421224594 + ], + [ + 0.3188636600971222, + -0.060149237513542175, + 0.05612090602517128 + ], + [ + 0.3194435238838196, + -0.05817024037241936, + 0.05627784505486488 + ], + [ + 0.3188907206058502, + -0.05812748149037361, + 0.055904120206832886 + ], + [ + 0.3152122497558594, + -0.057495273649692535, + 0.05337662622332573 + ], + [ + 0.30643507838249207, + -0.05317247658967972, + 0.051068518310785294 + ], + [ + 0.30305254459381104, + -0.04357710853219032, + 0.0531255267560482 + ], + [ + 0.30275142192840576, + -0.043091386556625366, + 0.05317653715610504 + ], + [ + 0.3041708767414093, + -0.042520083487033844, + 0.05508572235703468 + ], + [ + 0.3042079210281372, + -0.04183925688266754, + 0.05627033859491348 + ], + [ + 0.30682963132858276, + -0.037771791219711304, + 0.07589827477931976 + ], + [ + 0.305692195892334, + -0.024144699797034264, + 0.10319414734840393 + ], + [ + 0.29709261655807495, + -0.0042603653855621815, + 0.11706198006868362 + ], + [ + 0.2870073616504669, + 0.013849190436303616, + 0.11368799954652786 + ], + [ + 0.2817821204662323, + 0.026641283184289932, + 0.10461468249559402 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9914839732364054, + 0.09350686429966863, + -0.0906421377958059, + 0.0951989232055669, + -0.995352399076367, + 0.014517805392718002, + -0.08886335485368019, + -0.0230232052886563, + -0.9957777042002823 + ], + [ + 0.9875784340398185, + 0.09435841828832064, + -0.12563966538313717, + 0.09628881994446692, + -0.9953093542715767, + 0.009367627938786946, + -0.12416641966796979, + -0.021348962448414825, + -0.9920317142255152 + ], + [ + 0.9864124001809129, + 0.1099576832461093, + -0.12206508372372096, + 0.10965781997530402, + -0.9939268902941868, + -0.009192348361077532, + -0.12233453840839278, + -0.004317944566096636, + -0.9924795292937431 + ], + [ + 0.9838458210004686, + 0.14941891193036735, + -0.09859710572556844, + 0.14781831202759552, + -0.9887380192854901, + -0.02338537681368672, + -0.10098092458096332, + 0.008433147511507033, + -0.994852619684857 + ], + [ + 0.9828639299207013, + 0.14973533361201244, + -0.10750732593146389, + 0.1470380034233407, + -0.9885922208957164, + -0.032638111675655605, + -0.11116798464536595, + 0.0162711601483808, + -0.9936684198148361 + ], + [ + 0.9817878832711112, + 0.15080937797510002, + -0.11553823512930193, + 0.14661471595582204, + -0.9882132314012341, + -0.04403106118099066, + -0.12081670963581186, + 0.026289556829546038, + -0.9923266507932161 + ], + [ + 0.9798630487635507, + 0.15289979997873573, + -0.1284136162338784, + 0.14645582324275622, + -0.9874998756656747, + -0.05826394595771346, + -0.13571697574764083, + 0.038283765838007855, + -0.9900077049029338 + ], + [ + 0.971711400802749, + 0.16324484533151448, + -0.17066948767324897, + 0.1490340678914613, + -0.9844409515688111, + -0.09308522698053284, + -0.18320971632990068, + 0.06501640829039951, + -0.9809215394185885 + ], + [ + 0.9698650854627333, + 0.17518062949665428, + -0.16933240401506439, + 0.1583571727176131, + -0.9814229104838046, + -0.10831471103401509, + -0.18516134005037094, + 0.0782356557245741, + -0.9795889241534415 + ], + [ + 0.9682201205471042, + 0.181301766365657, + -0.17227729879599207, + 0.1610070120078814, + -0.9789593442681532, + -0.12536085654765297, + -0.19138061618681435, + 0.09363905052252514, + -0.977038989992311 + ], + [ + 0.9628050950795163, + 0.189916819030973, + -0.1921924835629128, + 0.16572484948596902, + -0.9768749198998007, + -0.1350950226085743, + -0.21340483394660198, + 0.09821910567661947, + -0.9720140863836844 + ], + [ + 0.9605138467307106, + 0.19011874137581056, + -0.20314530370217876, + 0.16366575670820896, + -0.9765230650792666, + -0.14005792890559138, + -0.22500371179094392, + 0.10127965020610998, + -0.9690798533322348 + ], + [ + 0.9559943336686523, + 0.19694421308957227, + -0.2174576071880642, + 0.16506583830582583, + -0.9738207442817427, + -0.15628956149067458, + -0.24254505358350278, + 0.11351711297016653, + -0.9634758751754472 + ], + [ + 0.9565582311903755, + 0.20014505665222337, + -0.2119865718379777, + 0.16752082961125486, + -0.9724338798790833, + -0.16220086593378386, + -0.23860662603602756, + 0.11964240703442364, + -0.9637180980197022 + ], + [ + 0.9565006263484465, + 0.21342270185258386, + -0.1988901760494287, + 0.18339335975398172, + -0.9700950597778105, + -0.15900456154724957, + -0.22687756035618922, + 0.11561282510443867, + -0.967036838635527 + ], + [ + 0.9483270052264945, + 0.24387904199364308, + -0.20297513156643426, + 0.21538893974579754, + -0.9645341341818932, + -0.15258279271650235, + -0.23298818809830174, + 0.10097978448307762, + -0.9672226151886761 + ], + [ + 0.9442524012285547, + 0.2636286339179943, + -0.1971987478475484, + 0.23394353780071417, + -0.9587410872977858, + -0.16151145051774332, + -0.23164158498722684, + 0.10637420225595957, + -0.9669677891217545 + ], + [ + 0.9408905767492797, + 0.273127666666118, + -0.20031525225486396, + 0.2423790260692399, + -0.9560345882124639, + -0.16507656969767492, + -0.23659528800492746, + 0.10676677312228999, + -0.9657243529345829 + ], + [ + 0.9351979321293893, + 0.27513985541970115, + -0.22294144455560383, + 0.24410500322688863, + -0.9569503865564717, + -0.1570309048213737, + -0.256549361995921, + 0.09243385542670277, + -0.9621010379531042 + ], + [ + 0.9463219557031002, + 0.24888429245838847, + -0.20623133884486902, + 0.22755047674252524, + -0.9661204974467783, + -0.12178655487137811, + -0.22955508421402757, + 0.06832125131082624, + -0.9708947779913196 + ], + [ + 0.9610598664981271, + 0.17828706249068738, + -0.21113421407968005, + 0.16090842950881956, + -0.9821957694245683, + -0.09695332814032745, + -0.2246606559226775, + 0.05920467779595198, + -0.9726368262653179 + ], + [ + 0.9720177376255024, + 0.11107716243459648, + -0.2069864288471069, + 0.09447700169235379, + -0.9915892709142837, + -0.08845797849206383, + -0.21507118331525302, + 0.06642726694029882, + -0.9743365970311385 + ], + [ + 0.9797064453487464, + 0.029176267018146615, + -0.19830286529702357, + 0.013285457449597264, + -0.9966257845354053, + -0.08099717414541545, + -0.1999969438828469, + 0.07671890928626153, + -0.9767883247640953 + ], + [ + 0.9790263065323485, + -0.018073026633295165, + -0.20293066999825385, + -0.033458323480964273, + -0.9967966534173864, + -0.07264277201306205, + -0.200967737976699, + 0.07790890478122997, + -0.9764948391304062 + ], + [ + 0.9724390691325921, + -0.07144364780754947, + -0.22194157342077458, + -0.08782129921250409, + -0.99402569328, + -0.06481003397502455, + -0.21598536114553246, + 0.0825150064362043, + -0.9729036938380221 + ], + [ + 0.9739915297798704, + -0.0802758880663597, + -0.21188742698004737, + -0.09903979181769855, + -0.9919053807797126, + -0.07946593746354544, + -0.20379308024016551, + 0.09838443665240185, + -0.9740579464645903 + ], + [ + 0.9647656179329255, + -0.08021497869633129, + -0.2505850347631455, + -0.10934822989983736, + -0.988487682531793, + -0.10457086640502145, + -0.23931207046923486, + 0.12828740653576112, + -0.962430295788768 + ], + [ + 0.963034839914224, + -0.06863856829749111, + -0.26048540084514377, + -0.10201474157378206, + -0.9878971077550238, + -0.1168430442555008, + -0.24931283483410766, + 0.1390972732706472, + -0.9583814788254474 + ], + [ + 0.9640515451080154, + -0.0685174847634477, + -0.2567293763022437, + -0.10265515885773922, + -0.987205671301394, + -0.12201180643796891, + -0.24508475418667042, + 0.14398026542569917, + -0.9587508260404288 + ], + [ + 0.9624433877022431, + -0.07417790160289238, + -0.2611519947885163, + -0.10904356066307412, + -0.9865662273412721, + -0.12164119757519608, + -0.2486206494765632, + 0.145549709664434, + -0.9576027645482499 + ], + [ + 0.9591170527432348, + -0.06997953606451371, + -0.27422134065263226, + -0.10598306571286764, + -0.9872522246369032, + -0.11874609354243212, + -0.2624158320666524, + 0.1429542216294485, + -0.9543070897772297 + ], + [ + 0.9553413231544828, + -0.05461943367300344, + -0.2904129365897506, + -0.09191970542692988, + -0.9889416875802897, + -0.11638344521483912, + -0.280844661739668, + 0.13788058612832121, + -0.9497974625893892 + ], + [ + 0.9601351497924169, + -0.028988184082339573, + -0.2780290979676432, + -0.06564306243997842, + -0.9901772649589211, + -0.12345028275371159, + -0.2717194922831154, + 0.136779637161672, + -0.9526068697901181 + ], + [ + 0.9597199372695715, + -0.02529902406716945, + -0.27981708559081675, + -0.06607175068510793, + -0.988329542791086, + -0.1372561059034086, + -0.2730790467404898, + 0.1502154260640749, + -0.950191117619868 + ], + [ + 0.9601157974607226, + -0.027299698219694562, + -0.27826674602523843, + -0.06768605259981791, + -0.9883139173842495, + -0.1365803755597924, + -0.27128629480645655, + 0.14996775380631955, + -0.9507436137405667 + ], + [ + 0.9606724355334566, + -0.01702515828777217, + -0.2771617137908726, + -0.05475299551836796, + -0.9901372275906494, + -0.12895883072077227, + -0.27223258638154046, + 0.13906262806512584, + -0.9521297203572832 + ], + [ + 0.9760129702604564, + -0.0026705033352200976, + -0.21769600431633554, + -0.029302478855718246, + -0.9924378088437404, + -0.11919966573084623, + -0.21573142241285018, + 0.12271945236747053, + -0.9687104259758726 + ], + [ + 0.9879025526926193, + 0.032516017506358436, + -0.15162867469226526, + 0.016704857988246346, + -0.9943944345133541, + -0.10440620828504094, + -0.15417358432299333, + 0.10061022420406895, + -0.9829079756938632 + ], + [ + 0.988391191650489, + 0.07731127417696344, + -0.1307892165006775, + 0.06604723987021603, + -0.9938949855335587, + -0.08837714544368175, + -0.13682329616426017, + 0.0787129253450913, + -0.9874632453971973 + ], + [ + 0.9805334436717186, + 0.1099600434292767, + -0.16267438240335277, + 0.10015794907400596, + -0.9926927132017955, + -0.06730202369428903, + -0.16888620748471292, + 0.04969875255063645, + -0.9843817770135432 + ], + [ + 0.9737654323033028, + 0.1495033503878111, + -0.17155066620092466, + 0.14865176057150298, + -0.9887280675999008, + -0.017873511662749454, + -0.17228910856509252, + -0.00809670074692633, + -0.9850131504233132 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.002636343240737915, + -0.0007585841231048107, + -0.009214140474796295, + -0.0015995875000953674, + 0.03550697863101959, + 0.0014695599675178528, + 1.0 + ], + [ + 0.00015857815742492676, + 0.013568408787250519, + -0.00017388910055160522, + -0.017166486009955406, + -0.0018459558486938477, + 0.013521023094654083, + 1.0 + ], + [ + 0.003591477870941162, + 0.023269060999155045, + 0.005960404872894287, + -0.012827213853597641, + -0.021488413214683533, + 0.03841619938611984, + 1.0 + ], + [ + 0.001335233449935913, + 0.008020151406526566, + -0.0026466771960258484, + -0.007896797731518745, + 0.010244905948638916, + -0.0006296634674072266, + 1.0 + ], + [ + 0.0023062527179718018, + 0.008622486144304276, + -0.004746489226818085, + -0.010113274678587914, + 0.009714335203170776, + -0.0002613365650177002, + 1.0 + ], + [ + 0.003604412078857422, + 0.011604472994804382, + -0.014146849513053894, + -0.012164261192083359, + 0.015024520456790924, + 0.00012832880020141602, + 1.0 + ], + [ + 0.005626797676086426, + 0.00947830080986023, + -0.012584611773490906, + -0.02753322944045067, + 0.048113346099853516, + 0.003819584846496582, + 1.0 + ], + [ + 0.004022508859634399, + 0.006972111761569977, + -0.0017138347029685974, + -0.013512499630451202, + 0.001985594630241394, + 0.009662479162216187, + 1.0 + ], + [ + 0.0028361380100250244, + 0.001736767590045929, + -0.003728717565536499, + -0.015851154923439026, + 0.006332531571388245, + 0.0029345303773880005, + 1.0 + ], + [ + -0.0018703639507293701, + 0.0011523813009262085, + -0.00650324672460556, + -0.005157381296157837, + 0.022490188479423523, + 0.005672916769981384, + 1.0 + ], + [ + 0.0014404356479644775, + -0.0002717152237892151, + -0.004491154104471207, + -0.003427937626838684, + 0.011888086795806885, + -0.001683756709098816, + 1.0 + ], + [ + -0.00026097893714904785, + -0.0013140439987182617, + -0.007260482758283615, + -0.013146601617336273, + 0.018041536211967468, + 0.002205193042755127, + 1.0 + ], + [ + 0.0008675754070281982, + -0.0009373873472213745, + -3.8411468267440796e-05, + -0.006235003471374512, + -0.004057601094245911, + 0.0023923516273498535, + 1.0 + ], + [ + 0.002249985933303833, + 0.0005661547183990479, + -0.00018931180238723755, + 0.004525788128376007, + -0.012060344219207764, + 0.01606409251689911, + 0.0 + ], + [ + -0.0008209943771362305, + 0.0009590312838554382, + -0.0003664158284664154, + 0.014963984489440918, + 0.006278872489929199, + 0.0339016318321228, + 0.0 + ], + [ + -0.0032962560653686523, + -5.9604644775390625e-06, + -0.0022788792848587036, + -0.005542494356632233, + -0.0013844817876815796, + 0.019528597593307495, + 0.0 + ], + [ + -0.0011667311191558838, + 0.00034136325120925903, + 0.0004025883972644806, + -0.0005415603518486023, + 0.005095317959785461, + 0.009259417653083801, + 0.0 + ], + [ + -0.0035033822059631348, + 0.00016283243894577026, + 0.0016523413360118866, + 0.01432798057794571, + 0.02059023082256317, + 0.003198564052581787, + 0.0 + ], + [ + 0.002020925283432007, + -0.005909651517868042, + 0.015688739717006683, + 0.025527462363243103, + -0.027829840779304504, + -0.01934508979320526, + 0.0 + ], + [ + 0.0039020180702209473, + -0.022810369729995728, + 0.009776294231414795, + 0.009458288550376892, + -0.005025759339332581, + -0.07008834183216095, + 0.0 + ], + [ + 0.003840208053588867, + -0.021665051579475403, + 0.003420986235141754, + -0.00727631151676178, + -0.009830057621002197, + -0.06899701058864594, + 0.0 + ], + [ + 0.007840096950531006, + -0.031035609543323517, + 0.005070880055427551, + -0.010309509932994843, + -0.015409916639328003, + -0.0833326131105423, + 0.0 + ], + [ + 0.003326594829559326, + -0.028430625796318054, + -0.0029870420694351196, + -0.0012345090508460999, + 0.0009909123182296753, + -0.04772162437438965, + 0.0 + ], + [ + 0.005102932453155518, + -0.026425499469041824, + -0.0043859705328941345, + -0.004995040595531464, + 0.015355184674263, + -0.05590420216321945, + 0.0 + ], + [ + 0.0005415678024291992, + -0.012178085744380951, + -0.0010870099067687988, + -0.016052670776844025, + -0.012470141053199768, + -0.011270135641098022, + 0.0 + ], + [ + -0.00103682279586792, + -0.004055216908454895, + -0.017853911966085434, + -0.031850822269916534, + 0.03642651438713074, + -0.011523976922035217, + 0.0 + ], + [ + -0.002670764923095703, + 0.0009916089475154877, + -0.004794858396053314, + -0.011617138981819153, + 0.010313346982002258, + 0.007323220372200012, + 0.0 + ], + [ + 0.0005798637866973877, + 0.001978997141122818, + 0.00015693902969360352, + -0.004929676651954651, + -0.004363507032394409, + -0.0005464181303977966, + 0.0 + ], + [ + -0.0005528032779693604, + 4.275888204574585e-05, + -0.0003737248480319977, + -0.0017783790826797485, + 0.003648817539215088, + -0.0067342668771743774, + 0.0 + ], + [ + -0.0036784708499908447, + 0.000632207840681076, + -0.0025274939835071564, + 0.00214599072933197, + 0.014268994331359863, + 0.002763412892818451, + 0.0 + ], + [ + -0.00877717137336731, + 0.004322797060012817, + -0.002308107912540436, + 0.004531979560852051, + 0.01914915442466736, + 0.01413283497095108, + 0.0 + ], + [ + -0.0033825337886810303, + 0.009595368057489395, + 0.002057008445262909, + 0.001551508903503418, + -0.009494781494140625, + 0.02765899896621704, + 0.0 + ], + [ + -0.00030112266540527344, + 0.00048572197556495667, + 5.101040005683899e-05, + -0.014182239770889282, + 0.0014129877090454102, + -0.0004740282893180847, + 1.0 + ], + [ + 0.00141945481300354, + 0.0005713030695915222, + 0.0019091852009296417, + 0.0003437995910644531, + -0.0018630921840667725, + -0.0016449913382530212, + 1.0 + ], + [ + 3.7044286727905273e-05, + 0.0006808266043663025, + 0.0011846162378787994, + 0.011419445276260376, + 0.0009832978248596191, + 0.013448502868413925, + 1.0 + ], + [ + 0.0026217103004455566, + 0.004067465662956238, + 0.01962793618440628, + 0.019016772508621216, + -0.05827166140079498, + 0.02691923826932907, + 1.0 + ], + [ + -0.0011374354362487793, + 0.01362709142267704, + 0.027295872569084167, + 0.02400757372379303, + -0.06264984607696533, + 0.04692142456769943, + 1.0 + ], + [ + -0.008599579334259033, + 0.01988433487713337, + 0.013867832720279694, + 0.02246043086051941, + -0.01753714680671692, + 0.04981597140431404, + 1.0 + ], + [ + -0.010085254907608032, + 0.018109556287527084, + -0.0033739805221557617, + 0.02909962460398674, + 0.032445698976516724, + 0.035069555044174194, + 1.0 + ], + [ + -0.005225241184234619, + 0.012792092747986317, + -0.009073317050933838, + 0.05866415053606033, + 0.0034535229206085205, + 0.04969377815723419, + 1.0 + ], + [ + -0.002278447151184082, + 0.006893530488014221, + -0.0014571696519851685, + 0.04825606942176819, + -0.03385107219219208, + 0.037943705916404724, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9665181636810303 + ], + [ + 0.6821943521499634 + ], + [ + 0.5110665559768677 + ], + [ + 0.5110665559768677 + ], + [ + 0.5100988745689392 + ], + [ + 0.5100988745689392 + ], + [ + 0.5100988745689392 + ], + [ + 0.5100988745689392 + ], + [ + 0.5100988745689392 + ], + [ + 0.5100988745689392 + ], + [ + 0.5100988745689392 + ], + [ + 0.5100988745689392 + ], + [ + 0.5100988745689392 + ], + [ + 0.5100988745689392 + ], + [ + 0.5110665559768677 + ], + [ + 0.5100988745689392 + ], + [ + 0.5110665559768677 + ], + [ + 0.5100988745689392 + ], + [ + 0.5100988745689392 + ], + [ + 0.5660048723220825 + ], + [ + 0.8687413334846497 + ], + [ + 1.00800359249115 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2788762152194977, + 0.007444846909493208, + 0.10612643510103226 + ], + [ + 0.2790347933769226, + 0.021013256162405014, + 0.10595254600048065 + ], + [ + 0.28262627124786377, + 0.04428231716156006, + 0.11191295087337494 + ], + [ + 0.2839615046977997, + 0.052302468568086624, + 0.10926627367734909 + ], + [ + 0.2862677574157715, + 0.0609249547123909, + 0.104519784450531 + ], + [ + 0.2898721694946289, + 0.07252942770719528, + 0.09037293493747711 + ], + [ + 0.29549896717071533, + 0.08200772851705551, + 0.0777883231639862 + ], + [ + 0.29952147603034973, + 0.08897984027862549, + 0.07607448846101761 + ], + [ + 0.30235761404037476, + 0.09071660786867142, + 0.07234577089548111 + ], + [ + 0.3004872500896454, + 0.09186898916959763, + 0.06584252417087555 + ], + [ + 0.30192768573760986, + 0.09159727394580841, + 0.06135137006640434 + ], + [ + 0.3016667068004608, + 0.09028322994709015, + 0.05409088730812073 + ], + [ + 0.302534282207489, + 0.08934584259986877, + 0.05405247583985329 + ], + [ + 0.30478426814079285, + 0.08991199731826782, + 0.05386316403746605 + ], + [ + 0.3039632737636566, + 0.09087102860212326, + 0.053496748208999634 + ], + [ + 0.30066701769828796, + 0.09086506813764572, + 0.05121786892414093 + ], + [ + 0.2995002865791321, + 0.09120643138885498, + 0.05162045732140541 + ], + [ + 0.29599690437316895, + 0.09136926382780075, + 0.0532727986574173 + ], + [ + 0.29801782965660095, + 0.08545961230993271, + 0.06896153837442398 + ], + [ + 0.3019198477268219, + 0.06264924257993698, + 0.07873783260583878 + ], + [ + 0.30576005578041077, + 0.04098419100046158, + 0.08215881884098053 + ], + [ + 0.3136001527309418, + 0.009948580525815487, + 0.08722969889640808 + ], + [ + 0.3169267475605011, + -0.018482044339179993, + 0.08424265682697296 + ], + [ + 0.3220296800136566, + -0.04490754380822182, + 0.07985668629407883 + ], + [ + 0.3225712478160858, + -0.05708562955260277, + 0.07876967638731003 + ], + [ + 0.3215344250202179, + -0.06114084646105766, + 0.060915764421224594 + ], + [ + 0.3188636600971222, + -0.060149237513542175, + 0.05612090602517128 + ], + [ + 0.3194435238838196, + -0.05817024037241936, + 0.05627784505486488 + ], + [ + 0.3188907206058502, + -0.05812748149037361, + 0.055904120206832886 + ], + [ + 0.3152122497558594, + -0.057495273649692535, + 0.05337662622332573 + ], + [ + 0.30643507838249207, + -0.05317247658967972, + 0.051068518310785294 + ], + [ + 0.30305254459381104, + -0.04357710853219032, + 0.0531255267560482 + ], + [ + 0.30275142192840576, + -0.043091386556625366, + 0.05317653715610504 + ], + [ + 0.3041708767414093, + -0.042520083487033844, + 0.05508572235703468 + ], + [ + 0.3042079210281372, + -0.04183925688266754, + 0.05627033859491348 + ], + [ + 0.30682963132858276, + -0.037771791219711304, + 0.07589827477931976 + ], + [ + 0.305692195892334, + -0.024144699797034264, + 0.10319414734840393 + ], + [ + 0.29709261655807495, + -0.0042603653855621815, + 0.11706198006868362 + ], + [ + 0.2870073616504669, + 0.013849190436303616, + 0.11368799954652786 + ], + [ + 0.2817821204662323, + 0.026641283184289932, + 0.10461468249559402 + ], + [ + 0.2795036733150482, + 0.03353481367230415, + 0.10315751284360886 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9875784340398185, + 0.09435841828832064, + -0.12563966538313717, + 0.09628881994446692, + -0.9953093542715767, + 0.009367627938786946, + -0.12416641966796979, + -0.021348962448414825, + -0.9920317142255152 + ], + [ + 0.9864124001809129, + 0.1099576832461093, + -0.12206508372372096, + 0.10965781997530402, + -0.9939268902941868, + -0.009192348361077532, + -0.12233453840839278, + -0.004317944566096636, + -0.9924795292937431 + ], + [ + 0.9838458210004686, + 0.14941891193036735, + -0.09859710572556844, + 0.14781831202759552, + -0.9887380192854901, + -0.02338537681368672, + -0.10098092458096332, + 0.008433147511507033, + -0.994852619684857 + ], + [ + 0.9828639299207013, + 0.14973533361201244, + -0.10750732593146389, + 0.1470380034233407, + -0.9885922208957164, + -0.032638111675655605, + -0.11116798464536595, + 0.0162711601483808, + -0.9936684198148361 + ], + [ + 0.9817878832711112, + 0.15080937797510002, + -0.11553823512930193, + 0.14661471595582204, + -0.9882132314012341, + -0.04403106118099066, + -0.12081670963581186, + 0.026289556829546038, + -0.9923266507932161 + ], + [ + 0.9798630487635507, + 0.15289979997873573, + -0.1284136162338784, + 0.14645582324275622, + -0.9874998756656747, + -0.05826394595771346, + -0.13571697574764083, + 0.038283765838007855, + -0.9900077049029338 + ], + [ + 0.971711400802749, + 0.16324484533151448, + -0.17066948767324897, + 0.1490340678914613, + -0.9844409515688111, + -0.09308522698053284, + -0.18320971632990068, + 0.06501640829039951, + -0.9809215394185885 + ], + [ + 0.9698650854627333, + 0.17518062949665428, + -0.16933240401506439, + 0.1583571727176131, + -0.9814229104838046, + -0.10831471103401509, + -0.18516134005037094, + 0.0782356557245741, + -0.9795889241534415 + ], + [ + 0.9682201205471042, + 0.181301766365657, + -0.17227729879599207, + 0.1610070120078814, + -0.9789593442681532, + -0.12536085654765297, + -0.19138061618681435, + 0.09363905052252514, + -0.977038989992311 + ], + [ + 0.9628050950795163, + 0.189916819030973, + -0.1921924835629128, + 0.16572484948596902, + -0.9768749198998007, + -0.1350950226085743, + -0.21340483394660198, + 0.09821910567661947, + -0.9720140863836844 + ], + [ + 0.9605138467307106, + 0.19011874137581056, + -0.20314530370217876, + 0.16366575670820896, + -0.9765230650792666, + -0.14005792890559138, + -0.22500371179094392, + 0.10127965020610998, + -0.9690798533322348 + ], + [ + 0.9559943336686523, + 0.19694421308957227, + -0.2174576071880642, + 0.16506583830582583, + -0.9738207442817427, + -0.15628956149067458, + -0.24254505358350278, + 0.11351711297016653, + -0.9634758751754472 + ], + [ + 0.9565582311903755, + 0.20014505665222337, + -0.2119865718379777, + 0.16752082961125486, + -0.9724338798790833, + -0.16220086593378386, + -0.23860662603602756, + 0.11964240703442364, + -0.9637180980197022 + ], + [ + 0.9565006263484465, + 0.21342270185258386, + -0.1988901760494287, + 0.18339335975398172, + -0.9700950597778105, + -0.15900456154724957, + -0.22687756035618922, + 0.11561282510443867, + -0.967036838635527 + ], + [ + 0.9483270052264945, + 0.24387904199364308, + -0.20297513156643426, + 0.21538893974579754, + -0.9645341341818932, + -0.15258279271650235, + -0.23298818809830174, + 0.10097978448307762, + -0.9672226151886761 + ], + [ + 0.9442524012285547, + 0.2636286339179943, + -0.1971987478475484, + 0.23394353780071417, + -0.9587410872977858, + -0.16151145051774332, + -0.23164158498722684, + 0.10637420225595957, + -0.9669677891217545 + ], + [ + 0.9408905767492797, + 0.273127666666118, + -0.20031525225486396, + 0.2423790260692399, + -0.9560345882124639, + -0.16507656969767492, + -0.23659528800492746, + 0.10676677312228999, + -0.9657243529345829 + ], + [ + 0.9351979321293893, + 0.27513985541970115, + -0.22294144455560383, + 0.24410500322688863, + -0.9569503865564717, + -0.1570309048213737, + -0.256549361995921, + 0.09243385542670277, + -0.9621010379531042 + ], + [ + 0.9463219557031002, + 0.24888429245838847, + -0.20623133884486902, + 0.22755047674252524, + -0.9661204974467783, + -0.12178655487137811, + -0.22955508421402757, + 0.06832125131082624, + -0.9708947779913196 + ], + [ + 0.9610598664981271, + 0.17828706249068738, + -0.21113421407968005, + 0.16090842950881956, + -0.9821957694245683, + -0.09695332814032745, + -0.2246606559226775, + 0.05920467779595198, + -0.9726368262653179 + ], + [ + 0.9720177376255024, + 0.11107716243459648, + -0.2069864288471069, + 0.09447700169235379, + -0.9915892709142837, + -0.08845797849206383, + -0.21507118331525302, + 0.06642726694029882, + -0.9743365970311385 + ], + [ + 0.9797064453487464, + 0.029176267018146615, + -0.19830286529702357, + 0.013285457449597264, + -0.9966257845354053, + -0.08099717414541545, + -0.1999969438828469, + 0.07671890928626153, + -0.9767883247640953 + ], + [ + 0.9790263065323485, + -0.018073026633295165, + -0.20293066999825385, + -0.033458323480964273, + -0.9967966534173864, + -0.07264277201306205, + -0.200967737976699, + 0.07790890478122997, + -0.9764948391304062 + ], + [ + 0.9724390691325921, + -0.07144364780754947, + -0.22194157342077458, + -0.08782129921250409, + -0.99402569328, + -0.06481003397502455, + -0.21598536114553246, + 0.0825150064362043, + -0.9729036938380221 + ], + [ + 0.9739915297798704, + -0.0802758880663597, + -0.21188742698004737, + -0.09903979181769855, + -0.9919053807797126, + -0.07946593746354544, + -0.20379308024016551, + 0.09838443665240185, + -0.9740579464645903 + ], + [ + 0.9647656179329255, + -0.08021497869633129, + -0.2505850347631455, + -0.10934822989983736, + -0.988487682531793, + -0.10457086640502145, + -0.23931207046923486, + 0.12828740653576112, + -0.962430295788768 + ], + [ + 0.963034839914224, + -0.06863856829749111, + -0.26048540084514377, + -0.10201474157378206, + -0.9878971077550238, + -0.1168430442555008, + -0.24931283483410766, + 0.1390972732706472, + -0.9583814788254474 + ], + [ + 0.9640515451080154, + -0.0685174847634477, + -0.2567293763022437, + -0.10265515885773922, + -0.987205671301394, + -0.12201180643796891, + -0.24508475418667042, + 0.14398026542569917, + -0.9587508260404288 + ], + [ + 0.9624433877022431, + -0.07417790160289238, + -0.2611519947885163, + -0.10904356066307412, + -0.9865662273412721, + -0.12164119757519608, + -0.2486206494765632, + 0.145549709664434, + -0.9576027645482499 + ], + [ + 0.9591170527432348, + -0.06997953606451371, + -0.27422134065263226, + -0.10598306571286764, + -0.9872522246369032, + -0.11874609354243212, + -0.2624158320666524, + 0.1429542216294485, + -0.9543070897772297 + ], + [ + 0.9553413231544828, + -0.05461943367300344, + -0.2904129365897506, + -0.09191970542692988, + -0.9889416875802897, + -0.11638344521483912, + -0.280844661739668, + 0.13788058612832121, + -0.9497974625893892 + ], + [ + 0.9601351497924169, + -0.028988184082339573, + -0.2780290979676432, + -0.06564306243997842, + -0.9901772649589211, + -0.12345028275371159, + -0.2717194922831154, + 0.136779637161672, + -0.9526068697901181 + ], + [ + 0.9597199372695715, + -0.02529902406716945, + -0.27981708559081675, + -0.06607175068510793, + -0.988329542791086, + -0.1372561059034086, + -0.2730790467404898, + 0.1502154260640749, + -0.950191117619868 + ], + [ + 0.9601157974607226, + -0.027299698219694562, + -0.27826674602523843, + -0.06768605259981791, + -0.9883139173842495, + -0.1365803755597924, + -0.27128629480645655, + 0.14996775380631955, + -0.9507436137405667 + ], + [ + 0.9606724355334566, + -0.01702515828777217, + -0.2771617137908726, + -0.05475299551836796, + -0.9901372275906494, + -0.12895883072077227, + -0.27223258638154046, + 0.13906262806512584, + -0.9521297203572832 + ], + [ + 0.9760129702604564, + -0.0026705033352200976, + -0.21769600431633554, + -0.029302478855718246, + -0.9924378088437404, + -0.11919966573084623, + -0.21573142241285018, + 0.12271945236747053, + -0.9687104259758726 + ], + [ + 0.9879025526926193, + 0.032516017506358436, + -0.15162867469226526, + 0.016704857988246346, + -0.9943944345133541, + -0.10440620828504094, + -0.15417358432299333, + 0.10061022420406895, + -0.9829079756938632 + ], + [ + 0.988391191650489, + 0.07731127417696344, + -0.1307892165006775, + 0.06604723987021603, + -0.9938949855335587, + -0.08837714544368175, + -0.13682329616426017, + 0.0787129253450913, + -0.9874632453971973 + ], + [ + 0.9805334436717186, + 0.1099600434292767, + -0.16267438240335277, + 0.10015794907400596, + -0.9926927132017955, + -0.06730202369428903, + -0.16888620748471292, + 0.04969875255063645, + -0.9843817770135432 + ], + [ + 0.9737654323033028, + 0.1495033503878111, + -0.17155066620092466, + 0.14865176057150298, + -0.9887280675999008, + -0.017873511662749454, + -0.17228910856509252, + -0.00809670074692633, + -0.9850131504233132 + ], + [ + 0.9725980116087942, + 0.18030231458312765, + -0.14677936902230676, + 0.18647589363548892, + -0.9820215781249767, + 0.0293319141853391, + -0.13885189558470368, + -0.05589897541902845, + -0.9887342694777184 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006428.json b/json/chunk-0006/episode_0006428.json new file mode 100644 index 0000000000000000000000000000000000000000..82c77a37ebf06c6bebef9fe9594f4204f03a64e6 --- /dev/null +++ b/json/chunk-0006/episode_0006428.json @@ -0,0 +1,2722 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 44, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut the knife to the right of the cloth." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006428.mp4", + "start": 0, + "end": 44, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3265705406665802, + 0.02792595699429512, + 0.16996760666370392, + 0.018339965492486954, + -0.27265483140945435, + -0.26821213960647583, + 0.0, + 1.0008161067962646 + ], + [ + 0.3254770338535309, + 0.027785973623394966, + 0.16089439392089844, + 0.006763713899999857, + -0.2457425445318222, + -0.2652447819709778, + 0.0, + 1.0008161067962646 + ], + [ + 0.3255734145641327, + 0.027128908783197403, + 0.16095812618732452, + 0.005167957860976458, + -0.24742689728736877, + -0.27440503239631653, + 0.0, + 1.0008161067962646 + ], + [ + 0.3309980034828186, + 0.027823323383927345, + 0.1510208249092102, + -0.0010503283701837063, + -0.22207394242286682, + -0.29384714365005493, + 0.0, + 1.0008161067962646 + ], + [ + 0.33154863119125366, + 0.055863481014966965, + 0.14383040368556976, + 0.014329453930258751, + -0.20374292135238647, + -0.24902653694152832, + 0.0, + 1.0008161067962646 + ], + [ + 0.33331313729286194, + 0.06882639974355698, + 0.13510124385356903, + 0.018848175182938576, + -0.19687320291996002, + -0.2403738647699356, + 0.0, + 1.0008161067962646 + ], + [ + 0.3315024971961975, + 0.09377070516347885, + 0.11348937451839447, + 0.010241381824016571, + -0.1542322188615799, + -0.19212450087070465, + 0.0, + 1.0008161067962646 + ], + [ + 0.33201220631599426, + 0.09967879205942154, + 0.09366069734096527, + 0.004359159618616104, + -0.12337697297334671, + -0.19496747851371765, + 0.0, + 1.0008161067962646 + ], + [ + 0.327831894159317, + 0.11030244827270508, + 0.06095368415117264, + -0.0015785977011546493, + -0.061167869716882706, + -0.17656411230564117, + 0.0, + 1.0008161067962646 + ], + [ + 0.32896745204925537, + 0.11126241832971573, + 0.04618004709482193, + 0.0006118340534158051, + -0.03838450089097023, + -0.17284968495368958, + 0.0, + 1.0008161067962646 + ], + [ + 0.3322080969810486, + 0.10059142857789993, + 0.03132839500904083, + -0.011486790142953396, + -0.016579408198595047, + -0.18292590975761414, + 0.0, + 1.0008161067962646 + ], + [ + 0.33502545952796936, + 0.09401022642850876, + 0.023490941151976585, + -0.026031527668237686, + -0.01312707457691431, + -0.17017079889774323, + 0.0, + 1.0008161067962646 + ], + [ + 0.3403375446796417, + 0.08033601194620132, + 0.01975889690220356, + -0.02475617453455925, + -0.018241820856928825, + -0.17803749442100525, + 0.0, + 1.0001531839370728 + ], + [ + 0.3420898914337158, + 0.07319986820220947, + 0.009978948161005974, + -0.012860399670898914, + 0.007795918732881546, + -0.19162993133068085, + 0.0, + 0.9437892436981201 + ], + [ + 0.34271299839019775, + 0.07226058840751648, + 0.0088926050812006, + 0.00040966234519146383, + 0.011818253435194492, + -0.19383233785629272, + 0.0, + 0.8261235952377319 + ], + [ + 0.3440096378326416, + 0.0729215145111084, + 0.008809095248579979, + 0.007415625266730785, + 0.0013964716345071793, + -0.18802697956562042, + 0.0, + 0.7969971895217896 + ], + [ + 0.3385600447654724, + 0.07191507518291473, + 0.007650400046259165, + 0.006763876881450415, + -0.003925532102584839, + -0.1709773689508438, + 0.0, + 0.5699762105941772 + ], + [ + 0.33056581020355225, + 0.0687195211648941, + 0.021717306226491928, + -0.005886560305953026, + -0.015465728007256985, + -0.15741708874702454, + 0.0, + 0.5640211701393127 + ], + [ + 0.3260767459869385, + 0.07053114473819733, + 0.06567702442407608, + 0.021836867555975914, + -0.09315790235996246, + -0.11879327893257141, + 0.0, + 0.5640211701393127 + ], + [ + 0.3210744261741638, + 0.05164659395813942, + 0.11079379916191101, + 0.07488568127155304, + -0.1665465086698532, + -0.10706581175327301, + 0.0, + 0.5630297660827637 + ], + [ + 0.31642454862594604, + 0.018740631639957428, + 0.14530310034751892, + 0.08110154420137405, + -0.19243445992469788, + -0.10663056373596191, + 0.0, + 0.5630297660827637 + ], + [ + 0.3181312382221222, + -0.030230818316340446, + 0.15543241798877716, + 0.01898246817290783, + -0.2325175702571869, + -0.1504460722208023, + 0.0, + 0.5630297660827637 + ], + [ + 0.3194616734981537, + -0.0798911601305008, + 0.1410566121339798, + 0.03161471709609032, + -0.200434148311615, + -0.24104993045330048, + 0.0, + 0.5630297660827637 + ], + [ + 0.3079639971256256, + -0.12186183035373688, + 0.1226452887058258, + 0.056897662580013275, + -0.1418423354625702, + -0.2813805937767029, + 0.0, + 0.5630297660827637 + ], + [ + 0.30247724056243896, + -0.13166068494319916, + 0.11253516376018524, + 0.0727015882730484, + -0.10705521702766418, + -0.2745053470134735, + 0.0, + 0.5630297660827637 + ], + [ + 0.2953985035419464, + -0.13772684335708618, + 0.1042756587266922, + 0.10370258241891861, + -0.06661400198936462, + -0.2762601971626282, + 0.0, + 0.5630297660827637 + ], + [ + 0.28991660475730896, + -0.1308266967535019, + 0.0995829850435257, + 0.1324288547039032, + -0.03820396959781647, + -0.24126358330249786, + 0.0, + 0.5630297660827637 + ], + [ + 0.2926889657974243, + -0.1224668100476265, + 0.0966123566031456, + 0.12526404857635498, + -0.03977921977639198, + -0.2069743126630783, + 0.0, + 0.5630297660827637 + ], + [ + 0.2918434739112854, + -0.11775663495063782, + 0.09144199639558792, + 0.11432784050703049, + -0.03306995704770088, + -0.20251327753067017, + 0.0, + 0.5630297660827637 + ], + [ + 0.29290202260017395, + -0.10586196929216385, + 0.08073078840970993, + 0.09357815235853195, + -0.03701581805944443, + -0.18473626673221588, + 0.0, + 0.5630297660827637 + ], + [ + 0.2942666709423065, + -0.10738750547170639, + 0.07665227353572845, + 0.06920160353183746, + -0.05353540927171707, + -0.18806229531764984, + 0.0, + 0.5630297660827637 + ], + [ + 0.2928263247013092, + -0.10569895803928375, + 0.06416212767362595, + 0.07841555029153824, + -0.025067461654543877, + -0.1778808832168579, + 0.0, + 0.5630297660827637 + ], + [ + 0.2907275855541229, + -0.10567931830883026, + 0.05455575883388519, + 0.08098713308572769, + -0.004605243913829327, + -0.16741786897182465, + 0.0, + 0.5630297660827637 + ], + [ + 0.287699431180954, + -0.10547687113285065, + 0.04164207726716995, + 0.09068051725625992, + 0.03144565224647522, + -0.13849684596061707, + 0.0, + 0.5630297660827637 + ], + [ + 0.2804059088230133, + -0.10775117576122284, + 0.025037454441189766, + 0.08804211020469666, + 0.0752992033958435, + -0.11672703921794891, + 0.0, + 0.5630297660827637 + ], + [ + 0.28152841329574585, + -0.10865448415279388, + 0.024149371311068535, + 0.08901041001081467, + 0.06483341008424759, + -0.11416637152433395, + 0.0, + 0.6079121828079224 + ], + [ + 0.279293030500412, + -0.1078430637717247, + 0.022001851350069046, + 0.09209916740655899, + 0.08433987945318222, + -0.13060179352760315, + 0.0, + 0.931966245174408 + ], + [ + 0.2782023549079895, + -0.10732241719961166, + 0.022138386964797974, + 0.09453149139881134, + 0.09160195291042328, + -0.12991952896118164, + 0.0, + 1.0041072368621826 + ], + [ + 0.27756649255752563, + -0.10419659316539764, + 0.026788707822561264, + 0.11233169585466385, + 0.09193998575210571, + -0.12614448368549347, + 0.0, + 1.0014774799346924 + ], + [ + 0.286399781703949, + -0.09736397117376328, + 0.06889569014310837, + 0.1498306393623352, + -0.012989708222448826, + -0.13368424773216248, + 0.0, + 1.0014774799346924 + ], + [ + 0.2929937243461609, + -0.09526070952415466, + 0.10782558470964432, + 0.13603153824806213, + -0.1429571658372879, + -0.17136505246162415, + 0.0, + 1.0014774799346924 + ], + [ + 0.3015962243080139, + -0.07430437952280045, + 0.12860125303268433, + 0.11137250810861588, + -0.19838054478168488, + -0.12864767014980316, + 0.0, + 1.0014774799346924 + ], + [ + 0.3081296682357788, + -0.040627945214509964, + 0.13087327778339386, + 0.057076726108789444, + -0.19704146683216095, + -0.06769070029258728, + 0.0, + 1.0014774799346924 + ], + [ + 0.3102705478668213, + -0.015176615677773952, + 0.13041935861110687, + 0.005691748112440109, + -0.19038452208042145, + -0.03392375260591507, + 0.0, + 1.0001531839370728 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 0.9437892436981201 + ], + [ + 0.8261235952377319 + ], + [ + 0.7969971895217896 + ], + [ + 0.5699762105941772 + ], + [ + 0.5640211701393127 + ], + [ + 0.5640211701393127 + ], + [ + 0.5630297660827637 + ], + [ + 0.5630297660827637 + ], + [ + 0.5630297660827637 + ], + [ + 0.5630297660827637 + ], + [ + 0.5630297660827637 + ], + [ + 0.5630297660827637 + ], + [ + 0.5630297660827637 + ], + [ + 0.5630297660827637 + ], + [ + 0.5630297660827637 + ], + [ + 0.5630297660827637 + ], + [ + 0.5630297660827637 + ], + [ + 0.5630297660827637 + ], + [ + 0.5630297660827637 + ], + [ + 0.5630297660827637 + ], + [ + 0.5630297660827637 + ], + [ + 0.5630297660827637 + ], + [ + 0.6079121828079224 + ], + [ + 0.931966245174408 + ], + [ + 1.0041072368621826 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3265705406665802, + 0.02792595699429512, + 0.16996760666370392 + ], + [ + 0.3254770338535309, + 0.027785973623394966, + 0.16089439392089844 + ], + [ + 0.3255734145641327, + 0.027128908783197403, + 0.16095812618732452 + ], + [ + 0.3309980034828186, + 0.027823323383927345, + 0.1510208249092102 + ], + [ + 0.33154863119125366, + 0.055863481014966965, + 0.14383040368556976 + ], + [ + 0.33331313729286194, + 0.06882639974355698, + 0.13510124385356903 + ], + [ + 0.3315024971961975, + 0.09377070516347885, + 0.11348937451839447 + ], + [ + 0.33201220631599426, + 0.09967879205942154, + 0.09366069734096527 + ], + [ + 0.327831894159317, + 0.11030244827270508, + 0.06095368415117264 + ], + [ + 0.32896745204925537, + 0.11126241832971573, + 0.04618004709482193 + ], + [ + 0.3322080969810486, + 0.10059142857789993, + 0.03132839500904083 + ], + [ + 0.33502545952796936, + 0.09401022642850876, + 0.023490941151976585 + ], + [ + 0.3403375446796417, + 0.08033601194620132, + 0.01975889690220356 + ], + [ + 0.3420898914337158, + 0.07319986820220947, + 0.009978948161005974 + ], + [ + 0.34271299839019775, + 0.07226058840751648, + 0.0088926050812006 + ], + [ + 0.3440096378326416, + 0.0729215145111084, + 0.008809095248579979 + ], + [ + 0.3385600447654724, + 0.07191507518291473, + 0.007650400046259165 + ], + [ + 0.33056581020355225, + 0.0687195211648941, + 0.021717306226491928 + ], + [ + 0.3260767459869385, + 0.07053114473819733, + 0.06567702442407608 + ], + [ + 0.3210744261741638, + 0.05164659395813942, + 0.11079379916191101 + ], + [ + 0.31642454862594604, + 0.018740631639957428, + 0.14530310034751892 + ], + [ + 0.3181312382221222, + -0.030230818316340446, + 0.15543241798877716 + ], + [ + 0.3194616734981537, + -0.0798911601305008, + 0.1410566121339798 + ], + [ + 0.3079639971256256, + -0.12186183035373688, + 0.1226452887058258 + ], + [ + 0.30247724056243896, + -0.13166068494319916, + 0.11253516376018524 + ], + [ + 0.2953985035419464, + -0.13772684335708618, + 0.1042756587266922 + ], + [ + 0.28991660475730896, + -0.1308266967535019, + 0.0995829850435257 + ], + [ + 0.2926889657974243, + -0.1224668100476265, + 0.0966123566031456 + ], + [ + 0.2918434739112854, + -0.11775663495063782, + 0.09144199639558792 + ], + [ + 0.29290202260017395, + -0.10586196929216385, + 0.08073078840970993 + ], + [ + 0.2942666709423065, + -0.10738750547170639, + 0.07665227353572845 + ], + [ + 0.2928263247013092, + -0.10569895803928375, + 0.06416212767362595 + ], + [ + 0.2907275855541229, + -0.10567931830883026, + 0.05455575883388519 + ], + [ + 0.287699431180954, + -0.10547687113285065, + 0.04164207726716995 + ], + [ + 0.2804059088230133, + -0.10775117576122284, + 0.025037454441189766 + ], + [ + 0.28152841329574585, + -0.10865448415279388, + 0.024149371311068535 + ], + [ + 0.279293030500412, + -0.1078430637717247, + 0.022001851350069046 + ], + [ + 0.2782023549079895, + -0.10732241719961166, + 0.022138386964797974 + ], + [ + 0.27756649255752563, + -0.10419659316539764, + 0.026788707822561264 + ], + [ + 0.286399781703949, + -0.09736397117376328, + 0.06889569014310837 + ], + [ + 0.2929937243461609, + -0.09526070952415466, + 0.10782558470964432 + ], + [ + 0.3015962243080139, + -0.07430437952280045, + 0.12860125303268433 + ], + [ + 0.3081296682357788, + -0.040627945214509964, + 0.13087327778339386 + ], + [ + 0.3102705478668213, + -0.015176615677773952, + 0.13041935861110687 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9286263746670702, + -0.2602014488717205, + 0.26447733792851036, + -0.2552183648580899, + -0.9653928101725981, + -0.053668503856700966, + 0.26928914295206363, + -0.017661485557881013, + -0.9628974137549814 + ], + [ + 0.9360359647016365, + -0.2605516040771243, + 0.2365365392448144, + -0.2542698469046545, + -0.9654376323516194, + -0.05724528796663106, + 0.2432766280187222, + -0.006560461274667261, + -0.9699347620369647 + ], + [ + 0.9332717933558331, + -0.2697523328425012, + 0.2371443413881415, + -0.2627219748024523, + -0.962916701131984, + -0.06138884782268533, + 0.24491003181226895, + -0.00501054958319358, + -0.9695328621096799 + ], + [ + 0.9336320477495827, + -0.2898578641025626, + 0.2105079999259434, + -0.28252392480263816, + -0.9570691557802453, + -0.0647986339995022, + 0.22025310742197005, + 0.0010245350108999754, + -0.9754422171502407 + ], + [ + 0.9491069520473872, + -0.24362550455049808, + 0.19960612993551627, + -0.24136287712543092, + -0.9697678588687049, + -0.03597584538189557, + 0.2023362427274291, + -0.014032584855369831, + -0.97921556944384 + ], + [ + 0.9524874056328619, + -0.23444290712962948, + 0.19443319008695037, + -0.23346703890795026, + -0.9719541668034765, + -0.028253130391407227, + 0.19560389529437777, + -0.018482990287508494, + -0.9805087940532192 + ], + [ + 0.9699489609531668, + -0.189390400635792, + 0.15274255887893826, + -0.18867817805690312, + -0.9818497181782577, + -0.019278901379567902, + 0.15362147724520578, + -0.01011963735959686, + -0.9880779496925891 + ], + [ + 0.9735966956264046, + -0.19320649790478997, + 0.12157599858817704, + -0.19226199677732084, + -0.9811485793695677, + -0.019565014599446876, + 0.1230642062524417, + -0.004326010684855813, + -0.9923892818702805 + ], + [ + 0.9826119143952644, + -0.17574292697898009, + 0.05990199750704803, + -0.17531965483162631, + -0.9844348332725369, + -0.012291365643891147, + 0.06112973350336906, + 0.0015756447992154596, + -0.998128585416365 + ], + [ + 0.98437303109405, + -0.1719671029103064, + 0.037908457781193984, + -0.17186357732289434, + -0.9851025031574357, + -0.005997421340201148, + 0.038375075823899006, + -0.0006113833416679635, + -0.9992632184594405 + ], + [ + 0.9831805156220891, + -0.18208269401875324, + 0.014211482679735602, + -0.18188244035555498, + -0.9832161452388438, + -0.014310472807598635, + 0.016578648659987903, + 0.011484958882909697, + -0.9997966013785338 + ], + [ + 0.985470942059043, + -0.16963004147313485, + 0.008524751438283653, + -0.16933609233756833, + -0.985164087036646, + -0.027874889149445525, + 0.013126697570390533, + 0.026026345173187464, + -0.999575069300861 + ], + [ + 0.9840293970014211, + -0.17748855426130128, + 0.013563146510012714, + -0.17706896599302163, + -0.9838116049310927, + -0.027591797423675447, + 0.018240809170130014, + 0.02474952745286491, + -0.9995272551419887 + ], + [ + 0.9816652720192703, + -0.19034507337358117, + -0.010101819328103228, + -0.19045345518967835, + -0.981633018154688, + -0.011139976428646206, + -0.0077958397652087095, + 0.012859654385854376, + -0.9998869206922506 + ], + [ + 0.9812047275817073, + -0.19262560545796537, + -0.011517755565226941, + -0.19260741927454889, + -0.9812722396573562, + 0.0026783797778871313, + -0.011817978325678097, + -0.0004096337250686622, + -0.999930081349944 + ], + [ + 0.9823739880766043, + -0.18692604779937594, + 1.4302911151607939e-05, + -0.1869208319548935, + -0.982345999264649, + 0.007545880334903812, + -0.0013964711806229808, + -0.007415550070200116, + -0.9999715293374097 + ], + [ + 0.9854113500751698, + -0.17011549159476957, + 0.005019030035928906, + -0.17014423710457283, + -0.9854009188607811, + 0.005997306764850563, + 0.003925522020647011, + -0.006763773192434402, + -0.9999694203569763 + ], + [ + 0.9875173813076099, + -0.15685495160492305, + 0.01435081086134847, + -0.15674900938244088, + -0.9876041116016776, + -0.008238131164599262, + 0.015465111476623983, + 0.005885822328182527, + -0.9998630843383194 + ], + [ + 0.9886468709597735, + -0.11646896251803407, + 0.09493337301192897, + -0.1180001931494763, + -0.9929563602919369, + 0.010659313883921238, + 0.09302321730694738, + -0.0217404536696557, + -0.9954265586752759 + ], + [ + 0.9805163179144116, + -0.09423013356925301, + 0.17236134204364226, + -0.10538275417094835, + -0.9928127317348399, + 0.0567217315369562, + 0.16577763850082486, + -0.07378049628950595, + -0.9833993151006178 + ], + [ + 0.9759667397730415, + -0.09067319728196754, + 0.198159769255632, + -0.10446410573178047, + -0.9927010479040456, + 0.06026508196185357, + 0.19124898292654868, + -0.07951729865177093, + -0.9783152997600955 + ], + [ + 0.9620976539084771, + -0.14552775296069717, + 0.23062909066727605, + -0.14584583630423323, + -0.9891817389614502, + -0.015763227395441476, + 0.23042807202362114, + -0.018470528509273623, + -0.9729140471799476 + ], + [ + 0.9516469159431603, + -0.23249171670653612, + 0.2007878209422056, + -0.2339431671940574, + -0.9721049581279094, + -0.016809072144194862, + 0.19909480630866483, + -0.03097663709932374, + -0.9794905339281906 + ], + [ + 0.9510251703882138, + -0.26950988816233695, + 0.15137881447148704, + -0.2748935135161739, + -0.9613507141708174, + 0.015438930986042647, + 0.14136718683910138, + -0.0562958661535932, + -0.9883552468314288 + ], + [ + 0.9570488076177159, + -0.26288398363620646, + 0.12226852000849218, + -0.2695189732739568, + -0.9621205927461389, + 0.041030330965891246, + 0.10685084409053815, + -0.07222171530348151, + -0.9916485874319403 + ], + [ + 0.9599484360514102, + -0.2646649263325613, + 0.09193191443580087, + -0.2721546151735054, + -0.9587931095985494, + 0.08153305112716702, + 0.06656474714300867, + -0.10328721971146268, + -0.9924217272319582 + ], + [ + 0.9703282934532653, + -0.23194052298466258, + 0.06831249315955934, + -0.23875545979462856, + -0.9637395436015219, + 0.11917181930718923, + 0.03819467688473263, + -0.13194576877009384, + -0.9905208128865034 + ], + [ + 0.9778829666496391, + -0.19902705379963678, + 0.0642894656404657, + -0.20533716585954806, + -0.9720101518140984, + 0.11416178470530843, + 0.03976872959083036, + -0.12483788137488246, + -0.9913798220261302 + ], + [ + 0.9790285841969923, + -0.1961240121034344, + 0.055121712615673266, + -0.20102190894950794, + -0.9739279202817797, + 0.10514084942544252, + 0.03306392970487172, + -0.11401656884882894, + -0.9929284962072605 + ], + [ + 0.9823113776751681, + -0.17948442841832596, + 0.05338255562691131, + -0.18356146703030518, + -0.9793191300191986, + 0.08508366118193465, + 0.03700736563977021, + -0.09337762865797615, + -0.9949427487823697 + ], + [ + 0.9809609267726205, + -0.18287345885331888, + 0.06536786819550608, + -0.1866878601175084, + -0.980708807814227, + 0.05794719285990616, + 0.05350984049824091, + -0.06904731944558769, + -0.9961772757131292 + ], + [ + 0.9839116530293609, + -0.1744680793343943, + 0.03845449682935157, + -0.1768887023178291, + -0.9815438548551555, + 0.07267769938843997, + 0.025064836431653487, + -0.07831060138608, + -0.9966138689006918 + ], + [ + 0.9860078759208667, + -0.16572335124140006, + 0.018006650864070217, + -0.16663511184754834, + -0.9828485749002956, + 0.07900264752534061, + 0.0046052276356360455, + -0.0808977729593201, + -0.9967117648591526 + ], + [ + 0.9899349922753996, + -0.14030716116324626, + -0.01850977025831686, + -0.1379862598527728, + -0.9859622532252487, + 0.09401184663027312, + -0.031440470106979895, + -0.09051152269905621, + -0.9953989959298486 + ], + [ + 0.9903807677430004, + -0.12258073891501632, + -0.0641864263831025, + -0.11613213569612653, + -0.9885779234715092, + 0.09605735934021518, + -0.0752280661950132, + -0.0876792545121557, + -0.9933041258269046 + ], + [ + 0.9914028227634638, + -0.11918924714659819, + -0.05398487178147945, + -0.11367918937300704, + -0.9889009760192302, + 0.09566557129766941, + -0.06478799981579647, + -0.08870616096326457, + -0.9939485560566137 + ], + [ + 0.9879594724750289, + -0.13736038318055713, + -0.07119133289490545, + -0.1297679291522861, + -0.9862727044146388, + 0.10210992650159892, + -0.08423992705593938, + -0.09164211727762073, + -0.992222433242912 + ], + [ + 0.9874151294938106, + -0.13753744350685698, + -0.07806928768933044, + -0.12901119019468527, + -0.9860265648721073, + 0.10539319793545945, + -0.09147390256937804, + -0.09399502646475669, + -0.9913614175206829 + ], + [ + 0.9878643836847225, + -0.13522705903829998, + -0.07640420113485663, + -0.1252788456043021, + -0.984507051398094, + 0.12268282924469942, + -0.09181051296696324, + -0.11162216738301928, + -0.9895005414134246 + ], + [ + 0.9909939486029709, + -0.12987149492439162, + 0.032624969553950965, + -0.13327516949002807, + -0.9802323300617103, + 0.1462269068919763, + 0.01298934292783093, + -0.14925807819978834, + -0.9887129528141164 + ], + [ + 0.9753013357822957, + -0.1499144236321191, + 0.1622127307220945, + -0.16878801680332067, + -0.9795449137014073, + 0.10955531673681593, + 0.14247073315200967, + -0.13422901187430253, + -0.9806552210468147 + ], + [ + 0.9722853995145543, + -0.10577511707198808, + 0.2085011426808746, + -0.12577689673113235, + -0.9884021354902108, + 0.085096361890957, + 0.1970818970365094, + -0.10896257690967968, + -0.9743130311628253 + ], + [ + 0.978404230867918, + -0.05638666647644906, + 0.19886101896407749, + -0.0663302075372425, + -0.9968405322096411, + 0.0436950444795003, + 0.1957689060801634, + -0.05594190904565975, + -0.9790531335042562 + ], + [ + 0.9813665825742455, + -0.03284023601871461, + 0.18931758900002454, + -0.03330441394946672, + -0.9994449876576852, + -0.0007298338252843708, + 0.189236483316589, + -0.0055888768250054125, + -0.9819156368231468 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0010935068130493164, + -0.00013998337090015411, + -0.009073212742805481, + -0.011576252058148384, + 0.02691228687763214, + 0.002967357635498047, + 1.0 + ], + [ + 9.638071060180664e-05, + -0.0006570648401975632, + 6.373226642608643e-05, + -0.0015957560390233994, + -0.0016843527555465698, + -0.009160250425338745, + 1.0 + ], + [ + 0.005424588918685913, + 0.0006944146007299423, + -0.009937301278114319, + -0.006218286231160164, + 0.025352954864501953, + -0.019442111253738403, + 1.0 + ], + [ + 0.0005506277084350586, + 0.02804015763103962, + -0.007190421223640442, + 0.015379782766103745, + 0.018331021070480347, + 0.04482060670852661, + 1.0 + ], + [ + 0.0017645061016082764, + 0.012962918728590012, + -0.008729159832000732, + 0.004518721252679825, + 0.006869718432426453, + 0.008652672171592712, + 1.0 + ], + [ + -0.0018106400966644287, + 0.024944305419921875, + -0.02161186933517456, + -0.008606793358922005, + 0.04264098405838013, + 0.04824936389923096, + 1.0 + ], + [ + 0.0005097091197967529, + 0.005908086895942688, + -0.0198286771774292, + -0.005882222205400467, + 0.030855245888233185, + -0.0028429776430130005, + 1.0 + ], + [ + -0.004180312156677246, + 0.010623656213283539, + -0.03270701318979263, + -0.005937757436186075, + 0.062209103256464005, + 0.018403366208076477, + 1.0 + ], + [ + 0.0011355578899383545, + 0.0009599700570106506, + -0.014773637056350708, + 0.0021904318127781153, + 0.022783368825912476, + 0.003714427351951599, + 1.0 + ], + [ + 0.003240644931793213, + -0.010670989751815796, + -0.014851652085781097, + -0.012098624370992184, + 0.021805092692375183, + -0.01007622480392456, + 1.0 + ], + [ + 0.0028173625469207764, + -0.006581202149391174, + -0.007837453857064247, + -0.01454473752528429, + 0.0034523336216807365, + 0.01275511085987091, + 1.0 + ], + [ + 0.005312085151672363, + -0.013674214482307434, + -0.0037320442497730255, + 0.0012753531336784363, + -0.005114746280014515, + -0.007866695523262024, + 1.0 + ], + [ + 0.0017523467540740967, + -0.007136143743991852, + -0.009779948741197586, + 0.011895774863660336, + 0.02603773958981037, + -0.013592436909675598, + 0.0 + ], + [ + 0.0006231069564819336, + -0.0009392797946929932, + -0.0010863430798053741, + 0.013270062394440174, + 0.004022334702312946, + -0.0022024065256118774, + 0.0 + ], + [ + 0.0012966394424438477, + 0.0006609261035919189, + -8.350983262062073e-05, + 0.007005963008850813, + -0.010421781800687313, + 0.005805358290672302, + 0.0 + ], + [ + -0.0054495930671691895, + -0.0010064393281936646, + -0.0011586952023208141, + -0.0006517483852803707, + -0.005322003737092018, + 0.01704961061477661, + 0.0 + ], + [ + -0.007994234561920166, + -0.00319555401802063, + 0.01406690664589405, + -0.012650437653064728, + -0.011540195904672146, + 0.013560280203819275, + 0.0 + ], + [ + -0.0044890642166137695, + 0.0018116235733032227, + 0.04395971819758415, + 0.02772342786192894, + -0.0776921734213829, + 0.038623809814453125, + 0.0 + ], + [ + -0.005002319812774658, + -0.018884550780057907, + 0.04511677473783493, + 0.053048811852931976, + -0.07338860630989075, + 0.011727467179298401, + 0.0 + ], + [ + -0.0046498775482177734, + -0.03290596231818199, + 0.03450930118560791, + 0.006215862929821014, + -0.025887951254844666, + 0.0004352480173110962, + 0.0 + ], + [ + 0.0017066895961761475, + -0.048971451818943024, + 0.01012931764125824, + -0.062119074165821075, + -0.040083110332489014, + -0.04381550848484039, + 0.0 + ], + [ + 0.0013304352760314941, + -0.0496603399515152, + -0.014375805854797363, + 0.012632248923182487, + 0.0320834219455719, + -0.09060385823249817, + 0.0 + ], + [ + -0.011497676372528076, + -0.041970670223236084, + -0.01841132342815399, + 0.02528294548392296, + 0.0585918128490448, + -0.040330663323402405, + 0.0 + ], + [ + -0.0054867565631866455, + -0.00979885458946228, + -0.010110124945640564, + 0.015803925693035126, + 0.034787118434906006, + 0.00687524676322937, + 0.0 + ], + [ + -0.007078737020492554, + -0.006066158413887024, + -0.008259505033493042, + 0.03100099414587021, + 0.04044121503829956, + -0.001754850149154663, + 0.0 + ], + [ + -0.005481898784637451, + 0.0069001466035842896, + -0.004692673683166504, + 0.02872627228498459, + 0.028410032391548157, + 0.03499661386013031, + 0.0 + ], + [ + 0.0027723610401153564, + 0.008359886705875397, + -0.0029706284403800964, + -0.007164806127548218, + -0.0015752501785755157, + 0.034289270639419556, + 0.0 + ], + [ + -0.000845491886138916, + 0.004710175096988678, + -0.005170360207557678, + -0.010936208069324493, + 0.006709262728691101, + 0.004461035132408142, + 0.0 + ], + [ + 0.0010585486888885498, + 0.011894665658473969, + -0.01071120798587799, + -0.020749688148498535, + -0.0039458610117435455, + 0.017777010798454285, + 0.0 + ], + [ + 0.0013646483421325684, + -0.0015255361795425415, + -0.004078514873981476, + -0.02437654882669449, + -0.016519591212272644, + -0.00332602858543396, + 0.0 + ], + [ + -0.0014403462409973145, + 0.001688547432422638, + -0.012490145862102509, + 0.009213946759700775, + 0.028467947617173195, + 0.010181412100791931, + 0.0 + ], + [ + -0.0020987391471862793, + 1.963973045349121e-05, + -0.009606368839740753, + 0.002571582794189453, + 0.020462218672037125, + 0.010463014245033264, + 0.0 + ], + [ + -0.0030281543731689453, + 0.00020244717597961426, + -0.01291368156671524, + 0.009693384170532227, + 0.03605089709162712, + 0.02892102301120758, + 0.0 + ], + [ + -0.007293522357940674, + -0.0022743046283721924, + -0.016604622825980186, + -0.002638407051563263, + 0.043853551149368286, + 0.021769806742668152, + 0.0 + ], + [ + 0.001122504472732544, + -0.0009033083915710449, + -0.0008880831301212311, + 0.0009682998061180115, + -0.010465793311595917, + 0.0025606676936149597, + 1.0 + ], + [ + -0.0022353827953338623, + 0.0008114203810691833, + -0.002147519960999489, + 0.0030887573957443237, + 0.01950646936893463, + -0.016435422003269196, + 1.0 + ], + [ + -0.0010906755924224854, + 0.0005206465721130371, + 0.0001365356147289276, + 0.00243232399225235, + 0.007262073457241058, + 0.0006822645664215088, + 1.0 + ], + [ + -0.0006358623504638672, + 0.0031258240342140198, + 0.00465032085776329, + 0.01780020445585251, + 0.0003380328416824341, + 0.0037750452756881714, + 1.0 + ], + [ + 0.00883328914642334, + 0.006832621991634369, + 0.042106982320547104, + 0.037498943507671356, + -0.10492969304323196, + -0.007539764046669006, + 1.0 + ], + [ + 0.006593942642211914, + 0.002103261649608612, + 0.03892989456653595, + -0.013799101114273071, + -0.12996745109558105, + -0.03768080472946167, + 1.0 + ], + [ + 0.008602499961853027, + 0.020956330001354218, + 0.02077566832304001, + -0.02465903013944626, + -0.05542337894439697, + 0.042717382311820984, + 1.0 + ], + [ + 0.006533443927764893, + 0.03367643430829048, + 0.0022720247507095337, + -0.05429578199982643, + 0.0013390779495239258, + 0.06095696985721588, + 1.0 + ], + [ + 0.0021408796310424805, + 0.025451328605413437, + -0.0004539191722869873, + -0.051384977996349335, + 0.006656944751739502, + 0.03376694768667221, + 1.0 + ], + [ + 0.0019865334033966064, + 0.008201289921998978, + -0.0009676218032836914, + -0.04394889995455742, + 0.0058907270431518555, + -0.02775600180029869, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 0.9437892436981201 + ], + [ + 0.8261235952377319 + ], + [ + 0.7969971895217896 + ], + [ + 0.5699762105941772 + ], + [ + 0.5640211701393127 + ], + [ + 0.5640211701393127 + ], + [ + 0.5630297660827637 + ], + [ + 0.5630297660827637 + ], + [ + 0.5630297660827637 + ], + [ + 0.5630297660827637 + ], + [ + 0.5630297660827637 + ], + [ + 0.5630297660827637 + ], + [ + 0.5630297660827637 + ], + [ + 0.5630297660827637 + ], + [ + 0.5630297660827637 + ], + [ + 0.5630297660827637 + ], + [ + 0.5630297660827637 + ], + [ + 0.5630297660827637 + ], + [ + 0.5630297660827637 + ], + [ + 0.5630297660827637 + ], + [ + 0.5630297660827637 + ], + [ + 0.5630297660827637 + ], + [ + 0.6079121828079224 + ], + [ + 0.931966245174408 + ], + [ + 1.0041072368621826 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3254770338535309, + 0.027785973623394966, + 0.16089439392089844 + ], + [ + 0.3255734145641327, + 0.027128908783197403, + 0.16095812618732452 + ], + [ + 0.3309980034828186, + 0.027823323383927345, + 0.1510208249092102 + ], + [ + 0.33154863119125366, + 0.055863481014966965, + 0.14383040368556976 + ], + [ + 0.33331313729286194, + 0.06882639974355698, + 0.13510124385356903 + ], + [ + 0.3315024971961975, + 0.09377070516347885, + 0.11348937451839447 + ], + [ + 0.33201220631599426, + 0.09967879205942154, + 0.09366069734096527 + ], + [ + 0.327831894159317, + 0.11030244827270508, + 0.06095368415117264 + ], + [ + 0.32896745204925537, + 0.11126241832971573, + 0.04618004709482193 + ], + [ + 0.3322080969810486, + 0.10059142857789993, + 0.03132839500904083 + ], + [ + 0.33502545952796936, + 0.09401022642850876, + 0.023490941151976585 + ], + [ + 0.3403375446796417, + 0.08033601194620132, + 0.01975889690220356 + ], + [ + 0.3420898914337158, + 0.07319986820220947, + 0.009978948161005974 + ], + [ + 0.34271299839019775, + 0.07226058840751648, + 0.0088926050812006 + ], + [ + 0.3440096378326416, + 0.0729215145111084, + 0.008809095248579979 + ], + [ + 0.3385600447654724, + 0.07191507518291473, + 0.007650400046259165 + ], + [ + 0.33056581020355225, + 0.0687195211648941, + 0.021717306226491928 + ], + [ + 0.3260767459869385, + 0.07053114473819733, + 0.06567702442407608 + ], + [ + 0.3210744261741638, + 0.05164659395813942, + 0.11079379916191101 + ], + [ + 0.31642454862594604, + 0.018740631639957428, + 0.14530310034751892 + ], + [ + 0.3181312382221222, + -0.030230818316340446, + 0.15543241798877716 + ], + [ + 0.3194616734981537, + -0.0798911601305008, + 0.1410566121339798 + ], + [ + 0.3079639971256256, + -0.12186183035373688, + 0.1226452887058258 + ], + [ + 0.30247724056243896, + -0.13166068494319916, + 0.11253516376018524 + ], + [ + 0.2953985035419464, + -0.13772684335708618, + 0.1042756587266922 + ], + [ + 0.28991660475730896, + -0.1308266967535019, + 0.0995829850435257 + ], + [ + 0.2926889657974243, + -0.1224668100476265, + 0.0966123566031456 + ], + [ + 0.2918434739112854, + -0.11775663495063782, + 0.09144199639558792 + ], + [ + 0.29290202260017395, + -0.10586196929216385, + 0.08073078840970993 + ], + [ + 0.2942666709423065, + -0.10738750547170639, + 0.07665227353572845 + ], + [ + 0.2928263247013092, + -0.10569895803928375, + 0.06416212767362595 + ], + [ + 0.2907275855541229, + -0.10567931830883026, + 0.05455575883388519 + ], + [ + 0.287699431180954, + -0.10547687113285065, + 0.04164207726716995 + ], + [ + 0.2804059088230133, + -0.10775117576122284, + 0.025037454441189766 + ], + [ + 0.28152841329574585, + -0.10865448415279388, + 0.024149371311068535 + ], + [ + 0.279293030500412, + -0.1078430637717247, + 0.022001851350069046 + ], + [ + 0.2782023549079895, + -0.10732241719961166, + 0.022138386964797974 + ], + [ + 0.27756649255752563, + -0.10419659316539764, + 0.026788707822561264 + ], + [ + 0.286399781703949, + -0.09736397117376328, + 0.06889569014310837 + ], + [ + 0.2929937243461609, + -0.09526070952415466, + 0.10782558470964432 + ], + [ + 0.3015962243080139, + -0.07430437952280045, + 0.12860125303268433 + ], + [ + 0.3081296682357788, + -0.040627945214509964, + 0.13087327778339386 + ], + [ + 0.3102705478668213, + -0.015176615677773952, + 0.13041935861110687 + ], + [ + 0.3122570812702179, + -0.006975325755774975, + 0.12945173680782318 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9360359647016365, + -0.2605516040771243, + 0.2365365392448144, + -0.2542698469046545, + -0.9654376323516194, + -0.05724528796663106, + 0.2432766280187222, + -0.006560461274667261, + -0.9699347620369647 + ], + [ + 0.9332717933558331, + -0.2697523328425012, + 0.2371443413881415, + -0.2627219748024523, + -0.962916701131984, + -0.06138884782268533, + 0.24491003181226895, + -0.00501054958319358, + -0.9695328621096799 + ], + [ + 0.9336320477495827, + -0.2898578641025626, + 0.2105079999259434, + -0.28252392480263816, + -0.9570691557802453, + -0.0647986339995022, + 0.22025310742197005, + 0.0010245350108999754, + -0.9754422171502407 + ], + [ + 0.9491069520473872, + -0.24362550455049808, + 0.19960612993551627, + -0.24136287712543092, + -0.9697678588687049, + -0.03597584538189557, + 0.2023362427274291, + -0.014032584855369831, + -0.97921556944384 + ], + [ + 0.9524874056328619, + -0.23444290712962948, + 0.19443319008695037, + -0.23346703890795026, + -0.9719541668034765, + -0.028253130391407227, + 0.19560389529437777, + -0.018482990287508494, + -0.9805087940532192 + ], + [ + 0.9699489609531668, + -0.189390400635792, + 0.15274255887893826, + -0.18867817805690312, + -0.9818497181782577, + -0.019278901379567902, + 0.15362147724520578, + -0.01011963735959686, + -0.9880779496925891 + ], + [ + 0.9735966956264046, + -0.19320649790478997, + 0.12157599858817704, + -0.19226199677732084, + -0.9811485793695677, + -0.019565014599446876, + 0.1230642062524417, + -0.004326010684855813, + -0.9923892818702805 + ], + [ + 0.9826119143952644, + -0.17574292697898009, + 0.05990199750704803, + -0.17531965483162631, + -0.9844348332725369, + -0.012291365643891147, + 0.06112973350336906, + 0.0015756447992154596, + -0.998128585416365 + ], + [ + 0.98437303109405, + -0.1719671029103064, + 0.037908457781193984, + -0.17186357732289434, + -0.9851025031574357, + -0.005997421340201148, + 0.038375075823899006, + -0.0006113833416679635, + -0.9992632184594405 + ], + [ + 0.9831805156220891, + -0.18208269401875324, + 0.014211482679735602, + -0.18188244035555498, + -0.9832161452388438, + -0.014310472807598635, + 0.016578648659987903, + 0.011484958882909697, + -0.9997966013785338 + ], + [ + 0.985470942059043, + -0.16963004147313485, + 0.008524751438283653, + -0.16933609233756833, + -0.985164087036646, + -0.027874889149445525, + 0.013126697570390533, + 0.026026345173187464, + -0.999575069300861 + ], + [ + 0.9840293970014211, + -0.17748855426130128, + 0.013563146510012714, + -0.17706896599302163, + -0.9838116049310927, + -0.027591797423675447, + 0.018240809170130014, + 0.02474952745286491, + -0.9995272551419887 + ], + [ + 0.9816652720192703, + -0.19034507337358117, + -0.010101819328103228, + -0.19045345518967835, + -0.981633018154688, + -0.011139976428646206, + -0.0077958397652087095, + 0.012859654385854376, + -0.9998869206922506 + ], + [ + 0.9812047275817073, + -0.19262560545796537, + -0.011517755565226941, + -0.19260741927454889, + -0.9812722396573562, + 0.0026783797778871313, + -0.011817978325678097, + -0.0004096337250686622, + -0.999930081349944 + ], + [ + 0.9823739880766043, + -0.18692604779937594, + 1.4302911151607939e-05, + -0.1869208319548935, + -0.982345999264649, + 0.007545880334903812, + -0.0013964711806229808, + -0.007415550070200116, + -0.9999715293374097 + ], + [ + 0.9854113500751698, + -0.17011549159476957, + 0.005019030035928906, + -0.17014423710457283, + -0.9854009188607811, + 0.005997306764850563, + 0.003925522020647011, + -0.006763773192434402, + -0.9999694203569763 + ], + [ + 0.9875173813076099, + -0.15685495160492305, + 0.01435081086134847, + -0.15674900938244088, + -0.9876041116016776, + -0.008238131164599262, + 0.015465111476623983, + 0.005885822328182527, + -0.9998630843383194 + ], + [ + 0.9886468709597735, + -0.11646896251803407, + 0.09493337301192897, + -0.1180001931494763, + -0.9929563602919369, + 0.010659313883921238, + 0.09302321730694738, + -0.0217404536696557, + -0.9954265586752759 + ], + [ + 0.9805163179144116, + -0.09423013356925301, + 0.17236134204364226, + -0.10538275417094835, + -0.9928127317348399, + 0.0567217315369562, + 0.16577763850082486, + -0.07378049628950595, + -0.9833993151006178 + ], + [ + 0.9759667397730415, + -0.09067319728196754, + 0.198159769255632, + -0.10446410573178047, + -0.9927010479040456, + 0.06026508196185357, + 0.19124898292654868, + -0.07951729865177093, + -0.9783152997600955 + ], + [ + 0.9620976539084771, + -0.14552775296069717, + 0.23062909066727605, + -0.14584583630423323, + -0.9891817389614502, + -0.015763227395441476, + 0.23042807202362114, + -0.018470528509273623, + -0.9729140471799476 + ], + [ + 0.9516469159431603, + -0.23249171670653612, + 0.2007878209422056, + -0.2339431671940574, + -0.9721049581279094, + -0.016809072144194862, + 0.19909480630866483, + -0.03097663709932374, + -0.9794905339281906 + ], + [ + 0.9510251703882138, + -0.26950988816233695, + 0.15137881447148704, + -0.2748935135161739, + -0.9613507141708174, + 0.015438930986042647, + 0.14136718683910138, + -0.0562958661535932, + -0.9883552468314288 + ], + [ + 0.9570488076177159, + -0.26288398363620646, + 0.12226852000849218, + -0.2695189732739568, + -0.9621205927461389, + 0.041030330965891246, + 0.10685084409053815, + -0.07222171530348151, + -0.9916485874319403 + ], + [ + 0.9599484360514102, + -0.2646649263325613, + 0.09193191443580087, + -0.2721546151735054, + -0.9587931095985494, + 0.08153305112716702, + 0.06656474714300867, + -0.10328721971146268, + -0.9924217272319582 + ], + [ + 0.9703282934532653, + -0.23194052298466258, + 0.06831249315955934, + -0.23875545979462856, + -0.9637395436015219, + 0.11917181930718923, + 0.03819467688473263, + -0.13194576877009384, + -0.9905208128865034 + ], + [ + 0.9778829666496391, + -0.19902705379963678, + 0.0642894656404657, + -0.20533716585954806, + -0.9720101518140984, + 0.11416178470530843, + 0.03976872959083036, + -0.12483788137488246, + -0.9913798220261302 + ], + [ + 0.9790285841969923, + -0.1961240121034344, + 0.055121712615673266, + -0.20102190894950794, + -0.9739279202817797, + 0.10514084942544252, + 0.03306392970487172, + -0.11401656884882894, + -0.9929284962072605 + ], + [ + 0.9823113776751681, + -0.17948442841832596, + 0.05338255562691131, + -0.18356146703030518, + -0.9793191300191986, + 0.08508366118193465, + 0.03700736563977021, + -0.09337762865797615, + -0.9949427487823697 + ], + [ + 0.9809609267726205, + -0.18287345885331888, + 0.06536786819550608, + -0.1866878601175084, + -0.980708807814227, + 0.05794719285990616, + 0.05350984049824091, + -0.06904731944558769, + -0.9961772757131292 + ], + [ + 0.9839116530293609, + -0.1744680793343943, + 0.03845449682935157, + -0.1768887023178291, + -0.9815438548551555, + 0.07267769938843997, + 0.025064836431653487, + -0.07831060138608, + -0.9966138689006918 + ], + [ + 0.9860078759208667, + -0.16572335124140006, + 0.018006650864070217, + -0.16663511184754834, + -0.9828485749002956, + 0.07900264752534061, + 0.0046052276356360455, + -0.0808977729593201, + -0.9967117648591526 + ], + [ + 0.9899349922753996, + -0.14030716116324626, + -0.01850977025831686, + -0.1379862598527728, + -0.9859622532252487, + 0.09401184663027312, + -0.031440470106979895, + -0.09051152269905621, + -0.9953989959298486 + ], + [ + 0.9903807677430004, + -0.12258073891501632, + -0.0641864263831025, + -0.11613213569612653, + -0.9885779234715092, + 0.09605735934021518, + -0.0752280661950132, + -0.0876792545121557, + -0.9933041258269046 + ], + [ + 0.9914028227634638, + -0.11918924714659819, + -0.05398487178147945, + -0.11367918937300704, + -0.9889009760192302, + 0.09566557129766941, + -0.06478799981579647, + -0.08870616096326457, + -0.9939485560566137 + ], + [ + 0.9879594724750289, + -0.13736038318055713, + -0.07119133289490545, + -0.1297679291522861, + -0.9862727044146388, + 0.10210992650159892, + -0.08423992705593938, + -0.09164211727762073, + -0.992222433242912 + ], + [ + 0.9874151294938106, + -0.13753744350685698, + -0.07806928768933044, + -0.12901119019468527, + -0.9860265648721073, + 0.10539319793545945, + -0.09147390256937804, + -0.09399502646475669, + -0.9913614175206829 + ], + [ + 0.9878643836847225, + -0.13522705903829998, + -0.07640420113485663, + -0.1252788456043021, + -0.984507051398094, + 0.12268282924469942, + -0.09181051296696324, + -0.11162216738301928, + -0.9895005414134246 + ], + [ + 0.9909939486029709, + -0.12987149492439162, + 0.032624969553950965, + -0.13327516949002807, + -0.9802323300617103, + 0.1462269068919763, + 0.01298934292783093, + -0.14925807819978834, + -0.9887129528141164 + ], + [ + 0.9753013357822957, + -0.1499144236321191, + 0.1622127307220945, + -0.16878801680332067, + -0.9795449137014073, + 0.10955531673681593, + 0.14247073315200967, + -0.13422901187430253, + -0.9806552210468147 + ], + [ + 0.9722853995145543, + -0.10577511707198808, + 0.2085011426808746, + -0.12577689673113235, + -0.9884021354902108, + 0.085096361890957, + 0.1970818970365094, + -0.10896257690967968, + -0.9743130311628253 + ], + [ + 0.978404230867918, + -0.05638666647644906, + 0.19886101896407749, + -0.0663302075372425, + -0.9968405322096411, + 0.0436950444795003, + 0.1957689060801634, + -0.05594190904565975, + -0.9790531335042562 + ], + [ + 0.9813665825742455, + -0.03284023601871461, + 0.18931758900002454, + -0.03330441394946672, + -0.9994449876576852, + -0.0007298338252843708, + 0.189236483316589, + -0.0055888768250054125, + -0.9819156368231468 + ], + [ + 0.9811599177498043, + -0.06859872904532648, + 0.1806084997295632, + -0.060594564083228844, + -0.9969355797651707, + -0.04947472690017437, + 0.1834489427736263, + 0.037598725665230266, + -0.9823099415274132 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006429.json b/json/chunk-0006/episode_0006429.json new file mode 100644 index 0000000000000000000000000000000000000000..6c37b586130738f4667d45edd50d93032f01698b --- /dev/null +++ b/json/chunk-0006/episode_0006429.json @@ -0,0 +1,2962 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 48, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMoved thw blue cup to the upper part of the sink." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006429.mp4", + "start": 0, + "end": 48, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2941323220729828, + -0.08967719972133636, + 0.09906581789255142, + 0.01655849814414978, + -0.19387562572956085, + -0.28338873386383057, + 0.0, + 1.0008161067962646 + ], + [ + 0.2895311713218689, + -0.08820394426584244, + 0.09119260311126709, + 0.015200164169073105, + -0.16036628186702728, + -0.2694152891635895, + 0.0, + 1.0008161067962646 + ], + [ + 0.2790369391441345, + -0.08298328518867493, + 0.09059608727693558, + 0.023993326351046562, + -0.10805193334817886, + -0.09754837304353714, + 0.0, + 1.0008161067962646 + ], + [ + 0.26695650815963745, + -0.07903511077165604, + 0.10546819865703583, + 0.01816749759018421, + -0.1422002613544464, + 0.10502037405967712, + 0.0, + 1.0008161067962646 + ], + [ + 0.25476834177970886, + -0.08268182724714279, + 0.1082652360200882, + 0.028624923899769783, + -0.11835811287164688, + 0.3495039641857147, + 0.0, + 1.0008161067962646 + ], + [ + 0.23953355848789215, + -0.09193150699138641, + 0.10403107106685638, + 0.006588189397007227, + -0.027203358709812164, + 0.4916726052761078, + 0.0, + 1.0008161067962646 + ], + [ + 0.22830018401145935, + -0.10158666223287582, + 0.09645432233810425, + -0.022133423015475273, + 0.04133979231119156, + 0.46935778856277466, + 0.0, + 1.0008161067962646 + ], + [ + 0.21893367171287537, + -0.10874854028224945, + 0.08399207890033722, + -0.037950459867715836, + 0.04715218022465706, + 0.4115249216556549, + 0.0, + 1.0008161067962646 + ], + [ + 0.21723270416259766, + -0.11572925746440887, + 0.07878902554512024, + -0.030970612540841103, + -0.0033925247844308615, + 0.409232497215271, + 0.0, + 1.0008161067962646 + ], + [ + 0.21606986224651337, + -0.11809184402227402, + 0.07329140603542328, + -0.02710762992501259, + -0.01759570650756359, + 0.41761070489883423, + 0.0, + 1.0008161067962646 + ], + [ + 0.21614176034927368, + -0.11852308362722397, + 0.06512255221605301, + -0.005792283918708563, + -0.03565625846385956, + 0.4573291838169098, + 0.0, + 1.0008161067962646 + ], + [ + 0.2149989753961563, + -0.11653268337249756, + 0.05474357679486275, + 0.04292895644903183, + -0.03496624529361725, + 0.4723133444786072, + 0.0, + 1.0008161067962646 + ], + [ + 0.2157292515039444, + -0.11463645100593567, + 0.04967200383543968, + 0.0662127211689949, + -0.04429388791322708, + 0.48540857434272766, + 0.0, + 0.9701826572418213 + ], + [ + 0.217127725481987, + -0.11371809989213943, + 0.04907706752419472, + 0.06618954241275787, + -0.05580146983265877, + 0.49567267298698425, + 0.0, + 0.7091560959815979 + ], + [ + 0.216816708445549, + -0.112852543592453, + 0.04804839566349983, + 0.07188797742128372, + -0.06791114062070847, + 0.4935480058193207, + 0.0, + 0.4094836115837097 + ], + [ + 0.21849296987056732, + -0.1091378778219223, + 0.0462178960442543, + 0.08817194402217865, + -0.0712042823433876, + 0.49350106716156006, + 0.0, + 0.18011163175106049 + ], + [ + 0.22181709110736847, + -0.10417045652866364, + 0.053210072219371796, + 0.1158701628446579, + -0.0577440969645977, + 0.48760247230529785, + 0.0, + 0.06712212413549423 + ], + [ + 0.2221476435661316, + -0.09762213379144669, + 0.06551660597324371, + 0.1348806619644165, + -0.012586604803800583, + 0.49231985211372375, + 0.0, + 0.05701649188995361 + ], + [ + 0.2234857976436615, + -0.09169222414493561, + 0.08030585199594498, + 0.12216119468212128, + 0.009228747338056564, + 0.49405109882354736, + 0.0, + 0.05701649188995361 + ], + [ + 0.2289222776889801, + -0.08362294733524323, + 0.09505487233400345, + 0.07901953160762787, + 0.04971136897802353, + 0.47995299100875854, + 0.0, + 0.05701649188995361 + ], + [ + 0.23954524099826813, + -0.07093603909015656, + 0.11210718750953674, + -0.019088564440608025, + -0.026556475088000298, + 0.5040535926818848, + 0.0, + 0.05701649188995361 + ], + [ + 0.25813737511634827, + -0.057880908250808716, + 0.11504635214805603, + -0.08442708104848862, + -0.10830091685056686, + 0.533247172832489, + 0.0, + 0.05701649188995361 + ], + [ + 0.2796030342578888, + -0.04772321879863739, + 0.1107083186507225, + -0.1161196231842041, + -0.15505674481391907, + 0.590194582939148, + 0.0, + 0.05701649188995361 + ], + [ + 0.29977303743362427, + -0.04639171436429024, + 0.10159209370613098, + -0.08740737289190292, + -0.1519675850868225, + 0.6339659094810486, + 0.0, + 0.05701649188995361 + ], + [ + 0.31620731949806213, + -0.04324093461036682, + 0.0935824066400528, + -0.058058708906173706, + -0.16781994700431824, + 0.6749603748321533, + 0.0, + 0.05701649188995361 + ], + [ + 0.3261524736881256, + -0.03484508395195007, + 0.09298617392778397, + -0.05936385691165924, + -0.18795542418956757, + 0.7083613276481628, + 0.0, + 0.05701649188995361 + ], + [ + 0.3266920745372772, + -0.0313606858253479, + 0.0919446349143982, + -0.05086531862616539, + -0.19038580358028412, + 0.7098502516746521, + 0.0, + 0.05701649188995361 + ], + [ + 0.3264520764350891, + -0.03213973715901375, + 0.08895327150821686, + -0.04113127663731575, + -0.18579746782779694, + 0.6952699422836304, + 0.0, + 0.05701649188995361 + ], + [ + 0.3267475366592407, + -0.03499983996152878, + 0.08774442225694656, + -0.03376179561018944, + -0.19353824853897095, + 0.6841955184936523, + 0.0, + 0.05701649188995361 + ], + [ + 0.32754701375961304, + -0.036173414438962936, + 0.08345960080623627, + -0.028065795078873634, + -0.19191542267799377, + 0.6829459071159363, + 0.0, + 0.05701649188995361 + ], + [ + 0.3274783790111542, + -0.03863967955112457, + 0.08240560442209244, + -0.03903621435165405, + -0.18171155452728271, + 0.6789655685424805, + 0.0, + 0.05701649188995361 + ], + [ + 0.3231280446052551, + -0.039027273654937744, + 0.08143938332796097, + -0.036503441631793976, + -0.14477121829986572, + 0.6859824657440186, + 0.0, + 0.07559127360582352 + ], + [ + 0.3229505717754364, + -0.03522840514779091, + 0.08463919162750244, + -0.04332447797060013, + -0.11460049450397491, + 0.7120586633682251, + 0.0, + 0.22108687460422516 + ], + [ + 0.3230106830596924, + -0.034350574016571045, + 0.08460302650928497, + -0.04538513720035553, + -0.11177464574575424, + 0.7128211259841919, + 0.0, + 0.4709327220916748 + ], + [ + 0.3215785026550293, + -0.03360462188720703, + 0.08389011770486832, + -0.04737363010644913, + -0.10197196155786514, + 0.7148313522338867, + 0.0, + 0.7662391662597656 + ], + [ + 0.3194839358329773, + -0.03307855874300003, + 0.0912824273109436, + -0.06438305228948593, + -0.10775744915008545, + 0.7147219777107239, + 0.0, + 0.9886419177055359 + ], + [ + 0.31566959619522095, + -0.033053528517484665, + 0.09301009029150009, + -0.0698162242770195, + -0.08965431898832321, + 0.7125030755996704, + 0.0, + 0.9968144297599792 + ], + [ + 0.312582403421402, + -0.03278850391507149, + 0.1036272794008255, + -0.09736669808626175, + -0.09589140862226486, + 0.7089220881462097, + 0.0, + 0.9968144297599792 + ], + [ + 0.3089546859264374, + -0.0330350324511528, + 0.10653547942638397, + -0.10025469213724136, + -0.0950857624411583, + 0.698816180229187, + 0.0, + 0.9974852800369263 + ], + [ + 0.3041713833808899, + -0.031253352761268616, + 0.12249121069908142, + -0.12236517667770386, + -0.12970192730426788, + 0.6919732689857483, + 0.0, + 0.9968144297599792 + ], + [ + 0.28749385476112366, + -0.03996829688549042, + 0.12156152725219727, + -0.11484362185001373, + -0.12393051385879517, + 0.6270961761474609, + 0.0, + 0.9968144297599792 + ], + [ + 0.26993781328201294, + -0.052621059119701385, + 0.11731962114572525, + -0.10270430892705917, + -0.10616647452116013, + 0.5209107995033264, + 0.0, + 0.9968144297599792 + ], + [ + 0.2625141739845276, + -0.061045706272125244, + 0.11742136627435684, + -0.0837814062833786, + -0.11192281544208527, + 0.4515269696712494, + 0.0, + 0.9968144297599792 + ], + [ + 0.25621092319488525, + -0.05163349211215973, + 0.12235436588525772, + -0.004257374443113804, + -0.20129536092281342, + 0.3910781741142273, + 0.0, + 0.9968144297599792 + ], + [ + 0.2540089786052704, + -0.031534694135189056, + 0.1246507465839386, + 0.04649127274751663, + -0.2645814120769501, + 0.3639737367630005, + 0.0, + 0.9968144297599792 + ], + [ + 0.24760904908180237, + -0.004317802377045155, + 0.12031122297048569, + 0.10501913726329803, + -0.2984927296638489, + 0.26098448038101196, + 0.0, + 0.9968144297599792 + ], + [ + 0.24640092253684998, + 0.012898091226816177, + 0.11749009042978287, + 0.10388748347759247, + -0.2867961823940277, + 0.23135530948638916, + 0.0, + 0.9968144297599792 + ], + [ + 0.25314390659332275, + 0.023733118548989296, + 0.1172744482755661, + 0.10990048944950104, + -0.29215577244758606, + 0.23106035590171814, + 0.0, + 0.9968144297599792 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9701826572418213 + ], + [ + 0.7091560959815979 + ], + [ + 0.4094836115837097 + ], + [ + 0.18011163175106049 + ], + [ + 0.06712212413549423 + ], + [ + 0.05701649188995361 + ], + [ + 0.05701649188995361 + ], + [ + 0.05701649188995361 + ], + [ + 0.05701649188995361 + ], + [ + 0.05701649188995361 + ], + [ + 0.05701649188995361 + ], + [ + 0.05701649188995361 + ], + [ + 0.05701649188995361 + ], + [ + 0.05701649188995361 + ], + [ + 0.05701649188995361 + ], + [ + 0.05701649188995361 + ], + [ + 0.05701649188995361 + ], + [ + 0.05701649188995361 + ], + [ + 0.05701649188995361 + ], + [ + 0.07559127360582352 + ], + [ + 0.22108687460422516 + ], + [ + 0.4709327220916748 + ], + [ + 0.7662391662597656 + ], + [ + 0.9886419177055359 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9974852800369263 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2941323220729828, + -0.08967719972133636, + 0.09906581789255142 + ], + [ + 0.2895311713218689, + -0.08820394426584244, + 0.09119260311126709 + ], + [ + 0.2790369391441345, + -0.08298328518867493, + 0.09059608727693558 + ], + [ + 0.26695650815963745, + -0.07903511077165604, + 0.10546819865703583 + ], + [ + 0.25476834177970886, + -0.08268182724714279, + 0.1082652360200882 + ], + [ + 0.23953355848789215, + -0.09193150699138641, + 0.10403107106685638 + ], + [ + 0.22830018401145935, + -0.10158666223287582, + 0.09645432233810425 + ], + [ + 0.21893367171287537, + -0.10874854028224945, + 0.08399207890033722 + ], + [ + 0.21723270416259766, + -0.11572925746440887, + 0.07878902554512024 + ], + [ + 0.21606986224651337, + -0.11809184402227402, + 0.07329140603542328 + ], + [ + 0.21614176034927368, + -0.11852308362722397, + 0.06512255221605301 + ], + [ + 0.2149989753961563, + -0.11653268337249756, + 0.05474357679486275 + ], + [ + 0.2157292515039444, + -0.11463645100593567, + 0.04967200383543968 + ], + [ + 0.217127725481987, + -0.11371809989213943, + 0.04907706752419472 + ], + [ + 0.216816708445549, + -0.112852543592453, + 0.04804839566349983 + ], + [ + 0.21849296987056732, + -0.1091378778219223, + 0.0462178960442543 + ], + [ + 0.22181709110736847, + -0.10417045652866364, + 0.053210072219371796 + ], + [ + 0.2221476435661316, + -0.09762213379144669, + 0.06551660597324371 + ], + [ + 0.2234857976436615, + -0.09169222414493561, + 0.08030585199594498 + ], + [ + 0.2289222776889801, + -0.08362294733524323, + 0.09505487233400345 + ], + [ + 0.23954524099826813, + -0.07093603909015656, + 0.11210718750953674 + ], + [ + 0.25813737511634827, + -0.057880908250808716, + 0.11504635214805603 + ], + [ + 0.2796030342578888, + -0.04772321879863739, + 0.1107083186507225 + ], + [ + 0.29977303743362427, + -0.04639171436429024, + 0.10159209370613098 + ], + [ + 0.31620731949806213, + -0.04324093461036682, + 0.0935824066400528 + ], + [ + 0.3261524736881256, + -0.03484508395195007, + 0.09298617392778397 + ], + [ + 0.3266920745372772, + -0.0313606858253479, + 0.0919446349143982 + ], + [ + 0.3264520764350891, + -0.03213973715901375, + 0.08895327150821686 + ], + [ + 0.3267475366592407, + -0.03499983996152878, + 0.08774442225694656 + ], + [ + 0.32754701375961304, + -0.036173414438962936, + 0.08345960080623627 + ], + [ + 0.3274783790111542, + -0.03863967955112457, + 0.08240560442209244 + ], + [ + 0.3231280446052551, + -0.039027273654937744, + 0.08143938332796097 + ], + [ + 0.3229505717754364, + -0.03522840514779091, + 0.08463919162750244 + ], + [ + 0.3230106830596924, + -0.034350574016571045, + 0.08460302650928497 + ], + [ + 0.3215785026550293, + -0.03360462188720703, + 0.08389011770486832 + ], + [ + 0.3194839358329773, + -0.03307855874300003, + 0.0912824273109436 + ], + [ + 0.31566959619522095, + -0.033053528517484665, + 0.09301009029150009 + ], + [ + 0.312582403421402, + -0.03278850391507149, + 0.1036272794008255 + ], + [ + 0.3089546859264374, + -0.0330350324511528, + 0.10653547942638397 + ], + [ + 0.3041713833808899, + -0.031253352761268616, + 0.12249121069908142 + ], + [ + 0.28749385476112366, + -0.03996829688549042, + 0.12156152725219727 + ], + [ + 0.26993781328201294, + -0.052621059119701385, + 0.11731962114572525 + ], + [ + 0.2625141739845276, + -0.061045706272125244, + 0.11742136627435684 + ], + [ + 0.25621092319488525, + -0.05163349211215973, + 0.12235436588525772 + ], + [ + 0.2540089786052704, + -0.031534694135189056, + 0.1246507465839386 + ], + [ + 0.24760904908180237, + -0.004317802377045155, + 0.12031122297048569 + ], + [ + 0.24640092253684998, + 0.012898091226816177, + 0.11749009042978287 + ], + [ + 0.25314390659332275, + 0.023733118548989296, + 0.1172744482755661 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9421256200276719, + -0.27650965621451973, + 0.18958303222494033, + -0.2743722843911316, + -0.9608737834717759, + -0.03796606108916935, + 0.19266334795561574, + -0.016247530789712264, + -0.9811303950534661 + ], + [ + 0.9515584157467553, + -0.2637976026397774, + 0.15794747944500714, + -0.2627526271880492, + -0.9644613461886602, + -0.02784544152522785, + 0.15967979937143856, + -0.015004550958391299, + -0.9870548237677752 + ], + [ + 0.9894417217831086, + -0.0947907722055979, + 0.10963479693758099, + -0.09682574629248294, + -0.9952114519247668, + 0.01337687604420737, + 0.10784180103179794, + -0.023851110298365855, + -0.9938819197911561 + ], + [ + 0.9844526059384834, + 0.10737053025652653, + 0.13901307813785638, + 0.10376936214074138, + -0.9940564249856834, + 0.032920258589300526, + 0.14172150910088813, + -0.017983135908819243, + -0.9897432094644814 + ], + [ + 0.9329695067020685, + 0.3454668230470012, + 0.1010968532542483, + 0.3400360990355538, + -0.9380004976273574, + 0.06730912125048866, + 0.11808196694153655, + -0.02842077804427369, + -0.9925970524127986 + ], + [ + 0.8812182920731896, + 0.4722487487523779, + 0.02086722351977953, + 0.47192635179342357, + -0.8814407227953516, + 0.018648610697804276, + 0.027200003650014903, + -0.006585704200909416, + -0.9996083174431961 + ], + [ + 0.8910969777402893, + 0.45301857358891234, + -0.02683930411894052, + 0.4519271746064171, + -0.8912267950168671, + -0.03842692670802052, + -0.0413280185150795, + 0.022112707374489532, + -0.9989009075269613 + ], + [ + 0.9154932441421655, + 0.4013584313976754, + -0.027991596525577096, + 0.3995628099198087, + -0.9151366355080681, + -0.05361435703204832, + -0.0471347097056938, + 0.0378991806899651, + -0.9981693099088897 + ], + [ + 0.9174212070073996, + 0.39761812484186715, + 0.015432295043958242, + 0.3979030280769769, + -0.9170283341464325, + -0.027059464514140295, + 0.00339251827687976, + 0.030965483523704786, + -0.9995146970654732 + ], + [ + 0.9139190961590288, + 0.4049927366014439, + 0.027069705870905823, + 0.4055148687034779, + -0.9139181949712932, + -0.01764154644055621, + 0.017594798557099747, + 0.027100114399882802, + -0.9994778671202521 + ], + [ + 0.8966647061637394, + 0.44136066104504784, + 0.03454231610898794, + 0.44127267607928716, + -0.8973111273915362, + 0.010543529065493763, + 0.03564870356856479, + 0.005788569875949966, + -0.9993476183954569 + ], + [ + 0.8899738861185236, + 0.45586447268714136, + 0.011578625512897654, + 0.4546694864595786, + -0.8890152248091518, + 0.054107191205203166, + 0.03495912055067196, + -0.04288953950799571, + -0.9984680001337628 + ], + [ + 0.8836168799295069, + 0.4681386896019103, + 0.008208337313337727, + 0.4661121579000306, + -0.8811793399794643, + 0.07913549804690903, + 0.04427940561277029, + -0.06609945605798617, + -0.9968300738578355 + ], + [ + 0.8782797978895487, + 0.4778268928032999, + 0.017494488647503723, + 0.4748831679132108, + -0.8759682681701931, + 0.08464968984955695, + 0.055772515200653766, + -0.06603827430253356, + -0.9962571820947322 + ], + [ + 0.8786275431738917, + 0.4768221798168082, + 0.025578295700810286, + 0.4726614041172805, + -0.8760738439339433, + 0.09531955220564861, + 0.06785895249774736, + -0.07166051081001257, + -0.9951180501610631 + ], + [ + 0.8784481595195859, + 0.4773891837548596, + 0.020697784193504824, + 0.4725117394211247, + -0.8742909405904057, + 0.11112158796006665, + 0.07114412938447662, + -0.0878346084149783, + -0.9935912612431291 + ], + [ + 0.8819861756972324, + 0.47126212626323816, + -0.0035205438248517643, + 0.46772824324503937, + -0.8744087194686527, + 0.1289948905503646, + 0.057712012180136586, + -0.1154183679794642, + -0.9916390089054974 + ], + [ + 0.8811688997467888, + 0.4698699070777893, + -0.0525703389920915, + 0.47263406126122454, + -0.8724347543789805, + 0.12439712009290695, + 0.01258627247261369, + -0.13446140626364747, + -0.9908388950635959 + ], + [ + 0.8803815794114159, + 0.46967243192697367, + -0.06584892801604786, + 0.47417624073077186, + -0.8743911034843033, + 0.10294217247530447, + -0.009228616336888314, + -0.12185238953465173, + -0.9925053288548136 + ], + [ + 0.8859208485511209, + 0.45681737098201614, + -0.0803874347864211, + 0.4611670682835848, + -0.8860599157652488, + 0.04714616426395431, + -0.04969089688449482, + -0.0788398074779446, + -0.995648080158675 + ], + [ + 0.8753232113341879, + 0.48244716201188564, + 0.03246554429362374, + 0.48280865268316087, + -0.8757172281675311, + -0.0038911675428597494, + 0.02655335372179695, + 0.019080674968485326, + -0.9994652806620505 + ], + [ + 0.8561155882110336, + 0.49867241621444847, + 0.13561681654175406, + 0.5053541298430868, + -0.8627270072982438, + -0.017869368448623392, + 0.10808932913388118, + 0.08383276319590058, + -0.9906002042914829 + ], + [ + 0.820864716650048, + 0.5379089878989246, + 0.19192456251504397, + 0.5498459678308841, + -0.8351950677026553, + -0.010890846857588461, + 0.15443616357302709, + 0.11446885874643681, + -0.9813492506534732 + ], + [ + 0.7963992556834611, + 0.5794360840079009, + 0.17321099877437796, + 0.5855179860452404, + -0.8104368288706282, + 0.01899564233305656, + 0.15138333317890218, + 0.08629003974798291, + -0.9847015362412799 + ], + [ + 0.7697634083548374, + 0.6162464428189832, + 0.1664470392373898, + 0.6160877896816711, + -0.7854726184352097, + 0.05889483078919838, + 0.16703332171485008, + 0.05721090282004708, + -0.9842899887916254 + ], + [ + 0.7460541777500447, + 0.6410253885838205, + 0.18024875881033578, + 0.6391322026572636, + -0.7653034779775192, + 0.07629294935960679, + 0.18685071952812868, + 0.05828411264208049, + -0.980657825556573 + ], + [ + 0.744755101418905, + 0.6435797818615805, + 0.17647918656180564, + 0.6399444632476674, + -0.7637490342641531, + 0.08460789927204222, + 0.1892377416615699, + 0.04992471371548936, + -0.9806613075324503 + ], + [ + 0.7546649995375694, + 0.6342180883927672, + 0.16807187399557574, + 0.6295676626123373, + -0.772097330829906, + 0.0866618134946015, + 0.184730334990761, + 0.04041197942144154, + -0.9819580313096087 + ], + [ + 0.7604597601036096, + 0.6266585869782034, + 0.1702937715526955, + 0.6202493426869843, + -0.7785895830638504, + 0.09533632068012363, + 0.19233228059669097, + 0.03312516431567925, + -0.9807706242182903 + ], + [ + 0.7614753524919604, + 0.6266803516217628, + 0.16561106375622592, + 0.6194947380509742, + -0.7787893840168949, + 0.09855640450899435, + 0.19073950056136713, + 0.027546909696179664, + -0.981254100980878 + ], + [ + 0.7654099566598186, + 0.6220214613102301, + 0.1650360564104109, + 0.6176490371339617, + -0.7820588137827444, + 0.08302818022946311, + 0.18071321250396785, + 0.03838376550329953, + -0.9827865594178031 + ], + [ + 0.7657023538876753, + 0.6289374967344142, + 0.1346756490696146, + 0.6268071581321087, + -0.7766166598267631, + 0.06308209091233004, + 0.14426604508761898, + 0.03611355536319485, + -0.9888797294685571 + ], + [ + 0.7520527372288501, + 0.6490312767796654, + 0.11478276085001447, + 0.6491076958344785, + -0.7595440037781994, + 0.04185815969482155, + 0.1143498125711127, + 0.043026829843019976, + -0.992508343682113 + ], + [ + 0.7517990555315068, + 0.6494687414670887, + 0.11396724950217305, + 0.6498896459027933, + -0.7590504376331939, + 0.03854713059618244, + 0.11154204700594594, + 0.04508643904782291, + -0.992736412530391 + ], + [ + 0.7512807893978752, + 0.6511141112301686, + 0.10783130175720133, + 0.6520850297478116, + -0.757516382671475, + 0.030887602094023428, + 0.1017953312313526, + 0.0471099155302845, + -0.9936892705459932 + ], + [ + 0.7508947256886189, + 0.6488233696452016, + 0.12322883564839754, + 0.6516059523751495, + -0.7582457794899475, + 0.021749039403067508, + 0.10754902957390236, + 0.0639654038361975, + -0.9921399262955725 + ], + [ + 0.7536886988546948, + 0.6474109495030151, + 0.11319190643469634, + 0.6511044164856783, + -0.75896751091193, + 0.00559966186418135, + 0.08953426188650304, + 0.06947934832562339, + -0.9935573642747989 + ], + [ + 0.7555768693974072, + 0.6408674092451442, + 0.13561916604606636, + 0.6480251394217161, + -0.7615282280197795, + -0.01175485459375035, + 0.09574451999503099, + 0.09676632521942664, + -0.9906913067118583 + ], + [ + 0.7621458658265328, + 0.6328063895373318, + 0.13671046984138058, + 0.6404058030183185, + -0.7678730342126442, + -0.015855938620268205, + 0.09494254401471963, + 0.09963471628801762, + -0.9904841425516205 + ], + [ + 0.7635209295173497, + 0.6211310168843286, + 0.1767259178875639, + 0.6326984448247316, + -0.774304099566212, + -0.012076394798259713, + 0.12933857933860285, + 0.12103479358927065, + -0.9841860142450076 + ], + [ + 0.8035245597153199, + 0.5714605903378399, + 0.1666765599147895, + 0.5822954400056467, + -0.8127129052877393, + -0.020730511990586724, + 0.12361352063156819, + 0.11371247631411927, + -0.9857936752929486 + ], + [ + 0.8624826697542597, + 0.4856246848550769, + 0.14245107873572577, + 0.4948682734068456, + -0.8682024857303082, + -0.03646691304513711, + 0.10596714749813875, + 0.10194659989975752, + -0.9891298470979362 + ], + [ + 0.8941520979671381, + 0.4263996221009152, + 0.1366579231993599, + 0.4336098799716126, + -0.9007040603679127, + -0.02673326818327863, + 0.11168929085623742, + 0.08315983350724103, + -0.9902575141846078 + ], + [ + 0.9058315134774269, + 0.38039500870881887, + 0.18646422321885742, + 0.37348866642924955, + -0.9248147040259195, + 0.0722771005668583, + 0.19993870370714883, + 0.004171398670539533, + -0.9797995275529767 + ], + [ + 0.9019712694754491, + 0.3669629571157032, + 0.22756541289428175, + 0.34360271135043624, + -0.9291533834644963, + 0.1364227501156142, + 0.26150526915049943, + -0.04485730822705578, + -0.9641591238510101 + ], + [ + 0.9234146710559866, + 0.2863935662034223, + 0.2555074764382633, + 0.24662186692654267, + -0.9528591260687996, + 0.1767403197379415, + 0.2940799211646902, + -0.10019087336024704, + -0.9505150124343541 + ], + [ + 0.9335998659385172, + 0.25661403802410304, + 0.2500810384826226, + 0.21993132155823744, + -0.9613823045763966, + 0.1654517399274596, + 0.2828807241881814, + -0.09946506892543105, + -0.9539838551812233 + ], + [ + 0.9321754597487392, + 0.25837825869194914, + 0.25355391473519556, + 0.21930558274662887, + -0.9603171388263526, + 0.1723254312413845, + 0.28801731478921216, + -0.10503174906514623, + -0.9518478649815462 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.004601150751113892, + 0.001473255455493927, + -0.007873214781284332, + -0.0013583339750766754, + 0.03350934386253357, + 0.013973444700241089, + 1.0 + ], + [ + -0.010494232177734375, + 0.005220659077167511, + -0.0005965158343315125, + 0.008793162181973457, + 0.05231434851884842, + 0.17186692357063293, + 1.0 + ], + [ + -0.01208043098449707, + 0.00394817441701889, + 0.01487211138010025, + -0.0058258287608623505, + -0.03414832800626755, + 0.20256873965263367, + 1.0 + ], + [ + -0.012188166379928589, + -0.0036467164754867554, + 0.002797037363052368, + 0.010457426309585571, + 0.02384214848279953, + 0.2444835901260376, + 1.0 + ], + [ + -0.015234783291816711, + -0.009249679744243622, + -0.0042341649532318115, + -0.022036734968423843, + 0.09115475416183472, + 0.14216864109039307, + 1.0 + ], + [ + -0.0112333744764328, + -0.00965515524148941, + -0.007576748728752136, + -0.028721611946821213, + 0.06854315102100372, + -0.02231481671333313, + 1.0 + ], + [ + -0.009366512298583984, + -0.007161878049373627, + -0.012462243437767029, + -0.015817036852240562, + 0.0058123879134655, + -0.05783286690711975, + 1.0 + ], + [ + -0.00170096755027771, + -0.006980717182159424, + -0.00520305335521698, + 0.006979847326874733, + -0.050544705241918564, + -0.002292424440383911, + 1.0 + ], + [ + -0.0011628419160842896, + -0.002362586557865143, + -0.0054976195096969604, + 0.003862982615828514, + -0.014203181490302086, + 0.008378207683563232, + 1.0 + ], + [ + 7.189810276031494e-05, + -0.00043123960494995117, + -0.00816885381937027, + 0.02131534554064274, + -0.018060551956295967, + 0.03971847891807556, + 1.0 + ], + [ + -0.0011427849531173706, + 0.00199040025472641, + -0.010378975421190262, + 0.04872123897075653, + 0.0006900131702423096, + 0.014984160661697388, + 1.0 + ], + [ + 0.0007302761077880859, + 0.0018962323665618896, + -0.005071572959423065, + 0.023283764719963074, + -0.009327642619609833, + 0.013095229864120483, + 0.0 + ], + [ + 0.0013984739780426025, + 0.0009183511137962341, + -0.0005949363112449646, + -2.317875623703003e-05, + -0.011507581919431686, + 0.010264098644256592, + 0.0 + ], + [ + -0.0003110170364379883, + 0.0008655562996864319, + -0.0010286718606948853, + 0.005698435008525848, + -0.012109670788049698, + -0.0021246671676635742, + 0.0 + ], + [ + 0.0016762614250183105, + 0.0037146657705307007, + -0.0018304996192455292, + 0.016283966600894928, + -0.003293141722679138, + -4.693865776062012e-05, + 0.0 + ], + [ + 0.0033241212368011475, + 0.004967421293258667, + 0.006992176175117493, + 0.027698218822479248, + 0.013460185378789902, + -0.005898594856262207, + 0.0 + ], + [ + 0.00033055245876312256, + 0.0065483227372169495, + 0.012306533753871918, + 0.019010499119758606, + 0.04515749216079712, + 0.004717379808425903, + 0.0 + ], + [ + 0.0013381540775299072, + 0.005929909646511078, + 0.014789246022701263, + -0.012719467282295227, + 0.021815352141857147, + 0.0017312467098236084, + 0.0 + ], + [ + 0.0054364800453186035, + 0.008069276809692383, + 0.014749020338058472, + -0.04314166307449341, + 0.040482621639966965, + -0.014098107814788818, + 0.0 + ], + [ + 0.010622963309288025, + 0.01268690824508667, + 0.017052315175533295, + -0.09810809791088104, + -0.07626784592866898, + 0.02410060167312622, + 0.0 + ], + [ + 0.01859213411808014, + 0.01305513083934784, + 0.002939164638519287, + -0.06533851474523544, + -0.08174443989992142, + 0.029193580150604248, + 0.0 + ], + [ + 0.021465659141540527, + 0.010157689452171326, + -0.004338033497333527, + -0.031692542135715485, + -0.0467558279633522, + 0.056947410106658936, + 0.0 + ], + [ + 0.020170003175735474, + 0.0013315044343471527, + -0.009116224944591522, + 0.028712250292301178, + 0.0030891597270965576, + 0.043771326541900635, + 0.0 + ], + [ + 0.016434282064437866, + 0.003150779753923416, + -0.008009687066078186, + 0.029348663985729218, + -0.015852361917495728, + 0.040994465351104736, + 0.0 + ], + [ + 0.009945154190063477, + 0.008395850658416748, + -0.0005962327122688293, + -0.0013051480054855347, + -0.02013547718524933, + 0.03340095281600952, + 0.0 + ], + [ + 0.0005396008491516113, + 0.003484398126602173, + -0.0010415390133857727, + 0.00849853828549385, + -0.0024303793907165527, + 0.0014889240264892578, + 0.0 + ], + [ + -0.00023999810218811035, + -0.0007790513336658478, + -0.0029913634061813354, + 0.00973404198884964, + 0.004588335752487183, + -0.014580309391021729, + 0.0 + ], + [ + 0.00029546022415161133, + -0.00286010280251503, + -0.0012088492512702942, + 0.007369481027126312, + -0.007740780711174011, + -0.011074423789978027, + 0.0 + ], + [ + 0.0007994771003723145, + -0.0011735744774341583, + -0.004284821450710297, + 0.0056960005313158035, + 0.0016228258609771729, + -0.0012496113777160645, + 0.0 + ], + [ + -6.86347484588623e-05, + -0.0024662651121616364, + -0.0010539963841438293, + -0.010970419272780418, + 0.01020386815071106, + -0.0039803385734558105, + 0.0 + ], + [ + -0.004350334405899048, + -0.0003875941038131714, + -0.0009662210941314697, + 0.002532772719860077, + 0.03694033622741699, + 0.007016897201538086, + 1.0 + ], + [ + -0.00017747282981872559, + 0.0037988685071468353, + 0.0031998082995414734, + -0.006821036338806152, + 0.030170723795890808, + 0.026076197624206543, + 1.0 + ], + [ + 6.0111284255981445e-05, + 0.0008778311312198639, + -3.616511821746826e-05, + -0.0020606592297554016, + 0.0028258487582206726, + 0.0007624626159667969, + 1.0 + ], + [ + -0.001432180404663086, + 0.0007459521293640137, + -0.0007129088044166565, + -0.0019884929060935974, + 0.009802684187889099, + 0.0020102262496948242, + 1.0 + ], + [ + -0.002094566822052002, + 0.0005260631442070007, + 0.007392309606075287, + -0.017009422183036804, + -0.005785487592220306, + -0.0001093745231628418, + 1.0 + ], + [ + -0.0038143396377563477, + 2.50302255153656e-05, + 0.001727662980556488, + -0.005433171987533569, + 0.018103130161762238, + -0.002218902111053467, + 1.0 + ], + [ + -0.0030871927738189697, + 0.0002650246024131775, + 0.010617189109325409, + -0.02755047380924225, + -0.00623708963394165, + -0.0035809874534606934, + 1.0 + ], + [ + -0.0036277174949645996, + -0.0002465285360813141, + 0.0029082000255584717, + -0.0028879940509796143, + 0.0008056461811065674, + -0.010105907917022705, + 1.0 + ], + [ + -0.004783302545547485, + 0.0017816796898841858, + 0.01595573127269745, + -0.022110484540462494, + -0.03461616486310959, + -0.006842911243438721, + 1.0 + ], + [ + -0.016677528619766235, + -0.008714944124221802, + -0.0009296834468841553, + 0.0075215548276901245, + 0.005771413445472717, + -0.06487709283828735, + 1.0 + ], + [ + -0.017556041479110718, + -0.012652762234210968, + -0.004241906106472015, + 0.01213931292295456, + 0.01776403933763504, + -0.10618537664413452, + 1.0 + ], + [ + -0.0074236392974853516, + -0.008424647152423859, + 0.0001017451286315918, + 0.018922902643680573, + -0.00575634092092514, + -0.06938382983207703, + 1.0 + ], + [ + -0.006303250789642334, + 0.009412214159965515, + 0.004932999610900879, + 0.07952403277158737, + -0.08937254548072815, + -0.060448795557022095, + 1.0 + ], + [ + -0.002201944589614868, + 0.020098797976970673, + 0.0022963806986808777, + 0.05074864625930786, + -0.06328605115413666, + -0.027104437351226807, + 1.0 + ], + [ + -0.006399929523468018, + 0.027216892689466476, + -0.004339523613452911, + 0.0585278645157814, + -0.033911317586898804, + -0.10298925638198853, + 1.0 + ], + [ + -0.0012081265449523926, + 0.017215892672538757, + -0.00282113254070282, + -0.0011316537857055664, + 0.011696547269821167, + -0.029629170894622803, + 1.0 + ], + [ + 0.006742984056472778, + 0.010835027322173119, + -0.00021564215421676636, + 0.006013005971908569, + -0.00535959005355835, + -0.0002949535846710205, + 1.0 + ], + [ + 0.019960135221481323, + 0.009519552811980247, + 0.00477118045091629, + -0.02158144861459732, + -0.01262521743774414, + 0.07345229387283325, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9701826572418213 + ], + [ + 0.7091560959815979 + ], + [ + 0.4094836115837097 + ], + [ + 0.18011163175106049 + ], + [ + 0.06712212413549423 + ], + [ + 0.05701649188995361 + ], + [ + 0.05701649188995361 + ], + [ + 0.05701649188995361 + ], + [ + 0.05701649188995361 + ], + [ + 0.05701649188995361 + ], + [ + 0.05701649188995361 + ], + [ + 0.05701649188995361 + ], + [ + 0.05701649188995361 + ], + [ + 0.05701649188995361 + ], + [ + 0.05701649188995361 + ], + [ + 0.05701649188995361 + ], + [ + 0.05701649188995361 + ], + [ + 0.05701649188995361 + ], + [ + 0.05701649188995361 + ], + [ + 0.07559127360582352 + ], + [ + 0.22108687460422516 + ], + [ + 0.4709327220916748 + ], + [ + 0.7662391662597656 + ], + [ + 0.9886419177055359 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9974852800369263 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2895311713218689, + -0.08820394426584244, + 0.09119260311126709 + ], + [ + 0.2790369391441345, + -0.08298328518867493, + 0.09059608727693558 + ], + [ + 0.26695650815963745, + -0.07903511077165604, + 0.10546819865703583 + ], + [ + 0.25476834177970886, + -0.08268182724714279, + 0.1082652360200882 + ], + [ + 0.23953355848789215, + -0.09193150699138641, + 0.10403107106685638 + ], + [ + 0.22830018401145935, + -0.10158666223287582, + 0.09645432233810425 + ], + [ + 0.21893367171287537, + -0.10874854028224945, + 0.08399207890033722 + ], + [ + 0.21723270416259766, + -0.11572925746440887, + 0.07878902554512024 + ], + [ + 0.21606986224651337, + -0.11809184402227402, + 0.07329140603542328 + ], + [ + 0.21614176034927368, + -0.11852308362722397, + 0.06512255221605301 + ], + [ + 0.2149989753961563, + -0.11653268337249756, + 0.05474357679486275 + ], + [ + 0.2157292515039444, + -0.11463645100593567, + 0.04967200383543968 + ], + [ + 0.217127725481987, + -0.11371809989213943, + 0.04907706752419472 + ], + [ + 0.216816708445549, + -0.112852543592453, + 0.04804839566349983 + ], + [ + 0.21849296987056732, + -0.1091378778219223, + 0.0462178960442543 + ], + [ + 0.22181709110736847, + -0.10417045652866364, + 0.053210072219371796 + ], + [ + 0.2221476435661316, + -0.09762213379144669, + 0.06551660597324371 + ], + [ + 0.2234857976436615, + -0.09169222414493561, + 0.08030585199594498 + ], + [ + 0.2289222776889801, + -0.08362294733524323, + 0.09505487233400345 + ], + [ + 0.23954524099826813, + -0.07093603909015656, + 0.11210718750953674 + ], + [ + 0.25813737511634827, + -0.057880908250808716, + 0.11504635214805603 + ], + [ + 0.2796030342578888, + -0.04772321879863739, + 0.1107083186507225 + ], + [ + 0.29977303743362427, + -0.04639171436429024, + 0.10159209370613098 + ], + [ + 0.31620731949806213, + -0.04324093461036682, + 0.0935824066400528 + ], + [ + 0.3261524736881256, + -0.03484508395195007, + 0.09298617392778397 + ], + [ + 0.3266920745372772, + -0.0313606858253479, + 0.0919446349143982 + ], + [ + 0.3264520764350891, + -0.03213973715901375, + 0.08895327150821686 + ], + [ + 0.3267475366592407, + -0.03499983996152878, + 0.08774442225694656 + ], + [ + 0.32754701375961304, + -0.036173414438962936, + 0.08345960080623627 + ], + [ + 0.3274783790111542, + -0.03863967955112457, + 0.08240560442209244 + ], + [ + 0.3231280446052551, + -0.039027273654937744, + 0.08143938332796097 + ], + [ + 0.3229505717754364, + -0.03522840514779091, + 0.08463919162750244 + ], + [ + 0.3230106830596924, + -0.034350574016571045, + 0.08460302650928497 + ], + [ + 0.3215785026550293, + -0.03360462188720703, + 0.08389011770486832 + ], + [ + 0.3194839358329773, + -0.03307855874300003, + 0.0912824273109436 + ], + [ + 0.31566959619522095, + -0.033053528517484665, + 0.09301009029150009 + ], + [ + 0.312582403421402, + -0.03278850391507149, + 0.1036272794008255 + ], + [ + 0.3089546859264374, + -0.0330350324511528, + 0.10653547942638397 + ], + [ + 0.3041713833808899, + -0.031253352761268616, + 0.12249121069908142 + ], + [ + 0.28749385476112366, + -0.03996829688549042, + 0.12156152725219727 + ], + [ + 0.26993781328201294, + -0.052621059119701385, + 0.11731962114572525 + ], + [ + 0.2625141739845276, + -0.061045706272125244, + 0.11742136627435684 + ], + [ + 0.25621092319488525, + -0.05163349211215973, + 0.12235436588525772 + ], + [ + 0.2540089786052704, + -0.031534694135189056, + 0.1246507465839386 + ], + [ + 0.24760904908180237, + -0.004317802377045155, + 0.12031122297048569 + ], + [ + 0.24640092253684998, + 0.012898091226816177, + 0.11749009042978287 + ], + [ + 0.25314390659332275, + 0.023733118548989296, + 0.1172744482755661 + ], + [ + 0.2731040418148041, + 0.03325267136096954, + 0.12204562872648239 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9515584157467553, + -0.2637976026397774, + 0.15794747944500714, + -0.2627526271880492, + -0.9644613461886602, + -0.02784544152522785, + 0.15967979937143856, + -0.015004550958391299, + -0.9870548237677752 + ], + [ + 0.9894417217831086, + -0.0947907722055979, + 0.10963479693758099, + -0.09682574629248294, + -0.9952114519247668, + 0.01337687604420737, + 0.10784180103179794, + -0.023851110298365855, + -0.9938819197911561 + ], + [ + 0.9844526059384834, + 0.10737053025652653, + 0.13901307813785638, + 0.10376936214074138, + -0.9940564249856834, + 0.032920258589300526, + 0.14172150910088813, + -0.017983135908819243, + -0.9897432094644814 + ], + [ + 0.9329695067020685, + 0.3454668230470012, + 0.1010968532542483, + 0.3400360990355538, + -0.9380004976273574, + 0.06730912125048866, + 0.11808196694153655, + -0.02842077804427369, + -0.9925970524127986 + ], + [ + 0.8812182920731896, + 0.4722487487523779, + 0.02086722351977953, + 0.47192635179342357, + -0.8814407227953516, + 0.018648610697804276, + 0.027200003650014903, + -0.006585704200909416, + -0.9996083174431961 + ], + [ + 0.8910969777402893, + 0.45301857358891234, + -0.02683930411894052, + 0.4519271746064171, + -0.8912267950168671, + -0.03842692670802052, + -0.0413280185150795, + 0.022112707374489532, + -0.9989009075269613 + ], + [ + 0.9154932441421655, + 0.4013584313976754, + -0.027991596525577096, + 0.3995628099198087, + -0.9151366355080681, + -0.05361435703204832, + -0.0471347097056938, + 0.0378991806899651, + -0.9981693099088897 + ], + [ + 0.9174212070073996, + 0.39761812484186715, + 0.015432295043958242, + 0.3979030280769769, + -0.9170283341464325, + -0.027059464514140295, + 0.00339251827687976, + 0.030965483523704786, + -0.9995146970654732 + ], + [ + 0.9139190961590288, + 0.4049927366014439, + 0.027069705870905823, + 0.4055148687034779, + -0.9139181949712932, + -0.01764154644055621, + 0.017594798557099747, + 0.027100114399882802, + -0.9994778671202521 + ], + [ + 0.8966647061637394, + 0.44136066104504784, + 0.03454231610898794, + 0.44127267607928716, + -0.8973111273915362, + 0.010543529065493763, + 0.03564870356856479, + 0.005788569875949966, + -0.9993476183954569 + ], + [ + 0.8899738861185236, + 0.45586447268714136, + 0.011578625512897654, + 0.4546694864595786, + -0.8890152248091518, + 0.054107191205203166, + 0.03495912055067196, + -0.04288953950799571, + -0.9984680001337628 + ], + [ + 0.8836168799295069, + 0.4681386896019103, + 0.008208337313337727, + 0.4661121579000306, + -0.8811793399794643, + 0.07913549804690903, + 0.04427940561277029, + -0.06609945605798617, + -0.9968300738578355 + ], + [ + 0.8782797978895487, + 0.4778268928032999, + 0.017494488647503723, + 0.4748831679132108, + -0.8759682681701931, + 0.08464968984955695, + 0.055772515200653766, + -0.06603827430253356, + -0.9962571820947322 + ], + [ + 0.8786275431738917, + 0.4768221798168082, + 0.025578295700810286, + 0.4726614041172805, + -0.8760738439339433, + 0.09531955220564861, + 0.06785895249774736, + -0.07166051081001257, + -0.9951180501610631 + ], + [ + 0.8784481595195859, + 0.4773891837548596, + 0.020697784193504824, + 0.4725117394211247, + -0.8742909405904057, + 0.11112158796006665, + 0.07114412938447662, + -0.0878346084149783, + -0.9935912612431291 + ], + [ + 0.8819861756972324, + 0.47126212626323816, + -0.0035205438248517643, + 0.46772824324503937, + -0.8744087194686527, + 0.1289948905503646, + 0.057712012180136586, + -0.1154183679794642, + -0.9916390089054974 + ], + [ + 0.8811688997467888, + 0.4698699070777893, + -0.0525703389920915, + 0.47263406126122454, + -0.8724347543789805, + 0.12439712009290695, + 0.01258627247261369, + -0.13446140626364747, + -0.9908388950635959 + ], + [ + 0.8803815794114159, + 0.46967243192697367, + -0.06584892801604786, + 0.47417624073077186, + -0.8743911034843033, + 0.10294217247530447, + -0.009228616336888314, + -0.12185238953465173, + -0.9925053288548136 + ], + [ + 0.8859208485511209, + 0.45681737098201614, + -0.0803874347864211, + 0.4611670682835848, + -0.8860599157652488, + 0.04714616426395431, + -0.04969089688449482, + -0.0788398074779446, + -0.995648080158675 + ], + [ + 0.8753232113341879, + 0.48244716201188564, + 0.03246554429362374, + 0.48280865268316087, + -0.8757172281675311, + -0.0038911675428597494, + 0.02655335372179695, + 0.019080674968485326, + -0.9994652806620505 + ], + [ + 0.8561155882110336, + 0.49867241621444847, + 0.13561681654175406, + 0.5053541298430868, + -0.8627270072982438, + -0.017869368448623392, + 0.10808932913388118, + 0.08383276319590058, + -0.9906002042914829 + ], + [ + 0.820864716650048, + 0.5379089878989246, + 0.19192456251504397, + 0.5498459678308841, + -0.8351950677026553, + -0.010890846857588461, + 0.15443616357302709, + 0.11446885874643681, + -0.9813492506534732 + ], + [ + 0.7963992556834611, + 0.5794360840079009, + 0.17321099877437796, + 0.5855179860452404, + -0.8104368288706282, + 0.01899564233305656, + 0.15138333317890218, + 0.08629003974798291, + -0.9847015362412799 + ], + [ + 0.7697634083548374, + 0.6162464428189832, + 0.1664470392373898, + 0.6160877896816711, + -0.7854726184352097, + 0.05889483078919838, + 0.16703332171485008, + 0.05721090282004708, + -0.9842899887916254 + ], + [ + 0.7460541777500447, + 0.6410253885838205, + 0.18024875881033578, + 0.6391322026572636, + -0.7653034779775192, + 0.07629294935960679, + 0.18685071952812868, + 0.05828411264208049, + -0.980657825556573 + ], + [ + 0.744755101418905, + 0.6435797818615805, + 0.17647918656180564, + 0.6399444632476674, + -0.7637490342641531, + 0.08460789927204222, + 0.1892377416615699, + 0.04992471371548936, + -0.9806613075324503 + ], + [ + 0.7546649995375694, + 0.6342180883927672, + 0.16807187399557574, + 0.6295676626123373, + -0.772097330829906, + 0.0866618134946015, + 0.184730334990761, + 0.04041197942144154, + -0.9819580313096087 + ], + [ + 0.7604597601036096, + 0.6266585869782034, + 0.1702937715526955, + 0.6202493426869843, + -0.7785895830638504, + 0.09533632068012363, + 0.19233228059669097, + 0.03312516431567925, + -0.9807706242182903 + ], + [ + 0.7614753524919604, + 0.6266803516217628, + 0.16561106375622592, + 0.6194947380509742, + -0.7787893840168949, + 0.09855640450899435, + 0.19073950056136713, + 0.027546909696179664, + -0.981254100980878 + ], + [ + 0.7654099566598186, + 0.6220214613102301, + 0.1650360564104109, + 0.6176490371339617, + -0.7820588137827444, + 0.08302818022946311, + 0.18071321250396785, + 0.03838376550329953, + -0.9827865594178031 + ], + [ + 0.7657023538876753, + 0.6289374967344142, + 0.1346756490696146, + 0.6268071581321087, + -0.7766166598267631, + 0.06308209091233004, + 0.14426604508761898, + 0.03611355536319485, + -0.9888797294685571 + ], + [ + 0.7520527372288501, + 0.6490312767796654, + 0.11478276085001447, + 0.6491076958344785, + -0.7595440037781994, + 0.04185815969482155, + 0.1143498125711127, + 0.043026829843019976, + -0.992508343682113 + ], + [ + 0.7517990555315068, + 0.6494687414670887, + 0.11396724950217305, + 0.6498896459027933, + -0.7590504376331939, + 0.03854713059618244, + 0.11154204700594594, + 0.04508643904782291, + -0.992736412530391 + ], + [ + 0.7512807893978752, + 0.6511141112301686, + 0.10783130175720133, + 0.6520850297478116, + -0.757516382671475, + 0.030887602094023428, + 0.1017953312313526, + 0.0471099155302845, + -0.9936892705459932 + ], + [ + 0.7508947256886189, + 0.6488233696452016, + 0.12322883564839754, + 0.6516059523751495, + -0.7582457794899475, + 0.021749039403067508, + 0.10754902957390236, + 0.0639654038361975, + -0.9921399262955725 + ], + [ + 0.7536886988546948, + 0.6474109495030151, + 0.11319190643469634, + 0.6511044164856783, + -0.75896751091193, + 0.00559966186418135, + 0.08953426188650304, + 0.06947934832562339, + -0.9935573642747989 + ], + [ + 0.7555768693974072, + 0.6408674092451442, + 0.13561916604606636, + 0.6480251394217161, + -0.7615282280197795, + -0.01175485459375035, + 0.09574451999503099, + 0.09676632521942664, + -0.9906913067118583 + ], + [ + 0.7621458658265328, + 0.6328063895373318, + 0.13671046984138058, + 0.6404058030183185, + -0.7678730342126442, + -0.015855938620268205, + 0.09494254401471963, + 0.09963471628801762, + -0.9904841425516205 + ], + [ + 0.7635209295173497, + 0.6211310168843286, + 0.1767259178875639, + 0.6326984448247316, + -0.774304099566212, + -0.012076394798259713, + 0.12933857933860285, + 0.12103479358927065, + -0.9841860142450076 + ], + [ + 0.8035245597153199, + 0.5714605903378399, + 0.1666765599147895, + 0.5822954400056467, + -0.8127129052877393, + -0.020730511990586724, + 0.12361352063156819, + 0.11371247631411927, + -0.9857936752929486 + ], + [ + 0.8624826697542597, + 0.4856246848550769, + 0.14245107873572577, + 0.4948682734068456, + -0.8682024857303082, + -0.03646691304513711, + 0.10596714749813875, + 0.10194659989975752, + -0.9891298470979362 + ], + [ + 0.8941520979671381, + 0.4263996221009152, + 0.1366579231993599, + 0.4336098799716126, + -0.9007040603679127, + -0.02673326818327863, + 0.11168929085623742, + 0.08315983350724103, + -0.9902575141846078 + ], + [ + 0.9058315134774269, + 0.38039500870881887, + 0.18646422321885742, + 0.37348866642924955, + -0.9248147040259195, + 0.0722771005668583, + 0.19993870370714883, + 0.004171398670539533, + -0.9797995275529767 + ], + [ + 0.9019712694754491, + 0.3669629571157032, + 0.22756541289428175, + 0.34360271135043624, + -0.9291533834644963, + 0.1364227501156142, + 0.26150526915049943, + -0.04485730822705578, + -0.9641591238510101 + ], + [ + 0.9234146710559866, + 0.2863935662034223, + 0.2555074764382633, + 0.24662186692654267, + -0.9528591260687996, + 0.1767403197379415, + 0.2940799211646902, + -0.10019087336024704, + -0.9505150124343541 + ], + [ + 0.9335998659385172, + 0.25661403802410304, + 0.2500810384826226, + 0.21993132155823744, + -0.9613823045763966, + 0.1654517399274596, + 0.2828807241881814, + -0.09946506892543105, + -0.9539838551812233 + ], + [ + 0.9321754597487392, + 0.25837825869194914, + 0.25355391473519556, + 0.21930558274662887, + -0.9603171388263526, + 0.1723254312413845, + 0.28801731478921216, + -0.10503174906514623, + -0.9518478649815462 + ], + [ + 0.9100262140914894, + 0.3239106453685874, + 0.25871641517927674, + 0.286010005136877, + -0.942338842365892, + 0.17376933886653922, + 0.30008426587862663, + -0.08413917033947843, + -0.9501947344553484 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006430.json b/json/chunk-0006/episode_0006430.json new file mode 100644 index 0000000000000000000000000000000000000000..ec4d9682c99d7b1ab94eb18a7f8faf568f3c7f86 --- /dev/null +++ b/json/chunk-0006/episode_0006430.json @@ -0,0 +1,1822 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 29, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut blueberries on plate sink." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006430.mp4", + "start": 0, + "end": 29, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.30777496099472046, + 0.017100853845477104, + 0.08569234609603882, + 0.11998973786830902, + -0.2903527617454529, + 0.4179505407810211, + 0.0, + 1.0181074142456055 + ], + [ + 0.30467653274536133, + 0.015590847469866276, + 0.07806282490491867, + 0.12935775518417358, + -0.26883721351623535, + 0.41030552983283997, + 0.0, + 1.0181074142456055 + ], + [ + 0.30027708411216736, + -0.004808194935321808, + 0.06222674250602722, + 0.10695076733827591, + -0.24783755838871002, + 0.3551984131336212, + 0.0, + 1.0181074142456055 + ], + [ + 0.3043186664581299, + -0.02889864705502987, + 0.05179638788104057, + 0.05947312340140343, + -0.23229378461837769, + 0.25119665265083313, + 0.0, + 1.0181074142456055 + ], + [ + 0.30965808033943176, + -0.04653860256075859, + 0.04942348971962929, + -0.03875378146767616, + -0.24781496822834015, + 0.20977891981601715, + 0.0, + 1.0181074142456055 + ], + [ + 0.31469234824180603, + -0.05958054959774017, + 0.038390785455703735, + -0.030586952343583107, + -0.23633942008018494, + 0.20222553610801697, + 0.0, + 1.0181074142456055 + ], + [ + 0.32354599237442017, + -0.07579749077558517, + 0.02857157215476036, + -0.030822433531284332, + -0.22527337074279785, + 0.2057061344385147, + 0.0, + 1.0181074142456055 + ], + [ + 0.32552370429039, + -0.0844971090555191, + 0.022479316219687462, + -0.03674550727009773, + -0.22842173278331757, + 0.2235708087682724, + 0.0, + 1.0181074142456055 + ], + [ + 0.3283657729625702, + -0.08977306634187698, + 0.023281095549464226, + -0.05025288835167885, + -0.23167836666107178, + 0.24227122962474823, + 0.0, + 1.0181074142456055 + ], + [ + 0.32911568880081177, + -0.09566081315279007, + 0.01681669056415558, + -0.041790109127759933, + -0.2153160721063614, + 0.25691747665405273, + 0.0, + 1.0181074142456055 + ], + [ + 0.3320227265357971, + -0.09894826263189316, + 0.00815596990287304, + -0.03371959179639816, + -0.19667574763298035, + 0.282522976398468, + 0.0, + 1.0181074142456055 + ], + [ + 0.33058205246925354, + -0.10101278871297836, + 0.005660044029355049, + -0.025001972913742065, + -0.1961127072572708, + 0.29705336689949036, + 0.0, + 1.0181074142456055 + ], + [ + 0.3262501060962677, + -0.10395567119121552, + -0.004110087640583515, + 0.0009471509838476777, + -0.1817193180322647, + 0.3046031594276428, + 0.0, + 0.9583302736282349 + ], + [ + 0.326966792345047, + -0.10706520825624466, + -0.0034479836467653513, + -0.00838433112949133, + -0.18521748483181, + 0.31029170751571655, + 0.0, + 0.6881998181343079 + ], + [ + 0.3291983902454376, + -0.11123763024806976, + -0.0015736161731183529, + -0.03664635494351387, + -0.1788829118013382, + 0.3312351107597351, + 0.0, + 0.5779332518577576 + ], + [ + 0.32882818579673767, + -0.11358325928449631, + -0.0013855878496542573, + -0.06449771672487259, + -0.15636895596981049, + 0.34588557481765747, + 0.0, + 0.562038779258728 + ], + [ + 0.3287084102630615, + -0.11248569935560226, + 0.0009362699929624796, + -0.08641129732131958, + -0.14212502539157867, + 0.35227274894714355, + 0.0, + 0.5968981385231018 + ], + [ + 0.32666587829589844, + -0.1043333187699318, + 0.02029097080230713, + -0.11701254546642303, + -0.15234923362731934, + 0.3731691837310791, + 0.0, + 0.5968981385231018 + ], + [ + 0.3221569359302521, + -0.09365895390510559, + 0.030146801844239235, + -0.12800665199756622, + -0.15157341957092285, + 0.3864806592464447, + 0.0, + 0.5978984832763672 + ], + [ + 0.31801629066467285, + -0.07654505223035812, + 0.0390273854136467, + -0.11184937506914139, + -0.14654524624347687, + 0.404031902551651, + 0.0, + 0.5968981385231018 + ], + [ + 0.30849316716194153, + -0.05398597568273544, + 0.03313753753900528, + -0.0677834078669548, + -0.14860060811042786, + 0.39518412947654724, + 0.0, + 0.5978984832763672 + ], + [ + 0.3019300401210785, + -0.03566521406173706, + 0.02774040400981903, + -0.03512619808316231, + -0.14308759570121765, + 0.3743428587913513, + 0.0, + 0.5968981385231018 + ], + [ + 0.29695212841033936, + -0.024368012323975563, + 0.022346142679452896, + -0.02838835120201111, + -0.1337755024433136, + 0.3583858609199524, + 0.0, + 0.5968981385231018 + ], + [ + 0.28854429721832275, + -0.02323155850172043, + 0.01655912771821022, + -0.02895267680287361, + -0.10840921849012375, + 0.33754074573516846, + 0.0, + 0.5978984832763672 + ], + [ + 0.2823810577392578, + -0.029314445331692696, + 0.014047385193407536, + -0.030831854790449142, + -0.11094876378774643, + 0.31578412652015686, + 0.0, + 0.5978984832763672 + ], + [ + 0.2845504879951477, + -0.03460123389959335, + 0.016532868146896362, + -0.0324617475271225, + -0.13369154930114746, + 0.3276391327381134, + 0.0, + 0.676182746887207 + ], + [ + 0.28602516651153564, + -0.037207990884780884, + 0.017019154503941536, + -0.050120312720537186, + -0.1318943351507187, + 0.3575831651687622, + 0.0, + 0.9643021821975708 + ], + [ + 0.28656038641929626, + -0.03731940686702728, + 0.021769240498542786, + -0.0679858848452568, + -0.11337684094905853, + 0.3645595610141754, + 0.0, + 1.0099300146102905 + ], + [ + 0.28553253412246704, + -0.03026709333062172, + 0.044526975601911545, + -0.08176255226135254, + -0.13612928986549377, + 0.35976937413215637, + 0.0, + 1.0086473226547241 + ] + ], + "left_gripper_pos": [ + [ + 1.0181074142456055 + ], + [ + 1.0181074142456055 + ], + [ + 1.0181074142456055 + ], + [ + 1.0181074142456055 + ], + [ + 1.0181074142456055 + ], + [ + 1.0181074142456055 + ], + [ + 1.0181074142456055 + ], + [ + 1.0181074142456055 + ], + [ + 1.0181074142456055 + ], + [ + 1.0181074142456055 + ], + [ + 1.0181074142456055 + ], + [ + 1.0181074142456055 + ], + [ + 0.9583302736282349 + ], + [ + 0.6881998181343079 + ], + [ + 0.5779332518577576 + ], + [ + 0.562038779258728 + ], + [ + 0.5968981385231018 + ], + [ + 0.5968981385231018 + ], + [ + 0.5978984832763672 + ], + [ + 0.5968981385231018 + ], + [ + 0.5978984832763672 + ], + [ + 0.5968981385231018 + ], + [ + 0.5968981385231018 + ], + [ + 0.5978984832763672 + ], + [ + 0.5978984832763672 + ], + [ + 0.676182746887207 + ], + [ + 0.9643021821975708 + ], + [ + 1.0099300146102905 + ], + [ + 1.0086473226547241 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.30777496099472046, + 0.017100853845477104, + 0.08569234609603882 + ], + [ + 0.30467653274536133, + 0.015590847469866276, + 0.07806282490491867 + ], + [ + 0.30027708411216736, + -0.004808194935321808, + 0.06222674250602722 + ], + [ + 0.3043186664581299, + -0.02889864705502987, + 0.05179638788104057 + ], + [ + 0.30965808033943176, + -0.04653860256075859, + 0.04942348971962929 + ], + [ + 0.31469234824180603, + -0.05958054959774017, + 0.038390785455703735 + ], + [ + 0.32354599237442017, + -0.07579749077558517, + 0.02857157215476036 + ], + [ + 0.32552370429039, + -0.0844971090555191, + 0.022479316219687462 + ], + [ + 0.3283657729625702, + -0.08977306634187698, + 0.023281095549464226 + ], + [ + 0.32911568880081177, + -0.09566081315279007, + 0.01681669056415558 + ], + [ + 0.3320227265357971, + -0.09894826263189316, + 0.00815596990287304 + ], + [ + 0.33058205246925354, + -0.10101278871297836, + 0.005660044029355049 + ], + [ + 0.3262501060962677, + -0.10395567119121552, + -0.004110087640583515 + ], + [ + 0.326966792345047, + -0.10706520825624466, + -0.0034479836467653513 + ], + [ + 0.3291983902454376, + -0.11123763024806976, + -0.0015736161731183529 + ], + [ + 0.32882818579673767, + -0.11358325928449631, + -0.0013855878496542573 + ], + [ + 0.3287084102630615, + -0.11248569935560226, + 0.0009362699929624796 + ], + [ + 0.32666587829589844, + -0.1043333187699318, + 0.02029097080230713 + ], + [ + 0.3221569359302521, + -0.09365895390510559, + 0.030146801844239235 + ], + [ + 0.31801629066467285, + -0.07654505223035812, + 0.0390273854136467 + ], + [ + 0.30849316716194153, + -0.05398597568273544, + 0.03313753753900528 + ], + [ + 0.3019300401210785, + -0.03566521406173706, + 0.02774040400981903 + ], + [ + 0.29695212841033936, + -0.024368012323975563, + 0.022346142679452896 + ], + [ + 0.28854429721832275, + -0.02323155850172043, + 0.01655912771821022 + ], + [ + 0.2823810577392578, + -0.029314445331692696, + 0.014047385193407536 + ], + [ + 0.2845504879951477, + -0.03460123389959335, + 0.016532868146896362 + ], + [ + 0.28602516651153564, + -0.037207990884780884, + 0.017019154503941536 + ], + [ + 0.28656038641929626, + -0.03731940686702728, + 0.021769240498542786 + ], + [ + 0.28553253412246704, + -0.03026709333062172, + 0.044526975601911545 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8756685954394654, + 0.434289560069515, + 0.2111802286571839, + 0.38889897141043483, + -0.8934418865540672, + 0.2247647334138843, + 0.2862902390878514, + -0.11469164470586274, + -0.9512537651109112 + ], + [ + 0.8840607526984428, + 0.42697595359355506, + 0.19007398715010196, + 0.3845615638353557, + -0.895670246531726, + 0.22335445618635605, + 0.26561059684953925, + -0.12436375891179677, + -0.9560254527524673 + ], + [ + 0.9089299662374775, + 0.37034059959662713, + 0.19155718928285817, + 0.3371501449182768, + -0.9231135476489685, + 0.1849085123203378, + 0.2453081658997984, + -0.10348535373349341, + -0.9639059525210594 + ], + [ + 0.9425995288629344, + 0.26137758863872995, + 0.20781694912777754, + 0.24188704937981542, + -0.9635019997519166, + 0.11469329455719988, + 0.2302103028313484, + -0.05784161677772105, + -0.9714203847144852 + ], + [ + 0.9481974041346423, + 0.19879226702759342, + 0.2477969276693229, + 0.20188197181877623, + -0.9793216249738282, + 0.013146266130847717, + 0.2452862659157428, + 0.037560476949184615, + -0.968722797462959 + ], + [ + 0.9523900755458932, + 0.19374130736326936, + 0.23540911159693795, + 0.19526670050598557, + -0.9806020146747534, + 0.01704712554423437, + 0.2341453814944769, + 0.029732047305665713, + -0.9717468526770848 + ], + [ + 0.9541827771621734, + 0.19742276743485526, + 0.22485434989220449, + 0.19909747564039132, + -0.9798581101669204, + 0.015436292745850478, + 0.22337283398100727, + 0.03003888876897528, + -0.9742701074141704 + ], + [ + 0.9497834314151652, + 0.21345154095247657, + 0.22880094640155474, + 0.2159539713728704, + -0.9762981191177889, + 0.014347991335131255, + 0.2264405344842645, + 0.03578298858509099, + -0.9733674856242115 + ], + [ + 0.9448582585452511, + 0.22840833890903212, + 0.2346753118153924, + 0.23349837176702815, + -0.9723370974442473, + 0.006251345122653625, + 0.22961137088781478, + 0.048889668136657904, + -0.9720537118433864 + ], + [ + 0.9448446539495838, + 0.2452454223337539, + 0.21707893202065925, + 0.24823296056204275, + -0.9686015494509065, + 0.013836028762137888, + 0.213656212625551, + 0.040813248163336, + -0.9760559930561686 + ], + [ + 0.9418410198503487, + 0.27229428526588817, + 0.19695511046630443, + 0.2734050609431381, + -0.9616457989835329, + 0.022068755017030803, + 0.19541025044232968, + 0.03306326524803467, + -0.9801640957070424 + ], + [ + 0.9378741090967335, + 0.28795444319972907, + 0.19358304194206197, + 0.2870931942934949, + -0.9573301416253505, + 0.03311340704222018, + 0.19485803364594886, + 0.024520166743318406, + -0.9805249145975404 + ], + [ + 0.9382584512830552, + 0.3000777821532991, + 0.17211741124558008, + 0.29497636113361475, + -0.9539142817163265, + 0.0551043510985858, + 0.18072084818386144, + -0.0009315554637577307, + -0.9835339888565742 + ], + [ + 0.9359575620451206, + 0.3038553878695109, + 0.1779194910998318, + 0.30011401980895863, + -0.9526825242281776, + 0.04824503232806146, + 0.18416030290120072, + 0.008240830837774323, + -0.9828616746737259 + ], + [ + 0.9305518601622088, + 0.31882822437124936, + 0.1800605422987761, + 0.3200218751223519, + -0.9471265527855054, + 0.023179569707375995, + 0.17793042177162077, + 0.036053520673043564, + -0.9833823817087897 + ], + [ + 0.9292974320257198, + 0.32888203976530545, + 0.16805620116560627, + 0.33489352299348957, + -0.9422224597349076, + -0.00794761776318078, + 0.15573249849473209, + 0.06366663404729836, + -0.9857453771748949 + ], + [ + 0.9291273680564113, + 0.33227054681304713, + 0.16223013791871477, + 0.34155300059939475, + -0.9393068617761132, + -0.03231357612304887, + 0.14164703212604352, + 0.08543361832948955, + -0.986223714554165 + ], + [ + 0.920391085861877, + 0.3455773264488375, + 0.18291134604083137, + 0.36034563654985824, + -0.9312683058474939, + -0.053762112527469146, + 0.1517605722362454, + 0.1153934745486605, + -0.9816583289241299 + ], + [ + 0.9156217303427752, + 0.355993347146656, + 0.18683036078599005, + 0.3726093797820219, + -0.9259286575374938, + -0.06179297087268037, + 0.15099369861871606, + 0.12619373177038343, + -0.9804468598752842 + ], + [ + 0.909627884365045, + 0.375686212462103, + 0.17730477080849186, + 0.38891502383452303, + -0.9201452633278724, + -0.04558287629222884, + 0.14602128687751179, + 0.11041994448993295, + -0.9830998014634503 + ], + [ + 0.912754344436965, + 0.3748390176117316, + 0.16240448758368078, + 0.38073537855414014, + -0.9246668116499572, + -0.0056443733343856245, + 0.1480543083759522, + 0.0669850603416485, + -0.9867081247574401 + ], + [ + 0.9212362628491355, + 0.36077426372104326, + 0.14548429003950064, + 0.3619240750870807, + -0.9320051866195203, + 0.019424108388139558, + 0.14259983129064202, + 0.03476007409158064, + -0.9891698667898391 + ], + [ + 0.9280972847589082, + 0.3470764730219323, + 0.1348085750158302, + 0.3476291771418089, + -0.9374148347695235, + 0.020183724971781315, + 0.1333768541496299, + 0.028130933661782064, + -0.9906660715642105 + ], + [ + 0.9380326793277353, + 0.3280734068319022, + 0.11163571222032595, + 0.3292234843567663, + -0.9442137611948356, + 0.008501206872677296, + 0.10819699562012025, + 0.028778688295528106, + -0.9937128343937037 + ], + [ + 0.9447086723669097, + 0.30716989210348106, + 0.11477012564202689, + 0.3086524296421888, + -0.9511613981012939, + 0.005066797604555046, + 0.11072128083943282, + 0.030637430491599834, + -0.9933791551175954 + ], + [ + 0.938355999964534, + 0.3175430541880684, + 0.13658120686050804, + 0.31893701577804856, + -0.9476981215813509, + 0.012142912244261108, + 0.13329365062579776, + 0.03216642796600955, + -0.9905544526247688 + ], + [ + 0.9286094167461456, + 0.3433998557410432, + 0.1405741448752713, + 0.346971290952036, + -0.9378752618222332, + -0.0009573489200217951, + 0.13151225944930234, + 0.04966419574409542, + -0.9900696911205954 + ], + [ + 0.9282825472897953, + 0.34853367194464496, + 0.12967571830513142, + 0.35424876537158906, + -0.9348627622403481, + -0.023225589530761703, + 0.11313410020800094, + 0.06749737252018945, + -0.9912844092756615 + ], + [ + 0.9273190360853325, + 0.34050827910274817, + 0.15534966101107262, + 0.3488013869701304, + -0.9367532899295381, + -0.028824750717058166, + 0.13570923977932953, + 0.08091591727634406, + -0.9874389178930739 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.003098428249359131, + -0.0015100063756108284, + -0.007629521191120148, + 0.009368017315864563, + 0.02151554822921753, + -0.007645010948181152, + 1.0 + ], + [ + -0.00439944863319397, + -0.02039904147386551, + -0.01583608239889145, + -0.022406987845897675, + 0.02099965512752533, + -0.05510711669921875, + 1.0 + ], + [ + 0.004041582345962524, + -0.02409045211970806, + -0.010430354624986649, + -0.04747764393687248, + 0.015543773770332336, + -0.10400176048278809, + 1.0 + ], + [ + 0.00533941388130188, + -0.01763995550572872, + -0.0023728981614112854, + -0.09822690486907959, + -0.015521183609962463, + -0.04141773283481598, + 1.0 + ], + [ + 0.005034267902374268, + -0.013041947036981583, + -0.011032704263925552, + 0.008166829124093056, + 0.011475548148155212, + -0.007553383708000183, + 1.0 + ], + [ + 0.008853644132614136, + -0.016216941177845, + -0.009819213300943375, + -0.00023548118770122528, + 0.011066049337387085, + 0.0034805983304977417, + 1.0 + ], + [ + 0.0019777119159698486, + -0.00869961827993393, + -0.006092255935072899, + -0.0059230737388134, + -0.0031483620405197144, + 0.01786467432975769, + 1.0 + ], + [ + 0.0028420686721801758, + -0.00527595728635788, + 0.0008017793297767639, + -0.013507381081581116, + -0.0032566338777542114, + 0.01870042085647583, + 1.0 + ], + [ + 0.0007499158382415771, + -0.005887746810913086, + -0.006464404985308647, + 0.008462779223918915, + 0.016362294554710388, + 0.014646247029304504, + 1.0 + ], + [ + 0.0029070377349853516, + -0.0032874494791030884, + -0.00866072066128254, + 0.00807051733136177, + 0.018640324473381042, + 0.025605499744415283, + 1.0 + ], + [ + -0.001440674066543579, + -0.002064526081085205, + -0.00249592587351799, + 0.008717618882656097, + 0.0005630403757095337, + 0.014530390501022339, + 1.0 + ], + [ + -0.00433194637298584, + -0.002942882478237152, + -0.009770131669938564, + 0.02594912424683571, + 0.014393389225006104, + 0.007549792528152466, + 0.0 + ], + [ + 0.0007166862487792969, + -0.0031095370650291443, + 0.0006621039938181639, + -0.009331482462584972, + -0.003498166799545288, + 0.0056885480880737305, + 0.0 + ], + [ + 0.002231597900390625, + -0.004172421991825104, + 0.0018743674736469984, + -0.028262022882699966, + 0.006334573030471802, + 0.020943403244018555, + 0.0 + ], + [ + -0.00037020444869995117, + -0.002345629036426544, + 0.0001880283234640956, + -0.02785136178135872, + 0.02251395583152771, + 0.014650464057922363, + 0.0 + ], + [ + -0.00011977553367614746, + 0.001097559928894043, + 0.0023218579590320587, + -0.02191358059644699, + 0.014243930578231812, + 0.006387174129486084, + 0.0 + ], + [ + -0.002042531967163086, + 0.008152380585670471, + 0.019354701042175293, + -0.030601248145103455, + -0.010224208235740662, + 0.020896434783935547, + 0.0 + ], + [ + -0.004508942365646362, + 0.010674364864826202, + 0.009855831041932106, + -0.010994106531143188, + 0.0007758140563964844, + 0.0133114755153656, + 0.0 + ], + [ + -0.004140645265579224, + 0.017113901674747467, + 0.008880583569407463, + 0.016157276928424835, + 0.005028173327445984, + 0.0175512433052063, + 0.0 + ], + [ + -0.009523123502731323, + 0.02255907654762268, + -0.0058898478746414185, + 0.044065967202186584, + -0.0020553618669509888, + -0.00884777307510376, + 0.0 + ], + [ + -0.006563127040863037, + 0.018320761620998383, + -0.005397133529186249, + 0.032657209783792496, + 0.005513012409210205, + -0.020841270685195923, + 0.0 + ], + [ + -0.004977911710739136, + 0.011297201737761497, + -0.005394261330366135, + 0.006737846881151199, + 0.009312093257904053, + -0.015956997871398926, + 0.0 + ], + [ + -0.008407831192016602, + 0.0011364538222551346, + -0.005787014961242676, + -0.000564325600862503, + 0.02536628395318985, + -0.020845115184783936, + 0.0 + ], + [ + -0.006163239479064941, + -0.006082886829972267, + -0.002511742524802685, + -0.001879177987575531, + -0.0025395452976226807, + -0.021756619215011597, + 0.0 + ], + [ + 0.0021694302558898926, + -0.005286788567900658, + 0.0024854829534888268, + -0.001629892736673355, + -0.02274278551340103, + 0.011855006217956543, + 1.0 + ], + [ + 0.0014746785163879395, + -0.0026067569851875305, + 0.00048628635704517365, + -0.017658565193414688, + 0.001797214150428772, + 0.029944032430648804, + 1.0 + ], + [ + 0.0005352199077606201, + -0.00011141598224639893, + 0.00475008599460125, + -0.01786557212471962, + 0.018517494201660156, + 0.006976395845413208, + 1.0 + ], + [ + -0.0010278522968292236, + 0.007052313536405563, + 0.02275773510336876, + -0.013776667416095734, + -0.02275244891643524, + -0.004790186882019043, + 1.0 + ], + [ + -0.0003052055835723877, + 0.009950719773769379, + 0.026115361601114273, + -0.008412905037403107, + -0.002768218517303467, + -0.011265814304351807, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0181074142456055 + ], + [ + 1.0181074142456055 + ], + [ + 1.0181074142456055 + ], + [ + 1.0181074142456055 + ], + [ + 1.0181074142456055 + ], + [ + 1.0181074142456055 + ], + [ + 1.0181074142456055 + ], + [ + 1.0181074142456055 + ], + [ + 1.0181074142456055 + ], + [ + 1.0181074142456055 + ], + [ + 1.0181074142456055 + ], + [ + 0.9583302736282349 + ], + [ + 0.6881998181343079 + ], + [ + 0.5779332518577576 + ], + [ + 0.562038779258728 + ], + [ + 0.5968981385231018 + ], + [ + 0.5968981385231018 + ], + [ + 0.5978984832763672 + ], + [ + 0.5968981385231018 + ], + [ + 0.5978984832763672 + ], + [ + 0.5968981385231018 + ], + [ + 0.5968981385231018 + ], + [ + 0.5978984832763672 + ], + [ + 0.5978984832763672 + ], + [ + 0.676182746887207 + ], + [ + 0.9643021821975708 + ], + [ + 1.0099300146102905 + ], + [ + 1.0086473226547241 + ], + [ + 1.0086473226547241 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.30467653274536133, + 0.015590847469866276, + 0.07806282490491867 + ], + [ + 0.30027708411216736, + -0.004808194935321808, + 0.06222674250602722 + ], + [ + 0.3043186664581299, + -0.02889864705502987, + 0.05179638788104057 + ], + [ + 0.30965808033943176, + -0.04653860256075859, + 0.04942348971962929 + ], + [ + 0.31469234824180603, + -0.05958054959774017, + 0.038390785455703735 + ], + [ + 0.32354599237442017, + -0.07579749077558517, + 0.02857157215476036 + ], + [ + 0.32552370429039, + -0.0844971090555191, + 0.022479316219687462 + ], + [ + 0.3283657729625702, + -0.08977306634187698, + 0.023281095549464226 + ], + [ + 0.32911568880081177, + -0.09566081315279007, + 0.01681669056415558 + ], + [ + 0.3320227265357971, + -0.09894826263189316, + 0.00815596990287304 + ], + [ + 0.33058205246925354, + -0.10101278871297836, + 0.005660044029355049 + ], + [ + 0.3262501060962677, + -0.10395567119121552, + -0.004110087640583515 + ], + [ + 0.326966792345047, + -0.10706520825624466, + -0.0034479836467653513 + ], + [ + 0.3291983902454376, + -0.11123763024806976, + -0.0015736161731183529 + ], + [ + 0.32882818579673767, + -0.11358325928449631, + -0.0013855878496542573 + ], + [ + 0.3287084102630615, + -0.11248569935560226, + 0.0009362699929624796 + ], + [ + 0.32666587829589844, + -0.1043333187699318, + 0.02029097080230713 + ], + [ + 0.3221569359302521, + -0.09365895390510559, + 0.030146801844239235 + ], + [ + 0.31801629066467285, + -0.07654505223035812, + 0.0390273854136467 + ], + [ + 0.30849316716194153, + -0.05398597568273544, + 0.03313753753900528 + ], + [ + 0.3019300401210785, + -0.03566521406173706, + 0.02774040400981903 + ], + [ + 0.29695212841033936, + -0.024368012323975563, + 0.022346142679452896 + ], + [ + 0.28854429721832275, + -0.02323155850172043, + 0.01655912771821022 + ], + [ + 0.2823810577392578, + -0.029314445331692696, + 0.014047385193407536 + ], + [ + 0.2845504879951477, + -0.03460123389959335, + 0.016532868146896362 + ], + [ + 0.28602516651153564, + -0.037207990884780884, + 0.017019154503941536 + ], + [ + 0.28656038641929626, + -0.03731940686702728, + 0.021769240498542786 + ], + [ + 0.28553253412246704, + -0.03026709333062172, + 0.044526975601911545 + ], + [ + 0.28522732853889465, + -0.02031637355685234, + 0.07064233720302582 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8840607526984428, + 0.42697595359355506, + 0.19007398715010196, + 0.3845615638353557, + -0.895670246531726, + 0.22335445618635605, + 0.26561059684953925, + -0.12436375891179677, + -0.9560254527524673 + ], + [ + 0.9089299662374775, + 0.37034059959662713, + 0.19155718928285817, + 0.3371501449182768, + -0.9231135476489685, + 0.1849085123203378, + 0.2453081658997984, + -0.10348535373349341, + -0.9639059525210594 + ], + [ + 0.9425995288629344, + 0.26137758863872995, + 0.20781694912777754, + 0.24188704937981542, + -0.9635019997519166, + 0.11469329455719988, + 0.2302103028313484, + -0.05784161677772105, + -0.9714203847144852 + ], + [ + 0.9481974041346423, + 0.19879226702759342, + 0.2477969276693229, + 0.20188197181877623, + -0.9793216249738282, + 0.013146266130847717, + 0.2452862659157428, + 0.037560476949184615, + -0.968722797462959 + ], + [ + 0.9523900755458932, + 0.19374130736326936, + 0.23540911159693795, + 0.19526670050598557, + -0.9806020146747534, + 0.01704712554423437, + 0.2341453814944769, + 0.029732047305665713, + -0.9717468526770848 + ], + [ + 0.9541827771621734, + 0.19742276743485526, + 0.22485434989220449, + 0.19909747564039132, + -0.9798581101669204, + 0.015436292745850478, + 0.22337283398100727, + 0.03003888876897528, + -0.9742701074141704 + ], + [ + 0.9497834314151652, + 0.21345154095247657, + 0.22880094640155474, + 0.2159539713728704, + -0.9762981191177889, + 0.014347991335131255, + 0.2264405344842645, + 0.03578298858509099, + -0.9733674856242115 + ], + [ + 0.9448582585452511, + 0.22840833890903212, + 0.2346753118153924, + 0.23349837176702815, + -0.9723370974442473, + 0.006251345122653625, + 0.22961137088781478, + 0.048889668136657904, + -0.9720537118433864 + ], + [ + 0.9448446539495838, + 0.2452454223337539, + 0.21707893202065925, + 0.24823296056204275, + -0.9686015494509065, + 0.013836028762137888, + 0.213656212625551, + 0.040813248163336, + -0.9760559930561686 + ], + [ + 0.9418410198503487, + 0.27229428526588817, + 0.19695511046630443, + 0.2734050609431381, + -0.9616457989835329, + 0.022068755017030803, + 0.19541025044232968, + 0.03306326524803467, + -0.9801640957070424 + ], + [ + 0.9378741090967335, + 0.28795444319972907, + 0.19358304194206197, + 0.2870931942934949, + -0.9573301416253505, + 0.03311340704222018, + 0.19485803364594886, + 0.024520166743318406, + -0.9805249145975404 + ], + [ + 0.9382584512830552, + 0.3000777821532991, + 0.17211741124558008, + 0.29497636113361475, + -0.9539142817163265, + 0.0551043510985858, + 0.18072084818386144, + -0.0009315554637577307, + -0.9835339888565742 + ], + [ + 0.9359575620451206, + 0.3038553878695109, + 0.1779194910998318, + 0.30011401980895863, + -0.9526825242281776, + 0.04824503232806146, + 0.18416030290120072, + 0.008240830837774323, + -0.9828616746737259 + ], + [ + 0.9305518601622088, + 0.31882822437124936, + 0.1800605422987761, + 0.3200218751223519, + -0.9471265527855054, + 0.023179569707375995, + 0.17793042177162077, + 0.036053520673043564, + -0.9833823817087897 + ], + [ + 0.9292974320257198, + 0.32888203976530545, + 0.16805620116560627, + 0.33489352299348957, + -0.9422224597349076, + -0.00794761776318078, + 0.15573249849473209, + 0.06366663404729836, + -0.9857453771748949 + ], + [ + 0.9291273680564113, + 0.33227054681304713, + 0.16223013791871477, + 0.34155300059939475, + -0.9393068617761132, + -0.03231357612304887, + 0.14164703212604352, + 0.08543361832948955, + -0.986223714554165 + ], + [ + 0.920391085861877, + 0.3455773264488375, + 0.18291134604083137, + 0.36034563654985824, + -0.9312683058474939, + -0.053762112527469146, + 0.1517605722362454, + 0.1153934745486605, + -0.9816583289241299 + ], + [ + 0.9156217303427752, + 0.355993347146656, + 0.18683036078599005, + 0.3726093797820219, + -0.9259286575374938, + -0.06179297087268037, + 0.15099369861871606, + 0.12619373177038343, + -0.9804468598752842 + ], + [ + 0.909627884365045, + 0.375686212462103, + 0.17730477080849186, + 0.38891502383452303, + -0.9201452633278724, + -0.04558287629222884, + 0.14602128687751179, + 0.11041994448993295, + -0.9830998014634503 + ], + [ + 0.912754344436965, + 0.3748390176117316, + 0.16240448758368078, + 0.38073537855414014, + -0.9246668116499572, + -0.0056443733343856245, + 0.1480543083759522, + 0.0669850603416485, + -0.9867081247574401 + ], + [ + 0.9212362628491355, + 0.36077426372104326, + 0.14548429003950064, + 0.3619240750870807, + -0.9320051866195203, + 0.019424108388139558, + 0.14259983129064202, + 0.03476007409158064, + -0.9891698667898391 + ], + [ + 0.9280972847589082, + 0.3470764730219323, + 0.1348085750158302, + 0.3476291771418089, + -0.9374148347695235, + 0.020183724971781315, + 0.1333768541496299, + 0.028130933661782064, + -0.9906660715642105 + ], + [ + 0.9380326793277353, + 0.3280734068319022, + 0.11163571222032595, + 0.3292234843567663, + -0.9442137611948356, + 0.008501206872677296, + 0.10819699562012025, + 0.028778688295528106, + -0.9937128343937037 + ], + [ + 0.9447086723669097, + 0.30716989210348106, + 0.11477012564202689, + 0.3086524296421888, + -0.9511613981012939, + 0.005066797604555046, + 0.11072128083943282, + 0.030637430491599834, + -0.9933791551175954 + ], + [ + 0.938355999964534, + 0.3175430541880684, + 0.13658120686050804, + 0.31893701577804856, + -0.9476981215813509, + 0.012142912244261108, + 0.13329365062579776, + 0.03216642796600955, + -0.9905544526247688 + ], + [ + 0.9286094167461456, + 0.3433998557410432, + 0.1405741448752713, + 0.346971290952036, + -0.9378752618222332, + -0.0009573489200217951, + 0.13151225944930234, + 0.04966419574409542, + -0.9900696911205954 + ], + [ + 0.9282825472897953, + 0.34853367194464496, + 0.12967571830513142, + 0.35424876537158906, + -0.9348627622403481, + -0.023225589530761703, + 0.11313410020800094, + 0.06749737252018945, + -0.9912844092756615 + ], + [ + 0.9273190360853325, + 0.34050827910274817, + 0.15534966101107262, + 0.3488013869701304, + -0.9367532899295381, + -0.028824750717058166, + 0.13570923977932953, + 0.08091591727634406, + -0.9874389178930739 + ], + [ + 0.9308329816434509, + 0.32838572868319704, + 0.16035202986544647, + 0.33820288412210986, + -0.9403237039624187, + -0.03755184333537315, + 0.13845132522388523, + 0.08918601327340181, + -0.9863453176145496 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006432.json b/json/chunk-0006/episode_0006432.json new file mode 100644 index 0000000000000000000000000000000000000000..00e2a727a8c18c3a22e5dc21ec45751a9920f12a --- /dev/null +++ b/json/chunk-0006/episode_0006432.json @@ -0,0 +1,1762 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 28, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nUnfold the cloth from right to left." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006432.mp4", + "start": 0, + "end": 28, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.29372286796569824, + -0.0516841895878315, + 0.08885155618190765, + 0.06412716954946518, + -0.07240717858076096, + -0.19916397333145142, + 0.0, + 1.0001531839370728 + ], + [ + 0.29274782538414, + -0.0525943860411644, + 0.08161915838718414, + 0.05983496084809303, + -0.049810972064733505, + -0.19079941511154175, + 0.0, + 1.0001531839370728 + ], + [ + 0.2955944538116455, + -0.06708154082298279, + 0.06678617745637894, + 0.04320969805121422, + -0.03169363737106323, + -0.16963213682174683, + 0.0, + 1.0001531839370728 + ], + [ + 0.307894229888916, + -0.08152374625205994, + 0.04803979769349098, + 0.022489437833428383, + -0.06996800750494003, + -0.14062388241291046, + 0.0, + 1.0001531839370728 + ], + [ + 0.31997165083885193, + -0.09351672977209091, + 0.021700400859117508, + -0.03677733987569809, + -0.10895220190286636, + -0.10121922194957733, + 0.0, + 1.0001531839370728 + ], + [ + 0.3261623680591583, + -0.10256990045309067, + 0.008391890674829483, + -0.08720111101865768, + -0.13455428183078766, + -0.09494013339281082, + 0.0, + 1.0008161067962646 + ], + [ + 0.3286343514919281, + -0.10256175696849823, + 0.008639635518193245, + -0.10177408158779144, + -0.1489122211933136, + -0.09087404608726501, + 0.0, + 0.9461179971694946 + ], + [ + 0.32768484950065613, + -0.09932873398065567, + 0.006873488426208496, + -0.1028347834944725, + -0.14247649908065796, + -0.07934679836034775, + 0.0, + 0.672171950340271 + ], + [ + 0.32635945081710815, + -0.09943652153015137, + 0.007211932446807623, + -0.1042596697807312, + -0.13461317121982574, + -0.0794508084654808, + 0.0, + 0.5511609315872192 + ], + [ + 0.32541078329086304, + -0.09973885118961334, + 0.006631666794419289, + -0.10693788528442383, + -0.127924844622612, + -0.07646706700325012, + 0.0, + 0.413944274187088 + ], + [ + 0.32588428258895874, + -0.09935770183801651, + 0.007143380120396614, + -0.10576552897691727, + -0.13012759387493134, + -0.06592295318841934, + 0.0, + 0.22171935439109802 + ], + [ + 0.32150426506996155, + -0.09480005502700806, + 0.013902511447668076, + -0.052674032747745514, + -0.09286122769117355, + -0.061398494988679886, + 0.0, + 0.10713252425193787 + ], + [ + 0.31936365365982056, + -0.09687400609254837, + 0.051731936633586884, + 0.012248572893440723, + -0.13786305487155914, + -0.024061547592282295, + 0.0, + 0.07429859787225723 + ], + [ + 0.30572110414505005, + -0.0852520540356636, + 0.0737331286072731, + 0.03216736763715744, + -0.18736150860786438, + 0.04961809888482094, + 0.0, + 0.07238461822271347 + ], + [ + 0.2832358777523041, + -0.06774775683879852, + 0.07772309333086014, + 0.02131551504135132, + -0.23723338544368744, + 0.12245172262191772, + 0.0, + 0.07206849008798599 + ], + [ + 0.2648093104362488, + -0.0320243202149868, + 0.07176670432090759, + 0.012702636420726776, + -0.28279098868370056, + 0.18959522247314453, + 0.0, + 0.07206849008798599 + ], + [ + 0.24599048495292664, + 0.006422834470868111, + 0.07096309214830399, + 0.026301102712750435, + -0.3111606240272522, + 0.23410047590732574, + 0.0, + 0.07206849008798599 + ], + [ + 0.23475277423858643, + 0.03330230712890625, + 0.0707925334572792, + 0.0685151070356369, + -0.3158760368824005, + 0.22149212658405304, + 0.0, + 0.07206849008798599 + ], + [ + 0.2355550080537796, + 0.056231800466775894, + 0.07137451320886612, + 0.11120162159204483, + -0.3190311789512634, + 0.18169346451759338, + 0.0, + 0.07175325602293015 + ], + [ + 0.23998461663722992, + 0.07406315207481384, + 0.07435549050569534, + 0.13664723932743073, + -0.2936357259750366, + 0.12588320672512054, + 0.0, + 0.07175325602293015 + ], + [ + 0.24150899052619934, + 0.09094684571027756, + 0.07517431676387787, + 0.15021257102489471, + -0.2977125346660614, + 0.1124408170580864, + 0.0, + 0.09890149533748627 + ], + [ + 0.2437652200460434, + 0.10657795518636703, + 0.06898214668035507, + 0.13384003937244415, + -0.32387757301330566, + 0.11812949925661087, + 0.0, + 0.2723398804664612 + ], + [ + 0.24211843311786652, + 0.11195359379053116, + 0.05956495553255081, + 0.11153340339660645, + -0.3181836009025574, + 0.12918925285339355, + 0.0, + 0.5551114082336426 + ], + [ + 0.23798811435699463, + 0.11424338817596436, + 0.04911134019494057, + 0.10215723514556885, + -0.3013041019439697, + 0.13326655328273773, + 0.0, + 0.8616333603858948 + ], + [ + 0.23671957850456238, + 0.12233345955610275, + 0.050769247114658356, + 0.13033509254455566, + -0.2524457573890686, + 0.09344081580638885, + 0.0, + 1.0181074142456055 + ], + [ + 0.24370892345905304, + 0.12215381860733032, + 0.06471067667007446, + 0.12915033102035522, + -0.21102605760097504, + 0.05753660947084427, + 0.0, + 1.0099300146102905 + ], + [ + 0.2549968361854553, + 0.08671396225690842, + 0.07636385411024094, + 0.06444073468446732, + -0.1488761156797409, + 0.015316694974899292, + 0.0, + 1.00800359249115 + ], + [ + 0.2633998394012451, + 0.03935663774609566, + 0.07868678122758865, + -0.02692701667547226, + -0.10686379671096802, + 0.02865692228078842, + 0.0, + 1.0067112445831299 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 0.9461179971694946 + ], + [ + 0.672171950340271 + ], + [ + 0.5511609315872192 + ], + [ + 0.413944274187088 + ], + [ + 0.22171935439109802 + ], + [ + 0.10713252425193787 + ], + [ + 0.07429859787225723 + ], + [ + 0.07238461822271347 + ], + [ + 0.07206849008798599 + ], + [ + 0.07206849008798599 + ], + [ + 0.07206849008798599 + ], + [ + 0.07206849008798599 + ], + [ + 0.07175325602293015 + ], + [ + 0.07175325602293015 + ], + [ + 0.09890149533748627 + ], + [ + 0.2723398804664612 + ], + [ + 0.5551114082336426 + ], + [ + 0.8616333603858948 + ], + [ + 1.0181074142456055 + ], + [ + 1.0099300146102905 + ], + [ + 1.00800359249115 + ], + [ + 1.0067112445831299 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.29372286796569824, + -0.0516841895878315, + 0.08885155618190765 + ], + [ + 0.29274782538414, + -0.0525943860411644, + 0.08161915838718414 + ], + [ + 0.2955944538116455, + -0.06708154082298279, + 0.06678617745637894 + ], + [ + 0.307894229888916, + -0.08152374625205994, + 0.04803979769349098 + ], + [ + 0.31997165083885193, + -0.09351672977209091, + 0.021700400859117508 + ], + [ + 0.3261623680591583, + -0.10256990045309067, + 0.008391890674829483 + ], + [ + 0.3286343514919281, + -0.10256175696849823, + 0.008639635518193245 + ], + [ + 0.32768484950065613, + -0.09932873398065567, + 0.006873488426208496 + ], + [ + 0.32635945081710815, + -0.09943652153015137, + 0.007211932446807623 + ], + [ + 0.32541078329086304, + -0.09973885118961334, + 0.006631666794419289 + ], + [ + 0.32588428258895874, + -0.09935770183801651, + 0.007143380120396614 + ], + [ + 0.32150426506996155, + -0.09480005502700806, + 0.013902511447668076 + ], + [ + 0.31936365365982056, + -0.09687400609254837, + 0.051731936633586884 + ], + [ + 0.30572110414505005, + -0.0852520540356636, + 0.0737331286072731 + ], + [ + 0.2832358777523041, + -0.06774775683879852, + 0.07772309333086014 + ], + [ + 0.2648093104362488, + -0.0320243202149868, + 0.07176670432090759 + ], + [ + 0.24599048495292664, + 0.006422834470868111, + 0.07096309214830399 + ], + [ + 0.23475277423858643, + 0.03330230712890625, + 0.0707925334572792 + ], + [ + 0.2355550080537796, + 0.056231800466775894, + 0.07137451320886612 + ], + [ + 0.23998461663722992, + 0.07406315207481384, + 0.07435549050569534 + ], + [ + 0.24150899052619934, + 0.09094684571027756, + 0.07517431676387787 + ], + [ + 0.2437652200460434, + 0.10657795518636703, + 0.06898214668035507 + ], + [ + 0.24211843311786652, + 0.11195359379053116, + 0.05956495553255081 + ], + [ + 0.23798811435699463, + 0.11424338817596436, + 0.04911134019494057 + ], + [ + 0.23671957850456238, + 0.12233345955610275, + 0.050769247114658356 + ], + [ + 0.24370892345905304, + 0.12215381860733032, + 0.06471067667007446 + ], + [ + 0.2549968361854553, + 0.08671396225690842, + 0.07636385411024094 + ], + [ + 0.2633998394012451, + 0.03935663774609566, + 0.07868678122758865 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9776638698451507, + -0.192898841939546, + 0.08344695547343986, + -0.19733148254274815, + -0.9791347555856322, + 0.04853263233892466, + 0.07234392577739535, + -0.06391531258349757, + -0.9953296887064449 + ], + [ + 0.980635142681343, + -0.18638108492105668, + 0.06013990457252395, + -0.18940864639312063, + -0.9806604939253816, + 0.0492885415238955, + 0.04979037667931645, + -0.05972509386913376, + -0.9969723323906513 + ], + [ + 0.985151943020664, + -0.16731303147464074, + 0.038496735723639396, + -0.16873499577415021, + -0.9849580228912372, + 0.03723163095114061, + 0.03168833166494193, + -0.04317456011299135, + -0.998564873703928 + ], + [ + 0.9877061350192966, + -0.13856881616157984, + 0.07235519354421432, + -0.13981792542609928, + -0.9900987148836908, + 0.012469262817227059, + 0.0699109331562966, + -0.02243252043889911, + -0.9973009793698057 + ], + [ + 0.9889826330072269, + -0.10495582862786068, + 0.104391693381859, + -0.100447325863386, + -0.993804958834025, + -0.04756089279856859, + 0.10873677545792715, + 0.036551030545544545, + -0.993398377202757 + ], + [ + 0.9864984973749384, + -0.10606785460731284, + 0.12478110792900719, + -0.09394071760738383, + -0.9906065441455447, + -0.09936707840844822, + 0.1341486349255868, + 0.0863034467157765, + -0.9871959576662471 + ], + [ + 0.9848525076598135, + -0.10529064742837811, + 0.13776580751510936, + -0.0897447083093703, + -0.9893527361094023, + -0.1145733428128263, + 0.1483624800501907, + 0.1004740917697311, + -0.983815801558607 + ], + [ + 0.9867529560228608, + -0.09337526419846201, + 0.13266372456709616, + -0.07846041701020795, + -0.9904321077696204, + -0.11352622103114324, + 0.14199495322979336, + 0.10161348303692347, + -0.984638072249075 + ], + [ + 0.9878273031751643, + -0.09285925428905342, + 0.12479734770644345, + -0.07864923683877229, + -0.9903239306108531, + -0.11433638967602973, + 0.13420699179387316, + 0.10312939131184247, + -0.9855723271283992 + ], + [ + 0.9889304654987279, + -0.0895331363951495, + 0.11832308268346148, + -0.07576834763817959, + -0.9903418840501457, + -0.11611248938933337, + 0.1275762199810359, + 0.10586203371962795, + -0.9861630382001219 + ], + [ + 0.989391578675495, + -0.07917598351877514, + 0.12180093464274606, + -0.06531826296542192, + -0.9913496448357892, + -0.11383938776686485, + 0.12976065878837023, + 0.10467590609968118, + -0.986004627835498 + ], + [ + 0.9938153165916455, + -0.0661477131657842, + 0.08919415087764662, + -0.06109555620721623, + -0.9964317970747691, + -0.05823235174777733, + 0.09272782494795256, + 0.05242283682979321, + -0.994310513199543 + ], + [ + 0.9902252124322076, + -0.02237466877399886, + 0.1376713581717105, + -0.023830950293884906, + -0.9996760412541116, + 0.008938587729522865, + 0.13742676039141705, + -0.01213205422679236, + -0.9904376299336362 + ], + [ + 0.9812899323710462, + 0.055555403974515055, + 0.184346591279731, + 0.04872973761656581, + -0.9979554613308314, + 0.041355892830264834, + 0.18626723087824223, + -0.03159896025498522, + -0.9819908474175081 + ], + [ + 0.964713759847288, + 0.12708975543479317, + 0.23059825590154157, + 0.1187248594036416, + -0.9916748471695895, + 0.04985383887682057, + 0.23501440236907592, + -0.020716938835042997, + -0.9717710837045989 + ], + [ + 0.9430727427498075, + 0.1919270765281808, + 0.27162068989254334, + 0.18097577363904388, + -0.9813333846524654, + 0.06505810881270473, + 0.279036863582762, + -0.012197764626439012, + -0.96020291777312 + ], + [ + 0.9260121192456268, + 0.2397197616573899, + 0.2916093120617852, + 0.22082872151540717, + -0.9705192807244502, + 0.09657640237639302, + 0.3061637319541526, + -0.025035207469090645, + -0.9516496244011688 + ], + [ + 0.9273039877757165, + 0.23991807731932735, + 0.2873092940206616, + 0.20881651281779323, + -0.9686096451411106, + 0.13487408688932198, + 0.310649284933782, + -0.06507435374254017, + -0.9482944428051452 + ], + [ + 0.9339094545547729, + 0.21381259999111796, + 0.2865262689148146, + 0.17157748083260393, + -0.9711749221810221, + 0.16547035564663187, + 0.313646773878425, + -0.10537287417416114, + -0.9436748691280977 + ], + [ + 0.9496237531770279, + 0.16349608776285185, + 0.2673644641462624, + 0.12017715390298189, + -0.97788906025677, + 0.17114449307503574, + 0.2894342396499681, + -0.13039177549360156, + -0.948275174093402 + ], + [ + 0.9499729587193649, + 0.15456029692067888, + 0.27140834975690653, + 0.10726817876758236, + -0.9775701713748299, + 0.18124595957447284, + 0.29333413631192284, + -0.14306528109215402, + -0.9452446296172019 + ], + [ + 0.9414016887588402, + 0.15897184894684357, + 0.2974740520523196, + 0.11172749760078932, + -0.9791450018312524, + 0.16968214893954753, + 0.318244916191712, + -0.12650303012694647, + -0.9395302851355201 + ], + [ + 0.9418901882729401, + 0.16255957301975354, + 0.29396812489588287, + 0.12236359219916443, + -0.9810191718280483, + 0.15042784253564093, + 0.3128418522820797, + -0.10571551317307412, + -0.9439037057535433 + ], + [ + 0.9464828850185666, + 0.16217542643518223, + 0.27905067537545447, + 0.12688657012033838, + -0.981944600237347, + 0.14030181890414994, + 0.29676581118792456, + -0.09738548724159693, + -0.9499716417792109 + ], + [ + 0.9640802861067306, + 0.12483400226099942, + 0.2344475929069542, + 0.09034754870594428, + -0.9841641092619314, + 0.15250680799064556, + 0.24977294165539862, + -0.1258470417616934, + -0.9600916621326523 + ], + [ + 0.976198442599367, + 0.08395842299276628, + 0.19996895727871886, + 0.05622921046690439, + -0.9884793738495564, + 0.14052331964573492, + 0.20946330599138105, + -0.12593454920138694, + -0.9696729411304641 + ], + [ + 0.9888224038352674, + 0.024834858192251574, + 0.1470152491818937, + 0.015146675638232843, + -0.9976610651153088, + 0.06665566270091228, + 0.14832677401788832, + -0.06368382032791672, + -0.9868857781617324 + ], + [ + 0.9938872569677902, + 0.02577208975466123, + 0.10734952178151377, + 0.02848954902729164, + -0.9993093400245056, + -0.02385767247677174, + 0.10666051768702212, + 0.026770176119425355, + -0.9939350540338496 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0009750425815582275, + -0.000910196453332901, + -0.007232397794723511, + -0.004292208701372147, + 0.02259620651602745, + 0.008364558219909668, + 1.0 + ], + [ + 0.002846628427505493, + -0.01448715478181839, + -0.014832980930805206, + -0.016625262796878815, + 0.018117334693670273, + 0.021167278289794922, + 1.0 + ], + [ + 0.012299776077270508, + -0.014442205429077148, + -0.018746379762887955, + -0.020720260217785835, + -0.0382743701338768, + 0.029008254408836365, + 1.0 + ], + [ + 0.012077420949935913, + -0.011992983520030975, + -0.026339396834373474, + -0.05926677584648132, + -0.03898419439792633, + 0.03940466046333313, + 1.0 + ], + [ + 0.0061907172203063965, + -0.009053170680999756, + -0.013308510184288025, + -0.050423771142959595, + -0.025602079927921295, + 0.00627908855676651, + 1.0 + ], + [ + 0.0024719834327697754, + 8.143484592437744e-06, + 0.0002477448433637619, + -0.014572970569133759, + -0.01435793936252594, + 0.004066087305545807, + 0.0 + ], + [ + -0.0009495019912719727, + 0.00323302298784256, + -0.0017661470919847488, + -0.0010607019066810608, + 0.00643572211265564, + 0.011527247726917267, + 0.0 + ], + [ + -0.0013253986835479736, + -0.00010778754949569702, + 0.0003384440205991268, + -0.0014248862862586975, + 0.007863327860832214, + -0.00010401010513305664, + 0.0 + ], + [ + -0.0009486675262451172, + -0.0003023296594619751, + -0.0005802656523883343, + -0.002678215503692627, + 0.006688326597213745, + 0.0029837414622306824, + 0.0 + ], + [ + 0.0004734992980957031, + 0.0003811493515968323, + 0.0005117133259773254, + 0.0011723563075065613, + -0.002202749252319336, + 0.01054411381483078, + 0.0 + ], + [ + -0.004380017518997192, + 0.004557646811008453, + 0.0067591313272714615, + 0.05309149622917175, + 0.03726636618375778, + 0.004524458199739456, + 0.0 + ], + [ + -0.002140611410140991, + -0.0020739510655403137, + 0.03782942518591881, + 0.06492260843515396, + -0.04500182718038559, + 0.03733694553375244, + 0.0 + ], + [ + -0.013642549514770508, + 0.011621952056884766, + 0.022001191973686218, + 0.01991879567503929, + -0.04949845373630524, + 0.07367964833974838, + 0.0 + ], + [ + -0.02248522639274597, + 0.017504297196865082, + 0.003989964723587036, + -0.010851852595806122, + -0.04987187683582306, + 0.07283362746238708, + 0.0 + ], + [ + -0.018426567316055298, + 0.03572343662381172, + -0.005956389009952545, + -0.008612878620624542, + -0.04555760324001312, + 0.0671434998512268, + 0.0 + ], + [ + -0.018818825483322144, + 0.03844715654850006, + -0.0008036121726036072, + 0.013598466292023659, + -0.028369635343551636, + 0.04450525343418121, + 0.0 + ], + [ + -0.01123771071434021, + 0.02687947265803814, + -0.00017055869102478027, + 0.042214006185531616, + -0.004715412855148315, + -0.012608349323272705, + 0.0 + ], + [ + 0.0008022338151931763, + 0.022929493337869644, + 0.0005819797515869141, + 0.04268651455640793, + -0.003155142068862915, + -0.039798662066459656, + 0.0 + ], + [ + 0.004429608583450317, + 0.01783135160803795, + 0.0029809772968292236, + 0.025445617735385895, + 0.025395452976226807, + -0.05581025779247284, + 0.0 + ], + [ + 0.0015243738889694214, + 0.016883693635463715, + 0.0008188262581825256, + 0.01356533169746399, + -0.00407680869102478, + -0.01344238966703415, + 1.0 + ], + [ + 0.002256229519844055, + 0.015631109476089478, + -0.006192170083522797, + -0.01637253165245056, + -0.026165038347244263, + 0.005688682198524475, + 1.0 + ], + [ + -0.0016467869281768799, + 0.0053756386041641235, + -0.00941719114780426, + -0.022306635975837708, + 0.005693972110748291, + 0.011059753596782684, + 1.0 + ], + [ + -0.004130318760871887, + 0.002289794385433197, + -0.010453615337610245, + -0.009376168251037598, + 0.016879498958587646, + 0.004077300429344177, + 1.0 + ], + [ + -0.001268535852432251, + 0.008090071380138397, + 0.0016579069197177887, + 0.028177857398986816, + 0.04885834455490112, + -0.03982573747634888, + 1.0 + ], + [ + 0.006989344954490662, + -0.00017964094877243042, + 0.013941429555416107, + -0.0011847615242004395, + 0.04141969978809357, + -0.035904206335544586, + 1.0 + ], + [ + 0.011287912726402283, + -0.035439856350421906, + 0.011653177440166473, + -0.06470959633588791, + 0.06214994192123413, + -0.04221991449594498, + 1.0 + ], + [ + 0.008403003215789795, + -0.04735732451081276, + 0.0023229271173477173, + -0.09136775135993958, + 0.04201231896877289, + 0.01334022730588913, + 1.0 + ], + [ + -0.00021028518676757812, + -0.029417764395475388, + -0.005545027554035187, + -0.04229511320590973, + -0.001954495906829834, + 0.0006529558449983597, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 0.9461179971694946 + ], + [ + 0.672171950340271 + ], + [ + 0.5511609315872192 + ], + [ + 0.413944274187088 + ], + [ + 0.22171935439109802 + ], + [ + 0.10713252425193787 + ], + [ + 0.07429859787225723 + ], + [ + 0.07238461822271347 + ], + [ + 0.07206849008798599 + ], + [ + 0.07206849008798599 + ], + [ + 0.07206849008798599 + ], + [ + 0.07206849008798599 + ], + [ + 0.07175325602293015 + ], + [ + 0.07175325602293015 + ], + [ + 0.09890149533748627 + ], + [ + 0.2723398804664612 + ], + [ + 0.5551114082336426 + ], + [ + 0.8616333603858948 + ], + [ + 1.0181074142456055 + ], + [ + 1.0099300146102905 + ], + [ + 1.00800359249115 + ], + [ + 1.0067112445831299 + ], + [ + 1.0060625076293945 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.29274782538414, + -0.0525943860411644, + 0.08161915838718414 + ], + [ + 0.2955944538116455, + -0.06708154082298279, + 0.06678617745637894 + ], + [ + 0.307894229888916, + -0.08152374625205994, + 0.04803979769349098 + ], + [ + 0.31997165083885193, + -0.09351672977209091, + 0.021700400859117508 + ], + [ + 0.3261623680591583, + -0.10256990045309067, + 0.008391890674829483 + ], + [ + 0.3286343514919281, + -0.10256175696849823, + 0.008639635518193245 + ], + [ + 0.32768484950065613, + -0.09932873398065567, + 0.006873488426208496 + ], + [ + 0.32635945081710815, + -0.09943652153015137, + 0.007211932446807623 + ], + [ + 0.32541078329086304, + -0.09973885118961334, + 0.006631666794419289 + ], + [ + 0.32588428258895874, + -0.09935770183801651, + 0.007143380120396614 + ], + [ + 0.32150426506996155, + -0.09480005502700806, + 0.013902511447668076 + ], + [ + 0.31936365365982056, + -0.09687400609254837, + 0.051731936633586884 + ], + [ + 0.30572110414505005, + -0.0852520540356636, + 0.0737331286072731 + ], + [ + 0.2832358777523041, + -0.06774775683879852, + 0.07772309333086014 + ], + [ + 0.2648093104362488, + -0.0320243202149868, + 0.07176670432090759 + ], + [ + 0.24599048495292664, + 0.006422834470868111, + 0.07096309214830399 + ], + [ + 0.23475277423858643, + 0.03330230712890625, + 0.0707925334572792 + ], + [ + 0.2355550080537796, + 0.056231800466775894, + 0.07137451320886612 + ], + [ + 0.23998461663722992, + 0.07406315207481384, + 0.07435549050569534 + ], + [ + 0.24150899052619934, + 0.09094684571027756, + 0.07517431676387787 + ], + [ + 0.2437652200460434, + 0.10657795518636703, + 0.06898214668035507 + ], + [ + 0.24211843311786652, + 0.11195359379053116, + 0.05956495553255081 + ], + [ + 0.23798811435699463, + 0.11424338817596436, + 0.04911134019494057 + ], + [ + 0.23671957850456238, + 0.12233345955610275, + 0.050769247114658356 + ], + [ + 0.24370892345905304, + 0.12215381860733032, + 0.06471067667007446 + ], + [ + 0.2549968361854553, + 0.08671396225690842, + 0.07636385411024094 + ], + [ + 0.2633998394012451, + 0.03935663774609566, + 0.07868678122758865 + ], + [ + 0.26318955421447754, + 0.009938872419297695, + 0.07314175367355347 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.980635142681343, + -0.18638108492105668, + 0.06013990457252395, + -0.18940864639312063, + -0.9806604939253816, + 0.0492885415238955, + 0.04979037667931645, + -0.05972509386913376, + -0.9969723323906513 + ], + [ + 0.985151943020664, + -0.16731303147464074, + 0.038496735723639396, + -0.16873499577415021, + -0.9849580228912372, + 0.03723163095114061, + 0.03168833166494193, + -0.04317456011299135, + -0.998564873703928 + ], + [ + 0.9877061350192966, + -0.13856881616157984, + 0.07235519354421432, + -0.13981792542609928, + -0.9900987148836908, + 0.012469262817227059, + 0.0699109331562966, + -0.02243252043889911, + -0.9973009793698057 + ], + [ + 0.9889826330072269, + -0.10495582862786068, + 0.104391693381859, + -0.100447325863386, + -0.993804958834025, + -0.04756089279856859, + 0.10873677545792715, + 0.036551030545544545, + -0.993398377202757 + ], + [ + 0.9864984973749384, + -0.10606785460731284, + 0.12478110792900719, + -0.09394071760738383, + -0.9906065441455447, + -0.09936707840844822, + 0.1341486349255868, + 0.0863034467157765, + -0.9871959576662471 + ], + [ + 0.9848525076598135, + -0.10529064742837811, + 0.13776580751510936, + -0.0897447083093703, + -0.9893527361094023, + -0.1145733428128263, + 0.1483624800501907, + 0.1004740917697311, + -0.983815801558607 + ], + [ + 0.9867529560228608, + -0.09337526419846201, + 0.13266372456709616, + -0.07846041701020795, + -0.9904321077696204, + -0.11352622103114324, + 0.14199495322979336, + 0.10161348303692347, + -0.984638072249075 + ], + [ + 0.9878273031751643, + -0.09285925428905342, + 0.12479734770644345, + -0.07864923683877229, + -0.9903239306108531, + -0.11433638967602973, + 0.13420699179387316, + 0.10312939131184247, + -0.9855723271283992 + ], + [ + 0.9889304654987279, + -0.0895331363951495, + 0.11832308268346148, + -0.07576834763817959, + -0.9903418840501457, + -0.11611248938933337, + 0.1275762199810359, + 0.10586203371962795, + -0.9861630382001219 + ], + [ + 0.989391578675495, + -0.07917598351877514, + 0.12180093464274606, + -0.06531826296542192, + -0.9913496448357892, + -0.11383938776686485, + 0.12976065878837023, + 0.10467590609968118, + -0.986004627835498 + ], + [ + 0.9938153165916455, + -0.0661477131657842, + 0.08919415087764662, + -0.06109555620721623, + -0.9964317970747691, + -0.05823235174777733, + 0.09272782494795256, + 0.05242283682979321, + -0.994310513199543 + ], + [ + 0.9902252124322076, + -0.02237466877399886, + 0.1376713581717105, + -0.023830950293884906, + -0.9996760412541116, + 0.008938587729522865, + 0.13742676039141705, + -0.01213205422679236, + -0.9904376299336362 + ], + [ + 0.9812899323710462, + 0.055555403974515055, + 0.184346591279731, + 0.04872973761656581, + -0.9979554613308314, + 0.041355892830264834, + 0.18626723087824223, + -0.03159896025498522, + -0.9819908474175081 + ], + [ + 0.964713759847288, + 0.12708975543479317, + 0.23059825590154157, + 0.1187248594036416, + -0.9916748471695895, + 0.04985383887682057, + 0.23501440236907592, + -0.020716938835042997, + -0.9717710837045989 + ], + [ + 0.9430727427498075, + 0.1919270765281808, + 0.27162068989254334, + 0.18097577363904388, + -0.9813333846524654, + 0.06505810881270473, + 0.279036863582762, + -0.012197764626439012, + -0.96020291777312 + ], + [ + 0.9260121192456268, + 0.2397197616573899, + 0.2916093120617852, + 0.22082872151540717, + -0.9705192807244502, + 0.09657640237639302, + 0.3061637319541526, + -0.025035207469090645, + -0.9516496244011688 + ], + [ + 0.9273039877757165, + 0.23991807731932735, + 0.2873092940206616, + 0.20881651281779323, + -0.9686096451411106, + 0.13487408688932198, + 0.310649284933782, + -0.06507435374254017, + -0.9482944428051452 + ], + [ + 0.9339094545547729, + 0.21381259999111796, + 0.2865262689148146, + 0.17157748083260393, + -0.9711749221810221, + 0.16547035564663187, + 0.313646773878425, + -0.10537287417416114, + -0.9436748691280977 + ], + [ + 0.9496237531770279, + 0.16349608776285185, + 0.2673644641462624, + 0.12017715390298189, + -0.97788906025677, + 0.17114449307503574, + 0.2894342396499681, + -0.13039177549360156, + -0.948275174093402 + ], + [ + 0.9499729587193649, + 0.15456029692067888, + 0.27140834975690653, + 0.10726817876758236, + -0.9775701713748299, + 0.18124595957447284, + 0.29333413631192284, + -0.14306528109215402, + -0.9452446296172019 + ], + [ + 0.9414016887588402, + 0.15897184894684357, + 0.2974740520523196, + 0.11172749760078932, + -0.9791450018312524, + 0.16968214893954753, + 0.318244916191712, + -0.12650303012694647, + -0.9395302851355201 + ], + [ + 0.9418901882729401, + 0.16255957301975354, + 0.29396812489588287, + 0.12236359219916443, + -0.9810191718280483, + 0.15042784253564093, + 0.3128418522820797, + -0.10571551317307412, + -0.9439037057535433 + ], + [ + 0.9464828850185666, + 0.16217542643518223, + 0.27905067537545447, + 0.12688657012033838, + -0.981944600237347, + 0.14030181890414994, + 0.29676581118792456, + -0.09738548724159693, + -0.9499716417792109 + ], + [ + 0.9640802861067306, + 0.12483400226099942, + 0.2344475929069542, + 0.09034754870594428, + -0.9841641092619314, + 0.15250680799064556, + 0.24977294165539862, + -0.1258470417616934, + -0.9600916621326523 + ], + [ + 0.976198442599367, + 0.08395842299276628, + 0.19996895727871886, + 0.05622921046690439, + -0.9884793738495564, + 0.14052331964573492, + 0.20946330599138105, + -0.12593454920138694, + -0.9696729411304641 + ], + [ + 0.9888224038352674, + 0.024834858192251574, + 0.1470152491818937, + 0.015146675638232843, + -0.9976610651153088, + 0.06665566270091228, + 0.14832677401788832, + -0.06368382032791672, + -0.9868857781617324 + ], + [ + 0.9938872569677902, + 0.02577208975466123, + 0.10734952178151377, + 0.02848954902729164, + -0.9993093400245056, + -0.02385767247677174, + 0.10666051768702212, + 0.026770176119425355, + -0.9939350540338496 + ], + [ + 0.9936581664889188, + 0.021726949857534476, + 0.11032401288825694, + 0.029132342466632564, + -0.9973967674510219, + -0.0659620716825888, + 0.10860365920302564, + 0.0687577481316857, + -0.9917044001513621 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006433.json b/json/chunk-0006/episode_0006433.json new file mode 100644 index 0000000000000000000000000000000000000000..d4f29b38d0f242b5d9825aa8220374e80a4cbd4d --- /dev/null +++ b/json/chunk-0006/episode_0006433.json @@ -0,0 +1,1582 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 25, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut detergent in sink." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006433.mp4", + "start": 0, + "end": 25, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3059219419956207, + 0.16376692056655884, + 0.052785247564315796, + 0.1617005169391632, + -0.23913225531578064, + 0.01666243188083172, + 0.0, + 0.9941151142120361 + ], + [ + 0.3074290454387665, + 0.1516389697790146, + 0.052860360592603683, + 0.1301974356174469, + -0.1706908941268921, + 0.11367064714431763, + 0.0, + 0.9941151142120361 + ], + [ + 0.3302234411239624, + 0.11570556461811066, + 0.07681917399168015, + 0.11393175274133682, + -0.13234201073646545, + 0.21736526489257812, + 0.0, + 0.9941151142120361 + ], + [ + 0.35616710782051086, + 0.06385494768619537, + 0.10451517254114151, + 0.07885514199733734, + -0.1300792396068573, + 0.28093981742858887, + 0.0, + 0.9941151142120361 + ], + [ + 0.37775829434394836, + 0.01972743310034275, + 0.12187185883522034, + 0.054759006947278976, + -0.13522560894489288, + 0.34011417627334595, + 0.0, + 0.9941151142120361 + ], + [ + 0.392984539270401, + -0.02859932743012905, + 0.12945541739463806, + 0.07035946846008301, + -0.16058149933815002, + 0.3847060799598694, + 0.0, + 0.9941151142120361 + ], + [ + 0.4046117663383484, + -0.08368668705224991, + 0.1305127739906311, + 0.10433045029640198, + -0.192209854722023, + 0.3916968107223511, + 0.0, + 0.9941151142120361 + ], + [ + 0.4095853567123413, + -0.1333545744419098, + 0.13043782114982605, + 0.1101427897810936, + -0.17887912690639496, + 0.4046066701412201, + 0.0, + 0.9941151142120361 + ], + [ + 0.4042307436466217, + -0.16956129670143127, + 0.12101592868566513, + 0.11455775797367096, + -0.17186018824577332, + 0.40565550327301025, + 0.0, + 0.9941151142120361 + ], + [ + 0.3955191671848297, + -0.18846555054187775, + 0.11746518313884735, + 0.1317601352930069, + -0.19667409360408783, + 0.36619752645492554, + 0.0, + 0.9941151142120361 + ], + [ + 0.38575026392936707, + -0.17037908732891083, + 0.09686785936355591, + 0.1796620488166809, + -0.18277335166931152, + 0.35552072525024414, + 0.0, + 0.9941151142120361 + ], + [ + 0.37812912464141846, + -0.15349377691745758, + 0.09946870058774948, + 0.14823701977729797, + -0.19776277244091034, + 0.3427802324295044, + 0.0, + 0.9941151142120361 + ], + [ + 0.3830318748950958, + -0.1329575777053833, + 0.10068819671869278, + 0.14256170392036438, + -0.17766503989696503, + 0.3585711717605591, + 0.0, + 0.9941151142120361 + ], + [ + 0.391754150390625, + -0.1351443976163864, + 0.10460508614778519, + 0.09429047256708145, + -0.20090597867965698, + 0.36060115694999695, + 0.0, + 0.9941151142120361 + ], + [ + 0.39685511589050293, + -0.13771571218967438, + 0.09806428104639053, + 0.05669303983449936, + -0.21922579407691956, + 0.36377236247062683, + 0.0, + 0.9941151142120361 + ], + [ + 0.3996911644935608, + -0.14009660482406616, + 0.08699212223291397, + 0.03952464833855629, + -0.2305758148431778, + 0.3759489953517914, + 0.0, + 0.9941151142120361 + ], + [ + 0.39636683464050293, + -0.143077090382576, + 0.06814365088939667, + 0.005508023779839277, + -0.2370539754629135, + 0.3857279419898987, + 0.0, + 0.9941151142120361 + ], + [ + 0.39237046241760254, + -0.14290229976177216, + 0.05713587626814842, + -0.021370863541960716, + -0.2176547795534134, + 0.4122677445411682, + 0.0, + 0.8139979243278503 + ], + [ + 0.39265182614326477, + -0.1390591561794281, + 0.056282393634319305, + -0.018877623602747917, + -0.213559091091156, + 0.42177027463912964, + 0.0, + 0.5998998284339905 + ], + [ + 0.38248398900032043, + -0.12562596797943115, + 0.06091184914112091, + 0.03891409933567047, + -0.15095803141593933, + 0.4038587212562561, + 0.0, + 0.5958979725837708 + ], + [ + 0.3774176239967346, + -0.08262783288955688, + 0.0940333753824234, + 0.11826691031455994, + -0.10200760513544083, + 0.3570694029331207, + 0.0, + 0.5958979725837708 + ], + [ + 0.37165406346321106, + -0.04025085270404816, + 0.13240711390972137, + 0.16688387095928192, + -0.131095752120018, + 0.32641923427581787, + 0.0, + 0.5958979725837708 + ], + [ + 0.35793542861938477, + -0.0003900619631167501, + 0.12869182229042053, + 0.1843062937259674, + -0.17044173181056976, + 0.2819156050682068, + 0.0, + 0.5958979725837708 + ], + [ + 0.34470534324645996, + 0.03631966561079025, + 0.08194522559642792, + 0.13647516071796417, + -0.20661839842796326, + 0.2918987572193146, + 0.0, + 0.5958979725837708 + ], + [ + 0.3491232097148895, + 0.03507327288389206, + 0.04669135436415672, + 0.07589567452669144, + -0.2523108720779419, + 0.2816593050956726, + 0.0, + 0.5958979725837708 + ] + ], + "left_gripper_pos": [ + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.8139979243278503 + ], + [ + 0.5998998284339905 + ], + [ + 0.5958979725837708 + ], + [ + 0.5958979725837708 + ], + [ + 0.5958979725837708 + ], + [ + 0.5958979725837708 + ], + [ + 0.5958979725837708 + ], + [ + 0.5958979725837708 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3059219419956207, + 0.16376692056655884, + 0.052785247564315796 + ], + [ + 0.3074290454387665, + 0.1516389697790146, + 0.052860360592603683 + ], + [ + 0.3302234411239624, + 0.11570556461811066, + 0.07681917399168015 + ], + [ + 0.35616710782051086, + 0.06385494768619537, + 0.10451517254114151 + ], + [ + 0.37775829434394836, + 0.01972743310034275, + 0.12187185883522034 + ], + [ + 0.392984539270401, + -0.02859932743012905, + 0.12945541739463806 + ], + [ + 0.4046117663383484, + -0.08368668705224991, + 0.1305127739906311 + ], + [ + 0.4095853567123413, + -0.1333545744419098, + 0.13043782114982605 + ], + [ + 0.4042307436466217, + -0.16956129670143127, + 0.12101592868566513 + ], + [ + 0.3955191671848297, + -0.18846555054187775, + 0.11746518313884735 + ], + [ + 0.38575026392936707, + -0.17037908732891083, + 0.09686785936355591 + ], + [ + 0.37812912464141846, + -0.15349377691745758, + 0.09946870058774948 + ], + [ + 0.3830318748950958, + -0.1329575777053833, + 0.10068819671869278 + ], + [ + 0.391754150390625, + -0.1351443976163864, + 0.10460508614778519 + ], + [ + 0.39685511589050293, + -0.13771571218967438, + 0.09806428104639053 + ], + [ + 0.3996911644935608, + -0.14009660482406616, + 0.08699212223291397 + ], + [ + 0.39636683464050293, + -0.143077090382576, + 0.06814365088939667 + ], + [ + 0.39237046241760254, + -0.14290229976177216, + 0.05713587626814842 + ], + [ + 0.39265182614326477, + -0.1390591561794281, + 0.056282393634319305 + ], + [ + 0.38248398900032043, + -0.12562596797943115, + 0.06091184914112091 + ], + [ + 0.3774176239967346, + -0.08262783288955688, + 0.0940333753824234 + ], + [ + 0.37165406346321106, + -0.04025085270404816, + 0.13240711390972137 + ], + [ + 0.35793542861938477, + -0.0003900619631167501, + 0.12869182229042053 + ], + [ + 0.34470534324645996, + 0.03631966561079025, + 0.08194522559642792 + ], + [ + 0.3491232097148895, + 0.03507327288389206, + 0.04669135436415672 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9714090093509797, + 0.0545726561718816, + 0.23105488904174662, + 0.016187534558680175, + -0.9861825587329773, + 0.16486941673879146, + 0.23685966367589859, + -0.15641542778518797, + -0.9588700191757571 + ], + [ + 0.979107875304432, + 0.13437701635012977, + 0.15261253550635018, + 0.11177766803588263, + -0.9826359251327754, + 0.14809588639430124, + 0.16986324336153497, + -0.12794317533690772, + -0.9771269223797943 + ], + [ + 0.9679303735767892, + 0.22890796417513246, + 0.10349848233038825, + 0.21377183423118915, + -0.9669032065724872, + 0.13928313612665108, + 0.13195603357531785, + -0.11269131757610475, + -0.9848290573221483 + ], + [ + 0.9526781248563392, + 0.2862145005417537, + 0.1023994633767368, + 0.2749163553843381, + -0.9549766540646191, + 0.11153738267386865, + 0.12971271318726438, + -0.07810793731228063, + -0.9884704154229499 + ], + [ + 0.9341104679595922, + 0.3400506190727618, + 0.10864257966627566, + 0.3305493242769406, + -0.9388420884451582, + 0.09650221336317473, + 0.13481386378399504, + -0.05423199638742045, + -0.9893857249321243 + ], + [ + 0.9149836071337097, + 0.3847772400179021, + 0.12145564721654872, + 0.37045845453492493, + -0.9203969451694745, + 0.1250199855474879, + 0.15989225165773324, + -0.06939696597766302, + -0.984692098563259 + ], + [ + 0.9072418505463494, + 0.3980687017340072, + 0.13584378276916673, + 0.37472700681426885, + -0.9116422934926506, + 0.16878388275981232, + 0.19102851876422403, + -0.10222346802599268, + -0.9762471344918174 + ], + [ + 0.9045894006505227, + 0.40925041716358457, + 0.11929841693065396, + 0.3873759241732343, + -0.9059879387527422, + 0.17066267373239558, + 0.17792669727070404, + -0.1081663112340875, + -0.9780808450799707 + ], + [ + 0.9053078329084592, + 0.40999643587775647, + 0.11099842450290093, + 0.3888077299776945, + -0.905107113962352, + 0.17207458081987073, + 0.17101542849749463, + -0.11262342039859527, + -0.9788103434238625 + ], + [ + 0.9156957682940241, + 0.3789344377950043, + 0.13382806798799965, + 0.35116481588314524, + -0.9164099931195456, + 0.1920312385951583, + 0.19540862830021952, + -0.12884648370684365, + -0.9722211948019897 + ], + [ + 0.9218503750529944, + 0.37292437509400245, + 0.1054480747828132, + 0.3422807679633201, + -0.9110706262988144, + 0.22976986264070018, + 0.1817574259750997, + -0.1757205860342895, + -0.9675156400527448 + ], + [ + 0.9234663797329381, + 0.3597511049972293, + 0.133375364877528, + 0.3295556811371676, + -0.9217415506126466, + 0.20441518266609152, + 0.19647620347807704, + -0.14481593947997076, + -0.9697553532408959 + ], + [ + 0.9216593825820176, + 0.3708894090605055, + 0.11395187030182218, + 0.34541255780792635, + -0.9180877024165536, + 0.19443542779051318, + 0.17673185170511901, + -0.13984282934152534, + -0.9742740044128433 + ], + [ + 0.9168646902905625, + 0.3688495580876069, + 0.15267332182463292, + 0.34573989670423577, + -0.9248992560434564, + 0.15819383678640977, + 0.19955716856413644, + -0.09225708465390628, + -0.9755334780548675 + ], + [ + 0.9121935764755944, + 0.36674690140869687, + 0.18275554531609636, + 0.34728652877452165, + -0.9286753466523706, + 0.13020816968164028, + 0.2174740121679082, + -0.05530651704111458, + -0.9744979441765763 + ], + [ + 0.9055429013963479, + 0.375268505635786, + 0.19790301263135984, + 0.35743862905788165, + -0.9261175491173051, + 0.12059814125507001, + 0.22853813727232963, + -0.03846860921374479, + -0.9727746326448146 + ], + [ + 0.9006136430502123, + 0.37742644337178993, + 0.21550950279638612, + 0.36571195494753267, + -0.9260240898385005, + 0.0934566800567523, + 0.2348400135417266, + -0.005353959515852685, + -0.9720192915561007 + ], + [ + 0.894597870456466, + 0.3963687469293354, + 0.20636488711121692, + 0.3912344870868582, + -0.9178542725293332, + 0.06692615716991672, + 0.21594033038929955, + 0.020865063079652083, + -0.9761836009962691 + ], + [ + 0.8916392633525043, + 0.40565321064156806, + 0.2010594358501769, + 0.4000763473352315, + -0.9138408809861226, + 0.06952525110639264, + 0.21193947331986782, + 0.018447681011319255, + -0.9771086647421575 + ], + [ + 0.9090938456524051, + 0.39805200955038517, + 0.1228941719115319, + 0.3885004891377328, + -0.9165562092389178, + 0.09482660621011166, + 0.15038533750556754, + -0.03846183820990989, + -0.9878790094261803 + ], + [ + 0.9320547909691586, + 0.35834569074073835, + 0.053499836999573856, + 0.34771303818401217, + -0.9261807377633239, + 0.14589339968973433, + 0.10183078958881536, + -0.11737805128612401, + -0.9878526627832666 + ], + [ + 0.9390689424945643, + 0.33676608186948276, + 0.06883405657389055, + 0.31790195604544724, + -0.927074681974781, + 0.19867279729202258, + 0.13072057062535808, + -0.16468497242807378, + -0.977645637371612 + ], + [ + 0.9466062301134678, + 0.30334233046660025, + 0.10917909899546015, + 0.27416506356540243, + -0.9356087761053075, + 0.2224179309203903, + 0.1696176966903732, + -0.18060910448208467, + -0.9688189657245734 + ], + [ + 0.9373291718942176, + 0.3118259722541079, + 0.15549465117450328, + 0.2816503598576704, + -0.9407621803807675, + 0.18878451937928836, + 0.20515140337844368, + -0.13315811275699446, + -0.9696297327840409 + ], + [ + 0.9301812923003069, + 0.2953325369085238, + 0.21804003324551913, + 0.2691495325221187, + -0.9525690956590795, + 0.14202340348818845, + 0.24964232933870933, + -0.07342213997439234, + -0.9655505666529975 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + 0.001507103443145752, + -0.01212795078754425, + 7.511302828788757e-05, + -0.03150308132171631, + 0.06844136118888855, + 0.09700821340084076, + 1.0 + ], + [ + 0.022794395685195923, + -0.03593340516090393, + 0.023958813399076462, + -0.016265682876110077, + 0.038348883390426636, + 0.1036946177482605, + 1.0 + ], + [ + 0.025943666696548462, + -0.05185061693191528, + 0.027695998549461365, + -0.03507661074399948, + 0.0022627711296081543, + 0.06357455253601074, + 1.0 + ], + [ + 0.0215911865234375, + -0.04412751644849777, + 0.017356686294078827, + -0.024096135050058365, + -0.0051463693380355835, + 0.05917435884475708, + 1.0 + ], + [ + 0.015226244926452637, + -0.0483267605304718, + 0.007583558559417725, + 0.015600461512804031, + -0.02535589039325714, + 0.04459190368652344, + 1.0 + ], + [ + 0.011627227067947388, + -0.05508735775947571, + 0.001057356595993042, + 0.03397098183631897, + -0.031628355383872986, + 0.0069907307624816895, + 1.0 + ], + [ + 0.00497359037399292, + -0.04966788738965988, + -7.495284080505371e-05, + 0.00581233948469162, + 0.013330727815628052, + 0.012909859418869019, + 1.0 + ], + [ + -0.0053546130657196045, + -0.036206722259521484, + -0.00942189246416092, + 0.004414968192577362, + 0.007018938660621643, + 0.0010488331317901611, + 1.0 + ], + [ + -0.008711576461791992, + -0.018904253840446472, + -0.0035507455468177795, + 0.017202377319335938, + -0.024813905358314514, + -0.03945797681808472, + 1.0 + ], + [ + -0.009768903255462646, + 0.01808646321296692, + -0.020597323775291443, + 0.04790191352367401, + 0.013900741934776306, + -0.010676801204681396, + 1.0 + ], + [ + -0.007621139287948608, + 0.016885310411453247, + 0.002600841224193573, + -0.031425029039382935, + -0.014989420771598816, + -0.012740492820739746, + 1.0 + ], + [ + 0.004902750253677368, + 0.02053619921207428, + 0.0012194961309432983, + -0.005675315856933594, + 0.020097732543945312, + 0.015790939331054688, + 1.0 + ], + [ + 0.008722275495529175, + -0.002186819911003113, + 0.003916889429092407, + -0.04827123135328293, + -0.023240938782691956, + 0.002029985189437866, + 1.0 + ], + [ + 0.00510096549987793, + -0.002571314573287964, + -0.006540805101394653, + -0.03759743273258209, + -0.018319815397262573, + 0.003171205520629883, + 1.0 + ], + [ + 0.0028360486030578613, + -0.0023808926343917847, + -0.011072158813476562, + -0.01716839149594307, + -0.01135002076625824, + 0.01217663288116455, + 1.0 + ], + [ + -0.0033243298530578613, + -0.0029804855585098267, + -0.018848471343517303, + -0.034016624093055725, + -0.006478160619735718, + 0.0097789466381073, + 1.0 + ], + [ + -0.003996372222900391, + 0.000174790620803833, + -0.011007774621248245, + -0.02687888778746128, + 0.019399195909500122, + 0.02653980255126953, + 0.0 + ], + [ + 0.00028136372566223145, + 0.003843143582344055, + -0.0008534826338291168, + 0.002493239939212799, + 0.004095688462257385, + 0.009502530097961426, + 0.0 + ], + [ + -0.010167837142944336, + 0.013433188199996948, + 0.004629455506801605, + 0.05779172480106354, + 0.06260105967521667, + -0.017911553382873535, + 0.0 + ], + [ + -0.005066365003585815, + 0.04299813508987427, + 0.03312152624130249, + 0.07935281097888947, + 0.048950426280498505, + -0.046789318323135376, + 0.0 + ], + [ + -0.00576356053352356, + 0.04237698018550873, + 0.038373738527297974, + 0.048616960644721985, + -0.02908814698457718, + -0.030650168657302856, + 0.0 + ], + [ + -0.013718634843826294, + 0.039860792458057404, + -0.0037152916193008423, + 0.017422422766685486, + -0.03934597969055176, + -0.044503629207611084, + 0.0 + ], + [ + -0.013230085372924805, + 0.036709725856781006, + -0.046746596693992615, + -0.047831133008003235, + -0.036176666617393494, + 0.009983152151107788, + 0.0 + ], + [ + 0.004417866468429565, + -0.0012463927268981934, + -0.035253871232271194, + -0.060579486191272736, + -0.04569247364997864, + -0.010239452123641968, + 0.0 + ], + [ + 0.004483401775360107, + -0.003038443624973297, + -0.033731408417224884, + -0.05410339683294296, + 0.01799212396144867, + 0.009898632764816284, + 0.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.8139979243278503 + ], + [ + 0.5998998284339905 + ], + [ + 0.5958979725837708 + ], + [ + 0.5958979725837708 + ], + [ + 0.5958979725837708 + ], + [ + 0.5958979725837708 + ], + [ + 0.5958979725837708 + ], + [ + 0.5958979725837708 + ], + [ + 0.5958979725837708 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3074290454387665, + 0.1516389697790146, + 0.052860360592603683 + ], + [ + 0.3302234411239624, + 0.11570556461811066, + 0.07681917399168015 + ], + [ + 0.35616710782051086, + 0.06385494768619537, + 0.10451517254114151 + ], + [ + 0.37775829434394836, + 0.01972743310034275, + 0.12187185883522034 + ], + [ + 0.392984539270401, + -0.02859932743012905, + 0.12945541739463806 + ], + [ + 0.4046117663383484, + -0.08368668705224991, + 0.1305127739906311 + ], + [ + 0.4095853567123413, + -0.1333545744419098, + 0.13043782114982605 + ], + [ + 0.4042307436466217, + -0.16956129670143127, + 0.12101592868566513 + ], + [ + 0.3955191671848297, + -0.18846555054187775, + 0.11746518313884735 + ], + [ + 0.38575026392936707, + -0.17037908732891083, + 0.09686785936355591 + ], + [ + 0.37812912464141846, + -0.15349377691745758, + 0.09946870058774948 + ], + [ + 0.3830318748950958, + -0.1329575777053833, + 0.10068819671869278 + ], + [ + 0.391754150390625, + -0.1351443976163864, + 0.10460508614778519 + ], + [ + 0.39685511589050293, + -0.13771571218967438, + 0.09806428104639053 + ], + [ + 0.3996911644935608, + -0.14009660482406616, + 0.08699212223291397 + ], + [ + 0.39636683464050293, + -0.143077090382576, + 0.06814365088939667 + ], + [ + 0.39237046241760254, + -0.14290229976177216, + 0.05713587626814842 + ], + [ + 0.39265182614326477, + -0.1390591561794281, + 0.056282393634319305 + ], + [ + 0.38248398900032043, + -0.12562596797943115, + 0.06091184914112091 + ], + [ + 0.3774176239967346, + -0.08262783288955688, + 0.0940333753824234 + ], + [ + 0.37165406346321106, + -0.04025085270404816, + 0.13240711390972137 + ], + [ + 0.35793542861938477, + -0.0003900619631167501, + 0.12869182229042053 + ], + [ + 0.34470534324645996, + 0.03631966561079025, + 0.08194522559642792 + ], + [ + 0.3491232097148895, + 0.03507327288389206, + 0.04669135436415672 + ], + [ + 0.35360661149024963, + 0.03203482925891876, + 0.012959947809576988 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.979107875304432, + 0.13437701635012977, + 0.15261253550635018, + 0.11177766803588263, + -0.9826359251327754, + 0.14809588639430124, + 0.16986324336153497, + -0.12794317533690772, + -0.9771269223797943 + ], + [ + 0.9679303735767892, + 0.22890796417513246, + 0.10349848233038825, + 0.21377183423118915, + -0.9669032065724872, + 0.13928313612665108, + 0.13195603357531785, + -0.11269131757610475, + -0.9848290573221483 + ], + [ + 0.9526781248563392, + 0.2862145005417537, + 0.1023994633767368, + 0.2749163553843381, + -0.9549766540646191, + 0.11153738267386865, + 0.12971271318726438, + -0.07810793731228063, + -0.9884704154229499 + ], + [ + 0.9341104679595922, + 0.3400506190727618, + 0.10864257966627566, + 0.3305493242769406, + -0.9388420884451582, + 0.09650221336317473, + 0.13481386378399504, + -0.05423199638742045, + -0.9893857249321243 + ], + [ + 0.9149836071337097, + 0.3847772400179021, + 0.12145564721654872, + 0.37045845453492493, + -0.9203969451694745, + 0.1250199855474879, + 0.15989225165773324, + -0.06939696597766302, + -0.984692098563259 + ], + [ + 0.9072418505463494, + 0.3980687017340072, + 0.13584378276916673, + 0.37472700681426885, + -0.9116422934926506, + 0.16878388275981232, + 0.19102851876422403, + -0.10222346802599268, + -0.9762471344918174 + ], + [ + 0.9045894006505227, + 0.40925041716358457, + 0.11929841693065396, + 0.3873759241732343, + -0.9059879387527422, + 0.17066267373239558, + 0.17792669727070404, + -0.1081663112340875, + -0.9780808450799707 + ], + [ + 0.9053078329084592, + 0.40999643587775647, + 0.11099842450290093, + 0.3888077299776945, + -0.905107113962352, + 0.17207458081987073, + 0.17101542849749463, + -0.11262342039859527, + -0.9788103434238625 + ], + [ + 0.9156957682940241, + 0.3789344377950043, + 0.13382806798799965, + 0.35116481588314524, + -0.9164099931195456, + 0.1920312385951583, + 0.19540862830021952, + -0.12884648370684365, + -0.9722211948019897 + ], + [ + 0.9218503750529944, + 0.37292437509400245, + 0.1054480747828132, + 0.3422807679633201, + -0.9110706262988144, + 0.22976986264070018, + 0.1817574259750997, + -0.1757205860342895, + -0.9675156400527448 + ], + [ + 0.9234663797329381, + 0.3597511049972293, + 0.133375364877528, + 0.3295556811371676, + -0.9217415506126466, + 0.20441518266609152, + 0.19647620347807704, + -0.14481593947997076, + -0.9697553532408959 + ], + [ + 0.9216593825820176, + 0.3708894090605055, + 0.11395187030182218, + 0.34541255780792635, + -0.9180877024165536, + 0.19443542779051318, + 0.17673185170511901, + -0.13984282934152534, + -0.9742740044128433 + ], + [ + 0.9168646902905625, + 0.3688495580876069, + 0.15267332182463292, + 0.34573989670423577, + -0.9248992560434564, + 0.15819383678640977, + 0.19955716856413644, + -0.09225708465390628, + -0.9755334780548675 + ], + [ + 0.9121935764755944, + 0.36674690140869687, + 0.18275554531609636, + 0.34728652877452165, + -0.9286753466523706, + 0.13020816968164028, + 0.2174740121679082, + -0.05530651704111458, + -0.9744979441765763 + ], + [ + 0.9055429013963479, + 0.375268505635786, + 0.19790301263135984, + 0.35743862905788165, + -0.9261175491173051, + 0.12059814125507001, + 0.22853813727232963, + -0.03846860921374479, + -0.9727746326448146 + ], + [ + 0.9006136430502123, + 0.37742644337178993, + 0.21550950279638612, + 0.36571195494753267, + -0.9260240898385005, + 0.0934566800567523, + 0.2348400135417266, + -0.005353959515852685, + -0.9720192915561007 + ], + [ + 0.894597870456466, + 0.3963687469293354, + 0.20636488711121692, + 0.3912344870868582, + -0.9178542725293332, + 0.06692615716991672, + 0.21594033038929955, + 0.020865063079652083, + -0.9761836009962691 + ], + [ + 0.8916392633525043, + 0.40565321064156806, + 0.2010594358501769, + 0.4000763473352315, + -0.9138408809861226, + 0.06952525110639264, + 0.21193947331986782, + 0.018447681011319255, + -0.9771086647421575 + ], + [ + 0.9090938456524051, + 0.39805200955038517, + 0.1228941719115319, + 0.3885004891377328, + -0.9165562092389178, + 0.09482660621011166, + 0.15038533750556754, + -0.03846183820990989, + -0.9878790094261803 + ], + [ + 0.9320547909691586, + 0.35834569074073835, + 0.053499836999573856, + 0.34771303818401217, + -0.9261807377633239, + 0.14589339968973433, + 0.10183078958881536, + -0.11737805128612401, + -0.9878526627832666 + ], + [ + 0.9390689424945643, + 0.33676608186948276, + 0.06883405657389055, + 0.31790195604544724, + -0.927074681974781, + 0.19867279729202258, + 0.13072057062535808, + -0.16468497242807378, + -0.977645637371612 + ], + [ + 0.9466062301134678, + 0.30334233046660025, + 0.10917909899546015, + 0.27416506356540243, + -0.9356087761053075, + 0.2224179309203903, + 0.1696176966903732, + -0.18060910448208467, + -0.9688189657245734 + ], + [ + 0.9373291718942176, + 0.3118259722541079, + 0.15549465117450328, + 0.2816503598576704, + -0.9407621803807675, + 0.18878451937928836, + 0.20515140337844368, + -0.13315811275699446, + -0.9696297327840409 + ], + [ + 0.9301812923003069, + 0.2953325369085238, + 0.21804003324551913, + 0.2691495325221187, + -0.9525690956590795, + 0.14202340348818845, + 0.24964232933870933, + -0.07342213997439234, + -0.9655505666529975 + ], + [ + 0.9316232437622679, + 0.2922223319199344, + 0.21606536142830796, + 0.2795896842491572, + -0.956115514658814, + 0.0875941270301139, + 0.23218040430520015, + -0.021195078579398237, + -0.9724417866899214 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006434.json b/json/chunk-0006/episode_0006434.json new file mode 100644 index 0000000000000000000000000000000000000000..dfba4798ec732938bfa103bc72c59d00a03ad7e6 --- /dev/null +++ b/json/chunk-0006/episode_0006434.json @@ -0,0 +1,2122 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 34, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut the blue figure on the top edge of the cloth." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006434.mp4", + "start": 0, + "end": 34, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.37191569805145264, + -0.02582203783094883, + 0.11870694160461426, + -0.13250473141670227, + -0.35211339592933655, + -0.026958663016557693, + 0.0, + 0.9988223910331726 + ], + [ + 0.3674550950527191, + -0.026533234864473343, + 0.10546837747097015, + -0.13069140911102295, + -0.31198713183403015, + -0.03028428554534912, + 0.0, + 0.9988223910331726 + ], + [ + 0.35014283657073975, + -0.032551996409893036, + 0.08109166473150253, + -0.09076408296823502, + -0.250379741191864, + -0.0861155241727829, + 0.0, + 0.9988223910331726 + ], + [ + 0.3327595591545105, + -0.05191938579082489, + 0.06184712424874306, + -0.07923978567123413, + -0.22019337117671967, + -0.15264029800891876, + 0.0, + 0.9988223910331726 + ], + [ + 0.3191002309322357, + -0.05798590928316116, + 0.050431061536073685, + -0.05122840031981468, + -0.21292605996131897, + -0.19305625557899475, + 0.0, + 0.9988223910331726 + ], + [ + 0.3043583929538727, + -0.07068915665149689, + 0.03748445212841034, + 0.0254706721752882, + -0.18965843319892883, + -0.27290940284729004, + 0.0, + 0.9988223910331726 + ], + [ + 0.29720425605773926, + -0.0771353617310524, + 0.021512893959879875, + 0.05054987967014313, + -0.1709652543067932, + -0.3204450011253357, + 0.0, + 0.9988223910331726 + ], + [ + 0.29559674859046936, + -0.09259118139743805, + 0.017341895028948784, + 0.059774912893772125, + -0.19119468331336975, + -0.37413763999938965, + 0.0, + 0.9988223910331726 + ], + [ + 0.29934537410736084, + -0.09399080276489258, + 0.009717508219182491, + 0.06859123706817627, + -0.20561690628528595, + -0.3775869607925415, + 0.0, + 0.9988223910331726 + ], + [ + 0.3001406192779541, + -0.09069913625717163, + -0.0068701873533427715, + 0.09050959348678589, + -0.16451501846313477, + -0.3914816677570343, + 0.0, + 0.9988223910331726 + ], + [ + 0.30537593364715576, + -0.09027836471796036, + -0.012761757709085941, + 0.10477655380964279, + -0.1563444584608078, + -0.38193801045417786, + 0.0, + 0.9988223910331726 + ], + [ + 0.3083469271659851, + -0.08901160210371017, + -0.01672789826989174, + 0.11771973222494125, + -0.150824174284935, + -0.3779870271682739, + 0.0, + 0.9430103898048401 + ], + [ + 0.31209683418273926, + -0.08765143901109695, + -0.016102822497487068, + 0.135452002286911, + -0.17161542177200317, + -0.3827892243862152, + 0.0, + 0.6881998181343079 + ], + [ + 0.30923861265182495, + -0.08870308101177216, + -0.014212544076144695, + 0.12280887365341187, + -0.17466318607330322, + -0.3801267743110657, + 0.0, + 0.4112652540206909 + ], + [ + 0.3059885799884796, + -0.090518057346344, + -0.012442274950444698, + 0.1074574813246727, + -0.17557471990585327, + -0.3928429186344147, + 0.0, + 0.2248985916376114 + ], + [ + 0.29694318771362305, + -0.09231455624103546, + -0.012568499892950058, + 0.07465619593858719, + -0.1507558375597, + -0.3994535505771637, + 0.0, + 0.10198938846588135 + ], + [ + 0.2930123507976532, + -0.09783350676298141, + 0.006060023792088032, + 0.00366614805534482, + -0.16924047470092773, + -0.4100971519947052, + 0.0, + 0.059241458773612976 + ], + [ + 0.2921868562698364, + -0.1004854142665863, + 0.027761774137616158, + -0.04423987865447998, + -0.18121378123760223, + -0.402439147233963, + 0.0, + 0.05350611358880997 + ], + [ + 0.31214791536331177, + -0.08940837532281876, + 0.04980063810944557, + -0.06518469005823135, + -0.22212271392345428, + -0.3395499289035797, + 0.0, + 0.05350611358880997 + ], + [ + 0.3334997892379761, + -0.06590700894594193, + 0.06603620201349258, + -0.0822155699133873, + -0.2583422362804413, + -0.2403712421655655, + 0.0, + 0.05324139446020126 + ], + [ + 0.349701464176178, + -0.039371609687805176, + 0.06945209205150604, + -0.08444478362798691, + -0.26483115553855896, + -0.1478642374277115, + 0.0, + 0.05324139446020126 + ], + [ + 0.3606529235839844, + -0.008829565718770027, + 0.057522714138031006, + -0.09317254275083542, + -0.22698120772838593, + -0.04474158212542534, + 0.0, + 0.05324139446020126 + ], + [ + 0.36447873711586, + 0.008165864273905754, + 0.044354092329740524, + -0.09333500266075134, + -0.18844452500343323, + 0.010685914196074009, + 0.0, + 0.05324139446020126 + ], + [ + 0.36281222105026245, + 0.01606951840221882, + 0.026435375213623047, + -0.07992440462112427, + -0.14815653860569, + 0.024260705336928368, + 0.0, + 0.05324139446020126 + ], + [ + 0.36356648802757263, + 0.02435431443154812, + 0.010595633648335934, + -0.06202107295393944, + -0.1103326827287674, + 0.03759124502539635, + 0.0, + 0.07755524665117264 + ], + [ + 0.3629104793071747, + 0.02753499522805214, + 0.01216176338493824, + -0.050900671631097794, + -0.09421765804290771, + 0.054913245141506195, + 0.0, + 0.23789463937282562 + ], + [ + 0.3623238801956177, + 0.026525191962718964, + 0.012155451811850071, + -0.058054085820913315, + -0.08954969048500061, + 0.06593397259712219, + 0.0, + 0.48704639077186584 + ], + [ + 0.360921174287796, + 0.023525375872850418, + 0.01167322602123022, + -0.07682452350854874, + -0.07854434847831726, + 0.07122275233268738, + 0.0, + 0.7662391662597656 + ], + [ + 0.36217284202575684, + 0.022878365591168404, + 0.017809102311730385, + -0.08163028210401535, + -0.09250012785196304, + 0.07497314363718033, + 0.0, + 0.9988223910331726 + ], + [ + 0.3661065101623535, + 0.021922260522842407, + 0.0374322310090065, + -0.08983208984136581, + -0.14180432260036469, + 0.08149261027574539, + 0.0, + 1.0060625076293945 + ], + [ + 0.3660581409931183, + 0.02025291882455349, + 0.05610215663909912, + -0.10410463809967041, + -0.17788447439670563, + 0.08794479072093964, + 0.0, + 0.9994885921478271 + ], + [ + 0.36606213450431824, + 0.025802377611398697, + 0.08395276963710785, + -0.12380029261112213, + -0.23539350926876068, + 0.11928164213895798, + 0.0, + 0.9994885921478271 + ], + [ + 0.3630586862564087, + 0.026513878256082535, + 0.10493970662355423, + -0.12653343379497528, + -0.27892979979515076, + 0.12083340436220169, + 0.0, + 0.9994885921478271 + ], + [ + 0.356772780418396, + 0.02452303282916546, + 0.11823420226573944, + -0.13253253698349, + -0.3093710243701935, + 0.11691171675920486, + 0.0, + 0.9994885921478271 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9430103898048401 + ], + [ + 0.6881998181343079 + ], + [ + 0.4112652540206909 + ], + [ + 0.2248985916376114 + ], + [ + 0.10198938846588135 + ], + [ + 0.059241458773612976 + ], + [ + 0.05350611358880997 + ], + [ + 0.05350611358880997 + ], + [ + 0.05324139446020126 + ], + [ + 0.05324139446020126 + ], + [ + 0.05324139446020126 + ], + [ + 0.05324139446020126 + ], + [ + 0.05324139446020126 + ], + [ + 0.07755524665117264 + ], + [ + 0.23789463937282562 + ], + [ + 0.48704639077186584 + ], + [ + 0.7662391662597656 + ], + [ + 0.9988223910331726 + ], + [ + 1.0060625076293945 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.37191569805145264, + -0.02582203783094883, + 0.11870694160461426 + ], + [ + 0.3674550950527191, + -0.026533234864473343, + 0.10546837747097015 + ], + [ + 0.35014283657073975, + -0.032551996409893036, + 0.08109166473150253 + ], + [ + 0.3327595591545105, + -0.05191938579082489, + 0.06184712424874306 + ], + [ + 0.3191002309322357, + -0.05798590928316116, + 0.050431061536073685 + ], + [ + 0.3043583929538727, + -0.07068915665149689, + 0.03748445212841034 + ], + [ + 0.29720425605773926, + -0.0771353617310524, + 0.021512893959879875 + ], + [ + 0.29559674859046936, + -0.09259118139743805, + 0.017341895028948784 + ], + [ + 0.29934537410736084, + -0.09399080276489258, + 0.009717508219182491 + ], + [ + 0.3001406192779541, + -0.09069913625717163, + -0.0068701873533427715 + ], + [ + 0.30537593364715576, + -0.09027836471796036, + -0.012761757709085941 + ], + [ + 0.3083469271659851, + -0.08901160210371017, + -0.01672789826989174 + ], + [ + 0.31209683418273926, + -0.08765143901109695, + -0.016102822497487068 + ], + [ + 0.30923861265182495, + -0.08870308101177216, + -0.014212544076144695 + ], + [ + 0.3059885799884796, + -0.090518057346344, + -0.012442274950444698 + ], + [ + 0.29694318771362305, + -0.09231455624103546, + -0.012568499892950058 + ], + [ + 0.2930123507976532, + -0.09783350676298141, + 0.006060023792088032 + ], + [ + 0.2921868562698364, + -0.1004854142665863, + 0.027761774137616158 + ], + [ + 0.31214791536331177, + -0.08940837532281876, + 0.04980063810944557 + ], + [ + 0.3334997892379761, + -0.06590700894594193, + 0.06603620201349258 + ], + [ + 0.349701464176178, + -0.039371609687805176, + 0.06945209205150604 + ], + [ + 0.3606529235839844, + -0.008829565718770027, + 0.057522714138031006 + ], + [ + 0.36447873711586, + 0.008165864273905754, + 0.044354092329740524 + ], + [ + 0.36281222105026245, + 0.01606951840221882, + 0.026435375213623047 + ], + [ + 0.36356648802757263, + 0.02435431443154812, + 0.010595633648335934 + ], + [ + 0.3629104793071747, + 0.02753499522805214, + 0.01216176338493824 + ], + [ + 0.3623238801956177, + 0.026525191962718964, + 0.012155451811850071 + ], + [ + 0.360921174287796, + 0.023525375872850418, + 0.01167322602123022 + ], + [ + 0.36217284202575684, + 0.022878365591168404, + 0.017809102311730385 + ], + [ + 0.3661065101623535, + 0.021922260522842407, + 0.0374322310090065 + ], + [ + 0.3660581409931183, + 0.02025291882455349, + 0.05610215663909912 + ], + [ + 0.36606213450431824, + 0.025802377611398697, + 0.08395276963710785 + ], + [ + 0.3630586862564087, + 0.026513878256082535, + 0.10493970662355423 + ], + [ + 0.356772780418396, + 0.02452303282916546, + 0.11823420226573944 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9383048677628998, + -0.07226748174355174, + 0.3381736036636993, + -0.02530157450479934, + -0.989645686642301, + -0.14128427102075744, + 0.3448823066787067, + 0.12401139460845592, + -0.930417846210637 + ], + [ + 0.9512890998890795, + -0.07000477617279521, + 0.3002471977308392, + -0.028817921279023183, + -0.9898061656145235, + -0.1394750225833657, + 0.3069504452601117, + 0.12402856858188437, + -0.9436092084810045 + ], + [ + 0.9652282996457967, + -0.10802979414608432, + 0.2380417886414876, + -0.08332722454140487, + -0.9902617838049143, + -0.11152655820805929, + 0.24777187736526982, + 0.08781322857214616, + -0.9648305207002035 + ], + [ + 0.9645090320238376, + -0.16865945096287474, + 0.2031657371343436, + -0.14837708889871368, + -0.9826429143402381, + -0.11134245545552943, + 0.21841832943776207, + 0.07724566329461477, + -0.9727931644845127 + ], + [ + 0.95925875248353, + -0.2022274318704821, + 0.19729853416285617, + -0.18752646087285235, + -0.9780588445575013, + -0.09074537484273575, + 0.21132078046478245, + 0.050049599218331006, + -0.9761345016757885 + ], + [ + 0.9457230988302079, + -0.2648232676443542, + 0.18835195048938486, + -0.2647011973721492, + -0.9639725486437029, + -0.026271687633545343, + 0.18852346392091207, + -0.02501124498162418, + -0.9817501419280416 + ], + [ + 0.9352584842492573, + -0.306427616101394, + 0.17718262818402508, + -0.3103967177222323, + -0.9505908176262678, + -0.005565525302111091, + 0.1701336100453013, + -0.04979170146761677, + -0.9841622534917264 + ], + [ + 0.9138615896853624, + -0.35425017777076456, + 0.19840314122292677, + -0.35881033312790594, + -0.9333096492450155, + -0.013720184648465434, + 0.1900319439946456, + -0.058650747442197976, + -0.9800244640242854 + ], + [ + 0.9099760600602067, + -0.3548039209037589, + 0.2146106889896742, + -0.3609123549512754, + -0.9325302182482532, + -0.011387014419507388, + 0.20417111000537772, + -0.06709373864366697, + -0.9766332925279516 + ], + [ + 0.9118641356824233, + -0.3663136466035542, + 0.18525147872055925, + -0.3764065649876068, + -0.9262093695261574, + 0.021314352821250368, + 0.16377391700261057, + -0.08916566667706012, + -0.9824599676300596 + ], + [ + 0.9166259852666988, + -0.3555641914272689, + 0.18267706180176624, + -0.3681735032548673, + -0.9289248014716895, + 0.03933172652987025, + 0.1557082998266055, + -0.10330933639054485, + -0.9823859253774218 + ], + [ + 0.9188583595969646, + -0.35009494398733787, + 0.18202429835952674, + -0.36486072766473543, + -0.9294895935632722, + 0.05409015497798854, + 0.150253001323551, + -0.11611470902553998, + -0.9818051792189625 + ], + [ + 0.9139997787904305, + -0.3486960429190154, + 0.20740172136138202, + -0.3680224932860315, + -0.9277432670778502, + 0.062063474179663465, + 0.17077426271712337, + -0.1330545002784086, + -0.9762851279974953 + ], + [ + 0.9144888042324267, + -0.3484755889444937, + 0.2056088296823221, + -0.36539289749480264, + -0.9295222322182891, + 0.049763945505569465, + 0.17377645811184708, + -0.12063657704741494, + -0.9773681797993958 + ], + [ + 0.9096218904388629, + -0.36330136711315253, + 0.20149474704851184, + -0.37693101812975416, + -0.9256675123478452, + 0.032598529957943025, + 0.17467405075195452, + -0.10560195659866489, + -0.9789469866935785 + ], + [ + 0.9108244249137842, + -0.3775116766095908, + 0.16698443341787927, + -0.38450383688856277, + -0.9230640363724969, + 0.010468245969949504, + 0.15018544003480488, + -0.0737408894652726, + -0.9859039582141977 + ], + [ + 0.9039797234120514, + -0.3981294471957186, + 0.15592819801274724, + -0.3930022141859563, + -0.9173221266286411, + -0.06379165809447845, + 0.16843372377527818, + -0.0036137616327931166, + -0.985706356590062 + ], + [ + 0.9050422434364471, + -0.39861426851575366, + 0.14834150643422206, + -0.38525055116944007, + -0.9160864058421095, + -0.11121020571390575, + 0.18022361226866562, + 0.04350128695725294, + -0.9826632625746713 + ], + [ + 0.919739392462867, + -0.3458861456286185, + 0.18558616385446022, + -0.32488007005286423, + -0.9361226786610201, + -0.1346375526328467, + 0.2203006809669059, + 0.06353821494734233, + -0.973360418964539 + ], + [ + 0.9390185763901852, + -0.25763650965096363, + 0.22774446664852102, + -0.23016304322745104, + -0.9629742633048934, + -0.14037642873601144, + 0.2554781531294386, + 0.0793977147483914, + -0.9635491249367125 + ], + [ + 0.9546051246739793, + -0.16863698800911062, + 0.24554148778035723, + -0.14218974333395804, + -0.9823110332512253, + -0.1218487211403271, + 0.2617463138934326, + 0.08140393251019973, + -0.9616975964070386 + ], + [ + 0.9733751053041829, + -0.06544866948447511, + 0.21967561548060666, + -0.04357942532538541, + -0.9937297404094071, + -0.10296619209314375, + 0.22503719262019906, + 0.09065139099078934, + -0.9701240061193492 + ], + [ + 0.9822407292123471, + -0.006818984179166532, + 0.18750107021337575, + 0.01049653968425178, + -0.9957771681912367, + -0.09120117303904979, + 0.1873311840859762, + 0.09154961913523207, + -0.9780213160791232 + ], + [ + 0.9887538284698003, + 0.012398861291635324, + 0.1490373608360779, + 0.023992572665370228, + -0.9968003039050691, + -0.07624638084301741, + 0.14761511827455018, + 0.0789646906752145, + -0.9858875972865051 + ], + [ + 0.9932173496167026, + 0.030690255435714815, + 0.11214902871475525, + 0.037353873351378714, + -0.9976286888733364, + -0.05780732896888138, + 0.11010896678300809, + 0.06160444268198431, + -0.9920085221790286 + ], + [ + 0.9940641308486984, + 0.05003519812874917, + 0.09660736363362266, + 0.05464222224189244, + -0.9974621540310988, + -0.045645140202527655, + 0.09407832539161087, + 0.050653037656764356, + -0.9942753836174628 + ], + [ + 0.9938289545767434, + 0.060597624916768796, + 0.09290821760933952, + 0.06562221152893598, + -0.9964880128931916, + -0.05201312828729479, + 0.08943005310827769, + 0.0577889956187647, + -0.9943151902623361 + ], + [ + 0.9943895261868909, + 0.06494592024016878, + 0.08349549481240391, + 0.07094315685405424, + -0.9949511981183948, + -0.07098719503087644, + 0.07846361389454089, + 0.0765123572171729, + -0.9939765190826593 + ], + [ + 0.9929277522514854, + 0.06714298748415147, + 0.09790964222442994, + 0.07458270983268879, + -0.9944344272254936, + -0.07441498063372386, + 0.09236827487198049, + 0.08119106589032828, + -0.992409246539333 + ], + [ + 0.9866772291260599, + 0.06843742733336583, + 0.14759527114413537, + 0.08058537230651708, + -0.9936945967377341, + -0.07795541151486568, + 0.14132955562917685, + 0.0888108493047009, + -0.9859708868680844 + ], + [ + 0.9804165645962524, + 0.06903917923613705, + 0.18443684988549097, + 0.08644550936126437, + -0.9923573068260381, + -0.08805764873220456, + 0.17694782783790858, + 0.10227691488978985, + -0.9788916686253248 + ], + [ + 0.9655129704064745, + 0.08949316207921736, + 0.24449064996013442, + 0.1157173067565982, + -0.9887224208179471, + -0.09506565883060764, + 0.23322566088204227, + 0.12007892618174543, + -0.9649802291203553 + ], + [ + 0.9543409770847037, + 0.08508406757473086, + 0.2863459461943746, + 0.1158807996281166, + -0.9889603047356662, + -0.09235342946900511, + 0.27532696877451246, + 0.12131865933184739, + -0.9536649533055945 + ], + [ + 0.9460229432720919, + 0.07566449979611603, + 0.31514357723648956, + 0.1111078485753138, + -0.9891568569263273, + -0.09604039973153841, + 0.30445958153385955, + 0.12587134648613282, + -0.9441720009330897 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0044606029987335205, + -0.0007111970335245132, + -0.013238564133644104, + 0.0018133223056793213, + 0.040126264095306396, + -0.0033256225287914276, + 1.0 + ], + [ + -0.01731225848197937, + -0.006018761545419693, + -0.02437671273946762, + 0.03992732614278793, + 0.06160739064216614, + -0.05583123862743378, + 1.0 + ], + [ + -0.017383277416229248, + -0.019367389380931854, + -0.019244540482759476, + 0.011524297297000885, + 0.030186370015144348, + -0.06652477383613586, + 1.0 + ], + [ + -0.01365932822227478, + -0.006066523492336273, + -0.011416062712669373, + 0.02801138535141945, + 0.007267311215400696, + -0.04041595757007599, + 1.0 + ], + [ + -0.014741837978363037, + -0.012703247368335724, + -0.012946609407663345, + 0.07669907063245773, + 0.023267626762390137, + -0.07985314726829529, + 1.0 + ], + [ + -0.007154136896133423, + -0.0064462050795555115, + -0.015971558168530464, + 0.025079207494854927, + 0.01869317889213562, + -0.047535598278045654, + 1.0 + ], + [ + -0.0016075074672698975, + -0.01545581966638565, + -0.004170998930931091, + 0.009225033223628998, + -0.020229429006576538, + -0.053692638874053955, + 1.0 + ], + [ + 0.0037486255168914795, + -0.0013996213674545288, + -0.007624386809766293, + 0.008816324174404144, + -0.014422222971916199, + -0.0034493207931518555, + 1.0 + ], + [ + 0.0007952451705932617, + 0.0032916665077209473, + -0.016587695106863976, + 0.02191835641860962, + 0.041101887822151184, + -0.013894706964492798, + 1.0 + ], + [ + 0.00523531436920166, + 0.0004207715392112732, + -0.00589157035574317, + 0.014266960322856903, + 0.008170560002326965, + 0.009543657302856445, + 1.0 + ], + [ + 0.0029709935188293457, + 0.001266762614250183, + -0.003966140560805798, + 0.012943178415298462, + 0.005520284175872803, + 0.003950983285903931, + 0.0 + ], + [ + 0.0037499070167541504, + 0.0013601630926132202, + 0.0006250757724046707, + 0.017732270061969757, + -0.020791247487068176, + -0.004802197217941284, + 0.0 + ], + [ + -0.0028582215309143066, + -0.0010516420006752014, + 0.001890278421342373, + -0.012643128633499146, + -0.003047764301300049, + 0.002662450075149536, + 0.0 + ], + [ + -0.003250032663345337, + -0.0018149763345718384, + 0.001770269125699997, + -0.015351392328739166, + -0.0009115338325500488, + -0.012716144323348999, + 0.0 + ], + [ + -0.009045392274856567, + -0.0017964988946914673, + -0.00012622494250535965, + -0.03280128538608551, + 0.02481888234615326, + -0.0066106319427490234, + 0.0 + ], + [ + -0.003930836915969849, + -0.005518950521945953, + 0.018628522753715515, + -0.07099004834890366, + -0.018484637141227722, + -0.010643601417541504, + 0.0 + ], + [ + -0.0008254945278167725, + -0.002651907503604889, + 0.02170174941420555, + -0.04790602624416351, + -0.0119733065366745, + 0.0076580047607421875, + 0.0 + ], + [ + 0.019961059093475342, + 0.011077038943767548, + 0.022038863971829414, + -0.020944811403751373, + -0.04090893268585205, + 0.0628892183303833, + 0.0 + ], + [ + 0.021351873874664307, + 0.02350136637687683, + 0.016235563904047012, + -0.017030879855155945, + -0.036219522356987, + 0.09917868673801422, + 0.0 + ], + [ + 0.016201674938201904, + 0.02653539925813675, + 0.0034158900380134583, + -0.0022292137145996094, + -0.006488919258117676, + 0.092507004737854, + 0.0 + ], + [ + 0.010951459407806396, + 0.03054204396903515, + -0.011929377913475037, + -0.00872775912284851, + 0.037849947810173035, + 0.10312265157699585, + 0.0 + ], + [ + 0.0038258135318756104, + 0.01699542999267578, + -0.013168621808290482, + -0.00016245990991592407, + 0.0385366827249527, + 0.05542749539017677, + 0.0 + ], + [ + -0.0016665160655975342, + 0.007903654128313065, + -0.017918717116117477, + 0.013410598039627075, + 0.040287986397743225, + 0.013574791140854359, + 0.0 + ], + [ + 0.0007542669773101807, + 0.0082847960293293, + -0.01583974063396454, + 0.01790333166718483, + 0.03782385587692261, + 0.01333053968846798, + 1.0 + ], + [ + -0.0006560087203979492, + 0.0031806807965040207, + 0.0015661297366023064, + 0.011120401322841644, + 0.01611502468585968, + 0.017322000116109848, + 1.0 + ], + [ + -0.0005865991115570068, + -0.0010098032653331757, + -6.311573088169098e-06, + -0.007153414189815521, + 0.0046679675579071045, + 0.011020727455615997, + 1.0 + ], + [ + -0.0014027059078216553, + -0.0029998160898685455, + -0.00048222579061985016, + -0.018770437687635422, + 0.01100534200668335, + 0.0052887797355651855, + 1.0 + ], + [ + 0.0012516677379608154, + -0.0006470102816820145, + 0.006135876290500164, + -0.004805758595466614, + -0.013955779373645782, + 0.0037503913044929504, + 1.0 + ], + [ + 0.00393366813659668, + -0.0009561050683259964, + 0.019623128697276115, + -0.008201807737350464, + -0.04930419474840164, + 0.0065194666385650635, + 1.0 + ], + [ + -4.836916923522949e-05, + -0.0016693416982889175, + 0.01866992563009262, + -0.014272548258304596, + -0.03608015179634094, + 0.006452180445194244, + 1.0 + ], + [ + 3.993511199951172e-06, + 0.005549458786845207, + 0.027850612998008728, + -0.01969565451145172, + -0.057509034872055054, + 0.03133685141801834, + 1.0 + ], + [ + -0.003003448247909546, + 0.0007115006446838379, + 0.02098693698644638, + -0.0027331411838531494, + -0.043536290526390076, + 0.0015517622232437134, + 1.0 + ], + [ + -0.006285905838012695, + -0.001990845426917076, + 0.013294495642185211, + -0.0059991031885147095, + -0.030441224575042725, + -0.003921687602996826, + 1.0 + ], + [ + -0.0029022395610809326, + -0.005822146311402321, + -0.0020151287317276, + -0.02943742275238037, + 0.008112102746963501, + -0.017448924481868744, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9430103898048401 + ], + [ + 0.6881998181343079 + ], + [ + 0.4112652540206909 + ], + [ + 0.2248985916376114 + ], + [ + 0.10198938846588135 + ], + [ + 0.059241458773612976 + ], + [ + 0.05350611358880997 + ], + [ + 0.05350611358880997 + ], + [ + 0.05324139446020126 + ], + [ + 0.05324139446020126 + ], + [ + 0.05324139446020126 + ], + [ + 0.05324139446020126 + ], + [ + 0.05324139446020126 + ], + [ + 0.07755524665117264 + ], + [ + 0.23789463937282562 + ], + [ + 0.48704639077186584 + ], + [ + 0.7662391662597656 + ], + [ + 0.9988223910331726 + ], + [ + 1.0060625076293945 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3674550950527191, + -0.026533234864473343, + 0.10546837747097015 + ], + [ + 0.35014283657073975, + -0.032551996409893036, + 0.08109166473150253 + ], + [ + 0.3327595591545105, + -0.05191938579082489, + 0.06184712424874306 + ], + [ + 0.3191002309322357, + -0.05798590928316116, + 0.050431061536073685 + ], + [ + 0.3043583929538727, + -0.07068915665149689, + 0.03748445212841034 + ], + [ + 0.29720425605773926, + -0.0771353617310524, + 0.021512893959879875 + ], + [ + 0.29559674859046936, + -0.09259118139743805, + 0.017341895028948784 + ], + [ + 0.29934537410736084, + -0.09399080276489258, + 0.009717508219182491 + ], + [ + 0.3001406192779541, + -0.09069913625717163, + -0.0068701873533427715 + ], + [ + 0.30537593364715576, + -0.09027836471796036, + -0.012761757709085941 + ], + [ + 0.3083469271659851, + -0.08901160210371017, + -0.01672789826989174 + ], + [ + 0.31209683418273926, + -0.08765143901109695, + -0.016102822497487068 + ], + [ + 0.30923861265182495, + -0.08870308101177216, + -0.014212544076144695 + ], + [ + 0.3059885799884796, + -0.090518057346344, + -0.012442274950444698 + ], + [ + 0.29694318771362305, + -0.09231455624103546, + -0.012568499892950058 + ], + [ + 0.2930123507976532, + -0.09783350676298141, + 0.006060023792088032 + ], + [ + 0.2921868562698364, + -0.1004854142665863, + 0.027761774137616158 + ], + [ + 0.31214791536331177, + -0.08940837532281876, + 0.04980063810944557 + ], + [ + 0.3334997892379761, + -0.06590700894594193, + 0.06603620201349258 + ], + [ + 0.349701464176178, + -0.039371609687805176, + 0.06945209205150604 + ], + [ + 0.3606529235839844, + -0.008829565718770027, + 0.057522714138031006 + ], + [ + 0.36447873711586, + 0.008165864273905754, + 0.044354092329740524 + ], + [ + 0.36281222105026245, + 0.01606951840221882, + 0.026435375213623047 + ], + [ + 0.36356648802757263, + 0.02435431443154812, + 0.010595633648335934 + ], + [ + 0.3629104793071747, + 0.02753499522805214, + 0.01216176338493824 + ], + [ + 0.3623238801956177, + 0.026525191962718964, + 0.012155451811850071 + ], + [ + 0.360921174287796, + 0.023525375872850418, + 0.01167322602123022 + ], + [ + 0.36217284202575684, + 0.022878365591168404, + 0.017809102311730385 + ], + [ + 0.3661065101623535, + 0.021922260522842407, + 0.0374322310090065 + ], + [ + 0.3660581409931183, + 0.02025291882455349, + 0.05610215663909912 + ], + [ + 0.36606213450431824, + 0.025802377611398697, + 0.08395276963710785 + ], + [ + 0.3630586862564087, + 0.026513878256082535, + 0.10493970662355423 + ], + [ + 0.356772780418396, + 0.02452303282916546, + 0.11823420226573944 + ], + [ + 0.35387054085731506, + 0.018700886517763138, + 0.11621907353401184 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9512890998890795, + -0.07000477617279521, + 0.3002471977308392, + -0.028817921279023183, + -0.9898061656145235, + -0.1394750225833657, + 0.3069504452601117, + 0.12402856858188437, + -0.9436092084810045 + ], + [ + 0.9652282996457967, + -0.10802979414608432, + 0.2380417886414876, + -0.08332722454140487, + -0.9902617838049143, + -0.11152655820805929, + 0.24777187736526982, + 0.08781322857214616, + -0.9648305207002035 + ], + [ + 0.9645090320238376, + -0.16865945096287474, + 0.2031657371343436, + -0.14837708889871368, + -0.9826429143402381, + -0.11134245545552943, + 0.21841832943776207, + 0.07724566329461477, + -0.9727931644845127 + ], + [ + 0.95925875248353, + -0.2022274318704821, + 0.19729853416285617, + -0.18752646087285235, + -0.9780588445575013, + -0.09074537484273575, + 0.21132078046478245, + 0.050049599218331006, + -0.9761345016757885 + ], + [ + 0.9457230988302079, + -0.2648232676443542, + 0.18835195048938486, + -0.2647011973721492, + -0.9639725486437029, + -0.026271687633545343, + 0.18852346392091207, + -0.02501124498162418, + -0.9817501419280416 + ], + [ + 0.9352584842492573, + -0.306427616101394, + 0.17718262818402508, + -0.3103967177222323, + -0.9505908176262678, + -0.005565525302111091, + 0.1701336100453013, + -0.04979170146761677, + -0.9841622534917264 + ], + [ + 0.9138615896853624, + -0.35425017777076456, + 0.19840314122292677, + -0.35881033312790594, + -0.9333096492450155, + -0.013720184648465434, + 0.1900319439946456, + -0.058650747442197976, + -0.9800244640242854 + ], + [ + 0.9099760600602067, + -0.3548039209037589, + 0.2146106889896742, + -0.3609123549512754, + -0.9325302182482532, + -0.011387014419507388, + 0.20417111000537772, + -0.06709373864366697, + -0.9766332925279516 + ], + [ + 0.9118641356824233, + -0.3663136466035542, + 0.18525147872055925, + -0.3764065649876068, + -0.9262093695261574, + 0.021314352821250368, + 0.16377391700261057, + -0.08916566667706012, + -0.9824599676300596 + ], + [ + 0.9166259852666988, + -0.3555641914272689, + 0.18267706180176624, + -0.3681735032548673, + -0.9289248014716895, + 0.03933172652987025, + 0.1557082998266055, + -0.10330933639054485, + -0.9823859253774218 + ], + [ + 0.9188583595969646, + -0.35009494398733787, + 0.18202429835952674, + -0.36486072766473543, + -0.9294895935632722, + 0.05409015497798854, + 0.150253001323551, + -0.11611470902553998, + -0.9818051792189625 + ], + [ + 0.9139997787904305, + -0.3486960429190154, + 0.20740172136138202, + -0.3680224932860315, + -0.9277432670778502, + 0.062063474179663465, + 0.17077426271712337, + -0.1330545002784086, + -0.9762851279974953 + ], + [ + 0.9144888042324267, + -0.3484755889444937, + 0.2056088296823221, + -0.36539289749480264, + -0.9295222322182891, + 0.049763945505569465, + 0.17377645811184708, + -0.12063657704741494, + -0.9773681797993958 + ], + [ + 0.9096218904388629, + -0.36330136711315253, + 0.20149474704851184, + -0.37693101812975416, + -0.9256675123478452, + 0.032598529957943025, + 0.17467405075195452, + -0.10560195659866489, + -0.9789469866935785 + ], + [ + 0.9108244249137842, + -0.3775116766095908, + 0.16698443341787927, + -0.38450383688856277, + -0.9230640363724969, + 0.010468245969949504, + 0.15018544003480488, + -0.0737408894652726, + -0.9859039582141977 + ], + [ + 0.9039797234120514, + -0.3981294471957186, + 0.15592819801274724, + -0.3930022141859563, + -0.9173221266286411, + -0.06379165809447845, + 0.16843372377527818, + -0.0036137616327931166, + -0.985706356590062 + ], + [ + 0.9050422434364471, + -0.39861426851575366, + 0.14834150643422206, + -0.38525055116944007, + -0.9160864058421095, + -0.11121020571390575, + 0.18022361226866562, + 0.04350128695725294, + -0.9826632625746713 + ], + [ + 0.919739392462867, + -0.3458861456286185, + 0.18558616385446022, + -0.32488007005286423, + -0.9361226786610201, + -0.1346375526328467, + 0.2203006809669059, + 0.06353821494734233, + -0.973360418964539 + ], + [ + 0.9390185763901852, + -0.25763650965096363, + 0.22774446664852102, + -0.23016304322745104, + -0.9629742633048934, + -0.14037642873601144, + 0.2554781531294386, + 0.0793977147483914, + -0.9635491249367125 + ], + [ + 0.9546051246739793, + -0.16863698800911062, + 0.24554148778035723, + -0.14218974333395804, + -0.9823110332512253, + -0.1218487211403271, + 0.2617463138934326, + 0.08140393251019973, + -0.9616975964070386 + ], + [ + 0.9733751053041829, + -0.06544866948447511, + 0.21967561548060666, + -0.04357942532538541, + -0.9937297404094071, + -0.10296619209314375, + 0.22503719262019906, + 0.09065139099078934, + -0.9701240061193492 + ], + [ + 0.9822407292123471, + -0.006818984179166532, + 0.18750107021337575, + 0.01049653968425178, + -0.9957771681912367, + -0.09120117303904979, + 0.1873311840859762, + 0.09154961913523207, + -0.9780213160791232 + ], + [ + 0.9887538284698003, + 0.012398861291635324, + 0.1490373608360779, + 0.023992572665370228, + -0.9968003039050691, + -0.07624638084301741, + 0.14761511827455018, + 0.0789646906752145, + -0.9858875972865051 + ], + [ + 0.9932173496167026, + 0.030690255435714815, + 0.11214902871475525, + 0.037353873351378714, + -0.9976286888733364, + -0.05780732896888138, + 0.11010896678300809, + 0.06160444268198431, + -0.9920085221790286 + ], + [ + 0.9940641308486984, + 0.05003519812874917, + 0.09660736363362266, + 0.05464222224189244, + -0.9974621540310988, + -0.045645140202527655, + 0.09407832539161087, + 0.050653037656764356, + -0.9942753836174628 + ], + [ + 0.9938289545767434, + 0.060597624916768796, + 0.09290821760933952, + 0.06562221152893598, + -0.9964880128931916, + -0.05201312828729479, + 0.08943005310827769, + 0.0577889956187647, + -0.9943151902623361 + ], + [ + 0.9943895261868909, + 0.06494592024016878, + 0.08349549481240391, + 0.07094315685405424, + -0.9949511981183948, + -0.07098719503087644, + 0.07846361389454089, + 0.0765123572171729, + -0.9939765190826593 + ], + [ + 0.9929277522514854, + 0.06714298748415147, + 0.09790964222442994, + 0.07458270983268879, + -0.9944344272254936, + -0.07441498063372386, + 0.09236827487198049, + 0.08119106589032828, + -0.992409246539333 + ], + [ + 0.9866772291260599, + 0.06843742733336583, + 0.14759527114413537, + 0.08058537230651708, + -0.9936945967377341, + -0.07795541151486568, + 0.14132955562917685, + 0.0888108493047009, + -0.9859708868680844 + ], + [ + 0.9804165645962524, + 0.06903917923613705, + 0.18443684988549097, + 0.08644550936126437, + -0.9923573068260381, + -0.08805764873220456, + 0.17694782783790858, + 0.10227691488978985, + -0.9788916686253248 + ], + [ + 0.9655129704064745, + 0.08949316207921736, + 0.24449064996013442, + 0.1157173067565982, + -0.9887224208179471, + -0.09506565883060764, + 0.23322566088204227, + 0.12007892618174543, + -0.9649802291203553 + ], + [ + 0.9543409770847037, + 0.08508406757473086, + 0.2863459461943746, + 0.1158807996281166, + -0.9889603047356662, + -0.09235342946900511, + 0.27532696877451246, + 0.12131865933184739, + -0.9536649533055945 + ], + [ + 0.9460229432720919, + 0.07566449979611603, + 0.31514357723648956, + 0.1111078485753138, + -0.9891568569263273, + -0.09604039973153841, + 0.30445958153385955, + 0.12587134648613282, + -0.9441720009330897 + ], + [ + 0.9502439334255076, + 0.05038540294547304, + 0.30740490913133156, + 0.09482682381341546, + -0.9867853391202368, + -0.13138709214690464, + 0.29672266592473073, + 0.15400001840059002, + -0.9424646698201153 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006435.json b/json/chunk-0006/episode_0006435.json new file mode 100644 index 0000000000000000000000000000000000000000..11a89737d8682ce9ad626d9cdcbfc47f131edcb2 --- /dev/null +++ b/json/chunk-0006/episode_0006435.json @@ -0,0 +1,1222 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 19, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut sweet potato in pot which is in sink." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006435.mp4", + "start": 0, + "end": 19, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.25461745262145996, + -0.13340827822685242, + 0.06247808411717415, + 0.1938263475894928, + -0.1669919490814209, + -0.04129035770893097, + 0.0, + 0.9988223910331726 + ], + [ + 0.25216948986053467, + -0.1325387805700302, + 0.05055053159594536, + 0.18328526616096497, + -0.16092868149280548, + -0.06540361046791077, + 0.0, + 0.9988223910331726 + ], + [ + 0.2559303939342499, + -0.12992650270462036, + 0.04627988114953041, + 0.16003543138504028, + -0.1839614361524582, + -0.06142634153366089, + 0.0, + 0.9988223910331726 + ], + [ + 0.25675955414772034, + -0.13072583079338074, + 0.041806723922491074, + 0.14113104343414307, + -0.2087540328502655, + -0.06431490182876587, + 0.0, + 0.9988223910331726 + ], + [ + 0.25613901019096375, + -0.1306082308292389, + 0.035915307700634, + 0.12342190742492676, + -0.22523020207881927, + -0.06351024657487869, + 0.0, + 0.9988223910331726 + ], + [ + 0.25765079259872437, + -0.12840157747268677, + 0.031440526247024536, + 0.11779364198446274, + -0.23500365018844604, + -0.05236251279711723, + 0.0, + 0.9994885921478271 + ], + [ + 0.25873005390167236, + -0.12832096219062805, + 0.02606474608182907, + 0.11361795663833618, + -0.25389164686203003, + -0.04593020677566528, + 0.0, + 0.9988223910331726 + ], + [ + 0.25654053688049316, + -0.12645195424556732, + 0.019049694761633873, + 0.09978227317333221, + -0.2755594551563263, + -0.02831006981432438, + 0.0, + 0.9988223910331726 + ], + [ + 0.257127970457077, + -0.12562638521194458, + 0.0164155475795269, + 0.08405402302742004, + -0.3033256232738495, + -0.001620483468286693, + 0.0, + 0.9988223910331726 + ], + [ + 0.2564697265625, + -0.12610000371932983, + 0.012666251510381699, + 0.08233971893787384, + -0.3189873695373535, + 0.023731540888547897, + 0.0, + 0.9988223910331726 + ], + [ + 0.25646334886550903, + -0.12621568143367767, + 0.011604865081608295, + 0.07291914522647858, + -0.3277052342891693, + 0.044588588178157806, + 0.0, + 0.8580558896064758 + ], + [ + 0.25694185495376587, + -0.12561684846878052, + 0.011823086068034172, + 0.07566974312067032, + -0.33137089014053345, + 0.047348469495773315, + 0.0, + 0.8017430305480957 + ], + [ + 0.2539914548397064, + -0.12033014744520187, + 0.015017512254416943, + 0.1347142457962036, + -0.29125088453292847, + 0.0244243573397398, + 0.0, + 0.8017430305480957 + ], + [ + 0.25801730155944824, + -0.11445081979036331, + 0.03216291218996048, + 0.17974618077278137, + -0.2403375655412674, + -0.027811236679553986, + 0.0, + 0.8017430305480957 + ], + [ + 0.26624220609664917, + -0.09184163808822632, + 0.050411708652973175, + 0.27418288588523865, + -0.21376670897006989, + -0.11756570637226105, + 0.0, + 0.8017430305480957 + ], + [ + 0.2777900993824005, + -0.0717381164431572, + 0.05325398966670036, + 0.3365803360939026, + -0.2083573192358017, + -0.2167561650276184, + 0.0, + 0.8017430305480957 + ], + [ + 0.298301100730896, + -0.03841967135667801, + 0.055124662816524506, + 0.3151646554470062, + -0.2499949187040329, + -0.32870250940322876, + 0.0, + 0.8017430305480957 + ], + [ + 0.31707867980003357, + -0.0056629725731909275, + 0.05391586199402809, + 0.322187215089798, + -0.3268355131149292, + -0.43097588419914246, + 0.0, + 0.8017430305480957 + ], + [ + 0.3267875611782074, + 0.005023440811783075, + 0.04742207005620003, + 0.33471059799194336, + -0.3767666816711426, + -0.5357018113136292, + 0.0, + 0.8017430305480957 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.8580558896064758 + ], + [ + 0.8017430305480957 + ], + [ + 0.8017430305480957 + ], + [ + 0.8017430305480957 + ], + [ + 0.8017430305480957 + ], + [ + 0.8017430305480957 + ], + [ + 0.8017430305480957 + ], + [ + 0.8017430305480957 + ], + [ + 0.8017430305480957 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.25461745262145996, + -0.13340827822685242, + 0.06247808411717415 + ], + [ + 0.25216948986053467, + -0.1325387805700302, + 0.05055053159594536 + ], + [ + 0.2559303939342499, + -0.12992650270462036, + 0.04627988114953041 + ], + [ + 0.25675955414772034, + -0.13072583079338074, + 0.041806723922491074 + ], + [ + 0.25613901019096375, + -0.1306082308292389, + 0.035915307700634 + ], + [ + 0.25765079259872437, + -0.12840157747268677, + 0.031440526247024536 + ], + [ + 0.25873005390167236, + -0.12832096219062805, + 0.02606474608182907 + ], + [ + 0.25654053688049316, + -0.12645195424556732, + 0.019049694761633873 + ], + [ + 0.257127970457077, + -0.12562638521194458, + 0.0164155475795269 + ], + [ + 0.2564697265625, + -0.12610000371932983, + 0.012666251510381699 + ], + [ + 0.25646334886550903, + -0.12621568143367767, + 0.011604865081608295 + ], + [ + 0.25694185495376587, + -0.12561684846878052, + 0.011823086068034172 + ], + [ + 0.2539914548397064, + -0.12033014744520187, + 0.015017512254416943 + ], + [ + 0.25801730155944824, + -0.11445081979036331, + 0.03216291218996048 + ], + [ + 0.26624220609664917, + -0.09184163808822632, + 0.050411708652973175 + ], + [ + 0.2777900993824005, + -0.0717381164431572, + 0.05325398966670036 + ], + [ + 0.298301100730896, + -0.03841967135667801, + 0.055124662816524506 + ], + [ + 0.31707867980003357, + -0.0056629725731909275, + 0.05391586199402809 + ], + [ + 0.3267875611782074, + 0.005023440811783075, + 0.04742207005620003 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9852487471008529, + -0.008517080550450716, + 0.17091625339650082, + -0.04070440805849923, + -0.9817596139635753, + 0.18571809700376288, + 0.16621689896279176, + -0.18993556730899305, + -0.9676241123340221 + ], + [ + 0.9849684739961221, + -0.03512016773517842, + 0.16912622224836457, + -0.06451250756741916, + -0.9830567043812054, + 0.17157404331228765, + 0.1602349574877903, + -0.17990578031129517, + -0.9705455520527977 + ], + [ + 0.9812725791341277, + -0.03150848614744402, + 0.19002984170954154, + -0.06035191020172123, + -0.9871491716315086, + 0.14796675262446538, + 0.1829255924534904, + -0.15666438091641213, + -0.9705640109635308 + ], + [ + 0.9762672846404399, + -0.034540672434355296, + 0.21379693844525613, + -0.06287525102045356, + -0.9898841608534708, + 0.12718510486898504, + 0.2072411439601148, + -0.1376091931493036, + -0.9685632752747237 + ], + [ + 0.9727775449344951, + -0.035546222991006286, + 0.22899850240185002, + -0.06186454205387271, + -0.9921373940305197, + 0.1087941625400653, + 0.22333075584809423, + -0.11999940582104224, + -0.9673280292098001 + ], + [ + 0.9711805613345492, + -0.024648948466201127, + 0.23706696654198922, + -0.05089998282326967, + -0.9931414587977517, + 0.10525794300509878, + 0.23284653537147793, + -0.1142911726975637, + -0.9657743104933548 + ], + [ + 0.9669214800136154, + -0.01717168224049493, + 0.2544955497004053, + -0.04444215939681605, + -0.993812079516144, + 0.10179609558301213, + 0.2511727412686893, + -0.10973916318629924, + -0.9617013934204022 + ], + [ + 0.9618875427047079, + -0.0010720872715962518, + 0.27344324057906605, + -0.027238380701013608, + -0.9953943890750262, + 0.09191344196983514, + 0.27208532817167036, + -0.09585854592490795, + -0.9574866648506792 + ], + [ + 0.9543471661205845, + 0.02346222402608133, + 0.29777677975517153, + -0.0015465051593952332, + -0.9965088684512515, + 0.08347265072943653, + 0.29869565587634833, + -0.08012240099845054, + -0.9509791301699748 + ], + [ + 0.9492860959497834, + 0.0494346492414844, + 0.31050301687872495, + 0.022532251909642823, + -0.9957193243275807, + 0.08963997313981334, + 0.31360517479834216, + -0.07809764794792134, + -0.9463363840224593 + ], + [ + 0.9458424406545392, + 0.06788183751148816, + 0.3174494189516312, + 0.042201750469001306, + -0.9953060655677786, + 0.08709103341527609, + 0.3218712315725289, + -0.06897747443950457, + -0.9442674506229317 + ], + [ + 0.9445374687129952, + 0.07176265467270683, + 0.3204669898625653, + 0.044755854239939594, + -0.9948567936368546, + 0.0908673410299325, + 0.32533964361648426, + -0.07148483439809176, + -0.942891316506084 + ], + [ + 0.9575997339964853, + 0.06275554371766227, + 0.28118408771223347, + 0.023393410050176786, + -0.9897023274668619, + 0.14121632828005573, + 0.2871506535184706, + -0.12865086373350457, + -0.9492067516850785 + ], + [ + 0.9708820866505705, + 0.0151789556771586, + 0.23907650057164717, + -0.02700839520730191, + -0.9846919811463207, + 0.17219828354098116, + 0.23803050310697607, + -0.1736413014541322, + -0.9556098461296613 + ], + [ + 0.970492997554903, + -0.055870456551840295, + 0.2345673331510334, + -0.11462528731454218, + -0.9627391157049745, + 0.2449376218543455, + 0.21214237013137577, + -0.26459759480443623, + -0.9407357373985267 + ], + [ + 0.9554783325347265, + -0.13627859210251902, + 0.26170460712645927, + -0.21041145734828298, + -0.9364948844023308, + 0.28054295589951506, + 0.2068530267441858, + -0.32311836348747003, + -0.9234751477457034 + ], + [ + 0.9170399684787913, + -0.23433376682681625, + 0.32268464781760725, + -0.31278013561925777, + -0.9246000822615205, + 0.21744717667513802, + 0.24739903592054807, + -0.3003370999506143, + -0.9211901776608554 + ], + [ + 0.8604621697258634, + -0.3039004919095668, + 0.40896130072145365, + -0.3956428270117923, + -0.9042767955652364, + 0.16046878337042725, + 0.3210476723241844, + -0.299879922668043, + -0.8983320232941895 + ], + [ + 0.7995956869779437, + -0.37818995440108205, + 0.4664966192335997, + -0.4746416036195976, + -0.8738819701086158, + 0.10509828938903606, + 0.36791586739319554, + -0.30545484234038955, + -0.8782569406563894 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.002447962760925293, + 0.0008694976568222046, + -0.01192755252122879, + -0.010541081428527832, + 0.0060632675886154175, + -0.024113252758979797, + 1.0 + ], + [ + 0.00376090407371521, + 0.002612277865409851, + -0.0042706504464149475, + -0.023249834775924683, + -0.02303275465965271, + 0.003977268934249878, + 1.0 + ], + [ + 0.000829160213470459, + -0.000799328088760376, + -0.004473157227039337, + -0.018904387950897217, + -0.024792596697807312, + -0.0028885602951049805, + 1.0 + ], + [ + -0.0006205439567565918, + 0.0001175999641418457, + -0.005891416221857071, + -0.01770913600921631, + -0.016476169228553772, + 0.0008046552538871765, + 1.0 + ], + [ + 0.0015117824077606201, + 0.002206653356552124, + -0.0044747814536094666, + -0.00562826544046402, + -0.00977344810962677, + 0.01114773377776146, + 1.0 + ], + [ + 0.001079261302947998, + 8.061528205871582e-05, + -0.005375780165195465, + -0.004175685346126556, + -0.018887996673583984, + 0.00643230602145195, + 1.0 + ], + [ + -0.0021895170211791992, + 0.00186900794506073, + -0.007015051320195198, + -0.013835683465003967, + -0.021667808294296265, + 0.017620136961340904, + 1.0 + ], + [ + 0.0005874335765838623, + 0.0008255690336227417, + -0.0026341471821069717, + -0.01572825014591217, + -0.027766168117523193, + 0.02668958716094494, + 1.0 + ], + [ + -0.0006582438945770264, + -0.0004736185073852539, + -0.0037492960691452026, + -0.0017143040895462036, + -0.01566174626350403, + 0.025352023541927338, + 1.0 + ], + [ + -6.377696990966797e-06, + -0.00011567771434783936, + -0.0010613864287734032, + -0.009420573711395264, + -0.008717864751815796, + 0.02085704728960991, + 0.0 + ], + [ + 0.00047850608825683594, + 0.0005988329648971558, + 0.00021822098642587662, + 0.002750597894191742, + -0.0036656558513641357, + 0.002759881317615509, + 0.0 + ], + [ + -0.0029504001140594482, + 0.005286701023578644, + 0.0031944261863827705, + 0.059044502675533295, + 0.04012000560760498, + -0.022924112156033516, + 0.0 + ], + [ + 0.004025846719741821, + 0.005879327654838562, + 0.017145399004220963, + 0.04503193497657776, + 0.05091331899166107, + -0.052235595881938934, + 0.0 + ], + [ + 0.008224904537200928, + 0.022609181702136993, + 0.018248796463012695, + 0.09443670511245728, + 0.02657085657119751, + -0.08975446969270706, + 0.0 + ], + [ + 0.011547893285751343, + 0.020103521645069122, + 0.002842281013727188, + 0.06239745020866394, + 0.0054093897342681885, + -0.09919045865535736, + 0.0 + ], + [ + 0.020511001348495483, + 0.03331844508647919, + 0.0018706731498241425, + -0.021415680646896362, + -0.0416375994682312, + -0.11194634437561035, + 0.0 + ], + [ + 0.018777579069137573, + 0.03275669738650322, + -0.0012088008224964142, + 0.007022559642791748, + -0.0768405944108963, + -0.1022733747959137, + 0.0 + ], + [ + 0.009708881378173828, + 0.010686413384974003, + -0.006493791937828064, + 0.012523382902145386, + -0.04993116855621338, + -0.1047259271144867, + 0.0 + ], + [ + 0.001736760139465332, + 0.00486456835642457, + -0.0037641003727912903, + 0.014200359582901001, + -0.0315680205821991, + -0.06804794073104858, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.8580558896064758 + ], + [ + 0.8017430305480957 + ], + [ + 0.8017430305480957 + ], + [ + 0.8017430305480957 + ], + [ + 0.8017430305480957 + ], + [ + 0.8017430305480957 + ], + [ + 0.8017430305480957 + ], + [ + 0.8017430305480957 + ], + [ + 0.8017430305480957 + ], + [ + 0.9788280129432678 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.25216948986053467, + -0.1325387805700302, + 0.05055053159594536 + ], + [ + 0.2559303939342499, + -0.12992650270462036, + 0.04627988114953041 + ], + [ + 0.25675955414772034, + -0.13072583079338074, + 0.041806723922491074 + ], + [ + 0.25613901019096375, + -0.1306082308292389, + 0.035915307700634 + ], + [ + 0.25765079259872437, + -0.12840157747268677, + 0.031440526247024536 + ], + [ + 0.25873005390167236, + -0.12832096219062805, + 0.02606474608182907 + ], + [ + 0.25654053688049316, + -0.12645195424556732, + 0.019049694761633873 + ], + [ + 0.257127970457077, + -0.12562638521194458, + 0.0164155475795269 + ], + [ + 0.2564697265625, + -0.12610000371932983, + 0.012666251510381699 + ], + [ + 0.25646334886550903, + -0.12621568143367767, + 0.011604865081608295 + ], + [ + 0.25694185495376587, + -0.12561684846878052, + 0.011823086068034172 + ], + [ + 0.2539914548397064, + -0.12033014744520187, + 0.015017512254416943 + ], + [ + 0.25801730155944824, + -0.11445081979036331, + 0.03216291218996048 + ], + [ + 0.26624220609664917, + -0.09184163808822632, + 0.050411708652973175 + ], + [ + 0.2777900993824005, + -0.0717381164431572, + 0.05325398966670036 + ], + [ + 0.298301100730896, + -0.03841967135667801, + 0.055124662816524506 + ], + [ + 0.31707867980003357, + -0.0056629725731909275, + 0.05391586199402809 + ], + [ + 0.3267875611782074, + 0.005023440811783075, + 0.04742207005620003 + ], + [ + 0.32852432131767273, + 0.009888009168207645, + 0.04365796968340874 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9849684739961221, + -0.03512016773517842, + 0.16912622224836457, + -0.06451250756741916, + -0.9830567043812054, + 0.17157404331228765, + 0.1602349574877903, + -0.17990578031129517, + -0.9705455520527977 + ], + [ + 0.9812725791341277, + -0.03150848614744402, + 0.19002984170954154, + -0.06035191020172123, + -0.9871491716315086, + 0.14796675262446538, + 0.1829255924534904, + -0.15666438091641213, + -0.9705640109635308 + ], + [ + 0.9762672846404399, + -0.034540672434355296, + 0.21379693844525613, + -0.06287525102045356, + -0.9898841608534708, + 0.12718510486898504, + 0.2072411439601148, + -0.1376091931493036, + -0.9685632752747237 + ], + [ + 0.9727775449344951, + -0.035546222991006286, + 0.22899850240185002, + -0.06186454205387271, + -0.9921373940305197, + 0.1087941625400653, + 0.22333075584809423, + -0.11999940582104224, + -0.9673280292098001 + ], + [ + 0.9711805613345492, + -0.024648948466201127, + 0.23706696654198922, + -0.05089998282326967, + -0.9931414587977517, + 0.10525794300509878, + 0.23284653537147793, + -0.1142911726975637, + -0.9657743104933548 + ], + [ + 0.9669214800136154, + -0.01717168224049493, + 0.2544955497004053, + -0.04444215939681605, + -0.993812079516144, + 0.10179609558301213, + 0.2511727412686893, + -0.10973916318629924, + -0.9617013934204022 + ], + [ + 0.9618875427047079, + -0.0010720872715962518, + 0.27344324057906605, + -0.027238380701013608, + -0.9953943890750262, + 0.09191344196983514, + 0.27208532817167036, + -0.09585854592490795, + -0.9574866648506792 + ], + [ + 0.9543471661205845, + 0.02346222402608133, + 0.29777677975517153, + -0.0015465051593952332, + -0.9965088684512515, + 0.08347265072943653, + 0.29869565587634833, + -0.08012240099845054, + -0.9509791301699748 + ], + [ + 0.9492860959497834, + 0.0494346492414844, + 0.31050301687872495, + 0.022532251909642823, + -0.9957193243275807, + 0.08963997313981334, + 0.31360517479834216, + -0.07809764794792134, + -0.9463363840224593 + ], + [ + 0.9458424406545392, + 0.06788183751148816, + 0.3174494189516312, + 0.042201750469001306, + -0.9953060655677786, + 0.08709103341527609, + 0.3218712315725289, + -0.06897747443950457, + -0.9442674506229317 + ], + [ + 0.9445374687129952, + 0.07176265467270683, + 0.3204669898625653, + 0.044755854239939594, + -0.9948567936368546, + 0.0908673410299325, + 0.32533964361648426, + -0.07148483439809176, + -0.942891316506084 + ], + [ + 0.9575997339964853, + 0.06275554371766227, + 0.28118408771223347, + 0.023393410050176786, + -0.9897023274668619, + 0.14121632828005573, + 0.2871506535184706, + -0.12865086373350457, + -0.9492067516850785 + ], + [ + 0.9708820866505705, + 0.0151789556771586, + 0.23907650057164717, + -0.02700839520730191, + -0.9846919811463207, + 0.17219828354098116, + 0.23803050310697607, + -0.1736413014541322, + -0.9556098461296613 + ], + [ + 0.970492997554903, + -0.055870456551840295, + 0.2345673331510334, + -0.11462528731454218, + -0.9627391157049745, + 0.2449376218543455, + 0.21214237013137577, + -0.26459759480443623, + -0.9407357373985267 + ], + [ + 0.9554783325347265, + -0.13627859210251902, + 0.26170460712645927, + -0.21041145734828298, + -0.9364948844023308, + 0.28054295589951506, + 0.2068530267441858, + -0.32311836348747003, + -0.9234751477457034 + ], + [ + 0.9170399684787913, + -0.23433376682681625, + 0.32268464781760725, + -0.31278013561925777, + -0.9246000822615205, + 0.21744717667513802, + 0.24739903592054807, + -0.3003370999506143, + -0.9211901776608554 + ], + [ + 0.8604621697258634, + -0.3039004919095668, + 0.40896130072145365, + -0.3956428270117923, + -0.9042767955652364, + 0.16046878337042725, + 0.3210476723241844, + -0.299879922668043, + -0.8983320232941895 + ], + [ + 0.7995956869779437, + -0.37818995440108205, + 0.4664966192335997, + -0.4746416036195976, + -0.8738819701086158, + 0.10509828938903606, + 0.36791586739319554, + -0.30545484234038955, + -0.8782569406563894 + ], + [ + 0.755530773606014, + -0.42177205321460504, + 0.5012799469971192, + -0.5210561726765592, + -0.8506813309340482, + 0.06958259923236787, + 0.3970814967358137, + -0.3137668056493755, + -0.8624828558427311 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006436.json b/json/chunk-0006/episode_0006436.json new file mode 100644 index 0000000000000000000000000000000000000000..a603586711d5a5b8a0a3376fe30db9ef90134b1a --- /dev/null +++ b/json/chunk-0006/episode_0006436.json @@ -0,0 +1,2782 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 45, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPlace the green spoon near left side of the pot." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006436.mp4", + "start": 0, + "end": 45, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2901269197463989, + 0.13792361319065094, + 0.19037166237831116, + 0.050047725439071655, + -0.00013476345338858664, + -0.05403519049286842, + 0.0, + 1.0001531839370728 + ], + [ + 0.2916683256626129, + 0.13836003839969635, + 0.17881585657596588, + 0.02904607355594635, + 0.03052906133234501, + -0.05412743240594864, + 0.0, + 1.0001531839370728 + ], + [ + 0.29046565294265747, + 0.17201606929302216, + 0.1649533361196518, + 0.012156412936747074, + 0.02235967107117176, + 0.02419043518602848, + 0.0, + 1.0001531839370728 + ], + [ + 0.2799123525619507, + 0.22247551381587982, + 0.15130826830863953, + 0.030012628063559532, + 0.037327710539102554, + 0.1505880206823349, + 0.0, + 1.0001531839370728 + ], + [ + 0.2755195200443268, + 0.25078967213630676, + 0.14593097567558289, + 0.0675237700343132, + 0.022150862962007523, + 0.21421171724796295, + 0.0, + 1.0001531839370728 + ], + [ + 0.27093902230262756, + 0.2510773241519928, + 0.1219586730003357, + 0.12464281171560287, + 0.03987694904208183, + 0.25119176506996155, + 0.0, + 1.0001531839370728 + ], + [ + 0.2754916846752167, + 0.23421676456928253, + 0.09491285681724548, + 0.14880430698394775, + 0.04847663640975952, + 0.21766778826713562, + 0.0, + 1.0001531839370728 + ], + [ + 0.28483179211616516, + 0.2202453315258026, + 0.07677051424980164, + 0.18327917158603668, + 0.024868182837963104, + 0.18758746981620789, + 0.0, + 1.0001531839370728 + ], + [ + 0.28794920444488525, + 0.21941708028316498, + 0.06018667668104172, + 0.17422932386398315, + 0.03459947928786278, + 0.1798224002122879, + 0.0, + 1.0001531839370728 + ], + [ + 0.2908397912979126, + 0.2186301350593567, + 0.053371503949165344, + 0.1665964126586914, + 0.016868367791175842, + 0.1712220311164856, + 0.0, + 1.0001531839370728 + ], + [ + 0.29485082626342773, + 0.215353325009346, + 0.036646079272031784, + 0.13157522678375244, + 0.010876518674194813, + 0.1613563448190689, + 0.0, + 1.0001531839370728 + ], + [ + 0.2953569293022156, + 0.21051423251628876, + 0.03105524182319641, + 0.10759371519088745, + -0.0023210174404084682, + 0.15583376586437225, + 0.0, + 1.0001531839370728 + ], + [ + 0.29416143894195557, + 0.20655326545238495, + 0.022137342020869255, + 0.0972306951880455, + 0.004964231513440609, + 0.15249259769916534, + 0.0, + 1.0001531839370728 + ], + [ + 0.2940466105937958, + 0.20501968264579773, + 0.013834038749337196, + 0.09166821837425232, + 0.014798182994127274, + 0.1604580134153366, + 0.0, + 1.0001531839370728 + ], + [ + 0.29417023062705994, + 0.20427651703357697, + 0.009322838857769966, + 0.08945021778345108, + 0.026121683418750763, + 0.16639001667499542, + 0.0, + 0.9367310404777527 + ], + [ + 0.2958849370479584, + 0.2061789631843567, + 0.008413066156208515, + 0.09198812395334244, + 0.031157812103629112, + 0.17380590736865997, + 0.0, + 0.6330026388168335 + ], + [ + 0.29576459527015686, + 0.2058904469013214, + 0.00839431956410408, + 0.09054698050022125, + 0.03157615661621094, + 0.18091067671775818, + 0.0, + 0.3953573703765869 + ], + [ + 0.29443156719207764, + 0.20297040045261383, + 0.009381281211972237, + 0.07430726289749146, + 0.032871268689632416, + 0.17944854497909546, + 0.0, + 0.3461596965789795 + ], + [ + 0.290506511926651, + 0.2021958976984024, + 0.012482136487960815, + 0.05708160623908043, + 0.04421105235815048, + 0.17413733899593353, + 0.0, + 0.3461596965789795 + ], + [ + 0.28741753101348877, + 0.21075424551963806, + 0.03281767666339874, + 0.03629385679960251, + 0.033196695148944855, + 0.20794157683849335, + 0.0, + 0.3461596965789795 + ], + [ + 0.28818657994270325, + 0.2224217653274536, + 0.0740964487195015, + 0.037206344306468964, + -0.021510815247893333, + 0.2607532739639282, + 0.0, + 0.3453405201435089 + ], + [ + 0.28768426179885864, + 0.21949885785579681, + 0.11128980666399002, + 0.06512150913476944, + -0.054412614554166794, + 0.27085670828819275, + 0.0, + 0.3445223569869995 + ], + [ + 0.2990858256816864, + 0.17472977936267853, + 0.148976132273674, + 0.028453128412365913, + -0.0940806195139885, + 0.19144515693187714, + 0.0, + 0.3445223569869995 + ], + [ + 0.3017435073852539, + 0.13721519708633423, + 0.1689169555902481, + -0.008267792873084545, + -0.0923239216208458, + 0.15018661320209503, + 0.0, + 0.34288913011550903 + ], + [ + 0.29727989435195923, + 0.10129257291555405, + 0.18106523156166077, + -0.021873824298381805, + -0.09478260576725006, + 0.09286027401685715, + 0.0, + 0.34288913011550903 + ], + [ + 0.2869703769683838, + 0.06829384714365005, + 0.17514599859714508, + 0.0028764696326106787, + -0.07433512806892395, + 0.05832473933696747, + 0.0, + 0.34288913011550903 + ], + [ + 0.2748382091522217, + 0.03013533726334572, + 0.1576535701751709, + 0.03205588087439537, + -0.02354424260556698, + 0.007142380811274052, + 0.0, + 0.34288913011550903 + ], + [ + 0.2664724588394165, + 0.005563638173043728, + 0.14089900255203247, + 0.05032770708203316, + 0.015815382823348045, + -0.02501477114856243, + 0.0, + 0.34288913011550903 + ], + [ + 0.2664262652397156, + 0.001052654581144452, + 0.11739189922809601, + 0.07437146455049515, + 0.07215175777673721, + -0.03049265407025814, + 0.0, + 0.34288913011550903 + ], + [ + 0.2722238600254059, + 0.0007146924617700279, + 0.08905695378780365, + 0.07327308505773544, + 0.13534455001354218, + -0.05916142091155052, + 0.0, + 0.34288913011550903 + ], + [ + 0.2735549211502075, + 0.0009864881867542863, + 0.05924026668071747, + 0.06997992843389511, + 0.21172256767749786, + -0.07848639041185379, + 0.0, + 0.34288913011550903 + ], + [ + 0.2779719829559326, + 0.0005580539582297206, + 0.04189211502671242, + 0.057784684002399445, + 0.22062185406684875, + -0.12644530832767487, + 0.0, + 0.34288913011550903 + ], + [ + 0.28391149640083313, + -0.001474564429372549, + 0.0351354219019413, + 0.03738236427307129, + 0.19429710507392883, + -0.20268376171588898, + 0.0, + 0.34288913011550903 + ], + [ + 0.2857697904109955, + -0.0023261753376573324, + 0.03332243114709854, + 0.017534906044602394, + 0.17726126313209534, + -0.2875332832336426, + 0.0, + 0.34288913011550903 + ], + [ + 0.28395771980285645, + -0.0017568431794643402, + 0.03351485729217529, + -0.005121859256178141, + 0.18477053940296173, + -0.3164406418800354, + 0.0, + 0.4175282120704651 + ], + [ + 0.28295645117759705, + -0.0019114591414108872, + 0.034018099308013916, + -0.012706698849797249, + 0.19104698300361633, + -0.3237439692020416, + 0.0, + 0.728995144367218 + ], + [ + 0.2815920114517212, + -0.0029485016129910946, + 0.033425185829401016, + -0.01959671825170517, + 0.19678576290607452, + -0.31428396701812744, + 0.0, + 0.9837720394134521 + ], + [ + 0.287361741065979, + -0.0015793482307344675, + 0.03088236413896084, + 0.00884191133081913, + 0.15479058027267456, + -0.27337709069252014, + 0.0, + 1.0060625076293945 + ], + [ + 0.289378821849823, + -0.0033055278472602367, + 0.02493254840373993, + 0.028881294652819633, + 0.04149220883846283, + -0.19144774973392487, + 0.0, + 1.0008161067962646 + ], + [ + 0.29727470874786377, + -0.009698060341179371, + 0.024342671036720276, + -0.011099101044237614, + -0.11494618654251099, + -0.15525613725185394, + 0.0, + 1.0001531839370728 + ], + [ + 0.30229076743125916, + -0.013764878734946251, + 0.02349582500755787, + -0.07958163321018219, + -0.19888974726200104, + -0.16418080031871796, + 0.0, + 1.0008161067962646 + ], + [ + 0.30389732122421265, + -0.013905191794037819, + 0.022432859987020493, + -0.08544615656137466, + -0.227454274892807, + -0.168333038687706, + 0.0, + 1.0008161067962646 + ], + [ + 0.3053845167160034, + -0.007319024298340082, + 0.023617424070835114, + -0.037171103060245514, + -0.24590706825256348, + -0.17917326092720032, + 0.0, + 1.0008161067962646 + ], + [ + 0.3058246672153473, + -0.00764873344451189, + 0.022679194808006287, + -0.01677161641418934, + -0.2523655295372009, + -0.19057224690914154, + 0.0, + 1.0008161067962646 + ], + [ + 0.30362385511398315, + -0.007022752892225981, + 0.02218535542488098, + -0.002946739085018635, + -0.23270262777805328, + -0.1804506778717041, + 0.0, + 1.0008161067962646 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9367310404777527 + ], + [ + 0.6330026388168335 + ], + [ + 0.3953573703765869 + ], + [ + 0.3461596965789795 + ], + [ + 0.3461596965789795 + ], + [ + 0.3461596965789795 + ], + [ + 0.3453405201435089 + ], + [ + 0.3445223569869995 + ], + [ + 0.3445223569869995 + ], + [ + 0.34288913011550903 + ], + [ + 0.34288913011550903 + ], + [ + 0.34288913011550903 + ], + [ + 0.34288913011550903 + ], + [ + 0.34288913011550903 + ], + [ + 0.34288913011550903 + ], + [ + 0.34288913011550903 + ], + [ + 0.34288913011550903 + ], + [ + 0.34288913011550903 + ], + [ + 0.34288913011550903 + ], + [ + 0.34288913011550903 + ], + [ + 0.4175282120704651 + ], + [ + 0.728995144367218 + ], + [ + 0.9837720394134521 + ], + [ + 1.0060625076293945 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2901269197463989, + 0.13792361319065094, + 0.19037166237831116 + ], + [ + 0.2916683256626129, + 0.13836003839969635, + 0.17881585657596588 + ], + [ + 0.29046565294265747, + 0.17201606929302216, + 0.1649533361196518 + ], + [ + 0.2799123525619507, + 0.22247551381587982, + 0.15130826830863953 + ], + [ + 0.2755195200443268, + 0.25078967213630676, + 0.14593097567558289 + ], + [ + 0.27093902230262756, + 0.2510773241519928, + 0.1219586730003357 + ], + [ + 0.2754916846752167, + 0.23421676456928253, + 0.09491285681724548 + ], + [ + 0.28483179211616516, + 0.2202453315258026, + 0.07677051424980164 + ], + [ + 0.28794920444488525, + 0.21941708028316498, + 0.06018667668104172 + ], + [ + 0.2908397912979126, + 0.2186301350593567, + 0.053371503949165344 + ], + [ + 0.29485082626342773, + 0.215353325009346, + 0.036646079272031784 + ], + [ + 0.2953569293022156, + 0.21051423251628876, + 0.03105524182319641 + ], + [ + 0.29416143894195557, + 0.20655326545238495, + 0.022137342020869255 + ], + [ + 0.2940466105937958, + 0.20501968264579773, + 0.013834038749337196 + ], + [ + 0.29417023062705994, + 0.20427651703357697, + 0.009322838857769966 + ], + [ + 0.2958849370479584, + 0.2061789631843567, + 0.008413066156208515 + ], + [ + 0.29576459527015686, + 0.2058904469013214, + 0.00839431956410408 + ], + [ + 0.29443156719207764, + 0.20297040045261383, + 0.009381281211972237 + ], + [ + 0.290506511926651, + 0.2021958976984024, + 0.012482136487960815 + ], + [ + 0.28741753101348877, + 0.21075424551963806, + 0.03281767666339874 + ], + [ + 0.28818657994270325, + 0.2224217653274536, + 0.0740964487195015 + ], + [ + 0.28768426179885864, + 0.21949885785579681, + 0.11128980666399002 + ], + [ + 0.2990858256816864, + 0.17472977936267853, + 0.148976132273674 + ], + [ + 0.3017435073852539, + 0.13721519708633423, + 0.1689169555902481 + ], + [ + 0.29727989435195923, + 0.10129257291555405, + 0.18106523156166077 + ], + [ + 0.2869703769683838, + 0.06829384714365005, + 0.17514599859714508 + ], + [ + 0.2748382091522217, + 0.03013533726334572, + 0.1576535701751709 + ], + [ + 0.2664724588394165, + 0.005563638173043728, + 0.14089900255203247 + ], + [ + 0.2664262652397156, + 0.001052654581144452, + 0.11739189922809601 + ], + [ + 0.2722238600254059, + 0.0007146924617700279, + 0.08905695378780365 + ], + [ + 0.2735549211502075, + 0.0009864881867542863, + 0.05924026668071747 + ], + [ + 0.2779719829559326, + 0.0005580539582297206, + 0.04189211502671242 + ], + [ + 0.28391149640083313, + -0.001474564429372549, + 0.0351354219019413 + ], + [ + 0.2857697904109955, + -0.0023261753376573324, + 0.03332243114709854 + ], + [ + 0.28395771980285645, + -0.0017568431794643402, + 0.03351485729217529 + ], + [ + 0.28295645117759705, + -0.0019114591414108872, + 0.034018099308013916 + ], + [ + 0.2815920114517212, + -0.0029485016129910946, + 0.033425185829401016 + ], + [ + 0.287361741065979, + -0.0015793482307344675, + 0.03088236413896084 + ], + [ + 0.289378821849823, + -0.0033055278472602367, + 0.02493254840373993 + ], + [ + 0.29727470874786377, + -0.009698060341179371, + 0.024342671036720276 + ], + [ + 0.30229076743125916, + -0.013764878734946251, + 0.02349582500755787 + ], + [ + 0.30389732122421265, + -0.013905191794037819, + 0.022432859987020493 + ], + [ + 0.3053845167160034, + -0.007319024298340082, + 0.023617424070835114 + ], + [ + 0.3058246672153473, + -0.00764873344451189, + 0.022679194808006287 + ], + [ + 0.30362385511398315, + -0.007022752892225981, + 0.02218535542488098 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9985404452107309, + -0.05393454109344917, + 0.002836292543792554, + -0.054008898499846025, + -0.9972905199095841, + 0.04994654924320973, + 0.00013476345298067596, + -0.050026834554167905, + -0.9987478649105095 + ], + [ + 0.9980701749824022, + -0.05496337450056592, + -0.02889555803418726, + -0.05407579629344325, + -0.9980663185225174, + 0.03065015638032463, + -0.03052431925246773, + -0.02902845663170652, + -0.999112413414904 + ], + [ + 0.999457531793829, + 0.023914584223058657, + -0.02264364816069636, + 0.024182029751859263, + -0.999640132963788, + 0.011611804563476899, + -0.022357807979928777, + -0.012153074902197534, + -0.999676163161228 + ], + [ + 0.9879943195652104, + 0.14884476306174904, + -0.04138189236814171, + 0.14991502113325494, + -0.9884057887360408, + 0.024072457948880077, + -0.03731904266580808, + -0.029987218980369962, + -0.9988533704965563 + ], + [ + 0.9769045553874931, + 0.2106324994878085, + -0.03593660839147795, + 0.21252507893721606, + -0.9752351764420907, + 0.06123268288009251, + -0.02214905158001509, + -0.06745591737929482, + -0.9974763750207938 + ], + [ + 0.9678468550840613, + 0.24182955588983596, + -0.0692165515033536, + 0.24836090018687662, + -0.9623343945101867, + 0.11058651093635444, + -0.03986638135391786, + -0.12422149186367401, + -0.9914533234585009 + ], + [ + 0.975256710421962, + 0.20655193911052327, + -0.07880764700595916, + 0.21569933873645686, + -0.9671650003814165, + 0.1344085462530923, + -0.04845765208497437, + -0.1480815940179504, + -0.9877872733881088 + ], + [ + 0.9821532316042471, + 0.17891341146078268, + -0.0580087997531305, + 0.18643157083752263, + -0.9668473085005868, + 0.17449799838458022, + -0.02486561972660034, + -0.18219844468226357, + -0.9829473168542535 + ], + [ + 0.9832866211791391, + 0.1702471518212701, + -0.064523855331634, + 0.17874779514390982, + -0.9700525387779179, + 0.16446062672173933, + -0.034592576390073466, + -0.1732454308409369, + -0.9842709862387671 + ], + [ + 0.9852370977449678, + 0.16527142039163772, + -0.04464547937701498, + 0.17036239720703833, + -0.9722112098603416, + 0.16056779577412864, + -0.01686756784317801, + -0.16580325999093484, + -0.9860145861656583 + ], + [ + 0.9869519045102924, + 0.1578600431121483, + -0.03171978833690626, + 0.16064757760334047, + -0.9787082683492012, + 0.12775946647934705, + -0.010876304229201918, + -0.13118815591942506, + -0.9912978229335395 + ], + [ + 0.9878798095959925, + 0.1545525557029844, + -0.014387123349086253, + 0.15520339777305434, + -0.9821312357709916, + 0.1064431352537325, + 0.0023210153564750275, + -0.10738595461521597, + -0.9942146999713363 + ], + [ + 0.9883833387552525, + 0.1507084910415202, + -0.019629732525126245, + 0.1519004024976098, + -0.9838003500968147, + 0.09520051927615436, + -0.004964211124047646, + -0.09707637136488631, + -0.9952645551462902 + ], + [ + 0.9870461253417854, + 0.1577623690280385, + -0.02917158491459463, + 0.15975285979400236, + -0.9832259752099166, + 0.08800968958101274, + -0.014797642900348351, + -0.091529867208302, + -0.9956923787864524 + ], + [ + 0.9858526488323764, + 0.16266016077582807, + -0.040450301439777056, + 0.16556680714582783, + -0.982632735175767, + 0.08378866350842004, + -0.026118712864981034, + -0.08930050311937074, + -0.9956622082719138 + ], + [ + 0.9844556853424825, + 0.16938248397543948, + -0.0464389676798808, + 0.17284822376288933, + -0.9812643826780048, + 0.0851099455385107, + -0.031152770966274737, + -0.09181386284142554, + -0.995288761843144 + ], + [ + 0.9831898965255312, + 0.1763802267891418, + -0.04719791274967397, + 0.17983577239086376, + -0.9801641656101027, + 0.0832904761808486, + -0.03157090969066893, + -0.09037822775238498, + -0.9954069788833316 + ], + [ + 0.9834107330085593, + 0.1755937548898911, + -0.045499048860792625, + 0.17839057995574803, + -0.981662555093052, + 0.06719694123419864, + -0.03286534933056102, + -0.07419879494876808, + -0.9967017646425287 + ], + [ + 0.9839139974283738, + 0.17049308666722682, + -0.0533418509540079, + 0.17308928820540773, + -0.9837091504310489, + 0.04854282302018932, + -0.044196651152133754, + -0.05699486605744074, + -0.997395729522656 + ], + [ + 0.977918850219421, + 0.20513189683165506, + -0.039945303701091305, + 0.2063325145818769, + -0.9780622115164246, + 0.02865665419968138, + -0.03319059824475513, + -0.03626589728447089, + -0.9987908534234318 + ], + [ + 0.9659725237240461, + 0.2584030583863995, + 0.011177782729733788, + 0.2577487916588744, + -0.9653211000300557, + 0.041481733752994236, + 0.02150915638950762, + -0.03718915504981445, + -0.9990767352601568 + ], + [ + 0.9621159884152054, + 0.2704000295762575, + 0.0348804937033734, + 0.2671610245510809, + -0.9605527212440937, + 0.07722342048486866, + 0.054385768328201065, + -0.06497917909396167, + -0.9964034797649123 + ], + [ + 0.9773887553907705, + 0.19282458290156299, + 0.08677500253251752, + 0.1894363783173326, + -0.9808243781874756, + 0.04579735497999869, + 0.09394189377318621, + -0.028323477575852754, + -0.9951747088890057 + ], + [ + 0.9845322875864404, + 0.14886389154936808, + 0.09238894139770418, + 0.14898543065405312, + -0.9888234260647263, + 0.0056190318065599985, + 0.09219282050483527, + 0.008232487983275548, + -0.9957071406738873 + ], + [ + 0.9912224110655107, + 0.09064362129364112, + 0.0962385874805459, + 0.0923106699337699, + -0.9956453338879553, + -0.013004204071015161, + 0.09464075241593498, + 0.02177390699706849, + -0.9952733418293834 + ], + [ + 0.9955427066794542, + 0.05850469819185703, + 0.07397242369170648, + 0.05813069967734159, + -0.9982830119112713, + 0.007200686382749261, + 0.0742666879049304, + -0.0028685220654044307, + -0.9972342907505696 + ], + [ + 0.9996973474991573, + 0.007893163973198768, + 0.023300458485658898, + 0.007140340570440419, + -0.9994553715439707, + 0.032217632260025615, + 0.02354206744718567, + -0.03204150830401587, + -0.9992092437552389 + ], + [ + 0.999562125491828, + -0.02577582667195408, + -0.014531484495263177, + -0.02500903440975782, + -0.9984014720440288, + 0.050685785169092216, + -0.015814723524306164, + -0.0503001727600731, + -0.9986089260266785 + ], + [ + 0.9969345354781298, + -0.035757597914421964, + -0.06959113565962372, + -0.03040860516543365, + -0.996608830528378, + 0.07646015723729253, + -0.0720891718838439, + -0.07410960197065737, + -0.9946411001928547 + ], + [ + 0.9891213724070654, + -0.06882899859033878, + -0.1300056906470419, + -0.05858619379921296, + -0.9949878395532724, + 0.08103614648557923, + -0.13493171807875373, + -0.07253804583914801, + -0.9881961664376933 + ], + [ + 0.9746606428563062, + -0.09286257788712414, + -0.2035022675428699, + -0.07665506170586193, + -0.9933293765986958, + 0.0861437815568648, + -0.2101443141790957, + -0.06836147463450554, + -0.9752774354018415 + ], + [ + 0.9679715003726133, + -0.13843560969439614, + -0.20944392193361172, + -0.12305195685728963, + -0.9887668861688144, + 0.08484256437436848, + -0.2188364466444832, + -0.056352699887121147, + -0.9741329389952115 + ], + [ + 0.9610986662297791, + -0.20822652035616926, + -0.1814691984654733, + -0.19751116211050354, + -0.977392959053806, + 0.07544762709193395, + -0.19307691372377458, + -0.03667042149208224, + -0.9804981313467634 + ], + [ + 0.9439199380571711, + -0.28650896186279756, + -0.16409681688091443, + -0.27914391295234015, + -0.9579220912393137, + 0.06681274562055045, + -0.17633441637922737, + -0.01725925514041744, + -0.9841789937365029 + ], + [ + 0.9341726278820223, + -0.3102875566825831, + -0.17619061690098436, + -0.3058890346513998, + -0.950629414869554, + 0.05230309804212352, + -0.18372098354850863, + 0.00503465517409514, + -0.9829655398086173 + ], + [ + 0.9308021665365709, + -0.315805144232755, + -0.18405009548205692, + -0.3123304010796914, + -0.9487420517899876, + 0.0483553484810428, + -0.1898869330212707, + 0.012475177010880814, + -0.9817267046517184 + ], + [ + 0.9326634073253243, + -0.3054326278795026, + -0.1919632216413799, + -0.30316929949199817, + -0.9520197509705697, + 0.04179437291628852, + -0.19551814361293268, + 0.019217273182113435, + -0.9805117806174471 + ], + [ + 0.9513524618957769, + -0.271286643812287, + -0.1460549558690498, + -0.266756671362054, + -0.9624589538037894, + 0.05013621970943327, + -0.15417318680199185, + -0.0087360821871575, + -0.9880052172632176 + ], + [ + 0.9808848322354259, + -0.19137699281692236, + -0.03521068745185474, + -0.19011662274029753, + -0.9810924442448226, + 0.03623928260249062, + -0.041480304341987934, + -0.0288524256531654, + -0.9987226451250741 + ], + [ + 0.9814522872331756, + -0.15588129057557004, + 0.11159046165897321, + -0.15361273002773562, + -0.9877142596441915, + -0.028699659735830843, + 0.1146932302195473, + 0.011025631230054818, + -0.9933397698661746 + ], + [ + 0.9671042218082948, + -0.17842292203905796, + 0.18131377512924043, + -0.16022215275006013, + -0.9808629366094193, + -0.1106198958329043, + 0.1975810869711697, + 0.07793048490154833, + -0.9771839916793053 + ], + [ + 0.96047308116208, + -0.18590044494663002, + 0.2072015562964363, + -0.16322397812701364, + -0.9790444735254442, + -0.12177787904080761, + 0.22549810049624022, + 0.08314411240689487, + -0.9706892722414608 + ], + [ + 0.954389867173822, + -0.18699490790977494, + 0.23275069463215153, + -0.17285483856075715, + -0.9816993901852283, + -0.07992191249016321, + 0.24343620565164265, + 0.036044579700220056, + -0.96924692522193 + ], + [ + 0.9507939241977595, + -0.19350595719545446, + 0.2419635473340904, + -0.18342080826933468, + -0.9809646883309429, + -0.06375803746666517, + 0.24969525586692595, + 0.016239605218344066, + -0.9681882845913306 + ], + [ + 0.957247252836124, + -0.1801406798874004, + 0.22633389579866167, + -0.17463556375811967, + -0.9836366778336632, + -0.04428663332472601, + 0.23060814558158613, + 0.002867310597083915, + -0.9730424768330325 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + 0.0015414059162139893, + 0.00043642520904541016, + -0.011555805802345276, + -0.021001651883125305, + 0.030663825571537018, + -9.224191308021545e-05, + 1.0 + ], + [ + -0.0012026727199554443, + 0.033656030893325806, + -0.013862520456314087, + -0.01688966155052185, + -0.008169390261173248, + 0.07831786572933197, + 1.0 + ], + [ + -0.010553300380706787, + 0.050459444522857666, + -0.013645067811012268, + 0.017856214195489883, + 0.014968039467930794, + 0.12639757990837097, + 1.0 + ], + [ + -0.004392832517623901, + 0.02831415832042694, + -0.005377292633056641, + 0.03751114010810852, + -0.015176847577095032, + 0.06362369656562805, + 1.0 + ], + [ + -0.004580497741699219, + 0.00028765201568603516, + -0.023972302675247192, + 0.05711904168128967, + 0.01772608608007431, + 0.036980047821998596, + 1.0 + ], + [ + 0.004552662372589111, + -0.016860559582710266, + -0.02704581618309021, + 0.02416149526834488, + 0.008599687367677689, + -0.03352397680282593, + 1.0 + ], + [ + 0.009340107440948486, + -0.01397143304347992, + -0.018142342567443848, + 0.03447486460208893, + -0.023608453571796417, + -0.030080318450927734, + 1.0 + ], + [ + 0.0031174123287200928, + -0.0008282512426376343, + -0.016583837568759918, + -0.009049847722053528, + 0.009731296449899673, + -0.007765069603919983, + 1.0 + ], + [ + 0.0028905868530273438, + -0.0007869452238082886, + -0.006815172731876373, + -0.007632911205291748, + -0.017731111496686935, + -0.008600369095802307, + 1.0 + ], + [ + 0.004011034965515137, + -0.003276810050010681, + -0.01672542467713356, + -0.035021185874938965, + -0.0059918491169810295, + -0.009865686297416687, + 1.0 + ], + [ + 0.0005061030387878418, + -0.004839092493057251, + -0.005590837448835373, + -0.02398151159286499, + -0.013197535648941994, + -0.005522578954696655, + 1.0 + ], + [ + -0.0011954903602600098, + -0.003960967063903809, + -0.008917899802327156, + -0.01036302000284195, + 0.007285248953849077, + -0.003341168165206909, + 1.0 + ], + [ + -0.00011482834815979004, + -0.0015335828065872192, + -0.008303303271532059, + -0.005562476813793182, + 0.009833951480686665, + 0.007965415716171265, + 1.0 + ], + [ + 0.00012362003326416016, + -0.0007431656122207642, + -0.00451119989156723, + -0.002218000590801239, + 0.01132350042462349, + 0.0059320032596588135, + 0.0 + ], + [ + 0.0017147064208984375, + 0.0019024461507797241, + -0.000909772701561451, + 0.0025379061698913574, + 0.005036128684878349, + 0.007415890693664551, + 0.0 + ], + [ + -0.00012034177780151367, + -0.0002885162830352783, + -1.8746592104434967e-05, + -0.0014411434531211853, + 0.00041834451258182526, + 0.007104769349098206, + 0.0 + ], + [ + -0.0013330280780792236, + -0.0029200464487075806, + 0.0009869616478681564, + -0.016239717602729797, + 0.0012951120734214783, + -0.0014621317386627197, + 0.0 + ], + [ + -0.003925055265426636, + -0.0007745027542114258, + 0.003100855275988579, + -0.017225656658411026, + 0.011339783668518066, + -0.005311205983161926, + 0.0 + ], + [ + -0.0030889809131622314, + 0.008558347821235657, + 0.020335540175437927, + -0.02078774943947792, + -0.011014357209205627, + 0.033804237842559814, + 0.0 + ], + [ + 0.0007690489292144775, + 0.011667519807815552, + 0.04127877205610275, + 0.0009124875068664551, + -0.05470751225948334, + 0.052811697125434875, + 0.0 + ], + [ + -0.0005023181438446045, + -0.0029229074716567993, + 0.037193357944488525, + 0.027915164828300476, + -0.03290180116891861, + 0.010103434324264526, + 0.0 + ], + [ + 0.011401563882827759, + -0.044769078493118286, + 0.03768632560968399, + -0.036668382585048676, + -0.0396680049598217, + -0.07941155135631561, + 0.0 + ], + [ + 0.002657681703567505, + -0.0375145822763443, + 0.019940823316574097, + -0.036720920354127884, + 0.0017566978931427002, + -0.041258543729782104, + 0.0 + ], + [ + -0.004463613033294678, + -0.03592262417078018, + 0.012148275971412659, + -0.01360603142529726, + -0.0024586841464042664, + -0.057326339185237885, + 0.0 + ], + [ + -0.01030951738357544, + -0.03299872577190399, + -0.005919232964515686, + 0.024750294163823128, + 0.02044747769832611, + -0.03453553467988968, + 0.0 + ], + [ + -0.01213216781616211, + -0.03815850988030434, + -0.017492428421974182, + 0.029179411008954048, + 0.05079088360071182, + -0.05118235945701599, + 0.0 + ], + [ + -0.008365750312805176, + -0.024571698158979416, + -0.016754567623138428, + 0.018271826207637787, + 0.039359625428915024, + -0.03215715289115906, + 0.0 + ], + [ + -4.6193599700927734e-05, + -0.004510983824729919, + -0.023507103323936462, + 0.02404375746846199, + 0.05633637309074402, + -0.005477882921695709, + 0.0 + ], + [ + 0.005797594785690308, + -0.0003379621193744242, + -0.02833494544029236, + -0.0010983794927597046, + 0.06319279223680496, + -0.02866876684129238, + 0.0 + ], + [ + 0.0013310611248016357, + 0.0002717957249842584, + -0.02981668710708618, + -0.003293156623840332, + 0.07637801766395569, + -0.01932496950030327, + 0.0 + ], + [ + 0.004417061805725098, + -0.0004284342285245657, + -0.01734815165400505, + -0.012195244431495667, + 0.008899286389350891, + -0.047958917915821075, + 0.0 + ], + [ + 0.005939513444900513, + -0.0020326185040175915, + -0.006756693124771118, + -0.020402319729328156, + -0.026324748992919922, + -0.07623845338821411, + 0.0 + ], + [ + 0.0018582940101623535, + -0.0008516109082847834, + -0.0018129907548427582, + -0.019847458228468895, + -0.017035841941833496, + -0.0848495215177536, + 0.0 + ], + [ + -0.001812070608139038, + 0.0005693321581929922, + 0.0001924261450767517, + -0.022656764835119247, + 0.007509276270866394, + -0.028907358646392822, + 1.0 + ], + [ + -0.0010012686252593994, + -0.00015461596194654703, + 0.000503242015838623, + -0.007584839593619108, + 0.006276443600654602, + -0.007303327322006226, + 1.0 + ], + [ + -0.0013644397258758545, + -0.0010370424715802073, + -0.0005929134786128998, + -0.006890019401907921, + 0.005738779902458191, + 0.009460002183914185, + 1.0 + ], + [ + 0.0057697296142578125, + 0.001369153382256627, + -0.002542821690440178, + 0.0284386295825243, + -0.04199518263339996, + 0.0409068763256073, + 1.0 + ], + [ + 0.002017080783843994, + -0.0017261796165257692, + -0.005949815735220909, + 0.020039383322000504, + -0.11329837143421173, + 0.08192934095859528, + 1.0 + ], + [ + 0.007895886898040771, + -0.006392532493919134, + -0.0005898773670196533, + -0.03998039662837982, + -0.15643839538097382, + 0.03619161248207092, + 1.0 + ], + [ + 0.005016058683395386, + -0.00406681839376688, + -0.0008468460291624069, + -0.06848253309726715, + -0.08394356071949005, + -0.008924663066864014, + 1.0 + ], + [ + 0.0016065537929534912, + -0.000140313059091568, + -0.0010629650205373764, + -0.005864523351192474, + -0.02856452763080597, + -0.004152238368988037, + 1.0 + ], + [ + 0.0014871954917907715, + 0.006586167495697737, + 0.001184564083814621, + 0.04827505350112915, + -0.01845279335975647, + -0.010840222239494324, + 1.0 + ], + [ + 0.00044015049934387207, + -0.00032970914617180824, + -0.0009382292628288269, + 0.020399486646056175, + -0.006458461284637451, + -0.011398985981941223, + 1.0 + ], + [ + -0.0022008121013641357, + 0.0006259805522859097, + -0.0004938393831253052, + 0.013824877329170704, + 0.019662901759147644, + 0.010121569037437439, + 1.0 + ], + [ + -0.0011837482452392578, + -8.258689194917679e-05, + -0.00026679225265979767, + 0.00413114856928587, + 0.007395759224891663, + -0.026783302426338196, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9367310404777527 + ], + [ + 0.6330026388168335 + ], + [ + 0.3953573703765869 + ], + [ + 0.3461596965789795 + ], + [ + 0.3461596965789795 + ], + [ + 0.3461596965789795 + ], + [ + 0.3453405201435089 + ], + [ + 0.3445223569869995 + ], + [ + 0.3445223569869995 + ], + [ + 0.34288913011550903 + ], + [ + 0.34288913011550903 + ], + [ + 0.34288913011550903 + ], + [ + 0.34288913011550903 + ], + [ + 0.34288913011550903 + ], + [ + 0.34288913011550903 + ], + [ + 0.34288913011550903 + ], + [ + 0.34288913011550903 + ], + [ + 0.34288913011550903 + ], + [ + 0.34288913011550903 + ], + [ + 0.34288913011550903 + ], + [ + 0.4175282120704651 + ], + [ + 0.728995144367218 + ], + [ + 0.9837720394134521 + ], + [ + 1.0060625076293945 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2916683256626129, + 0.13836003839969635, + 0.17881585657596588 + ], + [ + 0.29046565294265747, + 0.17201606929302216, + 0.1649533361196518 + ], + [ + 0.2799123525619507, + 0.22247551381587982, + 0.15130826830863953 + ], + [ + 0.2755195200443268, + 0.25078967213630676, + 0.14593097567558289 + ], + [ + 0.27093902230262756, + 0.2510773241519928, + 0.1219586730003357 + ], + [ + 0.2754916846752167, + 0.23421676456928253, + 0.09491285681724548 + ], + [ + 0.28483179211616516, + 0.2202453315258026, + 0.07677051424980164 + ], + [ + 0.28794920444488525, + 0.21941708028316498, + 0.06018667668104172 + ], + [ + 0.2908397912979126, + 0.2186301350593567, + 0.053371503949165344 + ], + [ + 0.29485082626342773, + 0.215353325009346, + 0.036646079272031784 + ], + [ + 0.2953569293022156, + 0.21051423251628876, + 0.03105524182319641 + ], + [ + 0.29416143894195557, + 0.20655326545238495, + 0.022137342020869255 + ], + [ + 0.2940466105937958, + 0.20501968264579773, + 0.013834038749337196 + ], + [ + 0.29417023062705994, + 0.20427651703357697, + 0.009322838857769966 + ], + [ + 0.2958849370479584, + 0.2061789631843567, + 0.008413066156208515 + ], + [ + 0.29576459527015686, + 0.2058904469013214, + 0.00839431956410408 + ], + [ + 0.29443156719207764, + 0.20297040045261383, + 0.009381281211972237 + ], + [ + 0.290506511926651, + 0.2021958976984024, + 0.012482136487960815 + ], + [ + 0.28741753101348877, + 0.21075424551963806, + 0.03281767666339874 + ], + [ + 0.28818657994270325, + 0.2224217653274536, + 0.0740964487195015 + ], + [ + 0.28768426179885864, + 0.21949885785579681, + 0.11128980666399002 + ], + [ + 0.2990858256816864, + 0.17472977936267853, + 0.148976132273674 + ], + [ + 0.3017435073852539, + 0.13721519708633423, + 0.1689169555902481 + ], + [ + 0.29727989435195923, + 0.10129257291555405, + 0.18106523156166077 + ], + [ + 0.2869703769683838, + 0.06829384714365005, + 0.17514599859714508 + ], + [ + 0.2748382091522217, + 0.03013533726334572, + 0.1576535701751709 + ], + [ + 0.2664724588394165, + 0.005563638173043728, + 0.14089900255203247 + ], + [ + 0.2664262652397156, + 0.001052654581144452, + 0.11739189922809601 + ], + [ + 0.2722238600254059, + 0.0007146924617700279, + 0.08905695378780365 + ], + [ + 0.2735549211502075, + 0.0009864881867542863, + 0.05924026668071747 + ], + [ + 0.2779719829559326, + 0.0005580539582297206, + 0.04189211502671242 + ], + [ + 0.28391149640083313, + -0.001474564429372549, + 0.0351354219019413 + ], + [ + 0.2857697904109955, + -0.0023261753376573324, + 0.03332243114709854 + ], + [ + 0.28395771980285645, + -0.0017568431794643402, + 0.03351485729217529 + ], + [ + 0.28295645117759705, + -0.0019114591414108872, + 0.034018099308013916 + ], + [ + 0.2815920114517212, + -0.0029485016129910946, + 0.033425185829401016 + ], + [ + 0.287361741065979, + -0.0015793482307344675, + 0.03088236413896084 + ], + [ + 0.289378821849823, + -0.0033055278472602367, + 0.02493254840373993 + ], + [ + 0.29727470874786377, + -0.009698060341179371, + 0.024342671036720276 + ], + [ + 0.30229076743125916, + -0.013764878734946251, + 0.02349582500755787 + ], + [ + 0.30389732122421265, + -0.013905191794037819, + 0.022432859987020493 + ], + [ + 0.3053845167160034, + -0.007319024298340082, + 0.023617424070835114 + ], + [ + 0.3058246672153473, + -0.00764873344451189, + 0.022679194808006287 + ], + [ + 0.30362385511398315, + -0.007022752892225981, + 0.02218535542488098 + ], + [ + 0.3024401068687439, + -0.0071053397841751575, + 0.021918563172221184 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9980701749824022, + -0.05496337450056592, + -0.02889555803418726, + -0.05407579629344325, + -0.9980663185225174, + 0.03065015638032463, + -0.03052431925246773, + -0.02902845663170652, + -0.999112413414904 + ], + [ + 0.999457531793829, + 0.023914584223058657, + -0.02264364816069636, + 0.024182029751859263, + -0.999640132963788, + 0.011611804563476899, + -0.022357807979928777, + -0.012153074902197534, + -0.999676163161228 + ], + [ + 0.9879943195652104, + 0.14884476306174904, + -0.04138189236814171, + 0.14991502113325494, + -0.9884057887360408, + 0.024072457948880077, + -0.03731904266580808, + -0.029987218980369962, + -0.9988533704965563 + ], + [ + 0.9769045553874931, + 0.2106324994878085, + -0.03593660839147795, + 0.21252507893721606, + -0.9752351764420907, + 0.06123268288009251, + -0.02214905158001509, + -0.06745591737929482, + -0.9974763750207938 + ], + [ + 0.9678468550840613, + 0.24182955588983596, + -0.0692165515033536, + 0.24836090018687662, + -0.9623343945101867, + 0.11058651093635444, + -0.03986638135391786, + -0.12422149186367401, + -0.9914533234585009 + ], + [ + 0.975256710421962, + 0.20655193911052327, + -0.07880764700595916, + 0.21569933873645686, + -0.9671650003814165, + 0.1344085462530923, + -0.04845765208497437, + -0.1480815940179504, + -0.9877872733881088 + ], + [ + 0.9821532316042471, + 0.17891341146078268, + -0.0580087997531305, + 0.18643157083752263, + -0.9668473085005868, + 0.17449799838458022, + -0.02486561972660034, + -0.18219844468226357, + -0.9829473168542535 + ], + [ + 0.9832866211791391, + 0.1702471518212701, + -0.064523855331634, + 0.17874779514390982, + -0.9700525387779179, + 0.16446062672173933, + -0.034592576390073466, + -0.1732454308409369, + -0.9842709862387671 + ], + [ + 0.9852370977449678, + 0.16527142039163772, + -0.04464547937701498, + 0.17036239720703833, + -0.9722112098603416, + 0.16056779577412864, + -0.01686756784317801, + -0.16580325999093484, + -0.9860145861656583 + ], + [ + 0.9869519045102924, + 0.1578600431121483, + -0.03171978833690626, + 0.16064757760334047, + -0.9787082683492012, + 0.12775946647934705, + -0.010876304229201918, + -0.13118815591942506, + -0.9912978229335395 + ], + [ + 0.9878798095959925, + 0.1545525557029844, + -0.014387123349086253, + 0.15520339777305434, + -0.9821312357709916, + 0.1064431352537325, + 0.0023210153564750275, + -0.10738595461521597, + -0.9942146999713363 + ], + [ + 0.9883833387552525, + 0.1507084910415202, + -0.019629732525126245, + 0.1519004024976098, + -0.9838003500968147, + 0.09520051927615436, + -0.004964211124047646, + -0.09707637136488631, + -0.9952645551462902 + ], + [ + 0.9870461253417854, + 0.1577623690280385, + -0.02917158491459463, + 0.15975285979400236, + -0.9832259752099166, + 0.08800968958101274, + -0.014797642900348351, + -0.091529867208302, + -0.9956923787864524 + ], + [ + 0.9858526488323764, + 0.16266016077582807, + -0.040450301439777056, + 0.16556680714582783, + -0.982632735175767, + 0.08378866350842004, + -0.026118712864981034, + -0.08930050311937074, + -0.9956622082719138 + ], + [ + 0.9844556853424825, + 0.16938248397543948, + -0.0464389676798808, + 0.17284822376288933, + -0.9812643826780048, + 0.0851099455385107, + -0.031152770966274737, + -0.09181386284142554, + -0.995288761843144 + ], + [ + 0.9831898965255312, + 0.1763802267891418, + -0.04719791274967397, + 0.17983577239086376, + -0.9801641656101027, + 0.0832904761808486, + -0.03157090969066893, + -0.09037822775238498, + -0.9954069788833316 + ], + [ + 0.9834107330085593, + 0.1755937548898911, + -0.045499048860792625, + 0.17839057995574803, + -0.981662555093052, + 0.06719694123419864, + -0.03286534933056102, + -0.07419879494876808, + -0.9967017646425287 + ], + [ + 0.9839139974283738, + 0.17049308666722682, + -0.0533418509540079, + 0.17308928820540773, + -0.9837091504310489, + 0.04854282302018932, + -0.044196651152133754, + -0.05699486605744074, + -0.997395729522656 + ], + [ + 0.977918850219421, + 0.20513189683165506, + -0.039945303701091305, + 0.2063325145818769, + -0.9780622115164246, + 0.02865665419968138, + -0.03319059824475513, + -0.03626589728447089, + -0.9987908534234318 + ], + [ + 0.9659725237240461, + 0.2584030583863995, + 0.011177782729733788, + 0.2577487916588744, + -0.9653211000300557, + 0.041481733752994236, + 0.02150915638950762, + -0.03718915504981445, + -0.9990767352601568 + ], + [ + 0.9621159884152054, + 0.2704000295762575, + 0.0348804937033734, + 0.2671610245510809, + -0.9605527212440937, + 0.07722342048486866, + 0.054385768328201065, + -0.06497917909396167, + -0.9964034797649123 + ], + [ + 0.9773887553907705, + 0.19282458290156299, + 0.08677500253251752, + 0.1894363783173326, + -0.9808243781874756, + 0.04579735497999869, + 0.09394189377318621, + -0.028323477575852754, + -0.9951747088890057 + ], + [ + 0.9845322875864404, + 0.14886389154936808, + 0.09238894139770418, + 0.14898543065405312, + -0.9888234260647263, + 0.0056190318065599985, + 0.09219282050483527, + 0.008232487983275548, + -0.9957071406738873 + ], + [ + 0.9912224110655107, + 0.09064362129364112, + 0.0962385874805459, + 0.0923106699337699, + -0.9956453338879553, + -0.013004204071015161, + 0.09464075241593498, + 0.02177390699706849, + -0.9952733418293834 + ], + [ + 0.9955427066794542, + 0.05850469819185703, + 0.07397242369170648, + 0.05813069967734159, + -0.9982830119112713, + 0.007200686382749261, + 0.0742666879049304, + -0.0028685220654044307, + -0.9972342907505696 + ], + [ + 0.9996973474991573, + 0.007893163973198768, + 0.023300458485658898, + 0.007140340570440419, + -0.9994553715439707, + 0.032217632260025615, + 0.02354206744718567, + -0.03204150830401587, + -0.9992092437552389 + ], + [ + 0.999562125491828, + -0.02577582667195408, + -0.014531484495263177, + -0.02500903440975782, + -0.9984014720440288, + 0.050685785169092216, + -0.015814723524306164, + -0.0503001727600731, + -0.9986089260266785 + ], + [ + 0.9969345354781298, + -0.035757597914421964, + -0.06959113565962372, + -0.03040860516543365, + -0.996608830528378, + 0.07646015723729253, + -0.0720891718838439, + -0.07410960197065737, + -0.9946411001928547 + ], + [ + 0.9891213724070654, + -0.06882899859033878, + -0.1300056906470419, + -0.05858619379921296, + -0.9949878395532724, + 0.08103614648557923, + -0.13493171807875373, + -0.07253804583914801, + -0.9881961664376933 + ], + [ + 0.9746606428563062, + -0.09286257788712414, + -0.2035022675428699, + -0.07665506170586193, + -0.9933293765986958, + 0.0861437815568648, + -0.2101443141790957, + -0.06836147463450554, + -0.9752774354018415 + ], + [ + 0.9679715003726133, + -0.13843560969439614, + -0.20944392193361172, + -0.12305195685728963, + -0.9887668861688144, + 0.08484256437436848, + -0.2188364466444832, + -0.056352699887121147, + -0.9741329389952115 + ], + [ + 0.9610986662297791, + -0.20822652035616926, + -0.1814691984654733, + -0.19751116211050354, + -0.977392959053806, + 0.07544762709193395, + -0.19307691372377458, + -0.03667042149208224, + -0.9804981313467634 + ], + [ + 0.9439199380571711, + -0.28650896186279756, + -0.16409681688091443, + -0.27914391295234015, + -0.9579220912393137, + 0.06681274562055045, + -0.17633441637922737, + -0.01725925514041744, + -0.9841789937365029 + ], + [ + 0.9341726278820223, + -0.3102875566825831, + -0.17619061690098436, + -0.3058890346513998, + -0.950629414869554, + 0.05230309804212352, + -0.18372098354850863, + 0.00503465517409514, + -0.9829655398086173 + ], + [ + 0.9308021665365709, + -0.315805144232755, + -0.18405009548205692, + -0.3123304010796914, + -0.9487420517899876, + 0.0483553484810428, + -0.1898869330212707, + 0.012475177010880814, + -0.9817267046517184 + ], + [ + 0.9326634073253243, + -0.3054326278795026, + -0.1919632216413799, + -0.30316929949199817, + -0.9520197509705697, + 0.04179437291628852, + -0.19551814361293268, + 0.019217273182113435, + -0.9805117806174471 + ], + [ + 0.9513524618957769, + -0.271286643812287, + -0.1460549558690498, + -0.266756671362054, + -0.9624589538037894, + 0.05013621970943327, + -0.15417318680199185, + -0.0087360821871575, + -0.9880052172632176 + ], + [ + 0.9808848322354259, + -0.19137699281692236, + -0.03521068745185474, + -0.19011662274029753, + -0.9810924442448226, + 0.03623928260249062, + -0.041480304341987934, + -0.0288524256531654, + -0.9987226451250741 + ], + [ + 0.9814522872331756, + -0.15588129057557004, + 0.11159046165897321, + -0.15361273002773562, + -0.9877142596441915, + -0.028699659735830843, + 0.1146932302195473, + 0.011025631230054818, + -0.9933397698661746 + ], + [ + 0.9671042218082948, + -0.17842292203905796, + 0.18131377512924043, + -0.16022215275006013, + -0.9808629366094193, + -0.1106198958329043, + 0.1975810869711697, + 0.07793048490154833, + -0.9771839916793053 + ], + [ + 0.96047308116208, + -0.18590044494663002, + 0.2072015562964363, + -0.16322397812701364, + -0.9790444735254442, + -0.12177787904080761, + 0.22549810049624022, + 0.08314411240689487, + -0.9706892722414608 + ], + [ + 0.954389867173822, + -0.18699490790977494, + 0.23275069463215153, + -0.17285483856075715, + -0.9816993901852283, + -0.07992191249016321, + 0.24343620565164265, + 0.036044579700220056, + -0.96924692522193 + ], + [ + 0.9507939241977595, + -0.19350595719545446, + 0.2419635473340904, + -0.18342080826933468, + -0.9809646883309429, + -0.06375803746666517, + 0.24969525586692595, + 0.016239605218344066, + -0.9681882845913306 + ], + [ + 0.957247252836124, + -0.1801406798874004, + 0.22633389579866167, + -0.17463556375811967, + -0.9836366778336632, + -0.04428663332472601, + 0.23060814558158613, + 0.002867310597083915, + -0.9730424768330325 + ], + [ + 0.9538701504075712, + -0.2054947668023402, + 0.21886899501365942, + -0.20055354723477048, + -0.9786575335668881, + -0.044807440055484225, + 0.22340548527954301, + -0.0011544737445957215, + -0.9747249131613416 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006437.json b/json/chunk-0006/episode_0006437.json new file mode 100644 index 0000000000000000000000000000000000000000..1f197f2491f0b0ea9a0b72c1e68678fc21461a9a --- /dev/null +++ b/json/chunk-0006/episode_0006437.json @@ -0,0 +1,1162 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 18, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the cloth with the robot and place it far edge of the stove." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006437.mp4", + "start": 0, + "end": 18, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.26741835474967957, + 0.1504087895154953, + 0.07109443843364716, + 0.03779584541916847, + -0.059601277112960815, + -0.05328212305903435, + 0.0, + 1.0001531839370728 + ], + [ + 0.2661147713661194, + 0.14860273897647858, + 0.062431447207927704, + 0.021952129900455475, + -0.03512413799762726, + -0.04947298392653465, + 0.0, + 1.0001531839370728 + ], + [ + 0.29754874110221863, + 0.13404028117656708, + 0.07117125391960144, + 0.02734587900340557, + -0.0760960802435875, + -0.07606430351734161, + 0.0, + 1.0001531839370728 + ], + [ + 0.33526554703712463, + 0.1221843734383583, + 0.07289735227823257, + 0.015079797245562077, + -0.11526504158973694, + -0.07290538400411606, + 0.0, + 1.0001531839370728 + ], + [ + 0.36366963386535645, + 0.11489219963550568, + 0.0676712915301323, + 0.015452197752892971, + -0.12751030921936035, + -0.049732815474271774, + 0.0, + 1.0001531839370728 + ], + [ + 0.3776164948940277, + 0.11284594237804413, + 0.051876626908779144, + 0.0280153751373291, + -0.08933360129594803, + -0.04124901816248894, + 0.0, + 1.0001531839370728 + ], + [ + 0.37845465540885925, + 0.11799310147762299, + 0.021279852837324142, + 0.06389716267585754, + -0.024455390870571136, + -0.01998482272028923, + 0.0, + 1.0001531839370728 + ], + [ + 0.3817894458770752, + 0.11768648028373718, + 0.016461025923490524, + 0.0898548886179924, + -0.018995443359017372, + -0.01688246801495552, + 0.0, + 1.0008161067962646 + ], + [ + 0.38362637162208557, + 0.10688795149326324, + 0.013603328727185726, + 0.06709333509206772, + -0.026636023074388504, + -0.0027886037714779377, + 0.0, + 1.0008161067962646 + ], + [ + 0.3891729712486267, + 0.08368038386106491, + 0.012220323085784912, + 0.051526982337236404, + -0.032524723559617996, + -0.037943098694086075, + 0.0, + 1.0001531839370728 + ], + [ + 0.39792972803115845, + 0.03938978910446167, + 0.012174444273114204, + 0.020778745412826538, + -0.0519770085811615, + -0.124305859208107, + 0.0, + 1.0001531839370728 + ], + [ + 0.39984509348869324, + -0.004293648060411215, + 0.012167837470769882, + 0.010867218486964703, + -0.05414451286196709, + -0.20891566574573517, + 0.0, + 0.9994885921478271 + ], + [ + 0.39930465817451477, + -0.0360371395945549, + 0.012870002537965775, + 0.0021354954224079847, + -0.03684862703084946, + -0.2178453803062439, + 0.0, + 0.9994885921478271 + ], + [ + 0.3985334038734436, + -0.05144600197672844, + 0.012219433672726154, + -0.002125292783603072, + -0.009349755011498928, + -0.18719036877155304, + 0.0, + 1.0001531839370728 + ], + [ + 0.3984719514846802, + -0.053091734647750854, + 0.011952685192227364, + -0.0016226207371801138, + 0.007617910858243704, + -0.16649216413497925, + 0.0, + 1.0001531839370728 + ], + [ + 0.3975036144256592, + -0.05247063189744949, + 0.01630050502717495, + 0.03252631798386574, + 0.00834373664110899, + -0.1732618808746338, + 0.0, + 1.0001531839370728 + ], + [ + 0.3900013864040375, + -0.05878362059593201, + 0.029423410072922707, + 0.08815795928239822, + 0.03591526299715042, + -0.2300923615694046, + 0.0, + 0.9994885921478271 + ], + [ + 0.39000582695007324, + -0.057221781462430954, + 0.06584493815898895, + 0.09423299878835678, + -0.030166275799274445, + -0.2566585838794708, + 0.0, + 0.9994885921478271 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.26741835474967957, + 0.1504087895154953, + 0.07109443843364716 + ], + [ + 0.2661147713661194, + 0.14860273897647858, + 0.062431447207927704 + ], + [ + 0.29754874110221863, + 0.13404028117656708, + 0.07117125391960144 + ], + [ + 0.33526554703712463, + 0.1221843734383583, + 0.07289735227823257 + ], + [ + 0.36366963386535645, + 0.11489219963550568, + 0.0676712915301323 + ], + [ + 0.3776164948940277, + 0.11284594237804413, + 0.051876626908779144 + ], + [ + 0.37845465540885925, + 0.11799310147762299, + 0.021279852837324142 + ], + [ + 0.3817894458770752, + 0.11768648028373718, + 0.016461025923490524 + ], + [ + 0.38362637162208557, + 0.10688795149326324, + 0.013603328727185726 + ], + [ + 0.3891729712486267, + 0.08368038386106491, + 0.012220323085784912 + ], + [ + 0.39792972803115845, + 0.03938978910446167, + 0.012174444273114204 + ], + [ + 0.39984509348869324, + -0.004293648060411215, + 0.012167837470769882 + ], + [ + 0.39930465817451477, + -0.0360371395945549, + 0.012870002537965775 + ], + [ + 0.3985334038734436, + -0.05144600197672844, + 0.012219433672726154 + ], + [ + 0.3984719514846802, + -0.053091734647750854, + 0.011952685192227364 + ], + [ + 0.3975036144256592, + -0.05247063189744949, + 0.01630050502717495 + ], + [ + 0.3900013864040375, + -0.05878362059593201, + 0.029423410072922707 + ], + [ + 0.39000582695007324, + -0.057221781462430954, + 0.06584493815898895 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9968077329826653, + -0.05097126357901178, + 0.061451393435123826, + -0.05316235085178302, + -0.997987550327427, + 0.03456318624451804, + 0.05956599632232635, + -0.03771975186318467, + -0.9975114597845522 + ], + [ + 0.9981604270652963, + -0.0486710037817088, + 0.03615100595704525, + -0.04942230296166797, + -0.9985739376552492, + 0.020187298126685953, + 0.03511691630525862, + -0.021936828088205455, + -0.9991424211605862 + ], + [ + 0.9942229632718367, + -0.07388992805441448, + 0.07785228214433762, + -0.0757710651663719, + -0.9968936696509998, + 0.02148853399645355, + 0.07602266100658095, + -0.02726334429003103, + -0.996733296861102 + ], + [ + 0.9907255433111685, + -0.07110288047192316, + 0.11578980187989539, + -0.07235746964799362, + -0.997356508477584, + 0.006662700919497306, + 0.11500997529314445, + -0.014979165063460517, + -0.9932513932520165 + ], + [ + 0.9906551853940808, + -0.047743910052085316, + 0.12776080269299336, + -0.049308730870040195, + -0.9987420229861697, + 0.009111563064568454, + 0.1271650608925484, + -0.015326140232689037, + -0.9917631555536648 + ], + [ + 0.9951651786084778, + -0.038724205839211885, + 0.09025908911172852, + -0.041072884087384125, + -0.9988603632404391, + 0.02431034635545732, + 0.08921482767960105, + -0.027900011277781536, + -0.9956215666069106 + ], + [ + 0.9995013516195486, + -0.018381612020686167, + 0.025674198141636226, + -0.01997751701936966, + -0.9977911908162266, + 0.06335328202450849, + 0.02445295328658334, + -0.06383459774336392, + -0.9976608628218843 + ], + [ + 0.9996771122213219, + -0.015109369273015998, + 0.0204298375179536, + -0.016878620471506588, + -0.9958526080522584, + 0.08940187473701984, + 0.01899430103523642, + -0.08971783543803645, + -0.9957860847252767 + ], + [ + 0.9996413953363907, + -0.0009967849949739259, + 0.02675980473746109, + -0.002787610990940939, + -0.9977511861593337, + 0.06696864745987778, + 0.02663287357527226, + -0.06701922811638465, + -0.9973961665796631 + ], + [ + 0.9987517454572648, + -0.036209989691652254, + 0.034406214447363984, + -0.037913932422777206, + -0.9980175152789399, + 0.05023517616862172, + 0.032518989441688434, + -0.051476944771245065, + -0.9981445984839621 + ], + [ + 0.9909438898821913, + -0.1228880896081137, + 0.05411769154001185, + -0.1238185353884087, + -0.9922036023542816, + 0.014176803922466912, + 0.05195360814631682, + -0.020749190530112413, + -0.9984339205440309 + ], + [ + 0.9768227881653343, + -0.20681170487014386, + 0.055192021611880346, + -0.20709533056793925, + -0.9783205879480192, + -0.0005926668518396365, + 0.05411806147542356, + -0.010851079473758046, + -0.9984755828243352 + ], + [ + 0.9757025957005108, + -0.21604912466598286, + 0.036431037239536605, + -0.21597971635676827, + -0.9763801624298869, + -0.005877119688922929, + 0.03684028862177701, + -0.0021340441538532963, + -0.9993188875378138 + ], + [ + 0.9824880371925498, + -0.18611818666185687, + 0.00879075464526737, + -0.18609094927487435, + -0.9825250653932094, + -0.0038281159917190268, + 0.009349618789406983, + 0.002125198290069121, + -0.999954033023879 + ], + [ + 0.9861435509311504, + -0.16571163757940344, + -0.007781396253530692, + -0.16571923700537028, + -0.98617291608916, + -0.0003377255701643555, + -0.007617837177305254, + 0.001622572942973678, + -0.9999696674468607 + ], + [ + 0.9849933843784059, + -0.17257239459511053, + -0.0026079406594973647, + -0.17239030252649185, + -0.9844598792886333, + 0.03347132602443797, + -0.008343639829151595, + -0.032519451021182276, + -0.99943627559724 + ], + [ + 0.9730174464519762, + -0.23025989379909967, + -0.014745514833410382, + -0.2279203749290628, + -0.9691432624297148, + 0.09388098625005857, + -0.03590754227555032, + -0.08798703424207215, + -0.9954742237813159 + ], + [ + 0.9668035302480908, + -0.24997870991066132, + 0.052929939459919854, + -0.25373451816144327, + -0.9636727109162964, + 0.0833888513448703, + 0.030161700767853815, + -0.09405078854873096, + -0.9951104064274239 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0013035833835601807, + -0.0018060505390167236, + -0.008662991225719452, + -0.015843715518712997, + 0.024477139115333557, + 0.003809139132499695, + 1.0 + ], + [ + 0.03143396973609924, + -0.014562457799911499, + 0.008739806711673737, + 0.005393749102950096, + -0.040971942245960236, + -0.02659131959080696, + 1.0 + ], + [ + 0.037716805934906006, + -0.01185590773820877, + 0.001726098358631134, + -0.012266081757843494, + -0.039168961346149445, + 0.0031589195132255554, + 1.0 + ], + [ + 0.02840408682823181, + -0.007292173802852631, + -0.005226060748100281, + 0.00037240050733089447, + -0.012245267629623413, + 0.023172568529844284, + 1.0 + ], + [ + 0.013946861028671265, + -0.002046257257461548, + -0.01579466462135315, + 0.01256317738443613, + 0.03817670792341232, + 0.008483797311782837, + 1.0 + ], + [ + 0.000838160514831543, + 0.005147159099578857, + -0.030596774071455002, + 0.03588178753852844, + 0.06487821042537689, + 0.021264195442199707, + 1.0 + ], + [ + 0.0033347904682159424, + -0.0003066211938858032, + -0.004818826913833618, + 0.025957725942134857, + 0.005459947511553764, + 0.0031023547053337097, + 1.0 + ], + [ + 0.001836925745010376, + -0.010798528790473938, + -0.002857697196304798, + -0.022761553525924683, + -0.007640579715371132, + 0.01409386470913887, + 1.0 + ], + [ + 0.005546599626541138, + -0.023207567632198334, + -0.001383005641400814, + -0.015566352754831314, + -0.005888700485229492, + -0.035154495388269424, + 1.0 + ], + [ + 0.008756756782531738, + -0.04429059475660324, + -4.58788126707077e-05, + -0.030748236924409866, + -0.019452285021543503, + -0.08636276423931122, + 1.0 + ], + [ + 0.00191536545753479, + -0.04368343576788902, + -6.606802344322205e-06, + -0.009911526925861835, + -0.0021675042808055878, + -0.08460980653762817, + 1.0 + ], + [ + -0.0005404353141784668, + -0.03174349293112755, + 0.0007021650671958923, + -0.008731722831726074, + 0.01729588583111763, + -0.008929714560508728, + 1.0 + ], + [ + -0.000771254301071167, + -0.015408862382173538, + -0.0006505688652396202, + -0.004260788206011057, + 0.027498871088027954, + 0.030655011534690857, + 1.0 + ], + [ + -6.145238876342773e-05, + -0.0016457326710224152, + -0.00026674848049879074, + 0.0005026720464229584, + 0.016967665404081345, + 0.02069820463657379, + 1.0 + ], + [ + -0.0009683370590209961, + 0.0006211027503013611, + 0.004347819834947586, + 0.034148938953876495, + 0.0007258257828652859, + -0.006769716739654541, + 1.0 + ], + [ + -0.007502228021621704, + -0.006312988698482513, + 0.013122905045747757, + 0.055631641298532486, + 0.027571525424718857, + -0.05683048069477081, + 1.0 + ], + [ + 4.4405460357666016e-06, + 0.0015618391335010529, + 0.036421529948711395, + 0.006075039505958557, + -0.06608153879642487, + -0.026566222310066223, + 1.0 + ], + [ + -0.007100164890289307, + 0.004322350025177002, + 0.0011875033378601074, + -0.062987320125103, + -0.004179660230875015, + 0.018753021955490112, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2661147713661194, + 0.14860273897647858, + 0.062431447207927704 + ], + [ + 0.29754874110221863, + 0.13404028117656708, + 0.07117125391960144 + ], + [ + 0.33526554703712463, + 0.1221843734383583, + 0.07289735227823257 + ], + [ + 0.36366963386535645, + 0.11489219963550568, + 0.0676712915301323 + ], + [ + 0.3776164948940277, + 0.11284594237804413, + 0.051876626908779144 + ], + [ + 0.37845465540885925, + 0.11799310147762299, + 0.021279852837324142 + ], + [ + 0.3817894458770752, + 0.11768648028373718, + 0.016461025923490524 + ], + [ + 0.38362637162208557, + 0.10688795149326324, + 0.013603328727185726 + ], + [ + 0.3891729712486267, + 0.08368038386106491, + 0.012220323085784912 + ], + [ + 0.39792972803115845, + 0.03938978910446167, + 0.012174444273114204 + ], + [ + 0.39984509348869324, + -0.004293648060411215, + 0.012167837470769882 + ], + [ + 0.39930465817451477, + -0.0360371395945549, + 0.012870002537965775 + ], + [ + 0.3985334038734436, + -0.05144600197672844, + 0.012219433672726154 + ], + [ + 0.3984719514846802, + -0.053091734647750854, + 0.011952685192227364 + ], + [ + 0.3975036144256592, + -0.05247063189744949, + 0.01630050502717495 + ], + [ + 0.3900013864040375, + -0.05878362059593201, + 0.029423410072922707 + ], + [ + 0.39000582695007324, + -0.057221781462430954, + 0.06584493815898895 + ], + [ + 0.38290566205978394, + -0.05289943143725395, + 0.06703244149684906 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9981604270652963, + -0.0486710037817088, + 0.03615100595704525, + -0.04942230296166797, + -0.9985739376552492, + 0.020187298126685953, + 0.03511691630525862, + -0.021936828088205455, + -0.9991424211605862 + ], + [ + 0.9942229632718367, + -0.07388992805441448, + 0.07785228214433762, + -0.0757710651663719, + -0.9968936696509998, + 0.02148853399645355, + 0.07602266100658095, + -0.02726334429003103, + -0.996733296861102 + ], + [ + 0.9907255433111685, + -0.07110288047192316, + 0.11578980187989539, + -0.07235746964799362, + -0.997356508477584, + 0.006662700919497306, + 0.11500997529314445, + -0.014979165063460517, + -0.9932513932520165 + ], + [ + 0.9906551853940808, + -0.047743910052085316, + 0.12776080269299336, + -0.049308730870040195, + -0.9987420229861697, + 0.009111563064568454, + 0.1271650608925484, + -0.015326140232689037, + -0.9917631555536648 + ], + [ + 0.9951651786084778, + -0.038724205839211885, + 0.09025908911172852, + -0.041072884087384125, + -0.9988603632404391, + 0.02431034635545732, + 0.08921482767960105, + -0.027900011277781536, + -0.9956215666069106 + ], + [ + 0.9995013516195486, + -0.018381612020686167, + 0.025674198141636226, + -0.01997751701936966, + -0.9977911908162266, + 0.06335328202450849, + 0.02445295328658334, + -0.06383459774336392, + -0.9976608628218843 + ], + [ + 0.9996771122213219, + -0.015109369273015998, + 0.0204298375179536, + -0.016878620471506588, + -0.9958526080522584, + 0.08940187473701984, + 0.01899430103523642, + -0.08971783543803645, + -0.9957860847252767 + ], + [ + 0.9996413953363907, + -0.0009967849949739259, + 0.02675980473746109, + -0.002787610990940939, + -0.9977511861593337, + 0.06696864745987778, + 0.02663287357527226, + -0.06701922811638465, + -0.9973961665796631 + ], + [ + 0.9987517454572648, + -0.036209989691652254, + 0.034406214447363984, + -0.037913932422777206, + -0.9980175152789399, + 0.05023517616862172, + 0.032518989441688434, + -0.051476944771245065, + -0.9981445984839621 + ], + [ + 0.9909438898821913, + -0.1228880896081137, + 0.05411769154001185, + -0.1238185353884087, + -0.9922036023542816, + 0.014176803922466912, + 0.05195360814631682, + -0.020749190530112413, + -0.9984339205440309 + ], + [ + 0.9768227881653343, + -0.20681170487014386, + 0.055192021611880346, + -0.20709533056793925, + -0.9783205879480192, + -0.0005926668518396365, + 0.05411806147542356, + -0.010851079473758046, + -0.9984755828243352 + ], + [ + 0.9757025957005108, + -0.21604912466598286, + 0.036431037239536605, + -0.21597971635676827, + -0.9763801624298869, + -0.005877119688922929, + 0.03684028862177701, + -0.0021340441538532963, + -0.9993188875378138 + ], + [ + 0.9824880371925498, + -0.18611818666185687, + 0.00879075464526737, + -0.18609094927487435, + -0.9825250653932094, + -0.0038281159917190268, + 0.009349618789406983, + 0.002125198290069121, + -0.999954033023879 + ], + [ + 0.9861435509311504, + -0.16571163757940344, + -0.007781396253530692, + -0.16571923700537028, + -0.98617291608916, + -0.0003377255701643555, + -0.007617837177305254, + 0.001622572942973678, + -0.9999696674468607 + ], + [ + 0.9849933843784059, + -0.17257239459511053, + -0.0026079406594973647, + -0.17239030252649185, + -0.9844598792886333, + 0.03347132602443797, + -0.008343639829151595, + -0.032519451021182276, + -0.99943627559724 + ], + [ + 0.9730174464519762, + -0.23025989379909967, + -0.014745514833410382, + -0.2279203749290628, + -0.9691432624297148, + 0.09388098625005857, + -0.03590754227555032, + -0.08798703424207215, + -0.9954742237813159 + ], + [ + 0.9668035302480908, + -0.24997870991066132, + 0.052929939459919854, + -0.25373451816144327, + -0.9636727109162964, + 0.0833888513448703, + 0.030161700767853815, + -0.09405078854873096, + -0.9951104064274239 + ], + [ + 0.971260545231102, + -0.23451010792483362, + 0.040718086380199935, + -0.23552871106392315, + -0.971612157835381, + 0.02227197815735212, + 0.03433918376941331, + -0.03122217205060299, + -0.9989224176233573 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006438.json b/json/chunk-0006/episode_0006438.json new file mode 100644 index 0000000000000000000000000000000000000000..adce31a4ab3120dc87d68e0a86ee1472c42e3318 --- /dev/null +++ b/json/chunk-0006/episode_0006438.json @@ -0,0 +1,2062 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 33, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nOpen the drawer." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006438.mp4", + "start": 0, + "end": 33, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.22622689604759216, + 0.14436975121498108, + 0.17879898846149445, + 0.09994454681873322, + -0.18060337007045746, + -0.33107608556747437, + 0.0, + 1.0008161067962646 + ], + [ + 0.22635361552238464, + 0.14373326301574707, + 0.17243503034114838, + 0.08607486635446548, + -0.1744583249092102, + -0.3199435770511627, + 0.0, + 1.0008161067962646 + ], + [ + 0.2342700958251953, + 0.11772919446229935, + 0.14743325114250183, + 0.057397063821554184, + -0.20627336204051971, + -0.2493395209312439, + 0.0, + 1.0008161067962646 + ], + [ + 0.2461809366941452, + 0.09396114200353622, + 0.1413733959197998, + 0.02499803714454174, + -0.25006529688835144, + -0.22116288542747498, + 0.0, + 1.0014774799346924 + ], + [ + 0.2558992803096771, + 0.07988184690475464, + 0.13669517636299133, + -0.04009072482585907, + -0.28192219138145447, + -0.13500727713108063, + 0.0, + 1.0008161067962646 + ], + [ + 0.267022043466568, + 0.06974559277296066, + 0.1271781176328659, + -0.11355840414762497, + -0.2769113779067993, + -0.00709471944719553, + 0.0, + 1.0014774799346924 + ], + [ + 0.2895342707633972, + 0.06661295145750046, + 0.11791034042835236, + -0.1617877036333084, + -0.2808593809604645, + 0.08979116380214691, + 0.0, + 1.0008161067962646 + ], + [ + 0.30724799633026123, + 0.06852103024721146, + 0.1025056391954422, + -0.15635381639003754, + -0.25938156247138977, + 0.11940766870975494, + 0.0, + 1.0008161067962646 + ], + [ + 0.3202614188194275, + 0.06928112357854843, + 0.09135997295379639, + -0.15336818993091583, + -0.24250727891921997, + 0.15084122121334076, + 0.0, + 1.0008161067962646 + ], + [ + 0.3245633840560913, + 0.06403327733278275, + 0.07510311156511307, + -0.15165269374847412, + -0.20873014628887177, + 0.15187326073646545, + 0.0, + 1.0008161067962646 + ], + [ + 0.32758378982543945, + 0.06122327968478203, + 0.06303766369819641, + -0.14086760580539703, + -0.19137440621852875, + 0.15444570779800415, + 0.0, + 1.0008161067962646 + ], + [ + 0.3312930464744568, + 0.05463554710149765, + 0.051038648933172226, + -0.13623766601085663, + -0.1694543957710266, + 0.14169546961784363, + 0.0, + 1.0008161067962646 + ], + [ + 0.33322054147720337, + 0.05226065218448639, + 0.03985036164522171, + -0.12318617850542068, + -0.14908240735530853, + 0.1295928806066513, + 0.0, + 1.0008161067962646 + ], + [ + 0.33367350697517395, + 0.05257111415266991, + 0.031053686514496803, + -0.10715192556381226, + -0.13737726211547852, + 0.1276751607656479, + 0.0, + 0.9679883122444153 + ], + [ + 0.33540287613868713, + 0.054103873670101166, + 0.02938474714756012, + -0.081283338367939, + -0.14518527686595917, + 0.1320541799068451, + 0.0, + 0.6881998181343079 + ], + [ + 0.3339623808860779, + 0.05565350502729416, + 0.029078317806124687, + -0.06822065263986588, + -0.13832394778728485, + 0.11641570925712585, + 0.0, + 0.36865687370300293 + ], + [ + 0.32834339141845703, + 0.06587688624858856, + 0.02987903542816639, + -0.05286308005452156, + -0.10815118998289108, + 0.11686837673187256, + 0.0, + 0.17243100702762604 + ], + [ + 0.32363083958625793, + 0.0816376730799675, + 0.03311102092266083, + -0.03615773469209671, + -0.08393346518278122, + 0.12139736860990524, + 0.0, + 0.1394769847393036 + ], + [ + 0.31691843271255493, + 0.10778737813234329, + 0.03895951062440872, + -0.014013559557497501, + -0.06430060416460037, + 0.1351735144853592, + 0.0, + 0.1361871361732483 + ], + [ + 0.3134308159351349, + 0.11683265119791031, + 0.04180494323372841, + -0.006780155003070831, + -0.045974794775247574, + 0.1257687211036682, + 0.0, + 0.1361871361732483 + ], + [ + 0.30974280834198, + 0.12667520344257355, + 0.04463507980108261, + -0.003770342795178294, + -0.03447183966636658, + 0.12811145186424255, + 0.0, + 0.1361871361732483 + ], + [ + 0.3057781457901001, + 0.13679443299770355, + 0.047065433114767075, + -0.00034058571327477694, + -0.029058804735541344, + 0.12234672158956528, + 0.0, + 0.1361871361732483 + ], + [ + 0.30435505509376526, + 0.13985900580883026, + 0.04783620685338974, + 0.0032034555915743113, + -0.0215911865234375, + 0.10671437531709671, + 0.0, + 0.1361871361732483 + ], + [ + 0.30587098002433777, + 0.14753712713718414, + 0.05282934755086899, + 0.017103882506489754, + -0.028079882264137268, + 0.09858785569667816, + 0.0, + 0.1361871361732483 + ], + [ + 0.30348172783851624, + 0.1600329428911209, + 0.056890662759542465, + 0.027966005727648735, + -0.031964242458343506, + 0.10612547397613525, + 0.0, + 0.1361871361732483 + ], + [ + 0.3047511875629425, + 0.16261203587055206, + 0.06028982251882553, + 0.033109672367572784, + -0.0331546775996685, + 0.1024349257349968, + 0.0, + 0.17734436690807343 + ], + [ + 0.3051150441169739, + 0.16852419078350067, + 0.06071115657687187, + 0.02945210225880146, + -0.017496587708592415, + 0.08857182413339615, + 0.0, + 0.413944274187088 + ], + [ + 0.30438071489334106, + 0.16922849416732788, + 0.06104842200875282, + 0.030827080830931664, + -0.013486245647072792, + 0.08570779114961624, + 0.0, + 0.7329457402229309 + ], + [ + 0.30366870760917664, + 0.1654530018568039, + 0.06467358022928238, + 0.010762978345155716, + -0.013625068590044975, + 0.0653180405497551, + 0.0, + 0.9830701947212219 + ], + [ + 0.30514392256736755, + 0.16625554859638214, + 0.10575924813747406, + 0.05874223634600639, + -0.11482907831668854, + 0.054598547518253326, + 0.0, + 1.0014774799346924 + ], + [ + 0.29686999320983887, + 0.1569511890411377, + 0.14442914724349976, + 0.12136517465114594, + -0.17970556020736694, + 0.03834391385316849, + 0.0, + 1.0008161067962646 + ], + [ + 0.2931358516216278, + 0.12810227274894714, + 0.18099568784236908, + 0.14346419274806976, + -0.2631275951862335, + -0.017847556620836258, + 0.0, + 1.0008161067962646 + ], + [ + 0.29791948199272156, + 0.08291813731193542, + 0.18819694221019745, + 0.06330166012048721, + -0.2676185667514801, + -0.05930158495903015, + 0.0, + 1.0008161067962646 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9679883122444153 + ], + [ + 0.6881998181343079 + ], + [ + 0.36865687370300293 + ], + [ + 0.17243100702762604 + ], + [ + 0.1394769847393036 + ], + [ + 0.1361871361732483 + ], + [ + 0.1361871361732483 + ], + [ + 0.1361871361732483 + ], + [ + 0.1361871361732483 + ], + [ + 0.1361871361732483 + ], + [ + 0.1361871361732483 + ], + [ + 0.1361871361732483 + ], + [ + 0.17734436690807343 + ], + [ + 0.413944274187088 + ], + [ + 0.7329457402229309 + ], + [ + 0.9830701947212219 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.22622689604759216, + 0.14436975121498108, + 0.17879898846149445 + ], + [ + 0.22635361552238464, + 0.14373326301574707, + 0.17243503034114838 + ], + [ + 0.2342700958251953, + 0.11772919446229935, + 0.14743325114250183 + ], + [ + 0.2461809366941452, + 0.09396114200353622, + 0.1413733959197998 + ], + [ + 0.2558992803096771, + 0.07988184690475464, + 0.13669517636299133 + ], + [ + 0.267022043466568, + 0.06974559277296066, + 0.1271781176328659 + ], + [ + 0.2895342707633972, + 0.06661295145750046, + 0.11791034042835236 + ], + [ + 0.30724799633026123, + 0.06852103024721146, + 0.1025056391954422 + ], + [ + 0.3202614188194275, + 0.06928112357854843, + 0.09135997295379639 + ], + [ + 0.3245633840560913, + 0.06403327733278275, + 0.07510311156511307 + ], + [ + 0.32758378982543945, + 0.06122327968478203, + 0.06303766369819641 + ], + [ + 0.3312930464744568, + 0.05463554710149765, + 0.051038648933172226 + ], + [ + 0.33322054147720337, + 0.05226065218448639, + 0.03985036164522171 + ], + [ + 0.33367350697517395, + 0.05257111415266991, + 0.031053686514496803 + ], + [ + 0.33540287613868713, + 0.054103873670101166, + 0.02938474714756012 + ], + [ + 0.3339623808860779, + 0.05565350502729416, + 0.029078317806124687 + ], + [ + 0.32834339141845703, + 0.06587688624858856, + 0.02987903542816639 + ], + [ + 0.32363083958625793, + 0.0816376730799675, + 0.03311102092266083 + ], + [ + 0.31691843271255493, + 0.10778737813234329, + 0.03895951062440872 + ], + [ + 0.3134308159351349, + 0.11683265119791031, + 0.04180494323372841 + ], + [ + 0.30974280834198, + 0.12667520344257355, + 0.04463507980108261 + ], + [ + 0.3057781457901001, + 0.13679443299770355, + 0.047065433114767075 + ], + [ + 0.30435505509376526, + 0.13985900580883026, + 0.04783620685338974 + ], + [ + 0.30587098002433777, + 0.14753712713718414, + 0.05282934755086899 + ], + [ + 0.30348172783851624, + 0.1600329428911209, + 0.056890662759542465 + ], + [ + 0.3047511875629425, + 0.16261203587055206, + 0.06028982251882553 + ], + [ + 0.3051150441169739, + 0.16852419078350067, + 0.06071115657687187 + ], + [ + 0.30438071489334106, + 0.16922849416732788, + 0.06104842200875282 + ], + [ + 0.30366870760917664, + 0.1654530018568039, + 0.06467358022928238 + ], + [ + 0.30514392256736755, + 0.16625554859638214, + 0.10575924813747406 + ], + [ + 0.29686999320983887, + 0.1569511890411377, + 0.14442914724349976 + ], + [ + 0.2931358516216278, + 0.12810227274894714, + 0.18099568784236908 + ], + [ + 0.29791948199272156, + 0.08291813731193542, + 0.18819694221019745 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.930311865462544, + -0.3064895432575268, + 0.20145469181280887, + -0.3197739082897693, + -0.9467997032251807, + 0.036262508873430334, + 0.17962316263969805, + -0.09815539642068594, + -0.9788263572242066 + ], + [ + 0.9348441710208656, + -0.2991838906357638, + 0.19119460110672018, + -0.3097389156588879, + -0.9504320393979919, + 0.02721658707902306, + 0.1735747102396165, + -0.08466367621253565, + -0.9811747458508153 + ], + [ + 0.9485321584103812, + -0.2349716854782816, + 0.2123088587055167, + -0.2415328039118023, + -0.9703790729087455, + 0.005134149906880978, + 0.20481369362385515, + -0.05614946023123437, + -0.9771891265358486 + ], + [ + 0.9452968716769555, + -0.21326090591811034, + 0.24684734230845562, + -0.212541282120521, + -0.9766950779742124, + -0.029881901805468885, + 0.24746722569327456, + -0.024217982325814586, + -0.9685935481613224 + ], + [ + 0.9517820382520964, + -0.1455382562658553, + 0.2700547493079484, + -0.1292839421576291, + -0.9886033284356018, + -0.07713054716668412, + 0.2782024693651504, + 0.03849772680488425, + -0.959750650466041 + ], + [ + 0.9618802024344433, + -0.03802678132621502, + 0.2708144015126283, + -0.006824384680369385, + -0.9933143824463794, + -0.115238732199304, + 0.2733859980657553, + 0.10899771340324893, + -0.9557089486524936 + ], + [ + 0.9569469169399348, + 0.04403023748797289, + 0.28690405425142795, + 0.08615704763817114, + -0.9869686983389567, + -0.1359034644200785, + 0.27718145915884695, + 0.15477120754797496, + -0.9482701682604564 + ], + [ + 0.9596663462666959, + 0.0780165042724398, + 0.2700998498782216, + 0.11513926792222683, + -0.9855255378581841, + -0.12442814477307826, + 0.2564828509383486, + 0.15050860204800534, + -0.9547584552566641 + ], + [ + 0.9597162120040289, + 0.11223735810582179, + 0.25758021636388007, + 0.14587279880444295, + -0.9825531160970012, + -0.11537114291291044, + 0.24013729195107592, + 0.14829750332860703, + -0.9593445322306817 + ], + [ + 0.9670340856160039, + 0.11860922135312513, + 0.2253373689977424, + 0.1480063194590081, + -0.9818803775562921, + -0.1183429489666, + 0.2072177759194838, + 0.14779302006494968, + -0.9670667074008205 + ], + [ + 0.9700579947137544, + 0.12592085651299395, + 0.2076810650660374, + 0.1510240235295684, + -0.9824176092243071, + -0.10976058219113591, + 0.1902083889024615, + 0.13783896031612658, + -0.972019130372494 + ], + [ + 0.9757984548805303, + 0.11723804794800355, + 0.18458769072208275, + 0.13919906431325343, + -0.9840394884459982, + -0.1108598469837152, + 0.16864458469540133, + 0.13387130122725943, + -0.976543638943307 + ], + [ + 0.9806153858917808, + 0.11015350257059618, + 0.16204835952191382, + 0.1277969958976977, + -0.9864588499789289, + -0.10279525834284811, + 0.14853078062084513, + 0.12151190546476798, + -0.9814140125545812 + ], + [ + 0.9825158522503412, + 0.1120716001665374, + 0.14866928570790122, + 0.12612895578978295, + -0.9880368408253128, + -0.08873943702387638, + 0.13694556067344704, + 0.10593940536007987, + -0.9848973326209124 + ], + [ + 0.9808642277670855, + 0.11959147030065422, + 0.15363348241254898, + 0.13028542212475733, + -0.9895672912852583, + -0.06150028292724075, + 0.1446757597825325, + 0.0803396306295007, + -0.9862121821807225 + ], + [ + 0.9837444786753131, + 0.10654717297194201, + 0.1445493016500721, + 0.11504349487353698, + -0.9920127029902921, + -0.051728052284779565, + 0.13788326571095907, + 0.06751664267113323, + -0.9881445784900607 + ], + [ + 0.9873758734959907, + 0.1107751334691802, + 0.11321552121027875, + 0.11592125597723217, + -0.9924562940311346, + -0.03990948321699595, + 0.10794047827710779, + 0.05252974626696743, + -0.9927685928283779 + ], + [ + 0.9891459470461902, + 0.11801193940333432, + 0.08754129083100819, + 0.12067309777646543, + -0.9923585817113657, + -0.025738080286575295, + 0.08383495043910401, + 0.036022596548143646, + -0.9958283354187119 + ], + [ + 0.9888302425938009, + 0.133856796320146, + 0.0655523410016101, + 0.1344837488779533, + -0.9909020142559153, + -0.005226799336205146, + 0.0642563041235334, + 0.01398414182123135, + -0.9978354429252888 + ], + [ + 0.991053225192617, + 0.12512539370573916, + 0.046445028639198666, + 0.12530487571481536, + -0.9921178171717436, + -0.0009617548905354956, + 0.04595860047267422, + 0.006772938827315804, + -0.9989203843861806 + ], + [ + 0.9912157192390888, + 0.12763151239421444, + 0.034664030021068534, + 0.12768539783599192, + -0.9918144980348557, + 0.0006638277878066136, + 0.03446501287973831, + 0.003768093925697276, + -0.9993988014578398 + ], + [ + 0.9921059495728387, + 0.12203189224797803, + 0.028879094455231954, + 0.1219901977257554, + -0.9925261212550922, + 0.003207847433016796, + 0.029054715297304665, + 0.00034044191911659157, + -0.9995777646678085 + ], + [ + 0.9940796678499787, + 0.10658016844658899, + 0.021125379550956794, + 0.10648712160792226, + -0.9942989542308213, + 0.005484755888293625, + 0.02158950900170828, + -0.0032027034504168925, + -0.9997617895237211 + ], + [ + 0.994751852579999, + 0.09889168798446615, + 0.02625234915666273, + 0.0983894263240001, + -0.9949513306477602, + 0.019783084438120914, + 0.028076192339676186, + -0.01709630632138593, + -0.9994595758377981 + ], + [ + 0.993866036117052, + 0.10677357385363932, + 0.028804620801169897, + 0.10587226915166113, + -0.9938904914122693, + 0.031188999742784784, + 0.0319587996904762, + -0.027948076978544286, + -0.9990983635836587 + ], + [ + 0.9942114437175604, + 0.1032914224316701, + 0.029571730302535768, + 0.10219968319952048, + -0.994100717397472, + 0.03631788022102656, + 0.03314860381616822, + -0.03308543065872744, + -0.9989026600941479 + ], + [ + 0.9959276182303584, + 0.08893089149890135, + 0.014814715090623905, + 0.0884425231544787, + -0.9956025243198643, + 0.03087934043958524, + 0.017495695015495135, + -0.029443337194091007, + -0.9994133231805548 + ], + [ + 0.99623873086952, + 0.0859763632743198, + 0.010791481529929977, + 0.08559511271213617, + -0.9958203802957045, + 0.031862938777135356, + 0.01348583684037934, + -0.030819395611221243, + -0.9994339883448402 + ], + [ + 0.9977749132456287, + 0.06541415016691116, + 0.012892302184602912, + 0.06526554597199363, + -0.9978001669828961, + 0.011629070379120839, + 0.013624647028672129, + -0.01076177154774057, + -0.9998492652727704 + ], + [ + 0.9919340654629526, + 0.06119390811423754, + 0.11100502413785356, + 0.05421203863757332, + -0.9964205287121696, + 0.06486281544705727, + 0.11457689400964514, + -0.05832182756624664, + -0.9917009124672801 + ], + [ + 0.9831731625518977, + 0.05967621714387111, + 0.1726536461969371, + 0.03771719349964961, + -0.9910851086434515, + 0.12777997002546188, + 0.17873988293665624, + -0.11911782625869015, + -0.9766591000524159 + ], + [ + 0.9654274272539736, + 0.01951823058591171, + 0.2599402265532778, + -0.017232350413919174, + -0.9902326933995508, + 0.138355552913079, + 0.26010176624734044, + -0.13805162656581443, + -0.9556614565825846 + ], + [ + 0.9627081148499305, + -0.04244950336830572, + 0.26719117737282716, + -0.05715713385484818, + -0.997234233231411, + 0.047507327022880914, + 0.26443552645511226, + -0.06100757112969, + -0.9624717806841215 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + 0.00012671947479248047, + -0.0006364881992340088, + -0.006363958120346069, + -0.01386968046426773, + 0.006145045161247253, + 0.011132508516311646, + 1.0 + ], + [ + 0.007916480302810669, + -0.026004068553447723, + -0.025001779198646545, + -0.0286778025329113, + -0.03181503713130951, + 0.07060405611991882, + 1.0 + ], + [ + 0.01191084086894989, + -0.023768052458763123, + -0.006059855222702026, + -0.03239902853965759, + -0.043791934847831726, + 0.02817663550376892, + 1.0 + ], + [ + 0.009718343615531921, + -0.014079295098781586, + -0.004678219556808472, + -0.06508876383304596, + -0.03185689449310303, + 0.08615560829639435, + 1.0 + ], + [ + 0.01112276315689087, + -0.010136254131793976, + -0.009517058730125427, + -0.0734676793217659, + 0.005010813474655151, + 0.12791255116462708, + 1.0 + ], + [ + 0.022512227296829224, + -0.003132641315460205, + -0.00926777720451355, + -0.04822929948568344, + -0.003948003053665161, + 0.09688588231801987, + 1.0 + ], + [ + 0.017713725566864014, + 0.0019080787897109985, + -0.015404701232910156, + 0.005433887243270874, + 0.021477818489074707, + 0.029616504907608032, + 1.0 + ], + [ + 0.01301342248916626, + 0.0007600933313369751, + -0.011145666241645813, + 0.002985626459121704, + 0.0168742835521698, + 0.031433552503585815, + 1.0 + ], + [ + 0.004301965236663818, + -0.005247846245765686, + -0.01625686138868332, + 0.0017154961824417114, + 0.033777132630348206, + 0.0010320395231246948, + 1.0 + ], + [ + 0.0030204057693481445, + -0.002809997648000717, + -0.012065447866916656, + 0.010785087943077087, + 0.017355740070343018, + 0.0025724470615386963, + 1.0 + ], + [ + 0.003709256649017334, + -0.006587732583284378, + -0.011999014765024185, + 0.004629939794540405, + 0.021920010447502136, + -0.012750238180160522, + 1.0 + ], + [ + 0.001927495002746582, + -0.002374894917011261, + -0.011188287287950516, + 0.013051487505435944, + 0.02037198841571808, + -0.012102589011192322, + 1.0 + ], + [ + 0.00045296549797058105, + 0.00031046196818351746, + -0.008796675130724907, + 0.01603425294160843, + 0.011705145239830017, + -0.001917719841003418, + 0.0 + ], + [ + 0.0017293691635131836, + 0.0015327595174312592, + -0.0016689393669366837, + 0.02586858719587326, + -0.007808014750480652, + 0.004379019141197205, + 0.0 + ], + [ + -0.001440495252609253, + 0.0015496313571929932, + -0.00030642934143543243, + 0.01306268572807312, + 0.006861329078674316, + -0.01563847064971924, + 0.0 + ], + [ + -0.00561898946762085, + 0.010223381221294403, + 0.0008007176220417023, + 0.015357572585344315, + 0.03017275780439377, + 0.0004526674747467041, + 0.0 + ], + [ + -0.004712551832199097, + 0.015760786831378937, + 0.003231985494494438, + 0.01670534536242485, + 0.024217724800109863, + 0.004528991878032684, + 0.0 + ], + [ + -0.006712406873703003, + 0.026149705052375793, + 0.005848489701747894, + 0.022144176065921783, + 0.019632861018180847, + 0.013776145875453949, + 0.0 + ], + [ + -0.003487616777420044, + 0.009045273065567017, + 0.002845432609319687, + 0.00723340455442667, + 0.0183258093893528, + -0.009404793381690979, + 0.0 + ], + [ + -0.0036880075931549072, + 0.009842552244663239, + 0.0028301365673542023, + 0.003009812207892537, + 0.011502955108880997, + 0.002342730760574341, + 0.0 + ], + [ + -0.003964662551879883, + 0.010119229555130005, + 0.0024303533136844635, + 0.0034297569654881954, + 0.0054130349308252335, + -0.005764730274677277, + 0.0 + ], + [ + -0.0014230906963348389, + 0.003064572811126709, + 0.0007707737386226654, + 0.00354404142126441, + 0.007467618212103844, + -0.015632346272468567, + 0.0 + ], + [ + 0.0015159249305725098, + 0.007678121328353882, + 0.004993140697479248, + 0.013900427147746086, + -0.006488695740699768, + -0.008126519620418549, + 0.0 + ], + [ + -0.002389252185821533, + 0.012495815753936768, + 0.004061315208673477, + 0.010862123221158981, + -0.003884360194206238, + 0.007537618279457092, + 0.0 + ], + [ + 0.0012694597244262695, + 0.0025790929794311523, + 0.003399159759283066, + 0.005143666639924049, + -0.001190435141324997, + -0.0036905482411384583, + 1.0 + ], + [ + 0.00036385655403137207, + 0.005912154912948608, + 0.00042133405804634094, + -0.003657570108771324, + 0.015658089891076088, + -0.013863101601600647, + 1.0 + ], + [ + -0.0007343292236328125, + 0.0007043033838272095, + 0.00033726543188095093, + 0.0013749785721302032, + 0.004010342061519623, + -0.0028640329837799072, + 1.0 + ], + [ + -0.0007120072841644287, + -0.003775492310523987, + 0.0036251582205295563, + -0.020064102485775948, + -0.00013882294297218323, + -0.020389750599861145, + 1.0 + ], + [ + 0.001475214958190918, + 0.0008025467395782471, + 0.04108566790819168, + 0.04797925800085068, + -0.10120400786399841, + -0.01071949303150177, + 1.0 + ], + [ + -0.008273929357528687, + -0.009304359555244446, + 0.038669899106025696, + 0.06262293457984924, + -0.0648764818906784, + -0.01625463366508484, + 1.0 + ], + [ + -0.0037341415882110596, + -0.028848916292190552, + 0.036566540598869324, + 0.022099018096923828, + -0.08342203497886658, + -0.056191470474004745, + 1.0 + ], + [ + 0.00478363037109375, + -0.04518413543701172, + 0.007201254367828369, + -0.08016253262758255, + -0.004490971565246582, + -0.04145402833819389, + 1.0 + ], + [ + 0.004659414291381836, + -0.031731292605400085, + -0.0006697475910186768, + -0.028215035796165466, + 0.011145442724227905, + 0.011223360896110535, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9679883122444153 + ], + [ + 0.6881998181343079 + ], + [ + 0.36865687370300293 + ], + [ + 0.17243100702762604 + ], + [ + 0.1394769847393036 + ], + [ + 0.1361871361732483 + ], + [ + 0.1361871361732483 + ], + [ + 0.1361871361732483 + ], + [ + 0.1361871361732483 + ], + [ + 0.1361871361732483 + ], + [ + 0.1361871361732483 + ], + [ + 0.1361871361732483 + ], + [ + 0.17734436690807343 + ], + [ + 0.413944274187088 + ], + [ + 0.7329457402229309 + ], + [ + 0.9830701947212219 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.22635361552238464, + 0.14373326301574707, + 0.17243503034114838 + ], + [ + 0.2342700958251953, + 0.11772919446229935, + 0.14743325114250183 + ], + [ + 0.2461809366941452, + 0.09396114200353622, + 0.1413733959197998 + ], + [ + 0.2558992803096771, + 0.07988184690475464, + 0.13669517636299133 + ], + [ + 0.267022043466568, + 0.06974559277296066, + 0.1271781176328659 + ], + [ + 0.2895342707633972, + 0.06661295145750046, + 0.11791034042835236 + ], + [ + 0.30724799633026123, + 0.06852103024721146, + 0.1025056391954422 + ], + [ + 0.3202614188194275, + 0.06928112357854843, + 0.09135997295379639 + ], + [ + 0.3245633840560913, + 0.06403327733278275, + 0.07510311156511307 + ], + [ + 0.32758378982543945, + 0.06122327968478203, + 0.06303766369819641 + ], + [ + 0.3312930464744568, + 0.05463554710149765, + 0.051038648933172226 + ], + [ + 0.33322054147720337, + 0.05226065218448639, + 0.03985036164522171 + ], + [ + 0.33367350697517395, + 0.05257111415266991, + 0.031053686514496803 + ], + [ + 0.33540287613868713, + 0.054103873670101166, + 0.02938474714756012 + ], + [ + 0.3339623808860779, + 0.05565350502729416, + 0.029078317806124687 + ], + [ + 0.32834339141845703, + 0.06587688624858856, + 0.02987903542816639 + ], + [ + 0.32363083958625793, + 0.0816376730799675, + 0.03311102092266083 + ], + [ + 0.31691843271255493, + 0.10778737813234329, + 0.03895951062440872 + ], + [ + 0.3134308159351349, + 0.11683265119791031, + 0.04180494323372841 + ], + [ + 0.30974280834198, + 0.12667520344257355, + 0.04463507980108261 + ], + [ + 0.3057781457901001, + 0.13679443299770355, + 0.047065433114767075 + ], + [ + 0.30435505509376526, + 0.13985900580883026, + 0.04783620685338974 + ], + [ + 0.30587098002433777, + 0.14753712713718414, + 0.05282934755086899 + ], + [ + 0.30348172783851624, + 0.1600329428911209, + 0.056890662759542465 + ], + [ + 0.3047511875629425, + 0.16261203587055206, + 0.06028982251882553 + ], + [ + 0.3051150441169739, + 0.16852419078350067, + 0.06071115657687187 + ], + [ + 0.30438071489334106, + 0.16922849416732788, + 0.06104842200875282 + ], + [ + 0.30366870760917664, + 0.1654530018568039, + 0.06467358022928238 + ], + [ + 0.30514392256736755, + 0.16625554859638214, + 0.10575924813747406 + ], + [ + 0.29686999320983887, + 0.1569511890411377, + 0.14442914724349976 + ], + [ + 0.2931358516216278, + 0.12810227274894714, + 0.18099568784236908 + ], + [ + 0.29791948199272156, + 0.08291813731193542, + 0.18819694221019745 + ], + [ + 0.3025788962841034, + 0.05118684470653534, + 0.18752719461917877 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9348441710208656, + -0.2991838906357638, + 0.19119460110672018, + -0.3097389156588879, + -0.9504320393979919, + 0.02721658707902306, + 0.1735747102396165, + -0.08466367621253565, + -0.9811747458508153 + ], + [ + 0.9485321584103812, + -0.2349716854782816, + 0.2123088587055167, + -0.2415328039118023, + -0.9703790729087455, + 0.005134149906880978, + 0.20481369362385515, + -0.05614946023123437, + -0.9771891265358486 + ], + [ + 0.9452968716769555, + -0.21326090591811034, + 0.24684734230845562, + -0.212541282120521, + -0.9766950779742124, + -0.029881901805468885, + 0.24746722569327456, + -0.024217982325814586, + -0.9685935481613224 + ], + [ + 0.9517820382520964, + -0.1455382562658553, + 0.2700547493079484, + -0.1292839421576291, + -0.9886033284356018, + -0.07713054716668412, + 0.2782024693651504, + 0.03849772680488425, + -0.959750650466041 + ], + [ + 0.9618802024344433, + -0.03802678132621502, + 0.2708144015126283, + -0.006824384680369385, + -0.9933143824463794, + -0.115238732199304, + 0.2733859980657553, + 0.10899771340324893, + -0.9557089486524936 + ], + [ + 0.9569469169399348, + 0.04403023748797289, + 0.28690405425142795, + 0.08615704763817114, + -0.9869686983389567, + -0.1359034644200785, + 0.27718145915884695, + 0.15477120754797496, + -0.9482701682604564 + ], + [ + 0.9596663462666959, + 0.0780165042724398, + 0.2700998498782216, + 0.11513926792222683, + -0.9855255378581841, + -0.12442814477307826, + 0.2564828509383486, + 0.15050860204800534, + -0.9547584552566641 + ], + [ + 0.9597162120040289, + 0.11223735810582179, + 0.25758021636388007, + 0.14587279880444295, + -0.9825531160970012, + -0.11537114291291044, + 0.24013729195107592, + 0.14829750332860703, + -0.9593445322306817 + ], + [ + 0.9670340856160039, + 0.11860922135312513, + 0.2253373689977424, + 0.1480063194590081, + -0.9818803775562921, + -0.1183429489666, + 0.2072177759194838, + 0.14779302006494968, + -0.9670667074008205 + ], + [ + 0.9700579947137544, + 0.12592085651299395, + 0.2076810650660374, + 0.1510240235295684, + -0.9824176092243071, + -0.10976058219113591, + 0.1902083889024615, + 0.13783896031612658, + -0.972019130372494 + ], + [ + 0.9757984548805303, + 0.11723804794800355, + 0.18458769072208275, + 0.13919906431325343, + -0.9840394884459982, + -0.1108598469837152, + 0.16864458469540133, + 0.13387130122725943, + -0.976543638943307 + ], + [ + 0.9806153858917808, + 0.11015350257059618, + 0.16204835952191382, + 0.1277969958976977, + -0.9864588499789289, + -0.10279525834284811, + 0.14853078062084513, + 0.12151190546476798, + -0.9814140125545812 + ], + [ + 0.9825158522503412, + 0.1120716001665374, + 0.14866928570790122, + 0.12612895578978295, + -0.9880368408253128, + -0.08873943702387638, + 0.13694556067344704, + 0.10593940536007987, + -0.9848973326209124 + ], + [ + 0.9808642277670855, + 0.11959147030065422, + 0.15363348241254898, + 0.13028542212475733, + -0.9895672912852583, + -0.06150028292724075, + 0.1446757597825325, + 0.0803396306295007, + -0.9862121821807225 + ], + [ + 0.9837444786753131, + 0.10654717297194201, + 0.1445493016500721, + 0.11504349487353698, + -0.9920127029902921, + -0.051728052284779565, + 0.13788326571095907, + 0.06751664267113323, + -0.9881445784900607 + ], + [ + 0.9873758734959907, + 0.1107751334691802, + 0.11321552121027875, + 0.11592125597723217, + -0.9924562940311346, + -0.03990948321699595, + 0.10794047827710779, + 0.05252974626696743, + -0.9927685928283779 + ], + [ + 0.9891459470461902, + 0.11801193940333432, + 0.08754129083100819, + 0.12067309777646543, + -0.9923585817113657, + -0.025738080286575295, + 0.08383495043910401, + 0.036022596548143646, + -0.9958283354187119 + ], + [ + 0.9888302425938009, + 0.133856796320146, + 0.0655523410016101, + 0.1344837488779533, + -0.9909020142559153, + -0.005226799336205146, + 0.0642563041235334, + 0.01398414182123135, + -0.9978354429252888 + ], + [ + 0.991053225192617, + 0.12512539370573916, + 0.046445028639198666, + 0.12530487571481536, + -0.9921178171717436, + -0.0009617548905354956, + 0.04595860047267422, + 0.006772938827315804, + -0.9989203843861806 + ], + [ + 0.9912157192390888, + 0.12763151239421444, + 0.034664030021068534, + 0.12768539783599192, + -0.9918144980348557, + 0.0006638277878066136, + 0.03446501287973831, + 0.003768093925697276, + -0.9993988014578398 + ], + [ + 0.9921059495728387, + 0.12203189224797803, + 0.028879094455231954, + 0.1219901977257554, + -0.9925261212550922, + 0.003207847433016796, + 0.029054715297304665, + 0.00034044191911659157, + -0.9995777646678085 + ], + [ + 0.9940796678499787, + 0.10658016844658899, + 0.021125379550956794, + 0.10648712160792226, + -0.9942989542308213, + 0.005484755888293625, + 0.02158950900170828, + -0.0032027034504168925, + -0.9997617895237211 + ], + [ + 0.994751852579999, + 0.09889168798446615, + 0.02625234915666273, + 0.0983894263240001, + -0.9949513306477602, + 0.019783084438120914, + 0.028076192339676186, + -0.01709630632138593, + -0.9994595758377981 + ], + [ + 0.993866036117052, + 0.10677357385363932, + 0.028804620801169897, + 0.10587226915166113, + -0.9938904914122693, + 0.031188999742784784, + 0.0319587996904762, + -0.027948076978544286, + -0.9990983635836587 + ], + [ + 0.9942114437175604, + 0.1032914224316701, + 0.029571730302535768, + 0.10219968319952048, + -0.994100717397472, + 0.03631788022102656, + 0.03314860381616822, + -0.03308543065872744, + -0.9989026600941479 + ], + [ + 0.9959276182303584, + 0.08893089149890135, + 0.014814715090623905, + 0.0884425231544787, + -0.9956025243198643, + 0.03087934043958524, + 0.017495695015495135, + -0.029443337194091007, + -0.9994133231805548 + ], + [ + 0.99623873086952, + 0.0859763632743198, + 0.010791481529929977, + 0.08559511271213617, + -0.9958203802957045, + 0.031862938777135356, + 0.01348583684037934, + -0.030819395611221243, + -0.9994339883448402 + ], + [ + 0.9977749132456287, + 0.06541415016691116, + 0.012892302184602912, + 0.06526554597199363, + -0.9978001669828961, + 0.011629070379120839, + 0.013624647028672129, + -0.01076177154774057, + -0.9998492652727704 + ], + [ + 0.9919340654629526, + 0.06119390811423754, + 0.11100502413785356, + 0.05421203863757332, + -0.9964205287121696, + 0.06486281544705727, + 0.11457689400964514, + -0.05832182756624664, + -0.9917009124672801 + ], + [ + 0.9831731625518977, + 0.05967621714387111, + 0.1726536461969371, + 0.03771719349964961, + -0.9910851086434515, + 0.12777997002546188, + 0.17873988293665624, + -0.11911782625869015, + -0.9766591000524159 + ], + [ + 0.9654274272539736, + 0.01951823058591171, + 0.2599402265532778, + -0.017232350413919174, + -0.9902326933995508, + 0.138355552913079, + 0.26010176624734044, + -0.13805162656581443, + -0.9556614565825846 + ], + [ + 0.9627081148499305, + -0.04244950336830572, + 0.26719117737282716, + -0.05715713385484818, + -0.997234233231411, + 0.047507327022880914, + 0.26443552645511226, + -0.06100757112969, + -0.9624717806841215 + ], + [ + 0.9661729186854455, + -0.03914178742196145, + 0.2549074570824897, + -0.04648770260609125, + -0.9986573685706791, + 0.022855058649986618, + 0.2536706224718483, + -0.03393200077951036, + -0.9666953163318028 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006440.json b/json/chunk-0006/episode_0006440.json new file mode 100644 index 0000000000000000000000000000000000000000..8422cb6f3120ab4395d627011333d7100ae47cec --- /dev/null +++ b/json/chunk-0006/episode_0006440.json @@ -0,0 +1,2242 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 36, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut the object on top of the drawer." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006440.mp4", + "start": 0, + "end": 36, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.4124439060688019, + 0.11182159185409546, + 0.08934888243675232, + 0.20058460533618927, + -0.05535629391670227, + 0.08805067092180252, + 0.0, + 1.0008161067962646 + ], + [ + 0.4101247489452362, + 0.1115654855966568, + 0.07401984184980392, + 0.19366151094436646, + -0.01693776436150074, + 0.08756648749113083, + 0.0, + 1.0008161067962646 + ], + [ + 0.4074910879135132, + 0.11737615615129471, + 0.0704575628042221, + 0.18253622949123383, + -0.0004317429265938699, + 0.0717933401465416, + 0.0, + 1.0008161067962646 + ], + [ + 0.3969087302684784, + 0.1332046091556549, + 0.07186469435691833, + 0.1749342530965805, + 0.01606403850018978, + 0.09837202727794647, + 0.0, + 1.0008161067962646 + ], + [ + 0.38824716210365295, + 0.14097951352596283, + 0.07820422202348709, + 0.17497695982456207, + 0.002175172558054328, + 0.112579844892025, + 0.0, + 1.0008161067962646 + ], + [ + 0.37599673867225647, + 0.14931762218475342, + 0.07861162722110748, + 0.1793617159128189, + -0.010340971872210503, + 0.1313510239124298, + 0.0, + 1.0008161067962646 + ], + [ + 0.36396166682243347, + 0.14695973694324493, + 0.07109980285167694, + 0.1860780268907547, + -0.015219521708786488, + 0.12347094714641571, + 0.0, + 1.0008161067962646 + ], + [ + 0.35580554604530334, + 0.1459619104862213, + 0.05885327234864235, + 0.1960124373435974, + -0.013060701079666615, + 0.11914081126451492, + 0.0, + 1.0008161067962646 + ], + [ + 0.3545001745223999, + 0.14783915877342224, + 0.053098686039447784, + 0.21338436007499695, + -0.026893828064203262, + 0.11418630182743073, + 0.0, + 1.0008161067962646 + ], + [ + 0.35342809557914734, + 0.15152305364608765, + 0.047928884625434875, + 0.24539674818515778, + -0.0378556028008461, + 0.10512907803058624, + 0.0, + 1.0008161067962646 + ], + [ + 0.35262030363082886, + 0.16451051831245422, + 0.04848967120051384, + 0.24591383337974548, + -0.06366527825593948, + 0.12333124876022339, + 0.0, + 1.0008161067962646 + ], + [ + 0.3405977487564087, + 0.1918819546699524, + 0.04810813069343567, + 0.2318333238363266, + -0.07708968967199326, + 0.19214080274105072, + 0.0, + 1.0008161067962646 + ], + [ + 0.3316652178764343, + 0.19588319957256317, + 0.04159034788608551, + 0.20596489310264587, + -0.06593769788742065, + 0.20323064923286438, + 0.0, + 1.0008161067962646 + ], + [ + 0.32224586606025696, + 0.20696373283863068, + 0.04215652495622635, + 0.19958731532096863, + -0.07390149682760239, + 0.2231854647397995, + 0.0, + 1.0008161067962646 + ], + [ + 0.3173286020755768, + 0.2147376537322998, + 0.04329277202486992, + 0.1989048272371292, + -0.0778241828083992, + 0.251533567905426, + 0.0, + 1.0008161067962646 + ], + [ + 0.31494876742362976, + 0.22076201438903809, + 0.045242246240377426, + 0.19505438208580017, + -0.08247529715299606, + 0.27584293484687805, + 0.0, + 1.0008161067962646 + ], + [ + 0.3140847384929657, + 0.229864701628685, + 0.049838535487651825, + 0.19474996626377106, + -0.09778173267841339, + 0.2981036305427551, + 0.0, + 1.0008161067962646 + ], + [ + 0.3111594617366791, + 0.23749056458473206, + 0.05335269868373871, + 0.19532015919685364, + -0.10337086021900177, + 0.33362507820129395, + 0.0, + 1.0008161067962646 + ], + [ + 0.3116900622844696, + 0.24550345540046692, + 0.05805572122335434, + 0.20140282809734344, + -0.11039286851882935, + 0.3585364818572998, + 0.0, + 1.0008161067962646 + ], + [ + 0.30932459235191345, + 0.24716027081012726, + 0.038703128695487976, + 0.1999674141407013, + -0.054797593504190445, + 0.3766516447067261, + 0.0, + 1.0008161067962646 + ], + [ + 0.3110531270503998, + 0.25134265422821045, + 0.026981521397829056, + 0.20730412006378174, + -0.019071856513619423, + 0.3890048563480377, + 0.0, + 1.0008161067962646 + ], + [ + 0.311303049325943, + 0.25211021304130554, + 0.012508158572018147, + 0.20603321492671967, + 0.020056260749697685, + 0.3921182453632355, + 0.0, + 1.0008161067962646 + ], + [ + 0.3123760223388672, + 0.2522311508655548, + 0.003949412610381842, + 0.19743895530700684, + 0.04505845159292221, + 0.3953309953212738, + 0.0, + 0.9522681832313538 + ], + [ + 0.3151678740978241, + 0.2496756911277771, + 0.002907726215198636, + 0.17544469237327576, + 0.034554578363895416, + 0.38908275961875916, + 0.0, + 0.676182746887207 + ], + [ + 0.31486010551452637, + 0.2423017919063568, + 0.004338298458606005, + 0.16337136924266815, + 0.022539407014846802, + 0.36705780029296875, + 0.0, + 0.4681091010570526 + ], + [ + 0.32445502281188965, + 0.22412681579589844, + 0.032049503177404404, + 0.14864490926265717, + -0.04089302197098732, + 0.35569536685943604, + 0.0, + 0.41037410497665405 + ], + [ + 0.3292849063873291, + 0.19888927042484283, + 0.06533157080411911, + 0.12286067754030228, + -0.08967142552137375, + 0.355964720249176, + 0.0, + 0.4077054560184479 + ], + [ + 0.33416298031806946, + 0.1564563512802124, + 0.10552456229925156, + 0.11605679243803024, + -0.1598665714263916, + 0.2871898412704468, + 0.0, + 0.4077054560184479 + ], + [ + 0.33327922224998474, + 0.10660447180271149, + 0.1290368139743805, + 0.09364641457796097, + -0.19597649574279785, + 0.16166648268699646, + 0.0, + 0.4077054560184479 + ], + [ + 0.32916754484176636, + 0.06167593598365784, + 0.13107289373874664, + 0.04259118810296059, + -0.20312035083770752, + 0.030220726504921913, + 0.0, + 0.4077054560184479 + ], + [ + 0.3326977491378784, + 0.014459557831287384, + 0.13016346096992493, + 0.015918461605906487, + -0.19271644949913025, + -0.06516695767641068, + 0.0, + 0.4077054560184479 + ], + [ + 0.3288061320781708, + -0.034296780824661255, + 0.12065760791301727, + 0.017479408532381058, + -0.1607436239719391, + -0.13475927710533142, + 0.0, + 0.4077054560184479 + ], + [ + 0.31974855065345764, + -0.06409281492233276, + 0.10520061105489731, + 0.016803935170173645, + -0.107845239341259, + -0.18621109426021576, + 0.0, + 0.4077054560184479 + ], + [ + 0.31096020340919495, + -0.07131943106651306, + 0.10149627923965454, + 0.023134320974349976, + -0.07126719504594803, + -0.21462328732013702, + 0.0, + 0.48514097929000854 + ], + [ + 0.30200275778770447, + -0.0684034675359726, + 0.10852262377738953, + 0.03041188232600689, + -0.04753756895661354, + -0.19815698266029358, + 0.0, + 0.7988975048065186 + ], + [ + 0.29626601934432983, + -0.06495777517557144, + 0.13161632418632507, + 0.017413444817066193, + -0.08840542286634445, + -0.1816195249557495, + 0.0, + 1.0047606229782104 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9522681832313538 + ], + [ + 0.676182746887207 + ], + [ + 0.4681091010570526 + ], + [ + 0.41037410497665405 + ], + [ + 0.4077054560184479 + ], + [ + 0.4077054560184479 + ], + [ + 0.4077054560184479 + ], + [ + 0.4077054560184479 + ], + [ + 0.4077054560184479 + ], + [ + 0.4077054560184479 + ], + [ + 0.4077054560184479 + ], + [ + 0.48514097929000854 + ], + [ + 0.7988975048065186 + ], + [ + 1.0047606229782104 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.4124439060688019, + 0.11182159185409546, + 0.08934888243675232 + ], + [ + 0.4101247489452362, + 0.1115654855966568, + 0.07401984184980392 + ], + [ + 0.4074910879135132, + 0.11737615615129471, + 0.0704575628042221 + ], + [ + 0.3969087302684784, + 0.1332046091556549, + 0.07186469435691833 + ], + [ + 0.38824716210365295, + 0.14097951352596283, + 0.07820422202348709 + ], + [ + 0.37599673867225647, + 0.14931762218475342, + 0.07861162722110748 + ], + [ + 0.36396166682243347, + 0.14695973694324493, + 0.07109980285167694 + ], + [ + 0.35580554604530334, + 0.1459619104862213, + 0.05885327234864235 + ], + [ + 0.3545001745223999, + 0.14783915877342224, + 0.053098686039447784 + ], + [ + 0.35342809557914734, + 0.15152305364608765, + 0.047928884625434875 + ], + [ + 0.35262030363082886, + 0.16451051831245422, + 0.04848967120051384 + ], + [ + 0.3405977487564087, + 0.1918819546699524, + 0.04810813069343567 + ], + [ + 0.3316652178764343, + 0.19588319957256317, + 0.04159034788608551 + ], + [ + 0.32224586606025696, + 0.20696373283863068, + 0.04215652495622635 + ], + [ + 0.3173286020755768, + 0.2147376537322998, + 0.04329277202486992 + ], + [ + 0.31494876742362976, + 0.22076201438903809, + 0.045242246240377426 + ], + [ + 0.3140847384929657, + 0.229864701628685, + 0.049838535487651825 + ], + [ + 0.3111594617366791, + 0.23749056458473206, + 0.05335269868373871 + ], + [ + 0.3116900622844696, + 0.24550345540046692, + 0.05805572122335434 + ], + [ + 0.30932459235191345, + 0.24716027081012726, + 0.038703128695487976 + ], + [ + 0.3110531270503998, + 0.25134265422821045, + 0.026981521397829056 + ], + [ + 0.311303049325943, + 0.25211021304130554, + 0.012508158572018147 + ], + [ + 0.3123760223388672, + 0.2522311508655548, + 0.003949412610381842 + ], + [ + 0.3151678740978241, + 0.2496756911277771, + 0.002907726215198636 + ], + [ + 0.31486010551452637, + 0.2423017919063568, + 0.004338298458606005 + ], + [ + 0.32445502281188965, + 0.22412681579589844, + 0.032049503177404404 + ], + [ + 0.3292849063873291, + 0.19888927042484283, + 0.06533157080411911 + ], + [ + 0.33416298031806946, + 0.1564563512802124, + 0.10552456229925156 + ], + [ + 0.33327922224998474, + 0.10660447180271149, + 0.1290368139743805 + ], + [ + 0.32916754484176636, + 0.06167593598365784, + 0.13107289373874664 + ], + [ + 0.3326977491378784, + 0.014459557831287384, + 0.13016346096992493 + ], + [ + 0.3288061320781708, + -0.034296780824661255, + 0.12065760791301727 + ], + [ + 0.31974855065345764, + -0.06409281492233276, + 0.10520061105489731 + ], + [ + 0.31096020340919495, + -0.07131943106651306, + 0.10149627923965454 + ], + [ + 0.30200275778770447, + -0.0684034675359726, + 0.10852262377738953 + ], + [ + 0.29626601934432983, + -0.06495777517557144, + 0.13161632418632507 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9946002090970935, + 0.09715480310119465, + 0.03648791989667164, + 0.08780224101238976, + -0.9751845938041271, + 0.20323822101239178, + 0.05532802668828927, + -0.19893705597863784, + -0.9784492103432514 + ], + [ + 0.9960256134538832, + 0.0890668407464259, + -0.0002742686020687224, + 0.08744207749179936, + -0.9772612102291873, + 0.19316938180079685, + 0.01693695449995157, + -0.19242563462500173, + -0.9811653860137095 + ], + [ + 0.9974238719475965, + 0.07061813555369167, + -0.012597563255829707, + 0.07173167547967299, + -0.9808476091309825, + 0.18108709063573242, + 0.000431742913180916, + -0.18152423142091945, + -0.9833863772724845 + ], + [ + 0.9950369726487809, + 0.09393230695481207, + -0.03283511492436043, + 0.09820077354799146, + -0.9802517200137898, + 0.1716484007632536, + -0.016063347612658235, + -0.174020938740582, + -0.9846109291203918 + ], + [ + 0.9936672288859772, + 0.11025051338769257, + -0.021685537480382773, + 0.11234191946850258, + -0.9785393318799424, + 0.17274278304487456, + -0.0021751708427949854, + -0.17408503744350445, + -0.9847282205614392 + ], + [ + 0.991332843212553, + 0.13070145877370457, + -0.013278653641909572, + 0.13096664491597823, + -0.975240182484875, + 0.17819743091952914, + 0.010340787570019563, + -0.1783920265631115, + -0.9839051544590761 + ], + [ + 0.9922722085276051, + 0.1238256053451402, + -0.007942521303604512, + 0.12314320211403262, + -0.9749091780700188, + 0.18543960280356148, + 0.01521893415621267, + -0.18498463172855661, + -0.982623564783279 + ], + [ + 0.9928264396373707, + 0.11910871239677968, + -0.010429544005516067, + 0.11884901574462063, + -0.9735955268215376, + 0.19490167164400374, + 0.013060329762938411, + -0.19474307377740896, + -0.9807673337760641 + ], + [ + 0.9931285623261409, + 0.11701168483266912, + 0.0019809857729449366, + 0.11389712491659297, + -0.9703065021016722, + 0.21338401279137914, + 0.02689058622913447, + -0.21169212926284614, + -0.9769663959320278 + ], + [ + 0.9937665438268972, + 0.11093549982824977, + 0.011016861994256326, + 0.10486035531628729, + -0.963720615107765, + 0.24545240251269385, + 0.0378465619744525, + -0.24276715365585988, + -0.969346040819555 + ], + [ + 0.9903937757971892, + 0.13468857937655282, + 0.03129145966095119, + 0.1227695995524302, + -0.9606427513275814, + 0.24918493081948337, + 0.06362227823587298, + -0.24294956453408353, + -0.9679502646338687 + ], + [ + 0.9786823904132241, + 0.20322106019142994, + 0.029698137815844978, + 0.19039359623685775, + -0.9519577949531248, + 0.23984710784160168, + 0.07701335732880432, + -0.22907980557582053, + -0.9703563188181393 + ], + [ + 0.977291254280275, + 0.21076652571189766, + 0.021892371882067368, + 0.20139593272116238, + -0.9559989522997366, + 0.21332060726797783, + 0.0658899278392365, + -0.20406732918608453, + -0.976736936215785 + ], + [ + 0.9725355615946197, + 0.23121897490248555, + 0.026690205673259, + 0.22073306361689632, + -0.9525980922451264, + 0.2093652055076117, + 0.07383424720369479, + -0.19772369684989463, + -0.9774731933121614 + ], + [ + 0.9656003450403945, + 0.25886114515789055, + 0.024634958603912023, + 0.2481362283903353, + -0.9456123823207684, + 0.2103464631551005, + 0.07774564822606012, + -0.19699779168606493, + -0.9773164708796855 + ], + [ + 0.9589253014785152, + 0.28255702130716415, + 0.024975906277083838, + 0.27143231339649093, + -0.9396011569280714, + 0.20850459262006427, + 0.08238182705286413, + -0.1931610613178873, + -0.9777024286366377 + ], + [ + 0.9513290417344972, + 0.30621521736602125, + 0.03471735885698219, + 0.2923050134642384, + -0.9322760893955826, + 0.21311750806761967, + 0.09762598760676136, + -0.19259681667867953, + -0.9764095619918132 + ], + [ + 0.9398177674120901, + 0.34016604503332815, + 0.03208778370248766, + 0.3257223285979117, + -0.9203373509895785, + 0.21652742326605848, + 0.10318686306554664, + -0.1930446118902794, + -0.9757490707711809 + ], + [ + 0.9307113444869018, + 0.36444849914611455, + 0.030881786112985733, + 0.34876816331652594, + -0.9097501798369242, + 0.2252007516495032, + 0.11016878641521252, + -0.19882631052461014, + -0.9738228466938792 + ], + [ + 0.9285056073250344, + 0.3705963612430832, + -0.02314463651378828, + 0.36725681105204716, + -0.907369761470715, + 0.2044567208591068, + 0.05477017346923529, + -0.19833923717198262, + -0.978601949260365 + ], + [ + 0.9251186690575784, + 0.37477935354400577, + -0.0607937851944767, + 0.37919883511074065, + -0.9039872483275975, + 0.19752290579007922, + 0.01907070034876543, + -0.20578506024062168, + -0.9784113743052928 + ], + [ + 0.9239157977203254, + 0.37027298132677383, + -0.0963198734540148, + 0.38206988766539457, + -0.9061249008080949, + 0.18154962152225237, + -0.02005491615957561, + -0.2045374866250754, + -0.9786532669454129 + ], + [ + 0.9219324685579078, + 0.36947763241774145, + -0.11630478305599799, + 0.3847228001790386, + -0.9083425105637761, + 0.16401905537191652, + -0.04504320638145039, + -0.1959595944210863, + -0.9795769224074246 + ], + [ + 0.9247050624577529, + 0.3679371973413021, + -0.09768708347387098, + 0.37911344440744793, + -0.9133412660839784, + 0.1485958543756727, + -0.03454770230455533, + -0.1744418254913167, + -0.9840612307091122 + ], + [ + 0.9331501715966605, + 0.35067080515006216, + -0.07912486122913856, + 0.35877962373087874, + -0.9222742711252084, + 0.14383097863810423, + -0.022537498633441615, + -0.1626042903366109, + -0.9864339338848167 + ], + [ + 0.9366208861955538, + 0.35007761596246956, + -0.013674002497030208, + 0.34795115780316066, + -0.9249590618977644, + 0.15290757207099778, + 0.04088162577118366, + -0.14797431065979347, + -0.9881458880444038 + ], + [ + 0.933544808403841, + 0.35615453701751826, + 0.04059601537187178, + 0.34709459146445926, + -0.9264207688289925, + 0.14584205037786216, + 0.0895512997022161, + -0.12205943160663989, + -0.9884746126621099 + ], + [ + 0.9468144475917137, + 0.2990310638304769, + 0.11883949131501576, + 0.27964632330927525, + -0.9473707785696053, + 0.15584139941628095, + 0.15918648086820303, + -0.11431986169005692, + -0.9806072779313664 + ], + [ + 0.968068005202429, + 0.17822907300881674, + 0.17629161873954188, + 0.15788202290975561, + -0.9797050094066782, + 0.12349640231757508, + 0.19472443130052666, + -0.09171963845261727, + -0.9765602407311123 + ], + [ + 0.9789946652510221, + 0.03877397710111705, + 0.20016499221842346, + 0.029594940187371098, + -0.9983774035522255, + 0.04864873679370106, + 0.20172651021951823, + -0.0417029828199246, + -0.9785536655179295 + ], + [ + 0.9794042668244249, + -0.062070396927662676, + 0.19213159019628384, + -0.06391529908664706, + -0.9979494897922749, + 0.003413263248310555, + 0.1915257598047187, + -0.015623112640578942, + -0.9813632363618706 + ], + [ + 0.9781591169022796, + -0.13155913664833394, + 0.16092524843944522, + -0.13261978362323704, + -0.9911581714506794, + -0.004179971084953243, + 0.16005228837063828, + -0.01725319480241996, + -0.986957745932637 + ], + [ + 0.9770035225963141, + -0.18333332640100802, + 0.10887152182795834, + -0.18406124407941588, + -0.9829088548321563, + -0.0034119672444961257, + 0.10763631014825736, + -0.016705523735617334, + -0.9940499737007127 + ], + [ + 0.9745765037013318, + -0.2113129990964066, + 0.07448123821587882, + -0.21243874014380865, + -0.977146062912931, + 0.007439987894470304, + 0.07120688252830465, + -0.023073537800705292, + -0.9971946609032561 + ], + [ + 0.9793234736664306, + -0.19535502045958575, + 0.05255425679382726, + -0.19664031939972926, + -0.980262162049664, + 0.02046163336812076, + 0.04751966658436456, + -0.03037284370871054, + -0.9984084192617557 + ], + [ + 0.9797114760287474, + -0.17908323813702634, + 0.08997009256374987, + -0.17991732689736642, + -0.9836810254772508, + 0.001181354362544523, + 0.0882903121507609, + -0.01734456498102, + -0.9959437669095278 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.002319157123565674, + -0.00025610625743865967, + -0.015329040586948395, + -0.006923094391822815, + 0.03841853141784668, + -0.0004841834306716919, + 1.0 + ], + [ + -0.0026336610317230225, + 0.005810670554637909, + -0.0035622790455818176, + -0.01112528145313263, + 0.016506021842360497, + -0.015773147344589233, + 1.0 + ], + [ + -0.01058235764503479, + 0.0158284530043602, + 0.001407131552696228, + -0.00760197639465332, + 0.016495781019330025, + 0.026578687131404877, + 1.0 + ], + [ + -0.00866156816482544, + 0.007774904370307922, + 0.006339527666568756, + 4.270672798156738e-05, + -0.01388886570930481, + 0.014207817614078522, + 1.0 + ], + [ + -0.012250423431396484, + 0.008338108658790588, + 0.00040740519762039185, + 0.004384756088256836, + -0.012516144663095474, + 0.018771179020404816, + 1.0 + ], + [ + -0.012035071849822998, + -0.002357885241508484, + -0.007511824369430542, + 0.006716310977935791, + -0.004878549836575985, + -0.007880076766014099, + 1.0 + ], + [ + -0.008156120777130127, + -0.0009978264570236206, + -0.012246530503034592, + 0.009934410452842712, + 0.002158820629119873, + -0.004330135881900787, + 1.0 + ], + [ + -0.0013053715229034424, + 0.0018772482872009277, + -0.005754586309194565, + 0.017371922731399536, + -0.013833126984536648, + -0.004954509437084198, + 1.0 + ], + [ + -0.0010720789432525635, + 0.0036838948726654053, + -0.005169801414012909, + 0.03201238811016083, + -0.010961774736642838, + -0.009057223796844482, + 1.0 + ], + [ + -0.0008077919483184814, + 0.012987464666366577, + 0.0005607865750789642, + 0.0005170851945877075, + -0.025809675455093384, + 0.018202170729637146, + 1.0 + ], + [ + -0.012022554874420166, + 0.02737143635749817, + -0.0003815405070781708, + -0.014080509543418884, + -0.013424411416053772, + 0.06880955398082733, + 1.0 + ], + [ + -0.008932530879974365, + 0.004001244902610779, + -0.006517782807350159, + -0.025868430733680725, + 0.011151991784572601, + 0.01108984649181366, + 1.0 + ], + [ + -0.009419351816177368, + 0.011080533266067505, + 0.0005661770701408386, + -0.006377577781677246, + -0.007963798940181732, + 0.01995481550693512, + 1.0 + ], + [ + -0.004917263984680176, + 0.007773920893669128, + 0.00113624706864357, + -0.0006824880838394165, + -0.003922685980796814, + 0.028348103165626526, + 1.0 + ], + [ + -0.0023798346519470215, + 0.006024360656738281, + 0.0019494742155075073, + -0.0038504451513290405, + -0.004651114344596863, + 0.024309366941452026, + 1.0 + ], + [ + -0.0008640289306640625, + 0.009102687239646912, + 0.004596289247274399, + -0.00030441582202911377, + -0.015306435525417328, + 0.022260695695877075, + 1.0 + ], + [ + -0.002925276756286621, + 0.007625862956047058, + 0.0035141631960868835, + 0.0005701929330825806, + -0.005589127540588379, + 0.03552144765853882, + 1.0 + ], + [ + 0.0005306005477905273, + 0.008012890815734863, + 0.004703022539615631, + 0.006082668900489807, + -0.007022008299827576, + 0.02491140365600586, + 1.0 + ], + [ + -0.0023654699325561523, + 0.0016568154096603394, + -0.019352592527866364, + -0.0014354139566421509, + 0.0555952750146389, + 0.01811516284942627, + 1.0 + ], + [ + 0.0017285346984863281, + 0.004182383418083191, + -0.01172160729765892, + 0.007336705923080444, + 0.03572573512792587, + 0.012353211641311646, + 1.0 + ], + [ + 0.0002499222755432129, + 0.0007675588130950928, + -0.01447336282581091, + -0.0012709051370620728, + 0.03912811726331711, + 0.003113389015197754, + 1.0 + ], + [ + 0.0010729730129241943, + 0.00012093782424926758, + -0.008558746427297592, + -0.00859425961971283, + 0.025002190843224525, + 0.00321274995803833, + 0.0 + ], + [ + 0.002791851758956909, + -0.00255545973777771, + -0.0010416863951832056, + -0.02199426293373108, + -0.010503873229026794, + -0.0062482357025146484, + 0.0 + ], + [ + -0.0003077685832977295, + -0.007373899221420288, + 0.0014305722434073687, + -0.012073323130607605, + -0.012015171349048615, + -0.022024959325790405, + 0.0 + ], + [ + 0.009594917297363281, + -0.018174976110458374, + 0.027711205184459686, + -0.014726459980010986, + -0.06343242526054382, + -0.011362433433532715, + 0.0 + ], + [ + 0.004829883575439453, + -0.025237545371055603, + 0.033282067626714706, + -0.02578423172235489, + -0.04877840355038643, + 0.00026935338973999023, + 0.0 + ], + [ + 0.0048780739307403564, + -0.04243291914463043, + 0.040192991495132446, + -0.006803885102272034, + -0.07019514590501785, + -0.06877487897872925, + 0.0 + ], + [ + -0.0008837580680847168, + -0.049851879477500916, + 0.023512251675128937, + -0.022410377860069275, + -0.03610992431640625, + -0.12552335858345032, + 0.0 + ], + [ + -0.004111677408218384, + -0.04492853581905365, + 0.00203607976436615, + -0.05105522647500038, + -0.007143855094909668, + -0.1314457505941391, + 0.0 + ], + [ + 0.0035302042961120605, + -0.04721637815237045, + -0.0009094327688217163, + -0.0266727264970541, + 0.01040390133857727, + -0.09538768231868744, + 0.0 + ], + [ + -0.0038916170597076416, + -0.04875633865594864, + -0.009505853056907654, + 0.0015609469264745712, + 0.03197282552719116, + -0.06959231942892075, + 0.0 + ], + [ + -0.009057581424713135, + -0.02979603409767151, + -0.015456996858119965, + -0.0006754733622074127, + 0.052898384630680084, + -0.05145181715488434, + 0.0 + ], + [ + -0.008788347244262695, + -0.007226616144180298, + -0.0037043318152427673, + 0.006330385804176331, + 0.036578044295310974, + -0.028412193059921265, + 1.0 + ], + [ + -0.008957445621490479, + 0.0029159635305404663, + 0.007026344537734985, + 0.007277561351656914, + 0.023729626089334488, + 0.016466304659843445, + 1.0 + ], + [ + -0.005736738443374634, + 0.0034456923604011536, + 0.023093700408935547, + -0.012998437508940697, + -0.04086785390973091, + 0.016537457704544067, + 1.0 + ], + [ + -0.004075407981872559, + 0.010117381811141968, + 0.019010037183761597, + 0.006134152412414551, + -0.03103911131620407, + 0.0259455144405365, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9522681832313538 + ], + [ + 0.676182746887207 + ], + [ + 0.4681091010570526 + ], + [ + 0.41037410497665405 + ], + [ + 0.4077054560184479 + ], + [ + 0.4077054560184479 + ], + [ + 0.4077054560184479 + ], + [ + 0.4077054560184479 + ], + [ + 0.4077054560184479 + ], + [ + 0.4077054560184479 + ], + [ + 0.4077054560184479 + ], + [ + 0.48514097929000854 + ], + [ + 0.7988975048065186 + ], + [ + 1.0047606229782104 + ], + [ + 1.003452181816101 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.4101247489452362, + 0.1115654855966568, + 0.07401984184980392 + ], + [ + 0.4074910879135132, + 0.11737615615129471, + 0.0704575628042221 + ], + [ + 0.3969087302684784, + 0.1332046091556549, + 0.07186469435691833 + ], + [ + 0.38824716210365295, + 0.14097951352596283, + 0.07820422202348709 + ], + [ + 0.37599673867225647, + 0.14931762218475342, + 0.07861162722110748 + ], + [ + 0.36396166682243347, + 0.14695973694324493, + 0.07109980285167694 + ], + [ + 0.35580554604530334, + 0.1459619104862213, + 0.05885327234864235 + ], + [ + 0.3545001745223999, + 0.14783915877342224, + 0.053098686039447784 + ], + [ + 0.35342809557914734, + 0.15152305364608765, + 0.047928884625434875 + ], + [ + 0.35262030363082886, + 0.16451051831245422, + 0.04848967120051384 + ], + [ + 0.3405977487564087, + 0.1918819546699524, + 0.04810813069343567 + ], + [ + 0.3316652178764343, + 0.19588319957256317, + 0.04159034788608551 + ], + [ + 0.32224586606025696, + 0.20696373283863068, + 0.04215652495622635 + ], + [ + 0.3173286020755768, + 0.2147376537322998, + 0.04329277202486992 + ], + [ + 0.31494876742362976, + 0.22076201438903809, + 0.045242246240377426 + ], + [ + 0.3140847384929657, + 0.229864701628685, + 0.049838535487651825 + ], + [ + 0.3111594617366791, + 0.23749056458473206, + 0.05335269868373871 + ], + [ + 0.3116900622844696, + 0.24550345540046692, + 0.05805572122335434 + ], + [ + 0.30932459235191345, + 0.24716027081012726, + 0.038703128695487976 + ], + [ + 0.3110531270503998, + 0.25134265422821045, + 0.026981521397829056 + ], + [ + 0.311303049325943, + 0.25211021304130554, + 0.012508158572018147 + ], + [ + 0.3123760223388672, + 0.2522311508655548, + 0.003949412610381842 + ], + [ + 0.3151678740978241, + 0.2496756911277771, + 0.002907726215198636 + ], + [ + 0.31486010551452637, + 0.2423017919063568, + 0.004338298458606005 + ], + [ + 0.32445502281188965, + 0.22412681579589844, + 0.032049503177404404 + ], + [ + 0.3292849063873291, + 0.19888927042484283, + 0.06533157080411911 + ], + [ + 0.33416298031806946, + 0.1564563512802124, + 0.10552456229925156 + ], + [ + 0.33327922224998474, + 0.10660447180271149, + 0.1290368139743805 + ], + [ + 0.32916754484176636, + 0.06167593598365784, + 0.13107289373874664 + ], + [ + 0.3326977491378784, + 0.014459557831287384, + 0.13016346096992493 + ], + [ + 0.3288061320781708, + -0.034296780824661255, + 0.12065760791301727 + ], + [ + 0.31974855065345764, + -0.06409281492233276, + 0.10520061105489731 + ], + [ + 0.31096020340919495, + -0.07131943106651306, + 0.10149627923965454 + ], + [ + 0.30200275778770447, + -0.0684034675359726, + 0.10852262377738953 + ], + [ + 0.29626601934432983, + -0.06495777517557144, + 0.13161632418632507 + ], + [ + 0.2921906113624573, + -0.054840393364429474, + 0.15062636137008667 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9960256134538832, + 0.0890668407464259, + -0.0002742686020687224, + 0.08744207749179936, + -0.9772612102291873, + 0.19316938180079685, + 0.01693695449995157, + -0.19242563462500173, + -0.9811653860137095 + ], + [ + 0.9974238719475965, + 0.07061813555369167, + -0.012597563255829707, + 0.07173167547967299, + -0.9808476091309825, + 0.18108709063573242, + 0.000431742913180916, + -0.18152423142091945, + -0.9833863772724845 + ], + [ + 0.9950369726487809, + 0.09393230695481207, + -0.03283511492436043, + 0.09820077354799146, + -0.9802517200137898, + 0.1716484007632536, + -0.016063347612658235, + -0.174020938740582, + -0.9846109291203918 + ], + [ + 0.9936672288859772, + 0.11025051338769257, + -0.021685537480382773, + 0.11234191946850258, + -0.9785393318799424, + 0.17274278304487456, + -0.0021751708427949854, + -0.17408503744350445, + -0.9847282205614392 + ], + [ + 0.991332843212553, + 0.13070145877370457, + -0.013278653641909572, + 0.13096664491597823, + -0.975240182484875, + 0.17819743091952914, + 0.010340787570019563, + -0.1783920265631115, + -0.9839051544590761 + ], + [ + 0.9922722085276051, + 0.1238256053451402, + -0.007942521303604512, + 0.12314320211403262, + -0.9749091780700188, + 0.18543960280356148, + 0.01521893415621267, + -0.18498463172855661, + -0.982623564783279 + ], + [ + 0.9928264396373707, + 0.11910871239677968, + -0.010429544005516067, + 0.11884901574462063, + -0.9735955268215376, + 0.19490167164400374, + 0.013060329762938411, + -0.19474307377740896, + -0.9807673337760641 + ], + [ + 0.9931285623261409, + 0.11701168483266912, + 0.0019809857729449366, + 0.11389712491659297, + -0.9703065021016722, + 0.21338401279137914, + 0.02689058622913447, + -0.21169212926284614, + -0.9769663959320278 + ], + [ + 0.9937665438268972, + 0.11093549982824977, + 0.011016861994256326, + 0.10486035531628729, + -0.963720615107765, + 0.24545240251269385, + 0.0378465619744525, + -0.24276715365585988, + -0.969346040819555 + ], + [ + 0.9903937757971892, + 0.13468857937655282, + 0.03129145966095119, + 0.1227695995524302, + -0.9606427513275814, + 0.24918493081948337, + 0.06362227823587298, + -0.24294956453408353, + -0.9679502646338687 + ], + [ + 0.9786823904132241, + 0.20322106019142994, + 0.029698137815844978, + 0.19039359623685775, + -0.9519577949531248, + 0.23984710784160168, + 0.07701335732880432, + -0.22907980557582053, + -0.9703563188181393 + ], + [ + 0.977291254280275, + 0.21076652571189766, + 0.021892371882067368, + 0.20139593272116238, + -0.9559989522997366, + 0.21332060726797783, + 0.0658899278392365, + -0.20406732918608453, + -0.976736936215785 + ], + [ + 0.9725355615946197, + 0.23121897490248555, + 0.026690205673259, + 0.22073306361689632, + -0.9525980922451264, + 0.2093652055076117, + 0.07383424720369479, + -0.19772369684989463, + -0.9774731933121614 + ], + [ + 0.9656003450403945, + 0.25886114515789055, + 0.024634958603912023, + 0.2481362283903353, + -0.9456123823207684, + 0.2103464631551005, + 0.07774564822606012, + -0.19699779168606493, + -0.9773164708796855 + ], + [ + 0.9589253014785152, + 0.28255702130716415, + 0.024975906277083838, + 0.27143231339649093, + -0.9396011569280714, + 0.20850459262006427, + 0.08238182705286413, + -0.1931610613178873, + -0.9777024286366377 + ], + [ + 0.9513290417344972, + 0.30621521736602125, + 0.03471735885698219, + 0.2923050134642384, + -0.9322760893955826, + 0.21311750806761967, + 0.09762598760676136, + -0.19259681667867953, + -0.9764095619918132 + ], + [ + 0.9398177674120901, + 0.34016604503332815, + 0.03208778370248766, + 0.3257223285979117, + -0.9203373509895785, + 0.21652742326605848, + 0.10318686306554664, + -0.1930446118902794, + -0.9757490707711809 + ], + [ + 0.9307113444869018, + 0.36444849914611455, + 0.030881786112985733, + 0.34876816331652594, + -0.9097501798369242, + 0.2252007516495032, + 0.11016878641521252, + -0.19882631052461014, + -0.9738228466938792 + ], + [ + 0.9285056073250344, + 0.3705963612430832, + -0.02314463651378828, + 0.36725681105204716, + -0.907369761470715, + 0.2044567208591068, + 0.05477017346923529, + -0.19833923717198262, + -0.978601949260365 + ], + [ + 0.9251186690575784, + 0.37477935354400577, + -0.0607937851944767, + 0.37919883511074065, + -0.9039872483275975, + 0.19752290579007922, + 0.01907070034876543, + -0.20578506024062168, + -0.9784113743052928 + ], + [ + 0.9239157977203254, + 0.37027298132677383, + -0.0963198734540148, + 0.38206988766539457, + -0.9061249008080949, + 0.18154962152225237, + -0.02005491615957561, + -0.2045374866250754, + -0.9786532669454129 + ], + [ + 0.9219324685579078, + 0.36947763241774145, + -0.11630478305599799, + 0.3847228001790386, + -0.9083425105637761, + 0.16401905537191652, + -0.04504320638145039, + -0.1959595944210863, + -0.9795769224074246 + ], + [ + 0.9247050624577529, + 0.3679371973413021, + -0.09768708347387098, + 0.37911344440744793, + -0.9133412660839784, + 0.1485958543756727, + -0.03454770230455533, + -0.1744418254913167, + -0.9840612307091122 + ], + [ + 0.9331501715966605, + 0.35067080515006216, + -0.07912486122913856, + 0.35877962373087874, + -0.9222742711252084, + 0.14383097863810423, + -0.022537498633441615, + -0.1626042903366109, + -0.9864339338848167 + ], + [ + 0.9366208861955538, + 0.35007761596246956, + -0.013674002497030208, + 0.34795115780316066, + -0.9249590618977644, + 0.15290757207099778, + 0.04088162577118366, + -0.14797431065979347, + -0.9881458880444038 + ], + [ + 0.933544808403841, + 0.35615453701751826, + 0.04059601537187178, + 0.34709459146445926, + -0.9264207688289925, + 0.14584205037786216, + 0.0895512997022161, + -0.12205943160663989, + -0.9884746126621099 + ], + [ + 0.9468144475917137, + 0.2990310638304769, + 0.11883949131501576, + 0.27964632330927525, + -0.9473707785696053, + 0.15584139941628095, + 0.15918648086820303, + -0.11431986169005692, + -0.9806072779313664 + ], + [ + 0.968068005202429, + 0.17822907300881674, + 0.17629161873954188, + 0.15788202290975561, + -0.9797050094066782, + 0.12349640231757508, + 0.19472443130052666, + -0.09171963845261727, + -0.9765602407311123 + ], + [ + 0.9789946652510221, + 0.03877397710111705, + 0.20016499221842346, + 0.029594940187371098, + -0.9983774035522255, + 0.04864873679370106, + 0.20172651021951823, + -0.0417029828199246, + -0.9785536655179295 + ], + [ + 0.9794042668244249, + -0.062070396927662676, + 0.19213159019628384, + -0.06391529908664706, + -0.9979494897922749, + 0.003413263248310555, + 0.1915257598047187, + -0.015623112640578942, + -0.9813632363618706 + ], + [ + 0.9781591169022796, + -0.13155913664833394, + 0.16092524843944522, + -0.13261978362323704, + -0.9911581714506794, + -0.004179971084953243, + 0.16005228837063828, + -0.01725319480241996, + -0.986957745932637 + ], + [ + 0.9770035225963141, + -0.18333332640100802, + 0.10887152182795834, + -0.18406124407941588, + -0.9829088548321563, + -0.0034119672444961257, + 0.10763631014825736, + -0.016705523735617334, + -0.9940499737007127 + ], + [ + 0.9745765037013318, + -0.2113129990964066, + 0.07448123821587882, + -0.21243874014380865, + -0.977146062912931, + 0.007439987894470304, + 0.07120688252830465, + -0.023073537800705292, + -0.9971946609032561 + ], + [ + 0.9793234736664306, + -0.19535502045958575, + 0.05255425679382726, + -0.19664031939972926, + -0.980262162049664, + 0.02046163336812076, + 0.04751966658436456, + -0.03037284370871054, + -0.9984084192617557 + ], + [ + 0.9797114760287474, + -0.17908323813702634, + 0.08997009256374987, + -0.17991732689736642, + -0.9836810254772508, + 0.001181354362544523, + 0.0882903121507609, + -0.01734456498102, + -0.9959437669095278 + ], + [ + 0.9808683923605349, + -0.1522312498587499, + 0.12133772469641457, + -0.15394128832713264, + -0.988068384071698, + 0.004790422332778568, + 0.11916071758865274, + -0.023377659514729508, + -0.9925997221535834 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006441.json b/json/chunk-0006/episode_0006441.json new file mode 100644 index 0000000000000000000000000000000000000000..9f89d06306cac687ab54cddcafe1d6901b0a2c5a --- /dev/null +++ b/json/chunk-0006/episode_0006441.json @@ -0,0 +1,1882 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 30, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nThe robotic arm did not move." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006441.mp4", + "start": 0, + "end": 30, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.26910436153411865, + 0.07601408660411835, + 0.06788916885852814, + -0.0046687498688697815, + -0.2459404468536377, + 0.19335518777370453, + 0.0, + 0.9981546401977539 + ], + [ + 0.26666226983070374, + 0.07395213097333908, + 0.06001512333750725, + -0.010295454412698746, + -0.21682420372962952, + 0.20198942720890045, + 0.0, + 0.9981546401977539 + ], + [ + 0.2838492691516876, + 0.06979332119226456, + 0.056772906333208084, + -0.005372319836169481, + -0.22872097790241241, + 0.2994813621044159, + 0.0, + 0.9981546401977539 + ], + [ + 0.3073170781135559, + 0.0571732334792614, + 0.057019494473934174, + -0.03191448375582695, + -0.24487951397895813, + 0.40073341131210327, + 0.0, + 0.9981546401977539 + ], + [ + 0.3358636200428009, + 0.04599805921316147, + 0.054740600287914276, + -0.05232108011841774, + -0.2495923787355423, + 0.5623058676719666, + 0.0, + 0.9981546401977539 + ], + [ + 0.36346355080604553, + 0.03671685606241226, + 0.05346843972802162, + -0.07289867848157883, + -0.26143792271614075, + 0.6815688014030457, + 0.0, + 0.9981546401977539 + ], + [ + 0.3797570765018463, + 0.028421949595212936, + 0.04812579229474068, + -0.07969704270362854, + -0.28726068139076233, + 0.7717108130455017, + 0.0, + 0.9981546401977539 + ], + [ + 0.39616653323173523, + 0.026398582383990288, + 0.04604661464691162, + -0.08621755987405777, + -0.2819708287715912, + 0.8689600229263306, + 0.0, + 0.9981546401977539 + ], + [ + 0.41089871525764465, + 0.029041597619652748, + 0.04437290504574776, + -0.091639943420887, + -0.27792155742645264, + 0.9798617362976074, + 0.0, + 0.9981546401977539 + ], + [ + 0.4223186671733856, + 0.032495781779289246, + 0.040760233998298645, + -0.10768486559391022, + -0.28062447905540466, + 1.0867152214050293, + 0.0, + 0.9981546401977539 + ], + [ + 0.428886353969574, + 0.04388235881924629, + 0.03634686395525932, + -0.12392716109752655, + -0.29424920678138733, + 1.182737946510315, + 0.0, + 0.9981546401977539 + ], + [ + 0.43629881739616394, + 0.05378388985991478, + 0.028372086584568024, + -0.09905793517827988, + -0.2655046880245209, + 1.271601915359497, + 0.0, + 0.9981546401977539 + ], + [ + 0.4386211335659027, + 0.06129147857427597, + 0.02616400085389614, + -0.07812319695949554, + -0.24394355714321136, + 1.312334656715393, + 0.0, + 0.9981546401977539 + ], + [ + 0.4373854100704193, + 0.07404434680938721, + 0.03141457587480545, + -0.06984639167785645, + -0.2310231328010559, + 1.375124216079712, + 0.0, + 0.9981546401977539 + ], + [ + 0.4323352575302124, + 0.08775052428245544, + 0.029247233644127846, + -0.06928335130214691, + -0.18675054609775543, + 1.4097867012023926, + 0.0, + 0.9981546401977539 + ], + [ + 0.423921138048172, + 0.11014267057180405, + 0.02858409471809864, + -0.05186794325709343, + -0.16894397139549255, + 1.4502352476119995, + 0.0, + 0.9981546401977539 + ], + [ + 0.42081984877586365, + 0.12655122578144073, + 0.02872537635266781, + -0.059995342046022415, + -0.1715637594461441, + 1.484056830406189, + 0.0, + 0.9981546401977539 + ], + [ + 0.41879546642303467, + 0.14196550846099854, + 0.02844829112291336, + -0.07314174622297287, + -0.16934476792812347, + 1.4680474996566772, + 0.0, + 0.9981546401977539 + ], + [ + 0.41421985626220703, + 0.15840083360671997, + 0.029471417888998985, + -0.06849268823862076, + -0.16976788640022278, + 1.4320578575134277, + 0.0, + 0.9981546401977539 + ], + [ + 0.4190370440483093, + 0.17274396121501923, + 0.037499912083148956, + -0.08000820130109787, + -0.19260111451148987, + 1.4024066925048828, + 0.0, + 0.9981546401977539 + ], + [ + 0.4196774661540985, + 0.17927885055541992, + 0.03416737914085388, + -0.06795105338096619, + -0.2025117427110672, + 1.389201283454895, + 0.0, + 0.9981546401977539 + ], + [ + 0.41818684339523315, + 0.17711491882801056, + 0.03479614481329918, + -0.07135332375764847, + -0.16240663826465607, + 1.367788314819336, + 0.0, + 0.9981546401977539 + ], + [ + 0.41103485226631165, + 0.1578943133354187, + 0.019816184416413307, + -0.048037536442279816, + -0.12730595469474792, + 1.3052111864089966, + 0.0, + 0.9981546401977539 + ], + [ + 0.4109851121902466, + 0.14103750884532928, + 0.04211234673857689, + -0.09578254818916321, + -0.1337328553199768, + 1.2628098726272583, + 0.0, + 0.9981546401977539 + ], + [ + 0.405053973197937, + 0.11553770303726196, + 0.05368897318840027, + -0.10890322923660278, + -0.11884624511003494, + 1.145832896232605, + 0.0, + 0.9981546401977539 + ], + [ + 0.39026787877082825, + 0.094489686191082, + 0.0661022737622261, + -0.14459431171417236, + -0.1895725131034851, + 0.9231544733047485, + 0.0, + 0.9981546401977539 + ], + [ + 0.37012749910354614, + 0.07647287845611572, + 0.07134341448545456, + -0.13416101038455963, + -0.22437699139118195, + 0.6580861210823059, + 0.0, + 0.9981546401977539 + ], + [ + 0.34672579169273376, + 0.07428159564733505, + 0.07604282349348068, + -0.11304708570241928, + -0.29460325837135315, + 0.4261549711227417, + 0.0, + 0.9981546401977539 + ], + [ + 0.33216267824172974, + 0.08322535455226898, + 0.07708524912595749, + -0.07926351577043533, + -0.34535786509513855, + 0.3636031448841095, + 0.0, + 0.9981546401977539 + ], + [ + 0.322512149810791, + 0.10181031376123428, + 0.07371388375759125, + -0.0657692551612854, + -0.3597107231616974, + 0.39398372173309326, + 0.0, + 0.9981546401977539 + ] + ], + "left_gripper_pos": [ + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.26910436153411865, + 0.07601408660411835, + 0.06788916885852814 + ], + [ + 0.26666226983070374, + 0.07395213097333908, + 0.06001512333750725 + ], + [ + 0.2838492691516876, + 0.06979332119226456, + 0.056772906333208084 + ], + [ + 0.3073170781135559, + 0.0571732334792614, + 0.057019494473934174 + ], + [ + 0.3358636200428009, + 0.04599805921316147, + 0.054740600287914276 + ], + [ + 0.36346355080604553, + 0.03671685606241226, + 0.05346843972802162 + ], + [ + 0.3797570765018463, + 0.028421949595212936, + 0.04812579229474068 + ], + [ + 0.39616653323173523, + 0.026398582383990288, + 0.04604661464691162 + ], + [ + 0.41089871525764465, + 0.029041597619652748, + 0.04437290504574776 + ], + [ + 0.4223186671733856, + 0.032495781779289246, + 0.040760233998298645 + ], + [ + 0.428886353969574, + 0.04388235881924629, + 0.03634686395525932 + ], + [ + 0.43629881739616394, + 0.05378388985991478, + 0.028372086584568024 + ], + [ + 0.4386211335659027, + 0.06129147857427597, + 0.02616400085389614 + ], + [ + 0.4373854100704193, + 0.07404434680938721, + 0.03141457587480545 + ], + [ + 0.4323352575302124, + 0.08775052428245544, + 0.029247233644127846 + ], + [ + 0.423921138048172, + 0.11014267057180405, + 0.02858409471809864 + ], + [ + 0.42081984877586365, + 0.12655122578144073, + 0.02872537635266781 + ], + [ + 0.41879546642303467, + 0.14196550846099854, + 0.02844829112291336 + ], + [ + 0.41421985626220703, + 0.15840083360671997, + 0.029471417888998985 + ], + [ + 0.4190370440483093, + 0.17274396121501923, + 0.037499912083148956 + ], + [ + 0.4196774661540985, + 0.17927885055541992, + 0.03416737914085388 + ], + [ + 0.41818684339523315, + 0.17711491882801056, + 0.03479614481329918 + ], + [ + 0.41103485226631165, + 0.1578943133354187, + 0.019816184416413307 + ], + [ + 0.4109851121902466, + 0.14103750884532928, + 0.04211234673857689 + ], + [ + 0.405053973197937, + 0.11553770303726196, + 0.05368897318840027 + ], + [ + 0.39026787877082825, + 0.094489686191082, + 0.0661022737622261 + ], + [ + 0.37012749910354614, + 0.07647287845611572, + 0.07134341448545456 + ], + [ + 0.34672579169273376, + 0.07428159564733505, + 0.07604282349348068 + ], + [ + 0.33216267824172974, + 0.08322535455226898, + 0.07708524912595749 + ], + [ + 0.322512149810791, + 0.10181031376123428, + 0.07371388375759125 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9518345848007077, + 0.19103503257005838, + 0.23982606094463796, + 0.18637052808056254, + -0.9815727743410713, + 0.04220088785019325, + 0.24346857998566615, + 0.004528245060623423, + -0.9698982140185816 + ], + [ + 0.9567310093661449, + 0.19843828911978703, + 0.21280982385324654, + 0.19592133673928488, + -0.9800618134475363, + 0.03307070655759688, + 0.2151292763143356, + 0.010054214695278566, + -0.976533822885481 + ], + [ + 0.9306059907054436, + 0.2938565816140802, + 0.2182219042745885, + 0.28734142025883863, + -0.9558352010656209, + 0.061757401236434674, + 0.22673199656593182, + 0.005232384344822712, + -0.9739431317522059 + ], + [ + 0.8933052364858842, + 0.38277197774453176, + 0.23556605765780056, + 0.37845590866487244, + -0.9233240333063479, + 0.06514487482176742, + 0.24243943504212398, + 0.030957108592982382, + -0.9696725105745847 + ], + [ + 0.8198123038223678, + 0.5214799870156808, + 0.2365722080963597, + 0.5166181816917153, + -0.851757299016462, + 0.08726487218650553, + 0.24700898940525967, + 0.050676688075551896, + -0.9676871562848635 + ], + [ + 0.7501964118280753, + 0.6137192861898219, + 0.24607718593753572, + 0.6086038653721978, + -0.7863830009373192, + 0.10584474899982498, + 0.25846987974288343, + 0.07035917563098533, + -0.9634536354543625 + ], + [ + 0.687350107085507, + 0.6789823436940727, + 0.2579395418334426, + 0.6687870238104718, + -0.7301736672071775, + 0.13989400451754053, + 0.28332622023433274, + 0.07635045952007288, + -0.9559795292048886 + ], + [ + 0.6201248107713292, + 0.7453521174558588, + 0.24473544914844414, + 0.7335002449666594, + -0.6615204061738864, + 0.15610298795790803, + 0.27824918634144047, + 0.08271017603417241, + -0.956941177440245 + ], + [ + 0.5357587554522781, + 0.8129478892048464, + 0.22820667254401317, + 0.7985552505741705, + -0.5756489296741065, + 0.17589150504068962, + 0.2743575545463428, + 0.08800022274085416, + -0.9575927595073546 + ], + [ + 0.44719022174016804, + 0.8661229772677471, + 0.2232753766738126, + 0.8504801091796957, + -0.48904575058141336, + 0.19369521865021525, + 0.27695575363164415, + 0.1032726589524818, + -0.955316841913306 + ], + [ + 0.3621286548762699, + 0.9049813867428835, + 0.22331933854109265, + 0.8858614002204137, + -0.40867395767235704, + 0.21962508035272463, + 0.2900214076874872, + 0.1182974470110841, + -0.9496806290083147 + ], + [ + 0.2844225027122629, + 0.943241044779931, + 0.17146478178727326, + 0.9220911120180711, + -0.3181026716059153, + 0.22036032186956028, + 0.2623963054011428, + 0.09543071706554257, + -0.9602297418598253 + ], + [ + 0.24802626910103187, + 0.9590176119875108, + 0.13699704279142197, + 0.9381607556184227, + -0.2730379373267915, + 0.2128489638166023, + 0.24153129497705408, + 0.07573311480523742, + -0.9674332684317839 + ], + [ + 0.18926048074333673, + 0.9754185554466499, + 0.11286767526254748, + 0.9548568288755463, + -0.2096268378306661, + 0.2104875892086071, + 0.22897359406389373, + 0.06793548815962407, + -0.9710591447846917 + ], + [ + 0.1575274187620092, + 0.9826372465498241, + 0.09802629255030704, + 0.9699035544420176, + -0.17261733080665492, + 0.1717275522038489, + 0.1856669260232376, + 0.06802425154432538, + -0.980255320711352 + ], + [ + 0.11855694502227015, + 0.9903578171854445, + 0.07166341274784806, + 0.9786075331008014, + -0.1287614553120608, + 0.1604611597374397, + 0.16814144921865748, + 0.05110657066955476, + -0.9844371851413616 + ], + [ + 0.08535894352258494, + 0.9935612785253464, + 0.07449722528918105, + 0.9816146827688136, + -0.09667288402374369, + 0.16458118989487514, + 0.17072335907364666, + 0.059079093676279816, + -0.983546234478583 + ], + [ + 0.10110093532880421, + 0.9908031813331853, + 0.08993140016524104, + 0.9804968333776892, + -0.11454501018559499, + 0.15970410257068096, + 0.16853652604692432, + 0.07203121893749746, + -0.9830599894647394 + ], + [ + 0.1363057055071633, + 0.9864699717701364, + 0.0910919834124863, + 0.9761533913809304, + -0.14942148999220822, + 0.15747309238094076, + 0.16895357688342194, + 0.06745526758033513, + -0.983313010050189 + ], + [ + 0.1644960920201644, + 0.9801383229622215, + 0.11076959678042193, + 0.9676271327802749, + -0.18214071219529365, + 0.17470687699233586, + 0.1914125586724068, + 0.07844506881758004, + -0.9783698705298969 + ], + [ + 0.17690799177691613, + 0.9788206979079729, + 0.10302234608281477, + 0.9634573856965091, + -0.19361378591401163, + 0.18510420808531386, + 0.20113037660260688, + 0.06651122650344043, + -0.9773038567184217 + ], + [ + 0.19896340900859072, + 0.9746480781067498, + 0.10234591207517386, + 0.9665757746008109, + -0.21239431951517035, + 0.14359639616832445, + 0.16169364189887891, + 0.07035465073828967, + -0.9843299189240214 + ], + [ + 0.26034987678269056, + 0.9622257447673745, + 0.07962133989144674, + 0.9571303464542469, + -0.26805401389620237, + 0.10976586687357792, + 0.1269623627521611, + 0.047630470719970536, + -0.9907632899453749 + ], + [ + 0.30043373550689095, + 0.9447123971552456, + 0.1313699251372452, + 0.9444371118439676, + -0.31390255691186203, + 0.09748705830016939, + 0.13333458794026737, + 0.09478223159108014, + -0.9865283656506862 + ], + [ + 0.4093792280948295, + 0.9003435783614183, + 0.14761466223867503, + 0.9046273223589963, + -0.4215855886637623, + 0.06256995343311086, + 0.11856667004716859, + 0.10792141740352387, + -0.9870637833592824 + ], + [ + 0.5924991173921748, + 0.7728050256837309, + 0.22741413361412285, + 0.7832212379589196, + -0.6186658477468707, + 0.06178236999131083, + 0.18843908378993815, + 0.14150957956836002, + -0.9718362776675888 + ], + [ + 0.7713320347714406, + 0.5825618329218569, + 0.2562588592772458, + 0.596272656604854, + -0.8022568141948561, + 0.02903313733150227, + 0.2224990137522831, + 0.13040596190606646, + -0.9661720726550808 + ], + [ + 0.871332546633802, + 0.380909156548178, + 0.30933445917713204, + 0.39556356440982404, + -0.9182895925248262, + 0.016543602146553198, + 0.2903602240115683, + 0.10794646227803892, + -0.9508093928825102 + ], + [ + 0.8794361374130221, + 0.3294747200416147, + 0.34356729917959866, + 0.33464487822063427, + -0.9412201508672717, + 0.04601557434268694, + 0.3385334336409938, + 0.07450527803377463, + -0.938000041499119 + ], + [ + 0.8642891713306873, + 0.3616781007846257, + 0.34956141053231266, + 0.35930178775165145, + -0.9302713510549435, + 0.07414471474675174, + 0.3520034852653892, + 0.06151556566622865, + -0.933975043318494 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.002442091703414917, + -0.0020619556307792664, + -0.00787404552102089, + -0.005626704543828964, + 0.02911624312400818, + 0.008634239435195923, + 1.0 + ], + [ + 0.017186999320983887, + -0.004158809781074524, + -0.003242217004299164, + 0.0049231345765292645, + -0.011896774172782898, + 0.09749193489551544, + 1.0 + ], + [ + 0.023467808961868286, + -0.012620087713003159, + 0.0002465881407260895, + -0.026542164385318756, + -0.016158536076545715, + 0.10125204920768738, + 1.0 + ], + [ + 0.028546541929244995, + -0.01117517426609993, + -0.0022788941860198975, + -0.02040659636259079, + -0.0047128647565841675, + 0.16157245635986328, + 1.0 + ], + [ + 0.02759993076324463, + -0.009281203150749207, + -0.0012721605598926544, + -0.020577598363161087, + -0.01184554398059845, + 0.1192629337310791, + 1.0 + ], + [ + 0.01629352569580078, + -0.008294906467199326, + -0.005342647433280945, + -0.006798364222049713, + -0.025822758674621582, + 0.09014201164245605, + 1.0 + ], + [ + 0.016409456729888916, + -0.0020233672112226486, + -0.002079177647829056, + -0.00652051717042923, + 0.005289852619171143, + 0.09724920988082886, + 1.0 + ], + [ + 0.014732182025909424, + 0.0026430152356624603, + -0.0016737096011638641, + -0.005422383546829224, + 0.00404927134513855, + 0.11090171337127686, + 1.0 + ], + [ + 0.011419951915740967, + 0.0034541841596364975, + -0.003612671047449112, + -0.016044922173023224, + -0.0027029216289520264, + 0.10685348510742188, + 1.0 + ], + [ + 0.0065676867961883545, + 0.011386577039957047, + -0.004413370043039322, + -0.016242295503616333, + -0.013624727725982666, + 0.09602272510528564, + 1.0 + ], + [ + 0.007412463426589966, + 0.009901531040668488, + -0.0079747773706913, + 0.024869225919246674, + 0.028744518756866455, + 0.08886396884918213, + 1.0 + ], + [ + 0.0023223161697387695, + 0.007507588714361191, + -0.0022080857306718826, + 0.020934738218784332, + 0.02156113088130951, + 0.040732741355895996, + 1.0 + ], + [ + -0.0012357234954833984, + 0.012752868235111237, + 0.005250575020909309, + 0.008276805281639099, + 0.012920424342155457, + 0.06278955936431885, + 1.0 + ], + [ + -0.005050152540206909, + 0.013706177473068237, + -0.0021673422306776047, + 0.0005630403757095337, + 0.044272586703300476, + 0.034662485122680664, + 1.0 + ], + [ + -0.008414119482040405, + 0.022392146289348602, + -0.0006631389260292053, + 0.017415408045053482, + 0.01780657470226288, + 0.040448546409606934, + 1.0 + ], + [ + -0.0031012892723083496, + 0.016408555209636688, + 0.0001412816345691681, + -0.008127398788928986, + -0.0026197880506515503, + 0.03382158279418945, + 1.0 + ], + [ + -0.0020243823528289795, + 0.0154142826795578, + -0.00027708522975444794, + -0.013146404176950455, + 0.00221899151802063, + -0.01600933074951172, + 1.0 + ], + [ + -0.004575610160827637, + 0.016435325145721436, + 0.0010231267660856247, + 0.004649057984352112, + -0.0004231184720993042, + -0.03598964214324951, + 1.0 + ], + [ + 0.004817187786102295, + 0.014343127608299255, + 0.008028494194149971, + -0.011515513062477112, + -0.02283322811126709, + -0.029651165008544922, + 1.0 + ], + [ + 0.0006404221057891846, + 0.006534889340400696, + -0.0033325329422950745, + 0.012057147920131683, + -0.009910628199577332, + -0.013205409049987793, + 1.0 + ], + [ + -0.0014906227588653564, + -0.002163931727409363, + 0.0006287656724452972, + -0.0034022703766822815, + 0.04010510444641113, + -0.021412968635559082, + 1.0 + ], + [ + -0.007151991128921509, + -0.019220605492591858, + -0.014979960396885872, + 0.023315787315368652, + 0.03510068356990814, + -0.06257712841033936, + 1.0 + ], + [ + -4.9740076065063477e-05, + -0.016856804490089417, + 0.022296162322163582, + -0.04774501174688339, + -0.006426900625228882, + -0.04240131378173828, + 1.0 + ], + [ + -0.00593113899230957, + -0.025499805808067322, + 0.01157662644982338, + -0.013120681047439575, + 0.014886610209941864, + -0.11697697639465332, + 1.0 + ], + [ + -0.014786094427108765, + -0.021048016846179962, + 0.012413300573825836, + -0.03569108247756958, + -0.07072626799345016, + -0.22267842292785645, + 1.0 + ], + [ + -0.020140379667282104, + -0.018016807734966278, + 0.005241140723228455, + 0.010433301329612732, + -0.03480447828769684, + -0.2650683522224426, + 1.0 + ], + [ + -0.023401707410812378, + -0.00219128280878067, + 0.004699409008026123, + 0.02111392468214035, + -0.0702262669801712, + -0.2319311499595642, + 1.0 + ], + [ + -0.014563113451004028, + 0.00894375890493393, + 0.0010424256324768066, + 0.03378356993198395, + -0.0507546067237854, + -0.0625518262386322, + 1.0 + ], + [ + -0.00965052843093872, + 0.0185849592089653, + -0.0033713653683662415, + 0.013494260609149933, + -0.014352858066558838, + 0.030380576848983765, + 1.0 + ], + [ + -0.008395671844482422, + 0.016428492963314056, + 0.007848501205444336, + -0.023776404559612274, + -0.024735957384109497, + 0.01716628670692444, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.26666226983070374, + 0.07395213097333908, + 0.06001512333750725 + ], + [ + 0.2838492691516876, + 0.06979332119226456, + 0.056772906333208084 + ], + [ + 0.3073170781135559, + 0.0571732334792614, + 0.057019494473934174 + ], + [ + 0.3358636200428009, + 0.04599805921316147, + 0.054740600287914276 + ], + [ + 0.36346355080604553, + 0.03671685606241226, + 0.05346843972802162 + ], + [ + 0.3797570765018463, + 0.028421949595212936, + 0.04812579229474068 + ], + [ + 0.39616653323173523, + 0.026398582383990288, + 0.04604661464691162 + ], + [ + 0.41089871525764465, + 0.029041597619652748, + 0.04437290504574776 + ], + [ + 0.4223186671733856, + 0.032495781779289246, + 0.040760233998298645 + ], + [ + 0.428886353969574, + 0.04388235881924629, + 0.03634686395525932 + ], + [ + 0.43629881739616394, + 0.05378388985991478, + 0.028372086584568024 + ], + [ + 0.4386211335659027, + 0.06129147857427597, + 0.02616400085389614 + ], + [ + 0.4373854100704193, + 0.07404434680938721, + 0.03141457587480545 + ], + [ + 0.4323352575302124, + 0.08775052428245544, + 0.029247233644127846 + ], + [ + 0.423921138048172, + 0.11014267057180405, + 0.02858409471809864 + ], + [ + 0.42081984877586365, + 0.12655122578144073, + 0.02872537635266781 + ], + [ + 0.41879546642303467, + 0.14196550846099854, + 0.02844829112291336 + ], + [ + 0.41421985626220703, + 0.15840083360671997, + 0.029471417888998985 + ], + [ + 0.4190370440483093, + 0.17274396121501923, + 0.037499912083148956 + ], + [ + 0.4196774661540985, + 0.17927885055541992, + 0.03416737914085388 + ], + [ + 0.41818684339523315, + 0.17711491882801056, + 0.03479614481329918 + ], + [ + 0.41103485226631165, + 0.1578943133354187, + 0.019816184416413307 + ], + [ + 0.4109851121902466, + 0.14103750884532928, + 0.04211234673857689 + ], + [ + 0.405053973197937, + 0.11553770303726196, + 0.05368897318840027 + ], + [ + 0.39026787877082825, + 0.094489686191082, + 0.0661022737622261 + ], + [ + 0.37012749910354614, + 0.07647287845611572, + 0.07134341448545456 + ], + [ + 0.34672579169273376, + 0.07428159564733505, + 0.07604282349348068 + ], + [ + 0.33216267824172974, + 0.08322535455226898, + 0.07708524912595749 + ], + [ + 0.322512149810791, + 0.10181031376123428, + 0.07371388375759125 + ], + [ + 0.3141164779663086, + 0.11823880672454834, + 0.08156238496303558 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9567310093661449, + 0.19843828911978703, + 0.21280982385324654, + 0.19592133673928488, + -0.9800618134475363, + 0.03307070655759688, + 0.2151292763143356, + 0.010054214695278566, + -0.976533822885481 + ], + [ + 0.9306059907054436, + 0.2938565816140802, + 0.2182219042745885, + 0.28734142025883863, + -0.9558352010656209, + 0.061757401236434674, + 0.22673199656593182, + 0.005232384344822712, + -0.9739431317522059 + ], + [ + 0.8933052364858842, + 0.38277197774453176, + 0.23556605765780056, + 0.37845590866487244, + -0.9233240333063479, + 0.06514487482176742, + 0.24243943504212398, + 0.030957108592982382, + -0.9696725105745847 + ], + [ + 0.8198123038223678, + 0.5214799870156808, + 0.2365722080963597, + 0.5166181816917153, + -0.851757299016462, + 0.08726487218650553, + 0.24700898940525967, + 0.050676688075551896, + -0.9676871562848635 + ], + [ + 0.7501964118280753, + 0.6137192861898219, + 0.24607718593753572, + 0.6086038653721978, + -0.7863830009373192, + 0.10584474899982498, + 0.25846987974288343, + 0.07035917563098533, + -0.9634536354543625 + ], + [ + 0.687350107085507, + 0.6789823436940727, + 0.2579395418334426, + 0.6687870238104718, + -0.7301736672071775, + 0.13989400451754053, + 0.28332622023433274, + 0.07635045952007288, + -0.9559795292048886 + ], + [ + 0.6201248107713292, + 0.7453521174558588, + 0.24473544914844414, + 0.7335002449666594, + -0.6615204061738864, + 0.15610298795790803, + 0.27824918634144047, + 0.08271017603417241, + -0.956941177440245 + ], + [ + 0.5357587554522781, + 0.8129478892048464, + 0.22820667254401317, + 0.7985552505741705, + -0.5756489296741065, + 0.17589150504068962, + 0.2743575545463428, + 0.08800022274085416, + -0.9575927595073546 + ], + [ + 0.44719022174016804, + 0.8661229772677471, + 0.2232753766738126, + 0.8504801091796957, + -0.48904575058141336, + 0.19369521865021525, + 0.27695575363164415, + 0.1032726589524818, + -0.955316841913306 + ], + [ + 0.3621286548762699, + 0.9049813867428835, + 0.22331933854109265, + 0.8858614002204137, + -0.40867395767235704, + 0.21962508035272463, + 0.2900214076874872, + 0.1182974470110841, + -0.9496806290083147 + ], + [ + 0.2844225027122629, + 0.943241044779931, + 0.17146478178727326, + 0.9220911120180711, + -0.3181026716059153, + 0.22036032186956028, + 0.2623963054011428, + 0.09543071706554257, + -0.9602297418598253 + ], + [ + 0.24802626910103187, + 0.9590176119875108, + 0.13699704279142197, + 0.9381607556184227, + -0.2730379373267915, + 0.2128489638166023, + 0.24153129497705408, + 0.07573311480523742, + -0.9674332684317839 + ], + [ + 0.18926048074333673, + 0.9754185554466499, + 0.11286767526254748, + 0.9548568288755463, + -0.2096268378306661, + 0.2104875892086071, + 0.22897359406389373, + 0.06793548815962407, + -0.9710591447846917 + ], + [ + 0.1575274187620092, + 0.9826372465498241, + 0.09802629255030704, + 0.9699035544420176, + -0.17261733080665492, + 0.1717275522038489, + 0.1856669260232376, + 0.06802425154432538, + -0.980255320711352 + ], + [ + 0.11855694502227015, + 0.9903578171854445, + 0.07166341274784806, + 0.9786075331008014, + -0.1287614553120608, + 0.1604611597374397, + 0.16814144921865748, + 0.05110657066955476, + -0.9844371851413616 + ], + [ + 0.08535894352258494, + 0.9935612785253464, + 0.07449722528918105, + 0.9816146827688136, + -0.09667288402374369, + 0.16458118989487514, + 0.17072335907364666, + 0.059079093676279816, + -0.983546234478583 + ], + [ + 0.10110093532880421, + 0.9908031813331853, + 0.08993140016524104, + 0.9804968333776892, + -0.11454501018559499, + 0.15970410257068096, + 0.16853652604692432, + 0.07203121893749746, + -0.9830599894647394 + ], + [ + 0.1363057055071633, + 0.9864699717701364, + 0.0910919834124863, + 0.9761533913809304, + -0.14942148999220822, + 0.15747309238094076, + 0.16895357688342194, + 0.06745526758033513, + -0.983313010050189 + ], + [ + 0.1644960920201644, + 0.9801383229622215, + 0.11076959678042193, + 0.9676271327802749, + -0.18214071219529365, + 0.17470687699233586, + 0.1914125586724068, + 0.07844506881758004, + -0.9783698705298969 + ], + [ + 0.17690799177691613, + 0.9788206979079729, + 0.10302234608281477, + 0.9634573856965091, + -0.19361378591401163, + 0.18510420808531386, + 0.20113037660260688, + 0.06651122650344043, + -0.9773038567184217 + ], + [ + 0.19896340900859072, + 0.9746480781067498, + 0.10234591207517386, + 0.9665757746008109, + -0.21239431951517035, + 0.14359639616832445, + 0.16169364189887891, + 0.07035465073828967, + -0.9843299189240214 + ], + [ + 0.26034987678269056, + 0.9622257447673745, + 0.07962133989144674, + 0.9571303464542469, + -0.26805401389620237, + 0.10976586687357792, + 0.1269623627521611, + 0.047630470719970536, + -0.9907632899453749 + ], + [ + 0.30043373550689095, + 0.9447123971552456, + 0.1313699251372452, + 0.9444371118439676, + -0.31390255691186203, + 0.09748705830016939, + 0.13333458794026737, + 0.09478223159108014, + -0.9865283656506862 + ], + [ + 0.4093792280948295, + 0.9003435783614183, + 0.14761466223867503, + 0.9046273223589963, + -0.4215855886637623, + 0.06256995343311086, + 0.11856667004716859, + 0.10792141740352387, + -0.9870637833592824 + ], + [ + 0.5924991173921748, + 0.7728050256837309, + 0.22741413361412285, + 0.7832212379589196, + -0.6186658477468707, + 0.06178236999131083, + 0.18843908378993815, + 0.14150957956836002, + -0.9718362776675888 + ], + [ + 0.7713320347714406, + 0.5825618329218569, + 0.2562588592772458, + 0.596272656604854, + -0.8022568141948561, + 0.02903313733150227, + 0.2224990137522831, + 0.13040596190606646, + -0.9661720726550808 + ], + [ + 0.871332546633802, + 0.380909156548178, + 0.30933445917713204, + 0.39556356440982404, + -0.9182895925248262, + 0.016543602146553198, + 0.2903602240115683, + 0.10794646227803892, + -0.9508093928825102 + ], + [ + 0.8794361374130221, + 0.3294747200416147, + 0.34356729917959866, + 0.33464487822063427, + -0.9412201508672717, + 0.04601557434268694, + 0.3385334336409938, + 0.07450527803377463, + -0.938000041499119 + ], + [ + 0.8642891713306873, + 0.3616781007846257, + 0.34956141053231266, + 0.35930178775165145, + -0.9302713510549435, + 0.07414471474675174, + 0.3520034852653892, + 0.06151556566622865, + -0.933975043318494 + ], + [ + 0.8497510870886089, + 0.3673186639350089, + 0.37815352585521034, + 0.370490742248193, + -0.9263934588961759, + 0.06731841666856295, + 0.3750462636797096, + 0.08289848273267283, + -0.9232920132116981 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006442.json b/json/chunk-0006/episode_0006442.json new file mode 100644 index 0000000000000000000000000000000000000000..4713718859df286cb206f052fdef2ddda593d7d9 --- /dev/null +++ b/json/chunk-0006/episode_0006442.json @@ -0,0 +1,1162 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 18, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the purple cloth and place it at the edge of the table." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006442.mp4", + "start": 0, + "end": 18, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3221115469932556, + 0.04747095704078674, + 0.08725172281265259, + 0.05907689034938812, + 0.04150145873427391, + -0.023570721969008446, + 0.0, + 1.0008161067962646 + ], + [ + 0.31957465410232544, + 0.04717160761356354, + 0.07660212367773056, + 0.05412582680583, + 0.07508842647075653, + -0.027013881132006645, + 0.0, + 1.0008161067962646 + ], + [ + 0.3177979290485382, + 0.07548794150352478, + 0.07290459424257278, + 0.07358770817518234, + 0.04800088331103325, + -0.027939502149820328, + 0.0, + 1.0008161067962646 + ], + [ + 0.31471091508865356, + 0.10861317068338394, + 0.06648042798042297, + 0.1022806242108345, + 0.006644383538514376, + -0.04815547913312912, + 0.0, + 1.0008161067962646 + ], + [ + 0.31601405143737793, + 0.13319121301174164, + 0.0574481226503849, + 0.09294189512729645, + -0.049394987523555756, + -0.06925944983959198, + 0.0, + 1.0008161067962646 + ], + [ + 0.31625762581825256, + 0.14272236824035645, + 0.03696887195110321, + 0.05816423520445824, + -0.05144251883029938, + -0.0663786455988884, + 0.0, + 1.0008161067962646 + ], + [ + 0.32429441809654236, + 0.144625723361969, + 0.024608666077256203, + 0.023596739396452904, + -0.07712272554636002, + -0.10729663074016571, + 0.0, + 1.0008161067962646 + ], + [ + 0.3302994966506958, + 0.1481730192899704, + 0.0149229122325778, + 0.01641843281686306, + -0.05072921887040138, + -0.09188127517700195, + 0.0, + 1.0008161067962646 + ], + [ + 0.3332342803478241, + 0.14294135570526123, + 0.00992133654654026, + 0.020760416984558105, + -0.014941386878490448, + -0.09877375513315201, + 0.0, + 1.0008161067962646 + ], + [ + 0.3341556787490845, + 0.12832093238830566, + 0.008070412091910839, + 0.03757024556398392, + 0.025893541052937508, + -0.10365623980760574, + 0.0, + 1.0008161067962646 + ], + [ + 0.3383609652519226, + 0.10274443030357361, + 0.008184922859072685, + 0.0036883007269352674, + 0.010033969767391682, + -0.1296427696943283, + 0.0, + 1.002137303352356 + ], + [ + 0.35258135199546814, + 0.05307008698582649, + 0.011038176715373993, + -0.053601909428834915, + -0.029592305421829224, + -0.2052001655101776, + 0.0, + 1.002137303352356 + ], + [ + 0.369841605424881, + -0.0007257332326844335, + 0.014751951210200787, + -0.08730238676071167, + -0.066234290599823, + -0.3134387135505676, + 0.0, + 1.002137303352356 + ], + [ + 0.381630539894104, + -0.02974267490208149, + 0.01808534562587738, + -0.07746952772140503, + -0.07116398960351944, + -0.34438326954841614, + 0.0, + 1.0014774799346924 + ], + [ + 0.38229596614837646, + -0.03038937598466873, + 0.020123494789004326, + -0.03077598847448826, + -0.0416884645819664, + -0.19754530489444733, + 0.0, + 0.9981546401977539 + ], + [ + 0.3756355345249176, + 0.0009601169149391353, + 0.03153439983725548, + -0.01890796609222889, + -0.04480874165892601, + 0.00012051437806803733, + 0.0, + 0.9994885921478271 + ], + [ + 0.37379658222198486, + 0.017060598358511925, + 0.052678752690553665, + 0.0012391614727675915, + -0.061406053602695465, + 0.06753172725439072, + 0.0, + 0.9994885921478271 + ], + [ + 0.3774912357330322, + 0.01192992739379406, + 0.07643353939056396, + -0.027582930400967598, + -0.09976062178611755, + 0.04823773726820946, + 0.0, + 0.9994885921478271 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.0014774799346924 + ], + [ + 0.9981546401977539 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3221115469932556, + 0.04747095704078674, + 0.08725172281265259 + ], + [ + 0.31957465410232544, + 0.04717160761356354, + 0.07660212367773056 + ], + [ + 0.3177979290485382, + 0.07548794150352478, + 0.07290459424257278 + ], + [ + 0.31471091508865356, + 0.10861317068338394, + 0.06648042798042297 + ], + [ + 0.31601405143737793, + 0.13319121301174164, + 0.0574481226503849 + ], + [ + 0.31625762581825256, + 0.14272236824035645, + 0.03696887195110321 + ], + [ + 0.32429441809654236, + 0.144625723361969, + 0.024608666077256203 + ], + [ + 0.3302994966506958, + 0.1481730192899704, + 0.0149229122325778 + ], + [ + 0.3332342803478241, + 0.14294135570526123, + 0.00992133654654026 + ], + [ + 0.3341556787490845, + 0.12832093238830566, + 0.008070412091910839 + ], + [ + 0.3383609652519226, + 0.10274443030357361, + 0.008184922859072685 + ], + [ + 0.35258135199546814, + 0.05307008698582649, + 0.011038176715373993 + ], + [ + 0.369841605424881, + -0.0007257332326844335, + 0.014751951210200787 + ], + [ + 0.381630539894104, + -0.02974267490208149, + 0.01808534562587738 + ], + [ + 0.38229596614837646, + -0.03038937598466873, + 0.020123494789004326 + ], + [ + 0.3756355345249176, + 0.0009601169149391353, + 0.03153439983725548 + ], + [ + 0.37379658222198486, + 0.017060598358511925, + 0.052678752690553665 + ], + [ + 0.3774912357330322, + 0.01192992739379406, + 0.07643353939056396 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.998861400637842, + -0.025976390821697212, + -0.040014115455509605, + -0.023548245491251972, + -0.9979204413426142, + 0.06000227399728856, + -0.0414895462748406, + -0.05899169323252557, + -0.9973959081926631 + ], + [ + 0.9968183638316677, + -0.031027982201715494, + -0.07341943781075085, + -0.02693448492094399, + -0.9980616162007558, + 0.0561029748656722, + -0.07501788486754425, + -0.05394696087107069, + -0.9957218699831669 + ], + [ + 0.9984583458188293, + -0.03138661896210303, + -0.045780037296342654, + -0.027903690164350823, + -0.9968058696753221, + 0.07482942105907554, + -0.04798245241688549, + -0.07343662799279567, + -0.9961449422293469 + ], + [ + 0.9988187007151785, + -0.04856291725961533, + -0.0016870592399072354, + -0.04813580703290989, + -0.9935880464980038, + 0.10230218930976771, + -0.0066443346494335885, + -0.10210013184867513, + -0.9947519368634323 + ], + [ + 0.996385762687778, + -0.06433400049980131, + 0.05546664126109418, + -0.06911968452351258, + -0.993614001016901, + 0.08918344125764736, + 0.04937490379196142, + -0.09269494788216727, + -0.9944695900391611 + ], + [ + 0.9964777852019032, + -0.06323521648384756, + 0.0550756842476822, + -0.06624216475169445, + -0.996308675695142, + 0.05459851960998276, + 0.0514198328285772, + -0.058054544446005565, + -0.9969883001625686 + ], + [ + 0.9912938472932562, + -0.10525364108620915, + 0.07910865538377965, + -0.10677254674364782, + -0.9941671252488394, + 0.01521020500629977, + 0.07704629504661262, + -0.023524415243605788, + -0.9967499537532151 + ], + [ + 0.9945008598882726, + -0.09091069580918332, + 0.051993125208784526, + -0.09163401569019294, + -0.9957240570197771, + 0.011696556782448147, + 0.050707463454364186, + -0.016396574629040615, + -0.9985789430437928 + ], + [ + 0.9950147609918192, + -0.09828332915685133, + 0.01691190758724886, + -0.09860221589208489, + -0.9949419834383731, + 0.01918469736241167, + 0.014940830952939365, + -0.020756608623825328, + -0.9996729138917757 + ], + [ + 0.9942990808182353, + -0.10436496734848319, + -0.02184700149591637, + -0.1034360297388768, + -0.9938299854510045, + 0.04003683017315933, + -0.025890647652593177, + -0.03754881634361122, + -0.9989593388898885 + ], + [ + 0.9915582222825776, + -0.12931573609512984, + -0.009472709326761874, + -0.12927341046531557, + -0.991596610657363, + 0.004954500933105173, + -0.010033801397307966, + -0.003688106696510026, + -0.9999428587166942 + ], + [ + 0.9785915828380652, + -0.205022433429362, + 0.018008769785665752, + -0.20367391842832405, + -0.9772911033234268, + -0.05847250906991758, + 0.029587986591565817, + 0.053552788494923606, + -0.9981265700770997 + ], + [ + 0.9491930734373795, + -0.312647053899481, + 0.035837536557025894, + -0.30765555339935835, + -0.945876714714725, + -0.10327294429332833, + 0.06618587312286284, + 0.08700034625479007, + -0.9940072283190453 + ], + [ + 0.9389013773164226, + -0.3417833955558424, + 0.04059943590301367, + -0.33676168662207623, + -0.9366028299114961, + -0.09678174117689435, + 0.07110393868681865, + 0.07719617557946389, + -0.9944772397491687 + ], + [ + 0.9796993568562388, + -0.19742751906041797, + 0.03480725345557187, + -0.1960924492707535, + -0.9798352702762714, + -0.03834833062368088, + 0.04167639037235692, + 0.030744395266039577, + -0.9986580298807277 + ], + [ + 0.9989962490427664, + -0.0007264153703718604, + 0.044788019817717815, + 0.00012039341222854443, + -0.9998213445387141, + -0.018901442014403688, + 0.04479374849137866, + 0.018887861856421457, + -0.9988176854514458 + ], + [ + 0.9958401361411401, + 0.06755622787397712, + 0.06114392304910144, + 0.0673532245005458, + -0.997714701875134, + 0.005377435410242656, + 0.06136747020836233, + -0.0012368256350560073, + -0.9981144743277566 + ], + [ + 0.9938706041076527, + 0.04545710550661208, + 0.1007713940046973, + 0.04797928885829346, + -0.9985892905686128, + -0.02274679323172308, + 0.09959523146888934, + 0.027442308952328756, + -0.9946495410686234 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0025368928909301758, + -0.00029934942722320557, + -0.010649599134922028, + -0.004951063543558121, + 0.03358696773648262, + -0.0034431591629981995, + 1.0 + ], + [ + -0.0017767250537872314, + 0.028316333889961243, + -0.003697529435157776, + 0.01946188136935234, + -0.027087543159723282, + -0.0009256210178136826, + 1.0 + ], + [ + -0.0030870139598846436, + 0.03312522917985916, + -0.006424166262149811, + 0.02869291603565216, + -0.04135650023818016, + -0.020215976983308792, + 1.0 + ], + [ + 0.0013031363487243652, + 0.024578042328357697, + -0.00903230533003807, + -0.009338729083538055, + -0.056039370596408844, + -0.02110397070646286, + 1.0 + ], + [ + 0.0002435743808746338, + 0.009531155228614807, + -0.020479250699281693, + -0.03477765992283821, + -0.002047531306743622, + 0.0028808042407035828, + 1.0 + ], + [ + 0.008036792278289795, + 0.0019033551216125488, + -0.012360205873847008, + -0.03456749767065048, + -0.02568020671606064, + -0.04091798514127731, + 1.0 + ], + [ + 0.006005078554153442, + 0.003547295928001404, + -0.009685753844678402, + -0.007178306579589844, + 0.026393506675958633, + 0.015415355563163757, + 1.0 + ], + [ + 0.002934783697128296, + -0.0052316635847091675, + -0.0050015756860375404, + 0.0043419841676950455, + 0.035787831991910934, + -0.006892479956150055, + 1.0 + ], + [ + 0.000921398401260376, + -0.014620423316955566, + -0.0018509244546294212, + 0.016809828579425812, + 0.040834926068782806, + -0.004882484674453735, + 1.0 + ], + [ + 0.004205286502838135, + -0.025576502084732056, + 0.00011451076716184616, + -0.03388194367289543, + -0.01585957035422325, + -0.025986529886722565, + 1.0 + ], + [ + 0.014220386743545532, + -0.049674343317747116, + 0.0028532538563013077, + -0.0572902113199234, + -0.03962627425789833, + -0.0755573958158493, + 1.0 + ], + [ + 0.017260253429412842, + -0.05379582196474075, + 0.0037137744948267937, + -0.033700477331876755, + -0.036641985177993774, + -0.10823854804039001, + 1.0 + ], + [ + 0.011788934469223022, + -0.029016941785812378, + 0.0033333944156765938, + 0.00983285903930664, + -0.004929699003696442, + -0.03094455599784851, + 1.0 + ], + [ + 0.0006654262542724609, + -0.0006467010825872421, + 0.0020381491631269455, + 0.04669354110956192, + 0.02947552502155304, + 0.1468379646539688, + 1.0 + ], + [ + -0.006660431623458862, + 0.03134949132800102, + 0.011410905048251152, + 0.011868022382259369, + -0.00312027707695961, + 0.19766582548618317, + 1.0 + ], + [ + -0.0018389523029327393, + 0.016100481152534485, + 0.021144352853298187, + 0.020147128030657768, + -0.016597311943769455, + 0.06741121411323547, + 1.0 + ], + [ + 0.0036946535110473633, + -0.005130670964717865, + 0.0237547867000103, + -0.028822092339396477, + -0.03835456818342209, + -0.01929398998618126, + 1.0 + ], + [ + -0.003492414951324463, + -0.016152944415807724, + 0.012880004942417145, + -0.005400465801358223, + 0.008701547980308533, + -0.09370189905166626, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.0014774799346924 + ], + [ + 0.9981546401977539 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.31957465410232544, + 0.04717160761356354, + 0.07660212367773056 + ], + [ + 0.3177979290485382, + 0.07548794150352478, + 0.07290459424257278 + ], + [ + 0.31471091508865356, + 0.10861317068338394, + 0.06648042798042297 + ], + [ + 0.31601405143737793, + 0.13319121301174164, + 0.0574481226503849 + ], + [ + 0.31625762581825256, + 0.14272236824035645, + 0.03696887195110321 + ], + [ + 0.32429441809654236, + 0.144625723361969, + 0.024608666077256203 + ], + [ + 0.3302994966506958, + 0.1481730192899704, + 0.0149229122325778 + ], + [ + 0.3332342803478241, + 0.14294135570526123, + 0.00992133654654026 + ], + [ + 0.3341556787490845, + 0.12832093238830566, + 0.008070412091910839 + ], + [ + 0.3383609652519226, + 0.10274443030357361, + 0.008184922859072685 + ], + [ + 0.35258135199546814, + 0.05307008698582649, + 0.011038176715373993 + ], + [ + 0.369841605424881, + -0.0007257332326844335, + 0.014751951210200787 + ], + [ + 0.381630539894104, + -0.02974267490208149, + 0.01808534562587738 + ], + [ + 0.38229596614837646, + -0.03038937598466873, + 0.020123494789004326 + ], + [ + 0.3756355345249176, + 0.0009601169149391353, + 0.03153439983725548 + ], + [ + 0.37379658222198486, + 0.017060598358511925, + 0.052678752690553665 + ], + [ + 0.3774912357330322, + 0.01192992739379406, + 0.07643353939056396 + ], + [ + 0.37399882078170776, + -0.0042230174876749516, + 0.08931354433298111 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9968183638316677, + -0.031027982201715494, + -0.07341943781075085, + -0.02693448492094399, + -0.9980616162007558, + 0.0561029748656722, + -0.07501788486754425, + -0.05394696087107069, + -0.9957218699831669 + ], + [ + 0.9984583458188293, + -0.03138661896210303, + -0.045780037296342654, + -0.027903690164350823, + -0.9968058696753221, + 0.07482942105907554, + -0.04798245241688549, + -0.07343662799279567, + -0.9961449422293469 + ], + [ + 0.9988187007151785, + -0.04856291725961533, + -0.0016870592399072354, + -0.04813580703290989, + -0.9935880464980038, + 0.10230218930976771, + -0.0066443346494335885, + -0.10210013184867513, + -0.9947519368634323 + ], + [ + 0.996385762687778, + -0.06433400049980131, + 0.05546664126109418, + -0.06911968452351258, + -0.993614001016901, + 0.08918344125764736, + 0.04937490379196142, + -0.09269494788216727, + -0.9944695900391611 + ], + [ + 0.9964777852019032, + -0.06323521648384756, + 0.0550756842476822, + -0.06624216475169445, + -0.996308675695142, + 0.05459851960998276, + 0.0514198328285772, + -0.058054544446005565, + -0.9969883001625686 + ], + [ + 0.9912938472932562, + -0.10525364108620915, + 0.07910865538377965, + -0.10677254674364782, + -0.9941671252488394, + 0.01521020500629977, + 0.07704629504661262, + -0.023524415243605788, + -0.9967499537532151 + ], + [ + 0.9945008598882726, + -0.09091069580918332, + 0.051993125208784526, + -0.09163401569019294, + -0.9957240570197771, + 0.011696556782448147, + 0.050707463454364186, + -0.016396574629040615, + -0.9985789430437928 + ], + [ + 0.9950147609918192, + -0.09828332915685133, + 0.01691190758724886, + -0.09860221589208489, + -0.9949419834383731, + 0.01918469736241167, + 0.014940830952939365, + -0.020756608623825328, + -0.9996729138917757 + ], + [ + 0.9942990808182353, + -0.10436496734848319, + -0.02184700149591637, + -0.1034360297388768, + -0.9938299854510045, + 0.04003683017315933, + -0.025890647652593177, + -0.03754881634361122, + -0.9989593388898885 + ], + [ + 0.9915582222825776, + -0.12931573609512984, + -0.009472709326761874, + -0.12927341046531557, + -0.991596610657363, + 0.004954500933105173, + -0.010033801397307966, + -0.003688106696510026, + -0.9999428587166942 + ], + [ + 0.9785915828380652, + -0.205022433429362, + 0.018008769785665752, + -0.20367391842832405, + -0.9772911033234268, + -0.05847250906991758, + 0.029587986591565817, + 0.053552788494923606, + -0.9981265700770997 + ], + [ + 0.9491930734373795, + -0.312647053899481, + 0.035837536557025894, + -0.30765555339935835, + -0.945876714714725, + -0.10327294429332833, + 0.06618587312286284, + 0.08700034625479007, + -0.9940072283190453 + ], + [ + 0.9389013773164226, + -0.3417833955558424, + 0.04059943590301367, + -0.33676168662207623, + -0.9366028299114961, + -0.09678174117689435, + 0.07110393868681865, + 0.07719617557946389, + -0.9944772397491687 + ], + [ + 0.9796993568562388, + -0.19742751906041797, + 0.03480725345557187, + -0.1960924492707535, + -0.9798352702762714, + -0.03834833062368088, + 0.04167639037235692, + 0.030744395266039577, + -0.9986580298807277 + ], + [ + 0.9989962490427664, + -0.0007264153703718604, + 0.044788019817717815, + 0.00012039341222854443, + -0.9998213445387141, + -0.018901442014403688, + 0.04479374849137866, + 0.018887861856421457, + -0.9988176854514458 + ], + [ + 0.9958401361411401, + 0.06755622787397712, + 0.06114392304910144, + 0.0673532245005458, + -0.997714701875134, + 0.005377435410242656, + 0.06136747020836233, + -0.0012368256350560073, + -0.9981144743277566 + ], + [ + 0.9938706041076527, + 0.04545710550661208, + 0.1007713940046973, + 0.04797928885829346, + -0.9985892905686128, + -0.02274679323172308, + 0.09959523146888934, + 0.027442308952328756, + -0.9946495410686234 + ], + [ + 0.9948279503445513, + -0.048419431375452446, + 0.08929114109773892, + -0.045260211024932676, + -0.9982870534898531, + -0.03707387398863418, + 0.09093328604662337, + 0.03284079018270443, + -0.9953153369605725 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006443.json b/json/chunk-0006/episode_0006443.json new file mode 100644 index 0000000000000000000000000000000000000000..08d81ffdb119d6ef8d362c8840a8c8b28fd48916 --- /dev/null +++ b/json/chunk-0006/episode_0006443.json @@ -0,0 +1,2362 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 38, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut the green block on top of the yellow block." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006443.mp4", + "start": 0, + "end": 38, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.280082106590271, + 0.1603800505399704, + 0.14039185643196106, + -0.15857598185539246, + -0.12881001830101013, + 0.565785825252533, + 0.0, + 1.0008161067962646 + ], + [ + 0.2792321443557739, + 0.15918490290641785, + 0.13051217794418335, + -0.1603778749704361, + -0.09412968903779984, + 0.5702163577079773, + 0.0, + 1.0008161067962646 + ], + [ + 0.28229373693466187, + 0.15645171701908112, + 0.1270822137594223, + -0.15351326763629913, + -0.08951635658740997, + 0.578976035118103, + 0.0, + 1.0008161067962646 + ], + [ + 0.28674137592315674, + 0.15285295248031616, + 0.1270035356283188, + -0.1474655121564865, + -0.10093412548303604, + 0.5630987882614136, + 0.0, + 1.0008161067962646 + ], + [ + 0.29110684990882874, + 0.15215341746807098, + 0.12158217281103134, + -0.13133586943149567, + -0.11832819133996964, + 0.4977112412452698, + 0.0, + 1.0008161067962646 + ], + [ + 0.29494789242744446, + 0.1557706743478775, + 0.11101268976926804, + -0.09392137825489044, + -0.16871915757656097, + 0.3568732440471649, + 0.0, + 1.0008161067962646 + ], + [ + 0.3018736243247986, + 0.15579523146152496, + 0.10357781499624252, + -0.07466614246368408, + -0.24703258275985718, + 0.1596495658159256, + 0.0, + 1.0008161067962646 + ], + [ + 0.3040264844894409, + 0.15856815874576569, + 0.09018421173095703, + -0.07729507982730865, + -0.29092922806739807, + 0.03659506142139435, + 0.0, + 1.0008161067962646 + ], + [ + 0.3065708577632904, + 0.15836578607559204, + 0.07223086059093475, + -0.07627981156110764, + -0.26352667808532715, + 0.003198709338903427, + 0.0, + 1.0008161067962646 + ], + [ + 0.3117400109767914, + 0.14996016025543213, + 0.05361907556653023, + -0.05602966994047165, + -0.21047793328762054, + -0.025974230840802193, + 0.0, + 1.0008161067962646 + ], + [ + 0.31605958938598633, + 0.14354613423347473, + 0.04668029025197029, + -0.04546535015106201, + -0.19714054465293884, + -0.038840629160404205, + 0.0, + 1.0008161067962646 + ], + [ + 0.32212427258491516, + 0.134862020611763, + 0.04504337161779404, + -0.02724514901638031, + -0.19567632675170898, + -0.04735249653458595, + 0.0, + 0.9537920951843262 + ], + [ + 0.3274359107017517, + 0.13364870846271515, + 0.04598957672715187, + -0.004495599307119846, + -0.21145865321159363, + -0.011277260258793831, + 0.0, + 0.6701657772064209 + ], + [ + 0.32730984687805176, + 0.1342342048883438, + 0.04515726864337921, + -0.008859862573444843, + -0.21084479987621307, + 0.028091667219996452, + 0.0, + 0.5580781102180481 + ], + [ + 0.3254472315311432, + 0.13622146844863892, + 0.04541824758052826, + -0.009884399361908436, + -0.20359210669994354, + 0.05573427677154541, + 0.0, + 0.5580781102180481 + ], + [ + 0.3215138018131256, + 0.132538840174675, + 0.04474365711212158, + -0.037201929837465286, + -0.17780736088752747, + 0.07041079550981522, + 0.0, + 0.5580781102180481 + ], + [ + 0.31882596015930176, + 0.12273335456848145, + 0.0535169318318367, + -0.09030252695083618, + -0.15359379351139069, + 0.10905010998249054, + 0.0, + 0.5580781102180481 + ], + [ + 0.3253227770328522, + 0.11218512803316116, + 0.07304023206233978, + -0.12138941884040833, + -0.16411536931991577, + 0.12502221763134003, + 0.0, + 0.5580781102180481 + ], + [ + 0.33036008477211, + 0.09954044222831726, + 0.08941473066806793, + -0.15059968829154968, + -0.16660475730895996, + 0.14242121577262878, + 0.0, + 0.5580781102180481 + ], + [ + 0.334502637386322, + 0.08027176558971405, + 0.09689299762248993, + -0.16113191843032837, + -0.1776009351015091, + 0.10765064507722855, + 0.0, + 0.5580781102180481 + ], + [ + 0.3324205279350281, + 0.059818848967552185, + 0.10096815228462219, + -0.15691517293453217, + -0.1875831037759781, + 0.0716608539223671, + 0.0, + 0.5580781102180481 + ], + [ + 0.3253743648529053, + 0.04658936336636543, + 0.10004638880491257, + -0.15509836375713348, + -0.18361996114253998, + 0.046239569783210754, + 0.0, + 0.5580781102180481 + ], + [ + 0.31748637557029724, + 0.03678784519433975, + 0.10055731981992722, + -0.14372874796390533, + -0.19017402827739716, + 0.01632847636938095, + 0.0, + 0.5580781102180481 + ], + [ + 0.3124084770679474, + 0.03513665124773979, + 0.10015913844108582, + -0.13725224137306213, + -0.1949167549610138, + 0.011181636713445187, + 0.0, + 0.5580781102180481 + ], + [ + 0.3114599585533142, + 0.03620428964495659, + 0.09758326411247253, + -0.12858811020851135, + -0.19613879919052124, + 0.008775599300861359, + 0.0, + 0.5580781102180481 + ], + [ + 0.3131224811077118, + 0.03822121024131775, + 0.09806181490421295, + -0.11936932057142258, + -0.2059606909751892, + 0.011553825810551643, + 0.0, + 0.5580781102180481 + ], + [ + 0.31452271342277527, + 0.039936043322086334, + 0.09143789112567902, + -0.11328613758087158, + -0.19539318978786469, + 0.01759560965001583, + 0.0, + 0.5580781102180481 + ], + [ + 0.3159105181694031, + 0.04258972406387329, + 0.08291466534137726, + -0.1032257080078125, + -0.17682543396949768, + 0.027904044836759567, + 0.0, + 0.6380261182785034 + ], + [ + 0.32082197070121765, + 0.045113205909729004, + 0.08026488125324249, + -0.09419282525777817, + -0.17318134009838104, + 0.046802543103694916, + 0.0, + 0.927960216999054 + ], + [ + 0.3224925994873047, + 0.04536597058176994, + 0.07788599282503128, + -0.08149080723524094, + -0.17647171020507812, + 0.0411650650203228, + 0.0, + 1.00800359249115 + ], + [ + 0.3225620687007904, + 0.04344591870903969, + 0.07789529860019684, + -0.08452937752008438, + -0.175385981798172, + 0.03837422654032707, + 0.0, + 1.0008161067962646 + ], + [ + 0.3193441927433014, + 0.04180655628442764, + 0.0853842943906784, + -0.1272609531879425, + -0.1597708761692047, + 0.04837232455611229, + 0.0, + 1.0001531839370728 + ], + [ + 0.31828415393829346, + 0.056258611381053925, + 0.10972829163074493, + -0.1719951331615448, + -0.17077139019966125, + 0.12595173716545105, + 0.0, + 1.0001531839370728 + ], + [ + 0.3173566162586212, + 0.07315385341644287, + 0.12671345472335815, + -0.1766275018453598, + -0.13578306138515472, + 0.23076027631759644, + 0.0, + 1.0001531839370728 + ], + [ + 0.31376445293426514, + 0.10466477274894714, + 0.13904830813407898, + -0.16009977459907532, + -0.1151030957698822, + 0.36469537019729614, + 0.0, + 1.0001531839370728 + ], + [ + 0.30617180466651917, + 0.1367071270942688, + 0.1413384974002838, + -0.10613428056240082, + -0.10303010791540146, + 0.512283205986023, + 0.0, + 1.0001531839370728 + ], + [ + 0.30126073956489563, + 0.15898504853248596, + 0.13890191912651062, + -0.049405697733163834, + -0.14851869642734528, + 0.681215226650238, + 0.0, + 1.0001531839370728 + ], + [ + 0.29378557205200195, + 0.17117905616760254, + 0.13498659431934357, + 0.018036307767033577, + -0.21627795696258545, + 0.7960169911384583, + 0.0, + 1.0001531839370728 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9537920951843262 + ], + [ + 0.6701657772064209 + ], + [ + 0.5580781102180481 + ], + [ + 0.5580781102180481 + ], + [ + 0.5580781102180481 + ], + [ + 0.5580781102180481 + ], + [ + 0.5580781102180481 + ], + [ + 0.5580781102180481 + ], + [ + 0.5580781102180481 + ], + [ + 0.5580781102180481 + ], + [ + 0.5580781102180481 + ], + [ + 0.5580781102180481 + ], + [ + 0.5580781102180481 + ], + [ + 0.5580781102180481 + ], + [ + 0.5580781102180481 + ], + [ + 0.5580781102180481 + ], + [ + 0.6380261182785034 + ], + [ + 0.927960216999054 + ], + [ + 1.00800359249115 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.280082106590271, + 0.1603800505399704, + 0.14039185643196106 + ], + [ + 0.2792321443557739, + 0.15918490290641785, + 0.13051217794418335 + ], + [ + 0.28229373693466187, + 0.15645171701908112, + 0.1270822137594223 + ], + [ + 0.28674137592315674, + 0.15285295248031616, + 0.1270035356283188 + ], + [ + 0.29110684990882874, + 0.15215341746807098, + 0.12158217281103134 + ], + [ + 0.29494789242744446, + 0.1557706743478775, + 0.11101268976926804 + ], + [ + 0.3018736243247986, + 0.15579523146152496, + 0.10357781499624252 + ], + [ + 0.3040264844894409, + 0.15856815874576569, + 0.09018421173095703 + ], + [ + 0.3065708577632904, + 0.15836578607559204, + 0.07223086059093475 + ], + [ + 0.3117400109767914, + 0.14996016025543213, + 0.05361907556653023 + ], + [ + 0.31605958938598633, + 0.14354613423347473, + 0.04668029025197029 + ], + [ + 0.32212427258491516, + 0.134862020611763, + 0.04504337161779404 + ], + [ + 0.3274359107017517, + 0.13364870846271515, + 0.04598957672715187 + ], + [ + 0.32730984687805176, + 0.1342342048883438, + 0.04515726864337921 + ], + [ + 0.3254472315311432, + 0.13622146844863892, + 0.04541824758052826 + ], + [ + 0.3215138018131256, + 0.132538840174675, + 0.04474365711212158 + ], + [ + 0.31882596015930176, + 0.12273335456848145, + 0.0535169318318367 + ], + [ + 0.3253227770328522, + 0.11218512803316116, + 0.07304023206233978 + ], + [ + 0.33036008477211, + 0.09954044222831726, + 0.08941473066806793 + ], + [ + 0.334502637386322, + 0.08027176558971405, + 0.09689299762248993 + ], + [ + 0.3324205279350281, + 0.059818848967552185, + 0.10096815228462219 + ], + [ + 0.3253743648529053, + 0.04658936336636543, + 0.10004638880491257 + ], + [ + 0.31748637557029724, + 0.03678784519433975, + 0.10055731981992722 + ], + [ + 0.3124084770679474, + 0.03513665124773979, + 0.10015913844108582 + ], + [ + 0.3114599585533142, + 0.03620428964495659, + 0.09758326411247253 + ], + [ + 0.3131224811077118, + 0.03822121024131775, + 0.09806181490421295 + ], + [ + 0.31452271342277527, + 0.039936043322086334, + 0.09143789112567902 + ], + [ + 0.3159105181694031, + 0.04258972406387329, + 0.08291466534137726 + ], + [ + 0.32082197070121765, + 0.045113205909729004, + 0.08026488125324249 + ], + [ + 0.3224925994873047, + 0.04536597058176994, + 0.07788599282503128 + ], + [ + 0.3225620687007904, + 0.04344591870903969, + 0.07789529860019684 + ], + [ + 0.3193441927433014, + 0.04180655628442764, + 0.0853842943906784 + ], + [ + 0.31828415393829346, + 0.056258611381053925, + 0.10972829163074493 + ], + [ + 0.3173566162586212, + 0.07315385341644287, + 0.12671345472335815 + ], + [ + 0.31376445293426514, + 0.10466477274894714, + 0.13904830813407898 + ], + [ + 0.30617180466651917, + 0.1367071270942688, + 0.1413384974002838 + ], + [ + 0.30126073956489563, + 0.15898504853248596, + 0.13890191912651062 + ], + [ + 0.29378557205200195, + 0.17117905616760254, + 0.13498659431934357 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8371740510381757, + 0.5122297497869674, + 0.1917297360909657, + 0.5316381755824107, + -0.8444500431225476, + -0.06530677555762461, + 0.1284541106066149, + 0.15660398495411554, + -0.9792725531560431 + ], + [ + 0.8380576829809333, + 0.5202519988123795, + 0.16430817912798615, + 0.5374244687661927, + -0.839083934704105, + -0.08433914211594704, + 0.09399074618283468, + 0.15898430190808852, + -0.9827968922309394 + ], + [ + 0.8336719987278033, + 0.5292905222505917, + 0.15761516929815209, + 0.5449763309170395, + -0.8346595864866883, + -0.07965031968593639, + 0.08939685272642914, + 0.15229877787285803, + -0.9842831325289704 + ], + [ + 0.8413012837228923, + 0.5154961000725222, + 0.16271423052773762, + 0.5310922723536307, + -0.8443305414087412, + -0.07104178411807377, + 0.10076283170133035, + 0.1461838146117487, + -0.984112363550569 + ], + [ + 0.8725332972671753, + 0.4597198063636314, + 0.16535823171846206, + 0.4740773252562206, + -0.8784910636329042, + -0.05919578359171008, + 0.11805225469248357, + 0.13004288044377577, + -0.9844554405395437 + ], + [ + 0.9236890247371914, + 0.333050639585631, + 0.18940923169597326, + 0.3443857076740085, + -0.9383655768866438, + -0.02947080698028476, + 0.16791983185415935, + 0.09245169325544521, + -0.9814558647663544 + ], + [ + 0.9573114159848823, + 0.14052029579150213, + 0.25260423451654207, + 0.15414620799629722, + -0.9874320734328373, + -0.034883332932646775, + 0.24452770678469488, + 0.0723321977185565, + -0.966940667149656 + ], + [ + 0.9573363574056244, + 0.014343037878626811, + 0.2886197776552093, + 0.035049430245624284, + -0.9971570762360145, + -0.06670309402044222, + 0.28684252862640036, + 0.0739732558216489, + -0.9551174384306661 + ], + [ + 0.9654723907010776, + -0.01666113878410828, + 0.25997205474504836, + 0.00308827608541027, + -0.9971505009143277, + -0.07537467132349905, + 0.26048709247247936, + 0.07357502960055069, + -0.9626698238100704 + ], + [ + 0.9776013057988446, + -0.03762661251782265, + 0.20707468442768956, + -0.02539815395583918, + -0.997790102155827, + -0.06139907015175148, + 0.20892730955054456, + 0.05476449643973585, + -0.9763965532782635 + ], + [ + 0.9798910623918091, + -0.0476860750877364, + 0.19375124280215258, + -0.03807873575482206, + -0.9978675315927881, + -0.053013199075614914, + 0.1958660657897798, + 0.044569357586161235, + -0.9796173011111996 + ], + [ + 0.9798168668964549, + -0.0526079171292153, + 0.19285049753770564, + -0.04643148378603285, + -0.9982576554845923, + -0.03641113263594785, + 0.19442999937931996, + 0.02672190714995533, + -0.9805523520035159 + ], + [ + 0.9776636324043307, + -0.012220408732512315, + 0.20982012173378387, + -0.01102583464152774, + -0.9999156672648272, + -0.006862166479534692, + 0.20988628550819424, + 0.004395448639843203, + -0.9777159235620677 + ], + [ + 0.9774686513181855, + 0.026233380293215414, + 0.20944413443350332, + 0.027465949293520548, + -0.9996183035463783, + -0.0029780605210419286, + 0.20928606575597344, + 0.008663542777222689, + -0.9778160796933818 + ], + [ + 0.9778259317405106, + 0.0537073287345702, + 0.2024153404660805, + 0.054554920973843506, + -0.9985097989467656, + 0.0013935583330570512, + 0.20218854520803142, + 0.009680095427564386, + -0.9792987735819816 + ], + [ + 0.9817951241594751, + 0.06374179378521598, + 0.17892824791441878, + 0.06924344250394716, + -0.9972947982533168, + -0.024666395096942757, + 0.17687193063593573, + 0.03660695428356364, + -0.983552871507779 + ], + [ + 0.9823574996343671, + 0.0946759419011161, + 0.16127680842964182, + 0.10755286869434565, + -0.991511174511044, + -0.07306142111502827, + 0.15299059888676736, + 0.0891182183667691, + -0.9842011074000078 + ], + [ + 0.9788630440603234, + 0.10414970265584911, + 0.17601130761872938, + 0.12302126095377136, + -0.9873606665911807, + -0.09992338776264005, + 0.16337965089416998, + 0.11946444452353618, + -0.9793034954335564 + ], + [ + 0.9761689229101217, + 0.11570514418303748, + 0.18359344638106082, + 0.13997485450441602, + -0.9822026448716042, + -0.12523978806151428, + 0.1658350808814604, + 0.14795365496265359, + -0.9749915086462198 + ], + [ + 0.9785726822622847, + 0.07787118774298266, + 0.19060845639555182, + 0.10575280761506245, + -0.9843779188779772, + -0.14077093630076581, + 0.17666875561776454, + 0.15791197213941643, + -0.9715204371723278 + ], + [ + 0.979936301221615, + 0.04165228340433027, + 0.1949100634531377, + 0.07034352456258705, + -0.9872656273238705, + -0.14268275879347841, + 0.18648494336061963, + 0.15353067573618823, + -0.970387395583731 + ], + [ + 0.9821382778661218, + 0.0174924092059181, + 0.18734571991465554, + 0.04544604541731834, + -0.9882440803402207, + -0.14597360935606798, + 0.18258986857461418, + 0.15188039140285228, + -0.9713872999999644 + ], + [ + 0.9818404501881923, + -0.010912567388672618, + 0.1893944197890622, + 0.016033383550375983, + -0.9899989436396649, + -0.14016070135481737, + 0.18902978862119688, + 0.1406520794916856, + -0.9718460431305415 + ], + [ + 0.9810024661796317, + -0.015422389059502259, + 0.19338125882612883, + 0.010969670371262619, + -0.9908300729356067, + -0.13466786141602816, + 0.19368486693964176, + 0.13423083282956294, + -0.9718375665904542 + ], + [ + 0.9807886052439941, + -0.016286716227100304, + 0.19439252737201018, + 0.008607228750448004, + -0.9919250527277748, + -0.1265330209243337, + 0.19488362536851905, + 0.12577532606015504, + -0.9727286054792896 + ], + [ + 0.9787996335637915, + -0.012881026655733681, + 0.2044146679856457, + 0.011309383707341742, + -0.9930990443551264, + -0.11673211186770631, + 0.2045076408732632, + 0.116569152236897, + -0.9718993042343551 + ], + [ + 0.9808195535514929, + -0.0044624268084454, + 0.19486685228131873, + 0.0172598992912906, + -0.9938223428144619, + -0.10963232552139252, + 0.19415225789957874, + 0.11089291081829053, + -0.9746833655514707 + ], + [ + 0.98402385312747, + 0.009633235372270413, + 0.17777586240102922, + 0.02746537459539635, + -0.9947954509412291, + -0.09812066033701047, + 0.17590539978778874, + 0.10143575091110069, + -0.9791670331269324 + ], + [ + 0.9839628946893471, + 0.0303887803721614, + 0.17576559362416094, + 0.04608562055271839, + -0.9952352032150363, + -0.08592441946150312, + 0.1723169679771322, + 0.09264670695182864, + -0.9806749972534989 + ], + [ + 0.9836352312694383, + 0.026738509399124557, + 0.17817627204718017, + 0.04051429550688604, + -0.9964252128307064, + -0.07413087814710918, + 0.17555718061389158, + 0.0801364296084731, + -0.9812022365366413 + ], + [ + 0.9839343565545173, + 0.02350685222293178, + 0.17697629753788274, + 0.03777626459301835, + -0.9962611307443859, + -0.07769628820809837, + 0.17448821113486784, + 0.0831335507871934, + -0.9811435557085757 + ], + [ + 0.9861089460186894, + 0.02779446299981768, + 0.163757791901519, + 0.04773762125737069, + -0.9917293276689643, + -0.11913882724767691, + 0.1590920051372704, + 0.12530127081484743, + -0.9792800035912032 + ], + [ + 0.9776477539003797, + 0.09491051535153325, + 0.18760827105767258, + 0.12379173036140892, + -0.9810943813056883, + -0.1487596130155529, + 0.16994256908635635, + 0.16865885404008651, + -0.9709138551726482 + ], + [ + 0.964532404706335, + 0.20200450457220742, + 0.1699159215728525, + 0.22661251174990432, + -0.963787176534925, + -0.14057399427076334, + 0.1353662062326274, + 0.1740932465070778, + -0.9753807111742632 + ], + [ + 0.9280505915389122, + 0.33499873088768745, + 0.16278190884712437, + 0.3543046474151577, + -0.9288150400932526, + -0.10849349342974443, + 0.11484910258376199, + 0.15836183757524416, + -0.9806789546204692 + ], + [ + 0.8670054633700485, + 0.4779139052101252, + 0.14106674198157018, + 0.48756930899459217, + -0.8720635022774167, + -0.042206835017352444, + 0.10284792371761041, + 0.10537337046167544, + -0.9890999734023468 + ], + [ + 0.7682564160345792, + 0.6232923535337163, + 0.1459065497094117, + 0.6228049309588735, + -0.7804621116113992, + 0.05470749777122864, + 0.14797329892591066, + 0.048841932450273746, + -0.987784575927113 + ], + [ + 0.6832607621488442, + 0.7171666984984314, + 0.13721026737325814, + 0.6979279181135988, + -0.6966790026316247, + 0.16593670000883748, + 0.2145957875294826, + -0.017615159864874136, + -0.9765440871345935 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0008499622344970703, + -0.0011951476335525513, + -0.00987967848777771, + -0.0018018931150436401, + 0.0346803292632103, + 0.004430532455444336, + 1.0 + ], + [ + 0.0030615925788879395, + -0.002733185887336731, + -0.0034299641847610474, + 0.006864607334136963, + 0.004613332450389862, + 0.008759677410125732, + 1.0 + ], + [ + 0.004447638988494873, + -0.0035987645387649536, + -7.867813110351562e-05, + 0.006047755479812622, + -0.011417768895626068, + -0.015877246856689453, + 1.0 + ], + [ + 0.004365473985671997, + -0.0006995350122451782, + -0.005421362817287445, + 0.016129642724990845, + -0.017394065856933594, + -0.0653875470161438, + 1.0 + ], + [ + 0.0038410425186157227, + 0.0036172568798065186, + -0.010569483041763306, + 0.037414491176605225, + -0.05039096623659134, + -0.14083799719810486, + 1.0 + ], + [ + 0.006925731897354126, + 2.4557113647460938e-05, + -0.007434874773025513, + 0.01925523579120636, + -0.0783134251832962, + -0.19722367823123932, + 1.0 + ], + [ + 0.002152860164642334, + 0.0027729272842407227, + -0.013393603265285492, + -0.0026289373636245728, + -0.043896645307540894, + -0.12305450439453125, + 1.0 + ], + [ + 0.0025443732738494873, + -0.00020237267017364502, + -0.017953351140022278, + 0.0010152682662010193, + 0.027402549982070923, + -0.03339635208249092, + 1.0 + ], + [ + 0.0051691532135009766, + -0.008405625820159912, + -0.018611785024404526, + 0.020250141620635986, + 0.053048744797706604, + -0.02917294017970562, + 1.0 + ], + [ + 0.004319578409194946, + -0.0064140260219573975, + -0.0069387853145599365, + 0.010564319789409637, + 0.013337388634681702, + -0.012866398319602013, + 1.0 + ], + [ + 0.006064683198928833, + -0.008684113621711731, + -0.0016369186341762543, + 0.0182202011346817, + 0.0014642179012298584, + -0.008511867374181747, + 0.0 + ], + [ + 0.005311638116836548, + -0.0012133121490478516, + 0.0009462051093578339, + 0.02274955064058304, + -0.015782326459884644, + 0.03607523441314697, + 0.0 + ], + [ + -0.00012606382369995117, + 0.0005854964256286621, + -0.0008323080837726593, + -0.004364263266324997, + 0.0006138533353805542, + 0.03936892747879028, + 0.0 + ], + [ + -0.0018626153469085693, + 0.001987263560295105, + 0.00026097893714904785, + -0.0010245367884635925, + 0.007252693176269531, + 0.027642609551548958, + 0.0 + ], + [ + -0.003933429718017578, + -0.0036826282739639282, + -0.0006745904684066772, + -0.027317531406879425, + 0.025784745812416077, + 0.014676518738269806, + 0.0 + ], + [ + -0.0026878416538238525, + -0.009805485606193542, + 0.008773274719715118, + -0.053100597113370895, + 0.02421356737613678, + 0.038639314472675323, + 0.0 + ], + [ + 0.006496816873550415, + -0.010548226535320282, + 0.019523300230503082, + -0.031086891889572144, + -0.010521575808525085, + 0.015972107648849487, + 0.0 + ], + [ + 0.0050373077392578125, + -0.012644685804843903, + 0.01637449860572815, + -0.029210269451141357, + -0.0024893879890441895, + 0.017398998141288757, + 0.0 + ], + [ + 0.004142552614212036, + -0.01926867663860321, + 0.007478266954421997, + -0.010532230138778687, + -0.010996177792549133, + -0.03477057069540024, + 0.0 + ], + [ + -0.0020821094512939453, + -0.020452916622161865, + 0.004075154662132263, + 0.004216745495796204, + -0.009982168674468994, + -0.03598979115486145, + 0.0 + ], + [ + -0.007046163082122803, + -0.013229485601186752, + -0.0009217634797096252, + 0.0018168091773986816, + 0.00396314263343811, + -0.02542128413915634, + 0.0 + ], + [ + -0.007887989282608032, + -0.00980151817202568, + 0.0005109310150146484, + 0.01136961579322815, + -0.006554067134857178, + -0.029911093413829803, + 0.0 + ], + [ + -0.0050778985023498535, + -0.0016511939465999603, + -0.00039818137884140015, + 0.006476506590843201, + -0.004742726683616638, + -0.005146839655935764, + 0.0 + ], + [ + -0.0009485185146331787, + 0.0010676383972167969, + -0.0025758743286132812, + 0.008664131164550781, + -0.0012220442295074463, + -0.002406037412583828, + 0.0 + ], + [ + 0.001662522554397583, + 0.0020169205963611603, + 0.0004785507917404175, + 0.009218789637088776, + -0.009821891784667969, + 0.0027782265096902847, + 0.0 + ], + [ + 0.0014002323150634766, + 0.0017148330807685852, + -0.0066239237785339355, + 0.006083182990550995, + 0.010567501187324524, + 0.006041783839464188, + 0.0 + ], + [ + 0.0013878047466278076, + 0.002653680741786957, + -0.008523225784301758, + 0.010060429573059082, + 0.018567755818367004, + 0.010308435186743736, + 1.0 + ], + [ + 0.004911452531814575, + 0.002523481845855713, + -0.0026497840881347656, + 0.009032882750034332, + 0.003644093871116638, + 0.01889849826693535, + 1.0 + ], + [ + 0.0016706287860870361, + 0.00025276467204093933, + -0.002378888428211212, + 0.012702018022537231, + -0.0032903701066970825, + -0.005637478083372116, + 1.0 + ], + [ + 6.946921348571777e-05, + -0.0019200518727302551, + 9.305775165557861e-06, + -0.003038570284843445, + 0.001085728406906128, + -0.0027908384799957275, + 1.0 + ], + [ + -0.0032178759574890137, + -0.0016393624246120453, + 0.007488995790481567, + -0.042731575667858124, + 0.015615105628967285, + 0.009998098015785217, + 1.0 + ], + [ + -0.0010600388050079346, + 0.014452055096626282, + 0.02434399724006653, + -0.044734179973602295, + -0.011000514030456543, + 0.07757940888404846, + 1.0 + ], + [ + -0.0009275376796722412, + 0.016895242035388947, + 0.01698516309261322, + -0.0046323686838150024, + 0.03498832881450653, + 0.10480853915214539, + 1.0 + ], + [ + -0.003592163324356079, + 0.03151091933250427, + 0.012334853410720825, + 0.016527727246284485, + 0.020679965615272522, + 0.1339350938796997, + 1.0 + ], + [ + -0.007592648267745972, + 0.032042354345321655, + 0.002290189266204834, + 0.0539654940366745, + 0.012072987854480743, + 0.1475878357887268, + 1.0 + ], + [ + -0.004911065101623535, + 0.022277921438217163, + -0.0024365782737731934, + 0.056728582829236984, + -0.04548858851194382, + 0.1689320206642151, + 1.0 + ], + [ + -0.007475167512893677, + 0.012194007635116577, + -0.003915324807167053, + 0.06744200736284256, + -0.06775926053524017, + 0.11480176448822021, + 1.0 + ], + [ + 0.0015988051891326904, + 0.0011795908212661743, + -0.001248881220817566, + -0.02934752032160759, + -0.007044583559036255, + 0.004321575164794922, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9537920951843262 + ], + [ + 0.6701657772064209 + ], + [ + 0.5580781102180481 + ], + [ + 0.5580781102180481 + ], + [ + 0.5580781102180481 + ], + [ + 0.5580781102180481 + ], + [ + 0.5580781102180481 + ], + [ + 0.5580781102180481 + ], + [ + 0.5580781102180481 + ], + [ + 0.5580781102180481 + ], + [ + 0.5580781102180481 + ], + [ + 0.5580781102180481 + ], + [ + 0.5580781102180481 + ], + [ + 0.5580781102180481 + ], + [ + 0.5580781102180481 + ], + [ + 0.5580781102180481 + ], + [ + 0.6380261182785034 + ], + [ + 0.927960216999054 + ], + [ + 1.00800359249115 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2792321443557739, + 0.15918490290641785, + 0.13051217794418335 + ], + [ + 0.28229373693466187, + 0.15645171701908112, + 0.1270822137594223 + ], + [ + 0.28674137592315674, + 0.15285295248031616, + 0.1270035356283188 + ], + [ + 0.29110684990882874, + 0.15215341746807098, + 0.12158217281103134 + ], + [ + 0.29494789242744446, + 0.1557706743478775, + 0.11101268976926804 + ], + [ + 0.3018736243247986, + 0.15579523146152496, + 0.10357781499624252 + ], + [ + 0.3040264844894409, + 0.15856815874576569, + 0.09018421173095703 + ], + [ + 0.3065708577632904, + 0.15836578607559204, + 0.07223086059093475 + ], + [ + 0.3117400109767914, + 0.14996016025543213, + 0.05361907556653023 + ], + [ + 0.31605958938598633, + 0.14354613423347473, + 0.04668029025197029 + ], + [ + 0.32212427258491516, + 0.134862020611763, + 0.04504337161779404 + ], + [ + 0.3274359107017517, + 0.13364870846271515, + 0.04598957672715187 + ], + [ + 0.32730984687805176, + 0.1342342048883438, + 0.04515726864337921 + ], + [ + 0.3254472315311432, + 0.13622146844863892, + 0.04541824758052826 + ], + [ + 0.3215138018131256, + 0.132538840174675, + 0.04474365711212158 + ], + [ + 0.31882596015930176, + 0.12273335456848145, + 0.0535169318318367 + ], + [ + 0.3253227770328522, + 0.11218512803316116, + 0.07304023206233978 + ], + [ + 0.33036008477211, + 0.09954044222831726, + 0.08941473066806793 + ], + [ + 0.334502637386322, + 0.08027176558971405, + 0.09689299762248993 + ], + [ + 0.3324205279350281, + 0.059818848967552185, + 0.10096815228462219 + ], + [ + 0.3253743648529053, + 0.04658936336636543, + 0.10004638880491257 + ], + [ + 0.31748637557029724, + 0.03678784519433975, + 0.10055731981992722 + ], + [ + 0.3124084770679474, + 0.03513665124773979, + 0.10015913844108582 + ], + [ + 0.3114599585533142, + 0.03620428964495659, + 0.09758326411247253 + ], + [ + 0.3131224811077118, + 0.03822121024131775, + 0.09806181490421295 + ], + [ + 0.31452271342277527, + 0.039936043322086334, + 0.09143789112567902 + ], + [ + 0.3159105181694031, + 0.04258972406387329, + 0.08291466534137726 + ], + [ + 0.32082197070121765, + 0.045113205909729004, + 0.08026488125324249 + ], + [ + 0.3224925994873047, + 0.04536597058176994, + 0.07788599282503128 + ], + [ + 0.3225620687007904, + 0.04344591870903969, + 0.07789529860019684 + ], + [ + 0.3193441927433014, + 0.04180655628442764, + 0.0853842943906784 + ], + [ + 0.31828415393829346, + 0.056258611381053925, + 0.10972829163074493 + ], + [ + 0.3173566162586212, + 0.07315385341644287, + 0.12671345472335815 + ], + [ + 0.31376445293426514, + 0.10466477274894714, + 0.13904830813407898 + ], + [ + 0.30617180466651917, + 0.1367071270942688, + 0.1413384974002838 + ], + [ + 0.30126073956489563, + 0.15898504853248596, + 0.13890191912651062 + ], + [ + 0.29378557205200195, + 0.17117905616760254, + 0.13498659431934357 + ], + [ + 0.29538437724113464, + 0.1723586469888687, + 0.133737713098526 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8380576829809333, + 0.5202519988123795, + 0.16430817912798615, + 0.5374244687661927, + -0.839083934704105, + -0.08433914211594704, + 0.09399074618283468, + 0.15898430190808852, + -0.9827968922309394 + ], + [ + 0.8336719987278033, + 0.5292905222505917, + 0.15761516929815209, + 0.5449763309170395, + -0.8346595864866883, + -0.07965031968593639, + 0.08939685272642914, + 0.15229877787285803, + -0.9842831325289704 + ], + [ + 0.8413012837228923, + 0.5154961000725222, + 0.16271423052773762, + 0.5310922723536307, + -0.8443305414087412, + -0.07104178411807377, + 0.10076283170133035, + 0.1461838146117487, + -0.984112363550569 + ], + [ + 0.8725332972671753, + 0.4597198063636314, + 0.16535823171846206, + 0.4740773252562206, + -0.8784910636329042, + -0.05919578359171008, + 0.11805225469248357, + 0.13004288044377577, + -0.9844554405395437 + ], + [ + 0.9236890247371914, + 0.333050639585631, + 0.18940923169597326, + 0.3443857076740085, + -0.9383655768866438, + -0.02947080698028476, + 0.16791983185415935, + 0.09245169325544521, + -0.9814558647663544 + ], + [ + 0.9573114159848823, + 0.14052029579150213, + 0.25260423451654207, + 0.15414620799629722, + -0.9874320734328373, + -0.034883332932646775, + 0.24452770678469488, + 0.0723321977185565, + -0.966940667149656 + ], + [ + 0.9573363574056244, + 0.014343037878626811, + 0.2886197776552093, + 0.035049430245624284, + -0.9971570762360145, + -0.06670309402044222, + 0.28684252862640036, + 0.0739732558216489, + -0.9551174384306661 + ], + [ + 0.9654723907010776, + -0.01666113878410828, + 0.25997205474504836, + 0.00308827608541027, + -0.9971505009143277, + -0.07537467132349905, + 0.26048709247247936, + 0.07357502960055069, + -0.9626698238100704 + ], + [ + 0.9776013057988446, + -0.03762661251782265, + 0.20707468442768956, + -0.02539815395583918, + -0.997790102155827, + -0.06139907015175148, + 0.20892730955054456, + 0.05476449643973585, + -0.9763965532782635 + ], + [ + 0.9798910623918091, + -0.0476860750877364, + 0.19375124280215258, + -0.03807873575482206, + -0.9978675315927881, + -0.053013199075614914, + 0.1958660657897798, + 0.044569357586161235, + -0.9796173011111996 + ], + [ + 0.9798168668964549, + -0.0526079171292153, + 0.19285049753770564, + -0.04643148378603285, + -0.9982576554845923, + -0.03641113263594785, + 0.19442999937931996, + 0.02672190714995533, + -0.9805523520035159 + ], + [ + 0.9776636324043307, + -0.012220408732512315, + 0.20982012173378387, + -0.01102583464152774, + -0.9999156672648272, + -0.006862166479534692, + 0.20988628550819424, + 0.004395448639843203, + -0.9777159235620677 + ], + [ + 0.9774686513181855, + 0.026233380293215414, + 0.20944413443350332, + 0.027465949293520548, + -0.9996183035463783, + -0.0029780605210419286, + 0.20928606575597344, + 0.008663542777222689, + -0.9778160796933818 + ], + [ + 0.9778259317405106, + 0.0537073287345702, + 0.2024153404660805, + 0.054554920973843506, + -0.9985097989467656, + 0.0013935583330570512, + 0.20218854520803142, + 0.009680095427564386, + -0.9792987735819816 + ], + [ + 0.9817951241594751, + 0.06374179378521598, + 0.17892824791441878, + 0.06924344250394716, + -0.9972947982533168, + -0.024666395096942757, + 0.17687193063593573, + 0.03660695428356364, + -0.983552871507779 + ], + [ + 0.9823574996343671, + 0.0946759419011161, + 0.16127680842964182, + 0.10755286869434565, + -0.991511174511044, + -0.07306142111502827, + 0.15299059888676736, + 0.0891182183667691, + -0.9842011074000078 + ], + [ + 0.9788630440603234, + 0.10414970265584911, + 0.17601130761872938, + 0.12302126095377136, + -0.9873606665911807, + -0.09992338776264005, + 0.16337965089416998, + 0.11946444452353618, + -0.9793034954335564 + ], + [ + 0.9761689229101217, + 0.11570514418303748, + 0.18359344638106082, + 0.13997485450441602, + -0.9822026448716042, + -0.12523978806151428, + 0.1658350808814604, + 0.14795365496265359, + -0.9749915086462198 + ], + [ + 0.9785726822622847, + 0.07787118774298266, + 0.19060845639555182, + 0.10575280761506245, + -0.9843779188779772, + -0.14077093630076581, + 0.17666875561776454, + 0.15791197213941643, + -0.9715204371723278 + ], + [ + 0.979936301221615, + 0.04165228340433027, + 0.1949100634531377, + 0.07034352456258705, + -0.9872656273238705, + -0.14268275879347841, + 0.18648494336061963, + 0.15353067573618823, + -0.970387395583731 + ], + [ + 0.9821382778661218, + 0.0174924092059181, + 0.18734571991465554, + 0.04544604541731834, + -0.9882440803402207, + -0.14597360935606798, + 0.18258986857461418, + 0.15188039140285228, + -0.9713872999999644 + ], + [ + 0.9818404501881923, + -0.010912567388672618, + 0.1893944197890622, + 0.016033383550375983, + -0.9899989436396649, + -0.14016070135481737, + 0.18902978862119688, + 0.1406520794916856, + -0.9718460431305415 + ], + [ + 0.9810024661796317, + -0.015422389059502259, + 0.19338125882612883, + 0.010969670371262619, + -0.9908300729356067, + -0.13466786141602816, + 0.19368486693964176, + 0.13423083282956294, + -0.9718375665904542 + ], + [ + 0.9807886052439941, + -0.016286716227100304, + 0.19439252737201018, + 0.008607228750448004, + -0.9919250527277748, + -0.1265330209243337, + 0.19488362536851905, + 0.12577532606015504, + -0.9727286054792896 + ], + [ + 0.9787996335637915, + -0.012881026655733681, + 0.2044146679856457, + 0.011309383707341742, + -0.9930990443551264, + -0.11673211186770631, + 0.2045076408732632, + 0.116569152236897, + -0.9718993042343551 + ], + [ + 0.9808195535514929, + -0.0044624268084454, + 0.19486685228131873, + 0.0172598992912906, + -0.9938223428144619, + -0.10963232552139252, + 0.19415225789957874, + 0.11089291081829053, + -0.9746833655514707 + ], + [ + 0.98402385312747, + 0.009633235372270413, + 0.17777586240102922, + 0.02746537459539635, + -0.9947954509412291, + -0.09812066033701047, + 0.17590539978778874, + 0.10143575091110069, + -0.9791670331269324 + ], + [ + 0.9839628946893471, + 0.0303887803721614, + 0.17576559362416094, + 0.04608562055271839, + -0.9952352032150363, + -0.08592441946150312, + 0.1723169679771322, + 0.09264670695182864, + -0.9806749972534989 + ], + [ + 0.9836352312694383, + 0.026738509399124557, + 0.17817627204718017, + 0.04051429550688604, + -0.9964252128307064, + -0.07413087814710918, + 0.17555718061389158, + 0.0801364296084731, + -0.9812022365366413 + ], + [ + 0.9839343565545173, + 0.02350685222293178, + 0.17697629753788274, + 0.03777626459301835, + -0.9962611307443859, + -0.07769628820809837, + 0.17448821113486784, + 0.0831335507871934, + -0.9811435557085757 + ], + [ + 0.9861089460186894, + 0.02779446299981768, + 0.163757791901519, + 0.04773762125737069, + -0.9917293276689643, + -0.11913882724767691, + 0.1590920051372704, + 0.12530127081484743, + -0.9792800035912032 + ], + [ + 0.9776477539003797, + 0.09491051535153325, + 0.18760827105767258, + 0.12379173036140892, + -0.9810943813056883, + -0.1487596130155529, + 0.16994256908635635, + 0.16865885404008651, + -0.9709138551726482 + ], + [ + 0.964532404706335, + 0.20200450457220742, + 0.1699159215728525, + 0.22661251174990432, + -0.963787176534925, + -0.14057399427076334, + 0.1353662062326274, + 0.1740932465070778, + -0.9753807111742632 + ], + [ + 0.9280505915389122, + 0.33499873088768745, + 0.16278190884712437, + 0.3543046474151577, + -0.9288150400932526, + -0.10849349342974443, + 0.11484910258376199, + 0.15836183757524416, + -0.9806789546204692 + ], + [ + 0.8670054633700485, + 0.4779139052101252, + 0.14106674198157018, + 0.48756930899459217, + -0.8720635022774167, + -0.042206835017352444, + 0.10284792371761041, + 0.10537337046167544, + -0.9890999734023468 + ], + [ + 0.7682564160345792, + 0.6232923535337163, + 0.1459065497094117, + 0.6228049309588735, + -0.7804621116113992, + 0.05470749777122864, + 0.14797329892591066, + 0.048841932450273746, + -0.987784575927113 + ], + [ + 0.6832607621488442, + 0.7171666984984314, + 0.13721026737325814, + 0.6979279181135988, + -0.6966790026316247, + 0.16593670000883748, + 0.2145957875294826, + -0.017615159864874136, + -0.9765440871345935 + ], + [ + 0.6791685025121295, + 0.715801349104621, + 0.1623532377731856, + 0.699771961657521, + -0.6982168472945414, + 0.1510378622467114, + 0.22147087138812854, + 0.011030084953259758, + -0.9751046048258143 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006444.json b/json/chunk-0006/episode_0006444.json new file mode 100644 index 0000000000000000000000000000000000000000..984ef660e526bdef8e03ecea7b0a31f1a1fb2b9b --- /dev/null +++ b/json/chunk-0006/episode_0006444.json @@ -0,0 +1,1882 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 30, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the orange clear pot to the left burner." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006444.mp4", + "start": 0, + "end": 30, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2966068983078003, + -0.055926788598299026, + 0.017499281093478203, + 0.06202368065714836, + -0.2343040555715561, + -0.5920198559761047, + 0.0, + 0.9988223910331726 + ], + [ + 0.29286304116249084, + -0.05533319339156151, + 0.00727327773347497, + 0.04602004215121269, + -0.20090821385383606, + -0.5872305035591125, + 0.0, + 0.9988223910331726 + ], + [ + 0.3120795786380768, + -0.06799930334091187, + 1.6862823031260632e-05, + 0.04812680929899216, + -0.1949710249900818, + -0.6247730255126953, + 0.0, + 0.9988223910331726 + ], + [ + 0.33518052101135254, + -0.07955315709114075, + -0.006352294702082872, + 0.051252059638500214, + -0.19718123972415924, + -0.6531864404678345, + 0.0, + 0.9988223910331726 + ], + [ + 0.35620981454849243, + -0.08908137679100037, + -0.009423821233212948, + 0.04619776830077171, + -0.23548592627048492, + -0.6819879412651062, + 0.0, + 0.9988223910331726 + ], + [ + 0.3756695091724396, + -0.10014469921588898, + -0.012560910545289516, + 0.07524439692497253, + -0.21850205957889557, + -0.7424056529998779, + 0.0, + 0.9988223910331726 + ], + [ + 0.38408294320106506, + -0.10264673829078674, + -0.02490840293467045, + 0.07380551844835281, + -0.20421312749385834, + -0.7624630331993103, + 0.0, + 0.9988223910331726 + ], + [ + 0.3825051784515381, + -0.10385973006486893, + -0.0393911711871624, + 0.0565376803278923, + -0.19338569045066833, + -0.7623058557510376, + 0.0, + 0.9560673832893372 + ], + [ + 0.38384097814559937, + -0.11116676032543182, + -0.047404468059539795, + 0.03911242261528969, + -0.24021942913532257, + -0.7839608192443848, + 0.0, + 0.6751802563667297 + ], + [ + 0.3816298246383667, + -0.10754555463790894, + -0.05039890110492706, + 0.053465861827135086, + -0.22908012568950653, + -0.7803657054901123, + 0.0, + 0.3669656813144684 + ], + [ + 0.3799426555633545, + -0.10679304599761963, + -0.05212092772126198, + 0.060606565326452255, + -0.2236422300338745, + -0.7800105810165405, + 0.0, + 0.1546454280614853 + ], + [ + 0.3766460120677948, + -0.10388274490833282, + -0.048828285187482834, + 0.0715157687664032, + -0.21624115109443665, + -0.7821700572967529, + 0.0, + 0.08259850740432739 + ], + [ + 0.3718145489692688, + -0.102369524538517, + -0.04382813349366188, + 0.07921502739191055, + -0.227571502327919, + -0.7795292139053345, + 0.0, + 0.08157449960708618 + ], + [ + 0.36183232069015503, + -0.09956393390893936, + -0.02381877228617668, + 0.07720378786325455, + -0.281559556722641, + -0.7766692638397217, + 0.0, + 0.08157449960708618 + ], + [ + 0.3471824526786804, + -0.07449276000261307, + 0.0008599802968092263, + 0.1264396607875824, + -0.2985169291496277, + -0.7102591395378113, + 0.0, + 0.08157449960708618 + ], + [ + 0.32472091913223267, + -0.0505090206861496, + 0.013804453425109386, + 0.15154819190502167, + -0.2975292503833771, + -0.631244421005249, + 0.0, + 0.08157449960708618 + ], + [ + 0.30116650462150574, + -0.01888577826321125, + 0.018888374790549278, + 0.17292150855064392, + -0.2737373411655426, + -0.5193944573402405, + 0.0, + 0.08123486489057541 + ], + [ + 0.27655723690986633, + 0.013542495667934418, + 0.01442351471632719, + 0.16402338445186615, + -0.24884288012981415, + -0.382489413022995, + 0.0, + 0.08123486489057541 + ], + [ + 0.2611248791217804, + 0.03759836405515671, + 0.006976129487156868, + 0.1490381956100464, + -0.21837280690670013, + -0.269366055727005, + 0.0, + 0.08123486489057541 + ], + [ + 0.2575383484363556, + 0.05630802363157272, + 0.004795811604708433, + 0.1610809713602066, + -0.22064127027988434, + -0.20343172550201416, + 0.0, + 0.08123486489057541 + ], + [ + 0.26155760884284973, + 0.0710815042257309, + -0.01603829115629196, + 0.12921133637428284, + -0.19088472425937653, + -0.17484186589717865, + 0.0, + 0.08123486489057541 + ], + [ + 0.2778063416481018, + 0.07932848483324051, + -0.029597323387861252, + 0.11572499573230743, + -0.22046422958374023, + -0.19739848375320435, + 0.0, + 0.08123486489057541 + ], + [ + 0.284059077501297, + 0.08455003052949905, + -0.041979603469371796, + 0.08999898284673691, + -0.20553044974803925, + -0.21135872602462769, + 0.0, + 0.08123486489057541 + ], + [ + 0.2893095910549164, + 0.08591991662979126, + -0.05173645541071892, + 0.07164465636014938, + -0.2011961042881012, + -0.22637403011322021, + 0.0, + 0.08123486489057541 + ], + [ + 0.2951641082763672, + 0.0876661166548729, + -0.054664310067892075, + 0.06387268006801605, + -0.19649824500083923, + -0.23508918285369873, + 0.0, + 0.11409598588943481 + ], + [ + 0.293930321931839, + 0.08637872338294983, + -0.0549628809094429, + 0.04919634014368057, + -0.18565905094146729, + -0.2256776988506317, + 0.0, + 0.3011319041252136 + ], + [ + 0.29335567355155945, + 0.08885310590267181, + -0.053813450038433075, + 0.05480608344078064, + -0.1613842099905014, + -0.21610644459724426, + 0.0, + 0.5958979725837708 + ], + [ + 0.2908448576927185, + 0.08362997323274612, + -0.05290773883461952, + 0.06475678086280823, + -0.12211441993713379, + -0.2383318990468979, + 0.0, + 0.8922415375709534 + ], + [ + 0.29432612657546997, + 0.08463263511657715, + -0.03396763280034065, + 0.09166475385427475, + -0.13722269237041473, + -0.23681174218654633, + 0.0, + 1.0187249183654785 + ], + [ + 0.29335442185401917, + 0.08612886071205139, + -0.006767079699784517, + 0.12024341523647308, + -0.18065008521080017, + -0.20638754963874817, + 0.0, + 1.0099300146102905 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9560673832893372 + ], + [ + 0.6751802563667297 + ], + [ + 0.3669656813144684 + ], + [ + 0.1546454280614853 + ], + [ + 0.08259850740432739 + ], + [ + 0.08157449960708618 + ], + [ + 0.08157449960708618 + ], + [ + 0.08157449960708618 + ], + [ + 0.08157449960708618 + ], + [ + 0.08123486489057541 + ], + [ + 0.08123486489057541 + ], + [ + 0.08123486489057541 + ], + [ + 0.08123486489057541 + ], + [ + 0.08123486489057541 + ], + [ + 0.08123486489057541 + ], + [ + 0.08123486489057541 + ], + [ + 0.08123486489057541 + ], + [ + 0.11409598588943481 + ], + [ + 0.3011319041252136 + ], + [ + 0.5958979725837708 + ], + [ + 0.8922415375709534 + ], + [ + 1.0187249183654785 + ], + [ + 1.0099300146102905 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2966068983078003, + -0.055926788598299026, + 0.017499281093478203 + ], + [ + 0.29286304116249084, + -0.05533319339156151, + 0.00727327773347497 + ], + [ + 0.3120795786380768, + -0.06799930334091187, + 1.6862823031260632e-05 + ], + [ + 0.33518052101135254, + -0.07955315709114075, + -0.006352294702082872 + ], + [ + 0.35620981454849243, + -0.08908137679100037, + -0.009423821233212948 + ], + [ + 0.3756695091724396, + -0.10014469921588898, + -0.012560910545289516 + ], + [ + 0.38408294320106506, + -0.10264673829078674, + -0.02490840293467045 + ], + [ + 0.3825051784515381, + -0.10385973006486893, + -0.0393911711871624 + ], + [ + 0.38384097814559937, + -0.11116676032543182, + -0.047404468059539795 + ], + [ + 0.3816298246383667, + -0.10754555463790894, + -0.05039890110492706 + ], + [ + 0.3799426555633545, + -0.10679304599761963, + -0.05212092772126198 + ], + [ + 0.3766460120677948, + -0.10388274490833282, + -0.048828285187482834 + ], + [ + 0.3718145489692688, + -0.102369524538517, + -0.04382813349366188 + ], + [ + 0.36183232069015503, + -0.09956393390893936, + -0.02381877228617668 + ], + [ + 0.3471824526786804, + -0.07449276000261307, + 0.0008599802968092263 + ], + [ + 0.32472091913223267, + -0.0505090206861496, + 0.013804453425109386 + ], + [ + 0.30116650462150574, + -0.01888577826321125, + 0.018888374790549278 + ], + [ + 0.27655723690986633, + 0.013542495667934418, + 0.01442351471632719 + ], + [ + 0.2611248791217804, + 0.03759836405515671, + 0.006976129487156868 + ], + [ + 0.2575383484363556, + 0.05630802363157272, + 0.004795811604708433 + ], + [ + 0.26155760884284973, + 0.0710815042257309, + -0.01603829115629196 + ], + [ + 0.2778063416481018, + 0.07932848483324051, + -0.029597323387861252 + ], + [ + 0.284059077501297, + 0.08455003052949905, + -0.041979603469371796 + ], + [ + 0.2893095910549164, + 0.08591991662979126, + -0.05173645541071892 + ], + [ + 0.2951641082763672, + 0.0876661166548729, + -0.054664310067892075 + ], + [ + 0.293930321931839, + 0.08637872338294983, + -0.0549628809094429 + ], + [ + 0.29335567355155945, + 0.08885310590267181, + -0.053813450038433075 + ], + [ + 0.2908448576927185, + 0.08362997323274612, + -0.05290773883461952 + ], + [ + 0.29432612657546997, + 0.08463263511657715, + -0.03396763280034065 + ], + [ + 0.29335442185401917, + 0.08612886071205139, + -0.006767079699784517 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8071414705185244, + -0.545023731646142, + 0.2268739264695441, + -0.5427905143157966, + -0.8362500904745823, + -0.07787325439485493, + 0.23216611324219313, + -0.06029028216692173, + -0.9708058393614276 + ], + [ + 0.8157336442409272, + -0.5458284465905534, + 0.19144171056997905, + -0.5429131458868501, + -0.8366834757864351, + -0.07215315217766614, + 0.19955935877993813, + -0.04507846757014938, + -0.9788482998324443 + ], + [ + 0.7957282967023963, + -0.5766761990132042, + 0.18509737793601155, + -0.5738310055602992, + -0.8156083798194533, + -0.0741683748368698, + 0.19373810901513205, + -0.04719673992946897, + -0.9799173500123728 + ], + [ + 0.7787628484752567, + -0.5989517524042415, + 0.18650797335929828, + -0.5959440206835102, + -0.7992077633179133, + -0.0782155691915005, + 0.19590597246198613, + -0.05023693207458674, + -0.9793350298082149 + ], + [ + 0.754895554947995, + -0.621300301825521, + 0.21004436691155268, + -0.6129409150868459, + -0.7822846769905897, + -0.11105907778398114, + 0.23331552827074845, + -0.04490678230785335, + -0.9713636009087927 + ], + [ + 0.7193245570262659, + -0.6621425293251352, + 0.210093913566955, + -0.6599878893986265, + -0.7457759453561222, + -0.09074263152084922, + 0.21676754255679714, + -0.07338603536841956, + -0.9734610019445014 + ], + [ + 0.708110814979078, + -0.678010540318596, + 0.19718210092843477, + -0.6763524021228281, + -0.7314970651933896, + -0.08636823348973889, + 0.20279670079255732, + -0.07220630741385049, + -0.9765550405979739 + ], + [ + 0.7097636493691347, + -0.6816332538235752, + 0.17779670783254922, + -0.6777178043840093, + -0.7295895675001575, + -0.09163864149937154, + 0.19218256855169022, + -0.055454217845156674, + -0.9797911461470021 + ], + [ + 0.6877892325614504, + -0.6989619565948391, + 0.19595447125708979, + -0.6858148893485618, + -0.7141496544988573, + -0.14017206757047887, + 0.2379157605547628, + -0.03797965524168554, + -0.9705429597227377 + ], + [ + 0.6920908945488152, + -0.6939099731566305, + 0.1987439127027148, + -0.6851598794897413, + -0.7181784876031059, + -0.12155492372470109, + 0.22708177650402311, + -0.05204429937927039, + -0.9724840655156757 + ], + [ + 0.6932017875016633, + -0.6924459125368315, + 0.19997484845733438, + -0.6857723786978652, + -0.7190482945856428, + -0.11263123309522426, + 0.22178261072403976, + -0.05906105539620539, + -0.9733058436667869 + ], + [ + 0.6928647152265093, + -0.692143019056391, + 0.20217944397389295, + -0.688405811922845, + -0.7183782424852092, + -0.10015058080066452, + 0.214559838984225, + -0.06979070063673523, + -0.9742142134046787 + ], + [ + 0.692906653276737, + -0.6880423188754801, + 0.21558788760337264, + -0.6848207479065715, + -0.7215639943449943, + -0.10181328646881639, + 0.22561230702582716, + -0.07709195484192628, + -0.9711621478502621 + ], + [ + 0.6851665012593813, + -0.6835347870581333, + 0.2516486845452816, + -0.6733082107692155, + -0.7261479542794781, + -0.13915890846973003, + 0.27785413234777717, + -0.07409010309833089, + -0.9577618377029556 + ], + [ + 0.7246608783750695, + -0.6187058922133836, + 0.30342977819112205, + -0.6231933945807852, + -0.7763224272984122, + -0.09462283986638294, + 0.29410305048324525, + -0.12052596323590344, + -0.9481439172839254 + ], + [ + 0.7718242621343836, + -0.5476567709961354, + 0.3230470082864114, + -0.5642208450562706, + -0.8241597240764313, + -0.04914862372690117, + 0.29315890978222425, + -0.14433575576532315, + -0.9451058370483968 + ], + [ + 0.8357974560532803, + -0.44857275220369724, + 0.3165834778305166, + -0.4778739260987585, + -0.8782602116053475, + 0.01719044693683243, + 0.27033150613611984, + -0.16565472130709175, + -0.9484088728490716 + ], + [ + 0.8991622324980522, + -0.3309125439181525, + 0.28636369868881006, + -0.3617349000278879, + -0.9302961287257643, + 0.06080275470462076, + 0.24628264606125372, + -0.15825928457905114, + -0.9561897599815604 + ], + [ + 0.9410474389562361, + -0.23216185048084598, + 0.24602965840568597, + -0.2598003814766867, + -0.9618145751098752, + 0.08611901584887244, + 0.21664136128282907, + -0.14496067841838906, + -0.9654288799771857 + ], + [ + 0.9556362419988486, + -0.16503871058749525, + 0.24397048384166253, + -0.19713368632587075, + -0.9737920105078645, + 0.11343469480993994, + 0.2188553921974305, + -0.1564971062948705, + -0.9631256268148204 + ], + [ + 0.9668677374370261, + -0.14842823138717448, + 0.2076916908079874, + -0.17079287756027572, + -0.9807975551619812, + 0.09415916717431402, + 0.18972762391935952, + -0.126511722443239, + -0.9736519977930299 + ], + [ + 0.9568461763067422, + -0.1700469925845522, + 0.23564680180328204, + -0.19137214489779364, + -0.9789734501557024, + 0.07062355164856589, + 0.21868264001603768, + -0.11267210925153139, + -0.9692692601916283 + ], + [ + 0.9571680034637873, + -0.19100492867905547, + 0.21759257883819647, + -0.20537313436497998, + -0.9776377670887167, + 0.04523573855805023, + 0.20408647389342513, + -0.0879858714913782, + -0.974990870517079 + ], + [ + 0.954829529045927, + -0.2099294097341018, + 0.21030980336309751, + -0.2199180875439768, + -0.975197469705149, + 0.025018590121643425, + 0.19984145023726407, + -0.0701394183706041, + -0.9773146150333066 + ], + [ + 0.9537791572656881, + -0.22033573307954477, + 0.204346480013368, + -0.2284472770187115, + -0.9734132146437962, + 0.016689972425596247, + 0.1952361667014856, + -0.06260094476228523, + -0.9787563337861878 + ], + [ + 0.9578932617036378, + -0.21464867803530802, + 0.1906998799172697, + -0.2199214498617974, + -0.9754947574161651, + 0.006673390762012666, + 0.18459429859410972, + -0.048331390123523846, + -0.9816257034406122 + ], + [ + 0.9640477952397803, + -0.20550896264545646, + 0.16845745684209626, + -0.2116419456193583, + -0.9771606021522805, + 0.01910090196417513, + 0.16068458341661443, + -0.05406684634580457, + -0.9855238407965827 + ], + [ + 0.9644969251050206, + -0.22792741145593115, + 0.13339706357322356, + -0.23432397357234708, + -0.9715573312865209, + 0.034185193178907045, + 0.12181115249527025, + -0.06422964370453772, + -0.9904729153275025 + ], + [ + 0.9629529780049861, + -0.2214475840013821, + 0.15389129179807207, + -0.2323992017821066, + -0.9709473906882493, + 0.05702434152815594, + 0.13679244556030226, + -0.09067597286840037, + -0.9864409231079176 + ], + [ + 0.9628500332752151, + -0.18235116804717846, + 0.19916793148935036, + -0.2015907278030787, + -0.9761268410904457, + 0.08085523215360049, + 0.17966911778528305, + -0.11800187123354136, + -0.9766240661071386 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0037438571453094482, + 0.0005935952067375183, + -0.01022600382566452, + -0.01600363850593567, + 0.03339584171772003, + 0.0047893524169921875, + 1.0 + ], + [ + 0.019216537475585938, + -0.012666109949350357, + -0.007256414741277695, + 0.0021067671477794647, + 0.0059371888637542725, + -0.037542521953582764, + 1.0 + ], + [ + 0.023100942373275757, + -0.011553853750228882, + -0.0063691576942801476, + 0.0031252503395080566, + -0.0022102147340774536, + -0.02841341495513916, + 1.0 + ], + [ + 0.021029293537139893, + -0.00952821969985962, + -0.0030715265311300755, + -0.0050542913377285, + -0.038304686546325684, + -0.02880150079727173, + 1.0 + ], + [ + 0.019459694623947144, + -0.01106332242488861, + -0.0031370893120765686, + 0.02904662862420082, + 0.016983866691589355, + -0.06041771173477173, + 1.0 + ], + [ + 0.008413434028625488, + -0.002502039074897766, + -0.012347492389380932, + -0.0014388784766197205, + 0.014288932085037231, + -0.020057380199432373, + 1.0 + ], + [ + -0.0015777647495269775, + -0.0012129917740821838, + -0.014482768252491951, + -0.01726783812046051, + 0.010827437043190002, + 0.00015717744827270508, + 0.0 + ], + [ + 0.0013357996940612793, + -0.007307030260562897, + -0.008013296872377396, + -0.017425257712602615, + -0.046833738684654236, + -0.021654963493347168, + 0.0 + ], + [ + -0.002211153507232666, + 0.003621205687522888, + -0.002994433045387268, + 0.014353439211845398, + 0.01113930344581604, + 0.003595113754272461, + 0.0 + ], + [ + -0.001687169075012207, + 0.0007525086402893066, + -0.0017220266163349152, + 0.007140703499317169, + 0.005437895655632019, + 0.00035512447357177734, + 0.0 + ], + [ + -0.0032966434955596924, + 0.002910301089286804, + 0.0032926425337791443, + 0.010909203439950943, + 0.007401078939437866, + -0.0021594762802124023, + 0.0 + ], + [ + -0.004831463098526001, + 0.0015132203698158264, + 0.005000151693820953, + 0.007699258625507355, + -0.01133035123348236, + 0.002640843391418457, + 0.0 + ], + [ + -0.00998222827911377, + 0.0028055906295776367, + 0.0200093612074852, + -0.002011239528656006, + -0.053988054394721985, + 0.002859950065612793, + 0.0 + ], + [ + -0.01464986801147461, + 0.025071173906326294, + 0.024678751826286316, + 0.04923587292432785, + -0.016957372426986694, + 0.0664101243019104, + 0.0 + ], + [ + -0.022461533546447754, + 0.02398373931646347, + 0.012944472953677177, + 0.02510853111743927, + 0.0009876787662506104, + 0.07901471853256226, + 0.0 + ], + [ + -0.02355441451072693, + 0.031623244285583496, + 0.005083921365439892, + 0.021373316645622253, + 0.023791909217834473, + 0.11184996366500854, + 0.0 + ], + [ + -0.024609267711639404, + 0.03242827206850052, + -0.004464860074222088, + -0.008898124098777771, + 0.024894461035728455, + 0.13690504431724548, + 0.0 + ], + [ + -0.015432357788085938, + 0.02405586838722229, + -0.007447385229170322, + -0.014985188841819763, + 0.030470073223114014, + 0.11312335729598999, + 0.0 + ], + [ + -0.0035865306854248047, + 0.018709659576416016, + -0.002180317882448435, + 0.012042775750160217, + -0.002268463373184204, + 0.06593433022499084, + 0.0 + ], + [ + 0.004019260406494141, + 0.014773480594158173, + -0.020834103226661682, + -0.03186963498592377, + 0.029756546020507812, + 0.02858985960483551, + 0.0 + ], + [ + 0.016248732805252075, + 0.008246980607509613, + -0.01355903223156929, + -0.013486340641975403, + -0.02957950532436371, + -0.022556617856025696, + 0.0 + ], + [ + 0.00625273585319519, + 0.005221545696258545, + -0.012382280081510544, + -0.025726012885570526, + 0.014933779835700989, + -0.01396024227142334, + 0.0 + ], + [ + 0.005250513553619385, + 0.0013698861002922058, + -0.009756851941347122, + -0.018354326486587524, + 0.004334345459938049, + -0.01501530408859253, + 0.0 + ], + [ + 0.005854517221450806, + 0.0017462000250816345, + -0.0029278546571731567, + -0.007771976292133331, + 0.004697859287261963, + -0.008715152740478516, + 1.0 + ], + [ + -0.0012337863445281982, + -0.0012873932719230652, + -0.000298570841550827, + -0.01467633992433548, + 0.010839194059371948, + 0.009411484003067017, + 1.0 + ], + [ + -0.000574648380279541, + 0.002474382519721985, + 0.0011494308710098267, + 0.005609743297100067, + 0.02427484095096588, + 0.009571254253387451, + 1.0 + ], + [ + -0.0025108158588409424, + -0.00522313266992569, + 0.0009057112038135529, + 0.009950697422027588, + 0.039269790053367615, + -0.022225454449653625, + 1.0 + ], + [ + 0.003481268882751465, + 0.0010026618838310242, + 0.01894010603427887, + 0.026907972991466522, + -0.015108272433280945, + 0.0015201568603515625, + 1.0 + ], + [ + -0.0009717047214508057, + 0.0014962255954742432, + 0.027200553566217422, + 0.028578661382198334, + -0.04342739284038544, + 0.030424192547798157, + 1.0 + ], + [ + 0.0007964372634887695, + 0.0002800300717353821, + 0.025206083431839943, + 0.027578622102737427, + -0.04120570421218872, + 0.017159387469291687, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9560673832893372 + ], + [ + 0.6751802563667297 + ], + [ + 0.3669656813144684 + ], + [ + 0.1546454280614853 + ], + [ + 0.08259850740432739 + ], + [ + 0.08157449960708618 + ], + [ + 0.08157449960708618 + ], + [ + 0.08157449960708618 + ], + [ + 0.08157449960708618 + ], + [ + 0.08123486489057541 + ], + [ + 0.08123486489057541 + ], + [ + 0.08123486489057541 + ], + [ + 0.08123486489057541 + ], + [ + 0.08123486489057541 + ], + [ + 0.08123486489057541 + ], + [ + 0.08123486489057541 + ], + [ + 0.08123486489057541 + ], + [ + 0.11409598588943481 + ], + [ + 0.3011319041252136 + ], + [ + 0.5958979725837708 + ], + [ + 0.8922415375709534 + ], + [ + 1.0187249183654785 + ], + [ + 1.0099300146102905 + ], + [ + 1.0073583126068115 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.29286304116249084, + -0.05533319339156151, + 0.00727327773347497 + ], + [ + 0.3120795786380768, + -0.06799930334091187, + 1.6862823031260632e-05 + ], + [ + 0.33518052101135254, + -0.07955315709114075, + -0.006352294702082872 + ], + [ + 0.35620981454849243, + -0.08908137679100037, + -0.009423821233212948 + ], + [ + 0.3756695091724396, + -0.10014469921588898, + -0.012560910545289516 + ], + [ + 0.38408294320106506, + -0.10264673829078674, + -0.02490840293467045 + ], + [ + 0.3825051784515381, + -0.10385973006486893, + -0.0393911711871624 + ], + [ + 0.38384097814559937, + -0.11116676032543182, + -0.047404468059539795 + ], + [ + 0.3816298246383667, + -0.10754555463790894, + -0.05039890110492706 + ], + [ + 0.3799426555633545, + -0.10679304599761963, + -0.05212092772126198 + ], + [ + 0.3766460120677948, + -0.10388274490833282, + -0.048828285187482834 + ], + [ + 0.3718145489692688, + -0.102369524538517, + -0.04382813349366188 + ], + [ + 0.36183232069015503, + -0.09956393390893936, + -0.02381877228617668 + ], + [ + 0.3471824526786804, + -0.07449276000261307, + 0.0008599802968092263 + ], + [ + 0.32472091913223267, + -0.0505090206861496, + 0.013804453425109386 + ], + [ + 0.30116650462150574, + -0.01888577826321125, + 0.018888374790549278 + ], + [ + 0.27655723690986633, + 0.013542495667934418, + 0.01442351471632719 + ], + [ + 0.2611248791217804, + 0.03759836405515671, + 0.006976129487156868 + ], + [ + 0.2575383484363556, + 0.05630802363157272, + 0.004795811604708433 + ], + [ + 0.26155760884284973, + 0.0710815042257309, + -0.01603829115629196 + ], + [ + 0.2778063416481018, + 0.07932848483324051, + -0.029597323387861252 + ], + [ + 0.284059077501297, + 0.08455003052949905, + -0.041979603469371796 + ], + [ + 0.2893095910549164, + 0.08591991662979126, + -0.05173645541071892 + ], + [ + 0.2951641082763672, + 0.0876661166548729, + -0.054664310067892075 + ], + [ + 0.293930321931839, + 0.08637872338294983, + -0.0549628809094429 + ], + [ + 0.29335567355155945, + 0.08885310590267181, + -0.053813450038433075 + ], + [ + 0.2908448576927185, + 0.08362997323274612, + -0.05290773883461952 + ], + [ + 0.29432612657546997, + 0.08463263511657715, + -0.03396763280034065 + ], + [ + 0.29335442185401917, + 0.08612886071205139, + -0.006767079699784517 + ], + [ + 0.29415085911750793, + 0.08640889078378677, + 0.018439004197716713 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8157336442409272, + -0.5458284465905534, + 0.19144171056997905, + -0.5429131458868501, + -0.8366834757864351, + -0.07215315217766614, + 0.19955935877993813, + -0.04507846757014938, + -0.9788482998324443 + ], + [ + 0.7957282967023963, + -0.5766761990132042, + 0.18509737793601155, + -0.5738310055602992, + -0.8156083798194533, + -0.0741683748368698, + 0.19373810901513205, + -0.04719673992946897, + -0.9799173500123728 + ], + [ + 0.7787628484752567, + -0.5989517524042415, + 0.18650797335929828, + -0.5959440206835102, + -0.7992077633179133, + -0.0782155691915005, + 0.19590597246198613, + -0.05023693207458674, + -0.9793350298082149 + ], + [ + 0.754895554947995, + -0.621300301825521, + 0.21004436691155268, + -0.6129409150868459, + -0.7822846769905897, + -0.11105907778398114, + 0.23331552827074845, + -0.04490678230785335, + -0.9713636009087927 + ], + [ + 0.7193245570262659, + -0.6621425293251352, + 0.210093913566955, + -0.6599878893986265, + -0.7457759453561222, + -0.09074263152084922, + 0.21676754255679714, + -0.07338603536841956, + -0.9734610019445014 + ], + [ + 0.708110814979078, + -0.678010540318596, + 0.19718210092843477, + -0.6763524021228281, + -0.7314970651933896, + -0.08636823348973889, + 0.20279670079255732, + -0.07220630741385049, + -0.9765550405979739 + ], + [ + 0.7097636493691347, + -0.6816332538235752, + 0.17779670783254922, + -0.6777178043840093, + -0.7295895675001575, + -0.09163864149937154, + 0.19218256855169022, + -0.055454217845156674, + -0.9797911461470021 + ], + [ + 0.6877892325614504, + -0.6989619565948391, + 0.19595447125708979, + -0.6858148893485618, + -0.7141496544988573, + -0.14017206757047887, + 0.2379157605547628, + -0.03797965524168554, + -0.9705429597227377 + ], + [ + 0.6920908945488152, + -0.6939099731566305, + 0.1987439127027148, + -0.6851598794897413, + -0.7181784876031059, + -0.12155492372470109, + 0.22708177650402311, + -0.05204429937927039, + -0.9724840655156757 + ], + [ + 0.6932017875016633, + -0.6924459125368315, + 0.19997484845733438, + -0.6857723786978652, + -0.7190482945856428, + -0.11263123309522426, + 0.22178261072403976, + -0.05906105539620539, + -0.9733058436667869 + ], + [ + 0.6928647152265093, + -0.692143019056391, + 0.20217944397389295, + -0.688405811922845, + -0.7183782424852092, + -0.10015058080066452, + 0.214559838984225, + -0.06979070063673523, + -0.9742142134046787 + ], + [ + 0.692906653276737, + -0.6880423188754801, + 0.21558788760337264, + -0.6848207479065715, + -0.7215639943449943, + -0.10181328646881639, + 0.22561230702582716, + -0.07709195484192628, + -0.9711621478502621 + ], + [ + 0.6851665012593813, + -0.6835347870581333, + 0.2516486845452816, + -0.6733082107692155, + -0.7261479542794781, + -0.13915890846973003, + 0.27785413234777717, + -0.07409010309833089, + -0.9577618377029556 + ], + [ + 0.7246608783750695, + -0.6187058922133836, + 0.30342977819112205, + -0.6231933945807852, + -0.7763224272984122, + -0.09462283986638294, + 0.29410305048324525, + -0.12052596323590344, + -0.9481439172839254 + ], + [ + 0.7718242621343836, + -0.5476567709961354, + 0.3230470082864114, + -0.5642208450562706, + -0.8241597240764313, + -0.04914862372690117, + 0.29315890978222425, + -0.14433575576532315, + -0.9451058370483968 + ], + [ + 0.8357974560532803, + -0.44857275220369724, + 0.3165834778305166, + -0.4778739260987585, + -0.8782602116053475, + 0.01719044693683243, + 0.27033150613611984, + -0.16565472130709175, + -0.9484088728490716 + ], + [ + 0.8991622324980522, + -0.3309125439181525, + 0.28636369868881006, + -0.3617349000278879, + -0.9302961287257643, + 0.06080275470462076, + 0.24628264606125372, + -0.15825928457905114, + -0.9561897599815604 + ], + [ + 0.9410474389562361, + -0.23216185048084598, + 0.24602965840568597, + -0.2598003814766867, + -0.9618145751098752, + 0.08611901584887244, + 0.21664136128282907, + -0.14496067841838906, + -0.9654288799771857 + ], + [ + 0.9556362419988486, + -0.16503871058749525, + 0.24397048384166253, + -0.19713368632587075, + -0.9737920105078645, + 0.11343469480993994, + 0.2188553921974305, + -0.1564971062948705, + -0.9631256268148204 + ], + [ + 0.9668677374370261, + -0.14842823138717448, + 0.2076916908079874, + -0.17079287756027572, + -0.9807975551619812, + 0.09415916717431402, + 0.18972762391935952, + -0.126511722443239, + -0.9736519977930299 + ], + [ + 0.9568461763067422, + -0.1700469925845522, + 0.23564680180328204, + -0.19137214489779364, + -0.9789734501557024, + 0.07062355164856589, + 0.21868264001603768, + -0.11267210925153139, + -0.9692692601916283 + ], + [ + 0.9571680034637873, + -0.19100492867905547, + 0.21759257883819647, + -0.20537313436497998, + -0.9776377670887167, + 0.04523573855805023, + 0.20408647389342513, + -0.0879858714913782, + -0.974990870517079 + ], + [ + 0.954829529045927, + -0.2099294097341018, + 0.21030980336309751, + -0.2199180875439768, + -0.975197469705149, + 0.025018590121643425, + 0.19984145023726407, + -0.0701394183706041, + -0.9773146150333066 + ], + [ + 0.9537791572656881, + -0.22033573307954477, + 0.204346480013368, + -0.2284472770187115, + -0.9734132146437962, + 0.016689972425596247, + 0.1952361667014856, + -0.06260094476228523, + -0.9787563337861878 + ], + [ + 0.9578932617036378, + -0.21464867803530802, + 0.1906998799172697, + -0.2199214498617974, + -0.9754947574161651, + 0.006673390762012666, + 0.18459429859410972, + -0.048331390123523846, + -0.9816257034406122 + ], + [ + 0.9640477952397803, + -0.20550896264545646, + 0.16845745684209626, + -0.2116419456193583, + -0.9771606021522805, + 0.01910090196417513, + 0.16068458341661443, + -0.05406684634580457, + -0.9855238407965827 + ], + [ + 0.9644969251050206, + -0.22792741145593115, + 0.13339706357322356, + -0.23432397357234708, + -0.9715573312865209, + 0.034185193178907045, + 0.12181115249527025, + -0.06422964370453772, + -0.9904729153275025 + ], + [ + 0.9629529780049861, + -0.2214475840013821, + 0.15389129179807207, + -0.2323992017821066, + -0.9709473906882493, + 0.05702434152815594, + 0.13679244556030226, + -0.09067597286840037, + -0.9864409231079176 + ], + [ + 0.9628500332752151, + -0.18235116804717846, + 0.19916793148935036, + -0.2015907278030787, + -0.9761268410904457, + 0.08085523215360049, + 0.17966911778528305, + -0.11800187123354136, + -0.9766240661071386 + ], + [ + 0.9580779885440701, + -0.15421952474460532, + 0.241459947102821, + -0.18349068482679481, + -0.977534649204532, + 0.10371681727842759, + 0.22004030641939878, + -0.143674450728447, + -0.9648522766510615 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006447.json b/json/chunk-0006/episode_0006447.json new file mode 100644 index 0000000000000000000000000000000000000000..8c7f9985b27cc585dc5ce2ef915ba3ab6888df83 --- /dev/null +++ b/json/chunk-0006/episode_0006447.json @@ -0,0 +1,3382 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 55, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut the silver spatula in the sink." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006447.mp4", + "start": 0, + "end": 55, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.242925226688385, + 0.005341075360774994, + 0.1403236836194992, + -0.0798962265253067, + -0.19864928722381592, + -0.26184773445129395, + 0.0, + 0.9988223910331726 + ], + [ + 0.24034945666790009, + 0.004123135935515165, + 0.13610506057739258, + -0.09616471081972122, + -0.18078473210334778, + -0.24100719392299652, + 0.0, + 0.9988223910331726 + ], + [ + 0.2385212928056717, + 0.0004113529867026955, + 0.13958291709423065, + -0.15033511817455292, + -0.14685750007629395, + -0.07433424890041351, + 0.0, + 0.9988223910331726 + ], + [ + 0.24792715907096863, + 0.00031248002778738737, + 0.15457448363304138, + -0.1697789430618286, + -0.1553492248058319, + 0.16934922337532043, + 0.0, + 0.9988223910331726 + ], + [ + 0.25489532947540283, + -0.0005562514415942132, + 0.1678934395313263, + -0.20382708311080933, + -0.1801440715789795, + 0.3098108172416687, + 0.0, + 0.9988223910331726 + ], + [ + 0.2641191780567169, + -0.0031550650019198656, + 0.18456879258155823, + -0.20145639777183533, + -0.1922442615032196, + 0.5215783715248108, + 0.0, + 0.9988223910331726 + ], + [ + 0.27908143401145935, + -0.007774861995130777, + 0.1897936463356018, + -0.19747282564640045, + -0.12502747774124146, + 0.6277291774749756, + 0.0, + 0.9988223910331726 + ], + [ + 0.3034535050392151, + -0.013167924247682095, + 0.20060133934020996, + -0.2157813310623169, + -0.0927719920873642, + 0.781505823135376, + 0.0, + 0.9988223910331726 + ], + [ + 0.324417382478714, + -0.015896188095211983, + 0.19794343411922455, + -0.21339008212089539, + -0.08165304362773895, + 0.9379244446754456, + 0.0, + 0.9988223910331726 + ], + [ + 0.3352322578430176, + -0.018927818164229393, + 0.20275521278381348, + -0.2289462685585022, + -0.09502559155225754, + 0.9772604703903198, + 0.0, + 0.9988223910331726 + ], + [ + 0.3454364240169525, + -0.023453177884221077, + 0.18764811754226685, + -0.206053227186203, + -0.0999080240726471, + 1.0287399291992188, + 0.0, + 0.9988223910331726 + ], + [ + 0.347804993391037, + -0.031004616990685463, + 0.17752251029014587, + -0.18679751455783844, + -0.07931558042764664, + 1.1312859058380127, + 0.0, + 0.9988223910331726 + ], + [ + 0.35112810134887695, + -0.03930758312344551, + 0.16969488561153412, + -0.16477307677268982, + -0.07290897518396378, + 1.2289254665374756, + 0.0, + 0.9988223910331726 + ], + [ + 0.3529253304004669, + -0.04416268691420555, + 0.16447962820529938, + -0.12850667536258698, + -0.10170143842697144, + 1.3177311420440674, + 0.0, + 0.9988223910331726 + ], + [ + 0.3576105237007141, + -0.04628319293260574, + 0.15629111230373383, + -0.10495667159557343, + -0.12013595551252365, + 1.3868337869644165, + 0.0, + 0.9988223910331726 + ], + [ + 0.3571827709674835, + -0.04497600346803665, + 0.15191137790679932, + -0.09106620401144028, + -0.12346722185611725, + 1.4335062503814697, + 0.0, + 0.9988223910331726 + ], + [ + 0.3573912978172302, + -0.045961711555719376, + 0.14570626616477966, + -0.07337822765111923, + -0.11756689101457596, + 1.4416395425796509, + 0.0, + 0.9988223910331726 + ], + [ + 0.35715195536613464, + -0.04685143753886223, + 0.14081309735774994, + -0.06015035882592201, + -0.08980720490217209, + 1.4771995544433594, + 0.0, + 0.9988223910331726 + ], + [ + 0.35766541957855225, + -0.04317599907517433, + 0.13964295387268066, + -0.058807291090488434, + -0.08411654084920883, + 1.5145840644836426, + 0.0, + 0.9988223910331726 + ], + [ + 0.3579934537410736, + -0.044276706874370575, + 0.13962501287460327, + -0.06227920949459076, + -0.08017988502979279, + 1.5227705240249634, + 0.0, + 0.9954678416252136 + ], + [ + 0.35714760422706604, + -0.043790072202682495, + 0.13126899302005768, + -0.030805036425590515, + -0.08216330409049988, + 1.5320066213607788, + 0.0, + 0.9383087754249573 + ], + [ + 0.35699984431266785, + -0.042884450405836105, + 0.13124440610408783, + -0.029352843761444092, + -0.08079345524311066, + 1.5384535789489746, + 0.0, + 0.6641445755958557 + ], + [ + 0.3581993877887726, + -0.04077345132827759, + 0.13122542202472687, + -0.03481506183743477, + -0.0770568698644638, + 1.5436125993728638, + 0.0, + 0.37802740931510925 + ], + [ + 0.35816603899002075, + -0.03965137153863907, + 0.1307239830493927, + -0.03269794210791588, + -0.06700512766838074, + 1.5409642457962036, + 0.0, + 0.3095528483390808 + ], + [ + 0.3581402897834778, + -0.03892611339688301, + 0.1305617392063141, + -0.02989591285586357, + -0.05115071311593056, + 1.5350794792175293, + 0.0, + 0.3095528483390808 + ], + [ + 0.3574787974357605, + -0.03628307580947876, + 0.1314552277326584, + -0.023944320157170296, + -0.050784651190042496, + 1.5186628103256226, + 0.0, + 0.3095528483390808 + ], + [ + 0.3562794327735901, + -0.035579927265644073, + 0.1437220722436905, + -0.055749863386154175, + -0.050497982650995255, + 1.4835315942764282, + 0.0, + 0.3095528483390808 + ], + [ + 0.35629528760910034, + -0.034653760492801666, + 0.15890710055828094, + -0.10839661210775375, + -0.05703028663992882, + 1.4618598222732544, + 0.0, + 0.3095528483390808 + ], + [ + 0.3560410737991333, + -0.0336134098470211, + 0.16003020107746124, + -0.11155825108289719, + -0.04195307567715645, + 1.4460512399673462, + 0.0, + 0.3095528483390808 + ], + [ + 0.3468320369720459, + -0.03315027430653572, + 0.1810937225818634, + -0.17988555133342743, + -0.051530394703149796, + 1.3982815742492676, + 0.0, + 0.3095528483390808 + ], + [ + 0.3373585045337677, + -0.03479520231485367, + 0.18308494985103607, + -0.17047464847564697, + -0.021449649706482887, + 1.3440660238265991, + 0.0, + 0.3095528483390808 + ], + [ + 0.33565646409988403, + -0.03672521933913231, + 0.18901106715202332, + -0.16773784160614014, + -0.010052097961306572, + 1.3115967512130737, + 0.0, + 0.3095528483390808 + ], + [ + 0.3140552043914795, + -0.03546178713440895, + 0.18593250215053558, + -0.17977909743785858, + -0.01669858582317829, + 1.2689436674118042, + 0.0, + 0.3095528483390808 + ], + [ + 0.2920939326286316, + -0.04315199702978134, + 0.18410572409629822, + -0.21752329170703888, + -0.0346233956515789, + 1.1923048496246338, + 0.0, + 0.3095528483390808 + ], + [ + 0.26603883504867554, + -0.047999169677495956, + 0.17137551307678223, + -0.23243853449821472, + -0.05275292694568634, + 1.0642951726913452, + 0.0, + 0.3095528483390808 + ], + [ + 0.23917677998542786, + -0.056823160499334335, + 0.1545090228319168, + -0.2188473641872406, + -0.08608279377222061, + 0.9334237575531006, + 0.0, + 0.3095528483390808 + ], + [ + 0.22394481301307678, + -0.07676497846841812, + 0.14021213352680206, + -0.20787744224071503, + -0.08329176902770996, + 0.7031162977218628, + 0.0, + 0.3095528483390808 + ], + [ + 0.22700881958007812, + -0.10316943377256393, + 0.1229085624217987, + -0.14114905893802643, + -0.034953467547893524, + 0.4770301580429077, + 0.0, + 0.3095528483390808 + ], + [ + 0.2322589010000229, + -0.11776816099882126, + 0.10896971076726913, + -0.1333165466785431, + 0.01502867043018341, + 0.3682764768600464, + 0.0, + 0.3095528483390808 + ], + [ + 0.2391861230134964, + -0.12559878826141357, + 0.09119879454374313, + -0.11901931464672089, + 0.05482634902000427, + 0.2899094820022583, + 0.0, + 0.3095528483390808 + ], + [ + 0.25899797677993774, + -0.13824370503425598, + 0.09168142080307007, + -0.1210506409406662, + 0.01158368494361639, + 0.20231033861637115, + 0.0, + 0.3095528483390808 + ], + [ + 0.2706244885921478, + -0.1274220198392868, + 0.080874003469944, + -0.10447722673416138, + -0.014557667076587677, + 0.16343699395656586, + 0.0, + 0.3095528483390808 + ], + [ + 0.2709443271160126, + -0.11429950594902039, + 0.07266895473003387, + -0.10045520216226578, + -0.014389690943062305, + 0.15775738656520844, + 0.0, + 0.3095528483390808 + ], + [ + 0.26005247235298157, + -0.10481158643960953, + 0.06044004485011101, + -0.08065611869096756, + 0.01476250123232603, + 0.152527317404747, + 0.0, + 0.3095528483390808 + ], + [ + 0.2533239424228668, + -0.095987468957901, + 0.05234188959002495, + -0.06433451175689697, + 0.03612099587917328, + 0.155795156955719, + 0.0, + 0.35109609365463257 + ], + [ + 0.25344911217689514, + -0.09347124397754669, + 0.05231961980462074, + -0.06047363579273224, + 0.03880120441317558, + 0.15536826848983765, + 0.0, + 0.6049063205718994 + ], + [ + 0.25123727321624756, + -0.09165743738412857, + 0.053019508719444275, + -0.046874355524778366, + 0.05113055557012558, + 0.1538715362548828, + 0.0, + 0.8913851380348206 + ], + [ + 0.25462624430656433, + -0.09050869941711426, + 0.06971259415149689, + -0.08953961730003357, + 0.004856056999415159, + 0.1552450954914093, + 0.0, + 1.0073583126068115 + ], + [ + 0.25384318828582764, + -0.09102591127157211, + 0.08140134811401367, + -0.1049254909157753, + 0.0015104706399142742, + 0.15965889394283295, + 0.0, + 1.0008161067962646 + ], + [ + 0.2510029971599579, + -0.09616103768348694, + 0.0994878038764, + -0.13358578085899353, + 0.013675251044332981, + 0.15468069911003113, + 0.0, + 1.0008161067962646 + ], + [ + 0.24607019126415253, + -0.10895545035600662, + 0.10693017393350601, + -0.15810953080654144, + 0.04387166351079941, + 0.13268953561782837, + 0.0, + 1.0008161067962646 + ], + [ + 0.24391162395477295, + -0.11086094379425049, + 0.11073996126651764, + -0.12601320445537567, + -0.0035763708874583244, + 0.08952353149652481, + 0.0, + 1.0008161067962646 + ], + [ + 0.23887892067432404, + -0.1039675623178482, + 0.11306565999984741, + -0.12012214213609695, + -0.03249065950512886, + 0.05620090290904045, + 0.0, + 1.0008161067962646 + ], + [ + 0.2355833500623703, + -0.09031487256288528, + 0.11599624156951904, + -0.1184077337384224, + -0.09703493863344193, + 0.055212538689374924, + 0.0, + 1.0008161067962646 + ], + [ + 0.2308935970067978, + -0.07102817296981812, + 0.1172412559390068, + -0.12415813654661179, + -0.0954098179936409, + 0.06337326020002365, + 0.0, + 1.0008161067962646 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9954678416252136 + ], + [ + 0.9383087754249573 + ], + [ + 0.6641445755958557 + ], + [ + 0.37802740931510925 + ], + [ + 0.3095528483390808 + ], + [ + 0.3095528483390808 + ], + [ + 0.3095528483390808 + ], + [ + 0.3095528483390808 + ], + [ + 0.3095528483390808 + ], + [ + 0.3095528483390808 + ], + [ + 0.3095528483390808 + ], + [ + 0.3095528483390808 + ], + [ + 0.3095528483390808 + ], + [ + 0.3095528483390808 + ], + [ + 0.3095528483390808 + ], + [ + 0.3095528483390808 + ], + [ + 0.3095528483390808 + ], + [ + 0.3095528483390808 + ], + [ + 0.3095528483390808 + ], + [ + 0.3095528483390808 + ], + [ + 0.3095528483390808 + ], + [ + 0.3095528483390808 + ], + [ + 0.3095528483390808 + ], + [ + 0.3095528483390808 + ], + [ + 0.3095528483390808 + ], + [ + 0.35109609365463257 + ], + [ + 0.6049063205718994 + ], + [ + 0.8913851380348206 + ], + [ + 1.0073583126068115 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.242925226688385, + 0.005341075360774994, + 0.1403236836194992 + ], + [ + 0.24034945666790009, + 0.004123135935515165, + 0.13610506057739258 + ], + [ + 0.2385212928056717, + 0.0004113529867026955, + 0.13958291709423065 + ], + [ + 0.24792715907096863, + 0.00031248002778738737, + 0.15457448363304138 + ], + [ + 0.25489532947540283, + -0.0005562514415942132, + 0.1678934395313263 + ], + [ + 0.2641191780567169, + -0.0031550650019198656, + 0.18456879258155823 + ], + [ + 0.27908143401145935, + -0.007774861995130777, + 0.1897936463356018 + ], + [ + 0.3034535050392151, + -0.013167924247682095, + 0.20060133934020996 + ], + [ + 0.324417382478714, + -0.015896188095211983, + 0.19794343411922455 + ], + [ + 0.3352322578430176, + -0.018927818164229393, + 0.20275521278381348 + ], + [ + 0.3454364240169525, + -0.023453177884221077, + 0.18764811754226685 + ], + [ + 0.347804993391037, + -0.031004616990685463, + 0.17752251029014587 + ], + [ + 0.35112810134887695, + -0.03930758312344551, + 0.16969488561153412 + ], + [ + 0.3529253304004669, + -0.04416268691420555, + 0.16447962820529938 + ], + [ + 0.3576105237007141, + -0.04628319293260574, + 0.15629111230373383 + ], + [ + 0.3571827709674835, + -0.04497600346803665, + 0.15191137790679932 + ], + [ + 0.3573912978172302, + -0.045961711555719376, + 0.14570626616477966 + ], + [ + 0.35715195536613464, + -0.04685143753886223, + 0.14081309735774994 + ], + [ + 0.35766541957855225, + -0.04317599907517433, + 0.13964295387268066 + ], + [ + 0.3579934537410736, + -0.044276706874370575, + 0.13962501287460327 + ], + [ + 0.35714760422706604, + -0.043790072202682495, + 0.13126899302005768 + ], + [ + 0.35699984431266785, + -0.042884450405836105, + 0.13124440610408783 + ], + [ + 0.3581993877887726, + -0.04077345132827759, + 0.13122542202472687 + ], + [ + 0.35816603899002075, + -0.03965137153863907, + 0.1307239830493927 + ], + [ + 0.3581402897834778, + -0.03892611339688301, + 0.1305617392063141 + ], + [ + 0.3574787974357605, + -0.03628307580947876, + 0.1314552277326584 + ], + [ + 0.3562794327735901, + -0.035579927265644073, + 0.1437220722436905 + ], + [ + 0.35629528760910034, + -0.034653760492801666, + 0.15890710055828094 + ], + [ + 0.3560410737991333, + -0.0336134098470211, + 0.16003020107746124 + ], + [ + 0.3468320369720459, + -0.03315027430653572, + 0.1810937225818634 + ], + [ + 0.3373585045337677, + -0.03479520231485367, + 0.18308494985103607 + ], + [ + 0.33565646409988403, + -0.03672521933913231, + 0.18901106715202332 + ], + [ + 0.3140552043914795, + -0.03546178713440895, + 0.18593250215053558 + ], + [ + 0.2920939326286316, + -0.04315199702978134, + 0.18410572409629822 + ], + [ + 0.26603883504867554, + -0.047999169677495956, + 0.17137551307678223 + ], + [ + 0.23917677998542786, + -0.056823160499334335, + 0.1545090228319168 + ], + [ + 0.22394481301307678, + -0.07676497846841812, + 0.14021213352680206 + ], + [ + 0.22700881958007812, + -0.10316943377256393, + 0.1229085624217987 + ], + [ + 0.2322589010000229, + -0.11776816099882126, + 0.10896971076726913 + ], + [ + 0.2391861230134964, + -0.12559878826141357, + 0.09119879454374313 + ], + [ + 0.25899797677993774, + -0.13824370503425598, + 0.09168142080307007 + ], + [ + 0.2706244885921478, + -0.1274220198392868, + 0.080874003469944 + ], + [ + 0.2709443271160126, + -0.11429950594902039, + 0.07266895473003387 + ], + [ + 0.26005247235298157, + -0.10481158643960953, + 0.06044004485011101 + ], + [ + 0.2533239424228668, + -0.095987468957901, + 0.05234188959002495 + ], + [ + 0.25344911217689514, + -0.09347124397754669, + 0.05231961980462074 + ], + [ + 0.25123727321624756, + -0.09165743738412857, + 0.053019508719444275 + ], + [ + 0.25462624430656433, + -0.09050869941711426, + 0.06971259415149689 + ], + [ + 0.25384318828582764, + -0.09102591127157211, + 0.08140134811401367 + ], + [ + 0.2510029971599579, + -0.09616103768348694, + 0.0994878038764 + ], + [ + 0.24607019126415253, + -0.10895545035600662, + 0.10693017393350601 + ], + [ + 0.24391162395477295, + -0.11086094379425049, + 0.11073996126651764 + ], + [ + 0.23887892067432404, + -0.1039675623178482, + 0.11306565999984741 + ], + [ + 0.2355833500623703, + -0.09031487256288528, + 0.11599624156951904 + ], + [ + 0.2308935970067978, + -0.07102817296981812, + 0.1172412559390068 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.946917688877456, + -0.27325346286530333, + 0.16935003845024102, + -0.2537748978469228, + -0.9587548088923326, + -0.12801374007742675, + 0.19734536152076568, + 0.07824168619059393, + -0.9772067574614346 + ], + [ + 0.9552719868524073, + -0.25434303113592444, + 0.15088092539365122, + -0.23479102593187987, + -0.9624907715800307, + -0.13595840821785474, + 0.17980157195338892, + 0.09445177148083395, + -0.9791579329133901 + ], + [ + 0.9865040114568987, + -0.09528343782836331, + 0.13315743259411142, + -0.07346639943751286, + -0.9843629776019103, + -0.16010064484688555, + 0.14633018667771427, + 0.1481573312472562, + -0.9780781572372199 + ], + [ + 0.9738244865462953, + 0.1403485956451324, + 0.1787963677015945, + 0.166511273391997, + -0.9759286536883915, + -0.14084480374987035, + 0.1547251280051831, + 0.1669297295582874, + -0.9737528434635644 + ], + [ + 0.9369795639973985, + 0.26402623797045227, + 0.2288218571605769, + 0.29994488887100385, + -0.9437331035129911, + -0.1392870883244367, + 0.17917131548159843, + 0.19914310180598377, + -0.9634519524665904 + ], + [ + 0.8510612653745173, + 0.4550252864390455, + 0.26200517414774477, + 0.4890704685686702, + -0.8685476302671485, + -0.08021901726736565, + 0.1910622918138135, + 0.19641029163051804, + -0.9617266753025352 + ], + [ + 0.8030455724534612, + 0.556092826289736, + 0.21419285028213808, + 0.5827239660291053, + -0.8080025177637405, + -0.08697534537307838, + 0.12470199668891842, + 0.1946604732259471, + -0.9729114616373102 + ], + [ + 0.7068011796831547, + 0.6739349076640346, + 0.2150437923548841, + 0.701320264213964, + -0.707362547251845, + -0.08825029035780899, + 0.0926389734472334, + 0.2131899786041804, + -0.9726088903672392 + ], + [ + 0.5894922737504145, + 0.7778272556405424, + 0.21790736465587532, + 0.803645720302962, + -0.5919753000049315, + -0.06098196801354305, + 0.08156234074191224, + 0.21106872001026966, + -0.9740624107345107 + ], + [ + 0.5567723439710921, + 0.7952935131295766, + 0.23981823317452708, + 0.8252283567062826, + -0.5625522073059217, + -0.05033064020141037, + 0.09488264476069605, + 0.225927514989324, + -0.9695122700069165 + ], + [ + 0.5133260837437323, + 0.8280001158987862, + 0.2256371862524424, + 0.8523777831301294, + -0.5224670540126343, + -0.021915572032806363, + 0.09974189979386178, + 0.20357795937418113, + -0.9739648699427282 + ], + [ + 0.4241587771819622, + 0.8829564466446058, + 0.2011895749491855, + 0.9021150433537566, + -0.4314105732035212, + -0.008565388669486085, + 0.0792324447076615, + 0.18512922691174574, + -0.9795148743376523 + ], + [ + 0.33435961631201117, + 0.9253627805019115, + 0.178626345877241, + 0.9396261706652315, + -0.34196658959095183, + 0.012708697987071998, + 0.07284439841660986, + 0.1635927139737725, + -0.9838349036063 + ], + [ + 0.2490789784148279, + 0.9569089552937975, + 0.14928132431874658, + 0.9631469728272357, + -0.2609047208707866, + 0.06539598887599357, + 0.10152620964833577, + 0.1274910895155816, + -0.986629844900595 + ], + [ + 0.18160820625088692, + 0.9754197457732957, + 0.12479895423397662, + 0.9760405278021137, + -0.19426387315390115, + 0.0980124261255479, + 0.11984718398905463, + 0.10400897626072407, + -0.9873291170360011 + ], + [ + 0.13581736896605817, + 0.9849530635421013, + 0.10686956959849087, + 0.9830497401252576, + -0.14738636597185867, + 0.10904342055013125, + 0.1231537686260597, + 0.09024811213891637, + -0.9882754815984056 + ], + [ + 0.127908899522716, + 0.9878947213141981, + 0.08776863347705946, + 0.9848253168122213, + -0.13697904798241634, + 0.10656376391409401, + 0.11729624371051117, + 0.07280631849897053, + -0.9904245711804764 + ], + [ + 0.09308353483832904, + 0.9933185635839175, + 0.06821793592292882, + 0.99161070052209, + -0.09865898030370274, + 0.08351421564933757, + 0.089686532724217, + 0.05987183682681564, + -0.9941688433072582 + ], + [ + 0.0559840179187015, + 0.9964171574011073, + 0.0633927296649689, + 0.9948903806753496, + -0.06101573107319097, + 0.08043762180262483, + 0.08401738020990998, + 0.058565595688094566, + -0.9947417508199614 + ], + [ + 0.0478531106733327, + 0.9966711799268313, + 0.06600483999028768, + 0.9956380017765785, + -0.0528934896177356, + 0.07685862459347294, + 0.08009400237987664, + 0.06203900272664124, + -0.9948548200232313 + ], + [ + 0.03864915425075344, + 0.9986756650608947, + 0.03395819328057095, + 0.9958768055378163, + -0.04128747551298273, + 0.08077581666290111, + 0.08207089050019639, + 0.030696260048155705, + -0.9961536570989238 + ], + [ + 0.032231625259359464, + 0.9989698867922221, + 0.03194194132289016, + 0.9962167086923868, + -0.03469053935013949, + 0.07967958208791324, + 0.08070558627039584, + 0.02925289322325499, + -0.9963086251673325 + ], + [ + 0.02709972423989976, + 0.9989519550357782, + 0.03688626406018371, + 0.9966642297125003, + -0.02984246298269816, + 0.0759594669196298, + 0.07698063495262579, + 0.034704739349583125, + -0.9964284033030009 + ], + [ + 0.029760722962642927, + 0.9989554744495256, + 0.034673612965262536, + 0.9973120511208161, + -0.031999639247611456, + 0.06591430631671695, + 0.06695500024592702, + 0.032618754656588686, + -0.9972226656001766 + ], + [ + 0.035662549524576426, + 0.9988610821218259, + 0.03169733717241786, + 0.9980551428428098, + -0.03722062556004663, + 0.050005568469291245, + 0.05112841095149843, + 0.029852364317313515, + -0.9982458223995936 + ], + [ + 0.052042720648239726, + 0.9982917613506966, + 0.026553991166180815, + 0.99735384437419, + -0.05330868057782362, + 0.049431707304888814, + 0.050762824385113814, + 0.023911164638634828, + -0.9984244547616363 + ], + [ + 0.08704291947184317, + 0.994402009911224, + 0.05990135936968992, + 0.9949249472999314, + -0.08982051434777172, + 0.04535002141709295, + 0.05047652335539053, + 0.05564995855182861, + -0.9971736071031627 + ], + [ + 0.10854441377350588, + 0.9875674893765325, + 0.1137038441087112, + 0.9924561356891279, + -0.11421296296666017, + 0.044567003751422064, + 0.05699937694018154, + 0.1080085784412908, + -0.9925145933493987 + ], + [ + 0.12431232618517152, + 0.9854806057933856, + 0.11564783250685344, + 0.991356352358602, + -0.12828123605510744, + 0.02750467441038025, + 0.04194077010116455, + 0.11122904333525267, + -0.9929093975393957 + ], + [ + 0.17143245191497847, + 0.9676779424294505, + 0.1849603042977707, + 0.9838485058029071, + -0.1779692209116377, + 0.01921129973459082, + 0.051507592254017964, + 0.17867947879823817, + -0.9825581976639268 + ], + [ + 0.22474100626893218, + 0.9594640093628958, + 0.17005968022580978, + 0.9741824588774576, + -0.22507973212954197, + -0.017539982895209638, + 0.021448004958466382, + 0.1696111108441028, + -0.9852776533351049 + ], + [ + 0.25629399836882266, + 0.9525991057832582, + 0.16391561872213037, + 0.9665466078415436, + -0.2543318037556021, + -0.03321127020195909, + 0.010051928677002553, + 0.16694393447909034, + -0.9859151492245739 + ], + [ + 0.29724816402962023, + 0.9385116117502583, + 0.17561174103957966, + 0.9546542369514344, + -0.2953490374046038, + -0.03747311002370121, + 0.01669780978734782, + 0.178787305796878, + -0.9837460457019378 + ], + [ + 0.3692976722372121, + 0.9045653804754329, + 0.21302746706824527, + 0.928666209518409, + -0.36775329820258296, + -0.04833821428055521, + 0.03461647842989589, + 0.21568260037948758, + -0.9758497401314687 + ], + [ + 0.4844458087980983, + 0.84503890204098, + 0.2263217010702498, + 0.8732307641949643, + -0.4826956834653323, + -0.06687981479799743, + 0.05272846291553701, + 0.23003071795156138, + -0.9717538669834322 + ], + [ + 0.5928824256173173, + 0.7733855885927303, + 0.22442183661845774, + 0.8006862480755375, + -0.595893219790386, + -0.061747896729889895, + 0.08597651735703574, + 0.21630072113823895, + -0.9725338228042418 + ], + [ + 0.7601863551695919, + 0.619579595832704, + 0.19554495606318859, + 0.644356434630193, + -0.7575102563155792, + -0.10479979354641618, + 0.08319549605980528, + 0.20566802377736976, + -0.9750790600925006 + ], + [ + 0.88781979942959, + 0.4502092915824251, + 0.09532889128513741, + 0.45886245904373707, + -0.8817849313702446, + -0.10908977261277847, + 0.03494635061257956, + 0.1405949095139078, + -0.9894502635290158 + ], + [ + 0.9328438567007249, + 0.35867710527752716, + 0.03395693103699438, + 0.3599673528039642, + -0.9239515519423166, + -0.12937169156616496, + -0.01502810470497993, + 0.13290697428321158, + -0.991014577216631 + ], + [ + 0.9568298709398495, + 0.29007835758791006, + -0.018197377182761102, + 0.28543594761751406, + -0.949630480074707, + -0.1293378178290228, + -0.054798885800013186, + 0.11856010194067088, + -0.9914336005718664 + ], + [ + 0.9795392473675952, + 0.2008329503637141, + 0.012999573636501694, + 0.20091960360085784, + -0.9721554700081679, + -0.12060288148328774, + -0.011583425892154926, + 0.12074712494052905, + -0.99261571419316 + ], + [ + 0.9865693288087468, + 0.16032523405854687, + 0.031253460255319554, + 0.1626931121884171, + -0.9815407741639467, + -0.1005418315930591, + 0.014557152891476289, + 0.10427621002756132, + -0.9944418340566641 + ], + [ + 0.987479845496947, + 0.15488669815578252, + 0.02989423810242822, + 0.15708757373903712, + -0.9828300179802751, + -0.09679178649903208, + 0.014389194352281632, + 0.10027595170972523, + -0.9948556099226664 + ], + [ + 0.9882825442416174, + 0.15261819809825836, + -0.0023018159258657083, + 0.15192003533304152, + -0.9849963376782781, + -0.08186890511535723, + -0.01476196503597036, + 0.08055991788489313, + -0.9966404487169164 + ], + [ + 0.9872440700473023, + 0.15713827490392165, + -0.025626328583255496, + 0.1550644612777979, + -0.9854845156731482, + -0.06910341682642832, + -0.03611314172242207, + 0.06424820564560796, + -0.9972803061658524 + ], + [ + 0.9872110043888497, + 0.156777266575707, + -0.028901928977285565, + 0.15462747085064082, + -0.9857858693835195, + -0.06570057063764749, + -0.03879146906076872, + 0.060391294147650036, + -0.9974207304439181 + ], + [ + 0.986893672563004, + 0.15546321576665212, + -0.04326739648508609, + 0.15306476666796742, + -0.9867326523048636, + -0.05412808956807829, + -0.051108279759613955, + 0.04679595515533987, + -0.997596151917755 + ], + [ + 0.9879620144088691, + 0.1544318408577154, + 0.009047906634502879, + 0.15462042873096152, + -0.9839487055001109, + -0.08909246861384885, + -0.0048560379140899414, + 0.0894189659633416, + -0.9959822626040202 + ], + [ + 0.9872804440943928, + 0.15826329301715164, + 0.01516755722409445, + 0.15898126678624763, + -0.9818267358337756, + -0.10363984568221714, + -0.0015104700655524514, + 0.1047329503325531, + -0.9944992345873477 + ], + [ + 0.9879683856975552, + 0.1544915960801647, + 0.007128506349146411, + 0.15405021268612704, + -0.9789772218111855, + -0.133686690235834, + -0.013674824807857816, + 0.13317637146076647, + -0.9909980087018431 + ], + [ + 0.9902559032634428, + 0.13749503495798218, + -0.022098900737515192, + 0.13217321108506472, + -0.9779324077594812, + -0.161797552902406, + -0.04385759139950829, + 0.15730009922325922, + -0.9865765000551081 + ], + [ + 0.9959890746589186, + 0.0882474227575036, + 0.014770089259363104, + 0.08940342714839321, + -0.9881382190617745, + -0.12485946997943986, + 0.0035763632635770447, + 0.12567916456630007, + -0.9920644924699825 + ], + [ + 0.997894203128761, + 0.05187991456826381, + 0.038931142115335216, + 0.056141676278317426, + -0.9914451914535536, + -0.11783269719516194, + 0.03248494338421093, + 0.11977022504786307, + -0.9922700346404241 + ], + [ + 0.993779146543592, + 0.04337065125679847, + 0.10257677370950577, + 0.05492489238422027, + -0.9921164154709851, + -0.11264224052097713, + 0.09688273371283354, + 0.11757552790680978, + -0.9883267329915564 + ], + [ + 0.9934536517536892, + 0.0510694521223813, + 0.1021848955432239, + 0.06304281626612701, + -0.9910574646653639, + -0.11760401799384386, + 0.09526513073782623, + 0.1232761647317956, + -0.9877892194565215 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0025757700204849243, + -0.0012179394252598286, + -0.004218623042106628, + -0.01626848429441452, + 0.01786455512046814, + 0.020840540528297424, + 1.0 + ], + [ + -0.0018281638622283936, + -0.0037117828615009785, + 0.0034778565168380737, + -0.054170407354831696, + 0.03392723202705383, + 0.166672945022583, + 1.0 + ], + [ + 0.009405866265296936, + -9.887295891530812e-05, + 0.01499156653881073, + -0.019443824887275696, + -0.008491724729537964, + 0.24368347227573395, + 1.0 + ], + [ + 0.006968170404434204, + -0.0008687314693816006, + 0.013318955898284912, + -0.03404814004898071, + -0.024794846773147583, + 0.14046159386634827, + 1.0 + ], + [ + 0.009223848581314087, + -0.0025988135021179914, + 0.016675353050231934, + 0.002370685338973999, + -0.012100189924240112, + 0.2117675542831421, + 1.0 + ], + [ + 0.014962255954742432, + -0.004619796760380268, + 0.005224853754043579, + 0.0039835721254348755, + 0.06721678376197815, + 0.1061508059501648, + 1.0 + ], + [ + 0.024372071027755737, + -0.005393062252551317, + 0.010807693004608154, + -0.018308505415916443, + 0.03225548565387726, + 0.1537766456604004, + 1.0 + ], + [ + 0.0209638774394989, + -0.002728263847529888, + -0.0026579052209854126, + 0.002391248941421509, + 0.011118948459625244, + 0.15641862154006958, + 1.0 + ], + [ + 0.010814875364303589, + -0.0030316300690174103, + 0.004811778664588928, + -0.015556186437606812, + -0.013372547924518585, + 0.03933602571487427, + 1.0 + ], + [ + 0.010204166173934937, + -0.004525359719991684, + -0.01510709524154663, + 0.022893041372299194, + -0.004882432520389557, + 0.051479458808898926, + 1.0 + ], + [ + 0.0023685693740844727, + -0.007551439106464386, + -0.010125607252120972, + 0.019255712628364563, + 0.020592443645000458, + 0.10254597663879395, + 1.0 + ], + [ + 0.003323107957839966, + -0.008302966132760048, + -0.007827624678611755, + 0.02202443778514862, + 0.006406605243682861, + 0.09763956069946289, + 1.0 + ], + [ + 0.0017972290515899658, + -0.00485510379076004, + -0.005215257406234741, + 0.036266401410102844, + -0.02879246324300766, + 0.0888056755065918, + 1.0 + ], + [ + 0.004685193300247192, + -0.0021205060184001923, + -0.008188515901565552, + 0.02355000376701355, + -0.018434517085552216, + 0.06910264492034912, + 1.0 + ], + [ + -0.0004277527332305908, + 0.0013071894645690918, + -0.004379734396934509, + 0.013890467584133148, + -0.0033312663435935974, + 0.04667246341705322, + 1.0 + ], + [ + 0.0002085268497467041, + -0.000985708087682724, + -0.006205111742019653, + 0.017687976360321045, + 0.00590033084154129, + 0.008133292198181152, + 1.0 + ], + [ + -0.00023934245109558105, + -0.0008897259831428528, + -0.004893168807029724, + 0.01322786882519722, + 0.02775968611240387, + 0.035560011863708496, + 1.0 + ], + [ + 0.0005134642124176025, + 0.0036754384636878967, + -0.001170143485069275, + 0.0013430677354335785, + 0.005690664052963257, + 0.0373845100402832, + 1.0 + ], + [ + 0.0003280341625213623, + -0.0011007077991962433, + -1.7940998077392578e-05, + -0.0034719184041023254, + 0.003936655819416046, + 0.0081864595413208, + 1.0 + ], + [ + -0.0008458495140075684, + 0.00048663467168807983, + -0.008356019854545593, + 0.031474173069000244, + -0.0019834190607070923, + 0.00923609733581543, + 0.0 + ], + [ + -0.00014775991439819336, + 0.0009056217968463898, + -2.4586915969848633e-05, + 0.0014521926641464233, + 0.0013698488473892212, + 0.006446957588195801, + 0.0 + ], + [ + 0.0011995434761047363, + 0.0021109990775585175, + -1.8984079360961914e-05, + -0.005462218075990677, + 0.0037365853786468506, + 0.00515902042388916, + 0.0 + ], + [ + -3.3348798751831055e-05, + 0.0011220797896385193, + -0.0005014389753341675, + 0.0021171197295188904, + 0.010051742196083069, + -0.0026483535766601562, + 0.0 + ], + [ + -2.574920654296875e-05, + 0.0007252581417560577, + -0.00016224384307861328, + 0.002802029252052307, + 0.01585441455245018, + -0.005884766578674316, + 0.0 + ], + [ + -0.0006614923477172852, + 0.002643037587404251, + 0.0008934885263442993, + 0.0059515926986932755, + 0.0003660619258880615, + -0.01641666889190674, + 0.0 + ], + [ + -0.0011993646621704102, + 0.0007031485438346863, + 0.012266844511032104, + -0.03180554509162903, + 0.0002866685390472412, + -0.035131216049194336, + 0.0 + ], + [ + 1.5854835510253906e-05, + 0.0009261667728424072, + 0.015185028314590454, + -0.05264674872159958, + -0.006532303988933563, + -0.021671772003173828, + 0.0 + ], + [ + -0.000254213809967041, + 0.0010403506457805634, + 0.0011231005191802979, + -0.0031616389751434326, + 0.01507721096277237, + -0.015808582305908203, + 0.0 + ], + [ + -0.009209036827087402, + 0.0004631355404853821, + 0.02106352150440216, + -0.06832730025053024, + -0.009577319025993347, + -0.04776966571807861, + 0.0 + ], + [ + -0.009473532438278198, + -0.0016449280083179474, + 0.0019912272691726685, + 0.009410902857780457, + 0.030080744996666908, + -0.05421555042266846, + 0.0 + ], + [ + -0.001702040433883667, + -0.0019300170242786407, + 0.005926117300987244, + 0.002736806869506836, + 0.011397551745176315, + -0.03246927261352539, + 0.0 + ], + [ + -0.02160125970840454, + 0.0012634322047233582, + -0.003078565001487732, + -0.012041255831718445, + -0.006646487861871719, + -0.04265308380126953, + 0.0 + ], + [ + -0.0219612717628479, + -0.007690209895372391, + -0.0018267780542373657, + -0.0377441942691803, + -0.017924809828400612, + -0.07663881778717041, + 0.0 + ], + [ + -0.026055097579956055, + -0.004847172647714615, + -0.012730211019515991, + -0.014915242791175842, + -0.018129531294107437, + -0.12800967693328857, + 0.0 + ], + [ + -0.02686205506324768, + -0.008823990821838379, + -0.016866490244865417, + 0.013591170310974121, + -0.03332986682653427, + -0.13087141513824463, + 0.0 + ], + [ + -0.015231966972351074, + -0.019941817969083786, + -0.014296889305114746, + 0.010969921946525574, + 0.0027910247445106506, + -0.2303074598312378, + 0.0 + ], + [ + 0.0030640065670013428, + -0.026404455304145813, + -0.017303571105003357, + 0.0667283833026886, + 0.04833830147981644, + -0.22608613967895508, + 0.0 + ], + [ + 0.005250081419944763, + -0.014598727226257324, + -0.013938851654529572, + 0.007832512259483337, + 0.049982137978076935, + -0.10875368118286133, + 0.0 + ], + [ + 0.006927222013473511, + -0.007830627262592316, + -0.017770916223526, + 0.014297232031822205, + 0.03979767858982086, + -0.07836699485778809, + 0.0 + ], + [ + 0.019811853766441345, + -0.012644916772842407, + 0.0004826262593269348, + -0.0020313262939453125, + -0.04324266314506531, + -0.08759914338588715, + 0.0 + ], + [ + 0.011626511812210083, + 0.010821685194969177, + -0.010807417333126068, + 0.016573414206504822, + -0.026141352951526642, + -0.0388733446598053, + 0.0 + ], + [ + 0.0003198385238647461, + 0.013122513890266418, + -0.008205048739910126, + 0.004022024571895599, + 0.00016797613352537155, + -0.005679607391357422, + 0.0 + ], + [ + -0.010891854763031006, + 0.009487919509410858, + -0.012228909879922867, + 0.019799083471298218, + 0.029152192175388336, + -0.005230069160461426, + 0.0 + ], + [ + -0.006728529930114746, + 0.008824117481708527, + -0.00809815526008606, + 0.016321606934070587, + 0.021358493715524673, + 0.003267839550971985, + 1.0 + ], + [ + 0.0001251697540283203, + 0.002516224980354309, + -2.2269785404205322e-05, + 0.003860875964164734, + 0.002680208534002304, + -0.00042688846588134766, + 1.0 + ], + [ + -0.002211838960647583, + 0.0018138065934181213, + 0.0006998889148235321, + 0.013599280267953873, + 0.012329351156949997, + -0.001496732234954834, + 1.0 + ], + [ + 0.0033889710903167725, + 0.0011487379670143127, + 0.016693085432052612, + -0.0426652617752552, + -0.04627449810504913, + 0.0013735592365264893, + 1.0 + ], + [ + -0.0007830560207366943, + -0.0005172118544578552, + 0.011688753962516785, + -0.01538587361574173, + -0.003345586359500885, + 0.004413798451423645, + 1.0 + ], + [ + -0.002840191125869751, + -0.0051351264119148254, + 0.018086455762386322, + -0.02866028994321823, + 0.012164780870079994, + -0.004978194832801819, + 1.0 + ], + [ + -0.004932805895805359, + -0.012794412672519684, + 0.007442370057106018, + -0.024523749947547913, + 0.030196413397789, + -0.02199116349220276, + 1.0 + ], + [ + -0.0021585673093795776, + -0.001905493438243866, + 0.003809787333011627, + 0.03209632635116577, + -0.04744803532958031, + -0.04316600412130356, + 1.0 + ], + [ + -0.005032703280448914, + 0.006893381476402283, + 0.002325698733329773, + 0.005891062319278717, + -0.02891428768634796, + -0.03332262858748436, + 1.0 + ], + [ + -0.0032955706119537354, + 0.013652689754962921, + 0.002930581569671631, + 0.0017144083976745605, + -0.06454427540302277, + -0.0009883642196655273, + 1.0 + ], + [ + -0.00468975305557251, + 0.01928669959306717, + 0.0012450143694877625, + -0.005750402808189392, + 0.0016251206398010254, + 0.008160721510648727, + 1.0 + ], + [ + -0.006420612335205078, + 0.017481788992881775, + 0.004610911011695862, + -0.022527553141117096, + 0.01861502230167389, + 0.007130391895771027, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9954678416252136 + ], + [ + 0.9383087754249573 + ], + [ + 0.6641445755958557 + ], + [ + 0.37802740931510925 + ], + [ + 0.3095528483390808 + ], + [ + 0.3095528483390808 + ], + [ + 0.3095528483390808 + ], + [ + 0.3095528483390808 + ], + [ + 0.3095528483390808 + ], + [ + 0.3095528483390808 + ], + [ + 0.3095528483390808 + ], + [ + 0.3095528483390808 + ], + [ + 0.3095528483390808 + ], + [ + 0.3095528483390808 + ], + [ + 0.3095528483390808 + ], + [ + 0.3095528483390808 + ], + [ + 0.3095528483390808 + ], + [ + 0.3095528483390808 + ], + [ + 0.3095528483390808 + ], + [ + 0.3095528483390808 + ], + [ + 0.3095528483390808 + ], + [ + 0.3095528483390808 + ], + [ + 0.3095528483390808 + ], + [ + 0.3095528483390808 + ], + [ + 0.3095528483390808 + ], + [ + 0.35109609365463257 + ], + [ + 0.6049063205718994 + ], + [ + 0.8913851380348206 + ], + [ + 1.0073583126068115 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.24034945666790009, + 0.004123135935515165, + 0.13610506057739258 + ], + [ + 0.2385212928056717, + 0.0004113529867026955, + 0.13958291709423065 + ], + [ + 0.24792715907096863, + 0.00031248002778738737, + 0.15457448363304138 + ], + [ + 0.25489532947540283, + -0.0005562514415942132, + 0.1678934395313263 + ], + [ + 0.2641191780567169, + -0.0031550650019198656, + 0.18456879258155823 + ], + [ + 0.27908143401145935, + -0.007774861995130777, + 0.1897936463356018 + ], + [ + 0.3034535050392151, + -0.013167924247682095, + 0.20060133934020996 + ], + [ + 0.324417382478714, + -0.015896188095211983, + 0.19794343411922455 + ], + [ + 0.3352322578430176, + -0.018927818164229393, + 0.20275521278381348 + ], + [ + 0.3454364240169525, + -0.023453177884221077, + 0.18764811754226685 + ], + [ + 0.347804993391037, + -0.031004616990685463, + 0.17752251029014587 + ], + [ + 0.35112810134887695, + -0.03930758312344551, + 0.16969488561153412 + ], + [ + 0.3529253304004669, + -0.04416268691420555, + 0.16447962820529938 + ], + [ + 0.3576105237007141, + -0.04628319293260574, + 0.15629111230373383 + ], + [ + 0.3571827709674835, + -0.04497600346803665, + 0.15191137790679932 + ], + [ + 0.3573912978172302, + -0.045961711555719376, + 0.14570626616477966 + ], + [ + 0.35715195536613464, + -0.04685143753886223, + 0.14081309735774994 + ], + [ + 0.35766541957855225, + -0.04317599907517433, + 0.13964295387268066 + ], + [ + 0.3579934537410736, + -0.044276706874370575, + 0.13962501287460327 + ], + [ + 0.35714760422706604, + -0.043790072202682495, + 0.13126899302005768 + ], + [ + 0.35699984431266785, + -0.042884450405836105, + 0.13124440610408783 + ], + [ + 0.3581993877887726, + -0.04077345132827759, + 0.13122542202472687 + ], + [ + 0.35816603899002075, + -0.03965137153863907, + 0.1307239830493927 + ], + [ + 0.3581402897834778, + -0.03892611339688301, + 0.1305617392063141 + ], + [ + 0.3574787974357605, + -0.03628307580947876, + 0.1314552277326584 + ], + [ + 0.3562794327735901, + -0.035579927265644073, + 0.1437220722436905 + ], + [ + 0.35629528760910034, + -0.034653760492801666, + 0.15890710055828094 + ], + [ + 0.3560410737991333, + -0.0336134098470211, + 0.16003020107746124 + ], + [ + 0.3468320369720459, + -0.03315027430653572, + 0.1810937225818634 + ], + [ + 0.3373585045337677, + -0.03479520231485367, + 0.18308494985103607 + ], + [ + 0.33565646409988403, + -0.03672521933913231, + 0.18901106715202332 + ], + [ + 0.3140552043914795, + -0.03546178713440895, + 0.18593250215053558 + ], + [ + 0.2920939326286316, + -0.04315199702978134, + 0.18410572409629822 + ], + [ + 0.26603883504867554, + -0.047999169677495956, + 0.17137551307678223 + ], + [ + 0.23917677998542786, + -0.056823160499334335, + 0.1545090228319168 + ], + [ + 0.22394481301307678, + -0.07676497846841812, + 0.14021213352680206 + ], + [ + 0.22700881958007812, + -0.10316943377256393, + 0.1229085624217987 + ], + [ + 0.2322589010000229, + -0.11776816099882126, + 0.10896971076726913 + ], + [ + 0.2391861230134964, + -0.12559878826141357, + 0.09119879454374313 + ], + [ + 0.25899797677993774, + -0.13824370503425598, + 0.09168142080307007 + ], + [ + 0.2706244885921478, + -0.1274220198392868, + 0.080874003469944 + ], + [ + 0.2709443271160126, + -0.11429950594902039, + 0.07266895473003387 + ], + [ + 0.26005247235298157, + -0.10481158643960953, + 0.06044004485011101 + ], + [ + 0.2533239424228668, + -0.095987468957901, + 0.05234188959002495 + ], + [ + 0.25344911217689514, + -0.09347124397754669, + 0.05231961980462074 + ], + [ + 0.25123727321624756, + -0.09165743738412857, + 0.053019508719444275 + ], + [ + 0.25462624430656433, + -0.09050869941711426, + 0.06971259415149689 + ], + [ + 0.25384318828582764, + -0.09102591127157211, + 0.08140134811401367 + ], + [ + 0.2510029971599579, + -0.09616103768348694, + 0.0994878038764 + ], + [ + 0.24607019126415253, + -0.10895545035600662, + 0.10693017393350601 + ], + [ + 0.24391162395477295, + -0.11086094379425049, + 0.11073996126651764 + ], + [ + 0.23887892067432404, + -0.1039675623178482, + 0.11306565999984741 + ], + [ + 0.2355833500623703, + -0.09031487256288528, + 0.11599624156951904 + ], + [ + 0.2308935970067978, + -0.07102817296981812, + 0.1172412559390068 + ], + [ + 0.2244729846715927, + -0.05354638397693634, + 0.12185216695070267 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9552719868524073, + -0.25434303113592444, + 0.15088092539365122, + -0.23479102593187987, + -0.9624907715800307, + -0.13595840821785474, + 0.17980157195338892, + 0.09445177148083395, + -0.9791579329133901 + ], + [ + 0.9865040114568987, + -0.09528343782836331, + 0.13315743259411142, + -0.07346639943751286, + -0.9843629776019103, + -0.16010064484688555, + 0.14633018667771427, + 0.1481573312472562, + -0.9780781572372199 + ], + [ + 0.9738244865462953, + 0.1403485956451324, + 0.1787963677015945, + 0.166511273391997, + -0.9759286536883915, + -0.14084480374987035, + 0.1547251280051831, + 0.1669297295582874, + -0.9737528434635644 + ], + [ + 0.9369795639973985, + 0.26402623797045227, + 0.2288218571605769, + 0.29994488887100385, + -0.9437331035129911, + -0.1392870883244367, + 0.17917131548159843, + 0.19914310180598377, + -0.9634519524665904 + ], + [ + 0.8510612653745173, + 0.4550252864390455, + 0.26200517414774477, + 0.4890704685686702, + -0.8685476302671485, + -0.08021901726736565, + 0.1910622918138135, + 0.19641029163051804, + -0.9617266753025352 + ], + [ + 0.8030455724534612, + 0.556092826289736, + 0.21419285028213808, + 0.5827239660291053, + -0.8080025177637405, + -0.08697534537307838, + 0.12470199668891842, + 0.1946604732259471, + -0.9729114616373102 + ], + [ + 0.7068011796831547, + 0.6739349076640346, + 0.2150437923548841, + 0.701320264213964, + -0.707362547251845, + -0.08825029035780899, + 0.0926389734472334, + 0.2131899786041804, + -0.9726088903672392 + ], + [ + 0.5894922737504145, + 0.7778272556405424, + 0.21790736465587532, + 0.803645720302962, + -0.5919753000049315, + -0.06098196801354305, + 0.08156234074191224, + 0.21106872001026966, + -0.9740624107345107 + ], + [ + 0.5567723439710921, + 0.7952935131295766, + 0.23981823317452708, + 0.8252283567062826, + -0.5625522073059217, + -0.05033064020141037, + 0.09488264476069605, + 0.225927514989324, + -0.9695122700069165 + ], + [ + 0.5133260837437323, + 0.8280001158987862, + 0.2256371862524424, + 0.8523777831301294, + -0.5224670540126343, + -0.021915572032806363, + 0.09974189979386178, + 0.20357795937418113, + -0.9739648699427282 + ], + [ + 0.4241587771819622, + 0.8829564466446058, + 0.2011895749491855, + 0.9021150433537566, + -0.4314105732035212, + -0.008565388669486085, + 0.0792324447076615, + 0.18512922691174574, + -0.9795148743376523 + ], + [ + 0.33435961631201117, + 0.9253627805019115, + 0.178626345877241, + 0.9396261706652315, + -0.34196658959095183, + 0.012708697987071998, + 0.07284439841660986, + 0.1635927139737725, + -0.9838349036063 + ], + [ + 0.2490789784148279, + 0.9569089552937975, + 0.14928132431874658, + 0.9631469728272357, + -0.2609047208707866, + 0.06539598887599357, + 0.10152620964833577, + 0.1274910895155816, + -0.986629844900595 + ], + [ + 0.18160820625088692, + 0.9754197457732957, + 0.12479895423397662, + 0.9760405278021137, + -0.19426387315390115, + 0.0980124261255479, + 0.11984718398905463, + 0.10400897626072407, + -0.9873291170360011 + ], + [ + 0.13581736896605817, + 0.9849530635421013, + 0.10686956959849087, + 0.9830497401252576, + -0.14738636597185867, + 0.10904342055013125, + 0.1231537686260597, + 0.09024811213891637, + -0.9882754815984056 + ], + [ + 0.127908899522716, + 0.9878947213141981, + 0.08776863347705946, + 0.9848253168122213, + -0.13697904798241634, + 0.10656376391409401, + 0.11729624371051117, + 0.07280631849897053, + -0.9904245711804764 + ], + [ + 0.09308353483832904, + 0.9933185635839175, + 0.06821793592292882, + 0.99161070052209, + -0.09865898030370274, + 0.08351421564933757, + 0.089686532724217, + 0.05987183682681564, + -0.9941688433072582 + ], + [ + 0.0559840179187015, + 0.9964171574011073, + 0.0633927296649689, + 0.9948903806753496, + -0.06101573107319097, + 0.08043762180262483, + 0.08401738020990998, + 0.058565595688094566, + -0.9947417508199614 + ], + [ + 0.0478531106733327, + 0.9966711799268313, + 0.06600483999028768, + 0.9956380017765785, + -0.0528934896177356, + 0.07685862459347294, + 0.08009400237987664, + 0.06203900272664124, + -0.9948548200232313 + ], + [ + 0.03864915425075344, + 0.9986756650608947, + 0.03395819328057095, + 0.9958768055378163, + -0.04128747551298273, + 0.08077581666290111, + 0.08207089050019639, + 0.030696260048155705, + -0.9961536570989238 + ], + [ + 0.032231625259359464, + 0.9989698867922221, + 0.03194194132289016, + 0.9962167086923868, + -0.03469053935013949, + 0.07967958208791324, + 0.08070558627039584, + 0.02925289322325499, + -0.9963086251673325 + ], + [ + 0.02709972423989976, + 0.9989519550357782, + 0.03688626406018371, + 0.9966642297125003, + -0.02984246298269816, + 0.0759594669196298, + 0.07698063495262579, + 0.034704739349583125, + -0.9964284033030009 + ], + [ + 0.029760722962642927, + 0.9989554744495256, + 0.034673612965262536, + 0.9973120511208161, + -0.031999639247611456, + 0.06591430631671695, + 0.06695500024592702, + 0.032618754656588686, + -0.9972226656001766 + ], + [ + 0.035662549524576426, + 0.9988610821218259, + 0.03169733717241786, + 0.9980551428428098, + -0.03722062556004663, + 0.050005568469291245, + 0.05112841095149843, + 0.029852364317313515, + -0.9982458223995936 + ], + [ + 0.052042720648239726, + 0.9982917613506966, + 0.026553991166180815, + 0.99735384437419, + -0.05330868057782362, + 0.049431707304888814, + 0.050762824385113814, + 0.023911164638634828, + -0.9984244547616363 + ], + [ + 0.08704291947184317, + 0.994402009911224, + 0.05990135936968992, + 0.9949249472999314, + -0.08982051434777172, + 0.04535002141709295, + 0.05047652335539053, + 0.05564995855182861, + -0.9971736071031627 + ], + [ + 0.10854441377350588, + 0.9875674893765325, + 0.1137038441087112, + 0.9924561356891279, + -0.11421296296666017, + 0.044567003751422064, + 0.05699937694018154, + 0.1080085784412908, + -0.9925145933493987 + ], + [ + 0.12431232618517152, + 0.9854806057933856, + 0.11564783250685344, + 0.991356352358602, + -0.12828123605510744, + 0.02750467441038025, + 0.04194077010116455, + 0.11122904333525267, + -0.9929093975393957 + ], + [ + 0.17143245191497847, + 0.9676779424294505, + 0.1849603042977707, + 0.9838485058029071, + -0.1779692209116377, + 0.01921129973459082, + 0.051507592254017964, + 0.17867947879823817, + -0.9825581976639268 + ], + [ + 0.22474100626893218, + 0.9594640093628958, + 0.17005968022580978, + 0.9741824588774576, + -0.22507973212954197, + -0.017539982895209638, + 0.021448004958466382, + 0.1696111108441028, + -0.9852776533351049 + ], + [ + 0.25629399836882266, + 0.9525991057832582, + 0.16391561872213037, + 0.9665466078415436, + -0.2543318037556021, + -0.03321127020195909, + 0.010051928677002553, + 0.16694393447909034, + -0.9859151492245739 + ], + [ + 0.29724816402962023, + 0.9385116117502583, + 0.17561174103957966, + 0.9546542369514344, + -0.2953490374046038, + -0.03747311002370121, + 0.01669780978734782, + 0.178787305796878, + -0.9837460457019378 + ], + [ + 0.3692976722372121, + 0.9045653804754329, + 0.21302746706824527, + 0.928666209518409, + -0.36775329820258296, + -0.04833821428055521, + 0.03461647842989589, + 0.21568260037948758, + -0.9758497401314687 + ], + [ + 0.4844458087980983, + 0.84503890204098, + 0.2263217010702498, + 0.8732307641949643, + -0.4826956834653323, + -0.06687981479799743, + 0.05272846291553701, + 0.23003071795156138, + -0.9717538669834322 + ], + [ + 0.5928824256173173, + 0.7733855885927303, + 0.22442183661845774, + 0.8006862480755375, + -0.595893219790386, + -0.061747896729889895, + 0.08597651735703574, + 0.21630072113823895, + -0.9725338228042418 + ], + [ + 0.7601863551695919, + 0.619579595832704, + 0.19554495606318859, + 0.644356434630193, + -0.7575102563155792, + -0.10479979354641618, + 0.08319549605980528, + 0.20566802377736976, + -0.9750790600925006 + ], + [ + 0.88781979942959, + 0.4502092915824251, + 0.09532889128513741, + 0.45886245904373707, + -0.8817849313702446, + -0.10908977261277847, + 0.03494635061257956, + 0.1405949095139078, + -0.9894502635290158 + ], + [ + 0.9328438567007249, + 0.35867710527752716, + 0.03395693103699438, + 0.3599673528039642, + -0.9239515519423166, + -0.12937169156616496, + -0.01502810470497993, + 0.13290697428321158, + -0.991014577216631 + ], + [ + 0.9568298709398495, + 0.29007835758791006, + -0.018197377182761102, + 0.28543594761751406, + -0.949630480074707, + -0.1293378178290228, + -0.054798885800013186, + 0.11856010194067088, + -0.9914336005718664 + ], + [ + 0.9795392473675952, + 0.2008329503637141, + 0.012999573636501694, + 0.20091960360085784, + -0.9721554700081679, + -0.12060288148328774, + -0.011583425892154926, + 0.12074712494052905, + -0.99261571419316 + ], + [ + 0.9865693288087468, + 0.16032523405854687, + 0.031253460255319554, + 0.1626931121884171, + -0.9815407741639467, + -0.1005418315930591, + 0.014557152891476289, + 0.10427621002756132, + -0.9944418340566641 + ], + [ + 0.987479845496947, + 0.15488669815578252, + 0.02989423810242822, + 0.15708757373903712, + -0.9828300179802751, + -0.09679178649903208, + 0.014389194352281632, + 0.10027595170972523, + -0.9948556099226664 + ], + [ + 0.9882825442416174, + 0.15261819809825836, + -0.0023018159258657083, + 0.15192003533304152, + -0.9849963376782781, + -0.08186890511535723, + -0.01476196503597036, + 0.08055991788489313, + -0.9966404487169164 + ], + [ + 0.9872440700473023, + 0.15713827490392165, + -0.025626328583255496, + 0.1550644612777979, + -0.9854845156731482, + -0.06910341682642832, + -0.03611314172242207, + 0.06424820564560796, + -0.9972803061658524 + ], + [ + 0.9872110043888497, + 0.156777266575707, + -0.028901928977285565, + 0.15462747085064082, + -0.9857858693835195, + -0.06570057063764749, + -0.03879146906076872, + 0.060391294147650036, + -0.9974207304439181 + ], + [ + 0.986893672563004, + 0.15546321576665212, + -0.04326739648508609, + 0.15306476666796742, + -0.9867326523048636, + -0.05412808956807829, + -0.051108279759613955, + 0.04679595515533987, + -0.997596151917755 + ], + [ + 0.9879620144088691, + 0.1544318408577154, + 0.009047906634502879, + 0.15462042873096152, + -0.9839487055001109, + -0.08909246861384885, + -0.0048560379140899414, + 0.0894189659633416, + -0.9959822626040202 + ], + [ + 0.9872804440943928, + 0.15826329301715164, + 0.01516755722409445, + 0.15898126678624763, + -0.9818267358337756, + -0.10363984568221714, + -0.0015104700655524514, + 0.1047329503325531, + -0.9944992345873477 + ], + [ + 0.9879683856975552, + 0.1544915960801647, + 0.007128506349146411, + 0.15405021268612704, + -0.9789772218111855, + -0.133686690235834, + -0.013674824807857816, + 0.13317637146076647, + -0.9909980087018431 + ], + [ + 0.9902559032634428, + 0.13749503495798218, + -0.022098900737515192, + 0.13217321108506472, + -0.9779324077594812, + -0.161797552902406, + -0.04385759139950829, + 0.15730009922325922, + -0.9865765000551081 + ], + [ + 0.9959890746589186, + 0.0882474227575036, + 0.014770089259363104, + 0.08940342714839321, + -0.9881382190617745, + -0.12485946997943986, + 0.0035763632635770447, + 0.12567916456630007, + -0.9920644924699825 + ], + [ + 0.997894203128761, + 0.05187991456826381, + 0.038931142115335216, + 0.056141676278317426, + -0.9914451914535536, + -0.11783269719516194, + 0.03248494338421093, + 0.11977022504786307, + -0.9922700346404241 + ], + [ + 0.993779146543592, + 0.04337065125679847, + 0.10257677370950577, + 0.05492489238422027, + -0.9921164154709851, + -0.11264224052097713, + 0.09688273371283354, + 0.11757552790680978, + -0.9883267329915564 + ], + [ + 0.9934536517536892, + 0.0510694521223813, + 0.1021848955432239, + 0.06304281626612701, + -0.9910574646653639, + -0.11760401799384386, + 0.09526513073782623, + 0.1232761647317956, + -0.9877892194565215 + ], + [ + 0.994575697485124, + 0.05850328316314788, + 0.08600318500562452, + 0.07023763580223422, + -0.9875931821129289, + -0.140450636029076, + 0.07671933582149841, + 0.1457294496771048, + -0.9863453102275676 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006448.json b/json/chunk-0006/episode_0006448.json new file mode 100644 index 0000000000000000000000000000000000000000..e435b0775996bc42a952225b9554cd461f0588bb --- /dev/null +++ b/json/chunk-0006/episode_0006448.json @@ -0,0 +1,862 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 13, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nClose fridge." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006448.mp4", + "start": 0, + "end": 13, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.20777210593223572, + 0.12810638546943665, + 0.15370304882526398, + 0.11817089468240738, + -0.08121334761381149, + -0.06105121225118637, + 0.0, + 0.9900195002555847 + ], + [ + 0.20695394277572632, + 0.12658634781837463, + 0.147134929895401, + 0.09981320798397064, + -0.06375107914209366, + -0.059920988976955414, + 0.0, + 0.9900195002555847 + ], + [ + 0.2251071184873581, + 0.1241392269730568, + 0.13543665409088135, + 0.031238481402397156, + -0.06218058615922928, + -0.08085744082927704, + 0.0, + 0.9900195002555847 + ], + [ + 0.24910281598567963, + 0.12161384522914886, + 0.13320572674274445, + 0.00957588292658329, + -0.050742972642183304, + -0.03639037162065506, + 0.0, + 0.9900195002555847 + ], + [ + 0.27276530861854553, + 0.11916566640138626, + 0.1323474496603012, + 0.013682928867638111, + -0.07105132192373276, + 0.00946118962019682, + 0.0, + 0.9900195002555847 + ], + [ + 0.2892511785030365, + 0.11262428760528564, + 0.13145528733730316, + 0.030176356434822083, + -0.09509125351905823, + 0.036390021443367004, + 0.0, + 0.9900195002555847 + ], + [ + 0.30318692326545715, + 0.10491509735584259, + 0.13124623894691467, + 0.04353133961558342, + -0.11848215013742447, + 0.053602758795022964, + 0.0, + 0.9900195002555847 + ], + [ + 0.3184833228588104, + 0.09853681921958923, + 0.12690067291259766, + 0.053167641162872314, + -0.11511361598968506, + 0.09896107763051987, + 0.0, + 0.9900195002555847 + ], + [ + 0.3319251537322998, + 0.09597043693065643, + 0.12589889764785767, + 0.05309019237756729, + -0.10776247829198837, + 0.13102158904075623, + 0.0, + 0.9900195002555847 + ], + [ + 0.3414498567581177, + 0.09453242272138596, + 0.12408124655485153, + 0.05960257351398468, + -0.11653915792703629, + 0.15297429263591766, + 0.0, + 0.9900195002555847 + ], + [ + 0.34842461347579956, + 0.09519357234239578, + 0.12248294055461884, + 0.05566434934735298, + -0.11380963772535324, + 0.18284620344638824, + 0.0, + 0.9900195002555847 + ], + [ + 0.34866005182266235, + 0.09524770081043243, + 0.12251130491495132, + 0.055740032345056534, + -0.11533983051776886, + 0.1827603280544281, + 0.0, + 0.9900195002555847 + ], + [ + 0.3359726071357727, + 0.09526729583740234, + 0.11839427053928375, + 0.03709806874394417, + -0.1005544662475586, + 0.13813145458698273, + 0.0, + 0.9900195002555847 + ] + ], + "left_gripper_pos": [ + [ + 0.9900195002555847 + ], + [ + 0.9900195002555847 + ], + [ + 0.9900195002555847 + ], + [ + 0.9900195002555847 + ], + [ + 0.9900195002555847 + ], + [ + 0.9900195002555847 + ], + [ + 0.9900195002555847 + ], + [ + 0.9900195002555847 + ], + [ + 0.9900195002555847 + ], + [ + 0.9900195002555847 + ], + [ + 0.9900195002555847 + ], + [ + 0.9900195002555847 + ], + [ + 0.9900195002555847 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.20777210593223572, + 0.12810638546943665, + 0.15370304882526398 + ], + [ + 0.20695394277572632, + 0.12658634781837463, + 0.147134929895401 + ], + [ + 0.2251071184873581, + 0.1241392269730568, + 0.13543665409088135 + ], + [ + 0.24910281598567963, + 0.12161384522914886, + 0.13320572674274445 + ], + [ + 0.27276530861854553, + 0.11916566640138626, + 0.1323474496603012 + ], + [ + 0.2892511785030365, + 0.11262428760528564, + 0.13145528733730316 + ], + [ + 0.30318692326545715, + 0.10491509735584259, + 0.13124623894691467 + ], + [ + 0.3184833228588104, + 0.09853681921958923, + 0.12690067291259766 + ], + [ + 0.3319251537322998, + 0.09597043693065643, + 0.12589889764785767 + ], + [ + 0.3414498567581177, + 0.09453242272138596, + 0.12408124655485153 + ], + [ + 0.34842461347579956, + 0.09519357234239578, + 0.12248294055461884 + ], + [ + 0.34866005182266235, + 0.09524770081043243, + 0.12251130491495132 + ], + [ + 0.3359726071357727, + 0.09526729583740234, + 0.11839427053928375 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9948471023763925, + -0.051041390372133046, + 0.087601480365203, + -0.060812194479706504, + -0.9917594317566133, + 0.11276128114012182, + 0.08112410181849707, + -0.11750747206317888, + -0.9897529358953492 + ], + [ + 0.9961775085627146, + -0.05325013338097016, + 0.06924445630295113, + -0.059763486065609606, + -0.9936171743920937, + 0.09567254823802356, + 0.06370790505948305, + -0.09944513084098257, + -0.9930014948553458 + ], + [ + 0.9948065420434529, + -0.07879543829975298, + 0.06442998378626, + -0.08061326891881877, + -0.996403292097009, + 0.026114753923114714, + 0.06214052447292436, + -0.031173039655966357, + -0.9975804713489722 + ], + [ + 0.9980516472413851, + -0.03589530107641731, + 0.05103368298870761, + -0.03633551096682014, + -0.999309796072834, + 0.007724125559033452, + 0.050721199527797495, + -0.009563411185606026, + -0.9986670621808637 + ], + [ + 0.9974322727368724, + 0.010431461445167387, + 0.07085228235614675, + 0.009437177454191687, + -0.999852447743662, + 0.014353481205117952, + 0.07099155572781353, + -0.013647979818477332, + -0.9973835429072504 + ], + [ + 0.9948231797526579, + 0.039228280388238126, + 0.09374424272771294, + 0.03621762512119028, + -0.9987787606347787, + 0.03360462669687264, + 0.094948010286638, + -0.030035467744601724, + -0.9950290176773596 + ], + [ + 0.9915629828699163, + 0.05866295239394351, + 0.11559199374758025, + 0.05320147497838171, + -0.9973421368473301, + 0.04978217681988807, + 0.11820513551550685, + -0.04321249917822266, + -0.992048499748139 + ], + [ + 0.9885214691320786, + 0.10473409082089431, + 0.108885606417368, + 0.09814574930806715, + -0.9930981284672289, + 0.0642146332828101, + 0.11485955318437968, + -0.052790884201805235, + -0.9919780267664584 + ], + [ + 0.9856779030947084, + 0.13612143181569897, + 0.0995491192892382, + 0.12988919154262762, + -0.9892864138352759, + 0.06664224877164647, + 0.10755402954432507, + -0.05275743740349264, + -0.9927984606794046 + ], + [ + 0.9816184371098983, + 0.15895311854218433, + 0.10563687818008913, + 0.15134477840165758, + -0.9855118550925783, + 0.0765580924693012, + 0.11627554332908469, + -0.059163245158622035, + -0.9914533314512726 + ], + [ + 0.976968667227869, + 0.18776032063937864, + 0.10138187830375922, + 0.18065275170019474, + -0.9806582793778282, + 0.07532544318398955, + 0.1135641077019861, + -0.055275682547702494, + -0.9919918307933471 + ], + [ + 0.9768121526291923, + 0.18776705781697758, + 0.10286666357318787, + 0.18053705941182055, + -0.9806533048156204, + 0.07566680866228391, + 0.11508426762532052, + -0.05534101329897838, + -0.9918129781325641 + ], + [ + 0.9854717821110008, + 0.14128564381627298, + 0.09425355969081066, + 0.13699707611191622, + -0.9892808468328511, + 0.05054905762190637, + 0.10038509749835277, + -0.03690220780791072, + -0.9942640792360689 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0008181631565093994, + -0.0015200376510620117, + -0.006568118929862976, + -0.018357686698436737, + 0.017462268471717834, + 0.001130223274230957, + 1.0 + ], + [ + 0.018153175711631775, + -0.0024471208453178406, + -0.011698275804519653, + -0.06857472658157349, + 0.0015704929828643799, + -0.020936451852321625, + 1.0 + ], + [ + 0.023995697498321533, + -0.0025253817439079285, + -0.002230927348136902, + -0.021662598475813866, + 0.011437613517045975, + 0.04446706920862198, + 1.0 + ], + [ + 0.023662492632865906, + -0.0024481788277626038, + -0.0008582770824432373, + 0.004107045941054821, + -0.020308349281549454, + 0.045851562172174454, + 1.0 + ], + [ + 0.016485869884490967, + -0.0065413787961006165, + -0.0008921623229980469, + 0.016493428498506546, + -0.02403993159532547, + 0.02692883089184761, + 1.0 + ], + [ + 0.013935744762420654, + -0.007709190249443054, + -0.00020904839038848877, + 0.013354983180761337, + -0.02339089661836624, + 0.01721273735165596, + 1.0 + ], + [ + 0.015296399593353271, + -0.006378278136253357, + -0.004345566034317017, + 0.009636301547288895, + 0.0033685341477394104, + 0.0453583188354969, + 1.0 + ], + [ + 0.01344183087348938, + -0.0025663822889328003, + -0.0010017752647399902, + -7.74487853050232e-05, + 0.007351137697696686, + 0.03206051141023636, + 1.0 + ], + [ + 0.009524703025817871, + -0.0014380142092704773, + -0.001817651093006134, + 0.006512381136417389, + -0.008776679635047913, + 0.021952703595161438, + 1.0 + ], + [ + 0.006974756717681885, + 0.0006611496210098267, + -0.0015983060002326965, + -0.003938224166631699, + 0.0027295202016830444, + 0.02987191081047058, + 1.0 + ], + [ + 0.00023543834686279297, + 5.412846803665161e-05, + 2.8364360332489014e-05, + 7.568299770355225e-05, + -0.001530192792415619, + -8.587539196014404e-05, + 1.0 + ], + [ + -0.012687444686889648, + 1.9595026969909668e-05, + -0.004117034375667572, + -0.018641963601112366, + 0.014785364270210266, + -0.044628873467445374, + 1.0 + ], + [ + -0.04419031739234924, + -0.0010439977049827576, + 0.01274554431438446, + 0.01583649218082428, + -0.02980758249759674, + -0.10219606757164001, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9900195002555847 + ], + [ + 0.9900195002555847 + ], + [ + 0.9900195002555847 + ], + [ + 0.9900195002555847 + ], + [ + 0.9900195002555847 + ], + [ + 0.9900195002555847 + ], + [ + 0.9900195002555847 + ], + [ + 0.9900195002555847 + ], + [ + 0.9900195002555847 + ], + [ + 0.9900195002555847 + ], + [ + 0.9900195002555847 + ], + [ + 0.9900195002555847 + ], + [ + 0.9900195002555847 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.20695394277572632, + 0.12658634781837463, + 0.147134929895401 + ], + [ + 0.2251071184873581, + 0.1241392269730568, + 0.13543665409088135 + ], + [ + 0.24910281598567963, + 0.12161384522914886, + 0.13320572674274445 + ], + [ + 0.27276530861854553, + 0.11916566640138626, + 0.1323474496603012 + ], + [ + 0.2892511785030365, + 0.11262428760528564, + 0.13145528733730316 + ], + [ + 0.30318692326545715, + 0.10491509735584259, + 0.13124623894691467 + ], + [ + 0.3184833228588104, + 0.09853681921958923, + 0.12690067291259766 + ], + [ + 0.3319251537322998, + 0.09597043693065643, + 0.12589889764785767 + ], + [ + 0.3414498567581177, + 0.09453242272138596, + 0.12408124655485153 + ], + [ + 0.34842461347579956, + 0.09519357234239578, + 0.12248294055461884 + ], + [ + 0.34866005182266235, + 0.09524770081043243, + 0.12251130491495132 + ], + [ + 0.3359726071357727, + 0.09526729583740234, + 0.11839427053928375 + ], + [ + 0.29178228974342346, + 0.09422329813241959, + 0.1311398148536682 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9961775085627146, + -0.05325013338097016, + 0.06924445630295113, + -0.059763486065609606, + -0.9936171743920937, + 0.09567254823802356, + 0.06370790505948305, + -0.09944513084098257, + -0.9930014948553458 + ], + [ + 0.9948065420434529, + -0.07879543829975298, + 0.06442998378626, + -0.08061326891881877, + -0.996403292097009, + 0.026114753923114714, + 0.06214052447292436, + -0.031173039655966357, + -0.9975804713489722 + ], + [ + 0.9980516472413851, + -0.03589530107641731, + 0.05103368298870761, + -0.03633551096682014, + -0.999309796072834, + 0.007724125559033452, + 0.050721199527797495, + -0.009563411185606026, + -0.9986670621808637 + ], + [ + 0.9974322727368724, + 0.010431461445167387, + 0.07085228235614675, + 0.009437177454191687, + -0.999852447743662, + 0.014353481205117952, + 0.07099155572781353, + -0.013647979818477332, + -0.9973835429072504 + ], + [ + 0.9948231797526579, + 0.039228280388238126, + 0.09374424272771294, + 0.03621762512119028, + -0.9987787606347787, + 0.03360462669687264, + 0.094948010286638, + -0.030035467744601724, + -0.9950290176773596 + ], + [ + 0.9915629828699163, + 0.05866295239394351, + 0.11559199374758025, + 0.05320147497838171, + -0.9973421368473301, + 0.04978217681988807, + 0.11820513551550685, + -0.04321249917822266, + -0.992048499748139 + ], + [ + 0.9885214691320786, + 0.10473409082089431, + 0.108885606417368, + 0.09814574930806715, + -0.9930981284672289, + 0.0642146332828101, + 0.11485955318437968, + -0.052790884201805235, + -0.9919780267664584 + ], + [ + 0.9856779030947084, + 0.13612143181569897, + 0.0995491192892382, + 0.12988919154262762, + -0.9892864138352759, + 0.06664224877164647, + 0.10755402954432507, + -0.05275743740349264, + -0.9927984606794046 + ], + [ + 0.9816184371098983, + 0.15895311854218433, + 0.10563687818008913, + 0.15134477840165758, + -0.9855118550925783, + 0.0765580924693012, + 0.11627554332908469, + -0.059163245158622035, + -0.9914533314512726 + ], + [ + 0.976968667227869, + 0.18776032063937864, + 0.10138187830375922, + 0.18065275170019474, + -0.9806582793778282, + 0.07532544318398955, + 0.1135641077019861, + -0.055275682547702494, + -0.9919918307933471 + ], + [ + 0.9768121526291923, + 0.18776705781697758, + 0.10286666357318787, + 0.18053705941182055, + -0.9806533048156204, + 0.07566680866228391, + 0.11508426762532052, + -0.05534101329897838, + -0.9918129781325641 + ], + [ + 0.9854717821110008, + 0.14128564381627298, + 0.09425355969081066, + 0.13699707611191622, + -0.9892808468328511, + 0.05054905762190637, + 0.10038509749835277, + -0.03690220780791072, + -0.9942640792360689 + ], + [ + 0.9908747663498688, + 0.04275080480614105, + 0.1278263122346891, + 0.0356228033927195, + -0.9977074836313464, + 0.057539490651640844, + 0.12999312785503953, + -0.05246089776618238, + -0.9901260732432157 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006449.json b/json/chunk-0006/episode_0006449.json new file mode 100644 index 0000000000000000000000000000000000000000..3daa71e52602b8d24fdd61271d0cc5ba9340d0af --- /dev/null +++ b/json/chunk-0006/episode_0006449.json @@ -0,0 +1,1282 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 20, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nTurn lever vertical to front." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006449.mp4", + "start": 0, + "end": 20, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2920869290828705, + -0.09895531833171844, + 0.19535963237285614, + 0.07469543814659119, + -0.47526150941848755, + 0.3386915326118469, + 0.0, + 0.9968144297599792 + ], + [ + 0.29681554436683655, + -0.10063697397708893, + 0.19152770936489105, + 0.08053240925073624, + -0.48776817321777344, + 0.3139530420303345, + 0.0, + 0.9968144297599792 + ], + [ + 0.3052084743976593, + -0.10160639882087708, + 0.19410504400730133, + 0.06977813690900803, + -0.5328196883201599, + 0.2839200496673584, + 0.0, + 0.9968144297599792 + ], + [ + 0.3108051121234894, + -0.10192818939685822, + 0.1940564662218094, + 0.06893333047628403, + -0.5604003071784973, + 0.2503129541873932, + 0.0, + 0.9968144297599792 + ], + [ + 0.3156842291355133, + -0.09931595623493195, + 0.19098401069641113, + 0.07835140079259872, + -0.5656486749649048, + 0.22450119256973267, + 0.0, + 0.9968144297599792 + ], + [ + 0.3206276595592499, + -0.09406540542840958, + 0.18541818857192993, + 0.08277393877506256, + -0.5487236976623535, + 0.21734923124313354, + 0.0, + 0.9968144297599792 + ], + [ + 0.32189977169036865, + -0.09051179885864258, + 0.17873448133468628, + 0.0817083939909935, + -0.5300717353820801, + 0.21748016774654388, + 0.0, + 0.9968144297599792 + ], + [ + 0.3229753375053406, + -0.08790760487318039, + 0.17358224093914032, + 0.07850933820009232, + -0.5276599526405334, + 0.21053341031074524, + 0.0, + 0.9968144297599792 + ], + [ + 0.3244152367115021, + -0.0903358906507492, + 0.17342709004878998, + 0.06309602409601212, + -0.5363532304763794, + 0.2034478336572647, + 0.0, + 0.9968144297599792 + ], + [ + 0.32505378127098083, + -0.09035459160804749, + 0.17460530996322632, + 0.0735614225268364, + -0.5410022735595703, + 0.19364191591739655, + 0.0, + 0.9968144297599792 + ], + [ + 0.3282417356967926, + -0.09451382607221603, + 0.17902764678001404, + 0.07661685347557068, + -0.5639664530754089, + 0.1805398166179657, + 0.0, + 0.8298270106315613 + ], + [ + 0.3302343189716339, + -0.09502656012773514, + 0.17561908066272736, + 0.08158709853887558, + -0.5632051229476929, + 0.17835363745689392, + 0.0, + 0.5344430208206177 + ], + [ + 0.331458181142807, + -0.09120598435401917, + 0.17449058592319489, + 0.08231484144926071, + -0.559847354888916, + 0.19057178497314453, + 0.0, + 0.26805928349494934 + ], + [ + 0.33102256059646606, + -0.09081187099218369, + 0.1731855571269989, + 0.06943568587303162, + -0.5509011149406433, + 0.21053621172904968, + 0.0, + 0.12133388966321945 + ], + [ + 0.3261380195617676, + -0.0880618542432785, + 0.17249290645122528, + 0.07221222668886185, + -0.5322438478469849, + 0.2625422477722168, + 0.0, + 0.08157449960708618 + ], + [ + 0.3151848614215851, + -0.08592173457145691, + 0.17001430690288544, + 0.0549631230533123, + -0.5328357815742493, + 0.3245030343532562, + 0.0, + 0.08157449960708618 + ], + [ + 0.2921578586101532, + -0.08539973944425583, + 0.1603008657693863, + 0.011647847481071949, + -0.5230121612548828, + 0.3699059784412384, + 0.0, + 0.07301933318376541 + ], + [ + 0.2829374372959137, + -0.08003994077444077, + 0.1469586044549942, + -0.028517315164208412, + -0.5098147988319397, + 0.41488900780677795, + 0.0, + 0.062092870473861694 + ], + [ + 0.2818347215652466, + -0.07678821682929993, + 0.14247749745845795, + -0.061869993805885315, + -0.49112874269485474, + 0.454185426235199, + 0.0, + 0.06037256866693497 + ], + [ + 0.2785169780254364, + -0.07396607100963593, + 0.14211192727088928, + -0.04785684496164322, + -0.45218321681022644, + 0.48459017276763916, + 0.0, + 0.14865680038928986 + ] + ], + "left_gripper_pos": [ + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.8298270106315613 + ], + [ + 0.5344430208206177 + ], + [ + 0.26805928349494934 + ], + [ + 0.12133388966321945 + ], + [ + 0.08157449960708618 + ], + [ + 0.08157449960708618 + ], + [ + 0.07301933318376541 + ], + [ + 0.062092870473861694 + ], + [ + 0.06037256866693497 + ], + [ + 0.14865680038928986 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2920869290828705, + -0.09895531833171844, + 0.19535963237285614 + ], + [ + 0.29681554436683655, + -0.10063697397708893, + 0.19152770936489105 + ], + [ + 0.3052084743976593, + -0.10160639882087708, + 0.19410504400730133 + ], + [ + 0.3108051121234894, + -0.10192818939685822, + 0.1940564662218094 + ], + [ + 0.3156842291355133, + -0.09931595623493195, + 0.19098401069641113 + ], + [ + 0.3206276595592499, + -0.09406540542840958, + 0.18541818857192993 + ], + [ + 0.32189977169036865, + -0.09051179885864258, + 0.17873448133468628 + ], + [ + 0.3229753375053406, + -0.08790760487318039, + 0.17358224093914032 + ], + [ + 0.3244152367115021, + -0.0903358906507492, + 0.17342709004878998 + ], + [ + 0.32505378127098083, + -0.09035459160804749, + 0.17460530996322632 + ], + [ + 0.3282417356967926, + -0.09451382607221603, + 0.17902764678001404 + ], + [ + 0.3302343189716339, + -0.09502656012773514, + 0.17561908066272736 + ], + [ + 0.331458181142807, + -0.09120598435401917, + 0.17449058592319489 + ], + [ + 0.33102256059646606, + -0.09081187099218369, + 0.1731855571269989 + ], + [ + 0.3261380195617676, + -0.0880618542432785, + 0.17249290645122528 + ], + [ + 0.3151848614215851, + -0.08592173457145691, + 0.17001430690288544 + ], + [ + 0.2921578586101532, + -0.08539973944425583, + 0.1603008657693863 + ], + [ + 0.2829374372959137, + -0.08003994077444077, + 0.1469586044549942 + ], + [ + 0.2818347215652466, + -0.07678821682929993, + 0.14247749745845795 + ], + [ + 0.2785169780254364, + -0.07396607100963593, + 0.14211192727088928 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8386593609800272, + 0.3635336115043484, + 0.4055783395932008, + 0.29543064395370855, + -0.9292148676563892, + 0.22199203665766104, + 0.4575709899607593, + -0.06635542956627362, + -0.8866937160673949 + ], + [ + 0.8402015483065016, + 0.343678324148804, + 0.41945985235017114, + 0.27280648301041516, + -0.9363947497896262, + 0.22077476167785023, + 0.46865550359602715, + -0.07106392950501048, + -0.8805179934972717 + ], + [ + 0.8268926865524229, + 0.3134373713094559, + 0.46691059014840813, + 0.2412900360414546, + -0.9477078763002823, + 0.2088753209585144, + 0.507964175344315, + -0.060056602176839335, + -0.8592820265208291 + ], + [ + 0.8206442850079603, + 0.28258869963876343, + 0.4966755322343215, + 0.20981847910981577, + -0.95746524491684, + 0.1980820804625678, + 0.5315253176545944, + -0.05834322250962963, + -0.8450307125065777 + ], + [ + 0.8230551116149173, + 0.26283492945484416, + 0.5034859313853992, + 0.18794504063542172, + -0.9625753258190067, + 0.19525727598474457, + 0.5359635668075822, + -0.06607981524565665, + -0.8416510637265269 + ], + [ + 0.8331174815961472, + 0.25701452476113007, + 0.4897538115428036, + 0.18398378322419537, + -0.9638295757038835, + 0.1928276860541154, + 0.5215987244706469, + -0.07054135709130252, + -0.8502697734074238 + ], + [ + 0.8424475924970404, + 0.2553433521221603, + 0.4744278938078573, + 0.1861599139365538, + -0.964282733552277, + 0.18842318386038337, + 0.5055952336989303, + -0.07041720173343592, + -0.8598923638229131 + ], + [ + 0.8449104690829645, + 0.24695576010503922, + 0.47448830521409924, + 0.18055749467623033, + -0.9666546641598038, + 0.18159777359411877, + 0.5035129495358078, + -0.06776144042920057, + -0.861326359076925 + ], + [ + 0.8418497812548069, + 0.23320164115728442, + 0.48672984330404795, + 0.17367535256834876, + -0.970916761576149, + 0.1647953700828495, + 0.5110047139816752, + -0.05419996911468415, + -0.8578674405970155 + ], + [ + 0.8411719375707759, + 0.2290558121029797, + 0.48986039479148646, + 0.16495307714002283, + -0.9713724829543053, + 0.17095608120574482, + 0.5149953920041074, + -0.06299947857746116, + -0.854874734632802 + ], + [ + 0.831405362176424, + 0.21928379889668376, + 0.5105680554889118, + 0.1517541555099154, + -0.9735142427560372, + 0.1709991094614608, + 0.5345426082453693, + -0.06468875244259231, + -0.8426621893010624 + ], + [ + 0.8321354035746188, + 0.2196401895709088, + 0.5092237791413142, + 0.15000834897476856, + -0.9731442301887432, + 0.17460756709897446, + 0.5338990216844107, + -0.06890931994740668, + -0.8427356289304586 + ], + [ + 0.8319960843370997, + 0.23165300478107217, + 0.5041025699434932, + 0.1605027244762733, + -0.9703004852168736, + 0.18098575585828142, + 0.5310568623823887, + -0.06966960430345864, + -0.844467142731304 + ], + [ + 0.8332389847237571, + 0.2439960667626996, + 0.4961639988359237, + 0.178065737560726, + -0.9679727747838835, + 0.17697824833618298, + 0.5234552391976576, + -0.059115367558032136, + -0.8499999916911775 + ], + [ + 0.8321439473343255, + 0.2942190582580106, + 0.47007616050233414, + 0.22363497948550398, + -0.9537138724712824, + 0.20104040739699164, + 0.5074680747252629, + -0.062169085674469604, + -0.8594248995235331 + ], + [ + 0.8164145123365548, + 0.3448058921047398, + 0.4632237481132849, + 0.2746373195774804, + -0.9374805265953647, + 0.2137863535162493, + 0.5079780376567106, + -0.047319753003712495, + -0.8600692729275389 + ], + [ + 0.8077219362506931, + 0.3669276077395537, + 0.46146441290522033, + 0.3131982191014723, + -0.930194771066144, + 0.1914276976638185, + 0.49949189107641945, + -0.01009051830841029, + -0.8662597948590078 + ], + [ + 0.7987845207073387, + 0.3901899908995484, + 0.4579247323307151, + 0.35182958737201986, + -0.9203979474280958, + 0.17053902726291767, + 0.4880156052094861, + 0.02488753446925268, + -0.8724800167912503 + ], + [ + 0.7924029452272205, + 0.4116867609891237, + 0.45012396428262996, + 0.3868730011962962, + -0.9096929908043102, + 0.15095676012315398, + 0.4716215149254716, + 0.0545222276488492, + -0.8801138979425389 + ], + [ + 0.795932783153457, + 0.4468168189550714, + 0.4084675446109064, + 0.419026083836081, + -0.8935900064187585, + 0.1609783882809134, + 0.43693036718290645, + 0.04303057898046259, + -0.8984654826458368 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + 0.0047286152839660645, + -0.0016816556453704834, + -0.003831923007965088, + 0.00583697110414505, + -0.012506663799285889, + -0.02473849058151245, + 1.0 + ], + [ + 0.008392930030822754, + -0.000969424843788147, + 0.0025773346424102783, + -0.01075427234172821, + -0.045051515102386475, + -0.030032992362976074, + 1.0 + ], + [ + 0.005596637725830078, + -0.00032179057598114014, + -4.857778549194336e-05, + -0.000844806432723999, + -0.027580618858337402, + -0.03360709547996521, + 1.0 + ], + [ + 0.004879117012023926, + 0.0026122331619262695, + -0.0030724555253982544, + 0.009418070316314697, + -0.005248367786407471, + -0.025811761617660522, + 1.0 + ], + [ + 0.004943430423736572, + 0.005250550806522369, + -0.005565822124481201, + 0.004422537982463837, + 0.01692497730255127, + -0.007151961326599121, + 1.0 + ], + [ + 0.0012721121311187744, + 0.0035536065697669983, + -0.006683707237243652, + -0.0010655447840690613, + 0.018651962280273438, + 0.00013093650341033936, + 1.0 + ], + [ + 0.0010755658149719238, + 0.0026041939854621887, + -0.0051522403955459595, + -0.003199055790901184, + 0.002411782741546631, + -0.006946757435798645, + 1.0 + ], + [ + 0.001439899206161499, + -0.002428285777568817, + -0.0001551508903503418, + -0.0154133141040802, + -0.008693277835845947, + -0.00708557665348053, + 1.0 + ], + [ + 0.0006385445594787598, + -1.870095729827881e-05, + 0.0011782199144363403, + 0.01046539843082428, + -0.004649043083190918, + -0.009805917739868164, + 1.0 + ], + [ + 0.0031879544258117676, + -0.004159234464168549, + 0.00442233681678772, + 0.0030554309487342834, + -0.022964179515838623, + -0.013102099299430847, + 0.0 + ], + [ + 0.0019925832748413086, + -0.000512734055519104, + -0.003408566117286682, + 0.004970245063304901, + 0.0007613301277160645, + -0.0021861791610717773, + 0.0 + ], + [ + 0.0012238621711730957, + 0.003820575773715973, + -0.0011284947395324707, + 0.0007277429103851318, + 0.0033577680587768555, + 0.01221814751625061, + 0.0 + ], + [ + -0.0004356205463409424, + 0.00039411336183547974, + -0.0013050287961959839, + -0.012879155576229095, + 0.008946239948272705, + 0.01996442675590515, + 0.0 + ], + [ + -0.004884541034698486, + 0.002750016748905182, + -0.0006926506757736206, + 0.0027765408158302307, + 0.018657267093658447, + 0.052006036043167114, + 0.0 + ], + [ + -0.010953158140182495, + 0.0021401196718215942, + -0.0024785995483398438, + -0.017249103635549545, + -0.0005919337272644043, + 0.06196078658103943, + 0.0 + ], + [ + -0.023027002811431885, + 0.0005219951272010803, + -0.009713441133499146, + -0.04331527650356293, + 0.009823620319366455, + 0.04540294408798218, + 0.0 + ], + [ + -0.009220421314239502, + 0.0053597986698150635, + -0.01334226131439209, + -0.040165163576602936, + 0.013197362422943115, + 0.04498302936553955, + 0.0 + ], + [ + -0.0011027157306671143, + 0.0032517239451408386, + -0.004481106996536255, + -0.03335268050432205, + 0.01868605613708496, + 0.03929641842842102, + 0.0 + ], + [ + -0.0033177435398101807, + 0.0028221458196640015, + -0.00036557018756866455, + 0.014013148844242096, + 0.038945525884628296, + 0.030404746532440186, + 1.0 + ], + [ + -0.004481673240661621, + -0.0025081783533096313, + 0.005216628313064575, + 0.010489363223314285, + 0.05915078520774841, + 0.039564311504364014, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.8298270106315613 + ], + [ + 0.5344430208206177 + ], + [ + 0.26805928349494934 + ], + [ + 0.12133388966321945 + ], + [ + 0.08157449960708618 + ], + [ + 0.08157449960708618 + ], + [ + 0.07301933318376541 + ], + [ + 0.062092870473861694 + ], + [ + 0.06037256866693497 + ], + [ + 0.14865680038928986 + ], + [ + 0.33478444814682007 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.29681554436683655, + -0.10063697397708893, + 0.19152770936489105 + ], + [ + 0.3052084743976593, + -0.10160639882087708, + 0.19410504400730133 + ], + [ + 0.3108051121234894, + -0.10192818939685822, + 0.1940564662218094 + ], + [ + 0.3156842291355133, + -0.09931595623493195, + 0.19098401069641113 + ], + [ + 0.3206276595592499, + -0.09406540542840958, + 0.18541818857192993 + ], + [ + 0.32189977169036865, + -0.09051179885864258, + 0.17873448133468628 + ], + [ + 0.3229753375053406, + -0.08790760487318039, + 0.17358224093914032 + ], + [ + 0.3244152367115021, + -0.0903358906507492, + 0.17342709004878998 + ], + [ + 0.32505378127098083, + -0.09035459160804749, + 0.17460530996322632 + ], + [ + 0.3282417356967926, + -0.09451382607221603, + 0.17902764678001404 + ], + [ + 0.3302343189716339, + -0.09502656012773514, + 0.17561908066272736 + ], + [ + 0.331458181142807, + -0.09120598435401917, + 0.17449058592319489 + ], + [ + 0.33102256059646606, + -0.09081187099218369, + 0.1731855571269989 + ], + [ + 0.3261380195617676, + -0.0880618542432785, + 0.17249290645122528 + ], + [ + 0.3151848614215851, + -0.08592173457145691, + 0.17001430690288544 + ], + [ + 0.2921578586101532, + -0.08539973944425583, + 0.1603008657693863 + ], + [ + 0.2829374372959137, + -0.08003994077444077, + 0.1469586044549942 + ], + [ + 0.2818347215652466, + -0.07678821682929993, + 0.14247749745845795 + ], + [ + 0.2785169780254364, + -0.07396607100963593, + 0.14211192727088928 + ], + [ + 0.2740353047847748, + -0.07647424936294556, + 0.14732855558395386 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8402015483065016, + 0.343678324148804, + 0.41945985235017114, + 0.27280648301041516, + -0.9363947497896262, + 0.22077476167785023, + 0.46865550359602715, + -0.07106392950501048, + -0.8805179934972717 + ], + [ + 0.8268926865524229, + 0.3134373713094559, + 0.46691059014840813, + 0.2412900360414546, + -0.9477078763002823, + 0.2088753209585144, + 0.507964175344315, + -0.060056602176839335, + -0.8592820265208291 + ], + [ + 0.8206442850079603, + 0.28258869963876343, + 0.4966755322343215, + 0.20981847910981577, + -0.95746524491684, + 0.1980820804625678, + 0.5315253176545944, + -0.05834322250962963, + -0.8450307125065777 + ], + [ + 0.8230551116149173, + 0.26283492945484416, + 0.5034859313853992, + 0.18794504063542172, + -0.9625753258190067, + 0.19525727598474457, + 0.5359635668075822, + -0.06607981524565665, + -0.8416510637265269 + ], + [ + 0.8331174815961472, + 0.25701452476113007, + 0.4897538115428036, + 0.18398378322419537, + -0.9638295757038835, + 0.1928276860541154, + 0.5215987244706469, + -0.07054135709130252, + -0.8502697734074238 + ], + [ + 0.8424475924970404, + 0.2553433521221603, + 0.4744278938078573, + 0.1861599139365538, + -0.964282733552277, + 0.18842318386038337, + 0.5055952336989303, + -0.07041720173343592, + -0.8598923638229131 + ], + [ + 0.8449104690829645, + 0.24695576010503922, + 0.47448830521409924, + 0.18055749467623033, + -0.9666546641598038, + 0.18159777359411877, + 0.5035129495358078, + -0.06776144042920057, + -0.861326359076925 + ], + [ + 0.8418497812548069, + 0.23320164115728442, + 0.48672984330404795, + 0.17367535256834876, + -0.970916761576149, + 0.1647953700828495, + 0.5110047139816752, + -0.05419996911468415, + -0.8578674405970155 + ], + [ + 0.8411719375707759, + 0.2290558121029797, + 0.48986039479148646, + 0.16495307714002283, + -0.9713724829543053, + 0.17095608120574482, + 0.5149953920041074, + -0.06299947857746116, + -0.854874734632802 + ], + [ + 0.831405362176424, + 0.21928379889668376, + 0.5105680554889118, + 0.1517541555099154, + -0.9735142427560372, + 0.1709991094614608, + 0.5345426082453693, + -0.06468875244259231, + -0.8426621893010624 + ], + [ + 0.8321354035746188, + 0.2196401895709088, + 0.5092237791413142, + 0.15000834897476856, + -0.9731442301887432, + 0.17460756709897446, + 0.5338990216844107, + -0.06890931994740668, + -0.8427356289304586 + ], + [ + 0.8319960843370997, + 0.23165300478107217, + 0.5041025699434932, + 0.1605027244762733, + -0.9703004852168736, + 0.18098575585828142, + 0.5310568623823887, + -0.06966960430345864, + -0.844467142731304 + ], + [ + 0.8332389847237571, + 0.2439960667626996, + 0.4961639988359237, + 0.178065737560726, + -0.9679727747838835, + 0.17697824833618298, + 0.5234552391976576, + -0.059115367558032136, + -0.8499999916911775 + ], + [ + 0.8321439473343255, + 0.2942190582580106, + 0.47007616050233414, + 0.22363497948550398, + -0.9537138724712824, + 0.20104040739699164, + 0.5074680747252629, + -0.062169085674469604, + -0.8594248995235331 + ], + [ + 0.8164145123365548, + 0.3448058921047398, + 0.4632237481132849, + 0.2746373195774804, + -0.9374805265953647, + 0.2137863535162493, + 0.5079780376567106, + -0.047319753003712495, + -0.8600692729275389 + ], + [ + 0.8077219362506931, + 0.3669276077395537, + 0.46146441290522033, + 0.3131982191014723, + -0.930194771066144, + 0.1914276976638185, + 0.49949189107641945, + -0.01009051830841029, + -0.8662597948590078 + ], + [ + 0.7987845207073387, + 0.3901899908995484, + 0.4579247323307151, + 0.35182958737201986, + -0.9203979474280958, + 0.17053902726291767, + 0.4880156052094861, + 0.02488753446925268, + -0.8724800167912503 + ], + [ + 0.7924029452272205, + 0.4116867609891237, + 0.45012396428262996, + 0.3868730011962962, + -0.9096929908043102, + 0.15095676012315398, + 0.4716215149254716, + 0.0545222276488492, + -0.8801138979425389 + ], + [ + 0.795932783153457, + 0.4468168189550714, + 0.4084675446109064, + 0.419026083836081, + -0.8935900064187585, + 0.1609783882809134, + 0.43693036718290645, + 0.04303057898046259, + -0.8984654826458368 + ], + [ + 0.7997358320698147, + 0.48774460835228833, + 0.3500397062147006, + 0.46232044834903835, + -0.8723039835147253, + 0.15920290004483578, + 0.3829913862503245, + 0.03451025018186177, + -0.9231070580872188 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006451.json b/json/chunk-0006/episode_0006451.json new file mode 100644 index 0000000000000000000000000000000000000000..6bbdc2c33f33d44ba06db1e1daf9db9e6afa6fee --- /dev/null +++ b/json/chunk-0006/episode_0006451.json @@ -0,0 +1,2182 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 35, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPick the yellow towel and pace it on the side of the wall." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006451.mp4", + "start": 0, + "end": 35, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.28943517804145813, + 0.06366648524999619, + 0.14604541659355164, + -0.01823095791041851, + -0.04222632199525833, + -0.10223263502120972, + 0.0, + 0.9994885921478271 + ], + [ + 0.28779512643814087, + 0.06282107532024384, + 0.13640612363815308, + -0.027910755947232246, + -0.014427191577851772, + -0.09410199522972107, + 0.0, + 0.9994885921478271 + ], + [ + 0.27285486459732056, + 0.042946040630340576, + 0.1160144954919815, + -0.02715005725622177, + -0.004316319711506367, + -0.09256257861852646, + 0.0, + 0.9994885921478271 + ], + [ + 0.26393434405326843, + 0.0335179902613163, + 0.11337488889694214, + -0.012228778563439846, + -0.03579933941364288, + -0.0805170089006424, + 0.0, + 0.9994885921478271 + ], + [ + 0.25573399662971497, + 0.024178363382816315, + 0.09836141020059586, + -0.009647225961089134, + -0.043507322669029236, + -0.051349665969610214, + 0.0, + 0.9994885921478271 + ], + [ + 0.2543792426586151, + 0.021499408408999443, + 0.08081839978694916, + 0.004463870078325272, + -0.06432534754276276, + -0.023069040849804878, + 0.0, + 0.9994885921478271 + ], + [ + 0.2550850510597229, + 0.02138187363743782, + 0.06511609256267548, + 0.00609368272125721, + -0.08108216524124146, + -0.005473295226693153, + 0.0, + 0.9994885921478271 + ], + [ + 0.2591869533061981, + 0.018793746829032898, + 0.05101529136300087, + 0.01465398259460926, + -0.07574206590652466, + -0.019669614732265472, + 0.0, + 0.9994885921478271 + ], + [ + 0.2594624161720276, + 0.015899041667580605, + 0.04081737622618675, + 0.0075400774367153645, + -0.05320780351758003, + -0.039036814123392105, + 0.0, + 0.9994885921478271 + ], + [ + 0.26090550422668457, + 0.006797560956329107, + 0.03419603034853935, + -0.012821279466152191, + -0.0477626658976078, + -0.0674917995929718, + 0.0, + 1.0001531839370728 + ], + [ + 0.25859957933425903, + 0.003575180657207966, + 0.02282276377081871, + -0.004550147335976362, + -0.03429294750094414, + -0.06750475615262985, + 0.0, + 0.9994885921478271 + ], + [ + 0.25863751769065857, + 0.005850966088473797, + 0.010626722127199173, + 0.020515864714980125, + -0.04310473054647446, + -0.07056485861539841, + 0.0, + 0.9994885921478271 + ], + [ + 0.2604024410247803, + 0.004046653863042593, + 0.006400686223059893, + 0.04522741213440895, + -0.060795847326517105, + -0.08272149413824081, + 0.0, + 1.0008161067962646 + ], + [ + 0.25950613617897034, + 0.004285971634089947, + 0.003937744069844484, + 0.057317715138196945, + -0.07000229507684708, + -0.08716599643230438, + 0.0, + 1.0008161067962646 + ], + [ + 0.2594515085220337, + 0.0035268059000372887, + 0.0029500736854970455, + 0.04921329393982887, + -0.06740066409111023, + -0.07729917764663696, + 0.0, + 1.0008161067962646 + ], + [ + 0.2616097927093506, + 0.0017346425447613, + 0.0028481152839958668, + 0.03669119253754616, + -0.06854579597711563, + -0.09104405343532562, + 0.0, + 1.0014774799346924 + ], + [ + 0.26864105463027954, + 0.0011049137683585286, + 0.0024955356493592262, + 0.013564358465373516, + -0.0528801828622818, + -0.07652018964290619, + 0.0, + 1.0014774799346924 + ], + [ + 0.28307607769966125, + -0.00011813487071776763, + 0.004367114044725895, + 0.021071432158350945, + -0.061452917754650116, + -0.09573031216859818, + 0.0, + 1.0014774799346924 + ], + [ + 0.3007490038871765, + -0.0033201081678271294, + 0.004342048428952694, + 0.04432307183742523, + -0.06557469069957733, + -0.13501723110675812, + 0.0, + 1.0014774799346924 + ], + [ + 0.3251478970050812, + -0.006177455652505159, + 0.005289614200592041, + 0.07436809688806534, + -0.07354618608951569, + -0.1724293977022171, + 0.0, + 1.0008161067962646 + ], + [ + 0.34078550338745117, + -0.00859505869448185, + 0.006082186475396156, + 0.10083558410406113, + -0.07178471982479095, + -0.1939437985420227, + 0.0, + 1.0008161067962646 + ], + [ + 0.35425901412963867, + -0.009203451685607433, + 0.005899489391595125, + 0.10204251110553741, + -0.06882098317146301, + -0.18972817063331604, + 0.0, + 1.0008161067962646 + ], + [ + 0.3667684495449066, + -0.008101273328065872, + 0.007369158323854208, + 0.10712989419698715, + -0.06848230957984924, + -0.18545453250408173, + 0.0, + 1.0008161067962646 + ], + [ + 0.3732534945011139, + -0.0012500393204391003, + 0.009723704308271408, + 0.10055750608444214, + -0.07693172991275787, + -0.17191150784492493, + 0.0, + 1.0001531839370728 + ], + [ + 0.3778443932533264, + 0.0021716603077948093, + 0.011103748343884945, + 0.05369978025555611, + -0.07378581911325455, + -0.1515611708164215, + 0.0, + 0.9994885921478271 + ], + [ + 0.38053587079048157, + 0.006237485911697149, + 0.016342023387551308, + -0.004163434728980064, + -0.07680395245552063, + -0.1310468316078186, + 0.0, + 0.9994885921478271 + ], + [ + 0.39120686054229736, + 0.0006619099876843393, + 0.03690536320209503, + -0.048823706805706024, + -0.12290540337562561, + -0.13112588226795197, + 0.0, + 0.9994885921478271 + ], + [ + 0.39638641476631165, + -0.003161747008562088, + 0.0618407242000103, + -0.06814508885145187, + -0.16514958441257477, + -0.1509963423013687, + 0.0, + 0.9994885921478271 + ], + [ + 0.39181917905807495, + -0.001734680263325572, + 0.07852298766374588, + -0.07172609120607376, + -0.17212124168872833, + -0.17140698432922363, + 0.0, + 0.9994885921478271 + ], + [ + 0.3814994990825653, + 0.0031054336577653885, + 0.09692496806383133, + -0.06065167114138603, + -0.19730448722839355, + -0.17118453979492188, + 0.0, + 0.9994885921478271 + ], + [ + 0.3485793471336365, + 0.017871417105197906, + 0.11062595993280411, + -0.03569542244076729, + -0.19185422360897064, + -0.15102484822273254, + 0.0, + 0.9994885921478271 + ], + [ + 0.32065096497535706, + 0.029291702434420586, + 0.11359523236751556, + 0.0087822787463665, + -0.1526339203119278, + -0.1304759532213211, + 0.0, + 0.9994885921478271 + ], + [ + 0.30167633295059204, + 0.04062140733003616, + 0.1109643429517746, + 0.022153442725539207, + -0.12099919468164444, + -0.1094183474779129, + 0.0, + 0.9994885921478271 + ], + [ + 0.2955551743507385, + 0.041217196732759476, + 0.10979605466127396, + 0.015373051166534424, + -0.11332455277442932, + -0.10783863067626953, + 0.0, + 0.9994885921478271 + ], + [ + 0.29200080037117004, + 0.04586876928806305, + 0.11047206819057465, + -0.005794056691229343, + -0.10355524718761444, + -0.09172740578651428, + 0.0, + 0.9994885921478271 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.28943517804145813, + 0.06366648524999619, + 0.14604541659355164 + ], + [ + 0.28779512643814087, + 0.06282107532024384, + 0.13640612363815308 + ], + [ + 0.27285486459732056, + 0.042946040630340576, + 0.1160144954919815 + ], + [ + 0.26393434405326843, + 0.0335179902613163, + 0.11337488889694214 + ], + [ + 0.25573399662971497, + 0.024178363382816315, + 0.09836141020059586 + ], + [ + 0.2543792426586151, + 0.021499408408999443, + 0.08081839978694916 + ], + [ + 0.2550850510597229, + 0.02138187363743782, + 0.06511609256267548 + ], + [ + 0.2591869533061981, + 0.018793746829032898, + 0.05101529136300087 + ], + [ + 0.2594624161720276, + 0.015899041667580605, + 0.04081737622618675 + ], + [ + 0.26090550422668457, + 0.006797560956329107, + 0.03419603034853935 + ], + [ + 0.25859957933425903, + 0.003575180657207966, + 0.02282276377081871 + ], + [ + 0.25863751769065857, + 0.005850966088473797, + 0.010626722127199173 + ], + [ + 0.2604024410247803, + 0.004046653863042593, + 0.006400686223059893 + ], + [ + 0.25950613617897034, + 0.004285971634089947, + 0.003937744069844484 + ], + [ + 0.2594515085220337, + 0.0035268059000372887, + 0.0029500736854970455 + ], + [ + 0.2616097927093506, + 0.0017346425447613, + 0.0028481152839958668 + ], + [ + 0.26864105463027954, + 0.0011049137683585286, + 0.0024955356493592262 + ], + [ + 0.28307607769966125, + -0.00011813487071776763, + 0.004367114044725895 + ], + [ + 0.3007490038871765, + -0.0033201081678271294, + 0.004342048428952694 + ], + [ + 0.3251478970050812, + -0.006177455652505159, + 0.005289614200592041 + ], + [ + 0.34078550338745117, + -0.00859505869448185, + 0.006082186475396156 + ], + [ + 0.35425901412963867, + -0.009203451685607433, + 0.005899489391595125 + ], + [ + 0.3667684495449066, + -0.008101273328065872, + 0.007369158323854208 + ], + [ + 0.3732534945011139, + -0.0012500393204391003, + 0.009723704308271408 + ], + [ + 0.3778443932533264, + 0.0021716603077948093, + 0.011103748343884945 + ], + [ + 0.38053587079048157, + 0.006237485911697149, + 0.016342023387551308 + ], + [ + 0.39120686054229736, + 0.0006619099876843393, + 0.03690536320209503 + ], + [ + 0.39638641476631165, + -0.003161747008562088, + 0.0618407242000103 + ], + [ + 0.39181917905807495, + -0.001734680263325572, + 0.07852298766374588 + ], + [ + 0.3814994990825653, + 0.0031054336577653885, + 0.09692496806383133 + ], + [ + 0.3485793471336365, + 0.017871417105197906, + 0.11062595993280411 + ], + [ + 0.32065096497535706, + 0.029291702434420586, + 0.11359523236751556 + ], + [ + 0.30167633295059204, + 0.04062140733003616, + 0.1109643429517746 + ], + [ + 0.2955551743507385, + 0.041217196732759476, + 0.10979605466127396 + ], + [ + 0.29200080037117004, + 0.04586876928806305, + 0.11047206819057465 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9938920495085183, + -0.10280322466746931, + 0.040125938266002116, + -0.10196367575240949, + -0.9945349456945004, + -0.02244216164933434, + 0.04221377442037947, + 0.018213697878442535, + -0.9989425701504459 + ], + [ + 0.9954720638625053, + -0.09432740448225602, + 0.011735025903905624, + -0.09395339617804155, + -0.9951500865817314, + -0.02913871175918166, + 0.014426691094510738, + 0.027904227995297987, + -0.9995064905462347 + ], + [ + 0.9957098668856328, + -0.09251306610300172, + 0.001787060943900325, + -0.09242959745905693, + -0.995341349397836, + -0.027429321764343272, + 0.004316306308903112, + 0.027146468999057916, + -0.9996221479742889 + ], + [ + 0.9961216043513688, + -0.08086028463741507, + 0.034689533188141546, + -0.08037850484887232, + -0.9966505256905585, + -0.015067368681791052, + 0.035791693208267854, + 0.012220638653091118, + -0.999284549409324 + ], + [ + 0.9977368486056948, + -0.05174374712054735, + 0.042939091377225576, + -0.0512785320354831, + -0.9986138866473294, + -0.011866656959759058, + 0.04349359822620812, + 0.009637947345753241, + -0.9990072156317479 + ], + [ + 0.9976663098785062, + -0.022779900222675467, + 0.06436622001678532, + -0.02301928847521339, + -0.9997305799450632, + 0.0029799128850339094, + 0.064280996348059, + -0.00445462327839663, + -0.9979218956611525 + ], + [ + 0.9966997125140291, + -0.004979628943215196, + 0.08102398638699596, + -0.005455286253656791, + -0.9999691567105948, + 0.0056502636569405445, + 0.08099335112429215, + -0.00607362520165456, + -0.996696136317668 + ], + [ + 0.9969400547500371, + -0.018557626872771276, + 0.07593511519609285, + -0.019611956101041796, + -0.9997210211535873, + 0.013162486145082038, + 0.07566966639865476, + -0.014611445803878017, + -0.9970258809271887 + ], + [ + 0.9978240372284933, + -0.038625098576998036, + 0.05343493696962629, + -0.03897166943694907, + -0.9992254054360681, + 0.0054587647341597465, + 0.05318270123196, + -0.007529335365284285, + -0.9985564127272076 + ], + [ + 0.9965854700171011, + -0.06804576435932687, + 0.046767241778285944, + -0.06736366159840725, + -0.9976000062423359, + -0.016011390987249886, + 0.04774450802813835, + 0.012806306963612657, + -0.9987774829535879 + ], + [ + 0.9971358126280606, + -0.06760845243759218, + 0.03390086036624149, + -0.0674138402028479, + -0.9977015675036464, + -0.006852470348150821, + 0.03428622644273433, + 0.0045474564056441945, + -0.9994017086820277 + ], + [ + 0.9965847798653787, + -0.06960967885730686, + 0.044421494234856265, + -0.07044082057673882, + -0.997363741270284, + 0.0174257968488587, + 0.04309138356041087, + -0.020495370421746803, + -0.9988608874383484 + ], + [ + 0.9947393468798783, + -0.07980507608605922, + 0.06422446262828234, + -0.0824745310869612, + -0.99578841699132, + 0.04004223155503314, + 0.06075840263683044, + -0.04512846570424617, + -0.9971318057770505 + ], + [ + 0.9937635873553247, + -0.08292100653158273, + 0.07455225766176007, + -0.08684244518441088, + -0.9949162968113128, + 0.050989724981181275, + 0.06994513679355302, + -0.05714603236492559, + -0.9959126512018401 + ], + [ + 0.994750121004149, + -0.07382545955457698, + 0.07086605875725233, + -0.0770468833727101, + -0.996062641050886, + 0.04385194254859816, + 0.06734964383560485, + -0.049081734120638654, + -0.9965214542853194 + ], + [ + 0.9935197348366631, + -0.08835504737076041, + 0.07149770691565828, + -0.09070482044226322, + -0.995416525197691, + 0.030308033784650176, + 0.06849213121683011, + -0.036596816356964615, + -0.996980190873375 + ], + [ + 0.9956800178496196, + -0.07572367203703811, + 0.05373292796980802, + -0.07633867827434784, + -0.9970368393116911, + 0.009484052650579576, + 0.05285554137748565, + -0.013544982413441684, + -0.9985103029999804 + ], + [ + 0.9935423583748091, + -0.09427487760674788, + 0.063133426702933, + -0.09540373424316387, + -0.9953240589475041, + 0.015104475254862103, + 0.061414245965261745, + -0.021030100629756528, + -0.9978907882428919 + ], + [ + 0.9887693225038469, + -0.13159817236180676, + 0.07083182834231651, + -0.13431808043019916, + -0.9903166677465206, + 0.03509345883457103, + 0.0655277051698726, + -0.04421333073247677, + -0.996870754531755 + ], + [ + 0.9825076334414916, + -0.16572341788608025, + 0.08493820691158667, + -0.17111240249204118, + -0.9833845279040045, + 0.060625209215475824, + 0.07347990162351596, + -0.07409871148120015, + -0.9945401374576215 + ], + [ + 0.9787246465038476, + -0.18466662297136732, + 0.08942205928219832, + -0.19223388239514178, + -0.9776589212939901, + 0.08502451454470107, + 0.07172308404697139, + -0.10040553756950933, + -0.9923580640273795 + ], + [ + 0.9797307855804158, + -0.1807316768189058, + 0.08639241158925953, + -0.18814551002034333, + -0.9782681367584589, + 0.08713621326588744, + 0.06876666958030117, + -0.10162437501583921, + -0.9924432636465794 + ], + [ + 0.9805487359452495, + -0.1761448874201728, + 0.08658611362053434, + -0.1839610736526433, + -0.9785670840238023, + 0.09254612604382456, + 0.06842879376943731, + -0.10667446133394518, + -0.9919365198854071 + ], + [ + 0.9823453858575211, + -0.16260013933073758, + 0.09251344536910866, + -0.17056001520213687, + -0.981602234766958, + 0.08582734945669208, + 0.07685586574026188, + -0.1000911953677197, + -0.9920055083068723 + ], + [ + 0.9858468271775408, + -0.14685252504627608, + 0.08087254930759107, + -0.15057077863062332, + -0.9877090140414508, + 0.04194453723469617, + 0.07371888473480671, + -0.053527931669342915, + -0.9958414967075123 + ], + [ + 0.9885029482999849, + -0.1309876511176549, + 0.07552586614476474, + -0.13028685186837277, + -0.991375308960404, + -0.014153904545812866, + 0.07672846559436779, + 0.004151149038859062, + -0.9970433844769198 + ], + [ + 0.9839367037107466, + -0.13652649409856646, + 0.11501773558884006, + -0.12976414370376935, + -0.989451592812843, + -0.06439574899754856, + 0.12259620752559079, + 0.04843616303220017, + -0.9912739823131949 + ], + [ + 0.9751702861467964, + -0.16114108645829836, + 0.15190939164980619, + -0.1483765204709733, + -0.984643232277746, + -0.091989745638083, + 0.16439988196255442, + 0.06716587961659985, + -0.9841043762863907 + ], + [ + 0.9707859635875326, + -0.18222463115989115, + 0.1561050822365113, + -0.16804850189787932, + -0.9807186261285752, + -0.099753082029373, + 0.17127263036254445, + 0.07060566665022006, + -0.9826904527497831 + ], + [ + 0.9662657829205236, + -0.18174485876725777, + 0.18248080191805616, + -0.16704466040670424, + -0.9815476927584692, + -0.0930602400068602, + 0.19602683027227719, + 0.05943848208185585, + -0.9787954580305369 + ], + [ + 0.9704786115652303, + -0.15708303393408649, + 0.18301962994303478, + -0.14769096616747543, + -0.9869638319161017, + -0.06395133307447459, + 0.19067942470791227, + 0.03503305495596107, + -0.9810270343132813 + ], + [ + 0.9799729417697511, + -0.12877713950381428, + 0.15188641065070757, + -0.12859345714646478, + -0.9916355705687386, + -0.0110732995052417, + 0.15204195532240616, + -0.008680064747892876, + -0.9883359248240003 + ], + [ + 0.986752031321954, + -0.10651554594165986, + 0.12237183971301445, + -0.10840173103853014, + -0.9940678512573614, + 0.008841482026359156, + 0.1207041564729555, + -0.021989669604666758, + -0.9924449410626415 + ], + [ + 0.9878139502382299, + -0.10588877083906356, + 0.11406650658688378, + -0.10693936418712904, + -0.9942606690313495, + 0.003113583881238128, + 0.11308214758305529, + -0.015273841282572236, + -0.9934682368704489 + ], + [ + 0.9904614567865022, + -0.09219370314086008, + 0.10240324077652546, + -0.09110812881927823, + -0.9957244142335935, + -0.01523810231679498, + 0.10337026401925209, + 0.005762985367175283, + -0.9946262496617753 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0016400516033172607, + -0.0008454099297523499, + -0.00963929295539856, + -0.009679798036813736, + 0.027799129486083984, + 0.008130639791488647, + 1.0 + ], + [ + -0.014940261840820312, + -0.01987503468990326, + -0.02039162814617157, + 0.0007606986910104752, + 0.010110871866345406, + 0.0015394166111946106, + 1.0 + ], + [ + -0.008920520544052124, + -0.009428050369024277, + -0.0026396065950393677, + 0.014921278692781925, + -0.03148302063345909, + 0.012045569717884064, + 1.0 + ], + [ + -0.008200347423553467, + -0.009339626878499985, + -0.015013478696346283, + 0.002581552602350712, + -0.0077079832553863525, + 0.02916734293103218, + 1.0 + ], + [ + -0.0013547539710998535, + -0.0026789549738168716, + -0.017543010413646698, + 0.014111096039414406, + -0.02081802487373352, + 0.028280625119805336, + 1.0 + ], + [ + 0.0007058084011077881, + -0.00011753477156162262, + -0.01570230722427368, + 0.0016298126429319382, + -0.0167568176984787, + 0.017595745623111725, + 1.0 + ], + [ + 0.00410190224647522, + -0.0025881268084049225, + -0.014100801199674606, + 0.00856029987335205, + 0.005340099334716797, + -0.014196319505572319, + 1.0 + ], + [ + 0.0002754628658294678, + -0.0028947051614522934, + -0.010197915136814117, + -0.007113905157893896, + 0.022534262388944626, + -0.019367199391126633, + 1.0 + ], + [ + 0.0014430880546569824, + -0.00910148024559021, + -0.0066213458776474, + -0.02036135643720627, + 0.005445137619972229, + -0.028454985469579697, + 1.0 + ], + [ + -0.002305924892425537, + -0.0032223802991211414, + -0.011373266577720642, + 0.008271131664514542, + 0.013469718396663666, + -1.2956559658050537e-05, + 1.0 + ], + [ + 3.793835639953613e-05, + 0.002275785431265831, + -0.012196041643619537, + 0.025066012516617775, + -0.00881178304553032, + -0.0030601024627685547, + 1.0 + ], + [ + 0.001764923334121704, + -0.0018043122254312038, + -0.00422603590413928, + 0.024711547419428825, + -0.01769111678004265, + -0.012156635522842407, + 1.0 + ], + [ + -0.0008963048458099365, + 0.00023931777104735374, + -0.0024629421532154083, + 0.012090303003787994, + -0.009206447750329971, + -0.004444502294063568, + 1.0 + ], + [ + -5.462765693664551e-05, + -0.0007591657340526581, + -0.0009876703843474388, + -0.008104421198368073, + 0.002601630985736847, + 0.00986681878566742, + 1.0 + ], + [ + 0.0021582841873168945, + -0.0017921633552759886, + -0.00010195840150117874, + -0.012522101402282715, + -0.0011451318860054016, + -0.01374487578868866, + 1.0 + ], + [ + 0.007031261920928955, + -0.0006297287764027715, + -0.00035257963463664055, + -0.023126833140850067, + 0.015665613114833832, + 0.014523863792419434, + 1.0 + ], + [ + 0.014435023069381714, + -0.001223048660904169, + 0.0018715783953666687, + 0.0075070736929774284, + -0.008572734892368317, + -0.019210122525691986, + 1.0 + ], + [ + 0.01767292618751526, + -0.0032019733916968107, + -2.506561577320099e-05, + 0.023251639679074287, + -0.004121772944927216, + -0.03928691893815994, + 1.0 + ], + [ + 0.024398893117904663, + -0.00285734748467803, + 0.0009475657716393471, + 0.030045025050640106, + -0.007971495389938354, + -0.037412166595458984, + 1.0 + ], + [ + 0.015637606382369995, + -0.0024176030419766903, + 0.0007925722748041153, + 0.02646748721599579, + 0.0017614662647247314, + -0.021514400839805603, + 1.0 + ], + [ + 0.0134735107421875, + -0.0006083929911255836, + -0.0001826970838010311, + 0.0012069270014762878, + 0.002963736653327942, + 0.004215627908706665, + 1.0 + ], + [ + 0.012509435415267944, + 0.0011021783575415611, + 0.0014696689322590828, + 0.0050873830914497375, + 0.00033867359161376953, + 0.004273638129234314, + 1.0 + ], + [ + 0.006485044956207275, + 0.006851234007626772, + 0.0023545459844172, + -0.006572388112545013, + -0.00844942033290863, + 0.0135430246591568, + 1.0 + ], + [ + 0.004590898752212524, + 0.0034216996282339096, + 0.0013800440356135368, + -0.04685772582888603, + 0.0031459107995033264, + 0.020350337028503418, + 1.0 + ], + [ + 0.0026914775371551514, + 0.00406582560390234, + 0.005238275043666363, + -0.05786321312189102, + -0.0030181333422660828, + 0.020514339208602905, + 1.0 + ], + [ + 0.010670989751815796, + -0.005575575865805149, + 0.020563339814543724, + -0.04466027021408081, + -0.04610145092010498, + -7.905066013336182e-05, + 1.0 + ], + [ + 0.005179554224014282, + -0.003823657054454088, + 0.024935360997915268, + -0.01932138204574585, + -0.04224418103694916, + -0.019870460033416748, + 1.0 + ], + [ + -0.004567235708236694, + 0.001427066745236516, + 0.01668226346373558, + -0.003581002354621887, + -0.0069716572761535645, + -0.02041064202785492, + 1.0 + ], + [ + -0.010319679975509644, + 0.004840114153921604, + 0.01840198040008545, + 0.011074420064687729, + -0.025183245539665222, + 0.0002224445343017578, + 1.0 + ], + [ + -0.03292015194892883, + 0.014765983447432518, + 0.013700991868972778, + 0.024956248700618744, + 0.005450263619422913, + 0.02015969157218933, + 1.0 + ], + [ + -0.02792838215827942, + 0.01142028532922268, + 0.0029692724347114563, + 0.04447770118713379, + 0.03922030329704285, + 0.020548895001411438, + 1.0 + ], + [ + -0.018974632024765015, + 0.011329704895615578, + -0.002630889415740967, + 0.013371163979172707, + 0.031634725630283356, + 0.021057605743408203, + 1.0 + ], + [ + -0.006121158599853516, + 0.0005957894027233124, + -0.0011682882905006409, + -0.006780391559004784, + 0.007674641907215118, + 0.0015797168016433716, + 1.0 + ], + [ + -0.0035543739795684814, + 0.004651572555303574, + 0.0006760135293006897, + -0.021167106926441193, + 0.00976930558681488, + 0.01611122488975525, + 1.0 + ], + [ + -0.0015902817249298096, + 0.00252620130777359, + 0.0035670921206474304, + -0.008640334010124207, + -0.007631160318851471, + 0.008245237171649933, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.28779512643814087, + 0.06282107532024384, + 0.13640612363815308 + ], + [ + 0.27285486459732056, + 0.042946040630340576, + 0.1160144954919815 + ], + [ + 0.26393434405326843, + 0.0335179902613163, + 0.11337488889694214 + ], + [ + 0.25573399662971497, + 0.024178363382816315, + 0.09836141020059586 + ], + [ + 0.2543792426586151, + 0.021499408408999443, + 0.08081839978694916 + ], + [ + 0.2550850510597229, + 0.02138187363743782, + 0.06511609256267548 + ], + [ + 0.2591869533061981, + 0.018793746829032898, + 0.05101529136300087 + ], + [ + 0.2594624161720276, + 0.015899041667580605, + 0.04081737622618675 + ], + [ + 0.26090550422668457, + 0.006797560956329107, + 0.03419603034853935 + ], + [ + 0.25859957933425903, + 0.003575180657207966, + 0.02282276377081871 + ], + [ + 0.25863751769065857, + 0.005850966088473797, + 0.010626722127199173 + ], + [ + 0.2604024410247803, + 0.004046653863042593, + 0.006400686223059893 + ], + [ + 0.25950613617897034, + 0.004285971634089947, + 0.003937744069844484 + ], + [ + 0.2594515085220337, + 0.0035268059000372887, + 0.0029500736854970455 + ], + [ + 0.2616097927093506, + 0.0017346425447613, + 0.0028481152839958668 + ], + [ + 0.26864105463027954, + 0.0011049137683585286, + 0.0024955356493592262 + ], + [ + 0.28307607769966125, + -0.00011813487071776763, + 0.004367114044725895 + ], + [ + 0.3007490038871765, + -0.0033201081678271294, + 0.004342048428952694 + ], + [ + 0.3251478970050812, + -0.006177455652505159, + 0.005289614200592041 + ], + [ + 0.34078550338745117, + -0.00859505869448185, + 0.006082186475396156 + ], + [ + 0.35425901412963867, + -0.009203451685607433, + 0.005899489391595125 + ], + [ + 0.3667684495449066, + -0.008101273328065872, + 0.007369158323854208 + ], + [ + 0.3732534945011139, + -0.0012500393204391003, + 0.009723704308271408 + ], + [ + 0.3778443932533264, + 0.0021716603077948093, + 0.011103748343884945 + ], + [ + 0.38053587079048157, + 0.006237485911697149, + 0.016342023387551308 + ], + [ + 0.39120686054229736, + 0.0006619099876843393, + 0.03690536320209503 + ], + [ + 0.39638641476631165, + -0.003161747008562088, + 0.0618407242000103 + ], + [ + 0.39181917905807495, + -0.001734680263325572, + 0.07852298766374588 + ], + [ + 0.3814994990825653, + 0.0031054336577653885, + 0.09692496806383133 + ], + [ + 0.3485793471336365, + 0.017871417105197906, + 0.11062595993280411 + ], + [ + 0.32065096497535706, + 0.029291702434420586, + 0.11359523236751556 + ], + [ + 0.30167633295059204, + 0.04062140733003616, + 0.1109643429517746 + ], + [ + 0.2955551743507385, + 0.041217196732759476, + 0.10979605466127396 + ], + [ + 0.29200080037117004, + 0.04586876928806305, + 0.11047206819057465 + ], + [ + 0.29041051864624023, + 0.04839497059583664, + 0.11403916031122208 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9954720638625053, + -0.09432740448225602, + 0.011735025903905624, + -0.09395339617804155, + -0.9951500865817314, + -0.02913871175918166, + 0.014426691094510738, + 0.027904227995297987, + -0.9995064905462347 + ], + [ + 0.9957098668856328, + -0.09251306610300172, + 0.001787060943900325, + -0.09242959745905693, + -0.995341349397836, + -0.027429321764343272, + 0.004316306308903112, + 0.027146468999057916, + -0.9996221479742889 + ], + [ + 0.9961216043513688, + -0.08086028463741507, + 0.034689533188141546, + -0.08037850484887232, + -0.9966505256905585, + -0.015067368681791052, + 0.035791693208267854, + 0.012220638653091118, + -0.999284549409324 + ], + [ + 0.9977368486056948, + -0.05174374712054735, + 0.042939091377225576, + -0.0512785320354831, + -0.9986138866473294, + -0.011866656959759058, + 0.04349359822620812, + 0.009637947345753241, + -0.9990072156317479 + ], + [ + 0.9976663098785062, + -0.022779900222675467, + 0.06436622001678532, + -0.02301928847521339, + -0.9997305799450632, + 0.0029799128850339094, + 0.064280996348059, + -0.00445462327839663, + -0.9979218956611525 + ], + [ + 0.9966997125140291, + -0.004979628943215196, + 0.08102398638699596, + -0.005455286253656791, + -0.9999691567105948, + 0.0056502636569405445, + 0.08099335112429215, + -0.00607362520165456, + -0.996696136317668 + ], + [ + 0.9969400547500371, + -0.018557626872771276, + 0.07593511519609285, + -0.019611956101041796, + -0.9997210211535873, + 0.013162486145082038, + 0.07566966639865476, + -0.014611445803878017, + -0.9970258809271887 + ], + [ + 0.9978240372284933, + -0.038625098576998036, + 0.05343493696962629, + -0.03897166943694907, + -0.9992254054360681, + 0.0054587647341597465, + 0.05318270123196, + -0.007529335365284285, + -0.9985564127272076 + ], + [ + 0.9965854700171011, + -0.06804576435932687, + 0.046767241778285944, + -0.06736366159840725, + -0.9976000062423359, + -0.016011390987249886, + 0.04774450802813835, + 0.012806306963612657, + -0.9987774829535879 + ], + [ + 0.9971358126280606, + -0.06760845243759218, + 0.03390086036624149, + -0.0674138402028479, + -0.9977015675036464, + -0.006852470348150821, + 0.03428622644273433, + 0.0045474564056441945, + -0.9994017086820277 + ], + [ + 0.9965847798653787, + -0.06960967885730686, + 0.044421494234856265, + -0.07044082057673882, + -0.997363741270284, + 0.0174257968488587, + 0.04309138356041087, + -0.020495370421746803, + -0.9988608874383484 + ], + [ + 0.9947393468798783, + -0.07980507608605922, + 0.06422446262828234, + -0.0824745310869612, + -0.99578841699132, + 0.04004223155503314, + 0.06075840263683044, + -0.04512846570424617, + -0.9971318057770505 + ], + [ + 0.9937635873553247, + -0.08292100653158273, + 0.07455225766176007, + -0.08684244518441088, + -0.9949162968113128, + 0.050989724981181275, + 0.06994513679355302, + -0.05714603236492559, + -0.9959126512018401 + ], + [ + 0.994750121004149, + -0.07382545955457698, + 0.07086605875725233, + -0.0770468833727101, + -0.996062641050886, + 0.04385194254859816, + 0.06734964383560485, + -0.049081734120638654, + -0.9965214542853194 + ], + [ + 0.9935197348366631, + -0.08835504737076041, + 0.07149770691565828, + -0.09070482044226322, + -0.995416525197691, + 0.030308033784650176, + 0.06849213121683011, + -0.036596816356964615, + -0.996980190873375 + ], + [ + 0.9956800178496196, + -0.07572367203703811, + 0.05373292796980802, + -0.07633867827434784, + -0.9970368393116911, + 0.009484052650579576, + 0.05285554137748565, + -0.013544982413441684, + -0.9985103029999804 + ], + [ + 0.9935423583748091, + -0.09427487760674788, + 0.063133426702933, + -0.09540373424316387, + -0.9953240589475041, + 0.015104475254862103, + 0.061414245965261745, + -0.021030100629756528, + -0.9978907882428919 + ], + [ + 0.9887693225038469, + -0.13159817236180676, + 0.07083182834231651, + -0.13431808043019916, + -0.9903166677465206, + 0.03509345883457103, + 0.0655277051698726, + -0.04421333073247677, + -0.996870754531755 + ], + [ + 0.9825076334414916, + -0.16572341788608025, + 0.08493820691158667, + -0.17111240249204118, + -0.9833845279040045, + 0.060625209215475824, + 0.07347990162351596, + -0.07409871148120015, + -0.9945401374576215 + ], + [ + 0.9787246465038476, + -0.18466662297136732, + 0.08942205928219832, + -0.19223388239514178, + -0.9776589212939901, + 0.08502451454470107, + 0.07172308404697139, + -0.10040553756950933, + -0.9923580640273795 + ], + [ + 0.9797307855804158, + -0.1807316768189058, + 0.08639241158925953, + -0.18814551002034333, + -0.9782681367584589, + 0.08713621326588744, + 0.06876666958030117, + -0.10162437501583921, + -0.9924432636465794 + ], + [ + 0.9805487359452495, + -0.1761448874201728, + 0.08658611362053434, + -0.1839610736526433, + -0.9785670840238023, + 0.09254612604382456, + 0.06842879376943731, + -0.10667446133394518, + -0.9919365198854071 + ], + [ + 0.9823453858575211, + -0.16260013933073758, + 0.09251344536910866, + -0.17056001520213687, + -0.981602234766958, + 0.08582734945669208, + 0.07685586574026188, + -0.1000911953677197, + -0.9920055083068723 + ], + [ + 0.9858468271775408, + -0.14685252504627608, + 0.08087254930759107, + -0.15057077863062332, + -0.9877090140414508, + 0.04194453723469617, + 0.07371888473480671, + -0.053527931669342915, + -0.9958414967075123 + ], + [ + 0.9885029482999849, + -0.1309876511176549, + 0.07552586614476474, + -0.13028685186837277, + -0.991375308960404, + -0.014153904545812866, + 0.07672846559436779, + 0.004151149038859062, + -0.9970433844769198 + ], + [ + 0.9839367037107466, + -0.13652649409856646, + 0.11501773558884006, + -0.12976414370376935, + -0.989451592812843, + -0.06439574899754856, + 0.12259620752559079, + 0.04843616303220017, + -0.9912739823131949 + ], + [ + 0.9751702861467964, + -0.16114108645829836, + 0.15190939164980619, + -0.1483765204709733, + -0.984643232277746, + -0.091989745638083, + 0.16439988196255442, + 0.06716587961659985, + -0.9841043762863907 + ], + [ + 0.9707859635875326, + -0.18222463115989115, + 0.1561050822365113, + -0.16804850189787932, + -0.9807186261285752, + -0.099753082029373, + 0.17127263036254445, + 0.07060566665022006, + -0.9826904527497831 + ], + [ + 0.9662657829205236, + -0.18174485876725777, + 0.18248080191805616, + -0.16704466040670424, + -0.9815476927584692, + -0.0930602400068602, + 0.19602683027227719, + 0.05943848208185585, + -0.9787954580305369 + ], + [ + 0.9704786115652303, + -0.15708303393408649, + 0.18301962994303478, + -0.14769096616747543, + -0.9869638319161017, + -0.06395133307447459, + 0.19067942470791227, + 0.03503305495596107, + -0.9810270343132813 + ], + [ + 0.9799729417697511, + -0.12877713950381428, + 0.15188641065070757, + -0.12859345714646478, + -0.9916355705687386, + -0.0110732995052417, + 0.15204195532240616, + -0.008680064747892876, + -0.9883359248240003 + ], + [ + 0.986752031321954, + -0.10651554594165986, + 0.12237183971301445, + -0.10840173103853014, + -0.9940678512573614, + 0.008841482026359156, + 0.1207041564729555, + -0.021989669604666758, + -0.9924449410626415 + ], + [ + 0.9878139502382299, + -0.10588877083906356, + 0.11406650658688378, + -0.10693936418712904, + -0.9942606690313495, + 0.003113583881238128, + 0.11308214758305529, + -0.015273841282572236, + -0.9934682368704489 + ], + [ + 0.9904614567865022, + -0.09219370314086008, + 0.10240324077652546, + -0.09110812881927823, + -0.9957244142335935, + -0.01523810231679498, + 0.10337026401925209, + 0.005762985367175283, + -0.9946262496617753 + ], + [ + 0.9903640483218257, + -0.08497251764163329, + 0.10935594651067991, + -0.08287034331189182, + -0.9962800304309759, + -0.023634871775042553, + 0.1109574602763309, + 0.014344762462161473, + -0.993721625908851 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006452.json b/json/chunk-0006/episode_0006452.json new file mode 100644 index 0000000000000000000000000000000000000000..42a4e2986a4a2444f972c71dcf89e99170e50dc0 --- /dev/null +++ b/json/chunk-0006/episode_0006452.json @@ -0,0 +1,1882 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 30, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPlace the sushi in the pot." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006452.mp4", + "start": 0, + "end": 30, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.27921757102012634, + 0.06262553483247757, + 0.10251571238040924, + 0.026902832090854645, + -0.1554124355316162, + -0.1160469502210617, + 0.0, + 1.0014774799346924 + ], + [ + 0.27643024921417236, + 0.06219788268208504, + 0.09465108066797256, + 0.016415799036622047, + -0.12990356981754303, + -0.11535130441188812, + 0.0, + 1.0014774799346924 + ], + [ + 0.27294230461120605, + 0.07992151379585266, + 0.09226132184267044, + 0.023510348051786423, + -0.14511063694953918, + -0.09072424471378326, + 0.0, + 1.0014774799346924 + ], + [ + 0.26706016063690186, + 0.12097125500440598, + 0.09500212967395782, + 0.051385849714279175, + -0.17765383422374725, + -0.06457341462373734, + 0.0, + 1.0014774799346924 + ], + [ + 0.2751493752002716, + 0.15563511848449707, + 0.09197884052991867, + 0.09420423954725266, + -0.1608104407787323, + -0.08466456085443497, + 0.0, + 1.0014774799346924 + ], + [ + 0.27926182746887207, + 0.19211696088314056, + 0.08955301344394684, + 0.13725604116916656, + -0.12307675927877426, + -0.04628973826766014, + 0.0, + 1.0014774799346924 + ], + [ + 0.28556787967681885, + 0.20573021471500397, + 0.07706475257873535, + 0.12591348588466644, + -0.09309709072113037, + 0.019150737673044205, + 0.0, + 1.0014774799346924 + ], + [ + 0.2839122712612152, + 0.21135377883911133, + 0.057937245815992355, + 0.12883153557777405, + -0.03849736601114273, + 0.1176367774605751, + 0.0, + 1.0014774799346924 + ], + [ + 0.2818750739097595, + 0.21216976642608643, + 0.03718358650803566, + 0.11910806596279144, + -0.0013338299468159676, + 0.1753772795200348, + 0.0, + 1.0014774799346924 + ], + [ + 0.2835663855075836, + 0.21653565764427185, + 0.03157312422990799, + 0.1561296135187149, + -0.035375792533159256, + 0.17922240495681763, + 0.0, + 1.0014774799346924 + ], + [ + 0.28273457288742065, + 0.2187178134918213, + 0.014585531316697598, + 0.17848694324493408, + -0.05891437456011772, + 0.18088464438915253, + 0.0, + 1.0014774799346924 + ], + [ + 0.2838027775287628, + 0.22123761475086212, + 0.012458207085728645, + 0.19267693161964417, + -0.0716097429394722, + 0.19197718799114227, + 0.0, + 0.9515043497085571 + ], + [ + 0.28351885080337524, + 0.21777711808681488, + 0.012087151408195496, + 0.17761936783790588, + -0.0734771341085434, + 0.19642861187458038, + 0.0, + 0.6902000904083252 + ], + [ + 0.28080499172210693, + 0.20294852554798126, + 0.03123851865530014, + 0.12751123309135437, + -0.07265454530715942, + 0.2236034870147705, + 0.0, + 0.5938982367515564 + ], + [ + 0.2895408570766449, + 0.1592484414577484, + 0.08030107617378235, + 0.04131001979112625, + -0.10579453408718109, + 0.15121759474277496, + 0.0, + 0.5879040956497192 + ], + [ + 0.2778541147708893, + 0.1087782233953476, + 0.1177692711353302, + 0.012833845801651478, + -0.15260134637355804, + 0.11845219135284424, + 0.0, + 0.5879040956497192 + ], + [ + 0.2594445049762726, + 0.06180598586797714, + 0.13414333760738373, + -0.04010988026857376, + -0.1794782131910324, + 0.08434632420539856, + 0.0, + 0.5879040956497192 + ], + [ + 0.23553845286369324, + 0.009778337553143501, + 0.13165877759456635, + -0.021834736689925194, + -0.19605585932731628, + 0.021715663373470306, + 0.0, + 0.5879040956497192 + ], + [ + 0.22282476723194122, + -0.02864973433315754, + 0.1137772649526596, + 0.005761850159615278, + -0.20340511202812195, + 0.03573548048734665, + 0.0, + 0.5879040956497192 + ], + [ + 0.2258162647485733, + -0.0348714217543602, + 0.09572692215442657, + 0.03761816769838333, + -0.18244273960590363, + 0.02075710892677307, + 0.0, + 0.5879040956497192 + ], + [ + 0.2361300140619278, + -0.037842314690351486, + 0.07713722437620163, + 0.04019526019692421, + -0.1773676574230194, + 0.03254067897796631, + 0.0, + 0.5879040956497192 + ], + [ + 0.24407754838466644, + -0.03555145487189293, + 0.06028806418180466, + 0.019776539877057076, + -0.17198888957500458, + 0.05165696516633034, + 0.0, + 0.5879040956497192 + ], + [ + 0.2466905117034912, + -0.033998116850852966, + 0.048683907836675644, + -0.020714566111564636, + -0.14631927013397217, + 0.07425791025161743, + 0.0, + 0.5879040956497192 + ], + [ + 0.2457633912563324, + -0.033417709171772, + 0.04639657214283943, + -0.03892650827765465, + -0.1238495409488678, + 0.06626888364553452, + 0.0, + 0.6611326336860657 + ], + [ + 0.24835938215255737, + -0.033983539789915085, + 0.051847487688064575, + -0.038651805371046066, + -0.11174076795578003, + 0.05161970108747482, + 0.0, + 0.9507390260696411 + ], + [ + 0.2497062087059021, + -0.029966337606310844, + 0.05340782552957535, + -0.05602731555700302, + -0.1067955270409584, + 0.06266885250806808, + 0.0, + 1.0124757289886475 + ], + [ + 0.26002931594848633, + -0.015684569254517555, + 0.06424152851104736, + -0.05661064758896828, + -0.1197725310921669, + 0.07318684458732605, + 0.0, + 1.0073583126068115 + ], + [ + 0.28228965401649475, + 0.007414632942527533, + 0.08806303888559341, + -0.008646217174828053, + -0.17314499616622925, + 0.0638028159737587, + 0.0, + 1.002137303352356 + ], + [ + 0.29299196600914, + 0.02777358889579773, + 0.09177865833044052, + 0.009561664424836636, + -0.1609768122434616, + 0.0772378072142601, + 0.0, + 1.0014774799346924 + ], + [ + 0.3007836639881134, + 0.035263702273368835, + 0.08431600779294968, + 0.02552776038646698, + -0.13968545198440552, + 0.03292248025536537, + 0.0, + 1.0014774799346924 + ] + ], + "left_gripper_pos": [ + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 0.9515043497085571 + ], + [ + 0.6902000904083252 + ], + [ + 0.5938982367515564 + ], + [ + 0.5879040956497192 + ], + [ + 0.5879040956497192 + ], + [ + 0.5879040956497192 + ], + [ + 0.5879040956497192 + ], + [ + 0.5879040956497192 + ], + [ + 0.5879040956497192 + ], + [ + 0.5879040956497192 + ], + [ + 0.5879040956497192 + ], + [ + 0.5879040956497192 + ], + [ + 0.6611326336860657 + ], + [ + 0.9507390260696411 + ], + [ + 1.0124757289886475 + ], + [ + 1.0073583126068115 + ], + [ + 1.002137303352356 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.27921757102012634, + 0.06262553483247757, + 0.10251571238040924 + ], + [ + 0.27643024921417236, + 0.06219788268208504, + 0.09465108066797256 + ], + [ + 0.27294230461120605, + 0.07992151379585266, + 0.09226132184267044 + ], + [ + 0.26706016063690186, + 0.12097125500440598, + 0.09500212967395782 + ], + [ + 0.2751493752002716, + 0.15563511848449707, + 0.09197884052991867 + ], + [ + 0.27926182746887207, + 0.19211696088314056, + 0.08955301344394684 + ], + [ + 0.28556787967681885, + 0.20573021471500397, + 0.07706475257873535 + ], + [ + 0.2839122712612152, + 0.21135377883911133, + 0.057937245815992355 + ], + [ + 0.2818750739097595, + 0.21216976642608643, + 0.03718358650803566 + ], + [ + 0.2835663855075836, + 0.21653565764427185, + 0.03157312422990799 + ], + [ + 0.28273457288742065, + 0.2187178134918213, + 0.014585531316697598 + ], + [ + 0.2838027775287628, + 0.22123761475086212, + 0.012458207085728645 + ], + [ + 0.28351885080337524, + 0.21777711808681488, + 0.012087151408195496 + ], + [ + 0.28080499172210693, + 0.20294852554798126, + 0.03123851865530014 + ], + [ + 0.2895408570766449, + 0.1592484414577484, + 0.08030107617378235 + ], + [ + 0.2778541147708893, + 0.1087782233953476, + 0.1177692711353302 + ], + [ + 0.2594445049762726, + 0.06180598586797714, + 0.13414333760738373 + ], + [ + 0.23553845286369324, + 0.009778337553143501, + 0.13165877759456635 + ], + [ + 0.22282476723194122, + -0.02864973433315754, + 0.1137772649526596 + ], + [ + 0.2258162647485733, + -0.0348714217543602, + 0.09572692215442657 + ], + [ + 0.2361300140619278, + -0.037842314690351486, + 0.07713722437620163 + ], + [ + 0.24407754838466644, + -0.03555145487189293, + 0.06028806418180466 + ], + [ + 0.2466905117034912, + -0.033998116850852966, + 0.048683907836675644 + ], + [ + 0.2457633912563324, + -0.033417709171772, + 0.04639657214283943 + ], + [ + 0.24835938215255737, + -0.033983539789915085, + 0.051847487688064575 + ], + [ + 0.2497062087059021, + -0.029966337606310844, + 0.05340782552957535 + ], + [ + 0.26002931594848633, + -0.015684569254517555, + 0.06424152851104736 + ], + [ + 0.28228965401649475, + 0.007414632942527533, + 0.08806303888559341 + ], + [ + 0.29299196600914, + 0.02777358889579773, + 0.09177865833044052 + ], + [ + 0.3007836639881134, + 0.035263702273368835, + 0.08431600779294968 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9813029427293414, + -0.11160904457194218, + 0.15680547107952988, + -0.11439117331381576, + -0.9933967837521394, + 0.008802811982197345, + 0.15478757721026462, + -0.026575387121236388, + -0.987590276754856 + ], + [ + 0.9849847948803968, + -0.11296790589087939, + 0.13054963076566825, + -0.11412591405900356, + -0.9934653086495709, + 0.00139866007660329, + 0.12953852552279507, + -0.016276754849857793, + -0.9914407887801157 + ], + [ + 0.9854205153796632, + -0.08718945351879315, + 0.14609725207536617, + -0.08964762692993508, + -0.9959201373562414, + 0.010314213210738457, + 0.14460190474094747, + -0.023261109247402732, + -0.98921646263185 + ], + [ + 0.982209681305347, + -0.05538533701864959, + 0.17943412828494834, + -0.06351293472336561, + -0.9971843727485507, + 0.039867704585355365, + 0.17672082240888928, + -0.05055483349206355, + -0.9829618302547234 + ], + [ + 0.9835621519455798, + -0.06918093247577896, + 0.16679176191275577, + -0.08347239887210674, + -0.9932736933885874, + 0.08024791990282368, + 0.1601182434537539, + -0.09285132526774081, + -0.9827211097301758 + ], + [ + 0.9913725357774134, + -0.02905845655596204, + 0.12781275917859758, + -0.04592318036986019, + -0.9903113408019144, + 0.13105155391612655, + 0.12276626902768611, + -0.13579047971672903, + -0.9831019218816134 + ], + [ + 0.995487019158281, + 0.030670174899567332, + 0.08980498348638613, + 0.019066641719552246, + -0.9916778878394351, + 0.12732411375640837, + 0.0929626691790762, + -0.1250372230255716, + -0.9877872417667456 + ], + [ + 0.9923529585212311, + 0.12130357243425387, + 0.022826498392179782, + 0.11727868746846458, + -0.9842783918525309, + 0.13206724347040213, + 0.03848785756358326, + -0.1283802580106614, + -0.9909778979237034 + ], + [ + 0.9846599054829863, + 0.17339952023319316, + -0.019428765198417536, + 0.1744794871409383, + -0.9776568217611235, + 0.11723500940834368, + 0.0013338295513126742, + -0.11882653427091829, + -0.9929141330708767 + ], + [ + 0.9833669711550926, + 0.18150772867233161, + 0.006659164622615862, + 0.17815295477881726, + -0.9710335536173701, + 0.15923367248418077, + 0.03536841450837934, + -0.15539878436279322, + -0.9872184626888469 + ], + [ + 0.9819782862955628, + 0.18732496763660872, + 0.025059962968310773, + 0.1795877378331444, + -0.9661769582789896, + 0.1850684460158816, + 0.05888029945578911, + -0.17723273340639698, + -0.9824060609265873 + ], + [ + 0.9791131071436312, + 0.2007183259180737, + 0.032398720039381004, + 0.19031113328774202, + -0.9608499360323963, + 0.20136800384687598, + 0.07154855670297991, + -0.19099621479805856, + -0.9789796984445257 + ], + [ + 0.97812350837917, + 0.20481865651899064, + 0.03638296713820999, + 0.19464126522784805, + -0.9628080279635444, + 0.18739124621885017, + 0.07341103613576665, + -0.17621015643460214, + -0.9816113286544561 + ], + [ + 0.972532224920489, + 0.22894583644913274, + 0.04201042089541946, + 0.22115982946099472, + -0.9651413526871592, + 0.139966064336982, + 0.07259064212408552, + -0.12683049044219386, + -0.9892646892365083 + ], + [ + 0.9830611685228475, + 0.15482464540826377, + 0.09808194592634585, + 0.14979970114286098, + -0.9870880407282748, + 0.056720802081113506, + 0.10559729390473406, + -0.041067371786135745, + -0.9935606083649735 + ], + [ + 0.9814531620947221, + 0.12010280104096474, + 0.1494155540644449, + 0.11680206966053919, + -0.9926804240594382, + 0.03070589865462197, + 0.15200976000666921, + -0.012684355375335457, + -0.9882975968762783 + ], + [ + 0.980439036051019, + 0.0770456949823416, + 0.18111669572967687, + 0.08289309761608024, + -0.996246587363034, + -0.02492933081973113, + 0.17851619241670869, + 0.03945501301731616, + -0.9831456000984005 + ], + [ + 0.9806112736433645, + 0.0174566651175646, + 0.19518400253737792, + 0.02129797225243521, + -0.9996182640855602, + -0.017598934186631603, + 0.19480227509316325, + 0.021414736737678887, + -0.9806087306714044 + ], + [ + 0.9787591235672168, + 0.03689045742470132, + 0.20166723131170722, + 0.03499132375695639, + -0.9993033825156901, + 0.012975243906607882, + 0.20200540907527498, + -0.005643034972105441, + -0.9793681487881022 + ], + [ + 0.9831915895073456, + 0.027563005750945814, + 0.18048429027478455, + 0.020411146435821446, + -0.9989356246990693, + 0.041364269705337534, + 0.18143231085778191, + -0.03698511080223742, + -0.982707697209985 + ], + [ + 0.9837904550829816, + 0.03959501144674444, + 0.17489589919764154, + 0.03202451371937506, + -0.9984326295167366, + 0.04589896335792083, + 0.17643914250714599, + -0.03955400592640873, + -0.9835165019492637 + ], + [ + 0.9839320887074403, + 0.05500376335367056, + 0.1698594443319163, + 0.05087220352657214, + -0.9982960380097513, + 0.028583901105067085, + 0.17114223242719778, + -0.01948349329475187, + -0.9850536684713521 + ], + [ + 0.9865880162515908, + 0.07116216826915968, + 0.14690143633056402, + 0.07339692333619897, + -0.9972542473458536, + -0.009841635810949599, + 0.14579772917823886, + 0.0204917534117273, + -0.989102173796308 + ], + [ + 0.9901622773131509, + 0.06137327741593751, + 0.12574571724421146, + 0.06571317147352695, + -0.9973674974804838, + -0.030657039394042705, + 0.1235331683432658, + 0.03861859382141481, + -0.99158870532612 + ], + [ + 0.9924397995979927, + 0.047255055225265706, + 0.11327049010909154, + 0.05127499623598807, + -0.998144432623027, + -0.03284153444428864, + 0.11150838055902401, + 0.03840118981637257, + -0.9930212634610557 + ], + [ + 0.9923509096592295, + 0.056572311259126845, + 0.10972349655976275, + 0.06227103492361509, + -0.996844734835194, + -0.04922288940009331, + 0.10659263721309135, + 0.05567897475845239, + -0.9927425957728448 + ], + [ + 0.9901780572516315, + 0.06626189877056873, + 0.12311285760919938, + 0.07259767254731064, + -0.9962197162032328, + -0.04770592194542605, + 0.11948637109770119, + 0.056175064034396295, + -0.9912453628151979 + ], + [ + 0.9830435298082079, + 0.06227062247840118, + 0.17247547094694732, + 0.06280619236597193, + -0.9980229622418614, + 0.002355639715314619, + 0.17228116757994, + 0.008516831226006289, + -0.9850109963260106 + ], + [ + 0.9841283770009135, + 0.07868548165441763, + 0.1590595252047489, + 0.07616343365556388, + -0.9968548144172817, + 0.02190000791966444, + 0.16028246615067523, + -0.009437899655069137, + -0.9870260670796687 + ], + [ + 0.98972322248404, + 0.03645776848618588, + 0.13827065485060566, + 0.03259592089595236, + -0.9990154834713282, + 0.030092685581272424, + 0.13923163726952456, + -0.025276370418954076, + -0.9899371981503127 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0027873218059539795, + -0.00042765215039253235, + -0.007864631712436676, + -0.010487033054232597, + 0.02550886571407318, + 0.000695645809173584, + 1.0 + ], + [ + -0.0034879446029663086, + 0.017723631113767624, + -0.002389758825302124, + 0.007094549015164375, + -0.015207067131996155, + 0.02462705969810486, + 1.0 + ], + [ + -0.005882143974304199, + 0.041049741208553314, + 0.002740807831287384, + 0.027875501662492752, + -0.03254319727420807, + 0.02615083009004593, + 1.0 + ], + [ + 0.008089214563369751, + 0.034663863480091095, + -0.003023289144039154, + 0.04281838983297348, + 0.016843393445014954, + -0.020091146230697632, + 1.0 + ], + [ + 0.004112452268600464, + 0.036481842398643494, + -0.0024258270859718323, + 0.04305180162191391, + 0.03773368149995804, + 0.038374822586774826, + 1.0 + ], + [ + 0.006306052207946777, + 0.013613253831863403, + -0.012488260865211487, + -0.011342555284500122, + 0.02997966855764389, + 0.06544047594070435, + 1.0 + ], + [ + -0.0016556084156036377, + 0.005623564124107361, + -0.019127506762742996, + 0.002918049693107605, + 0.05459972470998764, + 0.0984860360622406, + 1.0 + ], + [ + -0.0020371973514556885, + 0.0008159875869750977, + -0.020753659307956696, + -0.009723469614982605, + 0.03716353699564934, + 0.057740502059459686, + 1.0 + ], + [ + 0.0016913115978240967, + 0.004365891218185425, + -0.00561046227812767, + 0.03702154755592346, + -0.03404196351766586, + 0.003845125436782837, + 1.0 + ], + [ + -0.0008318126201629639, + 0.0021821558475494385, + -0.016987591981887817, + 0.022357329726219177, + -0.023538582026958466, + 0.0016622394323349, + 1.0 + ], + [ + 0.001068204641342163, + 0.0025198012590408325, + -0.002127324230968952, + 0.014189988374710083, + -0.012695368379354477, + 0.011092543601989746, + 0.0 + ], + [ + -0.00028392672538757324, + -0.003460496664047241, + -0.0003710556775331497, + -0.015057563781738281, + -0.0018673911690711975, + 0.00445142388343811, + 0.0 + ], + [ + -0.0027138590812683105, + -0.014828592538833618, + 0.019151367247104645, + -0.050108134746551514, + 0.0008225888013839722, + 0.027174875140190125, + 0.0 + ], + [ + 0.008735865354537964, + -0.04370008409023285, + 0.04906255751848221, + -0.08620121330022812, + -0.03313998878002167, + -0.07238589227199554, + 0.0 + ], + [ + -0.011686742305755615, + -0.05047021806240082, + 0.03746819496154785, + -0.028476174920797348, + -0.04680681228637695, + -0.032765403389930725, + 0.0 + ], + [ + -0.0184096097946167, + -0.04697223752737045, + 0.016374066472053528, + -0.052943725138902664, + -0.026876866817474365, + -0.03410586714744568, + 0.0 + ], + [ + -0.023906052112579346, + -0.05202765017747879, + -0.002484560012817383, + 0.018275143578648567, + -0.016577646136283875, + -0.06263066083192825, + 0.0 + ], + [ + -0.012713685631752014, + -0.03842807188630104, + -0.01788151264190674, + 0.02759658731520176, + -0.007349252700805664, + 0.014019817113876343, + 0.0 + ], + [ + 0.00299149751663208, + -0.00622168742120266, + -0.018050342798233032, + 0.031856317073106766, + 0.020962372422218323, + -0.014978371560573578, + 0.0 + ], + [ + 0.010313749313354492, + -0.0029708929359912872, + -0.018589697778224945, + 0.0025770924985408783, + 0.005075082182884216, + 0.011783570051193237, + 0.0 + ], + [ + 0.007947534322738647, + 0.002290859818458557, + -0.016849160194396973, + -0.020418720319867134, + 0.0053787678480148315, + 0.01911628618836403, + 0.0 + ], + [ + 0.002612963318824768, + 0.0015533380210399628, + -0.011604156345129013, + -0.04049110412597656, + 0.02566961944103241, + 0.022600945085287094, + 0.0 + ], + [ + -0.0009271204471588135, + 0.0005804076790809631, + -0.002287335693836212, + -0.01821194216609001, + 0.02246972918510437, + -0.007989026606082916, + 1.0 + ], + [ + 0.0025959908962249756, + -0.0005658306181430817, + 0.005450915545225143, + 0.00027470290660858154, + 0.012108772993087769, + -0.014649182558059692, + 1.0 + ], + [ + 0.0013468265533447266, + 0.00401720218360424, + 0.0015603378415107727, + -0.017375510185956955, + 0.004945240914821625, + 0.011049151420593262, + 1.0 + ], + [ + 0.010323107242584229, + 0.01428176835179329, + 0.010833702981472015, + -0.0005833320319652557, + -0.012977004051208496, + 0.010517992079257965, + 1.0 + ], + [ + 0.022260338068008423, + 0.023099202662706375, + 0.02382151037454605, + 0.0479644313454628, + -0.05337246507406235, + -0.009384028613567352, + 1.0 + ], + [ + 0.010702311992645264, + 0.02035895548760891, + 0.003715619444847107, + 0.018207881599664688, + 0.01216818392276764, + 0.013434991240501404, + 1.0 + ], + [ + 0.007791697978973389, + 0.007490113377571106, + -0.007462650537490845, + 0.01596609503030777, + 0.02129136025905609, + -0.04431532695889473, + 1.0 + ], + [ + 0.00018018484115600586, + 0.006322726607322693, + -0.00012947618961334229, + 0.0043891798704862595, + 0.005388423800468445, + -0.005576061084866524, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 0.9515043497085571 + ], + [ + 0.6902000904083252 + ], + [ + 0.5938982367515564 + ], + [ + 0.5879040956497192 + ], + [ + 0.5879040956497192 + ], + [ + 0.5879040956497192 + ], + [ + 0.5879040956497192 + ], + [ + 0.5879040956497192 + ], + [ + 0.5879040956497192 + ], + [ + 0.5879040956497192 + ], + [ + 0.5879040956497192 + ], + [ + 0.5879040956497192 + ], + [ + 0.6611326336860657 + ], + [ + 0.9507390260696411 + ], + [ + 1.0124757289886475 + ], + [ + 1.0073583126068115 + ], + [ + 1.002137303352356 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.27643024921417236, + 0.06219788268208504, + 0.09465108066797256 + ], + [ + 0.27294230461120605, + 0.07992151379585266, + 0.09226132184267044 + ], + [ + 0.26706016063690186, + 0.12097125500440598, + 0.09500212967395782 + ], + [ + 0.2751493752002716, + 0.15563511848449707, + 0.09197884052991867 + ], + [ + 0.27926182746887207, + 0.19211696088314056, + 0.08955301344394684 + ], + [ + 0.28556787967681885, + 0.20573021471500397, + 0.07706475257873535 + ], + [ + 0.2839122712612152, + 0.21135377883911133, + 0.057937245815992355 + ], + [ + 0.2818750739097595, + 0.21216976642608643, + 0.03718358650803566 + ], + [ + 0.2835663855075836, + 0.21653565764427185, + 0.03157312422990799 + ], + [ + 0.28273457288742065, + 0.2187178134918213, + 0.014585531316697598 + ], + [ + 0.2838027775287628, + 0.22123761475086212, + 0.012458207085728645 + ], + [ + 0.28351885080337524, + 0.21777711808681488, + 0.012087151408195496 + ], + [ + 0.28080499172210693, + 0.20294852554798126, + 0.03123851865530014 + ], + [ + 0.2895408570766449, + 0.1592484414577484, + 0.08030107617378235 + ], + [ + 0.2778541147708893, + 0.1087782233953476, + 0.1177692711353302 + ], + [ + 0.2594445049762726, + 0.06180598586797714, + 0.13414333760738373 + ], + [ + 0.23553845286369324, + 0.009778337553143501, + 0.13165877759456635 + ], + [ + 0.22282476723194122, + -0.02864973433315754, + 0.1137772649526596 + ], + [ + 0.2258162647485733, + -0.0348714217543602, + 0.09572692215442657 + ], + [ + 0.2361300140619278, + -0.037842314690351486, + 0.07713722437620163 + ], + [ + 0.24407754838466644, + -0.03555145487189293, + 0.06028806418180466 + ], + [ + 0.2466905117034912, + -0.033998116850852966, + 0.048683907836675644 + ], + [ + 0.2457633912563324, + -0.033417709171772, + 0.04639657214283943 + ], + [ + 0.24835938215255737, + -0.033983539789915085, + 0.051847487688064575 + ], + [ + 0.2497062087059021, + -0.029966337606310844, + 0.05340782552957535 + ], + [ + 0.26002931594848633, + -0.015684569254517555, + 0.06424152851104736 + ], + [ + 0.28228965401649475, + 0.007414632942527533, + 0.08806303888559341 + ], + [ + 0.29299196600914, + 0.02777358889579773, + 0.09177865833044052 + ], + [ + 0.3007836639881134, + 0.035263702273368835, + 0.08431600779294968 + ], + [ + 0.3009638488292694, + 0.04158642888069153, + 0.08418653160333633 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9849847948803968, + -0.11296790589087939, + 0.13054963076566825, + -0.11412591405900356, + -0.9934653086495709, + 0.00139866007660329, + 0.12953852552279507, + -0.016276754849857793, + -0.9914407887801157 + ], + [ + 0.9854205153796632, + -0.08718945351879315, + 0.14609725207536617, + -0.08964762692993508, + -0.9959201373562414, + 0.010314213210738457, + 0.14460190474094747, + -0.023261109247402732, + -0.98921646263185 + ], + [ + 0.982209681305347, + -0.05538533701864959, + 0.17943412828494834, + -0.06351293472336561, + -0.9971843727485507, + 0.039867704585355365, + 0.17672082240888928, + -0.05055483349206355, + -0.9829618302547234 + ], + [ + 0.9835621519455798, + -0.06918093247577896, + 0.16679176191275577, + -0.08347239887210674, + -0.9932736933885874, + 0.08024791990282368, + 0.1601182434537539, + -0.09285132526774081, + -0.9827211097301758 + ], + [ + 0.9913725357774134, + -0.02905845655596204, + 0.12781275917859758, + -0.04592318036986019, + -0.9903113408019144, + 0.13105155391612655, + 0.12276626902768611, + -0.13579047971672903, + -0.9831019218816134 + ], + [ + 0.995487019158281, + 0.030670174899567332, + 0.08980498348638613, + 0.019066641719552246, + -0.9916778878394351, + 0.12732411375640837, + 0.0929626691790762, + -0.1250372230255716, + -0.9877872417667456 + ], + [ + 0.9923529585212311, + 0.12130357243425387, + 0.022826498392179782, + 0.11727868746846458, + -0.9842783918525309, + 0.13206724347040213, + 0.03848785756358326, + -0.1283802580106614, + -0.9909778979237034 + ], + [ + 0.9846599054829863, + 0.17339952023319316, + -0.019428765198417536, + 0.1744794871409383, + -0.9776568217611235, + 0.11723500940834368, + 0.0013338295513126742, + -0.11882653427091829, + -0.9929141330708767 + ], + [ + 0.9833669711550926, + 0.18150772867233161, + 0.006659164622615862, + 0.17815295477881726, + -0.9710335536173701, + 0.15923367248418077, + 0.03536841450837934, + -0.15539878436279322, + -0.9872184626888469 + ], + [ + 0.9819782862955628, + 0.18732496763660872, + 0.025059962968310773, + 0.1795877378331444, + -0.9661769582789896, + 0.1850684460158816, + 0.05888029945578911, + -0.17723273340639698, + -0.9824060609265873 + ], + [ + 0.9791131071436312, + 0.2007183259180737, + 0.032398720039381004, + 0.19031113328774202, + -0.9608499360323963, + 0.20136800384687598, + 0.07154855670297991, + -0.19099621479805856, + -0.9789796984445257 + ], + [ + 0.97812350837917, + 0.20481865651899064, + 0.03638296713820999, + 0.19464126522784805, + -0.9628080279635444, + 0.18739124621885017, + 0.07341103613576665, + -0.17621015643460214, + -0.9816113286544561 + ], + [ + 0.972532224920489, + 0.22894583644913274, + 0.04201042089541946, + 0.22115982946099472, + -0.9651413526871592, + 0.139966064336982, + 0.07259064212408552, + -0.12683049044219386, + -0.9892646892365083 + ], + [ + 0.9830611685228475, + 0.15482464540826377, + 0.09808194592634585, + 0.14979970114286098, + -0.9870880407282748, + 0.056720802081113506, + 0.10559729390473406, + -0.041067371786135745, + -0.9935606083649735 + ], + [ + 0.9814531620947221, + 0.12010280104096474, + 0.1494155540644449, + 0.11680206966053919, + -0.9926804240594382, + 0.03070589865462197, + 0.15200976000666921, + -0.012684355375335457, + -0.9882975968762783 + ], + [ + 0.980439036051019, + 0.0770456949823416, + 0.18111669572967687, + 0.08289309761608024, + -0.996246587363034, + -0.02492933081973113, + 0.17851619241670869, + 0.03945501301731616, + -0.9831456000984005 + ], + [ + 0.9806112736433645, + 0.0174566651175646, + 0.19518400253737792, + 0.02129797225243521, + -0.9996182640855602, + -0.017598934186631603, + 0.19480227509316325, + 0.021414736737678887, + -0.9806087306714044 + ], + [ + 0.9787591235672168, + 0.03689045742470132, + 0.20166723131170722, + 0.03499132375695639, + -0.9993033825156901, + 0.012975243906607882, + 0.20200540907527498, + -0.005643034972105441, + -0.9793681487881022 + ], + [ + 0.9831915895073456, + 0.027563005750945814, + 0.18048429027478455, + 0.020411146435821446, + -0.9989356246990693, + 0.041364269705337534, + 0.18143231085778191, + -0.03698511080223742, + -0.982707697209985 + ], + [ + 0.9837904550829816, + 0.03959501144674444, + 0.17489589919764154, + 0.03202451371937506, + -0.9984326295167366, + 0.04589896335792083, + 0.17643914250714599, + -0.03955400592640873, + -0.9835165019492637 + ], + [ + 0.9839320887074403, + 0.05500376335367056, + 0.1698594443319163, + 0.05087220352657214, + -0.9982960380097513, + 0.028583901105067085, + 0.17114223242719778, + -0.01948349329475187, + -0.9850536684713521 + ], + [ + 0.9865880162515908, + 0.07116216826915968, + 0.14690143633056402, + 0.07339692333619897, + -0.9972542473458536, + -0.009841635810949599, + 0.14579772917823886, + 0.0204917534117273, + -0.989102173796308 + ], + [ + 0.9901622773131509, + 0.06137327741593751, + 0.12574571724421146, + 0.06571317147352695, + -0.9973674974804838, + -0.030657039394042705, + 0.1235331683432658, + 0.03861859382141481, + -0.99158870532612 + ], + [ + 0.9924397995979927, + 0.047255055225265706, + 0.11327049010909154, + 0.05127499623598807, + -0.998144432623027, + -0.03284153444428864, + 0.11150838055902401, + 0.03840118981637257, + -0.9930212634610557 + ], + [ + 0.9923509096592295, + 0.056572311259126845, + 0.10972349655976275, + 0.06227103492361509, + -0.996844734835194, + -0.04922288940009331, + 0.10659263721309135, + 0.05567897475845239, + -0.9927425957728448 + ], + [ + 0.9901780572516315, + 0.06626189877056873, + 0.12311285760919938, + 0.07259767254731064, + -0.9962197162032328, + -0.04770592194542605, + 0.11948637109770119, + 0.056175064034396295, + -0.9912453628151979 + ], + [ + 0.9830435298082079, + 0.06227062247840118, + 0.17247547094694732, + 0.06280619236597193, + -0.9980229622418614, + 0.002355639715314619, + 0.17228116757994, + 0.008516831226006289, + -0.9850109963260106 + ], + [ + 0.9841283770009135, + 0.07868548165441763, + 0.1590595252047489, + 0.07616343365556388, + -0.9968548144172817, + 0.02190000791966444, + 0.16028246615067523, + -0.009437899655069137, + -0.9870260670796687 + ], + [ + 0.98972322248404, + 0.03645776848618588, + 0.13827065485060566, + 0.03259592089595236, + -0.9990154834713282, + 0.030092685581272424, + 0.13923163726952456, + -0.025276370418954076, + -0.9899371981503127 + ], + [ + 0.9906251761541987, + 0.03133437041588301, + 0.13296585125551394, + 0.027096806215931326, + -0.999069287723166, + 0.033560712465952616, + 0.13389370210117982, + -0.029643136793637708, + -0.9905522505040684 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006453.json b/json/chunk-0006/episode_0006453.json new file mode 100644 index 0000000000000000000000000000000000000000..df93542e5123f9de571966cf4a4904a341850f1b --- /dev/null +++ b/json/chunk-0006/episode_0006453.json @@ -0,0 +1,2302 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 37, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut the red block down to the desk." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006453.mp4", + "start": 0, + "end": 37, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.254444420337677, + -0.027163680642843246, + 0.11868699640035629, + 0.011599787510931492, + 0.25604063272476196, + 0.26310035586357117, + 0.0, + 0.9994885921478271 + ], + [ + 0.25196608901023865, + -0.02686026319861412, + 0.11078856885433197, + 0.02146739512681961, + 0.28845396637916565, + 0.2678424119949341, + 0.0, + 0.9994885921478271 + ], + [ + 0.25600317120552063, + -0.018828028813004494, + 0.11769603937864304, + 0.019178815186023712, + 0.28551074862480164, + 0.263694703578949, + 0.0, + 0.9994885921478271 + ], + [ + 0.26120883226394653, + -0.002718908479437232, + 0.12498988956212997, + 0.02579803206026554, + 0.269741415977478, + 0.293220192193985, + 0.0, + 0.9994885921478271 + ], + [ + 0.26396444439888, + 0.0057479944080114365, + 0.13523848354816437, + 0.028107577934861183, + 0.2524373531341553, + 0.29585570096969604, + 0.0, + 0.9994885921478271 + ], + [ + 0.26450836658477783, + 0.008859016001224518, + 0.13552936911582947, + 0.01842612586915493, + 0.27549052238464355, + 0.278416246175766, + 0.0, + 0.9994885921478271 + ], + [ + 0.2633272707462311, + 0.01072650495916605, + 0.12468966841697693, + -0.008436932228505611, + 0.34082654118537903, + 0.2591536045074463, + 0.0, + 0.9994885921478271 + ], + [ + 0.2593863010406494, + 0.012595787644386292, + 0.11853363364934921, + -0.03156951069831848, + 0.39359086751937866, + 0.2536199390888214, + 0.0, + 0.9994885921478271 + ], + [ + 0.25356602668762207, + 0.017480362206697464, + 0.11274629086256027, + -0.034144338220357895, + 0.42943820357322693, + 0.2566920816898346, + 0.0, + 0.9994885921478271 + ], + [ + 0.2508104145526886, + 0.019715290516614914, + 0.11221420764923096, + -0.03376913443207741, + 0.4427410960197449, + 0.25929173827171326, + 0.0, + 0.9994885921478271 + ], + [ + 0.24934647977352142, + 0.022537844255566597, + 0.11261992901563644, + -0.026564305648207664, + 0.4491308033466339, + 0.2589185833930969, + 0.0, + 0.9994885921478271 + ], + [ + 0.2471751719713211, + 0.024574387818574905, + 0.11124439537525177, + -0.01753963716328144, + 0.4552488625049591, + 0.2514137923717499, + 0.0, + 0.9994885921478271 + ], + [ + 0.2406013011932373, + 0.02804340422153473, + 0.10280057042837143, + 0.007105101831257343, + 0.46317020058631897, + 0.2429119199514389, + 0.0, + 0.9994885921478271 + ], + [ + 0.2352369874715805, + 0.03452545776963234, + 0.10161682963371277, + 0.02784130722284317, + 0.4118500053882599, + 0.244256854057312, + 0.0, + 0.9994885921478271 + ], + [ + 0.2299814522266388, + 0.04295593872666359, + 0.1008763462305069, + 0.04019983857870102, + 0.35223424434661865, + 0.27352914214134216, + 0.0, + 0.9994885921478271 + ], + [ + 0.2273571491241455, + 0.04913724958896637, + 0.1012825295329094, + 0.05068635195493698, + 0.3061724305152893, + 0.31940653920173645, + 0.0, + 0.9994885921478271 + ], + [ + 0.22961407899856567, + 0.051417890936136246, + 0.09706535935401917, + 0.04759389907121658, + 0.25690293312072754, + 0.33714714646339417, + 0.0, + 0.9994885921478271 + ], + [ + 0.23398041725158691, + 0.0507693774998188, + 0.0952349379658699, + 0.03059212677180767, + 0.22965607047080994, + 0.3322961926460266, + 0.0, + 0.9994885921478271 + ], + [ + 0.23715220391750336, + 0.049937378615140915, + 0.08663284778594971, + 0.012352630496025085, + 0.24086584150791168, + 0.3240637481212616, + 0.0, + 0.9994885921478271 + ], + [ + 0.23704202473163605, + 0.05382030829787254, + 0.07803910970687866, + 0.003879399737343192, + 0.2646644711494446, + 0.3376712203025818, + 0.0, + 0.9583302736282349 + ], + [ + 0.2371423840522766, + 0.05621517822146416, + 0.07410411536693573, + -0.013066604733467102, + 0.26451370120048523, + 0.3547987937927246, + 0.0, + 0.7836189270019531 + ], + [ + 0.23613382875919342, + 0.056770991533994675, + 0.07283440232276917, + -0.01675097458064556, + 0.26794806122779846, + 0.3624541163444519, + 0.0, + 0.5640211701393127 + ], + [ + 0.23397023975849152, + 0.053171686828136444, + 0.07335781306028366, + -0.023426201194524765, + 0.28706979751586914, + 0.35856831073760986, + 0.0, + 0.5630297660827637 + ], + [ + 0.23521637916564941, + 0.030384520068764687, + 0.07678268104791641, + -0.03147519379854202, + 0.3172072172164917, + 0.30659690499305725, + 0.0, + 0.5630297660827637 + ], + [ + 0.24388651549816132, + -0.013347943313419819, + 0.08574898540973663, + -0.02039007470011711, + 0.31057998538017273, + 0.21183085441589355, + 0.0, + 0.5630297660827637 + ], + [ + 0.25137215852737427, + -0.052572499960660934, + 0.08257494121789932, + -0.018739473074674606, + 0.2975558042526245, + 0.14046776294708252, + 0.0, + 0.5630297660827637 + ], + [ + 0.25733405351638794, + -0.07716238498687744, + 0.06080714240670204, + -0.029428759589791298, + 0.32729488611221313, + 0.08663835376501083, + 0.0, + 0.5630297660827637 + ], + [ + 0.2573806345462799, + -0.0840449333190918, + 0.03626886010169983, + -0.04788104072213173, + 0.3790401816368103, + 0.07075751572847366, + 0.0, + 0.5630297660827637 + ], + [ + 0.2587380111217499, + -0.07949322462081909, + 0.022760694846510887, + -0.06533084809780121, + 0.38546398282051086, + 0.05822105333209038, + 0.0, + 0.5630297660827637 + ], + [ + 0.26063793897628784, + -0.06589087843894958, + 0.01908191107213497, + -0.06116001680493355, + 0.3960074484348297, + 0.08433730155229568, + 0.0, + 0.5630297660827637 + ], + [ + 0.26266515254974365, + -0.05715664476156235, + 0.01708538644015789, + -0.059135232120752335, + 0.39624735713005066, + 0.10770485550165176, + 0.0, + 0.5630297660827637 + ], + [ + 0.2665099799633026, + -0.0543404221534729, + 0.018581215292215347, + -0.05214346572756767, + 0.383240282535553, + 0.10300234705209732, + 0.0, + 0.5630297660827637 + ], + [ + 0.27147603034973145, + -0.055686865001916885, + 0.019630175083875656, + -0.03810402378439903, + 0.37960997223854065, + 0.07475792616605759, + 0.0, + 0.6360166668891907 + ], + [ + 0.2716231644153595, + -0.05200357362627983, + 0.02277737483382225, + -0.0024801003746688366, + 0.3981493413448334, + 0.061609990894794464, + 0.0, + 0.927960216999054 + ], + [ + 0.275094598531723, + -0.05093444511294365, + 0.04432164505124092, + 0.017898283898830414, + 0.3352614641189575, + 0.08027985692024231, + 0.0, + 1.002137303352356 + ], + [ + 0.2738734781742096, + -0.049364496022462845, + 0.07831672579050064, + 0.025184648111462593, + 0.23282161355018616, + 0.10512379556894302, + 0.0, + 0.9988223910331726 + ], + [ + 0.27197036147117615, + -0.04997602105140686, + 0.11512396484613419, + 0.021474802866578102, + 0.11985348910093307, + 0.10143499076366425, + 0.0, + 0.9988223910331726 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9583302736282349 + ], + [ + 0.7836189270019531 + ], + [ + 0.5640211701393127 + ], + [ + 0.5630297660827637 + ], + [ + 0.5630297660827637 + ], + [ + 0.5630297660827637 + ], + [ + 0.5630297660827637 + ], + [ + 0.5630297660827637 + ], + [ + 0.5630297660827637 + ], + [ + 0.5630297660827637 + ], + [ + 0.5630297660827637 + ], + [ + 0.5630297660827637 + ], + [ + 0.5630297660827637 + ], + [ + 0.6360166668891907 + ], + [ + 0.927960216999054 + ], + [ + 1.002137303352356 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.254444420337677, + -0.027163680642843246, + 0.11868699640035629 + ], + [ + 0.25196608901023865, + -0.02686026319861412, + 0.11078856885433197 + ], + [ + 0.25600317120552063, + -0.018828028813004494, + 0.11769603937864304 + ], + [ + 0.26120883226394653, + -0.002718908479437232, + 0.12498988956212997 + ], + [ + 0.26396444439888, + 0.0057479944080114365, + 0.13523848354816437 + ], + [ + 0.26450836658477783, + 0.008859016001224518, + 0.13552936911582947 + ], + [ + 0.2633272707462311, + 0.01072650495916605, + 0.12468966841697693 + ], + [ + 0.2593863010406494, + 0.012595787644386292, + 0.11853363364934921 + ], + [ + 0.25356602668762207, + 0.017480362206697464, + 0.11274629086256027 + ], + [ + 0.2508104145526886, + 0.019715290516614914, + 0.11221420764923096 + ], + [ + 0.24934647977352142, + 0.022537844255566597, + 0.11261992901563644 + ], + [ + 0.2471751719713211, + 0.024574387818574905, + 0.11124439537525177 + ], + [ + 0.2406013011932373, + 0.02804340422153473, + 0.10280057042837143 + ], + [ + 0.2352369874715805, + 0.03452545776963234, + 0.10161682963371277 + ], + [ + 0.2299814522266388, + 0.04295593872666359, + 0.1008763462305069 + ], + [ + 0.2273571491241455, + 0.04913724958896637, + 0.1012825295329094 + ], + [ + 0.22961407899856567, + 0.051417890936136246, + 0.09706535935401917 + ], + [ + 0.23398041725158691, + 0.0507693774998188, + 0.0952349379658699 + ], + [ + 0.23715220391750336, + 0.049937378615140915, + 0.08663284778594971 + ], + [ + 0.23704202473163605, + 0.05382030829787254, + 0.07803910970687866 + ], + [ + 0.2371423840522766, + 0.05621517822146416, + 0.07410411536693573 + ], + [ + 0.23613382875919342, + 0.056770991533994675, + 0.07283440232276917 + ], + [ + 0.23397023975849152, + 0.053171686828136444, + 0.07335781306028366 + ], + [ + 0.23521637916564941, + 0.030384520068764687, + 0.07678268104791641 + ], + [ + 0.24388651549816132, + -0.013347943313419819, + 0.08574898540973663 + ], + [ + 0.25137215852737427, + -0.052572499960660934, + 0.08257494121789932 + ], + [ + 0.25733405351638794, + -0.07716238498687744, + 0.06080714240670204 + ], + [ + 0.2573806345462799, + -0.0840449333190918, + 0.03626886010169983 + ], + [ + 0.2587380111217499, + -0.07949322462081909, + 0.022760694846510887 + ], + [ + 0.26063793897628784, + -0.06589087843894958, + 0.01908191107213497 + ], + [ + 0.26266515254974365, + -0.05715664476156235, + 0.01708538644015789 + ], + [ + 0.2665099799633026, + -0.0543404221534729, + 0.018581215292215347 + ], + [ + 0.27147603034973145, + -0.055686865001916885, + 0.019630175083875656 + ], + [ + 0.2716231644153595, + -0.05200357362627983, + 0.02277737483382225 + ], + [ + 0.275094598531723, + -0.05093444511294365, + 0.04432164505124092 + ], + [ + 0.2738734781742096, + -0.049364496022462845, + 0.07831672579050064 + ], + [ + 0.27197036147117615, + -0.04997602105140686, + 0.11512396484613419 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9341103827048838, + 0.25722144893007554, + -0.24753771254749832, + 0.2515970762646483, + -0.966287331339184, + -0.054659898540689034, + -0.2532522539643352, + -0.01122138599773637, + -0.9673351933834897 + ], + [ + 0.9245020989127803, + 0.2587017753279557, + -0.2799451027398532, + 0.2537172773315529, + -0.9657380084306812, + -0.05456777671671009, + -0.2844704067022207, + -0.020578885161854982, + -0.9584639258710616 + ], + [ + 0.926350796213549, + 0.25538674777867243, + -0.2768606353629146, + 0.25009768898378737, + -0.9666638514124466, + -0.05488300590733244, + -0.28164756047140327, + -0.01840128885399766, + -0.959341463843307 + ], + [ + 0.9227013092186359, + 0.2823597288995408, + -0.26247909909551453, + 0.2785848607583666, + -0.9589863627376273, + -0.05230326413807595, + -0.266482212018845, + -0.024862412976894628, + -0.9635191181800752 + ], + [ + 0.926236525031593, + 0.2847289275661222, + -0.2470128286232215, + 0.282317981176356, + -0.9582217286753802, + -0.045909434747908734, + -0.24976480376927768, + -0.02721316779450143, + -0.9679240601910267 + ], + [ + 0.9252358616648133, + 0.2699676015858248, + -0.266563490342109, + 0.26446978361714524, + -0.9627061494933857, + -0.05703159897038694, + -0.27201899537140906, + -0.017730307995520514, + -0.9621285269315702 + ], + [ + 0.9110067222958861, + 0.25897936650464737, + -0.32093058385974715, + 0.24152195965989495, + -0.9658501233743518, + -0.09381195115652302, + -0.33426620369662075, + 0.0079515346066854, + -0.9424451592340259 + ], + [ + 0.8939943671054913, + 0.2625025985212153, + -0.3631342139667666, + 0.23172464772007761, + -0.9644908588573368, + -0.1267322801011741, + -0.3835071827523674, + 0.0291507967343287, + -0.9230777171111303 + ], + [ + 0.879409953745771, + 0.2674823046256948, + -0.3938163911837444, + 0.23082983899404869, + -0.9630627495898698, + -0.13866407531289854, + -0.4163600829604616, + 0.031037993886955204, + -0.9086698653816087 + ], + [ + 0.8733756620553624, + 0.2702308807292923, + -0.40520392894150015, + 0.23167451099845932, + -0.9623120976620122, + -0.14241610739997992, + -0.428417872973318, + 0.030507339995628567, + -0.9030655725490864 + ], + [ + 0.8707980207087976, + 0.2670930005059287, + -0.41276159730573325, + 0.23064298476739986, + -0.9633736705434797, + -0.13680272102983881, + -0.43418270429304906, + 0.02392697190040756, + -0.9005070123593995 + ], + [ + 0.8699152522757942, + 0.2562043843302454, + -0.4214341790931312, + 0.2234363728699724, + -0.9664942699738849, + -0.12635273398845825, + -0.4396858436846155, + 0.015752446083302396, + -0.898013485035576 + ], + [ + 0.8683754537800908, + 0.23744276081852733, + -0.4353676683070264, + 0.2151879671229613, + -0.9713807341940981, + -0.10056643596161888, + -0.44678653748485825, + -0.006356459030835489, + -0.8946180108576401 + ], + [ + 0.8891811484514527, + 0.2309287701976695, + -0.39500479532981303, + 0.22161347732255998, + -0.972636182971035, + -0.06975902984229662, + -0.40030532335650837, + -0.025509971982093503, + -0.9160266859769501 + ], + [ + 0.9037102899171734, + 0.25656322772472473, + -0.34275796427988314, + 0.25354615484147003, + -0.9657910709674574, + -0.054423842244341825, + -0.34499573803588335, + -0.037721577631413664, + -0.9378459486067386 + ], + [ + 0.9052683302317568, + 0.29910137842062556, + -0.30170783169531507, + 0.2994002101603047, + -0.9529977223602617, + -0.04642041934449472, + -0.3014112878366903, + -0.048308452707938494, + -0.9522696723941138 + ], + [ + 0.9127313620864433, + 0.3190137668074539, + -0.2552482659121225, + 0.31993997521190415, + -0.946632387193938, + -0.03905810769754061, + -0.25408634934846924, + -0.04601456402951077, + -0.9660863248032973 + ], + [ + 0.9204768036615003, + 0.319479749572328, + -0.22506697566349013, + 0.31764962386790013, + -0.9471249054319415, + -0.045311477211817684, + -0.22764263743351995, + -0.02978427645147861, + -0.9732891279052553 + ], + [ + 0.9205836736102955, + 0.3156039183764741, + -0.23004318417981615, + 0.30922915278226587, + -0.9488151923502064, + -0.06424221225178185, + -0.23854356195826168, + -0.011995727191661615, + -0.9710577076453326 + ], + [ + 0.9106753624986302, + 0.33033074366035453, + -0.24809672293439347, + 0.3197552865380813, + -0.9438578176444982, + -0.08299986025478931, + -0.2615854370352784, + -0.0037443109061800275, + -0.9651730618220237 + ], + [ + 0.9051023988486198, + 0.35057531319993446, + -0.24059633699049088, + 0.335318981019284, + -0.9364496209759695, + -0.10306933754590689, + -0.2614399138744179, + 0.01261178610391478, + -0.9651373551389492 + ], + [ + 0.9016640638439446, + 0.35866677105742284, + -0.24157827574445814, + 0.3419175601394666, + -0.9333259048767005, + -0.10952231441292057, + -0.2647532776769675, + 0.016152480469903772, + -0.9641808955450073 + ], + [ + 0.8980805222918803, + 0.35704821468454967, + -0.2568422626253697, + 0.33657291992449084, + -0.933815760250882, + -0.1212715773813868, + -0.28314315293406966, + 0.022465491262002445, + -0.9588145058607066 + ], + [ + 0.9058029777245148, + 0.3110246925163159, + -0.28772314156239487, + 0.2867584644327301, + -0.9499313831369928, + -0.1240965366463668, + -0.31191432897766236, + 0.02989996616338502, + -0.9496396387060955 + ], + [ + 0.9308735129145114, + 0.21629819704482148, + -0.2944309645899299, + 0.20019107294701857, + -0.976134323623918, + -0.08417432242434411, + -0.3056109246517841, + 0.019413196502264245, + -0.9519585550511356 + ], + [ + 0.9466393807269015, + 0.14542139073336613, + -0.2876221513968673, + 0.13385384165486286, + -0.9892075991334691, + -0.05959425216271376, + -0.29318429687011494, + 0.017914936052686892, + -0.955888080862506 + ], + [ + 0.9433638063608984, + 0.09591653107681021, + -0.3175921093391151, + 0.0819366008045455, + -0.9949993461104111, + -0.05712000252495359, + -0.32148269361953796, + 0.027862525119691707, + -0.9465054449907199 + ], + [ + 0.9266955657480452, + 0.08828374727578821, + -0.3652961926845874, + 0.06568032494711394, + -0.995102408195338, + -0.07387348725138476, + -0.37002894932390357, + 0.04446546042473575, + -0.9279554943484436 + ], + [ + 0.9250540388269204, + 0.0825686618584847, + -0.3707525338131916, + 0.05391855671766298, + -0.9947476474021352, + -0.08700521380585047, + -0.37598911485771336, + 0.060494082907477875, + -0.9246473119204406 + ], + [ + 0.9193292104419448, + 0.10757309044325218, + -0.37849944919468265, + 0.07771809619934177, + -0.9925966050942483, + -0.09333743663998172, + -0.38573786481409905, + 0.05639157532699922, + -0.9208834290401795 + ], + [ + 0.9171702768588252, + 0.1299871486191817, + -0.3766988511272112, + 0.09916744758477349, + -0.990015534318978, + -0.10017514235891957, + -0.3859591954938077, + 0.05452139947730038, + -0.9209033154532617 + ], + [ + 0.9225422991113629, + 0.12206631686192078, + -0.3660813033167441, + 0.09536150628033145, + -0.9913441176677001, + -0.09023870281423393, + -0.3739276527221103, + 0.048338955857718774, + -0.9261973093657304 + ], + [ + 0.9262150026103863, + 0.08871101305572845, + -0.36640977757432813, + 0.06937119365021016, + -0.9954287584924181, + -0.06564468186980685, + -0.37055823622068806, + 0.035382805553961984, + -0.9281350390111038 + ], + [ + 0.9200312077484455, + 0.06253057455230467, + -0.386823608399352, + 0.056754942476792754, + -0.9980404305292006, + -0.026347211115101896, + -0.3877131069146264, + 0.0022861048196598337, + -0.9217772618433158 + ], + [ + 0.9412829331300949, + 0.07431126423584722, + -0.32933915012593823, + 0.07572881622648303, + -0.9970918694809406, + -0.00854108938825995, + -0.3290160880427289, + -0.01690088230456563, + -0.9441730635780637 + ], + [ + 0.9676477809621354, + 0.09911899422383927, + -0.2320198202376473, + 0.10209918467121382, + -0.9947738686134313, + 0.0008407219168714564, + -0.23072392266197503, + -0.024502557171092277, + -0.9727106950185902 + ], + [ + 0.9877229195525327, + 0.09868350901688856, + -0.12109912980172241, + 0.10053470441317898, + -0.994890476738636, + 0.00925810473715194, + -0.11956674871876155, + -0.02131910745981221, + -0.9925972437287649 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0024783313274383545, + 0.000303417444229126, + -0.007898427546024323, + 0.009867607615888119, + 0.032413333654403687, + 0.004742056131362915, + 1.0 + ], + [ + 0.004037082195281982, + 0.008032234385609627, + 0.006907470524311066, + -0.0022885799407958984, + -0.0029432177543640137, + -0.004147708415985107, + 1.0 + ], + [ + 0.005205661058425903, + 0.016109120100736618, + 0.0072938501834869385, + 0.006619216874241829, + -0.01576933264732361, + 0.02952548861503601, + 1.0 + ], + [ + 0.0027556121349334717, + 0.008466903120279312, + 0.010248593986034393, + 0.002309545874595642, + -0.017304062843322754, + 0.0026355087757110596, + 1.0 + ], + [ + 0.0005439221858978271, + 0.0031110215932130814, + 0.0002908855676651001, + -0.009681452065706253, + 0.02305316925048828, + -0.017439454793930054, + 1.0 + ], + [ + -0.001181095838546753, + 0.0018674889579415321, + -0.010839700698852539, + -0.026863057166337967, + 0.06533601880073547, + -0.019262641668319702, + 1.0 + ], + [ + -0.003940969705581665, + 0.0018692826852202415, + -0.006156034767627716, + -0.023132577538490295, + 0.052764326333999634, + -0.005533665418624878, + 1.0 + ], + [ + -0.005820274353027344, + 0.0048845745623111725, + -0.00578734278678894, + -0.0025748275220394135, + 0.03584733605384827, + 0.0030721426010131836, + 1.0 + ], + [ + -0.0027556121349334717, + 0.00223492830991745, + -0.0005320832133293152, + 0.00037520378828048706, + 0.013302892446517944, + 0.002599656581878662, + 1.0 + ], + [ + -0.0014639347791671753, + 0.002822553738951683, + 0.00040572136640548706, + 0.007204828783869743, + 0.006389707326889038, + -0.000373154878616333, + 1.0 + ], + [ + -0.0021713078022003174, + 0.0020365435630083084, + -0.001375533640384674, + 0.009024668484926224, + 0.006118059158325195, + -0.007504791021347046, + 1.0 + ], + [ + -0.006573870778083801, + 0.0034690164029598236, + -0.00844382494688034, + 0.02464473992586136, + 0.007921338081359863, + -0.008501872420310974, + 1.0 + ], + [ + -0.005364313721656799, + 0.0064820535480976105, + -0.0011837407946586609, + 0.0207362063229084, + -0.05132019519805908, + 0.001344934105873108, + 1.0 + ], + [ + -0.005255535244941711, + 0.00843048095703125, + -0.0007404834032058716, + 0.012358531355857849, + -0.059615761041641235, + 0.02927228808403015, + 1.0 + ], + [ + -0.002624303102493286, + 0.00618131086230278, + 0.00040618330240249634, + 0.010486513376235962, + -0.046061813831329346, + 0.04587739706039429, + 1.0 + ], + [ + 0.002256929874420166, + 0.002280641347169876, + -0.004217170178890228, + -0.003092452883720398, + -0.04926949739456177, + 0.017740607261657715, + 1.0 + ], + [ + 0.00436633825302124, + -0.0006485134363174438, + -0.0018304213881492615, + -0.017001772299408913, + -0.027246862649917603, + -0.004850953817367554, + 1.0 + ], + [ + 0.003171786665916443, + -0.000831998884677887, + -0.008602090179920197, + -0.018239496275782585, + 0.011209771037101746, + -0.008232444524765015, + 1.0 + ], + [ + -0.00011017918586730957, + 0.0038829296827316284, + -0.008593738079071045, + -0.00847323052585125, + 0.023798629641532898, + 0.01360747218132019, + 0.0 + ], + [ + 0.00010035932064056396, + 0.0023948699235916138, + -0.003934994339942932, + -0.016946004703640938, + -0.00015076994895935059, + 0.017127573490142822, + 0.0 + ], + [ + -0.001008555293083191, + 0.0005558133125305176, + -0.001269713044166565, + -0.003684369847178459, + 0.0034343600273132324, + 0.007655322551727295, + 0.0 + ], + [ + -0.0021635890007019043, + -0.0035993047058582306, + 0.0005234107375144958, + -0.006675226613879204, + 0.01912173628807068, + -0.003885805606842041, + 0.0 + ], + [ + 0.001246139407157898, + -0.022787166759371758, + 0.0034248679876327515, + -0.008048992604017258, + 0.03013741970062256, + -0.05197140574455261, + 0.0 + ], + [ + 0.008670136332511902, + -0.04373246431350708, + 0.008966304361820221, + 0.011085119098424911, + -0.00662723183631897, + -0.0947660505771637, + 0.0 + ], + [ + 0.007485643029212952, + -0.03922455757856369, + -0.003174044191837311, + 0.0016506016254425049, + -0.013024181127548218, + -0.07136309146881104, + 0.0 + ], + [ + 0.005961894989013672, + -0.024589885026216507, + -0.02176779881119728, + -0.010689286515116692, + 0.029739081859588623, + -0.053829409182071686, + 0.0 + ], + [ + 4.6581029891967773e-05, + -0.0068825483322143555, + -0.024538282305002213, + -0.01845228113234043, + 0.05174529552459717, + -0.01588083803653717, + 0.0 + ], + [ + 0.0013573765754699707, + 0.004551708698272705, + -0.013508165255188942, + -0.01744980737566948, + 0.0064238011837005615, + -0.012536462396383286, + 0.0 + ], + [ + 0.0018999278545379639, + 0.013602346181869507, + -0.0036787837743759155, + 0.0041708312928676605, + 0.010543465614318848, + 0.026116248220205307, + 0.0 + ], + [ + 0.0020272135734558105, + 0.008734233677387238, + -0.0019965246319770813, + 0.0020247846841812134, + 0.00023990869522094727, + 0.02336755394935608, + 0.0 + ], + [ + 0.00384482741355896, + 0.002816222608089447, + 0.001495828852057457, + 0.006991766393184662, + -0.01300707459449768, + -0.004702508449554443, + 0.0 + ], + [ + 0.004966050386428833, + -0.001346442848443985, + 0.0010489597916603088, + 0.01403944194316864, + -0.003630310297012329, + -0.028244420886039734, + 1.0 + ], + [ + 0.00014713406562805176, + 0.0036832913756370544, + 0.0031471997499465942, + 0.03562392294406891, + 0.018539369106292725, + -0.013147935271263123, + 1.0 + ], + [ + 0.0034714341163635254, + 0.0010691285133361816, + 0.02154427021741867, + 0.020378384739160538, + -0.06288787722587585, + 0.018669866025447845, + 1.0 + ], + [ + -0.0012211203575134277, + 0.0015699490904808044, + 0.03399508073925972, + 0.007286364212632179, + -0.10243985056877136, + 0.024843938648700714, + 1.0 + ], + [ + -0.0019031167030334473, + -0.0006115250289440155, + 0.036807239055633545, + -0.003709845244884491, + -0.11296812444925308, + -0.003688804805278778, + 1.0 + ], + [ + -0.00507703423500061, + 0.00022293999791145325, + 0.011870510876178741, + 0.008574826642870903, + -0.015110418200492859, + 0.02363044023513794, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9583302736282349 + ], + [ + 0.7836189270019531 + ], + [ + 0.5640211701393127 + ], + [ + 0.5630297660827637 + ], + [ + 0.5630297660827637 + ], + [ + 0.5630297660827637 + ], + [ + 0.5630297660827637 + ], + [ + 0.5630297660827637 + ], + [ + 0.5630297660827637 + ], + [ + 0.5630297660827637 + ], + [ + 0.5630297660827637 + ], + [ + 0.5630297660827637 + ], + [ + 0.5630297660827637 + ], + [ + 0.6360166668891907 + ], + [ + 0.927960216999054 + ], + [ + 1.002137303352356 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.25196608901023865, + -0.02686026319861412, + 0.11078856885433197 + ], + [ + 0.25600317120552063, + -0.018828028813004494, + 0.11769603937864304 + ], + [ + 0.26120883226394653, + -0.002718908479437232, + 0.12498988956212997 + ], + [ + 0.26396444439888, + 0.0057479944080114365, + 0.13523848354816437 + ], + [ + 0.26450836658477783, + 0.008859016001224518, + 0.13552936911582947 + ], + [ + 0.2633272707462311, + 0.01072650495916605, + 0.12468966841697693 + ], + [ + 0.2593863010406494, + 0.012595787644386292, + 0.11853363364934921 + ], + [ + 0.25356602668762207, + 0.017480362206697464, + 0.11274629086256027 + ], + [ + 0.2508104145526886, + 0.019715290516614914, + 0.11221420764923096 + ], + [ + 0.24934647977352142, + 0.022537844255566597, + 0.11261992901563644 + ], + [ + 0.2471751719713211, + 0.024574387818574905, + 0.11124439537525177 + ], + [ + 0.2406013011932373, + 0.02804340422153473, + 0.10280057042837143 + ], + [ + 0.2352369874715805, + 0.03452545776963234, + 0.10161682963371277 + ], + [ + 0.2299814522266388, + 0.04295593872666359, + 0.1008763462305069 + ], + [ + 0.2273571491241455, + 0.04913724958896637, + 0.1012825295329094 + ], + [ + 0.22961407899856567, + 0.051417890936136246, + 0.09706535935401917 + ], + [ + 0.23398041725158691, + 0.0507693774998188, + 0.0952349379658699 + ], + [ + 0.23715220391750336, + 0.049937378615140915, + 0.08663284778594971 + ], + [ + 0.23704202473163605, + 0.05382030829787254, + 0.07803910970687866 + ], + [ + 0.2371423840522766, + 0.05621517822146416, + 0.07410411536693573 + ], + [ + 0.23613382875919342, + 0.056770991533994675, + 0.07283440232276917 + ], + [ + 0.23397023975849152, + 0.053171686828136444, + 0.07335781306028366 + ], + [ + 0.23521637916564941, + 0.030384520068764687, + 0.07678268104791641 + ], + [ + 0.24388651549816132, + -0.013347943313419819, + 0.08574898540973663 + ], + [ + 0.25137215852737427, + -0.052572499960660934, + 0.08257494121789932 + ], + [ + 0.25733405351638794, + -0.07716238498687744, + 0.06080714240670204 + ], + [ + 0.2573806345462799, + -0.0840449333190918, + 0.03626886010169983 + ], + [ + 0.2587380111217499, + -0.07949322462081909, + 0.022760694846510887 + ], + [ + 0.26063793897628784, + -0.06589087843894958, + 0.01908191107213497 + ], + [ + 0.26266515254974365, + -0.05715664476156235, + 0.01708538644015789 + ], + [ + 0.2665099799633026, + -0.0543404221534729, + 0.018581215292215347 + ], + [ + 0.27147603034973145, + -0.055686865001916885, + 0.019630175083875656 + ], + [ + 0.2716231644153595, + -0.05200357362627983, + 0.02277737483382225 + ], + [ + 0.275094598531723, + -0.05093444511294365, + 0.04432164505124092 + ], + [ + 0.2738734781742096, + -0.049364496022462845, + 0.07831672579050064 + ], + [ + 0.27197036147117615, + -0.04997602105140686, + 0.11512396484613419 + ], + [ + 0.26689332723617554, + -0.04975308105349541, + 0.12699447572231293 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9245020989127803, + 0.2587017753279557, + -0.2799451027398532, + 0.2537172773315529, + -0.9657380084306812, + -0.05456777671671009, + -0.2844704067022207, + -0.020578885161854982, + -0.9584639258710616 + ], + [ + 0.926350796213549, + 0.25538674777867243, + -0.2768606353629146, + 0.25009768898378737, + -0.9666638514124466, + -0.05488300590733244, + -0.28164756047140327, + -0.01840128885399766, + -0.959341463843307 + ], + [ + 0.9227013092186359, + 0.2823597288995408, + -0.26247909909551453, + 0.2785848607583666, + -0.9589863627376273, + -0.05230326413807595, + -0.266482212018845, + -0.024862412976894628, + -0.9635191181800752 + ], + [ + 0.926236525031593, + 0.2847289275661222, + -0.2470128286232215, + 0.282317981176356, + -0.9582217286753802, + -0.045909434747908734, + -0.24976480376927768, + -0.02721316779450143, + -0.9679240601910267 + ], + [ + 0.9252358616648133, + 0.2699676015858248, + -0.266563490342109, + 0.26446978361714524, + -0.9627061494933857, + -0.05703159897038694, + -0.27201899537140906, + -0.017730307995520514, + -0.9621285269315702 + ], + [ + 0.9110067222958861, + 0.25897936650464737, + -0.32093058385974715, + 0.24152195965989495, + -0.9658501233743518, + -0.09381195115652302, + -0.33426620369662075, + 0.0079515346066854, + -0.9424451592340259 + ], + [ + 0.8939943671054913, + 0.2625025985212153, + -0.3631342139667666, + 0.23172464772007761, + -0.9644908588573368, + -0.1267322801011741, + -0.3835071827523674, + 0.0291507967343287, + -0.9230777171111303 + ], + [ + 0.879409953745771, + 0.2674823046256948, + -0.3938163911837444, + 0.23082983899404869, + -0.9630627495898698, + -0.13866407531289854, + -0.4163600829604616, + 0.031037993886955204, + -0.9086698653816087 + ], + [ + 0.8733756620553624, + 0.2702308807292923, + -0.40520392894150015, + 0.23167451099845932, + -0.9623120976620122, + -0.14241610739997992, + -0.428417872973318, + 0.030507339995628567, + -0.9030655725490864 + ], + [ + 0.8707980207087976, + 0.2670930005059287, + -0.41276159730573325, + 0.23064298476739986, + -0.9633736705434797, + -0.13680272102983881, + -0.43418270429304906, + 0.02392697190040756, + -0.9005070123593995 + ], + [ + 0.8699152522757942, + 0.2562043843302454, + -0.4214341790931312, + 0.2234363728699724, + -0.9664942699738849, + -0.12635273398845825, + -0.4396858436846155, + 0.015752446083302396, + -0.898013485035576 + ], + [ + 0.8683754537800908, + 0.23744276081852733, + -0.4353676683070264, + 0.2151879671229613, + -0.9713807341940981, + -0.10056643596161888, + -0.44678653748485825, + -0.006356459030835489, + -0.8946180108576401 + ], + [ + 0.8891811484514527, + 0.2309287701976695, + -0.39500479532981303, + 0.22161347732255998, + -0.972636182971035, + -0.06975902984229662, + -0.40030532335650837, + -0.025509971982093503, + -0.9160266859769501 + ], + [ + 0.9037102899171734, + 0.25656322772472473, + -0.34275796427988314, + 0.25354615484147003, + -0.9657910709674574, + -0.054423842244341825, + -0.34499573803588335, + -0.037721577631413664, + -0.9378459486067386 + ], + [ + 0.9052683302317568, + 0.29910137842062556, + -0.30170783169531507, + 0.2994002101603047, + -0.9529977223602617, + -0.04642041934449472, + -0.3014112878366903, + -0.048308452707938494, + -0.9522696723941138 + ], + [ + 0.9127313620864433, + 0.3190137668074539, + -0.2552482659121225, + 0.31993997521190415, + -0.946632387193938, + -0.03905810769754061, + -0.25408634934846924, + -0.04601456402951077, + -0.9660863248032973 + ], + [ + 0.9204768036615003, + 0.319479749572328, + -0.22506697566349013, + 0.31764962386790013, + -0.9471249054319415, + -0.045311477211817684, + -0.22764263743351995, + -0.02978427645147861, + -0.9732891279052553 + ], + [ + 0.9205836736102955, + 0.3156039183764741, + -0.23004318417981615, + 0.30922915278226587, + -0.9488151923502064, + -0.06424221225178185, + -0.23854356195826168, + -0.011995727191661615, + -0.9710577076453326 + ], + [ + 0.9106753624986302, + 0.33033074366035453, + -0.24809672293439347, + 0.3197552865380813, + -0.9438578176444982, + -0.08299986025478931, + -0.2615854370352784, + -0.0037443109061800275, + -0.9651730618220237 + ], + [ + 0.9051023988486198, + 0.35057531319993446, + -0.24059633699049088, + 0.335318981019284, + -0.9364496209759695, + -0.10306933754590689, + -0.2614399138744179, + 0.01261178610391478, + -0.9651373551389492 + ], + [ + 0.9016640638439446, + 0.35866677105742284, + -0.24157827574445814, + 0.3419175601394666, + -0.9333259048767005, + -0.10952231441292057, + -0.2647532776769675, + 0.016152480469903772, + -0.9641808955450073 + ], + [ + 0.8980805222918803, + 0.35704821468454967, + -0.2568422626253697, + 0.33657291992449084, + -0.933815760250882, + -0.1212715773813868, + -0.28314315293406966, + 0.022465491262002445, + -0.9588145058607066 + ], + [ + 0.9058029777245148, + 0.3110246925163159, + -0.28772314156239487, + 0.2867584644327301, + -0.9499313831369928, + -0.1240965366463668, + -0.31191432897766236, + 0.02989996616338502, + -0.9496396387060955 + ], + [ + 0.9308735129145114, + 0.21629819704482148, + -0.2944309645899299, + 0.20019107294701857, + -0.976134323623918, + -0.08417432242434411, + -0.3056109246517841, + 0.019413196502264245, + -0.9519585550511356 + ], + [ + 0.9466393807269015, + 0.14542139073336613, + -0.2876221513968673, + 0.13385384165486286, + -0.9892075991334691, + -0.05959425216271376, + -0.29318429687011494, + 0.017914936052686892, + -0.955888080862506 + ], + [ + 0.9433638063608984, + 0.09591653107681021, + -0.3175921093391151, + 0.0819366008045455, + -0.9949993461104111, + -0.05712000252495359, + -0.32148269361953796, + 0.027862525119691707, + -0.9465054449907199 + ], + [ + 0.9266955657480452, + 0.08828374727578821, + -0.3652961926845874, + 0.06568032494711394, + -0.995102408195338, + -0.07387348725138476, + -0.37002894932390357, + 0.04446546042473575, + -0.9279554943484436 + ], + [ + 0.9250540388269204, + 0.0825686618584847, + -0.3707525338131916, + 0.05391855671766298, + -0.9947476474021352, + -0.08700521380585047, + -0.37598911485771336, + 0.060494082907477875, + -0.9246473119204406 + ], + [ + 0.9193292104419448, + 0.10757309044325218, + -0.37849944919468265, + 0.07771809619934177, + -0.9925966050942483, + -0.09333743663998172, + -0.38573786481409905, + 0.05639157532699922, + -0.9208834290401795 + ], + [ + 0.9171702768588252, + 0.1299871486191817, + -0.3766988511272112, + 0.09916744758477349, + -0.990015534318978, + -0.10017514235891957, + -0.3859591954938077, + 0.05452139947730038, + -0.9209033154532617 + ], + [ + 0.9225422991113629, + 0.12206631686192078, + -0.3660813033167441, + 0.09536150628033145, + -0.9913441176677001, + -0.09023870281423393, + -0.3739276527221103, + 0.048338955857718774, + -0.9261973093657304 + ], + [ + 0.9262150026103863, + 0.08871101305572845, + -0.36640977757432813, + 0.06937119365021016, + -0.9954287584924181, + -0.06564468186980685, + -0.37055823622068806, + 0.035382805553961984, + -0.9281350390111038 + ], + [ + 0.9200312077484455, + 0.06253057455230467, + -0.386823608399352, + 0.056754942476792754, + -0.9980404305292006, + -0.026347211115101896, + -0.3877131069146264, + 0.0022861048196598337, + -0.9217772618433158 + ], + [ + 0.9412829331300949, + 0.07431126423584722, + -0.32933915012593823, + 0.07572881622648303, + -0.9970918694809406, + -0.00854108938825995, + -0.3290160880427289, + -0.01690088230456563, + -0.9441730635780637 + ], + [ + 0.9676477809621354, + 0.09911899422383927, + -0.2320198202376473, + 0.10209918467121382, + -0.9947738686134313, + 0.0008407219168714564, + -0.23072392266197503, + -0.024502557171092277, + -0.9727106950185902 + ], + [ + 0.9877229195525327, + 0.09868350901688856, + -0.12109912980172241, + 0.10053470441317898, + -0.994890476738636, + 0.00925810473715194, + -0.11956674871876155, + -0.02131910745981221, + -0.9925972437287649 + ], + [ + 0.986751771180934, + 0.12156660836487442, + -0.10743603586297655, + 0.12405601268396148, + -0.9921334178450336, + 0.016774591264428332, + -0.10455165129373294, + -0.02988044386874284, + -0.9940704760156397 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006454.json b/json/chunk-0006/episode_0006454.json new file mode 100644 index 0000000000000000000000000000000000000000..ca9cb4d0f1afeda23fba9f9d95202d733c2088fb --- /dev/null +++ b/json/chunk-0006/episode_0006454.json @@ -0,0 +1,2782 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 45, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nFold the cloth from left to right." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006454.mp4", + "start": 0, + "end": 45, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.118873231112957, + -0.018833378329873085, + 0.24412517249584198, + -0.0418875627219677, + -0.12071947753429413, + 0.02910885028541088, + 0.0, + 0.9981546401977539 + ], + [ + 0.11761259287595749, + -0.018969904631376266, + 0.2427094578742981, + -0.04341171309351921, + -0.1175706684589386, + 0.02228434383869171, + 0.0, + 0.9981546401977539 + ], + [ + 0.11703023314476013, + 0.0066528026945889, + 0.2398095726966858, + -0.05664961785078049, + -0.13012398779392242, + 0.08967602252960205, + 0.0, + 0.9981546401977539 + ], + [ + 0.11502368748188019, + 0.027303818613290787, + 0.22940275073051453, + -0.05361773446202278, + -0.12698061764240265, + 0.12846025824546814, + 0.0, + 0.9981546401977539 + ], + [ + 0.11308662593364716, + 0.04935387521982193, + 0.21510685980319977, + -0.011425568722188473, + -0.1449529528617859, + 0.15245458483695984, + 0.0, + 0.9981546401977539 + ], + [ + 0.11768583953380585, + 0.07655705511569977, + 0.18985454738140106, + 0.03485278785228729, + -0.1436372548341751, + 0.19846273958683014, + 0.0, + 0.9981546401977539 + ], + [ + 0.12349458038806915, + 0.10692891478538513, + 0.17263191938400269, + 0.07860984653234482, + -0.17011943459510803, + 0.2518039643764496, + 0.0, + 0.9981546401977539 + ], + [ + 0.12748047709465027, + 0.14109575748443604, + 0.15735816955566406, + 0.07021384686231613, + -0.20542706549167633, + 0.32725927233695984, + 0.0, + 0.9981546401977539 + ], + [ + 0.1311333030462265, + 0.1650351583957672, + 0.13990691304206848, + 0.05428973212838173, + -0.23412537574768066, + 0.39075228571891785, + 0.0, + 0.9981546401977539 + ], + [ + 0.1260293424129486, + 0.19267667829990387, + 0.11757802963256836, + 0.08356739580631256, + -0.25724878907203674, + 0.4551613926887512, + 0.0, + 0.9981546401977539 + ], + [ + 0.12079433351755142, + 0.21689175069332123, + 0.09247025847434998, + 0.04725014418363571, + -0.2705106735229492, + 0.544676661491394, + 0.0, + 0.9981546401977539 + ], + [ + 0.11512952297925949, + 0.23955824971199036, + 0.08081229031085968, + 0.0001129625306930393, + -0.3153698444366455, + 0.6863143444061279, + 0.0, + 0.9981546401977539 + ], + [ + 0.11815960705280304, + 0.2525888979434967, + 0.0831761360168457, + -0.06273778527975082, + -0.34555584192276, + 0.8803389668464661, + 0.0, + 0.9981546401977539 + ], + [ + 0.12450620532035828, + 0.26786041259765625, + 0.0907428190112114, + -0.10160526633262634, + -0.3311682939529419, + 1.037355899810791, + 0.0, + 0.9981546401977539 + ], + [ + 0.14119590818881989, + 0.27890530228614807, + 0.0861298143863678, + -0.11349087953567505, + -0.2999073266983032, + 1.1593490839004517, + 0.0, + 0.9981546401977539 + ], + [ + 0.15548397600650787, + 0.2853868901729584, + 0.06798213720321655, + -0.08626274764537811, + -0.280926376581192, + 1.231673002243042, + 0.0, + 0.9981546401977539 + ], + [ + 0.16813504695892334, + 0.28604716062545776, + 0.06166118383407593, + -0.09196934103965759, + -0.273124635219574, + 1.3061202764511108, + 0.0, + 0.9981546401977539 + ], + [ + 0.18329016864299774, + 0.2753608822822571, + 0.05941805616021156, + -0.10417436808347702, + -0.257071316242218, + 1.314078688621521, + 0.0, + 0.9981546401977539 + ], + [ + 0.19605505466461182, + 0.2687162458896637, + 0.05967744067311287, + -0.10088690370321274, + -0.27228835225105286, + 1.2917171716690063, + 0.0, + 0.9981546401977539 + ], + [ + 0.19573000073432922, + 0.26402491331100464, + 0.04594382271170616, + -0.07535681873559952, + -0.26047283411026, + 1.2815659046173096, + 0.0, + 0.9981546401977539 + ], + [ + 0.19781167805194855, + 0.2569862902164459, + 0.03082827851176262, + -0.039164964109659195, + -0.2509886622428894, + 1.2517194747924805, + 0.0, + 0.9981546401977539 + ], + [ + 0.19967421889305115, + 0.25229087471961975, + 0.023484358564019203, + -0.017673972994089127, + -0.25064724683761597, + 1.2240030765533447, + 0.0, + 0.9981546401977539 + ], + [ + 0.20028993487358093, + 0.2510659992694855, + 0.01828393153846264, + -0.007482800632715225, + -0.2540920376777649, + 1.2261006832122803, + 0.0, + 0.9981546401977539 + ], + [ + 0.19902612268924713, + 0.25223347544670105, + 0.015711713582277298, + 0.0038816670421510935, + -0.25511816143989563, + 1.2256258726119995, + 0.0, + 0.9981546401977539 + ], + [ + 0.19709959626197815, + 0.25542399287223816, + 0.013179905712604523, + 0.028200440108776093, + -0.26636645197868347, + 1.207851767539978, + 0.0, + 0.9981546401977539 + ], + [ + 0.1956249475479126, + 0.2564302682876587, + 0.01095651090145111, + 0.03677743300795555, + -0.26437973976135254, + 1.2005928754806519, + 0.0, + 0.9981546401977539 + ], + [ + 0.19290845096111298, + 0.259196400642395, + 0.011142550967633724, + 0.04242977499961853, + -0.2680215537548065, + 1.1946340799331665, + 0.0, + 0.9430103898048401 + ], + [ + 0.190926194190979, + 0.2604651153087616, + 0.01126289926469326, + 0.05288264527916908, + -0.26907363533973694, + 1.1904863119125366, + 0.0, + 0.7161149382591248 + ], + [ + 0.18981344997882843, + 0.26029279828071594, + 0.011147870682179928, + 0.06013014540076256, + -0.267312616109848, + 1.171677589416504, + 0.0, + 0.7111459374427795 + ], + [ + 0.1881202608346939, + 0.257467120885849, + 0.009560282342135906, + 0.0740417093038559, + -0.2629154920578003, + 1.1409121751785278, + 0.0, + 0.7111459374427795 + ], + [ + 0.19475959241390228, + 0.2449750006198883, + 0.017775079235434532, + 0.10205886512994766, + -0.27411749958992004, + 1.070251226425171, + 0.0, + 0.7111459374427795 + ], + [ + 0.20675668120384216, + 0.23110562562942505, + 0.03553266450762749, + 0.10134054720401764, + -0.29901811480522156, + 1.02681303024292, + 0.0, + 0.7111459374427795 + ], + [ + 0.22049975395202637, + 0.21089664101600647, + 0.04875832796096802, + 0.13648779690265656, + -0.2720085680484772, + 0.9625909328460693, + 0.0, + 0.7111459374427795 + ], + [ + 0.2361324578523636, + 0.1976519227027893, + 0.05636698007583618, + 0.13558895885944366, + -0.2614324986934662, + 0.9370142817497253, + 0.0, + 0.7111459374427795 + ], + [ + 0.25891387462615967, + 0.1845342218875885, + 0.0631127655506134, + 0.12114018946886063, + -0.2669217884540558, + 0.9154073596000671, + 0.0, + 0.7111459374427795 + ], + [ + 0.27849534153938293, + 0.17020820081233978, + 0.06056579574942589, + 0.12281011044979095, + -0.24995554983615875, + 0.8885046243667603, + 0.0, + 0.7111459374427795 + ], + [ + 0.30048757791519165, + 0.15474490821361542, + 0.05316024273633957, + 0.12516911327838898, + -0.23353248834609985, + 0.8663743734359741, + 0.0, + 0.7111459374427795 + ], + [ + 0.3221103250980377, + 0.1346074342727661, + 0.049737509340047836, + 0.11837255954742432, + -0.233504518866539, + 0.8351103067398071, + 0.0, + 0.7111459374427795 + ], + [ + 0.3466189503669739, + 0.10836324095726013, + 0.05236091837286949, + 0.10787583142518997, + -0.25166723132133484, + 0.7879721522331238, + 0.0, + 0.7111459374427795 + ], + [ + 0.3702506721019745, + 0.08222824335098267, + 0.05334942787885666, + 0.09505239129066467, + -0.2621375620365143, + 0.7537592053413391, + 0.0, + 0.7111459374427795 + ], + [ + 0.3939516246318817, + 0.055481020361185074, + 0.0516497902572155, + 0.09294204413890839, + -0.2732478976249695, + 0.7108689546585083, + 0.0, + 0.7111459374427795 + ], + [ + 0.41414710879325867, + 0.03513769805431366, + 0.04797176271677017, + 0.08727239072322845, + -0.2777225375175476, + 0.685773491859436, + 0.0, + 0.7111459374427795 + ], + [ + 0.4150233566761017, + 0.023129722103476524, + 0.04677838459610939, + 0.08536460995674133, + -0.27614259719848633, + 0.675591230392456, + 0.0, + 0.7111459374427795 + ], + [ + 0.4179554283618927, + 0.009523429907858372, + 0.045564621686935425, + 0.07603190839290619, + -0.29248860478401184, + 0.6216599941253662, + 0.0, + 0.7111459374427795 + ], + [ + 0.4145042300224304, + 0.0007032905123196542, + 0.03649700805544853, + 0.0491555854678154, + -0.2710690200328827, + 0.593985378742218, + 0.0, + 0.7111459374427795 + ] + ], + "left_gripper_pos": [ + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9430103898048401 + ], + [ + 0.7161149382591248 + ], + [ + 0.7111459374427795 + ], + [ + 0.7111459374427795 + ], + [ + 0.7111459374427795 + ], + [ + 0.7111459374427795 + ], + [ + 0.7111459374427795 + ], + [ + 0.7111459374427795 + ], + [ + 0.7111459374427795 + ], + [ + 0.7111459374427795 + ], + [ + 0.7111459374427795 + ], + [ + 0.7111459374427795 + ], + [ + 0.7111459374427795 + ], + [ + 0.7111459374427795 + ], + [ + 0.7111459374427795 + ], + [ + 0.7111459374427795 + ], + [ + 0.7111459374427795 + ], + [ + 0.7111459374427795 + ], + [ + 0.7111459374427795 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.118873231112957, + -0.018833378329873085, + 0.24412517249584198 + ], + [ + 0.11761259287595749, + -0.018969904631376266, + 0.2427094578742981 + ], + [ + 0.11703023314476013, + 0.0066528026945889, + 0.2398095726966858 + ], + [ + 0.11502368748188019, + 0.027303818613290787, + 0.22940275073051453 + ], + [ + 0.11308662593364716, + 0.04935387521982193, + 0.21510685980319977 + ], + [ + 0.11768583953380585, + 0.07655705511569977, + 0.18985454738140106 + ], + [ + 0.12349458038806915, + 0.10692891478538513, + 0.17263191938400269 + ], + [ + 0.12748047709465027, + 0.14109575748443604, + 0.15735816955566406 + ], + [ + 0.1311333030462265, + 0.1650351583957672, + 0.13990691304206848 + ], + [ + 0.1260293424129486, + 0.19267667829990387, + 0.11757802963256836 + ], + [ + 0.12079433351755142, + 0.21689175069332123, + 0.09247025847434998 + ], + [ + 0.11512952297925949, + 0.23955824971199036, + 0.08081229031085968 + ], + [ + 0.11815960705280304, + 0.2525888979434967, + 0.0831761360168457 + ], + [ + 0.12450620532035828, + 0.26786041259765625, + 0.0907428190112114 + ], + [ + 0.14119590818881989, + 0.27890530228614807, + 0.0861298143863678 + ], + [ + 0.15548397600650787, + 0.2853868901729584, + 0.06798213720321655 + ], + [ + 0.16813504695892334, + 0.28604716062545776, + 0.06166118383407593 + ], + [ + 0.18329016864299774, + 0.2753608822822571, + 0.05941805616021156 + ], + [ + 0.19605505466461182, + 0.2687162458896637, + 0.05967744067311287 + ], + [ + 0.19573000073432922, + 0.26402491331100464, + 0.04594382271170616 + ], + [ + 0.19781167805194855, + 0.2569862902164459, + 0.03082827851176262 + ], + [ + 0.19967421889305115, + 0.25229087471961975, + 0.023484358564019203 + ], + [ + 0.20028993487358093, + 0.2510659992694855, + 0.01828393153846264 + ], + [ + 0.19902612268924713, + 0.25223347544670105, + 0.015711713582277298 + ], + [ + 0.19709959626197815, + 0.25542399287223816, + 0.013179905712604523 + ], + [ + 0.1956249475479126, + 0.2564302682876587, + 0.01095651090145111 + ], + [ + 0.19290845096111298, + 0.259196400642395, + 0.011142550967633724 + ], + [ + 0.190926194190979, + 0.2604651153087616, + 0.01126289926469326 + ], + [ + 0.18981344997882843, + 0.26029279828071594, + 0.011147870682179928 + ], + [ + 0.1881202608346939, + 0.257467120885849, + 0.009560282342135906 + ], + [ + 0.19475959241390228, + 0.2449750006198883, + 0.017775079235434532 + ], + [ + 0.20675668120384216, + 0.23110562562942505, + 0.03553266450762749 + ], + [ + 0.22049975395202637, + 0.21089664101600647, + 0.04875832796096802 + ], + [ + 0.2361324578523636, + 0.1976519227027893, + 0.05636698007583618 + ], + [ + 0.25891387462615967, + 0.1845342218875885, + 0.0631127655506134 + ], + [ + 0.27849534153938293, + 0.17020820081233978, + 0.06056579574942589 + ], + [ + 0.30048757791519165, + 0.15474490821361542, + 0.05316024273633957 + ], + [ + 0.3221103250980377, + 0.1346074342727661, + 0.049737509340047836 + ], + [ + 0.3466189503669739, + 0.10836324095726013, + 0.05236091837286949 + ], + [ + 0.3702506721019745, + 0.08222824335098267, + 0.05334942787885666 + ], + [ + 0.3939516246318817, + 0.055481020361185074, + 0.0516497902572155 + ], + [ + 0.41414710879325867, + 0.03513769805431366, + 0.04797176271677017 + ], + [ + 0.4150233566761017, + 0.023129722103476524, + 0.04677838459610939 + ], + [ + 0.4179554283618927, + 0.009523429907858372, + 0.045564621686935425 + ], + [ + 0.4145042300224304, + 0.0007032905123196542, + 0.03649700805544853 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.992301699079824, + 0.024038449892450582, + 0.12148864527215068, + 0.028892922624296942, + -0.9988463554285886, + -0.03835566801988954, + 0.12042647975225677, + 0.041570556573056965, + -0.9918514766842289 + ], + [ + 0.9928499549235141, + 0.01717217574684124, + 0.1181274032072824, + 0.02212867287084539, + -0.9989232389314896, + -0.04077602922793843, + 0.11729999507822406, + 0.04309848144357497, + -0.9921608902047625 + ], + [ + 0.9875615830294189, + 0.08209497878898445, + 0.1340989715921231, + 0.0887987561018489, + -0.9950420300600826, + -0.04478994673667928, + 0.12975708319468807, + 0.05614065257499603, + -0.989955214385611 + ], + [ + 0.9837754490313115, + 0.1211921825882124, + 0.13228121848073182, + 0.12707582179184987, + -0.9912045243207418, + -0.0369503245184459, + 0.12663965176502867, + 0.053160566641053016, + -0.9905232721926501 + ], + [ + 0.9780356329066477, + 0.15022359141499764, + 0.1444962745100124, + 0.15027205207246647, + -0.9885874054758945, + 0.010641997010389292, + 0.14444587612951415, + 0.01130549940599925, + -0.9894481161497848 + ], + [ + 0.9702748628904209, + 0.2019327858627404, + 0.13337856063358783, + 0.19513207886004544, + -0.9787920129460662, + 0.062367196447691176, + 0.14314385157152948, + -0.03448688717035088, + -0.9891008504548803 + ], + [ + 0.9544843195964344, + 0.2612577057647445, + 0.14388917548958974, + 0.24555482700452191, + -0.9621613051724133, + 0.11810355525426658, + 0.16930006077763549, + -0.07739530998361904, + -0.9825209694521683 + ], + [ + 0.9270167788288773, + 0.33420823135201677, + 0.17013156634290105, + 0.31469017086823675, + -0.9399934945339428, + 0.13184205168604668, + 0.20398526448901177, + -0.06868106238566107, + -0.976561786852693 + ], + [ + 0.899396877094369, + 0.39196265684698045, + 0.19352140220232172, + 0.3704926783036701, + -0.9184657143149539, + 0.13840486606797697, + 0.23199231193354164, + -0.05278264170518296, + -0.9712844897033787 + ], + [ + 0.8686338904961939, + 0.45714763119075597, + 0.19102671953977224, + 0.42514138899929876, + -0.8857199139786105, + 0.18642701880754792, + 0.25442083963620826, + -0.08072346175928923, + -0.9637187136713717 + ], + [ + 0.8241916946157994, + 0.5283585167195919, + 0.20382671153754506, + 0.4992991207043389, + -0.8478004888080639, + 0.17870287977724889, + 0.2672235741662977, + -0.04551493146958105, + -0.9625590643815622 + ], + [ + 0.73543486412479, + 0.6337174185014477, + 0.23987036940316941, + 0.6024378078844578, + -0.773564620413153, + 0.19663790498381525, + 0.31016809678160184, + -0.00010739141387505757, + -0.9506817239255014 + ], + [ + 0.5992415887481367, + 0.7559126880561017, + 0.2636390076419036, + 0.7253816054673791, + -0.6520093038918832, + 0.22069298604167165, + 0.33871971416523217, + 0.05899047104592896, + -0.9390362503980358 + ], + [ + 0.48086853188954704, + 0.8398516333024559, + 0.25182273344078565, + 0.8142752559545519, + -0.5342740470555055, + 0.22695164723588288, + 0.3251480625477273, + 0.09591911531143724, + -0.9407859803054733 + ], + [ + 0.38208460289918206, + 0.8972660779111198, + 0.22118983172237222, + 0.8756320482234182, + -0.4280280045310931, + 0.22374213608793606, + 0.29543167120577357, + 0.10819248017828018, + -0.9492178437436987 + ], + [ + 0.31961985648758384, + 0.9315940696690775, + 0.17313473567214072, + 0.9060783065394228, + -0.3539494652979003, + 0.23182294630597322, + 0.27724582910750517, + 0.08277841127211981, + -0.9572264543302987 + ], + [ + 0.2518999471435314, + 0.9546177317982896, + 0.15890689967831617, + 0.9294008318597184, + -0.2844013868642467, + 0.23522318101784945, + 0.2697415621804488, + 0.08843549788394629, + -0.9588632083600189 + ], + [ + 0.24556342294514688, + 0.9552721291367706, + 0.16478399377962716, + 0.9354442517815121, + -0.2781025861728882, + 0.218181125152655, + 0.2542492027920444, + 0.10056893585224322, + -0.9618956450785903 + ], + [ + 0.26532166204487634, + 0.9489600421583545, + 0.17052640275499542, + 0.9258929445423877, + -0.3001080050581459, + 0.22947209099724403, + 0.268936183687454, + 0.09700527659274195, + -0.9582605623820664 + ], + [ + 0.2755939245561581, + 0.9502135693556647, + 0.1454034434258757, + 0.9261330588654934, + -0.3029887630669514, + 0.2246672355542818, + 0.2575374652825856, + 0.0727460106639946, + -0.9635260618728976 + ], + [ + 0.3038613982716593, + 0.9457467532972377, + 0.11502751526537629, + 0.9197742571798242, + -0.3226833370998458, + 0.22336244041335693, + 0.24836176531361503, + 0.03792812394307951, + -0.9679245275043213 + ], + [ + 0.3292630596654584, + 0.9388307171952877, + 0.1009094742346949, + 0.9110798232117698, + -0.34395313986501047, + 0.22722190324308672, + 0.24803103288933606, + 0.01712080686131101, + -0.9686007870615565 + ], + [ + 0.3270605923072158, + 0.9405164135615849, + 0.09197958893638788, + 0.9109589176242516, + -0.3396710502545743, + 0.2340457818885145, + 0.25136670296700947, + 0.007242474729552514, + -0.9678648289917797 + ], + [ + 0.32740564240128844, + 0.9413421484082055, + 0.08173435602011823, + 0.9105603237762051, + -0.3374327369005563, + 0.23878660940758875, + 0.25235974736152356, + -0.0037560215685986664, + -0.9676261934309158 + ], + [ + 0.3425079687807976, + 0.9371188480057007, + 0.0670563646056089, + 0.9018865945228021, + -0.3479487017823728, + 0.2559927177636583, + 0.263227775779295, + -0.027202309468674635, + -0.9643501295783887 + ], + [ + 0.3492341049824837, + 0.9350996364797457, + 0.06020141005434761, + 0.899862381358074, + -0.3526032003059875, + 0.2567463295756197, + 0.2613106093017669, + -0.0354915904042602, + -0.9646020487625538 + ], + [ + 0.35423802816021205, + 0.933370719988967, + 0.05774528961258897, + 0.8968743449187796, + -0.35657548279747014, + 0.2616683673932727, + 0.26482414699508516, + -0.040902617703858904, + -0.963428848972926 + ], + [ + 0.35785137417393686, + 0.9324676293486007, + 0.04946225044239336, + 0.8951381322347565, + -0.35764172306773423, + 0.2661205030440421, + 0.26583851906956035, + -0.050956041233038055, + -0.9626699141662007 + ], + [ + 0.37480483377763446, + 0.9259070303453983, + 0.0470904208293573, + 0.8886794455837358, + -0.3732785177999908, + 0.26629305500900036, + 0.2641404542547475, + -0.05795963514384879, + -0.9627411392062188 + ], + [ + 0.4024439161048615, + 0.9145360709281809, + 0.04077584286595509, + 0.8777770023296871, + -0.3981472543499437, + 0.26643253936918126, + 0.2598969576029936, + -0.07143205740315156, + -0.9629906710886982 + ], + [ + 0.46198637048712077, + 0.8859913041462281, + 0.03984974857389413, + 0.8445658423216033, + -0.4532109005766348, + 0.2851463090802969, + 0.27069749069346283, + -0.09807797191919013, + -0.9576552510984739 + ], + [ + 0.4945828197891888, + 0.8666879369112762, + 0.06511416421832279, + 0.8176853061222525, + -0.48939287238392265, + 0.30312597482164394, + 0.29458203360207347, + -0.09667800407688142, + -0.9507232978141313 + ], + [ + 0.550387208123616, + 0.8339304116256754, + 0.04042263845573518, + 0.7905011873357621, + -0.5360810399193221, + 0.2961840499752958, + 0.26866669677249133, + -0.1310617686621457, + -0.9542751274346976 + ], + [ + 0.5720741212484788, + 0.819087868873763, + 0.04273479684774456, + 0.778413276899084, + -0.5586087395811437, + 0.2864071340082086, + 0.25846464002840064, + -0.13058077625517173, + -0.9571544758959162 + ], + [ + 0.5878848229106259, + 0.806427141760924, + 0.06377068309692496, + 0.7647354169425137, + -0.5797309140802218, + 0.28123266050277673, + 0.263763486982375, + -0.11656471288952326, + -0.9575184022481664 + ], + [ + 0.6109772725040287, + 0.7893918094743106, + 0.05972724351928424, + 0.7520102141849501, + -0.6023056857873785, + 0.2677844256668067, + 0.2473608906942318, + -0.11869470082134978, + -0.9616257888346624 + ], + [ + 0.6300145454236681, + 0.774733974254109, + 0.05356250265850679, + 0.7413019030922393, + -0.6205129121469881, + 0.2558030772502326, + 0.2314155591710144, + -0.1214536742766465, + -0.9652439297805862 + ], + [ + 0.6528833494420444, + 0.7545209805794602, + 0.06664399362843818, + 0.7212508329602427, + -0.6461409034882383, + 0.24959801440227714, + 0.2313883488326358, + -0.11489135174073418, + -0.9660535230098244 + ], + [ + 0.6830669081232537, + 0.7237129963494704, + 0.09828070991710422, + 0.6865924036864957, + -0.6821775490245595, + 0.25144514870413587, + 0.2490190157938522, + -0.10427507142992604, + -0.9628687549460441 + ], + [ + 0.7042132222633763, + 0.6992281275528203, + 0.12314123285240385, + 0.6610047301915685, + -0.7089973037722868, + 0.2457551014892675, + 0.2591456815264434, + -0.0916670545103598, + -0.9614783756609352 + ], + [ + 0.7296805944459246, + 0.6686555313133631, + 0.14305946502446454, + 0.6282847074767663, + -0.7381826784312318, + 0.24565150033111222, + 0.269860253538523, + -0.0893650586534608, + -0.9587436205013243 + ], + [ + 0.7442742787066299, + 0.6493561291639725, + 0.15618071447175585, + 0.6090063312076681, + -0.7558508585915269, + 0.24041790306761154, + 0.27416616604661814, + -0.08382181746797066, + -0.9580223464573592 + ], + [ + 0.7507737299729089, + 0.6412214365383333, + 0.15866277353645972, + 0.6016666302647964, + -0.7629587258159298, + 0.2364133006561555, + 0.2726464237953077, + -0.08203079924668043, + -0.9586109093717745 + ], + [ + 0.7783878336093661, + 0.5985069717242326, + 0.18947766434703156, + 0.5576510698953314, + -0.7978091034847257, + 0.22918533688150836, + 0.2883360274636347, + -0.07273265562583939, + -0.9547629528171394 + ], + [ + 0.7984563529199382, + 0.5698953490526386, + 0.1941307384469615, + 0.5392320388435268, + -0.820352401833562, + 0.19039628434021438, + 0.2677615744770797, + -0.047341608908840635, + -0.9623214178742351 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0012606382369995117, + -0.00013652630150318146, + -0.0014157146215438843, + -0.0015241503715515137, + 0.00314880907535553, + -0.00682450644671917, + 1.0 + ], + [ + -0.0005823597311973572, + 0.02562270686030388, + -0.0028998851776123047, + -0.013237904757261276, + -0.012553319334983826, + 0.06739167869091034, + 1.0 + ], + [ + -0.002006545662879944, + 0.020651016384363174, + -0.010406821966171265, + 0.0030318833887577057, + 0.0031433701515197754, + 0.03878423571586609, + 1.0 + ], + [ + -0.0019370615482330322, + 0.022050056606531143, + -0.014295890927314758, + 0.042192164808511734, + -0.01797233521938324, + 0.0239943265914917, + 1.0 + ], + [ + 0.004599213600158691, + 0.027203179895877838, + -0.025252312421798706, + 0.04627835750579834, + 0.0013156980276107788, + 0.0460081547498703, + 1.0 + ], + [ + 0.005808740854263306, + 0.030371859669685364, + -0.017222627997398376, + 0.043757058680057526, + -0.026482179760932922, + 0.053341224789619446, + 1.0 + ], + [ + 0.003985896706581116, + 0.0341668426990509, + -0.015273749828338623, + -0.008395999670028687, + -0.0353076308965683, + 0.07545530796051025, + 1.0 + ], + [ + 0.003652825951576233, + 0.023939400911331177, + -0.01745125651359558, + -0.015924114733934402, + -0.028698310256004333, + 0.06349301338195801, + 1.0 + ], + [ + -0.005103960633277893, + 0.027641519904136658, + -0.022328883409500122, + 0.029277663677930832, + -0.02312341332435608, + 0.06440910696983337, + 1.0 + ], + [ + -0.005235008895397186, + 0.02421507239341736, + -0.025107771158218384, + -0.03631725162267685, + -0.013261884450912476, + 0.08951526880264282, + 1.0 + ], + [ + -0.005664810538291931, + 0.02266649901866913, + -0.011657968163490295, + -0.04713718220591545, + -0.04485917091369629, + 0.1416376829147339, + 1.0 + ], + [ + 0.0030300840735435486, + 0.013030648231506348, + 0.002363845705986023, + -0.06285075098276138, + -0.030185997486114502, + 0.19402462244033813, + 1.0 + ], + [ + 0.006346598267555237, + 0.015271514654159546, + 0.007566682994365692, + -0.03886748105287552, + 0.014387547969818115, + 0.15701693296432495, + 1.0 + ], + [ + 0.01668970286846161, + 0.011044889688491821, + -0.004613004624843597, + -0.011885613203048706, + 0.03126096725463867, + 0.12199318408966064, + 1.0 + ], + [ + 0.014288067817687988, + 0.006481587886810303, + -0.018147677183151245, + 0.027228131890296936, + 0.018980950117111206, + 0.07232391834259033, + 1.0 + ], + [ + 0.012651070952415466, + 0.0006602704524993896, + -0.006320953369140625, + -0.00570659339427948, + 0.007801741361618042, + 0.07444727420806885, + 1.0 + ], + [ + 0.015155121684074402, + -0.010686278343200684, + -0.0022431276738643646, + -0.012205027043819427, + 0.016053318977355957, + 0.007958412170410156, + 1.0 + ], + [ + 0.012764886021614075, + -0.006644636392593384, + 0.00025938451290130615, + 0.0032874643802642822, + -0.015217036008834839, + -0.02236151695251465, + 1.0 + ], + [ + -0.0003250539302825928, + -0.004691332578659058, + -0.013733617961406708, + 0.02553008496761322, + 0.011815518140792847, + -0.010151267051696777, + 1.0 + ], + [ + 0.0020816773176193237, + -0.007038623094558716, + -0.015115544199943542, + 0.03619185462594032, + 0.009484171867370605, + -0.0298464298248291, + 1.0 + ], + [ + 0.0018625408411026, + -0.004695415496826172, + -0.007343919947743416, + 0.02149099111557007, + 0.0003414154052734375, + -0.027716398239135742, + 1.0 + ], + [ + 0.0006157159805297852, + -0.0012248754501342773, + -0.005200427025556564, + 0.010191172361373901, + -0.0034447908401489258, + 0.002097606658935547, + 1.0 + ], + [ + -0.0012638121843338013, + 0.0011674761772155762, + -0.002572217956185341, + 0.011364467442035675, + -0.0010261237621307373, + -0.0004748106002807617, + 1.0 + ], + [ + -0.001926526427268982, + 0.0031905174255371094, + -0.0025318078696727753, + 0.024318773299455643, + -0.011248290538787842, + -0.017774105072021484, + 1.0 + ], + [ + -0.0014746487140655518, + 0.0010062754154205322, + -0.002223394811153412, + 0.008576992899179459, + 0.0019867122173309326, + -0.007258892059326172, + 1.0 + ], + [ + -0.0027164965867996216, + 0.002766132354736328, + 0.00018604006618261337, + 0.005652341991662979, + -0.0036418139934539795, + -0.0059587955474853516, + 0.0 + ], + [ + -0.001982256770133972, + 0.0012687146663665771, + 0.00012034829705953598, + 0.010452870279550552, + -0.00105208158493042, + -0.004147768020629883, + 0.0 + ], + [ + -0.0011127442121505737, + -0.0001723170280456543, + -0.00011502858251333237, + 0.007247500121593475, + 0.001761019229888916, + -0.018808722496032715, + 0.0 + ], + [ + -0.0016931891441345215, + -0.0028256773948669434, + -0.0015875883400440216, + 0.013911563903093338, + 0.0043971240520477295, + -0.030765414237976074, + 0.0 + ], + [ + 0.006639331579208374, + -0.012492120265960693, + 0.008214796893298626, + 0.028017155826091766, + -0.011202007532119751, + -0.07066094875335693, + 0.0 + ], + [ + 0.01199708878993988, + -0.013869374990463257, + 0.017757585272192955, + -0.0007183179259300232, + -0.024900615215301514, + -0.04343819618225098, + 0.0 + ], + [ + 0.013743072748184204, + -0.02020898461341858, + 0.01322566345334053, + 0.035147249698638916, + 0.027009546756744385, + -0.06422209739685059, + 0.0 + ], + [ + 0.01563270390033722, + -0.013244718313217163, + 0.007608652114868164, + -0.0008988380432128906, + 0.010576069355010986, + -0.025576651096343994, + 0.0 + ], + [ + 0.02278141677379608, + -0.013117700815200806, + 0.006745785474777222, + -0.014448769390583038, + -0.0054892897605896, + -0.021606922149658203, + 0.0 + ], + [ + 0.019581466913223267, + -0.014326021075248718, + -0.0025469698011875153, + 0.0016699209809303284, + 0.016966238617897034, + -0.026902735233306885, + 0.0 + ], + [ + 0.021992236375808716, + -0.015463292598724365, + -0.007405553013086319, + 0.0023590028285980225, + 0.0164230614900589, + -0.022130250930786133, + 0.0 + ], + [ + 0.02162274718284607, + -0.020137473940849304, + -0.003422733396291733, + -0.006796553730964661, + 2.796947956085205e-05, + -0.03126406669616699, + 0.0 + ], + [ + 0.024508625268936157, + -0.02624419331550598, + 0.0026234090328216553, + -0.010496728122234344, + -0.018162712454795837, + -0.04713815450668335, + 0.0 + ], + [ + 0.02363172173500061, + -0.026134997606277466, + 0.0009885095059871674, + -0.012823440134525299, + -0.010470330715179443, + -0.03421294689178467, + 0.0 + ], + [ + 0.023700952529907227, + -0.026747222989797592, + -0.001699637621641159, + -0.0021103471517562866, + -0.0111103355884552, + -0.04289025068283081, + 0.0 + ], + [ + 0.020195484161376953, + -0.020343322306871414, + -0.0036780275404453278, + -0.005669653415679932, + -0.004474639892578125, + -0.025095462799072266, + 0.0 + ], + [ + 0.0008762478828430176, + -0.012007975950837135, + -0.0011933781206607819, + -0.0019077807664871216, + 0.0015799403190612793, + -0.01018226146697998, + 0.0 + ], + [ + 0.0029320716857910156, + -0.013606292195618153, + -0.0012137629091739655, + -0.009332701563835144, + -0.016346007585525513, + -0.053931236267089844, + 0.0 + ], + [ + -0.0034511983394622803, + -0.008820139802992344, + -0.009067613631486893, + -0.02687632292509079, + 0.02141958475112915, + -0.027674615383148193, + 0.0 + ], + [ + -0.0021548569202423096, + -0.007492966949939728, + -0.00548906996846199, + -0.007089521735906601, + 0.0011990666389465332, + -0.0269927978515625, + 0.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9430103898048401 + ], + [ + 0.7161149382591248 + ], + [ + 0.7111459374427795 + ], + [ + 0.7111459374427795 + ], + [ + 0.7111459374427795 + ], + [ + 0.7111459374427795 + ], + [ + 0.7111459374427795 + ], + [ + 0.7111459374427795 + ], + [ + 0.7111459374427795 + ], + [ + 0.7111459374427795 + ], + [ + 0.7111459374427795 + ], + [ + 0.7111459374427795 + ], + [ + 0.7111459374427795 + ], + [ + 0.7111459374427795 + ], + [ + 0.7111459374427795 + ], + [ + 0.7111459374427795 + ], + [ + 0.7111459374427795 + ], + [ + 0.7111459374427795 + ], + [ + 0.7111459374427795 + ], + [ + 0.7111459374427795 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.11761259287595749, + -0.018969904631376266, + 0.2427094578742981 + ], + [ + 0.11703023314476013, + 0.0066528026945889, + 0.2398095726966858 + ], + [ + 0.11502368748188019, + 0.027303818613290787, + 0.22940275073051453 + ], + [ + 0.11308662593364716, + 0.04935387521982193, + 0.21510685980319977 + ], + [ + 0.11768583953380585, + 0.07655705511569977, + 0.18985454738140106 + ], + [ + 0.12349458038806915, + 0.10692891478538513, + 0.17263191938400269 + ], + [ + 0.12748047709465027, + 0.14109575748443604, + 0.15735816955566406 + ], + [ + 0.1311333030462265, + 0.1650351583957672, + 0.13990691304206848 + ], + [ + 0.1260293424129486, + 0.19267667829990387, + 0.11757802963256836 + ], + [ + 0.12079433351755142, + 0.21689175069332123, + 0.09247025847434998 + ], + [ + 0.11512952297925949, + 0.23955824971199036, + 0.08081229031085968 + ], + [ + 0.11815960705280304, + 0.2525888979434967, + 0.0831761360168457 + ], + [ + 0.12450620532035828, + 0.26786041259765625, + 0.0907428190112114 + ], + [ + 0.14119590818881989, + 0.27890530228614807, + 0.0861298143863678 + ], + [ + 0.15548397600650787, + 0.2853868901729584, + 0.06798213720321655 + ], + [ + 0.16813504695892334, + 0.28604716062545776, + 0.06166118383407593 + ], + [ + 0.18329016864299774, + 0.2753608822822571, + 0.05941805616021156 + ], + [ + 0.19605505466461182, + 0.2687162458896637, + 0.05967744067311287 + ], + [ + 0.19573000073432922, + 0.26402491331100464, + 0.04594382271170616 + ], + [ + 0.19781167805194855, + 0.2569862902164459, + 0.03082827851176262 + ], + [ + 0.19967421889305115, + 0.25229087471961975, + 0.023484358564019203 + ], + [ + 0.20028993487358093, + 0.2510659992694855, + 0.01828393153846264 + ], + [ + 0.19902612268924713, + 0.25223347544670105, + 0.015711713582277298 + ], + [ + 0.19709959626197815, + 0.25542399287223816, + 0.013179905712604523 + ], + [ + 0.1956249475479126, + 0.2564302682876587, + 0.01095651090145111 + ], + [ + 0.19290845096111298, + 0.259196400642395, + 0.011142550967633724 + ], + [ + 0.190926194190979, + 0.2604651153087616, + 0.01126289926469326 + ], + [ + 0.18981344997882843, + 0.26029279828071594, + 0.011147870682179928 + ], + [ + 0.1881202608346939, + 0.257467120885849, + 0.009560282342135906 + ], + [ + 0.19475959241390228, + 0.2449750006198883, + 0.017775079235434532 + ], + [ + 0.20675668120384216, + 0.23110562562942505, + 0.03553266450762749 + ], + [ + 0.22049975395202637, + 0.21089664101600647, + 0.04875832796096802 + ], + [ + 0.2361324578523636, + 0.1976519227027893, + 0.05636698007583618 + ], + [ + 0.25891387462615967, + 0.1845342218875885, + 0.0631127655506134 + ], + [ + 0.27849534153938293, + 0.17020820081233978, + 0.06056579574942589 + ], + [ + 0.30048757791519165, + 0.15474490821361542, + 0.05316024273633957 + ], + [ + 0.3221103250980377, + 0.1346074342727661, + 0.049737509340047836 + ], + [ + 0.3466189503669739, + 0.10836324095726013, + 0.05236091837286949 + ], + [ + 0.3702506721019745, + 0.08222824335098267, + 0.05334942787885666 + ], + [ + 0.3939516246318817, + 0.055481020361185074, + 0.0516497902572155 + ], + [ + 0.41414710879325867, + 0.03513769805431366, + 0.04797176271677017 + ], + [ + 0.4150233566761017, + 0.023129722103476524, + 0.04677838459610939 + ], + [ + 0.4179554283618927, + 0.009523429907858372, + 0.045564621686935425 + ], + [ + 0.4145042300224304, + 0.0007032905123196542, + 0.03649700805544853 + ], + [ + 0.4123493731021881, + -0.006789676379412413, + 0.031007938086986542 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9928499549235141, + 0.01717217574684124, + 0.1181274032072824, + 0.02212867287084539, + -0.9989232389314896, + -0.04077602922793843, + 0.11729999507822406, + 0.04309848144357497, + -0.9921608902047625 + ], + [ + 0.9875615830294189, + 0.08209497878898445, + 0.1340989715921231, + 0.0887987561018489, + -0.9950420300600826, + -0.04478994673667928, + 0.12975708319468807, + 0.05614065257499603, + -0.989955214385611 + ], + [ + 0.9837754490313115, + 0.1211921825882124, + 0.13228121848073182, + 0.12707582179184987, + -0.9912045243207418, + -0.0369503245184459, + 0.12663965176502867, + 0.053160566641053016, + -0.9905232721926501 + ], + [ + 0.9780356329066477, + 0.15022359141499764, + 0.1444962745100124, + 0.15027205207246647, + -0.9885874054758945, + 0.010641997010389292, + 0.14444587612951415, + 0.01130549940599925, + -0.9894481161497848 + ], + [ + 0.9702748628904209, + 0.2019327858627404, + 0.13337856063358783, + 0.19513207886004544, + -0.9787920129460662, + 0.062367196447691176, + 0.14314385157152948, + -0.03448688717035088, + -0.9891008504548803 + ], + [ + 0.9544843195964344, + 0.2612577057647445, + 0.14388917548958974, + 0.24555482700452191, + -0.9621613051724133, + 0.11810355525426658, + 0.16930006077763549, + -0.07739530998361904, + -0.9825209694521683 + ], + [ + 0.9270167788288773, + 0.33420823135201677, + 0.17013156634290105, + 0.31469017086823675, + -0.9399934945339428, + 0.13184205168604668, + 0.20398526448901177, + -0.06868106238566107, + -0.976561786852693 + ], + [ + 0.899396877094369, + 0.39196265684698045, + 0.19352140220232172, + 0.3704926783036701, + -0.9184657143149539, + 0.13840486606797697, + 0.23199231193354164, + -0.05278264170518296, + -0.9712844897033787 + ], + [ + 0.8686338904961939, + 0.45714763119075597, + 0.19102671953977224, + 0.42514138899929876, + -0.8857199139786105, + 0.18642701880754792, + 0.25442083963620826, + -0.08072346175928923, + -0.9637187136713717 + ], + [ + 0.8241916946157994, + 0.5283585167195919, + 0.20382671153754506, + 0.4992991207043389, + -0.8478004888080639, + 0.17870287977724889, + 0.2672235741662977, + -0.04551493146958105, + -0.9625590643815622 + ], + [ + 0.73543486412479, + 0.6337174185014477, + 0.23987036940316941, + 0.6024378078844578, + -0.773564620413153, + 0.19663790498381525, + 0.31016809678160184, + -0.00010739141387505757, + -0.9506817239255014 + ], + [ + 0.5992415887481367, + 0.7559126880561017, + 0.2636390076419036, + 0.7253816054673791, + -0.6520093038918832, + 0.22069298604167165, + 0.33871971416523217, + 0.05899047104592896, + -0.9390362503980358 + ], + [ + 0.48086853188954704, + 0.8398516333024559, + 0.25182273344078565, + 0.8142752559545519, + -0.5342740470555055, + 0.22695164723588288, + 0.3251480625477273, + 0.09591911531143724, + -0.9407859803054733 + ], + [ + 0.38208460289918206, + 0.8972660779111198, + 0.22118983172237222, + 0.8756320482234182, + -0.4280280045310931, + 0.22374213608793606, + 0.29543167120577357, + 0.10819248017828018, + -0.9492178437436987 + ], + [ + 0.31961985648758384, + 0.9315940696690775, + 0.17313473567214072, + 0.9060783065394228, + -0.3539494652979003, + 0.23182294630597322, + 0.27724582910750517, + 0.08277841127211981, + -0.9572264543302987 + ], + [ + 0.2518999471435314, + 0.9546177317982896, + 0.15890689967831617, + 0.9294008318597184, + -0.2844013868642467, + 0.23522318101784945, + 0.2697415621804488, + 0.08843549788394629, + -0.9588632083600189 + ], + [ + 0.24556342294514688, + 0.9552721291367706, + 0.16478399377962716, + 0.9354442517815121, + -0.2781025861728882, + 0.218181125152655, + 0.2542492027920444, + 0.10056893585224322, + -0.9618956450785903 + ], + [ + 0.26532166204487634, + 0.9489600421583545, + 0.17052640275499542, + 0.9258929445423877, + -0.3001080050581459, + 0.22947209099724403, + 0.268936183687454, + 0.09700527659274195, + -0.9582605623820664 + ], + [ + 0.2755939245561581, + 0.9502135693556647, + 0.1454034434258757, + 0.9261330588654934, + -0.3029887630669514, + 0.2246672355542818, + 0.2575374652825856, + 0.0727460106639946, + -0.9635260618728976 + ], + [ + 0.3038613982716593, + 0.9457467532972377, + 0.11502751526537629, + 0.9197742571798242, + -0.3226833370998458, + 0.22336244041335693, + 0.24836176531361503, + 0.03792812394307951, + -0.9679245275043213 + ], + [ + 0.3292630596654584, + 0.9388307171952877, + 0.1009094742346949, + 0.9110798232117698, + -0.34395313986501047, + 0.22722190324308672, + 0.24803103288933606, + 0.01712080686131101, + -0.9686007870615565 + ], + [ + 0.3270605923072158, + 0.9405164135615849, + 0.09197958893638788, + 0.9109589176242516, + -0.3396710502545743, + 0.2340457818885145, + 0.25136670296700947, + 0.007242474729552514, + -0.9678648289917797 + ], + [ + 0.32740564240128844, + 0.9413421484082055, + 0.08173435602011823, + 0.9105603237762051, + -0.3374327369005563, + 0.23878660940758875, + 0.25235974736152356, + -0.0037560215685986664, + -0.9676261934309158 + ], + [ + 0.3425079687807976, + 0.9371188480057007, + 0.0670563646056089, + 0.9018865945228021, + -0.3479487017823728, + 0.2559927177636583, + 0.263227775779295, + -0.027202309468674635, + -0.9643501295783887 + ], + [ + 0.3492341049824837, + 0.9350996364797457, + 0.06020141005434761, + 0.899862381358074, + -0.3526032003059875, + 0.2567463295756197, + 0.2613106093017669, + -0.0354915904042602, + -0.9646020487625538 + ], + [ + 0.35423802816021205, + 0.933370719988967, + 0.05774528961258897, + 0.8968743449187796, + -0.35657548279747014, + 0.2616683673932727, + 0.26482414699508516, + -0.040902617703858904, + -0.963428848972926 + ], + [ + 0.35785137417393686, + 0.9324676293486007, + 0.04946225044239336, + 0.8951381322347565, + -0.35764172306773423, + 0.2661205030440421, + 0.26583851906956035, + -0.050956041233038055, + -0.9626699141662007 + ], + [ + 0.37480483377763446, + 0.9259070303453983, + 0.0470904208293573, + 0.8886794455837358, + -0.3732785177999908, + 0.26629305500900036, + 0.2641404542547475, + -0.05795963514384879, + -0.9627411392062188 + ], + [ + 0.4024439161048615, + 0.9145360709281809, + 0.04077584286595509, + 0.8777770023296871, + -0.3981472543499437, + 0.26643253936918126, + 0.2598969576029936, + -0.07143205740315156, + -0.9629906710886982 + ], + [ + 0.46198637048712077, + 0.8859913041462281, + 0.03984974857389413, + 0.8445658423216033, + -0.4532109005766348, + 0.2851463090802969, + 0.27069749069346283, + -0.09807797191919013, + -0.9576552510984739 + ], + [ + 0.4945828197891888, + 0.8666879369112762, + 0.06511416421832279, + 0.8176853061222525, + -0.48939287238392265, + 0.30312597482164394, + 0.29458203360207347, + -0.09667800407688142, + -0.9507232978141313 + ], + [ + 0.550387208123616, + 0.8339304116256754, + 0.04042263845573518, + 0.7905011873357621, + -0.5360810399193221, + 0.2961840499752958, + 0.26866669677249133, + -0.1310617686621457, + -0.9542751274346976 + ], + [ + 0.5720741212484788, + 0.819087868873763, + 0.04273479684774456, + 0.778413276899084, + -0.5586087395811437, + 0.2864071340082086, + 0.25846464002840064, + -0.13058077625517173, + -0.9571544758959162 + ], + [ + 0.5878848229106259, + 0.806427141760924, + 0.06377068309692496, + 0.7647354169425137, + -0.5797309140802218, + 0.28123266050277673, + 0.263763486982375, + -0.11656471288952326, + -0.9575184022481664 + ], + [ + 0.6109772725040287, + 0.7893918094743106, + 0.05972724351928424, + 0.7520102141849501, + -0.6023056857873785, + 0.2677844256668067, + 0.2473608906942318, + -0.11869470082134978, + -0.9616257888346624 + ], + [ + 0.6300145454236681, + 0.774733974254109, + 0.05356250265850679, + 0.7413019030922393, + -0.6205129121469881, + 0.2558030772502326, + 0.2314155591710144, + -0.1214536742766465, + -0.9652439297805862 + ], + [ + 0.6528833494420444, + 0.7545209805794602, + 0.06664399362843818, + 0.7212508329602427, + -0.6461409034882383, + 0.24959801440227714, + 0.2313883488326358, + -0.11489135174073418, + -0.9660535230098244 + ], + [ + 0.6830669081232537, + 0.7237129963494704, + 0.09828070991710422, + 0.6865924036864957, + -0.6821775490245595, + 0.25144514870413587, + 0.2490190157938522, + -0.10427507142992604, + -0.9628687549460441 + ], + [ + 0.7042132222633763, + 0.6992281275528203, + 0.12314123285240385, + 0.6610047301915685, + -0.7089973037722868, + 0.2457551014892675, + 0.2591456815264434, + -0.0916670545103598, + -0.9614783756609352 + ], + [ + 0.7296805944459246, + 0.6686555313133631, + 0.14305946502446454, + 0.6282847074767663, + -0.7381826784312318, + 0.24565150033111222, + 0.269860253538523, + -0.0893650586534608, + -0.9587436205013243 + ], + [ + 0.7442742787066299, + 0.6493561291639725, + 0.15618071447175585, + 0.6090063312076681, + -0.7558508585915269, + 0.24041790306761154, + 0.27416616604661814, + -0.08382181746797066, + -0.9580223464573592 + ], + [ + 0.7507737299729089, + 0.6412214365383333, + 0.15866277353645972, + 0.6016666302647964, + -0.7629587258159298, + 0.2364133006561555, + 0.2726464237953077, + -0.08203079924668043, + -0.9586109093717745 + ], + [ + 0.7783878336093661, + 0.5985069717242326, + 0.18947766434703156, + 0.5576510698953314, + -0.7978091034847257, + 0.22918533688150836, + 0.2883360274636347, + -0.07273265562583939, + -0.9547629528171394 + ], + [ + 0.7984563529199382, + 0.5698953490526386, + 0.1941307384469615, + 0.5392320388435268, + -0.820352401833562, + 0.19039628434021438, + 0.2677615744770797, + -0.047341608908840635, + -0.9623214178742351 + ], + [ + 0.8129893420237303, + 0.5460798676729541, + 0.20210172655895664, + 0.517657722411323, + -0.8367520370667147, + 0.1785399420091342, + 0.266606099299592, + -0.04053155051305547, + -0.9629529486061423 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006456.json b/json/chunk-0006/episode_0006456.json new file mode 100644 index 0000000000000000000000000000000000000000..bd7c1accc9a214a0a66011b635bccc680887a33b --- /dev/null +++ b/json/chunk-0006/episode_0006456.json @@ -0,0 +1,2842 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 46, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove orange into bucket." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006456.mp4", + "start": 0, + "end": 46, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.11761270463466644, + -0.018615057691931725, + 0.23862747848033905, + -0.03682544827461243, + -0.09821883589029312, + 0.027472736313939095, + 0.0, + 0.9988223910331726 + ], + [ + 0.11811500787734985, + -0.018684862181544304, + 0.23524044454097748, + -0.03413289785385132, + -0.09122250229120255, + 0.010588700883090496, + 0.0, + 0.9994885921478271 + ], + [ + 0.1567516177892685, + 0.011314676143229008, + 0.20675945281982422, + 0.004500752780586481, + -0.055231284350156784, + -0.0878082811832428, + 0.0, + 0.9988223910331726 + ], + [ + 0.18078449368476868, + 0.02846316061913967, + 0.18374726176261902, + 0.0011908479500561953, + -0.0630301684141159, + -0.16569745540618896, + 0.0, + 0.9994885921478271 + ], + [ + 0.19566774368286133, + 0.04200180247426033, + 0.1636728048324585, + 0.03044641949236393, + -0.09091635048389435, + -0.22758838534355164, + 0.0, + 0.9994885921478271 + ], + [ + 0.19920669496059418, + 0.05560453236103058, + 0.1531040221452713, + 0.054528944194316864, + -0.11249803751707077, + -0.2756725549697876, + 0.0, + 0.9988223910331726 + ], + [ + 0.19935819506645203, + 0.06852301210165024, + 0.13584919273853302, + 0.08492812514305115, + -0.14345873892307281, + -0.29422101378440857, + 0.0, + 0.9994885921478271 + ], + [ + 0.19954536855220795, + 0.0749811977148056, + 0.11918805539608002, + 0.11787313222885132, + -0.17297683656215668, + -0.2910168468952179, + 0.0, + 0.9988223910331726 + ], + [ + 0.20142583549022675, + 0.0809125229716301, + 0.10325440019369125, + 0.1429278701543808, + -0.20104366540908813, + -0.2991752028465271, + 0.0, + 0.9994885921478271 + ], + [ + 0.20487485826015472, + 0.08739104866981506, + 0.0925191342830658, + 0.15061716735363007, + -0.2324018031358719, + -0.3149473965167999, + 0.0, + 0.9988223910331726 + ], + [ + 0.2077227085828781, + 0.09571156650781631, + 0.08144550770521164, + 0.16012680530548096, + -0.26359307765960693, + -0.3615836799144745, + 0.0, + 0.9988223910331726 + ], + [ + 0.21011658012866974, + 0.10746803134679794, + 0.07365544885396957, + 0.1903737187385559, + -0.295532763004303, + -0.4062464237213135, + 0.0, + 0.9994885921478271 + ], + [ + 0.21034544706344604, + 0.1185753121972084, + 0.06654910743236542, + 0.20382487773895264, + -0.3072777986526489, + -0.4303792417049408, + 0.0, + 0.9988223910331726 + ], + [ + 0.20846036076545715, + 0.12378107756376266, + 0.06370129436254501, + 0.1992504596710205, + -0.3113015294075012, + -0.43411365151405334, + 0.0, + 0.9994885921478271 + ], + [ + 0.20490482449531555, + 0.12161346524953842, + 0.06384529918432236, + 0.16122768819332123, + -0.2974971532821655, + -0.41629594564437866, + 0.0, + 0.9988223910331726 + ], + [ + 0.20162764191627502, + 0.11582913249731064, + 0.06822666525840759, + 0.1417677253484726, + -0.2816307544708252, + -0.3722742795944214, + 0.0, + 0.9988223910331726 + ], + [ + 0.19978925585746765, + 0.10836610198020935, + 0.07786150276660919, + 0.14891581237316132, + -0.279577374458313, + -0.34698599576950073, + 0.0, + 0.9994885921478271 + ], + [ + 0.19475659728050232, + 0.10400495678186417, + 0.07610951364040375, + 0.14951936900615692, + -0.28754913806915283, + -0.3452928364276886, + 0.0, + 0.9988223910331726 + ], + [ + 0.1925138682126999, + 0.10265747457742691, + 0.06934591382741928, + 0.16509060561656952, + -0.29931721091270447, + -0.3451893925666809, + 0.0, + 0.9988223910331726 + ], + [ + 0.18820498883724213, + 0.10323081165552139, + 0.06294237077236176, + 0.17689308524131775, + -0.32172664999961853, + -0.3667542636394501, + 0.0, + 0.9994885921478271 + ], + [ + 0.18352970480918884, + 0.101864293217659, + 0.05593505874276161, + 0.1846345067024231, + -0.3273967206478119, + -0.3684232831001282, + 0.0, + 0.9994885921478271 + ], + [ + 0.181490957736969, + 0.10075616836547852, + 0.05179883539676666, + 0.19288386404514313, + -0.3446556627750397, + -0.37603288888931274, + 0.0, + 0.9994885921478271 + ], + [ + 0.18201923370361328, + 0.10191323608160019, + 0.04846663773059845, + 0.22310936450958252, + -0.3877103924751282, + -0.40195348858833313, + 0.0, + 0.9988223910331726 + ], + [ + 0.18668782711029053, + 0.10503529757261276, + 0.03978775441646576, + 0.2339608371257782, + -0.4196377396583557, + -0.42756783962249756, + 0.0, + 0.9994885921478271 + ], + [ + 0.18612687289714813, + 0.10677687078714371, + 0.03896648436784744, + 0.23653793334960938, + -0.4194657802581787, + -0.4379484951496124, + 0.0, + 0.9988223910331726 + ], + [ + 0.18798626959323883, + 0.1090545728802681, + 0.03739934414625168, + 0.23348774015903473, + -0.4236368238925934, + -0.44894495606422424, + 0.0, + 0.9994885921478271 + ], + [ + 0.18967358767986298, + 0.11080041527748108, + 0.03923530504107475, + 0.21376240253448486, + -0.41707736253738403, + -0.4313526749610901, + 0.0, + 0.9530308246612549 + ], + [ + 0.1887141615152359, + 0.10740745812654495, + 0.04095456749200821, + 0.15785826742649078, + -0.4015854001045227, + -0.39712056517601013, + 0.0, + 0.684196949005127 + ], + [ + 0.18695645034313202, + 0.10605897009372711, + 0.053119271993637085, + 0.11351734399795532, + -0.38501861691474915, + -0.36541709303855896, + 0.0, + 0.5541232228279114 + ], + [ + 0.18682275712490082, + 0.10159862786531448, + 0.0669672042131424, + 0.06963475048542023, + -0.3645830750465393, + -0.3338349163532257, + 0.0, + 0.5541232228279114 + ], + [ + 0.18795442581176758, + 0.0955715924501419, + 0.0806465595960617, + 0.04607200622558594, + -0.3297513425350189, + -0.30729541182518005, + 0.0, + 0.5541232228279114 + ], + [ + 0.19690625369548798, + 0.08375011384487152, + 0.10883663594722748, + 0.02771575376391411, + -0.29736337065696716, + -0.25105950236320496, + 0.0, + 0.5541232228279114 + ], + [ + 0.217774897813797, + 0.07114233076572418, + 0.12818600237369537, + 0.050170544534921646, + -0.34549272060394287, + -0.2653437852859497, + 0.0, + 0.5541232228279114 + ], + [ + 0.2431090921163559, + 0.0670776292681694, + 0.13246482610702515, + 0.14637959003448486, + -0.37625938653945923, + -0.3545198142528534, + 0.0, + 0.5541232228279114 + ], + [ + 0.26836663484573364, + 0.06765031814575195, + 0.12833698093891144, + 0.1745588630437851, + -0.4105255901813507, + -0.41405996680259705, + 0.0, + 0.5541232228279114 + ], + [ + 0.2871693968772888, + 0.07432213425636292, + 0.12169364839792252, + 0.20284795761108398, + -0.42513328790664673, + -0.4655757546424866, + 0.0, + 0.5541232228279114 + ], + [ + 0.30065080523490906, + 0.08050674945116043, + 0.1063268631696701, + 0.23053717613220215, + -0.4362820088863373, + -0.5119245052337646, + 0.0, + 0.5541232228279114 + ], + [ + 0.3069646656513214, + 0.08767964690923691, + 0.09729862213134766, + 0.24919477105140686, + -0.45358651876449585, + -0.5454794764518738, + 0.0, + 0.6009007096290588 + ], + [ + 0.3054973781108856, + 0.08872168511152267, + 0.09632217884063721, + 0.23455332219600677, + -0.4528387784957886, + -0.5406506657600403, + 0.0, + 0.8922415375709534 + ], + [ + 0.2977438271045685, + 0.08290151506662369, + 0.09257617592811584, + 0.16632138192653656, + -0.40850207209587097, + -0.4585331976413727, + 0.0, + 1.002137303352356 + ], + [ + 0.29496830701828003, + 0.07420732080936432, + 0.1080644279718399, + 0.13824468851089478, + -0.3782953917980194, + -0.379306435585022, + 0.0, + 0.9988223910331726 + ], + [ + 0.2896338999271393, + 0.06408654898405075, + 0.11909046024084091, + 0.11365162581205368, + -0.3238818645477295, + -0.28936004638671875, + 0.0, + 0.9988223910331726 + ], + [ + 0.28535738587379456, + 0.05929764360189438, + 0.12614482641220093, + 0.11524831503629684, + -0.28018179535865784, + -0.21883030235767365, + 0.0, + 0.9988223910331726 + ], + [ + 0.2787332832813263, + 0.052839186042547226, + 0.12989716231822968, + 0.1016557514667511, + -0.2508443593978882, + -0.1664307564496994, + 0.0, + 0.9988223910331726 + ], + [ + 0.27515730261802673, + 0.043089672923088074, + 0.14023526012897491, + 0.08563251793384552, + -0.2776063084602356, + -0.11458602547645569, + 0.0, + 0.9988223910331726 + ], + [ + 0.27045518159866333, + 0.033548735082149506, + 0.14202259480953217, + 0.06412194669246674, + -0.258150190114975, + -0.07659552246332169, + 0.0, + 0.9988223910331726 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9530308246612549 + ], + [ + 0.684196949005127 + ], + [ + 0.5541232228279114 + ], + [ + 0.5541232228279114 + ], + [ + 0.5541232228279114 + ], + [ + 0.5541232228279114 + ], + [ + 0.5541232228279114 + ], + [ + 0.5541232228279114 + ], + [ + 0.5541232228279114 + ], + [ + 0.5541232228279114 + ], + [ + 0.5541232228279114 + ], + [ + 0.6009007096290588 + ], + [ + 0.8922415375709534 + ], + [ + 1.002137303352356 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.11761270463466644, + -0.018615057691931725, + 0.23862747848033905 + ], + [ + 0.11811500787734985, + -0.018684862181544304, + 0.23524044454097748 + ], + [ + 0.1567516177892685, + 0.011314676143229008, + 0.20675945281982422 + ], + [ + 0.18078449368476868, + 0.02846316061913967, + 0.18374726176261902 + ], + [ + 0.19566774368286133, + 0.04200180247426033, + 0.1636728048324585 + ], + [ + 0.19920669496059418, + 0.05560453236103058, + 0.1531040221452713 + ], + [ + 0.19935819506645203, + 0.06852301210165024, + 0.13584919273853302 + ], + [ + 0.19954536855220795, + 0.0749811977148056, + 0.11918805539608002 + ], + [ + 0.20142583549022675, + 0.0809125229716301, + 0.10325440019369125 + ], + [ + 0.20487485826015472, + 0.08739104866981506, + 0.0925191342830658 + ], + [ + 0.2077227085828781, + 0.09571156650781631, + 0.08144550770521164 + ], + [ + 0.21011658012866974, + 0.10746803134679794, + 0.07365544885396957 + ], + [ + 0.21034544706344604, + 0.1185753121972084, + 0.06654910743236542 + ], + [ + 0.20846036076545715, + 0.12378107756376266, + 0.06370129436254501 + ], + [ + 0.20490482449531555, + 0.12161346524953842, + 0.06384529918432236 + ], + [ + 0.20162764191627502, + 0.11582913249731064, + 0.06822666525840759 + ], + [ + 0.19978925585746765, + 0.10836610198020935, + 0.07786150276660919 + ], + [ + 0.19475659728050232, + 0.10400495678186417, + 0.07610951364040375 + ], + [ + 0.1925138682126999, + 0.10265747457742691, + 0.06934591382741928 + ], + [ + 0.18820498883724213, + 0.10323081165552139, + 0.06294237077236176 + ], + [ + 0.18352970480918884, + 0.101864293217659, + 0.05593505874276161 + ], + [ + 0.181490957736969, + 0.10075616836547852, + 0.05179883539676666 + ], + [ + 0.18201923370361328, + 0.10191323608160019, + 0.04846663773059845 + ], + [ + 0.18668782711029053, + 0.10503529757261276, + 0.03978775441646576 + ], + [ + 0.18612687289714813, + 0.10677687078714371, + 0.03896648436784744 + ], + [ + 0.18798626959323883, + 0.1090545728802681, + 0.03739934414625168 + ], + [ + 0.18967358767986298, + 0.11080041527748108, + 0.03923530504107475 + ], + [ + 0.1887141615152359, + 0.10740745812654495, + 0.04095456749200821 + ], + [ + 0.18695645034313202, + 0.10605897009372711, + 0.053119271993637085 + ], + [ + 0.18682275712490082, + 0.10159862786531448, + 0.0669672042131424 + ], + [ + 0.18795442581176758, + 0.0955715924501419, + 0.0806465595960617 + ], + [ + 0.19690625369548798, + 0.08375011384487152, + 0.10883663594722748 + ], + [ + 0.217774897813797, + 0.07114233076572418, + 0.12818600237369537 + ], + [ + 0.2431090921163559, + 0.0670776292681694, + 0.13246482610702515 + ], + [ + 0.26836663484573364, + 0.06765031814575195, + 0.12833698093891144 + ], + [ + 0.2871693968772888, + 0.07432213425636292, + 0.12169364839792252 + ], + [ + 0.30065080523490906, + 0.08050674945116043, + 0.1063268631696701 + ], + [ + 0.3069646656513214, + 0.08767964690923691, + 0.09729862213134766 + ], + [ + 0.3054973781108856, + 0.08872168511152267, + 0.09632217884063721 + ], + [ + 0.2977438271045685, + 0.08290151506662369, + 0.09257617592811584 + ], + [ + 0.29496830701828003, + 0.07420732080936432, + 0.1080644279718399 + ], + [ + 0.2896338999271393, + 0.06408654898405075, + 0.11909046024084091 + ], + [ + 0.28535738587379456, + 0.05929764360189438, + 0.12614482641220093 + ], + [ + 0.2787332832813263, + 0.052839186042547226, + 0.12989716231822968 + ], + [ + 0.27515730261802673, + 0.043089672923088074, + 0.14023526012897491 + ], + [ + 0.27045518159866333, + 0.033548735082149506, + 0.14202259480953217 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.994804873332254, + 0.023841695417994656, + 0.09896887164151172, + 0.027336889832129202, + -0.9990440967553109, + -0.03411139388344149, + 0.09806099351273412, + 0.03663968201227777, + -0.9945056939270559 + ], + [ + 0.9957862853963827, + 0.007473741828571329, + 0.09139921771850092, + 0.01054447720681432, + -0.9993944192790063, + -0.03316034852671061, + 0.0910960362305026, + 0.033984377249815956, + -0.9952620631200776 + ], + [ + 0.9946283443551864, + -0.08744710057807151, + 0.05538466579973994, + -0.08756176341530086, + -0.9961590283140731, + -0.0003576254522346281, + 0.05520320817545947, + -0.004493874592136932, + -0.9984650273786692 + ], + [ + 0.9843450108634633, + -0.16486617457278438, + 0.06232209937048517, + -0.16461274471962037, + -0.9863152295235091, + -0.009214786262343481, + 0.06298844230556544, + -0.0011884829505535016, + -0.998013548827968 + ], + [ + 0.9701898116721067, + -0.2228316172554449, + 0.09527748778680677, + -0.2246968977216731, + -0.9743854530382553, + 0.009181125295413026, + 0.09079115310369278, + -0.030315990149704854, + -0.995408412290827 + ], + [ + 0.9561597913408756, + -0.26590217054299115, + 0.12269673640117683, + -0.27047355655612304, + -0.9624775379565648, + 0.021932718321076485, + 0.112260895359228, + -0.054157406045674095, + -0.992201827625584 + ], + [ + 0.9471971947921904, + -0.27734301004062645, + 0.16092957764006624, + -0.2870154385704372, + -0.9570958497184527, + 0.03987069693311747, + 0.14296717175640253, + -0.0839546855947773, + -0.9861602296618219 + ], + [ + 0.943656865833064, + -0.2655457090868113, + 0.19747707702845405, + -0.2826445955217889, + -0.9571130144168503, + 0.06361375838775142, + 0.17211551989417959, + -0.1158453884255798, + -0.9782413269700292 + ], + [ + 0.9363332865781249, + -0.2645458388010606, + 0.23085812876927247, + -0.2887958587567468, + -0.9542195448617418, + 0.07785892478581591, + 0.19969208399623622, + -0.13957277448303976, + -0.9698672652545535 + ], + [ + 0.9252510556196275, + -0.273400875641402, + 0.26298753824711946, + -0.3014387035069697, + -0.9507532501796616, + 0.07213158324096015, + 0.23031541872571765, + -0.1460144461049147, + -0.9620990538535379 + ], + [ + 0.9030312239473883, + -0.31037348531133646, + 0.2969897442535273, + -0.3415372324959063, + -0.938068195488306, + 0.0581410305408391, + 0.26055119918188674, + -0.1539362213028731, + -0.9531089719312655 + ], + [ + 0.8787861470808561, + -0.337398425989102, + 0.33748660690294136, + -0.3780325420961867, + -0.9237928326251432, + 0.060812823538370864, + 0.2912495576221171, + -0.1810223868213283, + -0.9393639287594722 + ], + [ + 0.866239470362091, + -0.3529381672321066, + 0.35364364846218516, + -0.39767331324480404, + -0.9155384087055577, + 0.060376801155701335, + 0.3024650656186661, + -0.19293540964720995, + -0.9334295965869944 + ], + [ + 0.8636372117239601, + -0.3572814188209225, + 0.355641328153763, + -0.40039028793248393, + -0.9147936823857254, + 0.05329292632711448, + 0.3062978678590606, + -0.18842108807793573, + -0.9331018753129373 + ], + [ + 0.874417837610336, + -0.3560941649618849, + 0.3295305614794509, + -0.3866125842393338, + -0.9217598887849687, + 0.029823097339248192, + 0.2931282227569504, + -0.15347851024563713, + -0.9436737740957579 + ], + [ + 0.8948045744316996, + -0.32350700010414635, + 0.3076816446584369, + -0.3494049845050693, + -0.9364408362530405, + 0.03153913443197565, + 0.2779225258576877, + -0.13572686204772352, + -0.9509665023225377 + ], + [ + 0.9038881521151592, + -0.29779982675383176, + 0.30708544682421934, + -0.32686098799066887, + -0.9439168355461276, + 0.046721537885094575, + 0.27594945732073206, + -0.1426052970894569, + -0.9505343898283853 + ], + [ + 0.9023416044424228, + -0.29494307005393233, + 0.31430592472849656, + -0.32457519172731036, + -0.9447769022659448, + 0.04524986033066984, + 0.2836028452033828, + -0.1428467373513535, + -0.9482427093421913 + ], + [ + 0.8991721774200779, + -0.2881736289573558, + 0.32931042335034566, + -0.3233300939218791, + -0.9446142314807398, + 0.05622814285142317, + 0.2948678444966566, + -0.15703475175132242, + -0.9425460418591209 + ], + [ + 0.8855992539884885, + -0.30104899850033223, + 0.3536714037591674, + -0.34018862931630384, + -0.9388820625681961, + 0.05265139192447584, + 0.3162050882242844, + -0.16694302348297554, + -0.9338867003504416 + ], + [ + 0.8833434268969412, + -0.2989475554251915, + 0.361019042798674, + -0.3410150426612248, + -0.9383024783468553, + 0.05742124874045005, + 0.3215791206479857, + -0.17383560692059513, + -0.9307889400555945 + ], + [ + 0.875429652886739, + -0.30018179749795243, + 0.3788321677174493, + -0.3456371252188511, + -0.9366645857590782, + 0.05651930161655013, + 0.33787260989469337, + -0.18041713398586223, + -0.9237379267125907 + ], + [ + 0.8519913039483776, + -0.3045346645253145, + 0.42587493011305283, + -0.36217963555096844, + -0.9302145599082888, + 0.059386733592583354, + 0.3780697416992151, + -0.20484020756941962, + -0.9028309696584439 + ], + [ + 0.8310242583862448, + -0.3174095846712587, + 0.45678204598299543, + -0.37868161025964986, + -0.9243520810387236, + 0.04662047115313371, + 0.4074296503996131, + -0.21171770317618832, + -0.888356175268146 + ], + [ + 0.8271120282659132, + -0.3258415803631966, + 0.4579442730335883, + -0.38731733515352523, + -0.9208808332688848, + 0.0443144762755478, + 0.4072726047592926, + -0.2140227918339978, + -0.8878757063847181 + ], + [ + 0.8212654187727434, + -0.33655144548850824, + 0.46071274832331904, + -0.3956483093452089, + -0.9177398405891155, + 0.03487119596088627, + 0.4110784927970668, + -0.2109187273218296, + -0.8868640049210653 + ], + [ + 0.8305299617826897, + -0.3305203661584828, + 0.448303769932516, + -0.382259079242392, + -0.9236549807957072, + 0.027193248942344456, + 0.40509008741019875, + -0.19395299432012925, + -0.8934675467392496 + ], + [ + 0.8488122210452043, + -0.32529019381098456, + 0.4167782422520625, + -0.35599455388504053, + -0.9344780051620996, + -0.004328449197289447, + 0.39087810249296107, + -0.1446967438426818, + -0.9089978885084536 + ], + [ + 0.865599849459836, + -0.31530496128000773, + 0.38899830591831885, + -0.3311786153745018, + -0.9431658130678638, + -0.027549478736687477, + 0.3755763908098285, + -0.10498109568988206, + -0.9208264463046306 + ], + [ + 0.882693850144212, + -0.30343525831482815, + 0.3588573685031429, + -0.30613179044057476, + -0.9506320840285462, + -0.050813066205365236, + 0.3565598039589362, + -0.06500526768621367, + -0.9320082732324902 + ], + [ + 0.9018018992681966, + -0.28794629181384074, + 0.32224256004899726, + -0.2861850056435156, + -0.9566546963971719, + -0.05394380785646758, + 0.3238077778885092, + -0.043574360487482096, + -0.9451189333025831 + ], + [ + 0.9261379865050784, + -0.24046984299658702, + 0.2905902348006825, + -0.23752735811802023, + -0.97029491267198, + -0.04591880430007096, + 0.29300031415988753, + -0.026495981809912847, + -0.955745143252183 + ], + [ + 0.9079791586263396, + -0.2455218061086467, + 0.33954806762129053, + -0.2467448739619758, + -0.968241971104232, + -0.04030449808247433, + 0.338660323441783, + -0.04718610089146581, + -0.9397247773731239 + ], + [ + 0.8722091278183122, + -0.2931660526705094, + 0.3915417000933762, + -0.32285610652131175, + -0.9463887401994776, + 0.010596551587437289, + 0.3674441070861235, + -0.135654037850843, + -0.92009934799588 + ], + [ + 0.8394275448176955, + -0.33276092717785793, + 0.42968774981964264, + -0.3689004326189746, + -0.9294685103182742, + 0.0008712865553124199, + 0.39909130260489123, + -0.15924337873349848, + -0.9029771195964328 + ], + [ + 0.8140216031863537, + -0.3654860928687073, + 0.45142966834877507, + -0.40897463756576596, + -0.9125447553495136, + -0.001347335164979535, + 0.41244220852607805, + -0.1835265250683482, + -0.8923056870952174 + ], + [ + 0.7901407363088246, + -0.39271655410560624, + 0.47058615040900537, + -0.4439706693325902, + -0.8960383261628524, + -0.0023157762511900742, + 0.4225726701973524, + -0.20709665902349128, + -0.8823510141794972 + ], + [ + 0.7684344102194749, + -0.4104166192468558, + 0.4909854945277193, + -0.4663648281660352, + -0.884541561742697, + -0.009490658536419491, + 0.43819220011350285, + -0.2216854171924077, + -0.8711160494239076 + ], + [ + 0.7709581364981071, + -0.4134200583720934, + 0.48446610521581507, + -0.4628172932498297, + -0.8862333924597047, + -0.01976175999916012, + 0.43751994792954, + -0.2089838018243954, + -0.8745867971440883 + ], + [ + 0.822919221721555, + -0.3775539496809362, + 0.4245668022838275, + -0.4062120499301383, + -0.9134381867102243, + -0.02494893887706648, + 0.39723510042888255, + -0.15193318972450315, + -0.9050528055574398 + ], + [ + 0.8632427831242162, + -0.3194648812591791, + 0.39083767349887877, + -0.3440961137231115, + -0.9389049361539938, + -0.007442135870598228, + 0.3693369219352556, + -0.12806135446622274, + -0.9204295342869369 + ], + [ + 0.9085953548931125, + -0.248906852364223, + 0.33540998779522585, + -0.27050335463301217, + -0.9625418513174383, + 0.018469423236393605, + 0.31824898460002277, + -0.10751075903616841, + -0.9418911935529077 + ], + [ + 0.938087173280358, + -0.18460705378770637, + 0.2931086675939328, + -0.20862266331570117, + -0.9765797198272032, + 0.052617821821934696, + 0.2765303594145339, + -0.11050921461147106, + -0.9546301240836812 + ], + [ + 0.9553179680182364, + -0.13996655789365575, + 0.2603400519568781, + -0.16047874623754854, + -0.9852641991112275, + 0.05916950190542562, + 0.2482219812738843, + -0.09830473346240041, + -0.963702250382012 + ], + [ + 0.9554074665487297, + -0.09063090156606779, + 0.2810384538533119, + -0.10995801408837783, + -0.9924819487518666, + 0.05374771194607114, + 0.2740543887637607, + -0.0822533955713651, + -0.9581902582036108 + ], + [ + 0.9640290267027871, + -0.06005271875455502, + 0.25892413299007816, + -0.07398505058383782, + -0.9962706880786645, + 0.04439513898358434, + 0.25529247533874616, + -0.061954717701327044, + -0.9648768651957434 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + 0.0005023032426834106, + -6.980448961257935e-05, + -0.0033870339393615723, + 0.0026925504207611084, + 0.006996333599090576, + -0.016884036362171173, + 1.0 + ], + [ + 0.03863660991191864, + 0.029999539256095886, + -0.02848099172115326, + 0.03863365203142166, + 0.03599121794104576, + -0.09839697927236557, + 1.0 + ], + [ + 0.024032875895500183, + 0.01714848354458809, + -0.0230121910572052, + -0.003309904830530286, + -0.007798884063959122, + -0.07788917422294617, + 1.0 + ], + [ + 0.014883249998092651, + 0.013538641855120659, + -0.020074456930160522, + 0.029255570843815804, + -0.027886182069778442, + -0.06189092993736267, + 1.0 + ], + [ + 0.003538951277732849, + 0.013602729886770248, + -0.010568782687187195, + 0.024082524701952934, + -0.021581687033176422, + -0.04808416962623596, + 1.0 + ], + [ + 0.00015150010585784912, + 0.01291847974061966, + -0.01725482940673828, + 0.030399180948734283, + -0.030960701406002045, + -0.01854845881462097, + 1.0 + ], + [ + 0.0001871734857559204, + 0.006458185613155365, + -0.016661137342453003, + 0.03294500708580017, + -0.029518097639083862, + 0.003204166889190674, + 1.0 + ], + [ + 0.0018804669380187988, + 0.005931325256824493, + -0.015933655202388763, + 0.02505473792552948, + -0.028066828846931458, + -0.008158355951309204, + 1.0 + ], + [ + 0.0034490227699279785, + 0.006478525698184967, + -0.010735265910625458, + 0.007689297199249268, + -0.03135813772678375, + -0.015772193670272827, + 1.0 + ], + [ + 0.0028478503227233887, + 0.008320517838001251, + -0.011073626577854156, + 0.009509637951850891, + -0.031191274523735046, + -0.04663628339767456, + 1.0 + ], + [ + 0.002393871545791626, + 0.011756464838981628, + -0.007790058851242065, + 0.03024691343307495, + -0.031939685344696045, + -0.04466274380683899, + 1.0 + ], + [ + 0.00022886693477630615, + 0.011107280850410461, + -0.0071063414216041565, + 0.013451159000396729, + -0.011745035648345947, + -0.02413281798362732, + 1.0 + ], + [ + -0.0018850862979888916, + 0.00520576536655426, + -0.002847813069820404, + -0.004574418067932129, + -0.004023730754852295, + -0.003734409809112549, + 1.0 + ], + [ + -0.0035555362701416016, + -0.002167612314224243, + 0.00014400482177734375, + -0.03802277147769928, + 0.013804376125335693, + 0.017817705869674683, + 1.0 + ], + [ + -0.0032771825790405273, + -0.005784332752227783, + 0.004381366074085236, + -0.019459962844848633, + 0.015866398811340332, + 0.044021666049957275, + 1.0 + ], + [ + -0.001838386058807373, + -0.007463030517101288, + 0.009634837508201599, + 0.007148087024688721, + 0.002053380012512207, + 0.025288283824920654, + 1.0 + ], + [ + -0.005032658576965332, + -0.004361145198345184, + -0.0017519891262054443, + 0.0006035566329956055, + -0.007971763610839844, + 0.0016931593418121338, + 1.0 + ], + [ + -0.002242729067802429, + -0.0013474822044372559, + -0.0067635998129844666, + 0.015571236610412598, + -0.011768072843551636, + 0.00010344386100769043, + 1.0 + ], + [ + -0.004308879375457764, + 0.0005733370780944824, + -0.006403543055057526, + 0.01180247962474823, + -0.022409439086914062, + -0.021564871072769165, + 1.0 + ], + [ + -0.004675284028053284, + -0.0013665184378623962, + -0.007007312029600143, + 0.007741421461105347, + -0.005670070648193359, + -0.0016690194606781006, + 1.0 + ], + [ + -0.0020387470722198486, + -0.001108124852180481, + -0.004136223345994949, + 0.008249357342720032, + -0.017258942127227783, + -0.00760960578918457, + 1.0 + ], + [ + 0.0005282759666442871, + 0.0011570677161216736, + -0.003332197666168213, + 0.030225500464439392, + -0.0430547297000885, + -0.025920599699020386, + 1.0 + ], + [ + 0.004668593406677246, + 0.0031220614910125732, + -0.00867888331413269, + 0.010851472616195679, + -0.03192734718322754, + -0.02561435103416443, + 1.0 + ], + [ + -0.000560954213142395, + 0.0017415732145309448, + -0.0008212700486183167, + 0.0025770962238311768, + 0.00017195940017700195, + -0.010380655527114868, + 1.0 + ], + [ + 0.0018593966960906982, + 0.0022777020931243896, + -0.0015671402215957642, + -0.003050193190574646, + -0.004171043634414673, + -0.010996460914611816, + 1.0 + ], + [ + 0.0016873180866241455, + 0.0017458423972129822, + 0.0018359608948230743, + -0.019725337624549866, + 0.006559461355209351, + 0.017592281103134155, + 0.0 + ], + [ + -0.0009594261646270752, + -0.0033929571509361267, + 0.0017192624509334564, + -0.05590413510799408, + 0.015491962432861328, + 0.034232109785079956, + 0.0 + ], + [ + -0.0017577111721038818, + -0.0013484880328178406, + 0.012164704501628876, + -0.04434092342853546, + 0.01656678318977356, + 0.03170347213745117, + 0.0 + ], + [ + -0.00013369321823120117, + -0.004460342228412628, + 0.01384793221950531, + -0.043882593512535095, + 0.02043554186820984, + 0.03158217668533325, + 0.0 + ], + [ + 0.0011316686868667603, + -0.006027035415172577, + 0.013679355382919312, + -0.02356274425983429, + 0.034831732511520386, + 0.026539504528045654, + 0.0 + ], + [ + 0.008951827883720398, + -0.011821478605270386, + 0.02819007635116577, + -0.01835625246167183, + 0.03238797187805176, + 0.0562359094619751, + 0.0 + ], + [ + 0.02086864411830902, + -0.012607783079147339, + 0.019349366426467896, + 0.022454790771007538, + -0.04812934994697571, + -0.014284282922744751, + 0.0 + ], + [ + 0.0253341943025589, + -0.004064701497554779, + 0.004278823733329773, + 0.09620904922485352, + -0.030766665935516357, + -0.08917602896690369, + 0.0 + ], + [ + 0.025257542729377747, + 0.00057268887758255, + -0.0041278451681137085, + 0.028179273009300232, + -0.03426620364189148, + -0.05954015254974365, + 0.0 + ], + [ + 0.018802762031555176, + 0.006671816110610962, + -0.006643332540988922, + 0.02828909456729889, + -0.01460769772529602, + -0.051515787839889526, + 0.0 + ], + [ + 0.01348140835762024, + 0.006184615194797516, + -0.015366785228252411, + 0.027689218521118164, + -0.011148720979690552, + -0.046348750591278076, + 0.0 + ], + [ + 0.0063138604164123535, + 0.007172897458076477, + -0.009028241038322449, + 0.018657594919204712, + -0.01730450987815857, + -0.03355497121810913, + 1.0 + ], + [ + -0.001467287540435791, + 0.0010420382022857666, + -0.0009764432907104492, + -0.014641448855400085, + 0.0007477402687072754, + 0.004828810691833496, + 1.0 + ], + [ + -0.007753551006317139, + -0.005820170044898987, + -0.0037460029125213623, + -0.06823194026947021, + 0.0443367063999176, + 0.0821174681186676, + 1.0 + ], + [ + -0.002775520086288452, + -0.008694194257259369, + 0.01548825204372406, + -0.028076693415641785, + 0.030206680297851562, + 0.07922676205635071, + 1.0 + ], + [ + -0.005334407091140747, + -0.010120771825313568, + 0.011026032269001007, + -0.024593062698841095, + 0.05441352725028992, + 0.08994638919830322, + 1.0 + ], + [ + -0.0042765140533447266, + -0.004788905382156372, + 0.007054366171360016, + 0.001596689224243164, + 0.043700069189071655, + 0.0705297440290451, + 1.0 + ], + [ + -0.006624102592468262, + -0.006458457559347153, + 0.0037523359060287476, + -0.013592563569545746, + 0.029337435960769653, + 0.05239954590797424, + 1.0 + ], + [ + -0.0035759806632995605, + -0.009749513119459152, + 0.01033809781074524, + -0.01602323353290558, + -0.026761949062347412, + 0.05184473097324371, + 1.0 + ], + [ + -0.004702121019363403, + -0.009540937840938568, + 0.001787334680557251, + -0.021510571241378784, + 0.01945611834526062, + 0.037990503013134, + 1.0 + ], + [ + -0.004074960947036743, + -0.010497746989130974, + 0.006094738841056824, + -0.007293276488780975, + -0.006183445453643799, + 0.04064177721738815, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9530308246612549 + ], + [ + 0.684196949005127 + ], + [ + 0.5541232228279114 + ], + [ + 0.5541232228279114 + ], + [ + 0.5541232228279114 + ], + [ + 0.5541232228279114 + ], + [ + 0.5541232228279114 + ], + [ + 0.5541232228279114 + ], + [ + 0.5541232228279114 + ], + [ + 0.5541232228279114 + ], + [ + 0.5541232228279114 + ], + [ + 0.6009007096290588 + ], + [ + 0.8922415375709534 + ], + [ + 1.002137303352356 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.11811500787734985, + -0.018684862181544304, + 0.23524044454097748 + ], + [ + 0.1567516177892685, + 0.011314676143229008, + 0.20675945281982422 + ], + [ + 0.18078449368476868, + 0.02846316061913967, + 0.18374726176261902 + ], + [ + 0.19566774368286133, + 0.04200180247426033, + 0.1636728048324585 + ], + [ + 0.19920669496059418, + 0.05560453236103058, + 0.1531040221452713 + ], + [ + 0.19935819506645203, + 0.06852301210165024, + 0.13584919273853302 + ], + [ + 0.19954536855220795, + 0.0749811977148056, + 0.11918805539608002 + ], + [ + 0.20142583549022675, + 0.0809125229716301, + 0.10325440019369125 + ], + [ + 0.20487485826015472, + 0.08739104866981506, + 0.0925191342830658 + ], + [ + 0.2077227085828781, + 0.09571156650781631, + 0.08144550770521164 + ], + [ + 0.21011658012866974, + 0.10746803134679794, + 0.07365544885396957 + ], + [ + 0.21034544706344604, + 0.1185753121972084, + 0.06654910743236542 + ], + [ + 0.20846036076545715, + 0.12378107756376266, + 0.06370129436254501 + ], + [ + 0.20490482449531555, + 0.12161346524953842, + 0.06384529918432236 + ], + [ + 0.20162764191627502, + 0.11582913249731064, + 0.06822666525840759 + ], + [ + 0.19978925585746765, + 0.10836610198020935, + 0.07786150276660919 + ], + [ + 0.19475659728050232, + 0.10400495678186417, + 0.07610951364040375 + ], + [ + 0.1925138682126999, + 0.10265747457742691, + 0.06934591382741928 + ], + [ + 0.18820498883724213, + 0.10323081165552139, + 0.06294237077236176 + ], + [ + 0.18352970480918884, + 0.101864293217659, + 0.05593505874276161 + ], + [ + 0.181490957736969, + 0.10075616836547852, + 0.05179883539676666 + ], + [ + 0.18201923370361328, + 0.10191323608160019, + 0.04846663773059845 + ], + [ + 0.18668782711029053, + 0.10503529757261276, + 0.03978775441646576 + ], + [ + 0.18612687289714813, + 0.10677687078714371, + 0.03896648436784744 + ], + [ + 0.18798626959323883, + 0.1090545728802681, + 0.03739934414625168 + ], + [ + 0.18967358767986298, + 0.11080041527748108, + 0.03923530504107475 + ], + [ + 0.1887141615152359, + 0.10740745812654495, + 0.04095456749200821 + ], + [ + 0.18695645034313202, + 0.10605897009372711, + 0.053119271993637085 + ], + [ + 0.18682275712490082, + 0.10159862786531448, + 0.0669672042131424 + ], + [ + 0.18795442581176758, + 0.0955715924501419, + 0.0806465595960617 + ], + [ + 0.19690625369548798, + 0.08375011384487152, + 0.10883663594722748 + ], + [ + 0.217774897813797, + 0.07114233076572418, + 0.12818600237369537 + ], + [ + 0.2431090921163559, + 0.0670776292681694, + 0.13246482610702515 + ], + [ + 0.26836663484573364, + 0.06765031814575195, + 0.12833698093891144 + ], + [ + 0.2871693968772888, + 0.07432213425636292, + 0.12169364839792252 + ], + [ + 0.30065080523490906, + 0.08050674945116043, + 0.1063268631696701 + ], + [ + 0.3069646656513214, + 0.08767964690923691, + 0.09729862213134766 + ], + [ + 0.3054973781108856, + 0.08872168511152267, + 0.09632217884063721 + ], + [ + 0.2977438271045685, + 0.08290151506662369, + 0.09257617592811584 + ], + [ + 0.29496830701828003, + 0.07420732080936432, + 0.1080644279718399 + ], + [ + 0.2896338999271393, + 0.06408654898405075, + 0.11909046024084091 + ], + [ + 0.28535738587379456, + 0.05929764360189438, + 0.12614482641220093 + ], + [ + 0.2787332832813263, + 0.052839186042547226, + 0.12989716231822968 + ], + [ + 0.27515730261802673, + 0.043089672923088074, + 0.14023526012897491 + ], + [ + 0.27045518159866333, + 0.033548735082149506, + 0.14202259480953217 + ], + [ + 0.2663802206516266, + 0.023050988093018532, + 0.148117333650589 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9957862853963827, + 0.007473741828571329, + 0.09139921771850092, + 0.01054447720681432, + -0.9993944192790063, + -0.03316034852671061, + 0.0910960362305026, + 0.033984377249815956, + -0.9952620631200776 + ], + [ + 0.9946283443551864, + -0.08744710057807151, + 0.05538466579973994, + -0.08756176341530086, + -0.9961590283140731, + -0.0003576254522346281, + 0.05520320817545947, + -0.004493874592136932, + -0.9984650273786692 + ], + [ + 0.9843450108634633, + -0.16486617457278438, + 0.06232209937048517, + -0.16461274471962037, + -0.9863152295235091, + -0.009214786262343481, + 0.06298844230556544, + -0.0011884829505535016, + -0.998013548827968 + ], + [ + 0.9701898116721067, + -0.2228316172554449, + 0.09527748778680677, + -0.2246968977216731, + -0.9743854530382553, + 0.009181125295413026, + 0.09079115310369278, + -0.030315990149704854, + -0.995408412290827 + ], + [ + 0.9561597913408756, + -0.26590217054299115, + 0.12269673640117683, + -0.27047355655612304, + -0.9624775379565648, + 0.021932718321076485, + 0.112260895359228, + -0.054157406045674095, + -0.992201827625584 + ], + [ + 0.9471971947921904, + -0.27734301004062645, + 0.16092957764006624, + -0.2870154385704372, + -0.9570958497184527, + 0.03987069693311747, + 0.14296717175640253, + -0.0839546855947773, + -0.9861602296618219 + ], + [ + 0.943656865833064, + -0.2655457090868113, + 0.19747707702845405, + -0.2826445955217889, + -0.9571130144168503, + 0.06361375838775142, + 0.17211551989417959, + -0.1158453884255798, + -0.9782413269700292 + ], + [ + 0.9363332865781249, + -0.2645458388010606, + 0.23085812876927247, + -0.2887958587567468, + -0.9542195448617418, + 0.07785892478581591, + 0.19969208399623622, + -0.13957277448303976, + -0.9698672652545535 + ], + [ + 0.9252510556196275, + -0.273400875641402, + 0.26298753824711946, + -0.3014387035069697, + -0.9507532501796616, + 0.07213158324096015, + 0.23031541872571765, + -0.1460144461049147, + -0.9620990538535379 + ], + [ + 0.9030312239473883, + -0.31037348531133646, + 0.2969897442535273, + -0.3415372324959063, + -0.938068195488306, + 0.0581410305408391, + 0.26055119918188674, + -0.1539362213028731, + -0.9531089719312655 + ], + [ + 0.8787861470808561, + -0.337398425989102, + 0.33748660690294136, + -0.3780325420961867, + -0.9237928326251432, + 0.060812823538370864, + 0.2912495576221171, + -0.1810223868213283, + -0.9393639287594722 + ], + [ + 0.866239470362091, + -0.3529381672321066, + 0.35364364846218516, + -0.39767331324480404, + -0.9155384087055577, + 0.060376801155701335, + 0.3024650656186661, + -0.19293540964720995, + -0.9334295965869944 + ], + [ + 0.8636372117239601, + -0.3572814188209225, + 0.355641328153763, + -0.40039028793248393, + -0.9147936823857254, + 0.05329292632711448, + 0.3062978678590606, + -0.18842108807793573, + -0.9331018753129373 + ], + [ + 0.874417837610336, + -0.3560941649618849, + 0.3295305614794509, + -0.3866125842393338, + -0.9217598887849687, + 0.029823097339248192, + 0.2931282227569504, + -0.15347851024563713, + -0.9436737740957579 + ], + [ + 0.8948045744316996, + -0.32350700010414635, + 0.3076816446584369, + -0.3494049845050693, + -0.9364408362530405, + 0.03153913443197565, + 0.2779225258576877, + -0.13572686204772352, + -0.9509665023225377 + ], + [ + 0.9038881521151592, + -0.29779982675383176, + 0.30708544682421934, + -0.32686098799066887, + -0.9439168355461276, + 0.046721537885094575, + 0.27594945732073206, + -0.1426052970894569, + -0.9505343898283853 + ], + [ + 0.9023416044424228, + -0.29494307005393233, + 0.31430592472849656, + -0.32457519172731036, + -0.9447769022659448, + 0.04524986033066984, + 0.2836028452033828, + -0.1428467373513535, + -0.9482427093421913 + ], + [ + 0.8991721774200779, + -0.2881736289573558, + 0.32931042335034566, + -0.3233300939218791, + -0.9446142314807398, + 0.05622814285142317, + 0.2948678444966566, + -0.15703475175132242, + -0.9425460418591209 + ], + [ + 0.8855992539884885, + -0.30104899850033223, + 0.3536714037591674, + -0.34018862931630384, + -0.9388820625681961, + 0.05265139192447584, + 0.3162050882242844, + -0.16694302348297554, + -0.9338867003504416 + ], + [ + 0.8833434268969412, + -0.2989475554251915, + 0.361019042798674, + -0.3410150426612248, + -0.9383024783468553, + 0.05742124874045005, + 0.3215791206479857, + -0.17383560692059513, + -0.9307889400555945 + ], + [ + 0.875429652886739, + -0.30018179749795243, + 0.3788321677174493, + -0.3456371252188511, + -0.9366645857590782, + 0.05651930161655013, + 0.33787260989469337, + -0.18041713398586223, + -0.9237379267125907 + ], + [ + 0.8519913039483776, + -0.3045346645253145, + 0.42587493011305283, + -0.36217963555096844, + -0.9302145599082888, + 0.059386733592583354, + 0.3780697416992151, + -0.20484020756941962, + -0.9028309696584439 + ], + [ + 0.8310242583862448, + -0.3174095846712587, + 0.45678204598299543, + -0.37868161025964986, + -0.9243520810387236, + 0.04662047115313371, + 0.4074296503996131, + -0.21171770317618832, + -0.888356175268146 + ], + [ + 0.8271120282659132, + -0.3258415803631966, + 0.4579442730335883, + -0.38731733515352523, + -0.9208808332688848, + 0.0443144762755478, + 0.4072726047592926, + -0.2140227918339978, + -0.8878757063847181 + ], + [ + 0.8212654187727434, + -0.33655144548850824, + 0.46071274832331904, + -0.3956483093452089, + -0.9177398405891155, + 0.03487119596088627, + 0.4110784927970668, + -0.2109187273218296, + -0.8868640049210653 + ], + [ + 0.8305299617826897, + -0.3305203661584828, + 0.448303769932516, + -0.382259079242392, + -0.9236549807957072, + 0.027193248942344456, + 0.40509008741019875, + -0.19395299432012925, + -0.8934675467392496 + ], + [ + 0.8488122210452043, + -0.32529019381098456, + 0.4167782422520625, + -0.35599455388504053, + -0.9344780051620996, + -0.004328449197289447, + 0.39087810249296107, + -0.1446967438426818, + -0.9089978885084536 + ], + [ + 0.865599849459836, + -0.31530496128000773, + 0.38899830591831885, + -0.3311786153745018, + -0.9431658130678638, + -0.027549478736687477, + 0.3755763908098285, + -0.10498109568988206, + -0.9208264463046306 + ], + [ + 0.882693850144212, + -0.30343525831482815, + 0.3588573685031429, + -0.30613179044057476, + -0.9506320840285462, + -0.050813066205365236, + 0.3565598039589362, + -0.06500526768621367, + -0.9320082732324902 + ], + [ + 0.9018018992681966, + -0.28794629181384074, + 0.32224256004899726, + -0.2861850056435156, + -0.9566546963971719, + -0.05394380785646758, + 0.3238077778885092, + -0.043574360487482096, + -0.9451189333025831 + ], + [ + 0.9261379865050784, + -0.24046984299658702, + 0.2905902348006825, + -0.23752735811802023, + -0.97029491267198, + -0.04591880430007096, + 0.29300031415988753, + -0.026495981809912847, + -0.955745143252183 + ], + [ + 0.9079791586263396, + -0.2455218061086467, + 0.33954806762129053, + -0.2467448739619758, + -0.968241971104232, + -0.04030449808247433, + 0.338660323441783, + -0.04718610089146581, + -0.9397247773731239 + ], + [ + 0.8722091278183122, + -0.2931660526705094, + 0.3915417000933762, + -0.32285610652131175, + -0.9463887401994776, + 0.010596551587437289, + 0.3674441070861235, + -0.135654037850843, + -0.92009934799588 + ], + [ + 0.8394275448176955, + -0.33276092717785793, + 0.42968774981964264, + -0.3689004326189746, + -0.9294685103182742, + 0.0008712865553124199, + 0.39909130260489123, + -0.15924337873349848, + -0.9029771195964328 + ], + [ + 0.8140216031863537, + -0.3654860928687073, + 0.45142966834877507, + -0.40897463756576596, + -0.9125447553495136, + -0.001347335164979535, + 0.41244220852607805, + -0.1835265250683482, + -0.8923056870952174 + ], + [ + 0.7901407363088246, + -0.39271655410560624, + 0.47058615040900537, + -0.4439706693325902, + -0.8960383261628524, + -0.0023157762511900742, + 0.4225726701973524, + -0.20709665902349128, + -0.8823510141794972 + ], + [ + 0.7684344102194749, + -0.4104166192468558, + 0.4909854945277193, + -0.4663648281660352, + -0.884541561742697, + -0.009490658536419491, + 0.43819220011350285, + -0.2216854171924077, + -0.8711160494239076 + ], + [ + 0.7709581364981071, + -0.4134200583720934, + 0.48446610521581507, + -0.4628172932498297, + -0.8862333924597047, + -0.01976175999916012, + 0.43751994792954, + -0.2089838018243954, + -0.8745867971440883 + ], + [ + 0.822919221721555, + -0.3775539496809362, + 0.4245668022838275, + -0.4062120499301383, + -0.9134381867102243, + -0.02494893887706648, + 0.39723510042888255, + -0.15193318972450315, + -0.9050528055574398 + ], + [ + 0.8632427831242162, + -0.3194648812591791, + 0.39083767349887877, + -0.3440961137231115, + -0.9389049361539938, + -0.007442135870598228, + 0.3693369219352556, + -0.12806135446622274, + -0.9204295342869369 + ], + [ + 0.9085953548931125, + -0.248906852364223, + 0.33540998779522585, + -0.27050335463301217, + -0.9625418513174383, + 0.018469423236393605, + 0.31824898460002277, + -0.10751075903616841, + -0.9418911935529077 + ], + [ + 0.938087173280358, + -0.18460705378770637, + 0.2931086675939328, + -0.20862266331570117, + -0.9765797198272032, + 0.052617821821934696, + 0.2765303594145339, + -0.11050921461147106, + -0.9546301240836812 + ], + [ + 0.9553179680182364, + -0.13996655789365575, + 0.2603400519568781, + -0.16047874623754854, + -0.9852641991112275, + 0.05916950190542562, + 0.2482219812738843, + -0.09830473346240041, + -0.963702250382012 + ], + [ + 0.9554074665487297, + -0.09063090156606779, + 0.2810384538533119, + -0.10995801408837783, + -0.9924819487518666, + 0.05374771194607114, + 0.2740543887637607, + -0.0822533955713651, + -0.9581902582036108 + ], + [ + 0.9640290267027871, + -0.06005271875455502, + 0.25892413299007816, + -0.07398505058383782, + -0.9962706880786645, + 0.04439513898358434, + 0.25529247533874616, + -0.061954717701327044, + -0.9648768651957434 + ], + [ + 0.9646429942288259, + -0.02105814665654345, + 0.26271743022615845, + -0.03469748057456077, + -0.9982738802542578, + 0.0473850698415154, + 0.26126610673224127, + -0.054825308585532126, + -0.9637085695434475 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006458.json b/json/chunk-0006/episode_0006458.json new file mode 100644 index 0000000000000000000000000000000000000000..6f294398a38f31e1c227b67a46f4c2b8be597202 --- /dev/null +++ b/json/chunk-0006/episode_0006458.json @@ -0,0 +1,1642 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 26, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove purple cloth to bottom left of table." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006458.mp4", + "start": 0, + "end": 26, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3322356641292572, + 0.027249353006482124, + 0.09791700541973114, + 0.05107744038105011, + -0.1237320825457573, + -0.0267469584941864, + 0.0, + 1.0014774799346924 + ], + [ + 0.3297941982746124, + 0.02582646533846855, + 0.08849294483661652, + 0.039900943636894226, + -0.09549388289451599, + -0.020367562770843506, + 0.0, + 1.0014774799346924 + ], + [ + 0.3194313943386078, + 0.01179087720811367, + 0.0836983248591423, + -0.0032567796297371387, + -0.09703969955444336, + -0.019151344895362854, + 0.0, + 1.0014774799346924 + ], + [ + 0.3060944378376007, + -0.008077321574091911, + 0.0862521305680275, + -0.01345172431319952, + -0.11077705025672913, + -0.03603912517428398, + 0.0, + 1.0014774799346924 + ], + [ + 0.2866537570953369, + -0.024795055389404297, + 0.07102403789758682, + -0.008897609077394009, + -0.07491280138492584, + -0.04762156680226326, + 0.0, + 1.0014774799346924 + ], + [ + 0.2735455334186554, + -0.031991783529520035, + 0.05313849449157715, + 0.0019013205310329795, + -0.06647759675979614, + -0.02504836954176426, + 0.0, + 1.0014774799346924 + ], + [ + 0.2707141637802124, + -0.030795341357588768, + 0.03507615253329277, + 0.020708011463284492, + -0.07694590836763382, + -0.01506131049245596, + 0.0, + 1.0014774799346924 + ], + [ + 0.2683747410774231, + -0.027847232297062874, + 0.018889999017119408, + 0.043761346489191055, + -0.08868013322353363, + -0.01825540140271187, + 0.0, + 1.0014774799346924 + ], + [ + 0.2707648277282715, + -0.030268654227256775, + 0.013093560934066772, + 0.04802129790186882, + -0.15925520658493042, + -0.04365728795528412, + 0.0, + 1.0014774799346924 + ], + [ + 0.2694254219532013, + -0.031451039016246796, + 0.01070992462337017, + 0.00239750137552619, + -0.16396288573741913, + -0.025301514193415642, + 0.0, + 1.0014774799346924 + ], + [ + 0.26857268810272217, + -0.02896590158343315, + 0.010324674658477306, + -0.010401387698948383, + -0.15307311713695526, + -0.0243383776396513, + 0.0, + 1.0014774799346924 + ], + [ + 0.2647726833820343, + -0.013621135614812374, + 0.012258965522050858, + 0.012819277122616768, + -0.13448263704776764, + -0.015047735534608364, + 0.0, + 1.0014774799346924 + ], + [ + 0.25588810443878174, + 0.02106836438179016, + 0.014689403586089611, + 0.0005500769475474954, + -0.11817851662635803, + 0.04921328276395798, + 0.0, + 1.0014774799346924 + ], + [ + 0.24929454922676086, + 0.05204036086797714, + 0.015112405642867088, + -0.014701690524816513, + -0.1175735667347908, + 0.07925418019294739, + 0.0, + 1.0014774799346924 + ], + [ + 0.23844483494758606, + 0.09195324778556824, + 0.01634780317544937, + -0.00950709916651249, + -0.12283950299024582, + 0.10145015269517899, + 0.0, + 1.0014774799346924 + ], + [ + 0.2404024600982666, + 0.12343954294919968, + 0.017906250432133675, + -0.0031284450087696314, + -0.16740404069423676, + 0.0852946862578392, + 0.0, + 1.002137303352356 + ], + [ + 0.24683241546154022, + 0.1509445607662201, + 0.016194581985473633, + 7.84538424341008e-05, + -0.20085053145885468, + 0.056740086525678635, + 0.0, + 1.0008161067962646 + ], + [ + 0.2479303628206253, + 0.1759454607963562, + 0.014786376617848873, + 0.023361006751656532, + -0.21152754127979279, + 0.05605437979102135, + 0.0, + 1.0008161067962646 + ], + [ + 0.24585546553134918, + 0.18828262388706207, + 0.014273242093622684, + 0.03882512077689171, + -0.21141791343688965, + 0.04007168859243393, + 0.0, + 1.0014774799346924 + ], + [ + 0.24208274483680725, + 0.1830742508172989, + 0.014865151606500149, + 0.022391218692064285, + -0.2028002291917801, + 0.013750933110713959, + 0.0, + 1.0001531839370728 + ], + [ + 0.24682916700839996, + 0.1724899411201477, + 0.03549264371395111, + -0.038848672062158585, + -0.21185000240802765, + 0.04225142300128937, + 0.0, + 0.9988223910331726 + ], + [ + 0.27639245986938477, + 0.16191352903842926, + 0.07681254297494888, + -0.0623735748231411, + -0.2825483977794647, + 0.017176425084471703, + 0.0, + 0.9988223910331726 + ], + [ + 0.27907508611679077, + 0.15669962763786316, + 0.096791572868824, + -0.04400699958205223, + -0.2707216739654541, + -0.008882018737494946, + 0.0, + 0.9988223910331726 + ], + [ + 0.27795448899269104, + 0.14187443256378174, + 0.09636899083852768, + -0.020658321678638458, + -0.21799683570861816, + -0.028067292645573616, + 0.0, + 0.9988223910331726 + ], + [ + 0.2713102400302887, + 0.11850076168775558, + 0.09491600096225739, + 0.011876418255269527, + -0.17561857402324677, + -0.015224884264171124, + 0.0, + 0.9988223910331726 + ], + [ + 0.2706981599330902, + 0.09504260867834091, + 0.09515941143035889, + 0.018898123875260353, + -0.16803252696990967, + 0.01542862318456173, + 0.0, + 0.9988223910331726 + ] + ], + "left_gripper_pos": [ + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.002137303352356 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 1.0001531839370728 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3322356641292572, + 0.027249353006482124, + 0.09791700541973114 + ], + [ + 0.3297941982746124, + 0.02582646533846855, + 0.08849294483661652 + ], + [ + 0.3194313943386078, + 0.01179087720811367, + 0.0836983248591423 + ], + [ + 0.3060944378376007, + -0.008077321574091911, + 0.0862521305680275 + ], + [ + 0.2866537570953369, + -0.024795055389404297, + 0.07102403789758682 + ], + [ + 0.2735455334186554, + -0.031991783529520035, + 0.05313849449157715 + ], + [ + 0.2707141637802124, + -0.030795341357588768, + 0.03507615253329277 + ], + [ + 0.2683747410774231, + -0.027847232297062874, + 0.018889999017119408 + ], + [ + 0.2707648277282715, + -0.030268654227256775, + 0.013093560934066772 + ], + [ + 0.2694254219532013, + -0.031451039016246796, + 0.01070992462337017 + ], + [ + 0.26857268810272217, + -0.02896590158343315, + 0.010324674658477306 + ], + [ + 0.2647726833820343, + -0.013621135614812374, + 0.012258965522050858 + ], + [ + 0.25588810443878174, + 0.02106836438179016, + 0.014689403586089611 + ], + [ + 0.24929454922676086, + 0.05204036086797714, + 0.015112405642867088 + ], + [ + 0.23844483494758606, + 0.09195324778556824, + 0.01634780317544937 + ], + [ + 0.2404024600982666, + 0.12343954294919968, + 0.017906250432133675 + ], + [ + 0.24683241546154022, + 0.1509445607662201, + 0.016194581985473633 + ], + [ + 0.2479303628206253, + 0.1759454607963562, + 0.014786376617848873 + ], + [ + 0.24585546553134918, + 0.18828262388706207, + 0.014273242093622684 + ], + [ + 0.24208274483680725, + 0.1830742508172989, + 0.014865151606500149 + ], + [ + 0.24682916700839996, + 0.1724899411201477, + 0.03549264371395111 + ], + [ + 0.27639245986938477, + 0.16191352903842926, + 0.07681254297494888 + ], + [ + 0.27907508611679077, + 0.15669962763786316, + 0.096791572868824 + ], + [ + 0.27795448899269104, + 0.14187443256378174, + 0.09636899083852768 + ], + [ + 0.2713102400302887, + 0.11850076168775558, + 0.09491600096225739 + ], + [ + 0.2706981599330902, + 0.09504260867834091, + 0.09515941143035889 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9920000028235484, + -0.020410081014239256, + 0.1245769761676362, + -0.026539311942998727, + -0.9985071332185795, + 0.04774065178865562, + 0.1234166087675067, + -0.05066491394057285, + -0.9910607484789831 + ], + [ + 0.9952374563610145, + -0.01654723513205737, + 0.0960655737792801, + -0.020273364826619508, + -0.9990742790389899, + 0.03794174009358749, + 0.09534881296935316, + -0.03970861332515861, + -0.9946516123211827 + ], + [ + 0.9951128233043667, + -0.019465555378952486, + 0.0968068233597264, + -0.019060079193114258, + -0.9998052736126146, + -0.0051115787734463515, + 0.09688747223642771, + 0.003241451865116662, + -0.9952900636063045 + ], + [ + 0.993225135770401, + -0.03751415046959845, + 0.10998417244500686, + -0.03581047010441844, + -0.9992066662427818, + -0.017425509085436414, + 0.11055062145808695, + 0.013368868707949814, + -0.9937805761055608 + ], + [ + 0.9960648351629604, + -0.048266842892111105, + 0.07433139329390222, + -0.04747005792825964, + -0.9987950690501528, + -0.012450045838798888, + 0.07484275350407803, + 0.008872537310644725, + -0.9971558756431208 + ], + [ + 0.9974781770806231, + -0.024919442594036396, + 0.06645530549715442, + -0.024990428713052695, + -0.999687662381411, + 0.0002369707333559944, + 0.06642864382670649, + -0.0018971197097601717, + -0.9977893746759142 + ], + [ + 0.9969280401042331, + -0.013465981410928233, + 0.07715666010509173, + -0.015016178206490352, + -0.9996961740662489, + 0.01954671198372176, + 0.07687000225057264, + -0.02064526342636933, + -0.9968273550881578 + ], + [ + 0.995904522732048, + -0.01436311610234838, + 0.08926299623966391, + -0.018182656714915146, + -0.9989468849276044, + 0.04212495802043186, + 0.08856394637006271, + -0.04357547463041631, + -0.9951168802779374 + ], + [ + 0.986404898057802, + -0.03598793300026394, + 0.16034414790052506, + -0.04309114280171565, + -0.9982277018672755, + 0.0410439841733195, + 0.15858288211411434, + -0.04739539959897021, + -0.9862074556589169 + ], + [ + 0.9862723996900845, + -0.02490752540453289, + 0.16323715504683647, + -0.024959511428678676, + -0.999686961165777, + -0.0017327620656015098, + 0.1632292142932877, + -0.002365344236443759, + -0.9865853377928537 + ], + [ + 0.9880144680745121, + -0.02592012247286684, + 0.1521695045875839, + -0.024051418430679337, + -0.9996111631390711, + -0.014108571835092953, + 0.15247603138497381, + 0.010279580669715245, + -0.9882537073415629 + ], + [ + 0.9908586378292867, + -0.013327394562906106, + 0.13424433095388177, + -0.014911304228361497, + -0.9998304904968768, + 0.010800151803763071, + 0.13407763737961664, + -0.012703181764412368, + -0.9908894067088218 + ], + [ + 0.9918227581321569, + 0.04925818993803126, + 0.11773379793054169, + 0.048850297830900447, + -0.9987859291888928, + 0.006349492586993067, + 0.11790362527485367, + -0.0005462401567011355, + -0.9930248923208007 + ], + [ + 0.9899788885135942, + 0.07744360618321168, + 0.11808593548229361, + 0.07862465390892799, + -0.9968898322227147, + -0.005369004439294498, + 0.11730287334541335, + 0.014599666856044656, + -0.9929888648079607 + ], + [ + 0.9873618000121996, + 0.10011273678478615, + 0.12285811251247766, + 0.10051307353528273, + -0.9949313618045564, + 0.002950821279109376, + 0.12253080398479127, + 0.009435318287716973, + -0.9924198591542037 + ], + [ + 0.9824360694377468, + 0.08467150878152689, + 0.1662832074154526, + 0.08400038124215818, + -0.99640414500727, + 0.011077714723847509, + 0.16662324393338013, + 0.0030847063054174834, + -0.9860158108104181 + ], + [ + 0.9783203130577411, + 0.056725272634534925, + 0.1991773292901101, + 0.05556962632736482, + -0.9983898224313538, + 0.01139206282141303, + 0.1995028362917187, + -7.687670428433487e-05, + -0.9798972458383236 + ], + [ + 0.9761757146154143, + 0.060906322386152394, + 0.2082579988583371, + 0.05477630703035146, + -0.9978821746631389, + 0.035081643029956595, + 0.2099536386519694, + -0.022838243867659896, + -0.9774445683688868 + ], + [ + 0.9769494649196913, + 0.048169503833297975, + 0.2079650016074417, + 0.03916898204348189, + -0.9981179346802853, + 0.04718452410737607, + 0.20984645300506444, + -0.037951118165556755, + -0.9769975326433418 + ], + [ + 0.9794138113467723, + 0.018256131319643393, + 0.20103556852564478, + 0.01346870274231991, + -0.9995928003001955, + 0.025156065559876557, + 0.20141295933883777, + -0.02193050973538278, + -0.9792608807427764 + ], + [ + 0.9767710835442649, + 0.03404765852308431, + 0.2115632465738283, + 0.04129454392031114, + -0.9986986483877659, + -0.029929422828772916, + 0.21026890163354284, + 0.037970602543881536, + -0.976905943450176 + ], + [ + 0.9602063921894342, + -0.00023397784889617884, + 0.27929129892088883, + 0.016494535318247065, + -0.9982066644853054, + -0.057544637297983786, + 0.2788039000860392, + 0.05986150876387625, + -0.9584805606089914 + ], + [ + 0.9635401440625356, + -0.020637695948468135, + 0.26676670760401566, + -0.008558406673375929, + -0.9988879472662366, + -0.046364021411618876, + 0.2674268955343888, + 0.042390497899677006, + -0.9626452624059687 + ], + [ + 0.9759481018905031, + -0.032523406356930656, + 0.215563286427133, + -0.027399416199877458, + -0.9992674724322498, + -0.026716858549776925, + 0.21627430362442532, + 0.02016795918790144, + -0.9761243153481861 + ], + [ + 0.9845045380756484, + -0.013148496769340037, + 0.17486546697722125, + -0.01499012589022585, + -0.9998451779340989, + 0.00921500340347824, + 0.1747172305018889, + -0.011693468032948545, + -0.9845492126710137 + ], + [ + 0.9857983782785991, + 0.018585269177029795, + 0.16690160320650332, + 0.015210718665626474, + -0.9996536796596955, + 0.021474514674509164, + 0.16724291142215536, + -0.01863084840923497, + -0.9857396715495389 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0024414658546447754, + -0.0014228876680135727, + -0.009424060583114624, + -0.011176496744155884, + 0.028238199651241302, + 0.0063793957233428955, + 1.0 + ], + [ + -0.010362803936004639, + -0.014035588130354881, + -0.004794619977474213, + -0.04315772280097008, + -0.0015458166599273682, + 0.0012162178754806519, + 1.0 + ], + [ + -0.01333695650100708, + -0.01986819878220558, + 0.002553805708885193, + -0.010194944217801094, + -0.013737350702285767, + -0.016887780278921127, + 1.0 + ], + [ + -0.019440680742263794, + -0.016717733815312386, + -0.015228092670440674, + 0.0045541152358055115, + 0.035864248871803284, + -0.011582441627979279, + 1.0 + ], + [ + -0.013108223676681519, + -0.007196728140115738, + -0.017885543406009674, + 0.010798929259181023, + 0.0084352046251297, + 0.022573197260499, + 1.0 + ], + [ + -0.002831369638442993, + 0.0011964421719312668, + -0.018062341958284378, + 0.018806690350174904, + -0.010468311607837677, + 0.0099870590493083, + 1.0 + ], + [ + -0.0023394227027893066, + 0.002948109060525894, + -0.016186153516173363, + 0.023053335025906563, + -0.01173422485589981, + -0.003194090910255909, + 1.0 + ], + [ + 0.0023900866508483887, + -0.002421421930193901, + -0.005796438083052635, + 0.004259951412677765, + -0.07057507336139679, + -0.02540188655257225, + 1.0 + ], + [ + -0.0013394057750701904, + -0.0011823847889900208, + -0.002383636310696602, + -0.04562379792332649, + -0.0047076791524887085, + 0.018355773761868477, + 1.0 + ], + [ + -0.000852733850479126, + 0.0024851374328136444, + -0.00038524996489286423, + -0.012798888608813286, + 0.010889768600463867, + 0.0009631365537643433, + 1.0 + ], + [ + -0.003800004720687866, + 0.015344765968620777, + 0.0019342908635735512, + 0.023220665752887726, + 0.018590480089187622, + 0.009290642105042934, + 1.0 + ], + [ + -0.008884578943252563, + 0.03468950092792511, + 0.0024304380640387535, + -0.012269199825823307, + 0.016304120421409607, + 0.06426101922988892, + 1.0 + ], + [ + -0.006593555212020874, + 0.03097199648618698, + 0.00042300205677747726, + -0.015251767821609974, + 0.0006049498915672302, + 0.03004089742898941, + 1.0 + ], + [ + -0.010849714279174805, + 0.039912886917591095, + 0.001235397532582283, + 0.005194591358304024, + -0.005265936255455017, + 0.022195972502231598, + 1.0 + ], + [ + 0.001957625150680542, + 0.03148629516363144, + 0.0015584472566843033, + 0.006378654390573502, + -0.044564537703990936, + -0.016155466437339783, + 1.0 + ], + [ + 0.006429955363273621, + 0.027505017817020416, + -0.0017116684466600418, + 0.0032068989239633083, + -0.03344649076461792, + -0.028554599732160568, + 1.0 + ], + [ + 0.001097947359085083, + 0.02500090003013611, + -0.0014082053676247597, + 0.023282552137970924, + -0.01067700982093811, + -0.0006857067346572876, + 1.0 + ], + [ + -0.002074897289276123, + 0.012337163090705872, + -0.0005131345242261887, + 0.015464114025235176, + 0.00010962784290313721, + -0.015982691198587418, + 1.0 + ], + [ + -0.003772720694541931, + -0.005208373069763184, + 0.0005919095128774643, + -0.016433902084827423, + 0.008617684245109558, + -0.02632075548171997, + 1.0 + ], + [ + 0.004746422171592712, + -0.010584309697151184, + 0.020627491176128387, + -0.06123989075422287, + -0.009049773216247559, + 0.02850048989057541, + 1.0 + ], + [ + 0.029563292860984802, + -0.010576412081718445, + 0.04131989926099777, + -0.023524902760982513, + -0.07069839537143707, + -0.025074997916817665, + 1.0 + ], + [ + 0.002682626247406006, + -0.005213901400566101, + 0.019979029893875122, + 0.018366575241088867, + 0.01182672381401062, + -0.026058442890644073, + 1.0 + ], + [ + -0.0011205971240997314, + -0.014825195074081421, + -0.0004225820302963257, + 0.023348677903413773, + 0.05272483825683594, + -0.019185274839401245, + 1.0 + ], + [ + -0.006644248962402344, + -0.023373670876026154, + -0.0014529898762702942, + 0.03253474086523056, + 0.0423782616853714, + 0.012842408381402493, + 1.0 + ], + [ + -0.0006120800971984863, + -0.023458153009414673, + 0.00024341046810150146, + 0.007021705619990826, + 0.007586047053337097, + 0.03065350651741028, + 1.0 + ], + [ + 0.003200322389602661, + -0.02112969011068344, + -0.0029528215527534485, + 0.003412460908293724, + 0.004084661602973938, + 0.0034398995339870453, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.002137303352356 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 1.0001531839370728 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3297941982746124, + 0.02582646533846855, + 0.08849294483661652 + ], + [ + 0.3194313943386078, + 0.01179087720811367, + 0.0836983248591423 + ], + [ + 0.3060944378376007, + -0.008077321574091911, + 0.0862521305680275 + ], + [ + 0.2866537570953369, + -0.024795055389404297, + 0.07102403789758682 + ], + [ + 0.2735455334186554, + -0.031991783529520035, + 0.05313849449157715 + ], + [ + 0.2707141637802124, + -0.030795341357588768, + 0.03507615253329277 + ], + [ + 0.2683747410774231, + -0.027847232297062874, + 0.018889999017119408 + ], + [ + 0.2707648277282715, + -0.030268654227256775, + 0.013093560934066772 + ], + [ + 0.2694254219532013, + -0.031451039016246796, + 0.01070992462337017 + ], + [ + 0.26857268810272217, + -0.02896590158343315, + 0.010324674658477306 + ], + [ + 0.2647726833820343, + -0.013621135614812374, + 0.012258965522050858 + ], + [ + 0.25588810443878174, + 0.02106836438179016, + 0.014689403586089611 + ], + [ + 0.24929454922676086, + 0.05204036086797714, + 0.015112405642867088 + ], + [ + 0.23844483494758606, + 0.09195324778556824, + 0.01634780317544937 + ], + [ + 0.2404024600982666, + 0.12343954294919968, + 0.017906250432133675 + ], + [ + 0.24683241546154022, + 0.1509445607662201, + 0.016194581985473633 + ], + [ + 0.2479303628206253, + 0.1759454607963562, + 0.014786376617848873 + ], + [ + 0.24585546553134918, + 0.18828262388706207, + 0.014273242093622684 + ], + [ + 0.24208274483680725, + 0.1830742508172989, + 0.014865151606500149 + ], + [ + 0.24682916700839996, + 0.1724899411201477, + 0.03549264371395111 + ], + [ + 0.27639245986938477, + 0.16191352903842926, + 0.07681254297494888 + ], + [ + 0.27907508611679077, + 0.15669962763786316, + 0.096791572868824 + ], + [ + 0.27795448899269104, + 0.14187443256378174, + 0.09636899083852768 + ], + [ + 0.2713102400302887, + 0.11850076168775558, + 0.09491600096225739 + ], + [ + 0.2706981599330902, + 0.09504260867834091, + 0.09515941143035889 + ], + [ + 0.27389848232269287, + 0.07391291856765747, + 0.09220658987760544 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9952374563610145, + -0.01654723513205737, + 0.0960655737792801, + -0.020273364826619508, + -0.9990742790389899, + 0.03794174009358749, + 0.09534881296935316, + -0.03970861332515861, + -0.9946516123211827 + ], + [ + 0.9951128233043667, + -0.019465555378952486, + 0.0968068233597264, + -0.019060079193114258, + -0.9998052736126146, + -0.0051115787734463515, + 0.09688747223642771, + 0.003241451865116662, + -0.9952900636063045 + ], + [ + 0.993225135770401, + -0.03751415046959845, + 0.10998417244500686, + -0.03581047010441844, + -0.9992066662427818, + -0.017425509085436414, + 0.11055062145808695, + 0.013368868707949814, + -0.9937805761055608 + ], + [ + 0.9960648351629604, + -0.048266842892111105, + 0.07433139329390222, + -0.04747005792825964, + -0.9987950690501528, + -0.012450045838798888, + 0.07484275350407803, + 0.008872537310644725, + -0.9971558756431208 + ], + [ + 0.9974781770806231, + -0.024919442594036396, + 0.06645530549715442, + -0.024990428713052695, + -0.999687662381411, + 0.0002369707333559944, + 0.06642864382670649, + -0.0018971197097601717, + -0.9977893746759142 + ], + [ + 0.9969280401042331, + -0.013465981410928233, + 0.07715666010509173, + -0.015016178206490352, + -0.9996961740662489, + 0.01954671198372176, + 0.07687000225057264, + -0.02064526342636933, + -0.9968273550881578 + ], + [ + 0.995904522732048, + -0.01436311610234838, + 0.08926299623966391, + -0.018182656714915146, + -0.9989468849276044, + 0.04212495802043186, + 0.08856394637006271, + -0.04357547463041631, + -0.9951168802779374 + ], + [ + 0.986404898057802, + -0.03598793300026394, + 0.16034414790052506, + -0.04309114280171565, + -0.9982277018672755, + 0.0410439841733195, + 0.15858288211411434, + -0.04739539959897021, + -0.9862074556589169 + ], + [ + 0.9862723996900845, + -0.02490752540453289, + 0.16323715504683647, + -0.024959511428678676, + -0.999686961165777, + -0.0017327620656015098, + 0.1632292142932877, + -0.002365344236443759, + -0.9865853377928537 + ], + [ + 0.9880144680745121, + -0.02592012247286684, + 0.1521695045875839, + -0.024051418430679337, + -0.9996111631390711, + -0.014108571835092953, + 0.15247603138497381, + 0.010279580669715245, + -0.9882537073415629 + ], + [ + 0.9908586378292867, + -0.013327394562906106, + 0.13424433095388177, + -0.014911304228361497, + -0.9998304904968768, + 0.010800151803763071, + 0.13407763737961664, + -0.012703181764412368, + -0.9908894067088218 + ], + [ + 0.9918227581321569, + 0.04925818993803126, + 0.11773379793054169, + 0.048850297830900447, + -0.9987859291888928, + 0.006349492586993067, + 0.11790362527485367, + -0.0005462401567011355, + -0.9930248923208007 + ], + [ + 0.9899788885135942, + 0.07744360618321168, + 0.11808593548229361, + 0.07862465390892799, + -0.9968898322227147, + -0.005369004439294498, + 0.11730287334541335, + 0.014599666856044656, + -0.9929888648079607 + ], + [ + 0.9873618000121996, + 0.10011273678478615, + 0.12285811251247766, + 0.10051307353528273, + -0.9949313618045564, + 0.002950821279109376, + 0.12253080398479127, + 0.009435318287716973, + -0.9924198591542037 + ], + [ + 0.9824360694377468, + 0.08467150878152689, + 0.1662832074154526, + 0.08400038124215818, + -0.99640414500727, + 0.011077714723847509, + 0.16662324393338013, + 0.0030847063054174834, + -0.9860158108104181 + ], + [ + 0.9783203130577411, + 0.056725272634534925, + 0.1991773292901101, + 0.05556962632736482, + -0.9983898224313538, + 0.01139206282141303, + 0.1995028362917187, + -7.687670428433487e-05, + -0.9798972458383236 + ], + [ + 0.9761757146154143, + 0.060906322386152394, + 0.2082579988583371, + 0.05477630703035146, + -0.9978821746631389, + 0.035081643029956595, + 0.2099536386519694, + -0.022838243867659896, + -0.9774445683688868 + ], + [ + 0.9769494649196913, + 0.048169503833297975, + 0.2079650016074417, + 0.03916898204348189, + -0.9981179346802853, + 0.04718452410737607, + 0.20984645300506444, + -0.037951118165556755, + -0.9769975326433418 + ], + [ + 0.9794138113467723, + 0.018256131319643393, + 0.20103556852564478, + 0.01346870274231991, + -0.9995928003001955, + 0.025156065559876557, + 0.20141295933883777, + -0.02193050973538278, + -0.9792608807427764 + ], + [ + 0.9767710835442649, + 0.03404765852308431, + 0.2115632465738283, + 0.04129454392031114, + -0.9986986483877659, + -0.029929422828772916, + 0.21026890163354284, + 0.037970602543881536, + -0.976905943450176 + ], + [ + 0.9602063921894342, + -0.00023397784889617884, + 0.27929129892088883, + 0.016494535318247065, + -0.9982066644853054, + -0.057544637297983786, + 0.2788039000860392, + 0.05986150876387625, + -0.9584805606089914 + ], + [ + 0.9635401440625356, + -0.020637695948468135, + 0.26676670760401566, + -0.008558406673375929, + -0.9988879472662366, + -0.046364021411618876, + 0.2674268955343888, + 0.042390497899677006, + -0.9626452624059687 + ], + [ + 0.9759481018905031, + -0.032523406356930656, + 0.215563286427133, + -0.027399416199877458, + -0.9992674724322498, + -0.026716858549776925, + 0.21627430362442532, + 0.02016795918790144, + -0.9761243153481861 + ], + [ + 0.9845045380756484, + -0.013148496769340037, + 0.17486546697722125, + -0.01499012589022585, + -0.9998451779340989, + 0.00921500340347824, + 0.1747172305018889, + -0.011693468032948545, + -0.9845492126710137 + ], + [ + 0.9857983782785991, + 0.018585269177029795, + 0.16690160320650332, + 0.015210718665626474, + -0.9996536796596955, + 0.021474514674509164, + 0.16724291142215536, + -0.01863084840923497, + -0.9857396715495389 + ], + [ + 0.9864150065504133, + 0.022503165978570775, + 0.16272382238962224, + 0.018614403053838022, + -0.9995044700089318, + 0.025383428277396248, + 0.16321439535499832, + -0.02200958775409818, + -0.9863450913325402 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006459.json b/json/chunk-0006/episode_0006459.json new file mode 100644 index 0000000000000000000000000000000000000000..bdf0283b315cee0a3314ade69398d2958a3fa74e --- /dev/null +++ b/json/chunk-0006/episode_0006459.json @@ -0,0 +1,1762 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 28, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nOpens the drawer." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006459.mp4", + "start": 0, + "end": 28, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.12194553762674332, + 0.07906939089298248, + 0.12099923193454742, + 0.05571680888533592, + -0.02265290729701519, + 0.003994945902377367, + 0.0, + 0.9981546401977539 + ], + [ + 0.11951928585767746, + 0.07710736989974976, + 0.11757156252861023, + 0.04742955043911934, + -0.011571045964956284, + 0.004537995904684067, + 0.0, + 0.9981546401977539 + ], + [ + 0.15384602546691895, + 0.09912864863872528, + 0.1340159922838211, + 0.05492478236556053, + -0.04575302079319954, + 0.007025858853012323, + 0.0, + 0.9981546401977539 + ], + [ + 0.191090390086174, + 0.12746849656105042, + 0.1537461280822754, + 0.07920379936695099, + -0.08980055153369904, + 0.009533836506307125, + 0.0, + 0.9981546401977539 + ], + [ + 0.2264910340309143, + 0.15244649350643158, + 0.16308832168579102, + 0.0803203210234642, + -0.1144467443227768, + 0.016870325431227684, + 0.0, + 0.9981546401977539 + ], + [ + 0.2518579363822937, + 0.16828610002994537, + 0.16630756855010986, + 0.08691487461328506, + -0.13577619194984436, + 0.017096444964408875, + 0.0, + 0.9981546401977539 + ], + [ + 0.2686854600906372, + 0.17908044159412384, + 0.157933309674263, + 0.08957230299711227, + -0.1251285970211029, + 0.025371743366122246, + 0.0, + 0.9981546401977539 + ], + [ + 0.28079432249069214, + 0.1823333352804184, + 0.1400003731250763, + 0.07464226335287094, + -0.09859799593687057, + 0.03633958473801613, + 0.0, + 0.9981546401977539 + ], + [ + 0.28966519236564636, + 0.17675583064556122, + 0.12398748844861984, + 0.05467632785439491, + -0.08190243691205978, + 0.027474578469991684, + 0.0, + 0.9981546401977539 + ], + [ + 0.30252039432525635, + 0.17688265442848206, + 0.1211705356836319, + 0.04998096078634262, + -0.1039196327328682, + 0.02143629640340805, + 0.0, + 0.9981546401977539 + ], + [ + 0.3135780692100525, + 0.1690307855606079, + 0.1158309206366539, + 0.03938496112823486, + -0.11319097131490707, + 0.002149794716387987, + 0.0, + 0.9981546401977539 + ], + [ + 0.322171151638031, + 0.1686820387840271, + 0.11484561115503311, + 0.03772435709834099, + -0.12622839212417603, + -0.001453651930205524, + 0.0, + 0.9981546401977539 + ], + [ + 0.3300091624259949, + 0.16957563161849976, + 0.11147336661815643, + 0.03503984212875366, + -0.13261525332927704, + 0.0018614642322063446, + 0.0, + 0.9981546401977539 + ], + [ + 0.33460918068885803, + 0.17131192982196808, + 0.10901756584644318, + 0.03999066352844238, + -0.12967462837696075, + 0.006566143594682217, + 0.0, + 0.9657809734344482 + ], + [ + 0.3344351351261139, + 0.17049825191497803, + 0.10707633942365646, + 0.03734201565384865, + -0.13442416489124298, + 0.010110018774867058, + 0.0, + 0.7349185347557068 + ], + [ + 0.3231159448623657, + 0.16292212903499603, + 0.10949919372797012, + 0.018301088362932205, + -0.12530218064785004, + 0.013422750867903233, + 0.0, + 0.7220669984817505 + ], + [ + 0.3082723319530487, + 0.15262138843536377, + 0.12048225849866867, + 0.001306419842876494, + -0.11516492813825607, + 0.012381765991449356, + 0.0, + 0.7220669984817505 + ], + [ + 0.28975769877433777, + 0.13160893321037292, + 0.14015193283557892, + 0.0021163239143788815, + -0.15601710975170135, + -0.005772460717707872, + 0.0, + 0.7220669984817505 + ], + [ + 0.2712503671646118, + 0.08440342545509338, + 0.1310601532459259, + -0.018354572355747223, + -0.14377973973751068, + -0.07593637704849243, + 0.0, + 0.7220669984817505 + ], + [ + 0.26913902163505554, + 0.03309967368841171, + 0.10309090465307236, + 0.0008074246579781175, + -0.08724869787693024, + -0.18415424227714539, + 0.0, + 0.7220669984817505 + ], + [ + 0.2675086259841919, + -0.016040340065956116, + 0.06936617195606232, + 0.018532734364271164, + -0.01538777444511652, + -0.2508501708507538, + 0.0, + 0.7220669984817505 + ], + [ + 0.253940612077713, + -0.04140825197100639, + 0.052004020661115646, + 0.049546919763088226, + 0.023318659514188766, + -0.27860456705093384, + 0.0, + 0.7220669984817505 + ], + [ + 0.2254924178123474, + -0.04572344571352005, + 0.032703448086977005, + 0.0671815574169159, + 0.08332648128271103, + -0.2579764127731323, + 0.0, + 0.7220669984817505 + ], + [ + 0.1962863802909851, + -0.045471400022506714, + 0.023535646498203278, + 0.08359420299530029, + 0.09822586923837662, + -0.22496776282787323, + 0.0, + 0.7210758328437805 + ], + [ + 0.17884181439876556, + -0.044352952390909195, + 0.01075136847794056, + 0.06788577139377594, + 0.102919802069664, + -0.19934135675430298, + 0.0, + 0.7220669984817505 + ], + [ + 0.17655803263187408, + -0.046820268034935, + 0.000677502597682178, + 0.048122573643922806, + 0.10214685648679733, + -0.1861293464899063, + 0.0, + 0.7941413521766663 + ], + [ + 0.17620238661766052, + -0.049642566591501236, + -0.0010865161893889308, + 0.024485306814312935, + 0.09443815052509308, + -0.17830350995063782, + 0.0, + 1.0054124593734741 + ], + [ + 0.17309272289276123, + -0.04703128710389137, + 0.019815834239125252, + 0.03312044218182564, + 0.055890075862407684, + -0.16693563759326935, + 0.0, + 1.0008161067962646 + ] + ], + "left_gripper_pos": [ + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9657809734344482 + ], + [ + 0.7349185347557068 + ], + [ + 0.7220669984817505 + ], + [ + 0.7220669984817505 + ], + [ + 0.7220669984817505 + ], + [ + 0.7220669984817505 + ], + [ + 0.7220669984817505 + ], + [ + 0.7220669984817505 + ], + [ + 0.7220669984817505 + ], + [ + 0.7220669984817505 + ], + [ + 0.7210758328437805 + ], + [ + 0.7220669984817505 + ], + [ + 0.7941413521766663 + ], + [ + 1.0054124593734741 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.12194553762674332, + 0.07906939089298248, + 0.12099923193454742 + ], + [ + 0.11951928585767746, + 0.07710736989974976, + 0.11757156252861023 + ], + [ + 0.15384602546691895, + 0.09912864863872528, + 0.1340159922838211 + ], + [ + 0.191090390086174, + 0.12746849656105042, + 0.1537461280822754 + ], + [ + 0.2264910340309143, + 0.15244649350643158, + 0.16308832168579102 + ], + [ + 0.2518579363822937, + 0.16828610002994537, + 0.16630756855010986 + ], + [ + 0.2686854600906372, + 0.17908044159412384, + 0.157933309674263 + ], + [ + 0.28079432249069214, + 0.1823333352804184, + 0.1400003731250763 + ], + [ + 0.28966519236564636, + 0.17675583064556122, + 0.12398748844861984 + ], + [ + 0.30252039432525635, + 0.17688265442848206, + 0.1211705356836319 + ], + [ + 0.3135780692100525, + 0.1690307855606079, + 0.1158309206366539 + ], + [ + 0.322171151638031, + 0.1686820387840271, + 0.11484561115503311 + ], + [ + 0.3300091624259949, + 0.16957563161849976, + 0.11147336661815643 + ], + [ + 0.33460918068885803, + 0.17131192982196808, + 0.10901756584644318 + ], + [ + 0.3344351351261139, + 0.17049825191497803, + 0.10707633942365646 + ], + [ + 0.3231159448623657, + 0.16292212903499603, + 0.10949919372797012 + ], + [ + 0.3082723319530487, + 0.15262138843536377, + 0.12048225849866867 + ], + [ + 0.28975769877433777, + 0.13160893321037292, + 0.14015193283557892 + ], + [ + 0.2712503671646118, + 0.08440342545509338, + 0.1310601532459259 + ], + [ + 0.26913902163505554, + 0.03309967368841171, + 0.10309090465307236 + ], + [ + 0.2675086259841919, + -0.016040340065956116, + 0.06936617195606232 + ], + [ + 0.253940612077713, + -0.04140825197100639, + 0.052004020661115646 + ], + [ + 0.2254924178123474, + -0.04572344571352005, + 0.032703448086977005 + ], + [ + 0.1962863802909851, + -0.045471400022506714, + 0.023535646498203278 + ], + [ + 0.17884181439876556, + -0.044352952390909195, + 0.01075136847794056 + ], + [ + 0.17655803263187408, + -0.046820268034935, + 0.000677502597682178 + ], + [ + 0.17620238661766052, + -0.049642566591501236, + -0.0010865161893889308 + ], + [ + 0.17309272289276123, + -0.04703128710389137, + 0.019815834239125252 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9997354561288512, + 0.0052501128433324745, + 0.02239317025277669, + 0.0039939103110066265, + -0.9984352135448893, + 0.05577789018955973, + 0.022650969940936353, + -0.055673698176995794, + -0.9981920521082259 + ], + [ + 0.999922760198118, + 0.005081462928630512, + 0.011342502910806728, + 0.0045376765395618935, + -0.99886265510824, + 0.04746373059230747, + 0.011570787760520668, + -0.04740859589380166, + -0.9988085611897702 + ], + [ + 0.9989288577013826, + 0.00952597945180189, + 0.04528126507613297, + 0.007018448641965119, + -0.9984497286432291, + 0.05521667095110367, + 0.0457370597007642, + -0.054839721805879045, + -0.997447104503383 + ], + [ + 0.995925375787338, + 0.016599046823121945, + 0.08864038305091752, + 0.009495277395018716, + -0.9967520673379467, + 0.07996971904865623, + 0.0896799061665501, + -0.0788022074696716, + -0.9928482897844291 + ], + [ + 0.9933167468814291, + 0.02597632111323207, + 0.11245919751766448, + 0.01675916673665209, + -0.996479648221047, + 0.08214280864172739, + 0.11419706955604383, + -0.07970910501743576, + -0.9902552640012228 + ], + [ + 0.990651769143502, + 0.028779302502185806, + 0.1333447563286116, + 0.01693827376936575, + -0.995878818021788, + 0.08909811837092763, + 0.13535940002291358, + -0.08600657860311325, + -0.9870565846304976 + ], + [ + 0.9918622971185658, + 0.036427615453360554, + 0.12199267349748408, + 0.025170676889849215, + -0.9953873105916634, + 0.092577205282953, + 0.12480232601834182, + -0.08875320132523275, + -0.988204052144563 + ], + [ + 0.9944861506783181, + 0.04356641545709387, + 0.09539006003374632, + 0.036155130216220834, + -0.996290483377062, + 0.0780901997138475, + 0.09843831910424898, + -0.07421078207727207, + -0.9923722371950003 + ], + [ + 0.9962717324982464, + 0.03189927371260328, + 0.08015654284929469, + 0.027379035282727754, + -0.9980059630225142, + 0.05687254345016614, + 0.08181090056911455, + -0.0544658985798665, + -0.9951585011644919 + ], + [ + 0.99437670341957, + 0.026589197892281105, + 0.10250846917144922, + 0.0213190193195099, + -0.998410664958086, + 0.05216937332580533, + 0.10373269066057818, + -0.04969062943249963, + -0.993363161303518 + ], + [ + 0.9935984427476259, + 0.006595474259175758, + 0.11277692267830967, + 0.0021360359730781433, + -0.9992126427528434, + 0.03961731834943322, + 0.11294942195431813, + -0.039122810254059864, + -0.9928302139832421 + ], + [ + 0.9920427210748022, + 0.0032955007677088637, + 0.1258585683900467, + -0.0014420858320959517, + -0.99929436713948, + 0.037532495144325516, + 0.12589344681497486, + -0.037415337470026656, + -0.9913379507368055 + ], + [ + 0.9912177597499711, + 0.006492573528212378, + 0.13208027576148362, + 0.0018451185372448664, + -0.9993758132966659, + 0.035278595992630814, + 0.13222688188803483, + -0.0347250671217279, + -0.9906110343719978 + ], + [ + 0.9915826444478336, + 0.011730610065892676, + 0.12894282460580592, + 0.006510967601518452, + -0.9991449942720465, + 0.04082753632053654, + 0.1293115096607167, + -0.03964433387755091, + -0.9908112132291763 + ], + [ + 0.9909280239799898, + 0.015105945416713838, + 0.1335419847994637, + 0.010018642272728672, + -0.9992012141391622, + 0.03868540383446291, + 0.1340196929489246, + -0.036996541404456254, + -0.9902878257486479 + ], + [ + 0.9920705701314267, + 0.0157069366957076, + 0.12469673619924088, + 0.013317115898519171, + -0.9997117735924299, + 0.019975589223439758, + 0.12497455062232249, + -0.0181565933014767, + -0.9919938002913291 + ], + [ + 0.9932997005224259, + 0.012531548897878168, + 0.11488544391818958, + 0.012299432992022987, + -0.9999206348939923, + 0.0027290769997166493, + 0.11491052558462228, + -0.0012977655472906002, + -0.993374998132352 + ], + [ + 0.9878375399965184, + -0.005443576602705682, + 0.15539421497403802, + -0.00570231673145515, + -0.9999829982516322, + 0.0012193406294258588, + 0.15538493542657614, + -0.002090617479807642, + -0.9878517860291756 + ], + [ + 0.9868294416886961, + -0.0784728468845074, + 0.14145552417002508, + -0.0750806213715651, + -0.9967507590032779, + -0.029168899890960352, + 0.1432848676966119, + 0.018164160542943952, + -0.9895147851148735 + ], + [ + 0.9793520353673155, + -0.18304591446445814, + 0.08581249337810075, + -0.1824186170020685, + -0.983104036312331, + -0.0151625181765895, + 0.08713804561125384, + -0.000804353325995457, + -0.9961959215047901 + ], + [ + 0.9685870518607881, + -0.24790875839688256, + 0.019503088928250367, + -0.24819822330848404, + -0.9686061665599192, + 0.014132800451792427, + 0.015387167190195027, + -0.01852947954515755, + -0.99970990465917 + ], + [ + 0.9611787538206236, + -0.27578705651821994, + -0.008769416220532004, + -0.2749395240292279, + -0.9599426774150157, + 0.054021423563920035, + -0.023316546279721677, + -0.049513185459097483, + -0.998501268469539 + ], + [ + 0.9635533977323026, + -0.2599513618811502, + -0.0631675484301153, + -0.25423926168551825, + -0.963301578958268, + 0.08609567813840018, + -0.08323008792581119, + -0.06689811232496547, + -0.9942823517649394 + ], + [ + 0.9701024805693002, + -0.23027800328641015, + -0.07663692579765048, + -0.22199965304024047, + -0.9695707101759216, + 0.10319298434957655, + -0.09806799296051365, + -0.08309439915772412, + -0.9917045878613819 + ], + [ + 0.9750104358138691, + -0.20439875332836172, + -0.08703906991610381, + -0.1969759169675125, + -0.976559427342683, + 0.08678809251814805, + -0.10273820218816608, + -0.06747469530084994, + -0.9924172647154023 + ], + [ + 0.9776054590489887, + -0.18966266788301966, + -0.09119012473459832, + -0.18409189285351302, + -0.9806824856716154, + 0.06612138294494807, + -0.10196931608688418, + -0.04785326225490976, + -0.9936359111205351 + ], + [ + 0.9797606747569747, + -0.17957915075944786, + -0.08843273608948893, + -0.17656992386317166, + -0.9834415326659135, + 0.0408143824487503, + -0.09429783765660513, + -0.024373765409443804, + -0.9952456166057975 + ], + [ + 0.9845588371799202, + -0.16789432971951845, + -0.04955189379788745, + -0.16590191891128153, + -0.9852504012570084, + 0.041930897014714405, + -0.05586098309623691, + -0.033062680939960634, + -0.9978909808674414 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.002426251769065857, + -0.001962020993232727, + -0.003427669405937195, + -0.008287258446216583, + 0.011081861332058907, + 0.0005430500023066998, + 1.0 + ], + [ + 0.034326739609241486, + 0.022021278738975525, + 0.016444429755210876, + 0.007495231926441193, + -0.034181974828243256, + 0.0024878629483282566, + 1.0 + ], + [ + 0.037244364619255066, + 0.028339847922325134, + 0.019730135798454285, + 0.024279017001390457, + -0.044047530740499496, + 0.0025079776532948017, + 1.0 + ], + [ + 0.035400643944740295, + 0.024977996945381165, + 0.009342193603515625, + 0.0011165216565132141, + -0.02464619278907776, + 0.007336488924920559, + 1.0 + ], + [ + 0.025366902351379395, + 0.015839606523513794, + 0.0032192468643188477, + 0.006594553589820862, + -0.021329447627067566, + 0.0002261195331811905, + 1.0 + ], + [ + 0.016827523708343506, + 0.010794341564178467, + -0.008374258875846863, + 0.0026574283838272095, + 0.010647594928741455, + 0.008275298401713371, + 1.0 + ], + [ + 0.012108862400054932, + 0.0032528936862945557, + -0.017932936549186707, + -0.014930039644241333, + 0.02653060108423233, + 0.010967841371893883, + 1.0 + ], + [ + 0.008870869874954224, + -0.005577504634857178, + -0.01601288467645645, + -0.01996593549847603, + 0.01669555902481079, + -0.008865006268024445, + 1.0 + ], + [ + 0.012855201959609985, + 0.0001268237829208374, + -0.0028169527649879456, + -0.004695367068052292, + -0.02201719582080841, + -0.006038282066583633, + 1.0 + ], + [ + 0.011057674884796143, + -0.007851868867874146, + -0.005339615046977997, + -0.010595999658107758, + -0.00927133858203888, + -0.01928650215268135, + 1.0 + ], + [ + 0.008593082427978516, + -0.00034874677658081055, + -0.0009853094816207886, + -0.0016606040298938751, + -0.013037420809268951, + -0.003603446763008833, + 1.0 + ], + [ + 0.007838010787963867, + 0.0008935928344726562, + -0.0033722445368766785, + -0.002684514969587326, + -0.006386861205101013, + 0.0033151162788271904, + 1.0 + ], + [ + 0.004600018262863159, + 0.0017362982034683228, + -0.002455800771713257, + 0.004950821399688721, + 0.002940624952316284, + 0.004704679362475872, + 0.0 + ], + [ + -0.00017404556274414062, + -0.0008136779069900513, + -0.0019412264227867126, + -0.0026486478745937347, + -0.0047495365142822266, + 0.003543875180184841, + 0.0 + ], + [ + -0.011319190263748169, + -0.007576122879981995, + 0.0024228543043136597, + -0.019040927290916443, + 0.009121984243392944, + 0.0033127320930361748, + 0.0 + ], + [ + -0.014843612909317017, + -0.010300740599632263, + 0.010983064770698547, + -0.016994668170809746, + 0.010137252509593964, + -0.0010409848764538765, + 0.0 + ], + [ + -0.018514633178710938, + -0.021012455224990845, + 0.019669674336910248, + 0.0008099040715023875, + -0.04085218161344528, + -0.01815422624349594, + 0.0 + ], + [ + -0.018507331609725952, + -0.04720550775527954, + -0.009091779589653015, + -0.02047089673578739, + 0.012237370014190674, + -0.07016391307115555, + 0.0 + ], + [ + -0.0021113455295562744, + -0.05130375176668167, + -0.027969248592853546, + 0.019161997362971306, + 0.056531041860580444, + -0.10821786522865295, + 0.0 + ], + [ + -0.0016303956508636475, + -0.04914001375436783, + -0.03372473269701004, + 0.01772530935704708, + 0.07186092436313629, + -0.0666959285736084, + 0.0 + ], + [ + -0.013568013906478882, + -0.025367911905050278, + -0.01736215129494667, + 0.031014185398817062, + 0.03870643302798271, + -0.027754396200180054, + 0.0 + ], + [ + -0.0284481942653656, + -0.004315193742513657, + -0.01930057257413864, + 0.017634637653827667, + 0.06000782176852226, + 0.020628154277801514, + 0.0 + ], + [ + -0.029206037521362305, + 0.0002520456910133362, + -0.009167801588773727, + 0.0164126455783844, + 0.014899387955665588, + 0.033008649945259094, + 0.0 + ], + [ + -0.017444565892219543, + 0.001118447631597519, + -0.012784278020262718, + -0.015708431601524353, + 0.004693932831287384, + 0.02562640607357025, + 0.0 + ], + [ + -0.0022837817668914795, + -0.0024673156440258026, + -0.01007386576384306, + -0.019763197749853134, + -0.0007729455828666687, + 0.013212010264396667, + 1.0 + ], + [ + -0.000355646014213562, + -0.0028222985565662384, + -0.0017640187870711088, + -0.02363726682960987, + -0.007708705961704254, + 0.007825836539268494, + 1.0 + ], + [ + -0.003109663724899292, + 0.0026112794876098633, + 0.020902350544929504, + 0.008635135367512703, + -0.038548074662685394, + 0.01136787235736847, + 1.0 + ], + [ + -0.008859068155288696, + 0.004093684256076813, + 0.030230341479182243, + 0.007836386561393738, + -0.05177953094244003, + 0.022143006324768066, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9657809734344482 + ], + [ + 0.7349185347557068 + ], + [ + 0.7220669984817505 + ], + [ + 0.7220669984817505 + ], + [ + 0.7220669984817505 + ], + [ + 0.7220669984817505 + ], + [ + 0.7220669984817505 + ], + [ + 0.7220669984817505 + ], + [ + 0.7220669984817505 + ], + [ + 0.7220669984817505 + ], + [ + 0.7210758328437805 + ], + [ + 0.7220669984817505 + ], + [ + 0.7941413521766663 + ], + [ + 1.0054124593734741 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.11951928585767746, + 0.07710736989974976, + 0.11757156252861023 + ], + [ + 0.15384602546691895, + 0.09912864863872528, + 0.1340159922838211 + ], + [ + 0.191090390086174, + 0.12746849656105042, + 0.1537461280822754 + ], + [ + 0.2264910340309143, + 0.15244649350643158, + 0.16308832168579102 + ], + [ + 0.2518579363822937, + 0.16828610002994537, + 0.16630756855010986 + ], + [ + 0.2686854600906372, + 0.17908044159412384, + 0.157933309674263 + ], + [ + 0.28079432249069214, + 0.1823333352804184, + 0.1400003731250763 + ], + [ + 0.28966519236564636, + 0.17675583064556122, + 0.12398748844861984 + ], + [ + 0.30252039432525635, + 0.17688265442848206, + 0.1211705356836319 + ], + [ + 0.3135780692100525, + 0.1690307855606079, + 0.1158309206366539 + ], + [ + 0.322171151638031, + 0.1686820387840271, + 0.11484561115503311 + ], + [ + 0.3300091624259949, + 0.16957563161849976, + 0.11147336661815643 + ], + [ + 0.33460918068885803, + 0.17131192982196808, + 0.10901756584644318 + ], + [ + 0.3344351351261139, + 0.17049825191497803, + 0.10707633942365646 + ], + [ + 0.3231159448623657, + 0.16292212903499603, + 0.10949919372797012 + ], + [ + 0.3082723319530487, + 0.15262138843536377, + 0.12048225849866867 + ], + [ + 0.28975769877433777, + 0.13160893321037292, + 0.14015193283557892 + ], + [ + 0.2712503671646118, + 0.08440342545509338, + 0.1310601532459259 + ], + [ + 0.26913902163505554, + 0.03309967368841171, + 0.10309090465307236 + ], + [ + 0.2675086259841919, + -0.016040340065956116, + 0.06936617195606232 + ], + [ + 0.253940612077713, + -0.04140825197100639, + 0.052004020661115646 + ], + [ + 0.2254924178123474, + -0.04572344571352005, + 0.032703448086977005 + ], + [ + 0.1962863802909851, + -0.045471400022506714, + 0.023535646498203278 + ], + [ + 0.17884181439876556, + -0.044352952390909195, + 0.01075136847794056 + ], + [ + 0.17655803263187408, + -0.046820268034935, + 0.000677502597682178 + ], + [ + 0.17620238661766052, + -0.049642566591501236, + -0.0010865161893889308 + ], + [ + 0.17309272289276123, + -0.04703128710389137, + 0.019815834239125252 + ], + [ + 0.16423365473747253, + -0.04293760284781456, + 0.050046175718307495 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.999922760198118, + 0.005081462928630512, + 0.011342502910806728, + 0.0045376765395618935, + -0.99886265510824, + 0.04746373059230747, + 0.011570787760520668, + -0.04740859589380166, + -0.9988085611897702 + ], + [ + 0.9989288577013826, + 0.00952597945180189, + 0.04528126507613297, + 0.007018448641965119, + -0.9984497286432291, + 0.05521667095110367, + 0.0457370597007642, + -0.054839721805879045, + -0.997447104503383 + ], + [ + 0.995925375787338, + 0.016599046823121945, + 0.08864038305091752, + 0.009495277395018716, + -0.9967520673379467, + 0.07996971904865623, + 0.0896799061665501, + -0.0788022074696716, + -0.9928482897844291 + ], + [ + 0.9933167468814291, + 0.02597632111323207, + 0.11245919751766448, + 0.01675916673665209, + -0.996479648221047, + 0.08214280864172739, + 0.11419706955604383, + -0.07970910501743576, + -0.9902552640012228 + ], + [ + 0.990651769143502, + 0.028779302502185806, + 0.1333447563286116, + 0.01693827376936575, + -0.995878818021788, + 0.08909811837092763, + 0.13535940002291358, + -0.08600657860311325, + -0.9870565846304976 + ], + [ + 0.9918622971185658, + 0.036427615453360554, + 0.12199267349748408, + 0.025170676889849215, + -0.9953873105916634, + 0.092577205282953, + 0.12480232601834182, + -0.08875320132523275, + -0.988204052144563 + ], + [ + 0.9944861506783181, + 0.04356641545709387, + 0.09539006003374632, + 0.036155130216220834, + -0.996290483377062, + 0.0780901997138475, + 0.09843831910424898, + -0.07421078207727207, + -0.9923722371950003 + ], + [ + 0.9962717324982464, + 0.03189927371260328, + 0.08015654284929469, + 0.027379035282727754, + -0.9980059630225142, + 0.05687254345016614, + 0.08181090056911455, + -0.0544658985798665, + -0.9951585011644919 + ], + [ + 0.99437670341957, + 0.026589197892281105, + 0.10250846917144922, + 0.0213190193195099, + -0.998410664958086, + 0.05216937332580533, + 0.10373269066057818, + -0.04969062943249963, + -0.993363161303518 + ], + [ + 0.9935984427476259, + 0.006595474259175758, + 0.11277692267830967, + 0.0021360359730781433, + -0.9992126427528434, + 0.03961731834943322, + 0.11294942195431813, + -0.039122810254059864, + -0.9928302139832421 + ], + [ + 0.9920427210748022, + 0.0032955007677088637, + 0.1258585683900467, + -0.0014420858320959517, + -0.99929436713948, + 0.037532495144325516, + 0.12589344681497486, + -0.037415337470026656, + -0.9913379507368055 + ], + [ + 0.9912177597499711, + 0.006492573528212378, + 0.13208027576148362, + 0.0018451185372448664, + -0.9993758132966659, + 0.035278595992630814, + 0.13222688188803483, + -0.0347250671217279, + -0.9906110343719978 + ], + [ + 0.9915826444478336, + 0.011730610065892676, + 0.12894282460580592, + 0.006510967601518452, + -0.9991449942720465, + 0.04082753632053654, + 0.1293115096607167, + -0.03964433387755091, + -0.9908112132291763 + ], + [ + 0.9909280239799898, + 0.015105945416713838, + 0.1335419847994637, + 0.010018642272728672, + -0.9992012141391622, + 0.03868540383446291, + 0.1340196929489246, + -0.036996541404456254, + -0.9902878257486479 + ], + [ + 0.9920705701314267, + 0.0157069366957076, + 0.12469673619924088, + 0.013317115898519171, + -0.9997117735924299, + 0.019975589223439758, + 0.12497455062232249, + -0.0181565933014767, + -0.9919938002913291 + ], + [ + 0.9932997005224259, + 0.012531548897878168, + 0.11488544391818958, + 0.012299432992022987, + -0.9999206348939923, + 0.0027290769997166493, + 0.11491052558462228, + -0.0012977655472906002, + -0.993374998132352 + ], + [ + 0.9878375399965184, + -0.005443576602705682, + 0.15539421497403802, + -0.00570231673145515, + -0.9999829982516322, + 0.0012193406294258588, + 0.15538493542657614, + -0.002090617479807642, + -0.9878517860291756 + ], + [ + 0.9868294416886961, + -0.0784728468845074, + 0.14145552417002508, + -0.0750806213715651, + -0.9967507590032779, + -0.029168899890960352, + 0.1432848676966119, + 0.018164160542943952, + -0.9895147851148735 + ], + [ + 0.9793520353673155, + -0.18304591446445814, + 0.08581249337810075, + -0.1824186170020685, + -0.983104036312331, + -0.0151625181765895, + 0.08713804561125384, + -0.000804353325995457, + -0.9961959215047901 + ], + [ + 0.9685870518607881, + -0.24790875839688256, + 0.019503088928250367, + -0.24819822330848404, + -0.9686061665599192, + 0.014132800451792427, + 0.015387167190195027, + -0.01852947954515755, + -0.99970990465917 + ], + [ + 0.9611787538206236, + -0.27578705651821994, + -0.008769416220532004, + -0.2749395240292279, + -0.9599426774150157, + 0.054021423563920035, + -0.023316546279721677, + -0.049513185459097483, + -0.998501268469539 + ], + [ + 0.9635533977323026, + -0.2599513618811502, + -0.0631675484301153, + -0.25423926168551825, + -0.963301578958268, + 0.08609567813840018, + -0.08323008792581119, + -0.06689811232496547, + -0.9942823517649394 + ], + [ + 0.9701024805693002, + -0.23027800328641015, + -0.07663692579765048, + -0.22199965304024047, + -0.9695707101759216, + 0.10319298434957655, + -0.09806799296051365, + -0.08309439915772412, + -0.9917045878613819 + ], + [ + 0.9750104358138691, + -0.20439875332836172, + -0.08703906991610381, + -0.1969759169675125, + -0.976559427342683, + 0.08678809251814805, + -0.10273820218816608, + -0.06747469530084994, + -0.9924172647154023 + ], + [ + 0.9776054590489887, + -0.18966266788301966, + -0.09119012473459832, + -0.18409189285351302, + -0.9806824856716154, + 0.06612138294494807, + -0.10196931608688418, + -0.04785326225490976, + -0.9936359111205351 + ], + [ + 0.9797606747569747, + -0.17957915075944786, + -0.08843273608948893, + -0.17656992386317166, + -0.9834415326659135, + 0.0408143824487503, + -0.09429783765660513, + -0.024373765409443804, + -0.9952456166057975 + ], + [ + 0.9845588371799202, + -0.16789432971951845, + -0.04955189379788745, + -0.16590191891128153, + -0.9852504012570084, + 0.041930897014714405, + -0.05586098309623691, + -0.033062680939960634, + -0.9978909808674414 + ], + [ + 0.9895274879330747, + -0.1443327789449655, + 0.0018437860185772502, + -0.1442860150418463, + -0.9886817249136942, + 0.04110952061294684, + -0.004110533809943252, + -0.040945033199472625, + -0.9991529451330718 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006460.json b/json/chunk-0006/episode_0006460.json new file mode 100644 index 0000000000000000000000000000000000000000..8d97727a5aa153429b89019683476dc1ee634e0c --- /dev/null +++ b/json/chunk-0006/episode_0006460.json @@ -0,0 +1,2542 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 41, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nVIdeo format not showing." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006460.mp4", + "start": 0, + "end": 41, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.1953107863664627, + 0.08621682971715927, + 0.0786183699965477, + 0.17300452291965485, + 0.035086821764707565, + 0.16492776572704315, + 0.0, + 0.9994885921478271 + ], + [ + 0.19478069245815277, + 0.08385732769966125, + 0.07556936889886856, + 0.16619111597537994, + 0.04817751422524452, + 0.16175518929958344, + 0.0, + 1.0001531839370728 + ], + [ + 0.20451626181602478, + 0.0561639703810215, + 0.08084751665592194, + 0.14827051758766174, + 0.01871173456311226, + 0.03892561420798302, + 0.0, + 1.0001531839370728 + ], + [ + 0.21160125732421875, + 0.03268903121352196, + 0.09086812287569046, + 0.1362740397453308, + -0.0349152535200119, + -0.07532505691051483, + 0.0, + 0.9994885921478271 + ], + [ + 0.22635400295257568, + -0.00563683919608593, + 0.09496872872114182, + 0.11517197638750076, + -0.10533067584037781, + -0.2438865602016449, + 0.0, + 0.9994885921478271 + ], + [ + 0.24895910918712616, + -0.05169103667140007, + 0.08836697787046432, + 0.08128578215837479, + -0.15496613085269928, + -0.46662431955337524, + 0.0, + 0.9994885921478271 + ], + [ + 0.26278117299079895, + -0.07570835202932358, + 0.07848291844129562, + 0.08727920800447464, + -0.17558249831199646, + -0.6100175976753235, + 0.0, + 0.9994885921478271 + ], + [ + 0.2761934697628021, + -0.0922570452094078, + 0.06580209732055664, + 0.11322630941867828, + -0.1913960725069046, + -0.7043904066085815, + 0.0, + 0.9994885921478271 + ], + [ + 0.28651005029678345, + -0.10132743418216705, + 0.05338979884982109, + 0.14880964159965515, + -0.1682422012090683, + -0.7540791034698486, + 0.0, + 0.9994885921478271 + ], + [ + 0.292701780796051, + -0.10564921796321869, + 0.03902922198176384, + 0.14431750774383545, + -0.1542012244462967, + -0.7859461307525635, + 0.0, + 0.9994885921478271 + ], + [ + 0.2938946485519409, + -0.1067987009882927, + 0.02756432630121708, + 0.1202167496085167, + -0.146805539727211, + -0.7917694449424744, + 0.0, + 0.9994885921478271 + ], + [ + 0.29641416668891907, + -0.10249517858028412, + 0.01938001811504364, + 0.09581580758094788, + -0.15074312686920166, + -0.7777191996574402, + 0.0, + 0.9994885921478271 + ], + [ + 0.3002920150756836, + -0.10025132447481155, + 0.015775805339217186, + 0.07713691145181656, + -0.17418594658374786, + -0.7717512845993042, + 0.0, + 0.9327637553215027 + ], + [ + 0.30125775933265686, + -0.09946601092815399, + 0.012929319404065609, + 0.07428198307752609, + -0.17388685047626495, + -0.7679288387298584, + 0.0, + 0.6460646390914917 + ], + [ + 0.3012603521347046, + -0.09857804328203201, + 0.012646457180380821, + 0.07874518632888794, + -0.17168574035167694, + -0.7660261392593384, + 0.0, + 0.3494465947151184 + ], + [ + 0.29944565892219543, + -0.09761020541191101, + 0.01136475894600153, + 0.08076751232147217, + -0.16389401257038116, + -0.7667672038078308, + 0.0, + 0.15872089564800262 + ], + [ + 0.29973161220550537, + -0.09697429090738297, + 0.015258822590112686, + 0.09124355018138885, + -0.1759733259677887, + -0.7663689255714417, + 0.0, + 0.13340650498867035 + ], + [ + 0.2944435775279999, + -0.09329769760370255, + 0.017448076978325844, + 0.09812378883361816, + -0.16264846920967102, + -0.7676036953926086, + 0.0, + 0.1275043487548828 + ], + [ + 0.2907540202140808, + -0.0884454995393753, + 0.027143236249685287, + 0.1191861554980278, + -0.15695829689502716, + -0.7654169201850891, + 0.0, + 0.08363015204668045 + ], + [ + 0.28877514600753784, + -0.07829753309488297, + 0.04094932973384857, + 0.1599971055984497, + -0.13348108530044556, + -0.7526494264602661, + 0.0, + 0.0832853764295578 + ], + [ + 0.2869940400123596, + -0.061409588903188705, + 0.04667617753148079, + 0.16862016916275024, + -0.11369074136018753, + -0.7092052698135376, + 0.0, + 0.08363015204668045 + ], + [ + 0.28885746002197266, + -0.04624618962407112, + 0.05034990608692169, + 0.18531163036823273, + -0.10533451288938522, + -0.6929253935813904, + 0.0, + 0.0832853764295578 + ], + [ + 0.2945328950881958, + -0.021580932661890984, + 0.05200393125414848, + 0.18845674395561218, + -0.1073438748717308, + -0.670502245426178, + 0.0, + 0.0832853764295578 + ], + [ + 0.30872130393981934, + -0.015515157952904701, + 0.04635229706764221, + 0.18586930632591248, + -0.11073967814445496, + -0.7003977298736572, + 0.0, + 0.0832853764295578 + ], + [ + 0.32380595803260803, + -0.006970555987209082, + 0.04272163659334183, + 0.19861167669296265, + -0.11998190730810165, + -0.7203516960144043, + 0.0, + 0.0832853764295578 + ], + [ + 0.33810219168663025, + -0.008075579069554806, + 0.04156048968434334, + 0.20925523340702057, + -0.12919390201568604, + -0.7389549612998962, + 0.0, + 0.0832853764295578 + ], + [ + 0.34794455766677856, + -0.009034586139023304, + 0.028903046622872353, + 0.20479775965213776, + -0.12108519673347473, + -0.7415015697479248, + 0.0, + 0.0832853764295578 + ], + [ + 0.35613757371902466, + -0.00641449773684144, + 0.023643940687179565, + 0.21230880916118622, + -0.10396070033311844, + -0.7246222496032715, + 0.0, + 0.0832853764295578 + ], + [ + 0.359396368265152, + -0.00643444387242198, + 0.021482229232788086, + 0.2149447351694107, + -0.1046038568019867, + -0.7119896411895752, + 0.0, + 0.0832853764295578 + ], + [ + 0.3589145243167877, + -0.006129168439656496, + 0.018884945660829544, + 0.21799248456954956, + -0.12141674011945724, + -0.6851401329040527, + 0.0, + 0.11577415466308594 + ], + [ + 0.35299351811408997, + -0.005682856775820255, + 0.015067503787577152, + 0.21254409849643707, + -0.13572973012924194, + -0.6555935740470886, + 0.0, + 0.29961487650871277 + ], + [ + 0.35475343465805054, + -0.004410043824464083, + 0.029283257201313972, + 0.2305602878332138, + -0.16888342797756195, + -0.6456535458564758, + 0.0, + 0.5998998284339905 + ], + [ + 0.35313332080841064, + -0.004879020154476166, + 0.039849892258644104, + 0.23706112802028656, + -0.18887314200401306, + -0.6396636366844177, + 0.0, + 0.8792814016342163 + ], + [ + 0.3484783172607422, + -0.0015422089491039515, + 0.04795335605740547, + 0.22981961071491241, + -0.18497015535831451, + -0.6082260608673096, + 0.0, + 1.00800359249115 + ], + [ + 0.3410993814468384, + 0.004052612464874983, + 0.05760812386870384, + 0.21545901894569397, + -0.18574954569339752, + -0.5672426819801331, + 0.0, + 1.0041072368621826 + ], + [ + 0.3276357650756836, + 0.011165297590196133, + 0.06574179977178574, + 0.18115395307540894, + -0.17659655213356018, + -0.48498132824897766, + 0.0, + 0.9994885921478271 + ], + [ + 0.315443217754364, + 0.010123580694198608, + 0.06977014243602753, + 0.15839582681655884, + -0.17075693607330322, + -0.44896966218948364, + 0.0, + 0.9994885921478271 + ], + [ + 0.2964511811733246, + 0.016908403486013412, + 0.07713567465543747, + 0.14067944884300232, + -0.15664227306842804, + -0.378378301858902, + 0.0, + 0.9994885921478271 + ], + [ + 0.26545801758766174, + 0.03103078156709671, + 0.08000814914703369, + 0.11014731228351593, + -0.12156260013580322, + -0.27194514870643616, + 0.0, + 0.9994885921478271 + ], + [ + 0.24287058413028717, + 0.043990183621644974, + 0.08346977084875107, + 0.09616415947675705, + -0.08632995933294296, + -0.22242365777492523, + 0.0, + 0.9994885921478271 + ], + [ + 0.22316552698612213, + 0.06535068154335022, + 0.0867403969168663, + 0.10147066414356232, + -0.08246858417987823, + -0.149615079164505, + 0.0, + 0.9994885921478271 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9327637553215027 + ], + [ + 0.6460646390914917 + ], + [ + 0.3494465947151184 + ], + [ + 0.15872089564800262 + ], + [ + 0.13340650498867035 + ], + [ + 0.1275043487548828 + ], + [ + 0.08363015204668045 + ], + [ + 0.0832853764295578 + ], + [ + 0.08363015204668045 + ], + [ + 0.0832853764295578 + ], + [ + 0.0832853764295578 + ], + [ + 0.0832853764295578 + ], + [ + 0.0832853764295578 + ], + [ + 0.0832853764295578 + ], + [ + 0.0832853764295578 + ], + [ + 0.0832853764295578 + ], + [ + 0.0832853764295578 + ], + [ + 0.11577415466308594 + ], + [ + 0.29961487650871277 + ], + [ + 0.5998998284339905 + ], + [ + 0.8792814016342163 + ], + [ + 1.00800359249115 + ], + [ + 1.0041072368621826 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.1953107863664627, + 0.08621682971715927, + 0.0786183699965477 + ], + [ + 0.19478069245815277, + 0.08385732769966125, + 0.07556936889886856 + ], + [ + 0.20451626181602478, + 0.0561639703810215, + 0.08084751665592194 + ], + [ + 0.21160125732421875, + 0.03268903121352196, + 0.09086812287569046 + ], + [ + 0.22635400295257568, + -0.00563683919608593, + 0.09496872872114182 + ], + [ + 0.24895910918712616, + -0.05169103667140007, + 0.08836697787046432 + ], + [ + 0.26278117299079895, + -0.07570835202932358, + 0.07848291844129562 + ], + [ + 0.2761934697628021, + -0.0922570452094078, + 0.06580209732055664 + ], + [ + 0.28651005029678345, + -0.10132743418216705, + 0.05338979884982109 + ], + [ + 0.292701780796051, + -0.10564921796321869, + 0.03902922198176384 + ], + [ + 0.2938946485519409, + -0.1067987009882927, + 0.02756432630121708 + ], + [ + 0.29641416668891907, + -0.10249517858028412, + 0.01938001811504364 + ], + [ + 0.3002920150756836, + -0.10025132447481155, + 0.015775805339217186 + ], + [ + 0.30125775933265686, + -0.09946601092815399, + 0.012929319404065609 + ], + [ + 0.3012603521347046, + -0.09857804328203201, + 0.012646457180380821 + ], + [ + 0.29944565892219543, + -0.09761020541191101, + 0.01136475894600153 + ], + [ + 0.29973161220550537, + -0.09697429090738297, + 0.015258822590112686 + ], + [ + 0.2944435775279999, + -0.09329769760370255, + 0.017448076978325844 + ], + [ + 0.2907540202140808, + -0.0884454995393753, + 0.027143236249685287 + ], + [ + 0.28877514600753784, + -0.07829753309488297, + 0.04094932973384857 + ], + [ + 0.2869940400123596, + -0.061409588903188705, + 0.04667617753148079 + ], + [ + 0.28885746002197266, + -0.04624618962407112, + 0.05034990608692169 + ], + [ + 0.2945328950881958, + -0.021580932661890984, + 0.05200393125414848 + ], + [ + 0.30872130393981934, + -0.015515157952904701, + 0.04635229706764221 + ], + [ + 0.32380595803260803, + -0.006970555987209082, + 0.04272163659334183 + ], + [ + 0.33810219168663025, + -0.008075579069554806, + 0.04156048968434334 + ], + [ + 0.34794455766677856, + -0.009034586139023304, + 0.028903046622872353 + ], + [ + 0.35613757371902466, + -0.00641449773684144, + 0.023643940687179565 + ], + [ + 0.359396368265152, + -0.00643444387242198, + 0.021482229232788086 + ], + [ + 0.3589145243167877, + -0.006129168439656496, + 0.018884945660829544 + ], + [ + 0.35299351811408997, + -0.005682856775820255, + 0.015067503787577152 + ], + [ + 0.35475343465805054, + -0.004410043824464083, + 0.029283257201313972 + ], + [ + 0.35313332080841064, + -0.004879020154476166, + 0.039849892258644104 + ], + [ + 0.3484783172607422, + -0.0015422089491039515, + 0.04795335605740547 + ], + [ + 0.3410993814468384, + 0.004052612464874983, + 0.05760812386870384 + ], + [ + 0.3276357650756836, + 0.011165297590196133, + 0.06574179977178574 + ], + [ + 0.315443217754364, + 0.010123580694198608, + 0.06977014243602753 + ], + [ + 0.2964511811733246, + 0.016908403486013412, + 0.07713567465543747 + ], + [ + 0.26545801758766174, + 0.03103078156709671, + 0.08000814914703369 + ], + [ + 0.24287058413028717, + 0.043990183621644974, + 0.08346977084875107 + ], + [ + 0.22316552698612213, + 0.06535068154335022, + 0.0867403969168663 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9858230899574195, + 0.15577342297446628, + -0.06234962711695869, + 0.16408002728084659, + -0.9726962349351583, + 0.16413341887161223, + -0.03507962306414387, + -0.17203684267558936, + -0.984465715405007 + ], + [ + 0.9858009638187267, + 0.15096898719344537, + -0.07351751247053293, + 0.16086386199076091, + -0.9746310541362371, + 0.15561852787732197, + -0.04815887913445521, + -0.16523520574947922, + -0.9850776868559354 + ], + [ + 0.9990675671457415, + 0.03572681369714457, + -0.024240277649802952, + 0.03890897234139352, + -0.9883864213798871, + 0.14689579266676697, + -0.018710642662043635, + -0.14770198649615598, + -0.9888549110138775 + ], + [ + 0.9965566616903193, + -0.0698272534634432, + 0.04470989503899736, + -0.07520798104584706, + -0.9882766325467027, + 0.13286480779031193, + 0.03490815990071107, + -0.13576985024629393, + -0.9901252285122548 + ], + [ + 0.965028656541512, + -0.22815178848853251, + 0.12909861913734344, + -0.24013768930335094, + -0.9668953911320665, + 0.08629711920809412, + 0.10513601775667657, + -0.11428063710468477, + -0.9878696036184207 + ], + [ + 0.8823898680749168, + -0.4371960709430258, + 0.1739187059252438, + -0.4444831117658268, + -0.8957811212968366, + 0.003308486534558036, + 0.154346636094533, + -0.08022330260069442, + -0.9847544555096661 + ], + [ + 0.8070359657304682, + -0.5582208517169558, + 0.19256798987860635, + -0.5640737986816813, + -0.8252411751769133, + -0.028244511563227027, + 0.17468170957003104, + -0.08582822088930675, + -0.9808770651007535 + ], + [ + 0.7480919181872815, + -0.6270450729346194, + 0.217193366499282, + -0.6357445702096461, + -0.77104534307189, + -0.03630317308588182, + 0.19022965960077254, + -0.11092139304736998, + -0.9754532901029167 + ], + [ + 0.7186106746917519, + -0.658955585103108, + 0.2222076395637318, + -0.6749513464016182, + -0.7378431712341887, + -0.005304210942064819, + 0.16744962887300613, + -0.14616768290048174, + -0.9749849384815114 + ], + [ + 0.6983336485373326, + -0.6845285324858431, + 0.20916692743671447, + -0.6990993963035078, + -0.7150001839319335, + -0.005896699532159058, + 0.153590850666987, + -0.14211060899904565, + -0.9778621709634299 + ], + [ + 0.6950298375167516, + -0.6941363652542182, + 0.18737190662716918, + -0.7039432092796333, + -0.7099999135842624, + -0.01908090195537538, + 0.14627878544248496, + -0.11863738509425562, + -0.9821037052101316 + ], + [ + 0.7044356234288782, + -0.6882011039372002, + 0.17363666946813583, + -0.6936991858936268, + -0.7193281870747618, + -0.036720549699807606, + 0.1501728734988022, + -0.0945843529308915, + -0.9841249454443055 + ], + [ + 0.7058454399334593, + -0.6857462371429821, + 0.1775790335861259, + -0.6868384714406577, + -0.7238730171541528, + -0.06527456767535572, + 0.17330645998981767, + -0.07589435605092609, + -0.9819393655646019 + ], + [ + 0.7085029359110745, + -0.6834948949832081, + 0.1756653589563987, + -0.6841713809176991, + -0.7262863888044884, + -0.0664650507447596, + 0.17301188207333015, + -0.0730945276284619, + -0.9822036849310918 + ], + [ + 0.7100761502524464, + -0.6814432939121841, + 0.17727633238754126, + -0.6830844332738996, + -0.7277552137838952, + -0.061384084494537805, + 0.17084354790726164, + -0.07750732863716678, + -0.982244926760118 + ], + [ + 0.7105068460368862, + -0.6820689643632396, + 0.17309520382487395, + -0.6845132749015468, + -0.7269429105166307, + -0.05473190416173711, + 0.1631612644541474, + -0.07959857223636625, + -0.983383175105033 + ], + [ + 0.7093077113060942, + -0.6791469210863175, + 0.18879096975407925, + -0.6828135075178372, + -0.7284995566108894, + -0.05526400246929114, + 0.1750665148819123, + -0.08970984113636951, + -0.9804610444940627 + ], + [ + 0.7100796927828654, + -0.679657279264289, + 0.18399133849302843, + -0.6852479585473084, + -0.7271315083857682, + -0.04141261666912681, + 0.16193228586090588, + -0.0966734309709864, + -0.9820550812149795 + ], + [ + 0.7122293856647419, + -0.6745199448471455, + 0.19429911528112603, + -0.6843208612635228, + -0.7288553337286372, + -0.021791313289183677, + 0.15631462194937112, + -0.11744252423513746, + -0.9807002561772401 + ], + [ + 0.7233877875812612, + -0.659368844596862, + 0.20479950086190854, + -0.6774942620585023, + -0.7350516253999035, + 0.02646947061738507, + 0.13308506173155907, + -0.1578981784947458, + -0.9784459778505649 + ], + [ + 0.7539804672154244, + -0.6275465141927783, + 0.1941618592363163, + -0.6470266337209813, + -0.7605153120717226, + 0.05452518097306193, + 0.11344597971415758, + -0.16673881560375559, + -0.9794529989018113 + ], + [ + 0.7651162635893878, + -0.612949160277634, + 0.19720656709642845, + -0.6352501228605307, + -0.7685827901605174, + 0.07574810938073005, + 0.10513983353941339, + -0.18323160640025404, + -0.9774312220403476 + ], + [ + 0.7789999361095922, + -0.5946515078240512, + 0.19886850877862366, + -0.6178030282581145, + -0.7821093156114429, + 0.08139064263724327, + 0.10713784493051241, + -0.18626487236294031, + -0.9766406091839837 + ], + [ + 0.7599025271473288, + -0.6178054420508851, + 0.20214990726540977, + -0.6405738992029227, + -0.7645797200384354, + 0.07129467978686435, + 0.11051347834118265, + -0.18366896166271054, + -0.9767561024261249 + ], + [ + 0.746170566680305, + -0.6289316094727485, + 0.21834494733336515, + -0.6549066904593553, + -0.7523776566758095, + 0.07088785880946882, + 0.11969424468856418, + -0.1958900006152313, + -0.9732935813244625 + ], + [ + 0.7330125973789583, + -0.6390411613740193, + 0.23306421036593716, + -0.6679027812651249, + -0.7410737508984999, + 0.06867001170481037, + 0.1288348045446726, + -0.2060002179585561, + -0.9700337640200796 + ], + [ + 0.732055692261494, + -0.6431661901921507, + 0.2245700675095839, + -0.6704508580386269, + -0.7386350066958878, + 0.07009974207252737, + 0.1207895292763976, + -0.20188010966184908, + -0.9719332852310935 + ], + [ + 0.7447073315201935, + -0.631596795205662, + 0.21563042147621408, + -0.659273875924838, + -0.7464327259822064, + 0.09053254721818983, + 0.1037735366223686, + -0.20957975538851414, + -0.9722691907224956 + ], + [ + 0.7529253541443109, + -0.621446481202272, + 0.21658181384404884, + -0.6497701862425298, + -0.7541923913740982, + 0.09482901382892787, + 0.10441319915131418, + -0.21212757433849383, + -0.9716479691988528 + ], + [ + 0.7686297907002202, + -0.5975227855537207, + 0.22841796249913895, + -0.6281230136328467, + -0.7725800457057295, + 0.09263667050430817, + 0.12111863850343793, + -0.21467788363372536, + -0.9691458516062577 + ], + [ + 0.7853957555485942, + -0.5732851758580416, + 0.2334472409510709, + -0.6040230130042862, + -0.7922499917556581, + 0.08658031141306757, + 0.13531336566458257, + -0.20900731495470218, + -0.9685072200907688 + ], + [ + 0.787343530890904, + -0.5551193696581675, + 0.26820262823947605, + -0.5931599141992943, + -0.8006841354967151, + 0.08406087883768293, + 0.16808176745658565, + -0.2252718371084066, + -0.9596880320471198 + ], + [ + 0.7880288886228921, + -0.5448553190482369, + 0.2866062665061834, + -0.5863101428432443, + -0.806178503463585, + 0.07947727318138653, + 0.18775219597891213, + -0.23067054831091538, + -0.9547461500561485 + ], + [ + 0.80666387753002, + -0.5220056350459825, + 0.2771344541345832, + -0.5616652498987385, + -0.8230259729589338, + 0.08461911658241465, + 0.18391719806592496, + -0.22391597713258654, + -0.9570977481116223 + ], + [ + 0.828877871879596, + -0.4915844834392157, + 0.26703215003094843, + -0.5280658816135638, + -0.8451006176752397, + 0.08337488039342185, + 0.1846832374202952, + -0.21011816115397364, + -0.9600741951376629 + ], + [ + 0.8709244443973542, + -0.43056184437599254, + 0.23686939506551524, + -0.45894130435170644, + -0.8849626911937402, + 0.07882838546543273, + 0.17568008228343324, + -0.17736271694658973, + -0.9683382546022902 + ], + [ + 0.8877925542867718, + -0.40445691837019404, + 0.219633744528149, + -0.42772508092262473, + -0.9012507503529189, + 0.06927005224507587, + 0.16992832519242979, + -0.1554402977698756, + -0.9731200738482939 + ], + [ + 0.9178876325925532, + -0.34543774718097103, + 0.1953331941994843, + -0.3648911093670422, + -0.9281652556535146, + 0.07323753479285709, + 0.15600247510384946, + -0.1384991733555881, + -0.9779985719525829 + ], + [ + 0.9561418025941196, + -0.25413785656965404, + 0.14562555816287853, + -0.26662339633598275, + -0.9609933351960477, + 0.07351036821457557, + 0.12126342341503238, + -0.1091135168847516, + -0.9866049982514319 + ], + [ + 0.9717332936580623, + -0.2115002051004096, + 0.10489074906271988, + -0.21977270253422207, + -0.9726855227771496, + 0.07471835785499624, + 0.08622276507546099, + -0.09565843936751013, + -0.9916728784032132 + ], + [ + 0.9854678871279282, + -0.14003970588197495, + 0.09613492713944573, + -0.14855093490423654, + -0.9849860416529163, + 0.0879495167013244, + 0.08237513689635885, + -0.10095235770109194, + -0.9914751425506827 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0005300939083099365, + -0.0023595020174980164, + -0.003049001097679138, + -0.006813406944274902, + 0.013090692460536957, + -0.003172576427459717, + 1.0 + ], + [ + 0.00973556935787201, + -0.027693357318639755, + 0.005278147757053375, + -0.0179205983877182, + -0.029465779662132263, + -0.12282957136631012, + 1.0 + ], + [ + 0.00708499550819397, + -0.023474939167499542, + 0.010020606219768524, + -0.011996477842330933, + -0.05362698808312416, + -0.11425067484378815, + 1.0 + ], + [ + 0.014752745628356934, + -0.03832586854696274, + 0.004100605845451355, + -0.021102063357830048, + -0.0704154223203659, + -0.16856150329113007, + 1.0 + ], + [ + 0.022605106234550476, + -0.04605419933795929, + -0.00660175085067749, + -0.03388619422912598, + -0.04963545501232147, + -0.22273775935173035, + 1.0 + ], + [ + 0.01382206380367279, + -0.024017315357923508, + -0.009884059429168701, + 0.0059934258460998535, + -0.02061636745929718, + -0.14339327812194824, + 1.0 + ], + [ + 0.013412296772003174, + -0.01654869318008423, + -0.012680821120738983, + 0.025947101414203644, + -0.015813574194908142, + -0.09437280893325806, + 1.0 + ], + [ + 0.010316580533981323, + -0.009070388972759247, + -0.01241229847073555, + 0.03558333218097687, + 0.023153871297836304, + -0.04968869686126709, + 1.0 + ], + [ + 0.006191730499267578, + -0.004321783781051636, + -0.014360576868057251, + -0.004492133855819702, + 0.014040976762771606, + -0.031867027282714844, + 1.0 + ], + [ + 0.0011928677558898926, + -0.0011494830250740051, + -0.01146489568054676, + -0.024100758135318756, + 0.007395684719085693, + -0.005823314189910889, + 1.0 + ], + [ + 0.0025195181369781494, + 0.0043035224080085754, + -0.008184308186173439, + -0.024400942027568817, + -0.003937587141990662, + 0.01405024528503418, + 1.0 + ], + [ + 0.0038778483867645264, + 0.0022438541054725647, + -0.003604212775826454, + -0.018678896129131317, + -0.023442819714546204, + 0.005967915058135986, + 0.0 + ], + [ + 0.0009657442569732666, + 0.0007853135466575623, + -0.002846485935151577, + -0.0028549283742904663, + 0.00029909610748291016, + 0.0038224458694458008, + 0.0 + ], + [ + 2.592802047729492e-06, + 0.0008879676461219788, + -0.00028286222368478775, + 0.004463203251361847, + 0.0022011101245880127, + 0.0019026994705200195, + 0.0 + ], + [ + -0.0018146932125091553, + 0.0009678378701210022, + -0.0012816982343792915, + 0.0020223259925842285, + 0.007791727781295776, + -0.0007410645484924316, + 0.0 + ], + [ + 0.0002859532833099365, + 0.0006359145045280457, + 0.0038940636441111565, + 0.010476037859916687, + -0.012079313397407532, + 0.00039827823638916016, + 0.0 + ], + [ + -0.005288034677505493, + 0.00367659330368042, + 0.0021892543882131577, + 0.006880238652229309, + 0.013324856758117676, + -0.0012347698211669922, + 0.0 + ], + [ + -0.0036895573139190674, + 0.00485219806432724, + 0.009695159271359444, + 0.021062366664409637, + 0.00569017231464386, + 0.0021867752075195312, + 0.0 + ], + [ + -0.0019788742065429688, + 0.01014796644449234, + 0.013806093484163284, + 0.040810950100421906, + 0.023477211594581604, + 0.012767493724822998, + 0.0 + ], + [ + -0.0017811059951782227, + 0.01688794419169426, + 0.005726847797632217, + 0.008623063564300537, + 0.019790343940258026, + 0.043444156646728516, + 0.0 + ], + [ + 0.0018634200096130371, + 0.015163399279117584, + 0.0036737285554409027, + 0.016691461205482483, + 0.008356228470802307, + 0.016279876232147217, + 0.0 + ], + [ + 0.0056754350662231445, + 0.024665256962180138, + 0.0016540251672267914, + 0.0031451135873794556, + -0.002009361982345581, + 0.022423148155212402, + 0.0 + ], + [ + 0.014188408851623535, + 0.006065774708986282, + -0.005651634186506271, + -0.002587437629699707, + -0.0033958032727241516, + -0.029895484447479248, + 0.0 + ], + [ + 0.015084654092788696, + 0.008544601500034332, + -0.0036306604743003845, + 0.012742370367050171, + -0.009242229163646698, + -0.01995396614074707, + 0.0 + ], + [ + 0.014296233654022217, + -0.001105023082345724, + -0.0011611469089984894, + 0.010643556714057922, + -0.009211994707584381, + -0.018603265285491943, + 0.0 + ], + [ + 0.009842365980148315, + -0.0009590070694684982, + -0.012657443061470985, + -0.0044574737548828125, + 0.008108705282211304, + -0.0025466084480285645, + 0.0 + ], + [ + 0.008193016052246094, + 0.002620088402181864, + -0.005259105935692787, + 0.007511049509048462, + 0.017124496400356293, + 0.01687932014465332, + 0.0 + ], + [ + 0.0032587945461273193, + -1.9946135580539703e-05, + -0.0021617114543914795, + 0.0026359260082244873, + -0.0006431564688682556, + 0.012632608413696289, + 0.0 + ], + [ + -0.0004818439483642578, + 0.00030527543276548386, + -0.002597283571958542, + 0.003047749400138855, + -0.01681288331747055, + 0.02684950828552246, + 1.0 + ], + [ + -0.005921006202697754, + 0.00044631166383624077, + -0.003817441873252392, + -0.005448386073112488, + -0.014312990009784698, + 0.02954655885696411, + 1.0 + ], + [ + 0.0017599165439605713, + 0.0012728129513561726, + 0.01421575341373682, + 0.018016189336776733, + -0.03315369784832001, + 0.009940028190612793, + 1.0 + ], + [ + -0.0016201138496398926, + -0.00046897633001208305, + 0.010566635057330132, + 0.006500840187072754, + -0.01998971402645111, + 0.0059899091720581055, + 1.0 + ], + [ + -0.004655003547668457, + 0.0033368112053722143, + 0.008103463798761368, + -0.0072415173053741455, + 0.0039029866456985474, + 0.031437575817108154, + 1.0 + ], + [ + -0.007378935813903809, + 0.005594821646809578, + 0.00965476781129837, + -0.014360591769218445, + -0.0007793903350830078, + 0.040983378887176514, + 1.0 + ], + [ + -0.013463616371154785, + 0.00711268512532115, + 0.008133675903081894, + -0.034305065870285034, + 0.009152993559837341, + 0.0822613537311554, + 1.0 + ], + [ + -0.01219254732131958, + -0.0010417168959975243, + 0.004028342664241791, + -0.022758126258850098, + 0.005839616060256958, + 0.03601166605949402, + 1.0 + ], + [ + -0.01899203658103943, + 0.006784822791814804, + 0.007365532219409943, + -0.01771637797355652, + 0.014114663004875183, + 0.07059136033058167, + 1.0 + ], + [ + -0.030993163585662842, + 0.014122378081083298, + 0.002872474491596222, + -0.03053213655948639, + 0.03507967293262482, + 0.10643315315246582, + 1.0 + ], + [ + -0.022587433457374573, + 0.012959402054548264, + 0.0034616217017173767, + -0.01398315280675888, + 0.03523264080286026, + 0.049521490931510925, + 1.0 + ], + [ + -0.01970505714416504, + 0.021360497921705246, + 0.0032706260681152344, + 0.005306504666805267, + 0.003861375153064728, + 0.07280857861042023, + 1.0 + ], + [ + -0.026309281587600708, + 0.0203884094953537, + -0.005088552832603455, + 0.023644059896469116, + 0.025345921516418457, + 0.09222863614559174, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9327637553215027 + ], + [ + 0.6460646390914917 + ], + [ + 0.3494465947151184 + ], + [ + 0.15872089564800262 + ], + [ + 0.13340650498867035 + ], + [ + 0.1275043487548828 + ], + [ + 0.08363015204668045 + ], + [ + 0.0832853764295578 + ], + [ + 0.08363015204668045 + ], + [ + 0.0832853764295578 + ], + [ + 0.0832853764295578 + ], + [ + 0.0832853764295578 + ], + [ + 0.0832853764295578 + ], + [ + 0.0832853764295578 + ], + [ + 0.0832853764295578 + ], + [ + 0.0832853764295578 + ], + [ + 0.0832853764295578 + ], + [ + 0.11577415466308594 + ], + [ + 0.29961487650871277 + ], + [ + 0.5998998284339905 + ], + [ + 0.8792814016342163 + ], + [ + 1.00800359249115 + ], + [ + 1.0041072368621826 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.19478069245815277, + 0.08385732769966125, + 0.07556936889886856 + ], + [ + 0.20451626181602478, + 0.0561639703810215, + 0.08084751665592194 + ], + [ + 0.21160125732421875, + 0.03268903121352196, + 0.09086812287569046 + ], + [ + 0.22635400295257568, + -0.00563683919608593, + 0.09496872872114182 + ], + [ + 0.24895910918712616, + -0.05169103667140007, + 0.08836697787046432 + ], + [ + 0.26278117299079895, + -0.07570835202932358, + 0.07848291844129562 + ], + [ + 0.2761934697628021, + -0.0922570452094078, + 0.06580209732055664 + ], + [ + 0.28651005029678345, + -0.10132743418216705, + 0.05338979884982109 + ], + [ + 0.292701780796051, + -0.10564921796321869, + 0.03902922198176384 + ], + [ + 0.2938946485519409, + -0.1067987009882927, + 0.02756432630121708 + ], + [ + 0.29641416668891907, + -0.10249517858028412, + 0.01938001811504364 + ], + [ + 0.3002920150756836, + -0.10025132447481155, + 0.015775805339217186 + ], + [ + 0.30125775933265686, + -0.09946601092815399, + 0.012929319404065609 + ], + [ + 0.3012603521347046, + -0.09857804328203201, + 0.012646457180380821 + ], + [ + 0.29944565892219543, + -0.09761020541191101, + 0.01136475894600153 + ], + [ + 0.29973161220550537, + -0.09697429090738297, + 0.015258822590112686 + ], + [ + 0.2944435775279999, + -0.09329769760370255, + 0.017448076978325844 + ], + [ + 0.2907540202140808, + -0.0884454995393753, + 0.027143236249685287 + ], + [ + 0.28877514600753784, + -0.07829753309488297, + 0.04094932973384857 + ], + [ + 0.2869940400123596, + -0.061409588903188705, + 0.04667617753148079 + ], + [ + 0.28885746002197266, + -0.04624618962407112, + 0.05034990608692169 + ], + [ + 0.2945328950881958, + -0.021580932661890984, + 0.05200393125414848 + ], + [ + 0.30872130393981934, + -0.015515157952904701, + 0.04635229706764221 + ], + [ + 0.32380595803260803, + -0.006970555987209082, + 0.04272163659334183 + ], + [ + 0.33810219168663025, + -0.008075579069554806, + 0.04156048968434334 + ], + [ + 0.34794455766677856, + -0.009034586139023304, + 0.028903046622872353 + ], + [ + 0.35613757371902466, + -0.00641449773684144, + 0.023643940687179565 + ], + [ + 0.359396368265152, + -0.00643444387242198, + 0.021482229232788086 + ], + [ + 0.3589145243167877, + -0.006129168439656496, + 0.018884945660829544 + ], + [ + 0.35299351811408997, + -0.005682856775820255, + 0.015067503787577152 + ], + [ + 0.35475343465805054, + -0.004410043824464083, + 0.029283257201313972 + ], + [ + 0.35313332080841064, + -0.004879020154476166, + 0.039849892258644104 + ], + [ + 0.3484783172607422, + -0.0015422089491039515, + 0.04795335605740547 + ], + [ + 0.3410993814468384, + 0.004052612464874983, + 0.05760812386870384 + ], + [ + 0.3276357650756836, + 0.011165297590196133, + 0.06574179977178574 + ], + [ + 0.315443217754364, + 0.010123580694198608, + 0.06977014243602753 + ], + [ + 0.2964511811733246, + 0.016908403486013412, + 0.07713567465543747 + ], + [ + 0.26545801758766174, + 0.03103078156709671, + 0.08000814914703369 + ], + [ + 0.24287058413028717, + 0.043990183621644974, + 0.08346977084875107 + ], + [ + 0.22316552698612213, + 0.06535068154335022, + 0.0867403969168663 + ], + [ + 0.19685624539852142, + 0.08573909103870392, + 0.08165184408426285 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9858009638187267, + 0.15096898719344537, + -0.07351751247053293, + 0.16086386199076091, + -0.9746310541362371, + 0.15561852787732197, + -0.04815887913445521, + -0.16523520574947922, + -0.9850776868559354 + ], + [ + 0.9990675671457415, + 0.03572681369714457, + -0.024240277649802952, + 0.03890897234139352, + -0.9883864213798871, + 0.14689579266676697, + -0.018710642662043635, + -0.14770198649615598, + -0.9888549110138775 + ], + [ + 0.9965566616903193, + -0.0698272534634432, + 0.04470989503899736, + -0.07520798104584706, + -0.9882766325467027, + 0.13286480779031193, + 0.03490815990071107, + -0.13576985024629393, + -0.9901252285122548 + ], + [ + 0.965028656541512, + -0.22815178848853251, + 0.12909861913734344, + -0.24013768930335094, + -0.9668953911320665, + 0.08629711920809412, + 0.10513601775667657, + -0.11428063710468477, + -0.9878696036184207 + ], + [ + 0.8823898680749168, + -0.4371960709430258, + 0.1739187059252438, + -0.4444831117658268, + -0.8957811212968366, + 0.003308486534558036, + 0.154346636094533, + -0.08022330260069442, + -0.9847544555096661 + ], + [ + 0.8070359657304682, + -0.5582208517169558, + 0.19256798987860635, + -0.5640737986816813, + -0.8252411751769133, + -0.028244511563227027, + 0.17468170957003104, + -0.08582822088930675, + -0.9808770651007535 + ], + [ + 0.7480919181872815, + -0.6270450729346194, + 0.217193366499282, + -0.6357445702096461, + -0.77104534307189, + -0.03630317308588182, + 0.19022965960077254, + -0.11092139304736998, + -0.9754532901029167 + ], + [ + 0.7186106746917519, + -0.658955585103108, + 0.2222076395637318, + -0.6749513464016182, + -0.7378431712341887, + -0.005304210942064819, + 0.16744962887300613, + -0.14616768290048174, + -0.9749849384815114 + ], + [ + 0.6983336485373326, + -0.6845285324858431, + 0.20916692743671447, + -0.6990993963035078, + -0.7150001839319335, + -0.005896699532159058, + 0.153590850666987, + -0.14211060899904565, + -0.9778621709634299 + ], + [ + 0.6950298375167516, + -0.6941363652542182, + 0.18737190662716918, + -0.7039432092796333, + -0.7099999135842624, + -0.01908090195537538, + 0.14627878544248496, + -0.11863738509425562, + -0.9821037052101316 + ], + [ + 0.7044356234288782, + -0.6882011039372002, + 0.17363666946813583, + -0.6936991858936268, + -0.7193281870747618, + -0.036720549699807606, + 0.1501728734988022, + -0.0945843529308915, + -0.9841249454443055 + ], + [ + 0.7058454399334593, + -0.6857462371429821, + 0.1775790335861259, + -0.6868384714406577, + -0.7238730171541528, + -0.06527456767535572, + 0.17330645998981767, + -0.07589435605092609, + -0.9819393655646019 + ], + [ + 0.7085029359110745, + -0.6834948949832081, + 0.1756653589563987, + -0.6841713809176991, + -0.7262863888044884, + -0.0664650507447596, + 0.17301188207333015, + -0.0730945276284619, + -0.9822036849310918 + ], + [ + 0.7100761502524464, + -0.6814432939121841, + 0.17727633238754126, + -0.6830844332738996, + -0.7277552137838952, + -0.061384084494537805, + 0.17084354790726164, + -0.07750732863716678, + -0.982244926760118 + ], + [ + 0.7105068460368862, + -0.6820689643632396, + 0.17309520382487395, + -0.6845132749015468, + -0.7269429105166307, + -0.05473190416173711, + 0.1631612644541474, + -0.07959857223636625, + -0.983383175105033 + ], + [ + 0.7093077113060942, + -0.6791469210863175, + 0.18879096975407925, + -0.6828135075178372, + -0.7284995566108894, + -0.05526400246929114, + 0.1750665148819123, + -0.08970984113636951, + -0.9804610444940627 + ], + [ + 0.7100796927828654, + -0.679657279264289, + 0.18399133849302843, + -0.6852479585473084, + -0.7271315083857682, + -0.04141261666912681, + 0.16193228586090588, + -0.0966734309709864, + -0.9820550812149795 + ], + [ + 0.7122293856647419, + -0.6745199448471455, + 0.19429911528112603, + -0.6843208612635228, + -0.7288553337286372, + -0.021791313289183677, + 0.15631462194937112, + -0.11744252423513746, + -0.9807002561772401 + ], + [ + 0.7233877875812612, + -0.659368844596862, + 0.20479950086190854, + -0.6774942620585023, + -0.7350516253999035, + 0.02646947061738507, + 0.13308506173155907, + -0.1578981784947458, + -0.9784459778505649 + ], + [ + 0.7539804672154244, + -0.6275465141927783, + 0.1941618592363163, + -0.6470266337209813, + -0.7605153120717226, + 0.05452518097306193, + 0.11344597971415758, + -0.16673881560375559, + -0.9794529989018113 + ], + [ + 0.7651162635893878, + -0.612949160277634, + 0.19720656709642845, + -0.6352501228605307, + -0.7685827901605174, + 0.07574810938073005, + 0.10513983353941339, + -0.18323160640025404, + -0.9774312220403476 + ], + [ + 0.7789999361095922, + -0.5946515078240512, + 0.19886850877862366, + -0.6178030282581145, + -0.7821093156114429, + 0.08139064263724327, + 0.10713784493051241, + -0.18626487236294031, + -0.9766406091839837 + ], + [ + 0.7599025271473288, + -0.6178054420508851, + 0.20214990726540977, + -0.6405738992029227, + -0.7645797200384354, + 0.07129467978686435, + 0.11051347834118265, + -0.18366896166271054, + -0.9767561024261249 + ], + [ + 0.746170566680305, + -0.6289316094727485, + 0.21834494733336515, + -0.6549066904593553, + -0.7523776566758095, + 0.07088785880946882, + 0.11969424468856418, + -0.1958900006152313, + -0.9732935813244625 + ], + [ + 0.7330125973789583, + -0.6390411613740193, + 0.23306421036593716, + -0.6679027812651249, + -0.7410737508984999, + 0.06867001170481037, + 0.1288348045446726, + -0.2060002179585561, + -0.9700337640200796 + ], + [ + 0.732055692261494, + -0.6431661901921507, + 0.2245700675095839, + -0.6704508580386269, + -0.7386350066958878, + 0.07009974207252737, + 0.1207895292763976, + -0.20188010966184908, + -0.9719332852310935 + ], + [ + 0.7447073315201935, + -0.631596795205662, + 0.21563042147621408, + -0.659273875924838, + -0.7464327259822064, + 0.09053254721818983, + 0.1037735366223686, + -0.20957975538851414, + -0.9722691907224956 + ], + [ + 0.7529253541443109, + -0.621446481202272, + 0.21658181384404884, + -0.6497701862425298, + -0.7541923913740982, + 0.09482901382892787, + 0.10441319915131418, + -0.21212757433849383, + -0.9716479691988528 + ], + [ + 0.7686297907002202, + -0.5975227855537207, + 0.22841796249913895, + -0.6281230136328467, + -0.7725800457057295, + 0.09263667050430817, + 0.12111863850343793, + -0.21467788363372536, + -0.9691458516062577 + ], + [ + 0.7853957555485942, + -0.5732851758580416, + 0.2334472409510709, + -0.6040230130042862, + -0.7922499917556581, + 0.08658031141306757, + 0.13531336566458257, + -0.20900731495470218, + -0.9685072200907688 + ], + [ + 0.787343530890904, + -0.5551193696581675, + 0.26820262823947605, + -0.5931599141992943, + -0.8006841354967151, + 0.08406087883768293, + 0.16808176745658565, + -0.2252718371084066, + -0.9596880320471198 + ], + [ + 0.7880288886228921, + -0.5448553190482369, + 0.2866062665061834, + -0.5863101428432443, + -0.806178503463585, + 0.07947727318138653, + 0.18775219597891213, + -0.23067054831091538, + -0.9547461500561485 + ], + [ + 0.80666387753002, + -0.5220056350459825, + 0.2771344541345832, + -0.5616652498987385, + -0.8230259729589338, + 0.08461911658241465, + 0.18391719806592496, + -0.22391597713258654, + -0.9570977481116223 + ], + [ + 0.828877871879596, + -0.4915844834392157, + 0.26703215003094843, + -0.5280658816135638, + -0.8451006176752397, + 0.08337488039342185, + 0.1846832374202952, + -0.21011816115397364, + -0.9600741951376629 + ], + [ + 0.8709244443973542, + -0.43056184437599254, + 0.23686939506551524, + -0.45894130435170644, + -0.8849626911937402, + 0.07882838546543273, + 0.17568008228343324, + -0.17736271694658973, + -0.9683382546022902 + ], + [ + 0.8877925542867718, + -0.40445691837019404, + 0.219633744528149, + -0.42772508092262473, + -0.9012507503529189, + 0.06927005224507587, + 0.16992832519242979, + -0.1554402977698756, + -0.9731200738482939 + ], + [ + 0.9178876325925532, + -0.34543774718097103, + 0.1953331941994843, + -0.3648911093670422, + -0.9281652556535146, + 0.07323753479285709, + 0.15600247510384946, + -0.1384991733555881, + -0.9779985719525829 + ], + [ + 0.9561418025941196, + -0.25413785656965404, + 0.14562555816287853, + -0.26662339633598275, + -0.9609933351960477, + 0.07351036821457557, + 0.12126342341503238, + -0.1091135168847516, + -0.9866049982514319 + ], + [ + 0.9717332936580623, + -0.2115002051004096, + 0.10489074906271988, + -0.21977270253422207, + -0.9726855227771496, + 0.07471835785499624, + 0.08622276507546099, + -0.09565843936751013, + -0.9916728784032132 + ], + [ + 0.9854678871279282, + -0.14003970588197495, + 0.09613492713944573, + -0.14855093490423654, + -0.9849860416529163, + 0.0879495167013244, + 0.08237513689635885, + -0.10095235770109194, + -0.9914751425506827 + ], + [ + 0.9967254793765425, + -0.04979397266988962, + 0.06370933249808283, + -0.057261397829505414, + -0.9909586933786032, + 0.12133425046532412, + 0.057091602536731276, + -0.12458502439346866, + -0.9905650511787029 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006461.json b/json/chunk-0006/episode_0006461.json new file mode 100644 index 0000000000000000000000000000000000000000..65b436d00eb59903cb7582d21c59aa9da2440506 --- /dev/null +++ b/json/chunk-0006/episode_0006461.json @@ -0,0 +1,1042 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 16, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut sweet potato in pot which is in sink." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006461.mp4", + "start": 0, + "end": 16, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.30838483572006226, + -0.1823851466178894, + 0.06285463273525238, + 0.003547213738784194, + -0.2700144350528717, + 0.004990056622773409, + 0.0, + 0.9994885921478271 + ], + [ + 0.30534639954566956, + -0.18280227482318878, + 0.052999723702669144, + -0.0064212484285235405, + -0.26178818941116333, + 0.00354242161847651, + 0.0, + 0.9994885921478271 + ], + [ + 0.30447468161582947, + -0.18008391559123993, + 0.04447750374674797, + -0.03827766329050064, + -0.265444815158844, + 0.01071996707469225, + 0.0, + 0.9994885921478271 + ], + [ + 0.3066195547580719, + -0.17542043328285217, + 0.03782471641898155, + -0.04926541820168495, + -0.27374300360679626, + 0.012083143927156925, + 0.0, + 0.9994885921478271 + ], + [ + 0.3087787628173828, + -0.1754309982061386, + 0.0338822677731514, + -0.07903016358613968, + -0.28650182485580444, + 0.01807449385523796, + 0.0, + 0.9994885921478271 + ], + [ + 0.3101482391357422, + -0.17115621268749237, + 0.02697882242500782, + -0.1072898730635643, + -0.2896786630153656, + 0.036019112914800644, + 0.0, + 0.9994885921478271 + ], + [ + 0.30897217988967896, + -0.17083540558815002, + 0.021966146305203438, + -0.13376304507255554, + -0.3005180358886719, + 0.03746793419122696, + 0.0, + 0.9994885921478271 + ], + [ + 0.3078750967979431, + -0.16921240091323853, + 0.014805331826210022, + -0.1591794341802597, + -0.31100061535835266, + 0.04293733090162277, + 0.0, + 0.9994885921478271 + ], + [ + 0.3111245930194855, + -0.16323678195476532, + 0.009662715718150139, + -0.1753171980381012, + -0.3185175955295563, + 0.04780251905322075, + 0.0, + 0.9994885921478271 + ], + [ + 0.31473469734191895, + -0.1625952571630478, + 0.008555556647479534, + -0.19348706305027008, + -0.3333289623260498, + 0.04857615381479263, + 0.0, + 0.8870869278907776 + ], + [ + 0.3142590820789337, + -0.15796582400798798, + 0.009270137175917625, + -0.14830051362514496, + -0.30946359038352966, + 0.0020162928849458694, + 0.0, + 0.8660832643508911 + ], + [ + 0.313104510307312, + -0.13826844096183777, + 0.015344721265137196, + -0.062090594321489334, + -0.2491392195224762, + -0.04281172528862953, + 0.0, + 0.8535622954368591 + ], + [ + 0.31790390610694885, + -0.1192644014954567, + 0.03689849376678467, + 0.009097595699131489, + -0.2627306878566742, + -0.12229353934526443, + 0.0, + 0.8535622954368591 + ], + [ + 0.31959229707717896, + -0.09235693514347076, + 0.04491071403026581, + 0.0951935276389122, + -0.2832706570625305, + -0.21254903078079224, + 0.0, + 0.8535622954368591 + ], + [ + 0.3246529996395111, + -0.07338488847017288, + 0.04496948793530464, + 0.1575813591480255, + -0.2999931573867798, + -0.2848286032676697, + 0.0, + 0.8535622954368591 + ], + [ + 0.3293473720550537, + -0.06350021064281464, + 0.0449833944439888, + 0.17647430300712585, + -0.315640926361084, + -0.30341216921806335, + 0.0, + 0.9872581958770752 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.8870869278907776 + ], + [ + 0.8660832643508911 + ], + [ + 0.8535622954368591 + ], + [ + 0.8535622954368591 + ], + [ + 0.8535622954368591 + ], + [ + 0.8535622954368591 + ], + [ + 0.9872581958770752 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.30838483572006226, + -0.1823851466178894, + 0.06285463273525238 + ], + [ + 0.30534639954566956, + -0.18280227482318878, + 0.052999723702669144 + ], + [ + 0.30447468161582947, + -0.18008391559123993, + 0.04447750374674797 + ], + [ + 0.3066195547580719, + -0.17542043328285217, + 0.03782471641898155 + ], + [ + 0.3087787628173828, + -0.1754309982061386, + 0.0338822677731514 + ], + [ + 0.3101482391357422, + -0.17115621268749237, + 0.02697882242500782 + ], + [ + 0.30897217988967896, + -0.17083540558815002, + 0.021966146305203438 + ], + [ + 0.3078750967979431, + -0.16921240091323853, + 0.014805331826210022 + ], + [ + 0.3111245930194855, + -0.16323678195476532, + 0.009662715718150139 + ], + [ + 0.31473469734191895, + -0.1625952571630478, + 0.008555556647479534 + ], + [ + 0.3142590820789337, + -0.15796582400798798, + 0.009270137175917625 + ], + [ + 0.313104510307312, + -0.13826844096183777, + 0.015344721265137196 + ], + [ + 0.31790390610694885, + -0.1192644014954567, + 0.03689849376678467 + ], + [ + 0.31959229707717896, + -0.09235693514347076, + 0.04491071403026581 + ], + [ + 0.3246529996395111, + -0.07338488847017288, + 0.04496948793530464 + ], + [ + 0.3293473720550537, + -0.06350021064281464, + 0.0449833944439888 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9637550467877652, + 0.005936193520452757, + 0.2667226488275794, + 0.004809232171714079, + -0.9999765368396766, + 0.004878222631817265, + 0.26674534874488637, + -0.003418680537101792, + -0.9637609825814459 + ], + [ + 0.9659226639914387, + 0.0018804910972404735, + 0.25882401538674005, + 0.0034217196394808304, + -0.9999789966138808, + -0.0055043769679197704, + 0.258808228274124, + 0.00620242568108428, + -0.9659088108580849 + ], + [ + 0.9649204583237058, + 0.0006732324177504958, + 0.26254153169828465, + 0.010344311794115595, + -0.9993177018920766, + -0.03545597126923626, + 0.26233852999869434, + 0.03692800351021533, + -0.964269059046734 + ], + [ + 0.9626954885380135, + -0.001243714833750238, + 0.2705842743434441, + 0.011632954297828322, + -0.9988746504758945, + -0.0459794194283102, + 0.2703369577450715, + 0.04741187414637964, + -0.9615976515503081 + ], + [ + 0.9590816400831985, + -0.004289812792015172, + 0.2830971655837117, + 0.01733680315610732, + -0.9971191423170636, + -0.07384342408914851, + 0.2825983774044861, + 0.07572987211855645, + -0.9562442907318499 + ], + [ + 0.9577141191574658, + 0.005236121201096917, + 0.287673858737993, + 0.034510938849339146, + -0.9947065855773718, + -0.09678741503286396, + 0.28564429114928325, + 0.10262256888118769, + -0.9528252448849418 + ], + [ + 0.9545128841528715, + -0.0023256488025877875, + 0.2981606032724891, + 0.035780370873282855, + -0.9918502932487383, + -0.12228148201000424, + 0.29601506557325413, + 0.12738754703674798, + -0.9466506714800466 + ], + [ + 0.951150395529478, + -0.00607909249474483, + 0.3086680574963304, + 0.04086497544271269, + -0.9885297156953466, + -0.14539276106238475, + 0.30601140316364694, + 0.15090409478114752, + -0.9399920081107597 + ], + [ + 0.948615824992241, + -0.007507117358815624, + 0.3163410497599876, + 0.045380797578804664, + -0.9861564941839538, + -0.15948652667208238, + 0.3131590646706583, + 0.16564725221920903, + -0.9351429773285067 + ], + [ + 0.9438437136092068, + -0.015187698317785072, + 0.33004299432072426, + 0.045884393346254854, + -0.9832369889638362, + -0.1764642909502527, + 0.32719056637933164, + 0.1816985342624899, + -0.9273251726979242 + ], + [ + 0.9524951330963063, + -0.043004967433550145, + 0.3015022291856044, + 0.001920511762381543, + -0.9891123391105434, + -0.14714989722673819, + 0.3045477516949025, + 0.140738599521625, + -0.9420420975424991 + ], + [ + 0.9682370314638428, + -0.05800198973464242, + 0.24321352776707988, + -0.04147724133736831, + -0.9965036698019172, + -0.07252637122008387, + 0.24656984680436372, + 0.06013489218527079, + -0.967257517618105 + ], + [ + 0.9584721170946634, + -0.11963875306608274, + 0.25887790465172345, + -0.11780280881207963, + -0.9927786196006653, + -0.02265194693138369, + 0.2597184995106404, + -0.00878528477571946, + -0.9656444064889265 + ], + [ + 0.9385396522580121, + -0.18402882101892967, + 0.292021770034004, + -0.20254505158851813, + -0.978674964662493, + 0.03421718310838308, + 0.2794974476026829, + -0.09126174761229829, + -0.9557993880550116 + ], + [ + 0.9168477583262324, + -0.23300488175124734, + 0.32418962526930073, + -0.2684434001766689, + -0.9608498002425632, + 0.06859885039426811, + 0.2955136696563311, + -0.14992126751703252, + -0.9435016081556699 + ], + [ + 0.9071767530752906, + -0.2421289301651074, + 0.344098706560885, + -0.2840178913494189, + -0.9557836694231054, + 0.07623263512127709, + 0.31042579801492526, + -0.1668866634611785, + -0.9358336740498241 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0030384361743927, + -0.00041712820529937744, + -0.009854909032583237, + -0.009968462400138378, + 0.008226245641708374, + -0.0014476350042968988, + 1.0 + ], + [ + -0.0008717179298400879, + 0.0027183592319488525, + -0.008522219955921173, + -0.031856413930654526, + -0.003656625747680664, + 0.007177545689046383, + 1.0 + ], + [ + 0.0021448731422424316, + 0.004663482308387756, + -0.0066527873277664185, + -0.010987754911184311, + -0.00829818844795227, + 0.001363176852464676, + 1.0 + ], + [ + 0.002159208059310913, + -1.0564923286437988e-05, + -0.003942448645830154, + -0.029764745384454727, + -0.012758821249008179, + 0.005991349928081036, + 1.0 + ], + [ + 0.001369476318359375, + 0.00427478551864624, + -0.006903445348143578, + -0.02825970947742462, + -0.0031768381595611572, + 0.017944619059562683, + 1.0 + ], + [ + -0.0011760592460632324, + 0.0003208070993423462, + -0.005012676119804382, + -0.02647317200899124, + -0.010839372873306274, + 0.0014488212764263153, + 1.0 + ], + [ + -0.0010970830917358398, + 0.001623004674911499, + -0.007160814478993416, + -0.025416389107704163, + -0.010482579469680786, + 0.005469396710395813, + 1.0 + ], + [ + 0.0032494962215423584, + 0.005975618958473206, + -0.005142616108059883, + -0.01613776385784149, + -0.007516980171203613, + 0.004865188151597977, + 1.0 + ], + [ + 0.0036101043224334717, + 0.0006415247917175293, + -0.0011071590706706047, + -0.018169865012168884, + -0.01481136679649353, + 0.0007736347615718842, + 0.0 + ], + [ + -0.0004756152629852295, + 0.0046294331550598145, + 0.0007145805284380913, + 0.04518654942512512, + 0.02386537194252014, + -0.04655986279249191, + 0.0 + ], + [ + -0.001154571771621704, + 0.019697383046150208, + 0.00607458408921957, + 0.08620992302894592, + 0.06032437086105347, + -0.04482802003622055, + 0.0 + ], + [ + 0.004799395799636841, + 0.019004039466381073, + 0.021553773432970047, + 0.07118818908929825, + -0.013591468334197998, + -0.0794818103313446, + 0.0 + ], + [ + 0.0016883909702301025, + 0.02690746635198593, + 0.00801222026348114, + 0.08609592914581299, + -0.020539969205856323, + -0.0902554914355278, + 0.0 + ], + [ + 0.005060702562332153, + 0.018972046673297882, + 5.877390503883362e-05, + 0.06238783150911331, + -0.016722500324249268, + -0.07227957248687744, + 1.0 + ], + [ + 0.0046943724155426025, + 0.009884677827358246, + 1.3906508684158325e-05, + 0.018892943859100342, + -0.0156477689743042, + -0.018583565950393677, + 1.0 + ], + [ + 5.879998207092285e-05, + 0.00011932104825973511, + 3.14079225063324e-05, + 0.001260608434677124, + 4.273653030395508e-05, + -0.0013479888439178467, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.8870869278907776 + ], + [ + 0.8660832643508911 + ], + [ + 0.8535622954368591 + ], + [ + 0.8535622954368591 + ], + [ + 0.8535622954368591 + ], + [ + 0.8535622954368591 + ], + [ + 0.9872581958770752 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.30534639954566956, + -0.18280227482318878, + 0.052999723702669144 + ], + [ + 0.30447468161582947, + -0.18008391559123993, + 0.04447750374674797 + ], + [ + 0.3066195547580719, + -0.17542043328285217, + 0.03782471641898155 + ], + [ + 0.3087787628173828, + -0.1754309982061386, + 0.0338822677731514 + ], + [ + 0.3101482391357422, + -0.17115621268749237, + 0.02697882242500782 + ], + [ + 0.30897217988967896, + -0.17083540558815002, + 0.021966146305203438 + ], + [ + 0.3078750967979431, + -0.16921240091323853, + 0.014805331826210022 + ], + [ + 0.3111245930194855, + -0.16323678195476532, + 0.009662715718150139 + ], + [ + 0.31473469734191895, + -0.1625952571630478, + 0.008555556647479534 + ], + [ + 0.3142590820789337, + -0.15796582400798798, + 0.009270137175917625 + ], + [ + 0.313104510307312, + -0.13826844096183777, + 0.015344721265137196 + ], + [ + 0.31790390610694885, + -0.1192644014954567, + 0.03689849376678467 + ], + [ + 0.31959229707717896, + -0.09235693514347076, + 0.04491071403026581 + ], + [ + 0.3246529996395111, + -0.07338488847017288, + 0.04496948793530464 + ], + [ + 0.3293473720550537, + -0.06350021064281464, + 0.0449833944439888 + ], + [ + 0.32940617203712463, + -0.0633808895945549, + 0.04501480236649513 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9659226639914387, + 0.0018804910972404735, + 0.25882401538674005, + 0.0034217196394808304, + -0.9999789966138808, + -0.0055043769679197704, + 0.258808228274124, + 0.00620242568108428, + -0.9659088108580849 + ], + [ + 0.9649204583237058, + 0.0006732324177504958, + 0.26254153169828465, + 0.010344311794115595, + -0.9993177018920766, + -0.03545597126923626, + 0.26233852999869434, + 0.03692800351021533, + -0.964269059046734 + ], + [ + 0.9626954885380135, + -0.001243714833750238, + 0.2705842743434441, + 0.011632954297828322, + -0.9988746504758945, + -0.0459794194283102, + 0.2703369577450715, + 0.04741187414637964, + -0.9615976515503081 + ], + [ + 0.9590816400831985, + -0.004289812792015172, + 0.2830971655837117, + 0.01733680315610732, + -0.9971191423170636, + -0.07384342408914851, + 0.2825983774044861, + 0.07572987211855645, + -0.9562442907318499 + ], + [ + 0.9577141191574658, + 0.005236121201096917, + 0.287673858737993, + 0.034510938849339146, + -0.9947065855773718, + -0.09678741503286396, + 0.28564429114928325, + 0.10262256888118769, + -0.9528252448849418 + ], + [ + 0.9545128841528715, + -0.0023256488025877875, + 0.2981606032724891, + 0.035780370873282855, + -0.9918502932487383, + -0.12228148201000424, + 0.29601506557325413, + 0.12738754703674798, + -0.9466506714800466 + ], + [ + 0.951150395529478, + -0.00607909249474483, + 0.3086680574963304, + 0.04086497544271269, + -0.9885297156953466, + -0.14539276106238475, + 0.30601140316364694, + 0.15090409478114752, + -0.9399920081107597 + ], + [ + 0.948615824992241, + -0.007507117358815624, + 0.3163410497599876, + 0.045380797578804664, + -0.9861564941839538, + -0.15948652667208238, + 0.3131590646706583, + 0.16564725221920903, + -0.9351429773285067 + ], + [ + 0.9438437136092068, + -0.015187698317785072, + 0.33004299432072426, + 0.045884393346254854, + -0.9832369889638362, + -0.1764642909502527, + 0.32719056637933164, + 0.1816985342624899, + -0.9273251726979242 + ], + [ + 0.9524951330963063, + -0.043004967433550145, + 0.3015022291856044, + 0.001920511762381543, + -0.9891123391105434, + -0.14714989722673819, + 0.3045477516949025, + 0.140738599521625, + -0.9420420975424991 + ], + [ + 0.9682370314638428, + -0.05800198973464242, + 0.24321352776707988, + -0.04147724133736831, + -0.9965036698019172, + -0.07252637122008387, + 0.24656984680436372, + 0.06013489218527079, + -0.967257517618105 + ], + [ + 0.9584721170946634, + -0.11963875306608274, + 0.25887790465172345, + -0.11780280881207963, + -0.9927786196006653, + -0.02265194693138369, + 0.2597184995106404, + -0.00878528477571946, + -0.9656444064889265 + ], + [ + 0.9385396522580121, + -0.18402882101892967, + 0.292021770034004, + -0.20254505158851813, + -0.978674964662493, + 0.03421718310838308, + 0.2794974476026829, + -0.09126174761229829, + -0.9557993880550116 + ], + [ + 0.9168477583262324, + -0.23300488175124734, + 0.32418962526930073, + -0.2684434001766689, + -0.9608498002425632, + 0.06859885039426811, + 0.2955136696563311, + -0.14992126751703252, + -0.9435016081556699 + ], + [ + 0.9071767530752906, + -0.2421289301651074, + 0.344098706560885, + -0.2840178913494189, + -0.9557836694231054, + 0.07623263512127709, + 0.31042579801492526, + -0.1668866634611785, + -0.9358336740498241 + ], + [ + 0.9068057303969013, + -0.2429898509763898, + 0.3444695917520351, + -0.28524447763123195, + -0.9553579849704573, + 0.07698511891315496, + 0.3103851724877132, + -0.16806859574488883, + -0.9356356084630988 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006462.json b/json/chunk-0006/episode_0006462.json new file mode 100644 index 0000000000000000000000000000000000000000..dbcb67edf3600688dc49a7cef873415198532da8 --- /dev/null +++ b/json/chunk-0006/episode_0006462.json @@ -0,0 +1,2242 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 36, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMoves the brown object in the top of the table." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006462.mp4", + "start": 0, + "end": 36, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.37819185853004456, + -0.06584695726633072, + 0.16977855563163757, + 0.05745067447423935, + -0.3836839497089386, + -0.41933146119117737, + 0.0, + 1.0008161067962646 + ], + [ + 0.37828055024147034, + -0.0667143389582634, + 0.15609383583068848, + 0.04169628024101257, + -0.3480716645717621, + -0.41561344265937805, + 0.0, + 1.0008161067962646 + ], + [ + 0.37467265129089355, + -0.0697721317410469, + 0.15343615412712097, + 0.03366842120885849, + -0.3343169093132019, + -0.46167460083961487, + 0.0, + 1.0008161067962646 + ], + [ + 0.36255189776420593, + -0.07072669267654419, + 0.152871772646904, + 0.029267722740769386, + -0.32265517115592957, + -0.4664734899997711, + 0.0, + 1.0008161067962646 + ], + [ + 0.34067219495773315, + -0.0752355307340622, + 0.16290563344955444, + 0.05567803978919983, + -0.3213474452495575, + -0.48855578899383545, + 0.0, + 1.0008161067962646 + ], + [ + 0.3010655641555786, + -0.08060695230960846, + 0.16342784464359283, + 0.06231149286031723, + -0.2391408234834671, + -0.5141770839691162, + 0.0, + 1.0008161067962646 + ], + [ + 0.2654078006744385, + -0.08582912385463715, + 0.15427006781101227, + 0.03911348804831505, + -0.1627112776041031, + -0.5189191699028015, + 0.0, + 1.0008161067962646 + ], + [ + 0.24323630332946777, + -0.08458883315324783, + 0.1387149840593338, + 0.03970177844166756, + -0.10510978102684021, + -0.47035083174705505, + 0.0, + 1.0008161067962646 + ], + [ + 0.23321643471717834, + -0.08594027161598206, + 0.12183505296707153, + 0.0052332524210214615, + -0.08118230849504471, + -0.45003440976142883, + 0.0, + 1.0008161067962646 + ], + [ + 0.23422403633594513, + -0.0797136127948761, + 0.11069421470165253, + 0.008251611143350601, + -0.05312563106417656, + -0.4325266182422638, + 0.0, + 1.0008161067962646 + ], + [ + 0.2361813187599182, + -0.07123692333698273, + 0.10405357927083969, + 0.013956679031252861, + -0.035424280911684036, + -0.4190139174461365, + 0.0, + 1.0008161067962646 + ], + [ + 0.23861300945281982, + -0.06365595012903214, + 0.10408509522676468, + 0.02380174584686756, + -0.03579029068350792, + -0.39618808031082153, + 0.0, + 1.0008161067962646 + ], + [ + 0.24148546159267426, + -0.05904233455657959, + 0.10261934995651245, + 0.019296251237392426, + -0.040782902389764786, + -0.3829064667224884, + 0.0, + 1.0008161067962646 + ], + [ + 0.24048234522342682, + -0.05667055398225784, + 0.08702380955219269, + 0.002671716269105673, + 0.0003983564383815974, + -0.3818812370300293, + 0.0, + 1.0008161067962646 + ], + [ + 0.24064163863658905, + -0.05814739316701889, + 0.07531927525997162, + -0.00571140693500638, + 0.03017265722155571, + -0.37974295020103455, + 0.0, + 0.9723638892173767 + ], + [ + 0.24083633720874786, + -0.06512336432933807, + 0.06874381005764008, + 0.003992169629782438, + 0.039226237684488297, + -0.405889630317688, + 0.0, + 0.8463236093521118 + ], + [ + 0.24089057743549347, + -0.06486150622367859, + 0.06749101728200912, + 0.026058148592710495, + 0.03683850169181824, + -0.4016655683517456, + 0.0, + 0.6149309277534485 + ], + [ + 0.23986485600471497, + -0.06502287089824677, + 0.06768549233675003, + 0.03582073003053665, + 0.03859541192650795, + -0.390228271484375, + 0.0, + 0.4975702464580536 + ], + [ + 0.23855358362197876, + -0.0665978491306305, + 0.06933559477329254, + 0.04807443171739578, + 0.04060285538434982, + -0.3968844711780548, + 0.0, + 0.464354008436203 + ], + [ + 0.23639731109142303, + -0.06854693591594696, + 0.08585339039564133, + 0.07390206307172775, + 0.0028027875814586878, + -0.40869495272636414, + 0.0, + 0.4615449905395508 + ], + [ + 0.24133636057376862, + -0.06645271927118301, + 0.1088055819272995, + 0.10164885222911835, + -0.06741500645875931, + -0.40157294273376465, + 0.0, + 0.4606100916862488 + ], + [ + 0.2506091296672821, + -0.05330469831824303, + 0.13324281573295593, + 0.11775727570056915, + -0.13581329584121704, + -0.34866130352020264, + 0.0, + 0.4606100916862488 + ], + [ + 0.27960607409477234, + -0.03773793950676918, + 0.14774386584758759, + 0.10516247898340225, + -0.20535795390605927, + -0.285099059343338, + 0.0, + 0.4606100916862488 + ], + [ + 0.3200721740722656, + -0.02106606774032116, + 0.14178252220153809, + 0.09615498036146164, + -0.20484736561775208, + -0.2565914988517761, + 0.0, + 0.4606100916862488 + ], + [ + 0.3541458547115326, + -0.004080215469002724, + 0.13576757907867432, + 0.10202056914567947, + -0.20610730350017548, + -0.23586241900920868, + 0.0, + 0.4606100916862488 + ], + [ + 0.38196203112602234, + 0.010271931998431683, + 0.1215331107378006, + 0.09574323147535324, + -0.1805901825428009, + -0.21839193999767303, + 0.0, + 0.4606100916862488 + ], + [ + 0.40427151322364807, + 0.020994067192077637, + 0.10468291491270065, + 0.09473530203104019, + -0.15584295988082886, + -0.21526025235652924, + 0.0, + 0.4606100916862488 + ], + [ + 0.41884544491767883, + 0.025310127064585686, + 0.09106209129095078, + 0.0938471332192421, + -0.14605595171451569, + -0.21489328145980835, + 0.0, + 0.4606100916862488 + ], + [ + 0.42857423424720764, + 0.03456977754831314, + 0.08695671707391739, + 0.09590260684490204, + -0.14194291830062866, + -0.2021295577287674, + 0.0, + 0.5354229807853699 + ], + [ + 0.4282688498497009, + 0.036391209810972214, + 0.0781334787607193, + 0.08400555700063705, + -0.11122921854257584, + -0.17618048191070557, + 0.0, + 0.8417698740959167 + ], + [ + 0.4284055233001709, + 0.037916094064712524, + 0.0764777660369873, + 0.09148173034191132, + -0.11609134823083878, + -0.1503368318080902, + 0.0, + 1.0118417739868164 + ], + [ + 0.42477136850357056, + 0.03721412643790245, + 0.07106943428516388, + 0.08901803195476532, + -0.10298888385295868, + -0.14496873319149017, + 0.0, + 1.0086473226547241 + ], + [ + 0.42322731018066406, + 0.03710975870490074, + 0.08512313663959503, + 0.09404154866933823, + -0.13223141431808472, + -0.1380784660577774, + 0.0, + 1.002137303352356 + ], + [ + 0.4166548252105713, + 0.038400985300540924, + 0.10793385654687881, + 0.10710285604000092, + -0.17964836955070496, + -0.1200513020157814, + 0.0, + 1.0014774799346924 + ], + [ + 0.4070579707622528, + 0.038568634539842606, + 0.13543350994586945, + 0.12172943353652954, + -0.2435227632522583, + -0.11235030740499496, + 0.0, + 1.0014774799346924 + ], + [ + 0.3954928517341614, + 0.0344160720705986, + 0.14830045402050018, + 0.11060790717601776, + -0.2815385162830353, + -0.1263783723115921, + 0.0, + 1.0014774799346924 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9723638892173767 + ], + [ + 0.8463236093521118 + ], + [ + 0.6149309277534485 + ], + [ + 0.4975702464580536 + ], + [ + 0.464354008436203 + ], + [ + 0.4615449905395508 + ], + [ + 0.4606100916862488 + ], + [ + 0.4606100916862488 + ], + [ + 0.4606100916862488 + ], + [ + 0.4606100916862488 + ], + [ + 0.4606100916862488 + ], + [ + 0.4606100916862488 + ], + [ + 0.4606100916862488 + ], + [ + 0.4606100916862488 + ], + [ + 0.5354229807853699 + ], + [ + 0.8417698740959167 + ], + [ + 1.0118417739868164 + ], + [ + 1.0086473226547241 + ], + [ + 1.002137303352356 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.37819185853004456, + -0.06584695726633072, + 0.16977855563163757 + ], + [ + 0.37828055024147034, + -0.0667143389582634, + 0.15609383583068848 + ], + [ + 0.37467265129089355, + -0.0697721317410469, + 0.15343615412712097 + ], + [ + 0.36255189776420593, + -0.07072669267654419, + 0.152871772646904 + ], + [ + 0.34067219495773315, + -0.0752355307340622, + 0.16290563344955444 + ], + [ + 0.3010655641555786, + -0.08060695230960846, + 0.16342784464359283 + ], + [ + 0.2654078006744385, + -0.08582912385463715, + 0.15427006781101227 + ], + [ + 0.24323630332946777, + -0.08458883315324783, + 0.1387149840593338 + ], + [ + 0.23321643471717834, + -0.08594027161598206, + 0.12183505296707153 + ], + [ + 0.23422403633594513, + -0.0797136127948761, + 0.11069421470165253 + ], + [ + 0.2361813187599182, + -0.07123692333698273, + 0.10405357927083969 + ], + [ + 0.23861300945281982, + -0.06365595012903214, + 0.10408509522676468 + ], + [ + 0.24148546159267426, + -0.05904233455657959, + 0.10261934995651245 + ], + [ + 0.24048234522342682, + -0.05667055398225784, + 0.08702380955219269 + ], + [ + 0.24064163863658905, + -0.05814739316701889, + 0.07531927525997162 + ], + [ + 0.24083633720874786, + -0.06512336432933807, + 0.06874381005764008 + ], + [ + 0.24089057743549347, + -0.06486150622367859, + 0.06749101728200912 + ], + [ + 0.23986485600471497, + -0.06502287089824677, + 0.06768549233675003 + ], + [ + 0.23855358362197876, + -0.0665978491306305, + 0.06933559477329254 + ], + [ + 0.23639731109142303, + -0.06854693591594696, + 0.08585339039564133 + ], + [ + 0.24133636057376862, + -0.06645271927118301, + 0.1088055819272995 + ], + [ + 0.2506091296672821, + -0.05330469831824303, + 0.13324281573295593 + ], + [ + 0.27960607409477234, + -0.03773793950676918, + 0.14774386584758759 + ], + [ + 0.3200721740722656, + -0.02106606774032116, + 0.14178252220153809 + ], + [ + 0.3541458547115326, + -0.004080215469002724, + 0.13576757907867432 + ], + [ + 0.38196203112602234, + 0.010271931998431683, + 0.1215331107378006 + ], + [ + 0.40427151322364807, + 0.020994067192077637, + 0.10468291491270065 + ], + [ + 0.41884544491767883, + 0.025310127064585686, + 0.09106209129095078 + ], + [ + 0.42857423424720764, + 0.03456977754831314, + 0.08695671707391739 + ], + [ + 0.4282688498497009, + 0.036391209810972214, + 0.0781334787607193 + ], + [ + 0.4284055233001709, + 0.037916094064712524, + 0.0764777660369873 + ], + [ + 0.42477136850357056, + 0.03721412643790245, + 0.07106943428516388 + ], + [ + 0.42322731018066406, + 0.03710975870490074, + 0.08512313663959503 + ], + [ + 0.4166548252105713, + 0.038400985300540924, + 0.10793385654687881 + ], + [ + 0.4070579707622528, + 0.038568634539842606, + 0.13543350994586945 + ], + [ + 0.3954928517341614, + 0.0344160720705986, + 0.14830045402050018 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8469525582605528, + -0.3868462198215224, + 0.36472094300396735, + -0.3775468227581041, + -0.9206058074713022, + -0.09971631699663075, + 0.3743390985205333, + -0.05324424344387078, + -0.9257620049769402 + ], + [ + 0.8600061332724765, + -0.39039279920255565, + 0.32860753653030583, + -0.37953914823275725, + -0.9198141323939439, + -0.09945851802198345, + 0.3410857453668744, + -0.03918448901248002, + -0.9392151458150333 + ], + [ + 0.8457387920969831, + -0.43530659687340933, + 0.30860016568502885, + -0.42078563705757543, + -0.8997205297674188, + -0.11594143332340565, + 0.3281239753330844, + -0.03179834954091821, + -0.9440993177510971 + ], + [ + 0.8470699828692076, + -0.441259062130025, + 0.29624801131837186, + -0.42653138184369427, + -0.8969504924582538, + -0.11640787937852037, + 0.31708583132090307, + -0.02775345324506747, + -0.9479906758025128 + ], + [ + 0.837810870340402, + -0.453103496471516, + 0.30458195452906367, + -0.4453253653273373, + -0.8898928671790104, + -0.09887367667884754, + 0.31584531741903554, + -0.05280062906070897, + -0.9473403976582344 + ], + [ + 0.8459192909374087, + -0.47802118212660205, + 0.23646628228615815, + -0.47782225719637594, + -0.8762622973771436, + -0.06205059808809277, + 0.23686798801803396, + -0.06049905481588595, + -0.9696563415038713 + ], + [ + 0.8568862124173157, + -0.49006193041169366, + 0.15995412883158544, + -0.48939133327208706, + -0.870833133201219, + -0.04632253271483512, + 0.16199426498267194, + -0.038587024763672526, + -0.9860369666663678 + ], + [ + 0.8864897036484684, + -0.4491298512819205, + 0.1114377943640791, + -0.45069786549144375, + -0.8925941488860912, + -0.012129279276645866, + 0.10491634461182528, + -0.03947229486354159, + -0.993697387825639 + ], + [ + 0.8974665847653212, + -0.43460843688022416, + 0.07529432795502385, + -0.4335638682196377, + -0.9006044081666659, + -0.030562594215710025, + 0.0810931649653354, + -0.005215993030836502, + -0.9966928774766112 + ], + [ + 0.9066286659690064, + -0.4187539981069084, + 0.05166769893016946, + -0.4185747048682732, + -0.9080623290905493, + -0.014765599584310571, + 0.053100644889654734, + -0.008239875977562471, + -0.9985551692100825 + ], + [ + 0.9129174813422176, + -0.40636872314711525, + 0.038028056847085004, + -0.4066046204871787, + -0.9136027194158136, + -0.0016594199310970116, + 0.03541687250816078, + -0.013947470158187696, + -0.9992752940095775 + ], + [ + 0.9219479324422942, + -0.3850095618519556, + 0.04218586431429527, + -0.3856573761834667, + -0.9226060624069464, + 0.00815118428412092, + 0.035782650274441725, + -0.023784257241184256, + -0.9990765291241819 + ], + [ + 0.9268113548803805, + -0.37281875633042966, + 0.04502096614939608, + -0.3733073656668266, + -0.9277038830948328, + 0.0026675887357178758, + 0.04077159800262437, + -0.019279009803420753, + -0.9989824806158073 + ], + [ + 0.927965129741351, + -0.3726665078981086, + 0.0006259993182206338, + -0.37266682076121815, + -0.9279614948053195, + 0.002627710486923465, + -0.00039835642784587623, + -0.0026717128786406157, + -0.9999963516245699 + ], + [ + 0.9283372154652714, + -0.37051567177785505, + -0.030135549591644918, + -0.37051302456778545, + -0.9288086707391542, + 0.005878076674923335, + -0.030168079286180552, + 0.005708776293523163, + -0.9995285372941648 + ], + [ + 0.9180447526763655, + -0.3949769565512551, + -0.03445338701635117, + -0.39453253781597164, + -0.9186823667459747, + 0.019151648349504058, + -0.03921617890462352, + -0.003989088056448304, + -0.9992227872144421 + ], + [ + 0.9197866509442758, + -0.39170240809342444, + -0.023701059860808244, + -0.39068664593395047, + -0.919723475252235, + 0.03837543170873556, + -0.03683017015428028, + -0.026037522227819687, + -0.998982275119355 + ], + [ + 0.9241335247835448, + -0.3814335023041202, + -0.022038867737566574, + -0.3801162480667085, + -0.9237033165001696, + 0.04778934025780207, + -0.03858583064843557, + -0.03578639974348055, + -0.9986142735143385 + ], + [ + 0.9215096471834484, + -0.3878993120577085, + -0.018817381672092168, + -0.3862282796935917, + -0.9204501929834237, + 0.05999298460409351, + -0.04059170004773654, + -0.048016309124450374, + -0.998021416576468 + ], + [ + 0.9176366413759989, + -0.3965172598595089, + 0.02677792071247372, + -0.397410541891531, + -0.9150532913498971, + 0.06886461488457218, + -0.002802783911855261, + -0.07383452189340306, + -0.9972665680644852 + ], + [ + 0.9183564974098002, + -0.38255717575033155, + 0.10134767361480788, + -0.3899787704688521, + -0.9183679994795845, + 0.06720696478393055, + 0.06736395363104851, + -0.10124339392669555, + -0.9925783963684672 + ], + [ + 0.9311765134094446, + -0.32432403215782724, + 0.16650592493818228, + -0.33849398827573773, + -0.9387567087324132, + 0.06447993262304419, + 0.13539616233784352, + -0.11640345344866812, + -0.9839299341159454 + ], + [ + 0.9394700232924111, + -0.2591578008201554, + 0.22412788672768202, + -0.27534285078407417, + -0.9603525230262389, + 0.04369606434492729, + 0.2039176055593412, + -0.10276315385972559, + -0.9735796548571395 + ], + [ + 0.9470371800179783, + -0.23372269011012645, + 0.2202141770896712, + -0.24847899547666166, + -0.9677488232825697, + 0.04147775116988368, + 0.20341771916552506, + -0.09399957001437523, + -0.974569295825909 + ], + [ + 0.9517341376456283, + -0.21220119897614684, + 0.2217493684162778, + -0.22873573617663603, + -0.9721280376211638, + 0.05144940686302954, + 0.20465115253930216, + -0.09968816190456586, + -0.973745437031889 + ], + [ + 0.9603712477939732, + -0.19890540475985793, + 0.1952529292173718, + -0.21313668433159141, + -0.9754961122350552, + 0.05459018965371225, + 0.17961018958506358, + -0.09404241049446681, + -0.979232456991499 + ], + [ + 0.9650815758512618, + -0.1983005799588854, + 0.17115616243774223, + -0.21101305200146825, + -0.9756764243431807, + 0.059405444749880784, + 0.15521289842494007, + -0.09344728443820706, + -0.9834513517168268 + ], + [ + 0.9665968290774762, + -0.1989802873787873, + 0.16154694442181108, + -0.21097271809804907, + -0.975608214070518, + 0.06065578996646394, + 0.14553721941719797, + -0.09271169221187738, + -0.9849992182187358 + ], + [ + 0.9697890320920707, + -0.18656302732799673, + 0.15717337582471497, + -0.19873698543449914, + -0.9778591871214873, + 0.06553640806842322, + 0.1414667588316479, + -0.09479265264943461, + -0.9853940882455867 + ], + [ + 0.9784363850004596, + -0.1654829137530793, + 0.12360277409113227, + -0.1741873674652286, + -0.98268092496668, + 0.06322152103646234, + 0.11100000685930606, + -0.08338827832748041, + -0.9903158049404306 + ], + [ + 0.9820655719512162, + -0.13868262899988848, + 0.12772760391477378, + -0.14876305840259607, + -0.9861711374650768, + 0.07304820384884102, + 0.11583075948484425, + -0.09073927509361827, + -0.9891155741937584 + ], + [ + 0.9842673348431319, + -0.13484577993484725, + 0.11416842468283515, + -0.143696037301362, + -0.9869127857192723, + 0.07317514774642253, + 0.10280691817520378, + -0.08842945786098616, + -0.9907628215459684 + ], + [ + 0.9818355506487886, + -0.12476900538637815, + 0.14293931151745443, + -0.13643854799417063, + -0.9878098026574235, + 0.07494208694148088, + 0.1318464034527766, + -0.0930832373136862, + -0.9868900834580169 + ], + [ + 0.9768249097544878, + -0.10011341464673135, + 0.18918350850671115, + -0.11783574220421822, + -0.9894012954639313, + 0.08485172003840596, + 0.17868361296525834, + -0.1051778529067153, + -0.978268769672024 + ], + [ + 0.9643759412311044, + -0.08218973978434513, + 0.25144361325912234, + -0.10880612424983416, + -0.9896247357318013, + 0.09383021769926898, + 0.24112293814639682, + -0.11784620953575127, + -0.9633130330259758 + ], + [ + 0.9529679875307349, + -0.09484858548218936, + 0.28784676578632834, + -0.12107983913289372, + -0.9898282543722672, + 0.07469738550915425, + 0.2778339203502231, + -0.10603665723879854, + -0.9547588910423656 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + 8.869171142578125e-05, + -0.0008673816919326782, + -0.013684719800949097, + -0.015754394233226776, + 0.035612285137176514, + 0.0037180185317993164, + 1.0 + ], + [ + -0.0036078989505767822, + -0.0030577927827835083, + -0.002657681703567505, + -0.008027859032154083, + 0.01375475525856018, + -0.046061158180236816, + 1.0 + ], + [ + -0.012120753526687622, + -0.0009545609354972839, + -0.00056438148021698, + -0.004400698468089104, + 0.011661738157272339, + -0.00479888916015625, + 1.0 + ], + [ + -0.02187970280647278, + -0.004508838057518005, + 0.010033860802650452, + 0.026410317048430443, + 0.0013077259063720703, + -0.02208229899406433, + 1.0 + ], + [ + -0.03960663080215454, + -0.005371421575546265, + 0.0005222111940383911, + 0.006633453071117401, + 0.0822066217660904, + -0.02562129497528076, + 1.0 + ], + [ + -0.03565776348114014, + -0.0052221715450286865, + -0.009157776832580566, + -0.023198004812002182, + 0.07642954587936401, + -0.004742085933685303, + 1.0 + ], + [ + -0.022171497344970703, + 0.0012402907013893127, + -0.015555083751678467, + 0.0005882903933525085, + 0.05760149657726288, + 0.04856833815574646, + 1.0 + ], + [ + -0.010019868612289429, + -0.0013514384627342224, + -0.016879931092262268, + -0.034468524158000946, + 0.0239274725317955, + 0.02031642198562622, + 1.0 + ], + [ + 0.0010076016187667847, + 0.006226658821105957, + -0.011140838265419006, + 0.0030183587223291397, + 0.02805667743086815, + 0.01750779151916504, + 1.0 + ], + [ + 0.0019572824239730835, + 0.008476689457893372, + -0.006640635430812836, + 0.00570506788790226, + 0.017701350152492523, + 0.01351270079612732, + 1.0 + ], + [ + 0.0024316906929016113, + 0.007580973207950592, + 3.151595592498779e-05, + 0.0098450668156147, + -0.00036600977182388306, + 0.02282583713531494, + 1.0 + ], + [ + 0.002872452139854431, + 0.004613615572452545, + -0.0014657452702522278, + -0.004505494609475136, + -0.0049926117062568665, + 0.01328161358833313, + 1.0 + ], + [ + -0.0010031163692474365, + 0.002371780574321747, + -0.015595540404319763, + -0.016624534502625465, + 0.041181258857250214, + 0.0010252296924591064, + 1.0 + ], + [ + 0.00015929341316223145, + -0.0014768391847610474, + -0.01170453429222107, + -0.008383123204112053, + 0.029774300754070282, + 0.002138286828994751, + 0.0 + ], + [ + 0.00019469857215881348, + -0.006975971162319183, + -0.006575465202331543, + 0.009703576564788818, + 0.009053580462932587, + -0.026146680116653442, + 0.0 + ], + [ + 5.424022674560547e-05, + 0.00026185810565948486, + -0.001252792775630951, + 0.02206597849726677, + -0.002387735992670059, + 0.004224061965942383, + 0.0 + ], + [ + -0.0010257214307785034, + -0.00016136467456817627, + 0.00019447505474090576, + 0.009762581437826157, + 0.0017569102346897125, + 0.011437296867370605, + 0.0 + ], + [ + -0.001311272382736206, + -0.001574978232383728, + 0.001650102436542511, + 0.01225370168685913, + 0.002007443457841873, + -0.00665619969367981, + 0.0 + ], + [ + -0.002156272530555725, + -0.0019490867853164673, + 0.016517795622348785, + 0.02582763135433197, + -0.03780006617307663, + -0.011810481548309326, + 0.0 + ], + [ + 0.004939049482345581, + 0.0020942166447639465, + 0.022952191531658173, + 0.027746789157390594, + -0.0702177956700325, + 0.007122009992599487, + 0.0 + ], + [ + 0.009272769093513489, + 0.013148020952939987, + 0.024437233805656433, + 0.016108423471450806, + -0.06839828938245773, + 0.05291163921356201, + 0.0 + ], + [ + 0.028996944427490234, + 0.015566758811473846, + 0.014501050114631653, + -0.0125947967171669, + -0.06954465806484222, + 0.06356224417686462, + 0.0 + ], + [ + 0.040466099977493286, + 0.01667187176644802, + -0.0059613436460494995, + -0.009007498621940613, + 0.0005105882883071899, + 0.02850756049156189, + 0.0 + ], + [ + 0.03407368063926697, + 0.016985852271318436, + -0.0060149431228637695, + 0.0058655887842178345, + -0.0012599378824234009, + 0.020729079842567444, + 0.0 + ], + [ + 0.027816176414489746, + 0.014352147467434406, + -0.014234468340873718, + -0.006277337670326233, + 0.025517120957374573, + 0.017470479011535645, + 0.0 + ], + [ + 0.022309482097625732, + 0.010722135193645954, + -0.016850195825099945, + -0.0010079294443130493, + 0.024747222661972046, + 0.003131687641143799, + 0.0 + ], + [ + 0.014573931694030762, + 0.004316059872508049, + -0.013620823621749878, + -0.0008881688117980957, + 0.009787008166313171, + 0.00036697089672088623, + 0.0 + ], + [ + 0.009728789329528809, + 0.009259650483727455, + -0.004105374217033386, + 0.0020554736256599426, + 0.004113033413887024, + 0.012763723731040955, + 1.0 + ], + [ + -0.00030538439750671387, + 0.0018214322626590729, + -0.00882323831319809, + -0.011897049844264984, + 0.030713699758052826, + 0.02594907581806183, + 1.0 + ], + [ + 0.0001366734504699707, + 0.0015248842537403107, + -0.0016557127237319946, + 0.0074761733412742615, + -0.0048621296882629395, + 0.025843650102615356, + 1.0 + ], + [ + -0.003634154796600342, + -0.0007019676268100739, + -0.005408331751823425, + -0.002463698387145996, + 0.013102464377880096, + 0.005368098616600037, + 1.0 + ], + [ + -0.0015440583229064941, + -0.00010436773300170898, + 0.014053702354431152, + 0.0050235167145729065, + -0.029242530465126038, + 0.0068902671337127686, + 1.0 + ], + [ + -0.0065724849700927734, + 0.0012912265956401825, + 0.022810719907283783, + 0.01306130737066269, + -0.04741695523262024, + 0.018027164041996002, + 1.0 + ], + [ + -0.009596854448318481, + 0.00016764923930168152, + 0.02749965339899063, + 0.014626577496528625, + -0.06387439370155334, + 0.007700994610786438, + 1.0 + ], + [ + -0.01156511902809143, + -0.004152562469244003, + 0.012866944074630737, + -0.01112152636051178, + -0.03801575303077698, + -0.014028064906597137, + 1.0 + ], + [ + -0.0004336535930633545, + 0.00018167495727539062, + -0.0002044588327407837, + 0.0015255287289619446, + 0.0002868473529815674, + -0.0007877647876739502, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9723638892173767 + ], + [ + 0.8463236093521118 + ], + [ + 0.6149309277534485 + ], + [ + 0.4975702464580536 + ], + [ + 0.464354008436203 + ], + [ + 0.4615449905395508 + ], + [ + 0.4606100916862488 + ], + [ + 0.4606100916862488 + ], + [ + 0.4606100916862488 + ], + [ + 0.4606100916862488 + ], + [ + 0.4606100916862488 + ], + [ + 0.4606100916862488 + ], + [ + 0.4606100916862488 + ], + [ + 0.4606100916862488 + ], + [ + 0.5354229807853699 + ], + [ + 0.8417698740959167 + ], + [ + 1.0118417739868164 + ], + [ + 1.0086473226547241 + ], + [ + 1.002137303352356 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.37828055024147034, + -0.0667143389582634, + 0.15609383583068848 + ], + [ + 0.37467265129089355, + -0.0697721317410469, + 0.15343615412712097 + ], + [ + 0.36255189776420593, + -0.07072669267654419, + 0.152871772646904 + ], + [ + 0.34067219495773315, + -0.0752355307340622, + 0.16290563344955444 + ], + [ + 0.3010655641555786, + -0.08060695230960846, + 0.16342784464359283 + ], + [ + 0.2654078006744385, + -0.08582912385463715, + 0.15427006781101227 + ], + [ + 0.24323630332946777, + -0.08458883315324783, + 0.1387149840593338 + ], + [ + 0.23321643471717834, + -0.08594027161598206, + 0.12183505296707153 + ], + [ + 0.23422403633594513, + -0.0797136127948761, + 0.11069421470165253 + ], + [ + 0.2361813187599182, + -0.07123692333698273, + 0.10405357927083969 + ], + [ + 0.23861300945281982, + -0.06365595012903214, + 0.10408509522676468 + ], + [ + 0.24148546159267426, + -0.05904233455657959, + 0.10261934995651245 + ], + [ + 0.24048234522342682, + -0.05667055398225784, + 0.08702380955219269 + ], + [ + 0.24064163863658905, + -0.05814739316701889, + 0.07531927525997162 + ], + [ + 0.24083633720874786, + -0.06512336432933807, + 0.06874381005764008 + ], + [ + 0.24089057743549347, + -0.06486150622367859, + 0.06749101728200912 + ], + [ + 0.23986485600471497, + -0.06502287089824677, + 0.06768549233675003 + ], + [ + 0.23855358362197876, + -0.0665978491306305, + 0.06933559477329254 + ], + [ + 0.23639731109142303, + -0.06854693591594696, + 0.08585339039564133 + ], + [ + 0.24133636057376862, + -0.06645271927118301, + 0.1088055819272995 + ], + [ + 0.2506091296672821, + -0.05330469831824303, + 0.13324281573295593 + ], + [ + 0.27960607409477234, + -0.03773793950676918, + 0.14774386584758759 + ], + [ + 0.3200721740722656, + -0.02106606774032116, + 0.14178252220153809 + ], + [ + 0.3541458547115326, + -0.004080215469002724, + 0.13576757907867432 + ], + [ + 0.38196203112602234, + 0.010271931998431683, + 0.1215331107378006 + ], + [ + 0.40427151322364807, + 0.020994067192077637, + 0.10468291491270065 + ], + [ + 0.41884544491767883, + 0.025310127064585686, + 0.09106209129095078 + ], + [ + 0.42857423424720764, + 0.03456977754831314, + 0.08695671707391739 + ], + [ + 0.4282688498497009, + 0.036391209810972214, + 0.0781334787607193 + ], + [ + 0.4284055233001709, + 0.037916094064712524, + 0.0764777660369873 + ], + [ + 0.42477136850357056, + 0.03721412643790245, + 0.07106943428516388 + ], + [ + 0.42322731018066406, + 0.03710975870490074, + 0.08512313663959503 + ], + [ + 0.4166548252105713, + 0.038400985300540924, + 0.10793385654687881 + ], + [ + 0.4070579707622528, + 0.038568634539842606, + 0.13543350994586945 + ], + [ + 0.3954928517341614, + 0.0344160720705986, + 0.14830045402050018 + ], + [ + 0.395059198141098, + 0.03459774702787399, + 0.1480959951877594 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8600061332724765, + -0.39039279920255565, + 0.32860753653030583, + -0.37953914823275725, + -0.9198141323939439, + -0.09945851802198345, + 0.3410857453668744, + -0.03918448901248002, + -0.9392151458150333 + ], + [ + 0.8457387920969831, + -0.43530659687340933, + 0.30860016568502885, + -0.42078563705757543, + -0.8997205297674188, + -0.11594143332340565, + 0.3281239753330844, + -0.03179834954091821, + -0.9440993177510971 + ], + [ + 0.8470699828692076, + -0.441259062130025, + 0.29624801131837186, + -0.42653138184369427, + -0.8969504924582538, + -0.11640787937852037, + 0.31708583132090307, + -0.02775345324506747, + -0.9479906758025128 + ], + [ + 0.837810870340402, + -0.453103496471516, + 0.30458195452906367, + -0.4453253653273373, + -0.8898928671790104, + -0.09887367667884754, + 0.31584531741903554, + -0.05280062906070897, + -0.9473403976582344 + ], + [ + 0.8459192909374087, + -0.47802118212660205, + 0.23646628228615815, + -0.47782225719637594, + -0.8762622973771436, + -0.06205059808809277, + 0.23686798801803396, + -0.06049905481588595, + -0.9696563415038713 + ], + [ + 0.8568862124173157, + -0.49006193041169366, + 0.15995412883158544, + -0.48939133327208706, + -0.870833133201219, + -0.04632253271483512, + 0.16199426498267194, + -0.038587024763672526, + -0.9860369666663678 + ], + [ + 0.8864897036484684, + -0.4491298512819205, + 0.1114377943640791, + -0.45069786549144375, + -0.8925941488860912, + -0.012129279276645866, + 0.10491634461182528, + -0.03947229486354159, + -0.993697387825639 + ], + [ + 0.8974665847653212, + -0.43460843688022416, + 0.07529432795502385, + -0.4335638682196377, + -0.9006044081666659, + -0.030562594215710025, + 0.0810931649653354, + -0.005215993030836502, + -0.9966928774766112 + ], + [ + 0.9066286659690064, + -0.4187539981069084, + 0.05166769893016946, + -0.4185747048682732, + -0.9080623290905493, + -0.014765599584310571, + 0.053100644889654734, + -0.008239875977562471, + -0.9985551692100825 + ], + [ + 0.9129174813422176, + -0.40636872314711525, + 0.038028056847085004, + -0.4066046204871787, + -0.9136027194158136, + -0.0016594199310970116, + 0.03541687250816078, + -0.013947470158187696, + -0.9992752940095775 + ], + [ + 0.9219479324422942, + -0.3850095618519556, + 0.04218586431429527, + -0.3856573761834667, + -0.9226060624069464, + 0.00815118428412092, + 0.035782650274441725, + -0.023784257241184256, + -0.9990765291241819 + ], + [ + 0.9268113548803805, + -0.37281875633042966, + 0.04502096614939608, + -0.3733073656668266, + -0.9277038830948328, + 0.0026675887357178758, + 0.04077159800262437, + -0.019279009803420753, + -0.9989824806158073 + ], + [ + 0.927965129741351, + -0.3726665078981086, + 0.0006259993182206338, + -0.37266682076121815, + -0.9279614948053195, + 0.002627710486923465, + -0.00039835642784587623, + -0.0026717128786406157, + -0.9999963516245699 + ], + [ + 0.9283372154652714, + -0.37051567177785505, + -0.030135549591644918, + -0.37051302456778545, + -0.9288086707391542, + 0.005878076674923335, + -0.030168079286180552, + 0.005708776293523163, + -0.9995285372941648 + ], + [ + 0.9180447526763655, + -0.3949769565512551, + -0.03445338701635117, + -0.39453253781597164, + -0.9186823667459747, + 0.019151648349504058, + -0.03921617890462352, + -0.003989088056448304, + -0.9992227872144421 + ], + [ + 0.9197866509442758, + -0.39170240809342444, + -0.023701059860808244, + -0.39068664593395047, + -0.919723475252235, + 0.03837543170873556, + -0.03683017015428028, + -0.026037522227819687, + -0.998982275119355 + ], + [ + 0.9241335247835448, + -0.3814335023041202, + -0.022038867737566574, + -0.3801162480667085, + -0.9237033165001696, + 0.04778934025780207, + -0.03858583064843557, + -0.03578639974348055, + -0.9986142735143385 + ], + [ + 0.9215096471834484, + -0.3878993120577085, + -0.018817381672092168, + -0.3862282796935917, + -0.9204501929834237, + 0.05999298460409351, + -0.04059170004773654, + -0.048016309124450374, + -0.998021416576468 + ], + [ + 0.9176366413759989, + -0.3965172598595089, + 0.02677792071247372, + -0.397410541891531, + -0.9150532913498971, + 0.06886461488457218, + -0.002802783911855261, + -0.07383452189340306, + -0.9972665680644852 + ], + [ + 0.9183564974098002, + -0.38255717575033155, + 0.10134767361480788, + -0.3899787704688521, + -0.9183679994795845, + 0.06720696478393055, + 0.06736395363104851, + -0.10124339392669555, + -0.9925783963684672 + ], + [ + 0.9311765134094446, + -0.32432403215782724, + 0.16650592493818228, + -0.33849398827573773, + -0.9387567087324132, + 0.06447993262304419, + 0.13539616233784352, + -0.11640345344866812, + -0.9839299341159454 + ], + [ + 0.9394700232924111, + -0.2591578008201554, + 0.22412788672768202, + -0.27534285078407417, + -0.9603525230262389, + 0.04369606434492729, + 0.2039176055593412, + -0.10276315385972559, + -0.9735796548571395 + ], + [ + 0.9470371800179783, + -0.23372269011012645, + 0.2202141770896712, + -0.24847899547666166, + -0.9677488232825697, + 0.04147775116988368, + 0.20341771916552506, + -0.09399957001437523, + -0.974569295825909 + ], + [ + 0.9517341376456283, + -0.21220119897614684, + 0.2217493684162778, + -0.22873573617663603, + -0.9721280376211638, + 0.05144940686302954, + 0.20465115253930216, + -0.09968816190456586, + -0.973745437031889 + ], + [ + 0.9603712477939732, + -0.19890540475985793, + 0.1952529292173718, + -0.21313668433159141, + -0.9754961122350552, + 0.05459018965371225, + 0.17961018958506358, + -0.09404241049446681, + -0.979232456991499 + ], + [ + 0.9650815758512618, + -0.1983005799588854, + 0.17115616243774223, + -0.21101305200146825, + -0.9756764243431807, + 0.059405444749880784, + 0.15521289842494007, + -0.09344728443820706, + -0.9834513517168268 + ], + [ + 0.9665968290774762, + -0.1989802873787873, + 0.16154694442181108, + -0.21097271809804907, + -0.975608214070518, + 0.06065578996646394, + 0.14553721941719797, + -0.09271169221187738, + -0.9849992182187358 + ], + [ + 0.9697890320920707, + -0.18656302732799673, + 0.15717337582471497, + -0.19873698543449914, + -0.9778591871214873, + 0.06553640806842322, + 0.1414667588316479, + -0.09479265264943461, + -0.9853940882455867 + ], + [ + 0.9784363850004596, + -0.1654829137530793, + 0.12360277409113227, + -0.1741873674652286, + -0.98268092496668, + 0.06322152103646234, + 0.11100000685930606, + -0.08338827832748041, + -0.9903158049404306 + ], + [ + 0.9820655719512162, + -0.13868262899988848, + 0.12772760391477378, + -0.14876305840259607, + -0.9861711374650768, + 0.07304820384884102, + 0.11583075948484425, + -0.09073927509361827, + -0.9891155741937584 + ], + [ + 0.9842673348431319, + -0.13484577993484725, + 0.11416842468283515, + -0.143696037301362, + -0.9869127857192723, + 0.07317514774642253, + 0.10280691817520378, + -0.08842945786098616, + -0.9907628215459684 + ], + [ + 0.9818355506487886, + -0.12476900538637815, + 0.14293931151745443, + -0.13643854799417063, + -0.9878098026574235, + 0.07494208694148088, + 0.1318464034527766, + -0.0930832373136862, + -0.9868900834580169 + ], + [ + 0.9768249097544878, + -0.10011341464673135, + 0.18918350850671115, + -0.11783574220421822, + -0.9894012954639313, + 0.08485172003840596, + 0.17868361296525834, + -0.1051778529067153, + -0.978268769672024 + ], + [ + 0.9643759412311044, + -0.08218973978434513, + 0.25144361325912234, + -0.10880612424983416, + -0.9896247357318013, + 0.09383021769926898, + 0.24112293814639682, + -0.11784620953575127, + -0.9633130330259758 + ], + [ + 0.9529679875307349, + -0.09484858548218936, + 0.28784676578632834, + -0.12107983913289372, + -0.9898282543722672, + 0.07469738550915425, + 0.2778339203502231, + -0.10603665723879854, + -0.9547588910423656 + ], + [ + 0.9529513226127702, + -0.09521957495579149, + 0.28777944554086976, + -0.12184061842788806, + -0.9896345595167271, + 0.07601514527542018, + 0.2775583550024784, + -0.10750195884434784, + -0.9546751742938255 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006463.json b/json/chunk-0006/episode_0006463.json new file mode 100644 index 0000000000000000000000000000000000000000..5af63f7ec7f8bef4b37cad6785cd10c1b5150c78 --- /dev/null +++ b/json/chunk-0006/episode_0006463.json @@ -0,0 +1,1942 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 31, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nUnfold the cloth from left to right." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006463.mp4", + "start": 0, + "end": 31, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2433696687221527, + -0.020378215238451958, + 0.101526640355587, + -0.07534099370241165, + -0.11269041895866394, + 0.7095635533332825, + 0.0, + 1.0001531839370728 + ], + [ + 0.24216553568840027, + -0.020668845623731613, + 0.09668263047933578, + -0.06337563693523407, + -0.09830169379711151, + 0.7050307989120483, + 0.0, + 1.0001531839370728 + ], + [ + 0.24440914392471313, + -0.014077652245759964, + 0.07787082344293594, + -0.025868482887744904, + -0.055285077542066574, + 0.664088785648346, + 0.0, + 1.0001531839370728 + ], + [ + 0.24500609934329987, + -0.00872156210243702, + 0.06450921297073364, + 0.014573861844837666, + -0.037087686359882355, + 0.6456682085990906, + 0.0, + 1.0001531839370728 + ], + [ + 0.24505499005317688, + -0.003573821624740958, + 0.047295913100242615, + 0.06436501443386078, + -0.013778512366116047, + 0.647752583026886, + 0.0, + 1.0001531839370728 + ], + [ + 0.24450847506523132, + 0.00030572054674848914, + 0.03312763199210167, + 0.09962186962366104, + 0.0009832577779889107, + 0.6557960510253906, + 0.0, + 1.0001531839370728 + ], + [ + 0.24649940431118011, + 0.0021735969930887222, + 0.022637836635112762, + 0.11364833265542984, + 0.0027742923703044653, + 0.6507471799850464, + 0.0, + 1.0001531839370728 + ], + [ + 0.24807344377040863, + 0.0024083734024316072, + 0.01300044171512127, + 0.11586221307516098, + 0.0028904054779559374, + 0.6465157270431519, + 0.0, + 0.9643021821975708 + ], + [ + 0.24939687550067902, + 0.006049643736332655, + 0.013329307548701763, + 0.13112467527389526, + -0.01998712867498398, + 0.6509892344474792, + 0.0, + 0.6881998181343079 + ], + [ + 0.2492719143629074, + 0.006799136754125357, + 0.01342689897865057, + 0.13518613576889038, + -0.02352786995470524, + 0.660327672958374, + 0.0, + 0.3875128924846649 + ], + [ + 0.2476298063993454, + 0.007801760919392109, + 0.012805679813027382, + 0.1431572288274765, + -0.023522360250353813, + 0.6623703837394714, + 0.0, + 0.1845952719449997 + ], + [ + 0.24658319354057312, + 0.007984237745404243, + 0.013295690529048443, + 0.14775405824184418, + -0.019771842285990715, + 0.6646625995635986, + 0.0, + 0.09400739520788193 + ], + [ + 0.2508731782436371, + 0.006898980122059584, + 0.023163465782999992, + 0.1264851987361908, + -0.03990519791841507, + 0.6681637763977051, + 0.0, + 0.07270156592130661 + ], + [ + 0.257151335477829, + -0.006812991574406624, + 0.028689421713352203, + 0.11409590393304825, + -0.04338333383202553, + 0.6301890015602112, + 0.0, + 0.07238461822271347 + ], + [ + 0.2671843469142914, + -0.02781679481267929, + 0.0459873266518116, + 0.06665093451738358, + -0.07897500693798065, + 0.5753107070922852, + 0.0, + 0.07238461822271347 + ], + [ + 0.2693406939506531, + -0.051684312522411346, + 0.05141080915927887, + 0.05231652408838272, + -0.08156398683786392, + 0.513354480266571, + 0.0, + 0.07238461822271347 + ], + [ + 0.2690022885799408, + -0.08073455095291138, + 0.06626555323600769, + 0.008662215434014797, + -0.10689892619848251, + 0.4436780512332916, + 0.0, + 0.07238461822271347 + ], + [ + 0.2592109143733978, + -0.10710963606834412, + 0.06649790704250336, + -0.003924504388123751, + -0.09592004865407944, + 0.3797277510166168, + 0.0, + 0.07175325602293015 + ], + [ + 0.2496212124824524, + -0.13114680349826813, + 0.06608612835407257, + -0.018934544175863266, + -0.09422201663255692, + 0.3103233277797699, + 0.0, + 0.06987876445055008 + ], + [ + 0.2418021708726883, + -0.14586202800273895, + 0.05634567514061928, + -0.02681434340775013, + -0.06207163259387016, + 0.272881418466568, + 0.0, + 0.06987876445055008 + ], + [ + 0.2388349026441574, + -0.1545238494873047, + 0.037319932132959366, + -0.019292082637548447, + -0.03559804707765579, + 0.23653769493103027, + 0.0, + 0.06926051527261734 + ], + [ + 0.2344459444284439, + -0.1599162518978119, + 0.017199909314513206, + -0.0012414867524057627, + 0.0035061724483966827, + 0.21019916236400604, + 0.0, + 0.06926051527261734 + ], + [ + 0.2333390861749649, + -0.16670672595500946, + 0.01002147514373064, + 0.011341897770762444, + 0.012543736025691032, + 0.18213093280792236, + 0.0, + 0.09549706429243088 + ], + [ + 0.23260734975337982, + -0.16956278681755066, + 0.011419042944908142, + 0.010183680802583694, + 0.01598351076245308, + 0.18218567967414856, + 0.0, + 0.2624140679836273 + ], + [ + 0.2312546968460083, + -0.1693553924560547, + 0.011447017081081867, + 0.015114057809114456, + 0.021991463378071785, + 0.18942561745643616, + 0.0, + 0.5403295159339905 + ], + [ + 0.2299804389476776, + -0.16821253299713135, + 0.011499657295644283, + 0.02372535690665245, + 0.028518592938780785, + 0.19007140398025513, + 0.0, + 0.8445048928260803 + ], + [ + 0.23178212344646454, + -0.16733628511428833, + 0.019439835101366043, + 0.0059769125655293465, + 0.02288396656513214, + 0.21057650446891785, + 0.0, + 1.0174883604049683 + ], + [ + 0.24008169770240784, + -0.16417349874973297, + 0.03948333114385605, + -0.02162821777164936, + -0.019538313150405884, + 0.236444354057312, + 0.0, + 1.0112061500549316 + ], + [ + 0.24439044296741486, + -0.15906786918640137, + 0.053114015609025955, + -0.03821764886379242, + -0.03779914602637291, + 0.2581540644168854, + 0.0, + 1.0067112445831299 + ], + [ + 0.24944442510604858, + -0.15130507946014404, + 0.079192154109478, + -0.090706005692482, + -0.07814773917198181, + 0.30657675862312317, + 0.0, + 1.0041072368621826 + ], + [ + 0.24862410128116608, + -0.1416691094636917, + 0.09834999591112137, + -0.09798981994390488, + -0.11012180149555206, + 0.33990544080734253, + 0.0, + 1.0041072368621826 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9643021821975708 + ], + [ + 0.6881998181343079 + ], + [ + 0.3875128924846649 + ], + [ + 0.1845952719449997 + ], + [ + 0.09400739520788193 + ], + [ + 0.07270156592130661 + ], + [ + 0.07238461822271347 + ], + [ + 0.07238461822271347 + ], + [ + 0.07238461822271347 + ], + [ + 0.07238461822271347 + ], + [ + 0.07175325602293015 + ], + [ + 0.06987876445055008 + ], + [ + 0.06987876445055008 + ], + [ + 0.06926051527261734 + ], + [ + 0.06926051527261734 + ], + [ + 0.09549706429243088 + ], + [ + 0.2624140679836273 + ], + [ + 0.5403295159339905 + ], + [ + 0.8445048928260803 + ], + [ + 1.0174883604049683 + ], + [ + 1.0112061500549316 + ], + [ + 1.0067112445831299 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2433696687221527, + -0.020378215238451958, + 0.101526640355587 + ], + [ + 0.24216553568840027, + -0.020668845623731613, + 0.09668263047933578 + ], + [ + 0.24440914392471313, + -0.014077652245759964, + 0.07787082344293594 + ], + [ + 0.24500609934329987, + -0.00872156210243702, + 0.06450921297073364 + ], + [ + 0.24505499005317688, + -0.003573821624740958, + 0.047295913100242615 + ], + [ + 0.24450847506523132, + 0.00030572054674848914, + 0.03312763199210167 + ], + [ + 0.24649940431118011, + 0.0021735969930887222, + 0.022637836635112762 + ], + [ + 0.24807344377040863, + 0.0024083734024316072, + 0.01300044171512127 + ], + [ + 0.24939687550067902, + 0.006049643736332655, + 0.013329307548701763 + ], + [ + 0.2492719143629074, + 0.006799136754125357, + 0.01342689897865057 + ], + [ + 0.2476298063993454, + 0.007801760919392109, + 0.012805679813027382 + ], + [ + 0.24658319354057312, + 0.007984237745404243, + 0.013295690529048443 + ], + [ + 0.2508731782436371, + 0.006898980122059584, + 0.023163465782999992 + ], + [ + 0.257151335477829, + -0.006812991574406624, + 0.028689421713352203 + ], + [ + 0.2671843469142914, + -0.02781679481267929, + 0.0459873266518116 + ], + [ + 0.2693406939506531, + -0.051684312522411346, + 0.05141080915927887 + ], + [ + 0.2690022885799408, + -0.08073455095291138, + 0.06626555323600769 + ], + [ + 0.2592109143733978, + -0.10710963606834412, + 0.06649790704250336 + ], + [ + 0.2496212124824524, + -0.13114680349826813, + 0.06608612835407257 + ], + [ + 0.2418021708726883, + -0.14586202800273895, + 0.05634567514061928 + ], + [ + 0.2388349026441574, + -0.1545238494873047, + 0.037319932132959366 + ], + [ + 0.2344459444284439, + -0.1599162518978119, + 0.017199909314513206 + ], + [ + 0.2333390861749649, + -0.16670672595500946, + 0.01002147514373064 + ], + [ + 0.23260734975337982, + -0.16956278681755066, + 0.011419042944908142 + ], + [ + 0.2312546968460083, + -0.1693553924560547, + 0.011447017081081867 + ], + [ + 0.2299804389476776, + -0.16821253299713135, + 0.011499657295644283 + ], + [ + 0.23178212344646454, + -0.16733628511428833, + 0.019439835101366043 + ], + [ + 0.24008169770240784, + -0.16417349874973297, + 0.03948333114385605 + ], + [ + 0.24439044296741486, + -0.15906786918640137, + 0.053114015609025955 + ], + [ + 0.24944442510604858, + -0.15130507946014404, + 0.079192154109478 + ], + [ + 0.24862410128116608, + -0.1416691094636917, + 0.09834999591112137 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.7538343158356107, + 0.6432331857191672, + 0.1341077665842986, + 0.647370341286638, + -0.7620086473500824, + 0.01595188346622507, + 0.1124520586342428, + 0.07479231346381499, + -0.990838354301877 + ], + [ + 0.7579148401695693, + 0.6420224137876236, + 0.11563872727183222, + 0.6449286456120678, + -0.7640908052980886, + 0.015240844067903218, + 0.09814345174141634, + 0.06302746586395186, + -0.9931744063491811 + ], + [ + 0.7862755973164011, + 0.6150101104230997, + 0.0594411401480739, + 0.6154001608210594, + -0.7880961728676129, + 0.013677147832628196, + 0.05525691926040218, + 0.02582607962482735, + -0.9981381099252052 + ], + [ + 0.7981486225180667, + 0.6020999581178623, + 0.020842667942983194, + 0.6013184767166677, + -0.7982878866799069, + 0.03394907273070445, + 0.0370791846142725, + -0.01456332429759144, + -0.9992062067730285 + ], + [ + 0.7973661982033269, + 0.602852991596248, + -0.027846301122887957, + 0.6033384709874361, + -0.7952558825553521, + 0.05958834355518295, + 0.013778076401122694, + -0.0643144756999689, + -0.9978345618518746 + ], + [ + 0.7925623719133067, + 0.6066894149557135, + -0.061423451611313615, + 0.6097900620964619, + -0.7886927380379578, + 0.07822943905322538, + -0.0009832576195539927, + -0.09945712014171373, + -0.9950413631892748 + ], + [ + 0.79562833133817, + 0.6016228290144727, + -0.07089097249059181, + 0.6057787233748226, + -0.7906893439275258, + 0.08855788900955747, + -0.002774288811490673, + -0.11340340827365544, + -0.9935451526294662 + ], + [ + 0.7981842624188178, + 0.5981033949610451, + -0.07193199679558324, + 0.6024064481779444, + -0.793037419766103, + 0.09054348151222935, + -0.002890401453335918, + -0.11560268070764523, + -0.9932913297681828 + ], + [ + 0.7953258509441821, + 0.6028503279031784, + -0.06346867705366764, + 0.6058525882593723, + -0.7870723889040446, + 0.11601592961442721, + 0.019985797940840003, + -0.13072313021003742, + -0.9912174489529315 + ], + [ + 0.7895726986665245, + 0.610283566893703, + -0.06425668447687373, + 0.6132059156526897, + -0.7806406264480217, + 0.12074235937477025, + 0.023525699330896547, + -0.13473744957634803, + -0.9906020195581337 + ], + [ + 0.7883185520890545, + 0.6113427016710908, + -0.06938271791813412, + 0.6148175835485121, + -0.7784066984645885, + 0.12681620852645947, + 0.023520191151095535, + -0.14262928485745746, + -0.9894966840314652 + ], + [ + 0.7869710876642508, + 0.6123641162749466, + -0.07541018684070146, + 0.6166730352232767, + -0.7767533746455242, + 0.12793968346569104, + 0.01977055409079995, + -0.14718826065822463, + -0.9889108863367564 + ], + [ + 0.7843357005060962, + 0.6185467892826564, + -0.04708904734360741, + 0.61905244461477, + -0.7755719353953154, + 0.123540454279729, + 0.03989460775704393, + -0.1260477786209734, + -0.991221659255199 + ], + [ + 0.8071559688380041, + 0.5894550744936798, + -0.032279360632348084, + 0.5887429904486862, + -0.7997534682316556, + 0.1173715521281732, + 0.043369726385130425, + -0.11374139618049615, + -0.992563328774638 + ], + [ + 0.8364081324292327, + 0.5472959845518985, + 0.029808409880626323, + 0.542399613241799, + -0.8343014689842744, + 0.09871027507726406, + 0.07889293733529185, + -0.06639400683834552, + -0.9946696639058416 + ], + [ + 0.868206042309436, + 0.4941414788496033, + 0.04519366081335134, + 0.4894694309180622, + -0.8678178541463021, + 0.08550934581468377, + 0.08147358034438838, + -0.05211881527082053, + -0.9953118530393537 + ], + [ + 0.8980233476269038, + 0.43008291949638494, + 0.0926431296666695, + 0.4268139509995023, + -0.9027483062389074, + 0.053622260442641595, + 0.10669544671242416, + -0.008612661624032288, + -0.9942544461608338 + ], + [ + 0.9244962325915926, + 0.3703156867208204, + 0.0904046906550717, + 0.3689637420566487, + -0.9288977509845397, + 0.031854752603325515, + 0.09577302841357146, + 0.003906454191657336, + -0.9953955327628018 + ], + [ + 0.9480111424344164, + 0.30361557683796414, + 0.09535436708165686, + 0.30401204915711755, + -0.9526081463181839, + 0.010695491364321012, + 0.09408266464914457, + 0.0188494315453871, + -0.9953859307539628 + ], + [ + 0.9611437650714759, + 0.2678088663971738, + 0.0669408241903846, + 0.26898832873863227, + -0.9631003792007639, + -0.009107062410141442, + 0.062031781101502786, + 0.026759496676982422, + -0.9977153840003519 + ], + [ + 0.9715392475927763, + 0.23362707754230208, + 0.039113668019059786, + 0.23418967659499404, + -0.9721351355342919, + -0.01041506774131373, + 0.03559052912214375, + 0.01927866434085131, + -0.9991804878689529 + ], + [ + 0.9779833666353812, + 0.20865877890843887, + -0.003169947785906336, + 0.20865340013923278, + -0.9779877160347273, + -0.0019457377817066715, + -0.0035061652646948063, + 0.0012414788025499586, + -0.9999930827438358 + ], + [ + 0.9833825889373542, + 0.1809741104562123, + -0.014389409975735989, + 0.18111142071588882, + -0.9834224720099555, + 0.00888227629052225, + -0.012543407078599427, + -0.011340762338199573, + -0.9998570148018413 + ], + [ + 0.9833244221908164, + 0.181010048966966, + -0.017562542414865122, + 0.1811563685369137, + -0.9834285357332924, + 0.007119356992783708, + -0.015982830212927554, + -0.01018220400745167, + -0.9998204198054448 + ], + [ + 0.9818750731190582, + 0.18794691555817017, + -0.024439675112701616, + 0.18824928760851833, + -0.9820629562470717, + 0.01070306881916256, + -0.0219896908193293, + -0.015109827908763262, + -0.9996440099346557 + ], + [ + 0.9815914428837106, + 0.1882115665291701, + -0.03247530572776059, + 0.18885218977149454, + -0.9818421853172913, + 0.017910152145583, + -0.028514727352495644, + -0.02371348468703594, + -0.9993120538490523 + ], + [ + 0.977654531200362, + 0.20888622914419558, + -0.023625429039891722, + 0.2089689764137782, + -0.9779216936542159, + 0.0010620626383159313, + -0.022881969320365656, + -0.005975312074570705, + -0.9997203164513729 + ], + [ + 0.9719914630433325, + 0.23378184789655623, + 0.024055007066167377, + 0.23420268714136136, + -0.9720486197959535, + -0.016449379579407307, + 0.01953707006302419, + 0.021622403817644062, + -0.9995752970869675 + ], + [ + 0.9661722527908577, + 0.25371375024613496, + 0.04626565543771178, + 0.25511386248794443, + -0.9665254989205149, + -0.027301595245191858, + 0.037790145587459335, + 0.03818105384208221, + -0.9985560134634346 + ], + [ + 0.950462603244128, + 0.29381429021726246, + 0.10145936476502126, + 0.30087570968055577, + -0.951587163550513, + -0.0628941769173526, + 0.07806822118261256, + 0.09030522149917786, + -0.992849595765324 + ], + [ + 0.9370754750724936, + 0.32166193829897893, + 0.13573191027685402, + 0.33137845963600643, + -0.9418481232175596, + -0.055771222694395425, + 0.10989936536180595, + 0.09724047635272097, + -0.9891746151472791 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0012041330337524414, + -0.00029063038527965546, + -0.004844009876251221, + 0.011965356767177582, + 0.01438872516155243, + -0.004532754421234131, + 1.0 + ], + [ + 0.002243608236312866, + 0.006591193377971649, + -0.01881180703639984, + 0.037507154047489166, + 0.04301661625504494, + -0.04094201326370239, + 1.0 + ], + [ + 0.000596955418586731, + 0.005356090143322945, + -0.013361610472202301, + 0.040442343801259995, + 0.01819739118218422, + -0.01842057704925537, + 1.0 + ], + [ + 4.889070987701416e-05, + 0.0051477402448654175, + -0.017213299870491028, + 0.04979115352034569, + 0.023309174925088882, + 0.00208437442779541, + 1.0 + ], + [ + -0.0005465149879455566, + 0.0038795422296971083, + -0.014168281108140945, + 0.03525685518980026, + 0.014761770144104958, + 0.008043467998504639, + 1.0 + ], + [ + 0.0019909292459487915, + 0.0018678763881325722, + -0.010489795356988907, + 0.014026463031768799, + 0.0017910345923155546, + -0.005048871040344238, + 1.0 + ], + [ + 0.0015740394592285156, + 0.00023477640934288502, + -0.009637394919991493, + 0.00221388041973114, + 0.00011611310765147209, + -0.004231452941894531, + 0.0 + ], + [ + 0.0013234317302703857, + 0.0036412703339010477, + 0.0003288658335804939, + 0.015262462198734283, + -0.022877534851431847, + 0.004473507404327393, + 0.0 + ], + [ + -0.00012496113777160645, + 0.0007494930177927017, + 9.759142994880676e-05, + 0.004061460494995117, + -0.00354074127972126, + 0.009338438510894775, + 0.0 + ], + [ + -0.0016421079635620117, + 0.0010026241652667522, + -0.000621219165623188, + 0.00797109305858612, + 5.509704351425171e-06, + 0.002042710781097412, + 0.0 + ], + [ + -0.0010466128587722778, + 0.00018247682601213455, + 0.0004900107160210609, + 0.004596829414367676, + 0.003750517964363098, + 0.0022922158241271973, + 0.0 + ], + [ + 0.004289984703063965, + -0.0010852576233446598, + 0.00986777525395155, + -0.02126885950565338, + -0.020133355632424355, + 0.0035011768341064453, + 0.0 + ], + [ + 0.0062781572341918945, + -0.013711972162127495, + 0.005525955930352211, + -0.012389294803142548, + -0.0034781359136104584, + -0.037974774837493896, + 0.0 + ], + [ + 0.010033011436462402, + -0.021003803238272667, + 0.017297904938459396, + -0.04744496941566467, + -0.035591673105955124, + -0.054878294467926025, + 0.0 + ], + [ + 0.0021563470363616943, + -0.023867517709732056, + 0.00542348250746727, + -0.014334410429000854, + -0.0025889798998832703, + -0.06195622682571411, + 0.0 + ], + [ + -0.0003384053707122803, + -0.02905023843050003, + 0.01485474407672882, + -0.04365430772304535, + -0.02533493936061859, + -0.06967642903327942, + 0.0 + ], + [ + -0.009791374206542969, + -0.02637508511543274, + 0.0002323538064956665, + -0.012586720287799835, + 0.010978877544403076, + -0.0639503002166748, + 0.0 + ], + [ + -0.009589701890945435, + -0.02403716742992401, + -0.00041177868843078613, + -0.015010040253400803, + 0.001698032021522522, + -0.06940442323684692, + 0.0 + ], + [ + -0.007819041609764099, + -0.014715224504470825, + -0.009740453213453293, + -0.007879799231886864, + 0.03215038403868675, + -0.037441909313201904, + 0.0 + ], + [ + -0.002967268228530884, + -0.008661821484565735, + -0.019025743007659912, + 0.007522260770201683, + 0.02647358551621437, + -0.03634372353553772, + 0.0 + ], + [ + -0.004388958215713501, + -0.005392402410507202, + -0.02012002281844616, + 0.018050596117973328, + 0.039104219526052475, + -0.02633853256702423, + 0.0 + ], + [ + -0.001106858253479004, + -0.006790474057197571, + -0.007178434170782566, + 0.012583384290337563, + 0.00903756357729435, + -0.02806822955608368, + 1.0 + ], + [ + -0.000731736421585083, + -0.0028560608625411987, + 0.0013975678011775017, + -0.001158216968178749, + 0.003439774736762047, + 5.474686622619629e-05, + 1.0 + ], + [ + -0.001352652907371521, + 0.00020739436149597168, + 2.7974136173725128e-05, + 0.004930377006530762, + 0.006007952615618706, + 0.007239937782287598, + 1.0 + ], + [ + -0.0012742578983306885, + 0.0011428594589233398, + 5.264021456241608e-05, + 0.008611299097537994, + 0.006527129560709, + 0.0006457865238189697, + 1.0 + ], + [ + 0.0018016844987869263, + 0.0008762478828430176, + 0.00794017780572176, + -0.01774844527244568, + -0.0056346263736486435, + 0.02050510048866272, + 1.0 + ], + [ + 0.008299574255943298, + 0.003162786364555359, + 0.020043496042490005, + -0.027605131268501282, + -0.042422279715538025, + 0.025867849588394165, + 1.0 + ], + [ + 0.004308745265007019, + 0.005105629563331604, + 0.013630684465169907, + -0.01658943109214306, + -0.018260832875967026, + 0.021709710359573364, + 1.0 + ], + [ + 0.005053982138633728, + 0.007762789726257324, + 0.02607813850045204, + -0.052488356828689575, + -0.0403485931456089, + 0.04842269420623779, + 1.0 + ], + [ + -0.0008203238248825073, + 0.009635969996452332, + 0.01915784180164337, + -0.007283814251422882, + -0.03197406232357025, + 0.03332868218421936, + 1.0 + ], + [ + -0.00120602548122406, + 0.01128050684928894, + 0.0009545236825942993, + 0.053200818598270416, + -0.02443671226501465, + 0.03765857219696045, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9643021821975708 + ], + [ + 0.6881998181343079 + ], + [ + 0.3875128924846649 + ], + [ + 0.1845952719449997 + ], + [ + 0.09400739520788193 + ], + [ + 0.07270156592130661 + ], + [ + 0.07238461822271347 + ], + [ + 0.07238461822271347 + ], + [ + 0.07238461822271347 + ], + [ + 0.07238461822271347 + ], + [ + 0.07175325602293015 + ], + [ + 0.06987876445055008 + ], + [ + 0.06987876445055008 + ], + [ + 0.06926051527261734 + ], + [ + 0.06926051527261734 + ], + [ + 0.09549706429243088 + ], + [ + 0.2624140679836273 + ], + [ + 0.5403295159339905 + ], + [ + 0.8445048928260803 + ], + [ + 1.0174883604049683 + ], + [ + 1.0112061500549316 + ], + [ + 1.0067112445831299 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.003452181816101 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.24216553568840027, + -0.020668845623731613, + 0.09668263047933578 + ], + [ + 0.24440914392471313, + -0.014077652245759964, + 0.07787082344293594 + ], + [ + 0.24500609934329987, + -0.00872156210243702, + 0.06450921297073364 + ], + [ + 0.24505499005317688, + -0.003573821624740958, + 0.047295913100242615 + ], + [ + 0.24450847506523132, + 0.00030572054674848914, + 0.03312763199210167 + ], + [ + 0.24649940431118011, + 0.0021735969930887222, + 0.022637836635112762 + ], + [ + 0.24807344377040863, + 0.0024083734024316072, + 0.01300044171512127 + ], + [ + 0.24939687550067902, + 0.006049643736332655, + 0.013329307548701763 + ], + [ + 0.2492719143629074, + 0.006799136754125357, + 0.01342689897865057 + ], + [ + 0.2476298063993454, + 0.007801760919392109, + 0.012805679813027382 + ], + [ + 0.24658319354057312, + 0.007984237745404243, + 0.013295690529048443 + ], + [ + 0.2508731782436371, + 0.006898980122059584, + 0.023163465782999992 + ], + [ + 0.257151335477829, + -0.006812991574406624, + 0.028689421713352203 + ], + [ + 0.2671843469142914, + -0.02781679481267929, + 0.0459873266518116 + ], + [ + 0.2693406939506531, + -0.051684312522411346, + 0.05141080915927887 + ], + [ + 0.2690022885799408, + -0.08073455095291138, + 0.06626555323600769 + ], + [ + 0.2592109143733978, + -0.10710963606834412, + 0.06649790704250336 + ], + [ + 0.2496212124824524, + -0.13114680349826813, + 0.06608612835407257 + ], + [ + 0.2418021708726883, + -0.14586202800273895, + 0.05634567514061928 + ], + [ + 0.2388349026441574, + -0.1545238494873047, + 0.037319932132959366 + ], + [ + 0.2344459444284439, + -0.1599162518978119, + 0.017199909314513206 + ], + [ + 0.2333390861749649, + -0.16670672595500946, + 0.01002147514373064 + ], + [ + 0.23260734975337982, + -0.16956278681755066, + 0.011419042944908142 + ], + [ + 0.2312546968460083, + -0.1693553924560547, + 0.011447017081081867 + ], + [ + 0.2299804389476776, + -0.16821253299713135, + 0.011499657295644283 + ], + [ + 0.23178212344646454, + -0.16733628511428833, + 0.019439835101366043 + ], + [ + 0.24008169770240784, + -0.16417349874973297, + 0.03948333114385605 + ], + [ + 0.24439044296741486, + -0.15906786918640137, + 0.053114015609025955 + ], + [ + 0.24944442510604858, + -0.15130507946014404, + 0.079192154109478 + ], + [ + 0.24862410128116608, + -0.1416691094636917, + 0.09834999591112137 + ], + [ + 0.24741807579994202, + -0.13038860261440277, + 0.09930451959371567 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.7579148401695693, + 0.6420224137876236, + 0.11563872727183222, + 0.6449286456120678, + -0.7640908052980886, + 0.015240844067903218, + 0.09814345174141634, + 0.06302746586395186, + -0.9931744063491811 + ], + [ + 0.7862755973164011, + 0.6150101104230997, + 0.0594411401480739, + 0.6154001608210594, + -0.7880961728676129, + 0.013677147832628196, + 0.05525691926040218, + 0.02582607962482735, + -0.9981381099252052 + ], + [ + 0.7981486225180667, + 0.6020999581178623, + 0.020842667942983194, + 0.6013184767166677, + -0.7982878866799069, + 0.03394907273070445, + 0.0370791846142725, + -0.01456332429759144, + -0.9992062067730285 + ], + [ + 0.7973661982033269, + 0.602852991596248, + -0.027846301122887957, + 0.6033384709874361, + -0.7952558825553521, + 0.05958834355518295, + 0.013778076401122694, + -0.0643144756999689, + -0.9978345618518746 + ], + [ + 0.7925623719133067, + 0.6066894149557135, + -0.061423451611313615, + 0.6097900620964619, + -0.7886927380379578, + 0.07822943905322538, + -0.0009832576195539927, + -0.09945712014171373, + -0.9950413631892748 + ], + [ + 0.79562833133817, + 0.6016228290144727, + -0.07089097249059181, + 0.6057787233748226, + -0.7906893439275258, + 0.08855788900955747, + -0.002774288811490673, + -0.11340340827365544, + -0.9935451526294662 + ], + [ + 0.7981842624188178, + 0.5981033949610451, + -0.07193199679558324, + 0.6024064481779444, + -0.793037419766103, + 0.09054348151222935, + -0.002890401453335918, + -0.11560268070764523, + -0.9932913297681828 + ], + [ + 0.7953258509441821, + 0.6028503279031784, + -0.06346867705366764, + 0.6058525882593723, + -0.7870723889040446, + 0.11601592961442721, + 0.019985797940840003, + -0.13072313021003742, + -0.9912174489529315 + ], + [ + 0.7895726986665245, + 0.610283566893703, + -0.06425668447687373, + 0.6132059156526897, + -0.7806406264480217, + 0.12074235937477025, + 0.023525699330896547, + -0.13473744957634803, + -0.9906020195581337 + ], + [ + 0.7883185520890545, + 0.6113427016710908, + -0.06938271791813412, + 0.6148175835485121, + -0.7784066984645885, + 0.12681620852645947, + 0.023520191151095535, + -0.14262928485745746, + -0.9894966840314652 + ], + [ + 0.7869710876642508, + 0.6123641162749466, + -0.07541018684070146, + 0.6166730352232767, + -0.7767533746455242, + 0.12793968346569104, + 0.01977055409079995, + -0.14718826065822463, + -0.9889108863367564 + ], + [ + 0.7843357005060962, + 0.6185467892826564, + -0.04708904734360741, + 0.61905244461477, + -0.7755719353953154, + 0.123540454279729, + 0.03989460775704393, + -0.1260477786209734, + -0.991221659255199 + ], + [ + 0.8071559688380041, + 0.5894550744936798, + -0.032279360632348084, + 0.5887429904486862, + -0.7997534682316556, + 0.1173715521281732, + 0.043369726385130425, + -0.11374139618049615, + -0.992563328774638 + ], + [ + 0.8364081324292327, + 0.5472959845518985, + 0.029808409880626323, + 0.542399613241799, + -0.8343014689842744, + 0.09871027507726406, + 0.07889293733529185, + -0.06639400683834552, + -0.9946696639058416 + ], + [ + 0.868206042309436, + 0.4941414788496033, + 0.04519366081335134, + 0.4894694309180622, + -0.8678178541463021, + 0.08550934581468377, + 0.08147358034438838, + -0.05211881527082053, + -0.9953118530393537 + ], + [ + 0.8980233476269038, + 0.43008291949638494, + 0.0926431296666695, + 0.4268139509995023, + -0.9027483062389074, + 0.053622260442641595, + 0.10669544671242416, + -0.008612661624032288, + -0.9942544461608338 + ], + [ + 0.9244962325915926, + 0.3703156867208204, + 0.0904046906550717, + 0.3689637420566487, + -0.9288977509845397, + 0.031854752603325515, + 0.09577302841357146, + 0.003906454191657336, + -0.9953955327628018 + ], + [ + 0.9480111424344164, + 0.30361557683796414, + 0.09535436708165686, + 0.30401204915711755, + -0.9526081463181839, + 0.010695491364321012, + 0.09408266464914457, + 0.0188494315453871, + -0.9953859307539628 + ], + [ + 0.9611437650714759, + 0.2678088663971738, + 0.0669408241903846, + 0.26898832873863227, + -0.9631003792007639, + -0.009107062410141442, + 0.062031781101502786, + 0.026759496676982422, + -0.9977153840003519 + ], + [ + 0.9715392475927763, + 0.23362707754230208, + 0.039113668019059786, + 0.23418967659499404, + -0.9721351355342919, + -0.01041506774131373, + 0.03559052912214375, + 0.01927866434085131, + -0.9991804878689529 + ], + [ + 0.9779833666353812, + 0.20865877890843887, + -0.003169947785906336, + 0.20865340013923278, + -0.9779877160347273, + -0.0019457377817066715, + -0.0035061652646948063, + 0.0012414788025499586, + -0.9999930827438358 + ], + [ + 0.9833825889373542, + 0.1809741104562123, + -0.014389409975735989, + 0.18111142071588882, + -0.9834224720099555, + 0.00888227629052225, + -0.012543407078599427, + -0.011340762338199573, + -0.9998570148018413 + ], + [ + 0.9833244221908164, + 0.181010048966966, + -0.017562542414865122, + 0.1811563685369137, + -0.9834285357332924, + 0.007119356992783708, + -0.015982830212927554, + -0.01018220400745167, + -0.9998204198054448 + ], + [ + 0.9818750731190582, + 0.18794691555817017, + -0.024439675112701616, + 0.18824928760851833, + -0.9820629562470717, + 0.01070306881916256, + -0.0219896908193293, + -0.015109827908763262, + -0.9996440099346557 + ], + [ + 0.9815914428837106, + 0.1882115665291701, + -0.03247530572776059, + 0.18885218977149454, + -0.9818421853172913, + 0.017910152145583, + -0.028514727352495644, + -0.02371348468703594, + -0.9993120538490523 + ], + [ + 0.977654531200362, + 0.20888622914419558, + -0.023625429039891722, + 0.2089689764137782, + -0.9779216936542159, + 0.0010620626383159313, + -0.022881969320365656, + -0.005975312074570705, + -0.9997203164513729 + ], + [ + 0.9719914630433325, + 0.23378184789655623, + 0.024055007066167377, + 0.23420268714136136, + -0.9720486197959535, + -0.016449379579407307, + 0.01953707006302419, + 0.021622403817644062, + -0.9995752970869675 + ], + [ + 0.9661722527908577, + 0.25371375024613496, + 0.04626565543771178, + 0.25511386248794443, + -0.9665254989205149, + -0.027301595245191858, + 0.037790145587459335, + 0.03818105384208221, + -0.9985560134634346 + ], + [ + 0.950462603244128, + 0.29381429021726246, + 0.10145936476502126, + 0.30087570968055577, + -0.951587163550513, + -0.0628941769173526, + 0.07806822118261256, + 0.09030522149917786, + -0.992849595765324 + ], + [ + 0.9370754750724936, + 0.32166193829897893, + 0.13573191027685402, + 0.33137845963600643, + -0.9418481232175596, + -0.055771222694395425, + 0.10989936536180595, + 0.09724047635272097, + -0.9891746151472791 + ], + [ + 0.9211627735245798, + 0.3627039518643025, + 0.14108503809590187, + 0.365324736707496, + -0.9308475753383224, + 0.007786413575286418, + 0.13415282860269132, + 0.04436930007093211, + -0.9899668599448735 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006464.json b/json/chunk-0006/episode_0006464.json new file mode 100644 index 0000000000000000000000000000000000000000..dd06b29ddd5eefd8afba81be714acb1ad4f22d49 --- /dev/null +++ b/json/chunk-0006/episode_0006464.json @@ -0,0 +1,1702 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 27, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nFold the yellow object from the bottom to the top." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006464.mp4", + "start": 0, + "end": 27, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.29827651381492615, + 0.04165266454219818, + 0.09915219247341156, + -0.06660004705190659, + 0.008632734417915344, + -0.06073412671685219, + 0.0, + 0.9988223910331726 + ], + [ + 0.2939360737800598, + 0.04047480598092079, + 0.08836546540260315, + -0.0733446404337883, + 0.04084865003824234, + -0.05115827918052673, + 0.0, + 0.9988223910331726 + ], + [ + 0.2622824013233185, + 0.02115112543106079, + 0.07643550634384155, + -0.06445828080177307, + 0.04015454649925232, + 0.012725015170872211, + 0.0, + 0.9988223910331726 + ], + [ + 0.24032621085643768, + -0.0009157168678939342, + 0.07451974600553513, + -0.03684716299176216, + 0.020842671394348145, + 0.09771335124969482, + 0.0, + 0.9988223910331726 + ], + [ + 0.21418480575084686, + -0.02484631910920143, + 0.0625610500574112, + -0.04860008880496025, + -0.02335061877965927, + 0.19471128284931183, + 0.0, + 0.9988223910331726 + ], + [ + 0.205236554145813, + -0.03177947923541069, + 0.03502349928021431, + -0.0897589772939682, + -0.029986128211021423, + 0.24268102645874023, + 0.0, + 0.9988223910331726 + ], + [ + 0.2000310868024826, + -0.03967507556080818, + 0.01667306385934353, + -0.08919188380241394, + -0.03570658341050148, + 0.25564447045326233, + 0.0, + 0.9988223910331726 + ], + [ + 0.19452190399169922, + -0.0529770627617836, + 0.0033304947428405285, + -0.09083589166402817, + -0.03478829935193062, + 0.2580207586288452, + 0.0, + 0.9988223910331726 + ], + [ + 0.18576093018054962, + -0.0637497752904892, + 0.002014696830883622, + -0.09782586991786957, + -0.06496160477399826, + 0.2845747470855713, + 0.0, + 0.9988223910331726 + ], + [ + 0.18546253442764282, + -0.06576313823461533, + 0.0014832462184131145, + -0.10591260343790054, + -0.085086390376091, + 0.29941925406455994, + 0.0, + 0.9530308246612549 + ], + [ + 0.1881648600101471, + -0.06545256823301315, + -0.0008372018346562982, + -0.10894162952899933, + -0.08640064299106598, + 0.2877669334411621, + 0.0, + 0.7161149382591248 + ], + [ + 0.19063438475131989, + -0.0646035224199295, + -0.0015540312742814422, + -0.1349111795425415, + -0.08879482001066208, + 0.2929825484752655, + 0.0, + 0.49086472392082214 + ], + [ + 0.19520504772663116, + -0.060965634882450104, + -0.00021465719328261912, + -0.13514839112758636, + -0.08935099095106125, + 0.29305583238601685, + 0.0, + 0.28468459844589233 + ], + [ + 0.19594706594944, + -0.055226292461156845, + 0.014546758495271206, + -0.08086255937814713, + -0.01385987363755703, + 0.3311336636543274, + 0.0, + 0.12090048938989639 + ], + [ + 0.20992136001586914, + -0.05015243962407112, + 0.05616301670670509, + -0.09094566106796265, + -0.008807742968201637, + 0.43928706645965576, + 0.0, + 0.05812275409698486 + ], + [ + 0.224649578332901, + -0.03620648756623268, + 0.08005204051733017, + -0.12674014270305634, + -0.00034222641261294484, + 0.5462470054626465, + 0.0, + 0.05430474132299423 + ], + [ + 0.24692320823669434, + -0.004216184839606285, + 0.07617903500795364, + -0.20103760063648224, + -0.014055220410227776, + 0.5831493735313416, + 0.0, + 0.05430474132299423 + ], + [ + 0.2757498025894165, + 0.035802122205495834, + 0.0622456818819046, + -0.2425517737865448, + 0.0019082068465650082, + 0.5577656030654907, + 0.0, + 0.05430474132299423 + ], + [ + 0.30581536889076233, + 0.0722229927778244, + 0.055824991315603256, + -0.24938228726387024, + 0.009164147078990936, + 0.5173772573471069, + 0.0, + 0.05430474132299423 + ], + [ + 0.32540181279182434, + 0.09611041843891144, + 0.05104648321866989, + -0.25614339113235474, + 0.02733001671731472, + 0.4915720224380493, + 0.0, + 0.05430474132299423 + ], + [ + 0.3368750214576721, + 0.10932442545890808, + 0.04241969436407089, + -0.25180721282958984, + 0.060190558433532715, + 0.4617263376712799, + 0.0, + 0.07854863256216049 + ], + [ + 0.33596041798591614, + 0.10937754064798355, + 0.030629418790340424, + -0.2557724416255951, + 0.0821414440870285, + 0.4580632448196411, + 0.0, + 0.23329517245292664 + ], + [ + 0.33644258975982666, + 0.10851375013589859, + 0.03053036890923977, + -0.2595480978488922, + 0.0805487185716629, + 0.4456508755683899, + 0.0, + 0.49949145317077637 + ], + [ + 0.33458980917930603, + 0.11251328140497208, + 0.03393220901489258, + -0.20320701599121094, + 0.0955750048160553, + 0.42853301763534546, + 0.0, + 0.8083573579788208 + ], + [ + 0.3385632336139679, + 0.10990388691425323, + 0.058888308703899384, + -0.12084770947694778, + 0.05930641293525696, + 0.38906264305114746, + 0.0, + 1.0067112445831299 + ], + [ + 0.34264326095581055, + 0.09731417894363403, + 0.09267684072256088, + -0.025900160893797874, + 0.0172263290733099, + 0.30629226565361023, + 0.0, + 1.0054124593734741 + ], + [ + 0.33977654576301575, + 0.07196711748838425, + 0.10682052373886108, + 0.03417394310235977, + 0.01436411589384079, + 0.21697989106178284, + 0.0, + 1.0001531839370728 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9530308246612549 + ], + [ + 0.7161149382591248 + ], + [ + 0.49086472392082214 + ], + [ + 0.28468459844589233 + ], + [ + 0.12090048938989639 + ], + [ + 0.05812275409698486 + ], + [ + 0.05430474132299423 + ], + [ + 0.05430474132299423 + ], + [ + 0.05430474132299423 + ], + [ + 0.05430474132299423 + ], + [ + 0.05430474132299423 + ], + [ + 0.07854863256216049 + ], + [ + 0.23329517245292664 + ], + [ + 0.49949145317077637 + ], + [ + 0.8083573579788208 + ], + [ + 1.0067112445831299 + ], + [ + 1.0054124593734741 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.29827651381492615, + 0.04165266454219818, + 0.09915219247341156 + ], + [ + 0.2939360737800598, + 0.04047480598092079, + 0.08836546540260315 + ], + [ + 0.2622824013233185, + 0.02115112543106079, + 0.07643550634384155 + ], + [ + 0.24032621085643768, + -0.0009157168678939342, + 0.07451974600553513 + ], + [ + 0.21418480575084686, + -0.02484631910920143, + 0.0625610500574112 + ], + [ + 0.205236554145813, + -0.03177947923541069, + 0.03502349928021431 + ], + [ + 0.2000310868024826, + -0.03967507556080818, + 0.01667306385934353 + ], + [ + 0.19452190399169922, + -0.0529770627617836, + 0.0033304947428405285 + ], + [ + 0.18576093018054962, + -0.0637497752904892, + 0.002014696830883622 + ], + [ + 0.18546253442764282, + -0.06576313823461533, + 0.0014832462184131145 + ], + [ + 0.1881648600101471, + -0.06545256823301315, + -0.0008372018346562982 + ], + [ + 0.19063438475131989, + -0.0646035224199295, + -0.0015540312742814422 + ], + [ + 0.19520504772663116, + -0.060965634882450104, + -0.00021465719328261912 + ], + [ + 0.19594706594944, + -0.055226292461156845, + 0.014546758495271206 + ], + [ + 0.20992136001586914, + -0.05015243962407112, + 0.05616301670670509 + ], + [ + 0.224649578332901, + -0.03620648756623268, + 0.08005204051733017 + ], + [ + 0.24692320823669434, + -0.004216184839606285, + 0.07617903500795364 + ], + [ + 0.2757498025894165, + 0.035802122205495834, + 0.0622456818819046 + ], + [ + 0.30581536889076233, + 0.0722229927778244, + 0.055824991315603256 + ], + [ + 0.32540181279182434, + 0.09611041843891144, + 0.05104648321866989 + ], + [ + 0.3368750214576721, + 0.10932442545890808, + 0.04241969436407089 + ], + [ + 0.33596041798591614, + 0.10937754064798355, + 0.030629418790340424 + ], + [ + 0.33644258975982666, + 0.10851375013589859, + 0.03053036890923977 + ], + [ + 0.33458980917930603, + 0.11251328140497208, + 0.03393220901489258 + ], + [ + 0.3385632336139679, + 0.10990388691425323, + 0.058888308703899384 + ], + [ + 0.34264326095581055, + 0.09731417894363403, + 0.09267684072256088 + ], + [ + 0.33977654576301575, + 0.07196711748838425, + 0.10682052373886108 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9981190566549827, + -0.0599887841637517, + -0.012637029584618998, + -0.060694534267096374, + -0.9959782446281733, + -0.06590530887176706, + -0.0086326271938493, + 0.06654834334480135, + -0.9977458572932261 + ], + [ + 0.997858601879848, + -0.048009890800937524, + -0.044421402945850424, + -0.05109331000134, + -0.9961597303780311, + -0.07110038851002093, + -0.04083729089328189, + 0.07321777078313024, + -0.996479540037851 + ], + [ + 0.999113017865808, + 0.015283842928091127, + -0.03923750344284782, + 0.012714414581978955, + -0.9978095868963811, + -0.06491819436422525, + -0.040143756586991416, + 0.06436173119970598, + -0.9971188727348719 + ], + [ + 0.995013683185106, + 0.09825581382571152, + -0.017133748097157016, + 0.09753674295332224, + -0.9944794042317152, + -0.03869493937183887, + -0.02084116235883359, + 0.036830824161018384, + -0.9991041669131167 + ], + [ + 0.9808361104880351, + 0.19214196755781238, + 0.032279849220765336, + 0.19343053548444972, + -0.980164599104012, + -0.04315074281481583, + 0.023348496844589565, + 0.04856771526728343, + -0.9985469566969869 + ], + [ + 0.9702608204716717, + 0.23672981102099183, + 0.05052659529004469, + 0.2401979222249942, + -0.9674353511777574, + -0.07983607862592536, + 0.02998163465246845, + 0.08959820235660314, + -0.9955266263229885 + ], + [ + 0.9668838332717694, + 0.24878734488205428, + 0.05692547746156454, + 0.25270780480195115, + -0.964458837349964, + -0.07718754076750174, + 0.03569899648265003, + 0.08901689774471798, + -0.995390161477417 + ], + [ + 0.9663118866257897, + 0.25106473698810494, + 0.05663775778401352, + 0.2550129411041858, + -0.963715705934662, + -0.07886975341820934, + 0.034781282827117566, + 0.0906561414133085, + -0.9952746989595136 + ], + [ + 0.9577566979571793, + 0.2733216946037032, + 0.08942795299636827, + 0.2801571527660845, + -0.9569723292731143, + -0.07560377477078226, + 0.06491592464227422, + 0.09746390236672448, + -0.9931196858703831 + ], + [ + 0.9520512438823225, + 0.2847281961556948, + 0.11192981433044204, + 0.2938982636806491, + -0.9528037409988025, + -0.07608443825242536, + 0.0849837609642141, + 0.10533226216412364, + -0.9907991092647218 + ], + [ + 0.955303208260852, + 0.2731326439924155, + 0.11311206422055814, + 0.28275301317595164, + -0.9558583504595697, + -0.07990962017573684, + 0.08629318528391094, + 0.10832069350970207, + -0.9903636269225228 + ], + [ + 0.953614960026539, + 0.27476547902389364, + 0.1229733286137809, + 0.2876711456965529, + -0.9521319901436285, + -0.10339238501343506, + 0.08867818191198627, + 0.13397240343408043, + -0.9870094098694708 + ], + [ + 0.9535465108274206, + 0.2747346163238075, + 0.12357160791323535, + 0.28772673747154826, + -0.9521088630915105, + -0.10345065184217087, + 0.0892321479783538, + 0.13419986369591286, + -0.9869285791541188 + ], + [ + 0.9455835511549572, + 0.3229942972131156, + 0.03932469647671456, + 0.32508408756492474, + -0.9429482610719025, + -0.07189515250387343, + 0.013859429903880002, + 0.08076670668834024, + -0.9966366716579612 + ], + [ + 0.9050199945916693, + 0.4228127479019108, + 0.04656382287710109, + 0.4252778327859442, + -0.901654970286111, + -0.07846705996303595, + 0.008807629089905077, + 0.09081681986277311, + -0.9958286654338824 + ], + [ + 0.8544801058483324, + 0.5152804019702425, + 0.0659534385366535, + 0.5194840051344313, + -0.8476490245314781, + -0.10783088435287932, + 0.0003422264059327537, + 0.12640110187897594, + -0.9919791551866743 + ], + [ + 0.8346501234135372, + 0.5372225855311106, + 0.12145396280498838, + 0.5506011580747074, + -0.8194664210372918, + -0.1591010669955506, + 0.01405475764849206, + 0.19966641777625083, + -0.9797631271893434 + ], + [ + 0.848438331174049, + 0.5141873244737843, + 0.12555394675232517, + 0.5292908056500177, + -0.823361973990071, + -0.20475913371942278, + -0.0019082056885211043, + 0.24018004733462867, + -0.9707264823900631 + ], + [ + 0.8690828873888867, + 0.4812675841443558, + 0.11435229468467674, + 0.49458159651068023, + -0.8411145707597205, + -0.21889569033820194, + -0.009164018809586533, + 0.24679503906591538, + -0.9690243698956755 + ], + [ + 0.881262711067746, + 0.4627160705452104, + 0.09628017522172386, + 0.47183608405598493, + -0.8495614781483698, + -0.2358304573821413, + -0.027326614576992377, + 0.2532570490737747, + -0.9670129902075792 + ], + [ + 0.8936634828408668, + 0.44486336274271066, + 0.05884018971739744, + 0.444687585999589, + -0.8603738793626022, + -0.249017546707867, + -0.06015422092081298, + 0.24870339000462796, + -0.9667099324542063 + ], + [ + 0.8938865109016154, + 0.4464437977977079, + 0.04067973741429372, + 0.44072083014592073, + -0.8585531246355196, + -0.26201465999839924, + -0.08204910422196618, + 0.2521397778743877, + -0.9642061381830276 + ], + [ + 0.8994046791972858, + 0.4352409751370898, + 0.04045388238157357, + 0.42964770060869373, + -0.8632066202052993, + -0.26509844246129843, + -0.08046164551939841, + 0.2558116971435419, + -0.9633723575050569 + ], + [ + 0.9054251753562146, + 0.42450432171452773, + -0.0011544162407949865, + 0.4136404839459265, + -0.8828585067144961, + -0.22240145494764646, + -0.09542956497934997, + 0.20089036305293256, + -0.9749544913278327 + ], + [ + 0.92363830811895, + 0.3831662203513377, + -0.008713400991249634, + 0.3786543897943025, + -0.9158064704793106, + -0.13386322018288838, + -0.059271653129203475, + 0.12034183067370276, + -0.9909615103148224 + ], + [ + 0.9533166335438213, + 0.3018497497500395, + -0.008609575164542572, + 0.30148081057835724, + -0.9530038086103955, + -0.029884136713269508, + -0.017225477110722913, + 0.02589342290851582, + -0.9995162898064187 + ], + [ + 0.9764513317578886, + 0.2146763602826066, + -0.02137421446645785, + 0.21525910682903546, + -0.9760875459508027, + 0.0302757257040211, + -0.014363621946137186, + -0.03416376699884991, + -0.9993130257276928 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.004340440034866333, + -0.0011778585612773895, + -0.01078672707080841, + -0.006744593381881714, + 0.032215915620326996, + 0.009575847536325455, + 1.0 + ], + [ + -0.03165367245674133, + -0.01932368054986, + -0.011929959058761597, + 0.008886359632015228, + -0.0006941035389900208, + 0.06388329714536667, + 1.0 + ], + [ + -0.0219561904668808, + -0.022066842764616013, + -0.001915760338306427, + 0.02761111781001091, + -0.019311875104904175, + 0.08498833328485489, + 1.0 + ], + [ + -0.02614140510559082, + -0.02393060177564621, + -0.011958695948123932, + -0.01175292581319809, + -0.044193290174007416, + 0.096997931599617, + 1.0 + ], + [ + -0.008948251605033875, + -0.006933160126209259, + -0.027537550777196884, + -0.04115888848900795, + -0.006635509431362152, + 0.047969743609428406, + 1.0 + ], + [ + -0.005205467343330383, + -0.007895596325397491, + -0.01835043542087078, + 0.0005670934915542603, + -0.005720455199480057, + 0.012963443994522095, + 1.0 + ], + [ + -0.005509182810783386, + -0.013301987200975418, + -0.013342568650841713, + -0.0016440078616142273, + 0.0009182840585708618, + 0.0023762881755828857, + 1.0 + ], + [ + -0.008760973811149597, + -0.010772712528705597, + -0.0013157979119569063, + -0.0069899782538414, + -0.030173305422067642, + 0.026553988456726074, + 1.0 + ], + [ + -0.0002983957529067993, + -0.002013362944126129, + -0.0005314506124705076, + -0.008086733520030975, + -0.020124785602092743, + 0.014844506978988647, + 0.0 + ], + [ + 0.0027023255825042725, + 0.00031057000160217285, + -0.002320447936654091, + -0.0030290260910987854, + -0.0013142526149749756, + -0.011652320623397827, + 0.0 + ], + [ + 0.0024695247411727905, + 0.0008490458130836487, + -0.000716829439625144, + -0.025969550013542175, + -0.0023941770195961, + 0.0052156150341033936, + 0.0 + ], + [ + 0.004570662975311279, + 0.0036378875374794006, + 0.0013393741101026535, + -0.00023721158504486084, + -0.0005561709403991699, + 7.328391075134277e-05, + 0.0 + ], + [ + 0.0007420182228088379, + 0.005739342421293259, + 0.014761415310204029, + 0.05428583174943924, + 0.07549111545085907, + 0.03807783126831055, + 0.0 + ], + [ + 0.013974294066429138, + 0.005073852837085724, + 0.04161625728011131, + -0.010083101689815521, + 0.0050521306693553925, + 0.10815340280532837, + 0.0 + ], + [ + 0.01472821831703186, + 0.01394595205783844, + 0.023889023810625076, + -0.03579448163509369, + 0.00846551638096571, + 0.10695993900299072, + 0.0 + ], + [ + 0.022273629903793335, + 0.031990304589271545, + -0.003873005509376526, + -0.0742974579334259, + -0.013712993822991848, + 0.03690236806869507, + 0.0 + ], + [ + 0.028826594352722168, + 0.04001830518245697, + -0.013933353126049042, + -0.04151417315006256, + 0.01596342772245407, + -0.02538377046585083, + 0.0 + ], + [ + 0.030065566301345825, + 0.03642087057232857, + -0.006420690566301346, + -0.0068305134773254395, + 0.007255940232425928, + -0.04038834571838379, + 0.0 + ], + [ + 0.01958644390106201, + 0.023887425661087036, + -0.004778508096933365, + -0.006761103868484497, + 0.018165869638323784, + -0.025805234909057617, + 0.0 + ], + [ + 0.011473208665847778, + 0.013214007019996643, + -0.008626788854598999, + 0.004336178302764893, + 0.032860539853572845, + -0.02984568476676941, + 1.0 + ], + [ + -0.0009146034717559814, + 5.311518907546997e-05, + -0.011790275573730469, + -0.003965228796005249, + 0.02195088565349579, + -0.003663092851638794, + 1.0 + ], + [ + 0.00048217177391052246, + -0.0008637905120849609, + -9.90498811006546e-05, + -0.003775656223297119, + -0.0015927255153656006, + -0.01241236925125122, + 1.0 + ], + [ + -0.0018527805805206299, + 0.003999531269073486, + 0.003401840105652809, + 0.056341081857681274, + 0.015026286244392395, + -0.017117857933044434, + 1.0 + ], + [ + 0.003973424434661865, + -0.0026093944907188416, + 0.024956099689006805, + 0.08235930651426315, + -0.03626859188079834, + -0.039470374584198, + 1.0 + ], + [ + 0.004080027341842651, + -0.012589707970619202, + 0.0337885320186615, + 0.09494754672050476, + -0.04208008199930191, + -0.08277037739753723, + 1.0 + ], + [ + -0.0028667151927948, + -0.025347061455249786, + 0.014143683016300201, + 0.060074105858802795, + -0.0028622131794691086, + -0.08931237459182739, + 1.0 + ], + [ + -0.009937912225723267, + -0.018422111868858337, + -0.008522920310497284, + -0.0178690142929554, + -0.0027122069150209427, + -0.027875855565071106, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9530308246612549 + ], + [ + 0.7161149382591248 + ], + [ + 0.49086472392082214 + ], + [ + 0.28468459844589233 + ], + [ + 0.12090048938989639 + ], + [ + 0.05812275409698486 + ], + [ + 0.05430474132299423 + ], + [ + 0.05430474132299423 + ], + [ + 0.05430474132299423 + ], + [ + 0.05430474132299423 + ], + [ + 0.05430474132299423 + ], + [ + 0.07854863256216049 + ], + [ + 0.23329517245292664 + ], + [ + 0.49949145317077637 + ], + [ + 0.8083573579788208 + ], + [ + 1.0067112445831299 + ], + [ + 1.0054124593734741 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2939360737800598, + 0.04047480598092079, + 0.08836546540260315 + ], + [ + 0.2622824013233185, + 0.02115112543106079, + 0.07643550634384155 + ], + [ + 0.24032621085643768, + -0.0009157168678939342, + 0.07451974600553513 + ], + [ + 0.21418480575084686, + -0.02484631910920143, + 0.0625610500574112 + ], + [ + 0.205236554145813, + -0.03177947923541069, + 0.03502349928021431 + ], + [ + 0.2000310868024826, + -0.03967507556080818, + 0.01667306385934353 + ], + [ + 0.19452190399169922, + -0.0529770627617836, + 0.0033304947428405285 + ], + [ + 0.18576093018054962, + -0.0637497752904892, + 0.002014696830883622 + ], + [ + 0.18546253442764282, + -0.06576313823461533, + 0.0014832462184131145 + ], + [ + 0.1881648600101471, + -0.06545256823301315, + -0.0008372018346562982 + ], + [ + 0.19063438475131989, + -0.0646035224199295, + -0.0015540312742814422 + ], + [ + 0.19520504772663116, + -0.060965634882450104, + -0.00021465719328261912 + ], + [ + 0.19594706594944, + -0.055226292461156845, + 0.014546758495271206 + ], + [ + 0.20992136001586914, + -0.05015243962407112, + 0.05616301670670509 + ], + [ + 0.224649578332901, + -0.03620648756623268, + 0.08005204051733017 + ], + [ + 0.24692320823669434, + -0.004216184839606285, + 0.07617903500795364 + ], + [ + 0.2757498025894165, + 0.035802122205495834, + 0.0622456818819046 + ], + [ + 0.30581536889076233, + 0.0722229927778244, + 0.055824991315603256 + ], + [ + 0.32540181279182434, + 0.09611041843891144, + 0.05104648321866989 + ], + [ + 0.3368750214576721, + 0.10932442545890808, + 0.04241969436407089 + ], + [ + 0.33596041798591614, + 0.10937754064798355, + 0.030629418790340424 + ], + [ + 0.33644258975982666, + 0.10851375013589859, + 0.03053036890923977 + ], + [ + 0.33458980917930603, + 0.11251328140497208, + 0.03393220901489258 + ], + [ + 0.3385632336139679, + 0.10990388691425323, + 0.058888308703899384 + ], + [ + 0.34264326095581055, + 0.09731417894363403, + 0.09267684072256088 + ], + [ + 0.33977654576301575, + 0.07196711748838425, + 0.10682052373886108 + ], + [ + 0.3298386335372925, + 0.05354500561952591, + 0.0982976034283638 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.997858601879848, + -0.048009890800937524, + -0.044421402945850424, + -0.05109331000134, + -0.9961597303780311, + -0.07110038851002093, + -0.04083729089328189, + 0.07321777078313024, + -0.996479540037851 + ], + [ + 0.999113017865808, + 0.015283842928091127, + -0.03923750344284782, + 0.012714414581978955, + -0.9978095868963811, + -0.06491819436422525, + -0.040143756586991416, + 0.06436173119970598, + -0.9971188727348719 + ], + [ + 0.995013683185106, + 0.09825581382571152, + -0.017133748097157016, + 0.09753674295332224, + -0.9944794042317152, + -0.03869493937183887, + -0.02084116235883359, + 0.036830824161018384, + -0.9991041669131167 + ], + [ + 0.9808361104880351, + 0.19214196755781238, + 0.032279849220765336, + 0.19343053548444972, + -0.980164599104012, + -0.04315074281481583, + 0.023348496844589565, + 0.04856771526728343, + -0.9985469566969869 + ], + [ + 0.9702608204716717, + 0.23672981102099183, + 0.05052659529004469, + 0.2401979222249942, + -0.9674353511777574, + -0.07983607862592536, + 0.02998163465246845, + 0.08959820235660314, + -0.9955266263229885 + ], + [ + 0.9668838332717694, + 0.24878734488205428, + 0.05692547746156454, + 0.25270780480195115, + -0.964458837349964, + -0.07718754076750174, + 0.03569899648265003, + 0.08901689774471798, + -0.995390161477417 + ], + [ + 0.9663118866257897, + 0.25106473698810494, + 0.05663775778401352, + 0.2550129411041858, + -0.963715705934662, + -0.07886975341820934, + 0.034781282827117566, + 0.0906561414133085, + -0.9952746989595136 + ], + [ + 0.9577566979571793, + 0.2733216946037032, + 0.08942795299636827, + 0.2801571527660845, + -0.9569723292731143, + -0.07560377477078226, + 0.06491592464227422, + 0.09746390236672448, + -0.9931196858703831 + ], + [ + 0.9520512438823225, + 0.2847281961556948, + 0.11192981433044204, + 0.2938982636806491, + -0.9528037409988025, + -0.07608443825242536, + 0.0849837609642141, + 0.10533226216412364, + -0.9907991092647218 + ], + [ + 0.955303208260852, + 0.2731326439924155, + 0.11311206422055814, + 0.28275301317595164, + -0.9558583504595697, + -0.07990962017573684, + 0.08629318528391094, + 0.10832069350970207, + -0.9903636269225228 + ], + [ + 0.953614960026539, + 0.27476547902389364, + 0.1229733286137809, + 0.2876711456965529, + -0.9521319901436285, + -0.10339238501343506, + 0.08867818191198627, + 0.13397240343408043, + -0.9870094098694708 + ], + [ + 0.9535465108274206, + 0.2747346163238075, + 0.12357160791323535, + 0.28772673747154826, + -0.9521088630915105, + -0.10345065184217087, + 0.0892321479783538, + 0.13419986369591286, + -0.9869285791541188 + ], + [ + 0.9455835511549572, + 0.3229942972131156, + 0.03932469647671456, + 0.32508408756492474, + -0.9429482610719025, + -0.07189515250387343, + 0.013859429903880002, + 0.08076670668834024, + -0.9966366716579612 + ], + [ + 0.9050199945916693, + 0.4228127479019108, + 0.04656382287710109, + 0.4252778327859442, + -0.901654970286111, + -0.07846705996303595, + 0.008807629089905077, + 0.09081681986277311, + -0.9958286654338824 + ], + [ + 0.8544801058483324, + 0.5152804019702425, + 0.0659534385366535, + 0.5194840051344313, + -0.8476490245314781, + -0.10783088435287932, + 0.0003422264059327537, + 0.12640110187897594, + -0.9919791551866743 + ], + [ + 0.8346501234135372, + 0.5372225855311106, + 0.12145396280498838, + 0.5506011580747074, + -0.8194664210372918, + -0.1591010669955506, + 0.01405475764849206, + 0.19966641777625083, + -0.9797631271893434 + ], + [ + 0.848438331174049, + 0.5141873244737843, + 0.12555394675232517, + 0.5292908056500177, + -0.823361973990071, + -0.20475913371942278, + -0.0019082056885211043, + 0.24018004733462867, + -0.9707264823900631 + ], + [ + 0.8690828873888867, + 0.4812675841443558, + 0.11435229468467674, + 0.49458159651068023, + -0.8411145707597205, + -0.21889569033820194, + -0.009164018809586533, + 0.24679503906591538, + -0.9690243698956755 + ], + [ + 0.881262711067746, + 0.4627160705452104, + 0.09628017522172386, + 0.47183608405598493, + -0.8495614781483698, + -0.2358304573821413, + -0.027326614576992377, + 0.2532570490737747, + -0.9670129902075792 + ], + [ + 0.8936634828408668, + 0.44486336274271066, + 0.05884018971739744, + 0.444687585999589, + -0.8603738793626022, + -0.249017546707867, + -0.06015422092081298, + 0.24870339000462796, + -0.9667099324542063 + ], + [ + 0.8938865109016154, + 0.4464437977977079, + 0.04067973741429372, + 0.44072083014592073, + -0.8585531246355196, + -0.26201465999839924, + -0.08204910422196618, + 0.2521397778743877, + -0.9642061381830276 + ], + [ + 0.8994046791972858, + 0.4352409751370898, + 0.04045388238157357, + 0.42964770060869373, + -0.8632066202052993, + -0.26509844246129843, + -0.08046164551939841, + 0.2558116971435419, + -0.9633723575050569 + ], + [ + 0.9054251753562146, + 0.42450432171452773, + -0.0011544162407949865, + 0.4136404839459265, + -0.8828585067144961, + -0.22240145494764646, + -0.09542956497934997, + 0.20089036305293256, + -0.9749544913278327 + ], + [ + 0.92363830811895, + 0.3831662203513377, + -0.008713400991249634, + 0.3786543897943025, + -0.9158064704793106, + -0.13386322018288838, + -0.059271653129203475, + 0.12034183067370276, + -0.9909615103148224 + ], + [ + 0.9533166335438213, + 0.3018497497500395, + -0.008609575164542572, + 0.30148081057835724, + -0.9530038086103955, + -0.029884136713269508, + -0.017225477110722913, + 0.02589342290851582, + -0.9995162898064187 + ], + [ + 0.9764513317578886, + 0.2146763602826066, + -0.02137421446645785, + 0.21525910682903546, + -0.9760875459508027, + 0.0302757257040211, + -0.014363621946137186, + -0.03416376699884991, + -0.9993130257276928 + ], + [ + 0.9821063792259553, + 0.1877674075059724, + -0.014507258947509465, + 0.18796621782902004, + -0.9820782095240445, + 0.013823578881764435, + -0.011651645323188554, + -0.016303099598943615, + -0.9997992038928265 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006465.json b/json/chunk-0006/episode_0006465.json new file mode 100644 index 0000000000000000000000000000000000000000..d971d88e89355a96e5495ec507b34ec98ac6c848 --- /dev/null +++ b/json/chunk-0006/episode_0006465.json @@ -0,0 +1,2122 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 34, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nOpen the drawer." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006465.mp4", + "start": 0, + "end": 34, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.13521333038806915, + 0.08301062881946564, + 0.1574733853340149, + 0.05689827352762222, + -0.11233919113874435, + -0.33271175622940063, + 0.0, + 0.9988223910331726 + ], + [ + 0.13392896950244904, + 0.08124902099370956, + 0.1536228507757187, + 0.044830307364463806, + -0.105991892516613, + -0.3160235285758972, + 0.0, + 0.9988223910331726 + ], + [ + 0.14929568767547607, + 0.06382401287555695, + 0.1426103264093399, + 0.015699919313192368, + -0.12108425050973892, + -0.13503441214561462, + 0.0, + 0.9988223910331726 + ], + [ + 0.16801324486732483, + 0.04907077178359032, + 0.12784455716609955, + -0.03330101817846298, + -0.12964095175266266, + 0.015310549177229404, + 0.0, + 0.9988223910331726 + ], + [ + 0.19148491322994232, + 0.04115575924515724, + 0.1141301766037941, + -0.06392019242048264, + -0.13571469485759735, + 0.14330355823040009, + 0.0, + 0.9988223910331726 + ], + [ + 0.22213789820671082, + 0.03318687900900841, + 0.09801756590604782, + -0.08491240441799164, + -0.1334962546825409, + 0.24814176559448242, + 0.0, + 0.9988223910331726 + ], + [ + 0.24674224853515625, + 0.02940991148352623, + 0.0826520323753357, + -0.0555276945233345, + -0.1725579798221588, + 0.31727805733680725, + 0.0, + 0.9988223910331726 + ], + [ + 0.2663842439651489, + 0.03282398357987404, + 0.08066876232624054, + -0.05764590948820114, + -0.23095382750034332, + 0.3973034620285034, + 0.0, + 0.9988223910331726 + ], + [ + 0.2774556279182434, + 0.027869990095496178, + 0.0759962797164917, + -0.068581223487854, + -0.2365957498550415, + 0.44496047496795654, + 0.0, + 0.9988223910331726 + ], + [ + 0.28393611311912537, + 0.02194957621395588, + 0.07352787256240845, + -0.07527389377355576, + -0.2416350245475769, + 0.46120133996009827, + 0.0, + 0.9988223910331726 + ], + [ + 0.28868669271469116, + 0.0182802751660347, + 0.061381734907627106, + -0.07699178904294968, + -0.2334817796945572, + 0.4772726595401764, + 0.0, + 0.9988223910331726 + ], + [ + 0.2907984256744385, + 0.015686864033341408, + 0.05200470983982086, + -0.05661368370056152, + -0.2289378046989441, + 0.46969717741012573, + 0.0, + 0.9988223910331726 + ], + [ + 0.2944924533367157, + 0.014615231193602085, + 0.03896819055080414, + -0.04095606878399849, + -0.21589802205562592, + 0.45267149806022644, + 0.0, + 0.9499720335006714 + ], + [ + 0.2935190200805664, + 0.015373003669083118, + 0.022331124171614647, + -0.02381574548780918, + -0.19192861020565033, + 0.44778555631637573, + 0.0, + 0.6581199765205383 + ], + [ + 0.2932049036026001, + 0.016873106360435486, + 0.022345589473843575, + -0.01795244589447975, + -0.19781188666820526, + 0.4572838544845581, + 0.0, + 0.3494465947151184 + ], + [ + 0.2894010543823242, + 0.016745880246162415, + 0.020455067977309227, + -0.01753772422671318, + -0.19051173329353333, + 0.4704959988594055, + 0.0, + 0.18403103947639465 + ], + [ + 0.28295284509658813, + 0.025062695145606995, + 0.020253879949450493, + -0.009706838987767696, + -0.18296696245670319, + 0.4837951958179474, + 0.0, + 0.1660143882036209 + ], + [ + 0.2753849923610687, + 0.03598227724432945, + 0.01840820349752903, + 0.013428773730993271, + -0.17766202986240387, + 0.47535133361816406, + 0.0, + 0.1660143882036209 + ], + [ + 0.2634536921977997, + 0.05157293379306793, + 0.018784774467349052, + 0.04560766741633415, + -0.17904365062713623, + 0.4666566550731659, + 0.0, + 0.15975023806095123 + ], + [ + 0.2538207471370697, + 0.05856029689311981, + 0.019359493628144264, + 0.07293736934661865, + -0.17804640531539917, + 0.4436846077442169, + 0.0, + 0.15923498570919037 + ], + [ + 0.24443219602108002, + 0.06459632515907288, + 0.019348103553056717, + 0.08286524564027786, + -0.18108928203582764, + 0.43629464507102966, + 0.0, + 0.15923498570919037 + ], + [ + 0.23551848530769348, + 0.06982240080833435, + 0.020291078835725784, + 0.08774695545434952, + -0.1794881373643875, + 0.44885167479515076, + 0.0, + 0.15923498570919037 + ], + [ + 0.22854678332805634, + 0.07495572417974472, + 0.020415933802723885, + 0.09382281452417374, + -0.17844878137111664, + 0.46015384793281555, + 0.0, + 0.15923498570919037 + ], + [ + 0.22458653151988983, + 0.07812569290399551, + 0.020095083862543106, + 0.09360811114311218, + -0.17927922308444977, + 0.46351128816604614, + 0.0, + 0.15923498570919037 + ], + [ + 0.2212001085281372, + 0.07984934002161026, + 0.020030884072184563, + 0.09324686974287033, + -0.18084460496902466, + 0.47395747900009155, + 0.0, + 0.15923498570919037 + ], + [ + 0.2195144146680832, + 0.08177509158849716, + 0.020829753950238228, + 0.09945132583379745, + -0.1852363646030426, + 0.4707135856151581, + 0.0, + 0.15923498570919037 + ], + [ + 0.21731090545654297, + 0.08369019627571106, + 0.020060094073414803, + 0.10547436028718948, + -0.1817512810230255, + 0.47155818343162537, + 0.0, + 0.15923498570919037 + ], + [ + 0.21606767177581787, + 0.0837094709277153, + 0.020247435197234154, + 0.10547435283660889, + -0.1817513257265091, + 0.4730921685695648, + 0.0, + 0.15923498570919037 + ], + [ + 0.21213923394680023, + 0.08573397248983383, + 0.020375153049826622, + 0.11124885827302933, + -0.17913155257701874, + 0.47395870089530945, + 0.0, + 0.2117326408624649 + ], + [ + 0.20872877538204193, + 0.0881282389163971, + 0.023192277178168297, + 0.1618262380361557, + -0.17993193864822388, + 0.45182958245277405, + 0.0, + 0.464354008436203 + ], + [ + 0.206649512052536, + 0.087235227227211, + 0.030365748330950737, + 0.1767476201057434, + -0.1932818442583084, + 0.42937809228897095, + 0.0, + 0.7922340631484985 + ], + [ + 0.2076960802078247, + 0.08702047914266586, + 0.06351740658283234, + 0.2198924422264099, + -0.251831591129303, + 0.3802492022514343, + 0.0, + 1.0027955770492554 + ], + [ + 0.20740729570388794, + 0.08286366611719131, + 0.09502167999744415, + 0.20096813142299652, + -0.2530992925167084, + 0.3058314323425293, + 0.0, + 1.0060625076293945 + ], + [ + 0.20846928656101227, + 0.07412272691726685, + 0.1346438080072403, + 0.15990222990512848, + -0.2674686908721924, + 0.2282145768404007, + 0.0, + 1.0008161067962646 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9499720335006714 + ], + [ + 0.6581199765205383 + ], + [ + 0.3494465947151184 + ], + [ + 0.18403103947639465 + ], + [ + 0.1660143882036209 + ], + [ + 0.1660143882036209 + ], + [ + 0.15975023806095123 + ], + [ + 0.15923498570919037 + ], + [ + 0.15923498570919037 + ], + [ + 0.15923498570919037 + ], + [ + 0.15923498570919037 + ], + [ + 0.15923498570919037 + ], + [ + 0.15923498570919037 + ], + [ + 0.15923498570919037 + ], + [ + 0.15923498570919037 + ], + [ + 0.15923498570919037 + ], + [ + 0.2117326408624649 + ], + [ + 0.464354008436203 + ], + [ + 0.7922340631484985 + ], + [ + 1.0027955770492554 + ], + [ + 1.0060625076293945 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.13521333038806915, + 0.08301062881946564, + 0.1574733853340149 + ], + [ + 0.13392896950244904, + 0.08124902099370956, + 0.1536228507757187 + ], + [ + 0.14929568767547607, + 0.06382401287555695, + 0.1426103264093399 + ], + [ + 0.16801324486732483, + 0.04907077178359032, + 0.12784455716609955 + ], + [ + 0.19148491322994232, + 0.04115575924515724, + 0.1141301766037941 + ], + [ + 0.22213789820671082, + 0.03318687900900841, + 0.09801756590604782 + ], + [ + 0.24674224853515625, + 0.02940991148352623, + 0.0826520323753357 + ], + [ + 0.2663842439651489, + 0.03282398357987404, + 0.08066876232624054 + ], + [ + 0.2774556279182434, + 0.027869990095496178, + 0.0759962797164917 + ], + [ + 0.28393611311912537, + 0.02194957621395588, + 0.07352787256240845 + ], + [ + 0.28868669271469116, + 0.0182802751660347, + 0.061381734907627106 + ], + [ + 0.2907984256744385, + 0.015686864033341408, + 0.05200470983982086 + ], + [ + 0.2944924533367157, + 0.014615231193602085, + 0.03896819055080414 + ], + [ + 0.2935190200805664, + 0.015373003669083118, + 0.022331124171614647 + ], + [ + 0.2932049036026001, + 0.016873106360435486, + 0.022345589473843575 + ], + [ + 0.2894010543823242, + 0.016745880246162415, + 0.020455067977309227 + ], + [ + 0.28295284509658813, + 0.025062695145606995, + 0.020253879949450493 + ], + [ + 0.2753849923610687, + 0.03598227724432945, + 0.01840820349752903 + ], + [ + 0.2634536921977997, + 0.05157293379306793, + 0.018784774467349052 + ], + [ + 0.2538207471370697, + 0.05856029689311981, + 0.019359493628144264 + ], + [ + 0.24443219602108002, + 0.06459632515907288, + 0.019348103553056717 + ], + [ + 0.23551848530769348, + 0.06982240080833435, + 0.020291078835725784 + ], + [ + 0.22854678332805634, + 0.07495572417974472, + 0.020415933802723885 + ], + [ + 0.22458653151988983, + 0.07812569290399551, + 0.020095083862543106 + ], + [ + 0.2212001085281372, + 0.07984934002161026, + 0.020030884072184563 + ], + [ + 0.2195144146680832, + 0.08177509158849716, + 0.020829753950238228 + ], + [ + 0.21731090545654297, + 0.08369019627571106, + 0.020060094073414803 + ], + [ + 0.21606767177581787, + 0.0837094709277153, + 0.020247435197234154 + ], + [ + 0.21213923394680023, + 0.08573397248983383, + 0.020375153049826622 + ], + [ + 0.20872877538204193, + 0.0881282389163971, + 0.023192277178168297 + ], + [ + 0.206649512052536, + 0.087235227227211, + 0.030365748330950737 + ], + [ + 0.2076960802078247, + 0.08702047914266586, + 0.06351740658283234 + ], + [ + 0.20740729570388794, + 0.08286366611719131, + 0.09502167999744415 + ], + [ + 0.20846928656101227, + 0.07412272691726685, + 0.1346438080072403 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9392024051961003, + -0.3200533079082171, + 0.12435723610175808, + -0.3245485293142903, + -0.9457127469107548, + 0.017194547113730033, + 0.11210305167028992, + -0.05650911809188845, + -0.9920885169069772 + ], + [ + 0.9451447983941829, + -0.3059708424951506, + 0.11438161395620901, + -0.30904536158191276, + -0.9509973248009048, + 0.009749497742302587, + 0.10579354684064772, + -0.04456379432151249, + -0.9933890444747947 + ], + [ + 0.9836416054160634, + -0.1327287880099069, + 0.12178777002610258, + -0.13363872427173884, + -0.9910298671313019, + -0.0007027294902483827, + 0.12078858998072547, + -0.015584328254227134, + -0.9925559154240797 + ], + [ + 0.9914921540765225, + 0.010997670009216249, + 0.12970103954504555, + 0.01518147564702328, + -0.9993943317258881, + -0.03131281704580603, + 0.1292781157113451, + 0.03301546559619699, + -0.9910585995941865 + ], + [ + 0.9806487455703893, + 0.1339681015641053, + 0.1427605883097005, + 0.14150039642942316, + -0.9889625926461946, + -0.043938913924145666, + 0.135298468659251, + 0.06328932066175905, + -0.9887814653747485 + ], + [ + 0.9607456065447952, + 0.23377566678804007, + 0.14938814251031116, + 0.24341783810318746, + -0.9686503797756885, + -0.04964068748098893, + 0.13310009616091265, + 0.08405581109133414, + -0.9875317640581157 + ], + [ + 0.9359781628459882, + 0.3024470485141313, + 0.1801961750996387, + 0.307348325572098, + -0.9515967814621988, + 0.00075649111836305, + 0.17170289876259104, + 0.05467493352419578, + -0.9836304012181855 + ], + [ + 0.8976243829675281, + 0.37412959564399645, + 0.23301826702090028, + 0.3766595956457675, + -0.9256789954021897, + 0.03529796706836553, + 0.2289061294726089, + 0.056084250324420055, + -0.9718315392882743 + ], + [ + 0.8774818651903245, + 0.4149119515907093, + 0.24056942592378214, + 0.41843130626081043, + -0.9074194512082444, + 0.03879666879772304, + 0.23439457801532246, + 0.06661840583590417, + -0.9698562624435136 + ], + [ + 0.8695019386833236, + 0.42764891375427855, + 0.24714931760117687, + 0.43209541754978514, + -0.9009909948107849, + 0.03884298395268912, + 0.23929046942663335, + 0.07301803773491657, + -0.9681985526775609 + ], + [ + 0.8641498933648393, + 0.4421904642991161, + 0.24023437530975758, + 0.44689442929639445, + -0.8937942986453633, + 0.03764466460062353, + 0.23136622670862592, + 0.07482877115104596, + -0.969984703047753 + ], + [ + 0.8684390165235052, + 0.4404405378831463, + 0.2276528215702406, + 0.4408066147440395, + -0.8960889148351211, + 0.05209784167808771, + 0.2269431712512783, + 0.055107071223390834, + -0.9723476784173412 + ], + [ + 0.8784045211509321, + 0.42911483662645433, + 0.2103947580351115, + 0.42721573011296887, + -0.9023640793216354, + 0.05679602357612918, + 0.2142246885063546, + 0.03999406627324479, + -0.9759652952320009 + ], + [ + 0.8848566016271369, + 0.42875306714563305, + 0.18220757934313797, + 0.42502035118064113, + -0.9031192385570378, + 0.0611010804359466, + 0.19075244595852003, + 0.023376234969896992, + -0.9813597994616823 + ], + [ + 0.8797575965344169, + 0.43827608860732714, + 0.18422986048696954, + 0.4329026994631807, + -0.8986680480390424, + 0.07064695486139622, + 0.19652436016300118, + 0.01760140871519691, + -0.9803409438933801 + ], + [ + 0.8752168797001066, + 0.45029876119328677, + 0.1767100426003013, + 0.4451265839799598, + -0.8927118869636135, + 0.07019836969756678, + 0.18936139448773817, + 0.01721953953088637, + -0.9817564615198635 + ], + [ + 0.8704598049301521, + 0.46355682350422056, + 0.1655741507109095, + 0.4573780963259102, + -0.8860157847152426, + 0.07603490143822027, + 0.18194780845684413, + 0.009544664379138576, + -0.9832618646015118 + ], + [ + 0.8751366679313191, + 0.4597196645404294, + 0.15097563537506192, + 0.45044723577463514, + -0.8879657318265594, + 0.09281242850347962, + 0.17672888905059886, + -0.013217001799133057, + -0.9841708239113692 + ], + [ + 0.8788011299866092, + 0.4566863521951949, + 0.1383696124620754, + 0.4427109969664675, + -0.8884958540695331, + 0.12075632681647423, + 0.17808859340006844, + -0.04486304737640069, + -0.9829912308260372 + ], + [ + 0.8888983057891557, + 0.4397855449530566, + 0.12825161369554683, + 0.4224841313551862, + -0.8952345020667455, + 0.141641607807735, + 0.1771072012037413, + -0.0717207136024837, + -0.9815748461131877 + ], + [ + 0.89150358681948, + 0.43464469904955616, + 0.12769236577071783, + 0.41567406746426316, + -0.8969142988209821, + 0.15086354830833537, + 0.18010115026206033, + -0.08141698937314613, + -0.9802728444242939 + ], + [ + 0.8864724754998954, + 0.4463570933181915, + 0.12219613506827094, + 0.42696022390613075, + -0.8906909251651703, + 0.15612380673824244, + 0.1785259571690193, + -0.08622656825450425, + -0.9801497138416851 + ], + [ + 0.8817561573335524, + 0.4570325127459147, + 0.1167362895483772, + 0.43703397155434764, + -0.8846586339532854, + 0.16242047001329735, + 0.17750320197619238, + -0.09219752526538899, + -0.9797919318014089 + ], + [ + 0.8801517184015464, + 0.46004348747546037, + 0.11701684590784753, + 0.43992589065055326, + -0.8831199764430346, + 0.1629856372278595, + 0.17832039516029122, + -0.0919733485237432, + -0.9796646057866987 + ], + [ + 0.8752587879812184, + 0.4693293664854755, + 0.11684177256439987, + 0.44896800091467637, + -0.8782599872166202, + 0.1645816788374126, + 0.17986046874265593, + -0.091593343691582, + -0.9794186393851548 + ], + [ + 0.8759981342748147, + 0.46757931747374315, + 0.11830828634475363, + 0.44576385719093514, + -0.8785476550108722, + 0.17160594831519427, + 0.18417885972419104, + -0.09758893249588342, + -0.9780360667608381 + ], + [ + 0.8761878370342396, + 0.468702998018159, + 0.11230482572913203, + 0.4467924414929287, + -0.8772661910823638, + 0.1754438491615758, + 0.18075228479344052, + -0.10354481943888572, + -0.9780629232873107 + ], + [ + 0.8755014262621321, + 0.4700481626203569, + 0.11203560786731787, + 0.44813597072829786, + -0.8765461749787362, + 0.1756159299993982, + 0.18075232876059738, + -0.10354481130106843, + -0.9780629160234262 + ], + [ + 0.8755311019344089, + 0.4711911757925213, + 0.10688388747038104, + 0.44910903690157583, + -0.875239867368559, + 0.17960024371366062, + 0.17817508950147543, + -0.10924307952419043, + -0.9779159406908207 + ], + [ + 0.8851257322033523, + 0.4568488199632527, + 0.08855277460171634, + 0.42956352493605116, + -0.8753060387119638, + 0.2220687205323707, + 0.17896261127954466, + -0.15851969685989536, + -0.9710014878832334 + ], + [ + 0.8922942829906648, + 0.4405272401214563, + 0.09872519057033374, + 0.4085534649345963, + -0.8809997847870932, + 0.23858634809022838, + 0.19208065710037414, + -0.17255471571669329, + -0.9660900016312249 + ], + [ + 0.8992828276339698, + 0.41268455522578584, + 0.14485114359488754, + 0.35944488203652014, + -0.8860401921113831, + 0.2928005374670192, + 0.2491781946728156, + -0.2112444930437678, + -0.9451380806306969 + ], + [ + 0.9232162968031116, + 0.34269242969116165, + 0.17387802606861272, + 0.2914938251506404, + -0.9193547058206248, + 0.26423147954874737, + 0.2504057092324311, + -0.19325843711941898, + -0.9486559741370749 + ], + [ + 0.9394367934269714, + 0.2643423719845412, + 0.218132119435071, + 0.21819438037674999, + -0.952125182914906, + 0.21412344204048, + 0.264290982683208, + -0.153560237147652, + -0.9521394488411353 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0012843608856201172, + -0.001761607825756073, + -0.0038505345582962036, + -0.012067966163158417, + 0.006347298622131348, + 0.016688227653503418, + 1.0 + ], + [ + 0.015366718173027039, + -0.01742500811815262, + -0.011012524366378784, + -0.02913038805127144, + -0.015092357993125916, + 0.1809891164302826, + 1.0 + ], + [ + 0.018717557191848755, + -0.014753241091966629, + -0.014765769243240356, + -0.04900093749165535, + -0.008556701242923737, + 0.15034496784210205, + 1.0 + ], + [ + 0.023471668362617493, + -0.007915012538433075, + -0.01371438056230545, + -0.030619174242019653, + -0.006073743104934692, + 0.12799300253391266, + 1.0 + ], + [ + 0.030652984976768494, + -0.007968880236148834, + -0.016112610697746277, + -0.020992211997509003, + 0.0022184401750564575, + 0.10483820736408234, + 1.0 + ], + [ + 0.024604350328445435, + -0.0037769675254821777, + -0.015365533530712128, + 0.029384709894657135, + -0.03906172513961792, + 0.06913629174232483, + 1.0 + ], + [ + 0.019641995429992676, + 0.003414072096347809, + -0.001983270049095154, + -0.002118214964866638, + -0.05839584767818451, + 0.08002540469169617, + 1.0 + ], + [ + 0.011071383953094482, + -0.004953993484377861, + -0.00467248260974884, + -0.010935313999652863, + -0.005641922354698181, + 0.047657012939453125, + 1.0 + ], + [ + 0.006480485200881958, + -0.0059204138815402985, + -0.002468407154083252, + -0.006692670285701752, + -0.0050392746925354, + 0.016240864992141724, + 1.0 + ], + [ + 0.004750579595565796, + -0.0036693010479211807, + -0.012146137654781342, + -0.001717895269393921, + 0.008153244853019714, + 0.016071319580078125, + 1.0 + ], + [ + 0.0021117329597473145, + -0.0025934111326932907, + -0.009377025067806244, + 0.020378105342388153, + 0.004543974995613098, + -0.007575482130050659, + 1.0 + ], + [ + 0.0036940276622772217, + -0.0010716328397393227, + -0.013036519289016724, + 0.015657614916563034, + 0.013039782643318176, + -0.017025679349899292, + 0.0 + ], + [ + -0.000973433256149292, + 0.0007577724754810333, + -0.01663706637918949, + 0.017140323296189308, + 0.023969411849975586, + -0.004885941743850708, + 0.0 + ], + [ + -0.0003141164779663086, + 0.0015001026913523674, + 1.4465302228927612e-05, + 0.00586329959332943, + -0.005883276462554932, + 0.009498298168182373, + 0.0 + ], + [ + -0.003803849220275879, + -0.0001272261142730713, + -0.0018905214965343475, + 0.00041472166776657104, + 0.007300153374671936, + 0.013212144374847412, + 0.0 + ], + [ + -0.006448209285736084, + 0.00831681489944458, + -0.00020118802785873413, + 0.007830885238945484, + 0.007544770836830139, + 0.01329919695854187, + 0.0 + ], + [ + -0.007567852735519409, + 0.010919582098722458, + -0.001845676451921463, + 0.023135613650083542, + 0.005304932594299316, + -0.008443862199783325, + 0.0 + ], + [ + -0.011931300163269043, + 0.01559065654873848, + 0.0003765709698200226, + 0.03217889368534088, + -0.0013816207647323608, + -0.008694678544998169, + 0.0 + ], + [ + -0.00963294506072998, + 0.00698736310005188, + 0.0005747191607952118, + 0.0273297019302845, + 0.0009972453117370605, + -0.022972047328948975, + 0.0 + ], + [ + -0.009388551115989685, + 0.006036028265953064, + -1.1390075087547302e-05, + 0.00992787629365921, + -0.003042876720428467, + -0.007389962673187256, + 0.0 + ], + [ + -0.008913710713386536, + 0.005226075649261475, + 0.0009429752826690674, + 0.004881709814071655, + 0.0016011446714401245, + 0.012557029724121094, + 0.0 + ], + [ + -0.006971701979637146, + 0.00513332337141037, + 0.00012485496699810028, + 0.006075859069824219, + 0.001039355993270874, + 0.011302173137664795, + 0.0 + ], + [ + -0.003960251808166504, + 0.0031699687242507935, + -0.0003208499401807785, + -0.00021470338106155396, + -0.0008304417133331299, + 0.003357440233230591, + 0.0 + ], + [ + -0.0033864229917526245, + 0.001723647117614746, + -6.41997903585434e-05, + -0.0003612414002418518, + -0.0015653818845748901, + 0.01044619083404541, + 0.0 + ], + [ + -0.0016856938600540161, + 0.0019257515668869019, + 0.0007988698780536652, + 0.006204456090927124, + -0.004391759634017944, + -0.0032438933849334717, + 0.0 + ], + [ + -0.002203509211540222, + 0.0019151046872138977, + -0.0007696598768234253, + 0.006023034453392029, + 0.00348508358001709, + 0.0008445978164672852, + 0.0 + ], + [ + -0.0012432336807250977, + 1.9274652004241943e-05, + 0.0001873411238193512, + -7.450580596923828e-09, + -4.470348358154297e-08, + 0.0015339851379394531, + 0.0 + ], + [ + -0.003928437829017639, + 0.0020245015621185303, + 0.00012771785259246826, + 0.005774505436420441, + 0.0026197731494903564, + 0.0008665323257446289, + 1.0 + ], + [ + -0.0034104585647583008, + 0.002394266426563263, + 0.002817124128341675, + 0.05057737976312637, + -0.0008003860712051392, + -0.0221291184425354, + 1.0 + ], + [ + -0.0020792633295059204, + -0.0008930116891860962, + 0.00717347115278244, + 0.014921382069587708, + -0.013349905610084534, + -0.0224514901638031, + 1.0 + ], + [ + 0.0010465681552886963, + -0.0002147480845451355, + 0.03315165638923645, + 0.043144822120666504, + -0.05854974687099457, + -0.04912889003753662, + 1.0 + ], + [ + -0.0002887845039367676, + -0.004156813025474548, + 0.031504273414611816, + -0.01892431080341339, + -0.0012677013874053955, + -0.07441776990890503, + 1.0 + ], + [ + 0.0010619908571243286, + -0.008740939199924469, + 0.03962212800979614, + -0.04106590151786804, + -0.014369398355484009, + -0.0776168555021286, + 1.0 + ], + [ + 0.00794517993927002, + -0.0113181471824646, + 0.022703826427459717, + -0.06458989530801773, + 0.016900569200515747, + -0.06707149744033813, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9499720335006714 + ], + [ + 0.6581199765205383 + ], + [ + 0.3494465947151184 + ], + [ + 0.18403103947639465 + ], + [ + 0.1660143882036209 + ], + [ + 0.1660143882036209 + ], + [ + 0.15975023806095123 + ], + [ + 0.15923498570919037 + ], + [ + 0.15923498570919037 + ], + [ + 0.15923498570919037 + ], + [ + 0.15923498570919037 + ], + [ + 0.15923498570919037 + ], + [ + 0.15923498570919037 + ], + [ + 0.15923498570919037 + ], + [ + 0.15923498570919037 + ], + [ + 0.15923498570919037 + ], + [ + 0.2117326408624649 + ], + [ + 0.464354008436203 + ], + [ + 0.7922340631484985 + ], + [ + 1.0027955770492554 + ], + [ + 1.0060625076293945 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.13392896950244904, + 0.08124902099370956, + 0.1536228507757187 + ], + [ + 0.14929568767547607, + 0.06382401287555695, + 0.1426103264093399 + ], + [ + 0.16801324486732483, + 0.04907077178359032, + 0.12784455716609955 + ], + [ + 0.19148491322994232, + 0.04115575924515724, + 0.1141301766037941 + ], + [ + 0.22213789820671082, + 0.03318687900900841, + 0.09801756590604782 + ], + [ + 0.24674224853515625, + 0.02940991148352623, + 0.0826520323753357 + ], + [ + 0.2663842439651489, + 0.03282398357987404, + 0.08066876232624054 + ], + [ + 0.2774556279182434, + 0.027869990095496178, + 0.0759962797164917 + ], + [ + 0.28393611311912537, + 0.02194957621395588, + 0.07352787256240845 + ], + [ + 0.28868669271469116, + 0.0182802751660347, + 0.061381734907627106 + ], + [ + 0.2907984256744385, + 0.015686864033341408, + 0.05200470983982086 + ], + [ + 0.2944924533367157, + 0.014615231193602085, + 0.03896819055080414 + ], + [ + 0.2935190200805664, + 0.015373003669083118, + 0.022331124171614647 + ], + [ + 0.2932049036026001, + 0.016873106360435486, + 0.022345589473843575 + ], + [ + 0.2894010543823242, + 0.016745880246162415, + 0.020455067977309227 + ], + [ + 0.28295284509658813, + 0.025062695145606995, + 0.020253879949450493 + ], + [ + 0.2753849923610687, + 0.03598227724432945, + 0.01840820349752903 + ], + [ + 0.2634536921977997, + 0.05157293379306793, + 0.018784774467349052 + ], + [ + 0.2538207471370697, + 0.05856029689311981, + 0.019359493628144264 + ], + [ + 0.24443219602108002, + 0.06459632515907288, + 0.019348103553056717 + ], + [ + 0.23551848530769348, + 0.06982240080833435, + 0.020291078835725784 + ], + [ + 0.22854678332805634, + 0.07495572417974472, + 0.020415933802723885 + ], + [ + 0.22458653151988983, + 0.07812569290399551, + 0.020095083862543106 + ], + [ + 0.2212001085281372, + 0.07984934002161026, + 0.020030884072184563 + ], + [ + 0.2195144146680832, + 0.08177509158849716, + 0.020829753950238228 + ], + [ + 0.21731090545654297, + 0.08369019627571106, + 0.020060094073414803 + ], + [ + 0.21606767177581787, + 0.0837094709277153, + 0.020247435197234154 + ], + [ + 0.21213923394680023, + 0.08573397248983383, + 0.020375153049826622 + ], + [ + 0.20872877538204193, + 0.0881282389163971, + 0.023192277178168297 + ], + [ + 0.206649512052536, + 0.087235227227211, + 0.030365748330950737 + ], + [ + 0.2076960802078247, + 0.08702047914266586, + 0.06351740658283234 + ], + [ + 0.20740729570388794, + 0.08286366611719131, + 0.09502167999744415 + ], + [ + 0.20846928656101227, + 0.07412272691726685, + 0.1346438080072403 + ], + [ + 0.2164144665002823, + 0.06280457973480225, + 0.1573476344347 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9451447983941829, + -0.3059708424951506, + 0.11438161395620901, + -0.30904536158191276, + -0.9509973248009048, + 0.009749497742302587, + 0.10579354684064772, + -0.04456379432151249, + -0.9933890444747947 + ], + [ + 0.9836416054160634, + -0.1327287880099069, + 0.12178777002610258, + -0.13363872427173884, + -0.9910298671313019, + -0.0007027294902483827, + 0.12078858998072547, + -0.015584328254227134, + -0.9925559154240797 + ], + [ + 0.9914921540765225, + 0.010997670009216249, + 0.12970103954504555, + 0.01518147564702328, + -0.9993943317258881, + -0.03131281704580603, + 0.1292781157113451, + 0.03301546559619699, + -0.9910585995941865 + ], + [ + 0.9806487455703893, + 0.1339681015641053, + 0.1427605883097005, + 0.14150039642942316, + -0.9889625926461946, + -0.043938913924145666, + 0.135298468659251, + 0.06328932066175905, + -0.9887814653747485 + ], + [ + 0.9607456065447952, + 0.23377566678804007, + 0.14938814251031116, + 0.24341783810318746, + -0.9686503797756885, + -0.04964068748098893, + 0.13310009616091265, + 0.08405581109133414, + -0.9875317640581157 + ], + [ + 0.9359781628459882, + 0.3024470485141313, + 0.1801961750996387, + 0.307348325572098, + -0.9515967814621988, + 0.00075649111836305, + 0.17170289876259104, + 0.05467493352419578, + -0.9836304012181855 + ], + [ + 0.8976243829675281, + 0.37412959564399645, + 0.23301826702090028, + 0.3766595956457675, + -0.9256789954021897, + 0.03529796706836553, + 0.2289061294726089, + 0.056084250324420055, + -0.9718315392882743 + ], + [ + 0.8774818651903245, + 0.4149119515907093, + 0.24056942592378214, + 0.41843130626081043, + -0.9074194512082444, + 0.03879666879772304, + 0.23439457801532246, + 0.06661840583590417, + -0.9698562624435136 + ], + [ + 0.8695019386833236, + 0.42764891375427855, + 0.24714931760117687, + 0.43209541754978514, + -0.9009909948107849, + 0.03884298395268912, + 0.23929046942663335, + 0.07301803773491657, + -0.9681985526775609 + ], + [ + 0.8641498933648393, + 0.4421904642991161, + 0.24023437530975758, + 0.44689442929639445, + -0.8937942986453633, + 0.03764466460062353, + 0.23136622670862592, + 0.07482877115104596, + -0.969984703047753 + ], + [ + 0.8684390165235052, + 0.4404405378831463, + 0.2276528215702406, + 0.4408066147440395, + -0.8960889148351211, + 0.05209784167808771, + 0.2269431712512783, + 0.055107071223390834, + -0.9723476784173412 + ], + [ + 0.8784045211509321, + 0.42911483662645433, + 0.2103947580351115, + 0.42721573011296887, + -0.9023640793216354, + 0.05679602357612918, + 0.2142246885063546, + 0.03999406627324479, + -0.9759652952320009 + ], + [ + 0.8848566016271369, + 0.42875306714563305, + 0.18220757934313797, + 0.42502035118064113, + -0.9031192385570378, + 0.0611010804359466, + 0.19075244595852003, + 0.023376234969896992, + -0.9813597994616823 + ], + [ + 0.8797575965344169, + 0.43827608860732714, + 0.18422986048696954, + 0.4329026994631807, + -0.8986680480390424, + 0.07064695486139622, + 0.19652436016300118, + 0.01760140871519691, + -0.9803409438933801 + ], + [ + 0.8752168797001066, + 0.45029876119328677, + 0.1767100426003013, + 0.4451265839799598, + -0.8927118869636135, + 0.07019836969756678, + 0.18936139448773817, + 0.01721953953088637, + -0.9817564615198635 + ], + [ + 0.8704598049301521, + 0.46355682350422056, + 0.1655741507109095, + 0.4573780963259102, + -0.8860157847152426, + 0.07603490143822027, + 0.18194780845684413, + 0.009544664379138576, + -0.9832618646015118 + ], + [ + 0.8751366679313191, + 0.4597196645404294, + 0.15097563537506192, + 0.45044723577463514, + -0.8879657318265594, + 0.09281242850347962, + 0.17672888905059886, + -0.013217001799133057, + -0.9841708239113692 + ], + [ + 0.8788011299866092, + 0.4566863521951949, + 0.1383696124620754, + 0.4427109969664675, + -0.8884958540695331, + 0.12075632681647423, + 0.17808859340006844, + -0.04486304737640069, + -0.9829912308260372 + ], + [ + 0.8888983057891557, + 0.4397855449530566, + 0.12825161369554683, + 0.4224841313551862, + -0.8952345020667455, + 0.141641607807735, + 0.1771072012037413, + -0.0717207136024837, + -0.9815748461131877 + ], + [ + 0.89150358681948, + 0.43464469904955616, + 0.12769236577071783, + 0.41567406746426316, + -0.8969142988209821, + 0.15086354830833537, + 0.18010115026206033, + -0.08141698937314613, + -0.9802728444242939 + ], + [ + 0.8864724754998954, + 0.4463570933181915, + 0.12219613506827094, + 0.42696022390613075, + -0.8906909251651703, + 0.15612380673824244, + 0.1785259571690193, + -0.08622656825450425, + -0.9801497138416851 + ], + [ + 0.8817561573335524, + 0.4570325127459147, + 0.1167362895483772, + 0.43703397155434764, + -0.8846586339532854, + 0.16242047001329735, + 0.17750320197619238, + -0.09219752526538899, + -0.9797919318014089 + ], + [ + 0.8801517184015464, + 0.46004348747546037, + 0.11701684590784753, + 0.43992589065055326, + -0.8831199764430346, + 0.1629856372278595, + 0.17832039516029122, + -0.0919733485237432, + -0.9796646057866987 + ], + [ + 0.8752587879812184, + 0.4693293664854755, + 0.11684177256439987, + 0.44896800091467637, + -0.8782599872166202, + 0.1645816788374126, + 0.17986046874265593, + -0.091593343691582, + -0.9794186393851548 + ], + [ + 0.8759981342748147, + 0.46757931747374315, + 0.11830828634475363, + 0.44576385719093514, + -0.8785476550108722, + 0.17160594831519427, + 0.18417885972419104, + -0.09758893249588342, + -0.9780360667608381 + ], + [ + 0.8761878370342396, + 0.468702998018159, + 0.11230482572913203, + 0.4467924414929287, + -0.8772661910823638, + 0.1754438491615758, + 0.18075228479344052, + -0.10354481943888572, + -0.9780629232873107 + ], + [ + 0.8755014262621321, + 0.4700481626203569, + 0.11203560786731787, + 0.44813597072829786, + -0.8765461749787362, + 0.1756159299993982, + 0.18075232876059738, + -0.10354481130106843, + -0.9780629160234262 + ], + [ + 0.8755311019344089, + 0.4711911757925213, + 0.10688388747038104, + 0.44910903690157583, + -0.875239867368559, + 0.17960024371366062, + 0.17817508950147543, + -0.10924307952419043, + -0.9779159406908207 + ], + [ + 0.8851257322033523, + 0.4568488199632527, + 0.08855277460171634, + 0.42956352493605116, + -0.8753060387119638, + 0.2220687205323707, + 0.17896261127954466, + -0.15851969685989536, + -0.9710014878832334 + ], + [ + 0.8922942829906648, + 0.4405272401214563, + 0.09872519057033374, + 0.4085534649345963, + -0.8809997847870932, + 0.23858634809022838, + 0.19208065710037414, + -0.17255471571669329, + -0.9660900016312249 + ], + [ + 0.8992828276339698, + 0.41268455522578584, + 0.14485114359488754, + 0.35944488203652014, + -0.8860401921113831, + 0.2928005374670192, + 0.2491781946728156, + -0.2112444930437678, + -0.9451380806306969 + ], + [ + 0.9232162968031116, + 0.34269242969116165, + 0.17387802606861272, + 0.2914938251506404, + -0.9193547058206248, + 0.26423147954874737, + 0.2504057092324311, + -0.19325843711941898, + -0.9486559741370749 + ], + [ + 0.9394367934269714, + 0.2643423719845412, + 0.218132119435071, + 0.21819438037674999, + -0.952125182914906, + 0.21412344204048, + 0.264290982683208, + -0.153560237147652, + -0.9521394488411353 + ], + [ + 0.9562208122180982, + 0.1830099791943177, + 0.22836178707536925, + 0.15543610904754715, + -0.978778430899092, + 0.1335380066156106, + 0.24795437944331594, + -0.0921961535098251, + -0.9643746652587226 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006466.json b/json/chunk-0006/episode_0006466.json new file mode 100644 index 0000000000000000000000000000000000000000..fa768a8d719da42f14f83a2f884163681a0d230b --- /dev/null +++ b/json/chunk-0006/episode_0006466.json @@ -0,0 +1,4582 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 75, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut potato on plate and blueberry in pot or pan on stove." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006466.mp4", + "start": 0, + "end": 75, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2521081268787384, + -0.13229763507843018, + 0.09326489269733429, + -0.01874065399169922, + -0.18216709792613983, + 0.05948659032583237, + 0.0, + 0.9994885921478271 + ], + [ + 0.24970510601997375, + -0.13099351525306702, + 0.08489057421684265, + -0.007134534418582916, + -0.16269394755363464, + 0.06268125027418137, + 0.0, + 0.9994885921478271 + ], + [ + 0.25237351655960083, + -0.13094043731689453, + 0.07435054332017899, + -0.015579145401716232, + -0.1901116520166397, + 0.06706129759550095, + 0.0, + 0.9994885921478271 + ], + [ + 0.2517858147621155, + -0.13074804842472076, + 0.06542359292507172, + -0.02599124237895012, + -0.2053477019071579, + 0.06374496966600418, + 0.0, + 0.9994885921478271 + ], + [ + 0.2527460753917694, + -0.12969687581062317, + 0.05924759805202484, + -0.033309031277894974, + -0.23179590702056885, + 0.06572737544775009, + 0.0, + 1.0001531839370728 + ], + [ + 0.25214284658432007, + -0.1311156302690506, + 0.04856148734688759, + -0.030350908637046814, + -0.2483966052532196, + 0.06808770447969437, + 0.0, + 0.9994885921478271 + ], + [ + 0.2540580630302429, + -0.1346469223499298, + 0.042113687843084335, + -0.035585448145866394, + -0.2665926516056061, + 0.0711778923869133, + 0.0, + 0.9994885921478271 + ], + [ + 0.255178302526474, + -0.1364710032939911, + 0.03505047783255577, + -0.03226218745112419, + -0.2747134864330292, + 0.0763913169503212, + 0.0, + 0.9994885921478271 + ], + [ + 0.2571205496788025, + -0.1380581259727478, + 0.03150610253214836, + -0.03034871444106102, + -0.28462889790534973, + 0.07905695587396622, + 0.0, + 0.9994885921478271 + ], + [ + 0.2556324899196625, + -0.1385585367679596, + 0.027734220027923584, + -0.021581213921308517, + -0.27275022864341736, + 0.07705369591712952, + 0.0, + 0.9484345316886902 + ], + [ + 0.25633129477500916, + -0.13988851010799408, + 0.02811444364488125, + -0.01738165132701397, + -0.2629517912864685, + 0.0897715762257576, + 0.0, + 0.672171950340271 + ], + [ + 0.2540201246738434, + -0.14134034514427185, + 0.029420800507068634, + -0.009333067573606968, + -0.24724508821964264, + 0.10241500288248062, + 0.0, + 0.6309936046600342 + ], + [ + 0.25326308608055115, + -0.14238134026527405, + 0.03148599714040756, + -0.002769207814708352, + -0.2349262535572052, + 0.11371280252933502, + 0.0, + 0.6631406545639038 + ], + [ + 0.24917107820510864, + -0.14318323135375977, + 0.03498268872499466, + 0.020093519240617752, + -0.1985280066728592, + 0.11323446035385132, + 0.0, + 0.6631406545639038 + ], + [ + 0.24787896871566772, + -0.14480186998844147, + 0.054826416075229645, + 0.027705347165465355, + -0.1641431748867035, + 0.12079183757305145, + 0.0, + 0.6631406545639038 + ], + [ + 0.2516672611236572, + -0.14513863623142242, + 0.07206670194864273, + 0.04614575579762459, + -0.12374544143676758, + 0.1199512630701065, + 0.0, + 0.6631406545639038 + ], + [ + 0.2638210654258728, + -0.1412019282579422, + 0.08996402472257614, + 0.04521166533231735, + -0.10677818208932877, + 0.10221961885690689, + 0.0, + 0.6631406545639038 + ], + [ + 0.28148430585861206, + -0.12725012004375458, + 0.10094168782234192, + 0.041232794523239136, + -0.10434337705373764, + 0.09020114690065384, + 0.0, + 0.6631406545639038 + ], + [ + 0.3037039637565613, + -0.11054898798465729, + 0.1015869677066803, + 0.04859326034784317, + -0.09582332521677017, + 0.06526368856430054, + 0.0, + 0.6631406545639038 + ], + [ + 0.32368868589401245, + -0.09941135346889496, + 0.09554071724414825, + 0.03668118268251419, + -0.10026148706674576, + 0.0495496466755867, + 0.0, + 0.6631406545639038 + ], + [ + 0.3361264169216156, + -0.0932694748044014, + 0.08573450893163681, + 0.0316120870411396, + -0.10713350772857666, + 0.045058056712150574, + 0.0, + 0.6631406545639038 + ], + [ + 0.3448740541934967, + -0.09468857944011688, + 0.073064424097538, + 0.019466828554868698, + -0.12372763454914093, + 0.04921989142894745, + 0.0, + 0.6631406545639038 + ], + [ + 0.35251978039741516, + -0.09901644289493561, + 0.06400507688522339, + -0.0006270299782045186, + -0.15099622309207916, + 0.05634769797325134, + 0.0, + 0.6309936046600342 + ], + [ + 0.35215651988983154, + -0.10001011937856674, + 0.06295362114906311, + 0.006345304660499096, + -0.15100623667240143, + 0.05708150193095207, + 0.0, + 0.7011857628822327 + ], + [ + 0.3496165871620178, + -0.10303425043821335, + 0.06330239772796631, + 0.00880158320069313, + -0.14318928122520447, + 0.06266625970602036, + 0.0, + 0.9752515554428101 + ], + [ + 0.3431550860404968, + -0.10681895166635513, + 0.06223912909626961, + 0.02473437786102295, + -0.11486861854791641, + 0.06440721452236176, + 0.0, + 1.0001531839370728 + ], + [ + 0.3341989815235138, + -0.10521725565195084, + 0.06330733001232147, + 0.04132494702935219, + -0.06032951548695564, + 0.06829727441072464, + 0.0, + 1.0001531839370728 + ], + [ + 0.32912570238113403, + -0.10250579565763474, + 0.08462623506784439, + 0.04169360175728798, + -0.032102808356285095, + 0.05430586263537407, + 0.0, + 1.0001531839370728 + ], + [ + 0.32642897963523865, + -0.09447947144508362, + 0.10056172311306, + 0.04588674008846283, + -0.021544799208641052, + 0.03337588161230087, + 0.0, + 1.0001531839370728 + ], + [ + 0.32862958312034607, + -0.08364921808242798, + 0.101577989757061, + 0.04478863999247551, + -0.016589349135756493, + 0.010183020494878292, + 0.0, + 1.0001531839370728 + ], + [ + 0.3324916958808899, + -0.07300681620836258, + 0.10119609534740448, + 0.039205700159072876, + -0.02197297103703022, + -0.01006668247282505, + 0.0, + 1.0001531839370728 + ], + [ + 0.33360329270362854, + -0.06187666580080986, + 0.09754406660795212, + 0.031673967838287354, + -0.019218627363443375, + -0.04262229800224304, + 0.0, + 1.0001531839370728 + ], + [ + 0.3296722173690796, + -0.04686331748962402, + 0.09934430569410324, + 0.023848166689276695, + -0.022133251652121544, + -0.0701657086610794, + 0.0, + 1.0001531839370728 + ], + [ + 0.32185882329940796, + -0.03967387601733208, + 0.10262195765972137, + 0.031208790838718414, + -0.006530984304845333, + -0.08264242112636566, + 0.0, + 1.0001531839370728 + ], + [ + 0.3225399851799011, + -0.03904862329363823, + 0.10227534174919128, + 0.032331060618162155, + -0.01114758849143982, + -0.08339176326990128, + 0.0, + 1.0001531839370728 + ], + [ + 0.32291510701179504, + -0.03910015895962715, + 0.10263655334711075, + 0.03224958851933479, + -0.012679394334554672, + -0.08339079469442368, + 0.0, + 1.0001531839370728 + ], + [ + 0.3221772015094757, + -0.038998786360025406, + 0.10241244733333588, + 0.032348114997148514, + -0.011097974143922329, + -0.08492503315210342, + 0.0, + 1.0001531839370728 + ], + [ + 0.3087245523929596, + -0.03339914605021477, + 0.11441733688116074, + 0.04361530765891075, + -0.033522870391607285, + -0.10930927097797394, + 0.0, + 1.0001531839370728 + ], + [ + 0.3005359172821045, + -0.0215874295681715, + 0.1207655742764473, + 0.07997550070285797, + -0.058947108685970306, + -0.12153616547584534, + 0.0, + 1.0001531839370728 + ], + [ + 0.2967769503593445, + -0.009635863825678825, + 0.11996632069349289, + 0.10190027207136154, + -0.08927372097969055, + -0.13439065217971802, + 0.0, + 1.0001531839370728 + ], + [ + 0.2982741892337799, + 0.006812964100390673, + 0.11494270712137222, + 0.1096697598695755, + -0.10498827695846558, + -0.13562485575675964, + 0.0, + 1.0001531839370728 + ], + [ + 0.29574552178382874, + 0.018875930458307266, + 0.1059405505657196, + 0.11623503267765045, + -0.1117766872048378, + -0.13225094974040985, + 0.0, + 1.0001531839370728 + ], + [ + 0.2898092269897461, + 0.031480759382247925, + 0.10284210741519928, + 0.13291971385478973, + -0.1387559026479721, + -0.12969976663589478, + 0.0, + 1.0001531839370728 + ], + [ + 0.28129392862319946, + 0.04214688763022423, + 0.09431584179401398, + 0.13985684514045715, + -0.14262965321540833, + -0.12029968947172165, + 0.0, + 1.0001531839370728 + ], + [ + 0.2730264365673065, + 0.05105910822749138, + 0.0929691269993782, + 0.14611829817295074, + -0.17244932055473328, + -0.1142469048500061, + 0.0, + 1.0001531839370728 + ], + [ + 0.26800698041915894, + 0.05850109085440636, + 0.08381932228803635, + 0.14386610686779022, + -0.1826769858598709, + -0.10632885992527008, + 0.0, + 1.0001531839370728 + ], + [ + 0.2637481689453125, + 0.06571773439645767, + 0.0734626054763794, + 0.13486550748348236, + -0.2124018371105194, + -0.1059541329741478, + 0.0, + 1.0001531839370728 + ], + [ + 0.2674970030784607, + 0.07429200410842896, + 0.07050842046737671, + 0.14610138535499573, + -0.26533472537994385, + -0.11550664901733398, + 0.0, + 1.0001531839370728 + ], + [ + 0.2690160870552063, + 0.08491413295269012, + 0.06633800268173218, + 0.14600461721420288, + -0.27734217047691345, + -0.12599143385887146, + 0.0, + 1.0001531839370728 + ], + [ + 0.2703174352645874, + 0.09371480345726013, + 0.06364663690328598, + 0.15087823569774628, + -0.29962897300720215, + -0.13122688233852386, + 0.0, + 1.0001531839370728 + ], + [ + 0.2678746283054352, + 0.10177338123321533, + 0.06335356086492538, + 0.1620522439479828, + -0.30084648728370667, + -0.14313124120235443, + 0.0, + 1.0001531839370728 + ], + [ + 0.2657853662967682, + 0.10994832962751389, + 0.06332290172576904, + 0.17371691763401031, + -0.30154988169670105, + -0.14343465864658356, + 0.0, + 1.0001531839370728 + ], + [ + 0.2654373049736023, + 0.11308608204126358, + 0.06255772709846497, + 0.1816583275794983, + -0.3131505846977234, + -0.14415892958641052, + 0.0, + 1.0001531839370728 + ], + [ + 0.2669069170951843, + 0.11653884500265121, + 0.051656078547239304, + 0.17003506422042847, + -0.3282470703125, + -0.13833622634410858, + 0.0, + 1.0001531839370728 + ], + [ + 0.27097153663635254, + 0.12185586988925934, + 0.04416601359844208, + 0.17285725474357605, + -0.34983107447624207, + -0.14874215424060822, + 0.0, + 1.0001531839370728 + ], + [ + 0.27189213037490845, + 0.12553925812244415, + 0.03739026561379433, + 0.166013702750206, + -0.35627517104148865, + -0.149380624294281, + 0.0, + 1.0001531839370728 + ], + [ + 0.27041223645210266, + 0.1257707178592682, + 0.030016286298632622, + 0.16029499471187592, + -0.352599173784256, + -0.13940423727035522, + 0.0, + 1.0001531839370728 + ], + [ + 0.2668803036212921, + 0.12306635081768036, + 0.02581123821437359, + 0.15909415483474731, + -0.353096067905426, + -0.12533099949359894, + 0.0, + 0.9461179971694946 + ], + [ + 0.26669925451278687, + 0.1178339496254921, + 0.023554760962724686, + 0.1590915024280548, + -0.35702818632125854, + -0.08394326269626617, + 0.0, + 0.8045819997787476 + ], + [ + 0.2579142451286316, + 0.10595418512821198, + 0.026837626472115517, + 0.15098819136619568, + -0.3033306300640106, + -0.05419778823852539, + 0.0, + 0.8233373761177063 + ], + [ + 0.25550729036331177, + 0.09382080286741257, + 0.04250914230942726, + 0.14909492433071136, + -0.24991865456104279, + -0.02847154252231121, + 0.0, + 0.8279770016670227 + ], + [ + 0.26096662878990173, + 0.07918709516525269, + 0.06658143550157547, + 0.15755775570869446, + -0.2009216696023941, + -0.03631803020834923, + 0.0, + 0.8279770016670227 + ], + [ + 0.26857927441596985, + 0.07359550148248672, + 0.08993066102266312, + 0.17252641916275024, + -0.15295135974884033, + -0.01262738462537527, + 0.0, + 0.8279770016670227 + ], + [ + 0.2854064404964447, + 0.06315378844738007, + 0.11685770004987717, + 0.18650025129318237, + -0.15548236668109894, + -0.003696444211527705, + 0.0, + 0.8279770016670227 + ], + [ + 0.302673876285553, + 0.05648116394877434, + 0.11912526190280914, + 0.1834660768508911, + -0.13130654394626617, + -0.010648357681930065, + 0.0, + 0.8279770016670227 + ], + [ + 0.3272605836391449, + 0.05763993412256241, + 0.12012417614459991, + 0.17458203434944153, + -0.1284634917974472, + -0.007272487506270409, + 0.0, + 0.8279770016670227 + ], + [ + 0.34440645575523376, + 0.056633930653333664, + 0.11020597815513611, + 0.1603609174489975, + -0.15199479460716248, + -0.010378406383097172, + 0.0, + 0.8279770016670227 + ], + [ + 0.35584381222724915, + 0.05415472760796547, + 0.09583985060453415, + 0.14490412175655365, + -0.18360525369644165, + -0.014905967749655247, + 0.0, + 0.8279770016670227 + ], + [ + 0.3589285612106323, + 0.050276681780815125, + 0.08889848738908768, + 0.13185936212539673, + -0.2222050428390503, + -0.013730933889746666, + 0.0, + 0.8973560333251953 + ], + [ + 0.35508114099502563, + 0.04221020266413689, + 0.08202239871025085, + 0.13179683685302734, + -0.21365469694137573, + -0.010866900905966759, + 0.0, + 1.0092895030975342 + ], + [ + 0.35102578997612, + 0.03471784293651581, + 0.07919403910636902, + 0.14317411184310913, + -0.1925688087940216, + -0.00723877502605319, + 0.0, + 1.0047606229782104 + ], + [ + 0.34236180782318115, + 0.02639204077422619, + 0.08014751970767975, + 0.15487605333328247, + -0.15618856251239777, + -0.000837713829241693, + 0.0, + 1.0047606229782104 + ], + [ + 0.33287057280540466, + 0.025434112176299095, + 0.09587571024894714, + 0.16468901932239532, + -0.13200829923152924, + -0.004102449864149094, + 0.0, + 1.0047606229782104 + ], + [ + 0.32996058464050293, + 0.019273005425930023, + 0.09922625869512558, + 0.16446028649806976, + -0.1097174659371376, + 0.001839198055677116, + 0.0, + 1.0047606229782104 + ], + [ + 0.327876478433609, + 0.0026371420826762915, + 0.10933741182088852, + 0.16838814318180084, + -0.1465347409248352, + 0.021858463063836098, + 0.0, + 1.0047606229782104 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9484345316886902 + ], + [ + 0.672171950340271 + ], + [ + 0.6309936046600342 + ], + [ + 0.6631406545639038 + ], + [ + 0.6631406545639038 + ], + [ + 0.6631406545639038 + ], + [ + 0.6631406545639038 + ], + [ + 0.6631406545639038 + ], + [ + 0.6631406545639038 + ], + [ + 0.6631406545639038 + ], + [ + 0.6631406545639038 + ], + [ + 0.6631406545639038 + ], + [ + 0.6631406545639038 + ], + [ + 0.6309936046600342 + ], + [ + 0.7011857628822327 + ], + [ + 0.9752515554428101 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9461179971694946 + ], + [ + 0.8045819997787476 + ], + [ + 0.8233373761177063 + ], + [ + 0.8279770016670227 + ], + [ + 0.8279770016670227 + ], + [ + 0.8279770016670227 + ], + [ + 0.8279770016670227 + ], + [ + 0.8279770016670227 + ], + [ + 0.8279770016670227 + ], + [ + 0.8279770016670227 + ], + [ + 0.8279770016670227 + ], + [ + 0.8973560333251953 + ], + [ + 1.0092895030975342 + ], + [ + 1.0047606229782104 + ], + [ + 1.0047606229782104 + ], + [ + 1.0047606229782104 + ], + [ + 1.0047606229782104 + ], + [ + 1.0047606229782104 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2521081268787384, + -0.13229763507843018, + 0.09326489269733429 + ], + [ + 0.24970510601997375, + -0.13099351525306702, + 0.08489057421684265 + ], + [ + 0.25237351655960083, + -0.13094043731689453, + 0.07435054332017899 + ], + [ + 0.2517858147621155, + -0.13074804842472076, + 0.06542359292507172 + ], + [ + 0.2527460753917694, + -0.12969687581062317, + 0.05924759805202484 + ], + [ + 0.25214284658432007, + -0.1311156302690506, + 0.04856148734688759 + ], + [ + 0.2540580630302429, + -0.1346469223499298, + 0.042113687843084335 + ], + [ + 0.255178302526474, + -0.1364710032939911, + 0.03505047783255577 + ], + [ + 0.2571205496788025, + -0.1380581259727478, + 0.03150610253214836 + ], + [ + 0.2556324899196625, + -0.1385585367679596, + 0.027734220027923584 + ], + [ + 0.25633129477500916, + -0.13988851010799408, + 0.02811444364488125 + ], + [ + 0.2540201246738434, + -0.14134034514427185, + 0.029420800507068634 + ], + [ + 0.25326308608055115, + -0.14238134026527405, + 0.03148599714040756 + ], + [ + 0.24917107820510864, + -0.14318323135375977, + 0.03498268872499466 + ], + [ + 0.24787896871566772, + -0.14480186998844147, + 0.054826416075229645 + ], + [ + 0.2516672611236572, + -0.14513863623142242, + 0.07206670194864273 + ], + [ + 0.2638210654258728, + -0.1412019282579422, + 0.08996402472257614 + ], + [ + 0.28148430585861206, + -0.12725012004375458, + 0.10094168782234192 + ], + [ + 0.3037039637565613, + -0.11054898798465729, + 0.1015869677066803 + ], + [ + 0.32368868589401245, + -0.09941135346889496, + 0.09554071724414825 + ], + [ + 0.3361264169216156, + -0.0932694748044014, + 0.08573450893163681 + ], + [ + 0.3448740541934967, + -0.09468857944011688, + 0.073064424097538 + ], + [ + 0.35251978039741516, + -0.09901644289493561, + 0.06400507688522339 + ], + [ + 0.35215651988983154, + -0.10001011937856674, + 0.06295362114906311 + ], + [ + 0.3496165871620178, + -0.10303425043821335, + 0.06330239772796631 + ], + [ + 0.3431550860404968, + -0.10681895166635513, + 0.06223912909626961 + ], + [ + 0.3341989815235138, + -0.10521725565195084, + 0.06330733001232147 + ], + [ + 0.32912570238113403, + -0.10250579565763474, + 0.08462623506784439 + ], + [ + 0.32642897963523865, + -0.09447947144508362, + 0.10056172311306 + ], + [ + 0.32862958312034607, + -0.08364921808242798, + 0.101577989757061 + ], + [ + 0.3324916958808899, + -0.07300681620836258, + 0.10119609534740448 + ], + [ + 0.33360329270362854, + -0.06187666580080986, + 0.09754406660795212 + ], + [ + 0.3296722173690796, + -0.04686331748962402, + 0.09934430569410324 + ], + [ + 0.32185882329940796, + -0.03967387601733208, + 0.10262195765972137 + ], + [ + 0.3225399851799011, + -0.03904862329363823, + 0.10227534174919128 + ], + [ + 0.32291510701179504, + -0.03910015895962715, + 0.10263655334711075 + ], + [ + 0.3221772015094757, + -0.038998786360025406, + 0.10241244733333588 + ], + [ + 0.3087245523929596, + -0.03339914605021477, + 0.11441733688116074 + ], + [ + 0.3005359172821045, + -0.0215874295681715, + 0.1207655742764473 + ], + [ + 0.2967769503593445, + -0.009635863825678825, + 0.11996632069349289 + ], + [ + 0.2982741892337799, + 0.006812964100390673, + 0.11494270712137222 + ], + [ + 0.29574552178382874, + 0.018875930458307266, + 0.1059405505657196 + ], + [ + 0.2898092269897461, + 0.031480759382247925, + 0.10284210741519928 + ], + [ + 0.28129392862319946, + 0.04214688763022423, + 0.09431584179401398 + ], + [ + 0.2730264365673065, + 0.05105910822749138, + 0.0929691269993782 + ], + [ + 0.26800698041915894, + 0.05850109085440636, + 0.08381932228803635 + ], + [ + 0.2637481689453125, + 0.06571773439645767, + 0.0734626054763794 + ], + [ + 0.2674970030784607, + 0.07429200410842896, + 0.07050842046737671 + ], + [ + 0.2690160870552063, + 0.08491413295269012, + 0.06633800268173218 + ], + [ + 0.2703174352645874, + 0.09371480345726013, + 0.06364663690328598 + ], + [ + 0.2678746283054352, + 0.10177338123321533, + 0.06335356086492538 + ], + [ + 0.2657853662967682, + 0.10994832962751389, + 0.06332290172576904 + ], + [ + 0.2654373049736023, + 0.11308608204126358, + 0.06255772709846497 + ], + [ + 0.2669069170951843, + 0.11653884500265121, + 0.051656078547239304 + ], + [ + 0.27097153663635254, + 0.12185586988925934, + 0.04416601359844208 + ], + [ + 0.27189213037490845, + 0.12553925812244415, + 0.03739026561379433 + ], + [ + 0.27041223645210266, + 0.1257707178592682, + 0.030016286298632622 + ], + [ + 0.2668803036212921, + 0.12306635081768036, + 0.02581123821437359 + ], + [ + 0.26669925451278687, + 0.1178339496254921, + 0.023554760962724686 + ], + [ + 0.2579142451286316, + 0.10595418512821198, + 0.026837626472115517 + ], + [ + 0.25550729036331177, + 0.09382080286741257, + 0.04250914230942726 + ], + [ + 0.26096662878990173, + 0.07918709516525269, + 0.06658143550157547 + ], + [ + 0.26857927441596985, + 0.07359550148248672, + 0.08993066102266312 + ], + [ + 0.2854064404964447, + 0.06315378844738007, + 0.11685770004987717 + ], + [ + 0.302673876285553, + 0.05648116394877434, + 0.11912526190280914 + ], + [ + 0.3272605836391449, + 0.05763993412256241, + 0.12012417614459991 + ], + [ + 0.34440645575523376, + 0.056633930653333664, + 0.11020597815513611 + ], + [ + 0.35584381222724915, + 0.05415472760796547, + 0.09583985060453415 + ], + [ + 0.3589285612106323, + 0.050276681780815125, + 0.08889848738908768 + ], + [ + 0.35508114099502563, + 0.04221020266413689, + 0.08202239871025085 + ], + [ + 0.35102578997612, + 0.03471784293651581, + 0.07919403910636902 + ], + [ + 0.34236180782318115, + 0.02639204077422619, + 0.08014751970767975 + ], + [ + 0.33287057280540466, + 0.025434112176299095, + 0.09587571024894714 + ], + [ + 0.32996058464050293, + 0.019273005425930023, + 0.09922625869512558 + ], + [ + 0.327876478433609, + 0.0026371420826762915, + 0.10933741182088852 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9817138704363961, + 0.05605219659927459, + 0.18192313720136646, + 0.058467792874452834, + -0.998257734995493, + -0.007937992067167717, + 0.181161236993958, + 0.018429481220712786, + -0.98328071293642 + ], + [ + 0.9848566135104738, + 0.06148526655864648, + 0.16210185939986568, + 0.06181301828312954, + -0.9980831612347467, + 0.003025562821097338, + 0.16197716380839347, + 0.00704025964486407, + -0.9867693920814135 + ], + [ + 0.9797758739668744, + 0.06406567993320583, + 0.18956483177832165, + 0.06580371559213022, + -0.997828424513381, + -0.0028820561086805065, + 0.18896853655229853, + 0.015297839319314697, + -0.9818639764781285 + ], + [ + 0.9770017934443147, + 0.05839184096206519, + 0.2050802002038576, + 0.062363442221511245, + -0.9979694794972328, + -0.012950639609966706, + 0.20390756896416978, + 0.02544230534137767, + -0.9786594874715308 + ], + [ + 0.9711538809142491, + 0.058009620204685114, + 0.23128991233709328, + 0.0639234739458075, + -0.9977897239599722, + -0.018150929413720828, + 0.22972576926390254, + 0.03241220022754387, + -0.9727155392058449 + ], + [ + 0.9670619057850571, + 0.060560433160400745, + 0.24723208593303164, + 0.06594696539071629, + -0.9977310259153753, + -0.013557200360268194, + 0.2458500928109017, + 0.029414857832011053, + -0.9688614441722788 + ], + [ + 0.9622315177291679, + 0.06172364954961768, + 0.26514278676761704, + 0.06860550909295347, + -0.9975030085186926, + -0.016764012594064806, + 0.2634459914493268, + 0.034321117150134646, + -0.9640634162267792 + ], + [ + 0.9596959183115087, + 0.06755256205905501, + 0.2728010185748712, + 0.07345537690599162, + -0.9972325361482068, + -0.011470677879431158, + 0.27127117793792327, + 0.031047064380911787, + -0.9620020934558816 + ], + [ + 0.95676821688312, + 0.07044422664441355, + 0.2821917612099369, + 0.0757971593451651, + -0.9970904927266447, + -0.008083313017620636, + 0.28080129949396454, + 0.029123190872699364, + -0.9593239650690967 + ], + [ + 0.9601761977370123, + 0.07116367548923325, + 0.27018031125557, + 0.07413189661815733, + -0.9972481371959281, + -0.0007840682661803041, + 0.26938101492697736, + 0.02078182258884674, + -0.9628094228074408 + ], + [ + 0.9617385706481398, + 0.08513787727708026, + 0.2604044231199353, + 0.08656946503173053, + -0.9962278158998608, + 0.005988868967817522, + 0.25993200928664684, + 0.01678334532048137, + -0.965481056193264 + ], + [ + 0.9645098277825233, + 0.09995949315018562, + 0.2443949505208433, + 0.09912709522303209, + -0.99495035712616, + 0.01573549640687318, + 0.24473375554584087, + 0.009049120602842086, + -0.9695480917998569 + ], + [ + 0.966250573750344, + 0.11282703517152183, + 0.2315812791689667, + 0.11035110660244195, + -0.9936109938702764, + 0.023660645209665945, + 0.23277126540607884, + 0.002693138415561465, + -0.9725277810976543 + ], + [ + 0.9740795727177852, + 0.11690715222136101, + 0.19365356638447997, + 0.11077322631399404, + -0.9929474938920394, + 0.042244132202077435, + 0.1972264646185327, + -0.019697515909613147, + -0.9801600530122949 + ], + [ + 0.9793702001462214, + 0.12494575675284832, + 0.15881614821864867, + 0.11887866235048254, + -0.9917871035320998, + 0.04718267590087966, + 0.16340708278195806, + -0.027329455480589897, + -0.9861801185178214 + ], + [ + 0.9852227128172839, + 0.1251892660215005, + 0.11689248830420788, + 0.11874878713966612, + -0.9910762567376559, + 0.06055228223390011, + 0.12342986551807329, + -0.045776642557898595, + -0.9912969117748307 + ], + [ + 0.9891144758018231, + 0.10672909159609369, + 0.10129883891909867, + 0.10146053310989929, + -0.9932720676500049, + 0.055824366071988665, + 0.10657539106350906, + -0.04493885438411857, + -0.9932885710539024 + ], + [ + 0.9905179120640942, + 0.09427821293702772, + 0.09992939730423586, + 0.08958895621085901, + -0.9947013980829027, + 0.050427646950531944, + 0.10415413964522077, + -0.04099691716847947, + -0.9937158386467656 + ], + [ + 0.9932933048563376, + 0.06977790610691374, + 0.092192485306065, + 0.0649181808144592, + -0.9963900819170115, + 0.05470314851223635, + 0.0956767491468824, + -0.04835130274093281, + -0.9942374521189286 + ], + [ + 0.9937568571432925, + 0.05316227924558879, + 0.09808710897003495, + 0.04928063849612006, + -0.9979190049818657, + 0.041582185673889424, + 0.10009359395136233, + -0.03648878679015137, + -0.9943087251394722 + ], + [ + 0.9932575690924205, + 0.04839655338916275, + 0.1053431301066455, + 0.04478456761562705, + -0.9983337140561437, + 0.03638870542280026, + 0.10692868625442403, + -0.0314256105575679, + -0.993769936684033 + ], + [ + 0.9911536994435243, + 0.05159008143775899, + 0.12228167310215277, + 0.048823910743337376, + -0.9984815095727734, + 0.025512757220703456, + 0.12341219477483975, + -0.019316794209219248, + -0.9921674715703676 + ], + [ + 0.9870526606586608, + 0.05622370363202043, + 0.15021963998278584, + 0.055677083767310585, + -0.9984180040842506, + 0.00784547408316436, + 0.15042309473557222, + 0.0006198954109008555, + -0.9886215192376975 + ], + [ + 0.9870100349797108, + 0.05800234250043102, + 0.14982295923460112, + 0.05640128592447715, + -0.9982967379762627, + 0.014917033619952867, + 0.15043299437096783, + -0.006273054313181179, + -0.9886003049737384 + ], + [ + 0.9878231195264076, + 0.06387633492558922, + 0.14186366118774163, + 0.06198434014536678, + -0.997919799102355, + 0.01772050045169573, + 0.14270047689429727, + -0.00871139460643515, + -0.9897275814577214 + ], + [ + 0.9913500877964294, + 0.06717179980150455, + 0.11275173052968337, + 0.06393853407687518, + -0.9974388803195542, + 0.03205532540740245, + 0.1146161737544576, + -0.02456886929227272, + -0.9931059879869758 + ], + [ + 0.9958536156264687, + 0.07067101309476649, + 0.057281621414276354, + 0.06812003631522616, + -0.9966468949056897, + 0.04532799937410501, + 0.060292925755028745, + -0.041238025934881246, + -0.9973285257731738 + ], + [ + 0.9980113076801489, + 0.05556789449208169, + 0.029759684882005175, + 0.05425120669943852, + -0.9975854096845761, + 0.04336077670097182, + 0.03209729449991333, + -0.04166004664151999, + -0.9986161445718833 + ], + [ + 0.9992111260066275, + 0.03432220702250204, + 0.01997778190070275, + 0.033361941006222244, + -0.9983580756164735, + 0.046563223080767505, + 0.021543132475684255, + -0.045859992983825065, + -0.9987155523404343 + ], + [ + 0.9998105605322737, + 0.010915326127656824, + 0.016115169985688623, + 0.01018144334920659, + -0.9989377988895293, + 0.04494009524989185, + 0.016588588230094927, + -0.044767506131896014, + -0.9988596944192228 + ], + [ + 0.9997079475956234, + -0.009197644785522765, + 0.022347770460282534, + -0.010064082434618838, + -0.9991895943278771, + 0.03897266775115014, + 0.021971202946022946, + -0.03918619549397067, + -0.9989903444597515 + ], + [ + 0.998907302942038, + -0.04197998397003022, + 0.020539743789533396, + -0.04260152536727263, + -0.9986166163960549, + 0.030821477804874726, + 0.019217444300564435, + -0.031662823682842386, + -0.9993138423093039 + ], + [ + 0.9972950686831381, + -0.06956176789875053, + 0.023742502544921086, + -0.07009097759899637, + -0.9972927412340572, + 0.02223607746606908, + 0.022131444587107592, + -0.023840065617787114, + -0.9994707851817519 + ], + [ + 0.9965658042308422, + -0.08230509039726322, + 0.009081295746375291, + -0.08254662130086762, + -0.9961185879081691, + 0.03055837259486102, + 0.006530937876442531, + -0.031203059441880617, + -0.999491728796152 + ], + [ + 0.9964630036701405, + -0.082892522032028, + 0.013795365448276533, + -0.08328996779321222, + -0.9960341491748568, + 0.03128505941380101, + 0.011147357610098526, + -0.03232341981735751, + -0.9994152955351562 + ], + [ + 0.9964448990342744, + -0.08284346454515164, + 0.01531416242341485, + -0.08328748263122042, + -0.9960408887527402, + 0.031076408569932358, + 0.012679054599168108, + -0.032241406836665966, + -0.9993996864416477 + ], + [ + 0.9963346762699803, + -0.0844209758268051, + 0.013795350754624269, + -0.08481776281152706, + -0.9959052123872429, + 0.03128506115652659, + 0.011097746331605348, + -0.03234048206768201, + -0.9994152956834256 + ], + [ + 0.9934732023255831, + -0.10753532339598391, + 0.03804143113858489, + -0.10903042841890663, + -0.993245790681927, + 0.03968834805610936, + 0.03351659200664974, + -0.043576983773023555, + -0.9984876987452099 + ], + [ + 0.9908995009250645, + -0.11617781292932562, + 0.06797716417604256, + -0.12102660961940005, + -0.9900214199193919, + 0.0721813539968907, + 0.05891297675802308, + -0.07975151336338217, + -0.9950723377150823 + ], + [ + 0.9870368141244679, + -0.12430400117938223, + 0.10152262237460645, + -0.13345291445141289, + -0.9870577445634798, + 0.08892316077198416, + 0.08915518598177379, + -0.10131892314889855, + -0.9908510627861803 + ], + [ + 0.9853613928758632, + -0.12303261033532228, + 0.11800805999513457, + -0.13446496362051377, + -0.9864153390996321, + 0.09436075639529204, + 0.10479551034406216, + -0.10884739584865816, + -0.9885191679622064 + ], + [ + 0.9850815643627386, + -0.11815278885317523, + 0.1251168655253034, + -0.1310428583448991, + -0.986284652384766, + 0.10035115219597755, + 0.11154407572551119, + -0.11524974167640696, + -0.9870539074508865 + ], + [ + 0.9820703309786487, + -0.11001935919441315, + 0.15308038938393795, + -0.1280933629927621, + -0.985224791454631, + 0.11368465446305065, + 0.13831108187232086, + -0.1312549081201516, + -0.9816527867457407 + ], + [ + 0.9826917262895627, + -0.09916574555166645, + 0.1564708470968979, + -0.1187911120904294, + -0.9854572882691854, + 0.12150145960218724, + 0.14214655384622482, + -0.137985825019547, + -0.9801807329892364 + ], + [ + 0.9787450417007106, + -0.08796243893063863, + 0.1852586102820797, + -0.1123076437845214, + -0.9857422471270807, + 0.1252965098333623, + 0.1715958522046581, + -0.14343929575338302, + -0.9746691910283869 + ], + [ + 0.9778072899166158, + -0.07913426715549875, + 0.1939862663893624, + -0.1043627334410022, + -0.9868439879281109, + 0.12348021444289813, + 0.18166266444882073, + -0.1409847908531411, + -0.9732019138356904 + ], + [ + 0.9720455413751568, + -0.07660995820919236, + 0.2219422893363594, + -0.10337938764588356, + -0.988360075433628, + 0.11161121582885516, + 0.21080836725007052, + -0.13143544267821733, + -0.9686508951657147 + ], + [ + 0.9585744895956801, + -0.0761001628318222, + 0.2744880928443923, + -0.11121677776693556, + -0.9871534990318872, + 0.11471180275909755, + 0.26223229442523216, + -0.140487489001947, + -0.9547237763847752 + ], + [ + 0.9541630181693985, + -0.08480290307495601, + 0.28702160613431743, + -0.12085653035731515, + -0.9865236602978452, + 0.11029400138961651, + 0.27380035395860064, + -0.13992689270687383, + -0.9515533778351815 + ], + [ + 0.9472312411527766, + -0.08538017631247909, + 0.30897119813506974, + -0.1250206671000752, + -0.9859444598576325, + 0.11083029763514039, + 0.29516573070399404, + -0.14360970569182158, + -0.9445916810183572 + ], + [ + 0.9453194738804734, + -0.09345221922519574, + 0.31247043864057117, + -0.1362363605117907, + -0.9836263034924846, + 0.11797859616138857, + 0.2963287808783453, + -0.1540972997803549, + -0.9425726899415011 + ], + [ + 0.9450715644979684, + -0.08998417352858895, + 0.31423333128702197, + -0.1364933523450937, + -0.9821725392270333, + 0.12925427634674158, + 0.2970005096678466, + -0.16504530197099987, + -0.9405055797571543 + ], + [ + 0.9414992744897804, + -0.08621962746478755, + 0.3257994658912911, + -0.13667361637937595, + -0.9813384684788505, + 0.13525950195593406, + 0.3080575250192738, + -0.17187491417719286, + -0.9357134043902451 + ], + [ + 0.9375657641883485, + -0.08187511381925869, + 0.33803387930650075, + -0.1305330404330178, + -0.9836859853967205, + 0.12378613609526476, + 0.3223841856810452, + -0.1601822333193251, + -0.9329577101624719 + ], + [ + 0.9290576803931189, + -0.08768637165399831, + 0.3593924411123787, + -0.13921825716318253, + -0.9829562693849039, + 0.12006352214289923, + 0.3427391185362472, + -0.16157992667119686, + -0.925430615401245 + ], + [ + 0.926765283884408, + -0.08978380972189001, + 0.3647533085504169, + -0.13947980065997662, + -0.9838458606520658, + 0.11221723435216502, + 0.348785741959882, + -0.15487475581778648, + -0.9243172162282143 + ], + [ + 0.9293740697381956, + -0.0825872862199615, + 0.3597821266448423, + -0.13040452032705852, + -0.9852625546321074, + 0.11069037680883982, + 0.34533823937776276, + -0.14978998162305557, + -0.9264472256037206 + ], + [ + 0.9309468248967717, + -0.06907051837896493, + 0.3585627876752969, + -0.11729127171916874, + -0.9864747308868407, + 0.11450049301306559, + 0.3458045210709645, + -0.14865015577723428, + -0.9264568874989728 + ], + [ + 0.9336404617380563, + -0.027613987287465887, + 0.3571455668374412, + -0.07855743084357755, + -0.9885371339230754, + 0.12893046542384268, + 0.3494913708016351, + -0.14843113743834152, + -0.9251075500578052 + ], + [ + 0.9529456172662817, + -0.00869184732221204, + 0.30301667004162125, + -0.05169817409266772, + -0.9896051508668197, + 0.13419740747623704, + 0.2987004340948798, + -0.14354823986376963, + -0.9434892439787239 + ], + [ + 0.9685398479367987, + 0.008571694882203384, + 0.24871085421711905, + -0.027583277133575695, + -0.9895509942995033, + 0.14152029007685185, + 0.24732514182980872, + -0.14392830064900491, + -0.9581831341091088 + ], + [ + 0.9792368926015305, + -0.004566673456700051, + 0.20266784071884386, + -0.03557959957822136, + -0.9880991961159348, + 0.14964648585548873, + 0.19957254385799722, + -0.1537502004180269, + -0.967745666799632 + ], + [ + 0.988246932895165, + 0.013713502124949498, + 0.1522495960019872, + -0.012479637429799652, + -0.9854059183671526, + 0.16976287785204774, + 0.15235569655552775, + -0.16966766311368098, + -0.9736532369486697 + ], + [ + 0.9879301985876651, + 0.025081141473940013, + 0.15285568049928944, + -0.003651845496551476, + -0.9827586034160549, + 0.18485721905350258, + 0.15485666515525243, + -0.18318423445834395, + -0.9708053097830195 + ], + [ + 0.9913354695412049, + 0.013415794538223686, + 0.1306675295795655, + -0.010556493657024785, + -0.9834158604762661, + 0.1810574654782122, + 0.1309295507942636, + -0.18086807850096978, + -0.9747534000495607 + ], + [ + 0.9917336805757364, + 0.01508987611384776, + 0.12742292749176762, + -0.007212497956096933, + -0.9849350101142154, + 0.17277443596939984, + 0.12811044721230522, + -0.17226526489742405, + -0.9766843870078419 + ], + [ + 0.9884177782114928, + 0.013929986584900775, + 0.15111668071129822, + -0.010258569702559818, + -0.9873674616722854, + 0.15811469690855887, + 0.1514102290570676, + -0.1578336184232377, + -0.9757886510061049 + ], + [ + 0.9830826286017871, + 0.011611310803205236, + 0.18279420888756914, + -0.014654883352390053, + -0.9898027854723561, + 0.14168867373609284, + 0.18257540835317537, + -0.14197050162831887, + -0.9728877617341452 + ], + [ + 0.9753219214311944, + 0.015361119684362008, + 0.2202525495375841, + -0.013392922529016534, + -0.9916235370637495, + 0.12846552209566098, + 0.22038098647999332, + -0.12824506518077683, + -0.9669464432195216 + ], + [ + 0.977204825311623, + 0.01709034374224393, + 0.2116096631499916, + -0.01061960602623183, + -0.991571623702736, + 0.12912373536793245, + 0.21203290630354663, + -0.12842754851780117, + -0.9687870826069988 + ], + [ + 0.9814901377118279, + 0.020141903813336807, + 0.19045055338641292, + -0.00710491039639862, + -0.9899398209812493, + 0.14131054838146592, + 0.19138085019843487, + -0.14004804370781396, + -0.9714730647995022 + ], + [ + 0.9878269959353235, + 0.02316774406213047, + 0.15382159060569398, + -0.0008275165289672055, + -0.9880504127102403, + 0.1541288329921361, + 0.15555430343705826, + -0.1523799119903772, + -0.9760036993290631 + ], + [ + 0.9912912083040786, + 0.01753226185744662, + 0.13051574668675944, + -0.004066745297434603, + -0.986549613822644, + 0.16341150831284304, + 0.13162523284585761, + -0.16251916582530965, + -0.9778866594947084 + ], + [ + 0.9939853932396544, + 0.019741267601537563, + 0.10771870951554481, + 0.0018281380639350517, + -0.9864722212394647, + 0.1639183169572459, + 0.10949747000469477, + -0.16273548806686705, + -0.9805750685114373 + ], + [ + 0.9890466556196033, + 0.04601221736611441, + 0.140248311436295, + 0.021622483586130864, + -0.9850858318298725, + 0.17069965474955215, + 0.14601089415261467, + -0.16579740583345157, + -0.9752907458843503 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0024030208587646484, + 0.0013041198253631592, + -0.008374318480491638, + 0.011606119573116302, + 0.019473150372505188, + 0.003194659948348999, + 1.0 + ], + [ + 0.002668410539627075, + 5.307793617248535e-05, + -0.010540030896663666, + -0.008444610983133316, + -0.027417704463005066, + 0.00438004732131958, + 1.0 + ], + [ + -0.0005877017974853516, + 0.0001923888921737671, + -0.00892695039510727, + -0.010412096977233887, + -0.015236049890518188, + -0.003316327929496765, + 1.0 + ], + [ + 0.0009602606296539307, + 0.0010511726140975952, + -0.006175994873046875, + -0.007317788898944855, + -0.02644820511341095, + 0.0019824057817459106, + 1.0 + ], + [ + -0.0006032288074493408, + -0.0014187544584274292, + -0.010686110705137253, + 0.00295812264084816, + -0.016600698232650757, + 0.002360329031944275, + 1.0 + ], + [ + 0.0019152164459228516, + -0.0035312920808792114, + -0.006447799503803253, + -0.00523453950881958, + -0.018196046352386475, + 0.003090187907218933, + 1.0 + ], + [ + 0.001120239496231079, + -0.0018240809440612793, + -0.0070632100105285645, + 0.0033232606947422028, + -0.008120834827423096, + 0.005213424563407898, + 1.0 + ], + [ + 0.0019422471523284912, + -0.0015871226787567139, + -0.0035443753004074097, + 0.0019134730100631714, + -0.009915411472320557, + 0.0026656389236450195, + 1.0 + ], + [ + -0.0014880597591400146, + -0.000500410795211792, + -0.0037718825042247772, + 0.008767500519752502, + 0.011878669261932373, + -0.0020032599568367004, + 0.0 + ], + [ + 0.0006988048553466797, + -0.0013299733400344849, + 0.0003802236169576645, + 0.004199562594294548, + 0.009798437356948853, + 0.012717880308628082, + 0.0 + ], + [ + -0.0023111701011657715, + -0.001451835036277771, + 0.0013063568621873856, + 0.008048583753407001, + 0.015706703066825867, + 0.012643426656723022, + 0.0 + ], + [ + -0.0007570385932922363, + -0.0010409951210021973, + 0.0020651966333389282, + 0.0065638599917292595, + 0.012318834662437439, + 0.0112977996468544, + 0.0 + ], + [ + -0.004092007875442505, + -0.0008018910884857178, + 0.003496691584587097, + 0.02286272682249546, + 0.03639824688434601, + -0.0004783421754837036, + 0.0 + ], + [ + -0.001292109489440918, + -0.0016186386346817017, + 0.019843727350234985, + 0.007611827924847603, + 0.0343848317861557, + 0.007557377219200134, + 0.0 + ], + [ + 0.003788292407989502, + -0.00033676624298095703, + 0.017240285873413086, + 0.018440408632159233, + 0.04039773344993591, + -0.0008405745029449463, + 0.0 + ], + [ + 0.012153804302215576, + 0.003936707973480225, + 0.01789732277393341, + -0.0009340904653072357, + 0.016967259347438812, + -0.017731644213199615, + 0.0 + ], + [ + 0.017663240432739258, + 0.013951808214187622, + 0.010977663099765778, + -0.0039788708090782166, + 0.0024348050355911255, + -0.012018471956253052, + 0.0 + ], + [ + 0.02221965789794922, + 0.01670113205909729, + 0.0006452798843383789, + 0.007360465824604034, + 0.008520051836967468, + -0.024937458336353302, + 0.0 + ], + [ + 0.019984722137451172, + 0.011137634515762329, + -0.0060462504625320435, + -0.01191207766532898, + -0.004438161849975586, + -0.015714041888713837, + 0.0 + ], + [ + 0.01243773102760315, + 0.006141878664493561, + -0.009806208312511444, + -0.005069095641374588, + -0.006872020661830902, + -0.004491589963436127, + 0.0 + ], + [ + 0.008747637271881104, + -0.0014191046357154846, + -0.012670084834098816, + -0.012145258486270905, + -0.01659412682056427, + 0.004161834716796875, + 0.0 + ], + [ + 0.007645726203918457, + -0.004327863454818726, + -0.009059347212314606, + -0.020093858242034912, + -0.027268588542938232, + 0.007127806544303894, + 1.0 + ], + [ + -0.00036326050758361816, + -0.000993676483631134, + -0.0010514557361602783, + 0.006972334813326597, + -1.0013580322265625e-05, + 0.0007338039577007294, + 1.0 + ], + [ + -0.0025399327278137207, + -0.0030241310596466064, + 0.00034877657890319824, + 0.0024562785401940346, + 0.00781695544719696, + 0.005584757775068283, + 1.0 + ], + [ + -0.006461501121520996, + -0.0037847012281417847, + -0.001063268631696701, + 0.01593279466032982, + 0.028320662677288055, + 0.0017409548163414001, + 1.0 + ], + [ + -0.008956104516983032, + 0.0016016960144042969, + 0.0010682009160518646, + 0.01659056916832924, + 0.05453910306096077, + 0.0038900598883628845, + 1.0 + ], + [ + -0.005073279142379761, + 0.002711459994316101, + 0.02131890505552292, + 0.000368654727935791, + 0.028226707130670547, + -0.01399141177535057, + 1.0 + ], + [ + -0.0026967227458953857, + 0.008026324212551117, + 0.015935488045215607, + 0.0041931383311748505, + 0.010558009147644043, + -0.020929981023073196, + 1.0 + ], + [ + 0.002200603485107422, + 0.01083025336265564, + 0.001016266644001007, + -0.00109810009598732, + 0.00495545007288456, + -0.023192860186100006, + 1.0 + ], + [ + 0.0038621127605438232, + 0.0106424018740654, + -0.00038189440965652466, + -0.005582939833402634, + -0.005383621901273727, + -0.020249702036380768, + 1.0 + ], + [ + 0.0011115968227386475, + 0.011130150407552719, + -0.003652028739452362, + -0.0075317323207855225, + 0.0027543436735868454, + -0.03255561739206314, + 1.0 + ], + [ + -0.00393107533454895, + 0.015013348311185837, + 0.001800239086151123, + -0.007825801149010658, + -0.0029146242886781693, + -0.027543410658836365, + 1.0 + ], + [ + -0.00781339406967163, + 0.007189441472291946, + 0.0032776519656181335, + 0.007360624149441719, + 0.01560226734727621, + -0.012476712465286255, + 1.0 + ], + [ + 0.0006811618804931641, + 0.0006252527236938477, + -0.00034661591053009033, + 0.0011222697794437408, + -0.004616604186594486, + -0.000749342143535614, + 1.0 + ], + [ + 0.0003751218318939209, + -5.153566598892212e-05, + 0.0003612115979194641, + -8.147209882736206e-05, + -0.001531805843114853, + 9.685754776000977e-07, + 1.0 + ], + [ + -0.0007379055023193359, + 0.0001013725996017456, + -0.00022410601377487183, + 9.85264778137207e-05, + 0.0015814201906323433, + -0.0015342384576797485, + 1.0 + ], + [ + -0.013452649116516113, + 0.005599640309810638, + 0.01200488954782486, + 0.011267192661762238, + -0.02242489531636238, + -0.024384237825870514, + 1.0 + ], + [ + -0.008188635110855103, + 0.011811716482043266, + 0.00634823739528656, + 0.03636019304394722, + -0.025424238294363022, + -0.012226894497871399, + 1.0 + ], + [ + -0.0037589669227600098, + 0.011951565742492676, + -0.0007992535829544067, + 0.02192477136850357, + -0.030326612293720245, + -0.01285448670387268, + 1.0 + ], + [ + 0.0014972388744354248, + 0.01644882746040821, + -0.0050236135721206665, + 0.007769487798213959, + -0.015714555978775024, + -0.001234203577041626, + 1.0 + ], + [ + -0.002528667449951172, + 0.01206296682357788, + -0.009002156555652618, + 0.006565272808074951, + -0.006788410246372223, + 0.0033739060163497925, + 1.0 + ], + [ + -0.005936294794082642, + 0.012604828923940659, + -0.0030984431505203247, + 0.016684681177139282, + -0.026979215443134308, + 0.0025511831045150757, + 1.0 + ], + [ + -0.00851529836654663, + 0.010666128247976303, + -0.008526265621185303, + 0.006937131285667419, + -0.0038737505674362183, + 0.009400077164173126, + 1.0 + ], + [ + -0.008267492055892944, + 0.008912220597267151, + -0.0013467147946357727, + 0.006261453032493591, + -0.02981966733932495, + 0.006052784621715546, + 1.0 + ], + [ + -0.005019456148147583, + 0.007441982626914978, + -0.009149804711341858, + -0.0022521913051605225, + -0.010227665305137634, + 0.007918044924736023, + 1.0 + ], + [ + -0.0042588114738464355, + 0.007216643542051315, + -0.010356716811656952, + -0.009000599384307861, + -0.0297248512506485, + 0.00037472695112228394, + 1.0 + ], + [ + 0.0037488341331481934, + 0.008574269711971283, + -0.0029541850090026855, + 0.011235877871513367, + -0.05293288826942444, + -0.009552516043186188, + 1.0 + ], + [ + 0.0015190839767456055, + 0.01062212884426117, + -0.004170417785644531, + -9.676814079284668e-05, + -0.012007445096969604, + -0.010484784841537476, + 1.0 + ], + [ + 0.0013013482093811035, + 0.008800670504570007, + -0.0026913657784461975, + 0.004873618483543396, + -0.022286802530288696, + -0.005235448479652405, + 1.0 + ], + [ + -0.0024428069591522217, + 0.0080585777759552, + -0.0002930760383605957, + 0.011174008250236511, + -0.0012175142765045166, + -0.011904358863830566, + 1.0 + ], + [ + -0.002089262008666992, + 0.008174948394298553, + -3.065913915634155e-05, + 0.011664673686027527, + -0.0007033944129943848, + -0.000303417444229126, + 1.0 + ], + [ + -0.00034806132316589355, + 0.003137752413749695, + -0.0007651746273040771, + 0.007941409945487976, + -0.011600703001022339, + -0.0007242709398269653, + 1.0 + ], + [ + 0.0014696121215820312, + 0.0034527629613876343, + -0.010901648551225662, + -0.011623263359069824, + -0.015096485614776611, + 0.005822703242301941, + 1.0 + ], + [ + 0.004064619541168213, + 0.005317024886608124, + -0.007490064948797226, + 0.002822190523147583, + -0.021584004163742065, + -0.010405927896499634, + 1.0 + ], + [ + 0.0009205937385559082, + 0.0036833882331848145, + -0.006775747984647751, + -0.006843551993370056, + -0.006444096565246582, + -0.0006384700536727905, + 1.0 + ], + [ + -0.0014798939228057861, + 0.00023145973682403564, + -0.007373979315161705, + -0.005718708038330078, + 0.003675997257232666, + 0.009976387023925781, + 1.0 + ], + [ + -0.003531932830810547, + -0.0027043670415878296, + -0.004205048084259033, + -0.001200839877128601, + -0.0004968941211700439, + 0.014073237776756287, + 0.0 + ], + [ + -0.00018104910850524902, + -0.005232401192188263, + -0.002256477251648903, + -2.652406692504883e-06, + -0.0039321184158325195, + 0.041387736797332764, + 0.0 + ], + [ + -0.008785009384155273, + -0.01187976449728012, + 0.003282865509390831, + -0.00810331106185913, + 0.053697556257247925, + 0.029745474457740784, + 0.0 + ], + [ + -0.0024069547653198242, + -0.012133382260799408, + 0.015671515837311745, + -0.001893267035484314, + 0.053411975502967834, + 0.02572624571621418, + 0.0 + ], + [ + 0.005459338426589966, + -0.014633707702159882, + 0.02407229319214821, + 0.008462831377983093, + 0.04899698495864868, + -0.007846487686038017, + 0.0 + ], + [ + 0.007612645626068115, + -0.005591593682765961, + 0.023349225521087646, + 0.014968663454055786, + 0.04797030985355377, + 0.023690644651651382, + 0.0 + ], + [ + 0.016827166080474854, + -0.010441713035106659, + 0.02692703902721405, + 0.013973832130432129, + -0.002531006932258606, + 0.008930940181016922, + 0.0 + ], + [ + 0.017267435789108276, + -0.006672624498605728, + 0.0022675618529319763, + -0.0030341744422912598, + 0.024175822734832764, + -0.006951913237571716, + 0.0 + ], + [ + 0.02458670735359192, + 0.0011587701737880707, + 0.0009989142417907715, + -0.008884042501449585, + 0.0028430521488189697, + 0.0033758701756596565, + 0.0 + ], + [ + 0.017145872116088867, + -0.0010060034692287445, + -0.009918197989463806, + -0.01422111690044403, + -0.02353130280971527, + -0.003105918876826763, + 0.0 + ], + [ + 0.01143735647201538, + -0.0024792030453681946, + -0.01436612755060196, + -0.015456795692443848, + -0.031610459089279175, + -0.004527561366558075, + 0.0 + ], + [ + 0.0030847489833831787, + -0.003878045827150345, + -0.006941363215446472, + -0.013044759631156921, + -0.03859978914260864, + 0.0011750338599085808, + 1.0 + ], + [ + -0.0038474202156066895, + -0.008066479116678238, + -0.0068760886788368225, + -6.252527236938477e-05, + 0.00855034589767456, + 0.0028640329837799072, + 1.0 + ], + [ + -0.00405535101890564, + -0.0074923597276210785, + -0.002828359603881836, + 0.011377274990081787, + 0.021085888147354126, + 0.0036281258799135685, + 1.0 + ], + [ + -0.008663982152938843, + -0.00832580216228962, + 0.00095348060131073, + 0.01170194149017334, + 0.03638024628162384, + 0.006401061080396175, + 1.0 + ], + [ + -0.00949123501777649, + -0.0009579285979270935, + 0.015728190541267395, + 0.009812965989112854, + 0.02418026328086853, + -0.0032647359184920788, + 1.0 + ], + [ + -0.0029099881649017334, + -0.006161106750369072, + 0.0033505484461784363, + -0.00022873282432556152, + 0.022290833294391632, + 0.005941648036241531, + 1.0 + ], + [ + -0.002084106206893921, + -0.016635863110423088, + 0.01011115312576294, + 0.003927856683731079, + -0.0368172749876976, + 0.02001926489174366, + 1.0 + ], + [ + -0.005561560392379761, + -0.01981366239488125, + -0.0024215802550315857, + -0.00522749125957489, + 0.005632519721984863, + 0.016328604891896248, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9484345316886902 + ], + [ + 0.672171950340271 + ], + [ + 0.6309936046600342 + ], + [ + 0.6631406545639038 + ], + [ + 0.6631406545639038 + ], + [ + 0.6631406545639038 + ], + [ + 0.6631406545639038 + ], + [ + 0.6631406545639038 + ], + [ + 0.6631406545639038 + ], + [ + 0.6631406545639038 + ], + [ + 0.6631406545639038 + ], + [ + 0.6631406545639038 + ], + [ + 0.6631406545639038 + ], + [ + 0.6309936046600342 + ], + [ + 0.7011857628822327 + ], + [ + 0.9752515554428101 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9461179971694946 + ], + [ + 0.8045819997787476 + ], + [ + 0.8233373761177063 + ], + [ + 0.8279770016670227 + ], + [ + 0.8279770016670227 + ], + [ + 0.8279770016670227 + ], + [ + 0.8279770016670227 + ], + [ + 0.8279770016670227 + ], + [ + 0.8279770016670227 + ], + [ + 0.8279770016670227 + ], + [ + 0.8279770016670227 + ], + [ + 0.8973560333251953 + ], + [ + 1.0092895030975342 + ], + [ + 1.0047606229782104 + ], + [ + 1.0047606229782104 + ], + [ + 1.0047606229782104 + ], + [ + 1.0047606229782104 + ], + [ + 1.0047606229782104 + ], + [ + 1.0047606229782104 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.24970510601997375, + -0.13099351525306702, + 0.08489057421684265 + ], + [ + 0.25237351655960083, + -0.13094043731689453, + 0.07435054332017899 + ], + [ + 0.2517858147621155, + -0.13074804842472076, + 0.06542359292507172 + ], + [ + 0.2527460753917694, + -0.12969687581062317, + 0.05924759805202484 + ], + [ + 0.25214284658432007, + -0.1311156302690506, + 0.04856148734688759 + ], + [ + 0.2540580630302429, + -0.1346469223499298, + 0.042113687843084335 + ], + [ + 0.255178302526474, + -0.1364710032939911, + 0.03505047783255577 + ], + [ + 0.2571205496788025, + -0.1380581259727478, + 0.03150610253214836 + ], + [ + 0.2556324899196625, + -0.1385585367679596, + 0.027734220027923584 + ], + [ + 0.25633129477500916, + -0.13988851010799408, + 0.02811444364488125 + ], + [ + 0.2540201246738434, + -0.14134034514427185, + 0.029420800507068634 + ], + [ + 0.25326308608055115, + -0.14238134026527405, + 0.03148599714040756 + ], + [ + 0.24917107820510864, + -0.14318323135375977, + 0.03498268872499466 + ], + [ + 0.24787896871566772, + -0.14480186998844147, + 0.054826416075229645 + ], + [ + 0.2516672611236572, + -0.14513863623142242, + 0.07206670194864273 + ], + [ + 0.2638210654258728, + -0.1412019282579422, + 0.08996402472257614 + ], + [ + 0.28148430585861206, + -0.12725012004375458, + 0.10094168782234192 + ], + [ + 0.3037039637565613, + -0.11054898798465729, + 0.1015869677066803 + ], + [ + 0.32368868589401245, + -0.09941135346889496, + 0.09554071724414825 + ], + [ + 0.3361264169216156, + -0.0932694748044014, + 0.08573450893163681 + ], + [ + 0.3448740541934967, + -0.09468857944011688, + 0.073064424097538 + ], + [ + 0.35251978039741516, + -0.09901644289493561, + 0.06400507688522339 + ], + [ + 0.35215651988983154, + -0.10001011937856674, + 0.06295362114906311 + ], + [ + 0.3496165871620178, + -0.10303425043821335, + 0.06330239772796631 + ], + [ + 0.3431550860404968, + -0.10681895166635513, + 0.06223912909626961 + ], + [ + 0.3341989815235138, + -0.10521725565195084, + 0.06330733001232147 + ], + [ + 0.32912570238113403, + -0.10250579565763474, + 0.08462623506784439 + ], + [ + 0.32642897963523865, + -0.09447947144508362, + 0.10056172311306 + ], + [ + 0.32862958312034607, + -0.08364921808242798, + 0.101577989757061 + ], + [ + 0.3324916958808899, + -0.07300681620836258, + 0.10119609534740448 + ], + [ + 0.33360329270362854, + -0.06187666580080986, + 0.09754406660795212 + ], + [ + 0.3296722173690796, + -0.04686331748962402, + 0.09934430569410324 + ], + [ + 0.32185882329940796, + -0.03967387601733208, + 0.10262195765972137 + ], + [ + 0.3225399851799011, + -0.03904862329363823, + 0.10227534174919128 + ], + [ + 0.32291510701179504, + -0.03910015895962715, + 0.10263655334711075 + ], + [ + 0.3221772015094757, + -0.038998786360025406, + 0.10241244733333588 + ], + [ + 0.3087245523929596, + -0.03339914605021477, + 0.11441733688116074 + ], + [ + 0.3005359172821045, + -0.0215874295681715, + 0.1207655742764473 + ], + [ + 0.2967769503593445, + -0.009635863825678825, + 0.11996632069349289 + ], + [ + 0.2982741892337799, + 0.006812964100390673, + 0.11494270712137222 + ], + [ + 0.29574552178382874, + 0.018875930458307266, + 0.1059405505657196 + ], + [ + 0.2898092269897461, + 0.031480759382247925, + 0.10284210741519928 + ], + [ + 0.28129392862319946, + 0.04214688763022423, + 0.09431584179401398 + ], + [ + 0.2730264365673065, + 0.05105910822749138, + 0.0929691269993782 + ], + [ + 0.26800698041915894, + 0.05850109085440636, + 0.08381932228803635 + ], + [ + 0.2637481689453125, + 0.06571773439645767, + 0.0734626054763794 + ], + [ + 0.2674970030784607, + 0.07429200410842896, + 0.07050842046737671 + ], + [ + 0.2690160870552063, + 0.08491413295269012, + 0.06633800268173218 + ], + [ + 0.2703174352645874, + 0.09371480345726013, + 0.06364663690328598 + ], + [ + 0.2678746283054352, + 0.10177338123321533, + 0.06335356086492538 + ], + [ + 0.2657853662967682, + 0.10994832962751389, + 0.06332290172576904 + ], + [ + 0.2654373049736023, + 0.11308608204126358, + 0.06255772709846497 + ], + [ + 0.2669069170951843, + 0.11653884500265121, + 0.051656078547239304 + ], + [ + 0.27097153663635254, + 0.12185586988925934, + 0.04416601359844208 + ], + [ + 0.27189213037490845, + 0.12553925812244415, + 0.03739026561379433 + ], + [ + 0.27041223645210266, + 0.1257707178592682, + 0.030016286298632622 + ], + [ + 0.2668803036212921, + 0.12306635081768036, + 0.02581123821437359 + ], + [ + 0.26669925451278687, + 0.1178339496254921, + 0.023554760962724686 + ], + [ + 0.2579142451286316, + 0.10595418512821198, + 0.026837626472115517 + ], + [ + 0.25550729036331177, + 0.09382080286741257, + 0.04250914230942726 + ], + [ + 0.26096662878990173, + 0.07918709516525269, + 0.06658143550157547 + ], + [ + 0.26857927441596985, + 0.07359550148248672, + 0.08993066102266312 + ], + [ + 0.2854064404964447, + 0.06315378844738007, + 0.11685770004987717 + ], + [ + 0.302673876285553, + 0.05648116394877434, + 0.11912526190280914 + ], + [ + 0.3272605836391449, + 0.05763993412256241, + 0.12012417614459991 + ], + [ + 0.34440645575523376, + 0.056633930653333664, + 0.11020597815513611 + ], + [ + 0.35584381222724915, + 0.05415472760796547, + 0.09583985060453415 + ], + [ + 0.3589285612106323, + 0.050276681780815125, + 0.08889848738908768 + ], + [ + 0.35508114099502563, + 0.04221020266413689, + 0.08202239871025085 + ], + [ + 0.35102578997612, + 0.03471784293651581, + 0.07919403910636902 + ], + [ + 0.34236180782318115, + 0.02639204077422619, + 0.08014751970767975 + ], + [ + 0.33287057280540466, + 0.025434112176299095, + 0.09587571024894714 + ], + [ + 0.32996058464050293, + 0.019273005425930023, + 0.09922625869512558 + ], + [ + 0.327876478433609, + 0.0026371420826762915, + 0.10933741182088852 + ], + [ + 0.32231491804122925, + -0.017176520079374313, + 0.10691583156585693 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9848566135104738, + 0.06148526655864648, + 0.16210185939986568, + 0.06181301828312954, + -0.9980831612347467, + 0.003025562821097338, + 0.16197716380839347, + 0.00704025964486407, + -0.9867693920814135 + ], + [ + 0.9797758739668744, + 0.06406567993320583, + 0.18956483177832165, + 0.06580371559213022, + -0.997828424513381, + -0.0028820561086805065, + 0.18896853655229853, + 0.015297839319314697, + -0.9818639764781285 + ], + [ + 0.9770017934443147, + 0.05839184096206519, + 0.2050802002038576, + 0.062363442221511245, + -0.9979694794972328, + -0.012950639609966706, + 0.20390756896416978, + 0.02544230534137767, + -0.9786594874715308 + ], + [ + 0.9711538809142491, + 0.058009620204685114, + 0.23128991233709328, + 0.0639234739458075, + -0.9977897239599722, + -0.018150929413720828, + 0.22972576926390254, + 0.03241220022754387, + -0.9727155392058449 + ], + [ + 0.9670619057850571, + 0.060560433160400745, + 0.24723208593303164, + 0.06594696539071629, + -0.9977310259153753, + -0.013557200360268194, + 0.2458500928109017, + 0.029414857832011053, + -0.9688614441722788 + ], + [ + 0.9622315177291679, + 0.06172364954961768, + 0.26514278676761704, + 0.06860550909295347, + -0.9975030085186926, + -0.016764012594064806, + 0.2634459914493268, + 0.034321117150134646, + -0.9640634162267792 + ], + [ + 0.9596959183115087, + 0.06755256205905501, + 0.2728010185748712, + 0.07345537690599162, + -0.9972325361482068, + -0.011470677879431158, + 0.27127117793792327, + 0.031047064380911787, + -0.9620020934558816 + ], + [ + 0.95676821688312, + 0.07044422664441355, + 0.2821917612099369, + 0.0757971593451651, + -0.9970904927266447, + -0.008083313017620636, + 0.28080129949396454, + 0.029123190872699364, + -0.9593239650690967 + ], + [ + 0.9601761977370123, + 0.07116367548923325, + 0.27018031125557, + 0.07413189661815733, + -0.9972481371959281, + -0.0007840682661803041, + 0.26938101492697736, + 0.02078182258884674, + -0.9628094228074408 + ], + [ + 0.9617385706481398, + 0.08513787727708026, + 0.2604044231199353, + 0.08656946503173053, + -0.9962278158998608, + 0.005988868967817522, + 0.25993200928664684, + 0.01678334532048137, + -0.965481056193264 + ], + [ + 0.9645098277825233, + 0.09995949315018562, + 0.2443949505208433, + 0.09912709522303209, + -0.99495035712616, + 0.01573549640687318, + 0.24473375554584087, + 0.009049120602842086, + -0.9695480917998569 + ], + [ + 0.966250573750344, + 0.11282703517152183, + 0.2315812791689667, + 0.11035110660244195, + -0.9936109938702764, + 0.023660645209665945, + 0.23277126540607884, + 0.002693138415561465, + -0.9725277810976543 + ], + [ + 0.9740795727177852, + 0.11690715222136101, + 0.19365356638447997, + 0.11077322631399404, + -0.9929474938920394, + 0.042244132202077435, + 0.1972264646185327, + -0.019697515909613147, + -0.9801600530122949 + ], + [ + 0.9793702001462214, + 0.12494575675284832, + 0.15881614821864867, + 0.11887866235048254, + -0.9917871035320998, + 0.04718267590087966, + 0.16340708278195806, + -0.027329455480589897, + -0.9861801185178214 + ], + [ + 0.9852227128172839, + 0.1251892660215005, + 0.11689248830420788, + 0.11874878713966612, + -0.9910762567376559, + 0.06055228223390011, + 0.12342986551807329, + -0.045776642557898595, + -0.9912969117748307 + ], + [ + 0.9891144758018231, + 0.10672909159609369, + 0.10129883891909867, + 0.10146053310989929, + -0.9932720676500049, + 0.055824366071988665, + 0.10657539106350906, + -0.04493885438411857, + -0.9932885710539024 + ], + [ + 0.9905179120640942, + 0.09427821293702772, + 0.09992939730423586, + 0.08958895621085901, + -0.9947013980829027, + 0.050427646950531944, + 0.10415413964522077, + -0.04099691716847947, + -0.9937158386467656 + ], + [ + 0.9932933048563376, + 0.06977790610691374, + 0.092192485306065, + 0.0649181808144592, + -0.9963900819170115, + 0.05470314851223635, + 0.0956767491468824, + -0.04835130274093281, + -0.9942374521189286 + ], + [ + 0.9937568571432925, + 0.05316227924558879, + 0.09808710897003495, + 0.04928063849612006, + -0.9979190049818657, + 0.041582185673889424, + 0.10009359395136233, + -0.03648878679015137, + -0.9943087251394722 + ], + [ + 0.9932575690924205, + 0.04839655338916275, + 0.1053431301066455, + 0.04478456761562705, + -0.9983337140561437, + 0.03638870542280026, + 0.10692868625442403, + -0.0314256105575679, + -0.993769936684033 + ], + [ + 0.9911536994435243, + 0.05159008143775899, + 0.12228167310215277, + 0.048823910743337376, + -0.9984815095727734, + 0.025512757220703456, + 0.12341219477483975, + -0.019316794209219248, + -0.9921674715703676 + ], + [ + 0.9870526606586608, + 0.05622370363202043, + 0.15021963998278584, + 0.055677083767310585, + -0.9984180040842506, + 0.00784547408316436, + 0.15042309473557222, + 0.0006198954109008555, + -0.9886215192376975 + ], + [ + 0.9870100349797108, + 0.05800234250043102, + 0.14982295923460112, + 0.05640128592447715, + -0.9982967379762627, + 0.014917033619952867, + 0.15043299437096783, + -0.006273054313181179, + -0.9886003049737384 + ], + [ + 0.9878231195264076, + 0.06387633492558922, + 0.14186366118774163, + 0.06198434014536678, + -0.997919799102355, + 0.01772050045169573, + 0.14270047689429727, + -0.00871139460643515, + -0.9897275814577214 + ], + [ + 0.9913500877964294, + 0.06717179980150455, + 0.11275173052968337, + 0.06393853407687518, + -0.9974388803195542, + 0.03205532540740245, + 0.1146161737544576, + -0.02456886929227272, + -0.9931059879869758 + ], + [ + 0.9958536156264687, + 0.07067101309476649, + 0.057281621414276354, + 0.06812003631522616, + -0.9966468949056897, + 0.04532799937410501, + 0.060292925755028745, + -0.041238025934881246, + -0.9973285257731738 + ], + [ + 0.9980113076801489, + 0.05556789449208169, + 0.029759684882005175, + 0.05425120669943852, + -0.9975854096845761, + 0.04336077670097182, + 0.03209729449991333, + -0.04166004664151999, + -0.9986161445718833 + ], + [ + 0.9992111260066275, + 0.03432220702250204, + 0.01997778190070275, + 0.033361941006222244, + -0.9983580756164735, + 0.046563223080767505, + 0.021543132475684255, + -0.045859992983825065, + -0.9987155523404343 + ], + [ + 0.9998105605322737, + 0.010915326127656824, + 0.016115169985688623, + 0.01018144334920659, + -0.9989377988895293, + 0.04494009524989185, + 0.016588588230094927, + -0.044767506131896014, + -0.9988596944192228 + ], + [ + 0.9997079475956234, + -0.009197644785522765, + 0.022347770460282534, + -0.010064082434618838, + -0.9991895943278771, + 0.03897266775115014, + 0.021971202946022946, + -0.03918619549397067, + -0.9989903444597515 + ], + [ + 0.998907302942038, + -0.04197998397003022, + 0.020539743789533396, + -0.04260152536727263, + -0.9986166163960549, + 0.030821477804874726, + 0.019217444300564435, + -0.031662823682842386, + -0.9993138423093039 + ], + [ + 0.9972950686831381, + -0.06956176789875053, + 0.023742502544921086, + -0.07009097759899637, + -0.9972927412340572, + 0.02223607746606908, + 0.022131444587107592, + -0.023840065617787114, + -0.9994707851817519 + ], + [ + 0.9965658042308422, + -0.08230509039726322, + 0.009081295746375291, + -0.08254662130086762, + -0.9961185879081691, + 0.03055837259486102, + 0.006530937876442531, + -0.031203059441880617, + -0.999491728796152 + ], + [ + 0.9964630036701405, + -0.082892522032028, + 0.013795365448276533, + -0.08328996779321222, + -0.9960341491748568, + 0.03128505941380101, + 0.011147357610098526, + -0.03232341981735751, + -0.9994152955351562 + ], + [ + 0.9964448990342744, + -0.08284346454515164, + 0.01531416242341485, + -0.08328748263122042, + -0.9960408887527402, + 0.031076408569932358, + 0.012679054599168108, + -0.032241406836665966, + -0.9993996864416477 + ], + [ + 0.9963346762699803, + -0.0844209758268051, + 0.013795350754624269, + -0.08481776281152706, + -0.9959052123872429, + 0.03128506115652659, + 0.011097746331605348, + -0.03234048206768201, + -0.9994152956834256 + ], + [ + 0.9934732023255831, + -0.10753532339598391, + 0.03804143113858489, + -0.10903042841890663, + -0.993245790681927, + 0.03968834805610936, + 0.03351659200664974, + -0.043576983773023555, + -0.9984876987452099 + ], + [ + 0.9908995009250645, + -0.11617781292932562, + 0.06797716417604256, + -0.12102660961940005, + -0.9900214199193919, + 0.0721813539968907, + 0.05891297675802308, + -0.07975151336338217, + -0.9950723377150823 + ], + [ + 0.9870368141244679, + -0.12430400117938223, + 0.10152262237460645, + -0.13345291445141289, + -0.9870577445634798, + 0.08892316077198416, + 0.08915518598177379, + -0.10131892314889855, + -0.9908510627861803 + ], + [ + 0.9853613928758632, + -0.12303261033532228, + 0.11800805999513457, + -0.13446496362051377, + -0.9864153390996321, + 0.09436075639529204, + 0.10479551034406216, + -0.10884739584865816, + -0.9885191679622064 + ], + [ + 0.9850815643627386, + -0.11815278885317523, + 0.1251168655253034, + -0.1310428583448991, + -0.986284652384766, + 0.10035115219597755, + 0.11154407572551119, + -0.11524974167640696, + -0.9870539074508865 + ], + [ + 0.9820703309786487, + -0.11001935919441315, + 0.15308038938393795, + -0.1280933629927621, + -0.985224791454631, + 0.11368465446305065, + 0.13831108187232086, + -0.1312549081201516, + -0.9816527867457407 + ], + [ + 0.9826917262895627, + -0.09916574555166645, + 0.1564708470968979, + -0.1187911120904294, + -0.9854572882691854, + 0.12150145960218724, + 0.14214655384622482, + -0.137985825019547, + -0.9801807329892364 + ], + [ + 0.9787450417007106, + -0.08796243893063863, + 0.1852586102820797, + -0.1123076437845214, + -0.9857422471270807, + 0.1252965098333623, + 0.1715958522046581, + -0.14343929575338302, + -0.9746691910283869 + ], + [ + 0.9778072899166158, + -0.07913426715549875, + 0.1939862663893624, + -0.1043627334410022, + -0.9868439879281109, + 0.12348021444289813, + 0.18166266444882073, + -0.1409847908531411, + -0.9732019138356904 + ], + [ + 0.9720455413751568, + -0.07660995820919236, + 0.2219422893363594, + -0.10337938764588356, + -0.988360075433628, + 0.11161121582885516, + 0.21080836725007052, + -0.13143544267821733, + -0.9686508951657147 + ], + [ + 0.9585744895956801, + -0.0761001628318222, + 0.2744880928443923, + -0.11121677776693556, + -0.9871534990318872, + 0.11471180275909755, + 0.26223229442523216, + -0.140487489001947, + -0.9547237763847752 + ], + [ + 0.9541630181693985, + -0.08480290307495601, + 0.28702160613431743, + -0.12085653035731515, + -0.9865236602978452, + 0.11029400138961651, + 0.27380035395860064, + -0.13992689270687383, + -0.9515533778351815 + ], + [ + 0.9472312411527766, + -0.08538017631247909, + 0.30897119813506974, + -0.1250206671000752, + -0.9859444598576325, + 0.11083029763514039, + 0.29516573070399404, + -0.14360970569182158, + -0.9445916810183572 + ], + [ + 0.9453194738804734, + -0.09345221922519574, + 0.31247043864057117, + -0.1362363605117907, + -0.9836263034924846, + 0.11797859616138857, + 0.2963287808783453, + -0.1540972997803549, + -0.9425726899415011 + ], + [ + 0.9450715644979684, + -0.08998417352858895, + 0.31423333128702197, + -0.1364933523450937, + -0.9821725392270333, + 0.12925427634674158, + 0.2970005096678466, + -0.16504530197099987, + -0.9405055797571543 + ], + [ + 0.9414992744897804, + -0.08621962746478755, + 0.3257994658912911, + -0.13667361637937595, + -0.9813384684788505, + 0.13525950195593406, + 0.3080575250192738, + -0.17187491417719286, + -0.9357134043902451 + ], + [ + 0.9375657641883485, + -0.08187511381925869, + 0.33803387930650075, + -0.1305330404330178, + -0.9836859853967205, + 0.12378613609526476, + 0.3223841856810452, + -0.1601822333193251, + -0.9329577101624719 + ], + [ + 0.9290576803931189, + -0.08768637165399831, + 0.3593924411123787, + -0.13921825716318253, + -0.9829562693849039, + 0.12006352214289923, + 0.3427391185362472, + -0.16157992667119686, + -0.925430615401245 + ], + [ + 0.926765283884408, + -0.08978380972189001, + 0.3647533085504169, + -0.13947980065997662, + -0.9838458606520658, + 0.11221723435216502, + 0.348785741959882, + -0.15487475581778648, + -0.9243172162282143 + ], + [ + 0.9293740697381956, + -0.0825872862199615, + 0.3597821266448423, + -0.13040452032705852, + -0.9852625546321074, + 0.11069037680883982, + 0.34533823937776276, + -0.14978998162305557, + -0.9264472256037206 + ], + [ + 0.9309468248967717, + -0.06907051837896493, + 0.3585627876752969, + -0.11729127171916874, + -0.9864747308868407, + 0.11450049301306559, + 0.3458045210709645, + -0.14865015577723428, + -0.9264568874989728 + ], + [ + 0.9336404617380563, + -0.027613987287465887, + 0.3571455668374412, + -0.07855743084357755, + -0.9885371339230754, + 0.12893046542384268, + 0.3494913708016351, + -0.14843113743834152, + -0.9251075500578052 + ], + [ + 0.9529456172662817, + -0.00869184732221204, + 0.30301667004162125, + -0.05169817409266772, + -0.9896051508668197, + 0.13419740747623704, + 0.2987004340948798, + -0.14354823986376963, + -0.9434892439787239 + ], + [ + 0.9685398479367987, + 0.008571694882203384, + 0.24871085421711905, + -0.027583277133575695, + -0.9895509942995033, + 0.14152029007685185, + 0.24732514182980872, + -0.14392830064900491, + -0.9581831341091088 + ], + [ + 0.9792368926015305, + -0.004566673456700051, + 0.20266784071884386, + -0.03557959957822136, + -0.9880991961159348, + 0.14964648585548873, + 0.19957254385799722, + -0.1537502004180269, + -0.967745666799632 + ], + [ + 0.988246932895165, + 0.013713502124949498, + 0.1522495960019872, + -0.012479637429799652, + -0.9854059183671526, + 0.16976287785204774, + 0.15235569655552775, + -0.16966766311368098, + -0.9736532369486697 + ], + [ + 0.9879301985876651, + 0.025081141473940013, + 0.15285568049928944, + -0.003651845496551476, + -0.9827586034160549, + 0.18485721905350258, + 0.15485666515525243, + -0.18318423445834395, + -0.9708053097830195 + ], + [ + 0.9913354695412049, + 0.013415794538223686, + 0.1306675295795655, + -0.010556493657024785, + -0.9834158604762661, + 0.1810574654782122, + 0.1309295507942636, + -0.18086807850096978, + -0.9747534000495607 + ], + [ + 0.9917336805757364, + 0.01508987611384776, + 0.12742292749176762, + -0.007212497956096933, + -0.9849350101142154, + 0.17277443596939984, + 0.12811044721230522, + -0.17226526489742405, + -0.9766843870078419 + ], + [ + 0.9884177782114928, + 0.013929986584900775, + 0.15111668071129822, + -0.010258569702559818, + -0.9873674616722854, + 0.15811469690855887, + 0.1514102290570676, + -0.1578336184232377, + -0.9757886510061049 + ], + [ + 0.9830826286017871, + 0.011611310803205236, + 0.18279420888756914, + -0.014654883352390053, + -0.9898027854723561, + 0.14168867373609284, + 0.18257540835317537, + -0.14197050162831887, + -0.9728877617341452 + ], + [ + 0.9753219214311944, + 0.015361119684362008, + 0.2202525495375841, + -0.013392922529016534, + -0.9916235370637495, + 0.12846552209566098, + 0.22038098647999332, + -0.12824506518077683, + -0.9669464432195216 + ], + [ + 0.977204825311623, + 0.01709034374224393, + 0.2116096631499916, + -0.01061960602623183, + -0.991571623702736, + 0.12912373536793245, + 0.21203290630354663, + -0.12842754851780117, + -0.9687870826069988 + ], + [ + 0.9814901377118279, + 0.020141903813336807, + 0.19045055338641292, + -0.00710491039639862, + -0.9899398209812493, + 0.14131054838146592, + 0.19138085019843487, + -0.14004804370781396, + -0.9714730647995022 + ], + [ + 0.9878269959353235, + 0.02316774406213047, + 0.15382159060569398, + -0.0008275165289672055, + -0.9880504127102403, + 0.1541288329921361, + 0.15555430343705826, + -0.1523799119903772, + -0.9760036993290631 + ], + [ + 0.9912912083040786, + 0.01753226185744662, + 0.13051574668675944, + -0.004066745297434603, + -0.986549613822644, + 0.16341150831284304, + 0.13162523284585761, + -0.16251916582530965, + -0.9778866594947084 + ], + [ + 0.9939853932396544, + 0.019741267601537563, + 0.10771870951554481, + 0.0018281380639350517, + -0.9864722212394647, + 0.1639183169572459, + 0.10949747000469477, + -0.16273548806686705, + -0.9805750685114373 + ], + [ + 0.9890466556196033, + 0.04601221736611441, + 0.140248311436295, + 0.021622483586130864, + -0.9850858318298725, + 0.17069965474955215, + 0.14601089415261467, + -0.16579740583345157, + -0.9752907458843503 + ], + [ + 0.98936788195804, + 0.06046628238472364, + 0.13226875233566046, + 0.037799434030126644, + -0.9851285304968002, + 0.1676096094745671, + 0.14043645159595683, + -0.16082788034350776, + -0.9769401189261042 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006467.json b/json/chunk-0006/episode_0006467.json new file mode 100644 index 0000000000000000000000000000000000000000..cf81c39c8e82a482b281eb6e949d2a1ffec5e738 --- /dev/null +++ b/json/chunk-0006/episode_0006467.json @@ -0,0 +1,1882 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 30, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nClose the drawer." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006467.mp4", + "start": 0, + "end": 30, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.11712335795164108, + -0.017701445147395134, + 0.2397175133228302, + -0.03437059745192528, + -0.10171113908290863, + 0.031114155426621437, + 0.0, + 0.9981546401977539 + ], + [ + 0.1142091378569603, + -0.017156898975372314, + 0.23494558036327362, + -0.03232026472687721, + -0.09443231672048569, + 0.023373989388346672, + 0.0, + 0.9981546401977539 + ], + [ + 0.10115694254636765, + -0.005426866002380848, + 0.21639959514141083, + -0.02021171525120735, + -0.10942738503217697, + 0.027492718771100044, + 0.0, + 0.9981546401977539 + ], + [ + 0.09326577186584473, + 0.0056310840882360935, + 0.19757536053657532, + 0.004183719865977764, + -0.11191289871931076, + 0.011794588528573513, + 0.0, + 0.9981546401977539 + ], + [ + 0.0930287316441536, + 0.018652962520718575, + 0.17889605462551117, + 0.02046309784054756, + -0.10854195803403854, + 0.011160168796777725, + 0.0, + 0.9981546401977539 + ], + [ + 0.09945842623710632, + 0.02671690843999386, + 0.16414456069469452, + 0.02691301889717579, + -0.09766000509262085, + 0.018654746934771538, + 0.0, + 0.9981546401977539 + ], + [ + 0.11079678684473038, + 0.02913968451321125, + 0.14354832470417023, + 0.04109761863946915, + -0.07035467028617859, + 0.03240746259689331, + 0.0, + 0.9981546401977539 + ], + [ + 0.11860516667366028, + 0.023511232808232307, + 0.12188175320625305, + 0.0724153146147728, + -0.04371638223528862, + 0.021400170400738716, + 0.0, + 0.9981546401977539 + ], + [ + 0.12234489619731903, + 0.019555382430553436, + 0.10240171104669571, + 0.09898971021175385, + -0.02620745450258255, + 0.0164971724152565, + 0.0, + 0.9981546401977539 + ], + [ + 0.1233806163072586, + 0.018394948914647102, + 0.08671321719884872, + 0.11972914636135101, + -0.008441006764769554, + 0.01438983902335167, + 0.0, + 0.9981546401977539 + ], + [ + 0.12595079839229584, + 0.016654515638947487, + 0.07285744696855545, + 0.13133659958839417, + 0.006837461609393358, + 0.01026249025017023, + 0.0, + 0.9981546401977539 + ], + [ + 0.1303156167268753, + 0.017248276621103287, + 0.06144246459007263, + 0.1469995677471161, + 0.014515779912471771, + 0.021358901634812355, + 0.0, + 0.9981546401977539 + ], + [ + 0.13580431044101715, + 0.017146911472082138, + 0.0518559031188488, + 0.14893993735313416, + 0.0239780955016613, + 0.03300134092569351, + 0.0, + 0.9981546401977539 + ], + [ + 0.14331269264221191, + 0.017476411536335945, + 0.04553845152258873, + 0.1576245129108429, + 0.02074572443962097, + 0.043061062693595886, + 0.0, + 0.9981546401977539 + ], + [ + 0.15006433427333832, + 0.01482489611953497, + 0.03886759281158447, + 0.16257397830486298, + 0.019691115245223045, + 0.046551674604415894, + 0.0, + 0.9981546401977539 + ], + [ + 0.15364769101142883, + 0.014075432904064655, + 0.0294025931507349, + 0.17630107700824738, + 0.029496723785996437, + 0.0465719997882843, + 0.0, + 0.9981546401977539 + ], + [ + 0.1601405292749405, + 0.011413454078137875, + 0.025659456849098206, + 0.17222663760185242, + 0.02402905747294426, + 0.054290831089019775, + 0.0, + 0.9981546401977539 + ], + [ + 0.16820527613162994, + 0.00579171534627676, + 0.02612137794494629, + 0.17051997780799866, + 0.02569671720266342, + 0.051986001431941986, + 0.0, + 0.9981546401977539 + ], + [ + 0.18138755857944489, + 0.0013283820590004325, + 0.03210191801190376, + 0.14868620038032532, + 0.003833671798929572, + 0.06726423650979996, + 0.0, + 0.9981546401977539 + ], + [ + 0.18827179074287415, + 0.0005007253494113684, + 0.0306171216070652, + 0.14981135725975037, + 0.010091724805533886, + 0.06575516611337662, + 0.0, + 0.9981546401977539 + ], + [ + 0.1964927613735199, + 0.0015744337579235435, + 0.02228802628815174, + 0.1627117544412613, + 0.00738397054374218, + 0.06871357560157776, + 0.0, + 0.9981546401977539 + ], + [ + 0.2019292563199997, + 0.002553513739258051, + 0.01574377715587616, + 0.17597857117652893, + 0.012035301886498928, + 0.06338474899530411, + 0.0, + 0.9994885921478271 + ], + [ + 0.21277740597724915, + 0.0019194637425243855, + 0.01512587908655405, + 0.17419402301311493, + 0.0007915719761513174, + 0.06907419115304947, + 0.0, + 0.9994885921478271 + ], + [ + 0.22694580256938934, + -0.0005712476558983326, + 0.024550408124923706, + 0.15564969182014465, + -0.022519169375300407, + 0.08845376968383789, + 0.0, + 0.9988223910331726 + ], + [ + 0.24275852739810944, + 0.0015772394835948944, + 0.03136209771037102, + 0.1353963315486908, + -0.03343179076910019, + 0.12434498220682144, + 0.0, + 0.9981546401977539 + ], + [ + 0.25438374280929565, + 0.0010318101849406958, + 0.03586176410317421, + 0.1279153972864151, + -0.045814380049705505, + 0.13468515872955322, + 0.0, + 0.9981546401977539 + ], + [ + 0.2564818263053894, + 0.0026749195531010628, + 0.03352881968021393, + 0.13134579360485077, + -0.03719240799546242, + 0.14008042216300964, + 0.0, + 0.9981546401977539 + ], + [ + 0.2504763901233673, + 0.0046181525103747845, + 0.04097522050142288, + 0.13237355649471283, + -0.04314323887228966, + 0.14109022915363312, + 0.0, + 0.9988223910331726 + ], + [ + 0.22219668328762054, + 0.003788392525166273, + 0.0714847519993782, + 0.1116604432463646, + -0.057443853467702866, + 0.12915141880512238, + 0.0, + 0.9988223910331726 + ], + [ + 0.19666799902915955, + 0.008382889442145824, + 0.10482367128133774, + 0.08021026104688644, + -0.06914623826742172, + 0.11142976582050323, + 0.0, + 0.9988223910331726 + ] + ], + "left_gripper_pos": [ + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.11712335795164108, + -0.017701445147395134, + 0.2397175133228302 + ], + [ + 0.1142091378569603, + -0.017156898975372314, + 0.23494558036327362 + ], + [ + 0.10115694254636765, + -0.005426866002380848, + 0.21639959514141083 + ], + [ + 0.09326577186584473, + 0.0056310840882360935, + 0.19757536053657532 + ], + [ + 0.0930287316441536, + 0.018652962520718575, + 0.17889605462551117 + ], + [ + 0.09945842623710632, + 0.02671690843999386, + 0.16414456069469452 + ], + [ + 0.11079678684473038, + 0.02913968451321125, + 0.14354832470417023 + ], + [ + 0.11860516667366028, + 0.023511232808232307, + 0.12188175320625305 + ], + [ + 0.12234489619731903, + 0.019555382430553436, + 0.10240171104669571 + ], + [ + 0.1233806163072586, + 0.018394948914647102, + 0.08671321719884872 + ], + [ + 0.12595079839229584, + 0.016654515638947487, + 0.07285744696855545 + ], + [ + 0.1303156167268753, + 0.017248276621103287, + 0.06144246459007263 + ], + [ + 0.13580431044101715, + 0.017146911472082138, + 0.0518559031188488 + ], + [ + 0.14331269264221191, + 0.017476411536335945, + 0.04553845152258873 + ], + [ + 0.15006433427333832, + 0.01482489611953497, + 0.03886759281158447 + ], + [ + 0.15364769101142883, + 0.014075432904064655, + 0.0294025931507349 + ], + [ + 0.1601405292749405, + 0.011413454078137875, + 0.025659456849098206 + ], + [ + 0.16820527613162994, + 0.00579171534627676, + 0.02612137794494629 + ], + [ + 0.18138755857944489, + 0.0013283820590004325, + 0.03210191801190376 + ], + [ + 0.18827179074287415, + 0.0005007253494113684, + 0.0306171216070652 + ], + [ + 0.1964927613735199, + 0.0015744337579235435, + 0.02228802628815174 + ], + [ + 0.2019292563199997, + 0.002553513739258051, + 0.01574377715587616 + ], + [ + 0.21277740597724915, + 0.0019194637425243855, + 0.01512587908655405 + ], + [ + 0.22694580256938934, + -0.0005712476558983326, + 0.024550408124923706 + ], + [ + 0.24275852739810944, + 0.0015772394835948944, + 0.03136209771037102 + ], + [ + 0.25438374280929565, + 0.0010318101849406958, + 0.03586176410317421 + ], + [ + 0.2564818263053894, + 0.0026749195531010628, + 0.03352881968021393 + ], + [ + 0.2504763901233673, + 0.0046181525103747845, + 0.04097522050142288 + ], + [ + 0.22219668328762054, + 0.003788392525166273, + 0.0714847519993782 + ], + [ + 0.19666799902915955, + 0.008382889442145824, + 0.10482367128133774 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9943503749335713, + 0.027603289729796723, + 0.10249580608765806, + 0.030948359698216407, + -0.9990342135208832, + -0.03119037105742531, + 0.10153586017489445, + 0.03418623422962755, + -0.9942443213253677 + ], + [ + 0.9952726389611595, + 0.020313474523854406, + 0.09497229537111349, + 0.023267729645955294, + -0.9992759434743655, + -0.03010318173448303, + 0.09429202984564516, + 0.03217066281855718, + -0.9950246537455253 + ], + [ + 0.9936431550126097, + 0.02527732138992536, + 0.10970112816164491, + 0.02732483665534368, + -0.9994785994414153, + -0.017201237176032346, + 0.10920912873174114, + 0.020089456985636838, + -0.9938157675946163 + ], + [ + 0.9936751645468926, + 0.012261413461637337, + 0.111621346984478, + 0.011720533192116021, + -0.9999161828062623, + 0.005500587591026844, + 0.11167943617514804, + -0.00415753557733792, + -0.9937355877865726 + ], + [ + 0.9940531951897602, + 0.013374053932810928, + 0.10807117938854156, + 0.011094262049559109, + -0.9997036400999946, + 0.021669086745770245, + 0.10832895495943722, + -0.02034125493233561, + -0.9939069729432295 + ], + [ + 0.9950618849725517, + 0.021270286181123702, + 0.0969506059838993, + 0.018564781210603936, + -0.9994149907304911, + 0.028723251935924357, + 0.09750484076944387, + -0.026781546425575828, + -0.9948746427553473 + ], + [ + 0.9970023539728328, + 0.03526112554511648, + 0.0688691454711171, + 0.03232163248394631, + -0.9985373960158032, + 0.04334029108753023, + 0.07029664462976211, + -0.04098440902673454, + -0.996683831498498 + ], + [ + 0.9988158349921024, + 0.02450369287004272, + 0.04202971335567331, + 0.021378092656505296, + -0.9970831205455271, + 0.07326819144460885, + 0.043702459008610944, + -0.07228291470966426, + -0.996426251820814 + ], + [ + 0.9995205757844793, + 0.01900505084867838, + 0.0244423122004081, + 0.016490759321990435, + -0.9949263876393835, + 0.09924483883724908, + 0.02620445459167687, + -0.09879418617047517, + -0.9947628035559363 + ], + [ + 0.9998608466552275, + 0.015294434783083137, + 0.006660900131228143, + 0.014388829795677937, + -0.9927237256843571, + 0.11955152044403652, + 0.00844090652733397, + -0.11943904189181981, + -0.9928056538764076 + ], + [ + 0.9999239669904574, + 0.009278553037450874, + -0.008122111277131434, + 0.010262070227333497, + -0.9913447228378861, + 0.1308828881715421, + -0.006837408333291923, + -0.1309562864279769, + -0.9913645650779928 + ], + [ + 0.9996665792787488, + 0.01900136236796005, + -0.01748366384048557, + 0.02135502764013365, + -0.989034779716292, + 0.14613065149391347, + -0.014515270153006406, + -0.14645529263125978, + -0.9891107896452641 + ], + [ + 0.9991682009304571, + 0.029074228573641555, + -0.028593626601769416, + 0.0329858661530807, + -0.9885078591744993, + 0.1475267602314216, + -0.023975797870452932, + -0.14834723314944556, + -0.9886446578692363 + ], + [ + 0.9988580303414667, + 0.03926083281474397, + -0.027225396765858313, + 0.043038493004182284, + -0.9868276389079913, + 0.1559451801345854, + -0.020744236363256133, + -0.15693883551872065, + -0.987390438764592 + ], + [ + 0.9987230127276989, + 0.04273772985806528, + -0.026941237809121967, + 0.046525841636931305, + -0.9858931886100027, + 0.16077924838851795, + -0.019689842764324363, + -0.16182739909848579, + -0.9866226244075977 + ], + [ + 0.9984811952600465, + 0.040666474970766545, + -0.03716908023506355, + 0.0465349148659988, + -0.9836725189267355, + 0.1738472812751044, + -0.029492446668305063, + -0.17531290118466192, + -0.9840709233930927 + ], + [ + 0.998238356214612, + 0.04934980793788834, + -0.03293600823479679, + 0.054248499508436306, + -0.9839774679686927, + 0.16983946193686314, + -0.024026745161012865, + -0.17132699433076368, + -0.9849212032089439 + ], + [ + 0.9983193356645429, + 0.04685472865568865, + -0.03410481550907246, + 0.05194543379270367, + -0.9843918513756948, + 0.16814979884977593, + -0.02569388928118747, + -0.1696387849158737, + -0.9851713083042322 + ], + [ + 0.9977312821758682, + 0.06590529827162762, + -0.01373973170866111, + 0.06721303147632259, + -0.9867682927931319, + 0.1475491265236458, + -0.003833662408332188, + -0.14813786821017697, + -0.9889592888661712 + ], + [ + 0.9977880969225097, + 0.0634688895648223, + -0.01976394943236004, + 0.06570444572085662, + -0.9867613323107436, + 0.14827339231582043, + -0.010091553511303381, + -0.14924400528575538, + -0.9887489000924319 + ], + [ + 0.9976129539425552, + 0.06655930430376841, + -0.018391659430481124, + 0.06865764411870198, + -0.9845450703025457, + 0.16111217349109386, + -0.007383903444528275, + -0.16199031932048596, + -0.9867647209017801 + ], + [ + 0.9979195813271997, + 0.06026127797136908, + -0.02291478956926544, + 0.06333772734956045, + -0.9827120254505745, + 0.1739695586274281, + -0.012035011339382704, + -0.1750589998031715, + -0.9844843853967283 + ], + [ + 0.9976150138934625, + 0.06783791226594602, + -0.012739768983170936, + 0.06901925433010847, + -0.9825274298008343, + 0.17284730897726674, + -0.0007915718934866419, + -0.17331435990235988, + -0.9848662376513742 + ], + [ + 0.9958379607720953, + 0.0907475725300958, + 0.008463685082140456, + 0.08831607221406532, + -0.9837404392328254, + 0.15638100781964415, + 0.022517266129675802, + -0.1549826645076881, + -0.9876605421034813 + ], + [ + 0.9917246426271142, + 0.1273667615280161, + 0.016122694067302105, + 0.12395549570857003, + -0.9826381062604256, + 0.13804849585767712, + 0.03342556341731602, + -0.13490759868439547, + -0.9902942348249054 + ], + [ + 0.9899038642990476, + 0.1389707118682287, + 0.027883340701048538, + 0.1341374301091902, + -0.9820631207518216, + 0.13251104370163072, + 0.04579835465947559, + -0.12743299455804655, + -0.9907892523682592 + ], + [ + 0.9895199867365545, + 0.1432423215341921, + 0.018216288600702492, + 0.13952619229210692, + -0.98099572638052, + 0.13483258689063946, + 0.0371838340324792, + -0.13087789020553078, + -0.9907009338554164 + ], + [ + 0.9891419949783282, + 0.14502837165650406, + 0.02376731337269286, + 0.14049174098273665, + -0.9806011058379863, + 0.13668775345640113, + 0.043129856085228124, + -0.13186448590875863, + -0.9903290225324543 + ], + [ + 0.9900358346134407, + 0.13433469786803315, + 0.04222836878179959, + 0.1285802388992846, + -0.984671921022868, + 0.11784875949171993, + 0.05741226651047943, + -0.11124476121525272, + -0.9921332746946302 + ], + [ + 0.9914232963245007, + 0.11634333957450786, + 0.059532132850348245, + 0.11093358530013779, + -0.9899873599806543, + 0.08728554709108925, + 0.06909115107969917, + -0.07993281188088193, + -0.9944029155364023 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.002914220094680786, + 0.0005445461720228195, + -0.00477193295955658, + 0.002050332725048065, + 0.007278822362422943, + -0.007740166038274765, + 1.0 + ], + [ + -0.013052195310592651, + 0.011730032972991467, + -0.018545985221862793, + 0.01210854947566986, + -0.014995068311691284, + 0.004118729382753372, + 1.0 + ], + [ + -0.007891170680522919, + 0.011057950556278229, + -0.01882423460483551, + 0.02439543604850769, + -0.002485513687133789, + -0.015698131173849106, + 1.0 + ], + [ + -0.0002370402216911316, + 0.013021878898143768, + -0.018679305911064148, + 0.016279377043247223, + 0.003370940685272217, + -0.0006344197317957878, + 1.0 + ], + [ + 0.006429694592952728, + 0.008063945919275284, + -0.01475149393081665, + 0.006449921056628227, + 0.010881952941417694, + 0.0074945781379938126, + 1.0 + ], + [ + 0.011338360607624054, + 0.002422776073217392, + -0.020596235990524292, + 0.014184599742293358, + 0.02730533480644226, + 0.013752715662121773, + 1.0 + ], + [ + 0.007808379828929901, + -0.005628451704978943, + -0.021666571497917175, + 0.03131769597530365, + 0.02663828805088997, + -0.011007292196154594, + 1.0 + ], + [ + 0.0037397295236587524, + -0.003955850377678871, + -0.019480042159557343, + 0.02657439559698105, + 0.01750892773270607, + -0.004902997985482216, + 1.0 + ], + [ + 0.0010357201099395752, + -0.001160433515906334, + -0.015688493847846985, + 0.020739436149597168, + 0.017766447737812996, + -0.002107333391904831, + 1.0 + ], + [ + 0.0025701820850372314, + -0.0017404332756996155, + -0.013855770230293274, + 0.011607453227043152, + 0.015278467908501625, + -0.0041273487731814384, + 1.0 + ], + [ + 0.004364818334579468, + 0.0005937609821557999, + -0.011414982378482819, + 0.015662968158721924, + 0.007678318303078413, + 0.011096411384642124, + 1.0 + ], + [ + 0.005488693714141846, + -0.00010136514902114868, + -0.009586561471223831, + 0.0019403696060180664, + 0.00946231558918953, + 0.011642439290881157, + 1.0 + ], + [ + 0.007508382201194763, + 0.00032950006425380707, + -0.006317451596260071, + 0.00868457555770874, + -0.003232371062040329, + 0.010059721767902374, + 1.0 + ], + [ + 0.006751641631126404, + -0.002651515416800976, + -0.006670858711004257, + 0.004949465394020081, + -0.0010546091943979263, + 0.0034906119108200073, + 1.0 + ], + [ + 0.003583356738090515, + -0.000749463215470314, + -0.009464999660849571, + 0.0137270987033844, + 0.009805608540773392, + 2.0325183868408203e-05, + 1.0 + ], + [ + 0.006492838263511658, + -0.0026619788259267807, + -0.003743136301636696, + -0.0040744394063949585, + -0.005467666313052177, + 0.007718831300735474, + 1.0 + ], + [ + 0.008064746856689453, + -0.0056217387318611145, + 0.0004619210958480835, + -0.0017066597938537598, + 0.001667659729719162, + -0.0023048296570777893, + 1.0 + ], + [ + 0.013182282447814941, + -0.004463333170861006, + 0.005980540066957474, + -0.02183377742767334, + -0.021863045170903206, + 0.015278235077857971, + 1.0 + ], + [ + 0.00688423216342926, + -0.0008276567095890641, + -0.001484796404838562, + 0.0011251568794250488, + 0.00625805277377367, + -0.0015090703964233398, + 1.0 + ], + [ + 0.008220970630645752, + 0.001073708408512175, + -0.00832909531891346, + 0.012900397181510925, + -0.002707754261791706, + 0.0029584094882011414, + 1.0 + ], + [ + 0.005436494946479797, + 0.0009790799813345075, + -0.006544249132275581, + 0.01326681673526764, + 0.004651331342756748, + -0.005328826606273651, + 1.0 + ], + [ + 0.01084814965724945, + -0.0006340499967336655, + -0.0006178980693221092, + -0.0017845481634140015, + -0.01124372985213995, + 0.005689442157745361, + 1.0 + ], + [ + 0.014168396592140198, + -0.002490711398422718, + 0.009424529038369656, + -0.018544331192970276, + -0.023310741409659386, + 0.01937957853078842, + 1.0 + ], + [ + 0.015812724828720093, + 0.002148487139493227, + 0.006811689585447311, + -0.020253360271453857, + -0.010912621393799782, + 0.03589121252298355, + 1.0 + ], + [ + 0.011625215411186218, + -0.0005454292986541986, + 0.004499666392803192, + -0.007480934262275696, + -0.012382589280605316, + 0.010340176522731781, + 1.0 + ], + [ + 0.00209808349609375, + 0.001643109368160367, + -0.0023329444229602814, + 0.003430396318435669, + 0.008621972054243088, + 0.005395263433456421, + 1.0 + ], + [ + -0.006005436182022095, + 0.0019432329572737217, + 0.007446400821208954, + 0.0010277628898620605, + -0.00595083087682724, + 0.0010098069906234741, + 1.0 + ], + [ + -0.028279706835746765, + -0.0008297599852085114, + 0.030509531497955322, + -0.020713113248348236, + -0.014300614595413208, + -0.011938810348510742, + 1.0 + ], + [ + -0.025528684258461, + 0.004594496916979551, + 0.033338919281959534, + -0.03145018219947815, + -0.011702384799718857, + -0.01772165298461914, + 1.0 + ], + [ + -0.01837584376335144, + 0.007193331606686115, + 0.023890100419521332, + -0.019007626920938492, + -0.021815963089466095, + 0.0024105533957481384, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.1142091378569603, + -0.017156898975372314, + 0.23494558036327362 + ], + [ + 0.10115694254636765, + -0.005426866002380848, + 0.21639959514141083 + ], + [ + 0.09326577186584473, + 0.0056310840882360935, + 0.19757536053657532 + ], + [ + 0.0930287316441536, + 0.018652962520718575, + 0.17889605462551117 + ], + [ + 0.09945842623710632, + 0.02671690843999386, + 0.16414456069469452 + ], + [ + 0.11079678684473038, + 0.02913968451321125, + 0.14354832470417023 + ], + [ + 0.11860516667366028, + 0.023511232808232307, + 0.12188175320625305 + ], + [ + 0.12234489619731903, + 0.019555382430553436, + 0.10240171104669571 + ], + [ + 0.1233806163072586, + 0.018394948914647102, + 0.08671321719884872 + ], + [ + 0.12595079839229584, + 0.016654515638947487, + 0.07285744696855545 + ], + [ + 0.1303156167268753, + 0.017248276621103287, + 0.06144246459007263 + ], + [ + 0.13580431044101715, + 0.017146911472082138, + 0.0518559031188488 + ], + [ + 0.14331269264221191, + 0.017476411536335945, + 0.04553845152258873 + ], + [ + 0.15006433427333832, + 0.01482489611953497, + 0.03886759281158447 + ], + [ + 0.15364769101142883, + 0.014075432904064655, + 0.0294025931507349 + ], + [ + 0.1601405292749405, + 0.011413454078137875, + 0.025659456849098206 + ], + [ + 0.16820527613162994, + 0.00579171534627676, + 0.02612137794494629 + ], + [ + 0.18138755857944489, + 0.0013283820590004325, + 0.03210191801190376 + ], + [ + 0.18827179074287415, + 0.0005007253494113684, + 0.0306171216070652 + ], + [ + 0.1964927613735199, + 0.0015744337579235435, + 0.02228802628815174 + ], + [ + 0.2019292563199997, + 0.002553513739258051, + 0.01574377715587616 + ], + [ + 0.21277740597724915, + 0.0019194637425243855, + 0.01512587908655405 + ], + [ + 0.22694580256938934, + -0.0005712476558983326, + 0.024550408124923706 + ], + [ + 0.24275852739810944, + 0.0015772394835948944, + 0.03136209771037102 + ], + [ + 0.25438374280929565, + 0.0010318101849406958, + 0.03586176410317421 + ], + [ + 0.2564818263053894, + 0.0026749195531010628, + 0.03352881968021393 + ], + [ + 0.2504763901233673, + 0.0046181525103747845, + 0.04097522050142288 + ], + [ + 0.22219668328762054, + 0.003788392525166273, + 0.0714847519993782 + ], + [ + 0.19666799902915955, + 0.008382889442145824, + 0.10482367128133774 + ], + [ + 0.1782921552658081, + 0.01557622104883194, + 0.12871377170085907 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9952726389611595, + 0.020313474523854406, + 0.09497229537111349, + 0.023267729645955294, + -0.9992759434743655, + -0.03010318173448303, + 0.09429202984564516, + 0.03217066281855718, + -0.9950246537455253 + ], + [ + 0.9936431550126097, + 0.02527732138992536, + 0.10970112816164491, + 0.02732483665534368, + -0.9994785994414153, + -0.017201237176032346, + 0.10920912873174114, + 0.020089456985636838, + -0.9938157675946163 + ], + [ + 0.9936751645468926, + 0.012261413461637337, + 0.111621346984478, + 0.011720533192116021, + -0.9999161828062623, + 0.005500587591026844, + 0.11167943617514804, + -0.00415753557733792, + -0.9937355877865726 + ], + [ + 0.9940531951897602, + 0.013374053932810928, + 0.10807117938854156, + 0.011094262049559109, + -0.9997036400999946, + 0.021669086745770245, + 0.10832895495943722, + -0.02034125493233561, + -0.9939069729432295 + ], + [ + 0.9950618849725517, + 0.021270286181123702, + 0.0969506059838993, + 0.018564781210603936, + -0.9994149907304911, + 0.028723251935924357, + 0.09750484076944387, + -0.026781546425575828, + -0.9948746427553473 + ], + [ + 0.9970023539728328, + 0.03526112554511648, + 0.0688691454711171, + 0.03232163248394631, + -0.9985373960158032, + 0.04334029108753023, + 0.07029664462976211, + -0.04098440902673454, + -0.996683831498498 + ], + [ + 0.9988158349921024, + 0.02450369287004272, + 0.04202971335567331, + 0.021378092656505296, + -0.9970831205455271, + 0.07326819144460885, + 0.043702459008610944, + -0.07228291470966426, + -0.996426251820814 + ], + [ + 0.9995205757844793, + 0.01900505084867838, + 0.0244423122004081, + 0.016490759321990435, + -0.9949263876393835, + 0.09924483883724908, + 0.02620445459167687, + -0.09879418617047517, + -0.9947628035559363 + ], + [ + 0.9998608466552275, + 0.015294434783083137, + 0.006660900131228143, + 0.014388829795677937, + -0.9927237256843571, + 0.11955152044403652, + 0.00844090652733397, + -0.11943904189181981, + -0.9928056538764076 + ], + [ + 0.9999239669904574, + 0.009278553037450874, + -0.008122111277131434, + 0.010262070227333497, + -0.9913447228378861, + 0.1308828881715421, + -0.006837408333291923, + -0.1309562864279769, + -0.9913645650779928 + ], + [ + 0.9996665792787488, + 0.01900136236796005, + -0.01748366384048557, + 0.02135502764013365, + -0.989034779716292, + 0.14613065149391347, + -0.014515270153006406, + -0.14645529263125978, + -0.9891107896452641 + ], + [ + 0.9991682009304571, + 0.029074228573641555, + -0.028593626601769416, + 0.0329858661530807, + -0.9885078591744993, + 0.1475267602314216, + -0.023975797870452932, + -0.14834723314944556, + -0.9886446578692363 + ], + [ + 0.9988580303414667, + 0.03926083281474397, + -0.027225396765858313, + 0.043038493004182284, + -0.9868276389079913, + 0.1559451801345854, + -0.020744236363256133, + -0.15693883551872065, + -0.987390438764592 + ], + [ + 0.9987230127276989, + 0.04273772985806528, + -0.026941237809121967, + 0.046525841636931305, + -0.9858931886100027, + 0.16077924838851795, + -0.019689842764324363, + -0.16182739909848579, + -0.9866226244075977 + ], + [ + 0.9984811952600465, + 0.040666474970766545, + -0.03716908023506355, + 0.0465349148659988, + -0.9836725189267355, + 0.1738472812751044, + -0.029492446668305063, + -0.17531290118466192, + -0.9840709233930927 + ], + [ + 0.998238356214612, + 0.04934980793788834, + -0.03293600823479679, + 0.054248499508436306, + -0.9839774679686927, + 0.16983946193686314, + -0.024026745161012865, + -0.17132699433076368, + -0.9849212032089439 + ], + [ + 0.9983193356645429, + 0.04685472865568865, + -0.03410481550907246, + 0.05194543379270367, + -0.9843918513756948, + 0.16814979884977593, + -0.02569388928118747, + -0.1696387849158737, + -0.9851713083042322 + ], + [ + 0.9977312821758682, + 0.06590529827162762, + -0.01373973170866111, + 0.06721303147632259, + -0.9867682927931319, + 0.1475491265236458, + -0.003833662408332188, + -0.14813786821017697, + -0.9889592888661712 + ], + [ + 0.9977880969225097, + 0.0634688895648223, + -0.01976394943236004, + 0.06570444572085662, + -0.9867613323107436, + 0.14827339231582043, + -0.010091553511303381, + -0.14924400528575538, + -0.9887489000924319 + ], + [ + 0.9976129539425552, + 0.06655930430376841, + -0.018391659430481124, + 0.06865764411870198, + -0.9845450703025457, + 0.16111217349109386, + -0.007383903444528275, + -0.16199031932048596, + -0.9867647209017801 + ], + [ + 0.9979195813271997, + 0.06026127797136908, + -0.02291478956926544, + 0.06333772734956045, + -0.9827120254505745, + 0.1739695586274281, + -0.012035011339382704, + -0.1750589998031715, + -0.9844843853967283 + ], + [ + 0.9976150138934625, + 0.06783791226594602, + -0.012739768983170936, + 0.06901925433010847, + -0.9825274298008343, + 0.17284730897726674, + -0.0007915718934866419, + -0.17331435990235988, + -0.9848662376513742 + ], + [ + 0.9958379607720953, + 0.0907475725300958, + 0.008463685082140456, + 0.08831607221406532, + -0.9837404392328254, + 0.15638100781964415, + 0.022517266129675802, + -0.1549826645076881, + -0.9876605421034813 + ], + [ + 0.9917246426271142, + 0.1273667615280161, + 0.016122694067302105, + 0.12395549570857003, + -0.9826381062604256, + 0.13804849585767712, + 0.03342556341731602, + -0.13490759868439547, + -0.9902942348249054 + ], + [ + 0.9899038642990476, + 0.1389707118682287, + 0.027883340701048538, + 0.1341374301091902, + -0.9820631207518216, + 0.13251104370163072, + 0.04579835465947559, + -0.12743299455804655, + -0.9907892523682592 + ], + [ + 0.9895199867365545, + 0.1432423215341921, + 0.018216288600702492, + 0.13952619229210692, + -0.98099572638052, + 0.13483258689063946, + 0.0371838340324792, + -0.13087789020553078, + -0.9907009338554164 + ], + [ + 0.9891419949783282, + 0.14502837165650406, + 0.02376731337269286, + 0.14049174098273665, + -0.9806011058379863, + 0.13668775345640113, + 0.043129856085228124, + -0.13186448590875863, + -0.9903290225324543 + ], + [ + 0.9900358346134407, + 0.13433469786803315, + 0.04222836878179959, + 0.1285802388992846, + -0.984671921022868, + 0.11784875949171993, + 0.05741226651047943, + -0.11124476121525272, + -0.9921332746946302 + ], + [ + 0.9914232963245007, + 0.11634333957450786, + 0.059532132850348245, + 0.11093358530013779, + -0.9899873599806543, + 0.08728554709108925, + 0.06909115107969917, + -0.07993281188088193, + -0.9944029155364023 + ], + [ + 0.9894197365153942, + 0.11890192727886137, + 0.08313192336990616, + 0.1131249668400667, + -0.991035878654731, + 0.0710677781872964, + 0.09083681451504891, + -0.06091156629423769, + -0.9940012345165076 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006469.json b/json/chunk-0006/episode_0006469.json new file mode 100644 index 0000000000000000000000000000000000000000..0914462d78b01d5026fd36c55db73736adcc4ee6 --- /dev/null +++ b/json/chunk-0006/episode_0006469.json @@ -0,0 +1,1462 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 23, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nOpen the drawer." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006469.mp4", + "start": 0, + "end": 23, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.40777909755706787, + -0.029455600306391716, + 0.11795081198215485, + 0.04392772912979126, + -0.08694092184305191, + -0.18006521463394165, + 0.0, + 0.9988223910331726 + ], + [ + 0.40432053804397583, + -0.02853376977145672, + 0.10114337503910065, + 0.03945476934313774, + -0.039597462862730026, + -0.1782483458518982, + 0.0, + 0.9988223910331726 + ], + [ + 0.3803752362728119, + -0.02556113712489605, + 0.07455024123191833, + 0.042781196534633636, + 0.030964704230427742, + -0.16960519552230835, + 0.0, + 0.9988223910331726 + ], + [ + 0.3592775762081146, + -0.018865274265408516, + 0.0750822201371193, + 0.07394294440746307, + 0.030368339270353317, + -0.1577625423669815, + 0.0, + 0.9988223910331726 + ], + [ + 0.34147709608078003, + -0.013778318651020527, + 0.0637928768992424, + 0.10535231232643127, + 0.05561324581503868, + -0.1466856449842453, + 0.0, + 0.9988223910331726 + ], + [ + 0.32494500279426575, + -0.008974266238510609, + 0.04199520871043205, + 0.15306924283504486, + 0.07942017912864685, + -0.12185695022344589, + 0.0, + 0.9988223910331726 + ], + [ + 0.3179076015949249, + -0.006080199498683214, + 0.026410091668367386, + 0.1750001460313797, + 0.10554760694503784, + -0.10164346545934677, + 0.0, + 0.9988223910331726 + ], + [ + 0.31295931339263916, + -0.0037854660768061876, + 0.008120853453874588, + 0.18464967608451843, + 0.17435739934444427, + -0.09350958466529846, + 0.0, + 0.9620732665061951 + ], + [ + 0.3131178915500641, + -0.004829418379813433, + 0.007552344352006912, + 0.1788417398929596, + 0.17593291401863098, + -0.0894235298037529, + 0.0, + 0.6921995282173157 + ], + [ + 0.3134472072124481, + -0.007647831458598375, + 0.007306437008082867, + 0.16164688766002655, + 0.17268779873847961, + -0.08619682490825653, + 0.0, + 0.39798861742019653 + ], + [ + 0.3131481409072876, + -0.012534395791590214, + 0.006554453168064356, + 0.13330978155136108, + 0.16888712346553802, + -0.06929334253072739, + 0.0, + 0.18516062200069427 + ], + [ + 0.3115191161632538, + -0.019212475046515465, + 0.007659843657165766, + 0.10361827164888382, + 0.17764833569526672, + -0.051054567098617554, + 0.0, + 0.13294655084609985 + ], + [ + 0.311832070350647, + -0.035728830844163895, + 0.00985086988657713, + 0.07711417227983475, + 0.18067817389965057, + -0.06658757477998734, + 0.0, + 0.12351571768522263 + ], + [ + 0.3118969202041626, + -0.054441314190626144, + 0.01274601835757494, + 0.07313378155231476, + 0.17727166414260864, + -0.10665320605039597, + 0.0, + 0.12351571768522263 + ], + [ + 0.3138911724090576, + -0.06031591817736626, + 0.015338344499468803, + 0.07573360204696655, + 0.16986843943595886, + -0.1061176061630249, + 0.0, + 0.12351571768522263 + ], + [ + 0.3130932152271271, + -0.07219061255455017, + 0.01808808371424675, + 0.06648989021778107, + 0.17209023237228394, + -0.12202338874340057, + 0.0, + 0.12351571768522263 + ], + [ + 0.3162205219268799, + -0.08015310019254684, + 0.019304366782307625, + 0.05738813057541847, + 0.1712833195924759, + -0.11842436343431473, + 0.0, + 0.12351571768522263 + ], + [ + 0.31970569491386414, + -0.08577118813991547, + 0.01842658221721649, + 0.048249587416648865, + 0.17394748330116272, + -0.1090385913848877, + 0.0, + 0.12351571768522263 + ], + [ + 0.3203626573085785, + -0.0917198657989502, + 0.0178355909883976, + 0.04680521413683891, + 0.17248955368995667, + -0.11533533036708832, + 0.0, + 0.12351571768522263 + ], + [ + 0.31996989250183105, + -0.09136795997619629, + 0.017926007509231567, + 0.05107826367020607, + 0.1746016889810562, + -0.10182464122772217, + 0.0, + 0.15975023806095123 + ], + [ + 0.3253870904445648, + -0.10107233375310898, + 0.023494862020015717, + 0.07038591057062149, + 0.14642098546028137, + -0.1543741226196289, + 0.0, + 0.36950385570526123 + ], + [ + 0.3275550603866577, + -0.10306905210018158, + 0.03262254595756531, + 0.10517223179340363, + 0.10151458531618118, + -0.15237806737422943, + 0.0, + 0.7071652412414551 + ], + [ + 0.3325873911380768, + -0.09997506439685822, + 0.0616631805896759, + 0.12905770540237427, + 0.015486196614801884, + -0.1470247358083725, + 0.0, + 0.9575772881507874 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9620732665061951 + ], + [ + 0.6921995282173157 + ], + [ + 0.39798861742019653 + ], + [ + 0.18516062200069427 + ], + [ + 0.13294655084609985 + ], + [ + 0.12351571768522263 + ], + [ + 0.12351571768522263 + ], + [ + 0.12351571768522263 + ], + [ + 0.12351571768522263 + ], + [ + 0.12351571768522263 + ], + [ + 0.12351571768522263 + ], + [ + 0.12351571768522263 + ], + [ + 0.15975023806095123 + ], + [ + 0.36950385570526123 + ], + [ + 0.7071652412414551 + ], + [ + 0.9575772881507874 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.40777909755706787, + -0.029455600306391716, + 0.11795081198215485 + ], + [ + 0.40432053804397583, + -0.02853376977145672, + 0.10114337503910065 + ], + [ + 0.3803752362728119, + -0.02556113712489605, + 0.07455024123191833 + ], + [ + 0.3592775762081146, + -0.018865274265408516, + 0.0750822201371193 + ], + [ + 0.34147709608078003, + -0.013778318651020527, + 0.0637928768992424 + ], + [ + 0.32494500279426575, + -0.008974266238510609, + 0.04199520871043205 + ], + [ + 0.3179076015949249, + -0.006080199498683214, + 0.026410091668367386 + ], + [ + 0.31295931339263916, + -0.0037854660768061876, + 0.008120853453874588 + ], + [ + 0.3131178915500641, + -0.004829418379813433, + 0.007552344352006912 + ], + [ + 0.3134472072124481, + -0.007647831458598375, + 0.007306437008082867 + ], + [ + 0.3131481409072876, + -0.012534395791590214, + 0.006554453168064356 + ], + [ + 0.3115191161632538, + -0.019212475046515465, + 0.007659843657165766 + ], + [ + 0.311832070350647, + -0.035728830844163895, + 0.00985086988657713 + ], + [ + 0.3118969202041626, + -0.054441314190626144, + 0.01274601835757494 + ], + [ + 0.3138911724090576, + -0.06031591817736626, + 0.015338344499468803 + ], + [ + 0.3130932152271271, + -0.07219061255455017, + 0.01808808371424675 + ], + [ + 0.3162205219268799, + -0.08015310019254684, + 0.019304366782307625 + ], + [ + 0.31970569491386414, + -0.08577118813991547, + 0.01842658221721649 + ], + [ + 0.3203626573085785, + -0.0917198657989502, + 0.0178355909883976 + ], + [ + 0.31996989250183105, + -0.09136795997619629, + 0.017926007509231567 + ], + [ + 0.3253870904445648, + -0.10107233375310898, + 0.023494862020015717 + ], + [ + 0.3275550603866577, + -0.10306905210018158, + 0.03262254595756531 + ], + [ + 0.3325873911380768, + -0.09997506439685822, + 0.0616631805896759 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9801160995850311, + -0.1751695367595267, + 0.09320978878679478, + -0.17841730025065464, + -0.9835658434752209, + 0.027667643921115613, + 0.08683143615934161, + -0.04374774211694498, + -0.995261994026787 + ], + [ + 0.983384323982777, + -0.1756312048085152, + 0.04592331915754635, + -0.17716695969341564, + -0.9836667357002865, + 0.03180599738625007, + 0.03958711580714246, + -0.03941361407244837, + -0.9984384944941875 + ], + [ + 0.9851789941163315, + -0.1699438735790347, + -0.023268635217532686, + -0.16871230851782373, + -0.9845261391061478, + 0.04737550391635959, + -0.03095975624129167, + -0.04274764613046438, + -0.9986060946358102 + ], + [ + 0.9871259231576369, + -0.1588949019810824, + -0.01829814074176857, + -0.15703649025534402, + -0.9845302637394485, + 0.07771551009557491, + -0.03036367168948115, + -0.07384151884647537, + -0.9968076431970109 + ], + [ + 0.9877315220139571, + -0.15113217173713542, + -0.03931293789591758, + -0.14593421303518098, + -0.9829217289691322, + 0.11210744928921414, + -0.05558458316650115, + -0.10499495886159634, + -0.9929181299220281 + ], + [ + 0.9894558737782934, + -0.1321412811671368, + -0.0592938079156764, + -0.12117243760858708, + -0.9795086717822491, + 0.16087262746460831, + -0.07933671413429288, + -0.15199159093476608, + -0.9851924898594647 + ], + [ + 0.9893024916014939, + -0.11816669803446281, + -0.08554070134566996, + -0.1009038657419096, + -0.9777828947204117, + 0.18373628022388952, + -0.10535174412137516, + -0.17313937237903185, + -0.9792465306258583 + ], + [ + 0.9805356205538901, + -0.12349737670302703, + -0.152637789464039, + -0.09195766223378891, + -0.9757320788670957, + 0.19872266762046115, + -0.17347531576997938, + -0.180818439925707, + -0.9680965894999007 + ], + [ + 0.9806297399775957, + -0.11889110995185881, + -0.15566058282650866, + -0.08792586619743567, + -0.9773379679990246, + 0.19256047974849003, + -0.17502672688736423, + -0.1751439416079044, + -0.9688602812548068 + ], + [ + 0.9814690526776935, + -0.11252025104786645, + -0.1551054213755154, + -0.08480966242806598, + -0.9809184867780214, + 0.174946401666208, + -0.17183078826214052, + -0.15855004068508405, + -0.972283942479752 + ], + [ + 0.9834067560692259, + -0.09091108765592038, + -0.15699148466913618, + -0.06825281634373195, + -0.9872020199228023, + 0.14413092978777264, + -0.16808541036791638, + -0.1310242191411825, + -0.9770260737666587 + ], + [ + 0.9829794946762428, + -0.06901305437954332, + -0.1702601285423129, + -0.05022924214529023, + -0.9924076357555885, + 0.11226801738479857, + -0.1767154104189799, + -0.10180512177297284, + -0.9789828297274892 + ], + [ + 0.9815419939400641, + -0.08015339556650942, + -0.17363970545736768, + -0.06545527034857275, + -0.9938975079621934, + 0.08878823824210427, + -0.1796967493188399, + -0.07578375053862196, + -0.9807986039134342 + ], + [ + 0.9787354657382069, + -0.11897861641458302, + -0.16709571192070155, + -0.10478287537033987, + -0.9902883911118489, + 0.09137533287616066, + -0.17634465439966812, + -0.07192350982242775, + -0.9816972912255 + ], + [ + 0.9800627879482079, + -0.11833373033034499, + -0.15960595209856993, + -0.10439407011619918, + -0.990169737916918, + 0.09309010816470166, + -0.16905268351540564, + -0.07457223598395692, + -0.9827818536260186 + ], + [ + 0.9779031947308843, + -0.1327447206835054, + -0.1615059778020259, + -0.11992285877806295, + -0.9889862949678312, + 0.08674454627409746, + -0.17124207916755485, + -0.0654595103591556, + -0.9830519837861641 + ], + [ + 0.9784653569453852, + -0.12766104879208393, + -0.16219803290744725, + -0.11641887880476813, + -0.9902062655886287, + 0.07705969275089948, + -0.1704470296472804, + -0.05651732663818666, + -0.9837446832761495 + ], + [ + 0.9790600468130408, + -0.11699382600437205, + -0.16659492612713395, + -0.10718043632729385, + -0.9919959208451928, + 0.06675662585233741, + -0.17307160022123041, + -0.04750302835985061, + -0.983763022019788 + ], + [ + 0.9786153647108531, + -0.12293091639511287, + -0.1649240969237123, + -0.11337207354437616, + -0.9913442136801702, + 0.06620742362525354, + -0.17163548844016158, + -0.04609381517191852, + -0.9840816121190378 + ], + [ + 0.9796949112487563, + -0.11033951257245307, + -0.16740093440170875, + -0.10010328778105586, + -0.9926213450595046, + 0.06842658187929043, + -0.17371589636160198, + -0.05027979015005529, + -0.9835114285323541 + ], + [ + 0.9775347953186438, + -0.16351966174529453, + -0.13299264702998292, + -0.1521163811232477, + -0.984083635624246, + 0.09186949815109005, + -0.1458983568629339, + -0.06957527088894991, + -0.9868500145135659 + ], + [ + 0.9833243787863675, + -0.16146564090028298, + -0.0836780311256546, + -0.15100763415697205, + -0.9813366142556217, + 0.11905941351958646, + -0.10134032026157823, + -0.10443800232661798, + -0.989354761023217 + ], + [ + 0.9890927037203877, + -0.14724879317023448, + 0.0036628345585367665, + -0.1464780540984369, + -0.9806926844744037, + 0.12956094429234222, + -0.015485577633046331, + -0.12868430956529825, + -0.991564695497512 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.003458559513092041, + 0.0009218305349349976, + -0.0168074369430542, + -0.004472959786653519, + 0.047343458980321884, + 0.001816868782043457, + 1.0 + ], + [ + -0.02394530177116394, + 0.002972632646560669, + -0.026593133807182312, + 0.0033264271914958954, + 0.07056216895580292, + 0.008643150329589844, + 1.0 + ], + [ + -0.021097660064697266, + 0.006695862859487534, + 0.0005319789052009583, + 0.031161747872829437, + -0.0005963649600744247, + 0.011842653155326843, + 1.0 + ], + [ + -0.017800480127334595, + 0.005086955614387989, + -0.011289343237876892, + 0.0314093679189682, + 0.025244906544685364, + 0.011076897382736206, + 1.0 + ], + [ + -0.016532093286514282, + 0.004804052412509918, + -0.02179766818881035, + 0.047716930508613586, + 0.02380693331360817, + 0.024828694760799408, + 1.0 + ], + [ + -0.00703740119934082, + 0.0028940667398273945, + -0.015585117042064667, + 0.02193090319633484, + 0.02612742781639099, + 0.02021348476409912, + 1.0 + ], + [ + -0.004948288202285767, + 0.0022947334218770266, + -0.018289238214492798, + 0.009649530053138733, + 0.06880979239940643, + 0.00813388079404831, + 0.0 + ], + [ + 0.00015857815742492676, + -0.001043952303007245, + -0.0005685091018676758, + -0.005807936191558838, + 0.0015755146741867065, + 0.004086054861545563, + 0.0 + ], + [ + 0.0003293156623840332, + -0.0028184130787849426, + -0.00024590734392404556, + -0.017194852232933044, + -0.003245115280151367, + 0.0032267048954963684, + 0.0 + ], + [ + -0.00029906630516052246, + -0.0048865643329918385, + -0.0007519838400185108, + -0.028337106108665466, + -0.0038006752729415894, + 0.016903482377529144, + 0.0 + ], + [ + -0.0016290247440338135, + -0.006678079254925251, + 0.00110539048910141, + -0.029691509902477264, + 0.008761212229728699, + 0.018238775432109833, + 0.0 + ], + [ + 0.0003129541873931885, + -0.01651635579764843, + 0.0021910262294113636, + -0.026504099369049072, + 0.00302983820438385, + -0.015533007681369781, + 0.0 + ], + [ + 6.4849853515625e-05, + -0.01871248334646225, + 0.0028951484709978104, + -0.003980390727519989, + -0.003406509757041931, + -0.04006563127040863, + 0.0 + ], + [ + 0.0019942522048950195, + -0.005874603986740112, + 0.0025923261418938637, + 0.0025998204946517944, + -0.00740322470664978, + 0.0005355998873710632, + 0.0 + ], + [ + -0.000797957181930542, + -0.011874694377183914, + 0.0027497392147779465, + -0.009243711829185486, + 0.0022217929363250732, + -0.01590578258037567, + 0.0 + ], + [ + 0.0031273066997528076, + -0.007962487637996674, + 0.001216283068060875, + -0.009101759642362595, + -0.0008069127798080444, + 0.003599025309085846, + 0.0 + ], + [ + 0.003485172986984253, + -0.005618087947368622, + -0.0008777845650911331, + -0.009138543158769608, + 0.0026641637086868286, + 0.009385772049427032, + 0.0 + ], + [ + 0.0006569623947143555, + -0.005948677659034729, + -0.0005909912288188934, + -0.0014443732798099518, + -0.0014579296112060547, + -0.0062967389822006226, + 0.0 + ], + [ + -0.0003927648067474365, + 0.00035190582275390625, + 9.041652083396912e-05, + 0.004273049533367157, + 0.0021121352910995483, + 0.01351068913936615, + 1.0 + ], + [ + 0.005417197942733765, + -0.00970437377691269, + 0.005568854510784149, + 0.01930764690041542, + -0.02818070352077484, + -0.05254948139190674, + 1.0 + ], + [ + 0.0021679699420928955, + -0.0019967183470726013, + 0.009127683937549591, + 0.034786321222782135, + -0.04490640014410019, + 0.001996055245399475, + 1.0 + ], + [ + 0.005032330751419067, + 0.0030939877033233643, + 0.029040634632110596, + 0.023885473608970642, + -0.08602838963270187, + 0.005353331565856934, + 1.0 + ], + [ + 5.981326103210449e-05, + 0.004378214478492737, + 0.022502198815345764, + 0.020378217101097107, + -0.048806119710206985, + 0.03310076892375946, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9620732665061951 + ], + [ + 0.6921995282173157 + ], + [ + 0.39798861742019653 + ], + [ + 0.18516062200069427 + ], + [ + 0.13294655084609985 + ], + [ + 0.12351571768522263 + ], + [ + 0.12351571768522263 + ], + [ + 0.12351571768522263 + ], + [ + 0.12351571768522263 + ], + [ + 0.12351571768522263 + ], + [ + 0.12351571768522263 + ], + [ + 0.12351571768522263 + ], + [ + 0.15975023806095123 + ], + [ + 0.36950385570526123 + ], + [ + 0.7071652412414551 + ], + [ + 0.9575772881507874 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.40432053804397583, + -0.02853376977145672, + 0.10114337503910065 + ], + [ + 0.3803752362728119, + -0.02556113712489605, + 0.07455024123191833 + ], + [ + 0.3592775762081146, + -0.018865274265408516, + 0.0750822201371193 + ], + [ + 0.34147709608078003, + -0.013778318651020527, + 0.0637928768992424 + ], + [ + 0.32494500279426575, + -0.008974266238510609, + 0.04199520871043205 + ], + [ + 0.3179076015949249, + -0.006080199498683214, + 0.026410091668367386 + ], + [ + 0.31295931339263916, + -0.0037854660768061876, + 0.008120853453874588 + ], + [ + 0.3131178915500641, + -0.004829418379813433, + 0.007552344352006912 + ], + [ + 0.3134472072124481, + -0.007647831458598375, + 0.007306437008082867 + ], + [ + 0.3131481409072876, + -0.012534395791590214, + 0.006554453168064356 + ], + [ + 0.3115191161632538, + -0.019212475046515465, + 0.007659843657165766 + ], + [ + 0.311832070350647, + -0.035728830844163895, + 0.00985086988657713 + ], + [ + 0.3118969202041626, + -0.054441314190626144, + 0.01274601835757494 + ], + [ + 0.3138911724090576, + -0.06031591817736626, + 0.015338344499468803 + ], + [ + 0.3130932152271271, + -0.07219061255455017, + 0.01808808371424675 + ], + [ + 0.3162205219268799, + -0.08015310019254684, + 0.019304366782307625 + ], + [ + 0.31970569491386414, + -0.08577118813991547, + 0.01842658221721649 + ], + [ + 0.3203626573085785, + -0.0917198657989502, + 0.0178355909883976 + ], + [ + 0.31996989250183105, + -0.09136795997619629, + 0.017926007509231567 + ], + [ + 0.3253870904445648, + -0.10107233375310898, + 0.023494862020015717 + ], + [ + 0.3275550603866577, + -0.10306905210018158, + 0.03262254595756531 + ], + [ + 0.3325873911380768, + -0.09997506439685822, + 0.0616631805896759 + ], + [ + 0.3326472043991089, + -0.09559684991836548, + 0.08416537940502167 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.983384323982777, + -0.1756312048085152, + 0.04592331915754635, + -0.17716695969341564, + -0.9836667357002865, + 0.03180599738625007, + 0.03958711580714246, + -0.03941361407244837, + -0.9984384944941875 + ], + [ + 0.9851789941163315, + -0.1699438735790347, + -0.023268635217532686, + -0.16871230851782373, + -0.9845261391061478, + 0.04737550391635959, + -0.03095975624129167, + -0.04274764613046438, + -0.9986060946358102 + ], + [ + 0.9871259231576369, + -0.1588949019810824, + -0.01829814074176857, + -0.15703649025534402, + -0.9845302637394485, + 0.07771551009557491, + -0.03036367168948115, + -0.07384151884647537, + -0.9968076431970109 + ], + [ + 0.9877315220139571, + -0.15113217173713542, + -0.03931293789591758, + -0.14593421303518098, + -0.9829217289691322, + 0.11210744928921414, + -0.05558458316650115, + -0.10499495886159634, + -0.9929181299220281 + ], + [ + 0.9894558737782934, + -0.1321412811671368, + -0.0592938079156764, + -0.12117243760858708, + -0.9795086717822491, + 0.16087262746460831, + -0.07933671413429288, + -0.15199159093476608, + -0.9851924898594647 + ], + [ + 0.9893024916014939, + -0.11816669803446281, + -0.08554070134566996, + -0.1009038657419096, + -0.9777828947204117, + 0.18373628022388952, + -0.10535174412137516, + -0.17313937237903185, + -0.9792465306258583 + ], + [ + 0.9805356205538901, + -0.12349737670302703, + -0.152637789464039, + -0.09195766223378891, + -0.9757320788670957, + 0.19872266762046115, + -0.17347531576997938, + -0.180818439925707, + -0.9680965894999007 + ], + [ + 0.9806297399775957, + -0.11889110995185881, + -0.15566058282650866, + -0.08792586619743567, + -0.9773379679990246, + 0.19256047974849003, + -0.17502672688736423, + -0.1751439416079044, + -0.9688602812548068 + ], + [ + 0.9814690526776935, + -0.11252025104786645, + -0.1551054213755154, + -0.08480966242806598, + -0.9809184867780214, + 0.174946401666208, + -0.17183078826214052, + -0.15855004068508405, + -0.972283942479752 + ], + [ + 0.9834067560692259, + -0.09091108765592038, + -0.15699148466913618, + -0.06825281634373195, + -0.9872020199228023, + 0.14413092978777264, + -0.16808541036791638, + -0.1310242191411825, + -0.9770260737666587 + ], + [ + 0.9829794946762428, + -0.06901305437954332, + -0.1702601285423129, + -0.05022924214529023, + -0.9924076357555885, + 0.11226801738479857, + -0.1767154104189799, + -0.10180512177297284, + -0.9789828297274892 + ], + [ + 0.9815419939400641, + -0.08015339556650942, + -0.17363970545736768, + -0.06545527034857275, + -0.9938975079621934, + 0.08878823824210427, + -0.1796967493188399, + -0.07578375053862196, + -0.9807986039134342 + ], + [ + 0.9787354657382069, + -0.11897861641458302, + -0.16709571192070155, + -0.10478287537033987, + -0.9902883911118489, + 0.09137533287616066, + -0.17634465439966812, + -0.07192350982242775, + -0.9816972912255 + ], + [ + 0.9800627879482079, + -0.11833373033034499, + -0.15960595209856993, + -0.10439407011619918, + -0.990169737916918, + 0.09309010816470166, + -0.16905268351540564, + -0.07457223598395692, + -0.9827818536260186 + ], + [ + 0.9779031947308843, + -0.1327447206835054, + -0.1615059778020259, + -0.11992285877806295, + -0.9889862949678312, + 0.08674454627409746, + -0.17124207916755485, + -0.0654595103591556, + -0.9830519837861641 + ], + [ + 0.9784653569453852, + -0.12766104879208393, + -0.16219803290744725, + -0.11641887880476813, + -0.9902062655886287, + 0.07705969275089948, + -0.1704470296472804, + -0.05651732663818666, + -0.9837446832761495 + ], + [ + 0.9790600468130408, + -0.11699382600437205, + -0.16659492612713395, + -0.10718043632729385, + -0.9919959208451928, + 0.06675662585233741, + -0.17307160022123041, + -0.04750302835985061, + -0.983763022019788 + ], + [ + 0.9786153647108531, + -0.12293091639511287, + -0.1649240969237123, + -0.11337207354437616, + -0.9913442136801702, + 0.06620742362525354, + -0.17163548844016158, + -0.04609381517191852, + -0.9840816121190378 + ], + [ + 0.9796949112487563, + -0.11033951257245307, + -0.16740093440170875, + -0.10010328778105586, + -0.9926213450595046, + 0.06842658187929043, + -0.17371589636160198, + -0.05027979015005529, + -0.9835114285323541 + ], + [ + 0.9775347953186438, + -0.16351966174529453, + -0.13299264702998292, + -0.1521163811232477, + -0.984083635624246, + 0.09186949815109005, + -0.1458983568629339, + -0.06957527088894991, + -0.9868500145135659 + ], + [ + 0.9833243787863675, + -0.16146564090028298, + -0.0836780311256546, + -0.15100763415697205, + -0.9813366142556217, + 0.11905941351958646, + -0.10134032026157823, + -0.10443800232661798, + -0.989354761023217 + ], + [ + 0.9890927037203877, + -0.14724879317023448, + 0.0036628345585367665, + -0.1464780540984369, + -0.9806926844744037, + 0.12956094429234222, + -0.015485577633046331, + -0.12868430956529825, + -0.991564695497512 + ], + [ + 0.9929662211733347, + -0.10748316921099522, + 0.04965331756397351, + -0.11361459884905668, + -0.9830089544123528, + 0.14417044937677373, + 0.03331375897607712, + -0.14879772807907224, + -0.9883063439953172 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006471.json b/json/chunk-0006/episode_0006471.json new file mode 100644 index 0000000000000000000000000000000000000000..4076ca37ec04636ba47490854af4095b01db07b2 --- /dev/null +++ b/json/chunk-0006/episode_0006471.json @@ -0,0 +1,1942 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 31, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nUpright metal pot cardboard fence." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006471.mp4", + "start": 0, + "end": 31, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.29716527462005615, + 0.13256579637527466, + 0.10195743292570114, + 0.09377994388341904, + -0.1499929279088974, + 0.5145835876464844, + 0.0, + 0.9981546401977539 + ], + [ + 0.2946377694606781, + 0.1297059804201126, + 0.0920008197426796, + 0.0904834046959877, + -0.11792393773794174, + 0.5122914910316467, + 0.0, + 0.9981546401977539 + ], + [ + 0.29566672444343567, + 0.12409117072820663, + 0.08475187420845032, + 0.04811927676200867, + -0.1185394674539566, + 0.337729275226593, + 0.0, + 0.9981546401977539 + ], + [ + 0.2968563735485077, + 0.11373613774776459, + 0.09721831232309341, + -0.025867938995361328, + -0.1891718953847885, + 0.16426610946655273, + 0.0, + 0.9981546401977539 + ], + [ + 0.28929853439331055, + 0.10255971550941467, + 0.1069549098610878, + -0.15063437819480896, + -0.1919185370206833, + 0.08559276908636093, + 0.0, + 0.9981546401977539 + ], + [ + 0.27621304988861084, + 0.09077337384223938, + 0.1198529377579689, + -0.2184554636478424, + -0.18262872099876404, + 0.0596335344016552, + 0.0, + 0.9981546401977539 + ], + [ + 0.2597007751464844, + 0.08264867216348648, + 0.12151328474283218, + -0.26254719495773315, + -0.14468742907047272, + 0.03567822277545929, + 0.0, + 0.9981546401977539 + ], + [ + 0.24519990384578705, + 0.07849764078855515, + 0.11983544379472733, + -0.32228827476501465, + -0.14705751836299896, + -0.09693076461553574, + 0.0, + 0.9981546401977539 + ], + [ + 0.23172926902770996, + 0.0812646895647049, + 0.12005685269832611, + -0.3583329916000366, + -0.12445239722728729, + -0.1839189976453781, + 0.0, + 0.9981546401977539 + ], + [ + 0.21669745445251465, + 0.08560267835855484, + 0.11104739457368851, + -0.43521878123283386, + -0.08762133866548538, + -0.28532928228378296, + 0.0, + 0.9981546401977539 + ], + [ + 0.20461991429328918, + 0.08609514683485031, + 0.1078287661075592, + -0.5030542016029358, + -0.07852271944284439, + -0.38073378801345825, + 0.0, + 0.9981546401977539 + ], + [ + 0.2019888311624527, + 0.08618529886007309, + 0.09879570454359055, + -0.5313549637794495, + -0.06633295863866806, + -0.41436320543289185, + 0.0, + 0.9981546401977539 + ], + [ + 0.19799557328224182, + 0.07628724724054337, + 0.08869116753339767, + -0.5531212687492371, + -0.0767921656370163, + -0.45585644245147705, + 0.0, + 0.9981546401977539 + ], + [ + 0.19468259811401367, + 0.0644579753279686, + 0.08211040496826172, + -0.5928061008453369, + -0.09164757281541824, + -0.48351916670799255, + 0.0, + 0.9981546401977539 + ], + [ + 0.18802154064178467, + 0.053168389946222305, + 0.07663168758153915, + -0.6260509490966797, + -0.08789526671171188, + -0.516749918460846, + 0.0, + 0.9981546401977539 + ], + [ + 0.18336918950080872, + 0.041702426970005035, + 0.06830212473869324, + -0.6350603699684143, + -0.08636987209320068, + -0.5333188772201538, + 0.0, + 0.9981546401977539 + ], + [ + 0.18490515649318695, + 0.0352967195212841, + 0.0641932338476181, + -0.619986891746521, + -0.08712850511074066, + -0.5635770559310913, + 0.0, + 0.9468915462493896 + ], + [ + 0.1868724375963211, + 0.03151743859052658, + 0.056537970900535583, + -0.6108390688896179, + -0.09852861613035202, + -0.5847981572151184, + 0.0, + 0.672171950340271 + ], + [ + 0.18156981468200684, + 0.02691556140780449, + 0.05271776020526886, + -0.6196264028549194, + -0.10643667727708817, + -0.6163336634635925, + 0.0, + 0.38577979803085327 + ], + [ + 0.1769862025976181, + 0.02356942743062973, + 0.050773538649082184, + -0.6345762014389038, + -0.1016525849699974, + -0.6216123104095459, + 0.0, + 0.3259891867637634 + ], + [ + 0.1757127046585083, + 0.023017119616270065, + 0.05172501876950264, + -0.6157749891281128, + -0.09472255408763885, + -0.6335158348083496, + 0.0, + 0.3544071912765503 + ], + [ + 0.17952895164489746, + 0.026552818715572357, + 0.05731046944856644, + -0.470960408449173, + -0.0378352515399456, + -0.6307313442230225, + 0.0, + 0.3552374839782715 + ], + [ + 0.18697768449783325, + 0.039745815098285675, + 0.06709262728691101, + -0.16641297936439514, + -0.013489357195794582, + -0.5787246227264404, + 0.0, + 0.35274967551231384 + ], + [ + 0.1910148710012436, + 0.04553823918104172, + 0.07340890169143677, + 0.08482053130865097, + 0.034823041409254074, + -0.5585927367210388, + 0.0, + 0.35274967551231384 + ], + [ + 0.1916428804397583, + 0.04775359109044075, + 0.07027840614318848, + 0.1584724336862564, + 0.10932407528162003, + -0.5732167363166809, + 0.0, + 0.35274967551231384 + ], + [ + 0.1875847578048706, + 0.04321296885609627, + 0.07127281278371811, + 0.17743726074695587, + 0.17888304591178894, + -0.5509626269340515, + 0.0, + 0.35274967551231384 + ], + [ + 0.18473324179649353, + 0.035425473004579544, + 0.07171215116977692, + 0.1554674655199051, + 0.1917772740125656, + -0.5575392842292786, + 0.0, + 0.35274967551231384 + ], + [ + 0.1884816735982895, + 0.033231236040592194, + 0.0698312371969223, + 0.15190711617469788, + 0.16110371053218842, + -0.5778103470802307, + 0.0, + 0.35274967551231384 + ], + [ + 0.19115816056728363, + 0.03539884462952614, + 0.06952688843011856, + 0.13840770721435547, + 0.12014919519424438, + -0.5493606925010681, + 0.0, + 0.41842639446258545 + ], + [ + 0.1957695633172989, + 0.03491699695587158, + 0.09598585218191147, + 0.12257217615842819, + 0.00037758657708764076, + -0.5441314578056335, + 0.0, + 0.710151195526123 + ], + [ + 0.2071049064397812, + 0.03497714549303055, + 0.13541656732559204, + 0.1236962229013443, + -0.10817215591669083, + -0.5231094360351562, + 0.0, + 0.9628177285194397 + ] + ], + "left_gripper_pos": [ + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9468915462493896 + ], + [ + 0.672171950340271 + ], + [ + 0.38577979803085327 + ], + [ + 0.3259891867637634 + ], + [ + 0.3544071912765503 + ], + [ + 0.3552374839782715 + ], + [ + 0.35274967551231384 + ], + [ + 0.35274967551231384 + ], + [ + 0.35274967551231384 + ], + [ + 0.35274967551231384 + ], + [ + 0.35274967551231384 + ], + [ + 0.35274967551231384 + ], + [ + 0.41842639446258545 + ], + [ + 0.710151195526123 + ], + [ + 0.9628177285194397 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.29716527462005615, + 0.13256579637527466, + 0.10195743292570114 + ], + [ + 0.2946377694606781, + 0.1297059804201126, + 0.0920008197426796 + ], + [ + 0.29566672444343567, + 0.12409117072820663, + 0.08475187420845032 + ], + [ + 0.2968563735485077, + 0.11373613774776459, + 0.09721831232309341 + ], + [ + 0.28929853439331055, + 0.10255971550941467, + 0.1069549098610878 + ], + [ + 0.27621304988861084, + 0.09077337384223938, + 0.1198529377579689 + ], + [ + 0.2597007751464844, + 0.08264867216348648, + 0.12151328474283218 + ], + [ + 0.24519990384578705, + 0.07849764078855515, + 0.11983544379472733 + ], + [ + 0.23172926902770996, + 0.0812646895647049, + 0.12005685269832611 + ], + [ + 0.21669745445251465, + 0.08560267835855484, + 0.11104739457368851 + ], + [ + 0.20461991429328918, + 0.08609514683485031, + 0.1078287661075592 + ], + [ + 0.2019888311624527, + 0.08618529886007309, + 0.09879570454359055 + ], + [ + 0.19799557328224182, + 0.07628724724054337, + 0.08869116753339767 + ], + [ + 0.19468259811401367, + 0.0644579753279686, + 0.08211040496826172 + ], + [ + 0.18802154064178467, + 0.053168389946222305, + 0.07663168758153915 + ], + [ + 0.18336918950080872, + 0.041702426970005035, + 0.06830212473869324 + ], + [ + 0.18490515649318695, + 0.0352967195212841, + 0.0641932338476181 + ], + [ + 0.1868724375963211, + 0.03151743859052658, + 0.056537970900535583 + ], + [ + 0.18156981468200684, + 0.02691556140780449, + 0.05271776020526886 + ], + [ + 0.1769862025976181, + 0.02356942743062973, + 0.050773538649082184 + ], + [ + 0.1757127046585083, + 0.023017119616270065, + 0.05172501876950264 + ], + [ + 0.17952895164489746, + 0.026552818715572357, + 0.05731046944856644 + ], + [ + 0.18697768449783325, + 0.039745815098285675, + 0.06709262728691101 + ], + [ + 0.1910148710012436, + 0.04553823918104172, + 0.07340890169143677 + ], + [ + 0.1916428804397583, + 0.04775359109044075, + 0.07027840614318848 + ], + [ + 0.1875847578048706, + 0.04321296885609627, + 0.07127281278371811 + ], + [ + 0.18473324179649353, + 0.035425473004579544, + 0.07171215116977692 + ], + [ + 0.1884816735982895, + 0.033231236040592194, + 0.0698312371969223 + ], + [ + 0.19115816056728363, + 0.03539884462952614, + 0.06952688843011856 + ], + [ + 0.1957695633172989, + 0.03491699695587158, + 0.09598585218191147 + ], + [ + 0.2071049064397812, + 0.03497714549303055, + 0.13541656732559204 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.860723913060053, + 0.5021907149624025, + 0.08341960975778653, + 0.4866463602529427, + -0.859785651788105, + 0.15473833730484127, + 0.14943113979071948, + -0.09259113772308165, + -0.984427354189222 + ], + [ + 0.8655701606285139, + 0.49743678900772526, + 0.05783543871375513, + 0.4867715911962397, + -0.8628468753516335, + 0.13619356702944355, + 0.11765081824538931, + -0.08973243916001854, + -0.9889926058007633 + ], + [ + 0.9368883388629012, + 0.33632910534444915, + 0.09551425757925813, + 0.32902025445844174, + -0.9405325159598328, + 0.08452371607052095, + 0.11826205079744168, + -0.04776315861069319, + -0.9918330343463632 + ], + [ + 0.9689390730800951, + 0.15867531743655997, + 0.18968188183137874, + 0.16061106568586378, + -0.9870039509852192, + 0.005223630807987543, + 0.18804562807451108, + 0.025403629189033744, + -0.9818317052255385 + ], + [ + 0.9780464824187205, + 0.05600117096331965, + 0.2007210678506497, + 0.08391873986501454, + -0.9875037125089855, + -0.13339438848931917, + 0.19074255772594667, + 0.14731017151476145, + -0.9705240800930475 + ], + [ + 0.9816216841927351, + 0.01889169148365159, + 0.18989990288440137, + 0.058607058945008284, + -0.9768438290398208, + -0.2057701297774728, + 0.18161520245958176, + 0.21311789615071794, + -0.9599982711317022 + ], + [ + 0.9889212711219206, + -0.0029493700091783523, + 0.14841165971430112, + 0.035297932020839015, + -0.9664522659394834, + -0.25440926409132597, + 0.14418313187629397, + 0.25682935750608177, + -0.9556410966494463 + ], + [ + 0.9845630720578279, + -0.13798931830494948, + 0.10767778403081744, + -0.09573446608360499, + -0.9395690839448614, + -0.32870176223850833, + 0.14652804899997512, + 0.3133191416571115, + -0.938275357412477 + ], + [ + 0.9755307547353664, + -0.2140679256339633, + 0.05014648322881568, + -0.18146940772807765, + -0.9127267688761154, + -0.36605832791481, + 0.12413138452569777, + 0.34800110429672176, + -0.9292398133872628 + ], + [ + 0.9558878314704824, + -0.29063685669086986, + -0.04252847492573532, + -0.2803936207406778, + -0.8597310373115941, + -0.42689806854922996, + 0.0875092629073692, + 0.419991382073467, + -0.9032991574718907 + ], + [ + 0.9255315304619607, + -0.36067481841896265, + -0.11534756815463869, + -0.370456786512981, + -0.7993246665681816, + -0.4731192732727561, + 0.07844205152350571, + 0.48061809451383913, + -0.8734146161924874 + ], + [ + 0.9133597739566379, + -0.37784023925660465, + -0.15169270554773165, + -0.4017216843097244, + -0.7756403382918273, + -0.4868282592145793, + 0.06628432449106786, + 0.5055875979620655, + -0.8602253013680261 + ], + [ + 0.8952381969429349, + -0.4107753188005182, + -0.172662121493672, + -0.43893406862693585, + -0.7462572709441035, + -0.500436778186479, + 0.07671671351776825, + 0.5237974064725707, + -0.8483812956681926 + ], + [ + 0.8816487470219324, + -0.4308447173326144, + -0.1925313388028987, + -0.4629467560169743, + -0.7105294474376804, + -0.5299322649332318, + 0.09151933111652992, + 0.5563458761152854, + -0.825895561291801 + ], + [ + 0.8660732333431376, + -0.44507788135755094, + -0.22764629145416948, + -0.4921498257092695, + -0.679127990844677, + -0.5445858252889141, + 0.0877821367984314, + 0.5836872892033419, + -0.807219576621848 + ], + [ + 0.8579146259017622, + -0.4533419805120574, + -0.24179235589498102, + -0.5064990332985962, + -0.6672199933674167, + -0.5461466924905546, + 0.08626252912723623, + 0.5910148298953167, + -0.8020350658870115 + ], + [ + 0.8421429576763617, + -0.47752958597657347, + -0.25052092398271186, + -0.5321870466906723, + -0.6610085661316348, + -0.5290034242188419, + 0.0870183093996286, + 0.5788204989611565, + -0.8107987689997982 + ], + [ + 0.829779466774849, + -0.4992501655036625, + -0.24942996765307304, + -0.5493537312630146, + -0.6518950625875561, + -0.5227267979751661, + 0.09836927602788911, + 0.5707732471117862, + -0.8151940786801736 + ], + [ + 0.8113854591494476, + -0.520928564154629, + -0.26511708305697057, + -0.5747761182918295, + -0.6286422467511619, + -0.5238714913421307, + 0.10623582504135194, + 0.5774446784302787, + -0.8094884760330657 + ], + [ + 0.8087440473254681, + -0.5178833282211207, + -0.27880086848185504, + -0.5793404533503638, + -0.6196460201264288, + -0.529531348319694, + 0.10147760850264717, + 0.5897759473665343, + -0.8011657923803855 + ], + [ + 0.8023382424963299, + -0.5272787658018275, + -0.2796970642720479, + -0.589328248704646, + -0.6255794846480832, + -0.5112167091030513, + 0.09458097010823921, + 0.5750020969717764, + -0.812666615883441 + ], + [ + 0.8070184539267418, + -0.5393938287362605, + -0.24036537301144184, + -0.5893134918719365, + -0.7095539174814856, + -0.3863196170069322, + 0.03782622528612779, + 0.4534176173329786, + -0.8904951661703101 + ], + [ + 0.8370847418118245, + -0.5412711792059488, + -0.07946474430106015, + -0.5469069238040627, + -0.8243736534710714, + -0.14594826534746885, + 0.01348894810607771, + 0.16563088487283883, + -0.9860955624356252 + ], + [ + 0.8474876803735715, + -0.5305892220011578, + 0.015482542143630434, + -0.5296720471116524, + -0.8433898814406363, + 0.09022765868679589, + -0.0348160038426969, + -0.08466749895772013, + -0.9958008136653985 + ], + [ + 0.8351450697549676, + -0.55000762468276, + -0.004932063949168272, + -0.5390997106459484, + -0.8202951235676983, + 0.19101678521142934, + -0.10910643631530197, + -0.15686785216188487, + -0.9815743795111465 + ], + [ + 0.8384253155622942, + -0.5420468559702306, + -0.05681721708298784, + -0.5151540626543719, + -0.8222022850931184, + 0.2420737369446543, + -0.17793055374207892, + -0.17369112907814901, + -0.9685928503373308 + ], + [ + 0.8330030246623576, + -0.5477623459015918, + -0.07786124399050061, + -0.51939976838289, + -0.822709809200441, + 0.2310247831925696, + -0.19060388639050235, + -0.15200323107670619, + -0.969827395073514 + ], + [ + 0.8268136252267196, + -0.5602342087095576, + -0.05016832198734715, + -0.539118346655331, + -0.8147564130152736, + 0.21336212351330783, + -0.1604077225044751, + -0.14936404802381822, + -0.9756842438611308 + ], + [ + 0.846710047711846, + -0.531252263274484, + -0.029208352735842512, + -0.5183778513976172, + -0.8360680685886946, + 0.17965129519922554, + -0.1198603282332942, + -0.13697159359556146, + -0.9832966410314331 + ], + [ + 0.8555771751800678, + -0.5138307856018617, + 0.06297317745413539, + -0.5176751440230446, + -0.8491343100757839, + 0.10480156827473185, + -0.0003775865681154497, + -0.1222654784470943, + -0.9924973603030325 + ], + [ + 0.8612067042371782, + -0.48422004030771254, + 0.1544472892003438, + -0.4966561844935841, + -0.8663056667016179, + 0.05335846928970199, + 0.1079613216907441, + -0.12265987283974485, + -0.9865591257566497 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0025275051593780518, + -0.0028598159551620483, + -0.009956613183021545, + -0.0032965391874313354, + 0.03206899017095566, + -0.0022920966148376465, + 1.0 + ], + [ + 0.0010289549827575684, + -0.005614809691905975, + -0.0072489455342292786, + -0.042364127933979034, + -0.0006155297160148621, + -0.1745622158050537, + 1.0 + ], + [ + 0.0011896491050720215, + -0.010355032980442047, + 0.012466438114643097, + -0.07398721575737, + -0.07063242793083191, + -0.17346316576004028, + 1.0 + ], + [ + -0.0075578391551971436, + -0.011176422238349915, + 0.009736597537994385, + -0.12476643919944763, + -0.0027466416358947754, + -0.0786733403801918, + 1.0 + ], + [ + -0.013085484504699707, + -0.011786341667175293, + 0.012898027896881104, + -0.06782108545303345, + 0.00928981602191925, + -0.025959234684705734, + 1.0 + ], + [ + -0.016512274742126465, + -0.0081247016787529, + 0.0016603469848632812, + -0.04409173130989075, + 0.03794129192829132, + -0.023955311626195908, + 1.0 + ], + [ + -0.014500871300697327, + -0.0041510313749313354, + -0.0016778409481048584, + -0.059741079807281494, + -0.002370089292526245, + -0.13260897994041443, + 1.0 + ], + [ + -0.013470634818077087, + 0.0027670487761497498, + 0.0002214089035987854, + -0.03604471683502197, + 0.02260512113571167, + -0.08698823302984238, + 1.0 + ], + [ + -0.015031814575195312, + 0.004337988793849945, + -0.009009458124637604, + -0.07688578963279724, + 0.03683105856180191, + -0.10141028463840485, + 1.0 + ], + [ + -0.012077540159225464, + 0.0004924684762954712, + -0.003218628466129303, + -0.06783542037010193, + 0.009098619222640991, + -0.09540450572967529, + 1.0 + ], + [ + -0.002631083130836487, + 9.015202522277832e-05, + -0.009033061563968658, + -0.028300762176513672, + 0.01218976080417633, + -0.033629417419433594, + 1.0 + ], + [ + -0.0039932578802108765, + -0.009898051619529724, + -0.010104537010192871, + -0.021766304969787598, + -0.010459206998348236, + -0.041493237018585205, + 1.0 + ], + [ + -0.0033129751682281494, + -0.011829271912574768, + -0.006580762565135956, + -0.039684832096099854, + -0.014855407178401947, + -0.027662724256515503, + 1.0 + ], + [ + -0.006661057472229004, + -0.011289585381746292, + -0.005478717386722565, + -0.03324484825134277, + 0.00375230610370636, + -0.033230751752853394, + 1.0 + ], + [ + -0.004652351140975952, + -0.01146596297621727, + -0.008329562842845917, + -0.00900942087173462, + 0.0015253946185112, + -0.01656895875930786, + 1.0 + ], + [ + 0.0015359669923782349, + -0.006405707448720932, + -0.004108890891075134, + 0.01507347822189331, + -0.000758633017539978, + -0.0302581787109375, + 0.0 + ], + [ + 0.0019672811031341553, + -0.0037792809307575226, + -0.0076552629470825195, + 0.009147822856903076, + -0.011400111019611359, + -0.0212211012840271, + 0.0 + ], + [ + -0.00530262291431427, + -0.004601877182722092, + -0.0038202106952667236, + -0.008787333965301514, + -0.007908061146736145, + -0.03153550624847412, + 0.0 + ], + [ + -0.004583612084388733, + -0.003346133977174759, + -0.001944221556186676, + -0.014949798583984375, + 0.004784092307090759, + -0.005278646945953369, + 0.0 + ], + [ + -0.0012734979391098022, + -0.0005523078143596649, + 0.0009514801204204559, + 0.018801212310791016, + 0.006930030882358551, + -0.011903524398803711, + 0.0 + ], + [ + 0.00381624698638916, + 0.003535699099302292, + 0.005585450679063797, + 0.14481458067893982, + 0.05688730254769325, + 0.0027844905853271484, + 0.0 + ], + [ + 0.007448732852935791, + 0.013192996382713318, + 0.009782157838344574, + 0.30454742908477783, + 0.024345893412828445, + 0.05200672149658203, + 0.0 + ], + [ + 0.004037186503410339, + 0.0057924240827560425, + 0.006316274404525757, + 0.2512335181236267, + 0.04831239953637123, + 0.02013188600540161, + 0.0 + ], + [ + 0.0006280094385147095, + 0.0022153519093990326, + -0.003130495548248291, + 0.07365190237760544, + 0.07450103759765625, + -0.01462399959564209, + 0.0 + ], + [ + -0.004058122634887695, + -0.004540622234344482, + 0.0009944066405296326, + 0.018964827060699463, + 0.06955897063016891, + 0.022254109382629395, + 0.0 + ], + [ + -0.002851516008377075, + -0.007787495851516724, + 0.0004393383860588074, + -0.02196979522705078, + 0.012894228100776672, + -0.006576657295227051, + 0.0 + ], + [ + 0.0037484318017959595, + -0.0021942369639873505, + -0.0018809139728546143, + -0.0035603493452072144, + -0.030673563480377197, + -0.02027106285095215, + 0.0 + ], + [ + 0.0026764869689941406, + 0.0021676085889339447, + -0.00030434876680374146, + -0.013499408960342407, + -0.04095451533794403, + 0.028449654579162598, + 1.0 + ], + [ + 0.004611402750015259, + -0.0004818476736545563, + 0.026458963751792908, + -0.015835531055927277, + -0.11977160722017288, + 0.00522923469543457, + 1.0 + ], + [ + 0.0113353431224823, + 6.0148537158966064e-05, + 0.03943071514368057, + 0.0011240467429161072, + -0.10854974389076233, + 0.021022021770477295, + 1.0 + ], + [ + 0.01752987504005432, + 0.002873104065656662, + 0.03920036554336548, + 0.02942940592765808, + -0.07531563192605972, + 0.04899388551712036, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9468915462493896 + ], + [ + 0.672171950340271 + ], + [ + 0.38577979803085327 + ], + [ + 0.3259891867637634 + ], + [ + 0.3544071912765503 + ], + [ + 0.3552374839782715 + ], + [ + 0.35274967551231384 + ], + [ + 0.35274967551231384 + ], + [ + 0.35274967551231384 + ], + [ + 0.35274967551231384 + ], + [ + 0.35274967551231384 + ], + [ + 0.35274967551231384 + ], + [ + 0.41842639446258545 + ], + [ + 0.710151195526123 + ], + [ + 0.9628177285194397 + ], + [ + 0.9907060265541077 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2946377694606781, + 0.1297059804201126, + 0.0920008197426796 + ], + [ + 0.29566672444343567, + 0.12409117072820663, + 0.08475187420845032 + ], + [ + 0.2968563735485077, + 0.11373613774776459, + 0.09721831232309341 + ], + [ + 0.28929853439331055, + 0.10255971550941467, + 0.1069549098610878 + ], + [ + 0.27621304988861084, + 0.09077337384223938, + 0.1198529377579689 + ], + [ + 0.2597007751464844, + 0.08264867216348648, + 0.12151328474283218 + ], + [ + 0.24519990384578705, + 0.07849764078855515, + 0.11983544379472733 + ], + [ + 0.23172926902770996, + 0.0812646895647049, + 0.12005685269832611 + ], + [ + 0.21669745445251465, + 0.08560267835855484, + 0.11104739457368851 + ], + [ + 0.20461991429328918, + 0.08609514683485031, + 0.1078287661075592 + ], + [ + 0.2019888311624527, + 0.08618529886007309, + 0.09879570454359055 + ], + [ + 0.19799557328224182, + 0.07628724724054337, + 0.08869116753339767 + ], + [ + 0.19468259811401367, + 0.0644579753279686, + 0.08211040496826172 + ], + [ + 0.18802154064178467, + 0.053168389946222305, + 0.07663168758153915 + ], + [ + 0.18336918950080872, + 0.041702426970005035, + 0.06830212473869324 + ], + [ + 0.18490515649318695, + 0.0352967195212841, + 0.0641932338476181 + ], + [ + 0.1868724375963211, + 0.03151743859052658, + 0.056537970900535583 + ], + [ + 0.18156981468200684, + 0.02691556140780449, + 0.05271776020526886 + ], + [ + 0.1769862025976181, + 0.02356942743062973, + 0.050773538649082184 + ], + [ + 0.1757127046585083, + 0.023017119616270065, + 0.05172501876950264 + ], + [ + 0.17952895164489746, + 0.026552818715572357, + 0.05731046944856644 + ], + [ + 0.18697768449783325, + 0.039745815098285675, + 0.06709262728691101 + ], + [ + 0.1910148710012436, + 0.04553823918104172, + 0.07340890169143677 + ], + [ + 0.1916428804397583, + 0.04775359109044075, + 0.07027840614318848 + ], + [ + 0.1875847578048706, + 0.04321296885609627, + 0.07127281278371811 + ], + [ + 0.18473324179649353, + 0.035425473004579544, + 0.07171215116977692 + ], + [ + 0.1884816735982895, + 0.033231236040592194, + 0.0698312371969223 + ], + [ + 0.19115816056728363, + 0.03539884462952614, + 0.06952688843011856 + ], + [ + 0.1957695633172989, + 0.03491699695587158, + 0.09598585218191147 + ], + [ + 0.2071049064397812, + 0.03497714549303055, + 0.13541656732559204 + ], + [ + 0.2246347814798355, + 0.03785024955868721, + 0.17461693286895752 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8655701606285139, + 0.49743678900772526, + 0.05783543871375513, + 0.4867715911962397, + -0.8628468753516335, + 0.13619356702944355, + 0.11765081824538931, + -0.08973243916001854, + -0.9889926058007633 + ], + [ + 0.9368883388629012, + 0.33632910534444915, + 0.09551425757925813, + 0.32902025445844174, + -0.9405325159598328, + 0.08452371607052095, + 0.11826205079744168, + -0.04776315861069319, + -0.9918330343463632 + ], + [ + 0.9689390730800951, + 0.15867531743655997, + 0.18968188183137874, + 0.16061106568586378, + -0.9870039509852192, + 0.005223630807987543, + 0.18804562807451108, + 0.025403629189033744, + -0.9818317052255385 + ], + [ + 0.9780464824187205, + 0.05600117096331965, + 0.2007210678506497, + 0.08391873986501454, + -0.9875037125089855, + -0.13339438848931917, + 0.19074255772594667, + 0.14731017151476145, + -0.9705240800930475 + ], + [ + 0.9816216841927351, + 0.01889169148365159, + 0.18989990288440137, + 0.058607058945008284, + -0.9768438290398208, + -0.2057701297774728, + 0.18161520245958176, + 0.21311789615071794, + -0.9599982711317022 + ], + [ + 0.9889212711219206, + -0.0029493700091783523, + 0.14841165971430112, + 0.035297932020839015, + -0.9664522659394834, + -0.25440926409132597, + 0.14418313187629397, + 0.25682935750608177, + -0.9556410966494463 + ], + [ + 0.9845630720578279, + -0.13798931830494948, + 0.10767778403081744, + -0.09573446608360499, + -0.9395690839448614, + -0.32870176223850833, + 0.14652804899997512, + 0.3133191416571115, + -0.938275357412477 + ], + [ + 0.9755307547353664, + -0.2140679256339633, + 0.05014648322881568, + -0.18146940772807765, + -0.9127267688761154, + -0.36605832791481, + 0.12413138452569777, + 0.34800110429672176, + -0.9292398133872628 + ], + [ + 0.9558878314704824, + -0.29063685669086986, + -0.04252847492573532, + -0.2803936207406778, + -0.8597310373115941, + -0.42689806854922996, + 0.0875092629073692, + 0.419991382073467, + -0.9032991574718907 + ], + [ + 0.9255315304619607, + -0.36067481841896265, + -0.11534756815463869, + -0.370456786512981, + -0.7993246665681816, + -0.4731192732727561, + 0.07844205152350571, + 0.48061809451383913, + -0.8734146161924874 + ], + [ + 0.9133597739566379, + -0.37784023925660465, + -0.15169270554773165, + -0.4017216843097244, + -0.7756403382918273, + -0.4868282592145793, + 0.06628432449106786, + 0.5055875979620655, + -0.8602253013680261 + ], + [ + 0.8952381969429349, + -0.4107753188005182, + -0.172662121493672, + -0.43893406862693585, + -0.7462572709441035, + -0.500436778186479, + 0.07671671351776825, + 0.5237974064725707, + -0.8483812956681926 + ], + [ + 0.8816487470219324, + -0.4308447173326144, + -0.1925313388028987, + -0.4629467560169743, + -0.7105294474376804, + -0.5299322649332318, + 0.09151933111652992, + 0.5563458761152854, + -0.825895561291801 + ], + [ + 0.8660732333431376, + -0.44507788135755094, + -0.22764629145416948, + -0.4921498257092695, + -0.679127990844677, + -0.5445858252889141, + 0.0877821367984314, + 0.5836872892033419, + -0.807219576621848 + ], + [ + 0.8579146259017622, + -0.4533419805120574, + -0.24179235589498102, + -0.5064990332985962, + -0.6672199933674167, + -0.5461466924905546, + 0.08626252912723623, + 0.5910148298953167, + -0.8020350658870115 + ], + [ + 0.8421429576763617, + -0.47752958597657347, + -0.25052092398271186, + -0.5321870466906723, + -0.6610085661316348, + -0.5290034242188419, + 0.0870183093996286, + 0.5788204989611565, + -0.8107987689997982 + ], + [ + 0.829779466774849, + -0.4992501655036625, + -0.24942996765307304, + -0.5493537312630146, + -0.6518950625875561, + -0.5227267979751661, + 0.09836927602788911, + 0.5707732471117862, + -0.8151940786801736 + ], + [ + 0.8113854591494476, + -0.520928564154629, + -0.26511708305697057, + -0.5747761182918295, + -0.6286422467511619, + -0.5238714913421307, + 0.10623582504135194, + 0.5774446784302787, + -0.8094884760330657 + ], + [ + 0.8087440473254681, + -0.5178833282211207, + -0.27880086848185504, + -0.5793404533503638, + -0.6196460201264288, + -0.529531348319694, + 0.10147760850264717, + 0.5897759473665343, + -0.8011657923803855 + ], + [ + 0.8023382424963299, + -0.5272787658018275, + -0.2796970642720479, + -0.589328248704646, + -0.6255794846480832, + -0.5112167091030513, + 0.09458097010823921, + 0.5750020969717764, + -0.812666615883441 + ], + [ + 0.8070184539267418, + -0.5393938287362605, + -0.24036537301144184, + -0.5893134918719365, + -0.7095539174814856, + -0.3863196170069322, + 0.03782622528612779, + 0.4534176173329786, + -0.8904951661703101 + ], + [ + 0.8370847418118245, + -0.5412711792059488, + -0.07946474430106015, + -0.5469069238040627, + -0.8243736534710714, + -0.14594826534746885, + 0.01348894810607771, + 0.16563088487283883, + -0.9860955624356252 + ], + [ + 0.8474876803735715, + -0.5305892220011578, + 0.015482542143630434, + -0.5296720471116524, + -0.8433898814406363, + 0.09022765868679589, + -0.0348160038426969, + -0.08466749895772013, + -0.9958008136653985 + ], + [ + 0.8351450697549676, + -0.55000762468276, + -0.004932063949168272, + -0.5390997106459484, + -0.8202951235676983, + 0.19101678521142934, + -0.10910643631530197, + -0.15686785216188487, + -0.9815743795111465 + ], + [ + 0.8384253155622942, + -0.5420468559702306, + -0.05681721708298784, + -0.5151540626543719, + -0.8222022850931184, + 0.2420737369446543, + -0.17793055374207892, + -0.17369112907814901, + -0.9685928503373308 + ], + [ + 0.8330030246623576, + -0.5477623459015918, + -0.07786124399050061, + -0.51939976838289, + -0.822709809200441, + 0.2310247831925696, + -0.19060388639050235, + -0.15200323107670619, + -0.969827395073514 + ], + [ + 0.8268136252267196, + -0.5602342087095576, + -0.05016832198734715, + -0.539118346655331, + -0.8147564130152736, + 0.21336212351330783, + -0.1604077225044751, + -0.14936404802381822, + -0.9756842438611308 + ], + [ + 0.846710047711846, + -0.531252263274484, + -0.029208352735842512, + -0.5183778513976172, + -0.8360680685886946, + 0.17965129519922554, + -0.1198603282332942, + -0.13697159359556146, + -0.9832966410314331 + ], + [ + 0.8555771751800678, + -0.5138307856018617, + 0.06297317745413539, + -0.5176751440230446, + -0.8491343100757839, + 0.10480156827473185, + -0.0003775865681154497, + -0.1222654784470943, + -0.9924973603030325 + ], + [ + 0.8612067042371782, + -0.48422004030771254, + 0.1544472892003438, + -0.4966561844935841, + -0.8663056667016179, + 0.05335846928970199, + 0.1079613216907441, + -0.12265987283974485, + -0.9865591257566497 + ], + [ + 0.8747617857270297, + -0.426449224298933, + 0.23007146134733086, + -0.4488877336510115, + -0.8919926075277068, + 0.053375937402361275, + 0.18245991562345032, + -0.14996748717892336, + -0.9717088720290263 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006472.json b/json/chunk-0006/episode_0006472.json new file mode 100644 index 0000000000000000000000000000000000000000..af604b212a5a6f97141e77649b4f7a2c9d5be6ad --- /dev/null +++ b/json/chunk-0006/episode_0006472.json @@ -0,0 +1,2002 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 32, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nClose the drawer." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006472.mp4", + "start": 0, + "end": 32, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.26110151410102844, + 0.10806986689567566, + 0.13704265654087067, + 0.06462156772613525, + -0.06311999261379242, + -0.8280937671661377, + 0.0, + 1.0001531839370728 + ], + [ + 0.26148995757102966, + 0.10776486247777939, + 0.13040630519390106, + 0.048158198595047, + -0.05997876077890396, + -0.8335275650024414, + 0.0, + 1.0001531839370728 + ], + [ + 0.2789514660835266, + 0.12310823798179626, + 0.11898358911275864, + 0.13083334267139435, + -0.07230853289365768, + -0.9523236155509949, + 0.0, + 1.0001531839370728 + ], + [ + 0.295861154794693, + 0.13560806214809418, + 0.1149481013417244, + 0.18439394235610962, + -0.061677273362874985, + -1.0585688352584839, + 0.0, + 1.0001531839370728 + ], + [ + 0.3084685802459717, + 0.14159798622131348, + 0.1068069264292717, + 0.18902315199375153, + -0.03182022646069527, + -1.221672534942627, + 0.0, + 1.0001531839370728 + ], + [ + 0.3167637288570404, + 0.1369374692440033, + 0.09868243336677551, + 0.1514388918876648, + 0.03949437662959099, + -1.4159356355667114, + 0.0, + 1.0001531839370728 + ], + [ + 0.3242272436618805, + 0.12909473478794098, + 0.09702345728874207, + 0.14542794227600098, + 0.09010100364685059, + -1.5579829216003418, + 0.0, + 1.0001531839370728 + ], + [ + 0.34042492508888245, + 0.12284796684980392, + 0.085829958319664, + 0.12450642138719559, + 0.1240035891532898, + -1.7065153121948242, + 0.0, + 1.0001531839370728 + ], + [ + 0.35394904017448425, + 0.1188318133354187, + 0.076627716422081, + 0.12761764228343964, + 0.15211136639118195, + -1.7491472959518433, + 0.0, + 1.0001531839370728 + ], + [ + 0.3731217682361603, + 0.11886896938085556, + 0.06918979436159134, + 0.1458527147769928, + 0.15075677633285522, + -1.7334741353988647, + 0.0, + 1.0001531839370728 + ], + [ + 0.3937280476093292, + 0.11501513421535492, + 0.05836527794599533, + 0.13263510167598724, + 0.1576099991798401, + -1.7193312644958496, + 0.0, + 1.0001531839370728 + ], + [ + 0.4014711380004883, + 0.11046301573514938, + 0.05417542904615402, + 0.12567411363124847, + 0.15971624851226807, + -1.6945257186889648, + 0.0, + 1.0001531839370728 + ], + [ + 0.40059125423431396, + 0.10650624334812164, + 0.045177657157182693, + 0.10055926442146301, + 0.14396020770072937, + -1.684654712677002, + 0.0, + 1.0001531839370728 + ], + [ + 0.3945103883743286, + 0.09973367303609848, + 0.0344771072268486, + 0.048685137182474136, + 0.10819194465875626, + -1.7099449634552002, + 0.0, + 1.0001531839370728 + ], + [ + 0.3891289234161377, + 0.09353277087211609, + 0.031013472005724907, + 0.02765268087387085, + 0.07299375534057617, + -1.7422045469284058, + 0.0, + 0.9988223910331726 + ], + [ + 0.38614559173583984, + 0.0872349739074707, + 0.025660309940576553, + 0.029409024864435196, + 0.032826781272888184, + -1.761796236038208, + 0.0, + 0.9988223910331726 + ], + [ + 0.3847964406013489, + 0.08408333361148834, + 0.026253845542669296, + 0.03947961702942848, + -0.018287185579538345, + -1.7828110456466675, + 0.0, + 0.9988223910331726 + ], + [ + 0.37730905413627625, + 0.0777897909283638, + 0.015568677335977554, + 0.006301248446106911, + -0.08515036106109619, + -1.8752244710922241, + 0.0, + 0.9988223910331726 + ], + [ + 0.3715890645980835, + 0.06449498981237411, + 0.00896826758980751, + 0.007020890712738037, + -0.10212479531764984, + -1.9750884771347046, + 0.0, + 1.0008161067962646 + ], + [ + 0.36386552453041077, + 0.053102992475032806, + 0.007092174142599106, + 0.017398690804839134, + -0.12042649835348129, + -2.049837350845337, + 0.0, + 1.0008161067962646 + ], + [ + 0.3558443486690521, + 0.040584273636341095, + 0.008184908889234066, + 0.01858643628656864, + -0.128160297870636, + -2.0931899547576904, + 0.0, + 1.0008161067962646 + ], + [ + 0.3465396463871002, + 0.03107285313308239, + 0.010366834700107574, + 0.012029265984892845, + -0.14572130143642426, + -2.1109676361083984, + 0.0, + 1.0008161067962646 + ], + [ + 0.3397656977176666, + 0.02154608815908432, + 0.01680155098438263, + 0.00692737428471446, + -0.15024824440479279, + -2.129911422729492, + 0.0, + 1.0008161067962646 + ], + [ + 0.3346215784549713, + 0.00673815980553627, + 0.014975368045270443, + -0.005169781856238842, + -0.1567610204219818, + -2.1624627113342285, + 0.0, + 1.0008161067962646 + ], + [ + 0.330690860748291, + -0.0022082573268562555, + 0.013979360461235046, + -0.016907041892409325, + -0.1631949245929718, + -2.1671547889709473, + 0.0, + 1.0008161067962646 + ], + [ + 0.32574722170829773, + -0.0050039393827319145, + 0.011541297659277916, + -0.030595390126109123, + -0.16808708012104034, + -2.1635096073150635, + 0.0, + 1.0008161067962646 + ], + [ + 0.32697001099586487, + -0.0029518180526793003, + 0.01082767453044653, + -0.03241308033466339, + -0.15151605010032654, + -2.149167537689209, + 0.0, + 1.0008161067962646 + ], + [ + 0.35227343440055847, + 0.03396763652563095, + 0.040865544229745865, + -0.006792827975004911, + -0.10246866196393967, + -1.9320720434188843, + 0.0, + 0.9994885921478271 + ], + [ + 0.36765703558921814, + 0.09768136590719223, + 0.08428442478179932, + 0.10462303459644318, + -0.029185166582465172, + -1.6579065322875977, + 0.0, + 0.9994885921478271 + ], + [ + 0.3673282861709595, + 0.1326647847890854, + 0.10878670960664749, + 0.12296715378761292, + -0.0072677480056881905, + -1.433968186378479, + 0.0, + 0.9994885921478271 + ], + [ + 0.35376042127609253, + 0.16870757937431335, + 0.1264725774526596, + 0.09865453094244003, + 0.04502326622605324, + -1.206637978553772, + 0.0, + 0.9994885921478271 + ], + [ + 0.33154577016830444, + 0.19324994087219238, + 0.13456599414348602, + 0.03162620961666107, + 0.058136943727731705, + -1.1343432664871216, + 0.0, + 0.9994885921478271 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.26110151410102844, + 0.10806986689567566, + 0.13704265654087067 + ], + [ + 0.26148995757102966, + 0.10776486247777939, + 0.13040630519390106 + ], + [ + 0.2789514660835266, + 0.12310823798179626, + 0.11898358911275864 + ], + [ + 0.295861154794693, + 0.13560806214809418, + 0.1149481013417244 + ], + [ + 0.3084685802459717, + 0.14159798622131348, + 0.1068069264292717 + ], + [ + 0.3167637288570404, + 0.1369374692440033, + 0.09868243336677551 + ], + [ + 0.3242272436618805, + 0.12909473478794098, + 0.09702345728874207 + ], + [ + 0.34042492508888245, + 0.12284796684980392, + 0.085829958319664 + ], + [ + 0.35394904017448425, + 0.1188318133354187, + 0.076627716422081 + ], + [ + 0.3731217682361603, + 0.11886896938085556, + 0.06918979436159134 + ], + [ + 0.3937280476093292, + 0.11501513421535492, + 0.05836527794599533 + ], + [ + 0.4014711380004883, + 0.11046301573514938, + 0.05417542904615402 + ], + [ + 0.40059125423431396, + 0.10650624334812164, + 0.045177657157182693 + ], + [ + 0.3945103883743286, + 0.09973367303609848, + 0.0344771072268486 + ], + [ + 0.3891289234161377, + 0.09353277087211609, + 0.031013472005724907 + ], + [ + 0.38614559173583984, + 0.0872349739074707, + 0.025660309940576553 + ], + [ + 0.3847964406013489, + 0.08408333361148834, + 0.026253845542669296 + ], + [ + 0.37730905413627625, + 0.0777897909283638, + 0.015568677335977554 + ], + [ + 0.3715890645980835, + 0.06449498981237411, + 0.00896826758980751 + ], + [ + 0.36386552453041077, + 0.053102992475032806, + 0.007092174142599106 + ], + [ + 0.3558443486690521, + 0.040584273636341095, + 0.008184908889234066 + ], + [ + 0.3465396463871002, + 0.03107285313308239, + 0.010366834700107574 + ], + [ + 0.3397656977176666, + 0.02154608815908432, + 0.01680155098438263 + ], + [ + 0.3346215784549713, + 0.00673815980553627, + 0.014975368045270443 + ], + [ + 0.330690860748291, + -0.0022082573268562555, + 0.013979360461235046 + ], + [ + 0.32574722170829773, + -0.0050039393827319145, + 0.011541297659277916 + ], + [ + 0.32697001099586487, + -0.0029518180526793003, + 0.01082767453044653 + ], + [ + 0.35227343440055847, + 0.03396763652563095, + 0.040865544229745865 + ], + [ + 0.36765703558921814, + 0.09768136590719223, + 0.08428442478179932 + ], + [ + 0.3673282861709595, + 0.1326647847890854, + 0.10878670960664749 + ], + [ + 0.35376042127609253, + 0.16870757937431335, + 0.1264725774526596 + ], + [ + 0.33154577016830444, + 0.19324994087219238, + 0.13456599414348602 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.674934452012238, + -0.7323512612149659, + 0.09013942358251877, + -0.7351766048480735, + -0.6778702568496818, + -0.0026971397082735035, + 0.06307808788319134, + -0.0644480028813545, + -0.9959255041184583 + ], + [ + 0.6710596014001656, + -0.7375092313376032, + 0.07588903122631563, + -0.7389762319870384, + -0.6736252970115083, + -0.011961930629956319, + 0.059942805463955307, + -0.0480530219442545, + -0.99704451613513 + ], + [ + 0.5782763894925426, + -0.8023369030710773, + 0.1478239200054658, + -0.8126358345307284, + -0.5825155876776466, + 0.017279772831642927, + 0.07224553821528518, + -0.13011949924157912, + -0.9888627296673209 + ], + [ + 0.4891881312156564, + -0.8513392012375885, + 0.18951658690963913, + -0.8699975330266821, + -0.4916622584204927, + 0.03704748537145468, + 0.06163817652414126, + -0.1830021532141241, + -0.9811783462315979 + ], + [ + 0.3419014246726714, + -0.9208906670206317, + 0.18725329156277476, + -0.9391971202497927, + -0.3415990049140436, + 0.03491259308947889, + 0.031814856927133026, + -0.18780441750936297, + -0.9816910489775665 + ], + [ + 0.15412218061611144, + -0.9776437792338358, + 0.14303494107216536, + -0.9872625580290971, + -0.14659184017370258, + 0.061834245433508295, + -0.03948411017078178, + -0.15074307055341127, + -0.9877841523957301 + ], + [ + 0.01276108033722051, + -0.9895298314615889, + 0.1437632340907322, + -0.9958618923053971, + 0.00036053554983467295, + 0.09087882849173937, + -0.0899791435975064, + -0.1443280383768759, + -0.9854304496288627 + ], + [ + -0.1342637845444255, + -0.9810563299819743, + 0.13964853583946968, + -0.9831963185809078, + 0.14947405638267536, + 0.10479745033854086, + -0.12368603514042403, + -0.12323142403952157, + -0.9846399244599182 + ], + [ + -0.17535848727684966, + -0.9727132185001444, + 0.1519157513066546, + -0.9727740935937661, + 0.19494322429745048, + 0.1253303719508589, + -0.15152545585742902, + -0.1258019628447994, + -0.9804151683708254 + ], + [ + -0.1601242255885338, + -0.9727844296025994, + 0.16748338992991976, + -0.9756045752242688, + 0.18178090943280512, + 0.12309107915383619, + -0.1501863681601829, + -0.14368769776333504, + -0.978160467576934 + ], + [ + -0.14615506789354765, + -0.9772306733345324, + 0.15381452214654115, + -0.9767306663170423, + 0.1672181824913283, + 0.13429551340295556, + -0.15695827982269375, + -0.13060739082622078, + -0.9789309515265454 + ], + [ + -0.1218431816608177, + -0.9820687841441611, + 0.14385806300787735, + -0.979725027965074, + 0.14222262709914207, + 0.14110844737241526, + -0.1590380729938724, + -0.12374824261632086, + -0.9794862243991838 + ], + [ + -0.11243728827608773, + -0.986869740115516, + 0.11595676888156968, + -0.9832477249638143, + 0.12734761643029352, + 0.13040895652909085, + -0.14346347116462585, + -0.09935139975791303, + -0.9846560474640573 + ], + [ + -0.13788904573345223, + -0.9884321369072006, + 0.06315474483982246, + -0.9845439126010956, + 0.14373988726147918, + 0.10006062647306999, + -0.10798099474835333, + -0.048381355284059624, + -0.9929749992995964 + ], + [ + -0.17011589661106186, + -0.9846248936368576, + 0.039678716597455935, + -0.9827217050229677, + 0.17249176480149764, + 0.06711662649758154, + -0.07292895307739958, + -0.02757553093362919, + -0.9969558455101022 + ], + [ + -0.18973843875042784, + -0.9812071381823622, + 0.035098103090182256, + -0.9812859493075274, + 0.19070616653362615, + 0.026627875200126116, + -0.032820885913923514, + -0.02938894394202979, + -0.9990290683567709 + ], + [ + -0.21039474762558863, + -0.9769990470307842, + 0.03474064294892015, + -0.9774454799591904, + 0.20956037905978853, + -0.02616832504509174, + 0.018286166326289953, + -0.03946276256494457, + -0.9990537055092834 + ], + [ + -0.29866164694043856, + -0.9541602163575339, + -0.01948081536715659, + -0.950562014485074, + 0.299230452168397, + -0.08302405141388257, + 0.08504750005087253, + -0.006278376831721666, + -0.996357117061677 + ], + [ + -0.3913185465936417, + -0.9196399688885527, + -0.03364703128809729, + -0.914590907928354, + 0.39270032828108076, + -0.0964879438205692, + 0.10194736988578826, + -0.0069842530447994655, + -0.9947652758227827 + ], + [ + -0.45759007761640236, + -0.8882664183772614, + -0.03992606730254063, + -0.8810100747660871, + 0.45900376315654223, + -0.11461585217057324, + 0.12013562763672027, + -0.01727180915147556, + -0.9926072312757783 + ], + [ + -0.494863863172039, + -0.8676628776576017, + -0.04765383154978299, + -0.859519880990728, + 0.4968111888647144, + -0.12001756871605859, + 0.12780974574785087, + -0.01843294208092275, + -0.9916273975330205 + ], + [ + -0.5088322519710071, + -0.8584568311859512, + -0.06435532879481282, + -0.8485310370754328, + 0.512747719277199, + -0.13070904902003155, + 0.14520612409194, + -0.01190148588225843, + -0.9893298419435199 + ], + [ + -0.524460329385553, + -0.8482545000978449, + -0.07352323418180265, + -0.8381743180006921, + 0.529544512284656, + -0.13056194757003348, + 0.14968358475421303, + -0.0068492753602614545, + -0.988710226447652 + ], + [ + -0.5509059221902048, + -0.82955116594591, + -0.09136480708424552, + -0.819834912097265, + 0.5584073675054348, + -0.12669620681820043, + 0.15611976749351777, + 0.0051063679295144035, + -0.987724932966835 + ], + [ + -0.5541709569957304, + -0.8257253705143789, + -0.10522434562081229, + -0.8163930184253437, + 0.5638256259414248, + -0.12491238128430987, + 0.16247150485175144, + 0.016681607256265003, + -0.9865722143312952 + ], + [ + -0.5507407808199423, + -0.826181062755647, + -0.11878318014681208, + -0.8177385938398345, + 0.5625968864455497, + -0.1216073003837485, + 0.16729669598258787, + 0.030159491138326965, + -0.9854451890427933 + ], + [ + -0.5403979075661242, + -0.8342403503394268, + -0.10960446780904967, + -0.8277609120737918, + 0.5504695491132062, + -0.10860546920789829, + 0.1509369866564154, + 0.03203612593079613, + -0.9880241458053679 + ], + [ + -0.3516138327862212, + -0.9351794784794312, + -0.04250947687660703, + -0.9305399418007918, + 0.3541097061877722, + -0.09328307829927707, + 0.10228943888184508, + 0.00675714544383401, + -0.9947317284970298 + ], + [ + -0.08696302961218749, + -0.9910261659586025, + 0.10151142726837492, + -0.9957840626081437, + 0.08348847718951369, + -0.03799703715024061, + 0.029181023564818824, + -0.10438779891332525, + -0.9941084726033377 + ], + [ + 0.1363979895024965, + -0.9830516676389448, + 0.12249492729075116, + -0.9906274623836077, + -0.13625473603356808, + 0.009585284546467447, + 0.007267684025253782, + -0.12265425251784884, + -0.9924228509603136 + ], + [ + 0.35580203422109463, + -0.9314591910043987, + 0.07608342748300949, + -0.9334769345175914, + -0.35028880264275636, + 0.076932226451238, + -0.04500805669845695, + -0.09839476732293954, + -0.9941291387921859 + ], + [ + 0.42201350451968866, + -0.9065802429353697, + 0.0041067167246854365, + -0.904725651221903, + -0.42085122682909215, + 0.06599803707347472, + -0.05810419971150482, + -0.03156751487992232, + -0.9978113017901689 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + 0.0003884434700012207, + -0.00030500441789627075, + -0.0066363513469696045, + -0.016463369131088257, + 0.0031412318348884583, + -0.005433797836303711, + 1.0 + ], + [ + 0.017461508512496948, + 0.015343375504016876, + -0.011422716081142426, + 0.08267514407634735, + -0.012329772114753723, + -0.11879605054855347, + 1.0 + ], + [ + 0.016909688711166382, + 0.012499824166297913, + -0.004035487771034241, + 0.05356059968471527, + 0.0106312595307827, + -0.10624521970748901, + 1.0 + ], + [ + 0.012607425451278687, + 0.005989924073219299, + -0.008141174912452698, + 0.004629209637641907, + 0.029857046902179718, + -0.16310369968414307, + 1.0 + ], + [ + 0.008295148611068726, + -0.004660516977310181, + -0.008124493062496185, + -0.03758426010608673, + 0.07131460309028625, + -0.19426310062408447, + 1.0 + ], + [ + 0.007463514804840088, + -0.007842734456062317, + -0.0016589760780334473, + -0.006010949611663818, + 0.0506066270172596, + -0.14204728603363037, + 1.0 + ], + [ + 0.016197681427001953, + -0.0062467679381370544, + -0.011193498969078064, + -0.02092152088880539, + 0.03390258550643921, + -0.14853239059448242, + 1.0 + ], + [ + 0.013524115085601807, + -0.004016153514385223, + -0.009202241897583008, + 0.003111220896244049, + 0.02810777723789215, + -0.04263198375701904, + 1.0 + ], + [ + 0.019172728061676025, + 3.715604543685913e-05, + -0.0074379220604896545, + 0.01823507249355316, + -0.0013545900583267212, + 0.015673160552978516, + 1.0 + ], + [ + 0.020606279373168945, + -0.003853835165500641, + -0.010824516415596008, + -0.013217613101005554, + 0.006853222846984863, + 0.014142870903015137, + 1.0 + ], + [ + 0.007743090391159058, + -0.004552118480205536, + -0.004189848899841309, + -0.0069609880447387695, + 0.0021062493324279785, + 0.024805545806884766, + 1.0 + ], + [ + -0.0008798837661743164, + -0.0039567723870277405, + -0.008997771888971329, + -0.02511484920978546, + -0.015756040811538696, + 0.00987100601196289, + 1.0 + ], + [ + -0.0060808658599853516, + -0.006772570312023163, + -0.010700549930334091, + -0.051874127238988876, + -0.035768263041973114, + -0.025290250778198242, + 1.0 + ], + [ + -0.005381464958190918, + -0.006200902163982391, + -0.0034636352211236954, + -0.021032456308603287, + -0.035198189318180084, + -0.032259583473205566, + 1.0 + ], + [ + -0.0029833316802978516, + -0.006297796964645386, + -0.005353162065148354, + 0.0017563439905643463, + -0.04016697406768799, + -0.019591689109802246, + 1.0 + ], + [ + -0.0013491511344909668, + -0.003151640295982361, + 0.0005935356020927429, + 0.010070592164993286, + -0.05111396685242653, + -0.021014809608459473, + 1.0 + ], + [ + -0.007487386465072632, + -0.006293542683124542, + -0.010685168206691742, + -0.03317836672067642, + -0.06686317920684814, + -0.09241342544555664, + 1.0 + ], + [ + -0.005719989538192749, + -0.013294801115989685, + -0.006600409746170044, + 0.0007196422666311264, + -0.01697443425655365, + -0.09986400604248047, + 1.0 + ], + [ + -0.0077235400676727295, + -0.011391997337341309, + -0.0018760934472084045, + 0.010377800092101097, + -0.01830170303583145, + -0.07474887371063232, + 1.0 + ], + [ + -0.008021175861358643, + -0.012518718838691711, + 0.0010927347466349602, + 0.0011877454817295074, + -0.007733799517154694, + -0.043352603912353516, + 1.0 + ], + [ + -0.009304702281951904, + -0.009511420503258705, + 0.0021819258108735085, + -0.0065571703016757965, + -0.01756100356578827, + -0.017777681350708008, + 1.0 + ], + [ + -0.006773948669433594, + -0.00952676497399807, + 0.006434716284275055, + -0.005101891700178385, + -0.00452694296836853, + -0.01894378662109375, + 1.0 + ], + [ + -0.0051441192626953125, + -0.01480792835354805, + -0.0018261829391121864, + -0.012097155675292015, + -0.006512776017189026, + -0.03255128860473633, + 1.0 + ], + [ + -0.003930717706680298, + -0.008946416899561882, + -0.0009960075840353966, + -0.011737260036170483, + -0.00643390417098999, + -0.00469207763671875, + 1.0 + ], + [ + -0.004943639039993286, + -0.002795682055875659, + -0.0024380628019571304, + -0.013688348233699799, + -0.0048921555280685425, + 0.003645181655883789, + 1.0 + ], + [ + 0.0012227892875671387, + 0.002052121330052614, + -0.0007136231288313866, + -0.0018176902085542679, + 0.016571030020713806, + 0.014342069625854492, + 1.0 + ], + [ + 0.025303423404693604, + 0.03691945597529411, + 0.03003786876797676, + 0.025620251893997192, + 0.04904738813638687, + 0.2170954942703247, + 1.0 + ], + [ + 0.015383601188659668, + 0.06371372938156128, + 0.04341888055205345, + 0.11141586303710938, + 0.07328349351882935, + 0.2741655111312866, + 1.0 + ], + [ + -0.000328749418258667, + 0.03498341888189316, + 0.024502284824848175, + 0.01834411919116974, + 0.021917417645454407, + 0.22393834590911865, + 1.0 + ], + [ + -0.013567864894866943, + 0.036042794585227966, + 0.017685867846012115, + -0.024312622845172882, + 0.052291013300418854, + 0.22733020782470703, + 1.0 + ], + [ + -0.022214651107788086, + 0.02454236149787903, + 0.008093416690826416, + -0.06702832132577896, + 0.013113677501678467, + 0.07229471206665039, + 1.0 + ], + [ + -0.014782905578613281, + 0.011258125305175781, + -0.0016932934522628784, + -0.025079593062400818, + 0.0009768866002559662, + -0.04261493682861328, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.26148995757102966, + 0.10776486247777939, + 0.13040630519390106 + ], + [ + 0.2789514660835266, + 0.12310823798179626, + 0.11898358911275864 + ], + [ + 0.295861154794693, + 0.13560806214809418, + 0.1149481013417244 + ], + [ + 0.3084685802459717, + 0.14159798622131348, + 0.1068069264292717 + ], + [ + 0.3167637288570404, + 0.1369374692440033, + 0.09868243336677551 + ], + [ + 0.3242272436618805, + 0.12909473478794098, + 0.09702345728874207 + ], + [ + 0.34042492508888245, + 0.12284796684980392, + 0.085829958319664 + ], + [ + 0.35394904017448425, + 0.1188318133354187, + 0.076627716422081 + ], + [ + 0.3731217682361603, + 0.11886896938085556, + 0.06918979436159134 + ], + [ + 0.3937280476093292, + 0.11501513421535492, + 0.05836527794599533 + ], + [ + 0.4014711380004883, + 0.11046301573514938, + 0.05417542904615402 + ], + [ + 0.40059125423431396, + 0.10650624334812164, + 0.045177657157182693 + ], + [ + 0.3945103883743286, + 0.09973367303609848, + 0.0344771072268486 + ], + [ + 0.3891289234161377, + 0.09353277087211609, + 0.031013472005724907 + ], + [ + 0.38614559173583984, + 0.0872349739074707, + 0.025660309940576553 + ], + [ + 0.3847964406013489, + 0.08408333361148834, + 0.026253845542669296 + ], + [ + 0.37730905413627625, + 0.0777897909283638, + 0.015568677335977554 + ], + [ + 0.3715890645980835, + 0.06449498981237411, + 0.00896826758980751 + ], + [ + 0.36386552453041077, + 0.053102992475032806, + 0.007092174142599106 + ], + [ + 0.3558443486690521, + 0.040584273636341095, + 0.008184908889234066 + ], + [ + 0.3465396463871002, + 0.03107285313308239, + 0.010366834700107574 + ], + [ + 0.3397656977176666, + 0.02154608815908432, + 0.01680155098438263 + ], + [ + 0.3346215784549713, + 0.00673815980553627, + 0.014975368045270443 + ], + [ + 0.330690860748291, + -0.0022082573268562555, + 0.013979360461235046 + ], + [ + 0.32574722170829773, + -0.0050039393827319145, + 0.011541297659277916 + ], + [ + 0.32697001099586487, + -0.0029518180526793003, + 0.01082767453044653 + ], + [ + 0.35227343440055847, + 0.03396763652563095, + 0.040865544229745865 + ], + [ + 0.36765703558921814, + 0.09768136590719223, + 0.08428442478179932 + ], + [ + 0.3673282861709595, + 0.1326647847890854, + 0.10878670960664749 + ], + [ + 0.35376042127609253, + 0.16870757937431335, + 0.1264725774526596 + ], + [ + 0.33154577016830444, + 0.19324994087219238, + 0.13456599414348602 + ], + [ + 0.31676286458969116, + 0.20450806617736816, + 0.13287270069122314 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.6710596014001656, + -0.7375092313376032, + 0.07588903122631563, + -0.7389762319870384, + -0.6736252970115083, + -0.011961930629956319, + 0.059942805463955307, + -0.0480530219442545, + -0.99704451613513 + ], + [ + 0.5782763894925426, + -0.8023369030710773, + 0.1478239200054658, + -0.8126358345307284, + -0.5825155876776466, + 0.017279772831642927, + 0.07224553821528518, + -0.13011949924157912, + -0.9888627296673209 + ], + [ + 0.4891881312156564, + -0.8513392012375885, + 0.18951658690963913, + -0.8699975330266821, + -0.4916622584204927, + 0.03704748537145468, + 0.06163817652414126, + -0.1830021532141241, + -0.9811783462315979 + ], + [ + 0.3419014246726714, + -0.9208906670206317, + 0.18725329156277476, + -0.9391971202497927, + -0.3415990049140436, + 0.03491259308947889, + 0.031814856927133026, + -0.18780441750936297, + -0.9816910489775665 + ], + [ + 0.15412218061611144, + -0.9776437792338358, + 0.14303494107216536, + -0.9872625580290971, + -0.14659184017370258, + 0.061834245433508295, + -0.03948411017078178, + -0.15074307055341127, + -0.9877841523957301 + ], + [ + 0.01276108033722051, + -0.9895298314615889, + 0.1437632340907322, + -0.9958618923053971, + 0.00036053554983467295, + 0.09087882849173937, + -0.0899791435975064, + -0.1443280383768759, + -0.9854304496288627 + ], + [ + -0.1342637845444255, + -0.9810563299819743, + 0.13964853583946968, + -0.9831963185809078, + 0.14947405638267536, + 0.10479745033854086, + -0.12368603514042403, + -0.12323142403952157, + -0.9846399244599182 + ], + [ + -0.17535848727684966, + -0.9727132185001444, + 0.1519157513066546, + -0.9727740935937661, + 0.19494322429745048, + 0.1253303719508589, + -0.15152545585742902, + -0.1258019628447994, + -0.9804151683708254 + ], + [ + -0.1601242255885338, + -0.9727844296025994, + 0.16748338992991976, + -0.9756045752242688, + 0.18178090943280512, + 0.12309107915383619, + -0.1501863681601829, + -0.14368769776333504, + -0.978160467576934 + ], + [ + -0.14615506789354765, + -0.9772306733345324, + 0.15381452214654115, + -0.9767306663170423, + 0.1672181824913283, + 0.13429551340295556, + -0.15695827982269375, + -0.13060739082622078, + -0.9789309515265454 + ], + [ + -0.1218431816608177, + -0.9820687841441611, + 0.14385806300787735, + -0.979725027965074, + 0.14222262709914207, + 0.14110844737241526, + -0.1590380729938724, + -0.12374824261632086, + -0.9794862243991838 + ], + [ + -0.11243728827608773, + -0.986869740115516, + 0.11595676888156968, + -0.9832477249638143, + 0.12734761643029352, + 0.13040895652909085, + -0.14346347116462585, + -0.09935139975791303, + -0.9846560474640573 + ], + [ + -0.13788904573345223, + -0.9884321369072006, + 0.06315474483982246, + -0.9845439126010956, + 0.14373988726147918, + 0.10006062647306999, + -0.10798099474835333, + -0.048381355284059624, + -0.9929749992995964 + ], + [ + -0.17011589661106186, + -0.9846248936368576, + 0.039678716597455935, + -0.9827217050229677, + 0.17249176480149764, + 0.06711662649758154, + -0.07292895307739958, + -0.02757553093362919, + -0.9969558455101022 + ], + [ + -0.18973843875042784, + -0.9812071381823622, + 0.035098103090182256, + -0.9812859493075274, + 0.19070616653362615, + 0.026627875200126116, + -0.032820885913923514, + -0.02938894394202979, + -0.9990290683567709 + ], + [ + -0.21039474762558863, + -0.9769990470307842, + 0.03474064294892015, + -0.9774454799591904, + 0.20956037905978853, + -0.02616832504509174, + 0.018286166326289953, + -0.03946276256494457, + -0.9990537055092834 + ], + [ + -0.29866164694043856, + -0.9541602163575339, + -0.01948081536715659, + -0.950562014485074, + 0.299230452168397, + -0.08302405141388257, + 0.08504750005087253, + -0.006278376831721666, + -0.996357117061677 + ], + [ + -0.3913185465936417, + -0.9196399688885527, + -0.03364703128809729, + -0.914590907928354, + 0.39270032828108076, + -0.0964879438205692, + 0.10194736988578826, + -0.0069842530447994655, + -0.9947652758227827 + ], + [ + -0.45759007761640236, + -0.8882664183772614, + -0.03992606730254063, + -0.8810100747660871, + 0.45900376315654223, + -0.11461585217057324, + 0.12013562763672027, + -0.01727180915147556, + -0.9926072312757783 + ], + [ + -0.494863863172039, + -0.8676628776576017, + -0.04765383154978299, + -0.859519880990728, + 0.4968111888647144, + -0.12001756871605859, + 0.12780974574785087, + -0.01843294208092275, + -0.9916273975330205 + ], + [ + -0.5088322519710071, + -0.8584568311859512, + -0.06435532879481282, + -0.8485310370754328, + 0.512747719277199, + -0.13070904902003155, + 0.14520612409194, + -0.01190148588225843, + -0.9893298419435199 + ], + [ + -0.524460329385553, + -0.8482545000978449, + -0.07352323418180265, + -0.8381743180006921, + 0.529544512284656, + -0.13056194757003348, + 0.14968358475421303, + -0.0068492753602614545, + -0.988710226447652 + ], + [ + -0.5509059221902048, + -0.82955116594591, + -0.09136480708424552, + -0.819834912097265, + 0.5584073675054348, + -0.12669620681820043, + 0.15611976749351777, + 0.0051063679295144035, + -0.987724932966835 + ], + [ + -0.5541709569957304, + -0.8257253705143789, + -0.10522434562081229, + -0.8163930184253437, + 0.5638256259414248, + -0.12491238128430987, + 0.16247150485175144, + 0.016681607256265003, + -0.9865722143312952 + ], + [ + -0.5507407808199423, + -0.826181062755647, + -0.11878318014681208, + -0.8177385938398345, + 0.5625968864455497, + -0.1216073003837485, + 0.16729669598258787, + 0.030159491138326965, + -0.9854451890427933 + ], + [ + -0.5403979075661242, + -0.8342403503394268, + -0.10960446780904967, + -0.8277609120737918, + 0.5504695491132062, + -0.10860546920789829, + 0.1509369866564154, + 0.03203612593079613, + -0.9880241458053679 + ], + [ + -0.3516138327862212, + -0.9351794784794312, + -0.04250947687660703, + -0.9305399418007918, + 0.3541097061877722, + -0.09328307829927707, + 0.10228943888184508, + 0.00675714544383401, + -0.9947317284970298 + ], + [ + -0.08696302961218749, + -0.9910261659586025, + 0.10151142726837492, + -0.9957840626081437, + 0.08348847718951369, + -0.03799703715024061, + 0.029181023564818824, + -0.10438779891332525, + -0.9941084726033377 + ], + [ + 0.1363979895024965, + -0.9830516676389448, + 0.12249492729075116, + -0.9906274623836077, + -0.13625473603356808, + 0.009585284546467447, + 0.007267684025253782, + -0.12265425251784884, + -0.9924228509603136 + ], + [ + 0.35580203422109463, + -0.9314591910043987, + 0.07608342748300949, + -0.9334769345175914, + -0.35028880264275636, + 0.076932226451238, + -0.04500805669845695, + -0.09839476732293954, + -0.9941291387921859 + ], + [ + 0.42201350451968866, + -0.9065802429353697, + 0.0041067167246854365, + -0.904725651221903, + -0.42085122682909215, + 0.06599803707347472, + -0.05810419971150482, + -0.03156751487992232, + -0.9978113017901689 + ], + [ + 0.38306524517181556, + -0.9235716688134782, + -0.016624996437401212, + -0.9218300502214011, + -0.38337014042042, + 0.05706745081775118, + -0.05907940800537703, + -0.006535135738012218, + -0.9982318946770934 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006473.json b/json/chunk-0006/episode_0006473.json new file mode 100644 index 0000000000000000000000000000000000000000..c9591f0644018d047ce36a37ba4451a085d8f912 --- /dev/null +++ b/json/chunk-0006/episode_0006473.json @@ -0,0 +1,1342 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 21, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nClose the drawer." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006473.mp4", + "start": 0, + "end": 21, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.37665367126464844, + -0.12999500334262848, + 0.18045775592327118, + -0.04833857715129852, + -0.1683753877878189, + -0.0028062991332262754, + 0.0, + 1.0001531839370728 + ], + [ + 0.37683045864105225, + -0.1300567239522934, + 0.16528356075286865, + -0.03468434885144234, + -0.12922066450119019, + -0.0048309508711099625, + 0.0, + 1.0001531839370728 + ], + [ + 0.3766220510005951, + -0.08905845880508423, + 0.14670981466770172, + -0.009359407238662243, + -0.07278164476156235, + 0.0765991061925888, + 0.0, + 1.0001531839370728 + ], + [ + 0.37644821405410767, + -0.026493750512599945, + 0.14310568571090698, + 0.008001687005162239, + -0.05490584298968315, + 0.1955586075782776, + 0.0, + 1.0001531839370728 + ], + [ + 0.37195703387260437, + 0.01192505843937397, + 0.13415390253067017, + 0.019069256260991096, + -0.05209339037537575, + 0.20692887902259827, + 0.0, + 1.0001531839370728 + ], + [ + 0.37064117193222046, + 0.05649436265230179, + 0.11753952503204346, + 0.0020008287392556667, + -0.07842907309532166, + 0.19763323664665222, + 0.0, + 1.0001531839370728 + ], + [ + 0.3744108974933624, + 0.07671093940734863, + 0.08636315166950226, + 0.009271681308746338, + -0.11471041291952133, + 0.14396990835666656, + 0.0, + 1.0001531839370728 + ], + [ + 0.3803001940250397, + 0.08611240983009338, + 0.056477319449186325, + 0.040635187178850174, + -0.13112817704677582, + 0.13568322360515594, + 0.0, + 1.0001531839370728 + ], + [ + 0.3864290714263916, + 0.09073580056428909, + 0.029825648292899132, + 0.05936453863978386, + -0.10775667428970337, + 0.16946503520011902, + 0.0, + 1.0001531839370728 + ], + [ + 0.3955060541629791, + 0.08386535197496414, + 0.010796371847391129, + 0.05542070046067238, + -0.09635821729898453, + 0.18919625878334045, + 0.0, + 0.959831714630127 + ], + [ + 0.40608546137809753, + 0.07591520994901657, + 0.007833422161638737, + 0.048400938510894775, + -0.09979736059904099, + 0.180602565407753, + 0.0, + 0.680191159248352 + ], + [ + 0.40837445855140686, + 0.06411578506231308, + 0.009464188478887081, + 0.05242835357785225, + -0.09552378952503204, + 0.15249867737293243, + 0.0, + 0.3737536668777466 + ], + [ + 0.4147607088088989, + 0.046233270317316055, + 0.014208578504621983, + 0.04052117094397545, + -0.10390616953372955, + 0.10812077671289444, + 0.0, + 0.17243100702762604 + ], + [ + 0.42085322737693787, + 0.01372919138520956, + 0.01928805187344551, + 0.0015865738969296217, + -0.11056238412857056, + 0.06278713047504425, + 0.0, + 0.12220374494791031 + ], + [ + 0.4241972267627716, + -0.0071057043969631195, + 0.02296197973191738, + -0.033745359629392624, + -0.11541694402694702, + 0.039998769760131836, + 0.0, + 0.11960587650537491 + ], + [ + 0.4270932376384735, + -0.022400660440325737, + 0.025466494262218475, + -0.04375290498137474, + -0.11341182142496109, + 0.012844339944422245, + 0.0, + 0.11960587650537491 + ], + [ + 0.4274655282497406, + -0.045010730624198914, + 0.0205443874001503, + -0.06183231994509697, + -0.09058932214975357, + -0.018062157556414604, + 0.0, + 0.11960587650537491 + ], + [ + 0.42432522773742676, + -0.062349721789360046, + 0.0204826258122921, + -0.06769102066755295, + -0.0816507488489151, + -0.01687018573284149, + 0.0, + 0.11960587650537491 + ], + [ + 0.4237249195575714, + -0.061022061854600906, + 0.02034885622560978, + -0.06065318360924721, + -0.07666198164224625, + -0.00018309097504243255, + 0.0, + 0.146205335855484 + ], + [ + 0.416215717792511, + -0.05567155405879021, + 0.034309204667806625, + -0.014664780348539352, + -0.08948024362325668, + 0.0868784561753273, + 0.0, + 0.35357794165611267 + ], + [ + 0.40951037406921387, + -0.044445622712373734, + 0.0801912471652031, + 0.05548730120062828, + -0.1551973968744278, + 0.11906519532203674, + 0.0, + 0.6541022062301636 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.959831714630127 + ], + [ + 0.680191159248352 + ], + [ + 0.3737536668777466 + ], + [ + 0.17243100702762604 + ], + [ + 0.12220374494791031 + ], + [ + 0.11960587650537491 + ], + [ + 0.11960587650537491 + ], + [ + 0.11960587650537491 + ], + [ + 0.11960587650537491 + ], + [ + 0.146205335855484 + ], + [ + 0.35357794165611267 + ], + [ + 0.6541022062301636 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.37665367126464844, + -0.12999500334262848, + 0.18045775592327118 + ], + [ + 0.37683045864105225, + -0.1300567239522934, + 0.16528356075286865 + ], + [ + 0.3766220510005951, + -0.08905845880508423, + 0.14670981466770172 + ], + [ + 0.37644821405410767, + -0.026493750512599945, + 0.14310568571090698 + ], + [ + 0.37195703387260437, + 0.01192505843937397, + 0.13415390253067017 + ], + [ + 0.37064117193222046, + 0.05649436265230179, + 0.11753952503204346 + ], + [ + 0.3744108974933624, + 0.07671093940734863, + 0.08636315166950226 + ], + [ + 0.3803001940250397, + 0.08611240983009338, + 0.056477319449186325 + ], + [ + 0.3864290714263916, + 0.09073580056428909, + 0.029825648292899132 + ], + [ + 0.3955060541629791, + 0.08386535197496414, + 0.010796371847391129 + ], + [ + 0.40608546137809753, + 0.07591520994901657, + 0.007833422161638737 + ], + [ + 0.40837445855140686, + 0.06411578506231308, + 0.009464188478887081 + ], + [ + 0.4147607088088989, + 0.046233270317316055, + 0.014208578504621983 + ], + [ + 0.42085322737693787, + 0.01372919138520956, + 0.01928805187344551 + ], + [ + 0.4241972267627716, + -0.0071057043969631195, + 0.02296197973191738 + ], + [ + 0.4270932376384735, + -0.022400660440325737, + 0.025466494262218475 + ], + [ + 0.4274655282497406, + -0.045010730624198914, + 0.0205443874001503 + ], + [ + 0.42432522773742676, + -0.062349721789360046, + 0.0204826258122921 + ], + [ + 0.4237249195575714, + -0.061022061854600906, + 0.02034885622560978 + ], + [ + 0.416215717792511, + -0.05567155405879021, + 0.034309204667806625 + ], + [ + 0.40951037406921387, + -0.044445622712373734, + 0.0801912471652031 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9858544398706476, + -0.010900455155015639, + 0.16724892664751223, + -0.0027666097227409406, + -0.9988052615054287, + -0.048789296569165815, + 0.1675809334559677, + 0.04763643213429688, + -0.9847067589265044 + ], + [ + 0.9916510493429482, + -0.009296550140945953, + 0.12861481443638748, + -0.004790654768956584, + -0.9993653088826688, + -0.035299136373745994, + 0.12886134394733814, + 0.0343882764517869, + -0.9910661937927058 + ], + [ + 0.9944280706361628, + 0.07584228370344713, + 0.0732172133687486, + 0.07632163023636608, + -0.9970761331253901, + -0.0037674274754909446, + 0.07271740568050013, + 0.009334492721380878, + -0.9973089020743434 + ], + [ + 0.9794610533751084, + 0.1947390488561021, + 0.05227569006664367, + 0.19402170364228544, + -0.980822547682938, + 0.018512387001576584, + 0.054878260149792184, + -0.007989543627245561, + -0.998461087752327 + ], + [ + 0.9773388931934575, + 0.20638960720226693, + 0.04703209425787222, + 0.20517655909895968, + -0.9782845819985025, + 0.02935738783212797, + 0.0520698324147342, + -0.019042233663854866, + -0.9984618800381877 + ], + [ + 0.9775198902289475, + 0.1965025085320606, + 0.07643054590537485, + 0.1957456166848607, + -0.9805012929133224, + 0.017345551128932886, + 0.07834869338699751, + -0.0019946768937069157, + -0.9969240209307024 + ], + [ + 0.9831501858816155, + 0.1445171379312127, + 0.11193975542726212, + 0.14253016239756147, + -0.9894594288825441, + 0.025596706865417387, + 0.11445900929096481, + -0.00921061559290135, + -0.9933852725667571 + ], + [ + 0.9823030604990479, + 0.14041850417334056, + 0.12394894521505753, + 0.13410601875044464, + -0.989272736931679, + 0.05792260093098668, + 0.1307527172532532, + -0.04027524859546487, + -0.9905966037098373 + ], + [ + 0.9799580838273787, + 0.17464737550471673, + 0.09581465530223417, + 0.16767684957302, + -0.9828626548827377, + 0.07658639405352918, + 0.1075482592078472, + -0.05898555641994155, + -0.9924485256552054 + ], + [ + 0.977599626713908, + 0.19301496123910947, + 0.08392970026571292, + 0.18719712804781843, + -0.9796455047281497, + 0.07247013396273845, + 0.0962091736762977, + -0.055135377062224336, + -0.9938329261484196 + ], + [ + 0.978840937559941, + 0.18415400474910246, + 0.08920606196690542, + 0.17872863751024962, + -0.9817177377468134, + 0.0654702797230075, + 0.09963178755048821, + -0.048141312073380335, + -0.993859105196178 + ], + [ + 0.98388857323378, + 0.1566397983481761, + 0.08618148892563549, + 0.15121574424517398, + -0.9862772132721604, + 0.06626505317646178, + 0.09537858330031346, + -0.05216543063700235, + -0.994073283864968 + ], + [ + 0.9887987437167425, + 0.11199880466545707, + 0.09865755002887487, + 0.10732824052622646, + -0.9928911597142526, + 0.051456717217778294, + 0.10371930008313611, + -0.040291596081499556, + -0.9937901660186969 + ], + [ + 0.9919357700443034, + 0.06292051935801052, + 0.11002016338077814, + 0.0623627714952683, + -0.9980172952782222, + 0.008506647810434906, + 0.11033726858158055, + -0.0015768859375518821, + -0.9938929522804235 + ], + [ + 0.992552332357978, + 0.03608303919358593, + 0.11635240355614675, + 0.03972205827130585, + -0.9987866606844035, + -0.029109526371783028, + 0.11516086842946814, + 0.033514485248213065, + -0.9927813221757943 + ], + [ + 0.9934938121623543, + 0.00788221673535992, + 0.11361300917786533, + 0.01276147404733841, + -0.9990241621535199, + -0.04228319067427459, + 0.11316885603049988, + 0.043457957761436114, + -0.9926249120045061 + ], + [ + 0.995737145158044, + -0.023615874828187368, + 0.0891618091371412, + -0.017987117291418685, + -0.9978252222068843, + -0.06341363843312416, + 0.0904654705622723, + 0.061539551378618614, + -0.9939964196374478 + ], + [ + 0.9965266050136664, + -0.022346634938092164, + 0.08022065449047057, + -0.01681318397302948, + -0.9974748024127472, + -0.06900243036545621, + 0.08156005360852138, + 0.06741399304739489, + -0.9943858965194451 + ], + [ + 0.9970628924509947, + -0.004825146654729732, + 0.07643498189322037, + -0.00018255321919734887, + -0.9981602927807911, + -0.060629997444235466, + 0.07658691253457561, + 0.06043796716904192, + -0.995229469495802 + ], + [ + 0.9922428423523277, + 0.08545440783387886, + 0.09028668773598283, + 0.08642206985600073, + -0.9962350229696629, + -0.00685600834595281, + 0.08936088429720412, + 0.01460558764296553, + -0.9958922176456775 + ], + [ + 0.980986239895705, + 0.12711312461037919, + 0.14665691489688717, + 0.11735641162790547, + -0.9903736972132284, + 0.07339899534750093, + 0.15457512667019943, + -0.05479227518534947, + -0.9864605094958971 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + 0.0001767873764038086, + -6.172060966491699e-05, + -0.015174195170402527, + 0.013654228299856186, + 0.03915472328662872, + -0.002024651737883687, + 1.0 + ], + [ + -0.00020840764045715332, + 0.04099826514720917, + -0.01857374608516693, + 0.02532494068145752, + 0.05643901973962784, + 0.08143005520105362, + 1.0 + ], + [ + -0.00017383694648742676, + 0.06256470829248428, + -0.0036041289567947388, + 0.017361093312501907, + 0.017875801771879196, + 0.11895950138568878, + 1.0 + ], + [ + -0.004491180181503296, + 0.038418807089328766, + -0.008951783180236816, + 0.011067569255828857, + 0.0028124526143074036, + 0.011370271444320679, + 1.0 + ], + [ + -0.0013158619403839111, + 0.04456930607557297, + -0.01661437749862671, + -0.017068427056074142, + -0.026335682719945908, + -0.009295642375946045, + 1.0 + ], + [ + 0.0037697255611419678, + 0.020216576755046844, + -0.0311763733625412, + 0.007270852569490671, + -0.036281339824199677, + -0.05366332828998566, + 1.0 + ], + [ + 0.005889296531677246, + 0.009401470422744751, + -0.029885832220315933, + 0.031363505870103836, + -0.016417764127254486, + -0.00828668475151062, + 1.0 + ], + [ + 0.006128877401351929, + 0.004623390734195709, + -0.026651671156287193, + 0.018729351460933685, + 0.02337150275707245, + 0.033781811594963074, + 1.0 + ], + [ + 0.009076982736587524, + -0.006870448589324951, + -0.019029276445508003, + -0.003943838179111481, + 0.011398456990718842, + 0.019731223583221436, + 0.0 + ], + [ + 0.010579407215118408, + -0.00795014202594757, + -0.002962949685752392, + -0.007019761949777603, + -0.0034391433000564575, + -0.008593693375587463, + 0.0 + ], + [ + 0.002288997173309326, + -0.011799424886703491, + 0.0016307663172483444, + 0.004027415066957474, + 0.004273571074008942, + -0.028103888034820557, + 0.0 + ], + [ + 0.006386250257492065, + -0.017882514744997025, + 0.004744390025734901, + -0.0119071826338768, + -0.00838238000869751, + -0.044377900660037994, + 0.0 + ], + [ + 0.00609251856803894, + -0.03250407800078392, + 0.005079473368823528, + -0.03893459588289261, + -0.006656214594841003, + -0.04533364623785019, + 0.0 + ], + [ + 0.0033439993858337402, + -0.020834896713495255, + 0.0036739278584718704, + -0.035331934690475464, + -0.004854559898376465, + -0.022788360714912415, + 0.0 + ], + [ + 0.0028960108757019043, + -0.015294956043362617, + 0.002504514530301094, + -0.010007545351982117, + 0.0020051226019859314, + -0.027154430747032166, + 0.0 + ], + [ + 0.00037229061126708984, + -0.022610070183873177, + -0.004922106862068176, + -0.01807941496372223, + 0.02282249927520752, + -0.030906498432159424, + 0.0 + ], + [ + -0.0031403005123138428, + -0.017338991165161133, + -6.176158785820007e-05, + -0.005858700722455978, + 0.00893857330083847, + 0.0011919718235731125, + 0.0 + ], + [ + -0.0006003081798553467, + 0.00132765993475914, + -0.00013376958668231964, + 0.00703783705830574, + 0.004988767206668854, + 0.016687095165252686, + 1.0 + ], + [ + -0.007509201765060425, + 0.0053505077958106995, + 0.013960348442196846, + 0.045988403260707855, + -0.012818261981010437, + 0.08706154674291611, + 1.0 + ], + [ + -0.006705343723297119, + 0.011225931346416473, + 0.04588204249739647, + 0.07015208154916763, + -0.06571715325117111, + 0.03218673914670944, + 1.0 + ], + [ + -0.009327858686447144, + 0.010511741042137146, + 0.02734338492155075, + 0.05503419414162636, + -0.00878821313381195, + 0.01688380539417267, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.959831714630127 + ], + [ + 0.680191159248352 + ], + [ + 0.3737536668777466 + ], + [ + 0.17243100702762604 + ], + [ + 0.12220374494791031 + ], + [ + 0.11960587650537491 + ], + [ + 0.11960587650537491 + ], + [ + 0.11960587650537491 + ], + [ + 0.11960587650537491 + ], + [ + 0.146205335855484 + ], + [ + 0.35357794165611267 + ], + [ + 0.6541022062301636 + ], + [ + 0.941448450088501 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.37683045864105225, + -0.1300567239522934, + 0.16528356075286865 + ], + [ + 0.3766220510005951, + -0.08905845880508423, + 0.14670981466770172 + ], + [ + 0.37644821405410767, + -0.026493750512599945, + 0.14310568571090698 + ], + [ + 0.37195703387260437, + 0.01192505843937397, + 0.13415390253067017 + ], + [ + 0.37064117193222046, + 0.05649436265230179, + 0.11753952503204346 + ], + [ + 0.3744108974933624, + 0.07671093940734863, + 0.08636315166950226 + ], + [ + 0.3803001940250397, + 0.08611240983009338, + 0.056477319449186325 + ], + [ + 0.3864290714263916, + 0.09073580056428909, + 0.029825648292899132 + ], + [ + 0.3955060541629791, + 0.08386535197496414, + 0.010796371847391129 + ], + [ + 0.40608546137809753, + 0.07591520994901657, + 0.007833422161638737 + ], + [ + 0.40837445855140686, + 0.06411578506231308, + 0.009464188478887081 + ], + [ + 0.4147607088088989, + 0.046233270317316055, + 0.014208578504621983 + ], + [ + 0.42085322737693787, + 0.01372919138520956, + 0.01928805187344551 + ], + [ + 0.4241972267627716, + -0.0071057043969631195, + 0.02296197973191738 + ], + [ + 0.4270932376384735, + -0.022400660440325737, + 0.025466494262218475 + ], + [ + 0.4274655282497406, + -0.045010730624198914, + 0.0205443874001503 + ], + [ + 0.42432522773742676, + -0.062349721789360046, + 0.0204826258122921 + ], + [ + 0.4237249195575714, + -0.061022061854600906, + 0.02034885622560978 + ], + [ + 0.416215717792511, + -0.05567155405879021, + 0.034309204667806625 + ], + [ + 0.40951037406921387, + -0.044445622712373734, + 0.0801912471652031 + ], + [ + 0.4001825153827667, + -0.03393388167023659, + 0.10753463208675385 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9916510493429482, + -0.009296550140945953, + 0.12861481443638748, + -0.004790654768956584, + -0.9993653088826688, + -0.035299136373745994, + 0.12886134394733814, + 0.0343882764517869, + -0.9910661937927058 + ], + [ + 0.9944280706361628, + 0.07584228370344713, + 0.0732172133687486, + 0.07632163023636608, + -0.9970761331253901, + -0.0037674274754909446, + 0.07271740568050013, + 0.009334492721380878, + -0.9973089020743434 + ], + [ + 0.9794610533751084, + 0.1947390488561021, + 0.05227569006664367, + 0.19402170364228544, + -0.980822547682938, + 0.018512387001576584, + 0.054878260149792184, + -0.007989543627245561, + -0.998461087752327 + ], + [ + 0.9773388931934575, + 0.20638960720226693, + 0.04703209425787222, + 0.20517655909895968, + -0.9782845819985025, + 0.02935738783212797, + 0.0520698324147342, + -0.019042233663854866, + -0.9984618800381877 + ], + [ + 0.9775198902289475, + 0.1965025085320606, + 0.07643054590537485, + 0.1957456166848607, + -0.9805012929133224, + 0.017345551128932886, + 0.07834869338699751, + -0.0019946768937069157, + -0.9969240209307024 + ], + [ + 0.9831501858816155, + 0.1445171379312127, + 0.11193975542726212, + 0.14253016239756147, + -0.9894594288825441, + 0.025596706865417387, + 0.11445900929096481, + -0.00921061559290135, + -0.9933852725667571 + ], + [ + 0.9823030604990479, + 0.14041850417334056, + 0.12394894521505753, + 0.13410601875044464, + -0.989272736931679, + 0.05792260093098668, + 0.1307527172532532, + -0.04027524859546487, + -0.9905966037098373 + ], + [ + 0.9799580838273787, + 0.17464737550471673, + 0.09581465530223417, + 0.16767684957302, + -0.9828626548827377, + 0.07658639405352918, + 0.1075482592078472, + -0.05898555641994155, + -0.9924485256552054 + ], + [ + 0.977599626713908, + 0.19301496123910947, + 0.08392970026571292, + 0.18719712804781843, + -0.9796455047281497, + 0.07247013396273845, + 0.0962091736762977, + -0.055135377062224336, + -0.9938329261484196 + ], + [ + 0.978840937559941, + 0.18415400474910246, + 0.08920606196690542, + 0.17872863751024962, + -0.9817177377468134, + 0.0654702797230075, + 0.09963178755048821, + -0.048141312073380335, + -0.993859105196178 + ], + [ + 0.98388857323378, + 0.1566397983481761, + 0.08618148892563549, + 0.15121574424517398, + -0.9862772132721604, + 0.06626505317646178, + 0.09537858330031346, + -0.05216543063700235, + -0.994073283864968 + ], + [ + 0.9887987437167425, + 0.11199880466545707, + 0.09865755002887487, + 0.10732824052622646, + -0.9928911597142526, + 0.051456717217778294, + 0.10371930008313611, + -0.040291596081499556, + -0.9937901660186969 + ], + [ + 0.9919357700443034, + 0.06292051935801052, + 0.11002016338077814, + 0.0623627714952683, + -0.9980172952782222, + 0.008506647810434906, + 0.11033726858158055, + -0.0015768859375518821, + -0.9938929522804235 + ], + [ + 0.992552332357978, + 0.03608303919358593, + 0.11635240355614675, + 0.03972205827130585, + -0.9987866606844035, + -0.029109526371783028, + 0.11516086842946814, + 0.033514485248213065, + -0.9927813221757943 + ], + [ + 0.9934938121623543, + 0.00788221673535992, + 0.11361300917786533, + 0.01276147404733841, + -0.9990241621535199, + -0.04228319067427459, + 0.11316885603049988, + 0.043457957761436114, + -0.9926249120045061 + ], + [ + 0.995737145158044, + -0.023615874828187368, + 0.0891618091371412, + -0.017987117291418685, + -0.9978252222068843, + -0.06341363843312416, + 0.0904654705622723, + 0.061539551378618614, + -0.9939964196374478 + ], + [ + 0.9965266050136664, + -0.022346634938092164, + 0.08022065449047057, + -0.01681318397302948, + -0.9974748024127472, + -0.06900243036545621, + 0.08156005360852138, + 0.06741399304739489, + -0.9943858965194451 + ], + [ + 0.9970628924509947, + -0.004825146654729732, + 0.07643498189322037, + -0.00018255321919734887, + -0.9981602927807911, + -0.060629997444235466, + 0.07658691253457561, + 0.06043796716904192, + -0.995229469495802 + ], + [ + 0.9922428423523277, + 0.08545440783387886, + 0.09028668773598283, + 0.08642206985600073, + -0.9962350229696629, + -0.00685600834595281, + 0.08936088429720412, + 0.01460558764296553, + -0.9958922176456775 + ], + [ + 0.980986239895705, + 0.12711312461037919, + 0.14665691489688717, + 0.11735641162790547, + -0.9903736972132284, + 0.07339899534750093, + 0.15457512667019943, + -0.05479227518534947, + -0.9864605094958971 + ], + [ + 0.9774814054746613, + 0.1525436707393246, + 0.14580991210700905, + 0.13371240043427993, + -0.982287789745931, + 0.13126953982610262, + 0.16325163374797802, + -0.10881694093029123, + -0.9805650296870626 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006474.json b/json/chunk-0006/episode_0006474.json new file mode 100644 index 0000000000000000000000000000000000000000..c05020b8b88c19a18bd8b33ca227cf031fc2c24c --- /dev/null +++ b/json/chunk-0006/episode_0006474.json @@ -0,0 +1,1282 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 20, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nTurn lever vertical to front." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006474.mp4", + "start": 0, + "end": 20, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.4365697205066681, + -0.09364160895347595, + 0.0874672383069992, + 0.15355785191059113, + -0.11860115826129913, + -0.01169689279049635, + 0.0, + 0.9988223910331726 + ], + [ + 0.43522945046424866, + -0.09265224635601044, + 0.06782273203134537, + 0.1670188456773758, + -0.08451494574546814, + -0.02123475819826126, + 0.0, + 0.9988223910331726 + ], + [ + 0.44112899899482727, + -0.08997276425361633, + 0.07033158093690872, + 0.1948917657136917, + -0.121481753885746, + -0.030835432931780815, + 0.0, + 0.9988223910331726 + ], + [ + 0.45262303948402405, + -0.09492766857147217, + 0.07531213760375977, + 0.21888524293899536, + -0.2120828926563263, + -0.023710420355200768, + 0.0, + 0.9988223910331726 + ], + [ + 0.45993003249168396, + -0.09920383244752884, + 0.07868549227714539, + 0.22776082158088684, + -0.27436694502830505, + -0.014457790181040764, + 0.0, + 0.9988223910331726 + ], + [ + 0.4719317555427551, + -0.10246319323778152, + 0.09955364465713501, + 0.23179323971271515, + -0.33112412691116333, + -0.025570962578058243, + 0.0, + 0.9988223910331726 + ], + [ + 0.4783727824687958, + -0.10378319770097733, + 0.0976407453417778, + 0.23911868035793304, + -0.3354226052761078, + -0.05603494495153427, + 0.0, + 0.9988223910331726 + ], + [ + 0.48330482840538025, + -0.1033037006855011, + 0.09644678235054016, + 0.23619896173477173, + -0.35404282808303833, + -0.0801815539598465, + 0.0, + 0.9988223910331726 + ], + [ + 0.48886919021606445, + -0.09622259438037872, + 0.09549037367105484, + 0.22900262475013733, + -0.3770386278629303, + -0.0839897021651268, + 0.0, + 0.9988223910331726 + ], + [ + 0.49099600315093994, + -0.09404821693897247, + 0.09411396831274033, + 0.2273760885000229, + -0.3858410716056824, + -0.08544459193944931, + 0.0, + 0.8168079853057861 + ], + [ + 0.49140623211860657, + -0.0927833691239357, + 0.08834817260503769, + 0.21750065684318542, + -0.38519760966300964, + -0.07030434906482697, + 0.0, + 0.5393473505973816 + ], + [ + 0.4876933991909027, + -0.09242507070302963, + 0.08621568977832794, + 0.20577991008758545, + -0.3687426745891571, + -0.03728465363383293, + 0.0, + 0.4148389995098114 + ], + [ + 0.47944024205207825, + -0.0932498574256897, + 0.08345422893762589, + 0.18595144152641296, + -0.32753458619117737, + 0.029612738639116287, + 0.0, + 0.4148389995098114 + ], + [ + 0.46802613139152527, + -0.09444238990545273, + 0.08210134506225586, + 0.16920600831508636, + -0.2567521631717682, + 0.07726695388555527, + 0.0, + 0.4148389995098114 + ], + [ + 0.460700124502182, + -0.09819494187831879, + 0.08207561820745468, + 0.14612694084644318, + -0.1946200281381607, + 0.0940498635172844, + 0.0, + 0.39974725246429443 + ], + [ + 0.4579133987426758, + -0.10022659599781036, + 0.08050113171339035, + 0.11784718930721283, + -0.15705761313438416, + 0.09624841064214706, + 0.0, + 0.3806030750274658 + ], + [ + 0.45773744583129883, + -0.10088375955820084, + 0.07764257490634918, + 0.09244658052921295, + -0.1476847380399704, + 0.10204249620437622, + 0.0, + 0.3797435760498047 + ], + [ + 0.45681002736091614, + -0.10195796936750412, + 0.07287116348743439, + 0.0700758844614029, + -0.14634041488170624, + 0.10271219909191132, + 0.0, + 0.3797435760498047 + ], + [ + 0.4539087116718292, + -0.10223830491304398, + 0.06706172227859497, + 0.0628027692437172, + -0.13620971143245697, + 0.0986141487956047, + 0.0, + 0.3806030750274658 + ], + [ + 0.4509909451007843, + -0.10195909440517426, + 0.05942158028483391, + 0.05882646143436432, + -0.14065203070640564, + 0.09131082892417908, + 0.0, + 0.3806030750274658 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.8168079853057861 + ], + [ + 0.5393473505973816 + ], + [ + 0.4148389995098114 + ], + [ + 0.4148389995098114 + ], + [ + 0.4148389995098114 + ], + [ + 0.39974725246429443 + ], + [ + 0.3806030750274658 + ], + [ + 0.3797435760498047 + ], + [ + 0.3797435760498047 + ], + [ + 0.3806030750274658 + ], + [ + 0.3806030750274658 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.4365697205066681, + -0.09364160895347595, + 0.0874672383069992 + ], + [ + 0.43522945046424866, + -0.09265224635601044, + 0.06782273203134537 + ], + [ + 0.44112899899482727, + -0.08997276425361633, + 0.07033158093690872 + ], + [ + 0.45262303948402405, + -0.09492766857147217, + 0.07531213760375977 + ], + [ + 0.45993003249168396, + -0.09920383244752884, + 0.07868549227714539 + ], + [ + 0.4719317555427551, + -0.10246319323778152, + 0.09955364465713501 + ], + [ + 0.4783727824687958, + -0.10378319770097733, + 0.0976407453417778 + ], + [ + 0.48330482840538025, + -0.1033037006855011, + 0.09644678235054016 + ], + [ + 0.48886919021606445, + -0.09622259438037872, + 0.09549037367105484 + ], + [ + 0.49099600315093994, + -0.09404821693897247, + 0.09411396831274033 + ], + [ + 0.49140623211860657, + -0.0927833691239357, + 0.08834817260503769 + ], + [ + 0.4876933991909027, + -0.09242507070302963, + 0.08621568977832794 + ], + [ + 0.47944024205207825, + -0.0932498574256897, + 0.08345422893762589 + ], + [ + 0.46802613139152527, + -0.09444238990545273, + 0.08210134506225586 + ], + [ + 0.460700124502182, + -0.09819494187831879, + 0.08207561820745468 + ], + [ + 0.4579133987426758, + -0.10022659599781036, + 0.08050113171339035 + ], + [ + 0.45773744583129883, + -0.10088375955820084, + 0.07764257490634918 + ], + [ + 0.45681002736091614, + -0.10195796936750412, + 0.07287116348743439 + ], + [ + 0.4539087116718292, + -0.10223830491304398, + 0.06706172227859497 + ], + [ + 0.4509909451007843, + -0.10195909440517426, + 0.05942158028483391 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9929071955747365, + 0.00653791955721002, + 0.11871207429648914, + -0.011614458708679012, + -0.988377226615358, + 0.15157691861572306, + 0.11832330845955963, + -0.15188058966173587, + -0.9812909258518531 + ], + [ + 0.9962060929494052, + -0.006907527683503047, + 0.08675082957403173, + -0.021157375654050584, + -0.9861604054988543, + 0.16443849939040645, + 0.08441436978331619, + -0.1656500548977783, + -0.9825651497414554 + ], + [ + 0.9921582911257494, + -0.006789662741220821, + 0.12480314831883481, + -0.030603330518210396, + -0.981325804033034, + 0.18990287649246493, + 0.12118317338486302, + -0.1922331054183428, + -0.9738383190599939 + ], + [ + 0.9773198127168111, + 0.022552192536361655, + 0.21056443736533556, + -0.0231770069915284, + -0.976949387600738, + 0.21220914309581, + 0.21049657958763154, + -0.2122764534241756, + -0.9542693001996669 + ], + [ + 0.9624963059501187, + 0.047086517744666045, + 0.2671773210417696, + -0.013916539302352603, + -0.9749570740064462, + 0.221957279174699, + 0.2709376145281819, + -0.21735124497336208, + -0.9377373008163362 + ], + [ + 0.9453683202060246, + 0.049775653017310836, + 0.32218181748438257, + -0.024179248229825437, + -0.9748473803915723, + 0.22155800346349483, + 0.325106295088053, + -0.21724403170257586, + -0.9203862925879167 + ], + [ + 0.9427892077648286, + 0.023427872575785505, + 0.33256524849830543, + -0.05288450389795529, + -0.9743885306201268, + 0.21856399667698542, + 0.329168253283384, + -0.2236473254535428, + -0.9174040194199298 + ], + [ + 0.9349652070304512, + 0.0029967346989007645, + 0.35472676981537454, + -0.0751280336659684, + -0.975608952968397, + 0.20625942268268121, + 0.3466927172583676, + -0.2194953085354041, + -0.9119352879075121 + ], + [ + 0.9264815372762953, + 0.0015811356203883076, + 0.3763368983986323, + -0.07799840195306851, + -0.9774715808572528, + 0.19612638249147088, + 0.3681687254220816, + -0.21106114902220427, + -0.9054860468248568 + ], + [ + 0.9231022692032456, + 0.0013813614370873917, + 0.3845520672579969, + -0.07906660634909214, + -0.9779468367957735, + 0.19330922420199806, + 0.3763385076659796, + -0.208849410441401, + -0.9026357246453426 + ], + [ + 0.9244348831011143, + 0.01228963803134936, + 0.38114185246819465, + -0.06509908317985977, + -0.9797233777973516, + 0.1894840688989157, + 0.3757422737395546, + -0.19997766823924554, + -0.9048904220570706 + ], + [ + 0.9321330011210562, + 0.037108794174347676, + 0.3602096689651437, + -0.03477036953724234, + -0.9809669550509783, + 0.19103626488249542, + 0.36044290757801867, + -0.19059583020868331, + -0.9131013853257294 + ], + [ + 0.9464232500184275, + 0.08855012341086871, + 0.31055097402596693, + 0.028034379406516728, + -0.9805688689629413, + 0.1941617026914151, + 0.3217096600909714, + -0.17505304585941348, + -0.9305156235869947 + ], + [ + 0.9643340322551938, + 0.11872365685597018, + 0.2365683147363254, + 0.07465978988511533, + -0.9794768686952513, + 0.18721906811341704, + 0.25394052455004046, + -0.1628795781971813, + -0.9534067615648417 + ], + [ + 0.9767852286258502, + 0.12094553107643816, + 0.17681288315895996, + 0.09213834389632919, + -0.9823256129157494, + 0.1629322429531343, + 0.1933937504739682, + -0.1428585619496981, + -0.9706648693319837 + ], + [ + 0.9831204474646793, + 0.1137383798612114, + 0.1433100370643854, + 0.09491705788181441, + -0.9867005583718936, + 0.13195741825169877, + 0.1564127165543423, + -0.11612746899480869, + -0.9808412068448954 + ], + [ + 0.9839692213426949, + 0.1149438620483045, + 0.13635424462652862, + 0.1007566337669454, + -0.9891665090339324, + 0.10676009627935508, + 0.14714846992818004, + -0.09131005411806452, + -0.9848907562845495 + ], + [ + 0.9840974071266442, + 0.11243625120421169, + 0.13751502718524683, + 0.10143576882341993, + -0.9912415129335683, + 0.08456386840945822, + 0.14581864794949057, + -0.06927014113103756, + -0.986883260298739 + ], + [ + 0.9859243546141161, + 0.10674120604089594, + 0.12868365052202294, + 0.0975424883053191, + -0.9923406369674624, + 0.07579922953578175, + 0.1357889169039426, + -0.06218018298418265, + -0.9887846049014458 + ], + [ + 0.9860000007899581, + 0.09923398305485388, + 0.134002294940317, + 0.09028353500484877, + -0.9933599475642291, + 0.07130846991922074, + 0.14018873617103117, + -0.058211950510708176, + -0.988412103865846 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0013402700424194336, + 0.0009893625974655151, + -0.01964450627565384, + 0.013460993766784668, + 0.034086212515830994, + -0.009537865407764912, + 1.0 + ], + [ + 0.005899548530578613, + 0.002679482102394104, + 0.0025088489055633545, + 0.027872920036315918, + -0.03696680814027786, + -0.009600674733519554, + 1.0 + ], + [ + 0.011494040489196777, + -0.004954904317855835, + 0.004980556666851044, + 0.02399347722530365, + -0.09060113877058029, + 0.007125012576580048, + 1.0 + ], + [ + 0.007306993007659912, + -0.004276163876056671, + 0.00337335467338562, + 0.00887557864189148, + -0.06228405237197876, + 0.009252630174160004, + 1.0 + ], + [ + 0.012001723051071167, + -0.0032593607902526855, + 0.020868152379989624, + 0.004032418131828308, + -0.056757181882858276, + -0.011113172397017479, + 1.0 + ], + [ + 0.006441026926040649, + -0.0013200044631958008, + -0.0019128993153572083, + 0.0073254406452178955, + -0.004298478364944458, + -0.03046398237347603, + 1.0 + ], + [ + 0.004932045936584473, + 0.0004794970154762268, + -0.0011939629912376404, + -0.002919718623161316, + -0.018620222806930542, + -0.024146609008312225, + 1.0 + ], + [ + 0.005564361810684204, + 0.0070811063051223755, + -0.000956408679485321, + -0.007196336984634399, + -0.022995799779891968, + -0.003808148205280304, + 1.0 + ], + [ + 0.0021268129348754883, + 0.00217437744140625, + -0.0013764053583145142, + -0.001626536250114441, + -0.008802443742752075, + -0.0014548897743225098, + 0.0 + ], + [ + 0.000410228967666626, + 0.0012648478150367737, + -0.005765795707702637, + -0.009875431656837463, + 0.0006434619426727295, + 0.015140242874622345, + 0.0 + ], + [ + -0.0037128329277038574, + 0.0003582984209060669, + -0.0021324828267097473, + -0.011720746755599976, + 0.01645493507385254, + 0.033019695430994034, + 0.0 + ], + [ + -0.008253157138824463, + -0.0008247867226600647, + -0.002761460840702057, + -0.019828468561172485, + 0.041208088397979736, + 0.06689739227294922, + 0.0 + ], + [ + -0.011414110660552979, + -0.001192532479763031, + -0.0013528838753700256, + -0.0167454332113266, + 0.07078242301940918, + 0.04765421524643898, + 0.0 + ], + [ + -0.007326006889343262, + -0.0037525519728660583, + -2.572685480117798e-05, + -0.02307906746864319, + 0.06213213503360748, + 0.016782909631729126, + 0.0 + ], + [ + -0.0027867257595062256, + -0.002031654119491577, + -0.001574486494064331, + -0.028279751539230347, + 0.03756241500377655, + 0.002198547124862671, + 0.0 + ], + [ + -0.00017595291137695312, + -0.0006571635603904724, + -0.002858556807041168, + -0.025400608777999878, + 0.009372875094413757, + 0.0057940855622291565, + 0.0 + ], + [ + -0.0009274184703826904, + -0.0010742098093032837, + -0.004771411418914795, + -0.02237069606781006, + 0.0013443231582641602, + 0.0006697028875350952, + 0.0 + ], + [ + -0.002901315689086914, + -0.00028033554553985596, + -0.0058094412088394165, + -0.0072731152176856995, + 0.010130703449249268, + -0.00409805029630661, + 0.0 + ], + [ + -0.002917766571044922, + 0.00027921050786972046, + -0.007640141993761063, + -0.003976307809352875, + -0.004442319273948669, + -0.007303319871425629, + 0.0 + ], + [ + -0.0048371851444244385, + 0.0004232153296470642, + -0.016524486243724823, + -0.0035082846879959106, + 0.005892738699913025, + 0.0007572472095489502, + 0.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.8168079853057861 + ], + [ + 0.5393473505973816 + ], + [ + 0.4148389995098114 + ], + [ + 0.4148389995098114 + ], + [ + 0.4148389995098114 + ], + [ + 0.39974725246429443 + ], + [ + 0.3806030750274658 + ], + [ + 0.3797435760498047 + ], + [ + 0.3797435760498047 + ], + [ + 0.3806030750274658 + ], + [ + 0.3806030750274658 + ], + [ + 0.3806030750274658 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.43522945046424866, + -0.09265224635601044, + 0.06782273203134537 + ], + [ + 0.44112899899482727, + -0.08997276425361633, + 0.07033158093690872 + ], + [ + 0.45262303948402405, + -0.09492766857147217, + 0.07531213760375977 + ], + [ + 0.45993003249168396, + -0.09920383244752884, + 0.07868549227714539 + ], + [ + 0.4719317555427551, + -0.10246319323778152, + 0.09955364465713501 + ], + [ + 0.4783727824687958, + -0.10378319770097733, + 0.0976407453417778 + ], + [ + 0.48330482840538025, + -0.1033037006855011, + 0.09644678235054016 + ], + [ + 0.48886919021606445, + -0.09622259438037872, + 0.09549037367105484 + ], + [ + 0.49099600315093994, + -0.09404821693897247, + 0.09411396831274033 + ], + [ + 0.49140623211860657, + -0.0927833691239357, + 0.08834817260503769 + ], + [ + 0.4876933991909027, + -0.09242507070302963, + 0.08621568977832794 + ], + [ + 0.47944024205207825, + -0.0932498574256897, + 0.08345422893762589 + ], + [ + 0.46802613139152527, + -0.09444238990545273, + 0.08210134506225586 + ], + [ + 0.460700124502182, + -0.09819494187831879, + 0.08207561820745468 + ], + [ + 0.4579133987426758, + -0.10022659599781036, + 0.08050113171339035 + ], + [ + 0.45773744583129883, + -0.10088375955820084, + 0.07764257490634918 + ], + [ + 0.45681002736091614, + -0.10195796936750412, + 0.07287116348743439 + ], + [ + 0.4539087116718292, + -0.10223830491304398, + 0.06706172227859497 + ], + [ + 0.4509909451007843, + -0.10195909440517426, + 0.05942158028483391 + ], + [ + 0.44615375995635986, + -0.10153587907552719, + 0.042897094041109085 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9962060929494052, + -0.006907527683503047, + 0.08675082957403173, + -0.021157375654050584, + -0.9861604054988543, + 0.16443849939040645, + 0.08441436978331619, + -0.1656500548977783, + -0.9825651497414554 + ], + [ + 0.9921582911257494, + -0.006789662741220821, + 0.12480314831883481, + -0.030603330518210396, + -0.981325804033034, + 0.18990287649246493, + 0.12118317338486302, + -0.1922331054183428, + -0.9738383190599939 + ], + [ + 0.9773198127168111, + 0.022552192536361655, + 0.21056443736533556, + -0.0231770069915284, + -0.976949387600738, + 0.21220914309581, + 0.21049657958763154, + -0.2122764534241756, + -0.9542693001996669 + ], + [ + 0.9624963059501187, + 0.047086517744666045, + 0.2671773210417696, + -0.013916539302352603, + -0.9749570740064462, + 0.221957279174699, + 0.2709376145281819, + -0.21735124497336208, + -0.9377373008163362 + ], + [ + 0.9453683202060246, + 0.049775653017310836, + 0.32218181748438257, + -0.024179248229825437, + -0.9748473803915723, + 0.22155800346349483, + 0.325106295088053, + -0.21724403170257586, + -0.9203862925879167 + ], + [ + 0.9427892077648286, + 0.023427872575785505, + 0.33256524849830543, + -0.05288450389795529, + -0.9743885306201268, + 0.21856399667698542, + 0.329168253283384, + -0.2236473254535428, + -0.9174040194199298 + ], + [ + 0.9349652070304512, + 0.0029967346989007645, + 0.35472676981537454, + -0.0751280336659684, + -0.975608952968397, + 0.20625942268268121, + 0.3466927172583676, + -0.2194953085354041, + -0.9119352879075121 + ], + [ + 0.9264815372762953, + 0.0015811356203883076, + 0.3763368983986323, + -0.07799840195306851, + -0.9774715808572528, + 0.19612638249147088, + 0.3681687254220816, + -0.21106114902220427, + -0.9054860468248568 + ], + [ + 0.9231022692032456, + 0.0013813614370873917, + 0.3845520672579969, + -0.07906660634909214, + -0.9779468367957735, + 0.19330922420199806, + 0.3763385076659796, + -0.208849410441401, + -0.9026357246453426 + ], + [ + 0.9244348831011143, + 0.01228963803134936, + 0.38114185246819465, + -0.06509908317985977, + -0.9797233777973516, + 0.1894840688989157, + 0.3757422737395546, + -0.19997766823924554, + -0.9048904220570706 + ], + [ + 0.9321330011210562, + 0.037108794174347676, + 0.3602096689651437, + -0.03477036953724234, + -0.9809669550509783, + 0.19103626488249542, + 0.36044290757801867, + -0.19059583020868331, + -0.9131013853257294 + ], + [ + 0.9464232500184275, + 0.08855012341086871, + 0.31055097402596693, + 0.028034379406516728, + -0.9805688689629413, + 0.1941617026914151, + 0.3217096600909714, + -0.17505304585941348, + -0.9305156235869947 + ], + [ + 0.9643340322551938, + 0.11872365685597018, + 0.2365683147363254, + 0.07465978988511533, + -0.9794768686952513, + 0.18721906811341704, + 0.25394052455004046, + -0.1628795781971813, + -0.9534067615648417 + ], + [ + 0.9767852286258502, + 0.12094553107643816, + 0.17681288315895996, + 0.09213834389632919, + -0.9823256129157494, + 0.1629322429531343, + 0.1933937504739682, + -0.1428585619496981, + -0.9706648693319837 + ], + [ + 0.9831204474646793, + 0.1137383798612114, + 0.1433100370643854, + 0.09491705788181441, + -0.9867005583718936, + 0.13195741825169877, + 0.1564127165543423, + -0.11612746899480869, + -0.9808412068448954 + ], + [ + 0.9839692213426949, + 0.1149438620483045, + 0.13635424462652862, + 0.1007566337669454, + -0.9891665090339324, + 0.10676009627935508, + 0.14714846992818004, + -0.09131005411806452, + -0.9848907562845495 + ], + [ + 0.9840974071266442, + 0.11243625120421169, + 0.13751502718524683, + 0.10143576882341993, + -0.9912415129335683, + 0.08456386840945822, + 0.14581864794949057, + -0.06927014113103756, + -0.986883260298739 + ], + [ + 0.9859243546141161, + 0.10674120604089594, + 0.12868365052202294, + 0.0975424883053191, + -0.9923406369674624, + 0.07579922953578175, + 0.1357889169039426, + -0.06218018298418265, + -0.9887846049014458 + ], + [ + 0.9860000007899581, + 0.09923398305485388, + 0.134002294940317, + 0.09028353500484877, + -0.9933599475642291, + 0.07130846991922074, + 0.14018873617103117, + -0.058211950510708176, + -0.988412103865846 + ], + [ + 0.9867368253615971, + 0.09919427282087992, + 0.1284948781658396, + 0.09110452350735679, + -0.9935586019076794, + 0.06738894843930193, + 0.13435178923934954, + -0.05478869239901846, + -0.9894179076170955 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006475.json b/json/chunk-0006/episode_0006475.json new file mode 100644 index 0000000000000000000000000000000000000000..12f69d1e0a67b3146d1b009aa610452aa0cae715 --- /dev/null +++ b/json/chunk-0006/episode_0006475.json @@ -0,0 +1,2902 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 47, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the red basket and put it in the silver pot." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006475.mp4", + "start": 0, + "end": 47, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.23431454598903656, + -0.047465838491916656, + 0.07121754437685013, + -0.24653823673725128, + -0.2509060800075531, + 0.2781154215335846, + 0.0, + 0.9988223910331726 + ], + [ + 0.23189516365528107, + -0.046441011130809784, + 0.06704851984977722, + -0.23554833233356476, + -0.23799018561840057, + 0.2755688726902008, + 0.0, + 0.9988223910331726 + ], + [ + 0.23372803628444672, + -0.04005430266261101, + 0.055201802402734756, + -0.1599685400724411, + -0.23229359090328217, + 0.28810030221939087, + 0.0, + 0.9988223910331726 + ], + [ + 0.2340673953294754, + -0.029399652034044266, + 0.057102687656879425, + -0.13962626457214355, + -0.21444958448410034, + 0.28887465596199036, + 0.0, + 0.9988223910331726 + ], + [ + 0.23715373873710632, + -0.020011723041534424, + 0.05649628862738609, + -0.11209092289209366, + -0.23806269466876984, + 0.27386927604675293, + 0.0, + 0.9988223910331726 + ], + [ + 0.235141322016716, + -0.013910066336393356, + 0.05002819746732712, + -0.05845683813095093, + -0.24388687312602997, + 0.27444151043891907, + 0.0, + 0.9988223910331726 + ], + [ + 0.23235507309436798, + -0.010484766215085983, + 0.04356466978788376, + -0.07117357850074768, + -0.20288410782814026, + 0.27336886525154114, + 0.0, + 0.9988223910331726 + ], + [ + 0.2301299124956131, + -0.014348044991493225, + 0.030891314148902893, + -0.11263337731361389, + -0.18258976936340332, + 0.2623113691806793, + 0.0, + 0.9988223910331726 + ], + [ + 0.23332740366458893, + -0.012529381550848484, + 0.0252018254250288, + -0.10283707082271576, + -0.19194161891937256, + 0.2712736427783966, + 0.0, + 0.9988223910331726 + ], + [ + 0.23346638679504395, + -0.005372942425310612, + 0.015813861042261124, + -0.05721590667963028, + -0.1863260567188263, + 0.27686193585395813, + 0.0, + 0.9988223910331726 + ], + [ + 0.2365671545267105, + -0.0034001576714217663, + 0.008179053664207458, + -0.029640447348356247, + -0.18014106154441833, + 0.2901707589626312, + 0.0, + 0.9781157374382019 + ], + [ + 0.24212613701820374, + -0.004427069798111916, + 0.0011421116068959236, + -0.020179443061351776, + -0.16094210743904114, + 0.3177781105041504, + 0.0, + 0.8214757442474365 + ], + [ + 0.23976615071296692, + -0.005079775582998991, + 0.0008787422557361424, + -0.04136918485164642, + -0.13540107011795044, + 0.3388969898223877, + 0.0, + 0.5531353950500488 + ], + [ + 0.23407986760139465, + -0.007234085351228714, + 0.004129432141780853, + -0.06251934170722961, + -0.12105278670787811, + 0.3388836979866028, + 0.0, + 0.289117693901062 + ], + [ + 0.22806838154792786, + -0.006876057479530573, + 0.003472376149147749, + -0.05754527822136879, + -0.1130734458565712, + 0.3358452618122101, + 0.0, + 0.10082460194826126 + ], + [ + 0.22325873374938965, + -0.016220979392528534, + 0.017812754958868027, + -0.07165788859128952, + -0.1630249321460724, + 0.35156551003456116, + 0.0, + 0.05430474132299423 + ], + [ + 0.2205221951007843, + -0.028006888926029205, + 0.04300660640001297, + -0.10008475929498672, + -0.19071833789348602, + 0.460576593875885, + 0.0, + 0.05430474132299423 + ], + [ + 0.21960870921611786, + -0.03731590509414673, + 0.06712619960308075, + -0.10710236430168152, + -0.17187529802322388, + 0.5247504115104675, + 0.0, + 0.05430474132299423 + ], + [ + 0.22724440693855286, + -0.039512764662504196, + 0.09555984288454056, + -0.10399102419614792, + -0.14082254469394684, + 0.623648464679718, + 0.0, + 0.05430474132299423 + ], + [ + 0.24511487782001495, + -0.03668432682752609, + 0.11790706217288971, + -0.09187069535255432, + -0.11645295470952988, + 0.7624514698982239, + 0.0, + 0.05430474132299423 + ], + [ + 0.25997671484947205, + -0.02192259579896927, + 0.13112884759902954, + -0.03851492702960968, + -0.07966075092554092, + 0.9164586067199707, + 0.0, + 0.05430474132299423 + ], + [ + 0.28033846616744995, + -0.002633647760376334, + 0.14862088859081268, + -0.03989395499229431, + -0.101109579205513, + 1.0626527070999146, + 0.0, + 0.05430474132299423 + ], + [ + 0.3053615093231201, + 0.01721843145787716, + 0.1502816081047058, + -0.04355895519256592, + -0.11011790484189987, + 1.158636450767517, + 0.0, + 0.05430474132299423 + ], + [ + 0.3193485736846924, + 0.030255259945988655, + 0.14685586094856262, + -0.07024155557155609, + -0.10565822571516037, + 1.180402159690857, + 0.0, + 0.05430474132299423 + ], + [ + 0.3320263624191284, + 0.0424966886639595, + 0.14164787530899048, + -0.09239374846220016, + -0.09628403931856155, + 1.172128438949585, + 0.0, + 0.05430474132299423 + ], + [ + 0.3506867587566376, + 0.04415660351514816, + 0.13785290718078613, + -0.10722518712282181, + -0.09346693009138107, + 1.202099084854126, + 0.0, + 0.05430474132299423 + ], + [ + 0.36923766136169434, + 0.04267190024256706, + 0.13162235915660858, + -0.1152225062251091, + -0.07201097160577774, + 1.230102777481079, + 0.0, + 0.05430474132299423 + ], + [ + 0.3772832453250885, + 0.040222764015197754, + 0.12737026810646057, + -0.12318025529384613, + -0.08152975887060165, + 1.2419270277023315, + 0.0, + 0.05430474132299423 + ], + [ + 0.3837120532989502, + 0.03449011221528053, + 0.122751384973526, + -0.1425027996301651, + -0.08833838254213333, + 1.2436928749084473, + 0.0, + 0.05430474132299423 + ], + [ + 0.39056262373924255, + 0.027580687776207924, + 0.12550383806228638, + -0.16034451127052307, + -0.09069756418466568, + 1.2453147172927856, + 0.0, + 0.05430474132299423 + ], + [ + 0.3940354585647583, + 0.02143692411482334, + 0.12005360424518585, + -0.1632820963859558, + -0.09476876258850098, + 1.2633771896362305, + 0.0, + 0.05430474132299423 + ], + [ + 0.39508119225502014, + 0.017334455624222755, + 0.11478286981582642, + -0.1536199301481247, + -0.0966905727982521, + 1.2673639059066772, + 0.0, + 0.05430474132299423 + ], + [ + 0.3987397849559784, + 0.021684017032384872, + 0.11412196606397629, + -0.1678839474916458, + -0.12442056089639664, + 1.2790656089782715, + 0.0, + 0.05430474132299423 + ], + [ + 0.39577531814575195, + 0.019809024408459663, + 0.1077643558382988, + -0.16408607363700867, + -0.11562100052833557, + 1.2748191356658936, + 0.0, + 0.07018911838531494 + ], + [ + 0.39581310749053955, + 0.02164144441485405, + 0.10705089569091797, + -0.1698901504278183, + -0.09731753170490265, + 1.2860759496688843, + 0.0, + 0.16920356452465057 + ], + [ + 0.39483001828193665, + 0.02369336038827896, + 0.10708186775445938, + -0.17114441096782684, + -0.08344602584838867, + 1.2952766418457031, + 0.0, + 0.38924968242645264 + ], + [ + 0.39401552081108093, + 0.024289339780807495, + 0.10460873693227768, + -0.16629058122634888, + -0.0876101478934288, + 1.287366271018982, + 0.0, + 0.6881998181343079 + ], + [ + 0.3923196494579315, + 0.022905657067894936, + 0.10252193361520767, + -0.1604796051979065, + -0.0797361209988594, + 1.271459698677063, + 0.0, + 0.9568231701850891 + ], + [ + 0.3848492205142975, + 0.0229994747787714, + 0.09551814943552017, + -0.14955896139144897, + -0.08732995390892029, + 1.265905499458313, + 0.0, + 1.0001531839370728 + ], + [ + 0.37442532181739807, + 0.022056959569454193, + 0.11748058348894119, + -0.24407677352428436, + -0.1368141919374466, + 1.2143605947494507, + 0.0, + 0.9994885921478271 + ], + [ + 0.3591398596763611, + 0.018274081870913506, + 0.12285143882036209, + -0.26817023754119873, + -0.14125601947307587, + 1.1699048280715942, + 0.0, + 1.0001531839370728 + ], + [ + 0.3492463231086731, + 0.02001240663230419, + 0.13572536408901215, + -0.2935023903846741, + -0.14635533094406128, + 1.1452819108963013, + 0.0, + 0.9994885921478271 + ], + [ + 0.33257415890693665, + 0.02079269289970398, + 0.13173899054527283, + -0.2728644907474518, + -0.16161462664604187, + 1.0911097526550293, + 0.0, + 1.0001531839370728 + ], + [ + 0.3131079375743866, + 0.025077776983380318, + 0.12402617931365967, + -0.2278696745634079, + -0.15814951062202454, + 1.0071090459823608, + 0.0, + 0.9994885921478271 + ], + [ + 0.29361292719841003, + 0.029059937223792076, + 0.12073621153831482, + -0.22138363122940063, + -0.15179724991321564, + 0.9412604570388794, + 0.0, + 1.0001531839370728 + ], + [ + 0.2840869426727295, + 0.038956183940172195, + 0.1214165911078453, + -0.2327740490436554, + -0.15522725880146027, + 0.8669100999832153, + 0.0, + 0.9994885921478271 + ], + [ + 0.27647528052330017, + 0.04817208647727966, + 0.12180289626121521, + -0.23616452515125275, + -0.17113885283470154, + 0.7782869935035706, + 0.0, + 0.9994885921478271 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9781157374382019 + ], + [ + 0.8214757442474365 + ], + [ + 0.5531353950500488 + ], + [ + 0.289117693901062 + ], + [ + 0.10082460194826126 + ], + [ + 0.05430474132299423 + ], + [ + 0.05430474132299423 + ], + [ + 0.05430474132299423 + ], + [ + 0.05430474132299423 + ], + [ + 0.05430474132299423 + ], + [ + 0.05430474132299423 + ], + [ + 0.05430474132299423 + ], + [ + 0.05430474132299423 + ], + [ + 0.05430474132299423 + ], + [ + 0.05430474132299423 + ], + [ + 0.05430474132299423 + ], + [ + 0.05430474132299423 + ], + [ + 0.05430474132299423 + ], + [ + 0.05430474132299423 + ], + [ + 0.05430474132299423 + ], + [ + 0.05430474132299423 + ], + [ + 0.05430474132299423 + ], + [ + 0.05430474132299423 + ], + [ + 0.07018911838531494 + ], + [ + 0.16920356452465057 + ], + [ + 0.38924968242645264 + ], + [ + 0.6881998181343079 + ], + [ + 0.9568231701850891 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.23431454598903656, + -0.047465838491916656, + 0.07121754437685013 + ], + [ + 0.23189516365528107, + -0.046441011130809784, + 0.06704851984977722 + ], + [ + 0.23372803628444672, + -0.04005430266261101, + 0.055201802402734756 + ], + [ + 0.2340673953294754, + -0.029399652034044266, + 0.057102687656879425 + ], + [ + 0.23715373873710632, + -0.020011723041534424, + 0.05649628862738609 + ], + [ + 0.235141322016716, + -0.013910066336393356, + 0.05002819746732712 + ], + [ + 0.23235507309436798, + -0.010484766215085983, + 0.04356466978788376 + ], + [ + 0.2301299124956131, + -0.014348044991493225, + 0.030891314148902893 + ], + [ + 0.23332740366458893, + -0.012529381550848484, + 0.0252018254250288 + ], + [ + 0.23346638679504395, + -0.005372942425310612, + 0.015813861042261124 + ], + [ + 0.2365671545267105, + -0.0034001576714217663, + 0.008179053664207458 + ], + [ + 0.24212613701820374, + -0.004427069798111916, + 0.0011421116068959236 + ], + [ + 0.23976615071296692, + -0.005079775582998991, + 0.0008787422557361424 + ], + [ + 0.23407986760139465, + -0.007234085351228714, + 0.004129432141780853 + ], + [ + 0.22806838154792786, + -0.006876057479530573, + 0.003472376149147749 + ], + [ + 0.22325873374938965, + -0.016220979392528534, + 0.017812754958868027 + ], + [ + 0.2205221951007843, + -0.028006888926029205, + 0.04300660640001297 + ], + [ + 0.21960870921611786, + -0.03731590509414673, + 0.06712619960308075 + ], + [ + 0.22724440693855286, + -0.039512764662504196, + 0.09555984288454056 + ], + [ + 0.24511487782001495, + -0.03668432682752609, + 0.11790706217288971 + ], + [ + 0.25997671484947205, + -0.02192259579896927, + 0.13112884759902954 + ], + [ + 0.28033846616744995, + -0.002633647760376334, + 0.14862088859081268 + ], + [ + 0.3053615093231201, + 0.01721843145787716, + 0.1502816081047058 + ], + [ + 0.3193485736846924, + 0.030255259945988655, + 0.14685586094856262 + ], + [ + 0.3320263624191284, + 0.0424966886639595, + 0.14164787530899048 + ], + [ + 0.3506867587566376, + 0.04415660351514816, + 0.13785290718078613 + ], + [ + 0.36923766136169434, + 0.04267190024256706, + 0.13162235915660858 + ], + [ + 0.3772832453250885, + 0.040222764015197754, + 0.12737026810646057 + ], + [ + 0.3837120532989502, + 0.03449011221528053, + 0.122751384973526 + ], + [ + 0.39056262373924255, + 0.027580687776207924, + 0.12550383806228638 + ], + [ + 0.3940354585647583, + 0.02143692411482334, + 0.12005360424518585 + ], + [ + 0.39508119225502014, + 0.017334455624222755, + 0.11478286981582642 + ], + [ + 0.3987397849559784, + 0.021684017032384872, + 0.11412196606397629 + ], + [ + 0.39577531814575195, + 0.019809024408459663, + 0.1077643558382988 + ], + [ + 0.39581310749053955, + 0.02164144441485405, + 0.10705089569091797 + ], + [ + 0.39483001828193665, + 0.02369336038827896, + 0.10708186775445938 + ], + [ + 0.39401552081108093, + 0.024289339780807495, + 0.10460873693227768 + ], + [ + 0.3923196494579315, + 0.022905657067894936, + 0.10252193361520767 + ], + [ + 0.3848492205142975, + 0.0229994747787714, + 0.09551814943552017 + ], + [ + 0.37442532181739807, + 0.022056959569454193, + 0.11748058348894119 + ], + [ + 0.3591398596763611, + 0.018274081870913506, + 0.12285143882036209 + ], + [ + 0.3492463231086731, + 0.02001240663230419, + 0.13572536408901215 + ], + [ + 0.33257415890693665, + 0.02079269289970398, + 0.13173899054527283 + ], + [ + 0.3131079375743866, + 0.025077776983380318, + 0.12402617931365967 + ], + [ + 0.29361292719841003, + 0.029059937223792076, + 0.12073621153831482 + ], + [ + 0.2840869426727295, + 0.038956183940172195, + 0.1214165911078453 + ], + [ + 0.27647528052330017, + 0.04817208647727966, + 0.12180289626121521 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9314655848421377, + 0.20797815790275, + 0.29852462225095067, + 0.2659474140945932, + -0.9491348567264646, + -0.1685674840627105, + 0.24828176975181437, + 0.23640666145904599, + -0.9393977076971683 + ], + [ + 0.935147768388667, + 0.2116383039056994, + 0.28409132263695686, + 0.26442507013269256, + -0.9506691325467235, + -0.16219612420826135, + 0.2357499386278124, + 0.2267982115070133, + -0.9449785911300866 + ], + [ + 0.9330333021391594, + 0.24534543916391902, + 0.26316244523252247, + 0.27649983791027677, + -0.9569628378272996, + -0.08814741433027273, + 0.23021011431926122, + 0.15500884651846752, + -0.9607161707633152 + ], + [ + 0.9366078613484665, + 0.25371115223938323, + 0.2416533990855835, + 0.2783482811720005, + -0.9576735917043722, + -0.07337251611223813, + 0.21280965304432212, + 0.13598508367248288, + -0.9675846777361365 + ], + [ + 0.9355793740889897, + 0.24336629052361952, + 0.25585949936640473, + 0.2628306910666471, + -0.963824053479623, + -0.04430825845751017, + 0.2358204033002292, + 0.10870162174908905, + -0.965698035007028 + ], + [ + 0.9340909016028547, + 0.2569665371558711, + 0.24787574775456803, + 0.26298933340243896, + -0.9647558864356415, + 0.009093409939093387, + 0.24147628881384334, + 0.05669460617995285, + -0.9687491541006853 + ], + [ + 0.9431179843374007, + 0.2554962702864749, + 0.21272076412296662, + 0.2644393785417738, + -0.9642975922600772, + -0.014211567044425083, + 0.20149511829272373, + 0.06965493113282256, + -0.9770096764480293 + ], + [ + 0.949738566308149, + 0.23796012573412723, + 0.20340018246683172, + 0.25500291294580524, + -0.9649656783487836, + -0.061763694821687275, + 0.18157689846479963, + 0.11052700199259369, + -0.9771456451186965 + ], + [ + 0.9457376620078787, + 0.24767604686162173, + 0.21032558206473942, + 0.26303784348181775, + -0.9635880038120423, + -0.04805467517275052, + 0.19076521579236197, + 0.10077070368179225, + -0.9764496391126223 + ], + [ + 0.9452685346041739, + 0.2627011201487861, + 0.1935342836808272, + 0.26860735070203523, + -0.9632394580116078, + -0.004453950868388776, + 0.18524980063717134, + 0.05619491082008395, + -0.9810834028571737 + ], + [ + 0.9426899315041309, + 0.2809023000779973, + 0.18008217805109858, + 0.2814860456757097, + -0.9592933823826765, + 0.022843217957553244, + 0.17916835415493745, + 0.029156548624533027, + -0.9833862906008585 + ], + [ + 0.9376557981465753, + 0.30932146879845657, + 0.15849868498657818, + 0.30841873388725494, + -0.9507489310074064, + 0.030892633032114845, + 0.1602482099416143, + 0.0199173072637784, + -0.9868757835117188 + ], + [ + 0.9344897925009441, + 0.32689738172634136, + 0.1409500958921468, + 0.3294042241193464, + -0.9441709778571282, + 0.005832812755950163, + 0.13498772108556434, + 0.04097885299489536, + -0.9899995195773323 + ], + [ + 0.936224602909889, + 0.3246693536494685, + 0.13443698786813463, + 0.3300017481165821, + -0.9437919028700195, + -0.018859753895200625, + 0.12075735648903768, + 0.0620214066095246, + -0.990742653758258 + ], + [ + 0.9381028548115838, + 0.322894948834993, + 0.12530716584139812, + 0.32746271144441924, + -0.9447079754954973, + -0.017175961360799838, + 0.11283264779231848, + 0.05714624267653953, + -0.9919693042328117 + ], + [ + 0.9263865924379522, + 0.33257459258468763, + 0.17664094009693387, + 0.33980195410633557, + -0.9404270858657492, + -0.01146857251669578, + 0.16230376870767782, + 0.07064726843398764, + -0.9842085399579201 + ], + [ + 0.8795540752392967, + 0.4252733260583216, + 0.21337110130764583, + 0.4364057987489135, + -0.8997320690962947, + -0.005672976116878836, + 0.18956425704300886, + 0.09810607515843453, + -0.9769547535422196 + ], + [ + 0.8526972840597418, + 0.48230352362921836, + 0.20072531691836973, + 0.4936152073034109, + -0.8696496117714002, + -0.007319826819226716, + 0.17103031566348284, + 0.1053226653702462, + -0.979620215840484 + ], + [ + 0.8037175169461495, + 0.5690188611830814, + 0.17394162403468877, + 0.5782196011109789, + -0.8158765852759184, + -0.002736875877218242, + 0.14035756425991536, + 0.10277613155016128, + -0.9847521621903694 + ], + [ + 0.7182471135519284, + 0.6800752003987529, + 0.14703334885977004, + 0.6860182106497195, + -0.7274577925099748, + 0.013571100672805751, + 0.11618992439656738, + 0.09112015100465007, + -0.9890384317859491 + ], + [ + 0.6067037658704794, + 0.790997827086121, + 0.07894921167189482, + 0.7909349638854414, + -0.6106137569346267, + 0.03965756858048904, + 0.07957652532068844, + 0.0383832956794447, + -0.9960895036243832 + ], + [ + 0.4840713109248594, + 0.8709953786196102, + 0.08391672278378076, + 0.8691873267936266, + -0.48968619887690507, + 0.06870820599344238, + 0.10093739089572909, + 0.03967968060317529, + -0.9941011850241366 + ], + [ + 0.39816295393208284, + 0.9134716416864773, + 0.0838798065727987, + 0.9107080997146798, + -0.404593965860451, + 0.08315335172672852, + 0.10989549231044393, + 0.043281435095480714, + -0.9930003515336341 + ], + [ + 0.378430747684148, + 0.9196620030619013, + 0.10493793085147152, + 0.9196020819895877, + -0.3864593359009496, + 0.0705775636828923, + 0.10546174665551708, + 0.06979241949645008, + -0.9919711881769546 + ], + [ + 0.3863930452180431, + 0.9142050181756446, + 0.12218673966350496, + 0.9173104224307415, + -0.39470940532217513, + 0.05240299848434124, + 0.09613533953267292, + 0.09183501561324364, + -0.991122760509642 + ], + [ + 0.35882743261968736, + 0.9238407143426838, + 0.13327118264037408, + 0.9287261257159568, + -0.367647730522969, + 0.047988849266674447, + 0.0933309006288535, + 0.10655271354644431, + -0.989917098662154 + ], + [ + 0.3332748759675805, + 0.9335095518143153, + 0.13224134648524397, + 0.9400804403004579, + -0.3397215947855086, + 0.02894829530193982, + 0.07194875129765238, + 0.11466976370354665, + -0.9907947428599334 + ], + [ + 0.3219003074023673, + 0.936005312570657, + 0.1423876642612285, + 0.9432644408925389, + -0.32999605444655167, + 0.036807588856029826, + 0.08143946612022611, + 0.12246084635186627, + -0.9891263592023201 + ], + [ + 0.3200485656746822, + 0.9333523105534287, + 0.16254962317444835, + 0.9432844341755089, + -0.3299098274946307, + 0.03706726270785918, + 0.08822353343507075, + 0.1414672050584147, + -0.9860038732384331 + ], + [ + 0.3184508459859629, + 0.9307186133557253, + 0.179866398874333, + 0.9436024278120827, + -0.3293648454547142, + 0.03366387983782629, + 0.09057326823057613, + 0.1590020796461115, + -0.9831148568454471 + ], + [ + 0.3012419553390251, + 0.9357856708757245, + 0.18318969001336077, + 0.9488408826742868, + -0.313236089127473, + 0.039801153676826004, + 0.09462697136335564, + 0.1618280898107501, + -0.9822715539191811 + ], + [ + 0.29740192489172534, + 0.9386642453179675, + 0.1745323168709641, + 0.9498590037084221, + -0.3093761874773604, + 0.045323809372299476, + 0.09653998210451437, + 0.15230170446722913, + -0.9836077585458731 + ], + [ + 0.28538694437535556, + 0.9383180750721084, + 0.19522674502503742, + 0.9503439025004142, + -0.30342706437785755, + 0.06912657653405666, + 0.12409979436075244, + 0.16580472428736379, + -0.9783189839942852 + ], + [ + 0.28972727553924954, + 0.9381731591930715, + 0.18944452797136957, + 0.9501312297250586, + -0.30578224260469794, + 0.06121982039167894, + 0.11536356491436767, + 0.1622601105550373, + -0.9799810734972974 + ], + [ + 0.27956003791848905, + 0.9413087630652031, + 0.18916658736592543, + 0.9551991119963583, + -0.2926117627584721, + 0.044418608001016005, + 0.09716399353866248, + 0.168274088534263, + -0.9809398500864268 + ], + [ + 0.2711004432644571, + 0.9443637013501842, + 0.18623036603624846, + 0.9589355857759045, + -0.28173241895492823, + 0.03270147462160873, + 0.0833492171195255, + 0.1697175408789115, + -0.9819617428003891 + ], + [ + 0.27857794246888684, + 0.9428075777227957, + 0.18305245520963564, + 0.9564195783392276, + -0.2896981629052631, + 0.0365590560426438, + 0.08749811506092636, + 0.1648904054145957, + -0.9824231440998297 + ], + [ + 0.29394947328430565, + 0.9395012375598656, + 0.175872487272342, + 0.9524963626325466, + -0.303259033161834, + 0.028011390138974177, + 0.07965165615131585, + 0.15928397103673197, + -0.984014344531177 + ], + [ + 0.2990450677446349, + 0.9393302672582748, + 0.1680199287885359, + 0.9502446499947765, + -0.3092344330000143, + 0.03753892118141406, + 0.08721899227755064, + 0.1484342091960531, + -0.9850685930058023 + ], + [ + 0.34567559094232037, + 0.897869467750592, + 0.2726514344505569, + 0.9283893369708424, + -0.36948196420059387, + 0.03970286046761501, + 0.13638777373913474, + 0.2394023746994583, + -0.9612933361689047 + ], + [ + 0.3863525076519436, + 0.8732472589946214, + 0.29693596024974145, + 0.9115431065669055, + -0.41063733413662507, + 0.021590384052195682, + 0.1407867348204737, + 0.2623284286377421, + -0.9546532830441863 + ], + [ + 0.40837631560697263, + 0.8544605458118318, + 0.3211323099630744, + 0.9010890094573777, + -0.4335653421494392, + 0.007726002974438484, + 0.14583340456286267, + 0.28621367846031665, + -0.9470028238478586 + ], + [ + 0.4554872122381788, + 0.8343053194715639, + 0.3105898153335748, + 0.8755790810588855, + -0.4828971665698295, + 0.013099592776430496, + 0.1609120017263171, + 0.2659792481008286, + -0.9504537691440589 + ], + [ + 0.5276387192229125, + 0.8044304451110829, + 0.27292680512399287, + 0.8347418411070169, + -0.550568218413321, + 0.008983071771376791, + 0.15749108127786982, + 0.22308360731252103, + -0.9619928604030077 + ], + [ + 0.5819993453023551, + 0.7690245760808067, + 0.26434440310202534, + 0.7990061315611937, + -0.6012390926333474, + -0.010037689826136412, + 0.15121495890039036, + 0.2170547278295616, + -0.9643761098926023 + ], + [ + 0.6394036832986973, + 0.7186917969401497, + 0.27321242796585504, + 0.7531668728007458, + -0.6569184391640401, + -0.03460962296567864, + 0.15460462961892263, + 0.22790407038317617, + -0.9613309228372797 + ], + [ + 0.7017142194783175, + 0.6541973606021729, + 0.28217541984213584, + 0.6918045040438896, + -0.7203257196573494, + -0.050372470504325875, + 0.1703046751164604, + 0.2305573052004028, + -0.9580394807377224 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.002419382333755493, + 0.0010248273611068726, + -0.0041690245270729065, + 0.010989904403686523, + 0.012915894389152527, + -0.002546548843383789, + 1.0 + ], + [ + 0.0018328726291656494, + 0.006386708468198776, + -0.011846717447042465, + 0.07557979226112366, + 0.005696594715118408, + 0.012531429529190063, + 1.0 + ], + [ + 0.0003393590450286865, + 0.010654650628566742, + 0.0019008852541446686, + 0.020342275500297546, + 0.017844006419181824, + 0.0007743537425994873, + 1.0 + ], + [ + 0.0030863434076309204, + 0.009387928992509842, + -0.0006063990294933319, + 0.027535341680049896, + -0.023613110184669495, + -0.015005379915237427, + 1.0 + ], + [ + -0.00201241672039032, + 0.0061016567051410675, + -0.006468091160058975, + 0.05363408476114273, + -0.005824178457260132, + 0.0005722343921661377, + 1.0 + ], + [ + -0.0027862489223480225, + 0.003425300121307373, + -0.006463527679443359, + -0.012716740369796753, + 0.04100276529788971, + -0.0010726451873779297, + 1.0 + ], + [ + -0.002225160598754883, + -0.003863278776407242, + -0.012673355638980865, + -0.04145979881286621, + 0.02029433846473694, + -0.011057496070861816, + 1.0 + ], + [ + 0.00319749116897583, + 0.001818663440644741, + -0.005689488723874092, + 0.009796306490898132, + -0.009351849555969238, + 0.008962273597717285, + 1.0 + ], + [ + 0.0001389831304550171, + 0.007156439125537872, + -0.009387964382767677, + 0.04562116414308548, + 0.005615562200546265, + 0.0055882930755615234, + 1.0 + ], + [ + 0.003100767731666565, + 0.0019727847538888454, + -0.007634807378053665, + 0.027575459331274033, + 0.006184995174407959, + 0.013308823108673096, + 0.0 + ], + [ + 0.005558982491493225, + -0.0010269121266901493, + -0.007036942057311535, + 0.00946100428700447, + 0.019198954105377197, + 0.027607351541519165, + 0.0 + ], + [ + -0.0023599863052368164, + -0.0006527057848870754, + -0.0002633693511597812, + -0.021189741790294647, + 0.025541037321090698, + 0.021118879318237305, + 0.0 + ], + [ + -0.005686283111572266, + -0.002154309768229723, + 0.003250689944252372, + -0.02115015685558319, + 0.014348283410072327, + -1.329183578491211e-05, + 0.0 + ], + [ + -0.006011486053466797, + 0.0003580278716981411, + -0.0006570559926331043, + 0.004974063485860825, + 0.007979340851306915, + -0.0030384361743927, + 0.0 + ], + [ + -0.004809647798538208, + -0.009344922378659248, + 0.01434037834405899, + -0.01411261036992073, + -0.04995148628950119, + 0.015720248222351074, + 0.0 + ], + [ + -0.0027365386486053467, + -0.011785909533500671, + 0.025193851441144943, + -0.028426870703697205, + -0.027693405747413635, + 0.10901108384132385, + 0.0 + ], + [ + -0.0009134858846664429, + -0.009309016168117523, + 0.02411959320306778, + -0.007017605006694794, + 0.018843039870262146, + 0.06417381763458252, + 0.0 + ], + [ + 0.0076356977224349976, + -0.0021968595683574677, + 0.02843364328145981, + 0.0031113401055336, + 0.03105275332927704, + 0.09889805316925049, + 0.0 + ], + [ + 0.017870470881462097, + 0.0028284378349781036, + 0.02234721928834915, + 0.012120328843593597, + 0.02436958998441696, + 0.13880300521850586, + 0.0 + ], + [ + 0.014861837029457092, + 0.014761731028556824, + 0.013221785426139832, + 0.05335576832294464, + 0.03679220378398895, + 0.15400713682174683, + 0.0 + ], + [ + 0.020361751317977905, + 0.01928894780576229, + 0.017492040991783142, + -0.0013790279626846313, + -0.021448828279972076, + 0.14619410037994385, + 0.0 + ], + [ + 0.025023043155670166, + 0.019852079451084137, + 0.0016607195138931274, + -0.0036650002002716064, + -0.009008325636386871, + 0.09598374366760254, + 0.0 + ], + [ + 0.013987064361572266, + 0.013036828488111496, + -0.0034257471561431885, + -0.026682600378990173, + 0.004459679126739502, + 0.021765708923339844, + 0.0 + ], + [ + 0.012677788734436035, + 0.012241428717970848, + -0.0052079856395721436, + -0.022152192890644073, + 0.009374186396598816, + -0.008273720741271973, + 0.0 + ], + [ + 0.018660396337509155, + 0.0016599148511886597, + -0.0037949681282043457, + -0.014831438660621643, + 0.002817109227180481, + 0.029970645904541016, + 0.0 + ], + [ + 0.018550902605056763, + -0.0014847032725811005, + -0.006230548024177551, + -0.007997319102287292, + 0.021455958485603333, + 0.028003692626953125, + 0.0 + ], + [ + 0.008045583963394165, + -0.0024491362273693085, + -0.00425209105014801, + -0.00795774906873703, + -0.009518787264823914, + 0.011824250221252441, + 0.0 + ], + [ + 0.006428807973861694, + -0.005732651799917221, + -0.00461888313293457, + -0.01932254433631897, + -0.006808623671531677, + 0.0017658472061157227, + 0.0 + ], + [ + 0.006850570440292358, + -0.006909424439072609, + 0.002752453088760376, + -0.01784171164035797, + -0.0023591816425323486, + 0.001621842384338379, + 0.0 + ], + [ + 0.003472834825515747, + -0.0061437636613845825, + -0.005450233817100525, + -0.0029375851154327393, + -0.004071198403835297, + 0.018062472343444824, + 0.0 + ], + [ + 0.0010457336902618408, + -0.004102468490600586, + -0.005270734429359436, + 0.009662166237831116, + -0.0019218102097511292, + 0.003986716270446777, + 0.0 + ], + [ + 0.003658592700958252, + 0.004349561408162117, + -0.0006609037518501282, + -0.014264017343521118, + -0.02772998809814453, + 0.011701703071594238, + 0.0 + ], + [ + -0.0029644668102264404, + -0.001874992623925209, + -0.00635761022567749, + 0.003797873854637146, + 0.008799560368061066, + -0.00424647331237793, + 1.0 + ], + [ + 3.7789344787597656e-05, + 0.0018324200063943863, + -0.0007134601473808289, + -0.005804076790809631, + 0.018303468823432922, + 0.011256814002990723, + 1.0 + ], + [ + -0.0009830892086029053, + 0.0020519159734249115, + 3.0972063541412354e-05, + -0.001254260540008545, + 0.013871505856513977, + 0.009200692176818848, + 1.0 + ], + [ + -0.0008144974708557129, + 0.0005959793925285339, + -0.0024731308221817017, + 0.004853829741477966, + -0.004164122045040131, + -0.007910370826721191, + 1.0 + ], + [ + -0.001695871353149414, + -0.0013836827129125595, + -0.0020868033170700073, + 0.005810976028442383, + 0.007874026894569397, + -0.015906572341918945, + 1.0 + ], + [ + -0.007470428943634033, + 9.381771087646484e-05, + -0.0070037841796875, + 0.01092064380645752, + -0.007593832910060883, + -0.00555419921875, + 1.0 + ], + [ + -0.010423898696899414, + -0.0009425152093172073, + 0.02196243405342102, + -0.09451781213283539, + -0.049484238028526306, + -0.051544904708862305, + 1.0 + ], + [ + -0.015285462141036987, + -0.0037828776985406876, + 0.0053708553314208984, + -0.024093464016914368, + -0.0044418275356292725, + -0.044455766677856445, + 1.0 + ], + [ + -0.009893536567687988, + 0.001738324761390686, + 0.012873925268650055, + -0.025332152843475342, + -0.005099311470985413, + -0.02462291717529297, + 1.0 + ], + [ + -0.01667216420173645, + 0.0007802862673997879, + -0.003986373543739319, + 0.02063789963722229, + -0.01525929570198059, + -0.05417215824127197, + 1.0 + ], + [ + -0.01946622133255005, + 0.004285084083676338, + -0.007712811231613159, + 0.044994816184043884, + 0.003465116024017334, + -0.08400070667266846, + 1.0 + ], + [ + -0.019495010375976562, + 0.003982160240411758, + -0.0032899677753448486, + 0.006486043334007263, + 0.006352260708808899, + -0.06584858894348145, + 1.0 + ], + [ + -0.009525984525680542, + 0.00989624671638012, + 0.0006803795695304871, + -0.01139041781425476, + -0.003430008888244629, + -0.07435035705566406, + 1.0 + ], + [ + -0.007611662149429321, + 0.009215902537107468, + 0.00038630515336990356, + -0.003390476107597351, + -0.015911594033241272, + -0.08862310647964478, + 1.0 + ], + [ + -0.005409181118011475, + 0.01076502725481987, + 0.001657433807849884, + -0.0010737329721450806, + -0.017544984817504883, + -0.047644972801208496, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9781157374382019 + ], + [ + 0.8214757442474365 + ], + [ + 0.5531353950500488 + ], + [ + 0.289117693901062 + ], + [ + 0.10082460194826126 + ], + [ + 0.05430474132299423 + ], + [ + 0.05430474132299423 + ], + [ + 0.05430474132299423 + ], + [ + 0.05430474132299423 + ], + [ + 0.05430474132299423 + ], + [ + 0.05430474132299423 + ], + [ + 0.05430474132299423 + ], + [ + 0.05430474132299423 + ], + [ + 0.05430474132299423 + ], + [ + 0.05430474132299423 + ], + [ + 0.05430474132299423 + ], + [ + 0.05430474132299423 + ], + [ + 0.05430474132299423 + ], + [ + 0.05430474132299423 + ], + [ + 0.05430474132299423 + ], + [ + 0.05430474132299423 + ], + [ + 0.05430474132299423 + ], + [ + 0.05430474132299423 + ], + [ + 0.07018911838531494 + ], + [ + 0.16920356452465057 + ], + [ + 0.38924968242645264 + ], + [ + 0.6881998181343079 + ], + [ + 0.9568231701850891 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.23189516365528107, + -0.046441011130809784, + 0.06704851984977722 + ], + [ + 0.23372803628444672, + -0.04005430266261101, + 0.055201802402734756 + ], + [ + 0.2340673953294754, + -0.029399652034044266, + 0.057102687656879425 + ], + [ + 0.23715373873710632, + -0.020011723041534424, + 0.05649628862738609 + ], + [ + 0.235141322016716, + -0.013910066336393356, + 0.05002819746732712 + ], + [ + 0.23235507309436798, + -0.010484766215085983, + 0.04356466978788376 + ], + [ + 0.2301299124956131, + -0.014348044991493225, + 0.030891314148902893 + ], + [ + 0.23332740366458893, + -0.012529381550848484, + 0.0252018254250288 + ], + [ + 0.23346638679504395, + -0.005372942425310612, + 0.015813861042261124 + ], + [ + 0.2365671545267105, + -0.0034001576714217663, + 0.008179053664207458 + ], + [ + 0.24212613701820374, + -0.004427069798111916, + 0.0011421116068959236 + ], + [ + 0.23976615071296692, + -0.005079775582998991, + 0.0008787422557361424 + ], + [ + 0.23407986760139465, + -0.007234085351228714, + 0.004129432141780853 + ], + [ + 0.22806838154792786, + -0.006876057479530573, + 0.003472376149147749 + ], + [ + 0.22325873374938965, + -0.016220979392528534, + 0.017812754958868027 + ], + [ + 0.2205221951007843, + -0.028006888926029205, + 0.04300660640001297 + ], + [ + 0.21960870921611786, + -0.03731590509414673, + 0.06712619960308075 + ], + [ + 0.22724440693855286, + -0.039512764662504196, + 0.09555984288454056 + ], + [ + 0.24511487782001495, + -0.03668432682752609, + 0.11790706217288971 + ], + [ + 0.25997671484947205, + -0.02192259579896927, + 0.13112884759902954 + ], + [ + 0.28033846616744995, + -0.002633647760376334, + 0.14862088859081268 + ], + [ + 0.3053615093231201, + 0.01721843145787716, + 0.1502816081047058 + ], + [ + 0.3193485736846924, + 0.030255259945988655, + 0.14685586094856262 + ], + [ + 0.3320263624191284, + 0.0424966886639595, + 0.14164787530899048 + ], + [ + 0.3506867587566376, + 0.04415660351514816, + 0.13785290718078613 + ], + [ + 0.36923766136169434, + 0.04267190024256706, + 0.13162235915660858 + ], + [ + 0.3772832453250885, + 0.040222764015197754, + 0.12737026810646057 + ], + [ + 0.3837120532989502, + 0.03449011221528053, + 0.122751384973526 + ], + [ + 0.39056262373924255, + 0.027580687776207924, + 0.12550383806228638 + ], + [ + 0.3940354585647583, + 0.02143692411482334, + 0.12005360424518585 + ], + [ + 0.39508119225502014, + 0.017334455624222755, + 0.11478286981582642 + ], + [ + 0.3987397849559784, + 0.021684017032384872, + 0.11412196606397629 + ], + [ + 0.39577531814575195, + 0.019809024408459663, + 0.1077643558382988 + ], + [ + 0.39581310749053955, + 0.02164144441485405, + 0.10705089569091797 + ], + [ + 0.39483001828193665, + 0.02369336038827896, + 0.10708186775445938 + ], + [ + 0.39401552081108093, + 0.024289339780807495, + 0.10460873693227768 + ], + [ + 0.3923196494579315, + 0.022905657067894936, + 0.10252193361520767 + ], + [ + 0.3848492205142975, + 0.0229994747787714, + 0.09551814943552017 + ], + [ + 0.37442532181739807, + 0.022056959569454193, + 0.11748058348894119 + ], + [ + 0.3591398596763611, + 0.018274081870913506, + 0.12285143882036209 + ], + [ + 0.3492463231086731, + 0.02001240663230419, + 0.13572536408901215 + ], + [ + 0.33257415890693665, + 0.02079269289970398, + 0.13173899054527283 + ], + [ + 0.3131079375743866, + 0.025077776983380318, + 0.12402617931365967 + ], + [ + 0.29361292719841003, + 0.029059937223792076, + 0.12073621153831482 + ], + [ + 0.2840869426727295, + 0.038956183940172195, + 0.1214165911078453 + ], + [ + 0.27647528052330017, + 0.04817208647727966, + 0.12180289626121521 + ], + [ + 0.2710660994052887, + 0.05893711373209953, + 0.1234603300690651 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.935147768388667, + 0.2116383039056994, + 0.28409132263695686, + 0.26442507013269256, + -0.9506691325467235, + -0.16219612420826135, + 0.2357499386278124, + 0.2267982115070133, + -0.9449785911300866 + ], + [ + 0.9330333021391594, + 0.24534543916391902, + 0.26316244523252247, + 0.27649983791027677, + -0.9569628378272996, + -0.08814741433027273, + 0.23021011431926122, + 0.15500884651846752, + -0.9607161707633152 + ], + [ + 0.9366078613484665, + 0.25371115223938323, + 0.2416533990855835, + 0.2783482811720005, + -0.9576735917043722, + -0.07337251611223813, + 0.21280965304432212, + 0.13598508367248288, + -0.9675846777361365 + ], + [ + 0.9355793740889897, + 0.24336629052361952, + 0.25585949936640473, + 0.2628306910666471, + -0.963824053479623, + -0.04430825845751017, + 0.2358204033002292, + 0.10870162174908905, + -0.965698035007028 + ], + [ + 0.9340909016028547, + 0.2569665371558711, + 0.24787574775456803, + 0.26298933340243896, + -0.9647558864356415, + 0.009093409939093387, + 0.24147628881384334, + 0.05669460617995285, + -0.9687491541006853 + ], + [ + 0.9431179843374007, + 0.2554962702864749, + 0.21272076412296662, + 0.2644393785417738, + -0.9642975922600772, + -0.014211567044425083, + 0.20149511829272373, + 0.06965493113282256, + -0.9770096764480293 + ], + [ + 0.949738566308149, + 0.23796012573412723, + 0.20340018246683172, + 0.25500291294580524, + -0.9649656783487836, + -0.061763694821687275, + 0.18157689846479963, + 0.11052700199259369, + -0.9771456451186965 + ], + [ + 0.9457376620078787, + 0.24767604686162173, + 0.21032558206473942, + 0.26303784348181775, + -0.9635880038120423, + -0.04805467517275052, + 0.19076521579236197, + 0.10077070368179225, + -0.9764496391126223 + ], + [ + 0.9452685346041739, + 0.2627011201487861, + 0.1935342836808272, + 0.26860735070203523, + -0.9632394580116078, + -0.004453950868388776, + 0.18524980063717134, + 0.05619491082008395, + -0.9810834028571737 + ], + [ + 0.9426899315041309, + 0.2809023000779973, + 0.18008217805109858, + 0.2814860456757097, + -0.9592933823826765, + 0.022843217957553244, + 0.17916835415493745, + 0.029156548624533027, + -0.9833862906008585 + ], + [ + 0.9376557981465753, + 0.30932146879845657, + 0.15849868498657818, + 0.30841873388725494, + -0.9507489310074064, + 0.030892633032114845, + 0.1602482099416143, + 0.0199173072637784, + -0.9868757835117188 + ], + [ + 0.9344897925009441, + 0.32689738172634136, + 0.1409500958921468, + 0.3294042241193464, + -0.9441709778571282, + 0.005832812755950163, + 0.13498772108556434, + 0.04097885299489536, + -0.9899995195773323 + ], + [ + 0.936224602909889, + 0.3246693536494685, + 0.13443698786813463, + 0.3300017481165821, + -0.9437919028700195, + -0.018859753895200625, + 0.12075735648903768, + 0.0620214066095246, + -0.990742653758258 + ], + [ + 0.9381028548115838, + 0.322894948834993, + 0.12530716584139812, + 0.32746271144441924, + -0.9447079754954973, + -0.017175961360799838, + 0.11283264779231848, + 0.05714624267653953, + -0.9919693042328117 + ], + [ + 0.9263865924379522, + 0.33257459258468763, + 0.17664094009693387, + 0.33980195410633557, + -0.9404270858657492, + -0.01146857251669578, + 0.16230376870767782, + 0.07064726843398764, + -0.9842085399579201 + ], + [ + 0.8795540752392967, + 0.4252733260583216, + 0.21337110130764583, + 0.4364057987489135, + -0.8997320690962947, + -0.005672976116878836, + 0.18956425704300886, + 0.09810607515843453, + -0.9769547535422196 + ], + [ + 0.8526972840597418, + 0.48230352362921836, + 0.20072531691836973, + 0.4936152073034109, + -0.8696496117714002, + -0.007319826819226716, + 0.17103031566348284, + 0.1053226653702462, + -0.979620215840484 + ], + [ + 0.8037175169461495, + 0.5690188611830814, + 0.17394162403468877, + 0.5782196011109789, + -0.8158765852759184, + -0.002736875877218242, + 0.14035756425991536, + 0.10277613155016128, + -0.9847521621903694 + ], + [ + 0.7182471135519284, + 0.6800752003987529, + 0.14703334885977004, + 0.6860182106497195, + -0.7274577925099748, + 0.013571100672805751, + 0.11618992439656738, + 0.09112015100465007, + -0.9890384317859491 + ], + [ + 0.6067037658704794, + 0.790997827086121, + 0.07894921167189482, + 0.7909349638854414, + -0.6106137569346267, + 0.03965756858048904, + 0.07957652532068844, + 0.0383832956794447, + -0.9960895036243832 + ], + [ + 0.4840713109248594, + 0.8709953786196102, + 0.08391672278378076, + 0.8691873267936266, + -0.48968619887690507, + 0.06870820599344238, + 0.10093739089572909, + 0.03967968060317529, + -0.9941011850241366 + ], + [ + 0.39816295393208284, + 0.9134716416864773, + 0.0838798065727987, + 0.9107080997146798, + -0.404593965860451, + 0.08315335172672852, + 0.10989549231044393, + 0.043281435095480714, + -0.9930003515336341 + ], + [ + 0.378430747684148, + 0.9196620030619013, + 0.10493793085147152, + 0.9196020819895877, + -0.3864593359009496, + 0.0705775636828923, + 0.10546174665551708, + 0.06979241949645008, + -0.9919711881769546 + ], + [ + 0.3863930452180431, + 0.9142050181756446, + 0.12218673966350496, + 0.9173104224307415, + -0.39470940532217513, + 0.05240299848434124, + 0.09613533953267292, + 0.09183501561324364, + -0.991122760509642 + ], + [ + 0.35882743261968736, + 0.9238407143426838, + 0.13327118264037408, + 0.9287261257159568, + -0.367647730522969, + 0.047988849266674447, + 0.0933309006288535, + 0.10655271354644431, + -0.989917098662154 + ], + [ + 0.3332748759675805, + 0.9335095518143153, + 0.13224134648524397, + 0.9400804403004579, + -0.3397215947855086, + 0.02894829530193982, + 0.07194875129765238, + 0.11466976370354665, + -0.9907947428599334 + ], + [ + 0.3219003074023673, + 0.936005312570657, + 0.1423876642612285, + 0.9432644408925389, + -0.32999605444655167, + 0.036807588856029826, + 0.08143946612022611, + 0.12246084635186627, + -0.9891263592023201 + ], + [ + 0.3200485656746822, + 0.9333523105534287, + 0.16254962317444835, + 0.9432844341755089, + -0.3299098274946307, + 0.03706726270785918, + 0.08822353343507075, + 0.1414672050584147, + -0.9860038732384331 + ], + [ + 0.3184508459859629, + 0.9307186133557253, + 0.179866398874333, + 0.9436024278120827, + -0.3293648454547142, + 0.03366387983782629, + 0.09057326823057613, + 0.1590020796461115, + -0.9831148568454471 + ], + [ + 0.3012419553390251, + 0.9357856708757245, + 0.18318969001336077, + 0.9488408826742868, + -0.313236089127473, + 0.039801153676826004, + 0.09462697136335564, + 0.1618280898107501, + -0.9822715539191811 + ], + [ + 0.29740192489172534, + 0.9386642453179675, + 0.1745323168709641, + 0.9498590037084221, + -0.3093761874773604, + 0.045323809372299476, + 0.09653998210451437, + 0.15230170446722913, + -0.9836077585458731 + ], + [ + 0.28538694437535556, + 0.9383180750721084, + 0.19522674502503742, + 0.9503439025004142, + -0.30342706437785755, + 0.06912657653405666, + 0.12409979436075244, + 0.16580472428736379, + -0.9783189839942852 + ], + [ + 0.28972727553924954, + 0.9381731591930715, + 0.18944452797136957, + 0.9501312297250586, + -0.30578224260469794, + 0.06121982039167894, + 0.11536356491436767, + 0.1622601105550373, + -0.9799810734972974 + ], + [ + 0.27956003791848905, + 0.9413087630652031, + 0.18916658736592543, + 0.9551991119963583, + -0.2926117627584721, + 0.044418608001016005, + 0.09716399353866248, + 0.168274088534263, + -0.9809398500864268 + ], + [ + 0.2711004432644571, + 0.9443637013501842, + 0.18623036603624846, + 0.9589355857759045, + -0.28173241895492823, + 0.03270147462160873, + 0.0833492171195255, + 0.1697175408789115, + -0.9819617428003891 + ], + [ + 0.27857794246888684, + 0.9428075777227957, + 0.18305245520963564, + 0.9564195783392276, + -0.2896981629052631, + 0.0365590560426438, + 0.08749811506092636, + 0.1648904054145957, + -0.9824231440998297 + ], + [ + 0.29394947328430565, + 0.9395012375598656, + 0.175872487272342, + 0.9524963626325466, + -0.303259033161834, + 0.028011390138974177, + 0.07965165615131585, + 0.15928397103673197, + -0.984014344531177 + ], + [ + 0.2990450677446349, + 0.9393302672582748, + 0.1680199287885359, + 0.9502446499947765, + -0.3092344330000143, + 0.03753892118141406, + 0.08721899227755064, + 0.1484342091960531, + -0.9850685930058023 + ], + [ + 0.34567559094232037, + 0.897869467750592, + 0.2726514344505569, + 0.9283893369708424, + -0.36948196420059387, + 0.03970286046761501, + 0.13638777373913474, + 0.2394023746994583, + -0.9612933361689047 + ], + [ + 0.3863525076519436, + 0.8732472589946214, + 0.29693596024974145, + 0.9115431065669055, + -0.41063733413662507, + 0.021590384052195682, + 0.1407867348204737, + 0.2623284286377421, + -0.9546532830441863 + ], + [ + 0.40837631560697263, + 0.8544605458118318, + 0.3211323099630744, + 0.9010890094573777, + -0.4335653421494392, + 0.007726002974438484, + 0.14583340456286267, + 0.28621367846031665, + -0.9470028238478586 + ], + [ + 0.4554872122381788, + 0.8343053194715639, + 0.3105898153335748, + 0.8755790810588855, + -0.4828971665698295, + 0.013099592776430496, + 0.1609120017263171, + 0.2659792481008286, + -0.9504537691440589 + ], + [ + 0.5276387192229125, + 0.8044304451110829, + 0.27292680512399287, + 0.8347418411070169, + -0.550568218413321, + 0.008983071771376791, + 0.15749108127786982, + 0.22308360731252103, + -0.9619928604030077 + ], + [ + 0.5819993453023551, + 0.7690245760808067, + 0.26434440310202534, + 0.7990061315611937, + -0.6012390926333474, + -0.010037689826136412, + 0.15121495890039036, + 0.2170547278295616, + -0.9643761098926023 + ], + [ + 0.6394036832986973, + 0.7186917969401497, + 0.27321242796585504, + 0.7531668728007458, + -0.6569184391640401, + -0.03460962296567864, + 0.15460462961892263, + 0.22790407038317617, + -0.9613309228372797 + ], + [ + 0.7017142194783175, + 0.6541973606021729, + 0.28217541984213584, + 0.6918045040438896, + -0.7203257196573494, + -0.050372470504325875, + 0.1703046751164604, + 0.2305573052004028, + -0.9580394807377224 + ], + [ + 0.7315283161575639, + 0.6158263513860083, + 0.29261617795035866, + 0.6555037930711589, + -0.7533041232853558, + -0.05336361223347541, + 0.18756625477148767, + 0.23084800796168475, + -0.954739806068187 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006476.json b/json/chunk-0006/episode_0006476.json new file mode 100644 index 0000000000000000000000000000000000000000..6f95fe29010abb58482b7a43d05813c6d3d6568f --- /dev/null +++ b/json/chunk-0006/episode_0006476.json @@ -0,0 +1,2362 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 38, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nClose the drawer." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006476.mp4", + "start": 0, + "end": 38, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.27440693974494934, + 0.1157585084438324, + 0.14313055574893951, + 0.028083059936761856, + -0.27608662843704224, + -0.43214744329452515, + 0.0, + 1.0001531839370728 + ], + [ + 0.2737019956111908, + 0.11433827877044678, + 0.13488303124904633, + -0.0006330923642963171, + -0.2635018229484558, + -0.43906837701797485, + 0.0, + 1.0001531839370728 + ], + [ + 0.26911216974258423, + 0.12223973125219345, + 0.12934108078479767, + -0.010459317825734615, + -0.32886624336242676, + -0.6626786589622498, + 0.0, + 1.0001531839370728 + ], + [ + 0.2237292379140854, + 0.17323020100593567, + 0.11263426393270493, + 0.1029466837644577, + -0.4071989953517914, + -0.8511497974395752, + 0.0, + 1.0001531839370728 + ], + [ + 0.2142607867717743, + 0.22279778122901917, + 0.11538266390562057, + 0.19233326613903046, + -0.4540858864784241, + -1.0433076620101929, + 0.0, + 1.0001531839370728 + ], + [ + 0.21169587969779968, + 0.274131715297699, + 0.10468721389770508, + 0.22275812923908234, + -0.46623554825782776, + -1.1670547723770142, + 0.0, + 1.0001531839370728 + ], + [ + 0.2271602898836136, + 0.2984698414802551, + 0.0794234499335289, + 0.1848602443933487, + -0.43525832891464233, + -1.2098028659820557, + 0.0, + 1.0001531839370728 + ], + [ + 0.2506575584411621, + 0.2806381583213806, + 0.0708707645535469, + 0.1794113963842392, + -0.4155248701572418, + -1.2638494968414307, + 0.0, + 1.0001531839370728 + ], + [ + 0.25243979692459106, + 0.2562473714351654, + 0.04940050095319748, + 0.13109444081783295, + -0.42277711629867554, + -1.281278371810913, + 0.0, + 1.0001531839370728 + ], + [ + 0.24993424117565155, + 0.23357240855693817, + 0.04043946415185928, + 0.11760853976011276, + -0.40416789054870605, + -1.3142108917236328, + 0.0, + 1.0001531839370728 + ], + [ + 0.2444887012243271, + 0.216749906539917, + 0.02821575663983822, + 0.091398224234581, + -0.41354456543922424, + -1.3281333446502686, + 0.0, + 1.0001531839370728 + ], + [ + 0.23870232701301575, + 0.20062819123268127, + 0.02101242169737816, + 0.08657993376255035, + -0.4193093776702881, + -1.3444547653198242, + 0.0, + 1.0001531839370728 + ], + [ + 0.23653945326805115, + 0.19239316880702972, + 0.014654474332928658, + 0.09016773104667664, + -0.43443962931632996, + -1.3462108373641968, + 0.0, + 1.0001531839370728 + ], + [ + 0.2369495928287506, + 0.19025371968746185, + 0.015113335102796555, + 0.08892558515071869, + -0.44576841592788696, + -1.3460395336151123, + 0.0, + 1.0001531839370728 + ], + [ + 0.2357795685529709, + 0.1804860681295395, + 0.011992529965937138, + 0.07485982775688171, + -0.47246697545051575, + -1.3424521684646606, + 0.0, + 1.0001531839370728 + ], + [ + 0.23227214813232422, + 0.1698160171508789, + 0.010618600063025951, + 0.05986946448683739, + -0.4948297441005707, + -1.3524532318115234, + 0.0, + 1.0001531839370728 + ], + [ + 0.2262091338634491, + 0.16036279499530792, + 0.01617937535047531, + 0.08104054629802704, + -0.48927685618400574, + -1.3720815181732178, + 0.0, + 1.0008161067962646 + ], + [ + 0.2153930962085724, + 0.14506706595420837, + 0.0164856668561697, + 0.09217210859060287, + -0.5023172497749329, + -1.4023247957229614, + 0.0, + 1.0008161067962646 + ], + [ + 0.2068776935338974, + 0.1335729956626892, + 0.013356740586459637, + 0.09796326607465744, + -0.49669164419174194, + -1.4172440767288208, + 0.0, + 1.0008161067962646 + ], + [ + 0.1988060474395752, + 0.12463270127773285, + 0.009604807011783123, + 0.10641776025295258, + -0.48887863755226135, + -1.4330062866210938, + 0.0, + 1.0008161067962646 + ], + [ + 0.19280967116355896, + 0.11305362731218338, + 0.008118392899632454, + 0.1184939444065094, + -0.49341365694999695, + -1.466036081314087, + 0.0, + 1.0008161067962646 + ], + [ + 0.1942661553621292, + 0.1073995903134346, + 0.0080336332321167, + 0.12420538067817688, + -0.49734050035476685, + -1.4838378429412842, + 0.0, + 1.0008161067962646 + ], + [ + 0.19735033810138702, + 0.10375989228487015, + 0.009154826402664185, + 0.12938599288463593, + -0.50789874792099, + -1.491052269935608, + 0.0, + 1.0008161067962646 + ], + [ + 0.20715758204460144, + 0.10209919512271881, + 0.013086947612464428, + 0.1417219340801239, + -0.5092698335647583, + -1.5041102170944214, + 0.0, + 1.0008161067962646 + ], + [ + 0.21764250099658966, + 0.09783270955085754, + 0.01492968201637268, + 0.12859909236431122, + -0.5306664109230042, + -1.496971607208252, + 0.0, + 1.0008161067962646 + ], + [ + 0.22506210207939148, + 0.09371497482061386, + 0.01791040040552616, + 0.11161845922470093, + -0.544375479221344, + -1.4861133098602295, + 0.0, + 1.0008161067962646 + ], + [ + 0.23059339821338654, + 0.0876905545592308, + 0.020771386101841927, + 0.08610902726650238, + -0.5684388279914856, + -1.4667325019836426, + 0.0, + 1.0008161067962646 + ], + [ + 0.22856716811656952, + 0.07539840042591095, + 0.01857617124915123, + 0.05989324674010277, + -0.5862159729003906, + -1.470382809638977, + 0.0, + 1.0008161067962646 + ], + [ + 0.22712016105651855, + 0.06196710094809532, + 0.025410404428839684, + 0.07853931933641434, + -0.583852231502533, + -1.5041981935501099, + 0.0, + 1.0008161067962646 + ], + [ + 0.22253145277500153, + 0.05102035775780678, + 0.032040514051914215, + 0.09682448208332062, + -0.5834675431251526, + -1.5256420373916626, + 0.0, + 1.0008161067962646 + ], + [ + 0.22069089114665985, + 0.04641086608171463, + 0.030442070215940475, + 0.09668944776058197, + -0.5838905572891235, + -1.5203930139541626, + 0.0, + 1.0008161067962646 + ], + [ + 0.21807454526424408, + 0.05681561306118965, + 0.04483943060040474, + 0.21087044477462769, + -0.5287420153617859, + -1.5565932989120483, + 0.0, + 1.0001531839370728 + ], + [ + 0.207808256149292, + 0.10552258044481277, + 0.07661858946084976, + 0.20140208303928375, + -0.4052039086818695, + -1.3186302185058594, + 0.0, + 1.0001531839370728 + ], + [ + 0.19090856611728668, + 0.14737647771835327, + 0.09827887266874313, + 0.18885104358196259, + -0.2259352058172226, + -1.0762234926223755, + 0.0, + 0.9994885921478271 + ], + [ + 0.1689109355211258, + 0.19316831231117249, + 0.10088184475898743, + 0.09453895688056946, + -0.1379452347755432, + -0.8129178881645203, + 0.0, + 0.9994885921478271 + ], + [ + 0.15826670825481415, + 0.1896877884864807, + 0.10648079961538315, + -0.02786387875676155, + -0.15817391872406006, + -0.5666766166687012, + 0.0, + 0.9988223910331726 + ], + [ + 0.156463161110878, + 0.18103483319282532, + 0.12244165688753128, + -0.10923215001821518, + -0.21698397397994995, + -0.5019963383674622, + 0.0, + 0.9988223910331726 + ], + [ + 0.1577039361000061, + 0.17880959808826447, + 0.1475469022989273, + -0.08046950399875641, + -0.30260327458381653, + -0.5377676486968994, + 0.0, + 0.9988223910331726 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.27440693974494934, + 0.1157585084438324, + 0.14313055574893951 + ], + [ + 0.2737019956111908, + 0.11433827877044678, + 0.13488303124904633 + ], + [ + 0.26911216974258423, + 0.12223973125219345, + 0.12934108078479767 + ], + [ + 0.2237292379140854, + 0.17323020100593567, + 0.11263426393270493 + ], + [ + 0.2142607867717743, + 0.22279778122901917, + 0.11538266390562057 + ], + [ + 0.21169587969779968, + 0.274131715297699, + 0.10468721389770508 + ], + [ + 0.2271602898836136, + 0.2984698414802551, + 0.0794234499335289 + ], + [ + 0.2506575584411621, + 0.2806381583213806, + 0.0708707645535469 + ], + [ + 0.25243979692459106, + 0.2562473714351654, + 0.04940050095319748 + ], + [ + 0.24993424117565155, + 0.23357240855693817, + 0.04043946415185928 + ], + [ + 0.2444887012243271, + 0.216749906539917, + 0.02821575663983822 + ], + [ + 0.23870232701301575, + 0.20062819123268127, + 0.02101242169737816 + ], + [ + 0.23653945326805115, + 0.19239316880702972, + 0.014654474332928658 + ], + [ + 0.2369495928287506, + 0.19025371968746185, + 0.015113335102796555 + ], + [ + 0.2357795685529709, + 0.1804860681295395, + 0.011992529965937138 + ], + [ + 0.23227214813232422, + 0.1698160171508789, + 0.010618600063025951 + ], + [ + 0.2262091338634491, + 0.16036279499530792, + 0.01617937535047531 + ], + [ + 0.2153930962085724, + 0.14506706595420837, + 0.0164856668561697 + ], + [ + 0.2068776935338974, + 0.1335729956626892, + 0.013356740586459637 + ], + [ + 0.1988060474395752, + 0.12463270127773285, + 0.009604807011783123 + ], + [ + 0.19280967116355896, + 0.11305362731218338, + 0.008118392899632454 + ], + [ + 0.1942661553621292, + 0.1073995903134346, + 0.0080336332321167 + ], + [ + 0.19735033810138702, + 0.10375989228487015, + 0.009154826402664185 + ], + [ + 0.20715758204460144, + 0.10209919512271881, + 0.013086947612464428 + ], + [ + 0.21764250099658966, + 0.09783270955085754, + 0.01492968201637268 + ], + [ + 0.22506210207939148, + 0.09371497482061386, + 0.01791040040552616 + ], + [ + 0.23059339821338654, + 0.0876905545592308, + 0.020771386101841927 + ], + [ + 0.22856716811656952, + 0.07539840042591095, + 0.01857617124915123 + ], + [ + 0.22712016105651855, + 0.06196710094809532, + 0.025410404428839684 + ], + [ + 0.22253145277500153, + 0.05102035775780678, + 0.032040514051914215 + ], + [ + 0.22069089114665985, + 0.04641086608171463, + 0.030442070215940475 + ], + [ + 0.21807454526424408, + 0.05681561306118965, + 0.04483943060040474 + ], + [ + 0.207808256149292, + 0.10552258044481277, + 0.07661858946084976 + ], + [ + 0.19090856611728668, + 0.14737647771835327, + 0.09827887266874313 + ], + [ + 0.1689109355211258, + 0.19316831231117249, + 0.10088184475898743 + ], + [ + 0.15826670825481415, + 0.1896877884864807, + 0.10648079961538315 + ], + [ + 0.156463161110878, + 0.18103483319282532, + 0.12244165688753128 + ], + [ + 0.1577039361000061, + 0.17880959808826447, + 0.1475469022989273 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8736794953908606, + -0.41170608692438776, + 0.2591953651649264, + -0.4029608261061611, + -0.9109161510463556, + -0.08862470528432455, + 0.2725925750225258, + -0.027015990677774413, + -0.9617501880895512 + ], + [ + 0.8739058168902099, + -0.42524556408594527, + 0.23548849957201934, + -0.4104236825298252, + -0.9050778069372929, + -0.11129494241984805, + 0.260463095320838, + 0.0006112403833948427, + -0.9654836106123612 + ], + [ + 0.7460988562664457, + -0.6178601435747748, + 0.24816393706511866, + -0.5822600120844728, + -0.7862257057844652, + -0.20693578204628854, + 0.32297023857515267, + 0.009898613310872023, + -0.946357354517431 + ], + [ + 0.6052251966075188, + -0.721231788935523, + 0.33693792903182535, + -0.6905473515639945, + -0.686236457141034, + -0.22852544746367937, + 0.3960389079867573, + -0.09436223566335755, + -0.9133722964056167 + ], + [ + 0.4523551409773531, + -0.8059359927618271, + 0.3818926576963301, + -0.7765107107886812, + -0.5665325671506485, + -0.275811468920624, + 0.4386410177603268, + -0.17177900316599615, + -0.8820918498713616 + ], + [ + 0.3509304243072086, + -0.8578609772012886, + 0.3753962987175184, + -0.8214459669906273, + -0.4744798328136359, + -0.31637858898474325, + 0.4495268185663626, + -0.1973409031305824, + -0.8711958490151397 + ], + [ + 0.3202715164475852, + -0.892232446766945, + 0.31835109028969066, + -0.8483171211785571, + -0.4196927884648858, + -0.32282506907905106, + 0.42164465805662665, + -0.16667100601736115, + -0.8913117064671996 + ], + [ + 0.27643803473785405, + -0.9161942618605935, + 0.2901208153235393, + -0.8721424132454724, + -0.3659679924017845, + -0.32470762164718436, + 0.40367019207347554, + -0.16326513121646527, + -0.9002193471372595 + ], + [ + 0.2603537193850159, + -0.9348463204555956, + 0.2414089847810605, + -0.8739990023450338, + -0.3344418822924667, + -0.35252570298994845, + 0.4102946315786668, + -0.11920983390352383, + -0.9041279393970857 + ], + [ + 0.2333322496657093, + -0.9488701411234357, + 0.21260648285113423, + -0.88932979611279, + -0.29665899768476856, + -0.34797406920437535, + 0.3932538302571533, + -0.10788370765346848, + -0.913078600456181 + ], + [ + 0.2200326418999698, + -0.9578366231240358, + 0.1847556221089445, + -0.8888734984557893, + -0.2748888424271187, + -0.36652425302023933, + 0.40185761189939573, + -0.08357707647089702, + -0.9118801083734046 + ], + [ + 0.20497300469146362, + -0.9629432088334234, + 0.1752896001174722, + -0.8900738334086203, + -0.2578806170370558, + -0.37585390571054494, + 0.4071297562559596, + -0.07898078195471014, + -0.9099491181669366 + ], + [ + 0.20201458509991493, + -0.9624856642354968, + 0.1811393208225755, + -0.8843254412154237, + -0.25874616009291335, + -0.3886115523968873, + 0.42090215184298535, + -0.0816809082853952, + -0.9034210578659417 + ], + [ + 0.20109041017072904, + -0.9624628088497356, + 0.18228545887822567, + -0.879585797126631, + -0.25931548074906396, + -0.39885374128493656, + 0.43115133355989654, + -0.08013003821888012, + -0.89871447331428 + ], + [ + 0.2015663104246318, + -0.9636100680441062, + 0.1755752239521106, + -0.8673345534845058, + -0.2588832443113839, + -0.42510026834459314, + 0.45508438210252145, + -0.0665965658187054, + -0.8879544484868134 + ], + [ + 0.19062961064435918, + -0.9683537816193066, + 0.1610940879398383, + -0.8591551689209838, + -0.24396359004285356, + -0.4498156983140521, + 0.4748818245226236, + -0.052656626904795334, + -0.878472841003678 + ], + [ + 0.17424811024770437, + -0.9695929730222071, + 0.17183440499812777, + -0.8653029221023542, + -0.23405937046154401, + -0.44324605367704323, + 0.46998771162258113, + -0.07145402553462205, + -0.8797760357947166 + ], + [ + 0.14696261068512095, + -0.97422704990807, + 0.17112465131602894, + -0.8640603863720931, + -0.21065074267726647, + -0.4571935184492723, + 0.48145782760603506, + -0.08067167927429669, + -0.8727487842443221 + ], + [ + 0.13446771282631254, + -0.9763673610838441, + 0.16918986499619507, + -0.8688196237096193, + -0.1982746258178134, + -0.4536955302996511, + 0.47651956482849256, + -0.08598807456256036, + -0.8749486587044337 + ], + [ + 0.1212647455289303, + -0.9780668520552634, + 0.16935198375723612, + -0.8744922653909729, + -0.18598797682896373, + -0.4479640055254809, + 0.4696361775493536, + -0.09377475878815286, + -0.8778656818392299 + ], + [ + 0.0920958952828162, + -0.9816889325597542, + 0.1667488703462396, + -0.8758927544913431, + -0.15952016083030424, + -0.45537369370467773, + 0.4736351219046412, + -0.10411607934591241, + -0.874545375220755 + ], + [ + 0.07632757359026449, + -0.9834138271455468, + 0.16453372325687868, + -0.8755337310242635, + -0.1450614484311516, + -0.46086642535314826, + 0.4770899153708401, + -0.1088780086059841, + -0.8720841656018298 + ], + [ + 0.06960400932757854, + -0.9834913188347717, + 0.16703325316285797, + -0.8709916389955653, + -0.14154476284175493, + -0.47046641209749474, + 0.48634231430685193, + -0.11273821840313245, + -0.8664647987229156 + ], + [ + 0.058180546541545974, + -0.9831849625041102, + 0.1730963705856324, + -0.8711600892240088, + -0.13467957597796137, + -0.4721668251345216, + 0.48753986805936633, + -0.12332372569861852, + -0.8643472309971658 + ], + [ + 0.06361378463979744, + -0.9842539086367025, + 0.1649167357704335, + -0.8601207840613011, + -0.13787764823844945, + -0.49110283133169463, + 0.5061082129639608, + -0.11060740232736657, + -0.8553481626336833 + ], + [ + 0.07235560994616991, + -0.9853368178284172, + 0.15451867570324962, + -0.8523854090448717, + -0.14153423672511495, + -0.5033956438846543, + 0.5178839446794274, + -0.0952859657368672, + -0.850127522538159 + ], + [ + 0.08754079775634038, + -0.986096076192511, + 0.1412484946677921, + -0.8381833771901444, + -0.1495374733785303, + -0.524487531079329, + 0.5383170394203664, + -0.07247808339973619, + -0.8396199690910127 + ], + [ + 0.08350797869135929, + -0.9898592666117305, + 0.11491322725330921, + -0.8288438188848539, + -0.13301221392495377, + -0.5434387498542534, + 0.5532127451453509, + -0.04986364657412801, + -0.8315463158231631 + ], + [ + 0.055524775509209756, + -0.9918291507676416, + 0.11485614912659489, + -0.8324957267673203, + -0.10949757500650337, + -0.543103255359279, + 0.5512421103460827, + -0.06546156700869538, + -0.8317733579683608 + ], + [ + 0.03767103877308192, + -0.9918975925954141, + 0.12132624877238654, + -0.8337066793095775, + -0.09813257948181858, + -0.5434180432400475, + 0.5509211066136008, + -0.08067938180022596, + -0.8306484043444489 + ], + [ + 0.0420349004664623, + -0.9913838725624341, + 0.12406080914570172, + -0.8332646327996428, + -0.10329843641550585, + -0.5431385502423745, + 0.5512740868824249, + -0.08054470967868285, + -0.8304272580272913 + ], + [ + 0.012263083335031233, + -0.976250866799794, + 0.2162957740219814, + -0.8633552528961606, + -0.1194637931136775, + -0.49025106775151284, + 0.5044475434410639, + -0.18072810298219377, + -0.8443163084465044 + ], + [ + 0.22929797015136527, + -0.9291252456759213, + 0.2900839856526429, + -0.8899572687791967, + -0.3208233127408347, + -0.32411180439636783, + 0.394206165136387, + -0.18384417273782622, + -0.900445900384253 + ], + [ + 0.4625923548271915, + -0.8445609637996072, + 0.26967590118754053, + -0.8578020137720737, + -0.5032322163063989, + -0.10456118610615006, + 0.22401789755287166, + -0.18295932580010282, + -0.9572574714666702 + ], + [ + 0.6808524174809852, + -0.7141301289058737, + 0.16265959731653876, + -0.7193966162802554, + -0.6937403216230401, + -0.03453801729804344, + 0.13750816010265485, + -0.09350147134265392, + -0.9860775733997511 + ], + [ + 0.8331575809953885, + -0.5403251925031795, + 0.11788609577178605, + -0.5301296179326586, + -0.8410063910055712, + -0.10803165498296274, + 0.1575151847298733, + 0.02751248142546392, + -0.9871332381929642 + ], + [ + 0.8560679404136184, + -0.4988825491085172, + 0.135143936567548, + -0.4698935195928477, + -0.8601062311990604, + -0.19853803488801464, + 0.21528530289044703, + 0.1064587866149921, + -0.9707310467435519 + ], + [ + 0.8198313146489827, + -0.5311359590090187, + 0.2139420682532784, + -0.4889467423946098, + -0.8438050939439309, + -0.22118780828963625, + 0.29800620567803543, + 0.07673041432081391, + -0.9514750364016581 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0007049441337585449, + -0.0014202296733856201, + -0.008247524499893188, + -0.028716152533888817, + 0.012584805488586426, + -0.006920933723449707, + 1.0 + ], + [ + -0.004589825868606567, + 0.007901452481746674, + -0.005541950464248657, + -0.009826225228607655, + -0.06536442041397095, + -0.2236102819442749, + 1.0 + ], + [ + -0.04538293182849884, + 0.05099046975374222, + -0.016706816852092743, + 0.11340600252151489, + -0.07833275198936462, + -0.18847113847732544, + 1.0 + ], + [ + -0.009468451142311096, + 0.049567580223083496, + 0.0027483999729156494, + 0.08938658237457275, + -0.04688689112663269, + -0.19215786457061768, + 1.0 + ], + [ + -0.0025649070739746094, + 0.05133393406867981, + -0.010695450007915497, + 0.03042486310005188, + -0.012149661779403687, + -0.12374711036682129, + 1.0 + ], + [ + 0.015464410185813904, + 0.024338126182556152, + -0.025263763964176178, + -0.03789788484573364, + 0.030977219343185425, + -0.042748093605041504, + 1.0 + ], + [ + 0.023497268557548523, + -0.01783168315887451, + -0.008552685379981995, + -0.005448848009109497, + 0.019733458757400513, + -0.054046630859375, + 1.0 + ], + [ + 0.001782238483428955, + -0.02439078688621521, + -0.021470263600349426, + -0.04831695556640625, + -0.007252246141433716, + -0.017428874969482422, + 1.0 + ], + [ + -0.002505555748939514, + -0.022674962878227234, + -0.008961036801338196, + -0.013485901057720184, + 0.018609225749969482, + -0.03293251991271973, + 1.0 + ], + [ + -0.005445539951324463, + -0.01682250201702118, + -0.012223707512021065, + -0.02621031552553177, + -0.009376674890518188, + -0.013922452926635742, + 1.0 + ], + [ + -0.00578637421131134, + -0.016121715307235718, + -0.00720333494246006, + -0.00481829047203064, + -0.005764812231063843, + -0.016321420669555664, + 1.0 + ], + [ + -0.0021628737449645996, + -0.00823502242565155, + -0.006357947364449501, + 0.0035877972841262817, + -0.01513025164604187, + -0.0017560720443725586, + 1.0 + ], + [ + 0.0004101395606994629, + -0.002139449119567871, + 0.00045886076986789703, + -0.0012421458959579468, + -0.011328786611557007, + 0.00017130374908447266, + 1.0 + ], + [ + -0.0011700242757797241, + -0.009767651557922363, + -0.003120805136859417, + -0.014065757393836975, + -0.026698559522628784, + 0.00358736515045166, + 1.0 + ], + [ + -0.0035074204206466675, + -0.010670050978660583, + -0.0013739299029111862, + -0.014990363270044327, + -0.02236276865005493, + -0.010001063346862793, + 1.0 + ], + [ + -0.006063014268875122, + -0.009453222155570984, + 0.00556077528744936, + 0.02117108181118965, + 0.005552887916564941, + -0.019628286361694336, + 1.0 + ], + [ + -0.010816037654876709, + -0.015295729041099548, + 0.00030629150569438934, + 0.011131562292575836, + -0.013040393590927124, + -0.030243277549743652, + 1.0 + ], + [ + -0.008515402674674988, + -0.011494070291519165, + -0.003128926269710064, + 0.005791157484054565, + 0.005625605583190918, + -0.014919281005859375, + 1.0 + ], + [ + -0.008071646094322205, + -0.00894029438495636, + -0.0037519335746765137, + 0.008454494178295135, + 0.00781300663948059, + -0.01576220989227295, + 1.0 + ], + [ + -0.005996376276016235, + -0.011579073965549469, + -0.001486414112150669, + 0.012076184153556824, + -0.004535019397735596, + -0.033029794692993164, + 1.0 + ], + [ + 0.0014564841985702515, + -0.005654036998748779, + -8.47596675157547e-05, + 0.0057114362716674805, + -0.0039268434047698975, + -0.017801761627197266, + 1.0 + ], + [ + 0.0030841827392578125, + -0.003639698028564453, + 0.0011211931705474854, + 0.005180612206459045, + -0.010558247566223145, + -0.0072144269943237305, + 1.0 + ], + [ + 0.009807243943214417, + -0.0016606971621513367, + 0.003932121209800243, + 0.012335941195487976, + -0.0013710856437683105, + -0.013057947158813477, + 1.0 + ], + [ + 0.01048491895198822, + -0.004266485571861267, + 0.0018427344039082527, + -0.013122841715812683, + -0.02139657735824585, + 0.007138609886169434, + 1.0 + ], + [ + 0.007419601082801819, + -0.004117734730243683, + 0.0029807183891534805, + -0.01698063313961029, + -0.013709068298339844, + 0.010858297348022461, + 1.0 + ], + [ + 0.005531296133995056, + -0.006024420261383057, + 0.0028609856963157654, + -0.025509431958198547, + -0.0240633487701416, + 0.019380807876586914, + 1.0 + ], + [ + -0.0020262300968170166, + -0.012292154133319855, + -0.0021952148526906967, + -0.026215780526399612, + -0.01777714490890503, + -0.0036503076553344727, + 1.0 + ], + [ + -0.0014470070600509644, + -0.013431299477815628, + 0.006834233179688454, + 0.01864607259631157, + 0.002363741397857666, + -0.03381538391113281, + 1.0 + ], + [ + -0.004588708281517029, + -0.010946743190288544, + 0.0066301096230745316, + 0.01828516274690628, + 0.0003846883773803711, + -0.021443843841552734, + 1.0 + ], + [ + -0.0018405616283416748, + -0.004609491676092148, + -0.0015984438359737396, + -0.00013503432273864746, + -0.00042301416397094727, + 0.0052490234375, + 1.0 + ], + [ + -0.0026163458824157715, + 0.010404746979475021, + 0.014397360384464264, + 0.11418099701404572, + 0.055148541927337646, + -0.03620028495788574, + 1.0 + ], + [ + -0.010266289114952087, + 0.04870696738362312, + 0.03177915886044502, + -0.009468361735343933, + 0.12353810667991638, + 0.23796308040618896, + 1.0 + ], + [ + -0.01689969003200531, + 0.0418538972735405, + 0.02166028320789337, + -0.012551039457321167, + 0.1792687028646469, + 0.2424067258834839, + 1.0 + ], + [ + -0.02199763059616089, + 0.045791834592819214, + 0.002602972090244293, + -0.09431208670139313, + 0.08798997104167938, + 0.2633056044578552, + 1.0 + ], + [ + -0.010644227266311646, + -0.0034805238246917725, + 0.0055989548563957214, + -0.12240283191204071, + -0.020228683948516846, + 0.2462412714958191, + 1.0 + ], + [ + -0.0018035471439361572, + -0.008652955293655396, + 0.015960857272148132, + -0.08136826753616333, + -0.05881005525588989, + 0.06468027830123901, + 1.0 + ], + [ + 0.0012407749891281128, + -0.002225235104560852, + 0.025105245411396027, + 0.02876264601945877, + -0.08561930060386658, + -0.035771310329437256, + 1.0 + ], + [ + 0.0053001344203948975, + -0.007879763841629028, + 0.00958317518234253, + 0.0913991779088974, + -0.05895763635635376, + -0.11944836378097534, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2737019956111908, + 0.11433827877044678, + 0.13488303124904633 + ], + [ + 0.26911216974258423, + 0.12223973125219345, + 0.12934108078479767 + ], + [ + 0.2237292379140854, + 0.17323020100593567, + 0.11263426393270493 + ], + [ + 0.2142607867717743, + 0.22279778122901917, + 0.11538266390562057 + ], + [ + 0.21169587969779968, + 0.274131715297699, + 0.10468721389770508 + ], + [ + 0.2271602898836136, + 0.2984698414802551, + 0.0794234499335289 + ], + [ + 0.2506575584411621, + 0.2806381583213806, + 0.0708707645535469 + ], + [ + 0.25243979692459106, + 0.2562473714351654, + 0.04940050095319748 + ], + [ + 0.24993424117565155, + 0.23357240855693817, + 0.04043946415185928 + ], + [ + 0.2444887012243271, + 0.216749906539917, + 0.02821575663983822 + ], + [ + 0.23870232701301575, + 0.20062819123268127, + 0.02101242169737816 + ], + [ + 0.23653945326805115, + 0.19239316880702972, + 0.014654474332928658 + ], + [ + 0.2369495928287506, + 0.19025371968746185, + 0.015113335102796555 + ], + [ + 0.2357795685529709, + 0.1804860681295395, + 0.011992529965937138 + ], + [ + 0.23227214813232422, + 0.1698160171508789, + 0.010618600063025951 + ], + [ + 0.2262091338634491, + 0.16036279499530792, + 0.01617937535047531 + ], + [ + 0.2153930962085724, + 0.14506706595420837, + 0.0164856668561697 + ], + [ + 0.2068776935338974, + 0.1335729956626892, + 0.013356740586459637 + ], + [ + 0.1988060474395752, + 0.12463270127773285, + 0.009604807011783123 + ], + [ + 0.19280967116355896, + 0.11305362731218338, + 0.008118392899632454 + ], + [ + 0.1942661553621292, + 0.1073995903134346, + 0.0080336332321167 + ], + [ + 0.19735033810138702, + 0.10375989228487015, + 0.009154826402664185 + ], + [ + 0.20715758204460144, + 0.10209919512271881, + 0.013086947612464428 + ], + [ + 0.21764250099658966, + 0.09783270955085754, + 0.01492968201637268 + ], + [ + 0.22506210207939148, + 0.09371497482061386, + 0.01791040040552616 + ], + [ + 0.23059339821338654, + 0.0876905545592308, + 0.020771386101841927 + ], + [ + 0.22856716811656952, + 0.07539840042591095, + 0.01857617124915123 + ], + [ + 0.22712016105651855, + 0.06196710094809532, + 0.025410404428839684 + ], + [ + 0.22253145277500153, + 0.05102035775780678, + 0.032040514051914215 + ], + [ + 0.22069089114665985, + 0.04641086608171463, + 0.030442070215940475 + ], + [ + 0.21807454526424408, + 0.05681561306118965, + 0.04483943060040474 + ], + [ + 0.207808256149292, + 0.10552258044481277, + 0.07661858946084976 + ], + [ + 0.19090856611728668, + 0.14737647771835327, + 0.09827887266874313 + ], + [ + 0.1689109355211258, + 0.19316831231117249, + 0.10088184475898743 + ], + [ + 0.15826670825481415, + 0.1896877884864807, + 0.10648079961538315 + ], + [ + 0.156463161110878, + 0.18103483319282532, + 0.12244165688753128 + ], + [ + 0.1577039361000061, + 0.17880959808826447, + 0.1475469022989273 + ], + [ + 0.163004070520401, + 0.17092983424663544, + 0.15713007748126984 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8739058168902099, + -0.42524556408594527, + 0.23548849957201934, + -0.4104236825298252, + -0.9050778069372929, + -0.11129494241984805, + 0.260463095320838, + 0.0006112403833948427, + -0.9654836106123612 + ], + [ + 0.7460988562664457, + -0.6178601435747748, + 0.24816393706511866, + -0.5822600120844728, + -0.7862257057844652, + -0.20693578204628854, + 0.32297023857515267, + 0.009898613310872023, + -0.946357354517431 + ], + [ + 0.6052251966075188, + -0.721231788935523, + 0.33693792903182535, + -0.6905473515639945, + -0.686236457141034, + -0.22852544746367937, + 0.3960389079867573, + -0.09436223566335755, + -0.9133722964056167 + ], + [ + 0.4523551409773531, + -0.8059359927618271, + 0.3818926576963301, + -0.7765107107886812, + -0.5665325671506485, + -0.275811468920624, + 0.4386410177603268, + -0.17177900316599615, + -0.8820918498713616 + ], + [ + 0.3509304243072086, + -0.8578609772012886, + 0.3753962987175184, + -0.8214459669906273, + -0.4744798328136359, + -0.31637858898474325, + 0.4495268185663626, + -0.1973409031305824, + -0.8711958490151397 + ], + [ + 0.3202715164475852, + -0.892232446766945, + 0.31835109028969066, + -0.8483171211785571, + -0.4196927884648858, + -0.32282506907905106, + 0.42164465805662665, + -0.16667100601736115, + -0.8913117064671996 + ], + [ + 0.27643803473785405, + -0.9161942618605935, + 0.2901208153235393, + -0.8721424132454724, + -0.3659679924017845, + -0.32470762164718436, + 0.40367019207347554, + -0.16326513121646527, + -0.9002193471372595 + ], + [ + 0.2603537193850159, + -0.9348463204555956, + 0.2414089847810605, + -0.8739990023450338, + -0.3344418822924667, + -0.35252570298994845, + 0.4102946315786668, + -0.11920983390352383, + -0.9041279393970857 + ], + [ + 0.2333322496657093, + -0.9488701411234357, + 0.21260648285113423, + -0.88932979611279, + -0.29665899768476856, + -0.34797406920437535, + 0.3932538302571533, + -0.10788370765346848, + -0.913078600456181 + ], + [ + 0.2200326418999698, + -0.9578366231240358, + 0.1847556221089445, + -0.8888734984557893, + -0.2748888424271187, + -0.36652425302023933, + 0.40185761189939573, + -0.08357707647089702, + -0.9118801083734046 + ], + [ + 0.20497300469146362, + -0.9629432088334234, + 0.1752896001174722, + -0.8900738334086203, + -0.2578806170370558, + -0.37585390571054494, + 0.4071297562559596, + -0.07898078195471014, + -0.9099491181669366 + ], + [ + 0.20201458509991493, + -0.9624856642354968, + 0.1811393208225755, + -0.8843254412154237, + -0.25874616009291335, + -0.3886115523968873, + 0.42090215184298535, + -0.0816809082853952, + -0.9034210578659417 + ], + [ + 0.20109041017072904, + -0.9624628088497356, + 0.18228545887822567, + -0.879585797126631, + -0.25931548074906396, + -0.39885374128493656, + 0.43115133355989654, + -0.08013003821888012, + -0.89871447331428 + ], + [ + 0.2015663104246318, + -0.9636100680441062, + 0.1755752239521106, + -0.8673345534845058, + -0.2588832443113839, + -0.42510026834459314, + 0.45508438210252145, + -0.0665965658187054, + -0.8879544484868134 + ], + [ + 0.19062961064435918, + -0.9683537816193066, + 0.1610940879398383, + -0.8591551689209838, + -0.24396359004285356, + -0.4498156983140521, + 0.4748818245226236, + -0.052656626904795334, + -0.878472841003678 + ], + [ + 0.17424811024770437, + -0.9695929730222071, + 0.17183440499812777, + -0.8653029221023542, + -0.23405937046154401, + -0.44324605367704323, + 0.46998771162258113, + -0.07145402553462205, + -0.8797760357947166 + ], + [ + 0.14696261068512095, + -0.97422704990807, + 0.17112465131602894, + -0.8640603863720931, + -0.21065074267726647, + -0.4571935184492723, + 0.48145782760603506, + -0.08067167927429669, + -0.8727487842443221 + ], + [ + 0.13446771282631254, + -0.9763673610838441, + 0.16918986499619507, + -0.8688196237096193, + -0.1982746258178134, + -0.4536955302996511, + 0.47651956482849256, + -0.08598807456256036, + -0.8749486587044337 + ], + [ + 0.1212647455289303, + -0.9780668520552634, + 0.16935198375723612, + -0.8744922653909729, + -0.18598797682896373, + -0.4479640055254809, + 0.4696361775493536, + -0.09377475878815286, + -0.8778656818392299 + ], + [ + 0.0920958952828162, + -0.9816889325597542, + 0.1667488703462396, + -0.8758927544913431, + -0.15952016083030424, + -0.45537369370467773, + 0.4736351219046412, + -0.10411607934591241, + -0.874545375220755 + ], + [ + 0.07632757359026449, + -0.9834138271455468, + 0.16453372325687868, + -0.8755337310242635, + -0.1450614484311516, + -0.46086642535314826, + 0.4770899153708401, + -0.1088780086059841, + -0.8720841656018298 + ], + [ + 0.06960400932757854, + -0.9834913188347717, + 0.16703325316285797, + -0.8709916389955653, + -0.14154476284175493, + -0.47046641209749474, + 0.48634231430685193, + -0.11273821840313245, + -0.8664647987229156 + ], + [ + 0.058180546541545974, + -0.9831849625041102, + 0.1730963705856324, + -0.8711600892240088, + -0.13467957597796137, + -0.4721668251345216, + 0.48753986805936633, + -0.12332372569861852, + -0.8643472309971658 + ], + [ + 0.06361378463979744, + -0.9842539086367025, + 0.1649167357704335, + -0.8601207840613011, + -0.13787764823844945, + -0.49110283133169463, + 0.5061082129639608, + -0.11060740232736657, + -0.8553481626336833 + ], + [ + 0.07235560994616991, + -0.9853368178284172, + 0.15451867570324962, + -0.8523854090448717, + -0.14153423672511495, + -0.5033956438846543, + 0.5178839446794274, + -0.0952859657368672, + -0.850127522538159 + ], + [ + 0.08754079775634038, + -0.986096076192511, + 0.1412484946677921, + -0.8381833771901444, + -0.1495374733785303, + -0.524487531079329, + 0.5383170394203664, + -0.07247808339973619, + -0.8396199690910127 + ], + [ + 0.08350797869135929, + -0.9898592666117305, + 0.11491322725330921, + -0.8288438188848539, + -0.13301221392495377, + -0.5434387498542534, + 0.5532127451453509, + -0.04986364657412801, + -0.8315463158231631 + ], + [ + 0.055524775509209756, + -0.9918291507676416, + 0.11485614912659489, + -0.8324957267673203, + -0.10949757500650337, + -0.543103255359279, + 0.5512421103460827, + -0.06546156700869538, + -0.8317733579683608 + ], + [ + 0.03767103877308192, + -0.9918975925954141, + 0.12132624877238654, + -0.8337066793095775, + -0.09813257948181858, + -0.5434180432400475, + 0.5509211066136008, + -0.08067938180022596, + -0.8306484043444489 + ], + [ + 0.0420349004664623, + -0.9913838725624341, + 0.12406080914570172, + -0.8332646327996428, + -0.10329843641550585, + -0.5431385502423745, + 0.5512740868824249, + -0.08054470967868285, + -0.8304272580272913 + ], + [ + 0.012263083335031233, + -0.976250866799794, + 0.2162957740219814, + -0.8633552528961606, + -0.1194637931136775, + -0.49025106775151284, + 0.5044475434410639, + -0.18072810298219377, + -0.8443163084465044 + ], + [ + 0.22929797015136527, + -0.9291252456759213, + 0.2900839856526429, + -0.8899572687791967, + -0.3208233127408347, + -0.32411180439636783, + 0.394206165136387, + -0.18384417273782622, + -0.900445900384253 + ], + [ + 0.4625923548271915, + -0.8445609637996072, + 0.26967590118754053, + -0.8578020137720737, + -0.5032322163063989, + -0.10456118610615006, + 0.22401789755287166, + -0.18295932580010282, + -0.9572574714666702 + ], + [ + 0.6808524174809852, + -0.7141301289058737, + 0.16265959731653876, + -0.7193966162802554, + -0.6937403216230401, + -0.03453801729804344, + 0.13750816010265485, + -0.09350147134265392, + -0.9860775733997511 + ], + [ + 0.8331575809953885, + -0.5403251925031795, + 0.11788609577178605, + -0.5301296179326586, + -0.8410063910055712, + -0.10803165498296274, + 0.1575151847298733, + 0.02751248142546392, + -0.9871332381929642 + ], + [ + 0.8560679404136184, + -0.4988825491085172, + 0.135143936567548, + -0.4698935195928477, + -0.8601062311990604, + -0.19853803488801464, + 0.21528530289044703, + 0.1064587866149921, + -0.9707310467435519 + ], + [ + 0.8198313146489827, + -0.5311359590090187, + 0.2139420682532784, + -0.4889467423946098, + -0.8438050939439309, + -0.22118780828963625, + 0.29800620567803543, + 0.07673041432081391, + -0.9514750364016581 + ], + [ + 0.7405096129025317, + -0.6078178639664423, + 0.2867105813223738, + -0.5714169291879861, + -0.794010666304468, + -0.2074361463971653, + 0.3537346551248747, + -0.010222819474375436, + -0.9352899484789087 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006477.json b/json/chunk-0006/episode_0006477.json new file mode 100644 index 0000000000000000000000000000000000000000..2a78a0f3e4c929b9988fb943b20316a0be18bc80 --- /dev/null +++ b/json/chunk-0006/episode_0006477.json @@ -0,0 +1,1762 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 28, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the blue cloth in the left side of the burner." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006477.mp4", + "start": 0, + "end": 28, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3155891001224518, + 0.14279919862747192, + 0.10076811909675598, + -0.012455335818231106, + -0.3515802323818207, + 0.24544531106948853, + 0.0, + 1.0008161067962646 + ], + [ + 0.3158806264400482, + 0.13942568004131317, + 0.09050130099058151, + -0.02639356441795826, + -0.32349011301994324, + 0.24364657700061798, + 0.0, + 1.0008161067962646 + ], + [ + 0.3349064886569977, + 0.10727313905954361, + 0.0886259526014328, + -0.05118333920836449, + -0.334290087223053, + 0.14278940856456757, + 0.0, + 1.0008161067962646 + ], + [ + 0.35315728187561035, + 0.08011969178915024, + 0.08659424632787704, + -0.039073698222637177, + -0.32762831449508667, + 0.034165460616350174, + 0.0, + 1.0008161067962646 + ], + [ + 0.36725494265556335, + 0.05113452672958374, + 0.08289165049791336, + -0.04012715443968773, + -0.3262212574481964, + -0.05985044315457344, + 0.0, + 1.0008161067962646 + ], + [ + 0.3847784996032715, + 0.02507636696100235, + 0.07507266104221344, + -0.038918983191251755, + -0.3115350306034088, + -0.13986268639564514, + 0.0, + 1.0008161067962646 + ], + [ + 0.39655742049217224, + 0.001264392165467143, + 0.06867007911205292, + -0.05620216205716133, + -0.32103231549263, + -0.21018174290657043, + 0.0, + 1.0008161067962646 + ], + [ + 0.39533674716949463, + -0.019344758242368698, + 0.051696669310331345, + -0.05131996423006058, + -0.2875255346298218, + -0.29838842153549194, + 0.0, + 1.0008161067962646 + ], + [ + 0.3937360942363739, + -0.03478294238448143, + 0.0443258136510849, + -0.05175195634365082, + -0.2735762596130371, + -0.35987183451652527, + 0.0, + 1.0008161067962646 + ], + [ + 0.3931082487106323, + -0.04864051938056946, + 0.035298481583595276, + -0.0666179358959198, + -0.27231672406196594, + -0.3945281207561493, + 0.0, + 1.0008161067962646 + ], + [ + 0.39157092571258545, + -0.05176854133605957, + 0.030271073803305626, + -0.06357155740261078, + -0.25807008147239685, + -0.4094874858856201, + 0.0, + 1.0008161067962646 + ], + [ + 0.3869341313838959, + -0.046063780784606934, + 0.022599605843424797, + -0.0529610700905323, + -0.2349931299686432, + -0.39667317271232605, + 0.0, + 1.0008161067962646 + ], + [ + 0.3798079192638397, + -0.030498793348670006, + 0.013381429947912693, + -0.03310511261224747, + -0.20546260476112366, + -0.36598148941993713, + 0.0, + 1.0014774799346924 + ], + [ + 0.367358535528183, + -0.014774875715374947, + 0.010852624662220478, + 0.001730401418171823, + -0.17741386592388153, + -0.3184903562068939, + 0.0, + 1.0014774799346924 + ], + [ + 0.36087143421173096, + 0.0028672271873801947, + 0.011546129360795021, + 0.02450105920433998, + -0.16996031999588013, + -0.24621620774269104, + 0.0, + 1.0014774799346924 + ], + [ + 0.3591914474964142, + 0.012228618375957012, + 0.011528857983648777, + 0.04306042194366455, + -0.15372490882873535, + -0.21615520119667053, + 0.0, + 1.0014774799346924 + ], + [ + 0.35890278220176697, + 0.0297293309122324, + 0.012706153094768524, + 0.050999872386455536, + -0.15031565725803375, + -0.16624107956886292, + 0.0, + 1.0014774799346924 + ], + [ + 0.3584512770175934, + 0.057165320962667465, + 0.015822920948266983, + 0.05408605933189392, + -0.15301164984703064, + -0.0799638032913208, + 0.0, + 1.0014774799346924 + ], + [ + 0.3562506139278412, + 0.08129607141017914, + 0.017884530127048492, + 0.0707685649394989, + -0.15569168329238892, + -0.02500135637819767, + 0.0, + 1.0014774799346924 + ], + [ + 0.3523571491241455, + 0.09684420377016068, + 0.017897669225931168, + 0.07485264539718628, + -0.15432342886924744, + 0.004895886871963739, + 0.0, + 1.0014774799346924 + ], + [ + 0.34240689873695374, + 0.11954688280820847, + 0.01617215760052204, + 0.08246587216854095, + -0.14186164736747742, + 0.06964807212352753, + 0.0, + 1.0014774799346924 + ], + [ + 0.3392447829246521, + 0.12432285398244858, + 0.015559517778456211, + 0.05877123400568962, + -0.15174341201782227, + 0.10059403628110886, + 0.0, + 1.0014774799346924 + ], + [ + 0.33844903111457825, + 0.1278255134820938, + 0.02698211558163166, + 0.0029897831846028566, + -0.22360102832317352, + 0.1377386599779129, + 0.0, + 1.0008161067962646 + ], + [ + 0.3393647074699402, + 0.12761974334716797, + 0.030150411650538445, + 0.02407320775091648, + -0.20984934270381927, + 0.11473826318979263, + 0.0, + 1.0008161067962646 + ], + [ + 0.3469165563583374, + 0.12644031643867493, + 0.05125589296221733, + 0.04140786454081535, + -0.2571716904640198, + 0.11195379495620728, + 0.0, + 1.0008161067962646 + ], + [ + 0.35094714164733887, + 0.12065188586711884, + 0.06517267227172852, + 0.050161413848400116, + -0.26930439472198486, + 0.08427523821592331, + 0.0, + 1.0008161067962646 + ], + [ + 0.3597785234451294, + 0.11212676763534546, + 0.09499357640743256, + 0.050593301653862, + -0.3188741207122803, + 0.05163426324725151, + 0.0, + 1.0008161067962646 + ], + [ + 0.3609696626663208, + 0.10947325080633163, + 0.10525272786617279, + 0.08683010935783386, + -0.3185978829860687, + 0.03271494805812836, + 0.0, + 1.0008161067962646 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3155891001224518, + 0.14279919862747192, + 0.10076811909675598 + ], + [ + 0.3158806264400482, + 0.13942568004131317, + 0.09050130099058151 + ], + [ + 0.3349064886569977, + 0.10727313905954361, + 0.0886259526014328 + ], + [ + 0.35315728187561035, + 0.08011969178915024, + 0.08659424632787704 + ], + [ + 0.36725494265556335, + 0.05113452672958374, + 0.08289165049791336 + ], + [ + 0.3847784996032715, + 0.02507636696100235, + 0.07507266104221344 + ], + [ + 0.39655742049217224, + 0.001264392165467143, + 0.06867007911205292 + ], + [ + 0.39533674716949463, + -0.019344758242368698, + 0.051696669310331345 + ], + [ + 0.3937360942363739, + -0.03478294238448143, + 0.0443258136510849 + ], + [ + 0.3931082487106323, + -0.04864051938056946, + 0.035298481583595276 + ], + [ + 0.39157092571258545, + -0.05176854133605957, + 0.030271073803305626 + ], + [ + 0.3869341313838959, + -0.046063780784606934, + 0.022599605843424797 + ], + [ + 0.3798079192638397, + -0.030498793348670006, + 0.013381429947912693 + ], + [ + 0.367358535528183, + -0.014774875715374947, + 0.010852624662220478 + ], + [ + 0.36087143421173096, + 0.0028672271873801947, + 0.011546129360795021 + ], + [ + 0.3591914474964142, + 0.012228618375957012, + 0.011528857983648777 + ], + [ + 0.35890278220176697, + 0.0297293309122324, + 0.012706153094768524 + ], + [ + 0.3584512770175934, + 0.057165320962667465, + 0.015822920948266983 + ], + [ + 0.3562506139278412, + 0.08129607141017914, + 0.017884530127048492 + ], + [ + 0.3523571491241455, + 0.09684420377016068, + 0.017897669225931168 + ], + [ + 0.34240689873695374, + 0.11954688280820847, + 0.01617215760052204 + ], + [ + 0.3392447829246521, + 0.12432285398244858, + 0.015559517778456211 + ], + [ + 0.33844903111457825, + 0.1278255134820938, + 0.02698211558163166 + ], + [ + 0.3393647074699402, + 0.12761974334716797, + 0.030150411650538445 + ], + [ + 0.3469165563583374, + 0.12644031643867493, + 0.05125589296221733 + ], + [ + 0.35094714164733887, + 0.12065188586711884, + 0.06517267227172852 + ], + [ + 0.3597785234451294, + 0.11212676763534546, + 0.09499357640743256 + ], + [ + 0.3609696626663208, + 0.10947325080633163, + 0.10525272786617279 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9106922201564841, + 0.2388087387672371, + 0.337060923921559, + 0.22812464119641931, + -0.9709962187590186, + 0.0715925361660874, + 0.3443818058862263, + 0.011693136623211722, + -0.9387568600710474 + ], + [ + 0.9201284267874676, + 0.23301789605038173, + 0.31474805533612626, + 0.22873024351913548, + -0.9721504904463248, + 0.05104801293534368, + 0.3178775769337886, + 0.0250216715113824, + -0.9478015414829624 + ], + [ + 0.9350297395527141, + 0.12550330433089965, + 0.33161469622742645, + 0.13442719145854673, + -0.9909153536534815, + -0.004011494778993527, + 0.32809863813882245, + 0.048328899178651484, + -0.943406381765371 + ], + [ + 0.9462556694920544, + 0.021569423066617213, + 0.32269950099545824, + 0.032341845770958354, + -0.9990829816804028, + -0.02805709765325113, + 0.32179840423201606, + 0.03698588521544142, + -0.9460855306622963 + ], + [ + 0.9455639894104966, + -0.07259948232106078, + 0.31723501871139714, + -0.05666009353724763, + -0.9966369778925951, + -0.0591977034813479, + 0.3204658729575691, + 0.0380006508342847, + -0.94649753026921 + ], + [ + 0.9425693609888552, + -0.15111155823559044, + 0.29787295394626345, + -0.13269666517511644, + -0.9878226633908557, + -0.08122795542668393, + 0.30652013763611696, + 0.037036234406430474, + -0.9511433764499061 + ], + [ + 0.9280275259044248, + -0.22564319799502625, + 0.29639510515912665, + -0.1979783868615101, + -0.9727507213699369, + -0.12066727978197742, + 0.31554630325742467, + 0.05330273232063396, + -0.9474119216200145 + ], + [ + 0.9165740255725583, + -0.3074973067309283, + 0.25561193633893786, + -0.28191190058033494, + -0.9502765873342696, + -0.1322878976910523, + 0.2835802107991655, + 0.04919160413688897, + -0.9576859872241742 + ], + [ + 0.9011350646487932, + -0.36476345262804555, + 0.23431435911459342, + -0.33905795685219986, + -0.9297672155430905, + -0.14343161017174655, + 0.27017641857798547, + 0.049805105442270674, + -0.9615217908691708 + ], + [ + 0.889159272825763, + -0.4000490870768129, + 0.22216326311289386, + -0.37020861385730114, + -0.914248277264827, + -0.1646076235906214, + 0.26896351011580744, + 0.0641156412063745, + -0.9610139513965859 + ], + [ + 0.8869471566922537, + -0.4122080406515231, + 0.20834891998222363, + -0.384954587730212, + -0.9090167802645109, + -0.15968236778994815, + 0.25521502036711957, + 0.06142494948938938, + -0.9649312249892407 + ], + [ + 0.8970014611828198, + -0.3971787130500691, + 0.19400373330371012, + -0.3757334614250541, + -0.9162962044381837, + -0.13865652418016777, + 0.2328363043029021, + 0.05148141054855544, + -0.9711523669159734 + ], + [ + 0.914132650391576, + -0.36397552214269807, + 0.17855900080652126, + -0.35033885608505483, + -0.9308447090718771, + -0.10387884053024399, + 0.20402005637948495, + 0.03240288372726876, + -0.9784303090772838 + ], + [ + 0.9348020108559767, + -0.31284269570678114, + 0.16815067125211447, + -0.3082180678150662, + -0.9498034253040647, + -0.053619734734641294, + 0.17648462587990377, + -0.0017032391436263838, + -0.984301923092935 + ], + [ + 0.9558676257664396, + -0.23964407530240933, + 0.16996411145910498, + -0.24022415794546853, + -0.9705605113768039, + -0.01745415983046715, + 0.16914324092620578, + -0.024145619239316657, + -0.9852956678685487 + ], + [ + 0.9652112775684192, + -0.20783908459983913, + 0.15865088895887428, + -0.21194669941331024, + -0.977237589853838, + 0.009235236026543494, + 0.1531201693525189, + -0.04253948623764692, + -0.9872915505807254 + ], + [ + 0.9750930587234647, + -0.15773258408915525, + 0.15592933895157482, + -0.16361049205640027, + -0.9861946948368848, + 0.02552705945944453, + 0.1497502377907298, + -0.0504029343604219, + -0.9874383071815063 + ], + [ + 0.9851584708459586, + -0.07154861205537363, + 0.15602430398307274, + -0.07894535433214656, + -0.9960051382382419, + 0.041730032738934685, + 0.15241528253368977, + -0.053428089203810904, + -0.9868713294721887 + ], + [ + 0.9875957747243376, + -0.013975144627832002, + 0.1563946325142477, + -0.024696379773351422, + -0.9974593124642276, + 0.06682072137054935, + 0.1550634533754676, + -0.06985424332867239, + -0.9854317379282305 + ], + [ + 0.9881039113547087, + 0.016376999300873746, + 0.15291322460606707, + 0.004837683620420992, + -0.9971316193608248, + 0.07553231419762031, + 0.15371160392994096, + -0.0738940292903189, + -0.9853488799671549 + ], + [ + 0.9875544084738628, + 0.08097337562142573, + 0.13483175718023954, + 0.06889269283877639, + -0.9933749199763173, + 0.09197861292424278, + 0.14138630477263908, + -0.08154496184631621, + -0.9865902553847883 + ], + [ + 0.9835118186124521, + 0.1090850447295684, + 0.1442392306758988, + 0.0992704943484525, + -0.9923352276472318, + 0.0735945984575662, + 0.15116173987302786, + -0.058062457635417154, + -0.9868023507328579 + ], + [ + 0.9658700686164295, + 0.13795961296383463, + 0.21923082753518616, + 0.13388541037933682, + -0.9904335646226126, + 0.03340734883976287, + 0.22174243490692117, + -0.002915349003804739, + -0.9751009144194952 + ], + [ + 0.9716313384075467, + 0.11943480152478435, + 0.2041270937653655, + 0.11197510322381694, + -0.992562876429125, + 0.047754712780587794, + 0.20831254998769153, + -0.02354282309911593, + -0.9777789203077292 + ], + [ + 0.9610588125768963, + 0.12208732461280525, + 0.24791257317282897, + 0.10804596238207992, + -0.9917116072536712, + 0.06952810979215482, + 0.2543462773095292, + -0.040034650082488285, + -0.9662842221683827 + ], + [ + 0.9605350678548096, + 0.09736269017993585, + 0.26056264118649486, + 0.08114151021832011, + -0.9940746526318783, + 0.07233007890428887, + 0.2660609680893582, + -0.0483331310359284, + -0.9627437196386259 + ], + [ + 0.948323413337171, + 0.06737826774478553, + 0.31006914188975454, + 0.04900954324553758, + -0.9965711329698567, + 0.06666364528016382, + 0.31349763697259425, + -0.048022348619030694, + -0.9483739165781139 + ], + [ + 0.9491673857329262, + 0.05973544302135516, + 0.30905169585032977, + 0.031063044439196254, + -0.9948110502525551, + 0.09688168849466103, + 0.31323531271408533, + -0.08235685243166138, + -0.946097768587612 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + 0.00029152631759643555, + -0.0033735185861587524, + -0.010266818106174469, + -0.013938228599727154, + 0.02809011936187744, + -0.0017987340688705444, + 1.0 + ], + [ + 0.019025862216949463, + -0.03215254098176956, + -0.0018753483891487122, + -0.024789774790406227, + -0.010799974203109741, + -0.10085716843605042, + 1.0 + ], + [ + 0.01825079321861267, + -0.02715344727039337, + -0.0020317062735557556, + 0.01210964098572731, + 0.006661772727966309, + -0.10862395167350769, + 1.0 + ], + [ + 0.014097660779953003, + -0.028985165059566498, + -0.003702595829963684, + -0.0010534562170505524, + 0.0014070570468902588, + -0.09401590377092361, + 1.0 + ], + [ + 0.01752355694770813, + -0.02605815976858139, + -0.00781898945569992, + 0.0012081712484359741, + 0.014686226844787598, + -0.080012246966362, + 1.0 + ], + [ + 0.011778920888900757, + -0.023811975494027138, + -0.0064025819301605225, + -0.017283178865909576, + -0.009497284889221191, + -0.07031905651092529, + 1.0 + ], + [ + -0.0012206733226776123, + -0.02060914970934391, + -0.016973409801721573, + 0.004882197827100754, + 0.03350678086280823, + -0.08820667862892151, + 1.0 + ], + [ + -0.0016006529331207275, + -0.015438184142112732, + -0.007370855659246445, + -0.0004319921135902405, + 0.013949275016784668, + -0.061483412981033325, + 1.0 + ], + [ + -0.0006278455257415771, + -0.013857576996088028, + -0.009027332067489624, + -0.014865979552268982, + 0.001259535551071167, + -0.03465628623962402, + 1.0 + ], + [ + -0.001537322998046875, + -0.0031280219554901123, + -0.00502740778028965, + 0.003046378493309021, + 0.014246642589569092, + -0.014959365129470825, + 1.0 + ], + [ + -0.004636794328689575, + 0.005704760551452637, + -0.007671467959880829, + 0.010610487312078476, + 0.023076951503753662, + 0.012814313173294067, + 1.0 + ], + [ + -0.007126212120056152, + 0.015564987435936928, + -0.009218175895512104, + 0.019855957478284836, + 0.02953052520751953, + 0.030691683292388916, + 1.0 + ], + [ + -0.012449383735656738, + 0.01572391763329506, + -0.002528805285692215, + 0.034835513681173325, + 0.028048738837242126, + 0.04749113321304321, + 1.0 + ], + [ + -0.006487101316452026, + 0.017642103135585785, + 0.000693504698574543, + 0.022770658135414124, + 0.007453545928001404, + 0.07227414846420288, + 1.0 + ], + [ + -0.0016799867153167725, + 0.009361390955746174, + -1.727137714624405e-05, + 0.01855936273932457, + 0.016235411167144775, + 0.030061006546020508, + 1.0 + ], + [ + -0.0002886652946472168, + 0.01750071346759796, + 0.0011772951111197472, + 0.007939450442790985, + 0.003409251570701599, + 0.04991412162780762, + 1.0 + ], + [ + -0.000451505184173584, + 0.027435990050435066, + 0.003116767853498459, + 0.003086186945438385, + -0.002695992588996887, + 0.08627727627754211, + 1.0 + ], + [ + -0.0022006630897521973, + 0.024130750447511673, + 0.0020616091787815094, + 0.01668250560760498, + -0.0026800334453582764, + 0.05496244877576828, + 1.0 + ], + [ + -0.0038934648036956787, + 0.015548132359981537, + 1.3139098882675171e-05, + 0.004084080457687378, + 0.0013682544231414795, + 0.029897242784500122, + 1.0 + ], + [ + -0.009950250387191772, + 0.02270267903804779, + -0.0017255116254091263, + 0.007613226771354675, + 0.01246178150177002, + 0.06475218385457993, + 1.0 + ], + [ + -0.0031621158123016357, + 0.004775971174240112, + -0.0006126398220658302, + -0.023694638162851334, + -0.009881764650344849, + 0.03094596415758133, + 1.0 + ], + [ + -0.0007957518100738525, + 0.003502659499645233, + 0.01142259780317545, + -0.05578145012259483, + -0.07185761630535126, + 0.03714462369680405, + 1.0 + ], + [ + 0.0009156763553619385, + -0.00020577013492584229, + 0.003168296068906784, + 0.021083423867821693, + 0.013751685619354248, + -0.02300039678812027, + 1.0 + ], + [ + 0.007551848888397217, + -0.001179426908493042, + 0.021105481311678886, + 0.017334656789898872, + -0.0473223477602005, + -0.0027844682335853577, + 1.0 + ], + [ + 0.004030585289001465, + -0.005788430571556091, + 0.013916779309511185, + 0.008753549307584763, + -0.012132704257965088, + -0.027678556740283966, + 1.0 + ], + [ + 0.008831381797790527, + -0.008525118231773376, + 0.02982090413570404, + 0.00043188780546188354, + -0.04956972599029541, + -0.0326409749686718, + 1.0 + ], + [ + 0.0011911392211914062, + -0.0026535168290138245, + 0.010259151458740234, + 0.03623680770397186, + 0.00027623772621154785, + -0.018919315189123154, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + -0.0010085925459861755, + -0.0002645254135131836, + 0.0032186396420001984, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3158806264400482, + 0.13942568004131317, + 0.09050130099058151 + ], + [ + 0.3349064886569977, + 0.10727313905954361, + 0.0886259526014328 + ], + [ + 0.35315728187561035, + 0.08011969178915024, + 0.08659424632787704 + ], + [ + 0.36725494265556335, + 0.05113452672958374, + 0.08289165049791336 + ], + [ + 0.3847784996032715, + 0.02507636696100235, + 0.07507266104221344 + ], + [ + 0.39655742049217224, + 0.001264392165467143, + 0.06867007911205292 + ], + [ + 0.39533674716949463, + -0.019344758242368698, + 0.051696669310331345 + ], + [ + 0.3937360942363739, + -0.03478294238448143, + 0.0443258136510849 + ], + [ + 0.3931082487106323, + -0.04864051938056946, + 0.035298481583595276 + ], + [ + 0.39157092571258545, + -0.05176854133605957, + 0.030271073803305626 + ], + [ + 0.3869341313838959, + -0.046063780784606934, + 0.022599605843424797 + ], + [ + 0.3798079192638397, + -0.030498793348670006, + 0.013381429947912693 + ], + [ + 0.367358535528183, + -0.014774875715374947, + 0.010852624662220478 + ], + [ + 0.36087143421173096, + 0.0028672271873801947, + 0.011546129360795021 + ], + [ + 0.3591914474964142, + 0.012228618375957012, + 0.011528857983648777 + ], + [ + 0.35890278220176697, + 0.0297293309122324, + 0.012706153094768524 + ], + [ + 0.3584512770175934, + 0.057165320962667465, + 0.015822920948266983 + ], + [ + 0.3562506139278412, + 0.08129607141017914, + 0.017884530127048492 + ], + [ + 0.3523571491241455, + 0.09684420377016068, + 0.017897669225931168 + ], + [ + 0.34240689873695374, + 0.11954688280820847, + 0.01617215760052204 + ], + [ + 0.3392447829246521, + 0.12432285398244858, + 0.015559517778456211 + ], + [ + 0.33844903111457825, + 0.1278255134820938, + 0.02698211558163166 + ], + [ + 0.3393647074699402, + 0.12761974334716797, + 0.030150411650538445 + ], + [ + 0.3469165563583374, + 0.12644031643867493, + 0.05125589296221733 + ], + [ + 0.35094714164733887, + 0.12065188586711884, + 0.06517267227172852 + ], + [ + 0.3597785234451294, + 0.11212676763534546, + 0.09499357640743256 + ], + [ + 0.3609696626663208, + 0.10947325080633163, + 0.10525272786617279 + ], + [ + 0.3609696626663208, + 0.10947325080633163, + 0.10525272786617279 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9201284267874676, + 0.23301789605038173, + 0.31474805533612626, + 0.22873024351913548, + -0.9721504904463248, + 0.05104801293534368, + 0.3178775769337886, + 0.0250216715113824, + -0.9478015414829624 + ], + [ + 0.9350297395527141, + 0.12550330433089965, + 0.33161469622742645, + 0.13442719145854673, + -0.9909153536534815, + -0.004011494778993527, + 0.32809863813882245, + 0.048328899178651484, + -0.943406381765371 + ], + [ + 0.9462556694920544, + 0.021569423066617213, + 0.32269950099545824, + 0.032341845770958354, + -0.9990829816804028, + -0.02805709765325113, + 0.32179840423201606, + 0.03698588521544142, + -0.9460855306622963 + ], + [ + 0.9455639894104966, + -0.07259948232106078, + 0.31723501871139714, + -0.05666009353724763, + -0.9966369778925951, + -0.0591977034813479, + 0.3204658729575691, + 0.0380006508342847, + -0.94649753026921 + ], + [ + 0.9425693609888552, + -0.15111155823559044, + 0.29787295394626345, + -0.13269666517511644, + -0.9878226633908557, + -0.08122795542668393, + 0.30652013763611696, + 0.037036234406430474, + -0.9511433764499061 + ], + [ + 0.9280275259044248, + -0.22564319799502625, + 0.29639510515912665, + -0.1979783868615101, + -0.9727507213699369, + -0.12066727978197742, + 0.31554630325742467, + 0.05330273232063396, + -0.9474119216200145 + ], + [ + 0.9165740255725583, + -0.3074973067309283, + 0.25561193633893786, + -0.28191190058033494, + -0.9502765873342696, + -0.1322878976910523, + 0.2835802107991655, + 0.04919160413688897, + -0.9576859872241742 + ], + [ + 0.9011350646487932, + -0.36476345262804555, + 0.23431435911459342, + -0.33905795685219986, + -0.9297672155430905, + -0.14343161017174655, + 0.27017641857798547, + 0.049805105442270674, + -0.9615217908691708 + ], + [ + 0.889159272825763, + -0.4000490870768129, + 0.22216326311289386, + -0.37020861385730114, + -0.914248277264827, + -0.1646076235906214, + 0.26896351011580744, + 0.0641156412063745, + -0.9610139513965859 + ], + [ + 0.8869471566922537, + -0.4122080406515231, + 0.20834891998222363, + -0.384954587730212, + -0.9090167802645109, + -0.15968236778994815, + 0.25521502036711957, + 0.06142494948938938, + -0.9649312249892407 + ], + [ + 0.8970014611828198, + -0.3971787130500691, + 0.19400373330371012, + -0.3757334614250541, + -0.9162962044381837, + -0.13865652418016777, + 0.2328363043029021, + 0.05148141054855544, + -0.9711523669159734 + ], + [ + 0.914132650391576, + -0.36397552214269807, + 0.17855900080652126, + -0.35033885608505483, + -0.9308447090718771, + -0.10387884053024399, + 0.20402005637948495, + 0.03240288372726876, + -0.9784303090772838 + ], + [ + 0.9348020108559767, + -0.31284269570678114, + 0.16815067125211447, + -0.3082180678150662, + -0.9498034253040647, + -0.053619734734641294, + 0.17648462587990377, + -0.0017032391436263838, + -0.984301923092935 + ], + [ + 0.9558676257664396, + -0.23964407530240933, + 0.16996411145910498, + -0.24022415794546853, + -0.9705605113768039, + -0.01745415983046715, + 0.16914324092620578, + -0.024145619239316657, + -0.9852956678685487 + ], + [ + 0.9652112775684192, + -0.20783908459983913, + 0.15865088895887428, + -0.21194669941331024, + -0.977237589853838, + 0.009235236026543494, + 0.1531201693525189, + -0.04253948623764692, + -0.9872915505807254 + ], + [ + 0.9750930587234647, + -0.15773258408915525, + 0.15592933895157482, + -0.16361049205640027, + -0.9861946948368848, + 0.02552705945944453, + 0.1497502377907298, + -0.0504029343604219, + -0.9874383071815063 + ], + [ + 0.9851584708459586, + -0.07154861205537363, + 0.15602430398307274, + -0.07894535433214656, + -0.9960051382382419, + 0.041730032738934685, + 0.15241528253368977, + -0.053428089203810904, + -0.9868713294721887 + ], + [ + 0.9875957747243376, + -0.013975144627832002, + 0.1563946325142477, + -0.024696379773351422, + -0.9974593124642276, + 0.06682072137054935, + 0.1550634533754676, + -0.06985424332867239, + -0.9854317379282305 + ], + [ + 0.9881039113547087, + 0.016376999300873746, + 0.15291322460606707, + 0.004837683620420992, + -0.9971316193608248, + 0.07553231419762031, + 0.15371160392994096, + -0.0738940292903189, + -0.9853488799671549 + ], + [ + 0.9875544084738628, + 0.08097337562142573, + 0.13483175718023954, + 0.06889269283877639, + -0.9933749199763173, + 0.09197861292424278, + 0.14138630477263908, + -0.08154496184631621, + -0.9865902553847883 + ], + [ + 0.9835118186124521, + 0.1090850447295684, + 0.1442392306758988, + 0.0992704943484525, + -0.9923352276472318, + 0.0735945984575662, + 0.15116173987302786, + -0.058062457635417154, + -0.9868023507328579 + ], + [ + 0.9658700686164295, + 0.13795961296383463, + 0.21923082753518616, + 0.13388541037933682, + -0.9904335646226126, + 0.03340734883976287, + 0.22174243490692117, + -0.002915349003804739, + -0.9751009144194952 + ], + [ + 0.9716313384075467, + 0.11943480152478435, + 0.2041270937653655, + 0.11197510322381694, + -0.992562876429125, + 0.047754712780587794, + 0.20831254998769153, + -0.02354282309911593, + -0.9777789203077292 + ], + [ + 0.9610588125768963, + 0.12208732461280525, + 0.24791257317282897, + 0.10804596238207992, + -0.9917116072536712, + 0.06952810979215482, + 0.2543462773095292, + -0.040034650082488285, + -0.9662842221683827 + ], + [ + 0.9605350678548096, + 0.09736269017993585, + 0.26056264118649486, + 0.08114151021832011, + -0.9940746526318783, + 0.07233007890428887, + 0.2660609680893582, + -0.0483331310359284, + -0.9627437196386259 + ], + [ + 0.948323413337171, + 0.06737826774478553, + 0.31006914188975454, + 0.04900954324553758, + -0.9965711329698567, + 0.06666364528016382, + 0.31349763697259425, + -0.048022348619030694, + -0.9483739165781139 + ], + [ + 0.9491673857329262, + 0.05973544302135516, + 0.30905169585032977, + 0.031063044439196254, + -0.9948110502525551, + 0.09688168849466103, + 0.31323531271408533, + -0.08235685243166138, + -0.946097768587612 + ], + [ + 0.9489796502312152, + 0.06264716149453875, + 0.30905170538878707, + 0.03411492807480288, + -0.994711068229499, + 0.09688169292585758, + 0.31348651506801933, + -0.08139547836585467, + -0.9460977650180251 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006478.json b/json/chunk-0006/episode_0006478.json new file mode 100644 index 0000000000000000000000000000000000000000..8e652d77983cd26ce6207f47863e957045d4e531 --- /dev/null +++ b/json/chunk-0006/episode_0006478.json @@ -0,0 +1,2362 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 38, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nClose the drawer." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006478.mp4", + "start": 0, + "end": 38, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2552497982978821, + -0.031675539910793304, + 0.15446744859218597, + 0.0032251535449177027, + -0.12452508509159088, + -0.21395790576934814, + 0.0, + 1.0001531839370728 + ], + [ + 0.2549966871738434, + -0.03233812749385834, + 0.14814543724060059, + -0.003606659360229969, + -0.10051678866147995, + -0.21214796602725983, + 0.0, + 1.0001531839370728 + ], + [ + 0.261613130569458, + -0.02533404342830181, + 0.12133058160543442, + -0.04089944437146187, + -0.020678965374827385, + -0.1892259269952774, + 0.0, + 1.0001531839370728 + ], + [ + 0.2723669111728668, + -0.04666370153427124, + 0.09207112342119217, + -0.04989415779709816, + 0.004287320654839277, + -0.16624605655670166, + 0.0, + 1.0001531839370728 + ], + [ + 0.27451154589653015, + -0.0473034493625164, + 0.07495079934597015, + -0.04842125624418259, + 0.04318569228053093, + -0.12518346309661865, + 0.0, + 1.0001531839370728 + ], + [ + 0.27407360076904297, + -0.0402522087097168, + 0.06983059644699097, + -0.04777944087982178, + 0.03700730577111244, + -0.10075456649065018, + 0.0, + 1.0001531839370728 + ], + [ + 0.2753021717071533, + -0.0384410060942173, + 0.06978721916675568, + -0.04649002104997635, + 0.03071342594921589, + -0.09813769161701202, + 0.0, + 1.0001531839370728 + ], + [ + 0.27381739020347595, + -0.03301239758729935, + 0.06988078355789185, + -0.04881269857287407, + 0.043630391359329224, + -0.09651540964841843, + 0.0, + 1.0001531839370728 + ], + [ + 0.2734677493572235, + -0.030262010172009468, + 0.06996976584196091, + -0.05657809227705002, + 0.04700212553143501, + -0.10078560560941696, + 0.0, + 1.0001531839370728 + ], + [ + 0.2785817086696625, + -0.0197125393897295, + 0.07358146458864212, + -0.05305185914039612, + 0.03046439401805401, + -0.09072933346033096, + 0.0, + 1.0001531839370728 + ], + [ + 0.2785950005054474, + -0.008809076622128487, + 0.07354817539453506, + -0.04716047644615173, + 0.033140603452920914, + -0.07453951239585876, + 0.0, + 1.0001531839370728 + ], + [ + 0.28118616342544556, + 0.0008865700801834464, + 0.072899229824543, + -0.015275625512003899, + 0.020165380090475082, + -0.07700244337320328, + 0.0, + 1.0001531839370728 + ], + [ + 0.28531619906425476, + 0.011577489785850048, + 0.0728527382016182, + 0.004585922695696354, + -0.0056969705037772655, + -0.06521744281053543, + 0.0, + 1.0001531839370728 + ], + [ + 0.28631535172462463, + 0.018388571217656136, + 0.07096941769123077, + 0.03211108595132828, + -0.018507234752178192, + -0.05688024312257767, + 0.0, + 1.0001531839370728 + ], + [ + 0.28621238470077515, + 0.021721020340919495, + 0.07108423113822937, + 0.050404444336891174, + -0.016784442588686943, + -0.060438480228185654, + 0.0, + 1.0001531839370728 + ], + [ + 0.2853983938694, + 0.03054239973425865, + 0.07167400419712067, + 0.06749031692743301, + -0.015021816827356815, + -0.046191614121198654, + 0.0, + 1.0001531839370728 + ], + [ + 0.2823672890663147, + 0.045596394687891006, + 0.07183890044689178, + 0.08267280459403992, + -0.0052228872664272785, + -0.013669556006789207, + 0.0, + 1.0001531839370728 + ], + [ + 0.2781742215156555, + 0.06284348666667938, + 0.07155855000019073, + 0.09371613711118698, + 0.005248706322163343, + 0.021342454478144646, + 0.0, + 0.9994885921478271 + ], + [ + 0.2751070261001587, + 0.07744722813367844, + 0.07227431982755661, + 0.11104951053857803, + 0.0055309077724814415, + 0.04801888018846512, + 0.0, + 0.9994885921478271 + ], + [ + 0.27166369557380676, + 0.09123466163873672, + 0.07338373363018036, + 0.162014901638031, + 0.012351226061582565, + 0.07352277636528015, + 0.0, + 0.9994885921478271 + ], + [ + 0.2720476984977722, + 0.09740115702152252, + 0.08552230149507523, + 0.2329639494419098, + -0.018624186515808105, + 0.08170175552368164, + 0.0, + 0.9994885921478271 + ], + [ + 0.2754957675933838, + 0.0963144302368164, + 0.08878160268068314, + 0.3140110373497009, + -0.028888940811157227, + 0.0637032613158226, + 0.0, + 0.9994885921478271 + ], + [ + 0.27445927262306213, + 0.08876639604568481, + 0.08890713006258011, + 0.4174063205718994, + -0.015398630872368813, + 0.027874277904629707, + 0.0, + 0.9994885921478271 + ], + [ + 0.2729990482330322, + 0.08946829289197922, + 0.09094587713479996, + 0.4756108820438385, + -0.0020430218428373337, + 0.02831224910914898, + 0.0, + 0.9994885921478271 + ], + [ + 0.27108222246170044, + 0.08962836861610413, + 0.08662330359220505, + 0.5102494359016418, + 0.019038386642932892, + 0.024445107206702232, + 0.0, + 0.9994885921478271 + ], + [ + 0.2719210088253021, + 0.08972109854221344, + 0.0856214314699173, + 0.5015146136283875, + 0.016749512404203415, + 0.014384210109710693, + 0.0, + 0.9994885921478271 + ], + [ + 0.27102130651474, + 0.09474319964647293, + 0.08236447721719742, + 0.5072962641716003, + 0.021919813007116318, + 0.02877127006649971, + 0.0, + 0.9994885921478271 + ], + [ + 0.2693430185317993, + 0.10188868641853333, + 0.0787900909781456, + 0.5100501775741577, + 0.0337345153093338, + 0.04182495176792145, + 0.0, + 0.9994885921478271 + ], + [ + 0.26678967475891113, + 0.1125251054763794, + 0.07652022689580917, + 0.5296754837036133, + 0.04113112762570381, + 0.06788245588541031, + 0.0, + 0.9994885921478271 + ], + [ + 0.264904260635376, + 0.12008098512887955, + 0.07534433901309967, + 0.5451236367225647, + 0.05222484841942787, + 0.08584137260913849, + 0.0, + 0.9994885921478271 + ], + [ + 0.2639964818954468, + 0.1211811900138855, + 0.07496047765016556, + 0.5345785021781921, + 0.05788566917181015, + 0.08204427361488342, + 0.0, + 0.9994885921478271 + ], + [ + 0.26756250858306885, + 0.11270812153816223, + 0.07119197398424149, + 0.470461368560791, + 0.050077278167009354, + 0.052413493394851685, + 0.0, + 0.9994885921478271 + ], + [ + 0.2751797139644623, + 0.08300603181123734, + 0.07223709672689438, + 0.4080304801464081, + 0.02639540657401085, + -0.03673173487186432, + 0.0, + 0.9988223910331726 + ], + [ + 0.27781617641448975, + 0.05120522156357765, + 0.07797107100486755, + 0.37055960297584534, + 0.00018987528164871037, + -0.11836689710617065, + 0.0, + 0.9988223910331726 + ], + [ + 0.276278555393219, + 0.02813931368291378, + 0.08369719237089157, + 0.3393717110157013, + -0.006903136149048805, + -0.1612618863582611, + 0.0, + 0.9988223910331726 + ], + [ + 0.2806607484817505, + 0.008960404433310032, + 0.09258752316236496, + 0.22243088483810425, + -0.006477555725723505, + -0.18964390456676483, + 0.0, + 0.9988223910331726 + ], + [ + 0.2832351326942444, + -0.0031367731280624866, + 0.10815107822418213, + 0.059168294072151184, + 0.008020990528166294, + -0.19117170572280884, + 0.0, + 0.9988223910331726 + ], + [ + 0.28336217999458313, + -0.0150974802672863, + 0.1142580434679985, + -0.03913555666804314, + 0.022837301716208458, + -0.1982768028974533, + 0.0, + 0.9988223910331726 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2552497982978821, + -0.031675539910793304, + 0.15446744859218597 + ], + [ + 0.2549966871738434, + -0.03233812749385834, + 0.14814543724060059 + ], + [ + 0.261613130569458, + -0.02533404342830181, + 0.12133058160543442 + ], + [ + 0.2723669111728668, + -0.04666370153427124, + 0.09207112342119217 + ], + [ + 0.27451154589653015, + -0.0473034493625164, + 0.07495079934597015 + ], + [ + 0.27407360076904297, + -0.0402522087097168, + 0.06983059644699097 + ], + [ + 0.2753021717071533, + -0.0384410060942173, + 0.06978721916675568 + ], + [ + 0.27381739020347595, + -0.03301239758729935, + 0.06988078355789185 + ], + [ + 0.2734677493572235, + -0.030262010172009468, + 0.06996976584196091 + ], + [ + 0.2785817086696625, + -0.0197125393897295, + 0.07358146458864212 + ], + [ + 0.2785950005054474, + -0.008809076622128487, + 0.07354817539453506 + ], + [ + 0.28118616342544556, + 0.0008865700801834464, + 0.072899229824543 + ], + [ + 0.28531619906425476, + 0.011577489785850048, + 0.0728527382016182 + ], + [ + 0.28631535172462463, + 0.018388571217656136, + 0.07096941769123077 + ], + [ + 0.28621238470077515, + 0.021721020340919495, + 0.07108423113822937 + ], + [ + 0.2853983938694, + 0.03054239973425865, + 0.07167400419712067 + ], + [ + 0.2823672890663147, + 0.045596394687891006, + 0.07183890044689178 + ], + [ + 0.2781742215156555, + 0.06284348666667938, + 0.07155855000019073 + ], + [ + 0.2751070261001587, + 0.07744722813367844, + 0.07227431982755661 + ], + [ + 0.27166369557380676, + 0.09123466163873672, + 0.07338373363018036 + ], + [ + 0.2720476984977722, + 0.09740115702152252, + 0.08552230149507523 + ], + [ + 0.2754957675933838, + 0.0963144302368164, + 0.08878160268068314 + ], + [ + 0.27445927262306213, + 0.08876639604568481, + 0.08890713006258011 + ], + [ + 0.2729990482330322, + 0.08946829289197922, + 0.09094587713479996 + ], + [ + 0.27108222246170044, + 0.08962836861610413, + 0.08662330359220505 + ], + [ + 0.2719210088253021, + 0.08972109854221344, + 0.0856214314699173 + ], + [ + 0.27102130651474, + 0.09474319964647293, + 0.08236447721719742 + ], + [ + 0.2693430185317993, + 0.10188868641853333, + 0.0787900909781456 + ], + [ + 0.26678967475891113, + 0.1125251054763794, + 0.07652022689580917 + ], + [ + 0.264904260635376, + 0.12008098512887955, + 0.07534433901309967 + ], + [ + 0.2639964818954468, + 0.1211811900138855, + 0.07496047765016556 + ], + [ + 0.26756250858306885, + 0.11270812153816223, + 0.07119197398424149 + ], + [ + 0.2751797139644623, + 0.08300603181123734, + 0.07223709672689438 + ], + [ + 0.27781617641448975, + 0.05120522156357765, + 0.07797107100486755 + ], + [ + 0.276278555393219, + 0.02813931368291378, + 0.08369719237089157 + ], + [ + 0.2806607484817505, + 0.008960404433310032, + 0.09258752316236496 + ], + [ + 0.2832351326942444, + -0.0031367731280624866, + 0.10815107822418213 + ], + [ + 0.28336217999458313, + -0.0150974802672863, + 0.1142580434679985 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9696315167905941, + -0.21193666602694897, + 0.12205560716228062, + -0.2106850962459009, + -0.9772781633056907, + -0.023220287373564394, + 0.12420350987885542, + -0.003200174875994239, + -0.9922516046923461 + ], + [ + 0.9726464955122696, + -0.21091263000190136, + 0.09733785118535383, + -0.20949737922512385, + -0.9774983302060453, + -0.024654868529329896, + 0.10034761016339995, + 0.0035884467496317234, + -0.9949459684748815 + ], + [ + 0.981940145627325, + -0.188771765790456, + 0.012600430379201534, + -0.1880584795902134, + -0.9811697626825188, + -0.044044353233385417, + 0.020677491617823514, + 0.040879300848756836, + -0.9989501109177134 + ], + [ + 0.986203858086414, + -0.16506452722938347, + -0.012476062921138488, + -0.1654798153543091, + -0.9850210077210655, + -0.04847726331467602, + -0.004287307520559921, + 0.049873000698943216, + -0.9987463655981469 + ], + [ + 0.9912497161293946, + -0.1226371339619975, + -0.04882759104217736, + -0.12474035185418313, + -0.9912727746417639, + -0.04263954588540804, + -0.04317226995062495, + 0.04835720864159036, + -0.9978966557112537 + ], + [ + 0.9942473312607196, + -0.09871124577966661, + -0.04157323944033196, + -0.10051531574957032, + -0.993970861904747, + -0.04380179201926024, + -0.03699885918107615, + 0.04772856210866404, + -0.9981748688372887 + ], + [ + 0.9947190094220231, + -0.0964541133417937, + -0.03508128153186429, + -0.09793403053959536, + -0.9942529232119316, + -0.04324407874841002, + -0.03070859744011622, + 0.04645135847289611, + -0.998448422974008 + ], + [ + 0.9943987767385923, + -0.09413256269756548, + -0.048063847752545324, + -0.09627392884761332, + -0.994365527410834, + -0.04436810251992204, + -0.04361655012762519, + 0.048746882330694005, + -0.9978583757317475 + ], + [ + 0.9938266363264225, + -0.09781066016202247, + -0.052361165827140906, + -0.1005039476791664, + -0.9936007586035555, + -0.0515411389410612, + -0.04698482126188607, + 0.05648546061693879, + -0.9972972572457423 + ], + [ + 0.9954248214196781, + -0.08886889157575954, + -0.03509622503486909, + -0.090562865864474, + -0.9946321272977794, + -0.05005295868884941, + -0.030459682007788088, + 0.05300237218455669, + -0.9981297292009664 + ], + [ + 0.9966756417769668, + -0.07282998240269394, + -0.03651655448826098, + -0.07442961453417012, + -0.9962307822792392, + -0.044547288577299365, + -0.033134537400810266, + 0.04711711050688089, + -0.9983396618028936 + ], + [ + 0.9968340645424536, + -0.07661030159734979, + -0.02127697010701734, + -0.07691072961543795, + -0.996944145863446, + -0.013678804722097246, + -0.02016401343465135, + 0.015271925804147268, + -0.9996800392347744 + ], + [ + 0.9978579030543414, + -0.06514446553238837, + 0.005983637897799431, + -0.06517016334327644, + -0.9978653059173401, + 0.0042048848145778755, + 0.0056969396875152884, + -0.004585832202846331, + -0.9999732571530121 + ], + [ + 0.9982117780515327, + -0.05622707934558155, + 0.020291912365844947, + -0.0568398410041142, + -0.9979018494213221, + 0.03100211922001373, + 0.018506178260907176, + -0.03210006962251955, + -0.9993133176818995 + ], + [ + 0.9980335526764524, + -0.05948091098249941, + 0.019774957919317368, + -0.060393183993984134, + -0.9969575111883077, + 0.049278638498685544, + 0.01678365452121708, + -0.050376007323996365, + -0.9985892883598366 + ], + [ + 0.9988206520432269, + -0.04505812779969838, + 0.01808508145211408, + -0.04616997990067069, + -0.9967059546752038, + 0.06667512932842819, + 0.015021251875766448, + -0.06743148399803321, + -0.9976108243989277 + ], + [ + 0.9998929351036687, + -0.013191187282998139, + 0.006333317285234305, + -0.013668943865992642, + -0.9964973373048907, + 0.08249979828976163, + 0.005222863520993208, + -0.08257753521586776, + -0.9965709570192748 + ], + [ + 0.9997584871729207, + 0.020756132945535678, + -0.007221514443660933, + 0.02134054030797886, + -0.9953955956140444, + 0.0934461854305731, + -0.005248682222833144, + -0.0935777279982196, + -0.9955981419014475 + ], + [ + 0.9988320372873123, + 0.0470925287647817, + -0.010809950185584316, + 0.04799969437009841, + -0.9927241737010132, + 0.11042981612778836, + -0.0055308795732458785, + -0.11081971252524621, + -0.9938251358699716 + ], + [ + 0.9972223486204824, + 0.07050768105922903, + -0.024005297821509272, + 0.07345095223288789, + -0.984384412959831, + 0.15997588923900774, + -0.012350912028321804, + -0.16129474397319737, + -0.9868289925507305 + ], + [ + 0.996491421092996, + 0.08369132130206772, + -0.0007812981348561711, + 0.08159673686403854, + -0.9693899072635095, + 0.23157111268201333, + 0.018623109869254327, + -0.230822378538908, + -0.9728176650043106 + ], + [ + 0.9975552232507201, + 0.06945111147694681, + 0.007753688143284469, + 0.06363362167684923, + -0.9486051593508947, + 0.3099984094235834, + 0.02888492266727099, + -0.3087471372620008, + -0.9507054572658272 + ], + [ + 0.9994930269498756, + 0.031717581593343015, + 0.002772020282167798, + 0.027867364189340427, + -0.9136143825286092, + 0.4056256526034898, + 0.015398022331253708, + -0.4053427624304373, + -0.914035090055928 + ], + [ + 0.9995971489147943, + 0.026101686583032052, + -0.011146382325019346, + 0.02830840774348284, + -0.8886304090591197, + 0.45774952774028077, + 0.002043020421596462, + -0.4578806591819996, + -0.8890113205210687 + ], + [ + 0.9995200627798373, + 0.012034319438034442, + -0.028545039083061524, + 0.02443824308262183, + -0.8725892612958994, + 0.48784295971768554, + -0.019037236554312435, + -0.4883064163276375, + -0.8724645708552499 + ], + [ + 0.9997562937410426, + 0.004561248810566729, + -0.02159972533302981, + 0.014381696485395175, + -0.8768805175408302, + 0.48049320990366523, + -0.016748729246608477, + -0.4806867513949327, + -0.8767324147663356 + ], + [ + 0.9993460055001171, + 0.014500650260955738, + -0.033125404646116206, + 0.028760390068004335, + -0.8740057937399807, + 0.48506361693295685, + -0.021918057717227823, + -0.48569908755417224, + -0.8738512431157539 + ], + [ + 0.9985570069728952, + 0.020038455481842583, + -0.04982332914644872, + 0.04178896901464546, + -0.8726453074547409, + 0.486563304664371, + -0.033728117261806294, + -0.4879432627664027, + -0.8722234727561802 + ], + [ + 0.9968530530266897, + 0.037807686050420786, + -0.06967474109661834, + 0.06777296529314977, + -0.8623927729825214, + 0.5016826988076138, + -0.041119531207705846, + -0.5048259937671894, + -0.8622412076502887 + ], + [ + 0.9949595039941763, + 0.046341833123829994, + -0.08892704827208373, + 0.08561909454778771, + -0.8542354135907884, + 0.5127877034565003, + -0.0522011116785783, + -0.5178168524392555, + -0.853897389192298 + ], + [ + 0.9949669824464245, + 0.04114268003031904, + -0.09136730116063983, + 0.08181499852981382, + -0.8600045491662708, + 0.5036849029193605, + -0.05785334784628139, + -0.5086250635716273, + -0.8590422194803553 + ], + [ + 0.9973748439387624, + 0.024038601453678317, + -0.0683049509060725, + 0.0523238227927607, + -0.8913239063460403, + 0.4503375528915919, + -0.050056350710789274, + -0.45272932268209304, + -0.8902418335134179 + ], + [ + 0.9989773621204053, + -0.04417410619369737, + -0.00963733951587274, + -0.03671068336063496, + -0.9169003665976054, + 0.3974242612880746, + -0.026392341657220444, + -0.3966640468648054, + -0.9175843711761245 + ], + [ + 0.9930027962964746, + -0.11014354483940632, + 0.042589271860314845, + -0.11809068758695569, + -0.9255944678553646, + 0.3596240684114237, + -0.0001898752805078001, + -0.3621371019458708, + -0.9321248217602746 + ], + [ + 0.9870019385372008, + -0.14913774563485882, + 0.05987575595146667, + -0.16056002239678357, + -0.9310984532715832, + 0.3275303795424317, + 0.006903081322989484, + -0.3328867722547971, + -0.9429415381273808 + ], + [ + 0.9820508214829253, + -0.18246176940571224, + 0.047790027516712255, + -0.18850524099709598, + -0.9581465567163088, + 0.21545521569297882, + 0.006477510427485209, + -0.22059664221836645, + -0.9753436129388677 + ], + [ + 0.9817506920811636, + -0.19014254697223198, + 0.003374970973091057, + -0.19000327283710472, + -0.979974098265271, + 0.059577873748212225, + -0.008020904521648775, + -0.059131874315649056, + -0.9982179554238509 + ], + [ + 0.9801518180823197, + -0.1959534215302641, + -0.03007773429807659, + -0.1969288242557413, + -0.9798327636914135, + -0.03386433779210552, + -0.022835316664640695, + 0.03911536510668285, + -0.9989737416596075 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0002531111240386963, + -0.000662587583065033, + -0.006322011351585388, + -0.006831812672317028, + 0.02400829643011093, + 0.0018099397420883179, + 1.0 + ], + [ + 0.006616443395614624, + 0.007004084065556526, + -0.026814855635166168, + -0.037292785942554474, + 0.07983782142400742, + 0.022922039031982422, + 1.0 + ], + [ + 0.010753780603408813, + -0.02132965810596943, + -0.02925945818424225, + -0.008994713425636292, + 0.02496628649532795, + 0.022979870438575745, + 1.0 + ], + [ + 0.00214463472366333, + -0.000639747828245163, + -0.017120324075222015, + 0.0014729015529155731, + 0.038898371160030365, + 0.04106259346008301, + 1.0 + ], + [ + -0.0004379451274871826, + 0.007051240652799606, + -0.005120202898979187, + 0.0006418153643608093, + -0.0061783865094184875, + 0.024428896605968475, + 1.0 + ], + [ + 0.0012285709381103516, + 0.0018112026154994965, + -4.337728023529053e-05, + 0.0012894198298454285, + -0.006293879821896553, + 0.002616874873638153, + 1.0 + ], + [ + -0.0014847815036773682, + 0.0054286085069179535, + 9.356439113616943e-05, + -0.0023226775228977203, + 0.012916965410113335, + 0.0016222819685935974, + 1.0 + ], + [ + -0.0003496408462524414, + 0.002750387415289879, + 8.898228406906128e-05, + -0.007765393704175949, + 0.003371734172105789, + -0.004270195960998535, + 1.0 + ], + [ + 0.005113959312438965, + 0.010549470782279968, + 0.0036116987466812134, + 0.0035262331366539, + -0.016537731513381004, + 0.010056272149085999, + 1.0 + ], + [ + 1.329183578491211e-05, + 0.010903462767601013, + -3.3289194107055664e-05, + 0.005891382694244385, + 0.002676209434866905, + 0.0161898210644722, + 1.0 + ], + [ + 0.002591162919998169, + 0.009695646353065968, + -0.0006489455699920654, + 0.031884849071502686, + -0.012975223362445831, + -0.002462930977344513, + 1.0 + ], + [ + 0.004130035638809204, + 0.010690920054912567, + -4.649162292480469e-05, + 0.019861549139022827, + -0.025862351059913635, + 0.011785000562667847, + 1.0 + ], + [ + 0.000999152660369873, + 0.0068110814318060875, + -0.0018833205103874207, + 0.0275251641869545, + -0.01281026378273964, + 0.008337199687957764, + 1.0 + ], + [ + -0.0001029670238494873, + 0.003332449123263359, + 0.00011481344699859619, + 0.018293358385562897, + 0.001722792163491249, + -0.0035582371056079865, + 1.0 + ], + [ + -0.0008139908313751221, + 0.008821379393339157, + 0.0005897730588912964, + 0.01708587259054184, + 0.0017626257613301277, + 0.014246866106987, + 1.0 + ], + [ + -0.003031104803085327, + 0.015053994953632355, + 0.00016489624977111816, + 0.015182487666606903, + 0.00979892909526825, + 0.032522059977054596, + 1.0 + ], + [ + -0.00419306755065918, + 0.017247091978788376, + -0.0002803504467010498, + 0.011043332517147064, + 0.010471593588590622, + 0.03501201048493385, + 1.0 + ], + [ + -0.003067195415496826, + 0.014603741466999054, + 0.0007157698273658752, + 0.017333373427391052, + 0.00028220145031809807, + 0.026676425710320473, + 1.0 + ], + [ + -0.0034433305263519287, + 0.013787433505058289, + 0.0011094138026237488, + 0.05096539109945297, + 0.006820318289101124, + 0.025503896176815033, + 1.0 + ], + [ + 0.0003840029239654541, + 0.006166495382785797, + 0.012138567864894867, + 0.07094904780387878, + -0.03097541257739067, + 0.00817897915840149, + 1.0 + ], + [ + 0.0034480690956115723, + -0.0010867267847061157, + 0.00325930118560791, + 0.08104708790779114, + -0.010264754295349121, + -0.01799849420785904, + 1.0 + ], + [ + -0.0010364949703216553, + -0.007548034191131592, + 0.00012552738189697266, + 0.10339528322219849, + 0.013490309938788414, + -0.03582898527383804, + 1.0 + ], + [ + -0.0014602243900299072, + 0.0007018968462944031, + 0.0020387470722198486, + 0.05820456147193909, + 0.013355609029531479, + 0.00043797120451927185, + 1.0 + ], + [ + -0.0019168257713317871, + 0.00016007572412490845, + -0.00432257354259491, + 0.034638553857803345, + 0.021081408485770226, + -0.003867141902446747, + 1.0 + ], + [ + 0.0008387863636016846, + 9.272992610931396e-05, + -0.0010018721222877502, + -0.008734822273254395, + -0.002288874238729477, + -0.010060897096991539, + 1.0 + ], + [ + -0.0008997023105621338, + 0.005022101104259491, + -0.003256954252719879, + 0.005781650543212891, + 0.005170300602912903, + 0.014387059956789017, + 1.0 + ], + [ + -0.0016782879829406738, + 0.007145486772060394, + -0.003574386239051819, + 0.002753913402557373, + 0.011814702302217484, + 0.013053681701421738, + 1.0 + ], + [ + -0.0025533437728881836, + 0.01063641905784607, + -0.0022698640823364258, + 0.019625306129455566, + 0.00739661231637001, + 0.02605750411748886, + 1.0 + ], + [ + -0.0018854141235351562, + 0.007555879652500153, + -0.0011758878827095032, + 0.015448153018951416, + 0.01109372079372406, + 0.01795891672372818, + 1.0 + ], + [ + -0.0009077787399291992, + 0.001100204885005951, + -0.00038386136293411255, + -0.010545134544372559, + 0.0056608207523822784, + -0.003797098994255066, + 1.0 + ], + [ + 0.0035660266876220703, + -0.008473068475723267, + -0.0037685036659240723, + -0.06411713361740112, + -0.0078083910048007965, + -0.02963078022003174, + 1.0 + ], + [ + 0.007617205381393433, + -0.029702089726924896, + 0.001045122742652893, + -0.062430888414382935, + -0.023681871592998505, + -0.089145228266716, + 1.0 + ], + [ + 0.002636462450027466, + -0.03180081024765968, + 0.005733974277973175, + -0.037470877170562744, + -0.026205530390143394, + -0.08163516223430634, + 1.0 + ], + [ + -0.001537621021270752, + -0.023065907880663872, + 0.005726121366024017, + -0.031187891960144043, + -0.007093011401593685, + -0.042894989252090454, + 1.0 + ], + [ + 0.004382193088531494, + -0.019178908318281174, + 0.008890330791473389, + -0.11694082617759705, + 0.0004255804233253002, + -0.028382018208503723, + 1.0 + ], + [ + 0.0025743842124938965, + -0.012097178027033806, + 0.01556355506181717, + -0.16326259076595306, + 0.014498546719551086, + -0.0015278011560440063, + 1.0 + ], + [ + 0.00012704730033874512, + -0.011960707604885101, + 0.006106965243816376, + -0.09830385446548462, + 0.014816311188042164, + -0.00710509717464447, + 1.0 + ], + [ + -0.0001627504825592041, + -0.004415078088641167, + 0.006283104419708252, + -0.001434464007616043, + 0.011434370651841164, + 0.006325483322143555, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2549966871738434, + -0.03233812749385834, + 0.14814543724060059 + ], + [ + 0.261613130569458, + -0.02533404342830181, + 0.12133058160543442 + ], + [ + 0.2723669111728668, + -0.04666370153427124, + 0.09207112342119217 + ], + [ + 0.27451154589653015, + -0.0473034493625164, + 0.07495079934597015 + ], + [ + 0.27407360076904297, + -0.0402522087097168, + 0.06983059644699097 + ], + [ + 0.2753021717071533, + -0.0384410060942173, + 0.06978721916675568 + ], + [ + 0.27381739020347595, + -0.03301239758729935, + 0.06988078355789185 + ], + [ + 0.2734677493572235, + -0.030262010172009468, + 0.06996976584196091 + ], + [ + 0.2785817086696625, + -0.0197125393897295, + 0.07358146458864212 + ], + [ + 0.2785950005054474, + -0.008809076622128487, + 0.07354817539453506 + ], + [ + 0.28118616342544556, + 0.0008865700801834464, + 0.072899229824543 + ], + [ + 0.28531619906425476, + 0.011577489785850048, + 0.0728527382016182 + ], + [ + 0.28631535172462463, + 0.018388571217656136, + 0.07096941769123077 + ], + [ + 0.28621238470077515, + 0.021721020340919495, + 0.07108423113822937 + ], + [ + 0.2853983938694, + 0.03054239973425865, + 0.07167400419712067 + ], + [ + 0.2823672890663147, + 0.045596394687891006, + 0.07183890044689178 + ], + [ + 0.2781742215156555, + 0.06284348666667938, + 0.07155855000019073 + ], + [ + 0.2751070261001587, + 0.07744722813367844, + 0.07227431982755661 + ], + [ + 0.27166369557380676, + 0.09123466163873672, + 0.07338373363018036 + ], + [ + 0.2720476984977722, + 0.09740115702152252, + 0.08552230149507523 + ], + [ + 0.2754957675933838, + 0.0963144302368164, + 0.08878160268068314 + ], + [ + 0.27445927262306213, + 0.08876639604568481, + 0.08890713006258011 + ], + [ + 0.2729990482330322, + 0.08946829289197922, + 0.09094587713479996 + ], + [ + 0.27108222246170044, + 0.08962836861610413, + 0.08662330359220505 + ], + [ + 0.2719210088253021, + 0.08972109854221344, + 0.0856214314699173 + ], + [ + 0.27102130651474, + 0.09474319964647293, + 0.08236447721719742 + ], + [ + 0.2693430185317993, + 0.10188868641853333, + 0.0787900909781456 + ], + [ + 0.26678967475891113, + 0.1125251054763794, + 0.07652022689580917 + ], + [ + 0.264904260635376, + 0.12008098512887955, + 0.07534433901309967 + ], + [ + 0.2639964818954468, + 0.1211811900138855, + 0.07496047765016556 + ], + [ + 0.26756250858306885, + 0.11270812153816223, + 0.07119197398424149 + ], + [ + 0.2751797139644623, + 0.08300603181123734, + 0.07223709672689438 + ], + [ + 0.27781617641448975, + 0.05120522156357765, + 0.07797107100486755 + ], + [ + 0.276278555393219, + 0.02813931368291378, + 0.08369719237089157 + ], + [ + 0.2806607484817505, + 0.008960404433310032, + 0.09258752316236496 + ], + [ + 0.2832351326942444, + -0.0031367731280624866, + 0.10815107822418213 + ], + [ + 0.28336217999458313, + -0.0150974802672863, + 0.1142580434679985 + ], + [ + 0.2831994295120239, + -0.019512558355927467, + 0.12054114788770676 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9726464955122696, + -0.21091263000190136, + 0.09733785118535383, + -0.20949737922512385, + -0.9774983302060453, + -0.024654868529329896, + 0.10034761016339995, + 0.0035884467496317234, + -0.9949459684748815 + ], + [ + 0.981940145627325, + -0.188771765790456, + 0.012600430379201534, + -0.1880584795902134, + -0.9811697626825188, + -0.044044353233385417, + 0.020677491617823514, + 0.040879300848756836, + -0.9989501109177134 + ], + [ + 0.986203858086414, + -0.16506452722938347, + -0.012476062921138488, + -0.1654798153543091, + -0.9850210077210655, + -0.04847726331467602, + -0.004287307520559921, + 0.049873000698943216, + -0.9987463655981469 + ], + [ + 0.9912497161293946, + -0.1226371339619975, + -0.04882759104217736, + -0.12474035185418313, + -0.9912727746417639, + -0.04263954588540804, + -0.04317226995062495, + 0.04835720864159036, + -0.9978966557112537 + ], + [ + 0.9942473312607196, + -0.09871124577966661, + -0.04157323944033196, + -0.10051531574957032, + -0.993970861904747, + -0.04380179201926024, + -0.03699885918107615, + 0.04772856210866404, + -0.9981748688372887 + ], + [ + 0.9947190094220231, + -0.0964541133417937, + -0.03508128153186429, + -0.09793403053959536, + -0.9942529232119316, + -0.04324407874841002, + -0.03070859744011622, + 0.04645135847289611, + -0.998448422974008 + ], + [ + 0.9943987767385923, + -0.09413256269756548, + -0.048063847752545324, + -0.09627392884761332, + -0.994365527410834, + -0.04436810251992204, + -0.04361655012762519, + 0.048746882330694005, + -0.9978583757317475 + ], + [ + 0.9938266363264225, + -0.09781066016202247, + -0.052361165827140906, + -0.1005039476791664, + -0.9936007586035555, + -0.0515411389410612, + -0.04698482126188607, + 0.05648546061693879, + -0.9972972572457423 + ], + [ + 0.9954248214196781, + -0.08886889157575954, + -0.03509622503486909, + -0.090562865864474, + -0.9946321272977794, + -0.05005295868884941, + -0.030459682007788088, + 0.05300237218455669, + -0.9981297292009664 + ], + [ + 0.9966756417769668, + -0.07282998240269394, + -0.03651655448826098, + -0.07442961453417012, + -0.9962307822792392, + -0.044547288577299365, + -0.033134537400810266, + 0.04711711050688089, + -0.9983396618028936 + ], + [ + 0.9968340645424536, + -0.07661030159734979, + -0.02127697010701734, + -0.07691072961543795, + -0.996944145863446, + -0.013678804722097246, + -0.02016401343465135, + 0.015271925804147268, + -0.9996800392347744 + ], + [ + 0.9978579030543414, + -0.06514446553238837, + 0.005983637897799431, + -0.06517016334327644, + -0.9978653059173401, + 0.0042048848145778755, + 0.0056969396875152884, + -0.004585832202846331, + -0.9999732571530121 + ], + [ + 0.9982117780515327, + -0.05622707934558155, + 0.020291912365844947, + -0.0568398410041142, + -0.9979018494213221, + 0.03100211922001373, + 0.018506178260907176, + -0.03210006962251955, + -0.9993133176818995 + ], + [ + 0.9980335526764524, + -0.05948091098249941, + 0.019774957919317368, + -0.060393183993984134, + -0.9969575111883077, + 0.049278638498685544, + 0.01678365452121708, + -0.050376007323996365, + -0.9985892883598366 + ], + [ + 0.9988206520432269, + -0.04505812779969838, + 0.01808508145211408, + -0.04616997990067069, + -0.9967059546752038, + 0.06667512932842819, + 0.015021251875766448, + -0.06743148399803321, + -0.9976108243989277 + ], + [ + 0.9998929351036687, + -0.013191187282998139, + 0.006333317285234305, + -0.013668943865992642, + -0.9964973373048907, + 0.08249979828976163, + 0.005222863520993208, + -0.08257753521586776, + -0.9965709570192748 + ], + [ + 0.9997584871729207, + 0.020756132945535678, + -0.007221514443660933, + 0.02134054030797886, + -0.9953955956140444, + 0.0934461854305731, + -0.005248682222833144, + -0.0935777279982196, + -0.9955981419014475 + ], + [ + 0.9988320372873123, + 0.0470925287647817, + -0.010809950185584316, + 0.04799969437009841, + -0.9927241737010132, + 0.11042981612778836, + -0.0055308795732458785, + -0.11081971252524621, + -0.9938251358699716 + ], + [ + 0.9972223486204824, + 0.07050768105922903, + -0.024005297821509272, + 0.07345095223288789, + -0.984384412959831, + 0.15997588923900774, + -0.012350912028321804, + -0.16129474397319737, + -0.9868289925507305 + ], + [ + 0.996491421092996, + 0.08369132130206772, + -0.0007812981348561711, + 0.08159673686403854, + -0.9693899072635095, + 0.23157111268201333, + 0.018623109869254327, + -0.230822378538908, + -0.9728176650043106 + ], + [ + 0.9975552232507201, + 0.06945111147694681, + 0.007753688143284469, + 0.06363362167684923, + -0.9486051593508947, + 0.3099984094235834, + 0.02888492266727099, + -0.3087471372620008, + -0.9507054572658272 + ], + [ + 0.9994930269498756, + 0.031717581593343015, + 0.002772020282167798, + 0.027867364189340427, + -0.9136143825286092, + 0.4056256526034898, + 0.015398022331253708, + -0.4053427624304373, + -0.914035090055928 + ], + [ + 0.9995971489147943, + 0.026101686583032052, + -0.011146382325019346, + 0.02830840774348284, + -0.8886304090591197, + 0.45774952774028077, + 0.002043020421596462, + -0.4578806591819996, + -0.8890113205210687 + ], + [ + 0.9995200627798373, + 0.012034319438034442, + -0.028545039083061524, + 0.02443824308262183, + -0.8725892612958994, + 0.48784295971768554, + -0.019037236554312435, + -0.4883064163276375, + -0.8724645708552499 + ], + [ + 0.9997562937410426, + 0.004561248810566729, + -0.02159972533302981, + 0.014381696485395175, + -0.8768805175408302, + 0.48049320990366523, + -0.016748729246608477, + -0.4806867513949327, + -0.8767324147663356 + ], + [ + 0.9993460055001171, + 0.014500650260955738, + -0.033125404646116206, + 0.028760390068004335, + -0.8740057937399807, + 0.48506361693295685, + -0.021918057717227823, + -0.48569908755417224, + -0.8738512431157539 + ], + [ + 0.9985570069728952, + 0.020038455481842583, + -0.04982332914644872, + 0.04178896901464546, + -0.8726453074547409, + 0.486563304664371, + -0.033728117261806294, + -0.4879432627664027, + -0.8722234727561802 + ], + [ + 0.9968530530266897, + 0.037807686050420786, + -0.06967474109661834, + 0.06777296529314977, + -0.8623927729825214, + 0.5016826988076138, + -0.041119531207705846, + -0.5048259937671894, + -0.8622412076502887 + ], + [ + 0.9949595039941763, + 0.046341833123829994, + -0.08892704827208373, + 0.08561909454778771, + -0.8542354135907884, + 0.5127877034565003, + -0.0522011116785783, + -0.5178168524392555, + -0.853897389192298 + ], + [ + 0.9949669824464245, + 0.04114268003031904, + -0.09136730116063983, + 0.08181499852981382, + -0.8600045491662708, + 0.5036849029193605, + -0.05785334784628139, + -0.5086250635716273, + -0.8590422194803553 + ], + [ + 0.9973748439387624, + 0.024038601453678317, + -0.0683049509060725, + 0.0523238227927607, + -0.8913239063460403, + 0.4503375528915919, + -0.050056350710789274, + -0.45272932268209304, + -0.8902418335134179 + ], + [ + 0.9989773621204053, + -0.04417410619369737, + -0.00963733951587274, + -0.03671068336063496, + -0.9169003665976054, + 0.3974242612880746, + -0.026392341657220444, + -0.3966640468648054, + -0.9175843711761245 + ], + [ + 0.9930027962964746, + -0.11014354483940632, + 0.042589271860314845, + -0.11809068758695569, + -0.9255944678553646, + 0.3596240684114237, + -0.0001898752805078001, + -0.3621371019458708, + -0.9321248217602746 + ], + [ + 0.9870019385372008, + -0.14913774563485882, + 0.05987575595146667, + -0.16056002239678357, + -0.9310984532715832, + 0.3275303795424317, + 0.006903081322989484, + -0.3328867722547971, + -0.9429415381273808 + ], + [ + 0.9820508214829253, + -0.18246176940571224, + 0.047790027516712255, + -0.18850524099709598, + -0.9581465567163088, + 0.21545521569297882, + 0.006477510427485209, + -0.22059664221836645, + -0.9753436129388677 + ], + [ + 0.9817506920811636, + -0.19014254697223198, + 0.003374970973091057, + -0.19000327283710472, + -0.979974098265271, + 0.059577873748212225, + -0.008020904521648775, + -0.059131874315649056, + -0.9982179554238509 + ], + [ + 0.9801518180823197, + -0.1959534215302641, + -0.03007773429807659, + -0.1969288242557413, + -0.9798327636914135, + -0.03386433779210552, + -0.022835316664640695, + 0.03911536510668285, + -0.9989737416596075 + ], + [ + 0.9810574103529739, + -0.18925353459069968, + -0.04134558303426864, + -0.19066271226059947, + -0.9810912329116719, + -0.033282470720900695, + -0.03426496381070059, + 0.040535075536904996, + -0.998590416490299 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006479.json b/json/chunk-0006/episode_0006479.json new file mode 100644 index 0000000000000000000000000000000000000000..ac1064ca89e12342be803b34d7eefa4179a02d35 --- /dev/null +++ b/json/chunk-0006/episode_0006479.json @@ -0,0 +1,1702 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 27, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the yellow object to the right side of the stove." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006479.mp4", + "start": 0, + "end": 27, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.24852049350738525, + 0.0008906779112294316, + 0.09370531886816025, + -0.07091043144464493, + -0.16490501165390015, + 0.2233373373746872, + 0.0, + 1.0001531839370728 + ], + [ + 0.24708208441734314, + 0.0008310396806336939, + 0.08800570666790009, + -0.07036634534597397, + -0.14031623303890228, + 0.22159689664840698, + 0.0, + 1.0001531839370728 + ], + [ + 0.2507690489292145, + 0.0370655432343483, + 0.08670783042907715, + -0.07148619741201401, + -0.13794347643852234, + 0.2991337180137634, + 0.0, + 1.0001531839370728 + ], + [ + 0.2561834752559662, + 0.07409617304801941, + 0.08703472465276718, + -0.052932146936655045, + -0.15084563195705414, + 0.3756553530693054, + 0.0, + 1.0001531839370728 + ], + [ + 0.26321688294410706, + 0.11190177500247955, + 0.08885907381772995, + -0.043143413960933685, + -0.17440785467624664, + 0.4494875371456146, + 0.0, + 1.0001531839370728 + ], + [ + 0.27107831835746765, + 0.15657179057598114, + 0.09170718491077423, + -0.025335446000099182, + -0.2039383202791214, + 0.5475479960441589, + 0.0, + 1.0001531839370728 + ], + [ + 0.2801877558231354, + 0.19017663598060608, + 0.10152321308851242, + -0.02543460763990879, + -0.2512975335121155, + 0.6257172226905823, + 0.0, + 1.0001531839370728 + ], + [ + 0.28831225633621216, + 0.23364514112472534, + 0.10087443143129349, + -0.013485641218721867, + -0.26200225949287415, + 0.7204058766365051, + 0.0, + 1.0001531839370728 + ], + [ + 0.2951202690601349, + 0.2582407295703888, + 0.0973321720957756, + 0.028860894963145256, + -0.2897379696369171, + 0.7308383584022522, + 0.0, + 1.0001531839370728 + ], + [ + 0.3069622218608856, + 0.2680503726005554, + 0.08942535519599915, + 0.02835054136812687, + -0.3187263309955597, + 0.7262905240058899, + 0.0, + 1.0001531839370728 + ], + [ + 0.31923651695251465, + 0.27389463782310486, + 0.06676926463842392, + 0.0036040679551661015, + -0.3023465871810913, + 0.7244464755058289, + 0.0, + 1.0001531839370728 + ], + [ + 0.3260255455970764, + 0.2785564959049225, + 0.044677045196294785, + 0.006094827316701412, + -0.2761916220188141, + 0.710964024066925, + 0.0, + 1.0001531839370728 + ], + [ + 0.33004873991012573, + 0.2799198031425476, + 0.027000870555639267, + -0.0002779172791633755, + -0.2454495131969452, + 0.7131010293960571, + 0.0, + 0.9507390260696411 + ], + [ + 0.3380027413368225, + 0.27607738971710205, + 0.019971368834376335, + -0.05627434328198433, + -0.2263237088918686, + 0.7364495992660522, + 0.0, + 0.6671556830406189 + ], + [ + 0.33789604902267456, + 0.2700984477996826, + 0.01615687645971775, + -0.08861842006444931, + -0.21455073356628418, + 0.7563998699188232, + 0.0, + 0.4175282120704651 + ], + [ + 0.33081522583961487, + 0.25312837958335876, + 0.019247202202677727, + -0.12705649435520172, + -0.2070508450269699, + 0.7937970161437988, + 0.0, + 0.30189207196235657 + ], + [ + 0.3319161534309387, + 0.22354242205619812, + 0.056182611733675, + -0.169037327170372, + -0.25106656551361084, + 0.8060010075569153, + 0.0, + 0.25614848732948303 + ], + [ + 0.33797508478164673, + 0.18170179426670074, + 0.10245013982057571, + -0.19250570237636566, + -0.31743425130844116, + 0.7802871465682983, + 0.0, + 0.25202175974845886 + ], + [ + 0.3387579619884491, + 0.13472983241081238, + 0.1240636333823204, + -0.22485074400901794, + -0.36540818214416504, + 0.7336356043815613, + 0.0, + 0.2499733716249466 + ], + [ + 0.3422592282295227, + 0.08624935895204544, + 0.1151718869805336, + -0.2387315183877945, + -0.35231977701187134, + 0.6188867688179016, + 0.0, + 0.24929283559322357 + ], + [ + 0.34664201736450195, + 0.03520818427205086, + 0.09815055876970291, + -0.2140827625989914, + -0.35106518864631653, + 0.49685734510421753, + 0.0, + 0.24929283559322357 + ], + [ + 0.3497721254825592, + -0.001294740941375494, + 0.0698074996471405, + -0.18410839140415192, + -0.3481689691543579, + 0.3974510133266449, + 0.0, + 0.24929283559322357 + ], + [ + 0.35360121726989746, + -0.019074629992246628, + 0.04402080178260803, + -0.1850716918706894, + -0.3250214755535126, + 0.34066832065582275, + 0.0, + 0.30724331736564636 + ], + [ + 0.35174277424812317, + -0.026339048519730568, + 0.028302503749728203, + -0.16037918627262115, + -0.2769235074520111, + 0.3022342324256897, + 0.0, + 0.603904664516449 + ], + [ + 0.3502308130264282, + -0.025673337280750275, + 0.028702925890684128, + -0.14403562247753143, + -0.2733333706855774, + 0.2965990900993347, + 0.0, + 0.905788779258728 + ], + [ + 0.34960171580314636, + -0.023087143898010254, + 0.04842338338494301, + -0.13808207213878632, + -0.3039209544658661, + 0.2981104850769043, + 0.0, + 1.0086473226547241 + ], + [ + 0.3554261028766632, + -0.020688682794570923, + 0.08320199698209763, + -0.13854755461215973, + -0.3720130920410156, + 0.29408058524131775, + 0.0, + 1.0041072368621826 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9507390260696411 + ], + [ + 0.6671556830406189 + ], + [ + 0.4175282120704651 + ], + [ + 0.30189207196235657 + ], + [ + 0.25614848732948303 + ], + [ + 0.25202175974845886 + ], + [ + 0.2499733716249466 + ], + [ + 0.24929283559322357 + ], + [ + 0.24929283559322357 + ], + [ + 0.24929283559322357 + ], + [ + 0.30724331736564636 + ], + [ + 0.603904664516449 + ], + [ + 0.905788779258728 + ], + [ + 1.0086473226547241 + ], + [ + 1.0041072368621826 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.24852049350738525, + 0.0008906779112294316, + 0.09370531886816025 + ], + [ + 0.24708208441734314, + 0.0008310396806336939, + 0.08800570666790009 + ], + [ + 0.2507690489292145, + 0.0370655432343483, + 0.08670783042907715 + ], + [ + 0.2561834752559662, + 0.07409617304801941, + 0.08703472465276718 + ], + [ + 0.26321688294410706, + 0.11190177500247955, + 0.08885907381772995 + ], + [ + 0.27107831835746765, + 0.15657179057598114, + 0.09170718491077423 + ], + [ + 0.2801877558231354, + 0.19017663598060608, + 0.10152321308851242 + ], + [ + 0.28831225633621216, + 0.23364514112472534, + 0.10087443143129349 + ], + [ + 0.2951202690601349, + 0.2582407295703888, + 0.0973321720957756 + ], + [ + 0.3069622218608856, + 0.2680503726005554, + 0.08942535519599915 + ], + [ + 0.31923651695251465, + 0.27389463782310486, + 0.06676926463842392 + ], + [ + 0.3260255455970764, + 0.2785564959049225, + 0.044677045196294785 + ], + [ + 0.33004873991012573, + 0.2799198031425476, + 0.027000870555639267 + ], + [ + 0.3380027413368225, + 0.27607738971710205, + 0.019971368834376335 + ], + [ + 0.33789604902267456, + 0.2700984477996826, + 0.01615687645971775 + ], + [ + 0.33081522583961487, + 0.25312837958335876, + 0.019247202202677727 + ], + [ + 0.3319161534309387, + 0.22354242205619812, + 0.056182611733675 + ], + [ + 0.33797508478164673, + 0.18170179426670074, + 0.10245013982057571 + ], + [ + 0.3387579619884491, + 0.13472983241081238, + 0.1240636333823204 + ], + [ + 0.3422592282295227, + 0.08624935895204544, + 0.1151718869805336 + ], + [ + 0.34664201736450195, + 0.03520818427205086, + 0.09815055876970291 + ], + [ + 0.3497721254825592, + -0.001294740941375494, + 0.0698074996471405 + ], + [ + 0.35360121726989746, + -0.019074629992246628, + 0.04402080178260803 + ], + [ + 0.35174277424812317, + -0.026339048519730568, + 0.028302503749728203 + ], + [ + 0.3502308130264282, + -0.025673337280750275, + 0.028702925890684128 + ], + [ + 0.34960171580314636, + -0.023087143898010254, + 0.04842338338494301 + ], + [ + 0.3554261028766632, + -0.020688682794570923, + 0.08320199698209763 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9619345933551778, + 0.2095867475361203, + 0.17537170057862628, + 0.21848062075619437, + -0.9752890873373388, + -0.03282399236364719, + 0.16415863200147818, + 0.06988985175210613, + -0.9839549543355488 + ], + [ + 0.965959855068758, + 0.2096512319679765, + 0.1515517051367403, + 0.21762763763237133, + -0.9752947216729404, + -0.037926471170607115, + 0.13985624667528093, + 0.06961728816329558, + -0.9877214503364253 + ], + [ + 0.946514846053035, + 0.28455455390335993, + 0.15211295820560175, + 0.29189318436915035, + -0.9560458091432907, + -0.027834865517688018, + 0.13750641846850833, + 0.07074684920482598, + -0.9879710867265059 + ], + [ + 0.919703597887287, + 0.35897220860353035, + 0.15901020559537202, + 0.36271607660778876, + -0.9318814138161416, + 0.0058376668525208335, + 0.15027421536455168, + 0.05230663470662045, + -0.9872596802069028 + ], + [ + 0.88700624244844, + 0.42735897257056016, + 0.17488348813119725, + 0.4279123720915348, + -0.9030836734894957, + 0.036481234733955134, + 0.1735250058881867, + 0.04247572530461734, + -0.983913047525721 + ], + [ + 0.8361098380864094, + 0.5160476881162918, + 0.18605139678311736, + 0.5098067393046678, + -0.8562005366291319, + 0.08377189048558667, + 0.20252759618052277, + 0.024807754146983753, + -0.978962281254759 + ], + [ + 0.7850845811653077, + 0.5803635262620288, + 0.216380169611721, + 0.5672829398684298, + -0.8139848828251766, + 0.12497470410573298, + 0.2486609469754453, + 0.024633065517458932, + -0.9682773081780279 + ], + [ + 0.7258905247305868, + 0.6570047422371784, + 0.20353799346611454, + 0.6371767231400972, + -0.7537739166196968, + 0.16071933957134796, + 0.2590149987834704, + 0.013025025975450244, + -0.9657854726094909 + ], + [ + 0.7135785935825694, + 0.6733550864161292, + 0.19338696537835476, + 0.639672148222375, + -0.7388018533175486, + 0.21211167889375393, + 0.2857011263003591, + -0.02765409792566427, + -0.9579196820708005 + ], + [ + 0.709988192241199, + 0.6704750357558998, + 0.21536014790624397, + 0.6306536078827868, + -0.7414435852970567, + 0.22921046373643278, + 0.3133572940630211, + -0.026919068519753397, + -0.9492536910686892 + ], + [ + 0.7148980867218686, + 0.6635203695176451, + 0.22059339254968457, + 0.6326602646378604, + -0.7481503068466453, + 0.20003026749375447, + 0.2977611713265583, + -0.0034405814099017634, + -0.9546341955166899 + ], + [ + 0.7290157612747498, + 0.653811786875764, + 0.20264788959009153, + 0.6278329596864758, + -0.7566344977330162, + 0.18256508858932174, + 0.27269359094837115, + -0.00586380274457117, + -0.9620830636036868 + ], + [ + 0.7336680955689284, + 0.6541312335417921, + 0.18396590675816943, + 0.634575309986319, + -0.7563810260891156, + 0.15875112386419235, + 0.24299238979858867, + 0.0002695875931105207, + -0.9700281572317893 + ], + [ + 0.7219644783506471, + 0.6612481354855771, + 0.20376014162913697, + 0.654533038384184, + -0.7481622386194051, + 0.10881069050221572, + 0.22439650991815047, + 0.05481029119470478, + -0.9729553115717624 + ], + [ + 0.7106358222993847, + 0.669909703679595, + 0.21498306207884021, + 0.6705719241587088, + -0.737389555574564, + 0.08117843223192923, + 0.21290848408404067, + 0.08647330365762713, + -0.9732380721897246 + ], + [ + 0.6861676209499552, + 0.6890087877187112, + 0.23332570884124815, + 0.6977915636702836, + -0.7140649760443457, + 0.05655213220886565, + 0.20557463275039461, + 0.12400846919940717, + -0.9707527851808413 + ], + [ + 0.6706815393685178, + 0.6823016072537376, + 0.29094808727544824, + 0.6989028666654882, + -0.7126772585770345, + 0.0602155135649072, + 0.24843722691464362, + 0.1629590189160736, + -0.954842030095488 + ], + [ + 0.6752039822076428, + 0.6480476091421598, + 0.35232638092551594, + 0.6683370615286529, + -0.7395927370286417, + 0.07954970472432948, + 0.3121300283506646, + 0.18176050071347477, + -0.932490196078329 + ], + [ + 0.6937074852266097, + 0.5935444131333639, + 0.4080134245079978, + 0.6253677299879362, + -0.777393662988815, + 0.0676335348371523, + 0.35733055736993524, + 0.2082405397203036, + -0.910467325271307 + ], + [ + 0.7644923820070061, + 0.4972101563589804, + 0.4102846064218497, + 0.544494205283704, + -0.8387624517346466, + 0.001899992776899992, + 0.34507601809705857, + 0.22194506070999392, + -0.9119555536103257 + ], + [ + 0.8254668075293485, + 0.40155642091414295, + 0.39668248069448264, + 0.447591959995101, + -0.8938427809730911, + -0.02658044864245468, + 0.3438982218841047, + 0.19949316711334722, + -0.9175709723285915 + ], + [ + 0.866726658153407, + 0.32293711653605034, + 0.38012697721894045, + 0.36384475981521697, + -0.9306439373791634, + -0.038972459178438446, + 0.34117721319167044, + 0.17208567802925784, + -0.9241128873768487 + ], + [ + 0.8931842717565956, + 0.273026351402001, + 0.3573212394005574, + 0.3166240023765989, + -0.946069408697007, + -0.06857051149523849, + 0.3193291371072531, + 0.17438258332702325, + -0.9314610119734107 + ], + [ + 0.918301816287595, + 0.2521534124167289, + 0.3051891721694967, + 0.2863136229684216, + -0.9554177660360074, + -0.07212074351711226, + 0.2733976655086875, + 0.15360842733835797, + -0.9495568269171866 + ], + [ + 0.9208333924626049, + 0.2521877869455058, + 0.29743433467126507, + 0.2814194033557651, + -0.9577575192808939, + -0.05919166897286257, + 0.2699425545198369, + 0.13820945834651097, + -0.9529056421718095 + ], + [ + 0.9120849974729793, + 0.2515439948763518, + 0.3237693253326526, + 0.2802537449421556, + -0.9588934212880839, + -0.04451117900404867, + 0.2992637562930272, + 0.1313355445112981, + -0.9450884503142065 + ], + [ + 0.8916031249619459, + 0.23903770833027232, + 0.38458398504657415, + 0.27003287631862466, + -0.9624490049217808, + -0.02782370629811609, + 0.36349155872617217, + 0.12865802315162908, + -0.9226705803338112 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0014384090900421143, + -5.9638230595737696e-05, + -0.005699612200260162, + 0.0005440860986709595, + 0.024588778614997864, + -0.0017404407262802124, + 1.0 + ], + [ + 0.003686964511871338, + 0.036234501749277115, + -0.001297876238822937, + -0.001119852066040039, + 0.002372756600379944, + 0.07753682136535645, + 1.0 + ], + [ + 0.005414426326751709, + 0.03703062981367111, + 0.00032689422369003296, + 0.018554050475358963, + -0.0129021555185318, + 0.07652163505554199, + 1.0 + ], + [ + 0.007033407688140869, + 0.037805601954460144, + 0.0018243491649627686, + 0.00978873297572136, + -0.023562222719192505, + 0.0738321840763092, + 1.0 + ], + [ + 0.007861435413360596, + 0.04467001557350159, + 0.002848111093044281, + 0.017807967960834503, + -0.029530465602874756, + 0.09806045889854431, + 1.0 + ], + [ + 0.009109437465667725, + 0.03360484540462494, + 0.00981602817773819, + -9.916163980960846e-05, + -0.04735921323299408, + 0.07816922664642334, + 1.0 + ], + [ + 0.008124500513076782, + 0.04346850514411926, + -0.0006487816572189331, + 0.011948966421186924, + -0.010704725980758667, + 0.09468865394592285, + 1.0 + ], + [ + 0.0068080127239227295, + 0.024595588445663452, + -0.0035422593355178833, + 0.0423465371131897, + -0.02773571014404297, + 0.01043248176574707, + 1.0 + ], + [ + 0.011841952800750732, + 0.009809643030166626, + -0.007906816899776459, + -0.0005103535950183868, + -0.028988361358642578, + -0.004547834396362305, + 1.0 + ], + [ + 0.012274295091629028, + 0.0058442652225494385, + -0.022656090557575226, + -0.024746473878622055, + 0.016379743814468384, + -0.0018440485000610352, + 1.0 + ], + [ + 0.006789028644561768, + 0.004661858081817627, + -0.022092219442129135, + 0.0024907593615353107, + 0.02615496516227722, + -0.013482451438903809, + 1.0 + ], + [ + 0.004023194313049316, + 0.001363307237625122, + -0.017676174640655518, + -0.006372744683176279, + 0.030742108821868896, + 0.00213700532913208, + 0.0 + ], + [ + 0.007954001426696777, + -0.0038424134254455566, + -0.007029501721262932, + -0.055996425449848175, + 0.0191258043050766, + 0.023348569869995117, + 0.0 + ], + [ + -0.00010669231414794922, + -0.005978941917419434, + -0.0038144923746585846, + -0.03234407678246498, + 0.011772975325584412, + 0.019950270652770996, + 0.0 + ], + [ + -0.007080823183059692, + -0.016970068216323853, + 0.003090325742959976, + -0.03843807429075241, + 0.00749988853931427, + 0.037397146224975586, + 0.0 + ], + [ + 0.0011009275913238525, + -0.029585957527160645, + 0.036935411393642426, + -0.04198083281517029, + -0.04401572048664093, + 0.012203991413116455, + 0.0 + ], + [ + 0.006058931350708008, + -0.041840627789497375, + 0.04626752808690071, + -0.023468375205993652, + -0.06636768579483032, + -0.025713860988616943, + 0.0 + ], + [ + 0.0007828772068023682, + -0.04697196185588837, + 0.02161349356174469, + -0.03234504163265228, + -0.04797393083572388, + -0.04665154218673706, + 0.0 + ], + [ + 0.0035012662410736084, + -0.04848047345876694, + -0.008891746401786804, + -0.01388077437877655, + 0.013088405132293701, + -0.11474883556365967, + 0.0 + ], + [ + 0.004382789134979248, + -0.05104117467999458, + -0.01702132821083069, + 0.0246487557888031, + 0.0012545883655548096, + -0.12202942371368408, + 0.0 + ], + [ + 0.003130108118057251, + -0.03650292381644249, + -0.02834305912256241, + 0.029974371194839478, + 0.002896219491958618, + -0.09940633177757263, + 0.0 + ], + [ + 0.003829091787338257, + -0.017779888585209846, + -0.02578669786453247, + -0.0009633004665374756, + 0.023147493600845337, + -0.056782692670822144, + 1.0 + ], + [ + -0.001858443021774292, + -0.00726441852748394, + -0.01571829803287983, + 0.024692505598068237, + 0.048097968101501465, + -0.03843408823013306, + 1.0 + ], + [ + -0.0015119612216949463, + 0.0006657112389802933, + 0.000400422140955925, + 0.01634356379508972, + 0.003590136766433716, + -0.0056351423263549805, + 1.0 + ], + [ + -0.0006290972232818604, + 0.0025861933827400208, + 0.01972045749425888, + 0.005953550338745117, + -0.030587583780288696, + 0.00151139497756958, + 1.0 + ], + [ + 0.005824387073516846, + 0.002398461103439331, + 0.03477861359715462, + -0.0004654824733734131, + -0.06809213757514954, + -0.004029899835586548, + 1.0 + ], + [ + 0.0006731748580932617, + -0.0008177664130926132, + 0.031614452600479126, + -0.03716449439525604, + -0.08417561650276184, + 0.0034291446208953857, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9507390260696411 + ], + [ + 0.6671556830406189 + ], + [ + 0.4175282120704651 + ], + [ + 0.30189207196235657 + ], + [ + 0.25614848732948303 + ], + [ + 0.25202175974845886 + ], + [ + 0.2499733716249466 + ], + [ + 0.24929283559322357 + ], + [ + 0.24929283559322357 + ], + [ + 0.24929283559322357 + ], + [ + 0.30724331736564636 + ], + [ + 0.603904664516449 + ], + [ + 0.905788779258728 + ], + [ + 1.0086473226547241 + ], + [ + 1.0041072368621826 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.24708208441734314, + 0.0008310396806336939, + 0.08800570666790009 + ], + [ + 0.2507690489292145, + 0.0370655432343483, + 0.08670783042907715 + ], + [ + 0.2561834752559662, + 0.07409617304801941, + 0.08703472465276718 + ], + [ + 0.26321688294410706, + 0.11190177500247955, + 0.08885907381772995 + ], + [ + 0.27107831835746765, + 0.15657179057598114, + 0.09170718491077423 + ], + [ + 0.2801877558231354, + 0.19017663598060608, + 0.10152321308851242 + ], + [ + 0.28831225633621216, + 0.23364514112472534, + 0.10087443143129349 + ], + [ + 0.2951202690601349, + 0.2582407295703888, + 0.0973321720957756 + ], + [ + 0.3069622218608856, + 0.2680503726005554, + 0.08942535519599915 + ], + [ + 0.31923651695251465, + 0.27389463782310486, + 0.06676926463842392 + ], + [ + 0.3260255455970764, + 0.2785564959049225, + 0.044677045196294785 + ], + [ + 0.33004873991012573, + 0.2799198031425476, + 0.027000870555639267 + ], + [ + 0.3380027413368225, + 0.27607738971710205, + 0.019971368834376335 + ], + [ + 0.33789604902267456, + 0.2700984477996826, + 0.01615687645971775 + ], + [ + 0.33081522583961487, + 0.25312837958335876, + 0.019247202202677727 + ], + [ + 0.3319161534309387, + 0.22354242205619812, + 0.056182611733675 + ], + [ + 0.33797508478164673, + 0.18170179426670074, + 0.10245013982057571 + ], + [ + 0.3387579619884491, + 0.13472983241081238, + 0.1240636333823204 + ], + [ + 0.3422592282295227, + 0.08624935895204544, + 0.1151718869805336 + ], + [ + 0.34664201736450195, + 0.03520818427205086, + 0.09815055876970291 + ], + [ + 0.3497721254825592, + -0.001294740941375494, + 0.0698074996471405 + ], + [ + 0.35360121726989746, + -0.019074629992246628, + 0.04402080178260803 + ], + [ + 0.35174277424812317, + -0.026339048519730568, + 0.028302503749728203 + ], + [ + 0.3502308130264282, + -0.025673337280750275, + 0.028702925890684128 + ], + [ + 0.34960171580314636, + -0.023087143898010254, + 0.04842338338494301 + ], + [ + 0.3554261028766632, + -0.020688682794570923, + 0.08320199698209763 + ], + [ + 0.35609927773475647, + -0.021506449207663536, + 0.11481644958257675 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.965959855068758, + 0.2096512319679765, + 0.1515517051367403, + 0.21762763763237133, + -0.9752947216729404, + -0.037926471170607115, + 0.13985624667528093, + 0.06961728816329558, + -0.9877214503364253 + ], + [ + 0.946514846053035, + 0.28455455390335993, + 0.15211295820560175, + 0.29189318436915035, + -0.9560458091432907, + -0.027834865517688018, + 0.13750641846850833, + 0.07074684920482598, + -0.9879710867265059 + ], + [ + 0.919703597887287, + 0.35897220860353035, + 0.15901020559537202, + 0.36271607660778876, + -0.9318814138161416, + 0.0058376668525208335, + 0.15027421536455168, + 0.05230663470662045, + -0.9872596802069028 + ], + [ + 0.88700624244844, + 0.42735897257056016, + 0.17488348813119725, + 0.4279123720915348, + -0.9030836734894957, + 0.036481234733955134, + 0.1735250058881867, + 0.04247572530461734, + -0.983913047525721 + ], + [ + 0.8361098380864094, + 0.5160476881162918, + 0.18605139678311736, + 0.5098067393046678, + -0.8562005366291319, + 0.08377189048558667, + 0.20252759618052277, + 0.024807754146983753, + -0.978962281254759 + ], + [ + 0.7850845811653077, + 0.5803635262620288, + 0.216380169611721, + 0.5672829398684298, + -0.8139848828251766, + 0.12497470410573298, + 0.2486609469754453, + 0.024633065517458932, + -0.9682773081780279 + ], + [ + 0.7258905247305868, + 0.6570047422371784, + 0.20353799346611454, + 0.6371767231400972, + -0.7537739166196968, + 0.16071933957134796, + 0.2590149987834704, + 0.013025025975450244, + -0.9657854726094909 + ], + [ + 0.7135785935825694, + 0.6733550864161292, + 0.19338696537835476, + 0.639672148222375, + -0.7388018533175486, + 0.21211167889375393, + 0.2857011263003591, + -0.02765409792566427, + -0.9579196820708005 + ], + [ + 0.709988192241199, + 0.6704750357558998, + 0.21536014790624397, + 0.6306536078827868, + -0.7414435852970567, + 0.22921046373643278, + 0.3133572940630211, + -0.026919068519753397, + -0.9492536910686892 + ], + [ + 0.7148980867218686, + 0.6635203695176451, + 0.22059339254968457, + 0.6326602646378604, + -0.7481503068466453, + 0.20003026749375447, + 0.2977611713265583, + -0.0034405814099017634, + -0.9546341955166899 + ], + [ + 0.7290157612747498, + 0.653811786875764, + 0.20264788959009153, + 0.6278329596864758, + -0.7566344977330162, + 0.18256508858932174, + 0.27269359094837115, + -0.00586380274457117, + -0.9620830636036868 + ], + [ + 0.7336680955689284, + 0.6541312335417921, + 0.18396590675816943, + 0.634575309986319, + -0.7563810260891156, + 0.15875112386419235, + 0.24299238979858867, + 0.0002695875931105207, + -0.9700281572317893 + ], + [ + 0.7219644783506471, + 0.6612481354855771, + 0.20376014162913697, + 0.654533038384184, + -0.7481622386194051, + 0.10881069050221572, + 0.22439650991815047, + 0.05481029119470478, + -0.9729553115717624 + ], + [ + 0.7106358222993847, + 0.669909703679595, + 0.21498306207884021, + 0.6705719241587088, + -0.737389555574564, + 0.08117843223192923, + 0.21290848408404067, + 0.08647330365762713, + -0.9732380721897246 + ], + [ + 0.6861676209499552, + 0.6890087877187112, + 0.23332570884124815, + 0.6977915636702836, + -0.7140649760443457, + 0.05655213220886565, + 0.20557463275039461, + 0.12400846919940717, + -0.9707527851808413 + ], + [ + 0.6706815393685178, + 0.6823016072537376, + 0.29094808727544824, + 0.6989028666654882, + -0.7126772585770345, + 0.0602155135649072, + 0.24843722691464362, + 0.1629590189160736, + -0.954842030095488 + ], + [ + 0.6752039822076428, + 0.6480476091421598, + 0.35232638092551594, + 0.6683370615286529, + -0.7395927370286417, + 0.07954970472432948, + 0.3121300283506646, + 0.18176050071347477, + -0.932490196078329 + ], + [ + 0.6937074852266097, + 0.5935444131333639, + 0.4080134245079978, + 0.6253677299879362, + -0.777393662988815, + 0.0676335348371523, + 0.35733055736993524, + 0.2082405397203036, + -0.910467325271307 + ], + [ + 0.7644923820070061, + 0.4972101563589804, + 0.4102846064218497, + 0.544494205283704, + -0.8387624517346466, + 0.001899992776899992, + 0.34507601809705857, + 0.22194506070999392, + -0.9119555536103257 + ], + [ + 0.8254668075293485, + 0.40155642091414295, + 0.39668248069448264, + 0.447591959995101, + -0.8938427809730911, + -0.02658044864245468, + 0.3438982218841047, + 0.19949316711334722, + -0.9175709723285915 + ], + [ + 0.866726658153407, + 0.32293711653605034, + 0.38012697721894045, + 0.36384475981521697, + -0.9306439373791634, + -0.038972459178438446, + 0.34117721319167044, + 0.17208567802925784, + -0.9241128873768487 + ], + [ + 0.8931842717565956, + 0.273026351402001, + 0.3573212394005574, + 0.3166240023765989, + -0.946069408697007, + -0.06857051149523849, + 0.3193291371072531, + 0.17438258332702325, + -0.9314610119734107 + ], + [ + 0.918301816287595, + 0.2521534124167289, + 0.3051891721694967, + 0.2863136229684216, + -0.9554177660360074, + -0.07212074351711226, + 0.2733976655086875, + 0.15360842733835797, + -0.9495568269171866 + ], + [ + 0.9208333924626049, + 0.2521877869455058, + 0.29743433467126507, + 0.2814194033557651, + -0.9577575192808939, + -0.05919166897286257, + 0.2699425545198369, + 0.13820945834651097, + -0.9529056421718095 + ], + [ + 0.9120849974729793, + 0.2515439948763518, + 0.3237693253326526, + 0.2802537449421556, + -0.9588934212880839, + -0.04451117900404867, + 0.2992637562930272, + 0.1313355445112981, + -0.9450884503142065 + ], + [ + 0.8916031249619459, + 0.23903770833027232, + 0.38458398504657415, + 0.27003287631862466, + -0.9624490049217808, + -0.02782370629811609, + 0.36349155872617217, + 0.12865802315162908, + -0.9226705803338112 + ], + [ + 0.8582998780660673, + 0.21500091297246282, + 0.46593553924634434, + 0.26316313925019835, + -0.9639225412092454, + -0.039981204192615645, + 0.4405297736268854, + 0.15693292187975852, + -0.8839149147845209 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006480.json b/json/chunk-0006/episode_0006480.json new file mode 100644 index 0000000000000000000000000000000000000000..2705c5a0e760ca3e818b1d7f78ea8dfc19d07178 --- /dev/null +++ b/json/chunk-0006/episode_0006480.json @@ -0,0 +1,1282 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 20, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPick up the yellow brush and place it at the lower left of the left burner." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006480.mp4", + "start": 0, + "end": 20, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3381430506706238, + 0.07806122303009033, + 0.10356918722391129, + 0.05853059142827988, + -0.07163636386394501, + 0.009203466586768627, + 0.0, + 1.0008161067962646 + ], + [ + 0.3385767638683319, + 0.07651054859161377, + 0.09242209792137146, + 0.052610889077186584, + -0.04322710260748863, + 0.007863329723477364, + 0.0, + 1.0008161067962646 + ], + [ + 0.34671324491500854, + 0.04780679941177368, + 0.07724550366401672, + 0.06707298755645752, + -0.02127004601061344, + -0.07439067214727402, + 0.0, + 1.0008161067962646 + ], + [ + 0.3545849025249481, + 0.022630449384450912, + 0.05943196266889572, + 0.08413343876600266, + -0.009874844923615456, + -0.15205521881580353, + 0.0, + 1.0008161067962646 + ], + [ + 0.3656143546104431, + 0.0021279780194163322, + 0.039744261652231216, + 0.09433101862668991, + 0.01166767068207264, + -0.21687154471874237, + 0.0, + 1.0008161067962646 + ], + [ + 0.37007007002830505, + -0.002149019157513976, + 0.024728475138545036, + 0.09187573939561844, + 0.03944417089223862, + -0.2322658896446228, + 0.0, + 1.0008161067962646 + ], + [ + 0.3696141541004181, + 0.0014720448525622487, + 0.014430216513574123, + 0.08854220062494278, + 0.0627017393708229, + -0.22875773906707764, + 0.0, + 1.0008161067962646 + ], + [ + 0.36894524097442627, + 0.005089261569082737, + 0.011041514575481415, + 0.08869321644306183, + 0.06992783397436142, + -0.21441569924354553, + 0.0, + 1.0008161067962646 + ], + [ + 0.3686828017234802, + 0.005675980821251869, + 0.00966946966946125, + 0.08816687762737274, + 0.07418887317180634, + -0.20972350239753723, + 0.0, + 0.9461179971694946 + ], + [ + 0.36412516236305237, + 0.006139282137155533, + 0.007007986772805452, + 0.07430699467658997, + 0.08572045713663101, + -0.19712135195732117, + 0.0, + 0.6701657772064209 + ], + [ + 0.3560234606266022, + 0.006349415518343449, + 0.007178259547799826, + 0.06941241770982742, + 0.1051618680357933, + -0.21547992527484894, + 0.0, + 0.39448216557502747 + ], + [ + 0.3440536558628082, + 0.0017921424005180597, + 0.015576126053929329, + 0.03556231036782265, + 0.11022678762674332, + -0.23347268998622894, + 0.0, + 0.3275788426399231 + ], + [ + 0.3421424925327301, + 0.0010073654120787978, + 0.04512519761919975, + 0.016035396605730057, + 0.033294517546892166, + -0.22729364037513733, + 0.0, + 0.32678350806236267 + ], + [ + 0.3245617151260376, + 0.030814649537205696, + 0.07861939072608948, + 0.03252793103456497, + -0.03187341243028641, + -0.1496678739786148, + 0.0, + 0.32678350806236267 + ], + [ + 0.29460346698760986, + 0.07275937497615814, + 0.08019088953733444, + 0.04310030862689018, + -0.0340743251144886, + -0.058400511741638184, + 0.0, + 0.32678350806236267 + ], + [ + 0.2746547758579254, + 0.1194215714931488, + 0.07315950840711594, + 0.04361119493842125, + -0.03976063057780266, + 0.042347848415374756, + 0.0, + 0.32678350806236267 + ], + [ + 0.26817554235458374, + 0.14311452209949493, + 0.06877882778644562, + 0.04282798618078232, + -0.06402862071990967, + 0.10597779601812363, + 0.0, + 0.32678350806236267 + ], + [ + 0.2714564800262451, + 0.15417338907718658, + 0.04869600757956505, + 0.03267925605177879, + -0.03685763105750084, + 0.14042620360851288, + 0.0, + 0.39711064100265503 + ], + [ + 0.27395161986351013, + 0.15376660227775574, + 0.04346325621008873, + 0.020510142669081688, + -0.03147580102086067, + 0.12776385247707367, + 0.0, + 0.7071652412414551 + ], + [ + 0.27711230516433716, + 0.1477051079273224, + 0.043939560651779175, + 0.022958355024456978, + -0.030463172122836113, + 0.09988468140363693, + 0.0, + 0.973810613155365 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9461179971694946 + ], + [ + 0.6701657772064209 + ], + [ + 0.39448216557502747 + ], + [ + 0.3275788426399231 + ], + [ + 0.32678350806236267 + ], + [ + 0.32678350806236267 + ], + [ + 0.32678350806236267 + ], + [ + 0.32678350806236267 + ], + [ + 0.32678350806236267 + ], + [ + 0.39711064100265503 + ], + [ + 0.7071652412414551 + ], + [ + 0.973810613155365 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3381430506706238, + 0.07806122303009033, + 0.10356918722391129 + ], + [ + 0.3385767638683319, + 0.07651054859161377, + 0.09242209792137146 + ], + [ + 0.34671324491500854, + 0.04780679941177368, + 0.07724550366401672 + ], + [ + 0.3545849025249481, + 0.022630449384450912, + 0.05943196266889572 + ], + [ + 0.3656143546104431, + 0.0021279780194163322, + 0.039744261652231216 + ], + [ + 0.37007007002830505, + -0.002149019157513976, + 0.024728475138545036 + ], + [ + 0.3696141541004181, + 0.0014720448525622487, + 0.014430216513574123 + ], + [ + 0.36894524097442627, + 0.005089261569082737, + 0.011041514575481415 + ], + [ + 0.3686828017234802, + 0.005675980821251869, + 0.00966946966946125 + ], + [ + 0.36412516236305237, + 0.006139282137155533, + 0.007007986772805452 + ], + [ + 0.3560234606266022, + 0.006349415518343449, + 0.007178259547799826 + ], + [ + 0.3440536558628082, + 0.0017921424005180597, + 0.015576126053929329 + ], + [ + 0.3421424925327301, + 0.0010073654120787978, + 0.04512519761919975 + ], + [ + 0.3245617151260376, + 0.030814649537205696, + 0.07861939072608948 + ], + [ + 0.29460346698760986, + 0.07275937497615814, + 0.08019088953733444 + ], + [ + 0.2746547758579254, + 0.1194215714931488, + 0.07315950840711594 + ], + [ + 0.26817554235458374, + 0.14311452209949493, + 0.06877882778644562 + ], + [ + 0.2714564800262451, + 0.15417338907718658, + 0.04869600757956505 + ], + [ + 0.27395161986351013, + 0.15376660227775574, + 0.04346325621008873 + ], + [ + 0.27711230516433716, + 0.1477051079273224, + 0.043939560651779175 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9973929698153908, + 0.01337434120373903, + 0.07091114693897635, + 0.009179732059091762, + -0.9982067609791191, + 0.05915230219441402, + 0.07157510937580472, + -0.05834714502820137, + -0.9957271786914826 + ], + [ + 0.9990349673363691, + 0.0101247580215643, + 0.04273901395943827, + 0.007855903269400832, + -0.9985676244112696, + 0.052924325800674174, + 0.043213641631342614, + -0.05253749853808096, + -0.9976835131565116 + ], + [ + 0.9970087164488207, + -0.07273343544069838, + 0.0261431959421312, + -0.0743052669066393, + -0.9950979027120831, + 0.06526018179523141, + 0.021268442232754092, + -0.067007547239153, + -0.9975257600573454 + ], + [ + 0.9884136685113999, + -0.15011395043562498, + 0.02245488330959, + -0.15146257130755608, + -0.9850912346654679, + 0.08157419247634494, + 0.009874684437492847, + -0.08403012120588076, + -0.9964142859962342 + ], + [ + 0.9765089221035929, + -0.21529208966227564, + 0.008924190771677535, + -0.21516086235735066, + -0.971997193914882, + 0.09448416973882916, + -0.011667405955046036, + -0.09418477132979265, + -0.9954863637879899 + ], + [ + 0.972390390119447, + -0.23273311149271808, + -0.017094678068556267, + -0.2300041158342414, + -0.9682101843217717, + 0.09832164397989654, + -0.03943394353419881, + -0.09167517543216769, + -0.995007852384504 + ], + [ + 0.9720349344797344, + -0.23127600314981134, + -0.04073691836685059, + -0.2263221765157526, + -0.9688771108610221, + 0.10027669952073481, + -0.06266066204686564, + -0.08825278701915129, + -0.9941252873834371 + ], + [ + 0.9747128960424986, + -0.21798741842293526, + -0.04915542388942931, + -0.21225652760218536, + -0.9719433663761708, + 0.10135708681497944, + -0.06987085786440628, + -0.08836050003627578, + -0.9936349859252296 + ], + [ + 0.9753980561928023, + -0.21376435615925612, + -0.05388350407241403, + -0.20761679515343104, + -0.97293068534452, + 0.10149457071814846, + -0.0741208361091631, + -0.08781048656545345, + -0.993375769839197 + ], + [ + 0.977033771761526, + -0.20153969699300506, + -0.06918641032322957, + -0.19512814283844265, + -0.9766835590383657, + 0.08952225073450595, + -0.08561551675874472, + -0.07396604653568514, + -0.9935788882871929 + ], + [ + 0.9714772338935337, + -0.22041327332281585, + -0.0874641239005417, + -0.2126350694712854, + -0.9729648709794394, + 0.09014259298968304, + -0.10496814401288265, + -0.06897353683177114, + -0.9920808132200755 + ], + [ + 0.9669646606659761, + -0.23501615009981416, + -0.09872565125333513, + -0.22995331639021951, + -0.9713488361585446, + 0.06002425155368776, + -0.11000371495669192, + -0.03533903911685224, + -0.9933027408650519 + ], + [ + 0.9737398608312481, + -0.22583267021068293, + -0.028814727030711418, + -0.2252167135855479, + -0.9740342797198628, + 0.023122583167395273, + -0.03328836658754493, + -0.016025822790756955, + -0.9993172957843831 + ], + [ + 0.9883184196327824, + -0.14800601923633477, + 0.03634445878498079, + -0.14903399268415563, + -0.9884521228920546, + 0.027409300881449227, + 0.03186801592786278, + -0.03250567673506375, + -0.9989633679674231 + ], + [ + 0.9977156906964665, + -0.05684774344716221, + 0.03649293908467879, + -0.05833343972082624, + -0.9974537593819552, + 0.04102691439946462, + 0.034067731776700104, + -0.04306195489953855, + -0.9984913908951948 + ], + [ + 0.9983138226980375, + 0.044026387758640415, + 0.03783105326259935, + 0.04230173259178639, + -0.9980801318709114, + 0.04523951573876094, + 0.03975015509107843, + -0.04356291479539035, + -0.998259584288959 + ], + [ + 0.9923519718281713, + 0.1084066681415491, + 0.05903861711785004, + 0.10556277322831152, + -0.9931879902591099, + 0.049336770399145184, + 0.0639848803787905, + -0.042727161238700774, + -0.9970357690551496 + ], + [ + 0.9894839523196469, + 0.1410825468513207, + 0.031893934781334086, + 0.13987007608411062, + -0.9894592517651163, + 0.03750667824057047, + 0.03684928653469693, + -0.0326512491393741, + -0.998787277658022 + ], + [ + 0.9913580105554793, + 0.12802990341115117, + 0.028594383015087817, + 0.12735342945413675, + -0.9915584468059443, + 0.02435057646245141, + 0.031470603962308254, + -0.020498546297598355, + -0.9992944564471139 + ], + [ + 0.9945540173273119, + 0.10038812410182411, + 0.028009483347994177, + 0.09967240737104456, + -0.9946837286168833, + 0.025878393181857223, + 0.030458460679511433, + -0.022945687266478054, + -0.999272624266723 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + 0.0004337131977081299, + -0.0015506744384765625, + -0.011147089302539825, + -0.005919702351093292, + 0.028409261256456375, + -0.0013401368632912636, + 1.0 + ], + [ + 0.008136481046676636, + -0.028703749179840088, + -0.015176594257354736, + 0.014462098479270935, + 0.02195705659687519, + -0.08225400000810623, + 1.0 + ], + [ + 0.007871657609939575, + -0.02517635002732277, + -0.017813540995121002, + 0.017060451209545135, + 0.011395201086997986, + -0.07766454666852951, + 1.0 + ], + [ + 0.011029452085494995, + -0.020502470433712006, + -0.019687701016664505, + 0.010197579860687256, + 0.021542515605688095, + -0.06481632590293884, + 1.0 + ], + [ + 0.0044557154178619385, + -0.004276997409760952, + -0.01501578651368618, + -0.002455279231071472, + 0.027776500210165977, + -0.015394344925880432, + 1.0 + ], + [ + -0.0004559159278869629, + 0.0036210641264915466, + -0.010298258624970913, + -0.003333538770675659, + 0.02325756847858429, + 0.003508150577545166, + 1.0 + ], + [ + -0.0006689131259918213, + 0.00361721683293581, + -0.0033887019380927086, + 0.00015101581811904907, + 0.007226094603538513, + 0.014342039823532104, + 1.0 + ], + [ + -0.0002624392509460449, + 0.0005867192521691322, + -0.0013720449060201645, + -0.0005263388156890869, + 0.004261039197444916, + 0.004692196846008301, + 0.0 + ], + [ + -0.0045576393604278564, + 0.00046330131590366364, + -0.002661482896655798, + -0.013859882950782776, + 0.011531583964824677, + 0.012602150440216064, + 0.0 + ], + [ + -0.008101701736450195, + 0.0002101333811879158, + 0.00017027277499437332, + -0.004894576966762543, + 0.019441410899162292, + -0.01835857331752777, + 0.0 + ], + [ + -0.011969804763793945, + -0.0045572733506560326, + 0.008397866040468216, + -0.033850107342004776, + 0.005064919590950012, + -0.017992764711380005, + 0.0 + ], + [ + -0.001911163330078125, + -0.0007847769884392619, + 0.029549071565270424, + -0.01952691376209259, + -0.07693226635456085, + 0.006179049611091614, + 0.0 + ], + [ + -0.017580777406692505, + 0.029807284474372864, + 0.033494193106889725, + 0.016492534428834915, + -0.06516793370246887, + 0.07762576639652252, + 0.0 + ], + [ + -0.029958248138427734, + 0.041944727301597595, + 0.0015714988112449646, + 0.01057237759232521, + -0.002200912684202194, + 0.09126736223697662, + 0.0 + ], + [ + -0.019948691129684448, + 0.04666219651699066, + -0.007031381130218506, + 0.0005108863115310669, + -0.005686305463314056, + 0.10074836015701294, + 0.0 + ], + [ + -0.006479233503341675, + 0.02369295060634613, + -0.004380680620670319, + -0.0007832087576389313, + -0.02426799014210701, + 0.06362994760274887, + 0.0 + ], + [ + 0.003280937671661377, + 0.01105886697769165, + -0.02008282020688057, + -0.010148730129003525, + 0.02717098966240883, + 0.03444840759038925, + 1.0 + ], + [ + 0.0024951398372650146, + -0.00040678679943084717, + -0.005232751369476318, + -0.012169113382697105, + 0.005381830036640167, + -0.012662351131439209, + 1.0 + ], + [ + 0.0031606853008270264, + -0.00606149435043335, + 0.00047630444169044495, + 0.00244821235537529, + 0.001012628898024559, + -0.027879171073436737, + 1.0 + ], + [ + 0.0035414397716522217, + -0.009938657283782959, + -0.0009643733501434326, + 0.001659030094742775, + 0.005574999377131462, + -0.033346571028232574, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9461179971694946 + ], + [ + 0.6701657772064209 + ], + [ + 0.39448216557502747 + ], + [ + 0.3275788426399231 + ], + [ + 0.32678350806236267 + ], + [ + 0.32678350806236267 + ], + [ + 0.32678350806236267 + ], + [ + 0.32678350806236267 + ], + [ + 0.32678350806236267 + ], + [ + 0.39711064100265503 + ], + [ + 0.7071652412414551 + ], + [ + 0.973810613155365 + ], + [ + 1.0054124593734741 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3385767638683319, + 0.07651054859161377, + 0.09242209792137146 + ], + [ + 0.34671324491500854, + 0.04780679941177368, + 0.07724550366401672 + ], + [ + 0.3545849025249481, + 0.022630449384450912, + 0.05943196266889572 + ], + [ + 0.3656143546104431, + 0.0021279780194163322, + 0.039744261652231216 + ], + [ + 0.37007007002830505, + -0.002149019157513976, + 0.024728475138545036 + ], + [ + 0.3696141541004181, + 0.0014720448525622487, + 0.014430216513574123 + ], + [ + 0.36894524097442627, + 0.005089261569082737, + 0.011041514575481415 + ], + [ + 0.3686828017234802, + 0.005675980821251869, + 0.00966946966946125 + ], + [ + 0.36412516236305237, + 0.006139282137155533, + 0.007007986772805452 + ], + [ + 0.3560234606266022, + 0.006349415518343449, + 0.007178259547799826 + ], + [ + 0.3440536558628082, + 0.0017921424005180597, + 0.015576126053929329 + ], + [ + 0.3421424925327301, + 0.0010073654120787978, + 0.04512519761919975 + ], + [ + 0.3245617151260376, + 0.030814649537205696, + 0.07861939072608948 + ], + [ + 0.29460346698760986, + 0.07275937497615814, + 0.08019088953733444 + ], + [ + 0.2746547758579254, + 0.1194215714931488, + 0.07315950840711594 + ], + [ + 0.26817554235458374, + 0.14311452209949493, + 0.06877882778644562 + ], + [ + 0.2714564800262451, + 0.15417338907718658, + 0.04869600757956505 + ], + [ + 0.27395161986351013, + 0.15376660227775574, + 0.04346325621008873 + ], + [ + 0.27711230516433716, + 0.1477051079273224, + 0.043939560651779175 + ], + [ + 0.2806537449359894, + 0.13776645064353943, + 0.04297518730163574 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9990349673363691, + 0.0101247580215643, + 0.04273901395943827, + 0.007855903269400832, + -0.9985676244112696, + 0.052924325800674174, + 0.043213641631342614, + -0.05253749853808096, + -0.9976835131565116 + ], + [ + 0.9970087164488207, + -0.07273343544069838, + 0.0261431959421312, + -0.0743052669066393, + -0.9950979027120831, + 0.06526018179523141, + 0.021268442232754092, + -0.067007547239153, + -0.9975257600573454 + ], + [ + 0.9884136685113999, + -0.15011395043562498, + 0.02245488330959, + -0.15146257130755608, + -0.9850912346654679, + 0.08157419247634494, + 0.009874684437492847, + -0.08403012120588076, + -0.9964142859962342 + ], + [ + 0.9765089221035929, + -0.21529208966227564, + 0.008924190771677535, + -0.21516086235735066, + -0.971997193914882, + 0.09448416973882916, + -0.011667405955046036, + -0.09418477132979265, + -0.9954863637879899 + ], + [ + 0.972390390119447, + -0.23273311149271808, + -0.017094678068556267, + -0.2300041158342414, + -0.9682101843217717, + 0.09832164397989654, + -0.03943394353419881, + -0.09167517543216769, + -0.995007852384504 + ], + [ + 0.9720349344797344, + -0.23127600314981134, + -0.04073691836685059, + -0.2263221765157526, + -0.9688771108610221, + 0.10027669952073481, + -0.06266066204686564, + -0.08825278701915129, + -0.9941252873834371 + ], + [ + 0.9747128960424986, + -0.21798741842293526, + -0.04915542388942931, + -0.21225652760218536, + -0.9719433663761708, + 0.10135708681497944, + -0.06987085786440628, + -0.08836050003627578, + -0.9936349859252296 + ], + [ + 0.9753980561928023, + -0.21376435615925612, + -0.05388350407241403, + -0.20761679515343104, + -0.97293068534452, + 0.10149457071814846, + -0.0741208361091631, + -0.08781048656545345, + -0.993375769839197 + ], + [ + 0.977033771761526, + -0.20153969699300506, + -0.06918641032322957, + -0.19512814283844265, + -0.9766835590383657, + 0.08952225073450595, + -0.08561551675874472, + -0.07396604653568514, + -0.9935788882871929 + ], + [ + 0.9714772338935337, + -0.22041327332281585, + -0.0874641239005417, + -0.2126350694712854, + -0.9729648709794394, + 0.09014259298968304, + -0.10496814401288265, + -0.06897353683177114, + -0.9920808132200755 + ], + [ + 0.9669646606659761, + -0.23501615009981416, + -0.09872565125333513, + -0.22995331639021951, + -0.9713488361585446, + 0.06002425155368776, + -0.11000371495669192, + -0.03533903911685224, + -0.9933027408650519 + ], + [ + 0.9737398608312481, + -0.22583267021068293, + -0.028814727030711418, + -0.2252167135855479, + -0.9740342797198628, + 0.023122583167395273, + -0.03328836658754493, + -0.016025822790756955, + -0.9993172957843831 + ], + [ + 0.9883184196327824, + -0.14800601923633477, + 0.03634445878498079, + -0.14903399268415563, + -0.9884521228920546, + 0.027409300881449227, + 0.03186801592786278, + -0.03250567673506375, + -0.9989633679674231 + ], + [ + 0.9977156906964665, + -0.05684774344716221, + 0.03649293908467879, + -0.05833343972082624, + -0.9974537593819552, + 0.04102691439946462, + 0.034067731776700104, + -0.04306195489953855, + -0.9984913908951948 + ], + [ + 0.9983138226980375, + 0.044026387758640415, + 0.03783105326259935, + 0.04230173259178639, + -0.9980801318709114, + 0.04523951573876094, + 0.03975015509107843, + -0.04356291479539035, + -0.998259584288959 + ], + [ + 0.9923519718281713, + 0.1084066681415491, + 0.05903861711785004, + 0.10556277322831152, + -0.9931879902591099, + 0.049336770399145184, + 0.0639848803787905, + -0.042727161238700774, + -0.9970357690551496 + ], + [ + 0.9894839523196469, + 0.1410825468513207, + 0.031893934781334086, + 0.13987007608411062, + -0.9894592517651163, + 0.03750667824057047, + 0.03684928653469693, + -0.0326512491393741, + -0.998787277658022 + ], + [ + 0.9913580105554793, + 0.12802990341115117, + 0.028594383015087817, + 0.12735342945413675, + -0.9915584468059443, + 0.02435057646245141, + 0.031470603962308254, + -0.020498546297598355, + -0.9992944564471139 + ], + [ + 0.9945540173273119, + 0.10038812410182411, + 0.028009483347994177, + 0.09967240737104456, + -0.9946837286168833, + 0.025878393181857223, + 0.030458460679511433, + -0.022945687266478054, + -0.999272624266723 + ], + [ + 0.9974781472492376, + 0.0670800790977538, + 0.023186391449894424, + 0.06646843236627696, + -0.9974441061894967, + 0.026214547995451483, + 0.02488560344854648, + -0.024607275673573827, + -0.9993874067272044 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006481.json b/json/chunk-0006/episode_0006481.json new file mode 100644 index 0000000000000000000000000000000000000000..e4717feb66c2cb85c24c252de9df0d2c2c98e36f --- /dev/null +++ b/json/chunk-0006/episode_0006481.json @@ -0,0 +1,1282 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 20, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut carrot on plate." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006481.mp4", + "start": 0, + "end": 20, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2767142057418823, + 0.07597076147794724, + 0.16405853629112244, + 0.09108760207891464, + -0.13947562873363495, + -0.05580849573016167, + 0.0, + 0.9445669651031494 + ], + [ + 0.2762765884399414, + 0.08084672689437866, + 0.15550073981285095, + 0.08376729488372803, + -0.11602259427309036, + -0.03829740360379219, + 0.0, + 0.9445669651031494 + ], + [ + 0.2761702239513397, + 0.09608322381973267, + 0.14748185873031616, + 0.09216136485338211, + -0.10198889672756195, + -0.0014883546391502023, + 0.0, + 0.9445669651031494 + ], + [ + 0.2779689431190491, + 0.1017986312508583, + 0.13848623633384705, + 0.09632082283496857, + -0.08604420721530914, + 0.00537329213693738, + 0.0, + 0.9492040276527405 + ], + [ + 0.275563508272171, + 0.10429030656814575, + 0.12930113077163696, + 0.08915037661790848, + -0.0640401691198349, + 0.014399726875126362, + 0.0, + 0.9530308246612549 + ], + [ + 0.2748629152774811, + 0.10114962607622147, + 0.12431725859642029, + 0.07467067241668701, + -0.06483851373195648, + 0.006865761708468199, + 0.0, + 0.7701175808906555 + ], + [ + 0.2737855911254883, + 0.09789672493934631, + 0.12141119688749313, + 0.070848748087883, + -0.07245103269815445, + 0.0004833220737054944, + 0.0, + 0.6631406545639038 + ], + [ + 0.2739528715610504, + 0.09323758631944656, + 0.1213894784450531, + 0.06393755972385406, + -0.09099108725786209, + -0.00022621400421485305, + 0.0, + 0.6631406545639038 + ], + [ + 0.28210505843162537, + 0.08036854863166809, + 0.12665386497974396, + 0.04907343536615372, + -0.13901565968990326, + -0.02881622686982155, + 0.0, + 0.6631406545639038 + ], + [ + 0.30152469873428345, + 0.053161125630140305, + 0.14824195206165314, + 0.04504779726266861, + -0.23494693636894226, + -0.10726950317621231, + 0.0, + 0.6631406545639038 + ], + [ + 0.31896331906318665, + 0.029330609366297722, + 0.16736064851284027, + 0.04897557944059372, + -0.30565544962882996, + -0.17569638788700104, + 0.0, + 0.6631406545639038 + ], + [ + 0.3313118815422058, + 0.003130833152681589, + 0.15822729468345642, + 0.016551468521356583, + -0.299523264169693, + -0.22346408665180206, + 0.0, + 0.6631406545639038 + ], + [ + 0.3383773863315582, + -0.023296412080526352, + 0.12907914817333221, + -0.017089491710066795, + -0.23722708225250244, + -0.2712533473968506, + 0.0, + 0.6631406545639038 + ], + [ + 0.3409777283668518, + -0.04848916083574295, + 0.10542133450508118, + -0.03037419728934765, + -0.19603316485881805, + -0.3186596930027008, + 0.0, + 0.6631406545639038 + ], + [ + 0.33484235405921936, + -0.0562557615339756, + 0.08754360675811768, + -0.027776284143328667, + -0.16958609223365784, + -0.3383803963661194, + 0.0, + 0.6631406545639038 + ], + [ + 0.32533812522888184, + -0.058942485600709915, + 0.06916201859712601, + -0.025010550394654274, + -0.13269171118736267, + -0.3538818657398224, + 0.0, + 0.6631406545639038 + ], + [ + 0.3167089521884918, + -0.056682854890823364, + 0.06094275787472725, + -0.016325954347848892, + -0.1021389588713646, + -0.3531704545021057, + 0.0, + 0.6631406545639038 + ], + [ + 0.3123745322227478, + -0.05181672424077988, + 0.06675419956445694, + -0.008010926656425, + -0.09375890344381332, + -0.3357901871204376, + 0.0, + 0.8408563733100891 + ], + [ + 0.30997589230537415, + -0.04365566000342369, + 0.09404166042804718, + 0.0018164082430303097, + -0.14142106473445892, + -0.29726454615592957, + 0.0, + 0.8888095021247864 + ], + [ + 0.30609428882598877, + -0.023664381355047226, + 0.12440846860408783, + -0.0007962031522765756, + -0.18986397981643677, + -0.21991458535194397, + 0.0, + 0.9024295806884766 + ] + ], + "left_gripper_pos": [ + [ + 0.9445669651031494 + ], + [ + 0.9445669651031494 + ], + [ + 0.9445669651031494 + ], + [ + 0.9492040276527405 + ], + [ + 0.9530308246612549 + ], + [ + 0.7701175808906555 + ], + [ + 0.6631406545639038 + ], + [ + 0.6631406545639038 + ], + [ + 0.6631406545639038 + ], + [ + 0.6631406545639038 + ], + [ + 0.6631406545639038 + ], + [ + 0.6631406545639038 + ], + [ + 0.6631406545639038 + ], + [ + 0.6631406545639038 + ], + [ + 0.6631406545639038 + ], + [ + 0.6631406545639038 + ], + [ + 0.6631406545639038 + ], + [ + 0.8408563733100891 + ], + [ + 0.8888095021247864 + ], + [ + 0.9024295806884766 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2767142057418823, + 0.07597076147794724, + 0.16405853629112244 + ], + [ + 0.2762765884399414, + 0.08084672689437866, + 0.15550073981285095 + ], + [ + 0.2761702239513397, + 0.09608322381973267, + 0.14748185873031616 + ], + [ + 0.2779689431190491, + 0.1017986312508583, + 0.13848623633384705 + ], + [ + 0.275563508272171, + 0.10429030656814575, + 0.12930113077163696 + ], + [ + 0.2748629152774811, + 0.10114962607622147, + 0.12431725859642029 + ], + [ + 0.2737855911254883, + 0.09789672493934631, + 0.12141119688749313 + ], + [ + 0.2739528715610504, + 0.09323758631944656, + 0.1213894784450531 + ], + [ + 0.28210505843162537, + 0.08036854863166809, + 0.12665386497974396 + ], + [ + 0.30152469873428345, + 0.053161125630140305, + 0.14824195206165314 + ], + [ + 0.31896331906318665, + 0.029330609366297722, + 0.16736064851284027 + ], + [ + 0.3313118815422058, + 0.003130833152681589, + 0.15822729468345642 + ], + [ + 0.3383773863315582, + -0.023296412080526352, + 0.12907914817333221 + ], + [ + 0.3409777283668518, + -0.04848916083574295, + 0.10542133450508118 + ], + [ + 0.33484235405921936, + -0.0562557615339756, + 0.08754360675811768 + ], + [ + 0.32533812522888184, + -0.058942485600709915, + 0.06916201859712601 + ], + [ + 0.3167089521884918, + -0.056682854890823364, + 0.06094275787472725 + ], + [ + 0.3123745322227478, + -0.05181672424077988, + 0.06675419956445694 + ], + [ + 0.30997589230537415, + -0.04365566000342369, + 0.09404166042804718 + ], + [ + 0.30609428882598877, + -0.023664381355047226, + 0.12440846860408783 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9887472614336094, + -0.04292213266074142, + 0.1433057693723157, + -0.055237856954838266, + -0.9950093355259134, + 0.08309754133136012, + 0.13902385466737155, + -0.0900783700126395, + -0.9861836822262329 + ], + [ + 0.9925485994333242, + -0.02847511833190088, + 0.11847550548079916, + -0.03803062918922462, + -0.9961337356756277, + 0.07919123620950962, + 0.11576246803873147, + -0.08310684860408853, + -0.9897940708595293 + ], + [ + 0.9948025372357774, + 0.007887823880846266, + 0.10151696480729229, + -0.001480620064623048, + -0.9957689893194509, + 0.09187996339759863, + 0.10181217841439454, + -0.09155272876405476, + -0.990581838205391 + ], + [ + 0.9962860978366136, + 0.013613072798393452, + 0.0850217354943947, + 0.005353387777227567, + -0.9953059565949026, + 0.09663019200028455, + 0.08593807361582995, + -0.09581616260157191, + -0.9916823637070031 + ], + [ + 0.9978466673243758, + 0.02003920459528019, + 0.062453653126341366, + 0.014369712683319451, + -0.9958434306960486, + 0.08994094116098313, + 0.06399640511025377, + -0.08884982734205556, + -0.9939870061093613 + ], + [ + 0.9978752001537683, + 0.011680111181314717, + 0.06409882932526459, + 0.006851280992840294, + -0.9971567504612998, + 0.07504315397302155, + 0.06479309274015571, + -0.07444454319997942, + -0.9951180156749813 + ], + [ + 0.9973764553025215, + 0.005606394928990242, + 0.07217184176725534, + 0.0004820540941778322, + -0.9974886839104001, + 0.07082438206259527, + 0.07238766491625377, + -0.07060378039877448, + -0.9948744303485612 + ], + [ + 0.9958631409219563, + 0.005580014023277018, + 0.09069436584791678, + -0.0002252781926006392, + -0.9979579782714437, + 0.06387349101237906, + 0.09086558095776244, + -0.06362968684405544, + -0.9938283096940516 + ], + [ + 0.9899417207325829, + -0.021983079675677704, + 0.1397574103973946, + -0.028534283701075733, + -0.9985773269501994, + 0.045045718494226374, + 0.13856833767740556, + -0.048580513675416916, + -0.9891606287577126 + ], + [ + 0.9669367497340182, + -0.09653235022537789, + 0.23603988513337631, + -0.10412250185122264, + -0.9943658637373233, + 0.01987545325694824, + 0.23279138004242045, + -0.043795369548526294, + -0.9715400861436718 + ], + [ + 0.9389685309799787, + -0.1600792949405259, + 0.30448763055441974, + -0.166692138276229, + -0.9859994694683608, + -0.004333271859625655, + 0.30091830929041063, + -0.04668688830340909, + -0.9525064333611325 + ], + [ + 0.9317199245951577, + -0.21681644030620315, + 0.29135650554833975, + -0.2117422660807126, + -0.9760842965641783, + -0.04924082407735984, + 0.29506472996174554, + -0.015813829825802043, + -0.9553463915872831 + ], + [ + 0.9364532409485167, + -0.2717691773100956, + 0.22180361083898803, + -0.2604350933785425, + -0.962219112278796, + -0.07942255411604252, + 0.23500827571370603, + 0.016610064105827237, + -0.9718514372662476 + ], + [ + 0.9314673718342269, + -0.31876707570629975, + 0.17537413336604646, + -0.3072934767143641, + -0.9473648900816035, + -0.08983587373354465, + 0.19478001534304357, + 0.02978785803519531, + -0.9803945272881924 + ], + [ + 0.9297617247160207, + -0.3362532389190563, + 0.1499229621156627, + -0.327197706878472, + -0.9413736807160703, + -0.08220251741003684, + 0.16877439339710237, + 0.027374304950481716, + -0.9852745056896164 + ], + [ + 0.9297886353256554, + -0.3495369510654046, + 0.1153993650725869, + -0.3434954114018921, + -0.9365946132540781, + -0.06929237165293539, + 0.13230266801958362, + 0.02478810729653556, + -0.9908993661172436 + ], + [ + 0.9333908599325589, + -0.3473900343959108, + 0.09000925839471471, + -0.3440717415650603, + -0.9375800881013716, + -0.050578800422813985, + 0.101961459634241, + 0.01624014772815859, + -0.9946557788255307 + ], + [ + 0.9400033790180881, + -0.33021285582992815, + 0.08575031941176271, + -0.3280680482400605, + -0.9438727979728598, + -0.03841219820371927, + 0.0936215955778023, + 0.007975656181629893, + -0.9955759065736467 + ], + [ + 0.9465958471492326, + -0.29266054819142656, + 0.1353000579900868, + -0.2899816576949798, + -0.9562147090192216, + -0.03954830534621594, + 0.14095013430394007, + -0.0017982734996744576, + -0.9900150634470781 + ], + [ + 0.9583787904256462, + -0.21829284194389123, + 0.1840063292887896, + -0.21422615932365777, + -0.9758829969806354, + -0.041946738437306834, + 0.18872532083350643, + 0.0007818952310654145, + -0.9820296033807421 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.00043761730194091797, + 0.004875965416431427, + -0.008557796478271484, + -0.007320307195186615, + 0.023453034460544586, + 0.017511092126369476, + 1.0 + ], + [ + -0.00010636448860168457, + 0.015236496925354004, + -0.00801888108253479, + 0.008394069969654083, + 0.014033697545528412, + 0.0368090495467186, + 1.0 + ], + [ + 0.0017987191677093506, + 0.005715407431125641, + -0.008995622396469116, + 0.004159457981586456, + 0.015944689512252808, + 0.00686164665967226, + 1.0 + ], + [ + -0.0024054348468780518, + 0.002491675317287445, + -0.009185105562210083, + -0.007170446217060089, + 0.022004038095474243, + 0.009026434272527695, + 1.0 + ], + [ + -0.0007005929946899414, + -0.003140680491924286, + -0.004983872175216675, + -0.014479704201221466, + -0.000798344612121582, + -0.007533965166658163, + 0.0 + ], + [ + -0.0010773241519927979, + -0.0032529011368751526, + -0.0029060617089271545, + -0.003821924328804016, + -0.0076125189661979675, + -0.006382439751178026, + 0.0 + ], + [ + 0.0001672804355621338, + -0.00465913861989975, + -2.171844244003296e-05, + -0.006911188364028931, + -0.01854005455970764, + -0.0007095360779203475, + 0.0 + ], + [ + 0.008152186870574951, + -0.012869037687778473, + 0.005264386534690857, + -0.014864124357700348, + -0.04802457243204117, + -0.028590012341737747, + 0.0 + ], + [ + 0.01941964030265808, + -0.027207423001527786, + 0.02158808708190918, + -0.004025638103485107, + -0.095931276679039, + -0.07845327258110046, + 0.0 + ], + [ + 0.017438620328903198, + -0.023830516263842583, + 0.019118696451187134, + 0.00392778217792511, + -0.0707085132598877, + -0.06842688471078873, + 0.0 + ], + [ + 0.012348562479019165, + -0.02619977667927742, + -0.00913335382938385, + -0.03242411091923714, + 0.006132185459136963, + -0.047767698764801025, + 0.0 + ], + [ + 0.007065504789352417, + -0.026427244767546654, + -0.029148146510124207, + -0.03364095836877823, + 0.06229618191719055, + -0.04778926074504852, + 0.0 + ], + [ + 0.002600342035293579, + -0.0251927487552166, + -0.023657813668251038, + -0.013284705579280853, + 0.04119391739368439, + -0.04740634560585022, + 0.0 + ], + [ + -0.006135374307632446, + -0.007766600698232651, + -0.0178777277469635, + 0.002597913146018982, + 0.026447072625160217, + -0.01972070336341858, + 0.0 + ], + [ + -0.009504228830337524, + -0.002686724066734314, + -0.01838158816099167, + 0.0027657337486743927, + 0.036894381046295166, + -0.015501469373703003, + 0.0 + ], + [ + -0.008629173040390015, + 0.002259630709886551, + -0.008219260722398758, + 0.008684596046805382, + 0.030552752315998077, + 0.0007114112377166748, + 0.0 + ], + [ + -0.0043344199657440186, + 0.0048661306500434875, + 0.0058114416897296906, + 0.008315027691423893, + 0.00838005542755127, + 0.01738026738166809, + 1.0 + ], + [ + -0.0023986399173736572, + 0.008161064237356186, + 0.02728746086359024, + 0.009827334433794022, + -0.0476621612906456, + 0.03852564096450806, + 1.0 + ], + [ + -0.003881603479385376, + 0.019991278648376465, + 0.03036680817604065, + -0.0026126112788915634, + -0.048442915081977844, + 0.0773499608039856, + 1.0 + ], + [ + -0.0022777915000915527, + 0.02928755059838295, + 0.034298062324523926, + 0.021544761955738068, + -0.06206580996513367, + 0.07412657141685486, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9445669651031494 + ], + [ + 0.9445669651031494 + ], + [ + 0.9492040276527405 + ], + [ + 0.9530308246612549 + ], + [ + 0.7701175808906555 + ], + [ + 0.6631406545639038 + ], + [ + 0.6631406545639038 + ], + [ + 0.6631406545639038 + ], + [ + 0.6631406545639038 + ], + [ + 0.6631406545639038 + ], + [ + 0.6631406545639038 + ], + [ + 0.6631406545639038 + ], + [ + 0.6631406545639038 + ], + [ + 0.6631406545639038 + ], + [ + 0.6631406545639038 + ], + [ + 0.6631406545639038 + ], + [ + 0.8408563733100891 + ], + [ + 0.8888095021247864 + ], + [ + 0.9024295806884766 + ], + [ + 0.9255412817001343 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2762765884399414, + 0.08084672689437866, + 0.15550073981285095 + ], + [ + 0.2761702239513397, + 0.09608322381973267, + 0.14748185873031616 + ], + [ + 0.2779689431190491, + 0.1017986312508583, + 0.13848623633384705 + ], + [ + 0.275563508272171, + 0.10429030656814575, + 0.12930113077163696 + ], + [ + 0.2748629152774811, + 0.10114962607622147, + 0.12431725859642029 + ], + [ + 0.2737855911254883, + 0.09789672493934631, + 0.12141119688749313 + ], + [ + 0.2739528715610504, + 0.09323758631944656, + 0.1213894784450531 + ], + [ + 0.28210505843162537, + 0.08036854863166809, + 0.12665386497974396 + ], + [ + 0.30152469873428345, + 0.053161125630140305, + 0.14824195206165314 + ], + [ + 0.31896331906318665, + 0.029330609366297722, + 0.16736064851284027 + ], + [ + 0.3313118815422058, + 0.003130833152681589, + 0.15822729468345642 + ], + [ + 0.3383773863315582, + -0.023296412080526352, + 0.12907914817333221 + ], + [ + 0.3409777283668518, + -0.04848916083574295, + 0.10542133450508118 + ], + [ + 0.33484235405921936, + -0.0562557615339756, + 0.08754360675811768 + ], + [ + 0.32533812522888184, + -0.058942485600709915, + 0.06916201859712601 + ], + [ + 0.3167089521884918, + -0.056682854890823364, + 0.06094275787472725 + ], + [ + 0.3123745322227478, + -0.05181672424077988, + 0.06675419956445694 + ], + [ + 0.30997589230537415, + -0.04365566000342369, + 0.09404166042804718 + ], + [ + 0.30609428882598877, + -0.023664381355047226, + 0.12440846860408783 + ], + [ + 0.3038164973258972, + 0.005623168777674437, + 0.15870653092861176 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9925485994333242, + -0.02847511833190088, + 0.11847550548079916, + -0.03803062918922462, + -0.9961337356756277, + 0.07919123620950962, + 0.11576246803873147, + -0.08310684860408853, + -0.9897940708595293 + ], + [ + 0.9948025372357774, + 0.007887823880846266, + 0.10151696480729229, + -0.001480620064623048, + -0.9957689893194509, + 0.09187996339759863, + 0.10181217841439454, + -0.09155272876405476, + -0.990581838205391 + ], + [ + 0.9962860978366136, + 0.013613072798393452, + 0.0850217354943947, + 0.005353387777227567, + -0.9953059565949026, + 0.09663019200028455, + 0.08593807361582995, + -0.09581616260157191, + -0.9916823637070031 + ], + [ + 0.9978466673243758, + 0.02003920459528019, + 0.062453653126341366, + 0.014369712683319451, + -0.9958434306960486, + 0.08994094116098313, + 0.06399640511025377, + -0.08884982734205556, + -0.9939870061093613 + ], + [ + 0.9978752001537683, + 0.011680111181314717, + 0.06409882932526459, + 0.006851280992840294, + -0.9971567504612998, + 0.07504315397302155, + 0.06479309274015571, + -0.07444454319997942, + -0.9951180156749813 + ], + [ + 0.9973764553025215, + 0.005606394928990242, + 0.07217184176725534, + 0.0004820540941778322, + -0.9974886839104001, + 0.07082438206259527, + 0.07238766491625377, + -0.07060378039877448, + -0.9948744303485612 + ], + [ + 0.9958631409219563, + 0.005580014023277018, + 0.09069436584791678, + -0.0002252781926006392, + -0.9979579782714437, + 0.06387349101237906, + 0.09086558095776244, + -0.06362968684405544, + -0.9938283096940516 + ], + [ + 0.9899417207325829, + -0.021983079675677704, + 0.1397574103973946, + -0.028534283701075733, + -0.9985773269501994, + 0.045045718494226374, + 0.13856833767740556, + -0.048580513675416916, + -0.9891606287577126 + ], + [ + 0.9669367497340182, + -0.09653235022537789, + 0.23603988513337631, + -0.10412250185122264, + -0.9943658637373233, + 0.01987545325694824, + 0.23279138004242045, + -0.043795369548526294, + -0.9715400861436718 + ], + [ + 0.9389685309799787, + -0.1600792949405259, + 0.30448763055441974, + -0.166692138276229, + -0.9859994694683608, + -0.004333271859625655, + 0.30091830929041063, + -0.04668688830340909, + -0.9525064333611325 + ], + [ + 0.9317199245951577, + -0.21681644030620315, + 0.29135650554833975, + -0.2117422660807126, + -0.9760842965641783, + -0.04924082407735984, + 0.29506472996174554, + -0.015813829825802043, + -0.9553463915872831 + ], + [ + 0.9364532409485167, + -0.2717691773100956, + 0.22180361083898803, + -0.2604350933785425, + -0.962219112278796, + -0.07942255411604252, + 0.23500827571370603, + 0.016610064105827237, + -0.9718514372662476 + ], + [ + 0.9314673718342269, + -0.31876707570629975, + 0.17537413336604646, + -0.3072934767143641, + -0.9473648900816035, + -0.08983587373354465, + 0.19478001534304357, + 0.02978785803519531, + -0.9803945272881924 + ], + [ + 0.9297617247160207, + -0.3362532389190563, + 0.1499229621156627, + -0.327197706878472, + -0.9413736807160703, + -0.08220251741003684, + 0.16877439339710237, + 0.027374304950481716, + -0.9852745056896164 + ], + [ + 0.9297886353256554, + -0.3495369510654046, + 0.1153993650725869, + -0.3434954114018921, + -0.9365946132540781, + -0.06929237165293539, + 0.13230266801958362, + 0.02478810729653556, + -0.9908993661172436 + ], + [ + 0.9333908599325589, + -0.3473900343959108, + 0.09000925839471471, + -0.3440717415650603, + -0.9375800881013716, + -0.050578800422813985, + 0.101961459634241, + 0.01624014772815859, + -0.9946557788255307 + ], + [ + 0.9400033790180881, + -0.33021285582992815, + 0.08575031941176271, + -0.3280680482400605, + -0.9438727979728598, + -0.03841219820371927, + 0.0936215955778023, + 0.007975656181629893, + -0.9955759065736467 + ], + [ + 0.9465958471492326, + -0.29266054819142656, + 0.1353000579900868, + -0.2899816576949798, + -0.9562147090192216, + -0.03954830534621594, + 0.14095013430394007, + -0.0017982734996744576, + -0.9900150634470781 + ], + [ + 0.9583787904256462, + -0.21829284194389123, + 0.1840063292887896, + -0.21422615932365777, + -0.9758829969806354, + -0.041946738437306834, + 0.18872532083350643, + 0.0007818952310654145, + -0.9820296033807421 + ], + [ + 0.9581597859671227, + -0.140124032296832, + 0.24958982376754443, + -0.14068635008783176, + -0.9899300788513588, + -0.01567768746679782, + 0.24927329470763923, + -0.020092151657274543, + -0.9682247311380656 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006482.json b/json/chunk-0006/episode_0006482.json new file mode 100644 index 0000000000000000000000000000000000000000..9c3155eaab1a6ee9c43debd17b25e9a3e26c8ac6 --- /dev/null +++ b/json/chunk-0006/episode_0006482.json @@ -0,0 +1,2602 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 42, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPlaced the red folk on the right side of the burner." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006482.mp4", + "start": 0, + "end": 42, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.1741914451122284, + 0.05750250443816185, + 0.11425003409385681, + 0.10740085691213608, + 0.05282235145568848, + 0.34196051955223083, + 0.0, + 0.9988223910331726 + ], + [ + 0.1635916382074356, + 0.05459540709853172, + 0.10376966744661331, + 0.10676497966051102, + 0.1027262732386589, + 0.3427821397781372, + 0.0, + 0.9988223910331726 + ], + [ + 0.16307634115219116, + 0.06701156497001648, + 0.08908719569444656, + 0.07835151255130768, + 0.16327987611293793, + 0.3405850827693939, + 0.0, + 0.9988223910331726 + ], + [ + 0.17788493633270264, + 0.08458562195301056, + 0.08111238479614258, + 0.08531113713979721, + 0.13496506214141846, + 0.33392247557640076, + 0.0, + 0.9988223910331726 + ], + [ + 0.18243034183979034, + 0.09674328565597534, + 0.06715273857116699, + 0.09034723788499832, + 0.1316605806350708, + 0.3382302522659302, + 0.0, + 0.9988223910331726 + ], + [ + 0.19022729992866516, + 0.10505248606204987, + 0.05484912544488907, + 0.08338921517133713, + 0.11371546983718872, + 0.3337181508541107, + 0.0, + 0.9988223910331726 + ], + [ + 0.1992158442735672, + 0.11348339170217514, + 0.04172024875879288, + 0.10064783692359924, + 0.1200544685125351, + 0.33894187211990356, + 0.0, + 0.9994885921478271 + ], + [ + 0.20024561882019043, + 0.11725516617298126, + 0.027500472962856293, + 0.11757122725248337, + 0.13697431981563568, + 0.3360890746116638, + 0.0, + 0.9988223910331726 + ], + [ + 0.20639802515506744, + 0.11994379013776779, + 0.018580274656414986, + 0.10592381656169891, + 0.14483961462974548, + 0.3208628296852112, + 0.0, + 0.9988223910331726 + ], + [ + 0.2068440169095993, + 0.12184003740549088, + 0.009897335432469845, + 0.11344808340072632, + 0.15430918335914612, + 0.33171388506889343, + 0.0, + 0.9988223910331726 + ], + [ + 0.20846259593963623, + 0.1239684522151947, + 0.0051131886430084705, + 0.12380614131689072, + 0.1553812175989151, + 0.3321962058544159, + 0.0, + 0.9994885921478271 + ], + [ + 0.21113356947898865, + 0.12653928995132446, + 0.004116809461265802, + 0.1334402710199356, + 0.14082744717597961, + 0.3361024558544159, + 0.0, + 0.9988223910331726 + ], + [ + 0.21384091675281525, + 0.12631839513778687, + 0.0030748276039958, + 0.12218330800533295, + 0.12854479253292084, + 0.32526394724845886, + 0.0, + 0.9620732665061951 + ], + [ + 0.21371813118457794, + 0.1304170936346054, + 0.0015987877268344164, + 0.0866522416472435, + 0.10794953256845474, + 0.32810288667678833, + 0.0, + 0.672171950340271 + ], + [ + 0.21305136382579803, + 0.1301814615726471, + 0.0013134265318512917, + 0.07221788167953491, + 0.10785643756389618, + 0.30590763688087463, + 0.0, + 0.3806030750274658 + ], + [ + 0.21216677129268646, + 0.1310628056526184, + 0.0013090274296700954, + 0.06889079511165619, + 0.1097528338432312, + 0.3034571409225464, + 0.0, + 0.2854207158088684 + ], + [ + 0.20091499388217926, + 0.13508296012878418, + 0.005724085029214621, + 0.09977608174085617, + 0.15107987821102142, + 0.319889098405838, + 0.0, + 0.27449509501457214 + ], + [ + 0.1940767765045166, + 0.13899961113929749, + 0.02078654244542122, + 0.13979388773441315, + 0.1691437065601349, + 0.35301607847213745, + 0.0, + 0.27449509501457214 + ], + [ + 0.196821391582489, + 0.14141100645065308, + 0.0362996943295002, + 0.16797567903995514, + 0.15129922330379486, + 0.39101722836494446, + 0.0, + 0.27449509501457214 + ], + [ + 0.20015661418437958, + 0.13870194554328918, + 0.05166446045041084, + 0.18710435926914215, + 0.11660102009773254, + 0.48707568645477295, + 0.0, + 0.27449509501457214 + ], + [ + 0.20798490941524506, + 0.12125533074140549, + 0.0609108991920948, + 0.1620895266532898, + 0.07075797021389008, + 0.6560692191123962, + 0.0, + 0.27449509501457214 + ], + [ + 0.22199013829231262, + 0.09523248672485352, + 0.06817256659269333, + 0.09256467968225479, + 0.09373550862073898, + 0.8493688702583313, + 0.0, + 0.27449509501457214 + ], + [ + 0.24082206189632416, + 0.07587254047393799, + 0.07974352687597275, + 0.06441912055015564, + 0.08265981823205948, + 1.0689698457717896, + 0.0, + 0.27449509501457214 + ], + [ + 0.265410840511322, + 0.05773858353495598, + 0.08258915692567825, + 0.041615329682826996, + 0.06987763941287994, + 1.2192896604537964, + 0.0, + 0.27449509501457214 + ], + [ + 0.27991199493408203, + 0.042640216648578644, + 0.0735768973827362, + 0.006848410703241825, + 0.10039138793945312, + 1.3544775247573853, + 0.0, + 0.27449509501457214 + ], + [ + 0.30800655484199524, + 0.019058678299188614, + 0.06028363108634949, + -0.04030110314488411, + 0.11810572445392609, + 1.3677928447723389, + 0.0, + 0.27449509501457214 + ], + [ + 0.32215529680252075, + 0.0001926696568261832, + 0.04959966987371445, + -0.031464725732803345, + 0.10988593101501465, + 1.357226848602295, + 0.0, + 0.27449509501457214 + ], + [ + 0.33582448959350586, + -0.022865187376737595, + 0.03666706010699272, + -0.014319400303065777, + 0.10137486457824707, + 1.3382303714752197, + 0.0, + 0.27449509501457214 + ], + [ + 0.3418424427509308, + -0.0379590205848217, + 0.012119689956307411, + 0.06472589820623398, + 0.09112431854009628, + 1.3474329710006714, + 0.0, + 0.27449509501457214 + ], + [ + 0.34469613432884216, + -0.03862588480114937, + 0.001696801627986133, + 0.09673099964857101, + 0.07196801900863647, + 1.3668615818023682, + 0.0, + 0.2737756073474884 + ], + [ + 0.3446614742279053, + -0.041013456881046295, + 0.002065527020022273, + 0.09878627210855484, + 0.04885243996977806, + 1.3953759670257568, + 0.0, + 0.2737756073474884 + ], + [ + 0.3440433442592621, + -0.040541376918554306, + 0.0015693657333031297, + 0.1035594716668129, + 0.04682360589504242, + 1.3936724662780762, + 0.0, + 0.3380139172077179 + ], + [ + 0.34097930788993835, + -0.04219930246472359, + 0.0016032682033255696, + 0.11847170442342758, + 0.05673374980688095, + 1.3670275211334229, + 0.0, + 0.6350118517875671 + ], + [ + 0.33787909150123596, + -0.04363299533724785, + 0.0036127138882875443, + 0.13465934991836548, + 0.05846850946545601, + 1.345483422279358, + 0.0, + 0.9327637553215027 + ], + [ + 0.3432875871658325, + -0.04510499909520149, + 0.02456963248550892, + 0.07661072909832001, + 0.058331917971372604, + 1.3286170959472656, + 0.0, + 1.0181074142456055 + ], + [ + 0.346550315618515, + -0.04311370104551315, + 0.04879836365580559, + 0.019671695306897163, + 0.036740902811288834, + 1.2862465381622314, + 0.0, + 1.003452181816101 + ], + [ + 0.34594422578811646, + -0.032278671860694885, + 0.08335476368665695, + -0.02292858250439167, + -0.04171855375170708, + 1.2136256694793701, + 0.0, + 0.9981546401977539 + ], + [ + 0.32973459362983704, + -0.021048931404948235, + 0.09087640047073364, + 0.07982248812913895, + -0.029486825689673424, + 0.9519990086555481, + 0.0, + 0.9981546401977539 + ], + [ + 0.3091721534729004, + -0.0015236303443089128, + 0.0911557748913765, + 0.1397128850221634, + 0.009719819761812687, + 0.6992536187171936, + 0.0, + 0.9981546401977539 + ], + [ + 0.29807689785957336, + 0.004126422107219696, + 0.09520656615495682, + 0.09559012949466705, + 0.022372566163539886, + 0.4897325336933136, + 0.0, + 0.9981546401977539 + ], + [ + 0.28416964411735535, + -0.004219834227114916, + 0.09996674209833145, + 0.09364450722932816, + 0.03918181732296944, + 0.32520994544029236, + 0.0, + 0.9981546401977539 + ], + [ + 0.26907220482826233, + -0.033064067363739014, + 0.11139046400785446, + 0.08852563798427582, + 0.009668021462857723, + 0.25291574001312256, + 0.0, + 0.9981546401977539 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9620732665061951 + ], + [ + 0.672171950340271 + ], + [ + 0.3806030750274658 + ], + [ + 0.2854207158088684 + ], + [ + 0.27449509501457214 + ], + [ + 0.27449509501457214 + ], + [ + 0.27449509501457214 + ], + [ + 0.27449509501457214 + ], + [ + 0.27449509501457214 + ], + [ + 0.27449509501457214 + ], + [ + 0.27449509501457214 + ], + [ + 0.27449509501457214 + ], + [ + 0.27449509501457214 + ], + [ + 0.27449509501457214 + ], + [ + 0.27449509501457214 + ], + [ + 0.27449509501457214 + ], + [ + 0.27449509501457214 + ], + [ + 0.2737756073474884 + ], + [ + 0.2737756073474884 + ], + [ + 0.3380139172077179 + ], + [ + 0.6350118517875671 + ], + [ + 0.9327637553215027 + ], + [ + 1.0181074142456055 + ], + [ + 1.003452181816101 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.1741914451122284, + 0.05750250443816185, + 0.11425003409385681 + ], + [ + 0.1635916382074356, + 0.05459540709853172, + 0.10376966744661331 + ], + [ + 0.16307634115219116, + 0.06701156497001648, + 0.08908719569444656 + ], + [ + 0.17788493633270264, + 0.08458562195301056, + 0.08111238479614258 + ], + [ + 0.18243034183979034, + 0.09674328565597534, + 0.06715273857116699 + ], + [ + 0.19022729992866516, + 0.10505248606204987, + 0.05484912544488907 + ], + [ + 0.1992158442735672, + 0.11348339170217514, + 0.04172024875879288 + ], + [ + 0.20024561882019043, + 0.11725516617298126, + 0.027500472962856293 + ], + [ + 0.20639802515506744, + 0.11994379013776779, + 0.018580274656414986 + ], + [ + 0.2068440169095993, + 0.12184003740549088, + 0.009897335432469845 + ], + [ + 0.20846259593963623, + 0.1239684522151947, + 0.0051131886430084705 + ], + [ + 0.21113356947898865, + 0.12653928995132446, + 0.004116809461265802 + ], + [ + 0.21384091675281525, + 0.12631839513778687, + 0.0030748276039958 + ], + [ + 0.21371813118457794, + 0.1304170936346054, + 0.0015987877268344164 + ], + [ + 0.21305136382579803, + 0.1301814615726471, + 0.0013134265318512917 + ], + [ + 0.21216677129268646, + 0.1310628056526184, + 0.0013090274296700954 + ], + [ + 0.20091499388217926, + 0.13508296012878418, + 0.005724085029214621 + ], + [ + 0.1940767765045166, + 0.13899961113929749, + 0.02078654244542122 + ], + [ + 0.196821391582489, + 0.14141100645065308, + 0.0362996943295002 + ], + [ + 0.20015661418437958, + 0.13870194554328918, + 0.05166446045041084 + ], + [ + 0.20798490941524506, + 0.12125533074140549, + 0.0609108991920948 + ], + [ + 0.22199013829231262, + 0.09523248672485352, + 0.06817256659269333 + ], + [ + 0.24082206189632416, + 0.07587254047393799, + 0.07974352687597275 + ], + [ + 0.265410840511322, + 0.05773858353495598, + 0.08258915692567825 + ], + [ + 0.27991199493408203, + 0.042640216648578644, + 0.0735768973827362 + ], + [ + 0.30800655484199524, + 0.019058678299188614, + 0.06028363108634949 + ], + [ + 0.32215529680252075, + 0.0001926696568261832, + 0.04959966987371445 + ], + [ + 0.33582448959350586, + -0.022865187376737595, + 0.03666706010699272 + ], + [ + 0.3418424427509308, + -0.0379590205848217, + 0.012119689956307411 + ], + [ + 0.34469613432884216, + -0.03862588480114937, + 0.001696801627986133 + ], + [ + 0.3446614742279053, + -0.041013456881046295, + 0.002065527020022273 + ], + [ + 0.3440433442592621, + -0.040541376918554306, + 0.0015693657333031297 + ], + [ + 0.34097930788993835, + -0.04219930246472359, + 0.0016032682033255696 + ], + [ + 0.33787909150123596, + -0.04363299533724785, + 0.0036127138882875443 + ], + [ + 0.3432875871658325, + -0.04510499909520149, + 0.02456963248550892 + ], + [ + 0.346550315618515, + -0.04311370104551315, + 0.04879836365580559 + ], + [ + 0.34594422578811646, + -0.032278671860694885, + 0.08335476368665695 + ], + [ + 0.32973459362983704, + -0.021048931404948235, + 0.09087640047073364 + ], + [ + 0.3091721534729004, + -0.0015236303443089128, + 0.0911557748913765 + ], + [ + 0.29807689785957336, + 0.004126422107219696, + 0.09520656615495682 + ], + [ + 0.28416964411735535, + -0.004219834227114916, + 0.09996674209833145 + ], + [ + 0.26907220482826233, + -0.033064067363739014, + 0.11139046400785446 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9407850289910652, + 0.3280706290648787, + -0.08540018484321393, + 0.334867022146484, + -0.9385686086858654, + 0.08338491631119245, + -0.05279779072107588, + -0.10704498649844911, + -0.9928513303413155 + ], + [ + 0.9368581960369929, + 0.3239031066062468, + -0.13184649426182454, + 0.3343368075034076, + -0.940133326581329, + 0.06609256690092576, + -0.10254569550566417, + -0.10600049897027035, + -0.9890643429784096 + ], + [ + 0.9300228097554374, + 0.3210212373816953, + -0.17889365132538113, + 0.3295957205134594, + -0.9439178159435083, + 0.019642244363897735, + -0.16255532705456113, + -0.07723031719708764, + -0.9836723253969394 + ], + [ + 0.936172365215595, + 0.3157275021948912, + -0.15458799100969473, + 0.3247707940045713, + -0.9450858394050925, + 0.036560737377846514, + -0.13455569095463338, + -0.08443281656883488, + -0.9873023171845463 + ], + [ + 0.9351789840403207, + 0.31929117739916424, + -0.15327560746697189, + 0.32894633275083696, + -0.9434262043066243, + 0.04172897311666942, + -0.13128053160727787, + -0.08944350766070994, + -0.9873020211456368 + ], + [ + 0.9387286433084242, + 0.3174902465086042, + -0.13412113034205564, + 0.3254427274534866, + -0.9446436427355394, + 0.04165836514994388, + -0.11347054851352639, + -0.08275464706731694, + -0.9900889369187007 + ], + [ + 0.9363186327851625, + 0.319457482364403, + -0.14578866506255414, + 0.33009613014255995, + -0.9423353455324804, + 0.055142011434904215, + -0.11976628392093738, + -0.09975476691155225, + -0.9877778210276801 + ], + [ + 0.9352094012535047, + 0.31239989202559815, + -0.16670237931552118, + 0.32670851761553665, + -0.94281675404098, + 0.06601600424964285, + -0.13654640355761805, + -0.11620187503661414, + -0.9837947976653746 + ], + [ + 0.939027113223028, + 0.2991368345883917, + -0.1695441972597805, + 0.31208309196707906, + -0.9484577270253286, + 0.05506436010900835, + -0.14433372558170135, + -0.10461880442054407, + -0.9839830696822592 + ], + [ + 0.9342512685979971, + 0.3071196849509498, + -0.18125138961856815, + 0.32179440191139447, + -0.9450740125272828, + 0.0573016033289544, + -0.15369752770139336, + -0.11185977812069114, + -0.9817659904566204 + ], + [ + 0.9339396542515525, + 0.30555766300437087, + -0.18544874438991962, + 0.32219105364684225, + -0.9443251224977713, + 0.06665574220955431, + -0.15475673544769555, + -0.12200236718554391, + -0.9803906237998685 + ], + [ + 0.9347013960964903, + 0.3092485686814616, + -0.17521022488353516, + 0.3265450837013331, + -0.9418137767041888, + 0.07971899598390286, + -0.14036241821000733, + -0.13172749439148793, + -0.9812982516929188 + ], + [ + 0.9397485049936567, + 0.30237190881933396, + -0.15951168019659018, + 0.3169223800653327, + -0.9454949575936825, + 0.07482974127073404, + -0.12819107759868337, + -0.12087395882435802, + -0.9843558978856253 + ], + [ + 0.9411450055962285, + 0.31221180160870843, + -0.12949853040679454, + 0.32037192684954785, + -0.9461082895505237, + 0.04733849311596551, + -0.10773999688130183, + -0.08604008007915191, + -0.9904489879302165 + ], + [ + 0.9480329088224704, + 0.29296709490886824, + -0.124112388947534, + 0.29940880371030526, + -0.953427632605898, + 0.03647077794998034, + -0.10764744330623761, + -0.07173583960734754, + -0.9915976993042387 + ], + [ + 0.9485672410307527, + 0.29091703209826564, + -0.12484978845974282, + 0.29702322007712717, + -0.95429853344956, + 0.03303809605642337, + -0.10953262517770826, + -0.06842214181941147, + -0.9916254406430505 + ], + [ + 0.9384572802590956, + 0.29866587557437735, + -0.17348379721487628, + 0.310879298208748, + -0.9492634932151681, + 0.0474645382804179, + -0.1505057974761707, + -0.09847596263214418, + -0.9836922738894185 + ], + [ + 0.9249435255614528, + 0.32034712335163357, + -0.20459031033331726, + 0.34079565533029726, + -0.9372900019321794, + 0.07311479731195361, + -0.16833833737429804, + -0.13735054728070117, + -0.9761132266964465 + ], + [ + 0.91396018860585, + 0.3524678736820671, + -0.20110487727949572, + 0.37677507787812703, + -0.9211134199351125, + 0.09793165119292072, + -0.1507226404144048, + -0.16527693619341735, + -0.9746621055673739 + ], + [ + 0.8777048051498981, + 0.4407511735332587, + -0.18807625593315624, + 0.4648655512973329, + -0.878410659360862, + 0.11088161587135076, + -0.1163369856658042, + -0.18475149945337477, + -0.975875293885404 + ], + [ + 0.790413336608573, + 0.5929702072130625, + -0.15373057818469485, + 0.6084804163126674, + -0.7889694417697426, + 0.08531590073077835, + -0.07069894111841976, + -0.16097687197619048, + -0.9844227274974383 + ], + [ + 0.6575577911963375, + 0.7419352690252055, + -0.13095727476352603, + 0.7475674610509544, + -0.6641258383364883, + -0.00893095916943036, + -0.09359830348261301, + -0.09202677561640608, + -0.9913477846622869 + ], + [ + 0.47938521577192106, + 0.8723302537969786, + -0.09607155255229015, + 0.8737120331441088, + -0.48468968735338125, + -0.04126972392043718, + -0.08256571951176965, + -0.06415477600132614, + -0.9945185099724004 + ], + [ + 0.34347246130377274, + 0.9370420087460639, + -0.06307885676730296, + 0.9365637865003574, + -0.3467417993656866, + -0.05117028814418606, + -0.06982078588816804, + -0.0415017881275921, + -0.9966958710861459 + ], + [ + 0.21355499352374469, + 0.9765239601869359, + -0.028199644003018907, + 0.971776541576613, + -0.2153010131825382, + -0.0964148689983541, + -0.10022284162041423, + -0.006813875798409197, + -0.9949416832730114 + ], + [ + 0.20020753700893318, + 0.9796272951315369, + 0.01572592630292889, + 0.9726421321934712, + -0.19679837678797213, + -0.1234410044343334, + -0.1178313405124224, + 0.04000951795370485, + -0.992227299395737 + ], + [ + 0.21067127440176026, + 0.9775280922313113, + 0.0075128583476135324, + 0.9713862359229238, + -0.20847308977331735, + -0.11378818699610277, + -0.10966492056000378, + 0.0312697895576452, + -0.9934766255225076 + ], + [ + 0.2292918878058543, + 0.9733124291774097, + -0.009388577911339652, + 0.9680823949712766, + -0.22904144574158458, + -0.10176685452190244, + -0.10120131784272766, + 0.014245397199606644, + -0.9947639729732478 + ], + [ + 0.2205916365195914, + 0.9718122016642872, + -0.08318878887217374, + 0.9711120669233166, + -0.2267864480700505, + -0.07422439253839481, + -0.09099826027750138, + -0.06441235648678699, + -0.9937657495397427 + ], + [ + 0.2019998450988671, + 0.973292891319537, + -0.1090734169579819, + 0.9767423420195575, + -0.2083781118603097, + -0.050526822616133324, + -0.07190590995310231, + -0.09633021438981808, + -0.9927487244562081 + ], + [ + 0.17431384927009863, + 0.9790121570369097, + -0.10559298426779454, + 0.9834785300225095, + -0.17841347334395552, + -0.030636799997874796, + -0.04883301073459866, + -0.09850801441143284, + -0.9939373763770591 + ], + [ + 0.176006046506756, + 0.9782283091168338, + -0.10996020569042994, + 0.9832756598913823, + -0.18001807428014005, + -0.027612852037347736, + -0.0468064980342273, + -0.10326116489218004, + -0.9935523557250929 + ], + [ + 0.20203600643936653, + 0.9710900924002673, + -0.12714355879899092, + 0.9777352328906858, + -0.20750650041337365, + -0.031222854616309276, + -0.056703319710832485, + -0.11800459621656592, + -0.9913927823045396 + ], + [ + 0.22302960413696993, + 0.9641475070071769, + -0.14379631570507112, + 0.9730586430615272, + -0.22903564906109108, + -0.02644898150069893, + -0.058435202076882325, + -0.13402334196329654, + -0.989253795022907 + ], + [ + 0.23941094038408045, + 0.9669000302588725, + -0.08824246772275914, + 0.9691664699510439, + -0.24344714046204324, + -0.038076808210339576, + -0.05829884344515847, + -0.07640563648217372, + -0.9953709979533818 + ], + [ + 0.28053591880509837, + 0.9593995971961777, + -0.029189230205532726, + 0.9591404024521262, + -0.2813645487465481, + -0.029726740363268094, + -0.036732637315513586, + -0.019657151585712396, + -0.9991317779689443 + ], + [ + 0.3493206479498368, + 0.9363092144387173, + 0.0360574523927916, + 0.9360745999450673, + -0.35042879658209164, + 0.03104837940552784, + 0.04170645338060704, + 0.022906625311889355, + -0.9988672876129401 + ], + [ + 0.5798037505289773, + 0.8133465929453713, + -0.04790543410394984, + 0.8142225678206388, + -0.5762939682117902, + 0.07019168222997162, + 0.029482552876177882, + -0.07970308618155615, + -0.9963825556125714 + ], + [ + 0.7652866546108792, + 0.6363390620974062, + -0.09699966146065886, + 0.6436162399702311, + -0.7587367237168815, + 0.10038286571897932, + -0.009719666716041797, + -0.1392522248740254, + -0.9902092435170271 + ], + [ + 0.8822378635432456, + 0.46635823246205327, + -0.06454727837421832, + 0.47027215941303685, + -0.8794344104765771, + 0.07375102542144375, + -0.02237069984708974, + -0.0954207350872162, + -0.9951856284652459 + ], + [ + 0.9468563889182265, + 0.31463695827248606, + -0.06683235184978739, + 0.31926250864042627, + -0.9446021971607153, + 0.07614551658351798, + -0.03917179267480193, + -0.09343593317448554, + -0.9948544099768847 + ], + [ + 0.9681416903150495, + 0.248420603289602, + -0.03144632466837328, + 0.2502163059177588, + -0.9646095563640007, + 0.08318776366819944, + -0.009667870850870938, + -0.08840592532447034, + -0.9960376120612789 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.010599806904792786, + -0.002907097339630127, + -0.0104803666472435, + -0.000635877251625061, + 0.04990392178297043, + 0.0008216202259063721, + 1.0 + ], + [ + -0.0005152970552444458, + 0.012416157871484756, + -0.014682471752166748, + -0.02841346710920334, + 0.06055360287427902, + -0.002197057008743286, + 1.0 + ], + [ + 0.014808595180511475, + 0.01757405698299408, + -0.007974810898303986, + 0.0069596245884895325, + -0.02831481397151947, + -0.006662607192993164, + 1.0 + ], + [ + 0.0045454055070877075, + 0.012157663702964783, + -0.013959646224975586, + 0.005036100745201111, + -0.0033044815063476562, + 0.004307776689529419, + 1.0 + ], + [ + 0.007796958088874817, + 0.008309200406074524, + -0.012303613126277924, + -0.006958022713661194, + -0.01794511079788208, + -0.004512101411819458, + 1.0 + ], + [ + 0.008988544344902039, + 0.008430905640125275, + -0.013128876686096191, + 0.017258621752262115, + 0.0063389986753463745, + 0.005223721265792847, + 1.0 + ], + [ + 0.00102977454662323, + 0.003771774470806122, + -0.014219775795936584, + 0.016923390328884125, + 0.016919851303100586, + -0.002852797508239746, + 1.0 + ], + [ + 0.006152406334877014, + 0.0026886239647865295, + -0.008920198306441307, + -0.011647410690784454, + 0.007865294814109802, + -0.015226244926452637, + 1.0 + ], + [ + 0.00044599175453186035, + 0.0018962472677230835, + -0.00868293922394514, + 0.007524266839027405, + 0.009469568729400635, + 0.010851055383682251, + 1.0 + ], + [ + 0.0016185790300369263, + 0.002128414809703827, + -0.004784146789461374, + 0.010358057916164398, + 0.001072034239768982, + 0.00048232078552246094, + 1.0 + ], + [ + 0.002670973539352417, + 0.0025708377361297607, + -0.0009963791817426682, + 0.009634129703044891, + -0.014553770422935486, + 0.00390625, + 1.0 + ], + [ + 0.002707347273826599, + -0.00022089481353759766, + -0.0010419818572700024, + -0.011256963014602661, + -0.012282654643058777, + -0.010838508605957031, + 0.0 + ], + [ + -0.0001227855682373047, + 0.0040986984968185425, + -0.0014760398771613836, + -0.03553106635808945, + -0.020595259964466095, + 0.0028389394283294678, + 0.0 + ], + [ + -0.0006667673587799072, + -0.000235632061958313, + -0.00028536119498312473, + -0.014434359967708588, + -9.309500455856323e-05, + -0.022195249795913696, + 0.0 + ], + [ + -0.0008845925331115723, + 0.0008813440799713135, + -4.399102181196213e-06, + -0.003327086567878723, + 0.001896396279335022, + -0.002450495958328247, + 0.0 + ], + [ + -0.011251777410507202, + 0.0040201544761657715, + 0.004415057599544525, + 0.03088528662919998, + 0.04132704436779022, + 0.016431957483291626, + 0.0 + ], + [ + -0.006838217377662659, + 0.003916651010513306, + 0.015062456950545311, + 0.040017805993556976, + 0.018063828349113464, + 0.03312698006629944, + 0.0 + ], + [ + 0.002744615077972412, + 0.002411395311355591, + 0.01551315188407898, + 0.028181791305541992, + -0.017844483256340027, + 0.03800114989280701, + 0.0 + ], + [ + 0.003335222601890564, + -0.0027090609073638916, + 0.015364766120910645, + 0.01912868022918701, + -0.03469820320606232, + 0.09605845808982849, + 0.0 + ], + [ + 0.007828295230865479, + -0.017446614801883698, + 0.00924643874168396, + -0.025014832615852356, + -0.04584304988384247, + 0.1689935326576233, + 0.0 + ], + [ + 0.014005228877067566, + -0.02602284401655197, + 0.007261667400598526, + -0.069524846971035, + 0.022977538406848907, + 0.19329965114593506, + 0.0 + ], + [ + 0.018831923604011536, + -0.019359946250915527, + 0.011570960283279419, + -0.02814555913209915, + -0.011075690388679504, + 0.21960097551345825, + 0.0 + ], + [ + 0.024588778614997864, + -0.01813395693898201, + 0.0028456300497055054, + -0.022803790867328644, + -0.012782178819179535, + 0.15031981468200684, + 0.0 + ], + [ + 0.01450115442276001, + -0.015098366886377335, + -0.009012259542942047, + -0.034766919910907745, + 0.03051374852657318, + 0.13518786430358887, + 0.0 + ], + [ + 0.028094559907913208, + -0.02358153834939003, + -0.013293266296386719, + -0.04714951291680336, + 0.01771433651447296, + 0.013315320014953613, + 0.0 + ], + [ + 0.014148741960525513, + -0.018866008147597313, + -0.01068396121263504, + 0.008836377412080765, + -0.008219793438911438, + -0.010565996170043945, + 0.0 + ], + [ + 0.013669192790985107, + -0.023057857528328896, + -0.012932609766721725, + 0.017145324498414993, + -0.008511066436767578, + -0.018996477127075195, + 0.0 + ], + [ + 0.006017953157424927, + -0.015093833208084106, + -0.02454737015068531, + 0.07904529571533203, + -0.010250546038150787, + 0.00920259952545166, + 0.0 + ], + [ + 0.002853691577911377, + -0.0006668642163276672, + -0.010422888211905956, + 0.032005101442337036, + -0.01915629953145981, + 0.019428610801696777, + 0.0 + ], + [ + -3.466010093688965e-05, + -0.002387572079896927, + 0.00036872539203613997, + 0.0020552724599838257, + -0.023115579038858414, + 0.028514385223388672, + 0.0 + ], + [ + -0.0006181299686431885, + 0.00047207996249198914, + -0.0004961612867191434, + 0.004773199558258057, + -0.0020288340747356415, + -0.001703500747680664, + 1.0 + ], + [ + -0.0030640363693237305, + -0.001657925546169281, + 3.390247002243996e-05, + 0.014912232756614685, + 0.009910143911838531, + -0.02664494514465332, + 1.0 + ], + [ + -0.0031002163887023926, + -0.0014336928725242615, + 0.0020094458013772964, + 0.016187645494937897, + 0.001734759658575058, + -0.02154409885406494, + 1.0 + ], + [ + 0.005408495664596558, + -0.0014720037579536438, + 0.020956918597221375, + -0.05804862082004547, + -0.00013659149408340454, + -0.016866326332092285, + 1.0 + ], + [ + 0.003262728452682495, + 0.0019912980496883392, + 0.02422873117029667, + -0.05693903565406799, + -0.02159101516008377, + -0.04237055778503418, + 1.0 + ], + [ + -0.0006060898303985596, + 0.010835029184818268, + 0.034556400030851364, + -0.042600277811288834, + -0.07845945656299591, + -0.07262086868286133, + 1.0 + ], + [ + -0.01620963215827942, + 0.01122974045574665, + 0.007521636784076691, + 0.10275106877088547, + 0.012231728062033653, + -0.261626660823822, + 1.0 + ], + [ + -0.020562440156936646, + 0.019525300711393356, + 0.0002793744206428528, + 0.059890396893024445, + 0.039206646382808685, + -0.2527453899383545, + 1.0 + ], + [ + -0.011095255613327026, + 0.005650052335113287, + 0.004050791263580322, + -0.04412275552749634, + 0.0126527464017272, + -0.20952108502388, + 1.0 + ], + [ + -0.013907253742218018, + -0.008346255868673325, + 0.004760175943374634, + -0.0019456222653388977, + 0.01680925115942955, + -0.16452258825302124, + 1.0 + ], + [ + -0.015097439289093018, + -0.028844233602285385, + 0.01142372190952301, + -0.005118869245052338, + -0.02951379492878914, + -0.0722942054271698, + 1.0 + ], + [ + -0.012819677591323853, + -0.038212113082408905, + 0.007141508162021637, + -0.018763139843940735, + 0.003793850541114807, + -0.10922861099243164, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9620732665061951 + ], + [ + 0.672171950340271 + ], + [ + 0.3806030750274658 + ], + [ + 0.2854207158088684 + ], + [ + 0.27449509501457214 + ], + [ + 0.27449509501457214 + ], + [ + 0.27449509501457214 + ], + [ + 0.27449509501457214 + ], + [ + 0.27449509501457214 + ], + [ + 0.27449509501457214 + ], + [ + 0.27449509501457214 + ], + [ + 0.27449509501457214 + ], + [ + 0.27449509501457214 + ], + [ + 0.27449509501457214 + ], + [ + 0.27449509501457214 + ], + [ + 0.27449509501457214 + ], + [ + 0.27449509501457214 + ], + [ + 0.2737756073474884 + ], + [ + 0.2737756073474884 + ], + [ + 0.3380139172077179 + ], + [ + 0.6350118517875671 + ], + [ + 0.9327637553215027 + ], + [ + 1.0181074142456055 + ], + [ + 1.003452181816101 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.1635916382074356, + 0.05459540709853172, + 0.10376966744661331 + ], + [ + 0.16307634115219116, + 0.06701156497001648, + 0.08908719569444656 + ], + [ + 0.17788493633270264, + 0.08458562195301056, + 0.08111238479614258 + ], + [ + 0.18243034183979034, + 0.09674328565597534, + 0.06715273857116699 + ], + [ + 0.19022729992866516, + 0.10505248606204987, + 0.05484912544488907 + ], + [ + 0.1992158442735672, + 0.11348339170217514, + 0.04172024875879288 + ], + [ + 0.20024561882019043, + 0.11725516617298126, + 0.027500472962856293 + ], + [ + 0.20639802515506744, + 0.11994379013776779, + 0.018580274656414986 + ], + [ + 0.2068440169095993, + 0.12184003740549088, + 0.009897335432469845 + ], + [ + 0.20846259593963623, + 0.1239684522151947, + 0.0051131886430084705 + ], + [ + 0.21113356947898865, + 0.12653928995132446, + 0.004116809461265802 + ], + [ + 0.21384091675281525, + 0.12631839513778687, + 0.0030748276039958 + ], + [ + 0.21371813118457794, + 0.1304170936346054, + 0.0015987877268344164 + ], + [ + 0.21305136382579803, + 0.1301814615726471, + 0.0013134265318512917 + ], + [ + 0.21216677129268646, + 0.1310628056526184, + 0.0013090274296700954 + ], + [ + 0.20091499388217926, + 0.13508296012878418, + 0.005724085029214621 + ], + [ + 0.1940767765045166, + 0.13899961113929749, + 0.02078654244542122 + ], + [ + 0.196821391582489, + 0.14141100645065308, + 0.0362996943295002 + ], + [ + 0.20015661418437958, + 0.13870194554328918, + 0.05166446045041084 + ], + [ + 0.20798490941524506, + 0.12125533074140549, + 0.0609108991920948 + ], + [ + 0.22199013829231262, + 0.09523248672485352, + 0.06817256659269333 + ], + [ + 0.24082206189632416, + 0.07587254047393799, + 0.07974352687597275 + ], + [ + 0.265410840511322, + 0.05773858353495598, + 0.08258915692567825 + ], + [ + 0.27991199493408203, + 0.042640216648578644, + 0.0735768973827362 + ], + [ + 0.30800655484199524, + 0.019058678299188614, + 0.06028363108634949 + ], + [ + 0.32215529680252075, + 0.0001926696568261832, + 0.04959966987371445 + ], + [ + 0.33582448959350586, + -0.022865187376737595, + 0.03666706010699272 + ], + [ + 0.3418424427509308, + -0.0379590205848217, + 0.012119689956307411 + ], + [ + 0.34469613432884216, + -0.03862588480114937, + 0.001696801627986133 + ], + [ + 0.3446614742279053, + -0.041013456881046295, + 0.002065527020022273 + ], + [ + 0.3440433442592621, + -0.040541376918554306, + 0.0015693657333031297 + ], + [ + 0.34097930788993835, + -0.04219930246472359, + 0.0016032682033255696 + ], + [ + 0.33787909150123596, + -0.04363299533724785, + 0.0036127138882875443 + ], + [ + 0.3432875871658325, + -0.04510499909520149, + 0.02456963248550892 + ], + [ + 0.346550315618515, + -0.04311370104551315, + 0.04879836365580559 + ], + [ + 0.34594422578811646, + -0.032278671860694885, + 0.08335476368665695 + ], + [ + 0.32973459362983704, + -0.021048931404948235, + 0.09087640047073364 + ], + [ + 0.3091721534729004, + -0.0015236303443089128, + 0.0911557748913765 + ], + [ + 0.29807689785957336, + 0.004126422107219696, + 0.09520656615495682 + ], + [ + 0.28416964411735535, + -0.004219834227114916, + 0.09996674209833145 + ], + [ + 0.26907220482826233, + -0.033064067363739014, + 0.11139046400785446 + ], + [ + 0.2562525272369385, + -0.07127618044614792, + 0.1185319721698761 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9368581960369929, + 0.3239031066062468, + -0.13184649426182454, + 0.3343368075034076, + -0.940133326581329, + 0.06609256690092576, + -0.10254569550566417, + -0.10600049897027035, + -0.9890643429784096 + ], + [ + 0.9300228097554374, + 0.3210212373816953, + -0.17889365132538113, + 0.3295957205134594, + -0.9439178159435083, + 0.019642244363897735, + -0.16255532705456113, + -0.07723031719708764, + -0.9836723253969394 + ], + [ + 0.936172365215595, + 0.3157275021948912, + -0.15458799100969473, + 0.3247707940045713, + -0.9450858394050925, + 0.036560737377846514, + -0.13455569095463338, + -0.08443281656883488, + -0.9873023171845463 + ], + [ + 0.9351789840403207, + 0.31929117739916424, + -0.15327560746697189, + 0.32894633275083696, + -0.9434262043066243, + 0.04172897311666942, + -0.13128053160727787, + -0.08944350766070994, + -0.9873020211456368 + ], + [ + 0.9387286433084242, + 0.3174902465086042, + -0.13412113034205564, + 0.3254427274534866, + -0.9446436427355394, + 0.04165836514994388, + -0.11347054851352639, + -0.08275464706731694, + -0.9900889369187007 + ], + [ + 0.9363186327851625, + 0.319457482364403, + -0.14578866506255414, + 0.33009613014255995, + -0.9423353455324804, + 0.055142011434904215, + -0.11976628392093738, + -0.09975476691155225, + -0.9877778210276801 + ], + [ + 0.9352094012535047, + 0.31239989202559815, + -0.16670237931552118, + 0.32670851761553665, + -0.94281675404098, + 0.06601600424964285, + -0.13654640355761805, + -0.11620187503661414, + -0.9837947976653746 + ], + [ + 0.939027113223028, + 0.2991368345883917, + -0.1695441972597805, + 0.31208309196707906, + -0.9484577270253286, + 0.05506436010900835, + -0.14433372558170135, + -0.10461880442054407, + -0.9839830696822592 + ], + [ + 0.9342512685979971, + 0.3071196849509498, + -0.18125138961856815, + 0.32179440191139447, + -0.9450740125272828, + 0.0573016033289544, + -0.15369752770139336, + -0.11185977812069114, + -0.9817659904566204 + ], + [ + 0.9339396542515525, + 0.30555766300437087, + -0.18544874438991962, + 0.32219105364684225, + -0.9443251224977713, + 0.06665574220955431, + -0.15475673544769555, + -0.12200236718554391, + -0.9803906237998685 + ], + [ + 0.9347013960964903, + 0.3092485686814616, + -0.17521022488353516, + 0.3265450837013331, + -0.9418137767041888, + 0.07971899598390286, + -0.14036241821000733, + -0.13172749439148793, + -0.9812982516929188 + ], + [ + 0.9397485049936567, + 0.30237190881933396, + -0.15951168019659018, + 0.3169223800653327, + -0.9454949575936825, + 0.07482974127073404, + -0.12819107759868337, + -0.12087395882435802, + -0.9843558978856253 + ], + [ + 0.9411450055962285, + 0.31221180160870843, + -0.12949853040679454, + 0.32037192684954785, + -0.9461082895505237, + 0.04733849311596551, + -0.10773999688130183, + -0.08604008007915191, + -0.9904489879302165 + ], + [ + 0.9480329088224704, + 0.29296709490886824, + -0.124112388947534, + 0.29940880371030526, + -0.953427632605898, + 0.03647077794998034, + -0.10764744330623761, + -0.07173583960734754, + -0.9915976993042387 + ], + [ + 0.9485672410307527, + 0.29091703209826564, + -0.12484978845974282, + 0.29702322007712717, + -0.95429853344956, + 0.03303809605642337, + -0.10953262517770826, + -0.06842214181941147, + -0.9916254406430505 + ], + [ + 0.9384572802590956, + 0.29866587557437735, + -0.17348379721487628, + 0.310879298208748, + -0.9492634932151681, + 0.0474645382804179, + -0.1505057974761707, + -0.09847596263214418, + -0.9836922738894185 + ], + [ + 0.9249435255614528, + 0.32034712335163357, + -0.20459031033331726, + 0.34079565533029726, + -0.9372900019321794, + 0.07311479731195361, + -0.16833833737429804, + -0.13735054728070117, + -0.9761132266964465 + ], + [ + 0.91396018860585, + 0.3524678736820671, + -0.20110487727949572, + 0.37677507787812703, + -0.9211134199351125, + 0.09793165119292072, + -0.1507226404144048, + -0.16527693619341735, + -0.9746621055673739 + ], + [ + 0.8777048051498981, + 0.4407511735332587, + -0.18807625593315624, + 0.4648655512973329, + -0.878410659360862, + 0.11088161587135076, + -0.1163369856658042, + -0.18475149945337477, + -0.975875293885404 + ], + [ + 0.790413336608573, + 0.5929702072130625, + -0.15373057818469485, + 0.6084804163126674, + -0.7889694417697426, + 0.08531590073077835, + -0.07069894111841976, + -0.16097687197619048, + -0.9844227274974383 + ], + [ + 0.6575577911963375, + 0.7419352690252055, + -0.13095727476352603, + 0.7475674610509544, + -0.6641258383364883, + -0.00893095916943036, + -0.09359830348261301, + -0.09202677561640608, + -0.9913477846622869 + ], + [ + 0.47938521577192106, + 0.8723302537969786, + -0.09607155255229015, + 0.8737120331441088, + -0.48468968735338125, + -0.04126972392043718, + -0.08256571951176965, + -0.06415477600132614, + -0.9945185099724004 + ], + [ + 0.34347246130377274, + 0.9370420087460639, + -0.06307885676730296, + 0.9365637865003574, + -0.3467417993656866, + -0.05117028814418606, + -0.06982078588816804, + -0.0415017881275921, + -0.9966958710861459 + ], + [ + 0.21355499352374469, + 0.9765239601869359, + -0.028199644003018907, + 0.971776541576613, + -0.2153010131825382, + -0.0964148689983541, + -0.10022284162041423, + -0.006813875798409197, + -0.9949416832730114 + ], + [ + 0.20020753700893318, + 0.9796272951315369, + 0.01572592630292889, + 0.9726421321934712, + -0.19679837678797213, + -0.1234410044343334, + -0.1178313405124224, + 0.04000951795370485, + -0.992227299395737 + ], + [ + 0.21067127440176026, + 0.9775280922313113, + 0.0075128583476135324, + 0.9713862359229238, + -0.20847308977331735, + -0.11378818699610277, + -0.10966492056000378, + 0.0312697895576452, + -0.9934766255225076 + ], + [ + 0.2292918878058543, + 0.9733124291774097, + -0.009388577911339652, + 0.9680823949712766, + -0.22904144574158458, + -0.10176685452190244, + -0.10120131784272766, + 0.014245397199606644, + -0.9947639729732478 + ], + [ + 0.2205916365195914, + 0.9718122016642872, + -0.08318878887217374, + 0.9711120669233166, + -0.2267864480700505, + -0.07422439253839481, + -0.09099826027750138, + -0.06441235648678699, + -0.9937657495397427 + ], + [ + 0.2019998450988671, + 0.973292891319537, + -0.1090734169579819, + 0.9767423420195575, + -0.2083781118603097, + -0.050526822616133324, + -0.07190590995310231, + -0.09633021438981808, + -0.9927487244562081 + ], + [ + 0.17431384927009863, + 0.9790121570369097, + -0.10559298426779454, + 0.9834785300225095, + -0.17841347334395552, + -0.030636799997874796, + -0.04883301073459866, + -0.09850801441143284, + -0.9939373763770591 + ], + [ + 0.176006046506756, + 0.9782283091168338, + -0.10996020569042994, + 0.9832756598913823, + -0.18001807428014005, + -0.027612852037347736, + -0.0468064980342273, + -0.10326116489218004, + -0.9935523557250929 + ], + [ + 0.20203600643936653, + 0.9710900924002673, + -0.12714355879899092, + 0.9777352328906858, + -0.20750650041337365, + -0.031222854616309276, + -0.056703319710832485, + -0.11800459621656592, + -0.9913927823045396 + ], + [ + 0.22302960413696993, + 0.9641475070071769, + -0.14379631570507112, + 0.9730586430615272, + -0.22903564906109108, + -0.02644898150069893, + -0.058435202076882325, + -0.13402334196329654, + -0.989253795022907 + ], + [ + 0.23941094038408045, + 0.9669000302588725, + -0.08824246772275914, + 0.9691664699510439, + -0.24344714046204324, + -0.038076808210339576, + -0.05829884344515847, + -0.07640563648217372, + -0.9953709979533818 + ], + [ + 0.28053591880509837, + 0.9593995971961777, + -0.029189230205532726, + 0.9591404024521262, + -0.2813645487465481, + -0.029726740363268094, + -0.036732637315513586, + -0.019657151585712396, + -0.9991317779689443 + ], + [ + 0.3493206479498368, + 0.9363092144387173, + 0.0360574523927916, + 0.9360745999450673, + -0.35042879658209164, + 0.03104837940552784, + 0.04170645338060704, + 0.022906625311889355, + -0.9988672876129401 + ], + [ + 0.5798037505289773, + 0.8133465929453713, + -0.04790543410394984, + 0.8142225678206388, + -0.5762939682117902, + 0.07019168222997162, + 0.029482552876177882, + -0.07970308618155615, + -0.9963825556125714 + ], + [ + 0.7652866546108792, + 0.6363390620974062, + -0.09699966146065886, + 0.6436162399702311, + -0.7587367237168815, + 0.10038286571897932, + -0.009719666716041797, + -0.1392522248740254, + -0.9902092435170271 + ], + [ + 0.8822378635432456, + 0.46635823246205327, + -0.06454727837421832, + 0.47027215941303685, + -0.8794344104765771, + 0.07375102542144375, + -0.02237069984708974, + -0.0954207350872162, + -0.9951856284652459 + ], + [ + 0.9468563889182265, + 0.31463695827248606, + -0.06683235184978739, + 0.31926250864042627, + -0.9446021971607153, + 0.07614551658351798, + -0.03917179267480193, + -0.09343593317448554, + -0.9948544099768847 + ], + [ + 0.9681416903150495, + 0.248420603289602, + -0.03144632466837328, + 0.2502163059177588, + -0.9646095563640007, + 0.08318776366819944, + -0.009667870850870938, + -0.08840592532447034, + -0.9960376120612789 + ], + [ + 0.9896050770886677, + 0.14191623242931073, + -0.023271750544407117, + 0.14318023728627116, + -0.9874217677676563, + 0.06706468660362945, + -0.013461465409766837, + -0.06969960912132721, + -0.9974771944447428 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006483.json b/json/chunk-0006/episode_0006483.json new file mode 100644 index 0000000000000000000000000000000000000000..06dfa97c22d0c8b37f8a8bfd5fa6b86afc326363 --- /dev/null +++ b/json/chunk-0006/episode_0006483.json @@ -0,0 +1,2482 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 40, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the spoon to the front left side of the table." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006483.mp4", + "start": 0, + "end": 40, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3872814178466797, + 0.19594869017601013, + 0.1031094342470169, + -0.09056107699871063, + 0.1896539181470871, + -2.9087610244750977, + 0.0, + 1.0014774799346924 + ], + [ + 0.3858865797519684, + 0.19381248950958252, + 0.08774583041667938, + -0.07807836681604385, + 0.14968198537826538, + -2.9129345417022705, + 0.0, + 1.0014774799346924 + ], + [ + 0.38442009687423706, + 0.1837080419063568, + 0.0826554223895073, + -0.0676288828253746, + 0.10029695928096771, + -3.038961172103882, + 0.0, + 1.0014774799346924 + ], + [ + 0.38737690448760986, + 0.16864697635173798, + 0.08310788124799728, + -0.06344277411699295, + 0.08182825893163681, + -3.1346607208251953, + 0.0, + 1.0014774799346924 + ], + [ + 0.38164594769477844, + 0.15916478633880615, + 0.09912055730819702, + -0.06329663842916489, + 0.11945293098688126, + 3.007777452468872, + 0.0, + 1.0014774799346924 + ], + [ + 0.3763126730918884, + 0.15233483910560608, + 0.10340206325054169, + -0.08259262889623642, + 0.13010118901729584, + 2.758089303970337, + 0.0, + 1.0014774799346924 + ], + [ + 0.37086209654808044, + 0.15273328125476837, + 0.11960691213607788, + -0.2187981754541397, + 0.059464000165462494, + 2.4890947341918945, + 0.0, + 1.0014774799346924 + ], + [ + 0.3742532730102539, + 0.14702767133712769, + 0.11610104143619537, + -0.28108322620391846, + -0.027446016669273376, + 2.250535726547241, + 0.0, + 1.0014774799346924 + ], + [ + 0.3799412250518799, + 0.14025817811489105, + 0.11388758569955826, + -0.2975817620754242, + -0.07454986870288849, + 2.097996234893799, + 0.0, + 1.0014774799346924 + ], + [ + 0.3833954930305481, + 0.12986436486244202, + 0.09120284765958786, + -0.2281748503446579, + -0.113780677318573, + 1.9291222095489502, + 0.0, + 1.0008161067962646 + ], + [ + 0.38913848996162415, + 0.12590588629245758, + 0.07645384967327118, + -0.1591530442237854, + -0.09987562894821167, + 1.8246876001358032, + 0.0, + 1.0014774799346924 + ], + [ + 0.39193329215049744, + 0.12502962350845337, + 0.06430722028017044, + -0.10716144740581512, + -0.10482043772935867, + 1.7760080099105835, + 0.0, + 1.0014774799346924 + ], + [ + 0.39842304587364197, + 0.11867749691009521, + 0.05423910543322563, + -0.07565169036388397, + -0.060088686645030975, + 1.7301212549209595, + 0.0, + 1.0014774799346924 + ], + [ + 0.40329521894454956, + 0.11388005316257477, + 0.03700808063149452, + -0.039565086364746094, + -0.015722546726465225, + 1.6956924200057983, + 0.0, + 1.0014774799346924 + ], + [ + 0.407469779253006, + 0.11273206770420074, + 0.02955744042992592, + -0.036205653101205826, + 0.0022284977603703737, + 1.6726288795471191, + 0.0, + 1.0008161067962646 + ], + [ + 0.4129581153392792, + 0.11136951297521591, + 0.02432946115732193, + -0.06542766839265823, + 0.013388168066740036, + 1.645678997039795, + 0.0, + 1.0008161067962646 + ], + [ + 0.4127618670463562, + 0.11180111765861511, + 0.016473546624183655, + -0.06195012852549553, + 0.010286611504852772, + 1.6326861381530762, + 0.0, + 0.9716382026672363 + ], + [ + 0.413083553314209, + 0.1112307757139206, + 0.01346172671765089, + -0.06847286224365234, + 0.005137408617883921, + 1.6387639045715332, + 0.0, + 0.7081608176231384 + ], + [ + 0.413666695356369, + 0.11183960735797882, + 0.013503797352313995, + -0.07240665704011917, + 0.0017911355243995786, + 1.6421077251434326, + 0.0, + 0.4813377559185028 + ], + [ + 0.41289302706718445, + 0.11184109002351761, + 0.013760440982878208, + -0.06913035362958908, + 0.0010620191460475326, + 1.641405463218689, + 0.0, + 0.3849146366119385 + ], + [ + 0.41045403480529785, + 0.1079925000667572, + 0.014640679582953453, + -0.04841485619544983, + 0.02037528157234192, + 1.6313151121139526, + 0.0, + 0.37717074155807495 + ], + [ + 0.4064619541168213, + 0.11067413538694382, + 0.01576019451022148, + -0.02625095099210739, + 0.005968817509710789, + 1.6435285806655884, + 0.0, + 0.3754602372646332 + ], + [ + 0.4048157036304474, + 0.1111084520816803, + 0.03651285916566849, + -0.040205053985118866, + -0.0024501581210643053, + 1.6407674551010132, + 0.0, + 0.3754602372646332 + ], + [ + 0.3964778780937195, + 0.1181110143661499, + 0.06816890835762024, + -0.09151095896959305, + -0.0005787399131804705, + 1.6298326253890991, + 0.0, + 0.3746064603328705 + ], + [ + 0.36675313115119934, + 0.1321866661310196, + 0.09148019552230835, + -0.13017289340496063, + 0.008809391409158707, + 1.6326909065246582, + 0.0, + 0.3746064603328705 + ], + [ + 0.3330013155937195, + 0.1373903751373291, + 0.09811454266309738, + -0.14380009472370148, + -0.000693064124789089, + 1.5845651626586914, + 0.0, + 0.3746064603328705 + ], + [ + 0.3043345510959625, + 0.14232362806797028, + 0.09395100921392441, + -0.1404857188463211, + -0.008661181665956974, + 1.5485501289367676, + 0.0, + 0.3746064603328705 + ], + [ + 0.2848435342311859, + 0.14689159393310547, + 0.08425196260213852, + -0.13627669215202332, + -0.011896265670657158, + 1.504263997077942, + 0.0, + 0.3746064603328705 + ], + [ + 0.26978716254234314, + 0.15891093015670776, + 0.07540660351514816, + -0.11874675750732422, + -0.008002378977835178, + 1.5318235158920288, + 0.0, + 0.3746064603328705 + ], + [ + 0.2621774673461914, + 0.16331171989440918, + 0.058768149465322495, + -0.10158601403236389, + -0.03260738030076027, + 1.5260834693908691, + 0.0, + 0.3746064603328705 + ], + [ + 0.25774919986724854, + 0.16639073193073273, + 0.040297169238328934, + -0.07052984833717346, + -0.07954113930463791, + 1.5324702262878418, + 0.0, + 0.3746064603328705 + ], + [ + 0.25733670592308044, + 0.166294664144516, + 0.026228580623865128, + -0.06142762303352356, + -0.09157423675060272, + 1.5311005115509033, + 0.0, + 0.3746064603328705 + ], + [ + 0.25741204619407654, + 0.16697728633880615, + 0.010691073723137379, + -0.04736954718828201, + -0.08573056757450104, + 1.5351321697235107, + 0.0, + 0.3737536668777466 + ], + [ + 0.25787630677223206, + 0.16676057875156403, + 0.011467702686786652, + -0.04786138981580734, + -0.0807369202375412, + 1.5554838180541992, + 0.0, + 0.4121573865413666 + ], + [ + 0.26311564445495605, + 0.16828401386737823, + 0.016291404142975807, + -0.04873392730951309, + -0.06517896056175232, + 1.5750306844711304, + 0.0, + 0.7161149382591248 + ], + [ + 0.26467469334602356, + 0.16952501237392426, + 0.012833588756620884, + -0.04117812588810921, + -0.04455132409930229, + 1.5805127620697021, + 0.0, + 0.9788280129432678 + ], + [ + 0.26066628098487854, + 0.1702652871608734, + 0.017126336693763733, + -0.012640278786420822, + -0.03293118253350258, + 1.5963151454925537, + 0.0, + 1.0060625076293945 + ], + [ + 0.264087438583374, + 0.17077159881591797, + 0.029688097536563873, + -0.037892140448093414, + -0.038151029497385025, + 1.5899766683578491, + 0.0, + 1.0014774799346924 + ], + [ + 0.26702970266342163, + 0.16738256812095642, + 0.04452284798026085, + -0.052804283797740936, + -0.010988440364599228, + 1.5892150402069092, + 0.0, + 1.0001531839370728 + ], + [ + 0.27057918906211853, + 0.16091176867485046, + 0.0725727453827858, + -0.11572336405515671, + 0.0004021975037176162, + 1.5784910917282104, + 0.0, + 1.0001531839370728 + ] + ], + "left_gripper_pos": [ + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9716382026672363 + ], + [ + 0.7081608176231384 + ], + [ + 0.4813377559185028 + ], + [ + 0.3849146366119385 + ], + [ + 0.37717074155807495 + ], + [ + 0.3754602372646332 + ], + [ + 0.3754602372646332 + ], + [ + 0.3746064603328705 + ], + [ + 0.3746064603328705 + ], + [ + 0.3746064603328705 + ], + [ + 0.3746064603328705 + ], + [ + 0.3746064603328705 + ], + [ + 0.3746064603328705 + ], + [ + 0.3746064603328705 + ], + [ + 0.3746064603328705 + ], + [ + 0.3746064603328705 + ], + [ + 0.3737536668777466 + ], + [ + 0.4121573865413666 + ], + [ + 0.7161149382591248 + ], + [ + 0.9788280129432678 + ], + [ + 1.0060625076293945 + ], + [ + 1.0014774799346924 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3872814178466797, + 0.19594869017601013, + 0.1031094342470169 + ], + [ + 0.3858865797519684, + 0.19381248950958252, + 0.08774583041667938 + ], + [ + 0.38442009687423706, + 0.1837080419063568, + 0.0826554223895073 + ], + [ + 0.38737690448760986, + 0.16864697635173798, + 0.08310788124799728 + ], + [ + 0.38164594769477844, + 0.15916478633880615, + 0.09912055730819702 + ], + [ + 0.3763126730918884, + 0.15233483910560608, + 0.10340206325054169 + ], + [ + 0.37086209654808044, + 0.15273328125476837, + 0.11960691213607788 + ], + [ + 0.3742532730102539, + 0.14702767133712769, + 0.11610104143619537 + ], + [ + 0.3799412250518799, + 0.14025817811489105, + 0.11388758569955826 + ], + [ + 0.3833954930305481, + 0.12986436486244202, + 0.09120284765958786 + ], + [ + 0.38913848996162415, + 0.12590588629245758, + 0.07645384967327118 + ], + [ + 0.39193329215049744, + 0.12502962350845337, + 0.06430722028017044 + ], + [ + 0.39842304587364197, + 0.11867749691009521, + 0.05423910543322563 + ], + [ + 0.40329521894454956, + 0.11388005316257477, + 0.03700808063149452 + ], + [ + 0.407469779253006, + 0.11273206770420074, + 0.02955744042992592 + ], + [ + 0.4129581153392792, + 0.11136951297521591, + 0.02432946115732193 + ], + [ + 0.4127618670463562, + 0.11180111765861511, + 0.016473546624183655 + ], + [ + 0.413083553314209, + 0.1112307757139206, + 0.01346172671765089 + ], + [ + 0.413666695356369, + 0.11183960735797882, + 0.013503797352313995 + ], + [ + 0.41289302706718445, + 0.11184109002351761, + 0.013760440982878208 + ], + [ + 0.41045403480529785, + 0.1079925000667572, + 0.014640679582953453 + ], + [ + 0.4064619541168213, + 0.11067413538694382, + 0.01576019451022148 + ], + [ + 0.4048157036304474, + 0.1111084520816803, + 0.03651285916566849 + ], + [ + 0.3964778780937195, + 0.1181110143661499, + 0.06816890835762024 + ], + [ + 0.36675313115119934, + 0.1321866661310196, + 0.09148019552230835 + ], + [ + 0.3330013155937195, + 0.1373903751373291, + 0.09811454266309738 + ], + [ + 0.3043345510959625, + 0.14232362806797028, + 0.09395100921392441 + ], + [ + 0.2848435342311859, + 0.14689159393310547, + 0.08425196260213852 + ], + [ + 0.26978716254234314, + 0.15891093015670776, + 0.07540660351514816 + ], + [ + 0.2621774673461914, + 0.16331171989440918, + 0.058768149465322495 + ], + [ + 0.25774919986724854, + 0.16639073193073273, + 0.040297169238328934 + ], + [ + 0.25733670592308044, + 0.166294664144516, + 0.026228580623865128 + ], + [ + 0.25741204619407654, + 0.16697728633880615, + 0.010691073723137379 + ], + [ + 0.25787630677223206, + 0.16676057875156403, + 0.011467702686786652 + ], + [ + 0.26311564445495605, + 0.16828401386737823, + 0.016291404142975807 + ], + [ + 0.26467469334602356, + 0.16952501237392426, + 0.012833588756620884 + ], + [ + 0.26066628098487854, + 0.1702652871608734, + 0.017126336693763733 + ], + [ + 0.264087438583374, + 0.17077159881591797, + 0.029688097536563873 + ], + [ + 0.26702970266342163, + 0.16738256812095642, + 0.04452284798026085 + ], + [ + 0.27057918906211853, + 0.16091176867485046, + 0.0725727453827858 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + -0.9555703002107024, + -0.2463772768379251, + 0.1618135927947865, + -0.22659650647781943, + 0.9650958494505703, + 0.13131650553274116, + -0.18851902982796218, + 0.08881575778661875, + -0.9780451607985764 + ], + [ + -0.9630810270871116, + -0.23730895514091055, + 0.12711960932430305, + -0.22413625978790003, + 0.9683676462728626, + 0.10966785627633462, + -0.14912368126198172, + 0.07712691788140573, + -0.9858060489898557 + ], + [ + -0.989738929951077, + -0.10894804226330994, + 0.09245093091088259, + -0.1019365309139754, + 0.9917708463233583, + 0.07745664624984389, + -0.1001288879620706, + 0.06723773100009661, + -0.9927000016749458 + ], + [ + -0.996629990353279, + -0.012099949285110738, + 0.08113108871278055, + -0.006908682742630052, + 0.9979282827488086, + 0.06396415084073045, + -0.08173697101792435, + 0.0631880820828721, + -0.994648849520022 + ], + [ + -0.9839977821887563, + 0.1256784475155747, + 0.12630634377450758, + 0.1324654712842451, + 0.9900811239665616, + 0.04682164972054591, + -0.1191690545613751, + 0.062803628837716, + -0.9908856849504704 + ], + [ + -0.9195221479820903, + 0.3629706682316499, + 0.15076907300196804, + 0.3710094133770041, + 0.9282029958391118, + 0.028128521129800778, + -0.1297344771294606, + 0.08180154349868887, + -0.9881687471910747 + ], + [ + -0.7931652374435952, + 0.5824479564957247, + 0.17788559268529702, + 0.6060999129840235, + 0.783458488098944, + 0.13724318892562765, + -0.0594289625671189, + 0.2166729687793817, + -0.9744336934899803 + ], + [ + -0.6283536284078387, + 0.7519998161051877, + 0.19916825611644923, + 0.7774436461649212, + 0.5980011649934357, + 0.19487427666135507, + 0.027442571025622864, + 0.27729205405899665, + -0.9603936807639075 + ], + [ + -0.5017179928395097, + 0.8372226163288696, + 0.21757147416087252, + 0.8618188098767912, + 0.46212944564911806, + 0.20905672533211994, + 0.07448083380067794, + 0.2923947095476942, + -0.953392856709591 + ], + [ + -0.34843925391093444, + 0.9212191236024969, + 0.17304742888306393, + 0.9304299082310306, + 0.3175663864183551, + 0.18289826704040701, + 0.1135353346019973, + 0.2247374390844472, + -0.9677824193849448 + ], + [ + -0.24992068074655766, + 0.9596784587505857, + 0.1286736536563625, + 0.9631187028655123, + 0.23270242141298375, + 0.13509976779841967, + 0.09970966616045823, + 0.15769222833936494, + -0.9824414199307434 + ], + [ + -0.20265596291506854, + 0.9756823144064644, + 0.08351396320024503, + 0.9736444002072431, + 0.19164959605558457, + 0.1236406659510108, + 0.10462859379751081, + 0.10636942082279476, + -0.988806555234025 + ], + [ + -0.15836538922044252, + 0.9852306903676585, + 0.065122118014735, + 0.9855526859286897, + 0.1537166829685238, + 0.07111318187157761, + 0.06005253330046544, + 0.07544314504858368, + -0.9953401554792087 + ], + [ + -0.12455623999646254, + 0.9915115845449253, + 0.03728968746390236, + 0.9920879824747074, + 0.12385711539947314, + 0.020514628785001612, + 0.015721898969541036, + 0.03954987582955828, + -0.9990939041024414 + ], + [ + -0.1016563931914648, + 0.9941593863169053, + 0.03623661575391634, + 0.9948170744057702, + 0.1016702732553022, + 0.001464242786157876, + -0.002228495915842392, + 0.036197653711074515, + -0.999342165462744 + ], + [ + -0.07480600210893057, + 0.9949984883717689, + 0.0661972067867952, + 0.9971082337005326, + 0.07552548827844402, + -0.008430356274017226, + -0.013387768114324433, + 0.0653751386858771, + -0.9977709451105095 + ], + [ + -0.061847036700322267, + 0.9961314253362248, + 0.06242697741369729, + 0.998032631434119, + 0.06236728069474279, + -0.006417857230509135, + -0.010286430093915888, + 0.06190723508899788, + -0.998028899180559 + ], + [ + -0.06791436321303512, + 0.9953292811853063, + 0.06860948392539576, + 0.9976779272562142, + 0.06810679532112707, + -0.0004667942050183421, + -0.005137386019337463, + 0.06841846568162203, + -0.997643483825089 + ], + [ + -0.07125085926177765, + 0.9948356296534646, + 0.07228682470860887, + 0.9974568195623421, + 0.07119352799131262, + 0.0033726370584199958, + -0.001791134566689577, + 0.07234328955850006, + -0.9973781831847032 + ], + [ + -0.07055043918635395, + 0.9951204352584073, + 0.06897793025113681, + 0.9975076479137241, + 0.07045514201160052, + 0.003816453557317988, + -0.0010620189464083524, + 0.0690752654373715, + -0.9976108859773505 + ], + [ + -0.06046929602330792, + 0.9969400362123884, + 0.04953815131075057, + 0.9979621082919605, + 0.061395187009863184, + -0.01738566724312758, + -0.020373871794786575, + 0.048385898863875385, + -0.9986209041168845 + ], + [ + -0.0726668509968747, + 0.9970011650911651, + 0.026612132065235414, + 0.9973384091705387, + 0.07279936264304593, + -0.004043561789475366, + -0.005968782068146761, + 0.02624746855652571, + -0.9996376563710458 + ], + [ + -0.06991383646476135, + 0.9967537676105419, + 0.0399247069490624, + 0.9975500249150283, + 0.06975930665910246, + 0.005252325815084974, + 0.002450155669569614, + 0.04019410265985789, + -0.999188886471704 + ], + [ + -0.059002001638782, + 0.9940840670905774, + 0.09119008366743678, + 0.9982576966208515, + 0.05870233989536544, + 0.005967112202861086, + 0.0005787398808732858, + 0.09138327444049014, + -0.9958156266160342 + ], + [ + -0.06185266811150825, + 0.9895700777964469, + 0.13009730426654362, + 0.9980464137894582, + 0.06247304503263107, + -0.0006888877646350489, + -0.008809277466910605, + 0.1298005384206278, + -0.9915009918584177 + ], + [ + -0.013768397509929642, + 0.9895861276335053, + 0.1432819849992752, + 0.9999049709308402, + 0.013526981100647983, + 0.002658926493589564, + 0.0006930640693049162, + 0.14330497820252677, + -0.9896783330378458 + ], + [ + 0.022243528650644162, + 0.9898761249069308, + 0.14018017967033208, + 0.9997150650265816, + -0.023237672382027563, + 0.005458877280501137, + 0.008661073378397888, + 0.14001881274137473, + -0.9901109624109967 + ], + [ + 0.06647855145149684, + 0.9884293008104051, + 0.13633825397284513, + 0.9977169376812017, + -0.06747942585446154, + 0.0027275172587840207, + 0.011895985077135553, + 0.1358456638461661, + -0.9906585896025122 + ], + [ + 0.03896169826573387, + 0.9921669506425542, + 0.1186875230211871, + 0.9992086615746939, + -0.03963585916748519, + 0.003324049061585947, + 0.008002293568625397, + 0.11846409042705802, + -0.9929260911955788 + ], + [ + 0.04467420002170486, + 0.9937024968204979, + 0.10275973756841347, + 0.9984695044798535, + -0.04777039251991144, + 0.02786822962173459, + 0.03260160235597082, + 0.10135747338604138, + -0.9943157436713055 + ], + [ + 0.03819557131506979, + 0.9965667186372006, + 0.07345661057112379, + 0.9961062378123883, + -0.043816809117866895, + 0.07650130868147224, + 0.07945729244798683, + 0.0702485768070125, + -0.9943599328881992 + ], + [ + 0.039519109464331625, + 0.9971048414097314, + 0.06496287574007589, + 0.9950255342112988, + -0.04521991551294019, + 0.08876567753654603, + 0.09144630257514896, + 0.0611317796099289, + -0.9939318282795141 + ], + [ + 0.03552564420494558, + 0.9980985167379454, + 0.0503714153993781, + 0.9956938218795558, + -0.039668550633040256, + 0.08378674812616203, + 0.08562559006924629, + 0.04717792890947008, + -0.9952097775590361 + ], + [ + 0.015262032492389443, + 0.9986786812096687, + 0.049070990019748156, + 0.9966256926091958, + -0.019152434741977475, + 0.07981486750408821, + 0.0806492355539847, + 0.0476872723142273, + -0.9956011374359648 + ], + [ + -0.004225353829089451, + 0.9988172181814836, + 0.048438735008475696, + 0.9978676576015912, + 0.0010564243446525845, + 0.06526118203279231, + 0.06513282043434192, + 0.048611198625485005, + -0.9966918616455445 + ], + [ + -0.009706641445506481, + 0.9991229505737339, + 0.04073218320547287, + 0.9989605965483089, + 0.00787471746544166, + 0.044896718907800455, + 0.044536587831747444, + 0.04112564238617191, + -0.9981608957891657 + ], + [ + -0.025502214749885954, + 0.9996051704566373, + 0.011795772090355377, + 0.9991324067524576, + 0.025097973182704514, + 0.03323440264487281, + 0.03292523074925957, + 0.01263308903147396, + -0.9993779736624331 + ], + [ + -0.01916520960136542, + 0.9991260861694087, + 0.03714510299804472, + 0.9990885344719462, + 0.01772073644304356, + 0.038833951467950545, + 0.03814177536028813, + 0.03785550733665852, + -0.9985550388119073 + ], + [ + -0.018416560090700307, + 0.9984474758591677, + 0.052568700429841145, + 0.999770018230469, + 0.01781214397341141, + 0.011943122477739283, + 0.01098821923122421, + 0.05277656181987622, + -0.9985458895617163 + ], + [ + -0.007694688377436032, + 0.9932817569037518, + 0.11546490017737096, + 0.9999703145633627, + 0.007689661689382898, + 0.0004889735697977127, + -0.00040219749287417894, + 0.11546523505063733, + -0.993311440451522 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0013948380947113037, + -0.0021362006664276123, + -0.015363603830337524, + 0.012482710182666779, + -0.039971932768821716, + -0.0041735172271728516, + 1.0 + ], + [ + -0.0014664828777313232, + -0.010104447603225708, + -0.005090408027172089, + 0.01044948399066925, + -0.04938502609729767, + -0.12602663040161133, + 1.0 + ], + [ + 0.0029568076133728027, + -0.015061065554618835, + 0.00045245885848999023, + 0.004186108708381653, + -0.018468700349330902, + -0.09569954872131348, + 1.0 + ], + [ + -0.005730956792831421, + -0.009482190012931824, + 0.016012676060199738, + 0.00014613568782806396, + 0.037624672055244446, + 6.142437934875488, + 1.0 + ], + [ + -0.005333274602890015, + -0.006829947233200073, + 0.0042815059423446655, + -0.019295990467071533, + 0.010648258030414581, + -0.24968814849853516, + 1.0 + ], + [ + -0.005450576543807983, + 0.0003984421491622925, + 0.016204848885536194, + -0.1362055540084839, + -0.07063718885183334, + -0.2689945697784424, + 1.0 + ], + [ + 0.003391176462173462, + -0.005705609917640686, + -0.0035058706998825073, + -0.06228505074977875, + -0.08691001683473587, + -0.23855900764465332, + 1.0 + ], + [ + 0.0056879520416259766, + -0.006769493222236633, + -0.0022134557366371155, + -0.016498535871505737, + -0.04710385203361511, + -0.15253949165344238, + 1.0 + ], + [ + 0.003454267978668213, + -0.010393813252449036, + -0.022684738039970398, + 0.0694069117307663, + -0.03923080861568451, + -0.16887402534484863, + 1.0 + ], + [ + 0.00574299693107605, + -0.003958478569984436, + -0.014748997986316681, + 0.0690218061208725, + 0.013905048370361328, + -0.10443460941314697, + 1.0 + ], + [ + 0.002794802188873291, + -0.0008762627840042114, + -0.012146629393100739, + 0.051991596817970276, + -0.004944808781147003, + -0.04867959022521973, + 1.0 + ], + [ + 0.006489753723144531, + -0.006352126598358154, + -0.010068114846944809, + 0.03150975704193115, + 0.0447317510843277, + -0.04588675498962402, + 1.0 + ], + [ + 0.004872173070907593, + -0.004797443747520447, + -0.01723102480173111, + 0.03608660399913788, + 0.04436613991856575, + -0.03442883491516113, + 1.0 + ], + [ + 0.004174560308456421, + -0.0011479854583740234, + -0.0074506402015686035, + 0.003359433263540268, + 0.01795104518532753, + -0.0230635404586792, + 1.0 + ], + [ + 0.005488336086273193, + -0.0013625547289848328, + -0.005227979272603989, + -0.029222015291452408, + 0.011159670539200306, + -0.02694988250732422, + 1.0 + ], + [ + -0.00019624829292297363, + 0.00043160468339920044, + -0.007855914533138275, + 0.0034775398671627045, + -0.0031015565618872643, + -0.01299285888671875, + 0.0 + ], + [ + 0.0003216862678527832, + -0.000570341944694519, + -0.0030118199065327644, + -0.006522733718156815, + -0.005149202886968851, + 0.006077766418457031, + 0.0 + ], + [ + 0.0005831420421600342, + 0.0006088316440582275, + 4.207063466310501e-05, + -0.003933794796466827, + -0.003346273209899664, + 0.003343820571899414, + 0.0 + ], + [ + -0.0007736682891845703, + 1.4826655387878418e-06, + 0.0002566436305642128, + 0.0032763034105300903, + -0.000729116378352046, + -0.0007022619247436523, + 0.0 + ], + [ + -0.0024389922618865967, + -0.0038485899567604065, + 0.0008802386000752449, + 0.02071549743413925, + 0.019313262775540352, + -0.010090351104736328, + 0.0 + ], + [ + -0.0039920806884765625, + 0.002681635320186615, + 0.0011195149272680283, + 0.022163905203342438, + -0.01440646406263113, + 0.012213468551635742, + 0.0 + ], + [ + -0.0016462504863739014, + 0.0004343166947364807, + 0.020752664655447006, + -0.013954102993011475, + -0.00841897539794445, + -0.0027611255645751953, + 0.0 + ], + [ + -0.008337825536727905, + 0.0070025622844696045, + 0.03165604919195175, + -0.05130590498447418, + 0.0018714182078838348, + -0.010934829711914062, + 0.0 + ], + [ + -0.02972474694252014, + 0.01407565176486969, + 0.02331128716468811, + -0.038661934435367584, + 0.009388131089508533, + 0.002858281135559082, + 0.0 + ], + [ + -0.03375181555747986, + 0.005203709006309509, + 0.006634347140789032, + -0.013627201318740845, + -0.009502455592155457, + -0.0481257438659668, + 0.0 + ], + [ + -0.028666764497756958, + 0.004933252930641174, + -0.004163533449172974, + 0.003314375877380371, + -0.007968117482960224, + -0.03601503372192383, + 0.0 + ], + [ + -0.01949101686477661, + 0.004567965865135193, + -0.009699046611785889, + 0.0042090266942977905, + -0.003235084004700184, + -0.044286131858825684, + 0.0 + ], + [ + -0.015056371688842773, + 0.012019336223602295, + -0.008845359086990356, + 0.017529934644699097, + 0.0038938866928219795, + 0.027559518814086914, + 0.0 + ], + [ + -0.007609695196151733, + 0.004400789737701416, + -0.01663845404982567, + 0.017160743474960327, + -0.024605002254247665, + -0.005740046501159668, + 0.0 + ], + [ + -0.004428267478942871, + 0.0030790120363235474, + -0.01847098022699356, + 0.03105616569519043, + -0.04693375900387764, + 0.006386756896972656, + 0.0 + ], + [ + -0.0004124939441680908, + -9.606778621673584e-05, + -0.014068588614463806, + 0.009102225303649902, + -0.012033097445964813, + -0.0013697147369384766, + 0.0 + ], + [ + 7.534027099609375e-05, + 0.0006826221942901611, + -0.015537506900727749, + 0.014058075845241547, + 0.005843669176101685, + 0.004031658172607422, + 0.0 + ], + [ + 0.0004642605781555176, + -0.00021670758724212646, + 0.0007766289636492729, + -0.0004918426275253296, + 0.004993647336959839, + 0.020351648330688477, + 1.0 + ], + [ + 0.005239337682723999, + 0.001523435115814209, + 0.004823701456189156, + -0.0008725374937057495, + 0.01555795967578888, + 0.019546866416931152, + 1.0 + ], + [ + 0.0015590488910675049, + 0.0012409985065460205, + -0.0034578153863549232, + 0.007555801421403885, + 0.020627636462450027, + 0.005482077598571777, + 1.0 + ], + [ + -0.0040084123611450195, + 0.0007402747869491577, + 0.004292747937142849, + 0.028537847101688385, + 0.011620141565799713, + 0.015802383422851562, + 1.0 + ], + [ + 0.0034211575984954834, + 0.0005063116550445557, + 0.01256176084280014, + -0.025251861661672592, + -0.005219846963882446, + -0.00633847713470459, + 1.0 + ], + [ + 0.0029422640800476074, + -0.003389030694961548, + 0.014834750443696976, + -0.014912143349647522, + 0.027162589132785797, + -0.0007616281509399414, + 1.0 + ], + [ + 0.0035494863986968994, + -0.006470799446105957, + 0.028049897402524948, + -0.06291908025741577, + 0.01139063760638237, + -0.01072394847869873, + 1.0 + ], + [ + 0.0029736757278442383, + -0.00019319355487823486, + 0.011753693222999573, + -0.018439389765262604, + 0.0031326524913311005, + -0.01496577262878418, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9716382026672363 + ], + [ + 0.7081608176231384 + ], + [ + 0.4813377559185028 + ], + [ + 0.3849146366119385 + ], + [ + 0.37717074155807495 + ], + [ + 0.3754602372646332 + ], + [ + 0.3754602372646332 + ], + [ + 0.3746064603328705 + ], + [ + 0.3746064603328705 + ], + [ + 0.3746064603328705 + ], + [ + 0.3746064603328705 + ], + [ + 0.3746064603328705 + ], + [ + 0.3746064603328705 + ], + [ + 0.3746064603328705 + ], + [ + 0.3746064603328705 + ], + [ + 0.3746064603328705 + ], + [ + 0.3737536668777466 + ], + [ + 0.4121573865413666 + ], + [ + 0.7161149382591248 + ], + [ + 0.9788280129432678 + ], + [ + 1.0060625076293945 + ], + [ + 1.0014774799346924 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3858865797519684, + 0.19381248950958252, + 0.08774583041667938 + ], + [ + 0.38442009687423706, + 0.1837080419063568, + 0.0826554223895073 + ], + [ + 0.38737690448760986, + 0.16864697635173798, + 0.08310788124799728 + ], + [ + 0.38164594769477844, + 0.15916478633880615, + 0.09912055730819702 + ], + [ + 0.3763126730918884, + 0.15233483910560608, + 0.10340206325054169 + ], + [ + 0.37086209654808044, + 0.15273328125476837, + 0.11960691213607788 + ], + [ + 0.3742532730102539, + 0.14702767133712769, + 0.11610104143619537 + ], + [ + 0.3799412250518799, + 0.14025817811489105, + 0.11388758569955826 + ], + [ + 0.3833954930305481, + 0.12986436486244202, + 0.09120284765958786 + ], + [ + 0.38913848996162415, + 0.12590588629245758, + 0.07645384967327118 + ], + [ + 0.39193329215049744, + 0.12502962350845337, + 0.06430722028017044 + ], + [ + 0.39842304587364197, + 0.11867749691009521, + 0.05423910543322563 + ], + [ + 0.40329521894454956, + 0.11388005316257477, + 0.03700808063149452 + ], + [ + 0.407469779253006, + 0.11273206770420074, + 0.02955744042992592 + ], + [ + 0.4129581153392792, + 0.11136951297521591, + 0.02432946115732193 + ], + [ + 0.4127618670463562, + 0.11180111765861511, + 0.016473546624183655 + ], + [ + 0.413083553314209, + 0.1112307757139206, + 0.01346172671765089 + ], + [ + 0.413666695356369, + 0.11183960735797882, + 0.013503797352313995 + ], + [ + 0.41289302706718445, + 0.11184109002351761, + 0.013760440982878208 + ], + [ + 0.41045403480529785, + 0.1079925000667572, + 0.014640679582953453 + ], + [ + 0.4064619541168213, + 0.11067413538694382, + 0.01576019451022148 + ], + [ + 0.4048157036304474, + 0.1111084520816803, + 0.03651285916566849 + ], + [ + 0.3964778780937195, + 0.1181110143661499, + 0.06816890835762024 + ], + [ + 0.36675313115119934, + 0.1321866661310196, + 0.09148019552230835 + ], + [ + 0.3330013155937195, + 0.1373903751373291, + 0.09811454266309738 + ], + [ + 0.3043345510959625, + 0.14232362806797028, + 0.09395100921392441 + ], + [ + 0.2848435342311859, + 0.14689159393310547, + 0.08425196260213852 + ], + [ + 0.26978716254234314, + 0.15891093015670776, + 0.07540660351514816 + ], + [ + 0.2621774673461914, + 0.16331171989440918, + 0.058768149465322495 + ], + [ + 0.25774919986724854, + 0.16639073193073273, + 0.040297169238328934 + ], + [ + 0.25733670592308044, + 0.166294664144516, + 0.026228580623865128 + ], + [ + 0.25741204619407654, + 0.16697728633880615, + 0.010691073723137379 + ], + [ + 0.25787630677223206, + 0.16676057875156403, + 0.011467702686786652 + ], + [ + 0.26311564445495605, + 0.16828401386737823, + 0.016291404142975807 + ], + [ + 0.26467469334602356, + 0.16952501237392426, + 0.012833588756620884 + ], + [ + 0.26066628098487854, + 0.1702652871608734, + 0.017126336693763733 + ], + [ + 0.264087438583374, + 0.17077159881591797, + 0.029688097536563873 + ], + [ + 0.26702970266342163, + 0.16738256812095642, + 0.04452284798026085 + ], + [ + 0.27057918906211853, + 0.16091176867485046, + 0.0725727453827858 + ], + [ + 0.27355286478996277, + 0.16071857511997223, + 0.08432643860578537 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + -0.9630810270871116, + -0.23730895514091055, + 0.12711960932430305, + -0.22413625978790003, + 0.9683676462728626, + 0.10966785627633462, + -0.14912368126198172, + 0.07712691788140573, + -0.9858060489898557 + ], + [ + -0.989738929951077, + -0.10894804226330994, + 0.09245093091088259, + -0.1019365309139754, + 0.9917708463233583, + 0.07745664624984389, + -0.1001288879620706, + 0.06723773100009661, + -0.9927000016749458 + ], + [ + -0.996629990353279, + -0.012099949285110738, + 0.08113108871278055, + -0.006908682742630052, + 0.9979282827488086, + 0.06396415084073045, + -0.08173697101792435, + 0.0631880820828721, + -0.994648849520022 + ], + [ + -0.9839977821887563, + 0.1256784475155747, + 0.12630634377450758, + 0.1324654712842451, + 0.9900811239665616, + 0.04682164972054591, + -0.1191690545613751, + 0.062803628837716, + -0.9908856849504704 + ], + [ + -0.9195221479820903, + 0.3629706682316499, + 0.15076907300196804, + 0.3710094133770041, + 0.9282029958391118, + 0.028128521129800778, + -0.1297344771294606, + 0.08180154349868887, + -0.9881687471910747 + ], + [ + -0.7931652374435952, + 0.5824479564957247, + 0.17788559268529702, + 0.6060999129840235, + 0.783458488098944, + 0.13724318892562765, + -0.0594289625671189, + 0.2166729687793817, + -0.9744336934899803 + ], + [ + -0.6283536284078387, + 0.7519998161051877, + 0.19916825611644923, + 0.7774436461649212, + 0.5980011649934357, + 0.19487427666135507, + 0.027442571025622864, + 0.27729205405899665, + -0.9603936807639075 + ], + [ + -0.5017179928395097, + 0.8372226163288696, + 0.21757147416087252, + 0.8618188098767912, + 0.46212944564911806, + 0.20905672533211994, + 0.07448083380067794, + 0.2923947095476942, + -0.953392856709591 + ], + [ + -0.34843925391093444, + 0.9212191236024969, + 0.17304742888306393, + 0.9304299082310306, + 0.3175663864183551, + 0.18289826704040701, + 0.1135353346019973, + 0.2247374390844472, + -0.9677824193849448 + ], + [ + -0.24992068074655766, + 0.9596784587505857, + 0.1286736536563625, + 0.9631187028655123, + 0.23270242141298375, + 0.13509976779841967, + 0.09970966616045823, + 0.15769222833936494, + -0.9824414199307434 + ], + [ + -0.20265596291506854, + 0.9756823144064644, + 0.08351396320024503, + 0.9736444002072431, + 0.19164959605558457, + 0.1236406659510108, + 0.10462859379751081, + 0.10636942082279476, + -0.988806555234025 + ], + [ + -0.15836538922044252, + 0.9852306903676585, + 0.065122118014735, + 0.9855526859286897, + 0.1537166829685238, + 0.07111318187157761, + 0.06005253330046544, + 0.07544314504858368, + -0.9953401554792087 + ], + [ + -0.12455623999646254, + 0.9915115845449253, + 0.03728968746390236, + 0.9920879824747074, + 0.12385711539947314, + 0.020514628785001612, + 0.015721898969541036, + 0.03954987582955828, + -0.9990939041024414 + ], + [ + -0.1016563931914648, + 0.9941593863169053, + 0.03623661575391634, + 0.9948170744057702, + 0.1016702732553022, + 0.001464242786157876, + -0.002228495915842392, + 0.036197653711074515, + -0.999342165462744 + ], + [ + -0.07480600210893057, + 0.9949984883717689, + 0.0661972067867952, + 0.9971082337005326, + 0.07552548827844402, + -0.008430356274017226, + -0.013387768114324433, + 0.0653751386858771, + -0.9977709451105095 + ], + [ + -0.061847036700322267, + 0.9961314253362248, + 0.06242697741369729, + 0.998032631434119, + 0.06236728069474279, + -0.006417857230509135, + -0.010286430093915888, + 0.06190723508899788, + -0.998028899180559 + ], + [ + -0.06791436321303512, + 0.9953292811853063, + 0.06860948392539576, + 0.9976779272562142, + 0.06810679532112707, + -0.0004667942050183421, + -0.005137386019337463, + 0.06841846568162203, + -0.997643483825089 + ], + [ + -0.07125085926177765, + 0.9948356296534646, + 0.07228682470860887, + 0.9974568195623421, + 0.07119352799131262, + 0.0033726370584199958, + -0.001791134566689577, + 0.07234328955850006, + -0.9973781831847032 + ], + [ + -0.07055043918635395, + 0.9951204352584073, + 0.06897793025113681, + 0.9975076479137241, + 0.07045514201160052, + 0.003816453557317988, + -0.0010620189464083524, + 0.0690752654373715, + -0.9976108859773505 + ], + [ + -0.06046929602330792, + 0.9969400362123884, + 0.04953815131075057, + 0.9979621082919605, + 0.061395187009863184, + -0.01738566724312758, + -0.020373871794786575, + 0.048385898863875385, + -0.9986209041168845 + ], + [ + -0.0726668509968747, + 0.9970011650911651, + 0.026612132065235414, + 0.9973384091705387, + 0.07279936264304593, + -0.004043561789475366, + -0.005968782068146761, + 0.02624746855652571, + -0.9996376563710458 + ], + [ + -0.06991383646476135, + 0.9967537676105419, + 0.0399247069490624, + 0.9975500249150283, + 0.06975930665910246, + 0.005252325815084974, + 0.002450155669569614, + 0.04019410265985789, + -0.999188886471704 + ], + [ + -0.059002001638782, + 0.9940840670905774, + 0.09119008366743678, + 0.9982576966208515, + 0.05870233989536544, + 0.005967112202861086, + 0.0005787398808732858, + 0.09138327444049014, + -0.9958156266160342 + ], + [ + -0.06185266811150825, + 0.9895700777964469, + 0.13009730426654362, + 0.9980464137894582, + 0.06247304503263107, + -0.0006888877646350489, + -0.008809277466910605, + 0.1298005384206278, + -0.9915009918584177 + ], + [ + -0.013768397509929642, + 0.9895861276335053, + 0.1432819849992752, + 0.9999049709308402, + 0.013526981100647983, + 0.002658926493589564, + 0.0006930640693049162, + 0.14330497820252677, + -0.9896783330378458 + ], + [ + 0.022243528650644162, + 0.9898761249069308, + 0.14018017967033208, + 0.9997150650265816, + -0.023237672382027563, + 0.005458877280501137, + 0.008661073378397888, + 0.14001881274137473, + -0.9901109624109967 + ], + [ + 0.06647855145149684, + 0.9884293008104051, + 0.13633825397284513, + 0.9977169376812017, + -0.06747942585446154, + 0.0027275172587840207, + 0.011895985077135553, + 0.1358456638461661, + -0.9906585896025122 + ], + [ + 0.03896169826573387, + 0.9921669506425542, + 0.1186875230211871, + 0.9992086615746939, + -0.03963585916748519, + 0.003324049061585947, + 0.008002293568625397, + 0.11846409042705802, + -0.9929260911955788 + ], + [ + 0.04467420002170486, + 0.9937024968204979, + 0.10275973756841347, + 0.9984695044798535, + -0.04777039251991144, + 0.02786822962173459, + 0.03260160235597082, + 0.10135747338604138, + -0.9943157436713055 + ], + [ + 0.03819557131506979, + 0.9965667186372006, + 0.07345661057112379, + 0.9961062378123883, + -0.043816809117866895, + 0.07650130868147224, + 0.07945729244798683, + 0.0702485768070125, + -0.9943599328881992 + ], + [ + 0.039519109464331625, + 0.9971048414097314, + 0.06496287574007589, + 0.9950255342112988, + -0.04521991551294019, + 0.08876567753654603, + 0.09144630257514896, + 0.0611317796099289, + -0.9939318282795141 + ], + [ + 0.03552564420494558, + 0.9980985167379454, + 0.0503714153993781, + 0.9956938218795558, + -0.039668550633040256, + 0.08378674812616203, + 0.08562559006924629, + 0.04717792890947008, + -0.9952097775590361 + ], + [ + 0.015262032492389443, + 0.9986786812096687, + 0.049070990019748156, + 0.9966256926091958, + -0.019152434741977475, + 0.07981486750408821, + 0.0806492355539847, + 0.0476872723142273, + -0.9956011374359648 + ], + [ + -0.004225353829089451, + 0.9988172181814836, + 0.048438735008475696, + 0.9978676576015912, + 0.0010564243446525845, + 0.06526118203279231, + 0.06513282043434192, + 0.048611198625485005, + -0.9966918616455445 + ], + [ + -0.009706641445506481, + 0.9991229505737339, + 0.04073218320547287, + 0.9989605965483089, + 0.00787471746544166, + 0.044896718907800455, + 0.044536587831747444, + 0.04112564238617191, + -0.9981608957891657 + ], + [ + -0.025502214749885954, + 0.9996051704566373, + 0.011795772090355377, + 0.9991324067524576, + 0.025097973182704514, + 0.03323440264487281, + 0.03292523074925957, + 0.01263308903147396, + -0.9993779736624331 + ], + [ + -0.01916520960136542, + 0.9991260861694087, + 0.03714510299804472, + 0.9990885344719462, + 0.01772073644304356, + 0.038833951467950545, + 0.03814177536028813, + 0.03785550733665852, + -0.9985550388119073 + ], + [ + -0.018416560090700307, + 0.9984474758591677, + 0.052568700429841145, + 0.999770018230469, + 0.01781214397341141, + 0.011943122477739283, + 0.01098821923122421, + 0.05277656181987622, + -0.9985458895617163 + ], + [ + -0.007694688377436032, + 0.9932817569037518, + 0.11546490017737096, + 0.9999703145633627, + 0.007689661689382898, + 0.0004889735697977127, + -0.00040219749287417894, + 0.11546523505063733, + -0.993311440451522 + ], + [ + 0.007270898203138754, + 0.9909909108630137, + 0.13373162911672454, + 0.9999673189295137, + -0.006732794228590744, + -0.004475550781149237, + -0.0035348426045276465, + 0.13375979989805992, + -0.9910074776806637 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006484.json b/json/chunk-0006/episode_0006484.json new file mode 100644 index 0000000000000000000000000000000000000000..edd9787a6a6b135ca02eddf7f9cfff9af6d37915 --- /dev/null +++ b/json/chunk-0006/episode_0006484.json @@ -0,0 +1,1642 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 26, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the silver pot from the top left to the bottom left burner." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006484.mp4", + "start": 0, + "end": 26, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.34492573142051697, + 0.0983092188835144, + 0.027451099827885628, + 0.1496204286813736, + 0.03466204181313515, + 0.056587107479572296, + 0.0, + 1.0001531839370728 + ], + [ + 0.33834603428840637, + 0.09661939740180969, + 0.0115624675527215, + 0.13711316883563995, + 0.08240846544504166, + 0.06079914793372154, + 0.0, + 1.0001531839370728 + ], + [ + 0.35839781165122986, + 0.09917500615119934, + 0.008408470079302788, + 0.09594912827014923, + 0.034509990364313126, + 0.03145793452858925, + 0.0, + 1.0001531839370728 + ], + [ + 0.37625372409820557, + 0.10451143980026245, + 0.007245166692882776, + 0.11389274895191193, + 0.005690996069461107, + -0.008172898553311825, + 0.0, + 1.0001531839370728 + ], + [ + 0.40023496747016907, + 0.10729290544986725, + 0.008884933777153492, + 0.1345113068819046, + -0.138509139418602, + -0.0746333971619606, + 0.0, + 1.0001531839370728 + ], + [ + 0.4224458336830139, + 0.11896764487028122, + 0.012957804836332798, + 0.2306109070777893, + -0.2810112535953522, + -0.1622547209262848, + 0.0, + 1.0001531839370728 + ], + [ + 0.4380612075328827, + 0.12631690502166748, + 0.023227816447615623, + 0.27730023860931396, + -0.36258912086486816, + -0.21428965032100677, + 0.0, + 1.0001531839370728 + ], + [ + 0.45516490936279297, + 0.1383613795042038, + 0.013743260875344276, + 0.31796956062316895, + -0.36737731099128723, + -0.23054030537605286, + 0.0, + 1.0001531839370728 + ], + [ + 0.47055676579475403, + 0.14515386521816254, + 0.010246044024825096, + 0.3181787133216858, + -0.39324474334716797, + -0.21532881259918213, + 0.0, + 1.0001531839370728 + ], + [ + 0.47962671518325806, + 0.15208330750465393, + -0.005851838272064924, + 0.29742956161499023, + -0.3781592547893524, + -0.19181811809539795, + 0.0, + 1.0001531839370728 + ], + [ + 0.48595085740089417, + 0.1513212025165558, + -0.015831241384148598, + 0.2687741219997406, + -0.37914684414863586, + -0.16696935892105103, + 0.0, + 1.0001531839370728 + ], + [ + 0.48440173268318176, + 0.15144386887550354, + -0.02692771889269352, + 0.256480872631073, + -0.3454590439796448, + -0.1629866510629654, + 0.0, + 0.9650423526763916 + ], + [ + 0.4833870232105255, + 0.14766153693199158, + -0.03106280229985714, + 0.23233211040496826, + -0.3477329611778259, + -0.16940918564796448, + 0.0, + 0.6931989789009094 + ], + [ + 0.4802819490432739, + 0.14721974730491638, + -0.03541751950979233, + 0.23503123223781586, + -0.339388370513916, + -0.17729194462299347, + 0.0, + 0.39448216557502747 + ], + [ + 0.47852569818496704, + 0.14587858319282532, + -0.03809912130236626, + 0.22781452536582947, + -0.3372097313404083, + -0.17584837973117828, + 0.0, + 0.16654326021671295 + ], + [ + 0.47547534108161926, + 0.14400537312030792, + -0.03986572101712227, + 0.21594910323619843, + -0.34104013442993164, + -0.18155300617218018, + 0.0, + 0.08259850740432739 + ], + [ + 0.46275463700294495, + 0.139428973197937, + -0.017884479835629463, + 0.2206716239452362, + -0.36723440885543823, + -0.1895846128463745, + 0.0, + 0.07591649144887924 + ], + [ + 0.43927711248397827, + 0.13599000871181488, + 0.013404748402535915, + 0.23319914937019348, + -0.38186779618263245, + -0.17260384559631348, + 0.0, + 0.06712212413549423 + ], + [ + 0.4099959135055542, + 0.14060166478157043, + 0.020322129130363464, + 0.25165969133377075, + -0.32293686270713806, + -0.13617652654647827, + 0.0, + 0.06621777266263962 + ], + [ + 0.38759779930114746, + 0.14689171314239502, + 0.010687396861612797, + 0.2764876186847687, + -0.22420872747898102, + -0.08814944326877594, + 0.0, + 0.06591799855232239 + ], + [ + 0.3786848783493042, + 0.14832301437854767, + -0.003907258156687021, + 0.2721039056777954, + -0.16721439361572266, + -0.06665755808353424, + 0.0, + 0.06591799855232239 + ], + [ + 0.36796995997428894, + 0.15114223957061768, + -0.029894402250647545, + 0.23713301122188568, + -0.08848919719457626, + -0.029209721833467484, + 0.0, + 0.06591799855232239 + ], + [ + 0.36907127499580383, + 0.15535801649093628, + -0.031542785465717316, + 0.21876904368400574, + -0.06974757462739944, + 0.006217076908797026, + 0.0, + 0.0832853764295578 + ], + [ + 0.3640468716621399, + 0.15199720859527588, + -0.03358669951558113, + 0.17694619297981262, + -0.05265876278281212, + 0.062044933438301086, + 0.0, + 0.2365749180316925 + ], + [ + 0.35465317964553833, + 0.14327339828014374, + -0.01622919924557209, + 0.1314840167760849, + -0.0846596509218216, + 0.172502338886261, + 0.0, + 0.505268931388855 + ], + [ + 0.35690686106681824, + 0.13589712977409363, + 0.025871599093079567, + 0.11501950025558472, + -0.12438716739416122, + 0.18519216775894165, + 0.0, + 0.8121206760406494 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9650423526763916 + ], + [ + 0.6931989789009094 + ], + [ + 0.39448216557502747 + ], + [ + 0.16654326021671295 + ], + [ + 0.08259850740432739 + ], + [ + 0.07591649144887924 + ], + [ + 0.06712212413549423 + ], + [ + 0.06621777266263962 + ], + [ + 0.06591799855232239 + ], + [ + 0.06591799855232239 + ], + [ + 0.06591799855232239 + ], + [ + 0.0832853764295578 + ], + [ + 0.2365749180316925 + ], + [ + 0.505268931388855 + ], + [ + 0.8121206760406494 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.34492573142051697, + 0.0983092188835144, + 0.027451099827885628 + ], + [ + 0.33834603428840637, + 0.09661939740180969, + 0.0115624675527215 + ], + [ + 0.35839781165122986, + 0.09917500615119934, + 0.008408470079302788 + ], + [ + 0.37625372409820557, + 0.10451143980026245, + 0.007245166692882776 + ], + [ + 0.40023496747016907, + 0.10729290544986725, + 0.008884933777153492 + ], + [ + 0.4224458336830139, + 0.11896764487028122, + 0.012957804836332798 + ], + [ + 0.4380612075328827, + 0.12631690502166748, + 0.023227816447615623 + ], + [ + 0.45516490936279297, + 0.1383613795042038, + 0.013743260875344276 + ], + [ + 0.47055676579475403, + 0.14515386521816254, + 0.010246044024825096 + ], + [ + 0.47962671518325806, + 0.15208330750465393, + -0.005851838272064924 + ], + [ + 0.48595085740089417, + 0.1513212025165558, + -0.015831241384148598 + ], + [ + 0.48440173268318176, + 0.15144386887550354, + -0.02692771889269352 + ], + [ + 0.4833870232105255, + 0.14766153693199158, + -0.03106280229985714 + ], + [ + 0.4802819490432739, + 0.14721974730491638, + -0.03541751950979233 + ], + [ + 0.47852569818496704, + 0.14587858319282532, + -0.03809912130236626 + ], + [ + 0.47547534108161926, + 0.14400537312030792, + -0.03986572101712227 + ], + [ + 0.46275463700294495, + 0.139428973197937, + -0.017884479835629463 + ], + [ + 0.43927711248397827, + 0.13599000871181488, + 0.013404748402535915 + ], + [ + 0.4099959135055542, + 0.14060166478157043, + 0.020322129130363464 + ], + [ + 0.38759779930114746, + 0.14689171314239502, + 0.010687396861612797 + ], + [ + 0.3786848783493042, + 0.14832301437854767, + -0.003907258156687021 + ], + [ + 0.36796995997428894, + 0.15114223957061768, + -0.029894402250647545 + ], + [ + 0.36907127499580383, + 0.15535801649093628, + -0.031542785465717316 + ], + [ + 0.3640468716621399, + 0.15199720859527588, + -0.03358669951558113 + ], + [ + 0.35465317964553833, + 0.14327339828014374, + -0.01622919924557209 + ], + [ + 0.35690686106681824, + 0.13589712977409363, + 0.025871599093079567 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9977996698308741, + 0.05076752515609437, + -0.0426436076677877, + 0.056522940759409626, + -0.9875371495041142, + 0.14688613112611193, + -0.03465510140379259, + -0.14897327525034282, + -0.9882337715378273 + ], + [ + 0.9947649151739244, + 0.048961049789745456, + -0.08969715236562027, + 0.06055549282553385, + -0.9894679893917689, + 0.13147672895865278, + -0.08231522233263998, + -0.13622009239644642, + -0.98725290103389 + ], + [ + 0.9989101239438104, + 0.028004243060779234, + -0.03734068361926788, + 0.03143401901542275, + -0.995011894508397, + 0.09467434834921672, + -0.03450314088745405, + -0.0957449328027525, + -0.9948077407778334 + ], + [ + 0.9999504089169341, + -0.008766595538697347, + -0.004725093598714993, + -0.008172675219306704, + -0.9934827613145878, + 0.11368909512570219, + -0.005690965350048775, + -0.11364484050497903, + -0.993505139966564 + ], + [ + 0.9876658159872398, + -0.055426556791086774, + 0.14643815326800638, + -0.07385002447573812, + -0.989588950640603, + 0.12353089757207675, + 0.1380666861165016, + -0.1328217059531855, + -0.9814764310020353 + ], + [ + 0.9481562297189908, + -0.09471039233049444, + 0.3033639820902809, + -0.15520724704115743, + -0.9709803579450036, + 0.18195564006344533, + 0.27732737786048745, + -0.21960666217033753, + -0.9353408145801347 + ], + [ + 0.9135964264503527, + -0.10964889917739337, + 0.3915593039200206, + -0.19882699869833528, + -0.9604484872142178, + 0.194952630134945, + 0.3546961998186017, + -0.2559605874292101, + -0.8992634672425741 + ], + [ + 0.9085810215447238, + -0.1077299586137759, + 0.4035774811678924, + -0.21325610541316128, + -0.950400154638275, + 0.22640976031866195, + 0.359168986401606, + -0.2917769731843441, + -0.8864896147878021 + ], + [ + 0.9023395065129844, + -0.08583700534872613, + 0.42239249933996903, + -0.19735945395464033, + -0.9534856989894672, + 0.2278470270977718, + 0.38318750099739574, + -0.2889585270161262, + -0.8773085595980703 + ], + [ + 0.9123009272719017, + -0.0760557444291311, + 0.4023960012700907, + -0.17717418961325376, + -0.9591855667711822, + 0.22039136787254807, + 0.3692104069954082, + -0.2723574347014906, + -0.8885409968758382 + ], + [ + 0.9160613882120736, + -0.06330723275718614, + 0.39600975658131965, + -0.1543916056151454, + -0.9670242652207691, + 0.20255197503309869, + 0.3701280388494581, + -0.24669062559177046, + -0.8956276961453319 + ], + [ + 0.9284501421234757, + -0.0721938505324899, + 0.3643739583672114, + -0.15267933734193023, + -0.9684083488791352, + 0.19716564043974869, + 0.33862863662089615, + -0.23869084139631266, + -0.9101413784098563 + ], + [ + 0.9266890242893324, + -0.08673243195454228, + 0.3656842046205108, + -0.15850891625990074, + -0.9724297583867373, + 0.1710417740495675, + 0.3407673337158313, + -0.21646674167447116, + -0.914887847783017 + ], + [ + 0.9281774978413789, + -0.09520509722217993, + 0.3597534182795658, + -0.16630450761170026, + -0.9709357669181667, + 0.17212363947773449, + 0.33291041324798915, + -0.21958990409840443, + -0.917033767518463 + ], + [ + 0.9291285046512322, + -0.09685236042545685, + 0.3568470850722783, + -0.1650909438096086, + -0.972211603643452, + 0.1659806555387679, + 0.3308552585597168, + -0.21312958035205687, + -0.9192989610906446 + ], + [ + 0.9269183233153514, + -0.10587356708352752, + 0.36001834633149943, + -0.1701584885807229, + -0.9736598360716667, + 0.15176499064283247, + 0.3344675031541654, + -0.20193392833772347, + -0.920518428886632 + ], + [ + 0.9166011223589008, + -0.10670172492058669, + 0.38530134231452484, + -0.17588578358026288, + -0.973077639119424, + 0.14894327571301996, + 0.3590356160950612, + -0.20429060219388262, + -0.9106913726562366 + ], + [ + 0.9141814115077601, + -0.08226167509963841, + 0.3968694541829604, + -0.15937710521344553, + -0.973265644586922, + 0.16538719237167493, + 0.3726543776577187, + -0.21444580172296362, + -0.9028519883878717 + ], + [ + 0.9395283372812971, + -0.05318676690109795, + 0.33831593410900673, + -0.12873846847603695, + -0.9702624506266854, + 0.20498093481673788, + 0.3173529741153941, + -0.236139672080969, + -0.9184362498778056 + ], + [ + 0.9711848740775937, + -0.02423477747189605, + 0.23709199886072965, + -0.08583183494191857, + -0.9636280857080712, + 0.2530885389445784, + 0.22233496457685595, + -0.26614580213763617, + -0.9379411364958476 + ], + [ + 0.9838624004405738, + -0.019525708284307747, + 0.17785815616751469, + -0.0656791698173711, + -0.9640479640963461, + 0.25748353262644025, + 0.16643624500514562, + -0.26500994252609905, + -0.9497729764058886 + ], + [ + 0.9956624805056336, + -0.007636636146553745, + 0.09272489796022407, + -0.02909129820756557, + -0.9722071582693934, + 0.2323078513058676, + 0.08837375901231828, + -0.23399769912996096, + -0.9682123504272795 + ], + [ + 0.997549344849415, + 0.021193482092659158, + 0.06667938892409615, + 0.006201920903097343, + -0.9760524435212766, + 0.21744692150788603, + 0.06969103792895086, + -0.21650049379373976, + -0.9737919158729201 + ], + [ + 0.9966923454033545, + 0.07028408437221219, + 0.040798481568801316, + 0.06191918478390875, + -0.9819172273277847, + 0.1788982203170606, + 0.05263442951202401, + -0.1757802780771357, + -0.9830213175048995 + ], + [ + 0.9816299969723177, + 0.18108804552763186, + 0.06008051939780402, + 0.1710333282823676, + -0.9747519534125008, + 0.14354870231099148, + 0.08455855758457241, + -0.1306359410173789, + -0.9878178482158136 + ], + [ + 0.9753068792640834, + 0.19691392599101845, + 0.1000069848108528, + 0.18271276748539553, + -0.9737845738036253, + 0.13549778012912103, + 0.12406665892971494, + -0.11387936412228314, + -0.9857174821261527 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.006579697132110596, + -0.001689821481704712, + -0.015888631343841553, + -0.012507259845733643, + 0.04774642363190651, + 0.004212040454149246, + 1.0 + ], + [ + 0.020051777362823486, + 0.0025556087493896484, + -0.0031539974734187126, + -0.04116404056549072, + -0.04789847508072853, + -0.029341213405132294, + 1.0 + ], + [ + 0.017855912446975708, + 0.00533643364906311, + -0.0011633033864200115, + 0.017943620681762695, + -0.028818994760513306, + -0.03963083401322365, + 1.0 + ], + [ + 0.0239812433719635, + 0.0027814656496047974, + 0.0016397670842707157, + 0.020618557929992676, + -0.1442001312971115, + -0.0664604976773262, + 1.0 + ], + [ + 0.02221086621284485, + 0.011674739420413971, + 0.004072871059179306, + 0.0960996001958847, + -0.14250211417675018, + -0.08762132376432419, + 1.0 + ], + [ + 0.015615373849868774, + 0.007349260151386261, + 0.010270011611282825, + 0.04668933153152466, + -0.08157786726951599, + -0.052034929394721985, + 1.0 + ], + [ + 0.01710370182991028, + 0.012044474482536316, + -0.009484555572271347, + 0.04066932201385498, + -0.004788190126419067, + -0.01625065505504608, + 1.0 + ], + [ + 0.01539185643196106, + 0.00679248571395874, + -0.0034972168505191803, + 0.0002091526985168457, + -0.025867432355880737, + 0.015211492776870728, + 1.0 + ], + [ + 0.009069949388504028, + 0.006929442286491394, + -0.016097882762551308, + -0.020749151706695557, + 0.015085488557815552, + 0.02351069450378418, + 1.0 + ], + [ + 0.006324142217636108, + -0.0007621049880981445, + -0.009979402646422386, + -0.028655439615249634, + -0.0009875893592834473, + 0.024848759174346924, + 1.0 + ], + [ + -0.0015491247177124023, + 0.0001226663589477539, + -0.011096477508544922, + -0.012293249368667603, + 0.03368780016899109, + 0.003982707858085632, + 0.0 + ], + [ + -0.00101470947265625, + -0.003782331943511963, + -0.00413508340716362, + -0.024148762226104736, + -0.0022739171981811523, + -0.0064225345849990845, + 0.0 + ], + [ + -0.003105074167251587, + -0.0004417896270751953, + -0.004354717209935188, + 0.002699121832847595, + 0.008344590663909912, + -0.007882758975028992, + 0.0 + ], + [ + -0.0017562508583068848, + -0.0013411641120910645, + -0.002681601792573929, + -0.007216706871986389, + 0.0021786391735076904, + 0.0014435648918151855, + 0.0 + ], + [ + -0.0030503571033477783, + -0.001873210072517395, + -0.001766599714756012, + -0.011865422129631042, + -0.0038304030895233154, + -0.005704626441001892, + 0.0 + ], + [ + -0.012720704078674316, + -0.004576399922370911, + 0.021981241181492805, + 0.004722520709037781, + -0.026194274425506592, + -0.008031606674194336, + 0.0 + ], + [ + -0.023477524518966675, + -0.0034389644861221313, + 0.031289227306842804, + 0.012527525424957275, + -0.014633387327194214, + 0.016980767250061035, + 0.0 + ], + [ + -0.029281198978424072, + 0.004611656069755554, + 0.006917380727827549, + 0.01846054196357727, + 0.058930933475494385, + 0.036427319049835205, + 0.0 + ], + [ + -0.02239811420440674, + 0.006290048360824585, + -0.009634732268750668, + 0.024827927350997925, + 0.09872813522815704, + 0.04802708327770233, + 0.0 + ], + [ + -0.008912920951843262, + 0.001431301236152649, + -0.014594655483961105, + -0.004383713006973267, + 0.05699433386325836, + 0.0214918851852417, + 0.0 + ], + [ + -0.010714918375015259, + 0.0028192251920700073, + -0.02598714455962181, + -0.03497089445590973, + 0.07872519642114639, + 0.03744783625006676, + 0.0 + ], + [ + 0.0011013150215148926, + 0.0042157769203186035, + -0.0016483832150697708, + -0.018363967537879944, + 0.01874162256717682, + 0.035426799207925797, + 1.0 + ], + [ + -0.00502440333366394, + -0.0033608078956604004, + -0.0020439140498638153, + -0.041822850704193115, + 0.017088811844587326, + 0.05582785606384277, + 1.0 + ], + [ + -0.009393692016601562, + -0.008723810315132141, + 0.01735750027000904, + -0.04546217620372772, + -0.032000888139009476, + 0.1104574054479599, + 1.0 + ], + [ + 0.0022536814212799072, + -0.00737626850605011, + 0.04210079833865166, + -0.016464516520500183, + -0.03972751647233963, + 0.012689828872680664, + 1.0 + ], + [ + -0.018081307411193848, + -0.011594139039516449, + 0.008216885849833488, + 0.003523707389831543, + 0.11380164325237274, + -0.013615041971206665, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9650423526763916 + ], + [ + 0.6931989789009094 + ], + [ + 0.39448216557502747 + ], + [ + 0.16654326021671295 + ], + [ + 0.08259850740432739 + ], + [ + 0.07591649144887924 + ], + [ + 0.06712212413549423 + ], + [ + 0.06621777266263962 + ], + [ + 0.06591799855232239 + ], + [ + 0.06591799855232239 + ], + [ + 0.06591799855232239 + ], + [ + 0.0832853764295578 + ], + [ + 0.2365749180316925 + ], + [ + 0.505268931388855 + ], + [ + 0.8121206760406494 + ], + [ + 1.0086473226547241 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.33834603428840637, + 0.09661939740180969, + 0.0115624675527215 + ], + [ + 0.35839781165122986, + 0.09917500615119934, + 0.008408470079302788 + ], + [ + 0.37625372409820557, + 0.10451143980026245, + 0.007245166692882776 + ], + [ + 0.40023496747016907, + 0.10729290544986725, + 0.008884933777153492 + ], + [ + 0.4224458336830139, + 0.11896764487028122, + 0.012957804836332798 + ], + [ + 0.4380612075328827, + 0.12631690502166748, + 0.023227816447615623 + ], + [ + 0.45516490936279297, + 0.1383613795042038, + 0.013743260875344276 + ], + [ + 0.47055676579475403, + 0.14515386521816254, + 0.010246044024825096 + ], + [ + 0.47962671518325806, + 0.15208330750465393, + -0.005851838272064924 + ], + [ + 0.48595085740089417, + 0.1513212025165558, + -0.015831241384148598 + ], + [ + 0.48440173268318176, + 0.15144386887550354, + -0.02692771889269352 + ], + [ + 0.4833870232105255, + 0.14766153693199158, + -0.03106280229985714 + ], + [ + 0.4802819490432739, + 0.14721974730491638, + -0.03541751950979233 + ], + [ + 0.47852569818496704, + 0.14587858319282532, + -0.03809912130236626 + ], + [ + 0.47547534108161926, + 0.14400537312030792, + -0.03986572101712227 + ], + [ + 0.46275463700294495, + 0.139428973197937, + -0.017884479835629463 + ], + [ + 0.43927711248397827, + 0.13599000871181488, + 0.013404748402535915 + ], + [ + 0.4099959135055542, + 0.14060166478157043, + 0.020322129130363464 + ], + [ + 0.38759779930114746, + 0.14689171314239502, + 0.010687396861612797 + ], + [ + 0.3786848783493042, + 0.14832301437854767, + -0.003907258156687021 + ], + [ + 0.36796995997428894, + 0.15114223957061768, + -0.029894402250647545 + ], + [ + 0.36907127499580383, + 0.15535801649093628, + -0.031542785465717316 + ], + [ + 0.3640468716621399, + 0.15199720859527588, + -0.03358669951558113 + ], + [ + 0.35465317964553833, + 0.14327339828014374, + -0.01622919924557209 + ], + [ + 0.35690686106681824, + 0.13589712977409363, + 0.025871599093079567 + ], + [ + 0.3388255536556244, + 0.12430299073457718, + 0.034088484942913055 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9947649151739244, + 0.048961049789745456, + -0.08969715236562027, + 0.06055549282553385, + -0.9894679893917689, + 0.13147672895865278, + -0.08231522233263998, + -0.13622009239644642, + -0.98725290103389 + ], + [ + 0.9989101239438104, + 0.028004243060779234, + -0.03734068361926788, + 0.03143401901542275, + -0.995011894508397, + 0.09467434834921672, + -0.03450314088745405, + -0.0957449328027525, + -0.9948077407778334 + ], + [ + 0.9999504089169341, + -0.008766595538697347, + -0.004725093598714993, + -0.008172675219306704, + -0.9934827613145878, + 0.11368909512570219, + -0.005690965350048775, + -0.11364484050497903, + -0.993505139966564 + ], + [ + 0.9876658159872398, + -0.055426556791086774, + 0.14643815326800638, + -0.07385002447573812, + -0.989588950640603, + 0.12353089757207675, + 0.1380666861165016, + -0.1328217059531855, + -0.9814764310020353 + ], + [ + 0.9481562297189908, + -0.09471039233049444, + 0.3033639820902809, + -0.15520724704115743, + -0.9709803579450036, + 0.18195564006344533, + 0.27732737786048745, + -0.21960666217033753, + -0.9353408145801347 + ], + [ + 0.9135964264503527, + -0.10964889917739337, + 0.3915593039200206, + -0.19882699869833528, + -0.9604484872142178, + 0.194952630134945, + 0.3546961998186017, + -0.2559605874292101, + -0.8992634672425741 + ], + [ + 0.9085810215447238, + -0.1077299586137759, + 0.4035774811678924, + -0.21325610541316128, + -0.950400154638275, + 0.22640976031866195, + 0.359168986401606, + -0.2917769731843441, + -0.8864896147878021 + ], + [ + 0.9023395065129844, + -0.08583700534872613, + 0.42239249933996903, + -0.19735945395464033, + -0.9534856989894672, + 0.2278470270977718, + 0.38318750099739574, + -0.2889585270161262, + -0.8773085595980703 + ], + [ + 0.9123009272719017, + -0.0760557444291311, + 0.4023960012700907, + -0.17717418961325376, + -0.9591855667711822, + 0.22039136787254807, + 0.3692104069954082, + -0.2723574347014906, + -0.8885409968758382 + ], + [ + 0.9160613882120736, + -0.06330723275718614, + 0.39600975658131965, + -0.1543916056151454, + -0.9670242652207691, + 0.20255197503309869, + 0.3701280388494581, + -0.24669062559177046, + -0.8956276961453319 + ], + [ + 0.9284501421234757, + -0.0721938505324899, + 0.3643739583672114, + -0.15267933734193023, + -0.9684083488791352, + 0.19716564043974869, + 0.33862863662089615, + -0.23869084139631266, + -0.9101413784098563 + ], + [ + 0.9266890242893324, + -0.08673243195454228, + 0.3656842046205108, + -0.15850891625990074, + -0.9724297583867373, + 0.1710417740495675, + 0.3407673337158313, + -0.21646674167447116, + -0.914887847783017 + ], + [ + 0.9281774978413789, + -0.09520509722217993, + 0.3597534182795658, + -0.16630450761170026, + -0.9709357669181667, + 0.17212363947773449, + 0.33291041324798915, + -0.21958990409840443, + -0.917033767518463 + ], + [ + 0.9291285046512322, + -0.09685236042545685, + 0.3568470850722783, + -0.1650909438096086, + -0.972211603643452, + 0.1659806555387679, + 0.3308552585597168, + -0.21312958035205687, + -0.9192989610906446 + ], + [ + 0.9269183233153514, + -0.10587356708352752, + 0.36001834633149943, + -0.1701584885807229, + -0.9736598360716667, + 0.15176499064283247, + 0.3344675031541654, + -0.20193392833772347, + -0.920518428886632 + ], + [ + 0.9166011223589008, + -0.10670172492058669, + 0.38530134231452484, + -0.17588578358026288, + -0.973077639119424, + 0.14894327571301996, + 0.3590356160950612, + -0.20429060219388262, + -0.9106913726562366 + ], + [ + 0.9141814115077601, + -0.08226167509963841, + 0.3968694541829604, + -0.15937710521344553, + -0.973265644586922, + 0.16538719237167493, + 0.3726543776577187, + -0.21444580172296362, + -0.9028519883878717 + ], + [ + 0.9395283372812971, + -0.05318676690109795, + 0.33831593410900673, + -0.12873846847603695, + -0.9702624506266854, + 0.20498093481673788, + 0.3173529741153941, + -0.236139672080969, + -0.9184362498778056 + ], + [ + 0.9711848740775937, + -0.02423477747189605, + 0.23709199886072965, + -0.08583183494191857, + -0.9636280857080712, + 0.2530885389445784, + 0.22233496457685595, + -0.26614580213763617, + -0.9379411364958476 + ], + [ + 0.9838624004405738, + -0.019525708284307747, + 0.17785815616751469, + -0.0656791698173711, + -0.9640479640963461, + 0.25748353262644025, + 0.16643624500514562, + -0.26500994252609905, + -0.9497729764058886 + ], + [ + 0.9956624805056336, + -0.007636636146553745, + 0.09272489796022407, + -0.02909129820756557, + -0.9722071582693934, + 0.2323078513058676, + 0.08837375901231828, + -0.23399769912996096, + -0.9682123504272795 + ], + [ + 0.997549344849415, + 0.021193482092659158, + 0.06667938892409615, + 0.006201920903097343, + -0.9760524435212766, + 0.21744692150788603, + 0.06969103792895086, + -0.21650049379373976, + -0.9737919158729201 + ], + [ + 0.9966923454033545, + 0.07028408437221219, + 0.040798481568801316, + 0.06191918478390875, + -0.9819172273277847, + 0.1788982203170606, + 0.05263442951202401, + -0.1757802780771357, + -0.9830213175048995 + ], + [ + 0.9816299969723177, + 0.18108804552763186, + 0.06008051939780402, + 0.1710333282823676, + -0.9747519534125008, + 0.14354870231099148, + 0.08455855758457241, + -0.1306359410173789, + -0.9878178482158136 + ], + [ + 0.9753068792640834, + 0.19691392599101845, + 0.1000069848108528, + 0.18271276748539553, + -0.9737845738036253, + 0.13549778012912103, + 0.12406665892971494, + -0.11387936412228314, + -0.9857174821261527 + ], + [ + 0.9852615159788197, + 0.1707717961446906, + -0.009835587050812068, + 0.17072696346553276, + -0.9781880032686866, + 0.11832385307730019, + 0.010585323658561819, + -0.11825913877048198, + -0.9929263452141389 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006485.json b/json/chunk-0006/episode_0006485.json new file mode 100644 index 0000000000000000000000000000000000000000..70b52071cf5cee16b9549963854ce98cb716a597 --- /dev/null +++ b/json/chunk-0006/episode_0006485.json @@ -0,0 +1,2602 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 42, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nTook the pyramid shaped bar and returned it on the white cuboid bar." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006485.mp4", + "start": 0, + "end": 42, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.28534793853759766, + -0.11865244060754776, + 0.11992774158716202, + -0.053438544273376465, + -0.3918745219707489, + -0.03939179703593254, + 0.0, + 1.0008161067962646 + ], + [ + 0.2831803560256958, + -0.11744631826877594, + 0.11292412132024765, + -0.04568863287568092, + -0.3682689666748047, + -0.039292462170124054, + 0.0, + 1.0008161067962646 + ], + [ + 0.2827271819114685, + -0.11752017587423325, + 0.11072881519794464, + -0.049955639988183975, + -0.36166301369667053, + -0.032619621604681015, + 0.0, + 0.9730880856513977 + ], + [ + 0.28359678387641907, + -0.1169867068529129, + 0.10870517790317535, + -0.07860983163118362, + -0.36399707198143005, + -0.006696632597595453, + 0.0, + 0.6991904973983765 + ], + [ + 0.2844019830226898, + -0.11632977426052094, + 0.1089259535074234, + -0.07780010998249054, + -0.36806437373161316, + -0.003458102699369192, + 0.0, + 0.3953573703765869 + ], + [ + 0.2829965353012085, + -0.11603158712387085, + 0.10961858928203583, + -0.07329997420310974, + -0.36150044202804565, + -0.006788150407373905, + 0.0, + 0.1729726642370224 + ], + [ + 0.2906511127948761, + -0.11960960924625397, + 0.13813523948192596, + -0.10592054575681686, + -0.4204777479171753, + 0.011130410246551037, + 0.0, + 0.1311166137456894 + ], + [ + 0.302695095539093, + -0.12554199993610382, + 0.18772107362747192, + -0.17458698153495789, + -0.5059413909912109, + 0.06321947276592255, + 0.0, + 0.12795238196849823 + ], + [ + 0.3116697669029236, + -0.13187293708324432, + 0.232424795627594, + -0.22985686361789703, + -0.555230438709259, + 0.08228946477174759, + 0.0, + 0.1270572394132614 + ], + [ + 0.31260553002357483, + -0.13872577250003815, + 0.237513929605484, + -0.22274045646190643, + -0.5500829815864563, + 0.0032466216944158077, + 0.0, + 0.1270572394132614 + ], + [ + 0.31222057342529297, + -0.13978028297424316, + 0.21375064551830292, + -0.10259445756673813, + -0.47818130254745483, + -0.16994565725326538, + 0.0, + 0.12661112844944 + ], + [ + 0.3066553771495819, + -0.13879048824310303, + 0.20284169912338257, + -0.061026059091091156, + -0.44980230927467346, + -0.23265136778354645, + 0.0, + 0.12661112844944 + ], + [ + 0.30408719182014465, + -0.1329394280910492, + 0.19026002287864685, + -0.036489635705947876, + -0.42984506487846375, + -0.211674764752388, + 0.0, + 0.12661112844944 + ], + [ + 0.30277329683303833, + -0.12429917603731155, + 0.17331698536872864, + -0.026991065591573715, + -0.4319811761379242, + -0.07326239347457886, + 0.0, + 0.12661112844944 + ], + [ + 0.3001699149608612, + -0.12111599743366241, + 0.16576267778873444, + -0.032331433147192, + -0.4401363730430603, + -0.009562290273606777, + 0.0, + 0.12661112844944 + ], + [ + 0.2938630282878876, + -0.1203327402472496, + 0.15052209794521332, + -0.05332666262984276, + -0.42132505774497986, + 0.06335359811782837, + 0.0, + 0.12661112844944 + ], + [ + 0.2908535301685333, + -0.12410975247621536, + 0.1460649073123932, + -0.06371015310287476, + -0.41916748881340027, + 0.06973408162593842, + 0.0, + 0.12661112844944 + ], + [ + 0.28553059697151184, + -0.12644971907138824, + 0.13898813724517822, + -0.09152974933385849, + -0.393874853849411, + 0.09003226459026337, + 0.0, + 0.12661112844944 + ], + [ + 0.2822655439376831, + -0.12545061111450195, + 0.13210457563400269, + -0.08976458758115768, + -0.3823517858982086, + 0.09076414257287979, + 0.0, + 0.12661112844944 + ], + [ + 0.2789425551891327, + -0.12536513805389404, + 0.12726089358329773, + -0.09279309958219528, + -0.3719364106655121, + 0.0867144837975502, + 0.0, + 0.12661112844944 + ], + [ + 0.2755955457687378, + -0.12803791463375092, + 0.12194300442934036, + -0.10154855996370316, + -0.36380288004875183, + 0.04961949214339256, + 0.0, + 0.12661112844944 + ], + [ + 0.27492421865463257, + -0.13326440751552582, + 0.11727771908044815, + -0.08880941569805145, + -0.3585095703601837, + -0.009054521098732948, + 0.0, + 0.12661112844944 + ], + [ + 0.2740755081176758, + -0.13960818946361542, + 0.11156072467565536, + -0.06356469541788101, + -0.3578800559043884, + -0.07016880810260773, + 0.0, + 0.12661112844944 + ], + [ + 0.2761188745498657, + -0.14092235267162323, + 0.10974636673927307, + -0.05395391583442688, + -0.363249272108078, + -0.09697752445936203, + 0.0, + 0.12661112844944 + ], + [ + 0.27909204363822937, + -0.14288097620010376, + 0.11048153042793274, + -0.05108080059289932, + -0.36917003989219666, + -0.11490076780319214, + 0.0, + 0.12661112844944 + ], + [ + 0.28300681710243225, + -0.14513486623764038, + 0.11494617909193039, + -0.05232635512948036, + -0.3865218460559845, + -0.12235017865896225, + 0.0, + 0.12661112844944 + ], + [ + 0.28827986121177673, + -0.14604508876800537, + 0.11841697245836258, + -0.0527559369802475, + -0.40142443776130676, + -0.11144447326660156, + 0.0, + 0.12661112844944 + ], + [ + 0.29304009675979614, + -0.14063841104507446, + 0.12001798301935196, + -0.04415029659867287, + -0.4274755120277405, + -0.04252426698803902, + 0.0, + 0.12661112844944 + ], + [ + 0.2952626049518585, + -0.13734696805477142, + 0.12078069895505905, + -0.035992324352264404, + -0.4396405518054962, + -0.016860362142324448, + 0.0, + 0.12661112844944 + ], + [ + 0.29757383465766907, + -0.13501150906085968, + 0.12131474912166595, + -0.036208633333444595, + -0.4576299786567688, + 0.020418014377355576, + 0.0, + 0.12661112844944 + ], + [ + 0.2975262403488159, + -0.13422340154647827, + 0.12190769612789154, + -0.03650504723191261, + -0.4596141278743744, + 0.022845786064863205, + 0.0, + 0.12661112844944 + ], + [ + 0.29546087980270386, + -0.1345299780368805, + 0.11977266520261765, + -0.04363924264907837, + -0.448527067899704, + 0.03089655190706253, + 0.0, + 0.12661112844944 + ], + [ + 0.291547954082489, + -0.13445547223091125, + 0.11517979204654694, + -0.041620489209890366, + -0.432477205991745, + 0.021702907979488373, + 0.0, + 0.12661112844944 + ], + [ + 0.28872188925743103, + -0.13234002888202667, + 0.11039619892835617, + -0.03250895440578461, + -0.42830297350883484, + 0.013068810105323792, + 0.0, + 0.12661112844944 + ], + [ + 0.287322461605072, + -0.13174787163734436, + 0.10996639728546143, + -0.02820437401533127, + -0.4385741353034973, + -0.0057546040043234825, + 0.0, + 0.12661112844944 + ], + [ + 0.2863084673881531, + -0.13139496743679047, + 0.10956282168626785, + -0.026131868362426758, + -0.4409206807613373, + -0.01648629456758499, + 0.0, + 0.14964459836483002 + ], + [ + 0.2846143841743469, + -0.13026030361652374, + 0.10827290266752243, + -0.01885037310421467, + -0.4322730600833893, + -0.014612008817493916, + 0.0, + 0.36191558837890625 + ], + [ + 0.2844461500644684, + -0.13010470569133759, + 0.10819128155708313, + -0.01928514428436756, + -0.43102455139160156, + -0.011259818449616432, + 0.0, + 0.6821943521499634 + ], + [ + 0.2843707501888275, + -0.12982110679149628, + 0.10767385363578796, + -0.01616303250193596, + -0.4291718304157257, + -0.012863061390817165, + 0.0, + 0.9583302736282349 + ], + [ + 0.28410547971725464, + -0.129791259765625, + 0.10755212604999542, + -0.016498466953635216, + -0.4273110032081604, + -0.011651220731437206, + 0.0, + 1.0008161067962646 + ], + [ + 0.28559738397598267, + -0.131392702460289, + 0.11290259659290314, + -0.01866699941456318, + -0.4286201000213623, + -0.012345503084361553, + 0.0, + 1.0001531839370728 + ], + [ + 0.2935493290424347, + -0.13513273000717163, + 0.14630894362926483, + -0.055016711354255676, + -0.5088774561882019, + -0.008866865187883377, + 0.0, + 1.0001531839370728 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9730880856513977 + ], + [ + 0.6991904973983765 + ], + [ + 0.3953573703765869 + ], + [ + 0.1729726642370224 + ], + [ + 0.1311166137456894 + ], + [ + 0.12795238196849823 + ], + [ + 0.1270572394132614 + ], + [ + 0.1270572394132614 + ], + [ + 0.12661112844944 + ], + [ + 0.12661112844944 + ], + [ + 0.12661112844944 + ], + [ + 0.12661112844944 + ], + [ + 0.12661112844944 + ], + [ + 0.12661112844944 + ], + [ + 0.12661112844944 + ], + [ + 0.12661112844944 + ], + [ + 0.12661112844944 + ], + [ + 0.12661112844944 + ], + [ + 0.12661112844944 + ], + [ + 0.12661112844944 + ], + [ + 0.12661112844944 + ], + [ + 0.12661112844944 + ], + [ + 0.12661112844944 + ], + [ + 0.12661112844944 + ], + [ + 0.12661112844944 + ], + [ + 0.12661112844944 + ], + [ + 0.12661112844944 + ], + [ + 0.12661112844944 + ], + [ + 0.12661112844944 + ], + [ + 0.12661112844944 + ], + [ + 0.12661112844944 + ], + [ + 0.12661112844944 + ], + [ + 0.12661112844944 + ], + [ + 0.14964459836483002 + ], + [ + 0.36191558837890625 + ], + [ + 0.6821943521499634 + ], + [ + 0.9583302736282349 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.28534793853759766, + -0.11865244060754776, + 0.11992774158716202 + ], + [ + 0.2831803560256958, + -0.11744631826877594, + 0.11292412132024765 + ], + [ + 0.2827271819114685, + -0.11752017587423325, + 0.11072881519794464 + ], + [ + 0.28359678387641907, + -0.1169867068529129, + 0.10870517790317535 + ], + [ + 0.2844019830226898, + -0.11632977426052094, + 0.1089259535074234 + ], + [ + 0.2829965353012085, + -0.11603158712387085, + 0.10961858928203583 + ], + [ + 0.2906511127948761, + -0.11960960924625397, + 0.13813523948192596 + ], + [ + 0.302695095539093, + -0.12554199993610382, + 0.18772107362747192 + ], + [ + 0.3116697669029236, + -0.13187293708324432, + 0.232424795627594 + ], + [ + 0.31260553002357483, + -0.13872577250003815, + 0.237513929605484 + ], + [ + 0.31222057342529297, + -0.13978028297424316, + 0.21375064551830292 + ], + [ + 0.3066553771495819, + -0.13879048824310303, + 0.20284169912338257 + ], + [ + 0.30408719182014465, + -0.1329394280910492, + 0.19026002287864685 + ], + [ + 0.30277329683303833, + -0.12429917603731155, + 0.17331698536872864 + ], + [ + 0.3001699149608612, + -0.12111599743366241, + 0.16576267778873444 + ], + [ + 0.2938630282878876, + -0.1203327402472496, + 0.15052209794521332 + ], + [ + 0.2908535301685333, + -0.12410975247621536, + 0.1460649073123932 + ], + [ + 0.28553059697151184, + -0.12644971907138824, + 0.13898813724517822 + ], + [ + 0.2822655439376831, + -0.12545061111450195, + 0.13210457563400269 + ], + [ + 0.2789425551891327, + -0.12536513805389404, + 0.12726089358329773 + ], + [ + 0.2755955457687378, + -0.12803791463375092, + 0.12194300442934036 + ], + [ + 0.27492421865463257, + -0.13326440751552582, + 0.11727771908044815 + ], + [ + 0.2740755081176758, + -0.13960818946361542, + 0.11156072467565536 + ], + [ + 0.2761188745498657, + -0.14092235267162323, + 0.10974636673927307 + ], + [ + 0.27909204363822937, + -0.14288097620010376, + 0.11048153042793274 + ], + [ + 0.28300681710243225, + -0.14513486623764038, + 0.11494617909193039 + ], + [ + 0.28827986121177673, + -0.14604508876800537, + 0.11841697245836258 + ], + [ + 0.29304009675979614, + -0.14063841104507446, + 0.12001798301935196 + ], + [ + 0.2952626049518585, + -0.13734696805477142, + 0.12078069895505905 + ], + [ + 0.29757383465766907, + -0.13501150906085968, + 0.12131474912166595 + ], + [ + 0.2975262403488159, + -0.13422340154647827, + 0.12190769612789154 + ], + [ + 0.29546087980270386, + -0.1345299780368805, + 0.11977266520261765 + ], + [ + 0.291547954082489, + -0.13445547223091125, + 0.11517979204654694 + ], + [ + 0.28872188925743103, + -0.13234002888202667, + 0.11039619892835617 + ], + [ + 0.287322461605072, + -0.13174787163734436, + 0.10996639728546143 + ], + [ + 0.2863084673881531, + -0.13139496743679047, + 0.10956282168626785 + ], + [ + 0.2846143841743469, + -0.13026030361652374, + 0.10827290266752243 + ], + [ + 0.2844461500644684, + -0.13010470569133759, + 0.10819128155708313 + ], + [ + 0.2843707501888275, + -0.12982110679149628, + 0.10767385363578796 + ], + [ + 0.28410547971725464, + -0.129791259765625, + 0.10755212604999542 + ], + [ + 0.28559738397598267, + -0.131392702460289, + 0.11290259659290314 + ], + [ + 0.2935493290424347, + -0.13513273000717163, + 0.14630894362926483 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9234778136397606, + -0.05970918508844439, + 0.3789769662277663, + -0.03639627808395307, + -0.9969944818519793, + -0.06839089192530683, + 0.38192150850241885, + 0.04936412029781684, + -0.922875476416217 + ], + [ + 0.9322318183577548, + -0.0556709003645605, + 0.3575536151320433, + -0.036648545931975404, + -0.9975395223974445, + -0.0597644152999957, + 0.3600010012798104, + 0.04261046946089247, + -0.9319783403973809 + ], + [ + 0.934812133700417, + -0.05023221236482806, + 0.3515721825278676, + -0.030504038009607708, + -0.9976449311470657, + -0.061433663586628204, + 0.35383015466687096, + 0.04670456291949872, + -0.9341428720762776 + ], + [ + 0.9344603324762564, + -0.034632524631464115, + 0.354378999470927, + -0.006257831067811472, + -0.9967022668105081, + -0.08090383727068398, + 0.35601225621976973, + 0.07338378276189919, + -0.9315954561121814 + ], + [ + 0.9330199721715168, + -0.03141250364888363, + 0.35845081412039104, + -0.0032264917456481298, + -0.996872430763922, + -0.07896167762810734, + 0.3598101183681158, + 0.07251628367021269, + -0.93020323979364 + ], + [ + 0.9353456530035418, + -0.03267066034865418, + 0.35222313575311986, + -0.006349364499863525, + -0.9971159608097243, + -0.07562702075943398, + 0.3536780951342982, + 0.06850101204276371, + -0.9328555174148305 + ], + [ + 0.9128374825836496, + -0.032085133123829046, + 0.40706052943361143, + 0.010160675261631424, + -0.9948143960877015, + -0.10119821152021446, + 0.4081966328481576, + 0.0965135304974829, + -0.9077778623442734 + ], + [ + 0.872971222094046, + -0.02179597020530173, + 0.48728449706350985, + 0.05526242249787526, + -0.9881493884508654, + -0.14320213253945385, + 0.48463110718906033, + 0.15193986240282892, + -0.8614214811331995 + ], + [ + 0.8469034497643342, + -0.03966122418824149, + 0.5302655316661264, + 0.06984896487423549, + -0.9802761606669594, + -0.1848777188685621, + 0.5271391361711513, + 0.1936120763897111, + -0.8274289667353911 + ], + [ + 0.8524766529017023, + -0.1123118917511629, + 0.5105581213033297, + 0.002767678919588727, + -0.9756655123621591, + -0.21924677407087065, + 0.5227579709683139, + 0.18831581706898762, + -0.8314212270748991 + ], + [ + 0.8750431294378954, + -0.21468818114322047, + 0.4338300433360396, + -0.1501581698929743, + -0.9724408738526257, + -0.17835714416623205, + 0.46016523732016834, + 0.09092706823689617, + -0.8831648898274408 + ], + [ + 0.876271380646883, + -0.25593157784436155, + 0.4082248092917686, + -0.20762534470027708, + -0.965133469821435, + -0.15940232642131744, + 0.43478751557202794, + 0.05492187990712464, + -0.8988567201785671 + ], + [ + 0.888741153399976, + -0.2248213491129852, + 0.399492832521809, + -0.19098507036238324, + -0.9738355035747338, + -0.12316296064978552, + 0.4167299667074068, + 0.03316282497560077, + -0.9084252098481644 + ], + [ + 0.9057020014700214, + -0.0844389019081474, + 0.4154202166213668, + -0.06647286732154972, + -0.996127199959437, + -0.05754962563755979, + 0.4186708043836454, + 0.024508638181626807, + -0.9078072946453081 + ], + [ + 0.9046522070494916, + -0.023329340142883494, + 0.42551160521069376, + -0.008650810671271826, + -0.9992999925661938, + -0.03639626810449944, + 0.42606284484241697, + 0.02924494393399376, + -0.9042207614842097 + ], + [ + 0.9107171084244002, + 0.04146628980479458, + 0.41094390764789784, + 0.05777452249440557, + -0.9979552547313112, + -0.027338875337277024, + 0.4089699903093656, + 0.04864006953108248, + -0.9112506190189222 + ], + [ + 0.9112080605467396, + 0.04368669001072385, + 0.4096234167019223, + 0.06364545666942889, + -0.9973512100510163, + -0.03521107290489306, + 0.40700015508595283, + 0.05815528286992305, + -0.9115749211306386 + ], + [ + 0.9196889036765229, + 0.054599097929281935, + 0.3888332019768684, + 0.08302612733682586, + -0.9949346859205089, + -0.05667127077900727, + 0.38376943942128144, + 0.08440325383281777, + -0.9195635421811308 + ], + [ + 0.9239707394853339, + 0.0569658001052866, + 0.37819699918599264, + 0.08409446589410852, + -0.9949057769061053, + -0.05559330791420592, + 0.3731034620328653, + 0.08317086447322536, + -0.9240543349402494 + ], + [ + 0.9281249236899661, + 0.05268527807444115, + 0.3685218955499301, + 0.08068420742998667, + -0.994873037114602, + -0.06097293410820085, + 0.36342012148048386, + 0.08632439687936969, + -0.9276173315578594 + ], + [ + 0.9334001633989233, + 0.013315982176260826, + 0.3585900439018685, + 0.04635289004419439, + -0.9954130619673142, + -0.08369137141549352, + 0.3558307807812771, + 0.09473922463022783, + -0.9297359489473607 + ], + [ + 0.9363824382857505, + -0.04013784749673495, + 0.34867876687340976, + -0.008478726252834565, + -0.9957364282026369, + -0.09185356145182805, + 0.3508789541582143, + 0.08305371002299719, + -0.932730422351632 + ], + [ + 0.9343366147507018, + -0.09216593914290146, + 0.34426810772725613, + -0.06566909949276224, + -0.9939645452135726, + -0.08787520827961436, + 0.350289394227128, + 0.05949724800596155, + -0.9347499225844894 + ], + [ + 0.93035521330377, + -0.1157559081079345, + 0.34790766995943656, + -0.09050745351889684, + -0.9919977427822633, + -0.08802771820523098, + 0.3553133517559135, + 0.050408809279750416, + -0.9333870440556674 + ], + [ + 0.9264775622185413, + -0.13280114450317976, + 0.35214085636891734, + -0.10692394118830596, + -0.9899981426113034, + -0.09203775544269292, + 0.3608415130030753, + 0.047618627078222606, + -0.9314106875320018 + ], + [ + 0.9193018609700269, + -0.14144713958734656, + 0.3672557625410425, + -0.11304137074551046, + -0.9887597759711401, + -0.09785578123686106, + 0.37696914584223057, + 0.04844390698589509, + -0.9249580806495613 + ], + [ + 0.9147949926862319, + -0.13153514803077473, + 0.3819013304359116, + -0.10237301731839142, + -0.9901224227902676, + -0.09579850318798869, + 0.39072994085599005, + 0.048539599508575774, + -0.9192246845022286 + ], + [ + 0.909192565109244, + -0.06075113926158378, + 0.4119201119495051, + -0.03868606903808268, + -0.9973445346277194, + -0.061703057546595455, + 0.414574803397956, + 0.04016439127681912, + -0.9091284585034772 + ], + [ + 0.9047760915366022, + -0.032162005369407526, + 0.4246714372245539, + -0.015256298233600734, + -0.9989520924456949, + -0.043150461904542164, + 0.425614226204855, + 0.03256259217240107, + -0.9043186429810327 + ], + [ + 0.8969151541237949, + 0.004412228563694061, + 0.4421806627863668, + 0.018315771836043448, + -0.9994627848032142, + -0.02717856316021097, + 0.44182319858189756, + 0.03247574529560948, + -0.8965141310444333 + ], + [ + 0.8959898651821314, + 0.006642677404067207, + 0.44402481499102225, + 0.020473154750995086, + -0.9994428289929793, + -0.026360605248211155, + 0.4436023122408717, + 0.03270942389305726, + -0.8956266421691219 + ], + [ + 0.9006567469162452, + 0.011953593521442603, + 0.43436682174881974, + 0.027836045896501863, + -0.9991555507561601, + -0.03022151455507222, + 0.43363876531405104, + 0.03931026577217109, + -0.9002289287852434 + ], + [ + 0.9077164703755329, + 0.004247523517082752, + 0.4195625912220439, + 0.019703180631023186, + -0.9992771447190607, + -0.03251111679322125, + 0.41912121645414874, + 0.03777759370437759, + -0.9071440124544181 + ], + [ + 0.909594199214091, + -0.00043680408452428064, + 0.4154975354418706, + 0.01188799066849658, + -0.9995626971640547, + -0.027075636945165443, + 0.41532766394010223, + 0.029567273129465502, + -0.9091912383683343 + ], + [ + 0.9053430847030944, + -0.017727456042942357, + 0.4243107779476394, + -0.005209948450605057, + -0.999516818770209, + -0.030642869196973482, + 0.4246489790608561, + 0.02553167244279808, + -0.9049979990501891 + ], + [ + 0.9042362268708637, + -0.02762949150328695, + 0.42613783827960355, + -0.014908855551269713, + -0.9993389008913806, + -0.03315851612118149, + 0.42677227187399974, + 0.023629904030212912, + -0.9040503612050755 + ], + [ + 0.9079188960186896, + -0.022504679479065922, + 0.41854129742923646, + -0.013267463176534901, + -0.9996002209281, + -0.024967433615673197, + 0.4189358574687339, + 0.01711542351326039, + -0.9078545090513669 + ], + [ + 0.9084805738946099, + -0.019313845866611418, + 0.4174805650733468, + -0.010229758652285422, + -0.9996599510954808, + -0.02398612544153165, + 0.41780186559425053, + 0.017520203583910703, + -0.9083692220525429 + ], + [ + 0.9092354521565539, + -0.019585904190859454, + 0.41582121747055334, + -0.01169619652469913, + -0.9997001565212432, + -0.021512694816250014, + 0.4161178817697244, + 0.014696578119683789, + -0.9091919044201007 + ], + [ + 0.9100216547017266, + -0.018485975907809073, + 0.41414835103941594, + -0.010603342978268034, + -0.9997163795223474, + -0.021324390552018138, + 0.41442509225626845, + 0.015014300165698337, + -0.9099595670681844 + ], + [ + 0.909470812829493, + -0.020100302862400006, + 0.4152816134096244, + -0.011228445178576435, + -0.9996538129522596, + -0.02379445878518894, + 0.41561612412192656, + 0.01697739894236292, + -0.9093816609625569 + ], + [ + 0.8732576285547506, + -0.03564275051915412, + 0.48595340157916667, + -0.007743260596149637, + -0.9982101671470026, + -0.059300119052946035, + 0.48719724556515465, + 0.048021417511177195, + -0.871970634467666 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0021675825119018555, + 0.00120612233877182, + -0.007003620266914368, + 0.007749911397695541, + 0.023605555295944214, + 9.933486580848694e-05, + 1.0 + ], + [ + -0.0004531741142272949, + -7.385760545730591e-05, + -0.002195306122303009, + -0.004267007112503052, + 0.006605952978134155, + 0.006672840565443039, + 0.0 + ], + [ + 0.0008696019649505615, + 0.000533469021320343, + -0.002023637294769287, + -0.02865419164299965, + -0.0023340582847595215, + 0.02592298947274685, + 0.0 + ], + [ + 0.000805199146270752, + 0.0006569325923919678, + 0.00022077560424804688, + 0.0008097216486930847, + -0.0040673017501831055, + 0.003238529898226261, + 0.0 + ], + [ + -0.0014054477214813232, + 0.00029818713665008545, + 0.0006926357746124268, + 0.004500135779380798, + 0.006563931703567505, + -0.003330047708004713, + 0.0 + ], + [ + 0.0076545774936676025, + -0.0035780221223831177, + 0.028516650199890137, + -0.03262057155370712, + -0.05897730588912964, + 0.017918560653924942, + 0.0 + ], + [ + 0.012043982744216919, + -0.0059323906898498535, + 0.04958583414554596, + -0.06866643577814102, + -0.08546364307403564, + 0.052089061588048935, + 0.0 + ], + [ + 0.008974671363830566, + -0.006330937147140503, + 0.04470372200012207, + -0.05526988208293915, + -0.049289047718048096, + 0.019069992005825043, + 0.0 + ], + [ + 0.0009357631206512451, + -0.006852835416793823, + 0.005089133977890015, + 0.007116407155990601, + 0.005147457122802734, + -0.07904284447431564, + 0.0 + ], + [ + -0.00038495659828186035, + -0.001054510474205017, + -0.02376328408718109, + 0.1201459988951683, + 0.07190167903900146, + -0.17319227755069733, + 0.0 + ], + [ + -0.00556519627571106, + 0.0009897947311401367, + -0.010908946394920349, + 0.04156839847564697, + 0.028378993272781372, + -0.06270571053028107, + 0.0 + ], + [ + -0.002568185329437256, + 0.005851060152053833, + -0.012581676244735718, + 0.02453642338514328, + 0.019957244396209717, + 0.020976603031158447, + 0.0 + ], + [ + -0.0013138949871063232, + 0.00864025205373764, + -0.016943037509918213, + 0.00949857011437416, + -0.0021361112594604492, + 0.13841237127780914, + 0.0 + ], + [ + -0.002603381872177124, + 0.0031831786036491394, + -0.007554307579994202, + -0.005340367555618286, + -0.008155196905136108, + 0.0637001022696495, + 0.0 + ], + [ + -0.006306886672973633, + 0.0007832571864128113, + -0.015240579843521118, + -0.020995229482650757, + 0.018811315298080444, + 0.07291588932275772, + 0.0 + ], + [ + -0.003009498119354248, + -0.0037770122289657593, + -0.004457190632820129, + -0.010383490473031998, + 0.00215756893157959, + 0.006380483508110046, + 0.0 + ], + [ + -0.005322933197021484, + -0.002339966595172882, + -0.007076770067214966, + -0.027819596230983734, + 0.025292634963989258, + 0.02029818296432495, + 0.0 + ], + [ + -0.0032650530338287354, + 0.0009991079568862915, + -0.006883561611175537, + 0.0017651617527008057, + 0.011523067951202393, + 0.0007318779826164246, + 0.0 + ], + [ + -0.003322988748550415, + 8.547306060791016e-05, + -0.004843682050704956, + -0.0030285120010375977, + 0.010415375232696533, + -0.00404965877532959, + 0.0 + ], + [ + -0.0033470094203948975, + -0.0026727765798568726, + -0.005317889153957367, + -0.008755460381507874, + 0.008133530616760254, + -0.03709499165415764, + 0.0 + ], + [ + -0.0006713271141052246, + -0.005226492881774902, + -0.004665285348892212, + 0.012739144265651703, + 0.005293309688568115, + -0.05867401510477066, + 0.0 + ], + [ + -0.0008487105369567871, + -0.0063437819480896, + -0.005716994404792786, + 0.02524472028017044, + 0.0006295144557952881, + -0.06111428886651993, + 0.0 + ], + [ + 0.0020433664321899414, + -0.0013141632080078125, + -0.0018143579363822937, + 0.009610779583454132, + -0.005369216203689575, + -0.026808716356754303, + 0.0 + ], + [ + 0.0029731690883636475, + -0.00195862352848053, + 0.000735163688659668, + 0.0028731152415275574, + -0.005920767784118652, + -0.01792324334383011, + 0.0 + ], + [ + 0.003914773464202881, + -0.002253890037536621, + 0.00446464866399765, + -0.0012455545365810394, + -0.017351806163787842, + -0.007449410855770111, + 0.0 + ], + [ + 0.005273044109344482, + -0.0009102225303649902, + 0.00347079336643219, + -0.0004295818507671356, + -0.014902591705322266, + 0.010905705392360687, + 0.0 + ], + [ + 0.004760235548019409, + 0.005406677722930908, + 0.0016010105609893799, + 0.00860564038157463, + -0.026051074266433716, + 0.06892021000385284, + 0.0 + ], + [ + 0.002222508192062378, + 0.0032914429903030396, + 0.0007627159357070923, + 0.008157972246408463, + -0.012165039777755737, + 0.02566390484571457, + 0.0 + ], + [ + 0.002311229705810547, + 0.002335458993911743, + 0.0005340501666069031, + -0.00021630898118019104, + -0.017989426851272583, + 0.03727837651968002, + 0.0 + ], + [ + -4.7594308853149414e-05, + 0.0007881075143814087, + 0.0005929470062255859, + -0.0002964138984680176, + -0.001984149217605591, + 0.0024277716875076294, + 0.0 + ], + [ + -0.0020653605461120605, + -0.0003065764904022217, + -0.0021350309252738953, + -0.007134195417165756, + 0.01108705997467041, + 0.008050765842199326, + 0.0 + ], + [ + -0.003912925720214844, + 7.450580596923828e-05, + -0.004592873156070709, + 0.0020187534391880035, + 0.016049861907958984, + -0.009193643927574158, + 0.0 + ], + [ + -0.0028260648250579834, + 0.0021154433488845825, + -0.004783593118190765, + 0.009111534804105759, + 0.004174232482910156, + -0.008634097874164581, + 0.0 + ], + [ + -0.0013994276523590088, + 0.000592157244682312, + -0.0004298016428947449, + 0.004304580390453339, + -0.010271161794662476, + -0.01882341504096985, + 0.0 + ], + [ + -0.0010139942169189453, + 0.00035290420055389404, + -0.000403575599193573, + 0.0020725056529045105, + -0.002346545457839966, + -0.010731690563261509, + 1.0 + ], + [ + -0.0016940832138061523, + 0.0011346638202667236, + -0.0012899190187454224, + 0.0072814952582120895, + 0.008647620677947998, + 0.001874285750091076, + 1.0 + ], + [ + -0.00016823410987854004, + 0.00015559792518615723, + -8.162111043930054e-05, + -0.00043477118015289307, + 0.0012485086917877197, + 0.0033521903678774834, + 1.0 + ], + [ + -7.539987564086914e-05, + 0.0002835988998413086, + -0.000517427921295166, + 0.0031221117824316025, + 0.0018527209758758545, + -0.0016032429412007332, + 1.0 + ], + [ + -0.000265270471572876, + 2.9847025871276855e-05, + -0.0001217275857925415, + -0.0003354344516992569, + 0.0018608272075653076, + 0.001211840659379959, + 1.0 + ], + [ + 0.0014919042587280273, + -0.0016014426946640015, + 0.005350470542907715, + -0.0021685324609279633, + -0.0013090968132019043, + -0.0006942823529243469, + 1.0 + ], + [ + 0.007951945066452026, + -0.0037400275468826294, + 0.033406347036361694, + -0.036349713802337646, + -0.0802573561668396, + 0.003478637896478176, + 1.0 + ], + [ + 0.006229579448699951, + -0.0013747811317443848, + 0.03739862143993378, + -0.057621195912361145, + -0.08673632144927979, + 0.03279232233762741, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 0.9730880856513977 + ], + [ + 0.6991904973983765 + ], + [ + 0.3953573703765869 + ], + [ + 0.1729726642370224 + ], + [ + 0.1311166137456894 + ], + [ + 0.12795238196849823 + ], + [ + 0.1270572394132614 + ], + [ + 0.1270572394132614 + ], + [ + 0.12661112844944 + ], + [ + 0.12661112844944 + ], + [ + 0.12661112844944 + ], + [ + 0.12661112844944 + ], + [ + 0.12661112844944 + ], + [ + 0.12661112844944 + ], + [ + 0.12661112844944 + ], + [ + 0.12661112844944 + ], + [ + 0.12661112844944 + ], + [ + 0.12661112844944 + ], + [ + 0.12661112844944 + ], + [ + 0.12661112844944 + ], + [ + 0.12661112844944 + ], + [ + 0.12661112844944 + ], + [ + 0.12661112844944 + ], + [ + 0.12661112844944 + ], + [ + 0.12661112844944 + ], + [ + 0.12661112844944 + ], + [ + 0.12661112844944 + ], + [ + 0.12661112844944 + ], + [ + 0.12661112844944 + ], + [ + 0.12661112844944 + ], + [ + 0.12661112844944 + ], + [ + 0.12661112844944 + ], + [ + 0.12661112844944 + ], + [ + 0.14964459836483002 + ], + [ + 0.36191558837890625 + ], + [ + 0.6821943521499634 + ], + [ + 0.9583302736282349 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2831803560256958, + -0.11744631826877594, + 0.11292412132024765 + ], + [ + 0.2827271819114685, + -0.11752017587423325, + 0.11072881519794464 + ], + [ + 0.28359678387641907, + -0.1169867068529129, + 0.10870517790317535 + ], + [ + 0.2844019830226898, + -0.11632977426052094, + 0.1089259535074234 + ], + [ + 0.2829965353012085, + -0.11603158712387085, + 0.10961858928203583 + ], + [ + 0.2906511127948761, + -0.11960960924625397, + 0.13813523948192596 + ], + [ + 0.302695095539093, + -0.12554199993610382, + 0.18772107362747192 + ], + [ + 0.3116697669029236, + -0.13187293708324432, + 0.232424795627594 + ], + [ + 0.31260553002357483, + -0.13872577250003815, + 0.237513929605484 + ], + [ + 0.31222057342529297, + -0.13978028297424316, + 0.21375064551830292 + ], + [ + 0.3066553771495819, + -0.13879048824310303, + 0.20284169912338257 + ], + [ + 0.30408719182014465, + -0.1329394280910492, + 0.19026002287864685 + ], + [ + 0.30277329683303833, + -0.12429917603731155, + 0.17331698536872864 + ], + [ + 0.3001699149608612, + -0.12111599743366241, + 0.16576267778873444 + ], + [ + 0.2938630282878876, + -0.1203327402472496, + 0.15052209794521332 + ], + [ + 0.2908535301685333, + -0.12410975247621536, + 0.1460649073123932 + ], + [ + 0.28553059697151184, + -0.12644971907138824, + 0.13898813724517822 + ], + [ + 0.2822655439376831, + -0.12545061111450195, + 0.13210457563400269 + ], + [ + 0.2789425551891327, + -0.12536513805389404, + 0.12726089358329773 + ], + [ + 0.2755955457687378, + -0.12803791463375092, + 0.12194300442934036 + ], + [ + 0.27492421865463257, + -0.13326440751552582, + 0.11727771908044815 + ], + [ + 0.2740755081176758, + -0.13960818946361542, + 0.11156072467565536 + ], + [ + 0.2761188745498657, + -0.14092235267162323, + 0.10974636673927307 + ], + [ + 0.27909204363822937, + -0.14288097620010376, + 0.11048153042793274 + ], + [ + 0.28300681710243225, + -0.14513486623764038, + 0.11494617909193039 + ], + [ + 0.28827986121177673, + -0.14604508876800537, + 0.11841697245836258 + ], + [ + 0.29304009675979614, + -0.14063841104507446, + 0.12001798301935196 + ], + [ + 0.2952626049518585, + -0.13734696805477142, + 0.12078069895505905 + ], + [ + 0.29757383465766907, + -0.13501150906085968, + 0.12131474912166595 + ], + [ + 0.2975262403488159, + -0.13422340154647827, + 0.12190769612789154 + ], + [ + 0.29546087980270386, + -0.1345299780368805, + 0.11977266520261765 + ], + [ + 0.291547954082489, + -0.13445547223091125, + 0.11517979204654694 + ], + [ + 0.28872188925743103, + -0.13234002888202667, + 0.11039619892835617 + ], + [ + 0.287322461605072, + -0.13174787163734436, + 0.10996639728546143 + ], + [ + 0.2863084673881531, + -0.13139496743679047, + 0.10956282168626785 + ], + [ + 0.2846143841743469, + -0.13026030361652374, + 0.10827290266752243 + ], + [ + 0.2844461500644684, + -0.13010470569133759, + 0.10819128155708313 + ], + [ + 0.2843707501888275, + -0.12982110679149628, + 0.10767385363578796 + ], + [ + 0.28410547971725464, + -0.129791259765625, + 0.10755212604999542 + ], + [ + 0.28559738397598267, + -0.131392702460289, + 0.11290259659290314 + ], + [ + 0.2935493290424347, + -0.13513273000717163, + 0.14630894362926483 + ], + [ + 0.29977890849113464, + -0.13650751113891602, + 0.1837075650691986 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9322318183577548, + -0.0556709003645605, + 0.3575536151320433, + -0.036648545931975404, + -0.9975395223974445, + -0.0597644152999957, + 0.3600010012798104, + 0.04261046946089247, + -0.9319783403973809 + ], + [ + 0.934812133700417, + -0.05023221236482806, + 0.3515721825278676, + -0.030504038009607708, + -0.9976449311470657, + -0.061433663586628204, + 0.35383015466687096, + 0.04670456291949872, + -0.9341428720762776 + ], + [ + 0.9344603324762564, + -0.034632524631464115, + 0.354378999470927, + -0.006257831067811472, + -0.9967022668105081, + -0.08090383727068398, + 0.35601225621976973, + 0.07338378276189919, + -0.9315954561121814 + ], + [ + 0.9330199721715168, + -0.03141250364888363, + 0.35845081412039104, + -0.0032264917456481298, + -0.996872430763922, + -0.07896167762810734, + 0.3598101183681158, + 0.07251628367021269, + -0.93020323979364 + ], + [ + 0.9353456530035418, + -0.03267066034865418, + 0.35222313575311986, + -0.006349364499863525, + -0.9971159608097243, + -0.07562702075943398, + 0.3536780951342982, + 0.06850101204276371, + -0.9328555174148305 + ], + [ + 0.9128374825836496, + -0.032085133123829046, + 0.40706052943361143, + 0.010160675261631424, + -0.9948143960877015, + -0.10119821152021446, + 0.4081966328481576, + 0.0965135304974829, + -0.9077778623442734 + ], + [ + 0.872971222094046, + -0.02179597020530173, + 0.48728449706350985, + 0.05526242249787526, + -0.9881493884508654, + -0.14320213253945385, + 0.48463110718906033, + 0.15193986240282892, + -0.8614214811331995 + ], + [ + 0.8469034497643342, + -0.03966122418824149, + 0.5302655316661264, + 0.06984896487423549, + -0.9802761606669594, + -0.1848777188685621, + 0.5271391361711513, + 0.1936120763897111, + -0.8274289667353911 + ], + [ + 0.8524766529017023, + -0.1123118917511629, + 0.5105581213033297, + 0.002767678919588727, + -0.9756655123621591, + -0.21924677407087065, + 0.5227579709683139, + 0.18831581706898762, + -0.8314212270748991 + ], + [ + 0.8750431294378954, + -0.21468818114322047, + 0.4338300433360396, + -0.1501581698929743, + -0.9724408738526257, + -0.17835714416623205, + 0.46016523732016834, + 0.09092706823689617, + -0.8831648898274408 + ], + [ + 0.876271380646883, + -0.25593157784436155, + 0.4082248092917686, + -0.20762534470027708, + -0.965133469821435, + -0.15940232642131744, + 0.43478751557202794, + 0.05492187990712464, + -0.8988567201785671 + ], + [ + 0.888741153399976, + -0.2248213491129852, + 0.399492832521809, + -0.19098507036238324, + -0.9738355035747338, + -0.12316296064978552, + 0.4167299667074068, + 0.03316282497560077, + -0.9084252098481644 + ], + [ + 0.9057020014700214, + -0.0844389019081474, + 0.4154202166213668, + -0.06647286732154972, + -0.996127199959437, + -0.05754962563755979, + 0.4186708043836454, + 0.024508638181626807, + -0.9078072946453081 + ], + [ + 0.9046522070494916, + -0.023329340142883494, + 0.42551160521069376, + -0.008650810671271826, + -0.9992999925661938, + -0.03639626810449944, + 0.42606284484241697, + 0.02924494393399376, + -0.9042207614842097 + ], + [ + 0.9107171084244002, + 0.04146628980479458, + 0.41094390764789784, + 0.05777452249440557, + -0.9979552547313112, + -0.027338875337277024, + 0.4089699903093656, + 0.04864006953108248, + -0.9112506190189222 + ], + [ + 0.9112080605467396, + 0.04368669001072385, + 0.4096234167019223, + 0.06364545666942889, + -0.9973512100510163, + -0.03521107290489306, + 0.40700015508595283, + 0.05815528286992305, + -0.9115749211306386 + ], + [ + 0.9196889036765229, + 0.054599097929281935, + 0.3888332019768684, + 0.08302612733682586, + -0.9949346859205089, + -0.05667127077900727, + 0.38376943942128144, + 0.08440325383281777, + -0.9195635421811308 + ], + [ + 0.9239707394853339, + 0.0569658001052866, + 0.37819699918599264, + 0.08409446589410852, + -0.9949057769061053, + -0.05559330791420592, + 0.3731034620328653, + 0.08317086447322536, + -0.9240543349402494 + ], + [ + 0.9281249236899661, + 0.05268527807444115, + 0.3685218955499301, + 0.08068420742998667, + -0.994873037114602, + -0.06097293410820085, + 0.36342012148048386, + 0.08632439687936969, + -0.9276173315578594 + ], + [ + 0.9334001633989233, + 0.013315982176260826, + 0.3585900439018685, + 0.04635289004419439, + -0.9954130619673142, + -0.08369137141549352, + 0.3558307807812771, + 0.09473922463022783, + -0.9297359489473607 + ], + [ + 0.9363824382857505, + -0.04013784749673495, + 0.34867876687340976, + -0.008478726252834565, + -0.9957364282026369, + -0.09185356145182805, + 0.3508789541582143, + 0.08305371002299719, + -0.932730422351632 + ], + [ + 0.9343366147507018, + -0.09216593914290146, + 0.34426810772725613, + -0.06566909949276224, + -0.9939645452135726, + -0.08787520827961436, + 0.350289394227128, + 0.05949724800596155, + -0.9347499225844894 + ], + [ + 0.93035521330377, + -0.1157559081079345, + 0.34790766995943656, + -0.09050745351889684, + -0.9919977427822633, + -0.08802771820523098, + 0.3553133517559135, + 0.050408809279750416, + -0.9333870440556674 + ], + [ + 0.9264775622185413, + -0.13280114450317976, + 0.35214085636891734, + -0.10692394118830596, + -0.9899981426113034, + -0.09203775544269292, + 0.3608415130030753, + 0.047618627078222606, + -0.9314106875320018 + ], + [ + 0.9193018609700269, + -0.14144713958734656, + 0.3672557625410425, + -0.11304137074551046, + -0.9887597759711401, + -0.09785578123686106, + 0.37696914584223057, + 0.04844390698589509, + -0.9249580806495613 + ], + [ + 0.9147949926862319, + -0.13153514803077473, + 0.3819013304359116, + -0.10237301731839142, + -0.9901224227902676, + -0.09579850318798869, + 0.39072994085599005, + 0.048539599508575774, + -0.9192246845022286 + ], + [ + 0.909192565109244, + -0.06075113926158378, + 0.4119201119495051, + -0.03868606903808268, + -0.9973445346277194, + -0.061703057546595455, + 0.414574803397956, + 0.04016439127681912, + -0.9091284585034772 + ], + [ + 0.9047760915366022, + -0.032162005369407526, + 0.4246714372245539, + -0.015256298233600734, + -0.9989520924456949, + -0.043150461904542164, + 0.425614226204855, + 0.03256259217240107, + -0.9043186429810327 + ], + [ + 0.8969151541237949, + 0.004412228563694061, + 0.4421806627863668, + 0.018315771836043448, + -0.9994627848032142, + -0.02717856316021097, + 0.44182319858189756, + 0.03247574529560948, + -0.8965141310444333 + ], + [ + 0.8959898651821314, + 0.006642677404067207, + 0.44402481499102225, + 0.020473154750995086, + -0.9994428289929793, + -0.026360605248211155, + 0.4436023122408717, + 0.03270942389305726, + -0.8956266421691219 + ], + [ + 0.9006567469162452, + 0.011953593521442603, + 0.43436682174881974, + 0.027836045896501863, + -0.9991555507561601, + -0.03022151455507222, + 0.43363876531405104, + 0.03931026577217109, + -0.9002289287852434 + ], + [ + 0.9077164703755329, + 0.004247523517082752, + 0.4195625912220439, + 0.019703180631023186, + -0.9992771447190607, + -0.03251111679322125, + 0.41912121645414874, + 0.03777759370437759, + -0.9071440124544181 + ], + [ + 0.909594199214091, + -0.00043680408452428064, + 0.4154975354418706, + 0.01188799066849658, + -0.9995626971640547, + -0.027075636945165443, + 0.41532766394010223, + 0.029567273129465502, + -0.9091912383683343 + ], + [ + 0.9053430847030944, + -0.017727456042942357, + 0.4243107779476394, + -0.005209948450605057, + -0.999516818770209, + -0.030642869196973482, + 0.4246489790608561, + 0.02553167244279808, + -0.9049979990501891 + ], + [ + 0.9042362268708637, + -0.02762949150328695, + 0.42613783827960355, + -0.014908855551269713, + -0.9993389008913806, + -0.03315851612118149, + 0.42677227187399974, + 0.023629904030212912, + -0.9040503612050755 + ], + [ + 0.9079188960186896, + -0.022504679479065922, + 0.41854129742923646, + -0.013267463176534901, + -0.9996002209281, + -0.024967433615673197, + 0.4189358574687339, + 0.01711542351326039, + -0.9078545090513669 + ], + [ + 0.9084805738946099, + -0.019313845866611418, + 0.4174805650733468, + -0.010229758652285422, + -0.9996599510954808, + -0.02398612544153165, + 0.41780186559425053, + 0.017520203583910703, + -0.9083692220525429 + ], + [ + 0.9092354521565539, + -0.019585904190859454, + 0.41582121747055334, + -0.01169619652469913, + -0.9997001565212432, + -0.021512694816250014, + 0.4161178817697244, + 0.014696578119683789, + -0.9091919044201007 + ], + [ + 0.9100216547017266, + -0.018485975907809073, + 0.41414835103941594, + -0.010603342978268034, + -0.9997163795223474, + -0.021324390552018138, + 0.41442509225626845, + 0.015014300165698337, + -0.9099595670681844 + ], + [ + 0.909470812829493, + -0.020100302862400006, + 0.4152816134096244, + -0.011228445178576435, + -0.9996538129522596, + -0.02379445878518894, + 0.41561612412192656, + 0.01697739894236292, + -0.9093816609625569 + ], + [ + 0.8732576285547506, + -0.03564275051915412, + 0.48595340157916667, + -0.007743260596149637, + -0.9982101671470026, + -0.059300119052946035, + 0.48719724556515465, + 0.048021417511177195, + -0.871970634467666 + ], + [ + 0.8275673974185078, + -0.03926861364237618, + 0.559991230924702, + 0.019803708720882385, + -0.9948872219062089, + -0.09903145363289377, + 0.5610169479176682, + 0.09304510556902672, + -0.8225585647714044 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006486.json b/json/chunk-0006/episode_0006486.json new file mode 100644 index 0000000000000000000000000000000000000000..52c71b65a54602570c6b2c92413a09f03c0cc163 --- /dev/null +++ b/json/chunk-0006/episode_0006486.json @@ -0,0 +1,2602 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 42, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nTake the blue toy and put it on the right burner." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006486.mp4", + "start": 0, + "end": 42, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2341446429491043, + 0.10996273905038834, + 0.108075812458992, + 0.07542874664068222, + -0.1299780160188675, + -0.20730429887771606, + 0.0, + 0.9988223910331726 + ], + [ + 0.23134064674377441, + 0.10860151797533035, + 0.10181862115859985, + 0.0593687929213047, + -0.10934334993362427, + -0.20541912317276, + 0.0, + 0.9988223910331726 + ], + [ + 0.23116609454154968, + 0.10852029919624329, + 0.10068806260824203, + 0.057497538626194, + -0.10690321773290634, + -0.20518527925014496, + 0.0, + 0.9988223910331726 + ], + [ + 0.23116609454154968, + 0.10852029919624329, + 0.10068806260824203, + 0.057497538626194, + -0.10690321773290634, + -0.20518527925014496, + 0.0, + 0.9988223910331726 + ], + [ + 0.23189520835876465, + 0.10539748519659042, + 0.10028443485498428, + 0.05301707983016968, + -0.10581416636705399, + -0.1926455795764923, + 0.0, + 0.9988223910331726 + ], + [ + 0.22411777079105377, + 0.05717264488339424, + 0.09962695837020874, + 0.024170227348804474, + -0.09520038217306137, + -0.02423471212387085, + 0.0, + 0.9988223910331726 + ], + [ + 0.21839505434036255, + 0.026210041716694832, + 0.09570922702550888, + 0.019713526591658592, + -0.11312805116176605, + 0.0810239240527153, + 0.0, + 0.9988223910331726 + ], + [ + 0.2157122939825058, + 0.00017114245565608144, + 0.09474482387304306, + 0.013586282730102539, + -0.1271049678325653, + 0.14242950081825256, + 0.0, + 0.9988223910331726 + ], + [ + 0.21758706867694855, + -0.026287300512194633, + 0.09475941956043243, + 0.005099065136164427, + -0.15697841346263885, + 0.21474440395832062, + 0.0, + 0.9988223910331726 + ], + [ + 0.22058990597724915, + -0.0445605143904686, + 0.0903109610080719, + 0.008696445263922215, + -0.16269859671592712, + 0.26726850867271423, + 0.0, + 0.9988223910331726 + ], + [ + 0.2301928699016571, + -0.05451668053865433, + 0.08492662757635117, + 0.018284417688846588, + -0.2010844200849533, + 0.28783532977104187, + 0.0, + 0.9988223910331726 + ], + [ + 0.23999683558940887, + -0.051190074533224106, + 0.07900442183017731, + 0.030156131833791733, + -0.26910558342933655, + 0.2580718994140625, + 0.0, + 0.9988223910331726 + ], + [ + 0.24523115158081055, + -0.04070904478430748, + 0.06828872114419937, + 0.06832118332386017, + -0.30340492725372314, + 0.24379795789718628, + 0.0, + 0.9988223910331726 + ], + [ + 0.24756880104541779, + -0.03428046405315399, + 0.06135375425219536, + 0.08884651213884354, + -0.3348500430583954, + 0.22805112600326538, + 0.0, + 0.9988223910331726 + ], + [ + 0.2511584162712097, + -0.032688044011592865, + 0.05846018344163895, + 0.09537678211927414, + -0.35542410612106323, + 0.21610963344573975, + 0.0, + 0.9988223910331726 + ], + [ + 0.25418898463249207, + -0.028898710384964943, + 0.05571495369076729, + 0.08825124055147171, + -0.3599523603916168, + 0.2308516651391983, + 0.0, + 0.9709111452102661 + ], + [ + 0.25578585267066956, + -0.022277170792222023, + 0.05434093251824379, + 0.06790981441736221, + -0.34560051560401917, + 0.23679599165916443, + 0.0, + 0.7161149382591248 + ], + [ + 0.25452426075935364, + -0.021007364615797997, + 0.05500927194952965, + 0.041863370686769485, + -0.32057270407676697, + 0.23981598019599915, + 0.0, + 0.4615449905395508 + ], + [ + 0.24752205610275269, + -0.018551914021372795, + 0.061485402286052704, + 0.035809118300676346, + -0.2827577590942383, + 0.24461881816387177, + 0.0, + 0.2752157151699066 + ], + [ + 0.24649296700954437, + -0.015754519030451775, + 0.07102254778146744, + 0.01631494238972664, + -0.26349177956581116, + 0.24078898131847382, + 0.0, + 0.1452319175004959 + ], + [ + 0.24971678853034973, + -0.012315737083554268, + 0.08153055608272552, + 0.0019550772849470377, + -0.23598524928092957, + 0.23876671493053436, + 0.0, + 0.08926420658826828 + ], + [ + 0.2565865218639374, + -0.00842710305005312, + 0.09653840959072113, + -0.014479050412774086, + -0.21527139842510223, + 0.24448779225349426, + 0.0, + 0.08606764674186707 + ], + [ + 0.26577988266944885, + -0.0019855238497257233, + 0.10952337831258774, + -0.04019565135240555, + -0.22747692465782166, + 0.23824281990528107, + 0.0, + 0.08606764674186707 + ], + [ + 0.2861423194408417, + 0.004274173639714718, + 0.1175495982170105, + -0.0612775944173336, + -0.27259889245033264, + 0.2537752389907837, + 0.0, + 0.08606764674186707 + ], + [ + 0.3143846094608307, + 0.007622385397553444, + 0.11295612901449203, + -0.07181087881326675, + -0.32730576395988464, + 0.28147485852241516, + 0.0, + 0.08606764674186707 + ], + [ + 0.33291441202163696, + 0.013108729384839535, + 0.10923115909099579, + -0.06604187935590744, + -0.36356714367866516, + 0.2799111008644104, + 0.0, + 0.08606764674186707 + ], + [ + 0.3493533730506897, + 0.021847868338227272, + 0.10175137966871262, + -0.0468050092458725, + -0.3858003616333008, + 0.25834399461746216, + 0.0, + 0.08606764674186707 + ], + [ + 0.356091171503067, + 0.02484900690615177, + 0.09368757158517838, + -0.03804927319288254, + -0.39593178033828735, + 0.237679123878479, + 0.0, + 0.08606764674186707 + ], + [ + 0.35969001054763794, + 0.025663379579782486, + 0.09473273158073425, + -0.04170364513993263, + -0.4229588806629181, + 0.2310289889574051, + 0.0, + 0.1059318259358406 + ], + [ + 0.35795164108276367, + 0.026312178000807762, + 0.09090805053710938, + -0.0354376845061779, + -0.4271223247051239, + 0.22592392563819885, + 0.0, + 0.2824830114841461 + ], + [ + 0.35637253522872925, + 0.026052100583910942, + 0.08891893178224564, + -0.03475809469819069, + -0.4224505126476288, + 0.22343841195106506, + 0.0, + 0.5590677857398987 + ], + [ + 0.3543730080127716, + 0.025243723765015602, + 0.08674433082342148, + -0.03751843050122261, + -0.4144429564476013, + 0.22937791049480438, + 0.0, + 0.8669703602790833 + ], + [ + 0.3518552780151367, + 0.0257025845348835, + 0.08566462248563766, + -0.03831801563501358, + -0.39711058139801025, + 0.2337043434381485, + 0.0, + 1.0073583126068115 + ], + [ + 0.3477790057659149, + 0.025539491325616837, + 0.08400585502386093, + -0.038737937808036804, + -0.36906352639198303, + 0.24090275168418884, + 0.0, + 1.0001531839370728 + ], + [ + 0.3405202329158783, + 0.025171875953674316, + 0.0882965475320816, + -0.04178675264120102, + -0.33070486783981323, + 0.23698797821998596, + 0.0, + 1.0001531839370728 + ], + [ + 0.32748496532440186, + 0.026079729199409485, + 0.09870311617851257, + -0.0351632721722126, + -0.2786374092102051, + 0.22461377084255219, + 0.0, + 1.0008161067962646 + ], + [ + 0.3113759458065033, + 0.027347911149263382, + 0.11217281967401505, + -0.035231247544288635, + -0.22762367129325867, + 0.2086716890335083, + 0.0, + 1.0008161067962646 + ], + [ + 0.2953302562236786, + 0.032023943960666656, + 0.12425856292247772, + -0.025591347366571426, + -0.19364413619041443, + 0.1793154627084732, + 0.0, + 1.0008161067962646 + ], + [ + 0.27872413396835327, + 0.04134569317102432, + 0.131993368268013, + -0.020225362852215767, + -0.1663997918367386, + 0.13504788279533386, + 0.0, + 1.0008161067962646 + ], + [ + 0.2670467793941498, + 0.052573442459106445, + 0.136034294962883, + -0.02340172417461872, + -0.1497076004743576, + 0.1036810576915741, + 0.0, + 1.0008161067962646 + ], + [ + 0.25611525774002075, + 0.07167262583971024, + 0.13461200892925262, + -0.01932699978351593, + -0.13230231404304504, + 0.050488416105508804, + 0.0, + 1.0001531839370728 + ], + [ + 0.24636824429035187, + 0.08795840293169022, + 0.13657496869564056, + -0.010341541841626167, + -0.10050584375858307, + 0.019179724156856537, + 0.0, + 1.0001531839370728 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9709111452102661 + ], + [ + 0.7161149382591248 + ], + [ + 0.4615449905395508 + ], + [ + 0.2752157151699066 + ], + [ + 0.1452319175004959 + ], + [ + 0.08926420658826828 + ], + [ + 0.08606764674186707 + ], + [ + 0.08606764674186707 + ], + [ + 0.08606764674186707 + ], + [ + 0.08606764674186707 + ], + [ + 0.08606764674186707 + ], + [ + 0.08606764674186707 + ], + [ + 0.08606764674186707 + ], + [ + 0.1059318259358406 + ], + [ + 0.2824830114841461 + ], + [ + 0.5590677857398987 + ], + [ + 0.8669703602790833 + ], + [ + 1.0073583126068115 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2341446429491043, + 0.10996273905038834, + 0.108075812458992 + ], + [ + 0.23134064674377441, + 0.10860151797533035, + 0.10181862115859985 + ], + [ + 0.23116609454154968, + 0.10852029919624329, + 0.10068806260824203 + ], + [ + 0.23116609454154968, + 0.10852029919624329, + 0.10068806260824203 + ], + [ + 0.23189520835876465, + 0.10539748519659042, + 0.10028443485498428 + ], + [ + 0.22411777079105377, + 0.05717264488339424, + 0.09962695837020874 + ], + [ + 0.21839505434036255, + 0.026210041716694832, + 0.09570922702550888 + ], + [ + 0.2157122939825058, + 0.00017114245565608144, + 0.09474482387304306 + ], + [ + 0.21758706867694855, + -0.026287300512194633, + 0.09475941956043243 + ], + [ + 0.22058990597724915, + -0.0445605143904686, + 0.0903109610080719 + ], + [ + 0.2301928699016571, + -0.05451668053865433, + 0.08492662757635117 + ], + [ + 0.23999683558940887, + -0.051190074533224106, + 0.07900442183017731 + ], + [ + 0.24523115158081055, + -0.04070904478430748, + 0.06828872114419937 + ], + [ + 0.24756880104541779, + -0.03428046405315399, + 0.06135375425219536 + ], + [ + 0.2511584162712097, + -0.032688044011592865, + 0.05846018344163895 + ], + [ + 0.25418898463249207, + -0.028898710384964943, + 0.05571495369076729 + ], + [ + 0.25578585267066956, + -0.022277170792222023, + 0.05434093251824379 + ], + [ + 0.25452426075935364, + -0.021007364615797997, + 0.05500927194952965 + ], + [ + 0.24752205610275269, + -0.018551914021372795, + 0.061485402286052704 + ], + [ + 0.24649296700954437, + -0.015754519030451775, + 0.07102254778146744 + ], + [ + 0.24971678853034973, + -0.012315737083554268, + 0.08153055608272552 + ], + [ + 0.2565865218639374, + -0.00842710305005312, + 0.09653840959072113 + ], + [ + 0.26577988266944885, + -0.0019855238497257233, + 0.10952337831258774 + ], + [ + 0.2861423194408417, + 0.004274173639714718, + 0.1175495982170105 + ], + [ + 0.3143846094608307, + 0.007622385397553444, + 0.11295612901449203 + ], + [ + 0.33291441202163696, + 0.013108729384839535, + 0.10923115909099579 + ], + [ + 0.3493533730506897, + 0.021847868338227272, + 0.10175137966871262 + ], + [ + 0.356091171503067, + 0.02484900690615177, + 0.09368757158517838 + ], + [ + 0.35969001054763794, + 0.025663379579782486, + 0.09473273158073425 + ], + [ + 0.35795164108276367, + 0.026312178000807762, + 0.09090805053710938 + ], + [ + 0.35637253522872925, + 0.026052100583910942, + 0.08891893178224564 + ], + [ + 0.3543730080127716, + 0.025243723765015602, + 0.08674433082342148 + ], + [ + 0.3518552780151367, + 0.0257025845348835, + 0.08566462248563766 + ], + [ + 0.3477790057659149, + 0.025539491325616837, + 0.08400585502386093 + ], + [ + 0.3405202329158783, + 0.025171875953674316, + 0.0882965475320816 + ], + [ + 0.32748496532440186, + 0.026079729199409485, + 0.09870311617851257 + ], + [ + 0.3113759458065033, + 0.027347911149263382, + 0.11217281967401505 + ], + [ + 0.2953302562236786, + 0.032023943960666656, + 0.12425856292247772 + ], + [ + 0.27872413396835327, + 0.04134569317102432, + 0.131993368268013 + ], + [ + 0.2670467793941498, + 0.052573442459106445, + 0.136034294962883 + ], + [ + 0.25611525774002075, + 0.07167262583971024, + 0.13461200892925262 + ], + [ + 0.24636824429035187, + 0.08795840293169022, + 0.13657496869564056 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9703346541001664, + -0.1956793249390367, + 0.14198683334631207, + -0.20408649956946137, + -0.9778171028714104, + 0.04714248641772908, + 0.12961234411040773, + -0.07472158405417023, + -0.98874532875288 + ], + [ + 0.9731291068862117, + -0.1972793999681227, + 0.11874586173446687, + -0.20275932939065347, + -0.9785715342118568, + 0.03586651328614046, + 0.10912559587876779, + -0.058979579334460075, + -0.9922766819519814 + ], + [ + 0.9734342919661468, + -0.19740888558633052, + 0.11599746167881744, + -0.2025854148508951, + -0.9786546903208541, + 0.034556429252503254, + 0.10669971374870871, + -0.057137807138142815, + -0.9926481965335893 + ], + [ + 0.9734342919661468, + -0.19740888558633052, + 0.11599746167881744, + -0.2025854148508951, + -0.9786546903208541, + 0.034556429252503254, + 0.10669971374870871, + -0.057137807138142815, + -0.9926481965335893 + ], + [ + 0.9760115264002671, + -0.18569385410991268, + 0.1136630673509525, + -0.19038536820725266, + -0.9811936298906387, + 0.03181936885956595, + 0.10561681639970749, + -0.05269585569889494, + -0.9930096851923207 + ], + [ + 0.9951795484903254, + -0.02192861957920428, + 0.09558661993157039, + -0.024122612628657194, + -0.9994700231488249, + 0.021858005097792423, + 0.09505664535717478, + -0.02405843864921225, + -0.995181101962453 + ], + [ + 0.990348171183884, + 0.08313752957030136, + 0.11089928317930721, + 0.08041795003810419, + -0.9963455877081284, + 0.028782341221895102, + 0.1128869042201348, + -0.019586245977519227, + -0.9934147803531528 + ], + [ + 0.9818887727076787, + 0.14364007652433447, + 0.1235393315778078, + 0.14080333771178322, + -0.9895382350449735, + 0.031440443274544934, + 0.12676299980605435, + -0.013476268035390286, + -0.991841485359434 + ], + [ + 0.965017487002347, + 0.21387378605254717, + 0.1516550474571299, + 0.21047749675752683, + -0.9768483192685509, + 0.038296011553330456, + 0.15633449119871254, + -0.005036346071987167, + -0.9876913293533982 + ], + [ + 0.9517585045324571, + 0.26544656139063144, + 0.15392813938988223, + 0.26061017095848965, + -0.9640873824921008, + 0.05116500476416561, + 0.1619817515744538, + -0.008581489697018871, + -0.9867564391436483 + ], + [ + 0.9395401182375138, + 0.2873313713735988, + 0.18629291249751145, + 0.27815730683565437, + -0.957663686190286, + 0.0742211344993399, + 0.19973201765409088, + -0.01791499866035421, + -0.9796867733856701 + ], + [ + 0.932084818928299, + 0.2628516444598935, + 0.24925268971092251, + 0.24603129142469896, + -0.9643983402193881, + 0.09697651788955873, + 0.2658693174536967, + -0.02906637897672827, + -0.963570781857714 + ], + [ + 0.9261036159405948, + 0.26062021728258467, + 0.27278048846157305, + 0.2303644499351773, + -0.9632406735128158, + 0.13820139325144626, + 0.29877133856482824, + -0.06514988284069323, + -0.9520983037575612 + ], + [ + 0.9200064504703575, + 0.2535918763473459, + 0.298796404502407, + 0.2135229907187838, + -0.9636744543393172, + 0.16043527819131667, + 0.32862754529625143, + -0.08380158891364417, + -0.9407344100053472 + ], + [ + 0.9156918771923924, + 0.24582562713720782, + 0.3179278960495141, + 0.2010292042877321, + -0.9651936690665129, + 0.1672974602836621, + 0.3479879955793209, + -0.08928013349295966, + -0.9332381328986539 + ], + [ + 0.9110855777172594, + 0.2581370721129588, + 0.3213850059921233, + 0.21414328326451706, + -0.9625803455048132, + 0.16607748998743788, + 0.35222964711719085, + -0.0824883655358974, + -0.9322713903380901 + ], + [ + 0.9146167654078192, + 0.256394603410111, + 0.31263074029453697, + 0.22071848900579386, + -0.9644612889129963, + 0.1452507170353432, + 0.3387617467276044, + -0.06384535637345906, + -0.9387034938805803 + ], + [ + 0.9218947654245513, + 0.25012608180141566, + 0.29588339711021777, + 0.22542324892637314, + -0.9673982328455992, + 0.11543404147256514, + 0.3151101399928123, + -0.03971904190540082, + -0.9482236009422181 + ], + [ + 0.9317015631684616, + 0.2517226652903488, + 0.2618547249307677, + 0.2325692004483908, + -0.9671885703810585, + 0.10226356304686546, + 0.27900495370555917, + -0.03437977753515913, + -0.9596740419040163 + ], + [ + 0.9376322619051837, + 0.24256369095486255, + 0.24901525508474912, + 0.23023850373122642, + -0.9700076066187697, + 0.07794533020862697, + 0.26045339858442007, + -0.015751156531499045, + -0.9653579275241619 + ], + [ + 0.9447011311479345, + 0.23694818843797005, + 0.22670537885938333, + 0.2299496593773765, + -0.9715204283045052, + 0.05719450619822293, + 0.23380104140067645, + -0.001900890053174474, + -0.9722826027739899 + ], + [ + 0.9478663049553628, + 0.2390331848607211, + 0.21074298200795955, + 0.23647227689991582, + -0.9709083755383118, + 0.03765353326483425, + 0.21361257029500014, + 0.014144357351847913, + -0.9768160558503667 + ], + [ + 0.9467203162782974, + 0.22699831088879754, + 0.22845658143190722, + 0.22991584786648575, + -0.9731079462939506, + 0.0141289688019046, + 0.22552016682717274, + 0.039149606807770465, + -0.9734515718005912 + ], + [ + 0.9322286162946785, + 0.23462916430769837, + 0.275497662816911, + 0.24178952904073314, + -0.9702941593376103, + 0.008189505576092583, + 0.2692352699918229, + 0.05897795869298527, + -0.9612668566952878 + ], + [ + 0.9096479489436383, + 0.25489776356382016, + 0.32797521112546735, + 0.2630263556944133, + -0.964578283930586, + 0.020146224947663036, + 0.3214929940025879, + 0.06794015233783865, + -0.9444714873978797 + ], + [ + 0.8982582959050059, + 0.2531132128721219, + 0.3592571993814271, + 0.25821160348614486, + -0.9654684155186292, + 0.03460500630055338, + 0.3556104633766398, + 0.061680143526902875, + -0.9325967822331107 + ], + [ + 0.8957511566751929, + 0.23817800832010477, + 0.3753679550357518, + 0.23670145868511117, + -0.9702536316109712, + 0.05079674991633207, + 0.3763007902880283, + 0.043348895007714716, + -0.9254828947799173 + ], + [ + 0.8966995298160991, + 0.22101881189799436, + 0.383510935978084, + 0.21723284083153013, + -0.9746378147370052, + 0.05376823364160916, + 0.3856680516867454, + 0.03509722028700516, + -0.9219698146014735 + ], + [ + 0.8876509998854958, + 0.21212213410792294, + 0.4087540857579044, + 0.20880127981229626, + -0.976503384459468, + 0.053321343643534413, + 0.4104603853613976, + 0.03801763223433409, + -0.9110855786852672 + ], + [ + 0.8870321737061074, + 0.20956213483773145, + 0.4114093271335375, + 0.20388248292501793, + -0.9772634369853964, + 0.05820745560337938, + 0.414253371702087, + 0.03224726924472923, + -0.9095901591704421 + ], + [ + 0.8894136980354351, + 0.20755637225989101, + 0.4072635830530953, + 0.20210375670638173, + -0.9777094223188686, + 0.056906564068410145, + 0.4099967625141686, + 0.03169602251415697, + -0.911536075470786 + ], + [ + 0.8913661938945004, + 0.2125029946437045, + 0.40038579601365737, + 0.20812265333876787, + -0.9765570374193886, + 0.054966479184120565, + 0.40268010821154726, + 0.034334092883386194, + -0.9146966166530912 + ], + [ + 0.8971130064699243, + 0.2169994526562537, + 0.38483696699950765, + 0.21356151850458133, + -0.9755322658439142, + 0.052232902575450206, + 0.38675538966704937, + 0.03532755078299952, + -0.9215054165435838 + ], + [ + 0.905732989222065, + 0.22483294445541752, + 0.35930196120028224, + 0.2225148004962138, + -0.9737276088065056, + 0.04839119143082142, + 0.3607421735741362, + 0.0361205057477241, + -0.9319658755928437 + ], + [ + 0.9193777665146484, + 0.22138543485709197, + 0.3251661293426372, + 0.2220542264419529, + -0.9743856379864402, + 0.0355604978174343, + 0.3247097826641543, + 0.03951098225676154, + -0.9449880630586311 + ], + [ + 0.9372801529611638, + 0.21316554459813156, + 0.2758013151913508, + 0.21413940748620883, + -0.9764312592404798, + 0.026950141734431197, + 0.275045867132288, + 0.03380009725182027, + -0.9608367834336978 + ], + [ + 0.9530719099256496, + 0.1992557159507018, + 0.22792782667249512, + 0.2018169615995858, + -0.9793465244450466, + 0.012259652039044729, + 0.22566313062036747, + 0.03431537145916376, + -0.9736008457064085 + ], + [ + 0.9655751868094151, + 0.1734524429205089, + 0.1938525436069163, + 0.1750224880031069, + -0.984522078642349, + 0.009132653445260625, + 0.19243619023241468, + 0.02511029093134009, + -0.9809881681132439 + ], + [ + 0.9772081201228024, + 0.1312909629065815, + 0.16681418712184323, + 0.13277806990032281, + -0.9911432259825771, + 0.0022560457431873987, + 0.1656329499815893, + 0.019944639578418424, + -0.9859857692849747 + ], + [ + 0.9835047292595632, + 0.09999577812734324, + 0.15072920049141034, + 0.10233777587642513, + -0.9947187963955586, + -0.007841921068031703, + 0.14914900989526955, + 0.023137857594812093, + -0.9885439860689975 + ], + [ + 0.9899976742352309, + 0.047911397374247294, + 0.13269929544078402, + 0.05002592844613747, + -0.9986678682137092, + -0.012644978473178858, + 0.13191668390289168, + 0.01915690473777515, + -0.9910756790018268 + ], + [ + 0.9947705407705904, + 0.018140095670337, + 0.10051123391968887, + 0.019081764446255523, + -0.9997825113017557, + -0.008415245734529928, + 0.10033672049955096, + 0.010289170239913732, + -0.9949003344532402 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.002803996205329895, + -0.0013612210750579834, + -0.006257191300392151, + -0.016059953719377518, + 0.020634666085243225, + 0.0018851757049560547, + 1.0 + ], + [ + -0.00017455220222473145, + -8.121877908706665e-05, + -0.0011305585503578186, + -0.0018712542951107025, + 0.002440132200717926, + 0.00023384392261505127, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0007291138172149658, + -0.0031228139996528625, + -0.00040362775325775146, + -0.0044804587960243225, + 0.001089051365852356, + 0.012539699673652649, + 1.0 + ], + [ + -0.0077774375677108765, + -0.04822484031319618, + -0.0006574764847755432, + -0.028846852481365204, + 0.010613784193992615, + 0.16841086745262146, + 1.0 + ], + [ + -0.005722716450691223, + -0.03096260316669941, + -0.00391773134469986, + -0.004456700757145882, + -0.01792766898870468, + 0.10525863617658615, + 1.0 + ], + [ + -0.0026827603578567505, + -0.026038900017738342, + -0.0009644031524658203, + -0.006127243861556053, + -0.013976916670799255, + 0.06140557676553726, + 1.0 + ], + [ + 0.001874774694442749, + -0.026458442211151123, + 1.459568738937378e-05, + -0.008487217128276825, + -0.029873445630073547, + 0.07231490314006805, + 1.0 + ], + [ + 0.003002837300300598, + -0.018273213878273964, + -0.004448458552360535, + 0.0035973801277577877, + -0.005720183253288269, + 0.052524104714393616, + 1.0 + ], + [ + 0.009602963924407959, + -0.00995616614818573, + -0.005384333431720734, + 0.009587972424924374, + -0.038385823369026184, + 0.020566821098327637, + 1.0 + ], + [ + 0.00980396568775177, + 0.0033266060054302216, + -0.005922205746173859, + 0.011871714144945145, + -0.06802116334438324, + -0.02976343035697937, + 1.0 + ], + [ + 0.005234315991401672, + 0.010481029748916626, + -0.010715700685977936, + 0.038165051490068436, + -0.0342993438243866, + -0.01427394151687622, + 1.0 + ], + [ + 0.0023376494646072388, + 0.006428580731153488, + -0.006934966892004013, + 0.020525328814983368, + -0.03144511580467224, + -0.0157468318939209, + 1.0 + ], + [ + 0.003589615225791931, + 0.0015924200415611267, + -0.0028935708105564117, + 0.006530269980430603, + -0.020574063062667847, + -0.011941492557525635, + 1.0 + ], + [ + 0.0030305683612823486, + 0.003789333626627922, + -0.0027452297508716583, + -0.007125541567802429, + -0.004528254270553589, + 0.014742031693458557, + 0.0 + ], + [ + 0.0015968680381774902, + 0.00662153959274292, + -0.0013740211725234985, + -0.020341426134109497, + 0.014351844787597656, + 0.0059443265199661255, + 0.0 + ], + [ + -0.001261591911315918, + 0.0012698061764240265, + 0.0006683394312858582, + -0.026046443730592728, + 0.025027811527252197, + 0.003019988536834717, + 0.0 + ], + [ + -0.007002204656600952, + 0.0024554505944252014, + 0.006476130336523056, + -0.00605425238609314, + 0.037814944982528687, + 0.00480283796787262, + 0.0 + ], + [ + -0.001029089093208313, + 0.0027973949909210205, + 0.009537145495414734, + -0.019494175910949707, + 0.019265979528427124, + -0.0038298368453979492, + 0.0 + ], + [ + 0.003223821520805359, + 0.0034387819468975067, + 0.010508008301258087, + -0.014359865337610245, + 0.027506530284881592, + -0.002022266387939453, + 0.0 + ], + [ + 0.0068697333335876465, + 0.0038886340335011482, + 0.015007853507995605, + -0.01643412746489048, + 0.02071385085582733, + 0.0057210773229599, + 0.0 + ], + [ + 0.009193360805511475, + 0.006441579200327396, + 0.012984968721866608, + -0.025716600939631462, + -0.012205526232719421, + -0.006244972348213196, + 0.0 + ], + [ + 0.020362436771392822, + 0.006259697489440441, + 0.00802621990442276, + -0.021081943064928055, + -0.045121967792510986, + 0.015532419085502625, + 0.0 + ], + [ + 0.028242290019989014, + 0.003348211757838726, + -0.004593469202518463, + -0.010533284395933151, + -0.054706871509552, + 0.02769961953163147, + 0.0 + ], + [ + 0.018529802560806274, + 0.005486343987286091, + -0.0037249699234962463, + 0.005768999457359314, + -0.03626137971878052, + -0.0015637576580047607, + 0.0 + ], + [ + 0.016438961029052734, + 0.008739138953387737, + -0.007479779422283173, + 0.019236870110034943, + -0.02223321795463562, + -0.021567106246948242, + 0.0 + ], + [ + 0.006737798452377319, + 0.0030011385679244995, + -0.00806380808353424, + 0.00875573605298996, + -0.010131418704986572, + -0.020664870738983154, + 0.0 + ], + [ + 0.003598839044570923, + 0.0008143726736307144, + 0.0010451599955558777, + -0.0036543719470500946, + -0.027027100324630737, + -0.006650134921073914, + 1.0 + ], + [ + -0.0017383694648742676, + 0.0006487984210252762, + -0.003824681043624878, + 0.00626596063375473, + -0.0041634440422058105, + -0.005105063319206238, + 1.0 + ], + [ + -0.0015791058540344238, + -0.00026007741689682007, + -0.001989118754863739, + 0.0006795898079872131, + 0.004671812057495117, + -0.002485513687133789, + 1.0 + ], + [ + -0.0019995272159576416, + -0.00080837681889534, + -0.0021746009588241577, + -0.0027603358030319214, + 0.008007556200027466, + 0.005939498543739319, + 1.0 + ], + [ + -0.0025177299976348877, + 0.00045886076986789703, + -0.0010797083377838135, + -0.0007995851337909698, + 0.017332375049591064, + 0.004326432943344116, + 1.0 + ], + [ + -0.004076272249221802, + -0.0001630932092666626, + -0.0016587674617767334, + -0.0004199221730232239, + 0.02804705500602722, + 0.007198408246040344, + 1.0 + ], + [ + -0.007258772850036621, + -0.00036761537194252014, + 0.004290692508220673, + -0.003048814833164215, + 0.0383586585521698, + -0.003914773464202881, + 1.0 + ], + [ + -0.01303526759147644, + 0.0009078532457351685, + 0.01040656864643097, + 0.006623480468988419, + 0.052067458629608154, + -0.012374207377433777, + 1.0 + ], + [ + -0.01610901951789856, + 0.001268181949853897, + 0.013469703495502472, + -6.797537207603455e-05, + 0.05101373791694641, + -0.015942081809043884, + 1.0 + ], + [ + -0.016045689582824707, + 0.0046760328114032745, + 0.012085743248462677, + 0.009639900177717209, + 0.03397953510284424, + -0.029356226325035095, + 1.0 + ], + [ + -0.016606122255325317, + 0.009321749210357666, + 0.007734805345535278, + 0.0053659845143556595, + 0.027244344353675842, + -0.04426757991313934, + 1.0 + ], + [ + -0.011677354574203491, + 0.011227749288082123, + 0.004040926694869995, + -0.003176361322402954, + 0.01669219136238098, + -0.031366825103759766, + 1.0 + ], + [ + -0.010931521654129028, + 0.01909918338060379, + -0.001422286033630371, + 0.004074724391102791, + 0.01740528643131256, + -0.05319264158606529, + 1.0 + ], + [ + -0.009747013449668884, + 0.01628577709197998, + 0.0019629597663879395, + 0.008985457941889763, + 0.031796470284461975, + -0.03130869194865227, + 1.0 + ], + [ + -0.0007564127445220947, + 0.0005564689636230469, + 0.00035734474658966064, + 0.00019544735550880432, + 0.00134248286485672, + -0.00472269207239151, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9709111452102661 + ], + [ + 0.7161149382591248 + ], + [ + 0.4615449905395508 + ], + [ + 0.2752157151699066 + ], + [ + 0.1452319175004959 + ], + [ + 0.08926420658826828 + ], + [ + 0.08606764674186707 + ], + [ + 0.08606764674186707 + ], + [ + 0.08606764674186707 + ], + [ + 0.08606764674186707 + ], + [ + 0.08606764674186707 + ], + [ + 0.08606764674186707 + ], + [ + 0.08606764674186707 + ], + [ + 0.1059318259358406 + ], + [ + 0.2824830114841461 + ], + [ + 0.5590677857398987 + ], + [ + 0.8669703602790833 + ], + [ + 1.0073583126068115 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.23134064674377441, + 0.10860151797533035, + 0.10181862115859985 + ], + [ + 0.23116609454154968, + 0.10852029919624329, + 0.10068806260824203 + ], + [ + 0.23116609454154968, + 0.10852029919624329, + 0.10068806260824203 + ], + [ + 0.23189520835876465, + 0.10539748519659042, + 0.10028443485498428 + ], + [ + 0.22411777079105377, + 0.05717264488339424, + 0.09962695837020874 + ], + [ + 0.21839505434036255, + 0.026210041716694832, + 0.09570922702550888 + ], + [ + 0.2157122939825058, + 0.00017114245565608144, + 0.09474482387304306 + ], + [ + 0.21758706867694855, + -0.026287300512194633, + 0.09475941956043243 + ], + [ + 0.22058990597724915, + -0.0445605143904686, + 0.0903109610080719 + ], + [ + 0.2301928699016571, + -0.05451668053865433, + 0.08492662757635117 + ], + [ + 0.23999683558940887, + -0.051190074533224106, + 0.07900442183017731 + ], + [ + 0.24523115158081055, + -0.04070904478430748, + 0.06828872114419937 + ], + [ + 0.24756880104541779, + -0.03428046405315399, + 0.06135375425219536 + ], + [ + 0.2511584162712097, + -0.032688044011592865, + 0.05846018344163895 + ], + [ + 0.25418898463249207, + -0.028898710384964943, + 0.05571495369076729 + ], + [ + 0.25578585267066956, + -0.022277170792222023, + 0.05434093251824379 + ], + [ + 0.25452426075935364, + -0.021007364615797997, + 0.05500927194952965 + ], + [ + 0.24752205610275269, + -0.018551914021372795, + 0.061485402286052704 + ], + [ + 0.24649296700954437, + -0.015754519030451775, + 0.07102254778146744 + ], + [ + 0.24971678853034973, + -0.012315737083554268, + 0.08153055608272552 + ], + [ + 0.2565865218639374, + -0.00842710305005312, + 0.09653840959072113 + ], + [ + 0.26577988266944885, + -0.0019855238497257233, + 0.10952337831258774 + ], + [ + 0.2861423194408417, + 0.004274173639714718, + 0.1175495982170105 + ], + [ + 0.3143846094608307, + 0.007622385397553444, + 0.11295612901449203 + ], + [ + 0.33291441202163696, + 0.013108729384839535, + 0.10923115909099579 + ], + [ + 0.3493533730506897, + 0.021847868338227272, + 0.10175137966871262 + ], + [ + 0.356091171503067, + 0.02484900690615177, + 0.09368757158517838 + ], + [ + 0.35969001054763794, + 0.025663379579782486, + 0.09473273158073425 + ], + [ + 0.35795164108276367, + 0.026312178000807762, + 0.09090805053710938 + ], + [ + 0.35637253522872925, + 0.026052100583910942, + 0.08891893178224564 + ], + [ + 0.3543730080127716, + 0.025243723765015602, + 0.08674433082342148 + ], + [ + 0.3518552780151367, + 0.0257025845348835, + 0.08566462248563766 + ], + [ + 0.3477790057659149, + 0.025539491325616837, + 0.08400585502386093 + ], + [ + 0.3405202329158783, + 0.025171875953674316, + 0.0882965475320816 + ], + [ + 0.32748496532440186, + 0.026079729199409485, + 0.09870311617851257 + ], + [ + 0.3113759458065033, + 0.027347911149263382, + 0.11217281967401505 + ], + [ + 0.2953302562236786, + 0.032023943960666656, + 0.12425856292247772 + ], + [ + 0.27872413396835327, + 0.04134569317102432, + 0.131993368268013 + ], + [ + 0.2670467793941498, + 0.052573442459106445, + 0.136034294962883 + ], + [ + 0.25611525774002075, + 0.07167262583971024, + 0.13461200892925262 + ], + [ + 0.24636824429035187, + 0.08795840293169022, + 0.13657496869564056 + ], + [ + 0.24561183154582977, + 0.08851487189531326, + 0.13693231344223022 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9731291068862117, + -0.1972793999681227, + 0.11874586173446687, + -0.20275932939065347, + -0.9785715342118568, + 0.03586651328614046, + 0.10912559587876779, + -0.058979579334460075, + -0.9922766819519814 + ], + [ + 0.9734342919661468, + -0.19740888558633052, + 0.11599746167881744, + -0.2025854148508951, + -0.9786546903208541, + 0.034556429252503254, + 0.10669971374870871, + -0.057137807138142815, + -0.9926481965335893 + ], + [ + 0.9734342919661468, + -0.19740888558633052, + 0.11599746167881744, + -0.2025854148508951, + -0.9786546903208541, + 0.034556429252503254, + 0.10669971374870871, + -0.057137807138142815, + -0.9926481965335893 + ], + [ + 0.9760115264002671, + -0.18569385410991268, + 0.1136630673509525, + -0.19038536820725266, + -0.9811936298906387, + 0.03181936885956595, + 0.10561681639970749, + -0.05269585569889494, + -0.9930096851923207 + ], + [ + 0.9951795484903254, + -0.02192861957920428, + 0.09558661993157039, + -0.024122612628657194, + -0.9994700231488249, + 0.021858005097792423, + 0.09505664535717478, + -0.02405843864921225, + -0.995181101962453 + ], + [ + 0.990348171183884, + 0.08313752957030136, + 0.11089928317930721, + 0.08041795003810419, + -0.9963455877081284, + 0.028782341221895102, + 0.1128869042201348, + -0.019586245977519227, + -0.9934147803531528 + ], + [ + 0.9818887727076787, + 0.14364007652433447, + 0.1235393315778078, + 0.14080333771178322, + -0.9895382350449735, + 0.031440443274544934, + 0.12676299980605435, + -0.013476268035390286, + -0.991841485359434 + ], + [ + 0.965017487002347, + 0.21387378605254717, + 0.1516550474571299, + 0.21047749675752683, + -0.9768483192685509, + 0.038296011553330456, + 0.15633449119871254, + -0.005036346071987167, + -0.9876913293533982 + ], + [ + 0.9517585045324571, + 0.26544656139063144, + 0.15392813938988223, + 0.26061017095848965, + -0.9640873824921008, + 0.05116500476416561, + 0.1619817515744538, + -0.008581489697018871, + -0.9867564391436483 + ], + [ + 0.9395401182375138, + 0.2873313713735988, + 0.18629291249751145, + 0.27815730683565437, + -0.957663686190286, + 0.0742211344993399, + 0.19973201765409088, + -0.01791499866035421, + -0.9796867733856701 + ], + [ + 0.932084818928299, + 0.2628516444598935, + 0.24925268971092251, + 0.24603129142469896, + -0.9643983402193881, + 0.09697651788955873, + 0.2658693174536967, + -0.02906637897672827, + -0.963570781857714 + ], + [ + 0.9261036159405948, + 0.26062021728258467, + 0.27278048846157305, + 0.2303644499351773, + -0.9632406735128158, + 0.13820139325144626, + 0.29877133856482824, + -0.06514988284069323, + -0.9520983037575612 + ], + [ + 0.9200064504703575, + 0.2535918763473459, + 0.298796404502407, + 0.2135229907187838, + -0.9636744543393172, + 0.16043527819131667, + 0.32862754529625143, + -0.08380158891364417, + -0.9407344100053472 + ], + [ + 0.9156918771923924, + 0.24582562713720782, + 0.3179278960495141, + 0.2010292042877321, + -0.9651936690665129, + 0.1672974602836621, + 0.3479879955793209, + -0.08928013349295966, + -0.9332381328986539 + ], + [ + 0.9110855777172594, + 0.2581370721129588, + 0.3213850059921233, + 0.21414328326451706, + -0.9625803455048132, + 0.16607748998743788, + 0.35222964711719085, + -0.0824883655358974, + -0.9322713903380901 + ], + [ + 0.9146167654078192, + 0.256394603410111, + 0.31263074029453697, + 0.22071848900579386, + -0.9644612889129963, + 0.1452507170353432, + 0.3387617467276044, + -0.06384535637345906, + -0.9387034938805803 + ], + [ + 0.9218947654245513, + 0.25012608180141566, + 0.29588339711021777, + 0.22542324892637314, + -0.9673982328455992, + 0.11543404147256514, + 0.3151101399928123, + -0.03971904190540082, + -0.9482236009422181 + ], + [ + 0.9317015631684616, + 0.2517226652903488, + 0.2618547249307677, + 0.2325692004483908, + -0.9671885703810585, + 0.10226356304686546, + 0.27900495370555917, + -0.03437977753515913, + -0.9596740419040163 + ], + [ + 0.9376322619051837, + 0.24256369095486255, + 0.24901525508474912, + 0.23023850373122642, + -0.9700076066187697, + 0.07794533020862697, + 0.26045339858442007, + -0.015751156531499045, + -0.9653579275241619 + ], + [ + 0.9447011311479345, + 0.23694818843797005, + 0.22670537885938333, + 0.2299496593773765, + -0.9715204283045052, + 0.05719450619822293, + 0.23380104140067645, + -0.001900890053174474, + -0.9722826027739899 + ], + [ + 0.9478663049553628, + 0.2390331848607211, + 0.21074298200795955, + 0.23647227689991582, + -0.9709083755383118, + 0.03765353326483425, + 0.21361257029500014, + 0.014144357351847913, + -0.9768160558503667 + ], + [ + 0.9467203162782974, + 0.22699831088879754, + 0.22845658143190722, + 0.22991584786648575, + -0.9731079462939506, + 0.0141289688019046, + 0.22552016682717274, + 0.039149606807770465, + -0.9734515718005912 + ], + [ + 0.9322286162946785, + 0.23462916430769837, + 0.275497662816911, + 0.24178952904073314, + -0.9702941593376103, + 0.008189505576092583, + 0.2692352699918229, + 0.05897795869298527, + -0.9612668566952878 + ], + [ + 0.9096479489436383, + 0.25489776356382016, + 0.32797521112546735, + 0.2630263556944133, + -0.964578283930586, + 0.020146224947663036, + 0.3214929940025879, + 0.06794015233783865, + -0.9444714873978797 + ], + [ + 0.8982582959050059, + 0.2531132128721219, + 0.3592571993814271, + 0.25821160348614486, + -0.9654684155186292, + 0.03460500630055338, + 0.3556104633766398, + 0.061680143526902875, + -0.9325967822331107 + ], + [ + 0.8957511566751929, + 0.23817800832010477, + 0.3753679550357518, + 0.23670145868511117, + -0.9702536316109712, + 0.05079674991633207, + 0.3763007902880283, + 0.043348895007714716, + -0.9254828947799173 + ], + [ + 0.8966995298160991, + 0.22101881189799436, + 0.383510935978084, + 0.21723284083153013, + -0.9746378147370052, + 0.05376823364160916, + 0.3856680516867454, + 0.03509722028700516, + -0.9219698146014735 + ], + [ + 0.8876509998854958, + 0.21212213410792294, + 0.4087540857579044, + 0.20880127981229626, + -0.976503384459468, + 0.053321343643534413, + 0.4104603853613976, + 0.03801763223433409, + -0.9110855786852672 + ], + [ + 0.8870321737061074, + 0.20956213483773145, + 0.4114093271335375, + 0.20388248292501793, + -0.9772634369853964, + 0.05820745560337938, + 0.414253371702087, + 0.03224726924472923, + -0.9095901591704421 + ], + [ + 0.8894136980354351, + 0.20755637225989101, + 0.4072635830530953, + 0.20210375670638173, + -0.9777094223188686, + 0.056906564068410145, + 0.4099967625141686, + 0.03169602251415697, + -0.911536075470786 + ], + [ + 0.8913661938945004, + 0.2125029946437045, + 0.40038579601365737, + 0.20812265333876787, + -0.9765570374193886, + 0.054966479184120565, + 0.40268010821154726, + 0.034334092883386194, + -0.9146966166530912 + ], + [ + 0.8971130064699243, + 0.2169994526562537, + 0.38483696699950765, + 0.21356151850458133, + -0.9755322658439142, + 0.052232902575450206, + 0.38675538966704937, + 0.03532755078299952, + -0.9215054165435838 + ], + [ + 0.905732989222065, + 0.22483294445541752, + 0.35930196120028224, + 0.2225148004962138, + -0.9737276088065056, + 0.04839119143082142, + 0.3607421735741362, + 0.0361205057477241, + -0.9319658755928437 + ], + [ + 0.9193777665146484, + 0.22138543485709197, + 0.3251661293426372, + 0.2220542264419529, + -0.9743856379864402, + 0.0355604978174343, + 0.3247097826641543, + 0.03951098225676154, + -0.9449880630586311 + ], + [ + 0.9372801529611638, + 0.21316554459813156, + 0.2758013151913508, + 0.21413940748620883, + -0.9764312592404798, + 0.026950141734431197, + 0.275045867132288, + 0.03380009725182027, + -0.9608367834336978 + ], + [ + 0.9530719099256496, + 0.1992557159507018, + 0.22792782667249512, + 0.2018169615995858, + -0.9793465244450466, + 0.012259652039044729, + 0.22566313062036747, + 0.03431537145916376, + -0.9736008457064085 + ], + [ + 0.9655751868094151, + 0.1734524429205089, + 0.1938525436069163, + 0.1750224880031069, + -0.984522078642349, + 0.009132653445260625, + 0.19243619023241468, + 0.02511029093134009, + -0.9809881681132439 + ], + [ + 0.9772081201228024, + 0.1312909629065815, + 0.16681418712184323, + 0.13277806990032281, + -0.9911432259825771, + 0.0022560457431873987, + 0.1656329499815893, + 0.019944639578418424, + -0.9859857692849747 + ], + [ + 0.9835047292595632, + 0.09999577812734324, + 0.15072920049141034, + 0.10233777587642513, + -0.9947187963955586, + -0.007841921068031703, + 0.14914900989526955, + 0.023137857594812093, + -0.9885439860689975 + ], + [ + 0.9899976742352309, + 0.047911397374247294, + 0.13269929544078402, + 0.05002592844613747, + -0.9986678682137092, + -0.012644978473178858, + 0.13191668390289168, + 0.01915690473777515, + -0.9910756790018268 + ], + [ + 0.9947705407705904, + 0.018140095670337, + 0.10051123391968887, + 0.019081764446255523, + -0.9997825113017557, + -0.008415245734529928, + 0.10033672049955096, + 0.010289170239913732, + -0.9949003344532402 + ], + [ + 0.9949833538845765, + 0.013451433882239917, + 0.09913215633239955, + 0.014385508502708746, + -0.9998585540747191, + -0.008713724159653241, + 0.09900092240842037, + 0.01009607696700843, + -0.9950361232599338 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006487.json b/json/chunk-0006/episode_0006487.json new file mode 100644 index 0000000000000000000000000000000000000000..5d9017b5c520e897810b5799f5021586564e5ae7 --- /dev/null +++ b/json/chunk-0006/episode_0006487.json @@ -0,0 +1,2482 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 40, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut the orange towel in the washing machine." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006487.mp4", + "start": 0, + "end": 40, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.26714739203453064, + 0.03415661305189133, + 0.06565327197313309, + 0.03867243975400925, + -0.21018244326114655, + -0.23061633110046387, + 0.0, + 0.9994885921478271 + ], + [ + 0.26562920212745667, + 0.032825224101543427, + 0.05896342545747757, + 0.027253564447164536, + -0.18444548547267914, + -0.22349879145622253, + 0.0, + 0.9994885921478271 + ], + [ + 0.28359338641166687, + 0.0038965705316513777, + 0.05886261910200119, + 0.03151261433959007, + -0.18184451758861542, + -0.32142940163612366, + 0.0, + 0.9994885921478271 + ], + [ + 0.30088627338409424, + -0.01944294199347496, + 0.05758970230817795, + 0.04491604492068291, + -0.18509499728679657, + -0.4163210988044739, + 0.0, + 0.9994885921478271 + ], + [ + 0.31370872259140015, + -0.046641554683446884, + 0.04148317873477936, + 0.007237348239868879, + -0.17858411371707916, + -0.5136558413505554, + 0.0, + 0.9994885921478271 + ], + [ + 0.3209875822067261, + -0.07300522178411484, + 0.02543124370276928, + 0.0034123228397220373, + -0.2296881079673767, + -0.594991147518158, + 0.0, + 1.0001531839370728 + ], + [ + 0.31856101751327515, + -0.09447070956230164, + 0.004128886386752129, + -0.013542276807129383, + -0.2288946956396103, + -0.6338769793510437, + 0.0, + 0.9988223910331726 + ], + [ + 0.3103814125061035, + -0.10977870225906372, + -0.014509390108287334, + -0.0252109132707119, + -0.19292372465133667, + -0.6907009482383728, + 0.0, + 0.9981546401977539 + ], + [ + 0.2976127564907074, + -0.12159370630979538, + -0.027264121919870377, + -0.04853995144367218, + -0.1717858761548996, + -0.6936104893684387, + 0.0, + 0.9974852800369263 + ], + [ + 0.2847580015659332, + -0.12479483336210251, + -0.041191499680280685, + -0.0800168365240097, + -0.1756420135498047, + -0.6620051264762878, + 0.0, + 0.9981546401977539 + ], + [ + 0.27594465017318726, + -0.12221302092075348, + -0.05278864875435829, + -0.08241479843854904, + -0.18347547948360443, + -0.6547510623931885, + 0.0, + 0.9981546401977539 + ], + [ + 0.2791711390018463, + -0.11746735870838165, + -0.07085592299699783, + -0.04445447400212288, + -0.2268146574497223, + -0.6604915261268616, + 0.0, + 0.9988223910331726 + ], + [ + 0.28216278553009033, + -0.11616633832454681, + -0.07310120761394501, + -0.04336082190275192, + -0.24486152827739716, + -0.6595521569252014, + 0.0, + 0.9499720335006714 + ], + [ + 0.284424364566803, + -0.11249412596225739, + -0.07281095534563065, + -0.017011398449540138, + -0.21708202362060547, + -0.6687136292457581, + 0.0, + 0.6631406545639038 + ], + [ + 0.2824742794036865, + -0.11306643486022949, + -0.07285728305578232, + -0.018036924302577972, + -0.20535676181316376, + -0.7097789645195007, + 0.0, + 0.35856863856315613 + ], + [ + 0.2811267077922821, + -0.1113286241889, + -0.07329798489809036, + -0.014338018372654915, + -0.1915566325187683, + -0.714633047580719, + 0.0, + 0.14964459836483002 + ], + [ + 0.28044888377189636, + -0.11016341298818588, + -0.07150372117757797, + -0.017421144992113113, + -0.1628577560186386, + -0.7293990850448608, + 0.0, + 0.06037256866693497 + ], + [ + 0.2852877676486969, + -0.11101539433002472, + -0.05668964982032776, + -0.0032950476743280888, + -0.18205630779266357, + -0.7343656420707703, + 0.0, + 0.05324139446020126 + ], + [ + 0.28796735405921936, + -0.10356602817773819, + -0.029000965878367424, + 0.02082780934870243, + -0.19162185490131378, + -0.7239452004432678, + 0.0, + 0.05324139446020126 + ], + [ + 0.2875950038433075, + -0.09591374546289444, + 0.0020076080691069365, + 0.06721614301204681, + -0.2083270400762558, + -0.7067146897315979, + 0.0, + 0.05324139446020126 + ], + [ + 0.28376200795173645, + -0.08238179236650467, + 0.02970258705317974, + 0.10121002793312073, + -0.22096741199493408, + -0.677036702632904, + 0.0, + 0.05324139446020126 + ], + [ + 0.2798788249492645, + -0.061760466545820236, + 0.061685699969530106, + 0.16970813274383545, + -0.27115893363952637, + -0.6509522199630737, + 0.0, + 0.05324139446020126 + ], + [ + 0.2831241488456726, + -0.04165620729327202, + 0.08875399082899094, + 0.2433934211730957, + -0.31551823019981384, + -0.6339212656021118, + 0.0, + 0.05324139446020126 + ], + [ + 0.2886681854724884, + -0.020326949656009674, + 0.0997273176908493, + 0.2722600996494293, + -0.3546043932437897, + -0.6059777736663818, + 0.0, + 0.05324139446020126 + ], + [ + 0.2953885793685913, + -0.0024803413543850183, + 0.10850480198860168, + 0.3016749918460846, + -0.3628915548324585, + -0.5851885676383972, + 0.0, + 0.05324139446020126 + ], + [ + 0.3114687204360962, + 0.011601133272051811, + 0.11500087380409241, + 0.30563604831695557, + -0.3954251706600189, + -0.5705356597900391, + 0.0, + 0.05324139446020126 + ], + [ + 0.33362361788749695, + 0.020468732342123985, + 0.10947155952453613, + 0.2904157042503357, + -0.41880345344543457, + -0.5779324173927307, + 0.0, + 0.05324139446020126 + ], + [ + 0.3589867055416107, + 0.02697426825761795, + 0.10131458938121796, + 0.2795182168483734, + -0.44634297490119934, + -0.5944095849990845, + 0.0, + 0.05324139446020126 + ], + [ + 0.3803751468658447, + 0.034560833126306534, + 0.08284730464220047, + 0.24763405323028564, + -0.4690953195095062, + -0.6013522744178772, + 0.0, + 0.05324139446020126 + ], + [ + 0.4007512331008911, + 0.04409739747643471, + 0.06727281212806702, + 0.21403440833091736, + -0.4579862952232361, + -0.6126155257225037, + 0.0, + 0.05324139446020126 + ], + [ + 0.41224002838134766, + 0.04554257541894913, + 0.06235560402274132, + 0.19227728247642517, + -0.4544699192047119, + -0.6255282759666443, + 0.0, + 0.07689721137285233 + ], + [ + 0.41165676712989807, + 0.04412820562720299, + 0.06040554866194725, + 0.1741420030593872, + -0.4474484324455261, + -0.6235895752906799, + 0.0, + 0.227462038397789 + ], + [ + 0.4106382131576538, + 0.040504712611436844, + 0.05957864969968796, + 0.16690726578235626, + -0.43772202730178833, + -0.6206507682800293, + 0.0, + 0.4889543354511261 + ], + [ + 0.4098605811595917, + 0.030208688229322433, + 0.0586104691028595, + 0.1629517376422882, + -0.42433926463127136, + -0.6418810486793518, + 0.0, + 0.8007952570915222 + ], + [ + 0.40884581208229065, + 0.021622059866786003, + 0.06240683048963547, + 0.17063479125499725, + -0.41444122791290283, + -0.6703242659568787, + 0.0, + 1.0067112445831299 + ], + [ + 0.4048423767089844, + 0.012437880970537663, + 0.07976429164409637, + 0.19688713550567627, + -0.4113287925720215, + -0.6884795427322388, + 0.0, + 1.0073583126068115 + ], + [ + 0.3898138999938965, + 0.0036023983266204596, + 0.09347179532051086, + 0.20984028279781342, + -0.4030217230319977, + -0.6746627688407898, + 0.0, + 1.0001531839370728 + ], + [ + 0.3684963881969452, + -0.004490886349231005, + 0.10256949067115784, + 0.21154677867889404, + -0.38041529059410095, + -0.6410082578659058, + 0.0, + 0.9994885921478271 + ], + [ + 0.335562139749527, + -0.011038628406822681, + 0.10439323633909225, + 0.2019178420305252, + -0.3589421212673187, + -0.5766506791114807, + 0.0, + 1.0001531839370728 + ], + [ + 0.3068426549434662, + -0.017583975568413734, + 0.09427715837955475, + 0.17131516337394714, + -0.2980772852897644, + -0.511299192905426, + 0.0, + 0.9994885921478271 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9988223910331726 + ], + [ + 0.9981546401977539 + ], + [ + 0.9974852800369263 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9988223910331726 + ], + [ + 0.9499720335006714 + ], + [ + 0.6631406545639038 + ], + [ + 0.35856863856315613 + ], + [ + 0.14964459836483002 + ], + [ + 0.06037256866693497 + ], + [ + 0.05324139446020126 + ], + [ + 0.05324139446020126 + ], + [ + 0.05324139446020126 + ], + [ + 0.05324139446020126 + ], + [ + 0.05324139446020126 + ], + [ + 0.05324139446020126 + ], + [ + 0.05324139446020126 + ], + [ + 0.05324139446020126 + ], + [ + 0.05324139446020126 + ], + [ + 0.05324139446020126 + ], + [ + 0.05324139446020126 + ], + [ + 0.05324139446020126 + ], + [ + 0.05324139446020126 + ], + [ + 0.07689721137285233 + ], + [ + 0.227462038397789 + ], + [ + 0.4889543354511261 + ], + [ + 0.8007952570915222 + ], + [ + 1.0067112445831299 + ], + [ + 1.0073583126068115 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.26714739203453064, + 0.03415661305189133, + 0.06565327197313309 + ], + [ + 0.26562920212745667, + 0.032825224101543427, + 0.05896342545747757 + ], + [ + 0.28359338641166687, + 0.0038965705316513777, + 0.05886261910200119 + ], + [ + 0.30088627338409424, + -0.01944294199347496, + 0.05758970230817795 + ], + [ + 0.31370872259140015, + -0.046641554683446884, + 0.04148317873477936 + ], + [ + 0.3209875822067261, + -0.07300522178411484, + 0.02543124370276928 + ], + [ + 0.31856101751327515, + -0.09447070956230164, + 0.004128886386752129 + ], + [ + 0.3103814125061035, + -0.10977870225906372, + -0.014509390108287334 + ], + [ + 0.2976127564907074, + -0.12159370630979538, + -0.027264121919870377 + ], + [ + 0.2847580015659332, + -0.12479483336210251, + -0.041191499680280685 + ], + [ + 0.27594465017318726, + -0.12221302092075348, + -0.05278864875435829 + ], + [ + 0.2791711390018463, + -0.11746735870838165, + -0.07085592299699783 + ], + [ + 0.28216278553009033, + -0.11616633832454681, + -0.07310120761394501 + ], + [ + 0.284424364566803, + -0.11249412596225739, + -0.07281095534563065 + ], + [ + 0.2824742794036865, + -0.11306643486022949, + -0.07285728305578232 + ], + [ + 0.2811267077922821, + -0.1113286241889, + -0.07329798489809036 + ], + [ + 0.28044888377189636, + -0.11016341298818588, + -0.07150372117757797 + ], + [ + 0.2852877676486969, + -0.11101539433002472, + -0.05668964982032776 + ], + [ + 0.28796735405921936, + -0.10356602817773819, + -0.029000965878367424 + ], + [ + 0.2875950038433075, + -0.09591374546289444, + 0.0020076080691069365 + ], + [ + 0.28376200795173645, + -0.08238179236650467, + 0.02970258705317974 + ], + [ + 0.2798788249492645, + -0.061760466545820236, + 0.061685699969530106 + ], + [ + 0.2831241488456726, + -0.04165620729327202, + 0.08875399082899094 + ], + [ + 0.2886681854724884, + -0.020326949656009674, + 0.0997273176908493 + ], + [ + 0.2953885793685913, + -0.0024803413543850183, + 0.10850480198860168 + ], + [ + 0.3114687204360962, + 0.011601133272051811, + 0.11500087380409241 + ], + [ + 0.33362361788749695, + 0.020468732342123985, + 0.10947155952453613 + ], + [ + 0.3589867055416107, + 0.02697426825761795, + 0.10131458938121796 + ], + [ + 0.3803751468658447, + 0.034560833126306534, + 0.08284730464220047 + ], + [ + 0.4007512331008911, + 0.04409739747643471, + 0.06727281212806702 + ], + [ + 0.41224002838134766, + 0.04554257541894913, + 0.06235560402274132 + ], + [ + 0.41165676712989807, + 0.04412820562720299, + 0.06040554866194725 + ], + [ + 0.4106382131576538, + 0.040504712611436844, + 0.05957864969968796 + ], + [ + 0.4098605811595917, + 0.030208688229322433, + 0.0586104691028595 + ], + [ + 0.40884581208229065, + 0.021622059866786003, + 0.06240683048963547 + ], + [ + 0.4048423767089844, + 0.012437880970537663, + 0.07976429164409637 + ], + [ + 0.3898138999938965, + 0.0036023983266204596, + 0.09347179532051086 + ], + [ + 0.3684963881969452, + -0.004490886349231005, + 0.10256949067115784 + ], + [ + 0.335562139749527, + -0.011038628406822681, + 0.10439323633909225 + ], + [ + 0.3068426549434662, + -0.017583975568413734, + 0.09427715837955475 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9521011902379202, + -0.22055369067484354, + 0.21180036137183805, + -0.22354724369997625, + -0.9746416400160888, + -0.010015157557039488, + 0.2086383315253436, + -0.03781194356885571, + -0.977261635152975 + ], + [ + 0.9585879156596822, + -0.2166870129489751, + 0.18481327433514358, + -0.2178832601315511, + -0.9758735280623234, + -0.014062083118823943, + 0.18340145284504475, + -0.026787975781021153, + -0.9826730440222131 + ], + [ + 0.9331410492360812, + -0.3103601242077008, + 0.18145075236097905, + -0.3107140733492026, + -0.9501138581463279, + -0.027210681377821035, + 0.18084398484144046, + -0.030987898607028632, + -0.9830235008821452 + ], + [ + 0.8989606696312826, + -0.396432963171705, + 0.18630786394293014, + -0.39749091355731087, + -0.9170022341707895, + -0.03328477377352621, + 0.18403990897479328, + -0.0441339805216116, + -0.981927443178908 + ], + [ + 0.8571024960237583, + -0.49023202144402195, + 0.15826520925570411, + -0.48355002483095805, + -0.8715628718781416, + -0.0809786011826982, + 0.17763638364879988, + -0.00712218466726941, + -0.9840704190705776 + ], + [ + 0.8064040407042008, + -0.5598547717079005, + 0.19046038362828277, + -0.5457812277847311, + -0.8285840900354929, + -0.12478484338190313, + 0.22767383366063304, + -0.003322700099187552, + -0.9737317829517129 + ], + [ + 0.784721924538223, + -0.5946944804731896, + 0.17478551439907664, + -0.5768252357392952, + -0.8038436005300295, + -0.14528631491377386, + 0.2269011867825581, + 0.013188661101141613, + -0.9738284811274649 + ], + [ + 0.7564996686578789, + -0.6406005749026304, + 0.13167822430051968, + -0.6252584806398966, + -0.7674756069939651, + -0.1415380692857295, + 0.19172919367797558, + 0.024740576057627833, + -0.9811359845546025 + ], + [ + 0.757624757178965, + -0.6449424120667275, + 0.10026969844905853, + -0.6299075233074707, + -0.7627344249391683, + -0.14646743355901273, + 0.17094221067413934, + 0.04780671637193983, + -0.9841205609474738 + ], + [ + 0.7766258252321255, + -0.6237496621128673, + 0.08825353588725965, + -0.6052422257544601, + -0.7776518515098294, + -0.1701159781064711, + 0.17474030944892793, + 0.07870169539100216, + -0.9814641447328958 + ], + [ + 0.7798861189542998, + -0.6188082489113089, + 0.09409565633821246, + -0.5987407090531267, + -0.7813610548517108, + -0.17602404745823985, + 0.18244781386730433, + 0.08093981122007353, + -0.9798783302914195 + ], + [ + 0.7694649292945807, + -0.6207906737392783, + 0.15014213926815806, + -0.5977917671693325, + -0.7827796041684011, + -0.17291932917556654, + 0.22487491120676972, + 0.043301624638047376, + -0.9734250066715222 + ], + [ + 0.7666937892782228, + -0.6204914197277491, + 0.16483637804332674, + -0.5944848309634532, + -0.783084823029313, + -0.18266347663258875, + 0.2424219858770129, + 0.04205422672445863, + -0.9692590070657344 + ], + [ + 0.7662048726591109, + -0.6227621393188376, + 0.15842162398000117, + -0.6054263748816591, + -0.7822348631819016, + -0.1468588554376105, + 0.21538105234929303, + 0.016611341120359682, + -0.9763887881551563 + ], + [ + 0.7425684345773688, + -0.6543497824191198, + 0.14289325462514602, + -0.6379735151813761, + -0.7559858419916834, + -0.14654419345454847, + 0.2039164385144922, + 0.017656980381035303, + -0.9788290540985127 + ], + [ + 0.7415180072845322, + -0.6573347500503556, + 0.13439520545396286, + -0.6433535004018097, + -0.7534672606431415, + -0.13558525236786872, + 0.19038728527271695, + 0.014075280286965017, + -0.9816081540468825 + ], + [ + 0.7357095216506897, + -0.6684264796553301, + 0.10925905476479189, + -0.6576036093578794, + -0.7435795542573373, + -0.12102454069298843, + 0.16213880692789948, + 0.01718975817287558, + -0.986618223783625 + ], + [ + 0.7299890827007212, + -0.67055560791687, + 0.13217834856358454, + -0.6590417372408979, + -0.7418521923488937, + -0.12377121346112516, + 0.1810522789479849, + 0.003240586116264231, + -0.9834681341504482 + ], + [ + 0.7354856324079855, + -0.6592302817555763, + 0.15644909759372, + -0.6502224091905889, + -0.7516631113747574, + -0.1105141872557801, + 0.19045131427168505, + -0.020445112249210216, + -0.9814837208417189 + ], + [ + 0.7440559620955186, + -0.6373080927280147, + 0.20054705236799897, + -0.6352989890623176, + -0.7678021595778717, + -0.08291585037828544, + 0.2068234023666326, + -0.06571330680263415, + -0.9761689615750715 + ], + [ + 0.7604813808230586, + -0.6060198161869271, + 0.23325533608090787, + -0.6112536262442839, + -0.7893173186834964, + -0.057854773610387725, + 0.21917361571290345, + -0.09858069189785097, + -0.9706929346401332 + ], + [ + 0.7664402303364883, + -0.5612519845563789, + 0.31235489935852895, + -0.5838036596578094, + -0.8114907795530042, + -0.02561252956281422, + 0.26784820382429125, + -0.1627234602999325, + -0.9496201425707634 + ], + [ + 0.7659377399937471, + -0.5145967997198623, + 0.3853952674480407, + -0.5630698030017968, + -0.8262584246716567, + 0.015792802367849107, + 0.31030916100042655, + -0.22910074067359135, + -0.9226164290874205 + ], + [ + 0.7708073554909574, + -0.4718410024991619, + 0.4280444942778997, + -0.5341298623424195, + -0.8448503222244165, + 0.030548701958800092, + 0.3472193987597826, + -0.25217851097562927, + -0.9032412123718723 + ], + [ + 0.7793186368091989, + -0.43949050178285587, + 0.44666605105437085, + -0.5163839702082181, + -0.8542201261224807, + 0.0604613218453884, + 0.35497895379001054, + -0.27776982372091297, + -0.8926555144041866 + ], + [ + 0.7766670298999664, + -0.4175046948239838, + 0.4716758998150077, + -0.4984062940262961, + -0.8652072109634857, + 0.05484202924545817, + 0.38520058507398225, + -0.27768023317607354, + -0.8800648824728455 + ], + [ + 0.7652058866954765, + -0.42587984624161146, + 0.4827901278317641, + -0.4990805622086678, + -0.8661352118769268, + 0.026988648954541034, + 0.40666760799462476, + -0.26160304148104396, + -0.8753201158980626 + ], + [ + 0.7473146275141455, + -0.439617184619323, + 0.49825453183164786, + -0.5051555592056984, + -0.8630199873226001, + -0.0037897869699596715, + 0.43166967522281735, + -0.2488638834163761, + -0.8670225250960601 + ], + [ + 0.7354991707234805, + -0.457129197497575, + 0.5000738612048177, + -0.5046435190611148, + -0.8621092302920472, + -0.045854047965996486, + 0.4520795157211688, + -0.2186334188555736, + -0.8647679108436185 + ], + [ + 0.7338324633849379, + -0.4850541778139509, + 0.47561787210703715, + -0.5157515291825602, + -0.8534791325072963, + -0.07465742106745873, + 0.4421428228844663, + -0.19051460563385994, + -0.8764781281994037 + ], + [ + 0.7283675578147304, + -0.5067312359496872, + 0.4611986071487082, + -0.5260911553195913, + -0.8448333868090642, + -0.09738914121822995, + 0.43898610116665837, + -0.17169741711985415, + -0.8819360520677606 + ], + [ + 0.7318703225794106, + -0.5142651242023076, + 0.4470986613228613, + -0.5264650709533282, + -0.8432858537826506, + -0.10818270599394889, + 0.43266656907324913, + -0.15620611652317332, + -0.8879185149365523 + ], + [ + 0.7368030387672041, + -0.5161960155025469, + 0.43664969442644574, + -0.5267345289035181, + -0.8431490803274808, + -0.10793685377901421, + 0.42387736212754135, + -0.15047026923023002, + -0.8931330695666685 + ], + [ + 0.7299336452083317, + -0.5372721063930213, + 0.4225346817539161, + -0.5456047615232036, + -0.8303499364516215, + -0.11328913115562458, + 0.4117187362703881, + -0.14784338580671827, + -0.8992385753942723 + ], + [ + 0.7172801199034915, + -0.5586355585292689, + 0.4164559308473399, + -0.5686468449569603, + -0.8147190461914107, + -0.11346207072609206, + 0.40267852601265874, + -0.15543226344504413, + -0.9020481229782714 + ], + [ + 0.7078029342919858, + -0.5626914080140802, + 0.4270753862666246, + -0.5823683243937919, + -0.8069879004078089, + -0.09806968613268566, + 0.3998276390526572, + -0.17930116548011668, + -0.8988820562827193 + ], + [ + 0.7183505798055156, + -0.5471337948558002, + 0.4296708682465809, + -0.5745883739358824, + -0.8148180945359597, + -0.07693941353108061, + 0.39219975144153024, + -0.19161441319347364, + -0.8997017681574949 + ], + [ + 0.7441948860973601, + -0.5221850799171747, + 0.4165293672941096, + -0.5552528696944258, + -0.8302485814405334, + -0.04880106261227292, + 0.3713061031044902, + -0.1949616252698873, + -0.9078115126332568 + ], + [ + 0.7848681514012028, + -0.4750851243106767, + 0.3978393011942986, + -0.5104718960297118, + -0.8596729174456121, + -0.019517130280378492, + 0.35128397099766756, + -0.18776740843197207, + -0.9172474977075986 + ], + [ + 0.8336520543858483, + -0.438484338820985, + 0.33579121016932256, + -0.4677335269828829, + -0.8838411959397354, + 0.007077294396232531, + 0.2936828220281317, + -0.16296080807526045, + -0.9419098550695023 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0015181899070739746, + -0.0013313889503479004, + -0.006689846515655518, + -0.011418875306844711, + 0.025736957788467407, + 0.007117539644241333, + 1.0 + ], + [ + 0.017964184284210205, + -0.02892865426838398, + -0.0001008063554763794, + 0.004259049892425537, + 0.0026009678840637207, + -0.09793061017990112, + 1.0 + ], + [ + 0.017292886972427368, + -0.023339511826634407, + -0.0012729167938232422, + 0.013403430581092834, + -0.0032504796981811523, + -0.09489169716835022, + 1.0 + ], + [ + 0.012822449207305908, + -0.027198612689971924, + -0.01610652357339859, + -0.03767869621515274, + 0.006510883569717407, + -0.09733474254608154, + 1.0 + ], + [ + 0.007278859615325928, + -0.026363667100667953, + -0.01605193503201008, + -0.003825025400146842, + -0.051103994250297546, + -0.08133530616760254, + 1.0 + ], + [ + -0.0024265646934509277, + -0.021465487778186798, + -0.02130235731601715, + -0.01695459894835949, + 0.0007934123277664185, + -0.03888583183288574, + 1.0 + ], + [ + -0.00817960500717163, + -0.015307992696762085, + -0.01863827556371689, + -0.011668636463582516, + 0.03597097098827362, + -0.0568239688873291, + 1.0 + ], + [ + -0.012768656015396118, + -0.011815004050731659, + -0.012754731811583042, + -0.02332903817296028, + 0.021137848496437073, + -0.002909541130065918, + 1.0 + ], + [ + -0.01285475492477417, + -0.003201127052307129, + -0.013927377760410309, + -0.031476885080337524, + -0.0038561373949050903, + 0.03160536289215088, + 1.0 + ], + [ + -0.008813351392745972, + 0.0025818124413490295, + -0.011597149074077606, + -0.002397961914539337, + -0.007833465933799744, + 0.007254064083099365, + 1.0 + ], + [ + 0.0032264888286590576, + 0.004745662212371826, + -0.01806727424263954, + 0.03796032443642616, + -0.04333917796611786, + -0.005740463733673096, + 1.0 + ], + [ + 0.0029916465282440186, + 0.0013010203838348389, + -0.002245284616947174, + 0.0010936520993709564, + -0.018046870827674866, + 0.0009393692016601562, + 0.0 + ], + [ + 0.0022615790367126465, + 0.0036722123622894287, + 0.00029025226831436157, + 0.026349423453211784, + 0.027779504656791687, + -0.00916147232055664, + 0.0 + ], + [ + -0.001950085163116455, + -0.0005723088979721069, + -4.632771015167236e-05, + -0.0010255258530378342, + 0.011725261807441711, + -0.041065335273742676, + 0.0 + ], + [ + -0.001347571611404419, + 0.0017378106713294983, + -0.00044070184230804443, + 0.0036989059299230576, + 0.013800129294395447, + -0.004854083061218262, + 0.0 + ], + [ + -0.0006778240203857422, + 0.0011652112007141113, + 0.0017942637205123901, + -0.0030831266194581985, + 0.0286988765001297, + -0.014766037464141846, + 0.0 + ], + [ + 0.004838883876800537, + -0.0008519813418388367, + 0.014814071357250214, + 0.014126097783446312, + -0.019198551774024963, + -0.004966557025909424, + 0.0 + ], + [ + 0.002679586410522461, + 0.0074493661522865295, + 0.027688683941960335, + 0.024122856557369232, + -0.009565547108650208, + 0.010420441627502441, + 0.0 + ], + [ + -0.00037235021591186523, + 0.00765228271484375, + 0.03100857324898243, + 0.04638833552598953, + -0.016705185174942017, + 0.017230510711669922, + 0.0 + ], + [ + -0.003832995891571045, + 0.01353195309638977, + 0.027694979682564735, + 0.033993884921073914, + -0.012640371918678284, + 0.029677987098693848, + 0.0 + ], + [ + -0.003883183002471924, + 0.020621325820684433, + 0.031983114778995514, + 0.06849810481071472, + -0.050191521644592285, + 0.026084482669830322, + 0.0 + ], + [ + 0.003245323896408081, + 0.020104259252548218, + 0.02706829085946083, + 0.07368528842926025, + -0.044359296560287476, + 0.017030954360961914, + 0.0 + ], + [ + 0.005544036626815796, + 0.021329257637262344, + 0.010973326861858368, + 0.028866678476333618, + -0.03908616304397583, + 0.02794349193572998, + 0.0 + ], + [ + 0.006720393896102905, + 0.0178466085344553, + 0.00877748429775238, + 0.029414892196655273, + -0.008287161588668823, + 0.02078920602798462, + 0.0 + ], + [ + 0.016080141067504883, + 0.014081474393606186, + 0.006496071815490723, + 0.003961056470870972, + -0.032533615827560425, + 0.014652907848358154, + 0.0 + ], + [ + 0.022154897451400757, + 0.008867599070072174, + -0.005529314279556274, + -0.015220344066619873, + -0.02337828278541565, + -0.00739675760269165, + 0.0 + ], + [ + 0.02536308765411377, + 0.006505535915493965, + -0.008156970143318176, + -0.01089748740196228, + -0.02753952145576477, + -0.01647716760635376, + 0.0 + ], + [ + 0.02138844132423401, + 0.007586564868688583, + -0.018467284739017487, + -0.03188416361808777, + -0.022752344608306885, + -0.006942689418792725, + 0.0 + ], + [ + 0.020376086235046387, + 0.009536564350128174, + -0.015574492514133453, + -0.033599644899368286, + 0.011109024286270142, + -0.011263251304626465, + 0.0 + ], + [ + 0.011488795280456543, + 0.0014451779425144196, + -0.004917208105325699, + -0.021757125854492188, + 0.00351637601852417, + -0.012912750244140625, + 1.0 + ], + [ + -0.000583261251449585, + -0.0014143697917461395, + -0.0019500553607940674, + -0.018135279417037964, + 0.007021486759185791, + 0.0019387006759643555, + 1.0 + ], + [ + -0.0010185539722442627, + -0.003623493015766144, + -0.0008268989622592926, + -0.007234737277030945, + 0.009726405143737793, + 0.0029388070106506348, + 1.0 + ], + [ + -0.0007776319980621338, + -0.01029602438211441, + -0.0009681805968284607, + -0.003955528140068054, + 0.013382762670516968, + -0.02123028039932251, + 1.0 + ], + [ + -0.0010147690773010254, + -0.00858662836253643, + 0.0037963613867759705, + 0.007683053612709045, + 0.00989803671836853, + -0.028443217277526855, + 1.0 + ], + [ + -0.004003435373306274, + -0.00918417889624834, + 0.017357461154460907, + 0.026252344250679016, + 0.0031124353408813477, + -0.018155276775360107, + 1.0 + ], + [ + -0.01502847671508789, + -0.00883548241108656, + 0.01370750367641449, + 0.012953147292137146, + 0.008307069540023804, + 0.013816773891448975, + 1.0 + ], + [ + -0.021317511796951294, + -0.00809328444302082, + 0.009097695350646973, + 0.0017064958810806274, + 0.02260643243789673, + 0.03365451097488403, + 1.0 + ], + [ + -0.03293424844741821, + -0.006547742057591677, + 0.0018237456679344177, + -0.009628936648368835, + 0.021473169326782227, + 0.06435757875442505, + 1.0 + ], + [ + -0.02871948480606079, + -0.006545347161591053, + -0.010116077959537506, + -0.030602678656578064, + 0.06086483597755432, + 0.06535148620605469, + 1.0 + ], + [ + -0.007952839136123657, + -0.0021503083407878876, + -0.005905583500862122, + -0.024950861930847168, + 0.029316425323486328, + 0.011826813220977783, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9988223910331726 + ], + [ + 0.9981546401977539 + ], + [ + 0.9974852800369263 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9988223910331726 + ], + [ + 0.9499720335006714 + ], + [ + 0.6631406545639038 + ], + [ + 0.35856863856315613 + ], + [ + 0.14964459836483002 + ], + [ + 0.06037256866693497 + ], + [ + 0.05324139446020126 + ], + [ + 0.05324139446020126 + ], + [ + 0.05324139446020126 + ], + [ + 0.05324139446020126 + ], + [ + 0.05324139446020126 + ], + [ + 0.05324139446020126 + ], + [ + 0.05324139446020126 + ], + [ + 0.05324139446020126 + ], + [ + 0.05324139446020126 + ], + [ + 0.05324139446020126 + ], + [ + 0.05324139446020126 + ], + [ + 0.05324139446020126 + ], + [ + 0.05324139446020126 + ], + [ + 0.07689721137285233 + ], + [ + 0.227462038397789 + ], + [ + 0.4889543354511261 + ], + [ + 0.8007952570915222 + ], + [ + 1.0067112445831299 + ], + [ + 1.0073583126068115 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.26562920212745667, + 0.032825224101543427, + 0.05896342545747757 + ], + [ + 0.28359338641166687, + 0.0038965705316513777, + 0.05886261910200119 + ], + [ + 0.30088627338409424, + -0.01944294199347496, + 0.05758970230817795 + ], + [ + 0.31370872259140015, + -0.046641554683446884, + 0.04148317873477936 + ], + [ + 0.3209875822067261, + -0.07300522178411484, + 0.02543124370276928 + ], + [ + 0.31856101751327515, + -0.09447070956230164, + 0.004128886386752129 + ], + [ + 0.3103814125061035, + -0.10977870225906372, + -0.014509390108287334 + ], + [ + 0.2976127564907074, + -0.12159370630979538, + -0.027264121919870377 + ], + [ + 0.2847580015659332, + -0.12479483336210251, + -0.041191499680280685 + ], + [ + 0.27594465017318726, + -0.12221302092075348, + -0.05278864875435829 + ], + [ + 0.2791711390018463, + -0.11746735870838165, + -0.07085592299699783 + ], + [ + 0.28216278553009033, + -0.11616633832454681, + -0.07310120761394501 + ], + [ + 0.284424364566803, + -0.11249412596225739, + -0.07281095534563065 + ], + [ + 0.2824742794036865, + -0.11306643486022949, + -0.07285728305578232 + ], + [ + 0.2811267077922821, + -0.1113286241889, + -0.07329798489809036 + ], + [ + 0.28044888377189636, + -0.11016341298818588, + -0.07150372117757797 + ], + [ + 0.2852877676486969, + -0.11101539433002472, + -0.05668964982032776 + ], + [ + 0.28796735405921936, + -0.10356602817773819, + -0.029000965878367424 + ], + [ + 0.2875950038433075, + -0.09591374546289444, + 0.0020076080691069365 + ], + [ + 0.28376200795173645, + -0.08238179236650467, + 0.02970258705317974 + ], + [ + 0.2798788249492645, + -0.061760466545820236, + 0.061685699969530106 + ], + [ + 0.2831241488456726, + -0.04165620729327202, + 0.08875399082899094 + ], + [ + 0.2886681854724884, + -0.020326949656009674, + 0.0997273176908493 + ], + [ + 0.2953885793685913, + -0.0024803413543850183, + 0.10850480198860168 + ], + [ + 0.3114687204360962, + 0.011601133272051811, + 0.11500087380409241 + ], + [ + 0.33362361788749695, + 0.020468732342123985, + 0.10947155952453613 + ], + [ + 0.3589867055416107, + 0.02697426825761795, + 0.10131458938121796 + ], + [ + 0.3803751468658447, + 0.034560833126306534, + 0.08284730464220047 + ], + [ + 0.4007512331008911, + 0.04409739747643471, + 0.06727281212806702 + ], + [ + 0.41224002838134766, + 0.04554257541894913, + 0.06235560402274132 + ], + [ + 0.41165676712989807, + 0.04412820562720299, + 0.06040554866194725 + ], + [ + 0.4106382131576538, + 0.040504712611436844, + 0.05957864969968796 + ], + [ + 0.4098605811595917, + 0.030208688229322433, + 0.0586104691028595 + ], + [ + 0.40884581208229065, + 0.021622059866786003, + 0.06240683048963547 + ], + [ + 0.4048423767089844, + 0.012437880970537663, + 0.07976429164409637 + ], + [ + 0.3898138999938965, + 0.0036023983266204596, + 0.09347179532051086 + ], + [ + 0.3684963881969452, + -0.004490886349231005, + 0.10256949067115784 + ], + [ + 0.335562139749527, + -0.011038628406822681, + 0.10439323633909225 + ], + [ + 0.3068426549434662, + -0.017583975568413734, + 0.09427715837955475 + ], + [ + 0.29888981580734253, + -0.019734283909201622, + 0.08837157487869263 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9585879156596822, + -0.2166870129489751, + 0.18481327433514358, + -0.2178832601315511, + -0.9758735280623234, + -0.014062083118823943, + 0.18340145284504475, + -0.026787975781021153, + -0.9826730440222131 + ], + [ + 0.9331410492360812, + -0.3103601242077008, + 0.18145075236097905, + -0.3107140733492026, + -0.9501138581463279, + -0.027210681377821035, + 0.18084398484144046, + -0.030987898607028632, + -0.9830235008821452 + ], + [ + 0.8989606696312826, + -0.396432963171705, + 0.18630786394293014, + -0.39749091355731087, + -0.9170022341707895, + -0.03328477377352621, + 0.18403990897479328, + -0.0441339805216116, + -0.981927443178908 + ], + [ + 0.8571024960237583, + -0.49023202144402195, + 0.15826520925570411, + -0.48355002483095805, + -0.8715628718781416, + -0.0809786011826982, + 0.17763638364879988, + -0.00712218466726941, + -0.9840704190705776 + ], + [ + 0.8064040407042008, + -0.5598547717079005, + 0.19046038362828277, + -0.5457812277847311, + -0.8285840900354929, + -0.12478484338190313, + 0.22767383366063304, + -0.003322700099187552, + -0.9737317829517129 + ], + [ + 0.784721924538223, + -0.5946944804731896, + 0.17478551439907664, + -0.5768252357392952, + -0.8038436005300295, + -0.14528631491377386, + 0.2269011867825581, + 0.013188661101141613, + -0.9738284811274649 + ], + [ + 0.7564996686578789, + -0.6406005749026304, + 0.13167822430051968, + -0.6252584806398966, + -0.7674756069939651, + -0.1415380692857295, + 0.19172919367797558, + 0.024740576057627833, + -0.9811359845546025 + ], + [ + 0.757624757178965, + -0.6449424120667275, + 0.10026969844905853, + -0.6299075233074707, + -0.7627344249391683, + -0.14646743355901273, + 0.17094221067413934, + 0.04780671637193983, + -0.9841205609474738 + ], + [ + 0.7766258252321255, + -0.6237496621128673, + 0.08825353588725965, + -0.6052422257544601, + -0.7776518515098294, + -0.1701159781064711, + 0.17474030944892793, + 0.07870169539100216, + -0.9814641447328958 + ], + [ + 0.7798861189542998, + -0.6188082489113089, + 0.09409565633821246, + -0.5987407090531267, + -0.7813610548517108, + -0.17602404745823985, + 0.18244781386730433, + 0.08093981122007353, + -0.9798783302914195 + ], + [ + 0.7694649292945807, + -0.6207906737392783, + 0.15014213926815806, + -0.5977917671693325, + -0.7827796041684011, + -0.17291932917556654, + 0.22487491120676972, + 0.043301624638047376, + -0.9734250066715222 + ], + [ + 0.7666937892782228, + -0.6204914197277491, + 0.16483637804332674, + -0.5944848309634532, + -0.783084823029313, + -0.18266347663258875, + 0.2424219858770129, + 0.04205422672445863, + -0.9692590070657344 + ], + [ + 0.7662048726591109, + -0.6227621393188376, + 0.15842162398000117, + -0.6054263748816591, + -0.7822348631819016, + -0.1468588554376105, + 0.21538105234929303, + 0.016611341120359682, + -0.9763887881551563 + ], + [ + 0.7425684345773688, + -0.6543497824191198, + 0.14289325462514602, + -0.6379735151813761, + -0.7559858419916834, + -0.14654419345454847, + 0.2039164385144922, + 0.017656980381035303, + -0.9788290540985127 + ], + [ + 0.7415180072845322, + -0.6573347500503556, + 0.13439520545396286, + -0.6433535004018097, + -0.7534672606431415, + -0.13558525236786872, + 0.19038728527271695, + 0.014075280286965017, + -0.9816081540468825 + ], + [ + 0.7357095216506897, + -0.6684264796553301, + 0.10925905476479189, + -0.6576036093578794, + -0.7435795542573373, + -0.12102454069298843, + 0.16213880692789948, + 0.01718975817287558, + -0.986618223783625 + ], + [ + 0.7299890827007212, + -0.67055560791687, + 0.13217834856358454, + -0.6590417372408979, + -0.7418521923488937, + -0.12377121346112516, + 0.1810522789479849, + 0.003240586116264231, + -0.9834681341504482 + ], + [ + 0.7354856324079855, + -0.6592302817555763, + 0.15644909759372, + -0.6502224091905889, + -0.7516631113747574, + -0.1105141872557801, + 0.19045131427168505, + -0.020445112249210216, + -0.9814837208417189 + ], + [ + 0.7440559620955186, + -0.6373080927280147, + 0.20054705236799897, + -0.6352989890623176, + -0.7678021595778717, + -0.08291585037828544, + 0.2068234023666326, + -0.06571330680263415, + -0.9761689615750715 + ], + [ + 0.7604813808230586, + -0.6060198161869271, + 0.23325533608090787, + -0.6112536262442839, + -0.7893173186834964, + -0.057854773610387725, + 0.21917361571290345, + -0.09858069189785097, + -0.9706929346401332 + ], + [ + 0.7664402303364883, + -0.5612519845563789, + 0.31235489935852895, + -0.5838036596578094, + -0.8114907795530042, + -0.02561252956281422, + 0.26784820382429125, + -0.1627234602999325, + -0.9496201425707634 + ], + [ + 0.7659377399937471, + -0.5145967997198623, + 0.3853952674480407, + -0.5630698030017968, + -0.8262584246716567, + 0.015792802367849107, + 0.31030916100042655, + -0.22910074067359135, + -0.9226164290874205 + ], + [ + 0.7708073554909574, + -0.4718410024991619, + 0.4280444942778997, + -0.5341298623424195, + -0.8448503222244165, + 0.030548701958800092, + 0.3472193987597826, + -0.25217851097562927, + -0.9032412123718723 + ], + [ + 0.7793186368091989, + -0.43949050178285587, + 0.44666605105437085, + -0.5163839702082181, + -0.8542201261224807, + 0.0604613218453884, + 0.35497895379001054, + -0.27776982372091297, + -0.8926555144041866 + ], + [ + 0.7766670298999664, + -0.4175046948239838, + 0.4716758998150077, + -0.4984062940262961, + -0.8652072109634857, + 0.05484202924545817, + 0.38520058507398225, + -0.27768023317607354, + -0.8800648824728455 + ], + [ + 0.7652058866954765, + -0.42587984624161146, + 0.4827901278317641, + -0.4990805622086678, + -0.8661352118769268, + 0.026988648954541034, + 0.40666760799462476, + -0.26160304148104396, + -0.8753201158980626 + ], + [ + 0.7473146275141455, + -0.439617184619323, + 0.49825453183164786, + -0.5051555592056984, + -0.8630199873226001, + -0.0037897869699596715, + 0.43166967522281735, + -0.2488638834163761, + -0.8670225250960601 + ], + [ + 0.7354991707234805, + -0.457129197497575, + 0.5000738612048177, + -0.5046435190611148, + -0.8621092302920472, + -0.045854047965996486, + 0.4520795157211688, + -0.2186334188555736, + -0.8647679108436185 + ], + [ + 0.7338324633849379, + -0.4850541778139509, + 0.47561787210703715, + -0.5157515291825602, + -0.8534791325072963, + -0.07465742106745873, + 0.4421428228844663, + -0.19051460563385994, + -0.8764781281994037 + ], + [ + 0.7283675578147304, + -0.5067312359496872, + 0.4611986071487082, + -0.5260911553195913, + -0.8448333868090642, + -0.09738914121822995, + 0.43898610116665837, + -0.17169741711985415, + -0.8819360520677606 + ], + [ + 0.7318703225794106, + -0.5142651242023076, + 0.4470986613228613, + -0.5264650709533282, + -0.8432858537826506, + -0.10818270599394889, + 0.43266656907324913, + -0.15620611652317332, + -0.8879185149365523 + ], + [ + 0.7368030387672041, + -0.5161960155025469, + 0.43664969442644574, + -0.5267345289035181, + -0.8431490803274808, + -0.10793685377901421, + 0.42387736212754135, + -0.15047026923023002, + -0.8931330695666685 + ], + [ + 0.7299336452083317, + -0.5372721063930213, + 0.4225346817539161, + -0.5456047615232036, + -0.8303499364516215, + -0.11328913115562458, + 0.4117187362703881, + -0.14784338580671827, + -0.8992385753942723 + ], + [ + 0.7172801199034915, + -0.5586355585292689, + 0.4164559308473399, + -0.5686468449569603, + -0.8147190461914107, + -0.11346207072609206, + 0.40267852601265874, + -0.15543226344504413, + -0.9020481229782714 + ], + [ + 0.7078029342919858, + -0.5626914080140802, + 0.4270753862666246, + -0.5823683243937919, + -0.8069879004078089, + -0.09806968613268566, + 0.3998276390526572, + -0.17930116548011668, + -0.8988820562827193 + ], + [ + 0.7183505798055156, + -0.5471337948558002, + 0.4296708682465809, + -0.5745883739358824, + -0.8148180945359597, + -0.07693941353108061, + 0.39219975144153024, + -0.19161441319347364, + -0.8997017681574949 + ], + [ + 0.7441948860973601, + -0.5221850799171747, + 0.4165293672941096, + -0.5552528696944258, + -0.8302485814405334, + -0.04880106261227292, + 0.3713061031044902, + -0.1949616252698873, + -0.9078115126332568 + ], + [ + 0.7848681514012028, + -0.4750851243106767, + 0.3978393011942986, + -0.5104718960297118, + -0.8596729174456121, + -0.019517130280378492, + 0.35128397099766756, + -0.18776740843197207, + -0.9172474977075986 + ], + [ + 0.8336520543858483, + -0.438484338820985, + 0.33579121016932256, + -0.4677335269828829, + -0.8838411959397354, + 0.007077294396232531, + 0.2936828220281317, + -0.16296080807526045, + -0.9419098550695023 + ], + [ + 0.8463216953509372, + -0.4398457958867801, + 0.30045842277932605, + -0.4617680126584476, + -0.8869979981568211, + 0.00220312306954, + 0.2655369851146597, + -0.14060663962458092, + -0.9537923686157801 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006488.json b/json/chunk-0006/episode_0006488.json new file mode 100644 index 0000000000000000000000000000000000000000..93c990987c6a965689bf91248b5d5a6f09d79586 --- /dev/null +++ b/json/chunk-0006/episode_0006488.json @@ -0,0 +1,1642 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 26, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nClose the drawer." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006488.mp4", + "start": 0, + "end": 26, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.32025665044784546, + 0.07944881916046143, + 0.12390514463186264, + 0.02814699150621891, + -0.18678268790245056, + 0.13172070682048798, + 0.0, + 1.0014774799346924 + ], + [ + 0.31958314776420593, + 0.07849022001028061, + 0.11629036068916321, + 0.016915589570999146, + -0.1601848602294922, + 0.13516655564308167, + 0.0, + 1.0014774799346924 + ], + [ + 0.3069641888141632, + 0.11434817314147949, + 0.12268427014350891, + -0.04976809024810791, + -0.1471910923719406, + 0.2170572429895401, + 0.0, + 1.0014774799346924 + ], + [ + 0.29573655128479004, + 0.15811936557292938, + 0.1334158480167389, + -0.06167639419436455, + -0.1881643384695053, + 0.28637251257896423, + 0.0, + 1.0014774799346924 + ], + [ + 0.2920505702495575, + 0.1902143955230713, + 0.11447636038064957, + -0.09025795757770538, + -0.18549369275569916, + 0.2757382094860077, + 0.0, + 1.0014774799346924 + ], + [ + 0.28960543870925903, + 0.21275034546852112, + 0.08687521517276764, + -0.11857325583696365, + -0.1616424024105072, + 0.28669455647468567, + 0.0, + 1.0014774799346924 + ], + [ + 0.2920334041118622, + 0.2153821736574173, + 0.0602661669254303, + -0.10825543105602264, + -0.12402951717376709, + 0.26447510719299316, + 0.0, + 1.0014774799346924 + ], + [ + 0.29788872599601746, + 0.21129396557807922, + 0.042560312896966934, + -0.08570657670497894, + -0.10109563916921616, + 0.24440410733222961, + 0.0, + 1.0014774799346924 + ], + [ + 0.2994929254055023, + 0.19781836867332458, + 0.03694768249988556, + -0.10062658786773682, + -0.0860375165939331, + 0.2205960899591446, + 0.0, + 1.0014774799346924 + ], + [ + 0.30653831362724304, + 0.1863160878419876, + 0.047618165612220764, + -0.1089518740773201, + -0.11645804345607758, + 0.20403169095516205, + 0.0, + 1.0014774799346924 + ], + [ + 0.3121151924133301, + 0.1799304485321045, + 0.06233883649110794, + -0.10977769643068314, + -0.16306011378765106, + 0.19313038885593414, + 0.0, + 1.0014774799346924 + ], + [ + 0.3155388832092285, + 0.1748562902212143, + 0.05524603649973869, + -0.07870420068502426, + -0.1420859694480896, + 0.17535455524921417, + 0.0, + 1.0014774799346924 + ], + [ + 0.311617374420166, + 0.17892424762248993, + 0.034253668040037155, + -0.04905092343688011, + -0.08606579154729843, + 0.17790263891220093, + 0.0, + 1.0014774799346924 + ], + [ + 0.3076767325401306, + 0.1819431036710739, + 0.019177697598934174, + -0.030170006677508354, + -0.04534666985273361, + 0.18456298112869263, + 0.0, + 0.9590815901756287 + ], + [ + 0.30890512466430664, + 0.18022876977920532, + 0.018715735524892807, + -0.039492469280958176, + -0.048996251076459885, + 0.1889805644750595, + 0.0, + 0.6651484370231628 + ], + [ + 0.3077191710472107, + 0.1663006991147995, + 0.014587508514523506, + -0.06298334896564484, + -0.0441369004547596, + 0.16777952015399933, + 0.0, + 0.3746064603328705 + ], + [ + 0.30684763193130493, + 0.14658987522125244, + 0.024879874661564827, + -0.08678126335144043, + -0.06428762525320053, + 0.14028699696063995, + 0.0, + 0.17405910789966583 + ], + [ + 0.3070983588695526, + 0.12140871584415436, + 0.023347442969679832, + -0.11079815030097961, + -0.057522863149642944, + 0.1045745313167572, + 0.0, + 0.12307736277580261 + ], + [ + 0.30755212903022766, + 0.10150329023599625, + 0.02616422064602375, + -0.11164940148591995, + -0.05538779869675636, + 0.07887811958789825, + 0.0, + 0.12133388966321945 + ], + [ + 0.30747008323669434, + 0.07661367952823639, + 0.021055875346064568, + -0.12598614394664764, + -0.03796261176466942, + 0.04836173728108406, + 0.0, + 0.12090048938989639 + ], + [ + 0.3068525493144989, + 0.06630373001098633, + 0.019531605765223503, + -0.12726135551929474, + -0.03407629579305649, + 0.0381491556763649, + 0.0, + 0.12090048938989639 + ], + [ + 0.3067459166049957, + 0.0621175542473793, + 0.01902046613395214, + -0.12298662960529327, + -0.030378494411706924, + 0.03893379494547844, + 0.0, + 0.12090048938989639 + ], + [ + 0.3068309724330902, + 0.06303892284631729, + 0.018855923786759377, + -0.11426929384469986, + -0.03016524203121662, + 0.041316911578178406, + 0.0, + 0.16130207479000092 + ], + [ + 0.303838312625885, + 0.07035636156797409, + 0.01946205273270607, + -0.1009843721985817, + -0.01443747989833355, + 0.05835523456335068, + 0.0, + 0.3866458535194397 + ], + [ + 0.3028010427951813, + 0.08847464621067047, + 0.04576854780316353, + -0.05354718863964081, + -0.06154779717326164, + 0.0867103785276413, + 0.0, + 0.6892001032829285 + ], + [ + 0.30396267771720886, + 0.09748580306768417, + 0.07048078626394272, + -0.009118976071476936, + -0.09334094822406769, + 0.06434792280197144, + 0.0, + 0.9650423526763916 + ] + ], + "left_gripper_pos": [ + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 0.9590815901756287 + ], + [ + 0.6651484370231628 + ], + [ + 0.3746064603328705 + ], + [ + 0.17405910789966583 + ], + [ + 0.12307736277580261 + ], + [ + 0.12133388966321945 + ], + [ + 0.12090048938989639 + ], + [ + 0.12090048938989639 + ], + [ + 0.12090048938989639 + ], + [ + 0.16130207479000092 + ], + [ + 0.3866458535194397 + ], + [ + 0.6892001032829285 + ], + [ + 0.9650423526763916 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.32025665044784546, + 0.07944881916046143, + 0.12390514463186264 + ], + [ + 0.31958314776420593, + 0.07849022001028061, + 0.11629036068916321 + ], + [ + 0.3069641888141632, + 0.11434817314147949, + 0.12268427014350891 + ], + [ + 0.29573655128479004, + 0.15811936557292938, + 0.1334158480167389 + ], + [ + 0.2920505702495575, + 0.1902143955230713, + 0.11447636038064957 + ], + [ + 0.28960543870925903, + 0.21275034546852112, + 0.08687521517276764 + ], + [ + 0.2920334041118622, + 0.2153821736574173, + 0.0602661669254303 + ], + [ + 0.29788872599601746, + 0.21129396557807922, + 0.042560312896966934 + ], + [ + 0.2994929254055023, + 0.19781836867332458, + 0.03694768249988556 + ], + [ + 0.30653831362724304, + 0.1863160878419876, + 0.047618165612220764 + ], + [ + 0.3121151924133301, + 0.1799304485321045, + 0.06233883649110794 + ], + [ + 0.3155388832092285, + 0.1748562902212143, + 0.05524603649973869 + ], + [ + 0.311617374420166, + 0.17892424762248993, + 0.034253668040037155 + ], + [ + 0.3076767325401306, + 0.1819431036710739, + 0.019177697598934174 + ], + [ + 0.30890512466430664, + 0.18022876977920532, + 0.018715735524892807 + ], + [ + 0.3077191710472107, + 0.1663006991147995, + 0.014587508514523506 + ], + [ + 0.30684763193130493, + 0.14658987522125244, + 0.024879874661564827 + ], + [ + 0.3070983588695526, + 0.12140871584415436, + 0.023347442969679832 + ], + [ + 0.30755212903022766, + 0.10150329023599625, + 0.02616422064602375 + ], + [ + 0.30747008323669434, + 0.07661367952823639, + 0.021055875346064568 + ], + [ + 0.3068525493144989, + 0.06630373001098633, + 0.019531605765223503 + ], + [ + 0.3067459166049957, + 0.0621175542473793, + 0.01902046613395214 + ], + [ + 0.3068309724330902, + 0.06303892284631729, + 0.018855923786759377 + ], + [ + 0.303838312625885, + 0.07035636156797409, + 0.01946205273270607 + ], + [ + 0.3028010427951813, + 0.08847464621067047, + 0.04576854780316353 + ], + [ + 0.30396267771720886, + 0.09748580306768417, + 0.07048078626394272 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9740948044491826, + 0.13646900514956825, + 0.18032061052080522, + 0.12905570792130014, + -0.9902582892834592, + 0.05227948697461661, + 0.18569850887403722, + -0.027653772597679194, + -0.9822175587226463 + ], + [ + 0.9781934855934942, + 0.13740938231727445, + 0.155743912862224, + 0.1330301864236066, + -0.9903735813026002, + 0.03825099943743744, + 0.15950070295315755, + -0.01669823670473812, + -0.9870565812801217 + ], + [ + 0.9659760782681335, + 0.2079654164738714, + 0.15375500565694097, + 0.21302818551586905, + -0.9768975373118773, + -0.017035074693280004, + 0.14666017997238792, + 0.049209624514299666, + -0.9879621472838058 + ], + [ + 0.9423429470207452, + 0.27087716304261866, + 0.19650784397127782, + 0.27748845313134796, + -0.9607077277350253, + -0.006389072622575546, + 0.18705595039727865, + 0.06054935517565356, + -0.9804814363407314 + ], + [ + 0.9457178217543507, + 0.25515324604930983, + 0.20128244495411582, + 0.267586846258614, + -0.9628337198544817, + -0.03672203181402548, + 0.18443177959770166, + 0.08858921459004906, + -0.9788446606754021 + ], + [ + 0.9466801929931444, + 0.26253631405046457, + 0.18673857662320043, + 0.2790969665559156, + -0.957832603318642, + -0.06827581767448407, + 0.16093941547597712, + 0.11675353452734996, + -0.9800342426270736 + ], + [ + 0.9578151344561846, + 0.2469708591353475, + 0.14695428862278787, + 0.2593946176150232, + -0.9630734778826678, + -0.0721381213460591, + 0.12371176402847549, + 0.10721413590068796, + -0.9865092642768399 + ], + [ + 0.9653276130833212, + 0.23270750772293838, + 0.11827854948483435, + 0.2407426886054879, + -0.9688107158629438, + -0.058726099071294745, + 0.10092352204446162, + 0.08516462104952387, + -0.9912423669414216 + ], + [ + 0.9721578827721011, + 0.20928121981268188, + 0.1054059865367298, + 0.21800193606271973, + -0.972720057220791, + -0.0793148545562966, + 0.08593140774461455, + 0.10008527021543452, + -0.9912611824584537 + ], + [ + 0.9726245641746942, + 0.18904506702989213, + 0.13514222062571646, + 0.2012465753610795, + -0.9760112607067135, + -0.08307728256947917, + 0.11619497867560186, + 0.10799991483957448, + -0.9873371994031326 + ], + [ + 0.9683899702759483, + 0.1733219701318421, + 0.17938885176778707, + 0.18938606642587633, + -0.9789141963382435, + -0.07655007544858927, + 0.1623384837698129, + 0.10810407428523675, + -0.9807954556431481 + ], + [ + 0.9747420425038281, + 0.16295428740606935, + 0.15272148110676984, + 0.17269921875665664, + -0.98355899013527, + -0.052789134913617704, + 0.14160836986670586, + 0.07783066966220852, + -0.9868583770955316 + ], + [ + 0.9805740623574198, + 0.17260467375424146, + 0.09317797395339074, + 0.17631068932097807, + -0.9837791043917504, + -0.03306379580942126, + 0.08595957807614256, + 0.048849773391054896, + -0.9951003218653958 + ], + [ + 0.9820060195321442, + 0.1820892300696907, + 0.05007683990889742, + 0.18332830178161724, + -0.9828201407184093, + -0.021337871592882994, + 0.04533113023632183, + 0.03013442036730312, + -0.9985174036243055 + ], + [ + 0.9810175439264591, + 0.18581195055167807, + 0.055484209831972754, + 0.1876322634476658, + -0.9817936717021049, + -0.029585806042849, + 0.04897664976295716, + 0.0394348226556186, + -0.9980211333133764 + ], + [ + 0.9849978031407296, + 0.16392419516142265, + 0.0539276000635667, + 0.1668308319366693, + -0.9844668157038352, + -0.05470431695277357, + 0.044122571584790674, + 0.06288041840374896, + -0.9970452605865564 + ], + [ + 0.9881304632065685, + 0.13378768697458, + 0.07549200286894193, + 0.1395384513433679, + -0.9872283208242213, + -0.0768717318608283, + 0.0642433520285725, + 0.08649333718027263, + -0.9941789045959247 + ], + [ + 0.9928921167602699, + 0.09742180765665587, + 0.06836838354254188, + 0.10421138441859754, + -0.9891022820832585, + -0.10400318713986331, + 0.05749114569105271, + 0.11038870852854332, + -0.9922243199985226 + ], + [ + 0.9953619897970828, + 0.07215689828712588, + 0.06362304061244475, + 0.07867551645155471, + -0.9911697879781134, + -0.10673619119353242, + 0.055359483182852845, + 0.11124672322815865, + -0.9922497136269298 + ], + [ + 0.9981111480837392, + 0.043196334231892335, + 0.04368309489821094, + 0.048308056883832044, + -0.9911448494952412, + -0.12368596912812611, + 0.03795349405611957, + 0.12556259008152854, + -0.9913594546182276 + ], + [ + 0.9986922908177144, + 0.033510556568427746, + 0.038610242938110106, + 0.0381177611334427, + -0.99135640907936, + -0.12553687292365645, + 0.03406970131127485, + 0.12684444321983784, + -0.9913373505910134 + ], + [ + 0.9987811342178823, + 0.0349066138863768, + 0.034896622149258365, + 0.03890600029081084, + -0.9918396091527939, + -0.12141051378280426, + 0.030373822146910166, + 0.12262021865345243, + -0.9919887665218631 + ], + [ + 0.9986920296628211, + 0.0375997722648865, + 0.034648044873897756, + 0.04128636609962614, + -0.9927725548206342, + -0.11268580376071602, + 0.030160667470110838, + 0.11396890593727585, + -0.9930263957303541 + ], + [ + 0.9981937752202571, + 0.05657203794887569, + 0.020218596238169944, + 0.05831604211398307, + -0.9932967822429143, + -0.09980351505850397, + 0.014436978343522023, + 0.10080231598621057, + -0.9948017223286886 + ], + [ + 0.9943566558931166, + 0.08319794512185677, + 0.06582509254500178, + 0.0864377836473319, + -0.9951001846965528, + -0.04800137472013728, + 0.06150894600945931, + 0.05342026155295858, + -0.9966759379138329 + ], + [ + 0.9935862915523569, + 0.06345268368438342, + 0.09359507557817306, + 0.06402360494547785, + -0.9979435484479589, + -0.0031067862625752925, + 0.09320546791374276, + 0.009079154384937088, + -0.9956054990339468 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0006735026836395264, + -0.0009585991501808167, + -0.007614783942699432, + -0.011231401935219765, + 0.026597827672958374, + 0.003445848822593689, + 1.0 + ], + [ + -0.012618958950042725, + 0.03585795313119888, + 0.006393909454345703, + -0.06668367981910706, + 0.012993767857551575, + 0.08189068734645844, + 1.0 + ], + [ + -0.011227637529373169, + 0.04377119243144989, + 0.01073157787322998, + -0.011908303946256638, + -0.0409732460975647, + 0.06931526958942413, + 1.0 + ], + [ + -0.003685981035232544, + 0.03209502995014191, + -0.018939487636089325, + -0.028581563383340836, + 0.0026706457138061523, + -0.010634303092956543, + 1.0 + ], + [ + -0.002445131540298462, + 0.02253594994544983, + -0.027601145207881927, + -0.02831529825925827, + 0.023851290345191956, + 0.010956346988677979, + 1.0 + ], + [ + 0.0024279654026031494, + 0.002631828188896179, + -0.02660904824733734, + 0.01031782478094101, + 0.03761288523674011, + -0.022219449281692505, + 1.0 + ], + [ + 0.0058553218841552734, + -0.004088208079338074, + -0.017705854028463364, + 0.0225488543510437, + 0.022933878004550934, + -0.02007099986076355, + 1.0 + ], + [ + 0.0016041994094848633, + -0.013475596904754639, + -0.005612630397081375, + -0.014920011162757874, + 0.01505812257528305, + -0.023808017373085022, + 1.0 + ], + [ + 0.007045388221740723, + -0.011502280831336975, + 0.010670483112335205, + -0.008325286209583282, + -0.03042052686214447, + -0.016564399003982544, + 1.0 + ], + [ + 0.005576878786087036, + -0.006385639309883118, + 0.014720670878887177, + -0.0008258223533630371, + -0.046602070331573486, + -0.010901302099227905, + 1.0 + ], + [ + 0.0034236907958984375, + -0.005074158310890198, + -0.0070927999913692474, + 0.031073495745658875, + 0.020974144339561462, + -0.01777583360671997, + 1.0 + ], + [ + -0.0039215087890625, + 0.004067957401275635, + -0.020992368459701538, + 0.02965327724814415, + 0.05602017790079117, + 0.0025480836629867554, + 1.0 + ], + [ + -0.0039406418800354, + 0.0030188560485839844, + -0.015075970441102982, + 0.018880916759371758, + 0.04071912169456482, + 0.006660342216491699, + 0.0 + ], + [ + 0.0012283921241760254, + -0.0017143338918685913, + -0.0004619620740413666, + -0.009322462603449821, + -0.0036495812237262726, + 0.004417583346366882, + 0.0 + ], + [ + -0.0011859536170959473, + -0.013928070664405823, + -0.004128227010369301, + -0.02349087968468666, + 0.004859350621700287, + -0.02120104432106018, + 0.0 + ], + [ + -0.0008715391159057617, + -0.019710823893547058, + 0.01029236614704132, + -0.023797914385795593, + -0.020150724798440933, + -0.027492523193359375, + 0.0 + ], + [ + 0.00025072693824768066, + -0.025181159377098083, + -0.0015324316918849945, + -0.024016886949539185, + 0.006764762103557587, + -0.03571246564388275, + 0.0 + ], + [ + 0.00045377016067504883, + -0.01990542560815811, + 0.002816777676343918, + -0.0008512511849403381, + 0.0021350644528865814, + -0.025696411728858948, + 0.0 + ], + [ + -8.20457935333252e-05, + -0.024889610707759857, + -0.005108345299959183, + -0.014336742460727692, + 0.017425186932086945, + -0.030516382306814194, + 0.0 + ], + [ + -0.0006175339221954346, + -0.010309949517250061, + -0.0015242695808410645, + -0.0012752115726470947, + 0.0038863159716129303, + -0.010212581604719162, + 0.0 + ], + [ + -0.00010663270950317383, + -0.004186175763607025, + -0.0005111396312713623, + 0.004274725914001465, + 0.0036978013813495636, + 0.0007846392691135406, + 0.0 + ], + [ + 8.505582809448242e-05, + 0.0009213685989379883, + -0.00016454234719276428, + 0.008717335760593414, + 0.00021325238049030304, + 0.0023831166326999664, + 1.0 + ], + [ + -0.0029926598072052, + 0.007317438721656799, + 0.0006061289459466934, + 0.013284921646118164, + 0.015727762132883072, + 0.01703832298517227, + 1.0 + ], + [ + -0.0010372698307037354, + 0.01811828464269638, + 0.02630649507045746, + 0.04743718355894089, + -0.04711031913757324, + 0.02835514396429062, + 1.0 + ], + [ + 0.0011616349220275879, + 0.009011156857013702, + 0.02471223846077919, + 0.04442821443080902, + -0.031793151050806046, + -0.02236245572566986, + 1.0 + ], + [ + -0.0057922303676605225, + 0.008875235915184021, + 0.01086340844631195, + 0.06843063235282898, + 0.007234558463096619, + -0.0032524466514587402, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 0.9590815901756287 + ], + [ + 0.6651484370231628 + ], + [ + 0.3746064603328705 + ], + [ + 0.17405910789966583 + ], + [ + 0.12307736277580261 + ], + [ + 0.12133388966321945 + ], + [ + 0.12090048938989639 + ], + [ + 0.12090048938989639 + ], + [ + 0.12090048938989639 + ], + [ + 0.16130207479000092 + ], + [ + 0.3866458535194397 + ], + [ + 0.6892001032829285 + ], + [ + 0.9650423526763916 + ], + [ + 1.0047606229782104 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.31958314776420593, + 0.07849022001028061, + 0.11629036068916321 + ], + [ + 0.3069641888141632, + 0.11434817314147949, + 0.12268427014350891 + ], + [ + 0.29573655128479004, + 0.15811936557292938, + 0.1334158480167389 + ], + [ + 0.2920505702495575, + 0.1902143955230713, + 0.11447636038064957 + ], + [ + 0.28960543870925903, + 0.21275034546852112, + 0.08687521517276764 + ], + [ + 0.2920334041118622, + 0.2153821736574173, + 0.0602661669254303 + ], + [ + 0.29788872599601746, + 0.21129396557807922, + 0.042560312896966934 + ], + [ + 0.2994929254055023, + 0.19781836867332458, + 0.03694768249988556 + ], + [ + 0.30653831362724304, + 0.1863160878419876, + 0.047618165612220764 + ], + [ + 0.3121151924133301, + 0.1799304485321045, + 0.06233883649110794 + ], + [ + 0.3155388832092285, + 0.1748562902212143, + 0.05524603649973869 + ], + [ + 0.311617374420166, + 0.17892424762248993, + 0.034253668040037155 + ], + [ + 0.3076767325401306, + 0.1819431036710739, + 0.019177697598934174 + ], + [ + 0.30890512466430664, + 0.18022876977920532, + 0.018715735524892807 + ], + [ + 0.3077191710472107, + 0.1663006991147995, + 0.014587508514523506 + ], + [ + 0.30684763193130493, + 0.14658987522125244, + 0.024879874661564827 + ], + [ + 0.3070983588695526, + 0.12140871584415436, + 0.023347442969679832 + ], + [ + 0.30755212903022766, + 0.10150329023599625, + 0.02616422064602375 + ], + [ + 0.30747008323669434, + 0.07661367952823639, + 0.021055875346064568 + ], + [ + 0.3068525493144989, + 0.06630373001098633, + 0.019531605765223503 + ], + [ + 0.3067459166049957, + 0.0621175542473793, + 0.01902046613395214 + ], + [ + 0.3068309724330902, + 0.06303892284631729, + 0.018855923786759377 + ], + [ + 0.303838312625885, + 0.07035636156797409, + 0.01946205273270607 + ], + [ + 0.3028010427951813, + 0.08847464621067047, + 0.04576854780316353 + ], + [ + 0.30396267771720886, + 0.09748580306768417, + 0.07048078626394272 + ], + [ + 0.29817044734954834, + 0.1063610389828682, + 0.08134419471025467 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9781934855934942, + 0.13740938231727445, + 0.155743912862224, + 0.1330301864236066, + -0.9903735813026002, + 0.03825099943743744, + 0.15950070295315755, + -0.01669823670473812, + -0.9870565812801217 + ], + [ + 0.9659760782681335, + 0.2079654164738714, + 0.15375500565694097, + 0.21302818551586905, + -0.9768975373118773, + -0.017035074693280004, + 0.14666017997238792, + 0.049209624514299666, + -0.9879621472838058 + ], + [ + 0.9423429470207452, + 0.27087716304261866, + 0.19650784397127782, + 0.27748845313134796, + -0.9607077277350253, + -0.006389072622575546, + 0.18705595039727865, + 0.06054935517565356, + -0.9804814363407314 + ], + [ + 0.9457178217543507, + 0.25515324604930983, + 0.20128244495411582, + 0.267586846258614, + -0.9628337198544817, + -0.03672203181402548, + 0.18443177959770166, + 0.08858921459004906, + -0.9788446606754021 + ], + [ + 0.9466801929931444, + 0.26253631405046457, + 0.18673857662320043, + 0.2790969665559156, + -0.957832603318642, + -0.06827581767448407, + 0.16093941547597712, + 0.11675353452734996, + -0.9800342426270736 + ], + [ + 0.9578151344561846, + 0.2469708591353475, + 0.14695428862278787, + 0.2593946176150232, + -0.9630734778826678, + -0.0721381213460591, + 0.12371176402847549, + 0.10721413590068796, + -0.9865092642768399 + ], + [ + 0.9653276130833212, + 0.23270750772293838, + 0.11827854948483435, + 0.2407426886054879, + -0.9688107158629438, + -0.058726099071294745, + 0.10092352204446162, + 0.08516462104952387, + -0.9912423669414216 + ], + [ + 0.9721578827721011, + 0.20928121981268188, + 0.1054059865367298, + 0.21800193606271973, + -0.972720057220791, + -0.0793148545562966, + 0.08593140774461455, + 0.10008527021543452, + -0.9912611824584537 + ], + [ + 0.9726245641746942, + 0.18904506702989213, + 0.13514222062571646, + 0.2012465753610795, + -0.9760112607067135, + -0.08307728256947917, + 0.11619497867560186, + 0.10799991483957448, + -0.9873371994031326 + ], + [ + 0.9683899702759483, + 0.1733219701318421, + 0.17938885176778707, + 0.18938606642587633, + -0.9789141963382435, + -0.07655007544858927, + 0.1623384837698129, + 0.10810407428523675, + -0.9807954556431481 + ], + [ + 0.9747420425038281, + 0.16295428740606935, + 0.15272148110676984, + 0.17269921875665664, + -0.98355899013527, + -0.052789134913617704, + 0.14160836986670586, + 0.07783066966220852, + -0.9868583770955316 + ], + [ + 0.9805740623574198, + 0.17260467375424146, + 0.09317797395339074, + 0.17631068932097807, + -0.9837791043917504, + -0.03306379580942126, + 0.08595957807614256, + 0.048849773391054896, + -0.9951003218653958 + ], + [ + 0.9820060195321442, + 0.1820892300696907, + 0.05007683990889742, + 0.18332830178161724, + -0.9828201407184093, + -0.021337871592882994, + 0.04533113023632183, + 0.03013442036730312, + -0.9985174036243055 + ], + [ + 0.9810175439264591, + 0.18581195055167807, + 0.055484209831972754, + 0.1876322634476658, + -0.9817936717021049, + -0.029585806042849, + 0.04897664976295716, + 0.0394348226556186, + -0.9980211333133764 + ], + [ + 0.9849978031407296, + 0.16392419516142265, + 0.0539276000635667, + 0.1668308319366693, + -0.9844668157038352, + -0.05470431695277357, + 0.044122571584790674, + 0.06288041840374896, + -0.9970452605865564 + ], + [ + 0.9881304632065685, + 0.13378768697458, + 0.07549200286894193, + 0.1395384513433679, + -0.9872283208242213, + -0.0768717318608283, + 0.0642433520285725, + 0.08649333718027263, + -0.9941789045959247 + ], + [ + 0.9928921167602699, + 0.09742180765665587, + 0.06836838354254188, + 0.10421138441859754, + -0.9891022820832585, + -0.10400318713986331, + 0.05749114569105271, + 0.11038870852854332, + -0.9922243199985226 + ], + [ + 0.9953619897970828, + 0.07215689828712588, + 0.06362304061244475, + 0.07867551645155471, + -0.9911697879781134, + -0.10673619119353242, + 0.055359483182852845, + 0.11124672322815865, + -0.9922497136269298 + ], + [ + 0.9981111480837392, + 0.043196334231892335, + 0.04368309489821094, + 0.048308056883832044, + -0.9911448494952412, + -0.12368596912812611, + 0.03795349405611957, + 0.12556259008152854, + -0.9913594546182276 + ], + [ + 0.9986922908177144, + 0.033510556568427746, + 0.038610242938110106, + 0.0381177611334427, + -0.99135640907936, + -0.12553687292365645, + 0.03406970131127485, + 0.12684444321983784, + -0.9913373505910134 + ], + [ + 0.9987811342178823, + 0.0349066138863768, + 0.034896622149258365, + 0.03890600029081084, + -0.9918396091527939, + -0.12141051378280426, + 0.030373822146910166, + 0.12262021865345243, + -0.9919887665218631 + ], + [ + 0.9986920296628211, + 0.0375997722648865, + 0.034648044873897756, + 0.04128636609962614, + -0.9927725548206342, + -0.11268580376071602, + 0.030160667470110838, + 0.11396890593727585, + -0.9930263957303541 + ], + [ + 0.9981937752202571, + 0.05657203794887569, + 0.020218596238169944, + 0.05831604211398307, + -0.9932967822429143, + -0.09980351505850397, + 0.014436978343522023, + 0.10080231598621057, + -0.9948017223286886 + ], + [ + 0.9943566558931166, + 0.08319794512185677, + 0.06582509254500178, + 0.0864377836473319, + -0.9951001846965528, + -0.04800137472013728, + 0.06150894600945931, + 0.05342026155295858, + -0.9966759379138329 + ], + [ + 0.9935862915523569, + 0.06345268368438342, + 0.09359507557817306, + 0.06402360494547785, + -0.9979435484479589, + -0.0031067862625752925, + 0.09320546791374276, + 0.009079154384937088, + -0.9956054990339468 + ], + [ + 0.9944362989556901, + 0.06603841288947386, + 0.08206933253261359, + 0.0608312654475379, + -0.9960678524001473, + 0.06440800073756077, + 0.08600002594976652, + -0.05905727252420162, + -0.9945432288737587 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006491.json b/json/chunk-0006/episode_0006491.json new file mode 100644 index 0000000000000000000000000000000000000000..c47968a171bd3ab8ab0bf186397ff2c2f66dc278 --- /dev/null +++ b/json/chunk-0006/episode_0006491.json @@ -0,0 +1,2782 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 45, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the spoon from one side to other side of the table." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006491.mp4", + "start": 0, + "end": 45, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3658680021762848, + -0.0010249820770695806, + 0.11896759271621704, + -0.025121232494711876, + -0.16072402894496918, + 0.17678919434547424, + 0.0, + 1.0001531839370728 + ], + [ + 0.36200812458992004, + -0.0010072190780192614, + 0.10618512332439423, + -0.020305277779698372, + -0.12111034989356995, + 0.19585555791854858, + 0.0, + 1.0001531839370728 + ], + [ + 0.34586483240127563, + 0.003964443225413561, + 0.0981096476316452, + -0.024141589179635048, + -0.08446850627660751, + 0.38084033131599426, + 0.0, + 1.0001531839370728 + ], + [ + 0.3260480761528015, + 0.01863514818251133, + 0.0982976108789444, + 0.0008116817916743457, + -0.04044707119464874, + 0.5346863865852356, + 0.0, + 1.0001531839370728 + ], + [ + 0.30236202478408813, + 0.04212804138660431, + 0.09570048749446869, + 0.04434647411108017, + -0.019717741757631302, + 0.6800022721290588, + 0.0, + 1.0001531839370728 + ], + [ + 0.27968335151672363, + 0.06739434599876404, + 0.08770568668842316, + 0.07826190441846848, + -0.021085137501358986, + 0.9132707715034485, + 0.0, + 1.0001531839370728 + ], + [ + 0.25681623816490173, + 0.08429944515228271, + 0.08253177255392075, + 0.09155523031949997, + -0.07623115181922913, + 1.1173001527786255, + 0.0, + 1.0001531839370728 + ], + [ + 0.23479273915290833, + 0.10150399059057236, + 0.07625571638345718, + 0.06341719627380371, + -0.11364869773387909, + 1.2546406984329224, + 0.0, + 0.9994885921478271 + ], + [ + 0.22663669288158417, + 0.11328468471765518, + 0.06588377803564072, + 0.053429294377565384, + -0.158424973487854, + 1.3191547393798828, + 0.0, + 0.9994885921478271 + ], + [ + 0.22927238047122955, + 0.126406729221344, + 0.055283091962337494, + 0.044239919632673264, + -0.19914649426937103, + 1.395563006401062, + 0.0, + 0.9994885921478271 + ], + [ + 0.23369739949703217, + 0.13249270617961884, + 0.05180796980857849, + 0.020752055570483208, + -0.23565341532230377, + 1.4426790475845337, + 0.0, + 0.9994885921478271 + ], + [ + 0.23505418002605438, + 0.1380676031112671, + 0.04250459745526314, + -0.013515705242753029, + -0.2495204359292984, + 1.5040979385375977, + 0.0, + 0.9994885921478271 + ], + [ + 0.2354426234960556, + 0.1368972212076187, + 0.03237072005867958, + -0.045540399849414825, + -0.23795969784259796, + 1.5388919115066528, + 0.0, + 0.9994885921478271 + ], + [ + 0.23530791699886322, + 0.13787662982940674, + 0.02379489690065384, + -0.10785435140132904, + -0.22935785353183746, + 1.596475601196289, + 0.0, + 1.0001531839370728 + ], + [ + 0.23489657044410706, + 0.1393832117319107, + 0.019523104652762413, + -0.15764768421649933, + -0.20874160528182983, + 1.6515398025512695, + 0.0, + 0.9468915462493896 + ], + [ + 0.23520997166633606, + 0.13997609913349152, + 0.010112639516592026, + -0.14112581312656403, + -0.178899347782135, + 1.6373517513275146, + 0.0, + 0.6651484370231628 + ], + [ + 0.23614226281642914, + 0.1417776346206665, + 0.010731176473200321, + -0.1505272388458252, + -0.17534148693084717, + 1.6395370960235596, + 0.0, + 0.4094836115837097 + ], + [ + 0.23642785847187042, + 0.1443820744752884, + 0.011144202202558517, + -0.15116384625434875, + -0.17085924744606018, + 1.635105013847351, + 0.0, + 0.36950385570526123 + ], + [ + 0.23385754227638245, + 0.1461072415113449, + 0.011483707465231419, + -0.13443003594875336, + -0.16893509030342102, + 1.622010350227356, + 0.0, + 0.36950385570526123 + ], + [ + 0.2360316962003708, + 0.15000857412815094, + 0.017564769834280014, + -0.10371003299951553, + -0.1845759004354477, + 1.5495976209640503, + 0.0, + 0.36865687370300293 + ], + [ + 0.2421293407678604, + 0.1484261453151703, + 0.03144846484065056, + -0.15439501404762268, + -0.1939282864332199, + 1.511022686958313, + 0.0, + 0.36865687370300293 + ], + [ + 0.2397596836090088, + 0.1488029807806015, + 0.04333348572254181, + -0.15510058403015137, + -0.21247358620166779, + 1.498339056968689, + 0.0, + 0.36865687370300293 + ], + [ + 0.23865510523319244, + 0.13909782469272614, + 0.04973391816020012, + -0.12807372212409973, + -0.21062622964382172, + 1.4514164924621582, + 0.0, + 0.36865687370300293 + ], + [ + 0.2454606145620346, + 0.12533308565616608, + 0.0540059432387352, + -0.1435040384531021, + -0.20556488633155823, + 1.4082924127578735, + 0.0, + 0.36865687370300293 + ], + [ + 0.24972228705883026, + 0.10221488773822784, + 0.05622154101729393, + -0.14866621792316437, + -0.20950138568878174, + 1.3587779998779297, + 0.0, + 0.36865687370300293 + ], + [ + 0.2517167925834656, + 0.07520449906587601, + 0.0560993030667305, + -0.15202684700489044, + -0.2084364891052246, + 1.3171722888946533, + 0.0, + 0.3669656813144684 + ], + [ + 0.2522582411766052, + 0.05005587637424469, + 0.05456167832016945, + -0.17061634361743927, + -0.21348439157009125, + 1.2881172895431519, + 0.0, + 0.3669656813144684 + ], + [ + 0.2515159249305725, + 0.023757850751280785, + 0.05529319867491722, + -0.21470215916633606, + -0.19506430625915527, + 1.2915287017822266, + 0.0, + 0.3669656813144684 + ], + [ + 0.2556905448436737, + -0.00519622303545475, + 0.0517931804060936, + -0.2607699930667877, + -0.15128692984580994, + 1.2703357934951782, + 0.0, + 0.3669656813144684 + ], + [ + 0.2587743103504181, + -0.02297380194067955, + 0.04200125113129616, + -0.27415406703948975, + -0.10515618324279785, + 1.22760808467865, + 0.0, + 0.3669656813144684 + ], + [ + 0.25841689109802246, + -0.03612851724028587, + 0.03798176348209381, + -0.2730278968811035, + -0.10430554300546646, + 1.2028121948242188, + 0.0, + 0.3669656813144684 + ], + [ + 0.2561172842979431, + -0.04317787289619446, + 0.02461336739361286, + -0.257234126329422, + -0.09076959639787674, + 1.1904114484786987, + 0.0, + 0.3669656813144684 + ], + [ + 0.2550814747810364, + -0.04417213797569275, + 0.02217729203402996, + -0.2549993693828583, + -0.07825759798288345, + 1.2056745290756226, + 0.0, + 0.3669656813144684 + ], + [ + 0.25153011083602905, + -0.04457145556807518, + 0.01659567654132843, + -0.2455449402332306, + -0.060040395706892014, + 1.224527359008789, + 0.0, + 0.3669656813144684 + ], + [ + 0.25013259053230286, + -0.04372457042336464, + 0.014250400476157665, + -0.2411874681711197, + -0.046395331621170044, + 1.2301030158996582, + 0.0, + 0.3669656813144684 + ], + [ + 0.2497009038925171, + -0.04113824665546417, + 0.012998961843550205, + -0.2412029355764389, + -0.02904639020562172, + 1.2429090738296509, + 0.0, + 0.43931102752685547 + ], + [ + 0.24845947325229645, + -0.03829384222626686, + 0.010406496934592724, + -0.236907497048378, + -0.010993747971951962, + 1.242276906967163, + 0.0, + 0.7477011680603027 + ], + [ + 0.24797303974628448, + -0.03664039820432663, + 0.010997465811669827, + -0.23106613755226135, + -0.005381324328482151, + 1.2220381498336792, + 0.0, + 0.9837720394134521 + ], + [ + 0.245833620429039, + -0.03262460604310036, + 0.021864155307412148, + -0.23222973942756653, + -0.014727878384292126, + 1.2158303260803223, + 0.0, + 1.0014774799346924 + ], + [ + 0.2470930516719818, + -0.03129766136407852, + 0.03720545396208763, + -0.2088738977909088, + -0.023436954244971275, + 1.2025738954544067, + 0.0, + 1.0008161067962646 + ], + [ + 0.24566549062728882, + -0.031918689608573914, + 0.05586610361933708, + -0.16428819298744202, + -0.03406943380832672, + 1.1718636751174927, + 0.0, + 1.0008161067962646 + ], + [ + 0.2509467899799347, + -0.028522327542304993, + 0.07319580763578415, + -0.12901344895362854, + -0.0659824013710022, + 1.0679306983947754, + 0.0, + 1.0008161067962646 + ], + [ + 0.2729744017124176, + -0.018332697451114655, + 0.07415281981229782, + 0.04632972925901413, + -0.10158509761095047, + 0.8126915097236633, + 0.0, + 0.9994885921478271 + ], + [ + 0.2925322949886322, + -0.014366287738084793, + 0.07464553415775299, + 0.17365507781505585, + -0.11252650618553162, + 0.5325146913528442, + 0.0, + 0.9994885921478271 + ], + [ + 0.29975438117980957, + -0.003873794572427869, + 0.07487469911575317, + 0.1304868757724762, + -0.07687578350305557, + 0.30348891019821167, + 0.0, + 0.9994885921478271 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9468915462493896 + ], + [ + 0.6651484370231628 + ], + [ + 0.4094836115837097 + ], + [ + 0.36950385570526123 + ], + [ + 0.36950385570526123 + ], + [ + 0.36865687370300293 + ], + [ + 0.36865687370300293 + ], + [ + 0.36865687370300293 + ], + [ + 0.36865687370300293 + ], + [ + 0.36865687370300293 + ], + [ + 0.36865687370300293 + ], + [ + 0.3669656813144684 + ], + [ + 0.3669656813144684 + ], + [ + 0.3669656813144684 + ], + [ + 0.3669656813144684 + ], + [ + 0.3669656813144684 + ], + [ + 0.3669656813144684 + ], + [ + 0.3669656813144684 + ], + [ + 0.3669656813144684 + ], + [ + 0.3669656813144684 + ], + [ + 0.3669656813144684 + ], + [ + 0.43931102752685547 + ], + [ + 0.7477011680603027 + ], + [ + 0.9837720394134521 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3658680021762848, + -0.0010249820770695806, + 0.11896759271621704 + ], + [ + 0.36200812458992004, + -0.0010072190780192614, + 0.10618512332439423 + ], + [ + 0.34586483240127563, + 0.003964443225413561, + 0.0981096476316452 + ], + [ + 0.3260480761528015, + 0.01863514818251133, + 0.0982976108789444 + ], + [ + 0.30236202478408813, + 0.04212804138660431, + 0.09570048749446869 + ], + [ + 0.27968335151672363, + 0.06739434599876404, + 0.08770568668842316 + ], + [ + 0.25681623816490173, + 0.08429944515228271, + 0.08253177255392075 + ], + [ + 0.23479273915290833, + 0.10150399059057236, + 0.07625571638345718 + ], + [ + 0.22663669288158417, + 0.11328468471765518, + 0.06588377803564072 + ], + [ + 0.22927238047122955, + 0.126406729221344, + 0.055283091962337494 + ], + [ + 0.23369739949703217, + 0.13249270617961884, + 0.05180796980857849 + ], + [ + 0.23505418002605438, + 0.1380676031112671, + 0.04250459745526314 + ], + [ + 0.2354426234960556, + 0.1368972212076187, + 0.03237072005867958 + ], + [ + 0.23530791699886322, + 0.13787662982940674, + 0.02379489690065384 + ], + [ + 0.23489657044410706, + 0.1393832117319107, + 0.019523104652762413 + ], + [ + 0.23520997166633606, + 0.13997609913349152, + 0.010112639516592026 + ], + [ + 0.23614226281642914, + 0.1417776346206665, + 0.010731176473200321 + ], + [ + 0.23642785847187042, + 0.1443820744752884, + 0.011144202202558517 + ], + [ + 0.23385754227638245, + 0.1461072415113449, + 0.011483707465231419 + ], + [ + 0.2360316962003708, + 0.15000857412815094, + 0.017564769834280014 + ], + [ + 0.2421293407678604, + 0.1484261453151703, + 0.03144846484065056 + ], + [ + 0.2397596836090088, + 0.1488029807806015, + 0.04333348572254181 + ], + [ + 0.23865510523319244, + 0.13909782469272614, + 0.04973391816020012 + ], + [ + 0.2454606145620346, + 0.12533308565616608, + 0.0540059432387352 + ], + [ + 0.24972228705883026, + 0.10221488773822784, + 0.05622154101729393 + ], + [ + 0.2517167925834656, + 0.07520449906587601, + 0.0560993030667305 + ], + [ + 0.2522582411766052, + 0.05005587637424469, + 0.05456167832016945 + ], + [ + 0.2515159249305725, + 0.023757850751280785, + 0.05529319867491722 + ], + [ + 0.2556905448436737, + -0.00519622303545475, + 0.0517931804060936 + ], + [ + 0.2587743103504181, + -0.02297380194067955, + 0.04200125113129616 + ], + [ + 0.25841689109802246, + -0.03612851724028587, + 0.03798176348209381 + ], + [ + 0.2561172842979431, + -0.04317787289619446, + 0.02461336739361286 + ], + [ + 0.2550814747810364, + -0.04417213797569275, + 0.02217729203402996 + ], + [ + 0.25153011083602905, + -0.04457145556807518, + 0.01659567654132843 + ], + [ + 0.25013259053230286, + -0.04372457042336464, + 0.014250400476157665 + ], + [ + 0.2497009038925171, + -0.04113824665546417, + 0.012998961843550205 + ], + [ + 0.24845947325229645, + -0.03829384222626686, + 0.010406496934592724 + ], + [ + 0.24797303974628448, + -0.03664039820432663, + 0.010997465811669827 + ], + [ + 0.245833620429039, + -0.03262460604310036, + 0.021864155307412148 + ], + [ + 0.2470930516719818, + -0.03129766136407852, + 0.03720545396208763 + ], + [ + 0.24566549062728882, + -0.031918689608573914, + 0.05586610361933708 + ], + [ + 0.2509467899799347, + -0.028522327542304993, + 0.07319580763578415 + ], + [ + 0.2729744017124176, + -0.018332697451114655, + 0.07415281981229782 + ], + [ + 0.2925322949886322, + -0.014366287738084793, + 0.07464553415775299 + ], + [ + 0.29975438117980957, + -0.003873794572427869, + 0.07487469911575317 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9717260077947736, + 0.17185708727536705, + 0.1619064771047117, + 0.17360305871418055, + -0.9848098074149362, + 0.0034089917038761155, + 0.16003294592149594, + 0.024794853752002355, + -0.9868002186091693 + ], + [ + 0.973696674300946, + 0.1921595843101115, + 0.12243153438980796, + 0.19318033924968475, + -0.9811566968325909, + 0.0035906528565306343, + 0.12081449823036257, + 0.020155158603309475, + -0.992470466361101 + ], + [ + 0.9250427155494289, + 0.36970174668026823, + 0.08727309385198825, + 0.3703754835163461, + -0.9288390942763685, + 0.008940813938848033, + 0.08436809597811265, + 0.02405317952818343, + -0.9961443012614255 + ], + [ + 0.8597247602190581, + 0.5095992950111794, + 0.03437870256992687, + 0.509154458913267, + -0.8604114717820498, + 0.021303431521344382, + 0.04043604376074415, + -0.0008110178513996685, + -0.9991817995815493 + ], + [ + 0.7774201392329274, + 0.6288562461399638, + -0.012559809146984634, + 0.6286725603667938, + -0.7762572155981123, + 0.04685666520064751, + 0.019716464107834276, + -0.04432332255843117, + -0.9988226589943109 + ], + [ + 0.6110243341645629, + 0.7900916216591728, + -0.04903562422087982, + 0.7913309964332779, + -0.6079847987230078, + 0.06441846478812871, + 0.021083575187058272, + -0.07816465893050628, + -0.9967174970630392 + ], + [ + 0.4368386326854953, + 0.8982064867791946, + -0.04896035233985957, + 0.8963102523148805, + -0.4300170038140798, + 0.10822803715302486, + 0.07615734100335853, + -0.09116185352732735, + -0.9929197227735784 + ], + [ + 0.3089092982137302, + 0.9507616778478436, + -0.025045506843625664, + 0.9443063757159762, + -0.30345927582398263, + 0.1272711149418508, + 0.1134042074142686, + -0.06296586259503995, + -0.9915517061093708 + ], + [ + 0.2458760228141439, + 0.9692207355957271, + -0.012495883177128422, + 0.9563763827726556, + -0.24047905297470584, + 0.16587356496765712, + 0.15776310050131986, + -0.05273509999674281, + -0.9860678543328263 + ], + [ + 0.17089223832210876, + 0.9852477731567598, + -0.00909221485147621, + 0.9652243467407192, + -0.16555204891586972, + 0.20232271142585365, + 0.19783276609351486, + -0.04335140815940461, + -0.979276698421026 + ], + [ + 0.12423585202117426, + 0.992209656685822, + 0.009243930547996645, + 0.9643927072307737, + -0.12293446773373595, + 0.23416622916877228, + 0.2334783915326466, + -0.020177061788732256, + -0.9721526252934267 + ], + [ + 0.06458489189516703, + 0.9974629163440971, + 0.029941981517895358, + 0.9668763034038035, + -0.06997289454731448, + 0.24546691822904798, + 0.2469392752380336, + 0.013096738028944788, + -0.9689424491670883 + ], + [ + 0.03100011903781652, + 0.9981125291512863, + 0.053012939654987074, + 0.9713263756514287, + -0.04259155656859903, + 0.23390389324020067, + 0.23572031007849234, + 0.04424181800385156, + -0.9708133687564325 + ], + [ + -0.025004052432325563, + 0.9944899672239977, + 0.10180620046329808, + 0.9734915286052694, + 0.001061908403472922, + 0.22872060703906455, + 0.2273522401379346, + 0.10482641576126865, + -0.9681541103888928 + ], + [ + -0.07890493178140318, + 0.9870057920518297, + 0.13997706310932614, + 0.9751052040818798, + 0.04722756068870132, + 0.21665502182924407, + 0.20722898617955762, + 0.1535875124075366, + -0.966160971743041 + ], + [ + -0.0654448686682127, + 0.9895309101719361, + 0.12862949498190546, + 0.9818614863253277, + 0.04087094619920001, + 0.18514207362941631, + 0.1779465954606002, + 0.1384129458218477, + -0.9742570839326237 + ], + [ + -0.06763347474336667, + 0.9881539543544269, + 0.1377587586611023, + 0.9823415215003888, + 0.041812145971991566, + 0.18236468842821021, + 0.17444439867889053, + 0.14766010613204336, + -0.973532559715716 + ], + [ + -0.06332861896833075, + 0.9881984225449673, + 0.13947531573436941, + 0.9834020413600647, + 0.03797997065405945, + 0.1774202549822711, + 0.17002914770244912, + 0.14839608993755482, + -0.974201565089496 + ], + [ + -0.05046289323853742, + 0.9908321157512162, + 0.12532044845899895, + 0.9844718855435165, + 0.028225256622120443, + 0.1732583084963289, + 0.16813269456114002, + 0.13211757371592958, + -0.9768706893622239 + ], + [ + 0.020837067573028667, + 0.9940007159220265, + 0.10737035606467502, + 0.9827933061727776, + -0.0400787198389691, + 0.18030810729983726, + 0.18352965416231035, + 0.10176577500597872, + -0.9777323729326417 + ], + [ + 0.058618248481705104, + 0.9845696725842621, + 0.16488317310221698, + 0.9795023334947486, + -0.08861069193258081, + 0.18089589258347305, + 0.19271502178937486, + 0.15089965242686226, + -0.9695824953422854 + ], + [ + 0.07076591222152684, + 0.983045282708654, + 0.1691571985217225, + 0.9749474049746594, + -0.10401579359806346, + 0.1966170699998921, + 0.21087850341045328, + 0.15100558541467052, + -0.9657782198687958 + ], + [ + 0.11646446764381319, + 0.9815704478314288, + 0.15151067196884693, + 0.9709401568767789, + -0.1446345221840079, + 0.19067266913928582, + 0.2090723308822548, + 0.12490120470440658, + -0.9698909472321353 + ], + [ + 0.15838329130862244, + 0.9719587429344569, + 0.1738129312436745, + 0.9660484888862284, + -0.18893363890872333, + 0.17622257860258037, + 0.2041201855644917, + 0.14000100757486858, + -0.9688832064408687 + ], + [ + 0.20583227650112307, + 0.9603423568327543, + 0.18808410784347537, + 0.9562325199769943, + -0.23822718132088389, + 0.16990343674674074, + 0.2079722137421541, + 0.144880529239845, + -0.9673454349705539 + ], + [ + 0.24548283787849345, + 0.9489814718373191, + 0.197920040462294, + 0.9470575226618707, + -0.2783551336605985, + 0.16000146353814929, + 0.20693048368155104, + 0.14816404987130025, + -0.9670714499193187 + ], + [ + 0.2725972766210572, + 0.9363343326784681, + 0.22128882083456125, + 0.938511227208102, + -0.30942444794395346, + 0.1531443352492091, + 0.2118664701719583, + 0.1659353140900013, + -0.9631085454686441 + ], + [ + 0.2704240437415742, + 0.9278035088847408, + 0.25700483549462233, + 0.9430275256723192, + -0.3090194450351215, + 0.12331288827421466, + 0.19382962206741927, + 0.20901586420974905, + -0.9585105352148473 + ], + [ + 0.29257966593002, + 0.9114065479844109, + 0.2893704258824973, + 0.944289938565819, + -0.3230703356956282, + 0.06278590699254262, + 0.15071048738438886, + 0.2548797019863568, + -0.9551558440944106 + ], + [ + 0.3346324063629492, + 0.8969569465006091, + 0.28894530405605334, + 0.9364849321659614, + -0.3506844143748318, + 0.004051338136429439, + 0.10496249062334799, + 0.2692372144390229, + -0.9573370346556425 + ], + [ + 0.35778012700922707, + 0.8883934919838269, + 0.28766366492493134, + 0.9279833688126741, + -0.37260560454213626, + -0.0034540803218052196, + 0.1041165112954794, + 0.2681828981582736, + -0.9577252660398425 + ], + [ + 0.3697494132978487, + 0.8894090390565512, + 0.2687692925361805, + 0.9246993319939585, + -0.38047418895771634, + -0.013058979550289007, + 0.09064500414156078, + 0.2533593352956829, + -0.9631160524270719 + ], + [ + 0.35597025183181813, + 0.8968340910082546, + 0.2626286218525881, + 0.9312214667398337, + -0.3639368770732529, + -0.019404365206852653, + 0.07817774423520325, + 0.2514727872187481, + -0.9647018594336436 + ], + [ + 0.3387790568577207, + 0.9074804715289098, + 0.24841083798470054, + 0.938950600980806, + -0.34293097543914086, + -0.02775094596843472, + 0.0600043294469393, + 0.24264694491797603, + -0.9682571665469852 + ], + [ + 0.3337810751887049, + 0.9115403673491115, + 0.24017567016440067, + 0.9415090074256539, + -0.3349100475582858, + -0.03736373885021006, + 0.04637868888004583, + 0.23859886575076922, + -0.9700101022567829 + ], + [ + 0.3219077151486467, + 0.9170842955514933, + 0.23522716208082553, + 0.9463255081575341, + -0.3192885993009722, + -0.05022771114442591, + 0.0290423060062798, + 0.23877015142024022, + -0.9706417254850489 + ], + [ + 0.3226224847394894, + 0.9192507874632083, + 0.2255941534898228, + 0.9464638792448534, + -0.31607225420660034, + -0.06560834859636415, + 0.010993526517989655, + 0.23468344609075015, + -0.9720096823106592 + ], + [ + 0.3417260606602854, + 0.9143994502030818, + 0.21701830552721676, + 0.9397841992146961, + -0.3338069579196575, + -0.07333876022142713, + 0.005381298355870423, + 0.22901214009900325, + -0.9734086918223399 + ], + [ + 0.34752079188026913, + 0.9113094345673662, + 0.22078137077076296, + 0.9375566140197231, + -0.3414066658442148, + -0.06655136381027744, + 0.014727345951730558, + 0.23012301707052918, + -0.9730501026645927 + ], + [ + 0.3598587294864029, + 0.9109414539328045, + 0.20171108625759834, + 0.9327124447300226, + -0.3566675947448748, + -0.053251500492008844, + 0.0234348086865796, + 0.20730145770277186, + -0.9779963779974491 + ], + [ + 0.3882096161938909, + 0.9069044931442131, + 0.1637606002963774, + 0.9209413752244334, + -0.38833828632222794, + -0.03256315058535439, + 0.034062843309405025, + 0.16345524063532887, + -0.9859625281999949 + ], + [ + 0.48088967064585325, + 0.8648350112026552, + 0.14424121485978275, + 0.8742984398233785, + -0.4853658762160769, + -0.004712146793765901, + 0.06593453411171478, + 0.12837589182982578, + -0.9895313373554007 + ], + [ + 0.6840019824891758, + 0.728590327836271, + 0.03601974644987123, + 0.7223968470781165, + -0.6833983348596145, + 0.10540166622356131, + 0.10141046929422122, + -0.04607439738663816, + -0.9937771715143111 + ], + [ + 0.8560843781195968, + 0.5167807398237526, + 0.007563364780194537, + 0.5044905119926054, + -0.8387251764659734, + 0.20501073550319493, + 0.11228918402509792, + -0.1716908422407466, + -0.9787305011297242 + ], + [ + 0.9514811207833405, + 0.30584715186522865, + 0.03378159985562679, + 0.29796883022359827, + -0.9432003886924915, + 0.14692720301398618, + 0.07680008468783332, + -0.1297325960052462, + -0.9885702810249157 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.003859877586364746, + 1.7762999050319195e-05, + -0.012782469391822815, + 0.004815954715013504, + 0.03961367905139923, + 0.01906636357307434, + 1.0 + ], + [ + -0.01614329218864441, + 0.004971662536263466, + -0.008075475692749023, + -0.003836311399936676, + 0.03664184361696243, + 0.18498477339744568, + 1.0 + ], + [ + -0.01981675624847412, + 0.014670705422759056, + 0.00018796324729919434, + 0.024953270331025124, + 0.04402143508195877, + 0.15384605526924133, + 1.0 + ], + [ + -0.02368605136871338, + 0.02349289320409298, + -0.002597123384475708, + 0.043534792959690094, + 0.02072932943701744, + 0.14531588554382324, + 1.0 + ], + [ + -0.022678673267364502, + 0.02526630461215973, + -0.007994800806045532, + 0.033915430307388306, + -0.001367395743727684, + 0.23326849937438965, + 1.0 + ], + [ + -0.0228671133518219, + 0.016905099153518677, + -0.005173914134502411, + 0.013293325901031494, + -0.05514601618051529, + 0.204029381275177, + 1.0 + ], + [ + -0.022023499011993408, + 0.017204545438289642, + -0.006276056170463562, + -0.02813803404569626, + -0.03741754591464996, + 0.13734054565429688, + 1.0 + ], + [ + -0.008156046271324158, + 0.011780694127082825, + -0.010371938347816467, + -0.009987901896238327, + -0.044776275753974915, + 0.06451404094696045, + 1.0 + ], + [ + 0.0026356875896453857, + 0.013122044503688812, + -0.010600686073303223, + -0.00918937474489212, + -0.04072152078151703, + 0.0764082670211792, + 1.0 + ], + [ + 0.004425019025802612, + 0.006085976958274841, + -0.0034751221537590027, + -0.023487864062190056, + -0.03650692105293274, + 0.04711604118347168, + 1.0 + ], + [ + 0.0013567805290222168, + 0.005574896931648254, + -0.009303372353315353, + -0.03426776081323624, + -0.013867020606994629, + 0.061418890953063965, + 1.0 + ], + [ + 0.0003884434700012207, + -0.0011703819036483765, + -0.010133877396583557, + -0.032024696469306946, + 0.01156073808670044, + 0.034793972969055176, + 1.0 + ], + [ + -0.0001347064971923828, + 0.000979408621788025, + -0.008575823158025742, + -0.062313951551914215, + 0.008601844310760498, + 0.05758368968963623, + 1.0 + ], + [ + -0.00041134655475616455, + 0.0015065819025039673, + -0.004271792247891426, + -0.04979333281517029, + 0.02061624825000763, + 0.05506420135498047, + 0.0 + ], + [ + 0.0003134012222290039, + 0.0005928874015808105, + -0.009410465136170387, + 0.016521871089935303, + 0.029842257499694824, + -0.014188051223754883, + 0.0 + ], + [ + 0.0009322911500930786, + 0.0018015354871749878, + 0.0006185369566082954, + -0.00940142571926117, + 0.003557860851287842, + 0.002185344696044922, + 0.0 + ], + [ + 0.0002855956554412842, + 0.002604439854621887, + 0.00041302572935819626, + -0.0006366074085235596, + 0.004482239484786987, + -0.004432082176208496, + 0.0 + ], + [ + -0.002570316195487976, + 0.0017251670360565186, + 0.00033950526267290115, + 0.016733810305595398, + 0.0019241571426391602, + -0.013094663619995117, + 0.0 + ], + [ + 0.0021741539239883423, + 0.0039013326168060303, + 0.006081062369048595, + 0.030720002949237823, + -0.015640810132026672, + -0.07241272926330566, + 0.0 + ], + [ + 0.006097644567489624, + -0.0015824288129806519, + 0.013883695006370544, + -0.05068498104810715, + -0.009352385997772217, + -0.038574934005737305, + 0.0 + ], + [ + -0.0023696571588516235, + 0.0003768354654312134, + 0.01188502088189125, + -0.0007055699825286865, + -0.018545299768447876, + -0.012683629989624023, + 0.0 + ], + [ + -0.0011045783758163452, + -0.009705156087875366, + 0.00640043243765831, + 0.027026861906051636, + 0.0018473565578460693, + -0.04692256450653076, + 0.0 + ], + [ + 0.006805509328842163, + -0.013764739036560059, + 0.00427202507853508, + -0.01543031632900238, + 0.005061343312263489, + -0.04312407970428467, + 0.0 + ], + [ + 0.004261672496795654, + -0.023118197917938232, + 0.002215597778558731, + -0.005162179470062256, + -0.003936499357223511, + -0.04951441287994385, + 0.0 + ], + [ + 0.001994505524635315, + -0.027010388672351837, + -0.00012223795056343079, + -0.0033606290817260742, + 0.001064896583557129, + -0.04160571098327637, + 0.0 + ], + [ + 0.0005414485931396484, + -0.025148622691631317, + -0.0015376247465610504, + -0.018589496612548828, + -0.005047902464866638, + -0.029054999351501465, + 0.0 + ], + [ + -0.0007423162460327148, + -0.026298025622963905, + 0.0007315203547477722, + -0.04408581554889679, + 0.018420085310935974, + 0.003411412239074707, + 0.0 + ], + [ + 0.004174619913101196, + -0.028954073786735535, + -0.0035000182688236237, + -0.04606783390045166, + 0.04377737641334534, + -0.02119290828704834, + 0.0 + ], + [ + 0.0030837655067443848, + -0.0177775789052248, + -0.00979192927479744, + -0.013384073972702026, + 0.046130746603012085, + -0.04272770881652832, + 0.0 + ], + [ + -0.0003574192523956299, + -0.013154715299606323, + -0.004019487649202347, + 0.0011261701583862305, + 0.0008506402373313904, + -0.024795889854431152, + 0.0 + ], + [ + -0.0022996068000793457, + -0.007049355655908585, + -0.01336839608848095, + 0.01579377055168152, + 0.013535946607589722, + -0.01240074634552002, + 0.0 + ], + [ + -0.0010358095169067383, + -0.000994265079498291, + -0.002436075359582901, + 0.0022347569465637207, + 0.012511998414993286, + 0.015263080596923828, + 0.0 + ], + [ + -0.0035513639450073242, + -0.00039931759238243103, + -0.0055816154927015305, + 0.009454429149627686, + 0.01821720227599144, + 0.018852829933166504, + 0.0 + ], + [ + -0.0013975203037261963, + 0.0008468851447105408, + -0.002345276065170765, + 0.004357472062110901, + 0.01364506408572197, + 0.005575656890869141, + 0.0 + ], + [ + -0.0004316866397857666, + 0.002586323767900467, + -0.00125143863260746, + -1.5467405319213867e-05, + 0.017348941415548325, + 0.012806057929992676, + 1.0 + ], + [ + -0.001241430640220642, + 0.0028444044291973114, + -0.0025924649089574814, + 0.004295438528060913, + 0.018052641302347183, + -0.000632166862487793, + 1.0 + ], + [ + -0.0004864335060119629, + 0.0016534440219402313, + 0.0005909688770771027, + 0.005841359496116638, + 0.0056124236434698105, + -0.020238757133483887, + 1.0 + ], + [ + -0.0021394193172454834, + 0.004015792161226273, + 0.010866689495742321, + -0.0011636018753051758, + -0.009346554055809975, + -0.006207823753356934, + 1.0 + ], + [ + 0.00125943124294281, + 0.0013269446790218353, + 0.015341298654675484, + 0.023355841636657715, + -0.00870907586067915, + -0.013256430625915527, + 1.0 + ], + [ + -0.0014275610446929932, + -0.0006210282444953918, + 0.01866064965724945, + 0.0445857048034668, + -0.010632479563355446, + -0.030710220336914062, + 1.0 + ], + [ + 0.005281299352645874, + 0.003396362066268921, + 0.017329704016447067, + 0.03527474403381348, + -0.031912967562675476, + -0.10393297672271729, + 1.0 + ], + [ + 0.02202761173248291, + 0.010189630091190338, + 0.0009570121765136719, + 0.17534318566322327, + -0.03560269623994827, + -0.25523918867111206, + 1.0 + ], + [ + 0.0195578932762146, + 0.0039664097130298615, + 0.0004927143454551697, + 0.12732535600662231, + -0.010941408574581146, + -0.2801768183708191, + 1.0 + ], + [ + 0.007222086191177368, + 0.010492493398487568, + 0.0002291649580001831, + -0.04316820204257965, + 0.035650722682476044, + -0.22902578115463257, + 1.0 + ], + [ + 0.0034852325916290283, + 0.017950549721717834, + -0.0036934688687324524, + -0.00822998583316803, + 0.038331273943185806, + -0.13992023468017578, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9468915462493896 + ], + [ + 0.6651484370231628 + ], + [ + 0.4094836115837097 + ], + [ + 0.36950385570526123 + ], + [ + 0.36950385570526123 + ], + [ + 0.36865687370300293 + ], + [ + 0.36865687370300293 + ], + [ + 0.36865687370300293 + ], + [ + 0.36865687370300293 + ], + [ + 0.36865687370300293 + ], + [ + 0.36865687370300293 + ], + [ + 0.3669656813144684 + ], + [ + 0.3669656813144684 + ], + [ + 0.3669656813144684 + ], + [ + 0.3669656813144684 + ], + [ + 0.3669656813144684 + ], + [ + 0.3669656813144684 + ], + [ + 0.3669656813144684 + ], + [ + 0.3669656813144684 + ], + [ + 0.3669656813144684 + ], + [ + 0.3669656813144684 + ], + [ + 0.43931102752685547 + ], + [ + 0.7477011680603027 + ], + [ + 0.9837720394134521 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.36200812458992004, + -0.0010072190780192614, + 0.10618512332439423 + ], + [ + 0.34586483240127563, + 0.003964443225413561, + 0.0981096476316452 + ], + [ + 0.3260480761528015, + 0.01863514818251133, + 0.0982976108789444 + ], + [ + 0.30236202478408813, + 0.04212804138660431, + 0.09570048749446869 + ], + [ + 0.27968335151672363, + 0.06739434599876404, + 0.08770568668842316 + ], + [ + 0.25681623816490173, + 0.08429944515228271, + 0.08253177255392075 + ], + [ + 0.23479273915290833, + 0.10150399059057236, + 0.07625571638345718 + ], + [ + 0.22663669288158417, + 0.11328468471765518, + 0.06588377803564072 + ], + [ + 0.22927238047122955, + 0.126406729221344, + 0.055283091962337494 + ], + [ + 0.23369739949703217, + 0.13249270617961884, + 0.05180796980857849 + ], + [ + 0.23505418002605438, + 0.1380676031112671, + 0.04250459745526314 + ], + [ + 0.2354426234960556, + 0.1368972212076187, + 0.03237072005867958 + ], + [ + 0.23530791699886322, + 0.13787662982940674, + 0.02379489690065384 + ], + [ + 0.23489657044410706, + 0.1393832117319107, + 0.019523104652762413 + ], + [ + 0.23520997166633606, + 0.13997609913349152, + 0.010112639516592026 + ], + [ + 0.23614226281642914, + 0.1417776346206665, + 0.010731176473200321 + ], + [ + 0.23642785847187042, + 0.1443820744752884, + 0.011144202202558517 + ], + [ + 0.23385754227638245, + 0.1461072415113449, + 0.011483707465231419 + ], + [ + 0.2360316962003708, + 0.15000857412815094, + 0.017564769834280014 + ], + [ + 0.2421293407678604, + 0.1484261453151703, + 0.03144846484065056 + ], + [ + 0.2397596836090088, + 0.1488029807806015, + 0.04333348572254181 + ], + [ + 0.23865510523319244, + 0.13909782469272614, + 0.04973391816020012 + ], + [ + 0.2454606145620346, + 0.12533308565616608, + 0.0540059432387352 + ], + [ + 0.24972228705883026, + 0.10221488773822784, + 0.05622154101729393 + ], + [ + 0.2517167925834656, + 0.07520449906587601, + 0.0560993030667305 + ], + [ + 0.2522582411766052, + 0.05005587637424469, + 0.05456167832016945 + ], + [ + 0.2515159249305725, + 0.023757850751280785, + 0.05529319867491722 + ], + [ + 0.2556905448436737, + -0.00519622303545475, + 0.0517931804060936 + ], + [ + 0.2587743103504181, + -0.02297380194067955, + 0.04200125113129616 + ], + [ + 0.25841689109802246, + -0.03612851724028587, + 0.03798176348209381 + ], + [ + 0.2561172842979431, + -0.04317787289619446, + 0.02461336739361286 + ], + [ + 0.2550814747810364, + -0.04417213797569275, + 0.02217729203402996 + ], + [ + 0.25153011083602905, + -0.04457145556807518, + 0.01659567654132843 + ], + [ + 0.25013259053230286, + -0.04372457042336464, + 0.014250400476157665 + ], + [ + 0.2497009038925171, + -0.04113824665546417, + 0.012998961843550205 + ], + [ + 0.24845947325229645, + -0.03829384222626686, + 0.010406496934592724 + ], + [ + 0.24797303974628448, + -0.03664039820432663, + 0.010997465811669827 + ], + [ + 0.245833620429039, + -0.03262460604310036, + 0.021864155307412148 + ], + [ + 0.2470930516719818, + -0.03129766136407852, + 0.03720545396208763 + ], + [ + 0.24566549062728882, + -0.031918689608573914, + 0.05586610361933708 + ], + [ + 0.2509467899799347, + -0.028522327542304993, + 0.07319580763578415 + ], + [ + 0.2729744017124176, + -0.018332697451114655, + 0.07415281981229782 + ], + [ + 0.2925322949886322, + -0.014366287738084793, + 0.07464553415775299 + ], + [ + 0.29975438117980957, + -0.003873794572427869, + 0.07487469911575317 + ], + [ + 0.3032396137714386, + 0.014076754450798035, + 0.07118123024702072 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.973696674300946, + 0.1921595843101115, + 0.12243153438980796, + 0.19318033924968475, + -0.9811566968325909, + 0.0035906528565306343, + 0.12081449823036257, + 0.020155158603309475, + -0.992470466361101 + ], + [ + 0.9250427155494289, + 0.36970174668026823, + 0.08727309385198825, + 0.3703754835163461, + -0.9288390942763685, + 0.008940813938848033, + 0.08436809597811265, + 0.02405317952818343, + -0.9961443012614255 + ], + [ + 0.8597247602190581, + 0.5095992950111794, + 0.03437870256992687, + 0.509154458913267, + -0.8604114717820498, + 0.021303431521344382, + 0.04043604376074415, + -0.0008110178513996685, + -0.9991817995815493 + ], + [ + 0.7774201392329274, + 0.6288562461399638, + -0.012559809146984634, + 0.6286725603667938, + -0.7762572155981123, + 0.04685666520064751, + 0.019716464107834276, + -0.04432332255843117, + -0.9988226589943109 + ], + [ + 0.6110243341645629, + 0.7900916216591728, + -0.04903562422087982, + 0.7913309964332779, + -0.6079847987230078, + 0.06441846478812871, + 0.021083575187058272, + -0.07816465893050628, + -0.9967174970630392 + ], + [ + 0.4368386326854953, + 0.8982064867791946, + -0.04896035233985957, + 0.8963102523148805, + -0.4300170038140798, + 0.10822803715302486, + 0.07615734100335853, + -0.09116185352732735, + -0.9929197227735784 + ], + [ + 0.3089092982137302, + 0.9507616778478436, + -0.025045506843625664, + 0.9443063757159762, + -0.30345927582398263, + 0.1272711149418508, + 0.1134042074142686, + -0.06296586259503995, + -0.9915517061093708 + ], + [ + 0.2458760228141439, + 0.9692207355957271, + -0.012495883177128422, + 0.9563763827726556, + -0.24047905297470584, + 0.16587356496765712, + 0.15776310050131986, + -0.05273509999674281, + -0.9860678543328263 + ], + [ + 0.17089223832210876, + 0.9852477731567598, + -0.00909221485147621, + 0.9652243467407192, + -0.16555204891586972, + 0.20232271142585365, + 0.19783276609351486, + -0.04335140815940461, + -0.979276698421026 + ], + [ + 0.12423585202117426, + 0.992209656685822, + 0.009243930547996645, + 0.9643927072307737, + -0.12293446773373595, + 0.23416622916877228, + 0.2334783915326466, + -0.020177061788732256, + -0.9721526252934267 + ], + [ + 0.06458489189516703, + 0.9974629163440971, + 0.029941981517895358, + 0.9668763034038035, + -0.06997289454731448, + 0.24546691822904798, + 0.2469392752380336, + 0.013096738028944788, + -0.9689424491670883 + ], + [ + 0.03100011903781652, + 0.9981125291512863, + 0.053012939654987074, + 0.9713263756514287, + -0.04259155656859903, + 0.23390389324020067, + 0.23572031007849234, + 0.04424181800385156, + -0.9708133687564325 + ], + [ + -0.025004052432325563, + 0.9944899672239977, + 0.10180620046329808, + 0.9734915286052694, + 0.001061908403472922, + 0.22872060703906455, + 0.2273522401379346, + 0.10482641576126865, + -0.9681541103888928 + ], + [ + -0.07890493178140318, + 0.9870057920518297, + 0.13997706310932614, + 0.9751052040818798, + 0.04722756068870132, + 0.21665502182924407, + 0.20722898617955762, + 0.1535875124075366, + -0.966160971743041 + ], + [ + -0.0654448686682127, + 0.9895309101719361, + 0.12862949498190546, + 0.9818614863253277, + 0.04087094619920001, + 0.18514207362941631, + 0.1779465954606002, + 0.1384129458218477, + -0.9742570839326237 + ], + [ + -0.06763347474336667, + 0.9881539543544269, + 0.1377587586611023, + 0.9823415215003888, + 0.041812145971991566, + 0.18236468842821021, + 0.17444439867889053, + 0.14766010613204336, + -0.973532559715716 + ], + [ + -0.06332861896833075, + 0.9881984225449673, + 0.13947531573436941, + 0.9834020413600647, + 0.03797997065405945, + 0.1774202549822711, + 0.17002914770244912, + 0.14839608993755482, + -0.974201565089496 + ], + [ + -0.05046289323853742, + 0.9908321157512162, + 0.12532044845899895, + 0.9844718855435165, + 0.028225256622120443, + 0.1732583084963289, + 0.16813269456114002, + 0.13211757371592958, + -0.9768706893622239 + ], + [ + 0.020837067573028667, + 0.9940007159220265, + 0.10737035606467502, + 0.9827933061727776, + -0.0400787198389691, + 0.18030810729983726, + 0.18352965416231035, + 0.10176577500597872, + -0.9777323729326417 + ], + [ + 0.058618248481705104, + 0.9845696725842621, + 0.16488317310221698, + 0.9795023334947486, + -0.08861069193258081, + 0.18089589258347305, + 0.19271502178937486, + 0.15089965242686226, + -0.9695824953422854 + ], + [ + 0.07076591222152684, + 0.983045282708654, + 0.1691571985217225, + 0.9749474049746594, + -0.10401579359806346, + 0.1966170699998921, + 0.21087850341045328, + 0.15100558541467052, + -0.9657782198687958 + ], + [ + 0.11646446764381319, + 0.9815704478314288, + 0.15151067196884693, + 0.9709401568767789, + -0.1446345221840079, + 0.19067266913928582, + 0.2090723308822548, + 0.12490120470440658, + -0.9698909472321353 + ], + [ + 0.15838329130862244, + 0.9719587429344569, + 0.1738129312436745, + 0.9660484888862284, + -0.18893363890872333, + 0.17622257860258037, + 0.2041201855644917, + 0.14000100757486858, + -0.9688832064408687 + ], + [ + 0.20583227650112307, + 0.9603423568327543, + 0.18808410784347537, + 0.9562325199769943, + -0.23822718132088389, + 0.16990343674674074, + 0.2079722137421541, + 0.144880529239845, + -0.9673454349705539 + ], + [ + 0.24548283787849345, + 0.9489814718373191, + 0.197920040462294, + 0.9470575226618707, + -0.2783551336605985, + 0.16000146353814929, + 0.20693048368155104, + 0.14816404987130025, + -0.9670714499193187 + ], + [ + 0.2725972766210572, + 0.9363343326784681, + 0.22128882083456125, + 0.938511227208102, + -0.30942444794395346, + 0.1531443352492091, + 0.2118664701719583, + 0.1659353140900013, + -0.9631085454686441 + ], + [ + 0.2704240437415742, + 0.9278035088847408, + 0.25700483549462233, + 0.9430275256723192, + -0.3090194450351215, + 0.12331288827421466, + 0.19382962206741927, + 0.20901586420974905, + -0.9585105352148473 + ], + [ + 0.29257966593002, + 0.9114065479844109, + 0.2893704258824973, + 0.944289938565819, + -0.3230703356956282, + 0.06278590699254262, + 0.15071048738438886, + 0.2548797019863568, + -0.9551558440944106 + ], + [ + 0.3346324063629492, + 0.8969569465006091, + 0.28894530405605334, + 0.9364849321659614, + -0.3506844143748318, + 0.004051338136429439, + 0.10496249062334799, + 0.2692372144390229, + -0.9573370346556425 + ], + [ + 0.35778012700922707, + 0.8883934919838269, + 0.28766366492493134, + 0.9279833688126741, + -0.37260560454213626, + -0.0034540803218052196, + 0.1041165112954794, + 0.2681828981582736, + -0.9577252660398425 + ], + [ + 0.3697494132978487, + 0.8894090390565512, + 0.2687692925361805, + 0.9246993319939585, + -0.38047418895771634, + -0.013058979550289007, + 0.09064500414156078, + 0.2533593352956829, + -0.9631160524270719 + ], + [ + 0.35597025183181813, + 0.8968340910082546, + 0.2626286218525881, + 0.9312214667398337, + -0.3639368770732529, + -0.019404365206852653, + 0.07817774423520325, + 0.2514727872187481, + -0.9647018594336436 + ], + [ + 0.3387790568577207, + 0.9074804715289098, + 0.24841083798470054, + 0.938950600980806, + -0.34293097543914086, + -0.02775094596843472, + 0.0600043294469393, + 0.24264694491797603, + -0.9682571665469852 + ], + [ + 0.3337810751887049, + 0.9115403673491115, + 0.24017567016440067, + 0.9415090074256539, + -0.3349100475582858, + -0.03736373885021006, + 0.04637868888004583, + 0.23859886575076922, + -0.9700101022567829 + ], + [ + 0.3219077151486467, + 0.9170842955514933, + 0.23522716208082553, + 0.9463255081575341, + -0.3192885993009722, + -0.05022771114442591, + 0.0290423060062798, + 0.23877015142024022, + -0.9706417254850489 + ], + [ + 0.3226224847394894, + 0.9192507874632083, + 0.2255941534898228, + 0.9464638792448534, + -0.31607225420660034, + -0.06560834859636415, + 0.010993526517989655, + 0.23468344609075015, + -0.9720096823106592 + ], + [ + 0.3417260606602854, + 0.9143994502030818, + 0.21701830552721676, + 0.9397841992146961, + -0.3338069579196575, + -0.07333876022142713, + 0.005381298355870423, + 0.22901214009900325, + -0.9734086918223399 + ], + [ + 0.34752079188026913, + 0.9113094345673662, + 0.22078137077076296, + 0.9375566140197231, + -0.3414066658442148, + -0.06655136381027744, + 0.014727345951730558, + 0.23012301707052918, + -0.9730501026645927 + ], + [ + 0.3598587294864029, + 0.9109414539328045, + 0.20171108625759834, + 0.9327124447300226, + -0.3566675947448748, + -0.053251500492008844, + 0.0234348086865796, + 0.20730145770277186, + -0.9779963779974491 + ], + [ + 0.3882096161938909, + 0.9069044931442131, + 0.1637606002963774, + 0.9209413752244334, + -0.38833828632222794, + -0.03256315058535439, + 0.034062843309405025, + 0.16345524063532887, + -0.9859625281999949 + ], + [ + 0.48088967064585325, + 0.8648350112026552, + 0.14424121485978275, + 0.8742984398233785, + -0.4853658762160769, + -0.004712146793765901, + 0.06593453411171478, + 0.12837589182982578, + -0.9895313373554007 + ], + [ + 0.6840019824891758, + 0.728590327836271, + 0.03601974644987123, + 0.7223968470781165, + -0.6833983348596145, + 0.10540166622356131, + 0.10141046929422122, + -0.04607439738663816, + -0.9937771715143111 + ], + [ + 0.8560843781195968, + 0.5167807398237526, + 0.007563364780194537, + 0.5044905119926054, + -0.8387251764659734, + 0.20501073550319493, + 0.11228918402509792, + -0.1716908422407466, + -0.9787305011297242 + ], + [ + 0.9514811207833405, + 0.30584715186522865, + 0.03378159985562679, + 0.29796883022359827, + -0.9432003886924915, + 0.14692720301398618, + 0.07680008468783332, + -0.1297325960052462, + -0.9885702810249157 + ], + [ + 0.9859196094378657, + 0.16626153906937674, + 0.017878041060701524, + 0.1627193292467885, + -0.9785227428992389, + 0.12655299885196294, + 0.03853496613935531, + -0.1218619803516741, + -0.9917987266221946 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006492.json b/json/chunk-0006/episode_0006492.json new file mode 100644 index 0000000000000000000000000000000000000000..6ec22240c1e67bb66e1a2f9205abaef7a90ff472 --- /dev/null +++ b/json/chunk-0006/episode_0006492.json @@ -0,0 +1,2782 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 45, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut wood rectangle on top of green arch." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006492.mp4", + "start": 0, + "end": 45, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.27797186374664307, + 0.08081544190645218, + 0.15713955461978912, + -0.04249665513634682, + -0.11850909888744354, + 0.595840573310852, + 0.0, + 0.9981546401977539 + ], + [ + 0.27585721015930176, + 0.08019515872001648, + 0.14866095781326294, + -0.033086225390434265, + -0.08929197490215302, + 0.5948644876480103, + 0.0, + 0.9981546401977539 + ], + [ + 0.2838941812515259, + 0.08872099220752716, + 0.13756488263607025, + -0.02233770675957203, + -0.11020804941654205, + 0.5868055820465088, + 0.0, + 0.9981546401977539 + ], + [ + 0.29349809885025024, + 0.09867847710847855, + 0.12168343365192413, + -0.013575774617493153, + -0.12661662697792053, + 0.5740044116973877, + 0.0, + 0.9981546401977539 + ], + [ + 0.3010684847831726, + 0.11179065704345703, + 0.10343161970376968, + -0.005131997633725405, + -0.12059815973043442, + 0.5881355404853821, + 0.0, + 0.9981546401977539 + ], + [ + 0.3155156373977661, + 0.12682794034481049, + 0.09967585653066635, + 0.010981189087033272, + -0.13929511606693268, + 0.5758788585662842, + 0.0, + 0.9981546401977539 + ], + [ + 0.3221557140350342, + 0.1421787291765213, + 0.09477497637271881, + -0.004720514640212059, + -0.15377666056156158, + 0.5907860994338989, + 0.0, + 0.9981546401977539 + ], + [ + 0.33273106813430786, + 0.15107041597366333, + 0.08933187276124954, + -0.019973643124103546, + -0.16461314260959625, + 0.5841049551963806, + 0.0, + 0.9981546401977539 + ], + [ + 0.3409591019153595, + 0.15413445234298706, + 0.08492432534694672, + -0.03674324229359627, + -0.16517940163612366, + 0.5800636410713196, + 0.0, + 0.9981546401977539 + ], + [ + 0.3485071063041687, + 0.1596074402332306, + 0.07888573408126831, + -0.05861063674092293, + -0.16697296500205994, + 0.5912171006202698, + 0.0, + 0.9981546401977539 + ], + [ + 0.3559916615486145, + 0.16701282560825348, + 0.07308938354253769, + -0.03186916932463646, + -0.1690482646226883, + 0.5837818384170532, + 0.0, + 0.9981546401977539 + ], + [ + 0.36198827624320984, + 0.17212750017642975, + 0.07208170741796494, + -0.02010461874306202, + -0.16300298273563385, + 0.597139298915863, + 0.0, + 0.9981546401977539 + ], + [ + 0.3661714494228363, + 0.17713241279125214, + 0.06678488105535507, + 0.0017867237329483032, + -0.15432249009609222, + 0.6014282703399658, + 0.0, + 0.9981546401977539 + ], + [ + 0.36858752369880676, + 0.17920146882534027, + 0.06017349660396576, + 0.003626610618084669, + -0.14399354159832, + 0.6112591624259949, + 0.0, + 0.9981546401977539 + ], + [ + 0.3726949095726013, + 0.18115286529064178, + 0.054692428559064865, + 0.0038569525349885225, + -0.13797977566719055, + 0.6173931360244751, + 0.0, + 0.9981546401977539 + ], + [ + 0.37396588921546936, + 0.18223991990089417, + 0.04761107265949249, + 0.004080496728420258, + -0.12268400937318802, + 0.6287521123886108, + 0.0, + 0.9981546401977539 + ], + [ + 0.37357431650161743, + 0.1839589625597, + 0.03759197145700455, + 0.018742647022008896, + -0.09793365001678467, + 0.6393589377403259, + 0.0, + 0.9553104043006897 + ], + [ + 0.37505635619163513, + 0.18846221268177032, + 0.03659335523843765, + -0.007838310673832893, + -0.11331753432750702, + 0.6915529370307922, + 0.0, + 0.6751802563667297 + ], + [ + 0.3731384873390198, + 0.19113926589488983, + 0.03652043640613556, + -0.015809228643774986, + -0.10831215977668762, + 0.7115743160247803, + 0.0, + 0.5809218287467957 + ], + [ + 0.3745160400867462, + 0.1847379058599472, + 0.057962771505117416, + -0.07152560353279114, + -0.12377804517745972, + 0.7875410914421082, + 0.0, + 0.5809218287467957 + ], + [ + 0.3707974851131439, + 0.17653565108776093, + 0.09667075425386429, + -0.12945593893527985, + -0.12980762124061584, + 0.8932473659515381, + 0.0, + 0.5809218287467957 + ], + [ + 0.3583589196205139, + 0.16591154038906097, + 0.14456672966480255, + -0.1476585865020752, + -0.16289477050304413, + 1.0254452228546143, + 0.0, + 0.5809218287467957 + ], + [ + 0.34492287039756775, + 0.14418382942676544, + 0.16419297456741333, + -0.18818582594394684, + -0.15046155452728271, + 1.1087003946304321, + 0.0, + 0.5799254179000854 + ], + [ + 0.32568520307540894, + 0.12063707411289215, + 0.17714771628379822, + -0.20088621973991394, + -0.1306556612253189, + 1.2198610305786133, + 0.0, + 0.5799254179000854 + ], + [ + 0.30934545397758484, + 0.09972789883613586, + 0.18100012838840485, + -0.1922932267189026, + -0.11004475504159927, + 1.3217592239379883, + 0.0, + 0.5799254179000854 + ], + [ + 0.29517629742622375, + 0.08029434829950333, + 0.18302978575229645, + -0.22642341256141663, + -0.0926814004778862, + 1.402380347251892, + 0.0, + 0.5799254179000854 + ], + [ + 0.2866765558719635, + 0.06483975052833557, + 0.18167003989219666, + -0.23344029486179352, + -0.09469354897737503, + 1.4246855974197388, + 0.0, + 0.5799254179000854 + ], + [ + 0.2755786180496216, + 0.052412863820791245, + 0.17666766047477722, + -0.23790550231933594, + -0.07769779860973358, + 1.4538941383361816, + 0.0, + 0.5809218287467957 + ], + [ + 0.26986581087112427, + 0.039042212069034576, + 0.16379563510417938, + -0.2156291902065277, + -0.04318996146321297, + 1.463425636291504, + 0.0, + 0.5799254179000854 + ], + [ + 0.26572340726852417, + 0.028006374835968018, + 0.15489450097084045, + -0.18308165669441223, + -0.03903534635901451, + 1.4613420963287354, + 0.0, + 0.5799254179000854 + ], + [ + 0.26002201437950134, + 0.02056128717958927, + 0.14180053770542145, + -0.13572366535663605, + -0.02540096640586853, + 1.4564517736434937, + 0.0, + 0.5809218287467957 + ], + [ + 0.25769099593162537, + 0.012064711190760136, + 0.13201887905597687, + -0.10441317409276962, + -0.027610737830400467, + 1.4574401378631592, + 0.0, + 0.5809218287467957 + ], + [ + 0.2579701542854309, + 0.004045166540890932, + 0.12623223662376404, + -0.08545120805501938, + -0.03782887011766434, + 1.458364486694336, + 0.0, + 0.5799254179000854 + ], + [ + 0.25899824500083923, + -0.001963619375601411, + 0.12198406457901001, + -0.07383177429437637, + -0.043652601540088654, + 1.4632078409194946, + 0.0, + 0.5799254179000854 + ], + [ + 0.25866496562957764, + -0.007136435713618994, + 0.11937152594327927, + -0.07174775749444962, + -0.041667718440294266, + 1.465807318687439, + 0.0, + 0.5799254179000854 + ], + [ + 0.2562258839607239, + -0.01276461686939001, + 0.11225957423448563, + -0.05272459238767624, + -0.050180237740278244, + 1.461492657661438, + 0.0, + 0.5799254179000854 + ], + [ + 0.2554832696914673, + -0.014668585732579231, + 0.107028529047966, + -0.042760420590639114, + -0.05173216760158539, + 1.4668766260147095, + 0.0, + 0.5799254179000854 + ], + [ + 0.2552815079689026, + -0.01899815909564495, + 0.10629455745220184, + -0.04362208768725395, + -0.050933994352817535, + 1.4667233228683472, + 0.0, + 0.5799254179000854 + ], + [ + 0.25293463468551636, + -0.019741056486964226, + 0.09884179383516312, + -0.022423030808568, + -0.05198761075735092, + 1.4660375118255615, + 0.0, + 0.5799254179000854 + ], + [ + 0.25389599800109863, + -0.020084843039512634, + 0.09646636992692947, + -0.01779884286224842, + -0.05051704868674278, + 1.4662264585494995, + 0.0, + 0.5799254179000854 + ], + [ + 0.25377339124679565, + -0.020083842799067497, + 0.09300171583890915, + -0.00704206433147192, + -0.05049925297498703, + 1.4655274152755737, + 0.0, + 0.5799254179000854 + ], + [ + 0.2546465992927551, + -0.021092260256409645, + 0.09084048122167587, + 0.0006940703606233001, + -0.042348526418209076, + 1.470872163772583, + 0.0, + 0.5799254179000854 + ], + [ + 0.25828826427459717, + -0.02132958360016346, + 0.09220854192972183, + -0.0023401016369462013, + -0.038309160619974136, + 1.4763329029083252, + 0.0, + 0.5799254179000854 + ], + [ + 0.2607894837856293, + -0.019765272736549377, + 0.0948408767580986, + -0.0038705409970134497, + -0.03711753338575363, + 1.485147476196289, + 0.0, + 0.5799254179000854 + ], + [ + 0.26355278491973877, + -0.018829436972737312, + 0.09496419876813889, + -0.010005226358771324, + -0.036957114934921265, + 1.4898052215576172, + 0.0, + 0.5799254179000854 + ] + ], + "left_gripper_pos": [ + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9553104043006897 + ], + [ + 0.6751802563667297 + ], + [ + 0.5809218287467957 + ], + [ + 0.5809218287467957 + ], + [ + 0.5809218287467957 + ], + [ + 0.5809218287467957 + ], + [ + 0.5799254179000854 + ], + [ + 0.5799254179000854 + ], + [ + 0.5799254179000854 + ], + [ + 0.5799254179000854 + ], + [ + 0.5799254179000854 + ], + [ + 0.5809218287467957 + ], + [ + 0.5799254179000854 + ], + [ + 0.5799254179000854 + ], + [ + 0.5809218287467957 + ], + [ + 0.5809218287467957 + ], + [ + 0.5799254179000854 + ], + [ + 0.5799254179000854 + ], + [ + 0.5799254179000854 + ], + [ + 0.5799254179000854 + ], + [ + 0.5799254179000854 + ], + [ + 0.5799254179000854 + ], + [ + 0.5799254179000854 + ], + [ + 0.5799254179000854 + ], + [ + 0.5799254179000854 + ], + [ + 0.5799254179000854 + ], + [ + 0.5799254179000854 + ], + [ + 0.5799254179000854 + ], + [ + 0.5799254179000854 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.27797186374664307, + 0.08081544190645218, + 0.15713955461978912 + ], + [ + 0.27585721015930176, + 0.08019515872001648, + 0.14866095781326294 + ], + [ + 0.2838941812515259, + 0.08872099220752716, + 0.13756488263607025 + ], + [ + 0.29349809885025024, + 0.09867847710847855, + 0.12168343365192413 + ], + [ + 0.3010684847831726, + 0.11179065704345703, + 0.10343161970376968 + ], + [ + 0.3155156373977661, + 0.12682794034481049, + 0.09967585653066635 + ], + [ + 0.3221557140350342, + 0.1421787291765213, + 0.09477497637271881 + ], + [ + 0.33273106813430786, + 0.15107041597366333, + 0.08933187276124954 + ], + [ + 0.3409591019153595, + 0.15413445234298706, + 0.08492432534694672 + ], + [ + 0.3485071063041687, + 0.1596074402332306, + 0.07888573408126831 + ], + [ + 0.3559916615486145, + 0.16701282560825348, + 0.07308938354253769 + ], + [ + 0.36198827624320984, + 0.17212750017642975, + 0.07208170741796494 + ], + [ + 0.3661714494228363, + 0.17713241279125214, + 0.06678488105535507 + ], + [ + 0.36858752369880676, + 0.17920146882534027, + 0.06017349660396576 + ], + [ + 0.3726949095726013, + 0.18115286529064178, + 0.054692428559064865 + ], + [ + 0.37396588921546936, + 0.18223991990089417, + 0.04761107265949249 + ], + [ + 0.37357431650161743, + 0.1839589625597, + 0.03759197145700455 + ], + [ + 0.37505635619163513, + 0.18846221268177032, + 0.03659335523843765 + ], + [ + 0.3731384873390198, + 0.19113926589488983, + 0.03652043640613556 + ], + [ + 0.3745160400867462, + 0.1847379058599472, + 0.057962771505117416 + ], + [ + 0.3707974851131439, + 0.17653565108776093, + 0.09667075425386429 + ], + [ + 0.3583589196205139, + 0.16591154038906097, + 0.14456672966480255 + ], + [ + 0.34492287039756775, + 0.14418382942676544, + 0.16419297456741333 + ], + [ + 0.32568520307540894, + 0.12063707411289215, + 0.17714771628379822 + ], + [ + 0.30934545397758484, + 0.09972789883613586, + 0.18100012838840485 + ], + [ + 0.29517629742622375, + 0.08029434829950333, + 0.18302978575229645 + ], + [ + 0.2866765558719635, + 0.06483975052833557, + 0.18167003989219666 + ], + [ + 0.2755786180496216, + 0.052412863820791245, + 0.17666766047477722 + ], + [ + 0.26986581087112427, + 0.039042212069034576, + 0.16379563510417938 + ], + [ + 0.26572340726852417, + 0.028006374835968018, + 0.15489450097084045 + ], + [ + 0.26002201437950134, + 0.02056128717958927, + 0.14180053770542145 + ], + [ + 0.25769099593162537, + 0.012064711190760136, + 0.13201887905597687 + ], + [ + 0.2579701542854309, + 0.004045166540890932, + 0.12623223662376404 + ], + [ + 0.25899824500083923, + -0.001963619375601411, + 0.12198406457901001 + ], + [ + 0.25866496562957764, + -0.007136435713618994, + 0.11937152594327927 + ], + [ + 0.2562258839607239, + -0.01276461686939001, + 0.11225957423448563 + ], + [ + 0.2554832696914673, + -0.014668585732579231, + 0.107028529047966 + ], + [ + 0.2552815079689026, + -0.01899815909564495, + 0.10629455745220184 + ], + [ + 0.25293463468551636, + -0.019741056486964226, + 0.09884179383516312 + ], + [ + 0.25389599800109863, + -0.020084843039512634, + 0.09646636992692947 + ], + [ + 0.25377339124679565, + -0.020083842799067497, + 0.09300171583890915 + ], + [ + 0.2546465992927551, + -0.021092260256409645, + 0.09084048122167587 + ], + [ + 0.25828826427459717, + -0.02132958360016346, + 0.09220854192972183 + ], + [ + 0.2607894837856293, + -0.019765272736549377, + 0.0948408767580986 + ], + [ + 0.26355278491973877, + -0.018829436972737312, + 0.09496419876813889 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.821871740220819, + 0.5565406152643486, + 0.12161162028187487, + 0.5572683927538709, + -0.8297486937487683, + 0.031129466100950725, + 0.11823189529023069, + 0.042185883698141094, + -0.9920894970478655 + ], + [ + 0.8249248999866065, + 0.5576466644325687, + 0.09235316469573439, + 0.5581639722919428, + -0.8294242584329778, + 0.02254727385260065, + 0.08917336719764858, + 0.0329484016324759, + -0.995471000789324 + ], + [ + 0.8276618096657846, + 0.5515200279511542, + 0.10393068646707203, + 0.5503446272112834, + -0.8338661784399009, + 0.04228460421606154, + 0.10998509044607861, + 0.02220034285306658, + -0.9936852744489949 + ], + [ + 0.8330111041080435, + 0.5415094587574458, + 0.1134019687171102, + 0.5386522253144184, + -0.8405867917634828, + 0.05716314963855687, + 0.12627858328522432, + 0.013466684409799905, + -0.9919034064940413 + ], + [ + 0.8259337774038688, + 0.5542898267587779, + 0.1029377641835138, + 0.5507811281484405, + -0.8323081352332219, + 0.06247653079459621, + 0.12030604398328368, + 0.005094700807803887, + -0.9927237782005482 + ], + [ + 0.8305903343387636, + 0.5458180265443681, + 0.11046437616821381, + 0.5392974473693849, + -0.8378331724161591, + 0.08481649874841832, + 0.13884509268925108, + -0.010874607960122878, + -0.9902544032408173 + ], + [ + 0.8207028410153642, + 0.5564073560430183, + 0.12983720919107936, + 0.5504410925410663, + -0.8308965602540088, + 0.08139723459831923, + 0.1531713106019121, + 0.0046647935939860136, + -0.9881886405485637 + ], + [ + 0.8229290514014155, + 0.5486127010579422, + 0.14768845790201476, + 0.5439983133872677, + -0.8358444368396092, + 0.07368793955651434, + 0.16387071547831358, + 0.0197023258064953, + -0.9862850536059238 + ], + [ + 0.825043046212464, + 0.5426549608454603, + 0.15757399965181365, + 0.5406172207432054, + -0.839173772446614, + 0.05933296110603946, + 0.16442929341315696, + 0.03623497078142186, + -0.9857231022757453 + ], + [ + 0.8187159283503882, + 0.5483319333369784, + 0.170400468157497, + 0.5496202270508429, + -0.8342635039371837, + 0.04384075746418114, + 0.16619817893690186, + 0.057762417551422134, + -0.9843991408146765 + ], + [ + 0.822490270838606, + 0.5464304499741286, + 0.15787183953101916, + 0.543326443737723, + -0.836915289861161, + 0.06609972111838003, + 0.1682442566958984, + 0.031409567613708396, + -0.9852447965613239 + ], + [ + 0.8159858259414868, + 0.5594676624529933, + 0.14547531244844586, + 0.554825782153983, + -0.8286147697721629, + 0.07460505862638384, + 0.16228211028887396, + 0.019836783630641182, + -0.986544990710196 + ], + [ + 0.8147295327540336, + 0.5660462434022704, + 0.1257276373299515, + 0.5590964285753335, + -0.8243715990850908, + 0.08844574707806654, + 0.1537106763133294, + -0.001765489186603901, + -0.9881143208329848 + ], + [ + 0.8104508305775332, + 0.57432147454587, + 0.11543091046875016, + 0.5679596967537877, + -0.8186219899621183, + 0.08532186363299474, + 0.14349646016377052, + -0.0035890703419386508, + -0.9896443222160921 + ], + [ + 0.807640804250219, + 0.5793397712229085, + 0.10991706323154633, + 0.5734094758510624, + -0.8150771956650569, + 0.08276918575772471, + 0.13754237279569417, + -0.0038202861378154873, + -0.9904885163895419 + ], + [ + 0.8026832087695086, + 0.5885349353525298, + 0.09657275096567776, + 0.5837153958576113, + -0.8084616434094528, + 0.07527355295506144, + 0.122376480576446, + -0.00404981546246113, + -0.9924754888643056 + ], + [ + 0.7986332220159236, + 0.5980468637199585, + 0.0672675663837039, + 0.5938220273182473, + -0.8012440708988509, + 0.0733712390592119, + 0.09777717813534659, + -0.01865174641042316, + -0.9950335350086097 + ], + [ + 0.765316493051059, + 0.6370318343382615, + 0.09209292863004108, + 0.6336439619016996, + -0.7707981510926025, + 0.06607223182050749, + 0.11307517415217942, + 0.007787959415342317, + -0.9935559132120342 + ], + [ + 0.7528967401858371, + 0.6516510393722377, + 0.09218145964684513, + 0.6492001071938682, + -0.7583560722935927, + 0.05861133367281235, + 0.10810050618295294, + 0.015715931423814274, + -0.994015739343433 + ], + [ + 0.7001916045103919, + 0.7005830401031755, + 0.13753225400957791, + 0.7031989741424213, + -0.7100380685141986, + 0.03683943574041648, + 0.12346221988207141, + 0.0709178763106904, + -0.9898119695585482 + ], + [ + 0.6216111736920032, + 0.7621166527425606, + 0.18104628235267825, + 0.7725567674153323, + -0.6346589771039606, + 0.019079410423983034, + 0.12944338477505304, + 0.1280085559399451, + -0.983289489287945 + ], + [ + 0.5118514825260064, + 0.8332654904492798, + 0.20898967022857923, + 0.8436274187584107, + -0.5334724410283658, + 0.060827074418038536, + 0.16217533152409508, + 0.14517498782351507, + -0.9760242746753238 + ], + [ + 0.44078826211569644, + 0.8668151671472032, + 0.2331033547261611, + 0.8850069775748249, + -0.46305505486024, + 0.04840109308945045, + 0.14989448830726784, + 0.18496346172135317, + -0.9712467040886966 + ], + [ + 0.3408461356618095, + 0.9112303592894222, + 0.23126423007824087, + 0.9310477580271599, + -0.3612751316769814, + 0.05128695257449667, + 0.13028424339501038, + 0.1978370833313358, + -0.9715382156055106 + ], + [ + 0.24498002464808366, + 0.9461143627843686, + 0.2117838522091636, + 0.9632879856814084, + -0.26226885513849185, + 0.05736988989182275, + 0.10982278527372816, + 0.18995436335465765, + -0.9756312293470559 + ], + [ + 0.16690154748017244, + 0.9572056024580154, + 0.23643457461148043, + 0.9816203942618823, + -0.1838251737136542, + 0.05128066963575918, + 0.09254877102301666, + 0.22353017722923413, + -0.97029324683314 + ], + [ + 0.14493915173380484, + 0.9593257106178776, + 0.24225363411554635, + 0.9849124548044816, + -0.16328173063604662, + 0.05732828980099949, + 0.0945520949831095, + 0.2302895077679429, + -0.9685177561337239 + ], + [ + 0.11628421779124265, + 0.9630671129856526, + 0.24285739967758577, + 0.9901783532557836, + -0.1315184854246958, + 0.047431178935994384, + 0.07761964594317014, + 0.234956642547245, + -0.9689017322136351 + ], + [ + 0.10706457083784349, + 0.9702266269474076, + 0.2172497871887661, + 0.9933141318251402, + -0.11386772880463558, + 0.019004627156078965, + 0.043176535152510825, + 0.2137625615002069, + -0.9759310191366468 + ], + [ + 0.10915259963874935, + 0.976627069225956, + 0.1851628408920727, + 0.9932586397892185, + -0.1144726658703138, + 0.01825604701504685, + 0.039025433708992766, + 0.18192189649314797, + -0.9825382634280264 + ], + [ + 0.1140587405482616, + 0.9839414115978632, + 0.13729494618284105, + 0.9931493006407349, + -0.11646041290588371, + 0.009562366998329463, + 0.025398235004897865, + 0.1352637082465062, + -0.9904840528196508 + ], + [ + 0.11307046726724101, + 0.9878454474139204, + 0.10666040247232855, + 0.9932033579766149, + -0.11535640953048731, + 0.015491561709864168, + 0.027607229776705676, + 0.10418383177742033, + -0.9941748186613009 + ], + [ + 0.1121148487997416, + 0.9896983541819856, + 0.08903610732775794, + 0.9929752865722986, + -0.1149931864291947, + 0.027868393055963607, + 0.037819848430054516, + 0.08528619351530126, + -0.9956384505734992 + ], + [ + 0.10727875107943152, + 0.9911637046784081, + 0.0780114100309098, + 0.9932708241014923, + -0.11028889034998723, + 0.03534728637548926, + 0.04363873916120547, + 0.07369444479431173, + -0.9963256441800935 + ], + [ + 0.10470527707997995, + 0.9916221787908308, + 0.07564561772985316, + 0.9936305202409945, + -0.10749631554378108, + 0.03380726830317974, + 0.041655662246757805, + 0.07162399510386372, + -0.9965614928985298 + ], + [ + 0.10894883825100904, + 0.9923626144339359, + 0.05784973740302755, + 0.9927810469637239, + -0.11156218598467443, + 0.044041701237955415, + 0.05015918094793687, + 0.05263383068108091, + -0.9973533658811544 + ], + [ + 0.10359398360000666, + 0.9934667554505481, + 0.04787580157493339, + 0.9932746125442034, + -0.10583644166408485, + 0.046948819911126385, + 0.05170909626984557, + 0.04269020297967223, + -0.9977493251977222 + ], + [ + 0.10375050909383415, + 0.9934125018782665, + 0.04865627374484597, + 0.9932994526936652, + -0.10599457756670866, + 0.046058080777647115, + 0.050911974438588796, + 0.04355170075230283, + -0.9977530857984587 + ], + [ + 0.10442603324355032, + 0.9941459731931757, + 0.027730625034623417, + 0.9931741669591247, + -0.10569973219230228, + 0.04932180754518623, + 0.05196419600134052, + 0.02239085970367235, + -0.9983979025096483 + ], + [ + 0.1042462379781583, + 0.9942862142977751, + 0.022970544721437648, + 0.9932688053970615, + -0.10525666910720172, + 0.04835404671328997, + 0.050495565077491415, + 0.01777519805390155, + -0.9985660920748556 + ], + [ + 0.1049406447325516, + 0.9944023346288017, + 0.012306826069501276, + 0.9931965835582924, + -0.10542548738227153, + 0.04945718368797443, + 0.05047779205999328, + 0.007033028863802533, + -0.9987004200528549 + ], + [ + 0.09966851877311539, + 0.9950144251108566, + 0.0035327307970832687, + 0.9941196409442938, + -0.09972869672840884, + 0.042193915884178854, + 0.0423358695949575, + -0.0006934480258642683, + -0.9991031945076915 + ], + [ + 0.094253793006155, + 0.9955304679773134, + 0.0059422077398730636, + 0.9948112125011253, + -0.09441196585122968, + 0.03790820737184578, + 0.03829979093929249, + 0.0023383825557763416, + -0.99926355781697 + ], + [ + 0.08548525210147334, + 0.9963146289277126, + 0.007030779315369207, + 0.9956481270852776, + -0.08568663724215614, + 0.0366416051737606, + 0.03710901109873675, + 0.0038678654016156833, + -0.9993037380659138 + ], + [ + 0.08084734671231625, + 0.9966422174982797, + 0.012961359098878713, + 0.9960414147519455, + -0.08126700280387594, + 0.03601630678203608, + 0.03694870266357739, + 0.009998227612250742, + -0.9992671458704585 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0021146535873413086, + -0.0006202831864356995, + -0.008478596806526184, + 0.009410429745912552, + 0.029217123985290527, + -0.0009760856628417969, + 1.0 + ], + [ + 0.008036971092224121, + 0.008525833487510681, + -0.011096075177192688, + 0.010748518630862236, + -0.020916074514389038, + -0.008058905601501465, + 1.0 + ], + [ + 0.009603917598724365, + 0.009957484900951385, + -0.015881448984146118, + 0.008761932142078876, + -0.01640857756137848, + -0.012801170349121094, + 1.0 + ], + [ + 0.007570385932922363, + 0.013112179934978485, + -0.01825181394815445, + 0.00844377651810646, + 0.0060184672474861145, + 0.014131128787994385, + 1.0 + ], + [ + 0.014447152614593506, + 0.015037283301353455, + -0.0037557631731033325, + 0.01611318625509739, + -0.01869695633649826, + -0.0122566819190979, + 1.0 + ], + [ + 0.006640076637268066, + 0.015350788831710815, + -0.00490088015794754, + -0.01570170372724533, + -0.014481544494628906, + 0.014907240867614746, + 1.0 + ], + [ + 0.010575354099273682, + 0.008891686797142029, + -0.005443103611469269, + -0.015253128483891487, + -0.010836482048034668, + -0.0066811442375183105, + 1.0 + ], + [ + 0.008228033781051636, + 0.0030640363693237305, + -0.004407547414302826, + -0.01676959916949272, + -0.0005662590265274048, + -0.004041314125061035, + 1.0 + ], + [ + 0.007548004388809204, + 0.00547298789024353, + -0.006038591265678406, + -0.02186739444732666, + -0.0017935633659362793, + 0.011153459548950195, + 1.0 + ], + [ + 0.007484555244445801, + 0.007405385375022888, + -0.005796350538730621, + 0.02674146741628647, + -0.002075299620628357, + -0.007435262203216553, + 1.0 + ], + [ + 0.005996614694595337, + 0.0051146745681762695, + -0.001007676124572754, + 0.01176455058157444, + 0.006045281887054443, + 0.013357460498809814, + 1.0 + ], + [ + 0.004183173179626465, + 0.005004912614822388, + -0.005296826362609863, + 0.021891342476010323, + 0.008680492639541626, + 0.004288971424102783, + 1.0 + ], + [ + 0.002416074275970459, + 0.0020690560340881348, + -0.006611384451389313, + 0.0018398868851363659, + 0.010328948497772217, + 0.009830892086029053, + 1.0 + ], + [ + 0.004107385873794556, + 0.0019513964653015137, + -0.005481068044900894, + 0.00023034191690385342, + 0.006013765931129456, + 0.006133973598480225, + 1.0 + ], + [ + 0.001270979642868042, + 0.0010870546102523804, + -0.0070813558995723724, + 0.00022354419343173504, + 0.015295766294002533, + 0.011358976364135742, + 1.0 + ], + [ + -0.0003915727138519287, + 0.0017190426588058472, + -0.010019101202487946, + 0.014662150293588638, + 0.02475035935640335, + 0.010606825351715088, + 0.0 + ], + [ + 0.0014820396900177002, + 0.0045032501220703125, + -0.0009986162185668945, + -0.02658095769584179, + -0.015383884310722351, + 0.05219399929046631, + 0.0 + ], + [ + -0.0019178688526153564, + 0.002677053213119507, + -7.29188323020935e-05, + -0.007970917969942093, + 0.005005374550819397, + 0.020021378993988037, + 0.0 + ], + [ + 0.0013775527477264404, + -0.006401360034942627, + 0.021442335098981857, + -0.055716373026371, + -0.015465885400772095, + 0.07596677541732788, + 0.0 + ], + [ + -0.003718554973602295, + -0.00820225477218628, + 0.03870798274874687, + -0.05793033540248871, + -0.006029576063156128, + 0.10570627450942993, + 0.0 + ], + [ + -0.012438565492630005, + -0.010624110698699951, + 0.04789597541093826, + -0.01820264756679535, + -0.033087149262428284, + 0.13219785690307617, + 0.0 + ], + [ + -0.013436049222946167, + -0.021727710962295532, + 0.01962624490261078, + -0.04052723944187164, + 0.012433215975761414, + 0.08325517177581787, + 0.0 + ], + [ + -0.019237667322158813, + -0.02354675531387329, + 0.012954741716384888, + -0.012700393795967102, + 0.019805893301963806, + 0.11116063594818115, + 0.0 + ], + [ + -0.016339749097824097, + -0.020909175276756287, + 0.0038524121046066284, + 0.008592993021011353, + 0.020610906183719635, + 0.101898193359375, + 0.0 + ], + [ + -0.014169156551361084, + -0.019433550536632538, + 0.0020296573638916016, + -0.03413018584251404, + 0.017363354563713074, + 0.08062112331390381, + 0.0 + ], + [ + -0.008499741554260254, + -0.015454597771167755, + -0.0013597458600997925, + -0.007016882300376892, + -0.0020121484994888306, + 0.02230525016784668, + 0.0 + ], + [ + -0.011097937822341919, + -0.012426886707544327, + -0.005002379417419434, + -0.004465207457542419, + 0.01699575036764145, + 0.02920854091644287, + 0.0 + ], + [ + -0.0057128071784973145, + -0.013370651751756668, + -0.01287202537059784, + 0.022276312112808228, + 0.034507837146520615, + 0.009531497955322266, + 0.0 + ], + [ + -0.004142403602600098, + -0.011035837233066559, + -0.008901134133338928, + 0.03254753351211548, + 0.004154615104198456, + -0.0020835399627685547, + 0.0 + ], + [ + -0.005701392889022827, + -0.007445087656378746, + -0.013093963265419006, + 0.047357991337776184, + 0.01363437995314598, + -0.004890322685241699, + 0.0 + ], + [ + -0.0023310184478759766, + -0.008496575988829136, + -0.00978165864944458, + 0.031310491263866425, + -0.0022097714245319366, + 0.0009883642196655273, + 0.0 + ], + [ + 0.000279158353805542, + -0.008019544184207916, + -0.00578664243221283, + 0.018961966037750244, + -0.01021813228726387, + 0.0009243488311767578, + 0.0 + ], + [ + 0.0010280907154083252, + -0.006008786149322987, + -0.004248172044754028, + 0.011619433760643005, + -0.005823731422424316, + 0.004843354225158691, + 0.0 + ], + [ + -0.0003332793712615967, + -0.005172816105186939, + -0.0026125386357307434, + 0.002084016799926758, + 0.001984883099794388, + 0.002599477767944336, + 0.0 + ], + [ + -0.0024390816688537598, + -0.005628181155771017, + -0.00711195170879364, + 0.019023165106773376, + -0.008512519299983978, + -0.0043146610260009766, + 0.0 + ], + [ + -0.0007426142692565918, + -0.0019039688631892204, + -0.005231045186519623, + 0.009964171797037125, + -0.0015519298613071442, + 0.005383968353271484, + 0.0 + ], + [ + -0.00020176172256469727, + -0.00432957336306572, + -0.0007339715957641602, + -0.0008616670966148376, + 0.0007981732487678528, + -0.0001533031463623047, + 0.0 + ], + [ + -0.0023468732833862305, + -0.0007428973913192749, + -0.007452763617038727, + 0.02119905687868595, + -0.0010536164045333862, + -0.0006858110427856445, + 0.0 + ], + [ + 0.0009613633155822754, + -0.0003437865525484085, + -0.0023754239082336426, + 0.00462418794631958, + 0.001470562070608139, + 0.00018894672393798828, + 0.0 + ], + [ + -0.00012260675430297852, + 1.000240445137024e-06, + -0.0034646540880203247, + 0.0107567785307765, + 1.7795711755752563e-05, + -0.0006990432739257812, + 0.0 + ], + [ + 0.0008732080459594727, + -0.0010084174573421478, + -0.0021612346172332764, + 0.007736134808510542, + 0.008150726556777954, + 0.005344748497009277, + 0.0 + ], + [ + 0.003641664981842041, + -0.0002373233437538147, + 0.0013680607080459595, + -0.0030341721139848232, + 0.00403936579823494, + 0.0054607391357421875, + 0.0 + ], + [ + 0.0025012195110321045, + 0.0015643108636140823, + 0.00263233482837677, + -0.0015304393600672483, + 0.0011916272342205048, + 0.008814573287963867, + 0.0 + ], + [ + 0.002763301134109497, + 0.0009358357638120651, + 0.0001233220100402832, + -0.006134685128927231, + 0.00016041845083236694, + 0.004657745361328125, + 0.0 + ], + [ + 4.914402961730957e-05, + 0.0008694641292095184, + -0.0007755681872367859, + 0.002812858670949936, + -0.005515497177839279, + 0.0017951726913452148, + 0.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9553104043006897 + ], + [ + 0.6751802563667297 + ], + [ + 0.5809218287467957 + ], + [ + 0.5809218287467957 + ], + [ + 0.5809218287467957 + ], + [ + 0.5809218287467957 + ], + [ + 0.5799254179000854 + ], + [ + 0.5799254179000854 + ], + [ + 0.5799254179000854 + ], + [ + 0.5799254179000854 + ], + [ + 0.5799254179000854 + ], + [ + 0.5809218287467957 + ], + [ + 0.5799254179000854 + ], + [ + 0.5799254179000854 + ], + [ + 0.5809218287467957 + ], + [ + 0.5809218287467957 + ], + [ + 0.5799254179000854 + ], + [ + 0.5799254179000854 + ], + [ + 0.5799254179000854 + ], + [ + 0.5799254179000854 + ], + [ + 0.5799254179000854 + ], + [ + 0.5799254179000854 + ], + [ + 0.5799254179000854 + ], + [ + 0.5799254179000854 + ], + [ + 0.5799254179000854 + ], + [ + 0.5799254179000854 + ], + [ + 0.5799254179000854 + ], + [ + 0.5799254179000854 + ], + [ + 0.5799254179000854 + ], + [ + 0.5799254179000854 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.27585721015930176, + 0.08019515872001648, + 0.14866095781326294 + ], + [ + 0.2838941812515259, + 0.08872099220752716, + 0.13756488263607025 + ], + [ + 0.29349809885025024, + 0.09867847710847855, + 0.12168343365192413 + ], + [ + 0.3010684847831726, + 0.11179065704345703, + 0.10343161970376968 + ], + [ + 0.3155156373977661, + 0.12682794034481049, + 0.09967585653066635 + ], + [ + 0.3221557140350342, + 0.1421787291765213, + 0.09477497637271881 + ], + [ + 0.33273106813430786, + 0.15107041597366333, + 0.08933187276124954 + ], + [ + 0.3409591019153595, + 0.15413445234298706, + 0.08492432534694672 + ], + [ + 0.3485071063041687, + 0.1596074402332306, + 0.07888573408126831 + ], + [ + 0.3559916615486145, + 0.16701282560825348, + 0.07308938354253769 + ], + [ + 0.36198827624320984, + 0.17212750017642975, + 0.07208170741796494 + ], + [ + 0.3661714494228363, + 0.17713241279125214, + 0.06678488105535507 + ], + [ + 0.36858752369880676, + 0.17920146882534027, + 0.06017349660396576 + ], + [ + 0.3726949095726013, + 0.18115286529064178, + 0.054692428559064865 + ], + [ + 0.37396588921546936, + 0.18223991990089417, + 0.04761107265949249 + ], + [ + 0.37357431650161743, + 0.1839589625597, + 0.03759197145700455 + ], + [ + 0.37505635619163513, + 0.18846221268177032, + 0.03659335523843765 + ], + [ + 0.3731384873390198, + 0.19113926589488983, + 0.03652043640613556 + ], + [ + 0.3745160400867462, + 0.1847379058599472, + 0.057962771505117416 + ], + [ + 0.3707974851131439, + 0.17653565108776093, + 0.09667075425386429 + ], + [ + 0.3583589196205139, + 0.16591154038906097, + 0.14456672966480255 + ], + [ + 0.34492287039756775, + 0.14418382942676544, + 0.16419297456741333 + ], + [ + 0.32568520307540894, + 0.12063707411289215, + 0.17714771628379822 + ], + [ + 0.30934545397758484, + 0.09972789883613586, + 0.18100012838840485 + ], + [ + 0.29517629742622375, + 0.08029434829950333, + 0.18302978575229645 + ], + [ + 0.2866765558719635, + 0.06483975052833557, + 0.18167003989219666 + ], + [ + 0.2755786180496216, + 0.052412863820791245, + 0.17666766047477722 + ], + [ + 0.26986581087112427, + 0.039042212069034576, + 0.16379563510417938 + ], + [ + 0.26572340726852417, + 0.028006374835968018, + 0.15489450097084045 + ], + [ + 0.26002201437950134, + 0.02056128717958927, + 0.14180053770542145 + ], + [ + 0.25769099593162537, + 0.012064711190760136, + 0.13201887905597687 + ], + [ + 0.2579701542854309, + 0.004045166540890932, + 0.12623223662376404 + ], + [ + 0.25899824500083923, + -0.001963619375601411, + 0.12198406457901001 + ], + [ + 0.25866496562957764, + -0.007136435713618994, + 0.11937152594327927 + ], + [ + 0.2562258839607239, + -0.01276461686939001, + 0.11225957423448563 + ], + [ + 0.2554832696914673, + -0.014668585732579231, + 0.107028529047966 + ], + [ + 0.2552815079689026, + -0.01899815909564495, + 0.10629455745220184 + ], + [ + 0.25293463468551636, + -0.019741056486964226, + 0.09884179383516312 + ], + [ + 0.25389599800109863, + -0.020084843039512634, + 0.09646636992692947 + ], + [ + 0.25377339124679565, + -0.020083842799067497, + 0.09300171583890915 + ], + [ + 0.2546465992927551, + -0.021092260256409645, + 0.09084048122167587 + ], + [ + 0.25828826427459717, + -0.02132958360016346, + 0.09220854192972183 + ], + [ + 0.2607894837856293, + -0.019765272736549377, + 0.0948408767580986 + ], + [ + 0.26355278491973877, + -0.018829436972737312, + 0.09496419876813889 + ], + [ + 0.2636019289493561, + -0.017959972843527794, + 0.0941886305809021 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8249248999866065, + 0.5576466644325687, + 0.09235316469573439, + 0.5581639722919428, + -0.8294242584329778, + 0.02254727385260065, + 0.08917336719764858, + 0.0329484016324759, + -0.995471000789324 + ], + [ + 0.8276618096657846, + 0.5515200279511542, + 0.10393068646707203, + 0.5503446272112834, + -0.8338661784399009, + 0.04228460421606154, + 0.10998509044607861, + 0.02220034285306658, + -0.9936852744489949 + ], + [ + 0.8330111041080435, + 0.5415094587574458, + 0.1134019687171102, + 0.5386522253144184, + -0.8405867917634828, + 0.05716314963855687, + 0.12627858328522432, + 0.013466684409799905, + -0.9919034064940413 + ], + [ + 0.8259337774038688, + 0.5542898267587779, + 0.1029377641835138, + 0.5507811281484405, + -0.8323081352332219, + 0.06247653079459621, + 0.12030604398328368, + 0.005094700807803887, + -0.9927237782005482 + ], + [ + 0.8305903343387636, + 0.5458180265443681, + 0.11046437616821381, + 0.5392974473693849, + -0.8378331724161591, + 0.08481649874841832, + 0.13884509268925108, + -0.010874607960122878, + -0.9902544032408173 + ], + [ + 0.8207028410153642, + 0.5564073560430183, + 0.12983720919107936, + 0.5504410925410663, + -0.8308965602540088, + 0.08139723459831923, + 0.1531713106019121, + 0.0046647935939860136, + -0.9881886405485637 + ], + [ + 0.8229290514014155, + 0.5486127010579422, + 0.14768845790201476, + 0.5439983133872677, + -0.8358444368396092, + 0.07368793955651434, + 0.16387071547831358, + 0.0197023258064953, + -0.9862850536059238 + ], + [ + 0.825043046212464, + 0.5426549608454603, + 0.15757399965181365, + 0.5406172207432054, + -0.839173772446614, + 0.05933296110603946, + 0.16442929341315696, + 0.03623497078142186, + -0.9857231022757453 + ], + [ + 0.8187159283503882, + 0.5483319333369784, + 0.170400468157497, + 0.5496202270508429, + -0.8342635039371837, + 0.04384075746418114, + 0.16619817893690186, + 0.057762417551422134, + -0.9843991408146765 + ], + [ + 0.822490270838606, + 0.5464304499741286, + 0.15787183953101916, + 0.543326443737723, + -0.836915289861161, + 0.06609972111838003, + 0.1682442566958984, + 0.031409567613708396, + -0.9852447965613239 + ], + [ + 0.8159858259414868, + 0.5594676624529933, + 0.14547531244844586, + 0.554825782153983, + -0.8286147697721629, + 0.07460505862638384, + 0.16228211028887396, + 0.019836783630641182, + -0.986544990710196 + ], + [ + 0.8147295327540336, + 0.5660462434022704, + 0.1257276373299515, + 0.5590964285753335, + -0.8243715990850908, + 0.08844574707806654, + 0.1537106763133294, + -0.001765489186603901, + -0.9881143208329848 + ], + [ + 0.8104508305775332, + 0.57432147454587, + 0.11543091046875016, + 0.5679596967537877, + -0.8186219899621183, + 0.08532186363299474, + 0.14349646016377052, + -0.0035890703419386508, + -0.9896443222160921 + ], + [ + 0.807640804250219, + 0.5793397712229085, + 0.10991706323154633, + 0.5734094758510624, + -0.8150771956650569, + 0.08276918575772471, + 0.13754237279569417, + -0.0038202861378154873, + -0.9904885163895419 + ], + [ + 0.8026832087695086, + 0.5885349353525298, + 0.09657275096567776, + 0.5837153958576113, + -0.8084616434094528, + 0.07527355295506144, + 0.122376480576446, + -0.00404981546246113, + -0.9924754888643056 + ], + [ + 0.7986332220159236, + 0.5980468637199585, + 0.0672675663837039, + 0.5938220273182473, + -0.8012440708988509, + 0.0733712390592119, + 0.09777717813534659, + -0.01865174641042316, + -0.9950335350086097 + ], + [ + 0.765316493051059, + 0.6370318343382615, + 0.09209292863004108, + 0.6336439619016996, + -0.7707981510926025, + 0.06607223182050749, + 0.11307517415217942, + 0.007787959415342317, + -0.9935559132120342 + ], + [ + 0.7528967401858371, + 0.6516510393722377, + 0.09218145964684513, + 0.6492001071938682, + -0.7583560722935927, + 0.05861133367281235, + 0.10810050618295294, + 0.015715931423814274, + -0.994015739343433 + ], + [ + 0.7001916045103919, + 0.7005830401031755, + 0.13753225400957791, + 0.7031989741424213, + -0.7100380685141986, + 0.03683943574041648, + 0.12346221988207141, + 0.0709178763106904, + -0.9898119695585482 + ], + [ + 0.6216111736920032, + 0.7621166527425606, + 0.18104628235267825, + 0.7725567674153323, + -0.6346589771039606, + 0.019079410423983034, + 0.12944338477505304, + 0.1280085559399451, + -0.983289489287945 + ], + [ + 0.5118514825260064, + 0.8332654904492798, + 0.20898967022857923, + 0.8436274187584107, + -0.5334724410283658, + 0.060827074418038536, + 0.16217533152409508, + 0.14517498782351507, + -0.9760242746753238 + ], + [ + 0.44078826211569644, + 0.8668151671472032, + 0.2331033547261611, + 0.8850069775748249, + -0.46305505486024, + 0.04840109308945045, + 0.14989448830726784, + 0.18496346172135317, + -0.9712467040886966 + ], + [ + 0.3408461356618095, + 0.9112303592894222, + 0.23126423007824087, + 0.9310477580271599, + -0.3612751316769814, + 0.05128695257449667, + 0.13028424339501038, + 0.1978370833313358, + -0.9715382156055106 + ], + [ + 0.24498002464808366, + 0.9461143627843686, + 0.2117838522091636, + 0.9632879856814084, + -0.26226885513849185, + 0.05736988989182275, + 0.10982278527372816, + 0.18995436335465765, + -0.9756312293470559 + ], + [ + 0.16690154748017244, + 0.9572056024580154, + 0.23643457461148043, + 0.9816203942618823, + -0.1838251737136542, + 0.05128066963575918, + 0.09254877102301666, + 0.22353017722923413, + -0.97029324683314 + ], + [ + 0.14493915173380484, + 0.9593257106178776, + 0.24225363411554635, + 0.9849124548044816, + -0.16328173063604662, + 0.05732828980099949, + 0.0945520949831095, + 0.2302895077679429, + -0.9685177561337239 + ], + [ + 0.11628421779124265, + 0.9630671129856526, + 0.24285739967758577, + 0.9901783532557836, + -0.1315184854246958, + 0.047431178935994384, + 0.07761964594317014, + 0.234956642547245, + -0.9689017322136351 + ], + [ + 0.10706457083784349, + 0.9702266269474076, + 0.2172497871887661, + 0.9933141318251402, + -0.11386772880463558, + 0.019004627156078965, + 0.043176535152510825, + 0.2137625615002069, + -0.9759310191366468 + ], + [ + 0.10915259963874935, + 0.976627069225956, + 0.1851628408920727, + 0.9932586397892185, + -0.1144726658703138, + 0.01825604701504685, + 0.039025433708992766, + 0.18192189649314797, + -0.9825382634280264 + ], + [ + 0.1140587405482616, + 0.9839414115978632, + 0.13729494618284105, + 0.9931493006407349, + -0.11646041290588371, + 0.009562366998329463, + 0.025398235004897865, + 0.1352637082465062, + -0.9904840528196508 + ], + [ + 0.11307046726724101, + 0.9878454474139204, + 0.10666040247232855, + 0.9932033579766149, + -0.11535640953048731, + 0.015491561709864168, + 0.027607229776705676, + 0.10418383177742033, + -0.9941748186613009 + ], + [ + 0.1121148487997416, + 0.9896983541819856, + 0.08903610732775794, + 0.9929752865722986, + -0.1149931864291947, + 0.027868393055963607, + 0.037819848430054516, + 0.08528619351530126, + -0.9956384505734992 + ], + [ + 0.10727875107943152, + 0.9911637046784081, + 0.0780114100309098, + 0.9932708241014923, + -0.11028889034998723, + 0.03534728637548926, + 0.04363873916120547, + 0.07369444479431173, + -0.9963256441800935 + ], + [ + 0.10470527707997995, + 0.9916221787908308, + 0.07564561772985316, + 0.9936305202409945, + -0.10749631554378108, + 0.03380726830317974, + 0.041655662246757805, + 0.07162399510386372, + -0.9965614928985298 + ], + [ + 0.10894883825100904, + 0.9923626144339359, + 0.05784973740302755, + 0.9927810469637239, + -0.11156218598467443, + 0.044041701237955415, + 0.05015918094793687, + 0.05263383068108091, + -0.9973533658811544 + ], + [ + 0.10359398360000666, + 0.9934667554505481, + 0.04787580157493339, + 0.9932746125442034, + -0.10583644166408485, + 0.046948819911126385, + 0.05170909626984557, + 0.04269020297967223, + -0.9977493251977222 + ], + [ + 0.10375050909383415, + 0.9934125018782665, + 0.04865627374484597, + 0.9932994526936652, + -0.10599457756670866, + 0.046058080777647115, + 0.050911974438588796, + 0.04355170075230283, + -0.9977530857984587 + ], + [ + 0.10442603324355032, + 0.9941459731931757, + 0.027730625034623417, + 0.9931741669591247, + -0.10569973219230228, + 0.04932180754518623, + 0.05196419600134052, + 0.02239085970367235, + -0.9983979025096483 + ], + [ + 0.1042462379781583, + 0.9942862142977751, + 0.022970544721437648, + 0.9932688053970615, + -0.10525666910720172, + 0.04835404671328997, + 0.050495565077491415, + 0.01777519805390155, + -0.9985660920748556 + ], + [ + 0.1049406447325516, + 0.9944023346288017, + 0.012306826069501276, + 0.9931965835582924, + -0.10542548738227153, + 0.04945718368797443, + 0.05047779205999328, + 0.007033028863802533, + -0.9987004200528549 + ], + [ + 0.09966851877311539, + 0.9950144251108566, + 0.0035327307970832687, + 0.9941196409442938, + -0.09972869672840884, + 0.042193915884178854, + 0.0423358695949575, + -0.0006934480258642683, + -0.9991031945076915 + ], + [ + 0.094253793006155, + 0.9955304679773134, + 0.0059422077398730636, + 0.9948112125011253, + -0.09441196585122968, + 0.03790820737184578, + 0.03829979093929249, + 0.0023383825557763416, + -0.99926355781697 + ], + [ + 0.08548525210147334, + 0.9963146289277126, + 0.007030779315369207, + 0.9956481270852776, + -0.08568663724215614, + 0.0366416051737606, + 0.03710901109873675, + 0.0038678654016156833, + -0.9993037380659138 + ], + [ + 0.08084734671231625, + 0.9966422174982797, + 0.012961359098878713, + 0.9960414147519455, + -0.08126700280387594, + 0.03601630678203608, + 0.03694870266357739, + 0.009998227612250742, + -0.9992671458704585 + ], + [ + 0.07904182611123284, + 0.9968156970661091, + 0.010528808460995652, + 0.9959666417089081, + -0.07941555314383314, + 0.04175665841441463, + 0.04245984371239157, + 0.007185819470715865, + -0.9990723325517794 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006494.json b/json/chunk-0006/episode_0006494.json new file mode 100644 index 0000000000000000000000000000000000000000..adcf044d698cc68632e2d1d5fe6ff4a62cad1f0e --- /dev/null +++ b/json/chunk-0006/episode_0006494.json @@ -0,0 +1,2782 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 45, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut the red arch on top of two cylinders." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006494.mp4", + "start": 0, + "end": 45, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3346104025840759, + 0.04227108880877495, + 0.06927438080310822, + -0.0410483181476593, + 0.09520396590232849, + 0.3521256744861603, + 0.0, + 0.9988223910331726 + ], + [ + 0.3299773633480072, + 0.04156012088060379, + 0.05540972948074341, + -0.03213842213153839, + 0.1388036459684372, + 0.3532523810863495, + 0.0, + 0.9988223910331726 + ], + [ + 0.31859487295150757, + 0.0395461767911911, + 0.042708925902843475, + -0.049153972417116165, + 0.1407715529203415, + 0.4959150552749634, + 0.0, + 0.9988223910331726 + ], + [ + 0.3165748119354248, + 0.040213458240032196, + 0.04019114747643471, + -0.08305159956216812, + 0.11700116097927094, + 0.6394628882408142, + 0.0, + 0.9988223910331726 + ], + [ + 0.314666748046875, + 0.047538872808218, + 0.034979887306690216, + -0.10266467928886414, + 0.1277100294828415, + 0.795064389705658, + 0.0, + 0.9988223910331726 + ], + [ + 0.31874820590019226, + 0.05330105498433113, + 0.0333053320646286, + -0.12860755622386932, + 0.12986335158348083, + 0.969978928565979, + 0.0, + 0.9988223910331726 + ], + [ + 0.32038941979408264, + 0.0587727390229702, + 0.038159485906362534, + -0.20199556648731232, + 0.12566030025482178, + 1.207537055015564, + 0.0, + 0.9988223910331726 + ], + [ + 0.3211047053337097, + 0.0662124827504158, + 0.05113830789923668, + -0.3118129372596741, + 0.10088010132312775, + 1.3685808181762695, + 0.0, + 0.9988223910331726 + ], + [ + 0.3127005696296692, + 0.08007548004388809, + 0.05706438794732094, + -0.3337251543998718, + 0.10646608471870422, + 1.4549789428710938, + 0.0, + 0.9988223910331726 + ], + [ + 0.3112046420574188, + 0.08547572791576385, + 0.052701957523822784, + -0.32212913036346436, + 0.13480061292648315, + 1.4990804195404053, + 0.0, + 0.9988223910331726 + ], + [ + 0.3122011125087738, + 0.08451478183269501, + 0.03718932718038559, + -0.2603687345981598, + 0.18467293679714203, + 1.5450447797775269, + 0.0, + 0.9988223910331726 + ], + [ + 0.31145793199539185, + 0.08316069841384888, + 0.033060960471630096, + -0.23964592814445496, + 0.20523925125598907, + 1.5768786668777466, + 0.0, + 0.9988223910331726 + ], + [ + 0.31857672333717346, + 0.083407923579216, + 0.025257334113121033, + -0.22500918805599213, + 0.23101288080215454, + 1.6161291599273682, + 0.0, + 0.9988223910331726 + ], + [ + 0.32077401876449585, + 0.08346617221832275, + 0.01498051080852747, + -0.20506946742534637, + 0.24771298468112946, + 1.652748942375183, + 0.0, + 0.9988223910331726 + ], + [ + 0.32335129380226135, + 0.0866304561495781, + 0.006839071400463581, + -0.162862166762352, + 0.2546818256378174, + 1.7054919004440308, + 0.0, + 0.9974852800369263 + ], + [ + 0.3282458186149597, + 0.08919525146484375, + 0.005029492545872927, + -0.13001489639282227, + 0.2453985959291458, + 1.703170895576477, + 0.0, + 0.9583302736282349 + ], + [ + 0.33155348896980286, + 0.09278371930122375, + 0.0057157413102686405, + -0.07031450420618057, + 0.19604447484016418, + 1.5712895393371582, + 0.0, + 0.6951970458030701 + ], + [ + 0.3420248329639435, + 0.08520884066820145, + 0.023055672645568848, + -0.003788790898397565, + 0.12534566223621368, + 1.3719451427459717, + 0.0, + 0.603904664516449 + ], + [ + 0.3450431823730469, + 0.06571049243211746, + 0.05083838105201721, + 0.030930420383810997, + 0.040305402129888535, + 1.2151780128479004, + 0.0, + 0.603904664516449 + ], + [ + 0.3423880934715271, + 0.04506494849920273, + 0.09845679253339767, + 0.0664544552564621, + -0.057426974177360535, + 1.0725774765014648, + 0.0, + 0.603904664516449 + ], + [ + 0.3368338942527771, + 0.008016425184905529, + 0.12824472784996033, + 0.046201836317777634, + -0.1032220646739006, + 1.037312626838684, + 0.0, + 0.603904664516449 + ], + [ + 0.3216937184333801, + -0.011217279359698296, + 0.11665170639753342, + -0.030663158744573593, + -0.062100932002067566, + 1.0441478490829468, + 0.0, + 0.603904664516449 + ], + [ + 0.3145706355571747, + -0.029678918421268463, + 0.09202568978071213, + -0.12592840194702148, + 0.025042345747351646, + 1.033052921295166, + 0.0, + 0.603904664516449 + ], + [ + 0.3064151108264923, + -0.038133617490530014, + 0.06797447800636292, + -0.17591622471809387, + 0.09765799343585968, + 1.0242325067520142, + 0.0, + 0.603904664516449 + ], + [ + 0.31437036395072937, + -0.032329022884368896, + 0.05748431012034416, + -0.21696047484874725, + 0.10385168343782425, + 1.0670793056488037, + 0.0, + 0.603904664516449 + ], + [ + 0.3151007890701294, + -0.024709876626729965, + 0.05408244952559471, + -0.16660121083259583, + 0.10676047950983047, + 1.0853792428970337, + 0.0, + 0.603904664516449 + ], + [ + 0.3104548454284668, + -0.017832431942224503, + 0.05504881590604782, + -0.1151951476931572, + 0.09835675358772278, + 1.1068766117095947, + 0.0, + 0.603904664516449 + ], + [ + 0.3100767731666565, + -0.01281555462628603, + 0.05681764334440231, + -0.10171576589345932, + 0.09346015751361847, + 1.1249405145645142, + 0.0, + 0.603904664516449 + ], + [ + 0.30818018317222595, + -0.010781008750200272, + 0.06021854653954506, + -0.1153169572353363, + 0.09993718564510345, + 1.1545661687850952, + 0.0, + 0.603904664516449 + ], + [ + 0.2982943058013916, + -0.01260396558791399, + 0.055657755583524704, + -0.12789572775363922, + 0.12259525805711746, + 1.1907687187194824, + 0.0, + 0.603904664516449 + ], + [ + 0.29131555557250977, + -0.013062822632491589, + 0.04809553176164627, + -0.12101568281650543, + 0.1546490341424942, + 1.253298044204712, + 0.0, + 0.603904664516449 + ], + [ + 0.2811500132083893, + -0.009727265685796738, + 0.049364034086465836, + -0.12106700986623764, + 0.16717183589935303, + 1.289654016494751, + 0.0, + 0.603904664516449 + ], + [ + 0.2778748869895935, + -0.00891012605279684, + 0.04558519646525383, + -0.1303192675113678, + 0.18745525181293488, + 1.3314563035964966, + 0.0, + 0.603904664516449 + ], + [ + 0.27967727184295654, + -0.007455921266227961, + 0.04561115801334381, + -0.1412939578294754, + 0.19065582752227783, + 1.351040005683899, + 0.0, + 0.603904664516449 + ], + [ + 0.2828982472419739, + -0.007261855062097311, + 0.04588622972369194, + -0.1583935171365738, + 0.20004162192344666, + 1.3772735595703125, + 0.0, + 0.603904664516449 + ], + [ + 0.2843671143054962, + -0.005511808674782515, + 0.04616440087556839, + -0.16618740558624268, + 0.20267777144908905, + 1.393070101737976, + 0.0, + 0.6029031276702881 + ], + [ + 0.2843773365020752, + -0.001323892269283533, + 0.045777205377817154, + -0.16597551107406616, + 0.20350588858127594, + 1.4049667119979858, + 0.0, + 0.603904664516449 + ], + [ + 0.2834528386592865, + 0.0017009625444188714, + 0.04449767246842384, + -0.1584971845149994, + 0.20766425132751465, + 1.4155912399291992, + 0.0, + 0.603904664516449 + ], + [ + 0.27982181310653687, + 0.0025444121565669775, + 0.042784176766872406, + -0.14400066435337067, + 0.2110506296157837, + 1.417840838432312, + 0.0, + 0.603904664516449 + ], + [ + 0.2807893455028534, + 0.002335743047297001, + 0.04336443170905113, + -0.15118283033370972, + 0.2113504260778427, + 1.417454481124878, + 0.0, + 0.603904664516449 + ], + [ + 0.28115081787109375, + 0.002100039040669799, + 0.04053676873445511, + -0.14734035730361938, + 0.21471481025218964, + 1.4212896823883057, + 0.0, + 0.603904664516449 + ], + [ + 0.28190919756889343, + 0.001873675500974059, + 0.0402631014585495, + -0.1511661410331726, + 0.21609413623809814, + 1.423134684562683, + 0.0, + 0.649078905582428 + ], + [ + 0.2820618450641632, + -0.0007274211384356022, + 0.036739230155944824, + -0.15431258082389832, + 0.23030222952365875, + 1.391477346420288, + 0.0, + 0.9553104043006897 + ], + [ + 0.28175076842308044, + -0.0008339858613908291, + 0.034906018525362015, + -0.14957557618618011, + 0.23147283494472504, + 1.381811261177063, + 0.0, + 0.9994885921478271 + ], + [ + 0.2876812517642975, + 0.0037052452098578215, + 0.042296990752220154, + -0.15025770664215088, + 0.20296189188957214, + 1.3408697843551636, + 0.0, + 0.9994885921478271 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9974852800369263 + ], + [ + 0.9583302736282349 + ], + [ + 0.6951970458030701 + ], + [ + 0.603904664516449 + ], + [ + 0.603904664516449 + ], + [ + 0.603904664516449 + ], + [ + 0.603904664516449 + ], + [ + 0.603904664516449 + ], + [ + 0.603904664516449 + ], + [ + 0.603904664516449 + ], + [ + 0.603904664516449 + ], + [ + 0.603904664516449 + ], + [ + 0.603904664516449 + ], + [ + 0.603904664516449 + ], + [ + 0.603904664516449 + ], + [ + 0.603904664516449 + ], + [ + 0.603904664516449 + ], + [ + 0.603904664516449 + ], + [ + 0.603904664516449 + ], + [ + 0.603904664516449 + ], + [ + 0.603904664516449 + ], + [ + 0.6029031276702881 + ], + [ + 0.603904664516449 + ], + [ + 0.603904664516449 + ], + [ + 0.603904664516449 + ], + [ + 0.603904664516449 + ], + [ + 0.603904664516449 + ], + [ + 0.649078905582428 + ], + [ + 0.9553104043006897 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3346104025840759, + 0.04227108880877495, + 0.06927438080310822 + ], + [ + 0.3299773633480072, + 0.04156012088060379, + 0.05540972948074341 + ], + [ + 0.31859487295150757, + 0.0395461767911911, + 0.042708925902843475 + ], + [ + 0.3165748119354248, + 0.040213458240032196, + 0.04019114747643471 + ], + [ + 0.314666748046875, + 0.047538872808218, + 0.034979887306690216 + ], + [ + 0.31874820590019226, + 0.05330105498433113, + 0.0333053320646286 + ], + [ + 0.32038941979408264, + 0.0587727390229702, + 0.038159485906362534 + ], + [ + 0.3211047053337097, + 0.0662124827504158, + 0.05113830789923668 + ], + [ + 0.3127005696296692, + 0.08007548004388809, + 0.05706438794732094 + ], + [ + 0.3112046420574188, + 0.08547572791576385, + 0.052701957523822784 + ], + [ + 0.3122011125087738, + 0.08451478183269501, + 0.03718932718038559 + ], + [ + 0.31145793199539185, + 0.08316069841384888, + 0.033060960471630096 + ], + [ + 0.31857672333717346, + 0.083407923579216, + 0.025257334113121033 + ], + [ + 0.32077401876449585, + 0.08346617221832275, + 0.01498051080852747 + ], + [ + 0.32335129380226135, + 0.0866304561495781, + 0.006839071400463581 + ], + [ + 0.3282458186149597, + 0.08919525146484375, + 0.005029492545872927 + ], + [ + 0.33155348896980286, + 0.09278371930122375, + 0.0057157413102686405 + ], + [ + 0.3420248329639435, + 0.08520884066820145, + 0.023055672645568848 + ], + [ + 0.3450431823730469, + 0.06571049243211746, + 0.05083838105201721 + ], + [ + 0.3423880934715271, + 0.04506494849920273, + 0.09845679253339767 + ], + [ + 0.3368338942527771, + 0.008016425184905529, + 0.12824472784996033 + ], + [ + 0.3216937184333801, + -0.011217279359698296, + 0.11665170639753342 + ], + [ + 0.3145706355571747, + -0.029678918421268463, + 0.09202568978071213 + ], + [ + 0.3064151108264923, + -0.038133617490530014, + 0.06797447800636292 + ], + [ + 0.31437036395072937, + -0.032329022884368896, + 0.05748431012034416 + ], + [ + 0.3151007890701294, + -0.024709876626729965, + 0.05408244952559471 + ], + [ + 0.3104548454284668, + -0.017832431942224503, + 0.05504881590604782 + ], + [ + 0.3100767731666565, + -0.01281555462628603, + 0.05681764334440231 + ], + [ + 0.30818018317222595, + -0.010781008750200272, + 0.06021854653954506 + ], + [ + 0.2982943058013916, + -0.01260396558791399, + 0.055657755583524704 + ], + [ + 0.29131555557250977, + -0.013062822632491589, + 0.04809553176164627 + ], + [ + 0.2811500132083893, + -0.009727265685796738, + 0.049364034086465836 + ], + [ + 0.2778748869895935, + -0.00891012605279684, + 0.04558519646525383 + ], + [ + 0.27967727184295654, + -0.007455921266227961, + 0.04561115801334381 + ], + [ + 0.2828982472419739, + -0.007261855062097311, + 0.04588622972369194 + ], + [ + 0.2843671143054962, + -0.005511808674782515, + 0.04616440087556839 + ], + [ + 0.2843773365020752, + -0.001323892269283533, + 0.045777205377817154 + ], + [ + 0.2834528386592865, + 0.0017009625444188714, + 0.04449767246842384 + ], + [ + 0.27982181310653687, + 0.0025444121565669775, + 0.042784176766872406 + ], + [ + 0.2807893455028534, + 0.002335743047297001, + 0.04336443170905113 + ], + [ + 0.28115081787109375, + 0.002100039040669799, + 0.04053676873445511 + ], + [ + 0.28190919756889343, + 0.001873675500974059, + 0.0402631014585495 + ], + [ + 0.2820618450641632, + -0.0007274211384356022, + 0.036739230155944824 + ], + [ + 0.28175076842308044, + -0.0008339858613908291, + 0.034906018525362015 + ], + [ + 0.2876812517642975, + 0.0037052452098578215, + 0.042296990752220154 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9343910859766095, + 0.34826491525297776, + -0.07499898166834684, + 0.3433319885749103, + -0.9365056049345067, + -0.07127690753288558, + -0.09506021285822186, + 0.04085095751742056, + -0.9946329751226126 + ], + [ + 0.929228615755927, + 0.34994387301601393, + -0.11863163742811363, + 0.3426239077649743, + -0.936229955055925, + -0.07798928826344453, + -0.13835836616620578, + 0.031823843176652655, + -0.9898708024370078 + ], + [ + 0.8708333464739118, + 0.481325344102992, + -0.099875901964308, + 0.47112971333913545, + -0.8751909910700256, + -0.10989778141004548, + -0.140307077077501, + 0.04864814769343635, + -0.9889121709474333 + ], + [ + 0.7969304173472593, + 0.6024780806653619, + -0.04384144414255621, + 0.5926845617357056, + -0.7938716615857052, + -0.135988217178203, + -0.11673440018639612, + 0.08238899956264371, + -0.9897399317821773 + ], + [ + 0.694536160752426, + 0.719289721225933, + -0.015550509509334245, + 0.7080947306642436, + -0.6872333034536487, + -0.16221047755837953, + -0.12736315720337943, + 0.10164980847451066, + -0.98663364154294 + ], + [ + 0.5605567173267775, + 0.8274506726291713, + 0.03318962225393082, + 0.8179280331005798, + -0.5469481841085778, + -0.1784416335067171, + -0.1294986460471441, + 0.12717337876246215, + -0.9833905797830764 + ], + [ + 0.3525210249676897, + 0.9246729751155827, + 0.14390558031788386, + 0.9273733630630674, + -0.3245948924624988, + -0.18605590898532512, + -0.1253298545312576, + 0.19904282171974028, + -0.9719436108566267 + ], + [ + 0.19981909908659012, + 0.9385906820293093, + 0.2812825256712185, + 0.974643528872013, + -0.16088899848788007, + -0.15551437809243446, + -0.10070908235175817, + 0.30522493635567055, + -0.9469400292302275 + ], + [ + 0.11490432316712801, + 0.9425213906764072, + 0.3137681064654518, + 0.987676430953699, + -0.07460759845321602, + -0.1375826078819789, + -0.10626506601920926, + 0.32571019997914485, + -0.9394788988441827 + ], + [ + 0.07100440990955764, + 0.9491739270723549, + 0.30663859825442585, + 0.9883809824357197, + -0.025531183373035338, + -0.14983721912453535, + -0.13439273541675192, + 0.31371486232184814, + -0.9399582851518394 + ], + [ + 0.02531087931920284, + 0.9671919290368501, + 0.2527827759046605, + 0.9826704450387652, + 0.02237533984440121, + -0.18400581679436914, + -0.18362504141702501, + 0.2530595119192807, + -0.9498645838180153 + ], + [ + -0.0059546487514144375, + 0.9711098835174922, + 0.23855845466654432, + 0.9789941436447706, + 0.05428162012037091, + -0.19652982579331257, + -0.20380139564656893, + 0.23237706395371754, + -0.9510341167806547 + ], + [ + -0.04411345261874988, + 0.9714755499497731, + 0.23300055611058013, + 0.9724349163666772, + 0.0952077585805522, + -0.2128516293971017, + -0.22896361442156515, + 0.21718825602654848, + -0.9488966881147598 + ], + [ + -0.0793621642483392, + 0.9716737128700262, + 0.22260243170998165, + 0.9662219141711966, + 0.1299068711944159, + -0.2225745209852776, + -0.24518739661974467, + 0.19741935197405255, + -0.9491621252478297 + ], + [ + -0.1299569671502092, + 0.972343678303504, + 0.19405916095956793, + 0.9589779338615929, + 0.1729915751305251, + -0.22457790919948084, + -0.2519375102196373, + 0.15691298925542113, + -0.9549375920693762 + ], + [ + -0.12803401187380148, + 0.9787278006901713, + 0.16030965023877808, + 0.9615539461628507, + 0.1620960550846089, + -0.22167290665450504, + -0.24294299829826072, + 0.12576470523238045, + -0.9618533872143216 + ], + [ + -0.0004837649131916866, + 0.9975220824805886, + 0.0703524053256051, + 0.980844630890291, + 0.01417734880065058, + -0.19427509576544652, + -0.19479110869132987, + 0.06891079555899901, + -0.9784210372994993 + ], + [ + 0.19599346048265104, + 0.9803806988218892, + -0.0209821072711976, + 0.9726032800358052, + -0.19707753516832655, + -0.12330168204680034, + -0.12501769119460154, + 0.0037590569936540794, + -0.9921473914589958 + ], + [ + 0.3478872913805404, + 0.9365491452891183, + -0.04301314861915582, + 0.9366700521308661, + -0.34917168475125804, + -0.026987923394162304, + -0.040294490157737776, + -0.030900372589836717, + -0.9987099283759714 + ], + [ + 0.4770739297268856, + 0.8783174512800546, + -0.030966439121329594, + 0.8769870192344883, + -0.4734588512487768, + 0.08203952869437667, + 0.05739541505341195, + -0.06629608548848898, + -0.9961478782689591 + ], + [ + 0.5058292596095944, + 0.8625419501374053, + 0.012575546746408414, + 0.8564576774823985, + -0.5038957630691474, + 0.11211291915928916, + 0.10303886065104376, + -0.04593957133151326, + -0.9936158960994994 + ], + [ + 0.5016698819663024, + 0.8631337819222413, + 0.05768365481247774, + 0.8628300868773917, + -0.5040473787902695, + 0.038216241492477224, + 0.062061024057527656, + 0.030599255534528885, + -0.9976031850659177 + ], + [ + 0.5120385870091755, + 0.8536765575684788, + 0.09514631086741274, + 0.8585974012393329, + -0.5054422923530534, + -0.08566558052073175, + -0.02503972840728229, + 0.12555645805342655, + -0.9917704310183719 + ], + [ + 0.5172782182734182, + 0.849999637336087, + 0.09961857973489899, + 0.8502449302087745, + -0.49715509976671934, + -0.17297504279583115, + -0.097502838697928, + 0.17417641431739223, + -0.979875386537177 + ], + [ + 0.48008363451181146, + 0.8660337586545543, + 0.13966113541209185, + 0.871075914785771, + -0.45182476187625403, + -0.19256462612743513, + -0.10366510769811599, + 0.2141025768787745, + -0.9712948223993613 + ], + [ + 0.4639208497591161, + 0.880478709110933, + 0.09764572679398087, + 0.8794446444776243, + -0.4444877731454962, + -0.1703165782411767, + -0.10655778929015242, + 0.16488742319080343, + -0.9805394307293779 + ], + [ + 0.4452943415928221, + 0.8934287738656443, + 0.059143684145867084, + 0.8899831761962773, + -0.43439739021768264, + -0.1386681414732748, + -0.09819824556987204, + 0.11438502262533042, + -0.988571277736715 + ], + [ + 0.42934820336463164, + 0.9016650392043867, + 0.05157787649870065, + 0.8983043592646635, + -0.42045153036762395, + -0.1275530820389142, + -0.09332415761026691, + 0.10109731790742647, + -0.9904897444790932 + ], + [ + 0.40229800463081516, + 0.9131865285424544, + 0.06516655245327707, + 0.9100560860790455, + -0.3911304007196644, + -0.13716752466733348, + -0.09977091590515444, + 0.11448743914271055, + -0.9884019377854288 + ], + [ + 0.368162012212687, + 0.9268554490286998, + 0.07345549243802338, + 0.9216844801788739, + -0.35343165716221286, + -0.1599493129493552, + -0.12228839585546963, + 0.1265900482714942, + -0.9843883928194788 + ], + [ + 0.30846506560651277, + 0.9488766531996332, + 0.06695073048916081, + 0.9386815413625348, + -0.2922420666790372, + -0.18295228440339478, + -0.15403333147609716, + 0.11927980330226771, + -0.9808394676594874 + ], + [ + 0.27358539847739854, + 0.9592824537705729, + 0.0702011654310084, + 0.9473457516041144, + -0.2561157180819264, + -0.19219980715134638, + -0.16639428072382362, + 0.11908783665550365, + -0.9788416779556914 + ], + [ + 0.23290858838765416, + 0.9689978529305732, + 0.08244240699548261, + 0.9544756615963577, + -0.21152414224706184, + -0.21031820812007584, + -0.18635933267605637, + 0.1276741879260772, + -0.9741506561420318 + ], + [ + 0.21404183536867133, + 0.9720423268241531, + 0.09653915047428606, + 0.9582665345768651, + -0.18977462387512262, + -0.2138009374233465, + -0.18950287971969337, + 0.13827258222562416, + -0.9720953407884442 + ], + [ + 0.18848196015498364, + 0.9750762504597139, + 0.1170506577749997, + 0.9617634000946034, + -0.1591517849687195, + -0.22289430584861994, + -0.19871012287903914, + 0.15458659427872587, + -0.9677898903867004 + ], + [ + 0.17317332949136566, + 0.976574793417459, + 0.1277210664476382, + 0.9641017177689978, + -0.14158226202300384, + -0.2246382444627738, + -0.20129300968424702, + 0.1620374522821702, + -0.9660357075751191 + ], + [ + 0.16166423148691456, + 0.9782397225782739, + 0.13004507460002898, + 0.965928882567315, + -0.12986969208668164, + -0.22386437166188028, + -0.20210410703398204, + 0.161805155193808, + -0.965905286077628 + ], + [ + 0.15126153855997826, + 0.9806264610854248, + 0.12446562084183874, + 0.9667532560230686, + -0.12049478246524958, + -0.22554190157806053, + -0.20617489886323107, + 0.15444335925422092, + -0.9662500503808569 + ], + [ + 0.14897912085477544, + 0.9826760082951087, + 0.11024102807271875, + 0.9663955085392266, + -0.12107162952945444, + -0.2267628311657187, + -0.2094873328498597, + 0.14031936161583083, + -0.967690825693402 + ], + [ + 0.14934288426408177, + 0.9818194244529278, + 0.11716364916904176, + 0.9662757671812962, + -0.1197755817234391, + -0.22795822376262037, + -0.2097804678178648, + 0.14725633361500273, + -0.9665959484357383 + ], + [ + 0.14552998249632765, + 0.9827897738777069, + 0.11377734640966114, + 0.9661380400209614, + -0.11640519964207086, + -0.2302761757558619, + -0.213068795976965, + 0.14343671028608784, + -0.9664510325532438 + ], + [ + 0.1437038333546629, + 0.9825886176654867, + 0.117765940379226, + 0.9661132862535465, + -0.11351002881395761, + -0.23182017056983545, + -0.21441624566144318, + 0.14708868682833043, + -0.9656037447128969 + ], + [ + 0.17365036890482166, + 0.9785311871716276, + 0.11100569855509645, + 0.9579861909638452, + -0.14171715255754558, + -0.2493565852219763, + -0.22827178384943403, + 0.14964278934672043, + -0.9620286005596355 + ], + [ + 0.18285176349187687, + 0.9776509742707505, + 0.1037487594883084, + 0.9559998306781649, + -0.15218669163879966, + -0.25080577072977583, + -0.2294113256385366, + 0.14504407397577138, + -0.9624617708113294 + ], + [ + 0.22322796535228612, + 0.9695889877010306, + 0.10033180160631794, + 0.9536971657390099, + -0.19595835483113172, + -0.2281710744885425, + -0.2015713063559848, + 0.14662031953575633, + -0.9684376543449633 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.004633039236068726, + -0.0007109679281711578, + -0.013864651322364807, + 0.00890989601612091, + 0.043599680066108704, + 0.001126706600189209, + 1.0 + ], + [ + -0.011382490396499634, + -0.002013944089412689, + -0.012700803577899933, + -0.017015550285577774, + 0.001967906951904297, + 0.1426626741886139, + 1.0 + ], + [ + -0.0020200610160827637, + 0.000667281448841095, + -0.0025177784264087677, + -0.033897627145051956, + -0.023770391941070557, + 0.14354783296585083, + 1.0 + ], + [ + -0.0019080638885498047, + 0.007325414568185806, + -0.005211260169744492, + -0.019613079726696014, + 0.010708868503570557, + 0.15560150146484375, + 1.0 + ], + [ + 0.004081457853317261, + 0.005762182176113129, + -0.001674555242061615, + -0.025942876935005188, + 0.0021533221006393433, + 0.17491453886032104, + 1.0 + ], + [ + 0.0016412138938903809, + 0.005471684038639069, + 0.0048541538417339325, + -0.073388010263443, + -0.004203051328659058, + 0.23755812644958496, + 1.0 + ], + [ + 0.0007152855396270752, + 0.007439743727445602, + 0.012978821992874146, + -0.10981737077236176, + -0.02478019893169403, + 0.16104376316070557, + 1.0 + ], + [ + -0.008404135704040527, + 0.01386299729347229, + 0.005926080048084259, + -0.021912217140197754, + 0.005585983395576477, + 0.08639812469482422, + 1.0 + ], + [ + -0.0014959275722503662, + 0.005400247871875763, + -0.004362430423498154, + 0.01159602403640747, + 0.02833452820777893, + 0.04410147666931152, + 1.0 + ], + [ + 0.0009964704513549805, + -0.0009609460830688477, + -0.015512630343437195, + 0.061760395765304565, + 0.049872323870658875, + 0.04596436023712158, + 1.0 + ], + [ + -0.000743180513381958, + -0.0013540834188461304, + -0.004128366708755493, + 0.020722806453704834, + 0.020566314458847046, + 0.03183388710021973, + 1.0 + ], + [ + 0.007118791341781616, + 0.00024722516536712646, + -0.007803626358509064, + 0.01463674008846283, + 0.025773629546165466, + 0.03925049304962158, + 1.0 + ], + [ + 0.0021972954273223877, + 5.824863910675049e-05, + -0.010276823304593563, + 0.019939720630645752, + 0.016700103878974915, + 0.03661978244781494, + 1.0 + ], + [ + 0.002577275037765503, + 0.0031642839312553406, + -0.008141439408063889, + 0.042207300662994385, + 0.006968840956687927, + 0.052742958068847656, + 1.0 + ], + [ + 0.004894524812698364, + 0.0025647953152656555, + -0.0018095788545906544, + 0.032847270369529724, + -0.00928322970867157, + -0.002321004867553711, + 0.0 + ], + [ + 0.0033076703548431396, + 0.003588467836380005, + 0.0006862487643957138, + 0.05970039218664169, + -0.04935412108898163, + -0.13188135623931885, + 0.0 + ], + [ + 0.010471343994140625, + -0.007574878633022308, + 0.017339931800961494, + 0.06652571260929108, + -0.0706988126039505, + -0.19934439659118652, + 0.0 + ], + [ + 0.0030183494091033936, + -0.019498348236083984, + 0.027782708406448364, + 0.034719210118055344, + -0.08504025638103485, + -0.1567671298980713, + 0.0 + ], + [ + -0.0026550889015197754, + -0.020645543932914734, + 0.04761841148138046, + 0.03552403301000595, + -0.09773238003253937, + -0.14260053634643555, + 0.0 + ], + [ + -0.00555419921875, + -0.037048522382974625, + 0.029787935316562653, + -0.020252618938684464, + -0.04579509049654007, + -0.03526484966278076, + 0.0 + ], + [ + -0.015140175819396973, + -0.01923370361328125, + -0.01159302145242691, + -0.07686499506235123, + 0.04112113267183304, + 0.006835222244262695, + 0.0 + ], + [ + -0.007123082876205444, + -0.018461639061570168, + -0.02462601661682129, + -0.09526523947715759, + 0.08714327961206436, + -0.011094927787780762, + 0.0 + ], + [ + -0.008155524730682373, + -0.008454699069261551, + -0.024051211774349213, + -0.04998782277107239, + 0.07261564582586288, + -0.008820414543151855, + 0.0 + ], + [ + 0.00795525312423706, + 0.0058045946061611176, + -0.010490167886018753, + -0.04104425013065338, + 0.006193690001964569, + 0.04284679889678955, + 0.0 + ], + [ + 0.0007304251194000244, + 0.007619146257638931, + -0.0034018605947494507, + 0.05035926401615143, + 0.0029087960720062256, + 0.01829993724822998, + 0.0 + ], + [ + -0.004645943641662598, + 0.006877444684505463, + 0.0009663663804531097, + 0.05140606313943863, + -0.008403725922107697, + 0.021497368812561035, + 0.0 + ], + [ + -0.00037807226181030273, + 0.005016877315938473, + 0.0017688274383544922, + 0.013479381799697876, + -0.004896596074104309, + 0.018063902854919434, + 0.0 + ], + [ + -0.001896589994430542, + 0.002034545876085758, + 0.003400903195142746, + -0.013601191341876984, + 0.006477028131484985, + 0.029625654220581055, + 0.0 + ], + [ + -0.00988587737083435, + -0.0018229568377137184, + -0.004560790956020355, + -0.012578770518302917, + 0.022658072412014008, + 0.03620254993438721, + 0.0 + ], + [ + -0.006978750228881836, + -0.00045885704457759857, + -0.007562223821878433, + 0.006880044937133789, + 0.03205377608537674, + 0.06252932548522949, + 0.0 + ], + [ + -0.010165542364120483, + 0.003335556946694851, + 0.0012685023248195648, + -5.132704973220825e-05, + 0.012522801756858826, + 0.03635597229003906, + 0.0 + ], + [ + -0.0032751262187957764, + 0.000817139632999897, + -0.0037788376212120056, + -0.009252257645130157, + 0.020283415913581848, + 0.041802287101745605, + 0.0 + ], + [ + 0.0018023848533630371, + 0.00145420478656888, + 2.596154808998108e-05, + -0.010974690318107605, + 0.0032005757093429565, + 0.019583702087402344, + 0.0 + ], + [ + 0.003220975399017334, + 0.00019406620413064957, + 0.00027507171034812927, + -0.01709955930709839, + 0.009385794401168823, + 0.026233553886413574, + 0.0 + ], + [ + 0.0014688670635223389, + 0.0017500463873147964, + 0.0002781711518764496, + -0.007793888449668884, + 0.002636149525642395, + 0.015796542167663574, + 0.0 + ], + [ + 1.0222196578979492e-05, + 0.0041879164054989815, + -0.00038719549775123596, + 0.00021189451217651367, + 0.0008281171321868896, + 0.011896610260009766, + 0.0 + ], + [ + -0.0009244978427886963, + 0.0030248546972870827, + -0.0012795329093933105, + 0.0074783265590667725, + 0.0041583627462387085, + 0.010624527931213379, + 0.0 + ], + [ + -0.003631025552749634, + 0.0008434496121481061, + -0.0017134957015514374, + 0.014496520161628723, + 0.003386378288269043, + 0.002249598503112793, + 0.0 + ], + [ + 0.0009675323963165283, + -0.00020866910926997662, + 0.0005802549421787262, + -0.00718216598033905, + 0.000299796462059021, + -0.00038635730743408203, + 0.0 + ], + [ + 0.00036147236824035645, + -0.00023570400662720203, + -0.0028276629745960236, + 0.003842473030090332, + 0.003364384174346924, + 0.0038352012634277344, + 0.0 + ], + [ + 0.0007583796977996826, + -0.00022636353969573975, + -0.00027366727590560913, + -0.0038257837295532227, + 0.0013793259859085083, + 0.0018450021743774414, + 1.0 + ], + [ + 0.0001526474952697754, + -0.0026010966394096613, + -0.0035238713026046753, + -0.003146439790725708, + 0.014208093285560608, + -0.03165733814239502, + 1.0 + ], + [ + -0.00031107664108276367, + -0.0001065647229552269, + -0.0018332116305828094, + 0.004737004637718201, + 0.0011706054210662842, + -0.009666085243225098, + 1.0 + ], + [ + 0.005930483341217041, + 0.004539230838418007, + 0.007390972226858139, + -0.0006821304559707642, + -0.028510943055152893, + -0.040941476821899414, + 1.0 + ], + [ + 0.01179453730583191, + 0.015039489604532719, + 0.028254717588424683, + 0.06666657328605652, + -0.0675676167011261, + -0.0657426118850708, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9974852800369263 + ], + [ + 0.9583302736282349 + ], + [ + 0.6951970458030701 + ], + [ + 0.603904664516449 + ], + [ + 0.603904664516449 + ], + [ + 0.603904664516449 + ], + [ + 0.603904664516449 + ], + [ + 0.603904664516449 + ], + [ + 0.603904664516449 + ], + [ + 0.603904664516449 + ], + [ + 0.603904664516449 + ], + [ + 0.603904664516449 + ], + [ + 0.603904664516449 + ], + [ + 0.603904664516449 + ], + [ + 0.603904664516449 + ], + [ + 0.603904664516449 + ], + [ + 0.603904664516449 + ], + [ + 0.603904664516449 + ], + [ + 0.603904664516449 + ], + [ + 0.603904664516449 + ], + [ + 0.603904664516449 + ], + [ + 0.6029031276702881 + ], + [ + 0.603904664516449 + ], + [ + 0.603904664516449 + ], + [ + 0.603904664516449 + ], + [ + 0.603904664516449 + ], + [ + 0.603904664516449 + ], + [ + 0.649078905582428 + ], + [ + 0.9553104043006897 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3299773633480072, + 0.04156012088060379, + 0.05540972948074341 + ], + [ + 0.31859487295150757, + 0.0395461767911911, + 0.042708925902843475 + ], + [ + 0.3165748119354248, + 0.040213458240032196, + 0.04019114747643471 + ], + [ + 0.314666748046875, + 0.047538872808218, + 0.034979887306690216 + ], + [ + 0.31874820590019226, + 0.05330105498433113, + 0.0333053320646286 + ], + [ + 0.32038941979408264, + 0.0587727390229702, + 0.038159485906362534 + ], + [ + 0.3211047053337097, + 0.0662124827504158, + 0.05113830789923668 + ], + [ + 0.3127005696296692, + 0.08007548004388809, + 0.05706438794732094 + ], + [ + 0.3112046420574188, + 0.08547572791576385, + 0.052701957523822784 + ], + [ + 0.3122011125087738, + 0.08451478183269501, + 0.03718932718038559 + ], + [ + 0.31145793199539185, + 0.08316069841384888, + 0.033060960471630096 + ], + [ + 0.31857672333717346, + 0.083407923579216, + 0.025257334113121033 + ], + [ + 0.32077401876449585, + 0.08346617221832275, + 0.01498051080852747 + ], + [ + 0.32335129380226135, + 0.0866304561495781, + 0.006839071400463581 + ], + [ + 0.3282458186149597, + 0.08919525146484375, + 0.005029492545872927 + ], + [ + 0.33155348896980286, + 0.09278371930122375, + 0.0057157413102686405 + ], + [ + 0.3420248329639435, + 0.08520884066820145, + 0.023055672645568848 + ], + [ + 0.3450431823730469, + 0.06571049243211746, + 0.05083838105201721 + ], + [ + 0.3423880934715271, + 0.04506494849920273, + 0.09845679253339767 + ], + [ + 0.3368338942527771, + 0.008016425184905529, + 0.12824472784996033 + ], + [ + 0.3216937184333801, + -0.011217279359698296, + 0.11665170639753342 + ], + [ + 0.3145706355571747, + -0.029678918421268463, + 0.09202568978071213 + ], + [ + 0.3064151108264923, + -0.038133617490530014, + 0.06797447800636292 + ], + [ + 0.31437036395072937, + -0.032329022884368896, + 0.05748431012034416 + ], + [ + 0.3151007890701294, + -0.024709876626729965, + 0.05408244952559471 + ], + [ + 0.3104548454284668, + -0.017832431942224503, + 0.05504881590604782 + ], + [ + 0.3100767731666565, + -0.01281555462628603, + 0.05681764334440231 + ], + [ + 0.30818018317222595, + -0.010781008750200272, + 0.06021854653954506 + ], + [ + 0.2982943058013916, + -0.01260396558791399, + 0.055657755583524704 + ], + [ + 0.29131555557250977, + -0.013062822632491589, + 0.04809553176164627 + ], + [ + 0.2811500132083893, + -0.009727265685796738, + 0.049364034086465836 + ], + [ + 0.2778748869895935, + -0.00891012605279684, + 0.04558519646525383 + ], + [ + 0.27967727184295654, + -0.007455921266227961, + 0.04561115801334381 + ], + [ + 0.2828982472419739, + -0.007261855062097311, + 0.04588622972369194 + ], + [ + 0.2843671143054962, + -0.005511808674782515, + 0.04616440087556839 + ], + [ + 0.2843773365020752, + -0.001323892269283533, + 0.045777205377817154 + ], + [ + 0.2834528386592865, + 0.0017009625444188714, + 0.04449767246842384 + ], + [ + 0.27982181310653687, + 0.0025444121565669775, + 0.042784176766872406 + ], + [ + 0.2807893455028534, + 0.002335743047297001, + 0.04336443170905113 + ], + [ + 0.28115081787109375, + 0.002100039040669799, + 0.04053676873445511 + ], + [ + 0.28190919756889343, + 0.001873675500974059, + 0.0402631014585495 + ], + [ + 0.2820618450641632, + -0.0007274211384356022, + 0.036739230155944824 + ], + [ + 0.28175076842308044, + -0.0008339858613908291, + 0.034906018525362015 + ], + [ + 0.2876812517642975, + 0.0037052452098578215, + 0.042296990752220154 + ], + [ + 0.2994757890701294, + 0.018744735047221184, + 0.07055170834064484 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.929228615755927, + 0.34994387301601393, + -0.11863163742811363, + 0.3426239077649743, + -0.936229955055925, + -0.07798928826344453, + -0.13835836616620578, + 0.031823843176652655, + -0.9898708024370078 + ], + [ + 0.8708333464739118, + 0.481325344102992, + -0.099875901964308, + 0.47112971333913545, + -0.8751909910700256, + -0.10989778141004548, + -0.140307077077501, + 0.04864814769343635, + -0.9889121709474333 + ], + [ + 0.7969304173472593, + 0.6024780806653619, + -0.04384144414255621, + 0.5926845617357056, + -0.7938716615857052, + -0.135988217178203, + -0.11673440018639612, + 0.08238899956264371, + -0.9897399317821773 + ], + [ + 0.694536160752426, + 0.719289721225933, + -0.015550509509334245, + 0.7080947306642436, + -0.6872333034536487, + -0.16221047755837953, + -0.12736315720337943, + 0.10164980847451066, + -0.98663364154294 + ], + [ + 0.5605567173267775, + 0.8274506726291713, + 0.03318962225393082, + 0.8179280331005798, + -0.5469481841085778, + -0.1784416335067171, + -0.1294986460471441, + 0.12717337876246215, + -0.9833905797830764 + ], + [ + 0.3525210249676897, + 0.9246729751155827, + 0.14390558031788386, + 0.9273733630630674, + -0.3245948924624988, + -0.18605590898532512, + -0.1253298545312576, + 0.19904282171974028, + -0.9719436108566267 + ], + [ + 0.19981909908659012, + 0.9385906820293093, + 0.2812825256712185, + 0.974643528872013, + -0.16088899848788007, + -0.15551437809243446, + -0.10070908235175817, + 0.30522493635567055, + -0.9469400292302275 + ], + [ + 0.11490432316712801, + 0.9425213906764072, + 0.3137681064654518, + 0.987676430953699, + -0.07460759845321602, + -0.1375826078819789, + -0.10626506601920926, + 0.32571019997914485, + -0.9394788988441827 + ], + [ + 0.07100440990955764, + 0.9491739270723549, + 0.30663859825442585, + 0.9883809824357197, + -0.025531183373035338, + -0.14983721912453535, + -0.13439273541675192, + 0.31371486232184814, + -0.9399582851518394 + ], + [ + 0.02531087931920284, + 0.9671919290368501, + 0.2527827759046605, + 0.9826704450387652, + 0.02237533984440121, + -0.18400581679436914, + -0.18362504141702501, + 0.2530595119192807, + -0.9498645838180153 + ], + [ + -0.0059546487514144375, + 0.9711098835174922, + 0.23855845466654432, + 0.9789941436447706, + 0.05428162012037091, + -0.19652982579331257, + -0.20380139564656893, + 0.23237706395371754, + -0.9510341167806547 + ], + [ + -0.04411345261874988, + 0.9714755499497731, + 0.23300055611058013, + 0.9724349163666772, + 0.0952077585805522, + -0.2128516293971017, + -0.22896361442156515, + 0.21718825602654848, + -0.9488966881147598 + ], + [ + -0.0793621642483392, + 0.9716737128700262, + 0.22260243170998165, + 0.9662219141711966, + 0.1299068711944159, + -0.2225745209852776, + -0.24518739661974467, + 0.19741935197405255, + -0.9491621252478297 + ], + [ + -0.1299569671502092, + 0.972343678303504, + 0.19405916095956793, + 0.9589779338615929, + 0.1729915751305251, + -0.22457790919948084, + -0.2519375102196373, + 0.15691298925542113, + -0.9549375920693762 + ], + [ + -0.12803401187380148, + 0.9787278006901713, + 0.16030965023877808, + 0.9615539461628507, + 0.1620960550846089, + -0.22167290665450504, + -0.24294299829826072, + 0.12576470523238045, + -0.9618533872143216 + ], + [ + -0.0004837649131916866, + 0.9975220824805886, + 0.0703524053256051, + 0.980844630890291, + 0.01417734880065058, + -0.19427509576544652, + -0.19479110869132987, + 0.06891079555899901, + -0.9784210372994993 + ], + [ + 0.19599346048265104, + 0.9803806988218892, + -0.0209821072711976, + 0.9726032800358052, + -0.19707753516832655, + -0.12330168204680034, + -0.12501769119460154, + 0.0037590569936540794, + -0.9921473914589958 + ], + [ + 0.3478872913805404, + 0.9365491452891183, + -0.04301314861915582, + 0.9366700521308661, + -0.34917168475125804, + -0.026987923394162304, + -0.040294490157737776, + -0.030900372589836717, + -0.9987099283759714 + ], + [ + 0.4770739297268856, + 0.8783174512800546, + -0.030966439121329594, + 0.8769870192344883, + -0.4734588512487768, + 0.08203952869437667, + 0.05739541505341195, + -0.06629608548848898, + -0.9961478782689591 + ], + [ + 0.5058292596095944, + 0.8625419501374053, + 0.012575546746408414, + 0.8564576774823985, + -0.5038957630691474, + 0.11211291915928916, + 0.10303886065104376, + -0.04593957133151326, + -0.9936158960994994 + ], + [ + 0.5016698819663024, + 0.8631337819222413, + 0.05768365481247774, + 0.8628300868773917, + -0.5040473787902695, + 0.038216241492477224, + 0.062061024057527656, + 0.030599255534528885, + -0.9976031850659177 + ], + [ + 0.5120385870091755, + 0.8536765575684788, + 0.09514631086741274, + 0.8585974012393329, + -0.5054422923530534, + -0.08566558052073175, + -0.02503972840728229, + 0.12555645805342655, + -0.9917704310183719 + ], + [ + 0.5172782182734182, + 0.849999637336087, + 0.09961857973489899, + 0.8502449302087745, + -0.49715509976671934, + -0.17297504279583115, + -0.097502838697928, + 0.17417641431739223, + -0.979875386537177 + ], + [ + 0.48008363451181146, + 0.8660337586545543, + 0.13966113541209185, + 0.871075914785771, + -0.45182476187625403, + -0.19256462612743513, + -0.10366510769811599, + 0.2141025768787745, + -0.9712948223993613 + ], + [ + 0.4639208497591161, + 0.880478709110933, + 0.09764572679398087, + 0.8794446444776243, + -0.4444877731454962, + -0.1703165782411767, + -0.10655778929015242, + 0.16488742319080343, + -0.9805394307293779 + ], + [ + 0.4452943415928221, + 0.8934287738656443, + 0.059143684145867084, + 0.8899831761962773, + -0.43439739021768264, + -0.1386681414732748, + -0.09819824556987204, + 0.11438502262533042, + -0.988571277736715 + ], + [ + 0.42934820336463164, + 0.9016650392043867, + 0.05157787649870065, + 0.8983043592646635, + -0.42045153036762395, + -0.1275530820389142, + -0.09332415761026691, + 0.10109731790742647, + -0.9904897444790932 + ], + [ + 0.40229800463081516, + 0.9131865285424544, + 0.06516655245327707, + 0.9100560860790455, + -0.3911304007196644, + -0.13716752466733348, + -0.09977091590515444, + 0.11448743914271055, + -0.9884019377854288 + ], + [ + 0.368162012212687, + 0.9268554490286998, + 0.07345549243802338, + 0.9216844801788739, + -0.35343165716221286, + -0.1599493129493552, + -0.12228839585546963, + 0.1265900482714942, + -0.9843883928194788 + ], + [ + 0.30846506560651277, + 0.9488766531996332, + 0.06695073048916081, + 0.9386815413625348, + -0.2922420666790372, + -0.18295228440339478, + -0.15403333147609716, + 0.11927980330226771, + -0.9808394676594874 + ], + [ + 0.27358539847739854, + 0.9592824537705729, + 0.0702011654310084, + 0.9473457516041144, + -0.2561157180819264, + -0.19219980715134638, + -0.16639428072382362, + 0.11908783665550365, + -0.9788416779556914 + ], + [ + 0.23290858838765416, + 0.9689978529305732, + 0.08244240699548261, + 0.9544756615963577, + -0.21152414224706184, + -0.21031820812007584, + -0.18635933267605637, + 0.1276741879260772, + -0.9741506561420318 + ], + [ + 0.21404183536867133, + 0.9720423268241531, + 0.09653915047428606, + 0.9582665345768651, + -0.18977462387512262, + -0.2138009374233465, + -0.18950287971969337, + 0.13827258222562416, + -0.9720953407884442 + ], + [ + 0.18848196015498364, + 0.9750762504597139, + 0.1170506577749997, + 0.9617634000946034, + -0.1591517849687195, + -0.22289430584861994, + -0.19871012287903914, + 0.15458659427872587, + -0.9677898903867004 + ], + [ + 0.17317332949136566, + 0.976574793417459, + 0.1277210664476382, + 0.9641017177689978, + -0.14158226202300384, + -0.2246382444627738, + -0.20129300968424702, + 0.1620374522821702, + -0.9660357075751191 + ], + [ + 0.16166423148691456, + 0.9782397225782739, + 0.13004507460002898, + 0.965928882567315, + -0.12986969208668164, + -0.22386437166188028, + -0.20210410703398204, + 0.161805155193808, + -0.965905286077628 + ], + [ + 0.15126153855997826, + 0.9806264610854248, + 0.12446562084183874, + 0.9667532560230686, + -0.12049478246524958, + -0.22554190157806053, + -0.20617489886323107, + 0.15444335925422092, + -0.9662500503808569 + ], + [ + 0.14897912085477544, + 0.9826760082951087, + 0.11024102807271875, + 0.9663955085392266, + -0.12107162952945444, + -0.2267628311657187, + -0.2094873328498597, + 0.14031936161583083, + -0.967690825693402 + ], + [ + 0.14934288426408177, + 0.9818194244529278, + 0.11716364916904176, + 0.9662757671812962, + -0.1197755817234391, + -0.22795822376262037, + -0.2097804678178648, + 0.14725633361500273, + -0.9665959484357383 + ], + [ + 0.14552998249632765, + 0.9827897738777069, + 0.11377734640966114, + 0.9661380400209614, + -0.11640519964207086, + -0.2302761757558619, + -0.213068795976965, + 0.14343671028608784, + -0.9664510325532438 + ], + [ + 0.1437038333546629, + 0.9825886176654867, + 0.117765940379226, + 0.9661132862535465, + -0.11351002881395761, + -0.23182017056983545, + -0.21441624566144318, + 0.14708868682833043, + -0.9656037447128969 + ], + [ + 0.17365036890482166, + 0.9785311871716276, + 0.11100569855509645, + 0.9579861909638452, + -0.14171715255754558, + -0.2493565852219763, + -0.22827178384943403, + 0.14964278934672043, + -0.9620286005596355 + ], + [ + 0.18285176349187687, + 0.9776509742707505, + 0.1037487594883084, + 0.9559998306781649, + -0.15218669163879966, + -0.25080577072977583, + -0.2294113256385366, + 0.14504407397577138, + -0.9624617708113294 + ], + [ + 0.22322796535228612, + 0.9695889877010306, + 0.10033180160631794, + 0.9536971657390099, + -0.19595835483113172, + -0.2281710744885425, + -0.2015713063559848, + 0.14662031953575633, + -0.9684376543449633 + ], + [ + 0.2887133781554075, + 0.9565510633884029, + 0.04067736968644904, + 0.947852687952867, + -0.2795815802400215, + -0.15300137885331938, + -0.1349809883450896, + 0.08272969914733037, + -0.9873884390979948 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006495.json b/json/chunk-0006/episode_0006495.json new file mode 100644 index 0000000000000000000000000000000000000000..5ace155196df3ebe48bb7dfb4092c67c07088c2b --- /dev/null +++ b/json/chunk-0006/episode_0006495.json @@ -0,0 +1,2422 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 39, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the banana to the center of the burners." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006495.mp4", + "start": 0, + "end": 39, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3154546916484833, + 0.0730934590101242, + 0.0896003320813179, + -0.08772408217191696, + -0.018880032002925873, + 1.075076699256897, + 0.0, + 0.9981546401977539 + ], + [ + 0.30577462911605835, + 0.07182902097702026, + 0.07331245392560959, + -0.04172611981630325, + 0.021854160353541374, + 1.0789953470230103, + 0.0, + 0.9981546401977539 + ], + [ + 0.30004817247390747, + 0.07975435256958008, + 0.057406485080718994, + 0.016061728820204735, + 0.04583457484841347, + 1.1008524894714355, + 0.0, + 0.9981546401977539 + ], + [ + 0.3024030923843384, + 0.08624889701604843, + 0.04923693463206291, + 0.03590081259608269, + 0.03358795866370201, + 1.1526542901992798, + 0.0, + 0.9981546401977539 + ], + [ + 0.3071369230747223, + 0.09371412545442581, + 0.04163404926657677, + 0.0349070206284523, + 0.00782898161560297, + 1.1837360858917236, + 0.0, + 0.9981546401977539 + ], + [ + 0.3084876239299774, + 0.11002442240715027, + 0.02963963709771633, + 0.03669743984937668, + -0.029177775606513023, + 1.2410032749176025, + 0.0, + 0.9981546401977539 + ], + [ + 0.3112647831439972, + 0.11555732786655426, + 0.011831896379590034, + 0.047909222543239594, + -0.047207433730363846, + 1.2353334426879883, + 0.0, + 0.9981546401977539 + ], + [ + 0.31240659952163696, + 0.11497025936841965, + 0.0008826295961625874, + 0.052986349910497665, + -0.03595105558633804, + 1.2362233400344849, + 0.0, + 0.9507390260696411 + ], + [ + 0.32020217180252075, + 0.1169884130358696, + 0.0002486222656443715, + 0.04122387245297432, + -0.04051535576581955, + 1.2365573644638062, + 0.0, + 0.8007952570915222 + ], + [ + 0.3215266764163971, + 0.11677967011928558, + 0.00020944711286574602, + 0.033033642917871475, + -0.04189324006438255, + 1.2332710027694702, + 0.0, + 0.529549777507782 + ], + [ + 0.32288026809692383, + 0.11561314761638641, + 0.0001371761754853651, + 0.022645313292741776, + -0.037698693573474884, + 1.2304610013961792, + 0.0, + 0.5100988745689392 + ], + [ + 0.3230539560317993, + 0.11386029422283173, + 0.0002831402816809714, + 0.014554977416992188, + -0.026126524433493614, + 1.2209582328796387, + 0.0, + 0.5100988745689392 + ], + [ + 0.3209199011325836, + 0.11002600193023682, + 0.0012217300245538354, + 0.007596335839480162, + -0.01205564383417368, + 1.2184526920318604, + 0.0, + 0.5100988745689392 + ], + [ + 0.3131670355796814, + 0.10667190700769424, + 0.009292838163673878, + 0.02020888961851597, + -0.008633451536297798, + 1.2255809307098389, + 0.0, + 0.5100988745689392 + ], + [ + 0.3118452727794647, + 0.10310191661119461, + 0.02988956868648529, + -0.008645990863442421, + -0.04278094694018364, + 1.2344213724136353, + 0.0, + 0.5100988745689392 + ], + [ + 0.30127042531967163, + 0.09145119041204453, + 0.03747795522212982, + -0.037993885576725006, + -0.039167046546936035, + 1.2357679605484009, + 0.0, + 0.5100988745689392 + ], + [ + 0.2880115509033203, + 0.06961257755756378, + 0.03346676751971245, + -0.04014819860458374, + -0.03362852334976196, + 1.1962891817092896, + 0.0, + 0.5100988745689392 + ], + [ + 0.27763381600379944, + 0.04615422338247299, + 0.02871336229145527, + -0.052157577127218246, + -0.04095204547047615, + 1.165202260017395, + 0.0, + 0.5100988745689392 + ], + [ + 0.2649957835674286, + 0.020149940624833107, + 0.017660140991210938, + -0.0286453515291214, + -0.03013801947236061, + 1.1096559762954712, + 0.0, + 0.5100988745689392 + ], + [ + 0.24941863119602203, + 0.005529831163585186, + 0.010698724538087845, + -0.008740096352994442, + -0.03325768932700157, + 1.0867537260055542, + 0.0, + 0.5100988745689392 + ], + [ + 0.23587995767593384, + 0.0017905778950080276, + 0.005505309905856848, + 0.004412889014929533, + -0.0362311452627182, + 1.0708112716674805, + 0.0, + 0.5100988745689392 + ], + [ + 0.22916646301746368, + 0.001470179413445294, + 0.0026659583672881126, + 0.006404157727956772, + -0.04462825879454613, + 1.0671287775039673, + 0.0, + 0.5100988745689392 + ], + [ + 0.2298603355884552, + 0.001684231567196548, + 0.0024534533731639385, + 0.0018243335653096437, + -0.04878806695342064, + 1.0615483522415161, + 0.0, + 0.5100988745689392 + ], + [ + 0.22767414152622223, + -0.00047422552597709, + 0.001334255444817245, + 0.023161252960562706, + -0.013946127146482468, + 1.0450749397277832, + 0.0, + 0.5918992757797241 + ], + [ + 0.22460725903511047, + 0.0007617361261509359, + 0.0008887517615221441, + 0.033964432775974274, + -0.0017791272839531302, + 1.0616267919540405, + 0.0, + 0.8922415375709534 + ], + [ + 0.2216029018163681, + 0.004037610720843077, + 0.0004962750244885683, + 0.05943186953663826, + -0.01087276078760624, + 1.0547198057174683, + 0.0, + 1.0223946571350098 + ], + [ + 0.2203921526670456, + 0.004601104650646448, + 0.0005656311986967921, + 0.06680917739868164, + -0.007886111736297607, + 1.0491403341293335, + 0.0, + 1.0041072368621826 + ], + [ + 0.22057577967643738, + 0.0037326894234865904, + 0.004650418646633625, + 0.05470680817961693, + -0.0009461677400395274, + 1.0516128540039062, + 0.0, + 0.9981546401977539 + ], + [ + 0.22303161025047302, + 0.004337825812399387, + 0.018383139744400978, + 0.02326430007815361, + -0.023182295262813568, + 1.0476601123809814, + 0.0, + 0.9981546401977539 + ], + [ + 0.22936353087425232, + 0.004088778048753738, + 0.035798635333776474, + -0.02771792560815811, + -0.05099358782172203, + 1.0431885719299316, + 0.0, + 0.9981546401977539 + ], + [ + 0.2360507696866989, + 0.012572013773024082, + 0.0573686882853508, + -0.06889797002077103, + -0.16437457501888275, + 1.0414485931396484, + 0.0, + 0.9981546401977539 + ], + [ + 0.23596182465553284, + 0.013082753866910934, + 0.058539241552352905, + -0.07272444665431976, + -0.1691591441631317, + 1.0483535528182983, + 0.0, + 0.9981546401977539 + ], + [ + 0.23612062633037567, + 0.013052194379270077, + 0.058209728449583054, + -0.07277902215719223, + -0.1690208464860916, + 1.0481685400009155, + 0.0, + 0.9981546401977539 + ], + [ + 0.23620076477527618, + 0.013050596229732037, + 0.058571524918079376, + -0.07414284348487854, + -0.16975973546504974, + 1.0483983755111694, + 0.0, + 0.9981546401977539 + ], + [ + 0.23618105053901672, + 0.012881635688245296, + 0.058549899607896805, + -0.07474010437726974, + -0.16868703067302704, + 1.049424171447754, + 0.0, + 0.9981546401977539 + ], + [ + 0.23620076477527618, + 0.013050596229732037, + 0.058571524918079376, + -0.07414284348487854, + -0.16975973546504974, + 1.0483983755111694, + 0.0, + 0.9981546401977539 + ], + [ + 0.23612062633037567, + 0.013052194379270077, + 0.058209728449583054, + -0.07277902215719223, + -0.1690208464860916, + 1.0481685400009155, + 0.0, + 0.9981546401977539 + ], + [ + 0.23620076477527618, + 0.013050596229732037, + 0.058571524918079376, + -0.07414284348487854, + -0.16975973546504974, + 1.0483983755111694, + 0.0, + 0.9981546401977539 + ], + [ + 0.23620076477527618, + 0.013050596229732037, + 0.058571524918079376, + -0.07414284348487854, + -0.16975973546504974, + 1.0483983755111694, + 0.0, + 0.9981546401977539 + ] + ], + "left_gripper_pos": [ + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9507390260696411 + ], + [ + 0.8007952570915222 + ], + [ + 0.529549777507782 + ], + [ + 0.5100988745689392 + ], + [ + 0.5100988745689392 + ], + [ + 0.5100988745689392 + ], + [ + 0.5100988745689392 + ], + [ + 0.5100988745689392 + ], + [ + 0.5100988745689392 + ], + [ + 0.5100988745689392 + ], + [ + 0.5100988745689392 + ], + [ + 0.5100988745689392 + ], + [ + 0.5100988745689392 + ], + [ + 0.5100988745689392 + ], + [ + 0.5100988745689392 + ], + [ + 0.5100988745689392 + ], + [ + 0.5918992757797241 + ], + [ + 0.8922415375709534 + ], + [ + 1.0223946571350098 + ], + [ + 1.0041072368621826 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3154546916484833, + 0.0730934590101242, + 0.0896003320813179 + ], + [ + 0.30577462911605835, + 0.07182902097702026, + 0.07331245392560959 + ], + [ + 0.30004817247390747, + 0.07975435256958008, + 0.057406485080718994 + ], + [ + 0.3024030923843384, + 0.08624889701604843, + 0.04923693463206291 + ], + [ + 0.3071369230747223, + 0.09371412545442581, + 0.04163404926657677 + ], + [ + 0.3084876239299774, + 0.11002442240715027, + 0.02963963709771633 + ], + [ + 0.3112647831439972, + 0.11555732786655426, + 0.011831896379590034 + ], + [ + 0.31240659952163696, + 0.11497025936841965, + 0.0008826295961625874 + ], + [ + 0.32020217180252075, + 0.1169884130358696, + 0.0002486222656443715 + ], + [ + 0.3215266764163971, + 0.11677967011928558, + 0.00020944711286574602 + ], + [ + 0.32288026809692383, + 0.11561314761638641, + 0.0001371761754853651 + ], + [ + 0.3230539560317993, + 0.11386029422283173, + 0.0002831402816809714 + ], + [ + 0.3209199011325836, + 0.11002600193023682, + 0.0012217300245538354 + ], + [ + 0.3131670355796814, + 0.10667190700769424, + 0.009292838163673878 + ], + [ + 0.3118452727794647, + 0.10310191661119461, + 0.02988956868648529 + ], + [ + 0.30127042531967163, + 0.09145119041204453, + 0.03747795522212982 + ], + [ + 0.2880115509033203, + 0.06961257755756378, + 0.03346676751971245 + ], + [ + 0.27763381600379944, + 0.04615422338247299, + 0.02871336229145527 + ], + [ + 0.2649957835674286, + 0.020149940624833107, + 0.017660140991210938 + ], + [ + 0.24941863119602203, + 0.005529831163585186, + 0.010698724538087845 + ], + [ + 0.23587995767593384, + 0.0017905778950080276, + 0.005505309905856848 + ], + [ + 0.22916646301746368, + 0.001470179413445294, + 0.0026659583672881126 + ], + [ + 0.2298603355884552, + 0.001684231567196548, + 0.0024534533731639385 + ], + [ + 0.22767414152622223, + -0.00047422552597709, + 0.001334255444817245 + ], + [ + 0.22460725903511047, + 0.0007617361261509359, + 0.0008887517615221441 + ], + [ + 0.2216029018163681, + 0.004037610720843077, + 0.0004962750244885683 + ], + [ + 0.2203921526670456, + 0.004601104650646448, + 0.0005656311986967921 + ], + [ + 0.22057577967643738, + 0.0037326894234865904, + 0.004650418646633625 + ], + [ + 0.22303161025047302, + 0.004337825812399387, + 0.018383139744400978 + ], + [ + 0.22936353087425232, + 0.004088778048753738, + 0.035798635333776474 + ], + [ + 0.2360507696866989, + 0.012572013773024082, + 0.0573686882853508 + ], + [ + 0.23596182465553284, + 0.013082753866910934, + 0.058539241552352905 + ], + [ + 0.23612062633037567, + 0.013052194379270077, + 0.058209728449583054 + ], + [ + 0.23620076477527618, + 0.013050596229732037, + 0.058571524918079376 + ], + [ + 0.23618105053901672, + 0.012881635688245296, + 0.058549899607896805 + ], + [ + 0.23620076477527618, + 0.013050596229732037, + 0.058571524918079376 + ], + [ + 0.23612062633037567, + 0.013052194379270077, + 0.058209728449583054 + ], + [ + 0.23620076477527618, + 0.013050596229732037, + 0.058571524918079376 + ], + [ + 0.23620076477527618, + 0.013050596229732037, + 0.058571524918079376 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.47558000376094706, + 0.8754574611655355, + 0.08601100925075483, + 0.879469866889041, + -0.4752906215388409, + -0.0251312218444615, + 0.018878910374034143, + 0.0875959974360596, + -0.9959771724172557 + ], + [ + 0.47210142641752584, + 0.8811470374939864, + 0.026460186887267458, + 0.8812733485589103, + -0.4709996500783856, + -0.038943738210448775, + -0.021852420788166627, + 0.041704051860820324, + -0.9988910069492503 + ], + [ + 0.45236063404516574, + 0.8911454792208933, + -0.035065533368535136, + 0.8906573523159604, + -0.45343391961103113, + -0.03357322313540725, + -0.045818528258538764, + -0.016044170603093814, + -0.9988209284240495 + ], + [ + 0.4058342356000909, + 0.9127666701113234, + -0.04642821500743919, + 0.9133295387894894, + -0.40690311388326583, + -0.016093771673570366, + -0.03358164363858553, + -0.035872856674497855, + -0.9987919760213047 + ], + [ + 0.3774561983912486, + 0.9253554670709659, + -0.03527148788894697, + 0.9259943447965292, + -0.37749083294841485, + 0.005928275023808006, + -0.00782890163894752, + -0.03489886247122853, + -0.9993601841665203 + ], + [ + 0.3237093970761587, + 0.9458190234245568, + -0.025270559408282687, + 0.9457066803309356, + -0.3226165261247241, + 0.039464564468101586, + 0.029173635735566684, + -0.03667358721795507, + -0.9989013699953242 + ], + [ + 0.32883953029259483, + 0.9439185542522205, + -0.02970397709639571, + 0.9432060625822426, + -0.3266945551584596, + 0.06027429914912742, + 0.04718990172746613, + -0.04783754350103893, + -0.997739787022016 + ], + [ + 0.32815368416803387, + 0.9438500662301698, + -0.03823888131535962, + 0.9439402724254821, + -0.3261069600830407, + 0.05129339800310288, + 0.035943311759671005, + -0.052927337574281724, + -0.9979512890302036 + ], + [ + 0.3277811333998053, + 0.9444052787006246, + -0.025655372722580918, + 0.9438850208077932, + -0.32619474368691725, + 0.05174994382314094, + 0.04050427238960047, + -0.041178377255810375, + -0.9983304789320855 + ], + [ + 0.33086250953470114, + 0.9435203322980736, + -0.01730266813332188, + 0.9427491621354256, + -0.3296672127534293, + 0.050433581355458355, + 0.041880987062774204, + -0.032998657177486006, + -0.9985775240546575 + ], + [ + 0.33356603192373113, + 0.942685973265317, + -0.00876687832004873, + 0.9419730272060352, + -0.3329131441962333, + 0.0430773076883416, + 0.03768976469752061, + -0.022627289501841005, + -0.9990332764261887 + ], + [ + 0.3426287411549698, + 0.9394590286527423, + -0.0047200865888959095, + 0.9391076113809095, + -0.34235222452539715, + 0.029527082635353082, + 0.026123552227897053, + -0.014549496395338892, + -0.9995528361090465 + ], + [ + 0.34507333253418965, + 0.9385710296130371, + -0.0029694351099859495, + 0.9384983024313117, + -0.34500250368504987, + 0.013935881191860058, + 0.012055351811333607, + -0.007595710774577434, + -0.9998984816822827 + ], + [ + 0.33838676189741523, + 0.9408694753370498, + -0.01609440124907344, + 0.9409675152411104, + -0.33816610887066556, + 0.014960550532759383, + 0.008633344285508396, + -0.020206761003617166, + -0.9997585469383046 + ], + [ + 0.329765379639229, + 0.9438000450053902, + 0.022277105719074698, + 0.9430936863606764, + -0.3304040866568601, + 0.03751584021551992, + 0.042767898452291925, + 0.008637972462893079, + -0.9990476927022578 + ], + [ + 0.32854379539656026, + 0.9432303859767504, + 0.048738213719560476, + 0.9436766931820206, + -0.32996334699883406, + 0.02446402220350075, + 0.039157033231202475, + 0.03795561364906956, + -0.9985119419120899 + ], + [ + 0.36560705349990913, + 0.9294443825468597, + 0.049644961307278614, + 0.9301618305858708, + -0.36677506585853753, + 0.01658372652955656, + 0.03362218541761134, + 0.04011472069642356, + -0.9986292394233165 + ], + [ + 0.39423388893137834, + 0.9167764377773993, + 0.06403595829082645, + 0.9180977660911205, + -0.39598935833109516, + 0.016997646514209725, + 0.040940599855597753, + 0.05209022196833414, + -0.9978028242387139 + ], + [ + 0.44476756429098724, + 0.8947942230369552, + 0.039052684598553856, + 0.8951389772022771, + -0.4455599976998897, + 0.014230247465716942, + 0.030133457284615965, + 0.0286284276439677, + -0.9991358205382841 + ], + [ + 0.4651038206188657, + 0.8849518420543282, + 0.023209336276284666, + 0.8846314316629557, + -0.4656006167998231, + 0.025363275608133097, + 0.03325155875570164, + 0.008735151989284684, + -0.999408840745388 + ], + [ + 0.4790977962527496, + 0.8776578152182636, + 0.013492998631259027, + 0.8770137855406553, + -0.4792674738335623, + 0.033904402322486066, + 0.03622321903707737, + -0.00440997862807432, + -0.9993339934631924 + ], + [ + 0.48216033064914404, + 0.875938282018533, + 0.015922991010766042, + 0.8749463160555798, + -0.48238075733685687, + 0.04216336053838125, + 0.04461344605695898, + -0.00639773753300912, + -0.9989838384004925 + ], + [ + 0.4869406810227778, + 0.8731533044914324, + 0.02218287674683737, + 0.8720724658302181, + -0.48744229051463167, + 0.04346984884552146, + 0.0487687144168923, + -0.0018221617769731552, + -0.9988084361981442 + ], + [ + 0.5017883062263053, + 0.8648922351147231, + -0.013035235816592486, + 0.8648780341072307, + -0.5014231528624494, + 0.023681382820530988, + 0.013945675076795125, + -0.023156930101789642, + -0.9996345705981328 + ], + [ + 0.4874515232539295, + 0.872675493732347, + -0.02878359109680368, + 0.8731482389530835, + -0.4871184117967132, + 0.018105405319315045, + 0.0017791263453764937, + -0.0339578492789497, + -0.9994216823652542 + ], + [ + 0.49344228386353695, + 0.8685450639973726, + -0.04630533771970577, + 0.8697105841754096, + -0.4920385131985364, + 0.03875050067600496, + 0.01087254656481083, + -0.05939337787306837, + -0.9981754426933285 + ], + [ + 0.4983010628215243, + 0.8653233254618246, + -0.0539591808928624, + 0.8669682008711977, + -0.4967484174986483, + 0.04008925530297641, + 0.00788602999600694, + -0.066757412504365, + -0.9977380710420066 + ], + [ + 0.49617115221606434, + 0.8669513739729802, + -0.047005349429030854, + 0.8682242178581856, + -0.495384161512499, + 0.027950671675299445, + 0.0009461675988660413, + -0.05467949971351726, + -0.9985035087960155 + ], + [ + 0.499465115752413, + 0.8662915767055254, + -0.00857334680760294, + 0.8660238308492855, + -0.49899705897700847, + 0.03169636467205679, + 0.0231802188850056, + -0.023255951095379326, + -0.999460773713052 + ], + [ + 0.502813397145016, + 0.86297085726824, + 0.04959825760252963, + 0.8628908359719314, + -0.5044950033440851, + 0.030069865255973546, + 0.05097149053293695, + 0.02767835086434905, + -0.9983164909217318 + ], + [ + 0.4981639013626822, + 0.855400208001167, + 0.14185630592494458, + 0.8515023157014284, + -0.5134958282070972, + 0.10614066501116248, + 0.16363536822525937, + 0.06791552521675037, + -0.9841803430775867 + ], + [ + 0.49187617175617904, + 0.8582081072326475, + 0.14675379497185964, + 0.8542335232796161, + -0.508280389309631, + 0.10925261346322003, + 0.16835355465145269, + 0.0716232540688198, + -0.9831211472208367 + ], + [ + 0.4920458246509658, + 0.8581109907105177, + 0.14675296952826816, + 0.8541626719772394, + -0.5084365307834204, + 0.10907989716543892, + 0.1682172293323539, + 0.071678600619249, + -0.9831404487503361 + ], + [ + 0.49178734285952785, + 0.8579999973148188, + 0.1482606286609374, + 0.8541677896425962, + -0.5084343860061182, + 0.10904981551411866, + 0.16894554312040008, + 0.0730101344633245, + -0.9829175569321165 + ], + [ + 0.49100086461771686, + 0.8584717844910482, + 0.14813624194439973, + 0.8548284718735034, + -0.5075506521874774, + 0.1079843467289471, + 0.16788816104498133, + 0.07361066972132244, + -0.9830539327443397 + ], + [ + 0.49178734285952785, + 0.8579999973148188, + 0.1482606286609374, + 0.8541677896425962, + -0.5084343860061182, + 0.10904981551411866, + 0.16894554312040008, + 0.0730101344633245, + -0.9829175569321165 + ], + [ + 0.4920458246509658, + 0.8581109907105177, + 0.14675296952826816, + 0.8541626719772394, + -0.5084365307834204, + 0.10907989716543892, + 0.1682172293323539, + 0.071678600619249, + -0.9831404487503361 + ], + [ + 0.49178734285952785, + 0.8579999973148188, + 0.1482606286609374, + 0.8541677896425962, + -0.5084343860061182, + 0.10904981551411866, + 0.16894554312040008, + 0.0730101344633245, + -0.9829175569321165 + ], + [ + 0.49178734285952785, + 0.8579999973148188, + 0.1482606286609374, + 0.8541677896425962, + -0.5084343860061182, + 0.10904981551411866, + 0.16894554312040008, + 0.0730101344633245, + -0.9829175569321165 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.009680062532424927, + -0.0012644380331039429, + -0.016287878155708313, + 0.04599796235561371, + 0.040734194219112396, + 0.003918647766113281, + 1.0 + ], + [ + -0.005726456642150879, + 0.007925331592559814, + -0.015905968844890594, + 0.05778785049915314, + 0.023980414494872093, + 0.021857142448425293, + 1.0 + ], + [ + 0.002354919910430908, + 0.006494544446468353, + -0.008169550448656082, + 0.019839083775877953, + -0.012246616184711456, + 0.05180180072784424, + 1.0 + ], + [ + 0.004733830690383911, + 0.00746522843837738, + -0.007602885365486145, + -0.0009937919676303864, + -0.025758977979421616, + 0.031081795692443848, + 1.0 + ], + [ + 0.001350700855255127, + 0.016310296952724457, + -0.011994412168860435, + 0.0017904192209243774, + -0.03700675815343857, + 0.057267189025878906, + 1.0 + ], + [ + 0.0027771592140197754, + 0.005532905459403992, + -0.017807740718126297, + 0.011211782693862915, + -0.018029658123850822, + -0.005669832229614258, + 1.0 + ], + [ + 0.0011418163776397705, + -0.000587068498134613, + -0.010949267074465752, + 0.005077127367258072, + 0.011256378144025803, + 0.000889897346496582, + 0.0 + ], + [ + 0.007795572280883789, + 0.002018153667449951, + -0.0006340073305182159, + -0.011762477457523346, + -0.004564300179481506, + 0.00033402442932128906, + 0.0 + ], + [ + 0.0013245046138763428, + -0.0002087429165840149, + -3.917515277862549e-05, + -0.008190229535102844, + -0.0013778842985630035, + -0.0032863616943359375, + 0.0 + ], + [ + 0.0013535916805267334, + -0.00116652250289917, + -7.227093738038093e-05, + -0.0103883296251297, + 0.004194546490907669, + -0.0028100013732910156, + 0.0 + ], + [ + 0.00017368793487548828, + -0.0017528533935546875, + 0.0001459641061956063, + -0.008090335875749588, + 0.01157216913998127, + -0.009502768516540527, + 0.0 + ], + [ + -0.0021340548992156982, + -0.0038342922925949097, + 0.000938589742872864, + -0.006958641577512026, + 0.014070880599319935, + -0.0025055408477783203, + 0.0 + ], + [ + -0.007752865552902222, + -0.003354094922542572, + 0.008071107789874077, + 0.01261255331337452, + 0.003422192297875881, + 0.007128238677978516, + 0.0 + ], + [ + -0.0013217628002166748, + -0.003569990396499634, + 0.020596731454133987, + -0.02885488048195839, + -0.03414749354124069, + 0.008840441703796387, + 0.0 + ], + [ + -0.01057484745979309, + -0.011650726199150085, + 0.007588386535644531, + -0.029347894713282585, + 0.0036139003932476044, + 0.001346588134765625, + 0.0 + ], + [ + -0.013258874416351318, + -0.021838612854480743, + -0.004011187702417374, + -0.002154313027858734, + 0.005538523197174072, + -0.03947877883911133, + 0.0 + ], + [ + -0.010377734899520874, + -0.02345835417509079, + -0.004753405228257179, + -0.012009378522634506, + -0.007323522120714188, + -0.03108692169189453, + 0.0 + ], + [ + -0.01263803243637085, + -0.026004282757639885, + -0.011053221300244331, + 0.023512225598096848, + 0.01081402599811554, + -0.05554628372192383, + 0.0 + ], + [ + -0.015577152371406555, + -0.014620109461247921, + -0.006961416453123093, + 0.019905254244804382, + -0.0031196698546409607, + -0.022902250289916992, + 0.0 + ], + [ + -0.013538673520088196, + -0.0037392531521618366, + -0.005193414632230997, + 0.013152984902262688, + -0.002973455935716629, + -0.01594245433807373, + 0.0 + ], + [ + -0.006713494658470154, + -0.00032039848156273365, + -0.002839351538568735, + 0.001991268713027239, + -0.008397113531827927, + -0.0036824941635131836, + 0.0 + ], + [ + 0.0006938725709915161, + 0.00021405215375125408, + -0.00021250499412417412, + -0.004579824395477772, + -0.004159808158874512, + -0.005580425262451172, + 0.0 + ], + [ + -0.002186194062232971, + -0.0021584571804851294, + -0.0011191979283466935, + 0.02133691869676113, + 0.03484193980693817, + -0.01647341251373291, + 1.0 + ], + [ + -0.0030668824911117554, + 0.0012359616812318563, + -0.00044550368329510093, + 0.010803179815411568, + 0.012167000211775303, + 0.016551852226257324, + 1.0 + ], + [ + -0.0030043572187423706, + 0.00327587453648448, + -0.0003924767370335758, + 0.025467436760663986, + -0.009093633852899075, + -0.006906986236572266, + 1.0 + ], + [ + -0.0012107491493225098, + 0.0005634939298033714, + 6.935617420822382e-05, + 0.007377307862043381, + 0.002986649051308632, + -0.005579471588134766, + 1.0 + ], + [ + 0.00018362700939178467, + -0.0008684152271598577, + 0.004084787331521511, + -0.012102369219064713, + 0.006939943879842758, + 0.002472519874572754, + 1.0 + ], + [ + 0.0024558305740356445, + 0.000605136388912797, + 0.013732721097767353, + -0.03144250810146332, + -0.02223612740635872, + -0.003952741622924805, + 1.0 + ], + [ + 0.006331920623779297, + -0.00024904776364564896, + 0.017415495589375496, + -0.05098222568631172, + -0.027811292558908463, + -0.004471540451049805, + 1.0 + ], + [ + 0.006687238812446594, + 0.008483235724270344, + 0.021570052951574326, + -0.041180044412612915, + -0.11338098347187042, + -0.0017399787902832031, + 1.0 + ], + [ + -8.894503116607666e-05, + 0.0005107400938868523, + 0.0011705532670021057, + -0.0038264766335487366, + -0.004784569144248962, + 0.006904959678649902, + 1.0 + ], + [ + 0.00015880167484283447, + -3.0559487640857697e-05, + -0.0003295131027698517, + -5.457550287246704e-05, + 0.0001382976770401001, + -0.0001850128173828125, + 1.0 + ], + [ + 8.01384449005127e-05, + -1.5981495380401611e-06, + 0.00036179646849632263, + -0.0013638213276863098, + -0.0007388889789581299, + 0.00022983551025390625, + 1.0 + ], + [ + -1.971423625946045e-05, + -0.0001689605414867401, + -2.162531018257141e-05, + -0.0005972608923912048, + 0.001072704792022705, + 0.0010257959365844727, + 1.0 + ], + [ + 1.971423625946045e-05, + 0.0001689605414867401, + 2.162531018257141e-05, + 0.0005972608923912048, + -0.001072704792022705, + -0.0010257959365844727, + 1.0 + ], + [ + -8.01384449005127e-05, + 1.5981495380401611e-06, + -0.00036179646849632263, + 0.0013638213276863098, + 0.0007388889789581299, + -0.00022983551025390625, + 1.0 + ], + [ + 8.01384449005127e-05, + -1.5981495380401611e-06, + 0.00036179646849632263, + -0.0013638213276863098, + -0.0007388889789581299, + 0.00022983551025390625, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9507390260696411 + ], + [ + 0.8007952570915222 + ], + [ + 0.529549777507782 + ], + [ + 0.5100988745689392 + ], + [ + 0.5100988745689392 + ], + [ + 0.5100988745689392 + ], + [ + 0.5100988745689392 + ], + [ + 0.5100988745689392 + ], + [ + 0.5100988745689392 + ], + [ + 0.5100988745689392 + ], + [ + 0.5100988745689392 + ], + [ + 0.5100988745689392 + ], + [ + 0.5100988745689392 + ], + [ + 0.5100988745689392 + ], + [ + 0.5100988745689392 + ], + [ + 0.5100988745689392 + ], + [ + 0.5918992757797241 + ], + [ + 0.8922415375709534 + ], + [ + 1.0223946571350098 + ], + [ + 1.0041072368621826 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.30577462911605835, + 0.07182902097702026, + 0.07331245392560959 + ], + [ + 0.30004817247390747, + 0.07975435256958008, + 0.057406485080718994 + ], + [ + 0.3024030923843384, + 0.08624889701604843, + 0.04923693463206291 + ], + [ + 0.3071369230747223, + 0.09371412545442581, + 0.04163404926657677 + ], + [ + 0.3084876239299774, + 0.11002442240715027, + 0.02963963709771633 + ], + [ + 0.3112647831439972, + 0.11555732786655426, + 0.011831896379590034 + ], + [ + 0.31240659952163696, + 0.11497025936841965, + 0.0008826295961625874 + ], + [ + 0.32020217180252075, + 0.1169884130358696, + 0.0002486222656443715 + ], + [ + 0.3215266764163971, + 0.11677967011928558, + 0.00020944711286574602 + ], + [ + 0.32288026809692383, + 0.11561314761638641, + 0.0001371761754853651 + ], + [ + 0.3230539560317993, + 0.11386029422283173, + 0.0002831402816809714 + ], + [ + 0.3209199011325836, + 0.11002600193023682, + 0.0012217300245538354 + ], + [ + 0.3131670355796814, + 0.10667190700769424, + 0.009292838163673878 + ], + [ + 0.3118452727794647, + 0.10310191661119461, + 0.02988956868648529 + ], + [ + 0.30127042531967163, + 0.09145119041204453, + 0.03747795522212982 + ], + [ + 0.2880115509033203, + 0.06961257755756378, + 0.03346676751971245 + ], + [ + 0.27763381600379944, + 0.04615422338247299, + 0.02871336229145527 + ], + [ + 0.2649957835674286, + 0.020149940624833107, + 0.017660140991210938 + ], + [ + 0.24941863119602203, + 0.005529831163585186, + 0.010698724538087845 + ], + [ + 0.23587995767593384, + 0.0017905778950080276, + 0.005505309905856848 + ], + [ + 0.22916646301746368, + 0.001470179413445294, + 0.0026659583672881126 + ], + [ + 0.2298603355884552, + 0.001684231567196548, + 0.0024534533731639385 + ], + [ + 0.22767414152622223, + -0.00047422552597709, + 0.001334255444817245 + ], + [ + 0.22460725903511047, + 0.0007617361261509359, + 0.0008887517615221441 + ], + [ + 0.2216029018163681, + 0.004037610720843077, + 0.0004962750244885683 + ], + [ + 0.2203921526670456, + 0.004601104650646448, + 0.0005656311986967921 + ], + [ + 0.22057577967643738, + 0.0037326894234865904, + 0.004650418646633625 + ], + [ + 0.22303161025047302, + 0.004337825812399387, + 0.018383139744400978 + ], + [ + 0.22936353087425232, + 0.004088778048753738, + 0.035798635333776474 + ], + [ + 0.2360507696866989, + 0.012572013773024082, + 0.0573686882853508 + ], + [ + 0.23596182465553284, + 0.013082753866910934, + 0.058539241552352905 + ], + [ + 0.23612062633037567, + 0.013052194379270077, + 0.058209728449583054 + ], + [ + 0.23620076477527618, + 0.013050596229732037, + 0.058571524918079376 + ], + [ + 0.23618105053901672, + 0.012881635688245296, + 0.058549899607896805 + ], + [ + 0.23620076477527618, + 0.013050596229732037, + 0.058571524918079376 + ], + [ + 0.23612062633037567, + 0.013052194379270077, + 0.058209728449583054 + ], + [ + 0.23620076477527618, + 0.013050596229732037, + 0.058571524918079376 + ], + [ + 0.23620076477527618, + 0.013050596229732037, + 0.058571524918079376 + ], + [ + 0.23620076477527618, + 0.013050596229732037, + 0.058571524918079376 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.47210142641752584, + 0.8811470374939864, + 0.026460186887267458, + 0.8812733485589103, + -0.4709996500783856, + -0.038943738210448775, + -0.021852420788166627, + 0.041704051860820324, + -0.9988910069492503 + ], + [ + 0.45236063404516574, + 0.8911454792208933, + -0.035065533368535136, + 0.8906573523159604, + -0.45343391961103113, + -0.03357322313540725, + -0.045818528258538764, + -0.016044170603093814, + -0.9988209284240495 + ], + [ + 0.4058342356000909, + 0.9127666701113234, + -0.04642821500743919, + 0.9133295387894894, + -0.40690311388326583, + -0.016093771673570366, + -0.03358164363858553, + -0.035872856674497855, + -0.9987919760213047 + ], + [ + 0.3774561983912486, + 0.9253554670709659, + -0.03527148788894697, + 0.9259943447965292, + -0.37749083294841485, + 0.005928275023808006, + -0.00782890163894752, + -0.03489886247122853, + -0.9993601841665203 + ], + [ + 0.3237093970761587, + 0.9458190234245568, + -0.025270559408282687, + 0.9457066803309356, + -0.3226165261247241, + 0.039464564468101586, + 0.029173635735566684, + -0.03667358721795507, + -0.9989013699953242 + ], + [ + 0.32883953029259483, + 0.9439185542522205, + -0.02970397709639571, + 0.9432060625822426, + -0.3266945551584596, + 0.06027429914912742, + 0.04718990172746613, + -0.04783754350103893, + -0.997739787022016 + ], + [ + 0.32815368416803387, + 0.9438500662301698, + -0.03823888131535962, + 0.9439402724254821, + -0.3261069600830407, + 0.05129339800310288, + 0.035943311759671005, + -0.052927337574281724, + -0.9979512890302036 + ], + [ + 0.3277811333998053, + 0.9444052787006246, + -0.025655372722580918, + 0.9438850208077932, + -0.32619474368691725, + 0.05174994382314094, + 0.04050427238960047, + -0.041178377255810375, + -0.9983304789320855 + ], + [ + 0.33086250953470114, + 0.9435203322980736, + -0.01730266813332188, + 0.9427491621354256, + -0.3296672127534293, + 0.050433581355458355, + 0.041880987062774204, + -0.032998657177486006, + -0.9985775240546575 + ], + [ + 0.33356603192373113, + 0.942685973265317, + -0.00876687832004873, + 0.9419730272060352, + -0.3329131441962333, + 0.0430773076883416, + 0.03768976469752061, + -0.022627289501841005, + -0.9990332764261887 + ], + [ + 0.3426287411549698, + 0.9394590286527423, + -0.0047200865888959095, + 0.9391076113809095, + -0.34235222452539715, + 0.029527082635353082, + 0.026123552227897053, + -0.014549496395338892, + -0.9995528361090465 + ], + [ + 0.34507333253418965, + 0.9385710296130371, + -0.0029694351099859495, + 0.9384983024313117, + -0.34500250368504987, + 0.013935881191860058, + 0.012055351811333607, + -0.007595710774577434, + -0.9998984816822827 + ], + [ + 0.33838676189741523, + 0.9408694753370498, + -0.01609440124907344, + 0.9409675152411104, + -0.33816610887066556, + 0.014960550532759383, + 0.008633344285508396, + -0.020206761003617166, + -0.9997585469383046 + ], + [ + 0.329765379639229, + 0.9438000450053902, + 0.022277105719074698, + 0.9430936863606764, + -0.3304040866568601, + 0.03751584021551992, + 0.042767898452291925, + 0.008637972462893079, + -0.9990476927022578 + ], + [ + 0.32854379539656026, + 0.9432303859767504, + 0.048738213719560476, + 0.9436766931820206, + -0.32996334699883406, + 0.02446402220350075, + 0.039157033231202475, + 0.03795561364906956, + -0.9985119419120899 + ], + [ + 0.36560705349990913, + 0.9294443825468597, + 0.049644961307278614, + 0.9301618305858708, + -0.36677506585853753, + 0.01658372652955656, + 0.03362218541761134, + 0.04011472069642356, + -0.9986292394233165 + ], + [ + 0.39423388893137834, + 0.9167764377773993, + 0.06403595829082645, + 0.9180977660911205, + -0.39598935833109516, + 0.016997646514209725, + 0.040940599855597753, + 0.05209022196833414, + -0.9978028242387139 + ], + [ + 0.44476756429098724, + 0.8947942230369552, + 0.039052684598553856, + 0.8951389772022771, + -0.4455599976998897, + 0.014230247465716942, + 0.030133457284615965, + 0.0286284276439677, + -0.9991358205382841 + ], + [ + 0.4651038206188657, + 0.8849518420543282, + 0.023209336276284666, + 0.8846314316629557, + -0.4656006167998231, + 0.025363275608133097, + 0.03325155875570164, + 0.008735151989284684, + -0.999408840745388 + ], + [ + 0.4790977962527496, + 0.8776578152182636, + 0.013492998631259027, + 0.8770137855406553, + -0.4792674738335623, + 0.033904402322486066, + 0.03622321903707737, + -0.00440997862807432, + -0.9993339934631924 + ], + [ + 0.48216033064914404, + 0.875938282018533, + 0.015922991010766042, + 0.8749463160555798, + -0.48238075733685687, + 0.04216336053838125, + 0.04461344605695898, + -0.00639773753300912, + -0.9989838384004925 + ], + [ + 0.4869406810227778, + 0.8731533044914324, + 0.02218287674683737, + 0.8720724658302181, + -0.48744229051463167, + 0.04346984884552146, + 0.0487687144168923, + -0.0018221617769731552, + -0.9988084361981442 + ], + [ + 0.5017883062263053, + 0.8648922351147231, + -0.013035235816592486, + 0.8648780341072307, + -0.5014231528624494, + 0.023681382820530988, + 0.013945675076795125, + -0.023156930101789642, + -0.9996345705981328 + ], + [ + 0.4874515232539295, + 0.872675493732347, + -0.02878359109680368, + 0.8731482389530835, + -0.4871184117967132, + 0.018105405319315045, + 0.0017791263453764937, + -0.0339578492789497, + -0.9994216823652542 + ], + [ + 0.49344228386353695, + 0.8685450639973726, + -0.04630533771970577, + 0.8697105841754096, + -0.4920385131985364, + 0.03875050067600496, + 0.01087254656481083, + -0.05939337787306837, + -0.9981754426933285 + ], + [ + 0.4983010628215243, + 0.8653233254618246, + -0.0539591808928624, + 0.8669682008711977, + -0.4967484174986483, + 0.04008925530297641, + 0.00788602999600694, + -0.066757412504365, + -0.9977380710420066 + ], + [ + 0.49617115221606434, + 0.8669513739729802, + -0.047005349429030854, + 0.8682242178581856, + -0.495384161512499, + 0.027950671675299445, + 0.0009461675988660413, + -0.05467949971351726, + -0.9985035087960155 + ], + [ + 0.499465115752413, + 0.8662915767055254, + -0.00857334680760294, + 0.8660238308492855, + -0.49899705897700847, + 0.03169636467205679, + 0.0231802188850056, + -0.023255951095379326, + -0.999460773713052 + ], + [ + 0.502813397145016, + 0.86297085726824, + 0.04959825760252963, + 0.8628908359719314, + -0.5044950033440851, + 0.030069865255973546, + 0.05097149053293695, + 0.02767835086434905, + -0.9983164909217318 + ], + [ + 0.4981639013626822, + 0.855400208001167, + 0.14185630592494458, + 0.8515023157014284, + -0.5134958282070972, + 0.10614066501116248, + 0.16363536822525937, + 0.06791552521675037, + -0.9841803430775867 + ], + [ + 0.49187617175617904, + 0.8582081072326475, + 0.14675379497185964, + 0.8542335232796161, + -0.508280389309631, + 0.10925261346322003, + 0.16835355465145269, + 0.0716232540688198, + -0.9831211472208367 + ], + [ + 0.4920458246509658, + 0.8581109907105177, + 0.14675296952826816, + 0.8541626719772394, + -0.5084365307834204, + 0.10907989716543892, + 0.1682172293323539, + 0.071678600619249, + -0.9831404487503361 + ], + [ + 0.49178734285952785, + 0.8579999973148188, + 0.1482606286609374, + 0.8541677896425962, + -0.5084343860061182, + 0.10904981551411866, + 0.16894554312040008, + 0.0730101344633245, + -0.9829175569321165 + ], + [ + 0.49100086461771686, + 0.8584717844910482, + 0.14813624194439973, + 0.8548284718735034, + -0.5075506521874774, + 0.1079843467289471, + 0.16788816104498133, + 0.07361066972132244, + -0.9830539327443397 + ], + [ + 0.49178734285952785, + 0.8579999973148188, + 0.1482606286609374, + 0.8541677896425962, + -0.5084343860061182, + 0.10904981551411866, + 0.16894554312040008, + 0.0730101344633245, + -0.9829175569321165 + ], + [ + 0.4920458246509658, + 0.8581109907105177, + 0.14675296952826816, + 0.8541626719772394, + -0.5084365307834204, + 0.10907989716543892, + 0.1682172293323539, + 0.071678600619249, + -0.9831404487503361 + ], + [ + 0.49178734285952785, + 0.8579999973148188, + 0.1482606286609374, + 0.8541677896425962, + -0.5084343860061182, + 0.10904981551411866, + 0.16894554312040008, + 0.0730101344633245, + -0.9829175569321165 + ], + [ + 0.49178734285952785, + 0.8579999973148188, + 0.1482606286609374, + 0.8541677896425962, + -0.5084343860061182, + 0.10904981551411866, + 0.16894554312040008, + 0.0730101344633245, + -0.9829175569321165 + ], + [ + 0.49178734285952785, + 0.8579999973148188, + 0.1482606286609374, + 0.8541677896425962, + -0.5084343860061182, + 0.10904981551411866, + 0.16894554312040008, + 0.0730101344633245, + -0.9829175569321165 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006497.json b/json/chunk-0006/episode_0006497.json new file mode 100644 index 0000000000000000000000000000000000000000..fc999957e9fbc4aa10df3124a8ffbd64cb2feade --- /dev/null +++ b/json/chunk-0006/episode_0006497.json @@ -0,0 +1,922 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 14, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nFlip pot upright in sink." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006497.mp4", + "start": 0, + "end": 14, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2571372091770172, + -0.015920795500278473, + 0.022011863067746162, + 0.11654511839151382, + -0.0888436883687973, + -0.04828324168920517, + 0.0, + 1.0118417739868164 + ], + [ + 0.2547385096549988, + -0.01276889443397522, + 0.015995485708117485, + 0.20296157896518707, + -0.06885480880737305, + -0.07413458079099655, + 0.0, + 1.0118417739868164 + ], + [ + 0.255781888961792, + -0.013820091262459755, + 0.015269193798303604, + 0.364813894033432, + -0.07390618324279785, + -0.12659575045108795, + 0.0, + 1.0118417739868164 + ], + [ + 0.2568356990814209, + -0.013567603193223476, + 0.011370866559445858, + 0.4725551903247833, + -0.07799094170331955, + -0.16808341443538666, + 0.0, + 1.0118417739868164 + ], + [ + 0.2579074501991272, + -0.009286908432841301, + 0.006789299659430981, + 0.5301156044006348, + -0.07513759285211563, + -0.1894364058971405, + 0.0, + 1.0118417739868164 + ], + [ + 0.25791436433792114, + -0.0030953234527260065, + 0.001909692888148129, + 0.6019947528839111, + -0.05679366737604141, + -0.224140465259552, + 0.0, + 1.0118417739868164 + ], + [ + 0.2596478760242462, + 0.004460355266928673, + 0.001610777573660016, + 0.680067777633667, + -0.05678592249751091, + -0.2531946301460266, + 0.0, + 1.0118417739868164 + ], + [ + 0.2631528973579407, + 0.012451010756194592, + 0.000990643515251577, + 0.7204686403274536, + -0.05792776122689247, + -0.29017141461372375, + 0.0, + 0.8214757442474365 + ], + [ + 0.265679270029068, + 0.019227202981710434, + -0.0011922060512006283, + 0.7059052586555481, + -0.06911508738994598, + -0.28922075033187866, + 0.0, + 0.5043045878410339 + ], + [ + 0.26731184124946594, + 0.022581448778510094, + 0.001052628387697041, + 0.6953721046447754, + -0.08855706453323364, + -0.27467450499534607, + 0.0, + 0.33478444814682007 + ], + [ + 0.2659931182861328, + 0.02620723284780979, + 0.0025308742187917233, + 0.6441390514373779, + -0.09733763337135315, + -0.24854673445224762, + 0.0, + 0.2617134153842926 + ], + [ + 0.26800107955932617, + 0.027611669152975082, + 0.004862343426793814, + 0.5455427169799805, + -0.10029170662164688, + -0.21822045743465424, + 0.0, + 0.24590691924095154 + ], + [ + 0.2683534622192383, + 0.02295544371008873, + -0.0011643654434010386, + 0.47252121567726135, + -0.10187400877475739, + -0.23674866557121277, + 0.0, + 0.12090048938989639 + ], + [ + 0.26419737935066223, + 0.027547281235456467, + -0.008041702210903168, + 0.3712869882583618, + -0.07592311501502991, + -0.23149195313453674, + 0.0, + 0.0665184035897255 + ] + ], + "left_gripper_pos": [ + [ + 1.0118417739868164 + ], + [ + 1.0118417739868164 + ], + [ + 1.0118417739868164 + ], + [ + 1.0118417739868164 + ], + [ + 1.0118417739868164 + ], + [ + 1.0118417739868164 + ], + [ + 1.0118417739868164 + ], + [ + 0.8214757442474365 + ], + [ + 0.5043045878410339 + ], + [ + 0.33478444814682007 + ], + [ + 0.2617134153842926 + ], + [ + 0.24590691924095154 + ], + [ + 0.12090048938989639 + ], + [ + 0.0665184035897255 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2571372091770172, + -0.015920795500278473, + 0.022011863067746162 + ], + [ + 0.2547385096549988, + -0.01276889443397522, + 0.015995485708117485 + ], + [ + 0.255781888961792, + -0.013820091262459755, + 0.015269193798303604 + ], + [ + 0.2568356990814209, + -0.013567603193223476, + 0.011370866559445858 + ], + [ + 0.2579074501991272, + -0.009286908432841301, + 0.006789299659430981 + ], + [ + 0.25791436433792114, + -0.0030953234527260065, + 0.001909692888148129 + ], + [ + 0.2596478760242462, + 0.004460355266928673, + 0.001610777573660016 + ], + [ + 0.2631528973579407, + 0.012451010756194592, + 0.000990643515251577 + ], + [ + 0.265679270029068, + 0.019227202981710434, + -0.0011922060512006283 + ], + [ + 0.26731184124946594, + 0.022581448778510094, + 0.001052628387697041 + ], + [ + 0.2659931182861328, + 0.02620723284780979, + 0.0025308742187917233 + ], + [ + 0.26800107955932617, + 0.027611669152975082, + 0.004862343426793814 + ], + [ + 0.2683534622192383, + 0.02295544371008873, + -0.0011643654434010386 + ], + [ + 0.26419737935066223, + 0.027547281235456467, + -0.008041702210903168 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9948951818779457, + -0.03763180695831382, + 0.09363452451474101, + -0.04807412827665507, + -0.9925567564792734, + 0.11189264210744089, + 0.08872685763898745, + -0.11582284866293154, + -0.9892990510766269 + ], + [ + 0.9948902428150596, + -0.05871631641144783, + 0.08213281280013777, + -0.07389118778942963, + -0.9778107446234944, + 0.19602612087656765, + 0.06880041510382752, + -0.20109336609127168, + -0.9771529875079044 + ], + [ + 0.9892894807076775, + -0.0918157700535408, + 0.1134732908247957, + -0.1259132126994272, + -0.9300404023123282, + 0.3452111135731742, + 0.0738389208266355, + -0.35580150988465115, + -0.9316400052246361 + ], + [ + 0.9829102953494089, + -0.11399628445052895, + 0.14454133812723569, + -0.1667845524390686, + -0.8837924812592549, + 0.43714272627748135, + 0.07791190129779511, + -0.4537793485837401, + -0.8877015480639194 + ], + [ + 0.9793394929817756, + -0.12518294030765864, + 0.15881872982154208, + -0.18777410928136068, + -0.8544618771619598, + 0.4843921803254587, + 0.07506691261661444, + -0.5042064378137087, + -0.8603143766655422 + ], + [ + 0.973413519278203, + -0.15185512901734308, + 0.17148218647296656, + -0.22191004108819515, + -0.8107351765082721, + 0.5417235524105779, + 0.05676314077514325, + -0.5653746486739804, + -0.8228787592872442 + ], + [ + 0.9665566190531436, + -0.16021725809456003, + 0.20024667880695957, + -0.25009423380783447, + -0.7616805690082757, + 0.5977420723115462, + 0.05675540838218622, + -0.6278320961880578, + -0.7762768079850646 + ], + [ + 0.9565876230184437, + -0.17841663430019206, + 0.23045091471486, + -0.2856365622531097, + -0.7310086220593205, + 0.6197081157925552, + 0.05789536934979837, + -0.658630320498476, + -0.7502361142519902 + ], + [ + 0.9561780770219441, + -0.174108226862104, + 0.23539288511242554, + -0.28452450003067364, + -0.7421939682839551, + 0.6067898502160456, + 0.06906007460836286, + -0.6471741950834025, + -0.759207657570205 + ], + [ + 0.9587418139357273, + -0.15371958822974185, + 0.239132646047564, + -0.27017079772788866, + -0.7544012696950827, + 0.5982361275763302, + 0.08844136060863833, + -0.6381606478598671, + -0.7648065855213115 + ], + [ + 0.9646828318966965, + -0.1401356514435402, + 0.2230449126034129, + -0.24483117443199212, + -0.789401892882517, + 0.5629408028734016, + 0.09718400007213604, + -0.5976676758098879, + -0.7958320296532336 + ], + [ + 0.9713784252918944, + -0.13434752851446607, + 0.1958946054884975, + -0.21540475214227683, + -0.8458198099075666, + 0.4880467620243497, + 0.10012366169873951, + -0.5162747241052797, + -0.8505502111092875 + ], + [ + 0.9670656424483938, + -0.1638479207400795, + 0.1947765439292624, + -0.23332720162571877, + -0.8764419544987323, + 0.4211981925126853, + 0.10169788678918773, + -0.4527729665777259, + -0.8858070786345179 + ], + [ + 0.9705212483769406, + -0.18701133820745763, + 0.15203705413720953, + -0.22876899776605736, + -0.9133177671500615, + 0.33692046816591587, + 0.07585019518747818, + -0.3617698378664011, + -0.9291766959519269 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0023986995220184326, + 0.003151901066303253, + -0.006016377359628677, + 0.08641646057367325, + 0.019988879561424255, + -0.025851339101791382, + 1.0 + ], + [ + 0.0010433793067932129, + -0.0010511968284845352, + -0.0007262919098138809, + 0.16185231506824493, + -0.005051374435424805, + -0.0524611696600914, + 1.0 + ], + [ + 0.0010538101196289062, + 0.00025248806923627853, + -0.003898327238857746, + 0.10774129629135132, + -0.004084758460521698, + -0.041487663984298706, + 1.0 + ], + [ + 0.0010717511177062988, + 0.0042806947603821754, + -0.004581566900014877, + 0.05756041407585144, + 0.0028533488512039185, + -0.021352991461753845, + 1.0 + ], + [ + 6.9141387939453125e-06, + 0.006191585212945938, + -0.0048796068876981735, + 0.07187914848327637, + 0.01834392547607422, + -0.0347040593624115, + 1.0 + ], + [ + 0.0017335116863250732, + 0.007555678486824036, + -0.0002989153144881129, + 0.07807302474975586, + 7.74487853050232e-06, + -0.02905416488647461, + 1.0 + ], + [ + 0.003505021333694458, + 0.007990655489265919, + -0.0006201340584084392, + 0.04040086269378662, + -0.0011418387293815613, + -0.036976784467697144, + 0.0 + ], + [ + 0.0025263726711273193, + 0.0067761922255158424, + -0.002182849682867527, + -0.014563381671905518, + -0.011187326163053513, + 0.0009506642818450928, + 0.0 + ], + [ + 0.0016325712203979492, + 0.0033542457967996597, + 0.0022448343224823475, + -0.010533154010772705, + -0.01944197714328766, + 0.014546245336532593, + 0.0 + ], + [ + -0.0013187229633331299, + 0.003625784069299698, + 0.0014782458310946822, + -0.05123305320739746, + -0.008780568838119507, + 0.02612777054309845, + 0.0 + ], + [ + 0.0020079612731933594, + 0.0014044363051652908, + 0.0023314692080020905, + -0.09859633445739746, + -0.0029540732502937317, + 0.030326277017593384, + 0.0 + ], + [ + 0.0003523826599121094, + -0.0046562254428863525, + -0.006026708986610174, + -0.07302150130271912, + -0.0015823021531105042, + -0.018528208136558533, + 0.0 + ], + [ + -0.00415608286857605, + 0.004591837525367737, + -0.006877336651086807, + -0.10123422741889954, + 0.025950893759727478, + 0.005256712436676025, + 0.0 + ], + [ + 0.0002873241901397705, + 0.008759807795286179, + -0.001948632299900055, + -0.04317083954811096, + 0.004146359860897064, + -0.008720949292182922, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0118417739868164 + ], + [ + 1.0118417739868164 + ], + [ + 1.0118417739868164 + ], + [ + 1.0118417739868164 + ], + [ + 1.0118417739868164 + ], + [ + 1.0118417739868164 + ], + [ + 0.8214757442474365 + ], + [ + 0.5043045878410339 + ], + [ + 0.33478444814682007 + ], + [ + 0.2617134153842926 + ], + [ + 0.24590691924095154 + ], + [ + 0.12090048938989639 + ], + [ + 0.0665184035897255 + ], + [ + 0.16390947997570038 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2547385096549988, + -0.01276889443397522, + 0.015995485708117485 + ], + [ + 0.255781888961792, + -0.013820091262459755, + 0.015269193798303604 + ], + [ + 0.2568356990814209, + -0.013567603193223476, + 0.011370866559445858 + ], + [ + 0.2579074501991272, + -0.009286908432841301, + 0.006789299659430981 + ], + [ + 0.25791436433792114, + -0.0030953234527260065, + 0.001909692888148129 + ], + [ + 0.2596478760242462, + 0.004460355266928673, + 0.001610777573660016 + ], + [ + 0.2631528973579407, + 0.012451010756194592, + 0.000990643515251577 + ], + [ + 0.265679270029068, + 0.019227202981710434, + -0.0011922060512006283 + ], + [ + 0.26731184124946594, + 0.022581448778510094, + 0.001052628387697041 + ], + [ + 0.2659931182861328, + 0.02620723284780979, + 0.0025308742187917233 + ], + [ + 0.26800107955932617, + 0.027611669152975082, + 0.004862343426793814 + ], + [ + 0.2683534622192383, + 0.02295544371008873, + -0.0011643654434010386 + ], + [ + 0.26419737935066223, + 0.027547281235456467, + -0.008041702210903168 + ], + [ + 0.264484703540802, + 0.036307089030742645, + -0.009990334510803223 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9948902428150596, + -0.05871631641144783, + 0.08213281280013777, + -0.07389118778942963, + -0.9778107446234944, + 0.19602612087656765, + 0.06880041510382752, + -0.20109336609127168, + -0.9771529875079044 + ], + [ + 0.9892894807076775, + -0.0918157700535408, + 0.1134732908247957, + -0.1259132126994272, + -0.9300404023123282, + 0.3452111135731742, + 0.0738389208266355, + -0.35580150988465115, + -0.9316400052246361 + ], + [ + 0.9829102953494089, + -0.11399628445052895, + 0.14454133812723569, + -0.1667845524390686, + -0.8837924812592549, + 0.43714272627748135, + 0.07791190129779511, + -0.4537793485837401, + -0.8877015480639194 + ], + [ + 0.9793394929817756, + -0.12518294030765864, + 0.15881872982154208, + -0.18777410928136068, + -0.8544618771619598, + 0.4843921803254587, + 0.07506691261661444, + -0.5042064378137087, + -0.8603143766655422 + ], + [ + 0.973413519278203, + -0.15185512901734308, + 0.17148218647296656, + -0.22191004108819515, + -0.8107351765082721, + 0.5417235524105779, + 0.05676314077514325, + -0.5653746486739804, + -0.8228787592872442 + ], + [ + 0.9665566190531436, + -0.16021725809456003, + 0.20024667880695957, + -0.25009423380783447, + -0.7616805690082757, + 0.5977420723115462, + 0.05675540838218622, + -0.6278320961880578, + -0.7762768079850646 + ], + [ + 0.9565876230184437, + -0.17841663430019206, + 0.23045091471486, + -0.2856365622531097, + -0.7310086220593205, + 0.6197081157925552, + 0.05789536934979837, + -0.658630320498476, + -0.7502361142519902 + ], + [ + 0.9561780770219441, + -0.174108226862104, + 0.23539288511242554, + -0.28452450003067364, + -0.7421939682839551, + 0.6067898502160456, + 0.06906007460836286, + -0.6471741950834025, + -0.759207657570205 + ], + [ + 0.9587418139357273, + -0.15371958822974185, + 0.239132646047564, + -0.27017079772788866, + -0.7544012696950827, + 0.5982361275763302, + 0.08844136060863833, + -0.6381606478598671, + -0.7648065855213115 + ], + [ + 0.9646828318966965, + -0.1401356514435402, + 0.2230449126034129, + -0.24483117443199212, + -0.789401892882517, + 0.5629408028734016, + 0.09718400007213604, + -0.5976676758098879, + -0.7958320296532336 + ], + [ + 0.9713784252918944, + -0.13434752851446607, + 0.1958946054884975, + -0.21540475214227683, + -0.8458198099075666, + 0.4880467620243497, + 0.10012366169873951, + -0.5162747241052797, + -0.8505502111092875 + ], + [ + 0.9670656424483938, + -0.1638479207400795, + 0.1947765439292624, + -0.23332720162571877, + -0.8764419544987323, + 0.4211981925126853, + 0.10169788678918773, + -0.4527729665777259, + -0.8858070786345179 + ], + [ + 0.9705212483769406, + -0.18701133820745763, + 0.15203705413720953, + -0.22876899776605736, + -0.9133177671500615, + 0.33692046816591587, + 0.07585019518747818, + -0.3617698378664011, + -0.9291766959519269 + ], + [ + 0.9687864304642491, + -0.202769855904712, + 0.14260868726946774, + -0.23729684123353764, + -0.9249685569951958, + 0.2968558197354572, + 0.07171513988638492, + -0.3214304809855583, + -0.9442136329266109 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006498.json b/json/chunk-0006/episode_0006498.json new file mode 100644 index 0000000000000000000000000000000000000000..5039a76be6e3512a8a770037ddc1cb14782b9c27 --- /dev/null +++ b/json/chunk-0006/episode_0006498.json @@ -0,0 +1,1042 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 16, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nFlip pot upright which is in sink." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006498.mp4", + "start": 0, + "end": 16, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2822113037109375, + 0.006588704884052277, + 0.18754976987838745, + -0.08291807770729065, + -0.2074100822210312, + 0.11129919439554214, + 0.0, + 0.9994885921478271 + ], + [ + 0.27943599224090576, + 0.0026098403614014387, + 0.17985081672668457, + -0.13257132470607758, + -0.1776290088891983, + 0.12566450238227844, + 0.0, + 0.9994885921478271 + ], + [ + 0.2772582471370697, + 0.009353839792311192, + 0.17250528931617737, + -0.2039371281862259, + -0.1736869513988495, + 0.18608352541923523, + 0.0, + 0.9994885921478271 + ], + [ + 0.2743590474128723, + 0.011879771016538143, + 0.17198446393013, + -0.28047361969947815, + -0.17477689683437347, + 0.22947145998477936, + 0.0, + 0.9994885921478271 + ], + [ + 0.272044837474823, + 0.013080978766083717, + 0.16593915224075317, + -0.3501559793949127, + -0.14168550074100494, + 0.27345573902130127, + 0.0, + 0.9994885921478271 + ], + [ + 0.26921483874320984, + 0.010075475089251995, + 0.15758894383907318, + -0.40319007635116577, + -0.11001736670732498, + 0.29950425028800964, + 0.0, + 0.9994885921478271 + ], + [ + 0.26685020327568054, + 0.005125472322106361, + 0.1476648896932602, + -0.4537387490272522, + -0.08616700023412704, + 0.3414914608001709, + 0.0, + 0.9994885921478271 + ], + [ + 0.2660585939884186, + -0.0005158346612006426, + 0.14185483753681183, + -0.49465033411979675, + -0.08235572278499603, + 0.35579439997673035, + 0.0, + 0.9994885921478271 + ], + [ + 0.2674964368343353, + -0.00824560783803463, + 0.13811670243740082, + -0.5498613119125366, + -0.09573450684547424, + 0.35545068979263306, + 0.0, + 0.9994885921478271 + ], + [ + 0.2719108760356903, + -0.01381822768598795, + 0.13645316660404205, + -0.5806431770324707, + -0.1006694883108139, + 0.3582175374031067, + 0.0, + 0.9994885921478271 + ], + [ + 0.274345338344574, + -0.024266317486763, + 0.13136129081249237, + -0.5906745791435242, + -0.0901634469628334, + 0.33596915006637573, + 0.0, + 0.9994885921478271 + ], + [ + 0.2776329517364502, + -0.030663050711154938, + 0.12795992195606232, + -0.5846308469772339, + -0.07846643030643463, + 0.32965123653411865, + 0.0, + 0.8307508826255798 + ], + [ + 0.2788464426994324, + -0.040912892669439316, + 0.1310192197561264, + -0.5381835103034973, + -0.09619805216789246, + 0.2837807834148407, + 0.0, + 0.5988990664482117 + ], + [ + 0.28023529052734375, + -0.03806914761662483, + 0.13533560931682587, + -0.4263148605823517, + -0.14456523954868317, + 0.24026739597320557, + 0.0, + 0.4059307873249054 + ], + [ + 0.2819564640522003, + -0.03633789345622063, + 0.13850271701812744, + -0.30574581027030945, + -0.156423881649971, + 0.16323117911815643, + 0.0, + 0.21794094145298004 + ], + [ + 0.2898823320865631, + -0.04192240908741951, + 0.1429673284292221, + -0.2785385847091675, + -0.1779508739709854, + 0.11114367097616196, + 0.0, + 0.08191495388746262 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.8307508826255798 + ], + [ + 0.5988990664482117 + ], + [ + 0.4059307873249054 + ], + [ + 0.21794094145298004 + ], + [ + 0.08191495388746262 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2822113037109375, + 0.006588704884052277, + 0.18754976987838745 + ], + [ + 0.27943599224090576, + 0.0026098403614014387, + 0.17985081672668457 + ], + [ + 0.2772582471370697, + 0.009353839792311192, + 0.17250528931617737 + ], + [ + 0.2743590474128723, + 0.011879771016538143, + 0.17198446393013 + ], + [ + 0.272044837474823, + 0.013080978766083717, + 0.16593915224075317 + ], + [ + 0.26921483874320984, + 0.010075475089251995, + 0.15758894383907318 + ], + [ + 0.26685020327568054, + 0.005125472322106361, + 0.1476648896932602 + ], + [ + 0.2660585939884186, + -0.0005158346612006426, + 0.14185483753681183 + ], + [ + 0.2674964368343353, + -0.00824560783803463, + 0.13811670243740082 + ], + [ + 0.2719108760356903, + -0.01381822768598795, + 0.13645316660404205 + ], + [ + 0.274345338344574, + -0.024266317486763, + 0.13136129081249237 + ], + [ + 0.2776329517364502, + -0.030663050711154938, + 0.12795992195606232 + ], + [ + 0.2788464426994324, + -0.040912892669439316, + 0.1310192197561264 + ], + [ + 0.28023529052734375, + -0.03806914761662483, + 0.13533560931682587 + ], + [ + 0.2819564640522003, + -0.03633789345622063, + 0.13850271701812744 + ], + [ + 0.2898823320865631, + -0.04192240908741951, + 0.1429673284292221 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9725127742687307, + 0.0937380289875276, + 0.21314803730194223, + 0.10868905499356961, + -0.9922924997761785, + -0.059517091768228024, + 0.20592618388330688, + 0.0810479907800083, + -0.9752054296309994 + ], + [ + 0.9765040796057883, + 0.10106210852711754, + 0.19033190151234575, + 0.123361943365787, + -0.9863364196678766, + -0.10918927678930217, + 0.1766963877453881, + 0.13010348748902772, + -0.9756287557779977 + ], + [ + 0.9679504087942442, + 0.14678204858458233, + 0.2037818351285734, + 0.18222783524823805, + -0.9688462458541559, + -0.16771990923873545, + 0.17281499407110706, + 0.1994792773889608, + -0.9645428947001691 + ], + [ + 0.9589514621206581, + 0.17170218903927995, + 0.2256777604811142, + 0.22399755477869668, + -0.9466842368856971, + -0.23154708178966482, + 0.17388843765419415, + 0.2725936791476727, + -0.9462851036230671 + ], + [ + 0.9531951108901051, + 0.20703089161006544, + 0.22035718843355556, + 0.26735420828983114, + -0.9174995491930857, + -0.2944763225459764, + 0.1412119254344964, + 0.33960681257834874, + -0.9299066646526717 + ], + [ + 0.9497062091167154, + 0.2302269181731913, + 0.21225852754043117, + 0.29326276750745905, + -0.8915768100231555, + -0.34509091703897393, + 0.10979556256526633, + 0.38998250983526, + -0.9142530155616484 + ], + [ + 0.9387603886187372, + 0.26546201367281524, + 0.2196789750002744, + 0.3336503233873473, + -0.8595467334171885, + -0.38711351665287924, + 0.08606041171128391, + 0.4367027963828655, + -0.8954799122076773 + ], + [ + 0.9341930236290245, + 0.2699756233769583, + 0.2332306956322086, + 0.3471545039479959, + -0.8386151790384502, + -0.4197717616454559, + 0.08226265854859095, + 0.4731149376932959, + -0.8771517033786043 + ], + [ + 0.9331969267077266, + 0.2498857513855716, + 0.2582646070171496, + 0.346419349414987, + -0.8166847099976748, + -0.4615405928051305, + 0.09558833785641206, + 0.5201761198964082, + -0.8486929208820858 + ], + [ + 0.9317817333368382, + 0.24151401986698795, + 0.27102357762284285, + 0.3488303947556679, + -0.8023654099779456, + -0.4842799857164528, + 0.10049953788153383, + 0.5457845060814854, + -0.8318768633680028 + ], + [ + 0.9402563685781518, + 0.2264819418711575, + 0.2542122958365638, + 0.32834512272832667, + -0.8006616421669053, + -0.5011291401855561, + 0.09004133344607403, + 0.5546592330150687, + -0.8271914491231088 + ], + [ + 0.9432440645665399, + 0.22901827575823497, + 0.24050210815857265, + 0.3227170273524119, + -0.8030179265203721, + -0.5010148999218932, + 0.07838593570797864, + 0.5501934560276477, + -0.8313499900929435 + ], + [ + 0.9555651870229772, + 0.19314477598073407, + 0.2226887263897621, + 0.27869269602530533, + -0.8380833282301783, + -0.4689847717408036, + 0.09604975029581816, + 0.5102072426514337, + -0.8546712906223841 + ], + [ + 0.961142658870842, + 0.15880260800789447, + 0.22580195080773627, + 0.23548007693598394, + -0.898517224372556, + -0.37042668758076974, + 0.1440622180341238, + 0.40920475216660074, + -0.9009980844260213 + ], + [ + 0.9746603491983347, + 0.10870144802970887, + 0.19550242683103658, + 0.1605231791333293, + -0.9485669219960428, + -0.2728609599335939, + 0.1557867538063149, + 0.2973294295746685, + -0.9419796694447777 + ], + [ + 0.9781358141273551, + 0.05827050720805339, + 0.19963686310682413, + 0.10916347141986198, + -0.96092421036872, + -0.25437766889964486, + 0.17701317925222862, + 0.2706089612650855, + -0.9462753956719208 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0027753114700317383, + -0.003978864289820194, + -0.007698953151702881, + -0.049653246998786926, + 0.029781073331832886, + 0.014365307986736298, + 1.0 + ], + [ + -0.0021777451038360596, + 0.006743999198079109, + -0.007345527410507202, + -0.07136580348014832, + 0.003942057490348816, + 0.06041902303695679, + 1.0 + ], + [ + -0.0028991997241973877, + 0.0025259312242269516, + -0.0005208253860473633, + -0.07653649151325226, + -0.0010899454355239868, + 0.04338793456554413, + 1.0 + ], + [ + -0.0023142099380493164, + 0.0012012077495455742, + -0.006045311689376831, + -0.06968235969543457, + 0.03309139609336853, + 0.04398427903652191, + 1.0 + ], + [ + -0.002829998731613159, + -0.0030055036768317223, + -0.008350208401679993, + -0.05303409695625305, + 0.03166813403367996, + 0.026048511266708374, + 1.0 + ], + [ + -0.002364635467529297, + -0.004950002767145634, + -0.009924054145812988, + -0.050548672676086426, + 0.023850366473197937, + 0.041987210512161255, + 1.0 + ], + [ + -0.0007916092872619629, + -0.00564130675047636, + -0.005810052156448364, + -0.040911585092544556, + 0.003811277449131012, + 0.014302939176559448, + 1.0 + ], + [ + 0.001437842845916748, + -0.007729773409664631, + -0.0037381350994110107, + -0.05521097779273987, + -0.01337878406047821, + -0.00034371018409729004, + 1.0 + ], + [ + 0.0044144392013549805, + -0.0055726198479533195, + -0.0016635358333587646, + -0.030781865119934082, + -0.004934981465339661, + 0.002766847610473633, + 1.0 + ], + [ + 0.002434462308883667, + -0.010448089800775051, + -0.005091875791549683, + -0.010031402111053467, + 0.0105060413479805, + -0.022248387336730957, + 1.0 + ], + [ + 0.0032876133918762207, + -0.006396733224391937, + -0.0034013688564300537, + 0.006043732166290283, + 0.011697016656398773, + -0.00631791353225708, + 0.0 + ], + [ + 0.0012134909629821777, + -0.010249841958284378, + 0.003059297800064087, + 0.04644733667373657, + -0.017731621861457825, + -0.045870453119277954, + 0.0 + ], + [ + 0.001388847827911377, + 0.0028437450528144836, + 0.004316389560699463, + 0.11186864972114563, + -0.04836718738079071, + -0.04351338744163513, + 0.0 + ], + [ + 0.0017211735248565674, + 0.0017312541604042053, + 0.0031671077013015747, + 0.12056905031204224, + -0.011858642101287842, + -0.07703621685504913, + 0.0 + ], + [ + 0.007925868034362793, + -0.005584515631198883, + 0.0044646114110946655, + 0.027207225561141968, + -0.021526992321014404, + -0.052087508141994476, + 0.0 + ], + [ + 0.0022878646850585938, + -0.002649504691362381, + -0.002434372901916504, + -0.01313084363937378, + -0.006282642483711243, + -0.023050598800182343, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.8307508826255798 + ], + [ + 0.5988990664482117 + ], + [ + 0.4059307873249054 + ], + [ + 0.21794094145298004 + ], + [ + 0.08191495388746262 + ], + [ + 0.16390947997570038 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.27943599224090576, + 0.0026098403614014387, + 0.17985081672668457 + ], + [ + 0.2772582471370697, + 0.009353839792311192, + 0.17250528931617737 + ], + [ + 0.2743590474128723, + 0.011879771016538143, + 0.17198446393013 + ], + [ + 0.272044837474823, + 0.013080978766083717, + 0.16593915224075317 + ], + [ + 0.26921483874320984, + 0.010075475089251995, + 0.15758894383907318 + ], + [ + 0.26685020327568054, + 0.005125472322106361, + 0.1476648896932602 + ], + [ + 0.2660585939884186, + -0.0005158346612006426, + 0.14185483753681183 + ], + [ + 0.2674964368343353, + -0.00824560783803463, + 0.13811670243740082 + ], + [ + 0.2719108760356903, + -0.01381822768598795, + 0.13645316660404205 + ], + [ + 0.274345338344574, + -0.024266317486763, + 0.13136129081249237 + ], + [ + 0.2776329517364502, + -0.030663050711154938, + 0.12795992195606232 + ], + [ + 0.2788464426994324, + -0.040912892669439316, + 0.1310192197561264 + ], + [ + 0.28023529052734375, + -0.03806914761662483, + 0.13533560931682587 + ], + [ + 0.2819564640522003, + -0.03633789345622063, + 0.13850271701812744 + ], + [ + 0.2898823320865631, + -0.04192240908741951, + 0.1429673284292221 + ], + [ + 0.2921701967716217, + -0.04457191377878189, + 0.1405329555273056 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9765040796057883, + 0.10106210852711754, + 0.19033190151234575, + 0.123361943365787, + -0.9863364196678766, + -0.10918927678930217, + 0.1766963877453881, + 0.13010348748902772, + -0.9756287557779977 + ], + [ + 0.9679504087942442, + 0.14678204858458233, + 0.2037818351285734, + 0.18222783524823805, + -0.9688462458541559, + -0.16771990923873545, + 0.17281499407110706, + 0.1994792773889608, + -0.9645428947001691 + ], + [ + 0.9589514621206581, + 0.17170218903927995, + 0.2256777604811142, + 0.22399755477869668, + -0.9466842368856971, + -0.23154708178966482, + 0.17388843765419415, + 0.2725936791476727, + -0.9462851036230671 + ], + [ + 0.9531951108901051, + 0.20703089161006544, + 0.22035718843355556, + 0.26735420828983114, + -0.9174995491930857, + -0.2944763225459764, + 0.1412119254344964, + 0.33960681257834874, + -0.9299066646526717 + ], + [ + 0.9497062091167154, + 0.2302269181731913, + 0.21225852754043117, + 0.29326276750745905, + -0.8915768100231555, + -0.34509091703897393, + 0.10979556256526633, + 0.38998250983526, + -0.9142530155616484 + ], + [ + 0.9387603886187372, + 0.26546201367281524, + 0.2196789750002744, + 0.3336503233873473, + -0.8595467334171885, + -0.38711351665287924, + 0.08606041171128391, + 0.4367027963828655, + -0.8954799122076773 + ], + [ + 0.9341930236290245, + 0.2699756233769583, + 0.2332306956322086, + 0.3471545039479959, + -0.8386151790384502, + -0.4197717616454559, + 0.08226265854859095, + 0.4731149376932959, + -0.8771517033786043 + ], + [ + 0.9331969267077266, + 0.2498857513855716, + 0.2582646070171496, + 0.346419349414987, + -0.8166847099976748, + -0.4615405928051305, + 0.09558833785641206, + 0.5201761198964082, + -0.8486929208820858 + ], + [ + 0.9317817333368382, + 0.24151401986698795, + 0.27102357762284285, + 0.3488303947556679, + -0.8023654099779456, + -0.4842799857164528, + 0.10049953788153383, + 0.5457845060814854, + -0.8318768633680028 + ], + [ + 0.9402563685781518, + 0.2264819418711575, + 0.2542122958365638, + 0.32834512272832667, + -0.8006616421669053, + -0.5011291401855561, + 0.09004133344607403, + 0.5546592330150687, + -0.8271914491231088 + ], + [ + 0.9432440645665399, + 0.22901827575823497, + 0.24050210815857265, + 0.3227170273524119, + -0.8030179265203721, + -0.5010148999218932, + 0.07838593570797864, + 0.5501934560276477, + -0.8313499900929435 + ], + [ + 0.9555651870229772, + 0.19314477598073407, + 0.2226887263897621, + 0.27869269602530533, + -0.8380833282301783, + -0.4689847717408036, + 0.09604975029581816, + 0.5102072426514337, + -0.8546712906223841 + ], + [ + 0.961142658870842, + 0.15880260800789447, + 0.22580195080773627, + 0.23548007693598394, + -0.898517224372556, + -0.37042668758076974, + 0.1440622180341238, + 0.40920475216660074, + -0.9009980844260213 + ], + [ + 0.9746603491983347, + 0.10870144802970887, + 0.19550242683103658, + 0.1605231791333293, + -0.9485669219960428, + -0.2728609599335939, + 0.1557867538063149, + 0.2973294295746685, + -0.9419796694447777 + ], + [ + 0.9781358141273551, + 0.05827050720805339, + 0.19963686310682413, + 0.10916347141986198, + -0.96092421036872, + -0.25437766889964486, + 0.17701317925222862, + 0.2706089612650855, + -0.9462753956719208 + ], + [ + 0.9792648901175591, + 0.031790205585276295, + 0.20007413079129072, + 0.08649030128515775, + -0.9586857699539294, + -0.2710000410912219, + 0.18319307510560345, + 0.2826852973125542, + -0.94155685963019 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006499.json b/json/chunk-0006/episode_0006499.json new file mode 100644 index 0000000000000000000000000000000000000000..16c5097bfe7744077b7fed599e2aa092e8e07bd1 --- /dev/null +++ b/json/chunk-0006/episode_0006499.json @@ -0,0 +1,1342 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 21, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPlace the blue cloth just left of the spoon." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006499.mp4", + "start": 0, + "end": 21, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.32140401005744934, + 0.14785893261432648, + 0.0934649258852005, + 0.016212845221161842, + -0.16111785173416138, + 0.13350993394851685, + 0.0, + 1.0014774799346924 + ], + [ + 0.31951192021369934, + 0.146976038813591, + 0.08100765198469162, + 0.00510293897241354, + -0.1304774135351181, + 0.1444551795721054, + 0.0, + 1.0014774799346924 + ], + [ + 0.31594181060791016, + 0.15232481062412262, + 0.05357355996966362, + 0.038102973252534866, + -0.11872952431440353, + 0.21174243092536926, + 0.0, + 1.0014774799346924 + ], + [ + 0.3121444582939148, + 0.16388419270515442, + 0.024119846522808075, + 0.10797243565320969, + -0.09320706129074097, + 0.23237402737140656, + 0.0, + 1.0014774799346924 + ], + [ + 0.3124961853027344, + 0.16710609197616577, + 0.014583696611225605, + 0.12675078213214874, + -0.12272292375564575, + 0.22449110448360443, + 0.0, + 1.0014774799346924 + ], + [ + 0.31360507011413574, + 0.16741417348384857, + 0.011351184919476509, + 0.10567504167556763, + -0.11955082416534424, + 0.21857653558254242, + 0.0, + 1.0014774799346924 + ], + [ + 0.32079583406448364, + 0.15741132199764252, + 0.009960709139704704, + 0.058203186839818954, + -0.12152682989835739, + 0.1878863424062729, + 0.0, + 1.002137303352356 + ], + [ + 0.333032488822937, + 0.14524127542972565, + 0.008673190139234066, + 0.016708357259631157, + -0.12907551229000092, + 0.15639524161815643, + 0.0, + 1.0008161067962646 + ], + [ + 0.3532225489616394, + 0.12463398277759552, + 0.008314607664942741, + 0.01617397554218769, + -0.13072814047336578, + 0.08848051726818085, + 0.0, + 1.0014774799346924 + ], + [ + 0.3737092912197113, + 0.1022442951798439, + 0.007214708719402552, + 0.008689883165061474, + -0.1374666690826416, + 0.024694276973605156, + 0.0, + 1.0008161067962646 + ], + [ + 0.39294716715812683, + 0.07894464582204819, + 0.005723327863961458, + -0.00906462874263525, + -0.14021119475364685, + -0.02270389162003994, + 0.0, + 1.0008161067962646 + ], + [ + 0.4166698753833771, + 0.05238829553127289, + 0.005466005764901638, + -0.014371203258633614, + -0.13702476024627686, + -0.06872308999300003, + 0.0, + 1.0014774799346924 + ], + [ + 0.4321030080318451, + 0.029733944684267044, + 0.005048034247010946, + -0.022798236459493637, + -0.1404975950717926, + -0.12017259746789932, + 0.0, + 1.0008161067962646 + ], + [ + 0.4399155378341675, + 0.007085563614964485, + 0.007962998002767563, + -0.036345403641462326, + -0.15918530523777008, + -0.17988616228103638, + 0.0, + 1.0014774799346924 + ], + [ + 0.44042548537254333, + 0.0009066685452125967, + 0.010059203952550888, + -0.04605131223797798, + -0.1600310206413269, + -0.18806757032871246, + 0.0, + 1.0014774799346924 + ], + [ + 0.4383697509765625, + 0.00017110507178585976, + 0.012415435165166855, + -0.04703974351286888, + -0.15974555909633636, + -0.18339310586452484, + 0.0, + 1.0001531839370728 + ], + [ + 0.4334222078323364, + -0.0016351621598005295, + 0.01638398878276348, + -0.055958185344934464, + -0.1576712429523468, + -0.17103496193885803, + 0.0, + 1.0008161067962646 + ], + [ + 0.42976120114326477, + -0.00318346475251019, + 0.02503257803618908, + -0.07235059887170792, + -0.1609193980693817, + -0.1461140215396881, + 0.0, + 1.0001531839370728 + ], + [ + 0.4258367121219635, + -0.001164163462817669, + 0.05785880610346794, + -0.0779283344745636, + -0.22082531452178955, + -0.11501289904117584, + 0.0, + 1.0001531839370728 + ], + [ + 0.4187442362308502, + 0.009108963422477245, + 0.08307427912950516, + -0.06485478579998016, + -0.2695089280605316, + -0.09182924777269363, + 0.0, + 1.0001531839370728 + ], + [ + 0.4130317270755768, + 0.018748383969068527, + 0.09803041815757751, + -0.0600457638502121, + -0.30792102217674255, + -0.08029228448867798, + 0.0, + 1.0008161067962646 + ] + ], + "left_gripper_pos": [ + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.002137303352356 + ], + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.32140401005744934, + 0.14785893261432648, + 0.0934649258852005 + ], + [ + 0.31951192021369934, + 0.146976038813591, + 0.08100765198469162 + ], + [ + 0.31594181060791016, + 0.15232481062412262, + 0.05357355996966362 + ], + [ + 0.3121444582939148, + 0.16388419270515442, + 0.024119846522808075 + ], + [ + 0.3124961853027344, + 0.16710609197616577, + 0.014583696611225605 + ], + [ + 0.31360507011413574, + 0.16741417348384857, + 0.011351184919476509 + ], + [ + 0.32079583406448364, + 0.15741132199764252, + 0.009960709139704704 + ], + [ + 0.333032488822937, + 0.14524127542972565, + 0.008673190139234066 + ], + [ + 0.3532225489616394, + 0.12463398277759552, + 0.008314607664942741 + ], + [ + 0.3737092912197113, + 0.1022442951798439, + 0.007214708719402552 + ], + [ + 0.39294716715812683, + 0.07894464582204819, + 0.005723327863961458 + ], + [ + 0.4166698753833771, + 0.05238829553127289, + 0.005466005764901638 + ], + [ + 0.4321030080318451, + 0.029733944684267044, + 0.005048034247010946 + ], + [ + 0.4399155378341675, + 0.007085563614964485, + 0.007962998002767563 + ], + [ + 0.44042548537254333, + 0.0009066685452125967, + 0.010059203952550888 + ], + [ + 0.4383697509765625, + 0.00017110507178585976, + 0.012415435165166855 + ], + [ + 0.4334222078323364, + -0.0016351621598005295, + 0.01638398878276348 + ], + [ + 0.42976120114326477, + -0.00318346475251019, + 0.02503257803618908 + ], + [ + 0.4258367121219635, + -0.001164163462817669, + 0.05785880610346794 + ], + [ + 0.4187442362308502, + 0.009108963422477245, + 0.08307427912950516 + ], + [ + 0.4130317270755768, + 0.018748383969068527, + 0.09803041815757751 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9782646096085823, + 0.13567379224221454, + 0.15681510031238846, + 0.13138964186444307, + -0.9906243247693174, + 0.037419369129734516, + 0.16042168057373493, + -0.016002164664517732, + -0.9869188493123171 + ], + [ + 0.9811729060979132, + 0.1446084436586067, + 0.12801611758685308, + 0.14272968656535884, + -0.9894760224799038, + 0.023778929965476654, + 0.13010751289733366, + -0.00505954147963982, + -0.9914869823289088 + ], + [ + 0.9707833608420064, + 0.21442264984278864, + 0.10771533570804029, + 0.20868416561065772, + -0.9760082752714276, + 0.06211896349004042, + 0.11845077178170912, + -0.03782557119317905, + -0.9922392054480751 + ], + [ + 0.9688984582426208, + 0.23870747618552635, + 0.06522666960844119, + 0.2292887919094666, + -0.9651458553512507, + 0.1261749888171175, + 0.09307216296922353, + -0.10729500785888765, + -0.9898612800634194 + ], + [ + 0.9675752280558808, + 0.23591085424329183, + 0.09024548134289478, + 0.2209360105615824, + -0.9636418559057662, + 0.15027192945997325, + 0.12241510237606629, + -0.12546091979852197, + -0.9845171914769018 + ], + [ + 0.9692392365357556, + 0.22791132892994898, + 0.092907096095887, + 0.2152925081621906, + -0.9680335612456608, + 0.12868628610414046, + 0.11926624957974859, + -0.10472559595164974, + -0.9873237114866396 + ], + [ + 0.9751557190844727, + 0.19339433321835167, + 0.10802756785133295, + 0.18540527408724486, + -0.9794205293635523, + 0.07975155799012908, + 0.12122791707143528, + -0.05774130705351651, + -0.9909438599548781 + ], + [ + 0.9795780148817539, + 0.1578610314873757, + 0.12452633254884175, + 0.15446275781334415, + -0.9873223264998737, + 0.03654969279725373, + 0.12871740056814052, + -0.016568594768996046, + -0.9915428949159801 + ], + [ + 0.9875887699842706, + 0.090453592485198, + 0.1284000350758415, + 0.08761111465344394, + -0.9957715690837935, + 0.0276274282838844, + 0.13035610453728932, + -0.016035267722174267, + -0.9913375591588073 + ], + [ + 0.9902643152873982, + 0.02588126746344459, + 0.1367726064051812, + 0.024458833206053004, + -0.9996279637044325, + 0.012070611348601176, + 0.13703412475211948, + -0.008607797315001374, + -0.9905289266239553 + ], + [ + 0.9899313102359604, + -0.023967466823436916, + 0.1395047008117724, + -0.02247915573031905, + -0.9996724463713539, + -0.012234685266265071, + 0.13975223995402275, + 0.008975550121298984, + -0.9901458230623674 + ], + [ + 0.9882884102922386, + -0.07062026978564155, + 0.1352730408375717, + -0.06802535857854485, + -0.9974016811430092, + -0.023715755171603566, + 0.13659637137310982, + 0.01423600886843807, + -0.9905244910547125 + ], + [ + 0.9830054609976517, + -0.12302167811890242, + 0.1362568543655805, + -0.11870228161228265, + -0.9921472612002991, + -0.03941548468284233, + 0.1400358239481319, + 0.02257163719259639, + -0.9898891297542434 + ], + [ + 0.9714248287912668, + -0.18446645211311277, + 0.14935169919575297, + -0.17665547438849036, + -0.9821837397554278, + -0.0640932502578826, + 0.1585138649343818, + 0.03587797938628657, + -0.9867046798402863 + ], + [ + 0.9698150025218708, + -0.19396896107469047, + 0.14776637988090935, + -0.1845719668715971, + -0.9799544014750448, + -0.07498373206794282, + 0.1593488309610524, + 0.04544681693245621, + -0.9861757129954347 + ], + [ + 0.9707118645771543, + -0.18951937614378617, + 0.14765121752025961, + -0.18004488927262585, + -0.98077889775363, + -0.07521031556896264, + 0.1590670104577087, + 0.04642369855198035, + -0.9861757076691772 + ], + [ + 0.9731857518700852, + -0.17858965653625572, + 0.14496629585982765, + -0.16809104689604334, + -0.9823720297650067, + -0.08179605790484436, + 0.1570187641985792, + 0.055235221676414994, + -0.9860497847349838 + ], + [ + 0.9765623806961092, + -0.15667267501179438, + 0.14757909578865264, + -0.14371364424847383, + -0.9850697139032621, + -0.09478421391438914, + 0.1602257940094876, + 0.07135356792196328, + -0.9844980260411066 + ], + [ + 0.9692707433574401, + -0.13135032505759262, + 0.20799355321398874, + -0.11197279825441583, + -0.9884216268453533, + -0.10239521490509815, + 0.219034971003243, + 0.07595906589506024, + -0.9727558284512915 + ], + [ + 0.9598405154029879, + -0.108690762805915, + 0.2586358503216345, + -0.08839002518934527, + -0.9921107995856318, + -0.08890087059520461, + 0.26625812370320934, + 0.062469828127078526, + -0.9618753204734072 + ], + [ + 0.949895557462424, + -0.09819051961334836, + 0.2967440846440104, + -0.07643360699548009, + -0.9935231496102628, + -0.08408123994188059, + 0.30307809824335946, + 0.05718717554281071, + -0.9512482816376724 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.00189208984375, + -0.0008828938007354736, + -0.01245727390050888, + -0.011109906248748302, + 0.030640438199043274, + 0.010945245623588562, + 1.0 + ], + [ + -0.0035701096057891846, + 0.005348771810531616, + -0.027434092015028, + 0.03300003334879875, + 0.011747889220714569, + 0.06728725135326385, + 1.0 + ], + [ + -0.0037973523139953613, + 0.0115593820810318, + -0.029453713446855545, + 0.06986945867538452, + 0.025522463023662567, + 0.020631596446037292, + 1.0 + ], + [ + 0.0003517270088195801, + 0.0032218992710113525, + -0.00953614991158247, + 0.018778346478939056, + -0.029515862464904785, + -0.007882922887802124, + 1.0 + ], + [ + 0.0011088848114013672, + 0.0003080815076828003, + -0.003232511691749096, + -0.021075740456581116, + 0.0031720995903015137, + -0.005914568901062012, + 1.0 + ], + [ + 0.0071907639503479, + -0.010002851486206055, + -0.0013904757797718048, + -0.04747185483574867, + -0.001976005733013153, + -0.03069019317626953, + 1.0 + ], + [ + 0.01223665475845337, + -0.01217004656791687, + -0.0012875190004706383, + -0.04149483144283295, + -0.007548682391643524, + -0.031491100788116455, + 1.0 + ], + [ + 0.020190060138702393, + -0.020607292652130127, + -0.0003585824742913246, + -0.0005343817174434662, + -0.0016526281833648682, + -0.06791472434997559, + 1.0 + ], + [ + 0.0204867422580719, + -0.022389687597751617, + -0.0010998989455401897, + -0.007484092377126217, + -0.006738528609275818, + -0.06378623843193054, + 1.0 + ], + [ + 0.019237875938415527, + -0.023299649357795715, + -0.0014913808554410934, + -0.017754511907696724, + -0.002744525671005249, + -0.047398168593645096, + 1.0 + ], + [ + 0.023722708225250244, + -0.0265563502907753, + -0.0002573220990598202, + -0.0053065745159983635, + 0.003186434507369995, + -0.04601919651031494, + 1.0 + ], + [ + 0.015433132648468018, + -0.022654350847005844, + -0.00041797151789069176, + -0.008427033200860023, + -0.003472834825515747, + -0.05144950747489929, + 1.0 + ], + [ + 0.007812529802322388, + -0.02264838106930256, + 0.0029149637557566166, + -0.013547167181968689, + -0.018687710165977478, + -0.059713564813137054, + 1.0 + ], + [ + 0.0005099475383758545, + -0.006178895011544228, + 0.002096205949783325, + -0.009705908596515656, + -0.0008457154035568237, + -0.008181408047676086, + 1.0 + ], + [ + -0.002055734395980835, + -0.0007355634588748217, + 0.002356231212615967, + -0.0009884312748908997, + 0.00028546154499053955, + 0.004674464464187622, + 1.0 + ], + [ + -0.004947543144226074, + -0.0018062671879306436, + 0.003968553617596626, + -0.008918441832065582, + 0.002074316143989563, + 0.012358143925666809, + 1.0 + ], + [ + -0.0036610066890716553, + -0.0015483025927096605, + 0.008648589253425598, + -0.016392413526773453, + -0.003248155117034912, + 0.024920940399169922, + 1.0 + ], + [ + -0.0039244890213012695, + 0.002019301289692521, + 0.03282622992992401, + -0.005577735602855682, + -0.05990591645240784, + 0.031101122498512268, + 1.0 + ], + [ + -0.007092475891113281, + 0.010273126885294914, + 0.025215473026037216, + 0.013073548674583435, + -0.048683613538742065, + 0.023183651268482208, + 1.0 + ], + [ + -0.0057125091552734375, + 0.009639420546591282, + 0.014956139028072357, + 0.004809021949768066, + -0.03841209411621094, + 0.011536963284015656, + 1.0 + ], + [ + -0.00019276142120361328, + 0.0031828973442316055, + 0.0028030648827552795, + 0.000912398099899292, + -0.007447093725204468, + 0.009043276309967041, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.002137303352356 + ], + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.31951192021369934, + 0.146976038813591, + 0.08100765198469162 + ], + [ + 0.31594181060791016, + 0.15232481062412262, + 0.05357355996966362 + ], + [ + 0.3121444582939148, + 0.16388419270515442, + 0.024119846522808075 + ], + [ + 0.3124961853027344, + 0.16710609197616577, + 0.014583696611225605 + ], + [ + 0.31360507011413574, + 0.16741417348384857, + 0.011351184919476509 + ], + [ + 0.32079583406448364, + 0.15741132199764252, + 0.009960709139704704 + ], + [ + 0.333032488822937, + 0.14524127542972565, + 0.008673190139234066 + ], + [ + 0.3532225489616394, + 0.12463398277759552, + 0.008314607664942741 + ], + [ + 0.3737092912197113, + 0.1022442951798439, + 0.007214708719402552 + ], + [ + 0.39294716715812683, + 0.07894464582204819, + 0.005723327863961458 + ], + [ + 0.4166698753833771, + 0.05238829553127289, + 0.005466005764901638 + ], + [ + 0.4321030080318451, + 0.029733944684267044, + 0.005048034247010946 + ], + [ + 0.4399155378341675, + 0.007085563614964485, + 0.007962998002767563 + ], + [ + 0.44042548537254333, + 0.0009066685452125967, + 0.010059203952550888 + ], + [ + 0.4383697509765625, + 0.00017110507178585976, + 0.012415435165166855 + ], + [ + 0.4334222078323364, + -0.0016351621598005295, + 0.01638398878276348 + ], + [ + 0.42976120114326477, + -0.00318346475251019, + 0.02503257803618908 + ], + [ + 0.4258367121219635, + -0.001164163462817669, + 0.05785880610346794 + ], + [ + 0.4187442362308502, + 0.009108963422477245, + 0.08307427912950516 + ], + [ + 0.4130317270755768, + 0.018748383969068527, + 0.09803041815757751 + ], + [ + 0.41283896565437317, + 0.021931281313300133, + 0.1008334830403328 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9811729060979132, + 0.1446084436586067, + 0.12801611758685308, + 0.14272968656535884, + -0.9894760224799038, + 0.023778929965476654, + 0.13010751289733366, + -0.00505954147963982, + -0.9914869823289088 + ], + [ + 0.9707833608420064, + 0.21442264984278864, + 0.10771533570804029, + 0.20868416561065772, + -0.9760082752714276, + 0.06211896349004042, + 0.11845077178170912, + -0.03782557119317905, + -0.9922392054480751 + ], + [ + 0.9688984582426208, + 0.23870747618552635, + 0.06522666960844119, + 0.2292887919094666, + -0.9651458553512507, + 0.1261749888171175, + 0.09307216296922353, + -0.10729500785888765, + -0.9898612800634194 + ], + [ + 0.9675752280558808, + 0.23591085424329183, + 0.09024548134289478, + 0.2209360105615824, + -0.9636418559057662, + 0.15027192945997325, + 0.12241510237606629, + -0.12546091979852197, + -0.9845171914769018 + ], + [ + 0.9692392365357556, + 0.22791132892994898, + 0.092907096095887, + 0.2152925081621906, + -0.9680335612456608, + 0.12868628610414046, + 0.11926624957974859, + -0.10472559595164974, + -0.9873237114866396 + ], + [ + 0.9751557190844727, + 0.19339433321835167, + 0.10802756785133295, + 0.18540527408724486, + -0.9794205293635523, + 0.07975155799012908, + 0.12122791707143528, + -0.05774130705351651, + -0.9909438599548781 + ], + [ + 0.9795780148817539, + 0.1578610314873757, + 0.12452633254884175, + 0.15446275781334415, + -0.9873223264998737, + 0.03654969279725373, + 0.12871740056814052, + -0.016568594768996046, + -0.9915428949159801 + ], + [ + 0.9875887699842706, + 0.090453592485198, + 0.1284000350758415, + 0.08761111465344394, + -0.9957715690837935, + 0.0276274282838844, + 0.13035610453728932, + -0.016035267722174267, + -0.9913375591588073 + ], + [ + 0.9902643152873982, + 0.02588126746344459, + 0.1367726064051812, + 0.024458833206053004, + -0.9996279637044325, + 0.012070611348601176, + 0.13703412475211948, + -0.008607797315001374, + -0.9905289266239553 + ], + [ + 0.9899313102359604, + -0.023967466823436916, + 0.1395047008117724, + -0.02247915573031905, + -0.9996724463713539, + -0.012234685266265071, + 0.13975223995402275, + 0.008975550121298984, + -0.9901458230623674 + ], + [ + 0.9882884102922386, + -0.07062026978564155, + 0.1352730408375717, + -0.06802535857854485, + -0.9974016811430092, + -0.023715755171603566, + 0.13659637137310982, + 0.01423600886843807, + -0.9905244910547125 + ], + [ + 0.9830054609976517, + -0.12302167811890242, + 0.1362568543655805, + -0.11870228161228265, + -0.9921472612002991, + -0.03941548468284233, + 0.1400358239481319, + 0.02257163719259639, + -0.9898891297542434 + ], + [ + 0.9714248287912668, + -0.18446645211311277, + 0.14935169919575297, + -0.17665547438849036, + -0.9821837397554278, + -0.0640932502578826, + 0.1585138649343818, + 0.03587797938628657, + -0.9867046798402863 + ], + [ + 0.9698150025218708, + -0.19396896107469047, + 0.14776637988090935, + -0.1845719668715971, + -0.9799544014750448, + -0.07498373206794282, + 0.1593488309610524, + 0.04544681693245621, + -0.9861757129954347 + ], + [ + 0.9707118645771543, + -0.18951937614378617, + 0.14765121752025961, + -0.18004488927262585, + -0.98077889775363, + -0.07521031556896264, + 0.1590670104577087, + 0.04642369855198035, + -0.9861757076691772 + ], + [ + 0.9731857518700852, + -0.17858965653625572, + 0.14496629585982765, + -0.16809104689604334, + -0.9823720297650067, + -0.08179605790484436, + 0.1570187641985792, + 0.055235221676414994, + -0.9860497847349838 + ], + [ + 0.9765623806961092, + -0.15667267501179438, + 0.14757909578865264, + -0.14371364424847383, + -0.9850697139032621, + -0.09478421391438914, + 0.1602257940094876, + 0.07135356792196328, + -0.9844980260411066 + ], + [ + 0.9692707433574401, + -0.13135032505759262, + 0.20799355321398874, + -0.11197279825441583, + -0.9884216268453533, + -0.10239521490509815, + 0.219034971003243, + 0.07595906589506024, + -0.9727558284512915 + ], + [ + 0.9598405154029879, + -0.108690762805915, + 0.2586358503216345, + -0.08839002518934527, + -0.9921107995856318, + -0.08890087059520461, + 0.26625812370320934, + 0.062469828127078526, + -0.9618753204734072 + ], + [ + 0.949895557462424, + -0.09819051961334836, + 0.2967440846440104, + -0.07643360699548009, + -0.9935231496102628, + -0.08408123994188059, + 0.30307809824335946, + 0.05718717554281071, + -0.9512482816376724 + ], + [ + 0.9482702549612563, + -0.08934830540056363, + 0.30463158713068744, + -0.06767787439173839, + -0.9944145043389313, + -0.0809907332858126, + 0.31016645349478095, + 0.056184285012850055, + -0.9490205989566637 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006500.json b/json/chunk-0006/episode_0006500.json new file mode 100644 index 0000000000000000000000000000000000000000..3deb46364c70930480f53462019b538501223ea6 --- /dev/null +++ b/json/chunk-0006/episode_0006500.json @@ -0,0 +1,1582 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 25, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut carrot on plate." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006500.mp4", + "start": 0, + "end": 25, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.23826955258846283, + -0.14729969203472137, + 0.04302716255187988, + 0.08040055632591248, + -0.03125901520252228, + 0.10418301820755005, + 0.0, + 0.9694526195526123 + ], + [ + 0.23729448020458221, + -0.13075362145900726, + 0.04009971395134926, + 0.09946311265230179, + 0.03683679923415184, + 0.08242443948984146, + 0.0, + 0.9694526195526123 + ], + [ + 0.24672763049602509, + -0.08889427781105042, + 0.04737112671136856, + 0.1418289989233017, + 0.07800116389989853, + 0.055853769183158875, + 0.0, + 0.9694526195526123 + ], + [ + 0.2521343231201172, + -0.053242020308971405, + 0.05778587982058525, + 0.18105731904506683, + 0.058401212096214294, + -0.10987485200166702, + 0.0, + 0.9694526195526123 + ], + [ + 0.2539212703704834, + -0.022041769698262215, + 0.06395852565765381, + 0.1884203553199768, + 0.06878361850976944, + -0.26099202036857605, + 0.0, + 0.9694526195526123 + ], + [ + 0.26333391666412354, + -0.010952177457511425, + 0.06784246861934662, + 0.17289435863494873, + 0.052408915013074875, + -0.1611654907464981, + 0.0, + 0.9694526195526123 + ], + [ + 0.2800552248954773, + 0.003701508976519108, + 0.06045887619256973, + 0.15966357290744781, + 0.01832732930779457, + 0.10590715706348419, + 0.0, + 0.9694526195526123 + ], + [ + 0.29145148396492004, + 0.014455300755798817, + 0.04914999380707741, + 0.10243014991283417, + -0.027623087167739868, + 0.3636709451675415, + 0.0, + 0.9694526195526123 + ], + [ + 0.28859609365463257, + 0.02020903490483761, + 0.030716877430677414, + 0.038870833814144135, + -0.06635143607854843, + 0.6106045246124268, + 0.0, + 0.9694526195526123 + ], + [ + 0.2833769619464874, + 0.02493733912706375, + 0.008769810199737549, + 0.025735920295119286, + -0.12029743194580078, + 0.8902854919433594, + 0.0, + 0.9694526195526123 + ], + [ + 0.28474801778793335, + 0.025540707632899284, + -0.013440783135592937, + 0.02913847379386425, + -0.17379215359687805, + 1.0385844707489014, + 0.0, + 0.9694526195526123 + ], + [ + 0.28484416007995605, + 0.027237145230174065, + -0.03601370379328728, + 0.031586963683366776, + -0.17582738399505615, + 1.0801312923431396, + 0.0, + 0.9694526195526123 + ], + [ + 0.2833985686302185, + 0.030785061419010162, + -0.050334103405475616, + 0.03618448227643967, + -0.16243772208690643, + 1.075463056564331, + 0.0, + 0.9694526195526123 + ], + [ + 0.2835673689842224, + 0.036369651556015015, + -0.05793292447924614, + 0.046076808124780655, + -0.16434569656848907, + 1.0570060014724731, + 0.0, + 0.9694526195526123 + ], + [ + 0.28706496953964233, + 0.046220891177654266, + -0.06460540741682053, + 0.03404315933585167, + -0.16472527384757996, + 1.0495800971984863, + 0.0, + 0.9694526195526123 + ], + [ + 0.28778788447380066, + 0.05189508944749832, + -0.06933727860450745, + 0.03107531927525997, + -0.1480119824409485, + 1.0308728218078613, + 0.0, + 0.7874543070793152 + ], + [ + 0.2809171676635742, + 0.044571083039045334, + -0.06408535689115524, + 0.09309260547161102, + -0.11850163340568542, + 0.979532778263092, + 0.0, + 0.6119219660758972 + ], + [ + 0.2847999334335327, + 0.038140956312417984, + -0.032031163573265076, + 0.1298682689666748, + -0.12448818981647491, + 0.9321891069412231, + 0.0, + 0.6119219660758972 + ], + [ + 0.2877402603626251, + 0.0364675410091877, + 0.0003387628239579499, + 0.16104742884635925, + -0.150373175740242, + 0.8907092213630676, + 0.0, + 0.6109193563461304 + ], + [ + 0.28762152791023254, + 0.03299693763256073, + 0.02417503297328949, + 0.20012880861759186, + -0.15954150259494781, + 0.8524655103683472, + 0.0, + 0.6119219660758972 + ], + [ + 0.28898903727531433, + 0.0037547966931015253, + 0.05400750786066055, + 0.22103460133075714, + -0.14020134508609772, + 0.7344595193862915, + 0.0, + 0.6119219660758972 + ], + [ + 0.28581225872039795, + -0.02466655522584915, + 0.061385225504636765, + 0.22222447395324707, + -0.09506748616695404, + 0.6098225712776184, + 0.0, + 0.6119219660758972 + ], + [ + 0.2934138774871826, + -0.056184038519859314, + 0.06559444963932037, + 0.1620672345161438, + -0.10101965814828873, + 0.5157567858695984, + 0.0, + 0.6109193563461304 + ], + [ + 0.3130560517311096, + -0.09572462737560272, + 0.053616367280483246, + 0.11777199804782867, + -0.1321788877248764, + 0.41191625595092773, + 0.0, + 0.6119219660758972 + ], + [ + 0.3311394155025482, + -0.11680201441049576, + 0.04184618219733238, + 0.09332893043756485, + -0.16352079808712006, + 0.3474721908569336, + 0.0, + 0.6119219660758972 + ] + ], + "left_gripper_pos": [ + [ + 0.9694526195526123 + ], + [ + 0.9694526195526123 + ], + [ + 0.9694526195526123 + ], + [ + 0.9694526195526123 + ], + [ + 0.9694526195526123 + ], + [ + 0.9694526195526123 + ], + [ + 0.9694526195526123 + ], + [ + 0.9694526195526123 + ], + [ + 0.9694526195526123 + ], + [ + 0.9694526195526123 + ], + [ + 0.9694526195526123 + ], + [ + 0.9694526195526123 + ], + [ + 0.9694526195526123 + ], + [ + 0.9694526195526123 + ], + [ + 0.9694526195526123 + ], + [ + 0.7874543070793152 + ], + [ + 0.6119219660758972 + ], + [ + 0.6119219660758972 + ], + [ + 0.6109193563461304 + ], + [ + 0.6119219660758972 + ], + [ + 0.6119219660758972 + ], + [ + 0.6119219660758972 + ], + [ + 0.6109193563461304 + ], + [ + 0.6119219660758972 + ], + [ + 0.6119219660758972 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.23826955258846283, + -0.14729969203472137, + 0.04302716255187988 + ], + [ + 0.23729448020458221, + -0.13075362145900726, + 0.04009971395134926 + ], + [ + 0.24672763049602509, + -0.08889427781105042, + 0.04737112671136856 + ], + [ + 0.2521343231201172, + -0.053242020308971405, + 0.05778587982058525 + ], + [ + 0.2539212703704834, + -0.022041769698262215, + 0.06395852565765381 + ], + [ + 0.26333391666412354, + -0.010952177457511425, + 0.06784246861934662 + ], + [ + 0.2800552248954773, + 0.003701508976519108, + 0.06045887619256973 + ], + [ + 0.29145148396492004, + 0.014455300755798817, + 0.04914999380707741 + ], + [ + 0.28859609365463257, + 0.02020903490483761, + 0.030716877430677414 + ], + [ + 0.2833769619464874, + 0.02493733912706375, + 0.008769810199737549 + ], + [ + 0.28474801778793335, + 0.025540707632899284, + -0.013440783135592937 + ], + [ + 0.28484416007995605, + 0.027237145230174065, + -0.03601370379328728 + ], + [ + 0.2833985686302185, + 0.030785061419010162, + -0.050334103405475616 + ], + [ + 0.2835673689842224, + 0.036369651556015015, + -0.05793292447924614 + ], + [ + 0.28706496953964233, + 0.046220891177654266, + -0.06460540741682053 + ], + [ + 0.28778788447380066, + 0.05189508944749832, + -0.06933727860450745 + ], + [ + 0.2809171676635742, + 0.044571083039045334, + -0.06408535689115524 + ], + [ + 0.2847999334335327, + 0.038140956312417984, + -0.032031163573265076 + ], + [ + 0.2877402603626251, + 0.0364675410091877, + 0.0003387628239579499 + ], + [ + 0.28762152791023254, + 0.03299693763256073, + 0.02417503297328949 + ], + [ + 0.28898903727531433, + 0.0037547966931015253, + 0.05400750786066055 + ], + [ + 0.28581225872039795, + -0.02466655522584915, + 0.061385225504636765 + ], + [ + 0.2934138774871826, + -0.056184038519859314, + 0.06559444963932037 + ], + [ + 0.3130560517311096, + -0.09572462737560272, + 0.053616367280483246 + ], + [ + 0.3311394155025482, + -0.11680201441049576, + 0.04184618219733238 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9940919820044368, + 0.10615522525212016, + 0.022631824189890286, + 0.10394384782191361, + -0.9911039482668235, + 0.08311823043044515, + 0.0312539247849824, + -0.08027472753977645, + -0.9962826708840967 + ], + [ + 0.9959289335715711, + 0.07827960861105043, + -0.04469745127738635, + 0.08227528886026142, + -0.9919805170698363, + 0.09594493523277363, + -0.03682846885161142, + -0.09923183274313409, + -0.9943825758994799 + ], + [ + 0.995404776468816, + 0.0442667815179013, + -0.0849104412726296, + 0.05565499525080333, + -0.9890302445184942, + 0.13682725215146457, + -0.07792209241735844, + -0.14092419054844274, + -0.9869490969809774 + ], + [ + 0.9922752432037324, + -0.11830842265801042, + -0.03732236398122842, + -0.10946696312639173, + -0.9765697534706566, + 0.1852795201584523, + -0.05836801957286989, + -0.1797627150841762, + -0.9819768533711507 + ], + [ + 0.9638498934301855, + -0.26590971545645536, + -0.016893968168741128, + -0.2574289288877625, + -0.9457133143854023, + 0.19838516468192874, + -0.06872939332133539, + -0.1868645237064639, + -0.9799785305166828 + ], + [ + 0.9856856893751571, + -0.16697148440936999, + -0.023329062457641193, + -0.16024837360808647, + -0.970878956806112, + 0.17808568158905588, + -0.052384926429118385, + -0.1717980635083148, + -0.9837384026547955 + ], + [ + 0.9942300771577014, + 0.10146744970135432, + -0.034798136819295264, + 0.10569153363131101, + -0.982057165434866, + 0.15618266080681864, + -0.0183263033275322, + -0.1589593673526019, + -0.9871150217361744 + ], + [ + 0.9342407986547802, + 0.3564825057369755, + -0.010693607079247215, + 0.3555717778994374, + -0.9286941937448834, + 0.10533662832070256, + 0.027619574404962446, + -0.10221212065126087, + -0.99437912362522 + ], + [ + 0.8174987242751244, + 0.5750407564103882, + 0.03199944180001769, + 0.572101197040099, + -0.8172053514349429, + 0.06982573974815653, + 0.0663027612836003, + -0.03877553420727971, + -0.9970458373580976 + ], + [ + 0.6246429869714987, + 0.7789370620852575, + 0.05548145759902384, + 0.7716342008832014, + -0.62658151798549, + 0.10943610622798346, + 0.12000749499371952, + -0.02554710607851983, + -0.9924442284160584 + ], + [ + 0.4997964833434296, + 0.8638774319713473, + 0.06260397565754838, + 0.8487064443600271, + -0.5028840346373447, + 0.1637223839571912, + 0.1729186124721713, + -0.028695474163287313, + -0.9845180156925738 + ], + [ + 0.46394748000702246, + 0.8841828550279108, + 0.05452902593872515, + 0.8684208318146328, + -0.4661049162571289, + 0.1690901118082202, + 0.17492282488433308, + -0.031094789203780032, + -0.9840910117559543 + ], + [ + 0.4690677044250644, + 0.8820153865461359, + 0.04499273898387947, + 0.8682285033803446, + -0.4698663026761818, + 0.15938922023569235, + 0.16172431661110126, + -0.035700357215101064, + -0.9861900070023966 + ], + [ + 0.4848593039976637, + 0.8736672925192529, + 0.04021091032269035, + 0.8591532136255257, + -0.4843972339982346, + 0.16496992214277012, + 0.1636068789624482, + -0.04543986880414505, + -0.9854785677422057 + ], + [ + 0.49119490850090075, + 0.869490900960305, + 0.05208776257460431, + 0.8554751225575662, + -0.4928064891208275, + 0.15907255880735838, + 0.16398132987602115, + -0.03357584589612553, + -0.9858918733940608 + ], + [ + 0.5084496418550772, + 0.859689361700049, + 0.04912395624546051, + 0.8483695706371723, + -0.5098919802248462, + 0.14240519695321835, + 0.14747214419795862, + -0.03073060172120503, + -0.9885886893969145 + ], + [ + 0.5535013334142832, + 0.8327680158491241, + -0.011563117543429036, + 0.8244144866053257, + -0.5458726801092496, + 0.1495452151879883, + 0.11822448216798145, + -0.09230627762540056, + -0.9886872725624896 + ], + [ + 0.591464880856837, + 0.8057502250271628, + -0.030591985579304003, + 0.7967131702223499, + -0.5781470234198782, + 0.1760515370707899, + 0.12416690020798837, + -0.1285013392125215, + -0.9839054765135359 + ], + [ + 0.6217642112871066, + 0.7825631859454674, + -0.03168794037803357, + 0.7687438429824369, + -0.6020457567378341, + 0.2158096630611396, + 0.1498071074385867, + -0.1585426340037536, + -0.9759211360371467 + ], + [ + 0.6497707649032145, + 0.7586629349455681, + -0.047207035671263144, + 0.7433435884580727, + -0.6212151643753485, + 0.24805650374135294, + 0.15886554873655448, + -0.19627091147158102, + -0.9675946810182184 + ], + [ + 0.7349105966503551, + 0.676619842309891, + -0.04573842939538923, + 0.6636101658918567, + -0.7036038674963487, + 0.2540927888964238, + 0.13974248693937413, + -0.21708796981113077, + -0.9660977438682279 + ], + [ + 0.8160480594837957, + 0.5757887977380278, + -0.05032717965600565, + 0.5701358893597779, + -0.787609566094976, + 0.23370117470739987, + 0.09492435028308806, + -0.21940472145120332, + -0.9710051163244473 + ], + [ + 0.8654847502440153, + 0.5008863761839589, + 0.0069989462318413714, + 0.49067896060109845, + -0.8504945679593627, + 0.18945486928301097, + 0.10084792867719373, + -0.16053606456157643, + -0.9818644851793965 + ], + [ + 0.9083620097348615, + 0.4117831722292429, + 0.0728908659522243, + 0.39687367319164557, + -0.9038076099160393, + 0.16007214556326665, + 0.1317943352265733, + -0.11647499013384109, + -0.9844103970781227 + ], + [ + 0.9276939603472817, + 0.3533047786335721, + 0.12066337194798865, + 0.33597967511780946, + -0.9309784484257214, + 0.14281731853864005, + 0.16279303990928878, + -0.09195032333558562, + -0.9823663085609022 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0009750723838806152, + 0.01654607057571411, + -0.0029274486005306244, + 0.019062556326389313, + 0.06809581816196442, + -0.021758578717708588, + 1.0 + ], + [ + 0.009433150291442871, + 0.04185934364795685, + 0.007271412760019302, + 0.04236588627099991, + 0.04116436466574669, + -0.026570670306682587, + 1.0 + ], + [ + 0.005406692624092102, + 0.03565225750207901, + 0.01041475310921669, + 0.03922832012176514, + -0.019599951803684235, + -0.1657286286354065, + 1.0 + ], + [ + 0.001786947250366211, + 0.03120025061070919, + 0.006172645837068558, + 0.007363036274909973, + 0.010382406413555145, + -0.15111717581748962, + 1.0 + ], + [ + 0.009412646293640137, + 0.01108959224075079, + 0.00388394296169281, + -0.015525996685028076, + -0.016374703496694565, + 0.09982652962207794, + 1.0 + ], + [ + 0.01672130823135376, + 0.014653686434030533, + -0.007383592426776886, + -0.013230785727500916, + -0.034081585705280304, + 0.2670726478099823, + 1.0 + ], + [ + 0.011396259069442749, + 0.010753791779279709, + -0.011308882385492325, + -0.05723342299461365, + -0.04595041647553444, + 0.2577638030052185, + 1.0 + ], + [ + -0.0028553903102874756, + 0.005753734149038792, + -0.018433116376399994, + -0.06355931609869003, + -0.03872834891080856, + 0.24693357944488525, + 1.0 + ], + [ + -0.005219131708145142, + 0.004728304222226143, + -0.021947067230939865, + -0.013134913519024849, + -0.05394599586725235, + 0.2796809673309326, + 1.0 + ], + [ + 0.0013710558414459229, + 0.0006033685058355331, + -0.02221059426665306, + 0.0034025534987449646, + -0.05349472165107727, + 0.148298978805542, + 1.0 + ], + [ + 9.614229202270508e-05, + 0.0016964375972747803, + -0.022572919726371765, + 0.0024484898895025253, + -0.0020352303981781006, + 0.04154682159423828, + 1.0 + ], + [ + -0.0014455914497375488, + 0.0035479161888360977, + -0.01432039961218834, + 0.004597518593072891, + 0.01338966190814972, + -0.004668235778808594, + 1.0 + ], + [ + 0.00016880035400390625, + 0.005584590137004852, + -0.007598821073770523, + 0.009892325848340988, + -0.0019079744815826416, + -0.01845705509185791, + 1.0 + ], + [ + 0.003497600555419922, + 0.009851239621639252, + -0.006672482937574387, + -0.012033648788928986, + -0.00037957727909088135, + -0.007425904273986816, + 1.0 + ], + [ + 0.0007229149341583252, + 0.005674198269844055, + -0.00473187118768692, + -0.0029678400605916977, + 0.01671329140663147, + -0.018707275390625, + 0.0 + ], + [ + -0.00687071681022644, + -0.007324006408452988, + 0.005251921713352203, + 0.0620172843337059, + 0.02951034903526306, + -0.05134004354476929, + 0.0 + ], + [ + 0.003882765769958496, + -0.00643012672662735, + 0.03205419331789017, + 0.03677566349506378, + -0.00598655641078949, + -0.047343671321868896, + 0.0 + ], + [ + 0.0029403269290924072, + -0.0016734153032302856, + 0.03236992657184601, + 0.031179159879684448, + -0.02588498592376709, + -0.04147988557815552, + 0.0 + ], + [ + -0.00011873245239257812, + -0.0034706033766269684, + 0.023836269974708557, + 0.039081379771232605, + -0.00916832685470581, + -0.03824371099472046, + 0.0 + ], + [ + 0.0013675093650817871, + -0.02924214117228985, + 0.029832474887371063, + 0.020905792713165283, + 0.019340157508850098, + -0.11800599098205566, + 0.0 + ], + [ + -0.003176778554916382, + -0.028421351686120033, + 0.0073777176439762115, + 0.0011898726224899292, + 0.04513385891914368, + -0.1246369481086731, + 0.0 + ], + [ + 0.007601618766784668, + -0.03151748329401016, + 0.004209224134683609, + -0.06015723943710327, + -0.005952171981334686, + -0.09406578540802002, + 0.0 + ], + [ + 0.019642174243927002, + -0.03954058885574341, + -0.011978082358837128, + -0.044295236468315125, + -0.031159229576587677, + -0.10384052991867065, + 0.0 + ], + [ + 0.0180833637714386, + -0.021077387034893036, + -0.011770185083150864, + -0.024443067610263824, + -0.03134191036224365, + -0.06444406509399414, + 0.0 + ], + [ + 0.018167465925216675, + -0.010941855609416962, + -0.015945157036185265, + 0.0028357133269309998, + -0.035889044404029846, + -0.057157933712005615, + 0.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9694526195526123 + ], + [ + 0.9694526195526123 + ], + [ + 0.9694526195526123 + ], + [ + 0.9694526195526123 + ], + [ + 0.9694526195526123 + ], + [ + 0.9694526195526123 + ], + [ + 0.9694526195526123 + ], + [ + 0.9694526195526123 + ], + [ + 0.9694526195526123 + ], + [ + 0.9694526195526123 + ], + [ + 0.9694526195526123 + ], + [ + 0.9694526195526123 + ], + [ + 0.9694526195526123 + ], + [ + 0.9694526195526123 + ], + [ + 0.7874543070793152 + ], + [ + 0.6119219660758972 + ], + [ + 0.6119219660758972 + ], + [ + 0.6109193563461304 + ], + [ + 0.6119219660758972 + ], + [ + 0.6119219660758972 + ], + [ + 0.6119219660758972 + ], + [ + 0.6109193563461304 + ], + [ + 0.6119219660758972 + ], + [ + 0.6119219660758972 + ], + [ + 0.6119219660758972 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.23729448020458221, + -0.13075362145900726, + 0.04009971395134926 + ], + [ + 0.24672763049602509, + -0.08889427781105042, + 0.04737112671136856 + ], + [ + 0.2521343231201172, + -0.053242020308971405, + 0.05778587982058525 + ], + [ + 0.2539212703704834, + -0.022041769698262215, + 0.06395852565765381 + ], + [ + 0.26333391666412354, + -0.010952177457511425, + 0.06784246861934662 + ], + [ + 0.2800552248954773, + 0.003701508976519108, + 0.06045887619256973 + ], + [ + 0.29145148396492004, + 0.014455300755798817, + 0.04914999380707741 + ], + [ + 0.28859609365463257, + 0.02020903490483761, + 0.030716877430677414 + ], + [ + 0.2833769619464874, + 0.02493733912706375, + 0.008769810199737549 + ], + [ + 0.28474801778793335, + 0.025540707632899284, + -0.013440783135592937 + ], + [ + 0.28484416007995605, + 0.027237145230174065, + -0.03601370379328728 + ], + [ + 0.2833985686302185, + 0.030785061419010162, + -0.050334103405475616 + ], + [ + 0.2835673689842224, + 0.036369651556015015, + -0.05793292447924614 + ], + [ + 0.28706496953964233, + 0.046220891177654266, + -0.06460540741682053 + ], + [ + 0.28778788447380066, + 0.05189508944749832, + -0.06933727860450745 + ], + [ + 0.2809171676635742, + 0.044571083039045334, + -0.06408535689115524 + ], + [ + 0.2847999334335327, + 0.038140956312417984, + -0.032031163573265076 + ], + [ + 0.2877402603626251, + 0.0364675410091877, + 0.0003387628239579499 + ], + [ + 0.28762152791023254, + 0.03299693763256073, + 0.02417503297328949 + ], + [ + 0.28898903727531433, + 0.0037547966931015253, + 0.05400750786066055 + ], + [ + 0.28581225872039795, + -0.02466655522584915, + 0.061385225504636765 + ], + [ + 0.2934138774871826, + -0.056184038519859314, + 0.06559444963932037 + ], + [ + 0.3130560517311096, + -0.09572462737560272, + 0.053616367280483246 + ], + [ + 0.3311394155025482, + -0.11680201441049576, + 0.04184618219733238 + ], + [ + 0.3493068814277649, + -0.12774387001991272, + 0.025901025161147118 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9959289335715711, + 0.07827960861105043, + -0.04469745127738635, + 0.08227528886026142, + -0.9919805170698363, + 0.09594493523277363, + -0.03682846885161142, + -0.09923183274313409, + -0.9943825758994799 + ], + [ + 0.995404776468816, + 0.0442667815179013, + -0.0849104412726296, + 0.05565499525080333, + -0.9890302445184942, + 0.13682725215146457, + -0.07792209241735844, + -0.14092419054844274, + -0.9869490969809774 + ], + [ + 0.9922752432037324, + -0.11830842265801042, + -0.03732236398122842, + -0.10946696312639173, + -0.9765697534706566, + 0.1852795201584523, + -0.05836801957286989, + -0.1797627150841762, + -0.9819768533711507 + ], + [ + 0.9638498934301855, + -0.26590971545645536, + -0.016893968168741128, + -0.2574289288877625, + -0.9457133143854023, + 0.19838516468192874, + -0.06872939332133539, + -0.1868645237064639, + -0.9799785305166828 + ], + [ + 0.9856856893751571, + -0.16697148440936999, + -0.023329062457641193, + -0.16024837360808647, + -0.970878956806112, + 0.17808568158905588, + -0.052384926429118385, + -0.1717980635083148, + -0.9837384026547955 + ], + [ + 0.9942300771577014, + 0.10146744970135432, + -0.034798136819295264, + 0.10569153363131101, + -0.982057165434866, + 0.15618266080681864, + -0.0183263033275322, + -0.1589593673526019, + -0.9871150217361744 + ], + [ + 0.9342407986547802, + 0.3564825057369755, + -0.010693607079247215, + 0.3555717778994374, + -0.9286941937448834, + 0.10533662832070256, + 0.027619574404962446, + -0.10221212065126087, + -0.99437912362522 + ], + [ + 0.8174987242751244, + 0.5750407564103882, + 0.03199944180001769, + 0.572101197040099, + -0.8172053514349429, + 0.06982573974815653, + 0.0663027612836003, + -0.03877553420727971, + -0.9970458373580976 + ], + [ + 0.6246429869714987, + 0.7789370620852575, + 0.05548145759902384, + 0.7716342008832014, + -0.62658151798549, + 0.10943610622798346, + 0.12000749499371952, + -0.02554710607851983, + -0.9924442284160584 + ], + [ + 0.4997964833434296, + 0.8638774319713473, + 0.06260397565754838, + 0.8487064443600271, + -0.5028840346373447, + 0.1637223839571912, + 0.1729186124721713, + -0.028695474163287313, + -0.9845180156925738 + ], + [ + 0.46394748000702246, + 0.8841828550279108, + 0.05452902593872515, + 0.8684208318146328, + -0.4661049162571289, + 0.1690901118082202, + 0.17492282488433308, + -0.031094789203780032, + -0.9840910117559543 + ], + [ + 0.4690677044250644, + 0.8820153865461359, + 0.04499273898387947, + 0.8682285033803446, + -0.4698663026761818, + 0.15938922023569235, + 0.16172431661110126, + -0.035700357215101064, + -0.9861900070023966 + ], + [ + 0.4848593039976637, + 0.8736672925192529, + 0.04021091032269035, + 0.8591532136255257, + -0.4843972339982346, + 0.16496992214277012, + 0.1636068789624482, + -0.04543986880414505, + -0.9854785677422057 + ], + [ + 0.49119490850090075, + 0.869490900960305, + 0.05208776257460431, + 0.8554751225575662, + -0.4928064891208275, + 0.15907255880735838, + 0.16398132987602115, + -0.03357584589612553, + -0.9858918733940608 + ], + [ + 0.5084496418550772, + 0.859689361700049, + 0.04912395624546051, + 0.8483695706371723, + -0.5098919802248462, + 0.14240519695321835, + 0.14747214419795862, + -0.03073060172120503, + -0.9885886893969145 + ], + [ + 0.5535013334142832, + 0.8327680158491241, + -0.011563117543429036, + 0.8244144866053257, + -0.5458726801092496, + 0.1495452151879883, + 0.11822448216798145, + -0.09230627762540056, + -0.9886872725624896 + ], + [ + 0.591464880856837, + 0.8057502250271628, + -0.030591985579304003, + 0.7967131702223499, + -0.5781470234198782, + 0.1760515370707899, + 0.12416690020798837, + -0.1285013392125215, + -0.9839054765135359 + ], + [ + 0.6217642112871066, + 0.7825631859454674, + -0.03168794037803357, + 0.7687438429824369, + -0.6020457567378341, + 0.2158096630611396, + 0.1498071074385867, + -0.1585426340037536, + -0.9759211360371467 + ], + [ + 0.6497707649032145, + 0.7586629349455681, + -0.047207035671263144, + 0.7433435884580727, + -0.6212151643753485, + 0.24805650374135294, + 0.15886554873655448, + -0.19627091147158102, + -0.9675946810182184 + ], + [ + 0.7349105966503551, + 0.676619842309891, + -0.04573842939538923, + 0.6636101658918567, + -0.7036038674963487, + 0.2540927888964238, + 0.13974248693937413, + -0.21708796981113077, + -0.9660977438682279 + ], + [ + 0.8160480594837957, + 0.5757887977380278, + -0.05032717965600565, + 0.5701358893597779, + -0.787609566094976, + 0.23370117470739987, + 0.09492435028308806, + -0.21940472145120332, + -0.9710051163244473 + ], + [ + 0.8654847502440153, + 0.5008863761839589, + 0.0069989462318413714, + 0.49067896060109845, + -0.8504945679593627, + 0.18945486928301097, + 0.10084792867719373, + -0.16053606456157643, + -0.9818644851793965 + ], + [ + 0.9083620097348615, + 0.4117831722292429, + 0.0728908659522243, + 0.39687367319164557, + -0.9038076099160393, + 0.16007214556326665, + 0.1317943352265733, + -0.11647499013384109, + -0.9844103970781227 + ], + [ + 0.9276939603472817, + 0.3533047786335721, + 0.12066337194798865, + 0.33597967511780946, + -0.9309784484257214, + 0.14281731853864005, + 0.16279303990928878, + -0.09195032333558562, + -0.9823663085609022 + ], + [ + 0.9391668545493681, + 0.3031548649662666, + 0.1614396084086262, + 0.28058085043391295, + -0.9482825108968489, + 0.14844078245869494, + 0.1980909025816887, + -0.09411380012756931, + -0.9756549528085837 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006502.json b/json/chunk-0006/episode_0006502.json new file mode 100644 index 0000000000000000000000000000000000000000..e5d46d818dedd0991737846fd764a67020e13aa9 --- /dev/null +++ b/json/chunk-0006/episode_0006502.json @@ -0,0 +1,3022 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 49, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the silver lid and place it on the blue cloth." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006502.mp4", + "start": 0, + "end": 49, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.28276655077934265, + -0.012887174263596535, + 0.11408215761184692, + -0.0025968807749450207, + -0.018699387088418007, + -0.6484728455543518, + 0.0, + 1.0008161067962646 + ], + [ + 0.28238871693611145, + -0.012891569174826145, + 0.10722240060567856, + -0.018987102434039116, + -0.0003257508506067097, + -0.6517969369888306, + 0.0, + 1.0014774799346924 + ], + [ + 0.2824335992336273, + 0.028055008500814438, + 0.11564870178699493, + -0.052393876016139984, + -0.011675670742988586, + -0.5596320629119873, + 0.0, + 1.0008161067962646 + ], + [ + 0.29303890466690063, + 0.05846685916185379, + 0.13487455248832703, + -0.05851709842681885, + -0.05012884736061096, + -0.49915480613708496, + 0.0, + 1.0014774799346924 + ], + [ + 0.3030044734477997, + 0.09045933187007904, + 0.13873036205768585, + -0.05150531232357025, + -0.0519045852124691, + -0.432109534740448, + 0.0, + 1.0008161067962646 + ], + [ + 0.31761401891708374, + 0.11096427589654922, + 0.12666963040828705, + -0.05461539328098297, + -0.027102669700980186, + -0.39618194103240967, + 0.0, + 1.0008161067962646 + ], + [ + 0.3290606141090393, + 0.12233615666627884, + 0.11290720850229263, + -0.03873603045940399, + 0.022889452055096626, + -0.3713793456554413, + 0.0, + 1.0008161067962646 + ], + [ + 0.34456947445869446, + 0.12343355268239975, + 0.1107102483510971, + -0.01530151255428791, + 0.04129161313176155, + -0.3657545745372772, + 0.0, + 1.0014774799346924 + ], + [ + 0.35987669229507446, + 0.12809257209300995, + 0.10768167674541473, + -0.020830316469073296, + 0.054250992834568024, + -0.3506711423397064, + 0.0, + 1.0008161067962646 + ], + [ + 0.3797553479671478, + 0.13873910903930664, + 0.11707571893930435, + -0.013523510657250881, + 0.03224474936723709, + -0.3157128095626831, + 0.0, + 1.0008161067962646 + ], + [ + 0.3908753991127014, + 0.15875568985939026, + 0.1187717467546463, + -0.015612793155014515, + 0.030541475862264633, + -0.26897677779197693, + 0.0, + 1.0008161067962646 + ], + [ + 0.4002518653869629, + 0.17052192986011505, + 0.11699287593364716, + -0.01173943467438221, + 0.0334131084382534, + -0.24718357622623444, + 0.0, + 1.0008161067962646 + ], + [ + 0.39973172545433044, + 0.18439827859401703, + 0.10578221827745438, + -0.012720097787678242, + 0.05764693394303322, + -0.22273749113082886, + 0.0, + 1.0014774799346924 + ], + [ + 0.398293137550354, + 0.19114291667938232, + 0.09765508025884628, + -0.0039834873750805855, + 0.07391711324453354, + -0.21541321277618408, + 0.0, + 1.0014774799346924 + ], + [ + 0.394010990858078, + 0.1955578625202179, + 0.08886418491601944, + 0.0006104108178988099, + 0.09292993694543839, + -0.21085819602012634, + 0.0, + 1.0008161067962646 + ], + [ + 0.3914361000061035, + 0.1988685429096222, + 0.08155593276023865, + 0.00027042493456974626, + 0.10055238008499146, + -0.20633263885974884, + 0.0, + 1.0008161067962646 + ], + [ + 0.3902030885219574, + 0.20015595853328705, + 0.07892939448356628, + 0.00853013712912798, + 0.10703355818986893, + -0.20898321270942688, + 0.0, + 1.0008161067962646 + ], + [ + 0.3908085823059082, + 0.20226112008094788, + 0.07667658478021622, + 0.019363369792699814, + 0.10332802683115005, + -0.20372168719768524, + 0.0, + 0.9437892436981201 + ], + [ + 0.3899969756603241, + 0.20456260442733765, + 0.0740128681063652, + 0.031165868043899536, + 0.08690833300352097, + -0.1747775673866272, + 0.0, + 0.672171950340271 + ], + [ + 0.3893304467201233, + 0.20432116091251373, + 0.07325689494609833, + 0.043637074530124664, + 0.05791206285357475, + -0.12587077915668488, + 0.0, + 0.3840504586696625 + ], + [ + 0.38787323236465454, + 0.20877231657505035, + 0.07397206127643585, + 0.05307583138346672, + 0.03497163951396942, + -0.0683811753988266, + 0.0, + 0.2824830114841461 + ], + [ + 0.3877817690372467, + 0.20843936502933502, + 0.07371650636196136, + 0.05445839464664459, + 0.029462197795510292, + -0.05486637353897095, + 0.0, + 0.2817513048648834 + ], + [ + 0.3867284953594208, + 0.20689533650875092, + 0.07590210437774658, + 0.03633197024464607, + 0.015518874861299992, + -0.046752359718084335, + 0.0, + 0.2817513048648834 + ], + [ + 0.3873363137245178, + 0.20339563488960266, + 0.07931827008724213, + 0.01179570984095335, + 0.006795952562242746, + -0.04520903527736664, + 0.0, + 0.2817513048648834 + ], + [ + 0.3864269554615021, + 0.1957370787858963, + 0.09430331736803055, + -0.014247763901948929, + -0.01179539505392313, + -0.04805992543697357, + 0.0, + 0.2817513048648834 + ], + [ + 0.383475661277771, + 0.17683935165405273, + 0.10204202681779861, + 0.001565199694596231, + -0.029372770339250565, + -0.09586857259273529, + 0.0, + 0.2817513048648834 + ], + [ + 0.3781907558441162, + 0.14379453659057617, + 0.10299947112798691, + 0.013298394158482552, + -0.031340405344963074, + -0.16791720688343048, + 0.0, + 0.2817513048648834 + ], + [ + 0.3666290044784546, + 0.11144598573446274, + 0.10268668830394745, + 0.024786991998553276, + -0.024553902447223663, + -0.24367603659629822, + 0.0, + 0.2817513048648834 + ], + [ + 0.3538036048412323, + 0.08263551443815231, + 0.09797434508800507, + 0.03240106627345085, + -0.009579400531947613, + -0.3102990686893463, + 0.0, + 0.2817513048648834 + ], + [ + 0.3454552888870239, + 0.06639812886714935, + 0.0916709154844284, + 0.035973694175481796, + -0.0022829368244856596, + -0.3522489368915558, + 0.0, + 0.2817513048648834 + ], + [ + 0.33632370829582214, + 0.05051681026816368, + 0.0891844630241394, + 0.03594311326742172, + 0.011281073093414307, + -0.3846663534641266, + 0.0, + 0.2817513048648834 + ], + [ + 0.332654744386673, + 0.04074449464678764, + 0.08781884610652924, + 0.04272725060582161, + 0.013016138225793839, + -0.41115981340408325, + 0.0, + 0.2817513048648834 + ], + [ + 0.33134210109710693, + 0.03237483650445938, + 0.08723773807287216, + 0.05419439077377319, + 0.011913194321095943, + -0.43586447834968567, + 0.0, + 0.2817513048648834 + ], + [ + 0.3298126757144928, + 0.02632901445031166, + 0.08733763545751572, + 0.06896385550498962, + 0.006913275923579931, + -0.45085567235946655, + 0.0, + 0.2817513048648834 + ], + [ + 0.3295275866985321, + 0.026194879785180092, + 0.08941232413053513, + 0.07546461373567581, + 0.006844595540314913, + -0.45459413528442383, + 0.0, + 0.2817513048648834 + ], + [ + 0.3307265341281891, + 0.027707446366548538, + 0.09385965019464493, + 0.062124576419591904, + 0.0033320412039756775, + -0.44110625982284546, + 0.0, + 0.2817513048648834 + ], + [ + 0.33229124546051025, + 0.031964950263500214, + 0.09833899140357971, + 0.04318801686167717, + -0.008011411875486374, + -0.42347121238708496, + 0.0, + 0.2817513048648834 + ], + [ + 0.33643046021461487, + 0.031620997935533524, + 0.10876000672578812, + 0.04356508329510689, + -0.037287406623363495, + -0.4240221679210663, + 0.0, + 0.2817513048648834 + ], + [ + 0.3345905840396881, + 0.02726263739168644, + 0.11283832788467407, + 0.01992391236126423, + -0.036312807351350784, + -0.42067253589630127, + 0.0, + 0.2817513048648834 + ], + [ + 0.3338163197040558, + 0.00938821118324995, + 0.10457190871238708, + 0.015150110237300396, + -0.019786328077316284, + -0.45427775382995605, + 0.0, + 0.2817513048648834 + ], + [ + 0.3309919238090515, + -0.0008472981280647218, + 0.08922914415597916, + 0.009799789637327194, + 0.01856134459376335, + -0.4747656583786011, + 0.0, + 0.2817513048648834 + ], + [ + 0.33350539207458496, + -0.013789614662528038, + 0.07087430357933044, + 0.020994476974010468, + 0.05383303388953209, + -0.5080092549324036, + 0.0, + 0.2817513048648834 + ], + [ + 0.3391566276550293, + -0.02059648185968399, + 0.05742258578538895, + 0.027326004579663277, + 0.07887966185808182, + -0.5126262307167053, + 0.0, + 0.2817513048648834 + ], + [ + 0.34521573781967163, + -0.025669630616903305, + 0.04633299633860588, + 0.029718885198235512, + 0.09694886952638626, + -0.5124323964118958, + 0.0, + 0.2817513048648834 + ], + [ + 0.35101985931396484, + -0.03456151857972145, + 0.0399257093667984, + 0.04139126464724541, + 0.09807504713535309, + -0.5172666907310486, + 0.0, + 0.2817513048648834 + ], + [ + 0.3584982454776764, + -0.042592160403728485, + 0.039630863815546036, + 0.04890505224466324, + 0.08519390970468521, + -0.5250512957572937, + 0.0, + 0.2817513048648834 + ], + [ + 0.36123281717300415, + -0.04769665002822876, + 0.04193897545337677, + 0.02643589861690998, + 0.06243175268173218, + -0.5238890051841736, + 0.0, + 0.3577343225479126 + ], + [ + 0.3528195023536682, + -0.040076844394207, + 0.04512523114681244, + -0.0034947406966239214, + 0.05939314886927605, + -0.4891412854194641, + 0.0, + 0.6641445755958557 + ], + [ + 0.342994749546051, + -0.021293293684720993, + 0.0724789947271347, + -0.0018778633093461394, + 0.0008714372524991632, + -0.4610806405544281, + 0.0, + 0.9499720335006714 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9437892436981201 + ], + [ + 0.672171950340271 + ], + [ + 0.3840504586696625 + ], + [ + 0.2824830114841461 + ], + [ + 0.2817513048648834 + ], + [ + 0.2817513048648834 + ], + [ + 0.2817513048648834 + ], + [ + 0.2817513048648834 + ], + [ + 0.2817513048648834 + ], + [ + 0.2817513048648834 + ], + [ + 0.2817513048648834 + ], + [ + 0.2817513048648834 + ], + [ + 0.2817513048648834 + ], + [ + 0.2817513048648834 + ], + [ + 0.2817513048648834 + ], + [ + 0.2817513048648834 + ], + [ + 0.2817513048648834 + ], + [ + 0.2817513048648834 + ], + [ + 0.2817513048648834 + ], + [ + 0.2817513048648834 + ], + [ + 0.2817513048648834 + ], + [ + 0.2817513048648834 + ], + [ + 0.2817513048648834 + ], + [ + 0.2817513048648834 + ], + [ + 0.2817513048648834 + ], + [ + 0.2817513048648834 + ], + [ + 0.2817513048648834 + ], + [ + 0.2817513048648834 + ], + [ + 0.2817513048648834 + ], + [ + 0.3577343225479126 + ], + [ + 0.6641445755958557 + ], + [ + 0.9499720335006714 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.28276655077934265, + -0.012887174263596535, + 0.11408215761184692 + ], + [ + 0.28238871693611145, + -0.012891569174826145, + 0.10722240060567856 + ], + [ + 0.2824335992336273, + 0.028055008500814438, + 0.11564870178699493 + ], + [ + 0.29303890466690063, + 0.05846685916185379, + 0.13487455248832703 + ], + [ + 0.3030044734477997, + 0.09045933187007904, + 0.13873036205768585 + ], + [ + 0.31761401891708374, + 0.11096427589654922, + 0.12666963040828705 + ], + [ + 0.3290606141090393, + 0.12233615666627884, + 0.11290720850229263 + ], + [ + 0.34456947445869446, + 0.12343355268239975, + 0.1107102483510971 + ], + [ + 0.35987669229507446, + 0.12809257209300995, + 0.10768167674541473 + ], + [ + 0.3797553479671478, + 0.13873910903930664, + 0.11707571893930435 + ], + [ + 0.3908753991127014, + 0.15875568985939026, + 0.1187717467546463 + ], + [ + 0.4002518653869629, + 0.17052192986011505, + 0.11699287593364716 + ], + [ + 0.39973172545433044, + 0.18439827859401703, + 0.10578221827745438 + ], + [ + 0.398293137550354, + 0.19114291667938232, + 0.09765508025884628 + ], + [ + 0.394010990858078, + 0.1955578625202179, + 0.08886418491601944 + ], + [ + 0.3914361000061035, + 0.1988685429096222, + 0.08155593276023865 + ], + [ + 0.3902030885219574, + 0.20015595853328705, + 0.07892939448356628 + ], + [ + 0.3908085823059082, + 0.20226112008094788, + 0.07667658478021622 + ], + [ + 0.3899969756603241, + 0.20456260442733765, + 0.0740128681063652 + ], + [ + 0.3893304467201233, + 0.20432116091251373, + 0.07325689494609833 + ], + [ + 0.38787323236465454, + 0.20877231657505035, + 0.07397206127643585 + ], + [ + 0.3877817690372467, + 0.20843936502933502, + 0.07371650636196136 + ], + [ + 0.3867284953594208, + 0.20689533650875092, + 0.07590210437774658 + ], + [ + 0.3873363137245178, + 0.20339563488960266, + 0.07931827008724213 + ], + [ + 0.3864269554615021, + 0.1957370787858963, + 0.09430331736803055 + ], + [ + 0.383475661277771, + 0.17683935165405273, + 0.10204202681779861 + ], + [ + 0.3781907558441162, + 0.14379453659057617, + 0.10299947112798691 + ], + [ + 0.3666290044784546, + 0.11144598573446274, + 0.10268668830394745 + ], + [ + 0.3538036048412323, + 0.08263551443815231, + 0.09797434508800507 + ], + [ + 0.3454552888870239, + 0.06639812886714935, + 0.0916709154844284 + ], + [ + 0.33632370829582214, + 0.05051681026816368, + 0.0891844630241394 + ], + [ + 0.332654744386673, + 0.04074449464678764, + 0.08781884610652924 + ], + [ + 0.33134210109710693, + 0.03237483650445938, + 0.08723773807287216 + ], + [ + 0.3298126757144928, + 0.02632901445031166, + 0.08733763545751572 + ], + [ + 0.3295275866985321, + 0.026194879785180092, + 0.08941232413053513 + ], + [ + 0.3307265341281891, + 0.027707446366548538, + 0.09385965019464493 + ], + [ + 0.33229124546051025, + 0.031964950263500214, + 0.09833899140357971 + ], + [ + 0.33643046021461487, + 0.031620997935533524, + 0.10876000672578812 + ], + [ + 0.3345905840396881, + 0.02726263739168644, + 0.11283832788467407 + ], + [ + 0.3338163197040558, + 0.00938821118324995, + 0.10457190871238708 + ], + [ + 0.3309919238090515, + -0.0008472981280647218, + 0.08922914415597916 + ], + [ + 0.33350539207458496, + -0.013789614662528038, + 0.07087430357933044 + ], + [ + 0.3391566276550293, + -0.02059648185968399, + 0.05742258578538895 + ], + [ + 0.34521573781967163, + -0.025669630616903305, + 0.04633299633860588 + ], + [ + 0.35101985931396484, + -0.03456151857972145, + 0.0399257093667984 + ], + [ + 0.3584982454776764, + -0.042592160403728485, + 0.039630863815546036 + ], + [ + 0.36123281717300415, + -0.04769665002822876, + 0.04193897545337677 + ], + [ + 0.3528195023536682, + -0.040076844394207, + 0.04512523114681244 + ], + [ + 0.342994749546051, + -0.021293293684720993, + 0.0724789947271347 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.7968677434779174, + -0.6040066214943409, + 0.01333418896685045, + -0.6038643664604806, + -0.7969750684771721, + -0.013362901821428592, + 0.01869829734746485, + 0.00259642384802728, + -0.9998218002521785 + ], + [ + 0.7949949898467981, + -0.606511514833149, + -0.01125826333358525, + -0.6066159081369995, + -0.7948479827455229, + -0.01529131519838515, + 0.0003257508448456098, + 0.01898596060703269, + -0.9998196973385828 + ], + [ + 0.8473927346470059, + -0.5306641005876231, + -0.01792109413505718, + -0.530838241062713, + -0.8459629891044163, + -0.05057057336995392, + 0.011675405471052409, + 0.052366338549205374, + -0.9985596884984073 + ], + [ + 0.8768845389762964, + -0.4804372437184902, + 0.015923572228256813, + -0.478082323614401, + -0.8750818810510871, + -0.07529271746687347, + 0.05010785519041552, + 0.0584102414330851, + -0.9970343256598267 + ], + [ + 0.9068613703586677, + -0.42065748747448084, + 0.025489864316170716, + -0.4182233703209589, + -0.9057615360117163, + -0.06844890356371475, + 0.0518812824492403, + 0.051413209522005766, + -0.9973289399280805 + ], + [ + 0.9222022914628546, + -0.38668817349376167, + 0.0038974479750815173, + -0.3857571240495718, + -0.9205946818467501, + -0.06080191609221057, + 0.027099351757252293, + 0.054568198023568534, + -0.9981422428185259 + ], + [ + 0.9315835719824905, + -0.36180293732185415, + -0.035364996219748326, + -0.36280602653540533, + -0.931450315599944, + -0.027786627689518055, + -0.022887453373739004, + 0.03871619963327532, + -0.9989880982093939 + ], + [ + 0.9330581541023055, + -0.3570223487930094, + -0.04401730938530348, + -0.35734920250813085, + -0.9339707294087677, + 0.0004733650366614264, + -0.04127988045042862, + 0.015287873298067977, + -0.99903065638649 + ], + [ + 0.9377606790681283, + -0.3423929618590529, + -0.058068653015790145, + -0.34302277599932807, + -0.9393266183545401, + -0.0009376547014156161, + -0.05422438509930656, + 0.020798166265549017, + -0.9983121517544464 + ], + [ + 0.9500811721463398, + -0.3100513117246246, + -0.03484179144183247, + -0.31033272912026694, + -0.9506237425915992, + -0.002845568116786384, + -0.032239162051819356, + 0.013516068917401694, + -0.9993887893663886 + ], + [ + 0.9635937312652084, + -0.26525315506872515, + -0.033583996076705105, + -0.2656212139678277, + -0.9640525149112059, + -0.006936799235704082, + -0.0305367279951668, + 0.015604878066354914, + -0.9994118250370482 + ], + [ + 0.9690641716320656, + -0.24427700486236853, + -0.03526153931025627, + -0.24453754488425666, + -0.96963451397748, + -0.0032091191370963376, + -0.033406891520141736, + 0.011732612630028644, + -0.9993729661141706 + ], + [ + 0.9736763031658473, + -0.22016769717462378, + -0.05899696410928318, + -0.22053336976585694, + -0.9753793774869307, + 0.00032061335485208346, + -0.057615010830552635, + 0.012698625674877562, + -0.9982581106271887 + ], + [ + 0.9742206365447396, + -0.21346203325573915, + -0.0729939154223657, + -0.21316743482658157, + -0.9769432833137781, + 0.011893944574852214, + -0.07384982098703323, + 0.003972599453793774, + -0.9972614614000495 + ], + [ + 0.9736323425962069, + -0.2093545154807131, + -0.09061317949646196, + -0.20839606443772102, + -0.977839617450141, + 0.020019062711098698, + -0.0927962379490214, + -0.0006077769307359301, + -0.9956849345198062 + ], + [ + 0.9738448416235, + -0.20489827625336504, + -0.0981983748933713, + -0.2038368793002049, + -0.978783236470499, + 0.020830329845882026, + -0.10038302187348763, + -0.00026905897911185146, + -0.9949488311098275 + ], + [ + 0.9726442543836273, + -0.20834922577412282, + -0.1027314680798544, + -0.2062780965236282, + -0.978017724294974, + 0.030507013283339553, + -0.10682930922320558, + -0.008481219499854975, + -0.9942412019257142 + ], + [ + 0.9740971109380899, + -0.2042333173167189, + -0.09707507692438297, + -0.20123637955555512, + -0.9787327762247652, + 0.03982552305665507, + -0.10314425822816814, + -0.019258889925746155, + -0.9944799430623973 + ], + [ + 0.9810485874341976, + -0.1764681760851937, + -0.08001657279920663, + -0.17323281397474052, + -0.9838167011641231, + 0.04577216045737502, + -0.08679897036116616, + -0.03104321728989795, + -0.9957420636914631 + ], + [ + 0.9904255547512651, + -0.1279240890159458, + -0.05189073082052739, + -0.1253282136472176, + -0.9908273394677959, + 0.05053733498282293, + -0.05787969730091404, + -0.04355009543742761, + -0.9973732149139283 + ], + [ + 0.9970529018523631, + -0.07008224183577848, + -0.03120881745682338, + -0.0682861175146021, + -0.9961312766928964, + 0.05531261835207447, + -0.034964511473261226, + -0.053018477660639725, + -0.9979812242542363 + ], + [ + 0.9980618919614321, + -0.056358578210429236, + -0.0263850426656014, + -0.05481505121681361, + -0.99692702621486, + 0.0559626175450558, + -0.02945793567894357, + -0.05440785848105967, + -0.9980841722825988 + ], + [ + 0.9987870237397156, + -0.047267556322825394, + -0.013793452375295338, + -0.046729702176329796, + -0.9982217511686378, + 0.03700905873336874, + -0.015518251952862775, + -0.03631960370222875, + -0.9992197307115391 + ], + [ + 0.9989551768070957, + -0.04527057136517816, + -0.006255405548375467, + -0.04519259308878937, + -0.998905125362975, + 0.0120904943443249, + -0.006795900250551289, + -0.011795163917867184, + -0.9999073406310883 + ], + [ + 0.9987758595148049, + -0.048204404743300656, + 0.011095846691755904, + -0.048038084457807266, + -0.9987358902949298, + -0.01479742810147868, + 0.011795121537630454, + 0.014246290750153443, + -0.9998289445238994 + ], + [ + 0.9949787588145594, + -0.09567591505421191, + 0.029383478119128864, + -0.09568049937139392, + -0.9954113077233337, + -0.0012531945429890181, + 0.02936854691466345, + -0.0015645239087702845, + -0.9995674267987426 + ], + [ + 0.9854508373377465, + -0.1667036007479659, + 0.03311429733509697, + -0.1670471422295833, + -0.9859174642287409, + 0.00787438897304209, + 0.03133527506283917, + -0.0132914719437761, + -0.9994205507744496 + ], + [ + 0.9701650834108217, + -0.2406070544503961, + 0.02979859525510671, + -0.24119895927592377, + -0.970306315787941, + 0.018130515333102098, + 0.024551435287673173, + -0.024776983083836395, + -0.9993914789183359 + ], + [ + 0.9521986029288978, + -0.30488766736925804, + 0.019008705016068737, + -0.3053294261492046, + -0.9518372470229642, + 0.027924840324377764, + 0.00957925402380795, + -0.03239391093828083, + -0.9994292733487798 + ], + [ + 0.9385967365336684, + -0.34470924659462965, + 0.014549964965940292, + -0.34500862942375365, + -0.9380202521919679, + 0.03297047316705698, + 0.002282934841450945, + -0.035965841987633265, + -0.9993504122271777 + ], + [ + 0.9268647043519715, + -0.375383282042789, + 0.003035027070155635, + -0.3752260153759234, + -0.9261728805956917, + 0.037539747391080326, + -0.011280833818469012, + -0.035933087981173915, + -0.9992905263117916 + ], + [ + 0.9165802447112239, + -0.3998176034128824, + 0.0051516023033661585, + -0.39963889289992727, + -0.9155990857559038, + 0.04435165661701721, + -0.013015770696866867, + -0.04271063291655177, + -0.9990026984693456 + ], + [ + 0.906441076548284, + -0.42215933136229594, + 0.012086094891525364, + -0.42216425388832707, + -0.9049020707350307, + 0.054125641967236376, + -0.011912912528002155, + -0.054164022405953055, + -0.9984609863143914 + ], + [ + 0.9000530760512802, + -0.4351288719116099, + 0.023818587690259248, + -0.43572544987415057, + -0.8977274717379855, + 0.06502860000718026, + -0.006913220855569715, + -0.068907556304476, + -0.9975990958604303 + ], + [ + 0.8984182712574607, + -0.4383116101046562, + 0.02697299238533952, + -0.43908741967202186, + -0.8956556778484233, + 0.07073291047063593, + -0.006844542097281303, + -0.0753912407733493, + -0.9971305396276524 + ], + [ + 0.9042748900979706, + -0.4263035465392539, + 0.02349913501296432, + -0.42693772459318563, + -0.9024471334124602, + 0.05756171222980386, + -0.0033320350383153063, + -0.06208427823279994, + -0.9980653485312552 + ], + [ + 0.9116387624661291, + -0.41022901032671644, + 0.02503848748600944, + -0.4109143285675426, + -0.9109600613075659, + 0.036071890446732986, + 0.008011326176726874, + -0.04317320684033384, + -0.9990354812838288 + ], + [ + 0.9108079395930734, + -0.40955961326443974, + 0.05186347806407607, + -0.4111437591894525, + -0.9112446669092894, + 0.02437142402371388, + 0.037278766795400306, + -0.04352103183589191, + -0.9983567565425465 + ], + [ + 0.9122127387049848, + -0.40763316767798347, + 0.04126887390230121, + -0.40810523011955996, + -0.912928701483167, + 0.0033626116813579437, + 0.03630482741195747, + -0.019909460491726642, + -0.9991424187219339 + ], + [ + 0.8984023034455251, + -0.4384937406470668, + 0.02442418017289126, + -0.4387275389951675, + -0.8986065996718439, + 0.004932094225642414, + 0.019785037048708543, + -0.015146565272354662, + -0.9996895187354081 + ], + [ + 0.8892466654518673, + -0.4572698535906548, + -0.012027010431350321, + -0.4570512925627413, + -0.8892740192293158, + 0.01719984565238613, + -0.018560278808848276, + -0.009797944729356927, + -0.9997797339062331 + ], + [ + 0.8724489092638535, + -0.4873185891673136, + -0.0367898542575439, + -0.48573419023623826, + -0.8729726028155502, + 0.044509899673998245, + -0.05380703634152435, + -0.02096252335532601, + -0.9983312954399052 + ], + [ + 0.8687497280054328, + -0.4921607022851862, + -0.05524267568319314, + -0.48894253524034287, + -0.8700781307975308, + 0.06244392316807594, + -0.07879788907852937, + -0.027237647365857636, + -0.9965184409948171 + ], + [ + 0.8674617869471144, + -0.4925889909081039, + -0.06975768217662255, + -0.48799628645489707, + -0.8697593959606579, + 0.07333633168069723, + -0.09679706913305146, + -0.02957497547399112, + -0.9948646381457951 + ], + [ + 0.864997244181265, + -0.49760443319882836, + -0.06457240602370051, + -0.49212991481445373, + -0.8664259843927731, + 0.08434548306656739, + -0.0979178967479152, + -0.04118059773591029, + -0.9943421161082224 + ], + [ + 0.8621599609515922, + -0.5042574760113379, + -0.049036717045739864, + -0.49943942778805495, + -0.862178579604771, + 0.08490203084402444, + -0.08509089083262159, + -0.04870826169526592, + -0.9951819158023 + ], + [ + 0.8641933195501309, + -0.5015045217448288, + -0.040781381958149274, + -0.49927672102193776, + -0.8647527048228749, + 0.0540880333077894, + -0.06239120363086566, + -0.026381322389388576, + -0.9977030437652676 + ], + [ + 0.8811801770332338, + -0.4696820573871031, + -0.05403943534398702, + -0.4690395456475205, + -0.8828287460417581, + 0.024805438538854224, + -0.05935823634885511, + 0.003488571477737663, + -0.9982306495227435 + ], + [ + 0.8955718860425683, + -0.44491390820844834, + -0.0016159247635200015, + -0.44491598929175846, + -0.895571375111386, + -0.0012940454539995345, + -0.00087143714220384, + 0.0018778614926457271, + -0.9999978571144649 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.00037783384323120117, + -4.394911229610443e-06, + -0.0068597570061683655, + -0.016390221193432808, + 0.018373636528849602, + -0.0033240914344787598, + 1.0 + ], + [ + 4.488229751586914e-05, + 0.04094657674431801, + 0.008426301181316376, + -0.03340677171945572, + -0.011349920183420181, + 0.09216487407684326, + 1.0 + ], + [ + 0.010605305433273315, + 0.030411850661039352, + 0.019225850701332092, + -0.0061232224106788635, + -0.038453176617622375, + 0.060477256774902344, + 1.0 + ], + [ + 0.009965568780899048, + 0.03199247270822525, + 0.0038558095693588257, + 0.007011786103248596, + -0.001775737851858139, + 0.06704527139663696, + 1.0 + ], + [ + 0.014609545469284058, + 0.020504944026470184, + -0.012060731649398804, + -0.0031100809574127197, + 0.024801915511488914, + 0.03592759370803833, + 1.0 + ], + [ + 0.011446595191955566, + 0.011371880769729614, + -0.013762421905994415, + 0.01587936282157898, + 0.04999212175607681, + 0.024802595376968384, + 1.0 + ], + [ + 0.015508860349655151, + 0.0010973960161209106, + -0.002196960151195526, + 0.02343451790511608, + 0.018402161076664925, + 0.0056247711181640625, + 1.0 + ], + [ + 0.015307217836380005, + 0.004659019410610199, + -0.003028571605682373, + -0.005528803914785385, + 0.012959379702806473, + 0.0150834321975708, + 1.0 + ], + [ + 0.019878655672073364, + 0.010646536946296692, + 0.009394042193889618, + 0.007306805811822414, + -0.022006243467330933, + 0.034958332777023315, + 1.0 + ], + [ + 0.011120051145553589, + 0.020016580820083618, + 0.0016960278153419495, + -0.0020892824977636337, + -0.0017032735049724579, + 0.04673603177070618, + 1.0 + ], + [ + 0.009376466274261475, + 0.011766240000724792, + -0.0017788708209991455, + 0.003873358480632305, + 0.0028716325759887695, + 0.021793201565742493, + 1.0 + ], + [ + -0.0005201399326324463, + 0.013876348733901978, + -0.01121065765619278, + -0.000980663113296032, + 0.024233825504779816, + 0.02444608509540558, + 1.0 + ], + [ + -0.0014385879039764404, + 0.006744638085365295, + -0.008127138018608093, + 0.008736610412597656, + 0.01627017930150032, + 0.007324278354644775, + 1.0 + ], + [ + -0.004282146692276001, + 0.004414945840835571, + -0.008790895342826843, + 0.0045938980765640736, + 0.019012823700904846, + 0.004555016756057739, + 1.0 + ], + [ + -0.0025748908519744873, + 0.003310680389404297, + -0.007308252155780792, + -0.00033998588332906365, + 0.00762244313955307, + 0.0045255571603775024, + 1.0 + ], + [ + -0.0012330114841461182, + 0.001287415623664856, + -0.0026265382766723633, + 0.008259711787104607, + 0.006481178104877472, + -0.0026505738496780396, + 1.0 + ], + [ + 0.0006054937839508057, + 0.0021051615476608276, + -0.002252809703350067, + 0.010833232663571835, + -0.003705531358718872, + 0.005261525511741638, + 0.0 + ], + [ + -0.0008116066455841064, + 0.0023014843463897705, + -0.002663716673851013, + 0.011802498251199722, + -0.01641969382762909, + 0.028944119811058044, + 0.0 + ], + [ + -0.0006665289402008057, + -0.00024144351482391357, + -0.0007559731602668762, + 0.012471206486225128, + -0.028996270149946213, + 0.04890678822994232, + 0.0 + ], + [ + -0.00145721435546875, + 0.004451155662536621, + 0.0007151663303375244, + 0.009438756853342056, + -0.02294042333960533, + 0.057489603757858276, + 0.0 + ], + [ + -9.146332740783691e-05, + -0.00033295154571533203, + -0.0002555549144744873, + 0.0013825632631778717, + -0.005509441718459129, + 0.013514801859855652, + 0.0 + ], + [ + -0.0010532736778259277, + -0.0015440285205841064, + 0.0021855980157852173, + -0.01812642440199852, + -0.0139433229342103, + 0.008114013820886612, + 0.0 + ], + [ + 0.0006078183650970459, + -0.0034997016191482544, + 0.0034161657094955444, + -0.024536259472370148, + -0.008722921833395958, + 0.0015433244407176971, + 0.0 + ], + [ + -0.0009093582630157471, + -0.00765855610370636, + 0.014985047280788422, + -0.026043474674224854, + -0.018591348081827164, + -0.0028508901596069336, + 0.0 + ], + [ + -0.002951294183731079, + -0.018897727131843567, + 0.007738709449768066, + 0.015812963247299194, + -0.01757737621665001, + -0.04780864715576172, + 0.0 + ], + [ + -0.005284905433654785, + -0.03304481506347656, + 0.0009574443101882935, + 0.011733194813132286, + -0.001967635005712509, + -0.07204863429069519, + 0.0 + ], + [ + -0.011561751365661621, + -0.032348550856113434, + -0.00031278282403945923, + 0.011488597840070724, + 0.00678650289773941, + -0.07575882971286774, + 0.0 + ], + [ + -0.01282539963722229, + -0.028810471296310425, + -0.004712343215942383, + 0.007614074274897575, + 0.01497450191527605, + -0.0666230320930481, + 0.0 + ], + [ + -0.008348315954208374, + -0.01623738557100296, + -0.00630342960357666, + 0.003572627902030945, + 0.0072964634746313095, + -0.04194986820220947, + 0.0 + ], + [ + -0.009131580591201782, + -0.015881318598985672, + -0.0024864524602890015, + -3.058090806007385e-05, + 0.01356401015073061, + -0.0324174165725708, + 0.0 + ], + [ + -0.00366896390914917, + -0.009772315621376038, + -0.0013656169176101685, + 0.006784137338399887, + 0.0017350651323795319, + -0.026493459939956665, + 0.0 + ], + [ + -0.00131264328956604, + -0.008369658142328262, + -0.000581108033657074, + 0.011467140167951584, + -0.001102943904697895, + -0.024704664945602417, + 0.0 + ], + [ + -0.0015294253826141357, + -0.00604582205414772, + 9.989738464355469e-05, + 0.01476946473121643, + -0.004999918397516012, + -0.014991194009780884, + 0.0 + ], + [ + -0.00028508901596069336, + -0.0001341346651315689, + 0.002074688673019409, + 0.006500758230686188, + -6.868038326501846e-05, + -0.0037384629249572754, + 0.0 + ], + [ + 0.0011989474296569824, + 0.0015125665813684464, + 0.004447326064109802, + -0.013340037316083908, + -0.0035125543363392353, + 0.01348787546157837, + 0.0 + ], + [ + 0.001564711332321167, + 0.004257503896951675, + 0.004479341208934784, + -0.018936559557914734, + -0.011343453079462051, + 0.017635047435760498, + 0.0 + ], + [ + 0.004139214754104614, + -0.00034395232796669006, + 0.010421015322208405, + 0.000377066433429718, + -0.02927599474787712, + -0.0005509555339813232, + 0.0 + ], + [ + -0.0018398761749267578, + -0.004358360543847084, + 0.004078321158885956, + -0.02364117093384266, + 0.0009745992720127106, + 0.0033496320247650146, + 0.0 + ], + [ + -0.0007742643356323242, + -0.017874427139759064, + -0.008266419172286987, + -0.004773802123963833, + 0.0165264792740345, + -0.033605217933654785, + 0.0 + ], + [ + -0.0028243958950042725, + -0.010235508903861046, + -0.015342764556407928, + -0.005350320599973202, + 0.038347672671079636, + -0.02048790454864502, + 0.0 + ], + [ + 0.0025134682655334473, + -0.012942316941916943, + -0.018354840576648712, + 0.011194687336683273, + 0.03527168929576874, + -0.03324359655380249, + 0.0 + ], + [ + 0.005651235580444336, + -0.0068068671971559525, + -0.013451717793941498, + 0.006331527605652809, + 0.02504662796854973, + -0.004616975784301758, + 0.0 + ], + [ + 0.006059110164642334, + -0.005073148757219315, + -0.011089589446783066, + 0.002392880618572235, + 0.018069207668304443, + 0.0001938343048095703, + 0.0 + ], + [ + 0.005804121494293213, + -0.008891887962818146, + -0.00640728697180748, + 0.011672379449009895, + 0.0011261776089668274, + -0.004834294319152832, + 0.0 + ], + [ + 0.007478386163711548, + -0.008030641824007034, + -0.0002948455512523651, + 0.007513787597417831, + -0.012881137430667877, + -0.007784605026245117, + 0.0 + ], + [ + 0.002734571695327759, + -0.005104489624500275, + 0.0023081116378307343, + -0.022469153627753258, + -0.022762157022953033, + 0.0011622905731201172, + 1.0 + ], + [ + -0.008413314819335938, + 0.007619805634021759, + 0.003186255693435669, + -0.029930640012025833, + -0.003038603812456131, + 0.03474771976470947, + 1.0 + ], + [ + -0.009824752807617188, + 0.018783550709486008, + 0.027353763580322266, + 0.001616877387277782, + -0.058521710336208344, + 0.02806064486503601, + 1.0 + ], + [ + -0.012270539999008179, + 0.009619984775781631, + 0.03885394334793091, + 0.024851029738783836, + -0.04940171167254448, + -0.016544967889785767, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9437892436981201 + ], + [ + 0.672171950340271 + ], + [ + 0.3840504586696625 + ], + [ + 0.2824830114841461 + ], + [ + 0.2817513048648834 + ], + [ + 0.2817513048648834 + ], + [ + 0.2817513048648834 + ], + [ + 0.2817513048648834 + ], + [ + 0.2817513048648834 + ], + [ + 0.2817513048648834 + ], + [ + 0.2817513048648834 + ], + [ + 0.2817513048648834 + ], + [ + 0.2817513048648834 + ], + [ + 0.2817513048648834 + ], + [ + 0.2817513048648834 + ], + [ + 0.2817513048648834 + ], + [ + 0.2817513048648834 + ], + [ + 0.2817513048648834 + ], + [ + 0.2817513048648834 + ], + [ + 0.2817513048648834 + ], + [ + 0.2817513048648834 + ], + [ + 0.2817513048648834 + ], + [ + 0.2817513048648834 + ], + [ + 0.2817513048648834 + ], + [ + 0.2817513048648834 + ], + [ + 0.2817513048648834 + ], + [ + 0.2817513048648834 + ], + [ + 0.2817513048648834 + ], + [ + 0.2817513048648834 + ], + [ + 0.3577343225479126 + ], + [ + 0.6641445755958557 + ], + [ + 0.9499720335006714 + ], + [ + 1.0092895030975342 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.28238871693611145, + -0.012891569174826145, + 0.10722240060567856 + ], + [ + 0.2824335992336273, + 0.028055008500814438, + 0.11564870178699493 + ], + [ + 0.29303890466690063, + 0.05846685916185379, + 0.13487455248832703 + ], + [ + 0.3030044734477997, + 0.09045933187007904, + 0.13873036205768585 + ], + [ + 0.31761401891708374, + 0.11096427589654922, + 0.12666963040828705 + ], + [ + 0.3290606141090393, + 0.12233615666627884, + 0.11290720850229263 + ], + [ + 0.34456947445869446, + 0.12343355268239975, + 0.1107102483510971 + ], + [ + 0.35987669229507446, + 0.12809257209300995, + 0.10768167674541473 + ], + [ + 0.3797553479671478, + 0.13873910903930664, + 0.11707571893930435 + ], + [ + 0.3908753991127014, + 0.15875568985939026, + 0.1187717467546463 + ], + [ + 0.4002518653869629, + 0.17052192986011505, + 0.11699287593364716 + ], + [ + 0.39973172545433044, + 0.18439827859401703, + 0.10578221827745438 + ], + [ + 0.398293137550354, + 0.19114291667938232, + 0.09765508025884628 + ], + [ + 0.394010990858078, + 0.1955578625202179, + 0.08886418491601944 + ], + [ + 0.3914361000061035, + 0.1988685429096222, + 0.08155593276023865 + ], + [ + 0.3902030885219574, + 0.20015595853328705, + 0.07892939448356628 + ], + [ + 0.3908085823059082, + 0.20226112008094788, + 0.07667658478021622 + ], + [ + 0.3899969756603241, + 0.20456260442733765, + 0.0740128681063652 + ], + [ + 0.3893304467201233, + 0.20432116091251373, + 0.07325689494609833 + ], + [ + 0.38787323236465454, + 0.20877231657505035, + 0.07397206127643585 + ], + [ + 0.3877817690372467, + 0.20843936502933502, + 0.07371650636196136 + ], + [ + 0.3867284953594208, + 0.20689533650875092, + 0.07590210437774658 + ], + [ + 0.3873363137245178, + 0.20339563488960266, + 0.07931827008724213 + ], + [ + 0.3864269554615021, + 0.1957370787858963, + 0.09430331736803055 + ], + [ + 0.383475661277771, + 0.17683935165405273, + 0.10204202681779861 + ], + [ + 0.3781907558441162, + 0.14379453659057617, + 0.10299947112798691 + ], + [ + 0.3666290044784546, + 0.11144598573446274, + 0.10268668830394745 + ], + [ + 0.3538036048412323, + 0.08263551443815231, + 0.09797434508800507 + ], + [ + 0.3454552888870239, + 0.06639812886714935, + 0.0916709154844284 + ], + [ + 0.33632370829582214, + 0.05051681026816368, + 0.0891844630241394 + ], + [ + 0.332654744386673, + 0.04074449464678764, + 0.08781884610652924 + ], + [ + 0.33134210109710693, + 0.03237483650445938, + 0.08723773807287216 + ], + [ + 0.3298126757144928, + 0.02632901445031166, + 0.08733763545751572 + ], + [ + 0.3295275866985321, + 0.026194879785180092, + 0.08941232413053513 + ], + [ + 0.3307265341281891, + 0.027707446366548538, + 0.09385965019464493 + ], + [ + 0.33229124546051025, + 0.031964950263500214, + 0.09833899140357971 + ], + [ + 0.33643046021461487, + 0.031620997935533524, + 0.10876000672578812 + ], + [ + 0.3345905840396881, + 0.02726263739168644, + 0.11283832788467407 + ], + [ + 0.3338163197040558, + 0.00938821118324995, + 0.10457190871238708 + ], + [ + 0.3309919238090515, + -0.0008472981280647218, + 0.08922914415597916 + ], + [ + 0.33350539207458496, + -0.013789614662528038, + 0.07087430357933044 + ], + [ + 0.3391566276550293, + -0.02059648185968399, + 0.05742258578538895 + ], + [ + 0.34521573781967163, + -0.025669630616903305, + 0.04633299633860588 + ], + [ + 0.35101985931396484, + -0.03456151857972145, + 0.0399257093667984 + ], + [ + 0.3584982454776764, + -0.042592160403728485, + 0.039630863815546036 + ], + [ + 0.36123281717300415, + -0.04769665002822876, + 0.04193897545337677 + ], + [ + 0.3528195023536682, + -0.040076844394207, + 0.04512523114681244 + ], + [ + 0.342994749546051, + -0.021293293684720993, + 0.0724789947271347 + ], + [ + 0.33072420954704285, + -0.011673308908939362, + 0.11133293807506561 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.7949949898467981, + -0.606511514833149, + -0.01125826333358525, + -0.6066159081369995, + -0.7948479827455229, + -0.01529131519838515, + 0.0003257508448456098, + 0.01898596060703269, + -0.9998196973385828 + ], + [ + 0.8473927346470059, + -0.5306641005876231, + -0.01792109413505718, + -0.530838241062713, + -0.8459629891044163, + -0.05057057336995392, + 0.011675405471052409, + 0.052366338549205374, + -0.9985596884984073 + ], + [ + 0.8768845389762964, + -0.4804372437184902, + 0.015923572228256813, + -0.478082323614401, + -0.8750818810510871, + -0.07529271746687347, + 0.05010785519041552, + 0.0584102414330851, + -0.9970343256598267 + ], + [ + 0.9068613703586677, + -0.42065748747448084, + 0.025489864316170716, + -0.4182233703209589, + -0.9057615360117163, + -0.06844890356371475, + 0.0518812824492403, + 0.051413209522005766, + -0.9973289399280805 + ], + [ + 0.9222022914628546, + -0.38668817349376167, + 0.0038974479750815173, + -0.3857571240495718, + -0.9205946818467501, + -0.06080191609221057, + 0.027099351757252293, + 0.054568198023568534, + -0.9981422428185259 + ], + [ + 0.9315835719824905, + -0.36180293732185415, + -0.035364996219748326, + -0.36280602653540533, + -0.931450315599944, + -0.027786627689518055, + -0.022887453373739004, + 0.03871619963327532, + -0.9989880982093939 + ], + [ + 0.9330581541023055, + -0.3570223487930094, + -0.04401730938530348, + -0.35734920250813085, + -0.9339707294087677, + 0.0004733650366614264, + -0.04127988045042862, + 0.015287873298067977, + -0.99903065638649 + ], + [ + 0.9377606790681283, + -0.3423929618590529, + -0.058068653015790145, + -0.34302277599932807, + -0.9393266183545401, + -0.0009376547014156161, + -0.05422438509930656, + 0.020798166265549017, + -0.9983121517544464 + ], + [ + 0.9500811721463398, + -0.3100513117246246, + -0.03484179144183247, + -0.31033272912026694, + -0.9506237425915992, + -0.002845568116786384, + -0.032239162051819356, + 0.013516068917401694, + -0.9993887893663886 + ], + [ + 0.9635937312652084, + -0.26525315506872515, + -0.033583996076705105, + -0.2656212139678277, + -0.9640525149112059, + -0.006936799235704082, + -0.0305367279951668, + 0.015604878066354914, + -0.9994118250370482 + ], + [ + 0.9690641716320656, + -0.24427700486236853, + -0.03526153931025627, + -0.24453754488425666, + -0.96963451397748, + -0.0032091191370963376, + -0.033406891520141736, + 0.011732612630028644, + -0.9993729661141706 + ], + [ + 0.9736763031658473, + -0.22016769717462378, + -0.05899696410928318, + -0.22053336976585694, + -0.9753793774869307, + 0.00032061335485208346, + -0.057615010830552635, + 0.012698625674877562, + -0.9982581106271887 + ], + [ + 0.9742206365447396, + -0.21346203325573915, + -0.0729939154223657, + -0.21316743482658157, + -0.9769432833137781, + 0.011893944574852214, + -0.07384982098703323, + 0.003972599453793774, + -0.9972614614000495 + ], + [ + 0.9736323425962069, + -0.2093545154807131, + -0.09061317949646196, + -0.20839606443772102, + -0.977839617450141, + 0.020019062711098698, + -0.0927962379490214, + -0.0006077769307359301, + -0.9956849345198062 + ], + [ + 0.9738448416235, + -0.20489827625336504, + -0.0981983748933713, + -0.2038368793002049, + -0.978783236470499, + 0.020830329845882026, + -0.10038302187348763, + -0.00026905897911185146, + -0.9949488311098275 + ], + [ + 0.9726442543836273, + -0.20834922577412282, + -0.1027314680798544, + -0.2062780965236282, + -0.978017724294974, + 0.030507013283339553, + -0.10682930922320558, + -0.008481219499854975, + -0.9942412019257142 + ], + [ + 0.9740971109380899, + -0.2042333173167189, + -0.09707507692438297, + -0.20123637955555512, + -0.9787327762247652, + 0.03982552305665507, + -0.10314425822816814, + -0.019258889925746155, + -0.9944799430623973 + ], + [ + 0.9810485874341976, + -0.1764681760851937, + -0.08001657279920663, + -0.17323281397474052, + -0.9838167011641231, + 0.04577216045737502, + -0.08679897036116616, + -0.03104321728989795, + -0.9957420636914631 + ], + [ + 0.9904255547512651, + -0.1279240890159458, + -0.05189073082052739, + -0.1253282136472176, + -0.9908273394677959, + 0.05053733498282293, + -0.05787969730091404, + -0.04355009543742761, + -0.9973732149139283 + ], + [ + 0.9970529018523631, + -0.07008224183577848, + -0.03120881745682338, + -0.0682861175146021, + -0.9961312766928964, + 0.05531261835207447, + -0.034964511473261226, + -0.053018477660639725, + -0.9979812242542363 + ], + [ + 0.9980618919614321, + -0.056358578210429236, + -0.0263850426656014, + -0.05481505121681361, + -0.99692702621486, + 0.0559626175450558, + -0.02945793567894357, + -0.05440785848105967, + -0.9980841722825988 + ], + [ + 0.9987870237397156, + -0.047267556322825394, + -0.013793452375295338, + -0.046729702176329796, + -0.9982217511686378, + 0.03700905873336874, + -0.015518251952862775, + -0.03631960370222875, + -0.9992197307115391 + ], + [ + 0.9989551768070957, + -0.04527057136517816, + -0.006255405548375467, + -0.04519259308878937, + -0.998905125362975, + 0.0120904943443249, + -0.006795900250551289, + -0.011795163917867184, + -0.9999073406310883 + ], + [ + 0.9987758595148049, + -0.048204404743300656, + 0.011095846691755904, + -0.048038084457807266, + -0.9987358902949298, + -0.01479742810147868, + 0.011795121537630454, + 0.014246290750153443, + -0.9998289445238994 + ], + [ + 0.9949787588145594, + -0.09567591505421191, + 0.029383478119128864, + -0.09568049937139392, + -0.9954113077233337, + -0.0012531945429890181, + 0.02936854691466345, + -0.0015645239087702845, + -0.9995674267987426 + ], + [ + 0.9854508373377465, + -0.1667036007479659, + 0.03311429733509697, + -0.1670471422295833, + -0.9859174642287409, + 0.00787438897304209, + 0.03133527506283917, + -0.0132914719437761, + -0.9994205507744496 + ], + [ + 0.9701650834108217, + -0.2406070544503961, + 0.02979859525510671, + -0.24119895927592377, + -0.970306315787941, + 0.018130515333102098, + 0.024551435287673173, + -0.024776983083836395, + -0.9993914789183359 + ], + [ + 0.9521986029288978, + -0.30488766736925804, + 0.019008705016068737, + -0.3053294261492046, + -0.9518372470229642, + 0.027924840324377764, + 0.00957925402380795, + -0.03239391093828083, + -0.9994292733487798 + ], + [ + 0.9385967365336684, + -0.34470924659462965, + 0.014549964965940292, + -0.34500862942375365, + -0.9380202521919679, + 0.03297047316705698, + 0.002282934841450945, + -0.035965841987633265, + -0.9993504122271777 + ], + [ + 0.9268647043519715, + -0.375383282042789, + 0.003035027070155635, + -0.3752260153759234, + -0.9261728805956917, + 0.037539747391080326, + -0.011280833818469012, + -0.035933087981173915, + -0.9992905263117916 + ], + [ + 0.9165802447112239, + -0.3998176034128824, + 0.0051516023033661585, + -0.39963889289992727, + -0.9155990857559038, + 0.04435165661701721, + -0.013015770696866867, + -0.04271063291655177, + -0.9990026984693456 + ], + [ + 0.906441076548284, + -0.42215933136229594, + 0.012086094891525364, + -0.42216425388832707, + -0.9049020707350307, + 0.054125641967236376, + -0.011912912528002155, + -0.054164022405953055, + -0.9984609863143914 + ], + [ + 0.9000530760512802, + -0.4351288719116099, + 0.023818587690259248, + -0.43572544987415057, + -0.8977274717379855, + 0.06502860000718026, + -0.006913220855569715, + -0.068907556304476, + -0.9975990958604303 + ], + [ + 0.8984182712574607, + -0.4383116101046562, + 0.02697299238533952, + -0.43908741967202186, + -0.8956556778484233, + 0.07073291047063593, + -0.006844542097281303, + -0.0753912407733493, + -0.9971305396276524 + ], + [ + 0.9042748900979706, + -0.4263035465392539, + 0.02349913501296432, + -0.42693772459318563, + -0.9024471334124602, + 0.05756171222980386, + -0.0033320350383153063, + -0.06208427823279994, + -0.9980653485312552 + ], + [ + 0.9116387624661291, + -0.41022901032671644, + 0.02503848748600944, + -0.4109143285675426, + -0.9109600613075659, + 0.036071890446732986, + 0.008011326176726874, + -0.04317320684033384, + -0.9990354812838288 + ], + [ + 0.9108079395930734, + -0.40955961326443974, + 0.05186347806407607, + -0.4111437591894525, + -0.9112446669092894, + 0.02437142402371388, + 0.037278766795400306, + -0.04352103183589191, + -0.9983567565425465 + ], + [ + 0.9122127387049848, + -0.40763316767798347, + 0.04126887390230121, + -0.40810523011955996, + -0.912928701483167, + 0.0033626116813579437, + 0.03630482741195747, + -0.019909460491726642, + -0.9991424187219339 + ], + [ + 0.8984023034455251, + -0.4384937406470668, + 0.02442418017289126, + -0.4387275389951675, + -0.8986065996718439, + 0.004932094225642414, + 0.019785037048708543, + -0.015146565272354662, + -0.9996895187354081 + ], + [ + 0.8892466654518673, + -0.4572698535906548, + -0.012027010431350321, + -0.4570512925627413, + -0.8892740192293158, + 0.01719984565238613, + -0.018560278808848276, + -0.009797944729356927, + -0.9997797339062331 + ], + [ + 0.8724489092638535, + -0.4873185891673136, + -0.0367898542575439, + -0.48573419023623826, + -0.8729726028155502, + 0.044509899673998245, + -0.05380703634152435, + -0.02096252335532601, + -0.9983312954399052 + ], + [ + 0.8687497280054328, + -0.4921607022851862, + -0.05524267568319314, + -0.48894253524034287, + -0.8700781307975308, + 0.06244392316807594, + -0.07879788907852937, + -0.027237647365857636, + -0.9965184409948171 + ], + [ + 0.8674617869471144, + -0.4925889909081039, + -0.06975768217662255, + -0.48799628645489707, + -0.8697593959606579, + 0.07333633168069723, + -0.09679706913305146, + -0.02957497547399112, + -0.9948646381457951 + ], + [ + 0.864997244181265, + -0.49760443319882836, + -0.06457240602370051, + -0.49212991481445373, + -0.8664259843927731, + 0.08434548306656739, + -0.0979178967479152, + -0.04118059773591029, + -0.9943421161082224 + ], + [ + 0.8621599609515922, + -0.5042574760113379, + -0.049036717045739864, + -0.49943942778805495, + -0.862178579604771, + 0.08490203084402444, + -0.08509089083262159, + -0.04870826169526592, + -0.9951819158023 + ], + [ + 0.8641933195501309, + -0.5015045217448288, + -0.040781381958149274, + -0.49927672102193776, + -0.8647527048228749, + 0.0540880333077894, + -0.06239120363086566, + -0.026381322389388576, + -0.9977030437652676 + ], + [ + 0.8811801770332338, + -0.4696820573871031, + -0.05403943534398702, + -0.4690395456475205, + -0.8828287460417581, + 0.024805438538854224, + -0.05935823634885511, + 0.003488571477737663, + -0.9982306495227435 + ], + [ + 0.8955718860425683, + -0.44491390820844834, + -0.0016159247635200015, + -0.44491598929175846, + -0.895571375111386, + -0.0012940454539995345, + -0.00087143714220384, + 0.0018778614926457271, + -0.9999978571144649 + ], + [ + 0.8870432633854672, + -0.45856085890729265, + 0.05363009939079363, + -0.45913060218220064, + -0.8883667637414076, + -0.0018929393618684533, + 0.0485112257345672, + -0.022944100719443757, + -0.9985590764796571 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006503.json b/json/chunk-0006/episode_0006503.json new file mode 100644 index 0000000000000000000000000000000000000000..cb31d023177ceef71881aee67a5b7994ec5a727e --- /dev/null +++ b/json/chunk-0006/episode_0006503.json @@ -0,0 +1,742 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 11, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut pepper in pot or pan." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006503.mp4", + "start": 0, + "end": 11, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.33070677518844604, + 0.006433723494410515, + 0.07139264047145844, + 0.14279389381408691, + -0.19871672987937927, + -0.29009076952934265, + 0.0, + 1.0014774799346924 + ], + [ + 0.3235165476799011, + 0.00369656621478498, + 0.0528959259390831, + 0.11249382793903351, + -0.18548165261745453, + -0.29450905323028564, + 0.0, + 1.0014774799346924 + ], + [ + 0.31822219491004944, + 0.009606748819351196, + 0.039628420025110245, + 0.09209630638360977, + -0.22076039016246796, + -0.29223179817199707, + 0.0, + 1.0014774799346924 + ], + [ + 0.3140261769294739, + 0.013447352685034275, + 0.0243606548756361, + 0.07076585292816162, + -0.253750741481781, + -0.29440048336982727, + 0.0, + 1.0014774799346924 + ], + [ + 0.314921110868454, + 0.017221277579665184, + 0.019513051956892014, + 0.06919374316930771, + -0.2713366746902466, + -0.2878894805908203, + 0.0, + 0.832595944404602 + ], + [ + 0.31644853949546814, + 0.01913996785879135, + 0.02220633439719677, + 0.07157330214977264, + -0.24223022162914276, + -0.2904737889766693, + 0.0, + 0.6169373393058777 + ], + [ + 0.32193833589553833, + 0.02394399791955948, + 0.03503904119133949, + 0.08900793641805649, + -0.19268764555454254, + -0.31666478514671326, + 0.0, + 0.6119219660758972 + ], + [ + 0.3316310942173004, + 0.03520148620009422, + 0.05589757114648819, + 0.13959798216819763, + -0.15424005687236786, + -0.37811732292175293, + 0.0, + 0.6119219660758972 + ], + [ + 0.34354841709136963, + 0.05731843411922455, + 0.072490394115448, + 0.2136051505804062, + -0.14580760896205902, + -0.4442127048969269, + 0.0, + 0.6119219660758972 + ], + [ + 0.3622928261756897, + 0.08145220577716827, + 0.07042820751667023, + 0.3056669533252716, + -0.1775057464838028, + -0.5281999707221985, + 0.0, + 0.6119219660758972 + ], + [ + 0.3754023313522339, + 0.09806282073259354, + 0.053987082093954086, + 0.3469686210155487, + -0.19907726347446442, + -0.5784246325492859, + 0.0, + 0.6119219660758972 + ] + ], + "left_gripper_pos": [ + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 0.832595944404602 + ], + [ + 0.6169373393058777 + ], + [ + 0.6119219660758972 + ], + [ + 0.6119219660758972 + ], + [ + 0.6119219660758972 + ], + [ + 0.6119219660758972 + ], + [ + 0.6119219660758972 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.33070677518844604, + 0.006433723494410515, + 0.07139264047145844 + ], + [ + 0.3235165476799011, + 0.00369656621478498, + 0.0528959259390831 + ], + [ + 0.31822219491004944, + 0.009606748819351196, + 0.039628420025110245 + ], + [ + 0.3140261769294739, + 0.013447352685034275, + 0.0243606548756361 + ], + [ + 0.314921110868454, + 0.017221277579665184, + 0.019513051956892014 + ], + [ + 0.31644853949546814, + 0.01913996785879135, + 0.02220633439719677 + ], + [ + 0.32193833589553833, + 0.02394399791955948, + 0.03503904119133949 + ], + [ + 0.3316310942173004, + 0.03520148620009422, + 0.05589757114648819 + ], + [ + 0.34354841709136963, + 0.05731843411922455, + 0.072490394115448 + ], + [ + 0.3622928261756897, + 0.08145220577716827, + 0.07042820751667023 + ], + [ + 0.3754023313522339, + 0.09806282073259354, + 0.053987082093954086 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9393608744759142, + -0.2562083201035515, + 0.22794394971914037, + -0.28041015690189514, + -0.9565012555703244, + 0.08047044176993001, + 0.19741147740215223, + -0.13950858325604643, + -0.9703432711096577 + ], + [ + 0.9405308063593953, + -0.2686243173476107, + 0.20794898032564527, + -0.28529122981557475, + -0.9569054263925975, + 0.05423024184639135, + 0.18441994599083475, + -0.11033123342884957, + -0.9766351941491798 + ], + [ + 0.9343634452980403, + -0.26758503212691703, + 0.23529386450227063, + -0.28109852458773327, + -0.9593466589614082, + 0.025250889374100534, + 0.21897162273996967, + -0.08973426614855856, + -0.971596207234983 + ], + [ + 0.9263316543605697, + -0.27245362644444204, + 0.2601512782341884, + -0.2808743791391155, + -0.9597315411152834, + -0.004995210876371288, + 0.25103635050093054, + -0.06844260680128603, + -0.9655549493951229 + ], + [ + 0.923764459179797, + -0.26548191736888016, + 0.276004665733028, + -0.27354122252933133, + -0.9618121396447132, + -0.009623284741586604, + 0.26801944618519064, + -0.06660900526356697, + -0.9611081192479762 + ], + [ + 0.9301367275897724, + -0.269237995311795, + 0.24971297497141784, + -0.2780446925972078, + -0.9605681385841787, + -7.446536231803247e-06, + 0.2398683324390994, + -0.06942444106661957, + -0.9683199006916432 + ], + [ + 0.9326925631228841, + -0.2939902733084716, + 0.2089361191734798, + -0.3056358853238089, + -0.9518182413572299, + 0.025074708811090658, + 0.1914974890112033, + -0.08724537019028347, + -0.9776077726178142 + ], + [ + 0.9183284609237421, + -0.34571342715865744, + 0.1927564892283701, + -0.3647888429487401, + -0.9282121821313436, + 0.07315220436247205, + 0.1536292222122815, + -0.13749316792184643, + -0.9785160657123951 + ], + [ + 0.8933679886702761, + -0.3921698472208216, + 0.2193090234122226, + -0.42518703190345053, + -0.8956639998608208, + 0.13039166865428825, + 0.1452915163399415, + -0.20973509549932984, + -0.9669030794218868 + ], + [ + 0.8501442360271942, + -0.43472329452643926, + 0.29710340816930525, + -0.49606050528745577, + -0.8504591258506914, + 0.17505213609445558, + 0.17657506348205618, + -0.2962008312840402, + -0.9386619809617045 + ], + [ + 0.8207873475100355, + -0.45781632238988834, + 0.34163188539836065, + -0.5359078029499532, + -0.8241927302738533, + 0.18305510127031693, + 0.19776490311679393, + -0.3333325041413299, + -0.9218343044051225 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.007190227508544922, + -0.002737157279625535, + -0.018496714532375336, + -0.030300065875053406, + 0.013235077261924744, + -0.004418283700942993, + 1.0 + ], + [ + -0.005294352769851685, + 0.005910182371735573, + -0.013267505913972855, + -0.020397521555423737, + -0.03527873754501343, + 0.0022772550582885742, + 1.0 + ], + [ + -0.0041960179805755615, + 0.0038406038656830788, + -0.015267765149474144, + -0.02133045345544815, + -0.03299035131931305, + -0.0021686851978302, + 1.0 + ], + [ + 0.0008949339389801025, + 0.003773924894630909, + -0.004847602918744087, + -0.0015721097588539124, + -0.017585933208465576, + 0.006511002779006958, + 0.0 + ], + [ + 0.0015274286270141602, + 0.0019186902791261673, + 0.002693282440304756, + 0.0023795589804649353, + 0.02910645306110382, + -0.002584308385848999, + 0.0 + ], + [ + 0.00548979640007019, + 0.0048040300607681274, + 0.012832706794142723, + 0.017434634268283844, + 0.04954257607460022, + -0.026190996170043945, + 0.0 + ], + [ + 0.009692758321762085, + 0.011257488280534744, + 0.020858529955148697, + 0.050590045750141144, + 0.03844758868217468, + -0.06145253777503967, + 0.0 + ], + [ + 0.011917322874069214, + 0.022116947919130325, + 0.01659282296895981, + 0.07400716841220856, + 0.008432447910308838, + -0.06609538197517395, + 0.0 + ], + [ + 0.01874440908432007, + 0.024133771657943726, + -0.002062186598777771, + 0.09206180274486542, + -0.031698137521743774, + -0.0839872658252716, + 0.0 + ], + [ + 0.01310950517654419, + 0.016610614955425262, + -0.01644112542271614, + 0.0413016676902771, + -0.02157151699066162, + -0.0502246618270874, + 1.0 + ], + [ + 0.006408572196960449, + 0.006008163094520569, + -0.002789437770843506, + 0.017369776964187622, + -0.011543318629264832, + -0.021580815315246582, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 0.832595944404602 + ], + [ + 0.6169373393058777 + ], + [ + 0.6119219660758972 + ], + [ + 0.6119219660758972 + ], + [ + 0.6119219660758972 + ], + [ + 0.6119219660758972 + ], + [ + 0.6119219660758972 + ], + [ + 0.8130597472190857 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3235165476799011, + 0.00369656621478498, + 0.0528959259390831 + ], + [ + 0.31822219491004944, + 0.009606748819351196, + 0.039628420025110245 + ], + [ + 0.3140261769294739, + 0.013447352685034275, + 0.0243606548756361 + ], + [ + 0.314921110868454, + 0.017221277579665184, + 0.019513051956892014 + ], + [ + 0.31644853949546814, + 0.01913996785879135, + 0.02220633439719677 + ], + [ + 0.32193833589553833, + 0.02394399791955948, + 0.03503904119133949 + ], + [ + 0.3316310942173004, + 0.03520148620009422, + 0.05589757114648819 + ], + [ + 0.34354841709136963, + 0.05731843411922455, + 0.072490394115448 + ], + [ + 0.3622928261756897, + 0.08145220577716827, + 0.07042820751667023 + ], + [ + 0.3754023313522339, + 0.09806282073259354, + 0.053987082093954086 + ], + [ + 0.38181090354919434, + 0.1040709838271141, + 0.05119764432311058 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9405308063593953, + -0.2686243173476107, + 0.20794898032564527, + -0.28529122981557475, + -0.9569054263925975, + 0.05423024184639135, + 0.18441994599083475, + -0.11033123342884957, + -0.9766351941491798 + ], + [ + 0.9343634452980403, + -0.26758503212691703, + 0.23529386450227063, + -0.28109852458773327, + -0.9593466589614082, + 0.025250889374100534, + 0.21897162273996967, + -0.08973426614855856, + -0.971596207234983 + ], + [ + 0.9263316543605697, + -0.27245362644444204, + 0.2601512782341884, + -0.2808743791391155, + -0.9597315411152834, + -0.004995210876371288, + 0.25103635050093054, + -0.06844260680128603, + -0.9655549493951229 + ], + [ + 0.923764459179797, + -0.26548191736888016, + 0.276004665733028, + -0.27354122252933133, + -0.9618121396447132, + -0.009623284741586604, + 0.26801944618519064, + -0.06660900526356697, + -0.9611081192479762 + ], + [ + 0.9301367275897724, + -0.269237995311795, + 0.24971297497141784, + -0.2780446925972078, + -0.9605681385841787, + -7.446536231803247e-06, + 0.2398683324390994, + -0.06942444106661957, + -0.9683199006916432 + ], + [ + 0.9326925631228841, + -0.2939902733084716, + 0.2089361191734798, + -0.3056358853238089, + -0.9518182413572299, + 0.025074708811090658, + 0.1914974890112033, + -0.08724537019028347, + -0.9776077726178142 + ], + [ + 0.9183284609237421, + -0.34571342715865744, + 0.1927564892283701, + -0.3647888429487401, + -0.9282121821313436, + 0.07315220436247205, + 0.1536292222122815, + -0.13749316792184643, + -0.9785160657123951 + ], + [ + 0.8933679886702761, + -0.3921698472208216, + 0.2193090234122226, + -0.42518703190345053, + -0.8956639998608208, + 0.13039166865428825, + 0.1452915163399415, + -0.20973509549932984, + -0.9669030794218868 + ], + [ + 0.8501442360271942, + -0.43472329452643926, + 0.29710340816930525, + -0.49606050528745577, + -0.8504591258506914, + 0.17505213609445558, + 0.17657506348205618, + -0.2962008312840402, + -0.9386619809617045 + ], + [ + 0.8207873475100355, + -0.45781632238988834, + 0.34163188539836065, + -0.5359078029499532, + -0.8241927302738533, + 0.18305510127031693, + 0.19776490311679393, + -0.3333325041413299, + -0.9218343044051225 + ], + [ + 0.8070938120792664, + -0.46609856191824794, + 0.36242476333868046, + -0.5521690395467457, + -0.8132219959303223, + 0.1837915588407879, + 0.20906680814845222, + -0.3484567633334782, + -0.9137116360306321 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006504.json b/json/chunk-0006/episode_0006504.json new file mode 100644 index 0000000000000000000000000000000000000000..928af4ed0e935544aa091e29dd49163ae9345704 --- /dev/null +++ b/json/chunk-0006/episode_0006504.json @@ -0,0 +1,2182 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 35, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nUpright basil bottle cardboard fence." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006504.mp4", + "start": 0, + "end": 35, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.31997668743133545, + -0.05498901754617691, + 0.08934339880943298, + -0.09292004257440567, + -0.1688215732574463, + 0.41149359941482544, + 0.0, + 0.9879508018493652 + ], + [ + 0.31584468483924866, + -0.05521829053759575, + 0.08072619885206223, + -0.0772601068019867, + -0.1348264068365097, + 0.4082144796848297, + 0.0, + 0.9872581958770752 + ], + [ + 0.30948543548583984, + -0.03886765241622925, + 0.08488377928733826, + -0.06944134086370468, + -0.05321943387389183, + 0.43990305066108704, + 0.0, + 0.9872581958770752 + ], + [ + 0.307921439409256, + -0.016734788194298744, + 0.08120390772819519, + -0.06987480074167252, + -0.06149791553616524, + 0.4716245234012604, + 0.0, + 0.9872581958770752 + ], + [ + 0.30790647864341736, + -0.008612748235464096, + 0.07349152117967606, + -0.07309766858816147, + -0.08904068171977997, + 0.5082045197486877, + 0.0, + 0.9872581958770752 + ], + [ + 0.31170758605003357, + 0.002250534715130925, + 0.06908386945724487, + -0.0993870347738266, + -0.10361593961715698, + 0.530912458896637, + 0.0, + 0.9872581958770752 + ], + [ + 0.3081893026828766, + 0.008197890594601631, + 0.05495525524020195, + -0.08195317536592484, + -0.10817714035511017, + 0.5188519954681396, + 0.0, + 0.9872581958770752 + ], + [ + 0.3073209822177887, + 0.00820753164589405, + 0.051423005759716034, + -0.053317781537771225, + -0.12453558295965195, + 0.5023766160011292, + 0.0, + 0.9872581958770752 + ], + [ + 0.30689185857772827, + 0.009955719113349915, + 0.04069942235946655, + -0.02544252574443817, + -0.1105194017291069, + 0.5130540728569031, + 0.0, + 0.9872581958770752 + ], + [ + 0.3095664083957672, + 0.007447696290910244, + 0.03338086977601051, + -0.007142150308936834, + -0.1347450166940689, + 0.5005382299423218, + 0.0, + 0.9872581958770752 + ], + [ + 0.30922314524650574, + 0.006126328371465206, + 0.029194368049502373, + -0.000346028566127643, + -0.152756467461586, + 0.4956570565700531, + 0.0, + 0.9872581958770752 + ], + [ + 0.30714502930641174, + 0.007884985767304897, + 0.01927191950380802, + 0.024136541411280632, + -0.13670775294303894, + 0.49720504879951477, + 0.0, + 0.9872581958770752 + ], + [ + 0.30662697553634644, + 0.007231826428323984, + 0.014767885208129883, + 0.03544164076447487, + -0.13198578357696533, + 0.49297380447387695, + 0.0, + 0.9872581958770752 + ], + [ + 0.3061762750148773, + 0.006641183514147997, + 0.008469881489872932, + 0.04779273644089699, + -0.12632706761360168, + 0.48843100666999817, + 0.0, + 0.9872581958770752 + ], + [ + 0.3074937164783478, + 0.006288455333560705, + 0.005797666031867266, + 0.05259405076503754, + -0.11431591212749481, + 0.48599904775619507, + 0.0, + 0.9872581958770752 + ], + [ + 0.3094996213912964, + 0.005756857339292765, + 0.004296940751373768, + 0.056770022958517075, + -0.11434957385063171, + 0.47467824816703796, + 0.0, + 0.9560673832893372 + ], + [ + 0.3092842698097229, + 0.0048269834369421005, + 0.004649635870009661, + 0.05367779731750488, + -0.1100015938282013, + 0.45878469944000244, + 0.0, + 0.8696252703666687 + ], + [ + 0.3064889907836914, + 0.0025111467111855745, + 0.01233902107924223, + 0.04008049890398979, + -0.11799157410860062, + 0.4761122763156891, + 0.0, + 0.8956556916236877 + ], + [ + 0.3111903965473175, + -0.0011561047285795212, + 0.029338501393795013, + 0.009263026528060436, + -0.1643366515636444, + 0.4891112446784973, + 0.0, + 0.8965065479278564 + ], + [ + 0.3111649751663208, + -0.005084253381937742, + 0.04517281427979469, + 0.0008518270333297551, + -0.18884944915771484, + 0.4919533431529999, + 0.0, + 0.8965065479278564 + ], + [ + 0.314037561416626, + -0.007529842667281628, + 0.05876487120985985, + -0.009424623101949692, + -0.20918363332748413, + 0.49484512209892273, + 0.0, + 0.8965065479278564 + ], + [ + 0.3193838596343994, + -0.007982711307704449, + 0.07308324426412582, + -0.018382128328084946, + -0.2819114029407501, + 0.4794549345970154, + 0.0, + 0.8965065479278564 + ], + [ + 0.31690075993537903, + -0.008545788936316967, + 0.08108093589544296, + -0.040963053703308105, + -0.3435589373111725, + 0.47277364134788513, + 0.0, + 0.8965065479278564 + ], + [ + 0.3175418972969055, + -0.011456293053925037, + 0.09816650301218033, + -0.08884338289499283, + -0.3927464485168457, + 0.47418078780174255, + 0.0, + 0.8965065479278564 + ], + [ + 0.31581732630729675, + -0.008836567401885986, + 0.10740432888269424, + -0.11053217947483063, + -0.47025299072265625, + 0.4643637239933014, + 0.0, + 0.8965065479278564 + ], + [ + 0.31913837790489197, + -0.005283110775053501, + 0.10789210349321365, + -0.12394735962152481, + -0.521515965461731, + 0.4844669699668884, + 0.0, + 0.8965065479278564 + ], + [ + 0.32408076524734497, + -0.002079856814816594, + 0.10401895642280579, + -0.15480834245681763, + -0.6102656126022339, + 0.5047545433044434, + 0.0, + 0.8965065479278564 + ], + [ + 0.32877951860427856, + -0.0008715951116755605, + 0.10417261719703674, + -0.16316913068294525, + -0.6633315086364746, + 0.4942965507507324, + 0.0, + 0.8965065479278564 + ], + [ + 0.3308359384536743, + 0.00046011764789000154, + 0.08968852460384369, + -0.11830698698759079, + -0.6520662903785706, + 0.46784788370132446, + 0.0, + 0.8965065479278564 + ], + [ + 0.3326389789581299, + -0.0010823030024766922, + 0.0869559496641159, + -0.09876494109630585, + -0.6582381129264832, + 0.4470483362674713, + 0.0, + 0.8965065479278564 + ], + [ + 0.3333481550216675, + -0.004714958369731903, + 0.08373144268989563, + -0.09298379719257355, + -0.7026646137237549, + 0.42798754572868347, + 0.0, + 0.8965065479278564 + ], + [ + 0.3290849030017853, + -0.00757589191198349, + 0.08275294303894043, + -0.10823310166597366, + -0.6716471910476685, + 0.43576979637145996, + 0.0, + 0.8922415375709534 + ], + [ + 0.3178740441799164, + -0.009039423428475857, + 0.08377393335103989, + -0.11456836014986038, + -0.6006358861923218, + 0.4430881142616272, + 0.0, + 0.9375205039978027 + ], + [ + 0.30564621090888977, + -0.010271070525050163, + 0.07968933135271072, + -0.12572646141052246, + -0.5062519311904907, + 0.46578603982925415, + 0.0, + 0.9968144297599792 + ], + [ + 0.29600924253463745, + -0.012728545814752579, + 0.08803204447031021, + -0.12941128015518188, + -0.3808664381504059, + 0.5178512930870056, + 0.0, + 0.9961419701576233 + ] + ], + "left_gripper_pos": [ + [ + 0.9879508018493652 + ], + [ + 0.9872581958770752 + ], + [ + 0.9872581958770752 + ], + [ + 0.9872581958770752 + ], + [ + 0.9872581958770752 + ], + [ + 0.9872581958770752 + ], + [ + 0.9872581958770752 + ], + [ + 0.9872581958770752 + ], + [ + 0.9872581958770752 + ], + [ + 0.9872581958770752 + ], + [ + 0.9872581958770752 + ], + [ + 0.9872581958770752 + ], + [ + 0.9872581958770752 + ], + [ + 0.9872581958770752 + ], + [ + 0.9872581958770752 + ], + [ + 0.9560673832893372 + ], + [ + 0.8696252703666687 + ], + [ + 0.8956556916236877 + ], + [ + 0.8965065479278564 + ], + [ + 0.8965065479278564 + ], + [ + 0.8965065479278564 + ], + [ + 0.8965065479278564 + ], + [ + 0.8965065479278564 + ], + [ + 0.8965065479278564 + ], + [ + 0.8965065479278564 + ], + [ + 0.8965065479278564 + ], + [ + 0.8965065479278564 + ], + [ + 0.8965065479278564 + ], + [ + 0.8965065479278564 + ], + [ + 0.8965065479278564 + ], + [ + 0.8965065479278564 + ], + [ + 0.8922415375709534 + ], + [ + 0.9375205039978027 + ], + [ + 0.9968144297599792 + ], + [ + 0.9961419701576233 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.31997668743133545, + -0.05498901754617691, + 0.08934339880943298 + ], + [ + 0.31584468483924866, + -0.05521829053759575, + 0.08072619885206223 + ], + [ + 0.30948543548583984, + -0.03886765241622925, + 0.08488377928733826 + ], + [ + 0.307921439409256, + -0.016734788194298744, + 0.08120390772819519 + ], + [ + 0.30790647864341736, + -0.008612748235464096, + 0.07349152117967606 + ], + [ + 0.31170758605003357, + 0.002250534715130925, + 0.06908386945724487 + ], + [ + 0.3081893026828766, + 0.008197890594601631, + 0.05495525524020195 + ], + [ + 0.3073209822177887, + 0.00820753164589405, + 0.051423005759716034 + ], + [ + 0.30689185857772827, + 0.009955719113349915, + 0.04069942235946655 + ], + [ + 0.3095664083957672, + 0.007447696290910244, + 0.03338086977601051 + ], + [ + 0.30922314524650574, + 0.006126328371465206, + 0.029194368049502373 + ], + [ + 0.30714502930641174, + 0.007884985767304897, + 0.01927191950380802 + ], + [ + 0.30662697553634644, + 0.007231826428323984, + 0.014767885208129883 + ], + [ + 0.3061762750148773, + 0.006641183514147997, + 0.008469881489872932 + ], + [ + 0.3074937164783478, + 0.006288455333560705, + 0.005797666031867266 + ], + [ + 0.3094996213912964, + 0.005756857339292765, + 0.004296940751373768 + ], + [ + 0.3092842698097229, + 0.0048269834369421005, + 0.004649635870009661 + ], + [ + 0.3064889907836914, + 0.0025111467111855745, + 0.01233902107924223 + ], + [ + 0.3111903965473175, + -0.0011561047285795212, + 0.029338501393795013 + ], + [ + 0.3111649751663208, + -0.005084253381937742, + 0.04517281427979469 + ], + [ + 0.314037561416626, + -0.007529842667281628, + 0.05876487120985985 + ], + [ + 0.3193838596343994, + -0.007982711307704449, + 0.07308324426412582 + ], + [ + 0.31690075993537903, + -0.008545788936316967, + 0.08108093589544296 + ], + [ + 0.3175418972969055, + -0.011456293053925037, + 0.09816650301218033 + ], + [ + 0.31581732630729675, + -0.008836567401885986, + 0.10740432888269424 + ], + [ + 0.31913837790489197, + -0.005283110775053501, + 0.10789210349321365 + ], + [ + 0.32408076524734497, + -0.002079856814816594, + 0.10401895642280579 + ], + [ + 0.32877951860427856, + -0.0008715951116755605, + 0.10417261719703674 + ], + [ + 0.3308359384536743, + 0.00046011764789000154, + 0.08968852460384369 + ], + [ + 0.3326389789581299, + -0.0010823030024766922, + 0.0869559496641159 + ], + [ + 0.3333481550216675, + -0.004714958369731903, + 0.08373144268989563 + ], + [ + 0.3290849030017853, + -0.00757589191198349, + 0.08275294303894043 + ], + [ + 0.3178740441799164, + -0.009039423428475857, + 0.08377393335103989 + ], + [ + 0.30564621090888977, + -0.010271070525050163, + 0.07968933135271072 + ], + [ + 0.29600924253463745, + -0.012728545814752579, + 0.08803204447031021 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9034946233184415, + 0.3839645465403749, + 0.19044341058359462, + 0.3942923774937915, + -0.9188062706238852, + -0.018126172031652538, + 0.16802079241855963, + 0.09146728410897499, + -0.9815308193086792 + ], + [ + 0.9095014749687829, + 0.38626460617510744, + 0.15364478854161379, + 0.3933685154186633, + -0.9192116375734579, + -0.01764019350342853, + 0.13441829528350996, + 0.07648280438053207, + -0.987968674871407 + ], + [ + 0.9035119296903636, + 0.4214858953890002, + 0.07756180049049681, + 0.42524881862920755, + -0.9041841122984063, + -0.04018125584903767, + 0.053194315125379824, + 0.06928730803888432, + -0.996177511181148 + ], + [ + 0.8891473592309664, + 0.4494028562745687, + 0.08633681917269022, + 0.45347518717007945, + -0.8906070616869526, + -0.0343411749128321, + 0.06145915874513609, + 0.06968597022063838, + -0.9956739613752829 + ], + [ + 0.8701587661779621, + 0.4796364690995012, + 0.11301583585236925, + 0.484681760387217, + -0.8744468389344222, + -0.020647445981154946, + 0.088923072324312, + 0.072743270392247, + -0.9933786306444513 + ], + [ + 0.8577203895432907, + 0.49497176842238877, + 0.13899166099633278, + 0.5036048430134932, + -0.8632861463735233, + -0.03345432069116583, + 0.10343063112570318, + 0.09869132659137572, + -0.9897283094872925 + ], + [ + 0.863312909704667, + 0.4865441614168946, + 0.13403581211151097, + 0.4929848912180388, + -0.8698572262558572, + -0.01772859163060777, + 0.10796627699425353, + 0.08138295227870052, + -0.9908178935154547 + ], + [ + 0.8696530454103554, + 0.4750238556844925, + 0.13437230793259924, + 0.47778078768795124, + -0.8783826407496067, + 0.013017501527895197, + 0.12421392645261536, + 0.05287979728011717, + -0.9908454105029898 + ], + [ + 0.8659339695673771, + 0.48823692187437984, + 0.10854984324224383, + 0.4878457470508607, + -0.8723447704705501, + 0.03195510158129435, + 0.11029454852200367, + 0.025284571408547278, + -0.9935772758145255 + ], + [ + 0.8693719895303689, + 0.47904382034281956, + 0.12128215866880361, + 0.4755478329280163, + -0.8777624560749997, + 0.05820076719985742, + 0.1343376433375096, + 0.007077350955047499, + -0.9909103434145712 + ], + [ + 0.8694131509838221, + 0.47556339309061074, + 0.13401579029549723, + 0.4700714530956221, + -0.8796813867467559, + 0.07206585041387305, + 0.1521630766018873, + 0.00034199919530839007, + -0.9883553415425034 + ], + [ + 0.8707188227762583, + 0.4797227622357995, + 0.10823494378425733, + 0.47252074936198457, + -0.8770943106813611, + 0.0861957747965438, + 0.13628232858854195, + -0.02390902681504455, + -0.9903814847578897 + ], + [ + 0.8732675381952894, + 0.4770584854941239, + 0.09909090852541379, + 0.4691316233318462, + -0.8781693249241084, + 0.09345671057962021, + 0.13160291305425548, + -0.03512603280173973, + -0.9906799862191854 + ], + [ + 0.8760332967036282, + 0.4740204869810777, + 0.08871437870376515, + 0.4655017144616256, + -0.8792373976096207, + 0.10124106122492427, + 0.12599133660637252, + -0.047393845242643645, + -0.9908985853927011 + ], + [ + 0.8784375558541668, + 0.47174823304663044, + 0.07616472334578342, + 0.46404327268628504, + -0.8801851951908929, + 0.09968883207948649, + 0.11406709227274872, + -0.05222668651323774, + -0.9920993255094412 + ], + [ + 0.8836310789572204, + 0.4620742309351185, + 0.07538913321306806, + 0.45406737869061314, + -0.8850479891821881, + 0.10253229956263084, + 0.11410053422282582, + -0.056368980390677156, + -0.9918687444111652 + ], + [ + 0.8911722987959393, + 0.4475017987775804, + 0.07452565967229394, + 0.44018213355502817, + -0.892691599314383, + 0.0966509069407622, + 0.10977988503229513, + -0.053327747039965186, + -0.9925243212324507 + ], + [ + 0.8826038323573648, + 0.46215154508238415, + 0.08617670500812527, + 0.45514058400289387, + -0.885907790052635, + 0.08952338419408037, + 0.11771798461406424, + -0.03979116613045283, + -0.9922495347423356 + ], + [ + 0.8708575637875785, + 0.4711590796409108, + 0.14005793539065786, + 0.46351139408137537, + -0.8820009165947623, + 0.08503864229125005, + 0.1635979558267882, + -0.009138095968478345, + -0.9864847713225822 + ], + [ + 0.8657411516565309, + 0.47248926552973974, + 0.16506408539591727, + 0.4639505461396504, + -0.8813360278134966, + 0.08942425182604263, + 0.18772892442333894, + -0.0008366821944240654, + -0.982220520503294 + ], + [ + 0.8608580259994986, + 0.4731519350868889, + 0.1872183361633655, + 0.4645430040293469, + -0.8809326056395084, + 0.09031911053911323, + 0.20766139862679503, + 0.009219037081974392, + -0.978157325216984 + ], + [ + 0.852222840254794, + 0.45668078964397246, + 0.2552623883736288, + 0.44308620183548025, + -0.8894554173272254, + 0.1119985639651644, + 0.27819210680941253, + 0.017655507849073784, + -0.9603631785691971 + ], + [ + 0.8382807111504311, + 0.4426943992975768, + 0.3182877913833418, + 0.428747179476633, + -0.8958431301215503, + 0.1167944446660696, + 0.33684017783506753, + 0.03855846268436226, + -0.9407719912664595 + ], + [ + 0.8219290788704968, + 0.4245975430890926, + 0.3796702723545821, + 0.42184414766077716, + -0.9016638371865979, + 0.09513064592597079, + 0.3827271931695589, + 0.0819710382552653, + -0.9202177158128966 + ], + [ + 0.7970547160266519, + 0.40043216903188433, + 0.45205957313621214, + 0.39924109223320176, + -0.9110348737701979, + 0.10306313136597571, + 0.4531118293888541, + 0.09833380282965094, + -0.8860136191328809 + ], + [ + 0.7672859818161466, + 0.40765958421625575, + 0.4950614966901199, + 0.40382398930159863, + -0.9068201588065867, + 0.12084446717388181, + 0.49819515029050065, + 0.10719544290046334, + -0.8604131154558252 + ], + [ + 0.7172991272844138, + 0.40046459585750077, + 0.570184241681324, + 0.3963021250242795, + -0.9075580395488498, + 0.13886335208213968, + 0.5730851487329419, + 0.12635866537335894, + -0.8096955600636605 + ], + [ + 0.6936302912841379, + 0.3800584800652502, + 0.6119089562537667, + 0.37381109068596863, + -0.9160632681148344, + 0.14523552351589408, + 0.6157453105734942, + 0.12799859585659928, + -0.7774793064548344 + ], + [ + 0.709419709193267, + 0.3838860403266177, + 0.5910627583010883, + 0.3584424125019568, + -0.9186023445541437, + 0.16639942758136925, + 0.6068300529208466, + 0.09381492750080203, + -0.7892756465583503 + ], + [ + 0.7133303422783628, + 0.37580805856572225, + 0.5915472304914431, + 0.3419847091538181, + -0.9234088001482836, + 0.1742488063479507, + 0.6117240239601616, + 0.07800314689658294, + -0.787216125078887 + ], + [ + 0.6942913674611061, + 0.35865547883434534, + 0.6239597299274161, + 0.31672706117673277, + -0.9307769308539368, + 0.18258771510831756, + 0.6462534067897342, + 0.07085585714838573, + -0.7598262839099672 + ], + [ + 0.7096416517974149, + 0.3587009211000927, + 0.6064176574244697, + 0.33042547897595703, + -0.9296146368367861, + 0.16320425797852056, + 0.6222762480424155, + 0.08455930570170947, + -0.7782171900835261 + ], + [ + 0.7453100800029832, + 0.3675511537086004, + 0.5562544687941151, + 0.3536932919052695, + -0.9252090878372295, + 0.1374379825398168, + 0.5651671787242782, + 0.09430956044260813, + -0.8195680367742274 + ], + [ + 0.7813993163726107, + 0.39125319424635013, + 0.48614405927095694, + 0.3927906075331273, + -0.9137254015588611, + 0.1040260985515378, + 0.48490271911608485, + 0.10966689809657837, + -0.8676649839976841 + ], + [ + 0.8066230649142696, + 0.44919352834504256, + 0.38416715794201023, + 0.45954301740930104, + -0.8853656966232583, + 0.0703405885187742, + 0.3717249605537201, + 0.1198029938513398, + -0.9205801411966212 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.004132002592086792, + -0.0002292729914188385, + -0.008617199957370758, + 0.015659935772418976, + 0.033995166420936584, + -0.0032791197299957275, + 1.0 + ], + [ + -0.0063592493534088135, + 0.0163506381213665, + 0.0041575804352760315, + 0.007818765938282013, + 0.08160696923732758, + 0.031688570976257324, + 1.0 + ], + [ + -0.0015639960765838623, + 0.022132864221930504, + -0.0036798715591430664, + -0.00043345987796783447, + -0.008278481662273407, + 0.03172147274017334, + 1.0 + ], + [ + -1.4960765838623047e-05, + 0.008122039958834648, + -0.0077123865485191345, + -0.0032228678464889526, + -0.02754276618361473, + 0.03657999634742737, + 1.0 + ], + [ + 0.003801107406616211, + 0.010863282717764378, + -0.004407651722431183, + -0.02628936618566513, + -0.014575257897377014, + 0.02270793914794922, + 1.0 + ], + [ + -0.0035182833671569824, + 0.00594735611230135, + -0.014128614217042923, + 0.017433859407901764, + -0.004561200737953186, + -0.012060463428497314, + 1.0 + ], + [ + -0.0008683204650878906, + 9.641051292419434e-06, + -0.003532249480485916, + 0.02863539382815361, + -0.01635844260454178, + -0.016475379467010498, + 1.0 + ], + [ + -0.0004291236400604248, + 0.001748187467455864, + -0.010723583400249481, + 0.027875255793333054, + 0.014016181230545044, + 0.010677456855773926, + 1.0 + ], + [ + 0.0026745498180389404, + -0.0025080228224396706, + -0.007318552583456039, + 0.01830037496984005, + -0.024225614964962006, + -0.012515842914581299, + 1.0 + ], + [ + -0.0003432631492614746, + -0.0013213679194450378, + -0.0041865017265081406, + 0.006796121597290039, + -0.01801145076751709, + -0.004881173372268677, + 1.0 + ], + [ + -0.002078115940093994, + 0.0017586573958396912, + -0.009922448545694351, + 0.024482570588588715, + 0.016048714518547058, + 0.00154799222946167, + 1.0 + ], + [ + -0.0005180537700653076, + -0.0006531593389809132, + -0.004504034295678139, + 0.011305099353194237, + 0.004721969366073608, + -0.004231244325637817, + 1.0 + ], + [ + -0.0004507005214691162, + -0.0005906429141759872, + -0.00629800371825695, + 0.01235109567642212, + 0.0056587159633636475, + -0.004542797803878784, + 1.0 + ], + [ + 0.001317441463470459, + -0.0003527281805872917, + -0.0026722154580056667, + 0.004801314324140549, + 0.012011155486106873, + -0.0024319589138031006, + 1.0 + ], + [ + 0.0020059049129486084, + -0.0005315979942679405, + -0.0015007252804934978, + 0.004175972193479538, + -3.3661723136901855e-05, + -0.011320799589157104, + 0.0 + ], + [ + -0.00021535158157348633, + -0.0009298739023506641, + 0.00035269511863589287, + -0.0030922256410121918, + 0.00434798002243042, + -0.015893548727035522, + 0.0 + ], + [ + -0.002795279026031494, + -0.002315836725756526, + 0.007689385209232569, + -0.013597298413515091, + -0.007989980280399323, + 0.017327576875686646, + 0.0 + ], + [ + 0.004701405763626099, + -0.0036672514397650957, + 0.01699947938323021, + -0.03081747144460678, + -0.04634507745504379, + 0.012998968362808228, + 0.0 + ], + [ + -2.54213809967041e-05, + -0.003928148653358221, + 0.01583431288599968, + -0.008411199785768986, + -0.024512797594070435, + 0.0028420984745025635, + 0.0 + ], + [ + 0.0028725862503051758, + -0.0024455892853438854, + 0.013592056930065155, + -0.010276449844241142, + -0.020334184169769287, + 0.0028917789459228516, + 0.0 + ], + [ + 0.0053462982177734375, + -0.00045286864042282104, + 0.014318373054265976, + -0.008957505226135254, + -0.07272776961326599, + -0.015390187501907349, + 0.0 + ], + [ + -0.0024830996990203857, + -0.0005630776286125183, + 0.007997691631317139, + -0.02258092537522316, + -0.06164753437042236, + -0.006681293249130249, + 0.0 + ], + [ + 0.0006411373615264893, + -0.0029105041176080704, + 0.017085567116737366, + -0.04788032919168472, + -0.04918751120567322, + 0.0014071464538574219, + 0.0 + ], + [ + -0.0017245709896087646, + 0.002619725652039051, + 0.009237825870513916, + -0.0216887965798378, + -0.07750654220581055, + -0.009817063808441162, + 0.0 + ], + [ + 0.003321051597595215, + 0.003553456626832485, + 0.0004877746105194092, + -0.013415180146694183, + -0.05126297473907471, + 0.020103245973587036, + 0.0 + ], + [ + 0.004942387342453003, + 0.003203253960236907, + -0.0038731470704078674, + -0.030860982835292816, + -0.08874964714050293, + 0.02028757333755493, + 0.0 + ], + [ + 0.004698753356933594, + 0.0012082617031410336, + 0.00015366077423095703, + -0.008360788226127625, + -0.05306589603424072, + -0.010457992553710938, + 0.0 + ], + [ + 0.002056419849395752, + 0.001331712817773223, + -0.014484092593193054, + 0.04486214369535446, + 0.011265218257904053, + -0.02644866704940796, + 0.0 + ], + [ + 0.0018030405044555664, + -0.0015424205921590328, + -0.002732574939727783, + 0.019542045891284943, + -0.006171822547912598, + -0.02079954743385315, + 0.0 + ], + [ + 0.0007091760635375977, + -0.003632655367255211, + -0.003224506974220276, + 0.0057811439037323, + -0.04442650079727173, + -0.019060790538787842, + 0.0 + ], + [ + -0.004263252019882202, + -0.002860933542251587, + -0.0009784996509552002, + -0.015249304473400116, + 0.031017422676086426, + 0.007782250642776489, + 1.0 + ], + [ + -0.011210858821868896, + -0.0014635315164923668, + 0.0010209903120994568, + -0.006335258483886719, + 0.07101130485534668, + 0.007318317890167236, + 1.0 + ], + [ + -0.012227833271026611, + -0.0012316470965743065, + -0.004084601998329163, + -0.011158101260662079, + 0.09438395500183105, + 0.022697925567626953, + 1.0 + ], + [ + -0.00963696837425232, + -0.0024574752897024155, + 0.008342713117599487, + -0.003684818744659424, + 0.12538549304008484, + 0.052065253257751465, + 1.0 + ], + [ + -0.001017928123474121, + -0.00048017222434282303, + 0.028968214988708496, + 0.005333550274372101, + 0.1590687334537506, + 0.09001970291137695, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9872581958770752 + ], + [ + 0.9872581958770752 + ], + [ + 0.9872581958770752 + ], + [ + 0.9872581958770752 + ], + [ + 0.9872581958770752 + ], + [ + 0.9872581958770752 + ], + [ + 0.9872581958770752 + ], + [ + 0.9872581958770752 + ], + [ + 0.9872581958770752 + ], + [ + 0.9872581958770752 + ], + [ + 0.9872581958770752 + ], + [ + 0.9872581958770752 + ], + [ + 0.9872581958770752 + ], + [ + 0.9872581958770752 + ], + [ + 0.9560673832893372 + ], + [ + 0.8696252703666687 + ], + [ + 0.8956556916236877 + ], + [ + 0.8965065479278564 + ], + [ + 0.8965065479278564 + ], + [ + 0.8965065479278564 + ], + [ + 0.8965065479278564 + ], + [ + 0.8965065479278564 + ], + [ + 0.8965065479278564 + ], + [ + 0.8965065479278564 + ], + [ + 0.8965065479278564 + ], + [ + 0.8965065479278564 + ], + [ + 0.8965065479278564 + ], + [ + 0.8965065479278564 + ], + [ + 0.8965065479278564 + ], + [ + 0.8965065479278564 + ], + [ + 0.8922415375709534 + ], + [ + 0.9375205039978027 + ], + [ + 0.9968144297599792 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.31584468483924866, + -0.05521829053759575, + 0.08072619885206223 + ], + [ + 0.30948543548583984, + -0.03886765241622925, + 0.08488377928733826 + ], + [ + 0.307921439409256, + -0.016734788194298744, + 0.08120390772819519 + ], + [ + 0.30790647864341736, + -0.008612748235464096, + 0.07349152117967606 + ], + [ + 0.31170758605003357, + 0.002250534715130925, + 0.06908386945724487 + ], + [ + 0.3081893026828766, + 0.008197890594601631, + 0.05495525524020195 + ], + [ + 0.3073209822177887, + 0.00820753164589405, + 0.051423005759716034 + ], + [ + 0.30689185857772827, + 0.009955719113349915, + 0.04069942235946655 + ], + [ + 0.3095664083957672, + 0.007447696290910244, + 0.03338086977601051 + ], + [ + 0.30922314524650574, + 0.006126328371465206, + 0.029194368049502373 + ], + [ + 0.30714502930641174, + 0.007884985767304897, + 0.01927191950380802 + ], + [ + 0.30662697553634644, + 0.007231826428323984, + 0.014767885208129883 + ], + [ + 0.3061762750148773, + 0.006641183514147997, + 0.008469881489872932 + ], + [ + 0.3074937164783478, + 0.006288455333560705, + 0.005797666031867266 + ], + [ + 0.3094996213912964, + 0.005756857339292765, + 0.004296940751373768 + ], + [ + 0.3092842698097229, + 0.0048269834369421005, + 0.004649635870009661 + ], + [ + 0.3064889907836914, + 0.0025111467111855745, + 0.01233902107924223 + ], + [ + 0.3111903965473175, + -0.0011561047285795212, + 0.029338501393795013 + ], + [ + 0.3111649751663208, + -0.005084253381937742, + 0.04517281427979469 + ], + [ + 0.314037561416626, + -0.007529842667281628, + 0.05876487120985985 + ], + [ + 0.3193838596343994, + -0.007982711307704449, + 0.07308324426412582 + ], + [ + 0.31690075993537903, + -0.008545788936316967, + 0.08108093589544296 + ], + [ + 0.3175418972969055, + -0.011456293053925037, + 0.09816650301218033 + ], + [ + 0.31581732630729675, + -0.008836567401885986, + 0.10740432888269424 + ], + [ + 0.31913837790489197, + -0.005283110775053501, + 0.10789210349321365 + ], + [ + 0.32408076524734497, + -0.002079856814816594, + 0.10401895642280579 + ], + [ + 0.32877951860427856, + -0.0008715951116755605, + 0.10417261719703674 + ], + [ + 0.3308359384536743, + 0.00046011764789000154, + 0.08968852460384369 + ], + [ + 0.3326389789581299, + -0.0010823030024766922, + 0.0869559496641159 + ], + [ + 0.3333481550216675, + -0.004714958369731903, + 0.08373144268989563 + ], + [ + 0.3290849030017853, + -0.00757589191198349, + 0.08275294303894043 + ], + [ + 0.3178740441799164, + -0.009039423428475857, + 0.08377393335103989 + ], + [ + 0.30564621090888977, + -0.010271070525050163, + 0.07968933135271072 + ], + [ + 0.29600924253463745, + -0.012728545814752579, + 0.08803204447031021 + ], + [ + 0.29499131441116333, + -0.013208718039095402, + 0.11700025945901871 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9095014749687829, + 0.38626460617510744, + 0.15364478854161379, + 0.3933685154186633, + -0.9192116375734579, + -0.01764019350342853, + 0.13441829528350996, + 0.07648280438053207, + -0.987968674871407 + ], + [ + 0.9035119296903636, + 0.4214858953890002, + 0.07756180049049681, + 0.42524881862920755, + -0.9041841122984063, + -0.04018125584903767, + 0.053194315125379824, + 0.06928730803888432, + -0.996177511181148 + ], + [ + 0.8891473592309664, + 0.4494028562745687, + 0.08633681917269022, + 0.45347518717007945, + -0.8906070616869526, + -0.0343411749128321, + 0.06145915874513609, + 0.06968597022063838, + -0.9956739613752829 + ], + [ + 0.8701587661779621, + 0.4796364690995012, + 0.11301583585236925, + 0.484681760387217, + -0.8744468389344222, + -0.020647445981154946, + 0.088923072324312, + 0.072743270392247, + -0.9933786306444513 + ], + [ + 0.8577203895432907, + 0.49497176842238877, + 0.13899166099633278, + 0.5036048430134932, + -0.8632861463735233, + -0.03345432069116583, + 0.10343063112570318, + 0.09869132659137572, + -0.9897283094872925 + ], + [ + 0.863312909704667, + 0.4865441614168946, + 0.13403581211151097, + 0.4929848912180388, + -0.8698572262558572, + -0.01772859163060777, + 0.10796627699425353, + 0.08138295227870052, + -0.9908178935154547 + ], + [ + 0.8696530454103554, + 0.4750238556844925, + 0.13437230793259924, + 0.47778078768795124, + -0.8783826407496067, + 0.013017501527895197, + 0.12421392645261536, + 0.05287979728011717, + -0.9908454105029898 + ], + [ + 0.8659339695673771, + 0.48823692187437984, + 0.10854984324224383, + 0.4878457470508607, + -0.8723447704705501, + 0.03195510158129435, + 0.11029454852200367, + 0.025284571408547278, + -0.9935772758145255 + ], + [ + 0.8693719895303689, + 0.47904382034281956, + 0.12128215866880361, + 0.4755478329280163, + -0.8777624560749997, + 0.05820076719985742, + 0.1343376433375096, + 0.007077350955047499, + -0.9909103434145712 + ], + [ + 0.8694131509838221, + 0.47556339309061074, + 0.13401579029549723, + 0.4700714530956221, + -0.8796813867467559, + 0.07206585041387305, + 0.1521630766018873, + 0.00034199919530839007, + -0.9883553415425034 + ], + [ + 0.8707188227762583, + 0.4797227622357995, + 0.10823494378425733, + 0.47252074936198457, + -0.8770943106813611, + 0.0861957747965438, + 0.13628232858854195, + -0.02390902681504455, + -0.9903814847578897 + ], + [ + 0.8732675381952894, + 0.4770584854941239, + 0.09909090852541379, + 0.4691316233318462, + -0.8781693249241084, + 0.09345671057962021, + 0.13160291305425548, + -0.03512603280173973, + -0.9906799862191854 + ], + [ + 0.8760332967036282, + 0.4740204869810777, + 0.08871437870376515, + 0.4655017144616256, + -0.8792373976096207, + 0.10124106122492427, + 0.12599133660637252, + -0.047393845242643645, + -0.9908985853927011 + ], + [ + 0.8784375558541668, + 0.47174823304663044, + 0.07616472334578342, + 0.46404327268628504, + -0.8801851951908929, + 0.09968883207948649, + 0.11406709227274872, + -0.05222668651323774, + -0.9920993255094412 + ], + [ + 0.8836310789572204, + 0.4620742309351185, + 0.07538913321306806, + 0.45406737869061314, + -0.8850479891821881, + 0.10253229956263084, + 0.11410053422282582, + -0.056368980390677156, + -0.9918687444111652 + ], + [ + 0.8911722987959393, + 0.4475017987775804, + 0.07452565967229394, + 0.44018213355502817, + -0.892691599314383, + 0.0966509069407622, + 0.10977988503229513, + -0.053327747039965186, + -0.9925243212324507 + ], + [ + 0.8826038323573648, + 0.46215154508238415, + 0.08617670500812527, + 0.45514058400289387, + -0.885907790052635, + 0.08952338419408037, + 0.11771798461406424, + -0.03979116613045283, + -0.9922495347423356 + ], + [ + 0.8708575637875785, + 0.4711590796409108, + 0.14005793539065786, + 0.46351139408137537, + -0.8820009165947623, + 0.08503864229125005, + 0.1635979558267882, + -0.009138095968478345, + -0.9864847713225822 + ], + [ + 0.8657411516565309, + 0.47248926552973974, + 0.16506408539591727, + 0.4639505461396504, + -0.8813360278134966, + 0.08942425182604263, + 0.18772892442333894, + -0.0008366821944240654, + -0.982220520503294 + ], + [ + 0.8608580259994986, + 0.4731519350868889, + 0.1872183361633655, + 0.4645430040293469, + -0.8809326056395084, + 0.09031911053911323, + 0.20766139862679503, + 0.009219037081974392, + -0.978157325216984 + ], + [ + 0.852222840254794, + 0.45668078964397246, + 0.2552623883736288, + 0.44308620183548025, + -0.8894554173272254, + 0.1119985639651644, + 0.27819210680941253, + 0.017655507849073784, + -0.9603631785691971 + ], + [ + 0.8382807111504311, + 0.4426943992975768, + 0.3182877913833418, + 0.428747179476633, + -0.8958431301215503, + 0.1167944446660696, + 0.33684017783506753, + 0.03855846268436226, + -0.9407719912664595 + ], + [ + 0.8219290788704968, + 0.4245975430890926, + 0.3796702723545821, + 0.42184414766077716, + -0.9016638371865979, + 0.09513064592597079, + 0.3827271931695589, + 0.0819710382552653, + -0.9202177158128966 + ], + [ + 0.7970547160266519, + 0.40043216903188433, + 0.45205957313621214, + 0.39924109223320176, + -0.9110348737701979, + 0.10306313136597571, + 0.4531118293888541, + 0.09833380282965094, + -0.8860136191328809 + ], + [ + 0.7672859818161466, + 0.40765958421625575, + 0.4950614966901199, + 0.40382398930159863, + -0.9068201588065867, + 0.12084446717388181, + 0.49819515029050065, + 0.10719544290046334, + -0.8604131154558252 + ], + [ + 0.7172991272844138, + 0.40046459585750077, + 0.570184241681324, + 0.3963021250242795, + -0.9075580395488498, + 0.13886335208213968, + 0.5730851487329419, + 0.12635866537335894, + -0.8096955600636605 + ], + [ + 0.6936302912841379, + 0.3800584800652502, + 0.6119089562537667, + 0.37381109068596863, + -0.9160632681148344, + 0.14523552351589408, + 0.6157453105734942, + 0.12799859585659928, + -0.7774793064548344 + ], + [ + 0.709419709193267, + 0.3838860403266177, + 0.5910627583010883, + 0.3584424125019568, + -0.9186023445541437, + 0.16639942758136925, + 0.6068300529208466, + 0.09381492750080203, + -0.7892756465583503 + ], + [ + 0.7133303422783628, + 0.37580805856572225, + 0.5915472304914431, + 0.3419847091538181, + -0.9234088001482836, + 0.1742488063479507, + 0.6117240239601616, + 0.07800314689658294, + -0.787216125078887 + ], + [ + 0.6942913674611061, + 0.35865547883434534, + 0.6239597299274161, + 0.31672706117673277, + -0.9307769308539368, + 0.18258771510831756, + 0.6462534067897342, + 0.07085585714838573, + -0.7598262839099672 + ], + [ + 0.7096416517974149, + 0.3587009211000927, + 0.6064176574244697, + 0.33042547897595703, + -0.9296146368367861, + 0.16320425797852056, + 0.6222762480424155, + 0.08455930570170947, + -0.7782171900835261 + ], + [ + 0.7453100800029832, + 0.3675511537086004, + 0.5562544687941151, + 0.3536932919052695, + -0.9252090878372295, + 0.1374379825398168, + 0.5651671787242782, + 0.09430956044260813, + -0.8195680367742274 + ], + [ + 0.7813993163726107, + 0.39125319424635013, + 0.48614405927095694, + 0.3927906075331273, + -0.9137254015588611, + 0.1040260985515378, + 0.48490271911608485, + 0.10966689809657837, + -0.8676649839976841 + ], + [ + 0.8066230649142696, + 0.44919352834504256, + 0.38416715794201023, + 0.45954301740930104, + -0.8853656966232583, + 0.0703405885187742, + 0.3717249605537201, + 0.1198029938513398, + -0.9205801411966212 + ], + [ + 0.8007575068807099, + 0.544382336170428, + 0.24987054096034872, + 0.5571306948428679, + -0.8301039919294103, + 0.023081409115583325, + 0.21998364493319333, + 0.12072793648731417, + -0.9680041122399337 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006505.json b/json/chunk-0006/episode_0006505.json new file mode 100644 index 0000000000000000000000000000000000000000..86fc43c1d67ebe4911283b8900737cc088f098e0 --- /dev/null +++ b/json/chunk-0006/episode_0006505.json @@ -0,0 +1,2602 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 42, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPick up bunny behind pot, move right, place near the red scoop." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006505.mp4", + "start": 0, + "end": 42, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2634068727493286, + 0.125838503241539, + 0.15977945923805237, + -0.2485656589269638, + -0.3849823474884033, + 0.9196823835372925, + 0.0, + 1.0001531839370728 + ], + [ + 0.2641211748123169, + 0.12570695579051971, + 0.1507720798254013, + -0.23860423266887665, + -0.3546285033226013, + 0.9242651462554932, + 0.0, + 1.0001531839370728 + ], + [ + 0.2859303951263428, + 0.1315765231847763, + 0.14686517417430878, + -0.24280081689357758, + -0.33393052220344543, + 0.9629263281822205, + 0.0, + 1.0001531839370728 + ], + [ + 0.30162280797958374, + 0.1399502009153366, + 0.1390409767627716, + -0.22781498730182648, + -0.3291420638561249, + 0.9562118649482727, + 0.0, + 1.0001531839370728 + ], + [ + 0.3200768828392029, + 0.14922131597995758, + 0.12722741067409515, + -0.21275192499160767, + -0.30921801924705505, + 0.946634829044342, + 0.0, + 1.0001531839370728 + ], + [ + 0.3322931230068207, + 0.15314848721027374, + 0.11344849318265915, + -0.19464613497257233, + -0.2886442542076111, + 0.9354380369186401, + 0.0, + 1.0001531839370728 + ], + [ + 0.35048404335975647, + 0.1549711525440216, + 0.09785156697034836, + -0.18427692353725433, + -0.2645033895969391, + 0.9168014526367188, + 0.0, + 1.0001531839370728 + ], + [ + 0.3615510165691376, + 0.15393982827663422, + 0.08059062063694, + -0.21446850895881653, + -0.2227758765220642, + 0.9167420268058777, + 0.0, + 1.0001531839370728 + ], + [ + 0.36193665862083435, + 0.1569470912218094, + 0.06297523528337479, + -0.1799178570508957, + -0.19653813540935516, + 0.9047824144363403, + 0.0, + 1.0001531839370728 + ], + [ + 0.3576052784919739, + 0.15884210169315338, + 0.057245172560214996, + -0.149807408452034, + -0.20310519635677338, + 0.8744992017745972, + 0.0, + 1.0001531839370728 + ], + [ + 0.347444623708725, + 0.15615637600421906, + 0.04515927657485008, + -0.12171051651239395, + -0.18704478442668915, + 0.8574442863464355, + 0.0, + 1.0001531839370728 + ], + [ + 0.3497965931892395, + 0.1525869220495224, + 0.037560317665338516, + -0.13243921101093292, + -0.16148489713668823, + 0.8748412728309631, + 0.0, + 1.0001531839370728 + ], + [ + 0.3610338270664215, + 0.14724794030189514, + 0.03109803982079029, + -0.1458587944507599, + -0.1483622044324875, + 0.8874191045761108, + 0.0, + 1.0001531839370728 + ], + [ + 0.36851832270622253, + 0.15007160604000092, + 0.027542155236005783, + -0.13379698991775513, + -0.15842075645923615, + 0.8866657614707947, + 0.0, + 0.9468915462493896 + ], + [ + 0.3723936975002289, + 0.1514689028263092, + 0.026665350422263145, + -0.14524155855178833, + -0.17961333692073822, + 0.8982671499252319, + 0.0, + 0.6591242551803589 + ], + [ + 0.37113282084465027, + 0.1507124900817871, + 0.02477150410413742, + -0.14546187222003937, + -0.19318537414073944, + 0.8969415426254272, + 0.0, + 0.4077054560184479 + ], + [ + 0.3653435707092285, + 0.14891134202480316, + 0.026050284504890442, + -0.14594051241874695, + -0.19772027432918549, + 0.905660092830658, + 0.0, + 0.2652277648448944 + ], + [ + 0.35965582728385925, + 0.14520949125289917, + 0.026467297226190567, + -0.1463710367679596, + -0.1819075047969818, + 0.9069651365280151, + 0.0, + 0.20806095004081726 + ], + [ + 0.3524322807788849, + 0.1462162584066391, + 0.04456612467765808, + -0.16798800230026245, + -0.18631821870803833, + 0.9508836269378662, + 0.0, + 0.18346792459487915 + ], + [ + 0.3533434569835663, + 0.15371201932430267, + 0.07933319360017776, + -0.22142216563224792, + -0.2554435133934021, + 1.0254703760147095, + 0.0, + 0.17900145053863525 + ], + [ + 0.35081854462623596, + 0.162199005484581, + 0.11089961230754852, + -0.2628195583820343, + -0.34579142928123474, + 1.0915436744689941, + 0.0, + 0.17734436690807343 + ], + [ + 0.3483591675758362, + 0.16393059492111206, + 0.12211450189352036, + -0.2864473760128021, + -0.35542941093444824, + 1.1263824701309204, + 0.0, + 0.17734436690807343 + ], + [ + 0.3496215343475342, + 0.1485186517238617, + 0.14380687475204468, + -0.33823683857917786, + -0.36039116978645325, + 1.109431266784668, + 0.0, + 0.17734436690807343 + ], + [ + 0.35298892855644226, + 0.11981212347745895, + 0.1691206842660904, + -0.39981094002723694, + -0.3690871596336365, + 1.0712599754333496, + 0.0, + 0.17734436690807343 + ], + [ + 0.3454592525959015, + 0.09454391151666641, + 0.18377357721328735, + -0.42570629715919495, + -0.3936569392681122, + 1.0091373920440674, + 0.0, + 0.17734436690807343 + ], + [ + 0.32974231243133545, + 0.06994080543518066, + 0.18324247002601624, + -0.4077512323856354, + -0.39221423864364624, + 0.9263108968734741, + 0.0, + 0.17734436690807343 + ], + [ + 0.31344926357269287, + 0.040363896638154984, + 0.17598408460617065, + -0.38747209310531616, + -0.3836555778980255, + 0.8250629305839539, + 0.0, + 0.17734436690807343 + ], + [ + 0.3041538894176483, + 0.02302516996860504, + 0.1574690192937851, + -0.3567466139793396, + -0.36209073662757874, + 0.7628958821296692, + 0.0, + 0.17734436690807343 + ], + [ + 0.3014853894710541, + 0.00891135074198246, + 0.13732938468456268, + -0.33402684330940247, + -0.3357037305831909, + 0.7235882878303528, + 0.0, + 0.17734436690807343 + ], + [ + 0.3059982359409332, + 0.006689409725368023, + 0.11026410013437271, + -0.28674960136413574, + -0.30619919300079346, + 0.7048678398132324, + 0.0, + 0.17734436690807343 + ], + [ + 0.3131048381328583, + 0.003595526795834303, + 0.08515407145023346, + -0.26454871892929077, + -0.2762220501899719, + 0.710383415222168, + 0.0, + 0.17734436690807343 + ], + [ + 0.3155133128166199, + 0.0009222626686096191, + 0.06357073038816452, + -0.23065918684005737, + -0.2639126777648926, + 0.6981703042984009, + 0.0, + 0.17734436690807343 + ], + [ + 0.3128839135169983, + -0.005724820774048567, + 0.04708123207092285, + -0.21106038987636566, + -0.23765163123607635, + 0.6796857714653015, + 0.0, + 0.17734436690807343 + ], + [ + 0.30873608589172363, + -0.008159088902175426, + 0.03589378669857979, + -0.19268420338630676, + -0.22240999341011047, + 0.6693814992904663, + 0.0, + 0.17734436690807343 + ], + [ + 0.3052721917629242, + -0.006675415672361851, + 0.03277358412742615, + -0.18267734348773956, + -0.22281679511070251, + 0.70778489112854, + 0.0, + 0.2352597415447235 + ], + [ + 0.3032166659832001, + -0.004349753260612488, + 0.038145601749420166, + -0.1628006398677826, + -0.23988014459609985, + 0.7282968759536743, + 0.0, + 0.49086472392082214 + ], + [ + 0.3016710877418518, + -0.002168098231777549, + 0.03822435811161995, + -0.1447419822216034, + -0.2427676022052765, + 0.7214504480361938, + 0.0, + 0.8149353265762329 + ], + [ + 0.30121317505836487, + -0.00018169500981457531, + 0.0388004332780838, + -0.13919991254806519, + -0.24307985603809357, + 0.7329810857772827, + 0.0, + 1.0047606229782104 + ], + [ + 0.3069639801979065, + 0.005579427350312471, + 0.0525662899017334, + -0.16593001782894135, + -0.262483686208725, + 0.7640016674995422, + 0.0, + 1.003452181816101 + ], + [ + 0.3108357787132263, + 0.009287625551223755, + 0.07755928486585617, + -0.22483405470848083, + -0.2748528718948364, + 0.8051985502243042, + 0.0, + 0.9994885921478271 + ], + [ + 0.3124011754989624, + 0.016302410513162613, + 0.11064963042736053, + -0.2890397012233734, + -0.3009330928325653, + 0.8450582027435303, + 0.0, + 0.9994885921478271 + ], + [ + 0.3114757239818573, + 0.02432130090892315, + 0.1418430656194687, + -0.3256927728652954, + -0.33352380990982056, + 0.8620802760124207, + 0.0, + 0.9994885921478271 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9468915462493896 + ], + [ + 0.6591242551803589 + ], + [ + 0.4077054560184479 + ], + [ + 0.2652277648448944 + ], + [ + 0.20806095004081726 + ], + [ + 0.18346792459487915 + ], + [ + 0.17900145053863525 + ], + [ + 0.17734436690807343 + ], + [ + 0.17734436690807343 + ], + [ + 0.17734436690807343 + ], + [ + 0.17734436690807343 + ], + [ + 0.17734436690807343 + ], + [ + 0.17734436690807343 + ], + [ + 0.17734436690807343 + ], + [ + 0.17734436690807343 + ], + [ + 0.17734436690807343 + ], + [ + 0.17734436690807343 + ], + [ + 0.17734436690807343 + ], + [ + 0.17734436690807343 + ], + [ + 0.17734436690807343 + ], + [ + 0.17734436690807343 + ], + [ + 0.2352597415447235 + ], + [ + 0.49086472392082214 + ], + [ + 0.8149353265762329 + ], + [ + 1.0047606229782104 + ], + [ + 1.003452181816101 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2634068727493286, + 0.125838503241539, + 0.15977945923805237 + ], + [ + 0.2641211748123169, + 0.12570695579051971, + 0.1507720798254013 + ], + [ + 0.2859303951263428, + 0.1315765231847763, + 0.14686517417430878 + ], + [ + 0.30162280797958374, + 0.1399502009153366, + 0.1390409767627716 + ], + [ + 0.3200768828392029, + 0.14922131597995758, + 0.12722741067409515 + ], + [ + 0.3322931230068207, + 0.15314848721027374, + 0.11344849318265915 + ], + [ + 0.35048404335975647, + 0.1549711525440216, + 0.09785156697034836 + ], + [ + 0.3615510165691376, + 0.15393982827663422, + 0.08059062063694 + ], + [ + 0.36193665862083435, + 0.1569470912218094, + 0.06297523528337479 + ], + [ + 0.3576052784919739, + 0.15884210169315338, + 0.057245172560214996 + ], + [ + 0.347444623708725, + 0.15615637600421906, + 0.04515927657485008 + ], + [ + 0.3497965931892395, + 0.1525869220495224, + 0.037560317665338516 + ], + [ + 0.3610338270664215, + 0.14724794030189514, + 0.03109803982079029 + ], + [ + 0.36851832270622253, + 0.15007160604000092, + 0.027542155236005783 + ], + [ + 0.3723936975002289, + 0.1514689028263092, + 0.026665350422263145 + ], + [ + 0.37113282084465027, + 0.1507124900817871, + 0.02477150410413742 + ], + [ + 0.3653435707092285, + 0.14891134202480316, + 0.026050284504890442 + ], + [ + 0.35965582728385925, + 0.14520949125289917, + 0.026467297226190567 + ], + [ + 0.3524322807788849, + 0.1462162584066391, + 0.04456612467765808 + ], + [ + 0.3533434569835663, + 0.15371201932430267, + 0.07933319360017776 + ], + [ + 0.35081854462623596, + 0.162199005484581, + 0.11089961230754852 + ], + [ + 0.3483591675758362, + 0.16393059492111206, + 0.12211450189352036 + ], + [ + 0.3496215343475342, + 0.1485186517238617, + 0.14380687475204468 + ], + [ + 0.35298892855644226, + 0.11981212347745895, + 0.1691206842660904 + ], + [ + 0.3454592525959015, + 0.09454391151666641, + 0.18377357721328735 + ], + [ + 0.32974231243133545, + 0.06994080543518066, + 0.18324247002601624 + ], + [ + 0.31344926357269287, + 0.040363896638154984, + 0.17598408460617065 + ], + [ + 0.3041538894176483, + 0.02302516996860504, + 0.1574690192937851 + ], + [ + 0.3014853894710541, + 0.00891135074198246, + 0.13732938468456268 + ], + [ + 0.3059982359409332, + 0.006689409725368023, + 0.11026410013437271 + ], + [ + 0.3131048381328583, + 0.003595526795834303, + 0.08515407145023346 + ], + [ + 0.3155133128166199, + 0.0009222626686096191, + 0.06357073038816452 + ], + [ + 0.3128839135169983, + -0.005724820774048567, + 0.04708123207092285 + ], + [ + 0.30873608589172363, + -0.008159088902175426, + 0.03589378669857979 + ], + [ + 0.3052721917629242, + -0.006675415672361851, + 0.03277358412742615 + ], + [ + 0.3032166659832001, + -0.004349753260612488, + 0.038145601749420166 + ], + [ + 0.3016710877418518, + -0.002168098231777549, + 0.03822435811161995 + ], + [ + 0.30121317505836487, + -0.00018169500981457531, + 0.0388004332780838 + ], + [ + 0.3069639801979065, + 0.005579427350312471, + 0.0525662899017334 + ], + [ + 0.3108357787132263, + 0.009287625551223755, + 0.07755928486585617 + ], + [ + 0.3124011754989624, + 0.016302410513162613, + 0.11064963042736053 + ], + [ + 0.3114757239818573, + 0.02432130090892315, + 0.1418430656194687 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.5617113596605358, + 0.7149689656150249, + 0.4162928375983589, + 0.7371892372691324, + -0.6609328226695312, + 0.14042732060621527, + 0.3755427763689073, + 0.22800697823853383, + -0.8983209008988189 + ], + [ + 0.5649359669473757, + 0.7261245407786727, + 0.39190624456392065, + 0.7485120844989792, + -0.6508600614695815, + 0.12692848278777188, + 0.34724200870319066, + 0.22164009488983374, + -0.9112072517978547 + ], + [ + 0.5395724131308868, + 0.7517844572741184, + 0.37905374393240204, + 0.775522841459789, + -0.6190531527634042, + 0.12384472708930432, + 0.3277589561892195, + 0.22714163831131562, + -0.917050021963363 + ], + [ + 0.5456661622182893, + 0.753809178716567, + 0.3660876418190301, + 0.7731558630257676, + -0.6213637894501773, + 0.1270316993076783, + 0.32323126531764257, + 0.21372590681237172, + -0.9218691804580439 + ], + [ + 0.556699239870438, + 0.7556057144327845, + 0.34517526076501787, + 0.7729676869730292, + -0.6233813262716141, + 0.11796896605213066, + 0.30431383672656415, + 0.2011360891843254, + -0.9310947118335456 + ], + [ + 0.5689146395480584, + 0.756985624454798, + 0.3214170146035871, + 0.7715626355942048, + -0.6265724441211797, + 0.10999123430044688, + 0.28465282760378025, + 0.1854177354968799, + -0.9405280597092157 + ], + [ + 0.5872044883086469, + 0.7510798081194219, + 0.3017780819500859, + 0.7660582643999903, + -0.6360805846877622, + 0.09249986663638693, + 0.26142996089709164, + 0.17686325683580312, + -0.9488802684884843 + ], + [ + 0.5933739290558598, + 0.7468329902415004, + 0.3002463405334856, + 0.774011557473291, + -0.6317877117976238, + 0.041837735589925235, + 0.22093774963681817, + 0.20756871611218522, + -0.9529437228278264 + ], + [ + 0.6059619936513323, + 0.75200819193275, + 0.2594103727998144, + 0.7711534371533669, + -0.6353598379350395, + 0.040500033403791824, + 0.19527528931395977, + 0.17550371963350592, + -0.964917616057533 + ], + [ + 0.6281975381092284, + 0.7393206008872797, + 0.24243123193428703, + 0.7514520985422293, + -0.6572948228177437, + 0.05729973379929821, + 0.20171166726291287, + 0.14617990628216465, + -0.9684750065382963 + ], + [ + 0.6429586471314628, + 0.7358050541633009, + 0.21259139292695015, + 0.7429835322202026, + -0.6666034756399506, + 0.060127174508112426, + 0.18595604031187127, + 0.11929261725890505, + -0.9752895070383205 + ], + [ + 0.6327774849653417, + 0.7471088903309078, + 0.20352140061786259, + 0.7574570431895524, + -0.6517984871606233, + 0.03765049611444155, + 0.16078396140000253, + 0.13033433209880882, + -0.9783462984203906 + ], + [ + 0.6244790548794186, + 0.753645120935074, + 0.2050486325427847, + 0.7669260673826396, + -0.6413706122422941, + 0.021636656880022406, + 0.14781852788438618, + 0.14374550233903916, + -0.9785126025613519 + ], + [ + 0.6240853500023296, + 0.754742288874017, + 0.20219187248175824, + 0.7652643947916926, + -0.6426600132074958, + 0.03685801796414604, + 0.1577589362811943, + 0.13172769188500563, + -0.9786521001939733 + ], + [ + 0.612944663994849, + 0.7579047483592808, + 0.22333658745198226, + 0.7696644218235923, + -0.6366331286705196, + 0.0481137948840136, + 0.17864914402033094, + 0.1424031316145853, + -0.9735531990842422 + ], + [ + 0.612394921316716, + 0.7558046188550279, + 0.23180129089998433, + 0.7668858082465336, + -0.6391583920837556, + 0.05798885185075663, + 0.19198598244547468, + 0.1422530419580335, + -0.9710331892361516 + ], + [ + 0.6051420445093705, + 0.7608383087370865, + 0.23436760425688016, + 0.7715028062172895, + -0.6330823317241324, + 0.06316788153471167, + 0.196434533536919, + 0.14258972339136505, + -0.9700936268305794 + ], + [ + 0.6059729111958806, + 0.7629583746916162, + 0.22514739479886753, + 0.7746417715626315, + -0.6303322691080889, + 0.051101431206530296, + 0.18090593314509468, + 0.14344249373520876, + -0.9729837071317934 + ], + [ + 0.5709093113927135, + 0.7844778399723786, + 0.24219223100126197, + 0.7998424364760828, + -0.5979952270231643, + 0.05151490337288534, + 0.18524209828519322, + 0.1643052861285515, + -0.968859710160926 + ], + [ + 0.5018657694047769, + 0.8053020369157081, + 0.3156253773687457, + 0.827216004760084, + -0.5534764712924074, + 0.0968373749875017, + 0.2526745554433932, + 0.21249099996262613, + -0.9439296287151744 + ], + [ + 0.4338215347731618, + 0.8162645109870381, + 0.3814592036773398, + 0.8348159236823287, + -0.5234197655729342, + 0.17062861006875535, + 0.3389413659226019, + 0.24442585196878508, + -0.9085013777402073 + ], + [ + 0.4030569722729052, + 0.8238021619760825, + 0.3986164510224474, + 0.8464313148424745, + -0.501183894089438, + 0.17991312781280683, + 0.3479929688316114, + 0.2648862061883928, + -0.8992976100351218 + ], + [ + 0.4165726163749331, + 0.7926192570509271, + 0.4452212580712861, + 0.8379212811984958, + -0.524728255465915, + 0.1501605288695015, + 0.35264030087500453, + 0.31050760259248633, + -0.8827399656360033 + ], + [ + 0.44676007374246945, + 0.7413099627733604, + 0.5008642287113168, + 0.8186907947495696, + -0.5645066687309583, + 0.1052501950145169, + 0.36076421538442666, + 0.3630313485792033, + -0.8591026835290552 + ], + [ + 0.4918544805944783, + 0.6864693073835888, + 0.535573580322472, + 0.781635851647025, + -0.6191211830757971, + 0.07572553127482687, + 0.3835682016788741, + 0.3813775697220809, + -0.8410865496331 + ], + [ + 0.5551663718145825, + 0.6428057164516425, + 0.5278173078853357, + 0.7387058682156831, + -0.6727011127023748, + 0.04227118679077546, + 0.3822354508283429, + 0.3664342012777701, + -0.8483053909200249 + ], + [ + 0.6291847076834373, + 0.5841688986699345, + 0.5127117137769168, + 0.6811875947887118, + -0.732106719684632, + -0.0017921212505966622, + 0.3743127894198605, + 0.35038043441288647, + -0.8585589594531989 + ], + [ + 0.6759678736443172, + 0.5580896462147159, + 0.48125188891963183, + 0.6462108142318276, + -0.7628102496129205, + -0.02306743712058723, + 0.3542301756917651, + 0.32658302141018763, + -0.8762787871197009 + ], + [ + 0.7076004137315075, + 0.5445423540577218, + 0.4503057618155405, + 0.6251200625189349, + -0.7795210538733559, + -0.039646361806545155, + 0.3294336988277343, + 0.3095489479960277, + -0.8919937706459784 + ], + [ + 0.7262677261562662, + 0.5565367722603394, + 0.4034873121497746, + 0.6177953076634706, + -0.785836739821946, + -0.02809939812545388, + 0.30143680560410047, + 0.26968025413080987, + -0.9145536686051494 + ], + [ + 0.7293738729235596, + 0.5753766154530863, + 0.3700749976507981, + 0.6274041695506974, + -0.7782405436179479, + -0.02656434263520087, + 0.27272286579398997, + 0.2515619340420802, + -0.9286220069619938 + ], + [ + 0.7394975090200188, + 0.5801091973229558, + 0.3414919520786743, + 0.6205607355848407, + -0.7840683478290624, + -0.011882734660264266, + 0.2608597469974799, + 0.22070374965985648, + -0.939809580331298 + ], + [ + 0.7559098724087397, + 0.5762411454104859, + 0.3107191772823402, + 0.6108823604974634, + -0.7915109968492073, + -0.018250575328512125, + 0.23542091331920845, + 0.20360865453802746, + -0.9503265277625181 + ], + [ + 0.7648895802388795, + 0.5758931348255589, + 0.28860184909799314, + 0.605217315906879, + -0.7959028304933329, + -0.015833033164044552, + 0.22058089348006385, + 0.18677735856760383, + -0.9573182792353048 + ], + [ + 0.7410206864872603, + 0.6088331697710287, + 0.2832146069405875, + 0.6340798193982109, + -0.7732607696972532, + 0.0032503352356288845, + 0.22097765685671006, + 0.17717210117220356, + -0.9590510527267799 + ], + [ + 0.7249396101678423, + 0.6280591841738538, + 0.2828501772751257, + 0.6465410713840553, + -0.762072076943631, + 0.03508265321178462, + 0.23758620461477692, + 0.157441451713625, + -0.9585222922076728 + ], + [ + 0.7288309453316288, + 0.6275336637410165, + 0.27387397466495617, + 0.6411069379984233, + -0.7658977630943938, + 0.048810967387357594, + 0.2403899897609924, + 0.14000756179142868, + -0.9605261763554023 + ], + [ + 0.7213344662467682, + 0.6377966164463553, + 0.2699853030334632, + 0.649417763254297, + -0.7583396372370632, + 0.05636987994439333, + 0.24069307545975635, + 0.13467171434544187, + -0.9612129695239156 + ], + [ + 0.6973412769258047, + 0.6513677176453081, + 0.2990572518850373, + 0.6681207157101201, + -0.7418058444222552, + 0.05778233657426919, + 0.25947996595977385, + 0.15951233679727522, + -0.9524841004840907 + ], + [ + 0.6669576392293143, + 0.6608919225640795, + 0.34407756997981515, + 0.6939068035619509, + -0.7191514682613265, + 0.036256222473037655, + 0.2714053342218902, + 0.21457640221406699, + -0.9382409670062222 + ], + [ + 0.6338618360486448, + 0.6609080193205221, + 0.4017707839040384, + 0.7143944275597796, + -0.6993535711454981, + 0.023349184087967795, + 0.2964114955135445, + 0.2722226524811324, + -0.9154425447856139 + ], + [ + 0.614993664867729, + 0.6511100182832806, + 0.4447904408411959, + 0.7173622579197757, + -0.6961682665101366, + 0.027223806062203953, + 0.32737468302359696, + 0.3023334066811296, + -0.8952208264555634 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + 0.0007143020629882812, + -0.0001315474510192871, + -0.009007379412651062, + 0.009961426258087158, + 0.030353844165802002, + 0.004582762718200684, + 1.0 + ], + [ + 0.02180922031402588, + 0.005869567394256592, + -0.003906905651092529, + -0.004196584224700928, + 0.020697981119155884, + 0.038661181926727295, + 1.0 + ], + [ + 0.015692412853240967, + 0.008373677730560303, + -0.00782419741153717, + 0.014985829591751099, + 0.004788458347320557, + -0.006714463233947754, + 1.0 + ], + [ + 0.01845407485961914, + 0.009271115064620972, + -0.011813566088676453, + 0.015063062310218811, + 0.019924044609069824, + -0.009577035903930664, + 1.0 + ], + [ + 0.012216240167617798, + 0.003927171230316162, + -0.013778917491436005, + 0.01810579001903534, + 0.02057376503944397, + -0.011196792125701904, + 1.0 + ], + [ + 0.01819092035293579, + 0.0018226653337478638, + -0.015596926212310791, + 0.010369211435317993, + 0.024140864610671997, + -0.018636584281921387, + 1.0 + ], + [ + 0.011066973209381104, + -0.0010313242673873901, + -0.017260946333408356, + -0.030191585421562195, + 0.04172751307487488, + -5.942583084106445e-05, + 1.0 + ], + [ + 0.00038564205169677734, + 0.003007262945175171, + -0.017615385353565216, + 0.03455065190792084, + 0.026237741112709045, + -0.011959612369537354, + 1.0 + ], + [ + -0.004331380128860474, + 0.0018950104713439941, + -0.00573006272315979, + 0.030110448598861694, + -0.006567060947418213, + -0.030283212661743164, + 1.0 + ], + [ + -0.010160654783248901, + -0.002685725688934326, + -0.012085895985364914, + 0.028096891939640045, + 0.01606041193008423, + -0.01705491542816162, + 1.0 + ], + [ + 0.0023519694805145264, + -0.0035694539546966553, + -0.007598958909511566, + -0.010728694498538971, + 0.025559887290000916, + 0.017396986484527588, + 1.0 + ], + [ + 0.011237233877182007, + -0.005338981747627258, + -0.006462277844548225, + -0.013419583439826965, + 0.013122692704200745, + 0.012577831745147705, + 1.0 + ], + [ + 0.007484495639801025, + 0.002823665738105774, + -0.0035558845847845078, + 0.01206180453300476, + -0.010058552026748657, + -0.0007533431053161621, + 0.0 + ], + [ + 0.0038753747940063477, + 0.0013972967863082886, + -0.0008768048137426376, + -0.011444568634033203, + -0.021192580461502075, + 0.011601388454437256, + 0.0 + ], + [ + -0.0012608766555786133, + -0.0007564127445220947, + -0.0018938463181257248, + -0.0002203136682510376, + -0.01357203722000122, + -0.0013256072998046875, + 0.0 + ], + [ + -0.005789250135421753, + -0.0018011480569839478, + 0.0012787804007530212, + -0.00047864019870758057, + -0.004534900188446045, + 0.008718550205230713, + 0.0 + ], + [ + -0.005687743425369263, + -0.0037018507719039917, + 0.0004170127213001251, + -0.0004305243492126465, + 0.015812769532203674, + 0.0013050436973571777, + 0.0 + ], + [ + -0.007223546504974365, + 0.0010067671537399292, + 0.018098827451467514, + -0.021616965532302856, + -0.0044107139110565186, + 0.043918490409851074, + 0.0 + ], + [ + 0.0009111762046813965, + 0.007495760917663574, + 0.034767068922519684, + -0.053434163331985474, + -0.06912529468536377, + 0.07458674907684326, + 0.0 + ], + [ + -0.0025249123573303223, + 0.00848698616027832, + 0.03156641870737076, + -0.04139739274978638, + -0.09034791588783264, + 0.06607329845428467, + 0.0 + ], + [ + -0.0024593770503997803, + 0.001731589436531067, + 0.011214889585971832, + -0.023627817630767822, + -0.009637981653213501, + 0.03483879566192627, + 0.0 + ], + [ + 0.001262366771697998, + -0.015411943197250366, + 0.021692372858524323, + -0.05178946256637573, + -0.004961758852005005, + -0.01695120334625244, + 0.0 + ], + [ + 0.003367394208908081, + -0.02870652824640274, + 0.025313809514045715, + -0.06157410144805908, + -0.008695989847183228, + -0.03817129135131836, + 0.0 + ], + [ + -0.0075296759605407715, + -0.02526821196079254, + 0.01465289294719696, + -0.025895357131958008, + -0.024569779634475708, + -0.06212258338928223, + 0.0 + ], + [ + -0.01571694016456604, + -0.02460310608148575, + -0.0005311071872711182, + 0.01795506477355957, + 0.0014427006244659424, + -0.08282649517059326, + 0.0 + ], + [ + -0.016293048858642578, + -0.02957690879702568, + -0.007258385419845581, + 0.020279139280319214, + 0.008558660745620728, + -0.10124796628952026, + 0.0 + ], + [ + -0.009295374155044556, + -0.017338726669549942, + -0.01851506531238556, + 0.030725479125976562, + 0.021564841270446777, + -0.06216704845428467, + 0.0 + ], + [ + -0.0026684999465942383, + -0.014113819226622581, + -0.020139634609222412, + 0.022719770669937134, + 0.026387006044387817, + -0.039307594299316406, + 0.0 + ], + [ + 0.00451284646987915, + -0.002221941016614437, + -0.027065284550189972, + 0.047277241945266724, + 0.02950453758239746, + -0.01872044801712036, + 0.0 + ], + [ + 0.007106602191925049, + -0.00309388292953372, + -0.02511002868413925, + 0.02220088243484497, + 0.029977142810821533, + 0.005515575408935547, + 0.0 + ], + [ + 0.0024084746837615967, + -0.0026732641272246838, + -0.02158334106206894, + 0.0338895320892334, + 0.012309372425079346, + -0.01221311092376709, + 0.0 + ], + [ + -0.002629399299621582, + -0.006647083442658186, + -0.01648949831724167, + 0.01959879696369171, + 0.026261046528816223, + -0.018484532833099365, + 0.0 + ], + [ + -0.004147827625274658, + -0.0024342681281268597, + -0.011187445372343063, + 0.0183761864900589, + 0.015241637825965881, + -0.010304272174835205, + 0.0 + ], + [ + -0.0034638941287994385, + 0.0014836732298135757, + -0.0031202025711536407, + 0.0100068598985672, + -0.000406801700592041, + 0.03840339183807373, + 1.0 + ], + [ + -0.002055525779724121, + 0.002325662411749363, + 0.0053720176219940186, + 0.01987670361995697, + -0.01706334948539734, + 0.020511984825134277, + 1.0 + ], + [ + -0.0015455782413482666, + 0.002181655028834939, + 7.875636219978333e-05, + 0.0180586576461792, + -0.0028874576091766357, + -0.006846427917480469, + 1.0 + ], + [ + -0.0004579126834869385, + 0.001986403251066804, + 0.0005760751664638519, + 0.005542069673538208, + -0.00031225383281707764, + 0.011530637741088867, + 1.0 + ], + [ + 0.005750805139541626, + 0.005761122331023216, + 0.013765856623649597, + -0.02673010528087616, + -0.01940383017063141, + 0.03102058172225952, + 1.0 + ], + [ + 0.0038717985153198242, + 0.0037081982009112835, + 0.024992994964122772, + -0.05890403687953949, + -0.01236918568611145, + 0.04119688272476196, + 1.0 + ], + [ + 0.001565396785736084, + 0.007014784961938858, + 0.033090345561504364, + -0.06420564651489258, + -0.026080220937728882, + 0.039859652519226074, + 1.0 + ], + [ + -0.0009254515171051025, + 0.008018890395760536, + 0.031193435192108154, + -0.036653071641922, + -0.03259071707725525, + 0.01702207326889038, + 1.0 + ], + [ + -0.0004888176918029785, + 9.174086153507233e-05, + 0.0002674609422683716, + 0.0009480714797973633, + 0.0011771023273468018, + -0.0033150911331176758, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9468915462493896 + ], + [ + 0.6591242551803589 + ], + [ + 0.4077054560184479 + ], + [ + 0.2652277648448944 + ], + [ + 0.20806095004081726 + ], + [ + 0.18346792459487915 + ], + [ + 0.17900145053863525 + ], + [ + 0.17734436690807343 + ], + [ + 0.17734436690807343 + ], + [ + 0.17734436690807343 + ], + [ + 0.17734436690807343 + ], + [ + 0.17734436690807343 + ], + [ + 0.17734436690807343 + ], + [ + 0.17734436690807343 + ], + [ + 0.17734436690807343 + ], + [ + 0.17734436690807343 + ], + [ + 0.17734436690807343 + ], + [ + 0.17734436690807343 + ], + [ + 0.17734436690807343 + ], + [ + 0.17734436690807343 + ], + [ + 0.17734436690807343 + ], + [ + 0.2352597415447235 + ], + [ + 0.49086472392082214 + ], + [ + 0.8149353265762329 + ], + [ + 1.0047606229782104 + ], + [ + 1.003452181816101 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2641211748123169, + 0.12570695579051971, + 0.1507720798254013 + ], + [ + 0.2859303951263428, + 0.1315765231847763, + 0.14686517417430878 + ], + [ + 0.30162280797958374, + 0.1399502009153366, + 0.1390409767627716 + ], + [ + 0.3200768828392029, + 0.14922131597995758, + 0.12722741067409515 + ], + [ + 0.3322931230068207, + 0.15314848721027374, + 0.11344849318265915 + ], + [ + 0.35048404335975647, + 0.1549711525440216, + 0.09785156697034836 + ], + [ + 0.3615510165691376, + 0.15393982827663422, + 0.08059062063694 + ], + [ + 0.36193665862083435, + 0.1569470912218094, + 0.06297523528337479 + ], + [ + 0.3576052784919739, + 0.15884210169315338, + 0.057245172560214996 + ], + [ + 0.347444623708725, + 0.15615637600421906, + 0.04515927657485008 + ], + [ + 0.3497965931892395, + 0.1525869220495224, + 0.037560317665338516 + ], + [ + 0.3610338270664215, + 0.14724794030189514, + 0.03109803982079029 + ], + [ + 0.36851832270622253, + 0.15007160604000092, + 0.027542155236005783 + ], + [ + 0.3723936975002289, + 0.1514689028263092, + 0.026665350422263145 + ], + [ + 0.37113282084465027, + 0.1507124900817871, + 0.02477150410413742 + ], + [ + 0.3653435707092285, + 0.14891134202480316, + 0.026050284504890442 + ], + [ + 0.35965582728385925, + 0.14520949125289917, + 0.026467297226190567 + ], + [ + 0.3524322807788849, + 0.1462162584066391, + 0.04456612467765808 + ], + [ + 0.3533434569835663, + 0.15371201932430267, + 0.07933319360017776 + ], + [ + 0.35081854462623596, + 0.162199005484581, + 0.11089961230754852 + ], + [ + 0.3483591675758362, + 0.16393059492111206, + 0.12211450189352036 + ], + [ + 0.3496215343475342, + 0.1485186517238617, + 0.14380687475204468 + ], + [ + 0.35298892855644226, + 0.11981212347745895, + 0.1691206842660904 + ], + [ + 0.3454592525959015, + 0.09454391151666641, + 0.18377357721328735 + ], + [ + 0.32974231243133545, + 0.06994080543518066, + 0.18324247002601624 + ], + [ + 0.31344926357269287, + 0.040363896638154984, + 0.17598408460617065 + ], + [ + 0.3041538894176483, + 0.02302516996860504, + 0.1574690192937851 + ], + [ + 0.3014853894710541, + 0.00891135074198246, + 0.13732938468456268 + ], + [ + 0.3059982359409332, + 0.006689409725368023, + 0.11026410013437271 + ], + [ + 0.3131048381328583, + 0.003595526795834303, + 0.08515407145023346 + ], + [ + 0.3155133128166199, + 0.0009222626686096191, + 0.06357073038816452 + ], + [ + 0.3128839135169983, + -0.005724820774048567, + 0.04708123207092285 + ], + [ + 0.30873608589172363, + -0.008159088902175426, + 0.03589378669857979 + ], + [ + 0.3052721917629242, + -0.006675415672361851, + 0.03277358412742615 + ], + [ + 0.3032166659832001, + -0.004349753260612488, + 0.038145601749420166 + ], + [ + 0.3016710877418518, + -0.002168098231777549, + 0.03822435811161995 + ], + [ + 0.30121317505836487, + -0.00018169500981457531, + 0.0388004332780838 + ], + [ + 0.3069639801979065, + 0.005579427350312471, + 0.0525662899017334 + ], + [ + 0.3108357787132263, + 0.009287625551223755, + 0.07755928486585617 + ], + [ + 0.3124011754989624, + 0.016302410513162613, + 0.11064963042736053 + ], + [ + 0.3114757239818573, + 0.02432130090892315, + 0.1418430656194687 + ], + [ + 0.3109869062900543, + 0.02441304177045822, + 0.14211052656173706 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.5649359669473757, + 0.7261245407786727, + 0.39190624456392065, + 0.7485120844989792, + -0.6508600614695815, + 0.12692848278777188, + 0.34724200870319066, + 0.22164009488983374, + -0.9112072517978547 + ], + [ + 0.5395724131308868, + 0.7517844572741184, + 0.37905374393240204, + 0.775522841459789, + -0.6190531527634042, + 0.12384472708930432, + 0.3277589561892195, + 0.22714163831131562, + -0.917050021963363 + ], + [ + 0.5456661622182893, + 0.753809178716567, + 0.3660876418190301, + 0.7731558630257676, + -0.6213637894501773, + 0.1270316993076783, + 0.32323126531764257, + 0.21372590681237172, + -0.9218691804580439 + ], + [ + 0.556699239870438, + 0.7556057144327845, + 0.34517526076501787, + 0.7729676869730292, + -0.6233813262716141, + 0.11796896605213066, + 0.30431383672656415, + 0.2011360891843254, + -0.9310947118335456 + ], + [ + 0.5689146395480584, + 0.756985624454798, + 0.3214170146035871, + 0.7715626355942048, + -0.6265724441211797, + 0.10999123430044688, + 0.28465282760378025, + 0.1854177354968799, + -0.9405280597092157 + ], + [ + 0.5872044883086469, + 0.7510798081194219, + 0.3017780819500859, + 0.7660582643999903, + -0.6360805846877622, + 0.09249986663638693, + 0.26142996089709164, + 0.17686325683580312, + -0.9488802684884843 + ], + [ + 0.5933739290558598, + 0.7468329902415004, + 0.3002463405334856, + 0.774011557473291, + -0.6317877117976238, + 0.041837735589925235, + 0.22093774963681817, + 0.20756871611218522, + -0.9529437228278264 + ], + [ + 0.6059619936513323, + 0.75200819193275, + 0.2594103727998144, + 0.7711534371533669, + -0.6353598379350395, + 0.040500033403791824, + 0.19527528931395977, + 0.17550371963350592, + -0.964917616057533 + ], + [ + 0.6281975381092284, + 0.7393206008872797, + 0.24243123193428703, + 0.7514520985422293, + -0.6572948228177437, + 0.05729973379929821, + 0.20171166726291287, + 0.14617990628216465, + -0.9684750065382963 + ], + [ + 0.6429586471314628, + 0.7358050541633009, + 0.21259139292695015, + 0.7429835322202026, + -0.6666034756399506, + 0.060127174508112426, + 0.18595604031187127, + 0.11929261725890505, + -0.9752895070383205 + ], + [ + 0.6327774849653417, + 0.7471088903309078, + 0.20352140061786259, + 0.7574570431895524, + -0.6517984871606233, + 0.03765049611444155, + 0.16078396140000253, + 0.13033433209880882, + -0.9783462984203906 + ], + [ + 0.6244790548794186, + 0.753645120935074, + 0.2050486325427847, + 0.7669260673826396, + -0.6413706122422941, + 0.021636656880022406, + 0.14781852788438618, + 0.14374550233903916, + -0.9785126025613519 + ], + [ + 0.6240853500023296, + 0.754742288874017, + 0.20219187248175824, + 0.7652643947916926, + -0.6426600132074958, + 0.03685801796414604, + 0.1577589362811943, + 0.13172769188500563, + -0.9786521001939733 + ], + [ + 0.612944663994849, + 0.7579047483592808, + 0.22333658745198226, + 0.7696644218235923, + -0.6366331286705196, + 0.0481137948840136, + 0.17864914402033094, + 0.1424031316145853, + -0.9735531990842422 + ], + [ + 0.612394921316716, + 0.7558046188550279, + 0.23180129089998433, + 0.7668858082465336, + -0.6391583920837556, + 0.05798885185075663, + 0.19198598244547468, + 0.1422530419580335, + -0.9710331892361516 + ], + [ + 0.6051420445093705, + 0.7608383087370865, + 0.23436760425688016, + 0.7715028062172895, + -0.6330823317241324, + 0.06316788153471167, + 0.196434533536919, + 0.14258972339136505, + -0.9700936268305794 + ], + [ + 0.6059729111958806, + 0.7629583746916162, + 0.22514739479886753, + 0.7746417715626315, + -0.6303322691080889, + 0.051101431206530296, + 0.18090593314509468, + 0.14344249373520876, + -0.9729837071317934 + ], + [ + 0.5709093113927135, + 0.7844778399723786, + 0.24219223100126197, + 0.7998424364760828, + -0.5979952270231643, + 0.05151490337288534, + 0.18524209828519322, + 0.1643052861285515, + -0.968859710160926 + ], + [ + 0.5018657694047769, + 0.8053020369157081, + 0.3156253773687457, + 0.827216004760084, + -0.5534764712924074, + 0.0968373749875017, + 0.2526745554433932, + 0.21249099996262613, + -0.9439296287151744 + ], + [ + 0.4338215347731618, + 0.8162645109870381, + 0.3814592036773398, + 0.8348159236823287, + -0.5234197655729342, + 0.17062861006875535, + 0.3389413659226019, + 0.24442585196878508, + -0.9085013777402073 + ], + [ + 0.4030569722729052, + 0.8238021619760825, + 0.3986164510224474, + 0.8464313148424745, + -0.501183894089438, + 0.17991312781280683, + 0.3479929688316114, + 0.2648862061883928, + -0.8992976100351218 + ], + [ + 0.4165726163749331, + 0.7926192570509271, + 0.4452212580712861, + 0.8379212811984958, + -0.524728255465915, + 0.1501605288695015, + 0.35264030087500453, + 0.31050760259248633, + -0.8827399656360033 + ], + [ + 0.44676007374246945, + 0.7413099627733604, + 0.5008642287113168, + 0.8186907947495696, + -0.5645066687309583, + 0.1052501950145169, + 0.36076421538442666, + 0.3630313485792033, + -0.8591026835290552 + ], + [ + 0.4918544805944783, + 0.6864693073835888, + 0.535573580322472, + 0.781635851647025, + -0.6191211830757971, + 0.07572553127482687, + 0.3835682016788741, + 0.3813775697220809, + -0.8410865496331 + ], + [ + 0.5551663718145825, + 0.6428057164516425, + 0.5278173078853357, + 0.7387058682156831, + -0.6727011127023748, + 0.04227118679077546, + 0.3822354508283429, + 0.3664342012777701, + -0.8483053909200249 + ], + [ + 0.6291847076834373, + 0.5841688986699345, + 0.5127117137769168, + 0.6811875947887118, + -0.732106719684632, + -0.0017921212505966622, + 0.3743127894198605, + 0.35038043441288647, + -0.8585589594531989 + ], + [ + 0.6759678736443172, + 0.5580896462147159, + 0.48125188891963183, + 0.6462108142318276, + -0.7628102496129205, + -0.02306743712058723, + 0.3542301756917651, + 0.32658302141018763, + -0.8762787871197009 + ], + [ + 0.7076004137315075, + 0.5445423540577218, + 0.4503057618155405, + 0.6251200625189349, + -0.7795210538733559, + -0.039646361806545155, + 0.3294336988277343, + 0.3095489479960277, + -0.8919937706459784 + ], + [ + 0.7262677261562662, + 0.5565367722603394, + 0.4034873121497746, + 0.6177953076634706, + -0.785836739821946, + -0.02809939812545388, + 0.30143680560410047, + 0.26968025413080987, + -0.9145536686051494 + ], + [ + 0.7293738729235596, + 0.5753766154530863, + 0.3700749976507981, + 0.6274041695506974, + -0.7782405436179479, + -0.02656434263520087, + 0.27272286579398997, + 0.2515619340420802, + -0.9286220069619938 + ], + [ + 0.7394975090200188, + 0.5801091973229558, + 0.3414919520786743, + 0.6205607355848407, + -0.7840683478290624, + -0.011882734660264266, + 0.2608597469974799, + 0.22070374965985648, + -0.939809580331298 + ], + [ + 0.7559098724087397, + 0.5762411454104859, + 0.3107191772823402, + 0.6108823604974634, + -0.7915109968492073, + -0.018250575328512125, + 0.23542091331920845, + 0.20360865453802746, + -0.9503265277625181 + ], + [ + 0.7648895802388795, + 0.5758931348255589, + 0.28860184909799314, + 0.605217315906879, + -0.7959028304933329, + -0.015833033164044552, + 0.22058089348006385, + 0.18677735856760383, + -0.9573182792353048 + ], + [ + 0.7410206864872603, + 0.6088331697710287, + 0.2832146069405875, + 0.6340798193982109, + -0.7732607696972532, + 0.0032503352356288845, + 0.22097765685671006, + 0.17717210117220356, + -0.9590510527267799 + ], + [ + 0.7249396101678423, + 0.6280591841738538, + 0.2828501772751257, + 0.6465410713840553, + -0.762072076943631, + 0.03508265321178462, + 0.23758620461477692, + 0.157441451713625, + -0.9585222922076728 + ], + [ + 0.7288309453316288, + 0.6275336637410165, + 0.27387397466495617, + 0.6411069379984233, + -0.7658977630943938, + 0.048810967387357594, + 0.2403899897609924, + 0.14000756179142868, + -0.9605261763554023 + ], + [ + 0.7213344662467682, + 0.6377966164463553, + 0.2699853030334632, + 0.649417763254297, + -0.7583396372370632, + 0.05636987994439333, + 0.24069307545975635, + 0.13467171434544187, + -0.9612129695239156 + ], + [ + 0.6973412769258047, + 0.6513677176453081, + 0.2990572518850373, + 0.6681207157101201, + -0.7418058444222552, + 0.05778233657426919, + 0.25947996595977385, + 0.15951233679727522, + -0.9524841004840907 + ], + [ + 0.6669576392293143, + 0.6608919225640795, + 0.34407756997981515, + 0.6939068035619509, + -0.7191514682613265, + 0.036256222473037655, + 0.2714053342218902, + 0.21457640221406699, + -0.9382409670062222 + ], + [ + 0.6338618360486448, + 0.6609080193205221, + 0.4017707839040384, + 0.7143944275597796, + -0.6993535711454981, + 0.023349184087967795, + 0.2964114955135445, + 0.2722226524811324, + -0.9154425447856139 + ], + [ + 0.614993664867729, + 0.6511100182832806, + 0.4447904408411959, + 0.7173622579197757, + -0.6961682665101366, + 0.027223806062203953, + 0.32737468302359696, + 0.3023334066811296, + -0.8952208264555634 + ], + [ + 0.6176197541591523, + 0.6494519831496601, + 0.4435740759505251, + 0.7156107907444649, + -0.6980294899841075, + 0.02561302954764802, + 0.32626221884010764, + 0.3016072822322111, + -0.895871649212112 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006506.json b/json/chunk-0006/episode_0006506.json new file mode 100644 index 0000000000000000000000000000000000000000..872556e36770c31ee17656b7b034c248e546d65e --- /dev/null +++ b/json/chunk-0006/episode_0006506.json @@ -0,0 +1,1822 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 29, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMoved the yellow object to the upper left side of the table." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006506.mp4", + "start": 0, + "end": 29, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2690984308719635, + 0.08906135708093643, + 0.07320035994052887, + -0.16410161554813385, + -0.19190733134746552, + 0.22255726158618927, + 0.0, + 0.9988223910331726 + ], + [ + 0.2657245397567749, + 0.0873745009303093, + 0.06577994674444199, + -0.171490877866745, + -0.16068239510059357, + 0.2228502631187439, + 0.0, + 0.9988223910331726 + ], + [ + 0.2603502571582794, + 0.07226081192493439, + 0.072478748857975, + -0.1705571860074997, + -0.16825807094573975, + 0.16601544618606567, + 0.0, + 0.9994885921478271 + ], + [ + 0.2560412585735321, + 0.05261199548840523, + 0.08099816739559174, + -0.14569488167762756, + -0.19014756381511688, + 0.08498411625623703, + 0.0, + 0.9988223910331726 + ], + [ + 0.24876096844673157, + 0.03385087475180626, + 0.08525802940130234, + -0.14030815660953522, + -0.19853301346302032, + 0.01592489890754223, + 0.0, + 0.9994885921478271 + ], + [ + 0.23937104642391205, + 0.017726050689816475, + 0.09386137872934341, + -0.14050941169261932, + -0.2289668470621109, + -0.0406397245824337, + 0.0, + 0.9988223910331726 + ], + [ + 0.23236320912837982, + 0.00037843899917788804, + 0.0854363963007927, + -0.11647934466600418, + -0.20213961601257324, + -0.12267863750457764, + 0.0, + 0.9988223910331726 + ], + [ + 0.2278444617986679, + -0.0014246712671592832, + 0.0607544369995594, + -0.1209641769528389, + -0.15669551491737366, + -0.12348837405443192, + 0.0, + 0.9994885921478271 + ], + [ + 0.22606250643730164, + -0.0025387813802808523, + 0.03423759713768959, + -0.09822866320610046, + -0.11171886324882507, + -0.13354818522930145, + 0.0, + 0.9988223910331726 + ], + [ + 0.2288271188735962, + -0.0029061695095151663, + 0.018681960180401802, + -0.12569090723991394, + -0.09930568933486938, + -0.13939471542835236, + 0.0, + 0.9988223910331726 + ], + [ + 0.2322050929069519, + -0.007561116944998503, + 0.00891144946217537, + -0.182581827044487, + -0.11153391748666763, + -0.16538025438785553, + 0.0, + 0.9988223910331726 + ], + [ + 0.23351600766181946, + -0.007137870416045189, + 0.00838493276387453, + -0.1727544218301773, + -0.11639828979969025, + -0.16217051446437836, + 0.0, + 0.9745318293571472 + ], + [ + 0.2347836047410965, + -0.0056389388628304005, + 0.00985798891633749, + -0.1475488692522049, + -0.12032157927751541, + -0.153799369931221, + 0.0, + 0.6921995282173157 + ], + [ + 0.23555591702461243, + -0.003840239718556404, + 0.01909848302602768, + -0.13120006024837494, + -0.14584560692310333, + -0.14173118770122528, + 0.0, + 0.4121573865413666 + ], + [ + 0.23379851877689362, + -0.0010542116360738873, + 0.03005705401301384, + -0.1131424829363823, + -0.15208767354488373, + -0.1375243365764618, + 0.0, + 0.25545796751976013 + ], + [ + 0.23954422771930695, + 0.017170827835798264, + 0.04764285683631897, + -0.10721764713525772, + -0.1856366991996765, + -0.05376577749848366, + 0.0, + 0.1845952719449997 + ], + [ + 0.249212384223938, + 0.0461711660027504, + 0.06053097918629646, + -0.11484743654727936, + -0.2163821905851364, + 0.08716477453708649, + 0.0, + 0.15014003217220306 + ], + [ + 0.267496258020401, + 0.09967467933893204, + 0.07333307713270187, + -0.1441802978515625, + -0.26327192783355713, + 0.3474990725517273, + 0.0, + 0.1437794268131256 + ], + [ + 0.28783416748046875, + 0.12999509274959564, + 0.07050730288028717, + -0.1276397556066513, + -0.27990034222602844, + 0.5189205408096313, + 0.0, + 0.1437794268131256 + ], + [ + 0.3129136860370636, + 0.17662413418293, + 0.06743985414505005, + -0.11571156978607178, + -0.29693204164505005, + 0.6885821223258972, + 0.0, + 0.1437794268131256 + ], + [ + 0.33025914430618286, + 0.19731393456459045, + 0.0589122511446476, + -0.08924452215433121, + -0.275139719247818, + 0.7069200873374939, + 0.0, + 0.1437794268131256 + ], + [ + 0.3436788022518158, + 0.21584869921207428, + 0.04984477162361145, + -0.04950093850493431, + -0.2581312954425812, + 0.7060022950172424, + 0.0, + 0.1437794268131256 + ], + [ + 0.34631437063217163, + 0.22746601700782776, + 0.05061226338148117, + -0.01612095721065998, + -0.2611676752567291, + 0.7113429307937622, + 0.0, + 0.14329741895198822 + ], + [ + 0.3399219512939453, + 0.2370048314332962, + 0.052929893136024475, + 0.024923905730247498, + -0.25274860858917236, + 0.7269585132598877, + 0.0, + 0.17624500393867493 + ], + [ + 0.33698415756225586, + 0.24060837924480438, + 0.045663055032491684, + 0.017529357224702835, + -0.20587687194347382, + 0.7381304502487183, + 0.0, + 0.4121573865413666 + ], + [ + 0.33602288365364075, + 0.24028730392456055, + 0.04545343294739723, + 0.016673270612955093, + -0.19937844574451447, + 0.736983597278595, + 0.0, + 0.7280064821243286 + ], + [ + 0.3343137204647064, + 0.23543821275234222, + 0.045805178582668304, + 0.003509590635076165, + -0.172057643532753, + 0.7225608229637146, + 0.0, + 0.9837720394134521 + ], + [ + 0.332321435213089, + 0.23637019097805023, + 0.06572233140468597, + -0.02469761297106743, + -0.19485148787498474, + 0.7271361947059631, + 0.0, + 1.0041072368621826 + ], + [ + 0.33065834641456604, + 0.23319363594055176, + 0.08415485918521881, + -0.05881546437740326, + -0.20814630389213562, + 0.7137615084648132, + 0.0, + 1.0001531839370728 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9745318293571472 + ], + [ + 0.6921995282173157 + ], + [ + 0.4121573865413666 + ], + [ + 0.25545796751976013 + ], + [ + 0.1845952719449997 + ], + [ + 0.15014003217220306 + ], + [ + 0.1437794268131256 + ], + [ + 0.1437794268131256 + ], + [ + 0.1437794268131256 + ], + [ + 0.1437794268131256 + ], + [ + 0.1437794268131256 + ], + [ + 0.14329741895198822 + ], + [ + 0.17624500393867493 + ], + [ + 0.4121573865413666 + ], + [ + 0.7280064821243286 + ], + [ + 0.9837720394134521 + ], + [ + 1.0041072368621826 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2690984308719635, + 0.08906135708093643, + 0.07320035994052887 + ], + [ + 0.2657245397567749, + 0.0873745009303093, + 0.06577994674444199 + ], + [ + 0.2603502571582794, + 0.07226081192493439, + 0.072478748857975 + ], + [ + 0.2560412585735321, + 0.05261199548840523, + 0.08099816739559174 + ], + [ + 0.24876096844673157, + 0.03385087475180626, + 0.08525802940130234 + ], + [ + 0.23937104642391205, + 0.017726050689816475, + 0.09386137872934341 + ], + [ + 0.23236320912837982, + 0.00037843899917788804, + 0.0854363963007927 + ], + [ + 0.2278444617986679, + -0.0014246712671592832, + 0.0607544369995594 + ], + [ + 0.22606250643730164, + -0.0025387813802808523, + 0.03423759713768959 + ], + [ + 0.2288271188735962, + -0.0029061695095151663, + 0.018681960180401802 + ], + [ + 0.2322050929069519, + -0.007561116944998503, + 0.00891144946217537 + ], + [ + 0.23351600766181946, + -0.007137870416045189, + 0.00838493276387453 + ], + [ + 0.2347836047410965, + -0.0056389388628304005, + 0.00985798891633749 + ], + [ + 0.23555591702461243, + -0.003840239718556404, + 0.01909848302602768 + ], + [ + 0.23379851877689362, + -0.0010542116360738873, + 0.03005705401301384 + ], + [ + 0.23954422771930695, + 0.017170827835798264, + 0.04764285683631897 + ], + [ + 0.249212384223938, + 0.0461711660027504, + 0.06053097918629646 + ], + [ + 0.267496258020401, + 0.09967467933893204, + 0.07333307713270187 + ], + [ + 0.28783416748046875, + 0.12999509274959564, + 0.07050730288028717 + ], + [ + 0.3129136860370636, + 0.17662413418293, + 0.06743985414505005 + ], + [ + 0.33025914430618286, + 0.19731393456459045, + 0.0589122511446476 + ], + [ + 0.3436788022518158, + 0.21584869921207428, + 0.04984477162361145 + ], + [ + 0.34631437063217163, + 0.22746601700782776, + 0.05061226338148117 + ], + [ + 0.3399219512939453, + 0.2370048314332962, + 0.052929893136024475 + ], + [ + 0.33698415756225586, + 0.24060837924480438, + 0.045663055032491684 + ], + [ + 0.33602288365364075, + 0.24028730392456055, + 0.04545343294739723 + ], + [ + 0.3343137204647064, + 0.23543821275234222, + 0.045805178582668304 + ], + [ + 0.332321435213089, + 0.23637019097805023, + 0.06572233140468597 + ], + [ + 0.33065834641456604, + 0.23319363594055176, + 0.08415485918521881 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.957431193858156, + 0.18736864638952325, + 0.21958711113702484, + 0.21667252224438935, + -0.9691106237706385, + -0.11780329791282923, + 0.1907315577758461, + 0.1603670453835263, + -0.9684543787000797 + ], + [ + 0.962708354367787, + 0.1911406978140541, + 0.19146241947083004, + 0.21816331688608567, + -0.9669998599334977, + -0.13159041778890063, + 0.15999184852900783, + 0.16845327105091346, + -0.972638732457493 + ], + [ + 0.9723231954400534, + 0.13482279762929983, + 0.19081513789176247, + 0.1629201811927286, + -0.9766380957599285, + -0.14012510292787964, + 0.1674652745179488, + 0.16733452467984375, + -0.9715732286764588 + ], + [ + 0.9784324254764715, + 0.05664201523577033, + 0.19864961838941564, + 0.08335197600514149, + -0.9881636424253325, + -0.12878301085445398, + 0.18900380121116084, + 0.1425633118959112, + -0.9715725733206972 + ], + [ + 0.9802326605791088, + -0.011811227253920064, + 0.19749538233780958, + 0.015611425746278612, + -0.9904866249554648, + -0.1367206245249807, + 0.19723137306262858, + 0.13710120603075884, + -0.9707229495508704 + ], + [ + 0.9730972800879542, + -0.07198868046628985, + 0.218859117630836, + -0.039568191293159236, + -0.9880357892895806, + -0.1490625282245792, + 0.22697145574546074, + 0.13639248134570295, + -0.9643034010668781 + ], + [ + 0.9722766906213118, + -0.14469883039506856, + 0.18368528889589794, + -0.11987958177746567, + -0.9829040905796953, + -0.13974417553001126, + 0.2007658405888069, + 0.11384988890640982, + -0.9730011716584253 + ], + [ + 0.9802266484338195, + -0.14096236262079237, + 0.13887163146073148, + -0.12166566659261933, + -0.9828138779607908, + -0.13883208152385065, + 0.15605506487382773, + 0.11919099635474048, + -0.9805306334404802 + ], + [ + 0.9849171329477278, + -0.14334592205876306, + 0.09690298166285258, + -0.13232148908617308, + -0.9848622305463618, + -0.11197057814114779, + 0.11148661243416577, + 0.09745939396676002, + -0.9889754303194727 + ], + [ + 0.9854213071519156, + -0.1501556187980981, + 0.07998835886784515, + -0.13825918437678555, + -0.9807612215827131, + -0.13781082749570547, + 0.09914255063531983, + 0.12474260051379929, + -0.9872233983605628 + ], + [ + 0.9802271417468446, + -0.18182441759817772, + 0.0780681224821943, + -0.16360450283580266, + -0.966633827866785, + -0.19711065287156965, + 0.11130281773010622, + 0.18044091550612923, + -0.9772680076502293 + ], + [ + 0.9802013037656787, + -0.1787586477458186, + 0.08515133558641422, + -0.16036807551153406, + -0.9689662016472224, + -0.18811321171592785, + 0.11613562955781787, + 0.17073325956427157, + -0.978449114479526 + ], + [ + 0.9810516002010683, + -0.168967231460507, + 0.09480417941997804, + -0.15208617453977566, + -0.9747555220594691, + -0.16346702336688346, + 0.12003146777733253, + 0.1459511798758194, + -0.981983044576675 + ], + [ + 0.9794627591132159, + -0.15886502878012806, + 0.12415557233171452, + -0.13975747925450613, + -0.9787790682882387, + -0.14986454708580557, + 0.14532911099553592, + 0.12943507295743464, + -0.9808802227518663 + ], + [ + 0.979124353218147, + -0.1531579883144996, + 0.1336343202571901, + -0.13550879624190995, + -0.9818800908865933, + -0.13247208483904743, + 0.15150203654147418, + 0.11159801851283407, + -0.9821369635584413 + ], + [ + 0.9813987287108434, + -0.07315426234630962, + 0.17749644837378567, + -0.05281656881677684, + -0.9917595146086703, + -0.11671964376915114, + 0.18457233092520484, + 0.10517375663035991, + -0.9771752839552865 + ], + [ + 0.9729726608036003, + 0.06197105715494251, + 0.2224495210241222, + 0.08502438161186503, + -0.9917826708811187, + -0.09559282541820248, + 0.21469759164993557, + 0.11192283866581403, + -0.9702464750385358 + ], + [ + 0.9078305418921457, + 0.30185714666129243, + 0.2910772581589228, + 0.3288134156043872, + -0.943205225587893, + -0.04738818568239031, + 0.26024112842975033, + 0.1387305497473254, + -0.9555251904792544 + ], + [ + 0.8345612407516622, + 0.46137198874877705, + 0.30107046257154596, + 0.4766424439354865, + -0.8787314248147841, + 0.02535870032525997, + 0.27625987054629014, + 0.12233957266959053, + -0.9532646604614949 + ], + [ + 0.7383575311647625, + 0.6051103415966806, + 0.2977744627482773, + 0.6076351569917396, + -0.7884497866615524, + 0.09553245469983739, + 0.29258788792412566, + 0.11040112502189899, + -0.9498441553402318 + ], + [ + 0.7317664141844986, + 0.6284988052678957, + 0.2636421188816165, + 0.6250657005413618, + -0.7730666870713288, + 0.10798503297817118, + 0.2716814036298716, + 0.08577382536291546, + -0.9585572835278624 + ], + [ + 0.7357499981423863, + 0.6383903153433237, + 0.22611887473037456, + 0.62730137861994, + -0.768224582479651, + 0.12776529754001825, + 0.2552742067170163, + 0.047841364422623565, + -0.9656843600448235 + ], + [ + 0.7317988235492994, + 0.6496138254777231, + 0.2060882325608611, + 0.6307128461784894, + -0.7601048220564359, + 0.15633926298912532, + 0.25820880604133223, + 0.01557360699234872, + -0.9659635993390007 + ], + [ + 0.7234597711963875, + 0.6690502326409444, + 0.1702285101373133, + 0.6434849368105857, + -0.7428253841443302, + 0.1847635915669137, + 0.2500661823564867, + -0.024129543591352956, + -0.9679280291259913 + ], + [ + 0.7241063870922488, + 0.6754533897955783, + 0.13940107024651044, + 0.6586957698706633, + -0.7372030324912073, + 0.15050439076738537, + 0.20442559264119614, + -0.01715829535327182, + -0.9787317150138056 + ], + [ + 0.7258297378543903, + 0.6744091601860183, + 0.13543809029743745, + 0.6587437873558974, + -0.7381769548731603, + 0.14543522927474228, + 0.19806012790623842, + -0.016342213784495394, + -0.9800536300541857 + ], + [ + 0.7390389277217172, + 0.6617544021274235, + 0.12610541057746372, + 0.6515432517754562, + -0.7497127150720494, + 0.11585437378519883, + 0.17120997160737716, + -0.0034577628999646406, + -0.9852284960850091 + ], + [ + 0.7329436908036615, + 0.6609579867550761, + 0.16102200425961335, + 0.6521537535188402, + -0.7500317021843645, + 0.11021763692672887, + 0.19362083535196847, + 0.024227782876298953, + -0.9807772359993397 + ], + [ + 0.7395889323625726, + 0.6443677275021572, + 0.19441821643173143, + 0.6405508613477765, + -0.7625500047141791, + 0.09062055140544494, + 0.20664657063065808, + 0.057512799132983364, + -0.9767238467358507 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0033738911151885986, + -0.0016868561506271362, + -0.0074204131960868835, + -0.007389262318611145, + 0.031224936246871948, + 0.00029300153255462646, + 1.0 + ], + [ + -0.005374282598495483, + -0.015113689005374908, + 0.00669880211353302, + 0.0009336918592453003, + -0.007575675845146179, + -0.05683481693267822, + 1.0 + ], + [ + -0.0043089985847473145, + -0.01964881643652916, + 0.00851941853761673, + 0.02486230432987213, + -0.021889492869377136, + -0.08103132992982864, + 1.0 + ], + [ + -0.007280290126800537, + -0.01876112073659897, + 0.004259862005710602, + 0.005386725068092346, + -0.008385449647903442, + -0.06905921548604965, + 1.0 + ], + [ + -0.009389922022819519, + -0.016124824061989784, + 0.008603349328041077, + -0.00020125508308410645, + -0.030433833599090576, + -0.05656462162733078, + 1.0 + ], + [ + -0.0070078372955322266, + -0.017347611486911774, + -0.00842498242855072, + 0.024030067026615143, + 0.02682723104953766, + -0.08203890919685364, + 1.0 + ], + [ + -0.004518747329711914, + -0.0018031102372333407, + -0.02468195930123329, + -0.004484832286834717, + 0.045444101095199585, + -0.0008097365498542786, + 1.0 + ], + [ + -0.001781955361366272, + -0.0011141101131215692, + -0.026516839861869812, + 0.022735513746738434, + 0.044976651668548584, + -0.010059811174869537, + 1.0 + ], + [ + 0.0027646124362945557, + -0.00036738812923431396, + -0.015555636957287788, + -0.027462244033813477, + 0.012413173913955688, + -0.005846530199050903, + 1.0 + ], + [ + 0.003377974033355713, + -0.00465494766831398, + -0.009770510718226433, + -0.05689091980457306, + -0.012228228151798248, + -0.025985538959503174, + 1.0 + ], + [ + 0.0013109147548675537, + 0.00042324652895331383, + -0.0005265166983008385, + 0.009827405214309692, + -0.0048643723130226135, + 0.003209739923477173, + 0.0 + ], + [ + 0.0012675970792770386, + 0.0014989315532147884, + 0.0014730561524629593, + 0.025205552577972412, + -0.003923289477825165, + 0.008371144533157349, + 0.0 + ], + [ + 0.0007723122835159302, + 0.0017986991442739964, + 0.00924049410969019, + 0.016348809003829956, + -0.02552402764558792, + 0.012068182229995728, + 0.0 + ], + [ + -0.001757398247718811, + 0.0027860281988978386, + 0.01095857098698616, + 0.018057577311992645, + -0.0062420666217803955, + 0.004206851124763489, + 0.0 + ], + [ + 0.00574570894241333, + 0.018225040286779404, + 0.01758580282330513, + 0.005924835801124573, + -0.033549025654792786, + 0.08375856280326843, + 0.0 + ], + [ + 0.009668156504631042, + 0.029000338166952133, + 0.012888122349977493, + -0.007629789412021637, + -0.0307454913854599, + 0.14093054831027985, + 0.0 + ], + [ + 0.018283873796463013, + 0.05350351333618164, + 0.01280209794640541, + -0.029332861304283142, + -0.046889737248420715, + 0.260334312915802, + 0.0 + ], + [ + 0.02033790946006775, + 0.030320413410663605, + -0.0028257742524147034, + 0.016540542244911194, + -0.016628414392471313, + 0.17142146825790405, + 0.0 + ], + [ + 0.02507951855659485, + 0.04662904143333435, + -0.0030674487352371216, + 0.011928185820579529, + -0.017031699419021606, + 0.16966158151626587, + 0.0 + ], + [ + 0.017345458269119263, + 0.02068980038166046, + -0.00852760300040245, + 0.02646704763174057, + 0.021792322397232056, + 0.01833796501159668, + 0.0 + ], + [ + 0.013419657945632935, + 0.018534764647483826, + -0.009067479521036148, + 0.039743583649396896, + 0.017008423805236816, + -0.0009177923202514648, + 0.0 + ], + [ + 0.002635568380355835, + 0.011617317795753479, + 0.0007674917578697205, + 0.03337997943162918, + -0.0030363798141479492, + 0.005340635776519775, + 0.0 + ], + [ + -0.006392419338226318, + 0.009538814425468445, + 0.0023176297545433044, + 0.04104486107826233, + 0.008419066667556763, + 0.015615582466125488, + 1.0 + ], + [ + -0.002937793731689453, + 0.0036035478115081787, + -0.007266838103532791, + -0.0073945485055446625, + 0.04687173664569855, + 0.011171936988830566, + 1.0 + ], + [ + -0.0009612739086151123, + -0.00032107532024383545, + -0.0002096220850944519, + -0.0008560866117477417, + 0.006498426198959351, + -0.001146852970123291, + 1.0 + ], + [ + -0.0017091631889343262, + -0.004849091172218323, + 0.0003517456352710724, + -0.013163680210709572, + 0.027320802211761475, + -0.014422774314880371, + 1.0 + ], + [ + -0.0019922852516174316, + 0.0009319782257080078, + 0.01991715282201767, + -0.02820720337331295, + -0.02279384434223175, + 0.004575371742248535, + 1.0 + ], + [ + -0.0016630887985229492, + -0.003176555037498474, + 0.018432527780532837, + -0.03411785140633583, + -0.013294816017150879, + -0.013374686241149902, + 1.0 + ], + [ + -0.004571497440338135, + -0.0055153220891952515, + 0.024311155080795288, + -0.08544318377971649, + -0.03307656943798065, + -0.06560087203979492, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9745318293571472 + ], + [ + 0.6921995282173157 + ], + [ + 0.4121573865413666 + ], + [ + 0.25545796751976013 + ], + [ + 0.1845952719449997 + ], + [ + 0.15014003217220306 + ], + [ + 0.1437794268131256 + ], + [ + 0.1437794268131256 + ], + [ + 0.1437794268131256 + ], + [ + 0.1437794268131256 + ], + [ + 0.1437794268131256 + ], + [ + 0.14329741895198822 + ], + [ + 0.17624500393867493 + ], + [ + 0.4121573865413666 + ], + [ + 0.7280064821243286 + ], + [ + 0.9837720394134521 + ], + [ + 1.0041072368621826 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2657245397567749, + 0.0873745009303093, + 0.06577994674444199 + ], + [ + 0.2603502571582794, + 0.07226081192493439, + 0.072478748857975 + ], + [ + 0.2560412585735321, + 0.05261199548840523, + 0.08099816739559174 + ], + [ + 0.24876096844673157, + 0.03385087475180626, + 0.08525802940130234 + ], + [ + 0.23937104642391205, + 0.017726050689816475, + 0.09386137872934341 + ], + [ + 0.23236320912837982, + 0.00037843899917788804, + 0.0854363963007927 + ], + [ + 0.2278444617986679, + -0.0014246712671592832, + 0.0607544369995594 + ], + [ + 0.22606250643730164, + -0.0025387813802808523, + 0.03423759713768959 + ], + [ + 0.2288271188735962, + -0.0029061695095151663, + 0.018681960180401802 + ], + [ + 0.2322050929069519, + -0.007561116944998503, + 0.00891144946217537 + ], + [ + 0.23351600766181946, + -0.007137870416045189, + 0.00838493276387453 + ], + [ + 0.2347836047410965, + -0.0056389388628304005, + 0.00985798891633749 + ], + [ + 0.23555591702461243, + -0.003840239718556404, + 0.01909848302602768 + ], + [ + 0.23379851877689362, + -0.0010542116360738873, + 0.03005705401301384 + ], + [ + 0.23954422771930695, + 0.017170827835798264, + 0.04764285683631897 + ], + [ + 0.249212384223938, + 0.0461711660027504, + 0.06053097918629646 + ], + [ + 0.267496258020401, + 0.09967467933893204, + 0.07333307713270187 + ], + [ + 0.28783416748046875, + 0.12999509274959564, + 0.07050730288028717 + ], + [ + 0.3129136860370636, + 0.17662413418293, + 0.06743985414505005 + ], + [ + 0.33025914430618286, + 0.19731393456459045, + 0.0589122511446476 + ], + [ + 0.3436788022518158, + 0.21584869921207428, + 0.04984477162361145 + ], + [ + 0.34631437063217163, + 0.22746601700782776, + 0.05061226338148117 + ], + [ + 0.3399219512939453, + 0.2370048314332962, + 0.052929893136024475 + ], + [ + 0.33698415756225586, + 0.24060837924480438, + 0.045663055032491684 + ], + [ + 0.33602288365364075, + 0.24028730392456055, + 0.04545343294739723 + ], + [ + 0.3343137204647064, + 0.23543821275234222, + 0.045805178582668304 + ], + [ + 0.332321435213089, + 0.23637019097805023, + 0.06572233140468597 + ], + [ + 0.33065834641456604, + 0.23319363594055176, + 0.08415485918521881 + ], + [ + 0.3260868489742279, + 0.2276783138513565, + 0.1084660142660141 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.962708354367787, + 0.1911406978140541, + 0.19146241947083004, + 0.21816331688608567, + -0.9669998599334977, + -0.13159041778890063, + 0.15999184852900783, + 0.16845327105091346, + -0.972638732457493 + ], + [ + 0.9723231954400534, + 0.13482279762929983, + 0.19081513789176247, + 0.1629201811927286, + -0.9766380957599285, + -0.14012510292787964, + 0.1674652745179488, + 0.16733452467984375, + -0.9715732286764588 + ], + [ + 0.9784324254764715, + 0.05664201523577033, + 0.19864961838941564, + 0.08335197600514149, + -0.9881636424253325, + -0.12878301085445398, + 0.18900380121116084, + 0.1425633118959112, + -0.9715725733206972 + ], + [ + 0.9802326605791088, + -0.011811227253920064, + 0.19749538233780958, + 0.015611425746278612, + -0.9904866249554648, + -0.1367206245249807, + 0.19723137306262858, + 0.13710120603075884, + -0.9707229495508704 + ], + [ + 0.9730972800879542, + -0.07198868046628985, + 0.218859117630836, + -0.039568191293159236, + -0.9880357892895806, + -0.1490625282245792, + 0.22697145574546074, + 0.13639248134570295, + -0.9643034010668781 + ], + [ + 0.9722766906213118, + -0.14469883039506856, + 0.18368528889589794, + -0.11987958177746567, + -0.9829040905796953, + -0.13974417553001126, + 0.2007658405888069, + 0.11384988890640982, + -0.9730011716584253 + ], + [ + 0.9802266484338195, + -0.14096236262079237, + 0.13887163146073148, + -0.12166566659261933, + -0.9828138779607908, + -0.13883208152385065, + 0.15605506487382773, + 0.11919099635474048, + -0.9805306334404802 + ], + [ + 0.9849171329477278, + -0.14334592205876306, + 0.09690298166285258, + -0.13232148908617308, + -0.9848622305463618, + -0.11197057814114779, + 0.11148661243416577, + 0.09745939396676002, + -0.9889754303194727 + ], + [ + 0.9854213071519156, + -0.1501556187980981, + 0.07998835886784515, + -0.13825918437678555, + -0.9807612215827131, + -0.13781082749570547, + 0.09914255063531983, + 0.12474260051379929, + -0.9872233983605628 + ], + [ + 0.9802271417468446, + -0.18182441759817772, + 0.0780681224821943, + -0.16360450283580266, + -0.966633827866785, + -0.19711065287156965, + 0.11130281773010622, + 0.18044091550612923, + -0.9772680076502293 + ], + [ + 0.9802013037656787, + -0.1787586477458186, + 0.08515133558641422, + -0.16036807551153406, + -0.9689662016472224, + -0.18811321171592785, + 0.11613562955781787, + 0.17073325956427157, + -0.978449114479526 + ], + [ + 0.9810516002010683, + -0.168967231460507, + 0.09480417941997804, + -0.15208617453977566, + -0.9747555220594691, + -0.16346702336688346, + 0.12003146777733253, + 0.1459511798758194, + -0.981983044576675 + ], + [ + 0.9794627591132159, + -0.15886502878012806, + 0.12415557233171452, + -0.13975747925450613, + -0.9787790682882387, + -0.14986454708580557, + 0.14532911099553592, + 0.12943507295743464, + -0.9808802227518663 + ], + [ + 0.979124353218147, + -0.1531579883144996, + 0.1336343202571901, + -0.13550879624190995, + -0.9818800908865933, + -0.13247208483904743, + 0.15150203654147418, + 0.11159801851283407, + -0.9821369635584413 + ], + [ + 0.9813987287108434, + -0.07315426234630962, + 0.17749644837378567, + -0.05281656881677684, + -0.9917595146086703, + -0.11671964376915114, + 0.18457233092520484, + 0.10517375663035991, + -0.9771752839552865 + ], + [ + 0.9729726608036003, + 0.06197105715494251, + 0.2224495210241222, + 0.08502438161186503, + -0.9917826708811187, + -0.09559282541820248, + 0.21469759164993557, + 0.11192283866581403, + -0.9702464750385358 + ], + [ + 0.9078305418921457, + 0.30185714666129243, + 0.2910772581589228, + 0.3288134156043872, + -0.943205225587893, + -0.04738818568239031, + 0.26024112842975033, + 0.1387305497473254, + -0.9555251904792544 + ], + [ + 0.8345612407516622, + 0.46137198874877705, + 0.30107046257154596, + 0.4766424439354865, + -0.8787314248147841, + 0.02535870032525997, + 0.27625987054629014, + 0.12233957266959053, + -0.9532646604614949 + ], + [ + 0.7383575311647625, + 0.6051103415966806, + 0.2977744627482773, + 0.6076351569917396, + -0.7884497866615524, + 0.09553245469983739, + 0.29258788792412566, + 0.11040112502189899, + -0.9498441553402318 + ], + [ + 0.7317664141844986, + 0.6284988052678957, + 0.2636421188816165, + 0.6250657005413618, + -0.7730666870713288, + 0.10798503297817118, + 0.2716814036298716, + 0.08577382536291546, + -0.9585572835278624 + ], + [ + 0.7357499981423863, + 0.6383903153433237, + 0.22611887473037456, + 0.62730137861994, + -0.768224582479651, + 0.12776529754001825, + 0.2552742067170163, + 0.047841364422623565, + -0.9656843600448235 + ], + [ + 0.7317988235492994, + 0.6496138254777231, + 0.2060882325608611, + 0.6307128461784894, + -0.7601048220564359, + 0.15633926298912532, + 0.25820880604133223, + 0.01557360699234872, + -0.9659635993390007 + ], + [ + 0.7234597711963875, + 0.6690502326409444, + 0.1702285101373133, + 0.6434849368105857, + -0.7428253841443302, + 0.1847635915669137, + 0.2500661823564867, + -0.024129543591352956, + -0.9679280291259913 + ], + [ + 0.7241063870922488, + 0.6754533897955783, + 0.13940107024651044, + 0.6586957698706633, + -0.7372030324912073, + 0.15050439076738537, + 0.20442559264119614, + -0.01715829535327182, + -0.9787317150138056 + ], + [ + 0.7258297378543903, + 0.6744091601860183, + 0.13543809029743745, + 0.6587437873558974, + -0.7381769548731603, + 0.14543522927474228, + 0.19806012790623842, + -0.016342213784495394, + -0.9800536300541857 + ], + [ + 0.7390389277217172, + 0.6617544021274235, + 0.12610541057746372, + 0.6515432517754562, + -0.7497127150720494, + 0.11585437378519883, + 0.17120997160737716, + -0.0034577628999646406, + -0.9852284960850091 + ], + [ + 0.7329436908036615, + 0.6609579867550761, + 0.16102200425961335, + 0.6521537535188402, + -0.7500317021843645, + 0.11021763692672887, + 0.19362083535196847, + 0.024227782876298953, + -0.9807772359993397 + ], + [ + 0.7395889323625726, + 0.6443677275021572, + 0.19441821643173143, + 0.6405508613477765, + -0.7625500047141791, + 0.09062055140544494, + 0.20664657063065808, + 0.057512799132983364, + -0.9767238467358507 + ], + [ + 0.7741140605694821, + 0.5700723390873299, + 0.27525433590795323, + 0.5862412978582368, + -0.8096482837974636, + 0.02812111714195846, + 0.23889027170254998, + 0.13959650694527403, + -0.9609600685432043 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006507.json b/json/chunk-0006/episode_0006507.json new file mode 100644 index 0000000000000000000000000000000000000000..2d1b914ae4682547cb5bf2ff1a795f76156d35d9 --- /dev/null +++ b/json/chunk-0006/episode_0006507.json @@ -0,0 +1,2182 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 35, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nTake the red object in the silver pot and put it on the upper right burner." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006507.mp4", + "start": 0, + "end": 35, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.4062264859676361, + -0.05887840688228607, + 0.04541950300335884, + 0.038917846977710724, + -0.09006164222955704, + -0.14320960640907288, + 0.0, + 0.9994885921478271 + ], + [ + 0.3984085023403168, + -0.057472698390483856, + 0.024805232882499695, + 0.029018033295869827, + -0.031478945165872574, + -0.1358359009027481, + 0.0, + 0.9994885921478271 + ], + [ + 0.4007427394390106, + -0.024357104673981667, + 0.022522853687405586, + -0.025938980281352997, + -0.02585584856569767, + -0.03503065183758736, + 0.0, + 0.9994885921478271 + ], + [ + 0.39927637577056885, + 0.038017645478248596, + 0.024653878062963486, + -0.03550075739622116, + -0.01380497682839632, + 0.11813373118638992, + 0.0, + 0.9994885921478271 + ], + [ + 0.40418627858161926, + 0.06713666766881943, + 0.035174958407878876, + -0.0025589903816580772, + -0.03223222866654396, + 0.15932971239089966, + 0.0, + 0.9988223910331726 + ], + [ + 0.40243712067604065, + 0.08433463424444199, + 0.026896800845861435, + 0.030578995123505592, + -0.013818654231727123, + 0.18800775706768036, + 0.0, + 0.9988223910331726 + ], + [ + 0.3989522457122803, + 0.1061566025018692, + 0.027158303186297417, + 0.06234973669052124, + -0.023213479667901993, + 0.22443945705890656, + 0.0, + 0.9988223910331726 + ], + [ + 0.39917221665382385, + 0.11207226663827896, + 0.027292314916849136, + 0.07012367248535156, + -0.034669674932956696, + 0.24264146387577057, + 0.0, + 0.9988223910331726 + ], + [ + 0.39324697852134705, + 0.1303708255290985, + 0.02524835430085659, + 0.06710256636142731, + -0.036085985600948334, + 0.2894205152988434, + 0.0, + 0.9994885921478271 + ], + [ + 0.3890549838542938, + 0.13854002952575684, + 0.024074310436844826, + 0.05602819472551346, + -0.03142381086945534, + 0.3195631504058838, + 0.0, + 0.9994885921478271 + ], + [ + 0.3847982883453369, + 0.13826797902584076, + 0.003924471791833639, + 0.031166963279247284, + 0.0058677843771874905, + 0.33320605754852295, + 0.0, + 0.9988223910331726 + ], + [ + 0.37923985719680786, + 0.148312047123909, + -0.009999985806643963, + 0.0038321316242218018, + 0.023038126528263092, + 0.3628539443016052, + 0.0, + 0.9994885921478271 + ], + [ + 0.3710933029651642, + 0.14596402645111084, + -0.02807682752609253, + -0.004170973785221577, + 0.08584257960319519, + 0.35879281163215637, + 0.0, + 0.9994885921478271 + ], + [ + 0.3719945549964905, + 0.14724476635456085, + -0.02711724117398262, + 0.002077195094898343, + 0.08438513427972794, + 0.3682369887828827, + 0.0, + 0.9398812651634216 + ], + [ + 0.37179556488990784, + 0.1500154733657837, + -0.029962217435240746, + 0.022602004930377007, + 0.09973525255918503, + 0.3671686053276062, + 0.0, + 0.6701657772064209 + ], + [ + 0.37510281801223755, + 0.14757080376148224, + -0.029346181079745293, + 0.036114130169153214, + 0.07343040406703949, + 0.35611575841903687, + 0.0, + 0.5462315082550049 + ], + [ + 0.38222238421440125, + 0.14526085555553436, + -0.00653297221288085, + 0.026741860434412956, + 0.00899487640708685, + 0.35311177372932434, + 0.0, + 0.5462315082550049 + ], + [ + 0.40019065141677856, + 0.12967540323734283, + 0.03237920254468918, + 0.009507973678410053, + -0.10124578326940536, + 0.3074987828731537, + 0.0, + 0.5462315082550049 + ], + [ + 0.41778483986854553, + 0.08773113787174225, + 0.04677148163318634, + -0.04409131407737732, + -0.15436793863773346, + 0.1878206729888916, + 0.0, + 0.5452468395233154 + ], + [ + 0.4433659017086029, + 0.05112791061401367, + 0.06534070521593094, + -0.1572561413049698, + -0.2558877468109131, + 0.05764428898692131, + 0.0, + 0.5452468395233154 + ], + [ + 0.4575515687465668, + 0.020743563771247864, + 0.04272278770804405, + -0.21016131341457367, + -0.2540600597858429, + -0.05109400302171707, + 0.0, + 0.5452468395233154 + ], + [ + 0.4779430627822876, + -0.012158318422734737, + 0.012209142558276653, + -0.18954630196094513, + -0.30361345410346985, + -0.14446991682052612, + 0.0, + 0.5452468395233154 + ], + [ + 0.49230921268463135, + -0.027315447106957436, + -0.008471629582345486, + -0.11233410984277725, + -0.3286324441432953, + -0.21028026938438416, + 0.0, + 0.5452468395233154 + ], + [ + 0.5042433738708496, + -0.03767278790473938, + -0.01606745831668377, + -0.04806568846106529, + -0.38416600227355957, + -0.24591955542564392, + 0.0, + 0.5452468395233154 + ], + [ + 0.5128840208053589, + -0.05432870611548424, + -0.013296020217239857, + -0.03952959552407265, + -0.44968658685684204, + -0.25394105911254883, + 0.0, + 0.5452468395233154 + ], + [ + 0.5211067199707031, + -0.05961592495441437, + -0.021833276376128197, + -0.07752520591020584, + -0.45152509212493896, + -0.23532645404338837, + 0.0, + 0.5452468395233154 + ], + [ + 0.5314229130744934, + -0.06222796440124512, + -0.023404037579894066, + -0.09308386594057083, + -0.4477672278881073, + -0.21775130927562714, + 0.0, + 0.5452468395233154 + ], + [ + 0.537722110748291, + -0.06211785599589348, + -0.027942432090640068, + -0.09576984494924545, + -0.424970805644989, + -0.2098381370306015, + 0.0, + 0.5452468395233154 + ], + [ + 0.5413459539413452, + -0.06157027557492256, + -0.030039511620998383, + -0.09246767312288284, + -0.41222161054611206, + -0.20929501950740814, + 0.0, + 0.6319981217384338 + ], + [ + 0.5407037734985352, + -0.06189832091331482, + -0.03321264684200287, + -0.10378291457891464, + -0.42272862792015076, + -0.19546829164028168, + 0.0, + 0.9206693768501282 + ], + [ + 0.5360632538795471, + -0.060369230806827545, + -0.032055191695690155, + -0.08565735071897507, + -0.4402933120727539, + -0.19312718510627747, + 0.0, + 1.0067112445831299 + ], + [ + 0.5191564559936523, + -0.06436590105295181, + -0.020127076655626297, + -0.07284605503082275, + -0.4412548542022705, + -0.20654502511024475, + 0.0, + 1.0001531839370728 + ], + [ + 0.5009436011314392, + -0.06079468876123428, + -0.002148399595171213, + -0.07125267386436462, + -0.3777746856212616, + -0.2074114978313446, + 0.0, + 1.0001531839370728 + ], + [ + 0.4741451144218445, + -0.056649256497621536, + 0.01097651943564415, + -0.08400910347700119, + -0.2599136531352997, + -0.1983145922422409, + 0.0, + 1.0001531839370728 + ], + [ + 0.4502139389514923, + -0.04655560851097107, + 0.02559604123234749, + -0.09947525709867477, + -0.1968923658132553, + -0.16511528193950653, + 0.0, + 1.0001531839370728 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9398812651634216 + ], + [ + 0.6701657772064209 + ], + [ + 0.5462315082550049 + ], + [ + 0.5462315082550049 + ], + [ + 0.5462315082550049 + ], + [ + 0.5452468395233154 + ], + [ + 0.5452468395233154 + ], + [ + 0.5452468395233154 + ], + [ + 0.5452468395233154 + ], + [ + 0.5452468395233154 + ], + [ + 0.5452468395233154 + ], + [ + 0.5452468395233154 + ], + [ + 0.5452468395233154 + ], + [ + 0.5452468395233154 + ], + [ + 0.5452468395233154 + ], + [ + 0.6319981217384338 + ], + [ + 0.9206693768501282 + ], + [ + 1.0067112445831299 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.4062264859676361, + -0.05887840688228607, + 0.04541950300335884 + ], + [ + 0.3984085023403168, + -0.057472698390483856, + 0.024805232882499695 + ], + [ + 0.4007427394390106, + -0.024357104673981667, + 0.022522853687405586 + ], + [ + 0.39927637577056885, + 0.038017645478248596, + 0.024653878062963486 + ], + [ + 0.40418627858161926, + 0.06713666766881943, + 0.035174958407878876 + ], + [ + 0.40243712067604065, + 0.08433463424444199, + 0.026896800845861435 + ], + [ + 0.3989522457122803, + 0.1061566025018692, + 0.027158303186297417 + ], + [ + 0.39917221665382385, + 0.11207226663827896, + 0.027292314916849136 + ], + [ + 0.39324697852134705, + 0.1303708255290985, + 0.02524835430085659 + ], + [ + 0.3890549838542938, + 0.13854002952575684, + 0.024074310436844826 + ], + [ + 0.3847982883453369, + 0.13826797902584076, + 0.003924471791833639 + ], + [ + 0.37923985719680786, + 0.148312047123909, + -0.009999985806643963 + ], + [ + 0.3710933029651642, + 0.14596402645111084, + -0.02807682752609253 + ], + [ + 0.3719945549964905, + 0.14724476635456085, + -0.02711724117398262 + ], + [ + 0.37179556488990784, + 0.1500154733657837, + -0.029962217435240746 + ], + [ + 0.37510281801223755, + 0.14757080376148224, + -0.029346181079745293 + ], + [ + 0.38222238421440125, + 0.14526085555553436, + -0.00653297221288085 + ], + [ + 0.40019065141677856, + 0.12967540323734283, + 0.03237920254468918 + ], + [ + 0.41778483986854553, + 0.08773113787174225, + 0.04677148163318634 + ], + [ + 0.4433659017086029, + 0.05112791061401367, + 0.06534070521593094 + ], + [ + 0.4575515687465668, + 0.020743563771247864, + 0.04272278770804405 + ], + [ + 0.4779430627822876, + -0.012158318422734737, + 0.012209142558276653 + ], + [ + 0.49230921268463135, + -0.027315447106957436, + -0.008471629582345486 + ], + [ + 0.5042433738708496, + -0.03767278790473938, + -0.01606745831668377 + ], + [ + 0.5128840208053589, + -0.05432870611548424, + -0.013296020217239857 + ], + [ + 0.5211067199707031, + -0.05961592495441437, + -0.021833276376128197 + ], + [ + 0.5314229130744934, + -0.06222796440124512, + -0.023404037579894066 + ], + [ + 0.537722110748291, + -0.06211785599589348, + -0.027942432090640068 + ], + [ + 0.5413459539413452, + -0.06157027557492256, + -0.030039511620998383 + ], + [ + 0.5407037734985352, + -0.06189832091331482, + -0.03321264684200287 + ], + [ + 0.5360632538795471, + -0.060369230806827545, + -0.032055191695690155 + ], + [ + 0.5191564559936523, + -0.06436590105295181, + -0.020127076655626297 + ], + [ + 0.5009436011314392, + -0.06079468876123428, + -0.002148399595171213 + ], + [ + 0.4741451144218445, + -0.056649256497621536, + 0.01097651943564415 + ], + [ + 0.4502139389514923, + -0.04655560851097107, + 0.02559604123234749 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9857516974594825, + -0.13914896322945097, + 0.09450479875602877, + -0.14214217470335944, + -0.9895130001330124, + 0.025683160599204707, + 0.0899399417742098, + -0.03875033677187581, + -0.9951930557804942 + ], + [ + 0.9902976233676057, + -0.13445678256297794, + 0.03509972614257767, + -0.1353514699978941, + -0.9904950265303608, + 0.024486363307546544, + 0.031473746549799994, + -0.02899958691830049, + -0.9990837939015361 + ], + [ + 0.9990524506897834, + -0.03568181892518363, + 0.024920043517790317, + -0.0350117812684565, + -0.9990268152507237, + -0.02682531607281687, + 0.025852967782208563, + 0.02592740265023043, + -0.999329472120514 + ], + [ + 0.9929356988693815, + 0.11729833701600802, + 0.0178828980887288, + 0.11784792162703843, + -0.9924623750012268, + -0.03361995798795038, + 0.013804538346510051, + 0.03548991885314959, + -0.9992746871510538 + ], + [ + 0.9868210162694412, + 0.1585745021384837, + 0.032224356013410886, + 0.1585740363894523, + -0.9873437018865092, + 0.0025863735616406163, + 0.032226647857071196, + 0.0025576584165466773, + -0.9994773141754245 + ], + [ + 0.9822847452096943, + 0.1872297900657376, + 0.007853982446230779, + 0.18688428579704197, + -0.9818403132273131, + 0.03261691346251482, + 0.013818214445268028, + -0.030571310629926678, + -0.9994370675114632 + ], + [ + 0.974656351231355, + 0.22353746616272563, + 0.008717696136593501, + 0.2224999509015545, + -0.9727027491565851, + 0.06590245543245979, + 0.02321139489965025, + -0.062292559786621515, + -0.9977879875715294 + ], + [ + 0.9701233743339635, + 0.24203459514656334, + 0.01673001264563879, + 0.2401231636559767, + -0.967737505001753, + 0.07632160695914632, + 0.03466272993763038, + -0.07002411131332227, + -0.9969428865226181 + ], + [ + 0.9577854676806468, + 0.2870731021855264, + 0.015363329760916906, + 0.28521108794194483, + -0.9555620785391782, + 0.07453689940463946, + 0.036078154259004944, + -0.06700856706021598, + -0.9970999040847409 + ], + [ + 0.9489040524926402, + 0.31532923499794974, + 0.012189040924212488, + 0.3139967647185873, + -0.9473302981898399, + 0.06301855185426587, + 0.03141863952026666, + -0.0559712398215053, + -0.9979379186119439 + ], + [ + 0.9449823140966094, + 0.32674278682123176, + -0.015734589442116337, + 0.3270687932932153, + -0.9445994492798925, + 0.027529708931327616, + -0.005867750705068966, + -0.03116138123412923, + -0.9994971424777783 + ], + [ + 0.9346395552654218, + 0.35485865703046654, + -0.022896184481003487, + 0.35484960244174474, + -0.9349121114642173, + -0.004593852898646866, + -0.02303608864781856, + -0.003831105330370857, + -0.9997272934414451 + ], + [ + 0.9328736688636469, + 0.3514759533314342, + -0.07881225901240542, + 0.3498511857351876, + -0.9361876869467801, + -0.034011213576130565, + -0.08573719018350386, + 0.004155603325311237, + -0.9963091212974217 + ], + [ + 0.9296436523473119, + 0.3598070508787328, + -0.07938240225830645, + 0.3586902771136165, + -0.9330244380810214, + -0.028402166251039723, + -0.08428502093793205, + -0.002069802295784391, + -0.9964395371340647 + ], + [ + 0.9287092697714451, + 0.3567822098351374, + -0.10102250732260157, + 0.35719029894665455, + -0.93391688865007, + -0.014640199198514278, + -0.0995699883448255, + -0.022487770883939964, + -0.9947764158752874 + ], + [ + 0.9347323544410743, + 0.3459262906420527, + -0.0813045324915892, + 0.34769683010248653, + -0.9375704531990261, + 0.0082800739643593, + -0.0733644321025416, + -0.036008981251942, + -0.996654911878464 + ], + [ + 0.9382631884616839, + 0.34546994415229126, + -0.017683519591068477, + 0.34580526826255376, + -0.9380488360872259, + 0.021979480368385478, + -0.00899475511496493, + -0.0267375915671879, + -0.9996020185942044 + ], + [ + 0.9482128370183928, + 0.3035779182678088, + 0.09344979001428726, + 0.3011256962180451, + -0.952759661295038, + 0.03965277904714825, + 0.10107289839877141, + -0.00945914103647755, + -0.9948340534280697 + ], + [ + 0.9707315219695509, + 0.179878970813676, + 0.15913474829116436, + 0.18449805544992293, + -0.9827241221552491, + -0.014620782106054154, + 0.15375558458110294, + 0.043552905680427884, + -0.9871486031074123 + ], + [ + 0.9658320952738182, + 0.017328945011901856, + 0.2585886142191115, + 0.05573645297825658, + -0.9883038966982999, + -0.1419466645622876, + 0.25310434912973856, + 0.1515094565884601, + -0.9555014772442169 + ], + [ + 0.9666368401849932, + -0.1023127088359368, + 0.23483042564332354, + -0.04943236912223692, + -0.974043123507141, + -0.22089914991102877, + 0.2513357516950874, + 0.2019210319880152, + -0.9466035266999379 + ], + [ + 0.9443212434673052, + -0.19713257228310008, + 0.2634314675231695, + -0.13738314411531152, + -0.9637490494582035, + -0.22872175537408027, + 0.2989703343968326, + 0.1797957691756327, + -0.9371713933625954 + ], + [ + 0.9256358700177255, + -0.24280095361647222, + 0.29025149966789165, + -0.19756352125805918, + -0.9642565488456466, + -0.176572826551538, + 0.3227489600365039, + 0.10609903360170075, + -0.9405190608723144 + ], + [ + 0.8992181347046408, + -0.2606327915785264, + 0.3513933610247793, + -0.22570369207578214, + -0.9644098107887004, + -0.13773728702810917, + 0.3747860584409017, + 0.04454508736648311, + -0.9260405744835619 + ], + [ + 0.8717015523623324, + -0.26765178497897524, + 0.4104862063537195, + -0.22624506981997472, + -0.9628581637787978, + -0.14736799118762725, + 0.43468330079640133, + 0.035590426270139384, + -0.899879852850732 + ], + [ + 0.8749831315597324, + -0.2653220786104406, + 0.4049798934364022, + -0.20979374148750285, + -0.9616382157608402, + -0.1767442446615534, + 0.43633829251923256, + 0.06968598560789244, + -0.897080129024859 + ], + [ + 0.880129738526492, + -0.2543918782852045, + 0.40081967968628285, + -0.19473703621282729, + -0.9634649187988995, + -0.18388267175259837, + 0.4329539583931906, + 0.08378617133128569, + -0.8975136474757983 + ], + [ + 0.8910665468946137, + -0.245907280103883, + 0.38148396899112236, + -0.18977332407938083, + -0.9653704393905322, + -0.17901396654672821, + 0.41229418437951737, + 0.0871178761382603, + -0.9068759458624909 + ], + [ + 0.8962386316367836, + -0.24306946134764656, + 0.3710438681907985, + -0.19036605719114957, + -0.9663125089405364, + -0.17320767689263022, + 0.40064582792202097, + 0.08460125309480215, + -0.9123187757267016 + ], + [ + 0.8946060540764414, + -0.23487212152126766, + 0.3801514100222143, + -0.1771287878515488, + -0.9674239550298072, + -0.18087643226447853, + 0.4102504119730044, + 0.09447739288625795, + -0.9070659412134244 + ], + [ + 0.8878086294889858, + -0.2270102572820125, + 0.4003275914718383, + -0.17362398360726264, + -0.9708123583707043, + -0.16546321993438884, + 0.42620482132565507, + 0.077393203341543, + -0.9013100145650779 + ], + [ + 0.8849976092611508, + -0.23495821660360802, + 0.4019625207062212, + -0.1854363408296764, + -0.9697750423469825, + -0.15858666633928625, + 0.4270744608399657, + 0.06581036158052948, + -0.9018183859330505 + ], + [ + 0.9095662589977939, + -0.23110176306234306, + 0.345371098388725, + -0.191407152949399, + -0.9706766610865315, + -0.14543081317832185, + 0.368852981948856, + 0.06617246203202068, + -0.9271292698302958 + ], + [ + 0.947470517750338, + -0.2174644611031931, + 0.2345396046534665, + -0.19039985662884082, + -0.9726938381108975, + -0.13271997550032907, + 0.2569971061892009, + 0.08109195680330392, + -0.9630039366234115 + ], + [ + 0.967341423199787, + -0.1827168025341435, + 0.17568477746666025, + -0.1611903685353638, + -0.9783298363702891, + -0.1299553629486579, + 0.1956226879818512, + 0.09739251172129523, + -0.9758311650113318 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.007817983627319336, + 0.0014057084918022156, + -0.020614270120859146, + -0.009899813681840897, + 0.058582697063684464, + 0.007373705506324768, + 1.0 + ], + [ + 0.0023342370986938477, + 0.03311559557914734, + -0.0022823791950941086, + -0.054957013577222824, + 0.005623096600174904, + 0.10080525279045105, + 1.0 + ], + [ + -0.0014663636684417725, + 0.062374748289585114, + 0.0021310243755578995, + -0.009561777114868164, + 0.01205087173730135, + 0.15316438674926758, + 1.0 + ], + [ + 0.004909902811050415, + 0.02911902219057083, + 0.01052108034491539, + 0.03294176608324051, + -0.018427252769470215, + 0.041195981204509735, + 1.0 + ], + [ + -0.0017491579055786133, + 0.01719796657562256, + -0.00827815756201744, + 0.033137984573841095, + 0.018413573503494263, + 0.0286780446767807, + 1.0 + ], + [ + -0.003484874963760376, + 0.021821968257427216, + 0.00026150234043598175, + 0.0317707434296608, + -0.00939482543617487, + 0.036431699991226196, + 1.0 + ], + [ + 0.0002199709415435791, + 0.0059156641364097595, + 0.00013401173055171967, + 0.007773935794830322, + -0.011456195265054703, + 0.018202006816864014, + 1.0 + ], + [ + -0.005925238132476807, + 0.01829855889081955, + -0.002043960615992546, + -0.0030211061239242554, + -0.0014163106679916382, + 0.046779051423072815, + 1.0 + ], + [ + -0.004191994667053223, + 0.008169203996658325, + -0.0011740438640117645, + -0.011074371635913849, + 0.004662174731492996, + 0.030142635107040405, + 1.0 + ], + [ + -0.004256695508956909, + -0.00027205049991607666, + -0.0201498381793499, + -0.024861231446266174, + 0.037291593849658966, + 0.01364290714263916, + 1.0 + ], + [ + -0.005558431148529053, + 0.010044068098068237, + -0.013924457132816315, + -0.027334831655025482, + 0.017170341685414314, + 0.029647886753082275, + 1.0 + ], + [ + -0.008146554231643677, + -0.0023480206727981567, + -0.018076840788125992, + -0.008003105409443378, + 0.0628044530749321, + -0.0040611326694488525, + 1.0 + ], + [ + 0.0009012520313262939, + 0.0012807399034500122, + 0.0009595863521099091, + 0.006248168647289276, + -0.0014574453234672546, + 0.009444177150726318, + 0.0 + ], + [ + -0.0001989901065826416, + 0.0027707070112228394, + -0.0028449762612581253, + 0.020524809136986732, + 0.015350118279457092, + -0.0010683834552764893, + 0.0 + ], + [ + 0.003307253122329712, + -0.0024446696043014526, + 0.0006160363554954529, + 0.013512125238776207, + -0.02630484849214554, + -0.011052846908569336, + 0.0 + ], + [ + 0.007119566202163696, + -0.002309948205947876, + 0.022813208401203156, + -0.009372269734740257, + -0.06443552672863007, + -0.0030039846897125244, + 0.0 + ], + [ + 0.01796826720237732, + -0.015585452318191528, + 0.038912173360586166, + -0.01723388582468033, + -0.11024066060781479, + -0.045612990856170654, + 0.0 + ], + [ + 0.017594188451766968, + -0.041944265365600586, + 0.014392279088497162, + -0.0535992868244648, + -0.053122155368328094, + -0.11967810988426208, + 0.0 + ], + [ + 0.025581061840057373, + -0.03660322725772858, + 0.0185692235827446, + -0.11316482722759247, + -0.10151980817317963, + -0.13017638027668, + 0.0 + ], + [ + 0.014185667037963867, + -0.030384346842765808, + -0.022617917507886887, + -0.05290517210960388, + 0.0018276870250701904, + -0.10873828828334808, + 0.0 + ], + [ + 0.020391494035720825, + -0.032901883125305176, + -0.030513644218444824, + 0.02061501145362854, + -0.04955339431762695, + -0.09337591379880905, + 0.0 + ], + [ + 0.01436614990234375, + -0.015157128684222698, + -0.02068077214062214, + 0.07721219211816788, + -0.02501899003982544, + -0.06581035256385803, + 0.0 + ], + [ + 0.011934161186218262, + -0.010357340797781944, + -0.0075958287343382835, + 0.06426842510700226, + -0.05553355813026428, + -0.035639286041259766, + 0.0 + ], + [ + 0.008640646934509277, + -0.016655918210744858, + 0.0027714380994439125, + 0.008536092936992645, + -0.06552058458328247, + -0.008021503686904907, + 0.0 + ], + [ + 0.008222699165344238, + -0.00528721883893013, + -0.00853725615888834, + -0.037995610386133194, + -0.0018385052680969238, + 0.01861460506916046, + 0.0 + ], + [ + 0.010316193103790283, + -0.0026120394468307495, + -0.0015707612037658691, + -0.01555866003036499, + 0.003757864236831665, + 0.01757514476776123, + 0.0 + ], + [ + 0.006299197673797607, + 0.0001101084053516388, + -0.004538394510746002, + -0.0026859790086746216, + 0.022796422243118286, + 0.007913172245025635, + 0.0 + ], + [ + 0.0036238431930541992, + 0.0005475804209709167, + -0.0020970795303583145, + 0.00330217182636261, + 0.012749195098876953, + 0.0005431175231933594, + 1.0 + ], + [ + -0.0006421804428100586, + -0.0003280453383922577, + -0.003173135221004486, + -0.0113152414560318, + -0.010507017374038696, + 0.013826727867126465, + 1.0 + ], + [ + -0.004640519618988037, + 0.0015290901064872742, + 0.0011574551463127136, + 0.018125563859939575, + -0.01756468415260315, + 0.0023411065340042114, + 1.0 + ], + [ + -0.016906797885894775, + -0.003996670246124268, + 0.011928115040063858, + 0.012811295688152313, + -0.0009615421295166016, + -0.013417840003967285, + 1.0 + ], + [ + -0.018212854862213135, + 0.0035712122917175293, + 0.01797867752611637, + 0.0015933811664581299, + 0.06348016858100891, + -0.0008664727210998535, + 1.0 + ], + [ + -0.026798486709594727, + 0.004145432263612747, + 0.013124918565154076, + -0.012756429612636566, + 0.11786103248596191, + 0.009096905589103699, + 1.0 + ], + [ + -0.023931175470352173, + 0.010093647986650467, + 0.014619521796703339, + -0.015466153621673584, + 0.06302128732204437, + 0.033199310302734375, + 1.0 + ], + [ + -0.016552835702896118, + 0.0063680075109004974, + 0.017140664160251617, + 0.019710704684257507, + 0.010082587599754333, + 0.0076544880867004395, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9398812651634216 + ], + [ + 0.6701657772064209 + ], + [ + 0.5462315082550049 + ], + [ + 0.5462315082550049 + ], + [ + 0.5462315082550049 + ], + [ + 0.5452468395233154 + ], + [ + 0.5452468395233154 + ], + [ + 0.5452468395233154 + ], + [ + 0.5452468395233154 + ], + [ + 0.5452468395233154 + ], + [ + 0.5452468395233154 + ], + [ + 0.5452468395233154 + ], + [ + 0.5452468395233154 + ], + [ + 0.5452468395233154 + ], + [ + 0.5452468395233154 + ], + [ + 0.6319981217384338 + ], + [ + 0.9206693768501282 + ], + [ + 1.0067112445831299 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3984085023403168, + -0.057472698390483856, + 0.024805232882499695 + ], + [ + 0.4007427394390106, + -0.024357104673981667, + 0.022522853687405586 + ], + [ + 0.39927637577056885, + 0.038017645478248596, + 0.024653878062963486 + ], + [ + 0.40418627858161926, + 0.06713666766881943, + 0.035174958407878876 + ], + [ + 0.40243712067604065, + 0.08433463424444199, + 0.026896800845861435 + ], + [ + 0.3989522457122803, + 0.1061566025018692, + 0.027158303186297417 + ], + [ + 0.39917221665382385, + 0.11207226663827896, + 0.027292314916849136 + ], + [ + 0.39324697852134705, + 0.1303708255290985, + 0.02524835430085659 + ], + [ + 0.3890549838542938, + 0.13854002952575684, + 0.024074310436844826 + ], + [ + 0.3847982883453369, + 0.13826797902584076, + 0.003924471791833639 + ], + [ + 0.37923985719680786, + 0.148312047123909, + -0.009999985806643963 + ], + [ + 0.3710933029651642, + 0.14596402645111084, + -0.02807682752609253 + ], + [ + 0.3719945549964905, + 0.14724476635456085, + -0.02711724117398262 + ], + [ + 0.37179556488990784, + 0.1500154733657837, + -0.029962217435240746 + ], + [ + 0.37510281801223755, + 0.14757080376148224, + -0.029346181079745293 + ], + [ + 0.38222238421440125, + 0.14526085555553436, + -0.00653297221288085 + ], + [ + 0.40019065141677856, + 0.12967540323734283, + 0.03237920254468918 + ], + [ + 0.41778483986854553, + 0.08773113787174225, + 0.04677148163318634 + ], + [ + 0.4433659017086029, + 0.05112791061401367, + 0.06534070521593094 + ], + [ + 0.4575515687465668, + 0.020743563771247864, + 0.04272278770804405 + ], + [ + 0.4779430627822876, + -0.012158318422734737, + 0.012209142558276653 + ], + [ + 0.49230921268463135, + -0.027315447106957436, + -0.008471629582345486 + ], + [ + 0.5042433738708496, + -0.03767278790473938, + -0.01606745831668377 + ], + [ + 0.5128840208053589, + -0.05432870611548424, + -0.013296020217239857 + ], + [ + 0.5211067199707031, + -0.05961592495441437, + -0.021833276376128197 + ], + [ + 0.5314229130744934, + -0.06222796440124512, + -0.023404037579894066 + ], + [ + 0.537722110748291, + -0.06211785599589348, + -0.027942432090640068 + ], + [ + 0.5413459539413452, + -0.06157027557492256, + -0.030039511620998383 + ], + [ + 0.5407037734985352, + -0.06189832091331482, + -0.03321264684200287 + ], + [ + 0.5360632538795471, + -0.060369230806827545, + -0.032055191695690155 + ], + [ + 0.5191564559936523, + -0.06436590105295181, + -0.020127076655626297 + ], + [ + 0.5009436011314392, + -0.06079468876123428, + -0.002148399595171213 + ], + [ + 0.4741451144218445, + -0.056649256497621536, + 0.01097651943564415 + ], + [ + 0.4502139389514923, + -0.04655560851097107, + 0.02559604123234749 + ], + [ + 0.4336611032485962, + -0.04018760100007057, + 0.042736705392599106 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9902976233676057, + -0.13445678256297794, + 0.03509972614257767, + -0.1353514699978941, + -0.9904950265303608, + 0.024486363307546544, + 0.031473746549799994, + -0.02899958691830049, + -0.9990837939015361 + ], + [ + 0.9990524506897834, + -0.03568181892518363, + 0.024920043517790317, + -0.0350117812684565, + -0.9990268152507237, + -0.02682531607281687, + 0.025852967782208563, + 0.02592740265023043, + -0.999329472120514 + ], + [ + 0.9929356988693815, + 0.11729833701600802, + 0.0178828980887288, + 0.11784792162703843, + -0.9924623750012268, + -0.03361995798795038, + 0.013804538346510051, + 0.03548991885314959, + -0.9992746871510538 + ], + [ + 0.9868210162694412, + 0.1585745021384837, + 0.032224356013410886, + 0.1585740363894523, + -0.9873437018865092, + 0.0025863735616406163, + 0.032226647857071196, + 0.0025576584165466773, + -0.9994773141754245 + ], + [ + 0.9822847452096943, + 0.1872297900657376, + 0.007853982446230779, + 0.18688428579704197, + -0.9818403132273131, + 0.03261691346251482, + 0.013818214445268028, + -0.030571310629926678, + -0.9994370675114632 + ], + [ + 0.974656351231355, + 0.22353746616272563, + 0.008717696136593501, + 0.2224999509015545, + -0.9727027491565851, + 0.06590245543245979, + 0.02321139489965025, + -0.062292559786621515, + -0.9977879875715294 + ], + [ + 0.9701233743339635, + 0.24203459514656334, + 0.01673001264563879, + 0.2401231636559767, + -0.967737505001753, + 0.07632160695914632, + 0.03466272993763038, + -0.07002411131332227, + -0.9969428865226181 + ], + [ + 0.9577854676806468, + 0.2870731021855264, + 0.015363329760916906, + 0.28521108794194483, + -0.9555620785391782, + 0.07453689940463946, + 0.036078154259004944, + -0.06700856706021598, + -0.9970999040847409 + ], + [ + 0.9489040524926402, + 0.31532923499794974, + 0.012189040924212488, + 0.3139967647185873, + -0.9473302981898399, + 0.06301855185426587, + 0.03141863952026666, + -0.0559712398215053, + -0.9979379186119439 + ], + [ + 0.9449823140966094, + 0.32674278682123176, + -0.015734589442116337, + 0.3270687932932153, + -0.9445994492798925, + 0.027529708931327616, + -0.005867750705068966, + -0.03116138123412923, + -0.9994971424777783 + ], + [ + 0.9346395552654218, + 0.35485865703046654, + -0.022896184481003487, + 0.35484960244174474, + -0.9349121114642173, + -0.004593852898646866, + -0.02303608864781856, + -0.003831105330370857, + -0.9997272934414451 + ], + [ + 0.9328736688636469, + 0.3514759533314342, + -0.07881225901240542, + 0.3498511857351876, + -0.9361876869467801, + -0.034011213576130565, + -0.08573719018350386, + 0.004155603325311237, + -0.9963091212974217 + ], + [ + 0.9296436523473119, + 0.3598070508787328, + -0.07938240225830645, + 0.3586902771136165, + -0.9330244380810214, + -0.028402166251039723, + -0.08428502093793205, + -0.002069802295784391, + -0.9964395371340647 + ], + [ + 0.9287092697714451, + 0.3567822098351374, + -0.10102250732260157, + 0.35719029894665455, + -0.93391688865007, + -0.014640199198514278, + -0.0995699883448255, + -0.022487770883939964, + -0.9947764158752874 + ], + [ + 0.9347323544410743, + 0.3459262906420527, + -0.0813045324915892, + 0.34769683010248653, + -0.9375704531990261, + 0.0082800739643593, + -0.0733644321025416, + -0.036008981251942, + -0.996654911878464 + ], + [ + 0.9382631884616839, + 0.34546994415229126, + -0.017683519591068477, + 0.34580526826255376, + -0.9380488360872259, + 0.021979480368385478, + -0.00899475511496493, + -0.0267375915671879, + -0.9996020185942044 + ], + [ + 0.9482128370183928, + 0.3035779182678088, + 0.09344979001428726, + 0.3011256962180451, + -0.952759661295038, + 0.03965277904714825, + 0.10107289839877141, + -0.00945914103647755, + -0.9948340534280697 + ], + [ + 0.9707315219695509, + 0.179878970813676, + 0.15913474829116436, + 0.18449805544992293, + -0.9827241221552491, + -0.014620782106054154, + 0.15375558458110294, + 0.043552905680427884, + -0.9871486031074123 + ], + [ + 0.9658320952738182, + 0.017328945011901856, + 0.2585886142191115, + 0.05573645297825658, + -0.9883038966982999, + -0.1419466645622876, + 0.25310434912973856, + 0.1515094565884601, + -0.9555014772442169 + ], + [ + 0.9666368401849932, + -0.1023127088359368, + 0.23483042564332354, + -0.04943236912223692, + -0.974043123507141, + -0.22089914991102877, + 0.2513357516950874, + 0.2019210319880152, + -0.9466035266999379 + ], + [ + 0.9443212434673052, + -0.19713257228310008, + 0.2634314675231695, + -0.13738314411531152, + -0.9637490494582035, + -0.22872175537408027, + 0.2989703343968326, + 0.1797957691756327, + -0.9371713933625954 + ], + [ + 0.9256358700177255, + -0.24280095361647222, + 0.29025149966789165, + -0.19756352125805918, + -0.9642565488456466, + -0.176572826551538, + 0.3227489600365039, + 0.10609903360170075, + -0.9405190608723144 + ], + [ + 0.8992181347046408, + -0.2606327915785264, + 0.3513933610247793, + -0.22570369207578214, + -0.9644098107887004, + -0.13773728702810917, + 0.3747860584409017, + 0.04454508736648311, + -0.9260405744835619 + ], + [ + 0.8717015523623324, + -0.26765178497897524, + 0.4104862063537195, + -0.22624506981997472, + -0.9628581637787978, + -0.14736799118762725, + 0.43468330079640133, + 0.035590426270139384, + -0.899879852850732 + ], + [ + 0.8749831315597324, + -0.2653220786104406, + 0.4049798934364022, + -0.20979374148750285, + -0.9616382157608402, + -0.1767442446615534, + 0.43633829251923256, + 0.06968598560789244, + -0.897080129024859 + ], + [ + 0.880129738526492, + -0.2543918782852045, + 0.40081967968628285, + -0.19473703621282729, + -0.9634649187988995, + -0.18388267175259837, + 0.4329539583931906, + 0.08378617133128569, + -0.8975136474757983 + ], + [ + 0.8910665468946137, + -0.245907280103883, + 0.38148396899112236, + -0.18977332407938083, + -0.9653704393905322, + -0.17901396654672821, + 0.41229418437951737, + 0.0871178761382603, + -0.9068759458624909 + ], + [ + 0.8962386316367836, + -0.24306946134764656, + 0.3710438681907985, + -0.19036605719114957, + -0.9663125089405364, + -0.17320767689263022, + 0.40064582792202097, + 0.08460125309480215, + -0.9123187757267016 + ], + [ + 0.8946060540764414, + -0.23487212152126766, + 0.3801514100222143, + -0.1771287878515488, + -0.9674239550298072, + -0.18087643226447853, + 0.4102504119730044, + 0.09447739288625795, + -0.9070659412134244 + ], + [ + 0.8878086294889858, + -0.2270102572820125, + 0.4003275914718383, + -0.17362398360726264, + -0.9708123583707043, + -0.16546321993438884, + 0.42620482132565507, + 0.077393203341543, + -0.9013100145650779 + ], + [ + 0.8849976092611508, + -0.23495821660360802, + 0.4019625207062212, + -0.1854363408296764, + -0.9697750423469825, + -0.15858666633928625, + 0.4270744608399657, + 0.06581036158052948, + -0.9018183859330505 + ], + [ + 0.9095662589977939, + -0.23110176306234306, + 0.345371098388725, + -0.191407152949399, + -0.9706766610865315, + -0.14543081317832185, + 0.368852981948856, + 0.06617246203202068, + -0.9271292698302958 + ], + [ + 0.947470517750338, + -0.2174644611031931, + 0.2345396046534665, + -0.19039985662884082, + -0.9726938381108975, + -0.13271997550032907, + 0.2569971061892009, + 0.08109195680330392, + -0.9630039366234115 + ], + [ + 0.967341423199787, + -0.1827168025341435, + 0.17568477746666025, + -0.1611903685353638, + -0.9783298363702891, + -0.1299553629486579, + 0.1956226879818512, + 0.09739251172129523, + -0.9758311650113318 + ], + [ + 0.9704456209017175, + -0.170927840081244, + 0.17034955344185818, + -0.15408268471332104, + -0.9821678926906201, + -0.1077253769508453, + 0.18572512792892384, + 0.0782937037878978, + -0.9794775509438476 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006508.json b/json/chunk-0006/episode_0006508.json new file mode 100644 index 0000000000000000000000000000000000000000..b804e4598d88c56e40845529d9d2c636e77c7440 --- /dev/null +++ b/json/chunk-0006/episode_0006508.json @@ -0,0 +1,2422 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 39, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the mushroom to the right edge of the counter." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006508.mp4", + "start": 0, + "end": 39, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.26849013566970825, + -0.017584552988409996, + 0.10730713605880737, + -0.23594225943088531, + -0.22896119952201843, + 1.502766728401184, + 0.0, + 1.0008161067962646 + ], + [ + 0.26635754108428955, + -0.017310703173279762, + 0.10083342343568802, + -0.20937678217887878, + -0.23240667581558228, + 1.4915452003479004, + 0.0, + 1.0008161067962646 + ], + [ + 0.26804348826408386, + 0.010482572950422764, + 0.10040272027254105, + -0.19127757847309113, + -0.2550338804721832, + 1.4960312843322754, + 0.0, + 1.0008161067962646 + ], + [ + 0.2685343027114868, + 0.02515224926173687, + 0.09713529050350189, + -0.15497024357318878, + -0.2798200845718384, + 1.4437768459320068, + 0.0, + 1.0014774799346924 + ], + [ + 0.2717532217502594, + 0.04649011418223381, + 0.09805256128311157, + -0.14591558277606964, + -0.30198243260383606, + 1.4236341714859009, + 0.0, + 1.0008161067962646 + ], + [ + 0.28528881072998047, + 0.06183525547385216, + 0.09593327343463898, + -0.12597154080867767, + -0.34408533573150635, + 1.3377372026443481, + 0.0, + 1.0008161067962646 + ], + [ + 0.30074211955070496, + 0.07847363501787186, + 0.09396234154701233, + -0.12437006086111069, + -0.365335613489151, + 1.299666166305542, + 0.0, + 1.0008161067962646 + ], + [ + 0.31337353587150574, + 0.09244685620069504, + 0.08668917417526245, + -0.1428367793560028, + -0.3849349021911621, + 1.2980083227157593, + 0.0, + 1.0008161067962646 + ], + [ + 0.32668012380599976, + 0.10044240951538086, + 0.08241841197013855, + -0.13855469226837158, + -0.3996632397174835, + 1.289509892463684, + 0.0, + 1.0008161067962646 + ], + [ + 0.3376915752887726, + 0.10489063709974289, + 0.07089762389659882, + -0.13194483518600464, + -0.39322423934936523, + 1.2922276258468628, + 0.0, + 1.0008161067962646 + ], + [ + 0.349895715713501, + 0.11576730757951736, + 0.06165360286831856, + -0.1171896830201149, + -0.39825141429901123, + 1.2908087968826294, + 0.0, + 1.0008161067962646 + ], + [ + 0.3605932891368866, + 0.1253904551267624, + 0.05265049636363983, + -0.09611544013023376, + -0.40429964661598206, + 1.2739908695220947, + 0.0, + 1.0008161067962646 + ], + [ + 0.3658718764781952, + 0.13176168501377106, + 0.04344389587640762, + -0.07050630450248718, + -0.40730661153793335, + 1.24853515625, + 0.0, + 0.9499720335006714 + ], + [ + 0.3670728802680969, + 0.13622793555259705, + 0.04263110086321831, + -0.07935089617967606, + -0.42288270592689514, + 1.2549986839294434, + 0.0, + 0.657115638256073 + ], + [ + 0.3670854866504669, + 0.13412411510944366, + 0.04237185791134834, + -0.08415686339139938, + -0.4096786081790924, + 1.2549039125442505, + 0.0, + 0.438394159078598 + ], + [ + 0.3680369555950165, + 0.12816603481769562, + 0.041595861315727234, + -0.08000840246677399, + -0.41329434514045715, + 1.2434276342391968, + 0.0, + 0.4329093396663666 + ], + [ + 0.36702194809913635, + 0.12106841802597046, + 0.04184940084815025, + -0.061105404049158096, + -0.412043035030365, + 1.2365431785583496, + 0.0, + 0.43017780780792236 + ], + [ + 0.36499685049057007, + 0.11190453171730042, + 0.05360570177435875, + -0.07078112661838531, + -0.41906702518463135, + 1.2391289472579956, + 0.0, + 0.3883807957172394 + ], + [ + 0.36447688937187195, + 0.10565885901451111, + 0.07469666749238968, + -0.11645592004060745, + -0.43813854455947876, + 1.2657544612884521, + 0.0, + 0.3875128924846649 + ], + [ + 0.36115095019340515, + 0.10087946802377701, + 0.10971897095441818, + -0.18410316109657288, + -0.48119157552719116, + 1.3164900541305542, + 0.0, + 0.3875128924846649 + ], + [ + 0.3563504219055176, + 0.09099642187356949, + 0.12769930064678192, + -0.22616644203662872, + -0.48924604058265686, + 1.3364291191101074, + 0.0, + 0.3875128924846649 + ], + [ + 0.35872477293014526, + 0.0710747241973877, + 0.12719786167144775, + -0.22642453014850616, + -0.46215370297431946, + 1.2852604389190674, + 0.0, + 0.3875128924846649 + ], + [ + 0.3638371229171753, + 0.04059845209121704, + 0.12463483214378357, + -0.24349580705165863, + -0.42740827798843384, + 1.2106070518493652, + 0.0, + 0.3875128924846649 + ], + [ + 0.3621157705783844, + 0.018406961113214493, + 0.1176198273897171, + -0.23067514598369598, + -0.4172326624393463, + 1.1151351928710938, + 0.0, + 0.3875128924846649 + ], + [ + 0.3500734567642212, + 0.0019795994739979506, + 0.09971540421247482, + -0.19681203365325928, + -0.38651975989341736, + 1.0514453649520874, + 0.0, + 0.3875128924846649 + ], + [ + 0.3517593741416931, + -0.01869119144976139, + 0.09873568266630173, + -0.21858350932598114, + -0.3718251585960388, + 0.992983877658844, + 0.0, + 0.3875128924846649 + ], + [ + 0.3602387309074402, + -0.03297657147049904, + 0.08895862847566605, + -0.26840800046920776, + -0.337430477142334, + 0.9407210946083069, + 0.0, + 0.3875128924846649 + ], + [ + 0.36723893880844116, + -0.04585236683487892, + 0.07984785735607147, + -0.3211621940135956, + -0.3022862374782562, + 0.898389995098114, + 0.0, + 0.3875128924846649 + ], + [ + 0.375584214925766, + -0.052003346383571625, + 0.06293454766273499, + -0.2980067729949951, + -0.2870768904685974, + 0.8762803673744202, + 0.0, + 0.3875128924846649 + ], + [ + 0.38569775223731995, + -0.0702344998717308, + 0.05086017772555351, + -0.2936473488807678, + -0.26624536514282227, + 0.8478488326072693, + 0.0, + 0.3875128924846649 + ], + [ + 0.39243173599243164, + -0.08341161161661148, + 0.041963715106248856, + -0.29974228143692017, + -0.2469504177570343, + 0.8285799026489258, + 0.0, + 0.3875128924846649 + ], + [ + 0.3960500955581665, + -0.09185849875211716, + 0.041373513638973236, + -0.30454492568969727, + -0.24075166881084442, + 0.8141046166419983, + 0.0, + 0.45967593789100647 + ], + [ + 0.39410436153411865, + -0.09223002940416336, + 0.04212193936109543, + -0.27666962146759033, + -0.24774163961410522, + 0.8371037840843201, + 0.0, + 0.7691487669944763 + ], + [ + 0.3933427035808563, + -0.09281068295240402, + 0.04262164235115051, + -0.27400216460227966, + -0.2497636377811432, + 0.8534927368164062, + 0.0, + 0.9981546401977539 + ], + [ + 0.3902096748352051, + -0.09051813930273056, + 0.038786858320236206, + -0.26281067728996277, + -0.24254478514194489, + 0.8616070747375488, + 0.0, + 1.0060625076293945 + ], + [ + 0.38710054755210876, + -0.08639168739318848, + 0.038260988891124725, + -0.23188599944114685, + -0.24541322886943817, + 0.8604636788368225, + 0.0, + 1.0001531839370728 + ], + [ + 0.3845287561416626, + -0.08252163231372833, + 0.05530277639627457, + -0.22619347274303436, + -0.2631736099720001, + 0.8760244250297546, + 0.0, + 1.0001531839370728 + ], + [ + 0.38303375244140625, + -0.07055272907018661, + 0.09223063290119171, + -0.17511868476867676, + -0.303606241941452, + 0.9207991361618042, + 0.0, + 1.0001531839370728 + ], + [ + 0.37189581990242004, + -0.06365477293729782, + 0.1318162977695465, + -0.240020751953125, + -0.31966638565063477, + 1.0357826948165894, + 0.0, + 1.0001531839370728 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9499720335006714 + ], + [ + 0.657115638256073 + ], + [ + 0.438394159078598 + ], + [ + 0.4329093396663666 + ], + [ + 0.43017780780792236 + ], + [ + 0.3883807957172394 + ], + [ + 0.3875128924846649 + ], + [ + 0.3875128924846649 + ], + [ + 0.3875128924846649 + ], + [ + 0.3875128924846649 + ], + [ + 0.3875128924846649 + ], + [ + 0.3875128924846649 + ], + [ + 0.3875128924846649 + ], + [ + 0.3875128924846649 + ], + [ + 0.3875128924846649 + ], + [ + 0.3875128924846649 + ], + [ + 0.3875128924846649 + ], + [ + 0.3875128924846649 + ], + [ + 0.3875128924846649 + ], + [ + 0.45967593789100647 + ], + [ + 0.7691487669944763 + ], + [ + 0.9981546401977539 + ], + [ + 1.0060625076293945 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.26849013566970825, + -0.017584552988409996, + 0.10730713605880737 + ], + [ + 0.26635754108428955, + -0.017310703173279762, + 0.10083342343568802 + ], + [ + 0.26804348826408386, + 0.010482572950422764, + 0.10040272027254105 + ], + [ + 0.2685343027114868, + 0.02515224926173687, + 0.09713529050350189 + ], + [ + 0.2717532217502594, + 0.04649011418223381, + 0.09805256128311157 + ], + [ + 0.28528881072998047, + 0.06183525547385216, + 0.09593327343463898 + ], + [ + 0.30074211955070496, + 0.07847363501787186, + 0.09396234154701233 + ], + [ + 0.31337353587150574, + 0.09244685620069504, + 0.08668917417526245 + ], + [ + 0.32668012380599976, + 0.10044240951538086, + 0.08241841197013855 + ], + [ + 0.3376915752887726, + 0.10489063709974289, + 0.07089762389659882 + ], + [ + 0.349895715713501, + 0.11576730757951736, + 0.06165360286831856 + ], + [ + 0.3605932891368866, + 0.1253904551267624, + 0.05265049636363983 + ], + [ + 0.3658718764781952, + 0.13176168501377106, + 0.04344389587640762 + ], + [ + 0.3670728802680969, + 0.13622793555259705, + 0.04263110086321831 + ], + [ + 0.3670854866504669, + 0.13412411510944366, + 0.04237185791134834 + ], + [ + 0.3680369555950165, + 0.12816603481769562, + 0.041595861315727234 + ], + [ + 0.36702194809913635, + 0.12106841802597046, + 0.04184940084815025 + ], + [ + 0.36499685049057007, + 0.11190453171730042, + 0.05360570177435875 + ], + [ + 0.36447688937187195, + 0.10565885901451111, + 0.07469666749238968 + ], + [ + 0.36115095019340515, + 0.10087946802377701, + 0.10971897095441818 + ], + [ + 0.3563504219055176, + 0.09099642187356949, + 0.12769930064678192 + ], + [ + 0.35872477293014526, + 0.0710747241973877, + 0.12719786167144775 + ], + [ + 0.3638371229171753, + 0.04059845209121704, + 0.12463483214378357 + ], + [ + 0.3621157705783844, + 0.018406961113214493, + 0.1176198273897171 + ], + [ + 0.3500734567642212, + 0.0019795994739979506, + 0.09971540421247482 + ], + [ + 0.3517593741416931, + -0.01869119144976139, + 0.09873568266630173 + ], + [ + 0.3602387309074402, + -0.03297657147049904, + 0.08895862847566605 + ], + [ + 0.36723893880844116, + -0.04585236683487892, + 0.07984785735607147 + ], + [ + 0.375584214925766, + -0.052003346383571625, + 0.06293454766273499 + ], + [ + 0.38569775223731995, + -0.0702344998717308, + 0.05086017772555351 + ], + [ + 0.39243173599243164, + -0.08341161161661148, + 0.041963715106248856 + ], + [ + 0.3960500955581665, + -0.09185849875211716, + 0.041373513638973236 + ], + [ + 0.39410436153411865, + -0.09223002940416336, + 0.04212193936109543 + ], + [ + 0.3933427035808563, + -0.09281068295240402, + 0.04262164235115051 + ], + [ + 0.3902096748352051, + -0.09051813930273056, + 0.038786858320236206 + ], + [ + 0.38710054755210876, + -0.08639168739318848, + 0.038260988891124725 + ], + [ + 0.3845287561416626, + -0.08252163231372833, + 0.05530277639627457 + ], + [ + 0.38303375244140625, + -0.07055272907018661, + 0.09223063290119171 + ], + [ + 0.37189581990242004, + -0.06365477293729782, + 0.1318162977695465 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.06620311651871474, + 0.9664389229650416, + 0.24821957122954566, + 0.9716499381795123, + -0.11902646333445926, + 0.20427701452155714, + 0.22696595559457663, + 0.22765875604566724, + -0.9469202425741989 + ], + [ + 0.07703974901868377, + 0.9713005118786271, + 0.22503375901285355, + 0.9700605655224945, + -0.1251610751085626, + 0.20812785612658039, + 0.23032016040571873, + 0.20226225772987302, + -0.9518627016585418 + ], + [ + 0.0722793664470821, + 0.9754369970675473, + 0.20808257480590445, + 0.9649515046526703, + -0.1211605862793288, + 0.23278467733293293, + 0.2522781933789696, + 0.18396406465474643, + -0.9500068084288387 + ], + [ + 0.12175107149306852, + 0.9746563688984926, + 0.1876742900769719, + 0.953362351502246, + -0.1674456796256285, + 0.2511218252418921, + 0.27618273539162025, + 0.1483472512058011, + -0.9495873786710128 + ], + [ + 0.13999629651876805, + 0.9723383859328467, + 0.1869735280796081, + 0.9444290540336713, + -0.18784935286708132, + 0.26975244674420257, + 0.29741351492172347, + 0.13881888873249776, + -0.9446028357320237 + ], + [ + 0.2174174504747063, + 0.9554662997308634, + 0.19953396279253088, + 0.9159335303320568, + -0.27036152052404594, + 0.296598071863897, + 0.3373357678078833, + 0.11827425036134588, + -0.9339249335245997 + ], + [ + 0.2501453776923026, + 0.9441576480743887, + 0.21446124498802688, + 0.8998836573855729, + -0.30845117306631, + 0.30832981854563235, + 0.35726277890306535, + 0.11586289059339262, + -0.9267896726840472 + ], + [ + 0.2497022044719992, + 0.9388150991473833, + 0.23722356268868586, + 0.8925522156846338, + -0.31815003658581553, + 0.31957956207632393, + 0.3754988034045843, + 0.13193469533573499, + -0.9173842623505115 + ], + [ + 0.25571532616568265, + 0.9365745092056054, + 0.23966197168148745, + 0.884988431928564, + -0.3265598753723002, + 0.33189474709529443, + 0.3891081434724802, + 0.1272274990051575, + -0.9123639713295855 + ], + [ + 0.25399291918782285, + 0.9392311012560779, + 0.23093838017043294, + 0.8880706335166595, + -0.3210568754532134, + 0.32901828613245643, + 0.3831685619773199, + 0.12152127862031055, + -0.9156497321327178 + ], + [ + 0.2547171517882937, + 0.9419368555386473, + 0.21880158309030656, + 0.8858469128974112, + -0.3180256034947183, + 0.3378386633171906, + 0.38780719371226885, + 0.10777140483349547, + -0.9154184315411336 + ], + [ + 0.26888761537840444, + 0.9408209618942084, + 0.20628952459243383, + 0.8791789268313391, + -0.3272175230623121, + 0.3463713429495296, + 0.3933749673172032, + 0.0882304384066086, + -0.9151347031048312 + ], + [ + 0.2908022676724365, + 0.9373265549093317, + 0.19197127539913822, + 0.870924190687622, + -0.3423957171083351, + 0.3524999673489052, + 0.39613772250529095, + 0.06468463780274358, + -0.9159098222208606 + ], + [ + 0.2832161423232585, + 0.9374547050097657, + 0.20240378648282523, + 0.8668148059467684, + -0.3405195498089349, + 0.3642506395181574, + 0.4103909220718682, + 0.07228493793988885, + -0.9090402514894642 + ], + [ + 0.28495698916090123, + 0.9367540542756592, + 0.20320274635562643, + 0.8718629661690387, + -0.3413900542557892, + 0.3511521024828911, + 0.3983145522715428, + 0.07710170331026639, + -0.9140026503218553 + ], + [ + 0.29447871944623755, + 0.9335410120052209, + 0.20441003570659716, + 0.8671659900104326, + -0.35091858325352193, + 0.35338264487176974, + 0.4016284720516344, + 0.07319376224521595, + -0.9128730709172336 + ], + [ + 0.30060629666427324, + 0.9348692675680482, + 0.18882612891909778, + 0.8655922007976872, + -0.35055433621977344, + 0.35757768285469127, + 0.4004822047532288, + 0.055956321486448884, + -0.9145943875629774 + ], + [ + 0.2974437568466991, + 0.9337627567737522, + 0.19903347852862346, + 0.8636855772329902, + -0.3520137006096903, + 0.36074031970766407, + 0.4069083867317533, + 0.0646023888517572, + -0.9111817031536619 + ], + [ + 0.27196453259735237, + 0.9325687167431538, + 0.23738340624637494, + 0.863738010126331, + -0.34531845845636094, + 0.36703107785626127, + 0.42425457318938836, + 0.10521763541037377, + -0.89940942085712 + ], + [ + 0.22300632247760593, + 0.9301667717284288, + 0.29164697308103027, + 0.8579342813742179, + -0.3293266051887614, + 0.3943256978155874, + 0.46283576890503864, + 0.16227681253696974, + -0.871463875978186 + ], + [ + 0.204984332334458, + 0.9234175064932457, + 0.32447115773084256, + 0.8585560793068139, + -0.32881783864064673, + 0.39339584095031527, + 0.46996051130143757, + 0.1979367012291819, + -0.8602082190515277 + ], + [ + 0.2521227135338334, + 0.9068251175985844, + 0.33779038383685583, + 0.8588526773034144, + -0.37052628041376734, + 0.3536698378594021, + 0.44587690679053343, + 0.20094397630944827, + -0.8722472713490448 + ], + [ + 0.3207459393949718, + 0.8730009022165086, + 0.3674118494153387, + 0.8516457611426407, + -0.43557932929381354, + 0.29149639006293765, + 0.4145136184607327, + 0.2194084606871713, + -0.8831978190017662 + ], + [ + 0.4023053724326307, + 0.8334138095427579, + 0.3789087084975353, + 0.8209368776372772, + -0.5115970938847627, + 0.25363567663840964, + 0.4052320696181397, + 0.20902113671132214, + -0.889998389976581 + ], + [ + 0.45970181015513856, + 0.8147966563290545, + 0.3532430531165214, + 0.8040957440647023, + -0.5507292348882185, + 0.22389136699852977, + 0.3769672135837834, + 0.1811179689440838, + -0.9083457498158111 + ], + [ + 0.5088691660554436, + 0.7746965511042951, + 0.3753630583117471, + 0.780418677103007, + -0.5991907409464018, + 0.17865369963394243, + 0.36331647398216094, + 0.20202898225554852, + -0.9094973502226147 + ], + [ + 0.555979334921304, + 0.7273223154903122, + 0.4023546054542874, + 0.7624197633720312, + -0.6390471270416014, + 0.1016605815427566, + 0.3310635642292888, + 0.25024192056824995, + -0.9098219043472813 + ], + [ + 0.5946283625893476, + 0.6837893554264002, + 0.4229056961189573, + 0.7468531995303623, + -0.6645421996627738, + 0.02437136062314113, + 0.29770355852017044, + 0.30135656998464544, + -0.9058459079620094 + ], + [ + 0.6138214550555371, + 0.6812879729818104, + 0.3988357044997841, + 0.7369188041746604, + -0.6756837105940278, + 0.02005490692261025, + 0.28314995561944134, + 0.2815993982738992, + -0.9168030767424846 + ], + [ + 0.6382867345303476, + 0.6673760729610162, + 0.3836655076518057, + 0.7234380890392934, + -0.6903841914900005, + -0.0026456507467013946, + 0.26311095729703254, + 0.27924692546173246, + -0.9234683420509924 + ], + [ + 0.6554171274246055, + 0.6553250294964783, + 0.3754696989024792, + 0.7146142645638343, + -0.6989794033995509, + -0.02746354866178463, + 0.24444803529660192, + 0.2863160829199923, + -0.9264276867089969 + ], + [ + 0.6667198152241296, + 0.6445685335733111, + 0.37418724392295, + 0.7061405974356498, + -0.7069141737479814, + -0.04046983577223645, + 0.23843268366716341, + 0.29121084540476755, + -0.9264696966862513 + ], + [ + 0.6491723883433482, + 0.6696102518344145, + 0.36082865857751006, + 0.7200310599475221, + -0.6938989918310596, + -0.007711150801747141, + 0.24521517678039675, + 0.26481370767785306, + -0.932600245176071 + ], + [ + 0.6369579450240828, + 0.6815037883554824, + 0.3603292421214569, + 0.7301980048368759, + -0.6832340606706788, + 0.0014463995647899242, + 0.2471749380559113, + 0.26219039798699906, + -0.9328240698012008 + ], + [ + 0.6321574979618971, + 0.6921990276217078, + 0.3481916195575594, + 0.736677331905151, + -0.6762099909680219, + 0.006823252313657879, + 0.24017370053288975, + 0.25219150317683153, + -0.9373985488028814 + ], + [ + 0.6325475566781344, + 0.7014439112495472, + 0.32842050470617606, + 0.7354287123838392, + -0.6769636218733647, + 0.02940856442507886, + 0.242957192817933, + 0.22292755332401856, + -0.9440736774357159 + ], + [ + 0.6181673060158104, + 0.711279799207471, + 0.33458964271557406, + 0.7417500508713782, + -0.6687212339053105, + 0.05117395193325357, + 0.26014619698443303, + 0.21654782050055138, + -0.9409734308847395 + ], + [ + 0.577505806198508, + 0.7523878886945925, + 0.31685881517279074, + 0.7596761797760032, + -0.6373940363537973, + 0.1289222412989769, + 0.29896345209397895, + 0.16625675134053208, + -0.9396699138238617 + ], + [ + 0.4840237830250378, + 0.7975123726907417, + 0.3601319103763438, + 0.8166810883631567, + -0.559502130362195, + 0.1413837544774349, + 0.3142498645601958, + 0.22567982082000404, + -0.9221256102606358 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.002132594585418701, + 0.00027384981513023376, + -0.006473712623119354, + 0.02656547725200653, + -0.0034454762935638428, + -0.011221528053283691, + 1.0 + ], + [ + 0.0016859471797943115, + 0.0277932770550251, + -0.00043070316314697266, + 0.01809920370578766, + -0.022627204656600952, + 0.004486083984375, + 1.0 + ], + [ + 0.0004908144474029541, + 0.014669676311314106, + -0.003267429769039154, + 0.036307334899902344, + -0.02478620409965515, + -0.052254438400268555, + 1.0 + ], + [ + 0.003218919038772583, + 0.02133786492049694, + 0.0009172707796096802, + 0.00905466079711914, + -0.02216234803199768, + -0.020142674446105957, + 1.0 + ], + [ + 0.01353558897972107, + 0.015345141291618347, + -0.002119287848472595, + 0.019944041967391968, + -0.04210290312767029, + -0.08589696884155273, + 1.0 + ], + [ + 0.015453308820724487, + 0.0166383795440197, + -0.001970931887626648, + 0.001601479947566986, + -0.021250277757644653, + -0.03807103633880615, + 1.0 + ], + [ + 0.012631416320800781, + 0.013973221182823181, + -0.007273167371749878, + -0.01846671849489212, + -0.01959928870201111, + -0.0016578435897827148, + 1.0 + ], + [ + 0.013306587934494019, + 0.007995553314685822, + -0.004270762205123901, + 0.004282087087631226, + -0.014728337526321411, + -0.008498430252075195, + 1.0 + ], + [ + 0.011011451482772827, + 0.00444822758436203, + -0.011520788073539734, + 0.006609857082366943, + 0.006439000368118286, + 0.002717733383178711, + 1.0 + ], + [ + 0.012204140424728394, + 0.010876670479774475, + -0.009244021028280258, + 0.01475515216588974, + -0.005027174949645996, + -0.0014188289642333984, + 1.0 + ], + [ + 0.01069757342338562, + 0.009623147547245026, + -0.009003106504678726, + 0.021074242889881134, + -0.006048232316970825, + -0.016817927360534668, + 1.0 + ], + [ + 0.005278587341308594, + 0.006371229887008667, + -0.009206600487232208, + 0.025609135627746582, + -0.003006964921951294, + -0.025455713272094727, + 0.0 + ], + [ + 0.0012010037899017334, + 0.004466250538825989, + -0.0008127950131893158, + -0.008844591677188873, + -0.015576094388961792, + 0.006463527679443359, + 0.0 + ], + [ + 1.2606382369995117e-05, + -0.0021038204431533813, + -0.0002592429518699646, + -0.004805967211723328, + 0.013204097747802734, + -9.47713851928711e-05, + 0.0 + ], + [ + 0.0009514689445495605, + -0.005958080291748047, + -0.000775996595621109, + 0.004148460924625397, + -0.003615736961364746, + -0.011476278305053711, + 0.0 + ], + [ + -0.001015007495880127, + -0.007097616791725159, + 0.0002535395324230194, + 0.01890299841761589, + 0.001251310110092163, + -0.006884455680847168, + 0.0 + ], + [ + -0.002025097608566284, + -0.009163886308670044, + 0.011756300926208496, + -0.009675722569227219, + -0.007023990154266357, + 0.002585768699645996, + 0.0 + ], + [ + -0.0005199611186981201, + -0.006245672702789307, + 0.02109096571803093, + -0.04567479342222214, + -0.019071519374847412, + 0.026625514030456543, + 0.0 + ], + [ + -0.003325939178466797, + -0.0047793909907341, + 0.0350223034620285, + -0.06764724105596542, + -0.0430530309677124, + 0.05073559284210205, + 0.0 + ], + [ + -0.004800528287887573, + -0.00988304615020752, + 0.01798032969236374, + -0.04206328094005585, + -0.008054465055465698, + 0.019939064979553223, + 0.0 + ], + [ + 0.0023743510246276855, + -0.019921697676181793, + -0.0005014389753341675, + -0.0002580881118774414, + 0.027092337608337402, + -0.05116868019104004, + 0.0 + ], + [ + 0.005112349987030029, + -0.030476272106170654, + -0.0025630295276641846, + -0.017071276903152466, + 0.03474542498588562, + -0.07465338706970215, + 0.0 + ], + [ + -0.0017213523387908936, + -0.022191490978002548, + -0.007015004754066467, + 0.012820661067962646, + 0.010175615549087524, + -0.09547185897827148, + 0.0 + ], + [ + -0.012042313814163208, + -0.016427362337708473, + -0.01790442317724228, + 0.03386311233043671, + 0.030712902545928955, + -0.06368982791900635, + 0.0 + ], + [ + 0.0016859173774719238, + -0.02067079022526741, + -0.0009797215461730957, + -0.021771475672721863, + 0.01469460129737854, + -0.05846148729324341, + 0.0 + ], + [ + 0.00847935676574707, + -0.014285380020737648, + -0.009777054190635681, + -0.049824491143226624, + 0.034394681453704834, + -0.05226278305053711, + 0.0 + ], + [ + 0.0070002079010009766, + -0.012875795364379883, + -0.009110771119594574, + -0.05275419354438782, + 0.03514423966407776, + -0.04233109951019287, + 0.0 + ], + [ + 0.008345276117324829, + -0.006150979548692703, + -0.016913309693336487, + 0.023155421018600464, + 0.015209347009658813, + -0.022109627723693848, + 0.0 + ], + [ + 0.010113537311553955, + -0.01823115348815918, + -0.012074369937181473, + 0.004359424114227295, + 0.020831525325775146, + -0.02843153476715088, + 0.0 + ], + [ + 0.006733983755111694, + -0.013177111744880676, + -0.008896462619304657, + -0.006094932556152344, + 0.019294947385787964, + -0.019268929958343506, + 0.0 + ], + [ + 0.0036183595657348633, + -0.008446887135505676, + -0.0005902014672756195, + -0.0048026442527771, + 0.00619874894618988, + -0.01447528600692749, + 1.0 + ], + [ + -0.0019457340240478516, + -0.0003715306520462036, + 0.0007484257221221924, + 0.027875304222106934, + -0.006989970803260803, + 0.022999167442321777, + 1.0 + ], + [ + -0.0007616579532623291, + -0.0005806535482406616, + 0.0004997029900550842, + 0.002667456865310669, + -0.002021998167037964, + 0.01638895273208618, + 1.0 + ], + [ + -0.003133028745651245, + 0.002292543649673462, + -0.0038347840309143066, + 0.011191487312316895, + 0.007218852639198303, + 0.008114337921142578, + 1.0 + ], + [ + -0.0031091272830963135, + 0.004126451909542084, + -0.0005258694291114807, + 0.030924677848815918, + -0.002868443727493286, + -0.0011433959007263184, + 1.0 + ], + [ + -0.002571791410446167, + 0.003870055079460144, + 0.01704178750514984, + 0.005692526698112488, + -0.01776038110256195, + 0.015560746192932129, + 1.0 + ], + [ + -0.0014950037002563477, + 0.011968903243541718, + 0.036927856504917145, + 0.051074787974357605, + -0.040432631969451904, + 0.04477471113204956, + 1.0 + ], + [ + -0.011137932538986206, + 0.006897956132888794, + 0.0395856648683548, + -0.06490206718444824, + -0.01606014370918274, + 0.11498355865478516, + 1.0 + ], + [ + -0.02095639705657959, + 0.004336036741733551, + 0.02342112362384796, + -0.028722256422042847, + -0.01790478825569153, + 0.10825049877166748, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9499720335006714 + ], + [ + 0.657115638256073 + ], + [ + 0.438394159078598 + ], + [ + 0.4329093396663666 + ], + [ + 0.43017780780792236 + ], + [ + 0.3883807957172394 + ], + [ + 0.3875128924846649 + ], + [ + 0.3875128924846649 + ], + [ + 0.3875128924846649 + ], + [ + 0.3875128924846649 + ], + [ + 0.3875128924846649 + ], + [ + 0.3875128924846649 + ], + [ + 0.3875128924846649 + ], + [ + 0.3875128924846649 + ], + [ + 0.3875128924846649 + ], + [ + 0.3875128924846649 + ], + [ + 0.3875128924846649 + ], + [ + 0.3875128924846649 + ], + [ + 0.3875128924846649 + ], + [ + 0.45967593789100647 + ], + [ + 0.7691487669944763 + ], + [ + 0.9981546401977539 + ], + [ + 1.0060625076293945 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.26635754108428955, + -0.017310703173279762, + 0.10083342343568802 + ], + [ + 0.26804348826408386, + 0.010482572950422764, + 0.10040272027254105 + ], + [ + 0.2685343027114868, + 0.02515224926173687, + 0.09713529050350189 + ], + [ + 0.2717532217502594, + 0.04649011418223381, + 0.09805256128311157 + ], + [ + 0.28528881072998047, + 0.06183525547385216, + 0.09593327343463898 + ], + [ + 0.30074211955070496, + 0.07847363501787186, + 0.09396234154701233 + ], + [ + 0.31337353587150574, + 0.09244685620069504, + 0.08668917417526245 + ], + [ + 0.32668012380599976, + 0.10044240951538086, + 0.08241841197013855 + ], + [ + 0.3376915752887726, + 0.10489063709974289, + 0.07089762389659882 + ], + [ + 0.349895715713501, + 0.11576730757951736, + 0.06165360286831856 + ], + [ + 0.3605932891368866, + 0.1253904551267624, + 0.05265049636363983 + ], + [ + 0.3658718764781952, + 0.13176168501377106, + 0.04344389587640762 + ], + [ + 0.3670728802680969, + 0.13622793555259705, + 0.04263110086321831 + ], + [ + 0.3670854866504669, + 0.13412411510944366, + 0.04237185791134834 + ], + [ + 0.3680369555950165, + 0.12816603481769562, + 0.041595861315727234 + ], + [ + 0.36702194809913635, + 0.12106841802597046, + 0.04184940084815025 + ], + [ + 0.36499685049057007, + 0.11190453171730042, + 0.05360570177435875 + ], + [ + 0.36447688937187195, + 0.10565885901451111, + 0.07469666749238968 + ], + [ + 0.36115095019340515, + 0.10087946802377701, + 0.10971897095441818 + ], + [ + 0.3563504219055176, + 0.09099642187356949, + 0.12769930064678192 + ], + [ + 0.35872477293014526, + 0.0710747241973877, + 0.12719786167144775 + ], + [ + 0.3638371229171753, + 0.04059845209121704, + 0.12463483214378357 + ], + [ + 0.3621157705783844, + 0.018406961113214493, + 0.1176198273897171 + ], + [ + 0.3500734567642212, + 0.0019795994739979506, + 0.09971540421247482 + ], + [ + 0.3517593741416931, + -0.01869119144976139, + 0.09873568266630173 + ], + [ + 0.3602387309074402, + -0.03297657147049904, + 0.08895862847566605 + ], + [ + 0.36723893880844116, + -0.04585236683487892, + 0.07984785735607147 + ], + [ + 0.375584214925766, + -0.052003346383571625, + 0.06293454766273499 + ], + [ + 0.38569775223731995, + -0.0702344998717308, + 0.05086017772555351 + ], + [ + 0.39243173599243164, + -0.08341161161661148, + 0.041963715106248856 + ], + [ + 0.3960500955581665, + -0.09185849875211716, + 0.041373513638973236 + ], + [ + 0.39410436153411865, + -0.09223002940416336, + 0.04212193936109543 + ], + [ + 0.3933427035808563, + -0.09281068295240402, + 0.04262164235115051 + ], + [ + 0.3902096748352051, + -0.09051813930273056, + 0.038786858320236206 + ], + [ + 0.38710054755210876, + -0.08639168739318848, + 0.038260988891124725 + ], + [ + 0.3845287561416626, + -0.08252163231372833, + 0.05530277639627457 + ], + [ + 0.38303375244140625, + -0.07055272907018661, + 0.09223063290119171 + ], + [ + 0.37189581990242004, + -0.06365477293729782, + 0.1318162977695465 + ], + [ + 0.35093942284584045, + -0.05931873619556427, + 0.15523742139339447 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.07703974901868377, + 0.9713005118786271, + 0.22503375901285355, + 0.9700605655224945, + -0.1251610751085626, + 0.20812785612658039, + 0.23032016040571873, + 0.20226225772987302, + -0.9518627016585418 + ], + [ + 0.0722793664470821, + 0.9754369970675473, + 0.20808257480590445, + 0.9649515046526703, + -0.1211605862793288, + 0.23278467733293293, + 0.2522781933789696, + 0.18396406465474643, + -0.9500068084288387 + ], + [ + 0.12175107149306852, + 0.9746563688984926, + 0.1876742900769719, + 0.953362351502246, + -0.1674456796256285, + 0.2511218252418921, + 0.27618273539162025, + 0.1483472512058011, + -0.9495873786710128 + ], + [ + 0.13999629651876805, + 0.9723383859328467, + 0.1869735280796081, + 0.9444290540336713, + -0.18784935286708132, + 0.26975244674420257, + 0.29741351492172347, + 0.13881888873249776, + -0.9446028357320237 + ], + [ + 0.2174174504747063, + 0.9554662997308634, + 0.19953396279253088, + 0.9159335303320568, + -0.27036152052404594, + 0.296598071863897, + 0.3373357678078833, + 0.11827425036134588, + -0.9339249335245997 + ], + [ + 0.2501453776923026, + 0.9441576480743887, + 0.21446124498802688, + 0.8998836573855729, + -0.30845117306631, + 0.30832981854563235, + 0.35726277890306535, + 0.11586289059339262, + -0.9267896726840472 + ], + [ + 0.2497022044719992, + 0.9388150991473833, + 0.23722356268868586, + 0.8925522156846338, + -0.31815003658581553, + 0.31957956207632393, + 0.3754988034045843, + 0.13193469533573499, + -0.9173842623505115 + ], + [ + 0.25571532616568265, + 0.9365745092056054, + 0.23966197168148745, + 0.884988431928564, + -0.3265598753723002, + 0.33189474709529443, + 0.3891081434724802, + 0.1272274990051575, + -0.9123639713295855 + ], + [ + 0.25399291918782285, + 0.9392311012560779, + 0.23093838017043294, + 0.8880706335166595, + -0.3210568754532134, + 0.32901828613245643, + 0.3831685619773199, + 0.12152127862031055, + -0.9156497321327178 + ], + [ + 0.2547171517882937, + 0.9419368555386473, + 0.21880158309030656, + 0.8858469128974112, + -0.3180256034947183, + 0.3378386633171906, + 0.38780719371226885, + 0.10777140483349547, + -0.9154184315411336 + ], + [ + 0.26888761537840444, + 0.9408209618942084, + 0.20628952459243383, + 0.8791789268313391, + -0.3272175230623121, + 0.3463713429495296, + 0.3933749673172032, + 0.0882304384066086, + -0.9151347031048312 + ], + [ + 0.2908022676724365, + 0.9373265549093317, + 0.19197127539913822, + 0.870924190687622, + -0.3423957171083351, + 0.3524999673489052, + 0.39613772250529095, + 0.06468463780274358, + -0.9159098222208606 + ], + [ + 0.2832161423232585, + 0.9374547050097657, + 0.20240378648282523, + 0.8668148059467684, + -0.3405195498089349, + 0.3642506395181574, + 0.4103909220718682, + 0.07228493793988885, + -0.9090402514894642 + ], + [ + 0.28495698916090123, + 0.9367540542756592, + 0.20320274635562643, + 0.8718629661690387, + -0.3413900542557892, + 0.3511521024828911, + 0.3983145522715428, + 0.07710170331026639, + -0.9140026503218553 + ], + [ + 0.29447871944623755, + 0.9335410120052209, + 0.20441003570659716, + 0.8671659900104326, + -0.35091858325352193, + 0.35338264487176974, + 0.4016284720516344, + 0.07319376224521595, + -0.9128730709172336 + ], + [ + 0.30060629666427324, + 0.9348692675680482, + 0.18882612891909778, + 0.8655922007976872, + -0.35055433621977344, + 0.35757768285469127, + 0.4004822047532288, + 0.055956321486448884, + -0.9145943875629774 + ], + [ + 0.2974437568466991, + 0.9337627567737522, + 0.19903347852862346, + 0.8636855772329902, + -0.3520137006096903, + 0.36074031970766407, + 0.4069083867317533, + 0.0646023888517572, + -0.9111817031536619 + ], + [ + 0.27196453259735237, + 0.9325687167431538, + 0.23738340624637494, + 0.863738010126331, + -0.34531845845636094, + 0.36703107785626127, + 0.42425457318938836, + 0.10521763541037377, + -0.89940942085712 + ], + [ + 0.22300632247760593, + 0.9301667717284288, + 0.29164697308103027, + 0.8579342813742179, + -0.3293266051887614, + 0.3943256978155874, + 0.46283576890503864, + 0.16227681253696974, + -0.871463875978186 + ], + [ + 0.204984332334458, + 0.9234175064932457, + 0.32447115773084256, + 0.8585560793068139, + -0.32881783864064673, + 0.39339584095031527, + 0.46996051130143757, + 0.1979367012291819, + -0.8602082190515277 + ], + [ + 0.2521227135338334, + 0.9068251175985844, + 0.33779038383685583, + 0.8588526773034144, + -0.37052628041376734, + 0.3536698378594021, + 0.44587690679053343, + 0.20094397630944827, + -0.8722472713490448 + ], + [ + 0.3207459393949718, + 0.8730009022165086, + 0.3674118494153387, + 0.8516457611426407, + -0.43557932929381354, + 0.29149639006293765, + 0.4145136184607327, + 0.2194084606871713, + -0.8831978190017662 + ], + [ + 0.4023053724326307, + 0.8334138095427579, + 0.3789087084975353, + 0.8209368776372772, + -0.5115970938847627, + 0.25363567663840964, + 0.4052320696181397, + 0.20902113671132214, + -0.889998389976581 + ], + [ + 0.45970181015513856, + 0.8147966563290545, + 0.3532430531165214, + 0.8040957440647023, + -0.5507292348882185, + 0.22389136699852977, + 0.3769672135837834, + 0.1811179689440838, + -0.9083457498158111 + ], + [ + 0.5088691660554436, + 0.7746965511042951, + 0.3753630583117471, + 0.780418677103007, + -0.5991907409464018, + 0.17865369963394243, + 0.36331647398216094, + 0.20202898225554852, + -0.9094973502226147 + ], + [ + 0.555979334921304, + 0.7273223154903122, + 0.4023546054542874, + 0.7624197633720312, + -0.6390471270416014, + 0.1016605815427566, + 0.3310635642292888, + 0.25024192056824995, + -0.9098219043472813 + ], + [ + 0.5946283625893476, + 0.6837893554264002, + 0.4229056961189573, + 0.7468531995303623, + -0.6645421996627738, + 0.02437136062314113, + 0.29770355852017044, + 0.30135656998464544, + -0.9058459079620094 + ], + [ + 0.6138214550555371, + 0.6812879729818104, + 0.3988357044997841, + 0.7369188041746604, + -0.6756837105940278, + 0.02005490692261025, + 0.28314995561944134, + 0.2815993982738992, + -0.9168030767424846 + ], + [ + 0.6382867345303476, + 0.6673760729610162, + 0.3836655076518057, + 0.7234380890392934, + -0.6903841914900005, + -0.0026456507467013946, + 0.26311095729703254, + 0.27924692546173246, + -0.9234683420509924 + ], + [ + 0.6554171274246055, + 0.6553250294964783, + 0.3754696989024792, + 0.7146142645638343, + -0.6989794033995509, + -0.02746354866178463, + 0.24444803529660192, + 0.2863160829199923, + -0.9264276867089969 + ], + [ + 0.6667198152241296, + 0.6445685335733111, + 0.37418724392295, + 0.7061405974356498, + -0.7069141737479814, + -0.04046983577223645, + 0.23843268366716341, + 0.29121084540476755, + -0.9264696966862513 + ], + [ + 0.6491723883433482, + 0.6696102518344145, + 0.36082865857751006, + 0.7200310599475221, + -0.6938989918310596, + -0.007711150801747141, + 0.24521517678039675, + 0.26481370767785306, + -0.932600245176071 + ], + [ + 0.6369579450240828, + 0.6815037883554824, + 0.3603292421214569, + 0.7301980048368759, + -0.6832340606706788, + 0.0014463995647899242, + 0.2471749380559113, + 0.26219039798699906, + -0.9328240698012008 + ], + [ + 0.6321574979618971, + 0.6921990276217078, + 0.3481916195575594, + 0.736677331905151, + -0.6762099909680219, + 0.006823252313657879, + 0.24017370053288975, + 0.25219150317683153, + -0.9373985488028814 + ], + [ + 0.6325475566781344, + 0.7014439112495472, + 0.32842050470617606, + 0.7354287123838392, + -0.6769636218733647, + 0.02940856442507886, + 0.242957192817933, + 0.22292755332401856, + -0.9440736774357159 + ], + [ + 0.6181673060158104, + 0.711279799207471, + 0.33458964271557406, + 0.7417500508713782, + -0.6687212339053105, + 0.05117395193325357, + 0.26014619698443303, + 0.21654782050055138, + -0.9409734308847395 + ], + [ + 0.577505806198508, + 0.7523878886945925, + 0.31685881517279074, + 0.7596761797760032, + -0.6373940363537973, + 0.1289222412989769, + 0.29896345209397895, + 0.16625675134053208, + -0.9396699138238617 + ], + [ + 0.4840237830250378, + 0.7975123726907417, + 0.3601319103763438, + 0.8166810883631567, + -0.559502130362195, + 0.1413837544774349, + 0.3142498645601958, + 0.22567982082000404, + -0.9221256102606358 + ], + [ + 0.3905651878235026, + 0.841234780732345, + 0.37387548428132544, + 0.8589341239517934, + -0.479120643770122, + 0.1807638775432444, + 0.33119632360815443, + 0.2505343337738509, + -0.909693103650311 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006509.json b/json/chunk-0006/episode_0006509.json new file mode 100644 index 0000000000000000000000000000000000000000..3e16d5635b2e3a8085d3808118003f73e284ccea --- /dev/null +++ b/json/chunk-0006/episode_0006509.json @@ -0,0 +1,1642 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 26, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the blue fork on top of the bottom right burner." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006509.mp4", + "start": 0, + "end": 26, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3245854675769806, + 0.08112168312072754, + 0.019658830016851425, + 0.1143978163599968, + 0.07502155750989914, + 0.12629194557666779, + 0.0, + 0.9988223910331726 + ], + [ + 0.31885823607444763, + 0.07951567322015762, + 0.00728019792586565, + 0.1117987111210823, + 0.11635816097259521, + 0.12450959533452988, + 0.0, + 0.9988223910331726 + ], + [ + 0.33157140016555786, + 0.05919208377599716, + -0.007835431024432182, + 0.13043677806854248, + 0.14092575013637543, + 0.03237934410572052, + 0.0, + 0.9988223910331726 + ], + [ + 0.35139888525009155, + 0.025308676064014435, + -0.01320687122642994, + 0.10230445861816406, + 0.10756051540374756, + -0.07541168481111526, + 0.0, + 0.9988223910331726 + ], + [ + 0.3763168752193451, + 0.005178166553378105, + -0.010174076072871685, + 0.043560948222875595, + 0.036384183913469315, + -0.11426933854818344, + 0.0, + 0.9988223910331726 + ], + [ + 0.40494346618652344, + -0.015350300818681717, + -0.008258272893726826, + 0.007805709261447191, + -0.03167540952563286, + -0.12464278936386108, + 0.0, + 0.9988223910331726 + ], + [ + 0.42190486192703247, + -0.019196782261133194, + -0.01623787172138691, + -0.0010566281853243709, + -0.026189608499407768, + -0.10426761209964752, + 0.0, + 0.9988223910331726 + ], + [ + 0.43297770619392395, + -0.024596484377980232, + -0.03203919902443886, + -0.03349408879876137, + -0.0017449448350816965, + -0.08721920847892761, + 0.0, + 0.9988223910331726 + ], + [ + 0.44551724195480347, + -0.023375313729047775, + -0.04496893286705017, + -0.01406740490347147, + 0.010190396569669247, + -0.0835849717259407, + 0.0, + 0.9988223910331726 + ], + [ + 0.45959532260894775, + -0.027788162231445312, + -0.04844527319073677, + 0.002538836793974042, + 0.012330987490713596, + -0.08404967933893204, + 0.0, + 0.9988223910331726 + ], + [ + 0.46334215998649597, + -0.030606994405388832, + -0.05685105919837952, + -0.0003812873619608581, + 0.02760908380150795, + -0.07977226376533508, + 0.0, + 0.9650423526763916 + ], + [ + 0.4644049108028412, + -0.029550371691584587, + -0.058656081557273865, + 0.006838526111096144, + 0.01849259063601494, + -0.07962535321712494, + 0.0, + 0.6971942782402039 + ], + [ + 0.46027398109436035, + -0.0279750544577837, + -0.05942108854651451, + 0.015146060846745968, + 0.006423447746783495, + -0.0884435772895813, + 0.0, + 0.40327540040016174 + ], + [ + 0.45297327637672424, + -0.02670804224908352, + -0.05821817368268967, + 0.02040918916463852, + -0.008904828689992428, + -0.08613424003124237, + 0.0, + 0.36275482177734375 + ], + [ + 0.44486603140830994, + -0.022181469947099686, + -0.027801400050520897, + 0.007775772828608751, + -0.05815480649471283, + -0.07303740829229355, + 0.0, + 0.36191558837890625 + ], + [ + 0.4265325367450714, + -0.01757725700736046, + 0.0028603426180779934, + -0.002695411443710327, + -0.09845316410064697, + -0.08867833763360977, + 0.0, + 0.3519224226474762 + ], + [ + 0.3964659571647644, + -0.002491990802809596, + 0.011820334941148758, + 0.022168854251503944, + -0.07344985753297806, + -0.10914117842912674, + 0.0, + 0.31342363357543945 + ], + [ + 0.36466360092163086, + 0.0029137013480067253, + 0.009808058850467205, + 0.02231266349554062, + -0.028087051585316658, + -0.13353058695793152, + 0.0, + 0.31342363357543945 + ], + [ + 0.3405880928039551, + 0.009155400097370148, + 0.0027764483820647, + 0.05114709213376045, + 0.02445458620786667, + -0.16341444849967957, + 0.0, + 0.31342363357543945 + ], + [ + 0.32651594281196594, + 0.005299377255141735, + -0.0052646067924797535, + 0.06932757049798965, + 0.07080325484275818, + -0.20294727385044098, + 0.0, + 0.31342363357543945 + ], + [ + 0.32803261280059814, + -0.009332791902124882, + -0.004690304398536682, + 0.02844460867345333, + 0.08092696219682693, + -0.18896357715129852, + 0.0, + 0.31342363357543945 + ], + [ + 0.32274147868156433, + -0.013428415171802044, + -0.02109791524708271, + -0.004225553013384342, + 0.17196343839168549, + -0.12352526187896729, + 0.0, + 0.3519224226474762 + ], + [ + 0.32271984219551086, + -0.01609020121395588, + -0.024388644844293594, + -0.00932395737618208, + 0.1778472661972046, + -0.05498271808028221, + 0.0, + 0.6450598835945129 + ], + [ + 0.3251728415489197, + -0.014257366769015789, + -0.02426217682659626, + 0.0055748214945197105, + 0.16266699135303497, + -0.06048363819718361, + 0.0, + 0.9295665621757507 + ], + [ + 0.3159799575805664, + -0.0075002009980380535, + -0.01542555633932352, + 0.04894755780696869, + 0.13520660996437073, + -0.03679075464606285, + 0.0, + 1.0008161067962646 + ], + [ + 0.3122289776802063, + -0.013532516546547413, + 0.025284316390752792, + 0.0023945351131260395, + -0.04294900223612785, + -0.04650897532701492, + 0.0, + 1.0001531839370728 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9650423526763916 + ], + [ + 0.6971942782402039 + ], + [ + 0.40327540040016174 + ], + [ + 0.36275482177734375 + ], + [ + 0.36191558837890625 + ], + [ + 0.3519224226474762 + ], + [ + 0.31342363357543945 + ], + [ + 0.31342363357543945 + ], + [ + 0.31342363357543945 + ], + [ + 0.31342363357543945 + ], + [ + 0.31342363357543945 + ], + [ + 0.3519224226474762 + ], + [ + 0.6450598835945129 + ], + [ + 0.9295665621757507 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3245854675769806, + 0.08112168312072754, + 0.019658830016851425 + ], + [ + 0.31885823607444763, + 0.07951567322015762, + 0.00728019792586565 + ], + [ + 0.33157140016555786, + 0.05919208377599716, + -0.007835431024432182 + ], + [ + 0.35139888525009155, + 0.025308676064014435, + -0.01320687122642994 + ], + [ + 0.3763168752193451, + 0.005178166553378105, + -0.010174076072871685 + ], + [ + 0.40494346618652344, + -0.015350300818681717, + -0.008258272893726826 + ], + [ + 0.42190486192703247, + -0.019196782261133194, + -0.01623787172138691 + ], + [ + 0.43297770619392395, + -0.024596484377980232, + -0.03203919902443886 + ], + [ + 0.44551724195480347, + -0.023375313729047775, + -0.04496893286705017 + ], + [ + 0.45959532260894775, + -0.027788162231445312, + -0.04844527319073677 + ], + [ + 0.46334215998649597, + -0.030606994405388832, + -0.05685105919837952 + ], + [ + 0.4644049108028412, + -0.029550371691584587, + -0.058656081557273865 + ], + [ + 0.46027398109436035, + -0.0279750544577837, + -0.05942108854651451 + ], + [ + 0.45297327637672424, + -0.02670804224908352, + -0.05821817368268967 + ], + [ + 0.44486603140830994, + -0.022181469947099686, + -0.027801400050520897 + ], + [ + 0.4265325367450714, + -0.01757725700736046, + 0.0028603426180779934 + ], + [ + 0.3964659571647644, + -0.002491990802809596, + 0.011820334941148758 + ], + [ + 0.36466360092163086, + 0.0029137013480067253, + 0.009808058850467205 + ], + [ + 0.3405880928039551, + 0.009155400097370148, + 0.0027764483820647 + ], + [ + 0.32651594281196594, + 0.005299377255141735, + -0.0052646067924797535 + ], + [ + 0.32803261280059814, + -0.009332791902124882, + -0.004690304398536682 + ], + [ + 0.32274147868156433, + -0.013428415171802044, + -0.02109791524708271 + ], + [ + 0.32271984219551086, + -0.01609020121395588, + -0.024388644844293594 + ], + [ + 0.3251728415489197, + -0.014257366769015789, + -0.02426217682659626 + ], + [ + 0.3159799575805664, + -0.0075002009980380535, + -0.01542555633932352 + ], + [ + 0.3122289776802063, + -0.013532516546547413, + 0.025284316390752792 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9892453706124792, + 0.11664577915351577, + -0.08824601366321179, + 0.12560220426518282, + -0.9866291545563958, + 0.10386047209145072, + -0.07495120416314756, + -0.11382738503980908, + -0.9906692906361301 + ], + [ + 0.9855490592291405, + 0.11056076884153455, + -0.12833303645486066, + 0.12334838278546033, + -0.9876725750464203, + 0.09637458671965707, + -0.11609577217438792, + -0.11081155577980983, + -0.9870372691995426 + ], + [ + 0.989567421064213, + 0.013839044666653099, + -0.14340432354373683, + 0.032052746426160544, + -0.9915769069620401, + 0.12549047384615916, + -0.1404597473116858, + -0.1287777869910323, + -0.9816757819987358 + ], + [ + 0.9913952535333501, + -0.08587871624016669, + -0.09879421728262062, + -0.07490483289779301, + -0.9911182101652696, + 0.10988157028067283, + -0.10735323600198753, + -0.10153590289022729, + -0.9890226201377642 + ], + [ + 0.992820844941676, + -0.11548640720071464, + -0.031139357751355477, + -0.11394535999224652, + -0.992355300677961, + 0.047406878747610376, + -0.036376156827426405, + -0.043518352085344575, + -0.998390168344141 + ], + [ + 0.9917444067543204, + -0.12407122713570393, + 0.032393861587678624, + -0.12425793985132905, + -0.9922426436350188, + 0.0038079569447046994, + 0.03167011296829568, + -0.007801714505786204, + -0.999467927046859 + ], + [ + 0.9942279897540819, + -0.10410624760358894, + 0.025934409564466097, + -0.1040430949148122, + -0.9945656205162108, + -0.003776359060244461, + 0.026186614712570645, + 0.001056265641181105, + -0.9996565137649985 + ], + [ + 0.996197298818643, + -0.08711802357073237, + -0.001179743857230187, + -0.08710853573015798, + -0.995634982739803, + -0.033512447652481445, + 0.001744943949571047, + 0.03348777558814316, + -0.9994376038836899 + ], + [ + 0.9964570691724446, + -0.08333657330513336, + -0.011328055703423415, + -0.08348334389866577, + -0.9964221782308347, + -0.013167156914676844, + -0.010190220201685229, + 0.014066210558524715, + -0.9998491391868897 + ], + [ + 0.9963941473027365, + -0.08398167938083714, + -0.012073969903336682, + -0.08394437250304848, + -0.9964640649968233, + 0.0035650378786119367, + -0.012330674998630302, + -0.002538641050005207, + -0.999920751737705 + ], + [ + 0.9964399853448903, + -0.07967718605471065, + -0.027548169236410205, + -0.0796573145335792, + -0.9968206462313806, + 0.001819749474871435, + -0.027605576378212152, + 0.0003811420416167337, + -0.9996188207929915 + ], + [ + 0.9966611347946893, + -0.07966543314493095, + -0.01788857600795422, + -0.07952763961076974, + -0.9967982092891404, + 0.008287610988830399, + -0.01849153665062331, + -0.0068373035469541975, + -0.999805638288015 + ], + [ + 0.9960708660128436, + -0.08841509159756991, + -0.005059788356967122, + -0.08832649527150085, + -0.9959685715043908, + 0.015653587721573468, + -0.006423403574236606, + -0.015145169305649247, + -0.9998646727098752 + ], + [ + 0.9962532385041797, + -0.08582880522599738, + 0.010625486502374529, + -0.08602436219969646, + -0.99610088447195, + 0.019566222485055754, + 0.008904711004281652, + -0.020406963215458346, + -0.9997521002599862 + ], + [ + 0.995647946722263, + -0.07251954939962699, + 0.058532735649520225, + -0.07284912868500293, + -0.9973367825260276, + 0.0035137829282279637, + 0.05812203229049583, + -0.007762549549335071, + -0.9982793056990196 + ], + [ + 0.9912470812249695, + -0.0888257380329892, + 0.09766889077835116, + -0.08813328679716316, + -0.9960435699468232, + -0.011389930900447136, + 0.0982941896619922, + 0.002682355398293086, + -0.9951537857277183 + ], + [ + 0.9913698255812978, + -0.10728084127947099, + 0.07534381209678637, + -0.10863094385051075, + -0.9939829423389699, + 0.014043802095980584, + 0.073383833131379, + -0.02210727105575997, + -0.9970587152226357 + ], + [ + 0.9907071258971006, + -0.1324799986215569, + 0.030796763822491743, + -0.13308161275440417, + -0.990934745686089, + 0.01837427927110547, + 0.02808335883388725, + -0.02230201240422127, + -0.9993567657244977 + ], + [ + 0.9863825307540957, + -0.16370881292733983, + -0.015777439369771835, + -0.16263946458057124, + -0.9851838623901836, + 0.05441655857278057, + -0.024452148864479724, + -0.05110950846839566, + -0.9983936651241475 + ], + [ + 0.9770227066178435, + -0.20587282320482533, + -0.05516349715906191, + -0.2010519866096286, + -0.9761361481329738, + 0.08207508140990563, + -0.0707441123590141, + -0.06909848749282185, + -0.9950983215706574 + ], + [ + 0.9789849031454281, + -0.1900232249327199, + -0.07402522137424306, + -0.18722625603090448, + -0.9813702575158663, + 0.04311318494257162, + -0.08083865700261816, + -0.028347692135535982, + -0.9963240034670457 + ], + [ + 0.9777435221547681, + -0.12249271357608306, + -0.17033243967358722, + -0.12139408375960549, + -0.9924606807063431, + 0.016890046775188808, + -0.17111715668674035, + 0.0041632166253815096, + -0.985241892285735 + ], + [ + 0.9827394828707144, + -0.05330563446501786, + -0.17714857645852838, + -0.05408820359098768, + -0.9985360767068991, + 0.0004120037547969803, + -0.17691120665266247, + 0.00917675591241255, + -0.9841840336601806 + ], + [ + 0.9849944342026044, + -0.06134701794962282, + -0.16131493414616127, + -0.05964880188076362, + -0.9981013376393568, + 0.015353834593231346, + -0.16195056351887482, + -0.005501199070707479, + -0.9867835384645934 + ], + [ + 0.9902029748097783, + -0.043329191991654796, + -0.13274279565843125, + -0.036446760467947655, + -0.9978838248276368, + 0.05384705933250623, + -0.13479503822195296, + -0.04848147345859773, + -0.9896867405406752 + ], + [ + 0.9979974831013587, + -0.04638937670275524, + 0.04300057502503108, + -0.04644933643293056, + -0.9989205686699117, + 0.00039576902457729075, + 0.04293579937876885, + -0.002392324666564756, + -0.99907496911613 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.005727231502532959, + -0.0016060099005699158, + -0.012378632090985775, + -0.0025991052389144897, + 0.041336603462696075, + -0.001782350242137909, + 1.0 + ], + [ + 0.01271316409111023, + -0.02032358944416046, + -0.015115628950297832, + 0.018638066947460175, + 0.024567589163780212, + -0.09213025122880936, + 1.0 + ], + [ + 0.01982748508453369, + -0.03388340771198273, + -0.005371440201997757, + -0.028132319450378418, + -0.03336523473262787, + -0.10779102891683578, + 1.0 + ], + [ + 0.02491798996925354, + -0.02013050951063633, + 0.0030327951535582542, + -0.05874351039528847, + -0.07117633521556854, + -0.038857653737068176, + 1.0 + ], + [ + 0.028626590967178345, + -0.020528467372059822, + 0.0019158031791448593, + -0.03575523942708969, + -0.06805959343910217, + -0.010373450815677643, + 1.0 + ], + [ + 0.016961395740509033, + -0.003846481442451477, + -0.007979598827660084, + -0.008862337097525597, + 0.00548580102622509, + 0.020375177264213562, + 1.0 + ], + [ + 0.01107284426689148, + -0.005399702116847038, + -0.01580132730305195, + -0.032437462359666824, + 0.024444663897156715, + 0.01704840362071991, + 1.0 + ], + [ + 0.012539535760879517, + 0.001221170648932457, + -0.012929733842611313, + 0.019426684826612473, + 0.0119353411719203, + 0.003634236752986908, + 1.0 + ], + [ + 0.014078080654144287, + -0.004412848502397537, + -0.0034763403236865997, + 0.016606241464614868, + 0.0021405909210443497, + -0.000464707612991333, + 1.0 + ], + [ + 0.0037468373775482178, + -0.0028188321739435196, + -0.008405786007642746, + -0.002920124214142561, + 0.015278096310794353, + 0.004277415573596954, + 0.0 + ], + [ + 0.0010627508163452148, + 0.001056622713804245, + -0.0018050223588943481, + 0.007219813298434019, + -0.009116493165493011, + 0.00014691054821014404, + 0.0 + ], + [ + -0.004130929708480835, + 0.001575317233800888, + -0.0007650069892406464, + 0.008307535201311111, + -0.01206914335489273, + -0.00881822407245636, + 0.0 + ], + [ + -0.007300704717636108, + 0.00126701220870018, + 0.0012029148638248444, + 0.005263128317892551, + -0.01532827690243721, + 0.0023093372583389282, + 0.0 + ], + [ + -0.008107244968414307, + 0.004526572301983833, + 0.03041677363216877, + -0.012633416801691055, + -0.04924997687339783, + 0.013096831738948822, + 0.0 + ], + [ + -0.018333494663238525, + 0.004604212939739227, + 0.030661743134260178, + -0.010471183806657791, + -0.04029835760593414, + -0.015640929341316223, + 0.0 + ], + [ + -0.030066579580307007, + 0.015085265971720219, + 0.008959991857409477, + 0.02486426569521427, + 0.025003306567668915, + -0.020462840795516968, + 0.0 + ], + [ + -0.031802356243133545, + 0.005405692383646965, + -0.002012276090681553, + 0.0001438092440366745, + 0.04536280781030655, + -0.02438940852880478, + 0.0 + ], + [ + -0.02407550811767578, + 0.006241698749363422, + -0.007031610235571861, + 0.028834428638219833, + 0.05254163593053818, + -0.029883861541748047, + 0.0 + ], + [ + -0.014072149991989136, + -0.0038560228422284126, + -0.00804105494171381, + 0.018180478364229202, + 0.04634866863489151, + -0.039532825350761414, + 0.0 + ], + [ + 0.0015166699886322021, + -0.014632169157266617, + 0.0005743023939430714, + -0.040882959961891174, + 0.010123707354068756, + 0.013983696699142456, + 0.0 + ], + [ + -0.0052911341190338135, + -0.004095623269677162, + -0.016407610848546028, + -0.03267016261816025, + 0.09103647619485855, + 0.06543831527233124, + 1.0 + ], + [ + -2.1636486053466797e-05, + -0.0026617860421538353, + -0.003290729597210884, + -0.005098404362797737, + 0.005883827805519104, + 0.06854254007339478, + 1.0 + ], + [ + 0.0024529993534088135, + 0.0018328344449400902, + 0.0001264680176973343, + 0.01489877887070179, + -0.015180274844169617, + -0.005500920116901398, + 1.0 + ], + [ + -0.009192883968353271, + 0.0067571657709777355, + 0.00883662048727274, + 0.043372735381126404, + -0.027460381388664246, + 0.023692883551120758, + 1.0 + ], + [ + -0.0037509799003601074, + -0.006032315548509359, + 0.04070987179875374, + -0.04655302315950394, + -0.17815561592578888, + -0.009718220680952072, + 1.0 + ], + [ + -0.003438979387283325, + 0.0011027511209249496, + 0.02248038724064827, + -0.01568540185689926, + -0.02361733838915825, + -0.020941786468029022, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9650423526763916 + ], + [ + 0.6971942782402039 + ], + [ + 0.40327540040016174 + ], + [ + 0.36275482177734375 + ], + [ + 0.36191558837890625 + ], + [ + 0.3519224226474762 + ], + [ + 0.31342363357543945 + ], + [ + 0.31342363357543945 + ], + [ + 0.31342363357543945 + ], + [ + 0.31342363357543945 + ], + [ + 0.31342363357543945 + ], + [ + 0.3519224226474762 + ], + [ + 0.6450598835945129 + ], + [ + 0.9295665621757507 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.31885823607444763, + 0.07951567322015762, + 0.00728019792586565 + ], + [ + 0.33157140016555786, + 0.05919208377599716, + -0.007835431024432182 + ], + [ + 0.35139888525009155, + 0.025308676064014435, + -0.01320687122642994 + ], + [ + 0.3763168752193451, + 0.005178166553378105, + -0.010174076072871685 + ], + [ + 0.40494346618652344, + -0.015350300818681717, + -0.008258272893726826 + ], + [ + 0.42190486192703247, + -0.019196782261133194, + -0.01623787172138691 + ], + [ + 0.43297770619392395, + -0.024596484377980232, + -0.03203919902443886 + ], + [ + 0.44551724195480347, + -0.023375313729047775, + -0.04496893286705017 + ], + [ + 0.45959532260894775, + -0.027788162231445312, + -0.04844527319073677 + ], + [ + 0.46334215998649597, + -0.030606994405388832, + -0.05685105919837952 + ], + [ + 0.4644049108028412, + -0.029550371691584587, + -0.058656081557273865 + ], + [ + 0.46027398109436035, + -0.0279750544577837, + -0.05942108854651451 + ], + [ + 0.45297327637672424, + -0.02670804224908352, + -0.05821817368268967 + ], + [ + 0.44486603140830994, + -0.022181469947099686, + -0.027801400050520897 + ], + [ + 0.4265325367450714, + -0.01757725700736046, + 0.0028603426180779934 + ], + [ + 0.3964659571647644, + -0.002491990802809596, + 0.011820334941148758 + ], + [ + 0.36466360092163086, + 0.0029137013480067253, + 0.009808058850467205 + ], + [ + 0.3405880928039551, + 0.009155400097370148, + 0.0027764483820647 + ], + [ + 0.32651594281196594, + 0.005299377255141735, + -0.0052646067924797535 + ], + [ + 0.32803261280059814, + -0.009332791902124882, + -0.004690304398536682 + ], + [ + 0.32274147868156433, + -0.013428415171802044, + -0.02109791524708271 + ], + [ + 0.32271984219551086, + -0.01609020121395588, + -0.024388644844293594 + ], + [ + 0.3251728415489197, + -0.014257366769015789, + -0.02426217682659626 + ], + [ + 0.3159799575805664, + -0.0075002009980380535, + -0.01542555633932352 + ], + [ + 0.3122289776802063, + -0.013532516546547413, + 0.025284316390752792 + ], + [ + 0.308789998292923, + -0.012429765425622463, + 0.04776470363140106 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9855490592291405, + 0.11056076884153455, + -0.12833303645486066, + 0.12334838278546033, + -0.9876725750464203, + 0.09637458671965707, + -0.11609577217438792, + -0.11081155577980983, + -0.9870372691995426 + ], + [ + 0.989567421064213, + 0.013839044666653099, + -0.14340432354373683, + 0.032052746426160544, + -0.9915769069620401, + 0.12549047384615916, + -0.1404597473116858, + -0.1287777869910323, + -0.9816757819987358 + ], + [ + 0.9913952535333501, + -0.08587871624016669, + -0.09879421728262062, + -0.07490483289779301, + -0.9911182101652696, + 0.10988157028067283, + -0.10735323600198753, + -0.10153590289022729, + -0.9890226201377642 + ], + [ + 0.992820844941676, + -0.11548640720071464, + -0.031139357751355477, + -0.11394535999224652, + -0.992355300677961, + 0.047406878747610376, + -0.036376156827426405, + -0.043518352085344575, + -0.998390168344141 + ], + [ + 0.9917444067543204, + -0.12407122713570393, + 0.032393861587678624, + -0.12425793985132905, + -0.9922426436350188, + 0.0038079569447046994, + 0.03167011296829568, + -0.007801714505786204, + -0.999467927046859 + ], + [ + 0.9942279897540819, + -0.10410624760358894, + 0.025934409564466097, + -0.1040430949148122, + -0.9945656205162108, + -0.003776359060244461, + 0.026186614712570645, + 0.001056265641181105, + -0.9996565137649985 + ], + [ + 0.996197298818643, + -0.08711802357073237, + -0.001179743857230187, + -0.08710853573015798, + -0.995634982739803, + -0.033512447652481445, + 0.001744943949571047, + 0.03348777558814316, + -0.9994376038836899 + ], + [ + 0.9964570691724446, + -0.08333657330513336, + -0.011328055703423415, + -0.08348334389866577, + -0.9964221782308347, + -0.013167156914676844, + -0.010190220201685229, + 0.014066210558524715, + -0.9998491391868897 + ], + [ + 0.9963941473027365, + -0.08398167938083714, + -0.012073969903336682, + -0.08394437250304848, + -0.9964640649968233, + 0.0035650378786119367, + -0.012330674998630302, + -0.002538641050005207, + -0.999920751737705 + ], + [ + 0.9964399853448903, + -0.07967718605471065, + -0.027548169236410205, + -0.0796573145335792, + -0.9968206462313806, + 0.001819749474871435, + -0.027605576378212152, + 0.0003811420416167337, + -0.9996188207929915 + ], + [ + 0.9966611347946893, + -0.07966543314493095, + -0.01788857600795422, + -0.07952763961076974, + -0.9967982092891404, + 0.008287610988830399, + -0.01849153665062331, + -0.0068373035469541975, + -0.999805638288015 + ], + [ + 0.9960708660128436, + -0.08841509159756991, + -0.005059788356967122, + -0.08832649527150085, + -0.9959685715043908, + 0.015653587721573468, + -0.006423403574236606, + -0.015145169305649247, + -0.9998646727098752 + ], + [ + 0.9962532385041797, + -0.08582880522599738, + 0.010625486502374529, + -0.08602436219969646, + -0.99610088447195, + 0.019566222485055754, + 0.008904711004281652, + -0.020406963215458346, + -0.9997521002599862 + ], + [ + 0.995647946722263, + -0.07251954939962699, + 0.058532735649520225, + -0.07284912868500293, + -0.9973367825260276, + 0.0035137829282279637, + 0.05812203229049583, + -0.007762549549335071, + -0.9982793056990196 + ], + [ + 0.9912470812249695, + -0.0888257380329892, + 0.09766889077835116, + -0.08813328679716316, + -0.9960435699468232, + -0.011389930900447136, + 0.0982941896619922, + 0.002682355398293086, + -0.9951537857277183 + ], + [ + 0.9913698255812978, + -0.10728084127947099, + 0.07534381209678637, + -0.10863094385051075, + -0.9939829423389699, + 0.014043802095980584, + 0.073383833131379, + -0.02210727105575997, + -0.9970587152226357 + ], + [ + 0.9907071258971006, + -0.1324799986215569, + 0.030796763822491743, + -0.13308161275440417, + -0.990934745686089, + 0.01837427927110547, + 0.02808335883388725, + -0.02230201240422127, + -0.9993567657244977 + ], + [ + 0.9863825307540957, + -0.16370881292733983, + -0.015777439369771835, + -0.16263946458057124, + -0.9851838623901836, + 0.05441655857278057, + -0.024452148864479724, + -0.05110950846839566, + -0.9983936651241475 + ], + [ + 0.9770227066178435, + -0.20587282320482533, + -0.05516349715906191, + -0.2010519866096286, + -0.9761361481329738, + 0.08207508140990563, + -0.0707441123590141, + -0.06909848749282185, + -0.9950983215706574 + ], + [ + 0.9789849031454281, + -0.1900232249327199, + -0.07402522137424306, + -0.18722625603090448, + -0.9813702575158663, + 0.04311318494257162, + -0.08083865700261816, + -0.028347692135535982, + -0.9963240034670457 + ], + [ + 0.9777435221547681, + -0.12249271357608306, + -0.17033243967358722, + -0.12139408375960549, + -0.9924606807063431, + 0.016890046775188808, + -0.17111715668674035, + 0.0041632166253815096, + -0.985241892285735 + ], + [ + 0.9827394828707144, + -0.05330563446501786, + -0.17714857645852838, + -0.05408820359098768, + -0.9985360767068991, + 0.0004120037547969803, + -0.17691120665266247, + 0.00917675591241255, + -0.9841840336601806 + ], + [ + 0.9849944342026044, + -0.06134701794962282, + -0.16131493414616127, + -0.05964880188076362, + -0.9981013376393568, + 0.015353834593231346, + -0.16195056351887482, + -0.005501199070707479, + -0.9867835384645934 + ], + [ + 0.9902029748097783, + -0.043329191991654796, + -0.13274279565843125, + -0.036446760467947655, + -0.9978838248276368, + 0.05384705933250623, + -0.13479503822195296, + -0.04848147345859773, + -0.9896867405406752 + ], + [ + 0.9979974831013587, + -0.04638937670275524, + 0.04300057502503108, + -0.04644933643293056, + -0.9989205686699117, + 0.00039576902457729075, + 0.04293579937876885, + -0.002392324666564756, + -0.99907496911613 + ], + [ + 0.9955163749625374, + -0.06827570968088059, + 0.06546430056924783, + -0.06725035634274085, + -0.9975783539418577, + -0.01774309213266681, + 0.06651719141111632, + 0.013261041219528568, + -0.9976971524628859 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006510.json b/json/chunk-0006/episode_0006510.json new file mode 100644 index 0000000000000000000000000000000000000000..73c0b1f65a05d972edc3644265c93a9794cbe673 --- /dev/null +++ b/json/chunk-0006/episode_0006510.json @@ -0,0 +1,2242 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 36, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nClosed the drawer." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006510.mp4", + "start": 0, + "end": 36, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.29121094942092896, + -0.04077634960412979, + 0.09544064849615097, + 0.1362655609846115, + -0.029289638623595238, + -1.7233084440231323, + 0.0, + 0.9994885921478271 + ], + [ + 0.2891296446323395, + -0.04052288457751274, + 0.08721046894788742, + 0.10712095350027084, + -0.030189990997314453, + -1.7224416732788086, + 0.0, + 0.9994885921478271 + ], + [ + 0.28529518842697144, + -0.039903026074171066, + 0.0829411968588829, + 0.09597568958997726, + -0.024367893114686012, + -1.7209285497665405, + 0.0, + 0.9994885921478271 + ], + [ + 0.28227612376213074, + -0.04054772108793259, + 0.07818281650543213, + 0.0938972681760788, + -0.011928637512028217, + -1.7264443635940552, + 0.0, + 0.9994885921478271 + ], + [ + 0.27722376585006714, + -0.038045402616262436, + 0.07039393484592438, + 0.08593688160181046, + -0.0007664827862754464, + -1.725569725036621, + 0.0, + 0.9994885921478271 + ], + [ + 0.272373765707016, + -0.036104749888181686, + 0.06363065540790558, + 0.07520633190870285, + -2.3583277652505785e-05, + -1.7331442832946777, + 0.0, + 0.9994885921478271 + ], + [ + 0.26863592863082886, + -0.027031533420085907, + 0.058353424072265625, + 0.06453240662813187, + -0.0001166234869742766, + -1.722978115081787, + 0.0, + 0.9994885921478271 + ], + [ + 0.26412907242774963, + -0.021742776036262512, + 0.05209910869598389, + 0.061136405915021896, + 0.00536359054967761, + -1.7219158411026, + 0.0, + 0.9994885921478271 + ], + [ + 0.26078349351882935, + -0.017162252217531204, + 0.03898473456501961, + 0.03616392984986305, + 0.010654234327375889, + -1.7141553163528442, + 0.0, + 0.9994885921478271 + ], + [ + 0.259877473115921, + -0.012028289027512074, + 0.02956862561404705, + 0.02663399651646614, + 0.014348492957651615, + -1.7032753229141235, + 0.0, + 0.9994885921478271 + ], + [ + 0.2604653239250183, + -0.006654346827417612, + 0.024292144924402237, + 0.023102305829524994, + 0.02049798145890236, + -1.6899300813674927, + 0.0, + 0.9994885921478271 + ], + [ + 0.26019540429115295, + 0.0026094906497746706, + 0.015826895833015442, + 0.004192177206277847, + 0.02202039398252964, + -1.67387855052948, + 0.0, + 1.0001531839370728 + ], + [ + 0.26606735587120056, + 0.01319525670260191, + 0.01682533510029316, + 0.008891678415238857, + 0.01740647479891777, + -1.6482867002487183, + 0.0, + 0.9994885921478271 + ], + [ + 0.2744987905025482, + 0.025701386854052544, + 0.014291631057858467, + 0.008096433244645596, + 0.008824428543448448, + -1.6197009086608887, + 0.0, + 0.9994885921478271 + ], + [ + 0.2814350128173828, + 0.03558859974145889, + 0.013346336781978607, + 0.004554153885692358, + 0.0006612699944525957, + -1.589202642440796, + 0.0, + 0.9994885921478271 + ], + [ + 0.2884552478790283, + 0.049140602350234985, + 0.015700876712799072, + 0.015141215175390244, + 0.0024599770549684763, + -1.5631078481674194, + 0.0, + 0.9994885921478271 + ], + [ + 0.29162126779556274, + 0.0609673410654068, + 0.01542468648403883, + 0.010938712395727634, + 0.008800552226603031, + -1.5416477918624878, + 0.0, + 0.9994885921478271 + ], + [ + 0.2920433580875397, + 0.0746394619345665, + 0.01803460717201233, + 0.017952173948287964, + 0.012632111087441444, + -1.511338472366333, + 0.0, + 0.9988223910331726 + ], + [ + 0.29264572262763977, + 0.08730513602495193, + 0.02042262628674507, + 0.028792057186365128, + 0.020819971337914467, + -1.4854761362075806, + 0.0, + 0.9988223910331726 + ], + [ + 0.2874606251716614, + 0.10206656903028488, + 0.012646599672734737, + 0.009897444397211075, + 0.02761467732489109, + -1.4598686695098877, + 0.0, + 0.9988223910331726 + ], + [ + 0.2832072973251343, + 0.11821635067462921, + 0.010676153935492039, + 0.004296345170587301, + 0.037013813853263855, + -1.4293698072433472, + 0.0, + 0.9988223910331726 + ], + [ + 0.2823716700077057, + 0.1280864030122757, + 0.008259974420070648, + 0.005246060900390148, + 0.03731376305222511, + -1.4141465425491333, + 0.0, + 1.0008161067962646 + ], + [ + 0.28200763463974, + 0.12824442982673645, + 0.007969183847308159, + 0.005705407354980707, + 0.03613905608654022, + -1.4070208072662354, + 0.0, + 1.0008161067962646 + ], + [ + 0.28098174929618835, + 0.10969576239585876, + 0.0038935374468564987, + 0.0038401465862989426, + 0.026672175154089928, + -1.4296389818191528, + 0.0, + 1.0008161067962646 + ], + [ + 0.27407434582710266, + 0.07289157807826996, + 0.0042985593900084496, + -0.005089919548481703, + 0.019849468022584915, + -1.508794903755188, + 0.0, + 1.0008161067962646 + ], + [ + 0.267282098531723, + 0.04511179402470589, + 0.008489635773003101, + -0.009100141003727913, + -0.00137840467505157, + -1.5539162158966064, + 0.0, + 1.0001531839370728 + ], + [ + 0.2632504403591156, + 0.03326966241002083, + 0.023265216499567032, + 0.0349477156996727, + -0.009544894099235535, + -1.5366297960281372, + 0.0, + 0.9994885921478271 + ], + [ + 0.2556568682193756, + 0.03207053244113922, + 0.04450779780745506, + 0.09895030409097672, + -0.019216345623135567, + -1.3865216970443726, + 0.0, + 0.9994885921478271 + ], + [ + 0.23873496055603027, + 0.04239858686923981, + 0.07034726440906525, + 0.14890073239803314, + -0.030570974573493004, + -1.227805256843567, + 0.0, + 0.9994885921478271 + ], + [ + 0.2211465984582901, + 0.04692346975207329, + 0.0948784351348877, + 0.1590438336133957, + -0.0782591924071312, + -1.0802199840545654, + 0.0, + 1.0001531839370728 + ], + [ + 0.2029493898153305, + 0.051065053790807724, + 0.11291210353374481, + 0.13044430315494537, + -0.10947833955287933, + -0.988275408744812, + 0.0, + 1.0001531839370728 + ], + [ + 0.18291616439819336, + 0.0571117177605629, + 0.12894859910011292, + 0.08512365818023682, + -0.15890686213970184, + -0.9439435601234436, + 0.0, + 1.0001531839370728 + ], + [ + 0.16763712465763092, + 0.05922677367925644, + 0.1463250368833542, + 0.04905041679739952, + -0.17013432085514069, + -0.9237897396087646, + 0.0, + 0.9994885921478271 + ], + [ + 0.1511937826871872, + 0.059328675270080566, + 0.15751926600933075, + 0.03651151433587074, + -0.11495863646268845, + -0.8066751956939697, + 0.0, + 1.0001531839370728 + ], + [ + 0.1342875212430954, + 0.056737903505563736, + 0.1700218766927719, + 0.07479076832532883, + -0.05158344283699989, + -0.644062340259552, + 0.0, + 1.0001531839370728 + ], + [ + 0.1297513097524643, + 0.05390246585011482, + 0.17302754521369934, + 0.11532953381538391, + 0.033129699528217316, + -0.49884480237960815, + 0.0, + 1.0001531839370728 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.29121094942092896, + -0.04077634960412979, + 0.09544064849615097 + ], + [ + 0.2891296446323395, + -0.04052288457751274, + 0.08721046894788742 + ], + [ + 0.28529518842697144, + -0.039903026074171066, + 0.0829411968588829 + ], + [ + 0.28227612376213074, + -0.04054772108793259, + 0.07818281650543213 + ], + [ + 0.27722376585006714, + -0.038045402616262436, + 0.07039393484592438 + ], + [ + 0.272373765707016, + -0.036104749888181686, + 0.06363065540790558 + ], + [ + 0.26863592863082886, + -0.027031533420085907, + 0.058353424072265625 + ], + [ + 0.26412907242774963, + -0.021742776036262512, + 0.05209910869598389 + ], + [ + 0.26078349351882935, + -0.017162252217531204, + 0.03898473456501961 + ], + [ + 0.259877473115921, + -0.012028289027512074, + 0.02956862561404705 + ], + [ + 0.2604653239250183, + -0.006654346827417612, + 0.024292144924402237 + ], + [ + 0.26019540429115295, + 0.0026094906497746706, + 0.015826895833015442 + ], + [ + 0.26606735587120056, + 0.01319525670260191, + 0.01682533510029316 + ], + [ + 0.2744987905025482, + 0.025701386854052544, + 0.014291631057858467 + ], + [ + 0.2814350128173828, + 0.03558859974145889, + 0.013346336781978607 + ], + [ + 0.2884552478790283, + 0.049140602350234985, + 0.015700876712799072 + ], + [ + 0.29162126779556274, + 0.0609673410654068, + 0.01542468648403883 + ], + [ + 0.2920433580875397, + 0.0746394619345665, + 0.01803460717201233 + ], + [ + 0.29264572262763977, + 0.08730513602495193, + 0.02042262628674507 + ], + [ + 0.2874606251716614, + 0.10206656903028488, + 0.012646599672734737 + ], + [ + 0.2832072973251343, + 0.11821635067462921, + 0.010676153935492039 + ], + [ + 0.2823716700077057, + 0.1280864030122757, + 0.008259974420070648 + ], + [ + 0.28200763463974, + 0.12824442982673645, + 0.007969183847308159 + ], + [ + 0.28098174929618835, + 0.10969576239585876, + 0.0038935374468564987 + ], + [ + 0.27407434582710266, + 0.07289157807826996, + 0.0042985593900084496 + ], + [ + 0.267282098531723, + 0.04511179402470589, + 0.008489635773003101 + ], + [ + 0.2632504403591156, + 0.03326966241002083, + 0.023265216499567032 + ], + [ + 0.2556568682193756, + 0.03207053244113922, + 0.04450779780745506 + ], + [ + 0.23873496055603027, + 0.04239858686923981, + 0.07034726440906525 + ], + [ + 0.2211465984582901, + 0.04692346975207329, + 0.0948784351348877 + ], + [ + 0.2029493898153305, + 0.051065053790807724, + 0.11291210353374481 + ], + [ + 0.18291616439819336, + 0.0571117177605629, + 0.12894859910011292 + ], + [ + 0.16763712465763092, + 0.05922677367925644, + 0.1463250368833542 + ], + [ + 0.1511937826871872, + 0.059328675270080566, + 0.15751926600933075 + ], + [ + 0.1342875212430954, + 0.056737903505563736, + 0.1700218766927719 + ], + [ + 0.1297513097524643, + 0.05390246585011482, + 0.17302754521369934 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + -0.1518564063878029, + -0.9798347399209274, + 0.12985959449756093, + -0.9879686200488674, + 0.1465812028315509, + -0.049314873772446706, + 0.02928545095638877, + -0.13578598388841265, + -0.9903052705816207 + ], + [ + -0.15099596279266608, + -0.9833452107097989, + 0.10115540417801286, + -0.9880734084748835, + 0.14700863042823525, + -0.045819232255033995, + 0.03018540516776335, + -0.10686748408059328, + -0.993814963743826 + ], + [ + -0.14952446504974082, + -0.9845501750435693, + 0.09112292342361089, + -0.9884577672606746, + 0.14657189288686634, + -0.038313477492946134, + 0.024365481600624343, + -0.09579996365989593, + -0.9951023516549098 + ], + [ + -0.15500930568376997, + -0.9837327949088933, + 0.0907849292127968, + -0.9878409940407694, + 0.15323257812016994, + -0.026266851642139294, + 0.01192835462164496, + -0.0937526811530367, + -0.9955240575358473 + ], + [ + -0.15415616489634193, + -0.9844104400663932, + 0.08468743893129654, + -0.9880461979729013, + 0.153522325541756, + -0.013985929770517318, + 0.0007664827112245365, + -0.08583111934806231, + -0.9963094054839152 + ], + [ + -0.1616357320038278, + -0.9840612824036804, + 0.07414366199218303, + -0.9868504899848892, + 0.16117709358387572, + -0.012167782067360883, + 2.3583277650320034e-05, + -0.07513545752758075, + -0.9971733362189095 + ], + [ + -0.1515950632098424, + -0.9863863857956551, + 0.06372467910777731, + -0.988442675732572, + 0.15127208628611744, + -0.009891041465852034, + 0.00011662348670991862, + -0.06448762538371794, + -0.997918499964467 + ], + [ + -0.15054281652322737, + -0.986706869978697, + 0.061207949892942676, + -0.9885889401391948, + 0.15058769664255983, + -0.0039055158880990405, + -0.005363564832993176, + -0.06109744967452778, + -0.9981173948066187 + ], + [ + -0.14286033774692058, + -0.9890395166825052, + 0.03730627747808403, + -0.9896855134257108, + 0.14315628887142678, + 0.005372287394345214, + -0.010654032763352906, + -0.03615399558826995, + -0.9992894376450101 + ], + [ + -0.13207822261136987, + -0.9908354563474602, + 0.028292075861306984, + -0.9911354488615738, + 0.1324237229258453, + 0.01069951477525536, + -0.014348000619891249, + -0.02662810641370237, + -0.9995424347305284 + ], + [ + -0.11882717852531766, + -0.9925907349566335, + 0.02537192389162208, + -0.9927033762626999, + 0.11929055061855576, + 0.017600320728840158, + -0.02049654605899561, + -0.02309539805614476, + -0.9995231333932594 + ], + [ + -0.1028748161079372, + -0.9946734917733502, + 0.006435602082873845, + -0.9944505783747233, + 0.1029906745145886, + 0.0214701684485346, + -0.022018614419088593, + -0.0041911485825540384, + -0.9997487758895345 + ], + [ + -0.07740111772802205, + -0.9969477303669417, + 0.010212242195350796, + -0.9968480888321626, + 0.07756408322349029, + 0.016664356734189402, + -0.017405595827713814, + -0.008890214277681859, + -0.9998089864188955 + ], + [ + -0.04888318701505523, + -0.9987681799217236, + 0.008518028122715208, + -0.9987655207852271, + 0.04895484737244393, + 0.008417684322625848, + -0.008824314016726348, + -0.008096029557070245, + -0.999928290322634 + ], + [ + -0.018405272319247212, + -0.9998201847426007, + 0.004565537441118147, + -0.9998303899526721, + 0.01840809648261016, + 0.0005773309054537558, + -0.000661269946259459, + -0.004554137147563487, + -0.9999894112223886 + ], + [ + 0.007688379616784369, + -0.9998561075321638, + 0.015121278037858513, + -0.9999674181411932, + -0.007650277108631975, + 0.0025760272120216917, + -0.0024599745738826525, + -0.015140590833621697, + -0.9998823485962258 + ], + [ + 0.02914327888921886, + -0.9995182153732994, + 0.010677379479970292, + -0.9995365033732172, + -0.029046441213441687, + 0.00911496995476833, + -0.00880043862699272, + -0.01093807066205711, + -0.9999014505890889 + ], + [ + 0.05941808669734644, + -0.9980855257151448, + 0.017168993306239257, + -0.9981532593895955, + -0.059186897592898025, + 0.013674133363924567, + -0.01263177513864212, + -0.017949777470789612, + -0.9997590928546716 + ], + [ + 0.08519824421154704, + -0.996000557369758, + 0.026910014908966128, + -0.99614650057387, + -0.08458425028552524, + 0.023187367208642895, + -0.020818467227498368, + -0.028781840156022052, + -0.9993688994057854 + ], + [ + 0.11065809837981061, + -0.9938354070742583, + 0.006780037500413763, + -0.9934749159779384, + -0.11042328612256341, + 0.028535753091906, + -0.027611167769435035, + -0.009893509359036955, + -0.9995697783981718 + ], + [ + 0.140858989563937, + -0.9900292007871206, + -0.0009626254941342213, + -0.9893378331907624, + -0.1407968337624536, + 0.03724115223614064, + -0.037005362806410924, + -0.004293389253638584, + -0.999305844039893 + ], + [ + 0.15590129930844976, + -0.9877724321538572, + -0.0006380836857192741, + -0.9870679378963745, + -0.15581443987766475, + 0.037666248852360515, + -0.03730510489109401, + -0.005242385188290167, + -0.9992901713449409 + ], + [ + 0.16293789920727525, + -0.986636291868232, + -0.00026185955126770133, + -0.9859745321765384, + -0.16283832086815825, + 0.0365773585171883, + -0.036131190143365285, + -0.005701651106784873, + -0.9993307902158726 + ], + [ + 0.1406390019688718, + -0.9900609418778048, + 4.993229427643388e-05, + -0.9897016898443383, + -0.14058661103772607, + 0.026943828907350482, + -0.026669012813772174, + -0.003838771282772999, + -0.9996369478918723 + ], + [ + 0.06194950050764486, + -0.9980593390171565, + -0.00630992769290179, + -0.9978819117255563, + -0.06206173498566131, + 0.019494391540085233, + -0.019848164595294676, + 0.005088894890434128, + -0.9997900547169849 + ], + [ + 0.016879293243129312, + -0.9998163459380534, + -0.009075453415197525, + -0.9998565844466734, + -0.016866068661045452, + -0.0015317527716061687, + 0.001378404238556924, + 0.00910000675823221, + -0.9999576440423641 + ], + [ + 0.034158327704720326, + -0.998794735665945, + 0.03524605870748446, + -0.9993708552943319, + -0.034472330067504886, + -0.008339787047166062, + 0.00954474916862756, + -0.034939010657308305, + -0.999343866393143 + ], + [ + 0.183199662398369, + -0.9779128285353276, + 0.10061999544403959, + -0.982887918945347, + -0.18420329631720095, + -0.0006960008351521926, + 0.019215162981580464, + -0.0987706708082535, + -0.994924686647024 + ], + [ + 0.3361483006327383, + -0.9298072496805148, + 0.14987594344416738, + -0.9413129270377936, + -0.3368545473835794, + 0.021423988857015408, + 0.03056621293624444, + -0.14828180046304046, + -0.9884726674411263 + ], + [ + 0.46969234089781275, + -0.8650957283604271, + 0.17606386816855585, + -0.8793617552928509, + -0.47610954987173537, + 0.006526855997305361, + 0.07817933377951519, + -0.15788944642842767, + -0.984357107190432 + ], + [ + 0.5468373399871962, + -0.8201653878534776, + 0.16821908382488157, + -0.8300790470988584, + -0.5573251224959306, + -0.01890723148288339, + 0.10925977834124986, + -0.12929595663457855, + -0.985568291106593 + ], + [ + 0.5792081472426485, + -0.7990533741538149, + 0.1613431976289739, + -0.799673909330075, + -0.595370601083116, + -0.0778170039431254, + 0.15823893612032922, + -0.08394970291390488, + -0.9838256382490618 + ], + [ + 0.5940974741657594, + -0.7919279257867552, + 0.14106151689583044, + -0.7863718666597349, + -0.6086994848913831, + -0.10537658382700221, + 0.16931473212910111, + -0.04832284606738946, + -0.9843766677608721 + ], + [ + 0.68733584730563, + -0.7186124450849536, + 0.10566734016561696, + -0.7172252496965248, + -0.6944646769575396, + -0.057504379450767994, + 0.11470559797328697, + -0.03626246306147416, + -0.9927374575215271 + ], + [ + 0.7985994785734095, + -0.5956894895290601, + 0.08598200327328161, + -0.5996502150870324, + -0.7997409817743594, + 0.028878739873127657, + 0.051560569899434486, + -0.07462167336097411, + -0.9958780615599753 + ], + [ + 0.877653940697444, + -0.4785804757661061, + 0.026158910408033805, + -0.4781489149700897, + -0.8704787318041151, + 0.11679209129742446, + -0.03312363946147716, + -0.11501089379788135, + -0.9928118244746278 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0020813047885894775, + 0.00025346502661705017, + -0.00823017954826355, + -0.029144607484340668, + -0.0009003523737192154, + 0.0008667707443237305, + 1.0 + ], + [ + -0.003834456205368042, + 0.0006198585033416748, + -0.004269272089004517, + -0.011145263910293579, + 0.005822097882628441, + 0.0015131235122680664, + 1.0 + ], + [ + -0.0030190646648406982, + -0.0006446950137615204, + -0.004758380353450775, + -0.002078421413898468, + 0.012439255602657795, + -0.0055158138275146484, + 1.0 + ], + [ + -0.005052357912063599, + 0.0025023184716701508, + -0.0077888816595077515, + -0.007960386574268341, + 0.011162154376506805, + 0.000874638557434082, + 1.0 + ], + [ + -0.0048500001430511475, + 0.0019406527280807495, + -0.006763279438018799, + -0.010730549693107605, + 0.0007428994867950678, + -0.007574558258056641, + 1.0 + ], + [ + -0.003737837076187134, + 0.00907321646809578, + -0.005277231335639954, + -0.010673925280570984, + -9.304020932177082e-05, + 0.010166168212890625, + 1.0 + ], + [ + -0.004506856203079224, + 0.005288757383823395, + -0.006254315376281738, + -0.00339600071310997, + 0.005480214022099972, + 0.0010622739791870117, + 1.0 + ], + [ + -0.003345578908920288, + 0.004580523818731308, + -0.01311437413096428, + -0.024972476065158844, + 0.005290643777698278, + 0.007760524749755859, + 1.0 + ], + [ + -0.0009060204029083252, + 0.005133963190019131, + -0.009416108950972557, + -0.009529933333396912, + 0.0036942586302757263, + 0.010879993438720703, + 1.0 + ], + [ + 0.00058785080909729, + 0.0053739422000944614, + -0.0052764806896448135, + -0.003531690686941147, + 0.006149488501250744, + 0.01334524154663086, + 1.0 + ], + [ + -0.00026991963386535645, + 0.009263837710022926, + -0.008465249091386795, + -0.018910128623247147, + 0.0015224125236272812, + 0.016051530838012695, + 1.0 + ], + [ + 0.005871951580047607, + 0.010585766285657883, + 0.0009984392672777176, + 0.00469950120896101, + -0.00461391918361187, + 0.02559185028076172, + 1.0 + ], + [ + 0.008431434631347656, + 0.012506130151450634, + -0.0025337040424346924, + -0.0007952451705932617, + -0.008582046255469322, + 0.02858579158782959, + 1.0 + ], + [ + 0.006936222314834595, + 0.00988721288740635, + -0.0009452942758798599, + -0.0035422793589532375, + -0.008163158781826496, + 0.030498266220092773, + 1.0 + ], + [ + 0.007020235061645508, + 0.013552002608776093, + 0.002354539930820465, + 0.010587060824036598, + 0.0017987070605158806, + 0.026094794273376465, + 1.0 + ], + [ + 0.003166019916534424, + 0.011826738715171814, + -0.00027619022876024246, + -0.004202502779662609, + 0.0063405754044651985, + 0.02146005630493164, + 1.0 + ], + [ + 0.0004220902919769287, + 0.013672120869159698, + 0.0026099206879734993, + 0.0070134615525603294, + 0.0038315588608384132, + 0.030309319496154785, + 1.0 + ], + [ + 0.0006023645401000977, + 0.012665674090385437, + 0.0023880191147327423, + 0.010839883238077164, + 0.008187860250473022, + 0.02586233615875244, + 1.0 + ], + [ + -0.0051850974559783936, + 0.014761433005332947, + -0.007776026614010334, + -0.018894612789154053, + 0.0067947059869766235, + 0.02560746669769287, + 1.0 + ], + [ + -0.0042533278465271, + 0.01614978164434433, + -0.0019704457372426987, + -0.005601099226623774, + 0.009399136528372765, + 0.030498862266540527, + 1.0 + ], + [ + -0.0008356273174285889, + 0.009870052337646484, + -0.0024161795154213905, + 0.0009497157298028469, + 0.00029994919896125793, + 0.015223264694213867, + 1.0 + ], + [ + -0.00036403536796569824, + 0.0001580268144607544, + -0.0002907905727624893, + 0.000459346454590559, + -0.0011747069656848907, + 0.007125735282897949, + 1.0 + ], + [ + -0.0010258853435516357, + -0.018548667430877686, + -0.00407564640045166, + -0.0018652607686817646, + -0.009466880932450294, + -0.02261817455291748, + 1.0 + ], + [ + -0.006907403469085693, + -0.036804184317588806, + 0.00040502194315195084, + -0.008930066600441933, + -0.0068227071315050125, + -0.07915592193603516, + 1.0 + ], + [ + -0.006792247295379639, + -0.02777978405356407, + 0.004191076382994652, + -0.00401022145524621, + -0.021227871999144554, + -0.04512131214141846, + 1.0 + ], + [ + -0.004031658172607422, + -0.011842131614685059, + 0.01477558072656393, + 0.04404785484075546, + -0.008166489191353321, + 0.01728641986846924, + 1.0 + ], + [ + -0.00759357213973999, + -0.001199129968881607, + 0.02124258130788803, + 0.06400258839130402, + -0.009671451523900032, + 0.15010809898376465, + 1.0 + ], + [ + -0.016921907663345337, + 0.010328054428100586, + 0.025839466601610184, + 0.04995042830705643, + -0.011354628950357437, + 0.15871644020080566, + 1.0 + ], + [ + -0.017588362097740173, + 0.004524882882833481, + 0.02453117072582245, + 0.010143101215362549, + -0.04768821597099304, + 0.14758527278900146, + 1.0 + ], + [ + -0.018197208642959595, + 0.004141584038734436, + 0.018033668398857117, + -0.028599530458450317, + -0.03121914714574814, + 0.09194457530975342, + 1.0 + ], + [ + -0.020033225417137146, + 0.006046663969755173, + 0.016036495566368103, + -0.04532064497470856, + -0.04942852258682251, + 0.04433184862136841, + 1.0 + ], + [ + -0.015279039740562439, + 0.0021150559186935425, + 0.017376437783241272, + -0.036073241382837296, + -0.011227458715438843, + 0.020153820514678955, + 1.0 + ], + [ + -0.016443341970443726, + 0.0001019015908241272, + 0.011194229125976562, + -0.012538902461528778, + 0.05517568439245224, + 0.11711454391479492, + 1.0 + ], + [ + -0.016906261444091797, + -0.0025907717645168304, + 0.012502610683441162, + 0.038279253989458084, + 0.06337518990039825, + 0.16261285543441772, + 1.0 + ], + [ + -0.0045362114906311035, + -0.0028354376554489136, + 0.003005668520927429, + 0.040538765490055084, + 0.08471314609050751, + 0.14521753787994385, + 1.0 + ], + [ + 0.005933448672294617, + -0.0027434490621089935, + -0.0035174041986465454, + -0.00119704008102417, + 0.039373256266117096, + 0.06466615200042725, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2891296446323395, + -0.04052288457751274, + 0.08721046894788742 + ], + [ + 0.28529518842697144, + -0.039903026074171066, + 0.0829411968588829 + ], + [ + 0.28227612376213074, + -0.04054772108793259, + 0.07818281650543213 + ], + [ + 0.27722376585006714, + -0.038045402616262436, + 0.07039393484592438 + ], + [ + 0.272373765707016, + -0.036104749888181686, + 0.06363065540790558 + ], + [ + 0.26863592863082886, + -0.027031533420085907, + 0.058353424072265625 + ], + [ + 0.26412907242774963, + -0.021742776036262512, + 0.05209910869598389 + ], + [ + 0.26078349351882935, + -0.017162252217531204, + 0.03898473456501961 + ], + [ + 0.259877473115921, + -0.012028289027512074, + 0.02956862561404705 + ], + [ + 0.2604653239250183, + -0.006654346827417612, + 0.024292144924402237 + ], + [ + 0.26019540429115295, + 0.0026094906497746706, + 0.015826895833015442 + ], + [ + 0.26606735587120056, + 0.01319525670260191, + 0.01682533510029316 + ], + [ + 0.2744987905025482, + 0.025701386854052544, + 0.014291631057858467 + ], + [ + 0.2814350128173828, + 0.03558859974145889, + 0.013346336781978607 + ], + [ + 0.2884552478790283, + 0.049140602350234985, + 0.015700876712799072 + ], + [ + 0.29162126779556274, + 0.0609673410654068, + 0.01542468648403883 + ], + [ + 0.2920433580875397, + 0.0746394619345665, + 0.01803460717201233 + ], + [ + 0.29264572262763977, + 0.08730513602495193, + 0.02042262628674507 + ], + [ + 0.2874606251716614, + 0.10206656903028488, + 0.012646599672734737 + ], + [ + 0.2832072973251343, + 0.11821635067462921, + 0.010676153935492039 + ], + [ + 0.2823716700077057, + 0.1280864030122757, + 0.008259974420070648 + ], + [ + 0.28200763463974, + 0.12824442982673645, + 0.007969183847308159 + ], + [ + 0.28098174929618835, + 0.10969576239585876, + 0.0038935374468564987 + ], + [ + 0.27407434582710266, + 0.07289157807826996, + 0.0042985593900084496 + ], + [ + 0.267282098531723, + 0.04511179402470589, + 0.008489635773003101 + ], + [ + 0.2632504403591156, + 0.03326966241002083, + 0.023265216499567032 + ], + [ + 0.2556568682193756, + 0.03207053244113922, + 0.04450779780745506 + ], + [ + 0.23873496055603027, + 0.04239858686923981, + 0.07034726440906525 + ], + [ + 0.2211465984582901, + 0.04692346975207329, + 0.0948784351348877 + ], + [ + 0.2029493898153305, + 0.051065053790807724, + 0.11291210353374481 + ], + [ + 0.18291616439819336, + 0.0571117177605629, + 0.12894859910011292 + ], + [ + 0.16763712465763092, + 0.05922677367925644, + 0.1463250368833542 + ], + [ + 0.1511937826871872, + 0.059328675270080566, + 0.15751926600933075 + ], + [ + 0.1342875212430954, + 0.056737903505563736, + 0.1700218766927719 + ], + [ + 0.1297513097524643, + 0.05390246585011482, + 0.17302754521369934 + ], + [ + 0.1356847584247589, + 0.05115901678800583, + 0.1695101410150528 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + -0.15099596279266608, + -0.9833452107097989, + 0.10115540417801286, + -0.9880734084748835, + 0.14700863042823525, + -0.045819232255033995, + 0.03018540516776335, + -0.10686748408059328, + -0.993814963743826 + ], + [ + -0.14952446504974082, + -0.9845501750435693, + 0.09112292342361089, + -0.9884577672606746, + 0.14657189288686634, + -0.038313477492946134, + 0.024365481600624343, + -0.09579996365989593, + -0.9951023516549098 + ], + [ + -0.15500930568376997, + -0.9837327949088933, + 0.0907849292127968, + -0.9878409940407694, + 0.15323257812016994, + -0.026266851642139294, + 0.01192835462164496, + -0.0937526811530367, + -0.9955240575358473 + ], + [ + -0.15415616489634193, + -0.9844104400663932, + 0.08468743893129654, + -0.9880461979729013, + 0.153522325541756, + -0.013985929770517318, + 0.0007664827112245365, + -0.08583111934806231, + -0.9963094054839152 + ], + [ + -0.1616357320038278, + -0.9840612824036804, + 0.07414366199218303, + -0.9868504899848892, + 0.16117709358387572, + -0.012167782067360883, + 2.3583277650320034e-05, + -0.07513545752758075, + -0.9971733362189095 + ], + [ + -0.1515950632098424, + -0.9863863857956551, + 0.06372467910777731, + -0.988442675732572, + 0.15127208628611744, + -0.009891041465852034, + 0.00011662348670991862, + -0.06448762538371794, + -0.997918499964467 + ], + [ + -0.15054281652322737, + -0.986706869978697, + 0.061207949892942676, + -0.9885889401391948, + 0.15058769664255983, + -0.0039055158880990405, + -0.005363564832993176, + -0.06109744967452778, + -0.9981173948066187 + ], + [ + -0.14286033774692058, + -0.9890395166825052, + 0.03730627747808403, + -0.9896855134257108, + 0.14315628887142678, + 0.005372287394345214, + -0.010654032763352906, + -0.03615399558826995, + -0.9992894376450101 + ], + [ + -0.13207822261136987, + -0.9908354563474602, + 0.028292075861306984, + -0.9911354488615738, + 0.1324237229258453, + 0.01069951477525536, + -0.014348000619891249, + -0.02662810641370237, + -0.9995424347305284 + ], + [ + -0.11882717852531766, + -0.9925907349566335, + 0.02537192389162208, + -0.9927033762626999, + 0.11929055061855576, + 0.017600320728840158, + -0.02049654605899561, + -0.02309539805614476, + -0.9995231333932594 + ], + [ + -0.1028748161079372, + -0.9946734917733502, + 0.006435602082873845, + -0.9944505783747233, + 0.1029906745145886, + 0.0214701684485346, + -0.022018614419088593, + -0.0041911485825540384, + -0.9997487758895345 + ], + [ + -0.07740111772802205, + -0.9969477303669417, + 0.010212242195350796, + -0.9968480888321626, + 0.07756408322349029, + 0.016664356734189402, + -0.017405595827713814, + -0.008890214277681859, + -0.9998089864188955 + ], + [ + -0.04888318701505523, + -0.9987681799217236, + 0.008518028122715208, + -0.9987655207852271, + 0.04895484737244393, + 0.008417684322625848, + -0.008824314016726348, + -0.008096029557070245, + -0.999928290322634 + ], + [ + -0.018405272319247212, + -0.9998201847426007, + 0.004565537441118147, + -0.9998303899526721, + 0.01840809648261016, + 0.0005773309054537558, + -0.000661269946259459, + -0.004554137147563487, + -0.9999894112223886 + ], + [ + 0.007688379616784369, + -0.9998561075321638, + 0.015121278037858513, + -0.9999674181411932, + -0.007650277108631975, + 0.0025760272120216917, + -0.0024599745738826525, + -0.015140590833621697, + -0.9998823485962258 + ], + [ + 0.02914327888921886, + -0.9995182153732994, + 0.010677379479970292, + -0.9995365033732172, + -0.029046441213441687, + 0.00911496995476833, + -0.00880043862699272, + -0.01093807066205711, + -0.9999014505890889 + ], + [ + 0.05941808669734644, + -0.9980855257151448, + 0.017168993306239257, + -0.9981532593895955, + -0.059186897592898025, + 0.013674133363924567, + -0.01263177513864212, + -0.017949777470789612, + -0.9997590928546716 + ], + [ + 0.08519824421154704, + -0.996000557369758, + 0.026910014908966128, + -0.99614650057387, + -0.08458425028552524, + 0.023187367208642895, + -0.020818467227498368, + -0.028781840156022052, + -0.9993688994057854 + ], + [ + 0.11065809837981061, + -0.9938354070742583, + 0.006780037500413763, + -0.9934749159779384, + -0.11042328612256341, + 0.028535753091906, + -0.027611167769435035, + -0.009893509359036955, + -0.9995697783981718 + ], + [ + 0.140858989563937, + -0.9900292007871206, + -0.0009626254941342213, + -0.9893378331907624, + -0.1407968337624536, + 0.03724115223614064, + -0.037005362806410924, + -0.004293389253638584, + -0.999305844039893 + ], + [ + 0.15590129930844976, + -0.9877724321538572, + -0.0006380836857192741, + -0.9870679378963745, + -0.15581443987766475, + 0.037666248852360515, + -0.03730510489109401, + -0.005242385188290167, + -0.9992901713449409 + ], + [ + 0.16293789920727525, + -0.986636291868232, + -0.00026185955126770133, + -0.9859745321765384, + -0.16283832086815825, + 0.0365773585171883, + -0.036131190143365285, + -0.005701651106784873, + -0.9993307902158726 + ], + [ + 0.1406390019688718, + -0.9900609418778048, + 4.993229427643388e-05, + -0.9897016898443383, + -0.14058661103772607, + 0.026943828907350482, + -0.026669012813772174, + -0.003838771282772999, + -0.9996369478918723 + ], + [ + 0.06194950050764486, + -0.9980593390171565, + -0.00630992769290179, + -0.9978819117255563, + -0.06206173498566131, + 0.019494391540085233, + -0.019848164595294676, + 0.005088894890434128, + -0.9997900547169849 + ], + [ + 0.016879293243129312, + -0.9998163459380534, + -0.009075453415197525, + -0.9998565844466734, + -0.016866068661045452, + -0.0015317527716061687, + 0.001378404238556924, + 0.00910000675823221, + -0.9999576440423641 + ], + [ + 0.034158327704720326, + -0.998794735665945, + 0.03524605870748446, + -0.9993708552943319, + -0.034472330067504886, + -0.008339787047166062, + 0.00954474916862756, + -0.034939010657308305, + -0.999343866393143 + ], + [ + 0.183199662398369, + -0.9779128285353276, + 0.10061999544403959, + -0.982887918945347, + -0.18420329631720095, + -0.0006960008351521926, + 0.019215162981580464, + -0.0987706708082535, + -0.994924686647024 + ], + [ + 0.3361483006327383, + -0.9298072496805148, + 0.14987594344416738, + -0.9413129270377936, + -0.3368545473835794, + 0.021423988857015408, + 0.03056621293624444, + -0.14828180046304046, + -0.9884726674411263 + ], + [ + 0.46969234089781275, + -0.8650957283604271, + 0.17606386816855585, + -0.8793617552928509, + -0.47610954987173537, + 0.006526855997305361, + 0.07817933377951519, + -0.15788944642842767, + -0.984357107190432 + ], + [ + 0.5468373399871962, + -0.8201653878534776, + 0.16821908382488157, + -0.8300790470988584, + -0.5573251224959306, + -0.01890723148288339, + 0.10925977834124986, + -0.12929595663457855, + -0.985568291106593 + ], + [ + 0.5792081472426485, + -0.7990533741538149, + 0.1613431976289739, + -0.799673909330075, + -0.595370601083116, + -0.0778170039431254, + 0.15823893612032922, + -0.08394970291390488, + -0.9838256382490618 + ], + [ + 0.5940974741657594, + -0.7919279257867552, + 0.14106151689583044, + -0.7863718666597349, + -0.6086994848913831, + -0.10537658382700221, + 0.16931473212910111, + -0.04832284606738946, + -0.9843766677608721 + ], + [ + 0.68733584730563, + -0.7186124450849536, + 0.10566734016561696, + -0.7172252496965248, + -0.6944646769575396, + -0.057504379450767994, + 0.11470559797328697, + -0.03626246306147416, + -0.9927374575215271 + ], + [ + 0.7985994785734095, + -0.5956894895290601, + 0.08598200327328161, + -0.5996502150870324, + -0.7997409817743594, + 0.028878739873127657, + 0.051560569899434486, + -0.07462167336097411, + -0.9958780615599753 + ], + [ + 0.877653940697444, + -0.4785804757661061, + 0.026158910408033805, + -0.4781489149700897, + -0.8704787318041151, + 0.11679209129742446, + -0.03312363946147716, + -0.11501089379788135, + -0.9928118244746278 + ], + [ + 0.9048324348875885, + -0.4254128443108862, + -0.017383229582561756, + -0.41956023478523985, + -0.8978430859443983, + 0.1335926734847182, + -0.07243945169831667, + -0.1135856721473348, + -0.9908838584417882 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006511.json b/json/chunk-0006/episode_0006511.json new file mode 100644 index 0000000000000000000000000000000000000000..5e7dea830e34a8a320c84d09d069a06941920922 --- /dev/null +++ b/json/chunk-0006/episode_0006511.json @@ -0,0 +1,1462 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 23, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the tin to the left upper corner of the table." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006511.mp4", + "start": 0, + "end": 23, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2718963027000427, + -0.042258258908987045, + 0.10992968827486038, + 0.1293157935142517, + -0.08196014165878296, + -0.12597471475601196, + 0.0, + 1.0001531839370728 + ], + [ + 0.2694133520126343, + -0.041733067482709885, + 0.10321137309074402, + 0.12891528010368347, + -0.0594363808631897, + -0.12989693880081177, + 0.0, + 1.0001531839370728 + ], + [ + 0.2416304051876068, + -0.005618305876851082, + 0.09978330135345459, + 0.10458078235387802, + -0.033219411969184875, + -0.0804104208946228, + 0.0, + 1.0001531839370728 + ], + [ + 0.21502003073692322, + 0.028205763548612595, + 0.10090921074151993, + 0.09421786665916443, + -0.05055776610970497, + -0.07445426285266876, + 0.0, + 1.0001531839370728 + ], + [ + 0.19309186935424805, + 0.07261604070663452, + 0.10150782763957977, + 0.09807126969099045, + -0.05574168637394905, + -0.02642454020678997, + 0.0, + 1.0001531839370728 + ], + [ + 0.17850755155086517, + 0.11415424942970276, + 0.09061496704816818, + 0.09661008417606354, + -0.05072932690382004, + 0.011008999310433865, + 0.0, + 0.9994885921478271 + ], + [ + 0.17095887660980225, + 0.1407286822795868, + 0.07947267591953278, + 0.1170564740896225, + -0.01680360548198223, + -0.014491177164018154, + 0.0, + 0.9994885921478271 + ], + [ + 0.17143774032592773, + 0.16329021751880646, + 0.0698210820555687, + 0.13407495617866516, + -0.005828307010233402, + -0.0491054393351078, + 0.0, + 0.9994885921478271 + ], + [ + 0.1784740686416626, + 0.17408181726932526, + 0.06097397953271866, + 0.1260341852903366, + 0.010464051738381386, + -0.0749351754784584, + 0.0, + 0.9994885921478271 + ], + [ + 0.1893102526664734, + 0.18453142046928406, + 0.062210194766521454, + 0.13466478884220123, + 0.003899196395650506, + -0.05941634997725487, + 0.0, + 0.9994885921478271 + ], + [ + 0.2001984566450119, + 0.19428689777851105, + 0.06282703578472137, + 0.14118507504463196, + -0.000853064761031419, + -0.03063325397670269, + 0.0, + 0.9994885921478271 + ], + [ + 0.21903900802135468, + 0.1925659030675888, + 0.06663431972265244, + 0.1530800312757492, + -0.006120752543210983, + -0.03632153943181038, + 0.0, + 0.9994885921478271 + ], + [ + 0.24223639070987701, + 0.184712216258049, + 0.06231435015797615, + 0.1636096090078354, + 0.005474313162267208, + -0.051396798342466354, + 0.0, + 1.0001531839370728 + ], + [ + 0.2622319757938385, + 0.17515648901462555, + 0.05461839586496353, + 0.15965689718723297, + 0.02338225021958351, + -0.05949730426073074, + 0.0, + 1.0001531839370728 + ], + [ + 0.2813609838485718, + 0.16938813030719757, + 0.04546663910150528, + 0.1525609791278839, + 0.027114257216453552, + -0.07495956867933273, + 0.0, + 0.9994885921478271 + ], + [ + 0.30604973435401917, + 0.1582423597574234, + 0.043667327612638474, + 0.15391263365745544, + 0.019618524238467216, + -0.09505496174097061, + 0.0, + 0.9994885921478271 + ], + [ + 0.32514309883117676, + 0.15584471821784973, + 0.043126385658979416, + 0.15448345243930817, + 0.02122620865702629, + -0.06773718446493149, + 0.0, + 0.9994885921478271 + ], + [ + 0.3372032940387726, + 0.15811099112033844, + 0.04280631244182587, + 0.13866782188415527, + 0.014967800118029118, + -0.029849108308553696, + 0.0, + 0.9994885921478271 + ], + [ + 0.34607622027397156, + 0.15778107941150665, + 0.047466568648815155, + 0.11819685995578766, + 0.0005602416349574924, + 0.00424061669036746, + 0.0, + 0.9994885921478271 + ], + [ + 0.3510526716709137, + 0.15699610114097595, + 0.05660194158554077, + 0.10587365925312042, + -0.007565150503069162, + 0.043339867144823074, + 0.0, + 0.9994885921478271 + ], + [ + 0.35392001271247864, + 0.14229440689086914, + 0.06267237663269043, + 0.07721622288227081, + -0.008907051756978035, + 0.04594911262392998, + 0.0, + 1.0001531839370728 + ], + [ + 0.35600191354751587, + 0.12385611981153488, + 0.09932348132133484, + 0.08221351355314255, + -0.07133662700653076, + 0.029856912791728973, + 0.0, + 0.9994885921478271 + ], + [ + 0.3454771637916565, + 0.11382690817117691, + 0.10997512936592102, + 0.0538480281829834, + -0.04846166446805, + 0.05439940094947815, + 0.0, + 0.9994885921478271 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2718963027000427, + -0.042258258908987045, + 0.10992968827486038 + ], + [ + 0.2694133520126343, + -0.041733067482709885, + 0.10321137309074402 + ], + [ + 0.2416304051876068, + -0.005618305876851082, + 0.09978330135345459 + ], + [ + 0.21502003073692322, + 0.028205763548612595, + 0.10090921074151993 + ], + [ + 0.19309186935424805, + 0.07261604070663452, + 0.10150782763957977 + ], + [ + 0.17850755155086517, + 0.11415424942970276, + 0.09061496704816818 + ], + [ + 0.17095887660980225, + 0.1407286822795868, + 0.07947267591953278 + ], + [ + 0.17143774032592773, + 0.16329021751880646, + 0.0698210820555687 + ], + [ + 0.1784740686416626, + 0.17408181726932526, + 0.06097397953271866 + ], + [ + 0.1893102526664734, + 0.18453142046928406, + 0.062210194766521454 + ], + [ + 0.2001984566450119, + 0.19428689777851105, + 0.06282703578472137 + ], + [ + 0.21903900802135468, + 0.1925659030675888, + 0.06663431972265244 + ], + [ + 0.24223639070987701, + 0.184712216258049, + 0.06231435015797615 + ], + [ + 0.2622319757938385, + 0.17515648901462555, + 0.05461839586496353 + ], + [ + 0.2813609838485718, + 0.16938813030719757, + 0.04546663910150528 + ], + [ + 0.30604973435401917, + 0.1582423597574234, + 0.043667327612638474 + ], + [ + 0.32514309883117676, + 0.15584471821784973, + 0.043126385658979416 + ], + [ + 0.3372032940387726, + 0.15811099112033844, + 0.04280631244182587 + ], + [ + 0.34607622027397156, + 0.15778107941150665, + 0.047466568648815155 + ], + [ + 0.3510526716709137, + 0.15699610114097595, + 0.05660194158554077 + ], + [ + 0.35392001271247864, + 0.14229440689086914, + 0.06267237663269043 + ], + [ + 0.35600191354751587, + 0.12385611981153488, + 0.09932348132133484 + ], + [ + 0.3454771637916565, + 0.11382690817117691, + 0.10997512936592102 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9887454217634979, + -0.1141189834280451, + 0.09674372622073497, + -0.1252200227597276, + -0.9851186471863751, + 0.11773358427288196, + 0.0818684117457781, + -0.12852279403684025, + -0.9883215340015555 + ], + [ + 0.9898243035556118, + -0.12088486703016446, + 0.07506461892095083, + -0.1293032200379701, + -0.9843362626892737, + 0.11984489660692925, + 0.05940139205827082, + -0.12833148825605012, + -0.9899507582418061 + ], + [ + 0.996218892448085, + -0.07642899735472929, + 0.04131012821163014, + -0.08027947971849296, + -0.9916013841234464, + 0.10139970483484191, + 0.033213302540377014, + -0.10433265724506287, + -0.9939877127844918 + ], + [ + 0.9959553298791919, + -0.06931437434274144, + 0.05717078270152094, + -0.07429044548654058, + -0.9931602847470093, + 0.0900754045822212, + 0.05053623051476597, + -0.09395832220039797, + -0.9942926747666628 + ], + [ + 0.9980982687949141, + -0.020841337688588354, + 0.05801279576046569, + -0.026380428220230165, + -0.9949915668753514, + 0.09641501363299378, + 0.055712824695150424, + -0.09776206058734298, + -0.9936491637767346 + ], + [ + 0.9986530231552975, + 0.015848390918706438, + 0.04940615192536979, + 0.010994614622210491, + -0.9952227119788006, + 0.09700964906064978, + 0.05070757134880287, + -0.09633577770926653, + -0.9940564169809765 + ], + [ + 0.9997538422958948, + -0.012429322625674517, + 0.01837843175196529, + -0.014488624239076762, + -0.9930808698959838, + 0.11653525481284438, + 0.016802814712231627, + -0.11677284695383011, + -0.9930164991741293 + ], + [ + 0.9987776061090161, + -0.04786703517278362, + 0.012330469533232963, + -0.049084872997389756, + -0.9898690395829431, + 0.1332289747688972, + 0.0058282740131713525, + -0.1336713560150746, + -0.9910085770583008 + ], + [ + 0.9971390792494954, + -0.07558287438252188, + -0.0009411341797776144, + -0.07486096613798286, + -0.9891856612222905, + 0.12612518932040362, + -0.010463860776798076, + -0.12569390093515193, + -0.9920138864377595 + ], + [ + 0.9982277794676293, + -0.05936635438457284, + 0.0041153695108973, + -0.059380945122531226, + -0.9891666498882483, + 0.13425066891905688, + -0.0038991865152681678, + -0.13425712165819956, + -0.9909388586732152 + ], + [ + 0.9995304748763862, + -0.030203723932220098, + 0.005154110399686902, + -0.030628452035255344, + -0.9895891152601548, + 0.1406246098111853, + 0.0008530646575661146, + -0.14071644544704176, + -0.9900495716182295 + ], + [ + 0.9993217260086936, + -0.034956218706209304, + 0.01158234435550499, + -0.036312873518203, + -0.9876881642557793, + 0.15216262815126436, + 0.006120714325699812, + -0.15248000840376624, + -0.9882876018109965 + ], + [ + 0.998664511065258, + -0.05157858846244469, + 0.0029738108566982266, + -0.05137340297812003, + -0.9852970785895124, + 0.16294305873347398, + -0.00547428581984327, + -0.16287822486506426, + -0.9866309928537461 + ], + [ + 0.997957688783484, + -0.06241634297852487, + -0.013588654352604552, + -0.059445953630959864, + -0.9853139306209714, + 0.1600707241226755, + -0.023380119649676307, + -0.15893601937081184, + -0.98701201195919 + ], + [ + 0.9968253100419384, + -0.07812803420030952, + -0.015339867398020044, + -0.07486186253619313, + -0.9853010434198861, + 0.15354984654273066, + -0.02711093501533458, + -0.15191400234237554, + -0.9880218282481998 + ], + [ + 0.9952941093851728, + -0.09678377310389719, + -0.004747324188313928, + -0.09489361783887543, + -0.9834324151245173, + 0.15445350813694242, + -0.01961726577851938, + -0.15327617605529054, + -0.9879886521297917 + ], + [ + 0.9974819630775386, + -0.07013767677517832, + -0.010509026194665969, + -0.06767014897755794, + -0.9856041193196811, + 0.1549363447272152, + -0.02122461477470624, + -0.15383506192235877, + -0.9878685587926204 + ], + [ + 0.9994425829102688, + -0.03162610553342642, + -0.010691721771494087, + -0.02984133300212769, + -0.9898980945477778, + 0.13860467977429516, + -0.014967241239005622, + -0.13820836392732302, + -0.9902900735795679 + ], + [ + 0.9999908516645871, + 0.004144952648989105, + -0.001056387557156584, + 0.0042406033151634786, + -0.9930142311326864, + 0.11791842117109118, + -0.0005602416056502547, + -0.11792182213439996, + -0.9930227238053749 + ], + [ + 0.9990323862122727, + 0.04388239636392106, + 0.0029371054410245426, + 0.043325060746460524, + -0.9934322133027224, + 0.10590267552696454, + 0.007565078342454462, + -0.10567295236631631, + -0.9943721620841255 + ], + [ + 0.9989048995927954, + 0.04648243079948077, + 0.005327775941108817, + 0.04593112339718868, + -0.9959364191862472, + 0.07746599797296688, + 0.008906933983105705, + -0.07713645419285853, + -0.9969807590728987 + ], + [ + 0.9970120707176741, + 0.03560230058622343, + 0.0685522212347926, + 0.02977655092921106, + -0.9960034586564677, + 0.0842049129155426, + 0.07127613806889269, + -0.08191206588361821, + -0.9940875844736529 + ], + [ + 0.9973484175143309, + 0.05689719008698918, + 0.04537448448042912, + 0.0543087388792788, + -0.9969316421117445, + 0.056372527331340204, + 0.04844269772630333, + -0.05375881989576601, + -0.9973782102695108 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0024829506874084473, + 0.0005251914262771606, + -0.0067183151841163635, + -0.0004005134105682373, + 0.02252376079559326, + -0.003922224044799805, + 1.0 + ], + [ + -0.027782946825027466, + 0.036114759743213654, + -0.0034280717372894287, + -0.02433449774980545, + 0.026216968894004822, + 0.049486517906188965, + 1.0 + ], + [ + -0.026610374450683594, + 0.033824071288108826, + 0.0011259093880653381, + -0.010362915694713593, + -0.017338354140520096, + 0.0059561580419540405, + 1.0 + ], + [ + -0.02192816138267517, + 0.04441027715802193, + 0.000598616898059845, + 0.0038534030318260193, + -0.00518392026424408, + 0.04802972078323364, + 1.0 + ], + [ + -0.014584317803382874, + 0.04153820872306824, + -0.01089286059141159, + -0.0014611855149269104, + 0.005012359470129013, + 0.03743353858590126, + 1.0 + ], + [ + -0.007548674941062927, + 0.026574432849884033, + -0.011142291128635406, + 0.02044638991355896, + 0.03392571955919266, + -0.02550017647445202, + 1.0 + ], + [ + 0.0004788637161254883, + 0.022561535239219666, + -0.00965159386396408, + 0.017018482089042664, + 0.010975298471748829, + -0.034614261239767075, + 1.0 + ], + [ + 0.007036328315734863, + 0.010791599750518799, + -0.008847102522850037, + -0.008040770888328552, + 0.016292359679937363, + -0.0258297361433506, + 1.0 + ], + [ + 0.010836184024810791, + 0.010449603199958801, + 0.0012362152338027954, + 0.008630603551864624, + -0.0065648555755615234, + 0.015518825501203537, + 1.0 + ], + [ + 0.010888203978538513, + 0.00975547730922699, + 0.0006168410181999207, + 0.006520286202430725, + -0.004752261098474264, + 0.028783096000552177, + 1.0 + ], + [ + 0.018840551376342773, + -0.0017209947109222412, + 0.003807283937931061, + 0.011894956231117249, + -0.0052676876075565815, + -0.005688285455107689, + 1.0 + ], + [ + 0.02319738268852234, + -0.007853686809539795, + -0.004319969564676285, + 0.010529577732086182, + 0.011595065705478191, + -0.015075258910655975, + 1.0 + ], + [ + 0.019995585083961487, + -0.009555727243423462, + -0.007695954293012619, + -0.003952711820602417, + 0.01790793612599373, + -0.008100505918264389, + 1.0 + ], + [ + 0.019129008054733276, + -0.0057683587074279785, + -0.009151756763458252, + -0.00709591805934906, + 0.003732006996870041, + -0.01546226441860199, + 1.0 + ], + [ + 0.024688750505447388, + -0.01114577054977417, + -0.001799311488866806, + 0.0013516545295715332, + -0.007495732977986336, + -0.02009539306163788, + 1.0 + ], + [ + 0.019093364477157593, + -0.0023976415395736694, + -0.0005409419536590576, + 0.0005708187818527222, + 0.0016076844185590744, + 0.027317777276039124, + 1.0 + ], + [ + 0.012060195207595825, + 0.0022662729024887085, + -0.0003200732171535492, + -0.015815630555152893, + -0.006258408538997173, + 0.03788807615637779, + 1.0 + ], + [ + 0.008872926235198975, + -0.0003299117088317871, + 0.004660256206989288, + -0.020470961928367615, + -0.014407558366656303, + 0.03408972546458244, + 1.0 + ], + [ + 0.004976451396942139, + -0.0007849782705307007, + 0.009135372936725616, + -0.012323200702667236, + -0.00812539178878069, + 0.03909924998879433, + 1.0 + ], + [ + 0.0028673410415649414, + -0.014701694250106812, + 0.006070435047149658, + -0.02865743637084961, + -0.0013419012539088726, + 0.002609245479106903, + 1.0 + ], + [ + 0.0020819008350372314, + -0.01843828707933426, + 0.03665110468864441, + 0.004997290670871735, + -0.062429577112197876, + -0.016092199832201004, + 1.0 + ], + [ + -0.010524749755859375, + -0.010029211640357971, + 0.010651648044586182, + -0.02836548537015915, + 0.02287496253848076, + 0.024542488157749176, + 1.0 + ], + [ + -0.007086366415023804, + -0.008284926414489746, + -0.0032981261610984802, + -0.02408360131084919, + 0.04234534874558449, + 0.018050305545330048, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2694133520126343, + -0.041733067482709885, + 0.10321137309074402 + ], + [ + 0.2416304051876068, + -0.005618305876851082, + 0.09978330135345459 + ], + [ + 0.21502003073692322, + 0.028205763548612595, + 0.10090921074151993 + ], + [ + 0.19309186935424805, + 0.07261604070663452, + 0.10150782763957977 + ], + [ + 0.17850755155086517, + 0.11415424942970276, + 0.09061496704816818 + ], + [ + 0.17095887660980225, + 0.1407286822795868, + 0.07947267591953278 + ], + [ + 0.17143774032592773, + 0.16329021751880646, + 0.0698210820555687 + ], + [ + 0.1784740686416626, + 0.17408181726932526, + 0.06097397953271866 + ], + [ + 0.1893102526664734, + 0.18453142046928406, + 0.062210194766521454 + ], + [ + 0.2001984566450119, + 0.19428689777851105, + 0.06282703578472137 + ], + [ + 0.21903900802135468, + 0.1925659030675888, + 0.06663431972265244 + ], + [ + 0.24223639070987701, + 0.184712216258049, + 0.06231435015797615 + ], + [ + 0.2622319757938385, + 0.17515648901462555, + 0.05461839586496353 + ], + [ + 0.2813609838485718, + 0.16938813030719757, + 0.04546663910150528 + ], + [ + 0.30604973435401917, + 0.1582423597574234, + 0.043667327612638474 + ], + [ + 0.32514309883117676, + 0.15584471821784973, + 0.043126385658979416 + ], + [ + 0.3372032940387726, + 0.15811099112033844, + 0.04280631244182587 + ], + [ + 0.34607622027397156, + 0.15778107941150665, + 0.047466568648815155 + ], + [ + 0.3510526716709137, + 0.15699610114097595, + 0.05660194158554077 + ], + [ + 0.35392001271247864, + 0.14229440689086914, + 0.06267237663269043 + ], + [ + 0.35600191354751587, + 0.12385611981153488, + 0.09932348132133484 + ], + [ + 0.3454771637916565, + 0.11382690817117691, + 0.10997512936592102 + ], + [ + 0.3383907973766327, + 0.10554198175668716, + 0.10667700320482254 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9898243035556118, + -0.12088486703016446, + 0.07506461892095083, + -0.1293032200379701, + -0.9843362626892737, + 0.11984489660692925, + 0.05940139205827082, + -0.12833148825605012, + -0.9899507582418061 + ], + [ + 0.996218892448085, + -0.07642899735472929, + 0.04131012821163014, + -0.08027947971849296, + -0.9916013841234464, + 0.10139970483484191, + 0.033213302540377014, + -0.10433265724506287, + -0.9939877127844918 + ], + [ + 0.9959553298791919, + -0.06931437434274144, + 0.05717078270152094, + -0.07429044548654058, + -0.9931602847470093, + 0.0900754045822212, + 0.05053623051476597, + -0.09395832220039797, + -0.9942926747666628 + ], + [ + 0.9980982687949141, + -0.020841337688588354, + 0.05801279576046569, + -0.026380428220230165, + -0.9949915668753514, + 0.09641501363299378, + 0.055712824695150424, + -0.09776206058734298, + -0.9936491637767346 + ], + [ + 0.9986530231552975, + 0.015848390918706438, + 0.04940615192536979, + 0.010994614622210491, + -0.9952227119788006, + 0.09700964906064978, + 0.05070757134880287, + -0.09633577770926653, + -0.9940564169809765 + ], + [ + 0.9997538422958948, + -0.012429322625674517, + 0.01837843175196529, + -0.014488624239076762, + -0.9930808698959838, + 0.11653525481284438, + 0.016802814712231627, + -0.11677284695383011, + -0.9930164991741293 + ], + [ + 0.9987776061090161, + -0.04786703517278362, + 0.012330469533232963, + -0.049084872997389756, + -0.9898690395829431, + 0.1332289747688972, + 0.0058282740131713525, + -0.1336713560150746, + -0.9910085770583008 + ], + [ + 0.9971390792494954, + -0.07558287438252188, + -0.0009411341797776144, + -0.07486096613798286, + -0.9891856612222905, + 0.12612518932040362, + -0.010463860776798076, + -0.12569390093515193, + -0.9920138864377595 + ], + [ + 0.9982277794676293, + -0.05936635438457284, + 0.0041153695108973, + -0.059380945122531226, + -0.9891666498882483, + 0.13425066891905688, + -0.0038991865152681678, + -0.13425712165819956, + -0.9909388586732152 + ], + [ + 0.9995304748763862, + -0.030203723932220098, + 0.005154110399686902, + -0.030628452035255344, + -0.9895891152601548, + 0.1406246098111853, + 0.0008530646575661146, + -0.14071644544704176, + -0.9900495716182295 + ], + [ + 0.9993217260086936, + -0.034956218706209304, + 0.01158234435550499, + -0.036312873518203, + -0.9876881642557793, + 0.15216262815126436, + 0.006120714325699812, + -0.15248000840376624, + -0.9882876018109965 + ], + [ + 0.998664511065258, + -0.05157858846244469, + 0.0029738108566982266, + -0.05137340297812003, + -0.9852970785895124, + 0.16294305873347398, + -0.00547428581984327, + -0.16287822486506426, + -0.9866309928537461 + ], + [ + 0.997957688783484, + -0.06241634297852487, + -0.013588654352604552, + -0.059445953630959864, + -0.9853139306209714, + 0.1600707241226755, + -0.023380119649676307, + -0.15893601937081184, + -0.98701201195919 + ], + [ + 0.9968253100419384, + -0.07812803420030952, + -0.015339867398020044, + -0.07486186253619313, + -0.9853010434198861, + 0.15354984654273066, + -0.02711093501533458, + -0.15191400234237554, + -0.9880218282481998 + ], + [ + 0.9952941093851728, + -0.09678377310389719, + -0.004747324188313928, + -0.09489361783887543, + -0.9834324151245173, + 0.15445350813694242, + -0.01961726577851938, + -0.15327617605529054, + -0.9879886521297917 + ], + [ + 0.9974819630775386, + -0.07013767677517832, + -0.010509026194665969, + -0.06767014897755794, + -0.9856041193196811, + 0.1549363447272152, + -0.02122461477470624, + -0.15383506192235877, + -0.9878685587926204 + ], + [ + 0.9994425829102688, + -0.03162610553342642, + -0.010691721771494087, + -0.02984133300212769, + -0.9898980945477778, + 0.13860467977429516, + -0.014967241239005622, + -0.13820836392732302, + -0.9902900735795679 + ], + [ + 0.9999908516645871, + 0.004144952648989105, + -0.001056387557156584, + 0.0042406033151634786, + -0.9930142311326864, + 0.11791842117109118, + -0.0005602416056502547, + -0.11792182213439996, + -0.9930227238053749 + ], + [ + 0.9990323862122727, + 0.04388239636392106, + 0.0029371054410245426, + 0.043325060746460524, + -0.9934322133027224, + 0.10590267552696454, + 0.007565078342454462, + -0.10567295236631631, + -0.9943721620841255 + ], + [ + 0.9989048995927954, + 0.04648243079948077, + 0.005327775941108817, + 0.04593112339718868, + -0.9959364191862472, + 0.07746599797296688, + 0.008906933983105705, + -0.07713645419285853, + -0.9969807590728987 + ], + [ + 0.9970120707176741, + 0.03560230058622343, + 0.0685522212347926, + 0.02977655092921106, + -0.9960034586564677, + 0.0842049129155426, + 0.07127613806889269, + -0.08191206588361821, + -0.9940875844736529 + ], + [ + 0.9973484175143309, + 0.05689719008698918, + 0.04537448448042912, + 0.0543087388792788, + -0.9969316421117445, + 0.056372527331340204, + 0.04844269772630333, + -0.05375881989576601, + -0.9973782102695108 + ], + [ + 0.9973580122666266, + 0.07253582336883599, + 0.00394331025521388, + 0.07238498823462261, + -0.9969217260851093, + 0.03012450062258217, + 0.0061162771223509434, + -0.02975947559503418, + -0.9995383758348008 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006513.json b/json/chunk-0006/episode_0006513.json new file mode 100644 index 0000000000000000000000000000000000000000..ea9682b08d4e8dab8b1aa1f8e83e81355171d89b --- /dev/null +++ b/json/chunk-0006/episode_0006513.json @@ -0,0 +1,2182 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 35, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nOpen oven." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006513.mp4", + "start": 0, + "end": 35, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.1855042427778244, + 0.0423395037651062, + 0.13928599655628204, + 0.06627684831619263, + -0.008612580597400665, + 0.26615744829177856, + 0.0, + 1.0060625076293945 + ], + [ + 0.18452510237693787, + 0.03980756551027298, + 0.13533645868301392, + 0.06086636707186699, + 0.009501971304416656, + 0.27731767296791077, + 0.0, + 1.0060625076293945 + ], + [ + 0.19705885648727417, + 0.027178574353456497, + 0.11601478606462479, + 0.03317481651902199, + 0.04873090609908104, + 0.44617289304733276, + 0.0, + 1.0060625076293945 + ], + [ + 0.22033028304576874, + 0.017874613404273987, + 0.09937582165002823, + -0.028753289952874184, + 0.0034520819317549467, + 0.6630625128746033, + 0.0, + 1.0060625076293945 + ], + [ + 0.23921965062618256, + 0.01173076406121254, + 0.07526500523090363, + -0.0792054608464241, + -0.024612240493297577, + 0.8780394196510315, + 0.0, + 1.0060625076293945 + ], + [ + 0.2500033378601074, + 0.008597662672400475, + 0.05351758748292923, + -0.1437842696905136, + -0.04259404540061951, + 1.1180002689361572, + 0.0, + 1.0060625076293945 + ], + [ + 0.2534743547439575, + 0.0035873542074114084, + 0.033221080899238586, + -0.1116936132311821, + -0.012399906292557716, + 1.2113442420959473, + 0.0, + 1.0060625076293945 + ], + [ + 0.2634464204311371, + 0.0010268534533679485, + 0.02238774299621582, + -0.10461555421352386, + 0.0025501917116343975, + 1.2850701808929443, + 0.0, + 1.0060625076293945 + ], + [ + 0.2721879184246063, + -0.0009003735613077879, + 0.015771374106407166, + -0.14913544058799744, + 0.03518278896808624, + 1.3335192203521729, + 0.0, + 1.0060625076293945 + ], + [ + 0.27621084451675415, + -0.000688227650243789, + 0.014326505362987518, + -0.19403128325939178, + 0.048644933849573135, + 1.3522205352783203, + 0.0, + 1.0060625076293945 + ], + [ + 0.27816957235336304, + -0.0022662056144326925, + 0.007633620407432318, + -0.2837611436843872, + 0.05083103105425835, + 1.3615888357162476, + 0.0, + 1.0060625076293945 + ], + [ + 0.2800103425979614, + -0.0015255362959578633, + 0.0002634937409311533, + -0.32004231214523315, + 0.04662932828068733, + 1.391743540763855, + 0.0, + 1.0060625076293945 + ], + [ + 0.28064554929733276, + -0.0020385312382131815, + -0.008548115380108356, + -0.37094277143478394, + 0.07982175797224045, + 1.4043769836425781, + 0.0, + 1.0060625076293945 + ], + [ + 0.2829948365688324, + -0.0021427185274660587, + -0.011438542045652866, + -0.4148273766040802, + 0.08383986353874207, + 1.4207539558410645, + 0.0, + 1.0060625076293945 + ], + [ + 0.283149778842926, + -0.0032296283170580864, + -0.018130118027329445, + -0.4046045243740082, + 0.08663568645715714, + 1.4093787670135498, + 0.0, + 1.0060625076293945 + ], + [ + 0.27770039439201355, + 0.0032052246388047934, + -0.01805572211742401, + -0.2948523759841919, + 0.06527188420295715, + 1.4320390224456787, + 0.0, + 1.0060625076293945 + ], + [ + 0.26663631200790405, + 0.004605601076036692, + -0.013181899674236774, + -0.22746333479881287, + 0.05188458785414696, + 1.3881666660308838, + 0.0, + 1.0060625076293945 + ], + [ + 0.24121268093585968, + 0.005592597182840109, + -0.0023241869639605284, + -0.10736770182847977, + 0.02985704503953457, + 1.305928111076355, + 0.0, + 1.0047606229782104 + ], + [ + 0.22875866293907166, + 0.005609673447906971, + 0.00290375086478889, + -0.027801983058452606, + 0.015329777263104916, + 1.2398768663406372, + 0.0, + 1.0047606229782104 + ], + [ + 0.22429688274860382, + 0.003122726920992136, + 0.017200101166963577, + 0.010261948220431805, + 0.01117982529103756, + 1.192534327507019, + 0.0, + 1.0047606229782104 + ], + [ + 0.22639188170433044, + 0.004004425834864378, + 0.039183299988508224, + 0.0059784455224871635, + 0.0018019262934103608, + 1.108066201210022, + 0.0, + 1.0047606229782104 + ], + [ + 0.2418903410434723, + 0.01490715891122818, + 0.05731689929962158, + -0.07970818132162094, + -0.11061861366033554, + 1.0286540985107422, + 0.0, + 1.0047606229782104 + ], + [ + 0.2661365568637848, + 0.041481904685497284, + 0.061905387789011, + -0.1002265065908432, + -0.1988881677389145, + 0.9063060283660889, + 0.0, + 1.0047606229782104 + ], + [ + 0.27598732709884644, + 0.062409862875938416, + 0.06206025555729866, + -0.0972098857164383, + -0.2784522771835327, + 0.812110424041748, + 0.0, + 1.0054124593734741 + ], + [ + 0.2828065752983093, + 0.07257391512393951, + 0.0550115592777729, + -0.03735347092151642, + -0.28912073373794556, + 0.7493470907211304, + 0.0, + 1.0047606229782104 + ], + [ + 0.2829658091068268, + 0.07895706593990326, + 0.04372062161564827, + 0.05289115011692047, + -0.26744285225868225, + 0.6600046753883362, + 0.0, + 1.0047606229782104 + ], + [ + 0.28410881757736206, + 0.08492330461740494, + 0.029078181833028793, + 0.10120558738708496, + -0.2691337764263153, + 0.5962830781936646, + 0.0, + 1.0041072368621826 + ], + [ + 0.2855651080608368, + 0.0860288217663765, + 0.004537797998636961, + 0.0941234678030014, + -0.21862056851387024, + 0.5473259091377258, + 0.0, + 1.0047606229782104 + ], + [ + 0.2858755588531494, + 0.08334269374608994, + -0.0041727363131940365, + 0.062148600816726685, + -0.20276318490505219, + 0.545912504196167, + 0.0, + 1.0047606229782104 + ], + [ + 0.27303627133369446, + 0.06639144569635391, + -0.0123007632791996, + 0.035378821194171906, + -0.15518060326576233, + 0.5546069145202637, + 0.0, + 1.0054124593734741 + ], + [ + 0.25838953256607056, + 0.04637698456645012, + -0.0071903918869793415, + 0.048221684992313385, + -0.12049093097448349, + 0.4932743012905121, + 0.0, + 1.0047606229782104 + ], + [ + 0.24327526986598969, + 0.029709551483392715, + -0.009986460208892822, + 0.07837188243865967, + -0.08075364679098129, + 0.4320642650127411, + 0.0, + 1.0047606229782104 + ], + [ + 0.23740628361701965, + 0.019536713138222694, + -0.00669504888355732, + 0.06818202883005142, + -0.061879925429821014, + 0.41305965185165405, + 0.0, + 1.0047606229782104 + ], + [ + 0.2314245104789734, + -0.0005031059845350683, + -0.011532223783433437, + 0.008025460876524448, + -0.035816922783851624, + 0.46290323138237, + 0.0, + 1.0047606229782104 + ], + [ + 0.2209019660949707, + -0.028351925313472748, + -0.014006351120769978, + -0.03342379629611969, + 0.02900904044508934, + 0.4401966631412506, + 0.0, + 1.0047606229782104 + ] + ], + "left_gripper_pos": [ + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0047606229782104 + ], + [ + 1.0047606229782104 + ], + [ + 1.0047606229782104 + ], + [ + 1.0047606229782104 + ], + [ + 1.0047606229782104 + ], + [ + 1.0047606229782104 + ], + [ + 1.0054124593734741 + ], + [ + 1.0047606229782104 + ], + [ + 1.0047606229782104 + ], + [ + 1.0041072368621826 + ], + [ + 1.0047606229782104 + ], + [ + 1.0047606229782104 + ], + [ + 1.0054124593734741 + ], + [ + 1.0047606229782104 + ], + [ + 1.0047606229782104 + ], + [ + 1.0047606229782104 + ], + [ + 1.0047606229782104 + ], + [ + 1.0047606229782104 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.1855042427778244, + 0.0423395037651062, + 0.13928599655628204 + ], + [ + 0.18452510237693787, + 0.03980756551027298, + 0.13533645868301392 + ], + [ + 0.19705885648727417, + 0.027178574353456497, + 0.11601478606462479 + ], + [ + 0.22033028304576874, + 0.017874613404273987, + 0.09937582165002823 + ], + [ + 0.23921965062618256, + 0.01173076406121254, + 0.07526500523090363 + ], + [ + 0.2500033378601074, + 0.008597662672400475, + 0.05351758748292923 + ], + [ + 0.2534743547439575, + 0.0035873542074114084, + 0.033221080899238586 + ], + [ + 0.2634464204311371, + 0.0010268534533679485, + 0.02238774299621582 + ], + [ + 0.2721879184246063, + -0.0009003735613077879, + 0.015771374106407166 + ], + [ + 0.27621084451675415, + -0.000688227650243789, + 0.014326505362987518 + ], + [ + 0.27816957235336304, + -0.0022662056144326925, + 0.007633620407432318 + ], + [ + 0.2800103425979614, + -0.0015255362959578633, + 0.0002634937409311533 + ], + [ + 0.28064554929733276, + -0.0020385312382131815, + -0.008548115380108356 + ], + [ + 0.2829948365688324, + -0.0021427185274660587, + -0.011438542045652866 + ], + [ + 0.283149778842926, + -0.0032296283170580864, + -0.018130118027329445 + ], + [ + 0.27770039439201355, + 0.0032052246388047934, + -0.01805572211742401 + ], + [ + 0.26663631200790405, + 0.004605601076036692, + -0.013181899674236774 + ], + [ + 0.24121268093585968, + 0.005592597182840109, + -0.0023241869639605284 + ], + [ + 0.22875866293907166, + 0.005609673447906971, + 0.00290375086478889 + ], + [ + 0.22429688274860382, + 0.003122726920992136, + 0.017200101166963577 + ], + [ + 0.22639188170433044, + 0.004004425834864378, + 0.039183299988508224 + ], + [ + 0.2418903410434723, + 0.01490715891122818, + 0.05731689929962158 + ], + [ + 0.2661365568637848, + 0.041481904685497284, + 0.061905387789011 + ], + [ + 0.27598732709884644, + 0.062409862875938416, + 0.06206025555729866 + ], + [ + 0.2828065752983093, + 0.07257391512393951, + 0.0550115592777729 + ], + [ + 0.2829658091068268, + 0.07895706593990326, + 0.04372062161564827 + ], + [ + 0.28410881757736206, + 0.08492330461740494, + 0.029078181833028793 + ], + [ + 0.2855651080608368, + 0.0860288217663765, + 0.004537797998636961 + ], + [ + 0.2858755588531494, + 0.08334269374608994, + -0.0041727363131940365 + ], + [ + 0.27303627133369446, + 0.06639144569635391, + -0.0123007632791996 + ], + [ + 0.25838953256607056, + 0.04637698456645012, + -0.0071903918869793415 + ], + [ + 0.24327526986598969, + 0.029709551483392715, + -0.009986460208892822 + ], + [ + 0.23740628361701965, + 0.019536713138222694, + -0.00669504888355732 + ], + [ + 0.2314245104789734, + -0.0005031059845350683, + -0.011532223783433437 + ], + [ + 0.2209019660949707, + -0.028351925313472748, + -0.014006351120769978 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9647529259282412, + 0.26299896722306537, + -0.009128808930984137, + 0.26301638200383226, + -0.9625204807696305, + 0.06615668444392984, + 0.008612474122550838, + -0.06622588118402441, + -0.9977674869181136 + ], + [ + 0.9617498377043391, + 0.27271391477858087, + -0.025775382864634343, + 0.27376443328937006, + -0.9601704602948881, + 0.055908159000749275, + -0.009501828320255238, + -0.060826045928072156, + -0.9981031546865928 + ], + [ + 0.9010342604427727, + 0.42982128118780044, + -0.0582316730519073, + 0.43100399005033935, + -0.9023059968620913, + 0.008913393708085022, + -0.0487116214987082, + -0.03312935654047851, + -0.9982633037762036 + ], + [ + 0.7881061556174012, + 0.6153571212211437, + 0.014976676546795294, + 0.6155296667550918, + -0.787723999471379, + -0.02478164645822705, + -0.0034520750754239576, + 0.02874915684401061, + -0.9995806966715755 + ], + [ + 0.6384675855222408, + 0.7658321858017848, + 0.07655197859925342, + 0.7692551606336108, + -0.6381570791709169, + -0.03165501765283864, + 0.024609755706986605, + 0.07909870728466123, + -0.9965629706295221 + ], + [ + 0.437084741730169, + 0.8872788605329326, + 0.14728595383828064, + 0.8984118057709768, + -0.4384536611657476, + -0.024791415080315696, + 0.042581167175221965, + 0.1431593890100556, + -0.9887832085650844 + ], + [ + 0.35173434557223215, + 0.9297705299005614, + 0.10867249823806707, + 0.9360177350612124, + -0.350863223309379, + -0.027673058736443983, + 0.012399588531538143, + 0.11145295086888421, + -0.9936923517602753 + ], + [ + 0.28185331496907057, + 0.9542867350268031, + 0.09947630970653376, + 0.9594541184326003, + -0.28005776654463116, + -0.031866001016045996, + -0.002550188947449454, + 0.10442449305559101, + -0.9945295479705041 + ], + [ + 0.2349114335263403, + 0.9624210488713362, + 0.13624369008507198, + 0.9713801008949349, + -0.22736768913050703, + -0.06873596965781159, + -0.03517553104000358, + 0.148491274588275, + -0.9882879253472661 + ], + [ + 0.21658301449972672, + 0.9599217006400117, + 0.17788233883834303, + 0.9750524776428297, + -0.20361775808683769, + -0.08838820302658776, + -0.04862575112829014, + 0.19258799867093992, + -0.9800741804042854 + ], + [ + 0.20741648674571428, + 0.9420313154234441, + 0.26373358107689093, + 0.9769323578792553, + -0.18546447472153266, + -0.10585885293514781, + -0.05080914439885989, + 0.27960674058012636, + -0.958769263935601 + ], + [ + 0.17790399956594433, + 0.9366584598179027, + 0.3016970278110058, + 0.9829432578117577, + -0.15462402330151764, + -0.09956888741198251, + -0.046612432470842124, + 0.3142647626915975, + -0.9481903501246705 + ], + [ + 0.16512478367873873, + 0.9238979546118382, + 0.3451758613795459, + 0.983044156352114, + -0.12588068505690453, + -0.13333506587377836, + -0.07973702074325417, + 0.361340037352168, + -0.929018506236191 + ], + [ + 0.14895497844546518, + 0.9099485964760302, + 0.3870477569598014, + 0.9852917059289702, + -0.10343063873420527, + -0.13602337004578968, + -0.0837416779381123, + 0.4016163028841544, + -0.9119713134927943 + ], + [ + 0.16011472487123202, + 0.9127825570728336, + 0.37575427926104665, + 0.9832986792680594, + -0.11412171635718904, + -0.14177426143478677, + -0.08652734960172795, + 0.3921788333901618, + -0.9158104500450035 + ], + [ + 0.13801794016352792, + 0.9502701081094611, + 0.2791733687633009, + 0.9882796548949802, + -0.11357132821096633, + -0.10200429956161641, + -0.06522554648046912, + 0.28997978385058176, + -0.9548074952807473 + ], + [ + 0.18137172517516836, + 0.9601634606190349, + 0.21258039937647488, + 0.9820461810034177, + -0.1654373892550372, + -0.09064087716411053, + -0.051861312011800095, + 0.2252034616264938, + -0.972930524337611 + ], + [ + 0.2616654086011807, + 0.9604068974797978, + 0.09565461418460963, + 0.9646968620566213, + -0.25718715108102963, + -0.05669862129657284, + -0.02985260926092872, + 0.10711377405382101, + -0.9937985012708872 + ], + [ + 0.3248745629853163, + 0.9455169698971395, + 0.021311451420112974, + 0.9456328752017056, + -0.324384170527201, + -0.023523929287759225, + -0.015329176848592594, + 0.02779513532818116, + -0.9994960964352152 + ], + [ + 0.3692828109648801, + 0.9292165939022532, + -0.01366481403355826, + 0.9292498169166492, + -0.36939305745120893, + -0.006599005017545881, + -0.011179592400906135, + -0.010261126816433383, + -0.9998848563660752 + ], + [ + 0.44639206056907077, + 0.8948163252115943, + -0.006154055225401325, + 0.8948356728059327, + -0.4463944476198449, + 0.0010563181940773715, + -0.0018019253182865826, + -0.0059784002033776585, + -0.999980505708064 + ], + [ + 0.5128185947936155, + 0.849350226185717, + 0.12498512756393464, + 0.8513697435594819, + -0.5218634933280446, + 0.05317945169811336, + 0.11039315461279119, + 0.07913714431113472, + -0.9907323875824969 + ], + [ + 0.6045016945586696, + 0.7710894379320657, + 0.19999694994001088, + 0.7717123992835425, + -0.6291265002444488, + 0.09305815107882384, + 0.19757953858569088, + 0.09808631606795065, + -0.9753673156982876 + ], + [ + 0.6614691870073857, + 0.7039608656890748, + 0.25864573110352485, + 0.697786620880428, + -0.7040815093733008, + 0.13176896401994154, + 0.27486787073076124, + 0.09331842120880025, + -0.9569426972933305 + ], + [ + 0.7017465005020219, + 0.6728904495480428, + 0.23403053634130466, + 0.6528892601537077, + -0.7388756161288381, + 0.1667286354114792, + 0.2851095631667059, + 0.035794787291766814, + -0.9578263256946048 + ], + [ + 0.7619050978566134, + 0.6232999503205761, + 0.17606190329106286, + 0.5913239974428, + -0.780318838443046, + 0.20356433975321664, + 0.2642660627253749, + -0.050987079748332456, + -0.9631011191927695 + ], + [ + 0.7976425202167097, + 0.580925649437824, + 0.16214746303158248, + 0.5413552101363147, + -0.8081085519184203, + 0.23215319247122188, + 0.26589649565310647, + -0.09739588359656762, + -0.9590688689858728 + ], + [ + 0.8335938197666529, + 0.5355081501749215, + 0.13547089998621323, + 0.5080187075611999, + -0.8395316665476326, + 0.1926228793046212, + 0.2168832322119181, + -0.09174749021084154, + -0.9718765670728575 + ], + [ + 0.8371453316733197, + 0.5288851633871534, + 0.13952841146702408, + 0.5085618239628202, + -0.8465101513158756, + 0.1574339065347187, + 0.2013766740841069, + -0.06083623647232886, + -0.9776228247472059 + ], + [ + 0.8398923046472135, + 0.5309271444348583, + 0.11268222529147859, + 0.5202812469133199, + -0.8466965903295754, + 0.11141053825645195, + 0.15455853488149252, + -0.034946405058579856, + -0.987365387315541 + ], + [ + 0.8744012298245109, + 0.47806521793545476, + 0.0829224739241981, + 0.47007929867081266, + -0.8770197765956607, + 0.09930641681812201, + 0.1201995933543043, + -0.04785351460889557, + -0.9915957336016712 + ], + [ + 0.9051439510224206, + 0.4231960140263467, + 0.040243777652374024, + 0.41738164702937414, + -0.9026712756907252, + 0.10477179375158872, + 0.08066590761014521, + -0.0780365411527874, + -0.9936816943037345 + ], + [ + 0.9141439436409157, + 0.40433964885360474, + 0.029159881165363607, + 0.4006452421266393, + -0.9120776332894863, + 0.08716525003885384, + 0.06184044199325432, + -0.0679988177690832, + -0.9957670011182768 + ], + [ + 0.8941859781067614, + 0.4467904380932511, + 0.028455948160187143, + 0.44626128341526855, + -0.8946026941485277, + 0.023170812388719035, + 0.03580926530678657, + -0.008020227592571528, + -0.9993264594053094 + ], + [ + 0.9042872557646157, + 0.4267562644004524, + -0.011985401815178777, + 0.42593810660954584, + -0.9037495759765882, + -0.042584425087251083, + -0.029004971980253036, + 0.03340351354435229, + -0.9990209792007956 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0009791404008865356, + -0.0025319382548332214, + -0.0039495378732681274, + -0.005410481244325638, + 0.018114551901817322, + 0.011160224676132202, + 1.0 + ], + [ + 0.012533754110336304, + -0.012628991156816483, + -0.01932167261838913, + -0.027691550552845, + 0.03922893479466438, + 0.168855220079422, + 1.0 + ], + [ + 0.023271426558494568, + -0.00930396094918251, + -0.016638964414596558, + -0.06192810833454132, + -0.045278824865818024, + 0.2168896198272705, + 1.0 + ], + [ + 0.01888936758041382, + -0.006143849343061447, + -0.024110816419124603, + -0.05045217275619507, + -0.028064321726560593, + 0.21497690677642822, + 1.0 + ], + [ + 0.010783687233924866, + -0.003133101388812065, + -0.021747417747974396, + -0.06457880884408951, + -0.01798180490732193, + 0.23996084928512573, + 1.0 + ], + [ + 0.0034710168838500977, + -0.00501030869781971, + -0.020296506583690643, + 0.03209065645933151, + 0.03019413910806179, + 0.09334397315979004, + 1.0 + ], + [ + 0.009972065687179565, + -0.00256050075404346, + -0.010833337903022766, + 0.007078059017658234, + 0.014950098469853401, + 0.07372593879699707, + 1.0 + ], + [ + 0.008741497993469238, + -0.0019272270146757364, + -0.006616368889808655, + -0.04451988637447357, + 0.03263259679079056, + 0.048449039459228516, + 1.0 + ], + [ + 0.004022926092147827, + 0.00021214591106399894, + -0.0014448687434196472, + -0.04489584267139435, + 0.013462144881486893, + 0.01870131492614746, + 1.0 + ], + [ + 0.0019587278366088867, + -0.0015779780223965645, + -0.006692884955555201, + -0.08972986042499542, + 0.002186097204685211, + 0.009368300437927246, + 1.0 + ], + [ + 0.0018407702445983887, + 0.0007406693184748292, + -0.007370126433670521, + -0.03628116846084595, + -0.004201702773571014, + 0.030154705047607422, + 1.0 + ], + [ + 0.0006352066993713379, + -0.0005129949422553182, + -0.008811608888208866, + -0.05090045928955078, + 0.033192429691553116, + 0.012633442878723145, + 1.0 + ], + [ + 0.002349287271499634, + -0.00010418728925287724, + -0.00289042666554451, + -0.043884605169296265, + 0.004018105566501617, + 0.016376972198486328, + 1.0 + ], + [ + 0.00015494227409362793, + -0.0010869097895920277, + -0.0066915759816765785, + 0.010222852230072021, + 0.0027958229184150696, + -0.011375188827514648, + 1.0 + ], + [ + -0.005449384450912476, + 0.006434853188693523, + 7.439590990543365e-05, + 0.10975214838981628, + -0.02136380225419998, + 0.022660255432128906, + 1.0 + ], + [ + -0.011064082384109497, + 0.0014003764372318983, + 0.004873822443187237, + 0.06738904118537903, + -0.013387296348810196, + -0.04387235641479492, + 1.0 + ], + [ + -0.025423631072044373, + 0.0009869961068034172, + 0.010857712477445602, + 0.1200956329703331, + -0.02202754281461239, + -0.08223855495452881, + 1.0 + ], + [ + -0.012454017996788025, + 1.7076265066862106e-05, + 0.005227937828749418, + 0.07956571877002716, + -0.014527267776429653, + -0.06605124473571777, + 1.0 + ], + [ + -0.0044617801904678345, + -0.002486946526914835, + 0.014296350069344044, + 0.038063932210206985, + -0.004149951972067356, + -0.047342538833618164, + 1.0 + ], + [ + 0.0020949989557266235, + 0.000881698913872242, + 0.021983198821544647, + -0.004283502697944641, + -0.009377898648381233, + -0.08446812629699707, + 1.0 + ], + [ + 0.015498459339141846, + 0.010902732610702515, + 0.018133599311113358, + -0.08568662405014038, + -0.11242053657770157, + -0.07941210269927979, + 1.0 + ], + [ + 0.0242462158203125, + 0.026574745774269104, + 0.0045884884893894196, + -0.02051832526922226, + -0.08826955407857895, + -0.12234807014465332, + 1.0 + ], + [ + 0.009850770235061646, + 0.02092795819044113, + 0.0001548677682876587, + 0.0030166208744049072, + -0.07956410944461823, + -0.09419560432434082, + 1.0 + ], + [ + 0.006819248199462891, + 0.010164052248001099, + -0.007048696279525757, + 0.059856414794921875, + -0.010668456554412842, + -0.06276333332061768, + 1.0 + ], + [ + 0.00015923380851745605, + 0.006383150815963745, + -0.011290937662124634, + 0.09024462103843689, + 0.021677881479263306, + -0.08934241533279419, + 1.0 + ], + [ + 0.0011430084705352783, + 0.0059662386775016785, + -0.014642439782619476, + 0.04831443727016449, + -0.0016909241676330566, + -0.06372159719467163, + 1.0 + ], + [ + 0.0014562904834747314, + 0.0011055171489715576, + -0.024540383368730545, + -0.007082119584083557, + 0.05051320791244507, + -0.04895716905593872, + 1.0 + ], + [ + 0.00031045079231262207, + -0.00268612802028656, + -0.008710534311830997, + -0.03197486698627472, + 0.015857383608818054, + -0.0014134049415588379, + 1.0 + ], + [ + -0.012839287519454956, + -0.016951248049736023, + -0.008128026500344276, + -0.02676977962255478, + 0.047582581639289856, + 0.00869441032409668, + 1.0 + ], + [ + -0.014646738767623901, + -0.020014461129903793, + 0.005110371392220259, + 0.01284286379814148, + 0.03468967229127884, + -0.06133261322975159, + 1.0 + ], + [ + -0.015114262700080872, + -0.016667433083057404, + -0.0027960683219134808, + 0.030150197446346283, + 0.0397372841835022, + -0.061210036277770996, + 1.0 + ], + [ + -0.005868986248970032, + -0.010172838345170021, + 0.0032914113253355026, + -0.010189853608608246, + 0.01887372136116028, + -0.019004613161087036, + 1.0 + ], + [ + -0.005981773138046265, + -0.020039819180965424, + -0.004837174899876118, + -0.06015656888484955, + 0.02606300264596939, + 0.04984357953071594, + 1.0 + ], + [ + -0.010522544384002686, + -0.02784881927073002, + -0.0024741273373365402, + -0.041449256241321564, + 0.06482596695423126, + -0.022706568241119385, + 1.0 + ], + [ + -0.013841181993484497, + -0.026246126741170883, + -0.007310456596314907, + -0.028949610888957977, + 0.05937884375452995, + -0.013131856918334961, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0047606229782104 + ], + [ + 1.0047606229782104 + ], + [ + 1.0047606229782104 + ], + [ + 1.0047606229782104 + ], + [ + 1.0047606229782104 + ], + [ + 1.0047606229782104 + ], + [ + 1.0054124593734741 + ], + [ + 1.0047606229782104 + ], + [ + 1.0047606229782104 + ], + [ + 1.0041072368621826 + ], + [ + 1.0047606229782104 + ], + [ + 1.0047606229782104 + ], + [ + 1.0054124593734741 + ], + [ + 1.0047606229782104 + ], + [ + 1.0047606229782104 + ], + [ + 1.0047606229782104 + ], + [ + 1.0047606229782104 + ], + [ + 1.0047606229782104 + ], + [ + 1.0047606229782104 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.18452510237693787, + 0.03980756551027298, + 0.13533645868301392 + ], + [ + 0.19705885648727417, + 0.027178574353456497, + 0.11601478606462479 + ], + [ + 0.22033028304576874, + 0.017874613404273987, + 0.09937582165002823 + ], + [ + 0.23921965062618256, + 0.01173076406121254, + 0.07526500523090363 + ], + [ + 0.2500033378601074, + 0.008597662672400475, + 0.05351758748292923 + ], + [ + 0.2534743547439575, + 0.0035873542074114084, + 0.033221080899238586 + ], + [ + 0.2634464204311371, + 0.0010268534533679485, + 0.02238774299621582 + ], + [ + 0.2721879184246063, + -0.0009003735613077879, + 0.015771374106407166 + ], + [ + 0.27621084451675415, + -0.000688227650243789, + 0.014326505362987518 + ], + [ + 0.27816957235336304, + -0.0022662056144326925, + 0.007633620407432318 + ], + [ + 0.2800103425979614, + -0.0015255362959578633, + 0.0002634937409311533 + ], + [ + 0.28064554929733276, + -0.0020385312382131815, + -0.008548115380108356 + ], + [ + 0.2829948365688324, + -0.0021427185274660587, + -0.011438542045652866 + ], + [ + 0.283149778842926, + -0.0032296283170580864, + -0.018130118027329445 + ], + [ + 0.27770039439201355, + 0.0032052246388047934, + -0.01805572211742401 + ], + [ + 0.26663631200790405, + 0.004605601076036692, + -0.013181899674236774 + ], + [ + 0.24121268093585968, + 0.005592597182840109, + -0.0023241869639605284 + ], + [ + 0.22875866293907166, + 0.005609673447906971, + 0.00290375086478889 + ], + [ + 0.22429688274860382, + 0.003122726920992136, + 0.017200101166963577 + ], + [ + 0.22639188170433044, + 0.004004425834864378, + 0.039183299988508224 + ], + [ + 0.2418903410434723, + 0.01490715891122818, + 0.05731689929962158 + ], + [ + 0.2661365568637848, + 0.041481904685497284, + 0.061905387789011 + ], + [ + 0.27598732709884644, + 0.062409862875938416, + 0.06206025555729866 + ], + [ + 0.2828065752983093, + 0.07257391512393951, + 0.0550115592777729 + ], + [ + 0.2829658091068268, + 0.07895706593990326, + 0.04372062161564827 + ], + [ + 0.28410881757736206, + 0.08492330461740494, + 0.029078181833028793 + ], + [ + 0.2855651080608368, + 0.0860288217663765, + 0.004537797998636961 + ], + [ + 0.2858755588531494, + 0.08334269374608994, + -0.0041727363131940365 + ], + [ + 0.27303627133369446, + 0.06639144569635391, + -0.0123007632791996 + ], + [ + 0.25838953256607056, + 0.04637698456645012, + -0.0071903918869793415 + ], + [ + 0.24327526986598969, + 0.029709551483392715, + -0.009986460208892822 + ], + [ + 0.23740628361701965, + 0.019536713138222694, + -0.00669504888355732 + ], + [ + 0.2314245104789734, + -0.0005031059845350683, + -0.011532223783433437 + ], + [ + 0.2209019660949707, + -0.028351925313472748, + -0.014006351120769978 + ], + [ + 0.2070607841014862, + -0.05459805205464363, + -0.021316807717084885 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9617498377043391, + 0.27271391477858087, + -0.025775382864634343, + 0.27376443328937006, + -0.9601704602948881, + 0.055908159000749275, + -0.009501828320255238, + -0.060826045928072156, + -0.9981031546865928 + ], + [ + 0.9010342604427727, + 0.42982128118780044, + -0.0582316730519073, + 0.43100399005033935, + -0.9023059968620913, + 0.008913393708085022, + -0.0487116214987082, + -0.03312935654047851, + -0.9982633037762036 + ], + [ + 0.7881061556174012, + 0.6153571212211437, + 0.014976676546795294, + 0.6155296667550918, + -0.787723999471379, + -0.02478164645822705, + -0.0034520750754239576, + 0.02874915684401061, + -0.9995806966715755 + ], + [ + 0.6384675855222408, + 0.7658321858017848, + 0.07655197859925342, + 0.7692551606336108, + -0.6381570791709169, + -0.03165501765283864, + 0.024609755706986605, + 0.07909870728466123, + -0.9965629706295221 + ], + [ + 0.437084741730169, + 0.8872788605329326, + 0.14728595383828064, + 0.8984118057709768, + -0.4384536611657476, + -0.024791415080315696, + 0.042581167175221965, + 0.1431593890100556, + -0.9887832085650844 + ], + [ + 0.35173434557223215, + 0.9297705299005614, + 0.10867249823806707, + 0.9360177350612124, + -0.350863223309379, + -0.027673058736443983, + 0.012399588531538143, + 0.11145295086888421, + -0.9936923517602753 + ], + [ + 0.28185331496907057, + 0.9542867350268031, + 0.09947630970653376, + 0.9594541184326003, + -0.28005776654463116, + -0.031866001016045996, + -0.002550188947449454, + 0.10442449305559101, + -0.9945295479705041 + ], + [ + 0.2349114335263403, + 0.9624210488713362, + 0.13624369008507198, + 0.9713801008949349, + -0.22736768913050703, + -0.06873596965781159, + -0.03517553104000358, + 0.148491274588275, + -0.9882879253472661 + ], + [ + 0.21658301449972672, + 0.9599217006400117, + 0.17788233883834303, + 0.9750524776428297, + -0.20361775808683769, + -0.08838820302658776, + -0.04862575112829014, + 0.19258799867093992, + -0.9800741804042854 + ], + [ + 0.20741648674571428, + 0.9420313154234441, + 0.26373358107689093, + 0.9769323578792553, + -0.18546447472153266, + -0.10585885293514781, + -0.05080914439885989, + 0.27960674058012636, + -0.958769263935601 + ], + [ + 0.17790399956594433, + 0.9366584598179027, + 0.3016970278110058, + 0.9829432578117577, + -0.15462402330151764, + -0.09956888741198251, + -0.046612432470842124, + 0.3142647626915975, + -0.9481903501246705 + ], + [ + 0.16512478367873873, + 0.9238979546118382, + 0.3451758613795459, + 0.983044156352114, + -0.12588068505690453, + -0.13333506587377836, + -0.07973702074325417, + 0.361340037352168, + -0.929018506236191 + ], + [ + 0.14895497844546518, + 0.9099485964760302, + 0.3870477569598014, + 0.9852917059289702, + -0.10343063873420527, + -0.13602337004578968, + -0.0837416779381123, + 0.4016163028841544, + -0.9119713134927943 + ], + [ + 0.16011472487123202, + 0.9127825570728336, + 0.37575427926104665, + 0.9832986792680594, + -0.11412171635718904, + -0.14177426143478677, + -0.08652734960172795, + 0.3921788333901618, + -0.9158104500450035 + ], + [ + 0.13801794016352792, + 0.9502701081094611, + 0.2791733687633009, + 0.9882796548949802, + -0.11357132821096633, + -0.10200429956161641, + -0.06522554648046912, + 0.28997978385058176, + -0.9548074952807473 + ], + [ + 0.18137172517516836, + 0.9601634606190349, + 0.21258039937647488, + 0.9820461810034177, + -0.1654373892550372, + -0.09064087716411053, + -0.051861312011800095, + 0.2252034616264938, + -0.972930524337611 + ], + [ + 0.2616654086011807, + 0.9604068974797978, + 0.09565461418460963, + 0.9646968620566213, + -0.25718715108102963, + -0.05669862129657284, + -0.02985260926092872, + 0.10711377405382101, + -0.9937985012708872 + ], + [ + 0.3248745629853163, + 0.9455169698971395, + 0.021311451420112974, + 0.9456328752017056, + -0.324384170527201, + -0.023523929287759225, + -0.015329176848592594, + 0.02779513532818116, + -0.9994960964352152 + ], + [ + 0.3692828109648801, + 0.9292165939022532, + -0.01366481403355826, + 0.9292498169166492, + -0.36939305745120893, + -0.006599005017545881, + -0.011179592400906135, + -0.010261126816433383, + -0.9998848563660752 + ], + [ + 0.44639206056907077, + 0.8948163252115943, + -0.006154055225401325, + 0.8948356728059327, + -0.4463944476198449, + 0.0010563181940773715, + -0.0018019253182865826, + -0.0059784002033776585, + -0.999980505708064 + ], + [ + 0.5128185947936155, + 0.849350226185717, + 0.12498512756393464, + 0.8513697435594819, + -0.5218634933280446, + 0.05317945169811336, + 0.11039315461279119, + 0.07913714431113472, + -0.9907323875824969 + ], + [ + 0.6045016945586696, + 0.7710894379320657, + 0.19999694994001088, + 0.7717123992835425, + -0.6291265002444488, + 0.09305815107882384, + 0.19757953858569088, + 0.09808631606795065, + -0.9753673156982876 + ], + [ + 0.6614691870073857, + 0.7039608656890748, + 0.25864573110352485, + 0.697786620880428, + -0.7040815093733008, + 0.13176896401994154, + 0.27486787073076124, + 0.09331842120880025, + -0.9569426972933305 + ], + [ + 0.7017465005020219, + 0.6728904495480428, + 0.23403053634130466, + 0.6528892601537077, + -0.7388756161288381, + 0.1667286354114792, + 0.2851095631667059, + 0.035794787291766814, + -0.9578263256946048 + ], + [ + 0.7619050978566134, + 0.6232999503205761, + 0.17606190329106286, + 0.5913239974428, + -0.780318838443046, + 0.20356433975321664, + 0.2642660627253749, + -0.050987079748332456, + -0.9631011191927695 + ], + [ + 0.7976425202167097, + 0.580925649437824, + 0.16214746303158248, + 0.5413552101363147, + -0.8081085519184203, + 0.23215319247122188, + 0.26589649565310647, + -0.09739588359656762, + -0.9590688689858728 + ], + [ + 0.8335938197666529, + 0.5355081501749215, + 0.13547089998621323, + 0.5080187075611999, + -0.8395316665476326, + 0.1926228793046212, + 0.2168832322119181, + -0.09174749021084154, + -0.9718765670728575 + ], + [ + 0.8371453316733197, + 0.5288851633871534, + 0.13952841146702408, + 0.5085618239628202, + -0.8465101513158756, + 0.1574339065347187, + 0.2013766740841069, + -0.06083623647232886, + -0.9776228247472059 + ], + [ + 0.8398923046472135, + 0.5309271444348583, + 0.11268222529147859, + 0.5202812469133199, + -0.8466965903295754, + 0.11141053825645195, + 0.15455853488149252, + -0.034946405058579856, + -0.987365387315541 + ], + [ + 0.8744012298245109, + 0.47806521793545476, + 0.0829224739241981, + 0.47007929867081266, + -0.8770197765956607, + 0.09930641681812201, + 0.1201995933543043, + -0.04785351460889557, + -0.9915957336016712 + ], + [ + 0.9051439510224206, + 0.4231960140263467, + 0.040243777652374024, + 0.41738164702937414, + -0.9026712756907252, + 0.10477179375158872, + 0.08066590761014521, + -0.0780365411527874, + -0.9936816943037345 + ], + [ + 0.9141439436409157, + 0.40433964885360474, + 0.029159881165363607, + 0.4006452421266393, + -0.9120776332894863, + 0.08716525003885384, + 0.06184044199325432, + -0.0679988177690832, + -0.9957670011182768 + ], + [ + 0.8941859781067614, + 0.4467904380932511, + 0.028455948160187143, + 0.44626128341526855, + -0.8946026941485277, + 0.023170812388719035, + 0.03580926530678657, + -0.008020227592571528, + -0.9993264594053094 + ], + [ + 0.9042872557646157, + 0.4267562644004524, + -0.011985401815178777, + 0.42593810660954584, + -0.9037495759765882, + -0.042584425087251083, + -0.029004971980253036, + 0.03340351354435229, + -0.9990209792007956 + ], + [ + 0.9066323684935012, + 0.4184036896542813, + -0.0543700366336857, + 0.41258411720725385, + -0.9061364293098548, + -0.09322616427751196, + -0.08827284196272112, + 0.062089644557449634, + -0.9941593340157071 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006514.json b/json/chunk-0006/episode_0006514.json new file mode 100644 index 0000000000000000000000000000000000000000..27c6c3f09b2b377c5b1915f1d07785c9e014bb2f --- /dev/null +++ b/json/chunk-0006/episode_0006514.json @@ -0,0 +1,2782 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 45, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPlace the red spoon inside the orange pot." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006514.mp4", + "start": 0, + "end": 45, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3108706772327423, + 0.022199328988790512, + 0.14088721573352814, + 0.04045071080327034, + -0.19289730489253998, + 0.43793240189552307, + 0.0, + 0.9994885921478271 + ], + [ + 0.30864524841308594, + 0.021951697766780853, + 0.13097968697547913, + 0.05446060746908188, + -0.16112786531448364, + 0.42834749817848206, + 0.0, + 0.9994885921478271 + ], + [ + 0.29781338572502136, + 0.027443483471870422, + 0.118443064391613, + 0.07459236681461334, + -0.12098349630832672, + 0.3648068308830261, + 0.0, + 0.9994885921478271 + ], + [ + 0.2793806493282318, + 0.041607581079006195, + 0.11710608750581741, + 0.11570969223976135, + -0.11309871822595596, + 0.2648757994174957, + 0.0, + 0.9994885921478271 + ], + [ + 0.26494890451431274, + 0.057610202580690384, + 0.11293886601924896, + 0.13238145411014557, + -0.08203070610761642, + 0.14302732050418854, + 0.0, + 0.9994885921478271 + ], + [ + 0.2548072338104248, + 0.07014814019203186, + 0.0988379567861557, + 0.12263291329145432, + -0.06079256907105446, + 0.06118641793727875, + 0.0, + 0.9994885921478271 + ], + [ + 0.2512584328651428, + 0.07697390764951706, + 0.08535069227218628, + 0.10965088754892349, + -0.05316118150949478, + -0.002502496587112546, + 0.0, + 0.9994885921478271 + ], + [ + 0.24777601659297943, + 0.08295094221830368, + 0.07536369562149048, + 0.11967790871858597, + -0.06834866106510162, + -0.07165613025426865, + 0.0, + 0.9994885921478271 + ], + [ + 0.2471858412027359, + 0.09010438621044159, + 0.05871996656060219, + 0.10756170749664307, + -0.0945221558213234, + -0.13548661768436432, + 0.0, + 0.9994885921478271 + ], + [ + 0.2476007342338562, + 0.09289640933275223, + 0.03829563781619072, + 0.07733120769262314, + -0.10255876928567886, + -0.17816175520420074, + 0.0, + 0.9994885921478271 + ], + [ + 0.24660931527614594, + 0.09887555241584778, + 0.02312743477523327, + 0.04911844804883003, + -0.09425774961709976, + -0.17774921655654907, + 0.0, + 0.9994885921478271 + ], + [ + 0.24851511418819427, + 0.10009732842445374, + 0.01864410564303398, + 0.05157381668686867, + -0.10017906874418259, + -0.18816374242305756, + 0.0, + 0.9994885921478271 + ], + [ + 0.2471577525138855, + 0.10211801528930664, + 0.0071211508475244045, + 0.05384811758995056, + -0.07477983832359314, + -0.19544263184070587, + 0.0, + 0.9994885921478271 + ], + [ + 0.24672210216522217, + 0.10404524207115173, + 0.006428183522075415, + 0.04398846998810768, + -0.0777502954006195, + -0.1947009265422821, + 0.0, + 0.9492040276527405 + ], + [ + 0.2471255362033844, + 0.10986613482236862, + 0.00675699720159173, + 0.02977665700018406, + -0.09100557863712311, + -0.19511988759040833, + 0.0, + 0.6681591272354126 + ], + [ + 0.24673086404800415, + 0.11113607883453369, + 0.00770259415730834, + 0.027946151793003082, + -0.08529406785964966, + -0.20716355741024017, + 0.0, + 0.4202251136302948 + ], + [ + 0.2458680123090744, + 0.11184849590063095, + 0.00787300243973732, + 0.03067495860159397, + -0.07739564776420593, + -0.2139384001493454, + 0.0, + 0.4068177044391632 + ], + [ + 0.24487102031707764, + 0.11296277493238449, + 0.008296715095639229, + 0.031471073627471924, + -0.06871016323566437, + -0.20525670051574707, + 0.0, + 0.4068177044391632 + ], + [ + 0.24487097561359406, + 0.1154765859246254, + 0.010787956416606903, + 0.04128711298108101, + -0.04785311967134476, + -0.18118412792682648, + 0.0, + 0.4068177044391632 + ], + [ + 0.253261923789978, + 0.1130925640463829, + 0.0366639643907547, + 0.0845336765050888, + -0.0413593091070652, + -0.1595902442932129, + 0.0, + 0.4068177044391632 + ], + [ + 0.25495445728302, + 0.10922396928071976, + 0.059467706829309464, + 0.08661828190088272, + -0.035092465579509735, + -0.10008128732442856, + 0.0, + 0.4068177044391632 + ], + [ + 0.25283366441726685, + 0.09843176603317261, + 0.06989932805299759, + 0.057194262742996216, + 0.027400948107242584, + -0.009809872135519981, + 0.0, + 0.4068177044391632 + ], + [ + 0.24522872269153595, + 0.07985766232013702, + 0.08626754581928253, + 0.06792967766523361, + 0.04203152656555176, + 0.048569206148386, + 0.0, + 0.4068177044391632 + ], + [ + 0.23509205877780914, + 0.06314465403556824, + 0.09888419508934021, + 0.045614093542099, + 0.014238901436328888, + 0.07930013537406921, + 0.0, + 0.4068177044391632 + ], + [ + 0.23881013691425323, + 0.04008452594280243, + 0.1018897071480751, + 0.03659464418888092, + -0.00242128549143672, + 0.03221031278371811, + 0.0, + 0.4068177044391632 + ], + [ + 0.23247715830802917, + 0.014385620132088661, + 0.10641861706972122, + 0.03651261329650879, + 0.01255661528557539, + 0.02121656760573387, + 0.0, + 0.4068177044391632 + ], + [ + 0.22468863427639008, + -0.006593905854970217, + 0.10650020092725754, + 0.019244981929659843, + 0.03727077320218086, + 0.014749485068023205, + 0.0, + 0.4068177044391632 + ], + [ + 0.21176661550998688, + -0.015933014452457428, + 0.09668830782175064, + 0.03017488308250904, + 0.06438978761434555, + 0.021527398377656937, + 0.0, + 0.4068177044391632 + ], + [ + 0.20671164989471436, + -0.024217985570430756, + 0.08379839360713959, + 0.03180793672800064, + 0.061742108315229416, + 0.018701180815696716, + 0.0, + 0.4068177044391632 + ], + [ + 0.2024458944797516, + -0.02710667997598648, + 0.0739760473370552, + 0.028919823467731476, + 0.07119135558605194, + 0.02707236260175705, + 0.0, + 0.4068177044391632 + ], + [ + 0.20309923589229584, + -0.028948506340384483, + 0.06396109610795975, + 0.023816214874386787, + 0.10169810801744461, + 0.03323841840028763, + 0.0, + 0.4068177044391632 + ], + [ + 0.2081054002046585, + -0.029898274689912796, + 0.05395621806383133, + 0.028805462643504143, + 0.1460520327091217, + 0.022585809230804443, + 0.0, + 0.4068177044391632 + ], + [ + 0.21331354975700378, + -0.03268344700336456, + 0.0454045869410038, + 0.041099052876234055, + 0.19377316534519196, + 0.011122404597699642, + 0.0, + 0.4068177044391632 + ], + [ + 0.21562495827674866, + -0.03360174968838692, + 0.044466134160757065, + 0.04208189621567726, + 0.20605839788913727, + 0.010829376988112926, + 0.0, + 0.4068177044391632 + ], + [ + 0.21357952058315277, + -0.03282714635133743, + 0.04459133744239807, + 0.04969737306237221, + 0.21707791090011597, + 0.02403341792523861, + 0.0, + 0.49661046266555786 + ], + [ + 0.2108985036611557, + -0.03160689026117325, + 0.04526562988758087, + 0.0585947223007679, + 0.23401816189289093, + 0.03771807625889778, + 0.0, + 0.8026900887489319 + ], + [ + 0.21055682003498077, + -0.029430892318487167, + 0.053108446300029755, + 0.06115693971514702, + 0.2147672027349472, + 0.038308750838041306, + 0.0, + 1.002137303352356 + ], + [ + 0.21273694932460785, + -0.02510562352836132, + 0.06377946585416794, + 0.052393119782209396, + 0.1727416217327118, + 0.055196501314640045, + 0.0, + 1.0027955770492554 + ], + [ + 0.21749623119831085, + -0.02171911858022213, + 0.08597278594970703, + 0.06405660510063171, + 0.10591624677181244, + 0.06313243508338928, + 0.0, + 0.9994885921478271 + ], + [ + 0.2247786521911621, + -0.008279142901301384, + 0.10400352627038956, + 0.09832113236188889, + 0.020799459889531136, + 0.060450367629528046, + 0.0, + 0.9994885921478271 + ], + [ + 0.2368355393409729, + 0.009814014658331871, + 0.10646414011716843, + 0.14306208491325378, + -0.05425175651907921, + 0.025730393826961517, + 0.0, + 0.9994885921478271 + ], + [ + 0.25655457377433777, + 0.018559573218226433, + 0.11442795395851135, + 0.14697599411010742, + -0.16470959782600403, + 0.04068955406546593, + 0.0, + 0.9994885921478271 + ], + [ + 0.2775398790836334, + 0.03255506232380867, + 0.11474856734275818, + 0.11931127309799194, + -0.17663080990314484, + 0.09247826039791107, + 0.0, + 0.9994885921478271 + ], + [ + 0.29085254669189453, + 0.05483555048704147, + 0.11863192170858383, + 0.12792666256427765, + -0.1750386655330658, + 0.14659975469112396, + 0.0, + 0.9994885921478271 + ], + [ + 0.31294992566108704, + 0.08661771565675735, + 0.11877304315567017, + 0.09145402908325195, + -0.2004266381263733, + 0.23890498280525208, + 0.0, + 0.9994885921478271 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9492040276527405 + ], + [ + 0.6681591272354126 + ], + [ + 0.4202251136302948 + ], + [ + 0.4068177044391632 + ], + [ + 0.4068177044391632 + ], + [ + 0.4068177044391632 + ], + [ + 0.4068177044391632 + ], + [ + 0.4068177044391632 + ], + [ + 0.4068177044391632 + ], + [ + 0.4068177044391632 + ], + [ + 0.4068177044391632 + ], + [ + 0.4068177044391632 + ], + [ + 0.4068177044391632 + ], + [ + 0.4068177044391632 + ], + [ + 0.4068177044391632 + ], + [ + 0.4068177044391632 + ], + [ + 0.4068177044391632 + ], + [ + 0.4068177044391632 + ], + [ + 0.4068177044391632 + ], + [ + 0.4068177044391632 + ], + [ + 0.4068177044391632 + ], + [ + 0.49661046266555786 + ], + [ + 0.8026900887489319 + ], + [ + 1.002137303352356 + ], + [ + 1.0027955770492554 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3108706772327423, + 0.022199328988790512, + 0.14088721573352814 + ], + [ + 0.30864524841308594, + 0.021951697766780853, + 0.13097968697547913 + ], + [ + 0.29781338572502136, + 0.027443483471870422, + 0.118443064391613 + ], + [ + 0.2793806493282318, + 0.041607581079006195, + 0.11710608750581741 + ], + [ + 0.26494890451431274, + 0.057610202580690384, + 0.11293886601924896 + ], + [ + 0.2548072338104248, + 0.07014814019203186, + 0.0988379567861557 + ], + [ + 0.2512584328651428, + 0.07697390764951706, + 0.08535069227218628 + ], + [ + 0.24777601659297943, + 0.08295094221830368, + 0.07536369562149048 + ], + [ + 0.2471858412027359, + 0.09010438621044159, + 0.05871996656060219 + ], + [ + 0.2476007342338562, + 0.09289640933275223, + 0.03829563781619072 + ], + [ + 0.24660931527614594, + 0.09887555241584778, + 0.02312743477523327 + ], + [ + 0.24851511418819427, + 0.10009732842445374, + 0.01864410564303398 + ], + [ + 0.2471577525138855, + 0.10211801528930664, + 0.0071211508475244045 + ], + [ + 0.24672210216522217, + 0.10404524207115173, + 0.006428183522075415 + ], + [ + 0.2471255362033844, + 0.10986613482236862, + 0.00675699720159173 + ], + [ + 0.24673086404800415, + 0.11113607883453369, + 0.00770259415730834 + ], + [ + 0.2458680123090744, + 0.11184849590063095, + 0.00787300243973732 + ], + [ + 0.24487102031707764, + 0.11296277493238449, + 0.008296715095639229 + ], + [ + 0.24487097561359406, + 0.1154765859246254, + 0.010787956416606903 + ], + [ + 0.253261923789978, + 0.1130925640463829, + 0.0366639643907547 + ], + [ + 0.25495445728302, + 0.10922396928071976, + 0.059467706829309464 + ], + [ + 0.25283366441726685, + 0.09843176603317261, + 0.06989932805299759 + ], + [ + 0.24522872269153595, + 0.07985766232013702, + 0.08626754581928253 + ], + [ + 0.23509205877780914, + 0.06314465403556824, + 0.09888419508934021 + ], + [ + 0.23881013691425323, + 0.04008452594280243, + 0.1018897071480751 + ], + [ + 0.23247715830802917, + 0.014385620132088661, + 0.10641861706972122 + ], + [ + 0.22468863427639008, + -0.006593905854970217, + 0.10650020092725754 + ], + [ + 0.21176661550998688, + -0.015933014452457428, + 0.09668830782175064 + ], + [ + 0.20671164989471436, + -0.024217985570430756, + 0.08379839360713959 + ], + [ + 0.2024458944797516, + -0.02710667997598648, + 0.0739760473370552 + ], + [ + 0.20309923589229584, + -0.028948506340384483, + 0.06396109610795975 + ], + [ + 0.2081054002046585, + -0.029898274689912796, + 0.05395621806383133 + ], + [ + 0.21331354975700378, + -0.03268344700336456, + 0.0454045869410038 + ], + [ + 0.21562495827674866, + -0.03360174968838692, + 0.044466134160757065 + ], + [ + 0.21357952058315277, + -0.03282714635133743, + 0.04459133744239807 + ], + [ + 0.2108985036611557, + -0.03160689026117325, + 0.04526562988758087 + ], + [ + 0.21055682003498077, + -0.029430892318487167, + 0.053108446300029755 + ], + [ + 0.21273694932460785, + -0.02510562352836132, + 0.06377946585416794 + ], + [ + 0.21749623119831085, + -0.02171911858022213, + 0.08597278594970703 + ], + [ + 0.2247786521911621, + -0.008279142901301384, + 0.10400352627038956 + ], + [ + 0.2368355393409729, + 0.009814014658331871, + 0.10646414011716843 + ], + [ + 0.25655457377433777, + 0.018559573218226433, + 0.11442795395851135 + ], + [ + 0.2775398790836334, + 0.03255506232380867, + 0.11474856734275818 + ], + [ + 0.29085254669189453, + 0.05483555048704147, + 0.11863192170858383 + ], + [ + 0.31294992566108704, + 0.08661771565675735, + 0.11877304315567017 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8888336121050238, + 0.4307418238506991, + 0.1563211155861851, + 0.4162026772690757, + -0.9016020260800448, + 0.11785210224010292, + 0.19170326399513837, + -0.03968964290758235, + -0.9806500858203597 + ], + [ + 0.8978706167906342, + 0.42269623214440355, + 0.12311072591342254, + 0.4099878883945871, + -0.9046773634488312, + 0.11605515685663496, + 0.16043156445585421, + -0.053728608712631784, + -0.9855835579655594 + ], + [ + 0.927364138331135, + 0.3641789921937789, + 0.08584530611556565, + 0.35416101326604954, + -0.9283861513882863, + 0.11255723252110933, + 0.12068857286303775, + -0.07397848035185281, + -0.9899300242063142 + ], + [ + 0.9589589880367593, + 0.2726140498333395, + 0.07796947541813966, + 0.2601168690348503, + -0.9552603121692358, + 0.1407726906677583, + 0.1128577587364772, + -0.11471406115990904, + -0.9869669753670481 + ], + [ + 0.9864607212740499, + 0.15199807492633072, + 0.061577841811567724, + 0.14206086165977116, + -0.9795870791928354, + 0.1422247020138655, + 0.08193873911627067, + -0.1315512808646842, + -0.9879171541859654 + ], + [ + 0.996284852717507, + 0.06810703451268672, + 0.05270601574340061, + 0.06103528791743782, + -0.9901783029556209, + 0.12578402913232864, + 0.06075513043761294, + -0.12209979609243715, + -0.9906565771848963 + ], + [ + 0.9985841503272299, + 0.0033272738889620628, + 0.053090714477315365, + -0.002498958644707902, + -0.9940058013126798, + 0.10929877475264382, + 0.05313614514561657, + -0.10927669561807293, + -0.9925901238043117 + ], + [ + 0.9951049289672049, + -0.06294968178257598, + 0.07618082375930184, + -0.0714276611213133, + -0.9908830774762486, + 0.11423141423416353, + 0.06829545791567852, + -0.1191136614107326, + -0.9905289829648684 + ], + [ + 0.986412734281863, + -0.12425246327453833, + 0.10747670918291193, + -0.13446953591447502, + -0.9864780871720557, + 0.09369593075639973, + 0.09438146829502302, + -0.10687520245394552, + -0.989782718349287 + ], + [ + 0.9789997615591574, + -0.16890707517638165, + 0.1141484420501335, + -0.17628951258883263, + -0.9826315438407203, + 0.05794183980850027, + 0.10237907314634348, + -0.07684822056861332, + -0.9917725930762217 + ], + [ + 0.9798751232247126, + -0.17205317798207534, + 0.10120497434228676, + -0.17602982690041405, + -0.983874166771988, + 0.031703690639052484, + 0.09411823907598824, + -0.0488807518865533, + -0.9943603115411639 + ], + [ + 0.9774241406373373, + -0.18174195772735902, + 0.10775857321247888, + -0.18611752020358863, + -0.982007607328648, + 0.03195821994307847, + 0.10001158919159873, + -0.05129249409114592, + -0.9936633041816932 + ], + [ + 0.9782203030233043, + -0.1899747687133079, + 0.08363388072617567, + -0.1936580242149378, + -0.980320834168299, + 0.038309682232267925, + 0.07471016269666111, + -0.05367168106083456, + -0.9957598818198806 + ], + [ + 0.9781416248732671, + -0.18993493256349878, + 0.08463854371610643, + -0.19288863251493824, + -0.9808173376082149, + 0.028130511791454364, + 0.07767198424658148, + -0.04384143746766538, + -0.9960145537209618 + ], + [ + 0.9769648055810797, + -0.19114384091033965, + 0.09488835933856854, + -0.19308182722852224, + -0.9811141450550557, + 0.011594928502659661, + 0.09088001237905746, + -0.02964905487413485, + -0.9954203920430063 + ], + [ + 0.9750606596417472, + -0.2032750790442628, + 0.08908396184807425, + -0.20493720295747933, + -0.978725765797534, + 0.009829456139337023, + 0.08519068530634895, + -0.027840933956656724, + -0.9959756169372096 + ], + [ + 0.974277030760148, + -0.20989296591580195, + 0.08203176331310583, + -0.21167458957058014, + -0.977246083772472, + 0.013563181097847737, + 0.07731840313480262, + -0.03057833563872591, + -0.9965374202338061 + ], + [ + 0.9766986131382336, + -0.20160257631529893, + 0.07359497480728984, + -0.20333754557261596, + -0.9789642315687986, + 0.016818914037960146, + 0.06865611155866526, + -0.03139163155915965, + -0.9971463803342508 + ], + [ + 0.9825050053810547, + -0.17809880102016626, + 0.05444934780465754, + -0.1799881682726027, + -0.9831485432036983, + 0.03198751753917142, + 0.047834858451202576, + -0.04122813446694838, + -0.9980040416978923 + ], + [ + 0.9864481748735366, + -0.15489948203791493, + 0.054093888315169016, + -0.15877777234842677, + -0.9843217975049828, + 0.07681287629447592, + 0.04134751862856421, + -0.08436082871181966, + -0.9955770353329346 + ], + [ + 0.9943834502368007, + -0.09651967862475704, + 0.04342240819357432, + -0.09985278257002199, + -0.9915690507243987, + 0.0825847410756881, + 0.03508526340473565, + -0.08645674805177529, + -0.9956376122908033 + ], + [ + 0.9995765191613691, + -0.011359725873353278, + -0.026790650782010955, + -0.009806032401230758, + -0.9983014529769636, + 0.057428657590349715, + -0.027397519409381003, + -0.05714162766465344, + -0.9979900852804335 + ], + [ + 0.9979385948849038, + 0.04558935078159499, + -0.04516826246886838, + 0.04850723367205088, + -0.9966556065594151, + 0.06576207261917431, + -0.04201915183138461, + -0.06781749780843575, + -0.9968125088853841 + ], + [ + 0.9967563387699285, + 0.07848744408296274, + -0.017791072010724506, + 0.07920901785469714, + -0.99587194947053, + 0.044328227443241476, + -0.01423842029374253, + -0.04559365503103773, + -0.998858591597654 + ], + [ + 0.9994783629344727, + 0.032271722244743506, + 0.001240148855706705, + 0.03220464894781369, + -0.9988092778359303, + 0.03664542393008049, + 0.002421283125589904, + -0.03658636976013554, + -0.9993275613810519 + ], + [ + 0.9996961215567739, + 0.020742578101691302, + -0.013319534452811472, + 0.021213303448576883, + -0.9991182997831829, + 0.036230081357362415, + -0.0125562853242108, + -0.03650162314278284, + -0.9992547078732228 + ], + [ + 0.9991968289861546, + 0.01402923204916921, + -0.03753501821132035, + 0.014738707513371568, + -0.9997166454666706, + 0.018692225060243355, + -0.03726214493086612, + -0.019230429661816418, + -0.9991204747827829 + ], + [ + 0.9976964684362128, + 0.01957506903093197, + -0.0649505468979568, + 0.02148112776353286, + -0.9993549610293625, + 0.028778864050004207, + -0.06434530301363274, + -0.030107782024521416, + -0.9974734098920373 + ], + [ + 0.9979200326572357, + 0.016728664204477453, + -0.06225560388684391, + 0.01866445888737016, + -0.9993560920819072, + 0.030643746396621773, + -0.061702888067119266, + -0.03174197556411125, + -0.9975896955118693 + ], + [ + 0.9971014597078612, + 0.025001674529120905, + -0.07185816111752427, + 0.02700048892507557, + -0.9992712463147518, + 0.026980546443117183, + -0.07113123537700608, + -0.0288425477255779, + -0.9970498757807648 + ], + [ + 0.9942837113348156, + 0.030806546882066903, + -0.10222943824294752, + 0.03306059393436648, + -0.9992445631103157, + 0.020427927530266603, + -0.10152289644692243, + -0.02369092154556061, + -0.9945510754774489 + ], + [ + 0.9891010144253821, + 0.018384013667223142, + -0.14608631456835164, + 0.022343446221517217, + -0.999424870683649, + 0.025508788091899992, + -0.14553334213720992, + -0.028494839891718, + -0.9889429156558629 + ], + [ + 0.981223954993061, + 0.0032013514328477948, + -0.1928452786478788, + 0.010914019882201524, + -0.9991817495027301, + 0.038945033453238555, + -0.19256280616408125, + -0.04031851695767546, + -0.9804560076171431 + ], + [ + 0.9787875844720769, + 0.002212529803240034, + -0.2048657345560416, + 0.010600074122770944, + -0.9991493150631271, + 0.039853288916670754, + -0.2046032817720881, + -0.04117949636352593, + -0.9779783975974816 + ], + [ + 0.9762489573308104, + 0.013305256512551152, + -0.21624278822573728, + 0.023467117607477838, + -0.9987340227834569, + 0.04449321438118881, + -0.21537703615219206, + -0.048511049090994095, + -0.9753252844125332 + ], + [ + 0.9720506310426247, + 0.024074435834210067, + -0.23353370683672173, + 0.0366812763918781, + -0.9980858751502821, + 0.04979025796035018, + -0.2318880217947836, + -0.05696496611743107, + -0.9710730858093751 + ], + [ + 0.9763091997493294, + 0.025211694598969103, + -0.21490629804701472, + 0.037419492787078706, + -0.9978970523993609, + 0.052926877597538426, + -0.2131199850891084, + -0.0597146821821515, + -0.9751994814844308 + ], + [ + 0.983616954824301, + 0.046105074713503995, + -0.17427566745771206, + 0.0543474183422614, + -0.9976035381283681, + 0.042819841584161175, + -0.1718838104700383, + -0.0515897547912727, + -0.98376544607893 + ], + [ + 0.9924150897353049, + 0.05620726681497353, + -0.10932992647421398, + 0.06273695370083865, + -0.9963879266425812, + 0.05722913839327728, + -0.10571832530836593, + -0.06365408704936731, + -0.9923566863259934 + ], + [ + 0.9979575269761831, + 0.05808392562410572, + -0.026590072126146662, + 0.060400490082961236, + -0.9934759640029471, + 0.096733085064794, + -0.020797960220137662, + -0.09814156373579913, + -0.9949551137202991 + ], + [ + 0.9981982130499507, + 0.033193292309494936, + 0.049985325942130884, + 0.02568970270572701, + -0.9892575319333404, + 0.14390821619367944, + 0.054225147660250786, + -0.14236481608463464, + -0.9883278264333204 + ], + [ + 0.9856495094467913, + 0.06423225230813065, + 0.15610657350260596, + 0.040127787169618824, + -0.9874228930626505, + 0.15292413463105006, + 0.16396586603366461, + -0.14446538692437852, + -0.9758303883137788 + ], + [ + 0.9802347080404873, + 0.11251555895975554, + 0.1627272753558999, + 0.09090970866640571, + -0.9867167386250706, + 0.13463098672777318, + 0.17571380714949617, + -0.11717647677361859, + -0.9774427508902768 + ], + [ + 0.974157196726929, + 0.16686047888033273, + 0.15223447918575125, + 0.14384315332311437, + -0.9779442897757386, + 0.15144013119741095, + 0.17414621243998937, + -0.12562860614864774, + -0.9766732053301932 + ], + [ + 0.9521479749804829, + 0.2533155060113953, + 0.17101312275599181, + 0.23190175160751753, + -0.9632348058982708, + 0.13564765500179193, + 0.1990874464699631, + -0.08949839730582146, + -0.9758863794201446 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.002225428819656372, + -0.0002476312220096588, + -0.009907528758049011, + 0.014009896665811539, + 0.031769439578056335, + -0.009584903717041016, + 1.0 + ], + [ + -0.010831862688064575, + 0.005491785705089569, + -0.01253662258386612, + 0.020131759345531464, + 0.04014436900615692, + -0.06354066729545593, + 1.0 + ], + [ + -0.01843273639678955, + 0.014164097607135773, + -0.0013369768857955933, + 0.04111732542514801, + 0.007884778082370758, + -0.0999310314655304, + 1.0 + ], + [ + -0.014431744813919067, + 0.01600262150168419, + -0.004167221486568451, + 0.016671761870384216, + 0.03106801211833954, + -0.12184847891330719, + 1.0 + ], + [ + -0.01014167070388794, + 0.012537937611341476, + -0.014100909233093262, + -0.009748540818691254, + 0.021238137036561966, + -0.08184090256690979, + 1.0 + ], + [ + -0.0035488009452819824, + 0.006825767457485199, + -0.013487264513969421, + -0.012982025742530823, + 0.007631387561559677, + -0.06368891149759293, + 1.0 + ], + [ + -0.003482416272163391, + 0.005977034568786621, + -0.0099869966506958, + 0.010027021169662476, + -0.015187479555606842, + -0.06915363669395447, + 1.0 + ], + [ + -0.0005901753902435303, + 0.007153443992137909, + -0.01664372906088829, + -0.012116201221942902, + -0.02617349475622177, + -0.06383048743009567, + 1.0 + ], + [ + 0.0004148930311203003, + 0.0027920231223106384, + -0.02042432874441147, + -0.030230499804019928, + -0.008036613464355469, + -0.042675137519836426, + 1.0 + ], + [ + -0.0009914189577102661, + 0.0059791430830955505, + -0.01516820304095745, + -0.028212759643793106, + 0.008301019668579102, + 0.00041253864765167236, + 1.0 + ], + [ + 0.0019057989120483398, + 0.001221776008605957, + -0.004483329132199287, + 0.0024553686380386353, + -0.005921319127082825, + -0.010414525866508484, + 1.0 + ], + [ + -0.0013573616743087769, + 0.0020206868648529053, + -0.01152295432984829, + 0.002274300903081894, + 0.025399230420589447, + -0.007278889417648315, + 1.0 + ], + [ + -0.0004356503486633301, + 0.0019272267818450928, + -0.0006929673254489899, + -0.00985964760184288, + -0.002970457077026367, + 0.0007417052984237671, + 0.0 + ], + [ + 0.00040343403816223145, + 0.005820892751216888, + 0.00032881367951631546, + -0.014211812987923622, + -0.013255283236503601, + -0.0004189610481262207, + 0.0 + ], + [ + -0.000394672155380249, + 0.0012699440121650696, + 0.00094559695571661, + -0.0018305052071809769, + 0.00571151077747345, + -0.012043669819831848, + 0.0 + ], + [ + -0.0008628517389297485, + 0.0007124170660972595, + 0.00017040828242897987, + 0.002728806808590889, + 0.007898420095443726, + -0.006774842739105225, + 0.0 + ], + [ + -0.0009969919919967651, + 0.00111427903175354, + 0.0004237126559019089, + 0.0007961150258779526, + 0.008685484528541565, + 0.008681699633598328, + 0.0 + ], + [ + -4.470348358154297e-08, + 0.0025138109922409058, + 0.0024912413209676743, + 0.009816039353609085, + 0.02085704356431961, + 0.024072572588920593, + 0.0 + ], + [ + 0.008390948176383972, + -0.0023840218782424927, + 0.025876007974147797, + 0.0432465635240078, + 0.006493810564279556, + 0.021593883633613586, + 0.0 + ], + [ + 0.0016925334930419922, + -0.003868594765663147, + 0.022803742438554764, + 0.002084605395793915, + 0.006266843527555466, + 0.05950895696878433, + 0.0 + ], + [ + -0.002120792865753174, + -0.01079220324754715, + 0.010431621223688126, + -0.029424019157886505, + 0.06249341368675232, + 0.09027141332626343, + 0.0 + ], + [ + -0.007604941725730896, + -0.018574103713035583, + 0.016368217766284943, + 0.010735414922237396, + 0.014630578458309174, + 0.058379076421260834, + 0.0 + ], + [ + -0.010136663913726807, + -0.016713008284568787, + 0.012616649270057678, + -0.022315584123134613, + -0.02779262512922287, + 0.030730929225683212, + 0.0 + ], + [ + 0.003718078136444092, + -0.023060128092765808, + 0.003005512058734894, + -0.009019449353218079, + -0.016660187393426895, + -0.047089822590351105, + 0.0 + ], + [ + -0.00633297860622406, + -0.025698905810713768, + 0.004528909921646118, + -8.203089237213135e-05, + 0.014977900311350822, + -0.010993745177984238, + 0.0 + ], + [ + -0.007788524031639099, + -0.02097952552139759, + 8.158385753631592e-05, + -0.017267631366848946, + 0.024714156985282898, + -0.006467082537710667, + 0.0 + ], + [ + -0.012922018766403198, + -0.009339109063148499, + -0.009811893105506897, + 0.010929901152849197, + 0.027119014412164688, + 0.006777913309633732, + 0.0 + ], + [ + -0.005054965615272522, + -0.008284971117973328, + -0.012889914214611053, + 0.0016330536454916, + -0.0026476792991161346, + -0.0028262175619602203, + 0.0 + ], + [ + -0.0042657554149627686, + -0.002888694405555725, + -0.009822346270084381, + -0.002888113260269165, + 0.009449247270822525, + 0.008371181786060333, + 0.0 + ], + [ + 0.0006533414125442505, + -0.0018418263643980026, + -0.010014951229095459, + -0.005103608593344688, + 0.03050675243139267, + 0.006166055798530579, + 0.0 + ], + [ + 0.005006164312362671, + -0.0009497683495283127, + -0.010004878044128418, + 0.004989247769117355, + 0.044353924691677094, + -0.010652609169483185, + 0.0 + ], + [ + 0.005208149552345276, + -0.002785172313451767, + -0.00855163112282753, + 0.012293590232729912, + 0.04772113263607025, + -0.011463404633104801, + 0.0 + ], + [ + 0.002311408519744873, + -0.0009183026850223541, + -0.0009384527802467346, + 0.0009828433394432068, + 0.012285232543945312, + -0.0002930276095867157, + 0.0 + ], + [ + -0.0020454376935958862, + 0.0007746033370494843, + 0.00012520328164100647, + 0.007615476846694946, + 0.011019513010978699, + 0.013204040937125683, + 1.0 + ], + [ + -0.0026810169219970703, + 0.0012202560901641846, + 0.0006742924451828003, + 0.008897349238395691, + 0.016940250992774963, + 0.013684658333659172, + 1.0 + ], + [ + -0.00034168362617492676, + 0.002175997942686081, + 0.007842816412448883, + 0.00256221741437912, + -0.019250959157943726, + 0.0005906745791435242, + 1.0 + ], + [ + 0.002180129289627075, + 0.004325268790125847, + 0.010671019554138184, + -0.008763819932937622, + -0.04202558100223541, + 0.01688775047659874, + 1.0 + ], + [ + 0.004759281873703003, + 0.0033865049481391907, + 0.022193320095539093, + 0.011663485318422318, + -0.06682537496089935, + 0.007935933768749237, + 1.0 + ], + [ + 0.007282420992851257, + 0.013439975678920746, + 0.018030740320682526, + 0.03426452726125717, + -0.08511678874492645, + -0.0026820674538612366, + 1.0 + ], + [ + 0.012056887149810791, + 0.018093157559633255, + 0.0024606138467788696, + 0.0447409525513649, + -0.0750512182712555, + -0.03471997380256653, + 1.0 + ], + [ + 0.019719034433364868, + 0.008745558559894562, + 0.007963813841342926, + 0.003913909196853638, + -0.11045783758163452, + 0.01495916023850441, + 1.0 + ], + [ + 0.020985305309295654, + 0.013995489105582237, + 0.00032061338424682617, + -0.02766472101211548, + -0.011921212077140808, + 0.051788706332445145, + 1.0 + ], + [ + 0.013312667608261108, + 0.022280488163232803, + 0.003883354365825653, + 0.008615389466285706, + 0.0015921443700790405, + 0.05412149429321289, + 1.0 + ], + [ + 0.022097378969192505, + 0.03178216516971588, + 0.00014112144708633423, + -0.036472633481025696, + -0.025387972593307495, + 0.09230522811412811, + 1.0 + ], + [ + 0.01705297827720642, + 0.022199735045433044, + -0.009032808244228363, + -0.003843367099761963, + 0.0050787776708602905, + 0.06526648998260498, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9492040276527405 + ], + [ + 0.6681591272354126 + ], + [ + 0.4202251136302948 + ], + [ + 0.4068177044391632 + ], + [ + 0.4068177044391632 + ], + [ + 0.4068177044391632 + ], + [ + 0.4068177044391632 + ], + [ + 0.4068177044391632 + ], + [ + 0.4068177044391632 + ], + [ + 0.4068177044391632 + ], + [ + 0.4068177044391632 + ], + [ + 0.4068177044391632 + ], + [ + 0.4068177044391632 + ], + [ + 0.4068177044391632 + ], + [ + 0.4068177044391632 + ], + [ + 0.4068177044391632 + ], + [ + 0.4068177044391632 + ], + [ + 0.4068177044391632 + ], + [ + 0.4068177044391632 + ], + [ + 0.4068177044391632 + ], + [ + 0.4068177044391632 + ], + [ + 0.49661046266555786 + ], + [ + 0.8026900887489319 + ], + [ + 1.002137303352356 + ], + [ + 1.0027955770492554 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.30864524841308594, + 0.021951697766780853, + 0.13097968697547913 + ], + [ + 0.29781338572502136, + 0.027443483471870422, + 0.118443064391613 + ], + [ + 0.2793806493282318, + 0.041607581079006195, + 0.11710608750581741 + ], + [ + 0.26494890451431274, + 0.057610202580690384, + 0.11293886601924896 + ], + [ + 0.2548072338104248, + 0.07014814019203186, + 0.0988379567861557 + ], + [ + 0.2512584328651428, + 0.07697390764951706, + 0.08535069227218628 + ], + [ + 0.24777601659297943, + 0.08295094221830368, + 0.07536369562149048 + ], + [ + 0.2471858412027359, + 0.09010438621044159, + 0.05871996656060219 + ], + [ + 0.2476007342338562, + 0.09289640933275223, + 0.03829563781619072 + ], + [ + 0.24660931527614594, + 0.09887555241584778, + 0.02312743477523327 + ], + [ + 0.24851511418819427, + 0.10009732842445374, + 0.01864410564303398 + ], + [ + 0.2471577525138855, + 0.10211801528930664, + 0.0071211508475244045 + ], + [ + 0.24672210216522217, + 0.10404524207115173, + 0.006428183522075415 + ], + [ + 0.2471255362033844, + 0.10986613482236862, + 0.00675699720159173 + ], + [ + 0.24673086404800415, + 0.11113607883453369, + 0.00770259415730834 + ], + [ + 0.2458680123090744, + 0.11184849590063095, + 0.00787300243973732 + ], + [ + 0.24487102031707764, + 0.11296277493238449, + 0.008296715095639229 + ], + [ + 0.24487097561359406, + 0.1154765859246254, + 0.010787956416606903 + ], + [ + 0.253261923789978, + 0.1130925640463829, + 0.0366639643907547 + ], + [ + 0.25495445728302, + 0.10922396928071976, + 0.059467706829309464 + ], + [ + 0.25283366441726685, + 0.09843176603317261, + 0.06989932805299759 + ], + [ + 0.24522872269153595, + 0.07985766232013702, + 0.08626754581928253 + ], + [ + 0.23509205877780914, + 0.06314465403556824, + 0.09888419508934021 + ], + [ + 0.23881013691425323, + 0.04008452594280243, + 0.1018897071480751 + ], + [ + 0.23247715830802917, + 0.014385620132088661, + 0.10641861706972122 + ], + [ + 0.22468863427639008, + -0.006593905854970217, + 0.10650020092725754 + ], + [ + 0.21176661550998688, + -0.015933014452457428, + 0.09668830782175064 + ], + [ + 0.20671164989471436, + -0.024217985570430756, + 0.08379839360713959 + ], + [ + 0.2024458944797516, + -0.02710667997598648, + 0.0739760473370552 + ], + [ + 0.20309923589229584, + -0.028948506340384483, + 0.06396109610795975 + ], + [ + 0.2081054002046585, + -0.029898274689912796, + 0.05395621806383133 + ], + [ + 0.21331354975700378, + -0.03268344700336456, + 0.0454045869410038 + ], + [ + 0.21562495827674866, + -0.03360174968838692, + 0.044466134160757065 + ], + [ + 0.21357952058315277, + -0.03282714635133743, + 0.04459133744239807 + ], + [ + 0.2108985036611557, + -0.03160689026117325, + 0.04526562988758087 + ], + [ + 0.21055682003498077, + -0.029430892318487167, + 0.053108446300029755 + ], + [ + 0.21273694932460785, + -0.02510562352836132, + 0.06377946585416794 + ], + [ + 0.21749623119831085, + -0.02171911858022213, + 0.08597278594970703 + ], + [ + 0.2247786521911621, + -0.008279142901301384, + 0.10400352627038956 + ], + [ + 0.2368355393409729, + 0.009814014658331871, + 0.10646414011716843 + ], + [ + 0.25655457377433777, + 0.018559573218226433, + 0.11442795395851135 + ], + [ + 0.2775398790836334, + 0.03255506232380867, + 0.11474856734275818 + ], + [ + 0.29085254669189453, + 0.05483555048704147, + 0.11863192170858383 + ], + [ + 0.31294992566108704, + 0.08661771565675735, + 0.11877304315567017 + ], + [ + 0.33000290393829346, + 0.1088174507021904, + 0.1097402349114418 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8978706167906342, + 0.42269623214440355, + 0.12311072591342254, + 0.4099878883945871, + -0.9046773634488312, + 0.11605515685663496, + 0.16043156445585421, + -0.053728608712631784, + -0.9855835579655594 + ], + [ + 0.927364138331135, + 0.3641789921937789, + 0.08584530611556565, + 0.35416101326604954, + -0.9283861513882863, + 0.11255723252110933, + 0.12068857286303775, + -0.07397848035185281, + -0.9899300242063142 + ], + [ + 0.9589589880367593, + 0.2726140498333395, + 0.07796947541813966, + 0.2601168690348503, + -0.9552603121692358, + 0.1407726906677583, + 0.1128577587364772, + -0.11471406115990904, + -0.9869669753670481 + ], + [ + 0.9864607212740499, + 0.15199807492633072, + 0.061577841811567724, + 0.14206086165977116, + -0.9795870791928354, + 0.1422247020138655, + 0.08193873911627067, + -0.1315512808646842, + -0.9879171541859654 + ], + [ + 0.996284852717507, + 0.06810703451268672, + 0.05270601574340061, + 0.06103528791743782, + -0.9901783029556209, + 0.12578402913232864, + 0.06075513043761294, + -0.12209979609243715, + -0.9906565771848963 + ], + [ + 0.9985841503272299, + 0.0033272738889620628, + 0.053090714477315365, + -0.002498958644707902, + -0.9940058013126798, + 0.10929877475264382, + 0.05313614514561657, + -0.10927669561807293, + -0.9925901238043117 + ], + [ + 0.9951049289672049, + -0.06294968178257598, + 0.07618082375930184, + -0.0714276611213133, + -0.9908830774762486, + 0.11423141423416353, + 0.06829545791567852, + -0.1191136614107326, + -0.9905289829648684 + ], + [ + 0.986412734281863, + -0.12425246327453833, + 0.10747670918291193, + -0.13446953591447502, + -0.9864780871720557, + 0.09369593075639973, + 0.09438146829502302, + -0.10687520245394552, + -0.989782718349287 + ], + [ + 0.9789997615591574, + -0.16890707517638165, + 0.1141484420501335, + -0.17628951258883263, + -0.9826315438407203, + 0.05794183980850027, + 0.10237907314634348, + -0.07684822056861332, + -0.9917725930762217 + ], + [ + 0.9798751232247126, + -0.17205317798207534, + 0.10120497434228676, + -0.17602982690041405, + -0.983874166771988, + 0.031703690639052484, + 0.09411823907598824, + -0.0488807518865533, + -0.9943603115411639 + ], + [ + 0.9774241406373373, + -0.18174195772735902, + 0.10775857321247888, + -0.18611752020358863, + -0.982007607328648, + 0.03195821994307847, + 0.10001158919159873, + -0.05129249409114592, + -0.9936633041816932 + ], + [ + 0.9782203030233043, + -0.1899747687133079, + 0.08363388072617567, + -0.1936580242149378, + -0.980320834168299, + 0.038309682232267925, + 0.07471016269666111, + -0.05367168106083456, + -0.9957598818198806 + ], + [ + 0.9781416248732671, + -0.18993493256349878, + 0.08463854371610643, + -0.19288863251493824, + -0.9808173376082149, + 0.028130511791454364, + 0.07767198424658148, + -0.04384143746766538, + -0.9960145537209618 + ], + [ + 0.9769648055810797, + -0.19114384091033965, + 0.09488835933856854, + -0.19308182722852224, + -0.9811141450550557, + 0.011594928502659661, + 0.09088001237905746, + -0.02964905487413485, + -0.9954203920430063 + ], + [ + 0.9750606596417472, + -0.2032750790442628, + 0.08908396184807425, + -0.20493720295747933, + -0.978725765797534, + 0.009829456139337023, + 0.08519068530634895, + -0.027840933956656724, + -0.9959756169372096 + ], + [ + 0.974277030760148, + -0.20989296591580195, + 0.08203176331310583, + -0.21167458957058014, + -0.977246083772472, + 0.013563181097847737, + 0.07731840313480262, + -0.03057833563872591, + -0.9965374202338061 + ], + [ + 0.9766986131382336, + -0.20160257631529893, + 0.07359497480728984, + -0.20333754557261596, + -0.9789642315687986, + 0.016818914037960146, + 0.06865611155866526, + -0.03139163155915965, + -0.9971463803342508 + ], + [ + 0.9825050053810547, + -0.17809880102016626, + 0.05444934780465754, + -0.1799881682726027, + -0.9831485432036983, + 0.03198751753917142, + 0.047834858451202576, + -0.04122813446694838, + -0.9980040416978923 + ], + [ + 0.9864481748735366, + -0.15489948203791493, + 0.054093888315169016, + -0.15877777234842677, + -0.9843217975049828, + 0.07681287629447592, + 0.04134751862856421, + -0.08436082871181966, + -0.9955770353329346 + ], + [ + 0.9943834502368007, + -0.09651967862475704, + 0.04342240819357432, + -0.09985278257002199, + -0.9915690507243987, + 0.0825847410756881, + 0.03508526340473565, + -0.08645674805177529, + -0.9956376122908033 + ], + [ + 0.9995765191613691, + -0.011359725873353278, + -0.026790650782010955, + -0.009806032401230758, + -0.9983014529769636, + 0.057428657590349715, + -0.027397519409381003, + -0.05714162766465344, + -0.9979900852804335 + ], + [ + 0.9979385948849038, + 0.04558935078159499, + -0.04516826246886838, + 0.04850723367205088, + -0.9966556065594151, + 0.06576207261917431, + -0.04201915183138461, + -0.06781749780843575, + -0.9968125088853841 + ], + [ + 0.9967563387699285, + 0.07848744408296274, + -0.017791072010724506, + 0.07920901785469714, + -0.99587194947053, + 0.044328227443241476, + -0.01423842029374253, + -0.04559365503103773, + -0.998858591597654 + ], + [ + 0.9994783629344727, + 0.032271722244743506, + 0.001240148855706705, + 0.03220464894781369, + -0.9988092778359303, + 0.03664542393008049, + 0.002421283125589904, + -0.03658636976013554, + -0.9993275613810519 + ], + [ + 0.9996961215567739, + 0.020742578101691302, + -0.013319534452811472, + 0.021213303448576883, + -0.9991182997831829, + 0.036230081357362415, + -0.0125562853242108, + -0.03650162314278284, + -0.9992547078732228 + ], + [ + 0.9991968289861546, + 0.01402923204916921, + -0.03753501821132035, + 0.014738707513371568, + -0.9997166454666706, + 0.018692225060243355, + -0.03726214493086612, + -0.019230429661816418, + -0.9991204747827829 + ], + [ + 0.9976964684362128, + 0.01957506903093197, + -0.0649505468979568, + 0.02148112776353286, + -0.9993549610293625, + 0.028778864050004207, + -0.06434530301363274, + -0.030107782024521416, + -0.9974734098920373 + ], + [ + 0.9979200326572357, + 0.016728664204477453, + -0.06225560388684391, + 0.01866445888737016, + -0.9993560920819072, + 0.030643746396621773, + -0.061702888067119266, + -0.03174197556411125, + -0.9975896955118693 + ], + [ + 0.9971014597078612, + 0.025001674529120905, + -0.07185816111752427, + 0.02700048892507557, + -0.9992712463147518, + 0.026980546443117183, + -0.07113123537700608, + -0.0288425477255779, + -0.9970498757807648 + ], + [ + 0.9942837113348156, + 0.030806546882066903, + -0.10222943824294752, + 0.03306059393436648, + -0.9992445631103157, + 0.020427927530266603, + -0.10152289644692243, + -0.02369092154556061, + -0.9945510754774489 + ], + [ + 0.9891010144253821, + 0.018384013667223142, + -0.14608631456835164, + 0.022343446221517217, + -0.999424870683649, + 0.025508788091899992, + -0.14553334213720992, + -0.028494839891718, + -0.9889429156558629 + ], + [ + 0.981223954993061, + 0.0032013514328477948, + -0.1928452786478788, + 0.010914019882201524, + -0.9991817495027301, + 0.038945033453238555, + -0.19256280616408125, + -0.04031851695767546, + -0.9804560076171431 + ], + [ + 0.9787875844720769, + 0.002212529803240034, + -0.2048657345560416, + 0.010600074122770944, + -0.9991493150631271, + 0.039853288916670754, + -0.2046032817720881, + -0.04117949636352593, + -0.9779783975974816 + ], + [ + 0.9762489573308104, + 0.013305256512551152, + -0.21624278822573728, + 0.023467117607477838, + -0.9987340227834569, + 0.04449321438118881, + -0.21537703615219206, + -0.048511049090994095, + -0.9753252844125332 + ], + [ + 0.9720506310426247, + 0.024074435834210067, + -0.23353370683672173, + 0.0366812763918781, + -0.9980858751502821, + 0.04979025796035018, + -0.2318880217947836, + -0.05696496611743107, + -0.9710730858093751 + ], + [ + 0.9763091997493294, + 0.025211694598969103, + -0.21490629804701472, + 0.037419492787078706, + -0.9978970523993609, + 0.052926877597538426, + -0.2131199850891084, + -0.0597146821821515, + -0.9751994814844308 + ], + [ + 0.983616954824301, + 0.046105074713503995, + -0.17427566745771206, + 0.0543474183422614, + -0.9976035381283681, + 0.042819841584161175, + -0.1718838104700383, + -0.0515897547912727, + -0.98376544607893 + ], + [ + 0.9924150897353049, + 0.05620726681497353, + -0.10932992647421398, + 0.06273695370083865, + -0.9963879266425812, + 0.05722913839327728, + -0.10571832530836593, + -0.06365408704936731, + -0.9923566863259934 + ], + [ + 0.9979575269761831, + 0.05808392562410572, + -0.026590072126146662, + 0.060400490082961236, + -0.9934759640029471, + 0.096733085064794, + -0.020797960220137662, + -0.09814156373579913, + -0.9949551137202991 + ], + [ + 0.9981982130499507, + 0.033193292309494936, + 0.049985325942130884, + 0.02568970270572701, + -0.9892575319333404, + 0.14390821619367944, + 0.054225147660250786, + -0.14236481608463464, + -0.9883278264333204 + ], + [ + 0.9856495094467913, + 0.06423225230813065, + 0.15610657350260596, + 0.040127787169618824, + -0.9874228930626505, + 0.15292413463105006, + 0.16396586603366461, + -0.14446538692437852, + -0.9758303883137788 + ], + [ + 0.9802347080404873, + 0.11251555895975554, + 0.1627272753558999, + 0.09090970866640571, + -0.9867167386250706, + 0.13463098672777318, + 0.17571380714949617, + -0.11717647677361859, + -0.9774427508902768 + ], + [ + 0.974157196726929, + 0.16686047888033273, + 0.15223447918575125, + 0.14384315332311437, + -0.9779442897757386, + 0.15144013119741095, + 0.17414621243998937, + -0.12562860614864774, + -0.9766732053301932 + ], + [ + 0.9521479749804829, + 0.2533155060113953, + 0.17101312275599181, + 0.23190175160751753, + -0.9632348058982708, + 0.13564765500179193, + 0.1990874464699631, + -0.08949839730582146, + -0.9758863794201446 + ], + [ + 0.9359487282129785, + 0.3145585974789829, + 0.1582809745628422, + 0.29380630296199833, + -0.9453493221356697, + 0.1413948919778642, + 0.19410779092120536, + -0.08583442135696273, + -0.9772177943600928 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006515.json b/json/chunk-0006/episode_0006515.json new file mode 100644 index 0000000000000000000000000000000000000000..9195553bcb22e93cb5ad94d27f479d69919c9b41 --- /dev/null +++ b/json/chunk-0006/episode_0006515.json @@ -0,0 +1,2422 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 39, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPick up cheese inside of wok, move right, set it on table." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006515.mp4", + "start": 0, + "end": 39, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.28789395093917847, + 0.07526956498622894, + 0.16099973022937775, + 0.039757147431373596, + -0.07015611231327057, + -0.028643300756812096, + 0.0, + 1.0001531839370728 + ], + [ + 0.2884606719017029, + 0.07396877557039261, + 0.1538849174976349, + 0.027565766125917435, + -0.049711715430021286, + -0.02526978962123394, + 0.0, + 1.0001531839370728 + ], + [ + 0.29176685214042664, + 0.049814388155937195, + 0.1483502984046936, + -0.01104696188122034, + -0.05830187723040581, + -0.0668729767203331, + 0.0, + 1.0001531839370728 + ], + [ + 0.2945133447647095, + 0.014190123416483402, + 0.1396910548210144, + -0.012472041882574558, + -0.09037367254495621, + -0.13700690865516663, + 0.0, + 1.0001531839370728 + ], + [ + 0.2967497408390045, + -0.011327799409627914, + 0.12901146709918976, + 0.005730645265430212, + -0.126174196600914, + -0.16615575551986694, + 0.0, + 1.0001531839370728 + ], + [ + 0.30161070823669434, + -0.022904949262738228, + 0.11211012303829193, + 0.03678610920906067, + -0.19827677309513092, + -0.1346510648727417, + 0.0, + 1.0001531839370728 + ], + [ + 0.30667802691459656, + -0.01876976154744625, + 0.0992610976099968, + 0.06702456623315811, + -0.18293674290180206, + -0.13083316385746002, + 0.0, + 1.0001531839370728 + ], + [ + 0.3064035475254059, + -0.0029572334606200457, + 0.07848163694143295, + 0.11674746870994568, + -0.14442399144172668, + -0.11892677843570709, + 0.0, + 1.0001531839370728 + ], + [ + 0.3081609606742859, + 0.0072267502546310425, + 0.06048036739230156, + 0.12248118221759796, + -0.1008322685956955, + -0.08642847836017609, + 0.0, + 1.0001531839370728 + ], + [ + 0.3078692555427551, + 0.009934274479746819, + 0.047346070408821106, + 0.13149449229240417, + -0.06707102805376053, + -0.0770173966884613, + 0.0, + 1.0001531839370728 + ], + [ + 0.30742722749710083, + 0.008214134722948074, + 0.03926343470811844, + 0.12193191051483154, + -0.05174131691455841, + -0.0631355494260788, + 0.0, + 1.0001531839370728 + ], + [ + 0.3086346685886383, + 0.0026598097756505013, + 0.04054546728730202, + 0.08540434390306473, + -0.055331673473119736, + -0.033164095133543015, + 0.0, + 0.9988223910331726 + ], + [ + 0.3097180128097534, + -0.004045370500534773, + 0.042968109250068665, + 0.05412000045180321, + -0.051684774458408356, + -0.01610635407269001, + 0.0, + 0.9988223910331726 + ], + [ + 0.3099614977836609, + -0.012633965350687504, + 0.04773043841123581, + 0.034336790442466736, + -0.06661584973335266, + -0.014032716862857342, + 0.0, + 0.9988223910331726 + ], + [ + 0.31099164485931396, + -0.019250355660915375, + 0.04932469129562378, + 0.045118216425180435, + -0.07938370853662491, + -0.02014598250389099, + 0.0, + 0.9988223910331726 + ], + [ + 0.31183061003685, + -0.023824937641620636, + 0.048205699771642685, + 0.06027807295322418, + -0.09141232073307037, + -0.02942521683871746, + 0.0, + 0.9988223910331726 + ], + [ + 0.30952540040016174, + -0.022173656150698662, + 0.035010986030101776, + 0.09237825870513916, + -0.061291251331567764, + -0.0349273644387722, + 0.0, + 0.9988223910331726 + ], + [ + 0.3082970976829529, + -0.013561111874878407, + 0.016154425218701363, + 0.14915801584720612, + -0.025310412049293518, + -0.040758486837148666, + 0.0, + 1.0001531839370728 + ], + [ + 0.3124525547027588, + -0.0076345717534422874, + 0.010295011103153229, + 0.1936303675174713, + -0.020905114710330963, + -0.04875225946307182, + 0.0, + 0.9635607004165649 + ], + [ + 0.3128584325313568, + -0.0040558925829827785, + 0.010731296613812447, + 0.19196943938732147, + -0.024101579561829567, + -0.034205302596092224, + 0.0, + 0.7903241515159607 + ], + [ + 0.30287083983421326, + -0.0038148851599544287, + 0.017836937680840492, + 0.1526726633310318, + 0.00487875659018755, + -0.037125617265701294, + 0.0, + 0.7893680930137634 + ], + [ + 0.2993583679199219, + 0.0032567312009632587, + 0.05075232684612274, + 0.08711452037096024, + -0.009806917048990726, + -0.023261848837137222, + 0.0, + 0.7893680930137634 + ], + [ + 0.2984713613986969, + 0.016320470720529556, + 0.08149658143520355, + -0.002102753147482872, + -0.030874455347657204, + -0.0054554021917283535, + 0.0, + 0.7893680930137634 + ], + [ + 0.29956814646720886, + 0.005539897363632917, + 0.09010209143161774, + -0.046523645520210266, + -0.03369523212313652, + -0.037613652646541595, + 0.0, + 0.7893680930137634 + ], + [ + 0.29277607798576355, + -0.025714389979839325, + 0.08789581060409546, + -0.046168047934770584, + -0.03626546636223793, + -0.1333686262369156, + 0.0, + 0.7893680930137634 + ], + [ + 0.2762245535850525, + -0.055675990879535675, + 0.07707350701093674, + 0.012027173303067684, + -0.027568800374865532, + -0.21267174184322357, + 0.0, + 0.7893680930137634 + ], + [ + 0.2556845545768738, + -0.0772315189242363, + 0.08237435668706894, + 0.064019575715065, + -0.07533564418554306, + -0.2633574604988098, + 0.0, + 0.7893680930137634 + ], + [ + 0.2415803223848343, + -0.07701536267995834, + 0.07720237225294113, + 0.06519625335931778, + -0.09456422179937363, + -0.24057714641094208, + 0.0, + 0.7893680930137634 + ], + [ + 0.23757971823215485, + -0.08235327899456024, + 0.07058180123567581, + 0.0425758957862854, + -0.11363540589809418, + -0.21635645627975464, + 0.0, + 0.7893680930137634 + ], + [ + 0.2371341586112976, + -0.08709730207920074, + 0.05878499522805214, + 0.008604908362030983, + -0.13921044766902924, + -0.19448940455913544, + 0.0, + 0.7893680930137634 + ], + [ + 0.2435223013162613, + -0.10835812985897064, + 0.02550194226205349, + -0.011002744548022747, + -0.1468847692012787, + -0.32632195949554443, + 0.0, + 0.7893680930137634 + ], + [ + 0.2538939118385315, + -0.12208693474531174, + 0.006080415565520525, + 0.008592462167143822, + -0.12971259653568268, + -0.40105411410331726, + 0.0, + 0.7893680930137634 + ], + [ + 0.2702377438545227, + -0.1310834288597107, + 0.004375400487333536, + 0.029605049639940262, + -0.13060401380062103, + -0.43815919756889343, + 0.0, + 0.8625253438949585 + ], + [ + 0.2708084285259247, + -0.128823921084404, + 0.004507274366915226, + 0.042563680559396744, + -0.1125994548201561, + -0.4204936623573303, + 0.0, + 0.993436336517334 + ], + [ + 0.26003819704055786, + -0.12076665461063385, + 0.02333674021065235, + 0.06765782088041306, + -0.10611801594495773, + -0.3910321593284607, + 0.0, + 0.9974852800369263 + ], + [ + 0.25853240489959717, + -0.11495596170425415, + 0.05685420334339142, + 0.046446073800325394, + -0.14575618505477905, + -0.3868653178215027, + 0.0, + 0.9988223910331726 + ], + [ + 0.2549362778663635, + -0.09499552845954895, + 0.09669158607721329, + -0.0066712647676467896, + -0.15325970947742462, + -0.30553683638572693, + 0.0, + 0.9988223910331726 + ], + [ + 0.2513931691646576, + -0.06008906289935112, + 0.13826215267181396, + -0.02576284296810627, + -0.10465454310178757, + -0.1664501577615738, + 0.0, + 0.9988223910331726 + ], + [ + 0.25782501697540283, + -0.03615669533610344, + 0.1516415923833847, + -0.03747645020484924, + -0.1020541861653328, + -0.09226388484239578, + 0.0, + 0.9988223910331726 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 1.0001531839370728 + ], + [ + 0.9635607004165649 + ], + [ + 0.7903241515159607 + ], + [ + 0.7893680930137634 + ], + [ + 0.7893680930137634 + ], + [ + 0.7893680930137634 + ], + [ + 0.7893680930137634 + ], + [ + 0.7893680930137634 + ], + [ + 0.7893680930137634 + ], + [ + 0.7893680930137634 + ], + [ + 0.7893680930137634 + ], + [ + 0.7893680930137634 + ], + [ + 0.7893680930137634 + ], + [ + 0.7893680930137634 + ], + [ + 0.7893680930137634 + ], + [ + 0.8625253438949585 + ], + [ + 0.993436336517334 + ], + [ + 0.9974852800369263 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.28789395093917847, + 0.07526956498622894, + 0.16099973022937775 + ], + [ + 0.2884606719017029, + 0.07396877557039261, + 0.1538849174976349 + ], + [ + 0.29176685214042664, + 0.049814388155937195, + 0.1483502984046936 + ], + [ + 0.2945133447647095, + 0.014190123416483402, + 0.1396910548210144 + ], + [ + 0.2967497408390045, + -0.011327799409627914, + 0.12901146709918976 + ], + [ + 0.30161070823669434, + -0.022904949262738228, + 0.11211012303829193 + ], + [ + 0.30667802691459656, + -0.01876976154744625, + 0.0992610976099968 + ], + [ + 0.3064035475254059, + -0.0029572334606200457, + 0.07848163694143295 + ], + [ + 0.3081609606742859, + 0.0072267502546310425, + 0.06048036739230156 + ], + [ + 0.3078692555427551, + 0.009934274479746819, + 0.047346070408821106 + ], + [ + 0.30742722749710083, + 0.008214134722948074, + 0.03926343470811844 + ], + [ + 0.3086346685886383, + 0.0026598097756505013, + 0.04054546728730202 + ], + [ + 0.3097180128097534, + -0.004045370500534773, + 0.042968109250068665 + ], + [ + 0.3099614977836609, + -0.012633965350687504, + 0.04773043841123581 + ], + [ + 0.31099164485931396, + -0.019250355660915375, + 0.04932469129562378 + ], + [ + 0.31183061003685, + -0.023824937641620636, + 0.048205699771642685 + ], + [ + 0.30952540040016174, + -0.022173656150698662, + 0.035010986030101776 + ], + [ + 0.3082970976829529, + -0.013561111874878407, + 0.016154425218701363 + ], + [ + 0.3124525547027588, + -0.0076345717534422874, + 0.010295011103153229 + ], + [ + 0.3128584325313568, + -0.0040558925829827785, + 0.010731296613812447 + ], + [ + 0.30287083983421326, + -0.0038148851599544287, + 0.017836937680840492 + ], + [ + 0.2993583679199219, + 0.0032567312009632587, + 0.05075232684612274 + ], + [ + 0.2984713613986969, + 0.016320470720529556, + 0.08149658143520355 + ], + [ + 0.29956814646720886, + 0.005539897363632917, + 0.09010209143161774 + ], + [ + 0.29277607798576355, + -0.025714389979839325, + 0.08789581060409546 + ], + [ + 0.2762245535850525, + -0.055675990879535675, + 0.07707350701093674 + ], + [ + 0.2556845545768738, + -0.0772315189242363, + 0.08237435668706894 + ], + [ + 0.2415803223848343, + -0.07701536267995834, + 0.07720237225294113 + ], + [ + 0.23757971823215485, + -0.08235327899456024, + 0.07058180123567581 + ], + [ + 0.2371341586112976, + -0.08709730207920074, + 0.05878499522805214 + ], + [ + 0.2435223013162613, + -0.10835812985897064, + 0.02550194226205349 + ], + [ + 0.2538939118385315, + -0.12208693474531174, + 0.006080415565520525 + ], + [ + 0.2702377438545227, + -0.1310834288597107, + 0.004375400487333536 + ], + [ + 0.2708084285259247, + -0.128823921084404, + 0.004507274366915226 + ], + [ + 0.26003819704055786, + -0.12076665461063385, + 0.02333674021065235 + ], + [ + 0.25853240489959717, + -0.11495596170425415, + 0.05685420334339142 + ], + [ + 0.2549362778663635, + -0.09499552845954895, + 0.09669158607721329 + ], + [ + 0.2513931691646576, + -0.06008906289935112, + 0.13826215267181396 + ], + [ + 0.25782501697540283, + -0.03615669533610344, + 0.1516415923833847 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9971308869069196, + -0.025831710626938443, + 0.07115277297693005, + -0.028568933334256506, + -0.9988797161846906, + 0.037724377303479384, + 0.07009857647886468, + -0.03964890062635505, + -0.9967518017313832 + ], + [ + 0.9984457573822508, + -0.02388833460572469, + 0.05035292479239352, + -0.025235886027483445, + -0.99933555138937, + 0.02629839891916772, + 0.04969124290849815, + -0.02752822549800027, + -0.9983851847754652 + ], + [ + 0.9960695602718552, + -0.06746130989092991, + 0.05739688813544656, + -0.06670960785330438, + -0.9976609421992956, + -0.01491551641989283, + 0.05826885377190282, + 0.01102796798207467, + -0.9982400135249513 + ], + [ + 0.9865865451391738, + -0.13768309849065577, + 0.08769465970264029, + -0.13602132016368898, + -0.9903984488881215, + -0.024680212740792448, + 0.09025070310682742, + 0.012420822437179646, + -0.9958416208206543 + ], + [ + 0.9783879320314018, + -0.1646783567248041, + 0.12505236215975732, + -0.16407750855683265, + -0.9863309378356134, + -0.015160879067582362, + 0.12583968229894513, + -0.005685058903609639, + -0.9920343010522181 + ], + [ + 0.9715330559656252, + -0.1269747977339061, + 0.2000023047530388, + -0.13161435296260818, + -0.9912503598850095, + 0.010019287503285722, + 0.19698015956011347, + -0.03605724293776695, + -0.9797441972124149 + ], + [ + 0.9749098391045293, + -0.11808758250703993, + 0.1886958623680534, + -0.12828333083392057, + -0.9908169354391319, + 0.04272221292444459, + 0.18191809323796027, + -0.06585683946751267, + -0.9811058475251356 + ], + [ + 0.9825990502539095, + -0.10119295567408301, + 0.15575330546109847, + -0.11741140130846131, + -0.9881664199740975, + 0.09869999634427107, + 0.14392244190152773, + -0.11526973652055747, + -0.982852592487593 + ], + [ + 0.9912070748722643, + -0.07342181760395296, + 0.1100807495564122, + -0.08588246975745832, + -0.9898655021119664, + 0.11309504461727804, + 0.10066149269471886, + -0.12155461500229728, + -0.9874673358952765 + ], + [ + 0.9947938728683708, + -0.0675156130858288, + 0.07633342972244905, + -0.0767682826679479, + -0.9891043868969748, + 0.12561505720801783, + 0.0670207526051555, + -0.1308210755604929, + -0.9891380413822098 + ], + [ + 0.9966719961989953, + -0.05634722016294197, + 0.058906050390590915, + -0.06300917657640114, + -0.9909948052812982, + 0.11814880267123215, + 0.05171823334061008, + -0.12146722473733726, + -0.9912471627473823 + ], + [ + 0.9979205568079811, + -0.028322343265973025, + 0.057899975578349965, + -0.03310727092861219, + -0.9959638112639488, + 0.08342658607571536, + 0.05530344394075833, + -0.08517001540749929, + -0.9948304365889585 + ], + [ + 0.9985351080340044, + -0.013287869251544493, + 0.052450648749782225, + -0.016084150849470232, + -0.9984513639722775, + 0.05325574028543722, + 0.051661766471643805, + -0.054021350525994, + -0.9972024646842671 + ], + [ + 0.9976837461228708, + -0.011738976046256075, + 0.0670025310239863, + -0.014001132561087532, + -0.9993442183971712, + 0.033393134670969986, + 0.06656659078878589, + -0.03425389901211407, + -0.9971938424364774 + ], + [ + 0.9966484833538802, + -0.016548168357515335, + 0.08011216357346454, + -0.02008117970164167, + -0.9988516797847867, + 0.043497908143957334, + 0.07930035844938271, + -0.044960870933747524, + -0.9958363184955037 + ], + [ + 0.9953937193735284, + -0.02387076153539794, + 0.09285219531844105, + -0.029298132385316818, + -0.9979135132342308, + 0.05753468122139309, + 0.09128506378628548, + -0.05999005624463974, + -0.994016212282928 + ], + [ + 0.997513526020437, + -0.02912442500731409, + 0.06417579975558081, + -0.03485469293021555, + -0.9953261773981524, + 0.09006081815485602, + 0.061252883907743076, + -0.09207371206796759, + -0.9938664476472729 + ], + [ + 0.9988494624852909, + -0.03653702560855311, + 0.03106118240706494, + -0.04073415176177894, + -0.9882285061544376, + 0.1474623630083856, + 0.025307709755989147, + -0.14855795294580654, + -0.9885798169310649 + ], + [ + 0.9985935996230544, + -0.043804688844328844, + 0.029865900741857264, + -0.04872230116058455, + -0.9803422060617162, + 0.19119439422656942, + 0.02090359207141778, + -0.19238063376883618, + -0.9810977176556944 + ], + [ + 0.9991247965480672, + -0.028975150706890388, + 0.030167558142749035, + -0.034188700661647385, + -0.981213429452298, + 0.189871900526456, + 0.024099246250690615, + -0.1907371135987255, + -0.9813452908259025 + ], + [ + 0.9992990305150689, + -0.037426797261852114, + 0.0008261103823898525, + -0.03711664767494583, + -0.9876595484168696, + 0.15215443104411788, + -0.004878737235967007, + -0.15207843787896266, + -0.9883563864594983 + ], + [ + 0.9996813809784789, + -0.022318548187021142, + 0.011790628981731385, + -0.023258632508511665, + -0.995958256490278, + 0.08675360132397707, + 0.009806759852022128, + -0.0870001938829401, + -0.9961600241555246 + ], + [ + 0.9995085482849287, + -0.005520273101740555, + 0.030857551591733385, + -0.005452775219170719, + -0.9999825544648453, + -0.0022711249133424392, + 0.03086955049500212, + 0.00210174947246495, + -0.9995212121317845 + ], + [ + 0.9987254608300774, + -0.03912974945371054, + 0.03187972078672942, + -0.037583438429890516, + -0.9981525078990388, + -0.04773946093795466, + 0.03368885639995245, + 0.046480465601688094, + -0.9983509539595353 + ], + [ + 0.9904678987233634, + -0.13449039571123017, + 0.029760293344680392, + -0.13288616939566394, + -0.9898409765596021, + -0.050557957898629186, + 0.03625751759113703, + 0.04612130294093368, + -0.9982776256298438 + ], + [ + 0.9770990394652194, + -0.21073287727184536, + 0.029480866894902556, + -0.2109919923966161, + -0.9774697532007888, + 0.00593807393818214, + 0.027565308281459623, + -0.01202231318500615, + -0.9995477065978541 + ], + [ + 0.9627828020433522, + -0.2551413396094161, + 0.08917495675280182, + -0.2595853340022859, + -0.9647969590388594, + 0.04221708422299238, + 0.07526440367446718, + -0.06379439357562826, + -0.9951208694866391 + ], + [ + 0.9668614305106439, + -0.23178247193675944, + 0.10703205077824418, + -0.237198663241105, + -0.9706030066421639, + 0.04082398380638843, + 0.09442334641148961, + -0.06485899475074167, + -0.9934171039660928 + ], + [ + 0.9703869053989632, + -0.20976417166905073, + 0.11978416470560894, + -0.21328791492021473, + -0.9768370761051696, + 0.017250857813173107, + 0.11339100131496628, + -0.04228852125932149, + -0.9926500701609249 + ], + [ + 0.9716547336505593, + -0.1920869344794926, + 0.13780307752997417, + -0.1913959136728608, + -0.9813409156093672, + -0.018374209651029434, + 0.13876124388240318, + -0.008521558146270935, + -0.990289200306137 + ], + [ + 0.9370278598696856, + -0.3220671779073888, + 0.1350981966674889, + -0.31710939893907975, + -0.9466542507546699, + -0.057335491910425314, + 0.1463571622180913, + 0.010884045336420518, + -0.9891719358254066 + ], + [ + 0.9129157117469401, + -0.38935139459736107, + 0.12243526767507847, + -0.3871094138941242, + -0.9210498890815897, + -0.0425840756309116, + 0.1293491589463407, + -0.00852017299599064, + -0.9915625052068039 + ], + [ + 0.8978221386052727, + -0.42059653242565553, + 0.13043758791762958, + -0.4206599146144905, + -0.9067729676954749, + -0.028425715351972147, + 0.13023303600386657, + -0.02934862804725778, + -0.9910489465031279 + ], + [ + 0.9071065599221325, + -0.4034768550234604, + 0.11985039176662148, + -0.40562611335537613, + -0.9140124250180752, + -0.006981624222877483, + 0.11236167100237825, + -0.04228137146493041, + -0.9927674151162489 + ], + [ + 0.9193155317509525, + -0.3736505857444144, + 0.12346737566790648, + -0.3789988478177259, + -0.9251302158637386, + 0.022225144515822866, + 0.10591896163718813, + -0.06722591367002034, + -0.9920997178191975 + ], + [ + 0.9162762919389863, + -0.3706353124675141, + 0.15187897149589125, + -0.3732866377616481, + -0.927641769239567, + -0.01174027387628318, + 0.1452406379053247, + -0.045937056002689526, + -0.9883293701932874 + ], + [ + 0.9425071724015708, + -0.3017697605627073, + 0.14358008769158087, + -0.29727936398489907, + -0.9533580354187913, + -0.052282272819347594, + 0.15266043927727196, + 0.006593019971841602, + -0.9882567087388384 + ], + [ + 0.980783454215586, + -0.16828142939914198, + 0.09871766030617304, + -0.1647761223145745, + -0.9854060202043813, + -0.042706028379312984, + 0.10446360826582513, + 0.025619052760472848, + -0.9941986816948312 + ], + [ + 0.9905658259165848, + -0.09586921134142141, + 0.09792057415562977, + -0.09165367009431781, + -0.9946958518298359, + -0.04668797608334671, + 0.10187712836763835, + 0.03727273359026781, + -0.9940984830721113 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + 0.0005667209625244141, + -0.0013007894158363342, + -0.007114812731742859, + -0.012191381305456161, + 0.020444396883249283, + 0.0033735111355781555, + 1.0 + ], + [ + 0.003306180238723755, + -0.024154387414455414, + -0.005534619092941284, + -0.0386127270758152, + -0.008590161800384521, + -0.04160318523645401, + 1.0 + ], + [ + 0.002746492624282837, + -0.03562426567077637, + -0.0086592435836792, + -0.0014250800013542175, + -0.0320717953145504, + -0.07013393193483353, + 1.0 + ], + [ + 0.002236396074295044, + -0.025517921894788742, + -0.010679587721824646, + 0.018202686682343483, + -0.035800524055957794, + -0.029148846864700317, + 1.0 + ], + [ + 0.004860967397689819, + -0.011577149853110313, + -0.016901344060897827, + 0.03105546347796917, + -0.07210257649421692, + 0.031504690647125244, + 1.0 + ], + [ + 0.005067318677902222, + 0.004135187715291977, + -0.012849025428295135, + 0.030238457024097443, + 0.015340030193328857, + 0.0038179010152816772, + 1.0 + ], + [ + -0.00027447938919067383, + 0.015812527388334274, + -0.020779460668563843, + 0.04972290247678757, + 0.03851275146007538, + 0.01190638542175293, + 1.0 + ], + [ + 0.0017574131488800049, + 0.010183983482420444, + -0.018001269549131393, + 0.005733713507652283, + 0.04359172284603119, + 0.032498300075531006, + 1.0 + ], + [ + -0.0002917051315307617, + 0.002707524225115776, + -0.013134296983480453, + 0.009013310074806213, + 0.03376124054193497, + 0.009411081671714783, + 1.0 + ], + [ + -0.0004420280456542969, + -0.0017201397567987442, + -0.008082635700702667, + -0.009562581777572632, + 0.015329711139202118, + 0.013881847262382507, + 1.0 + ], + [ + 0.0012074410915374756, + -0.005554324947297573, + 0.0012820325791835785, + -0.036527566611766815, + -0.003590356558561325, + 0.029971454292535782, + 1.0 + ], + [ + 0.0010833442211151123, + -0.006705180276185274, + 0.0024226419627666473, + -0.03128434345126152, + 0.00364689901471138, + 0.017057741060853004, + 1.0 + ], + [ + 0.0002434849739074707, + -0.008588595315814018, + 0.004762329161167145, + -0.01978321000933647, + -0.014931075274944305, + 0.0020736372098326683, + 1.0 + ], + [ + 0.0010301470756530762, + -0.006616390310227871, + 0.00159425288438797, + 0.0107814259827137, + -0.012767858803272247, + -0.0061132656410336494, + 1.0 + ], + [ + 0.0008389651775360107, + -0.004574581980705261, + -0.0011189915239810944, + 0.015159856528043747, + -0.012028612196445465, + -0.00927923433482647, + 1.0 + ], + [ + -0.0023052096366882324, + 0.0016512814909219742, + -0.013194713741540909, + 0.03210018575191498, + 0.03012106940150261, + -0.005502147600054741, + 1.0 + ], + [ + -0.0012283027172088623, + 0.008612544275820255, + -0.018856560811400414, + 0.056779757142066956, + 0.035980839282274246, + -0.005831122398376465, + 1.0 + ], + [ + 0.004155457019805908, + 0.005926540121436119, + -0.005859414115548134, + 0.0444723516702652, + 0.004405297338962555, + -0.007993772625923157, + 0.0 + ], + [ + 0.00040587782859802246, + 0.003578679170459509, + 0.00043628551065921783, + -0.0016609281301498413, + -0.003196464851498604, + 0.014546956866979599, + 0.0 + ], + [ + -0.009987592697143555, + 0.00024100742302834988, + 0.007105641067028046, + -0.03929677605628967, + 0.02898033708333969, + -0.00292031466960907, + 0.0 + ], + [ + -0.003512471914291382, + 0.007071616128087044, + 0.0329153910279274, + -0.06555814296007156, + -0.014685673639178276, + 0.013863768428564072, + 0.0 + ], + [ + -0.0008870065212249756, + 0.013063739985227585, + 0.03074425458908081, + -0.08921727538108826, + -0.021067537367343903, + 0.01780644617974758, + 0.0 + ], + [ + 0.0010967850685119629, + -0.010780572891235352, + 0.008605509996414185, + -0.044420890510082245, + -0.0028207767754793167, + -0.032158251851797104, + 0.0 + ], + [ + -0.0067920684814453125, + -0.03125428780913353, + -0.002206280827522278, + 0.000355597585439682, + -0.00257023423910141, + -0.09575497359037399, + 0.0 + ], + [ + -0.01655152440071106, + -0.02996160089969635, + -0.010822303593158722, + 0.05819522216916084, + 0.008696665987372398, + -0.07930311560630798, + 0.0 + ], + [ + -0.02053999900817871, + -0.021555528044700623, + 0.005300849676132202, + 0.051992401480674744, + -0.04776684194803238, + -0.05068571865558624, + 0.0 + ], + [ + -0.01410423219203949, + 0.0002161562442779541, + -0.005171984434127808, + 0.001176677644252777, + -0.019228577613830566, + 0.022780314087867737, + 0.0 + ], + [ + -0.004000604152679443, + -0.005337916314601898, + -0.00662057101726532, + -0.02262035757303238, + -0.01907118409872055, + 0.02422069013118744, + 0.0 + ], + [ + -0.00044555962085723877, + -0.004744023084640503, + -0.011796806007623672, + -0.03397098928689957, + -0.02557504177093506, + 0.0218670517206192, + 0.0 + ], + [ + 0.006388142704963684, + -0.021260827779769897, + -0.0332830548286438, + -0.019607651978731155, + -0.007674321532249451, + -0.131832554936409, + 0.0 + ], + [ + 0.010371610522270203, + -0.013728804886341095, + -0.019421527162194252, + 0.019595205783843994, + 0.01717217266559601, + -0.07473215460777283, + 0.0 + ], + [ + 0.01634383201599121, + -0.008996494114398956, + -0.0017050150781869888, + 0.02101258747279644, + -0.0008914172649383545, + -0.03710508346557617, + 1.0 + ], + [ + 0.0005706846714019775, + 0.0022595077753067017, + 0.00013187387958168983, + 0.012958630919456482, + 0.018004558980464935, + 0.01766553521156311, + 1.0 + ], + [ + -0.010770231485366821, + 0.008057266473770142, + 0.01882946491241455, + 0.02509414032101631, + 0.006481438875198364, + 0.02946150302886963, + 1.0 + ], + [ + -0.0015057921409606934, + 0.0058106929063797, + 0.033517464995384216, + -0.021211747080087662, + -0.03963816910982132, + 0.004166841506958008, + 1.0 + ], + [ + -0.0035961270332336426, + 0.0199604332447052, + 0.03983738273382187, + -0.05311733856797218, + -0.007503524422645569, + 0.08132848143577576, + 1.0 + ], + [ + -0.0035431087017059326, + 0.03490646556019783, + 0.04157056659460068, + -0.01909157820045948, + 0.048605166375637054, + 0.13908667862415314, + 1.0 + ], + [ + 0.006431847810745239, + 0.02393236756324768, + 0.01337943971157074, + -0.011713607236742973, + 0.002600356936454773, + 0.07418627291917801, + 1.0 + ], + [ + 0.003876328468322754, + 0.013875382021069527, + 0.007532447576522827, + 0.010899879038333893, + -0.005377069115638733, + 0.025370396673679352, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 1.0001531839370728 + ], + [ + 0.9635607004165649 + ], + [ + 0.7903241515159607 + ], + [ + 0.7893680930137634 + ], + [ + 0.7893680930137634 + ], + [ + 0.7893680930137634 + ], + [ + 0.7893680930137634 + ], + [ + 0.7893680930137634 + ], + [ + 0.7893680930137634 + ], + [ + 0.7893680930137634 + ], + [ + 0.7893680930137634 + ], + [ + 0.7893680930137634 + ], + [ + 0.7893680930137634 + ], + [ + 0.7893680930137634 + ], + [ + 0.7893680930137634 + ], + [ + 0.8625253438949585 + ], + [ + 0.993436336517334 + ], + [ + 0.9974852800369263 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2884606719017029, + 0.07396877557039261, + 0.1538849174976349 + ], + [ + 0.29176685214042664, + 0.049814388155937195, + 0.1483502984046936 + ], + [ + 0.2945133447647095, + 0.014190123416483402, + 0.1396910548210144 + ], + [ + 0.2967497408390045, + -0.011327799409627914, + 0.12901146709918976 + ], + [ + 0.30161070823669434, + -0.022904949262738228, + 0.11211012303829193 + ], + [ + 0.30667802691459656, + -0.01876976154744625, + 0.0992610976099968 + ], + [ + 0.3064035475254059, + -0.0029572334606200457, + 0.07848163694143295 + ], + [ + 0.3081609606742859, + 0.0072267502546310425, + 0.06048036739230156 + ], + [ + 0.3078692555427551, + 0.009934274479746819, + 0.047346070408821106 + ], + [ + 0.30742722749710083, + 0.008214134722948074, + 0.03926343470811844 + ], + [ + 0.3086346685886383, + 0.0026598097756505013, + 0.04054546728730202 + ], + [ + 0.3097180128097534, + -0.004045370500534773, + 0.042968109250068665 + ], + [ + 0.3099614977836609, + -0.012633965350687504, + 0.04773043841123581 + ], + [ + 0.31099164485931396, + -0.019250355660915375, + 0.04932469129562378 + ], + [ + 0.31183061003685, + -0.023824937641620636, + 0.048205699771642685 + ], + [ + 0.30952540040016174, + -0.022173656150698662, + 0.035010986030101776 + ], + [ + 0.3082970976829529, + -0.013561111874878407, + 0.016154425218701363 + ], + [ + 0.3124525547027588, + -0.0076345717534422874, + 0.010295011103153229 + ], + [ + 0.3128584325313568, + -0.0040558925829827785, + 0.010731296613812447 + ], + [ + 0.30287083983421326, + -0.0038148851599544287, + 0.017836937680840492 + ], + [ + 0.2993583679199219, + 0.0032567312009632587, + 0.05075232684612274 + ], + [ + 0.2984713613986969, + 0.016320470720529556, + 0.08149658143520355 + ], + [ + 0.29956814646720886, + 0.005539897363632917, + 0.09010209143161774 + ], + [ + 0.29277607798576355, + -0.025714389979839325, + 0.08789581060409546 + ], + [ + 0.2762245535850525, + -0.055675990879535675, + 0.07707350701093674 + ], + [ + 0.2556845545768738, + -0.0772315189242363, + 0.08237435668706894 + ], + [ + 0.2415803223848343, + -0.07701536267995834, + 0.07720237225294113 + ], + [ + 0.23757971823215485, + -0.08235327899456024, + 0.07058180123567581 + ], + [ + 0.2371341586112976, + -0.08709730207920074, + 0.05878499522805214 + ], + [ + 0.2435223013162613, + -0.10835812985897064, + 0.02550194226205349 + ], + [ + 0.2538939118385315, + -0.12208693474531174, + 0.006080415565520525 + ], + [ + 0.2702377438545227, + -0.1310834288597107, + 0.004375400487333536 + ], + [ + 0.2708084285259247, + -0.128823921084404, + 0.004507274366915226 + ], + [ + 0.26003819704055786, + -0.12076665461063385, + 0.02333674021065235 + ], + [ + 0.25853240489959717, + -0.11495596170425415, + 0.05685420334339142 + ], + [ + 0.2549362778663635, + -0.09499552845954895, + 0.09669158607721329 + ], + [ + 0.2513931691646576, + -0.06008906289935112, + 0.13826215267181396 + ], + [ + 0.25782501697540283, + -0.03615669533610344, + 0.1516415923833847 + ], + [ + 0.2617013454437256, + -0.022281313315033913, + 0.15917403995990753 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9984457573822508, + -0.02388833460572469, + 0.05035292479239352, + -0.025235886027483445, + -0.99933555138937, + 0.02629839891916772, + 0.04969124290849815, + -0.02752822549800027, + -0.9983851847754652 + ], + [ + 0.9960695602718552, + -0.06746130989092991, + 0.05739688813544656, + -0.06670960785330438, + -0.9976609421992956, + -0.01491551641989283, + 0.05826885377190282, + 0.01102796798207467, + -0.9982400135249513 + ], + [ + 0.9865865451391738, + -0.13768309849065577, + 0.08769465970264029, + -0.13602132016368898, + -0.9903984488881215, + -0.024680212740792448, + 0.09025070310682742, + 0.012420822437179646, + -0.9958416208206543 + ], + [ + 0.9783879320314018, + -0.1646783567248041, + 0.12505236215975732, + -0.16407750855683265, + -0.9863309378356134, + -0.015160879067582362, + 0.12583968229894513, + -0.005685058903609639, + -0.9920343010522181 + ], + [ + 0.9715330559656252, + -0.1269747977339061, + 0.2000023047530388, + -0.13161435296260818, + -0.9912503598850095, + 0.010019287503285722, + 0.19698015956011347, + -0.03605724293776695, + -0.9797441972124149 + ], + [ + 0.9749098391045293, + -0.11808758250703993, + 0.1886958623680534, + -0.12828333083392057, + -0.9908169354391319, + 0.04272221292444459, + 0.18191809323796027, + -0.06585683946751267, + -0.9811058475251356 + ], + [ + 0.9825990502539095, + -0.10119295567408301, + 0.15575330546109847, + -0.11741140130846131, + -0.9881664199740975, + 0.09869999634427107, + 0.14392244190152773, + -0.11526973652055747, + -0.982852592487593 + ], + [ + 0.9912070748722643, + -0.07342181760395296, + 0.1100807495564122, + -0.08588246975745832, + -0.9898655021119664, + 0.11309504461727804, + 0.10066149269471886, + -0.12155461500229728, + -0.9874673358952765 + ], + [ + 0.9947938728683708, + -0.0675156130858288, + 0.07633342972244905, + -0.0767682826679479, + -0.9891043868969748, + 0.12561505720801783, + 0.0670207526051555, + -0.1308210755604929, + -0.9891380413822098 + ], + [ + 0.9966719961989953, + -0.05634722016294197, + 0.058906050390590915, + -0.06300917657640114, + -0.9909948052812982, + 0.11814880267123215, + 0.05171823334061008, + -0.12146722473733726, + -0.9912471627473823 + ], + [ + 0.9979205568079811, + -0.028322343265973025, + 0.057899975578349965, + -0.03310727092861219, + -0.9959638112639488, + 0.08342658607571536, + 0.05530344394075833, + -0.08517001540749929, + -0.9948304365889585 + ], + [ + 0.9985351080340044, + -0.013287869251544493, + 0.052450648749782225, + -0.016084150849470232, + -0.9984513639722775, + 0.05325574028543722, + 0.051661766471643805, + -0.054021350525994, + -0.9972024646842671 + ], + [ + 0.9976837461228708, + -0.011738976046256075, + 0.0670025310239863, + -0.014001132561087532, + -0.9993442183971712, + 0.033393134670969986, + 0.06656659078878589, + -0.03425389901211407, + -0.9971938424364774 + ], + [ + 0.9966484833538802, + -0.016548168357515335, + 0.08011216357346454, + -0.02008117970164167, + -0.9988516797847867, + 0.043497908143957334, + 0.07930035844938271, + -0.044960870933747524, + -0.9958363184955037 + ], + [ + 0.9953937193735284, + -0.02387076153539794, + 0.09285219531844105, + -0.029298132385316818, + -0.9979135132342308, + 0.05753468122139309, + 0.09128506378628548, + -0.05999005624463974, + -0.994016212282928 + ], + [ + 0.997513526020437, + -0.02912442500731409, + 0.06417579975558081, + -0.03485469293021555, + -0.9953261773981524, + 0.09006081815485602, + 0.061252883907743076, + -0.09207371206796759, + -0.9938664476472729 + ], + [ + 0.9988494624852909, + -0.03653702560855311, + 0.03106118240706494, + -0.04073415176177894, + -0.9882285061544376, + 0.1474623630083856, + 0.025307709755989147, + -0.14855795294580654, + -0.9885798169310649 + ], + [ + 0.9985935996230544, + -0.043804688844328844, + 0.029865900741857264, + -0.04872230116058455, + -0.9803422060617162, + 0.19119439422656942, + 0.02090359207141778, + -0.19238063376883618, + -0.9810977176556944 + ], + [ + 0.9991247965480672, + -0.028975150706890388, + 0.030167558142749035, + -0.034188700661647385, + -0.981213429452298, + 0.189871900526456, + 0.024099246250690615, + -0.1907371135987255, + -0.9813452908259025 + ], + [ + 0.9992990305150689, + -0.037426797261852114, + 0.0008261103823898525, + -0.03711664767494583, + -0.9876595484168696, + 0.15215443104411788, + -0.004878737235967007, + -0.15207843787896266, + -0.9883563864594983 + ], + [ + 0.9996813809784789, + -0.022318548187021142, + 0.011790628981731385, + -0.023258632508511665, + -0.995958256490278, + 0.08675360132397707, + 0.009806759852022128, + -0.0870001938829401, + -0.9961600241555246 + ], + [ + 0.9995085482849287, + -0.005520273101740555, + 0.030857551591733385, + -0.005452775219170719, + -0.9999825544648453, + -0.0022711249133424392, + 0.03086955049500212, + 0.00210174947246495, + -0.9995212121317845 + ], + [ + 0.9987254608300774, + -0.03912974945371054, + 0.03187972078672942, + -0.037583438429890516, + -0.9981525078990388, + -0.04773946093795466, + 0.03368885639995245, + 0.046480465601688094, + -0.9983509539595353 + ], + [ + 0.9904678987233634, + -0.13449039571123017, + 0.029760293344680392, + -0.13288616939566394, + -0.9898409765596021, + -0.050557957898629186, + 0.03625751759113703, + 0.04612130294093368, + -0.9982776256298438 + ], + [ + 0.9770990394652194, + -0.21073287727184536, + 0.029480866894902556, + -0.2109919923966161, + -0.9774697532007888, + 0.00593807393818214, + 0.027565308281459623, + -0.01202231318500615, + -0.9995477065978541 + ], + [ + 0.9627828020433522, + -0.2551413396094161, + 0.08917495675280182, + -0.2595853340022859, + -0.9647969590388594, + 0.04221708422299238, + 0.07526440367446718, + -0.06379439357562826, + -0.9951208694866391 + ], + [ + 0.9668614305106439, + -0.23178247193675944, + 0.10703205077824418, + -0.237198663241105, + -0.9706030066421639, + 0.04082398380638843, + 0.09442334641148961, + -0.06485899475074167, + -0.9934171039660928 + ], + [ + 0.9703869053989632, + -0.20976417166905073, + 0.11978416470560894, + -0.21328791492021473, + -0.9768370761051696, + 0.017250857813173107, + 0.11339100131496628, + -0.04228852125932149, + -0.9926500701609249 + ], + [ + 0.9716547336505593, + -0.1920869344794926, + 0.13780307752997417, + -0.1913959136728608, + -0.9813409156093672, + -0.018374209651029434, + 0.13876124388240318, + -0.008521558146270935, + -0.990289200306137 + ], + [ + 0.9370278598696856, + -0.3220671779073888, + 0.1350981966674889, + -0.31710939893907975, + -0.9466542507546699, + -0.057335491910425314, + 0.1463571622180913, + 0.010884045336420518, + -0.9891719358254066 + ], + [ + 0.9129157117469401, + -0.38935139459736107, + 0.12243526767507847, + -0.3871094138941242, + -0.9210498890815897, + -0.0425840756309116, + 0.1293491589463407, + -0.00852017299599064, + -0.9915625052068039 + ], + [ + 0.8978221386052727, + -0.42059653242565553, + 0.13043758791762958, + -0.4206599146144905, + -0.9067729676954749, + -0.028425715351972147, + 0.13023303600386657, + -0.02934862804725778, + -0.9910489465031279 + ], + [ + 0.9071065599221325, + -0.4034768550234604, + 0.11985039176662148, + -0.40562611335537613, + -0.9140124250180752, + -0.006981624222877483, + 0.11236167100237825, + -0.04228137146493041, + -0.9927674151162489 + ], + [ + 0.9193155317509525, + -0.3736505857444144, + 0.12346737566790648, + -0.3789988478177259, + -0.9251302158637386, + 0.022225144515822866, + 0.10591896163718813, + -0.06722591367002034, + -0.9920997178191975 + ], + [ + 0.9162762919389863, + -0.3706353124675141, + 0.15187897149589125, + -0.3732866377616481, + -0.927641769239567, + -0.01174027387628318, + 0.1452406379053247, + -0.045937056002689526, + -0.9883293701932874 + ], + [ + 0.9425071724015708, + -0.3017697605627073, + 0.14358008769158087, + -0.29727936398489907, + -0.9533580354187913, + -0.052282272819347594, + 0.15266043927727196, + 0.006593019971841602, + -0.9882567087388384 + ], + [ + 0.980783454215586, + -0.16828142939914198, + 0.09871766030617304, + -0.1647761223145745, + -0.9854060202043813, + -0.042706028379312984, + 0.10446360826582513, + 0.025619052760472848, + -0.9941986816948312 + ], + [ + 0.9905658259165848, + -0.09586921134142141, + 0.09792057415562977, + -0.09165367009431781, + -0.9946958518298359, + -0.04668797608334671, + 0.10187712836763835, + 0.03727273359026781, + -0.9940984830721113 + ], + [ + 0.9920111696424934, + -0.0696629633243338, + 0.10517086500264758, + -0.06645824478498485, + -0.9972206588137602, + -0.033678766829405, + 0.10722472198439886, + 0.02642024178396031, + -0.9938837104105519 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006516.json b/json/chunk-0006/episode_0006516.json new file mode 100644 index 0000000000000000000000000000000000000000..79bf8bf8900f4006d5ec1af1b444b216cb63bc3b --- /dev/null +++ b/json/chunk-0006/episode_0006516.json @@ -0,0 +1,1162 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 18, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the cloth to the left edge of the table." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006516.mp4", + "start": 0, + "end": 18, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3433762490749359, + -0.03471857309341431, + 0.17804788053035736, + 0.1510934680700302, + -0.15542614459991455, + -0.8595005869865417, + 0.0, + 1.0014774799346924 + ], + [ + 0.34465670585632324, + -0.03538563847541809, + 0.16730761528015137, + 0.13069671392440796, + -0.13440603017807007, + -0.8565998077392578, + 0.0, + 1.0014774799346924 + ], + [ + 0.35078591108322144, + -0.04499336704611778, + 0.14567303657531738, + 0.11231811344623566, + -0.11786089092493057, + -0.8757194876670837, + 0.0, + 1.0008161067962646 + ], + [ + 0.35460448265075684, + -0.04882108420133591, + 0.1233343705534935, + 0.10213200747966766, + -0.10631482303142548, + -0.886989176273346, + 0.0, + 1.0008161067962646 + ], + [ + 0.3588584065437317, + -0.050545357167720795, + 0.10054975003004074, + 0.09027118235826492, + -0.08995284885168076, + -0.9087979793548584, + 0.0, + 1.0014774799346924 + ], + [ + 0.3608057200908661, + -0.04976481571793556, + 0.0811879113316536, + 0.0860866978764534, + -0.07234632223844528, + -0.9313575625419617, + 0.0, + 1.0014774799346924 + ], + [ + 0.3621508777141571, + -0.04856263846158981, + 0.07556352019309998, + 0.09190180152654648, + -0.0683835819363594, + -0.9451467990875244, + 0.0, + 1.0014774799346924 + ], + [ + 0.35991767048835754, + -0.03691259026527405, + 0.07393334805965424, + 0.07987351715564728, + -0.07413297146558762, + -0.9148692488670349, + 0.0, + 1.0014774799346924 + ], + [ + 0.3624792695045471, + -0.019621778279542923, + 0.0760570615530014, + 0.07522817701101303, + -0.08135213702917099, + -0.8701063990592957, + 0.0, + 1.0014774799346924 + ], + [ + 0.36650967597961426, + 0.02068636752665043, + 0.08087222278118134, + 0.09287384897470474, + -0.06937681138515472, + -0.7647573947906494, + 0.0, + 1.0008161067962646 + ], + [ + 0.3777148723602295, + 0.05118836462497711, + 0.07849595695734024, + 0.10112884640693665, + -0.05250975489616394, + -0.6824067234992981, + 0.0, + 1.0014774799346924 + ], + [ + 0.3843637704849243, + 0.08286251872777939, + 0.07877124845981598, + 0.1243976280093193, + -0.04195663705468178, + -0.5938094854354858, + 0.0, + 1.0008161067962646 + ], + [ + 0.38369670510292053, + 0.1118955984711647, + 0.07971185445785522, + 0.14052556455135345, + -0.028147341683506966, + -0.5188784003257751, + 0.0, + 1.0008161067962646 + ], + [ + 0.37931814789772034, + 0.1287597417831421, + 0.08347088098526001, + 0.14808695018291473, + -0.01763433963060379, + -0.47593268752098083, + 0.0, + 1.0008161067962646 + ], + [ + 0.37718501687049866, + 0.13097317516803741, + 0.0872822180390358, + 0.1404973417520523, + -0.0017959036631509662, + -0.4692779779434204, + 0.0, + 0.9994885921478271 + ], + [ + 0.3787989914417267, + 0.1275629848241806, + 0.09515472501516342, + 0.11932529509067535, + -0.007582790683954954, + -0.4768335819244385, + 0.0, + 0.9994885921478271 + ], + [ + 0.37879928946495056, + 0.12245224416255951, + 0.12245015799999237, + 0.11934894323348999, + -0.04081186279654503, + -0.48184266686439514, + 0.0, + 1.0001531839370728 + ], + [ + 0.3751125931739807, + 0.1192559152841568, + 0.15724137425422668, + 0.15032517910003662, + -0.09221959859132767, + -0.47842317819595337, + 0.0, + 1.0001531839370728 + ] + ], + "left_gripper_pos": [ + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3433762490749359, + -0.03471857309341431, + 0.17804788053035736 + ], + [ + 0.34465670585632324, + -0.03538563847541809, + 0.16730761528015137 + ], + [ + 0.35078591108322144, + -0.04499336704611778, + 0.14567303657531738 + ], + [ + 0.35460448265075684, + -0.04882108420133591, + 0.1233343705534935 + ], + [ + 0.3588584065437317, + -0.050545357167720795, + 0.10054975003004074 + ], + [ + 0.3608057200908661, + -0.04976481571793556, + 0.0811879113316536 + ], + [ + 0.3621508777141571, + -0.04856263846158981, + 0.07556352019309998 + ], + [ + 0.35991767048835754, + -0.03691259026527405, + 0.07393334805965424 + ], + [ + 0.3624792695045471, + -0.019621778279542923, + 0.0760570615530014 + ], + [ + 0.36650967597961426, + 0.02068636752665043, + 0.08087222278118134 + ], + [ + 0.3777148723602295, + 0.05118836462497711, + 0.07849595695734024 + ], + [ + 0.3843637704849243, + 0.08286251872777939, + 0.07877124845981598 + ], + [ + 0.38369670510292053, + 0.1118955984711647, + 0.07971185445785522 + ], + [ + 0.37931814789772034, + 0.1287597417831421, + 0.08347088098526001 + ], + [ + 0.37718501687049866, + 0.13097317516803741, + 0.0872822180390358 + ], + [ + 0.3787989914417267, + 0.1275629848241806, + 0.09515472501516342 + ], + [ + 0.37879928946495056, + 0.12245224416255951, + 0.12245015799999237 + ], + [ + 0.3751125931739807, + 0.1192559152841568, + 0.15724137425422668 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.6449465941628599, + -0.7336753410101678, + 0.21392611965662628, + -0.7483852641539127, + -0.6630289360772026, + -0.017667097147269925, + 0.15480112103924026, + -0.14870482143476965, + -0.9766900680395229 + ], + [ + 0.6491030272242195, + -0.7377363948159629, + 0.18550005879325268, + -0.7488049135786395, + -0.6626201048543285, + -0.015026577898012386, + 0.13400172181297007, + -0.1291495582910937, + -0.9825293533245585 + ], + [ + 0.6360013334702341, + -0.7547244978300119, + 0.16091375391594157, + -0.7626764169127275, + -0.646530922562282, + -0.01795687210868928, + 0.117588209057062, + -0.11130453066250585, + -0.9868051046406031 + ], + [ + 0.6281818795714271, + -0.7642989882942072, + 0.1457209067723641, + -0.7707964745633323, + -0.6368432894686816, + -0.017418939676305666, + 0.10611465958502969, + -0.1013788989443073, + -0.9891723802603836 + ], + [ + 0.6122090780156269, + -0.7805759221196783, + 0.1261002561546561, + -0.7855764319606099, + -0.6185790450278446, + -0.015153699234086215, + 0.08983158878308485, + -0.08978415706266764, + -0.9919017546094234 + ], + [ + 0.595184184291713, + -0.7957505234001025, + 0.11196826013415913, + -0.8003317572163424, + -0.5995223929235559, + -0.006479102886569832, + 0.07228322876026934, + -0.08575549481914298, + -0.9936906610954509 + ], + [ + 0.5842551453275506, + -0.8034898977587556, + 0.11423619985760705, + -0.8086883798110903, + -0.5882355971395115, + -0.0014094738152808373, + 0.0683302972099217, + -0.09155799504984187, + -0.9934526179066905 + ], + [ + 0.6082190690551201, + -0.7863520596109103, + 0.10825895982967176, + -0.790306223415148, + -0.6126329554066271, + -0.009845566567127484, + 0.07406508805779616, + -0.07956946836206162, + -0.9940739723157275 + ], + [ + 0.6426128793159406, + -0.7582978363821231, + 0.10969539040209268, + -0.7618694798452406, + -0.6475902111301642, + -0.013483846955975466, + 0.08126243300332085, + -0.07490867631042805, + -0.993873788363392 + ], + [ + 0.7198145835335252, + -0.6847393554951581, + 0.11401307104246061, + -0.6906964170548032, + -0.7228918073676911, + 0.019128363974217702, + 0.06932117137004268, + -0.0925172950142215, + -0.9932950847170929 + ], + [ + 0.7749874818803236, + -0.6233282971691714, + 0.10419326694645942, + -0.6297933485083504, + -0.7754338682008565, + 0.045416453204713485, + 0.05248562758922007, + -0.10081740918729157, + -0.9935195563758812 + ], + [ + 0.8280858063337426, + -0.5508853479479465, + 0.10391934740396233, + -0.5590300266249588, + -0.8253225471957444, + 0.0795494966799062, + 0.041944328344763505, + -0.1239678446477089, + -0.9913993377106465 + ], + [ + 0.8680319616848915, + -0.4875950449971685, + 0.09365674341812162, + -0.4957100461556288, + -0.861770747716735, + 0.10780875901392868, + 0.028143625101663627, + -0.14000803717625723, + -0.9897503149240157 + ], + [ + 0.8887275793366635, + -0.45084050079453397, + 0.08310314416271064, + -0.4580964440212896, + -0.8803293154789794, + 0.12315820834747848, + 0.017633425686575242, + -0.14752335120802135, + -0.9889013717994888 + ], + [ + 0.8918936113589813, + -0.4475619495091428, + 0.0649160024077986, + -0.4522417061158048, + -0.8832204723955528, + 0.12409285390723339, + 0.001795902697772092, + -0.14003534729828543, + -0.9901448763895857 + ], + [ + 0.8884271173516727, + -0.4549026533353698, + 0.061325632019879034, + -0.458955073554772, + -0.8825493273006798, + 0.10230799254922035, + 0.007582718017377685, + -0.11903890485701671, + -0.9928606354961964 + ], + [ + 0.8854046315490445, + -0.45581144230811105, + 0.09107451615298287, + -0.46302694827773844, + -0.8820900533874192, + 0.08673628354722282, + 0.04080053431151312, + -0.11896666245624954, + -0.9920595998345642 + ], + [ + 0.8839498422469987, + -0.4429452443916834, + 0.14977378563118923, + -0.45842371588709047, + -0.8840598138361585, + 0.09102715129151512, + 0.09208894126754698, + -0.14912329137585478, + -0.9845211378459345 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + 0.001280456781387329, + -0.0006670653820037842, + -0.010740265250205994, + -0.020396754145622253, + 0.021020114421844482, + 0.0029007792472839355, + 1.0 + ], + [ + 0.006129205226898193, + -0.009607728570699692, + -0.021634578704833984, + -0.018378600478172302, + 0.016545139253139496, + -0.019119679927825928, + 1.0 + ], + [ + 0.0038185715675354004, + -0.0038277171552181244, + -0.022338666021823883, + -0.010186105966567993, + 0.011546067893505096, + -0.011269688606262207, + 1.0 + ], + [ + 0.0042539238929748535, + -0.0017242729663848877, + -0.02278462052345276, + -0.01186082512140274, + 0.01636197417974472, + -0.02180880308151245, + 1.0 + ], + [ + 0.0019473135471343994, + 0.0007805414497852325, + -0.019361838698387146, + -0.0041844844818115234, + 0.017606526613235474, + -0.02255958318710327, + 1.0 + ], + [ + 0.0013451576232910156, + 0.001202177256345749, + -0.005624391138553619, + 0.005815103650093079, + 0.0039627403020858765, + -0.013789236545562744, + 1.0 + ], + [ + -0.0022332072257995605, + 0.011650048196315765, + -0.0016301721334457397, + -0.0120282843708992, + -0.0057493895292282104, + 0.030277550220489502, + 1.0 + ], + [ + 0.002561599016189575, + 0.017290811985731125, + 0.002123713493347168, + -0.004645340144634247, + -0.007219165563583374, + 0.04476284980773926, + 1.0 + ], + [ + 0.004030406475067139, + 0.0403081476688385, + 0.004815161228179932, + 0.01764567196369171, + 0.011975325644016266, + 0.10534900426864624, + 1.0 + ], + [ + 0.011205196380615234, + 0.030501997098326683, + -0.002376265823841095, + 0.008254997432231903, + 0.016867056488990784, + 0.08235067129135132, + 1.0 + ], + [ + 0.006648898124694824, + 0.03167415410280228, + 0.0002752915024757385, + 0.02326878160238266, + 0.010553117841482162, + 0.08859723806381226, + 1.0 + ], + [ + -0.0006670653820037842, + 0.029033079743385315, + 0.0009406059980392456, + 0.01612793654203415, + 0.013809295371174812, + 0.0749310851097107, + 1.0 + ], + [ + -0.004378557205200195, + 0.016864143311977386, + 0.003759026527404785, + 0.007561385631561279, + 0.010513002052903175, + 0.04294571280479431, + 1.0 + ], + [ + -0.0021331310272216797, + 0.0022134333848953247, + 0.0038113370537757874, + -0.007589608430862427, + 0.015838436782360077, + 0.006654709577560425, + 1.0 + ], + [ + 0.0016139745712280273, + -0.0034101903438568115, + 0.007872506976127625, + -0.021172046661376953, + -0.005786886904388666, + -0.007555603981018066, + 1.0 + ], + [ + 2.980232238769531e-07, + -0.005110740661621094, + 0.02729543298482895, + 2.364814281463623e-05, + -0.03322907164692879, + -0.005009084939956665, + 1.0 + ], + [ + -0.0036866962909698486, + -0.00319632887840271, + 0.034791216254234314, + 0.03097623586654663, + -0.05140773579478264, + 0.0034194886684417725, + 1.0 + ], + [ + -0.002840578556060791, + -0.0019413679838180542, + 0.0230523943901062, + 0.034164175391197205, + -0.05292617529630661, + 0.005567371845245361, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.34465670585632324, + -0.03538563847541809, + 0.16730761528015137 + ], + [ + 0.35078591108322144, + -0.04499336704611778, + 0.14567303657531738 + ], + [ + 0.35460448265075684, + -0.04882108420133591, + 0.1233343705534935 + ], + [ + 0.3588584065437317, + -0.050545357167720795, + 0.10054975003004074 + ], + [ + 0.3608057200908661, + -0.04976481571793556, + 0.0811879113316536 + ], + [ + 0.3621508777141571, + -0.04856263846158981, + 0.07556352019309998 + ], + [ + 0.35991767048835754, + -0.03691259026527405, + 0.07393334805965424 + ], + [ + 0.3624792695045471, + -0.019621778279542923, + 0.0760570615530014 + ], + [ + 0.36650967597961426, + 0.02068636752665043, + 0.08087222278118134 + ], + [ + 0.3777148723602295, + 0.05118836462497711, + 0.07849595695734024 + ], + [ + 0.3843637704849243, + 0.08286251872777939, + 0.07877124845981598 + ], + [ + 0.38369670510292053, + 0.1118955984711647, + 0.07971185445785522 + ], + [ + 0.37931814789772034, + 0.1287597417831421, + 0.08347088098526001 + ], + [ + 0.37718501687049866, + 0.13097317516803741, + 0.0872822180390358 + ], + [ + 0.3787989914417267, + 0.1275629848241806, + 0.09515472501516342 + ], + [ + 0.37879928946495056, + 0.12245224416255951, + 0.12245015799999237 + ], + [ + 0.3751125931739807, + 0.1192559152841568, + 0.15724137425422668 + ], + [ + 0.3722720146179199, + 0.11731454730033875, + 0.18029376864433289 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.6491030272242195, + -0.7377363948159629, + 0.18550005879325268, + -0.7488049135786395, + -0.6626201048543285, + -0.015026577898012386, + 0.13400172181297007, + -0.1291495582910937, + -0.9825293533245585 + ], + [ + 0.6360013334702341, + -0.7547244978300119, + 0.16091375391594157, + -0.7626764169127275, + -0.646530922562282, + -0.01795687210868928, + 0.117588209057062, + -0.11130453066250585, + -0.9868051046406031 + ], + [ + 0.6281818795714271, + -0.7642989882942072, + 0.1457209067723641, + -0.7707964745633323, + -0.6368432894686816, + -0.017418939676305666, + 0.10611465958502969, + -0.1013788989443073, + -0.9891723802603836 + ], + [ + 0.6122090780156269, + -0.7805759221196783, + 0.1261002561546561, + -0.7855764319606099, + -0.6185790450278446, + -0.015153699234086215, + 0.08983158878308485, + -0.08978415706266764, + -0.9919017546094234 + ], + [ + 0.595184184291713, + -0.7957505234001025, + 0.11196826013415913, + -0.8003317572163424, + -0.5995223929235559, + -0.006479102886569832, + 0.07228322876026934, + -0.08575549481914298, + -0.9936906610954509 + ], + [ + 0.5842551453275506, + -0.8034898977587556, + 0.11423619985760705, + -0.8086883798110903, + -0.5882355971395115, + -0.0014094738152808373, + 0.0683302972099217, + -0.09155799504984187, + -0.9934526179066905 + ], + [ + 0.6082190690551201, + -0.7863520596109103, + 0.10825895982967176, + -0.790306223415148, + -0.6126329554066271, + -0.009845566567127484, + 0.07406508805779616, + -0.07956946836206162, + -0.9940739723157275 + ], + [ + 0.6426128793159406, + -0.7582978363821231, + 0.10969539040209268, + -0.7618694798452406, + -0.6475902111301642, + -0.013483846955975466, + 0.08126243300332085, + -0.07490867631042805, + -0.993873788363392 + ], + [ + 0.7198145835335252, + -0.6847393554951581, + 0.11401307104246061, + -0.6906964170548032, + -0.7228918073676911, + 0.019128363974217702, + 0.06932117137004268, + -0.0925172950142215, + -0.9932950847170929 + ], + [ + 0.7749874818803236, + -0.6233282971691714, + 0.10419326694645942, + -0.6297933485083504, + -0.7754338682008565, + 0.045416453204713485, + 0.05248562758922007, + -0.10081740918729157, + -0.9935195563758812 + ], + [ + 0.8280858063337426, + -0.5508853479479465, + 0.10391934740396233, + -0.5590300266249588, + -0.8253225471957444, + 0.0795494966799062, + 0.041944328344763505, + -0.1239678446477089, + -0.9913993377106465 + ], + [ + 0.8680319616848915, + -0.4875950449971685, + 0.09365674341812162, + -0.4957100461556288, + -0.861770747716735, + 0.10780875901392868, + 0.028143625101663627, + -0.14000803717625723, + -0.9897503149240157 + ], + [ + 0.8887275793366635, + -0.45084050079453397, + 0.08310314416271064, + -0.4580964440212896, + -0.8803293154789794, + 0.12315820834747848, + 0.017633425686575242, + -0.14752335120802135, + -0.9889013717994888 + ], + [ + 0.8918936113589813, + -0.4475619495091428, + 0.0649160024077986, + -0.4522417061158048, + -0.8832204723955528, + 0.12409285390723339, + 0.001795902697772092, + -0.14003534729828543, + -0.9901448763895857 + ], + [ + 0.8884271173516727, + -0.4549026533353698, + 0.061325632019879034, + -0.458955073554772, + -0.8825493273006798, + 0.10230799254922035, + 0.007582718017377685, + -0.11903890485701671, + -0.9928606354961964 + ], + [ + 0.8854046315490445, + -0.45581144230811105, + 0.09107451615298287, + -0.46302694827773844, + -0.8820900533874192, + 0.08673628354722282, + 0.04080053431151312, + -0.11896666245624954, + -0.9920595998345642 + ], + [ + 0.8839498422469987, + -0.4429452443916834, + 0.14977378563118923, + -0.45842371588709047, + -0.8840598138361585, + 0.09102715129151512, + 0.09208894126754698, + -0.14912329137585478, + -0.9845211378459345 + ], + [ + 0.8809099466240335, + -0.4240805469964873, + 0.21012699873648466, + -0.4506416524973507, + -0.8872472974277545, + 0.09856132223952196, + 0.1446366722975177, + -0.18151562705812962, + -0.9726933279098786 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006518.json b/json/chunk-0006/episode_0006518.json new file mode 100644 index 0000000000000000000000000000000000000000..7dd0f46ad00fa78e751626fea665b12b755811dc --- /dev/null +++ b/json/chunk-0006/episode_0006518.json @@ -0,0 +1,2062 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 33, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPicked the blue cloth from the basket and put it in te washing machine." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006518.mp4", + "start": 0, + "end": 33, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.27637967467308044, + 0.05465269461274147, + -0.00690322695299983, + -0.036424122750759125, + -0.14768967032432556, + 0.12305419147014618, + 0.0, + 0.9994885921478271 + ], + [ + 0.27332183718681335, + 0.053862616419792175, + -0.013775218278169632, + -0.04275060445070267, + -0.12219522148370743, + 0.1286432147026062, + 0.0, + 0.9994885921478271 + ], + [ + 0.2850834131240845, + 0.06360263377428055, + -0.019240161404013634, + -0.05662126466631889, + -0.12293516844511032, + 0.1648004800081253, + 0.0, + 0.9994885921478271 + ], + [ + 0.29089611768722534, + 0.0680495873093605, + -0.026679832488298416, + -0.06799308210611343, + -0.11489816009998322, + 0.17572741210460663, + 0.0, + 0.9994885921478271 + ], + [ + 0.29552027583122253, + 0.07704418152570724, + -0.03135284408926964, + -0.05749990791082382, + -0.11353898793458939, + 0.20193584263324738, + 0.0, + 0.9994885921478271 + ], + [ + 0.2960541844367981, + 0.07964435964822769, + -0.0476762019097805, + -0.04105295613408089, + -0.10117685794830322, + 0.20329567790031433, + 0.0, + 0.9994885921478271 + ], + [ + 0.297298401594162, + 0.08024214953184128, + -0.06134519353508949, + -0.03997610881924629, + -0.11152724176645279, + 0.21429893374443054, + 0.0, + 0.9994885921478271 + ], + [ + 0.2946314811706543, + 0.07734180241823196, + -0.07098737359046936, + -0.05449509248137474, + -0.09095802158117294, + 0.21653273701667786, + 0.0, + 0.9499720335006714 + ], + [ + 0.2956530749797821, + 0.07620404660701752, + -0.07165395468473434, + -0.059290479868650436, + -0.10615760087966919, + 0.2159699648618698, + 0.0, + 0.6701657772064209 + ], + [ + 0.2944580316543579, + 0.07624173164367676, + -0.07240558415651321, + -0.056588802486658096, + -0.10739828646183014, + 0.21361444890499115, + 0.0, + 0.3883807957172394 + ], + [ + 0.2936049997806549, + 0.07573884725570679, + -0.07176472246646881, + -0.05854093283414841, + -0.1030074879527092, + 0.2146759182214737, + 0.0, + 0.1996482014656067 + ], + [ + 0.29420045018196106, + 0.073910191655159, + -0.05895846337080002, + -0.06997477263212204, + -0.10557186603546143, + 0.20900686085224152, + 0.0, + 0.12133388966321945 + ], + [ + 0.29947763681411743, + 0.07075440883636475, + -0.02937178872525692, + -0.09471262991428375, + -0.15033988654613495, + 0.2054346203804016, + 0.0, + 0.1059318259358406 + ], + [ + 0.2974470853805542, + 0.06676515936851501, + -0.005893066059798002, + -0.11157310754060745, + -0.19205667078495026, + 0.18777130544185638, + 0.0, + 0.10553344339132309 + ], + [ + 0.2905246913433075, + 0.06066429615020752, + 0.02219853550195694, + -0.1432497501373291, + -0.2434985339641571, + 0.1722978800535202, + 0.0, + 0.10553344339132309 + ], + [ + 0.28201016783714294, + 0.055609676986932755, + 0.05049370601773262, + -0.17965778708457947, + -0.306954562664032, + 0.15493476390838623, + 0.0, + 0.10553344339132309 + ], + [ + 0.27520328760147095, + 0.051477838307619095, + 0.07447201013565063, + -0.21895337104797363, + -0.39340728521347046, + 0.14203262329101562, + 0.0, + 0.10553344339132309 + ], + [ + 0.2784322202205658, + 0.04413031041622162, + 0.09470345079898834, + -0.26202961802482605, + -0.4991648495197296, + 0.1271495521068573, + 0.0, + 0.10553344339132309 + ], + [ + 0.29198431968688965, + 0.03875616937875748, + 0.11063727736473083, + -0.2955930829048157, + -0.5703237056732178, + 0.11985940486192703, + 0.0, + 0.10553344339132309 + ], + [ + 0.3129819631576538, + 0.031466469168663025, + 0.12062674015760422, + -0.3138607144355774, + -0.6285722255706787, + 0.09303177148103714, + 0.0, + 0.1051359549164772 + ], + [ + 0.3363586366176605, + 0.02864440716803074, + 0.11898617446422577, + -0.3174511194229126, + -0.6354314088821411, + 0.08856295049190521, + 0.0, + 0.1051359549164772 + ], + [ + 0.3587760627269745, + 0.022672394290566444, + 0.10961469262838364, + -0.31530535221099854, + -0.627173125743866, + 0.07464401423931122, + 0.0, + 0.1051359549164772 + ], + [ + 0.378323495388031, + 0.021328816190361977, + 0.09955692291259766, + -0.291382759809494, + -0.6261117458343506, + 0.06361591070890427, + 0.0, + 0.1051359549164772 + ], + [ + 0.39281901717185974, + 0.02124812640249729, + 0.09041376411914825, + -0.2692669630050659, + -0.6247731447219849, + 0.05472211539745331, + 0.0, + 0.1051359549164772 + ], + [ + 0.40535828471183777, + 0.019686978310346603, + 0.086000956594944, + -0.23663237690925598, + -0.624302327632904, + 0.03725235164165497, + 0.0, + 0.13806100189685822 + ], + [ + 0.40504252910614014, + 0.019718842580914497, + 0.08562032878398895, + -0.23496675491333008, + -0.6002636551856995, + 0.060297682881355286, + 0.0, + 0.3437051773071289 + ], + [ + 0.40309423208236694, + 0.01806541718542576, + 0.0833183079957962, + -0.25599348545074463, + -0.5885298848152161, + 0.08723931759595871, + 0.0, + 0.6541022062301636 + ], + [ + 0.39901766180992126, + 0.017941530793905258, + 0.07747670263051987, + -0.2349051833152771, + -0.5657172203063965, + 0.09363189339637756, + 0.0, + 0.9468915462493896 + ], + [ + 0.39661136269569397, + 0.016149241477251053, + 0.07479552179574966, + -0.242112398147583, + -0.557722270488739, + 0.09503612667322159, + 0.0, + 1.0054124593734741 + ], + [ + 0.3946768641471863, + 0.01636943407356739, + 0.0776241198182106, + -0.24240897595882416, + -0.5627531409263611, + 0.09630367904901505, + 0.0, + 1.0001531839370728 + ], + [ + 0.3858814835548401, + 0.019163677468895912, + 0.09308425337076187, + -0.24201172590255737, + -0.5916581749916077, + 0.10244379192590714, + 0.0, + 0.9994885921478271 + ], + [ + 0.37265127897262573, + 0.018063845112919807, + 0.10687299817800522, + -0.24219372868537903, + -0.5928345918655396, + 0.09946373105049133, + 0.0, + 0.9994885921478271 + ], + [ + 0.34717831015586853, + 0.018166454508900642, + 0.12352496385574341, + -0.2083415985107422, + -0.5690478086471558, + 0.0861467495560646, + 0.0, + 0.9994885921478271 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9499720335006714 + ], + [ + 0.6701657772064209 + ], + [ + 0.3883807957172394 + ], + [ + 0.1996482014656067 + ], + [ + 0.12133388966321945 + ], + [ + 0.1059318259358406 + ], + [ + 0.10553344339132309 + ], + [ + 0.10553344339132309 + ], + [ + 0.10553344339132309 + ], + [ + 0.10553344339132309 + ], + [ + 0.10553344339132309 + ], + [ + 0.10553344339132309 + ], + [ + 0.1051359549164772 + ], + [ + 0.1051359549164772 + ], + [ + 0.1051359549164772 + ], + [ + 0.1051359549164772 + ], + [ + 0.1051359549164772 + ], + [ + 0.13806100189685822 + ], + [ + 0.3437051773071289 + ], + [ + 0.6541022062301636 + ], + [ + 0.9468915462493896 + ], + [ + 1.0054124593734741 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.27637967467308044, + 0.05465269461274147, + -0.00690322695299983 + ], + [ + 0.27332183718681335, + 0.053862616419792175, + -0.013775218278169632 + ], + [ + 0.2850834131240845, + 0.06360263377428055, + -0.019240161404013634 + ], + [ + 0.29089611768722534, + 0.0680495873093605, + -0.026679832488298416 + ], + [ + 0.29552027583122253, + 0.07704418152570724, + -0.03135284408926964 + ], + [ + 0.2960541844367981, + 0.07964435964822769, + -0.0476762019097805 + ], + [ + 0.297298401594162, + 0.08024214953184128, + -0.06134519353508949 + ], + [ + 0.2946314811706543, + 0.07734180241823196, + -0.07098737359046936 + ], + [ + 0.2956530749797821, + 0.07620404660701752, + -0.07165395468473434 + ], + [ + 0.2944580316543579, + 0.07624173164367676, + -0.07240558415651321 + ], + [ + 0.2936049997806549, + 0.07573884725570679, + -0.07176472246646881 + ], + [ + 0.29420045018196106, + 0.073910191655159, + -0.05895846337080002 + ], + [ + 0.29947763681411743, + 0.07075440883636475, + -0.02937178872525692 + ], + [ + 0.2974470853805542, + 0.06676515936851501, + -0.005893066059798002 + ], + [ + 0.2905246913433075, + 0.06066429615020752, + 0.02219853550195694 + ], + [ + 0.28201016783714294, + 0.055609676986932755, + 0.05049370601773262 + ], + [ + 0.27520328760147095, + 0.051477838307619095, + 0.07447201013565063 + ], + [ + 0.2784322202205658, + 0.04413031041622162, + 0.09470345079898834 + ], + [ + 0.29198431968688965, + 0.03875616937875748, + 0.11063727736473083 + ], + [ + 0.3129819631576538, + 0.031466469168663025, + 0.12062674015760422 + ], + [ + 0.3363586366176605, + 0.02864440716803074, + 0.11898617446422577 + ], + [ + 0.3587760627269745, + 0.022672394290566444, + 0.10961469262838364 + ], + [ + 0.378323495388031, + 0.021328816190361977, + 0.09955692291259766 + ], + [ + 0.39281901717185974, + 0.02124812640249729, + 0.09041376411914825 + ], + [ + 0.40535828471183777, + 0.019686978310346603, + 0.086000956594944 + ], + [ + 0.40504252910614014, + 0.019718842580914497, + 0.08562032878398895 + ], + [ + 0.40309423208236694, + 0.01806541718542576, + 0.0833183079957962 + ], + [ + 0.39901766180992126, + 0.017941530793905258, + 0.07747670263051987 + ], + [ + 0.39661136269569397, + 0.016149241477251053, + 0.07479552179574966 + ], + [ + 0.3946768641471863, + 0.01636943407356739, + 0.0776241198182106 + ], + [ + 0.3858814835548401, + 0.019163677468895912, + 0.09308425337076187 + ], + [ + 0.37265127897262573, + 0.018063845112919807, + 0.10687299817800522 + ], + [ + 0.34717831015586853, + 0.018166454508900642, + 0.12352496385574341 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9816343901775202, + 0.11734423199918555, + 0.15041361386965185, + 0.12140764407636674, + -0.9924378657047646, + -0.018090513403363206, + 0.14715334851994927, + 0.036019632589635454, + -0.9884576258431482 + ], + [ + 0.9843419302529606, + 0.12300517748524865, + 0.12625644798463906, + 0.12733209598684278, + -0.9914990481555791, + -0.02676144312584386, + 0.12189135193881821, + 0.04241890873658585, + -0.9916365939718663 + ], + [ + 0.9790063452813792, + 0.1569471166360173, + 0.13005452117645744, + 0.16281738796365886, + -0.9860087304154477, + -0.0357390783486186, + 0.12262574801194333, + 0.056163921908621114, + -0.990862523158664 + ], + [ + 0.9781076378591272, + 0.1667512948768197, + 0.12449680485274536, + 0.17367168270653296, + -0.9836862997509236, + -0.04689787104141996, + 0.11464552057328703, + 0.06749273545530839, + -0.9911110610185118 + ], + [ + 0.9733723514456314, + 0.1938561687071119, + 0.12233581362545308, + 0.19927484045463242, + -0.9793669282080033, + -0.03361484633610452, + 0.11329520467779129, + 0.05709821176375744, + -0.9919193469281653 + ], + [ + 0.9743978083367638, + 0.1976681255166843, + 0.10712713597978409, + 0.20086571951843799, + -0.9794182444456707, + -0.019820826655314993, + 0.10100432580266556, + 0.04083153930089073, + -0.9940477410906723 + ], + [ + 0.9710551170673396, + 0.20814628803302093, + 0.11716263224855523, + 0.21134123866065513, + -0.9772909849942837, + -0.015401671671697795, + 0.11129618348674634, + 0.03971716791234571, + -0.9929933061779959 + ], + [ + 0.9726109438192831, + 0.209693738570897, + 0.10028204209689337, + 0.2139564939192761, + -0.9762613569486472, + -0.033710260137769704, + 0.0908326520186081, + 0.05424296205910632, + -0.9943878168975725 + ], + [ + 0.9712703439993802, + 0.20778562818742682, + 0.11601315264262992, + 0.2130886024211038, + -0.976398131069884, + -0.03521274146467919, + 0.1059583238143492, + 0.05892217207464438, + -0.9926232977582481 + ], + [ + 0.9716403617285433, + 0.2057294013883693, + 0.11657796045740652, + 0.21077213947210635, + -0.976991961608513, + -0.0325854595594532, + 0.10719194317847004, + 0.05623273385434012, + -0.992646849066117 + ], + [ + 0.9718665752407716, + 0.2067879055483976, + 0.11275691574657601, + 0.21190160965590232, + -0.9766533813715437, + -0.035297032180729604, + 0.10282542368019226, + 0.0581973777281834, + -0.9929954669939596 + ], + [ + 0.9727910902290078, + 0.19977340528171472, + 0.11733746764442285, + 0.2063332769489309, + -0.9773721841704306, + -0.046585324228104096, + 0.10537586817945568, + 0.06952841255249212, + -0.9919988539576828 + ], + [ + 0.9679298327473926, + 0.18921192035733034, + 0.16525945683166135, + 0.2016916699880901, + -0.9774741867160778, + -0.062166587176373425, + 0.14977419382196597, + 0.0935043501578058, + -0.9842888942615103 + ], + [ + 0.964359623405142, + 0.1646300146780973, + 0.20714119583748233, + 0.1832376796520892, + -0.9802814124073153, + -0.07397503122295768, + 0.1908781535472592, + 0.10929460533717436, + -0.9755102355908831 + ], + [ + 0.956130614149537, + 0.13578077938888158, + 0.25957239574842533, + 0.16638905188089612, + -0.9810034487205805, + -0.09973423189910322, + 0.2410994236828569, + 0.13854895722045513, + -0.9605598650541876 + ], + [ + 0.9418396810572804, + 0.09848537672960772, + 0.3213077119465801, + 0.14710265225908498, + -0.9804513050650426, + -0.1306753538146978, + 0.3021569540557721, + 0.17034045017752236, + -0.9379154045803151 + ], + [ + 0.9143078360872063, + 0.055750371300310055, + 0.40116465069770013, + 0.1307418887411171, + -0.9780825307979476, + -0.16205283544661342, + 0.38333763107466445, + 0.20061520143737704, + -0.901557431090391 + ], + [ + 0.8708950282779646, + -0.0005213479634457521, + 0.49146879648358577, + 0.1113345426053397, + -0.9737933870524628, + -0.19832059639823665, + 0.47869245799739, + 0.22743387506964194, + -0.848013775316901 + ], + [ + 0.8356872479282295, + -0.04176301459238199, + 0.5476154437762855, + 0.10064741464394023, + -0.9685723181282153, + -0.2274593644614918, + 0.5399045485783875, + 0.24520096893750537, + -0.8052201955095736 + ], + [ + 0.8053700346873162, + -0.09238761751712524, + 0.5855285094316587, + 0.07514190837396018, + -0.9638995467205592, + -0.25544345252485806, + 0.5879904768222612, + 0.249724231826648, + -0.769353629487065 + ], + [ + 0.801661537671193, + -0.10051245114654256, + 0.5892673639216514, + 0.07118371582109376, + -0.9626971139707405, + -0.26105008208063896, + 0.5935247742264512, + 0.25122005078600007, + -0.7646023989385067 + ], + [ + 0.8074350770491721, + -0.11058364040557933, + 0.5794996590380763, + 0.060382381819880836, + -0.9616261917540802, + -0.26763601270812365, + 0.5868582148324715, + 0.25109027421864494, + -0.7697734146334557 + ], + [ + 0.8086730317459772, + -0.10711009328926281, + 0.5784248919629368, + 0.05151398222528965, + -0.9666121398321844, + -0.2510125111709334, + 0.5859984960407852, + 0.23278401801801346, + -0.7761555021987069 + ], + [ + 0.809881716806178, + -0.10264462845317257, + 0.5775427993082308, + 0.04436273115405706, + -0.9710338121366308, + -0.23478774195420637, + 0.5849132866225814, + 0.2157716754745912, + -0.7818689347935862 + ], + [ + 0.8108082082551094, + -0.10073085634571327, + 0.5765790006633944, + 0.03021849222825434, + -0.9765620793683994, + -0.21310407754690872, + 0.5845313440300617, + 0.19020988333818836, + -0.7887606152229475 + ], + [ + 0.8236870584768701, + -0.07266114745057758, + 0.5623699737262711, + 0.049726701280090595, + -0.9786793334011714, + -0.19928376138872778, + 0.5648600577820333, + 0.19211225891286632, + -0.8025123021473713 + ], + [ + 0.8285945740194597, + -0.05574091432961562, + 0.5570673050675372, + 0.07246996757548, + -0.9759804410731024, + -0.20545141139053122, + 0.5551388436284377, + 0.2106065742384384, + -0.8046525555681968 + ], + [ + 0.8405065339380852, + -0.03328549374375353, + 0.5407779972536056, + 0.0789290081747691, + -0.979940846156526, + -0.18299221213641523, + 0.536021434343752, + 0.19648922092640628, + -0.8210194930595742 + ], + [ + 0.8446340927128464, + -0.03419292681695592, + 0.5342509646063703, + 0.08051329378194419, + -0.9784938469082964, + -0.18991419401136359, + 0.5292550037094871, + 0.2034223078187193, + -0.8237162774464136 + ], + [ + 0.8418704073706981, + -0.03412939226966793, + 0.5385994817828901, + 0.08132679212938898, + -0.9785786029105347, + -0.18912924366054235, + 0.5335167945579948, + 0.20302488150216658, + -0.821060733085923 + ], + [ + 0.8256653986378684, + -0.0336801390661063, + 0.5631538845863158, + 0.08488143819674794, + -0.9794370772988324, + -0.18302500665748475, + 0.5577381024655044, + 0.19891872673232255, + -0.8058284862260516 + ], + [ + 0.825261222866277, + -0.036934096832645036, + 0.5635421781237087, + 0.08235532092841635, + -0.9793219721550815, + -0.18478656869225957, + 0.5587141622941327, + 0.19890788658431424, + -0.805154728922663 + ], + [ + 0.8392904698061354, + -0.026857424908787106, + 0.5430195079551615, + 0.0724815361806374, + -0.9843363499254528, + -0.1607120939081181, + 0.5388301533929701, + 0.1742430169123161, + -0.8241974501609447 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.00305783748626709, + -0.000790078192949295, + -0.006871991325169802, + -0.0063264816999435425, + 0.025494448840618134, + 0.005589023232460022, + 1.0 + ], + [ + 0.011761575937271118, + 0.009740017354488373, + -0.005464943125844002, + -0.013870660215616226, + -0.0007399469614028931, + 0.036157265305519104, + 1.0 + ], + [ + 0.005812704563140869, + 0.004446953535079956, + -0.007439671084284782, + -0.01137181743979454, + 0.008037008345127106, + 0.010926932096481323, + 1.0 + ], + [ + 0.004624158143997192, + 0.00899459421634674, + -0.004673011600971222, + 0.010493174195289612, + 0.0013591721653938293, + 0.026208430528640747, + 1.0 + ], + [ + 0.0005339086055755615, + 0.0026001781225204468, + -0.016323357820510864, + 0.016446951776742935, + 0.012362129986286163, + 0.0013598352670669556, + 1.0 + ], + [ + 0.0012442171573638916, + 0.0005977898836135864, + -0.01366899162530899, + 0.0010768473148345947, + -0.010350383818149567, + 0.011003255844116211, + 1.0 + ], + [ + -0.0026669204235076904, + -0.002900347113609314, + -0.009642180055379868, + -0.014518983662128448, + 0.020569220185279846, + 0.0022338032722473145, + 0.0 + ], + [ + 0.0010215938091278076, + -0.001137755811214447, + -0.0006665810942649841, + -0.004795387387275696, + -0.015199579298496246, + -0.0005627721548080444, + 0.0 + ], + [ + -0.0011950433254241943, + 3.768503665924072e-05, + -0.0007516294717788696, + 0.00270167738199234, + -0.0012406855821609497, + -0.002355515956878662, + 0.0 + ], + [ + -0.0008530318737030029, + -0.0005028843879699707, + 0.0006408616900444031, + -0.0019521303474903107, + 0.004390798509120941, + 0.001061469316482544, + 0.0 + ], + [ + 0.0005954504013061523, + -0.0018286556005477905, + 0.012806259095668793, + -0.011433839797973633, + -0.002564378082752228, + -0.005669057369232178, + 0.0 + ], + [ + 0.005277186632156372, + -0.0031557828187942505, + 0.0295866746455431, + -0.024737857282161713, + -0.04476802051067352, + -0.003572240471839905, + 0.0 + ], + [ + -0.0020305514335632324, + -0.0039892494678497314, + 0.02347872219979763, + -0.0168604776263237, + -0.04171678423881531, + -0.017663314938545227, + 0.0 + ], + [ + -0.006922394037246704, + -0.006100863218307495, + 0.02809160202741623, + -0.03167664259672165, + -0.05144186317920685, + -0.015473425388336182, + 0.0 + ], + [ + -0.00851452350616455, + -0.005054619163274765, + 0.02829517051577568, + -0.036408036947250366, + -0.06345602869987488, + -0.017363116145133972, + 0.0 + ], + [ + -0.006806880235671997, + -0.00413183867931366, + 0.023978304117918015, + -0.039295583963394165, + -0.08645272254943848, + -0.012902140617370605, + 0.0 + ], + [ + 0.0032289326190948486, + -0.007347527891397476, + 0.020231440663337708, + -0.04307624697685242, + -0.10575756430625916, + -0.014883071184158325, + 0.0 + ], + [ + 0.013552099466323853, + -0.005374141037464142, + 0.015933826565742493, + -0.033563464879989624, + -0.07115885615348816, + -0.007290147244930267, + 0.0 + ], + [ + 0.02099764347076416, + -0.007289700210094452, + 0.009989462792873383, + -0.01826763153076172, + -0.05824851989746094, + -0.026827633380889893, + 0.0 + ], + [ + 0.023376673460006714, + -0.002822062000632286, + -0.0016405656933784485, + -0.003590404987335205, + -0.006859183311462402, + -0.0044688209891319275, + 0.0 + ], + [ + 0.022417426109313965, + -0.005972012877464294, + -0.009371481835842133, + 0.0021457672119140625, + 0.008258283138275146, + -0.013918936252593994, + 0.0 + ], + [ + 0.01954743266105652, + -0.0013435781002044678, + -0.01005776971578598, + 0.023922592401504517, + 0.0010613799095153809, + -0.011028103530406952, + 0.0 + ], + [ + 0.014495521783828735, + -8.068978786468506e-05, + -0.009143158793449402, + 0.0221157968044281, + 0.0013386011123657227, + -0.008893795311450958, + 0.0 + ], + [ + 0.012539267539978027, + -0.0015611480921506882, + -0.004412807524204254, + 0.032634586095809937, + 0.00047081708908081055, + -0.01746976375579834, + 1.0 + ], + [ + -0.00031575560569763184, + 3.186427056789398e-05, + -0.0003806278109550476, + 0.0016656219959259033, + 0.02403867244720459, + 0.023045331239700317, + 1.0 + ], + [ + -0.0019482970237731934, + -0.001653425395488739, + -0.002302020788192749, + -0.02102673053741455, + 0.011733770370483398, + 0.026941634714603424, + 1.0 + ], + [ + -0.004076570272445679, + -0.00012388639152050018, + -0.005841605365276337, + 0.02108830213546753, + 0.02281266450881958, + 0.006392575800418854, + 1.0 + ], + [ + -0.002406299114227295, + -0.0017922893166542053, + -0.0026811808347702026, + -0.007207214832305908, + 0.00799494981765747, + 0.0014042332768440247, + 1.0 + ], + [ + -0.0019344985485076904, + 0.00022019259631633759, + 0.0028285980224609375, + -0.0002965778112411499, + -0.00503087043762207, + 0.001267552375793457, + 1.0 + ], + [ + -0.008795380592346191, + 0.0027942433953285217, + 0.01546013355255127, + 0.00039725005626678467, + -0.028905034065246582, + 0.00614011287689209, + 1.0 + ], + [ + -0.013230204582214355, + -0.0010998323559761047, + 0.013788744807243347, + -0.00018200278282165527, + -0.0011764168739318848, + -0.002980060875415802, + 1.0 + ], + [ + -0.025472968816757202, + 0.00010260939598083496, + 0.01665196567773819, + 0.03385213017463684, + 0.02378678321838379, + -0.013316981494426727, + 1.0 + ], + [ + -0.028324276208877563, + 0.005421129986643791, + 0.001999571919441223, + 0.06811980903148651, + 0.04886525869369507, + 0.03977126628160477, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9499720335006714 + ], + [ + 0.6701657772064209 + ], + [ + 0.3883807957172394 + ], + [ + 0.1996482014656067 + ], + [ + 0.12133388966321945 + ], + [ + 0.1059318259358406 + ], + [ + 0.10553344339132309 + ], + [ + 0.10553344339132309 + ], + [ + 0.10553344339132309 + ], + [ + 0.10553344339132309 + ], + [ + 0.10553344339132309 + ], + [ + 0.10553344339132309 + ], + [ + 0.1051359549164772 + ], + [ + 0.1051359549164772 + ], + [ + 0.1051359549164772 + ], + [ + 0.1051359549164772 + ], + [ + 0.1051359549164772 + ], + [ + 0.13806100189685822 + ], + [ + 0.3437051773071289 + ], + [ + 0.6541022062301636 + ], + [ + 0.9468915462493896 + ], + [ + 1.0054124593734741 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.27332183718681335, + 0.053862616419792175, + -0.013775218278169632 + ], + [ + 0.2850834131240845, + 0.06360263377428055, + -0.019240161404013634 + ], + [ + 0.29089611768722534, + 0.0680495873093605, + -0.026679832488298416 + ], + [ + 0.29552027583122253, + 0.07704418152570724, + -0.03135284408926964 + ], + [ + 0.2960541844367981, + 0.07964435964822769, + -0.0476762019097805 + ], + [ + 0.297298401594162, + 0.08024214953184128, + -0.06134519353508949 + ], + [ + 0.2946314811706543, + 0.07734180241823196, + -0.07098737359046936 + ], + [ + 0.2956530749797821, + 0.07620404660701752, + -0.07165395468473434 + ], + [ + 0.2944580316543579, + 0.07624173164367676, + -0.07240558415651321 + ], + [ + 0.2936049997806549, + 0.07573884725570679, + -0.07176472246646881 + ], + [ + 0.29420045018196106, + 0.073910191655159, + -0.05895846337080002 + ], + [ + 0.29947763681411743, + 0.07075440883636475, + -0.02937178872525692 + ], + [ + 0.2974470853805542, + 0.06676515936851501, + -0.005893066059798002 + ], + [ + 0.2905246913433075, + 0.06066429615020752, + 0.02219853550195694 + ], + [ + 0.28201016783714294, + 0.055609676986932755, + 0.05049370601773262 + ], + [ + 0.27520328760147095, + 0.051477838307619095, + 0.07447201013565063 + ], + [ + 0.2784322202205658, + 0.04413031041622162, + 0.09470345079898834 + ], + [ + 0.29198431968688965, + 0.03875616937875748, + 0.11063727736473083 + ], + [ + 0.3129819631576538, + 0.031466469168663025, + 0.12062674015760422 + ], + [ + 0.3363586366176605, + 0.02864440716803074, + 0.11898617446422577 + ], + [ + 0.3587760627269745, + 0.022672394290566444, + 0.10961469262838364 + ], + [ + 0.378323495388031, + 0.021328816190361977, + 0.09955692291259766 + ], + [ + 0.39281901717185974, + 0.02124812640249729, + 0.09041376411914825 + ], + [ + 0.40535828471183777, + 0.019686978310346603, + 0.086000956594944 + ], + [ + 0.40504252910614014, + 0.019718842580914497, + 0.08562032878398895 + ], + [ + 0.40309423208236694, + 0.01806541718542576, + 0.0833183079957962 + ], + [ + 0.39901766180992126, + 0.017941530793905258, + 0.07747670263051987 + ], + [ + 0.39661136269569397, + 0.016149241477251053, + 0.07479552179574966 + ], + [ + 0.3946768641471863, + 0.01636943407356739, + 0.0776241198182106 + ], + [ + 0.3858814835548401, + 0.019163677468895912, + 0.09308425337076187 + ], + [ + 0.37265127897262573, + 0.018063845112919807, + 0.10687299817800522 + ], + [ + 0.34717831015586853, + 0.018166454508900642, + 0.12352496385574341 + ], + [ + 0.31885403394699097, + 0.023587584495544434, + 0.12552453577518463 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9843419302529606, + 0.12300517748524865, + 0.12625644798463906, + 0.12733209598684278, + -0.9914990481555791, + -0.02676144312584386, + 0.12189135193881821, + 0.04241890873658585, + -0.9916365939718663 + ], + [ + 0.9790063452813792, + 0.1569471166360173, + 0.13005452117645744, + 0.16281738796365886, + -0.9860087304154477, + -0.0357390783486186, + 0.12262574801194333, + 0.056163921908621114, + -0.990862523158664 + ], + [ + 0.9781076378591272, + 0.1667512948768197, + 0.12449680485274536, + 0.17367168270653296, + -0.9836862997509236, + -0.04689787104141996, + 0.11464552057328703, + 0.06749273545530839, + -0.9911110610185118 + ], + [ + 0.9733723514456314, + 0.1938561687071119, + 0.12233581362545308, + 0.19927484045463242, + -0.9793669282080033, + -0.03361484633610452, + 0.11329520467779129, + 0.05709821176375744, + -0.9919193469281653 + ], + [ + 0.9743978083367638, + 0.1976681255166843, + 0.10712713597978409, + 0.20086571951843799, + -0.9794182444456707, + -0.019820826655314993, + 0.10100432580266556, + 0.04083153930089073, + -0.9940477410906723 + ], + [ + 0.9710551170673396, + 0.20814628803302093, + 0.11716263224855523, + 0.21134123866065513, + -0.9772909849942837, + -0.015401671671697795, + 0.11129618348674634, + 0.03971716791234571, + -0.9929933061779959 + ], + [ + 0.9726109438192831, + 0.209693738570897, + 0.10028204209689337, + 0.2139564939192761, + -0.9762613569486472, + -0.033710260137769704, + 0.0908326520186081, + 0.05424296205910632, + -0.9943878168975725 + ], + [ + 0.9712703439993802, + 0.20778562818742682, + 0.11601315264262992, + 0.2130886024211038, + -0.976398131069884, + -0.03521274146467919, + 0.1059583238143492, + 0.05892217207464438, + -0.9926232977582481 + ], + [ + 0.9716403617285433, + 0.2057294013883693, + 0.11657796045740652, + 0.21077213947210635, + -0.976991961608513, + -0.0325854595594532, + 0.10719194317847004, + 0.05623273385434012, + -0.992646849066117 + ], + [ + 0.9718665752407716, + 0.2067879055483976, + 0.11275691574657601, + 0.21190160965590232, + -0.9766533813715437, + -0.035297032180729604, + 0.10282542368019226, + 0.0581973777281834, + -0.9929954669939596 + ], + [ + 0.9727910902290078, + 0.19977340528171472, + 0.11733746764442285, + 0.2063332769489309, + -0.9773721841704306, + -0.046585324228104096, + 0.10537586817945568, + 0.06952841255249212, + -0.9919988539576828 + ], + [ + 0.9679298327473926, + 0.18921192035733034, + 0.16525945683166135, + 0.2016916699880901, + -0.9774741867160778, + -0.062166587176373425, + 0.14977419382196597, + 0.0935043501578058, + -0.9842888942615103 + ], + [ + 0.964359623405142, + 0.1646300146780973, + 0.20714119583748233, + 0.1832376796520892, + -0.9802814124073153, + -0.07397503122295768, + 0.1908781535472592, + 0.10929460533717436, + -0.9755102355908831 + ], + [ + 0.956130614149537, + 0.13578077938888158, + 0.25957239574842533, + 0.16638905188089612, + -0.9810034487205805, + -0.09973423189910322, + 0.2410994236828569, + 0.13854895722045513, + -0.9605598650541876 + ], + [ + 0.9418396810572804, + 0.09848537672960772, + 0.3213077119465801, + 0.14710265225908498, + -0.9804513050650426, + -0.1306753538146978, + 0.3021569540557721, + 0.17034045017752236, + -0.9379154045803151 + ], + [ + 0.9143078360872063, + 0.055750371300310055, + 0.40116465069770013, + 0.1307418887411171, + -0.9780825307979476, + -0.16205283544661342, + 0.38333763107466445, + 0.20061520143737704, + -0.901557431090391 + ], + [ + 0.8708950282779646, + -0.0005213479634457521, + 0.49146879648358577, + 0.1113345426053397, + -0.9737933870524628, + -0.19832059639823665, + 0.47869245799739, + 0.22743387506964194, + -0.848013775316901 + ], + [ + 0.8356872479282295, + -0.04176301459238199, + 0.5476154437762855, + 0.10064741464394023, + -0.9685723181282153, + -0.2274593644614918, + 0.5399045485783875, + 0.24520096893750537, + -0.8052201955095736 + ], + [ + 0.8053700346873162, + -0.09238761751712524, + 0.5855285094316587, + 0.07514190837396018, + -0.9638995467205592, + -0.25544345252485806, + 0.5879904768222612, + 0.249724231826648, + -0.769353629487065 + ], + [ + 0.801661537671193, + -0.10051245114654256, + 0.5892673639216514, + 0.07118371582109376, + -0.9626971139707405, + -0.26105008208063896, + 0.5935247742264512, + 0.25122005078600007, + -0.7646023989385067 + ], + [ + 0.8074350770491721, + -0.11058364040557933, + 0.5794996590380763, + 0.060382381819880836, + -0.9616261917540802, + -0.26763601270812365, + 0.5868582148324715, + 0.25109027421864494, + -0.7697734146334557 + ], + [ + 0.8086730317459772, + -0.10711009328926281, + 0.5784248919629368, + 0.05151398222528965, + -0.9666121398321844, + -0.2510125111709334, + 0.5859984960407852, + 0.23278401801801346, + -0.7761555021987069 + ], + [ + 0.809881716806178, + -0.10264462845317257, + 0.5775427993082308, + 0.04436273115405706, + -0.9710338121366308, + -0.23478774195420637, + 0.5849132866225814, + 0.2157716754745912, + -0.7818689347935862 + ], + [ + 0.8108082082551094, + -0.10073085634571327, + 0.5765790006633944, + 0.03021849222825434, + -0.9765620793683994, + -0.21310407754690872, + 0.5845313440300617, + 0.19020988333818836, + -0.7887606152229475 + ], + [ + 0.8236870584768701, + -0.07266114745057758, + 0.5623699737262711, + 0.049726701280090595, + -0.9786793334011714, + -0.19928376138872778, + 0.5648600577820333, + 0.19211225891286632, + -0.8025123021473713 + ], + [ + 0.8285945740194597, + -0.05574091432961562, + 0.5570673050675372, + 0.07246996757548, + -0.9759804410731024, + -0.20545141139053122, + 0.5551388436284377, + 0.2106065742384384, + -0.8046525555681968 + ], + [ + 0.8405065339380852, + -0.03328549374375353, + 0.5407779972536056, + 0.0789290081747691, + -0.979940846156526, + -0.18299221213641523, + 0.536021434343752, + 0.19648922092640628, + -0.8210194930595742 + ], + [ + 0.8446340927128464, + -0.03419292681695592, + 0.5342509646063703, + 0.08051329378194419, + -0.9784938469082964, + -0.18991419401136359, + 0.5292550037094871, + 0.2034223078187193, + -0.8237162774464136 + ], + [ + 0.8418704073706981, + -0.03412939226966793, + 0.5385994817828901, + 0.08132679212938898, + -0.9785786029105347, + -0.18912924366054235, + 0.5335167945579948, + 0.20302488150216658, + -0.821060733085923 + ], + [ + 0.8256653986378684, + -0.0336801390661063, + 0.5631538845863158, + 0.08488143819674794, + -0.9794370772988324, + -0.18302500665748475, + 0.5577381024655044, + 0.19891872673232255, + -0.8058284862260516 + ], + [ + 0.825261222866277, + -0.036934096832645036, + 0.5635421781237087, + 0.08235532092841635, + -0.9793219721550815, + -0.18478656869225957, + 0.5587141622941327, + 0.19890788658431424, + -0.805154728922663 + ], + [ + 0.8392904698061354, + -0.026857424908787106, + 0.5430195079551615, + 0.0724815361806374, + -0.9843363499254528, + -0.1607120939081181, + 0.5388301533929701, + 0.1742430169123161, + -0.8241974501609447 + ], + [ + 0.8608584763460099, + 0.055435437833730006, + 0.5058157727230428, + 0.10897414189630494, + -0.9910696343006273, + -0.07684800820570814, + 0.49703854991458174, + 0.12127609904430159, + -0.859211724605412 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006520.json b/json/chunk-0006/episode_0006520.json new file mode 100644 index 0000000000000000000000000000000000000000..d26480557687e66e10dd88d34c940b23e6917555 --- /dev/null +++ b/json/chunk-0006/episode_0006520.json @@ -0,0 +1,2182 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 35, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPlace the bowl on top of the green towel." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006520.mp4", + "start": 0, + "end": 35, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.24494938552379608, + 0.029778888449072838, + 0.10953068733215332, + -0.024010319262742996, + -0.045898616313934326, + -0.14582791924476624, + 0.0, + 1.0008161067962646 + ], + [ + 0.24435830116271973, + 0.02886233665049076, + 0.10427108407020569, + -0.03337455540895462, + -0.024553289636969566, + -0.14279919862747192, + 0.0, + 1.0008161067962646 + ], + [ + 0.2725512683391571, + 0.03159838169813156, + 0.10582868754863739, + -0.03596581518650055, + -0.04820149019360542, + -0.11728984117507935, + 0.0, + 1.0008161067962646 + ], + [ + 0.3070056736469269, + 0.035278044641017914, + 0.11572834849357605, + -0.02154475636780262, + -0.09686963260173798, + -0.09431883692741394, + 0.0, + 1.0008161067962646 + ], + [ + 0.3390423357486725, + 0.031288523226976395, + 0.11366899311542511, + -0.018277157098054886, + -0.1276264488697052, + -0.08514505624771118, + 0.0, + 1.0008161067962646 + ], + [ + 0.3562515079975128, + 0.017045358195900917, + 0.09112214297056198, + -0.016930274665355682, + -0.10865361988544464, + -0.09649360924959183, + 0.0, + 1.0008161067962646 + ], + [ + 0.36219972372055054, + 0.010454791598021984, + 0.07151014357805252, + -0.00380850862711668, + -0.08409713953733444, + -0.09490770101547241, + 0.0, + 1.0008161067962646 + ], + [ + 0.36815354228019714, + 0.011185761541128159, + 0.056223612278699875, + 0.001992556732147932, + -0.08014419674873352, + -0.08913711458444595, + 0.0, + 1.0008161067962646 + ], + [ + 0.3722419738769531, + 0.012934907339513302, + 0.04140409082174301, + 0.008290241472423077, + -0.06854283809661865, + -0.10380079597234726, + 0.0, + 1.0008161067962646 + ], + [ + 0.3743370473384857, + 0.01933991350233555, + 0.03875516355037689, + 0.009918849915266037, + -0.07915985584259033, + -0.0885523185133934, + 0.0, + 1.0008161067962646 + ], + [ + 0.37599802017211914, + 0.01767394319176674, + 0.03514615818858147, + 0.0046566142700612545, + -0.10498463362455368, + -0.10984672605991364, + 0.0, + 0.9679883122444153 + ], + [ + 0.3768836557865143, + 0.01594730280339718, + 0.028392713516950607, + 0.0035598205868154764, + -0.13416381180286407, + -0.1507743000984192, + 0.0, + 0.6892001032829285 + ], + [ + 0.37647122144699097, + 0.015703421086072922, + 0.02551138401031494, + 0.008298836648464203, + -0.12686243653297424, + -0.15553058683872223, + 0.0, + 0.3737536668777466 + ], + [ + 0.37653547525405884, + 0.013537276536226273, + 0.025492124259471893, + 0.01660616509616375, + -0.12507878243923187, + -0.16705487668514252, + 0.0, + 0.17135097086429596 + ], + [ + 0.37617039680480957, + 0.012937196530401707, + 0.02630150131881237, + 0.0159307848662138, + -0.12208510935306549, + -0.16856884956359863, + 0.0, + 0.10874665528535843 + ], + [ + 0.37746426463127136, + 0.012979676946997643, + 0.02941855974495411, + 0.011290761642158031, + -0.1214376762509346, + -0.16115012764930725, + 0.0, + 0.10355531424283981 + ], + [ + 0.3724247217178345, + 0.006473967805504799, + 0.0571066290140152, + -0.03194860368967056, + -0.1394731104373932, + -0.13972723484039307, + 0.0, + 0.09179956465959549 + ], + [ + 0.3661622405052185, + 0.008128499612212181, + 0.11128789931535721, + -0.06735631823539734, + -0.24166995286941528, + -0.12159484624862671, + 0.0, + 0.08641935139894485 + ], + [ + 0.33498427271842957, + 0.027070997282862663, + 0.14065776765346527, + -0.1017444059252739, + -0.2725498378276825, + -0.06402162462472916, + 0.0, + 0.08641935139894485 + ], + [ + 0.3052477538585663, + 0.05287109315395355, + 0.1354832649230957, + -0.09327733516693115, + -0.23572464287281036, + -0.013920101337134838, + 0.0, + 0.08641935139894485 + ], + [ + 0.2794373035430908, + 0.07911687344312668, + 0.11284472793340683, + -0.0884605273604393, + -0.1601880043745041, + 0.04057065770030022, + 0.0, + 0.08641935139894485 + ], + [ + 0.26551011204719543, + 0.10073764622211456, + 0.09200631082057953, + -0.04760149493813515, + -0.10529257357120514, + 0.08235596120357513, + 0.0, + 0.08606764674186707 + ], + [ + 0.2623615264892578, + 0.11453550308942795, + 0.06957594305276871, + -0.016175879165530205, + -0.044579364359378815, + 0.10347231477499008, + 0.0, + 0.08606764674186707 + ], + [ + 0.2666820287704468, + 0.12785246968269348, + 0.06106649339199066, + -0.001094518811441958, + -0.028017127886414528, + 0.11866500228643417, + 0.0, + 0.08571679890155792 + ], + [ + 0.2672889232635498, + 0.1296001374721527, + 0.05944112315773964, + -0.0032445574179291725, + -0.014148533344268799, + 0.12003141641616821, + 0.0, + 0.08606764674186707 + ], + [ + 0.2700628936290741, + 0.12994636595249176, + 0.05678904429078102, + -0.0016153096221387386, + -0.018478427082300186, + 0.11396459490060806, + 0.0, + 0.08571679890155792 + ], + [ + 0.27280664443969727, + 0.11799488961696625, + 0.053706150501966476, + 0.0032516424544155598, + -0.016751468181610107, + 0.06918610632419586, + 0.0, + 0.08606764674186707 + ], + [ + 0.2732478678226471, + 0.10818593949079514, + 0.0524054616689682, + 0.011841703206300735, + -0.018611198291182518, + 0.03627084940671921, + 0.0, + 0.08571679890155792 + ], + [ + 0.2734109163284302, + 0.10003291815519333, + 0.0523536279797554, + 0.014997838996350765, + -0.020835252478718758, + 0.017553340643644333, + 0.0, + 0.10874665528535843 + ], + [ + 0.2732389271259308, + 0.09990761429071426, + 0.05237942934036255, + 0.02716495655477047, + -0.015702787786722183, + 0.032339148223400116, + 0.0, + 0.2898603677749634 + ], + [ + 0.27085036039352417, + 0.09889637678861618, + 0.05277891829609871, + 0.021549507975578308, + -0.0016539451899006963, + 0.04587516561150551, + 0.0, + 0.5719637274742126 + ], + [ + 0.2665026783943176, + 0.09656931459903717, + 0.052802447229623795, + 0.008247318677604198, + 0.026380246505141258, + 0.049718089401721954, + 0.0, + 0.8749077320098877 + ], + [ + 0.26852619647979736, + 0.08442633599042892, + 0.07877957820892334, + 0.0019115862669423223, + -0.03133242949843407, + 0.03601566702127457, + 0.0, + 1.0105689764022827 + ], + [ + 0.26877275109291077, + 0.05992200970649719, + 0.10620233416557312, + 0.018561316654086113, + -0.08073316514492035, + -0.006885611452162266, + 0.0, + 1.0073583126068115 + ], + [ + 0.2664676308631897, + 0.03638620674610138, + 0.11370424181222916, + 0.011425979435443878, + -0.07275416702032089, + -0.038145456463098526, + 0.0, + 1.0008161067962646 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9679883122444153 + ], + [ + 0.6892001032829285 + ], + [ + 0.3737536668777466 + ], + [ + 0.17135097086429596 + ], + [ + 0.10874665528535843 + ], + [ + 0.10355531424283981 + ], + [ + 0.09179956465959549 + ], + [ + 0.08641935139894485 + ], + [ + 0.08641935139894485 + ], + [ + 0.08641935139894485 + ], + [ + 0.08641935139894485 + ], + [ + 0.08606764674186707 + ], + [ + 0.08606764674186707 + ], + [ + 0.08571679890155792 + ], + [ + 0.08606764674186707 + ], + [ + 0.08571679890155792 + ], + [ + 0.08606764674186707 + ], + [ + 0.08571679890155792 + ], + [ + 0.10874665528535843 + ], + [ + 0.2898603677749634 + ], + [ + 0.5719637274742126 + ], + [ + 0.8749077320098877 + ], + [ + 1.0105689764022827 + ], + [ + 1.0073583126068115 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.24494938552379608, + 0.029778888449072838, + 0.10953068733215332 + ], + [ + 0.24435830116271973, + 0.02886233665049076, + 0.10427108407020569 + ], + [ + 0.2725512683391571, + 0.03159838169813156, + 0.10582868754863739 + ], + [ + 0.3070056736469269, + 0.035278044641017914, + 0.11572834849357605 + ], + [ + 0.3390423357486725, + 0.031288523226976395, + 0.11366899311542511 + ], + [ + 0.3562515079975128, + 0.017045358195900917, + 0.09112214297056198 + ], + [ + 0.36219972372055054, + 0.010454791598021984, + 0.07151014357805252 + ], + [ + 0.36815354228019714, + 0.011185761541128159, + 0.056223612278699875 + ], + [ + 0.3722419738769531, + 0.012934907339513302, + 0.04140409082174301 + ], + [ + 0.3743370473384857, + 0.01933991350233555, + 0.03875516355037689 + ], + [ + 0.37599802017211914, + 0.01767394319176674, + 0.03514615818858147 + ], + [ + 0.3768836557865143, + 0.01594730280339718, + 0.028392713516950607 + ], + [ + 0.37647122144699097, + 0.015703421086072922, + 0.02551138401031494 + ], + [ + 0.37653547525405884, + 0.013537276536226273, + 0.025492124259471893 + ], + [ + 0.37617039680480957, + 0.012937196530401707, + 0.02630150131881237 + ], + [ + 0.37746426463127136, + 0.012979676946997643, + 0.02941855974495411 + ], + [ + 0.3724247217178345, + 0.006473967805504799, + 0.0571066290140152 + ], + [ + 0.3661622405052185, + 0.008128499612212181, + 0.11128789931535721 + ], + [ + 0.33498427271842957, + 0.027070997282862663, + 0.14065776765346527 + ], + [ + 0.3052477538585663, + 0.05287109315395355, + 0.1354832649230957 + ], + [ + 0.2794373035430908, + 0.07911687344312668, + 0.11284472793340683 + ], + [ + 0.26551011204719543, + 0.10073764622211456, + 0.09200631082057953 + ], + [ + 0.2623615264892578, + 0.11453550308942795, + 0.06957594305276871 + ], + [ + 0.2666820287704468, + 0.12785246968269348, + 0.06106649339199066 + ], + [ + 0.2672889232635498, + 0.1296001374721527, + 0.05944112315773964 + ], + [ + 0.2700628936290741, + 0.12994636595249176, + 0.05678904429078102 + ], + [ + 0.27280664443969727, + 0.11799488961696625, + 0.053706150501966476 + ], + [ + 0.2732478678226471, + 0.10818593949079514, + 0.0524054616689682 + ], + [ + 0.2734109163284302, + 0.10003291815519333, + 0.0523536279797554 + ], + [ + 0.2732389271259308, + 0.09990761429071426, + 0.05237942934036255 + ], + [ + 0.27085036039352417, + 0.09889637678861618, + 0.05277891829609871 + ], + [ + 0.2665026783943176, + 0.09656931459903717, + 0.052802447229623795 + ], + [ + 0.26852619647979736, + 0.08442633599042892, + 0.07877957820892334 + ], + [ + 0.26877275109291077, + 0.05992200970649719, + 0.10620233416557312 + ], + [ + 0.2664676308631897, + 0.03638620674610138, + 0.11370424181222916 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9883439603814017, + -0.14635958313953654, + 0.041893775203810296, + -0.14515857519847633, + -0.9889406964895491, + -0.030418528450828694, + 0.045882502372414175, + 0.02398272815979602, + -0.9986589131060007 + ], + [ + 0.9895231595015007, + -0.1430460059880181, + 0.019538602330844278, + -0.1422714796323542, + -0.9891537109293592, + -0.036520709712405196, + 0.024550822662135034, + 0.03335830219829896, + -0.9991418721988679 + ], + [ + 0.9919759415007087, + -0.11866608168129286, + 0.043612985935276904, + -0.11688518571706225, + -0.9922844252615028, + -0.041345770561645276, + 0.048182827269368456, + 0.035916297719239904, + -0.9981925839809032 + ], + [ + 0.990887917664958, + -0.0962315459079447, + 0.09423706382188768, + -0.09373752526336665, + -0.99512799492675, + -0.030554051622753972, + 0.09671820399026801, + 0.021442091437948625, + -0.995080813668751 + ], + [ + 0.9882736064375487, + -0.08734577523671475, + 0.12524373983244944, + -0.0843505485723943, + -0.9960131070625976, + -0.029032318457994026, + 0.12728025681329028, + 0.018127495905599825, + -0.9917011294325196 + ], + [ + 0.9894785354365736, + -0.09815741976719072, + 0.10628898745844041, + -0.09577579651842658, + -0.9950285847168838, + -0.027296747014541704, + 0.10843995901674776, + 0.01682963282316221, + -0.9939605317855852 + ], + [ + 0.9919814675042019, + -0.09508306498198155, + 0.08325850636326941, + -0.09443037725126738, + -0.9954621079810005, + -0.01175140103164079, + 0.08399804747965052, + 0.003795039875336848, + -0.9964586924162744 + ], + [ + 0.9928328328945254, + -0.08886005849630281, + 0.07991780734395353, + -0.08873338672806767, + -0.9960421402600699, + -0.005142072141330467, + 0.08005842870303422, + -0.001986159654485088, + -0.9967881937319624 + ], + [ + 0.9922820308127012, + -0.10304620442049439, + 0.06897717797033387, + -0.10337119284646101, + -0.9946421847104377, + 0.0011492971535148997, + 0.06848918028215256, + -0.008270680079473066, + -0.9976175760457019 + ], + [ + 0.9929625690445648, + -0.08765101396634516, + 0.07964066942894002, + -0.08815969337051925, + -0.9961021707565781, + 0.0028868458305145997, + 0.07907720873446508, + -0.009887626848981604, + -0.9968194570202076 + ], + [ + 0.9885002696718956, + -0.10913973084198503, + 0.10466965181144203, + -0.10902237046960392, + -0.9940156303450554, + -0.00685925410744654, + 0.10479188707041151, + -0.00463095902175252, + -0.9944833908229743 + ], + [ + 0.9797705500654137, + -0.14973197691408077, + 0.13277802647244777, + -0.14885389179961847, + -0.9887203292918288, + -0.016571944399047724, + 0.13376168405273733, + -0.003527822906388178, + -0.9910072483816236 + ], + [ + 0.9799902291842434, + -0.1538616662107319, + 0.12627643633818303, + -0.15365945339849676, + -0.9880581060917301, + -0.011399621383994018, + 0.12652242127263086, + -0.008232050612121377, + -0.9919295893651071 + ], + [ + 0.9783753516531984, + -0.16421329126857148, + 0.12576035244950318, + -0.1649799534239691, + -0.986287253800891, + -0.0043666873166696065, + 0.1247529007506637, + -0.016475677850694787, + -0.9920510399135999 + ], + [ + 0.978488247541602, + -0.16583786336676115, + 0.12271329388828381, + -0.16652290909779804, + -0.9860262665077882, + -0.004724669545991539, + 0.12178206012615869, + -0.015811541058979625, + -0.9924309169915905 + ], + [ + 0.979774315575274, + -0.15909330492335866, + 0.1213738475437219, + -0.15927187870245407, + -0.9871999367529528, + -0.008291774813436428, + 0.12113942047737465, + -0.011207372730894855, + -0.9925722319322038 + ], + [ + 0.9806380439123404, + -0.14359944320950999, + 0.13314738728828526, + -0.13792058608462207, + -0.9891302009453083, + -0.05098389463318375, + 0.13902136082578195, + 0.031632981013681734, + -0.9897840247985088 + ], + [ + 0.9637706875860803, + -0.13700927457073867, + 0.22885480207208753, + -0.11777054604501144, + -0.988411808894287, + -0.0957715747107859, + 0.23932438286583807, + 0.065349481405163, + -0.9687379857556749 + ], + [ + 0.9611145795947897, + -0.09093217018316502, + 0.26074912332759775, + -0.061616323528786245, + -0.9910411828444761, + -0.11849389258952477, + 0.269188026414859, + 0.0978198054179306, + -0.9581070358278722 + ], + [ + 0.9722511542200667, + -0.03561015902805864, + 0.23121334237397329, + -0.013534708806511125, + -0.9952535648699627, + -0.096369877405513, + 0.233547649903121, + 0.09056631927834446, + -0.9681184003194557 + ], + [ + 0.9863849721815887, + 0.026321137357811983, + 0.16233263498913997, + 0.04004025794290121, + -0.9958417999721649, + -0.08182840076687493, + 0.15950380684545462, + 0.08721414539161383, + -0.9833372912919646 + ], + [ + 0.9910912911650428, + 0.07718572493930771, + 0.10853762685079378, + 0.0818073124253461, + -0.9958931578514202, + -0.038786360727300594, + 0.10509812657964192, + 0.04731999588250197, + -0.9933353923922824 + ], + [ + 0.9936633329463164, + 0.10255727797890396, + 0.04599114579541958, + 0.10318515960371502, + -0.9945958415850786, + -0.011486284831261025, + 0.04456460025147289, + 0.016159103787859647, + -0.9988758079807516 + ], + [ + 0.9925778724805957, + 0.11835618720265789, + 0.02794601962254692, + 0.11834024240515623, + -0.9929706017400576, + 0.0022295980528079743, + 0.028013462645364688, + 0.001094089044648437, + -0.9996069471946357 + ], + [ + 0.9927055057588589, + 0.11969719361031368, + 0.01443470394096959, + 0.11973141274275094, + -0.9928051454505588, + -0.0015270787536921693, + 0.01414806130441118, + 0.0032442269818932367, + -0.9998946481267997 + ], + [ + 0.9933434472906952, + 0.11368825963023638, + 0.018541179759817693, + 0.11369864695171056, + -0.9935151590641009, + 0.0004963780662534256, + 0.018477375516782336, + 0.0016150331520880467, + -0.99982797433455 + ], + [ + 0.9974676289860391, + 0.0691848951786952, + 0.016485733349858867, + 0.06912122456516268, + -0.9975985565869647, + 0.004401841684709455, + 0.016750684749646624, + -0.0032511805114220655, + -0.9998544115948583 + ], + [ + 0.9991692154058816, + 0.036480580098507374, + 0.01816717536854458, + 0.0362566169655637, + -0.9992642275485921, + 0.012508447862462736, + 0.018610123895543087, + -0.011839375717998722, + -0.9997567166422042 + ], + [ + 0.9996289314880753, + 0.017862866497706267, + 0.02056495398715713, + 0.017548629548563285, + -0.9997280116688484, + 0.015360608243756192, + 0.020833745054023738, + -0.014994021646509053, + -0.9996705129100728 + ], + [ + 0.9993539135402418, + 0.03274785497458245, + 0.014809911760948358, + 0.03232952541703443, + -0.9990945933826786, + 0.027654931925608695, + 0.015702142468869827, + -0.027158267029846403, + -0.9995078145036302 + ], + [ + 0.9989465527928298, + 0.04588403015336244, + 0.0006636566942652981, + 0.04585901363010006, + -0.9987143473646044, + 0.02160100083253278, + 0.001653944435830059, + -0.021547810677145646, + -0.9997664508888191 + ], + [ + 0.9984168017850916, + 0.04947864905236729, + -0.026753564270603117, + 0.04968031729222935, + -0.998741154598013, + 0.006926195634749074, + -0.02637718686615452, + -0.008244355655845649, + -0.9996180643690107 + ], + [ + 0.9988610038483892, + 0.03606766155133237, + 0.031238098232883073, + 0.035990207966383816, + -0.9993475237467715, + 0.0030383732050085163, + 0.031327303132014976, + -0.0019106468577450649, + -0.9995073534031955 + ], + [ + 0.9967192192180157, + -0.005387605868583308, + 0.08075748723451917, + -0.006863129734870986, + -0.9998143483679678, + 0.018004617401592364, + 0.08064549269284088, + -0.018499797310786936, + -0.9965711525063267 + ], + [ + 0.9966290574840293, + -0.037303784802149166, + 0.07306811491977949, + -0.03803532020386526, + -0.9992389954887264, + 0.008645479262026677, + 0.07269000065679321, + -0.011395504996078007, + -0.9972894796749836 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.000591084361076355, + -0.000916551798582077, + -0.005259603261947632, + -0.009364236146211624, + 0.02134532667696476, + 0.0030287206172943115, + 1.0 + ], + [ + 0.028192967176437378, + 0.0027360450476408005, + 0.0015576034784317017, + -0.002591259777545929, + -0.023648200556635857, + 0.025509357452392578, + 1.0 + ], + [ + 0.034454405307769775, + 0.0036796629428863525, + 0.00989966094493866, + 0.01442105881869793, + -0.04866814240813255, + 0.022971004247665405, + 1.0 + ], + [ + 0.032036662101745605, + -0.003989521414041519, + -0.00205935537815094, + 0.003267599269747734, + -0.030756816267967224, + 0.009173780679702759, + 1.0 + ], + [ + 0.017209172248840332, + -0.014243165031075478, + -0.02254685014486313, + 0.0013468824326992035, + 0.01897282898426056, + -0.011348553001880646, + 1.0 + ], + [ + 0.00594821572303772, + -0.006590566597878933, + -0.01961199939250946, + 0.013121766038239002, + 0.0245564803481102, + 0.0015859082341194153, + 1.0 + ], + [ + 0.0059538185596466064, + 0.0007309699431061745, + -0.015286531299352646, + 0.005801065359264612, + 0.003952942788600922, + 0.005770586431026459, + 1.0 + ], + [ + 0.0040884315967559814, + 0.0017491457983851433, + -0.014819521456956863, + 0.006297684740275145, + 0.011601358652114868, + -0.014663681387901306, + 1.0 + ], + [ + 0.0020950734615325928, + 0.0064050061628222466, + -0.0026489272713661194, + 0.0016286084428429604, + -0.01061701774597168, + 0.015248477458953857, + 1.0 + ], + [ + 0.0016609728336334229, + -0.0016659703105688095, + -0.0036090053617954254, + -0.0052622356452047825, + -0.02582477778196335, + -0.021294407546520233, + 0.0 + ], + [ + 0.0008856356143951416, + -0.0017266403883695602, + -0.006753444671630859, + -0.001096793683245778, + -0.029179178178310394, + -0.040927574038505554, + 0.0 + ], + [ + -0.00041243433952331543, + -0.0002438817173242569, + -0.002881329506635666, + 0.00473901629447937, + 0.0073013752698898315, + -0.0047562867403030396, + 0.0 + ], + [ + 6.42538070678711e-05, + -0.002166144549846649, + -1.9259750843048096e-05, + 0.008307328447699547, + 0.0017836540937423706, + -0.011524289846420288, + 0.0 + ], + [ + -0.0003650784492492676, + -0.0006000800058245659, + 0.000809377059340477, + -0.0006753802299499512, + 0.002993673086166382, + -0.0015139728784561157, + 0.0 + ], + [ + 0.001293867826461792, + 4.248041659593582e-05, + 0.003117058426141739, + -0.004640023224055767, + 0.0006474331021308899, + 0.007418721914291382, + 0.0 + ], + [ + -0.00503954291343689, + -0.006505709141492844, + 0.02768806926906109, + -0.04323936626315117, + -0.018035434186458588, + 0.021422892808914185, + 0.0 + ], + [ + -0.006262481212615967, + 0.0016545318067073822, + 0.05418127030134201, + -0.035407714545726776, + -0.1021968424320221, + 0.018132388591766357, + 0.0 + ], + [ + -0.03117796778678894, + 0.018942497670650482, + 0.029369868338108063, + -0.034388087689876556, + -0.030879884958267212, + 0.05757322162389755, + 0.0 + ], + [ + -0.02973651885986328, + 0.02580009587109089, + -0.005174502730369568, + 0.008467070758342743, + 0.03682519495487213, + 0.050101522356271744, + 0.0 + ], + [ + -0.025810450315475464, + 0.026245780289173126, + -0.022638536989688873, + 0.004816807806491852, + 0.07553663849830627, + 0.05449075996875763, + 0.0 + ], + [ + -0.013927191495895386, + 0.021620772778987885, + -0.0208384171128273, + 0.04085903242230415, + 0.05489543080329895, + 0.04178530350327492, + 0.0 + ], + [ + -0.003148585557937622, + 0.013797856867313385, + -0.02243036776781082, + 0.03142561763525009, + 0.060713209211826324, + 0.021116353571414948, + 0.0 + ], + [ + 0.004320502281188965, + 0.013316966593265533, + -0.008509449660778046, + 0.015081360004842281, + 0.016562236472964287, + 0.015192687511444092, + 0.0 + ], + [ + 0.0006068944931030273, + 0.0017476677894592285, + -0.0016253702342510223, + -0.0021500387229025364, + 0.013868594542145729, + 0.0013664141297340393, + 0.0 + ], + [ + 0.002773970365524292, + 0.0003462284803390503, + -0.002652078866958618, + 0.0016292477957904339, + -0.004329893738031387, + -0.00606682151556015, + 0.0 + ], + [ + 0.002743750810623169, + -0.011951476335525513, + -0.0030828937888145447, + 0.004866952076554298, + 0.0017269589006900787, + -0.0447784885764122, + 0.0 + ], + [ + 0.0004412233829498291, + -0.009808950126171112, + -0.0013006888329982758, + 0.008590061217546463, + -0.0018597301095724106, + -0.032915256917476654, + 0.0 + ], + [ + 0.00016304850578308105, + -0.008153021335601807, + -5.183368921279907e-05, + 0.0031561357900500298, + -0.0022240541875362396, + -0.018717508763074875, + 1.0 + ], + [ + -0.00017198920249938965, + -0.00012530386447906494, + 2.5801360607147217e-05, + 0.012167117558419704, + 0.005132464691996574, + 0.014785807579755783, + 1.0 + ], + [ + -0.002388566732406616, + -0.0010112375020980835, + 0.0003994889557361603, + -0.0056154485791921616, + 0.014048842713236809, + 0.013536017388105392, + 1.0 + ], + [ + -0.004347681999206543, + -0.00232706218957901, + 2.352893352508545e-05, + -0.01330218929797411, + 0.028034191578626633, + 0.003842923790216446, + 1.0 + ], + [ + 0.0020235180854797363, + -0.012142978608608246, + 0.025977130979299545, + -0.006335732527077198, + -0.057712674140930176, + -0.013702422380447388, + 1.0 + ], + [ + 0.0002465546131134033, + -0.024504326283931732, + 0.02742275595664978, + 0.016649730503559113, + -0.04940073564648628, + -0.04290127754211426, + 1.0 + ], + [ + -0.0023051202297210693, + -0.023535802960395813, + 0.007501907646656036, + -0.007135337218642235, + 0.007978998124599457, + -0.031259845942258835, + 1.0 + ], + [ + 7.352232933044434e-05, + -0.012033767998218536, + 0.004022814333438873, + -0.001872984692454338, + -0.00809556245803833, + -0.037128593772649765, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9679883122444153 + ], + [ + 0.6892001032829285 + ], + [ + 0.3737536668777466 + ], + [ + 0.17135097086429596 + ], + [ + 0.10874665528535843 + ], + [ + 0.10355531424283981 + ], + [ + 0.09179956465959549 + ], + [ + 0.08641935139894485 + ], + [ + 0.08641935139894485 + ], + [ + 0.08641935139894485 + ], + [ + 0.08641935139894485 + ], + [ + 0.08606764674186707 + ], + [ + 0.08606764674186707 + ], + [ + 0.08571679890155792 + ], + [ + 0.08606764674186707 + ], + [ + 0.08571679890155792 + ], + [ + 0.08606764674186707 + ], + [ + 0.08571679890155792 + ], + [ + 0.10874665528535843 + ], + [ + 0.2898603677749634 + ], + [ + 0.5719637274742126 + ], + [ + 0.8749077320098877 + ], + [ + 1.0105689764022827 + ], + [ + 1.0073583126068115 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.24435830116271973, + 0.02886233665049076, + 0.10427108407020569 + ], + [ + 0.2725512683391571, + 0.03159838169813156, + 0.10582868754863739 + ], + [ + 0.3070056736469269, + 0.035278044641017914, + 0.11572834849357605 + ], + [ + 0.3390423357486725, + 0.031288523226976395, + 0.11366899311542511 + ], + [ + 0.3562515079975128, + 0.017045358195900917, + 0.09112214297056198 + ], + [ + 0.36219972372055054, + 0.010454791598021984, + 0.07151014357805252 + ], + [ + 0.36815354228019714, + 0.011185761541128159, + 0.056223612278699875 + ], + [ + 0.3722419738769531, + 0.012934907339513302, + 0.04140409082174301 + ], + [ + 0.3743370473384857, + 0.01933991350233555, + 0.03875516355037689 + ], + [ + 0.37599802017211914, + 0.01767394319176674, + 0.03514615818858147 + ], + [ + 0.3768836557865143, + 0.01594730280339718, + 0.028392713516950607 + ], + [ + 0.37647122144699097, + 0.015703421086072922, + 0.02551138401031494 + ], + [ + 0.37653547525405884, + 0.013537276536226273, + 0.025492124259471893 + ], + [ + 0.37617039680480957, + 0.012937196530401707, + 0.02630150131881237 + ], + [ + 0.37746426463127136, + 0.012979676946997643, + 0.02941855974495411 + ], + [ + 0.3724247217178345, + 0.006473967805504799, + 0.0571066290140152 + ], + [ + 0.3661622405052185, + 0.008128499612212181, + 0.11128789931535721 + ], + [ + 0.33498427271842957, + 0.027070997282862663, + 0.14065776765346527 + ], + [ + 0.3052477538585663, + 0.05287109315395355, + 0.1354832649230957 + ], + [ + 0.2794373035430908, + 0.07911687344312668, + 0.11284472793340683 + ], + [ + 0.26551011204719543, + 0.10073764622211456, + 0.09200631082057953 + ], + [ + 0.2623615264892578, + 0.11453550308942795, + 0.06957594305276871 + ], + [ + 0.2666820287704468, + 0.12785246968269348, + 0.06106649339199066 + ], + [ + 0.2672889232635498, + 0.1296001374721527, + 0.05944112315773964 + ], + [ + 0.2700628936290741, + 0.12994636595249176, + 0.05678904429078102 + ], + [ + 0.27280664443969727, + 0.11799488961696625, + 0.053706150501966476 + ], + [ + 0.2732478678226471, + 0.10818593949079514, + 0.0524054616689682 + ], + [ + 0.2734109163284302, + 0.10003291815519333, + 0.0523536279797554 + ], + [ + 0.2732389271259308, + 0.09990761429071426, + 0.05237942934036255 + ], + [ + 0.27085036039352417, + 0.09889637678861618, + 0.05277891829609871 + ], + [ + 0.2665026783943176, + 0.09656931459903717, + 0.052802447229623795 + ], + [ + 0.26852619647979736, + 0.08442633599042892, + 0.07877957820892334 + ], + [ + 0.26877275109291077, + 0.05992200970649719, + 0.10620233416557312 + ], + [ + 0.2664676308631897, + 0.03638620674610138, + 0.11370424181222916 + ], + [ + 0.26654115319252014, + 0.024352438747882843, + 0.11772705614566803 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9895231595015007, + -0.1430460059880181, + 0.019538602330844278, + -0.1422714796323542, + -0.9891537109293592, + -0.036520709712405196, + 0.024550822662135034, + 0.03335830219829896, + -0.9991418721988679 + ], + [ + 0.9919759415007087, + -0.11866608168129286, + 0.043612985935276904, + -0.11688518571706225, + -0.9922844252615028, + -0.041345770561645276, + 0.048182827269368456, + 0.035916297719239904, + -0.9981925839809032 + ], + [ + 0.990887917664958, + -0.0962315459079447, + 0.09423706382188768, + -0.09373752526336665, + -0.99512799492675, + -0.030554051622753972, + 0.09671820399026801, + 0.021442091437948625, + -0.995080813668751 + ], + [ + 0.9882736064375487, + -0.08734577523671475, + 0.12524373983244944, + -0.0843505485723943, + -0.9960131070625976, + -0.029032318457994026, + 0.12728025681329028, + 0.018127495905599825, + -0.9917011294325196 + ], + [ + 0.9894785354365736, + -0.09815741976719072, + 0.10628898745844041, + -0.09577579651842658, + -0.9950285847168838, + -0.027296747014541704, + 0.10843995901674776, + 0.01682963282316221, + -0.9939605317855852 + ], + [ + 0.9919814675042019, + -0.09508306498198155, + 0.08325850636326941, + -0.09443037725126738, + -0.9954621079810005, + -0.01175140103164079, + 0.08399804747965052, + 0.003795039875336848, + -0.9964586924162744 + ], + [ + 0.9928328328945254, + -0.08886005849630281, + 0.07991780734395353, + -0.08873338672806767, + -0.9960421402600699, + -0.005142072141330467, + 0.08005842870303422, + -0.001986159654485088, + -0.9967881937319624 + ], + [ + 0.9922820308127012, + -0.10304620442049439, + 0.06897717797033387, + -0.10337119284646101, + -0.9946421847104377, + 0.0011492971535148997, + 0.06848918028215256, + -0.008270680079473066, + -0.9976175760457019 + ], + [ + 0.9929625690445648, + -0.08765101396634516, + 0.07964066942894002, + -0.08815969337051925, + -0.9961021707565781, + 0.0028868458305145997, + 0.07907720873446508, + -0.009887626848981604, + -0.9968194570202076 + ], + [ + 0.9885002696718956, + -0.10913973084198503, + 0.10466965181144203, + -0.10902237046960392, + -0.9940156303450554, + -0.00685925410744654, + 0.10479188707041151, + -0.00463095902175252, + -0.9944833908229743 + ], + [ + 0.9797705500654137, + -0.14973197691408077, + 0.13277802647244777, + -0.14885389179961847, + -0.9887203292918288, + -0.016571944399047724, + 0.13376168405273733, + -0.003527822906388178, + -0.9910072483816236 + ], + [ + 0.9799902291842434, + -0.1538616662107319, + 0.12627643633818303, + -0.15365945339849676, + -0.9880581060917301, + -0.011399621383994018, + 0.12652242127263086, + -0.008232050612121377, + -0.9919295893651071 + ], + [ + 0.9783753516531984, + -0.16421329126857148, + 0.12576035244950318, + -0.1649799534239691, + -0.986287253800891, + -0.0043666873166696065, + 0.1247529007506637, + -0.016475677850694787, + -0.9920510399135999 + ], + [ + 0.978488247541602, + -0.16583786336676115, + 0.12271329388828381, + -0.16652290909779804, + -0.9860262665077882, + -0.004724669545991539, + 0.12178206012615869, + -0.015811541058979625, + -0.9924309169915905 + ], + [ + 0.979774315575274, + -0.15909330492335866, + 0.1213738475437219, + -0.15927187870245407, + -0.9871999367529528, + -0.008291774813436428, + 0.12113942047737465, + -0.011207372730894855, + -0.9925722319322038 + ], + [ + 0.9806380439123404, + -0.14359944320950999, + 0.13314738728828526, + -0.13792058608462207, + -0.9891302009453083, + -0.05098389463318375, + 0.13902136082578195, + 0.031632981013681734, + -0.9897840247985088 + ], + [ + 0.9637706875860803, + -0.13700927457073867, + 0.22885480207208753, + -0.11777054604501144, + -0.988411808894287, + -0.0957715747107859, + 0.23932438286583807, + 0.065349481405163, + -0.9687379857556749 + ], + [ + 0.9611145795947897, + -0.09093217018316502, + 0.26074912332759775, + -0.061616323528786245, + -0.9910411828444761, + -0.11849389258952477, + 0.269188026414859, + 0.0978198054179306, + -0.9581070358278722 + ], + [ + 0.9722511542200667, + -0.03561015902805864, + 0.23121334237397329, + -0.013534708806511125, + -0.9952535648699627, + -0.096369877405513, + 0.233547649903121, + 0.09056631927834446, + -0.9681184003194557 + ], + [ + 0.9863849721815887, + 0.026321137357811983, + 0.16233263498913997, + 0.04004025794290121, + -0.9958417999721649, + -0.08182840076687493, + 0.15950380684545462, + 0.08721414539161383, + -0.9833372912919646 + ], + [ + 0.9910912911650428, + 0.07718572493930771, + 0.10853762685079378, + 0.0818073124253461, + -0.9958931578514202, + -0.038786360727300594, + 0.10509812657964192, + 0.04731999588250197, + -0.9933353923922824 + ], + [ + 0.9936633329463164, + 0.10255727797890396, + 0.04599114579541958, + 0.10318515960371502, + -0.9945958415850786, + -0.011486284831261025, + 0.04456460025147289, + 0.016159103787859647, + -0.9988758079807516 + ], + [ + 0.9925778724805957, + 0.11835618720265789, + 0.02794601962254692, + 0.11834024240515623, + -0.9929706017400576, + 0.0022295980528079743, + 0.028013462645364688, + 0.001094089044648437, + -0.9996069471946357 + ], + [ + 0.9927055057588589, + 0.11969719361031368, + 0.01443470394096959, + 0.11973141274275094, + -0.9928051454505588, + -0.0015270787536921693, + 0.01414806130441118, + 0.0032442269818932367, + -0.9998946481267997 + ], + [ + 0.9933434472906952, + 0.11368825963023638, + 0.018541179759817693, + 0.11369864695171056, + -0.9935151590641009, + 0.0004963780662534256, + 0.018477375516782336, + 0.0016150331520880467, + -0.99982797433455 + ], + [ + 0.9974676289860391, + 0.0691848951786952, + 0.016485733349858867, + 0.06912122456516268, + -0.9975985565869647, + 0.004401841684709455, + 0.016750684749646624, + -0.0032511805114220655, + -0.9998544115948583 + ], + [ + 0.9991692154058816, + 0.036480580098507374, + 0.01816717536854458, + 0.0362566169655637, + -0.9992642275485921, + 0.012508447862462736, + 0.018610123895543087, + -0.011839375717998722, + -0.9997567166422042 + ], + [ + 0.9996289314880753, + 0.017862866497706267, + 0.02056495398715713, + 0.017548629548563285, + -0.9997280116688484, + 0.015360608243756192, + 0.020833745054023738, + -0.014994021646509053, + -0.9996705129100728 + ], + [ + 0.9993539135402418, + 0.03274785497458245, + 0.014809911760948358, + 0.03232952541703443, + -0.9990945933826786, + 0.027654931925608695, + 0.015702142468869827, + -0.027158267029846403, + -0.9995078145036302 + ], + [ + 0.9989465527928298, + 0.04588403015336244, + 0.0006636566942652981, + 0.04585901363010006, + -0.9987143473646044, + 0.02160100083253278, + 0.001653944435830059, + -0.021547810677145646, + -0.9997664508888191 + ], + [ + 0.9984168017850916, + 0.04947864905236729, + -0.026753564270603117, + 0.04968031729222935, + -0.998741154598013, + 0.006926195634749074, + -0.02637718686615452, + -0.008244355655845649, + -0.9996180643690107 + ], + [ + 0.9988610038483892, + 0.03606766155133237, + 0.031238098232883073, + 0.035990207966383816, + -0.9993475237467715, + 0.0030383732050085163, + 0.031327303132014976, + -0.0019106468577450649, + -0.9995073534031955 + ], + [ + 0.9967192192180157, + -0.005387605868583308, + 0.08075748723451917, + -0.006863129734870986, + -0.9998143483679678, + 0.018004617401592364, + 0.08064549269284088, + -0.018499797310786936, + -0.9965711525063267 + ], + [ + 0.9966290574840293, + -0.037303784802149166, + 0.07306811491977949, + -0.03803532020386526, + -0.9992389954887264, + 0.008645479262026677, + 0.07269000065679321, + -0.011395504996078007, + -0.9972894796749836 + ], + [ + 0.9939109368286597, + -0.07443023338161846, + 0.08124770772849085, + -0.07495732926909555, + -0.9971807652802542, + 0.003452556144577741, + 0.08076167681035884, + -0.009521644492674534, + -0.9966879601183787 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006525.json b/json/chunk-0006/episode_0006525.json new file mode 100644 index 0000000000000000000000000000000000000000..7d1c7e55dd5c6776455e4cdbc348d1b95171b8a6 --- /dev/null +++ b/json/chunk-0006/episode_0006525.json @@ -0,0 +1,2182 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 35, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nClose the drawer." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006525.mp4", + "start": 0, + "end": 35, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.16483159363269806, + 0.09206424653530121, + 0.13973286747932434, + -0.05160457640886307, + -0.28425487875938416, + 0.1319941133260727, + 0.0, + 1.0001531839370728 + ], + [ + 0.16437681019306183, + 0.09242573380470276, + 0.13798803091049194, + -0.049099866300821304, + -0.28112125396728516, + 0.12457015365362167, + 0.0, + 1.0001531839370728 + ], + [ + 0.16428802907466888, + 0.11360806226730347, + 0.12717778980731964, + 0.04364472255110741, + -0.26465028524398804, + -0.026925954967737198, + 0.0, + 1.0001531839370728 + ], + [ + 0.17001259326934814, + 0.13177591562271118, + 0.11531700938940048, + 0.03478054329752922, + -0.25597959756851196, + -0.14002864062786102, + 0.0, + 1.0001531839370728 + ], + [ + 0.18326936662197113, + 0.1510957032442093, + 0.11286454647779465, + 0.0347091369330883, + -0.2749328017234802, + -0.2969691753387451, + 0.0, + 1.0001531839370728 + ], + [ + 0.2045200616121292, + 0.17016535997390747, + 0.09797132760286331, + -0.06486000865697861, + -0.25031471252441406, + -0.5059046149253845, + 0.0, + 1.0001531839370728 + ], + [ + 0.21581187844276428, + 0.17489106953144073, + 0.09220041334629059, + -0.0312759205698967, + -0.2733197510242462, + -0.7138668894767761, + 0.0, + 1.0001531839370728 + ], + [ + 0.22137413918972015, + 0.15950484573841095, + 0.0796944722533226, + 0.04720500111579895, + -0.2262839674949646, + -0.9864554405212402, + 0.0, + 1.0001531839370728 + ], + [ + 0.217992901802063, + 0.14609017968177795, + 0.07129286974668503, + 0.14942872524261475, + -0.21470420062541962, + -1.1675773859024048, + 0.0, + 1.0001531839370728 + ], + [ + 0.2205938994884491, + 0.13457423448562622, + 0.06064676120877266, + 0.1868533194065094, + -0.19090735912322998, + -1.2701650857925415, + 0.0, + 1.0001531839370728 + ], + [ + 0.22332698106765747, + 0.13384883105754852, + 0.05485652759671211, + 0.1849902719259262, + -0.18667441606521606, + -1.2971001863479614, + 0.0, + 1.0001531839370728 + ], + [ + 0.22958971560001373, + 0.1382931023836136, + 0.055523212999105453, + 0.19463780522346497, + -0.18015827238559723, + -1.3050426244735718, + 0.0, + 1.0001531839370728 + ], + [ + 0.23747272789478302, + 0.14472836256027222, + 0.05979326367378235, + 0.20734043419361115, + -0.17734944820404053, + -1.307458758354187, + 0.0, + 1.0001531839370728 + ], + [ + 0.24199552834033966, + 0.1504884511232376, + 0.05615305155515671, + 0.19776198267936707, + -0.1802864521741867, + -1.2944908142089844, + 0.0, + 1.0001531839370728 + ], + [ + 0.24123919010162354, + 0.1549498736858368, + 0.05031313747167587, + 0.17843782901763916, + -0.18256080150604248, + -1.2789393663406372, + 0.0, + 1.0001531839370728 + ], + [ + 0.2428850382566452, + 0.15521195530891418, + 0.04695780202746391, + 0.1835312843322754, + -0.18677504360675812, + -1.2774039506912231, + 0.0, + 1.0001531839370728 + ], + [ + 0.24269510805606842, + 0.15299156308174133, + 0.03561732918024063, + 0.17035838961601257, + -0.204499289393425, + -1.2638487815856934, + 0.0, + 1.0001531839370728 + ], + [ + 0.24276164174079895, + 0.14226919412612915, + 0.021525366231799126, + 0.15085220336914062, + -0.21456734836101532, + -1.271187663078308, + 0.0, + 1.0001531839370728 + ], + [ + 0.24582447111606598, + 0.13679902255535126, + 0.01216159388422966, + 0.14923615753650665, + -0.22144004702568054, + -1.2658584117889404, + 0.0, + 0.9994885921478271 + ], + [ + 0.2523229122161865, + 0.12991595268249512, + 0.004100274760276079, + 0.14433728158473969, + -0.22257769107818604, + -1.2629832029342651, + 0.0, + 0.9981546401977539 + ], + [ + 0.25716400146484375, + 0.1221296489238739, + 0.0038659602869302034, + 0.14919671416282654, + -0.23871834576129913, + -1.261911153793335, + 0.0, + 0.9981546401977539 + ], + [ + 0.26312991976737976, + 0.11115489155054092, + 0.005406304262578487, + 0.15888069570064545, + -0.2703789174556732, + -1.2661950588226318, + 0.0, + 0.9981546401977539 + ], + [ + 0.25885069370269775, + 0.09134616702795029, + 0.007065048906952143, + 0.14104388654232025, + -0.29496562480926514, + -1.3019675016403198, + 0.0, + 0.9981546401977539 + ], + [ + 0.24889041483402252, + 0.05176754668354988, + 0.007953157648444176, + 0.1076623871922493, + -0.35165145993232727, + -1.3367242813110352, + 0.0, + 0.9988223910331726 + ], + [ + 0.24754151701927185, + 0.03129436448216438, + 0.009577789343893528, + 0.09263750165700912, + -0.39098966121673584, + -1.3559436798095703, + 0.0, + 0.9988223910331726 + ], + [ + 0.24845415353775024, + 0.016127509996294975, + 0.008758614771068096, + 0.08879570662975311, + -0.4091251790523529, + -1.3710434436798096, + 0.0, + 1.0014774799346924 + ], + [ + 0.25104138255119324, + 0.004140706732869148, + 0.007524395827203989, + 0.08867919445037842, + -0.4180583357810974, + -1.3904935121536255, + 0.0, + 1.0008161067962646 + ], + [ + 0.25303915143013, + -0.002348987152799964, + 0.006409662775695324, + 0.08271025121212006, + -0.43777620792388916, + -1.3962737321853638, + 0.0, + 1.0008161067962646 + ], + [ + 0.252939909696579, + -0.007406574208289385, + 0.007648494094610214, + 0.07292348891496658, + -0.46775713562965393, + -1.3907880783081055, + 0.0, + 1.0008161067962646 + ], + [ + 0.24959644675254822, + -0.011517955921590328, + 0.008803767152130604, + 0.04676328971982002, + -0.4915595054626465, + -1.3900229930877686, + 0.0, + 1.0008161067962646 + ], + [ + 0.23984122276306152, + 0.007150158751755953, + 0.02421734482049942, + 0.037031807005405426, + -0.5105471611022949, + -1.3376327753067017, + 0.0, + 1.0008161067962646 + ], + [ + 0.22742746770381927, + 0.057370543479919434, + 0.059189166873693466, + 0.10907081514596939, + -0.4633948504924774, + -1.1127878427505493, + 0.0, + 1.0008161067962646 + ], + [ + 0.2117840200662613, + 0.09901578724384308, + 0.08282061666250229, + 0.10734345763921738, + -0.39638981223106384, + -0.8735583424568176, + 0.0, + 1.0008161067962646 + ], + [ + 0.18889746069908142, + 0.13405628502368927, + 0.096998430788517, + 0.07696209102869034, + -0.43874913454055786, + -0.6107462048530579, + 0.0, + 1.0001531839370728 + ], + [ + 0.17210149765014648, + 0.13100874423980713, + 0.11472892016172409, + 0.09252852946519852, + -0.4055429995059967, + -0.3851163983345032, + 0.0, + 1.0001531839370728 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.16483159363269806, + 0.09206424653530121, + 0.13973286747932434 + ], + [ + 0.16437681019306183, + 0.09242573380470276, + 0.13798803091049194 + ], + [ + 0.16428802907466888, + 0.11360806226730347, + 0.12717778980731964 + ], + [ + 0.17001259326934814, + 0.13177591562271118, + 0.11531700938940048 + ], + [ + 0.18326936662197113, + 0.1510957032442093, + 0.11286454647779465 + ], + [ + 0.2045200616121292, + 0.17016535997390747, + 0.09797132760286331 + ], + [ + 0.21581187844276428, + 0.17489106953144073, + 0.09220041334629059 + ], + [ + 0.22137413918972015, + 0.15950484573841095, + 0.0796944722533226 + ], + [ + 0.217992901802063, + 0.14609017968177795, + 0.07129286974668503 + ], + [ + 0.2205938994884491, + 0.13457423448562622, + 0.06064676120877266 + ], + [ + 0.22332698106765747, + 0.13384883105754852, + 0.05485652759671211 + ], + [ + 0.22958971560001373, + 0.1382931023836136, + 0.055523212999105453 + ], + [ + 0.23747272789478302, + 0.14472836256027222, + 0.05979326367378235 + ], + [ + 0.24199552834033966, + 0.1504884511232376, + 0.05615305155515671 + ], + [ + 0.24123919010162354, + 0.1549498736858368, + 0.05031313747167587 + ], + [ + 0.2428850382566452, + 0.15521195530891418, + 0.04695780202746391 + ], + [ + 0.24269510805606842, + 0.15299156308174133, + 0.03561732918024063 + ], + [ + 0.24276164174079895, + 0.14226919412612915, + 0.021525366231799126 + ], + [ + 0.24582447111606598, + 0.13679902255535126, + 0.01216159388422966 + ], + [ + 0.2523229122161865, + 0.12991595268249512, + 0.004100274760276079 + ], + [ + 0.25716400146484375, + 0.1221296489238739, + 0.0038659602869302034 + ], + [ + 0.26312991976737976, + 0.11115489155054092, + 0.005406304262578487 + ], + [ + 0.25885069370269775, + 0.09134616702795029, + 0.007065048906952143 + ], + [ + 0.24889041483402252, + 0.05176754668354988, + 0.007953157648444176 + ], + [ + 0.24754151701927185, + 0.03129436448216438, + 0.009577789343893528 + ], + [ + 0.24845415353775024, + 0.016127509996294975, + 0.008758614771068096 + ], + [ + 0.25104138255119324, + 0.004140706732869148, + 0.007524395827203989 + ], + [ + 0.25303915143013, + -0.002348987152799964, + 0.006409662775695324 + ], + [ + 0.252939909696579, + -0.007406574208289385, + 0.007648494094610214 + ], + [ + 0.24959644675254822, + -0.011517955921590328, + 0.008803767152130604 + ], + [ + 0.23984122276306152, + 0.007150158751755953, + 0.02421734482049942 + ], + [ + 0.22742746770381927, + 0.057370543479919434, + 0.059189166873693466 + ], + [ + 0.2117840200662613, + 0.09901578724384308, + 0.08282061666250229 + ], + [ + 0.18889746069908142, + 0.13405628502368927, + 0.096998430788517 + ], + [ + 0.17210149765014648, + 0.13100874423980713, + 0.11472892016172409 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9515213663188983, + 0.11709611364980231, + 0.2844214999023983, + 0.126329730247669, + -0.9918856219110467, + -0.014272781848250364, + 0.28044230903016143, + 0.04951174824472614, + -0.958593082643299 + ], + [ + 0.9533003166217201, + 0.11058754881371516, + 0.2810496404130453, + 0.11937086129161115, + -0.9927471690602044, + -0.014270802270669888, + 0.2774330618427206, + 0.047153497964878395, + -0.9595871215404306 + ], + [ + 0.9648341739225512, + -0.015488598220633778, + 0.262402591748534, + -0.025985361678735493, + -0.9989928419162167, + 0.03657954043704948, + 0.2615717450521239, + -0.042111816932070424, + -0.9642649102114347 + ], + [ + 0.9579466664896188, + -0.13076882036363402, + 0.2554167178986738, + -0.13502364071110218, + -0.9908419828492947, + -0.0008840092744580343, + 0.2531932080655923, + -0.03364046141154649, + -0.9668306567054399 + ], + [ + 0.9203151470757684, + -0.2834385048880302, + 0.2695971884307126, + -0.28163346911159254, + -0.9584086441317985, + -0.046211036881005085, + 0.2714822630285019, + -0.03339887423680735, + -0.9618637616942628 + ], + [ + 0.8474748689408648, + -0.49762399906818144, + 0.18481531880516414, + -0.4694961760526165, + -0.8651168696036865, + -0.17648269773291778, + 0.2477088758717266, + 0.06279456567656497, + -0.9667973703604374 + ], + [ + 0.7277791038095485, + -0.6608211244631362, + 0.18344758794120636, + -0.6304567179749884, + -0.7499392150136991, + -0.20028854321913334, + 0.269929440443936, + 0.03011005227349986, + -0.9624092071118764 + ], + [ + 0.5375864572498174, + -0.8273065010283979, + 0.16298697597581197, + -0.8128126393658984, + -0.5598654997526837, + -0.16089199940867094, + 0.22435778183212723, + -0.04598451416321888, + -0.9734212912139021 + ], + [ + 0.3833718770645689, + -0.8971068716200604, + 0.21960251539556142, + -0.8986835423534022, + -0.4171835241669276, + -0.13537281066301204, + 0.21305842996495172, + -0.14545503791801523, + -0.9661516119973815 + ], + [ + 0.2907433676972487, + -0.9280859097158103, + 0.23264745501947662, + -0.9377970406602949, + -0.32463725879457145, + -0.12307461448706544, + 0.189749847612207, + -0.18239296694040427, + -0.9647423495119414 + ], + [ + 0.26559602389555326, + -0.9371245306172702, + 0.22639868861420995, + -0.9460519633730129, + -0.29854674114410384, + -0.1259187275598948, + 0.18559211914556142, + -0.1807414104946532, + -0.9658613295103305 + ], + [ + 0.25838590361796937, + -0.9375734259471901, + 0.23279346161173514, + -0.9492783353283617, + -0.2911172454867967, + -0.11883346101328032, + 0.17918528647112775, + -0.1902808985101476, + -0.9652387335651377 + ], + [ + 0.25622156897302056, + -0.935393130367663, + 0.24370104483565008, + -0.9503820605962023, + -0.2897949982793048, + -0.11310525128929196, + 0.17642121893332396, + -0.2026290962159225, + -0.9632325798460092 + ], + [ + 0.268381670396157, + -0.9337069913010786, + 0.2369863569719901, + -0.9464769961942837, + -0.30137988145431216, + -0.11554852975970693, + 0.17931139024170684, + -0.1932910278571453, + -0.9646170244607515 + ], + [ + 0.2829496381179987, + -0.9332331473820304, + 0.22139420705231388, + -0.94179598446973, + -0.31402338142726655, + -0.12004015808752178, + 0.18154841207123046, + -0.17454285589623758, + -0.9677680329138796 + ], + [ + 0.2841715628470866, + -0.9313905520503648, + 0.22750420308284666, + -0.9406196767581715, + -0.3167852302983282, + -0.1219907437479929, + 0.1856909975319149, + -0.17932862966116697, + -0.9661056339859793 + ], + [ + 0.2958542960932149, + -0.9290583221130754, + 0.22208302410500882, + -0.9333970242314745, + -0.3305959268351515, + -0.13955761647375503, + 0.20307690818755555, + -0.16600291344565238, + -0.9649884984229287 + ], + [ + 0.2883782100720056, + -0.9351571122292068, + 0.20571626917382196, + -0.9335422178238941, + -0.3223674698420599, + -0.15677417493985787, + 0.21292471790778716, + -0.1468345662123153, + -0.9659723985027368 + ], + [ + 0.2929028953681043, + -0.9334589041693923, + 0.20703228760717124, + -0.9305742728384813, + -0.3280461870063649, + -0.1625337562530216, + 0.21963473453921833, + -0.14505231269256694, + -0.9647385189606688 + ], + [ + 0.29550138186146296, + -0.9334688021698685, + 0.20326074065966906, + -0.9294895469187707, + -0.3300835544267107, + -0.1646026405188188, + 0.22074445743144858, + -0.14028842601077296, + -0.9651896404545149 + ], + [ + 0.2953759679905789, + -0.931404768261497, + 0.21269272482474763, + -0.9256570004609832, + -0.33410410216579417, + -0.17757693097236477, + 0.23645751210567187, + -0.14442855180239073, + -0.9608476665908392 + ], + [ + 0.2890169166103567, + -0.9292776240374233, + 0.23002677969402424, + -0.9193087753107262, + -0.33644831196052855, + -0.20414188452055437, + 0.2670966071475537, + -0.15246517911402552, + -0.9515323281990966 + ], + [ + 0.25413170471277696, + -0.9436548020276962, + 0.21197332678865083, + -0.9224459551888344, + -0.30236382735162376, + -0.24014490555711782, + 0.2907069596957346, + -0.13450550367679276, + -0.9473107901133162 + ], + [ + 0.21774687613728183, + -0.9585131739500461, + 0.18395323671157338, + -0.9132039245664125, + -0.2666007349970536, + -0.30819253763764787, + 0.3444486755511733, + -0.10087885538228361, + -0.9333694694213022 + ], + [ + 0.19711350088948637, + -0.9653023438989966, + 0.17128237688155135, + -0.9032753359705114, + -0.24673273762027065, + -0.35102225515452246, + 0.38110357541546425, + -0.08552392091988051, + -0.9205681526948668 + ], + [ + 0.18205078039304173, + -0.9692542909011782, + 0.1655404268689039, + -0.8992258983434859, + -0.23222105766537654, + -0.3707642972632679, + 0.39780685904925706, + -0.0813603094046986, + -0.9138545852305696 + ], + [ + 0.1638836164194037, + -0.9734759158630177, + 0.1596458627837146, + -0.899064458248797, + -0.2139953874757034, + -0.38195428267388326, + 0.4059867734090544, + -0.08093587198382696, + -0.9102879349102253 + ], + [ + 0.1572633544031291, + -0.9753615919508425, + 0.15471910776951447, + -0.8919386839659447, + -0.20753549611770072, + -0.40171432871666296, + 0.4239264339563825, + -0.0748250145225422, + -0.90260046299275 + ], + [ + 0.15980578371443754, + -0.9753458511021064, + 0.15219258270139877, + -0.8781596633497101, + -0.2108820618805326, + -0.4293767129718834, + 0.45088548119998084, + -0.06503250506418234, + -0.8902095574234972 + ], + [ + 0.15850279283478985, + -0.9786626126806117, + 0.13075303134050503, + -0.8672321605262236, + -0.20129856375742605, + -0.4553979226766589, + 0.4720013182318355, + -0.04121139126936707, + -0.8806340765704295 + ], + [ + 0.201591649164639, + -0.9680930672610222, + 0.14885099968836837, + -0.8488682970009873, + -0.2485002862431518, + -0.46655141419109936, + 0.48865470562936797, + -0.032302025605481455, + -0.8718790958659681 + ], + [ + 0.3955323321478841, + -0.8700907977089413, + 0.29410232567573114, + -0.8023442794035419, + -0.48317712516892575, + -0.3504047987997636, + 0.4469875071342224, + -0.09737489130011975, + -0.889224549262009 + ], + [ + 0.5923146346121737, + -0.7356456973777521, + 0.3286164657375643, + -0.7071756610093523, + -0.6701179164945229, + -0.22548738871392598, + 0.3860906086661948, + -0.09883008612077697, + -0.9171513811673223 + ], + [ + 0.7416268357660586, + -0.5450241487377124, + 0.3910732843909883, + -0.519161151551167, + -0.8355261769996861, + -0.1799102728260802, + 0.42480740953011764, + -0.06960377030750839, + -0.9026039995298546 + ], + [ + 0.8515840707452836, + -0.340277877136904, + 0.3987675222282956, + -0.3451960256588365, + -0.9364841682182946, + -0.06194438268183139, + 0.39451777440596525, + -0.08490211427103173, + -0.9149575709671313 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.00045478343963623047, + 0.0003614872694015503, + -0.0017448365688323975, + 0.0025047101080417633, + 0.003133624792098999, + -0.007423959672451019, + 1.0 + ], + [ + -8.878111839294434e-05, + 0.021182328462600708, + -0.010810241103172302, + 0.09274458885192871, + 0.01647096872329712, + -0.15149611234664917, + 1.0 + ], + [ + 0.00572456419467926, + 0.018167853355407715, + -0.011860780417919159, + -0.008864179253578186, + 0.008670687675476074, + -0.11310268938541412, + 1.0 + ], + [ + 0.013256773352622986, + 0.019319787621498108, + -0.002452462911605835, + -7.140636444091797e-05, + -0.01895320415496826, + -0.1569405347108841, + 1.0 + ], + [ + 0.02125069499015808, + 0.01906965672969818, + -0.014893218874931335, + -0.09956914186477661, + 0.024618089199066162, + -0.2089354395866394, + 1.0 + ], + [ + 0.01129181683063507, + 0.004725709557533264, + -0.005770914256572723, + 0.03358408808708191, + -0.023005038499832153, + -0.2079622745513916, + 1.0 + ], + [ + 0.005562260746955872, + -0.015386223793029785, + -0.012505941092967987, + 0.07848092168569565, + 0.047035783529281616, + -0.2725885510444641, + 1.0 + ], + [ + -0.0033812373876571655, + -0.013414666056632996, + -0.008401602506637573, + 0.1022237241268158, + 0.011579766869544983, + -0.18112194538116455, + 1.0 + ], + [ + 0.0026009976863861084, + -0.011515945196151733, + -0.010646108537912369, + 0.03742459416389465, + 0.023796841502189636, + -0.10258769989013672, + 1.0 + ], + [ + 0.002733081579208374, + -0.0007254034280776978, + -0.005790233612060547, + -0.001863047480583191, + 0.004232943058013916, + -0.026935100555419922, + 1.0 + ], + [ + 0.006262734532356262, + 0.0044442713260650635, + 0.0006666854023933411, + 0.009647533297538757, + 0.0065161436796188354, + -0.007942438125610352, + 1.0 + ], + [ + 0.007883012294769287, + 0.00643526017665863, + 0.004270050674676895, + 0.01270262897014618, + 0.0028088241815567017, + -0.0024161338806152344, + 1.0 + ], + [ + 0.004522800445556641, + 0.005760088562965393, + -0.003640212118625641, + -0.00957845151424408, + -0.002937003970146179, + 0.012967944145202637, + 1.0 + ], + [ + -0.0007563382387161255, + 0.004461422562599182, + -0.005839914083480835, + -0.019324153661727905, + -0.002274349331855774, + 0.015551447868347168, + 1.0 + ], + [ + 0.0016458481550216675, + 0.0002620816230773926, + -0.00335533544421196, + 0.0050934553146362305, + -0.004214242100715637, + 0.0015354156494140625, + 1.0 + ], + [ + -0.00018993020057678223, + -0.0022203922271728516, + -0.011340472847223282, + -0.013172894716262817, + -0.01772424578666687, + 0.013555169105529785, + 1.0 + ], + [ + 6.653368473052979e-05, + -0.010722368955612183, + -0.014091962948441505, + -0.019506186246871948, + -0.010068058967590332, + -0.007338881492614746, + 1.0 + ], + [ + 0.003062829375267029, + -0.005470171570777893, + -0.009363772347569466, + -0.0016160458326339722, + -0.006872698664665222, + 0.005329251289367676, + 1.0 + ], + [ + 0.006498441100120544, + -0.00688306987285614, + -0.008061319589614868, + -0.004898875951766968, + -0.0011376440525054932, + 0.002875208854675293, + 1.0 + ], + [ + 0.0048410892486572266, + -0.007786303758621216, + -0.00023431447334587574, + 0.004859432578086853, + -0.016140654683113098, + 0.0010720491409301758, + 1.0 + ], + [ + 0.005965918302536011, + -0.010974757373332977, + 0.001540343975648284, + 0.009683981537818909, + -0.031660571694374084, + -0.004283905029296875, + 1.0 + ], + [ + -0.004279226064682007, + -0.019808724522590637, + 0.0016587446443736553, + -0.017836809158325195, + -0.02458670735359192, + -0.03577244281768799, + 1.0 + ], + [ + -0.009960278868675232, + -0.039578620344400406, + 0.000888108741492033, + -0.03338149935007095, + -0.056685835123062134, + -0.03475677967071533, + 1.0 + ], + [ + -0.0013488978147506714, + -0.020473182201385498, + 0.0016246316954493523, + -0.015024885535240173, + -0.03933820128440857, + -0.019219398498535156, + 1.0 + ], + [ + 0.0009126365184783936, + -0.015166854485869408, + -0.0008191745728254318, + -0.003841795027256012, + -0.018135517835617065, + -0.015099763870239258, + 1.0 + ], + [ + 0.002587229013442993, + -0.011986803263425827, + -0.0012342189438641071, + -0.00011651217937469482, + -0.008933156728744507, + -0.019450068473815918, + 1.0 + ], + [ + 0.0019977688789367676, + -0.006489694118499756, + -0.001114733051508665, + -0.005968943238258362, + -0.019717872142791748, + -0.005780220031738281, + 1.0 + ], + [ + -9.924173355102539e-05, + -0.0050575872883200645, + 0.0012388313189148903, + -0.009786762297153473, + -0.02998092770576477, + 0.005485653877258301, + 1.0 + ], + [ + -0.0033434629440307617, + -0.004111381713300943, + 0.0011552730575203896, + -0.02616019919514656, + -0.023802369832992554, + 0.0007650852203369141, + 1.0 + ], + [ + -0.009755223989486694, + 0.01866811513900757, + 0.015413577668368816, + -0.009731482714414597, + -0.018987655639648438, + 0.052390217781066895, + 1.0 + ], + [ + -0.012413755059242249, + 0.05022038519382477, + 0.034971822053194046, + 0.07203900814056396, + 0.047152310609817505, + 0.22484493255615234, + 1.0 + ], + [ + -0.015643447637557983, + 0.041645243763923645, + 0.023631449788808823, + -0.0017273575067520142, + 0.06700503826141357, + 0.2392295002937317, + 1.0 + ], + [ + -0.02288655936717987, + 0.03504049777984619, + 0.01417781412601471, + -0.03038136661052704, + -0.04235932230949402, + 0.26281213760375977, + 1.0 + ], + [ + -0.016795963048934937, + -0.003047540783882141, + 0.017730489373207092, + 0.015566438436508179, + 0.03320613503456116, + 0.2256298065185547, + 1.0 + ], + [ + -0.0006299763917922974, + 0.00018280744552612305, + -0.0009245947003364563, + -0.004984758794307709, + 0.003793060779571533, + 0.010523676872253418, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.16437681019306183, + 0.09242573380470276, + 0.13798803091049194 + ], + [ + 0.16428802907466888, + 0.11360806226730347, + 0.12717778980731964 + ], + [ + 0.17001259326934814, + 0.13177591562271118, + 0.11531700938940048 + ], + [ + 0.18326936662197113, + 0.1510957032442093, + 0.11286454647779465 + ], + [ + 0.2045200616121292, + 0.17016535997390747, + 0.09797132760286331 + ], + [ + 0.21581187844276428, + 0.17489106953144073, + 0.09220041334629059 + ], + [ + 0.22137413918972015, + 0.15950484573841095, + 0.0796944722533226 + ], + [ + 0.217992901802063, + 0.14609017968177795, + 0.07129286974668503 + ], + [ + 0.2205938994884491, + 0.13457423448562622, + 0.06064676120877266 + ], + [ + 0.22332698106765747, + 0.13384883105754852, + 0.05485652759671211 + ], + [ + 0.22958971560001373, + 0.1382931023836136, + 0.055523212999105453 + ], + [ + 0.23747272789478302, + 0.14472836256027222, + 0.05979326367378235 + ], + [ + 0.24199552834033966, + 0.1504884511232376, + 0.05615305155515671 + ], + [ + 0.24123919010162354, + 0.1549498736858368, + 0.05031313747167587 + ], + [ + 0.2428850382566452, + 0.15521195530891418, + 0.04695780202746391 + ], + [ + 0.24269510805606842, + 0.15299156308174133, + 0.03561732918024063 + ], + [ + 0.24276164174079895, + 0.14226919412612915, + 0.021525366231799126 + ], + [ + 0.24582447111606598, + 0.13679902255535126, + 0.01216159388422966 + ], + [ + 0.2523229122161865, + 0.12991595268249512, + 0.004100274760276079 + ], + [ + 0.25716400146484375, + 0.1221296489238739, + 0.0038659602869302034 + ], + [ + 0.26312991976737976, + 0.11115489155054092, + 0.005406304262578487 + ], + [ + 0.25885069370269775, + 0.09134616702795029, + 0.007065048906952143 + ], + [ + 0.24889041483402252, + 0.05176754668354988, + 0.007953157648444176 + ], + [ + 0.24754151701927185, + 0.03129436448216438, + 0.009577789343893528 + ], + [ + 0.24845415353775024, + 0.016127509996294975, + 0.008758614771068096 + ], + [ + 0.25104138255119324, + 0.004140706732869148, + 0.007524395827203989 + ], + [ + 0.25303915143013, + -0.002348987152799964, + 0.006409662775695324 + ], + [ + 0.252939909696579, + -0.007406574208289385, + 0.007648494094610214 + ], + [ + 0.24959644675254822, + -0.011517955921590328, + 0.008803767152130604 + ], + [ + 0.23984122276306152, + 0.007150158751755953, + 0.02421734482049942 + ], + [ + 0.22742746770381927, + 0.057370543479919434, + 0.059189166873693466 + ], + [ + 0.2117840200662613, + 0.09901578724384308, + 0.08282061666250229 + ], + [ + 0.18889746069908142, + 0.13405628502368927, + 0.096998430788517 + ], + [ + 0.17210149765014648, + 0.13100874423980713, + 0.11472892016172409 + ], + [ + 0.1714715212583542, + 0.13119155168533325, + 0.11380432546138763 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9533003166217201, + 0.11058754881371516, + 0.2810496404130453, + 0.11937086129161115, + -0.9927471690602044, + -0.014270802270669888, + 0.2774330618427206, + 0.047153497964878395, + -0.9595871215404306 + ], + [ + 0.9648341739225512, + -0.015488598220633778, + 0.262402591748534, + -0.025985361678735493, + -0.9989928419162167, + 0.03657954043704948, + 0.2615717450521239, + -0.042111816932070424, + -0.9642649102114347 + ], + [ + 0.9579466664896188, + -0.13076882036363402, + 0.2554167178986738, + -0.13502364071110218, + -0.9908419828492947, + -0.0008840092744580343, + 0.2531932080655923, + -0.03364046141154649, + -0.9668306567054399 + ], + [ + 0.9203151470757684, + -0.2834385048880302, + 0.2695971884307126, + -0.28163346911159254, + -0.9584086441317985, + -0.046211036881005085, + 0.2714822630285019, + -0.03339887423680735, + -0.9618637616942628 + ], + [ + 0.8474748689408648, + -0.49762399906818144, + 0.18481531880516414, + -0.4694961760526165, + -0.8651168696036865, + -0.17648269773291778, + 0.2477088758717266, + 0.06279456567656497, + -0.9667973703604374 + ], + [ + 0.7277791038095485, + -0.6608211244631362, + 0.18344758794120636, + -0.6304567179749884, + -0.7499392150136991, + -0.20028854321913334, + 0.269929440443936, + 0.03011005227349986, + -0.9624092071118764 + ], + [ + 0.5375864572498174, + -0.8273065010283979, + 0.16298697597581197, + -0.8128126393658984, + -0.5598654997526837, + -0.16089199940867094, + 0.22435778183212723, + -0.04598451416321888, + -0.9734212912139021 + ], + [ + 0.3833718770645689, + -0.8971068716200604, + 0.21960251539556142, + -0.8986835423534022, + -0.4171835241669276, + -0.13537281066301204, + 0.21305842996495172, + -0.14545503791801523, + -0.9661516119973815 + ], + [ + 0.2907433676972487, + -0.9280859097158103, + 0.23264745501947662, + -0.9377970406602949, + -0.32463725879457145, + -0.12307461448706544, + 0.189749847612207, + -0.18239296694040427, + -0.9647423495119414 + ], + [ + 0.26559602389555326, + -0.9371245306172702, + 0.22639868861420995, + -0.9460519633730129, + -0.29854674114410384, + -0.1259187275598948, + 0.18559211914556142, + -0.1807414104946532, + -0.9658613295103305 + ], + [ + 0.25838590361796937, + -0.9375734259471901, + 0.23279346161173514, + -0.9492783353283617, + -0.2911172454867967, + -0.11883346101328032, + 0.17918528647112775, + -0.1902808985101476, + -0.9652387335651377 + ], + [ + 0.25622156897302056, + -0.935393130367663, + 0.24370104483565008, + -0.9503820605962023, + -0.2897949982793048, + -0.11310525128929196, + 0.17642121893332396, + -0.2026290962159225, + -0.9632325798460092 + ], + [ + 0.268381670396157, + -0.9337069913010786, + 0.2369863569719901, + -0.9464769961942837, + -0.30137988145431216, + -0.11554852975970693, + 0.17931139024170684, + -0.1932910278571453, + -0.9646170244607515 + ], + [ + 0.2829496381179987, + -0.9332331473820304, + 0.22139420705231388, + -0.94179598446973, + -0.31402338142726655, + -0.12004015808752178, + 0.18154841207123046, + -0.17454285589623758, + -0.9677680329138796 + ], + [ + 0.2841715628470866, + -0.9313905520503648, + 0.22750420308284666, + -0.9406196767581715, + -0.3167852302983282, + -0.1219907437479929, + 0.1856909975319149, + -0.17932862966116697, + -0.9661056339859793 + ], + [ + 0.2958542960932149, + -0.9290583221130754, + 0.22208302410500882, + -0.9333970242314745, + -0.3305959268351515, + -0.13955761647375503, + 0.20307690818755555, + -0.16600291344565238, + -0.9649884984229287 + ], + [ + 0.2883782100720056, + -0.9351571122292068, + 0.20571626917382196, + -0.9335422178238941, + -0.3223674698420599, + -0.15677417493985787, + 0.21292471790778716, + -0.1468345662123153, + -0.9659723985027368 + ], + [ + 0.2929028953681043, + -0.9334589041693923, + 0.20703228760717124, + -0.9305742728384813, + -0.3280461870063649, + -0.1625337562530216, + 0.21963473453921833, + -0.14505231269256694, + -0.9647385189606688 + ], + [ + 0.29550138186146296, + -0.9334688021698685, + 0.20326074065966906, + -0.9294895469187707, + -0.3300835544267107, + -0.1646026405188188, + 0.22074445743144858, + -0.14028842601077296, + -0.9651896404545149 + ], + [ + 0.2953759679905789, + -0.931404768261497, + 0.21269272482474763, + -0.9256570004609832, + -0.33410410216579417, + -0.17757693097236477, + 0.23645751210567187, + -0.14442855180239073, + -0.9608476665908392 + ], + [ + 0.2890169166103567, + -0.9292776240374233, + 0.23002677969402424, + -0.9193087753107262, + -0.33644831196052855, + -0.20414188452055437, + 0.2670966071475537, + -0.15246517911402552, + -0.9515323281990966 + ], + [ + 0.25413170471277696, + -0.9436548020276962, + 0.21197332678865083, + -0.9224459551888344, + -0.30236382735162376, + -0.24014490555711782, + 0.2907069596957346, + -0.13450550367679276, + -0.9473107901133162 + ], + [ + 0.21774687613728183, + -0.9585131739500461, + 0.18395323671157338, + -0.9132039245664125, + -0.2666007349970536, + -0.30819253763764787, + 0.3444486755511733, + -0.10087885538228361, + -0.9333694694213022 + ], + [ + 0.19711350088948637, + -0.9653023438989966, + 0.17128237688155135, + -0.9032753359705114, + -0.24673273762027065, + -0.35102225515452246, + 0.38110357541546425, + -0.08552392091988051, + -0.9205681526948668 + ], + [ + 0.18205078039304173, + -0.9692542909011782, + 0.1655404268689039, + -0.8992258983434859, + -0.23222105766537654, + -0.3707642972632679, + 0.39780685904925706, + -0.0813603094046986, + -0.9138545852305696 + ], + [ + 0.1638836164194037, + -0.9734759158630177, + 0.1596458627837146, + -0.899064458248797, + -0.2139953874757034, + -0.38195428267388326, + 0.4059867734090544, + -0.08093587198382696, + -0.9102879349102253 + ], + [ + 0.1572633544031291, + -0.9753615919508425, + 0.15471910776951447, + -0.8919386839659447, + -0.20753549611770072, + -0.40171432871666296, + 0.4239264339563825, + -0.0748250145225422, + -0.90260046299275 + ], + [ + 0.15980578371443754, + -0.9753458511021064, + 0.15219258270139877, + -0.8781596633497101, + -0.2108820618805326, + -0.4293767129718834, + 0.45088548119998084, + -0.06503250506418234, + -0.8902095574234972 + ], + [ + 0.15850279283478985, + -0.9786626126806117, + 0.13075303134050503, + -0.8672321605262236, + -0.20129856375742605, + -0.4553979226766589, + 0.4720013182318355, + -0.04121139126936707, + -0.8806340765704295 + ], + [ + 0.201591649164639, + -0.9680930672610222, + 0.14885099968836837, + -0.8488682970009873, + -0.2485002862431518, + -0.46655141419109936, + 0.48865470562936797, + -0.032302025605481455, + -0.8718790958659681 + ], + [ + 0.3955323321478841, + -0.8700907977089413, + 0.29410232567573114, + -0.8023442794035419, + -0.48317712516892575, + -0.3504047987997636, + 0.4469875071342224, + -0.09737489130011975, + -0.889224549262009 + ], + [ + 0.5923146346121737, + -0.7356456973777521, + 0.3286164657375643, + -0.7071756610093523, + -0.6701179164945229, + -0.22548738871392598, + 0.3860906086661948, + -0.09883008612077697, + -0.9171513811673223 + ], + [ + 0.7416268357660586, + -0.5450241487377124, + 0.3910732843909883, + -0.519161151551167, + -0.8355261769996861, + -0.1799102728260802, + 0.42480740953011764, + -0.06960377030750839, + -0.9026039995298546 + ], + [ + 0.8515840707452836, + -0.340277877136904, + 0.3987675222282956, + -0.3451960256588365, + -0.9364841682182946, + -0.06194438268183139, + 0.39451777440596525, + -0.08490211427103173, + -0.9149575709671313 + ], + [ + 0.8565560874512432, + -0.3326745803351236, + 0.39451146073221693, + -0.33676039489490656, + -0.939602109050716, + -0.06115809919931403, + 0.3910295455338954, + -0.08047049314062835, + -0.9168535293345711 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006527.json b/json/chunk-0006/episode_0006527.json new file mode 100644 index 0000000000000000000000000000000000000000..f44e03eb06d509624a18c487e25dc7bbf69f5687 --- /dev/null +++ b/json/chunk-0006/episode_0006527.json @@ -0,0 +1,1042 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 16, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nFlip pot upright in sink." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006527.mp4", + "start": 0, + "end": 16, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2874768078327179, + -0.07736805081367493, + 0.04348721355199814, + 0.15751151740550995, + -0.11502005159854889, + 0.11625377833843231, + 0.0, + 1.0105689764022827 + ], + [ + 0.28530389070510864, + -0.07781016826629639, + 0.036057714372873306, + 0.21320287883281708, + -0.11176291853189468, + 0.08269235491752625, + 0.0, + 1.0105689764022827 + ], + [ + 0.28387650847435, + -0.078269824385643, + 0.03160568326711655, + 0.2984597086906433, + -0.12579846382141113, + 0.03262712433934212, + 0.0, + 1.0105689764022827 + ], + [ + 0.28146976232528687, + -0.083164744079113, + 0.0235639326274395, + 0.42306989431381226, + -0.153168722987175, + -0.061244573444128036, + 0.0, + 1.0105689764022827 + ], + [ + 0.27827945351600647, + -0.08154535293579102, + 0.01593274250626564, + 0.5142001509666443, + -0.13946908712387085, + -0.09080605208873749, + 0.0, + 1.0105689764022827 + ], + [ + 0.27771303057670593, + -0.0764615535736084, + 0.007798147387802601, + 0.5807604193687439, + -0.12121529132127762, + -0.11608780920505524, + 0.0, + 1.0105689764022827 + ], + [ + 0.2800838053226471, + -0.0709071233868599, + 0.003587361192330718, + 0.6274011135101318, + -0.1132214218378067, + -0.14221005141735077, + 0.0, + 1.0105689764022827 + ], + [ + 0.2803800404071808, + -0.0607035756111145, + 0.0026544183492660522, + 0.6763284802436829, + -0.09791330248117447, + -0.17633016407489777, + 0.0, + 1.0105689764022827 + ], + [ + 0.28149881958961487, + -0.05157969146966934, + 8.899900421965867e-05, + 0.6808097958564758, + -0.07898585498332977, + -0.2000505030155182, + 0.0, + 1.0105689764022827 + ], + [ + 0.28312236070632935, + -0.04267285019159317, + -0.0014584959717467427, + 0.6779463291168213, + -0.06614913046360016, + -0.19955481588840485, + 0.0, + 0.9190354347229004 + ], + [ + 0.28357991576194763, + -0.03977314755320549, + -0.0008577453554607928, + 0.6838529109954834, + -0.06766238063573837, + -0.19039562344551086, + 0.0, + 0.6902000904083252 + ], + [ + 0.2846207320690155, + -0.036429621279239655, + 0.0010986049892380834, + 0.663640558719635, + -0.08580462634563446, + -0.15779942274093628, + 0.0, + 0.4522285461425781 + ], + [ + 0.2836037278175354, + -0.037376489490270615, + 0.0017056305659934878, + 0.5754481554031372, + -0.11818400770425797, + -0.101828433573246, + 0.0, + 0.3095528483390808 + ], + [ + 0.2816866934299469, + -0.03456689417362213, + -0.004016385413706303, + 0.39506906270980835, + -0.11407513916492462, + -0.035280097275972366, + 0.0, + 0.13995102047920227 + ], + [ + 0.2798350751399994, + -0.030443714931607246, + -0.007818604819476604, + 0.2710546553134918, + -0.08878917247056961, + -0.03297282010316849, + 0.0, + 0.0600886270403862 + ], + [ + 0.2826916575431824, + -0.02670194022357464, + -0.005898477043956518, + 0.1588553488254547, + -0.10254509001970291, + -0.03776299208402634, + 0.0, + 0.14571818709373474 + ] + ], + "left_gripper_pos": [ + [ + 1.0105689764022827 + ], + [ + 1.0105689764022827 + ], + [ + 1.0105689764022827 + ], + [ + 1.0105689764022827 + ], + [ + 1.0105689764022827 + ], + [ + 1.0105689764022827 + ], + [ + 1.0105689764022827 + ], + [ + 1.0105689764022827 + ], + [ + 1.0105689764022827 + ], + [ + 0.9190354347229004 + ], + [ + 0.6902000904083252 + ], + [ + 0.4522285461425781 + ], + [ + 0.3095528483390808 + ], + [ + 0.13995102047920227 + ], + [ + 0.0600886270403862 + ], + [ + 0.14571818709373474 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2874768078327179, + -0.07736805081367493, + 0.04348721355199814 + ], + [ + 0.28530389070510864, + -0.07781016826629639, + 0.036057714372873306 + ], + [ + 0.28387650847435, + -0.078269824385643, + 0.03160568326711655 + ], + [ + 0.28146976232528687, + -0.083164744079113, + 0.0235639326274395 + ], + [ + 0.27827945351600647, + -0.08154535293579102, + 0.01593274250626564 + ], + [ + 0.27771303057670593, + -0.0764615535736084, + 0.007798147387802601 + ], + [ + 0.2800838053226471, + -0.0709071233868599, + 0.003587361192330718 + ], + [ + 0.2803800404071808, + -0.0607035756111145, + 0.0026544183492660522 + ], + [ + 0.28149881958961487, + -0.05157969146966934, + 8.899900421965867e-05 + ], + [ + 0.28312236070632935, + -0.04267285019159317, + -0.0014584959717467427 + ], + [ + 0.28357991576194763, + -0.03977314755320549, + -0.0008577453554607928 + ], + [ + 0.2846207320690155, + -0.036429621279239655, + 0.0010986049892380834 + ], + [ + 0.2836037278175354, + -0.037376489490270615, + 0.0017056305659934878 + ], + [ + 0.2816866934299469, + -0.03456689417362213, + -0.004016385413706303 + ], + [ + 0.2798350751399994, + -0.030443714931607246, + -0.007818604819476604 + ], + [ + 0.2826916575431824, + -0.02670194022357464, + -0.005898477043956518 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9866872197462527, + 0.1324370853704801, + 0.09438616852051307, + 0.11522567503312935, + -0.9788662452659725, + 0.16894945306823883, + 0.11476660752401022, + -0.15582455614398372, + -0.9810949666061695 + ], + [ + 0.9903652773457743, + 0.10424620307191344, + 0.0911556173415402, + 0.08208281715909539, + -0.9720693084968902, + 0.21987194137862281, + 0.11153039296556984, + -0.2102712263327235, + -0.9712605123351193 + ], + [ + 0.9915697909723519, + 0.06805287335198598, + 0.11026402885612745, + 0.032363555660074275, + -0.9540783443461627, + 0.2978038164878388, + 0.12546692749917654, + -0.2917247320304257, + -0.948237697429127 + ], + [ + 0.9864396737078437, + 0.006712248063400612, + 0.16398693808074574, + -0.06048972622331285, + -0.9139572343893939, + 0.4012769202542296, + 0.15257051863512697, + -0.40575499927077435, + -0.9011576540262988 + ], + [ + 0.9862099103742822, + -0.010862576422981364, + 0.1651424146396224, + -0.08980078890726137, + -0.8732993908133405, + 0.4788360808425799, + 0.13901737657999294, + -0.48706280748842146, + -0.862231981876289 + ], + [ + 0.9859811781287188, + -0.03094018021664935, + 0.16396286660114368, + -0.11497735232215531, + -0.8381029215386647, + 0.533257631320304, + 0.12091867030731913, + -0.5446340038562737, + -0.8299111259734947 + ], + [ + 0.9835671137852158, + -0.04908495089427512, + 0.17374233875462552, + -0.14082373783476881, + -0.8107837445012192, + 0.5681534955580456, + 0.11297967756399713, + -0.5832841393765893, + -0.8043725537394018 + ], + [ + 0.9797786648225633, + -0.07656359450918196, + 0.18485611689730347, + -0.17457763594241268, + -0.7785171065651371, + 0.6028546788523799, + 0.09775692807813868, + -0.6229358962054452, + -0.7761407425405814 + ], + [ + 0.9770009609044509, + -0.10574377314230216, + 0.1851685092919656, + -0.19809926900662284, + -0.7714350733874604, + 0.6046855440365059, + 0.07890375156366831, + -0.6274601039024813, + -0.7746405721364368 + ], + [ + 0.9780112713770626, + -0.11376083147785271, + 0.17479252352686242, + -0.19779945436686297, + -0.771624201037827, + 0.604542362638803, + 0.06610089947642503, + -0.6258231104666895, + -0.7771589962769554 + ], + [ + 0.9796825650974551, + -0.10475049985274335, + 0.17102457257561438, + -0.1888143433611493, + -0.7692207605497514, + 0.6104494780736245, + 0.0676107638262518, + -0.6303386029110567, + -0.7733705646680434 + ], + [ + 0.9839422351079059, + -0.07165805628223812, + 0.1634711012402806, + -0.15656722140493365, + -0.7862631209757783, + 0.597726534273799, + 0.08569937661615143, + -0.6137225982178593, + -0.7848567953992135 + ], + [ + 0.9878804923893957, + -0.021446244902811988, + 0.1537276531273856, + -0.10094345976665445, + -0.8411254910706515, + 0.5313363588175509, + 0.11790907805094139, + -0.5404146249415572, + -0.8330963224396402 + ], + [ + 0.992882250581732, + 0.011226181252435718, + 0.11856985002201333, + -0.035043522976263584, + -0.9239409130556242, + 0.38092668675133806, + 0.11382788751956772, + -0.3823704513118494, + -0.9169711282185529 + ], + [ + 0.9955194172907463, + -0.008034223752956779, + 0.09421539707383259, + -0.03283698371620682, + -0.9637480369536638, + 0.26478567515706103, + 0.08867255661992657, + -0.2666930304988237, + -0.9596937038377604 + ], + [ + 0.9940376660637127, + -0.02109720558461115, + 0.10697675618155211, + -0.0375556902290724, + -0.9873163905359913, + 0.1542592464340458, + 0.10236546574907257, + -0.15735708721091138, + -0.9822220006324807 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.002172917127609253, + -0.00044211745262145996, + -0.007429499179124832, + 0.05569136142730713, + 0.0032571330666542053, + -0.03356142342090607, + 1.0 + ], + [ + -0.001427382230758667, + -0.00045965611934661865, + -0.00445203110575676, + 0.08525682985782623, + -0.014035545289516449, + -0.05006523057818413, + 1.0 + ], + [ + -0.0024067461490631104, + -0.004894919693470001, + -0.008041750639677048, + 0.12461018562316895, + -0.027370259165763855, + -0.09387169778347015, + 1.0 + ], + [ + -0.0031903088092803955, + 0.001619391143321991, + -0.007631190121173859, + 0.09113025665283203, + 0.013699635863304138, + -0.02956147864460945, + 1.0 + ], + [ + -0.0005664229393005371, + 0.005083799362182617, + -0.00813459511846304, + 0.06656026840209961, + 0.01825379580259323, + -0.02528175711631775, + 1.0 + ], + [ + 0.002370774745941162, + 0.005554430186748505, + -0.004210785962641239, + 0.04664069414138794, + 0.007993869483470917, + -0.026122242212295532, + 1.0 + ], + [ + 0.0002962350845336914, + 0.010203547775745392, + -0.0009329428430646658, + 0.048927366733551025, + 0.015308119356632233, + -0.034120112657547, + 1.0 + ], + [ + 0.001118779182434082, + 0.00912388414144516, + -0.002565419301390648, + 0.004481315612792969, + 0.018927447497844696, + -0.023720338940620422, + 1.0 + ], + [ + 0.0016235411167144775, + 0.008906841278076172, + -0.001547495019622147, + -0.002863466739654541, + 0.012836724519729614, + 0.0004956871271133423, + 0.0 + ], + [ + 0.00045755505561828613, + 0.00289970263838768, + 0.0006007506162859499, + 0.005906581878662109, + -0.0015132501721382141, + 0.009159192442893982, + 0.0 + ], + [ + 0.001040816307067871, + 0.0033435262739658356, + 0.001956350402906537, + -0.02021235227584839, + -0.018142245709896088, + 0.032596200704574585, + 0.0 + ], + [ + -0.0010170042514801025, + -0.0009468682110309601, + 0.0006070255767554045, + -0.0881924033164978, + -0.032379381358623505, + 0.05597098916769028, + 0.0 + ], + [ + -0.001917034387588501, + 0.0028095953166484833, + -0.005722016096115112, + -0.18037909269332886, + 0.0041088685393333435, + 0.06654833257198334, + 0.0 + ], + [ + -0.0018516182899475098, + 0.004123179242014885, + -0.003802219405770302, + -0.12401440739631653, + 0.02528596669435501, + 0.002307277172803879, + 0.0 + ], + [ + 0.0028565824031829834, + 0.003741774708032608, + 0.0019201277755200863, + -0.11219930648803711, + -0.0137559175491333, + -0.004790171980857849, + 1.0 + ], + [ + 0.0003421306610107422, + 0.006329188123345375, + -0.0017588105984032154, + -0.024264350533485413, + -0.0019637495279312134, + 0.006222642958164215, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0105689764022827 + ], + [ + 1.0105689764022827 + ], + [ + 1.0105689764022827 + ], + [ + 1.0105689764022827 + ], + [ + 1.0105689764022827 + ], + [ + 1.0105689764022827 + ], + [ + 1.0105689764022827 + ], + [ + 1.0105689764022827 + ], + [ + 0.9190354347229004 + ], + [ + 0.6902000904083252 + ], + [ + 0.4522285461425781 + ], + [ + 0.3095528483390808 + ], + [ + 0.13995102047920227 + ], + [ + 0.0600886270403862 + ], + [ + 0.14571818709373474 + ], + [ + 0.3703518807888031 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.28530389070510864, + -0.07781016826629639, + 0.036057714372873306 + ], + [ + 0.28387650847435, + -0.078269824385643, + 0.03160568326711655 + ], + [ + 0.28146976232528687, + -0.083164744079113, + 0.0235639326274395 + ], + [ + 0.27827945351600647, + -0.08154535293579102, + 0.01593274250626564 + ], + [ + 0.27771303057670593, + -0.0764615535736084, + 0.007798147387802601 + ], + [ + 0.2800838053226471, + -0.0709071233868599, + 0.003587361192330718 + ], + [ + 0.2803800404071808, + -0.0607035756111145, + 0.0026544183492660522 + ], + [ + 0.28149881958961487, + -0.05157969146966934, + 8.899900421965867e-05 + ], + [ + 0.28312236070632935, + -0.04267285019159317, + -0.0014584959717467427 + ], + [ + 0.28357991576194763, + -0.03977314755320549, + -0.0008577453554607928 + ], + [ + 0.2846207320690155, + -0.036429621279239655, + 0.0010986049892380834 + ], + [ + 0.2836037278175354, + -0.037376489490270615, + 0.0017056305659934878 + ], + [ + 0.2816866934299469, + -0.03456689417362213, + -0.004016385413706303 + ], + [ + 0.2798350751399994, + -0.030443714931607246, + -0.007818604819476604 + ], + [ + 0.2826916575431824, + -0.02670194022357464, + -0.005898477043956518 + ], + [ + 0.2830337882041931, + -0.020372752100229263, + -0.007657287642359734 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9903652773457743, + 0.10424620307191344, + 0.0911556173415402, + 0.08208281715909539, + -0.9720693084968902, + 0.21987194137862281, + 0.11153039296556984, + -0.2102712263327235, + -0.9712605123351193 + ], + [ + 0.9915697909723519, + 0.06805287335198598, + 0.11026402885612745, + 0.032363555660074275, + -0.9540783443461627, + 0.2978038164878388, + 0.12546692749917654, + -0.2917247320304257, + -0.948237697429127 + ], + [ + 0.9864396737078437, + 0.006712248063400612, + 0.16398693808074574, + -0.06048972622331285, + -0.9139572343893939, + 0.4012769202542296, + 0.15257051863512697, + -0.40575499927077435, + -0.9011576540262988 + ], + [ + 0.9862099103742822, + -0.010862576422981364, + 0.1651424146396224, + -0.08980078890726137, + -0.8732993908133405, + 0.4788360808425799, + 0.13901737657999294, + -0.48706280748842146, + -0.862231981876289 + ], + [ + 0.9859811781287188, + -0.03094018021664935, + 0.16396286660114368, + -0.11497735232215531, + -0.8381029215386647, + 0.533257631320304, + 0.12091867030731913, + -0.5446340038562737, + -0.8299111259734947 + ], + [ + 0.9835671137852158, + -0.04908495089427512, + 0.17374233875462552, + -0.14082373783476881, + -0.8107837445012192, + 0.5681534955580456, + 0.11297967756399713, + -0.5832841393765893, + -0.8043725537394018 + ], + [ + 0.9797786648225633, + -0.07656359450918196, + 0.18485611689730347, + -0.17457763594241268, + -0.7785171065651371, + 0.6028546788523799, + 0.09775692807813868, + -0.6229358962054452, + -0.7761407425405814 + ], + [ + 0.9770009609044509, + -0.10574377314230216, + 0.1851685092919656, + -0.19809926900662284, + -0.7714350733874604, + 0.6046855440365059, + 0.07890375156366831, + -0.6274601039024813, + -0.7746405721364368 + ], + [ + 0.9780112713770626, + -0.11376083147785271, + 0.17479252352686242, + -0.19779945436686297, + -0.771624201037827, + 0.604542362638803, + 0.06610089947642503, + -0.6258231104666895, + -0.7771589962769554 + ], + [ + 0.9796825650974551, + -0.10475049985274335, + 0.17102457257561438, + -0.1888143433611493, + -0.7692207605497514, + 0.6104494780736245, + 0.0676107638262518, + -0.6303386029110567, + -0.7733705646680434 + ], + [ + 0.9839422351079059, + -0.07165805628223812, + 0.1634711012402806, + -0.15656722140493365, + -0.7862631209757783, + 0.597726534273799, + 0.08569937661615143, + -0.6137225982178593, + -0.7848567953992135 + ], + [ + 0.9878804923893957, + -0.021446244902811988, + 0.1537276531273856, + -0.10094345976665445, + -0.8411254910706515, + 0.5313363588175509, + 0.11790907805094139, + -0.5404146249415572, + -0.8330963224396402 + ], + [ + 0.992882250581732, + 0.011226181252435718, + 0.11856985002201333, + -0.035043522976263584, + -0.9239409130556242, + 0.38092668675133806, + 0.11382788751956772, + -0.3823704513118494, + -0.9169711282185529 + ], + [ + 0.9955194172907463, + -0.008034223752956779, + 0.09421539707383259, + -0.03283698371620682, + -0.9637480369536638, + 0.26478567515706103, + 0.08867255661992657, + -0.2666930304988237, + -0.9596937038377604 + ], + [ + 0.9940376660637127, + -0.02109720558461115, + 0.10697675618155211, + -0.0375556902290724, + -0.9873163905359913, + 0.1542592464340458, + 0.10236546574907257, + -0.15735708721091138, + -0.9822220006324807 + ], + [ + 0.9940492779608278, + -0.017258880833148985, + 0.10755539976190816, + -0.03136306188963459, + -0.9909048671751507, + 0.13085833010360307, + 0.1043187007897609, + -0.1334528952139434, + -0.9855495590910445 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006528.json b/json/chunk-0006/episode_0006528.json new file mode 100644 index 0000000000000000000000000000000000000000..70a8bddccd28b6751f75470a6384fa83fa1e6888 --- /dev/null +++ b/json/chunk-0006/episode_0006528.json @@ -0,0 +1,2782 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 45, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut the red block on top of the white arch." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006528.mp4", + "start": 0, + "end": 45, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.26787489652633667, + 0.01380575355142355, + 0.12183478474617004, + 0.10939936339855194, + 0.02377115748822689, + 0.18418534100055695, + 0.0, + 0.9981546401977539 + ], + [ + 0.26538151502609253, + 0.013365520164370537, + 0.11365076154470444, + 0.11278919875621796, + 0.055935077369213104, + 0.1853872835636139, + 0.0, + 0.9981546401977539 + ], + [ + 0.26652222871780396, + 0.02787724882364273, + 0.11110614985227585, + 0.1007198691368103, + 0.04822404310107231, + 0.18511204421520233, + 0.0, + 0.9981546401977539 + ], + [ + 0.2640024423599243, + 0.045735277235507965, + 0.11106474697589874, + 0.09572532773017883, + 0.05276401340961456, + 0.21233832836151123, + 0.0, + 0.9981546401977539 + ], + [ + 0.25980353355407715, + 0.05751931294798851, + 0.11334536969661713, + 0.10192983597517014, + 0.05972707271575928, + 0.22192935645580292, + 0.0, + 0.9981546401977539 + ], + [ + 0.2563084065914154, + 0.06541196256875992, + 0.11597243696451187, + 0.08795005828142166, + 0.07267621159553528, + 0.21361161768436432, + 0.0, + 0.9981546401977539 + ], + [ + 0.2519531846046448, + 0.0663236454129219, + 0.11108501255512238, + 0.042450759559869766, + 0.11816326528787613, + 0.18635886907577515, + 0.0, + 0.9981546401977539 + ], + [ + 0.24778147041797638, + 0.06190463528037071, + 0.10191825032234192, + -0.010287421755492687, + 0.16074851155281067, + 0.17046654224395752, + 0.0, + 0.9981546401977539 + ], + [ + 0.24521568417549133, + 0.058008357882499695, + 0.09564357250928879, + -0.04391729086637497, + 0.188699409365654, + 0.1669662594795227, + 0.0, + 0.9981546401977539 + ], + [ + 0.2406739741563797, + 0.06241707131266594, + 0.08877554535865784, + -0.05982445552945137, + 0.19892190396785736, + 0.17955373227596283, + 0.0, + 0.9981546401977539 + ], + [ + 0.23789508640766144, + 0.06897259503602982, + 0.07659444957971573, + -0.07241783291101456, + 0.23398269712924957, + 0.19753997027873993, + 0.0, + 0.9981546401977539 + ], + [ + 0.2372552901506424, + 0.07099418342113495, + 0.06955668330192566, + -0.08133582025766373, + 0.25438201427459717, + 0.2066241204738617, + 0.0, + 0.9947922229766846 + ], + [ + 0.2370583713054657, + 0.07231776416301727, + 0.0658499151468277, + -0.07513728737831116, + 0.26625460386276245, + 0.21401111781597137, + 0.0, + 0.9476637244224548 + ], + [ + 0.23976750671863556, + 0.06928061693906784, + 0.06686881929636002, + -0.06931193917989731, + 0.2610941231250763, + 0.2058769166469574, + 0.0, + 0.6651484370231628 + ], + [ + 0.24019384384155273, + 0.0694296807050705, + 0.06747306138277054, + -0.05904848128557205, + 0.2594587206840515, + 0.21167688071727753, + 0.0, + 0.5531353950500488 + ], + [ + 0.24087779223918915, + 0.06730828434228897, + 0.07422356307506561, + -0.0523197315633297, + 0.24032151699066162, + 0.20973125100135803, + 0.0, + 0.5521479845046997 + ], + [ + 0.2480788379907608, + 0.0626174584031105, + 0.11040942370891571, + -0.028097765520215034, + 0.14116208255290985, + 0.1974644809961319, + 0.0, + 0.5521479845046997 + ], + [ + 0.261456698179245, + 0.050065383315086365, + 0.15464270114898682, + 0.031191226094961166, + 0.04025610536336899, + 0.15574932098388672, + 0.0, + 0.5521479845046997 + ], + [ + 0.27391380071640015, + 0.02718423306941986, + 0.18401406705379486, + 0.041153036057949066, + -0.00540812686085701, + 0.09281723201274872, + 0.0, + 0.5521479845046997 + ], + [ + 0.28663039207458496, + -0.0038914678152650595, + 0.18382829427719116, + 0.034780103713274, + 0.022947994992136955, + 0.013462475501000881, + 0.0, + 0.5521479845046997 + ], + [ + 0.29805198311805725, + -0.029763737693428993, + 0.17428277432918549, + 0.0086217625066638, + 0.06260008364915848, + -0.06306078284978867, + 0.0, + 0.5521479845046997 + ], + [ + 0.29840707778930664, + -0.047968678176403046, + 0.16270343959331512, + 0.010177016258239746, + 0.09783840924501419, + -0.12125085294246674, + 0.0, + 0.5521479845046997 + ], + [ + 0.2982633411884308, + -0.05417771637439728, + 0.1547829508781433, + -0.003380086738616228, + 0.12913483381271362, + -0.12966066598892212, + 0.0, + 0.5521479845046997 + ], + [ + 0.29743167757987976, + -0.05927058309316635, + 0.15475022792816162, + -0.008661231026053429, + 0.14321409165859222, + -0.14183276891708374, + 0.0, + 0.5521479845046997 + ], + [ + 0.29645994305610657, + -0.06415519118309021, + 0.15049898624420166, + -0.02076786197721958, + 0.16843277215957642, + -0.14774934947490692, + 0.0, + 0.5521479845046997 + ], + [ + 0.2957853078842163, + -0.06839841604232788, + 0.14508800208568573, + -0.03498757258057594, + 0.1906372606754303, + -0.15365825593471527, + 0.0, + 0.5521479845046997 + ], + [ + 0.2948072850704193, + -0.07115171104669571, + 0.14256234467029572, + -0.04643995314836502, + 0.2059147208929062, + -0.13957060873508453, + 0.0, + 0.5521479845046997 + ], + [ + 0.2936728894710541, + -0.07213286310434341, + 0.1423417031764984, + -0.046262893825769424, + 0.21482309699058533, + -0.12100937217473984, + 0.0, + 0.5521479845046997 + ], + [ + 0.293409138917923, + -0.07306944578886032, + 0.14203067123889923, + -0.050348516553640366, + 0.21581338346004486, + -0.11152477562427521, + 0.0, + 0.5521479845046997 + ], + [ + 0.2909197509288788, + -0.07358909398317337, + 0.13916857540607452, + -0.060406867414712906, + 0.2279323786497116, + -0.10331541299819946, + 0.0, + 0.5521479845046997 + ], + [ + 0.29061466455459595, + -0.0717049166560173, + 0.13786180317401886, + -0.06577543914318085, + 0.23169314861297607, + -0.0922062024474144, + 0.0, + 0.5521479845046997 + ], + [ + 0.2909471392631531, + -0.07251037657260895, + 0.13032586872577667, + -0.07006374001502991, + 0.2514708936214447, + -0.09901177883148193, + 0.0, + 0.6059080362319946 + ], + [ + 0.29160353541374207, + -0.07167654484510422, + 0.13016583025455475, + -0.0668555423617363, + 0.24824170768260956, + -0.09570625424385071, + 0.0, + 0.8998980522155762 + ], + [ + 0.29141297936439514, + -0.07018417865037918, + 0.13020043075084686, + -0.05738001689314842, + 0.2514355778694153, + -0.08177540451288223, + 0.0, + 1.0047606229782104 + ], + [ + 0.2883828580379486, + -0.06564130634069443, + 0.13959984481334686, + -0.02819926291704178, + 0.24796421825885773, + -0.061664681881666183, + 0.0, + 1.0008161067962646 + ], + [ + 0.29052141308784485, + -0.05964360013604164, + 0.17367054522037506, + 0.0030740920919924974, + 0.17026804387569427, + -0.03623438999056816, + 0.0, + 1.0008161067962646 + ], + [ + 0.2777749300003052, + -0.0481235533952713, + 0.19186899065971375, + 0.0040439944714307785, + 0.15179845690727234, + 0.008817732334136963, + 0.0, + 1.0008161067962646 + ], + [ + 0.2567821741104126, + -0.02153637632727623, + 0.17269659042358398, + -0.0326274074614048, + 0.21350373327732086, + 0.09067165106534958, + 0.0, + 1.0008161067962646 + ], + [ + 0.24151067435741425, + 0.007373724598437548, + 0.13319174945354462, + -0.09927712380886078, + 0.233915314078331, + 0.12684854865074158, + 0.0, + 1.0008161067962646 + ], + [ + 0.24033623933792114, + 0.021903837099671364, + 0.11462319642305374, + -0.08444540202617645, + 0.1901284158229828, + 0.1547381728887558, + 0.0, + 1.0008161067962646 + ], + [ + 0.249364972114563, + 0.029105596244335175, + 0.10274887084960938, + -0.05215716361999512, + 0.14208917319774628, + 0.14508503675460815, + 0.0, + 1.0008161067962646 + ], + [ + 0.25322845578193665, + 0.03611348196864128, + 0.09493973851203918, + -0.009914133697748184, + 0.09679330885410309, + 0.1653851717710495, + 0.0, + 1.0008161067962646 + ], + [ + 0.25582262873649597, + 0.03875019773840904, + 0.09116853773593903, + 0.0017591769574210048, + 0.02601827308535576, + 0.21784816682338715, + 0.0, + 1.0008161067962646 + ], + [ + 0.25764137506484985, + 0.03990940377116203, + 0.0935884341597557, + 0.005761145614087582, + 0.0025567866396158934, + 0.2396681159734726, + 0.0, + 1.0008161067962646 + ], + [ + 0.25764137506484985, + 0.03990940377116203, + 0.0935884341597557, + 0.005765060894191265, + 0.002547946060076356, + 0.24120207130908966, + 0.0, + 1.0008161067962646 + ] + ], + "left_gripper_pos": [ + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9947922229766846 + ], + [ + 0.9476637244224548 + ], + [ + 0.6651484370231628 + ], + [ + 0.5531353950500488 + ], + [ + 0.5521479845046997 + ], + [ + 0.5521479845046997 + ], + [ + 0.5521479845046997 + ], + [ + 0.5521479845046997 + ], + [ + 0.5521479845046997 + ], + [ + 0.5521479845046997 + ], + [ + 0.5521479845046997 + ], + [ + 0.5521479845046997 + ], + [ + 0.5521479845046997 + ], + [ + 0.5521479845046997 + ], + [ + 0.5521479845046997 + ], + [ + 0.5521479845046997 + ], + [ + 0.5521479845046997 + ], + [ + 0.5521479845046997 + ], + [ + 0.5521479845046997 + ], + [ + 0.5521479845046997 + ], + [ + 0.6059080362319946 + ], + [ + 0.8998980522155762 + ], + [ + 1.0047606229782104 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.26787489652633667, + 0.01380575355142355, + 0.12183478474617004 + ], + [ + 0.26538151502609253, + 0.013365520164370537, + 0.11365076154470444 + ], + [ + 0.26652222871780396, + 0.02787724882364273, + 0.11110614985227585 + ], + [ + 0.2640024423599243, + 0.045735277235507965, + 0.11106474697589874 + ], + [ + 0.25980353355407715, + 0.05751931294798851, + 0.11334536969661713 + ], + [ + 0.2563084065914154, + 0.06541196256875992, + 0.11597243696451187 + ], + [ + 0.2519531846046448, + 0.0663236454129219, + 0.11108501255512238 + ], + [ + 0.24778147041797638, + 0.06190463528037071, + 0.10191825032234192 + ], + [ + 0.24521568417549133, + 0.058008357882499695, + 0.09564357250928879 + ], + [ + 0.2406739741563797, + 0.06241707131266594, + 0.08877554535865784 + ], + [ + 0.23789508640766144, + 0.06897259503602982, + 0.07659444957971573 + ], + [ + 0.2372552901506424, + 0.07099418342113495, + 0.06955668330192566 + ], + [ + 0.2370583713054657, + 0.07231776416301727, + 0.0658499151468277 + ], + [ + 0.23976750671863556, + 0.06928061693906784, + 0.06686881929636002 + ], + [ + 0.24019384384155273, + 0.0694296807050705, + 0.06747306138277054 + ], + [ + 0.24087779223918915, + 0.06730828434228897, + 0.07422356307506561 + ], + [ + 0.2480788379907608, + 0.0626174584031105, + 0.11040942370891571 + ], + [ + 0.261456698179245, + 0.050065383315086365, + 0.15464270114898682 + ], + [ + 0.27391380071640015, + 0.02718423306941986, + 0.18401406705379486 + ], + [ + 0.28663039207458496, + -0.0038914678152650595, + 0.18382829427719116 + ], + [ + 0.29805198311805725, + -0.029763737693428993, + 0.17428277432918549 + ], + [ + 0.29840707778930664, + -0.047968678176403046, + 0.16270343959331512 + ], + [ + 0.2982633411884308, + -0.05417771637439728, + 0.1547829508781433 + ], + [ + 0.29743167757987976, + -0.05927058309316635, + 0.15475022792816162 + ], + [ + 0.29645994305610657, + -0.06415519118309021, + 0.15049898624420166 + ], + [ + 0.2957853078842163, + -0.06839841604232788, + 0.14508800208568573 + ], + [ + 0.2948072850704193, + -0.07115171104669571, + 0.14256234467029572 + ], + [ + 0.2936728894710541, + -0.07213286310434341, + 0.1423417031764984 + ], + [ + 0.293409138917923, + -0.07306944578886032, + 0.14203067123889923 + ], + [ + 0.2909197509288788, + -0.07358909398317337, + 0.13916857540607452 + ], + [ + 0.29061466455459595, + -0.0717049166560173, + 0.13786180317401886 + ], + [ + 0.2909471392631531, + -0.07251037657260895, + 0.13032586872577667 + ], + [ + 0.29160353541374207, + -0.07167654484510422, + 0.13016583025455475 + ], + [ + 0.29141297936439514, + -0.07018417865037918, + 0.13020043075084686 + ], + [ + 0.2883828580379486, + -0.06564130634069443, + 0.13959984481334686 + ], + [ + 0.29052141308784485, + -0.05964360013604164, + 0.17367054522037506 + ], + [ + 0.2777749300003052, + -0.0481235533952713, + 0.19186899065971375 + ], + [ + 0.2567821741104126, + -0.02153637632727623, + 0.17269659042358398 + ], + [ + 0.24151067435741425, + 0.007373724598437548, + 0.13319174945354462 + ], + [ + 0.24033623933792114, + 0.021903837099671364, + 0.11462319642305374 + ], + [ + 0.249364972114563, + 0.029105596244335175, + 0.10274887084960938 + ], + [ + 0.25322845578193665, + 0.03611348196864128, + 0.09493973851203918 + ], + [ + 0.25582262873649597, + 0.03875019773840904, + 0.09116853773593903 + ], + [ + 0.25764137506484985, + 0.03990940377116203, + 0.0935884341597557 + ], + [ + 0.25764137506484985, + 0.03990940377116203, + 0.0935884341597557 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9828080360972804, + 0.17949961676663592, + -0.04322327802513662, + 0.18309397226610133, + -0.9776840345923937, + 0.10300740664126902, + -0.023768918831691504, + -0.10915042869256388, + -0.993741023815462 + ], + [ + 0.9813277773680323, + 0.17697158204631175, + -0.07534489043022857, + 0.18403891467439937, + -0.9777796792424344, + 0.1003821535235791, + -0.05590591427914171, + -0.11237418746575129, + -0.9920920172746203 + ], + [ + 0.9817729419689867, + 0.17835964931575718, + -0.06564850275155533, + 0.1838426889114058, + -0.9788263862324842, + 0.09000428516953982, + -0.04820535397012367, + -0.1004327691095685, + -0.9937753784118418 + ], + [ + 0.9761803524371464, + 0.2048538625356392, + -0.07146197954099655, + 0.2104529901760363, + -0.9741277745113988, + 0.08236879173227196, + -0.05273953395370054, + -0.09544618342133263, + -0.9940365021610864 + ], + [ + 0.9737351911112264, + 0.21304475270219417, + -0.08032254314726367, + 0.21971958103659903, + -0.9717484578217862, + 0.08618724052944976, + -0.059691568086996216, + -0.10157198465640394, + -0.9930357740949086 + ], + [ + 0.9746919038494262, + 0.20493837784144212, + -0.08930819591783935, + 0.2114312028553125, + -0.9748464759356528, + 0.07050670049714777, + -0.07261225123583868, + -0.08760484942945293, + -0.9935053353288579 + ], + [ + 0.9758329621506866, + 0.18019879629797006, + -0.12360592135079766, + 0.18399004373267205, + -0.9827270417476501, + 0.019880272260762104, + -0.11788848030009681, + -0.04214208384353209, + -0.9921322245456291 + ], + [ + 0.9728003479386171, + 0.1712558514420302, + -0.15598370555084104, + 0.16745507949097121, + -0.9851742572497085, + -0.03728912985252238, + -0.16005711294153316, + 0.01015461468254971, + -0.9870555224492039 + ], + [ + 0.9685893727051585, + 0.17415222274946163, + -0.17749825462254346, + 0.1632415055881843, + -0.9837740272988966, + -0.074437047667224, + -0.18758155009469926, + 0.04312385098216161, + -0.9813019390282168 + ], + [ + 0.9645207084708318, + 0.18989608063560331, + -0.18341014554860693, + 0.17506872775057392, + -0.9800532512656698, + -0.09405618133533569, + -0.19761260965515373, + 0.0586097538198768, + -0.9785265214916014 + ], + [ + 0.9538329889638025, + 0.21219275328133608, + -0.21254849945192464, + 0.19090985509956232, + -0.9746899388676218, + -0.11633120946717619, + -0.2318535235665891, + 0.07038294200385452, + -0.9702011054851666 + ], + [ + 0.9472325904861778, + 0.22448925995143384, + -0.22881213186215205, + 0.19855484514440194, + -0.9712989476613532, + -0.1309745308891423, + -0.25164735840164876, + 0.07863158677278408, + -0.9646194485760002 + ], + [ + 0.9427539030900051, + 0.23108290334578813, + -0.240449100621821, + 0.20489756456488523, + -0.9702349295584023, + -0.1290781526834846, + -0.26311987048480423, + 0.07242149712677456, + -0.9620410908635746 + ], + [ + 0.9457059440528134, + 0.22143495342194655, + -0.2379218963992116, + 0.19749726766728257, + -0.972877030862802, + -0.12043717068885354, + -0.2581377474278695, + 0.0669092237482895, + -0.9637883891862707 + ], + [ + 0.9449560400924832, + 0.2245360614865219, + -0.23799504067281405, + 0.20306739955898012, + -0.9727950040775813, + -0.11150565581194721, + -0.25655742735124054, + 0.057038908946610956, + -0.9648444689881854 + ], + [ + 0.9499781515695311, + 0.2200865972879831, + -0.22159287270743674, + 0.2022137764794039, + -0.9741570534888028, + -0.10063609561162337, + -0.23801491579830622, + 0.05079296045921394, + -0.9699324590018183 + ], + [ + 0.9708136190773983, + 0.19998212848193808, + -0.13239359992717853, + 0.194232310745712, + -0.979404663618037, + -0.055139045563202656, + -0.14069373289605108, + 0.02781462153388712, + -0.9896623769512011 + ], + [ + 0.9870952121855794, + 0.15380503959327063, + -0.044576360057977917, + 0.15499472013779503, + -0.9876097447568515, + 0.024568858148340478, + -0.04024523337878213, + -0.031160902699041412, + -0.9987038196248517 + ], + [ + 0.9956810113515687, + 0.09282708548230643, + 0.001567110327298655, + 0.09268266333526688, + -0.9948319281042226, + 0.041465150928417585, + 0.005408100498227517, + -0.04114081945337801, + -0.9991387218117941 + ], + [ + 0.9996461124220629, + 0.012656097033947758, + -0.023398143672596017, + 0.013458524374430096, + -0.9993154116289817, + 0.03446122752400899, + -0.022945980936081536, + -0.034763936610601835, + -0.9991320987087817 + ], + [ + 0.9960574755452242, + -0.06355494553557614, + -0.06188920995169503, + -0.06289555774746697, + -0.9979412441945511, + 0.01254679046872702, + -0.06255920576629857, + -0.008604768062013173, + -0.9980041601819547 + ], + [ + 0.9879108679029412, + -0.12193450685988133, + -0.09572926990265289, + -0.12037552542718227, + -0.992486471536859, + 0.021916584917485164, + -0.09768239328244986, + -0.010128171264008893, + -0.9951661018088687 + ], + [ + 0.9833493961782153, + -0.12886530564936624, + -0.12813156533748557, + -0.12822109045818017, + -0.9916564412741408, + 0.013298663136620963, + -0.1287762283872846, + 0.003351936664312243, + -0.9916680127557528 + ], + [ + 0.9798237611888048, + -0.1401286680411574, + -0.1425108887167416, + -0.13991054949092038, + -0.9900961920112125, + 0.011600375254504976, + -0.1427250333717709, + 0.008572453435728121, + -0.9897252537402081 + ], + [ + 0.9751077897788689, + -0.14373733812570338, + -0.1688323900829051, + -0.14512913174516123, + -0.9894040905770113, + 0.004132876525226351, + -0.1676375060404582, + 0.020472498089249953, + -0.9856361110422655 + ], + [ + 0.9703149137578198, + -0.14641047261993462, + -0.19249140668186315, + -0.15028152192067, + -0.9886274710217046, + -0.005584595816721386, + -0.18948464926838332, + 0.03434671816107532, + -0.9812827679334849 + ], + [ + 0.9693556207085563, + -0.1295684002763803, + -0.2087144227180973, + -0.13617895786096715, + -0.9905286492901512, + -0.01755808563964545, + -0.20446264215408608, + 0.045442541579976375, + -0.9778190033836127 + ], + [ + 0.9698695056048946, + -0.11079863948523158, + -0.21697189584353693, + -0.11793953615018427, + -0.9928152515620017, + -0.020202526538980938, + -0.21317459489910223, + 0.04518337917974405, + -0.9759687773363975 + ], + [ + 0.9707342060277276, + -0.10044247369080204, + -0.21814309690336336, + -0.10871200050644243, + -0.9937276413750822, + -0.02621212912000099, + -0.21414201407851963, + 0.04915978281063579, + -0.9755647152087895 + ], + [ + 0.9689413090553799, + -0.08937487650348853, + -0.2305750876743471, + -0.10046428054842889, + -0.9942603621398804, + -0.03678669068236774, + -0.2259638642348224, + 0.05880870452118295, + -0.9723589195007195 + ], + [ + 0.9691445291151174, + -0.07684776303666262, + -0.23420782011388686, + -0.08961524985173396, + -0.9949884635572547, + -0.044351599542578446, + -0.2296257578762651, + 0.06397170237093036, + -0.971174357474247 + ], + [ + 0.9638038496096547, + -0.08127325427115095, + -0.25392281822984425, + -0.09574099853308837, + -0.9943828241252819, + -0.045127156840593395, + -0.24882885820880354, + 0.06780455165256377, + -0.9661711763956207 + ], + [ + 0.9649098671427633, + -0.07900768091784717, + -0.25041312794364184, + -0.09263090529233296, + -0.994768416814086, + -0.0430733362292695, + -0.24569994642909046, + 0.06475788187688435, + -0.9671804139143646 + ], + [ + 0.9653195872468135, + -0.06732952999437586, + -0.2522396258885155, + -0.07911583331243899, + -0.9961834449482371, + -0.03686772206607415, + -0.24879465307140383, + 0.0555452824441407, + -0.9669622237715808 + ], + [ + 0.9675715435109571, + -0.05469420623862762, + -0.24660464714143335, + -0.05974073266664786, + -0.9981289712711124, + -0.01302311674382431, + -0.24543095372889803, + 0.027333139468374873, + -0.9690286613091101 + ], + [ + 0.9848924813815866, + -0.03674684194929666, + -0.16922313590279167, + -0.03570260465599326, + -0.9993200142718353, + 0.00921048839730973, + -0.16944652294691423, + -0.0030296340525779028, + -0.9855347265209423 + ], + [ + 0.9884622920713801, + 0.0082060541241393, + -0.15124469520847617, + 0.008716221817442547, + -0.9999583395446655, + 0.0027104708639121055, + -0.15121615201499572, + -0.003997480554883822, + -0.9884926380702036 + ], + [ + 0.9732799373410157, + 0.0973829199914602, + -0.20794886502071938, + 0.08849153847372318, + -0.9947362329920024, + -0.05166308538438473, + -0.21188537275617228, + 0.03188092951620945, + -0.9767743829284019 + ], + [ + 0.9649506442893463, + 0.14867460804015842, + -0.21625474563505076, + 0.12306335038219741, + -0.9841747969619922, + -0.12749659139573047, + -0.23178797612965985, + 0.09641488447810642, + -0.9679764998039929 + ], + [ + 0.9702471970986577, + 0.1693217122092407, + -0.17306222666061336, + 0.15134413414261394, + -0.9820744108143662, + -0.1123601561241254, + -0.18898499830097867, + 0.08282517369825693, + -0.978480792360807 + ], + [ + 0.979521800982147, + 0.1516851096838319, + -0.13239587947098191, + 0.14311957505051529, + -0.9870806593535089, + -0.07203165392799128, + -0.1416115413306797, + 0.051608133374942605, + -0.9885761336040351 + ], + [ + 0.9817380703909138, + 0.16556920351002688, + -0.09368671194027496, + 0.16386164597515182, + -0.9861488072263723, + -0.025688343354852324, + -0.09664223778161789, + 0.009867565812198614, + -0.9952702693346681 + ], + [ + 0.9760343266328309, + 0.2160841326417321, + -0.02578062945055108, + 0.2160560007041551, + -0.9763731638131916, + -0.0039050665992445776, + -0.026015337670736067, + -0.001758580646071786, + -0.999659996998974 + ], + [ + 0.9714136359095503, + 0.23736199348025683, + -0.0038512361736748484, + 0.23737946588808223, + -0.9714041866475921, + 0.004989522844753348, + -0.002556783853930465, + -0.005761094913991411, + -0.9999801361235711 + ], + [ + 0.9710483855881222, + 0.23885183865265006, + -0.0038512360288015506, + 0.2388692965444175, + -0.9710389095340657, + 0.004989522949880359, + -0.0025479433031872457, + -0.005765010246362552, + -0.9999801361236045 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0024933815002441406, + -0.00044023338705301285, + -0.008184023201465607, + 0.0033898353576660156, + 0.032163918018341064, + 0.0012019425630569458, + 1.0 + ], + [ + 0.0011407136917114258, + 0.014511728659272194, + -0.002544611692428589, + -0.012069329619407654, + -0.007711034268140793, + -0.00027523934841156006, + 1.0 + ], + [ + -0.0025197863578796387, + 0.017858028411865234, + -4.140287637710571e-05, + -0.00499454140663147, + 0.004539970308542252, + 0.0272262841463089, + 1.0 + ], + [ + -0.004198908805847168, + 0.011784035712480545, + 0.002280622720718384, + 0.0062045082449913025, + 0.006963059306144714, + 0.009591028094291687, + 1.0 + ], + [ + -0.003495126962661743, + 0.007892649620771408, + 0.002627067267894745, + -0.013979777693748474, + 0.012949138879776001, + -0.008317738771438599, + 1.0 + ], + [ + -0.00435522198677063, + 0.0009116828441619873, + -0.004887424409389496, + -0.045499298721551895, + 0.04548705369234085, + -0.027252748608589172, + 1.0 + ], + [ + -0.004171714186668396, + -0.004419010132551193, + -0.009166762232780457, + -0.05273818224668503, + 0.04258524626493454, + -0.015892326831817627, + 1.0 + ], + [ + -0.0025657862424850464, + -0.0038962773978710175, + -0.006274677813053131, + -0.03362986817955971, + 0.027950897812843323, + -0.0035002827644348145, + 1.0 + ], + [ + -0.004541710019111633, + 0.0044087134301662445, + -0.006868027150630951, + -0.0159071646630764, + 0.01022249460220337, + 0.012587472796440125, + 1.0 + ], + [ + -0.0027788877487182617, + 0.006555523723363876, + -0.012181095778942108, + -0.012593377381563187, + 0.03506079316139221, + 0.0179862380027771, + 1.0 + ], + [ + -0.000639796257019043, + 0.002021588385105133, + -0.00703776627779007, + -0.00891798734664917, + 0.020399317145347595, + 0.009084150195121765, + 1.0 + ], + [ + -0.00019691884517669678, + 0.0013235807418823242, + -0.0037067681550979614, + 0.00619853287935257, + 0.011872589588165283, + 0.00738699734210968, + 0.0 + ], + [ + 0.002709135413169861, + -0.0030371472239494324, + 0.0010189041495323181, + 0.005825348198413849, + -0.005160480737686157, + -0.008134201169013977, + 0.0 + ], + [ + 0.0004263371229171753, + 0.00014906376600265503, + 0.0006042420864105225, + 0.010263457894325256, + -0.0016354024410247803, + 0.005799964070320129, + 0.0 + ], + [ + 0.0006839483976364136, + -0.0021213963627815247, + 0.0067505016922950745, + 0.006728749722242355, + -0.019137203693389893, + -0.0019456297159194946, + 0.0 + ], + [ + 0.007201045751571655, + -0.004690825939178467, + 0.0361858606338501, + 0.024221966043114662, + -0.09915943443775177, + -0.012266770005226135, + 0.0 + ], + [ + 0.013377860188484192, + -0.01255207508802414, + 0.044233277440071106, + 0.05928899347782135, + -0.10090597718954086, + -0.04171516001224518, + 0.0 + ], + [ + 0.012457102537155151, + -0.022881150245666504, + 0.029371365904808044, + 0.0099618099629879, + -0.045664232224226, + -0.062932088971138, + 0.0 + ], + [ + 0.012716591358184814, + -0.031075701117515564, + -0.00018577277660369873, + -0.006372932344675064, + 0.028356121852993965, + -0.07935475558042526, + 0.0 + ], + [ + 0.01142159104347229, + -0.02587226964533329, + -0.009545519948005676, + -0.026158340275287628, + 0.03965208679437637, + -0.07652325928211212, + 0.0 + ], + [ + 0.00035509467124938965, + -0.018204940482974052, + -0.011579334735870361, + 0.0015552537515759468, + 0.03523832559585571, + -0.05819007009267807, + 0.0 + ], + [ + -0.0001437366008758545, + -0.006209038197994232, + -0.007920488715171814, + -0.013557102531194687, + 0.03129642456769943, + -0.008409813046455383, + 0.0 + ], + [ + -0.0008316636085510254, + -0.0050928667187690735, + -3.272294998168945e-05, + -0.0052811442874372005, + 0.014079257845878601, + -0.012172102928161621, + 0.0 + ], + [ + -0.0009717345237731934, + -0.004884608089923859, + -0.004251241683959961, + -0.012106630951166153, + 0.025218680500984192, + -0.005916580557823181, + 0.0 + ], + [ + -0.0006746351718902588, + -0.004243224859237671, + -0.00541098415851593, + -0.014219710603356361, + 0.022204488515853882, + -0.00590890645980835, + 0.0 + ], + [ + -0.000978022813796997, + -0.0027532950043678284, + -0.0025256574153900146, + -0.011452380567789078, + 0.015277460217475891, + 0.014087647199630737, + 0.0 + ], + [ + -0.0011343955993652344, + -0.000981152057647705, + -0.00022064149379730225, + 0.0001770593225955963, + 0.008908376097679138, + 0.018561236560344696, + 0.0 + ], + [ + -0.0002637505531311035, + -0.0009365826845169067, + -0.00031103193759918213, + -0.004085622727870941, + 0.0009902864694595337, + 0.00948459655046463, + 0.0 + ], + [ + -0.0024893879890441895, + -0.0005196481943130493, + -0.002862095832824707, + -0.01005835086107254, + 0.012118995189666748, + 0.008209362626075745, + 0.0 + ], + [ + -0.0003050863742828369, + 0.001884177327156067, + -0.001306772232055664, + -0.005368571728467941, + 0.0037607699632644653, + 0.011109210550785065, + 0.0 + ], + [ + 0.0003324747085571289, + -0.0008054599165916443, + -0.0075359344482421875, + -0.00428830087184906, + 0.019777745008468628, + -0.006805576384067535, + 1.0 + ], + [ + 0.0006563961505889893, + 0.0008338317275047302, + -0.00016003847122192383, + 0.0032081976532936096, + -0.003229185938835144, + 0.0033055245876312256, + 1.0 + ], + [ + -0.00019055604934692383, + 0.0014923661947250366, + 3.460049629211426e-05, + 0.009475525468587875, + 0.003193870186805725, + 0.013930849730968475, + 1.0 + ], + [ + -0.003030121326446533, + 0.004542872309684753, + 0.0093994140625, + 0.029180753976106644, + -0.003471359610557556, + 0.02011072263121605, + 1.0 + ], + [ + 0.0021385550498962402, + 0.005997706204652786, + 0.0340707004070282, + 0.03127335384488106, + -0.07769617438316345, + 0.025430291891098022, + 1.0 + ], + [ + -0.012746483087539673, + 0.01152004674077034, + 0.018198445439338684, + 0.0009699023794382811, + -0.018469586968421936, + 0.045052122324705124, + 1.0 + ], + [ + -0.020992755889892578, + 0.02658717706799507, + -0.01917240023612976, + -0.03667140007019043, + 0.06170527637004852, + 0.08185391873121262, + 1.0 + ], + [ + -0.015271499752998352, + 0.02891010046005249, + -0.03950484097003937, + -0.06664972007274628, + 0.020411580801010132, + 0.036176897585392, + 1.0 + ], + [ + -0.001174435019493103, + 0.014530112966895103, + -0.018568553030490875, + 0.014831721782684326, + -0.043786898255348206, + 0.02788962423801422, + 1.0 + ], + [ + 0.009028732776641846, + 0.007201759144663811, + -0.011874325573444366, + 0.032288238406181335, + -0.04803924262523651, + -0.009653136134147644, + 1.0 + ], + [ + 0.0038634836673736572, + 0.007007885724306107, + -0.00780913233757019, + 0.04224302992224693, + -0.04529586434364319, + 0.020300135016441345, + 1.0 + ], + [ + 0.002594172954559326, + 0.0026367157697677612, + -0.0037712007761001587, + 0.01167331077158451, + -0.07077503204345703, + 0.052462995052337646, + 1.0 + ], + [ + 0.0018187463283538818, + 0.0011592060327529907, + 0.002419896423816681, + 0.004001968540251255, + -0.023461487144231796, + 0.02181994915008545, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 3.915280103683472e-06, + -8.84057953953743e-06, + 0.0015339553356170654, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9947922229766846 + ], + [ + 0.9476637244224548 + ], + [ + 0.6651484370231628 + ], + [ + 0.5531353950500488 + ], + [ + 0.5521479845046997 + ], + [ + 0.5521479845046997 + ], + [ + 0.5521479845046997 + ], + [ + 0.5521479845046997 + ], + [ + 0.5521479845046997 + ], + [ + 0.5521479845046997 + ], + [ + 0.5521479845046997 + ], + [ + 0.5521479845046997 + ], + [ + 0.5521479845046997 + ], + [ + 0.5521479845046997 + ], + [ + 0.5521479845046997 + ], + [ + 0.5521479845046997 + ], + [ + 0.5521479845046997 + ], + [ + 0.5521479845046997 + ], + [ + 0.5521479845046997 + ], + [ + 0.5521479845046997 + ], + [ + 0.6059080362319946 + ], + [ + 0.8998980522155762 + ], + [ + 1.0047606229782104 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.26538151502609253, + 0.013365520164370537, + 0.11365076154470444 + ], + [ + 0.26652222871780396, + 0.02787724882364273, + 0.11110614985227585 + ], + [ + 0.2640024423599243, + 0.045735277235507965, + 0.11106474697589874 + ], + [ + 0.25980353355407715, + 0.05751931294798851, + 0.11334536969661713 + ], + [ + 0.2563084065914154, + 0.06541196256875992, + 0.11597243696451187 + ], + [ + 0.2519531846046448, + 0.0663236454129219, + 0.11108501255512238 + ], + [ + 0.24778147041797638, + 0.06190463528037071, + 0.10191825032234192 + ], + [ + 0.24521568417549133, + 0.058008357882499695, + 0.09564357250928879 + ], + [ + 0.2406739741563797, + 0.06241707131266594, + 0.08877554535865784 + ], + [ + 0.23789508640766144, + 0.06897259503602982, + 0.07659444957971573 + ], + [ + 0.2372552901506424, + 0.07099418342113495, + 0.06955668330192566 + ], + [ + 0.2370583713054657, + 0.07231776416301727, + 0.0658499151468277 + ], + [ + 0.23976750671863556, + 0.06928061693906784, + 0.06686881929636002 + ], + [ + 0.24019384384155273, + 0.0694296807050705, + 0.06747306138277054 + ], + [ + 0.24087779223918915, + 0.06730828434228897, + 0.07422356307506561 + ], + [ + 0.2480788379907608, + 0.0626174584031105, + 0.11040942370891571 + ], + [ + 0.261456698179245, + 0.050065383315086365, + 0.15464270114898682 + ], + [ + 0.27391380071640015, + 0.02718423306941986, + 0.18401406705379486 + ], + [ + 0.28663039207458496, + -0.0038914678152650595, + 0.18382829427719116 + ], + [ + 0.29805198311805725, + -0.029763737693428993, + 0.17428277432918549 + ], + [ + 0.29840707778930664, + -0.047968678176403046, + 0.16270343959331512 + ], + [ + 0.2982633411884308, + -0.05417771637439728, + 0.1547829508781433 + ], + [ + 0.29743167757987976, + -0.05927058309316635, + 0.15475022792816162 + ], + [ + 0.29645994305610657, + -0.06415519118309021, + 0.15049898624420166 + ], + [ + 0.2957853078842163, + -0.06839841604232788, + 0.14508800208568573 + ], + [ + 0.2948072850704193, + -0.07115171104669571, + 0.14256234467029572 + ], + [ + 0.2936728894710541, + -0.07213286310434341, + 0.1423417031764984 + ], + [ + 0.293409138917923, + -0.07306944578886032, + 0.14203067123889923 + ], + [ + 0.2909197509288788, + -0.07358909398317337, + 0.13916857540607452 + ], + [ + 0.29061466455459595, + -0.0717049166560173, + 0.13786180317401886 + ], + [ + 0.2909471392631531, + -0.07251037657260895, + 0.13032586872577667 + ], + [ + 0.29160353541374207, + -0.07167654484510422, + 0.13016583025455475 + ], + [ + 0.29141297936439514, + -0.07018417865037918, + 0.13020043075084686 + ], + [ + 0.2883828580379486, + -0.06564130634069443, + 0.13959984481334686 + ], + [ + 0.29052141308784485, + -0.05964360013604164, + 0.17367054522037506 + ], + [ + 0.2777749300003052, + -0.0481235533952713, + 0.19186899065971375 + ], + [ + 0.2567821741104126, + -0.02153637632727623, + 0.17269659042358398 + ], + [ + 0.24151067435741425, + 0.007373724598437548, + 0.13319174945354462 + ], + [ + 0.24033623933792114, + 0.021903837099671364, + 0.11462319642305374 + ], + [ + 0.249364972114563, + 0.029105596244335175, + 0.10274887084960938 + ], + [ + 0.25322845578193665, + 0.03611348196864128, + 0.09493973851203918 + ], + [ + 0.25582262873649597, + 0.03875019773840904, + 0.09116853773593903 + ], + [ + 0.25764137506484985, + 0.03990940377116203, + 0.0935884341597557 + ], + [ + 0.25764137506484985, + 0.03990940377116203, + 0.0935884341597557 + ], + [ + 0.25764137506484985, + 0.03990940377116203, + 0.0935884341597557 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9813277773680323, + 0.17697158204631175, + -0.07534489043022857, + 0.18403891467439937, + -0.9777796792424344, + 0.1003821535235791, + -0.05590591427914171, + -0.11237418746575129, + -0.9920920172746203 + ], + [ + 0.9817729419689867, + 0.17835964931575718, + -0.06564850275155533, + 0.1838426889114058, + -0.9788263862324842, + 0.09000428516953982, + -0.04820535397012367, + -0.1004327691095685, + -0.9937753784118418 + ], + [ + 0.9761803524371464, + 0.2048538625356392, + -0.07146197954099655, + 0.2104529901760363, + -0.9741277745113988, + 0.08236879173227196, + -0.05273953395370054, + -0.09544618342133263, + -0.9940365021610864 + ], + [ + 0.9737351911112264, + 0.21304475270219417, + -0.08032254314726367, + 0.21971958103659903, + -0.9717484578217862, + 0.08618724052944976, + -0.059691568086996216, + -0.10157198465640394, + -0.9930357740949086 + ], + [ + 0.9746919038494262, + 0.20493837784144212, + -0.08930819591783935, + 0.2114312028553125, + -0.9748464759356528, + 0.07050670049714777, + -0.07261225123583868, + -0.08760484942945293, + -0.9935053353288579 + ], + [ + 0.9758329621506866, + 0.18019879629797006, + -0.12360592135079766, + 0.18399004373267205, + -0.9827270417476501, + 0.019880272260762104, + -0.11788848030009681, + -0.04214208384353209, + -0.9921322245456291 + ], + [ + 0.9728003479386171, + 0.1712558514420302, + -0.15598370555084104, + 0.16745507949097121, + -0.9851742572497085, + -0.03728912985252238, + -0.16005711294153316, + 0.01015461468254971, + -0.9870555224492039 + ], + [ + 0.9685893727051585, + 0.17415222274946163, + -0.17749825462254346, + 0.1632415055881843, + -0.9837740272988966, + -0.074437047667224, + -0.18758155009469926, + 0.04312385098216161, + -0.9813019390282168 + ], + [ + 0.9645207084708318, + 0.18989608063560331, + -0.18341014554860693, + 0.17506872775057392, + -0.9800532512656698, + -0.09405618133533569, + -0.19761260965515373, + 0.0586097538198768, + -0.9785265214916014 + ], + [ + 0.9538329889638025, + 0.21219275328133608, + -0.21254849945192464, + 0.19090985509956232, + -0.9746899388676218, + -0.11633120946717619, + -0.2318535235665891, + 0.07038294200385452, + -0.9702011054851666 + ], + [ + 0.9472325904861778, + 0.22448925995143384, + -0.22881213186215205, + 0.19855484514440194, + -0.9712989476613532, + -0.1309745308891423, + -0.25164735840164876, + 0.07863158677278408, + -0.9646194485760002 + ], + [ + 0.9427539030900051, + 0.23108290334578813, + -0.240449100621821, + 0.20489756456488523, + -0.9702349295584023, + -0.1290781526834846, + -0.26311987048480423, + 0.07242149712677456, + -0.9620410908635746 + ], + [ + 0.9457059440528134, + 0.22143495342194655, + -0.2379218963992116, + 0.19749726766728257, + -0.972877030862802, + -0.12043717068885354, + -0.2581377474278695, + 0.0669092237482895, + -0.9637883891862707 + ], + [ + 0.9449560400924832, + 0.2245360614865219, + -0.23799504067281405, + 0.20306739955898012, + -0.9727950040775813, + -0.11150565581194721, + -0.25655742735124054, + 0.057038908946610956, + -0.9648444689881854 + ], + [ + 0.9499781515695311, + 0.2200865972879831, + -0.22159287270743674, + 0.2022137764794039, + -0.9741570534888028, + -0.10063609561162337, + -0.23801491579830622, + 0.05079296045921394, + -0.9699324590018183 + ], + [ + 0.9708136190773983, + 0.19998212848193808, + -0.13239359992717853, + 0.194232310745712, + -0.979404663618037, + -0.055139045563202656, + -0.14069373289605108, + 0.02781462153388712, + -0.9896623769512011 + ], + [ + 0.9870952121855794, + 0.15380503959327063, + -0.044576360057977917, + 0.15499472013779503, + -0.9876097447568515, + 0.024568858148340478, + -0.04024523337878213, + -0.031160902699041412, + -0.9987038196248517 + ], + [ + 0.9956810113515687, + 0.09282708548230643, + 0.001567110327298655, + 0.09268266333526688, + -0.9948319281042226, + 0.041465150928417585, + 0.005408100498227517, + -0.04114081945337801, + -0.9991387218117941 + ], + [ + 0.9996461124220629, + 0.012656097033947758, + -0.023398143672596017, + 0.013458524374430096, + -0.9993154116289817, + 0.03446122752400899, + -0.022945980936081536, + -0.034763936610601835, + -0.9991320987087817 + ], + [ + 0.9960574755452242, + -0.06355494553557614, + -0.06188920995169503, + -0.06289555774746697, + -0.9979412441945511, + 0.01254679046872702, + -0.06255920576629857, + -0.008604768062013173, + -0.9980041601819547 + ], + [ + 0.9879108679029412, + -0.12193450685988133, + -0.09572926990265289, + -0.12037552542718227, + -0.992486471536859, + 0.021916584917485164, + -0.09768239328244986, + -0.010128171264008893, + -0.9951661018088687 + ], + [ + 0.9833493961782153, + -0.12886530564936624, + -0.12813156533748557, + -0.12822109045818017, + -0.9916564412741408, + 0.013298663136620963, + -0.1287762283872846, + 0.003351936664312243, + -0.9916680127557528 + ], + [ + 0.9798237611888048, + -0.1401286680411574, + -0.1425108887167416, + -0.13991054949092038, + -0.9900961920112125, + 0.011600375254504976, + -0.1427250333717709, + 0.008572453435728121, + -0.9897252537402081 + ], + [ + 0.9751077897788689, + -0.14373733812570338, + -0.1688323900829051, + -0.14512913174516123, + -0.9894040905770113, + 0.004132876525226351, + -0.1676375060404582, + 0.020472498089249953, + -0.9856361110422655 + ], + [ + 0.9703149137578198, + -0.14641047261993462, + -0.19249140668186315, + -0.15028152192067, + -0.9886274710217046, + -0.005584595816721386, + -0.18948464926838332, + 0.03434671816107532, + -0.9812827679334849 + ], + [ + 0.9693556207085563, + -0.1295684002763803, + -0.2087144227180973, + -0.13617895786096715, + -0.9905286492901512, + -0.01755808563964545, + -0.20446264215408608, + 0.045442541579976375, + -0.9778190033836127 + ], + [ + 0.9698695056048946, + -0.11079863948523158, + -0.21697189584353693, + -0.11793953615018427, + -0.9928152515620017, + -0.020202526538980938, + -0.21317459489910223, + 0.04518337917974405, + -0.9759687773363975 + ], + [ + 0.9707342060277276, + -0.10044247369080204, + -0.21814309690336336, + -0.10871200050644243, + -0.9937276413750822, + -0.02621212912000099, + -0.21414201407851963, + 0.04915978281063579, + -0.9755647152087895 + ], + [ + 0.9689413090553799, + -0.08937487650348853, + -0.2305750876743471, + -0.10046428054842889, + -0.9942603621398804, + -0.03678669068236774, + -0.2259638642348224, + 0.05880870452118295, + -0.9723589195007195 + ], + [ + 0.9691445291151174, + -0.07684776303666262, + -0.23420782011388686, + -0.08961524985173396, + -0.9949884635572547, + -0.044351599542578446, + -0.2296257578762651, + 0.06397170237093036, + -0.971174357474247 + ], + [ + 0.9638038496096547, + -0.08127325427115095, + -0.25392281822984425, + -0.09574099853308837, + -0.9943828241252819, + -0.045127156840593395, + -0.24882885820880354, + 0.06780455165256377, + -0.9661711763956207 + ], + [ + 0.9649098671427633, + -0.07900768091784717, + -0.25041312794364184, + -0.09263090529233296, + -0.994768416814086, + -0.0430733362292695, + -0.24569994642909046, + 0.06475788187688435, + -0.9671804139143646 + ], + [ + 0.9653195872468135, + -0.06732952999437586, + -0.2522396258885155, + -0.07911583331243899, + -0.9961834449482371, + -0.03686772206607415, + -0.24879465307140383, + 0.0555452824441407, + -0.9669622237715808 + ], + [ + 0.9675715435109571, + -0.05469420623862762, + -0.24660464714143335, + -0.05974073266664786, + -0.9981289712711124, + -0.01302311674382431, + -0.24543095372889803, + 0.027333139468374873, + -0.9690286613091101 + ], + [ + 0.9848924813815866, + -0.03674684194929666, + -0.16922313590279167, + -0.03570260465599326, + -0.9993200142718353, + 0.00921048839730973, + -0.16944652294691423, + -0.0030296340525779028, + -0.9855347265209423 + ], + [ + 0.9884622920713801, + 0.0082060541241393, + -0.15124469520847617, + 0.008716221817442547, + -0.9999583395446655, + 0.0027104708639121055, + -0.15121615201499572, + -0.003997480554883822, + -0.9884926380702036 + ], + [ + 0.9732799373410157, + 0.0973829199914602, + -0.20794886502071938, + 0.08849153847372318, + -0.9947362329920024, + -0.05166308538438473, + -0.21188537275617228, + 0.03188092951620945, + -0.9767743829284019 + ], + [ + 0.9649506442893463, + 0.14867460804015842, + -0.21625474563505076, + 0.12306335038219741, + -0.9841747969619922, + -0.12749659139573047, + -0.23178797612965985, + 0.09641488447810642, + -0.9679764998039929 + ], + [ + 0.9702471970986577, + 0.1693217122092407, + -0.17306222666061336, + 0.15134413414261394, + -0.9820744108143662, + -0.1123601561241254, + -0.18898499830097867, + 0.08282517369825693, + -0.978480792360807 + ], + [ + 0.979521800982147, + 0.1516851096838319, + -0.13239587947098191, + 0.14311957505051529, + -0.9870806593535089, + -0.07203165392799128, + -0.1416115413306797, + 0.051608133374942605, + -0.9885761336040351 + ], + [ + 0.9817380703909138, + 0.16556920351002688, + -0.09368671194027496, + 0.16386164597515182, + -0.9861488072263723, + -0.025688343354852324, + -0.09664223778161789, + 0.009867565812198614, + -0.9952702693346681 + ], + [ + 0.9760343266328309, + 0.2160841326417321, + -0.02578062945055108, + 0.2160560007041551, + -0.9763731638131916, + -0.0039050665992445776, + -0.026015337670736067, + -0.001758580646071786, + -0.999659996998974 + ], + [ + 0.9714136359095503, + 0.23736199348025683, + -0.0038512361736748484, + 0.23737946588808223, + -0.9714041866475921, + 0.004989522844753348, + -0.002556783853930465, + -0.005761094913991411, + -0.9999801361235711 + ], + [ + 0.9710483855881222, + 0.23885183865265006, + -0.0038512360288015506, + 0.2388692965444175, + -0.9710389095340657, + 0.004989522949880359, + -0.0025479433031872457, + -0.005765010246362552, + -0.9999801361236045 + ], + [ + 0.9710483855881222, + 0.23885183865265006, + -0.0038512360288015506, + 0.2388692965444175, + -0.9710389095340657, + 0.004989522949880359, + -0.0025479433031872457, + -0.005765010246362552, + -0.9999801361236045 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006530.json b/json/chunk-0006/episode_0006530.json new file mode 100644 index 0000000000000000000000000000000000000000..7a9feaa5c22b5f10e04b2ca4b21ce8e06175e525 --- /dev/null +++ b/json/chunk-0006/episode_0006530.json @@ -0,0 +1,2722 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 44, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nUnfold the cloth from top right to bottom left." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006530.mp4", + "start": 0, + "end": 44, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3486728072166443, + 0.06769394129514694, + 0.14551083743572235, + 0.16038472950458527, + -0.47921353578567505, + 0.29472362995147705, + 0.0, + 1.0008161067962646 + ], + [ + 0.3482155203819275, + 0.06700265407562256, + 0.13468782603740692, + 0.15946051478385925, + -0.4444143772125244, + 0.3035873472690582, + 0.0, + 1.0008161067962646 + ], + [ + 0.35902339220046997, + 0.06379415094852448, + 0.13842883706092834, + 0.1017618477344513, + -0.41491350531578064, + 0.4026663601398468, + 0.0, + 1.0008161067962646 + ], + [ + 0.37163999676704407, + 0.06189100071787834, + 0.14298270642757416, + 0.07947619259357452, + -0.40968894958496094, + 0.4782651960849762, + 0.0, + 1.0008161067962646 + ], + [ + 0.3856023848056793, + 0.054278016090393066, + 0.14254644513130188, + 0.08091767132282257, + -0.42486488819122314, + 0.5095569491386414, + 0.0, + 1.0014774799346924 + ], + [ + 0.3944435119628906, + 0.053411852568387985, + 0.13208964467048645, + 0.11357910186052322, + -0.434958279132843, + 0.5429240465164185, + 0.0, + 1.0008161067962646 + ], + [ + 0.399808406829834, + 0.05096202343702316, + 0.12258633226156235, + 0.1336856633424759, + -0.46336910128593445, + 0.5726029872894287, + 0.0, + 1.0008161067962646 + ], + [ + 0.4052469730377197, + 0.04913448914885521, + 0.11885537207126617, + 0.1361178457736969, + -0.49603673815727234, + 0.6014547944068909, + 0.0, + 1.0008161067962646 + ], + [ + 0.41362476348876953, + 0.04436355084180832, + 0.11391504108905792, + 0.13540184497833252, + -0.5077338814735413, + 0.6172661781311035, + 0.0, + 1.0008161067962646 + ], + [ + 0.42279794812202454, + 0.04090552404522896, + 0.10894064605236053, + 0.13682977855205536, + -0.5171858072280884, + 0.6424620151519775, + 0.0, + 1.0008161067962646 + ], + [ + 0.4309341013431549, + 0.03743351623415947, + 0.10088036209344864, + 0.14569896459579468, + -0.5252309441566467, + 0.6430087685585022, + 0.0, + 1.0008161067962646 + ], + [ + 0.43258973956108093, + 0.038218021392822266, + 0.09694135189056396, + 0.15344154834747314, + -0.5296393036842346, + 0.6486955285072327, + 0.0, + 1.0008161067962646 + ], + [ + 0.43399113416671753, + 0.0404718779027462, + 0.09794574230909348, + 0.1589026302099228, + -0.5480501055717468, + 0.6513577103614807, + 0.0, + 1.0008161067962646 + ], + [ + 0.4335131049156189, + 0.04184848442673683, + 0.09370268136262894, + 0.1678132861852646, + -0.5549848675727844, + 0.6459441184997559, + 0.0, + 1.0008161067962646 + ], + [ + 0.43100595474243164, + 0.04362649843096733, + 0.08168356120586395, + 0.19733749330043793, + -0.546594500541687, + 0.6253562569618225, + 0.0, + 1.0008161067962646 + ], + [ + 0.4318726658821106, + 0.046578243374824524, + 0.07379399985074997, + 0.22149822115898132, + -0.5560076236724854, + 0.6157090663909912, + 0.0, + 1.0008161067962646 + ], + [ + 0.4316307306289673, + 0.0474504791200161, + 0.07234352082014084, + 0.22588855028152466, + -0.5596708059310913, + 0.6175423264503479, + 0.0, + 0.9759697914123535 + ], + [ + 0.43022623658180237, + 0.04715936630964279, + 0.06901893019676208, + 0.22390301525592804, + -0.5578598976135254, + 0.6167587041854858, + 0.0, + 0.704176664352417 + ], + [ + 0.42877835035324097, + 0.045715831220149994, + 0.06563855707645416, + 0.21916942298412323, + -0.5476376414299011, + 0.6122633814811707, + 0.0, + 0.39974725246429443 + ], + [ + 0.42756131291389465, + 0.044392179697752, + 0.062370434403419495, + 0.20391690731048584, + -0.5304988026618958, + 0.6107134222984314, + 0.0, + 0.17460396885871887 + ], + [ + 0.42679423093795776, + 0.04579915478825569, + 0.06188588589429855, + 0.17615199089050293, + -0.5063279867172241, + 0.6264684796333313, + 0.0, + 0.07238461822271347 + ], + [ + 0.4241037368774414, + 0.05287405103445053, + 0.06601123511791229, + 0.1325032263994217, + -0.4750986397266388, + 0.6695681214332581, + 0.0, + 0.05565106123685837 + ], + [ + 0.4250471889972687, + 0.062304917722940445, + 0.09493616223335266, + 0.01598852127790451, + -0.4842798709869385, + 0.7364227771759033, + 0.0, + 0.05511022359132767 + ], + [ + 0.41475963592529297, + 0.07460374385118484, + 0.1079685240983963, + -0.05320333316922188, + -0.4911978840827942, + 0.7568880319595337, + 0.0, + 0.054840996861457825 + ], + [ + 0.389392614364624, + 0.09687268733978271, + 0.11600903421640396, + -0.11832469701766968, + -0.49805328249931335, + 0.7558766603469849, + 0.0, + 0.054840996861457825 + ], + [ + 0.36444950103759766, + 0.11918971687555313, + 0.11444185674190521, + -0.13204534351825714, + -0.49929460883140564, + 0.7379695177078247, + 0.0, + 0.054840996861457825 + ], + [ + 0.33828049898147583, + 0.1468314677476883, + 0.11323463916778564, + -0.12930014729499817, + -0.5013711452484131, + 0.7133565545082092, + 0.0, + 0.054840996861457825 + ], + [ + 0.3188640773296356, + 0.17133568227291107, + 0.10303795337677002, + -0.10151002556085587, + -0.5110480785369873, + 0.6842191815376282, + 0.0, + 0.054840996861457825 + ], + [ + 0.29774314165115356, + 0.1995197832584381, + 0.09507456421852112, + -0.04973674938082695, + -0.5274614095687866, + 0.6669324636459351, + 0.0, + 0.054840996861457825 + ], + [ + 0.2804112732410431, + 0.2265317142009735, + 0.0909125804901123, + -0.019213203340768814, + -0.5472020506858826, + 0.6749455332756042, + 0.0, + 0.054840996861457825 + ], + [ + 0.263401597738266, + 0.24899174273014069, + 0.09231643378734589, + -0.01303299330174923, + -0.5641472339630127, + 0.6994569301605225, + 0.0, + 0.054840996861457825 + ], + [ + 0.2443598061800003, + 0.26571840047836304, + 0.08637271821498871, + -0.01412532664835453, + -0.5441632866859436, + 0.7250105738639832, + 0.0, + 0.054840996861457825 + ], + [ + 0.22207863628864288, + 0.2792035937309265, + 0.08557246625423431, + -0.056357283145189285, + -0.5264423489570618, + 0.772715151309967, + 0.0, + 0.054840996861457825 + ], + [ + 0.2112617790699005, + 0.2862377166748047, + 0.08583030849695206, + -0.08457781374454498, + -0.5221600532531738, + 0.8235418796539307, + 0.0, + 0.054840996861457825 + ], + [ + 0.20293737947940826, + 0.288958877325058, + 0.08859365433454514, + -0.1267888993024826, + -0.5116093158721924, + 0.9422471523284912, + 0.0, + 0.054840996861457825 + ], + [ + 0.1989598125219345, + 0.28961098194122314, + 0.08778315037488937, + -0.15121538937091827, + -0.48895323276519775, + 1.0308197736740112, + 0.0, + 0.054840996861457825 + ], + [ + 0.19693893194198608, + 0.2935355305671692, + 0.09636151790618896, + -0.13356873393058777, + -0.5240393877029419, + 1.0167063474655151, + 0.0, + 0.054840996861457825 + ], + [ + 0.19512152671813965, + 0.30395278334617615, + 0.11067735403776169, + -0.14355497062206268, + -0.5236679911613464, + 1.0460102558135986, + 0.0, + 0.054840996861457825 + ], + [ + 0.19234652817249298, + 0.3146512806415558, + 0.12506882846355438, + -0.16842778027057648, + -0.5025379657745361, + 1.1140639781951904, + 0.0, + 0.054840996861457825 + ], + [ + 0.18753086030483246, + 0.317889541387558, + 0.12544280290603638, + -0.18585564196109772, + -0.4633617103099823, + 1.1840718984603882, + 0.0, + 0.06895258277654648 + ], + [ + 0.17867693305015564, + 0.32415446639060974, + 0.12206153571605682, + -0.12537601590156555, + -0.4279745817184448, + 1.2432297468185425, + 0.0, + 0.20503154397010803 + ], + [ + 0.17812484502792358, + 0.3248848021030426, + 0.12196793407201767, + -0.08653758466243744, + -0.4355221688747406, + 1.2520625591278076, + 0.0, + 0.4522285461425781 + ], + [ + 0.1781400889158249, + 0.32584717869758606, + 0.1226048544049263, + -0.01105471421033144, + -0.4577649235725403, + 1.2539377212524414, + 0.0, + 0.7545521855354309 + ], + [ + 0.19154250621795654, + 0.3102964460849762, + 0.1322723776102066, + 0.08668610453605652, + -0.5490991473197937, + 1.147544503211975, + 0.0, + 0.993436336517334 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9759697914123535 + ], + [ + 0.704176664352417 + ], + [ + 0.39974725246429443 + ], + [ + 0.17460396885871887 + ], + [ + 0.07238461822271347 + ], + [ + 0.05565106123685837 + ], + [ + 0.05511022359132767 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.06895258277654648 + ], + [ + 0.20503154397010803 + ], + [ + 0.4522285461425781 + ], + [ + 0.7545521855354309 + ], + [ + 0.993436336517334 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3486728072166443, + 0.06769394129514694, + 0.14551083743572235 + ], + [ + 0.3482155203819275, + 0.06700265407562256, + 0.13468782603740692 + ], + [ + 0.35902339220046997, + 0.06379415094852448, + 0.13842883706092834 + ], + [ + 0.37163999676704407, + 0.06189100071787834, + 0.14298270642757416 + ], + [ + 0.3856023848056793, + 0.054278016090393066, + 0.14254644513130188 + ], + [ + 0.3944435119628906, + 0.053411852568387985, + 0.13208964467048645 + ], + [ + 0.399808406829834, + 0.05096202343702316, + 0.12258633226156235 + ], + [ + 0.4052469730377197, + 0.04913448914885521, + 0.11885537207126617 + ], + [ + 0.41362476348876953, + 0.04436355084180832, + 0.11391504108905792 + ], + [ + 0.42279794812202454, + 0.04090552404522896, + 0.10894064605236053 + ], + [ + 0.4309341013431549, + 0.03743351623415947, + 0.10088036209344864 + ], + [ + 0.43258973956108093, + 0.038218021392822266, + 0.09694135189056396 + ], + [ + 0.43399113416671753, + 0.0404718779027462, + 0.09794574230909348 + ], + [ + 0.4335131049156189, + 0.04184848442673683, + 0.09370268136262894 + ], + [ + 0.43100595474243164, + 0.04362649843096733, + 0.08168356120586395 + ], + [ + 0.4318726658821106, + 0.046578243374824524, + 0.07379399985074997 + ], + [ + 0.4316307306289673, + 0.0474504791200161, + 0.07234352082014084 + ], + [ + 0.43022623658180237, + 0.04715936630964279, + 0.06901893019676208 + ], + [ + 0.42877835035324097, + 0.045715831220149994, + 0.06563855707645416 + ], + [ + 0.42756131291389465, + 0.044392179697752, + 0.062370434403419495 + ], + [ + 0.42679423093795776, + 0.04579915478825569, + 0.06188588589429855 + ], + [ + 0.4241037368774414, + 0.05287405103445053, + 0.06601123511791229 + ], + [ + 0.4250471889972687, + 0.062304917722940445, + 0.09493616223335266 + ], + [ + 0.41475963592529297, + 0.07460374385118484, + 0.1079685240983963 + ], + [ + 0.389392614364624, + 0.09687268733978271, + 0.11600903421640396 + ], + [ + 0.36444950103759766, + 0.11918971687555313, + 0.11444185674190521 + ], + [ + 0.33828049898147583, + 0.1468314677476883, + 0.11323463916778564 + ], + [ + 0.3188640773296356, + 0.17133568227291107, + 0.10303795337677002 + ], + [ + 0.29774314165115356, + 0.1995197832584381, + 0.09507456421852112 + ], + [ + 0.2804112732410431, + 0.2265317142009735, + 0.0909125804901123 + ], + [ + 0.263401597738266, + 0.24899174273014069, + 0.09231643378734589 + ], + [ + 0.2443598061800003, + 0.26571840047836304, + 0.08637271821498871 + ], + [ + 0.22207863628864288, + 0.2792035937309265, + 0.08557246625423431 + ], + [ + 0.2112617790699005, + 0.2862377166748047, + 0.08583030849695206 + ], + [ + 0.20293737947940826, + 0.288958877325058, + 0.08859365433454514 + ], + [ + 0.1989598125219345, + 0.28961098194122314, + 0.08778315037488937 + ], + [ + 0.19693893194198608, + 0.2935355305671692, + 0.09636151790618896 + ], + [ + 0.19512152671813965, + 0.30395278334617615, + 0.11067735403776169 + ], + [ + 0.19234652817249298, + 0.3146512806415558, + 0.12506882846355438 + ], + [ + 0.18753086030483246, + 0.317889541387558, + 0.12544280290603638 + ], + [ + 0.17867693305015564, + 0.32415446639060974, + 0.12206153571605682 + ], + [ + 0.17812484502792358, + 0.3248848021030426, + 0.12196793407201767 + ], + [ + 0.1781400889158249, + 0.32584717869758606, + 0.1226048544049263 + ], + [ + 0.19154250621795654, + 0.3102964460849762, + 0.1322723776102066 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8490971327129072, + 0.35720630276511905, + 0.389149992269811, + 0.2577556247795643, + -0.923212942752105, + 0.2850261395547702, + 0.4610814430371453, + -0.14170927845371656, + -0.875969396318679 + ], + [ + 0.8615748802037316, + 0.3602974760793581, + 0.3575953782318361, + 0.2699066395037459, + -0.921755493192816, + 0.2784191385674908, + 0.4299292171436136, + -0.14336156911708617, + -0.8914080596149928 + ], + [ + 0.8419568417967096, + 0.42752085759000863, + 0.32914220768113994, + 0.35862289201747494, + -0.8992124804188544, + 0.25061232288136714, + 0.4031107761803617, + -0.09296682948490635, + -0.9104168664643638 + ], + [ + 0.8143250271974722, + 0.4868625249068639, + 0.315974100079658, + 0.4221524735403719, + -0.8704376942889818, + 0.2532301511365243, + 0.39832403789324833, + -0.07282240178814953, + -0.9143494182391235 + ], + [ + 0.7953496434114574, + 0.515279488823078, + 0.3192271810537051, + 0.44442323574812725, + -0.8538522855476103, + 0.2709691163071664, + 0.41219768588922473, + -0.07364321328778163, + -0.9081132885737431 + ], + [ + 0.7764786876466392, + 0.554201967325149, + 0.29990169563289787, + 0.46853602699702557, + -0.8260121102632388, + 0.3133336641733752, + 0.4213725655953357, + -0.10278216339134594, + -0.9010443872818914 + ], + [ + 0.7518648690790364, + 0.5870595328824365, + 0.3001005223198034, + 0.4846875057861633, + -0.8007150764258283, + 0.35204174201246047, + 0.4469644732856866, + -0.11923284462024415, + -0.8865699568472942 + ], + [ + 0.7251394585852855, + 0.6138595021893367, + 0.3120084568958002, + 0.49764481986260933, + -0.7803420766095684, + 0.3787028871510979, + 0.47594369295805333, + -0.11934301422591043, + -0.8713408323319435 + ], + [ + 0.7125918979701074, + 0.6270301053841334, + 0.3147157986014095, + 0.5057905160286422, + -0.7700122109120505, + 0.38891792057170116, + 0.48619825261187477, + -0.11795949299780281, + -0.8658503434017113 + ], + [ + 0.695912787702125, + 0.6475643574374123, + 0.3104284054163351, + 0.5208055974791345, + -0.7527304150145501, + 0.40268902635461123, + 0.4944359630397639, + -0.11856359175014261, + -0.8610898635823363 + ], + [ + 0.6924220352410726, + 0.6515122342294378, + 0.3099734404138158, + 0.5187840554626312, + -0.7481663119732581, + 0.4136547756597034, + 0.5014128328137971, + -0.1256144031458975, + -0.8560409994923979 + ], + [ + 0.6876925474027553, + 0.6585823289093253, + 0.3055295015134841, + 0.5213727965238022, + -0.7408588661660584, + 0.42343659202776973, + 0.5052220969946375, + -0.13189941801050972, + -0.8528500315042673 + ], + [ + 0.6787890716028466, + 0.6641932629197596, + 0.3131975507001116, + 0.5174741425772718, + -0.7352592054194294, + 0.43773783547907663, + 0.5210239035173563, + -0.13506002494444017, + -0.8427887526691039 + ], + [ + 0.6786789028178535, + 0.6637765709962395, + 0.314317690667307, + 0.5116045926632704, + -0.7343355826109804, + 0.44610760235311075, + 0.5269304390864166, + -0.141957444003005, + -0.837969209730483 + ], + [ + 0.6926273389602227, + 0.6566472544463717, + 0.29846566394297813, + 0.5000951431745564, + -0.7353641146183186, + 0.45732315347556624, + 0.519780931833884, + -0.1674932898944263, + -0.8377193926024639 + ], + [ + 0.6933944324634989, + 0.6580878366252304, + 0.29346986270236675, + 0.4905424969807902, + -0.7294526417308016, + 0.47672518512011275, + 0.5277994123570746, + -0.18659914993878837, + -0.8286184511327562 + ], + [ + 0.6909130035988845, + 0.6612697472609823, + 0.29216697762643284, + 0.4906900295375378, + -0.7257395711992971, + 0.48220884449365997, + 0.5309072577865348, + -0.18980093822965452, + -0.8259013787836443 + ], + [ + 0.6920804622399199, + 0.6598405585716488, + 0.2926347058187609, + 0.49070374230037267, + -0.727410284209849, + 0.4796708410130385, + 0.5293717701938664, + -0.1883738720990802, + -0.8272126771467004 + ], + [ + 0.6986713767531835, + 0.6536132630492826, + 0.2909433100655187, + 0.4906721717542511, + -0.7337123528257771, + 0.4700074501290689, + 0.520671803703425, + -0.1856229664587113, + -0.8333336589573772 + ], + [ + 0.706638630641042, + 0.6455107063281167, + 0.2897891883792921, + 0.4946338361031449, + -0.7435087416583265, + 0.4500356866511135, + 0.5059636487610943, + -0.17467306344547784, + -0.844683435991811 + ], + [ + 0.7084603960120334, + 0.6460632833416363, + 0.2840529901273651, + 0.512726739978227, + -0.7477400282558119, + 0.42189588793361876, + 0.4849692334507127, + -0.15325496423222854, + -0.8609981176195485 + ], + [ + 0.6972499623520441, + 0.6625920810827172, + 0.27352188959304036, + 0.5519092262227928, + -0.7397089401279868, + 0.3850024544141101, + 0.45742616454487117, + -0.1174836924053917, + -0.8814527134274215 + ], + [ + 0.6556829195488018, + 0.6770707843272272, + 0.3341482635335299, + 0.5944101322867466, + -0.7357818612422664, + 0.3245021530001291, + 0.4655711585212432, + -0.01414940554864444, + -0.8848973334098188 + ], + [ + 0.6410248674139454, + 0.6674559184278764, + 0.3789323373803479, + 0.6054772950531689, + -0.7431714749100894, + 0.2847690363348169, + 0.4716824827487573, + 0.046890892885104854, + -0.8805208002270055 + ], + [ + 0.6392688686922239, + 0.640094593014431, + 0.4261622056384795, + 0.6025964827501998, + -0.7612645133779338, + 0.23948657509043195, + 0.4777162259103742, + 0.1037075342737794, + -0.8723714546205651 + ], + [ + 0.6495173553175091, + 0.6202905402585243, + 0.4397349779209484, + 0.5906535831077638, + -0.7758085398916725, + 0.22192218048926832, + 0.4788063803911857, + 0.11558873256913708, + -0.8702779412347252 + ], + [ + 0.6631036350616434, + 0.6020515192106678, + 0.44477807655522134, + 0.5738378941972894, + -0.7904106329219389, + 0.21438540656294874, + 0.480628380717635, + 0.11307077243950936, + -0.8696041398640403 + ], + [ + 0.6759040480534179, + 0.5904078202454285, + 0.4411035293647564, + 0.5513102965435842, + -0.8022506497419019, + 0.2290215097184568, + 0.4890916833785133, + 0.08838835207049532, + -0.8677423721751946 + ], + [ + 0.6789334153226363, + 0.5981516011358657, + 0.42575119449854903, + 0.5345061755991573, + -0.8002306978500207, + 0.2719080331009591, + 0.5033414008450963, + 0.042959193161297746, + -0.8630190854889751 + ], + [ + 0.666740025699225, + 0.6169351687677419, + 0.41814917872466845, + 0.5336157680149002, + -0.7868429424183825, + 0.31005224735881276, + 0.520299865708675, + 0.016406751777846423, + -0.8538260175466867 + ], + [ + 0.6466215206277773, + 0.6384153247486085, + 0.41750027806835066, + 0.544041776318294, + -0.7696132688560997, + 0.33423638644089115, + 0.5346953849449767, + 0.011013152444144636, + -0.8449731095080989 + ], + [ + 0.64038073421005, + 0.6576038712941409, + 0.3968244746881876, + 0.5673594337869118, + -0.7532669574128149, + 0.3327043188223367, + 0.5177024127291584, + 0.012084673309576244, + -0.855475407317714 + ], + [ + 0.6190691720388981, + 0.6767086234624693, + 0.39852076377850504, + 0.6035616984169518, + -0.7346384678281294, + 0.30987029188223725, + 0.5024605819714792, + 0.04870072400558703, + -0.8632274341366902 + ], + [ + 0.5890627976472678, + 0.7023005519536712, + 0.3997235984446539, + 0.6358065380665666, + -0.7081050600744259, + 0.3071437286496365, + 0.4987535128495656, + 0.07321993323243764, + -0.8636456303355304 + ], + [ + 0.5126865930469806, + 0.7659888173627788, + 0.3878319081574533, + 0.7053104060453258, + -0.6333278558766464, + 0.3184855696807432, + 0.48958113570077166, + 0.1102585989656199, + -0.8649585845114675 + ], + [ + 0.45387435816895016, + 0.8115563642503466, + 0.3679325137052749, + 0.7572173181058265, + -0.5689378814500243, + 0.3208295812604841, + 0.46970203337578076, + 0.1329885509956282, + -0.8727508494104947 + ], + [ + 0.45556032547287456, + 0.8077429957597955, + 0.37418717596416895, + 0.7362629364290263, + -0.578149590965623, + 0.35165315142508047, + 0.5003815327287333, + 0.11530092483269214, + -0.8580932457703939 + ], + [ + 0.4338855275151128, + 0.8206856089707247, + 0.37177746064182493, + 0.7494554050654322, + -0.5577868923997329, + 0.35663760105358855, + 0.5000599412381901, + 0.123890733694656, + -0.8570829255523986 + ], + [ + 0.3864916299924522, + 0.8491903937538909, + 0.35986093856084056, + 0.7865343458903595, + -0.5072415710701232, + 0.35223530673846043, + 0.48165126666562563, + 0.14690699008020264, + -0.8639620324904176 + ], + [ + 0.3373874835084935, + 0.879049527523187, + 0.3368109471692806, + 0.8284916148454168, + -0.4471543151227957, + 0.33712707188521274, + 0.44695786166331153, + 0.16530259111195264, + -0.8791494317060297 + ], + [ + 0.29272165459819055, + 0.922698346865479, + 0.2508820312836488, + 0.8614319674192239, + -0.368353439507745, + 0.3496436887905444, + 0.4150289127730051, + 0.1137695226962219, + -0.9026668805644367 + ], + [ + 0.28411175319464865, + 0.9346531196434209, + 0.2137850734674533, + 0.8609846112385675, + -0.34681844961341113, + 0.3720516929381221, + 0.42188388320370324, + 0.07836139960829688, + -0.9032571506190212 + ], + [ + 0.27950327961365146, + 0.948638620250667, + 0.1481981270263671, + 0.8523867626268254, + -0.31620631593546694, + 0.4164737358598728, + 0.4419442539322945, + 0.009916346677580068, + -0.8969877047567582 + ], + [ + 0.3503485170510127, + 0.9268939317997489, + 0.13462375642121477, + 0.7777251798085478, + -0.36798611454865665, + 0.5096368944563814, + 0.5219190179442768, + -0.0738502450380853, + -0.8497921392998975 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0004572868347167969, + -0.0006912872195243835, + -0.01082301139831543, + -0.0009242147207260132, + 0.034799158573150635, + 0.008863717317581177, + 1.0 + ], + [ + 0.01080787181854248, + -0.0032085031270980835, + 0.0037410110235214233, + -0.05769866704940796, + 0.029500871896743774, + 0.09907901287078857, + 1.0 + ], + [ + 0.012616604566574097, + -0.0019031502306461334, + 0.004553869366645813, + -0.02228565514087677, + 0.005224555730819702, + 0.0755988359451294, + 1.0 + ], + [ + 0.013962388038635254, + -0.007612984627485275, + -0.00043626129627227783, + 0.0014414787292480469, + -0.015175938606262207, + 0.03129175305366516, + 1.0 + ], + [ + 0.008841127157211304, + -0.0008661635220050812, + -0.01045680046081543, + 0.03266143053770065, + -0.010093390941619873, + 0.0333670973777771, + 1.0 + ], + [ + 0.005364894866943359, + -0.0024498291313648224, + -0.009503312408924103, + 0.020106561481952667, + -0.02841082215309143, + 0.029678940773010254, + 1.0 + ], + [ + 0.005438566207885742, + -0.0018275342881679535, + -0.003730960190296173, + 0.0024321824312210083, + -0.03266763687133789, + 0.028851807117462158, + 1.0 + ], + [ + 0.008377790451049805, + -0.00477093830704689, + -0.004940330982208252, + -0.0007160007953643799, + -0.011697143316268921, + 0.015811383724212646, + 1.0 + ], + [ + 0.009173184633255005, + -0.003458026796579361, + -0.004974395036697388, + 0.0014279335737228394, + -0.00945192575454712, + 0.025195837020874023, + 1.0 + ], + [ + 0.008136153221130371, + -0.0034720078110694885, + -0.008060283958911896, + 0.008869186043739319, + -0.00804513692855835, + 0.0005467534065246582, + 1.0 + ], + [ + 0.0016556382179260254, + 0.000784505158662796, + -0.003939010202884674, + 0.007742583751678467, + -0.004408359527587891, + 0.005686759948730469, + 1.0 + ], + [ + 0.0014013946056365967, + 0.002253856509923935, + 0.0010043904185295105, + 0.005461081862449646, + -0.018410801887512207, + 0.002662181854248047, + 1.0 + ], + [ + -0.0004780292510986328, + 0.001376606523990631, + -0.004243060946464539, + 0.008910655975341797, + -0.006934762001037598, + -0.0054135918617248535, + 1.0 + ], + [ + -0.002507150173187256, + 0.0017780140042304993, + -0.012019120156764984, + 0.02952420711517334, + 0.008390367031097412, + -0.02058786153793335, + 1.0 + ], + [ + 0.0008667111396789551, + 0.002951744943857193, + -0.007889561355113983, + 0.024160727858543396, + -0.00941312313079834, + -0.009647190570831299, + 1.0 + ], + [ + -0.00024193525314331055, + 0.0008722357451915741, + -0.0014504790306091309, + 0.004390329122543335, + -0.003663182258605957, + 0.0018332600593566895, + 0.0 + ], + [ + -0.001404494047164917, + -0.0002911128103733063, + -0.0033245906233787537, + -0.0019855350255966187, + 0.001810908317565918, + -0.0007836222648620605, + 0.0 + ], + [ + -0.0014478862285614014, + -0.0014435350894927979, + -0.0033803731203079224, + -0.00473359227180481, + 0.010222256183624268, + -0.0044953227043151855, + 0.0 + ], + [ + -0.0012170374393463135, + -0.001323651522397995, + -0.003268122673034668, + -0.01525251567363739, + 0.01713883876800537, + -0.0015499591827392578, + 0.0 + ], + [ + -0.0007670819759368896, + 0.0014069750905036926, + -0.00048454850912094116, + -0.02776491641998291, + 0.02417081594467163, + 0.015755057334899902, + 0.0 + ], + [ + -0.0026904940605163574, + 0.0070748962461948395, + 0.004125349223613739, + -0.04364876449108124, + 0.031229346990585327, + 0.04309964179992676, + 0.0 + ], + [ + 0.0009434521198272705, + 0.009430866688489914, + 0.02892492711544037, + -0.11651470512151718, + -0.009181231260299683, + 0.06685465574264526, + 0.0 + ], + [ + -0.010287553071975708, + 0.0122988261282444, + 0.01303236186504364, + -0.06919185817241669, + -0.006918013095855713, + 0.02046525478363037, + 0.0 + ], + [ + -0.025367021560668945, + 0.02226894348859787, + 0.00804051011800766, + -0.0651213675737381, + -0.006855398416519165, + -0.0010113716125488281, + 0.0 + ], + [ + -0.024943113327026367, + 0.022317029535770416, + -0.0015671774744987488, + -0.013720646500587463, + -0.0012413263320922852, + -0.017907142639160156, + 0.0 + ], + [ + -0.026169002056121826, + 0.027641750872135162, + -0.0012072175741195679, + 0.002745196223258972, + -0.0020765364170074463, + -0.02461296319961548, + 0.0 + ], + [ + -0.01941642165184021, + 0.02450421452522278, + -0.010196685791015625, + 0.027790121734142303, + -0.009676933288574219, + -0.029137372970581055, + 0.0 + ], + [ + -0.021120935678482056, + 0.02818410098552704, + -0.007963389158248901, + 0.051773276180028915, + -0.016413331031799316, + -0.017286717891693115, + 0.0 + ], + [ + -0.017331868410110474, + 0.0270119309425354, + -0.0041619837284088135, + 0.030523546040058136, + -0.019740641117095947, + 0.00801306962966919, + 0.0 + ], + [ + -0.0170096755027771, + 0.022460028529167175, + 0.0014038532972335815, + 0.006180210039019585, + -0.016945183277130127, + 0.024511396884918213, + 0.0 + ], + [ + -0.019041791558265686, + 0.01672665774822235, + -0.005943715572357178, + -0.001092333346605301, + 0.019983947277069092, + 0.025553643703460693, + 0.0 + ], + [ + -0.022281169891357422, + 0.013485193252563477, + -0.0008002519607543945, + -0.042231954634189606, + 0.017720937728881836, + 0.04770457744598389, + 0.0 + ], + [ + -0.01081685721874237, + 0.007034122943878174, + 0.0002578422427177429, + -0.028220530599355698, + 0.0042822957038879395, + 0.05082672834396362, + 0.0 + ], + [ + -0.008324399590492249, + 0.002721160650253296, + 0.0027633458375930786, + -0.04221108555793762, + 0.010550737380981445, + 0.11870527267456055, + 0.0 + ], + [ + -0.003977566957473755, + 0.0006521046161651611, + -0.0008105039596557617, + -0.02442649006843567, + 0.02265608310699463, + 0.08857262134552002, + 0.0 + ], + [ + -0.0020208805799484253, + 0.003924548625946045, + 0.008578367531299591, + 0.017646655440330505, + -0.03508615493774414, + -0.014113426208496094, + 0.0 + ], + [ + -0.0018174052238464355, + 0.010417252779006958, + 0.014315836131572723, + -0.009986236691474915, + 0.000371396541595459, + 0.029303908348083496, + 0.0 + ], + [ + -0.0027749985456466675, + 0.010698497295379639, + 0.014391474425792694, + -0.024872809648513794, + 0.021130025386810303, + 0.0680537223815918, + 0.0 + ], + [ + -0.0048156678676605225, + 0.0032382607460021973, + 0.00037397444248199463, + -0.01742786169052124, + 0.03917625546455383, + 0.07000792026519775, + 1.0 + ], + [ + -0.008853927254676819, + 0.006264925003051758, + -0.0033812671899795532, + 0.060479626059532166, + 0.035387128591537476, + 0.0591578483581543, + 1.0 + ], + [ + -0.0005520880222320557, + 0.0007303357124328613, + -9.360164403915405e-05, + 0.03883843123912811, + -0.007547587156295776, + 0.008832812309265137, + 1.0 + ], + [ + 1.5243887901306152e-05, + 0.000962376594543457, + 0.0006369203329086304, + 0.07548286765813828, + -0.022242754697799683, + 0.001875162124633789, + 1.0 + ], + [ + 0.013402417302131653, + -0.015550732612609863, + 0.009667523205280304, + 0.09774082154035568, + -0.09133422374725342, + -0.10639321804046631, + 1.0 + ], + [ + 0.03482985496520996, + -0.04831963777542114, + -0.008451208472251892, + 0.12276321649551392, + 0.034834206104278564, + -0.32254892587661743, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9759697914123535 + ], + [ + 0.704176664352417 + ], + [ + 0.39974725246429443 + ], + [ + 0.17460396885871887 + ], + [ + 0.07238461822271347 + ], + [ + 0.05565106123685837 + ], + [ + 0.05511022359132767 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.054840996861457825 + ], + [ + 0.06895258277654648 + ], + [ + 0.20503154397010803 + ], + [ + 0.4522285461425781 + ], + [ + 0.7545521855354309 + ], + [ + 0.993436336517334 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3482155203819275, + 0.06700265407562256, + 0.13468782603740692 + ], + [ + 0.35902339220046997, + 0.06379415094852448, + 0.13842883706092834 + ], + [ + 0.37163999676704407, + 0.06189100071787834, + 0.14298270642757416 + ], + [ + 0.3856023848056793, + 0.054278016090393066, + 0.14254644513130188 + ], + [ + 0.3944435119628906, + 0.053411852568387985, + 0.13208964467048645 + ], + [ + 0.399808406829834, + 0.05096202343702316, + 0.12258633226156235 + ], + [ + 0.4052469730377197, + 0.04913448914885521, + 0.11885537207126617 + ], + [ + 0.41362476348876953, + 0.04436355084180832, + 0.11391504108905792 + ], + [ + 0.42279794812202454, + 0.04090552404522896, + 0.10894064605236053 + ], + [ + 0.4309341013431549, + 0.03743351623415947, + 0.10088036209344864 + ], + [ + 0.43258973956108093, + 0.038218021392822266, + 0.09694135189056396 + ], + [ + 0.43399113416671753, + 0.0404718779027462, + 0.09794574230909348 + ], + [ + 0.4335131049156189, + 0.04184848442673683, + 0.09370268136262894 + ], + [ + 0.43100595474243164, + 0.04362649843096733, + 0.08168356120586395 + ], + [ + 0.4318726658821106, + 0.046578243374824524, + 0.07379399985074997 + ], + [ + 0.4316307306289673, + 0.0474504791200161, + 0.07234352082014084 + ], + [ + 0.43022623658180237, + 0.04715936630964279, + 0.06901893019676208 + ], + [ + 0.42877835035324097, + 0.045715831220149994, + 0.06563855707645416 + ], + [ + 0.42756131291389465, + 0.044392179697752, + 0.062370434403419495 + ], + [ + 0.42679423093795776, + 0.04579915478825569, + 0.06188588589429855 + ], + [ + 0.4241037368774414, + 0.05287405103445053, + 0.06601123511791229 + ], + [ + 0.4250471889972687, + 0.062304917722940445, + 0.09493616223335266 + ], + [ + 0.41475963592529297, + 0.07460374385118484, + 0.1079685240983963 + ], + [ + 0.389392614364624, + 0.09687268733978271, + 0.11600903421640396 + ], + [ + 0.36444950103759766, + 0.11918971687555313, + 0.11444185674190521 + ], + [ + 0.33828049898147583, + 0.1468314677476883, + 0.11323463916778564 + ], + [ + 0.3188640773296356, + 0.17133568227291107, + 0.10303795337677002 + ], + [ + 0.29774314165115356, + 0.1995197832584381, + 0.09507456421852112 + ], + [ + 0.2804112732410431, + 0.2265317142009735, + 0.0909125804901123 + ], + [ + 0.263401597738266, + 0.24899174273014069, + 0.09231643378734589 + ], + [ + 0.2443598061800003, + 0.26571840047836304, + 0.08637271821498871 + ], + [ + 0.22207863628864288, + 0.2792035937309265, + 0.08557246625423431 + ], + [ + 0.2112617790699005, + 0.2862377166748047, + 0.08583030849695206 + ], + [ + 0.20293737947940826, + 0.288958877325058, + 0.08859365433454514 + ], + [ + 0.1989598125219345, + 0.28961098194122314, + 0.08778315037488937 + ], + [ + 0.19693893194198608, + 0.2935355305671692, + 0.09636151790618896 + ], + [ + 0.19512152671813965, + 0.30395278334617615, + 0.11067735403776169 + ], + [ + 0.19234652817249298, + 0.3146512806415558, + 0.12506882846355438 + ], + [ + 0.18753086030483246, + 0.317889541387558, + 0.12544280290603638 + ], + [ + 0.17867693305015564, + 0.32415446639060974, + 0.12206153571605682 + ], + [ + 0.17812484502792358, + 0.3248848021030426, + 0.12196793407201767 + ], + [ + 0.1781400889158249, + 0.32584717869758606, + 0.1226048544049263 + ], + [ + 0.19154250621795654, + 0.3102964460849762, + 0.1322723776102066 + ], + [ + 0.2263723611831665, + 0.26197680830955505, + 0.12382116913795471 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8615748802037316, + 0.3602974760793581, + 0.3575953782318361, + 0.2699066395037459, + -0.921755493192816, + 0.2784191385674908, + 0.4299292171436136, + -0.14336156911708617, + -0.8914080596149928 + ], + [ + 0.8419568417967096, + 0.42752085759000863, + 0.32914220768113994, + 0.35862289201747494, + -0.8992124804188544, + 0.25061232288136714, + 0.4031107761803617, + -0.09296682948490635, + -0.9104168664643638 + ], + [ + 0.8143250271974722, + 0.4868625249068639, + 0.315974100079658, + 0.4221524735403719, + -0.8704376942889818, + 0.2532301511365243, + 0.39832403789324833, + -0.07282240178814953, + -0.9143494182391235 + ], + [ + 0.7953496434114574, + 0.515279488823078, + 0.3192271810537051, + 0.44442323574812725, + -0.8538522855476103, + 0.2709691163071664, + 0.41219768588922473, + -0.07364321328778163, + -0.9081132885737431 + ], + [ + 0.7764786876466392, + 0.554201967325149, + 0.29990169563289787, + 0.46853602699702557, + -0.8260121102632388, + 0.3133336641733752, + 0.4213725655953357, + -0.10278216339134594, + -0.9010443872818914 + ], + [ + 0.7518648690790364, + 0.5870595328824365, + 0.3001005223198034, + 0.4846875057861633, + -0.8007150764258283, + 0.35204174201246047, + 0.4469644732856866, + -0.11923284462024415, + -0.8865699568472942 + ], + [ + 0.7251394585852855, + 0.6138595021893367, + 0.3120084568958002, + 0.49764481986260933, + -0.7803420766095684, + 0.3787028871510979, + 0.47594369295805333, + -0.11934301422591043, + -0.8713408323319435 + ], + [ + 0.7125918979701074, + 0.6270301053841334, + 0.3147157986014095, + 0.5057905160286422, + -0.7700122109120505, + 0.38891792057170116, + 0.48619825261187477, + -0.11795949299780281, + -0.8658503434017113 + ], + [ + 0.695912787702125, + 0.6475643574374123, + 0.3104284054163351, + 0.5208055974791345, + -0.7527304150145501, + 0.40268902635461123, + 0.4944359630397639, + -0.11856359175014261, + -0.8610898635823363 + ], + [ + 0.6924220352410726, + 0.6515122342294378, + 0.3099734404138158, + 0.5187840554626312, + -0.7481663119732581, + 0.4136547756597034, + 0.5014128328137971, + -0.1256144031458975, + -0.8560409994923979 + ], + [ + 0.6876925474027553, + 0.6585823289093253, + 0.3055295015134841, + 0.5213727965238022, + -0.7408588661660584, + 0.42343659202776973, + 0.5052220969946375, + -0.13189941801050972, + -0.8528500315042673 + ], + [ + 0.6787890716028466, + 0.6641932629197596, + 0.3131975507001116, + 0.5174741425772718, + -0.7352592054194294, + 0.43773783547907663, + 0.5210239035173563, + -0.13506002494444017, + -0.8427887526691039 + ], + [ + 0.6786789028178535, + 0.6637765709962395, + 0.314317690667307, + 0.5116045926632704, + -0.7343355826109804, + 0.44610760235311075, + 0.5269304390864166, + -0.141957444003005, + -0.837969209730483 + ], + [ + 0.6926273389602227, + 0.6566472544463717, + 0.29846566394297813, + 0.5000951431745564, + -0.7353641146183186, + 0.45732315347556624, + 0.519780931833884, + -0.1674932898944263, + -0.8377193926024639 + ], + [ + 0.6933944324634989, + 0.6580878366252304, + 0.29346986270236675, + 0.4905424969807902, + -0.7294526417308016, + 0.47672518512011275, + 0.5277994123570746, + -0.18659914993878837, + -0.8286184511327562 + ], + [ + 0.6909130035988845, + 0.6612697472609823, + 0.29216697762643284, + 0.4906900295375378, + -0.7257395711992971, + 0.48220884449365997, + 0.5309072577865348, + -0.18980093822965452, + -0.8259013787836443 + ], + [ + 0.6920804622399199, + 0.6598405585716488, + 0.2926347058187609, + 0.49070374230037267, + -0.727410284209849, + 0.4796708410130385, + 0.5293717701938664, + -0.1883738720990802, + -0.8272126771467004 + ], + [ + 0.6986713767531835, + 0.6536132630492826, + 0.2909433100655187, + 0.4906721717542511, + -0.7337123528257771, + 0.4700074501290689, + 0.520671803703425, + -0.1856229664587113, + -0.8333336589573772 + ], + [ + 0.706638630641042, + 0.6455107063281167, + 0.2897891883792921, + 0.4946338361031449, + -0.7435087416583265, + 0.4500356866511135, + 0.5059636487610943, + -0.17467306344547784, + -0.844683435991811 + ], + [ + 0.7084603960120334, + 0.6460632833416363, + 0.2840529901273651, + 0.512726739978227, + -0.7477400282558119, + 0.42189588793361876, + 0.4849692334507127, + -0.15325496423222854, + -0.8609981176195485 + ], + [ + 0.6972499623520441, + 0.6625920810827172, + 0.27352188959304036, + 0.5519092262227928, + -0.7397089401279868, + 0.3850024544141101, + 0.45742616454487117, + -0.1174836924053917, + -0.8814527134274215 + ], + [ + 0.6556829195488018, + 0.6770707843272272, + 0.3341482635335299, + 0.5944101322867466, + -0.7357818612422664, + 0.3245021530001291, + 0.4655711585212432, + -0.01414940554864444, + -0.8848973334098188 + ], + [ + 0.6410248674139454, + 0.6674559184278764, + 0.3789323373803479, + 0.6054772950531689, + -0.7431714749100894, + 0.2847690363348169, + 0.4716824827487573, + 0.046890892885104854, + -0.8805208002270055 + ], + [ + 0.6392688686922239, + 0.640094593014431, + 0.4261622056384795, + 0.6025964827501998, + -0.7612645133779338, + 0.23948657509043195, + 0.4777162259103742, + 0.1037075342737794, + -0.8723714546205651 + ], + [ + 0.6495173553175091, + 0.6202905402585243, + 0.4397349779209484, + 0.5906535831077638, + -0.7758085398916725, + 0.22192218048926832, + 0.4788063803911857, + 0.11558873256913708, + -0.8702779412347252 + ], + [ + 0.6631036350616434, + 0.6020515192106678, + 0.44477807655522134, + 0.5738378941972894, + -0.7904106329219389, + 0.21438540656294874, + 0.480628380717635, + 0.11307077243950936, + -0.8696041398640403 + ], + [ + 0.6759040480534179, + 0.5904078202454285, + 0.4411035293647564, + 0.5513102965435842, + -0.8022506497419019, + 0.2290215097184568, + 0.4890916833785133, + 0.08838835207049532, + -0.8677423721751946 + ], + [ + 0.6789334153226363, + 0.5981516011358657, + 0.42575119449854903, + 0.5345061755991573, + -0.8002306978500207, + 0.2719080331009591, + 0.5033414008450963, + 0.042959193161297746, + -0.8630190854889751 + ], + [ + 0.666740025699225, + 0.6169351687677419, + 0.41814917872466845, + 0.5336157680149002, + -0.7868429424183825, + 0.31005224735881276, + 0.520299865708675, + 0.016406751777846423, + -0.8538260175466867 + ], + [ + 0.6466215206277773, + 0.6384153247486085, + 0.41750027806835066, + 0.544041776318294, + -0.7696132688560997, + 0.33423638644089115, + 0.5346953849449767, + 0.011013152444144636, + -0.8449731095080989 + ], + [ + 0.64038073421005, + 0.6576038712941409, + 0.3968244746881876, + 0.5673594337869118, + -0.7532669574128149, + 0.3327043188223367, + 0.5177024127291584, + 0.012084673309576244, + -0.855475407317714 + ], + [ + 0.6190691720388981, + 0.6767086234624693, + 0.39852076377850504, + 0.6035616984169518, + -0.7346384678281294, + 0.30987029188223725, + 0.5024605819714792, + 0.04870072400558703, + -0.8632274341366902 + ], + [ + 0.5890627976472678, + 0.7023005519536712, + 0.3997235984446539, + 0.6358065380665666, + -0.7081050600744259, + 0.3071437286496365, + 0.4987535128495656, + 0.07321993323243764, + -0.8636456303355304 + ], + [ + 0.5126865930469806, + 0.7659888173627788, + 0.3878319081574533, + 0.7053104060453258, + -0.6333278558766464, + 0.3184855696807432, + 0.48958113570077166, + 0.1102585989656199, + -0.8649585845114675 + ], + [ + 0.45387435816895016, + 0.8115563642503466, + 0.3679325137052749, + 0.7572173181058265, + -0.5689378814500243, + 0.3208295812604841, + 0.46970203337578076, + 0.1329885509956282, + -0.8727508494104947 + ], + [ + 0.45556032547287456, + 0.8077429957597955, + 0.37418717596416895, + 0.7362629364290263, + -0.578149590965623, + 0.35165315142508047, + 0.5003815327287333, + 0.11530092483269214, + -0.8580932457703939 + ], + [ + 0.4338855275151128, + 0.8206856089707247, + 0.37177746064182493, + 0.7494554050654322, + -0.5577868923997329, + 0.35663760105358855, + 0.5000599412381901, + 0.123890733694656, + -0.8570829255523986 + ], + [ + 0.3864916299924522, + 0.8491903937538909, + 0.35986093856084056, + 0.7865343458903595, + -0.5072415710701232, + 0.35223530673846043, + 0.48165126666562563, + 0.14690699008020264, + -0.8639620324904176 + ], + [ + 0.3373874835084935, + 0.879049527523187, + 0.3368109471692806, + 0.8284916148454168, + -0.4471543151227957, + 0.33712707188521274, + 0.44695786166331153, + 0.16530259111195264, + -0.8791494317060297 + ], + [ + 0.29272165459819055, + 0.922698346865479, + 0.2508820312836488, + 0.8614319674192239, + -0.368353439507745, + 0.3496436887905444, + 0.4150289127730051, + 0.1137695226962219, + -0.9026668805644367 + ], + [ + 0.28411175319464865, + 0.9346531196434209, + 0.2137850734674533, + 0.8609846112385675, + -0.34681844961341113, + 0.3720516929381221, + 0.42188388320370324, + 0.07836139960829688, + -0.9032571506190212 + ], + [ + 0.27950327961365146, + 0.948638620250667, + 0.1481981270263671, + 0.8523867626268254, + -0.31620631593546694, + 0.4164737358598728, + 0.4419442539322945, + 0.009916346677580068, + -0.8969877047567582 + ], + [ + 0.3503485170510127, + 0.9268939317997489, + 0.13462375642121477, + 0.7777251798085478, + -0.36798611454865665, + 0.5096368944563814, + 0.5219190179442768, + -0.0738502450380853, + -0.8497921392998975 + ], + [ + 0.5907915239065368, + 0.7878917625377944, + 0.1737582970832749, + 0.6395347406737675, + -0.588604769592276, + 0.4945095961501258, + 0.49189499972202283, + -0.18102761043087132, + -0.8516268628396826 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006531.json b/json/chunk-0006/episode_0006531.json new file mode 100644 index 0000000000000000000000000000000000000000..756d58ad03ea3ad388568111a205b24567c61197 --- /dev/null +++ b/json/chunk-0006/episode_0006531.json @@ -0,0 +1,2002 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 32, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut the tomato into the drawer." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006531.mp4", + "start": 0, + "end": 32, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.26896217465400696, + 0.09589833766222, + 0.1819424033164978, + -0.11062896251678467, + -0.3711022436618805, + 0.8288869261741638, + 0.0, + 0.9994885921478271 + ], + [ + 0.26859909296035767, + 0.09528660774230957, + 0.17598001658916473, + -0.10426516830921173, + -0.3580678403377533, + 0.8220505118370056, + 0.0, + 0.9994885921478271 + ], + [ + 0.2498883605003357, + 0.13554716110229492, + 0.15762576460838318, + -0.11905386298894882, + -0.43999359011650085, + 0.8752048015594482, + 0.0, + 0.9994885921478271 + ], + [ + 0.24508193135261536, + 0.18045245110988617, + 0.13694064319133759, + -0.15974803268909454, + -0.494171142578125, + 0.9388991594314575, + 0.0, + 0.9994885921478271 + ], + [ + 0.23235094547271729, + 0.22727186977863312, + 0.1219075545668602, + -0.15888679027557373, + -0.5086233615875244, + 1.011579155921936, + 0.0, + 0.9994885921478271 + ], + [ + 0.2354436218738556, + 0.2587184011936188, + 0.10929668694734573, + -0.15528501570224762, + -0.48954516649246216, + 1.0495790243148804, + 0.0, + 0.9994885921478271 + ], + [ + 0.2415739893913269, + 0.27425363659858704, + 0.10137239098548889, + -0.1451883763074875, + -0.45598918199539185, + 1.0780353546142578, + 0.0, + 0.9994885921478271 + ], + [ + 0.24936336278915405, + 0.2734249234199524, + 0.0957270935177803, + -0.1419399380683899, + -0.41014039516448975, + 1.0911792516708374, + 0.0, + 0.9994885921478271 + ], + [ + 0.26663312315940857, + 0.23160625994205475, + 0.0764097198843956, + -0.13851061463356018, + -0.35820990800857544, + 1.0422331094741821, + 0.0, + 0.9994885921478271 + ], + [ + 0.2772134840488434, + 0.20674054324626923, + 0.07424893230199814, + -0.1317758858203888, + -0.36611396074295044, + 0.9934452772140503, + 0.0, + 0.9994885921478271 + ], + [ + 0.28103214502334595, + 0.19746938347816467, + 0.06862657517194748, + -0.12123818695545197, + -0.3834156394004822, + 0.97126704454422, + 0.0, + 0.9994885921478271 + ], + [ + 0.2821752429008484, + 0.19980618357658386, + 0.051089100539684296, + -0.09593898057937622, + -0.3716127276420593, + 0.9767193794250488, + 0.0, + 0.9994885921478271 + ], + [ + 0.28747090697288513, + 0.20683878660202026, + 0.04551670327782631, + -0.08601176738739014, + -0.38604918122291565, + 0.9865296483039856, + 0.0, + 0.9994885921478271 + ], + [ + 0.28965333104133606, + 0.21200059354305267, + 0.039285048842430115, + -0.06999500095844269, + -0.3894343376159668, + 0.9870954751968384, + 0.0, + 0.9994885921478271 + ], + [ + 0.2892213463783264, + 0.21692496538162231, + 0.028493840247392654, + -0.0397711843252182, + -0.3804593086242676, + 0.9933388829231262, + 0.0, + 0.9484345316886902 + ], + [ + 0.2903043329715729, + 0.22171081602573395, + 0.02709038555622101, + -0.02135600335896015, + -0.3777782618999481, + 1.016480565071106, + 0.0, + 0.8696252703666687 + ], + [ + 0.28811755776405334, + 0.219747856259346, + 0.02538270503282547, + -0.019912531599402428, + -0.3722931444644928, + 1.0113296508789062, + 0.0, + 0.8687413334846497 + ], + [ + 0.27939939498901367, + 0.21695765852928162, + 0.03876099735498428, + -0.056427963078022, + -0.345608115196228, + 1.0254004001617432, + 0.0, + 0.8687413334846497 + ], + [ + 0.2770462930202484, + 0.21380162239074707, + 0.07876668125391006, + -0.1285664588212967, + -0.39413824677467346, + 1.0265616178512573, + 0.0, + 0.8687413334846497 + ], + [ + 0.26789727807044983, + 0.19958116114139557, + 0.11046580225229263, + -0.1942017674446106, + -0.4510229229927063, + 0.9858507513999939, + 0.0, + 0.8687413334846497 + ], + [ + 0.25619885325431824, + 0.17759959399700165, + 0.14219509065151215, + -0.27561941742897034, + -0.4927985668182373, + 0.934347927570343, + 0.0, + 0.8687413334846497 + ], + [ + 0.24253666400909424, + 0.1421179324388504, + 0.16091671586036682, + -0.3291170597076416, + -0.5380240082740784, + 0.8678058981895447, + 0.0, + 0.8687413334846497 + ], + [ + 0.23079903423786163, + 0.11124154180288315, + 0.17815850675106049, + -0.3377262353897095, + -0.5800861120223999, + 0.7749184966087341, + 0.0, + 0.8687413334846497 + ], + [ + 0.2408190369606018, + 0.05960705503821373, + 0.16202957928180695, + -0.3328741788864136, + -0.5650284290313721, + 0.6801679730415344, + 0.0, + 0.8687413334846497 + ], + [ + 0.2532760798931122, + 0.023611031472682953, + 0.1387852132320404, + -0.30385303497314453, + -0.5644397139549255, + 0.5773979425430298, + 0.0, + 0.8687413334846497 + ], + [ + 0.26872190833091736, + 0.01580379158258438, + 0.11943640559911728, + -0.27975431084632874, + -0.5791463851928711, + 0.5144569277763367, + 0.0, + 0.8687413334846497 + ], + [ + 0.284137099981308, + 0.015236572362482548, + 0.11421278119087219, + -0.2659206688404083, + -0.5799273252487183, + 0.48646461963653564, + 0.0, + 0.8687413334846497 + ], + [ + 0.292749285697937, + 0.025605306029319763, + 0.11247950792312622, + -0.23654070496559143, + -0.5789632797241211, + 0.48164716362953186, + 0.0, + 0.905788779258728 + ], + [ + 0.28702205419540405, + 0.031151117756962776, + 0.11657361686229706, + -0.22962994873523712, + -0.5681093335151672, + 0.4759047031402588, + 0.0, + 1.0105689764022827 + ], + [ + 0.2675362229347229, + 0.037206459790468216, + 0.1548530012369156, + -0.26637381315231323, + -0.625367283821106, + 0.49449869990348816, + 0.0, + 1.0060625076293945 + ], + [ + 0.24075400829315186, + 0.054131701588630676, + 0.1829148530960083, + -0.28055548667907715, + -0.6684803366661072, + 0.49412068724632263, + 0.0, + 1.0008161067962646 + ], + [ + 0.21762606501579285, + 0.0837952196598053, + 0.19173012673854828, + -0.18419891595840454, + -0.6801099181175232, + 0.33764129877090454, + 0.0, + 1.0008161067962646 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9484345316886902 + ], + [ + 0.8696252703666687 + ], + [ + 0.8687413334846497 + ], + [ + 0.8687413334846497 + ], + [ + 0.8687413334846497 + ], + [ + 0.8687413334846497 + ], + [ + 0.8687413334846497 + ], + [ + 0.8687413334846497 + ], + [ + 0.8687413334846497 + ], + [ + 0.8687413334846497 + ], + [ + 0.8687413334846497 + ], + [ + 0.8687413334846497 + ], + [ + 0.8687413334846497 + ], + [ + 0.905788779258728 + ], + [ + 1.0105689764022827 + ], + [ + 1.0060625076293945 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.26896217465400696, + 0.09589833766222, + 0.1819424033164978 + ], + [ + 0.26859909296035767, + 0.09528660774230957, + 0.17598001658916473 + ], + [ + 0.2498883605003357, + 0.13554716110229492, + 0.15762576460838318 + ], + [ + 0.24508193135261536, + 0.18045245110988617, + 0.13694064319133759 + ], + [ + 0.23235094547271729, + 0.22727186977863312, + 0.1219075545668602 + ], + [ + 0.2354436218738556, + 0.2587184011936188, + 0.10929668694734573 + ], + [ + 0.2415739893913269, + 0.27425363659858704, + 0.10137239098548889 + ], + [ + 0.24936336278915405, + 0.2734249234199524, + 0.0957270935177803 + ], + [ + 0.26663312315940857, + 0.23160625994205475, + 0.0764097198843956 + ], + [ + 0.2772134840488434, + 0.20674054324626923, + 0.07424893230199814 + ], + [ + 0.28103214502334595, + 0.19746938347816467, + 0.06862657517194748 + ], + [ + 0.2821752429008484, + 0.19980618357658386, + 0.051089100539684296 + ], + [ + 0.28747090697288513, + 0.20683878660202026, + 0.04551670327782631 + ], + [ + 0.28965333104133606, + 0.21200059354305267, + 0.039285048842430115 + ], + [ + 0.2892213463783264, + 0.21692496538162231, + 0.028493840247392654 + ], + [ + 0.2903043329715729, + 0.22171081602573395, + 0.02709038555622101 + ], + [ + 0.28811755776405334, + 0.219747856259346, + 0.02538270503282547 + ], + [ + 0.27939939498901367, + 0.21695765852928162, + 0.03876099735498428 + ], + [ + 0.2770462930202484, + 0.21380162239074707, + 0.07876668125391006 + ], + [ + 0.26789727807044983, + 0.19958116114139557, + 0.11046580225229263 + ], + [ + 0.25619885325431824, + 0.17759959399700165, + 0.14219509065151215 + ], + [ + 0.24253666400909424, + 0.1421179324388504, + 0.16091671586036682 + ], + [ + 0.23079903423786163, + 0.11124154180288315, + 0.17815850675106049 + ], + [ + 0.2408190369606018, + 0.05960705503821373, + 0.16202957928180695 + ], + [ + 0.2532760798931122, + 0.023611031472682953, + 0.1387852132320404 + ], + [ + 0.26872190833091736, + 0.01580379158258438, + 0.11943640559911728 + ], + [ + 0.284137099981308, + 0.015236572362482548, + 0.11421278119087219 + ], + [ + 0.292749285697937, + 0.025605306029319763, + 0.11247950792312622 + ], + [ + 0.28702205419540405, + 0.031151117756962776, + 0.11657361686229706 + ], + [ + 0.2675362229347229, + 0.037206459790468216, + 0.1548530012369156 + ], + [ + 0.24075400829315186, + 0.054131701588630676, + 0.1829148530960083 + ], + [ + 0.21762606501579285, + 0.0837952196598053, + 0.19173012673854828 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.6297008162853831, + 0.7056203582919747, + 0.32492582527928915, + 0.6869985699868635, + -0.7010805612083074, + 0.19109948072103466, + 0.3626428639936633, + 0.10288807831692476, + -0.9262311787748907 + ], + [ + 0.63754634442886, + 0.7037355959189923, + 0.3135137472933818, + 0.6860821743068596, + -0.7037433904775027, + 0.18448981125688604, + 0.3504652747473985, + 0.09747538866693659, + -0.9314894738001392 + ], + [ + 0.579802489374353, + 0.7298210865368698, + 0.36220195328220733, + 0.6945571148111845, + -0.6751396005977409, + 0.24854966097318643, + 0.4259336657044926, + 0.10746023148526046, + -0.8983500492951887 + ], + [ + 0.520009369232251, + 0.7520695340836544, + 0.40494650487918976, + 0.7103715614162466, + -0.644034604452936, + 0.2838867256463295, + 0.4743021195838371, + 0.1400387238243248, + -0.8691528376459081 + ], + [ + 0.4633669373359593, + 0.7961172945380476, + 0.38921502376104755, + 0.7403689001535899, + -0.589152342750116, + 0.3236563126487934, + 0.486975331068481, + 0.13819106472369908, + -0.8624142024348125 + ], + [ + 0.43945198339598246, + 0.8205661594099529, + 0.3654492198931843, + 0.7653566818282602, + -0.555013485914491, + 0.32586681333618556, + 0.4702245249560813, + 0.13649618487065862, + -0.871927570183202 + ], + [ + 0.4247256796506676, + 0.841622115714303, + 0.33358703719697913, + 0.7910116363721557, + -0.5242128774944994, + 0.31543850461346906, + 0.44035064229443677, + 0.1298963949057757, + -0.88837955763365 + ], + [ + 0.4231699364556811, + 0.8522213577411311, + 0.30764583905841725, + 0.8135939685980302, + -0.5068416900911449, + 0.2849146458967299, + 0.3987380833843214, + 0.12973148652279654, + -0.9078423223575683 + ], + [ + 0.47228361319514434, + 0.830851191106243, + 0.2943373692630227, + 0.8087205950580251, + -0.5412639563932994, + 0.23022668967447396, + 0.3505983283421832, + 0.12930439956478756, + -0.927556566693836 + ], + [ + 0.509633260589019, + 0.8049731751821909, + 0.30379619309416467, + 0.7823792879425162, + -0.5804878607563999, + 0.22564683315530962, + 0.35798964999000543, + 0.12268671791013289, + -0.9256302608214972 + ], + [ + 0.5232847265832024, + 0.7940125664025547, + 0.3093818665008859, + 0.7656562904017271, + -0.5974647704059337, + 0.23834070800442564, + 0.37409028307750697, + 0.11216012000088799, + -0.9205849051491 + ], + [ + 0.5215376086364905, + 0.8053847812147158, + 0.28169820192087713, + 0.7721032577318437, + -0.585994184591387, + 0.24590114888903933, + 0.36311855113393043, + 0.08925340224775682, + -0.9274582190102124 + ], + [ + 0.5109931361426874, + 0.8131915205951291, + 0.27857775511918176, + 0.7727290520442694, + -0.5765292961706685, + 0.2655254842453323, + 0.3765313093778864, + 0.07958342471353788, + -0.9229792259682983 + ], + [ + 0.5098504377578127, + 0.8177517858687571, + 0.26708528193561265, + 0.7719500575027991, + -0.5719228729165409, + 0.277483938555578, + 0.3796651680620602, + 0.06470119120502399, + -0.9228586652446077 + ], + [ + 0.5068607101243944, + 0.8291306232169992, + 0.235869943350112, + 0.7779419293696516, + -0.5578346547426257, + 0.2891830778188782, + 0.3713469739486489, + 0.0369175786308619, + -0.9277599459597377 + ], + [ + 0.48924600450774314, + 0.8459209188733209, + 0.2122643306957756, + 0.7903058727844606, + -0.5329388631280375, + 0.30231241392008157, + 0.3688563060537276, + 0.019848606508043404, + -0.9292744795291041 + ], + [ + 0.4943766598347867, + 0.8435262848830514, + 0.20989312738152385, + 0.7894782328635463, + -0.5367675546042945, + 0.29766543662101164, + 0.3637524406038416, + 0.01854721099040954, + -0.9313109915163814 + ], + [ + 0.4880823395727852, + 0.8436499345226941, + 0.2236748036257329, + 0.8043701040241179, + -0.5342649963385174, + 0.25990315396245867, + 0.3387688969627908, + 0.05306318561166229, + -0.9393720949567089 + ], + [ + 0.4780654657313871, + 0.8229706811130375, + 0.3068756564202751, + 0.7899289173927018, + -0.5556121900432538, + 0.25943669698431804, + 0.38401265075753116, + 0.1183822296786219, + -0.9157073395766204 + ], + [ + 0.4969395423023266, + 0.7716229300386078, + 0.3970505574042026, + 0.7503693373594674, + -0.6119080403058399, + 0.2500288138590839, + 0.43588639442757093, + 0.17368535933607188, + -0.8830834881851385 + ], + [ + 0.5236234716323864, + 0.6973370928679041, + 0.4894276645901696, + 0.7085204164415331, + -0.6754520472277057, + 0.20436083622215373, + 0.47309330944451544, + 0.2397613622050922, + -0.8477601133294692 + ], + [ + 0.5551661026869297, + 0.6148887113724899, + 0.5600914845398783, + 0.6551302748211827, + -0.7381600177037418, + 0.1610096620589384, + 0.5124401637656122, + 0.2775457816114142, + -0.8126336306538033 + ], + [ + 0.59760049266899, + 0.5303799067487831, + 0.601307579928054, + 0.5852046352638145, + -0.8011807045945925, + 0.12508002818619246, + 0.5480959642503552, + 0.27714009652604393, + -0.7891667636627944 + ], + [ + 0.6566280049447948, + 0.45837395799307035, + 0.5989432174722291, + 0.5311721521126419, + -0.8448265891214704, + 0.06421977213761514, + 0.5354398266306339, + 0.2759734569612624, + -0.7982122794787156 + ], + [ + 0.7079200434381271, + 0.38673360899718606, + 0.5910045074029234, + 0.4611786113308693, + -0.8868677829315762, + 0.02792532988098781, + 0.5349425207903103, + 0.2527897372719917, + -0.8061847481690944 + ], + [ + 0.728597971860139, + 0.34137083503705795, + 0.5938105323985036, + 0.4118216427668258, + -0.911077435786038, + 0.018461867467053, + 0.547309720313942, + 0.23109274975134964, + -0.8043930699988875 + ], + [ + 0.7394608122848749, + 0.32377349170499115, + 0.5902274418935052, + 0.3910678945229843, + -0.920241867317932, + 0.014859593149396083, + 0.547963145629661, + 0.21983091617050493, + -0.8071002164088938 + ], + [ + 0.7418039949179034, + 0.3367065143367287, + 0.5799616852232997, + 0.3877455819377462, + -0.9209525891857768, + 0.03872585905790192, + 0.5471564646530259, + 0.19615058418272502, + -0.8137227731317208 + ], + [ + 0.7492533149759801, + 0.3372585722086592, + 0.5699790570444506, + 0.38617761204018053, + -0.9216535318874618, + 0.037704364711674196, + 0.5380393312355968, + 0.1918630309130545, + -0.820793674081622 + ], + [ + 0.7136259960170573, + 0.32221580813157713, + 0.6220248474126878, + 0.38477334861488033, + -0.9222960880597697, + 0.03632349302224622, + 0.5853950871030219, + 0.2134171945738208, + -0.7821545199357255 + ], + [ + 0.6908956908536223, + 0.3046280868099722, + 0.6556408110287159, + 0.3721805831510475, + -0.9273540203145743, + 0.038679898290234854, + 0.6197941254039462, + 0.21729300433491353, + -0.754081555524245 + ], + [ + 0.7336046867476314, + 0.21697731626443406, + 0.6440069936022381, + 0.25755777791434054, + -0.9657334722867387, + 0.031982050291157534, + 0.6288784895492425, + 0.14240682824809578, + -0.7643507968535 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.000363081693649292, + -0.0006117299199104309, + -0.005962386727333069, + 0.006363794207572937, + 0.013034403324127197, + -0.006836414337158203, + 1.0 + ], + [ + -0.018710732460021973, + 0.04026055335998535, + -0.018354251980781555, + -0.014788694679737091, + -0.08192574977874756, + 0.05315428972244263, + 1.0 + ], + [ + -0.004806429147720337, + 0.04490529000759125, + -0.020685121417045593, + -0.04069416970014572, + -0.054177552461624146, + 0.06369435787200928, + 1.0 + ], + [ + -0.012730985879898071, + 0.04681941866874695, + -0.015033088624477386, + 0.000861242413520813, + -0.014452219009399414, + 0.07267999649047852, + 1.0 + ], + [ + 0.0030926764011383057, + 0.03144653141498566, + -0.012610867619514465, + 0.003601774573326111, + 0.019078195095062256, + 0.037999868392944336, + 1.0 + ], + [ + 0.0061303675174713135, + 0.015535235404968262, + -0.007924295961856842, + 0.010096639394760132, + 0.03355598449707031, + 0.02845633029937744, + 1.0 + ], + [ + 0.0077893733978271484, + -0.0008287131786346436, + -0.005645297467708588, + 0.003248438239097595, + 0.0458487868309021, + 0.01314389705657959, + 1.0 + ], + [ + 0.017269760370254517, + -0.041818663477897644, + -0.019317373633384705, + 0.003429323434829712, + 0.05193048715591431, + -0.04894614219665527, + 1.0 + ], + [ + 0.010580360889434814, + -0.024865716695785522, + -0.002160787582397461, + 0.006734728813171387, + -0.007904052734375, + -0.048787832260131836, + 1.0 + ], + [ + 0.0038186609745025635, + -0.009271159768104553, + -0.005622357130050659, + 0.010537698864936829, + -0.01730167865753174, + -0.022178232669830322, + 1.0 + ], + [ + 0.0011430978775024414, + 0.0023368000984191895, + -0.017537474632263184, + 0.025299206376075745, + 0.011802911758422852, + 0.005452334880828857, + 1.0 + ], + [ + 0.005295664072036743, + 0.007032603025436401, + -0.0055723972618579865, + 0.009927213191986084, + -0.014436453580856323, + 0.009810268878936768, + 1.0 + ], + [ + 0.0021824240684509277, + 0.00516180694103241, + -0.0062316544353961945, + 0.01601676642894745, + -0.0033851563930511475, + 0.0005658268928527832, + 1.0 + ], + [ + -0.00043198466300964355, + 0.004924371838569641, + -0.01079120859503746, + 0.030223816633224487, + 0.008975028991699219, + 0.006243407726287842, + 0.0 + ], + [ + 0.00108298659324646, + 0.004785850644111633, + -0.0014034546911716461, + 0.01841518096625805, + 0.002681046724319458, + 0.023141682147979736, + 0.0 + ], + [ + -0.0021867752075195312, + -0.0019629597663879395, + -0.0017076805233955383, + 0.001443471759557724, + 0.005485117435455322, + -0.005150914192199707, + 0.0 + ], + [ + -0.008718162775039673, + -0.002790197730064392, + 0.013378292322158813, + -0.036515429615974426, + 0.02668502926826477, + 0.014070749282836914, + 0.0 + ], + [ + -0.002353101968765259, + -0.003156036138534546, + 0.04000568389892578, + -0.07213849574327469, + -0.048530131578445435, + 0.0011612176895141602, + 0.0 + ], + [ + -0.009149014949798584, + -0.014220461249351501, + 0.03169912099838257, + -0.0656353086233139, + -0.05688467621803284, + -0.04071086645126343, + 0.0 + ], + [ + -0.011698424816131592, + -0.02198156714439392, + 0.03172928839921951, + -0.08141764998435974, + -0.041775643825531006, + -0.05150282382965088, + 0.0 + ], + [ + -0.013662189245223999, + -0.035481661558151245, + 0.018721625208854675, + -0.053497642278671265, + -0.045225441455841064, + -0.06654202938079834, + 0.0 + ], + [ + -0.011737629771232605, + -0.030876390635967255, + 0.017241790890693665, + -0.008609175682067871, + -0.04206210374832153, + -0.09288740158081055, + 0.0 + ], + [ + 0.010020002722740173, + -0.05163448676466942, + -0.01612892746925354, + 0.0048520565032958984, + 0.015057682991027832, + -0.09475052356719971, + 0.0 + ], + [ + 0.012457042932510376, + -0.03599602356553078, + -0.02324436604976654, + 0.029021143913269043, + 0.0005887150764465332, + -0.10277003049850464, + 0.0 + ], + [ + 0.015445828437805176, + -0.007807239890098572, + -0.019348807632923126, + 0.024098724126815796, + -0.014706671237945557, + -0.06294101476669312, + 0.0 + ], + [ + 0.015415191650390625, + -0.0005672192201018333, + -0.005223624408245087, + 0.01383364200592041, + -0.000780940055847168, + -0.027992308139801025, + 0.0 + ], + [ + 0.008612185716629028, + 0.010368733666837215, + -0.0017332732677459717, + 0.029379963874816895, + 0.000964045524597168, + -0.004817456007003784, + 1.0 + ], + [ + -0.005727231502532959, + 0.005545811727643013, + 0.004094108939170837, + 0.006910756230354309, + 0.010853946208953857, + -0.005742460489273071, + 1.0 + ], + [ + -0.019485831260681152, + 0.00605534203350544, + 0.03827938437461853, + -0.03674386441707611, + -0.05725795030593872, + 0.01859399676322937, + 1.0 + ], + [ + -0.026782214641571045, + 0.01692524179816246, + 0.028061851859092712, + -0.014181673526763916, + -0.04311305284500122, + -0.00037801265716552734, + 1.0 + ], + [ + -0.02312794327735901, + 0.02966351807117462, + 0.008815273642539978, + 0.09635657072067261, + -0.011629581451416016, + -0.1564793884754181, + 1.0 + ], + [ + -0.015532776713371277, + 0.01832740753889084, + -0.004018709063529968, + 0.13609839975833893, + 0.09317988157272339, + -0.20911839604377747, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9484345316886902 + ], + [ + 0.8696252703666687 + ], + [ + 0.8687413334846497 + ], + [ + 0.8687413334846497 + ], + [ + 0.8687413334846497 + ], + [ + 0.8687413334846497 + ], + [ + 0.8687413334846497 + ], + [ + 0.8687413334846497 + ], + [ + 0.8687413334846497 + ], + [ + 0.8687413334846497 + ], + [ + 0.8687413334846497 + ], + [ + 0.8687413334846497 + ], + [ + 0.8687413334846497 + ], + [ + 0.905788779258728 + ], + [ + 1.0105689764022827 + ], + [ + 1.0060625076293945 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.26859909296035767, + 0.09528660774230957, + 0.17598001658916473 + ], + [ + 0.2498883605003357, + 0.13554716110229492, + 0.15762576460838318 + ], + [ + 0.24508193135261536, + 0.18045245110988617, + 0.13694064319133759 + ], + [ + 0.23235094547271729, + 0.22727186977863312, + 0.1219075545668602 + ], + [ + 0.2354436218738556, + 0.2587184011936188, + 0.10929668694734573 + ], + [ + 0.2415739893913269, + 0.27425363659858704, + 0.10137239098548889 + ], + [ + 0.24936336278915405, + 0.2734249234199524, + 0.0957270935177803 + ], + [ + 0.26663312315940857, + 0.23160625994205475, + 0.0764097198843956 + ], + [ + 0.2772134840488434, + 0.20674054324626923, + 0.07424893230199814 + ], + [ + 0.28103214502334595, + 0.19746938347816467, + 0.06862657517194748 + ], + [ + 0.2821752429008484, + 0.19980618357658386, + 0.051089100539684296 + ], + [ + 0.28747090697288513, + 0.20683878660202026, + 0.04551670327782631 + ], + [ + 0.28965333104133606, + 0.21200059354305267, + 0.039285048842430115 + ], + [ + 0.2892213463783264, + 0.21692496538162231, + 0.028493840247392654 + ], + [ + 0.2903043329715729, + 0.22171081602573395, + 0.02709038555622101 + ], + [ + 0.28811755776405334, + 0.219747856259346, + 0.02538270503282547 + ], + [ + 0.27939939498901367, + 0.21695765852928162, + 0.03876099735498428 + ], + [ + 0.2770462930202484, + 0.21380162239074707, + 0.07876668125391006 + ], + [ + 0.26789727807044983, + 0.19958116114139557, + 0.11046580225229263 + ], + [ + 0.25619885325431824, + 0.17759959399700165, + 0.14219509065151215 + ], + [ + 0.24253666400909424, + 0.1421179324388504, + 0.16091671586036682 + ], + [ + 0.23079903423786163, + 0.11124154180288315, + 0.17815850675106049 + ], + [ + 0.2408190369606018, + 0.05960705503821373, + 0.16202957928180695 + ], + [ + 0.2532760798931122, + 0.023611031472682953, + 0.1387852132320404 + ], + [ + 0.26872190833091736, + 0.01580379158258438, + 0.11943640559911728 + ], + [ + 0.284137099981308, + 0.015236572362482548, + 0.11421278119087219 + ], + [ + 0.292749285697937, + 0.025605306029319763, + 0.11247950792312622 + ], + [ + 0.28702205419540405, + 0.031151117756962776, + 0.11657361686229706 + ], + [ + 0.2675362229347229, + 0.037206459790468216, + 0.1548530012369156 + ], + [ + 0.24075400829315186, + 0.054131701588630676, + 0.1829148530960083 + ], + [ + 0.21762606501579285, + 0.0837952196598053, + 0.19173012673854828 + ], + [ + 0.20209328830242157, + 0.10212262719869614, + 0.1877114176750183 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.63754634442886, + 0.7037355959189923, + 0.3135137472933818, + 0.6860821743068596, + -0.7037433904775027, + 0.18448981125688604, + 0.3504652747473985, + 0.09747538866693659, + -0.9314894738001392 + ], + [ + 0.579802489374353, + 0.7298210865368698, + 0.36220195328220733, + 0.6945571148111845, + -0.6751396005977409, + 0.24854966097318643, + 0.4259336657044926, + 0.10746023148526046, + -0.8983500492951887 + ], + [ + 0.520009369232251, + 0.7520695340836544, + 0.40494650487918976, + 0.7103715614162466, + -0.644034604452936, + 0.2838867256463295, + 0.4743021195838371, + 0.1400387238243248, + -0.8691528376459081 + ], + [ + 0.4633669373359593, + 0.7961172945380476, + 0.38921502376104755, + 0.7403689001535899, + -0.589152342750116, + 0.3236563126487934, + 0.486975331068481, + 0.13819106472369908, + -0.8624142024348125 + ], + [ + 0.43945198339598246, + 0.8205661594099529, + 0.3654492198931843, + 0.7653566818282602, + -0.555013485914491, + 0.32586681333618556, + 0.4702245249560813, + 0.13649618487065862, + -0.871927570183202 + ], + [ + 0.4247256796506676, + 0.841622115714303, + 0.33358703719697913, + 0.7910116363721557, + -0.5242128774944994, + 0.31543850461346906, + 0.44035064229443677, + 0.1298963949057757, + -0.88837955763365 + ], + [ + 0.4231699364556811, + 0.8522213577411311, + 0.30764583905841725, + 0.8135939685980302, + -0.5068416900911449, + 0.2849146458967299, + 0.3987380833843214, + 0.12973148652279654, + -0.9078423223575683 + ], + [ + 0.47228361319514434, + 0.830851191106243, + 0.2943373692630227, + 0.8087205950580251, + -0.5412639563932994, + 0.23022668967447396, + 0.3505983283421832, + 0.12930439956478756, + -0.927556566693836 + ], + [ + 0.509633260589019, + 0.8049731751821909, + 0.30379619309416467, + 0.7823792879425162, + -0.5804878607563999, + 0.22564683315530962, + 0.35798964999000543, + 0.12268671791013289, + -0.9256302608214972 + ], + [ + 0.5232847265832024, + 0.7940125664025547, + 0.3093818665008859, + 0.7656562904017271, + -0.5974647704059337, + 0.23834070800442564, + 0.37409028307750697, + 0.11216012000088799, + -0.9205849051491 + ], + [ + 0.5215376086364905, + 0.8053847812147158, + 0.28169820192087713, + 0.7721032577318437, + -0.585994184591387, + 0.24590114888903933, + 0.36311855113393043, + 0.08925340224775682, + -0.9274582190102124 + ], + [ + 0.5109931361426874, + 0.8131915205951291, + 0.27857775511918176, + 0.7727290520442694, + -0.5765292961706685, + 0.2655254842453323, + 0.3765313093778864, + 0.07958342471353788, + -0.9229792259682983 + ], + [ + 0.5098504377578127, + 0.8177517858687571, + 0.26708528193561265, + 0.7719500575027991, + -0.5719228729165409, + 0.277483938555578, + 0.3796651680620602, + 0.06470119120502399, + -0.9228586652446077 + ], + [ + 0.5068607101243944, + 0.8291306232169992, + 0.235869943350112, + 0.7779419293696516, + -0.5578346547426257, + 0.2891830778188782, + 0.3713469739486489, + 0.0369175786308619, + -0.9277599459597377 + ], + [ + 0.48924600450774314, + 0.8459209188733209, + 0.2122643306957756, + 0.7903058727844606, + -0.5329388631280375, + 0.30231241392008157, + 0.3688563060537276, + 0.019848606508043404, + -0.9292744795291041 + ], + [ + 0.4943766598347867, + 0.8435262848830514, + 0.20989312738152385, + 0.7894782328635463, + -0.5367675546042945, + 0.29766543662101164, + 0.3637524406038416, + 0.01854721099040954, + -0.9313109915163814 + ], + [ + 0.4880823395727852, + 0.8436499345226941, + 0.2236748036257329, + 0.8043701040241179, + -0.5342649963385174, + 0.25990315396245867, + 0.3387688969627908, + 0.05306318561166229, + -0.9393720949567089 + ], + [ + 0.4780654657313871, + 0.8229706811130375, + 0.3068756564202751, + 0.7899289173927018, + -0.5556121900432538, + 0.25943669698431804, + 0.38401265075753116, + 0.1183822296786219, + -0.9157073395766204 + ], + [ + 0.4969395423023266, + 0.7716229300386078, + 0.3970505574042026, + 0.7503693373594674, + -0.6119080403058399, + 0.2500288138590839, + 0.43588639442757093, + 0.17368535933607188, + -0.8830834881851385 + ], + [ + 0.5236234716323864, + 0.6973370928679041, + 0.4894276645901696, + 0.7085204164415331, + -0.6754520472277057, + 0.20436083622215373, + 0.47309330944451544, + 0.2397613622050922, + -0.8477601133294692 + ], + [ + 0.5551661026869297, + 0.6148887113724899, + 0.5600914845398783, + 0.6551302748211827, + -0.7381600177037418, + 0.1610096620589384, + 0.5124401637656122, + 0.2775457816114142, + -0.8126336306538033 + ], + [ + 0.59760049266899, + 0.5303799067487831, + 0.601307579928054, + 0.5852046352638145, + -0.8011807045945925, + 0.12508002818619246, + 0.5480959642503552, + 0.27714009652604393, + -0.7891667636627944 + ], + [ + 0.6566280049447948, + 0.45837395799307035, + 0.5989432174722291, + 0.5311721521126419, + -0.8448265891214704, + 0.06421977213761514, + 0.5354398266306339, + 0.2759734569612624, + -0.7982122794787156 + ], + [ + 0.7079200434381271, + 0.38673360899718606, + 0.5910045074029234, + 0.4611786113308693, + -0.8868677829315762, + 0.02792532988098781, + 0.5349425207903103, + 0.2527897372719917, + -0.8061847481690944 + ], + [ + 0.728597971860139, + 0.34137083503705795, + 0.5938105323985036, + 0.4118216427668258, + -0.911077435786038, + 0.018461867467053, + 0.547309720313942, + 0.23109274975134964, + -0.8043930699988875 + ], + [ + 0.7394608122848749, + 0.32377349170499115, + 0.5902274418935052, + 0.3910678945229843, + -0.920241867317932, + 0.014859593149396083, + 0.547963145629661, + 0.21983091617050493, + -0.8071002164088938 + ], + [ + 0.7418039949179034, + 0.3367065143367287, + 0.5799616852232997, + 0.3877455819377462, + -0.9209525891857768, + 0.03872585905790192, + 0.5471564646530259, + 0.19615058418272502, + -0.8137227731317208 + ], + [ + 0.7492533149759801, + 0.3372585722086592, + 0.5699790570444506, + 0.38617761204018053, + -0.9216535318874618, + 0.037704364711674196, + 0.5380393312355968, + 0.1918630309130545, + -0.820793674081622 + ], + [ + 0.7136259960170573, + 0.32221580813157713, + 0.6220248474126878, + 0.38477334861488033, + -0.9222960880597697, + 0.03632349302224622, + 0.5853950871030219, + 0.2134171945738208, + -0.7821545199357255 + ], + [ + 0.6908956908536223, + 0.3046280868099722, + 0.6556408110287159, + 0.3721805831510475, + -0.9273540203145743, + 0.038679898290234854, + 0.6197941254039462, + 0.21729300433491353, + -0.754081555524245 + ], + [ + 0.7336046867476314, + 0.21697731626443406, + 0.6440069936022381, + 0.25755777791434054, + -0.9657334722867387, + 0.031982050291157534, + 0.6288784895492425, + 0.14240682824809578, + -0.7643507968535 + ], + [ + 0.825777359650901, + 0.10161259678790067, + 0.5547671876219842, + 0.10671955408319887, + -0.9940181402263693, + 0.023213652818830026, + 0.5538074476424721, + 0.040035197950422326, + -0.831681726299671 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006532.json b/json/chunk-0006/episode_0006532.json new file mode 100644 index 0000000000000000000000000000000000000000..94d656301bcaac85cb51271016d9a1c538ca1102 --- /dev/null +++ b/json/chunk-0006/episode_0006532.json @@ -0,0 +1,2782 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 45, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPick green knife and place it on green cloth." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006532.mp4", + "start": 0, + "end": 45, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3301682472229004, + -0.07414533942937851, + 0.10336983948945999, + -0.2283368706703186, + -0.39000582695007324, + 0.41805243492126465, + 0.0, + 1.0001531839370728 + ], + [ + 0.32737576961517334, + -0.07328293472528458, + 0.09289499372243881, + -0.2072460949420929, + -0.3628997802734375, + 0.41525474190711975, + 0.0, + 1.0001531839370728 + ], + [ + 0.3226962983608246, + -0.05662025138735771, + 0.09058263897895813, + -0.17010866105556488, + -0.3630448877811432, + 0.4625096321105957, + 0.0, + 1.0001531839370728 + ], + [ + 0.3180902898311615, + -0.04022453352808952, + 0.09480511397123337, + -0.17551590502262115, + -0.37980422377586365, + 0.5189842581748962, + 0.0, + 1.0001531839370728 + ], + [ + 0.30947309732437134, + -0.016275987029075623, + 0.09660353511571884, + -0.17414553463459015, + -0.39057657122612, + 0.6117847561836243, + 0.0, + 1.0001531839370728 + ], + [ + 0.2939472496509552, + 0.018608279526233673, + 0.09679509699344635, + -0.16536308825016022, + -0.3887389898300171, + 0.7408343553543091, + 0.0, + 0.9994885921478271 + ], + [ + 0.27953964471817017, + 0.04686502367258072, + 0.10275713354349136, + -0.17026987671852112, + -0.4002150893211365, + 0.865939199924469, + 0.0, + 1.0001531839370728 + ], + [ + 0.26578429341316223, + 0.07174085825681686, + 0.0994633212685585, + -0.1531650871038437, + -0.39748769998550415, + 0.9590796828269958, + 0.0, + 1.0001531839370728 + ], + [ + 0.2513752579689026, + 0.09415675699710846, + 0.09962024539709091, + -0.12109174579381943, + -0.4072006344795227, + 1.0370935201644897, + 0.0, + 1.0001531839370728 + ], + [ + 0.23706208169460297, + 0.11165826767683029, + 0.0874219462275505, + -0.12011560052633286, + -0.3962324857711792, + 1.1145612001419067, + 0.0, + 1.0001531839370728 + ], + [ + 0.22957098484039307, + 0.11859108507633209, + 0.07164525985717773, + -0.07419727742671967, + -0.38078340888023376, + 1.1126434803009033, + 0.0, + 1.0001531839370728 + ], + [ + 0.22034285962581635, + 0.13035546243190765, + 0.05722545087337494, + -0.03340817242860794, + -0.3745494484901428, + 1.1321109533309937, + 0.0, + 1.0001531839370728 + ], + [ + 0.2173328846693039, + 0.13635487854480743, + 0.04677531123161316, + -0.00832623615860939, + -0.36142781376838684, + 1.1437807083129883, + 0.0, + 1.0001531839370728 + ], + [ + 0.22093333303928375, + 0.1450463831424713, + 0.03718447685241699, + -0.0016339565627276897, + -0.34948065876960754, + 1.1709163188934326, + 0.0, + 1.0001531839370728 + ], + [ + 0.22760701179504395, + 0.15155240893363953, + 0.028352830559015274, + 0.00966496579349041, + -0.33825042843818665, + 1.1781959533691406, + 0.0, + 1.0008161067962646 + ], + [ + 0.23517443239688873, + 0.1555040329694748, + 0.023378470912575722, + 0.031898438930511475, + -0.3380356431007385, + 1.1845927238464355, + 0.0, + 0.9994885921478271 + ], + [ + 0.24381275475025177, + 0.15140843391418457, + 0.01892409287393093, + 0.0470484159886837, + -0.34284326434135437, + 1.160809874534607, + 0.0, + 0.9994885921478271 + ], + [ + 0.24363820254802704, + 0.14869245886802673, + 0.012800543569028378, + 0.06279031187295914, + -0.3336493968963623, + 1.1547091007232666, + 0.0, + 0.9988223910331726 + ], + [ + 0.24816274642944336, + 0.1454792618751526, + 0.012099935673177242, + 0.06552454084157944, + -0.3447628915309906, + 1.1440632343292236, + 0.0, + 0.9988223910331726 + ], + [ + 0.2502550184726715, + 0.14260239899158478, + 0.009913619607686996, + 0.0618588849902153, + -0.35012033581733704, + 1.1409670114517212, + 0.0, + 0.9476637244224548 + ], + [ + 0.2509647607803345, + 0.14064909517765045, + 0.009183324873447418, + 0.05821636691689491, + -0.3599362075328827, + 1.140867829322815, + 0.0, + 0.6611326336860657 + ], + [ + 0.25020501017570496, + 0.1425742655992508, + 0.00970620010048151, + 0.07450230419635773, + -0.3663910925388336, + 1.1170058250427246, + 0.0, + 0.3823249042034149 + ], + [ + 0.2491995096206665, + 0.14424379169940948, + 0.00899801030755043, + 0.06665767729282379, + -0.36154302954673767, + 1.1117744445800781, + 0.0, + 0.1452319175004959 + ], + [ + 0.24703346192836761, + 0.14661216735839844, + 0.010140829719603062, + 0.05754493921995163, + -0.3489716351032257, + 1.1209137439727783, + 0.0, + 0.06987876445055008 + ], + [ + 0.24300560355186462, + 0.15187884867191315, + 0.012969402596354485, + 0.06447902321815491, + -0.3480897843837738, + 1.119478464126587, + 0.0, + 0.06833917647600174 + ], + [ + 0.24023790657520294, + 0.15739208459854126, + 0.0208695437759161, + 0.06141432747244835, + -0.3606736958026886, + 1.129672646522522, + 0.0, + 0.06833917647600174 + ], + [ + 0.23773813247680664, + 0.16457191109657288, + 0.03319932892918587, + 0.059288594871759415, + -0.37639495730400085, + 1.136770486831665, + 0.0, + 0.06833917647600174 + ], + [ + 0.23779696226119995, + 0.1657310128211975, + 0.044649090617895126, + 0.04148470237851143, + -0.3909323513507843, + 1.1443352699279785, + 0.0, + 0.06833917647600174 + ], + [ + 0.2540636956691742, + 0.1555815190076828, + 0.07379627227783203, + -0.012698343023657799, + -0.4412654936313629, + 1.1492146253585815, + 0.0, + 0.06833917647600174 + ], + [ + 0.2747305929660797, + 0.12471786886453629, + 0.09933171421289444, + -0.06702616065740585, + -0.46761488914489746, + 1.1471712589263916, + 0.0, + 0.06833917647600174 + ], + [ + 0.29139477014541626, + 0.09157031029462814, + 0.11073452979326248, + -0.09036393463611603, + -0.48521190881729126, + 1.1265859603881836, + 0.0, + 0.06833917647600174 + ], + [ + 0.31024739146232605, + 0.05860728770494461, + 0.11910250782966614, + -0.13062560558319092, + -0.5102446675300598, + 1.1138174533843994, + 0.0, + 0.06833917647600174 + ], + [ + 0.32584860920906067, + 0.029619911685585976, + 0.10773052275180817, + -0.11621428281068802, + -0.501684308052063, + 1.0835140943527222, + 0.0, + 0.06833917647600174 + ], + [ + 0.3426218628883362, + 0.004348536022007465, + 0.09239383041858673, + -0.09789202362298965, + -0.491635262966156, + 1.0379515886306763, + 0.0, + 0.06833917647600174 + ], + [ + 0.35410431027412415, + -0.017521457746624947, + 0.07126855850219727, + -0.05836331099271774, + -0.4821228086948395, + 0.9723356366157532, + 0.0, + 0.06833917647600174 + ], + [ + 0.3599856495857239, + -0.028540952131152153, + 0.05678098648786545, + -0.027454158291220665, + -0.47714629769325256, + 0.9219092726707458, + 0.0, + 0.06833917647600174 + ], + [ + 0.36090776324272156, + -0.03677204251289368, + 0.03227902948856354, + 0.000214532163226977, + -0.4572981894016266, + 0.8774022459983826, + 0.0, + 0.06833917647600174 + ], + [ + 0.3598944842815399, + -0.036027029156684875, + 0.0233641117811203, + 0.0233237873762846, + -0.4521942734718323, + 0.8631787300109863, + 0.0, + 0.06833917647600174 + ], + [ + 0.3600274324417114, + -0.03795771673321724, + 0.021106192842125893, + 0.01655108481645584, + -0.44172799587249756, + 0.862383246421814, + 0.0, + 0.09775853902101517 + ], + [ + 0.3596464693546295, + -0.034860458225011826, + 0.01892857812345028, + 0.00334910792298615, + -0.4087257385253906, + 0.8806570768356323, + 0.0, + 0.26031553745269775 + ], + [ + 0.3587062656879425, + -0.033862289041280746, + 0.016530325636267662, + -0.007496597710996866, + -0.3984338045120239, + 0.8914765119552612, + 0.0, + 0.5315056443214417 + ], + [ + 0.35545769333839417, + -0.03061896376311779, + 0.018207630142569542, + 0.02322392724454403, + -0.4085891544818878, + 0.8909628987312317, + 0.0, + 0.8390268683433533 + ], + [ + 0.3550388216972351, + -0.032658278942108154, + 0.023063961416482925, + 0.01820508763194084, + -0.413849800825119, + 0.8938137292861938, + 0.0, + 1.0092895030975342 + ], + [ + 0.3567259907722473, + -0.034247975796461105, + 0.03495221212506294, + -0.009004322811961174, + -0.43013253808021545, + 0.9115577936172485, + 0.0, + 1.0067112445831299 + ], + [ + 0.3566051125526428, + -0.03620148077607155, + 0.04291047900915146, + -0.030606741085648537, + -0.4388220012187958, + 0.9035590887069702, + 0.0, + 1.0008161067962646 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9476637244224548 + ], + [ + 0.6611326336860657 + ], + [ + 0.3823249042034149 + ], + [ + 0.1452319175004959 + ], + [ + 0.06987876445055008 + ], + [ + 0.06833917647600174 + ], + [ + 0.06833917647600174 + ], + [ + 0.06833917647600174 + ], + [ + 0.06833917647600174 + ], + [ + 0.06833917647600174 + ], + [ + 0.06833917647600174 + ], + [ + 0.06833917647600174 + ], + [ + 0.06833917647600174 + ], + [ + 0.06833917647600174 + ], + [ + 0.06833917647600174 + ], + [ + 0.06833917647600174 + ], + [ + 0.06833917647600174 + ], + [ + 0.06833917647600174 + ], + [ + 0.06833917647600174 + ], + [ + 0.09775853902101517 + ], + [ + 0.26031553745269775 + ], + [ + 0.5315056443214417 + ], + [ + 0.8390268683433533 + ], + [ + 1.0092895030975342 + ], + [ + 1.0067112445831299 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3301682472229004, + -0.07414533942937851, + 0.10336983948945999 + ], + [ + 0.32737576961517334, + -0.07328293472528458, + 0.09289499372243881 + ], + [ + 0.3226962983608246, + -0.05662025138735771, + 0.09058263897895813 + ], + [ + 0.3180902898311615, + -0.04022453352808952, + 0.09480511397123337 + ], + [ + 0.30947309732437134, + -0.016275987029075623, + 0.09660353511571884 + ], + [ + 0.2939472496509552, + 0.018608279526233673, + 0.09679509699344635 + ], + [ + 0.27953964471817017, + 0.04686502367258072, + 0.10275713354349136 + ], + [ + 0.26578429341316223, + 0.07174085825681686, + 0.0994633212685585 + ], + [ + 0.2513752579689026, + 0.09415675699710846, + 0.09962024539709091 + ], + [ + 0.23706208169460297, + 0.11165826767683029, + 0.0874219462275505 + ], + [ + 0.22957098484039307, + 0.11859108507633209, + 0.07164525985717773 + ], + [ + 0.22034285962581635, + 0.13035546243190765, + 0.05722545087337494 + ], + [ + 0.2173328846693039, + 0.13635487854480743, + 0.04677531123161316 + ], + [ + 0.22093333303928375, + 0.1450463831424713, + 0.03718447685241699 + ], + [ + 0.22760701179504395, + 0.15155240893363953, + 0.028352830559015274 + ], + [ + 0.23517443239688873, + 0.1555040329694748, + 0.023378470912575722 + ], + [ + 0.24381275475025177, + 0.15140843391418457, + 0.01892409287393093 + ], + [ + 0.24363820254802704, + 0.14869245886802673, + 0.012800543569028378 + ], + [ + 0.24816274642944336, + 0.1454792618751526, + 0.012099935673177242 + ], + [ + 0.2502550184726715, + 0.14260239899158478, + 0.009913619607686996 + ], + [ + 0.2509647607803345, + 0.14064909517765045, + 0.009183324873447418 + ], + [ + 0.25020501017570496, + 0.1425742655992508, + 0.00970620010048151 + ], + [ + 0.2491995096206665, + 0.14424379169940948, + 0.00899801030755043 + ], + [ + 0.24703346192836761, + 0.14661216735839844, + 0.010140829719603062 + ], + [ + 0.24300560355186462, + 0.15187884867191315, + 0.012969402596354485 + ], + [ + 0.24023790657520294, + 0.15739208459854126, + 0.0208695437759161 + ], + [ + 0.23773813247680664, + 0.16457191109657288, + 0.03319932892918587 + ], + [ + 0.23779696226119995, + 0.1657310128211975, + 0.044649090617895126 + ], + [ + 0.2540636956691742, + 0.1555815190076828, + 0.07379627227783203 + ], + [ + 0.2747305929660797, + 0.12471786886453629, + 0.09933171421289444 + ], + [ + 0.29139477014541626, + 0.09157031029462814, + 0.11073452979326248 + ], + [ + 0.31024739146232605, + 0.05860728770494461, + 0.11910250782966614 + ], + [ + 0.32584860920906067, + 0.029619911685585976, + 0.10773052275180817 + ], + [ + 0.3426218628883362, + 0.004348536022007465, + 0.09239383041858673 + ], + [ + 0.35410431027412415, + -0.017521457746624947, + 0.07126855850219727 + ], + [ + 0.3599856495857239, + -0.028540952131152153, + 0.05678098648786545 + ], + [ + 0.36090776324272156, + -0.03677204251289368, + 0.03227902948856354 + ], + [ + 0.3598944842815399, + -0.036027029156684875, + 0.0233641117811203 + ], + [ + 0.3600274324417114, + -0.03795771673321724, + 0.021106192842125893 + ], + [ + 0.3596464693546295, + -0.034860458225011826, + 0.01892857812345028 + ], + [ + 0.3587062656879425, + -0.033862289041280746, + 0.016530325636267662 + ], + [ + 0.35545769333839417, + -0.03061896376311779, + 0.018207630142569542 + ], + [ + 0.3550388216972351, + -0.032658278942108154, + 0.023063961416482925 + ], + [ + 0.3567259907722473, + -0.034247975796461105, + 0.03495221212506294 + ], + [ + 0.3566051125526428, + -0.03620148077607155, + 0.04291047900915146 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8452551139692059, + 0.3167953082693777, + 0.43033071580752286, + 0.37549495777818737, + -0.9250995322379449, + -0.05651895377918051, + 0.3801938045156212, + 0.20935994868084443, + -0.9009001514575808 + ], + [ + 0.8554200026282871, + 0.32795397723527747, + 0.4008775472871797, + 0.37714864711117874, + -0.9249011295199, + -0.04813313406606147, + 0.3549866435313158, + 0.1923644702859053, + -0.9148663254738335 + ], + [ + 0.8366034995533429, + 0.38595310969676083, + 0.3887605711109345, + 0.41711238168901205, + -0.9088429514529639, + 0.004663757710858835, + 0.35512229664837974, + 0.158255131700889, + -0.9213270145358349 + ], + [ + 0.806444305203474, + 0.4321655592816026, + 0.4035845784661567, + 0.4606521840058819, + -0.8870924450640597, + 0.02943737897433968, + 0.37073865184992083, + 0.1621725108675556, + -0.9144686592461304 + ], + [ + 0.756973444135192, + 0.5116409889001236, + 0.4064661158711865, + 0.5310764982194208, + -0.8441289738388801, + 0.07351209808403425, + 0.3807216278504582, + 0.16021789538944362, + -0.9107037213517217 + ], + [ + 0.6828488979231347, + 0.6196585802194369, + 0.38696334007964145, + 0.6245477265309115, + -0.7699475738442764, + 0.13084674553225428, + 0.3790217934238482, + 0.15232851831401933, + -0.9127642097595772 + ], + [ + 0.596724169091389, + 0.7079132670688513, + 0.37786118129558677, + 0.7015121473174188, + -0.6888430091996018, + 0.1826910393066416, + 0.38961644368313697, + 0.1560580500478656, + -0.9076590283950039 + ], + [ + 0.5295012299198223, + 0.7751633189194234, + 0.34460162001247147, + 0.7548374732090721, + -0.6159002709245345, + 0.2255820146076103, + 0.3871031342584797, + 0.14067226193144583, + -0.9112422719399884 + ], + [ + 0.46712782668840125, + 0.830287538730334, + 0.3039970338054224, + 0.7905337340898141, + -0.5461864133937189, + 0.2770141099116084, + 0.3960404130885964, + 0.1109189111613965, + -0.9115091806160727 + ], + [ + 0.40643667069658934, + 0.8708743421736889, + 0.2763821862143373, + 0.8281638255620858, + -0.4789134904961202, + 0.2911812951602376, + 0.38594547638681165, + 0.11054297247843056, + -0.915874631427353 + ], + [ + 0.41061248011431245, + 0.8822182624482688, + 0.23040904621375166, + 0.832631517980573, + -0.46578406714128967, + 0.299616351460806, + 0.3716478796384287, + 0.06881962074928902, + -0.9258194820591019 + ], + [ + 0.3953028750191621, + 0.8996151356420599, + 0.18554849696320136, + 0.8425479429914065, + -0.4355757690257422, + 0.31683862327466195, + 0.3658532503101955, + 0.031086285743905456, + -0.9301532358037109 + ], + [ + 0.38739881018768424, + 0.9089548890949187, + 0.15402328218685113, + 0.851400033199755, + -0.4168217284916638, + 0.3183985397653032, + 0.3536101601094379, + 0.0077882120968457424, + -0.935360464430538 + ], + [ + 0.36577442149508504, + 0.9208886739270744, + 0.1348077253452888, + 0.8654273676506427, + -0.3898226435727072, + 0.31475987336264155, + 0.34240990625450063, + 0.0015351842954576533, + -0.9395494129144903 + ], + [ + 0.36091329037108855, + 0.9251011788350488, + 0.11802290350401302, + 0.8715650820271111, + -0.37961123013067455, + 0.31027346285132307, + 0.331837165827744, + -0.009117174818949803, + -0.9432926229430247 + ], + [ + 0.35535758138648155, + 0.9298585149545864, + 0.09531071040340178, + 0.8739219181652647, + -0.3666849412815206, + 0.3190652516143244, + 0.3316345432874786, + -0.030088137260700587, + -0.9429280108760618 + ], + [ + 0.37539962520501974, + 0.9224132748756828, + 0.09071312875790609, + 0.8637519201855703, + -0.38365582731841624, + 0.3267121463006255, + 0.33616624127307965, + -0.04429397812050015, + -0.9407604911615868 + ], + [ + 0.3818952563590575, + 0.9211808528478681, + 0.07471177629346151, + 0.8642361488051648, + -0.38459158878530364, + 0.3243226617645045, + 0.3274933469077915, + -0.05928866824335316, + -0.9429914960109994 + ], + [ + 0.38954343969273864, + 0.9175287238770595, + 0.07998093180805349, + 0.856755391627162, + -0.3928656779095341, + 0.3341059084159851, + 0.33797353078331166, + -0.061624670232115736, + -0.9391359286645597 + ], + [ + 0.391434112760676, + 0.9161345663255587, + 0.08646844367018067, + 0.8538869336585855, + -0.3966427283501493, + 0.33697425802884184, + 0.3430108451556615, + -0.0580689454909461, + -0.9375348301130837 + ], + [ + 0.3900965976622933, + 0.9159972612326168, + 0.09366782748973951, + 0.8507464779698961, + -0.3974715901743613, + 0.34387027383314406, + 0.3522145293909945, + -0.0544550495235229, + -0.9343337588181595 + ], + [ + 0.40927894391800407, + 0.9079882069486915, + 0.08971154946529039, + 0.8391357631791474, + -0.4131926203853347, + 0.3537273376668116, + 0.35824840127921453, + -0.06949298166865958, + -0.9310364163015785 + ], + [ + 0.41442782887748214, + 0.9049343961803754, + 0.09666081554360706, + 0.8385303815621515, + -0.4209657581352538, + 0.3459113031903453, + 0.35371792978180844, + -0.06230223982546568, + -0.9332749096936022 + ], + [ + 0.40864855900542457, + 0.9075593846014826, + 0.09665567052464372, + 0.8462204975104249, + -0.41643118497864046, + 0.33240929254534163, + 0.3419316083897468, + -0.05404656880009873, + -0.9381693576241643 + ], + [ + 0.4099940555241146, + 0.9075891787463004, + 0.09048069991719423, + 0.8459041133146195, + -0.41546740136784, + 0.33441451744513395, + 0.34110277851740944, + -0.06056996799792985, + -0.9380725843261986 + ], + [ + 0.3994852033077581, + 0.9118154472338045, + 0.09489026569662623, + 0.8460909355016877, + -0.40656457819459474, + 0.34472506816205006, + 0.3529046630466052, + -0.05742677026673518, + -0.9338953179327399 + ], + [ + 0.3910881177477741, + 0.9148450469552311, + 0.10054165414386732, + 0.8437666970574266, + -0.40002735633771447, + 0.3578210098893869, + 0.36757019070281627, + -0.05510584581458691, + -0.9283617294264961 + ], + [ + 0.38244315356787584, + 0.9161890595243011, + 0.11972819842056734, + 0.8417468040786728, + -0.3989077036030465, + 0.3637787264663568, + 0.3810505899646378, + -0.03834385497208942, + -0.9237587329348941 + ], + [ + 0.37000729213136435, + 0.91015011828052, + 0.18633670052775664, + 0.8250416906963142, + -0.4141194672013739, + 0.38446231999744523, + 0.42708408116269436, + 0.011481684493396316, + -0.9041390150516742 + ], + [ + 0.3669379793229044, + 0.8971477217730975, + 0.24593186993101346, + 0.8137403056135811, + -0.4376661038417673, + 0.3824592743912526, + 0.4507585100143311, + 0.05978584167935189, + -0.8906415770579947 + ], + [ + 0.38014218418818785, + 0.8811790921281969, + 0.2810966513439116, + 0.7987282763525773, + -0.4659950328903693, + 0.3806333798766798, + 0.46639581940179853, + 0.0798250394151506, + -0.8809670270372749 + ], + [ + 0.3850361976338903, + 0.861674959786397, + 0.3305501326406437, + 0.7830846618666908, + -0.4945674072690968, + 0.3770696116319292, + 0.48839076451215413, + 0.1136632893428425, + -0.8651907984918696 + ], + [ + 0.4105284528797779, + 0.8515391950846647, + 0.3261094733531928, + 0.7747249291565892, + -0.5143397141467728, + 0.3677715902496187, + 0.4809029772412034, + 0.1016644366825333, + -0.8708597296893279 + ], + [ + 0.44782097774256574, + 0.8338041872985368, + 0.3228419878781545, + 0.7593471383893772, + -0.5452953409421519, + 0.3550280475774355, + 0.47206810452895037, + 0.08616013225505331, + -0.8773415163414047 + ], + [ + 0.49915415304513117, + 0.809560433770814, + 0.3089612201727092, + 0.7320270202086372, + -0.5847571712496489, + 0.34956471840929865, + 0.4636610542004377, + 0.051681280410999786, + -0.8845040825642458 + ], + [ + 0.5368052121100171, + 0.7888384064843486, + 0.2992893795421972, + 0.7077663477093539, + -0.6141167268016445, + 0.34918110331545227, + 0.4592460792447572, + 0.024384714836718363, + -0.8879743376813602 + ], + [ + 0.5734775603907578, + 0.7691416418418748, + 0.28203656236922603, + 0.6900570252774743, + -0.6390783189350783, + 0.3397060554837342, + 0.4415255254155396, + -0.00019248870078633629, + -0.8972486686279518 + ], + [ + 0.5846914926782438, + 0.766329839829462, + 0.266222529055373, + 0.6835342139493981, + -0.6421047546272008, + 0.3471058375275778, + 0.43694031257171295, + -0.020977623127846234, + -0.8992458521325747 + ], + [ + 0.5881783584997975, + 0.7638947176728761, + 0.26553922291059134, + 0.6865042295786177, + -0.6451674254211596, + 0.3353668676928313, + 0.42750223550661376, + -0.014961734087647949, + -0.9038904718769517 + ], + [ + 0.5842028920912876, + 0.7720004622053322, + 0.2504441399332984, + 0.7076356030611799, + -0.6356145385492863, + 0.30861952573519835, + 0.39744035294923974, + -0.003073229495506341, + -0.9176228643119417 + ], + [ + 0.579051922302873, + 0.7761510878207176, + 0.24957636136474276, + 0.7170592967031284, + -0.6305091197862446, + 0.2971265973924085, + 0.38797530371012384, + 0.006909322766542325, + -0.9216438710098089 + ], + [ + 0.5769133518774405, + 0.7832680279850052, + 0.23165098912376203, + 0.7136608175928075, + -0.6213188140483117, + 0.3234983288092298, + 0.3973150158983445, + -0.021310270905836565, + -0.9174348208432127 + ], + [ + 0.5735591839998244, + 0.7839232395492436, + 0.23768512141923182, + 0.7136635180242027, + -0.6206339953220824, + 0.3248042901377199, + 0.40213709787928587, + -0.016667283676974065, + -0.9154277449171273 + ], + [ + 0.5567214193955035, + 0.788127032274069, + 0.2625205557382597, + 0.7184563597116576, + -0.6154582056745892, + 0.32408587790536125, + 0.41699127134285385, + 0.008184012871680801, + -0.9088736444397465 + ], + [ + 0.5601868189876831, + 0.7771205562080106, + 0.28683509016752506, + 0.7111071258183017, + -0.6287417688830017, + 0.31465925009811363, + 0.4248733734218868, + 0.027702512175350136, + -0.9048288166146565 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0027924776077270508, + 0.0008624047040939331, + -0.01047484576702118, + 0.021090775728225708, + 0.027106046676635742, + -0.0027976930141448975, + 1.0 + ], + [ + -0.004679471254348755, + 0.016662683337926865, + -0.0023123547434806824, + 0.037137433886528015, + -0.00014510750770568848, + 0.04725489020347595, + 1.0 + ], + [ + -0.004606008529663086, + 0.01639571785926819, + 0.004222474992275238, + -0.005407243967056274, + -0.01675933599472046, + 0.05647462606430054, + 1.0 + ], + [ + -0.008617192506790161, + 0.0239485464990139, + 0.0017984211444854736, + 0.0013703703880310059, + -0.010772347450256348, + 0.09280049800872803, + 1.0 + ], + [ + -0.015525847673416138, + 0.034884266555309296, + 0.00019156187772750854, + 0.008782446384429932, + 0.0018375813961029053, + 0.12904959917068481, + 1.0 + ], + [ + -0.014407604932785034, + 0.028256744146347046, + 0.005962036550045013, + -0.004906788468360901, + -0.011476099491119385, + 0.1251048445701599, + 1.0 + ], + [ + -0.013755351305007935, + 0.024875834584236145, + -0.0032938122749328613, + 0.01710478961467743, + 0.0027273893356323242, + 0.09314048290252686, + 1.0 + ], + [ + -0.014409035444259644, + 0.022415898740291595, + 0.00015692412853240967, + 0.03207334131002426, + -0.009712934494018555, + 0.0780138373374939, + 1.0 + ], + [ + -0.014313176274299622, + 0.017501510679721832, + -0.012198299169540405, + 0.0009761452674865723, + 0.010968148708343506, + 0.07746767997741699, + 1.0 + ], + [ + -0.0074910968542099, + 0.0069328173995018005, + -0.015776686370372772, + 0.04591832309961319, + 0.015449076890945435, + -0.001917719841003418, + 1.0 + ], + [ + -0.009228125214576721, + 0.011764377355575562, + -0.014419808983802795, + 0.040789104998111725, + 0.006233960390090942, + 0.019467473030090332, + 1.0 + ], + [ + -0.003009974956512451, + 0.00599941611289978, + -0.01045013964176178, + 0.02508193626999855, + 0.013121634721755981, + 0.011669754981994629, + 1.0 + ], + [ + 0.0036004483699798584, + 0.00869150459766388, + -0.009590834379196167, + 0.0066922795958817005, + 0.011947154998779297, + 0.027135610580444336, + 1.0 + ], + [ + 0.006673678755760193, + 0.006506025791168213, + -0.008831646293401718, + 0.011298922821879387, + 0.011230230331420898, + 0.007279634475708008, + 1.0 + ], + [ + 0.007567420601844788, + 0.003951624035835266, + -0.004974359646439552, + 0.022233473137021065, + 0.00021478533744812012, + 0.006396770477294922, + 1.0 + ], + [ + 0.008638322353363037, + -0.004095599055290222, + -0.004454378038644791, + 0.015149977058172226, + -0.004807621240615845, + -0.023782849311828613, + 1.0 + ], + [ + -0.00017455220222473145, + -0.002715975046157837, + -0.0061235493049025536, + 0.015741895884275436, + 0.009193867444992065, + -0.006100773811340332, + 1.0 + ], + [ + 0.004524543881416321, + -0.0032131969928741455, + -0.0007006078958511353, + 0.0027342289686203003, + -0.011113494634628296, + -0.010645866394042969, + 1.0 + ], + [ + 0.0020922720432281494, + -0.00287686288356781, + -0.002186316065490246, + -0.0036656558513641357, + -0.0053574442863464355, + -0.0030962228775024414, + 0.0 + ], + [ + 0.0007097423076629639, + -0.001953303813934326, + -0.0007302947342395782, + -0.003642518073320389, + -0.009815871715545654, + -9.918212890625e-05, + 0.0 + ], + [ + -0.0007597506046295166, + 0.0019251704216003418, + 0.000522875227034092, + 0.016285937279462814, + -0.006454885005950928, + -0.023862004280090332, + 0.0 + ], + [ + -0.0010055005550384521, + 0.0016695261001586914, + -0.0007081897929310799, + -0.007844626903533936, + 0.004848062992095947, + -0.005231380462646484, + 0.0 + ], + [ + -0.002166047692298889, + 0.0023683756589889526, + 0.0011428194120526314, + -0.009112738072872162, + 0.012571394443511963, + 0.009139299392700195, + 0.0 + ], + [ + -0.004027858376502991, + 0.0052666813135147095, + 0.002828572876751423, + 0.006934083998203278, + 0.0008818507194519043, + -0.0014352798461914062, + 0.0 + ], + [ + -0.002767696976661682, + 0.005513235926628113, + 0.007900141179561615, + -0.0030646957457065582, + -0.012583911418914795, + 0.010194182395935059, + 0.0 + ], + [ + -0.0024997740983963013, + 0.007179826498031616, + 0.012329785153269768, + -0.0021257326006889343, + -0.015721261501312256, + 0.007097840309143066, + 0.0 + ], + [ + 5.882978439331055e-05, + 0.0011591017246246338, + 0.011449761688709259, + -0.017803892493247986, + -0.014537394046783447, + 0.0075647830963134766, + 0.0 + ], + [ + 0.016266733407974243, + -0.01014949381351471, + 0.029147181659936905, + -0.05418304353952408, + -0.05033314228057861, + 0.004879355430603027, + 0.0 + ], + [ + 0.020666897296905518, + -0.030863650143146515, + 0.02553544193506241, + -0.054327815771102905, + -0.026349395513534546, + -0.0020433664321899414, + 0.0 + ], + [ + 0.016664177179336548, + -0.03314755856990814, + 0.011402815580368042, + -0.023337773978710175, + -0.0175970196723938, + -0.020585298538208008, + 0.0 + ], + [ + 0.01885262131690979, + -0.03296302258968353, + 0.008367978036403656, + -0.04026167094707489, + -0.025032758712768555, + -0.01276850700378418, + 0.0 + ], + [ + 0.01560121774673462, + -0.028987376019358635, + -0.011371985077857971, + 0.0144113227725029, + 0.008560359477996826, + -0.030303359031677246, + 0.0 + ], + [ + 0.016773253679275513, + -0.025271374732255936, + -0.015336692333221436, + 0.018322259187698364, + 0.010049045085906982, + -0.0455625057220459, + 0.0 + ], + [ + 0.011482447385787964, + -0.021869994699954987, + -0.021125271916389465, + 0.03952871263027191, + 0.009512454271316528, + -0.0656159520149231, + 0.0 + ], + [ + 0.0058813393115997314, + -0.011019494384527206, + -0.014487572014331818, + 0.030909152701497078, + 0.004976511001586914, + -0.050426363945007324, + 0.0 + ], + [ + 0.0009221136569976807, + -0.008231090381741524, + -0.02450195699930191, + 0.02766869030892849, + 0.019848108291625977, + -0.04450702667236328, + 0.0 + ], + [ + -0.0010132789611816406, + 0.0007450133562088013, + -0.008914917707443237, + 0.023109255358576775, + 0.0051039159297943115, + -0.01422351598739624, + 0.0 + ], + [ + 0.0001329481601715088, + -0.001930687576532364, + -0.0022579189389944077, + -0.006772702559828758, + 0.010466277599334717, + -0.0007954835891723633, + 1.0 + ], + [ + -0.0003809630870819092, + 0.003097258508205414, + -0.0021776147186756134, + -0.013201977126300335, + 0.033002257347106934, + 0.01827383041381836, + 1.0 + ], + [ + -0.0009402036666870117, + 0.000998169183731079, + -0.002398252487182617, + -0.01084570586681366, + 0.0102919340133667, + 0.010819435119628906, + 1.0 + ], + [ + -0.00324857234954834, + 0.0032433252781629562, + 0.0016773045063018799, + 0.030720524489879608, + -0.010155349969863892, + -0.000513613224029541, + 1.0 + ], + [ + -0.0004188716411590576, + -0.002039315178990364, + 0.0048563312739133835, + -0.0050188396126031876, + -0.005260646343231201, + 0.002850830554962158, + 1.0 + ], + [ + 0.001687169075012207, + -0.001589696854352951, + 0.011888250708580017, + -0.027209410443902016, + -0.016282737255096436, + 0.017744064331054688, + 1.0 + ], + [ + -0.00012087821960449219, + -0.001953504979610443, + 0.007958266884088516, + -0.021602418273687363, + -0.008689463138580322, + -0.00799870491027832, + 1.0 + ], + [ + 0.0022389590740203857, + 0.0008278228342533112, + 0.024079501628875732, + -0.04128551483154297, + -0.031347423791885376, + -0.0013557076454162598, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9476637244224548 + ], + [ + 0.6611326336860657 + ], + [ + 0.3823249042034149 + ], + [ + 0.1452319175004959 + ], + [ + 0.06987876445055008 + ], + [ + 0.06833917647600174 + ], + [ + 0.06833917647600174 + ], + [ + 0.06833917647600174 + ], + [ + 0.06833917647600174 + ], + [ + 0.06833917647600174 + ], + [ + 0.06833917647600174 + ], + [ + 0.06833917647600174 + ], + [ + 0.06833917647600174 + ], + [ + 0.06833917647600174 + ], + [ + 0.06833917647600174 + ], + [ + 0.06833917647600174 + ], + [ + 0.06833917647600174 + ], + [ + 0.06833917647600174 + ], + [ + 0.06833917647600174 + ], + [ + 0.09775853902101517 + ], + [ + 0.26031553745269775 + ], + [ + 0.5315056443214417 + ], + [ + 0.8390268683433533 + ], + [ + 1.0092895030975342 + ], + [ + 1.0067112445831299 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.32737576961517334, + -0.07328293472528458, + 0.09289499372243881 + ], + [ + 0.3226962983608246, + -0.05662025138735771, + 0.09058263897895813 + ], + [ + 0.3180902898311615, + -0.04022453352808952, + 0.09480511397123337 + ], + [ + 0.30947309732437134, + -0.016275987029075623, + 0.09660353511571884 + ], + [ + 0.2939472496509552, + 0.018608279526233673, + 0.09679509699344635 + ], + [ + 0.27953964471817017, + 0.04686502367258072, + 0.10275713354349136 + ], + [ + 0.26578429341316223, + 0.07174085825681686, + 0.0994633212685585 + ], + [ + 0.2513752579689026, + 0.09415675699710846, + 0.09962024539709091 + ], + [ + 0.23706208169460297, + 0.11165826767683029, + 0.0874219462275505 + ], + [ + 0.22957098484039307, + 0.11859108507633209, + 0.07164525985717773 + ], + [ + 0.22034285962581635, + 0.13035546243190765, + 0.05722545087337494 + ], + [ + 0.2173328846693039, + 0.13635487854480743, + 0.04677531123161316 + ], + [ + 0.22093333303928375, + 0.1450463831424713, + 0.03718447685241699 + ], + [ + 0.22760701179504395, + 0.15155240893363953, + 0.028352830559015274 + ], + [ + 0.23517443239688873, + 0.1555040329694748, + 0.023378470912575722 + ], + [ + 0.24381275475025177, + 0.15140843391418457, + 0.01892409287393093 + ], + [ + 0.24363820254802704, + 0.14869245886802673, + 0.012800543569028378 + ], + [ + 0.24816274642944336, + 0.1454792618751526, + 0.012099935673177242 + ], + [ + 0.2502550184726715, + 0.14260239899158478, + 0.009913619607686996 + ], + [ + 0.2509647607803345, + 0.14064909517765045, + 0.009183324873447418 + ], + [ + 0.25020501017570496, + 0.1425742655992508, + 0.00970620010048151 + ], + [ + 0.2491995096206665, + 0.14424379169940948, + 0.00899801030755043 + ], + [ + 0.24703346192836761, + 0.14661216735839844, + 0.010140829719603062 + ], + [ + 0.24300560355186462, + 0.15187884867191315, + 0.012969402596354485 + ], + [ + 0.24023790657520294, + 0.15739208459854126, + 0.0208695437759161 + ], + [ + 0.23773813247680664, + 0.16457191109657288, + 0.03319932892918587 + ], + [ + 0.23779696226119995, + 0.1657310128211975, + 0.044649090617895126 + ], + [ + 0.2540636956691742, + 0.1555815190076828, + 0.07379627227783203 + ], + [ + 0.2747305929660797, + 0.12471786886453629, + 0.09933171421289444 + ], + [ + 0.29139477014541626, + 0.09157031029462814, + 0.11073452979326248 + ], + [ + 0.31024739146232605, + 0.05860728770494461, + 0.11910250782966614 + ], + [ + 0.32584860920906067, + 0.029619911685585976, + 0.10773052275180817 + ], + [ + 0.3426218628883362, + 0.004348536022007465, + 0.09239383041858673 + ], + [ + 0.35410431027412415, + -0.017521457746624947, + 0.07126855850219727 + ], + [ + 0.3599856495857239, + -0.028540952131152153, + 0.05678098648786545 + ], + [ + 0.36090776324272156, + -0.03677204251289368, + 0.03227902948856354 + ], + [ + 0.3598944842815399, + -0.036027029156684875, + 0.0233641117811203 + ], + [ + 0.3600274324417114, + -0.03795771673321724, + 0.021106192842125893 + ], + [ + 0.3596464693546295, + -0.034860458225011826, + 0.01892857812345028 + ], + [ + 0.3587062656879425, + -0.033862289041280746, + 0.016530325636267662 + ], + [ + 0.35545769333839417, + -0.03061896376311779, + 0.018207630142569542 + ], + [ + 0.3550388216972351, + -0.032658278942108154, + 0.023063961416482925 + ], + [ + 0.3567259907722473, + -0.034247975796461105, + 0.03495221212506294 + ], + [ + 0.3566051125526428, + -0.03620148077607155, + 0.04291047900915146 + ], + [ + 0.3588440716266632, + -0.03537365794181824, + 0.06698998063802719 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8554200026282871, + 0.32795397723527747, + 0.4008775472871797, + 0.37714864711117874, + -0.9249011295199, + -0.04813313406606147, + 0.3549866435313158, + 0.1923644702859053, + -0.9148663254738335 + ], + [ + 0.8366034995533429, + 0.38595310969676083, + 0.3887605711109345, + 0.41711238168901205, + -0.9088429514529639, + 0.004663757710858835, + 0.35512229664837974, + 0.158255131700889, + -0.9213270145358349 + ], + [ + 0.806444305203474, + 0.4321655592816026, + 0.4035845784661567, + 0.4606521840058819, + -0.8870924450640597, + 0.02943737897433968, + 0.37073865184992083, + 0.1621725108675556, + -0.9144686592461304 + ], + [ + 0.756973444135192, + 0.5116409889001236, + 0.4064661158711865, + 0.5310764982194208, + -0.8441289738388801, + 0.07351209808403425, + 0.3807216278504582, + 0.16021789538944362, + -0.9107037213517217 + ], + [ + 0.6828488979231347, + 0.6196585802194369, + 0.38696334007964145, + 0.6245477265309115, + -0.7699475738442764, + 0.13084674553225428, + 0.3790217934238482, + 0.15232851831401933, + -0.9127642097595772 + ], + [ + 0.596724169091389, + 0.7079132670688513, + 0.37786118129558677, + 0.7015121473174188, + -0.6888430091996018, + 0.1826910393066416, + 0.38961644368313697, + 0.1560580500478656, + -0.9076590283950039 + ], + [ + 0.5295012299198223, + 0.7751633189194234, + 0.34460162001247147, + 0.7548374732090721, + -0.6159002709245345, + 0.2255820146076103, + 0.3871031342584797, + 0.14067226193144583, + -0.9112422719399884 + ], + [ + 0.46712782668840125, + 0.830287538730334, + 0.3039970338054224, + 0.7905337340898141, + -0.5461864133937189, + 0.2770141099116084, + 0.3960404130885964, + 0.1109189111613965, + -0.9115091806160727 + ], + [ + 0.40643667069658934, + 0.8708743421736889, + 0.2763821862143373, + 0.8281638255620858, + -0.4789134904961202, + 0.2911812951602376, + 0.38594547638681165, + 0.11054297247843056, + -0.915874631427353 + ], + [ + 0.41061248011431245, + 0.8822182624482688, + 0.23040904621375166, + 0.832631517980573, + -0.46578406714128967, + 0.299616351460806, + 0.3716478796384287, + 0.06881962074928902, + -0.9258194820591019 + ], + [ + 0.3953028750191621, + 0.8996151356420599, + 0.18554849696320136, + 0.8425479429914065, + -0.4355757690257422, + 0.31683862327466195, + 0.3658532503101955, + 0.031086285743905456, + -0.9301532358037109 + ], + [ + 0.38739881018768424, + 0.9089548890949187, + 0.15402328218685113, + 0.851400033199755, + -0.4168217284916638, + 0.3183985397653032, + 0.3536101601094379, + 0.0077882120968457424, + -0.935360464430538 + ], + [ + 0.36577442149508504, + 0.9208886739270744, + 0.1348077253452888, + 0.8654273676506427, + -0.3898226435727072, + 0.31475987336264155, + 0.34240990625450063, + 0.0015351842954576533, + -0.9395494129144903 + ], + [ + 0.36091329037108855, + 0.9251011788350488, + 0.11802290350401302, + 0.8715650820271111, + -0.37961123013067455, + 0.31027346285132307, + 0.331837165827744, + -0.009117174818949803, + -0.9432926229430247 + ], + [ + 0.35535758138648155, + 0.9298585149545864, + 0.09531071040340178, + 0.8739219181652647, + -0.3666849412815206, + 0.3190652516143244, + 0.3316345432874786, + -0.030088137260700587, + -0.9429280108760618 + ], + [ + 0.37539962520501974, + 0.9224132748756828, + 0.09071312875790609, + 0.8637519201855703, + -0.38365582731841624, + 0.3267121463006255, + 0.33616624127307965, + -0.04429397812050015, + -0.9407604911615868 + ], + [ + 0.3818952563590575, + 0.9211808528478681, + 0.07471177629346151, + 0.8642361488051648, + -0.38459158878530364, + 0.3243226617645045, + 0.3274933469077915, + -0.05928866824335316, + -0.9429914960109994 + ], + [ + 0.38954343969273864, + 0.9175287238770595, + 0.07998093180805349, + 0.856755391627162, + -0.3928656779095341, + 0.3341059084159851, + 0.33797353078331166, + -0.061624670232115736, + -0.9391359286645597 + ], + [ + 0.391434112760676, + 0.9161345663255587, + 0.08646844367018067, + 0.8538869336585855, + -0.3966427283501493, + 0.33697425802884184, + 0.3430108451556615, + -0.0580689454909461, + -0.9375348301130837 + ], + [ + 0.3900965976622933, + 0.9159972612326168, + 0.09366782748973951, + 0.8507464779698961, + -0.3974715901743613, + 0.34387027383314406, + 0.3522145293909945, + -0.0544550495235229, + -0.9343337588181595 + ], + [ + 0.40927894391800407, + 0.9079882069486915, + 0.08971154946529039, + 0.8391357631791474, + -0.4131926203853347, + 0.3537273376668116, + 0.35824840127921453, + -0.06949298166865958, + -0.9310364163015785 + ], + [ + 0.41442782887748214, + 0.9049343961803754, + 0.09666081554360706, + 0.8385303815621515, + -0.4209657581352538, + 0.3459113031903453, + 0.35371792978180844, + -0.06230223982546568, + -0.9332749096936022 + ], + [ + 0.40864855900542457, + 0.9075593846014826, + 0.09665567052464372, + 0.8462204975104249, + -0.41643118497864046, + 0.33240929254534163, + 0.3419316083897468, + -0.05404656880009873, + -0.9381693576241643 + ], + [ + 0.4099940555241146, + 0.9075891787463004, + 0.09048069991719423, + 0.8459041133146195, + -0.41546740136784, + 0.33441451744513395, + 0.34110277851740944, + -0.06056996799792985, + -0.9380725843261986 + ], + [ + 0.3994852033077581, + 0.9118154472338045, + 0.09489026569662623, + 0.8460909355016877, + -0.40656457819459474, + 0.34472506816205006, + 0.3529046630466052, + -0.05742677026673518, + -0.9338953179327399 + ], + [ + 0.3910881177477741, + 0.9148450469552311, + 0.10054165414386732, + 0.8437666970574266, + -0.40002735633771447, + 0.3578210098893869, + 0.36757019070281627, + -0.05510584581458691, + -0.9283617294264961 + ], + [ + 0.38244315356787584, + 0.9161890595243011, + 0.11972819842056734, + 0.8417468040786728, + -0.3989077036030465, + 0.3637787264663568, + 0.3810505899646378, + -0.03834385497208942, + -0.9237587329348941 + ], + [ + 0.37000729213136435, + 0.91015011828052, + 0.18633670052775664, + 0.8250416906963142, + -0.4141194672013739, + 0.38446231999744523, + 0.42708408116269436, + 0.011481684493396316, + -0.9041390150516742 + ], + [ + 0.3669379793229044, + 0.8971477217730975, + 0.24593186993101346, + 0.8137403056135811, + -0.4376661038417673, + 0.3824592743912526, + 0.4507585100143311, + 0.05978584167935189, + -0.8906415770579947 + ], + [ + 0.38014218418818785, + 0.8811790921281969, + 0.2810966513439116, + 0.7987282763525773, + -0.4659950328903693, + 0.3806333798766798, + 0.46639581940179853, + 0.0798250394151506, + -0.8809670270372749 + ], + [ + 0.3850361976338903, + 0.861674959786397, + 0.3305501326406437, + 0.7830846618666908, + -0.4945674072690968, + 0.3770696116319292, + 0.48839076451215413, + 0.1136632893428425, + -0.8651907984918696 + ], + [ + 0.4105284528797779, + 0.8515391950846647, + 0.3261094733531928, + 0.7747249291565892, + -0.5143397141467728, + 0.3677715902496187, + 0.4809029772412034, + 0.1016644366825333, + -0.8708597296893279 + ], + [ + 0.44782097774256574, + 0.8338041872985368, + 0.3228419878781545, + 0.7593471383893772, + -0.5452953409421519, + 0.3550280475774355, + 0.47206810452895037, + 0.08616013225505331, + -0.8773415163414047 + ], + [ + 0.49915415304513117, + 0.809560433770814, + 0.3089612201727092, + 0.7320270202086372, + -0.5847571712496489, + 0.34956471840929865, + 0.4636610542004377, + 0.051681280410999786, + -0.8845040825642458 + ], + [ + 0.5368052121100171, + 0.7888384064843486, + 0.2992893795421972, + 0.7077663477093539, + -0.6141167268016445, + 0.34918110331545227, + 0.4592460792447572, + 0.024384714836718363, + -0.8879743376813602 + ], + [ + 0.5734775603907578, + 0.7691416418418748, + 0.28203656236922603, + 0.6900570252774743, + -0.6390783189350783, + 0.3397060554837342, + 0.4415255254155396, + -0.00019248870078633629, + -0.8972486686279518 + ], + [ + 0.5846914926782438, + 0.766329839829462, + 0.266222529055373, + 0.6835342139493981, + -0.6421047546272008, + 0.3471058375275778, + 0.43694031257171295, + -0.020977623127846234, + -0.8992458521325747 + ], + [ + 0.5881783584997975, + 0.7638947176728761, + 0.26553922291059134, + 0.6865042295786177, + -0.6451674254211596, + 0.3353668676928313, + 0.42750223550661376, + -0.014961734087647949, + -0.9038904718769517 + ], + [ + 0.5842028920912876, + 0.7720004622053322, + 0.2504441399332984, + 0.7076356030611799, + -0.6356145385492863, + 0.30861952573519835, + 0.39744035294923974, + -0.003073229495506341, + -0.9176228643119417 + ], + [ + 0.579051922302873, + 0.7761510878207176, + 0.24957636136474276, + 0.7170592967031284, + -0.6305091197862446, + 0.2971265973924085, + 0.38797530371012384, + 0.006909322766542325, + -0.9216438710098089 + ], + [ + 0.5769133518774405, + 0.7832680279850052, + 0.23165098912376203, + 0.7136608175928075, + -0.6213188140483117, + 0.3234983288092298, + 0.3973150158983445, + -0.021310270905836565, + -0.9174348208432127 + ], + [ + 0.5735591839998244, + 0.7839232395492436, + 0.23768512141923182, + 0.7136635180242027, + -0.6206339953220824, + 0.3248042901377199, + 0.40213709787928587, + -0.016667283676974065, + -0.9154277449171273 + ], + [ + 0.5567214193955035, + 0.788127032274069, + 0.2625205557382597, + 0.7184563597116576, + -0.6154582056745892, + 0.32408587790536125, + 0.41699127134285385, + 0.008184012871680801, + -0.9088736444397465 + ], + [ + 0.5601868189876831, + 0.7771205562080106, + 0.28683509016752506, + 0.7111071258183017, + -0.6287417688830017, + 0.31465925009811363, + 0.4248733734218868, + 0.027702512175350136, + -0.9048288166146565 + ], + [ + 0.5526200015466985, + 0.762495570000297, + 0.33646937397101884, + 0.699548646585168, + -0.6438166495963559, + 0.31005130666291814, + 0.4530373328450833, + 0.06403614161116729, + -0.8891887019166224 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006533.json b/json/chunk-0006/episode_0006533.json new file mode 100644 index 0000000000000000000000000000000000000000..987f9d87c864febc2267393df131c9e83ab8ed53 --- /dev/null +++ b/json/chunk-0006/episode_0006533.json @@ -0,0 +1,2782 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 45, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nFold the cloth from left to right." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006533.mp4", + "start": 0, + "end": 45, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3223884701728821, + 0.04089204967021942, + 0.09891507774591446, + -0.03669058904051781, + -0.043311383575201035, + 0.27340999245643616, + 0.0, + 1.0001531839370728 + ], + [ + 0.31780675053596497, + 0.040241118520498276, + 0.08901190757751465, + -0.03206321597099304, + -0.008239420130848885, + 0.2763563096523285, + 0.0, + 1.0001531839370728 + ], + [ + 0.3085870146751404, + 0.045569464564323425, + 0.07994373142719269, + -0.01721273548901081, + 0.016359975561499596, + 0.30069124698638916, + 0.0, + 1.0001531839370728 + ], + [ + 0.29674503207206726, + 0.07858439534902573, + 0.07629858702421188, + -0.00728231156244874, + 0.017981497570872307, + 0.3974984288215637, + 0.0, + 1.0001531839370728 + ], + [ + 0.28844398260116577, + 0.08805450797080994, + 0.0816425234079361, + 0.014491274952888489, + -0.00505242682993412, + 0.418753981590271, + 0.0, + 1.0001531839370728 + ], + [ + 0.2748696208000183, + 0.10851799696683884, + 0.07658207416534424, + 0.03946328163146973, + -0.009254547767341137, + 0.4978298246860504, + 0.0, + 1.0001531839370728 + ], + [ + 0.2676938772201538, + 0.11621609330177307, + 0.07078415155410767, + 0.08317217230796814, + -0.01687757670879364, + 0.5205392241477966, + 0.0, + 1.0001531839370728 + ], + [ + 0.26170435547828674, + 0.12193547189235687, + 0.06198263540863991, + 0.11694275587797165, + -0.0171025563031435, + 0.5303337574005127, + 0.0, + 1.0001531839370728 + ], + [ + 0.2583189904689789, + 0.1252231001853943, + 0.0492093451321125, + 0.14735521376132965, + 0.00036546087358146906, + 0.5283101201057434, + 0.0, + 1.0001531839370728 + ], + [ + 0.2533566653728485, + 0.12955661118030548, + 0.03681858628988266, + 0.18763768672943115, + 0.013904910534620285, + 0.5358825922012329, + 0.0, + 1.0001531839370728 + ], + [ + 0.2502514123916626, + 0.13096272945404053, + 0.022154398262500763, + 0.20964553952217102, + 0.04871099442243576, + 0.5401585698127747, + 0.0, + 1.0001531839370728 + ], + [ + 0.252029150724411, + 0.13098327815532684, + 0.01787351816892624, + 0.20450754463672638, + 0.05536506325006485, + 0.5487043857574463, + 0.0, + 1.0001531839370728 + ], + [ + 0.25125473737716675, + 0.13370579481124878, + 0.012688604183495045, + 0.17131191492080688, + 0.07614625245332718, + 0.5634959936141968, + 0.0, + 0.9620732665061951 + ], + [ + 0.25424280762672424, + 0.13369803130626678, + 0.011120033450424671, + 0.1576520949602127, + 0.05777450650930405, + 0.5622142553329468, + 0.0, + 0.7111459374427795 + ], + [ + 0.2543509006500244, + 0.13187208771705627, + 0.009869765490293503, + 0.14635318517684937, + 0.05359894409775734, + 0.568364679813385, + 0.0, + 0.5014150738716125 + ], + [ + 0.2546529471874237, + 0.13110174238681793, + 0.009011455811560154, + 0.14117324352264404, + 0.05298076197504997, + 0.5717319846153259, + 0.0, + 0.3461596965789795 + ], + [ + 0.2545102536678314, + 0.13006600737571716, + 0.00924427155405283, + 0.13405150175094604, + 0.04770178720355034, + 0.565397322177887, + 0.0, + 0.21856790781021118 + ], + [ + 0.2545285224914551, + 0.1296427696943283, + 0.009356927126646042, + 0.13079111278057098, + 0.04840035364031792, + 0.5535068511962891, + 0.0, + 0.1124330535531044 + ], + [ + 0.2539869248867035, + 0.1273876279592514, + 0.012800651602447033, + 0.11748059839010239, + 0.0433783121407032, + 0.5436375737190247, + 0.0, + 0.06443082541227341 + ], + [ + 0.24984273314476013, + 0.126693457365036, + 0.014585564844310284, + 0.11412474513053894, + 0.05790472403168678, + 0.5396392941474915, + 0.0, + 0.05430474132299423 + ], + [ + 0.24008946120738983, + 0.13532915711402893, + 0.01872614026069641, + 0.10501264035701752, + 0.08361171185970306, + 0.5708067417144775, + 0.0, + 0.052451856434345245 + ], + [ + 0.2375541478395462, + 0.14035481214523315, + 0.032378777861595154, + 0.09789834171533585, + 0.06193704158067703, + 0.5914157629013062, + 0.0, + 0.052451856434345245 + ], + [ + 0.23920628428459167, + 0.14613939821720123, + 0.04380602389574051, + 0.06558310240507126, + 0.06101401895284653, + 0.6273487210273743, + 0.0, + 0.052451856434345245 + ], + [ + 0.24444150924682617, + 0.14213769137859344, + 0.06013679876923561, + 0.019914396107196808, + 0.043928299099206924, + 0.6359656453132629, + 0.0, + 0.052451856434345245 + ], + [ + 0.2534622848033905, + 0.12890532612800598, + 0.07367993891239166, + -0.04041828215122223, + 0.0371406152844429, + 0.6232814192771912, + 0.0, + 0.052451856434345245 + ], + [ + 0.27025431394577026, + 0.10769219696521759, + 0.08526096493005753, + -0.08881743997335434, + 0.028753019869327545, + 0.5997022986412048, + 0.0, + 0.052451856434345245 + ], + [ + 0.29103678464889526, + 0.07895339280366898, + 0.09418798238039017, + -0.13455675542354584, + 0.004487127065658569, + 0.5473923087120056, + 0.0, + 0.05192930996417999 + ], + [ + 0.31112122535705566, + 0.057964615523815155, + 0.09805122762918472, + -0.146697998046875, + -0.01392363477498293, + 0.5189756155014038, + 0.0, + 0.05192930996417999 + ], + [ + 0.33064088225364685, + 0.033080246299505234, + 0.09284708648920059, + -0.13371017575263977, + -0.022737082093954086, + 0.48591700196266174, + 0.0, + 0.05192930996417999 + ], + [ + 0.34281739592552185, + 0.015195779502391815, + 0.07858531177043915, + -0.10702034085988998, + -0.01556259486824274, + 0.4698830246925354, + 0.0, + 0.05192930996417999 + ], + [ + 0.3505319356918335, + 0.013072570785880089, + 0.0624830462038517, + -0.08452527225017548, + -0.01857127994298935, + 0.47555696964263916, + 0.0, + 0.07429859787225723 + ], + [ + 0.351858526468277, + 0.013823132030665874, + 0.05451464653015137, + -0.07465888559818268, + -0.004990362096577883, + 0.48889854550361633, + 0.0, + 0.22681957483291626 + ], + [ + 0.35142484307289124, + 0.015471241436898708, + 0.052791740745306015, + -0.06295228749513626, + -0.005048712249845266, + 0.48449406027793884, + 0.0, + 0.4946928322315216 + ], + [ + 0.3501531183719635, + 0.014587881974875927, + 0.05081920325756073, + -0.06698969751596451, + -0.001968388445675373, + 0.4818127453327179, + 0.0, + 0.8121206760406494 + ], + [ + 0.34626343846321106, + 0.013817579485476017, + 0.04803844541311264, + -0.06829893589019775, + 0.010675332508981228, + 0.4688701033592224, + 0.0, + 1.0156210660934448 + ], + [ + 0.34354260563850403, + 0.012953122146427631, + 0.05054217204451561, + -0.06989523768424988, + 0.026301061734557152, + 0.45266300439834595, + 0.0, + 1.00800359249115 + ], + [ + 0.3428802788257599, + 0.013178599067032337, + 0.06139267608523369, + -0.09880636632442474, + 0.020593300461769104, + 0.45313745737075806, + 0.0, + 0.9988223910331726 + ], + [ + 0.34258565306663513, + 0.010692448355257511, + 0.07465820759534836, + -0.11648913472890854, + 0.01725078746676445, + 0.4421413838863373, + 0.0, + 0.9988223910331726 + ], + [ + 0.34387582540512085, + 0.010659510269761086, + 0.10137542337179184, + -0.12516699731349945, + -0.01418943703174591, + 0.4329981207847595, + 0.0, + 0.9988223910331726 + ], + [ + 0.3405088186264038, + 0.011801278218626976, + 0.12527060508728027, + -0.14192822575569153, + -0.06468662619590759, + 0.4146665632724762, + 0.0, + 0.9988223910331726 + ], + [ + 0.33372625708580017, + 0.0160661693662405, + 0.13577227294445038, + -0.11672703921794891, + -0.0867491140961647, + 0.4127577245235443, + 0.0, + 0.9988223910331726 + ], + [ + 0.33372625708580017, + 0.0160661693662405, + 0.13577227294445038, + -0.11659440398216248, + -0.08692765980958939, + 0.4112284481525421, + 0.0, + 0.9988223910331726 + ], + [ + 0.3336769640445709, + 0.01651548221707344, + 0.13573390245437622, + -0.11390028893947601, + -0.08769737929105759, + 0.4117477834224701, + 0.0, + 0.9988223910331726 + ], + [ + 0.3336769640445709, + 0.01651548221707344, + 0.13573390245437622, + -0.11390028893947601, + -0.08769737929105759, + 0.4117477834224701, + 0.0, + 0.9988223910331726 + ], + [ + 0.3336769640445709, + 0.01651548221707344, + 0.13573390245437622, + -0.11390028893947601, + -0.08769737929105759, + 0.4117477834224701, + 0.0, + 0.9988223910331726 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9620732665061951 + ], + [ + 0.7111459374427795 + ], + [ + 0.5014150738716125 + ], + [ + 0.3461596965789795 + ], + [ + 0.21856790781021118 + ], + [ + 0.1124330535531044 + ], + [ + 0.06443082541227341 + ], + [ + 0.05430474132299423 + ], + [ + 0.052451856434345245 + ], + [ + 0.052451856434345245 + ], + [ + 0.052451856434345245 + ], + [ + 0.052451856434345245 + ], + [ + 0.052451856434345245 + ], + [ + 0.052451856434345245 + ], + [ + 0.05192930996417999 + ], + [ + 0.05192930996417999 + ], + [ + 0.05192930996417999 + ], + [ + 0.05192930996417999 + ], + [ + 0.07429859787225723 + ], + [ + 0.22681957483291626 + ], + [ + 0.4946928322315216 + ], + [ + 0.8121206760406494 + ], + [ + 1.0156210660934448 + ], + [ + 1.00800359249115 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3223884701728821, + 0.04089204967021942, + 0.09891507774591446 + ], + [ + 0.31780675053596497, + 0.040241118520498276, + 0.08901190757751465 + ], + [ + 0.3085870146751404, + 0.045569464564323425, + 0.07994373142719269 + ], + [ + 0.29674503207206726, + 0.07858439534902573, + 0.07629858702421188 + ], + [ + 0.28844398260116577, + 0.08805450797080994, + 0.0816425234079361 + ], + [ + 0.2748696208000183, + 0.10851799696683884, + 0.07658207416534424 + ], + [ + 0.2676938772201538, + 0.11621609330177307, + 0.07078415155410767 + ], + [ + 0.26170435547828674, + 0.12193547189235687, + 0.06198263540863991 + ], + [ + 0.2583189904689789, + 0.1252231001853943, + 0.0492093451321125 + ], + [ + 0.2533566653728485, + 0.12955661118030548, + 0.03681858628988266 + ], + [ + 0.2502514123916626, + 0.13096272945404053, + 0.022154398262500763 + ], + [ + 0.252029150724411, + 0.13098327815532684, + 0.01787351816892624 + ], + [ + 0.25125473737716675, + 0.13370579481124878, + 0.012688604183495045 + ], + [ + 0.25424280762672424, + 0.13369803130626678, + 0.011120033450424671 + ], + [ + 0.2543509006500244, + 0.13187208771705627, + 0.009869765490293503 + ], + [ + 0.2546529471874237, + 0.13110174238681793, + 0.009011455811560154 + ], + [ + 0.2545102536678314, + 0.13006600737571716, + 0.00924427155405283 + ], + [ + 0.2545285224914551, + 0.1296427696943283, + 0.009356927126646042 + ], + [ + 0.2539869248867035, + 0.1273876279592514, + 0.012800651602447033 + ], + [ + 0.24984273314476013, + 0.126693457365036, + 0.014585564844310284 + ], + [ + 0.24008946120738983, + 0.13532915711402893, + 0.01872614026069641 + ], + [ + 0.2375541478395462, + 0.14035481214523315, + 0.032378777861595154 + ], + [ + 0.23920628428459167, + 0.14613939821720123, + 0.04380602389574051 + ], + [ + 0.24444150924682617, + 0.14213769137859344, + 0.06013679876923561 + ], + [ + 0.2534622848033905, + 0.12890532612800598, + 0.07367993891239166 + ], + [ + 0.27025431394577026, + 0.10769219696521759, + 0.08526096493005753 + ], + [ + 0.29103678464889526, + 0.07895339280366898, + 0.09418798238039017 + ], + [ + 0.31112122535705566, + 0.057964615523815155, + 0.09805122762918472 + ], + [ + 0.33064088225364685, + 0.033080246299505234, + 0.09284708648920059 + ], + [ + 0.34281739592552185, + 0.015195779502391815, + 0.07858531177043915 + ], + [ + 0.3505319356918335, + 0.013072570785880089, + 0.0624830462038517 + ], + [ + 0.351858526468277, + 0.013823132030665874, + 0.05451464653015137 + ], + [ + 0.35142484307289124, + 0.015471241436898708, + 0.052791740745306015 + ], + [ + 0.3501531183719635, + 0.014587881974875927, + 0.05081920325756073 + ], + [ + 0.34626343846321106, + 0.013817579485476017, + 0.04803844541311264 + ], + [ + 0.34354260563850403, + 0.012953122146427631, + 0.05054217204451561 + ], + [ + 0.3428802788257599, + 0.013178599067032337, + 0.06139267608523369 + ], + [ + 0.34258565306663513, + 0.010692448355257511, + 0.07465820759534836 + ], + [ + 0.34387582540512085, + 0.010659510269761086, + 0.10137542337179184 + ], + [ + 0.3405088186264038, + 0.011801278218626976, + 0.12527060508728027 + ], + [ + 0.33372625708580017, + 0.0160661693662405, + 0.13577227294445038 + ], + [ + 0.33372625708580017, + 0.0160661693662405, + 0.13577227294445038 + ], + [ + 0.3336769640445709, + 0.01651548221707344, + 0.13573390245437622 + ], + [ + 0.3336769640445709, + 0.01651548221707344, + 0.13573390245437622 + ], + [ + 0.3336769640445709, + 0.01651548221707344, + 0.13573390245437622 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9619527847619105, + 0.26830533152893354, + 0.05156635494151896, + 0.2697631120417634, + -0.9626365754098466, + -0.023636562033126397, + 0.04329784371477025, + 0.0366479570556379, + -0.9983898156398129 + ], + [ + 0.9620233549168592, + 0.2724576808933378, + 0.01666963457112735, + 0.27284277173248783, + -0.9616336019076135, + -0.028594363002577006, + 0.008239326904812477, + 0.03205663432760373, + -0.9994520927426898 + ], + [ + 0.955004166335122, + 0.296405574457637, + -0.010525099191796566, + 0.296140874179774, + -0.9549070979473104, + -0.021284194367772628, + -0.01635924578329369, + 0.017209582222821925, + -0.9997180629343044 + ], + [ + 0.9218832104632849, + 0.3872234916222996, + -0.013759135210529789, + 0.3870504448490661, + -0.9219571321685912, + -0.013674779179452215, + -0.017980528580851342, + 0.00728106992835589, + -0.9998118256015236 + ], + [ + 0.9135846477292776, + 0.40664660452060974, + -0.0012768967187448369, + 0.40661722127045785, + -0.9134706136715353, + 0.015292917473135407, + 0.005052405334397401, + -0.014490582818072717, + -0.9998822411713938 + ], + [ + 0.8785833067820141, + 0.4774689159510718, + -0.010714818920062536, + 0.47749945427685253, + -0.87776251075751, + 0.039079993269962136, + 0.009254415664397839, + -0.03945134990314734, + -0.9991786360714134 + ], + [ + 0.8674275645953972, + 0.49684513518498713, + -0.026726986794437503, + 0.49727718088658573, + -0.8638548509876701, + 0.0804375645737755, + 0.01687677544995038, + -0.08306448138694596, + -0.9964012577181593 + ], + [ + 0.8625121403000331, + 0.5040877946028093, + -0.044365562856025005, + 0.5057473073779937, + -0.8557371651749284, + 0.1092408587401546, + 0.017101722573036618, + -0.1166593308349281, + -0.9930247386717924 + ], + [ + 0.8636600711051869, + 0.49856550635855285, + -0.07432171585763828, + 0.5040745460910911, + -0.8543275630461438, + 0.12662253749904825, + -0.00036546086544621964, + -0.14682251492559725, + -0.989162785161916 + ], + [ + 0.8597351924393173, + 0.49940774280587974, + -0.1069920805801353, + 0.5105507465521856, + -0.8460508236809869, + 0.15341427229475554, + -0.013904462461235514, + -0.1865205355296292, + -0.9823526636343001 + ], + [ + 0.8566098731914075, + 0.4943212020182123, + -0.14787181741721714, + 0.513661990266603, + -0.8440604985887461, + 0.15399102076897142, + -0.04869173344987086, + -0.20786636081239146, + -0.9769445691216363 + ], + [ + 0.8518936869963217, + 0.5011247217336221, + -0.15215505027179704, + 0.5207830513263074, + -0.841282826254063, + 0.14501110199304398, + -0.05533678258693639, + -0.20277381368750805, + -0.977660790343742 + ], + [ + 0.8429431972217215, + 0.5153626283342049, + -0.1544283897930751, + 0.532597138942014, + -0.8399450859879829, + 0.1040794894079567, + -0.07607268792676362, + -0.16998121614196127, + -0.9825066576418182 + ], + [ + 0.8446651885625207, + 0.5187800985454318, + -0.13193910937941417, + 0.5321715304489265, + -0.8404168247821062, + 0.1024354567657586, + -0.05774237101373969, + -0.1567379021690486, + -0.9859508347850602 + ], + [ + 0.8415720177590338, + 0.5259159540742664, + -0.12316228389869399, + 0.5374815737734144, + -0.8379777348980068, + 0.09437623466349708, + -0.05357328419130294, + -0.14562185641365744, + -0.9878887478636438 + ], + [ + 0.8397850763782062, + 0.52944025756029, + -0.12022495234743938, + 0.5403301673179687, + -0.8366305621598056, + 0.08995895034016106, + -0.052955979630125834, + -0.14050735260000213, + -0.988662403496134 + ], + [ + 0.8434153114434396, + 0.5255637177787036, + -0.11150511637316547, + 0.5351419225809542, + -0.8402148345832239, + 0.08753373316982428, + -0.047683698672880484, + -0.13349835317678307, + -0.9899012347602971 + ], + [ + 0.8496900854048686, + 0.5158162275918147, + -0.10936351364882319, + 0.5250580855582955, + -0.8467375260617527, + 0.08572962585174457, + -0.04838145878872069, + -0.1302658102180759, + -0.9902979617941781 + ], + [ + 0.8550277287365156, + 0.5093371572585449, + -0.09748457994708809, + 0.5167659867568196, + -0.8525627149563116, + 0.07803673492384137, + -0.043364709418217046, + -0.11710028736987664, + -0.9921728804371576 + ], + [ + 0.8564562382377031, + 0.5048302364694128, + -0.10783851042164883, + 0.5129653991098861, + -0.8556996288961227, + 0.06815162817624829, + -0.05787237078052462, + -0.11368631163546095, + -0.9918297289590421 + ], + [ + 0.8385257628860628, + 0.5299684789955259, + -0.12652255232769843, + 0.5384235344210615, + -0.8415597810656734, + 0.04332704091243764, + -0.0835143254650266, + -0.10445355984295052, + -0.9910170590248469 + ], + [ + 0.8285603665915288, + 0.5498448661878368, + -0.10563305373125913, + 0.5564678110681394, + -0.8295503114576668, + 0.046795897315056526, + -0.06189744872565346, + -0.0975546200206197, + -0.993303479282081 + ], + [ + 0.8080801927250428, + 0.5825032276600699, + -0.08772908235618791, + 0.5859081061470701, + -0.8101919393931365, + 0.01734106379500097, + -0.06097616974369281, + -0.06541415067085604, + -0.9959934214719489 + ], + [ + 0.8037224283634188, + 0.5931333721234834, + -0.047149348023436136, + 0.593381667736767, + -0.8048583955056525, + -0.010057811789858788, + -0.04391417242238267, + -0.01989386984708024, + -0.9988372136654527 + ], + [ + 0.8114074984511206, + 0.5844442705605304, + -0.0065395769178341855, + 0.5833001631307257, + -0.8104285271955654, + -0.05446578742013446, + -0.03713207708926787, + 0.040379412038763204, + -0.9984942222839551 + ], + [ + 0.8251624598094326, + 0.5642771608928228, + 0.026423486067927236, + 0.5641634573201424, + -0.8208105579673496, + -0.08938468187509575, + -0.02874905817292934, + 0.08866404921987005, + -0.9956466130259802 + ], + [ + 0.8538760326691033, + 0.5162718140615, + 0.06602374450847892, + 0.5204570939655827, + -0.8458529792066541, + -0.11686381351012205, + -0.004487112008139692, + 0.13414973564221397, + -0.9909509141491071 + ], + [ + 0.8682435516225013, + 0.4888963160052567, + 0.08446021111998994, + 0.495942819273039, + -0.8600105602504101, + -0.1200939476796628, + 0.013923184889055272, + 0.14615823088100116, + -0.9891632405565227 + ], + [ + 0.8840185063068146, + 0.46017081017127515, + 0.08218336798514048, + 0.46689869852727595, + -0.8777698404053575, + -0.10735787157115763, + 0.02273512306112821, + 0.13327765281946385, + -0.9908179355655256 + ], + [ + 0.8915132879674919, + 0.4487094136634664, + 0.06216043329305306, + 0.45272716129080437, + -0.8872727492637855, + -0.08823370015732976, + 0.015561966680401794, + 0.10680323264616917, + -0.9941583851124358 + ], + [ + 0.8888845532572345, + 0.45480533822673286, + 0.055103133315208185, + 0.45775473584705495, + -0.8865816596047925, + -0.06658500328155323, + 0.01857021244572648, + 0.08441010113060313, + -0.9962580398856722 + ], + [ + 0.8828397031742591, + 0.4680168270457895, + 0.0394247143449096, + 0.4696479053419297, + -0.880566174438894, + -0.06351423023220251, + 0.004990341383512061, + 0.07458861867632993, + -0.9972019025537573 + ], + [ + 0.8848994312591717, + 0.46455704725307073, + 0.033760130401146046, + 0.46575477161096607, + -0.8833057752327369, + -0.053323542287721015, + 0.005048690801684675, + 0.06290991406767094, + -0.9980064395750095 + ], + [ + 0.8861546611106217, + 0.4622301872124625, + 0.032759282981339136, + 0.4633854141466373, + -0.8842298121598194, + -0.058408879838258626, + 0.0019683871745713646, + 0.06693947503037781, + -0.9977550962709179 + ], + [ + 0.8920286022428873, + 0.45147498651070916, + 0.02133797871767257, + 0.45185286807270053, + -0.8896703723532943, + -0.0656933342982797, + -0.01067512974514091, + 0.06824196005322375, + -0.9976116862251658 + ], + [ + 0.8989745751820838, + 0.4379456243540092, + 0.006952933580079909, + 0.43721062065922234, + -0.8962865665324643, + -0.07427828643839302, + -0.02629802956438987, + 0.06981418740215659, + -0.9972133136287376 + ], + [ + 0.8988873513682185, + 0.43747953650799004, + 0.024762566243889502, + 0.43769567678013094, + -0.8938035645714469, + -0.09766105921685703, + -0.020591844944344965, + 0.0986247590421874, + -0.9949116206104232 + ], + [ + 0.9037030066159017, + 0.4267882042494427, + 0.03424477400882536, + 0.4278122434945673, + -0.8968541675889237, + -0.11238009785777897, + -0.01724993187014225, + 0.11620856591454415, + -0.9930750269030838 + ], + [ + 0.9076204594365381, + 0.4147036783428462, + 0.06516103729315781, + 0.4195518740289234, + -0.9013539065811664, + -0.10741210401853234, + 0.014188960886039093, + 0.1248278585083585, + -0.9920769522215459 + ], + [ + 0.9133365065199748, + 0.3904650367236717, + 0.11555726266345026, + 0.4020421610758578, + -0.9097317919290524, + -0.1036830143804143, + 0.06464152361556733, + 0.14115637374889198, + -0.9878746638995864 + ], + [ + 0.9125735378009313, + 0.3891643741512263, + 0.12554133979281773, + 0.39962856208881314, + -0.9138322999994855, + -0.07216328595953218, + 0.08664035127075026, + 0.11602421027153746, + -0.9894603742255402 + ], + [ + 0.9131694188151486, + 0.3877640836761195, + 0.1255413396121898, + 0.39822632821807613, + -0.9144442312135662, + -0.0721632836986986, + 0.08681822420870444, + 0.11589117054827414, + -0.9894603744133456 + ], + [ + 0.9129009716858393, + 0.38849598391817314, + 0.12523053291630215, + 0.39867365305985863, + -0.9144685285922789, + -0.0693298533835152, + 0.08758501156566635, + 0.11321740455302286, + -0.9897023214357533 + ], + [ + 0.9129009716858393, + 0.38849598391817314, + 0.12523053291630215, + 0.39867365305985863, + -0.9144685285922789, + -0.0693298533835152, + 0.08758501156566635, + 0.11321740455302286, + -0.9897023214357533 + ], + [ + 0.9129009716858393, + 0.38849598391817314, + 0.12523053291630215, + 0.39867365305985863, + -0.9144685285922789, + -0.0693298533835152, + 0.08758501156566635, + 0.11321740455302286, + -0.9897023214357533 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.004581719636917114, + -0.0006509311497211456, + -0.00990317016839981, + 0.004627373069524765, + 0.035071961581707, + 0.002946317195892334, + 1.0 + ], + [ + -0.009219735860824585, + 0.0053283460438251495, + -0.00906817615032196, + 0.014850480481982231, + 0.02459939569234848, + 0.02433493733406067, + 1.0 + ], + [ + -0.01184198260307312, + 0.0330149307847023, + -0.0036451444029808044, + 0.009930424392223358, + 0.0016215220093727112, + 0.09680718183517456, + 1.0 + ], + [ + -0.00830104947090149, + 0.00947011262178421, + 0.005343936383724213, + 0.02177358604967594, + -0.023033924400806427, + 0.021255552768707275, + 1.0 + ], + [ + -0.013574361801147461, + 0.0204634889960289, + -0.005060449242591858, + 0.024972006678581238, + -0.004202120937407017, + 0.07907584309577942, + 1.0 + ], + [ + -0.007175743579864502, + 0.007698096334934235, + -0.005797922611236572, + 0.04370889067649841, + -0.007623028941452503, + 0.022709399461746216, + 1.0 + ], + [ + -0.005989521741867065, + 0.005719378590583801, + -0.008801516145467758, + 0.03377058357000351, + -0.00022497959434986115, + 0.009794533252716064, + 1.0 + ], + [ + -0.0033853650093078613, + 0.0032876282930374146, + -0.012773290276527405, + 0.030412457883358, + 0.01746801659464836, + -0.002023637294769287, + 1.0 + ], + [ + -0.004962325096130371, + 0.004333510994911194, + -0.012390758842229843, + 0.0402824729681015, + 0.01353944931179285, + 0.007572472095489502, + 1.0 + ], + [ + -0.003105252981185913, + 0.0014061182737350464, + -0.014664188027381897, + 0.022007852792739868, + 0.034806083887815475, + 0.004275977611541748, + 1.0 + ], + [ + 0.001777738332748413, + 2.0548701286315918e-05, + -0.004280880093574524, + -0.005137994885444641, + 0.006654068827629089, + 0.00854581594467163, + 1.0 + ], + [ + -0.0007744133472442627, + 0.002722516655921936, + -0.005184913985431194, + -0.033195629715919495, + 0.02078118920326233, + 0.014791607856750488, + 0.0 + ], + [ + 0.002988070249557495, + -7.763504981994629e-06, + -0.0015685707330703735, + -0.013659819960594177, + -0.018371745944023132, + -0.00128173828125, + 0.0 + ], + [ + 0.0001080930233001709, + -0.0018259435892105103, + -0.0012502679601311684, + -0.011298909783363342, + -0.004175562411546707, + 0.006150424480438232, + 0.0 + ], + [ + 0.000302046537399292, + -0.0007703453302383423, + -0.0008583096787333488, + -0.005179941654205322, + -0.0006181821227073669, + 0.003367304801940918, + 0.0 + ], + [ + -0.00014269351959228516, + -0.001035735011100769, + 0.00023281574249267578, + -0.007121741771697998, + -0.005278974771499634, + -0.006334662437438965, + 0.0 + ], + [ + 1.8268823623657227e-05, + -0.000423237681388855, + 0.00011265557259321213, + -0.003260388970375061, + 0.0006985664367675781, + -0.0118904709815979, + 0.0 + ], + [ + -0.0005415976047515869, + -0.0022551417350769043, + 0.003443724475800991, + -0.013310514390468597, + -0.005022041499614716, + -0.009869277477264404, + 0.0 + ], + [ + -0.004144191741943359, + -0.0006941705942153931, + 0.0017849132418632507, + -0.003355853259563446, + 0.014526411890983582, + -0.003998279571533203, + 0.0 + ], + [ + -0.0097532719373703, + 0.00863569974899292, + 0.0041405754163861275, + -0.009112104773521423, + 0.02570698782801628, + 0.031167447566986084, + 0.0 + ], + [ + -0.002535313367843628, + 0.005025655031204224, + 0.013652637600898743, + -0.007114298641681671, + -0.02167467027902603, + 0.020609021186828613, + 0.0 + ], + [ + 0.0016521364450454712, + 0.005784586071968079, + 0.011427246034145355, + -0.03231523931026459, + -0.0009230226278305054, + 0.035932958126068115, + 0.0 + ], + [ + 0.005235224962234497, + -0.004001706838607788, + 0.016330774873495102, + -0.04566870629787445, + -0.017085719853639603, + 0.008616924285888672, + 0.0 + ], + [ + 0.009020775556564331, + -0.013232365250587463, + 0.013543140143156052, + -0.06033267825841904, + -0.006787683814764023, + -0.012684226036071777, + 0.0 + ], + [ + 0.01679202914237976, + -0.02121312916278839, + 0.011581026017665863, + -0.04839915782213211, + -0.008387595415115356, + -0.023579120635986328, + 0.0 + ], + [ + 0.020782470703125, + -0.028738804161548615, + 0.008927017450332642, + -0.0457393154501915, + -0.024265892803668976, + -0.05230998992919922, + 0.0 + ], + [ + 0.0200844407081604, + -0.02098877727985382, + 0.0038632452487945557, + -0.012141242623329163, + -0.018410760909318924, + -0.028416693210601807, + 0.0 + ], + [ + 0.019519656896591187, + -0.02488436922430992, + -0.005204141139984131, + 0.01298782229423523, + -0.008813447318971157, + -0.033058613538742065, + 0.0 + ], + [ + 0.012176513671875, + -0.01788446679711342, + -0.014261774718761444, + 0.026689834892749786, + 0.007174487225711346, + -0.016033977270126343, + 0.0 + ], + [ + 0.0077145397663116455, + -0.0021232087165117264, + -0.016102265566587448, + 0.022495068609714508, + -0.0030086850747466087, + 0.00567394495010376, + 1.0 + ], + [ + 0.0013265907764434814, + 0.0007505612447857857, + -0.007968399673700333, + 0.009866386651992798, + 0.013580918312072754, + 0.013341575860977173, + 1.0 + ], + [ + -0.0004336833953857422, + 0.0016481094062328339, + -0.0017229057848453522, + 0.011706598103046417, + -5.8350153267383575e-05, + -0.00440448522567749, + 1.0 + ], + [ + -0.0012717247009277344, + -0.0008833594620227814, + -0.001972537487745285, + -0.004037410020828247, + 0.0030803238041698933, + -0.0026813149452209473, + 1.0 + ], + [ + -0.0038896799087524414, + -0.00077030248939991, + -0.0027807578444480896, + -0.0013092383742332458, + 0.012643720954656601, + -0.012942641973495483, + 1.0 + ], + [ + -0.0027208328247070312, + -0.0008644573390483856, + 0.0025037266314029694, + -0.001596301794052124, + 0.0156257301568985, + -0.016207098960876465, + 1.0 + ], + [ + -0.0006623268127441406, + 0.0002254769206047058, + 0.010850504040718079, + -0.028911128640174866, + -0.005707761272788048, + 0.0004744529724121094, + 1.0 + ], + [ + -0.00029462575912475586, + -0.002486150711774826, + 0.01326553151011467, + -0.017682768404483795, + -0.003342512995004654, + -0.010996073484420776, + 1.0 + ], + [ + 0.0012901723384857178, + -3.293808549642563e-05, + 0.02671721577644348, + -0.008677862584590912, + -0.03144022449851036, + -0.009143263101577759, + 1.0 + ], + [ + -0.003367006778717041, + 0.0011417679488658905, + 0.023895181715488434, + -0.016761228442192078, + -0.05049718916416168, + -0.018331557512283325, + 1.0 + ], + [ + -0.006782561540603638, + 0.004264891147613525, + 0.010501667857170105, + 0.025201186537742615, + -0.02206248790025711, + -0.0019088387489318848, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.000132635235786438, + -0.00017854571342468262, + -0.0015292763710021973, + 1.0 + ], + [ + -4.929304122924805e-05, + 0.00044931285083293915, + -3.8370490074157715e-05, + 0.0026941150426864624, + -0.0007697194814682007, + 0.0005193352699279785, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9620732665061951 + ], + [ + 0.7111459374427795 + ], + [ + 0.5014150738716125 + ], + [ + 0.3461596965789795 + ], + [ + 0.21856790781021118 + ], + [ + 0.1124330535531044 + ], + [ + 0.06443082541227341 + ], + [ + 0.05430474132299423 + ], + [ + 0.052451856434345245 + ], + [ + 0.052451856434345245 + ], + [ + 0.052451856434345245 + ], + [ + 0.052451856434345245 + ], + [ + 0.052451856434345245 + ], + [ + 0.052451856434345245 + ], + [ + 0.05192930996417999 + ], + [ + 0.05192930996417999 + ], + [ + 0.05192930996417999 + ], + [ + 0.05192930996417999 + ], + [ + 0.07429859787225723 + ], + [ + 0.22681957483291626 + ], + [ + 0.4946928322315216 + ], + [ + 0.8121206760406494 + ], + [ + 1.0156210660934448 + ], + [ + 1.00800359249115 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.31780675053596497, + 0.040241118520498276, + 0.08901190757751465 + ], + [ + 0.3085870146751404, + 0.045569464564323425, + 0.07994373142719269 + ], + [ + 0.29674503207206726, + 0.07858439534902573, + 0.07629858702421188 + ], + [ + 0.28844398260116577, + 0.08805450797080994, + 0.0816425234079361 + ], + [ + 0.2748696208000183, + 0.10851799696683884, + 0.07658207416534424 + ], + [ + 0.2676938772201538, + 0.11621609330177307, + 0.07078415155410767 + ], + [ + 0.26170435547828674, + 0.12193547189235687, + 0.06198263540863991 + ], + [ + 0.2583189904689789, + 0.1252231001853943, + 0.0492093451321125 + ], + [ + 0.2533566653728485, + 0.12955661118030548, + 0.03681858628988266 + ], + [ + 0.2502514123916626, + 0.13096272945404053, + 0.022154398262500763 + ], + [ + 0.252029150724411, + 0.13098327815532684, + 0.01787351816892624 + ], + [ + 0.25125473737716675, + 0.13370579481124878, + 0.012688604183495045 + ], + [ + 0.25424280762672424, + 0.13369803130626678, + 0.011120033450424671 + ], + [ + 0.2543509006500244, + 0.13187208771705627, + 0.009869765490293503 + ], + [ + 0.2546529471874237, + 0.13110174238681793, + 0.009011455811560154 + ], + [ + 0.2545102536678314, + 0.13006600737571716, + 0.00924427155405283 + ], + [ + 0.2545285224914551, + 0.1296427696943283, + 0.009356927126646042 + ], + [ + 0.2539869248867035, + 0.1273876279592514, + 0.012800651602447033 + ], + [ + 0.24984273314476013, + 0.126693457365036, + 0.014585564844310284 + ], + [ + 0.24008946120738983, + 0.13532915711402893, + 0.01872614026069641 + ], + [ + 0.2375541478395462, + 0.14035481214523315, + 0.032378777861595154 + ], + [ + 0.23920628428459167, + 0.14613939821720123, + 0.04380602389574051 + ], + [ + 0.24444150924682617, + 0.14213769137859344, + 0.06013679876923561 + ], + [ + 0.2534622848033905, + 0.12890532612800598, + 0.07367993891239166 + ], + [ + 0.27025431394577026, + 0.10769219696521759, + 0.08526096493005753 + ], + [ + 0.29103678464889526, + 0.07895339280366898, + 0.09418798238039017 + ], + [ + 0.31112122535705566, + 0.057964615523815155, + 0.09805122762918472 + ], + [ + 0.33064088225364685, + 0.033080246299505234, + 0.09284708648920059 + ], + [ + 0.34281739592552185, + 0.015195779502391815, + 0.07858531177043915 + ], + [ + 0.3505319356918335, + 0.013072570785880089, + 0.0624830462038517 + ], + [ + 0.351858526468277, + 0.013823132030665874, + 0.05451464653015137 + ], + [ + 0.35142484307289124, + 0.015471241436898708, + 0.052791740745306015 + ], + [ + 0.3501531183719635, + 0.014587881974875927, + 0.05081920325756073 + ], + [ + 0.34626343846321106, + 0.013817579485476017, + 0.04803844541311264 + ], + [ + 0.34354260563850403, + 0.012953122146427631, + 0.05054217204451561 + ], + [ + 0.3428802788257599, + 0.013178599067032337, + 0.06139267608523369 + ], + [ + 0.34258565306663513, + 0.010692448355257511, + 0.07465820759534836 + ], + [ + 0.34387582540512085, + 0.010659510269761086, + 0.10137542337179184 + ], + [ + 0.3405088186264038, + 0.011801278218626976, + 0.12527060508728027 + ], + [ + 0.33372625708580017, + 0.0160661693662405, + 0.13577227294445038 + ], + [ + 0.33372625708580017, + 0.0160661693662405, + 0.13577227294445038 + ], + [ + 0.3336769640445709, + 0.01651548221707344, + 0.13573390245437622 + ], + [ + 0.3336769640445709, + 0.01651548221707344, + 0.13573390245437622 + ], + [ + 0.3336769640445709, + 0.01651548221707344, + 0.13573390245437622 + ], + [ + 0.3336769640445709, + 0.01651548221707344, + 0.13573390245437622 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9620233549168592, + 0.2724576808933378, + 0.01666963457112735, + 0.27284277173248783, + -0.9616336019076135, + -0.028594363002577006, + 0.008239326904812477, + 0.03205663432760373, + -0.9994520927426898 + ], + [ + 0.955004166335122, + 0.296405574457637, + -0.010525099191796566, + 0.296140874179774, + -0.9549070979473104, + -0.021284194367772628, + -0.01635924578329369, + 0.017209582222821925, + -0.9997180629343044 + ], + [ + 0.9218832104632849, + 0.3872234916222996, + -0.013759135210529789, + 0.3870504448490661, + -0.9219571321685912, + -0.013674779179452215, + -0.017980528580851342, + 0.00728106992835589, + -0.9998118256015236 + ], + [ + 0.9135846477292776, + 0.40664660452060974, + -0.0012768967187448369, + 0.40661722127045785, + -0.9134706136715353, + 0.015292917473135407, + 0.005052405334397401, + -0.014490582818072717, + -0.9998822411713938 + ], + [ + 0.8785833067820141, + 0.4774689159510718, + -0.010714818920062536, + 0.47749945427685253, + -0.87776251075751, + 0.039079993269962136, + 0.009254415664397839, + -0.03945134990314734, + -0.9991786360714134 + ], + [ + 0.8674275645953972, + 0.49684513518498713, + -0.026726986794437503, + 0.49727718088658573, + -0.8638548509876701, + 0.0804375645737755, + 0.01687677544995038, + -0.08306448138694596, + -0.9964012577181593 + ], + [ + 0.8625121403000331, + 0.5040877946028093, + -0.044365562856025005, + 0.5057473073779937, + -0.8557371651749284, + 0.1092408587401546, + 0.017101722573036618, + -0.1166593308349281, + -0.9930247386717924 + ], + [ + 0.8636600711051869, + 0.49856550635855285, + -0.07432171585763828, + 0.5040745460910911, + -0.8543275630461438, + 0.12662253749904825, + -0.00036546086544621964, + -0.14682251492559725, + -0.989162785161916 + ], + [ + 0.8597351924393173, + 0.49940774280587974, + -0.1069920805801353, + 0.5105507465521856, + -0.8460508236809869, + 0.15341427229475554, + -0.013904462461235514, + -0.1865205355296292, + -0.9823526636343001 + ], + [ + 0.8566098731914075, + 0.4943212020182123, + -0.14787181741721714, + 0.513661990266603, + -0.8440604985887461, + 0.15399102076897142, + -0.04869173344987086, + -0.20786636081239146, + -0.9769445691216363 + ], + [ + 0.8518936869963217, + 0.5011247217336221, + -0.15215505027179704, + 0.5207830513263074, + -0.841282826254063, + 0.14501110199304398, + -0.05533678258693639, + -0.20277381368750805, + -0.977660790343742 + ], + [ + 0.8429431972217215, + 0.5153626283342049, + -0.1544283897930751, + 0.532597138942014, + -0.8399450859879829, + 0.1040794894079567, + -0.07607268792676362, + -0.16998121614196127, + -0.9825066576418182 + ], + [ + 0.8446651885625207, + 0.5187800985454318, + -0.13193910937941417, + 0.5321715304489265, + -0.8404168247821062, + 0.1024354567657586, + -0.05774237101373969, + -0.1567379021690486, + -0.9859508347850602 + ], + [ + 0.8415720177590338, + 0.5259159540742664, + -0.12316228389869399, + 0.5374815737734144, + -0.8379777348980068, + 0.09437623466349708, + -0.05357328419130294, + -0.14562185641365744, + -0.9878887478636438 + ], + [ + 0.8397850763782062, + 0.52944025756029, + -0.12022495234743938, + 0.5403301673179687, + -0.8366305621598056, + 0.08995895034016106, + -0.052955979630125834, + -0.14050735260000213, + -0.988662403496134 + ], + [ + 0.8434153114434396, + 0.5255637177787036, + -0.11150511637316547, + 0.5351419225809542, + -0.8402148345832239, + 0.08753373316982428, + -0.047683698672880484, + -0.13349835317678307, + -0.9899012347602971 + ], + [ + 0.8496900854048686, + 0.5158162275918147, + -0.10936351364882319, + 0.5250580855582955, + -0.8467375260617527, + 0.08572962585174457, + -0.04838145878872069, + -0.1302658102180759, + -0.9902979617941781 + ], + [ + 0.8550277287365156, + 0.5093371572585449, + -0.09748457994708809, + 0.5167659867568196, + -0.8525627149563116, + 0.07803673492384137, + -0.043364709418217046, + -0.11710028736987664, + -0.9921728804371576 + ], + [ + 0.8564562382377031, + 0.5048302364694128, + -0.10783851042164883, + 0.5129653991098861, + -0.8556996288961227, + 0.06815162817624829, + -0.05787237078052462, + -0.11368631163546095, + -0.9918297289590421 + ], + [ + 0.8385257628860628, + 0.5299684789955259, + -0.12652255232769843, + 0.5384235344210615, + -0.8415597810656734, + 0.04332704091243764, + -0.0835143254650266, + -0.10445355984295052, + -0.9910170590248469 + ], + [ + 0.8285603665915288, + 0.5498448661878368, + -0.10563305373125913, + 0.5564678110681394, + -0.8295503114576668, + 0.046795897315056526, + -0.06189744872565346, + -0.0975546200206197, + -0.993303479282081 + ], + [ + 0.8080801927250428, + 0.5825032276600699, + -0.08772908235618791, + 0.5859081061470701, + -0.8101919393931365, + 0.01734106379500097, + -0.06097616974369281, + -0.06541415067085604, + -0.9959934214719489 + ], + [ + 0.8037224283634188, + 0.5931333721234834, + -0.047149348023436136, + 0.593381667736767, + -0.8048583955056525, + -0.010057811789858788, + -0.04391417242238267, + -0.01989386984708024, + -0.9988372136654527 + ], + [ + 0.8114074984511206, + 0.5844442705605304, + -0.0065395769178341855, + 0.5833001631307257, + -0.8104285271955654, + -0.05446578742013446, + -0.03713207708926787, + 0.040379412038763204, + -0.9984942222839551 + ], + [ + 0.8251624598094326, + 0.5642771608928228, + 0.026423486067927236, + 0.5641634573201424, + -0.8208105579673496, + -0.08938468187509575, + -0.02874905817292934, + 0.08866404921987005, + -0.9956466130259802 + ], + [ + 0.8538760326691033, + 0.5162718140615, + 0.06602374450847892, + 0.5204570939655827, + -0.8458529792066541, + -0.11686381351012205, + -0.004487112008139692, + 0.13414973564221397, + -0.9909509141491071 + ], + [ + 0.8682435516225013, + 0.4888963160052567, + 0.08446021111998994, + 0.495942819273039, + -0.8600105602504101, + -0.1200939476796628, + 0.013923184889055272, + 0.14615823088100116, + -0.9891632405565227 + ], + [ + 0.8840185063068146, + 0.46017081017127515, + 0.08218336798514048, + 0.46689869852727595, + -0.8777698404053575, + -0.10735787157115763, + 0.02273512306112821, + 0.13327765281946385, + -0.9908179355655256 + ], + [ + 0.8915132879674919, + 0.4487094136634664, + 0.06216043329305306, + 0.45272716129080437, + -0.8872727492637855, + -0.08823370015732976, + 0.015561966680401794, + 0.10680323264616917, + -0.9941583851124358 + ], + [ + 0.8888845532572345, + 0.45480533822673286, + 0.055103133315208185, + 0.45775473584705495, + -0.8865816596047925, + -0.06658500328155323, + 0.01857021244572648, + 0.08441010113060313, + -0.9962580398856722 + ], + [ + 0.8828397031742591, + 0.4680168270457895, + 0.0394247143449096, + 0.4696479053419297, + -0.880566174438894, + -0.06351423023220251, + 0.004990341383512061, + 0.07458861867632993, + -0.9972019025537573 + ], + [ + 0.8848994312591717, + 0.46455704725307073, + 0.033760130401146046, + 0.46575477161096607, + -0.8833057752327369, + -0.053323542287721015, + 0.005048690801684675, + 0.06290991406767094, + -0.9980064395750095 + ], + [ + 0.8861546611106217, + 0.4622301872124625, + 0.032759282981339136, + 0.4633854141466373, + -0.8842298121598194, + -0.058408879838258626, + 0.0019683871745713646, + 0.06693947503037781, + -0.9977550962709179 + ], + [ + 0.8920286022428873, + 0.45147498651070916, + 0.02133797871767257, + 0.45185286807270053, + -0.8896703723532943, + -0.0656933342982797, + -0.01067512974514091, + 0.06824196005322375, + -0.9976116862251658 + ], + [ + 0.8989745751820838, + 0.4379456243540092, + 0.006952933580079909, + 0.43721062065922234, + -0.8962865665324643, + -0.07427828643839302, + -0.02629802956438987, + 0.06981418740215659, + -0.9972133136287376 + ], + [ + 0.8988873513682185, + 0.43747953650799004, + 0.024762566243889502, + 0.43769567678013094, + -0.8938035645714469, + -0.09766105921685703, + -0.020591844944344965, + 0.0986247590421874, + -0.9949116206104232 + ], + [ + 0.9037030066159017, + 0.4267882042494427, + 0.03424477400882536, + 0.4278122434945673, + -0.8968541675889237, + -0.11238009785777897, + -0.01724993187014225, + 0.11620856591454415, + -0.9930750269030838 + ], + [ + 0.9076204594365381, + 0.4147036783428462, + 0.06516103729315781, + 0.4195518740289234, + -0.9013539065811664, + -0.10741210401853234, + 0.014188960886039093, + 0.1248278585083585, + -0.9920769522215459 + ], + [ + 0.9133365065199748, + 0.3904650367236717, + 0.11555726266345026, + 0.4020421610758578, + -0.9097317919290524, + -0.1036830143804143, + 0.06464152361556733, + 0.14115637374889198, + -0.9878746638995864 + ], + [ + 0.9125735378009313, + 0.3891643741512263, + 0.12554133979281773, + 0.39962856208881314, + -0.9138322999994855, + -0.07216328595953218, + 0.08664035127075026, + 0.11602421027153746, + -0.9894603742255402 + ], + [ + 0.9131694188151486, + 0.3877640836761195, + 0.1255413396121898, + 0.39822632821807613, + -0.9144442312135662, + -0.0721632836986986, + 0.08681822420870444, + 0.11589117054827414, + -0.9894603744133456 + ], + [ + 0.9129009716858393, + 0.38849598391817314, + 0.12523053291630215, + 0.39867365305985863, + -0.9144685285922789, + -0.0693298533835152, + 0.08758501156566635, + 0.11321740455302286, + -0.9897023214357533 + ], + [ + 0.9129009716858393, + 0.38849598391817314, + 0.12523053291630215, + 0.39867365305985863, + -0.9144685285922789, + -0.0693298533835152, + 0.08758501156566635, + 0.11321740455302286, + -0.9897023214357533 + ], + [ + 0.9129009716858393, + 0.38849598391817314, + 0.12523053291630215, + 0.39867365305985863, + -0.9144685285922789, + -0.0693298533835152, + 0.08758501156566635, + 0.11321740455302286, + -0.9897023214357533 + ], + [ + 0.9129009716858393, + 0.38849598391817314, + 0.12523053291630215, + 0.39867365305985863, + -0.9144685285922789, + -0.0693298533835152, + 0.08758501156566635, + 0.11321740455302286, + -0.9897023214357533 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006534.json b/json/chunk-0006/episode_0006534.json new file mode 100644 index 0000000000000000000000000000000000000000..2e4f13ca255920fc25a7651a4820b0512fa0d14a --- /dev/null +++ b/json/chunk-0006/episode_0006534.json @@ -0,0 +1,2722 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 44, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nFold the cloth from left to right." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006534.mp4", + "start": 0, + "end": 44, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.32462233304977417, + -0.0032837470062077045, + 0.10024309158325195, + -0.019704321399331093, + -0.11543973535299301, + 0.2457856684923172, + 0.0, + 0.9994885921478271 + ], + [ + 0.3230707049369812, + -0.003259943565353751, + 0.09116461127996445, + -0.012152100913226604, + -0.08727914094924927, + 0.24502140283584595, + 0.0, + 0.9994885921478271 + ], + [ + 0.3230094015598297, + -0.003259003162384033, + 0.09017350524663925, + -0.01135950442403555, + -0.08431455492973328, + 0.2449534833431244, + 0.0, + 0.9994885921478271 + ], + [ + 0.3224366009235382, + -0.004521692171692848, + 0.08913495391607285, + -0.017156586050987244, + -0.07638125866651535, + 0.24009959399700165, + 0.0, + 0.9994885921478271 + ], + [ + 0.3327760398387909, + 0.04354419559240341, + 0.057905688881874084, + -0.06313123553991318, + 0.030590564012527466, + 0.24816669523715973, + 0.0, + 0.9994885921478271 + ], + [ + 0.33712756633758545, + 0.07905664294958115, + 0.055717624723911285, + -0.10760309547185898, + 0.015394391492009163, + 0.23525835573673248, + 0.0, + 0.9994885921478271 + ], + [ + 0.33331575989723206, + 0.10112123936414719, + 0.056537218391895294, + -0.1480720192193985, + -0.016042446717619896, + 0.19077366590499878, + 0.0, + 0.9994885921478271 + ], + [ + 0.3210376501083374, + 0.12840791046619415, + 0.05258931964635849, + -0.17478594183921814, + -0.048404138535261154, + 0.1788383424282074, + 0.0, + 0.9994885921478271 + ], + [ + 0.3144979774951935, + 0.1524476259946823, + 0.05177004262804985, + -0.16469037532806396, + -0.09010861068964005, + 0.16686394810676575, + 0.0, + 0.9994885921478271 + ], + [ + 0.3106783330440521, + 0.17109256982803345, + 0.05263551324605942, + -0.14001891016960144, + -0.12534815073013306, + 0.16691003739833832, + 0.0, + 0.9994885921478271 + ], + [ + 0.3129161596298218, + 0.17980028688907623, + 0.052342548966407776, + -0.09031784534454346, + -0.15298832952976227, + 0.14264936745166779, + 0.0, + 0.9994885921478271 + ], + [ + 0.31786391139030457, + 0.1849256455898285, + 0.05052642151713371, + -0.01699095033109188, + -0.1682361513376236, + 0.09784211218357086, + 0.0, + 0.9994885921478271 + ], + [ + 0.32080453634262085, + 0.1881173849105835, + 0.03243376314640045, + 0.028753334656357765, + -0.145835280418396, + 0.051268141716718674, + 0.0, + 0.9994885921478271 + ], + [ + 0.3252880275249481, + 0.19957855343818665, + 0.026668479666113853, + 0.03326248377561569, + -0.14826078712940216, + 0.04415249824523926, + 0.0, + 0.9994885921478271 + ], + [ + 0.31833797693252563, + 0.21994930505752563, + 0.02513524331152439, + 0.02751685492694378, + -0.15629616379737854, + 0.06898631900548935, + 0.0, + 0.9994885921478271 + ], + [ + 0.311294823884964, + 0.2311408370733261, + 0.027430560439825058, + 0.024391913786530495, + -0.16484420001506805, + 0.06115618348121643, + 0.0, + 0.9994885921478271 + ], + [ + 0.3045978844165802, + 0.23930169641971588, + 0.027473898604512215, + 0.023164400830864906, + -0.16667552292346954, + 0.049032650887966156, + 0.0, + 0.9994885921478271 + ], + [ + 0.3036060929298401, + 0.24237598478794098, + 0.026927584782242775, + 0.04158158600330353, + -0.16711582243442535, + 0.0323367603123188, + 0.0, + 0.9994885921478271 + ], + [ + 0.3013136088848114, + 0.23975315690040588, + 0.009250319562852383, + 0.06540103256702423, + -0.14161372184753418, + 0.03721343353390694, + 0.0, + 0.9994885921478271 + ], + [ + 0.3099048435688019, + 0.23232664167881012, + 0.003414396196603775, + 0.10968483239412308, + -0.13715727627277374, + 0.03228874132037163, + 0.0, + 0.9994885921478271 + ], + [ + 0.3127988874912262, + 0.23002174496650696, + 0.0009067869395948946, + 0.15365423262119293, + -0.13156847655773163, + 0.03401912376284599, + 0.0, + 0.9575772881507874 + ], + [ + 0.31247004866600037, + 0.22533226013183594, + -0.0009030054206959903, + 0.14655780792236328, + -0.1307104080915451, + 0.03215227648615837, + 0.0, + 0.6902000904083252 + ], + [ + 0.31189507246017456, + 0.2198520451784134, + -0.001158198807388544, + 0.1132921651005745, + -0.12458842247724533, + 0.02239818498492241, + 0.0, + 0.39099013805389404 + ], + [ + 0.31227096915245056, + 0.21719060838222504, + -0.00036489195190370083, + 0.09292314201593399, + -0.11705140024423599, + 0.007760737556964159, + 0.0, + 0.18403103947639465 + ], + [ + 0.31210190057754517, + 0.21739228069782257, + 0.0004353872500360012, + 0.08890331536531448, + -0.11414149403572083, + 0.007192232180386782, + 0.0, + 0.065320685505867 + ], + [ + 0.31280747056007385, + 0.2168567180633545, + 0.0009949062950909138, + 0.08127500861883163, + -0.11371026933193207, + 0.012790546752512455, + 0.0, + 0.04910881817340851 + ], + [ + 0.3069053888320923, + 0.21035170555114746, + 0.0014794212765991688, + 0.02447877824306488, + -0.08521661907434464, + 0.030584797263145447, + 0.0, + 0.04910881817340851 + ], + [ + 0.29473406076431274, + 0.1911430060863495, + 0.025186818093061447, + -0.0012679840438067913, + -0.08509523421525955, + 0.06655887514352798, + 0.0, + 0.04910881817340851 + ], + [ + 0.29609015583992004, + 0.15765926241874695, + 0.05038047954440117, + -0.008871642872691154, + -0.08233613520860672, + 0.07998534291982651, + 0.0, + 0.04910881817340851 + ], + [ + 0.29294800758361816, + 0.11469267308712006, + 0.06731100380420685, + 0.055703241378068924, + -0.09982191771268845, + 0.09876853972673416, + 0.0, + 0.04910881817340851 + ], + [ + 0.2895921468734741, + 0.07647905498743057, + 0.06868645548820496, + 0.13993121683597565, + -0.10546443611383438, + 0.11305950582027435, + 0.0, + 0.04910881817340851 + ], + [ + 0.28504857420921326, + 0.03553586080670357, + 0.07502289861440659, + 0.18712742626667023, + -0.10863810032606125, + 0.09443959593772888, + 0.0, + 0.04910881817340851 + ], + [ + 0.2821493148803711, + 0.0038959835655987263, + 0.08471188694238663, + 0.19399461150169373, + -0.0652327686548233, + 0.09696146845817566, + 0.0, + 0.04910881817340851 + ], + [ + 0.288817822933197, + -0.028791120275855064, + 0.10373320430517197, + 0.21121446788311005, + -0.047417618334293365, + 0.105562224984169, + 0.0, + 0.04910881817340851 + ], + [ + 0.292484313249588, + -0.05662279576063156, + 0.1036764606833458, + 0.24000398814678192, + 0.007057550363242626, + 0.11935042589902878, + 0.0, + 0.04910881817340851 + ], + [ + 0.29516369104385376, + -0.08212236315011978, + 0.10353286564350128, + 0.2610149383544922, + 0.04013671353459358, + 0.12446647137403488, + 0.0, + 0.04910881817340851 + ], + [ + 0.30004048347473145, + -0.09851797670125961, + 0.09875163435935974, + 0.27092093229293823, + 0.06950563937425613, + 0.13819952309131622, + 0.0, + 0.04910881817340851 + ], + [ + 0.30688241124153137, + -0.11900424212217331, + 0.09604182094335556, + 0.26498088240623474, + 0.08420631289482117, + 0.1431637406349182, + 0.0, + 0.06833917647600174 + ], + [ + 0.3098592162132263, + -0.13927248120307922, + 0.08357834815979004, + 0.26942816376686096, + 0.10323032736778259, + 0.1352696716785431, + 0.0, + 0.18234474956989288 + ], + [ + 0.30807510018348694, + -0.1566023826599121, + 0.07615765929222107, + 0.2654856741428375, + 0.11748037487268448, + 0.12436570227146149, + 0.0, + 0.4148389995098114 + ], + [ + 0.30729037523269653, + -0.16419672966003418, + 0.07442822307348251, + 0.2524237632751465, + 0.10239383578300476, + 0.11463896185159683, + 0.0, + 0.7210758328437805 + ], + [ + 0.30518126487731934, + -0.16629289090633392, + 0.07335555553436279, + 0.23450636863708496, + 0.11556611210107803, + 0.09912654757499695, + 0.0, + 0.9752515554428101 + ], + [ + 0.29856550693511963, + -0.16304749250411987, + 0.10053316503763199, + 0.15282246470451355, + 0.09913736581802368, + 0.05128056928515434, + 0.0, + 1.0008161067962646 + ], + [ + 0.2951502501964569, + -0.13273906707763672, + 0.13779599964618683, + 0.040702320635318756, + 0.07915111631155014, + 0.03510624170303345, + 0.0, + 0.9994885921478271 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9575772881507874 + ], + [ + 0.6902000904083252 + ], + [ + 0.39099013805389404 + ], + [ + 0.18403103947639465 + ], + [ + 0.065320685505867 + ], + [ + 0.04910881817340851 + ], + [ + 0.04910881817340851 + ], + [ + 0.04910881817340851 + ], + [ + 0.04910881817340851 + ], + [ + 0.04910881817340851 + ], + [ + 0.04910881817340851 + ], + [ + 0.04910881817340851 + ], + [ + 0.04910881817340851 + ], + [ + 0.04910881817340851 + ], + [ + 0.04910881817340851 + ], + [ + 0.04910881817340851 + ], + [ + 0.04910881817340851 + ], + [ + 0.06833917647600174 + ], + [ + 0.18234474956989288 + ], + [ + 0.4148389995098114 + ], + [ + 0.7210758328437805 + ], + [ + 0.9752515554428101 + ], + [ + 1.0008161067962646 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.32462233304977417, + -0.0032837470062077045, + 0.10024309158325195 + ], + [ + 0.3230707049369812, + -0.003259943565353751, + 0.09116461127996445 + ], + [ + 0.3230094015598297, + -0.003259003162384033, + 0.09017350524663925 + ], + [ + 0.3224366009235382, + -0.004521692171692848, + 0.08913495391607285 + ], + [ + 0.3327760398387909, + 0.04354419559240341, + 0.057905688881874084 + ], + [ + 0.33712756633758545, + 0.07905664294958115, + 0.055717624723911285 + ], + [ + 0.33331575989723206, + 0.10112123936414719, + 0.056537218391895294 + ], + [ + 0.3210376501083374, + 0.12840791046619415, + 0.05258931964635849 + ], + [ + 0.3144979774951935, + 0.1524476259946823, + 0.05177004262804985 + ], + [ + 0.3106783330440521, + 0.17109256982803345, + 0.05263551324605942 + ], + [ + 0.3129161596298218, + 0.17980028688907623, + 0.052342548966407776 + ], + [ + 0.31786391139030457, + 0.1849256455898285, + 0.05052642151713371 + ], + [ + 0.32080453634262085, + 0.1881173849105835, + 0.03243376314640045 + ], + [ + 0.3252880275249481, + 0.19957855343818665, + 0.026668479666113853 + ], + [ + 0.31833797693252563, + 0.21994930505752563, + 0.02513524331152439 + ], + [ + 0.311294823884964, + 0.2311408370733261, + 0.027430560439825058 + ], + [ + 0.3045978844165802, + 0.23930169641971588, + 0.027473898604512215 + ], + [ + 0.3036060929298401, + 0.24237598478794098, + 0.026927584782242775 + ], + [ + 0.3013136088848114, + 0.23975315690040588, + 0.009250319562852383 + ], + [ + 0.3099048435688019, + 0.23232664167881012, + 0.003414396196603775 + ], + [ + 0.3127988874912262, + 0.23002174496650696, + 0.0009067869395948946 + ], + [ + 0.31247004866600037, + 0.22533226013183594, + -0.0009030054206959903 + ], + [ + 0.31189507246017456, + 0.2198520451784134, + -0.001158198807388544 + ], + [ + 0.31227096915245056, + 0.21719060838222504, + -0.00036489195190370083 + ], + [ + 0.31210190057754517, + 0.21739228069782257, + 0.0004353872500360012 + ], + [ + 0.31280747056007385, + 0.2168567180633545, + 0.0009949062950909138 + ], + [ + 0.3069053888320923, + 0.21035170555114746, + 0.0014794212765991688 + ], + [ + 0.29473406076431274, + 0.1911430060863495, + 0.025186818093061447 + ], + [ + 0.29609015583992004, + 0.15765926241874695, + 0.05038047954440117 + ], + [ + 0.29294800758361816, + 0.11469267308712006, + 0.06731100380420685 + ], + [ + 0.2895921468734741, + 0.07647905498743057, + 0.06868645548820496 + ], + [ + 0.28504857420921326, + 0.03553586080670357, + 0.07502289861440659 + ], + [ + 0.2821493148803711, + 0.0038959835655987263, + 0.08471188694238663 + ], + [ + 0.288817822933197, + -0.028791120275855064, + 0.10373320430517197 + ], + [ + 0.292484313249588, + -0.05662279576063156, + 0.1036764606833458 + ], + [ + 0.29516369104385376, + -0.08212236315011978, + 0.10353286564350128 + ], + [ + 0.30004048347473145, + -0.09851797670125961, + 0.09875163435935974 + ], + [ + 0.30688241124153137, + -0.11900424212217331, + 0.09604182094335556 + ], + [ + 0.3098592162132263, + -0.13927248120307922, + 0.08357834815979004 + ], + [ + 0.30807510018348694, + -0.1566023826599121, + 0.07615765929222107 + ], + [ + 0.30729037523269653, + -0.16419672966003418, + 0.07442822307348251 + ], + [ + 0.30518126487731934, + -0.16629289090633392, + 0.07335555553436279 + ], + [ + 0.29856550693511963, + -0.16304749250411987, + 0.10053316503763199 + ], + [ + 0.2951502501964569, + -0.13273906707763672, + 0.13779599964618683 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9634907162738136, + 0.241069961754964, + 0.11649426249233809, + 0.24169898451976282, + -0.9703103699227662, + 0.008909932797719232, + 0.1151835080916059, + 0.019571907413550763, + -0.993151398279188 + ], + [ + 0.9664394156339884, + 0.24153156236158094, + 0.08750634429690783, + 0.24165374130054093, + -0.9703174532657151, + 0.009354635395797076, + 0.08716837284523825, + 0.012105547121497879, + -0.9961200382004184 + ], + [ + 0.9667022830591413, + 0.24156749026772004, + 0.0844502431849596, + 0.24164970823850315, + -0.9703180045585644, + 0.009401517841923165, + 0.08421469252149606, + 0.011318907864307753, + -0.9963833438432566 + ], + [ + 0.9684823027720686, + 0.23649281658152846, + 0.07818680785559089, + 0.2371060296183263, + -0.9714826513591422, + 0.0014794684332079238, + 0.07630701105367003, + 0.017105724584098328, + -0.996937628064318 + ], + [ + 0.9689108382678093, + 0.2470084360042923, + -0.014093261861054421, + 0.24551231484491925, + -0.9669593037990135, + -0.06865426466007729, + -0.030585793216132823, + 0.06305979177923243, + -0.9975409625243965 + ], + [ + 0.9723389251945069, + 0.23335378642880275, + 0.010150118764420214, + 0.23306661275820292, + -0.9664444811137634, + -0.10800471722182625, + -0.015393783453362113, + 0.10738284445892407, + -0.9940985646035817 + ], + [ + 0.9817314847472105, + 0.18521992389221667, + 0.043553090009763575, + 0.18959418196945013, + -0.9715624685219018, + -0.14184645192236295, + 0.016041758612201445, + 0.14751254032450817, + -0.9889300847014605 + ], + [ + 0.9828984286658705, + 0.16689637687636968, + 0.07782209398174343, + 0.17767821348941806, + -0.9705545370157136, + -0.16264791154337838, + 0.048385239250946226, + 0.17369366731045388, + -0.9836103794485264 + ], + [ + 0.98210979975824, + 0.1492952001727001, + 0.1147662163888965, + 0.16541684159090325, + -0.9752179286162008, + -0.14692603657492576, + 0.08998671978086334, + 0.1632817653962616, + -0.9824670250711524 + ], + [ + 0.9783660640054673, + 0.14730464616300773, + 0.14526247285944321, + 0.16483265560818225, + -0.9793509423707295, + -0.1170552319322721, + 0.1250201601646861, + 0.1384668656984577, + -0.9824443427777684 + ], + [ + 0.9782815486355483, + 0.1279811927402846, + 0.1630522183351317, + 0.14050558146058614, + -0.9877624124938371, + -0.06770227501921468, + 0.15239223463699167, + 0.08914163319756326, + -0.9842918144804492 + ], + [ + 0.9811664476416118, + 0.09484069445809817, + 0.16827847365912826, + 0.09630691184087609, + -0.9953515316013987, + -0.0005543197844003755, + 0.16744366441885458, + 0.016750260101124435, + -0.9857393408160854 + ], + [ + 0.9880848931276068, + 0.0553968409999635, + 0.14359468646238574, + 0.050701705947370855, + -0.9980591755041934, + 0.036155486525785555, + 0.14531889411577711, + -0.02844419447118665, + -0.9889759081058817 + ], + [ + 0.9880656153254167, + 0.0490215207915018, + 0.14602475923929675, + 0.04365393598895829, + -0.9982559987206507, + 0.03974034336676848, + 0.14771822394098216, + -0.032891511329294125, + -0.9884824099589216 + ], + [ + 0.9854609803069065, + 0.07317808047351931, + 0.1533350084969574, + 0.06809137801132281, + -0.9969485063245181, + 0.03817381272327194, + 0.1556605940277436, + -0.027178010882392103, + -0.9874366486977312 + ], + [ + 0.9845998197420711, + 0.06509468946011635, + 0.16225250804832442, + 0.06028954853298907, + -0.9975890196875876, + 0.03437030893730527, + 0.16409864503270255, + -0.024058869525571416, + -0.986150498400514 + ], + [ + 0.9849565583566341, + 0.05283798121531724, + 0.16452576057063031, + 0.0483337719741397, + -0.9983418357052217, + 0.031263806029978504, + 0.16590486622461217, + -0.02284134019312426, + -0.9858771974952943 + ], + [ + 0.9855531145631707, + 0.0392142118706249, + 0.16476438924172773, + 0.031880707806862245, + -0.9983897164628713, + 0.0469211522761422, + 0.16633904786479722, + -0.04099048241425311, + -0.9852162714383476 + ], + [ + 0.989304113966809, + 0.04634309836074658, + 0.13831011287202954, + 0.03683240678542555, + -0.9968280707313587, + 0.07054906953596587, + 0.1411408654456261, + -0.06470019038862079, + -0.9878730391426502 + ], + [ + 0.9900923361737014, + 0.047048225115642765, + 0.1323012863262115, + 0.03197994980069444, + -0.9929893650599179, + 0.11379544669557899, + 0.13672764409894386, + -0.10843701116947617, + -0.9846557601252244 + ], + [ + 0.9907837520105567, + 0.05367877606775918, + 0.12436295972575936, + 0.033718603607652144, + -0.9869636948542917, + 0.15737128330897754, + 0.13118922411018943, + -0.1517275651931178, + -0.97967756605831 + ], + [ + 0.9909571193300898, + 0.05082609287259278, + 0.12418009475079562, + 0.03187251098031792, + -0.9881564395071522, + 0.1501032781266195, + 0.1303385234411512, + -0.1447879806608765, + -0.9808406139446542 + ], + [ + 0.9920000118502996, + 0.0362975201618923, + 0.12090685058797403, + 0.022222716115805088, + -0.9930254527466167, + 0.11578687786538466, + 0.12426635657909178, + -0.11217370559749815, + -0.9858878903785583 + ], + [ + 0.9931273945631091, + 0.018563205088809747, + 0.11555685001384138, + 0.007707555810038688, + -0.9955716688369068, + 0.09368909110847017, + 0.11678429582664691, + -0.09215454208082678, + -0.988872574512079 + ], + [ + 0.9934672332448353, + 0.01727570889814792, + 0.11280251039280216, + 0.007145370211250227, + -0.995952211951613, + 0.08959986156927482, + 0.11389381086519128, + -0.08820851087483275, + -0.989569329787382 + ], + [ + 0.9934606807144967, + 0.021958974592958147, + 0.11204320286887055, + 0.01270759827060562, + -0.9964996561569734, + 0.08262537276906401, + 0.1134653815949251, + -0.08066125906443378, + -0.9902622725650304 + ], + [ + 0.9959052792975531, + 0.032653160245146466, + 0.08429973780070557, + 0.030469062209634572, + -0.9991691649652854, + 0.027066880696524652, + 0.08511351781784338, + -0.024387515424480352, + -0.9960727574711059 + ], + [ + 0.9941753724867695, + 0.06640215842273091, + 0.08488864528072107, + 0.06626908259970239, + -0.9977921412740878, + 0.004387653480516284, + 0.08499257280602443, + 0.0012633956125497918, + -0.9963807838368518 + ], + [ + 0.9934260033266957, + 0.07916964998803674, + 0.08268580552380156, + 0.07962940583737924, + -0.9968219474343875, + -0.002272188174782036, + 0.08224313734491243, + 0.008841472382325306, + -0.9965730754569776 + ], + [ + 0.9901725411101101, + 0.10397635351804317, + 0.09352677018179385, + 0.09811715527429705, + -0.993035779008361, + 0.06521476405030495, + 0.09965622244710388, + -0.055397288005356156, + -0.9934786247369517 + ], + [ + 0.9880948316444488, + 0.12630472040862514, + 0.08783917850269023, + 0.1121919506275422, + -0.9822471245430412, + 0.1503447788960907, + 0.1052690357698577, + -0.1387000502142169, + -0.9847236801147102 + ], + [ + 0.9896748480913533, + 0.11273418168670267, + 0.08851383696793495, + 0.09374335251514788, + -0.9762622694966514, + 0.19525410371223487, + 0.10842453096314215, + -0.18494049160926593, + -0.9767502933957817 + ], + [ + 0.9931860060880431, + 0.10750128902220953, + 0.04500033521480376, + 0.09660370427840721, + -0.9754164370683858, + 0.19806690439471625, + 0.06518651417717763, + -0.19237007863849043, + -0.9791549781388283 + ], + [ + 0.9933157325219178, + 0.11290667453489761, + 0.023998716005571505, + 0.10524784861198952, + -0.9712871583336057, + 0.2133638826483444, + 0.04739985112838549, + -0.2094118881575243, + -0.9766779997580098 + ], + [ + 0.9928614611018144, + 0.1139887796145927, + -0.03510950271287914, + 0.1190643140013583, + -0.9646268668429745, + 0.23519927061130916, + -0.00705749177511405, + -0.23770058032466326, + -0.9713128362804447 + ], + [ + 0.9914649040947955, + 0.10966552388300073, + -0.07050401988372858, + 0.12404536689716834, + -0.9599401498983902, + 0.2512521752431276, + -0.04012593799084439, + -0.2578534108452386, + -0.965350468801788 + ], + [ + 0.9880741117271308, + 0.11432636759473191, + -0.10314568050692066, + 0.1374274006518431, + -0.9568986633679942, + 0.25584889601994326, + -0.06944968887417219, + -0.2669727134318041, + -0.9611983723447207 + ], + [ + 0.9862625549965937, + 0.11589401385623695, + -0.11770620274174823, + 0.14216966272903925, + -0.9583668177330683, + 0.24763042960771836, + -0.0841068345088698, + -0.2609628713447227, + -0.9616779191436265 + ], + [ + 0.9855901101203743, + 0.10281377004860648, + -0.1343185151842471, + 0.1341396073794247, + -0.9588168469233259, + 0.2503533898074986, + -0.10304707936182536, + -0.26476325791998373, + -0.9587918004919493 + ], + [ + 0.9854368993913203, + 0.08918357024134926, + -0.14477709804049682, + 0.1231903290969596, + -0.9613271399767918, + 0.24632148254065256, + -0.1172103243532928, + -0.26056941636164543, + -0.9583137894875288 + ], + [ + 0.9882328565879684, + 0.08540226149313582, + -0.1268947394175257, + 0.11378890074550535, + -0.9648742235141318, + 0.23679066464945497, + -0.10221500490198701, + -0.24844352784860219, + -0.9632382396079526 + ], + [ + 0.9884533958671521, + 0.069593541326328, + -0.1345980059449469, + 0.09830416497129146, + -0.970506114678815, + 0.22012308493278954, + -0.11530904278499754, + -0.23081295539178825, + -0.9661413997315901 + ], + [ + 0.9937818090973662, + 0.03561370335147895, + -0.10549587688985114, + 0.05100641522476974, + -0.9878184124111792, + 0.14701404595267656, + -0.09897505500419866, + -0.1514808510507192, + -0.9834924962865073 + ], + [ + 0.9962549536933657, + 0.0318545608038894, + -0.08038254908511432, + 0.03498914248533256, + -0.9986690514191169, + 0.03789308176675907, + -0.07906849656829575, + -0.04056368688411478, + -0.9960435533433248 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0015516281127929688, + 2.380344085395336e-05, + -0.009078480303287506, + 0.007552220486104488, + 0.028160594403743744, + -0.0007642656564712524, + 1.0 + ], + [ + -6.130337715148926e-05, + 9.404029697179794e-07, + -0.0009911060333251953, + 0.0007925964891910553, + 0.002964586019515991, + -6.791949272155762e-05, + 1.0 + ], + [ + -0.0005728006362915039, + -0.001262689009308815, + -0.0010385513305664062, + -0.0057970816269516945, + 0.007933296263217926, + -0.004853889346122742, + 1.0 + ], + [ + 0.010339438915252686, + 0.04806588590145111, + -0.03122926503419876, + -0.045974649488925934, + 0.10697182267904282, + 0.008067101240158081, + 1.0 + ], + [ + 0.004351526498794556, + 0.035512447357177734, + -0.002188064157962799, + -0.0444718599319458, + -0.015196172520518303, + -0.012908339500427246, + 1.0 + ], + [ + -0.0038118064403533936, + 0.02206459641456604, + 0.0008195936679840088, + -0.04046892374753952, + -0.03143683820962906, + -0.044484689831733704, + 1.0 + ], + [ + -0.012278109788894653, + 0.027286671102046967, + -0.003947898745536804, + -0.02671392261981964, + -0.03236169368028641, + -0.011935323476791382, + 1.0 + ], + [ + -0.006539672613143921, + 0.02403971552848816, + -0.0008192770183086395, + 0.010095566511154175, + -0.04170447215437889, + -0.01197439432144165, + 1.0 + ], + [ + -0.0038196444511413574, + 0.018644943833351135, + 0.0008654706180095673, + 0.024671465158462524, + -0.03523954004049301, + 4.60892915725708e-05, + 1.0 + ], + [ + 0.0022378265857696533, + 0.008707717061042786, + -0.00029296427965164185, + 0.04970106482505798, + -0.02764017879962921, + -0.024260669946670532, + 1.0 + ], + [ + 0.004947751760482788, + 0.005125358700752258, + -0.0018161274492740631, + 0.07332689315080643, + -0.015247821807861328, + -0.044807255268096924, + 1.0 + ], + [ + 0.002940624952316284, + 0.003191739320755005, + -0.01809265837073326, + 0.045744284987449646, + 0.0224008709192276, + -0.04657397046685219, + 1.0 + ], + [ + 0.0044834911823272705, + 0.01146116852760315, + -0.005765283480286598, + 0.004509149119257927, + -0.0024255067110061646, + -0.007115643471479416, + 1.0 + ], + [ + -0.006950050592422485, + 0.02037075161933899, + -0.0015332363545894623, + -0.005745628848671913, + -0.00803537666797638, + 0.02483382076025009, + 1.0 + ], + [ + -0.0070431530475616455, + 0.011191532015800476, + 0.002295317128300667, + -0.0031249411404132843, + -0.008548036217689514, + -0.007830135524272919, + 1.0 + ], + [ + -0.006696939468383789, + 0.00816085934638977, + 4.333816468715668e-05, + -0.0012275129556655884, + -0.0018313229084014893, + -0.012123532593250275, + 1.0 + ], + [ + -0.0009917914867401123, + 0.0030742883682250977, + -0.0005463138222694397, + 0.01841718517243862, + -0.00044029951095581055, + -0.016695890575647354, + 1.0 + ], + [ + -0.0022924840450286865, + -0.002622827887535095, + -0.017677266150712967, + 0.023819446563720703, + 0.025502100586891174, + 0.004876673221588135, + 1.0 + ], + [ + 0.008591234683990479, + -0.007426515221595764, + -0.005835923366248608, + 0.044283799827098846, + 0.004456445574760437, + -0.004924692213535309, + 1.0 + ], + [ + 0.0028940439224243164, + -0.0023048967123031616, + -0.0025076093152165413, + 0.043969400227069855, + 0.005588799715042114, + 0.0017303824424743652, + 0.0 + ], + [ + -0.0003288388252258301, + -0.0046894848346710205, + -0.001809792360290885, + -0.007096424698829651, + 0.0008580684661865234, + -0.001866847276687622, + 0.0 + ], + [ + -0.0005749762058258057, + -0.005480214953422546, + -0.00025519338669255376, + -0.03326564282178879, + 0.006121985614299774, + -0.009754091501235962, + 0.0 + ], + [ + 0.000375896692276001, + -0.0026614367961883545, + 0.0007933068554848433, + -0.020369023084640503, + 0.007537022233009338, + -0.014637447893619537, + 0.0 + ], + [ + -0.0001690685749053955, + 0.00020167231559753418, + 0.000800279201939702, + -0.004019826650619507, + 0.0029099062085151672, + -0.0005685053765773773, + 0.0 + ], + [ + 0.0007055699825286865, + -0.0005355626344680786, + 0.0005595190450549126, + -0.007628306746482849, + 0.0004312247037887573, + 0.005598314572125673, + 0.0 + ], + [ + -0.005902081727981567, + -0.006505012512207031, + 0.000484514981508255, + -0.056796230375766754, + 0.028493650257587433, + 0.017794251441955566, + 0.0 + ], + [ + -0.012171328067779541, + -0.019208699464797974, + 0.023707397282123566, + -0.02574676275253296, + 0.00012138485908508301, + 0.03597407788038254, + 0.0 + ], + [ + 0.0013560950756072998, + -0.03348374366760254, + 0.02519366145133972, + -0.007603658828884363, + 0.002759099006652832, + 0.013426467776298523, + 0.0 + ], + [ + -0.00314214825630188, + -0.04296658933162689, + 0.01693052425980568, + 0.06457488238811493, + -0.017485782504081726, + 0.018783196806907654, + 0.0 + ], + [ + -0.003355860710144043, + -0.038213618099689484, + 0.001375451683998108, + 0.08422797918319702, + -0.005642518401145935, + 0.014290966093540192, + 0.0 + ], + [ + -0.004543572664260864, + -0.040943194180727005, + 0.00633644312620163, + 0.04719620943069458, + -0.0031736642122268677, + -0.01861990988254547, + 0.0 + ], + [ + -0.002899259328842163, + -0.03163987770676613, + 0.009688988327980042, + 0.0068671852350234985, + 0.043405331671237946, + 0.0025218725204467773, + 0.0 + ], + [ + 0.006668508052825928, + -0.03268710523843765, + 0.01902131736278534, + 0.01721985638141632, + 0.017815150320529938, + 0.008600756525993347, + 0.0 + ], + [ + 0.003666490316390991, + -0.027831675484776497, + -5.6743621826171875e-05, + 0.028789520263671875, + 0.054475169628858566, + 0.013788200914859772, + 0.0 + ], + [ + 0.002679377794265747, + -0.02549956738948822, + -0.00014359503984451294, + 0.021010950207710266, + 0.03307916224002838, + 0.0051160454750061035, + 0.0 + ], + [ + 0.0048767924308776855, + -0.01639561355113983, + -0.0047812312841415405, + 0.009905993938446045, + 0.029368925839662552, + 0.013733051717281342, + 0.0 + ], + [ + 0.006841927766799927, + -0.020486265420913696, + -0.002709813416004181, + -0.005940049886703491, + 0.014700673520565033, + 0.00496421754360199, + 1.0 + ], + [ + 0.0029768049716949463, + -0.020268239080905914, + -0.012463472783565521, + 0.004447281360626221, + 0.019024014472961426, + -0.007894068956375122, + 1.0 + ], + [ + -0.0017841160297393799, + -0.017329901456832886, + -0.00742068886756897, + -0.0039424896240234375, + 0.014250047504901886, + -0.010903969407081604, + 1.0 + ], + [ + -0.0007847249507904053, + -0.00759434700012207, + -0.001729436218738556, + -0.01306191086769104, + -0.015086539089679718, + -0.009726740419864655, + 1.0 + ], + [ + -0.0021091103553771973, + -0.0020961612462997437, + -0.0010726675391197205, + -0.017917394638061523, + 0.013172276318073273, + -0.015512414276599884, + 1.0 + ], + [ + -0.006615757942199707, + 0.0032453984022140503, + 0.027177609503269196, + -0.08168390393257141, + -0.016428746283054352, + -0.047845978289842606, + 1.0 + ], + [ + -0.0034152567386627197, + 0.030308425426483154, + 0.03726283460855484, + -0.1121201440691948, + -0.01998624950647354, + -0.016174327582120895, + 1.0 + ], + [ + -0.011692941188812256, + 0.05552830547094345, + 0.04949238896369934, + -0.14089110493659973, + -0.07886894792318344, + -0.025756899267435074, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9575772881507874 + ], + [ + 0.6902000904083252 + ], + [ + 0.39099013805389404 + ], + [ + 0.18403103947639465 + ], + [ + 0.065320685505867 + ], + [ + 0.04910881817340851 + ], + [ + 0.04910881817340851 + ], + [ + 0.04910881817340851 + ], + [ + 0.04910881817340851 + ], + [ + 0.04910881817340851 + ], + [ + 0.04910881817340851 + ], + [ + 0.04910881817340851 + ], + [ + 0.04910881817340851 + ], + [ + 0.04910881817340851 + ], + [ + 0.04910881817340851 + ], + [ + 0.04910881817340851 + ], + [ + 0.04910881817340851 + ], + [ + 0.06833917647600174 + ], + [ + 0.18234474956989288 + ], + [ + 0.4148389995098114 + ], + [ + 0.7210758328437805 + ], + [ + 0.9752515554428101 + ], + [ + 1.0008161067962646 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3230707049369812, + -0.003259943565353751, + 0.09116461127996445 + ], + [ + 0.3230094015598297, + -0.003259003162384033, + 0.09017350524663925 + ], + [ + 0.3224366009235382, + -0.004521692171692848, + 0.08913495391607285 + ], + [ + 0.3327760398387909, + 0.04354419559240341, + 0.057905688881874084 + ], + [ + 0.33712756633758545, + 0.07905664294958115, + 0.055717624723911285 + ], + [ + 0.33331575989723206, + 0.10112123936414719, + 0.056537218391895294 + ], + [ + 0.3210376501083374, + 0.12840791046619415, + 0.05258931964635849 + ], + [ + 0.3144979774951935, + 0.1524476259946823, + 0.05177004262804985 + ], + [ + 0.3106783330440521, + 0.17109256982803345, + 0.05263551324605942 + ], + [ + 0.3129161596298218, + 0.17980028688907623, + 0.052342548966407776 + ], + [ + 0.31786391139030457, + 0.1849256455898285, + 0.05052642151713371 + ], + [ + 0.32080453634262085, + 0.1881173849105835, + 0.03243376314640045 + ], + [ + 0.3252880275249481, + 0.19957855343818665, + 0.026668479666113853 + ], + [ + 0.31833797693252563, + 0.21994930505752563, + 0.02513524331152439 + ], + [ + 0.311294823884964, + 0.2311408370733261, + 0.027430560439825058 + ], + [ + 0.3045978844165802, + 0.23930169641971588, + 0.027473898604512215 + ], + [ + 0.3036060929298401, + 0.24237598478794098, + 0.026927584782242775 + ], + [ + 0.3013136088848114, + 0.23975315690040588, + 0.009250319562852383 + ], + [ + 0.3099048435688019, + 0.23232664167881012, + 0.003414396196603775 + ], + [ + 0.3127988874912262, + 0.23002174496650696, + 0.0009067869395948946 + ], + [ + 0.31247004866600037, + 0.22533226013183594, + -0.0009030054206959903 + ], + [ + 0.31189507246017456, + 0.2198520451784134, + -0.001158198807388544 + ], + [ + 0.31227096915245056, + 0.21719060838222504, + -0.00036489195190370083 + ], + [ + 0.31210190057754517, + 0.21739228069782257, + 0.0004353872500360012 + ], + [ + 0.31280747056007385, + 0.2168567180633545, + 0.0009949062950909138 + ], + [ + 0.3069053888320923, + 0.21035170555114746, + 0.0014794212765991688 + ], + [ + 0.29473406076431274, + 0.1911430060863495, + 0.025186818093061447 + ], + [ + 0.29609015583992004, + 0.15765926241874695, + 0.05038047954440117 + ], + [ + 0.29294800758361816, + 0.11469267308712006, + 0.06731100380420685 + ], + [ + 0.2895921468734741, + 0.07647905498743057, + 0.06868645548820496 + ], + [ + 0.28504857420921326, + 0.03553586080670357, + 0.07502289861440659 + ], + [ + 0.2821493148803711, + 0.0038959835655987263, + 0.08471188694238663 + ], + [ + 0.288817822933197, + -0.028791120275855064, + 0.10373320430517197 + ], + [ + 0.292484313249588, + -0.05662279576063156, + 0.1036764606833458 + ], + [ + 0.29516369104385376, + -0.08212236315011978, + 0.10353286564350128 + ], + [ + 0.30004048347473145, + -0.09851797670125961, + 0.09875163435935974 + ], + [ + 0.30688241124153137, + -0.11900424212217331, + 0.09604182094335556 + ], + [ + 0.3098592162132263, + -0.13927248120307922, + 0.08357834815979004 + ], + [ + 0.30807510018348694, + -0.1566023826599121, + 0.07615765929222107 + ], + [ + 0.30729037523269653, + -0.16419672966003418, + 0.07442822307348251 + ], + [ + 0.30518126487731934, + -0.16629289090633392, + 0.07335555553436279 + ], + [ + 0.29856550693511963, + -0.16304749250411987, + 0.10053316503763199 + ], + [ + 0.2951502501964569, + -0.13273906707763672, + 0.13779599964618683 + ], + [ + 0.28345730900764465, + -0.07721076160669327, + 0.18728838860988617 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9664394156339884, + 0.24153156236158094, + 0.08750634429690783, + 0.24165374130054093, + -0.9703174532657151, + 0.009354635395797076, + 0.08716837284523825, + 0.012105547121497879, + -0.9961200382004184 + ], + [ + 0.9667022830591413, + 0.24156749026772004, + 0.0844502431849596, + 0.24164970823850315, + -0.9703180045585644, + 0.009401517841923165, + 0.08421469252149606, + 0.011318907864307753, + -0.9963833438432566 + ], + [ + 0.9684823027720686, + 0.23649281658152846, + 0.07818680785559089, + 0.2371060296183263, + -0.9714826513591422, + 0.0014794684332079238, + 0.07630701105367003, + 0.017105724584098328, + -0.996937628064318 + ], + [ + 0.9689108382678093, + 0.2470084360042923, + -0.014093261861054421, + 0.24551231484491925, + -0.9669593037990135, + -0.06865426466007729, + -0.030585793216132823, + 0.06305979177923243, + -0.9975409625243965 + ], + [ + 0.9723389251945069, + 0.23335378642880275, + 0.010150118764420214, + 0.23306661275820292, + -0.9664444811137634, + -0.10800471722182625, + -0.015393783453362113, + 0.10738284445892407, + -0.9940985646035817 + ], + [ + 0.9817314847472105, + 0.18521992389221667, + 0.043553090009763575, + 0.18959418196945013, + -0.9715624685219018, + -0.14184645192236295, + 0.016041758612201445, + 0.14751254032450817, + -0.9889300847014605 + ], + [ + 0.9828984286658705, + 0.16689637687636968, + 0.07782209398174343, + 0.17767821348941806, + -0.9705545370157136, + -0.16264791154337838, + 0.048385239250946226, + 0.17369366731045388, + -0.9836103794485264 + ], + [ + 0.98210979975824, + 0.1492952001727001, + 0.1147662163888965, + 0.16541684159090325, + -0.9752179286162008, + -0.14692603657492576, + 0.08998671978086334, + 0.1632817653962616, + -0.9824670250711524 + ], + [ + 0.9783660640054673, + 0.14730464616300773, + 0.14526247285944321, + 0.16483265560818225, + -0.9793509423707295, + -0.1170552319322721, + 0.1250201601646861, + 0.1384668656984577, + -0.9824443427777684 + ], + [ + 0.9782815486355483, + 0.1279811927402846, + 0.1630522183351317, + 0.14050558146058614, + -0.9877624124938371, + -0.06770227501921468, + 0.15239223463699167, + 0.08914163319756326, + -0.9842918144804492 + ], + [ + 0.9811664476416118, + 0.09484069445809817, + 0.16827847365912826, + 0.09630691184087609, + -0.9953515316013987, + -0.0005543197844003755, + 0.16744366441885458, + 0.016750260101124435, + -0.9857393408160854 + ], + [ + 0.9880848931276068, + 0.0553968409999635, + 0.14359468646238574, + 0.050701705947370855, + -0.9980591755041934, + 0.036155486525785555, + 0.14531889411577711, + -0.02844419447118665, + -0.9889759081058817 + ], + [ + 0.9880656153254167, + 0.0490215207915018, + 0.14602475923929675, + 0.04365393598895829, + -0.9982559987206507, + 0.03974034336676848, + 0.14771822394098216, + -0.032891511329294125, + -0.9884824099589216 + ], + [ + 0.9854609803069065, + 0.07317808047351931, + 0.1533350084969574, + 0.06809137801132281, + -0.9969485063245181, + 0.03817381272327194, + 0.1556605940277436, + -0.027178010882392103, + -0.9874366486977312 + ], + [ + 0.9845998197420711, + 0.06509468946011635, + 0.16225250804832442, + 0.06028954853298907, + -0.9975890196875876, + 0.03437030893730527, + 0.16409864503270255, + -0.024058869525571416, + -0.986150498400514 + ], + [ + 0.9849565583566341, + 0.05283798121531724, + 0.16452576057063031, + 0.0483337719741397, + -0.9983418357052217, + 0.031263806029978504, + 0.16590486622461217, + -0.02284134019312426, + -0.9858771974952943 + ], + [ + 0.9855531145631707, + 0.0392142118706249, + 0.16476438924172773, + 0.031880707806862245, + -0.9983897164628713, + 0.0469211522761422, + 0.16633904786479722, + -0.04099048241425311, + -0.9852162714383476 + ], + [ + 0.989304113966809, + 0.04634309836074658, + 0.13831011287202954, + 0.03683240678542555, + -0.9968280707313587, + 0.07054906953596587, + 0.1411408654456261, + -0.06470019038862079, + -0.9878730391426502 + ], + [ + 0.9900923361737014, + 0.047048225115642765, + 0.1323012863262115, + 0.03197994980069444, + -0.9929893650599179, + 0.11379544669557899, + 0.13672764409894386, + -0.10843701116947617, + -0.9846557601252244 + ], + [ + 0.9907837520105567, + 0.05367877606775918, + 0.12436295972575936, + 0.033718603607652144, + -0.9869636948542917, + 0.15737128330897754, + 0.13118922411018943, + -0.1517275651931178, + -0.97967756605831 + ], + [ + 0.9909571193300898, + 0.05082609287259278, + 0.12418009475079562, + 0.03187251098031792, + -0.9881564395071522, + 0.1501032781266195, + 0.1303385234411512, + -0.1447879806608765, + -0.9808406139446542 + ], + [ + 0.9920000118502996, + 0.0362975201618923, + 0.12090685058797403, + 0.022222716115805088, + -0.9930254527466167, + 0.11578687786538466, + 0.12426635657909178, + -0.11217370559749815, + -0.9858878903785583 + ], + [ + 0.9931273945631091, + 0.018563205088809747, + 0.11555685001384138, + 0.007707555810038688, + -0.9955716688369068, + 0.09368909110847017, + 0.11678429582664691, + -0.09215454208082678, + -0.988872574512079 + ], + [ + 0.9934672332448353, + 0.01727570889814792, + 0.11280251039280216, + 0.007145370211250227, + -0.995952211951613, + 0.08959986156927482, + 0.11389381086519128, + -0.08820851087483275, + -0.989569329787382 + ], + [ + 0.9934606807144967, + 0.021958974592958147, + 0.11204320286887055, + 0.01270759827060562, + -0.9964996561569734, + 0.08262537276906401, + 0.1134653815949251, + -0.08066125906443378, + -0.9902622725650304 + ], + [ + 0.9959052792975531, + 0.032653160245146466, + 0.08429973780070557, + 0.030469062209634572, + -0.9991691649652854, + 0.027066880696524652, + 0.08511351781784338, + -0.024387515424480352, + -0.9960727574711059 + ], + [ + 0.9941753724867695, + 0.06640215842273091, + 0.08488864528072107, + 0.06626908259970239, + -0.9977921412740878, + 0.004387653480516284, + 0.08499257280602443, + 0.0012633956125497918, + -0.9963807838368518 + ], + [ + 0.9934260033266957, + 0.07916964998803674, + 0.08268580552380156, + 0.07962940583737924, + -0.9968219474343875, + -0.002272188174782036, + 0.08224313734491243, + 0.008841472382325306, + -0.9965730754569776 + ], + [ + 0.9901725411101101, + 0.10397635351804317, + 0.09352677018179385, + 0.09811715527429705, + -0.993035779008361, + 0.06521476405030495, + 0.09965622244710388, + -0.055397288005356156, + -0.9934786247369517 + ], + [ + 0.9880948316444488, + 0.12630472040862514, + 0.08783917850269023, + 0.1121919506275422, + -0.9822471245430412, + 0.1503447788960907, + 0.1052690357698577, + -0.1387000502142169, + -0.9847236801147102 + ], + [ + 0.9896748480913533, + 0.11273418168670267, + 0.08851383696793495, + 0.09374335251514788, + -0.9762622694966514, + 0.19525410371223487, + 0.10842453096314215, + -0.18494049160926593, + -0.9767502933957817 + ], + [ + 0.9931860060880431, + 0.10750128902220953, + 0.04500033521480376, + 0.09660370427840721, + -0.9754164370683858, + 0.19806690439471625, + 0.06518651417717763, + -0.19237007863849043, + -0.9791549781388283 + ], + [ + 0.9933157325219178, + 0.11290667453489761, + 0.023998716005571505, + 0.10524784861198952, + -0.9712871583336057, + 0.2133638826483444, + 0.04739985112838549, + -0.2094118881575243, + -0.9766779997580098 + ], + [ + 0.9928614611018144, + 0.1139887796145927, + -0.03510950271287914, + 0.1190643140013583, + -0.9646268668429745, + 0.23519927061130916, + -0.00705749177511405, + -0.23770058032466326, + -0.9713128362804447 + ], + [ + 0.9914649040947955, + 0.10966552388300073, + -0.07050401988372858, + 0.12404536689716834, + -0.9599401498983902, + 0.2512521752431276, + -0.04012593799084439, + -0.2578534108452386, + -0.965350468801788 + ], + [ + 0.9880741117271308, + 0.11432636759473191, + -0.10314568050692066, + 0.1374274006518431, + -0.9568986633679942, + 0.25584889601994326, + -0.06944968887417219, + -0.2669727134318041, + -0.9611983723447207 + ], + [ + 0.9862625549965937, + 0.11589401385623695, + -0.11770620274174823, + 0.14216966272903925, + -0.9583668177330683, + 0.24763042960771836, + -0.0841068345088698, + -0.2609628713447227, + -0.9616779191436265 + ], + [ + 0.9855901101203743, + 0.10281377004860648, + -0.1343185151842471, + 0.1341396073794247, + -0.9588168469233259, + 0.2503533898074986, + -0.10304707936182536, + -0.26476325791998373, + -0.9587918004919493 + ], + [ + 0.9854368993913203, + 0.08918357024134926, + -0.14477709804049682, + 0.1231903290969596, + -0.9613271399767918, + 0.24632148254065256, + -0.1172103243532928, + -0.26056941636164543, + -0.9583137894875288 + ], + [ + 0.9882328565879684, + 0.08540226149313582, + -0.1268947394175257, + 0.11378890074550535, + -0.9648742235141318, + 0.23679066464945497, + -0.10221500490198701, + -0.24844352784860219, + -0.9632382396079526 + ], + [ + 0.9884533958671521, + 0.069593541326328, + -0.1345980059449469, + 0.09830416497129146, + -0.970506114678815, + 0.22012308493278954, + -0.11530904278499754, + -0.23081295539178825, + -0.9661413997315901 + ], + [ + 0.9937818090973662, + 0.03561370335147895, + -0.10549587688985114, + 0.05100641522476974, + -0.9878184124111792, + 0.14701404595267656, + -0.09897505500419866, + -0.1514808510507192, + -0.9834924962865073 + ], + [ + 0.9962549536933657, + 0.0318545608038894, + -0.08038254908511432, + 0.03498914248533256, + -0.9986690514191169, + 0.03789308176675907, + -0.07906849656829575, + -0.04056368688411478, + -0.9960435533433248 + ], + [ + 0.9999562554007201, + 0.009330545010631198, + 0.0006543812142832478, + 0.009349206790641053, + -0.9949415510812347, + -0.10001950941917233, + -0.0002821654742394419, + 0.10002125205110489, + -0.9949852609565499 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006536.json b/json/chunk-0006/episode_0006536.json new file mode 100644 index 0000000000000000000000000000000000000000..c43c44931ca3e3f8811a0f2809ae918ed41f678f --- /dev/null +++ b/json/chunk-0006/episode_0006536.json @@ -0,0 +1,1342 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 21, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMoved the towel to the right burner next to silver pot." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006536.mp4", + "start": 0, + "end": 21, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2716360092163086, + 0.050925519317388535, + 0.07220470905303955, + 0.04565342888236046, + -0.04849766194820404, + -0.09402943402528763, + 0.0, + 1.0054124593734741 + ], + [ + 0.27039679884910583, + 0.04970095306634903, + 0.065496526658535, + 0.03306533768773079, + -0.026439707726240158, + -0.08950397372245789, + 0.0, + 1.0054124593734741 + ], + [ + 0.29899337887763977, + 0.03136471286416054, + 0.06947994232177734, + 0.01656247116625309, + -0.07493714988231659, + -0.14468663930892944, + 0.0, + 1.0054124593734741 + ], + [ + 0.33452126383781433, + 0.01297019887715578, + 0.076240174472332, + 0.01701968163251877, + -0.12343135476112366, + -0.16581378877162933, + 0.0, + 1.0054124593734741 + ], + [ + 0.3683667778968811, + -0.0103371636942029, + 0.0645788237452507, + 0.005965730641037226, + -0.12969473004341125, + -0.18593893945217133, + 0.0, + 1.0054124593734741 + ], + [ + 0.38023310899734497, + -0.021872367709875107, + 0.0386178083717823, + -0.0036881263367831707, + -0.0950196161866188, + -0.18563614785671234, + 0.0, + 1.0054124593734741 + ], + [ + 0.37971174716949463, + -0.024700328707695007, + 0.01733088493347168, + 0.0034398683346807957, + -0.06453467905521393, + -0.19300302863121033, + 0.0, + 1.0054124593734741 + ], + [ + 0.381594717502594, + -0.02063474990427494, + 0.009342117235064507, + 0.06664413958787918, + -0.05908939242362976, + -0.2090461403131485, + 0.0, + 1.0054124593734741 + ], + [ + 0.3814581632614136, + -0.009137782268226147, + 0.0074371458031237125, + 0.10978777706623077, + -0.055598966777324677, + -0.20208613574504852, + 0.0, + 1.0054124593734741 + ], + [ + 0.37892040610313416, + 0.008182301186025143, + 0.007971804589033127, + 0.13060277700424194, + -0.059694577008485794, + -0.16248933970928192, + 0.0, + 1.0047606229782104 + ], + [ + 0.37378665804862976, + 0.05185044929385185, + 0.011144139803946018, + 0.13951776921749115, + -0.07735160738229752, + -0.05402688309550285, + 0.0, + 1.0041072368621826 + ], + [ + 0.36206549406051636, + 0.09532042592763901, + 0.011170536279678345, + 0.1403435319662094, + -0.0628701001405716, + 0.060281913727521896, + 0.0, + 1.0041072368621826 + ], + [ + 0.35773777961730957, + 0.11712311208248138, + 0.013759207911789417, + 0.14400534331798553, + -0.06158514693379402, + 0.10077046602964401, + 0.0, + 1.0041072368621826 + ], + [ + 0.3572191298007965, + 0.11970203369855881, + 0.011718196794390678, + 0.12109818309545517, + -0.05738602206110954, + 0.09559327363967896, + 0.0, + 1.003452181816101 + ], + [ + 0.3615861237049103, + 0.11459756642580032, + 0.013064933009445667, + 0.08757948875427246, + -0.05918978899717331, + 0.07138185948133469, + 0.0, + 1.003452181816101 + ], + [ + 0.36759617924690247, + 0.10915644466876984, + 0.022008754312992096, + 0.05215500295162201, + -0.05403808131814003, + 0.031769733875989914, + 0.0, + 1.0008161067962646 + ], + [ + 0.36997994780540466, + 0.11001677811145782, + 0.04328479617834091, + 0.059273120015859604, + -0.07212802022695541, + 0.01482334453612566, + 0.0, + 1.0008161067962646 + ], + [ + 0.36694803833961487, + 0.11167940497398376, + 0.050588589161634445, + 0.07211367040872574, + -0.059299953281879425, + 0.009388881735503674, + 0.0, + 1.0008161067962646 + ], + [ + 0.36009907722473145, + 0.11350157111883163, + 0.049176175147295, + 0.08829531818628311, + -0.02087138220667839, + 0.026845894753932953, + 0.0, + 1.0008161067962646 + ], + [ + 0.3549922704696655, + 0.1087414026260376, + 0.046567581593990326, + 0.15066726505756378, + 0.007826813496649265, + 0.1116582527756691, + 0.0, + 1.0008161067962646 + ], + [ + 0.3563382029533386, + 0.10638038069009781, + 0.04669912904500961, + 0.15624013543128967, + 0.004034140612930059, + 0.1082795262336731, + 0.0, + 1.0008161067962646 + ] + ], + "left_gripper_pos": [ + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 1.0047606229782104 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.003452181816101 + ], + [ + 1.003452181816101 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2716360092163086, + 0.050925519317388535, + 0.07220470905303955 + ], + [ + 0.27039679884910583, + 0.04970095306634903, + 0.065496526658535 + ], + [ + 0.29899337887763977, + 0.03136471286416054, + 0.06947994232177734 + ], + [ + 0.33452126383781433, + 0.01297019887715578, + 0.076240174472332 + ], + [ + 0.3683667778968811, + -0.0103371636942029, + 0.0645788237452507 + ], + [ + 0.38023310899734497, + -0.021872367709875107, + 0.0386178083717823 + ], + [ + 0.37971174716949463, + -0.024700328707695007, + 0.01733088493347168 + ], + [ + 0.381594717502594, + -0.02063474990427494, + 0.009342117235064507 + ], + [ + 0.3814581632614136, + -0.009137782268226147, + 0.0074371458031237125 + ], + [ + 0.37892040610313416, + 0.008182301186025143, + 0.007971804589033127 + ], + [ + 0.37378665804862976, + 0.05185044929385185, + 0.011144139803946018 + ], + [ + 0.36206549406051636, + 0.09532042592763901, + 0.011170536279678345 + ], + [ + 0.35773777961730957, + 0.11712311208248138, + 0.013759207911789417 + ], + [ + 0.3572191298007965, + 0.11970203369855881, + 0.011718196794390678 + ], + [ + 0.3615861237049103, + 0.11459756642580032, + 0.013064933009445667 + ], + [ + 0.36759617924690247, + 0.10915644466876984, + 0.022008754312992096 + ], + [ + 0.36997994780540466, + 0.11001677811145782, + 0.04328479617834091 + ], + [ + 0.36694803833961487, + 0.11167940497398376, + 0.050588589161634445 + ], + [ + 0.36009907722473145, + 0.11350157111883163, + 0.049176175147295 + ], + [ + 0.3549922704696655, + 0.1087414026260376, + 0.046567581593990326 + ], + [ + 0.3563382029533386, + 0.10638038069009781, + 0.04669912904500961 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9944119019070956, + -0.09159043161157117, + 0.05249916363827805, + -0.09378053933136872, + -0.9947528837882036, + 0.04088900387353447, + 0.04847865291270167, + -0.04558391198941151, + -0.9977835071695218 + ], + [ + 0.9956490829142377, + -0.08846518272445261, + 0.029271404776098842, + -0.08935327876637938, + -0.9955308920939671, + 0.030565249226655176, + 0.026436627351738805, + -0.033047758352406635, + -0.9991040738592482 + ], + [ + 0.9867739854925033, + -0.14293560452209805, + 0.07646250398164649, + -0.14377770627488876, + -0.9895941895586845, + 0.005595638482084116, + 0.07486703369022134, + -0.016515233924857046, + -0.9970567558142487 + ], + [ + 0.9787807272239071, + -0.16296451539616583, + 0.12422099153014478, + -0.16379927694024213, + -0.9864873620777418, + -0.003532893255117242, + 0.12311817448652061, + -0.016889380763989565, + -0.9922482874404549 + ], + [ + 0.9745092890828038, + -0.18410782738666362, + 0.1282027822876362, + -0.18331672991026024, + -0.9828882508543587, + -0.018046131648307175, + 0.12933144252786044, + -0.005915591891079992, + -0.9915837754553273 + ], + [ + 0.9783855691718234, + -0.1849144383049585, + 0.09256526639452023, + -0.18373919158895938, + -0.982747765570434, + -0.021136195034932647, + 0.09487669635143536, + 0.0036714809928334313, + -0.9954822613772465 + ], + [ + 0.9793896700782152, + -0.19158817360619815, + 0.06395190285148834, + -0.19140775265901525, + -0.9814694026295973, + -0.008993549017313314, + 0.06448989351914118, + -0.003432700998172313, + -0.9979124561792718 + ], + [ + 0.9765220367436103, + -0.20321907318831475, + 0.07146131853382869, + -0.2071647103657295, + -0.9768738941693035, + 0.05291670501442589, + 0.05905501276940318, + -0.06647859191486175, + -0.9960387052137195 + ], + [ + 0.9781362152336082, + -0.19354023925571245, + 0.07610335233953024, + -0.20040330160612452, + -0.9749739699207988, + 0.09625110223910432, + 0.055570326198770795, + -0.10939805192835658, + -0.9924434518300996 + ], + [ + 0.9850698981082026, + -0.15273033385099943, + 0.07944017222323708, + -0.1614871016950215, + -0.9796802979748858, + 0.11894717208063736, + 0.059659130292329124, + -0.1299998418522162, + -0.9897175502592452 + ], + [ + 0.9955551215951927, + -0.042745346130164355, + 0.08392160180664707, + -0.053839134122321025, + -0.9894185562920236, + 0.13473035330602554, + 0.07727449451494142, + -0.1386497596435716, + -0.9873220835412525 + ], + [ + 0.9962115103603514, + 0.06842579707828451, + 0.05367063368127303, + 0.06012638524544934, + -0.9878399769153748, + 0.14337711743910878, + 0.0628286910803001, + -0.13960691351804036, + -0.9882117512330558 + ], + [ + 0.9930408031447837, + 0.10834628410990527, + 0.04616325388378314, + 0.10040928979437572, + -0.9837400609718691, + 0.1489075785917305, + 0.06154622500651038, + -0.14323608190200895, + -0.9877729936725386 + ], + [ + 0.9937958308483392, + 0.10164567894197257, + 0.0451442415030409, + 0.09529063139327695, + -0.9874831320946129, + 0.12568515981325792, + 0.057354530397607364, + -0.1206035645453276, + -0.9910425006334649 + ], + [ + 0.9957066520877322, + 0.07620889546426415, + 0.05254014884215789, + 0.0711963573452328, + -0.9932614961955833, + 0.09144768382020635, + 0.05915523382600359, + -0.08731439988585718, + -0.9944228747789157 + ], + [ + 0.998036419181776, + 0.03453548485178357, + 0.05225520330904913, + 0.0317180233234351, + -0.9980468674691151, + 0.05381837354974828, + 0.054011785596033195, + -0.05205526506645072, + -0.9971825190984794 + ], + [ + 0.9972903237793408, + 0.019065347827739557, + 0.07105295636569052, + 0.014784260943945932, + -0.998070912818829, + 0.060298247182902574, + 0.07206549607432623, + -0.05908439300861446, + -0.9956483308771047 + ], + [ + 0.9981982751918204, + 0.013634281794326296, + 0.05843209532463771, + 0.009372240947095245, + -0.9973168840955448, + 0.07260298752519179, + 0.05926520483136996, + -0.07192453724499356, + -0.9956477772979705 + ], + [ + 0.9994219496975233, + 0.028577759641662225, + 0.018414073874749918, + 0.026836823904271397, + -0.9956961753956315, + 0.08870688352796009, + 0.02086986692656408, + -0.08816143122916807, + -0.9958875492233509 + ], + [ + 0.9937422526670149, + 0.10899658572346824, + -0.024414740730004734, + 0.11142296668844315, + -0.9826452835873848, + 0.1483009411224826, + -0.00782673358642029, + -0.1500932741467605, + -0.9886408606249655 + ], + [ + 0.9941354080016003, + 0.10612766575053026, + -0.02077761102329937, + 0.10806718445157576, + -0.9821019902684921, + 0.15426329555463225, + -0.004034129670809598, + -0.1556039821887938, + -0.9878112808248287 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0012392103672027588, + -0.001224566251039505, + -0.006708182394504547, + -0.01258809119462967, + 0.022057954221963882, + 0.004525460302829742, + 1.0 + ], + [ + 0.028596580028533936, + -0.018336240202188492, + 0.00398341566324234, + -0.0165028665214777, + -0.04849744215607643, + -0.05518266558647156, + 1.0 + ], + [ + 0.03552788496017456, + -0.01839451491832733, + 0.006760232150554657, + 0.0004572104662656784, + -0.04849420487880707, + -0.02112714946269989, + 1.0 + ], + [ + 0.03384551405906677, + -0.02330736257135868, + -0.011661350727081299, + -0.01105395145714283, + -0.006263375282287598, + -0.020125150680541992, + 1.0 + ], + [ + 0.011866331100463867, + -0.011535204015672207, + -0.0259610153734684, + -0.009653856977820396, + 0.03467511385679245, + 0.0003027915954589844, + 1.0 + ], + [ + -0.0005213618278503418, + -0.0028279609978199005, + -0.021286923438310623, + 0.007127994671463966, + 0.030484937131404877, + -0.007366880774497986, + 1.0 + ], + [ + 0.0018829703330993652, + 0.004065578803420067, + -0.007988767698407173, + 0.06320427358150482, + 0.0054452866315841675, + -0.01604311168193817, + 1.0 + ], + [ + -0.00013655424118041992, + 0.011496967636048794, + -0.001904971431940794, + 0.04314363747835159, + 0.0034904256463050842, + 0.006960004568099976, + 1.0 + ], + [ + -0.002537757158279419, + 0.01732008345425129, + 0.0005346587859094143, + 0.02081499993801117, + -0.0040956102311611176, + 0.0395967960357666, + 1.0 + ], + [ + -0.0051337480545043945, + 0.043668147176504135, + 0.0031723352149128914, + 0.008914992213249207, + -0.017657030373811722, + 0.10846245288848877, + 1.0 + ], + [ + -0.011721163988113403, + 0.043469976633787155, + 2.6396475732326508e-05, + 0.0008257627487182617, + 0.014481507241725922, + 0.11430879682302475, + 1.0 + ], + [ + -0.004327714443206787, + 0.021802686154842377, + 0.0025886716321110725, + 0.003661811351776123, + 0.0012849532067775726, + 0.040488552302122116, + 1.0 + ], + [ + -0.0005186498165130615, + 0.002578921616077423, + -0.002041011117398739, + -0.022907160222530365, + 0.004199124872684479, + -0.005177192389965057, + 1.0 + ], + [ + 0.0043669939041137695, + -0.005104467272758484, + 0.0013467362150549889, + -0.03351869434118271, + -0.0018037669360637665, + -0.02421141415834427, + 1.0 + ], + [ + 0.0060100555419921875, + -0.005441121757030487, + 0.008943821303546429, + -0.03542448580265045, + 0.005151707679033279, + -0.03961212560534477, + 1.0 + ], + [ + 0.0023837685585021973, + 0.0008603334426879883, + 0.021276041865348816, + 0.007118117064237595, + -0.018089938908815384, + -0.01694639027118683, + 1.0 + ], + [ + -0.003031909465789795, + 0.00166262686252594, + 0.007303792983293533, + 0.012840550392866135, + 0.012828066945075989, + -0.005434462800621986, + 1.0 + ], + [ + -0.006848961114883423, + 0.0018221661448478699, + -0.001412414014339447, + 0.016181647777557373, + 0.038428571075201035, + 0.017457012087106705, + 1.0 + ], + [ + -0.005106806755065918, + -0.004760168492794037, + -0.0026085935533046722, + 0.06237194687128067, + 0.02869819477200508, + 0.08481235802173615, + 1.0 + ], + [ + 0.0013459324836730957, + -0.002361021935939789, + 0.0001315474510192871, + 0.005572870373725891, + -0.003792672883719206, + -0.003378726541996002, + 1.0 + ], + [ + 0.00024080276489257812, + 3.4302473068237305e-05, + 4.805624485015869e-07, + 5.097687244415283e-05, + -0.001514313742518425, + -0.00023858249187469482, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 1.0047606229782104 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.003452181816101 + ], + [ + 1.003452181816101 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.27039679884910583, + 0.04970095306634903, + 0.065496526658535 + ], + [ + 0.29899337887763977, + 0.03136471286416054, + 0.06947994232177734 + ], + [ + 0.33452126383781433, + 0.01297019887715578, + 0.076240174472332 + ], + [ + 0.3683667778968811, + -0.0103371636942029, + 0.0645788237452507 + ], + [ + 0.38023310899734497, + -0.021872367709875107, + 0.0386178083717823 + ], + [ + 0.37971174716949463, + -0.024700328707695007, + 0.01733088493347168 + ], + [ + 0.381594717502594, + -0.02063474990427494, + 0.009342117235064507 + ], + [ + 0.3814581632614136, + -0.009137782268226147, + 0.0074371458031237125 + ], + [ + 0.37892040610313416, + 0.008182301186025143, + 0.007971804589033127 + ], + [ + 0.37378665804862976, + 0.05185044929385185, + 0.011144139803946018 + ], + [ + 0.36206549406051636, + 0.09532042592763901, + 0.011170536279678345 + ], + [ + 0.35773777961730957, + 0.11712311208248138, + 0.013759207911789417 + ], + [ + 0.3572191298007965, + 0.11970203369855881, + 0.011718196794390678 + ], + [ + 0.3615861237049103, + 0.11459756642580032, + 0.013064933009445667 + ], + [ + 0.36759617924690247, + 0.10915644466876984, + 0.022008754312992096 + ], + [ + 0.36997994780540466, + 0.11001677811145782, + 0.04328479617834091 + ], + [ + 0.36694803833961487, + 0.11167940497398376, + 0.050588589161634445 + ], + [ + 0.36009907722473145, + 0.11350157111883163, + 0.049176175147295 + ], + [ + 0.3549922704696655, + 0.1087414026260376, + 0.046567581593990326 + ], + [ + 0.3563382029533386, + 0.10638038069009781, + 0.04669912904500961 + ], + [ + 0.3565790057182312, + 0.10641468316316605, + 0.046699609607458115 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9956490829142377, + -0.08846518272445261, + 0.029271404776098842, + -0.08935327876637938, + -0.9955308920939671, + 0.030565249226655176, + 0.026436627351738805, + -0.033047758352406635, + -0.9991040738592482 + ], + [ + 0.9867739854925033, + -0.14293560452209805, + 0.07646250398164649, + -0.14377770627488876, + -0.9895941895586845, + 0.005595638482084116, + 0.07486703369022134, + -0.016515233924857046, + -0.9970567558142487 + ], + [ + 0.9787807272239071, + -0.16296451539616583, + 0.12422099153014478, + -0.16379927694024213, + -0.9864873620777418, + -0.003532893255117242, + 0.12311817448652061, + -0.016889380763989565, + -0.9922482874404549 + ], + [ + 0.9745092890828038, + -0.18410782738666362, + 0.1282027822876362, + -0.18331672991026024, + -0.9828882508543587, + -0.018046131648307175, + 0.12933144252786044, + -0.005915591891079992, + -0.9915837754553273 + ], + [ + 0.9783855691718234, + -0.1849144383049585, + 0.09256526639452023, + -0.18373919158895938, + -0.982747765570434, + -0.021136195034932647, + 0.09487669635143536, + 0.0036714809928334313, + -0.9954822613772465 + ], + [ + 0.9793896700782152, + -0.19158817360619815, + 0.06395190285148834, + -0.19140775265901525, + -0.9814694026295973, + -0.008993549017313314, + 0.06448989351914118, + -0.003432700998172313, + -0.9979124561792718 + ], + [ + 0.9765220367436103, + -0.20321907318831475, + 0.07146131853382869, + -0.2071647103657295, + -0.9768738941693035, + 0.05291670501442589, + 0.05905501276940318, + -0.06647859191486175, + -0.9960387052137195 + ], + [ + 0.9781362152336082, + -0.19354023925571245, + 0.07610335233953024, + -0.20040330160612452, + -0.9749739699207988, + 0.09625110223910432, + 0.055570326198770795, + -0.10939805192835658, + -0.9924434518300996 + ], + [ + 0.9850698981082026, + -0.15273033385099943, + 0.07944017222323708, + -0.1614871016950215, + -0.9796802979748858, + 0.11894717208063736, + 0.059659130292329124, + -0.1299998418522162, + -0.9897175502592452 + ], + [ + 0.9955551215951927, + -0.042745346130164355, + 0.08392160180664707, + -0.053839134122321025, + -0.9894185562920236, + 0.13473035330602554, + 0.07727449451494142, + -0.1386497596435716, + -0.9873220835412525 + ], + [ + 0.9962115103603514, + 0.06842579707828451, + 0.05367063368127303, + 0.06012638524544934, + -0.9878399769153748, + 0.14337711743910878, + 0.0628286910803001, + -0.13960691351804036, + -0.9882117512330558 + ], + [ + 0.9930408031447837, + 0.10834628410990527, + 0.04616325388378314, + 0.10040928979437572, + -0.9837400609718691, + 0.1489075785917305, + 0.06154622500651038, + -0.14323608190200895, + -0.9877729936725386 + ], + [ + 0.9937958308483392, + 0.10164567894197257, + 0.0451442415030409, + 0.09529063139327695, + -0.9874831320946129, + 0.12568515981325792, + 0.057354530397607364, + -0.1206035645453276, + -0.9910425006334649 + ], + [ + 0.9957066520877322, + 0.07620889546426415, + 0.05254014884215789, + 0.0711963573452328, + -0.9932614961955833, + 0.09144768382020635, + 0.05915523382600359, + -0.08731439988585718, + -0.9944228747789157 + ], + [ + 0.998036419181776, + 0.03453548485178357, + 0.05225520330904913, + 0.0317180233234351, + -0.9980468674691151, + 0.05381837354974828, + 0.054011785596033195, + -0.05205526506645072, + -0.9971825190984794 + ], + [ + 0.9972903237793408, + 0.019065347827739557, + 0.07105295636569052, + 0.014784260943945932, + -0.998070912818829, + 0.060298247182902574, + 0.07206549607432623, + -0.05908439300861446, + -0.9956483308771047 + ], + [ + 0.9981982751918204, + 0.013634281794326296, + 0.05843209532463771, + 0.009372240947095245, + -0.9973168840955448, + 0.07260298752519179, + 0.05926520483136996, + -0.07192453724499356, + -0.9956477772979705 + ], + [ + 0.9994219496975233, + 0.028577759641662225, + 0.018414073874749918, + 0.026836823904271397, + -0.9956961753956315, + 0.08870688352796009, + 0.02086986692656408, + -0.08816143122916807, + -0.9958875492233509 + ], + [ + 0.9937422526670149, + 0.10899658572346824, + -0.024414740730004734, + 0.11142296668844315, + -0.9826452835873848, + 0.1483009411224826, + -0.00782673358642029, + -0.1500932741467605, + -0.9886408606249655 + ], + [ + 0.9941354080016003, + 0.10612766575053026, + -0.02077761102329937, + 0.10806718445157576, + -0.9821019902684921, + 0.15426329555463225, + -0.004034129670809598, + -0.1556039821887938, + -0.9878112808248287 + ], + [ + 0.994166096083439, + 0.10612662871912197, + -0.019259077727871596, + 0.10783053317217965, + -0.9820940003009508, + 0.15447961253408068, + -0.0025198242037941625, + -0.15565510993729012, + -0.9878082492247128 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006537.json b/json/chunk-0006/episode_0006537.json new file mode 100644 index 0000000000000000000000000000000000000000..7abd2b1ab7c6ae3697a67a45bee2cc196e1cf792 --- /dev/null +++ b/json/chunk-0006/episode_0006537.json @@ -0,0 +1,1342 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 21, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the blue toy to the middle bottom of the table." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006537.mp4", + "start": 0, + "end": 21, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3357546925544739, + 0.19126364588737488, + 0.07244160771369934, + 0.14769911766052246, + -0.20655500888824463, + 0.4771628677845001, + 0.0, + 0.9994885921478271 + ], + [ + 0.3313544988632202, + 0.18883965909481049, + 0.05734635889530182, + 0.14332625269889832, + -0.16452549397945404, + 0.4787246882915497, + 0.0, + 0.9994885921478271 + ], + [ + 0.3060077428817749, + 0.1865261197090149, + 0.04570861533284187, + 0.11627684533596039, + -0.14535842835903168, + 0.4384186267852783, + 0.0, + 0.9994885921478271 + ], + [ + 0.2762085795402527, + 0.20006063580513, + 0.05639094114303589, + 0.09692222625017166, + -0.18126332759857178, + 0.45687445998191833, + 0.0, + 0.9994885921478271 + ], + [ + 0.25444626808166504, + 0.20269928872585297, + 0.05225227773189545, + 0.13582132756710052, + -0.16497039794921875, + 0.4177706837654114, + 0.0, + 0.9994885921478271 + ], + [ + 0.2370426207780838, + 0.21006226539611816, + 0.04451180621981621, + 0.18406438827514648, + -0.12741613388061523, + 0.3996207118034363, + 0.0, + 0.9994885921478271 + ], + [ + 0.2301933467388153, + 0.21317292749881744, + 0.043120644986629486, + 0.20331640541553497, + -0.10055568814277649, + 0.40013575553894043, + 0.0, + 0.9994885921478271 + ], + [ + 0.21714623272418976, + 0.21870343387126923, + 0.04251975566148758, + 0.22840522229671478, + -0.05330224335193634, + 0.4303346574306488, + 0.0, + 0.9994885921478271 + ], + [ + 0.20970702171325684, + 0.22179247438907623, + 0.038428839296102524, + 0.23943381011486053, + -0.0113574443385005, + 0.45253702998161316, + 0.0, + 0.9994885921478271 + ], + [ + 0.20276203751564026, + 0.2246565967798233, + 0.030376333743333817, + 0.27208423614501953, + 0.037403058260679245, + 0.4512067437171936, + 0.0, + 0.9507390260696411 + ], + [ + 0.201715350151062, + 0.2243923395872116, + 0.024431008845567703, + 0.26878052949905396, + 0.05056273937225342, + 0.45775145292282104, + 0.0, + 0.7768828272819519 + ], + [ + 0.2026045322418213, + 0.22535169124603271, + 0.020360911265015602, + 0.26682162284851074, + 0.06313609331846237, + 0.46181172132492065, + 0.0, + 0.4652916491031647 + ], + [ + 0.2029961347579956, + 0.22270922362804413, + 0.019625667482614517, + 0.25090718269348145, + 0.06545654684305191, + 0.45777803659439087, + 0.0, + 0.23394888639450073 + ], + [ + 0.19989758729934692, + 0.21450580656528473, + 0.025813383981585503, + 0.22613191604614258, + 0.04914900287985802, + 0.44514450430870056, + 0.0, + 0.13479231297969818 + ], + [ + 0.19726870954036713, + 0.1910504251718521, + 0.03680446371436119, + 0.19177885353565216, + 0.016541972756385803, + 0.3659200072288513, + 0.0, + 0.103162482380867 + ], + [ + 0.19759362936019897, + 0.15269897878170013, + 0.04247371107339859, + 0.1414371132850647, + 0.007761142682284117, + 0.21795150637626648, + 0.0, + 0.10277050733566284 + ], + [ + 0.19779258966445923, + 0.11988865584135056, + 0.040805552154779434, + 0.1181594654917717, + 0.0020474412012845278, + 0.08498372882604599, + 0.0, + 0.1023794636130333 + ], + [ + 0.2020716518163681, + 0.09484603255987167, + 0.02647227793931961, + 0.05417155846953392, + 0.0011842473177239299, + -0.020865261554718018, + 0.0, + 0.10277050733566284 + ], + [ + 0.20456764101982117, + 0.08677677065134048, + 0.017944464460015297, + 0.023886049166321754, + -0.002437092363834381, + -0.0595463290810585, + 0.0, + 0.13572125136852264 + ], + [ + 0.20516906678676605, + 0.08344626426696777, + 0.014724886044859886, + 0.02572416514158249, + -0.004911565221846104, + -0.07798445224761963, + 0.0, + 0.3519224226474762 + ], + [ + 0.20247198641300201, + 0.08372260630130768, + 0.02734347991645336, + 0.04243363440036774, + -0.04110737144947052, + -0.0723504051566124, + 0.0, + 0.6681591272354126 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9507390260696411 + ], + [ + 0.7768828272819519 + ], + [ + 0.4652916491031647 + ], + [ + 0.23394888639450073 + ], + [ + 0.13479231297969818 + ], + [ + 0.103162482380867 + ], + [ + 0.10277050733566284 + ], + [ + 0.1023794636130333 + ], + [ + 0.10277050733566284 + ], + [ + 0.13572125136852264 + ], + [ + 0.3519224226474762 + ], + [ + 0.6681591272354126 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3357546925544739, + 0.19126364588737488, + 0.07244160771369934 + ], + [ + 0.3313544988632202, + 0.18883965909481049, + 0.05734635889530182 + ], + [ + 0.3060077428817749, + 0.1865261197090149, + 0.04570861533284187 + ], + [ + 0.2762085795402527, + 0.20006063580513, + 0.05639094114303589 + ], + [ + 0.25444626808166504, + 0.20269928872585297, + 0.05225227773189545 + ], + [ + 0.2370426207780838, + 0.21006226539611816, + 0.04451180621981621 + ], + [ + 0.2301933467388153, + 0.21317292749881744, + 0.043120644986629486 + ], + [ + 0.21714623272418976, + 0.21870343387126923, + 0.04251975566148758 + ], + [ + 0.20970702171325684, + 0.22179247438907623, + 0.038428839296102524 + ], + [ + 0.20276203751564026, + 0.2246565967798233, + 0.030376333743333817 + ], + [ + 0.201715350151062, + 0.2243923395872116, + 0.024431008845567703 + ], + [ + 0.2026045322418213, + 0.22535169124603271, + 0.020360911265015602 + ], + [ + 0.2029961347579956, + 0.22270922362804413, + 0.019625667482614517 + ], + [ + 0.19989758729934692, + 0.21450580656528473, + 0.025813383981585503 + ], + [ + 0.19726870954036713, + 0.1910504251718521, + 0.03680446371436119 + ], + [ + 0.19759362936019897, + 0.15269897878170013, + 0.04247371107339859 + ], + [ + 0.19779258966445923, + 0.11988865584135056, + 0.040805552154779434 + ], + [ + 0.2020716518163681, + 0.09484603255987167, + 0.02647227793931961 + ], + [ + 0.20456764101982117, + 0.08677677065134048, + 0.017944464460015297 + ], + [ + 0.20516906678676605, + 0.08344626426696777, + 0.014724886044859886 + ], + [ + 0.20247198641300201, + 0.08372260630130768, + 0.02734347991645336 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8694190792159683, + 0.48107077827222977, + 0.11261159348756528, + 0.4494984075724523, + -0.8647687385598676, + 0.22388883491457207, + 0.2050893617062744, + -0.14403449275130625, + -0.9680869891764823 + ], + [ + 0.8755973537690362, + 0.4766886731717423, + 0.07808446031333816, + 0.45442710435734873, + -0.8677056333060066, + 0.20145208054129773, + 0.16378425106846098, + -0.14090721343773047, + -0.9763810098026063 + ], + [ + 0.895875545555005, + 0.43685681598514503, + 0.0810131421674497, + 0.4200313418643976, + -0.892176568717137, + 0.16611635104260294, + 0.14484708739949104, + -0.11479151780265352, + -0.9827727248517062 + ], + [ + 0.8827327690144879, + 0.454730689806002, + 0.11833367338408858, + 0.4339178947358187, + -0.8855279725347022, + 0.16599840507250263, + 0.18027234711971088, + -0.09518513333045918, + -0.9790003428277301 + ], + [ + 0.9015865764606167, + 0.42231139974375986, + 0.09378020469422925, + 0.4002154524995202, + -0.896556338067595, + 0.1897744035728453, + 0.16422313091227309, + -0.13356576775989842, + -0.9773387073865846 + ], + [ + 0.9137408891731129, + 0.4039218102441467, + 0.04387207155150039, + 0.38591499495975395, + -0.8965987237752803, + 0.21721037081537165, + 0.12707164954600036, + -0.1815431070947881, + -0.9751383984584077 + ], + [ + 0.9163556799159129, + 0.4001883912727033, + 0.011896191676772645, + 0.3875756132726655, + -0.8941415020369465, + 0.22426796100074198, + 0.10038631322128519, + -0.20089854610145602, + -0.9744549052122212 + ], + [ + 0.9075354492174157, + 0.4173037751946883, + -0.047296592076005305, + 0.4165824875339058, + -0.8801903473564736, + 0.2274290735604246, + 0.05327700717763912, + -0.2261028784176594, + -0.9726453870128838 + ], + [ + 0.8992826820162939, + 0.42719721697208307, + -0.09377204080582183, + 0.4372203927424438, + -0.8725069763890251, + 0.21810525973168293, + 0.011357200171032401, + -0.23713733144275007, + -0.9714097487880626 + ], + [ + 0.8992921382361097, + 0.4109671152305003, + -0.1495983967355478, + 0.4357468457804962, + -0.8711980581130198, + 0.22613851934699608, + -0.03739433779429872, + -0.2685516221124422, + -0.9625391886888044 + ], + [ + 0.8959020211318286, + 0.4140250447488817, + -0.1610677834099392, + 0.44136737067329235, + -0.8707717482972988, + 0.216682732288963, + -0.05054119742199554, + -0.2652165618658691, + -0.962863314637752 + ], + [ + 0.8934630086349992, + 0.4149105384669248, + -0.1719683030967677, + 0.44468301026050827, + -0.8709797812498945, + 0.20892879418485721, + -0.06309415651665388, + -0.2631415317333472, + -0.9626918830500648 + ], + [ + 0.8951157036283685, + 0.4135493085461584, + -0.16656784359198998, + 0.441009561402852, + -0.8761257579633847, + 0.19471574919443269, + -0.06540981477695387, + -0.2477511364940218, + -0.9666131234867266 + ], + [ + 0.901458563306998, + 0.40968414551320637, + -0.1397546405512061, + 0.4300683417906718, + -0.8843134568283016, + 0.18174413735194117, + -0.04912921768056897, + -0.22393885546615921, + -0.9733641194242788 + ], + [ + 0.9336672125027105, + 0.34830463113155824, + -0.08336318269912492, + 0.3577595902178991, + -0.9178035692750254, + 0.17217631612142437, + -0.01654121835111963, + -0.19057935921377456, + -0.981532422254674 + ], + [ + 0.9763130384082416, + 0.21300270362744336, + -0.03798288142659586, + 0.21622353458343688, + -0.96682967768476, + 0.1359696930945579, + -0.007761064766679586, + -0.14096177707230603, + -0.989984617697823 + ], + [ + 0.9963889673127263, + 0.08404912558727382, + -0.01203205325344302, + 0.08488129244930215, + -0.9894639956052672, + 0.11728668975205934, + -0.002047439770800628, + -0.1178844599125536, + -0.9930252071833376 + ], + [ + 0.9997816272592741, + -0.020897249335282395, + -5.258342522596862e-05, + -0.020863732977193867, + -0.9983143897364412, + 0.05415795316860704, + -0.0011842470409176437, + -0.05414502946139857, + -0.9985323797171376 + ], + [ + 0.998224676691988, + -0.059436065979435744, + 0.0038534275735471616, + -0.05951096903719048, + -0.9979463525673476, + 0.023696454624731755, + 0.002437089951349572, + -0.02388370696553564, + -0.9997117730296837 + ], + [ + 0.9969487283024167, + -0.07775370918310939, + 0.0068988292095867095, + -0.07790449189389642, + -0.9966407527018836, + 0.025260645213001535, + 0.004911545474534812, + -0.025721017905436027, + -0.9996570941872819 + ], + [ + 0.9965412720111093, + -0.07048347014940255, + 0.04401787834708211, + -0.07222623347918992, + -0.9966120542873684, + 0.03934189175066417, + 0.041095795112028016, + -0.04238506440728517, + -0.9982557998525732 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.004400193691253662, + -0.002423986792564392, + -0.015095248818397522, + -0.0043728649616241455, + 0.04202951490879059, + 0.0015618205070495605, + 1.0 + ], + [ + -0.025346755981445312, + -0.0023135393857955933, + -0.011637743562459946, + -0.027049407362937927, + 0.019167065620422363, + -0.04030606150627136, + 1.0 + ], + [ + -0.029799163341522217, + 0.013534516096115112, + 0.010682325810194016, + -0.019354619085788727, + -0.0359048992395401, + 0.018455833196640015, + 1.0 + ], + [ + -0.021762311458587646, + 0.0026386529207229614, + -0.004138663411140442, + 0.038899101316928864, + 0.016292929649353027, + -0.03910377621650696, + 1.0 + ], + [ + -0.017403647303581238, + 0.007362976670265198, + -0.007740471512079239, + 0.04824306070804596, + 0.037554264068603516, + -0.018149971961975098, + 1.0 + ], + [ + -0.006849274039268494, + 0.00311066210269928, + -0.0013911612331867218, + 0.01925201714038849, + 0.026860445737838745, + 0.0005150437355041504, + 1.0 + ], + [ + -0.01304711401462555, + 0.005530506372451782, + -0.0006008893251419067, + 0.02508881688117981, + 0.04725344479084015, + 0.030198901891708374, + 1.0 + ], + [ + -0.007439211010932922, + 0.003089040517807007, + -0.0040909163653850555, + 0.011028587818145752, + 0.041944798082113266, + 0.022202372550964355, + 1.0 + ], + [ + -0.006944984197616577, + 0.0028641223907470703, + -0.008052505552768707, + 0.032650426030159, + 0.04876050353050232, + -0.0013302862644195557, + 0.0 + ], + [ + -0.001046687364578247, + -0.00026425719261169434, + -0.005945324897766113, + -0.003303706645965576, + 0.013159681111574173, + 0.006544709205627441, + 0.0 + ], + [ + 0.0008891820907592773, + 0.000959351658821106, + -0.004070097580552101, + -0.001958906650543213, + 0.012573353946208954, + 0.004060268402099609, + 0.0 + ], + [ + 0.0003916025161743164, + -0.0026424676179885864, + -0.0007352437824010849, + -0.015914440155029297, + 0.0023204535245895386, + -0.004033684730529785, + 0.0 + ], + [ + -0.0030985474586486816, + -0.0082034170627594, + 0.006187716498970985, + -0.024775266647338867, + -0.016307543963193893, + -0.012633532285690308, + 0.0 + ], + [ + -0.0026288777589797974, + -0.023455381393432617, + 0.010991079732775688, + -0.03435306251049042, + -0.032607030123472214, + -0.07922449707984924, + 0.0 + ], + [ + 0.00032491981983184814, + -0.03835144639015198, + 0.005669247359037399, + -0.05034174025058746, + -0.0087808296084404, + -0.14796850085258484, + 0.0 + ], + [ + 0.0001989603042602539, + -0.03281032294034958, + -0.0016681589186191559, + -0.023277647793293, + -0.005713701248168945, + -0.1329677700996399, + 0.0 + ], + [ + 0.0042790621519088745, + -0.025042623281478882, + -0.014333274215459824, + -0.06398791074752808, + -0.0008631938835605979, + -0.10584899038076401, + 0.0 + ], + [ + 0.002495989203453064, + -0.008069261908531189, + -0.008527813479304314, + -0.030285509303212166, + -0.003621339797973633, + -0.038681067526340485, + 1.0 + ], + [ + 0.0006014257669448853, + -0.003330506384372711, + -0.0032195784151554108, + 0.0018381159752607346, + -0.0024744728580117226, + -0.018438123166561127, + 1.0 + ], + [ + -0.002697080373764038, + 0.0002763420343399048, + 0.012618593871593475, + 0.016709469258785248, + -0.03619580715894699, + 0.005634047091007233, + 1.0 + ], + [ + -0.006619244813919067, + 0.008853666484355927, + 0.029014380648732185, + 0.05470404028892517, + -0.10479754209518433, + 0.03768286481499672, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9507390260696411 + ], + [ + 0.7768828272819519 + ], + [ + 0.4652916491031647 + ], + [ + 0.23394888639450073 + ], + [ + 0.13479231297969818 + ], + [ + 0.103162482380867 + ], + [ + 0.10277050733566284 + ], + [ + 0.1023794636130333 + ], + [ + 0.10277050733566284 + ], + [ + 0.13572125136852264 + ], + [ + 0.3519224226474762 + ], + [ + 0.6681591272354126 + ], + [ + 0.9507390260696411 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3313544988632202, + 0.18883965909481049, + 0.05734635889530182 + ], + [ + 0.3060077428817749, + 0.1865261197090149, + 0.04570861533284187 + ], + [ + 0.2762085795402527, + 0.20006063580513, + 0.05639094114303589 + ], + [ + 0.25444626808166504, + 0.20269928872585297, + 0.05225227773189545 + ], + [ + 0.2370426207780838, + 0.21006226539611816, + 0.04451180621981621 + ], + [ + 0.2301933467388153, + 0.21317292749881744, + 0.043120644986629486 + ], + [ + 0.21714623272418976, + 0.21870343387126923, + 0.04251975566148758 + ], + [ + 0.20970702171325684, + 0.22179247438907623, + 0.038428839296102524 + ], + [ + 0.20276203751564026, + 0.2246565967798233, + 0.030376333743333817 + ], + [ + 0.201715350151062, + 0.2243923395872116, + 0.024431008845567703 + ], + [ + 0.2026045322418213, + 0.22535169124603271, + 0.020360911265015602 + ], + [ + 0.2029961347579956, + 0.22270922362804413, + 0.019625667482614517 + ], + [ + 0.19989758729934692, + 0.21450580656528473, + 0.025813383981585503 + ], + [ + 0.19726870954036713, + 0.1910504251718521, + 0.03680446371436119 + ], + [ + 0.19759362936019897, + 0.15269897878170013, + 0.04247371107339859 + ], + [ + 0.19779258966445923, + 0.11988865584135056, + 0.040805552154779434 + ], + [ + 0.2020716518163681, + 0.09484603255987167, + 0.02647227793931961 + ], + [ + 0.20456764101982117, + 0.08677677065134048, + 0.017944464460015297 + ], + [ + 0.20516906678676605, + 0.08344626426696777, + 0.014724886044859886 + ], + [ + 0.20247198641300201, + 0.08372260630130768, + 0.02734347991645336 + ], + [ + 0.19585274159908295, + 0.0925762727856636, + 0.05635786056518555 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8755973537690362, + 0.4766886731717423, + 0.07808446031333816, + 0.45442710435734873, + -0.8677056333060066, + 0.20145208054129773, + 0.16378425106846098, + -0.14090721343773047, + -0.9763810098026063 + ], + [ + 0.895875545555005, + 0.43685681598514503, + 0.0810131421674497, + 0.4200313418643976, + -0.892176568717137, + 0.16611635104260294, + 0.14484708739949104, + -0.11479151780265352, + -0.9827727248517062 + ], + [ + 0.8827327690144879, + 0.454730689806002, + 0.11833367338408858, + 0.4339178947358187, + -0.8855279725347022, + 0.16599840507250263, + 0.18027234711971088, + -0.09518513333045918, + -0.9790003428277301 + ], + [ + 0.9015865764606167, + 0.42231139974375986, + 0.09378020469422925, + 0.4002154524995202, + -0.896556338067595, + 0.1897744035728453, + 0.16422313091227309, + -0.13356576775989842, + -0.9773387073865846 + ], + [ + 0.9137408891731129, + 0.4039218102441467, + 0.04387207155150039, + 0.38591499495975395, + -0.8965987237752803, + 0.21721037081537165, + 0.12707164954600036, + -0.1815431070947881, + -0.9751383984584077 + ], + [ + 0.9163556799159129, + 0.4001883912727033, + 0.011896191676772645, + 0.3875756132726655, + -0.8941415020369465, + 0.22426796100074198, + 0.10038631322128519, + -0.20089854610145602, + -0.9744549052122212 + ], + [ + 0.9075354492174157, + 0.4173037751946883, + -0.047296592076005305, + 0.4165824875339058, + -0.8801903473564736, + 0.2274290735604246, + 0.05327700717763912, + -0.2261028784176594, + -0.9726453870128838 + ], + [ + 0.8992826820162939, + 0.42719721697208307, + -0.09377204080582183, + 0.4372203927424438, + -0.8725069763890251, + 0.21810525973168293, + 0.011357200171032401, + -0.23713733144275007, + -0.9714097487880626 + ], + [ + 0.8992921382361097, + 0.4109671152305003, + -0.1495983967355478, + 0.4357468457804962, + -0.8711980581130198, + 0.22613851934699608, + -0.03739433779429872, + -0.2685516221124422, + -0.9625391886888044 + ], + [ + 0.8959020211318286, + 0.4140250447488817, + -0.1610677834099392, + 0.44136737067329235, + -0.8707717482972988, + 0.216682732288963, + -0.05054119742199554, + -0.2652165618658691, + -0.962863314637752 + ], + [ + 0.8934630086349992, + 0.4149105384669248, + -0.1719683030967677, + 0.44468301026050827, + -0.8709797812498945, + 0.20892879418485721, + -0.06309415651665388, + -0.2631415317333472, + -0.9626918830500648 + ], + [ + 0.8951157036283685, + 0.4135493085461584, + -0.16656784359198998, + 0.441009561402852, + -0.8761257579633847, + 0.19471574919443269, + -0.06540981477695387, + -0.2477511364940218, + -0.9666131234867266 + ], + [ + 0.901458563306998, + 0.40968414551320637, + -0.1397546405512061, + 0.4300683417906718, + -0.8843134568283016, + 0.18174413735194117, + -0.04912921768056897, + -0.22393885546615921, + -0.9733641194242788 + ], + [ + 0.9336672125027105, + 0.34830463113155824, + -0.08336318269912492, + 0.3577595902178991, + -0.9178035692750254, + 0.17217631612142437, + -0.01654121835111963, + -0.19057935921377456, + -0.981532422254674 + ], + [ + 0.9763130384082416, + 0.21300270362744336, + -0.03798288142659586, + 0.21622353458343688, + -0.96682967768476, + 0.1359696930945579, + -0.007761064766679586, + -0.14096177707230603, + -0.989984617697823 + ], + [ + 0.9963889673127263, + 0.08404912558727382, + -0.01203205325344302, + 0.08488129244930215, + -0.9894639956052672, + 0.11728668975205934, + -0.002047439770800628, + -0.1178844599125536, + -0.9930252071833376 + ], + [ + 0.9997816272592741, + -0.020897249335282395, + -5.258342522596862e-05, + -0.020863732977193867, + -0.9983143897364412, + 0.05415795316860704, + -0.0011842470409176437, + -0.05414502946139857, + -0.9985323797171376 + ], + [ + 0.998224676691988, + -0.059436065979435744, + 0.0038534275735471616, + -0.05951096903719048, + -0.9979463525673476, + 0.023696454624731755, + 0.002437089951349572, + -0.02388370696553564, + -0.9997117730296837 + ], + [ + 0.9969487283024167, + -0.07775370918310939, + 0.0068988292095867095, + -0.07790449189389642, + -0.9966407527018836, + 0.025260645213001535, + 0.004911545474534812, + -0.025721017905436027, + -0.9996570941872819 + ], + [ + 0.9965412720111093, + -0.07048347014940255, + 0.04401787834708211, + -0.07222623347918992, + -0.9966120542873684, + 0.03934189175066417, + 0.041095795112028016, + -0.04238506440728517, + -0.9982557998525732 + ], + [ + 0.9887802728792809, + -0.020405241010335015, + 0.14797701883767286, + -0.03429231904129746, + -0.995176547570595, + 0.09191123990155549, + 0.1453877877249142, + -0.09595449601129465, + -0.9847106813047546 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006538.json b/json/chunk-0006/episode_0006538.json new file mode 100644 index 0000000000000000000000000000000000000000..4b25ccc466f53770b7dc278a32fdf4474dfd3b3a --- /dev/null +++ b/json/chunk-0006/episode_0006538.json @@ -0,0 +1,1582 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 25, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nTake the item from the pot to the front left corner." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006538.mp4", + "start": 0, + "end": 25, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3358047306537628, + 0.14399336278438568, + 0.07601544260978699, + 0.19786666333675385, + -0.217403843998909, + 0.07012509554624557, + 0.0, + 1.0001531839370728 + ], + [ + 0.33429238200187683, + 0.14325590431690216, + 0.06442539393901825, + 0.18727697432041168, + -0.187068909406662, + 0.07446214556694031, + 0.0, + 1.0001531839370728 + ], + [ + 0.33913296461105347, + 0.1287182718515396, + 0.059790875762701035, + 0.1766059249639511, + -0.1760719120502472, + 0.04352328181266785, + 0.0, + 1.0001531839370728 + ], + [ + 0.3498096168041229, + 0.10012322664260864, + 0.05694819986820221, + 0.13061483204364777, + -0.17639215290546417, + 0.010185792110860348, + 0.0, + 1.0001531839370728 + ], + [ + 0.3711429834365845, + 0.0632271021604538, + 0.07023121416568756, + 0.03914429247379303, + -0.22991468012332916, + -0.0014524654252454638, + 0.0, + 1.0001531839370728 + ], + [ + 0.39167842268943787, + 0.04164072126150131, + 0.06720927357673645, + 0.007069791667163372, + -0.2446652501821518, + 0.006368296220898628, + 0.0, + 1.0001531839370728 + ], + [ + 0.408222496509552, + 0.04026409238576889, + 0.053195416927337646, + 0.007119521498680115, + -0.22081440687179565, + 0.05075721815228462, + 0.0, + 0.9988223910331726 + ], + [ + 0.4124513864517212, + 0.04576003551483154, + 0.04328631982207298, + 0.03272061049938202, + -0.19998817145824432, + 0.05855230242013931, + 0.0, + 0.9994885921478271 + ], + [ + 0.41230499744415283, + 0.04706127941608429, + 0.040270112454891205, + 0.045700594782829285, + -0.18875344097614288, + 0.05088517442345619, + 0.0, + 0.9994885921478271 + ], + [ + 0.41117024421691895, + 0.045785535126924515, + 0.039063528180122375, + 0.037989046424627304, + -0.18436108529567719, + 0.051941826939582825, + 0.0, + 0.9484345316886902 + ], + [ + 0.40907686948776245, + 0.04263985529541969, + 0.03486695885658264, + 0.02657821960747242, + -0.18562640249729156, + 0.014436622150242329, + 0.0, + 0.6981924772262573 + ], + [ + 0.40965452790260315, + 0.03907348960638046, + 0.03734792768955231, + 0.00763858575373888, + -0.1920238733291626, + -0.003039937000721693, + 0.0, + 0.5324842929840088 + ], + [ + 0.4139977693557739, + 0.02880091406404972, + 0.06275830417871475, + -0.045430708676576614, + -0.26218950748443604, + -0.0181034654378891, + 0.0, + 0.457809716463089 + ], + [ + 0.41139718890190125, + 0.030263345688581467, + 0.10908105969429016, + -0.07511113584041595, + -0.3705042600631714, + -0.017341189086437225, + 0.0, + 0.4550158977508545 + ], + [ + 0.38575035333633423, + 0.07405967265367508, + 0.11202578246593475, + -0.04982158914208412, + -0.342861533164978, + 0.05761028453707695, + 0.0, + 0.4550158977508545 + ], + [ + 0.3510405719280243, + 0.11058473587036133, + 0.10993340611457825, + 0.05291034281253815, + -0.30671194195747375, + 0.06022047996520996, + 0.0, + 0.4550158977508545 + ], + [ + 0.31193241477012634, + 0.15659984946250916, + 0.09127941727638245, + 0.08847654610872269, + -0.2756732702255249, + 0.09153139591217041, + 0.0, + 0.4550158977508545 + ], + [ + 0.29175418615341187, + 0.17071327567100525, + 0.08060019463300705, + 0.09856366366147995, + -0.2977641522884369, + 0.05013662204146385, + 0.0, + 0.4550158977508545 + ], + [ + 0.29141929745674133, + 0.17914791405200958, + 0.07822775840759277, + 0.10935090482234955, + -0.3381615877151489, + 0.04865226149559021, + 0.0, + 0.4550158977508545 + ], + [ + 0.2908655107021332, + 0.180170938372612, + 0.05838248133659363, + 0.07617560029029846, + -0.3157750070095062, + 0.05739898234605789, + 0.0, + 0.4550158977508545 + ], + [ + 0.28444361686706543, + 0.1836872547864914, + 0.052653707563877106, + 0.08724114298820496, + -0.26930373907089233, + 0.08930789679288864, + 0.0, + 0.5334634184837341 + ], + [ + 0.28020134568214417, + 0.18589027225971222, + 0.051852259784936905, + 0.10050737112760544, + -0.24457283318042755, + 0.10185790807008743, + 0.0, + 0.8445048928260803 + ], + [ + 0.2746816873550415, + 0.1887533813714981, + 0.05234520509839058, + 0.11623656749725342, + -0.20650702714920044, + 0.12701597809791565, + 0.0, + 1.0086473226547241 + ], + [ + 0.27264603972435, + 0.1883918046951294, + 0.05582863837480545, + 0.12227349728345871, + -0.19844654202461243, + 0.12362954020500183, + 0.0, + 1.0041072368621826 + ], + [ + 0.27190759778022766, + 0.18591207265853882, + 0.07080531865358353, + 0.1337009221315384, + -0.19846457242965698, + 0.12033624947071075, + 0.0, + 0.9994885921478271 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9484345316886902 + ], + [ + 0.6981924772262573 + ], + [ + 0.5324842929840088 + ], + [ + 0.457809716463089 + ], + [ + 0.4550158977508545 + ], + [ + 0.4550158977508545 + ], + [ + 0.4550158977508545 + ], + [ + 0.4550158977508545 + ], + [ + 0.4550158977508545 + ], + [ + 0.4550158977508545 + ], + [ + 0.4550158977508545 + ], + [ + 0.5334634184837341 + ], + [ + 0.8445048928260803 + ], + [ + 1.0086473226547241 + ], + [ + 1.0041072368621826 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3358047306537628, + 0.14399336278438568, + 0.07601544260978699 + ], + [ + 0.33429238200187683, + 0.14325590431690216, + 0.06442539393901825 + ], + [ + 0.33913296461105347, + 0.1287182718515396, + 0.059790875762701035 + ], + [ + 0.3498096168041229, + 0.10012322664260864, + 0.05694819986820221 + ], + [ + 0.3711429834365845, + 0.0632271021604538, + 0.07023121416568756 + ], + [ + 0.39167842268943787, + 0.04164072126150131, + 0.06720927357673645 + ], + [ + 0.408222496509552, + 0.04026409238576889, + 0.053195416927337646 + ], + [ + 0.4124513864517212, + 0.04576003551483154, + 0.04328631982207298 + ], + [ + 0.41230499744415283, + 0.04706127941608429, + 0.040270112454891205 + ], + [ + 0.41117024421691895, + 0.045785535126924515, + 0.039063528180122375 + ], + [ + 0.40907686948776245, + 0.04263985529541969, + 0.03486695885658264 + ], + [ + 0.40965452790260315, + 0.03907348960638046, + 0.03734792768955231 + ], + [ + 0.4139977693557739, + 0.02880091406404972, + 0.06275830417871475 + ], + [ + 0.41139718890190125, + 0.030263345688581467, + 0.10908105969429016 + ], + [ + 0.38575035333633423, + 0.07405967265367508, + 0.11202578246593475 + ], + [ + 0.3510405719280243, + 0.11058473587036133, + 0.10993340611457825 + ], + [ + 0.31193241477012634, + 0.15659984946250916, + 0.09127941727638245 + ], + [ + 0.29175418615341187, + 0.17071327567100525, + 0.08060019463300705 + ], + [ + 0.29141929745674133, + 0.17914791405200958, + 0.07822775840759277 + ], + [ + 0.2908655107021332, + 0.180170938372612, + 0.05838248133659363 + ], + [ + 0.28444361686706543, + 0.1836872547864914, + 0.052653707563877106 + ], + [ + 0.28020134568214417, + 0.18589027225971222, + 0.051852259784936905 + ], + [ + 0.2746816873550415, + 0.1887533813714981, + 0.05234520509839058 + ], + [ + 0.27264603972435, + 0.1883918046951294, + 0.05582863837480545 + ], + [ + 0.27190759778022766, + 0.18591207265853882, + 0.07080531865358353 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9740608148009458, + 0.11099724439827496, + 0.19719315608130797, + 0.06841829413870584, + -0.9751074385913402, + 0.2109133002704788, + 0.21569530847115567, + -0.1919507617589085, + -0.9574081882685711 + ], + [ + 0.9798308981315123, + 0.10762311042804039, + 0.16837065411938038, + 0.07309545622395587, + -0.9772163079067755, + 0.19926199296519648, + 0.18597974445139434, + -0.18293592775298156, + -0.965373493002035 + ], + [ + 0.9836069971425557, + 0.07357800524686806, + 0.16463156536975598, + 0.04283685622303003, + -0.9821744272041708, + 0.1830256766005431, + 0.1751635776099924, + -0.17297303746552814, + -0.9692254894444415 + ], + [ + 0.9844321297874821, + 0.032952696018527634, + 0.17264849164470755, + 0.010027567811591987, + -0.991197777692466, + 0.13200914127931054, + 0.17547885834443436, + -0.12822279564347192, + -0.9760973747283139 + ], + [ + 0.9736848154048324, + 0.007467127308391703, + 0.2277764743335404, + -0.00141424452398523, + -0.9992458597788859, + 0.03880350019240172, + 0.22789444960876973, + -0.03810451055341891, + -0.9729399601789417 + ], + [ + 0.9701987926671974, + 0.008080571686453071, + 0.2421755707505037, + 0.0061785968298254555, + -0.9999438263914597, + 0.008612142754303824, + 0.24223155791169446, + -0.006859185288802892, + -0.9701942196946172 + ], + [ + 0.9744627972272424, + 0.05229146789139109, + 0.2183755004706849, + 0.04950353999422296, + -0.9986077043475028, + 0.018222303527570972, + 0.21902432821058684, + -0.0069465965460916495, + -0.9756946696832607 + ], + [ + 0.9783893871711217, + 0.06497543342308476, + 0.1962967144972116, + 0.05735250818065704, + -0.9973716329881784, + 0.04427770901799984, + 0.19865773802272385, + -0.032062731667424675, + -0.9795443248581037 + ], + [ + 0.9809675141454822, + 0.05937104584457617, + 0.1848724292763924, + 0.04995983085257431, + -0.9972268888465888, + 0.05515929171531948, + 0.18763462231799238, + -0.044873277980049364, + -0.9812133495988066 + ], + [ + 0.9817277579052343, + 0.05883404437523576, + 0.1809673025184777, + 0.051038641519315045, + -0.997569324392771, + 0.04743943615192872, + 0.1833184836022388, + -0.03733628600976348, + -0.9823443058911537 + ], + [ + 0.9827184171838418, + 0.019335268504165476, + 0.1840941604710938, + 0.014188120160026308, + -0.999471844825597, + 0.029235742631969115, + 0.18456221112137142, + -0.0261185526549598, + -0.9824737204796883 + ], + [ + 0.9816154620444486, + -0.0015820713207293515, + 0.1908627300590658, + -0.00298405835566534, + -0.9999706372252086, + 0.007058334303515763, + 0.1908459590114333, + -0.00749811561302766, + -0.9815913600838487 + ], + [ + 0.965666519190816, + -0.02985327062027099, + 0.25806386021131744, + -0.017483820519089532, + -0.9985914171449859, + -0.050094886210324444, + 0.2591958520770534, + 0.043863012181585934, + -0.9648282471136552 + ], + [ + 0.9320047265394684, + -0.04445843288358244, + 0.3597091011548456, + -0.01616369045615694, + -0.9965593984676365, + -0.08129022349987777, + 0.36208552141576783, + 0.06994864595800648, + -0.9295166819964626 + ], + [ + 0.9402340694836254, + 0.040792487067080184, + 0.33807671848434473, + 0.0542271578687508, + -0.9980661995976546, + -0.030385466430055446, + 0.3361834468437409, + 0.046902390339688904, + -0.9406279050978048 + ], + [ + 0.9516033616884599, + 0.07603845844982318, + 0.29777373097672183, + 0.05737538534855175, + -0.9958294141854491, + 0.07093548476729339, + 0.3019256649894602, + -0.05041756320609152, + -0.9519973540619913 + ], + [ + 0.958214137775446, + 0.11499688669921693, + 0.2619186557249148, + 0.08795243664441452, + -0.9897204121577756, + 0.1127735547305006, + 0.2721948475918845, + -0.0850248305363229, + -0.9584783477662396 + ], + [ + 0.9547935575822498, + 0.07870626131898671, + 0.28666110100363984, + 0.04791027416618072, + -0.9924492091541239, + 0.11291223529217712, + 0.2933834828833297, + -0.09407386288731823, + -0.9513549496863437 + ], + [ + 0.942249885104939, + 0.0845050248203886, + 0.32407415015677293, + 0.04587879253591526, + -0.991090151255328, + 0.12504178693595752, + 0.33175335780542686, + -0.1029524786724266, + -0.9377315696509465 + ], + [ + 0.9489905419370744, + 0.08079589271061823, + 0.30477692667764783, + 0.0545309912404026, + -0.9941021421307285, + 0.09374061022543233, + 0.3105532519686715, + -0.07233916458040944, + -0.9477994107191097 + ], + [ + 0.9601147217855368, + 0.11193961866118331, + 0.25622108185055686, + 0.085974522858846, + -0.9901591782796502, + 0.11042274714822788, + 0.26606033607036333, + -0.08399001989853654, + -0.9602903592807587 + ], + [ + 0.9652120579288455, + 0.1253388841449245, + 0.2294686195323192, + 0.09865590338466163, + -0.9873260361890528, + 0.1243153690843154, + 0.2421418921957111, + -0.09735225926766389, + -0.9653444160813083 + ], + [ + 0.9708685597660217, + 0.14940817288028, + 0.187327087028084, + 0.12398328111763231, + -0.982238502483805, + 0.14083916444540068, + 0.20504239966689122, + -0.11351088985180591, + -0.9721485957526731 + ], + [ + 0.9728914101314233, + 0.14625642443055864, + 0.17914062187365223, + 0.12089467489729923, + -0.9819932842611682, + 0.14516772109336432, + 0.19714659944814386, + -0.11957528163777317, + -0.9730544539476094 + ], + [ + 0.9732807457686163, + 0.14506717226611468, + 0.17798905990762215, + 0.11768958408682546, + -0.9807530859772434, + 0.1557964895098201, + 0.1971642759567659, + -0.13068626506571707, + -0.9716209901034545 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0015123486518859863, + -0.0007374584674835205, + -0.011590048670768738, + -0.010589689016342163, + 0.03033493459224701, + 0.004337050020694733, + 1.0 + ], + [ + 0.004840582609176636, + -0.014537632465362549, + -0.004634518176317215, + -0.010671049356460571, + 0.010996997356414795, + -0.03093886375427246, + 1.0 + ], + [ + 0.010676652193069458, + -0.02859504520893097, + -0.002842675894498825, + -0.045991092920303345, + -0.00032024085521698, + -0.033337488770484924, + 1.0 + ], + [ + 0.021333366632461548, + -0.036896124482154846, + 0.013283014297485352, + -0.09147053956985474, + -0.05352252721786499, + -0.011638257652521133, + 1.0 + ], + [ + 0.020535439252853394, + -0.021586380898952484, + -0.003021940588951111, + -0.03207449987530708, + -0.014750570058822632, + 0.007820761762559414, + 1.0 + ], + [ + 0.016544073820114136, + -0.0013766288757324219, + -0.014013856649398804, + 4.9729831516742706e-05, + 0.02385084331035614, + 0.044388920068740845, + 1.0 + ], + [ + 0.0042288899421691895, + 0.005495943129062653, + -0.009909097105264664, + 0.025601089000701904, + 0.02082623541355133, + 0.0077950842678546906, + 1.0 + ], + [ + -0.00014638900756835938, + 0.0013012439012527466, + -0.003016207367181778, + 0.012979984283447266, + 0.01123473048210144, + -0.007667127996683121, + 1.0 + ], + [ + -0.0011347532272338867, + -0.0012757442891597748, + -0.0012065842747688293, + -0.007711548358201981, + 0.004392355680465698, + 0.0010566525161266327, + 0.0 + ], + [ + -0.002093374729156494, + -0.0031456798315048218, + -0.004196569323539734, + -0.011410826817154884, + -0.0012653172016143799, + -0.03750520572066307, + 0.0 + ], + [ + 0.0005776584148406982, + -0.0035663656890392303, + 0.0024809688329696655, + -0.018939632922410965, + -0.006397470831871033, + -0.017476558685302734, + 0.0 + ], + [ + 0.004343241453170776, + -0.010272575542330742, + 0.025410376489162445, + -0.05306929349899292, + -0.07016563415527344, + -0.015063527971506119, + 0.0 + ], + [ + -0.0026005804538726807, + 0.001462431624531746, + 0.04632275551557541, + -0.02968042716383934, + -0.10831475257873535, + 0.0007622763514518738, + 0.0 + ], + [ + -0.025646835565567017, + 0.04379632696509361, + 0.0029447227716445923, + 0.025289546698331833, + 0.02764272689819336, + 0.07495146989822388, + 0.0 + ], + [ + -0.034709781408309937, + 0.03652506321668625, + -0.0020923763513565063, + 0.10273192822933197, + 0.03614959120750427, + 0.002610195428133011, + 0.0 + ], + [ + -0.03910815715789795, + 0.04601511359214783, + -0.0186539888381958, + 0.03556620329618454, + 0.031038671731948853, + 0.03131091594696045, + 0.0 + ], + [ + -0.020178228616714478, + 0.014113426208496094, + -0.010679222643375397, + 0.010087117552757263, + -0.022090882062911987, + -0.04139477387070656, + 0.0 + ], + [ + -0.0003348886966705322, + 0.008434638381004333, + -0.002372436225414276, + 0.010787241160869598, + -0.040397435426712036, + -0.001484360545873642, + 0.0 + ], + [ + -0.0005537867546081543, + 0.001023024320602417, + -0.019845277070999146, + -0.033175304532051086, + 0.0223865807056427, + 0.008746720850467682, + 0.0 + ], + [ + -0.006421893835067749, + 0.0035163164138793945, + -0.005728773772716522, + 0.011065542697906494, + 0.04647126793861389, + 0.03190891444683075, + 1.0 + ], + [ + -0.004242271184921265, + 0.002203017473220825, + -0.0008014477789402008, + 0.013266228139400482, + 0.024730905890464783, + 0.012550011277198792, + 1.0 + ], + [ + -0.005519658327102661, + 0.0028631091117858887, + 0.0004929453134536743, + 0.01572919636964798, + 0.03806580603122711, + 0.025158070027828217, + 1.0 + ], + [ + -0.0020356476306915283, + -0.0003615766763687134, + 0.003483433276414871, + 0.006036929786205292, + 0.008060485124588013, + -0.0033864378929138184, + 1.0 + ], + [ + -0.0007384419441223145, + -0.002479732036590576, + 0.014976680278778076, + 0.011427424848079681, + -1.8030405044555664e-05, + -0.0032932907342910767, + 1.0 + ], + [ + -0.0017344653606414795, + -0.003692120313644409, + 0.01457270234823227, + 0.0019061565399169922, + -0.013586103916168213, + -0.02597392350435257, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9484345316886902 + ], + [ + 0.6981924772262573 + ], + [ + 0.5324842929840088 + ], + [ + 0.457809716463089 + ], + [ + 0.4550158977508545 + ], + [ + 0.4550158977508545 + ], + [ + 0.4550158977508545 + ], + [ + 0.4550158977508545 + ], + [ + 0.4550158977508545 + ], + [ + 0.4550158977508545 + ], + [ + 0.4550158977508545 + ], + [ + 0.5334634184837341 + ], + [ + 0.8445048928260803 + ], + [ + 1.0086473226547241 + ], + [ + 1.0041072368621826 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.33429238200187683, + 0.14325590431690216, + 0.06442539393901825 + ], + [ + 0.33913296461105347, + 0.1287182718515396, + 0.059790875762701035 + ], + [ + 0.3498096168041229, + 0.10012322664260864, + 0.05694819986820221 + ], + [ + 0.3711429834365845, + 0.0632271021604538, + 0.07023121416568756 + ], + [ + 0.39167842268943787, + 0.04164072126150131, + 0.06720927357673645 + ], + [ + 0.408222496509552, + 0.04026409238576889, + 0.053195416927337646 + ], + [ + 0.4124513864517212, + 0.04576003551483154, + 0.04328631982207298 + ], + [ + 0.41230499744415283, + 0.04706127941608429, + 0.040270112454891205 + ], + [ + 0.41117024421691895, + 0.045785535126924515, + 0.039063528180122375 + ], + [ + 0.40907686948776245, + 0.04263985529541969, + 0.03486695885658264 + ], + [ + 0.40965452790260315, + 0.03907348960638046, + 0.03734792768955231 + ], + [ + 0.4139977693557739, + 0.02880091406404972, + 0.06275830417871475 + ], + [ + 0.41139718890190125, + 0.030263345688581467, + 0.10908105969429016 + ], + [ + 0.38575035333633423, + 0.07405967265367508, + 0.11202578246593475 + ], + [ + 0.3510405719280243, + 0.11058473587036133, + 0.10993340611457825 + ], + [ + 0.31193241477012634, + 0.15659984946250916, + 0.09127941727638245 + ], + [ + 0.29175418615341187, + 0.17071327567100525, + 0.08060019463300705 + ], + [ + 0.29141929745674133, + 0.17914791405200958, + 0.07822775840759277 + ], + [ + 0.2908655107021332, + 0.180170938372612, + 0.05838248133659363 + ], + [ + 0.28444361686706543, + 0.1836872547864914, + 0.052653707563877106 + ], + [ + 0.28020134568214417, + 0.18589027225971222, + 0.051852259784936905 + ], + [ + 0.2746816873550415, + 0.1887533813714981, + 0.05234520509839058 + ], + [ + 0.27264603972435, + 0.1883918046951294, + 0.05582863837480545 + ], + [ + 0.27190759778022766, + 0.18591207265853882, + 0.07080531865358353 + ], + [ + 0.2701731324195862, + 0.1822199523448944, + 0.0853780210018158 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9798308981315123, + 0.10762311042804039, + 0.16837065411938038, + 0.07309545622395587, + -0.9772163079067755, + 0.19926199296519648, + 0.18597974445139434, + -0.18293592775298156, + -0.965373493002035 + ], + [ + 0.9836069971425557, + 0.07357800524686806, + 0.16463156536975598, + 0.04283685622303003, + -0.9821744272041708, + 0.1830256766005431, + 0.1751635776099924, + -0.17297303746552814, + -0.9692254894444415 + ], + [ + 0.9844321297874821, + 0.032952696018527634, + 0.17264849164470755, + 0.010027567811591987, + -0.991197777692466, + 0.13200914127931054, + 0.17547885834443436, + -0.12822279564347192, + -0.9760973747283139 + ], + [ + 0.9736848154048324, + 0.007467127308391703, + 0.2277764743335404, + -0.00141424452398523, + -0.9992458597788859, + 0.03880350019240172, + 0.22789444960876973, + -0.03810451055341891, + -0.9729399601789417 + ], + [ + 0.9701987926671974, + 0.008080571686453071, + 0.2421755707505037, + 0.0061785968298254555, + -0.9999438263914597, + 0.008612142754303824, + 0.24223155791169446, + -0.006859185288802892, + -0.9701942196946172 + ], + [ + 0.9744627972272424, + 0.05229146789139109, + 0.2183755004706849, + 0.04950353999422296, + -0.9986077043475028, + 0.018222303527570972, + 0.21902432821058684, + -0.0069465965460916495, + -0.9756946696832607 + ], + [ + 0.9783893871711217, + 0.06497543342308476, + 0.1962967144972116, + 0.05735250818065704, + -0.9973716329881784, + 0.04427770901799984, + 0.19865773802272385, + -0.032062731667424675, + -0.9795443248581037 + ], + [ + 0.9809675141454822, + 0.05937104584457617, + 0.1848724292763924, + 0.04995983085257431, + -0.9972268888465888, + 0.05515929171531948, + 0.18763462231799238, + -0.044873277980049364, + -0.9812133495988066 + ], + [ + 0.9817277579052343, + 0.05883404437523576, + 0.1809673025184777, + 0.051038641519315045, + -0.997569324392771, + 0.04743943615192872, + 0.1833184836022388, + -0.03733628600976348, + -0.9823443058911537 + ], + [ + 0.9827184171838418, + 0.019335268504165476, + 0.1840941604710938, + 0.014188120160026308, + -0.999471844825597, + 0.029235742631969115, + 0.18456221112137142, + -0.0261185526549598, + -0.9824737204796883 + ], + [ + 0.9816154620444486, + -0.0015820713207293515, + 0.1908627300590658, + -0.00298405835566534, + -0.9999706372252086, + 0.007058334303515763, + 0.1908459590114333, + -0.00749811561302766, + -0.9815913600838487 + ], + [ + 0.965666519190816, + -0.02985327062027099, + 0.25806386021131744, + -0.017483820519089532, + -0.9985914171449859, + -0.050094886210324444, + 0.2591958520770534, + 0.043863012181585934, + -0.9648282471136552 + ], + [ + 0.9320047265394684, + -0.04445843288358244, + 0.3597091011548456, + -0.01616369045615694, + -0.9965593984676365, + -0.08129022349987777, + 0.36208552141576783, + 0.06994864595800648, + -0.9295166819964626 + ], + [ + 0.9402340694836254, + 0.040792487067080184, + 0.33807671848434473, + 0.0542271578687508, + -0.9980661995976546, + -0.030385466430055446, + 0.3361834468437409, + 0.046902390339688904, + -0.9406279050978048 + ], + [ + 0.9516033616884599, + 0.07603845844982318, + 0.29777373097672183, + 0.05737538534855175, + -0.9958294141854491, + 0.07093548476729339, + 0.3019256649894602, + -0.05041756320609152, + -0.9519973540619913 + ], + [ + 0.958214137775446, + 0.11499688669921693, + 0.2619186557249148, + 0.08795243664441452, + -0.9897204121577756, + 0.1127735547305006, + 0.2721948475918845, + -0.0850248305363229, + -0.9584783477662396 + ], + [ + 0.9547935575822498, + 0.07870626131898671, + 0.28666110100363984, + 0.04791027416618072, + -0.9924492091541239, + 0.11291223529217712, + 0.2933834828833297, + -0.09407386288731823, + -0.9513549496863437 + ], + [ + 0.942249885104939, + 0.0845050248203886, + 0.32407415015677293, + 0.04587879253591526, + -0.991090151255328, + 0.12504178693595752, + 0.33175335780542686, + -0.1029524786724266, + -0.9377315696509465 + ], + [ + 0.9489905419370744, + 0.08079589271061823, + 0.30477692667764783, + 0.0545309912404026, + -0.9941021421307285, + 0.09374061022543233, + 0.3105532519686715, + -0.07233916458040944, + -0.9477994107191097 + ], + [ + 0.9601147217855368, + 0.11193961866118331, + 0.25622108185055686, + 0.085974522858846, + -0.9901591782796502, + 0.11042274714822788, + 0.26606033607036333, + -0.08399001989853654, + -0.9602903592807587 + ], + [ + 0.9652120579288455, + 0.1253388841449245, + 0.2294686195323192, + 0.09865590338466163, + -0.9873260361890528, + 0.1243153690843154, + 0.2421418921957111, + -0.09735225926766389, + -0.9653444160813083 + ], + [ + 0.9708685597660217, + 0.14940817288028, + 0.187327087028084, + 0.12398328111763231, + -0.982238502483805, + 0.14083916444540068, + 0.20504239966689122, + -0.11351088985180591, + -0.9721485957526731 + ], + [ + 0.9728914101314233, + 0.14625642443055864, + 0.17914062187365223, + 0.12089467489729923, + -0.9819932842611682, + 0.14516772109336432, + 0.19714659944814386, + -0.11957528163777317, + -0.9730544539476094 + ], + [ + 0.9732807457686163, + 0.14506717226611468, + 0.17798905990762215, + 0.11768958408682546, + -0.9807530859772434, + 0.1557964895098201, + 0.1971642759567659, + -0.13068626506571707, + -0.9716209901034545 + ], + [ + 0.9732522005919593, + 0.12168391622438719, + 0.19486707924943397, + 0.09211189957951628, + -0.983730538838942, + 0.15423885668500675, + 0.21046508498742011, + -0.13216372985029312, + -0.9686264483862171 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006539.json b/json/chunk-0006/episode_0006539.json new file mode 100644 index 0000000000000000000000000000000000000000..4fc4f104970eefd5026768fe0ab208ac3efc5ee3 --- /dev/null +++ b/json/chunk-0006/episode_0006539.json @@ -0,0 +1,1282 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 20, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nFlip cup upright." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006539.mp4", + "start": 0, + "end": 20, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.29729682207107544, + -0.05014759674668312, + 0.0927940234541893, + -0.061260271817445755, + 0.04708113893866539, + -2.0363550186157227, + 0.0, + 0.9994885921478271 + ], + [ + 0.28959333896636963, + -0.04855750501155853, + 0.0854775682091713, + -0.10161888599395752, + 0.02422562800347805, + -2.0668442249298096, + 0.0, + 0.9994885921478271 + ], + [ + 0.2863747775554657, + -0.03406773880124092, + 0.09363742172718048, + -0.1138707622885704, + 0.015098699368536472, + -2.0914618968963623, + 0.0, + 0.9994885921478271 + ], + [ + 0.287024587392807, + -0.0220461618155241, + 0.10080192983150482, + -0.11011017858982086, + 0.015533681027591228, + -2.095853328704834, + 0.0, + 0.9994885921478271 + ], + [ + 0.28595438599586487, + -0.019122818484902382, + 0.0937136635184288, + -0.10423163324594498, + 0.026724640280008316, + -2.1086361408233643, + 0.0, + 0.9994885921478271 + ], + [ + 0.2902761697769165, + -0.02153780870139599, + 0.08673560619354248, + -0.08699866384267807, + 0.020116321742534637, + -2.120474338531494, + 0.0, + 0.9994885921478271 + ], + [ + 0.29300424456596375, + -0.022782377898693085, + 0.06814002990722656, + -0.12173493951559067, + -0.011508957482874393, + -2.1599109172821045, + 0.0, + 0.9994885921478271 + ], + [ + 0.2959011197090149, + -0.0177110955119133, + 0.06556479632854462, + -0.12771713733673096, + 0.007777710910886526, + -2.1771717071533203, + 0.0, + 1.0001531839370728 + ], + [ + 0.296186238527298, + 0.0012788288295269012, + 0.06878425180912018, + -0.16011126339435577, + 0.05457761138677597, + -2.176543951034546, + 0.0, + 0.9994885921478271 + ], + [ + 0.29738909006118774, + 0.015932098031044006, + 0.07794119417667389, + -0.17296834290027618, + 0.08318942040205002, + -2.1634881496429443, + 0.0, + 1.0001531839370728 + ], + [ + 0.2983711063861847, + 0.017904404550790787, + 0.08409474790096283, + -0.15902309119701385, + 0.10384612530469894, + -2.1582133769989014, + 0.0, + 1.0001531839370728 + ], + [ + 0.3022315800189972, + 0.02000999078154564, + 0.08962302654981613, + -0.10508681833744049, + 0.14409616589546204, + -2.106879472732544, + 0.0, + 1.0001531839370728 + ], + [ + 0.30518823862075806, + 0.020936813205480576, + 0.08615036308765411, + -0.07367212325334549, + 0.1614975929260254, + -2.0680408477783203, + 0.0, + 1.0001531839370728 + ], + [ + 0.31024712324142456, + 0.022991009056568146, + 0.07686331123113632, + -0.06532642990350723, + 0.1804618537425995, + -2.0269775390625, + 0.0, + 0.7807356715202332 + ], + [ + 0.3270818591117859, + 0.02472134865820408, + 0.07092514634132385, + -0.0402059406042099, + 0.20566435158252716, + -2.0004286766052246, + 0.0, + 0.5178548097610474 + ], + [ + 0.3395064175128937, + 0.023608680814504623, + 0.06540153920650482, + -0.01725952699780464, + 0.21835602819919586, + -1.972307562828064, + 0.0, + 0.29961487650871277 + ], + [ + 0.3442600667476654, + 0.015223897993564606, + 0.06300178915262222, + 0.05937197804450989, + 0.1761987805366516, + -1.8379621505737305, + 0.0, + 0.22617807984352112 + ], + [ + 0.3444373905658722, + -0.006607130169868469, + 0.06258440017700195, + 0.12332689017057419, + 0.03809740021824837, + -1.6034481525421143, + 0.0, + 0.2248985916376114 + ], + [ + 0.34233397245407104, + -0.045307356864213943, + 0.06640230864286423, + 0.12633462250232697, + -0.0703984946012497, + -1.5237746238708496, + 0.0, + 0.2198251634836197 + ], + [ + 0.3294895887374878, + -0.07221271842718124, + 0.06795813888311386, + 0.09129045158624649, + -0.12264329195022583, + -1.5280216932296753, + 0.0, + 0.4292689263820648 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.7807356715202332 + ], + [ + 0.5178548097610474 + ], + [ + 0.29961487650871277 + ], + [ + 0.22617807984352112 + ], + [ + 0.2248985916376114 + ], + [ + 0.2198251634836197 + ], + [ + 0.4292689263820648 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.29729682207107544, + -0.05014759674668312, + 0.0927940234541893 + ], + [ + 0.28959333896636963, + -0.04855750501155853, + 0.0854775682091713 + ], + [ + 0.2863747775554657, + -0.03406773880124092, + 0.09363742172718048 + ], + [ + 0.287024587392807, + -0.0220461618155241, + 0.10080192983150482 + ], + [ + 0.28595438599586487, + -0.019122818484902382, + 0.0937136635184288 + ], + [ + 0.2902761697769165, + -0.02153780870139599, + 0.08673560619354248 + ], + [ + 0.29300424456596375, + -0.022782377898693085, + 0.06814002990722656 + ], + [ + 0.2959011197090149, + -0.0177110955119133, + 0.06556479632854462 + ], + [ + 0.296186238527298, + 0.0012788288295269012, + 0.06878425180912018 + ], + [ + 0.29738909006118774, + 0.015932098031044006, + 0.07794119417667389 + ], + [ + 0.2983711063861847, + 0.017904404550790787, + 0.08409474790096283 + ], + [ + 0.3022315800189972, + 0.02000999078154564, + 0.08962302654981613 + ], + [ + 0.30518823862075806, + 0.020936813205480576, + 0.08615036308765411 + ], + [ + 0.31024712324142456, + 0.022991009056568146, + 0.07686331123113632 + ], + [ + 0.3270818591117859, + 0.02472134865820408, + 0.07092514634132385 + ], + [ + 0.3395064175128937, + 0.023608680814504623, + 0.06540153920650482 + ], + [ + 0.3442600667476654, + 0.015223897993564606, + 0.06300178915262222 + ], + [ + 0.3444373905658722, + -0.006607130169868469, + 0.06258440017700195 + ], + [ + 0.34233397245407104, + -0.045307356864213943, + 0.06640230864286423 + ], + [ + 0.3294895887374878, + -0.07221271842718124, + 0.06795813888311386 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + -0.44842464621544476, + -0.8931882094544756, + -0.033617839877969964, + -0.8925807192407742, + 0.44550532643962326, + 0.06945979955014774, + -0.04706374726023326, + 0.061154121737070334, + -0.9970181428080395 + ], + [ + -0.4758138506408058, + -0.8761030308660954, + -0.07774740410850052, + -0.879212382355374, + 0.4713370509502796, + 0.06947640689098213, + -0.024223258479335232, + 0.10141431707966635, + -0.9945493301188777 + ], + [ + -0.4974009204361023, + -0.8627235877035361, + -0.09110617744838945, + -0.8673893998370746, + 0.4927477556919069, + 0.06953616548867567, + -0.015098125698174557, + 0.11361188529607294, + -0.993410482187436 + ], + [ + -0.5012018540843656, + -0.860910739961313, + -0.08734643256400884, + -0.8651909763880468, + 0.49674971554256564, + 0.0684419059135449, + -0.01553305633456322, + 0.1098745554150039, + -0.9938240821358992 + ], + [ + -0.5120990566030883, + -0.8555805715036175, + -0.075739302160569, + -0.8585106404944554, + 0.507114058777427, + 0.07612365958152727, + -0.02672145924209386, + 0.10400585106534795, + -0.9942176555262664 + ], + [ + -0.522307001081081, + -0.8503809515268803, + -0.0636210177687004, + -0.8525202547759547, + 0.5189466259818684, + 0.06247891307294182, + -0.020114965036733948, + 0.08687137999521179, + -0.9960164413900499 + ], + [ + -0.5555882845872737, + -0.8245033822992184, + -0.10731183814714704, + -0.8313778970932119, + 0.5526751220816344, + 0.05797414645270283, + 0.01150870341261536, + 0.12142644691005075, + -0.9925337111335619 + ], + [ + -0.5698755540620459, + -0.8155909145470792, + -0.10026621061321953, + -0.8216942018264732, + 0.5644371282959706, + 0.07892633835262143, + -0.007777632495222113, + 0.12736635469878316, + -0.9918252467665423 + ], + [ + -0.5685290443750864, + -0.8165137217719458, + -0.10039954113478879, + -0.820852585087732, + 0.5549447499330941, + 0.13504576289718695, + -0.05455052022427111, + 0.15919066140895566, + -0.9857396076365402 + ], + [ + -0.5566639888283301, + -0.82505180521718, + -0.09702949164870293, + -0.8265716384546868, + 0.5383987043100568, + 0.164030977865728, + -0.08309350181613302, + 0.17151196432064136, + -0.9816715927696023 + ], + [ + -0.55122725504288, + -0.830969763888363, + -0.07508505045086986, + -0.8278908170005711, + 0.5335567500325192, + 0.17295661196052164, + -0.10365957950917204, + 0.15750062221481465, + -0.9820632594583343 + ], + [ + -0.5054789405732529, + -0.8626667467256172, + -0.017237306366762836, + -0.8508058819855601, + 0.49500536851446403, + 0.17634918860213977, + -0.14359802162883406, + 0.10380640267199137, + -0.9841767315622663 + ], + [ + -0.4707985657956515, + -0.8821618047989578, + 0.011800872789892183, + -0.8674636583773688, + 0.46530942398785213, + 0.1760509623451254, + -0.16079649199938784, + 0.07264771229666346, + -0.9843103159363678 + ], + [ + -0.43336934720894965, + -0.9009878896820573, + 0.02029363313852972, + -0.8831627947064145, + 0.429064830331874, + 0.1895437928781505, + -0.1794839462070184, + 0.06421988802974185, + -0.9816625280794837 + ], + [ + -0.4077583041969297, + -0.9118034066099852, + 0.04845320477398947, + -0.8899597492716449, + 0.4087374232108143, + 0.20225074423431572, + -0.2042175556478803, + 0.039348018519484204, + -0.9781344096819184 + ], + [ + -0.38153001654518476, + -0.9217954473694059, + 0.06876045145334643, + -0.8986147473049715, + 0.38731030077593936, + 0.20611226756036077, + -0.21662498101801042, + 0.016848861145145333, + -0.9761094884678962 + ], + [ + -0.2599114080600254, + -0.9600776191931055, + 0.10342642353263852, + -0.9495893889528977, + 0.27356581741138114, + 0.15310694279523956, + -0.1752884832164306, + -0.058418393238265344, + -0.9827823965574181 + ], + [ + -0.03262233559553118, + -0.9917229381493722, + 0.12418291818390072, + -0.9987417450872196, + 0.03708097520629583, + 0.0337628182752227, + -0.03808818505032986, + -0.12292524242858713, + -0.9916847659077178 + ], + [ + 0.0468879494951282, + -0.9905172917209731, + 0.1291395175532674, + -0.9964204704251419, + -0.0554827774742801, + -0.06378014990166006, + 0.07034036046169384, + -0.12568673838352185, + -0.9895731794489132 + ], + [ + 0.04244039714973119, + -0.9944481302644876, + 0.09628981723545899, + -0.9915809088966585, + -0.05372593596784697, + -0.1178169126910727, + 0.12233606909431954, + -0.09047894792626521, + -0.9883559309179597 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0077034831047058105, + 0.001590091735124588, + -0.007316455245018005, + -0.040358614176511765, + -0.02285551093518734, + -0.030489206314086914, + 1.0 + ], + [ + -0.0032185614109039307, + 0.014489766210317612, + 0.008159853518009186, + -0.012251876294612885, + -0.009126928634941578, + -0.024617671966552734, + 1.0 + ], + [ + 0.0006498098373413086, + 0.01202157698571682, + 0.007164508104324341, + 0.0037605836987495422, + 0.00043498165905475616, + -0.00439143180847168, + 1.0 + ], + [ + -0.0010702013969421387, + 0.0029233433306217194, + -0.007088266313076019, + 0.005878545343875885, + 0.011190959252417088, + -0.012782812118530273, + 1.0 + ], + [ + 0.004321783781051636, + -0.0024149902164936066, + -0.006978057324886322, + 0.017232969403266907, + -0.006608318537473679, + -0.011838197708129883, + 1.0 + ], + [ + 0.002728074789047241, + -0.0012445691972970963, + -0.018595576286315918, + -0.0347362756729126, + -0.031625278294086456, + -0.03943657875061035, + 1.0 + ], + [ + 0.0028968751430511475, + 0.005071282386779785, + -0.002575233578681946, + -0.005982197821140289, + 0.019286667928099632, + -0.01726078987121582, + 1.0 + ], + [ + 0.00028511881828308105, + 0.0189899243414402, + 0.0032194554805755615, + -0.03239412605762482, + 0.046799901872873306, + 0.0006277561187744141, + 1.0 + ], + [ + 0.0012028515338897705, + 0.014653269201517105, + 0.009156942367553711, + -0.01285707950592041, + 0.028611809015274048, + 0.013055801391601562, + 1.0 + ], + [ + 0.0009820163249969482, + 0.0019723065197467804, + 0.00615355372428894, + 0.013945251703262329, + 0.020656704902648926, + 0.005274772644042969, + 1.0 + ], + [ + 0.0038604736328125, + 0.0021055862307548523, + 0.005528278648853302, + 0.053936272859573364, + 0.04025004059076309, + 0.05133390426635742, + 1.0 + ], + [ + 0.0029566586017608643, + 0.0009268224239349365, + -0.003472663462162018, + 0.031414695084095, + 0.017401427030563354, + 0.03883862495422363, + 1.0 + ], + [ + 0.005058884620666504, + 0.00205419585108757, + -0.009287051856517792, + 0.008345693349838257, + 0.018964260816574097, + 0.04106330871582031, + 0.0 + ], + [ + 0.016834735870361328, + 0.001730339601635933, + -0.0059381648898124695, + 0.025120489299297333, + 0.025202497839927673, + 0.02654886245727539, + 0.0 + ], + [ + 0.012424558401107788, + -0.0011126678436994553, + -0.005523607134819031, + 0.022946413606405258, + 0.012691676616668701, + 0.028121113777160645, + 0.0 + ], + [ + 0.0047536492347717285, + -0.008384782820940018, + -0.002399750053882599, + 0.07663150131702423, + -0.04215724766254425, + 0.1343454122543335, + 0.0 + ], + [ + 0.0001773238182067871, + -0.021831028163433075, + -0.0004173889756202698, + 0.0639549121260643, + -0.13810138404369354, + 0.2345139980316162, + 0.0 + ], + [ + -0.0021034181118011475, + -0.038700226694345474, + 0.003817908465862274, + 0.003007732331752777, + -0.10849589109420776, + 0.07967352867126465, + 0.0 + ], + [ + -0.012844383716583252, + -0.0269053615629673, + 0.0015558302402496338, + -0.035044170916080475, + -0.052244797348976135, + -0.004247069358825684, + 1.0 + ], + [ + -0.008421003818511963, + -0.0009915977716445923, + 0.009663820266723633, + -0.022820934653282166, + 0.0029316246509552, + -0.008347153663635254, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.7807356715202332 + ], + [ + 0.5178548097610474 + ], + [ + 0.29961487650871277 + ], + [ + 0.22617807984352112 + ], + [ + 0.2248985916376114 + ], + [ + 0.2198251634836197 + ], + [ + 0.4292689263820648 + ], + [ + 0.7739869356155396 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.28959333896636963, + -0.04855750501155853, + 0.0854775682091713 + ], + [ + 0.2863747775554657, + -0.03406773880124092, + 0.09363742172718048 + ], + [ + 0.287024587392807, + -0.0220461618155241, + 0.10080192983150482 + ], + [ + 0.28595438599586487, + -0.019122818484902382, + 0.0937136635184288 + ], + [ + 0.2902761697769165, + -0.02153780870139599, + 0.08673560619354248 + ], + [ + 0.29300424456596375, + -0.022782377898693085, + 0.06814002990722656 + ], + [ + 0.2959011197090149, + -0.0177110955119133, + 0.06556479632854462 + ], + [ + 0.296186238527298, + 0.0012788288295269012, + 0.06878425180912018 + ], + [ + 0.29738909006118774, + 0.015932098031044006, + 0.07794119417667389 + ], + [ + 0.2983711063861847, + 0.017904404550790787, + 0.08409474790096283 + ], + [ + 0.3022315800189972, + 0.02000999078154564, + 0.08962302654981613 + ], + [ + 0.30518823862075806, + 0.020936813205480576, + 0.08615036308765411 + ], + [ + 0.31024712324142456, + 0.022991009056568146, + 0.07686331123113632 + ], + [ + 0.3270818591117859, + 0.02472134865820408, + 0.07092514634132385 + ], + [ + 0.3395064175128937, + 0.023608680814504623, + 0.06540153920650482 + ], + [ + 0.3442600667476654, + 0.015223897993564606, + 0.06300178915262222 + ], + [ + 0.3444373905658722, + -0.006607130169868469, + 0.06258440017700195 + ], + [ + 0.34233397245407104, + -0.045307356864213943, + 0.06640230864286423 + ], + [ + 0.3294895887374878, + -0.07221271842718124, + 0.06795813888311386 + ], + [ + 0.32106858491897583, + -0.07320431619882584, + 0.0776219591498375 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + -0.4758138506408058, + -0.8761030308660954, + -0.07774740410850052, + -0.879212382355374, + 0.4713370509502796, + 0.06947640689098213, + -0.024223258479335232, + 0.10141431707966635, + -0.9945493301188777 + ], + [ + -0.4974009204361023, + -0.8627235877035361, + -0.09110617744838945, + -0.8673893998370746, + 0.4927477556919069, + 0.06953616548867567, + -0.015098125698174557, + 0.11361188529607294, + -0.993410482187436 + ], + [ + -0.5012018540843656, + -0.860910739961313, + -0.08734643256400884, + -0.8651909763880468, + 0.49674971554256564, + 0.0684419059135449, + -0.01553305633456322, + 0.1098745554150039, + -0.9938240821358992 + ], + [ + -0.5120990566030883, + -0.8555805715036175, + -0.075739302160569, + -0.8585106404944554, + 0.507114058777427, + 0.07612365958152727, + -0.02672145924209386, + 0.10400585106534795, + -0.9942176555262664 + ], + [ + -0.522307001081081, + -0.8503809515268803, + -0.0636210177687004, + -0.8525202547759547, + 0.5189466259818684, + 0.06247891307294182, + -0.020114965036733948, + 0.08687137999521179, + -0.9960164413900499 + ], + [ + -0.5555882845872737, + -0.8245033822992184, + -0.10731183814714704, + -0.8313778970932119, + 0.5526751220816344, + 0.05797414645270283, + 0.01150870341261536, + 0.12142644691005075, + -0.9925337111335619 + ], + [ + -0.5698755540620459, + -0.8155909145470792, + -0.10026621061321953, + -0.8216942018264732, + 0.5644371282959706, + 0.07892633835262143, + -0.007777632495222113, + 0.12736635469878316, + -0.9918252467665423 + ], + [ + -0.5685290443750864, + -0.8165137217719458, + -0.10039954113478879, + -0.820852585087732, + 0.5549447499330941, + 0.13504576289718695, + -0.05455052022427111, + 0.15919066140895566, + -0.9857396076365402 + ], + [ + -0.5566639888283301, + -0.82505180521718, + -0.09702949164870293, + -0.8265716384546868, + 0.5383987043100568, + 0.164030977865728, + -0.08309350181613302, + 0.17151196432064136, + -0.9816715927696023 + ], + [ + -0.55122725504288, + -0.830969763888363, + -0.07508505045086986, + -0.8278908170005711, + 0.5335567500325192, + 0.17295661196052164, + -0.10365957950917204, + 0.15750062221481465, + -0.9820632594583343 + ], + [ + -0.5054789405732529, + -0.8626667467256172, + -0.017237306366762836, + -0.8508058819855601, + 0.49500536851446403, + 0.17634918860213977, + -0.14359802162883406, + 0.10380640267199137, + -0.9841767315622663 + ], + [ + -0.4707985657956515, + -0.8821618047989578, + 0.011800872789892183, + -0.8674636583773688, + 0.46530942398785213, + 0.1760509623451254, + -0.16079649199938784, + 0.07264771229666346, + -0.9843103159363678 + ], + [ + -0.43336934720894965, + -0.9009878896820573, + 0.02029363313852972, + -0.8831627947064145, + 0.429064830331874, + 0.1895437928781505, + -0.1794839462070184, + 0.06421988802974185, + -0.9816625280794837 + ], + [ + -0.4077583041969297, + -0.9118034066099852, + 0.04845320477398947, + -0.8899597492716449, + 0.4087374232108143, + 0.20225074423431572, + -0.2042175556478803, + 0.039348018519484204, + -0.9781344096819184 + ], + [ + -0.38153001654518476, + -0.9217954473694059, + 0.06876045145334643, + -0.8986147473049715, + 0.38731030077593936, + 0.20611226756036077, + -0.21662498101801042, + 0.016848861145145333, + -0.9761094884678962 + ], + [ + -0.2599114080600254, + -0.9600776191931055, + 0.10342642353263852, + -0.9495893889528977, + 0.27356581741138114, + 0.15310694279523956, + -0.1752884832164306, + -0.058418393238265344, + -0.9827823965574181 + ], + [ + -0.03262233559553118, + -0.9917229381493722, + 0.12418291818390072, + -0.9987417450872196, + 0.03708097520629583, + 0.0337628182752227, + -0.03808818505032986, + -0.12292524242858713, + -0.9916847659077178 + ], + [ + 0.0468879494951282, + -0.9905172917209731, + 0.1291395175532674, + -0.9964204704251419, + -0.0554827774742801, + -0.06378014990166006, + 0.07034036046169384, + -0.12568673838352185, + -0.9895731794489132 + ], + [ + 0.04244039714973119, + -0.9944481302644876, + 0.09628981723545899, + -0.9915809088966585, + -0.05372593596784697, + -0.1178169126910727, + 0.12233606909431954, + -0.09047894792626521, + -0.9883559309179597 + ], + [ + 0.03417433447114826, + -0.9967844602456083, + 0.07247658019198787, + -0.992254785311219, + -0.04250583497263871, + -0.11672058524641464, + 0.11942594312142076, + -0.06792638519861312, + -0.9905167592238957 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006540.json b/json/chunk-0006/episode_0006540.json new file mode 100644 index 0000000000000000000000000000000000000000..4293a1b7765754974bd1c3b015af77a8b465cb7d --- /dev/null +++ b/json/chunk-0006/episode_0006540.json @@ -0,0 +1,982 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 15, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nEnd effector transition from object to object." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006540.mp4", + "start": 0, + "end": 15, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.36843565106391907, + 0.05958404392004013, + 0.047399502247571945, + 0.008685819804668427, + -0.38484394550323486, + -0.03782525658607483, + 0.0, + 1.0014774799346924 + ], + [ + 0.3660687506198883, + 0.0593796968460083, + 0.04441960155963898, + 0.005771844647824764, + -0.36931803822517395, + -0.0346105694770813, + 0.0, + 1.0014774799346924 + ], + [ + 0.3598041534423828, + 0.052084535360336304, + 0.04892975836992264, + -0.011788043193519115, + -0.2738993763923645, + -0.012596732005476952, + 0.0, + 1.0014774799346924 + ], + [ + 0.3650822341442108, + 0.0472475104033947, + 0.06784646958112717, + -0.0026960554532706738, + -0.22650296986103058, + -0.01918647438287735, + 0.0, + 1.0014774799346924 + ], + [ + 0.36509498953819275, + 0.045508403331041336, + 0.08290722966194153, + 0.015120229683816433, + -0.2216370701789856, + -0.034879978746175766, + 0.0, + 1.0014774799346924 + ], + [ + 0.3641899824142456, + 0.04858970642089844, + 0.09339811652898788, + 0.010884017683565617, + -0.22053994238376617, + -0.05781206116080284, + 0.0, + 1.0014774799346924 + ], + [ + 0.35575079917907715, + 0.0633053407073021, + 0.11267054080963135, + 0.01828113943338394, + -0.24515196681022644, + -0.06954299658536911, + 0.0, + 1.0014774799346924 + ], + [ + 0.33931559324264526, + 0.07944270968437195, + 0.11636132001876831, + 0.0084606958553195, + -0.25611940026283264, + -0.07986711710691452, + 0.0, + 1.0014774799346924 + ], + [ + 0.3225168287754059, + 0.09259342402219772, + 0.11510162055492401, + 0.008549567312002182, + -0.27205753326416016, + -0.08521866798400879, + 0.0, + 1.0014774799346924 + ], + [ + 0.30563798546791077, + 0.10081464052200317, + 0.10200212895870209, + 0.011718308553099632, + -0.2885712683200836, + -0.08502889424562454, + 0.0, + 1.0014774799346924 + ], + [ + 0.287114679813385, + 0.10472524166107178, + 0.0902615413069725, + 0.012616103515028954, + -0.32281213998794556, + -0.07929012924432755, + 0.0, + 1.0014774799346924 + ], + [ + 0.2688998281955719, + 0.10806821286678314, + 0.07308011502027512, + 0.0034903965424746275, + -0.35060763359069824, + -0.061716675758361816, + 0.0, + 1.0014774799346924 + ], + [ + 0.25468909740448, + 0.10989835113286972, + 0.060964033007621765, + -0.013569884933531284, + -0.37905025482177734, + -0.05315064266324043, + 0.0, + 1.0014774799346924 + ], + [ + 0.24415084719657898, + 0.11146225780248642, + 0.04870174080133438, + -0.018069447949528694, + -0.41620978713035583, + -0.04588606208562851, + 0.0, + 1.0014774799346924 + ], + [ + 0.23791058361530304, + 0.11462799459695816, + 0.03436601907014847, + -0.025742730125784874, + -0.4624040424823761, + -0.062197815626859665, + 0.0, + 1.0014774799346924 + ] + ], + "left_gripper_pos": [ + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.36843565106391907, + 0.05958404392004013, + 0.047399502247571945 + ], + [ + 0.3660687506198883, + 0.0593796968460083, + 0.04441960155963898 + ], + [ + 0.3598041534423828, + 0.052084535360336304, + 0.04892975836992264 + ], + [ + 0.3650822341442108, + 0.0472475104033947, + 0.06784646958112717 + ], + [ + 0.36509498953819275, + 0.045508403331041336, + 0.08290722966194153 + ], + [ + 0.3641899824142456, + 0.04858970642089844, + 0.09339811652898788 + ], + [ + 0.35575079917907715, + 0.0633053407073021, + 0.11267054080963135 + ], + [ + 0.33931559324264526, + 0.07944270968437195, + 0.11636132001876831 + ], + [ + 0.3225168287754059, + 0.09259342402219772, + 0.11510162055492401 + ], + [ + 0.30563798546791077, + 0.10081464052200317, + 0.10200212895870209 + ], + [ + 0.287114679813385, + 0.10472524166107178, + 0.0902615413069725 + ], + [ + 0.2688998281955719, + 0.10806821286678314, + 0.07308011502027512 + ], + [ + 0.25468909740448, + 0.10989835113286972, + 0.060964033007621765 + ], + [ + 0.24415084719657898, + 0.11146225780248642, + 0.04870174080133438 + ], + [ + 0.23791058361530304, + 0.11462799459695816, + 0.03436601907014847 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9261940577672777, + -0.03455640166536336, + 0.3754602808028118, + -0.03505024552487454, + -0.9993703247405183, + -0.00551673061482338, + 0.37541450111207775, + -0.00805041191322466, + -0.9268220666464501 + ], + [ + 0.93201523135959, + -0.03252082509124041, + 0.36095706732119187, + -0.03227046445304883, + -0.9994565638950632, + -0.006722649110162744, + 0.3609795363143387, + -0.005382640844307604, + -0.9325582027626087 + ], + [ + 0.9626471052660991, + -0.015783715277985052, + 0.2702987699839249, + -0.012126849027668299, + -0.9998110266368485, + -0.015193766749239338, + 0.27048750480467554, + 0.011348363203284067, + -0.9626565973373611 + ], + [ + 0.9742783304984708, + -0.019790571748129822, + 0.22447732177437033, + -0.018695260324259826, + -0.9998006957134239, + -0.007004005451262368, + 0.2245711957543091, + 0.0026271887703935987, + -0.9744541425416817 + ], + [ + 0.974945518137968, + -0.03154723474876777, + 0.22019538742306718, + -0.03401987641081088, + -0.9993934235753698, + 0.007445328958098846, + 0.21982694255182114, + -0.014749809965124665, + -0.9754273721986227 + ], + [ + 0.9741492879001544, + -0.055399515484364836, + 0.21900698291999735, + -0.0563804043877983, + -0.9984077850352837, + -0.0017733533227934015, + 0.21875651963928008, + -0.010620191384186522, + -0.9757216799119884 + ], + [ + 0.9677555848459469, + -0.0650494149245058, + 0.2433468750928569, + -0.06740932735229457, + -0.9977244582978455, + 0.001374008799660124, + 0.24270375066197514, + -0.017733553852790893, + -0.9699383539598585 + ], + [ + 0.9642966238870933, + -0.07764290261656864, + 0.2531868891416526, + -0.07717976485289627, + -0.9969476374324948, + -0.011776761652431189, + 0.2533284529167718, + -0.008184613066026681, + -0.967345701934812 + ], + [ + 0.9597246054642695, + -0.08282342620703521, + 0.26845662915595875, + -0.08198501309996027, + -0.9965302125929806, + -0.014352456806701226, + 0.268713861372002, + -0.008235014311868148, + -0.9631848447965903 + ], + [ + 0.9551880505743852, + -0.08159793604562529, + 0.2845304287295116, + -0.08141488588307458, + -0.9966020193355262, + -0.012491253459818852, + 0.2845828603351783, + -0.011233516343760559, + -0.958585626699046 + ], + [ + 0.9453675289755724, + -0.07521118451003984, + 0.31721209447815385, + -0.0751157953532433, + -0.9970958516524651, + -0.0125490998041773, + 0.3172346961589639, + -0.011964127299651744, + -0.9482715893724158 + ], + [ + 0.9373761370733298, + -0.060480571714354496, + 0.3430278095003181, + -0.05792530262052747, + -0.9981639919579444, + -0.017700408890782695, + 0.3434685385327192, + -0.003278048761902265, + -0.9391584623664487 + ], + [ + 0.9277045739716555, + -0.05813486229927865, + 0.3687608455591688, + -0.04935457847371452, + -0.9982291420273637, + -0.033207011172272274, + 0.3700383074976849, + 0.012606260062261536, + -0.928930962553995 + ], + [ + 0.9136651573529079, + -0.05315980525831611, + 0.40297644514808034, + -0.0419539453763427, + -0.9984492621180403, + -0.03659149413865741, + 0.40429673101157365, + 0.016525921482279108, + -0.9144785657479986 + ], + [ + 0.8932520464119321, + -0.07359751130855258, + 0.44349091074122665, + -0.05563008085416377, + -0.9970219227214352, + -0.05340954705866246, + 0.44610097028033285, + 0.023036751985463462, + -0.8946861082932414 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0023669004440307617, + -0.00020434707403182983, + -0.002979900687932968, + -0.0029139751568436623, + 0.015525907278060913, + 0.0032146871089935303, + 1.0 + ], + [ + -0.006264597177505493, + -0.007295161485671997, + 0.004510156810283661, + -0.01755988784134388, + 0.09541866183280945, + 0.022013837471604347, + 1.0 + ], + [ + 0.005278080701828003, + -0.004837024956941605, + 0.01891671121120453, + 0.009091988205909729, + 0.04739640653133392, + -0.006589742377400398, + 1.0 + ], + [ + 1.2755393981933594e-05, + -0.001739107072353363, + 0.015060760080814362, + 0.01781628467142582, + 0.004865899682044983, + -0.015693504363298416, + 1.0 + ], + [ + -0.0009050071239471436, + 0.0030813030898571014, + 0.010490886867046356, + -0.004236212000250816, + 0.0010971277952194214, + -0.022932082414627075, + 1.0 + ], + [ + -0.008439183235168457, + 0.014715634286403656, + 0.019272424280643463, + 0.007397121749818325, + -0.024612024426460266, + -0.011730935424566269, + 1.0 + ], + [ + -0.016435205936431885, + 0.016137368977069855, + 0.003690779209136963, + -0.009820443578064442, + -0.010967433452606201, + -0.01032412052154541, + 1.0 + ], + [ + -0.01679876446723938, + 0.013150714337825775, + -0.0012596994638442993, + 8.887145668268204e-05, + -0.015938133001327515, + -0.005351550877094269, + 1.0 + ], + [ + -0.016878843307495117, + 0.00822121649980545, + -0.013099491596221924, + 0.0031687412410974503, + -0.016513735055923462, + 0.00018977373838424683, + 1.0 + ], + [ + -0.018523305654525757, + 0.0039106011390686035, + -0.011740587651729584, + 0.0008977949619293213, + -0.03424087166786194, + 0.005738765001296997, + 1.0 + ], + [ + -0.01821485161781311, + 0.0033429712057113647, + -0.017181426286697388, + -0.009125706739723682, + -0.027795493602752686, + 0.01757345348596573, + 1.0 + ], + [ + -0.014210730791091919, + 0.0018301382660865784, + -0.01211608201265335, + -0.017060281708836555, + -0.0284426212310791, + 0.008566033095121384, + 1.0 + ], + [ + -0.010538250207901001, + 0.0015639066696166992, + -0.012262292206287384, + -0.00449956301599741, + -0.03715953230857849, + 0.007264580577611923, + 1.0 + ], + [ + -0.00624026358127594, + 0.0031657367944717407, + -0.014335721731185913, + -0.00767328217625618, + -0.046194255352020264, + -0.016311753541231155, + 1.0 + ], + [ + -0.0005627423524856567, + 0.003921300172805786, + -0.010587066411972046, + -0.001028662547469139, + -0.03597462177276611, + -0.0018078647553920746, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3660687506198883, + 0.0593796968460083, + 0.04441960155963898 + ], + [ + 0.3598041534423828, + 0.052084535360336304, + 0.04892975836992264 + ], + [ + 0.3650822341442108, + 0.0472475104033947, + 0.06784646958112717 + ], + [ + 0.36509498953819275, + 0.045508403331041336, + 0.08290722966194153 + ], + [ + 0.3641899824142456, + 0.04858970642089844, + 0.09339811652898788 + ], + [ + 0.35575079917907715, + 0.0633053407073021, + 0.11267054080963135 + ], + [ + 0.33931559324264526, + 0.07944270968437195, + 0.11636132001876831 + ], + [ + 0.3225168287754059, + 0.09259342402219772, + 0.11510162055492401 + ], + [ + 0.30563798546791077, + 0.10081464052200317, + 0.10200212895870209 + ], + [ + 0.287114679813385, + 0.10472524166107178, + 0.0902615413069725 + ], + [ + 0.2688998281955719, + 0.10806821286678314, + 0.07308011502027512 + ], + [ + 0.25468909740448, + 0.10989835113286972, + 0.060964033007621765 + ], + [ + 0.24415084719657898, + 0.11146225780248642, + 0.04870174080133438 + ], + [ + 0.23791058361530304, + 0.11462799459695816, + 0.03436601907014847 + ], + [ + 0.23734784126281738, + 0.11854929476976395, + 0.023778952658176422 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.93201523135959, + -0.03252082509124041, + 0.36095706732119187, + -0.03227046445304883, + -0.9994565638950632, + -0.006722649110162744, + 0.3609795363143387, + -0.005382640844307604, + -0.9325582027626087 + ], + [ + 0.9626471052660991, + -0.015783715277985052, + 0.2702987699839249, + -0.012126849027668299, + -0.9998110266368485, + -0.015193766749239338, + 0.27048750480467554, + 0.011348363203284067, + -0.9626565973373611 + ], + [ + 0.9742783304984708, + -0.019790571748129822, + 0.22447732177437033, + -0.018695260324259826, + -0.9998006957134239, + -0.007004005451262368, + 0.2245711957543091, + 0.0026271887703935987, + -0.9744541425416817 + ], + [ + 0.974945518137968, + -0.03154723474876777, + 0.22019538742306718, + -0.03401987641081088, + -0.9993934235753698, + 0.007445328958098846, + 0.21982694255182114, + -0.014749809965124665, + -0.9754273721986227 + ], + [ + 0.9741492879001544, + -0.055399515484364836, + 0.21900698291999735, + -0.0563804043877983, + -0.9984077850352837, + -0.0017733533227934015, + 0.21875651963928008, + -0.010620191384186522, + -0.9757216799119884 + ], + [ + 0.9677555848459469, + -0.0650494149245058, + 0.2433468750928569, + -0.06740932735229457, + -0.9977244582978455, + 0.001374008799660124, + 0.24270375066197514, + -0.017733553852790893, + -0.9699383539598585 + ], + [ + 0.9642966238870933, + -0.07764290261656864, + 0.2531868891416526, + -0.07717976485289627, + -0.9969476374324948, + -0.011776761652431189, + 0.2533284529167718, + -0.008184613066026681, + -0.967345701934812 + ], + [ + 0.9597246054642695, + -0.08282342620703521, + 0.26845662915595875, + -0.08198501309996027, + -0.9965302125929806, + -0.014352456806701226, + 0.268713861372002, + -0.008235014311868148, + -0.9631848447965903 + ], + [ + 0.9551880505743852, + -0.08159793604562529, + 0.2845304287295116, + -0.08141488588307458, + -0.9966020193355262, + -0.012491253459818852, + 0.2845828603351783, + -0.011233516343760559, + -0.958585626699046 + ], + [ + 0.9453675289755724, + -0.07521118451003984, + 0.31721209447815385, + -0.0751157953532433, + -0.9970958516524651, + -0.0125490998041773, + 0.3172346961589639, + -0.011964127299651744, + -0.9482715893724158 + ], + [ + 0.9373761370733298, + -0.060480571714354496, + 0.3430278095003181, + -0.05792530262052747, + -0.9981639919579444, + -0.017700408890782695, + 0.3434685385327192, + -0.003278048761902265, + -0.9391584623664487 + ], + [ + 0.9277045739716555, + -0.05813486229927865, + 0.3687608455591688, + -0.04935457847371452, + -0.9982291420273637, + -0.033207011172272274, + 0.3700383074976849, + 0.012606260062261536, + -0.928930962553995 + ], + [ + 0.9136651573529079, + -0.05315980525831611, + 0.40297644514808034, + -0.0419539453763427, + -0.9984492621180403, + -0.03659149413865741, + 0.40429673101157365, + 0.016525921482279108, + -0.9144785657479986 + ], + [ + 0.8932520464119321, + -0.07359751130855258, + 0.44349091074122665, + -0.05563008085416377, + -0.9970219227214352, + -0.05340954705866246, + 0.44610097028033285, + 0.023036751985463462, + -0.8946861082932414 + ], + [ + 0.8765601340097978, + -0.07670811912834447, + 0.4751401855500298, + -0.05618156892058063, + -0.9967763273061444, + -0.057276388116708835, + 0.4780020531110165, + 0.02351207736176303, + -0.8780439735228454 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006541.json b/json/chunk-0006/episode_0006541.json new file mode 100644 index 0000000000000000000000000000000000000000..3f4d7a193edde8f302256de5f0414412caed349f --- /dev/null +++ b/json/chunk-0006/episode_0006541.json @@ -0,0 +1,1282 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 20, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut sweet potato in pot." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006541.mp4", + "start": 0, + "end": 20, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.25029444694519043, + 0.04129602387547493, + 0.12174870073795319, + 0.07184864580631256, + -0.11855446547269821, + -0.022470854222774506, + 0.0, + 1.0112061500549316 + ], + [ + 0.2578796148300171, + 0.036025628447532654, + 0.1076522171497345, + 0.040984146296978, + -0.11729338765144348, + 0.00045779591891914606, + 0.0, + 1.0112061500549316 + ], + [ + 0.27071505784988403, + 0.0308318380266428, + 0.10645105689764023, + 0.024586208164691925, + -0.14273865520954132, + 0.02476053684949875, + 0.0, + 1.0112061500549316 + ], + [ + 0.2846783399581909, + 0.025356873869895935, + 0.10911549627780914, + 0.014357933774590492, + -0.19431084394454956, + 0.026249540969729424, + 0.0, + 1.0118417739868164 + ], + [ + 0.29538267850875854, + 0.022551318630576134, + 0.10566649585962296, + -0.010812905617058277, + -0.24962419271469116, + 0.03606526553630829, + 0.0, + 1.0118417739868164 + ], + [ + 0.29968222975730896, + 0.019833199679851532, + 0.09768518060445786, + -0.04132728651165962, + -0.2645663321018219, + 0.04264046624302864, + 0.0, + 1.0112061500549316 + ], + [ + 0.29876255989074707, + 0.01758565567433834, + 0.08868347108364105, + -0.06225522980093956, + -0.261929452419281, + 0.05111173540353775, + 0.0, + 1.0112061500549316 + ], + [ + 0.2983971834182739, + 0.018245141953229904, + 0.07801211625337601, + -0.08454720675945282, + -0.266448438167572, + 0.06783722341060638, + 0.0, + 1.0118417739868164 + ], + [ + 0.2980263829231262, + 0.01968933269381523, + 0.06582561880350113, + -0.10275109857320786, + -0.27850285172462463, + 0.07966458797454834, + 0.0, + 1.0112061500549316 + ], + [ + 0.2974950969219208, + 0.01860738918185234, + 0.0553378090262413, + -0.11891905218362808, + -0.2895885407924652, + 0.09864670783281326, + 0.0, + 1.0112061500549316 + ], + [ + 0.29593122005462646, + 0.019131872802972794, + 0.04411879554390907, + -0.12011933326721191, + -0.3065222501754761, + 0.11973225325345993, + 0.0, + 0.8298270106315613 + ], + [ + 0.2978294789791107, + 0.01884504035115242, + 0.04069102182984352, + -0.12187386304140091, + -0.3159390091896057, + 0.13045597076416016, + 0.0, + 0.7613787055015564 + ], + [ + 0.2986818552017212, + 0.015330320224165916, + 0.044624242931604385, + -0.11075013875961304, + -0.2780601382255554, + 0.13379782438278198, + 0.0, + 0.7613787055015564 + ], + [ + 0.2931780219078064, + 0.010857612825930119, + 0.05872828885912895, + -0.0692177340388298, + -0.19459202885627747, + 0.1458800882101059, + 0.0, + 0.7613787055015564 + ], + [ + 0.29013630747795105, + 0.009481006301939487, + 0.08724602311849594, + -0.013740173541009426, + -0.16668803989887238, + 0.1351567506790161, + 0.0, + 0.7613787055015564 + ], + [ + 0.28876784443855286, + 0.021342555060982704, + 0.10410349816083908, + 0.05046538636088371, + -0.13369688391685486, + 0.08712935447692871, + 0.0, + 0.7613787055015564 + ], + [ + 0.2928984463214874, + 0.0435020811855793, + 0.10959354043006897, + 0.1198868528008461, + -0.1515638381242752, + 0.037621814757585526, + 0.0, + 0.7613787055015564 + ], + [ + 0.3033915162086487, + 0.05893617495894432, + 0.117989681661129, + 0.16141705214977264, + -0.1963030993938446, + -0.03093777783215046, + 0.0, + 0.7613787055015564 + ], + [ + 0.31617167592048645, + 0.07767006754875183, + 0.1168370470404625, + 0.18384617567062378, + -0.22711607813835144, + -0.10886343568563461, + 0.0, + 0.7613787055015564 + ], + [ + 0.32286712527275085, + 0.08882655203342438, + 0.10980265587568283, + 0.1736353635787964, + -0.252605140209198, + -0.14737094938755035, + 0.0, + 0.904950737953186 + ] + ], + "left_gripper_pos": [ + [ + 1.0112061500549316 + ], + [ + 1.0112061500549316 + ], + [ + 1.0112061500549316 + ], + [ + 1.0118417739868164 + ], + [ + 1.0118417739868164 + ], + [ + 1.0112061500549316 + ], + [ + 1.0112061500549316 + ], + [ + 1.0118417739868164 + ], + [ + 1.0112061500549316 + ], + [ + 1.0112061500549316 + ], + [ + 0.8298270106315613 + ], + [ + 0.7613787055015564 + ], + [ + 0.7613787055015564 + ], + [ + 0.7613787055015564 + ], + [ + 0.7613787055015564 + ], + [ + 0.7613787055015564 + ], + [ + 0.7613787055015564 + ], + [ + 0.7613787055015564 + ], + [ + 0.7613787055015564 + ], + [ + 0.904950737953186 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.25029444694519043, + 0.04129602387547493, + 0.12174870073795319 + ], + [ + 0.2578796148300171, + 0.036025628447532654, + 0.1076522171497345 + ], + [ + 0.27071505784988403, + 0.0308318380266428, + 0.10645105689764023 + ], + [ + 0.2846783399581909, + 0.025356873869895935, + 0.10911549627780914 + ], + [ + 0.29538267850875854, + 0.022551318630576134, + 0.10566649585962296 + ], + [ + 0.29968222975730896, + 0.019833199679851532, + 0.09768518060445786 + ], + [ + 0.29876255989074707, + 0.01758565567433834, + 0.08868347108364105 + ], + [ + 0.2983971834182739, + 0.018245141953229904, + 0.07801211625337601 + ], + [ + 0.2980263829231262, + 0.01968933269381523, + 0.06582561880350113 + ], + [ + 0.2974950969219208, + 0.01860738918185234, + 0.0553378090262413 + ], + [ + 0.29593122005462646, + 0.019131872802972794, + 0.04411879554390907 + ], + [ + 0.2978294789791107, + 0.01884504035115242, + 0.04069102182984352 + ], + [ + 0.2986818552017212, + 0.015330320224165916, + 0.044624242931604385 + ], + [ + 0.2931780219078064, + 0.010857612825930119, + 0.05872828885912895 + ], + [ + 0.29013630747795105, + 0.009481006301939487, + 0.08724602311849594 + ], + [ + 0.28876784443855286, + 0.021342555060982704, + 0.10410349816083908 + ], + [ + 0.2928984463214874, + 0.0435020811855793, + 0.10959354043006897 + ], + [ + 0.3033915162086487, + 0.05893617495894432, + 0.117989681661129 + ], + [ + 0.31617167592048645, + 0.07767006754875183, + 0.1168370470404625 + ], + [ + 0.32286712527275085, + 0.08882655203342438, + 0.10980265587568283 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9927299597287866, + -0.013922408108933812, + 0.11955498153289276, + -0.02231124560890005, + -0.9973589664082764, + 0.06911801823254429, + 0.11827694355309226, + -0.07128294801327512, + -0.990418752824418 + ], + [ + 0.9931289093963171, + 0.005252222712477061, + 0.11690758520241859, + 0.0004546503934436939, + -0.9991579676818862, + 0.041026197859697605, + 0.11702462396565078, + -0.04069115105747016, + -0.9922950506836747 + ], + [ + 0.9895267136944248, + 0.028246597530458505, + 0.1415592194562558, + 0.024506220988207605, + -0.9993047582742604, + 0.028097067877262676, + 0.14225444814834168, + -0.024333717726123735, + -0.9895309707955766 + ], + [ + 0.980842955677923, + 0.029015150052393288, + 0.19262714596970112, + 0.025752592463371415, + -0.9994796999081179, + 0.01941992412430401, + 0.1930903940604269, + -0.01408724738958328, + -0.981079838332525 + ], + [ + 0.9683752035507008, + 0.033385910629258525, + 0.2472546179944751, + 0.034939858966131915, + -0.999387613355762, + -0.001898559059017522, + 0.2470398174456204, + 0.010477558996680902, + -0.9689486825182774 + ], + [ + 0.9643286514276562, + 0.03179734273631356, + 0.26279113575352353, + 0.04114436268667966, + -0.998698490461357, + -0.03014077917562042, + 0.2614907138978828, + 0.03987799073569228, + -0.9643818498914521 + ], + [ + 0.9646307766383204, + 0.034901301618118816, + 0.2612840674582207, + 0.04934693196800351, + -0.9975824427585902, + -0.04893005421159308, + 0.2589446756886424, + 0.06009300329626821, + -0.9640209986755157 + ], + [ + 0.962493231377222, + 0.04535887264356665, + 0.26748710665289654, + 0.0653932099180768, + -0.9956433946756511, + -0.06646772702113335, + 0.26330686973499895, + 0.08146657787860159, + -0.9612661905211823 + ], + [ + 0.9584187666899994, + 0.05105176331327573, + 0.28076179426521997, + 0.0765139686189911, + -0.993814960774227, + -0.08048252200008003, + 0.2749164968905876, + 0.09861815859123814, + -0.956397082039401 + ], + [ + 0.9537022416810469, + 0.06407763548537741, + 0.2938470534872668, + 0.09438594719245776, + -0.9914467166549557, + -0.0901371233548649, + 0.2855579226446504, + 0.11369900907532421, + -0.9515929845002855 + ], + [ + 0.9465630853692931, + 0.08268627433249193, + 0.31173916252722655, + 0.11387883372301372, + -0.990005560364914, + -0.08319015372289619, + 0.30174482041296236, + 0.11424522083467996, + -0.9465189342376541 + ], + [ + 0.9424282949841319, + 0.09166867043536178, + 0.32159876192845455, + 0.1236476384096997, + -0.9890621108626153, + -0.08042016147516483, + 0.31070914104513553, + 0.11555516308932483, + -0.9434547333891506 + ], + [ + 0.9529954328736338, + 0.10251506172559613, + 0.28511465595684865, + 0.12827508477160943, + -0.9890376719887362, + -0.07314359858482004, + 0.27449081505367606, + 0.10627862205776893, + -0.9556985125784544 + ], + [ + 0.970705461760589, + 0.13178350056611865, + 0.20090797765818438, + 0.14261973348692003, + -0.9889532428370039, + -0.0403868184225242, + 0.1933662797084373, + 0.06785714745488376, + -0.978777241976439 + ], + [ + 0.9771463105011026, + 0.1324740450020241, + 0.16623993285274374, + 0.13287801696124285, + -0.9910938622350356, + 0.008740071423510774, + 0.1659172097237978, + 0.013549304072243081, + -0.9860465992419564 + ], + [ + 0.9873163675380288, + 0.09360699119149792, + 0.12823463491423528, + 0.08624258586369836, + -0.9943532325700483, + 0.06183740988300273, + 0.1332989376366331, + -0.0499938003913555, + -0.9898141306060317 + ], + [ + 0.9878366669148251, + 0.055387877720546694, + 0.14529591357028054, + 0.03718175211130832, + -0.9914404337652821, + 0.1251534402453328, + 0.15098422701905617, + -0.11822880062371705, + -0.9814406318746617 + ], + [ + 0.9803249953246103, + 0.0008012776706413996, + 0.19738860528383487, + -0.030338757067335576, + -0.9874978680175763, + 0.15468523032387635, + 0.19504477270978635, + -0.15763032263760676, + -0.9680445330788 + ], + [ + 0.9685520614037345, + -0.065897667131316, + 0.23992582565707163, + -0.10585842060434886, + -0.9818001884549132, + 0.1576781048118294, + 0.22516860158052684, + -0.17811762241998338, + -0.9579004193786131 + ], + [ + 0.9577691477446456, + -0.10191966824701071, + 0.2688691891104566, + -0.14217812613724812, + -0.9806269931726191, + 0.13474450159219414, + 0.24992726957376213, + -0.16728144393699895, + -0.9537050269542238 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + 0.00758516788482666, + -0.005270395427942276, + -0.014096483588218689, + -0.030864499509334564, + 0.0012610778212547302, + 0.022928649559617043, + 1.0 + ], + [ + 0.012835443019866943, + -0.005193790420889854, + -0.0012011602520942688, + -0.016397938132286072, + -0.02544526755809784, + 0.024302741512656212, + 1.0 + ], + [ + 0.013963282108306885, + -0.005474964156746864, + 0.002664439380168915, + -0.010228274390101433, + -0.05157218873500824, + 0.0014890041202306747, + 1.0 + ], + [ + 0.010704338550567627, + -0.0028055552393198013, + -0.0034490004181861877, + -0.025170840322971344, + -0.0553133487701416, + 0.009815724566578865, + 1.0 + ], + [ + 0.004299551248550415, + -0.0027181189507246017, + -0.0079813152551651, + -0.03051438182592392, + -0.014942139387130737, + 0.006575200706720352, + 1.0 + ], + [ + -0.0009196698665618896, + -0.0022475440055131912, + -0.009001709520816803, + -0.020927943289279938, + 0.0026368796825408936, + 0.00847126916050911, + 1.0 + ], + [ + -0.00036537647247314453, + 0.0006594862788915634, + -0.010671354830265045, + -0.02229197695851326, + -0.004518985748291016, + 0.016725488007068634, + 1.0 + ], + [ + -0.0003708004951477051, + 0.0014441907405853271, + -0.012186497449874878, + -0.018203891813755035, + -0.012054413557052612, + 0.011827364563941956, + 1.0 + ], + [ + -0.0005312860012054443, + -0.0010819435119628906, + -0.010487809777259827, + -0.016167953610420227, + -0.011085689067840576, + 0.018982119858264923, + 1.0 + ], + [ + -0.0015638768672943115, + 0.0005244836211204529, + -0.01121901348233223, + -0.0012002810835838318, + -0.016933709383010864, + 0.021085545420646667, + 0.0 + ], + [ + 0.001898258924484253, + -0.00028683245182037354, + -0.0034277737140655518, + -0.0017545297741889954, + -0.009416759014129639, + 0.010723717510700226, + 0.0 + ], + [ + 0.0008523762226104736, + -0.0035147201269865036, + 0.003933221101760864, + 0.011123724281787872, + 0.03787887096405029, + 0.003341853618621826, + 0.0 + ], + [ + -0.005503833293914795, + -0.004472707398235798, + 0.014104045927524567, + 0.041532404720783234, + 0.08346810936927795, + 0.012082263827323914, + 0.0 + ], + [ + -0.0030417144298553467, + -0.001376606523990631, + 0.02851773425936699, + 0.0554775595664978, + 0.02790398895740509, + -0.010723337531089783, + 0.0 + ], + [ + -0.0013684630393981934, + 0.011861548759043217, + 0.01685747504234314, + 0.06420555710792542, + 0.03299115598201752, + -0.0480273962020874, + 0.0 + ], + [ + 0.00413060188293457, + 0.022159526124596596, + 0.005490042269229889, + 0.06942147016525269, + -0.01786695420742035, + -0.049507539719343185, + 0.0 + ], + [ + 0.010493069887161255, + 0.01543409377336502, + 0.008396141231060028, + 0.041530199348926544, + -0.0447392612695694, + -0.06855959445238113, + 0.0 + ], + [ + 0.012780159711837769, + 0.01873389258980751, + -0.001152634620666504, + 0.022429123520851135, + -0.030812978744506836, + -0.0779256597161293, + 0.0 + ], + [ + 0.006695449352264404, + 0.011156484484672546, + -0.007034391164779663, + -0.010210812091827393, + -0.025489062070846558, + -0.03850751370191574, + 1.0 + ], + [ + 0.0028846561908721924, + 0.00035049766302108765, + -0.0022765249013900757, + -0.013680145144462585, + -0.011813372373580933, + -0.006709665060043335, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0112061500549316 + ], + [ + 1.0112061500549316 + ], + [ + 1.0118417739868164 + ], + [ + 1.0118417739868164 + ], + [ + 1.0112061500549316 + ], + [ + 1.0112061500549316 + ], + [ + 1.0118417739868164 + ], + [ + 1.0112061500549316 + ], + [ + 1.0112061500549316 + ], + [ + 0.8298270106315613 + ], + [ + 0.7613787055015564 + ], + [ + 0.7613787055015564 + ], + [ + 0.7613787055015564 + ], + [ + 0.7613787055015564 + ], + [ + 0.7613787055015564 + ], + [ + 0.7613787055015564 + ], + [ + 0.7613787055015564 + ], + [ + 0.7613787055015564 + ], + [ + 0.904950737953186 + ], + [ + 0.9968144297599792 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2578796148300171, + 0.036025628447532654, + 0.1076522171497345 + ], + [ + 0.27071505784988403, + 0.0308318380266428, + 0.10645105689764023 + ], + [ + 0.2846783399581909, + 0.025356873869895935, + 0.10911549627780914 + ], + [ + 0.29538267850875854, + 0.022551318630576134, + 0.10566649585962296 + ], + [ + 0.29968222975730896, + 0.019833199679851532, + 0.09768518060445786 + ], + [ + 0.29876255989074707, + 0.01758565567433834, + 0.08868347108364105 + ], + [ + 0.2983971834182739, + 0.018245141953229904, + 0.07801211625337601 + ], + [ + 0.2980263829231262, + 0.01968933269381523, + 0.06582561880350113 + ], + [ + 0.2974950969219208, + 0.01860738918185234, + 0.0553378090262413 + ], + [ + 0.29593122005462646, + 0.019131872802972794, + 0.04411879554390907 + ], + [ + 0.2978294789791107, + 0.01884504035115242, + 0.04069102182984352 + ], + [ + 0.2986818552017212, + 0.015330320224165916, + 0.044624242931604385 + ], + [ + 0.2931780219078064, + 0.010857612825930119, + 0.05872828885912895 + ], + [ + 0.29013630747795105, + 0.009481006301939487, + 0.08724602311849594 + ], + [ + 0.28876784443855286, + 0.021342555060982704, + 0.10410349816083908 + ], + [ + 0.2928984463214874, + 0.0435020811855793, + 0.10959354043006897 + ], + [ + 0.3033915162086487, + 0.05893617495894432, + 0.117989681661129 + ], + [ + 0.31617167592048645, + 0.07767006754875183, + 0.1168370470404625 + ], + [ + 0.32286712527275085, + 0.08882655203342438, + 0.10980265587568283 + ], + [ + 0.32575178146362305, + 0.08917704969644547, + 0.10752613097429276 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9931289093963171, + 0.005252222712477061, + 0.11690758520241859, + 0.0004546503934436939, + -0.9991579676818862, + 0.041026197859697605, + 0.11702462396565078, + -0.04069115105747016, + -0.9922950506836747 + ], + [ + 0.9895267136944248, + 0.028246597530458505, + 0.1415592194562558, + 0.024506220988207605, + -0.9993047582742604, + 0.028097067877262676, + 0.14225444814834168, + -0.024333717726123735, + -0.9895309707955766 + ], + [ + 0.980842955677923, + 0.029015150052393288, + 0.19262714596970112, + 0.025752592463371415, + -0.9994796999081179, + 0.01941992412430401, + 0.1930903940604269, + -0.01408724738958328, + -0.981079838332525 + ], + [ + 0.9683752035507008, + 0.033385910629258525, + 0.2472546179944751, + 0.034939858966131915, + -0.999387613355762, + -0.001898559059017522, + 0.2470398174456204, + 0.010477558996680902, + -0.9689486825182774 + ], + [ + 0.9643286514276562, + 0.03179734273631356, + 0.26279113575352353, + 0.04114436268667966, + -0.998698490461357, + -0.03014077917562042, + 0.2614907138978828, + 0.03987799073569228, + -0.9643818498914521 + ], + [ + 0.9646307766383204, + 0.034901301618118816, + 0.2612840674582207, + 0.04934693196800351, + -0.9975824427585902, + -0.04893005421159308, + 0.2589446756886424, + 0.06009300329626821, + -0.9640209986755157 + ], + [ + 0.962493231377222, + 0.04535887264356665, + 0.26748710665289654, + 0.0653932099180768, + -0.9956433946756511, + -0.06646772702113335, + 0.26330686973499895, + 0.08146657787860159, + -0.9612661905211823 + ], + [ + 0.9584187666899994, + 0.05105176331327573, + 0.28076179426521997, + 0.0765139686189911, + -0.993814960774227, + -0.08048252200008003, + 0.2749164968905876, + 0.09861815859123814, + -0.956397082039401 + ], + [ + 0.9537022416810469, + 0.06407763548537741, + 0.2938470534872668, + 0.09438594719245776, + -0.9914467166549557, + -0.0901371233548649, + 0.2855579226446504, + 0.11369900907532421, + -0.9515929845002855 + ], + [ + 0.9465630853692931, + 0.08268627433249193, + 0.31173916252722655, + 0.11387883372301372, + -0.990005560364914, + -0.08319015372289619, + 0.30174482041296236, + 0.11424522083467996, + -0.9465189342376541 + ], + [ + 0.9424282949841319, + 0.09166867043536178, + 0.32159876192845455, + 0.1236476384096997, + -0.9890621108626153, + -0.08042016147516483, + 0.31070914104513553, + 0.11555516308932483, + -0.9434547333891506 + ], + [ + 0.9529954328736338, + 0.10251506172559613, + 0.28511465595684865, + 0.12827508477160943, + -0.9890376719887362, + -0.07314359858482004, + 0.27449081505367606, + 0.10627862205776893, + -0.9556985125784544 + ], + [ + 0.970705461760589, + 0.13178350056611865, + 0.20090797765818438, + 0.14261973348692003, + -0.9889532428370039, + -0.0403868184225242, + 0.1933662797084373, + 0.06785714745488376, + -0.978777241976439 + ], + [ + 0.9771463105011026, + 0.1324740450020241, + 0.16623993285274374, + 0.13287801696124285, + -0.9910938622350356, + 0.008740071423510774, + 0.1659172097237978, + 0.013549304072243081, + -0.9860465992419564 + ], + [ + 0.9873163675380288, + 0.09360699119149792, + 0.12823463491423528, + 0.08624258586369836, + -0.9943532325700483, + 0.06183740988300273, + 0.1332989376366331, + -0.0499938003913555, + -0.9898141306060317 + ], + [ + 0.9878366669148251, + 0.055387877720546694, + 0.14529591357028054, + 0.03718175211130832, + -0.9914404337652821, + 0.1251534402453328, + 0.15098422701905617, + -0.11822880062371705, + -0.9814406318746617 + ], + [ + 0.9803249953246103, + 0.0008012776706413996, + 0.19738860528383487, + -0.030338757067335576, + -0.9874978680175763, + 0.15468523032387635, + 0.19504477270978635, + -0.15763032263760676, + -0.9680445330788 + ], + [ + 0.9685520614037345, + -0.065897667131316, + 0.23992582565707163, + -0.10585842060434886, + -0.9818001884549132, + 0.1576781048118294, + 0.22516860158052684, + -0.17811762241998338, + -0.9579004193786131 + ], + [ + 0.9577691477446456, + -0.10191966824701071, + 0.2688691891104566, + -0.14217812613724812, + -0.9806269931726191, + 0.13474450159219414, + 0.24992726957376213, + -0.16728144393699895, + -0.9537050269542238 + ], + [ + 0.9538094278177424, + -0.11037970979550948, + 0.2793991679863238, + -0.1481377066622072, + -0.9819271016589716, + 0.11778958736863643, + 0.26134803475605617, + -0.15373837091978987, + -0.9529227240632245 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006542.json b/json/chunk-0006/episode_0006542.json new file mode 100644 index 0000000000000000000000000000000000000000..9e4f6ec934e28a344d10a1dd5891b599c60ee70d --- /dev/null +++ b/json/chunk-0006/episode_0006542.json @@ -0,0 +1,2782 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 45, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the blue cloth from the upper left to the bottom middle part of table." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006542.mp4", + "start": 0, + "end": 45, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3350459933280945, + 0.028283709660172462, + 0.089909628033638, + -0.3241342306137085, + -0.3114255666732788, + 0.07473304867744446, + 0.0, + 0.9994885921478271 + ], + [ + 0.3338300883769989, + 0.02796323597431183, + 0.07887591421604156, + -0.3309333026409149, + -0.27773743867874146, + 0.07809743285179138, + 0.0, + 0.9994885921478271 + ], + [ + 0.3410751521587372, + 0.05347542464733124, + 0.07606794685125351, + -0.3425929844379425, + -0.27679985761642456, + 0.16026723384857178, + 0.0, + 0.9994885921478271 + ], + [ + 0.34918153285980225, + 0.08085333555936813, + 0.07897047698497772, + -0.303750216960907, + -0.2888999283313751, + 0.23660020530223846, + 0.0, + 0.9994885921478271 + ], + [ + 0.3517090082168579, + 0.1116902083158493, + 0.07786234468221664, + -0.18208011984825134, + -0.33740556240081787, + 0.3001612722873688, + 0.0, + 0.9994885921478271 + ], + [ + 0.3624858856201172, + 0.1343173384666443, + 0.06816362589597702, + -0.14391858875751495, + -0.3318858742713928, + 0.3596927225589752, + 0.0, + 0.9994885921478271 + ], + [ + 0.3795555531978607, + 0.14950178563594818, + 0.05634287744760513, + -0.12083271890878677, + -0.31035923957824707, + 0.4009442925453186, + 0.0, + 0.9994885921478271 + ], + [ + 0.39668819308280945, + 0.16131794452667236, + 0.04286021739244461, + -0.10061344504356384, + -0.27764952182769775, + 0.4239749312400818, + 0.0, + 0.9994885921478271 + ], + [ + 0.40541842579841614, + 0.17274624109268188, + 0.031939491629600525, + -0.08410745114088058, + -0.24780526757240295, + 0.45348891615867615, + 0.0, + 0.9994885921478271 + ], + [ + 0.40250879526138306, + 0.18632306158542633, + 0.029537014663219452, + -0.06408754736185074, + -0.2424919605255127, + 0.49786779284477234, + 0.0, + 0.9994885921478271 + ], + [ + 0.3969598412513733, + 0.1914166659116745, + 0.022268759086728096, + -0.04722140356898308, + -0.2175053060054779, + 0.5202950239181519, + 0.0, + 0.9994885921478271 + ], + [ + 0.3942846655845642, + 0.1924787163734436, + 0.021805739030241966, + -0.04033290594816208, + -0.2049729824066162, + 0.5369572043418884, + 0.0, + 0.9994885921478271 + ], + [ + 0.3893948793411255, + 0.19449138641357422, + 0.018833760172128677, + -0.024822406470775604, + -0.18264010548591614, + 0.5556455850601196, + 0.0, + 0.9994885921478271 + ], + [ + 0.37942180037498474, + 0.1922324150800705, + 0.011080014519393444, + -0.018264615908265114, + -0.16004295647144318, + 0.5760295391082764, + 0.0, + 1.0001531839370728 + ], + [ + 0.3677694797515869, + 0.18632620573043823, + 0.00972042791545391, + -0.015326183289289474, + -0.14801569283008575, + 0.5649998188018799, + 0.0, + 1.0001531839370728 + ], + [ + 0.3507383465766907, + 0.17406857013702393, + 0.010310576297342777, + -0.02252429723739624, + -0.14439339935779572, + 0.5501819252967834, + 0.0, + 0.9994885921478271 + ], + [ + 0.3371323347091675, + 0.15823885798454285, + 0.011334879323840141, + -0.023755814880132675, + -0.12958209216594696, + 0.4928971230983734, + 0.0, + 0.9974852800369263 + ], + [ + 0.32020413875579834, + 0.14114080369472504, + 0.010704271495342255, + -0.04310005158185959, + -0.09693872928619385, + 0.4471595287322998, + 0.0, + 0.9981546401977539 + ], + [ + 0.2992035746574402, + 0.11831136047840118, + 0.014591456390917301, + -0.05791904777288437, + -0.06432205438613892, + 0.3607126772403717, + 0.0, + 0.9988223910331726 + ], + [ + 0.27442479133605957, + 0.09887488931417465, + 0.01573173888027668, + -0.08087582141160965, + -0.026866314932703972, + 0.27291274070739746, + 0.0, + 0.9994885921478271 + ], + [ + 0.25159698724746704, + 0.08439324051141739, + 0.014819061383605003, + -0.0874888151884079, + 0.007483259309083223, + 0.19881264865398407, + 0.0, + 0.9994885921478271 + ], + [ + 0.24165089428424835, + 0.07733560353517532, + 0.011279302649199963, + -0.08973384648561478, + 0.020004821941256523, + 0.15554898977279663, + 0.0, + 0.9988223910331726 + ], + [ + 0.24272198975086212, + 0.07778336107730865, + 0.01632535830140114, + -0.08507541567087173, + -0.0017247193027287722, + 0.1466711312532425, + 0.0, + 0.9988223910331726 + ], + [ + 0.2501896917819977, + 0.07635718584060669, + 0.028691232204437256, + -0.10105131566524506, + -0.04754909500479698, + 0.1541687250137329, + 0.0, + 0.9988223910331726 + ], + [ + 0.26170676946640015, + 0.07854346930980682, + 0.05946796387434006, + -0.11419746279716492, + -0.14442501962184906, + 0.17564885318279266, + 0.0, + 0.9988223910331726 + ], + [ + 0.26827865839004517, + 0.0884074792265892, + 0.07201062142848969, + -0.16464494168758392, + -0.18638524413108826, + 0.22475680708885193, + 0.0, + 0.9988223910331726 + ], + [ + 0.26889926195144653, + 0.0889246016740799, + 0.07317202538251877, + -0.1646283119916916, + -0.1905030757188797, + 0.22232002019882202, + 0.0, + 0.9994885921478271 + ], + [ + 0.26844459772109985, + 0.08871550858020782, + 0.07238177955150604, + -0.16498810052871704, + -0.187753826379776, + 0.22090144455432892, + 0.0, + 0.9988223910331726 + ], + [ + 0.26849764585494995, + 0.08873990178108215, + 0.07281281054019928, + -0.16466228663921356, + -0.1892540454864502, + 0.22084039449691772, + 0.0, + 0.9994885921478271 + ], + [ + 0.268846720457077, + 0.08890044689178467, + 0.07274032384157181, + -0.16466228663921356, + -0.1892540454864502, + 0.22084039449691772, + 0.0, + 0.9988223910331726 + ], + [ + 0.26889926195144653, + 0.0889246016740799, + 0.07317202538251877, + -0.16433629393577576, + -0.1907542496919632, + 0.22077882289886475, + 0.0, + 0.9994885921478271 + ], + [ + 0.2690984308719635, + 0.08906135708093643, + 0.07320035994052887, + -0.16380736231803894, + -0.19215771555900574, + 0.22101551294326782, + 0.0, + 0.9988223910331726 + ], + [ + 0.26889926195144653, + 0.0889246016740799, + 0.07317202538251877, + -0.16433629393577576, + -0.1907542496919632, + 0.22077882289886475, + 0.0, + 0.9994885921478271 + ], + [ + 0.26889926195144653, + 0.0889246016740799, + 0.07317202538251877, + -0.16433629393577576, + -0.1907542496919632, + 0.22077882289886475, + 0.0, + 0.9994885921478271 + ], + [ + 0.268846720457077, + 0.08890044689178467, + 0.07274032384157181, + -0.16466228663921356, + -0.1892540454864502, + 0.22084039449691772, + 0.0, + 0.9994885921478271 + ], + [ + 0.2686968445777893, + 0.08887667208909988, + 0.07284077256917953, + -0.16413310170173645, + -0.19065742194652557, + 0.22107747197151184, + 0.0, + 0.9994885921478271 + ], + [ + 0.268846720457077, + 0.08890044689178467, + 0.07274032384157181, + -0.16466228663921356, + -0.1892540454864502, + 0.22084039449691772, + 0.0, + 0.9988223910331726 + ], + [ + 0.2686968445777893, + 0.08887667208909988, + 0.07284077256917953, + -0.16413310170173645, + -0.19065742194652557, + 0.22107747197151184, + 0.0, + 0.9988223910331726 + ], + [ + 0.26889926195144653, + 0.0889246016740799, + 0.07317202538251877, + -0.16433629393577576, + -0.1907542496919632, + 0.22077882289886475, + 0.0, + 0.9994885921478271 + ], + [ + 0.26844459772109985, + 0.08871550858020782, + 0.07238177955150604, + -0.16498810052871704, + -0.187753826379776, + 0.22090144455432892, + 0.0, + 0.9994885921478271 + ], + [ + 0.26889926195144653, + 0.0889246016740799, + 0.07317202538251877, + -0.16433629393577576, + -0.1907542496919632, + 0.22077882289886475, + 0.0, + 0.9988223910331726 + ], + [ + 0.26844459772109985, + 0.08871550858020782, + 0.07238177955150604, + -0.16498810052871704, + -0.187753826379776, + 0.22090144455432892, + 0.0, + 0.9994885921478271 + ], + [ + 0.26849764585494995, + 0.08873990178108215, + 0.07281281054019928, + -0.16466228663921356, + -0.1892540454864502, + 0.22084039449691772, + 0.0, + 0.9994885921478271 + ], + [ + 0.268846720457077, + 0.08890044689178467, + 0.07274032384157181, + -0.16466228663921356, + -0.1892540454864502, + 0.22084039449691772, + 0.0, + 0.9994885921478271 + ], + [ + 0.26889926195144653, + 0.0889246016740799, + 0.07317202538251877, + -0.16433629393577576, + -0.1907542496919632, + 0.22077882289886475, + 0.0, + 0.9988223910331726 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9974852800369263 + ], + [ + 0.9981546401977539 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3350459933280945, + 0.028283709660172462, + 0.089909628033638 + ], + [ + 0.3338300883769989, + 0.02796323597431183, + 0.07887591421604156 + ], + [ + 0.3410751521587372, + 0.05347542464733124, + 0.07606794685125351 + ], + [ + 0.34918153285980225, + 0.08085333555936813, + 0.07897047698497772 + ], + [ + 0.3517090082168579, + 0.1116902083158493, + 0.07786234468221664 + ], + [ + 0.3624858856201172, + 0.1343173384666443, + 0.06816362589597702 + ], + [ + 0.3795555531978607, + 0.14950178563594818, + 0.05634287744760513 + ], + [ + 0.39668819308280945, + 0.16131794452667236, + 0.04286021739244461 + ], + [ + 0.40541842579841614, + 0.17274624109268188, + 0.031939491629600525 + ], + [ + 0.40250879526138306, + 0.18632306158542633, + 0.029537014663219452 + ], + [ + 0.3969598412513733, + 0.1914166659116745, + 0.022268759086728096 + ], + [ + 0.3942846655845642, + 0.1924787163734436, + 0.021805739030241966 + ], + [ + 0.3893948793411255, + 0.19449138641357422, + 0.018833760172128677 + ], + [ + 0.37942180037498474, + 0.1922324150800705, + 0.011080014519393444 + ], + [ + 0.3677694797515869, + 0.18632620573043823, + 0.00972042791545391 + ], + [ + 0.3507383465766907, + 0.17406857013702393, + 0.010310576297342777 + ], + [ + 0.3371323347091675, + 0.15823885798454285, + 0.011334879323840141 + ], + [ + 0.32020413875579834, + 0.14114080369472504, + 0.010704271495342255 + ], + [ + 0.2992035746574402, + 0.11831136047840118, + 0.014591456390917301 + ], + [ + 0.27442479133605957, + 0.09887488931417465, + 0.01573173888027668 + ], + [ + 0.25159698724746704, + 0.08439324051141739, + 0.014819061383605003 + ], + [ + 0.24165089428424835, + 0.07733560353517532, + 0.011279302649199963 + ], + [ + 0.24272198975086212, + 0.07778336107730865, + 0.01632535830140114 + ], + [ + 0.2501896917819977, + 0.07635718584060669, + 0.028691232204437256 + ], + [ + 0.26170676946640015, + 0.07854346930980682, + 0.05946796387434006 + ], + [ + 0.26827865839004517, + 0.0884074792265892, + 0.07201062142848969 + ], + [ + 0.26889926195144653, + 0.0889246016740799, + 0.07317202538251877 + ], + [ + 0.26844459772109985, + 0.08871550858020782, + 0.07238177955150604 + ], + [ + 0.26849764585494995, + 0.08873990178108215, + 0.07281281054019928 + ], + [ + 0.268846720457077, + 0.08890044689178467, + 0.07274032384157181 + ], + [ + 0.26889926195144653, + 0.0889246016740799, + 0.07317202538251877 + ], + [ + 0.2690984308719635, + 0.08906135708093643, + 0.07320035994052887 + ], + [ + 0.26889926195144653, + 0.0889246016740799, + 0.07317202538251877 + ], + [ + 0.26889926195144653, + 0.0889246016740799, + 0.07317202538251877 + ], + [ + 0.268846720457077, + 0.08890044689178467, + 0.07274032384157181 + ], + [ + 0.2686968445777893, + 0.08887667208909988, + 0.07284077256917953 + ], + [ + 0.268846720457077, + 0.08890044689178467, + 0.07274032384157181 + ], + [ + 0.2686968445777893, + 0.08887667208909988, + 0.07284077256917953 + ], + [ + 0.26889926195144653, + 0.0889246016740799, + 0.07317202538251877 + ], + [ + 0.26844459772109985, + 0.08871550858020782, + 0.07238177955150604 + ], + [ + 0.26889926195144653, + 0.0889246016740799, + 0.07317202538251877 + ], + [ + 0.26844459772109985, + 0.08871550858020782, + 0.07238177955150604 + ], + [ + 0.26849764585494995, + 0.08873990178108215, + 0.07281281054019928 + ], + [ + 0.268846720457077, + 0.08890044689178467, + 0.07274032384157181 + ], + [ + 0.26889926195144653, + 0.0889246016740799, + 0.07317202538251877 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9492407698823582, + -0.026541935543391588, + 0.31342859864849315, + 0.07107201903876861, + -0.9525673530234451, + -0.29591249730901886, + 0.30641594100650293, + 0.3031682100938646, + -0.9023293786005095 + ], + [ + 0.9587470014565174, + -0.015032010453518332, + 0.28386304067254337, + 0.07502827934745389, + -0.9498073345636848, + -0.30370509463489226, + 0.2741804961996697, + 0.312474104320268, + -0.9094971080948796 + ], + [ + 0.9496073828900173, + 0.05968201289459083, + 0.3077074514821205, + 0.15350751477615512, + -0.9444662378235272, + -0.2905494252596635, + 0.2732787245067207, + 0.3231432854761524, + -0.9060337498038676 + ], + [ + 0.9318529205607439, + 0.14082927267826267, + 0.334390864706744, + 0.22468491776026223, + -0.9476112569616962, + -0.22704535540402215, + 0.28489791535474, + 0.2867054614694078, + -0.9146765309059469 + ], + [ + 0.9014264844795119, + 0.23352335600278395, + 0.3645505935807888, + 0.27900318185354844, + -0.9572207865819732, + -0.0767176006597208, + 0.3310400543657884, + 0.17086605261603502, + -0.9280179278811969 + ], + [ + 0.88492681669049, + 0.3046073976389753, + 0.3523050700822327, + 0.33277857003493766, + -0.9427768287868316, + -0.020743057348116885, + 0.3258265680197639, + 0.13559566514552127, + -0.935655312156248 + ], + [ + 0.8767057622605182, + 0.3535490164041508, + 0.3261749521634984, + 0.37164149244789324, + -0.9283472625948505, + 0.007345823558295279, + 0.3054007326617039, + 0.11478002017905622, + -0.9452808786056075 + ], + [ + 0.8765541011801457, + 0.3842125544374328, + 0.28988553036833276, + 0.3956315448924453, + -0.9181773952780635, + 0.020638592161469772, + 0.2740959474167465, + 0.09659701761986864, + -0.9568387679210446 + ], + [ + 0.8714646991402453, + 0.4180331907504792, + 0.2565102913790689, + 0.4247217198563512, + -0.9047736907387673, + 0.03155993075423298, + 0.24527686159657303, + 0.08144212655574731, + -0.9660261079222511 + ], + [ + 0.8528971794857614, + 0.46306145192401116, + 0.24112339780133332, + 0.4635813022464663, + -0.8841430828125768, + 0.058166874784053565, + 0.2401224217617001, + 0.06216993531201406, + -0.9687497724957651 + ], + [ + 0.8472291683180297, + 0.48774357815161756, + 0.21049688435460628, + 0.4854230335175475, + -0.8717693268326262, + 0.06620210966737866, + 0.21579438102453335, + 0.046091677835013174, + -0.9753503690226358 + ], + [ + 0.8412815953182545, + 0.5040556193727012, + 0.19537965594599582, + 0.5008157920656658, + -0.8627684676099213, + 0.06938381450791194, + 0.2035407079589066, + 0.039477890987629154, + -0.9782702470824494 + ], + [ + 0.8354298599080733, + 0.5234996072166062, + 0.16734727490472012, + 0.5187184215604758, + -0.8516762632909138, + 0.07469097455940998, + 0.18162639760724603, + 0.024407043878458098, + -0.9830646712710865 + ], + [ + 0.8279146100741213, + 0.5421667943352586, + 0.14357076842465238, + 0.5377374759545686, + -0.8400774244209722, + 0.0714725676902372, + 0.15936061426784753, + 0.01803019962327147, + -0.9870557768037829 + ], + [ + 0.8353536793782035, + 0.5334438822343566, + 0.13274733464757474, + 0.5295612472879638, + -0.8456996271102111, + 0.06600777284885101, + 0.14747581401746304, + 0.015158008193274036, + -0.9889495027894493 + ], + [ + 0.8435585029405509, + 0.5199471414387237, + 0.13440246361728803, + 0.5174012911023235, + -0.8539076148479661, + 0.05601508073997878, + 0.14389216824534024, + 0.022288010551807305, + -0.9893423515160449 + ], + [ + 0.8735796645001142, + 0.47034256171416977, + 0.12504576926877736, + 0.4692129857816961, + -0.8821695208190644, + 0.040200877001479104, + 0.12921974982832057, + 0.023554430114409608, + -0.9913361917514621 + ], + [ + 0.8974457003542888, + 0.42824431821313497, + 0.10582069189797857, + 0.4303759938642148, + -0.9026448527898892, + 0.002962032631203298, + 0.09678697650504983, + 0.0428844219978089, + -0.9943808161508972 + ], + [ + 0.9337106598285744, + 0.34886793954251205, + 0.08047089214026804, + 0.3522112714258365, + -0.9353898324536718, + -0.03151319759858723, + 0.06427771000186763, + 0.057766963756580275, + -0.9962586782032374 + ], + [ + 0.962642368002661, + 0.26656660090127077, + 0.04755963214924478, + 0.26944024587279675, + -0.960427148344003, + -0.0705807808671233, + 0.026863083036682438, + 0.08075852900931679, + -0.9963716348642284 + ], + [ + 0.9802743293179268, + 0.19739108779248796, + 0.00994976082061061, + 0.1974999776093572, + -0.9764232702520144, + -0.08712838891351934, + -0.007483189466560552, + 0.08737480054604072, + -0.996147401796013 + ], + [ + 0.9877289547752987, + 0.1560701115102488, + -0.005799326829475301, + 0.1548914858200175, + -0.9836741125453681, + -0.09161805459924566, + -0.02000348767000099, + 0.08959553895848582, + -0.995777334487874 + ], + [ + 0.989261587124834, + 0.14547227065324453, + 0.014118452827552566, + 0.14614560405818228, + -0.9857065784492163, + -0.08380932893424461, + 0.0017247184476542696, + 0.08497269957420772, + -0.9963817871043951 + ], + [ + 0.9870226817120188, + 0.14803733325814733, + 0.06221875720256254, + 0.15338517774232635, + -0.9838349866025884, + -0.092421352433515, + 0.047531179608443865, + 0.10076540625880127, + -0.9937741795128957 + ], + [ + 0.9743623766447014, + 0.1574611849686269, + 0.16069827070496054, + 0.17292772137572307, + -0.9810659844249189, + -0.087209732164277, + 0.14392345937716058, + 0.11276306768016074, + -0.9831431881512835 + ], + [ + 0.9579644472286262, + 0.19024689862712654, + 0.21473293973844013, + 0.21900930708975244, + -0.9684341508670317, + -0.11903872833039666, + 0.1853079632774027, + 0.16106338192528838, + -0.9693913274569613 + ], + [ + 0.9577428705000539, + 0.18724344351774017, + 0.21833114039443727, + 0.21650421638624726, + -0.9690430207052237, + -0.11866569980188905, + 0.1893528935434937, + 0.1609208404219723, + -0.9686330393005352 + ], + [ + 0.9585533414988507, + 0.18622280032748423, + 0.21563061039559575, + 0.21525861859837747, + -0.9691676238767338, + -0.1199076475803092, + 0.18665266839910302, + 0.16135422358065288, + -0.9690849270895605 + ], + [ + 0.9582921834101097, + 0.1859981835079086, + 0.21698102900217497, + 0.2151385180422462, + -0.9692709247147948, + -0.11928659839693781, + 0.18812631200783803, + 0.16099239185217604, + -0.9688601243193181 + ], + [ + 0.9582921834101097, + 0.1859981835079086, + 0.21698102900217497, + 0.2151385180422462, + -0.9692709247147948, + -0.11928659839693781, + 0.18812631200783803, + 0.16099239185217604, + -0.9688601243193181 + ], + [ + 0.9580289723113711, + 0.18577406271222513, + 0.2183311380344359, + 0.21501746707242908, + -0.9693739938151509, + -0.1186657025792214, + 0.18959951757790564, + 0.16063018937378362, + -0.9686330394922359 + ], + [ + 0.9577174858521399, + 0.1858997458660626, + 0.21958711660748653, + 0.2151856711920013, + -0.96944185542956, + -0.11780329305643518, + 0.19097733951101226, + 0.16007427472341018, + -0.9684543780504428 + ], + [ + 0.9580289723113711, + 0.18577406271222513, + 0.2183311380344359, + 0.21501746707242908, + -0.9693739938151509, + -0.1186657025792214, + 0.18959951757790564, + 0.16063018937378362, + -0.9686330394922359 + ], + [ + 0.9580289723113711, + 0.18577406271222513, + 0.2183311380344359, + 0.21501746707242908, + -0.9693739938151509, + -0.1186657025792214, + 0.18959951757790564, + 0.16063018937378362, + -0.9686330394922359 + ], + [ + 0.9582921834101097, + 0.1859981835079086, + 0.21698102900217497, + 0.2151385180422462, + -0.9692709247147948, + -0.11928659839693781, + 0.18812631200783803, + 0.16099239185217604, + -0.9688601243193181 + ], + [ + 0.9579826220106396, + 0.18612308007965386, + 0.2182372447298634, + 0.21530759660303153, + -0.9693391415924982, + -0.11842409983505989, + 0.18950444525299603, + 0.16043636632129496, + -0.9686837655246282 + ], + [ + 0.9582921834101097, + 0.1859981835079086, + 0.21698102900217497, + 0.2151385180422462, + -0.9692709247147948, + -0.11928659839693781, + 0.18812631200783803, + 0.16099239185217604, + -0.9688601243193181 + ], + [ + 0.9579826220106396, + 0.18612308007965386, + 0.2182372447298634, + 0.21530759660303153, + -0.9693391415924982, + -0.11842409983505989, + 0.18950444525299603, + 0.16043636632129496, + -0.9686837655246282 + ], + [ + 0.9580289723113711, + 0.18577406271222513, + 0.2183311380344359, + 0.21501746707242908, + -0.9693739938151509, + -0.1186657025792214, + 0.18959951757790564, + 0.16063018937378362, + -0.9686330394922359 + ], + [ + 0.9585533414988507, + 0.18622280032748423, + 0.21563061039559575, + 0.21525861859837747, + -0.9691676238767338, + -0.1199076475803092, + 0.18665266839910302, + 0.16135422358065288, + -0.9690849270895605 + ], + [ + 0.9580289723113711, + 0.18577406271222513, + 0.2183311380344359, + 0.21501746707242908, + -0.9693739938151509, + -0.1186657025792214, + 0.18959951757790564, + 0.16063018937378362, + -0.9686330394922359 + ], + [ + 0.9585533414988507, + 0.18622280032748423, + 0.21563061039559575, + 0.21525861859837747, + -0.9691676238767338, + -0.1199076475803092, + 0.18665266839910302, + 0.16135422358065288, + -0.9690849270895605 + ], + [ + 0.9582921834101097, + 0.1859981835079086, + 0.21698102900217497, + 0.2151385180422462, + -0.9692709247147948, + -0.11928659839693781, + 0.18812631200783803, + 0.16099239185217604, + -0.9688601243193181 + ], + [ + 0.9582921834101097, + 0.1859981835079086, + 0.21698102900217497, + 0.2151385180422462, + -0.9692709247147948, + -0.11928659839693781, + 0.18812631200783803, + 0.16099239185217604, + -0.9688601243193181 + ], + [ + 0.9580289723113711, + 0.18577406271222513, + 0.2183311380344359, + 0.21501746707242908, + -0.9693739938151509, + -0.1186657025792214, + 0.18959951757790564, + 0.16063018937378362, + -0.9686330394922359 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.001215904951095581, + -0.00032047368586063385, + -0.011033713817596436, + -0.006799072027206421, + 0.033688127994537354, + 0.003364384174346924, + 1.0 + ], + [ + 0.007245063781738281, + 0.02551218867301941, + -0.0028079673647880554, + -0.011659681797027588, + 0.0009375810623168945, + 0.0821698009967804, + 1.0 + ], + [ + 0.008106380701065063, + 0.027377910912036896, + 0.0029025301337242126, + 0.03884276747703552, + -0.012100070714950562, + 0.07633297145366669, + 1.0 + ], + [ + 0.002527475357055664, + 0.03083687275648117, + -0.0011081323027610779, + 0.12167009711265564, + -0.04850563406944275, + 0.06356106698513031, + 1.0 + ], + [ + 0.010776877403259277, + 0.022627130150794983, + -0.009698718786239624, + 0.03816153109073639, + 0.005519688129425049, + 0.059531450271606445, + 1.0 + ], + [ + 0.01706966757774353, + 0.015184447169303894, + -0.011820748448371887, + 0.02308586984872818, + 0.021526634693145752, + 0.041251569986343384, + 1.0 + ], + [ + 0.01713263988494873, + 0.011816158890724182, + -0.013482660055160522, + 0.02021927386522293, + 0.032709717750549316, + 0.023030638694763184, + 1.0 + ], + [ + 0.00873023271560669, + 0.011428296566009521, + -0.010920725762844086, + 0.016505993902683258, + 0.0298442542552948, + 0.02951398491859436, + 1.0 + ], + [ + -0.002909630537033081, + 0.013576820492744446, + -0.002402476966381073, + 0.020019903779029846, + 0.005313307046890259, + 0.04437887668609619, + 1.0 + ], + [ + -0.005548954010009766, + 0.005093604326248169, + -0.007268255576491356, + 0.01686614379286766, + 0.02498665452003479, + 0.022427231073379517, + 1.0 + ], + [ + -0.002675175666809082, + 0.001062050461769104, + -0.00046302005648612976, + 0.006888497620820999, + 0.012532323598861694, + 0.016662180423736572, + 1.0 + ], + [ + -0.004889786243438721, + 0.0020126700401306152, + -0.002971978858113289, + 0.015510499477386475, + 0.022332876920700073, + 0.0186883807182312, + 1.0 + ], + [ + -0.009973078966140747, + -0.002258971333503723, + -0.007753745652735233, + 0.00655779056251049, + 0.02259714901447296, + 0.02038395404815674, + 1.0 + ], + [ + -0.011652320623397827, + -0.005906209349632263, + -0.0013595866039395332, + 0.0029384326189756393, + 0.012027263641357422, + -0.011029720306396484, + 1.0 + ], + [ + -0.01703113317489624, + -0.012257635593414307, + 0.0005901483818888664, + -0.007198113948106766, + 0.003622293472290039, + -0.014817893505096436, + 1.0 + ], + [ + -0.013606011867523193, + -0.01582971215248108, + 0.001024303026497364, + -0.001231517642736435, + 0.014811307191848755, + -0.057284802198410034, + 1.0 + ], + [ + -0.01692819595336914, + -0.01709805428981781, + -0.0006306078284978867, + -0.019344236701726913, + 0.03264336287975311, + -0.04573759436607361, + 1.0 + ], + [ + -0.021000564098358154, + -0.022829443216323853, + 0.0038871848955750465, + -0.01481899619102478, + 0.03261667490005493, + -0.0864468514919281, + 1.0 + ], + [ + -0.024778783321380615, + -0.019436471164226532, + 0.0011402824893593788, + -0.02295677363872528, + 0.037455737590789795, + -0.08779993653297424, + 1.0 + ], + [ + -0.02282780408859253, + -0.014481648802757263, + -0.0009126774966716766, + -0.006612993776798248, + 0.03434957563877106, + -0.07410009205341339, + 1.0 + ], + [ + -0.009946092963218689, + -0.007057636976242065, + -0.0035397587344050407, + -0.0022450312972068787, + 0.012521563097834587, + -0.04326365888118744, + 1.0 + ], + [ + 0.0010710954666137695, + 0.0004477575421333313, + 0.005046055652201176, + 0.004658430814743042, + -0.021729541942477226, + -0.008877858519554138, + 1.0 + ], + [ + 0.007467702031135559, + -0.0014261752367019653, + 0.012365873903036118, + -0.01597589999437332, + -0.04582437500357628, + 0.0074975937604904175, + 1.0 + ], + [ + 0.011517077684402466, + 0.0021862834692001343, + 0.0307767316699028, + -0.01314614713191986, + -0.09687592089176178, + 0.021480128169059753, + 1.0 + ], + [ + 0.0065718889236450195, + 0.00986400991678238, + 0.012542657554149628, + -0.050447478890419006, + -0.0419602245092392, + 0.049107953906059265, + 1.0 + ], + [ + 0.0006206035614013672, + 0.0005171224474906921, + 0.0011614039540290833, + 1.6629695892333984e-05, + -0.004117831587791443, + -0.0024367868900299072, + 1.0 + ], + [ + -0.0004546642303466797, + -0.0002090930938720703, + -0.0007902458310127258, + -0.00035978853702545166, + 0.0027492493391036987, + -0.001418575644493103, + 1.0 + ], + [ + 5.3048133850097656e-05, + 2.4393200874328613e-05, + 0.0004310309886932373, + 0.000325813889503479, + -0.0015002191066741943, + -6.105005741119385e-05, + 1.0 + ], + [ + 0.0003490746021270752, + 0.00016054511070251465, + -7.248669862747192e-05, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 5.2541494369506836e-05, + 2.415478229522705e-05, + 0.00043170154094696045, + 0.0003259927034378052, + -0.0015002042055130005, + -6.157159805297852e-05, + 1.0 + ], + [ + 0.00019916892051696777, + 0.00013675540685653687, + 2.833455801010132e-05, + 0.0005289316177368164, + -0.0014034658670425415, + 0.00023669004440307617, + 1.0 + ], + [ + -0.00019916892051696777, + -0.00013675540685653687, + -2.833455801010132e-05, + -0.0005289316177368164, + 0.0014034658670425415, + -0.00023669004440307617, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + -5.2541494369506836e-05, + -2.415478229522705e-05, + -0.00043170154094696045, + -0.0003259927034378052, + 0.0015002042055130005, + 6.157159805297852e-05, + 1.0 + ], + [ + -0.00014987587928771973, + -2.3774802684783936e-05, + 0.00010044872760772705, + 0.0005291849374771118, + -0.0014033764600753784, + 0.0002370774745941162, + 1.0 + ], + [ + 0.00014987587928771973, + 2.3774802684783936e-05, + -0.00010044872760772705, + -0.0005291849374771118, + 0.0014033764600753784, + -0.0002370774745941162, + 1.0 + ], + [ + -0.00014987587928771973, + -2.3774802684783936e-05, + 0.00010044872760772705, + 0.0005291849374771118, + -0.0014033764600753784, + 0.0002370774745941162, + 1.0 + ], + [ + 0.00020241737365722656, + 4.7929584980010986e-05, + 0.0003312528133392334, + -0.00020319223403930664, + -9.682774543762207e-05, + -0.0002986490726470947, + 1.0 + ], + [ + -0.0004546642303466797, + -0.0002090930938720703, + -0.0007902458310127258, + -0.0006518065929412842, + 0.003000423312187195, + 0.00012262165546417236, + 1.0 + ], + [ + 0.0004546642303466797, + 0.0002090930938720703, + 0.0007902458310127258, + 0.0006518065929412842, + -0.003000423312187195, + -0.00012262165546417236, + 1.0 + ], + [ + -0.0004546642303466797, + -0.0002090930938720703, + -0.0007902458310127258, + -0.0006518065929412842, + 0.003000423312187195, + 0.00012262165546417236, + 1.0 + ], + [ + 5.3048133850097656e-05, + 2.4393200874328613e-05, + 0.0004310309886932373, + 0.000325813889503479, + -0.0015002191066741943, + -6.105005741119385e-05, + 1.0 + ], + [ + 0.0003490746021270752, + 0.00016054511070251465, + -7.248669862747192e-05, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 5.2541494369506836e-05, + 2.415478229522705e-05, + 0.00043170154094696045, + 0.0003259927034378052, + -0.0015002042055130005, + -6.157159805297852e-05, + 1.0 + ], + [ + -0.00040161609649658203, + -0.0001846998929977417, + -0.0003592148423194885, + -0.0003259927034378052, + 0.0015002042055130005, + 6.157159805297852e-05, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9974852800369263 + ], + [ + 0.9981546401977539 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3338300883769989, + 0.02796323597431183, + 0.07887591421604156 + ], + [ + 0.3410751521587372, + 0.05347542464733124, + 0.07606794685125351 + ], + [ + 0.34918153285980225, + 0.08085333555936813, + 0.07897047698497772 + ], + [ + 0.3517090082168579, + 0.1116902083158493, + 0.07786234468221664 + ], + [ + 0.3624858856201172, + 0.1343173384666443, + 0.06816362589597702 + ], + [ + 0.3795555531978607, + 0.14950178563594818, + 0.05634287744760513 + ], + [ + 0.39668819308280945, + 0.16131794452667236, + 0.04286021739244461 + ], + [ + 0.40541842579841614, + 0.17274624109268188, + 0.031939491629600525 + ], + [ + 0.40250879526138306, + 0.18632306158542633, + 0.029537014663219452 + ], + [ + 0.3969598412513733, + 0.1914166659116745, + 0.022268759086728096 + ], + [ + 0.3942846655845642, + 0.1924787163734436, + 0.021805739030241966 + ], + [ + 0.3893948793411255, + 0.19449138641357422, + 0.018833760172128677 + ], + [ + 0.37942180037498474, + 0.1922324150800705, + 0.011080014519393444 + ], + [ + 0.3677694797515869, + 0.18632620573043823, + 0.00972042791545391 + ], + [ + 0.3507383465766907, + 0.17406857013702393, + 0.010310576297342777 + ], + [ + 0.3371323347091675, + 0.15823885798454285, + 0.011334879323840141 + ], + [ + 0.32020413875579834, + 0.14114080369472504, + 0.010704271495342255 + ], + [ + 0.2992035746574402, + 0.11831136047840118, + 0.014591456390917301 + ], + [ + 0.27442479133605957, + 0.09887488931417465, + 0.01573173888027668 + ], + [ + 0.25159698724746704, + 0.08439324051141739, + 0.014819061383605003 + ], + [ + 0.24165089428424835, + 0.07733560353517532, + 0.011279302649199963 + ], + [ + 0.24272198975086212, + 0.07778336107730865, + 0.01632535830140114 + ], + [ + 0.2501896917819977, + 0.07635718584060669, + 0.028691232204437256 + ], + [ + 0.26170676946640015, + 0.07854346930980682, + 0.05946796387434006 + ], + [ + 0.26827865839004517, + 0.0884074792265892, + 0.07201062142848969 + ], + [ + 0.26889926195144653, + 0.0889246016740799, + 0.07317202538251877 + ], + [ + 0.26844459772109985, + 0.08871550858020782, + 0.07238177955150604 + ], + [ + 0.26849764585494995, + 0.08873990178108215, + 0.07281281054019928 + ], + [ + 0.268846720457077, + 0.08890044689178467, + 0.07274032384157181 + ], + [ + 0.26889926195144653, + 0.0889246016740799, + 0.07317202538251877 + ], + [ + 0.2690984308719635, + 0.08906135708093643, + 0.07320035994052887 + ], + [ + 0.26889926195144653, + 0.0889246016740799, + 0.07317202538251877 + ], + [ + 0.26889926195144653, + 0.0889246016740799, + 0.07317202538251877 + ], + [ + 0.268846720457077, + 0.08890044689178467, + 0.07274032384157181 + ], + [ + 0.2686968445777893, + 0.08887667208909988, + 0.07284077256917953 + ], + [ + 0.268846720457077, + 0.08890044689178467, + 0.07274032384157181 + ], + [ + 0.2686968445777893, + 0.08887667208909988, + 0.07284077256917953 + ], + [ + 0.26889926195144653, + 0.0889246016740799, + 0.07317202538251877 + ], + [ + 0.26844459772109985, + 0.08871550858020782, + 0.07238177955150604 + ], + [ + 0.26889926195144653, + 0.0889246016740799, + 0.07317202538251877 + ], + [ + 0.26844459772109985, + 0.08871550858020782, + 0.07238177955150604 + ], + [ + 0.26849764585494995, + 0.08873990178108215, + 0.07281281054019928 + ], + [ + 0.268846720457077, + 0.08890044689178467, + 0.07274032384157181 + ], + [ + 0.26889926195144653, + 0.0889246016740799, + 0.07317202538251877 + ], + [ + 0.26849764585494995, + 0.08873990178108215, + 0.07281281054019928 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9587470014565174, + -0.015032010453518332, + 0.28386304067254337, + 0.07502827934745389, + -0.9498073345636848, + -0.30370509463489226, + 0.2741804961996697, + 0.312474104320268, + -0.9094971080948796 + ], + [ + 0.9496073828900173, + 0.05968201289459083, + 0.3077074514821205, + 0.15350751477615512, + -0.9444662378235272, + -0.2905494252596635, + 0.2732787245067207, + 0.3231432854761524, + -0.9060337498038676 + ], + [ + 0.9318529205607439, + 0.14082927267826267, + 0.334390864706744, + 0.22468491776026223, + -0.9476112569616962, + -0.22704535540402215, + 0.28489791535474, + 0.2867054614694078, + -0.9146765309059469 + ], + [ + 0.9014264844795119, + 0.23352335600278395, + 0.3645505935807888, + 0.27900318185354844, + -0.9572207865819732, + -0.0767176006597208, + 0.3310400543657884, + 0.17086605261603502, + -0.9280179278811969 + ], + [ + 0.88492681669049, + 0.3046073976389753, + 0.3523050700822327, + 0.33277857003493766, + -0.9427768287868316, + -0.020743057348116885, + 0.3258265680197639, + 0.13559566514552127, + -0.935655312156248 + ], + [ + 0.8767057622605182, + 0.3535490164041508, + 0.3261749521634984, + 0.37164149244789324, + -0.9283472625948505, + 0.007345823558295279, + 0.3054007326617039, + 0.11478002017905622, + -0.9452808786056075 + ], + [ + 0.8765541011801457, + 0.3842125544374328, + 0.28988553036833276, + 0.3956315448924453, + -0.9181773952780635, + 0.020638592161469772, + 0.2740959474167465, + 0.09659701761986864, + -0.9568387679210446 + ], + [ + 0.8714646991402453, + 0.4180331907504792, + 0.2565102913790689, + 0.4247217198563512, + -0.9047736907387673, + 0.03155993075423298, + 0.24527686159657303, + 0.08144212655574731, + -0.9660261079222511 + ], + [ + 0.8528971794857614, + 0.46306145192401116, + 0.24112339780133332, + 0.4635813022464663, + -0.8841430828125768, + 0.058166874784053565, + 0.2401224217617001, + 0.06216993531201406, + -0.9687497724957651 + ], + [ + 0.8472291683180297, + 0.48774357815161756, + 0.21049688435460628, + 0.4854230335175475, + -0.8717693268326262, + 0.06620210966737866, + 0.21579438102453335, + 0.046091677835013174, + -0.9753503690226358 + ], + [ + 0.8412815953182545, + 0.5040556193727012, + 0.19537965594599582, + 0.5008157920656658, + -0.8627684676099213, + 0.06938381450791194, + 0.2035407079589066, + 0.039477890987629154, + -0.9782702470824494 + ], + [ + 0.8354298599080733, + 0.5234996072166062, + 0.16734727490472012, + 0.5187184215604758, + -0.8516762632909138, + 0.07469097455940998, + 0.18162639760724603, + 0.024407043878458098, + -0.9830646712710865 + ], + [ + 0.8279146100741213, + 0.5421667943352586, + 0.14357076842465238, + 0.5377374759545686, + -0.8400774244209722, + 0.0714725676902372, + 0.15936061426784753, + 0.01803019962327147, + -0.9870557768037829 + ], + [ + 0.8353536793782035, + 0.5334438822343566, + 0.13274733464757474, + 0.5295612472879638, + -0.8456996271102111, + 0.06600777284885101, + 0.14747581401746304, + 0.015158008193274036, + -0.9889495027894493 + ], + [ + 0.8435585029405509, + 0.5199471414387237, + 0.13440246361728803, + 0.5174012911023235, + -0.8539076148479661, + 0.05601508073997878, + 0.14389216824534024, + 0.022288010551807305, + -0.9893423515160449 + ], + [ + 0.8735796645001142, + 0.47034256171416977, + 0.12504576926877736, + 0.4692129857816961, + -0.8821695208190644, + 0.040200877001479104, + 0.12921974982832057, + 0.023554430114409608, + -0.9913361917514621 + ], + [ + 0.8974457003542888, + 0.42824431821313497, + 0.10582069189797857, + 0.4303759938642148, + -0.9026448527898892, + 0.002962032631203298, + 0.09678697650504983, + 0.0428844219978089, + -0.9943808161508972 + ], + [ + 0.9337106598285744, + 0.34886793954251205, + 0.08047089214026804, + 0.3522112714258365, + -0.9353898324536718, + -0.03151319759858723, + 0.06427771000186763, + 0.057766963756580275, + -0.9962586782032374 + ], + [ + 0.962642368002661, + 0.26656660090127077, + 0.04755963214924478, + 0.26944024587279675, + -0.960427148344003, + -0.0705807808671233, + 0.026863083036682438, + 0.08075852900931679, + -0.9963716348642284 + ], + [ + 0.9802743293179268, + 0.19739108779248796, + 0.00994976082061061, + 0.1974999776093572, + -0.9764232702520144, + -0.08712838891351934, + -0.007483189466560552, + 0.08737480054604072, + -0.996147401796013 + ], + [ + 0.9877289547752987, + 0.1560701115102488, + -0.005799326829475301, + 0.1548914858200175, + -0.9836741125453681, + -0.09161805459924566, + -0.02000348767000099, + 0.08959553895848582, + -0.995777334487874 + ], + [ + 0.989261587124834, + 0.14547227065324453, + 0.014118452827552566, + 0.14614560405818228, + -0.9857065784492163, + -0.08380932893424461, + 0.0017247184476542696, + 0.08497269957420772, + -0.9963817871043951 + ], + [ + 0.9870226817120188, + 0.14803733325814733, + 0.06221875720256254, + 0.15338517774232635, + -0.9838349866025884, + -0.092421352433515, + 0.047531179608443865, + 0.10076540625880127, + -0.9937741795128957 + ], + [ + 0.9743623766447014, + 0.1574611849686269, + 0.16069827070496054, + 0.17292772137572307, + -0.9810659844249189, + -0.087209732164277, + 0.14392345937716058, + 0.11276306768016074, + -0.9831431881512835 + ], + [ + 0.9579644472286262, + 0.19024689862712654, + 0.21473293973844013, + 0.21900930708975244, + -0.9684341508670317, + -0.11903872833039666, + 0.1853079632774027, + 0.16106338192528838, + -0.9693913274569613 + ], + [ + 0.9577428705000539, + 0.18724344351774017, + 0.21833114039443727, + 0.21650421638624726, + -0.9690430207052237, + -0.11866569980188905, + 0.1893528935434937, + 0.1609208404219723, + -0.9686330393005352 + ], + [ + 0.9585533414988507, + 0.18622280032748423, + 0.21563061039559575, + 0.21525861859837747, + -0.9691676238767338, + -0.1199076475803092, + 0.18665266839910302, + 0.16135422358065288, + -0.9690849270895605 + ], + [ + 0.9582921834101097, + 0.1859981835079086, + 0.21698102900217497, + 0.2151385180422462, + -0.9692709247147948, + -0.11928659839693781, + 0.18812631200783803, + 0.16099239185217604, + -0.9688601243193181 + ], + [ + 0.9582921834101097, + 0.1859981835079086, + 0.21698102900217497, + 0.2151385180422462, + -0.9692709247147948, + -0.11928659839693781, + 0.18812631200783803, + 0.16099239185217604, + -0.9688601243193181 + ], + [ + 0.9580289723113711, + 0.18577406271222513, + 0.2183311380344359, + 0.21501746707242908, + -0.9693739938151509, + -0.1186657025792214, + 0.18959951757790564, + 0.16063018937378362, + -0.9686330394922359 + ], + [ + 0.9577174858521399, + 0.1858997458660626, + 0.21958711660748653, + 0.2151856711920013, + -0.96944185542956, + -0.11780329305643518, + 0.19097733951101226, + 0.16007427472341018, + -0.9684543780504428 + ], + [ + 0.9580289723113711, + 0.18577406271222513, + 0.2183311380344359, + 0.21501746707242908, + -0.9693739938151509, + -0.1186657025792214, + 0.18959951757790564, + 0.16063018937378362, + -0.9686330394922359 + ], + [ + 0.9580289723113711, + 0.18577406271222513, + 0.2183311380344359, + 0.21501746707242908, + -0.9693739938151509, + -0.1186657025792214, + 0.18959951757790564, + 0.16063018937378362, + -0.9686330394922359 + ], + [ + 0.9582921834101097, + 0.1859981835079086, + 0.21698102900217497, + 0.2151385180422462, + -0.9692709247147948, + -0.11928659839693781, + 0.18812631200783803, + 0.16099239185217604, + -0.9688601243193181 + ], + [ + 0.9579826220106396, + 0.18612308007965386, + 0.2182372447298634, + 0.21530759660303153, + -0.9693391415924982, + -0.11842409983505989, + 0.18950444525299603, + 0.16043636632129496, + -0.9686837655246282 + ], + [ + 0.9582921834101097, + 0.1859981835079086, + 0.21698102900217497, + 0.2151385180422462, + -0.9692709247147948, + -0.11928659839693781, + 0.18812631200783803, + 0.16099239185217604, + -0.9688601243193181 + ], + [ + 0.9579826220106396, + 0.18612308007965386, + 0.2182372447298634, + 0.21530759660303153, + -0.9693391415924982, + -0.11842409983505989, + 0.18950444525299603, + 0.16043636632129496, + -0.9686837655246282 + ], + [ + 0.9580289723113711, + 0.18577406271222513, + 0.2183311380344359, + 0.21501746707242908, + -0.9693739938151509, + -0.1186657025792214, + 0.18959951757790564, + 0.16063018937378362, + -0.9686330394922359 + ], + [ + 0.9585533414988507, + 0.18622280032748423, + 0.21563061039559575, + 0.21525861859837747, + -0.9691676238767338, + -0.1199076475803092, + 0.18665266839910302, + 0.16135422358065288, + -0.9690849270895605 + ], + [ + 0.9580289723113711, + 0.18577406271222513, + 0.2183311380344359, + 0.21501746707242908, + -0.9693739938151509, + -0.1186657025792214, + 0.18959951757790564, + 0.16063018937378362, + -0.9686330394922359 + ], + [ + 0.9585533414988507, + 0.18622280032748423, + 0.21563061039559575, + 0.21525861859837747, + -0.9691676238767338, + -0.1199076475803092, + 0.18665266839910302, + 0.16135422358065288, + -0.9690849270895605 + ], + [ + 0.9582921834101097, + 0.1859981835079086, + 0.21698102900217497, + 0.2151385180422462, + -0.9692709247147948, + -0.11928659839693781, + 0.18812631200783803, + 0.16099239185217604, + -0.9688601243193181 + ], + [ + 0.9582921834101097, + 0.1859981835079086, + 0.21698102900217497, + 0.2151385180422462, + -0.9692709247147948, + -0.11928659839693781, + 0.18812631200783803, + 0.16099239185217604, + -0.9688601243193181 + ], + [ + 0.9580289723113711, + 0.18577406271222513, + 0.2183311380344359, + 0.21501746707242908, + -0.9693739938151509, + -0.1186657025792214, + 0.18959951757790564, + 0.16063018937378362, + -0.9686330394922359 + ], + [ + 0.9582921834101097, + 0.1859981835079086, + 0.21698102900217497, + 0.2151385180422462, + -0.9692709247147948, + -0.11928659839693781, + 0.18812631200783803, + 0.16099239185217604, + -0.9688601243193181 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006543.json b/json/chunk-0006/episode_0006543.json new file mode 100644 index 0000000000000000000000000000000000000000..ef139037bf7955a6e712ea0bec8b4b8eff5e98cf --- /dev/null +++ b/json/chunk-0006/episode_0006543.json @@ -0,0 +1,1282 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 20, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut the ball in the cup." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006543.mp4", + "start": 0, + "end": 20, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.29413923621177673, + -0.04474073648452759, + 0.07463981211185455, + -0.21491187810897827, + -0.17647989094257355, + 1.7721484899520874, + 0.0, + 1.0008161067962646 + ], + [ + 0.2902701199054718, + -0.044264890253543854, + 0.06631801277399063, + -0.18697689473628998, + -0.18933771550655365, + 1.7678300142288208, + 0.0, + 1.0001531839370728 + ], + [ + 0.2938694357872009, + -0.036781806498765945, + 0.08143173903226852, + -0.23218630254268646, + -0.2259480208158493, + 1.7596615552902222, + 0.0, + 1.0001531839370728 + ], + [ + 0.3033137619495392, + -0.024019712582230568, + 0.10011331737041473, + -0.2931142747402191, + -0.2699187099933624, + 1.7734118700027466, + 0.0, + 1.0001531839370728 + ], + [ + 0.30710214376449585, + -0.014280651696026325, + 0.11772099137306213, + -0.3386766016483307, + -0.262256920337677, + 1.8182392120361328, + 0.0, + 1.0001531839370728 + ], + [ + 0.29425856471061707, + -0.0064242007210850716, + 0.1252329796552658, + -0.265503466129303, + -0.2613832354545593, + 1.7618491649627686, + 0.0, + 1.0001531839370728 + ], + [ + 0.26491689682006836, + 0.0024050306528806686, + 0.1114875078201294, + -0.12372034043073654, + -0.21684962511062622, + 1.499345302581787, + 0.0, + 1.0008161067962646 + ], + [ + 0.25004783272743225, + 0.01079209242016077, + 0.11141939461231232, + -0.0005595997790805995, + -0.12044987082481384, + 1.2241754531860352, + 0.0, + 1.0008161067962646 + ], + [ + 0.24773724377155304, + 0.01592021808028221, + 0.11285855621099472, + 0.03871164470911026, + -0.1121441200375557, + 0.9823778867721558, + 0.0, + 1.0001531839370728 + ], + [ + 0.24151374399662018, + 0.025058532133698463, + 0.10749512910842896, + 0.026825901120901108, + -0.11665388941764832, + 0.7325108051300049, + 0.0, + 1.0008161067962646 + ], + [ + 0.23336642980575562, + 0.03692421317100525, + 0.09334727376699448, + 0.02800052985548973, + -0.09900972247123718, + 0.6638875007629395, + 0.0, + 1.0008161067962646 + ], + [ + 0.21615883708000183, + 0.049649372696876526, + 0.06692767143249512, + -0.0071610319428145885, + -0.09738340973854065, + 0.7751198410987854, + 0.0, + 1.0001531839370728 + ], + [ + 0.20745757222175598, + 0.054609596729278564, + 0.04966580867767334, + -0.0647619366645813, + -0.1404135376214981, + 0.845051109790802, + 0.0, + 1.0001531839370728 + ], + [ + 0.20474031567573547, + 0.05598089471459389, + 0.037732236087322235, + -0.12156056612730026, + -0.1797272264957428, + 0.9064403176307678, + 0.0, + 1.0001531839370728 + ], + [ + 0.20319093763828278, + 0.06101011857390404, + 0.02280525304377079, + -0.1198388934135437, + -0.23098506033420563, + 1.0338913202285767, + 0.0, + 1.0008161067962646 + ], + [ + 0.216403067111969, + 0.06203090026974678, + 0.015098188072443008, + -0.11694011837244034, + -0.3146090805530548, + 1.140234112739563, + 0.0, + 1.0008161067962646 + ], + [ + 0.23224203288555145, + 0.0636872872710228, + 0.010804182849824429, + -0.10525579005479813, + -0.3596512973308563, + 1.159243106842041, + 0.0, + 1.0008161067962646 + ], + [ + 0.23541006445884705, + 0.06488366425037384, + 0.00997655838727951, + -0.10732486099004745, + -0.3720381557941437, + 1.220119595527649, + 0.0, + 1.0008161067962646 + ], + [ + 0.23333555459976196, + 0.06541568040847778, + 0.014462948776781559, + -0.10310684889554977, + -0.35157138109207153, + 1.307843565940857, + 0.0, + 1.0008161067962646 + ], + [ + 0.23155181109905243, + 0.06525879353284836, + 0.04159684479236603, + -0.10996192693710327, + -0.3307429850101471, + 1.402064323425293, + 0.0, + 1.0008161067962646 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.29413923621177673, + -0.04474073648452759, + 0.07463981211185455 + ], + [ + 0.2902701199054718, + -0.044264890253543854, + 0.06631801277399063 + ], + [ + 0.2938694357872009, + -0.036781806498765945, + 0.08143173903226852 + ], + [ + 0.3033137619495392, + -0.024019712582230568, + 0.10011331737041473 + ], + [ + 0.30710214376449585, + -0.014280651696026325, + 0.11772099137306213 + ], + [ + 0.29425856471061707, + -0.0064242007210850716, + 0.1252329796552658 + ], + [ + 0.26491689682006836, + 0.0024050306528806686, + 0.1114875078201294 + ], + [ + 0.25004783272743225, + 0.01079209242016077, + 0.11141939461231232 + ], + [ + 0.24773724377155304, + 0.01592021808028221, + 0.11285855621099472 + ], + [ + 0.24151374399662018, + 0.025058532133698463, + 0.10749512910842896 + ], + [ + 0.23336642980575562, + 0.03692421317100525, + 0.09334727376699448 + ], + [ + 0.21615883708000183, + 0.049649372696876526, + 0.06692767143249512 + ], + [ + 0.20745757222175598, + 0.054609596729278564, + 0.04966580867767334 + ], + [ + 0.20474031567573547, + 0.05598089471459389, + 0.037732236087322235 + ], + [ + 0.20319093763828278, + 0.06101011857390404, + 0.02280525304377079 + ], + [ + 0.216403067111969, + 0.06203090026974678, + 0.015098188072443008 + ], + [ + 0.23224203288555145, + 0.0636872872710228, + 0.010804182849824429 + ], + [ + 0.23541006445884705, + 0.06488366425037384, + 0.00997655838727951 + ], + [ + 0.23333555459976196, + 0.06541568040847778, + 0.014462948776781559 + ], + [ + 0.23155181109905243, + 0.06525879353284836, + 0.04159684479236603 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + -0.19688800623924463, + 0.9647450486661717, + 0.17464851580600715, + 0.9645786445422619, + 0.15870867479770379, + 0.21071211412011784, + 0.17556523429240778, + 0.20994891668704238, + -0.961820305925067 + ], + [ + -0.19226284661869047, + 0.9704083917235123, + 0.1460909000679509, + 0.9631264522741417, + 0.15804026508057684, + 0.21774000905457505, + 0.18820848742791418, + 0.18256732425559377, + -0.9650112628224863 + ], + [ + -0.18297236540633588, + 0.965539076791173, + 0.1850821565869042, + 0.9572520562891437, + 0.1320724298890138, + 0.25734291129428316, + 0.22403038684030352, + 0.2242569161753112, + -0.9484298715876273 + ], + [ + -0.1939459604242012, + 0.9532687963822353, + 0.23165397963147144, + 0.9440768472784622, + 0.11717988857378459, + 0.30820087629108717, + 0.26665309086506533, + 0.2784734737058441, + -0.9226855659293187 + ], + [ + -0.23655086929650843, + 0.9355643004319973, + 0.2622272411330555, + 0.9363906452969539, + 0.1474994962768577, + 0.3184595076276219, + 0.2592609604923586, + 0.32087900890407384, + -0.9109447930633991 + ], + [ + -0.18344268253864793, + 0.960279041921526, + 0.21026874201673526, + 0.9484563301928256, + 0.1166653306576817, + 0.2946519817338602, + 0.2584170504053131, + 0.25348246935204277, + -0.9321841372770769 + ], + [ + 0.06971829223091675, + 0.9879288720794653, + 0.13833258271354631, + 0.9740883286177496, + -0.09732790161734806, + 0.20415486185110304, + 0.21515410239891697, + 0.12051482596991726, + -0.969115518884285 + ], + [ + 0.33726020512872634, + 0.9405030521333871, + 0.04134686160173312, + 0.9337116307604526, + -0.33978478526448985, + 0.1128223837960394, + 0.1201588307998449, + 0.0005555452708168387, + -0.9927545249205698 + ], + [ + 0.5515595869845631, + 0.8336003213820923, + 0.029875176938231086, + 0.8265944296683593, + -0.5510276033836734, + 0.11449990895404707, + 0.11190920805125062, + -0.03845886764996584, + -0.992973939563584 + ], + [ + 0.7384446032209687, + 0.6708190208683691, + 0.06856682299063092, + 0.6641935359775086, + -0.7411424498717533, + 0.0977487379140501, + 0.11638949582982099, + -0.026640387371400107, + -0.9928462997972958 + ], + [ + 0.7837455228836192, + 0.6181214096101462, + 0.06057126663235616, + 0.6131655737435489, + -0.78558879631111, + 0.08293504859952538, + 0.09884803759117661, + -0.02785975757301124, + -0.9947124707031405 + ], + [ + 0.7109526317628732, + 0.6992863813576162, + 0.07446416747144159, + 0.6964860143027547, + -0.7148061010659355, + 0.06292431771245996, + 0.0972295596519251, + 0.0071270419310006175, + -0.9952364633609474 + ], + [ + 0.6571611221463236, + 0.7404257303933834, + 0.14109924631552714, + 0.7406433223197861, + -0.6690766201633017, + 0.06151378263415975, + 0.13995259426853965, + 0.06407974814462042, + -0.9880825153979944 + ], + [ + 0.6066211167151441, + 0.7681392032174702, + 0.2048730954413036, + 0.7746323347438971, + -0.6290689321690666, + 0.0649386213965863, + 0.1787612002770469, + 0.1193081852183672, + -0.9766319625198683 + ], + [ + 0.4978947413301376, + 0.8391337542477664, + 0.21898714354464777, + 0.8364740823552623, + -0.5313293803775043, + 0.13416482063334945, + 0.22893653291625804, + 0.11637711127926355, + -0.9664597414618866 + ], + [ + 0.3968955955408175, + 0.8874556786829394, + 0.23429960438230138, + 0.864128361434055, + -0.4473400874943651, + 0.23058408680095174, + 0.30944476276969834, + 0.11094712476642613, + -0.9444229319009931 + ], + [ + 0.3744390463371931, + 0.8966367120271486, + 0.23630067122892007, + 0.8578625198190482, + -0.4317081380240882, + 0.2787471625927134, + 0.3519478621441068, + 0.09833966752495966, + -0.9308394126396204 + ], + [ + 0.3200317535438853, + 0.9203598719663971, + 0.22476072343188142, + 0.8748923296199788, + -0.37812631517304335, + 0.3026283221144089, + 0.3635149079415478, + 0.09979076033207245, + -0.9262282201793436 + ], + [ + 0.24403355691045886, + 0.9512852515330047, + 0.18842503368028896, + 0.9065619219563256, + -0.2927785374132191, + 0.30401679178793645, + 0.34437349601919576, + 0.09662866161737164, + -0.933846773830457 + ], + [ + 0.15883077621795105, + 0.97385980978404, + 0.162387978044548, + 0.9323695231586574, + -0.20204987626187754, + 0.29977144591748195, + 0.324745834170203, + 0.10379267021304256, + -0.9400889451531411 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0038691163063049316, + 0.00047584623098373413, + -0.008321799337863922, + 0.027934983372688293, + -0.012857824563980103, + -0.0043184757232666016, + 1.0 + ], + [ + 0.003599315881729126, + 0.007483083754777908, + 0.015113726258277893, + -0.045209407806396484, + -0.036610305309295654, + -0.008168458938598633, + 1.0 + ], + [ + 0.009444326162338257, + 0.012762093916535378, + 0.01868157833814621, + -0.060927972197532654, + -0.04397068917751312, + 0.013750314712524414, + 1.0 + ], + [ + 0.003788381814956665, + 0.009739060886204243, + 0.0176076740026474, + -0.04556232690811157, + 0.007661789655685425, + 0.04482734203338623, + 1.0 + ], + [ + -0.012843579053878784, + 0.007856450974941254, + 0.007511988282203674, + 0.07317313551902771, + 0.0008736848831176758, + -0.05639004707336426, + 1.0 + ], + [ + -0.029341667890548706, + 0.00882923137396574, + -0.013745471835136414, + 0.14178311824798584, + 0.044533610343933105, + -0.26250386238098145, + 1.0 + ], + [ + -0.014869064092636108, + 0.008387061767280102, + -6.811320781707764e-05, + 0.12316074222326279, + 0.09639975428581238, + -0.27516984939575195, + 1.0 + ], + [ + -0.0023105889558792114, + 0.005128125660121441, + 0.0014391615986824036, + 0.039271242916584015, + 0.008305750787258148, + -0.2417975664138794, + 1.0 + ], + [ + -0.006223499774932861, + 0.009138314053416252, + -0.005363427102565765, + -0.011885743588209152, + -0.004509769380092621, + -0.24986708164215088, + 1.0 + ], + [ + -0.008147314190864563, + 0.011865681037306786, + -0.014147855341434479, + 0.001174628734588623, + 0.017644166946411133, + -0.06862330436706543, + 1.0 + ], + [ + -0.017207592725753784, + 0.012725159525871277, + -0.02641960233449936, + -0.03516156226396561, + 0.0016263127326965332, + 0.11123234033584595, + 1.0 + ], + [ + -0.00870126485824585, + 0.004960224032402039, + -0.017261862754821777, + -0.05760090425610542, + -0.04303012788295746, + 0.0699312686920166, + 1.0 + ], + [ + -0.002717256546020508, + 0.0013712979853153229, + -0.011933572590351105, + -0.056798629462718964, + -0.03931368887424469, + 0.06138920783996582, + 1.0 + ], + [ + -0.0015493780374526978, + 0.00502922385931015, + -0.014926983043551445, + 0.0017216727137565613, + -0.05125783383846283, + 0.12745100259780884, + 1.0 + ], + [ + 0.013212129473686218, + 0.001020781695842743, + -0.007707064971327782, + 0.002898775041103363, + -0.08362402021884918, + 0.10634279251098633, + 1.0 + ], + [ + 0.01583896577358246, + 0.0016563870012760162, + -0.00429400522261858, + 0.011684328317642212, + -0.045042216777801514, + 0.019008994102478027, + 1.0 + ], + [ + 0.0031680315732955933, + 0.0011963769793510437, + -0.0008276244625449181, + -0.0020690709352493286, + -0.012386858463287354, + 0.06087648868560791, + 1.0 + ], + [ + -0.002074509859085083, + 0.0005320161581039429, + 0.0044863903895020485, + 0.004218012094497681, + 0.020466774702072144, + 0.08772397041320801, + 1.0 + ], + [ + -0.0017837435007095337, + -0.00015688687562942505, + 0.027133896946907043, + -0.006855078041553497, + 0.02082839608192444, + 0.09422075748443604, + 1.0 + ], + [ + 0.009836122393608093, + 0.006202913820743561, + 0.04311840236186981, + -0.08417561650276184, + -0.04390856623649597, + 0.07325923442840576, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2902701199054718, + -0.044264890253543854, + 0.06631801277399063 + ], + [ + 0.2938694357872009, + -0.036781806498765945, + 0.08143173903226852 + ], + [ + 0.3033137619495392, + -0.024019712582230568, + 0.10011331737041473 + ], + [ + 0.30710214376449585, + -0.014280651696026325, + 0.11772099137306213 + ], + [ + 0.29425856471061707, + -0.0064242007210850716, + 0.1252329796552658 + ], + [ + 0.26491689682006836, + 0.0024050306528806686, + 0.1114875078201294 + ], + [ + 0.25004783272743225, + 0.01079209242016077, + 0.11141939461231232 + ], + [ + 0.24773724377155304, + 0.01592021808028221, + 0.11285855621099472 + ], + [ + 0.24151374399662018, + 0.025058532133698463, + 0.10749512910842896 + ], + [ + 0.23336642980575562, + 0.03692421317100525, + 0.09334727376699448 + ], + [ + 0.21615883708000183, + 0.049649372696876526, + 0.06692767143249512 + ], + [ + 0.20745757222175598, + 0.054609596729278564, + 0.04966580867767334 + ], + [ + 0.20474031567573547, + 0.05598089471459389, + 0.037732236087322235 + ], + [ + 0.20319093763828278, + 0.06101011857390404, + 0.02280525304377079 + ], + [ + 0.216403067111969, + 0.06203090026974678, + 0.015098188072443008 + ], + [ + 0.23224203288555145, + 0.0636872872710228, + 0.010804182849824429 + ], + [ + 0.23541006445884705, + 0.06488366425037384, + 0.00997655838727951 + ], + [ + 0.23333555459976196, + 0.06541568040847778, + 0.014462948776781559 + ], + [ + 0.23155181109905243, + 0.06525879353284836, + 0.04159684479236603 + ], + [ + 0.24138793349266052, + 0.07146170735359192, + 0.08471524715423584 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + -0.19226284661869047, + 0.9704083917235123, + 0.1460909000679509, + 0.9631264522741417, + 0.15804026508057684, + 0.21774000905457505, + 0.18820848742791418, + 0.18256732425559377, + -0.9650112628224863 + ], + [ + -0.18297236540633588, + 0.965539076791173, + 0.1850821565869042, + 0.9572520562891437, + 0.1320724298890138, + 0.25734291129428316, + 0.22403038684030352, + 0.2242569161753112, + -0.9484298715876273 + ], + [ + -0.1939459604242012, + 0.9532687963822353, + 0.23165397963147144, + 0.9440768472784622, + 0.11717988857378459, + 0.30820087629108717, + 0.26665309086506533, + 0.2784734737058441, + -0.9226855659293187 + ], + [ + -0.23655086929650843, + 0.9355643004319973, + 0.2622272411330555, + 0.9363906452969539, + 0.1474994962768577, + 0.3184595076276219, + 0.2592609604923586, + 0.32087900890407384, + -0.9109447930633991 + ], + [ + -0.18344268253864793, + 0.960279041921526, + 0.21026874201673526, + 0.9484563301928256, + 0.1166653306576817, + 0.2946519817338602, + 0.2584170504053131, + 0.25348246935204277, + -0.9321841372770769 + ], + [ + 0.06971829223091675, + 0.9879288720794653, + 0.13833258271354631, + 0.9740883286177496, + -0.09732790161734806, + 0.20415486185110304, + 0.21515410239891697, + 0.12051482596991726, + -0.969115518884285 + ], + [ + 0.33726020512872634, + 0.9405030521333871, + 0.04134686160173312, + 0.9337116307604526, + -0.33978478526448985, + 0.1128223837960394, + 0.1201588307998449, + 0.0005555452708168387, + -0.9927545249205698 + ], + [ + 0.5515595869845631, + 0.8336003213820923, + 0.029875176938231086, + 0.8265944296683593, + -0.5510276033836734, + 0.11449990895404707, + 0.11190920805125062, + -0.03845886764996584, + -0.992973939563584 + ], + [ + 0.7384446032209687, + 0.6708190208683691, + 0.06856682299063092, + 0.6641935359775086, + -0.7411424498717533, + 0.0977487379140501, + 0.11638949582982099, + -0.026640387371400107, + -0.9928462997972958 + ], + [ + 0.7837455228836192, + 0.6181214096101462, + 0.06057126663235616, + 0.6131655737435489, + -0.78558879631111, + 0.08293504859952538, + 0.09884803759117661, + -0.02785975757301124, + -0.9947124707031405 + ], + [ + 0.7109526317628732, + 0.6992863813576162, + 0.07446416747144159, + 0.6964860143027547, + -0.7148061010659355, + 0.06292431771245996, + 0.0972295596519251, + 0.0071270419310006175, + -0.9952364633609474 + ], + [ + 0.6571611221463236, + 0.7404257303933834, + 0.14109924631552714, + 0.7406433223197861, + -0.6690766201633017, + 0.06151378263415975, + 0.13995259426853965, + 0.06407974814462042, + -0.9880825153979944 + ], + [ + 0.6066211167151441, + 0.7681392032174702, + 0.2048730954413036, + 0.7746323347438971, + -0.6290689321690666, + 0.0649386213965863, + 0.1787612002770469, + 0.1193081852183672, + -0.9766319625198683 + ], + [ + 0.4978947413301376, + 0.8391337542477664, + 0.21898714354464777, + 0.8364740823552623, + -0.5313293803775043, + 0.13416482063334945, + 0.22893653291625804, + 0.11637711127926355, + -0.9664597414618866 + ], + [ + 0.3968955955408175, + 0.8874556786829394, + 0.23429960438230138, + 0.864128361434055, + -0.4473400874943651, + 0.23058408680095174, + 0.30944476276969834, + 0.11094712476642613, + -0.9444229319009931 + ], + [ + 0.3744390463371931, + 0.8966367120271486, + 0.23630067122892007, + 0.8578625198190482, + -0.4317081380240882, + 0.2787471625927134, + 0.3519478621441068, + 0.09833966752495966, + -0.9308394126396204 + ], + [ + 0.3200317535438853, + 0.9203598719663971, + 0.22476072343188142, + 0.8748923296199788, + -0.37812631517304335, + 0.3026283221144089, + 0.3635149079415478, + 0.09979076033207245, + -0.9262282201793436 + ], + [ + 0.24403355691045886, + 0.9512852515330047, + 0.18842503368028896, + 0.9065619219563256, + -0.2927785374132191, + 0.30401679178793645, + 0.34437349601919576, + 0.09662866161737164, + -0.933846773830457 + ], + [ + 0.15883077621795105, + 0.97385980978404, + 0.162387978044548, + 0.9323695231586574, + -0.20204987626187754, + 0.29977144591748195, + 0.324745834170203, + 0.10379267021304256, + -0.9400889451531411 + ], + [ + 0.08871540104076414, + 0.9700158720186528, + 0.22627148660418728, + 0.9263970203821407, + -0.1638143650580801, + 0.3390478055196782, + 0.36594827263599417, + 0.1795384689488873, + -0.9131526706538297 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006545.json b/json/chunk-0006/episode_0006545.json new file mode 100644 index 0000000000000000000000000000000000000000..d0815055051b9c3871abb04799c3c1f1e19b17db --- /dev/null +++ b/json/chunk-0006/episode_0006545.json @@ -0,0 +1,1162 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 18, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut corn in pan which is on stove." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006545.mp4", + "start": 0, + "end": 18, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.32946333289146423, + 0.220100998878479, + 0.04946976527571678, + 0.165212944149971, + -0.14175289869308472, + -0.6126559376716614, + 0.0, + 1.0014774799346924 + ], + [ + 0.3255484998226166, + 0.21699151396751404, + 0.03519187867641449, + 0.10930214077234268, + -0.12364818155765533, + -0.606023371219635, + 0.0, + 1.0014774799346924 + ], + [ + 0.3293221592903137, + 0.21781079471111298, + 0.036003585904836655, + 0.1051635593175888, + -0.12774698436260223, + -0.6114454865455627, + 0.0, + 1.0014774799346924 + ], + [ + 0.33137837052345276, + 0.21724723279476166, + 0.029678508639335632, + 0.09355144947767258, + -0.13773643970489502, + -0.6170101165771484, + 0.0, + 1.0014774799346924 + ], + [ + 0.3335990607738495, + 0.21770155429840088, + 0.028629086911678314, + 0.09496992826461792, + -0.14439883828163147, + -0.6175844073295593, + 0.0, + 1.0014774799346924 + ], + [ + 0.33489859104156494, + 0.218073770403862, + 0.026193298399448395, + 0.09784047305583954, + -0.14781443774700165, + -0.6221842765808105, + 0.0, + 1.0014774799346924 + ], + [ + 0.3357260823249817, + 0.2184937298297882, + 0.020460860803723335, + 0.09533211588859558, + -0.15199416875839233, + -0.6207406520843506, + 0.0, + 1.0014774799346924 + ], + [ + 0.33440569043159485, + 0.22350676357746124, + 0.017209114506840706, + 0.0997646301984787, + -0.1587093025445938, + -0.6047123670578003, + 0.0, + 1.0014774799346924 + ], + [ + 0.33084675669670105, + 0.22602617740631104, + 0.010446324944496155, + 0.10316086560487747, + -0.15736927092075348, + -0.5923197865486145, + 0.0, + 0.84995037317276 + ], + [ + 0.32772624492645264, + 0.225810244679451, + 0.0053528835996985435, + 0.10768235474824905, + -0.1691950261592865, + -0.5788220167160034, + 0.0, + 0.6621366739273071 + ], + [ + 0.32776331901550293, + 0.2267778366804123, + 0.0048186699859797955, + 0.11012249439954758, + -0.18255698680877686, + -0.5679236054420471, + 0.0, + 0.6611326336860657 + ], + [ + 0.3241230547428131, + 0.22617405652999878, + 0.006337678525596857, + 0.09430401027202606, + -0.16378776729106903, + -0.5479212403297424, + 0.0, + 0.6611326336860657 + ], + [ + 0.3220565915107727, + 0.21602407097816467, + 0.02713494375348091, + 0.09077651798725128, + -0.0970107764005661, + -0.5452010035514832, + 0.0, + 0.6621366739273071 + ], + [ + 0.33055704832077026, + 0.20297588407993317, + 0.0666741207242012, + 0.1695900559425354, + -0.07991618663072586, + -0.5468472242355347, + 0.0, + 0.6621366739273071 + ], + [ + 0.33515965938568115, + 0.18093745410442352, + 0.07791215926408768, + 0.18421420454978943, + -0.09626523405313492, + -0.538960874080658, + 0.0, + 0.6621366739273071 + ], + [ + 0.3429243266582489, + 0.15598073601722717, + 0.07825736701488495, + 0.15467387437820435, + -0.11910703778266907, + -0.522357702255249, + 0.0, + 0.6621366739273071 + ], + [ + 0.34340816736221313, + 0.13757994771003723, + 0.0693231076002121, + 0.12035796791315079, + -0.14838598668575287, + -0.5073903799057007, + 0.0, + 0.6621366739273071 + ], + [ + 0.3427431881427765, + 0.12857480347156525, + 0.06338207423686981, + 0.10434196889400482, + -0.17826499044895172, + -0.49760520458221436, + 0.0, + 0.8490449786186218 + ] + ], + "left_gripper_pos": [ + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 0.84995037317276 + ], + [ + 0.6621366739273071 + ], + [ + 0.6611326336860657 + ], + [ + 0.6611326336860657 + ], + [ + 0.6621366739273071 + ], + [ + 0.6621366739273071 + ], + [ + 0.6621366739273071 + ], + [ + 0.6621366739273071 + ], + [ + 0.6621366739273071 + ], + [ + 0.8490449786186218 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.32946333289146423, + 0.220100998878479, + 0.04946976527571678 + ], + [ + 0.3255484998226166, + 0.21699151396751404, + 0.03519187867641449 + ], + [ + 0.3293221592903137, + 0.21781079471111298, + 0.036003585904836655 + ], + [ + 0.33137837052345276, + 0.21724723279476166, + 0.029678508639335632 + ], + [ + 0.3335990607738495, + 0.21770155429840088, + 0.028629086911678314 + ], + [ + 0.33489859104156494, + 0.218073770403862, + 0.026193298399448395 + ], + [ + 0.3357260823249817, + 0.2184937298297882, + 0.020460860803723335 + ], + [ + 0.33440569043159485, + 0.22350676357746124, + 0.017209114506840706 + ], + [ + 0.33084675669670105, + 0.22602617740631104, + 0.010446324944496155 + ], + [ + 0.32772624492645264, + 0.225810244679451, + 0.0053528835996985435 + ], + [ + 0.32776331901550293, + 0.2267778366804123, + 0.0048186699859797955 + ], + [ + 0.3241230547428131, + 0.22617405652999878, + 0.006337678525596857 + ], + [ + 0.3220565915107727, + 0.21602407097816467, + 0.02713494375348091 + ], + [ + 0.33055704832077026, + 0.20297588407993317, + 0.0666741207242012 + ], + [ + 0.33515965938568115, + 0.18093745410442352, + 0.07791215926408768 + ], + [ + 0.3429243266582489, + 0.15598073601722717, + 0.07825736701488495 + ], + [ + 0.34340816736221313, + 0.13757994771003723, + 0.0693231076002121 + ], + [ + 0.3427431881427765, + 0.12857480347156525, + 0.06338207423686981 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.809917742199052, + -0.5482031031189251, + 0.20858237845506303, + -0.5692746214052083, + -0.8203446530598413, + 0.054415582511678225, + 0.14127864769718926, + -0.16281280025510855, + -0.9764898032124778 + ], + [ + 0.8156445011560528, + -0.5551464548929707, + 0.1629001576231921, + -0.5652547503687383, + -0.8246780950964584, + 0.019826917401655902, + 0.12333334877262185, + -0.10825180408586146, + -0.9864433242678907 + ], + [ + 0.8121468969109888, + -0.5599300707613397, + 0.163999188092662, + -0.5693739597000445, + -0.8219723184288009, + 0.013221261372266147, + 0.12739981104123926, + -0.10411447350864643, + -0.9863718693031922 + ], + [ + 0.8078876457895046, + -0.565608048052793, + 0.16554482099601275, + -0.5731194398346682, + -0.8194666990524783, + -0.0029046217707990526, + 0.13730134545694928, + -0.09253034703244545, + -0.9861979899663997 + ], + [ + 0.8067946760373786, + -0.565333220767408, + 0.17169944733309603, + -0.5730408760802239, + -0.8195073780021637, + -0.005640189822033986, + 0.1438975505661961, + -0.09384032660199038, + -0.9851332336513072 + ], + [ + 0.8037461532874688, + -0.5683334797770823, + 0.17603743022456836, + -0.576456137150624, + -0.8171057337895247, + -0.006044977226045599, + 0.1472767565401199, + -0.0966192298290327, + -0.984364912728134 + ], + [ + 0.8040697351026986, + -0.5672730874927085, + 0.1779693942743141, + -0.5749321620532537, + -0.8181370582616152, + -0.01023537668099981, + 0.1514096104236705, + -0.09409037201287146, + -0.9839827903809253 + ], + [ + 0.812326472510287, + -0.5527489406478318, + 0.18599545873943646, + -0.5613802985306059, + -0.8275242501032674, + -0.007468327303515383, + 0.1580438625213948, + -0.09834746617846493, + -0.9825222203164639 + ], + [ + 0.8193958391988927, + -0.541929580354207, + 0.1868228803992033, + -0.5513883694211625, + -0.8342471599189423, + -0.0015944385375190329, + 0.15672053078844989, + -0.10170548709038016, + -0.9823923193536759 + ], + [ + 0.8251542669673514, + -0.5287201432486506, + 0.19893578317813881, + -0.5392268593555158, + -0.8421590046417032, + -0.0016140168780350642, + 0.16838892438387948, + -0.10593970466270966, + -0.9800111984670472 + ], + [ + 0.8290109387477641, + -0.517804887819528, + 0.21123200890669075, + -0.5289446091834002, + -0.8486448899943912, + -0.004410340375417189, + 0.18154466076525172, + -0.10807381198335231, + -0.9774260009386982 + ], + [ + 0.842185148486192, + -0.5054929186635265, + 0.18761952150647865, + -0.513942382364532, + -0.8578145155512956, + -0.00418144938566891, + 0.16305644200325148, + -0.09290406928937614, + -0.9822328800395123 + ], + [ + 0.8510028741365293, + -0.5089472775951082, + 0.1294865894210449, + -0.5161516282344246, + -0.8560560717583765, + 0.02748633617944425, + 0.0968586851155774, + -0.0902256650523847, + -0.9912001435045983 + ], + [ + 0.851442035311596, + -0.5010281011042932, + 0.15497516706967057, + -0.5183371955136189, + -0.8489206497830618, + 0.10324864221373437, + 0.07983114837907943, + -0.1682396275427684, + -0.9825082266692464 + ], + [ + 0.8542688757988203, + -0.4894503221322596, + 0.17510873766333734, + -0.510868165911191, + -0.8527576495043133, + 0.10871112302986635, + 0.0961166213511272, + -0.1823260085026442, + -0.9785289069432431 + ], + [ + 0.8605052116069247, + -0.47710373490898905, + 0.17861356872649653, + -0.4953900009569383, + -0.8654324396952855, + 0.07493623472627135, + 0.11882561907773269, + -0.1529663965024976, + -0.9810615443446117 + ], + [ + 0.8644109223250944, + -0.46686824951279343, + 0.18662206450990493, + -0.48055851460678095, + -0.876317813372407, + 0.033624455462164464, + 0.1478420488359226, + -0.11874816867245944, + -0.9818562018100885 + ], + [ + 0.8648028155494756, + -0.4584976432873703, + 0.20468512725068017, + -0.4697583237167847, + -0.882764525475133, + 0.007342333515979127, + 0.1773223266159576, + -0.10250221296435831, + -0.9788003314368631 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.003914833068847656, + -0.003109484910964966, + -0.014277886599302292, + -0.055910803377628326, + 0.018104717135429382, + 0.006632566452026367, + 1.0 + ], + [ + 0.0037736594676971436, + 0.000819280743598938, + 0.0008117072284221649, + -0.004138581454753876, + -0.004098802804946899, + -0.005422115325927734, + 1.0 + ], + [ + 0.002056211233139038, + -0.0005635619163513184, + -0.006325077265501022, + -0.01161210983991623, + -0.009989455342292786, + -0.005564630031585693, + 1.0 + ], + [ + 0.0022206902503967285, + 0.0004543215036392212, + -0.0010494217276573181, + 0.001418478786945343, + -0.00666239857673645, + -0.0005742907524108887, + 1.0 + ], + [ + 0.001299530267715454, + 0.0003722161054611206, + -0.0024357885122299194, + 0.0028705447912216187, + -0.0034155994653701782, + -0.004599869251251221, + 1.0 + ], + [ + 0.000827491283416748, + 0.0004199594259262085, + -0.0057324375957250595, + -0.0025083571672439575, + -0.004179731011390686, + 0.001443624496459961, + 1.0 + ], + [ + -0.0013203918933868408, + 0.005013033747673035, + -0.0032517462968826294, + 0.004432514309883118, + -0.006715133786201477, + 0.016028285026550293, + 1.0 + ], + [ + -0.003558933734893799, + 0.0025194138288497925, + -0.006762789562344551, + 0.003396235406398773, + 0.001340031623840332, + 0.012392580509185791, + 0.0 + ], + [ + -0.003120511770248413, + -0.0002159327268600464, + -0.005093441344797611, + 0.004521489143371582, + -0.01182575523853302, + 0.013497769832611084, + 0.0 + ], + [ + 3.707408905029297e-05, + 0.0009675920009613037, + -0.0005342136137187481, + 0.002440139651298523, + -0.013361960649490356, + 0.010898411273956299, + 0.0 + ], + [ + -0.0036402642726898193, + -0.0006037801504135132, + 0.0015190085396170616, + -0.015818484127521515, + 0.018769219517707825, + 0.020002365112304688, + 0.0 + ], + [ + -0.0020664632320404053, + -0.010149985551834106, + 0.02079726569354534, + -0.0035274922847747803, + 0.06677699089050293, + 0.0027202367782592773, + 0.0 + ], + [ + 0.008500456809997559, + -0.013048186898231506, + 0.03953917697072029, + 0.07881353795528412, + 0.01709458976984024, + -0.0016462206840515137, + 0.0 + ], + [ + 0.004602611064910889, + -0.022038429975509644, + 0.011238038539886475, + 0.014624148607254028, + -0.016349047422409058, + 0.007886350154876709, + 0.0 + ], + [ + 0.007764667272567749, + -0.02495671808719635, + 0.00034520775079727173, + -0.029540330171585083, + -0.02284180372953415, + 0.016603171825408936, + 0.0 + ], + [ + 0.0004838407039642334, + -0.01840078830718994, + -0.008934259414672852, + -0.03431590646505356, + -0.0292789489030838, + 0.01496732234954834, + 0.0 + ], + [ + -0.0006649792194366455, + -0.009005144238471985, + -0.005941033363342285, + -0.016015999019145966, + -0.029879003763198853, + 0.009785175323486328, + 1.0 + ], + [ + 0.00010207295417785645, + -0.0023263245820999146, + -0.0006367713212966919, + -0.009738445281982422, + -0.011997073888778687, + 0.008005648851394653, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 0.84995037317276 + ], + [ + 0.6621366739273071 + ], + [ + 0.6611326336860657 + ], + [ + 0.6611326336860657 + ], + [ + 0.6621366739273071 + ], + [ + 0.6621366739273071 + ], + [ + 0.6621366739273071 + ], + [ + 0.6621366739273071 + ], + [ + 0.6621366739273071 + ], + [ + 0.8490449786186218 + ], + [ + 1.0099300146102905 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3255484998226166, + 0.21699151396751404, + 0.03519187867641449 + ], + [ + 0.3293221592903137, + 0.21781079471111298, + 0.036003585904836655 + ], + [ + 0.33137837052345276, + 0.21724723279476166, + 0.029678508639335632 + ], + [ + 0.3335990607738495, + 0.21770155429840088, + 0.028629086911678314 + ], + [ + 0.33489859104156494, + 0.218073770403862, + 0.026193298399448395 + ], + [ + 0.3357260823249817, + 0.2184937298297882, + 0.020460860803723335 + ], + [ + 0.33440569043159485, + 0.22350676357746124, + 0.017209114506840706 + ], + [ + 0.33084675669670105, + 0.22602617740631104, + 0.010446324944496155 + ], + [ + 0.32772624492645264, + 0.225810244679451, + 0.0053528835996985435 + ], + [ + 0.32776331901550293, + 0.2267778366804123, + 0.0048186699859797955 + ], + [ + 0.3241230547428131, + 0.22617405652999878, + 0.006337678525596857 + ], + [ + 0.3220565915107727, + 0.21602407097816467, + 0.02713494375348091 + ], + [ + 0.33055704832077026, + 0.20297588407993317, + 0.0666741207242012 + ], + [ + 0.33515965938568115, + 0.18093745410442352, + 0.07791215926408768 + ], + [ + 0.3429243266582489, + 0.15598073601722717, + 0.07825736701488495 + ], + [ + 0.34340816736221313, + 0.13757994771003723, + 0.0693231076002121 + ], + [ + 0.3427431881427765, + 0.12857480347156525, + 0.06338207423686981 + ], + [ + 0.34284526109695435, + 0.12624847888946533, + 0.06274530291557312 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8156445011560528, + -0.5551464548929707, + 0.1629001576231921, + -0.5652547503687383, + -0.8246780950964584, + 0.019826917401655902, + 0.12333334877262185, + -0.10825180408586146, + -0.9864433242678907 + ], + [ + 0.8121468969109888, + -0.5599300707613397, + 0.163999188092662, + -0.5693739597000445, + -0.8219723184288009, + 0.013221261372266147, + 0.12739981104123926, + -0.10411447350864643, + -0.9863718693031922 + ], + [ + 0.8078876457895046, + -0.565608048052793, + 0.16554482099601275, + -0.5731194398346682, + -0.8194666990524783, + -0.0029046217707990526, + 0.13730134545694928, + -0.09253034703244545, + -0.9861979899663997 + ], + [ + 0.8067946760373786, + -0.565333220767408, + 0.17169944733309603, + -0.5730408760802239, + -0.8195073780021637, + -0.005640189822033986, + 0.1438975505661961, + -0.09384032660199038, + -0.9851332336513072 + ], + [ + 0.8037461532874688, + -0.5683334797770823, + 0.17603743022456836, + -0.576456137150624, + -0.8171057337895247, + -0.006044977226045599, + 0.1472767565401199, + -0.0966192298290327, + -0.984364912728134 + ], + [ + 0.8040697351026986, + -0.5672730874927085, + 0.1779693942743141, + -0.5749321620532537, + -0.8181370582616152, + -0.01023537668099981, + 0.1514096104236705, + -0.09409037201287146, + -0.9839827903809253 + ], + [ + 0.812326472510287, + -0.5527489406478318, + 0.18599545873943646, + -0.5613802985306059, + -0.8275242501032674, + -0.007468327303515383, + 0.1580438625213948, + -0.09834746617846493, + -0.9825222203164639 + ], + [ + 0.8193958391988927, + -0.541929580354207, + 0.1868228803992033, + -0.5513883694211625, + -0.8342471599189423, + -0.0015944385375190329, + 0.15672053078844989, + -0.10170548709038016, + -0.9823923193536759 + ], + [ + 0.8251542669673514, + -0.5287201432486506, + 0.19893578317813881, + -0.5392268593555158, + -0.8421590046417032, + -0.0016140168780350642, + 0.16838892438387948, + -0.10593970466270966, + -0.9800111984670472 + ], + [ + 0.8290109387477641, + -0.517804887819528, + 0.21123200890669075, + -0.5289446091834002, + -0.8486448899943912, + -0.004410340375417189, + 0.18154466076525172, + -0.10807381198335231, + -0.9774260009386982 + ], + [ + 0.842185148486192, + -0.5054929186635265, + 0.18761952150647865, + -0.513942382364532, + -0.8578145155512956, + -0.00418144938566891, + 0.16305644200325148, + -0.09290406928937614, + -0.9822328800395123 + ], + [ + 0.8510028741365293, + -0.5089472775951082, + 0.1294865894210449, + -0.5161516282344246, + -0.8560560717583765, + 0.02748633617944425, + 0.0968586851155774, + -0.0902256650523847, + -0.9912001435045983 + ], + [ + 0.851442035311596, + -0.5010281011042932, + 0.15497516706967057, + -0.5183371955136189, + -0.8489206497830618, + 0.10324864221373437, + 0.07983114837907943, + -0.1682396275427684, + -0.9825082266692464 + ], + [ + 0.8542688757988203, + -0.4894503221322596, + 0.17510873766333734, + -0.510868165911191, + -0.8527576495043133, + 0.10871112302986635, + 0.0961166213511272, + -0.1823260085026442, + -0.9785289069432431 + ], + [ + 0.8605052116069247, + -0.47710373490898905, + 0.17861356872649653, + -0.4953900009569383, + -0.8654324396952855, + 0.07493623472627135, + 0.11882561907773269, + -0.1529663965024976, + -0.9810615443446117 + ], + [ + 0.8644109223250944, + -0.46686824951279343, + 0.18662206450990493, + -0.48055851460678095, + -0.876317813372407, + 0.033624455462164464, + 0.1478420488359226, + -0.11874816867245944, + -0.9818562018100885 + ], + [ + 0.8648028155494756, + -0.4584976432873703, + 0.20468512725068017, + -0.4697583237167847, + -0.882764525475133, + 0.007342333515979127, + 0.1773223266159576, + -0.10250221296435831, + -0.9788003314368631 + ], + [ + 0.8665958938880166, + -0.45240396418212014, + 0.21057590054118827, + -0.4617863203727478, + -0.8869761162542431, + -0.005173346222437966, + 0.1891162367778805, + -0.09275786967606724, + -0.9775638222643729 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006549.json b/json/chunk-0006/episode_0006549.json new file mode 100644 index 0000000000000000000000000000000000000000..bc91993d8cb05020ecfaf1f42e65fcdd0f1c7206 --- /dev/null +++ b/json/chunk-0006/episode_0006549.json @@ -0,0 +1,1582 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 25, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the blue spoon to the bottom of the yellow cloth." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006549.mp4", + "start": 0, + "end": 25, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2883739173412323, + -0.026623541489243507, + 0.09876462072134018, + 0.006628553848713636, + -0.03164674714207649, + -0.21462520956993103, + 0.0, + 1.0008161067962646 + ], + [ + 0.2872011363506317, + -0.025624973699450493, + 0.09008152037858963, + 0.0029188315384089947, + -0.0012049287324771285, + -0.20689450204372406, + 0.0, + 1.0001531839370728 + ], + [ + 0.287978857755661, + 0.0023921169340610504, + 0.08792602270841599, + 0.025334041565656662, + 0.010126800276339054, + -0.10778318345546722, + 0.0, + 1.0008161067962646 + ], + [ + 0.2864631414413452, + 0.02348858304321766, + 0.08116301894187927, + 0.053520940244197845, + 0.03504764661192894, + -0.04277602583169937, + 0.0, + 1.0008161067962646 + ], + [ + 0.28717079758644104, + 0.042005132883787155, + 0.07096106559038162, + 0.07426084578037262, + 0.04876527935266495, + 0.026111328974366188, + 0.0, + 1.0001531839370728 + ], + [ + 0.29200947284698486, + 0.046270422637462616, + 0.05397455766797066, + 0.09761186689138412, + 0.08332862704992294, + 0.05472933128476143, + 0.0, + 1.0008161067962646 + ], + [ + 0.2960934638977051, + 0.050424061715602875, + 0.0415923036634922, + 0.14332632720470428, + 0.11647027730941772, + 0.09972614049911499, + 0.0, + 1.0008161067962646 + ], + [ + 0.3044019639492035, + 0.04964505508542061, + 0.023860204964876175, + 0.17746619880199432, + 0.1449512541294098, + 0.1116371676325798, + 0.0, + 1.0001531839370728 + ], + [ + 0.3148415684700012, + 0.04733004420995712, + 0.011848137713968754, + 0.19933825731277466, + 0.16837309300899506, + 0.11172295361757278, + 0.0, + 0.9988223910331726 + ], + [ + 0.3199172914028168, + 0.04462112858891487, + 0.011023380793631077, + 0.19943107664585114, + 0.15985114872455597, + 0.10672760754823685, + 0.0, + 0.9383087754249573 + ], + [ + 0.32138559222221375, + 0.03898271545767784, + 0.009701915085315704, + 0.1947183459997177, + 0.1554131656885147, + 0.09367062151432037, + 0.0, + 0.672171950340271 + ], + [ + 0.3220071494579315, + 0.035502802580595016, + 0.009434942156076431, + 0.1963178664445877, + 0.14815710484981537, + 0.07555655390024185, + 0.0, + 0.3788849711418152 + ], + [ + 0.3170013725757599, + 0.03408553823828697, + 0.009932583197951317, + 0.18574346601963043, + 0.13360904157161713, + 0.06688309460878372, + 0.0, + 0.3103247880935669 + ], + [ + 0.30388662219047546, + 0.038596175611019135, + 0.010385122150182724, + 0.16874663531780243, + 0.13693034648895264, + 0.07140322029590607, + 0.0, + 0.3103247880935669 + ], + [ + 0.29406610131263733, + 0.049350716173648834, + 0.01771075651049614, + 0.16078917682170868, + 0.11039703339338303, + 0.08599632233381271, + 0.0, + 0.3103247880935669 + ], + [ + 0.2864602208137512, + 0.059823811054229736, + 0.04176894947886467, + 0.15596503019332886, + 0.042308107018470764, + 0.10185942053794861, + 0.0, + 0.3103247880935669 + ], + [ + 0.2679186165332794, + 0.07804533839225769, + 0.05084443837404251, + 0.14430038630962372, + 0.020049337297677994, + 0.10686957091093063, + 0.0, + 0.3103247880935669 + ], + [ + 0.24358879029750824, + 0.11088769882917404, + 0.04315183311700821, + 0.13488659262657166, + 0.04246952384710312, + 0.04983091354370117, + 0.0, + 0.3103247880935669 + ], + [ + 0.23863287270069122, + 0.12343723326921463, + 0.03698035702109337, + 0.1707984209060669, + 0.04170575737953186, + -0.0506163164973259, + 0.0, + 0.3103247880935669 + ], + [ + 0.2328106313943863, + 0.1442854404449463, + 0.025085408240556717, + 0.19941572844982147, + 0.045663945376873016, + -0.06670791655778885, + 0.0, + 0.3103247880935669 + ], + [ + 0.2299307882785797, + 0.1493426412343979, + 0.015130192041397095, + 0.1925787627696991, + 0.07495873421430588, + -0.06597965210676193, + 0.0, + 0.3103247880935669 + ], + [ + 0.22873692214488983, + 0.15154162049293518, + 0.014638714492321014, + 0.1921411007642746, + 0.06884737312793732, + -0.035688452422618866, + 0.0, + 0.3737536668777466 + ], + [ + 0.22667363286018372, + 0.1457412838935852, + 0.015501521527767181, + 0.16089704632759094, + 0.06337705999612808, + -0.03363896906375885, + 0.0, + 0.6931989789009094 + ], + [ + 0.23302297294139862, + 0.13984069228172302, + 0.04269919544458389, + 0.1634502112865448, + -0.08720455318689346, + -0.054409369826316833, + 0.0, + 0.9530308246612549 + ], + [ + 0.23429924249649048, + 0.13517001271247864, + 0.06948240101337433, + 0.16136682033538818, + -0.18225741386413574, + -0.07591457664966583, + 0.0, + 1.0067112445831299 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 0.9988223910331726 + ], + [ + 0.9383087754249573 + ], + [ + 0.672171950340271 + ], + [ + 0.3788849711418152 + ], + [ + 0.3103247880935669 + ], + [ + 0.3103247880935669 + ], + [ + 0.3103247880935669 + ], + [ + 0.3103247880935669 + ], + [ + 0.3103247880935669 + ], + [ + 0.3103247880935669 + ], + [ + 0.3103247880935669 + ], + [ + 0.3103247880935669 + ], + [ + 0.3103247880935669 + ], + [ + 0.3737536668777466 + ], + [ + 0.6931989789009094 + ], + [ + 0.9530308246612549 + ], + [ + 1.0067112445831299 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2883739173412323, + -0.026623541489243507, + 0.09876462072134018 + ], + [ + 0.2872011363506317, + -0.025624973699450493, + 0.09008152037858963 + ], + [ + 0.287978857755661, + 0.0023921169340610504, + 0.08792602270841599 + ], + [ + 0.2864631414413452, + 0.02348858304321766, + 0.08116301894187927 + ], + [ + 0.28717079758644104, + 0.042005132883787155, + 0.07096106559038162 + ], + [ + 0.29200947284698486, + 0.046270422637462616, + 0.05397455766797066 + ], + [ + 0.2960934638977051, + 0.050424061715602875, + 0.0415923036634922 + ], + [ + 0.3044019639492035, + 0.04964505508542061, + 0.023860204964876175 + ], + [ + 0.3148415684700012, + 0.04733004420995712, + 0.011848137713968754 + ], + [ + 0.3199172914028168, + 0.04462112858891487, + 0.011023380793631077 + ], + [ + 0.32138559222221375, + 0.03898271545767784, + 0.009701915085315704 + ], + [ + 0.3220071494579315, + 0.035502802580595016, + 0.009434942156076431 + ], + [ + 0.3170013725757599, + 0.03408553823828697, + 0.009932583197951317 + ], + [ + 0.30388662219047546, + 0.038596175611019135, + 0.010385122150182724 + ], + [ + 0.29406610131263733, + 0.049350716173648834, + 0.01771075651049614 + ], + [ + 0.2864602208137512, + 0.059823811054229736, + 0.04176894947886467 + ], + [ + 0.2679186165332794, + 0.07804533839225769, + 0.05084443837404251 + ], + [ + 0.24358879029750824, + 0.11088769882917404, + 0.04315183311700821 + ], + [ + 0.23863287270069122, + 0.12343723326921463, + 0.03698035702109337 + ], + [ + 0.2328106313943863, + 0.1442854404449463, + 0.025085408240556717 + ], + [ + 0.2299307882785797, + 0.1493426412343979, + 0.015130192041397095 + ], + [ + 0.22873692214488983, + 0.15154162049293518, + 0.014638714492321014 + ], + [ + 0.22667363286018372, + 0.1457412838935852, + 0.015501521527767181 + ], + [ + 0.23302297294139862, + 0.13984069228172302, + 0.04269919544458389 + ], + [ + 0.23429924249649048, + 0.13517001271247864, + 0.06948240101337433 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9765670579482496, + -0.21277164947897928, + 0.03232656041545889, + -0.21287460869289096, + -0.9770794911799155, + -0.0002624679898498303, + 0.03164146494946916, + -0.006625186306174671, + -0.9994773257069216 + ], + [ + 0.9786728589126484, + -0.20541730949046613, + 0.0017788168655855675, + -0.2054214773951242, + -0.9786701228814089, + 0.0026090619181104485, + 0.0012049284409138667, + -0.0029188252750212223, + -0.9999950142908044 + ], + [ + 0.9941460357727111, + -0.10779512736151801, + -0.007339623595098511, + -0.10756909862577692, + -0.9938503911326756, + 0.02627335277930695, + -0.010126627189814755, + -0.025330032817628714, + -0.9996278511822371 + ], + [ + 0.9984717011581237, + -0.04457453845637174, + -0.032670667391466714, + -0.042736720846399026, + -0.9975744921056354, + 0.05494274648650493, + -0.03504047199595595, + -0.05346254035850544, + -0.9979548697715321 + ], + [ + 0.9984707332313493, + 0.022421048739774546, + -0.05053208341104352, + 0.026077324575756143, + -0.9969984116504849, + 0.07289815024663589, + -0.04874595391848097, + -0.07410441106856656, + -0.9960584160764661 + ], + [ + 0.9950380976439124, + 0.046342205793494115, + -0.08804308149637816, + 0.05451220735781953, + -0.9941933130753102, + 0.09277971483744027, + -0.08323222624778537, + -0.09711877366674318, + -0.9917864388643887 + ], + [ + 0.9882901312960142, + 0.08202395415846639, + -0.12866501982713383, + 0.09888639643878691, + -0.9864813362453094, + 0.1306753757944455, + -0.11620712965329627, + -0.14186840445947885, + -0.9830408225673355 + ], + [ + 0.9833532700766546, + 0.0843148237462907, + -0.16095762400763147, + 0.11023711126066355, + -0.9810077642090285, + 0.15959807599876474, + -0.14444419521204105, + -0.17468479343730908, + -0.9739718155117789 + ], + [ + 0.9797123503957591, + 0.07630575503021034, + -0.18531363207084145, + 0.10991405490085379, + -0.9777864804585614, + 0.17847268465429547, + -0.1675786711287262, + -0.195220466093412, + -0.9663365659028957 + ], + [ + 0.9816335419610267, + 0.07305945380478748, + -0.17623253248703832, + 0.10516701450270008, + -0.9779613682864431, + 0.18036480033503355, + -0.15917125480952196, + -0.19558598709788433, + -0.9676831264899208 + ], + [ + 0.9836166121189667, + 0.06194739727167817, + -0.16929524604923518, + 0.09240640124096644, + -0.9796025019586755, + 0.17843765064020708, + -0.15478829856710652, + -0.19115820183180202, + -0.9692776302479761 + ], + [ + 0.9862230143970736, + 0.045323079755029236, + -0.1590911195355318, + 0.07465773495787158, + -0.9801667144992788, + 0.18357405698695448, + -0.1476156783153802, + -0.1929223424832092, + -0.97004669026098 + ], + [ + 0.9888716683247281, + 0.041137456034579994, + -0.14297039307378245, + 0.06623759476091247, + -0.9822460169335543, + 0.17551451010801578, + -0.1332118786931481, + -0.18303134138494048, + -0.9740401036127164 + ], + [ + 0.9881154035118392, + 0.04746239953624676, + -0.14620283845704535, + 0.07067477256749936, + -0.9849196511180396, + 0.15791883156878844, + -0.13650284196736512, + -0.16637488233438608, + -0.9765686727839736 + ], + [ + 0.990239524511699, + 0.06720928515434041, + -0.12210076201189803, + 0.0853675025133919, + -0.9849684735370604, + 0.15016489487459628, + -0.11017292593677284, + -0.15912265120690733, + -0.9810922017136894 + ], + [ + 0.9939265967251588, + 0.0939132980697081, + -0.05736037628898423, + 0.10159238235514362, + -0.9834098654893668, + 0.1502798200211589, + -0.04229548639926026, + -0.1551944873500852, + -0.9869780964775229 + ], + [ + 0.994095045797937, + 0.10269119343037957, + -0.035065063978865385, + 0.10664482103029264, + -0.9842684362960107, + 0.14086350648348459, + -0.020047994099520367, + -0.14377122140139945, + -0.9894078602019165 + ], + [ + 0.9978581215082678, + 0.04365543607464021, + -0.04871726840786896, + 0.04976537973786612, + -0.9899709522799035, + 0.13221543261498378, + -0.04245675823160936, + -0.1343566765856998, + -0.990023084143652 + ], + [ + 0.9978508223491448, + -0.05693608496314644, + -0.0324348356895071, + -0.050550710917325097, + -0.9838287307854734, + 0.17183030613601946, + -0.041693668139047, + -0.16982140827974107, + -0.984592467636736 + ], + [ + 0.9967357535875508, + -0.07436006820973193, + -0.03143911220281407, + -0.06658896723409011, + -0.9773996418272571, + 0.20063860445748388, + -0.045648077319361345, + -0.1978901726003427, + -0.9791607286984361 + ], + [ + 0.9950221516091505, + -0.07901475313817574, + -0.06072550200376978, + -0.06574664838085892, + -0.9784333054694628, + 0.1958204406459773, + -0.07488855742889164, + -0.1908531779526193, + -0.9787577680057541 + ], + [ + 0.9969956988900519, + -0.04815268049772765, + -0.06067038615025332, + -0.03559634746362448, + -0.9805038394745584, + 0.19324885723568577, + -0.0687929970417484, + -0.19050863533323972, + -0.9792721702476186 + ], + [ + 0.9974277453066851, + -0.043338930853217175, + -0.05709316916166349, + -0.033565102558502646, + -0.9861842890697748, + 0.16221569554818024, + -0.06333464125310462, + -0.15988209738567596, + -0.9851022475626059 + ], + [ + 0.9947258905028777, + -0.039506433161213377, + 0.09465539869513663, + -0.05417587979445724, + -0.9859823482897456, + 0.1578093245329152, + 0.08709406875185711, + -0.16210506037726588, + -0.9829224651966856 + ], + [ + 0.9806046180456672, + -0.04581928498247805, + 0.19056541184382125, + -0.07458551887029836, + -0.9863744749302882, + 0.1466369516215009, + 0.18125005777201592, + -0.15800629205728642, + -0.9706608203836952 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.001172780990600586, + 0.0009985677897930145, + -0.00868310034275055, + -0.0037097223103046417, + 0.03044181875884533, + 0.00773070752620697, + 1.0 + ], + [ + 0.0007777214050292969, + 0.028017090633511543, + -0.002155497670173645, + 0.02241520956158638, + 0.011331728659570217, + 0.09911131858825684, + 1.0 + ], + [ + -0.001515716314315796, + 0.02109646610915661, + -0.006763003766536713, + 0.028186898678541183, + 0.02492084726691246, + 0.06500715762376785, + 1.0 + ], + [ + 0.0007076561450958252, + 0.018516549840569496, + -0.01020195335149765, + 0.020739905536174774, + 0.013717632740736008, + 0.06888735294342041, + 1.0 + ], + [ + 0.004838675260543823, + 0.004265289753675461, + -0.016986507922410965, + 0.023351021111011505, + 0.034563347697257996, + 0.02861800231039524, + 1.0 + ], + [ + 0.004083991050720215, + 0.004153639078140259, + -0.012382254004478455, + 0.04571446031332016, + 0.03314165025949478, + 0.04499680921435356, + 1.0 + ], + [ + 0.008308500051498413, + -0.0007790066301822662, + -0.017732098698616028, + 0.03413987159729004, + 0.028480976819992065, + 0.011911027133464813, + 1.0 + ], + [ + 0.01043960452079773, + -0.0023150108754634857, + -0.012012067250907421, + 0.021872058510780334, + 0.023421838879585266, + 8.578598499298096e-05, + 1.0 + ], + [ + 0.005075722932815552, + -0.0027089156210422516, + -0.000824756920337677, + 9.281933307647705e-05, + -0.008521944284439087, + -0.0049953460693359375, + 0.0 + ], + [ + 0.0014683008193969727, + -0.00563841313123703, + -0.0013214657083153725, + -0.004712730646133423, + -0.00443798303604126, + -0.013056986033916473, + 0.0 + ], + [ + 0.0006215572357177734, + -0.0034799128770828247, + -0.00026697292923927307, + 0.0015995204448699951, + -0.007256060838699341, + -0.01811406761407852, + 0.0 + ], + [ + -0.005005776882171631, + -0.0014172643423080444, + 0.0004976410418748856, + -0.010574400424957275, + -0.014548063278198242, + -0.00867345929145813, + 0.0 + ], + [ + -0.013114750385284424, + 0.0045106373727321625, + 0.00045253895223140717, + -0.016996830701828003, + 0.0033213049173355103, + 0.004520125687122345, + 0.0 + ], + [ + -0.009820520877838135, + 0.0107545405626297, + 0.0073256343603134155, + -0.00795745849609375, + -0.02653331309556961, + 0.014593102037906647, + 0.0 + ], + [ + -0.007605880498886108, + 0.010473094880580902, + 0.02405819296836853, + -0.004824146628379822, + -0.06808892637491226, + 0.015863098204135895, + 0.0 + ], + [ + -0.018541604280471802, + 0.018221527338027954, + 0.009075488895177841, + -0.01166464388370514, + -0.02225876972079277, + 0.005010150372982025, + 0.0 + ], + [ + -0.02432982623577118, + 0.03284236043691635, + -0.007692605257034302, + -0.009413793683052063, + 0.022420186549425125, + -0.05703865736722946, + 0.0 + ], + [ + -0.004955917596817017, + 0.012549534440040588, + -0.006171476095914841, + 0.03591182827949524, + -0.0007637664675712585, + -0.10044723004102707, + 0.0 + ], + [ + -0.005822241306304932, + 0.02084820717573166, + -0.011894948780536652, + 0.028617307543754578, + 0.003958187997341156, + -0.01609160006046295, + 0.0 + ], + [ + -0.0028798431158065796, + 0.005057200789451599, + -0.009955216199159622, + -0.0068369656801223755, + 0.02929478883743286, + 0.0007282644510269165, + 0.0 + ], + [ + -0.0011938661336898804, + 0.0021989792585372925, + -0.0004914775490760803, + -0.0004376620054244995, + -0.006111361086368561, + 0.030291199684143066, + 1.0 + ], + [ + -0.0020632892847061157, + -0.005800336599349976, + 0.000862807035446167, + -0.031244054436683655, + -0.005470313131809235, + 0.002049483358860016, + 1.0 + ], + [ + 0.006349340081214905, + -0.005900591611862183, + 0.02719767391681671, + 0.0025531649589538574, + -0.15058161318302155, + -0.020770400762557983, + 1.0 + ], + [ + 0.001276269555091858, + -0.004670679569244385, + 0.026783205568790436, + -0.002083390951156616, + -0.09505286067724228, + -0.021505206823349, + 1.0 + ], + [ + -0.0036982595920562744, + -0.007391586899757385, + 0.010337814688682556, + -0.02398829162120819, + -8.331239223480225e-05, + -0.002514265477657318, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 0.9988223910331726 + ], + [ + 0.9383087754249573 + ], + [ + 0.672171950340271 + ], + [ + 0.3788849711418152 + ], + [ + 0.3103247880935669 + ], + [ + 0.3103247880935669 + ], + [ + 0.3103247880935669 + ], + [ + 0.3103247880935669 + ], + [ + 0.3103247880935669 + ], + [ + 0.3103247880935669 + ], + [ + 0.3103247880935669 + ], + [ + 0.3103247880935669 + ], + [ + 0.3103247880935669 + ], + [ + 0.3737536668777466 + ], + [ + 0.6931989789009094 + ], + [ + 0.9530308246612549 + ], + [ + 1.0067112445831299 + ], + [ + 1.002137303352356 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2872011363506317, + -0.025624973699450493, + 0.09008152037858963 + ], + [ + 0.287978857755661, + 0.0023921169340610504, + 0.08792602270841599 + ], + [ + 0.2864631414413452, + 0.02348858304321766, + 0.08116301894187927 + ], + [ + 0.28717079758644104, + 0.042005132883787155, + 0.07096106559038162 + ], + [ + 0.29200947284698486, + 0.046270422637462616, + 0.05397455766797066 + ], + [ + 0.2960934638977051, + 0.050424061715602875, + 0.0415923036634922 + ], + [ + 0.3044019639492035, + 0.04964505508542061, + 0.023860204964876175 + ], + [ + 0.3148415684700012, + 0.04733004420995712, + 0.011848137713968754 + ], + [ + 0.3199172914028168, + 0.04462112858891487, + 0.011023380793631077 + ], + [ + 0.32138559222221375, + 0.03898271545767784, + 0.009701915085315704 + ], + [ + 0.3220071494579315, + 0.035502802580595016, + 0.009434942156076431 + ], + [ + 0.3170013725757599, + 0.03408553823828697, + 0.009932583197951317 + ], + [ + 0.30388662219047546, + 0.038596175611019135, + 0.010385122150182724 + ], + [ + 0.29406610131263733, + 0.049350716173648834, + 0.01771075651049614 + ], + [ + 0.2864602208137512, + 0.059823811054229736, + 0.04176894947886467 + ], + [ + 0.2679186165332794, + 0.07804533839225769, + 0.05084443837404251 + ], + [ + 0.24358879029750824, + 0.11088769882917404, + 0.04315183311700821 + ], + [ + 0.23863287270069122, + 0.12343723326921463, + 0.03698035702109337 + ], + [ + 0.2328106313943863, + 0.1442854404449463, + 0.025085408240556717 + ], + [ + 0.2299307882785797, + 0.1493426412343979, + 0.015130192041397095 + ], + [ + 0.22873692214488983, + 0.15154162049293518, + 0.014638714492321014 + ], + [ + 0.22667363286018372, + 0.1457412838935852, + 0.015501521527767181 + ], + [ + 0.23302297294139862, + 0.13984069228172302, + 0.04269919544458389 + ], + [ + 0.23429924249649048, + 0.13517001271247864, + 0.06948240101337433 + ], + [ + 0.2306009829044342, + 0.12777842581272125, + 0.07982021570205688 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9786728589126484, + -0.20541730949046613, + 0.0017788168655855675, + -0.2054214773951242, + -0.9786701228814089, + 0.0026090619181104485, + 0.0012049284409138667, + -0.0029188252750212223, + -0.9999950142908044 + ], + [ + 0.9941460357727111, + -0.10779512736151801, + -0.007339623595098511, + -0.10756909862577692, + -0.9938503911326756, + 0.02627335277930695, + -0.010126627189814755, + -0.025330032817628714, + -0.9996278511822371 + ], + [ + 0.9984717011581237, + -0.04457453845637174, + -0.032670667391466714, + -0.042736720846399026, + -0.9975744921056354, + 0.05494274648650493, + -0.03504047199595595, + -0.05346254035850544, + -0.9979548697715321 + ], + [ + 0.9984707332313493, + 0.022421048739774546, + -0.05053208341104352, + 0.026077324575756143, + -0.9969984116504849, + 0.07289815024663589, + -0.04874595391848097, + -0.07410441106856656, + -0.9960584160764661 + ], + [ + 0.9950380976439124, + 0.046342205793494115, + -0.08804308149637816, + 0.05451220735781953, + -0.9941933130753102, + 0.09277971483744027, + -0.08323222624778537, + -0.09711877366674318, + -0.9917864388643887 + ], + [ + 0.9882901312960142, + 0.08202395415846639, + -0.12866501982713383, + 0.09888639643878691, + -0.9864813362453094, + 0.1306753757944455, + -0.11620712965329627, + -0.14186840445947885, + -0.9830408225673355 + ], + [ + 0.9833532700766546, + 0.0843148237462907, + -0.16095762400763147, + 0.11023711126066355, + -0.9810077642090285, + 0.15959807599876474, + -0.14444419521204105, + -0.17468479343730908, + -0.9739718155117789 + ], + [ + 0.9797123503957591, + 0.07630575503021034, + -0.18531363207084145, + 0.10991405490085379, + -0.9777864804585614, + 0.17847268465429547, + -0.1675786711287262, + -0.195220466093412, + -0.9663365659028957 + ], + [ + 0.9816335419610267, + 0.07305945380478748, + -0.17623253248703832, + 0.10516701450270008, + -0.9779613682864431, + 0.18036480033503355, + -0.15917125480952196, + -0.19558598709788433, + -0.9676831264899208 + ], + [ + 0.9836166121189667, + 0.06194739727167817, + -0.16929524604923518, + 0.09240640124096644, + -0.9796025019586755, + 0.17843765064020708, + -0.15478829856710652, + -0.19115820183180202, + -0.9692776302479761 + ], + [ + 0.9862230143970736, + 0.045323079755029236, + -0.1590911195355318, + 0.07465773495787158, + -0.9801667144992788, + 0.18357405698695448, + -0.1476156783153802, + -0.1929223424832092, + -0.97004669026098 + ], + [ + 0.9888716683247281, + 0.041137456034579994, + -0.14297039307378245, + 0.06623759476091247, + -0.9822460169335543, + 0.17551451010801578, + -0.1332118786931481, + -0.18303134138494048, + -0.9740401036127164 + ], + [ + 0.9881154035118392, + 0.04746239953624676, + -0.14620283845704535, + 0.07067477256749936, + -0.9849196511180396, + 0.15791883156878844, + -0.13650284196736512, + -0.16637488233438608, + -0.9765686727839736 + ], + [ + 0.990239524511699, + 0.06720928515434041, + -0.12210076201189803, + 0.0853675025133919, + -0.9849684735370604, + 0.15016489487459628, + -0.11017292593677284, + -0.15912265120690733, + -0.9810922017136894 + ], + [ + 0.9939265967251588, + 0.0939132980697081, + -0.05736037628898423, + 0.10159238235514362, + -0.9834098654893668, + 0.1502798200211589, + -0.04229548639926026, + -0.1551944873500852, + -0.9869780964775229 + ], + [ + 0.994095045797937, + 0.10269119343037957, + -0.035065063978865385, + 0.10664482103029264, + -0.9842684362960107, + 0.14086350648348459, + -0.020047994099520367, + -0.14377122140139945, + -0.9894078602019165 + ], + [ + 0.9978581215082678, + 0.04365543607464021, + -0.04871726840786896, + 0.04976537973786612, + -0.9899709522799035, + 0.13221543261498378, + -0.04245675823160936, + -0.1343566765856998, + -0.990023084143652 + ], + [ + 0.9978508223491448, + -0.05693608496314644, + -0.0324348356895071, + -0.050550710917325097, + -0.9838287307854734, + 0.17183030613601946, + -0.041693668139047, + -0.16982140827974107, + -0.984592467636736 + ], + [ + 0.9967357535875508, + -0.07436006820973193, + -0.03143911220281407, + -0.06658896723409011, + -0.9773996418272571, + 0.20063860445748388, + -0.045648077319361345, + -0.1978901726003427, + -0.9791607286984361 + ], + [ + 0.9950221516091505, + -0.07901475313817574, + -0.06072550200376978, + -0.06574664838085892, + -0.9784333054694628, + 0.1958204406459773, + -0.07488855742889164, + -0.1908531779526193, + -0.9787577680057541 + ], + [ + 0.9969956988900519, + -0.04815268049772765, + -0.06067038615025332, + -0.03559634746362448, + -0.9805038394745584, + 0.19324885723568577, + -0.0687929970417484, + -0.19050863533323972, + -0.9792721702476186 + ], + [ + 0.9974277453066851, + -0.043338930853217175, + -0.05709316916166349, + -0.033565102558502646, + -0.9861842890697748, + 0.16221569554818024, + -0.06333464125310462, + -0.15988209738567596, + -0.9851022475626059 + ], + [ + 0.9947258905028777, + -0.039506433161213377, + 0.09465539869513663, + -0.05417587979445724, + -0.9859823482897456, + 0.1578093245329152, + 0.08709406875185711, + -0.16210506037726588, + -0.9829224651966856 + ], + [ + 0.9806046180456672, + -0.04581928498247805, + 0.19056541184382125, + -0.07458551887029836, + -0.9863744749302882, + 0.1466369516215009, + 0.18125005777201592, + -0.15800629205728642, + -0.9706608203836952 + ], + [ + 0.9803989336280968, + -0.05285379216459551, + 0.18980096837137678, + -0.07704959750520685, + -0.9894790125567654, + 0.12245261628064162, + 0.18133198963551977, + -0.13467650264062464, + -0.974156532170941 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006550.json b/json/chunk-0006/episode_0006550.json new file mode 100644 index 0000000000000000000000000000000000000000..d743d4415ea9d7e7909167eb238e5eb7c0c5564b --- /dev/null +++ b/json/chunk-0006/episode_0006550.json @@ -0,0 +1,1282 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 20, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nLever vertical to front." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006550.mp4", + "start": 0, + "end": 20, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.37445715069770813, + -0.062456779181957245, + 0.09810151159763336, + 0.10913284868001938, + -0.07545260339975357, + 0.07121448218822479, + 0.0, + 0.9988223910331726 + ], + [ + 0.3735801577568054, + -0.057277947664260864, + 0.07338377833366394, + 0.1418364942073822, + -0.10209668427705765, + 0.05918319523334503, + 0.0, + 0.9988223910331726 + ], + [ + 0.3795108497142792, + -0.058003731071949005, + 0.06735160946846008, + 0.14469021558761597, + -0.20621533691883087, + 0.019049732014536858, + 0.0, + 0.9988223910331726 + ], + [ + 0.3931882679462433, + -0.05874209478497505, + 0.07550102472305298, + 0.1487005352973938, + -0.32203659415245056, + -0.02700502797961235, + 0.0, + 0.9988223910331726 + ], + [ + 0.4045875668525696, + -0.06041844189167023, + 0.0783877894282341, + 0.14058507978916168, + -0.3963419497013092, + -0.05624723434448242, + 0.0, + 0.9988223910331726 + ], + [ + 0.4116440415382385, + -0.05759018659591675, + 0.08160645514726639, + 0.11940762400627136, + -0.4240211546421051, + -0.06721331924200058, + 0.0, + 0.9988223910331726 + ], + [ + 0.41956254839897156, + -0.05553942173719406, + 0.08529926836490631, + 0.11618330329656601, + -0.4390673339366913, + -0.06753922998905182, + 0.0, + 0.9981546401977539 + ], + [ + 0.42096519470214844, + -0.0549851730465889, + 0.08172239363193512, + 0.11640140414237976, + -0.4431350827217102, + -0.047977641224861145, + 0.0, + 0.817743182182312 + ], + [ + 0.42264997959136963, + -0.055151019245386124, + 0.08176247775554657, + 0.11430536955595016, + -0.4552701413631439, + -0.02753092162311077, + 0.0, + 0.5159127116203308 + ], + [ + 0.42091304063796997, + -0.058317746967077255, + 0.08080348372459412, + 0.09343074262142181, + -0.4458046555519104, + -0.01035585068166256, + 0.0, + 0.4211256504058838 + ], + [ + 0.4113011062145233, + -0.06120939552783966, + 0.07778465002775192, + 0.05582420900464058, + -0.37689492106437683, + 0.04322000965476036, + 0.0, + 0.4211256504058838 + ], + [ + 0.3994825482368469, + -0.061921630054712296, + 0.07476434111595154, + 0.047807056456804276, + -0.3007379472255707, + 0.10312147438526154, + 0.0, + 0.4202251136302948 + ], + [ + 0.387683242559433, + -0.06422159075737, + 0.07367376238107681, + 0.0419105589389801, + -0.21969285607337952, + 0.15792888402938843, + 0.0, + 0.4202251136302948 + ], + [ + 0.3835095167160034, + -0.06590206176042557, + 0.07149552553892136, + 0.013481616973876953, + -0.1646067053079605, + 0.17006433010101318, + 0.0, + 0.4166308641433716 + ], + [ + 0.378170371055603, + -0.06587884575128555, + 0.061478834599256516, + -0.014947202987968922, + -0.15768775343894958, + 0.18042652308940887, + 0.0, + 0.41573449969291687 + ], + [ + 0.37548771500587463, + -0.06651434302330017, + 0.056478071957826614, + -0.03997810557484627, + -0.15083429217338562, + 0.18961860239505768, + 0.0, + 0.41573449969291687 + ], + [ + 0.37342914938926697, + -0.06697005033493042, + 0.050298113375902176, + -0.05718405544757843, + -0.13092903792858124, + 0.19501440227031708, + 0.0, + 0.41573449969291687 + ], + [ + 0.3698166012763977, + -0.067263163626194, + 0.037776947021484375, + -0.062107451260089874, + -0.11932724714279175, + 0.19151437282562256, + 0.0, + 0.41573449969291687 + ], + [ + 0.3691568672657013, + -0.06640051305294037, + 0.029181376099586487, + -0.05139443278312683, + -0.08928561955690384, + 0.17498116195201874, + 0.0, + 0.41573449969291687 + ], + [ + 0.36830103397369385, + -0.06703748553991318, + 0.02626432664692402, + -0.04067064821720123, + -0.03665080666542053, + 0.15925778448581696, + 0.0, + 0.641040563583374 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9981546401977539 + ], + [ + 0.817743182182312 + ], + [ + 0.5159127116203308 + ], + [ + 0.4211256504058838 + ], + [ + 0.4211256504058838 + ], + [ + 0.4202251136302948 + ], + [ + 0.4202251136302948 + ], + [ + 0.4166308641433716 + ], + [ + 0.41573449969291687 + ], + [ + 0.41573449969291687 + ], + [ + 0.41573449969291687 + ], + [ + 0.41573449969291687 + ], + [ + 0.41573449969291687 + ], + [ + 0.641040563583374 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.37445715069770813, + -0.062456779181957245, + 0.09810151159763336 + ], + [ + 0.3735801577568054, + -0.057277947664260864, + 0.07338377833366394 + ], + [ + 0.3795108497142792, + -0.058003731071949005, + 0.06735160946846008 + ], + [ + 0.3931882679462433, + -0.05874209478497505, + 0.07550102472305298 + ], + [ + 0.4045875668525696, + -0.06041844189167023, + 0.0783877894282341 + ], + [ + 0.4116440415382385, + -0.05759018659591675, + 0.08160645514726639 + ], + [ + 0.41956254839897156, + -0.05553942173719406, + 0.08529926836490631 + ], + [ + 0.42096519470214844, + -0.0549851730465889, + 0.08172239363193512 + ], + [ + 0.42264997959136963, + -0.055151019245386124, + 0.08176247775554657 + ], + [ + 0.42091304063796997, + -0.058317746967077255, + 0.08080348372459412 + ], + [ + 0.4113011062145233, + -0.06120939552783966, + 0.07778465002775192 + ], + [ + 0.3994825482368469, + -0.061921630054712296, + 0.07476434111595154 + ], + [ + 0.387683242559433, + -0.06422159075737, + 0.07367376238107681 + ], + [ + 0.3835095167160034, + -0.06590206176042557, + 0.07149552553892136 + ], + [ + 0.378170371055603, + -0.06587884575128555, + 0.061478834599256516 + ], + [ + 0.37548771500587463, + -0.06651434302330017, + 0.056478071957826614 + ], + [ + 0.37342914938926697, + -0.06697005033493042, + 0.050298113375902176 + ], + [ + 0.3698166012763977, + -0.067263163626194, + 0.037776947021484375 + ], + [ + 0.3691568672657013, + -0.06640051305294037, + 0.029181376099586487 + ], + [ + 0.36830103397369385, + -0.06703748553991318, + 0.02626432664692402 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9946273344550832, + 0.07892041700959493, + 0.06699278568478509, + 0.0709518553361555, + -0.9909471249515756, + 0.11397205699013899, + 0.07538103063193793, + -0.10860646080799183, + -0.9912226474872479 + ], + [ + 0.9930509621331431, + 0.07293692962874186, + 0.0923579498623214, + 0.0588406444220657, + -0.9873726413495026, + 0.14708176528211336, + 0.10191940526923784, + -0.14062528723824397, + -0.9848030074175883 + ], + [ + 0.9786352623885817, + 0.048367232791804916, + 0.19983401612762308, + 0.018644994918010742, + -0.9888087028991543, + 0.1480193002125032, + 0.20475689823334187, + -0.14113100248689214, + -0.9685848712234285 + ], + [ + 0.948246935682677, + 0.020169472500196194, + 0.31689263378544674, + -0.02561366177058654, + -0.9898699636645905, + 0.139647396557776, + 0.3164991142153726, + -0.14053699660134547, + -0.9381245457225593 + ], + [ + 0.9210204772500327, + -0.0016547211778499618, + 0.38951064476333025, + -0.05185955640608278, + -0.9916093476605552, + 0.1184123643948218, + 0.38604645691352485, + -0.12926006162009718, + -0.9133783277341774 + ], + [ + 0.9093838909196973, + -0.01778407250930745, + 0.41557750865601, + -0.06121491967382669, + -0.993929206813143, + 0.09141917442814536, + 0.41142881832107886, + -0.10857466835675998, + -0.9049518599605951 + ], + [ + 0.9030848745296411, + -0.017867306025206895, + 0.42909028044361885, + -0.06108656839504295, + -0.9943194376528326, + 0.08716241774682482, + 0.42509544876121597, + -0.10492671385855876, + -0.8990462970066359 + ], + [ + 0.9023723019684733, + 0.0021052469354333296, + 0.4309521975526513, + -0.04332694375818158, + -0.994478320881512, + 0.09558056937089207, + 0.4287738385031133, + -0.10492110003249772, + -0.8972984777560234 + ], + [ + 0.8978019257450973, + 0.022784448699269214, + 0.4398096986491607, + -0.0247235611877156, + -0.9944783082528915, + 0.10198843040592746, + 0.43970495522633407, + -0.10243907121766478, + -0.8922812275496276 + ], + [ + 0.9022156222962775, + 0.02991460200512612, + 0.430246542660619, + -0.009343544281461738, + -0.9960017148372715, + 0.08884414567924592, + 0.43118403155126384, + -0.08417660380467729, + -0.8983287985515711 + ], + [ + 0.9289435993674434, + 0.06365467305170981, + 0.3647079266933185, + 0.040173969028432406, + -0.9966226196086234, + 0.07161987361722956, + 0.3680351089322343, + -0.05187905823282944, + -0.9283634643339393 + ], + [ + 0.9500442678372297, + 0.11690224809052382, + 0.2893954967531517, + 0.0983187213064215, + -0.9920939925311019, + 0.0779931985776192, + 0.2962251140438501, + -0.04564399604635139, + -0.9540268903100312 + ], + [ + 0.9638186829322769, + 0.1661523560275459, + 0.20843929815940965, + 0.1534930532641111, + -0.9852518972101614, + 0.07562130416383217, + 0.2179298718174092, + -0.04089124148608962, + -0.9751074183593181 + ], + [ + 0.9722517595740104, + 0.17140759226899246, + 0.1592041246883621, + 0.1669580361194207, + -0.9851104376691994, + 0.04101755441691894, + 0.1638643651938606, + -0.01329898145519185, + -0.986393231379792 + ], + [ + 0.9715616693570502, + 0.17712009639867463, + 0.1571508641015556, + 0.17722276792150507, + -0.9840785427570731, + 0.013472646932041265, + 0.15703506986142213, + 0.014761203773381821, + -0.9874827055178124 + ], + [ + 0.9709257586345771, + 0.18243575833944659, + 0.15498504863044413, + 0.18634430698589022, + -0.9824234647202937, + -0.010951494004068954, + 0.150263004341782, + 0.039513669104297294, + -0.9878561127411708 + ], + [ + 0.9726481458515244, + 0.1861437408842845, + 0.13894636411650382, + 0.1921221015157589, + -0.9808872157262011, + -0.030811818090945325, + 0.13055528515062173, + 0.05666372520850897, + -0.9898204583482474 + ], + [ + 0.9747360649360601, + 0.1827251073088746, + 0.12845675876311313, + 0.18899223949096866, + -0.9812307327581069, + -0.03831686969438711, + 0.11904426540221384, + 0.06162616530296654, + -0.9909746104844959 + ], + [ + 0.9808073308571308, + 0.16934899436497683, + 0.09663279900986756, + 0.17339613380729516, + -0.9842270255218991, + -0.03508479746268024, + 0.08916703716953368, + 0.05116718030032291, + -0.9947015427466276 + ], + [ + 0.9866821927397885, + 0.15698327359379194, + 0.042596975737483195, + 0.158478926869706, + -0.9867650590221493, + -0.03433872495071733, + 0.03664260182396223, + 0.04063213143303349, + -0.9985020528906186 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.00087699294090271, + 0.005178831517696381, + -0.02471773326396942, + 0.032703645527362823, + -0.026644080877304077, + -0.01203128695487976, + 1.0 + ], + [ + 0.005930691957473755, + -0.0007257834076881409, + -0.006032168865203857, + 0.0028537213802337646, + -0.10411865264177322, + -0.040133461356163025, + 1.0 + ], + [ + 0.013677418231964111, + -0.0007383637130260468, + 0.008149415254592896, + 0.004010319709777832, + -0.11582125723361969, + -0.04605475813150406, + 1.0 + ], + [ + 0.011399298906326294, + -0.0016763471066951752, + 0.002886764705181122, + -0.008115455508232117, + -0.07430535554885864, + -0.02924220636487007, + 1.0 + ], + [ + 0.007056474685668945, + 0.002828255295753479, + 0.0032186657190322876, + -0.02117745578289032, + -0.0276792049407959, + -0.010966084897518158, + 1.0 + ], + [ + 0.007918506860733032, + 0.0020507648587226868, + 0.003692813217639923, + -0.003224320709705353, + -0.015046179294586182, + -0.000325910747051239, + 1.0 + ], + [ + 0.0014026463031768799, + 0.0005542486906051636, + -0.0035768747329711914, + 0.00021810084581375122, + -0.004067748785018921, + 0.019561588764190674, + 0.0 + ], + [ + 0.0016847848892211914, + -0.00016584619879722595, + 4.0084123611450195e-05, + -0.002096034586429596, + -0.012135058641433716, + 0.020446719601750374, + 0.0 + ], + [ + -0.0017369389533996582, + -0.0031667277216911316, + -0.0009589940309524536, + -0.02087462693452835, + 0.00946548581123352, + 0.01717507094144821, + 0.0 + ], + [ + -0.009611934423446655, + -0.0028916485607624054, + -0.0030188336968421936, + -0.037606533616781235, + 0.06890973448753357, + 0.05357585847377777, + 0.0 + ], + [ + -0.011818557977676392, + -0.0007122345268726349, + -0.0030203089118003845, + -0.008017152547836304, + 0.07615697383880615, + 0.059901464730501175, + 0.0 + ], + [ + -0.01179930567741394, + -0.0022999607026576996, + -0.0010905787348747253, + -0.005896497517824173, + 0.08104509115219116, + 0.05480740964412689, + 0.0 + ], + [ + -0.004173725843429565, + -0.0016804710030555725, + -0.0021782368421554565, + -0.02842894196510315, + 0.055086150765419006, + 0.012135446071624756, + 0.0 + ], + [ + -0.005339145660400391, + 2.321600914001465e-05, + -0.01001669093966484, + -0.0284288190305233, + 0.006918951869010925, + 0.010362192988395691, + 0.0 + ], + [ + -0.0026826560497283936, + -0.0006354972720146179, + -0.005000762641429901, + -0.02503090351819992, + 0.006853461265563965, + 0.009192079305648804, + 0.0 + ], + [ + -0.002058565616607666, + -0.000455707311630249, + -0.0061799585819244385, + -0.017205949872732162, + 0.019905254244804382, + 0.005395799875259399, + 0.0 + ], + [ + -0.0036125481128692627, + -0.0002931132912635803, + -0.012521166354417801, + -0.004923395812511444, + 0.01160179078578949, + -0.003500029444694519, + 0.0 + ], + [ + -0.0006597340106964111, + 0.0008626505732536316, + -0.008595570921897888, + 0.010713018476963043, + 0.03004162758588791, + -0.01653321087360382, + 0.0 + ], + [ + -0.0008558332920074463, + -0.0006369724869728088, + -0.002917049452662468, + 0.010723784565925598, + 0.05263481289148331, + -0.015723377466201782, + 1.0 + ], + [ + -0.0048937201499938965, + -0.0003815367817878723, + 0.0008939784020185471, + 0.014901965856552124, + 0.03372927010059357, + -0.011440753936767578, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9981546401977539 + ], + [ + 0.817743182182312 + ], + [ + 0.5159127116203308 + ], + [ + 0.4211256504058838 + ], + [ + 0.4211256504058838 + ], + [ + 0.4202251136302948 + ], + [ + 0.4202251136302948 + ], + [ + 0.4166308641433716 + ], + [ + 0.41573449969291687 + ], + [ + 0.41573449969291687 + ], + [ + 0.41573449969291687 + ], + [ + 0.41573449969291687 + ], + [ + 0.41573449969291687 + ], + [ + 0.641040563583374 + ], + [ + 0.9263488054275513 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3735801577568054, + -0.057277947664260864, + 0.07338377833366394 + ], + [ + 0.3795108497142792, + -0.058003731071949005, + 0.06735160946846008 + ], + [ + 0.3931882679462433, + -0.05874209478497505, + 0.07550102472305298 + ], + [ + 0.4045875668525696, + -0.06041844189167023, + 0.0783877894282341 + ], + [ + 0.4116440415382385, + -0.05759018659591675, + 0.08160645514726639 + ], + [ + 0.41956254839897156, + -0.05553942173719406, + 0.08529926836490631 + ], + [ + 0.42096519470214844, + -0.0549851730465889, + 0.08172239363193512 + ], + [ + 0.42264997959136963, + -0.055151019245386124, + 0.08176247775554657 + ], + [ + 0.42091304063796997, + -0.058317746967077255, + 0.08080348372459412 + ], + [ + 0.4113011062145233, + -0.06120939552783966, + 0.07778465002775192 + ], + [ + 0.3994825482368469, + -0.061921630054712296, + 0.07476434111595154 + ], + [ + 0.387683242559433, + -0.06422159075737, + 0.07367376238107681 + ], + [ + 0.3835095167160034, + -0.06590206176042557, + 0.07149552553892136 + ], + [ + 0.378170371055603, + -0.06587884575128555, + 0.061478834599256516 + ], + [ + 0.37548771500587463, + -0.06651434302330017, + 0.056478071957826614 + ], + [ + 0.37342914938926697, + -0.06697005033493042, + 0.050298113375902176 + ], + [ + 0.3698166012763977, + -0.067263163626194, + 0.037776947021484375 + ], + [ + 0.3691568672657013, + -0.06640051305294037, + 0.029181376099586487 + ], + [ + 0.36830103397369385, + -0.06703748553991318, + 0.02626432664692402 + ], + [ + 0.36340731382369995, + -0.06741902232170105, + 0.027158305048942566 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9930509621331431, + 0.07293692962874186, + 0.0923579498623214, + 0.0588406444220657, + -0.9873726413495026, + 0.14708176528211336, + 0.10191940526923784, + -0.14062528723824397, + -0.9848030074175883 + ], + [ + 0.9786352623885817, + 0.048367232791804916, + 0.19983401612762308, + 0.018644994918010742, + -0.9888087028991543, + 0.1480193002125032, + 0.20475689823334187, + -0.14113100248689214, + -0.9685848712234285 + ], + [ + 0.948246935682677, + 0.020169472500196194, + 0.31689263378544674, + -0.02561366177058654, + -0.9898699636645905, + 0.139647396557776, + 0.3164991142153726, + -0.14053699660134547, + -0.9381245457225593 + ], + [ + 0.9210204772500327, + -0.0016547211778499618, + 0.38951064476333025, + -0.05185955640608278, + -0.9916093476605552, + 0.1184123643948218, + 0.38604645691352485, + -0.12926006162009718, + -0.9133783277341774 + ], + [ + 0.9093838909196973, + -0.01778407250930745, + 0.41557750865601, + -0.06121491967382669, + -0.993929206813143, + 0.09141917442814536, + 0.41142881832107886, + -0.10857466835675998, + -0.9049518599605951 + ], + [ + 0.9030848745296411, + -0.017867306025206895, + 0.42909028044361885, + -0.06108656839504295, + -0.9943194376528326, + 0.08716241774682482, + 0.42509544876121597, + -0.10492671385855876, + -0.8990462970066359 + ], + [ + 0.9023723019684733, + 0.0021052469354333296, + 0.4309521975526513, + -0.04332694375818158, + -0.994478320881512, + 0.09558056937089207, + 0.4287738385031133, + -0.10492110003249772, + -0.8972984777560234 + ], + [ + 0.8978019257450973, + 0.022784448699269214, + 0.4398096986491607, + -0.0247235611877156, + -0.9944783082528915, + 0.10198843040592746, + 0.43970495522633407, + -0.10243907121766478, + -0.8922812275496276 + ], + [ + 0.9022156222962775, + 0.02991460200512612, + 0.430246542660619, + -0.009343544281461738, + -0.9960017148372715, + 0.08884414567924592, + 0.43118403155126384, + -0.08417660380467729, + -0.8983287985515711 + ], + [ + 0.9289435993674434, + 0.06365467305170981, + 0.3647079266933185, + 0.040173969028432406, + -0.9966226196086234, + 0.07161987361722956, + 0.3680351089322343, + -0.05187905823282944, + -0.9283634643339393 + ], + [ + 0.9500442678372297, + 0.11690224809052382, + 0.2893954967531517, + 0.0983187213064215, + -0.9920939925311019, + 0.0779931985776192, + 0.2962251140438501, + -0.04564399604635139, + -0.9540268903100312 + ], + [ + 0.9638186829322769, + 0.1661523560275459, + 0.20843929815940965, + 0.1534930532641111, + -0.9852518972101614, + 0.07562130416383217, + 0.2179298718174092, + -0.04089124148608962, + -0.9751074183593181 + ], + [ + 0.9722517595740104, + 0.17140759226899246, + 0.1592041246883621, + 0.1669580361194207, + -0.9851104376691994, + 0.04101755441691894, + 0.1638643651938606, + -0.01329898145519185, + -0.986393231379792 + ], + [ + 0.9715616693570502, + 0.17712009639867463, + 0.1571508641015556, + 0.17722276792150507, + -0.9840785427570731, + 0.013472646932041265, + 0.15703506986142213, + 0.014761203773381821, + -0.9874827055178124 + ], + [ + 0.9709257586345771, + 0.18243575833944659, + 0.15498504863044413, + 0.18634430698589022, + -0.9824234647202937, + -0.010951494004068954, + 0.150263004341782, + 0.039513669104297294, + -0.9878561127411708 + ], + [ + 0.9726481458515244, + 0.1861437408842845, + 0.13894636411650382, + 0.1921221015157589, + -0.9808872157262011, + -0.030811818090945325, + 0.13055528515062173, + 0.05666372520850897, + -0.9898204583482474 + ], + [ + 0.9747360649360601, + 0.1827251073088746, + 0.12845675876311313, + 0.18899223949096866, + -0.9812307327581069, + -0.03831686969438711, + 0.11904426540221384, + 0.06162616530296654, + -0.9909746104844959 + ], + [ + 0.9808073308571308, + 0.16934899436497683, + 0.09663279900986756, + 0.17339613380729516, + -0.9842270255218991, + -0.03508479746268024, + 0.08916703716953368, + 0.05116718030032291, + -0.9947015427466276 + ], + [ + 0.9866821927397885, + 0.15698327359379194, + 0.042596975737483195, + 0.158478926869706, + -0.9867650590221493, + -0.03433872495071733, + 0.03664260182396223, + 0.04063213143303349, + -0.9985020528906186 + ], + [ + 0.9890907194867452, + 0.14715597036983824, + 0.006683487839740545, + 0.1472786925261655, + -0.9887776534811679, + -0.025054714208283854, + 0.0029215326415895915, + 0.02576572065335777, + -0.9996637396075929 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006551.json b/json/chunk-0006/episode_0006551.json new file mode 100644 index 0000000000000000000000000000000000000000..a5cc2d2ec0f8ccea86fadafb98968897208722b7 --- /dev/null +++ b/json/chunk-0006/episode_0006551.json @@ -0,0 +1,2122 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 34, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nTake sushi out of pot cardboard fence." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006551.mp4", + "start": 0, + "end": 34, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.29550743103027344, + 0.10346149653196335, + 0.06441556662321091, + -0.02277798019349575, + 0.0005442029214464128, + -0.569365382194519, + 0.0, + 0.9886419177055359 + ], + [ + 0.2915891110897064, + 0.10160500556230545, + 0.054537009447813034, + -0.05227239429950714, + 0.020122213289141655, + -0.5665818452835083, + 0.0, + 0.9886419177055359 + ], + [ + 0.2881341874599457, + 0.08897469192743301, + 0.05755666643381119, + -0.09909959137439728, + 0.027549998834729195, + -0.5785017013549805, + 0.0, + 0.9879508018493652 + ], + [ + 0.28701481223106384, + 0.06702420860528946, + 0.08637022972106934, + -0.10409078747034073, + -0.018148215487599373, + -0.5926979184150696, + 0.0, + 0.9879508018493652 + ], + [ + 0.27280983328819275, + 0.03237585723400116, + 0.11146095395088196, + -0.11861475557088852, + -0.028491241857409477, + -0.6091406941413879, + 0.0, + 0.9879508018493652 + ], + [ + 0.2570447027683258, + -0.0023086934816092253, + 0.12554486095905304, + -0.12904362380504608, + -0.06039535254240036, + -0.6441349387168884, + 0.0, + 0.9879508018493652 + ], + [ + 0.2421739399433136, + -0.027100156992673874, + 0.12106267362833023, + -0.1337922066450119, + -0.025075344368815422, + -0.6757524609565735, + 0.0, + 0.9886419177055359 + ], + [ + 0.23803554475307465, + -0.038377147167921066, + 0.1035231277346611, + -0.05707160010933876, + -0.03319568559527397, + -0.7210716009140015, + 0.0, + 0.9879508018493652 + ], + [ + 0.2371034324169159, + -0.04528212919831276, + 0.08968061953783035, + -0.029240932315587997, + -0.03638643026351929, + -0.7409543991088867, + 0.0, + 0.9879508018493652 + ], + [ + 0.2344692051410675, + -0.05008596554398537, + 0.0752527043223381, + -0.0380735918879509, + -0.02310393936932087, + -0.747026264667511, + 0.0, + 0.9879508018493652 + ], + [ + 0.23678842186927795, + -0.051649581640958786, + 0.0654270276427269, + -0.038804881274700165, + -0.01752326823771, + -0.7416549324989319, + 0.0, + 0.9886419177055359 + ], + [ + 0.23582138121128082, + -0.04958420246839523, + 0.05370302125811577, + -0.04457540437579155, + 0.00019501426140777767, + -0.7475871443748474, + 0.0, + 0.9879508018493652 + ], + [ + 0.23604847490787506, + -0.047697898000478745, + 0.04454503580927849, + -0.03623156622052193, + 0.009480188600718975, + -0.7456898093223572, + 0.0, + 0.9879508018493652 + ], + [ + 0.23650911450386047, + -0.047099772840738297, + 0.03709797561168671, + -0.03123362548649311, + 0.027475303038954735, + -0.7453596591949463, + 0.0, + 0.9886419177055359 + ], + [ + 0.23645669221878052, + -0.04515163600444794, + 0.028202079236507416, + -0.0251457616686821, + 0.04036540538072586, + -0.7460222840309143, + 0.0, + 0.9879508018493652 + ], + [ + 0.23678970336914062, + -0.046181388199329376, + 0.023767292499542236, + -0.013236317783594131, + 0.051018718630075455, + -0.7455449104309082, + 0.0, + 0.9879508018493652 + ], + [ + 0.2311682105064392, + -0.04635932296514511, + 0.01950487121939659, + -0.008168288506567478, + 0.06264571845531464, + -0.7522531151771545, + 0.0, + 0.9398812651634216 + ], + [ + 0.2271399348974228, + -0.04571951925754547, + 0.01877533085644245, + -0.005913339555263519, + 0.05668483301997185, + -0.7452491521835327, + 0.0, + 0.6731748580932617 + ], + [ + 0.22726042568683624, + -0.045919883996248245, + 0.029456550255417824, + 0.009517468512058258, + 0.019508838653564453, + -0.7361319661140442, + 0.0, + 0.5918992757797241 + ], + [ + 0.22983460128307343, + -0.0383845753967762, + 0.050337497144937515, + 0.029542062431573868, + -0.032586660236120224, + -0.6955209374427795, + 0.0, + 0.6209517121315002 + ], + [ + 0.23645538091659546, + -0.026427200064063072, + 0.08191714435815811, + 0.04198632761836052, + -0.11439701169729233, + -0.6313080787658691, + 0.0, + 0.6209517121315002 + ], + [ + 0.25089144706726074, + -0.007060586474835873, + 0.11790063977241516, + -0.012186409905552864, + -0.1861344426870346, + -0.5277805328369141, + 0.0, + 0.6209517121315002 + ], + [ + 0.27271461486816406, + 0.02203601971268654, + 0.10846731066703796, + -0.10174846649169922, + -0.03278694674372673, + -0.3802478015422821, + 0.0, + 0.6209517121315002 + ], + [ + 0.2904439866542816, + 0.05189266428351402, + 0.09760702401399612, + -0.10120268166065216, + 0.006494754925370216, + -0.29042404890060425, + 0.0, + 0.6209517121315002 + ], + [ + 0.2957201302051544, + 0.07727673649787903, + 0.08092442154884338, + -0.07751309126615524, + 0.004959215875715017, + -0.26710301637649536, + 0.0, + 0.6209517121315002 + ], + [ + 0.2995787262916565, + 0.09022518992424011, + 0.07108145952224731, + -0.022609133273363113, + -0.0006912724929861724, + -0.29678064584732056, + 0.0, + 0.6209517121315002 + ], + [ + 0.30557867884635925, + 0.0982515886425972, + 0.059435151517391205, + 0.03904115408658981, + -0.022892246022820473, + -0.32931971549987793, + 0.0, + 0.6209517121315002 + ], + [ + 0.31027910113334656, + 0.10510306805372238, + 0.04092848300933838, + 0.035955026745796204, + -0.005277745425701141, + -0.3487742245197296, + 0.0, + 0.6209517121315002 + ], + [ + 0.31473827362060547, + 0.10842789709568024, + 0.035956971347332, + 0.024069007486104965, + -0.008640887215733528, + -0.33182939887046814, + 0.0, + 0.6209517121315002 + ], + [ + 0.3139069080352783, + 0.11303649097681046, + 0.021737361326813698, + 0.040427159518003464, + 0.039208799600601196, + -0.33439376950263977, + 0.0, + 0.6902000904083252 + ], + [ + 0.31640002131462097, + 0.11177080124616623, + 0.02624979056417942, + 0.02252257615327835, + 0.04255938529968262, + -0.3172891139984131, + 0.0, + 0.9461179971694946 + ], + [ + 0.3149791359901428, + 0.11324340105056763, + 0.026039578020572662, + 0.01278746034950018, + 0.07624009996652603, + -0.30755066871643066, + 0.0, + 0.9886419177055359 + ], + [ + 0.3153916299343109, + 0.11119344830513, + 0.02976594679057598, + -0.009175349026918411, + 0.07821860909461975, + -0.31047946214675903, + 0.0, + 0.9872581958770752 + ], + [ + 0.3189446032047272, + 0.10560224205255508, + 0.07843420654535294, + -0.02055276185274124, + -0.01904885098338127, + -0.2983400821685791, + 0.0, + 0.9872581958770752 + ] + ], + "left_gripper_pos": [ + [ + 0.9886419177055359 + ], + [ + 0.9886419177055359 + ], + [ + 0.9879508018493652 + ], + [ + 0.9879508018493652 + ], + [ + 0.9879508018493652 + ], + [ + 0.9879508018493652 + ], + [ + 0.9886419177055359 + ], + [ + 0.9879508018493652 + ], + [ + 0.9879508018493652 + ], + [ + 0.9879508018493652 + ], + [ + 0.9886419177055359 + ], + [ + 0.9879508018493652 + ], + [ + 0.9879508018493652 + ], + [ + 0.9886419177055359 + ], + [ + 0.9879508018493652 + ], + [ + 0.9879508018493652 + ], + [ + 0.9398812651634216 + ], + [ + 0.6731748580932617 + ], + [ + 0.5918992757797241 + ], + [ + 0.6209517121315002 + ], + [ + 0.6209517121315002 + ], + [ + 0.6209517121315002 + ], + [ + 0.6209517121315002 + ], + [ + 0.6209517121315002 + ], + [ + 0.6209517121315002 + ], + [ + 0.6209517121315002 + ], + [ + 0.6209517121315002 + ], + [ + 0.6209517121315002 + ], + [ + 0.6209517121315002 + ], + [ + 0.6902000904083252 + ], + [ + 0.9461179971694946 + ], + [ + 0.9886419177055359 + ], + [ + 0.9872581958770752 + ], + [ + 0.9872581958770752 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.29550743103027344, + 0.10346149653196335, + 0.06441556662321091 + ], + [ + 0.2915891110897064, + 0.10160500556230545, + 0.054537009447813034 + ], + [ + 0.2881341874599457, + 0.08897469192743301, + 0.05755666643381119 + ], + [ + 0.28701481223106384, + 0.06702420860528946, + 0.08637022972106934 + ], + [ + 0.27280983328819275, + 0.03237585723400116, + 0.11146095395088196 + ], + [ + 0.2570447027683258, + -0.0023086934816092253, + 0.12554486095905304 + ], + [ + 0.2421739399433136, + -0.027100156992673874, + 0.12106267362833023 + ], + [ + 0.23803554475307465, + -0.038377147167921066, + 0.1035231277346611 + ], + [ + 0.2371034324169159, + -0.04528212919831276, + 0.08968061953783035 + ], + [ + 0.2344692051410675, + -0.05008596554398537, + 0.0752527043223381 + ], + [ + 0.23678842186927795, + -0.051649581640958786, + 0.0654270276427269 + ], + [ + 0.23582138121128082, + -0.04958420246839523, + 0.05370302125811577 + ], + [ + 0.23604847490787506, + -0.047697898000478745, + 0.04454503580927849 + ], + [ + 0.23650911450386047, + -0.047099772840738297, + 0.03709797561168671 + ], + [ + 0.23645669221878052, + -0.04515163600444794, + 0.028202079236507416 + ], + [ + 0.23678970336914062, + -0.046181388199329376, + 0.023767292499542236 + ], + [ + 0.2311682105064392, + -0.04635932296514511, + 0.01950487121939659 + ], + [ + 0.2271399348974228, + -0.04571951925754547, + 0.01877533085644245 + ], + [ + 0.22726042568683624, + -0.045919883996248245, + 0.029456550255417824 + ], + [ + 0.22983460128307343, + -0.0383845753967762, + 0.050337497144937515 + ], + [ + 0.23645538091659546, + -0.026427200064063072, + 0.08191714435815811 + ], + [ + 0.25089144706726074, + -0.007060586474835873, + 0.11790063977241516 + ], + [ + 0.27271461486816406, + 0.02203601971268654, + 0.10846731066703796 + ], + [ + 0.2904439866542816, + 0.05189266428351402, + 0.09760702401399612 + ], + [ + 0.2957201302051544, + 0.07727673649787903, + 0.08092442154884338 + ], + [ + 0.2995787262916565, + 0.09022518992424011, + 0.07108145952224731 + ], + [ + 0.30557867884635925, + 0.0982515886425972, + 0.059435151517391205 + ], + [ + 0.31027910113334656, + 0.10510306805372238, + 0.04092848300933838 + ], + [ + 0.31473827362060547, + 0.10842789709568024, + 0.035956971347332 + ], + [ + 0.3139069080352783, + 0.11303649097681046, + 0.021737361326813698 + ], + [ + 0.31640002131462097, + 0.11177080124616623, + 0.02624979056417942 + ], + [ + 0.3149791359901428, + 0.11324340105056763, + 0.026039578020572662 + ], + [ + 0.3153916299343109, + 0.11119344830513, + 0.02976594679057598 + ], + [ + 0.3189446032047272, + 0.10560224205255508, + 0.07843420654535294 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8422431409942838, + -0.5389473696508916, + -0.012736726206845978, + -0.539097574926184, + -0.8420314639266813, + -0.018889639123006632, + -0.0005442028945848443, + 0.022776007197819054, + -0.9997404449852644 + ], + [ + 0.8435697881305646, + -0.5351309977548765, + -0.04499808657292711, + -0.5366424915450599, + -0.843152420982337, + -0.03329911800534891, + -0.020120855390976557, + 0.052238015213962756, + -0.9984319410680135 + ], + [ + 0.8369650844925732, + -0.5418054918177221, + -0.07704710491962895, + -0.5465625645004849, + -0.8346649714544222, + -0.06785092861296871, + -0.027546513880949298, + 0.09889992145166321, + -0.9947160374246822 + ], + [ + 0.8293000532296361, + -0.5571412907150698, + -0.04306975613663735, + -0.5585088183235679, + -0.8238939983882108, + -0.09626307326643675, + 0.018147219294842573, + 0.10388581038926188, + -0.9944236606354616 + ], + [ + 0.819807131380318, + -0.5709074048168297, + -0.04450845384066838, + -0.5719307091756072, + -0.8124484591820134, + -0.11323764866271226, + 0.028487387382164213, + 0.11828878348383366, + -0.9925705176268604 + ], + [ + 0.7981616390462206, + -0.6017248638689576, + -0.02941404693228284, + -0.5994120721021714, + -0.7883067232096458, + -0.1388440778738933, + 0.06035864290415679, + 0.12845115158827797, + -0.9898773337552553 + ], + [ + 0.7799912363920366, + -0.6225042675814342, + -0.0640477009308213, + -0.6252879576886773, + -0.7711717196386041, + -0.11962085436562006, + 0.025072716668615238, + 0.13335147420460022, + -0.9907516051999689 + ], + [ + 0.7506849004634463, + -0.6605369922799474, + -0.01276957501042882, + -0.6598262130150502, + -0.7486259634628597, + -0.06471889559875905, + 0.03318958924729069, + 0.05700919802160147, + -0.9978218290388974 + ], + [ + 0.7373363068808496, + -0.6754885892209721, + 0.007094814132194914, + -0.674545611834916, + -0.7367913602859267, + -0.04611625485956726, + 0.036378401690679595, + 0.02921741330567293, + -0.9989108842385075 + ], + [ + 0.7335168276893467, + -0.6796126847594055, + -0.00892536893750515, + -0.6792785632223266, + -0.7325834245308136, + -0.043613755276490064, + 0.023101883974456627, + 0.038054235202128174, + -0.9990085976306771 + ], + [ + 0.7372384424821432, + -0.6755018090256891, + -0.013296049395395136, + -0.6754053933935601, + -0.7363373581283527, + -0.04043327341990029, + 0.017522371454623625, + 0.03878918699301899, + -0.99909377211102 + ], + [ + 0.7333314193513604, + -0.6791896163120872, + -0.030438371933452186, + -0.6798713049993783, + -0.7326089094173502, + -0.03254526817777119, + -0.00019501426017169352, + 0.04456064335442819, + -0.9990066621566034 + ], + [ + 0.7345870448869369, + -0.6777811700108832, + -0.03153663049464077, + -0.6784482310396157, + -0.7343709222382143, + -0.020182823643161055, + -0.00948004659765012, + 0.036222011949542915, + -0.9992988014437091 + ], + [ + 0.7345666694591073, + -0.6772749246021554, + -0.04135800557206635, + -0.6779801662126042, + -0.7350674733186043, + -0.004324799571350894, + -0.02747184635374946, + 0.031216761109176754, + -0.9991350316567668 + ], + [ + 0.7337962212258787, + -0.677763211310241, + -0.046691916956261285, + -0.6781700557495205, + -0.7348509255705102, + 0.0089158663547748, + -0.04035444460419512, + 0.025122630885191004, + -0.9988695471472203 + ], + [ + 0.7337623639914672, + -0.6778169166741197, + -0.04644373649958411, + -0.6774895874734261, + -0.7351118916201045, + 0.024866959279303456, + -0.050996588657873335, + 0.013218709055766484, + -0.9986113426534662 + ], + [ + 0.7287189367191858, + -0.6828894371969678, + -0.05129062128369975, + -0.6819452737603078, + -0.7304762546508797, + 0.036811479014053815, + -0.06260475112032889, + 0.00815217492646698, + -0.998005103785111 + ], + [ + 0.7337385676403178, + -0.6778968724329794, + -0.04564586183565243, + -0.6770657162169266, + -0.7351333045126383, + 0.03407404466728993, + -0.056654481559667985, + 0.005903807408205368, + -0.9983763893328466 + ], + [ + 0.740930176912522, + -0.6715336311004498, + -0.008065682948406191, + -0.6712986864551789, + -0.7409129755233614, + 0.020150341552211622, + -0.019507601183402612, + -0.00951551376249889, + -0.9997644264995157 + ], + [ + 0.76731241565043, + -0.6397670352060029, + 0.043929459960517024, + -0.6404452686846619, + -0.7680016843856503, + 0.0018084800897638607, + 0.03258089329857174, + -0.02952208401391784, + -0.9990329984276506 + ], + [ + 0.8019797773736959, + -0.5858133225240473, + 0.11683829781785432, + -0.586343540863962, + -0.8093725291854782, + -0.033426951506432656, + 0.11414766213439642, + -0.041699642123628644, + -0.9925882585825871 + ], + [ + 0.849004298123849, + -0.5055280407534878, + 0.1537306143198905, + -0.4949181175429151, + -0.8627270626400152, + -0.10372112762744648, + 0.1850614997642896, + 0.011975616914038256, + -0.98265397058401 + ], + [ + 0.9280736367728865, + -0.3723228670356891, + -0.007416698016817902, + -0.3709511099753499, + -0.9225343875238887, + -0.10642169818217989, + 0.03278107281960127, + 0.10151840482517277, + -0.9942934248734364 + ], + [ + 0.9581023240197871, + -0.2842646709504813, + -0.035121696389811344, + -0.2863525021008933, + -0.9534080778850936, + -0.09494883655953715, + -0.006494709265346005, + 0.10102788660991782, + -0.9948623949465035 + ], + [ + 0.9645277068284561, + -0.26277538192213346, + -0.025207169930735872, + -0.2639350471986549, + -0.9617447636000632, + -0.07338460702424256, + -0.004959195548061181, + 0.07743454231501336, + -0.9969851042197073 + ], + [ + 0.956282692538571, + -0.29238331728603595, + -0.005950438974871777, + -0.29244304418740585, + -0.9560339482481661, + -0.021820992264911084, + 0.000691272437931198, + 0.022607201725015395, + -0.9997441855657779 + ], + [ + 0.9460146301004413, + -0.32230751851039635, + 0.03426635591357324, + -0.32331463970269264, + -0.9458304416091001, + 0.029536747949845357, + 0.022890246609487887, + -0.03902101020226409, + -0.9989761745772276 + ], + [ + 0.939779234013367, + -0.3413469182529092, + 0.017241598432014005, + -0.34174133051051314, + -0.9392497593441526, + 0.031980503323989884, + 0.005277720924156808, + -0.0359467797054656, + -0.9993397693930995 + ], + [ + 0.9454126611652616, + -0.3254822050079201, + 0.016007321187534982, + -0.3257610121466488, + -0.9452418591068972, + 0.019939677964503334, + 0.008640779687592408, + -0.024065785159007314, + -0.9996730340021538 + ], + [ + 0.9438834507863431, + -0.32942493027094827, + -0.023732817945752105, + -0.3279443382626965, + -0.9433176878209256, + 0.05103186108329971, + -0.039198754229024566, + -0.0403850858630255, + -0.9984149951331505 + ], + [ + 0.9492243682755926, + -0.3128233596259976, + -0.03338628976250862, + -0.3117096256690549, + -0.9495447767775226, + 0.03466736447702499, + -0.04254653848505285, + -0.0225002792611336, + -0.9988410932155882 + ], + [ + 0.9503093357620257, + -0.30362863988522887, + -0.06871546699967564, + -0.30184576644323097, + -0.9527051418900471, + 0.03524267152989043, + -0.07616626316050933, + -0.012749966969027797, + -0.9970136100868697 + ], + [ + 0.949275868709428, + -0.30481968673121224, + -0.07720287343775571, + -0.30458109159924035, + -0.952366152232812, + 0.015135082473620972, + -0.07813887461549239, + 0.009147166903134251, + -0.9969005194157892 + ], + [ + 0.9556523024235939, + -0.29424610415786256, + 0.012161704666885272, + -0.29388069353972823, + -0.9555087790703168, + -0.025241059489672552, + 0.01904769899732231, + 0.02054758641478688, + -0.999607413865781 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.003918319940567017, + -0.001856490969657898, + -0.009878557175397873, + -0.02949441410601139, + 0.019578009843826294, + 0.002783536911010742, + 1.0 + ], + [ + -0.003454923629760742, + -0.012630313634872437, + 0.0030196569859981537, + -0.04682719707489014, + 0.00742778554558754, + -0.011919856071472168, + 1.0 + ], + [ + -0.001119375228881836, + -0.021950483322143555, + 0.028813563287258148, + -0.004991196095943451, + -0.04569821432232857, + -0.014196217060089111, + 1.0 + ], + [ + -0.014204978942871094, + -0.0346483513712883, + 0.025090724229812622, + -0.01452396810054779, + -0.010343026369810104, + -0.01644277572631836, + 1.0 + ], + [ + -0.015765130519866943, + -0.034684550017118454, + 0.014083907008171082, + -0.010428868234157562, + -0.031904108822345734, + -0.03499424457550049, + 1.0 + ], + [ + -0.014870762825012207, + -0.02479146420955658, + -0.004482187330722809, + -0.00474858283996582, + 0.03532000631093979, + -0.03161752223968506, + 1.0 + ], + [ + -0.004138395190238953, + -0.011276990175247192, + -0.01753954589366913, + 0.07672061026096344, + -0.00812034122645855, + -0.04531913995742798, + 1.0 + ], + [ + -0.0009321123361587524, + -0.006904982030391693, + -0.01384250819683075, + 0.027830667793750763, + -0.0031907446682453156, + -0.019882798194885254, + 1.0 + ], + [ + -0.0026342272758483887, + -0.004803836345672607, + -0.014427915215492249, + -0.0088326595723629, + 0.013282490894198418, + -0.006071865558624268, + 1.0 + ], + [ + 0.0023192167282104492, + -0.0015636160969734192, + -0.009825676679611206, + -0.0007312893867492676, + 0.00558067113161087, + 0.0053713321685791016, + 1.0 + ], + [ + -0.0009670406579971313, + 0.002065379172563553, + -0.01172400638461113, + -0.005770523101091385, + 0.017718281596899033, + -0.005932211875915527, + 1.0 + ], + [ + 0.00022709369659423828, + 0.0018863044679164886, + -0.00915798544883728, + 0.008343838155269623, + 0.009285174310207367, + 0.0018973350524902344, + 1.0 + ], + [ + 0.0004606395959854126, + 0.000598125159740448, + -0.007447060197591782, + 0.004997940734028816, + 0.017995115369558334, + 0.00033015012741088867, + 1.0 + ], + [ + -5.2422285079956055e-05, + 0.0019481368362903595, + -0.00889589637517929, + 0.006087863817811012, + 0.012890102341771126, + -0.0006626248359680176, + 1.0 + ], + [ + 0.0003330111503601074, + -0.0010297521948814392, + -0.0044347867369651794, + 0.011909443885087967, + 0.010653313249349594, + 0.0004773736000061035, + 1.0 + ], + [ + -0.005621492862701416, + -0.00017793476581573486, + -0.004262421280145645, + 0.005068029277026653, + 0.011626999825239182, + -0.006708204746246338, + 0.0 + ], + [ + -0.0040282756090164185, + 0.0006398037075996399, + -0.0007295403629541397, + 0.002254948951303959, + -0.005960885435342789, + 0.007003962993621826, + 0.0 + ], + [ + 0.00012049078941345215, + -0.00020036473870277405, + 0.010681219398975372, + 0.015430808067321777, + -0.037175994366407394, + 0.009117186069488525, + 0.0 + ], + [ + 0.0025741755962371826, + 0.007535308599472046, + 0.02088094688951969, + 0.02002459391951561, + -0.05209549888968468, + 0.04061102867126465, + 0.0 + ], + [ + 0.006620779633522034, + 0.011957375332713127, + 0.031579647213220596, + 0.012444265186786652, + -0.0818103551864624, + 0.0642128586769104, + 0.0 + ], + [ + 0.014436066150665283, + 0.019366614520549774, + 0.03598349541425705, + -0.05417273938655853, + -0.07173743098974228, + 0.10352754592895508, + 0.0 + ], + [ + 0.02182316780090332, + 0.029096607118844986, + -0.009433329105377197, + -0.0895620584487915, + 0.15334749221801758, + 0.14753273129463196, + 0.0 + ], + [ + 0.017729371786117554, + 0.029856644570827484, + -0.01086028665304184, + 0.0005457848310470581, + 0.039281703531742096, + 0.08982375264167786, + 0.0 + ], + [ + 0.005276143550872803, + 0.025384072214365005, + -0.01668260246515274, + 0.023689590394496918, + -0.001535539049655199, + 0.023321032524108887, + 0.0 + ], + [ + 0.003858596086502075, + 0.012948453426361084, + -0.00984296202659607, + 0.05490395799279213, + -0.005650488194078207, + -0.029677629470825195, + 0.0 + ], + [ + 0.005999952554702759, + 0.008026398718357086, + -0.01164630800485611, + 0.06165028735995293, + -0.022200973704457283, + -0.03253906965255737, + 0.0 + ], + [ + 0.004700422286987305, + 0.006851479411125183, + -0.018506668508052826, + -0.0030861273407936096, + 0.01761450059711933, + -0.019454509019851685, + 0.0 + ], + [ + 0.004459172487258911, + 0.0033248290419578552, + -0.004971511662006378, + -0.011886019259691238, + -0.0033631417900323868, + 0.016944825649261475, + 0.0 + ], + [ + -0.0008313655853271484, + 0.0046085938811302185, + -0.014219610020518303, + 0.0163581520318985, + 0.047849684953689575, + -0.002564370632171631, + 1.0 + ], + [ + 0.0024931132793426514, + -0.001265689730644226, + 0.004512429237365723, + -0.017904583364725113, + 0.003350585699081421, + 0.017104655504226685, + 1.0 + ], + [ + -0.0014208853244781494, + 0.0014725998044013977, + -0.00021021254360675812, + -0.009735115803778172, + 0.033680714666843414, + 0.009738445281982422, + 1.0 + ], + [ + 0.0004124939441680908, + -0.002049952745437622, + 0.003726368770003319, + -0.021962810307741165, + 0.0019785091280937195, + -0.002928793430328369, + 1.0 + ], + [ + 0.0035529732704162598, + -0.005591206252574921, + 0.048668257892131805, + -0.01137741282582283, + -0.09726746380329132, + 0.012139379978179932, + 1.0 + ], + [ + -0.0018017888069152832, + -0.006363674998283386, + 0.04969426244497299, + -0.0262235589325428, + -0.06519332528114319, + 0.0023658275604248047, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9886419177055359 + ], + [ + 0.9879508018493652 + ], + [ + 0.9879508018493652 + ], + [ + 0.9879508018493652 + ], + [ + 0.9879508018493652 + ], + [ + 0.9886419177055359 + ], + [ + 0.9879508018493652 + ], + [ + 0.9879508018493652 + ], + [ + 0.9879508018493652 + ], + [ + 0.9886419177055359 + ], + [ + 0.9879508018493652 + ], + [ + 0.9879508018493652 + ], + [ + 0.9886419177055359 + ], + [ + 0.9879508018493652 + ], + [ + 0.9879508018493652 + ], + [ + 0.9398812651634216 + ], + [ + 0.6731748580932617 + ], + [ + 0.5918992757797241 + ], + [ + 0.6209517121315002 + ], + [ + 0.6209517121315002 + ], + [ + 0.6209517121315002 + ], + [ + 0.6209517121315002 + ], + [ + 0.6209517121315002 + ], + [ + 0.6209517121315002 + ], + [ + 0.6209517121315002 + ], + [ + 0.6209517121315002 + ], + [ + 0.6209517121315002 + ], + [ + 0.6209517121315002 + ], + [ + 0.6902000904083252 + ], + [ + 0.9461179971694946 + ], + [ + 0.9886419177055359 + ], + [ + 0.9872581958770752 + ], + [ + 0.9872581958770752 + ], + [ + 0.9872581958770752 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2915891110897064, + 0.10160500556230545, + 0.054537009447813034 + ], + [ + 0.2881341874599457, + 0.08897469192743301, + 0.05755666643381119 + ], + [ + 0.28701481223106384, + 0.06702420860528946, + 0.08637022972106934 + ], + [ + 0.27280983328819275, + 0.03237585723400116, + 0.11146095395088196 + ], + [ + 0.2570447027683258, + -0.0023086934816092253, + 0.12554486095905304 + ], + [ + 0.2421739399433136, + -0.027100156992673874, + 0.12106267362833023 + ], + [ + 0.23803554475307465, + -0.038377147167921066, + 0.1035231277346611 + ], + [ + 0.2371034324169159, + -0.04528212919831276, + 0.08968061953783035 + ], + [ + 0.2344692051410675, + -0.05008596554398537, + 0.0752527043223381 + ], + [ + 0.23678842186927795, + -0.051649581640958786, + 0.0654270276427269 + ], + [ + 0.23582138121128082, + -0.04958420246839523, + 0.05370302125811577 + ], + [ + 0.23604847490787506, + -0.047697898000478745, + 0.04454503580927849 + ], + [ + 0.23650911450386047, + -0.047099772840738297, + 0.03709797561168671 + ], + [ + 0.23645669221878052, + -0.04515163600444794, + 0.028202079236507416 + ], + [ + 0.23678970336914062, + -0.046181388199329376, + 0.023767292499542236 + ], + [ + 0.2311682105064392, + -0.04635932296514511, + 0.01950487121939659 + ], + [ + 0.2271399348974228, + -0.04571951925754547, + 0.01877533085644245 + ], + [ + 0.22726042568683624, + -0.045919883996248245, + 0.029456550255417824 + ], + [ + 0.22983460128307343, + -0.0383845753967762, + 0.050337497144937515 + ], + [ + 0.23645538091659546, + -0.026427200064063072, + 0.08191714435815811 + ], + [ + 0.25089144706726074, + -0.007060586474835873, + 0.11790063977241516 + ], + [ + 0.27271461486816406, + 0.02203601971268654, + 0.10846731066703796 + ], + [ + 0.2904439866542816, + 0.05189266428351402, + 0.09760702401399612 + ], + [ + 0.2957201302051544, + 0.07727673649787903, + 0.08092442154884338 + ], + [ + 0.2995787262916565, + 0.09022518992424011, + 0.07108145952224731 + ], + [ + 0.30557867884635925, + 0.0982515886425972, + 0.059435151517391205 + ], + [ + 0.31027910113334656, + 0.10510306805372238, + 0.04092848300933838 + ], + [ + 0.31473827362060547, + 0.10842789709568024, + 0.035956971347332 + ], + [ + 0.3139069080352783, + 0.11303649097681046, + 0.021737361326813698 + ], + [ + 0.31640002131462097, + 0.11177080124616623, + 0.02624979056417942 + ], + [ + 0.3149791359901428, + 0.11324340105056763, + 0.026039578020572662 + ], + [ + 0.3153916299343109, + 0.11119344830513, + 0.02976594679057598 + ], + [ + 0.3189446032047272, + 0.10560224205255508, + 0.07843420654535294 + ], + [ + 0.3171428143978119, + 0.0992385670542717, + 0.12812846899032593 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8435697881305646, + -0.5351309977548765, + -0.04499808657292711, + -0.5366424915450599, + -0.843152420982337, + -0.03329911800534891, + -0.020120855390976557, + 0.052238015213962756, + -0.9984319410680135 + ], + [ + 0.8369650844925732, + -0.5418054918177221, + -0.07704710491962895, + -0.5465625645004849, + -0.8346649714544222, + -0.06785092861296871, + -0.027546513880949298, + 0.09889992145166321, + -0.9947160374246822 + ], + [ + 0.8293000532296361, + -0.5571412907150698, + -0.04306975613663735, + -0.5585088183235679, + -0.8238939983882108, + -0.09626307326643675, + 0.018147219294842573, + 0.10388581038926188, + -0.9944236606354616 + ], + [ + 0.819807131380318, + -0.5709074048168297, + -0.04450845384066838, + -0.5719307091756072, + -0.8124484591820134, + -0.11323764866271226, + 0.028487387382164213, + 0.11828878348383366, + -0.9925705176268604 + ], + [ + 0.7981616390462206, + -0.6017248638689576, + -0.02941404693228284, + -0.5994120721021714, + -0.7883067232096458, + -0.1388440778738933, + 0.06035864290415679, + 0.12845115158827797, + -0.9898773337552553 + ], + [ + 0.7799912363920366, + -0.6225042675814342, + -0.0640477009308213, + -0.6252879576886773, + -0.7711717196386041, + -0.11962085436562006, + 0.025072716668615238, + 0.13335147420460022, + -0.9907516051999689 + ], + [ + 0.7506849004634463, + -0.6605369922799474, + -0.01276957501042882, + -0.6598262130150502, + -0.7486259634628597, + -0.06471889559875905, + 0.03318958924729069, + 0.05700919802160147, + -0.9978218290388974 + ], + [ + 0.7373363068808496, + -0.6754885892209721, + 0.007094814132194914, + -0.674545611834916, + -0.7367913602859267, + -0.04611625485956726, + 0.036378401690679595, + 0.02921741330567293, + -0.9989108842385075 + ], + [ + 0.7335168276893467, + -0.6796126847594055, + -0.00892536893750515, + -0.6792785632223266, + -0.7325834245308136, + -0.043613755276490064, + 0.023101883974456627, + 0.038054235202128174, + -0.9990085976306771 + ], + [ + 0.7372384424821432, + -0.6755018090256891, + -0.013296049395395136, + -0.6754053933935601, + -0.7363373581283527, + -0.04043327341990029, + 0.017522371454623625, + 0.03878918699301899, + -0.99909377211102 + ], + [ + 0.7333314193513604, + -0.6791896163120872, + -0.030438371933452186, + -0.6798713049993783, + -0.7326089094173502, + -0.03254526817777119, + -0.00019501426017169352, + 0.04456064335442819, + -0.9990066621566034 + ], + [ + 0.7345870448869369, + -0.6777811700108832, + -0.03153663049464077, + -0.6784482310396157, + -0.7343709222382143, + -0.020182823643161055, + -0.00948004659765012, + 0.036222011949542915, + -0.9992988014437091 + ], + [ + 0.7345666694591073, + -0.6772749246021554, + -0.04135800557206635, + -0.6779801662126042, + -0.7350674733186043, + -0.004324799571350894, + -0.02747184635374946, + 0.031216761109176754, + -0.9991350316567668 + ], + [ + 0.7337962212258787, + -0.677763211310241, + -0.046691916956261285, + -0.6781700557495205, + -0.7348509255705102, + 0.0089158663547748, + -0.04035444460419512, + 0.025122630885191004, + -0.9988695471472203 + ], + [ + 0.7337623639914672, + -0.6778169166741197, + -0.04644373649958411, + -0.6774895874734261, + -0.7351118916201045, + 0.024866959279303456, + -0.050996588657873335, + 0.013218709055766484, + -0.9986113426534662 + ], + [ + 0.7287189367191858, + -0.6828894371969678, + -0.05129062128369975, + -0.6819452737603078, + -0.7304762546508797, + 0.036811479014053815, + -0.06260475112032889, + 0.00815217492646698, + -0.998005103785111 + ], + [ + 0.7337385676403178, + -0.6778968724329794, + -0.04564586183565243, + -0.6770657162169266, + -0.7351333045126383, + 0.03407404466728993, + -0.056654481559667985, + 0.005903807408205368, + -0.9983763893328466 + ], + [ + 0.740930176912522, + -0.6715336311004498, + -0.008065682948406191, + -0.6712986864551789, + -0.7409129755233614, + 0.020150341552211622, + -0.019507601183402612, + -0.00951551376249889, + -0.9997644264995157 + ], + [ + 0.76731241565043, + -0.6397670352060029, + 0.043929459960517024, + -0.6404452686846619, + -0.7680016843856503, + 0.0018084800897638607, + 0.03258089329857174, + -0.02952208401391784, + -0.9990329984276506 + ], + [ + 0.8019797773736959, + -0.5858133225240473, + 0.11683829781785432, + -0.586343540863962, + -0.8093725291854782, + -0.033426951506432656, + 0.11414766213439642, + -0.041699642123628644, + -0.9925882585825871 + ], + [ + 0.849004298123849, + -0.5055280407534878, + 0.1537306143198905, + -0.4949181175429151, + -0.8627270626400152, + -0.10372112762744648, + 0.1850614997642896, + 0.011975616914038256, + -0.98265397058401 + ], + [ + 0.9280736367728865, + -0.3723228670356891, + -0.007416698016817902, + -0.3709511099753499, + -0.9225343875238887, + -0.10642169818217989, + 0.03278107281960127, + 0.10151840482517277, + -0.9942934248734364 + ], + [ + 0.9581023240197871, + -0.2842646709504813, + -0.035121696389811344, + -0.2863525021008933, + -0.9534080778850936, + -0.09494883655953715, + -0.006494709265346005, + 0.10102788660991782, + -0.9948623949465035 + ], + [ + 0.9645277068284561, + -0.26277538192213346, + -0.025207169930735872, + -0.2639350471986549, + -0.9617447636000632, + -0.07338460702424256, + -0.004959195548061181, + 0.07743454231501336, + -0.9969851042197073 + ], + [ + 0.956282692538571, + -0.29238331728603595, + -0.005950438974871777, + -0.29244304418740585, + -0.9560339482481661, + -0.021820992264911084, + 0.000691272437931198, + 0.022607201725015395, + -0.9997441855657779 + ], + [ + 0.9460146301004413, + -0.32230751851039635, + 0.03426635591357324, + -0.32331463970269264, + -0.9458304416091001, + 0.029536747949845357, + 0.022890246609487887, + -0.03902101020226409, + -0.9989761745772276 + ], + [ + 0.939779234013367, + -0.3413469182529092, + 0.017241598432014005, + -0.34174133051051314, + -0.9392497593441526, + 0.031980503323989884, + 0.005277720924156808, + -0.0359467797054656, + -0.9993397693930995 + ], + [ + 0.9454126611652616, + -0.3254822050079201, + 0.016007321187534982, + -0.3257610121466488, + -0.9452418591068972, + 0.019939677964503334, + 0.008640779687592408, + -0.024065785159007314, + -0.9996730340021538 + ], + [ + 0.9438834507863431, + -0.32942493027094827, + -0.023732817945752105, + -0.3279443382626965, + -0.9433176878209256, + 0.05103186108329971, + -0.039198754229024566, + -0.0403850858630255, + -0.9984149951331505 + ], + [ + 0.9492243682755926, + -0.3128233596259976, + -0.03338628976250862, + -0.3117096256690549, + -0.9495447767775226, + 0.03466736447702499, + -0.04254653848505285, + -0.0225002792611336, + -0.9988410932155882 + ], + [ + 0.9503093357620257, + -0.30362863988522887, + -0.06871546699967564, + -0.30184576644323097, + -0.9527051418900471, + 0.03524267152989043, + -0.07616626316050933, + -0.012749966969027797, + -0.9970136100868697 + ], + [ + 0.949275868709428, + -0.30481968673121224, + -0.07720287343775571, + -0.30458109159924035, + -0.952366152232812, + 0.015135082473620972, + -0.07813887461549239, + 0.009147166903134251, + -0.9969005194157892 + ], + [ + 0.9556523024235939, + -0.29424610415786256, + 0.012161704666885272, + -0.29388069353972823, + -0.9555087790703168, + -0.025241059489672552, + 0.01904769899732231, + 0.02054758641478688, + -0.999607413865781 + ], + [ + 0.9531263573597467, + -0.29511621525619347, + 0.0667575194191683, + -0.2906375325352607, + -0.9543246148516823, + -0.0692412750460569, + 0.0841425670392569, + 0.04659344354143072, + -0.995363792505532 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006552.json b/json/chunk-0006/episode_0006552.json new file mode 100644 index 0000000000000000000000000000000000000000..229a11c262c553897d92544abcf6b68c76fe6cf7 --- /dev/null +++ b/json/chunk-0006/episode_0006552.json @@ -0,0 +1,2842 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 46, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut the knife to strainer." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006552.mp4", + "start": 0, + "end": 46, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2644485831260681, + -0.11391904205083847, + 0.11290311068296432, + -0.00905346404761076, + -0.20300354063510895, + 0.4111550450325012, + 0.0, + 0.9988223910331726 + ], + [ + 0.2615560293197632, + -0.11260902136564255, + 0.10456890612840652, + 0.01340628694742918, + -0.18291473388671875, + 0.4134748876094818, + 0.0, + 0.9988223910331726 + ], + [ + 0.25750619173049927, + -0.1116909310221672, + 0.09967318922281265, + 0.05223275348544121, + -0.16759726405143738, + 0.44835466146469116, + 0.0, + 0.9988223910331726 + ], + [ + 0.252970427274704, + -0.11559461057186127, + 0.09896215051412582, + 0.033897075802087784, + -0.10529650002717972, + 0.6171178221702576, + 0.0, + 0.9988223910331726 + ], + [ + 0.24939203262329102, + -0.12091736495494843, + 0.09330884367227554, + -0.017992742359638214, + -0.04251239448785782, + 0.8484559655189514, + 0.0, + 0.9988223910331726 + ], + [ + 0.24456946551799774, + -0.1237998753786087, + 0.077572762966156, + -0.06967420876026154, + -0.030683644115924835, + 1.0476725101470947, + 0.0, + 0.9988223910331726 + ], + [ + 0.24423803389072418, + -0.12942354381084442, + 0.07050071656703949, + -0.1580917090177536, + 0.0440484993159771, + 1.2390037775039673, + 0.0, + 0.9988223910331726 + ], + [ + 0.24974441528320312, + -0.13455955684185028, + 0.055115897208452225, + -0.10576232522726059, + 0.11103520542383194, + 1.3565311431884766, + 0.0, + 0.9988223910331726 + ], + [ + 0.25302407145500183, + -0.1424281746149063, + 0.04403098300099373, + -0.06907287240028381, + 0.17336057126522064, + 1.4609943628311157, + 0.0, + 0.9988223910331726 + ], + [ + 0.2565445601940155, + -0.14667195081710815, + 0.03691660985350609, + -0.012203413061797619, + 0.1928895264863968, + 1.5312049388885498, + 0.0, + 0.9988223910331726 + ], + [ + 0.2511310279369354, + -0.14505338668823242, + 0.025091063231229782, + -0.04574144631624222, + 0.1846550852060318, + 1.5175354480743408, + 0.0, + 0.9988223910331726 + ], + [ + 0.24699625372886658, + -0.14244747161865234, + 0.017576491460204124, + -0.06383159756660461, + 0.18255767226219177, + 1.5370162725448608, + 0.0, + 0.9954678416252136 + ], + [ + 0.24809609353542328, + -0.14303545653820038, + 0.01693756878376007, + -0.0748075395822525, + 0.17964136600494385, + 1.5381278991699219, + 0.0, + 0.9327637553215027 + ], + [ + 0.24840717017650604, + -0.1436728984117508, + 0.016229288652539253, + -0.07199563086032867, + 0.17957723140716553, + 1.5446224212646484, + 0.0, + 0.6621366739273071 + ], + [ + 0.2482593059539795, + -0.14575551450252533, + 0.016901399940252304, + -0.07607287913560867, + 0.18256984651088715, + 1.5193287134170532, + 0.0, + 0.3788849711418152 + ], + [ + 0.2466973513364792, + -0.14601971209049225, + 0.01786014437675476, + -0.06650162488222122, + 0.1721145510673523, + 1.490187644958496, + 0.0, + 0.300372838973999 + ], + [ + 0.2477283924818039, + -0.14748653769493103, + 0.023210434243083, + -0.06358421593904495, + 0.1678343117237091, + 1.4867606163024902, + 0.0, + 0.300372838973999 + ], + [ + 0.25135746598243713, + -0.1509810984134674, + 0.038591668009757996, + -0.09530974924564362, + 0.15434113144874573, + 1.4866458177566528, + 0.0, + 0.300372838973999 + ], + [ + 0.2504079043865204, + -0.15144193172454834, + 0.05385708436369896, + -0.10835126042366028, + 0.1535022258758545, + 1.4637559652328491, + 0.0, + 0.300372838973999 + ], + [ + 0.24854619801044464, + -0.14685598015785217, + 0.07118973135948181, + -0.0775466188788414, + 0.15476667881011963, + 1.4985568523406982, + 0.0, + 0.300372838973999 + ], + [ + 0.242941215634346, + -0.13762280344963074, + 0.08572030812501907, + -0.06694366782903671, + 0.14073331654071808, + 1.51614248752594, + 0.0, + 0.300372838973999 + ], + [ + 0.23703262209892273, + -0.1306079626083374, + 0.09451261907815933, + -0.05467742308974266, + 0.11152080446481705, + 1.532202124595642, + 0.0, + 0.300372838973999 + ], + [ + 0.2256917655467987, + -0.1100548505783081, + 0.10146734863519669, + -0.12376010417938232, + 0.0813499316573143, + 1.6093971729278564, + 0.0, + 0.300372838973999 + ], + [ + 0.2204134315252304, + -0.0823151022195816, + 0.10134513676166534, + -0.08373446017503738, + 0.02520255744457245, + 1.6777875423431396, + 0.0, + 0.300372838973999 + ], + [ + 0.2123596966266632, + -0.05240209028124809, + 0.11127921938896179, + -0.09205900132656097, + 0.014552795328199863, + 1.7055027484893799, + 0.0, + 0.300372838973999 + ], + [ + 0.2098730057477951, + -0.024293147027492523, + 0.11105407774448395, + -0.04421716555953026, + 0.02159814164042473, + 1.661750078201294, + 0.0, + 0.300372838973999 + ], + [ + 0.20271338522434235, + -0.00029185012681409717, + 0.10470661520957947, + -0.0094237569719553, + 0.048973988741636276, + 1.6139534711837769, + 0.0, + 0.300372838973999 + ], + [ + 0.1981232762336731, + 0.0171049851924181, + 0.10015314817428589, + 0.001280146068893373, + 0.06799691170454025, + 1.5632672309875488, + 0.0, + 0.300372838973999 + ], + [ + 0.19485200941562653, + 0.03802769258618355, + 0.09938076138496399, + -0.0002182017924496904, + 0.05602051317691803, + 1.5667728185653687, + 0.0, + 0.300372838973999 + ], + [ + 0.19625526666641235, + 0.05963456630706787, + 0.09502110630273819, + 0.01097486075013876, + 0.04809942469000816, + 1.6132673025131226, + 0.0, + 0.300372838973999 + ], + [ + 0.19071882963180542, + 0.07457056641578674, + 0.09072606265544891, + -0.0003098401066381484, + 0.023102546110749245, + 1.6142934560775757, + 0.0, + 0.300372838973999 + ], + [ + 0.19217029213905334, + 0.0806674212217331, + 0.09064822643995285, + 0.023738477379083633, + 0.05107438191771507, + 1.6573107242584229, + 0.0, + 0.300372838973999 + ], + [ + 0.18897922337055206, + 0.08327682316303253, + 0.08896033465862274, + 0.02249283529818058, + 0.05480761080980301, + 1.6451843976974487, + 0.0, + 0.300372838973999 + ], + [ + 0.1838226169347763, + 0.08115410804748535, + 0.08730107545852661, + 0.012437203899025917, + 0.07720434665679932, + 1.634352207183838, + 0.0, + 0.35856863856315613 + ], + [ + 0.17995384335517883, + 0.08114732801914215, + 0.08521723002195358, + 0.03251177817583084, + 0.06464502960443497, + 1.6075494289398193, + 0.0, + 0.649078905582428 + ], + [ + 0.1761133074760437, + 0.07697397470474243, + 0.08198193460702896, + 0.0600479356944561, + 0.05362660065293312, + 1.5899232625961304, + 0.0, + 0.9141042232513428 + ], + [ + 0.17513033747673035, + 0.07137282192707062, + 0.08107209205627441, + 0.08389801532030106, + 0.06179802864789963, + 1.589229941368103, + 0.0, + 1.0001531839370728 + ], + [ + 0.1759001463651657, + 0.06959117203950882, + 0.08425410091876984, + 0.09311889857053757, + 0.06808507442474365, + 1.5891727209091187, + 0.0, + 1.0001531839370728 + ], + [ + 0.18350960314273834, + 0.058700546622276306, + 0.0877830758690834, + 0.08758297562599182, + 0.06053615361452103, + 1.569902777671814, + 0.0, + 1.0001531839370728 + ], + [ + 0.19066189229488373, + 0.045458126813173294, + 0.09770911186933517, + 0.05742434412240982, + 0.08905389904975891, + 1.5501487255096436, + 0.0, + 1.0001531839370728 + ], + [ + 0.1935095489025116, + 0.02882716991007328, + 0.10307586938142776, + 0.04429275915026665, + 0.10232601314783096, + 1.4324581623077393, + 0.0, + 1.0001531839370728 + ], + [ + 0.20380949974060059, + 0.0018540631281211972, + 0.11005518585443497, + 0.026723630726337433, + 0.04745883122086525, + 1.16804039478302, + 0.0, + 1.0001531839370728 + ], + [ + 0.2166883796453476, + -0.021509705111384392, + 0.11697635799646378, + -0.0019883012864738703, + 0.017428096383810043, + 0.9202235341072083, + 0.0, + 1.0001531839370728 + ], + [ + 0.22356253862380981, + -0.04927806183695793, + 0.11417603492736816, + 0.014082154259085655, + -0.021469812840223312, + 0.6906051635742188, + 0.0, + 1.0001531839370728 + ], + [ + 0.22022077441215515, + -0.07814386487007141, + 0.11391064524650574, + -0.04470881447196007, + -0.006338574457913637, + 0.6196689605712891, + 0.0, + 1.0001531839370728 + ], + [ + 0.21023176610469818, + -0.09378816932439804, + 0.11319310963153839, + -0.07058528065681458, + -0.03256556764245033, + 0.5682631731033325, + 0.0, + 1.0001531839370728 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9954678416252136 + ], + [ + 0.9327637553215027 + ], + [ + 0.6621366739273071 + ], + [ + 0.3788849711418152 + ], + [ + 0.300372838973999 + ], + [ + 0.300372838973999 + ], + [ + 0.300372838973999 + ], + [ + 0.300372838973999 + ], + [ + 0.300372838973999 + ], + [ + 0.300372838973999 + ], + [ + 0.300372838973999 + ], + [ + 0.300372838973999 + ], + [ + 0.300372838973999 + ], + [ + 0.300372838973999 + ], + [ + 0.300372838973999 + ], + [ + 0.300372838973999 + ], + [ + 0.300372838973999 + ], + [ + 0.300372838973999 + ], + [ + 0.300372838973999 + ], + [ + 0.300372838973999 + ], + [ + 0.300372838973999 + ], + [ + 0.300372838973999 + ], + [ + 0.35856863856315613 + ], + [ + 0.649078905582428 + ], + [ + 0.9141042232513428 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2644485831260681, + -0.11391904205083847, + 0.11290311068296432 + ], + [ + 0.2615560293197632, + -0.11260902136564255, + 0.10456890612840652 + ], + [ + 0.25750619173049927, + -0.1116909310221672, + 0.09967318922281265 + ], + [ + 0.252970427274704, + -0.11559461057186127, + 0.09896215051412582 + ], + [ + 0.24939203262329102, + -0.12091736495494843, + 0.09330884367227554 + ], + [ + 0.24456946551799774, + -0.1237998753786087, + 0.077572762966156 + ], + [ + 0.24423803389072418, + -0.12942354381084442, + 0.07050071656703949 + ], + [ + 0.24974441528320312, + -0.13455955684185028, + 0.055115897208452225 + ], + [ + 0.25302407145500183, + -0.1424281746149063, + 0.04403098300099373 + ], + [ + 0.2565445601940155, + -0.14667195081710815, + 0.03691660985350609 + ], + [ + 0.2511310279369354, + -0.14505338668823242, + 0.025091063231229782 + ], + [ + 0.24699625372886658, + -0.14244747161865234, + 0.017576491460204124 + ], + [ + 0.24809609353542328, + -0.14303545653820038, + 0.01693756878376007 + ], + [ + 0.24840717017650604, + -0.1436728984117508, + 0.016229288652539253 + ], + [ + 0.2482593059539795, + -0.14575551450252533, + 0.016901399940252304 + ], + [ + 0.2466973513364792, + -0.14601971209049225, + 0.01786014437675476 + ], + [ + 0.2477283924818039, + -0.14748653769493103, + 0.023210434243083 + ], + [ + 0.25135746598243713, + -0.1509810984134674, + 0.038591668009757996 + ], + [ + 0.2504079043865204, + -0.15144193172454834, + 0.05385708436369896 + ], + [ + 0.24854619801044464, + -0.14685598015785217, + 0.07118973135948181 + ], + [ + 0.242941215634346, + -0.13762280344963074, + 0.08572030812501907 + ], + [ + 0.23703262209892273, + -0.1306079626083374, + 0.09451261907815933 + ], + [ + 0.2256917655467987, + -0.1100548505783081, + 0.10146734863519669 + ], + [ + 0.2204134315252304, + -0.0823151022195816, + 0.10134513676166534 + ], + [ + 0.2123596966266632, + -0.05240209028124809, + 0.11127921938896179 + ], + [ + 0.2098730057477951, + -0.024293147027492523, + 0.11105407774448395 + ], + [ + 0.20271338522434235, + -0.00029185012681409717, + 0.10470661520957947 + ], + [ + 0.1981232762336731, + 0.0171049851924181, + 0.10015314817428589 + ], + [ + 0.19485200941562653, + 0.03802769258618355, + 0.09938076138496399 + ], + [ + 0.19625526666641235, + 0.05963456630706787, + 0.09502110630273819 + ], + [ + 0.19071882963180542, + 0.07457056641578674, + 0.09072606265544891 + ], + [ + 0.19217029213905334, + 0.0806674212217331, + 0.09064822643995285 + ], + [ + 0.18897922337055206, + 0.08327682316303253, + 0.08896033465862274 + ], + [ + 0.1838226169347763, + 0.08115410804748535, + 0.08730107545852661 + ], + [ + 0.17995384335517883, + 0.08114732801914215, + 0.08521723002195358 + ], + [ + 0.1761133074760437, + 0.07697397470474243, + 0.08198193460702896 + ], + [ + 0.17513033747673035, + 0.07137282192707062, + 0.08107209205627441 + ], + [ + 0.1759001463651657, + 0.06959117203950882, + 0.08425410091876984 + ], + [ + 0.18350960314273834, + 0.058700546622276306, + 0.0877830758690834 + ], + [ + 0.19066189229488373, + 0.045458126813173294, + 0.09770911186933517 + ], + [ + 0.1935095489025116, + 0.02882716991007328, + 0.10307586938142776 + ], + [ + 0.20380949974060059, + 0.0018540631281211972, + 0.11005518585443497 + ], + [ + 0.2166883796453476, + -0.021509705111384392, + 0.11697635799646378 + ], + [ + 0.22356253862380981, + -0.04927806183695793, + 0.11417603492736816 + ], + [ + 0.22022077441215515, + -0.07814386487007141, + 0.11391064524650574 + ], + [ + 0.21023176610469818, + -0.09378816932439804, + 0.11319310963153839 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8978365998317009, + 0.39797885317896614, + 0.18842046710749139, + 0.39146136606429677, + -0.917351732453474, + 0.07227584550653579, + 0.20161210003798125, + 0.00886743406882206, + -0.9794253058458875 + ], + [ + 0.9004536721389755, + 0.4039906928409979, + 0.1611666976434188, + 0.39509095824795687, + -0.91466810840575, + 0.08535447367396098, + 0.1818964514281295, + -0.01318224424361062, + -0.9832293269601737 + ], + [ + 0.8885348535011925, + 0.440740591114636, + 0.1274893935099537, + 0.42740961918783177, + -0.8961572411521223, + 0.11926112759960775, + 0.16681376303928652, + -0.05147747540952755, + -0.9846437111900601 + ], + [ + 0.8110327525433232, + 0.5812595438470141, + 0.06605465153009249, + 0.5754819174577213, + -0.8130199619767955, + 0.08842569822418407, + 0.10510203128952922, + -0.033702879906786026, + -0.9938901744683885 + ], + [ + 0.6605450090221424, + 0.749633494516875, + 0.04159224632495752, + 0.7495826011125897, + -0.6616090270950661, + 0.01998547911871053, + 0.0424995901771065, + 0.01797551570159672, + -0.9989347654727208 + ], + [ + 0.49935345770445294, + 0.8630939832399154, + 0.07559696008215744, + 0.8658550304124775, + -0.5002266412714813, + -0.008268837382594978, + 0.030678829638924855, + 0.06958508070922195, + -0.9971041700618227 + ], + [ + 0.32542237529156265, + 0.9359277903887284, + 0.1346827711241114, + 0.9445428851703592, + -0.3151218272215566, + -0.09239573627933796, + -0.04403425636536775, + 0.1572812931871423, + -0.9865716289655452 + ], + [ + 0.21132008368238936, + 0.9741602609497632, + 0.07972206858052185, + 0.9711156412854883, + -0.20001147402109393, + -0.1301146475635403, + -0.11080719057508397, + 0.10491518596561109, + -0.9882887079546434 + ], + [ + 0.10793890507329984, + 0.9929121801515572, + 0.049745304082479645, + 0.9790787404146188, + -0.0974866978993636, + -0.178608968981967, + -0.17249351535550606, + 0.06798342621080086, + -0.9826618141155887 + ], + [ + 0.038846992304489625, + 0.9992345522627653, + 0.004606598867540224, + 0.9806853199091827, + -0.03724064863670251, + -0.19201415938347371, + -0.19169562984982025, + 0.011976796456029795, + -0.981381343741123 + ], + [ + 0.05233067505758532, + 0.9979844429552969, + 0.03589640744173819, + 0.9816057196440449, + -0.044796380110410594, + -0.18558958885427912, + -0.18360749333868204, + 0.04494814732788742, + -0.9819714621320093 + ], + [ + 0.03321239953458183, + 0.9977852394623097, + 0.05763291098232018, + 0.9828215646389009, + -0.022130994337382692, + -0.18322661152349298, + -0.18154533482823948, + 0.06272826317362429, + -0.9813798736479786 + ], + [ + 0.03213700496330313, + 0.9971073206974894, + 0.06887818176652397, + 0.9833828562072173, + -0.01922448950588157, + -0.1805230653433883, + -0.17867672212608898, + 0.0735350937628554, + -0.9811560624872906 + ], + [ + 0.025750070273494352, + 0.9974040556849023, + 0.067246439193595, + 0.983582283750639, + -0.013259226491800169, + -0.17997245346084467, + -0.1786136192253739, + 0.07077670956004461, + -0.9813703849266422 + ], + [ + 0.0505898988541838, + 0.9964973686073908, + 0.06658570786940016, + 0.9820782079327504, + -0.0375161097507653, + -0.18470228751362505, + -0.1815573067588323, + 0.07473644270176483, + -0.9805362861693414 + ], + [ + 0.07933169575338467, + 0.9954660586714233, + 0.052476738485488575, + 0.9820256748533137, + -0.06899930716432706, + -0.17568343558724095, + -0.1712660386001434, + 0.06547076938622914, + -0.9830470601035279 + ], + [ + 0.08275742643779149, + 0.9953483545967264, + 0.04932404455215597, + 0.982469514160435, + -0.07319024601865498, + -0.1714550717625101, + -0.16704748461067068, + 0.06264855057635652, + -0.9839564507618869 + ], + [ + 0.08305211403088036, + 0.9931686027632106, + 0.08196629087846678, + 0.9846165301101696, + -0.06909181797143454, + -0.16048865792700648, + -0.15372909610353924, + 0.0940342872295735, + -0.9836284450118422 + ], + [ + 0.10557985760507493, + 0.9902124377318462, + 0.0912810047559022, + 0.9825855944727189, + -0.08976966974887601, + -0.16268668024110505, + -0.15290010857676306, + 0.10686783685624346, + -0.982446345732367 + ], + [ + 0.07131397026677821, + 0.9952563884467471, + 0.06617430695312754, + 0.9854705613995918, + -0.06004909724549301, + -0.1588769288939555, + -0.1541495710651273, + 0.07654297600654808, + -0.9850782113946579 + ], + [ + 0.05408656279970464, + 0.9967828729858718, + 0.05914852362100569, + 0.9886350135281691, + -0.045135163178214366, + -0.14340023385975612, + -0.14026921882818905, + 0.06623232720437222, + -0.9878956549567481 + ], + [ + 0.03834493404547046, + 0.9979966830929476, + 0.05032182994012859, + 0.9930479593282289, + -0.032449481365687594, + -0.11314937751988949, + -0.11128978617595192, + 0.054310695949993056, + -0.9923028427845697 + ], + [ + -0.038463636371090404, + 0.9912251519144151, + 0.1264644095758064, + 0.9959504620697985, + 0.048319744963023936, + -0.07581476999676859, + -0.08126023492500574, + 0.12303617540769507, + -0.9890697011641695 + ], + [ + -0.10675329663486627, + 0.9905731816785701, + 0.08583999881630093, + 0.9939661459145865, + 0.10850864290375045, + -0.01603668266472226, + -0.025199889549179854, + 0.083610084047205, + -0.996179862982749 + ], + [ + -0.13428517710679766, + 0.9865650611857506, + 0.09304230896184815, + 0.9908358705193858, + 0.1350563734728738, + -0.0020133743929808823, + -0.014552281659130889, + 0.09191929085840274, + -0.995660120255201 + ], + [ + -0.0908072155154025, + 0.994806471861893, + 0.045979703696654495, + 0.9956342915036385, + 0.09169029937155293, + -0.017471307426839625, + -0.021596462497070354, + 0.04419244893472094, + -0.9987895775711543 + ], + [ + -0.04309201990260836, + 0.9990046096496477, + 0.011526826079558593, + 0.9978710052695474, + 0.04360273105420864, + -0.04850008955617674, + -0.048954414132496925, + 0.00941231870314331, + -0.9987566638544016 + ], + [ + 0.007511625854881743, + 0.9999701822621767, + -0.001791665026114421, + 0.997660822581941, + -0.007615994932702819, + -0.06793290591686854, + -0.06794452562305031, + -0.0012771874312622125, + -0.9976882830975436 + ], + [ + 0.004017185557979808, + 0.999991931052476, + -7.080481700026675e-06, + 0.9984231797796962, + -0.004011279993150985, + -0.0559916396564471, + -0.05599121626463951, + 0.00021785948914217548, + -0.9984312376115091 + ], + [ + -0.04240910356863059, + 0.9990604787364206, + -0.008923438880804158, + 0.9979427322783083, + 0.04192845728480632, + -0.04850059342545249, + -0.04808088006068567, + -0.010961947667748249, + -0.9987832921489624 + ], + [ + -0.0434718108496277, + 0.9990537898296046, + 0.0013140352196394003, + 0.9987875494683347, + 0.043490563084936706, + -0.023065167452110687, + -0.02310049108770118, + 0.00030975742024557697, + -0.9997331000631356 + ], + [ + -0.08629383967328336, + 0.996083978775423, + -0.01923747544155472, + 0.9949608274746178, + 0.08517491525513138, + -0.05289787899627987, + -0.05105217943893824, + -0.023705295573013638, + -0.9984146102378162 + ], + [ + -0.07420788917641052, + 0.9970737953503178, + -0.018358535063951, + 0.9957370744982407, + 0.07307203478076707, + -0.05628637670594673, + -0.05478017573599906, + -0.022457167201388527, + -0.9982458654998888 + ], + [ + -0.06332391034902651, + 0.9979647434551088, + -0.0075135343672371735, + 0.9950082433789552, + 0.06255089826222082, + -0.07775590482089179, + -0.07712767328290636, + -0.01239983657829765, + -0.9969441138132054 + ], + [ + -0.03666807719869147, + 0.9988737364832505, + -0.030111636928937965, + 0.9972373289795273, + 0.03462693694814323, + -0.06571670204268494, + -0.06460001396538946, + -0.03243815348595998, + -0.9973838801555259 + ], + [ + -0.01909827511890705, + 0.9980766014479975, + -0.05897756801952829, + 0.998379787104341, + 0.01587519736841947, + -0.05464228042463941, + -0.053600901008973134, + -0.05992558510794266, + -0.9967626937543848 + ], + [ + -0.018397384879646816, + 0.9964087238720487, + -0.08265102069101099, + 0.997921539494804, + 0.013193259580860373, + -0.06307566023398062, + -0.06175870175052797, + -0.08363966100665296, + -0.9945804491667739 + ], + [ + -0.01833278612077388, + 0.9956156993916601, + -0.09172397766072568, + 0.9975146565474844, + 0.01197085939305459, + -0.06943492275754085, + -0.06803248434390671, + -0.09276894766163438, + -0.9933607116368901 + ], + [ + 0.0008919122427018533, + 0.9961619359835695, + -0.08752486383890094, + 0.998167848062493, + -0.006182049172405779, + -0.060189113320615856, + -0.06049918666265934, + -0.08731082158299044, + -0.9943423298078282 + ], + [ + 0.020564320230318178, + 0.9980334885431894, + -0.05921371867883408, + 0.9958250119528369, + -0.025715313420691888, + -0.08758577638411101, + -0.08893623728602891, + -0.05716536015793798, + -0.9943955285978594 + ], + [ + 0.13717604143841378, + 0.9888514340151258, + -0.057927326034574414, + 0.9852657582023798, + -0.1422418093459914, + -0.094966590903686, + -0.10214753726437072, + -0.044046669797022514, + -0.9937936262175442 + ], + [ + 0.39151391620692205, + 0.9191589418864574, + -0.043170510380208055, + 0.9189484225246467, + -0.3929815059567901, + -0.03315618668358993, + -0.047441017651215764, + -0.026690363918495972, + -0.99851738809002 + ], + [ + 0.6055503212848824, + 0.7957564345424556, + -0.008972473240655792, + 0.7956161766827862, + -0.6056135275471821, + -0.015071650623731883, + -0.01742721413310671, + 0.0019879980223751707, + -0.9998461582020615 + ], + [ + 0.7706830062894818, + 0.6371736728412186, + 0.007577232650385254, + 0.6368569869089188, + -0.7705916610422138, + 0.024528965683351247, + 0.021468163449620797, + -0.01407844345918444, + -0.9996704033769664 + ], + [ + 0.8140544039915097, + 0.5799547383650357, + 0.031111553962643593, + 0.5807540360203655, + -0.8134218063802008, + -0.032706490964744137, + 0.006338532013292052, + 0.04469302353962916, + -0.9989806588011613 + ], + [ + 0.8423900706989412, + 0.5348934645786041, + 0.06532955180414596, + 0.5378836560420397, + -0.8419740148871763, + -0.041963446207598135, + 0.032559811895676485, + 0.07048928858959165, + -0.9969810022480126 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0028925538063049316, + 0.0013100206851959229, + -0.0083342045545578, + 0.02245975099503994, + 0.020088806748390198, + 0.002319842576980591, + 1.0 + ], + [ + -0.004049837589263916, + 0.0009180903434753418, + -0.004895716905593872, + 0.03882646560668945, + 0.015317469835281372, + 0.03487977385520935, + 1.0 + ], + [ + -0.004535764455795288, + -0.0039036795496940613, + -0.0007110387086868286, + -0.018335677683353424, + 0.06230076402425766, + 0.1687631607055664, + 1.0 + ], + [ + -0.003578394651412964, + -0.005322754383087158, + -0.005653306841850281, + -0.051889818161726, + 0.0627841055393219, + 0.23133814334869385, + 1.0 + ], + [ + -0.004822567105293274, + -0.0028825104236602783, + -0.015736080706119537, + -0.05168146640062332, + 0.011828750371932983, + 0.1992165446281433, + 1.0 + ], + [ + -0.00033143162727355957, + -0.005623668432235718, + -0.007072046399116516, + -0.08841750025749207, + 0.07473213970661163, + 0.19133126735687256, + 1.0 + ], + [ + 0.005506381392478943, + -0.005136013031005859, + -0.015384819358587265, + 0.05232938379049301, + 0.06698670983314514, + 0.11752736568450928, + 1.0 + ], + [ + 0.003279656171798706, + -0.00786861777305603, + -0.011084914207458496, + 0.036689452826976776, + 0.0623253658413887, + 0.10446321964263916, + 1.0 + ], + [ + 0.003520488739013672, + -0.004243776202201843, + -0.00711437314748764, + 0.05686945840716362, + 0.019528955221176147, + 0.07021057605743408, + 1.0 + ], + [ + -0.005413532257080078, + 0.0016185641288757324, + -0.011825546622276306, + -0.033538032323122025, + -0.00823444128036499, + -0.013669490814208984, + 1.0 + ], + [ + -0.004134774208068848, + 0.002605915069580078, + -0.007514571771025658, + -0.018090151250362396, + -0.002097412943840027, + 0.01948082447052002, + 1.0 + ], + [ + 0.0010998398065567017, + -0.0005879849195480347, + -0.0006389226764440536, + -0.010975942015647888, + -0.002916306257247925, + 0.0011116266250610352, + 0.0 + ], + [ + 0.00031107664108276367, + -0.000637441873550415, + -0.0007082801312208176, + 0.002811908721923828, + -6.413459777832031e-05, + 0.0064945220947265625, + 0.0 + ], + [ + -0.0001478642225265503, + -0.002082616090774536, + 0.0006721112877130508, + -0.004077248275279999, + 0.0029926151037216187, + -0.025293707847595215, + 0.0 + ], + [ + -0.0015619546175003052, + -0.00026419758796691895, + 0.0009587444365024567, + 0.009571254253387451, + -0.010455295443534851, + -0.02914106845855713, + 0.0 + ], + [ + 0.001031041145324707, + -0.0014668256044387817, + 0.0053502898663282394, + 0.0029174089431762695, + -0.0042802393436431885, + -0.0034270286560058594, + 0.0 + ], + [ + 0.0036290735006332397, + -0.003494560718536377, + 0.015381233766674995, + -0.03172553330659866, + -0.013493180274963379, + -0.00011479854583740234, + 0.0 + ], + [ + -0.000949561595916748, + -0.0004608333110809326, + 0.015265416353940964, + -0.013041511178016663, + -0.0008389055728912354, + -0.02288985252380371, + 0.0 + ], + [ + -0.0018617063760757446, + 0.004585951566696167, + 0.017332646995782852, + 0.030804641544818878, + 0.0012644529342651367, + 0.03480088710784912, + 0.0 + ], + [ + -0.005604982376098633, + 0.009233176708221436, + 0.014530576765537262, + 0.010602951049804688, + -0.01403336226940155, + 0.0175856351852417, + 0.0 + ], + [ + -0.005908593535423279, + 0.007014840841293335, + 0.008792310953140259, + 0.012266244739294052, + -0.02921251207590103, + 0.01605963706970215, + 0.0 + ], + [ + -0.011340856552124023, + 0.020553112030029297, + 0.0069547295570373535, + -0.06908267736434937, + -0.030170872807502747, + 0.07719504833221436, + 0.0 + ], + [ + -0.005278334021568298, + 0.0277397483587265, + -0.00012221187353134155, + 0.04002564400434494, + -0.05614737421274185, + 0.0683903694152832, + 0.0 + ], + [ + -0.0080537348985672, + 0.02991301193833351, + 0.009934082627296448, + -0.00832454115152359, + -0.010649762116372585, + 0.027715206146240234, + 0.0 + ], + [ + -0.002486690878868103, + 0.02810894325375557, + -0.00022514164447784424, + 0.047841835767030716, + 0.007045346312224865, + -0.04375267028808594, + 0.0 + ], + [ + -0.007159620523452759, + 0.02400129660964012, + -0.00634746253490448, + 0.03479340672492981, + 0.027375847101211548, + -0.04779660701751709, + 0.0 + ], + [ + -0.0045901089906692505, + 0.0173968356102705, + -0.004553467035293579, + 0.010703902691602707, + 0.019022922962903976, + -0.05068624019622803, + 0.0 + ], + [ + -0.00327126681804657, + 0.02092270739376545, + -0.0007723867893218994, + -0.0014983478467911482, + -0.011976398527622223, + 0.0035055875778198242, + 0.0 + ], + [ + 0.0014032572507858276, + 0.021606873720884323, + -0.0043596550822257996, + 0.01119306217879057, + -0.007921088486909866, + 0.046494483947753906, + 0.0 + ], + [ + -0.005536437034606934, + 0.014936000108718872, + -0.004295043647289276, + -0.011284700594842434, + -0.02499687857925892, + 0.001026153564453125, + 0.0 + ], + [ + 0.0014514625072479248, + 0.00609685480594635, + -7.783621549606323e-05, + 0.024048317223787308, + 0.027971835806965828, + 0.04301726818084717, + 0.0 + ], + [ + -0.0031910687685012817, + 0.0026094019412994385, + -0.0016878917813301086, + -0.0012456420809030533, + 0.0037332288920879364, + -0.012126326560974121, + 0.0 + ], + [ + -0.005156606435775757, + -0.00212271511554718, + -0.0016592592000961304, + -0.010055631399154663, + 0.022396735846996307, + -0.01083219051361084, + 1.0 + ], + [ + -0.003868773579597473, + -6.780028343200684e-06, + -0.0020838454365730286, + 0.020074574276804924, + -0.01255931705236435, + -0.026802778244018555, + 1.0 + ], + [ + -0.003840535879135132, + -0.004173353314399719, + -0.0032352954149246216, + 0.02753615751862526, + -0.011018428951501846, + -0.017626166343688965, + 1.0 + ], + [ + -0.0009829699993133545, + -0.005601152777671814, + -0.0009098425507545471, + 0.023850079625844955, + 0.008171427994966507, + -0.0006933212280273438, + 1.0 + ], + [ + 0.0007698088884353638, + -0.001781649887561798, + 0.0031820088624954224, + 0.009220883250236511, + 0.006287045776844025, + -5.7220458984375e-05, + 1.0 + ], + [ + 0.007609456777572632, + -0.010890625417232513, + 0.003528974950313568, + -0.005535922944545746, + -0.007548920810222626, + -0.019269943237304688, + 1.0 + ], + [ + 0.007152289152145386, + -0.013242419809103012, + 0.00992603600025177, + -0.030158631503582, + 0.028517745435237885, + -0.01975405216217041, + 1.0 + ], + [ + 0.0028476566076278687, + -0.016630956903100014, + 0.00536675751209259, + -0.013131584972143173, + 0.013272114098072052, + -0.1176905632019043, + 1.0 + ], + [ + 0.01029995083808899, + -0.02697310596704483, + 0.006979316473007202, + -0.017569128423929214, + -0.054867181926965714, + -0.26441776752471924, + 1.0 + ], + [ + 0.01287887990474701, + -0.023363769054412842, + 0.006921172142028809, + -0.02871193177998066, + -0.030030734837055206, + -0.24781686067581177, + 1.0 + ], + [ + 0.006874158978462219, + -0.02776835672557354, + -0.0028003230690956116, + 0.016070455312728882, + -0.038897909224033356, + -0.2296183705329895, + 1.0 + ], + [ + -0.003341764211654663, + -0.02886580303311348, + -0.00026538968086242676, + -0.058790966868400574, + 0.015131238847970963, + -0.07093620300292969, + 1.0 + ], + [ + -0.00998900830745697, + -0.01564430445432663, + -0.0007175356149673462, + -0.025876466184854507, + -0.026226993650197983, + -0.05140578746795654, + 1.0 + ], + [ + -0.019227564334869385, + -0.018815375864505768, + -0.0006027743220329285, + -0.01788238435983658, + 0.001340080052614212, + -0.04619014263153076, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9954678416252136 + ], + [ + 0.9327637553215027 + ], + [ + 0.6621366739273071 + ], + [ + 0.3788849711418152 + ], + [ + 0.300372838973999 + ], + [ + 0.300372838973999 + ], + [ + 0.300372838973999 + ], + [ + 0.300372838973999 + ], + [ + 0.300372838973999 + ], + [ + 0.300372838973999 + ], + [ + 0.300372838973999 + ], + [ + 0.300372838973999 + ], + [ + 0.300372838973999 + ], + [ + 0.300372838973999 + ], + [ + 0.300372838973999 + ], + [ + 0.300372838973999 + ], + [ + 0.300372838973999 + ], + [ + 0.300372838973999 + ], + [ + 0.300372838973999 + ], + [ + 0.300372838973999 + ], + [ + 0.300372838973999 + ], + [ + 0.300372838973999 + ], + [ + 0.35856863856315613 + ], + [ + 0.649078905582428 + ], + [ + 0.9141042232513428 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2615560293197632, + -0.11260902136564255, + 0.10456890612840652 + ], + [ + 0.25750619173049927, + -0.1116909310221672, + 0.09967318922281265 + ], + [ + 0.252970427274704, + -0.11559461057186127, + 0.09896215051412582 + ], + [ + 0.24939203262329102, + -0.12091736495494843, + 0.09330884367227554 + ], + [ + 0.24456946551799774, + -0.1237998753786087, + 0.077572762966156 + ], + [ + 0.24423803389072418, + -0.12942354381084442, + 0.07050071656703949 + ], + [ + 0.24974441528320312, + -0.13455955684185028, + 0.055115897208452225 + ], + [ + 0.25302407145500183, + -0.1424281746149063, + 0.04403098300099373 + ], + [ + 0.2565445601940155, + -0.14667195081710815, + 0.03691660985350609 + ], + [ + 0.2511310279369354, + -0.14505338668823242, + 0.025091063231229782 + ], + [ + 0.24699625372886658, + -0.14244747161865234, + 0.017576491460204124 + ], + [ + 0.24809609353542328, + -0.14303545653820038, + 0.01693756878376007 + ], + [ + 0.24840717017650604, + -0.1436728984117508, + 0.016229288652539253 + ], + [ + 0.2482593059539795, + -0.14575551450252533, + 0.016901399940252304 + ], + [ + 0.2466973513364792, + -0.14601971209049225, + 0.01786014437675476 + ], + [ + 0.2477283924818039, + -0.14748653769493103, + 0.023210434243083 + ], + [ + 0.25135746598243713, + -0.1509810984134674, + 0.038591668009757996 + ], + [ + 0.2504079043865204, + -0.15144193172454834, + 0.05385708436369896 + ], + [ + 0.24854619801044464, + -0.14685598015785217, + 0.07118973135948181 + ], + [ + 0.242941215634346, + -0.13762280344963074, + 0.08572030812501907 + ], + [ + 0.23703262209892273, + -0.1306079626083374, + 0.09451261907815933 + ], + [ + 0.2256917655467987, + -0.1100548505783081, + 0.10146734863519669 + ], + [ + 0.2204134315252304, + -0.0823151022195816, + 0.10134513676166534 + ], + [ + 0.2123596966266632, + -0.05240209028124809, + 0.11127921938896179 + ], + [ + 0.2098730057477951, + -0.024293147027492523, + 0.11105407774448395 + ], + [ + 0.20271338522434235, + -0.00029185012681409717, + 0.10470661520957947 + ], + [ + 0.1981232762336731, + 0.0171049851924181, + 0.10015314817428589 + ], + [ + 0.19485200941562653, + 0.03802769258618355, + 0.09938076138496399 + ], + [ + 0.19625526666641235, + 0.05963456630706787, + 0.09502110630273819 + ], + [ + 0.19071882963180542, + 0.07457056641578674, + 0.09072606265544891 + ], + [ + 0.19217029213905334, + 0.0806674212217331, + 0.09064822643995285 + ], + [ + 0.18897922337055206, + 0.08327682316303253, + 0.08896033465862274 + ], + [ + 0.1838226169347763, + 0.08115410804748535, + 0.08730107545852661 + ], + [ + 0.17995384335517883, + 0.08114732801914215, + 0.08521723002195358 + ], + [ + 0.1761133074760437, + 0.07697397470474243, + 0.08198193460702896 + ], + [ + 0.17513033747673035, + 0.07137282192707062, + 0.08107209205627441 + ], + [ + 0.1759001463651657, + 0.06959117203950882, + 0.08425410091876984 + ], + [ + 0.18350960314273834, + 0.058700546622276306, + 0.0877830758690834 + ], + [ + 0.19066189229488373, + 0.045458126813173294, + 0.09770911186933517 + ], + [ + 0.1935095489025116, + 0.02882716991007328, + 0.10307586938142776 + ], + [ + 0.20380949974060059, + 0.0018540631281211972, + 0.11005518585443497 + ], + [ + 0.2166883796453476, + -0.021509705111384392, + 0.11697635799646378 + ], + [ + 0.22356253862380981, + -0.04927806183695793, + 0.11417603492736816 + ], + [ + 0.22022077441215515, + -0.07814386487007141, + 0.11391064524650574 + ], + [ + 0.21023176610469818, + -0.09378816932439804, + 0.11319310963153839 + ], + [ + 0.1910042017698288, + -0.11260354518890381, + 0.11259033530950546 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9004536721389755, + 0.4039906928409979, + 0.1611666976434188, + 0.39509095824795687, + -0.91466810840575, + 0.08535447367396098, + 0.1818964514281295, + -0.01318224424361062, + -0.9832293269601737 + ], + [ + 0.8885348535011925, + 0.440740591114636, + 0.1274893935099537, + 0.42740961918783177, + -0.8961572411521223, + 0.11926112759960775, + 0.16681376303928652, + -0.05147747540952755, + -0.9846437111900601 + ], + [ + 0.8110327525433232, + 0.5812595438470141, + 0.06605465153009249, + 0.5754819174577213, + -0.8130199619767955, + 0.08842569822418407, + 0.10510203128952922, + -0.033702879906786026, + -0.9938901744683885 + ], + [ + 0.6605450090221424, + 0.749633494516875, + 0.04159224632495752, + 0.7495826011125897, + -0.6616090270950661, + 0.01998547911871053, + 0.0424995901771065, + 0.01797551570159672, + -0.9989347654727208 + ], + [ + 0.49935345770445294, + 0.8630939832399154, + 0.07559696008215744, + 0.8658550304124775, + -0.5002266412714813, + -0.008268837382594978, + 0.030678829638924855, + 0.06958508070922195, + -0.9971041700618227 + ], + [ + 0.32542237529156265, + 0.9359277903887284, + 0.1346827711241114, + 0.9445428851703592, + -0.3151218272215566, + -0.09239573627933796, + -0.04403425636536775, + 0.1572812931871423, + -0.9865716289655452 + ], + [ + 0.21132008368238936, + 0.9741602609497632, + 0.07972206858052185, + 0.9711156412854883, + -0.20001147402109393, + -0.1301146475635403, + -0.11080719057508397, + 0.10491518596561109, + -0.9882887079546434 + ], + [ + 0.10793890507329984, + 0.9929121801515572, + 0.049745304082479645, + 0.9790787404146188, + -0.0974866978993636, + -0.178608968981967, + -0.17249351535550606, + 0.06798342621080086, + -0.9826618141155887 + ], + [ + 0.038846992304489625, + 0.9992345522627653, + 0.004606598867540224, + 0.9806853199091827, + -0.03724064863670251, + -0.19201415938347371, + -0.19169562984982025, + 0.011976796456029795, + -0.981381343741123 + ], + [ + 0.05233067505758532, + 0.9979844429552969, + 0.03589640744173819, + 0.9816057196440449, + -0.044796380110410594, + -0.18558958885427912, + -0.18360749333868204, + 0.04494814732788742, + -0.9819714621320093 + ], + [ + 0.03321239953458183, + 0.9977852394623097, + 0.05763291098232018, + 0.9828215646389009, + -0.022130994337382692, + -0.18322661152349298, + -0.18154533482823948, + 0.06272826317362429, + -0.9813798736479786 + ], + [ + 0.03213700496330313, + 0.9971073206974894, + 0.06887818176652397, + 0.9833828562072173, + -0.01922448950588157, + -0.1805230653433883, + -0.17867672212608898, + 0.0735350937628554, + -0.9811560624872906 + ], + [ + 0.025750070273494352, + 0.9974040556849023, + 0.067246439193595, + 0.983582283750639, + -0.013259226491800169, + -0.17997245346084467, + -0.1786136192253739, + 0.07077670956004461, + -0.9813703849266422 + ], + [ + 0.0505898988541838, + 0.9964973686073908, + 0.06658570786940016, + 0.9820782079327504, + -0.0375161097507653, + -0.18470228751362505, + -0.1815573067588323, + 0.07473644270176483, + -0.9805362861693414 + ], + [ + 0.07933169575338467, + 0.9954660586714233, + 0.052476738485488575, + 0.9820256748533137, + -0.06899930716432706, + -0.17568343558724095, + -0.1712660386001434, + 0.06547076938622914, + -0.9830470601035279 + ], + [ + 0.08275742643779149, + 0.9953483545967264, + 0.04932404455215597, + 0.982469514160435, + -0.07319024601865498, + -0.1714550717625101, + -0.16704748461067068, + 0.06264855057635652, + -0.9839564507618869 + ], + [ + 0.08305211403088036, + 0.9931686027632106, + 0.08196629087846678, + 0.9846165301101696, + -0.06909181797143454, + -0.16048865792700648, + -0.15372909610353924, + 0.0940342872295735, + -0.9836284450118422 + ], + [ + 0.10557985760507493, + 0.9902124377318462, + 0.0912810047559022, + 0.9825855944727189, + -0.08976966974887601, + -0.16268668024110505, + -0.15290010857676306, + 0.10686783685624346, + -0.982446345732367 + ], + [ + 0.07131397026677821, + 0.9952563884467471, + 0.06617430695312754, + 0.9854705613995918, + -0.06004909724549301, + -0.1588769288939555, + -0.1541495710651273, + 0.07654297600654808, + -0.9850782113946579 + ], + [ + 0.05408656279970464, + 0.9967828729858718, + 0.05914852362100569, + 0.9886350135281691, + -0.045135163178214366, + -0.14340023385975612, + -0.14026921882818905, + 0.06623232720437222, + -0.9878956549567481 + ], + [ + 0.03834493404547046, + 0.9979966830929476, + 0.05032182994012859, + 0.9930479593282289, + -0.032449481365687594, + -0.11314937751988949, + -0.11128978617595192, + 0.054310695949993056, + -0.9923028427845697 + ], + [ + -0.038463636371090404, + 0.9912251519144151, + 0.1264644095758064, + 0.9959504620697985, + 0.048319744963023936, + -0.07581476999676859, + -0.08126023492500574, + 0.12303617540769507, + -0.9890697011641695 + ], + [ + -0.10675329663486627, + 0.9905731816785701, + 0.08583999881630093, + 0.9939661459145865, + 0.10850864290375045, + -0.01603668266472226, + -0.025199889549179854, + 0.083610084047205, + -0.996179862982749 + ], + [ + -0.13428517710679766, + 0.9865650611857506, + 0.09304230896184815, + 0.9908358705193858, + 0.1350563734728738, + -0.0020133743929808823, + -0.014552281659130889, + 0.09191929085840274, + -0.995660120255201 + ], + [ + -0.0908072155154025, + 0.994806471861893, + 0.045979703696654495, + 0.9956342915036385, + 0.09169029937155293, + -0.017471307426839625, + -0.021596462497070354, + 0.04419244893472094, + -0.9987895775711543 + ], + [ + -0.04309201990260836, + 0.9990046096496477, + 0.011526826079558593, + 0.9978710052695474, + 0.04360273105420864, + -0.04850008955617674, + -0.048954414132496925, + 0.00941231870314331, + -0.9987566638544016 + ], + [ + 0.007511625854881743, + 0.9999701822621767, + -0.001791665026114421, + 0.997660822581941, + -0.007615994932702819, + -0.06793290591686854, + -0.06794452562305031, + -0.0012771874312622125, + -0.9976882830975436 + ], + [ + 0.004017185557979808, + 0.999991931052476, + -7.080481700026675e-06, + 0.9984231797796962, + -0.004011279993150985, + -0.0559916396564471, + -0.05599121626463951, + 0.00021785948914217548, + -0.9984312376115091 + ], + [ + -0.04240910356863059, + 0.9990604787364206, + -0.008923438880804158, + 0.9979427322783083, + 0.04192845728480632, + -0.04850059342545249, + -0.04808088006068567, + -0.010961947667748249, + -0.9987832921489624 + ], + [ + -0.0434718108496277, + 0.9990537898296046, + 0.0013140352196394003, + 0.9987875494683347, + 0.043490563084936706, + -0.023065167452110687, + -0.02310049108770118, + 0.00030975742024557697, + -0.9997331000631356 + ], + [ + -0.08629383967328336, + 0.996083978775423, + -0.01923747544155472, + 0.9949608274746178, + 0.08517491525513138, + -0.05289787899627987, + -0.05105217943893824, + -0.023705295573013638, + -0.9984146102378162 + ], + [ + -0.07420788917641052, + 0.9970737953503178, + -0.018358535063951, + 0.9957370744982407, + 0.07307203478076707, + -0.05628637670594673, + -0.05478017573599906, + -0.022457167201388527, + -0.9982458654998888 + ], + [ + -0.06332391034902651, + 0.9979647434551088, + -0.0075135343672371735, + 0.9950082433789552, + 0.06255089826222082, + -0.07775590482089179, + -0.07712767328290636, + -0.01239983657829765, + -0.9969441138132054 + ], + [ + -0.03666807719869147, + 0.9988737364832505, + -0.030111636928937965, + 0.9972373289795273, + 0.03462693694814323, + -0.06571670204268494, + -0.06460001396538946, + -0.03243815348595998, + -0.9973838801555259 + ], + [ + -0.01909827511890705, + 0.9980766014479975, + -0.05897756801952829, + 0.998379787104341, + 0.01587519736841947, + -0.05464228042463941, + -0.053600901008973134, + -0.05992558510794266, + -0.9967626937543848 + ], + [ + -0.018397384879646816, + 0.9964087238720487, + -0.08265102069101099, + 0.997921539494804, + 0.013193259580860373, + -0.06307566023398062, + -0.06175870175052797, + -0.08363966100665296, + -0.9945804491667739 + ], + [ + -0.01833278612077388, + 0.9956156993916601, + -0.09172397766072568, + 0.9975146565474844, + 0.01197085939305459, + -0.06943492275754085, + -0.06803248434390671, + -0.09276894766163438, + -0.9933607116368901 + ], + [ + 0.0008919122427018533, + 0.9961619359835695, + -0.08752486383890094, + 0.998167848062493, + -0.006182049172405779, + -0.060189113320615856, + -0.06049918666265934, + -0.08731082158299044, + -0.9943423298078282 + ], + [ + 0.020564320230318178, + 0.9980334885431894, + -0.05921371867883408, + 0.9958250119528369, + -0.025715313420691888, + -0.08758577638411101, + -0.08893623728602891, + -0.05716536015793798, + -0.9943955285978594 + ], + [ + 0.13717604143841378, + 0.9888514340151258, + -0.057927326034574414, + 0.9852657582023798, + -0.1422418093459914, + -0.094966590903686, + -0.10214753726437072, + -0.044046669797022514, + -0.9937936262175442 + ], + [ + 0.39151391620692205, + 0.9191589418864574, + -0.043170510380208055, + 0.9189484225246467, + -0.3929815059567901, + -0.03315618668358993, + -0.047441017651215764, + -0.026690363918495972, + -0.99851738809002 + ], + [ + 0.6055503212848824, + 0.7957564345424556, + -0.008972473240655792, + 0.7956161766827862, + -0.6056135275471821, + -0.015071650623731883, + -0.01742721413310671, + 0.0019879980223751707, + -0.9998461582020615 + ], + [ + 0.7706830062894818, + 0.6371736728412186, + 0.007577232650385254, + 0.6368569869089188, + -0.7705916610422138, + 0.024528965683351247, + 0.021468163449620797, + -0.01407844345918444, + -0.9996704033769664 + ], + [ + 0.8140544039915097, + 0.5799547383650357, + 0.031111553962643593, + 0.5807540360203655, + -0.8134218063802008, + -0.032706490964744137, + 0.006338532013292052, + 0.04469302353962916, + -0.9989806588011613 + ], + [ + 0.8423900706989412, + 0.5348934645786041, + 0.06532955180414596, + 0.5378836560420397, + -0.8419740148871763, + -0.041963446207598135, + 0.032559811895676485, + 0.07048928858959165, + -0.9969810022480126 + ], + [ + 0.8663647301154156, + 0.49433695573250097, + 0.07101498862329023, + 0.4984349909374582, + -0.8647730639156551, + -0.06107460794066434, + 0.031220413533754036, + 0.08830924143629186, + -0.9956037181809476 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006555.json b/json/chunk-0006/episode_0006555.json new file mode 100644 index 0000000000000000000000000000000000000000..04328a8b57184fa8efb8d017d5ddac698c89bef5 --- /dev/null +++ b/json/chunk-0006/episode_0006555.json @@ -0,0 +1,2182 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 35, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nClose fridge." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006555.mp4", + "start": 0, + "end": 35, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.24523219466209412, + 0.04001258686184883, + 0.13372686505317688, + 0.03859357908368111, + -0.2220326066017151, + 0.5651770830154419, + 0.0, + 0.9981546401977539 + ], + [ + 0.2417786866426468, + 0.039095234125852585, + 0.12920339405536652, + 0.05040787532925606, + -0.20072364807128906, + 0.5622633695602417, + 0.0, + 0.9981546401977539 + ], + [ + 0.24157635867595673, + 0.026440687477588654, + 0.1375558227300644, + 0.06164781004190445, + -0.18947236239910126, + 0.5091654658317566, + 0.0, + 0.9981546401977539 + ], + [ + 0.24510625004768372, + 0.0163385272026062, + 0.15364141762256622, + 0.046410076320171356, + -0.17959971725940704, + 0.42568668723106384, + 0.0, + 0.9981546401977539 + ], + [ + 0.2423897236585617, + 0.007281449157744646, + 0.1694091260433197, + 0.03261632099747658, + -0.18800604343414307, + 0.33325624465942383, + 0.0, + 0.9981546401977539 + ], + [ + 0.23802600800991058, + -0.012359647080302238, + 0.1828002631664276, + -0.012037866748869419, + -0.15799720585346222, + 0.21143126487731934, + 0.0, + 0.9981546401977539 + ], + [ + 0.23579968512058258, + -0.027213064953684807, + 0.20196808874607086, + -0.052763648331165314, + -0.14364241063594818, + 0.13129426538944244, + 0.0, + 0.9981546401977539 + ], + [ + 0.23250272870063782, + -0.040603358298540115, + 0.21683092415332794, + -0.06787043064832687, + -0.1329648196697235, + 0.06700042635202408, + 0.0, + 0.9981546401977539 + ], + [ + 0.2280745655298233, + -0.052672095596790314, + 0.22011727094650269, + -0.0803626999258995, + -0.12046253681182861, + 0.02995392680168152, + 0.0, + 0.9981546401977539 + ], + [ + 0.22031377255916595, + -0.06337565928697586, + 0.23234353959560394, + -0.1122984066605568, + -0.13615982234477997, + -0.011586485430598259, + 0.0, + 0.9981546401977539 + ], + [ + 0.2153063267469406, + -0.07421707361936569, + 0.23453418910503387, + -0.1251842975616455, + -0.1399875283241272, + -0.05741939693689346, + 0.0, + 0.9981546401977539 + ], + [ + 0.2051297277212143, + -0.08559642732143402, + 0.24044537544250488, + -0.14367498457431793, + -0.1637546420097351, + -0.09135608375072479, + 0.0, + 0.9981546401977539 + ], + [ + 0.20037204027175903, + -0.09236732125282288, + 0.22383134067058563, + -0.07120447605848312, + -0.16424621641635895, + -0.11060597002506256, + 0.0, + 0.9981546401977539 + ], + [ + 0.1983150988817215, + -0.09539730101823807, + 0.2113906294107437, + -0.03258347138762474, + -0.16562631726264954, + -0.13343627750873566, + 0.0, + 0.9981546401977539 + ], + [ + 0.1999073475599289, + -0.09074680507183075, + 0.20305632054805756, + 0.0026716350112110376, + -0.17565160989761353, + -0.12352660298347473, + 0.0, + 0.9981546401977539 + ], + [ + 0.20561285316944122, + -0.0806620717048645, + 0.20290599763393402, + 0.0038566680159419775, + -0.18084605038166046, + -0.09618688374757767, + 0.0, + 0.9981546401977539 + ], + [ + 0.21837349236011505, + -0.06506563723087311, + 0.19973520934581757, + 0.0071422746405005455, + -0.1662365049123764, + -0.07897574454545975, + 0.0, + 0.9981546401977539 + ], + [ + 0.2347666174173355, + -0.047397565096616745, + 0.2017146497964859, + 0.014044190756976604, + -0.180596724152565, + -0.04627206549048424, + 0.0, + 0.9981546401977539 + ], + [ + 0.2479458898305893, + -0.03515217453241348, + 0.21011660993099213, + 0.027707427740097046, + -0.21368515491485596, + -0.03029884397983551, + 0.0, + 0.9981546401977539 + ], + [ + 0.25128060579299927, + -0.024274932220578194, + 0.23386250436306, + 0.013098071329295635, + -0.21953922510147095, + 0.0012858598493039608, + 0.0, + 0.9981546401977539 + ], + [ + 0.24715669453144073, + -0.019334563985466957, + 0.24224227666854858, + -0.006845328491181135, + -0.1996772587299347, + 0.01034354418516159, + 0.0, + 0.9981546401977539 + ], + [ + 0.23336146771907806, + -0.023147374391555786, + 0.2329852283000946, + 0.025368431583046913, + -0.20079807937145233, + -0.01283949427306652, + 0.0, + 0.9981546401977539 + ], + [ + 0.20941586792469025, + -0.03588607534766197, + 0.21429002285003662, + 0.06248455494642258, + -0.19058983027935028, + -0.05102226510643959, + 0.0, + 0.9981546401977539 + ], + [ + 0.19095741212368011, + -0.037177104502916336, + 0.2138909548521042, + 0.0387284941971302, + -0.2124246209859848, + -0.04771890491247177, + 0.0, + 0.9981546401977539 + ], + [ + 0.18040360510349274, + -0.03554266691207886, + 0.20206192135810852, + 0.04626356437802315, + -0.2019031047821045, + -0.041652143001556396, + 0.0, + 0.9981546401977539 + ], + [ + 0.16988687217235565, + -0.03135399520397186, + 0.16736827790737152, + 0.03860224783420563, + -0.14148777723312378, + -0.0016864216886460781, + 0.0, + 0.9981546401977539 + ], + [ + 0.15874509513378143, + -0.01966817118227482, + 0.13713745772838593, + 0.04346289485692978, + -0.15216758847236633, + 0.03963319584727287, + 0.0, + 0.9981546401977539 + ], + [ + 0.1513422131538391, + -0.0017337702447548509, + 0.11415424942970276, + -0.013561873696744442, + -0.15194393694400787, + 0.15526145696640015, + 0.0, + 0.9981546401977539 + ], + [ + 0.14956480264663696, + 0.01914622075855732, + 0.08984611928462982, + -0.018584582954645157, + -0.1923970878124237, + 0.2242206186056137, + 0.0, + 0.9981546401977539 + ], + [ + 0.15601365268230438, + 0.032621800899505615, + 0.07367284595966339, + -0.05833645910024643, + -0.14154721796512604, + 0.32163652777671814, + 0.0, + 0.9981546401977539 + ], + [ + 0.16991160809993744, + 0.041366834193468094, + 0.06916221231222153, + -0.10146096348762512, + -0.14627867937088013, + 0.3863085210323334, + 0.0, + 0.9981546401977539 + ], + [ + 0.1850511133670807, + 0.047425542026758194, + 0.07109375298023224, + -0.10241615027189255, + -0.1530177891254425, + 0.4272575080394745, + 0.0, + 0.9981546401977539 + ], + [ + 0.20014826953411102, + 0.04959089308977127, + 0.07372540980577469, + -0.12446435540914536, + -0.16076049208641052, + 0.4495636820793152, + 0.0, + 0.9981546401977539 + ], + [ + 0.22035552561283112, + 0.05088263750076294, + 0.07446397095918655, + -0.1329890489578247, + -0.22416365146636963, + 0.4370356500148773, + 0.0, + 0.9981546401977539 + ], + [ + 0.23642092943191528, + 0.05362950637936592, + 0.07127446681261063, + -0.15086223185062408, + -0.285642147064209, + 0.47485679388046265, + 0.0, + 0.9981546401977539 + ] + ], + "left_gripper_pos": [ + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.24523219466209412, + 0.04001258686184883, + 0.13372686505317688 + ], + [ + 0.2417786866426468, + 0.039095234125852585, + 0.12920339405536652 + ], + [ + 0.24157635867595673, + 0.026440687477588654, + 0.1375558227300644 + ], + [ + 0.24510625004768372, + 0.0163385272026062, + 0.15364141762256622 + ], + [ + 0.2423897236585617, + 0.007281449157744646, + 0.1694091260433197 + ], + [ + 0.23802600800991058, + -0.012359647080302238, + 0.1828002631664276 + ], + [ + 0.23579968512058258, + -0.027213064953684807, + 0.20196808874607086 + ], + [ + 0.23250272870063782, + -0.040603358298540115, + 0.21683092415332794 + ], + [ + 0.2280745655298233, + -0.052672095596790314, + 0.22011727094650269 + ], + [ + 0.22031377255916595, + -0.06337565928697586, + 0.23234353959560394 + ], + [ + 0.2153063267469406, + -0.07421707361936569, + 0.23453418910503387 + ], + [ + 0.2051297277212143, + -0.08559642732143402, + 0.24044537544250488 + ], + [ + 0.20037204027175903, + -0.09236732125282288, + 0.22383134067058563 + ], + [ + 0.1983150988817215, + -0.09539730101823807, + 0.2113906294107437 + ], + [ + 0.1999073475599289, + -0.09074680507183075, + 0.20305632054805756 + ], + [ + 0.20561285316944122, + -0.0806620717048645, + 0.20290599763393402 + ], + [ + 0.21837349236011505, + -0.06506563723087311, + 0.19973520934581757 + ], + [ + 0.2347666174173355, + -0.047397565096616745, + 0.2017146497964859 + ], + [ + 0.2479458898305893, + -0.03515217453241348, + 0.21011660993099213 + ], + [ + 0.25128060579299927, + -0.024274932220578194, + 0.23386250436306 + ], + [ + 0.24715669453144073, + -0.019334563985466957, + 0.24224227666854858 + ], + [ + 0.23336146771907806, + -0.023147374391555786, + 0.2329852283000946 + ], + [ + 0.20941586792469025, + -0.03588607534766197, + 0.21429002285003662 + ], + [ + 0.19095741212368011, + -0.037177104502916336, + 0.2138909548521042 + ], + [ + 0.18040360510349274, + -0.03554266691207886, + 0.20206192135810852 + ], + [ + 0.16988687217235565, + -0.03135399520397186, + 0.16736827790737152 + ], + [ + 0.15874509513378143, + -0.01966817118227482, + 0.13713745772838593 + ], + [ + 0.1513422131538391, + -0.0017337702447548509, + 0.11415424942970276 + ], + [ + 0.14956480264663696, + 0.01914622075855732, + 0.08984611928462982 + ], + [ + 0.15601365268230438, + 0.032621800899505615, + 0.07367284595966339 + ], + [ + 0.16991160809993744, + 0.041366834193468094, + 0.06916221231222153 + ], + [ + 0.1850511133670807, + 0.047425542026758194, + 0.07109375298023224 + ], + [ + 0.20014826953411102, + 0.04959089308977127, + 0.07372540980577469 + ], + [ + 0.22035552561283112, + 0.05088263750076294, + 0.07446397095918655 + ], + [ + 0.23642092943191528, + 0.05362950637936592, + 0.07127446681261063 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8237630216474265, + 0.5423419684358058, + 0.1651655939942615, + 0.5224182355405736, + -0.8393143976017965, + 0.15043446796863869, + 0.22021278650654114, + -0.03763683370727594, + -0.9747254984904804 + ], + [ + 0.8290641350038227, + 0.5409247535400036, + 0.14160886645280912, + 0.5223991510225855, + -0.8396204681091108, + 0.14878372405313495, + 0.1993785020037141, + -0.049374897872541616, + -0.9786778491407839 + ], + [ + 0.8575254626747639, + 0.4966543348331344, + 0.1341064970681477, + 0.4787252360816407, + -0.8658368616991082, + 0.1454258479831459, + 0.1883407263525595, + -0.0605062031075862, + -0.9802381191233558 + ], + [ + 0.8961061341803742, + 0.42004954733429994, + 0.1433602946026373, + 0.40630415632687616, + -0.9063524213072656, + 0.11594059229606521, + 0.17863574344405606, + -0.045647192407712915, + -0.9828558414078244 + ], + [ + 0.9283305026506363, + 0.3327074603310605, + 0.1658560330180132, + 0.3213575901444276, + -0.9424857806528217, + 0.0919230793860109, + 0.18690044704329253, + -0.03203590341002652, + -0.981856366169574 + ], + [ + 0.9655533037185472, + 0.20799247804486573, + 0.15635199632545496, + 0.20724557787269152, + -0.9780581849142235, + 0.021247526315052695, + 0.1573406753843811, + 0.011887640600671946, + -0.9874728329784755 + ], + [ + 0.9811830768765679, + 0.1232506030001154, + 0.14862388270779087, + 0.1295690801873786, + -0.9910019498885738, + -0.0335706535003643, + 0.14314895427640356, + 0.052196016870569864, + -0.9883238096456138 + ], + [ + 0.988949310000454, + 0.0578254362159994, + 0.1365118352966342, + 0.06635935211421369, + -0.9960611068440818, + -0.058810779790142764, + 0.13257337076731435, + 0.06721971704025723, + -0.9888912028147587 + ], + [ + 0.992307823855784, + 0.020210210804123326, + 0.12213406606615342, + 0.029732408798795084, + -0.9966144376425579, + -0.07665276609118339, + 0.12017140500809652, + 0.07969447949300652, + -0.9895492020898804 + ], + [ + 0.9906780625925694, + -0.02672353520667261, + 0.13357705253482305, + -0.011478990615230715, + -0.9934582161760762, + -0.11361780444412761, + 0.13573948973047084, + 0.11102533665027234, + -0.9845040200778283 + ], + [ + 0.9885858173403288, + -0.07433153548383147, + 0.13104542947455233, + -0.05682646722723868, + -0.989539747877725, + -0.13259653084662426, + 0.13953076498043554, + 0.12363620102018712, + -0.982468959011566 + ], + [ + 0.9825078643086147, + -0.11353368106436929, + 0.14760894226197466, + -0.09000861215087971, + -0.9834399296983806, + -0.15730338335050825, + 0.16302375995663146, + 0.1412657351901675, + -0.9764564740687545 + ], + [ + 0.9805135161651195, + -0.12166252285560888, + 0.15424485453305162, + -0.10889507368552681, + -0.990086883071976, + -0.08871204481829306, + 0.16350873843479283, + 0.07018685419099219, + -0.9840420204209954 + ], + [ + 0.9775475184689083, + -0.13829337927841726, + 0.15898361671265318, + -0.13122002935111624, + -0.9898699323233411, + -0.05421089354803989, + 0.16487010957833495, + 0.032131889610487574, + -0.9857917572376469 + ], + [ + 0.9771104103009247, + -0.12274894815677044, + 0.17374677495701846, + -0.12131680885167949, + -0.9924342678860734, + -0.01888003748615271, + 0.17474975814462063, + -0.0026305231114648678, + -0.9846093653711386 + ], + [ + 0.9791448623992254, + -0.09534745978833256, + 0.17939955504157348, + -0.09447242324048355, + -0.9954368233443175, + -0.013434730263208464, + 0.1798618905835063, + -0.0037937635781019954, + -0.9836845569966219 + ], + [ + 0.9831405078651069, + -0.07771350830281247, + 0.1655154144543901, + -0.07780608411627922, + -0.9969508494121194, + -0.0059344023240890985, + 0.16547191625538854, + -0.007043754944798269, + -0.9861893481715605 + ], + [ + 0.9826837329551998, + -0.04373120616302778, + 0.1800562761826433, + -0.04550328644116325, + -0.9989478055547802, + 0.0057212498933766585, + 0.1796166248104195, + -0.01381533151306093, + -0.9836396721904304 + ], + [ + 0.976807532470178, + -0.024410317734973198, + 0.21272324954644753, + -0.02960519896686112, + -0.999335352331213, + 0.021269362359585757, + 0.2120626716413219, + -0.02707378749138087, + -0.976880971934256 + ], + [ + 0.9759970935866727, + 0.004138162345035484, + 0.21774422821919698, + 0.0012549961673656326, + -0.9999097270377687, + 0.013377696359045541, + 0.21777993088204317, + -0.012783324593432382, + -0.9759141808157885 + ], + [ + 0.9800782145040191, + 0.00898540911823945, + 0.1984085579746801, + 0.010137843864824532, + -0.9999371221240693, + -0.004793320353043396, + 0.19835301252158127, + 0.006709263835348838, + -0.9801076819423472 + ], + [ + 0.9798269427823056, + -0.0077761998958079705, + 0.1996965020050704, + -0.012581173774505728, + -0.9996607960805289, + 0.022803658612139944, + 0.1994514383611618, + -0.024856055496071196, + -0.9795924153651049 + ], + [ + 0.9806148802288557, + -0.03908674359153441, + 0.19200698724045603, + -0.05007665430606342, + -0.9973529549195159, + 0.052720129047840396, + 0.1894380779232571, + -0.06131321055628688, + -0.9799764817810794 + ], + [ + 0.9764098599584652, + -0.039511208386427424, + 0.21227964996140142, + -0.04662860720906749, + -0.9985020552287127, + 0.02862549028016126, + 0.21083063905806793, + -0.03784851537222318, + -0.9767896045303132 + ], + [ + 0.9788370078285578, + -0.032329475448321994, + 0.2020715643589474, + -0.04079425308469945, + -0.9984498101494075, + 0.03786562462014362, + 0.20053413928929253, + -0.04530763324042078, + -0.978638481437172 + ], + [ + 0.9900058835092279, + 0.003757017426213941, + 0.14097601014772568, + -0.0016695689765989547, + -0.9992627826202842, + 0.038354971117162934, + 0.14101618047779094, + -0.038207016240805164, + -0.989269761366145 + ], + [ + 0.9876686168544677, + 0.04616630674364585, + 0.14959737765894843, + 0.039164972523607795, + -0.9980101274353141, + 0.049415488096068674, + 0.15158102852272604, + -0.04294714959341607, + -0.9875113843059192 + ], + [ + 0.9765884328793237, + 0.15259622532773295, + 0.15162263941125328, + 0.15285678271232492, + -0.9881976989921685, + 0.010005582712728266, + 0.1513599575354865, + 0.013405212505287383, + -0.9883878102913575 + ], + [ + 0.9569782773004035, + 0.21884371478094725, + 0.19052560267855714, + 0.21824397565145284, + -0.9755894157711688, + 0.024389729951716673, + 0.19121230051176122, + 0.018240623238941534, + -0.9813792008173268 + ], + [ + 0.9392311202443825, + 0.30777848193972523, + 0.15204377270825983, + 0.3129580475481961, + -0.9497056256561415, + -0.010792825019354451, + 0.14107502698672006, + 0.057720279382168574, + -0.9883148314726138 + ], + [ + 0.916413574622123, + 0.3611585316522489, + 0.17248384058541164, + 0.3727477571280126, + -0.9271048593085075, + -0.03918787315724491, + 0.14575757203088394, + 0.10020526364090702, + -0.9842325108094722 + ], + [ + 0.8994715601191495, + 0.3980227983828503, + 0.18035732450972894, + 0.40953466834474933, + -0.9117939681808603, + -0.03021779298287699, + 0.15242135008121058, + 0.10104262247430404, + -0.9831368777962384 + ], + [ + 0.8890238427965769, + 0.4133139062048266, + 0.19699802505841524, + 0.42896916171697624, + -0.9023053496551363, + -0.04278450980854707, + 0.16006893900767533, + 0.12254252699137058, + -0.9794698891969713 + ], + [ + 0.8833422685147662, + 0.39281340001355103, + 0.2557421932825728, + 0.41266589464716563, + -0.9104857790371074, + -0.02687946365250128, + 0.22229101657566208, + 0.12927984738924192, + -0.9663712666510595 + ], + [ + 0.85332222130692, + 0.41435553792726465, + 0.316465914140577, + 0.43868531318491844, + -0.8986186974646913, + -0.006295439834672123, + 0.2817736371977938, + 0.14420098736093703, + -0.9485829919540288 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0034535080194473267, + -0.0009173527359962463, + -0.004523470997810364, + 0.011814296245574951, + 0.021308958530426025, + -0.0029137134552001953, + 1.0 + ], + [ + -0.00020232796669006348, + -0.012654546648263931, + 0.008352428674697876, + 0.011239934712648392, + 0.011251285672187805, + -0.05309790372848511, + 1.0 + ], + [ + 0.0035298913717269897, + -0.010102160274982452, + 0.01608559489250183, + -0.015237733721733093, + 0.009872645139694214, + -0.08347877860069275, + 1.0 + ], + [ + -0.0027165263891220093, + -0.009057078510522842, + 0.01576770842075348, + -0.013793755322694778, + -0.008406326174736023, + -0.09243044257164001, + 1.0 + ], + [ + -0.004363715648651123, + -0.019641095772385597, + 0.01339113712310791, + -0.04465418681502342, + 0.030008837580680847, + -0.12182497978210449, + 1.0 + ], + [ + -0.002226322889328003, + -0.014853417873382568, + 0.01916782557964325, + -0.04072578251361847, + 0.014354795217514038, + -0.08013699948787689, + 1.0 + ], + [ + -0.003296956419944763, + -0.013390293344855309, + 0.01486283540725708, + -0.01510678231716156, + 0.01067759096622467, + -0.06429383903741837, + 1.0 + ], + [ + -0.004428163170814514, + -0.012068737298250198, + 0.0032863467931747437, + -0.012492269277572632, + 0.012502282857894897, + -0.03704649955034256, + 1.0 + ], + [ + -0.007760792970657349, + -0.010703563690185547, + 0.012226268649101257, + -0.03193570673465729, + -0.015697285532951355, + -0.04154041409492493, + 1.0 + ], + [ + -0.005007445812225342, + -0.010841414332389832, + 0.0021906495094299316, + -0.012885890901088715, + -0.003827705979347229, + -0.045832909643650055, + 1.0 + ], + [ + -0.010176599025726318, + -0.011379353702068329, + 0.005911186337471008, + -0.018490687012672424, + -0.02376711368560791, + -0.03393668681383133, + 1.0 + ], + [ + -0.004757687449455261, + -0.006770893931388855, + -0.01661403477191925, + 0.07247050851583481, + -0.0004915744066238403, + -0.01924988627433777, + 1.0 + ], + [ + -0.0020569413900375366, + -0.0030299797654151917, + -0.012440711259841919, + 0.03862100467085838, + -0.0013801008462905884, + -0.022830307483673096, + 1.0 + ], + [ + 0.0015922486782073975, + 0.004650495946407318, + -0.008334308862686157, + 0.035255108028650284, + -0.01002529263496399, + 0.009909674525260925, + 1.0 + ], + [ + 0.005705505609512329, + 0.010084733366966248, + -0.00015032291412353516, + 0.0011850330047309399, + -0.005194440484046936, + 0.027339719235897064, + 1.0 + ], + [ + 0.012760639190673828, + 0.015596434473991394, + -0.003170788288116455, + 0.003285606624558568, + 0.014609545469284058, + 0.01721113920211792, + 1.0 + ], + [ + 0.01639312505722046, + 0.017668072134256363, + 0.001979440450668335, + 0.006901916116476059, + -0.014360219240188599, + 0.03270367905497551, + 1.0 + ], + [ + 0.013179272413253784, + 0.012245390564203262, + 0.008401960134506226, + 0.013663236983120441, + -0.033088430762290955, + 0.015973221510648727, + 1.0 + ], + [ + 0.003334715962409973, + 0.010877242311835289, + 0.02374589443206787, + -0.01460935641080141, + -0.00585407018661499, + 0.03158470243215561, + 1.0 + ], + [ + -0.004123911261558533, + 0.004940368235111237, + 0.008379772305488586, + -0.019943399354815483, + 0.019861966371536255, + 0.009057683870196342, + 1.0 + ], + [ + -0.013795226812362671, + -0.003812810406088829, + -0.00925704836845398, + 0.032213758677244186, + -0.0011208206415176392, + -0.02318303845822811, + 1.0 + ], + [ + -0.023945599794387817, + -0.012738700956106186, + -0.018695205450057983, + 0.03711612522602081, + 0.01020824909210205, + -0.03818277269601822, + 1.0 + ], + [ + -0.018458455801010132, + -0.001291029155254364, + -0.0003990679979324341, + -0.023756060749292374, + -0.02183479070663452, + 0.003303360193967819, + 1.0 + ], + [ + -0.010553807020187378, + 0.0016344375908374786, + -0.011829033493995667, + 0.007535070180892944, + 0.01052151620388031, + 0.006066761910915375, + 1.0 + ], + [ + -0.010516732931137085, + 0.004188671708106995, + -0.034693643450737, + -0.00766131654381752, + 0.06041532754898071, + 0.03996572270989418, + 1.0 + ], + [ + -0.011141777038574219, + 0.011685824021697044, + -0.030230820178985596, + 0.004860647022724152, + -0.010679811239242554, + 0.04131961613893509, + 1.0 + ], + [ + -0.007402881979942322, + 0.017934400588274002, + -0.022983208298683167, + -0.057024769484996796, + 0.00022365152835845947, + 0.11562825739383698, + 1.0 + ], + [ + -0.0017774105072021484, + 0.020879991352558136, + -0.024308130145072937, + -0.005022709257900715, + -0.04045315086841583, + 0.06895916163921356, + 1.0 + ], + [ + 0.006448850035667419, + 0.013475580140948296, + -0.01617327332496643, + -0.03975187614560127, + 0.05084986984729767, + 0.09741590917110443, + 1.0 + ], + [ + 0.013897955417633057, + 0.008745033293962479, + -0.004510633647441864, + -0.04312450438737869, + -0.004731461405754089, + 0.06467199325561523, + 1.0 + ], + [ + 0.01513950526714325, + 0.0060587078332901, + 0.0019315406680107117, + -0.0009551867842674255, + -0.006739109754562378, + 0.04094898700714111, + 1.0 + ], + [ + 0.015097156167030334, + 0.0021653510630130768, + 0.00263165682554245, + -0.022048205137252808, + -0.007742702960968018, + 0.022306174039840698, + 1.0 + ], + [ + 0.020207256078720093, + 0.0012917444109916687, + 0.0007385611534118652, + -0.008524693548679352, + -0.0634031593799591, + -0.012528032064437866, + 1.0 + ], + [ + 0.016065403819084167, + 0.0027468688786029816, + -0.0031895041465759277, + -0.017873182892799377, + -0.061478495597839355, + 0.03782114386558533, + 1.0 + ], + [ + 0.01759248971939087, + 0.003864441066980362, + 0.0028655529022216797, + -0.013054907321929932, + -0.07861495018005371, + 0.022543728351593018, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2417786866426468, + 0.039095234125852585, + 0.12920339405536652 + ], + [ + 0.24157635867595673, + 0.026440687477588654, + 0.1375558227300644 + ], + [ + 0.24510625004768372, + 0.0163385272026062, + 0.15364141762256622 + ], + [ + 0.2423897236585617, + 0.007281449157744646, + 0.1694091260433197 + ], + [ + 0.23802600800991058, + -0.012359647080302238, + 0.1828002631664276 + ], + [ + 0.23579968512058258, + -0.027213064953684807, + 0.20196808874607086 + ], + [ + 0.23250272870063782, + -0.040603358298540115, + 0.21683092415332794 + ], + [ + 0.2280745655298233, + -0.052672095596790314, + 0.22011727094650269 + ], + [ + 0.22031377255916595, + -0.06337565928697586, + 0.23234353959560394 + ], + [ + 0.2153063267469406, + -0.07421707361936569, + 0.23453418910503387 + ], + [ + 0.2051297277212143, + -0.08559642732143402, + 0.24044537544250488 + ], + [ + 0.20037204027175903, + -0.09236732125282288, + 0.22383134067058563 + ], + [ + 0.1983150988817215, + -0.09539730101823807, + 0.2113906294107437 + ], + [ + 0.1999073475599289, + -0.09074680507183075, + 0.20305632054805756 + ], + [ + 0.20561285316944122, + -0.0806620717048645, + 0.20290599763393402 + ], + [ + 0.21837349236011505, + -0.06506563723087311, + 0.19973520934581757 + ], + [ + 0.2347666174173355, + -0.047397565096616745, + 0.2017146497964859 + ], + [ + 0.2479458898305893, + -0.03515217453241348, + 0.21011660993099213 + ], + [ + 0.25128060579299927, + -0.024274932220578194, + 0.23386250436306 + ], + [ + 0.24715669453144073, + -0.019334563985466957, + 0.24224227666854858 + ], + [ + 0.23336146771907806, + -0.023147374391555786, + 0.2329852283000946 + ], + [ + 0.20941586792469025, + -0.03588607534766197, + 0.21429002285003662 + ], + [ + 0.19095741212368011, + -0.037177104502916336, + 0.2138909548521042 + ], + [ + 0.18040360510349274, + -0.03554266691207886, + 0.20206192135810852 + ], + [ + 0.16988687217235565, + -0.03135399520397186, + 0.16736827790737152 + ], + [ + 0.15874509513378143, + -0.01966817118227482, + 0.13713745772838593 + ], + [ + 0.1513422131538391, + -0.0017337702447548509, + 0.11415424942970276 + ], + [ + 0.14956480264663696, + 0.01914622075855732, + 0.08984611928462982 + ], + [ + 0.15601365268230438, + 0.032621800899505615, + 0.07367284595966339 + ], + [ + 0.16991160809993744, + 0.041366834193468094, + 0.06916221231222153 + ], + [ + 0.1850511133670807, + 0.047425542026758194, + 0.07109375298023224 + ], + [ + 0.20014826953411102, + 0.04959089308977127, + 0.07372540980577469 + ], + [ + 0.22035552561283112, + 0.05088263750076294, + 0.07446397095918655 + ], + [ + 0.23642092943191528, + 0.05362950637936592, + 0.07127446681261063 + ], + [ + 0.25401341915130615, + 0.05749394744634628, + 0.0741400197148323 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8290641350038227, + 0.5409247535400036, + 0.14160886645280912, + 0.5223991510225855, + -0.8396204681091108, + 0.14878372405313495, + 0.1993785020037141, + -0.049374897872541616, + -0.9786778491407839 + ], + [ + 0.8575254626747639, + 0.4966543348331344, + 0.1341064970681477, + 0.4787252360816407, + -0.8658368616991082, + 0.1454258479831459, + 0.1883407263525595, + -0.0605062031075862, + -0.9802381191233558 + ], + [ + 0.8961061341803742, + 0.42004954733429994, + 0.1433602946026373, + 0.40630415632687616, + -0.9063524213072656, + 0.11594059229606521, + 0.17863574344405606, + -0.045647192407712915, + -0.9828558414078244 + ], + [ + 0.9283305026506363, + 0.3327074603310605, + 0.1658560330180132, + 0.3213575901444276, + -0.9424857806528217, + 0.0919230793860109, + 0.18690044704329253, + -0.03203590341002652, + -0.981856366169574 + ], + [ + 0.9655533037185472, + 0.20799247804486573, + 0.15635199632545496, + 0.20724557787269152, + -0.9780581849142235, + 0.021247526315052695, + 0.1573406753843811, + 0.011887640600671946, + -0.9874728329784755 + ], + [ + 0.9811830768765679, + 0.1232506030001154, + 0.14862388270779087, + 0.1295690801873786, + -0.9910019498885738, + -0.0335706535003643, + 0.14314895427640356, + 0.052196016870569864, + -0.9883238096456138 + ], + [ + 0.988949310000454, + 0.0578254362159994, + 0.1365118352966342, + 0.06635935211421369, + -0.9960611068440818, + -0.058810779790142764, + 0.13257337076731435, + 0.06721971704025723, + -0.9888912028147587 + ], + [ + 0.992307823855784, + 0.020210210804123326, + 0.12213406606615342, + 0.029732408798795084, + -0.9966144376425579, + -0.07665276609118339, + 0.12017140500809652, + 0.07969447949300652, + -0.9895492020898804 + ], + [ + 0.9906780625925694, + -0.02672353520667261, + 0.13357705253482305, + -0.011478990615230715, + -0.9934582161760762, + -0.11361780444412761, + 0.13573948973047084, + 0.11102533665027234, + -0.9845040200778283 + ], + [ + 0.9885858173403288, + -0.07433153548383147, + 0.13104542947455233, + -0.05682646722723868, + -0.989539747877725, + -0.13259653084662426, + 0.13953076498043554, + 0.12363620102018712, + -0.982468959011566 + ], + [ + 0.9825078643086147, + -0.11353368106436929, + 0.14760894226197466, + -0.09000861215087971, + -0.9834399296983806, + -0.15730338335050825, + 0.16302375995663146, + 0.1412657351901675, + -0.9764564740687545 + ], + [ + 0.9805135161651195, + -0.12166252285560888, + 0.15424485453305162, + -0.10889507368552681, + -0.990086883071976, + -0.08871204481829306, + 0.16350873843479283, + 0.07018685419099219, + -0.9840420204209954 + ], + [ + 0.9775475184689083, + -0.13829337927841726, + 0.15898361671265318, + -0.13122002935111624, + -0.9898699323233411, + -0.05421089354803989, + 0.16487010957833495, + 0.032131889610487574, + -0.9857917572376469 + ], + [ + 0.9771104103009247, + -0.12274894815677044, + 0.17374677495701846, + -0.12131680885167949, + -0.9924342678860734, + -0.01888003748615271, + 0.17474975814462063, + -0.0026305231114648678, + -0.9846093653711386 + ], + [ + 0.9791448623992254, + -0.09534745978833256, + 0.17939955504157348, + -0.09447242324048355, + -0.9954368233443175, + -0.013434730263208464, + 0.1798618905835063, + -0.0037937635781019954, + -0.9836845569966219 + ], + [ + 0.9831405078651069, + -0.07771350830281247, + 0.1655154144543901, + -0.07780608411627922, + -0.9969508494121194, + -0.0059344023240890985, + 0.16547191625538854, + -0.007043754944798269, + -0.9861893481715605 + ], + [ + 0.9826837329551998, + -0.04373120616302778, + 0.1800562761826433, + -0.04550328644116325, + -0.9989478055547802, + 0.0057212498933766585, + 0.1796166248104195, + -0.01381533151306093, + -0.9836396721904304 + ], + [ + 0.976807532470178, + -0.024410317734973198, + 0.21272324954644753, + -0.02960519896686112, + -0.999335352331213, + 0.021269362359585757, + 0.2120626716413219, + -0.02707378749138087, + -0.976880971934256 + ], + [ + 0.9759970935866727, + 0.004138162345035484, + 0.21774422821919698, + 0.0012549961673656326, + -0.9999097270377687, + 0.013377696359045541, + 0.21777993088204317, + -0.012783324593432382, + -0.9759141808157885 + ], + [ + 0.9800782145040191, + 0.00898540911823945, + 0.1984085579746801, + 0.010137843864824532, + -0.9999371221240693, + -0.004793320353043396, + 0.19835301252158127, + 0.006709263835348838, + -0.9801076819423472 + ], + [ + 0.9798269427823056, + -0.0077761998958079705, + 0.1996965020050704, + -0.012581173774505728, + -0.9996607960805289, + 0.022803658612139944, + 0.1994514383611618, + -0.024856055496071196, + -0.9795924153651049 + ], + [ + 0.9806148802288557, + -0.03908674359153441, + 0.19200698724045603, + -0.05007665430606342, + -0.9973529549195159, + 0.052720129047840396, + 0.1894380779232571, + -0.06131321055628688, + -0.9799764817810794 + ], + [ + 0.9764098599584652, + -0.039511208386427424, + 0.21227964996140142, + -0.04662860720906749, + -0.9985020552287127, + 0.02862549028016126, + 0.21083063905806793, + -0.03784851537222318, + -0.9767896045303132 + ], + [ + 0.9788370078285578, + -0.032329475448321994, + 0.2020715643589474, + -0.04079425308469945, + -0.9984498101494075, + 0.03786562462014362, + 0.20053413928929253, + -0.04530763324042078, + -0.978638481437172 + ], + [ + 0.9900058835092279, + 0.003757017426213941, + 0.14097601014772568, + -0.0016695689765989547, + -0.9992627826202842, + 0.038354971117162934, + 0.14101618047779094, + -0.038207016240805164, + -0.989269761366145 + ], + [ + 0.9876686168544677, + 0.04616630674364585, + 0.14959737765894843, + 0.039164972523607795, + -0.9980101274353141, + 0.049415488096068674, + 0.15158102852272604, + -0.04294714959341607, + -0.9875113843059192 + ], + [ + 0.9765884328793237, + 0.15259622532773295, + 0.15162263941125328, + 0.15285678271232492, + -0.9881976989921685, + 0.010005582712728266, + 0.1513599575354865, + 0.013405212505287383, + -0.9883878102913575 + ], + [ + 0.9569782773004035, + 0.21884371478094725, + 0.19052560267855714, + 0.21824397565145284, + -0.9755894157711688, + 0.024389729951716673, + 0.19121230051176122, + 0.018240623238941534, + -0.9813792008173268 + ], + [ + 0.9392311202443825, + 0.30777848193972523, + 0.15204377270825983, + 0.3129580475481961, + -0.9497056256561415, + -0.010792825019354451, + 0.14107502698672006, + 0.057720279382168574, + -0.9883148314726138 + ], + [ + 0.916413574622123, + 0.3611585316522489, + 0.17248384058541164, + 0.3727477571280126, + -0.9271048593085075, + -0.03918787315724491, + 0.14575757203088394, + 0.10020526364090702, + -0.9842325108094722 + ], + [ + 0.8994715601191495, + 0.3980227983828503, + 0.18035732450972894, + 0.40953466834474933, + -0.9117939681808603, + -0.03021779298287699, + 0.15242135008121058, + 0.10104262247430404, + -0.9831368777962384 + ], + [ + 0.8890238427965769, + 0.4133139062048266, + 0.19699802505841524, + 0.42896916171697624, + -0.9023053496551363, + -0.04278450980854707, + 0.16006893900767533, + 0.12254252699137058, + -0.9794698891969713 + ], + [ + 0.8833422685147662, + 0.39281340001355103, + 0.2557421932825728, + 0.41266589464716563, + -0.9104857790371074, + -0.02687946365250128, + 0.22229101657566208, + 0.12927984738924192, + -0.9663712666510595 + ], + [ + 0.85332222130692, + 0.41435553792726465, + 0.316465914140577, + 0.43868531318491844, + -0.8986186974646913, + -0.006295439834672123, + 0.2817736371977938, + 0.14420098736093703, + -0.9485829919540288 + ], + [ + 0.8211649290553491, + 0.41965617112124187, + 0.3867516739839432, + 0.4458367058735787, + -0.8947845289209935, + 0.024295647746699914, + 0.3562552329234188, + 0.15247735846182092, + -0.921863799143445 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006556.json b/json/chunk-0006/episode_0006556.json new file mode 100644 index 0000000000000000000000000000000000000000..8b0503366e3cc2893dd9556df3e4c6a2804bd761 --- /dev/null +++ b/json/chunk-0006/episode_0006556.json @@ -0,0 +1,1162 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 18, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut pear on plate." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006556.mp4", + "start": 0, + "end": 18, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2315153032541275, + -0.08829164505004883, + 0.16654172539710999, + 0.1115383431315422, + -0.11145472526550293, + 0.13824956119060516, + 0.0, + 0.9968144297599792 + ], + [ + 0.2360614687204361, + -0.0907898023724556, + 0.15203727781772614, + 0.10192063450813293, + -0.1069485992193222, + 0.1226760596036911, + 0.0, + 0.9968144297599792 + ], + [ + 0.2577095925807953, + -0.0928446352481842, + 0.12816354632377625, + 0.036249540746212006, + -0.16737134754657745, + 0.09764792770147324, + 0.0, + 0.9968144297599792 + ], + [ + 0.2666636109352112, + -0.09868741780519485, + 0.1091308668255806, + 0.0012052386300638318, + -0.19923412799835205, + 0.07824108749628067, + 0.0, + 0.9968144297599792 + ], + [ + 0.28046905994415283, + -0.09710149466991425, + 0.08245789259672165, + -0.003114793449640274, + -0.2448604255914688, + 0.06135956943035126, + 0.0, + 0.9968144297599792 + ], + [ + 0.28850844502449036, + -0.09723073989152908, + 0.06774165481328964, + 0.006904768757522106, + -0.2530074119567871, + 0.041676297783851624, + 0.0, + 0.9968144297599792 + ], + [ + 0.29083383083343506, + -0.09441191703081131, + 0.05622470751404762, + 0.0013956297188997269, + -0.23099979758262634, + 0.036510322242975235, + 0.0, + 0.9968144297599792 + ], + [ + 0.2937506139278412, + -0.0905630812048912, + 0.0411597415804863, + -0.02263580821454525, + -0.21136973798274994, + 0.03793618083000183, + 0.0, + 0.9968144297599792 + ], + [ + 0.2926405072212219, + -0.08943831920623779, + 0.025529894977808, + -0.029065772891044617, + -0.17132322490215302, + 0.0391937680542469, + 0.0, + 0.9968144297599792 + ], + [ + 0.29817551374435425, + -0.0891609713435173, + 0.0211256742477417, + -0.03191197291016579, + -0.20075392723083496, + 0.024067649617791176, + 0.0, + 0.8853598833084106 + ], + [ + 0.29612159729003906, + -0.09052912145853043, + 0.017875973135232925, + -0.015439621172845364, + -0.2255677729845047, + 0.019289331510663033, + 0.0, + 0.6991904973983765 + ], + [ + 0.2891278564929962, + -0.08624199032783508, + 0.019351577386260033, + 0.03352198004722595, + -0.18681570887565613, + 0.0006060351151973009, + 0.0, + 0.6981924772262573 + ], + [ + 0.28809401392936707, + -0.0745304673910141, + 0.046826962381601334, + 0.1533367782831192, + -0.17826204001903534, + -0.03260229527950287, + 0.0, + 0.6981924772262573 + ], + [ + 0.2940393388271332, + -0.05154947191476822, + 0.07145043462514877, + 0.2881229817867279, + -0.24670593440532684, + -0.10396740585565567, + 0.0, + 0.6981924772262573 + ], + [ + 0.2923981547355652, + -0.012848595157265663, + 0.06856241822242737, + 0.33276668190956116, + -0.2898898422718048, + -0.13292831182479858, + 0.0, + 0.6981924772262573 + ], + [ + 0.29178890585899353, + 0.018854942172765732, + 0.06328931450843811, + 0.36645495891571045, + -0.34785929322242737, + -0.18887434899806976, + 0.0, + 0.6981924772262573 + ], + [ + 0.29669567942619324, + 0.03653523325920105, + 0.05750633776187897, + 0.38240718841552734, + -0.4296136796474457, + -0.23821842670440674, + 0.0, + 0.6971942782402039 + ], + [ + 0.3000504672527313, + 0.03496718034148216, + 0.05219041928648949, + 0.2936021089553833, + -0.46557754278182983, + -0.18978965282440186, + 0.0, + 0.8678563833236694 + ] + ], + "left_gripper_pos": [ + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.8853598833084106 + ], + [ + 0.6991904973983765 + ], + [ + 0.6981924772262573 + ], + [ + 0.6981924772262573 + ], + [ + 0.6981924772262573 + ], + [ + 0.6981924772262573 + ], + [ + 0.6981924772262573 + ], + [ + 0.6971942782402039 + ], + [ + 0.8678563833236694 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2315153032541275, + -0.08829164505004883, + 0.16654172539710999 + ], + [ + 0.2360614687204361, + -0.0907898023724556, + 0.15203727781772614 + ], + [ + 0.2577095925807953, + -0.0928446352481842, + 0.12816354632377625 + ], + [ + 0.2666636109352112, + -0.09868741780519485, + 0.1091308668255806 + ], + [ + 0.28046905994415283, + -0.09710149466991425, + 0.08245789259672165 + ], + [ + 0.28850844502449036, + -0.09723073989152908, + 0.06774165481328964 + ], + [ + 0.29083383083343506, + -0.09441191703081131, + 0.05622470751404762 + ], + [ + 0.2937506139278412, + -0.0905630812048912, + 0.0411597415804863 + ], + [ + 0.2926405072212219, + -0.08943831920623779, + 0.025529894977808 + ], + [ + 0.29817551374435425, + -0.0891609713435173, + 0.0211256742477417 + ], + [ + 0.29612159729003906, + -0.09052912145853043, + 0.017875973135232925 + ], + [ + 0.2891278564929962, + -0.08624199032783508, + 0.019351577386260033 + ], + [ + 0.28809401392936707, + -0.0745304673910141, + 0.046826962381601334 + ], + [ + 0.2940393388271332, + -0.05154947191476822, + 0.07145043462514877 + ], + [ + 0.2923981547355652, + -0.012848595157265663, + 0.06856241822242737 + ], + [ + 0.29178890585899353, + 0.018854942172765732, + 0.06328931450843811 + ], + [ + 0.29669567942619324, + 0.03653523325920105, + 0.05750633776187897 + ], + [ + 0.3000504672527313, + 0.03496718034148216, + 0.05219041928648949 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9843132899542346, + 0.1492151722723814, + 0.09413915010873335, + 0.13695452883557369, + -0.9825979857587827, + 0.12547770883391737, + 0.11122411721788177, + -0.11061659345010981, + -0.9876199496783143 + ], + [ + 0.9868141109070253, + 0.13251262388502283, + 0.09294253614940706, + 0.12166943120708412, + -0.9860053053450034, + 0.11397406433593321, + 0.10674483605553003, + -0.1011629494558818, + -0.9891266843194884 + ], + [ + 0.98132887961895, + 0.10343753740674484, + 0.162155190731116, + 0.09613046432126292, + -0.9939937996872363, + 0.052299713313828634, + 0.1665910077260917, + -0.03573516529356661, + -0.985378320294417 + ], + [ + 0.9772196900865225, + 0.07839903690981706, + 0.19721883358040093, + 0.07661513257810162, + -0.9969213586402362, + 0.016671117147491726, + 0.19791866705099004, + -0.0011813968506069975, + -0.9802177337378878 + ], + [ + 0.9683453974654989, + 0.060567107263835976, + 0.24215453067220566, + 0.059491937712884996, + -0.9981595532636706, + 0.011756512052300713, + 0.24242091608306288, + 0.003021877919550698, + -0.9701664639118835 + ], + [ + 0.9673233085263835, + 0.043390105738495804, + 0.24980575554933218, + 0.040337811397881604, + -0.9990358406471829, + 0.01732772558661641, + 0.25031675483914273, + -0.00668489539022878, + -0.9681409166130837 + ], + [ + 0.972789250919373, + 0.03682149343849998, + 0.22874713313325615, + 0.03553263880765278, + -0.9993209354054787, + 0.009751904413174901, + 0.22895087873840972, + -0.0013585585292196847, + -0.9734370290078515 + ], + [ + 0.9770409839259476, + 0.03317221027094808, + 0.2104531306366255, + 0.0370829945292431, + -0.9992046142288739, + -0.014662551635777028, + 0.20979934996505753, + 0.022130146169144663, + -0.9774939843215261 + ], + [ + 0.9846033035870594, + 0.03421636898708001, + 0.17142221168445076, + 0.03861008584438577, + -0.9990041076378116, + -0.022361891553905014, + 0.17048635088046732, + 0.028636218607201558, + -0.984943841621106 + ], + [ + 0.9796327216158428, + 0.017692487867888247, + 0.2000167658287205, + 0.023582010580846725, + -0.9993545056680001, + -0.027100936847862887, + 0.1994081731436839, + 0.03126576201073063, + -0.9794175986827002 + ], + [ + 0.9744859555360434, + 0.015833393605416836, + 0.22388931664985795, + 0.018799514337167242, + -0.9997614037777983, + -0.011122669505684933, + 0.22365978790048752, + 0.015047895639656573, + -0.974551106978555 + ], + [ + 0.9826004567450664, + 0.006830596842720573, + 0.18560626431012356, + 0.0005954904539000449, + -0.999434234993711, + 0.03362819224482902, + 0.18573095540460277, + -0.032932550300699165, + -0.9820486033466906 + ], + [ + 0.9836303662882837, + -0.005145288536139336, + 0.18012448062786182, + -0.0320799744913355, + -0.9886245766859445, + 0.1469432598289987, + 0.1773194229412344, + -0.15031624123299925, + -0.9726062152121848 + ], + [ + 0.9644858769118125, + -0.03048368307851646, + 0.26236946907675973, + -0.1006379621829894, + -0.9608034144397049, + 0.25831918118610586, + 0.24421096168130418, + -0.2755495306963406, + -0.9297491394605963 + ], + [ + 0.9498214965691171, + -0.03271579461401058, + 0.3110768416934575, + -0.12700712001276523, + -0.9491797725369048, + 0.2879703992997417, + 0.2858466654016898, + -0.31302944939663985, + -0.9057064909169917 + ], + [ + 0.9233859733077683, + -0.05531712604738706, + 0.3798662394374141, + -0.17650781828815473, + -0.9399330275639475, + 0.29218297995883885, + 0.34088610177245576, + -0.33684702649768034, + -0.8776848787338483 + ], + [ + 0.883452913970467, + -0.0678902126056332, + 0.4635750940564569, + -0.2145282160557791, + -0.9382450151492212, + 0.2714294310931721, + 0.4165196193614604, + -0.3392450597724306, + -0.8434596588497784 + ], + [ + 0.8775175719339215, + -0.052988512738716874, + 0.47660793999359047, + -0.16857263411442994, + -0.9645303898415674, + 0.2031363928492305, + 0.4489389468234157, + -0.2585988101090436, + -0.8553247789204224 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + 0.004546165466308594, + -0.002498157322406769, + -0.01450444757938385, + -0.009617708623409271, + 0.004506126046180725, + -0.015573501586914062, + 1.0 + ], + [ + 0.021648123860359192, + -0.002054832875728607, + -0.02387373149394989, + -0.06567109376192093, + -0.06042274832725525, + -0.025028131902217865, + 1.0 + ], + [ + 0.008954018354415894, + -0.005842782557010651, + -0.019032679498195648, + -0.03504430130124092, + -0.0318627804517746, + -0.019406840205192566, + 1.0 + ], + [ + 0.01380544900894165, + 0.0015859231352806091, + -0.026672974228858948, + -0.004320031963288784, + -0.04562629759311676, + -0.016881518065929413, + 1.0 + ], + [ + 0.008039385080337524, + -0.00012924522161483765, + -0.014716237783432007, + 0.01001956220716238, + -0.008146986365318298, + -0.019683271646499634, + 1.0 + ], + [ + 0.002325385808944702, + 0.0028188228607177734, + -0.01151694729924202, + -0.005509139038622379, + 0.022007614374160767, + -0.0051659755408763885, + 1.0 + ], + [ + 0.002916783094406128, + 0.003848835825920105, + -0.015064965933561325, + -0.024031437933444977, + 0.019630059599876404, + 0.001425858587026596, + 1.0 + ], + [ + -0.0011101067066192627, + 0.0011247619986534119, + -0.0156298466026783, + -0.006429964676499367, + 0.040046513080596924, + 0.0012575872242450714, + 1.0 + ], + [ + 0.005535006523132324, + 0.0002773478627204895, + -0.0044042207300662994, + -0.00284620001912117, + -0.029430702328681946, + -0.015126118436455727, + 0.0 + ], + [ + -0.0020539164543151855, + -0.0013681501150131226, + -0.003249701112508774, + 0.01647235080599785, + -0.02481384575366974, + -0.004778318107128143, + 0.0 + ], + [ + -0.006993740797042847, + 0.004287131130695343, + 0.0014756042510271072, + 0.04896160215139389, + 0.03875206410884857, + -0.0186832956969738, + 0.0 + ], + [ + -0.0010338425636291504, + 0.011711522936820984, + 0.0274753849953413, + 0.11981479823589325, + 0.008553668856620789, + -0.03320832923054695, + 0.0 + ], + [ + 0.005945324897766113, + 0.02298099547624588, + 0.02462347224354744, + 0.1347862035036087, + -0.0684438943862915, + -0.0713651105761528, + 0.0 + ], + [ + -0.0016411840915679932, + 0.038700878620147705, + -0.002888016402721405, + 0.04464370012283325, + -0.043183907866477966, + -0.028960905969142914, + 0.0 + ], + [ + -0.0006092488765716553, + 0.031703539192676544, + -0.005273103713989258, + 0.03368827700614929, + -0.05796945095062256, + -0.05594603717327118, + 0.0 + ], + [ + 0.004906773567199707, + 0.017680291086435318, + -0.005782976746559143, + 0.015952229499816895, + -0.08175438642501831, + -0.049344077706336975, + 1.0 + ], + [ + 0.003354787826538086, + -0.0015680529177188873, + -0.005315918475389481, + -0.08880507946014404, + -0.035963863134384155, + 0.04842877388000488, + 1.0 + ], + [ + 0.00016051530838012695, + -0.010205820202827454, + -0.00545617938041687, + -0.09971180558204651, + -0.010103732347488403, + 0.049188271164894104, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.8853598833084106 + ], + [ + 0.6991904973983765 + ], + [ + 0.6981924772262573 + ], + [ + 0.6981924772262573 + ], + [ + 0.6981924772262573 + ], + [ + 0.6981924772262573 + ], + [ + 0.6981924772262573 + ], + [ + 0.6971942782402039 + ], + [ + 0.8678563833236694 + ], + [ + 0.9947922229766846 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2360614687204361, + -0.0907898023724556, + 0.15203727781772614 + ], + [ + 0.2577095925807953, + -0.0928446352481842, + 0.12816354632377625 + ], + [ + 0.2666636109352112, + -0.09868741780519485, + 0.1091308668255806 + ], + [ + 0.28046905994415283, + -0.09710149466991425, + 0.08245789259672165 + ], + [ + 0.28850844502449036, + -0.09723073989152908, + 0.06774165481328964 + ], + [ + 0.29083383083343506, + -0.09441191703081131, + 0.05622470751404762 + ], + [ + 0.2937506139278412, + -0.0905630812048912, + 0.0411597415804863 + ], + [ + 0.2926405072212219, + -0.08943831920623779, + 0.025529894977808 + ], + [ + 0.29817551374435425, + -0.0891609713435173, + 0.0211256742477417 + ], + [ + 0.29612159729003906, + -0.09052912145853043, + 0.017875973135232925 + ], + [ + 0.2891278564929962, + -0.08624199032783508, + 0.019351577386260033 + ], + [ + 0.28809401392936707, + -0.0745304673910141, + 0.046826962381601334 + ], + [ + 0.2940393388271332, + -0.05154947191476822, + 0.07145043462514877 + ], + [ + 0.2923981547355652, + -0.012848595157265663, + 0.06856241822242737 + ], + [ + 0.29178890585899353, + 0.018854942172765732, + 0.06328931450843811 + ], + [ + 0.29669567942619324, + 0.03653523325920105, + 0.05750633776187897 + ], + [ + 0.3000504672527313, + 0.03496718034148216, + 0.05219041928648949 + ], + [ + 0.30021098256111145, + 0.02476136013865471, + 0.04673423990607262 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9868141109070253, + 0.13251262388502283, + 0.09294253614940706, + 0.12166943120708412, + -0.9860053053450034, + 0.11397406433593321, + 0.10674483605553003, + -0.1011629494558818, + -0.9891266843194884 + ], + [ + 0.98132887961895, + 0.10343753740674484, + 0.162155190731116, + 0.09613046432126292, + -0.9939937996872363, + 0.052299713313828634, + 0.1665910077260917, + -0.03573516529356661, + -0.985378320294417 + ], + [ + 0.9772196900865225, + 0.07839903690981706, + 0.19721883358040093, + 0.07661513257810162, + -0.9969213586402362, + 0.016671117147491726, + 0.19791866705099004, + -0.0011813968506069975, + -0.9802177337378878 + ], + [ + 0.9683453974654989, + 0.060567107263835976, + 0.24215453067220566, + 0.059491937712884996, + -0.9981595532636706, + 0.011756512052300713, + 0.24242091608306288, + 0.003021877919550698, + -0.9701664639118835 + ], + [ + 0.9673233085263835, + 0.043390105738495804, + 0.24980575554933218, + 0.040337811397881604, + -0.9990358406471829, + 0.01732772558661641, + 0.25031675483914273, + -0.00668489539022878, + -0.9681409166130837 + ], + [ + 0.972789250919373, + 0.03682149343849998, + 0.22874713313325615, + 0.03553263880765278, + -0.9993209354054787, + 0.009751904413174901, + 0.22895087873840972, + -0.0013585585292196847, + -0.9734370290078515 + ], + [ + 0.9770409839259476, + 0.03317221027094808, + 0.2104531306366255, + 0.0370829945292431, + -0.9992046142288739, + -0.014662551635777028, + 0.20979934996505753, + 0.022130146169144663, + -0.9774939843215261 + ], + [ + 0.9846033035870594, + 0.03421636898708001, + 0.17142221168445076, + 0.03861008584438577, + -0.9990041076378116, + -0.022361891553905014, + 0.17048635088046732, + 0.028636218607201558, + -0.984943841621106 + ], + [ + 0.9796327216158428, + 0.017692487867888247, + 0.2000167658287205, + 0.023582010580846725, + -0.9993545056680001, + -0.027100936847862887, + 0.1994081731436839, + 0.03126576201073063, + -0.9794175986827002 + ], + [ + 0.9744859555360434, + 0.015833393605416836, + 0.22388931664985795, + 0.018799514337167242, + -0.9997614037777983, + -0.011122669505684933, + 0.22365978790048752, + 0.015047895639656573, + -0.974551106978555 + ], + [ + 0.9826004567450664, + 0.006830596842720573, + 0.18560626431012356, + 0.0005954904539000449, + -0.999434234993711, + 0.03362819224482902, + 0.18573095540460277, + -0.032932550300699165, + -0.9820486033466906 + ], + [ + 0.9836303662882837, + -0.005145288536139336, + 0.18012448062786182, + -0.0320799744913355, + -0.9886245766859445, + 0.1469432598289987, + 0.1773194229412344, + -0.15031624123299925, + -0.9726062152121848 + ], + [ + 0.9644858769118125, + -0.03048368307851646, + 0.26236946907675973, + -0.1006379621829894, + -0.9608034144397049, + 0.25831918118610586, + 0.24421096168130418, + -0.2755495306963406, + -0.9297491394605963 + ], + [ + 0.9498214965691171, + -0.03271579461401058, + 0.3110768416934575, + -0.12700712001276523, + -0.9491797725369048, + 0.2879703992997417, + 0.2858466654016898, + -0.31302944939663985, + -0.9057064909169917 + ], + [ + 0.9233859733077683, + -0.05531712604738706, + 0.3798662394374141, + -0.17650781828815473, + -0.9399330275639475, + 0.29218297995883885, + 0.34088610177245576, + -0.33684702649768034, + -0.8776848787338483 + ], + [ + 0.883452913970467, + -0.0678902126056332, + 0.4635750940564569, + -0.2145282160557791, + -0.9382450151492212, + 0.2714294310931721, + 0.4165196193614604, + -0.3392450597724306, + -0.8434596588497784 + ], + [ + 0.8775175719339215, + -0.052988512738716874, + 0.47660793999359047, + -0.16857263411442994, + -0.9645303898415674, + 0.2031363928492305, + 0.4489389468234157, + -0.2585988101090436, + -0.8553247789204224 + ], + [ + 0.8802083877829625, + -0.050147743758486484, + 0.4719305011041897, + -0.12458053317758011, + -0.9839441139740388, + 0.1278032524196243, + 0.4579441940124455, + -0.17128684821601897, + -0.8723232948847088 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006557.json b/json/chunk-0006/episode_0006557.json new file mode 100644 index 0000000000000000000000000000000000000000..03a82a3a316941606459b667c776e2d62094ec58 --- /dev/null +++ b/json/chunk-0006/episode_0006557.json @@ -0,0 +1,2182 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 35, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nOpen microwave." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006557.mp4", + "start": 0, + "end": 35, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.33236441016197205, + 0.09229245781898499, + 0.10188764333724976, + 0.026981273666024208, + -0.18310502171516418, + 0.033474378287792206, + 0.0, + 1.0047606229782104 + ], + [ + 0.32903921604156494, + 0.08806656301021576, + 0.09226915240287781, + 0.01628265529870987, + -0.14758601784706116, + 0.036500997841358185, + 0.0, + 1.0047606229782104 + ], + [ + 0.32480156421661377, + 0.07130888104438782, + 0.09348117560148239, + 0.025535907596349716, + -0.11259861290454865, + 0.06886781752109528, + 0.0, + 1.0047606229782104 + ], + [ + 0.3167610466480255, + 0.04573797062039375, + 0.10885506123304367, + 0.044068578630685806, + -0.1757892370223999, + 0.061427704989910126, + 0.0, + 1.0047606229782104 + ], + [ + 0.31209564208984375, + 0.019225923344492912, + 0.11777272820472717, + 0.06698399037122726, + -0.1815590113401413, + 0.10485637933015823, + 0.0, + 1.0047606229782104 + ], + [ + 0.31185808777809143, + -0.004377743229269981, + 0.12080100923776627, + 0.09285205602645874, + -0.1967816948890686, + 0.08677638322114944, + 0.0, + 1.0047606229782104 + ], + [ + 0.31786632537841797, + -0.022457173094153404, + 0.12225084751844406, + 0.09818324446678162, + -0.2485886514186859, + 0.08288176357746124, + 0.0, + 1.0047606229782104 + ], + [ + 0.3284999132156372, + -0.03253346309065819, + 0.10640563815832138, + 0.0622396357357502, + -0.26097655296325684, + 0.07727299630641937, + 0.0, + 1.0047606229782104 + ], + [ + 0.33658236265182495, + -0.03761092200875282, + 0.10043943673372269, + 0.0530400313436985, + -0.28868672251701355, + 0.08485573530197144, + 0.0, + 1.0047606229782104 + ], + [ + 0.3525427579879761, + -0.03912344574928284, + 0.1017213687300682, + 0.056816522032022476, + -0.30455031991004944, + 0.08509057760238647, + 0.0, + 1.0047606229782104 + ], + [ + 0.3612994849681854, + -0.04097864404320717, + 0.1039704829454422, + 0.060443323105573654, + -0.30822888016700745, + 0.061381995677948, + 0.0, + 1.0047606229782104 + ], + [ + 0.3641088008880615, + -0.04184823855757713, + 0.10238875448703766, + 0.05491453781723976, + -0.315295934677124, + 0.06619541347026825, + 0.0, + 0.9522681832313538 + ], + [ + 0.36611926555633545, + -0.04284355416893959, + 0.10266797989606857, + 0.04355623945593834, + -0.3295831084251404, + 0.07865595817565918, + 0.0, + 0.6330026388168335 + ], + [ + 0.3648892045021057, + -0.04339125007390976, + 0.10136167705059052, + 0.03710054233670235, + -0.3255150020122528, + 0.09721066802740097, + 0.0, + 0.36024010181427 + ], + [ + 0.3568490743637085, + -0.04218531399965286, + 0.09863390773534775, + 0.028475044295191765, + -0.3188374638557434, + 0.12747859954833984, + 0.0, + 0.3544071912765503 + ], + [ + 0.3402317464351654, + -0.03934852033853531, + 0.09719870984554291, + 0.029368672519922256, + -0.3080984354019165, + 0.16574129462242126, + 0.0, + 0.4448287785053253 + ], + [ + 0.3193202018737793, + -0.03728082403540611, + 0.09016214311122894, + 0.05654115229845047, + -0.2905520498752594, + 0.2331390678882599, + 0.0, + 0.7447580099105835 + ], + [ + 0.2963986396789551, + -0.03927350044250488, + 0.09326521307229996, + 0.07469920814037323, + -0.33055931329727173, + 0.30971500277519226, + 0.0, + 1.0008161067962646 + ], + [ + 0.2665059566497803, + -0.04852912575006485, + 0.09452255070209503, + 0.06526682525873184, + -0.3468659818172455, + 0.4481125771999359, + 0.0, + 1.0092895030975342 + ], + [ + 0.23808139562606812, + -0.07694557309150696, + 0.08763246238231659, + 0.012618765234947205, + -0.3478394150733948, + 0.6844387650489807, + 0.0, + 1.0092895030975342 + ], + [ + 0.2511899769306183, + -0.1176009252667427, + 0.0907837450504303, + 0.0058821565471589565, + -0.3738590478897095, + 0.5861851572990417, + 0.0, + 1.0092895030975342 + ], + [ + 0.28263846039772034, + -0.13970263302326202, + 0.09377359598875046, + -0.03628288581967354, + -0.3155606687068939, + 0.4677252173423767, + 0.0, + 1.0092895030975342 + ], + [ + 0.3183763325214386, + -0.14658817648887634, + 0.09381185472011566, + -0.05556565150618553, + -0.2985483705997467, + 0.2299770563840866, + 0.0, + 1.0092895030975342 + ], + [ + 0.34314534068107605, + -0.14715777337551117, + 0.09542938321828842, + -0.08102674037218094, + -0.3230321407318115, + 0.056280214339494705, + 0.0, + 1.0092895030975342 + ], + [ + 0.3579011559486389, + -0.1347043216228485, + 0.09664321690797806, + -0.008163212798535824, + -0.389677494764328, + -0.12819918990135193, + 0.0, + 1.0092895030975342 + ], + [ + 0.3636973798274994, + -0.11862336844205856, + 0.09577815234661102, + 0.0332280732691288, + -0.39385706186294556, + -0.15978039801120758, + 0.0, + 1.0092895030975342 + ], + [ + 0.3526541590690613, + -0.09370584040880203, + 0.08352341502904892, + 0.08600743860006332, + -0.3237318992614746, + -0.0706978589296341, + 0.0, + 1.0060625076293945 + ], + [ + 0.33917129039764404, + -0.060741741210222244, + 0.0800103172659874, + 0.10053157061338425, + -0.25866350531578064, + 0.03134757652878761, + 0.0, + 1.0067112445831299 + ], + [ + 0.3112293779850006, + -0.040003564208745956, + 0.08610278367996216, + 0.12640416622161865, + -0.2297334223985672, + 0.12346016615629196, + 0.0, + 1.0060625076293945 + ], + [ + 0.27533674240112305, + -0.015802279114723206, + 0.09141559898853302, + 0.10002203285694122, + -0.19779540598392487, + 0.23750640451908112, + 0.0, + 1.0067112445831299 + ], + [ + 0.24418359994888306, + 0.01110213715583086, + 0.09759563207626343, + 0.03367491811513901, + -0.19545379281044006, + 0.32028988003730774, + 0.0, + 1.0067112445831299 + ], + [ + 0.22606217861175537, + 0.029130499809980392, + 0.10035854578018188, + 0.010762562043964863, + -0.19843293726444244, + 0.3541806936264038, + 0.0, + 1.0067112445831299 + ], + [ + 0.22562019526958466, + 0.030658967792987823, + 0.1006491407752037, + 0.01037572231143713, + -0.1980360895395279, + 0.3581855595111847, + 0.0, + 1.0067112445831299 + ], + [ + 0.22564680874347687, + 0.030465111136436462, + 0.10098468512296677, + 0.00829178374260664, + -0.19916407763957977, + 0.3607616424560547, + 0.0, + 1.0067112445831299 + ], + [ + 0.22563177347183228, + 0.030463723465800285, + 0.10063572227954865, + 0.008707147091627121, + -0.1976851224899292, + 0.3606797754764557, + 0.0, + 1.0067112445831299 + ] + ], + "left_gripper_pos": [ + [ + 1.0047606229782104 + ], + [ + 1.0047606229782104 + ], + [ + 1.0047606229782104 + ], + [ + 1.0047606229782104 + ], + [ + 1.0047606229782104 + ], + [ + 1.0047606229782104 + ], + [ + 1.0047606229782104 + ], + [ + 1.0047606229782104 + ], + [ + 1.0047606229782104 + ], + [ + 1.0047606229782104 + ], + [ + 1.0047606229782104 + ], + [ + 0.9522681832313538 + ], + [ + 0.6330026388168335 + ], + [ + 0.36024010181427 + ], + [ + 0.3544071912765503 + ], + [ + 0.4448287785053253 + ], + [ + 0.7447580099105835 + ], + [ + 1.0008161067962646 + ], + [ + 1.0092895030975342 + ], + [ + 1.0092895030975342 + ], + [ + 1.0092895030975342 + ], + [ + 1.0092895030975342 + ], + [ + 1.0092895030975342 + ], + [ + 1.0092895030975342 + ], + [ + 1.0092895030975342 + ], + [ + 1.0092895030975342 + ], + [ + 1.0060625076293945 + ], + [ + 1.0067112445831299 + ], + [ + 1.0060625076293945 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.33236441016197205, + 0.09229245781898499, + 0.10188764333724976 + ], + [ + 0.32903921604156494, + 0.08806656301021576, + 0.09226915240287781 + ], + [ + 0.32480156421661377, + 0.07130888104438782, + 0.09348117560148239 + ], + [ + 0.3167610466480255, + 0.04573797062039375, + 0.10885506123304367 + ], + [ + 0.31209564208984375, + 0.019225923344492912, + 0.11777272820472717 + ], + [ + 0.31185808777809143, + -0.004377743229269981, + 0.12080100923776627 + ], + [ + 0.31786632537841797, + -0.022457173094153404, + 0.12225084751844406 + ], + [ + 0.3284999132156372, + -0.03253346309065819, + 0.10640563815832138 + ], + [ + 0.33658236265182495, + -0.03761092200875282, + 0.10043943673372269 + ], + [ + 0.3525427579879761, + -0.03912344574928284, + 0.1017213687300682 + ], + [ + 0.3612994849681854, + -0.04097864404320717, + 0.1039704829454422 + ], + [ + 0.3641088008880615, + -0.04184823855757713, + 0.10238875448703766 + ], + [ + 0.36611926555633545, + -0.04284355416893959, + 0.10266797989606857 + ], + [ + 0.3648892045021057, + -0.04339125007390976, + 0.10136167705059052 + ], + [ + 0.3568490743637085, + -0.04218531399965286, + 0.09863390773534775 + ], + [ + 0.3402317464351654, + -0.03934852033853531, + 0.09719870984554291 + ], + [ + 0.3193202018737793, + -0.03728082403540611, + 0.09016214311122894 + ], + [ + 0.2963986396789551, + -0.03927350044250488, + 0.09326521307229996 + ], + [ + 0.2665059566497803, + -0.04852912575006485, + 0.09452255070209503 + ], + [ + 0.23808139562606812, + -0.07694557309150696, + 0.08763246238231659 + ], + [ + 0.2511899769306183, + -0.1176009252667427, + 0.0907837450504303 + ], + [ + 0.28263846039772034, + -0.13970263302326202, + 0.09377359598875046 + ], + [ + 0.3183763325214386, + -0.14658817648887634, + 0.09381185472011566 + ], + [ + 0.34314534068107605, + -0.14715777337551117, + 0.09542938321828842 + ], + [ + 0.3579011559486389, + -0.1347043216228485, + 0.09664321690797806 + ], + [ + 0.3636973798274994, + -0.11862336844205856, + 0.09577815234661102 + ], + [ + 0.3526541590690613, + -0.09370584040880203, + 0.08352341502904892 + ], + [ + 0.33917129039764404, + -0.060741741210222244, + 0.0800103172659874 + ], + [ + 0.3112293779850006, + -0.040003564208745956, + 0.08610278367996216 + ], + [ + 0.27533674240112305, + -0.015802279114723206, + 0.09141559898853302 + ], + [ + 0.24418359994888306, + 0.01110213715583086, + 0.09759563207626343 + ], + [ + 0.22606217861175537, + 0.029130499809980392, + 0.10035854578018188 + ], + [ + 0.22562019526958466, + 0.030658967792987823, + 0.1006491407752037 + ], + [ + 0.22564680874347687, + 0.030465111136436462, + 0.10098468512296677 + ], + [ + 0.22563177347183228, + 0.030463723465800285, + 0.10063572227954865 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9827322106637024, + 0.038365444058161585, + 0.18101241622124326, + 0.032908642444611655, + -0.9989116129147331, + 0.03305466436888214, + 0.18208356152186073, + -0.02652701050451814, + -0.982925172298079 + ], + [ + 0.9884700912493303, + 0.03888073299403553, + 0.14633921999035895, + 0.03609617667789674, + -0.999114067415026, + 0.021636689271710623, + 0.14705082364535813, + -0.016104933879063612, + -0.9889978191937393 + ], + [ + 0.991312030886309, + 0.0716530816201756, + 0.11030092163891392, + 0.06837763017897351, + -0.9971068778058665, + 0.03320201685657512, + 0.11236083441826561, + -0.025371443131387356, + -0.9933435119646484 + ], + [ + 0.9827317982035645, + 0.06901939993500016, + 0.1716814935635218, + 0.06044300257762979, + -0.9966719110215791, + 0.05469684835522482, + 0.1748852659288075, + -0.04337538718220648, + -0.983632919105397 + ], + [ + 0.9781612694750477, + 0.11644903862363987, + 0.17216315605434682, + 0.10294401096037642, + -0.9910123811533257, + 0.08542242684568047, + 0.18056317871136754, + -0.06583374366117853, + -0.981357659922824 + ], + [ + 0.9770107884012637, + 0.10435379107857154, + 0.18590375368741419, + 0.08499491097403936, + -0.9903747513115717, + 0.10924155378360972, + 0.19551415410669387, + -0.09092930359390208, + -0.976476357774151 + ], + [ + 0.9659334220858599, + 0.10642324824352077, + 0.23589556233807743, + 0.08024208769803017, + -0.9897710591539326, + 0.11795956011771022, + 0.24603624013417505, + -0.0950123291715344, + -0.9645925698687702 + ], + [ + 0.9632554371988182, + 0.09304771853885152, + 0.2519545291945125, + 0.07458213916751841, + -0.9938465266318399, + 0.08189374835129168, + 0.25802416015580926, + -0.06009329061170174, + -0.9642677684125646 + ], + [ + 0.955169389537782, + 0.09967351814617516, + 0.27877702034132124, + 0.0812467000683978, + -0.9937214815525656, + 0.0769193787609491, + 0.28469353877110937, + -0.050821323097088214, + -0.9572704853387284 + ], + [ + 0.9505303669800569, + 0.10181726363163147, + 0.2934710654823143, + 0.08107694915914072, + -0.9933270131966664, + 0.08202422306145637, + 0.29986421887881864, + -0.054172776192071725, + -0.9524425234920159 + ], + [ + 0.9510778427348414, + 0.0795225395308958, + 0.29854162652031896, + 0.05845248591794202, + -0.9951698576302879, + 0.07886863352515766, + 0.3033714619881925, + -0.05755970961245329, + -0.9511322914718421 + ], + [ + 0.9486224979182959, + 0.08303041462052305, + 0.3053216446490429, + 0.06288633779203959, + -0.9951799159993869, + 0.07524787911003442, + 0.3100978312764504, + -0.05218127096379402, + -0.9492715364942977 + ], + [ + 0.9432519748240433, + 0.09254924508674207, + 0.31892060018822255, + 0.07434577096295954, + -0.9948554106306904, + 0.0688143755240369, + 0.3236486031647057, + -0.04119889771236794, + -0.9452799757197972 + ], + [ + 0.9430128491104595, + 0.10879675472093597, + 0.3144678561868694, + 0.09196076545196538, + -0.9934425762527529, + 0.06793427195297846, + 0.3197967855217774, + -0.03514418658163994, + -0.9468341471025707 + ], + [ + 0.9418950344844097, + 0.13593431378459672, + 0.3071735769064835, + 0.12072613466795705, + -0.9903488793849671, + 0.06807567487050205, + 0.31346282781495294, + -0.027036261517650803, + -0.9492155161718556 + ], + [ + 0.9398535409275687, + 0.17369502629384648, + 0.29411793458864655, + 0.157214758297956, + -0.9844018794710221, + 0.07897125722207443, + 0.30324716219484504, + -0.02798173573422038, + -0.9525010136929378 + ], + [ + 0.9321657782144881, + 0.2464149636323117, + 0.2652293868029416, + 0.221349261302911, + -0.9676508998712525, + 0.12106296088817164, + 0.2864811799166457, + -0.054142420304617495, + -0.9565548242924315 + ], + [ + 0.9008573363124237, + 0.3270074865501954, + 0.2855208632520722, + 0.28828632275894317, + -0.9423816870339112, + 0.16972846565395525, + 0.32457211174438755, + -0.07058937372751783, + -0.9432232421831778 + ], + [ + 0.8475895060666147, + 0.45232550250514936, + 0.2774773305861515, + 0.4074611481652616, + -0.8897412641662945, + 0.20575688463721184, + 0.33995211713063217, + -0.06133614450899463, + -0.9384404272169719 + ], + [ + 0.7283738570960591, + 0.6355204118829588, + 0.2560963302726623, + 0.5943744024257812, + -0.771992928541394, + 0.22526870182756858, + 0.34086741416569244, + -0.011862729963919003, + -0.9400365320548972 + ], + [ + 0.7755135708324202, + 0.5549670887838299, + 0.30098211212886017, + 0.5149756304010525, + -0.831854281603607, + 0.20692644652336195, + 0.3652106262799423, + -0.005475814509996194, + -0.9309088107369404 + ], + [ + 0.8485220520060495, + 0.44051149563394704, + 0.29318927243981174, + 0.4285948115087234, + -0.8970844399591057, + 0.1074522923490211, + 0.31034950428064956, + 0.03448376136097556, + -0.9499968712554554 + ], + [ + 0.9306007432692558, + 0.21169815722426766, + 0.2986070107257334, + 0.21787146526351925, + -0.9758925999193105, + 0.012870821522186996, + 0.29413310124947883, + 0.05308035088974179, + -0.9542893665439147 + ], + [ + 0.9467758259390103, + 0.03041337573328541, + 0.32045368151109044, + 0.053341076932124434, + -0.9965862696918951, + -0.0630121938462319, + 0.31744332553894805, + 0.0767517663516608, + -0.9451660708217757 + ], + [ + 0.9174405673549996, + -0.1309196999345024, + 0.3757164323534393, + -0.11826373795348864, + -0.9913642178136063, + -0.05666282665103542, + 0.3798901073423804, + 0.007551146129997136, + -0.9250008035323636 + ], + [ + 0.9116732758003993, + -0.14642694864984665, + 0.38394138471967876, + -0.14691992961538183, + -0.9887456638737153, + -0.028223154549716835, + 0.3837530097252404, + -0.030678345457686156, + -0.9229260353066211 + ], + [ + 0.9456865888311861, + -0.04312030077113508, + 0.3222072552973349, + -0.06696962982839447, + -0.9957450895099537, + 0.0632991737502327, + 0.3181068128561269, + -0.08143928031497563, + -0.9445505276248041 + ], + [ + 0.9662577507471406, + 0.056843132550042766, + 0.251226625585296, + 0.03029976433373814, + -0.9936575325865264, + 0.108289575746586, + 0.25578874760707554, + -0.09702353434066359, + -0.9618516259702686 + ], + [ + 0.9663155800704719, + 0.1506536510654392, + 0.20865684061089418, + 0.11991134814940606, + -0.9809355360907851, + 0.15292724616390585, + 0.22771795778563259, + -0.12275565752720648, + -0.9659583739721934 + ], + [ + 0.952977218411155, + 0.25317537668850093, + 0.16654323711268845, + 0.23069232364961875, + -0.9624532082866043, + 0.14305549156869707, + 0.19650820084280726, + -0.09790837807592187, + -0.9756015972229981 + ], + [ + 0.9310721432811453, + 0.32086950338591136, + 0.1736301408244925, + 0.30884701184278907, + -0.9465473820877046, + 0.09306759231167969, + 0.19421170737531399, + -0.033027492484164284, + -0.9804034870697746 + ], + [ + 0.9195256580841598, + 0.3487918736372903, + 0.18115405877175836, + 0.3400162367677217, + -0.9371408121931927, + 0.0784605433080851, + 0.19713326167648573, + -0.010551161380235728, + -0.9803199223387835 + ], + [ + 0.9182297627502816, + 0.3524684272328037, + 0.18061038343239105, + 0.3437234762335877, + -0.9357684131596122, + 0.07868703081600859, + 0.1967441859000154, + -0.010172744800445048, + -0.9804020810758028 + ], + [ + 0.917133033825661, + 0.3545097233612649, + 0.18218082859636625, + 0.34600921231854215, + -0.9350170026344385, + 0.07759400605209459, + 0.19785000191165314, + -0.008127781175076176, + -0.9801986104441942 + ], + [ + 0.91743413815702, + 0.3544970061197673, + 0.18068335506129937, + 0.3460370154272696, + -0.9350181733377524, + 0.07745579050219811, + 0.1964000664416218, + -0.008537457481857129, + -0.9804866779928588 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0033251941204071045, + -0.004225894808769226, + -0.009618490934371948, + -0.010698618367314339, + 0.03551900386810303, + 0.003026619553565979, + 1.0 + ], + [ + -0.004237651824951172, + -0.016757681965827942, + 0.0012120231986045837, + 0.009253252297639847, + 0.03498740494251251, + 0.03236681967973709, + 1.0 + ], + [ + -0.008040517568588257, + -0.025570910423994064, + 0.01537388563156128, + 0.01853267103433609, + -0.06319062411785126, + -0.00744011253118515, + 1.0 + ], + [ + -0.004665404558181763, + -0.02651204727590084, + 0.008917666971683502, + 0.022915411740541458, + -0.005769774317741394, + 0.04342867434024811, + 1.0 + ], + [ + -0.00023755431175231934, + -0.023603666573762894, + 0.003028281033039093, + 0.025868065655231476, + -0.015222683548927307, + -0.01807999610900879, + 1.0 + ], + [ + 0.006008237600326538, + -0.018079429864883423, + 0.0014498382806777954, + 0.005331188440322876, + -0.05180695652961731, + -0.003894619643688202, + 1.0 + ], + [ + 0.010633587837219238, + -0.010076289996504784, + -0.01584520936012268, + -0.03594360873103142, + -0.012387901544570923, + -0.00560876727104187, + 1.0 + ], + [ + 0.008082449436187744, + -0.005077458918094635, + -0.005966201424598694, + -0.009199604392051697, + -0.027710169553756714, + 0.007582738995552063, + 1.0 + ], + [ + 0.015960395336151123, + -0.001512523740530014, + 0.00128193199634552, + 0.0037764906883239746, + -0.01586359739303589, + 0.00023484230041503906, + 1.0 + ], + [ + 0.00875672698020935, + -0.0018551982939243317, + 0.002249114215373993, + 0.003626801073551178, + -0.003678560256958008, + -0.023708581924438477, + 1.0 + ], + [ + 0.0028093159198760986, + -0.0008695945143699646, + -0.001581728458404541, + -0.005528785288333893, + -0.007067054510116577, + 0.0048134177923202515, + 0.0 + ], + [ + 0.0020104646682739258, + -0.0009953156113624573, + 0.0002792254090309143, + -0.011358298361301422, + -0.014287173748016357, + 0.01246054470539093, + 0.0 + ], + [ + -0.0012300610542297363, + -0.0005476959049701691, + -0.0013063028454780579, + -0.006455697119235992, + 0.004068106412887573, + 0.01855470985174179, + 0.0 + ], + [ + -0.008040130138397217, + 0.001205936074256897, + -0.0027277693152427673, + -0.008625498041510582, + 0.006677538156509399, + 0.030267931520938873, + 0.0 + ], + [ + -0.01661732792854309, + 0.0028367936611175537, + -0.00143519788980484, + 0.0008936282247304916, + 0.010739028453826904, + 0.03826269507408142, + 1.0 + ], + [ + -0.02091154456138611, + 0.002067696303129196, + -0.007036566734313965, + 0.027172479778528214, + 0.017546385526657104, + 0.06739777326583862, + 1.0 + ], + [ + -0.02292156219482422, + -0.00199267640709877, + 0.0031030699610710144, + 0.01815805584192276, + -0.04000726342201233, + 0.07657593488693237, + 1.0 + ], + [ + -0.029892683029174805, + -0.009255625307559967, + 0.0012573376297950745, + -0.009432382881641388, + -0.016306668519973755, + 0.13839757442474365, + 1.0 + ], + [ + -0.028424561023712158, + -0.028416447341442108, + -0.006890088319778442, + -0.05264806002378464, + -0.000973433256149292, + 0.2363261878490448, + 1.0 + ], + [ + 0.013108581304550171, + -0.04065535217523575, + 0.0031512826681137085, + -0.006736608687788248, + -0.026019632816314697, + -0.09825360774993896, + 1.0 + ], + [ + 0.03144848346710205, + -0.022101707756519318, + 0.00298985093832016, + -0.04216504096984863, + 0.05829837918281555, + -0.11845993995666504, + 1.0 + ], + [ + 0.03573787212371826, + -0.006885543465614319, + 3.825873136520386e-05, + -0.019282765686511993, + 0.017012298107147217, + -0.2377481609582901, + 1.0 + ], + [ + 0.02476900815963745, + -0.0005695968866348267, + 0.00161752849817276, + -0.025461088865995407, + -0.02448377013206482, + -0.1736968457698822, + 1.0 + ], + [ + 0.014755815267562866, + 0.012453451752662659, + 0.0012138336896896362, + 0.07286352664232254, + -0.06664535403251648, + -0.18447940051555634, + 1.0 + ], + [ + 0.005796223878860474, + 0.016080953180789948, + -0.0008650645613670349, + 0.0413912869989872, + -0.004179567098617554, + -0.03158120810985565, + 1.0 + ], + [ + -0.01104322075843811, + 0.02491752803325653, + -0.012254737317562103, + 0.052779365330934525, + 0.07012516260147095, + 0.08908253908157349, + 1.0 + ], + [ + -0.013482868671417236, + 0.03296409919857979, + -0.0035130977630615234, + 0.014524132013320923, + 0.06506839394569397, + 0.10204543173313141, + 1.0 + ], + [ + -0.027941912412643433, + 0.020738177001476288, + 0.006092466413974762, + 0.025872595608234406, + 0.02893008291721344, + 0.09211258590221405, + 1.0 + ], + [ + -0.035892635583877563, + 0.02420128509402275, + 0.005312815308570862, + -0.02638213336467743, + 0.031938016414642334, + 0.11404623836278915, + 1.0 + ], + [ + -0.03115314245223999, + 0.02690441533923149, + 0.006180033087730408, + -0.06634711474180222, + 0.0023416131734848022, + 0.08278347551822662, + 1.0 + ], + [ + -0.018121421337127686, + 0.018028363585472107, + 0.002762913703918457, + -0.02291235700249672, + -0.0029791444540023804, + 0.03389081358909607, + 1.0 + ], + [ + -0.00044198334217071533, + 0.001528467983007431, + 0.00029059499502182007, + -0.00038683973252773285, + 0.0003968477249145508, + 0.004004865884780884, + 1.0 + ], + [ + 2.6613473892211914e-05, + -0.00019385665655136108, + 0.0003355443477630615, + -0.00208393856883049, + -0.0011279881000518799, + 0.002576082944869995, + 1.0 + ], + [ + -1.5035271644592285e-05, + -1.387670636177063e-06, + -0.00034896284341812134, + 0.0004153633490204811, + 0.0014789551496505737, + -8.186697959899902e-05, + 1.0 + ], + [ + 1.5035271644592285e-05, + 1.387670636177063e-06, + 0.00034896284341812134, + -0.0004153633490204811, + -0.0014789551496505737, + 8.186697959899902e-05, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0047606229782104 + ], + [ + 1.0047606229782104 + ], + [ + 1.0047606229782104 + ], + [ + 1.0047606229782104 + ], + [ + 1.0047606229782104 + ], + [ + 1.0047606229782104 + ], + [ + 1.0047606229782104 + ], + [ + 1.0047606229782104 + ], + [ + 1.0047606229782104 + ], + [ + 1.0047606229782104 + ], + [ + 0.9522681832313538 + ], + [ + 0.6330026388168335 + ], + [ + 0.36024010181427 + ], + [ + 0.3544071912765503 + ], + [ + 0.4448287785053253 + ], + [ + 0.7447580099105835 + ], + [ + 1.0008161067962646 + ], + [ + 1.0092895030975342 + ], + [ + 1.0092895030975342 + ], + [ + 1.0092895030975342 + ], + [ + 1.0092895030975342 + ], + [ + 1.0092895030975342 + ], + [ + 1.0092895030975342 + ], + [ + 1.0092895030975342 + ], + [ + 1.0092895030975342 + ], + [ + 1.0060625076293945 + ], + [ + 1.0067112445831299 + ], + [ + 1.0060625076293945 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.32903921604156494, + 0.08806656301021576, + 0.09226915240287781 + ], + [ + 0.32480156421661377, + 0.07130888104438782, + 0.09348117560148239 + ], + [ + 0.3167610466480255, + 0.04573797062039375, + 0.10885506123304367 + ], + [ + 0.31209564208984375, + 0.019225923344492912, + 0.11777272820472717 + ], + [ + 0.31185808777809143, + -0.004377743229269981, + 0.12080100923776627 + ], + [ + 0.31786632537841797, + -0.022457173094153404, + 0.12225084751844406 + ], + [ + 0.3284999132156372, + -0.03253346309065819, + 0.10640563815832138 + ], + [ + 0.33658236265182495, + -0.03761092200875282, + 0.10043943673372269 + ], + [ + 0.3525427579879761, + -0.03912344574928284, + 0.1017213687300682 + ], + [ + 0.3612994849681854, + -0.04097864404320717, + 0.1039704829454422 + ], + [ + 0.3641088008880615, + -0.04184823855757713, + 0.10238875448703766 + ], + [ + 0.36611926555633545, + -0.04284355416893959, + 0.10266797989606857 + ], + [ + 0.3648892045021057, + -0.04339125007390976, + 0.10136167705059052 + ], + [ + 0.3568490743637085, + -0.04218531399965286, + 0.09863390773534775 + ], + [ + 0.3402317464351654, + -0.03934852033853531, + 0.09719870984554291 + ], + [ + 0.3193202018737793, + -0.03728082403540611, + 0.09016214311122894 + ], + [ + 0.2963986396789551, + -0.03927350044250488, + 0.09326521307229996 + ], + [ + 0.2665059566497803, + -0.04852912575006485, + 0.09452255070209503 + ], + [ + 0.23808139562606812, + -0.07694557309150696, + 0.08763246238231659 + ], + [ + 0.2511899769306183, + -0.1176009252667427, + 0.0907837450504303 + ], + [ + 0.28263846039772034, + -0.13970263302326202, + 0.09377359598875046 + ], + [ + 0.3183763325214386, + -0.14658817648887634, + 0.09381185472011566 + ], + [ + 0.34314534068107605, + -0.14715777337551117, + 0.09542938321828842 + ], + [ + 0.3579011559486389, + -0.1347043216228485, + 0.09664321690797806 + ], + [ + 0.3636973798274994, + -0.11862336844205856, + 0.09577815234661102 + ], + [ + 0.3526541590690613, + -0.09370584040880203, + 0.08352341502904892 + ], + [ + 0.33917129039764404, + -0.060741741210222244, + 0.0800103172659874 + ], + [ + 0.3112293779850006, + -0.040003564208745956, + 0.08610278367996216 + ], + [ + 0.27533674240112305, + -0.015802279114723206, + 0.09141559898853302 + ], + [ + 0.24418359994888306, + 0.01110213715583086, + 0.09759563207626343 + ], + [ + 0.22606217861175537, + 0.029130499809980392, + 0.10035854578018188 + ], + [ + 0.22562019526958466, + 0.030658967792987823, + 0.1006491407752037 + ], + [ + 0.22564680874347687, + 0.030465111136436462, + 0.10098468512296677 + ], + [ + 0.22563177347183228, + 0.030463723465800285, + 0.10063572227954865 + ], + [ + 0.22564680874347687, + 0.030465111136436462, + 0.10098468512296677 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9884700912493303, + 0.03888073299403553, + 0.14633921999035895, + 0.03609617667789674, + -0.999114067415026, + 0.021636689271710623, + 0.14705082364535813, + -0.016104933879063612, + -0.9889978191937393 + ], + [ + 0.991312030886309, + 0.0716530816201756, + 0.11030092163891392, + 0.06837763017897351, + -0.9971068778058665, + 0.03320201685657512, + 0.11236083441826561, + -0.025371443131387356, + -0.9933435119646484 + ], + [ + 0.9827317982035645, + 0.06901939993500016, + 0.1716814935635218, + 0.06044300257762979, + -0.9966719110215791, + 0.05469684835522482, + 0.1748852659288075, + -0.04337538718220648, + -0.983632919105397 + ], + [ + 0.9781612694750477, + 0.11644903862363987, + 0.17216315605434682, + 0.10294401096037642, + -0.9910123811533257, + 0.08542242684568047, + 0.18056317871136754, + -0.06583374366117853, + -0.981357659922824 + ], + [ + 0.9770107884012637, + 0.10435379107857154, + 0.18590375368741419, + 0.08499491097403936, + -0.9903747513115717, + 0.10924155378360972, + 0.19551415410669387, + -0.09092930359390208, + -0.976476357774151 + ], + [ + 0.9659334220858599, + 0.10642324824352077, + 0.23589556233807743, + 0.08024208769803017, + -0.9897710591539326, + 0.11795956011771022, + 0.24603624013417505, + -0.0950123291715344, + -0.9645925698687702 + ], + [ + 0.9632554371988182, + 0.09304771853885152, + 0.2519545291945125, + 0.07458213916751841, + -0.9938465266318399, + 0.08189374835129168, + 0.25802416015580926, + -0.06009329061170174, + -0.9642677684125646 + ], + [ + 0.955169389537782, + 0.09967351814617516, + 0.27877702034132124, + 0.0812467000683978, + -0.9937214815525656, + 0.0769193787609491, + 0.28469353877110937, + -0.050821323097088214, + -0.9572704853387284 + ], + [ + 0.9505303669800569, + 0.10181726363163147, + 0.2934710654823143, + 0.08107694915914072, + -0.9933270131966664, + 0.08202422306145637, + 0.29986421887881864, + -0.054172776192071725, + -0.9524425234920159 + ], + [ + 0.9510778427348414, + 0.0795225395308958, + 0.29854162652031896, + 0.05845248591794202, + -0.9951698576302879, + 0.07886863352515766, + 0.3033714619881925, + -0.05755970961245329, + -0.9511322914718421 + ], + [ + 0.9486224979182959, + 0.08303041462052305, + 0.3053216446490429, + 0.06288633779203959, + -0.9951799159993869, + 0.07524787911003442, + 0.3100978312764504, + -0.05218127096379402, + -0.9492715364942977 + ], + [ + 0.9432519748240433, + 0.09254924508674207, + 0.31892060018822255, + 0.07434577096295954, + -0.9948554106306904, + 0.0688143755240369, + 0.3236486031647057, + -0.04119889771236794, + -0.9452799757197972 + ], + [ + 0.9430128491104595, + 0.10879675472093597, + 0.3144678561868694, + 0.09196076545196538, + -0.9934425762527529, + 0.06793427195297846, + 0.3197967855217774, + -0.03514418658163994, + -0.9468341471025707 + ], + [ + 0.9418950344844097, + 0.13593431378459672, + 0.3071735769064835, + 0.12072613466795705, + -0.9903488793849671, + 0.06807567487050205, + 0.31346282781495294, + -0.027036261517650803, + -0.9492155161718556 + ], + [ + 0.9398535409275687, + 0.17369502629384648, + 0.29411793458864655, + 0.157214758297956, + -0.9844018794710221, + 0.07897125722207443, + 0.30324716219484504, + -0.02798173573422038, + -0.9525010136929378 + ], + [ + 0.9321657782144881, + 0.2464149636323117, + 0.2652293868029416, + 0.221349261302911, + -0.9676508998712525, + 0.12106296088817164, + 0.2864811799166457, + -0.054142420304617495, + -0.9565548242924315 + ], + [ + 0.9008573363124237, + 0.3270074865501954, + 0.2855208632520722, + 0.28828632275894317, + -0.9423816870339112, + 0.16972846565395525, + 0.32457211174438755, + -0.07058937372751783, + -0.9432232421831778 + ], + [ + 0.8475895060666147, + 0.45232550250514936, + 0.2774773305861515, + 0.4074611481652616, + -0.8897412641662945, + 0.20575688463721184, + 0.33995211713063217, + -0.06133614450899463, + -0.9384404272169719 + ], + [ + 0.7283738570960591, + 0.6355204118829588, + 0.2560963302726623, + 0.5943744024257812, + -0.771992928541394, + 0.22526870182756858, + 0.34086741416569244, + -0.011862729963919003, + -0.9400365320548972 + ], + [ + 0.7755135708324202, + 0.5549670887838299, + 0.30098211212886017, + 0.5149756304010525, + -0.831854281603607, + 0.20692644652336195, + 0.3652106262799423, + -0.005475814509996194, + -0.9309088107369404 + ], + [ + 0.8485220520060495, + 0.44051149563394704, + 0.29318927243981174, + 0.4285948115087234, + -0.8970844399591057, + 0.1074522923490211, + 0.31034950428064956, + 0.03448376136097556, + -0.9499968712554554 + ], + [ + 0.9306007432692558, + 0.21169815722426766, + 0.2986070107257334, + 0.21787146526351925, + -0.9758925999193105, + 0.012870821522186996, + 0.29413310124947883, + 0.05308035088974179, + -0.9542893665439147 + ], + [ + 0.9467758259390103, + 0.03041337573328541, + 0.32045368151109044, + 0.053341076932124434, + -0.9965862696918951, + -0.0630121938462319, + 0.31744332553894805, + 0.0767517663516608, + -0.9451660708217757 + ], + [ + 0.9174405673549996, + -0.1309196999345024, + 0.3757164323534393, + -0.11826373795348864, + -0.9913642178136063, + -0.05666282665103542, + 0.3798901073423804, + 0.007551146129997136, + -0.9250008035323636 + ], + [ + 0.9116732758003993, + -0.14642694864984665, + 0.38394138471967876, + -0.14691992961538183, + -0.9887456638737153, + -0.028223154549716835, + 0.3837530097252404, + -0.030678345457686156, + -0.9229260353066211 + ], + [ + 0.9456865888311861, + -0.04312030077113508, + 0.3222072552973349, + -0.06696962982839447, + -0.9957450895099537, + 0.0632991737502327, + 0.3181068128561269, + -0.08143928031497563, + -0.9445505276248041 + ], + [ + 0.9662577507471406, + 0.056843132550042766, + 0.251226625585296, + 0.03029976433373814, + -0.9936575325865264, + 0.108289575746586, + 0.25578874760707554, + -0.09702353434066359, + -0.9618516259702686 + ], + [ + 0.9663155800704719, + 0.1506536510654392, + 0.20865684061089418, + 0.11991134814940606, + -0.9809355360907851, + 0.15292724616390585, + 0.22771795778563259, + -0.12275565752720648, + -0.9659583739721934 + ], + [ + 0.952977218411155, + 0.25317537668850093, + 0.16654323711268845, + 0.23069232364961875, + -0.9624532082866043, + 0.14305549156869707, + 0.19650820084280726, + -0.09790837807592187, + -0.9756015972229981 + ], + [ + 0.9310721432811453, + 0.32086950338591136, + 0.1736301408244925, + 0.30884701184278907, + -0.9465473820877046, + 0.09306759231167969, + 0.19421170737531399, + -0.033027492484164284, + -0.9804034870697746 + ], + [ + 0.9195256580841598, + 0.3487918736372903, + 0.18115405877175836, + 0.3400162367677217, + -0.9371408121931927, + 0.0784605433080851, + 0.19713326167648573, + -0.010551161380235728, + -0.9803199223387835 + ], + [ + 0.9182297627502816, + 0.3524684272328037, + 0.18061038343239105, + 0.3437234762335877, + -0.9357684131596122, + 0.07868703081600859, + 0.1967441859000154, + -0.010172744800445048, + -0.9804020810758028 + ], + [ + 0.917133033825661, + 0.3545097233612649, + 0.18218082859636625, + 0.34600921231854215, + -0.9350170026344385, + 0.07759400605209459, + 0.19785000191165314, + -0.008127781175076176, + -0.9801986104441942 + ], + [ + 0.91743413815702, + 0.3544970061197673, + 0.18068335506129937, + 0.3460370154272696, + -0.9350181733377524, + 0.07745579050219811, + 0.1964000664416218, + -0.008537457481857129, + -0.9804866779928588 + ], + [ + 0.917133033825661, + 0.3545097233612649, + 0.18218082859636625, + 0.34600921231854215, + -0.9350170026344385, + 0.07759400605209459, + 0.19785000191165314, + -0.008127781175076176, + -0.9801986104441942 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006558.json b/json/chunk-0006/episode_0006558.json new file mode 100644 index 0000000000000000000000000000000000000000..3f6726229322e6f4e6c5f9e8eedafbc4bea1f143 --- /dev/null +++ b/json/chunk-0006/episode_0006558.json @@ -0,0 +1,1462 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 23, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the silver pot to the right of the silver lid." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006558.mp4", + "start": 0, + "end": 23, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2911602258682251, + -0.057615976780653, + 0.11152105033397675, + -0.08344150334596634, + -0.15013709664344788, + -0.03645462915301323, + 0.0, + 0.9994885921478271 + ], + [ + 0.2908843755722046, + -0.057120319455862045, + 0.10193667560815811, + -0.07836832851171494, + -0.11725234240293503, + -0.043280575424432755, + 0.0, + 0.9994885921478271 + ], + [ + 0.3147035837173462, + -0.02244628593325615, + 0.09926807135343552, + -0.06955002248287201, + -0.13268516957759857, + -0.00725385919213295, + 0.0, + 0.9988223910331726 + ], + [ + 0.33916032314300537, + -0.00011490796896396205, + 0.08918223530054092, + -0.07447077333927155, + -0.16483724117279053, + -0.09110015630722046, + 0.0, + 0.9988223910331726 + ], + [ + 0.358524352312088, + 0.020873945206403732, + 0.0719563364982605, + -0.04553697258234024, + -0.16012196242809296, + -0.11112072318792343, + 0.0, + 0.9988223910331726 + ], + [ + 0.37204018235206604, + 0.030824068933725357, + 0.048883773386478424, + -0.003670192090794444, + -0.14871348440647125, + -0.1496957689523697, + 0.0, + 0.9988223910331726 + ], + [ + 0.3834637999534607, + 0.046063102781772614, + 0.022010108456015587, + 0.0448303148150444, + -0.08263395726680756, + -0.1881081759929657, + 0.0, + 0.9988223910331726 + ], + [ + 0.3857835531234741, + 0.051697682589292526, + 0.011067136190831661, + 0.0629003494977951, + -0.049801427870988846, + -0.19679208099842072, + 0.0, + 0.9484345316886902 + ], + [ + 0.3821448087692261, + 0.05191252753138542, + 0.002121374011039734, + 0.05727113038301468, + -0.019624758511781693, + -0.19414228200912476, + 0.0, + 0.6651484370231628 + ], + [ + 0.38079336285591125, + 0.04603708162903786, + 0.0007893045549280941, + 0.05254337191581726, + -0.013157503679394722, + -0.20455652475357056, + 0.0, + 0.365278422832489 + ], + [ + 0.3777272403240204, + 0.0397103913128376, + 0.000837000145111233, + 0.047866810113191605, + -0.0020667542703449726, + -0.21251635253429413, + 0.0, + 0.16866940259933472 + ], + [ + 0.37424153089523315, + 0.03792590647935867, + 0.018141334876418114, + 0.051660045981407166, + -0.02185339666903019, + -0.2117263823747635, + 0.0, + 0.0832853764295578 + ], + [ + 0.36297258734703064, + 0.02633141539990902, + 0.03999006003141403, + 0.035092368721961975, + -0.042719174176454544, + -0.21843719482421875, + 0.0, + 0.07854863256216049 + ], + [ + 0.3359449803829193, + 0.016215631738305092, + 0.06247511878609657, + -0.0125773586332798, + -0.06651324778795242, + -0.2277853637933731, + 0.0, + 0.07854863256216049 + ], + [ + 0.29977911710739136, + 0.00686507998034358, + 0.0549510195851326, + -0.04452728480100632, + -0.04363163188099861, + -0.24495932459831238, + 0.0, + 0.07854863256216049 + ], + [ + 0.27279993891716003, + -0.005502837710082531, + 0.038116082549095154, + -0.077207550406456, + -0.0011985355522483587, + -0.2659682035446167, + 0.0, + 0.07854863256216049 + ], + [ + 0.2574947774410248, + -0.01654515042901039, + 0.025308210402727127, + -0.09624941647052765, + 0.01645417883992195, + -0.31242188811302185, + 0.0, + 0.07854863256216049 + ], + [ + 0.2587703466415405, + -0.028392966836690903, + 0.018345599994063377, + -0.12480250000953674, + -0.034899648278951645, + -0.36940884590148926, + 0.0, + 0.07854863256216049 + ], + [ + 0.25906774401664734, + -0.0396677665412426, + 0.006777507718652487, + -0.1367388516664505, + -0.03422272205352783, + -0.43457165360450745, + 0.0, + 0.12307736277580261 + ], + [ + 0.254533588886261, + -0.047152020037174225, + 0.005639504641294479, + -0.142172172665596, + -0.014398643746972084, + -0.4306454062461853, + 0.0, + 0.2943395674228668 + ], + [ + 0.24705785512924194, + -0.0555778369307518, + 0.011326362378895283, + -0.15528491139411926, + 0.00608531991019845, + -0.40046143531799316, + 0.0, + 0.6019018292427063 + ], + [ + 0.24498431384563446, + -0.058494601398706436, + 0.04052845761179924, + -0.14329268038272858, + -0.06083367019891739, + -0.2932623028755188, + 0.0, + 0.8998980522155762 + ], + [ + 0.23724211752414703, + -0.05355395749211311, + 0.06900879740715027, + -0.11598958820104599, + -0.11704707145690918, + -0.17488665878772736, + 0.0, + 1.013738751411438 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9484345316886902 + ], + [ + 0.6651484370231628 + ], + [ + 0.365278422832489 + ], + [ + 0.16866940259933472 + ], + [ + 0.0832853764295578 + ], + [ + 0.07854863256216049 + ], + [ + 0.07854863256216049 + ], + [ + 0.07854863256216049 + ], + [ + 0.07854863256216049 + ], + [ + 0.07854863256216049 + ], + [ + 0.07854863256216049 + ], + [ + 0.12307736277580261 + ], + [ + 0.2943395674228668 + ], + [ + 0.6019018292427063 + ], + [ + 0.8998980522155762 + ], + [ + 1.013738751411438 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2911602258682251, + -0.057615976780653, + 0.11152105033397675 + ], + [ + 0.2908843755722046, + -0.057120319455862045, + 0.10193667560815811 + ], + [ + 0.3147035837173462, + -0.02244628593325615, + 0.09926807135343552 + ], + [ + 0.33916032314300537, + -0.00011490796896396205, + 0.08918223530054092 + ], + [ + 0.358524352312088, + 0.020873945206403732, + 0.0719563364982605 + ], + [ + 0.37204018235206604, + 0.030824068933725357, + 0.048883773386478424 + ], + [ + 0.3834637999534607, + 0.046063102781772614, + 0.022010108456015587 + ], + [ + 0.3857835531234741, + 0.051697682589292526, + 0.011067136190831661 + ], + [ + 0.3821448087692261, + 0.05191252753138542, + 0.002121374011039734 + ], + [ + 0.38079336285591125, + 0.04603708162903786, + 0.0007893045549280941 + ], + [ + 0.3777272403240204, + 0.0397103913128376, + 0.000837000145111233 + ], + [ + 0.37424153089523315, + 0.03792590647935867, + 0.018141334876418114 + ], + [ + 0.36297258734703064, + 0.02633141539990902, + 0.03999006003141403 + ], + [ + 0.3359449803829193, + 0.016215631738305092, + 0.06247511878609657 + ], + [ + 0.29977911710739136, + 0.00686507998034358, + 0.0549510195851326 + ], + [ + 0.27279993891716003, + -0.005502837710082531, + 0.038116082549095154 + ], + [ + 0.2574947774410248, + -0.01654515042901039, + 0.025308210402727127 + ], + [ + 0.2587703466415405, + -0.028392966836690903, + 0.018345599994063377 + ], + [ + 0.25906774401664734, + -0.0396677665412426, + 0.006777507718652487 + ], + [ + 0.254533588886261, + -0.047152020037174225, + 0.005639504641294479 + ], + [ + 0.24705785512924194, + -0.0555778369307518, + 0.011326362378895283 + ], + [ + 0.24498431384563446, + -0.058494601398706436, + 0.04052845761179924 + ], + [ + 0.23724211752414703, + -0.05355395749211311, + 0.06900879740715027 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9880936588411288, + -0.04877764290736179, + 0.14591662999930008, + -0.03603655278797016, + -0.9954043431419314, + -0.08872181534064581, + 0.14957368826471648, + 0.08240713079935323, + -0.9853104975449655 + ], + [ + 0.9922037879163211, + -0.05228413984813996, + 0.11312829869154761, + -0.04296998480662958, + -0.9956009309726644, + -0.08326083504314417, + 0.11698386063992713, + 0.07775059463890797, + -0.9900856636589958 + ], + [ + 0.991184151961268, + -0.016429803059091967, + 0.13146877375354862, + -0.007190036381821964, + -0.997489436606795, + -0.0704494658225819, + 0.13229618391189665, + 0.06888312877111862, + -0.9888138521951699 + ], + [ + 0.9823545345381024, + -0.10288017121723238, + 0.15618975268160623, + -0.08974104990406344, + -0.9919823953084654, + -0.08898017397261059, + 0.16409178052097784, + 0.0733934449960799, + -0.9837109787925836 + ], + [ + 0.9811191842265545, + -0.11799030679930844, + 0.15324305479866118, + -0.10947363135921187, + -0.9919973693552957, + -0.06290264882499555, + 0.15943861006559168, + 0.04493892181148094, + -0.9861844771272635 + ], + [ + 0.9779024477674112, + -0.14967402093167115, + 0.14596057724142927, + -0.14749120973789792, + -0.9887287357627446, + -0.02572605929901009, + 0.14816593974512823, + 0.0036296742485312453, + -0.9889558532939134 + ], + [ + 0.9790077150576139, + -0.18317909700667576, + 0.08938295294679222, + -0.18636268681511245, + -0.9820645041424051, + 0.028605220967228544, + 0.0825399468180221, + -0.04466237928447754, + -0.995586474926175 + ], + [ + 0.9794829444797458, + -0.19206890414313166, + 0.06101391263100597, + -0.1952819218769869, + -0.9793712722346521, + 0.05193151364546829, + 0.04978084432106304, + -0.06278094601657078, + -0.9967850422011492 + ], + [ + 0.981024563826428, + -0.19150654888359836, + 0.03026626676451568, + -0.1928878520332018, + -0.9798214661697681, + 0.052384835314658, + 0.019623498851747273, + -0.05722880540095293, + -0.9981682133414165 + ], + [ + 0.9790664111821638, + -0.2021760147406902, + 0.02353341365910363, + -0.20311536766513094, + -0.9779402181946398, + 0.04875527720851227, + 0.013157124045053906, + -0.0525146522505141, + -0.9985334753456544 + ], + [ + 0.977501172532755, + -0.21058205397533536, + 0.012110170957418308, + -0.21091985736283053, + -0.9764044890269616, + 0.046336676381038396, + 0.002066752798997702, + -0.04784843102471401, + -0.9988524696777502 + ], + [ + 0.9774361319451822, + -0.2087645297488351, + 0.032186629006274683, + -0.21009786539109468, + -0.97660240487292, + 0.045898036499768466, + 0.021851657286011315, + -0.0516247413085659, + -0.998427459136956 + ], + [ + 0.9753466619675355, + -0.215108051867033, + 0.049268803626187664, + -0.21650651490642844, + -0.9759609634454636, + 0.025002536544816857, + 0.04270618212692961, + -0.03505315752642353, + -0.9984725625451955 + ], + [ + 0.9720148209529124, + -0.22661711777882815, + 0.06190209832868597, + -0.22532131685800777, + -0.9739030747906072, + -0.027259953829272668, + 0.06646421606587148, + 0.01254921682885173, + -0.9977098902685748 + ], + [ + 0.9692238927696676, + -0.24416006661057194, + 0.031478684170940754, + -0.24228605846452617, + -0.9687147476688013, + -0.05375131182302004, + 0.04361778946871295, + 0.04447020937315681, + -0.9980580588924531 + ], + [ + 0.9648377741025018, + -0.2621497279223254, + -0.019120403112409805, + -0.2628433624388261, + -0.9619398931204401, + -0.07473291674549272, + 0.0011985352653014966, + 0.07713081209016036, + -0.997020261248251 + ], + [ + 0.9514631456497638, + -0.3044369330088022, + -0.045122458825410265, + -0.30732257792336276, + -0.9476736122856763, + -0.0864150315394059, + -0.0164534363825726, + 0.09608786810837254, + -0.9952368592619512 + ], + [ + 0.9319731001149292, + -0.3623063431002505, + -0.012659163143430534, + -0.3608443565140809, + -0.9237196620565572, + -0.12858202169066588, + 0.034892564166413766, + 0.12440297295259288, + -0.9916180763209439 + ], + [ + 0.906519354210342, + -0.4213225763084221, + -0.026644833174513802, + -0.4207753829518324, + -0.8966201922440771, + -0.1379141325678132, + 0.03421604219956841, + 0.13623332027454732, + -0.9900857260374828 + ], + [ + 0.9086023150786863, + -0.4150993079073228, + -0.04619954121540418, + -0.4174140946576053, + -0.8986765942072941, + -0.1347065425476827, + 0.014398146228732488, + 0.14167901608509467, + -0.98980793580691 + ], + [ + 0.9208641539974719, + -0.3842858275827077, + -0.06583018002097121, + -0.38983609276362485, + -0.910167611740343, + -0.14008118830760366, + -0.006085282352567632, + 0.1546587251271435, + -0.9879492133104494 + ], + [ + 0.955535093546929, + -0.29442527565069126, + 0.016323052970444105, + -0.2885420462705098, + -0.9449849137531013, + -0.15410061749736892, + 0.060796155588067016, + 0.1425386608505141, + -0.9879203194735158 + ], + [ + 0.978008443573748, + -0.18613615872923944, + 0.09408939744720275, + -0.17280600880416003, + -0.975777958117756, + -0.13414715715481568, + 0.11677999665880655, + 0.11493783913518488, + -0.9864845287764543 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0002758502960205078, + 0.0004956573247909546, + -0.009584374725818634, + 0.005073174834251404, + 0.03288475424051285, + -0.006825946271419525, + 1.0 + ], + [ + 0.0238192081451416, + 0.034674033522605896, + -0.002668604254722595, + 0.008818306028842926, + -0.015432827174663544, + 0.036026716232299805, + 1.0 + ], + [ + 0.02445673942565918, + 0.022331377491354942, + -0.010085836052894592, + -0.004920750856399536, + -0.032152071595191956, + -0.08384630084037781, + 1.0 + ], + [ + 0.01936402916908264, + 0.02098885364830494, + -0.017225898802280426, + 0.028933800756931305, + 0.004715278744697571, + -0.020020566880702972, + 1.0 + ], + [ + 0.013515830039978027, + 0.009950123727321625, + -0.023072563111782074, + 0.04186677932739258, + 0.011408478021621704, + -0.03857504576444626, + 1.0 + ], + [ + 0.011423617601394653, + 0.015239033848047256, + -0.026873664930462837, + 0.048500508069992065, + 0.0660795271396637, + -0.03841240704059601, + 1.0 + ], + [ + 0.0023197531700134277, + 0.005634579807519913, + -0.010942972265183926, + 0.018070034682750702, + 0.03283252939581871, + -0.008683905005455017, + 0.0 + ], + [ + -0.003638744354248047, + 0.0002148449420928955, + -0.008945762179791927, + -0.005629219114780426, + 0.030176669359207153, + 0.0026497989892959595, + 0.0 + ], + [ + -0.0013514459133148193, + -0.005875445902347565, + -0.0013320695143193007, + -0.004727758467197418, + 0.0064672548323869705, + -0.0104142427444458, + 0.0 + ], + [ + -0.003066122531890869, + -0.006326690316200256, + 4.769559018313885e-05, + -0.004676561802625656, + 0.011090749874711037, + -0.007959827780723572, + 0.0 + ], + [ + -0.0034857094287872314, + -0.0017844848334789276, + 0.01730433478951454, + 0.003793235868215561, + -0.019786642864346504, + 0.0007899701595306396, + 0.0 + ], + [ + -0.011268943548202515, + -0.011594491079449654, + 0.02184872515499592, + -0.01656767725944519, + -0.020865777507424355, + -0.006710812449455261, + 0.0 + ], + [ + -0.027027606964111328, + -0.010115783661603928, + 0.02248505875468254, + -0.047669727355241776, + -0.02379407361149788, + -0.009348168969154358, + 0.0 + ], + [ + -0.036165863275527954, + -0.009350551292300224, + -0.007524099200963974, + -0.03194992616772652, + 0.02288161590695381, + -0.01717396080493927, + 0.0 + ], + [ + -0.026979178190231323, + -0.012367917224764824, + -0.016834937036037445, + -0.032680265605449677, + 0.04243309795856476, + -0.02100887894630432, + 0.0 + ], + [ + -0.015305161476135254, + -0.01104231271892786, + -0.012807872146368027, + -0.019041866064071655, + 0.017652714625000954, + -0.04645368456840515, + 0.0 + ], + [ + 0.001275569200515747, + -0.011847816407680511, + -0.00696261040866375, + -0.028553083539009094, + -0.051353827118873596, + -0.05698695778846741, + 0.0 + ], + [ + 0.0002973973751068115, + -0.011274799704551697, + -0.011568091809749603, + -0.011936351656913757, + 0.0006769262254238129, + -0.06516280770301819, + 1.0 + ], + [ + -0.0045341551303863525, + -0.007484253495931625, + -0.0011380030773580074, + -0.005433320999145508, + 0.019824078306555748, + 0.0039262473583221436, + 1.0 + ], + [ + -0.007475733757019043, + -0.008425816893577576, + 0.005686857737600803, + -0.013112738728523254, + 0.020483963191509247, + 0.03018397092819214, + 1.0 + ], + [ + -0.002073541283607483, + -0.0029167644679546356, + 0.029202096164226532, + 0.011992231011390686, + -0.0669189915060997, + 0.10719913244247437, + 1.0 + ], + [ + -0.007742196321487427, + 0.004940643906593323, + 0.02848033979535103, + 0.027303092181682587, + -0.05621340125799179, + 0.11837564408779144, + 1.0 + ], + [ + -0.007337599992752075, + 0.005818713456392288, + 0.018565893173217773, + 0.06057293713092804, + -0.010503917932510376, + 0.10235464572906494, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9484345316886902 + ], + [ + 0.6651484370231628 + ], + [ + 0.365278422832489 + ], + [ + 0.16866940259933472 + ], + [ + 0.0832853764295578 + ], + [ + 0.07854863256216049 + ], + [ + 0.07854863256216049 + ], + [ + 0.07854863256216049 + ], + [ + 0.07854863256216049 + ], + [ + 0.07854863256216049 + ], + [ + 0.07854863256216049 + ], + [ + 0.12307736277580261 + ], + [ + 0.2943395674228668 + ], + [ + 0.6019018292427063 + ], + [ + 0.8998980522155762 + ], + [ + 1.013738751411438 + ], + [ + 1.00800359249115 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2908843755722046, + -0.057120319455862045, + 0.10193667560815811 + ], + [ + 0.3147035837173462, + -0.02244628593325615, + 0.09926807135343552 + ], + [ + 0.33916032314300537, + -0.00011490796896396205, + 0.08918223530054092 + ], + [ + 0.358524352312088, + 0.020873945206403732, + 0.0719563364982605 + ], + [ + 0.37204018235206604, + 0.030824068933725357, + 0.048883773386478424 + ], + [ + 0.3834637999534607, + 0.046063102781772614, + 0.022010108456015587 + ], + [ + 0.3857835531234741, + 0.051697682589292526, + 0.011067136190831661 + ], + [ + 0.3821448087692261, + 0.05191252753138542, + 0.002121374011039734 + ], + [ + 0.38079336285591125, + 0.04603708162903786, + 0.0007893045549280941 + ], + [ + 0.3777272403240204, + 0.0397103913128376, + 0.000837000145111233 + ], + [ + 0.37424153089523315, + 0.03792590647935867, + 0.018141334876418114 + ], + [ + 0.36297258734703064, + 0.02633141539990902, + 0.03999006003141403 + ], + [ + 0.3359449803829193, + 0.016215631738305092, + 0.06247511878609657 + ], + [ + 0.29977911710739136, + 0.00686507998034358, + 0.0549510195851326 + ], + [ + 0.27279993891716003, + -0.005502837710082531, + 0.038116082549095154 + ], + [ + 0.2574947774410248, + -0.01654515042901039, + 0.025308210402727127 + ], + [ + 0.2587703466415405, + -0.028392966836690903, + 0.018345599994063377 + ], + [ + 0.25906774401664734, + -0.0396677665412426, + 0.006777507718652487 + ], + [ + 0.254533588886261, + -0.047152020037174225, + 0.005639504641294479 + ], + [ + 0.24705785512924194, + -0.0555778369307518, + 0.011326362378895283 + ], + [ + 0.24498431384563446, + -0.058494601398706436, + 0.04052845761179924 + ], + [ + 0.23724211752414703, + -0.05355395749211311, + 0.06900879740715027 + ], + [ + 0.22990451753139496, + -0.047735244035720825, + 0.08757469058036804 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9922037879163211, + -0.05228413984813996, + 0.11312829869154761, + -0.04296998480662958, + -0.9956009309726644, + -0.08326083504314417, + 0.11698386063992713, + 0.07775059463890797, + -0.9900856636589958 + ], + [ + 0.991184151961268, + -0.016429803059091967, + 0.13146877375354862, + -0.007190036381821964, + -0.997489436606795, + -0.0704494658225819, + 0.13229618391189665, + 0.06888312877111862, + -0.9888138521951699 + ], + [ + 0.9823545345381024, + -0.10288017121723238, + 0.15618975268160623, + -0.08974104990406344, + -0.9919823953084654, + -0.08898017397261059, + 0.16409178052097784, + 0.0733934449960799, + -0.9837109787925836 + ], + [ + 0.9811191842265545, + -0.11799030679930844, + 0.15324305479866118, + -0.10947363135921187, + -0.9919973693552957, + -0.06290264882499555, + 0.15943861006559168, + 0.04493892181148094, + -0.9861844771272635 + ], + [ + 0.9779024477674112, + -0.14967402093167115, + 0.14596057724142927, + -0.14749120973789792, + -0.9887287357627446, + -0.02572605929901009, + 0.14816593974512823, + 0.0036296742485312453, + -0.9889558532939134 + ], + [ + 0.9790077150576139, + -0.18317909700667576, + 0.08938295294679222, + -0.18636268681511245, + -0.9820645041424051, + 0.028605220967228544, + 0.0825399468180221, + -0.04466237928447754, + -0.995586474926175 + ], + [ + 0.9794829444797458, + -0.19206890414313166, + 0.06101391263100597, + -0.1952819218769869, + -0.9793712722346521, + 0.05193151364546829, + 0.04978084432106304, + -0.06278094601657078, + -0.9967850422011492 + ], + [ + 0.981024563826428, + -0.19150654888359836, + 0.03026626676451568, + -0.1928878520332018, + -0.9798214661697681, + 0.052384835314658, + 0.019623498851747273, + -0.05722880540095293, + -0.9981682133414165 + ], + [ + 0.9790664111821638, + -0.2021760147406902, + 0.02353341365910363, + -0.20311536766513094, + -0.9779402181946398, + 0.04875527720851227, + 0.013157124045053906, + -0.0525146522505141, + -0.9985334753456544 + ], + [ + 0.977501172532755, + -0.21058205397533536, + 0.012110170957418308, + -0.21091985736283053, + -0.9764044890269616, + 0.046336676381038396, + 0.002066752798997702, + -0.04784843102471401, + -0.9988524696777502 + ], + [ + 0.9774361319451822, + -0.2087645297488351, + 0.032186629006274683, + -0.21009786539109468, + -0.97660240487292, + 0.045898036499768466, + 0.021851657286011315, + -0.0516247413085659, + -0.998427459136956 + ], + [ + 0.9753466619675355, + -0.215108051867033, + 0.049268803626187664, + -0.21650651490642844, + -0.9759609634454636, + 0.025002536544816857, + 0.04270618212692961, + -0.03505315752642353, + -0.9984725625451955 + ], + [ + 0.9720148209529124, + -0.22661711777882815, + 0.06190209832868597, + -0.22532131685800777, + -0.9739030747906072, + -0.027259953829272668, + 0.06646421606587148, + 0.01254921682885173, + -0.9977098902685748 + ], + [ + 0.9692238927696676, + -0.24416006661057194, + 0.031478684170940754, + -0.24228605846452617, + -0.9687147476688013, + -0.05375131182302004, + 0.04361778946871295, + 0.04447020937315681, + -0.9980580588924531 + ], + [ + 0.9648377741025018, + -0.2621497279223254, + -0.019120403112409805, + -0.2628433624388261, + -0.9619398931204401, + -0.07473291674549272, + 0.0011985352653014966, + 0.07713081209016036, + -0.997020261248251 + ], + [ + 0.9514631456497638, + -0.3044369330088022, + -0.045122458825410265, + -0.30732257792336276, + -0.9476736122856763, + -0.0864150315394059, + -0.0164534363825726, + 0.09608786810837254, + -0.9952368592619512 + ], + [ + 0.9319731001149292, + -0.3623063431002505, + -0.012659163143430534, + -0.3608443565140809, + -0.9237196620565572, + -0.12858202169066588, + 0.034892564166413766, + 0.12440297295259288, + -0.9916180763209439 + ], + [ + 0.906519354210342, + -0.4213225763084221, + -0.026644833174513802, + -0.4207753829518324, + -0.8966201922440771, + -0.1379141325678132, + 0.03421604219956841, + 0.13623332027454732, + -0.9900857260374828 + ], + [ + 0.9086023150786863, + -0.4150993079073228, + -0.04619954121540418, + -0.4174140946576053, + -0.8986765942072941, + -0.1347065425476827, + 0.014398146228732488, + 0.14167901608509467, + -0.98980793580691 + ], + [ + 0.9208641539974719, + -0.3842858275827077, + -0.06583018002097121, + -0.38983609276362485, + -0.910167611740343, + -0.14008118830760366, + -0.006085282352567632, + 0.1546587251271435, + -0.9879492133104494 + ], + [ + 0.955535093546929, + -0.29442527565069126, + 0.016323052970444105, + -0.2885420462705098, + -0.9449849137531013, + -0.15410061749736892, + 0.060796155588067016, + 0.1425386608505141, + -0.9879203194735158 + ], + [ + 0.978008443573748, + -0.18613615872923944, + 0.09408939744720275, + -0.17280600880416003, + -0.975777958117756, + -0.13414715715481568, + 0.11677999665880655, + 0.11493783913518488, + -0.9864845287764543 + ], + [ + 0.9892684611550768, + -0.07938435075393906, + 0.1226622868661815, + -0.07187972769119742, + -0.9953290429782436, + -0.06444688472728966, + 0.12720541069822908, + 0.0549383387024838, + -0.9903537562051783 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006559.json b/json/chunk-0006/episode_0006559.json new file mode 100644 index 0000000000000000000000000000000000000000..56dd495bf2b391a552c6abe76c40e662515637b4 --- /dev/null +++ b/json/chunk-0006/episode_0006559.json @@ -0,0 +1,2722 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 44, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut the spatula on the towel." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006559.mp4", + "start": 0, + "end": 44, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3510463833808899, + 0.14014233648777008, + 0.09492404758930206, + -0.07278131693601608, + -0.12894625961780548, + 0.6509343981742859, + 0.0, + 1.0001531839370728 + ], + [ + 0.3485424816608429, + 0.13947969675064087, + 0.08194676786661148, + -0.05256319418549538, + -0.0964541807770729, + 0.629631757736206, + 0.0, + 1.0001531839370728 + ], + [ + 0.34387534856796265, + 0.13918355107307434, + 0.07593794912099838, + 0.038625430315732956, + -0.10169531404972076, + 0.43524837493896484, + 0.0, + 1.0001531839370728 + ], + [ + 0.3329273462295532, + 0.1330866515636444, + 0.0763707160949707, + 0.07535544782876968, + -0.12969040870666504, + 0.2775164544582367, + 0.0, + 1.0001531839370728 + ], + [ + 0.32685768604278564, + 0.11653660982847214, + 0.08470786362886429, + 0.14828185737133026, + -0.159079909324646, + 0.09706714004278183, + 0.0, + 1.0001531839370728 + ], + [ + 0.32228779792785645, + 0.09578465670347214, + 0.08695261925458908, + 0.1436690390110016, + -0.19223512709140778, + -0.01714259386062622, + 0.0, + 1.0001531839370728 + ], + [ + 0.326770544052124, + 0.07236064970493317, + 0.08430465310811996, + 0.15724512934684753, + -0.20219825208187103, + -0.17396970093250275, + 0.0, + 1.0001531839370728 + ], + [ + 0.33456477522850037, + 0.0495622344315052, + 0.08298388123512268, + 0.2133985161781311, + -0.2058521807193756, + -0.35022208094596863, + 0.0, + 1.0001531839370728 + ], + [ + 0.3426716923713684, + 0.026118438690900803, + 0.08338966965675354, + 0.2514202892780304, + -0.20800474286079407, + -0.5308954119682312, + 0.0, + 1.0001531839370728 + ], + [ + 0.34677645564079285, + 0.012386114336550236, + 0.07086805999279022, + 0.23558562994003296, + -0.19573241472244263, + -0.6666874885559082, + 0.0, + 1.0001531839370728 + ], + [ + 0.34888195991516113, + -0.003718174295499921, + 0.056412335485219955, + 0.16086432337760925, + -0.20446640253067017, + -0.7774344682693481, + 0.0, + 1.0001531839370728 + ], + [ + 0.34685155749320984, + -0.018920499831438065, + 0.04794160649180412, + 0.14031516015529633, + -0.19173693656921387, + -0.8663040399551392, + 0.0, + 1.0001531839370728 + ], + [ + 0.3452053964138031, + -0.03374459594488144, + 0.0419759675860405, + 0.13811376690864563, + -0.1744127869606018, + -0.9595586657524109, + 0.0, + 1.0001531839370728 + ], + [ + 0.34849482774734497, + -0.044703274965286255, + 0.03997384384274483, + 0.1497253179550171, + -0.1764802187681198, + -1.0140130519866943, + 0.0, + 1.0001531839370728 + ], + [ + 0.3485954701900482, + -0.0514737106859684, + 0.03510793671011925, + 0.13935637474060059, + -0.17492225766181946, + -1.0288879871368408, + 0.0, + 1.0001531839370728 + ], + [ + 0.3521987199783325, + -0.05887738987803459, + 0.027496574446558952, + 0.11768438667058945, + -0.19066977500915527, + -1.0090941190719604, + 0.0, + 1.0001531839370728 + ], + [ + 0.36054763197898865, + -0.06472145766019821, + 0.020723197609186172, + 0.12240268290042877, + -0.18042978644371033, + -1.0163811445236206, + 0.0, + 1.0001531839370728 + ], + [ + 0.36510950326919556, + -0.06297645717859268, + 0.012740273959934711, + 0.13254351913928986, + -0.16192947328090668, + -1.0097013711929321, + 0.0, + 0.9359400868415833 + ], + [ + 0.3702051043510437, + -0.06017758324742317, + 0.012849047780036926, + 0.1677553504705429, + -0.16276361048221588, + -0.9834238290786743, + 0.0, + 0.6239634156227112 + ], + [ + 0.3715609014034271, + -0.05918192118406296, + 0.012892093509435654, + 0.17848172783851624, + -0.16490936279296875, + -0.9763906598091125, + 0.0, + 0.44022873044013977 + ], + [ + 0.3716275095939636, + -0.0587489940226078, + 0.012412198819220066, + 0.18297426402568817, + -0.16467784345149994, + -0.9785441756248474, + 0.0, + 0.43747803568840027 + ], + [ + 0.3696989119052887, + -0.06008180230855942, + 0.01240407582372427, + 0.17657367885112762, + -0.1691952496767044, + -0.9892640709877014, + 0.0, + 0.43747803568840027 + ], + [ + 0.3649997413158417, + -0.05800103396177292, + 0.01903419755399227, + 0.17071333527565002, + -0.17826193571090698, + -0.9911134839057922, + 0.0, + 0.43747803568840027 + ], + [ + 0.3629739284515381, + -0.04558785259723663, + 0.05847940593957901, + 0.2455815225839615, + -0.2033710479736328, + -1.0120559930801392, + 0.0, + 0.43747803568840027 + ], + [ + 0.3503888249397278, + -0.029638197273015976, + 0.0747007206082344, + 0.27664485573768616, + -0.18582218885421753, + -1.033854603767395, + 0.0, + 0.43747803568840027 + ], + [ + 0.3285180330276489, + -0.007911146618425846, + 0.08923446387052536, + 0.27940550446510315, + -0.15692788362503052, + -1.0591150522232056, + 0.0, + 0.43747803568840027 + ], + [ + 0.3070237338542938, + 0.024924438446760178, + 0.09518696367740631, + 0.2873373031616211, + -0.10638429969549179, + -1.0962681770324707, + 0.0, + 0.43747803568840027 + ], + [ + 0.28562891483306885, + 0.05874118581414223, + 0.09212677925825119, + 0.2799051105976105, + -0.06502660363912582, + -1.1100536584854126, + 0.0, + 0.43747803568840027 + ], + [ + 0.271209180355072, + 0.0777004063129425, + 0.08180071413516998, + 0.25986430048942566, + -0.03809809312224388, + -1.114502191543579, + 0.0, + 0.43747803568840027 + ], + [ + 0.2601954936981201, + 0.09790927171707153, + 0.07581955194473267, + 0.25937843322753906, + -0.011274649761617184, + -1.127103328704834, + 0.0, + 0.43747803568840027 + ], + [ + 0.25293073058128357, + 0.11210177093744278, + 0.06617943942546844, + 0.2505388557910919, + 0.008690551854670048, + -1.132270336151123, + 0.0, + 0.43747803568840027 + ], + [ + 0.2432965487241745, + 0.12502969801425934, + 0.05142028629779816, + 0.23417021334171295, + 0.027610793709754944, + -1.1381540298461914, + 0.0, + 0.43747803568840027 + ], + [ + 0.23877321183681488, + 0.1339634209871292, + 0.03832930698990822, + 0.2231072634458542, + 0.04999546706676483, + -1.1508350372314453, + 0.0, + 0.43747803568840027 + ], + [ + 0.23520450294017792, + 0.13266418874263763, + 0.029829995706677437, + 0.21854417026042938, + 0.054956432431936264, + -1.179485559463501, + 0.0, + 0.43747803568840027 + ], + [ + 0.23337925970554352, + 0.13248436152935028, + 0.020254554226994514, + 0.1908092498779297, + 0.056533973664045334, + -1.1804866790771484, + 0.0, + 0.43747803568840027 + ], + [ + 0.23264755308628082, + 0.13483521342277527, + 0.020226556807756424, + 0.1635235846042633, + 0.06371127814054489, + -1.1217730045318604, + 0.0, + 0.519798994064331 + ], + [ + 0.23246270418167114, + 0.14024965465068817, + 0.022656766697764397, + 0.16545027494430542, + 0.09171956032514572, + -1.0738911628723145, + 0.0, + 0.8158720135688782 + ], + [ + 0.23290479183197021, + 0.14032895863056183, + 0.02388184331357479, + 0.15989679098129272, + 0.09257299453020096, + -1.069879412651062, + 0.0, + 1.00800359249115 + ], + [ + 0.23137222230434418, + 0.13835544884204865, + 0.025008726865053177, + 0.1382530778646469, + 0.08460034430027008, + -1.0597201585769653, + 0.0, + 1.0060625076293945 + ], + [ + 0.23533937335014343, + 0.13620871305465698, + 0.031224047765135765, + 0.11895515024662018, + 0.05696409195661545, + -1.0471822023391724, + 0.0, + 1.0001531839370728 + ], + [ + 0.24149757623672485, + 0.1353446990251541, + 0.048360977321863174, + 0.11939409375190735, + 0.0185577142983675, + -1.0258289575576782, + 0.0, + 1.0001531839370728 + ], + [ + 0.24663951992988586, + 0.13162562251091003, + 0.07301142066717148, + 0.12126612663269043, + -0.03043249249458313, + -1.0067007541656494, + 0.0, + 1.0001531839370728 + ], + [ + 0.24678675830364227, + 0.12779909372329712, + 0.09578774869441986, + 0.14078094065189362, + -0.04946085065603256, + -1.0178003311157227, + 0.0, + 1.0001531839370728 + ], + [ + 0.24728278815746307, + 0.12599393725395203, + 0.11513397097587585, + 0.17287926375865936, + -0.06456834822893143, + -1.0231643915176392, + 0.0, + 1.0001531839370728 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9359400868415833 + ], + [ + 0.6239634156227112 + ], + [ + 0.44022873044013977 + ], + [ + 0.43747803568840027 + ], + [ + 0.43747803568840027 + ], + [ + 0.43747803568840027 + ], + [ + 0.43747803568840027 + ], + [ + 0.43747803568840027 + ], + [ + 0.43747803568840027 + ], + [ + 0.43747803568840027 + ], + [ + 0.43747803568840027 + ], + [ + 0.43747803568840027 + ], + [ + 0.43747803568840027 + ], + [ + 0.43747803568840027 + ], + [ + 0.43747803568840027 + ], + [ + 0.43747803568840027 + ], + [ + 0.43747803568840027 + ], + [ + 0.43747803568840027 + ], + [ + 0.519798994064331 + ], + [ + 0.8158720135688782 + ], + [ + 1.00800359249115 + ], + [ + 1.0060625076293945 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3510463833808899, + 0.14014233648777008, + 0.09492404758930206 + ], + [ + 0.3485424816608429, + 0.13947969675064087, + 0.08194676786661148 + ], + [ + 0.34387534856796265, + 0.13918355107307434, + 0.07593794912099838 + ], + [ + 0.3329273462295532, + 0.1330866515636444, + 0.0763707160949707 + ], + [ + 0.32685768604278564, + 0.11653660982847214, + 0.08470786362886429 + ], + [ + 0.32228779792785645, + 0.09578465670347214, + 0.08695261925458908 + ], + [ + 0.326770544052124, + 0.07236064970493317, + 0.08430465310811996 + ], + [ + 0.33456477522850037, + 0.0495622344315052, + 0.08298388123512268 + ], + [ + 0.3426716923713684, + 0.026118438690900803, + 0.08338966965675354 + ], + [ + 0.34677645564079285, + 0.012386114336550236, + 0.07086805999279022 + ], + [ + 0.34888195991516113, + -0.003718174295499921, + 0.056412335485219955 + ], + [ + 0.34685155749320984, + -0.018920499831438065, + 0.04794160649180412 + ], + [ + 0.3452053964138031, + -0.03374459594488144, + 0.0419759675860405 + ], + [ + 0.34849482774734497, + -0.044703274965286255, + 0.03997384384274483 + ], + [ + 0.3485954701900482, + -0.0514737106859684, + 0.03510793671011925 + ], + [ + 0.3521987199783325, + -0.05887738987803459, + 0.027496574446558952 + ], + [ + 0.36054763197898865, + -0.06472145766019821, + 0.020723197609186172 + ], + [ + 0.36510950326919556, + -0.06297645717859268, + 0.012740273959934711 + ], + [ + 0.3702051043510437, + -0.06017758324742317, + 0.012849047780036926 + ], + [ + 0.3715609014034271, + -0.05918192118406296, + 0.012892093509435654 + ], + [ + 0.3716275095939636, + -0.0587489940226078, + 0.012412198819220066 + ], + [ + 0.3696989119052887, + -0.06008180230855942, + 0.01240407582372427 + ], + [ + 0.3649997413158417, + -0.05800103396177292, + 0.01903419755399227 + ], + [ + 0.3629739284515381, + -0.04558785259723663, + 0.05847940593957901 + ], + [ + 0.3503888249397278, + -0.029638197273015976, + 0.0747007206082344 + ], + [ + 0.3285180330276489, + -0.007911146618425846, + 0.08923446387052536 + ], + [ + 0.3070237338542938, + 0.024924438446760178, + 0.09518696367740631 + ], + [ + 0.28562891483306885, + 0.05874118581414223, + 0.09212677925825119 + ], + [ + 0.271209180355072, + 0.0777004063129425, + 0.08180071413516998 + ], + [ + 0.2601954936981201, + 0.09790927171707153, + 0.07581955194473267 + ], + [ + 0.25293073058128357, + 0.11210177093744278, + 0.06617943942546844 + ], + [ + 0.2432965487241745, + 0.12502969801425934, + 0.05142028629779816 + ], + [ + 0.23877321183681488, + 0.1339634209871292, + 0.03832930698990822 + ], + [ + 0.23520450294017792, + 0.13266418874263763, + 0.029829995706677437 + ], + [ + 0.23337925970554352, + 0.13248436152935028, + 0.020254554226994514 + ], + [ + 0.23264755308628082, + 0.13483521342277527, + 0.020226556807756424 + ], + [ + 0.23246270418167114, + 0.14024965465068817, + 0.022656766697764397 + ], + [ + 0.23290479183197021, + 0.14032895863056183, + 0.02388184331357479 + ], + [ + 0.23137222230434418, + 0.13835544884204865, + 0.025008726865053177 + ], + [ + 0.23533937335014343, + 0.13620871305465698, + 0.031224047765135765 + ], + [ + 0.24149757623672485, + 0.1353446990251541, + 0.048360977321863174 + ], + [ + 0.24663951992988586, + 0.13162562251091003, + 0.07301142066717148 + ], + [ + 0.24678675830364227, + 0.12779909372329712, + 0.09578774869441986 + ], + [ + 0.24728278815746307, + 0.12599393725395203, + 0.11513397097587585 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.7889135312624515, + 0.5968872707729477, + 0.14608568095549562, + 0.600899535835954, + -0.799077747644691, + 0.019862050529149838, + 0.128589222033357, + 0.07211337745737174, + -0.9890725316014729 + ], + [ + 0.804487601348757, + 0.5839443797585723, + 0.10866766135562052, + 0.5861101480622911, + -0.8101075339934831, + 0.014166075864426732, + 0.09630469154990622, + 0.052294786694028476, + -0.9939771937374133 + ], + [ + 0.902080531140928, + 0.42487592411648323, + 0.07570445457610417, + 0.41945724597166445, + -0.9044360871049912, + 0.07778806556329267, + 0.10152011691466678, + -0.03841631747548076, + -0.9940914708482591 + ], + [ + 0.9536621135484453, + 0.28255424943345414, + 0.10340052857412803, + 0.27166718520955063, + -0.9563420873130392, + 0.10773463934157235, + 0.12932715748299503, + -0.07465191330995033, + -0.9887879338748687 + ], + [ + 0.9827255727798352, + 0.11914442573731235, + 0.14161586923883698, + 0.0956910844886148, + -0.9821025864223477, + 0.1622273900792596, + 0.15840980068776708, + -0.14587362872795592, + -0.9765383860800357 + ], + [ + 0.9814354347412086, + 0.010384951006996828, + 0.19151146239041858, + -0.016825997300819108, + -0.9900208238643329, + 0.13991302344606868, + 0.19105332566895364, + -0.14053797034100649, + -0.9714667805145284 + ], + [ + 0.9648403995761602, + -0.13998412484795877, + 0.22245774460842313, + -0.16956713294769302, + -0.9781975998277124, + 0.11990180613819798, + 0.2008232824391005, + -0.15340762849954268, + -0.9675412697908712 + ], + [ + 0.919465314533365, + -0.29466278689618, + 0.2603024728822919, + -0.33586246252741825, + -0.9328429148515764, + 0.13038597499820584, + 0.20440142278144366, + -0.2073112110566879, + -0.9566828733363687 + ], + [ + 0.8437659349290344, + -0.4460840069395454, + 0.2984428015652121, + -0.49539223546235767, + -0.8612531814310229, + 0.11326734091762711, + 0.20650806303130367, + -0.24341737043132647, + -0.9476826492425394 + ], + [ + 0.7708684978645062, + -0.5656300409755534, + 0.2929580443444317, + -0.6065783851125223, + -0.7922385993235378, + 0.06648807754901517, + 0.19448501668356016, + -0.22895558191027618, + -0.9538107358368968 + ], + [ + 0.6978692394813522, + -0.6692180164054288, + 0.2551975139065865, + -0.6868415914561053, + -0.7263263985887998, + -0.02643087132631962, + 0.20304470648545286, + -0.15683497451591327, + -0.9665276188173979 + ], + [ + 0.635778750725616, + -0.7371913906566109, + 0.2287667669648441, + -0.7479776949559055, + -0.6615887531341116, + -0.05319482658024218, + 0.19056428829721905, + -0.1372922986486267, + -0.9720267880863936 + ], + [ + 0.5651748866191331, + -0.7974295364958918, + 0.21138467744611344, + -0.806513939161937, + -0.5879816931944383, + -0.06174782915776707, + 0.17352986334503168, + -0.1355863665423218, + -0.9754505234686719 + ], + [ + 0.5202499205784699, + -0.82562179545622, + 0.21837735918758522, + -0.8357731482431187, + -0.5447787029827574, + -0.06855223885629771, + 0.17556555702609256, + -0.14684963617276123, + -0.9734536042062024 + ], + [ + 0.507901212359174, + -0.835952270697591, + 0.20789458771123093, + -0.8436523969666205, + -0.5314822417647225, + -0.07600828758247904, + 0.1740315821239266, + -0.13678606582648148, + -0.975193611863386 + ], + [ + 0.5229750992628399, + -0.8286437790732317, + 0.19961596367589543, + -0.8310117409250128, + -0.5477762589144122, + -0.09675048637867839, + 0.18951657446197842, + -0.11528511427311261, + -0.9750860528339196 + ], + [ + 0.5179001922063293, + -0.8323125437528144, + 0.19757332923339282, + -0.8364067355090222, + -0.5411359941258378, + -0.08715278914975527, + 0.17945239955984899, + -0.12011521707577541, + -0.9764062530110362 + ], + [ + 0.5251525004163314, + -0.827909288383765, + 0.19692907737143014, + -0.8355968407116837, + -0.5454860478387937, + -0.06498377802087339, + 0.1612227375376313, + -0.13042692138167222, + -0.9782617477340975 + ], + [ + 0.5468513869502523, + -0.8057202612513054, + 0.22752674831701497, + -0.8213980063319909, + -0.5689183332958221, + -0.04046288711566448, + 0.1620459064105494, + -0.16476283151558413, + -0.972930795877359 + ], + [ + 0.5524188498903793, + -0.7989989853080353, + 0.23755848914008684, + -0.8172416708863048, + -0.5752661477426215, + -0.034422530823937106, + 0.16416292411123548, + -0.1751270417099952, + -0.9707631295064487 + ], + [ + 0.550678829298228, + -0.79918419733536, + 0.24095112718592732, + -0.8184609295002694, + -0.5736608343014316, + -0.032170702046117924, + 0.16393454133979124, + -0.1794933589802734, + -0.9700039176403827 + ], + [ + 0.5414612208774311, + -0.8063813482744586, + 0.23784210611451595, + -0.8236897730516566, + -0.5654807230415474, + -0.042032245223397005, + 0.16838914470960642, + -0.17314927959271348, + -0.9703939524340061 + ], + [ + 0.5390784918161108, + -0.8079742736788207, + 0.2378485920379802, + -0.823378551041114, + -0.5649991069324822, + -0.05313916494388182, + 0.17731932028603908, + -0.1671932481850858, + -0.9698475531827759 + ], + [ + 0.5191934574385887, + -0.7964518578208474, + 0.31000418049872314, + -0.8304489423927647, + -0.5558489421966676, + -0.03723583673807079, + 0.20197204715431036, + -0.23811004101584254, + -0.9500057371067454 + ], + [ + 0.5027046638644916, + -0.8007931313851219, + 0.3256046401009963, + -0.844484308581393, + -0.5354222457790849, + -0.013010429842544552, + 0.18475463049324384, + -0.2684276056058542, + -0.9454164939644394 + ], + [ + 0.4836271686870906, + -0.8170049200488813, + 0.3140186655656465, + -0.8612083899908068, + -0.5082358564210271, + 0.004052561835116875, + 0.15628458246785165, + -0.272395438405099, + -0.949408160076025 + ], + [ + 0.454335604564091, + -0.8392904449175537, + 0.29861464715495256, + -0.8844796046234339, + -0.4649534528187304, + 0.038911639866686096, + 0.10618374372075948, + -0.28179750847378965, + -0.9535801889654631 + ], + [ + 0.44367377053329526, + -0.8528808592303934, + 0.27522322812436184, + -0.8938294483604992, + -0.44338974032189016, + 0.06689137030179922, + 0.06498078627051618, + -0.27568057264833234, + -0.9590504258275229 + ], + [ + 0.4403046800235545, + -0.8632390748292059, + 0.24688071702215175, + -0.8970401474648931, + -0.4346160186130087, + 0.08017412426175592, + 0.038088877451532485, + -0.25676295693303075, + -0.9657235739907608 + ], + [ + 0.4292505149874737, + -0.8717196827666304, + 0.23632348605298176, + -0.9031150995537366, + -0.4175299450743646, + 0.10025897428281588, + 0.011274410895159834, + -0.2564635249766393, + -0.9664881520305997 + ], + [ + 0.4245893562053046, + -0.8780265145442161, + 0.22089209663204515, + -0.9053443294167054, + -0.4093980544036956, + 0.11289321610922805, + -0.00869044246176004, + -0.24791666504655246, + -0.9687423823710897 + ], + [ + 0.41911129506944045, + -0.8857688267309523, + 0.19939736191055302, + -0.9075150467761384, + -0.40201237537410284, + 0.12166548368775057, + -0.027607285634761572, + -0.23194748465491719, + -0.9723364655005677 + ], + [ + 0.40721564883564154, + -0.8949814912958284, + 0.1821635133095064, + -0.9119637879324748, + -0.38752289700256626, + 0.13471471262854182, + -0.04997464200191587, + -0.22098446673156388, + -0.9739960988731664 + ], + [ + 0.38082461910474885, + -0.9069641339043316, + 0.17996852306691877, + -0.9230143223964608, + -0.3613196554208462, + 0.13225984748805214, + -0.05492877328618251, + -0.21648133041379353, + -0.9747403056443026 + ], + [ + 0.37986693891946544, + -0.9120845549539742, + 0.15428179844157375, + -0.9233138264341609, + -0.3636593777617886, + 0.12346430610268462, + -0.056503863863135925, + -0.1893505256932761, + -0.9802824551057805 + ], + [ + 0.4332051732750456, + -0.8933529365246519, + 0.11938931547889488, + -0.8990437364691483, + -0.4189576269898879, + 0.12725905351916894, + -0.06366818485971253, + -0.16246549661322945, + -0.9846579734338652 + ], + [ + 0.47470353342698596, + -0.8742488834562611, + 0.10171256130594314, + -0.8753671464527909, + -0.45693709632127105, + 0.15792672008429587, + -0.09159101627906821, + -0.16400420659533782, + -0.9821984045782202 + ], + [ + 0.47817374614147135, + -0.8730215930213299, + 0.09582884022845518, + -0.87338683381885, + -0.46119419475604106, + 0.1565099141754637, + -0.09244082979352726, + -0.1585345793252246, + -0.9830165207895836 + ], + [ + 0.4873668719985642, + -0.8695919764918748, + 0.07926743656312946, + -0.8690991731636916, + -0.47429206252692435, + 0.14040536538944487, + -0.08449946322032242, + -0.1373201873174904, + -0.9869159066863634 + ], + [ + 0.4992022632772245, + -0.8632760970394209, + 0.07450825873203992, + -0.8646130353268389, + -0.49062849648731943, + 0.10829578744116734, + -0.05693328975043275, + -0.11848231393324647, + -0.9913226224611322 + ], + [ + 0.5183009254577072, + -0.8502022196878568, + 0.09230566779740614, + -0.854996959902448, + -0.51280964044772, + 0.07750142722203114, + -0.018556649138673248, + -0.11909012680201943, + -0.9927100243631183 + ], + [ + 0.5344041669265073, + -0.8368985558796102, + 0.11837649064830856, + -0.8446812035593766, + -0.5338359529154995, + 0.03915149713975117, + 0.03042779527125007, + -0.1209131198068428, + -0.9921966371307187 + ], + [ + 0.5245967040201546, + -0.838892235051186, + 0.14511414852458637, + -0.8499140642741922, + -0.5259460622455451, + 0.0320440783504418, + 0.049440686485063945, + -0.14014477364222536, + -0.9888958797268066 + ], + [ + 0.519581960192152, + -0.8352543339552337, + 0.17995772906957833, + -0.851980812899887, + -0.5223817733356063, + 0.035298404173486106, + 0.06452349256920714, + -0.17166094633243173, + -0.9830408121797005 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.002503901720046997, + -0.0006626397371292114, + -0.012977279722690582, + 0.020218122750520706, + 0.032492078840732574, + -0.021302640438079834, + 1.0 + ], + [ + -0.004667133092880249, + -0.0002961456775665283, + -0.006008818745613098, + 0.09118862450122833, + -0.005241133272647858, + -0.1943833827972412, + 1.0 + ], + [ + -0.010948002338409424, + -0.006096899509429932, + 0.00043276697397232056, + 0.03673001751303673, + -0.027995094656944275, + -0.15773192048072815, + 1.0 + ], + [ + -0.006069660186767578, + -0.01655004173517227, + 0.008337147533893585, + 0.07292640954256058, + -0.029389500617980957, + -0.18044930696487427, + 1.0 + ], + [ + -0.004569888114929199, + -0.020751953125, + 0.0022447556257247925, + -0.004612818360328674, + -0.03315521776676178, + -0.11420973390340805, + 1.0 + ], + [ + 0.004482746124267578, + -0.02342400699853897, + -0.002647966146469116, + 0.013576090335845947, + -0.009963124990463257, + -0.15682710707187653, + 1.0 + ], + [ + 0.007794231176376343, + -0.022798415273427963, + -0.001320771872997284, + 0.05615338683128357, + -0.0036539286375045776, + -0.17625238001346588, + 1.0 + ], + [ + 0.008106917142868042, + -0.0234437957406044, + 0.0004057884216308594, + 0.03802177309989929, + -0.002152562141418457, + -0.18067333102226257, + 1.0 + ], + [ + 0.0041047632694244385, + -0.013732324354350567, + -0.012521609663963318, + -0.015834659337997437, + 0.01227232813835144, + -0.135792076587677, + 1.0 + ], + [ + 0.002105504274368286, + -0.016104288399219513, + -0.014455724507570267, + -0.0747213065624237, + -0.008733987808227539, + -0.11074697971343994, + 1.0 + ], + [ + -0.002030402421951294, + -0.015202325768768787, + -0.008470728993415833, + -0.020549163222312927, + 0.012729465961456299, + -0.08886957168579102, + 1.0 + ], + [ + -0.0016461610794067383, + -0.014824096113443375, + -0.005965638905763626, + -0.002201393246650696, + 0.01732414960861206, + -0.09325462579727173, + 1.0 + ], + [ + 0.00328943133354187, + -0.010958679020404816, + -0.0020021237432956696, + 0.01161155104637146, + -0.0020674318075180054, + -0.05445438623428345, + 1.0 + ], + [ + 0.00010064244270324707, + -0.006770435720682144, + -0.00486590713262558, + -0.010368943214416504, + 0.001557961106300354, + -0.014874935150146484, + 1.0 + ], + [ + 0.0036032497882843018, + -0.007403679192066193, + -0.007611362263560295, + -0.02167198807001114, + -0.015747517347335815, + 0.01979386806488037, + 1.0 + ], + [ + 0.008348912000656128, + -0.00584406778216362, + -0.00677337683737278, + 0.004718296229839325, + 0.010239988565444946, + -0.007287025451660156, + 1.0 + ], + [ + 0.004561871290206909, + 0.0017450004816055298, + -0.007982923649251461, + 0.010140836238861084, + 0.01850031316280365, + 0.0066797733306884766, + 0.0 + ], + [ + 0.0050956010818481445, + 0.00279887393116951, + 0.00010877382010221481, + 0.03521183133125305, + -0.0008341372013092041, + 0.026277542114257812, + 0.0 + ], + [ + 0.0013557970523834229, + 0.0009956620633602142, + 4.304572939872742e-05, + 0.010726377367973328, + -0.0021457523107528687, + 0.007033169269561768, + 0.0 + ], + [ + 6.660819053649902e-05, + 0.0004329271614551544, + -0.0004798946902155876, + 0.004492536187171936, + 0.00023151934146881104, + -0.0021535158157348633, + 0.0 + ], + [ + -0.0019285976886749268, + -0.0013328082859516144, + -8.122995495796204e-06, + -0.006400585174560547, + -0.004517406225204468, + -0.010719895362854004, + 0.0 + ], + [ + -0.0046991705894470215, + 0.002080768346786499, + 0.0066301217302680016, + -0.0058603435754776, + -0.009066686034202576, + -0.0018494129180908203, + 0.0 + ], + [ + -0.002025812864303589, + 0.012413181364536285, + 0.03944520652294159, + 0.07486818730831146, + -0.02510911226272583, + -0.020942509174346924, + 0.0 + ], + [ + -0.012585103511810303, + 0.015949655324220657, + 0.016221314668655396, + 0.03106333315372467, + 0.017548859119415283, + -0.02179861068725586, + 0.0 + ], + [ + -0.021870791912078857, + 0.021727051585912704, + 0.014533743262290955, + 0.002760648727416992, + 0.02889430522918701, + -0.025260448455810547, + 0.0 + ], + [ + -0.021494299173355103, + 0.03283558413386345, + 0.005952499806880951, + 0.007931798696517944, + 0.05054358392953873, + -0.03715312480926514, + 0.0 + ], + [ + -0.021394819021224976, + 0.03381674736738205, + -0.003060184419155121, + -0.00743219256401062, + 0.04135769605636597, + -0.013785481452941895, + 0.0 + ], + [ + -0.014419734477996826, + 0.018959220498800278, + -0.010326065123081207, + -0.020040810108184814, + 0.026928510516881943, + -0.004448533058166504, + 0.0 + ], + [ + -0.011013686656951904, + 0.02020886540412903, + -0.005981162190437317, + -0.0004858672618865967, + 0.026823442429304123, + -0.012601137161254883, + 0.0 + ], + [ + -0.007264763116836548, + 0.014192499220371246, + -0.009640112519264221, + -0.008839577436447144, + 0.01996520161628723, + -0.0051670074462890625, + 0.0 + ], + [ + -0.00963418185710907, + 0.012927927076816559, + -0.014759153127670288, + -0.016368642449378967, + 0.01892024278640747, + -0.005883693695068359, + 0.0 + ], + [ + -0.004523336887359619, + 0.008933722972869873, + -0.013090979307889938, + -0.011062949895858765, + 0.022384673357009888, + -0.012681007385253906, + 0.0 + ], + [ + -0.003568708896636963, + -0.0012992322444915771, + -0.008499311283230782, + -0.004563093185424805, + 0.0049609653651714325, + -0.028650522232055664, + 0.0 + ], + [ + -0.0018252432346343994, + -0.00017982721328735352, + -0.009575441479682922, + -0.027734920382499695, + 0.0015775412321090698, + -0.001001119613647461, + 1.0 + ], + [ + -0.0007317066192626953, + 0.002350851893424988, + -2.7997419238090515e-05, + -0.027285665273666382, + 0.0071773044764995575, + 0.058713674545288086, + 1.0 + ], + [ + -0.00018484890460968018, + 0.005414441227912903, + 0.0024302098900079727, + 0.0019266903400421143, + 0.02800828218460083, + 0.0478818416595459, + 1.0 + ], + [ + 0.00044208765029907227, + 7.930397987365723e-05, + 0.0012250766158103943, + -0.005553483963012695, + 0.0008534342050552368, + 0.004011750221252441, + 1.0 + ], + [ + -0.0015325695276260376, + -0.0019735097885131836, + 0.001126883551478386, + -0.021643713116645813, + -0.007972650229930878, + 0.01015925407409668, + 1.0 + ], + [ + 0.003967151045799255, + -0.0021467357873916626, + 0.006215320900082588, + -0.019297927618026733, + -0.027636252343654633, + 0.012537956237792969, + 1.0 + ], + [ + 0.006158202886581421, + -0.0008640140295028687, + 0.01713692955672741, + 0.0004389435052871704, + -0.0384063795208931, + 0.02135324478149414, + 1.0 + ], + [ + 0.005141943693161011, + -0.0037190765142440796, + 0.024650443345308304, + 0.001872032880783081, + -0.04899020493030548, + 0.01912820339202881, + 1.0 + ], + [ + 0.0001472383737564087, + -0.003826528787612915, + 0.022776328027248383, + 0.019514814019203186, + -0.019028358161449432, + -0.011099576950073242, + 1.0 + ], + [ + 0.0004960298538208008, + -0.0018051564693450928, + 0.019346222281455994, + 0.03209832310676575, + -0.015107497572898865, + -0.005364060401916504, + 1.0 + ], + [ + 0.00013472139835357666, + 0.0005605220794677734, + 0.0008242949843406677, + 0.0030713677406311035, + -0.0001361370086669922, + 0.0013356208801269531, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9359400868415833 + ], + [ + 0.6239634156227112 + ], + [ + 0.44022873044013977 + ], + [ + 0.43747803568840027 + ], + [ + 0.43747803568840027 + ], + [ + 0.43747803568840027 + ], + [ + 0.43747803568840027 + ], + [ + 0.43747803568840027 + ], + [ + 0.43747803568840027 + ], + [ + 0.43747803568840027 + ], + [ + 0.43747803568840027 + ], + [ + 0.43747803568840027 + ], + [ + 0.43747803568840027 + ], + [ + 0.43747803568840027 + ], + [ + 0.43747803568840027 + ], + [ + 0.43747803568840027 + ], + [ + 0.43747803568840027 + ], + [ + 0.43747803568840027 + ], + [ + 0.519798994064331 + ], + [ + 0.8158720135688782 + ], + [ + 1.00800359249115 + ], + [ + 1.0060625076293945 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3485424816608429, + 0.13947969675064087, + 0.08194676786661148 + ], + [ + 0.34387534856796265, + 0.13918355107307434, + 0.07593794912099838 + ], + [ + 0.3329273462295532, + 0.1330866515636444, + 0.0763707160949707 + ], + [ + 0.32685768604278564, + 0.11653660982847214, + 0.08470786362886429 + ], + [ + 0.32228779792785645, + 0.09578465670347214, + 0.08695261925458908 + ], + [ + 0.326770544052124, + 0.07236064970493317, + 0.08430465310811996 + ], + [ + 0.33456477522850037, + 0.0495622344315052, + 0.08298388123512268 + ], + [ + 0.3426716923713684, + 0.026118438690900803, + 0.08338966965675354 + ], + [ + 0.34677645564079285, + 0.012386114336550236, + 0.07086805999279022 + ], + [ + 0.34888195991516113, + -0.003718174295499921, + 0.056412335485219955 + ], + [ + 0.34685155749320984, + -0.018920499831438065, + 0.04794160649180412 + ], + [ + 0.3452053964138031, + -0.03374459594488144, + 0.0419759675860405 + ], + [ + 0.34849482774734497, + -0.044703274965286255, + 0.03997384384274483 + ], + [ + 0.3485954701900482, + -0.0514737106859684, + 0.03510793671011925 + ], + [ + 0.3521987199783325, + -0.05887738987803459, + 0.027496574446558952 + ], + [ + 0.36054763197898865, + -0.06472145766019821, + 0.020723197609186172 + ], + [ + 0.36510950326919556, + -0.06297645717859268, + 0.012740273959934711 + ], + [ + 0.3702051043510437, + -0.06017758324742317, + 0.012849047780036926 + ], + [ + 0.3715609014034271, + -0.05918192118406296, + 0.012892093509435654 + ], + [ + 0.3716275095939636, + -0.0587489940226078, + 0.012412198819220066 + ], + [ + 0.3696989119052887, + -0.06008180230855942, + 0.01240407582372427 + ], + [ + 0.3649997413158417, + -0.05800103396177292, + 0.01903419755399227 + ], + [ + 0.3629739284515381, + -0.04558785259723663, + 0.05847940593957901 + ], + [ + 0.3503888249397278, + -0.029638197273015976, + 0.0747007206082344 + ], + [ + 0.3285180330276489, + -0.007911146618425846, + 0.08923446387052536 + ], + [ + 0.3070237338542938, + 0.024924438446760178, + 0.09518696367740631 + ], + [ + 0.28562891483306885, + 0.05874118581414223, + 0.09212677925825119 + ], + [ + 0.271209180355072, + 0.0777004063129425, + 0.08180071413516998 + ], + [ + 0.2601954936981201, + 0.09790927171707153, + 0.07581955194473267 + ], + [ + 0.25293073058128357, + 0.11210177093744278, + 0.06617943942546844 + ], + [ + 0.2432965487241745, + 0.12502969801425934, + 0.05142028629779816 + ], + [ + 0.23877321183681488, + 0.1339634209871292, + 0.03832930698990822 + ], + [ + 0.23520450294017792, + 0.13266418874263763, + 0.029829995706677437 + ], + [ + 0.23337925970554352, + 0.13248436152935028, + 0.020254554226994514 + ], + [ + 0.23264755308628082, + 0.13483521342277527, + 0.020226556807756424 + ], + [ + 0.23246270418167114, + 0.14024965465068817, + 0.022656766697764397 + ], + [ + 0.23290479183197021, + 0.14032895863056183, + 0.02388184331357479 + ], + [ + 0.23137222230434418, + 0.13835544884204865, + 0.025008726865053177 + ], + [ + 0.23533937335014343, + 0.13620871305465698, + 0.031224047765135765 + ], + [ + 0.24149757623672485, + 0.1353446990251541, + 0.048360977321863174 + ], + [ + 0.24663951992988586, + 0.13162562251091003, + 0.07301142066717148 + ], + [ + 0.24678675830364227, + 0.12779909372329712, + 0.09578774869441986 + ], + [ + 0.24728278815746307, + 0.12599393725395203, + 0.11513397097587585 + ], + [ + 0.24741750955581665, + 0.1265544593334198, + 0.11595826596021652 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.804487601348757, + 0.5839443797585723, + 0.10866766135562052, + 0.5861101480622911, + -0.8101075339934831, + 0.014166075864426732, + 0.09630469154990622, + 0.052294786694028476, + -0.9939771937374133 + ], + [ + 0.902080531140928, + 0.42487592411648323, + 0.07570445457610417, + 0.41945724597166445, + -0.9044360871049912, + 0.07778806556329267, + 0.10152011691466678, + -0.03841631747548076, + -0.9940914708482591 + ], + [ + 0.9536621135484453, + 0.28255424943345414, + 0.10340052857412803, + 0.27166718520955063, + -0.9563420873130392, + 0.10773463934157235, + 0.12932715748299503, + -0.07465191330995033, + -0.9887879338748687 + ], + [ + 0.9827255727798352, + 0.11914442573731235, + 0.14161586923883698, + 0.0956910844886148, + -0.9821025864223477, + 0.1622273900792596, + 0.15840980068776708, + -0.14587362872795592, + -0.9765383860800357 + ], + [ + 0.9814354347412086, + 0.010384951006996828, + 0.19151146239041858, + -0.016825997300819108, + -0.9900208238643329, + 0.13991302344606868, + 0.19105332566895364, + -0.14053797034100649, + -0.9714667805145284 + ], + [ + 0.9648403995761602, + -0.13998412484795877, + 0.22245774460842313, + -0.16956713294769302, + -0.9781975998277124, + 0.11990180613819798, + 0.2008232824391005, + -0.15340762849954268, + -0.9675412697908712 + ], + [ + 0.919465314533365, + -0.29466278689618, + 0.2603024728822919, + -0.33586246252741825, + -0.9328429148515764, + 0.13038597499820584, + 0.20440142278144366, + -0.2073112110566879, + -0.9566828733363687 + ], + [ + 0.8437659349290344, + -0.4460840069395454, + 0.2984428015652121, + -0.49539223546235767, + -0.8612531814310229, + 0.11326734091762711, + 0.20650806303130367, + -0.24341737043132647, + -0.9476826492425394 + ], + [ + 0.7708684978645062, + -0.5656300409755534, + 0.2929580443444317, + -0.6065783851125223, + -0.7922385993235378, + 0.06648807754901517, + 0.19448501668356016, + -0.22895558191027618, + -0.9538107358368968 + ], + [ + 0.6978692394813522, + -0.6692180164054288, + 0.2551975139065865, + -0.6868415914561053, + -0.7263263985887998, + -0.02643087132631962, + 0.20304470648545286, + -0.15683497451591327, + -0.9665276188173979 + ], + [ + 0.635778750725616, + -0.7371913906566109, + 0.2287667669648441, + -0.7479776949559055, + -0.6615887531341116, + -0.05319482658024218, + 0.19056428829721905, + -0.1372922986486267, + -0.9720267880863936 + ], + [ + 0.5651748866191331, + -0.7974295364958918, + 0.21138467744611344, + -0.806513939161937, + -0.5879816931944383, + -0.06174782915776707, + 0.17352986334503168, + -0.1355863665423218, + -0.9754505234686719 + ], + [ + 0.5202499205784699, + -0.82562179545622, + 0.21837735918758522, + -0.8357731482431187, + -0.5447787029827574, + -0.06855223885629771, + 0.17556555702609256, + -0.14684963617276123, + -0.9734536042062024 + ], + [ + 0.507901212359174, + -0.835952270697591, + 0.20789458771123093, + -0.8436523969666205, + -0.5314822417647225, + -0.07600828758247904, + 0.1740315821239266, + -0.13678606582648148, + -0.975193611863386 + ], + [ + 0.5229750992628399, + -0.8286437790732317, + 0.19961596367589543, + -0.8310117409250128, + -0.5477762589144122, + -0.09675048637867839, + 0.18951657446197842, + -0.11528511427311261, + -0.9750860528339196 + ], + [ + 0.5179001922063293, + -0.8323125437528144, + 0.19757332923339282, + -0.8364067355090222, + -0.5411359941258378, + -0.08715278914975527, + 0.17945239955984899, + -0.12011521707577541, + -0.9764062530110362 + ], + [ + 0.5251525004163314, + -0.827909288383765, + 0.19692907737143014, + -0.8355968407116837, + -0.5454860478387937, + -0.06498377802087339, + 0.1612227375376313, + -0.13042692138167222, + -0.9782617477340975 + ], + [ + 0.5468513869502523, + -0.8057202612513054, + 0.22752674831701497, + -0.8213980063319909, + -0.5689183332958221, + -0.04046288711566448, + 0.1620459064105494, + -0.16476283151558413, + -0.972930795877359 + ], + [ + 0.5524188498903793, + -0.7989989853080353, + 0.23755848914008684, + -0.8172416708863048, + -0.5752661477426215, + -0.034422530823937106, + 0.16416292411123548, + -0.1751270417099952, + -0.9707631295064487 + ], + [ + 0.550678829298228, + -0.79918419733536, + 0.24095112718592732, + -0.8184609295002694, + -0.5736608343014316, + -0.032170702046117924, + 0.16393454133979124, + -0.1794933589802734, + -0.9700039176403827 + ], + [ + 0.5414612208774311, + -0.8063813482744586, + 0.23784210611451595, + -0.8236897730516566, + -0.5654807230415474, + -0.042032245223397005, + 0.16838914470960642, + -0.17314927959271348, + -0.9703939524340061 + ], + [ + 0.5390784918161108, + -0.8079742736788207, + 0.2378485920379802, + -0.823378551041114, + -0.5649991069324822, + -0.05313916494388182, + 0.17731932028603908, + -0.1671932481850858, + -0.9698475531827759 + ], + [ + 0.5191934574385887, + -0.7964518578208474, + 0.31000418049872314, + -0.8304489423927647, + -0.5558489421966676, + -0.03723583673807079, + 0.20197204715431036, + -0.23811004101584254, + -0.9500057371067454 + ], + [ + 0.5027046638644916, + -0.8007931313851219, + 0.3256046401009963, + -0.844484308581393, + -0.5354222457790849, + -0.013010429842544552, + 0.18475463049324384, + -0.2684276056058542, + -0.9454164939644394 + ], + [ + 0.4836271686870906, + -0.8170049200488813, + 0.3140186655656465, + -0.8612083899908068, + -0.5082358564210271, + 0.004052561835116875, + 0.15628458246785165, + -0.272395438405099, + -0.949408160076025 + ], + [ + 0.454335604564091, + -0.8392904449175537, + 0.29861464715495256, + -0.8844796046234339, + -0.4649534528187304, + 0.038911639866686096, + 0.10618374372075948, + -0.28179750847378965, + -0.9535801889654631 + ], + [ + 0.44367377053329526, + -0.8528808592303934, + 0.27522322812436184, + -0.8938294483604992, + -0.44338974032189016, + 0.06689137030179922, + 0.06498078627051618, + -0.27568057264833234, + -0.9590504258275229 + ], + [ + 0.4403046800235545, + -0.8632390748292059, + 0.24688071702215175, + -0.8970401474648931, + -0.4346160186130087, + 0.08017412426175592, + 0.038088877451532485, + -0.25676295693303075, + -0.9657235739907608 + ], + [ + 0.4292505149874737, + -0.8717196827666304, + 0.23632348605298176, + -0.9031150995537366, + -0.4175299450743646, + 0.10025897428281588, + 0.011274410895159834, + -0.2564635249766393, + -0.9664881520305997 + ], + [ + 0.4245893562053046, + -0.8780265145442161, + 0.22089209663204515, + -0.9053443294167054, + -0.4093980544036956, + 0.11289321610922805, + -0.00869044246176004, + -0.24791666504655246, + -0.9687423823710897 + ], + [ + 0.41911129506944045, + -0.8857688267309523, + 0.19939736191055302, + -0.9075150467761384, + -0.40201237537410284, + 0.12166548368775057, + -0.027607285634761572, + -0.23194748465491719, + -0.9723364655005677 + ], + [ + 0.40721564883564154, + -0.8949814912958284, + 0.1821635133095064, + -0.9119637879324748, + -0.38752289700256626, + 0.13471471262854182, + -0.04997464200191587, + -0.22098446673156388, + -0.9739960988731664 + ], + [ + 0.38082461910474885, + -0.9069641339043316, + 0.17996852306691877, + -0.9230143223964608, + -0.3613196554208462, + 0.13225984748805214, + -0.05492877328618251, + -0.21648133041379353, + -0.9747403056443026 + ], + [ + 0.37986693891946544, + -0.9120845549539742, + 0.15428179844157375, + -0.9233138264341609, + -0.3636593777617886, + 0.12346430610268462, + -0.056503863863135925, + -0.1893505256932761, + -0.9802824551057805 + ], + [ + 0.4332051732750456, + -0.8933529365246519, + 0.11938931547889488, + -0.8990437364691483, + -0.4189576269898879, + 0.12725905351916894, + -0.06366818485971253, + -0.16246549661322945, + -0.9846579734338652 + ], + [ + 0.47470353342698596, + -0.8742488834562611, + 0.10171256130594314, + -0.8753671464527909, + -0.45693709632127105, + 0.15792672008429587, + -0.09159101627906821, + -0.16400420659533782, + -0.9821984045782202 + ], + [ + 0.47817374614147135, + -0.8730215930213299, + 0.09582884022845518, + -0.87338683381885, + -0.46119419475604106, + 0.1565099141754637, + -0.09244082979352726, + -0.1585345793252246, + -0.9830165207895836 + ], + [ + 0.4873668719985642, + -0.8695919764918748, + 0.07926743656312946, + -0.8690991731636916, + -0.47429206252692435, + 0.14040536538944487, + -0.08449946322032242, + -0.1373201873174904, + -0.9869159066863634 + ], + [ + 0.4992022632772245, + -0.8632760970394209, + 0.07450825873203992, + -0.8646130353268389, + -0.49062849648731943, + 0.10829578744116734, + -0.05693328975043275, + -0.11848231393324647, + -0.9913226224611322 + ], + [ + 0.5183009254577072, + -0.8502022196878568, + 0.09230566779740614, + -0.854996959902448, + -0.51280964044772, + 0.07750142722203114, + -0.018556649138673248, + -0.11909012680201943, + -0.9927100243631183 + ], + [ + 0.5344041669265073, + -0.8368985558796102, + 0.11837649064830856, + -0.8446812035593766, + -0.5338359529154995, + 0.03915149713975117, + 0.03042779527125007, + -0.1209131198068428, + -0.9921966371307187 + ], + [ + 0.5245967040201546, + -0.838892235051186, + 0.14511414852458637, + -0.8499140642741922, + -0.5259460622455451, + 0.0320440783504418, + 0.049440686485063945, + -0.14014477364222536, + -0.9888958797268066 + ], + [ + 0.519581960192152, + -0.8352543339552337, + 0.17995772906957833, + -0.851980812899887, + -0.5223817733356063, + 0.035298404173486106, + 0.06452349256920714, + -0.17166094633243173, + -0.9830408121797005 + ], + [ + 0.5207148313859802, + -0.8339869699706838, + 0.1825425930948402, + -0.8512785874439744, + -0.5234055547676204, + 0.037032307486723884, + 0.06465934529564932, + -0.1746778725469189, + -0.9825002849406308 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006561.json b/json/chunk-0006/episode_0006561.json new file mode 100644 index 0000000000000000000000000000000000000000..561d01333ae8b447053705572437cc23e02f2ace --- /dev/null +++ b/json/chunk-0006/episode_0006561.json @@ -0,0 +1,1522 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 24, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut red bottle in sink." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006561.mp4", + "start": 0, + "end": 24, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.1975587010383606, + 0.01263249758630991, + 0.13154131174087524, + 0.014619637280702591, + 0.04605701565742493, + -0.12558841705322266, + 0.0, + 0.9560673832893372 + ], + [ + 0.1925787776708603, + 0.02561156451702118, + 0.13585762679576874, + 0.02297678217291832, + 0.08915023505687714, + -0.14461936056613922, + 0.0, + 0.9560673832893372 + ], + [ + 0.21034155786037445, + 0.06695468723773956, + 0.1588830053806305, + 0.05423754081130028, + 0.0694710984826088, + -0.19289202988147736, + 0.0, + 0.9560673832893372 + ], + [ + 0.2317158430814743, + 0.11281454563140869, + 0.17311003804206848, + 0.07630325108766556, + 0.05788823217153549, + -0.2441912442445755, + 0.0, + 0.9560673832893372 + ], + [ + 0.250550776720047, + 0.14872272312641144, + 0.17713339626789093, + 0.08584409207105637, + 0.062290698289871216, + -0.2843104898929596, + 0.0, + 0.9560673832893372 + ], + [ + 0.2696232497692108, + 0.1789083033800125, + 0.17231228947639465, + 0.09699442237615585, + 0.0597328282892704, + -0.29715263843536377, + 0.0, + 0.9560673832893372 + ], + [ + 0.2832585275173187, + 0.2013641595840454, + 0.1633545309305191, + 0.12355438619852066, + 0.029501745477318764, + -0.2736961841583252, + 0.0, + 0.9560673832893372 + ], + [ + 0.2874640226364136, + 0.2199430912733078, + 0.1486947238445282, + 0.13869105279445648, + -0.0006155105074867606, + -0.24231186509132385, + 0.0, + 0.9560673832893372 + ], + [ + 0.29151248931884766, + 0.22819331288337708, + 0.1406102329492569, + 0.1363663673400879, + -0.02742513082921505, + -0.25444212555885315, + 0.0, + 0.9560673832893372 + ], + [ + 0.2939518690109253, + 0.23595377802848816, + 0.1326911449432373, + 0.12774135172367096, + -0.04963704198598862, + -0.2726130187511444, + 0.0, + 0.9560673832893372 + ], + [ + 0.29571402072906494, + 0.23962922394275665, + 0.12548504769802094, + 0.1138288602232933, + -0.07020571082830429, + -0.2884460687637329, + 0.0, + 0.9560673832893372 + ], + [ + 0.2962696850299835, + 0.23960697650909424, + 0.11523032188415527, + 0.08085361123085022, + -0.07513294368982315, + -0.2935715615749359, + 0.0, + 0.9560673832893372 + ], + [ + 0.29521074891090393, + 0.23972336947917938, + 0.11018811166286469, + 0.057932641357183456, + -0.07968861609697342, + -0.29173120856285095, + 0.0, + 0.7922340631484985 + ], + [ + 0.2911766469478607, + 0.23603202402591705, + 0.10583750158548355, + 0.030207451432943344, + -0.07180609554052353, + -0.28910258412361145, + 0.0, + 0.5689827799797058 + ], + [ + 0.2878864109516144, + 0.2319677770137787, + 0.09892600774765015, + 0.0145537368953228, + -0.06481023877859116, + -0.2881171405315399, + 0.0, + 0.41573449969291687 + ], + [ + 0.2844468057155609, + 0.22564341127872467, + 0.09819217026233673, + 0.012830422259867191, + -0.058586735278367996, + -0.2921155095100403, + 0.0, + 0.37205085158348083 + ], + [ + 0.2806805372238159, + 0.202942356467247, + 0.10758250206708908, + 0.0062044584192335606, + -0.021726002916693687, + -0.26262912154197693, + 0.0, + 0.37120094895362854 + ], + [ + 0.2787477672100067, + 0.15700143575668335, + 0.12796328961849213, + 0.008735905401408672, + -0.038539640605449677, + -0.24400363862514496, + 0.0, + 0.37120094895362854 + ], + [ + 0.2759356200695038, + 0.1213255301117897, + 0.10502425581216812, + -0.04643269628286362, + -0.0441933274269104, + -0.27547821402549744, + 0.0, + 0.37120094895362854 + ], + [ + 0.2856583893299103, + 0.08841719478368759, + 0.0924033522605896, + -0.06614233553409576, + -0.0621514767408371, + -0.4349254071712494, + 0.0, + 0.37120094895362854 + ], + [ + 0.2976268529891968, + 0.07478401809930801, + 0.07665872573852539, + -0.09654750674962997, + -0.042633820325136185, + -0.5975828170776367, + 0.0, + 0.37120094895362854 + ], + [ + 0.31326860189437866, + 0.06312974542379379, + 0.071347676217556, + -0.1146087646484375, + -0.05783703550696373, + -0.7097579836845398, + 0.0, + 0.3703518807888031 + ], + [ + 0.31954190135002136, + 0.06370574235916138, + 0.06634210795164108, + -0.10102196782827377, + -0.0691908597946167, + -0.7453051805496216, + 0.0, + 0.3703518807888031 + ], + [ + 0.31540238857269287, + 0.06120460107922554, + 0.05699273198843002, + -0.07380101084709167, + -0.060217201709747314, + -0.7665666341781616, + 0.0, + 0.3703518807888031 + ] + ], + "left_gripper_pos": [ + [ + 0.9560673832893372 + ], + [ + 0.9560673832893372 + ], + [ + 0.9560673832893372 + ], + [ + 0.9560673832893372 + ], + [ + 0.9560673832893372 + ], + [ + 0.9560673832893372 + ], + [ + 0.9560673832893372 + ], + [ + 0.9560673832893372 + ], + [ + 0.9560673832893372 + ], + [ + 0.9560673832893372 + ], + [ + 0.9560673832893372 + ], + [ + 0.9560673832893372 + ], + [ + 0.7922340631484985 + ], + [ + 0.5689827799797058 + ], + [ + 0.41573449969291687 + ], + [ + 0.37205085158348083 + ], + [ + 0.37120094895362854 + ], + [ + 0.37120094895362854 + ], + [ + 0.37120094895362854 + ], + [ + 0.37120094895362854 + ], + [ + 0.37120094895362854 + ], + [ + 0.3703518807888031 + ], + [ + 0.3703518807888031 + ], + [ + 0.3703518807888031 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.1975587010383606, + 0.01263249758630991, + 0.13154131174087524 + ], + [ + 0.1925787776708603, + 0.02561156451702118, + 0.13585762679576874 + ], + [ + 0.21034155786037445, + 0.06695468723773956, + 0.1588830053806305 + ], + [ + 0.2317158430814743, + 0.11281454563140869, + 0.17311003804206848 + ], + [ + 0.250550776720047, + 0.14872272312641144, + 0.17713339626789093 + ], + [ + 0.2696232497692108, + 0.1789083033800125, + 0.17231228947639465 + ], + [ + 0.2832585275173187, + 0.2013641595840454, + 0.1633545309305191 + ], + [ + 0.2874640226364136, + 0.2199430912733078, + 0.1486947238445282 + ], + [ + 0.29151248931884766, + 0.22819331288337708, + 0.1406102329492569 + ], + [ + 0.2939518690109253, + 0.23595377802848816, + 0.1326911449432373 + ], + [ + 0.29571402072906494, + 0.23962922394275665, + 0.12548504769802094 + ], + [ + 0.2962696850299835, + 0.23960697650909424, + 0.11523032188415527 + ], + [ + 0.29521074891090393, + 0.23972336947917938, + 0.11018811166286469 + ], + [ + 0.2911766469478607, + 0.23603202402591705, + 0.10583750158548355 + ], + [ + 0.2878864109516144, + 0.2319677770137787, + 0.09892600774765015 + ], + [ + 0.2844468057155609, + 0.22564341127872467, + 0.09819217026233673 + ], + [ + 0.2806805372238159, + 0.202942356467247, + 0.10758250206708908 + ], + [ + 0.2787477672100067, + 0.15700143575668335, + 0.12796328961849213 + ], + [ + 0.2759356200695038, + 0.1213255301117897, + 0.10502425581216812 + ], + [ + 0.2856583893299103, + 0.08841719478368759, + 0.0924033522605896 + ], + [ + 0.2976268529891968, + 0.07478401809930801, + 0.07665872573852539 + ], + [ + 0.31326860189437866, + 0.06312974542379379, + 0.071347676217556 + ], + [ + 0.31954190135002136, + 0.06370574235916138, + 0.06634210795164108 + ], + [ + 0.31540238857269287, + 0.06120460107922554, + 0.05699273198843002 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9910720497141153, + -0.12591292585481847, + -0.04384207315058064, + -0.12512570902379275, + -0.9919338030156899, + 0.020270357079330358, + -0.046040734320327945, + -0.014603613851009577, + -0.9988328114583218 + ], + [ + 0.985631039307879, + -0.1461018742821481, + -0.08476848874501372, + -0.1435434543793716, + -0.9890048466780383, + 0.035562479556226406, + -0.08903219113167657, + -0.022883521988390478, + -0.9957658426375647 + ], + [ + 0.9790865330590076, + -0.19510947156487576, + -0.05763553494302153, + -0.19123568296811563, + -0.9792893481295166, + 0.06649275298696326, + -0.06941523134162773, + -0.054080188107493404, + -0.9961209057700009 + ], + [ + 0.9687078142175592, + -0.24534763439071094, + -0.03754609131081853, + -0.24136666039609833, + -0.9664435283727153, + 0.08791496866706314, + -0.05785590655302904, + -0.07610154246385673, + -0.9954201370836078 + ], + [ + 0.9579937053021587, + -0.28458581408515676, + -0.03548203803235199, + -0.27995168401858855, + -0.9548236888019281, + 0.09969341963156236, + -0.06225042342504196, + -0.08557241216751485, + -0.9943853614465751 + ], + [ + 0.9544687556383065, + -0.2969504535017001, + -0.028457383495285694, + -0.2922766245930288, + -0.949987051923232, + 0.10999534487746565, + -0.05969731339657462, + -0.09666969195844952, + -0.9935246355425164 + ], + [ + 0.9623594785437275, + -0.27173137394319535, + 0.005127813568020462, + -0.2701742651443869, + -0.9544564483244561, + 0.1265652191779225, + -0.029497466174835774, + -0.12318664159237541, + -0.991945034173999 + ], + [ + 0.9707856592810563, + -0.23756096089383652, + 0.033763791159202, + -0.23994754610353522, + -0.9614845834331275, + 0.13406181760410896, + 0.0006155104686220748, + -0.13824682882302436, + -0.9903976148331742 + ], + [ + 0.9674399282435872, + -0.24576103147591769, + 0.06051033505059852, + -0.25161088209884175, + -0.959757577842981, + 0.12472912964667399, + 0.027421693045569608, + -0.13589299901344093, + -0.9903439521548295 + ], + [ + 0.9618844522243694, + -0.26096762832175685, + 0.08169576205129808, + -0.26891725021486296, + -0.9569255781190263, + 0.10943925474181626, + 0.049616661575540455, + -0.127237317284218, + -0.9906305325318888 + ], + [ + 0.9563254302788744, + -0.27498345642275307, + 0.09912502255092784, + -0.28376208710192724, + -0.9547494107606145, + 0.0890653724845859, + 0.07014805289873957, + -0.1133034039473467, + -0.9910810205671685 + ], + [ + 0.9545160167217793, + -0.28262440387620863, + 0.09498747367524595, + -0.28855645627424004, + -0.9558436724592244, + 0.055660087694104174, + 0.07506227657112731, + -0.08053769399033288, + -0.9939211912836344 + ], + [ + 0.9547080258341655, + -0.28271385102408514, + 0.09276563936588948, + -0.2866979952771665, + -0.9574662836761263, + 0.03259716440860934, + 0.07960430209407475, + -0.057716497317140236, + -0.9951542398169021 + ], + [ + 0.9560301006963404, + -0.2828851442995558, + 0.07734624552727098, + -0.2843574985076254, + -0.9586805922307869, + 0.008505005732732112, + 0.0717444046949395, + -0.03012502638417821, + -0.9969680151240167 + ], + [ + 0.9567676740261644, + -0.28321370160246295, + 0.06622399235318506, + -0.2835509277416257, + -0.958946865732712, + -0.004447479991153872, + 0.06476487717449146, + -0.014522669384085751, + -0.9977948700802856 + ], + [ + 0.9559937681737399, + -0.28723563760556764, + 0.05976289569872727, + -0.2874846691591079, + -0.9577743169199691, + -0.004574149862581498, + 0.05855322545728987, + -0.012808057534618198, + -0.9982021205400929 + ], + [ + 0.9654828348764849, + -0.25948525522140026, + 0.022589773826912747, + -0.2595591466676374, + -0.9657271486707827, + 0.0003517120525227896, + 0.021724293775269, + -0.006202954367458332, + -0.9997447566339526 + ], + [ + 0.9696579528384999, + -0.24125375796107795, + 0.0394978324304886, + -0.24141020241349193, + -0.9704228065443222, + -0.0008310892355224506, + 0.0385301008008829, + -0.008729307435195628, + -0.9992193105239586 + ], + [ + 0.9613556775220559, + -0.2736872733638682, + 0.02984187820430493, + -0.27174157253600617, + -0.9607002837050203, + -0.05666994480985962, + 0.04417894353385777, + 0.04637069427715431, + -0.9979468821838602 + ], + [ + 0.9051504454808724, + -0.42414445785551924, + 0.028357537203113948, + -0.420529233443549, + -0.9031887393795515, + -0.08605384870741109, + 0.06211147128477497, + 0.06596650611048432, + -0.9958868335340196 + ], + [ + 0.8259468395889986, + -0.5634220778054948, + -0.01916717022107075, + -0.5621345715622581, + -0.8205363784590853, + -0.10356048995521835, + 0.04262090599061799, + 0.09630998840508334, + -0.9944384568719934 + ], + [ + 0.7572512912317788, + -0.652389280944937, + -0.030963010770138147, + -0.6505605948233586, + -0.7492357208405409, + -0.12416419403206706, + 0.057804795569929984, + 0.11416681095967905, + -0.9917784757113937 + ], + [ + 0.7331225906036354, + -0.6798622568446772, + -0.01784877768019626, + -0.6765733713693055, + -0.7264056422875028, + -0.12076140114644536, + 0.0691356659083179, + 0.10060891894331843, + -0.9925210854830595 + ], + [ + 0.7189909773589394, + -0.6949743154241448, + -0.007916778206965843, + -0.6924090148682129, + -0.7152577739923878, + -0.09474213884373191, + 0.06018081592723602, + 0.07360039160354649, + -0.9954703670879091 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.004979923367500305, + 0.01297906693071127, + 0.004316315054893494, + 0.008357144892215729, + 0.04309321939945221, + -0.019030943512916565, + 1.0 + ], + [ + 0.01776278018951416, + 0.041343122720718384, + 0.023025378584861755, + 0.03126075863838196, + -0.01967913657426834, + -0.048272669315338135, + 1.0 + ], + [ + 0.021374285221099854, + 0.04585985839366913, + 0.014227032661437988, + 0.02206571027636528, + -0.011582866311073303, + -0.051299214363098145, + 1.0 + ], + [ + 0.018834933638572693, + 0.03590817749500275, + 0.004023358225822449, + 0.009540840983390808, + 0.004402466118335724, + -0.040119245648384094, + 1.0 + ], + [ + 0.01907247304916382, + 0.030185580253601074, + -0.004821106791496277, + 0.011150330305099487, + -0.002557870000600815, + -0.012842148542404175, + 1.0 + ], + [ + 0.01363527774810791, + 0.022455856204032898, + -0.00895775854587555, + 0.026559963822364807, + -0.030231082811951637, + 0.023456454277038574, + 1.0 + ], + [ + 0.004205495119094849, + 0.01857893168926239, + -0.014659807085990906, + 0.015136666595935822, + -0.030117256566882133, + 0.03138431906700134, + 1.0 + ], + [ + 0.004048466682434082, + 0.008250221610069275, + -0.008084490895271301, + -0.0023246854543685913, + -0.02680961973965168, + -0.012130260467529297, + 1.0 + ], + [ + 0.0024393796920776367, + 0.007760465145111084, + -0.007919088006019592, + -0.008625015616416931, + -0.022211911156773567, + -0.01817089319229126, + 1.0 + ], + [ + 0.0017621517181396484, + 0.0036754459142684937, + -0.00720609724521637, + -0.013912491500377655, + -0.020568668842315674, + -0.0158330500125885, + 1.0 + ], + [ + 0.0005556643009185791, + -2.224743366241455e-05, + -0.010254725813865662, + -0.032975248992443085, + -0.00492723286151886, + -0.005125492811203003, + 1.0 + ], + [ + -0.0010589361190795898, + 0.00011639297008514404, + -0.005042210221290588, + -0.022920969873666763, + -0.0045556724071502686, + 0.001840353012084961, + 0.0 + ], + [ + -0.004034101963043213, + -0.003691345453262329, + -0.004350610077381134, + -0.027725189924240112, + 0.00788252055644989, + 0.002628624439239502, + 0.0 + ], + [ + -0.003290235996246338, + -0.004064247012138367, + -0.0069114938378334045, + -0.015653714537620544, + 0.006995856761932373, + 0.0009854435920715332, + 0.0 + ], + [ + -0.003439605236053467, + -0.006324365735054016, + -0.0007338374853134155, + -0.0017233146354556084, + 0.00622350350022316, + -0.003998368978500366, + 0.0 + ], + [ + -0.003766268491744995, + -0.02270105481147766, + 0.00939033180475235, + -0.006625963840633631, + 0.03686073422431946, + 0.029486387968063354, + 0.0 + ], + [ + -0.001932770013809204, + -0.04594092071056366, + 0.020380787551403046, + 0.0025314469821751118, + -0.01681363768875599, + 0.01862548291683197, + 0.0 + ], + [ + -0.0028121471405029297, + -0.035675905644893646, + -0.022939033806324005, + -0.055168602615594864, + -0.005653686821460724, + -0.03147457540035248, + 0.0 + ], + [ + 0.009722769260406494, + -0.03290833532810211, + -0.012620903551578522, + -0.019709639251232147, + -0.017958149313926697, + -0.15944719314575195, + 0.0 + ], + [ + 0.011968463659286499, + -0.013633176684379578, + -0.01574462652206421, + -0.03040517121553421, + 0.019517656415700912, + -0.16265740990638733, + 0.0 + ], + [ + 0.015641748905181885, + -0.011654272675514221, + -0.005311049520969391, + -0.018061257898807526, + -0.015203215181827545, + -0.11217516660690308, + 0.0 + ], + [ + 0.0062732994556427, + 0.0005759969353675842, + -0.005005568265914917, + 0.013586796820163727, + -0.01135382428765297, + -0.03554719686508179, + 0.0 + ], + [ + -0.004139512777328491, + -0.002501141279935837, + -0.00934937596321106, + 0.0272209569811821, + 0.008973658084869385, + -0.02126145362854004, + 0.0 + ], + [ + -0.0008263289928436279, + -0.001211170107126236, + 0.00362594798207283, + 0.049221910536289215, + -0.027758799493312836, + -0.0014188289642333984, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9560673832893372 + ], + [ + 0.9560673832893372 + ], + [ + 0.9560673832893372 + ], + [ + 0.9560673832893372 + ], + [ + 0.9560673832893372 + ], + [ + 0.9560673832893372 + ], + [ + 0.9560673832893372 + ], + [ + 0.9560673832893372 + ], + [ + 0.9560673832893372 + ], + [ + 0.9560673832893372 + ], + [ + 0.9560673832893372 + ], + [ + 0.7922340631484985 + ], + [ + 0.5689827799797058 + ], + [ + 0.41573449969291687 + ], + [ + 0.37205085158348083 + ], + [ + 0.37120094895362854 + ], + [ + 0.37120094895362854 + ], + [ + 0.37120094895362854 + ], + [ + 0.37120094895362854 + ], + [ + 0.37120094895362854 + ], + [ + 0.3703518807888031 + ], + [ + 0.3703518807888031 + ], + [ + 0.3703518807888031 + ], + [ + 0.5650128126144409 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.1925787776708603, + 0.02561156451702118, + 0.13585762679576874 + ], + [ + 0.21034155786037445, + 0.06695468723773956, + 0.1588830053806305 + ], + [ + 0.2317158430814743, + 0.11281454563140869, + 0.17311003804206848 + ], + [ + 0.250550776720047, + 0.14872272312641144, + 0.17713339626789093 + ], + [ + 0.2696232497692108, + 0.1789083033800125, + 0.17231228947639465 + ], + [ + 0.2832585275173187, + 0.2013641595840454, + 0.1633545309305191 + ], + [ + 0.2874640226364136, + 0.2199430912733078, + 0.1486947238445282 + ], + [ + 0.29151248931884766, + 0.22819331288337708, + 0.1406102329492569 + ], + [ + 0.2939518690109253, + 0.23595377802848816, + 0.1326911449432373 + ], + [ + 0.29571402072906494, + 0.23962922394275665, + 0.12548504769802094 + ], + [ + 0.2962696850299835, + 0.23960697650909424, + 0.11523032188415527 + ], + [ + 0.29521074891090393, + 0.23972336947917938, + 0.11018811166286469 + ], + [ + 0.2911766469478607, + 0.23603202402591705, + 0.10583750158548355 + ], + [ + 0.2878864109516144, + 0.2319677770137787, + 0.09892600774765015 + ], + [ + 0.2844468057155609, + 0.22564341127872467, + 0.09819217026233673 + ], + [ + 0.2806805372238159, + 0.202942356467247, + 0.10758250206708908 + ], + [ + 0.2787477672100067, + 0.15700143575668335, + 0.12796328961849213 + ], + [ + 0.2759356200695038, + 0.1213255301117897, + 0.10502425581216812 + ], + [ + 0.2856583893299103, + 0.08841719478368759, + 0.0924033522605896 + ], + [ + 0.2976268529891968, + 0.07478401809930801, + 0.07665872573852539 + ], + [ + 0.31326860189437866, + 0.06312974542379379, + 0.071347676217556 + ], + [ + 0.31954190135002136, + 0.06370574235916138, + 0.06634210795164108 + ], + [ + 0.31540238857269287, + 0.06120460107922554, + 0.05699273198843002 + ], + [ + 0.31457605957984924, + 0.059993430972099304, + 0.06061867997050285 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.985631039307879, + -0.1461018742821481, + -0.08476848874501372, + -0.1435434543793716, + -0.9890048466780383, + 0.035562479556226406, + -0.08903219113167657, + -0.022883521988390478, + -0.9957658426375647 + ], + [ + 0.9790865330590076, + -0.19510947156487576, + -0.05763553494302153, + -0.19123568296811563, + -0.9792893481295166, + 0.06649275298696326, + -0.06941523134162773, + -0.054080188107493404, + -0.9961209057700009 + ], + [ + 0.9687078142175592, + -0.24534763439071094, + -0.03754609131081853, + -0.24136666039609833, + -0.9664435283727153, + 0.08791496866706314, + -0.05785590655302904, + -0.07610154246385673, + -0.9954201370836078 + ], + [ + 0.9579937053021587, + -0.28458581408515676, + -0.03548203803235199, + -0.27995168401858855, + -0.9548236888019281, + 0.09969341963156236, + -0.06225042342504196, + -0.08557241216751485, + -0.9943853614465751 + ], + [ + 0.9544687556383065, + -0.2969504535017001, + -0.028457383495285694, + -0.2922766245930288, + -0.949987051923232, + 0.10999534487746565, + -0.05969731339657462, + -0.09666969195844952, + -0.9935246355425164 + ], + [ + 0.9623594785437275, + -0.27173137394319535, + 0.005127813568020462, + -0.2701742651443869, + -0.9544564483244561, + 0.1265652191779225, + -0.029497466174835774, + -0.12318664159237541, + -0.991945034173999 + ], + [ + 0.9707856592810563, + -0.23756096089383652, + 0.033763791159202, + -0.23994754610353522, + -0.9614845834331275, + 0.13406181760410896, + 0.0006155104686220748, + -0.13824682882302436, + -0.9903976148331742 + ], + [ + 0.9674399282435872, + -0.24576103147591769, + 0.06051033505059852, + -0.25161088209884175, + -0.959757577842981, + 0.12472912964667399, + 0.027421693045569608, + -0.13589299901344093, + -0.9903439521548295 + ], + [ + 0.9618844522243694, + -0.26096762832175685, + 0.08169576205129808, + -0.26891725021486296, + -0.9569255781190263, + 0.10943925474181626, + 0.049616661575540455, + -0.127237317284218, + -0.9906305325318888 + ], + [ + 0.9563254302788744, + -0.27498345642275307, + 0.09912502255092784, + -0.28376208710192724, + -0.9547494107606145, + 0.0890653724845859, + 0.07014805289873957, + -0.1133034039473467, + -0.9910810205671685 + ], + [ + 0.9545160167217793, + -0.28262440387620863, + 0.09498747367524595, + -0.28855645627424004, + -0.9558436724592244, + 0.055660087694104174, + 0.07506227657112731, + -0.08053769399033288, + -0.9939211912836344 + ], + [ + 0.9547080258341655, + -0.28271385102408514, + 0.09276563936588948, + -0.2866979952771665, + -0.9574662836761263, + 0.03259716440860934, + 0.07960430209407475, + -0.057716497317140236, + -0.9951542398169021 + ], + [ + 0.9560301006963404, + -0.2828851442995558, + 0.07734624552727098, + -0.2843574985076254, + -0.9586805922307869, + 0.008505005732732112, + 0.0717444046949395, + -0.03012502638417821, + -0.9969680151240167 + ], + [ + 0.9567676740261644, + -0.28321370160246295, + 0.06622399235318506, + -0.2835509277416257, + -0.958946865732712, + -0.004447479991153872, + 0.06476487717449146, + -0.014522669384085751, + -0.9977948700802856 + ], + [ + 0.9559937681737399, + -0.28723563760556764, + 0.05976289569872727, + -0.2874846691591079, + -0.9577743169199691, + -0.004574149862581498, + 0.05855322545728987, + -0.012808057534618198, + -0.9982021205400929 + ], + [ + 0.9654828348764849, + -0.25948525522140026, + 0.022589773826912747, + -0.2595591466676374, + -0.9657271486707827, + 0.0003517120525227896, + 0.021724293775269, + -0.006202954367458332, + -0.9997447566339526 + ], + [ + 0.9696579528384999, + -0.24125375796107795, + 0.0394978324304886, + -0.24141020241349193, + -0.9704228065443222, + -0.0008310892355224506, + 0.0385301008008829, + -0.008729307435195628, + -0.9992193105239586 + ], + [ + 0.9613556775220559, + -0.2736872733638682, + 0.02984187820430493, + -0.27174157253600617, + -0.9607002837050203, + -0.05666994480985962, + 0.04417894353385777, + 0.04637069427715431, + -0.9979468821838602 + ], + [ + 0.9051504454808724, + -0.42414445785551924, + 0.028357537203113948, + -0.420529233443549, + -0.9031887393795515, + -0.08605384870741109, + 0.06211147128477497, + 0.06596650611048432, + -0.9958868335340196 + ], + [ + 0.8259468395889986, + -0.5634220778054948, + -0.01916717022107075, + -0.5621345715622581, + -0.8205363784590853, + -0.10356048995521835, + 0.04262090599061799, + 0.09630998840508334, + -0.9944384568719934 + ], + [ + 0.7572512912317788, + -0.652389280944937, + -0.030963010770138147, + -0.6505605948233586, + -0.7492357208405409, + -0.12416419403206706, + 0.057804795569929984, + 0.11416681095967905, + -0.9917784757113937 + ], + [ + 0.7331225906036354, + -0.6798622568446772, + -0.01784877768019626, + -0.6765733713693055, + -0.7264056422875028, + -0.12076140114644536, + 0.0691356659083179, + 0.10060891894331843, + -0.9925210854830595 + ], + [ + 0.7189909773589394, + -0.6949743154241448, + -0.007916778206965843, + -0.6924090148682129, + -0.7152577739923878, + -0.09474213884373191, + 0.06018081592723602, + 0.07360039160354649, + -0.9954703670879091 + ], + [ + 0.7165297413123024, + -0.6960309950694378, + 0.04610839096707821, + -0.6920009396528602, + -0.7175942489643128, + -0.07869684474552995, + 0.08786255934402966, + 0.024481579932509424, + -0.9958317241931613 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006562.json b/json/chunk-0006/episode_0006562.json new file mode 100644 index 0000000000000000000000000000000000000000..7b009eb597c2ee3779473562e75144a36dc744fe --- /dev/null +++ b/json/chunk-0006/episode_0006562.json @@ -0,0 +1,2302 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 37, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nTook the yellow corn and put it over the red napkin." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006562.mp4", + "start": 0, + "end": 37, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.4019703269004822, + 0.1181686744093895, + 0.07700125873088837, + -0.0212558563798666, + -0.263884961605072, + 0.5129536986351013, + 0.0, + 0.9981546401977539 + ], + [ + 0.39853113889694214, + 0.11675162613391876, + 0.05860140174627304, + -0.009921181946992874, + -0.2194683998823166, + 0.5140014886856079, + 0.0, + 0.9981546401977539 + ], + [ + 0.3904177248477936, + 0.10770299285650253, + 0.05465279147028923, + 0.04050052538514137, + -0.2127397060394287, + 0.5234851241111755, + 0.0, + 0.9981546401977539 + ], + [ + 0.38684043288230896, + 0.09179507195949554, + 0.06673929840326309, + 0.027091851457953453, + -0.24214087426662445, + 0.5710364580154419, + 0.0, + 0.9981546401977539 + ], + [ + 0.3818511366844177, + 0.07506433129310608, + 0.074188731610775, + 0.06297704577445984, + -0.2452213019132614, + 0.5682125687599182, + 0.0, + 0.9981546401977539 + ], + [ + 0.38519492745399475, + 0.03937435895204544, + 0.07352103292942047, + 0.04693067446351051, + -0.23097799718379974, + 0.5230697989463806, + 0.0, + 0.9981546401977539 + ], + [ + 0.3805728256702423, + 0.01986542157828808, + 0.06727886199951172, + 0.00047382721095345914, + -0.1886911243200302, + 0.5458685755729675, + 0.0, + 0.9981546401977539 + ], + [ + 0.37970247864723206, + -0.0035487578716129065, + 0.08366613835096359, + -0.04865569993853569, + -0.20995043218135834, + 0.5387046337127686, + 0.0, + 0.9981546401977539 + ], + [ + 0.37805405259132385, + -0.03003671020269394, + 0.08375737816095352, + -0.08323922753334045, + -0.19584614038467407, + 0.5226399898529053, + 0.0, + 0.9981546401977539 + ], + [ + 0.37333038449287415, + -0.04629472643136978, + 0.07832499593496323, + -0.08986449241638184, + -0.18716822564601898, + 0.5157941579818726, + 0.0, + 0.9981546401977539 + ], + [ + 0.37507131695747375, + -0.06744655221700668, + 0.08081133663654327, + -0.07284870743751526, + -0.2461114078760147, + 0.5182620286941528, + 0.0, + 0.9981546401977539 + ], + [ + 0.37443575263023376, + -0.07978417724370956, + 0.06870102882385254, + -0.05542916804552078, + -0.21969707310199738, + 0.5307684540748596, + 0.0, + 0.9981546401977539 + ], + [ + 0.38082149624824524, + -0.09044025093317032, + 0.057818375527858734, + -0.039697401225566864, + -0.20823714137077332, + 0.521070122718811, + 0.0, + 0.9981546401977539 + ], + [ + 0.3865099251270294, + -0.09486141055822372, + 0.044748906046152115, + -0.016519395634531975, + -0.18975681066513062, + 0.5084776878356934, + 0.0, + 0.9981546401977539 + ], + [ + 0.3909037709236145, + -0.0990467295050621, + 0.0390327014029026, + -0.01683596521615982, + -0.16669133305549622, + 0.5015127658843994, + 0.0, + 0.9981546401977539 + ], + [ + 0.394881010055542, + -0.09939294308423996, + 0.024893438443541527, + 0.003592647146433592, + -0.13987302780151367, + 0.4828329384326935, + 0.0, + 0.9981546401977539 + ], + [ + 0.3968997895717621, + -0.09793191403150558, + 0.024721959605813026, + 0.014696984551846981, + -0.14160436391830444, + 0.47680148482322693, + 0.0, + 0.9947922229766846 + ], + [ + 0.3978782892227173, + -0.0951160117983818, + 0.02071194536983967, + 0.027280712500214577, + -0.149501234292984, + 0.4822749197483063, + 0.0, + 0.9182166457176208 + ], + [ + 0.39706316590309143, + -0.09506481140851974, + 0.018380068242549896, + 0.02266072854399681, + -0.15122567117214203, + 0.49331972002983093, + 0.0, + 0.6440550088882446 + ], + [ + 0.3957539498806, + -0.09554239362478256, + 0.017907965928316116, + 0.02386593259871006, + -0.1480969339609146, + 0.49235185980796814, + 0.0, + 0.6149309277534485 + ], + [ + 0.39242225885391235, + -0.09040042757987976, + 0.01749172993004322, + 0.023720595985651016, + -0.14217762649059296, + 0.4850967228412628, + 0.0, + 0.6149309277534485 + ], + [ + 0.38857197761535645, + -0.08077123016119003, + 0.026729030534625053, + 0.019665060564875603, + -0.13683795928955078, + 0.47783148288726807, + 0.0, + 0.6149309277534485 + ], + [ + 0.3914731740951538, + -0.06581243872642517, + 0.05079315975308418, + -0.03080352582037449, + -0.17890813946723938, + 0.49040496349334717, + 0.0, + 0.6149309277534485 + ], + [ + 0.38937416672706604, + -0.052674803882837296, + 0.06078760325908661, + -0.06315332651138306, + -0.18119806051254272, + 0.4518623650074005, + 0.0, + 0.6149309277534485 + ], + [ + 0.3885336220264435, + -0.024156125262379646, + 0.06833578646183014, + -0.04499471187591553, + -0.21405655145645142, + 0.4456646740436554, + 0.0, + 0.6149309277534485 + ], + [ + 0.3886074721813202, + 0.01170171145349741, + 0.07734724879264832, + -0.030459392815828323, + -0.24740274250507355, + 0.4860486686229706, + 0.0, + 0.6149309277534485 + ], + [ + 0.3835000693798065, + 0.044761817902326584, + 0.07847531139850616, + -0.011707699857652187, + -0.22800312936306, + 0.5671749711036682, + 0.0, + 0.6149309277534485 + ], + [ + 0.3786119520664215, + 0.08508644253015518, + 0.08464740216732025, + -0.015587715432047844, + -0.2271052598953247, + 0.6992670893669128, + 0.0, + 0.6149309277534485 + ], + [ + 0.37728574872016907, + 0.10585323721170425, + 0.07634412497282028, + 0.011170493438839912, + -0.20844849944114685, + 0.7606528997421265, + 0.0, + 0.6149309277534485 + ], + [ + 0.37665024399757385, + 0.11299265176057816, + 0.07442012429237366, + 0.028307976201176643, + -0.21373999118804932, + 0.776401937007904, + 0.0, + 0.6149309277534485 + ], + [ + 0.37519195675849915, + 0.11202207952737808, + 0.05939185991883278, + 0.050538692623376846, + -0.1801745593547821, + 0.7584895491600037, + 0.0, + 0.6149309277534485 + ], + [ + 0.3761935234069824, + 0.11195913702249527, + 0.051857974380254745, + 0.06302341818809509, + -0.16258546710014343, + 0.7552622556686401, + 0.0, + 0.6149309277534485 + ], + [ + 0.3799300193786621, + 0.1133204773068428, + 0.04397352412343025, + 0.0757012665271759, + -0.15437768399715424, + 0.751817524433136, + 0.0, + 0.6831957101821899 + ], + [ + 0.3828733265399933, + 0.11097759753465652, + 0.04648521915078163, + 0.059418171644210815, + -0.1469797044992447, + 0.7414411902427673, + 0.0, + 0.9613274931907654 + ], + [ + 0.3831549286842346, + 0.10887391120195389, + 0.045557890087366104, + 0.046270910650491714, + -0.14137393236160278, + 0.7494309544563293, + 0.0, + 1.0073583126068115 + ], + [ + 0.3794664144515991, + 0.10868488997220993, + 0.04216601327061653, + 0.05166272073984146, + -0.13996651768684387, + 0.7519078850746155, + 0.0, + 1.002137303352356 + ], + [ + 0.3818623423576355, + 0.10965488106012344, + 0.06865635514259338, + 0.019832467660307884, + -0.19861358404159546, + 0.760320246219635, + 0.0, + 0.9994885921478271 + ] + ], + "left_gripper_pos": [ + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9947922229766846 + ], + [ + 0.9182166457176208 + ], + [ + 0.6440550088882446 + ], + [ + 0.6149309277534485 + ], + [ + 0.6149309277534485 + ], + [ + 0.6149309277534485 + ], + [ + 0.6149309277534485 + ], + [ + 0.6149309277534485 + ], + [ + 0.6149309277534485 + ], + [ + 0.6149309277534485 + ], + [ + 0.6149309277534485 + ], + [ + 0.6149309277534485 + ], + [ + 0.6149309277534485 + ], + [ + 0.6149309277534485 + ], + [ + 0.6149309277534485 + ], + [ + 0.6149309277534485 + ], + [ + 0.6831957101821899 + ], + [ + 0.9613274931907654 + ], + [ + 1.0073583126068115 + ], + [ + 1.002137303352356 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.4019703269004822, + 0.1181686744093895, + 0.07700125873088837 + ], + [ + 0.39853113889694214, + 0.11675162613391876, + 0.05860140174627304 + ], + [ + 0.3904177248477936, + 0.10770299285650253, + 0.05465279147028923 + ], + [ + 0.38684043288230896, + 0.09179507195949554, + 0.06673929840326309 + ], + [ + 0.3818511366844177, + 0.07506433129310608, + 0.074188731610775 + ], + [ + 0.38519492745399475, + 0.03937435895204544, + 0.07352103292942047 + ], + [ + 0.3805728256702423, + 0.01986542157828808, + 0.06727886199951172 + ], + [ + 0.37970247864723206, + -0.0035487578716129065, + 0.08366613835096359 + ], + [ + 0.37805405259132385, + -0.03003671020269394, + 0.08375737816095352 + ], + [ + 0.37333038449287415, + -0.04629472643136978, + 0.07832499593496323 + ], + [ + 0.37507131695747375, + -0.06744655221700668, + 0.08081133663654327 + ], + [ + 0.37443575263023376, + -0.07978417724370956, + 0.06870102882385254 + ], + [ + 0.38082149624824524, + -0.09044025093317032, + 0.057818375527858734 + ], + [ + 0.3865099251270294, + -0.09486141055822372, + 0.044748906046152115 + ], + [ + 0.3909037709236145, + -0.0990467295050621, + 0.0390327014029026 + ], + [ + 0.394881010055542, + -0.09939294308423996, + 0.024893438443541527 + ], + [ + 0.3968997895717621, + -0.09793191403150558, + 0.024721959605813026 + ], + [ + 0.3978782892227173, + -0.0951160117983818, + 0.02071194536983967 + ], + [ + 0.39706316590309143, + -0.09506481140851974, + 0.018380068242549896 + ], + [ + 0.3957539498806, + -0.09554239362478256, + 0.017907965928316116 + ], + [ + 0.39242225885391235, + -0.09040042757987976, + 0.01749172993004322 + ], + [ + 0.38857197761535645, + -0.08077123016119003, + 0.026729030534625053 + ], + [ + 0.3914731740951538, + -0.06581243872642517, + 0.05079315975308418 + ], + [ + 0.38937416672706604, + -0.052674803882837296, + 0.06078760325908661 + ], + [ + 0.3885336220264435, + -0.024156125262379646, + 0.06833578646183014 + ], + [ + 0.3886074721813202, + 0.01170171145349741, + 0.07734724879264832 + ], + [ + 0.3835000693798065, + 0.044761817902326584, + 0.07847531139850616 + ], + [ + 0.3786119520664215, + 0.08508644253015518, + 0.08464740216732025 + ], + [ + 0.37728574872016907, + 0.10585323721170425, + 0.07634412497282028 + ], + [ + 0.37665024399757385, + 0.11299265176057816, + 0.07442012429237366 + ], + [ + 0.37519195675849915, + 0.11202207952737808, + 0.05939185991883278 + ], + [ + 0.3761935234069824, + 0.11195913702249527, + 0.051857974380254745 + ], + [ + 0.3799300193786621, + 0.1133204773068428, + 0.04397352412343025 + ], + [ + 0.3828733265399933, + 0.11097759753465652, + 0.04648521915078163 + ], + [ + 0.3831549286842346, + 0.10887391120195389, + 0.045557890087366104 + ], + [ + 0.3794664144515991, + 0.10868488997220993, + 0.04216601327061653 + ], + [ + 0.3818623423576355, + 0.10965488106012344, + 0.06865635514259338 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8411378433604316, + 0.4858117623501817, + 0.23764271507700943, + 0.4737650046233092, + -0.8738225918421392, + 0.10945683341190862, + 0.26083299036210494, + 0.020518517210000246, + -0.9651658622176114 + ], + [ + 0.8498968726929881, + 0.4897605914863313, + 0.19444759914598472, + 0.47987218208826193, + -0.8718031897335901, + 0.09839658138465882, + 0.21771080507069143, + 0.009683046901504733, + -0.9759652882957337 + ], + [ + 0.8465573754477251, + 0.5068956751997283, + 0.16247271936811716, + 0.4886318536760945, + -0.8610984043937282, + 0.1405291767699474, + 0.21113863134946012, + -0.039576665023557105, + -0.9766545786190172 + ], + [ + 0.8167966501463623, + 0.545770800397761, + 0.18702263430630175, + 0.5247361433814868, + -0.8375217214594638, + 0.15234613848962653, + 0.23978159257708923, + -0.026298279730125815, + -0.9704706014838529 + ], + [ + 0.8176487422480341, + 0.549937601290496, + 0.17035013644568417, + 0.5220275567317725, + -0.8329713150207381, + 0.18342851023022086, + 0.24277101209342059, + -0.06105262516450616, + -0.9681605304120068 + ], + [ + 0.8432836857829662, + 0.5082956543364071, + 0.1746658325918929, + 0.48627547468372334, + -0.8599709303838425, + 0.15487466421551255, + 0.2289296573478739, + -0.04566756701940621, + -0.9723711664324035 + ], + [ + 0.8395066732975833, + 0.5192365406825552, + 0.16006861125416721, + 0.5099458408087636, + -0.8546304454013987, + 0.09778569033784848, + 0.18757341211021228, + -0.00046541703853739125, + -0.9822504764347597 + ], + [ + 0.8395251338270462, + 0.5037165478993499, + 0.20363494062916052, + 0.5017591348262196, + -0.8625583322130573, + 0.0650453238001937, + 0.20841142073102267, + 0.04756850746229501, + -0.9768837785564287 + ], + [ + 0.8499397499438374, + 0.48342162636054314, + 0.20953747309809378, + 0.4896269974011032, + -0.8715804736167149, + 0.024756442111959483, + 0.19459656955195037, + 0.08155371957789619, + -0.9774871691953929 + ], + [ + 0.8547085607359066, + 0.4767089326735515, + 0.20547960899806716, + 0.48461170493376926, + -0.8746276616706298, + 0.013339748189223156, + 0.18607732706039326, + 0.08817622667028724, + -0.9785704785064027 + ], + [ + 0.8425055819954181, + 0.4786531572391792, + 0.2471345774502783, + 0.48044419742801514, + -0.8751617294830112, + 0.0571429821242783, + 0.2436343930242865, + 0.07059109230824173, + -0.9672947742143638 + ], + [ + 0.8416888287958236, + 0.4950062086903043, + 0.2157052823608307, + 0.4940290402183104, + -0.8672055007448006, + 0.06236927848656641, + 0.21793398748540777, + 0.054069148652542184, + -0.9744646244285626 + ], + [ + 0.8485508560295624, + 0.4903005001897369, + 0.19891421328097894, + 0.4870543089380004, + -0.8706880501401788, + 0.06841359139835052, + 0.20673544658917073, + 0.03882961314238617, + -0.9776260615730274 + ], + [ + 0.8578076863376763, + 0.484060101318895, + 0.1727767101525666, + 0.4781092344064738, + -0.8748843698377964, + 0.07738797961426297, + 0.18862007643742054, + 0.016222136871054667, + -0.9819161415518529 + ], + [ + 0.8647023163078269, + 0.47823511160667403, + 0.1535613304137182, + 0.4740889220839232, + -0.8780749157115197, + 0.0649933562413229, + 0.1659204572353358, + 0.016601819923121177, + -0.9859993820718436 + ], + [ + 0.8770333312793781, + 0.4647307426435581, + 0.12181080685621896, + 0.45975572750123467, + -0.88544490549166, + 0.06791163647472506, + 0.139417383617706, + -0.0035575526463689014, + -0.9902273158039832 + ], + [ + 0.8795745820246064, + 0.4607329873128696, + 0.11863249579267021, + 0.4543461519617803, + -0.8874195347363315, + 0.07782122824702509, + 0.14113160118754975, + -0.014549356346996778, + -0.9898839262136376 + ], + [ + 0.8760598673041828, + 0.4672226684389886, + 0.11925639184432937, + 0.45862240582613883, + -0.8837281436859822, + 0.0932204748516779, + 0.1489449488006279, + -0.026973063490802807, + -0.9884775445465108 + ], + [ + 0.8707136276123906, + 0.4764373393265075, + 0.12192309209312784, + 0.46814781623444884, + -0.8789230303374428, + 0.09127940018078, + 0.1506499281280534, + -0.02240018834574066, + -0.9883333601154457 + ], + [ + 0.8715774162484259, + 0.47566808542891664, + 0.11871259406695908, + 0.4675253846153263, + -0.8793081353929445, + 0.09075911949811977, + 0.14755616634356225, + -0.02360244767331523, + -0.988772017321394 + ], + [ + 0.8757037384684637, + 0.4691358753406778, + 0.1142562597877773, + 0.46158891530941315, + -0.882813833590166, + 0.08703682258282303, + 0.14169910266418556, + -0.02347904789744388, + -0.9896312942778203 + ], + [ + 0.8796934967113095, + 0.462147637913614, + 0.11206655439825033, + 0.45555603815951884, + -0.8865890203961847, + 0.08017858198631439, + 0.1364113189593588, + -0.01947998161704019, + -0.9904607424708802 + ], + [ + 0.8680619592429157, + 0.46592490268715525, + 0.17141300992432093, + 0.4634656028691543, + -0.8843050756942032, + 0.05660537128754552, + 0.17795524682481775, + 0.030307064480652266, + -0.9835717624912195 + ], + [ + 0.8849070931162574, + 0.4255395742383618, + 0.18935550509443758, + 0.4294932590960722, + -0.9028080509257784, + 0.02175232343064921, + 0.18020814893774909, + 0.06207812771525244, + -0.9816676266006734 + ], + [ + 0.8817308212607027, + 0.4219999247675737, + 0.2108715778266211, + 0.4212198007318971, + -0.9055297894308802, + 0.050888897852541345, + 0.2124256065315749, + 0.04395297429557679, + -0.9761882491303943 + ], + [ + 0.8572636392410209, + 0.4603249455706285, + 0.23065124608516366, + 0.4529123533508697, + -0.8872593069067315, + 0.08741465832206444, + 0.24488661257287567, + 0.029527390551558688, + -0.9691019967938349 + ], + [ + 0.82159406889415, + 0.5349827666691899, + 0.1969178136302897, + 0.5233472712315365, + -0.8447859954476039, + 0.1115538237359219, + 0.2260327844638007, + 0.011404440476395494, + -0.9740529344368103 + ], + [ + 0.7456625910226382, + 0.6408928439143581, + 0.18232844805123571, + 0.6271292911781564, + -0.7674801120684088, + 0.13297792946893816, + 0.22515806113881215, + 0.015186842951350706, + -0.9742038838484387 + ], + [ + 0.7087053927697341, + 0.6910260225748156, + 0.14219599988581633, + 0.6744713322498536, + -0.7227472621045812, + 0.15074752765282512, + 0.20694223404661588, + -0.01092846031067525, + -0.9782921243284306 + ], + [ + 0.6972046606983631, + 0.7047195557772169, + 0.13143823190245063, + 0.6847717526103422, + -0.7089465886729023, + 0.16876723981867753, + 0.2121162604032057, + -0.027660117754934627, + -0.9768529111172994 + ], + [ + 0.7141255981812872, + 0.6935187772788616, + 0.0951647812158026, + 0.6766915993138132, + -0.7187222496481707, + 0.1597711090240858, + 0.1792013098175693, + -0.049699430804642356, + -0.9825562870071933 + ], + [ + 0.7184897752659252, + 0.6915415340791953, + 0.07444964393275097, + 0.6764395824666458, + -0.7196579371513006, + 0.15659484272313898, + 0.16187011493994224, + -0.06215110729929051, + -0.9848529361030518 + ], + [ + 0.721761840178396, + 0.6895059622983895, + 0.060343798498830106, + 0.674845245230612, + -0.7204144785274309, + 0.15995897635858003, + 0.15376521405028715, + -0.07472955963353163, + -0.9852774999283438 + ], + [ + 0.729544270051669, + 0.6805734726078273, + 0.06771193703698103, + 0.6680697873654285, + -0.7303211727532093, + 0.14252629174256873, + 0.14645107457539575, + -0.058742940094106334, + -0.9874722020111816 + ], + [ + 0.724772953382905, + 0.685264408480265, + 0.07153220613691226, + 0.6744259614926122, + -0.7268532846427458, + 0.12974561676148022, + 0.14090347231131956, + -0.04579293694712978, + -0.9889637093525572 + ], + [ + 0.7232443520325937, + 0.6873840758471957, + 0.06648864207254099, + 0.6763538854455514, + -0.7244918016352814, + 0.13287983671712644, + 0.13950995984394682, + -0.05113474000091332, + -0.9888994941192859 + ], + [ + 0.7103701896821468, + 0.6918533525925593, + 0.12927927953615195, + 0.6756055175243155, + -0.7217762631486064, + 0.15032036005124372, + 0.19731036035052144, + -0.019441308126497983, + -0.9801482832901754 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.003439188003540039, + -0.0014170482754707336, + -0.018399856984615326, + 0.011334674432873726, + 0.04441656172275543, + 0.0010477900505065918, + 1.0 + ], + [ + -0.00811341404914856, + -0.00904863327741623, + -0.00394861027598381, + 0.05042170733213425, + 0.006728693842887878, + 0.009483635425567627, + 1.0 + ], + [ + -0.003577291965484619, + -0.01590792089700699, + 0.012086506932973862, + -0.01340867392718792, + -0.02940116822719574, + 0.04755133390426636, + 1.0 + ], + [ + -0.004989296197891235, + -0.016730740666389465, + 0.007449433207511902, + 0.03588519245386124, + -0.003080427646636963, + -0.0028238892555236816, + 1.0 + ], + [ + 0.0033437907695770264, + -0.03568997234106064, + -0.0006676986813545227, + -0.016046371310949326, + 0.01424330472946167, + -0.0451427698135376, + 1.0 + ], + [ + -0.004622101783752441, + -0.019508937373757362, + -0.0062421709299087524, + -0.046456847339868546, + 0.04228687286376953, + 0.022798776626586914, + 1.0 + ], + [ + -0.0008703470230102539, + -0.02341417968273163, + 0.016387276351451874, + -0.04912952706217766, + -0.021259307861328125, + -0.007163941860198975, + 1.0 + ], + [ + -0.0016484260559082031, + -0.02648795209825039, + 9.12398099899292e-05, + -0.034583527594804764, + 0.014104291796684265, + -0.01606464385986328, + 1.0 + ], + [ + -0.004723668098449707, + -0.016258016228675842, + -0.005432382225990295, + -0.006625264883041382, + 0.00867791473865509, + -0.006845831871032715, + 1.0 + ], + [ + 0.0017409324645996094, + -0.021151825785636902, + 0.0024863407015800476, + 0.017015784978866577, + -0.05894318222999573, + 0.0024678707122802734, + 1.0 + ], + [ + -0.0006355643272399902, + -0.01233762502670288, + -0.012110307812690735, + 0.017419539391994476, + 0.026414334774017334, + 0.012506425380706787, + 1.0 + ], + [ + 0.006385743618011475, + -0.010656073689460754, + -0.010882653295993805, + 0.01573176681995392, + 0.01145993173122406, + -0.009698331356048584, + 1.0 + ], + [ + 0.00568842887878418, + -0.004421159625053406, + -0.01306946948170662, + 0.02317800559103489, + 0.0184803307056427, + -0.012592434883117676, + 1.0 + ], + [ + 0.004393845796585083, + -0.004185318946838379, + -0.005716204643249512, + -0.00031656958162784576, + 0.0230654776096344, + -0.006964921951293945, + 1.0 + ], + [ + 0.00397723913192749, + -0.00034621357917785645, + -0.014139262959361076, + 0.0204286128282547, + 0.026818305253982544, + -0.018679827451705933, + 1.0 + ], + [ + 0.0020187795162200928, + 0.001461029052734375, + -0.00017147883772850037, + 0.011104337871074677, + -0.0017313361167907715, + -0.006031453609466553, + 1.0 + ], + [ + 0.0009784996509552002, + 0.0028159022331237793, + -0.004010014235973358, + 0.012583727948367596, + -0.007896870374679565, + 0.005473434925079346, + 0.0 + ], + [ + -0.0008151233196258545, + 5.120038986206055e-05, + -0.002331877127289772, + -0.004619983956217766, + -0.00172443687915802, + 0.011044800281524658, + 0.0 + ], + [ + -0.001309216022491455, + -0.0004775822162628174, + -0.0004721023142337799, + 0.0012052040547132492, + 0.003128737211227417, + -0.000967860221862793, + 0.0 + ], + [ + -0.003331691026687622, + 0.0051419660449028015, + -0.0004162359982728958, + -0.00014533661305904388, + 0.005919307470321655, + -0.007255136966705322, + 0.0 + ], + [ + -0.003850281238555908, + 0.009629197418689728, + 0.009237300604581833, + -0.0040555354207754135, + 0.005339667201042175, + -0.007265239953994751, + 0.0 + ], + [ + 0.0029011964797973633, + 0.014958791434764862, + 0.02406412921845913, + -0.05046858638525009, + -0.0420701801776886, + 0.012573480606079102, + 0.0 + ], + [ + -0.0020990073680877686, + 0.013137634843587875, + 0.009994443506002426, + -0.03234980255365372, + -0.0022899210453033447, + -0.038542598485946655, + 0.0 + ], + [ + -0.0008405447006225586, + 0.02851867862045765, + 0.00754818320274353, + 0.01815861463546753, + -0.03285849094390869, + -0.006197690963745117, + 0.0 + ], + [ + 7.385015487670898e-05, + 0.03585783764719963, + 0.009011462330818176, + 0.014535319060087204, + -0.03334619104862213, + 0.040383994579315186, + 0.0 + ], + [ + -0.005107402801513672, + 0.03306010738015175, + 0.0011280626058578491, + 0.01875169202685356, + 0.01939961314201355, + 0.08112630248069763, + 0.0 + ], + [ + -0.00488811731338501, + 0.0403246246278286, + 0.006172090768814087, + -0.0038800155743956566, + 0.0008978694677352905, + 0.13209211826324463, + 0.0 + ], + [ + -0.0013262033462524414, + 0.020766794681549072, + -0.00830327719449997, + 0.026758208870887756, + 0.018656760454177856, + 0.06138581037521362, + 0.0 + ], + [ + -0.0006355047225952148, + 0.007139414548873901, + -0.0019240006804466248, + 0.01713748276233673, + -0.005291491746902466, + 0.015749037265777588, + 0.0 + ], + [ + -0.001458287239074707, + -0.0009705722332000732, + -0.015028264373540878, + 0.022230716422200203, + 0.03356543183326721, + -0.01791238784790039, + 0.0 + ], + [ + 0.0010015666484832764, + -6.29425048828125e-05, + -0.0075338855385780334, + 0.012484725564718246, + 0.017589092254638672, + -0.0032272934913635254, + 0.0 + ], + [ + 0.0037364959716796875, + 0.0013613402843475342, + -0.007884450256824493, + 0.01267784833908081, + 0.008207783102989197, + -0.0034447312355041504, + 1.0 + ], + [ + 0.0029433071613311768, + -0.0023428797721862793, + 0.0025116950273513794, + -0.016283094882965088, + 0.007397979497909546, + -0.010376334190368652, + 1.0 + ], + [ + 0.000281602144241333, + -0.0021036863327026367, + -0.0009273290634155273, + -0.013147260993719101, + 0.005605772137641907, + 0.007989764213562012, + 1.0 + ], + [ + -0.003688514232635498, + -0.00018902122974395752, + -0.0033918768167495728, + 0.005391810089349747, + 0.0014074146747589111, + 0.002476930618286133, + 1.0 + ], + [ + 0.002395927906036377, + 0.0009699910879135132, + 0.026490341871976852, + -0.03183025121688843, + -0.05864706635475159, + 0.008412361145019531, + 1.0 + ], + [ + -0.005712658166885376, + -0.00015304982662200928, + 0.023176409304142, + -0.0304732508957386, + -0.05715242028236389, + 0.025615572929382324, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9947922229766846 + ], + [ + 0.9182166457176208 + ], + [ + 0.6440550088882446 + ], + [ + 0.6149309277534485 + ], + [ + 0.6149309277534485 + ], + [ + 0.6149309277534485 + ], + [ + 0.6149309277534485 + ], + [ + 0.6149309277534485 + ], + [ + 0.6149309277534485 + ], + [ + 0.6149309277534485 + ], + [ + 0.6149309277534485 + ], + [ + 0.6149309277534485 + ], + [ + 0.6149309277534485 + ], + [ + 0.6149309277534485 + ], + [ + 0.6149309277534485 + ], + [ + 0.6149309277534485 + ], + [ + 0.6831957101821899 + ], + [ + 0.9613274931907654 + ], + [ + 1.0073583126068115 + ], + [ + 1.002137303352356 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.39853113889694214, + 0.11675162613391876, + 0.05860140174627304 + ], + [ + 0.3904177248477936, + 0.10770299285650253, + 0.05465279147028923 + ], + [ + 0.38684043288230896, + 0.09179507195949554, + 0.06673929840326309 + ], + [ + 0.3818511366844177, + 0.07506433129310608, + 0.074188731610775 + ], + [ + 0.38519492745399475, + 0.03937435895204544, + 0.07352103292942047 + ], + [ + 0.3805728256702423, + 0.01986542157828808, + 0.06727886199951172 + ], + [ + 0.37970247864723206, + -0.0035487578716129065, + 0.08366613835096359 + ], + [ + 0.37805405259132385, + -0.03003671020269394, + 0.08375737816095352 + ], + [ + 0.37333038449287415, + -0.04629472643136978, + 0.07832499593496323 + ], + [ + 0.37507131695747375, + -0.06744655221700668, + 0.08081133663654327 + ], + [ + 0.37443575263023376, + -0.07978417724370956, + 0.06870102882385254 + ], + [ + 0.38082149624824524, + -0.09044025093317032, + 0.057818375527858734 + ], + [ + 0.3865099251270294, + -0.09486141055822372, + 0.044748906046152115 + ], + [ + 0.3909037709236145, + -0.0990467295050621, + 0.0390327014029026 + ], + [ + 0.394881010055542, + -0.09939294308423996, + 0.024893438443541527 + ], + [ + 0.3968997895717621, + -0.09793191403150558, + 0.024721959605813026 + ], + [ + 0.3978782892227173, + -0.0951160117983818, + 0.02071194536983967 + ], + [ + 0.39706316590309143, + -0.09506481140851974, + 0.018380068242549896 + ], + [ + 0.3957539498806, + -0.09554239362478256, + 0.017907965928316116 + ], + [ + 0.39242225885391235, + -0.09040042757987976, + 0.01749172993004322 + ], + [ + 0.38857197761535645, + -0.08077123016119003, + 0.026729030534625053 + ], + [ + 0.3914731740951538, + -0.06581243872642517, + 0.05079315975308418 + ], + [ + 0.38937416672706604, + -0.052674803882837296, + 0.06078760325908661 + ], + [ + 0.3885336220264435, + -0.024156125262379646, + 0.06833578646183014 + ], + [ + 0.3886074721813202, + 0.01170171145349741, + 0.07734724879264832 + ], + [ + 0.3835000693798065, + 0.044761817902326584, + 0.07847531139850616 + ], + [ + 0.3786119520664215, + 0.08508644253015518, + 0.08464740216732025 + ], + [ + 0.37728574872016907, + 0.10585323721170425, + 0.07634412497282028 + ], + [ + 0.37665024399757385, + 0.11299265176057816, + 0.07442012429237366 + ], + [ + 0.37519195675849915, + 0.11202207952737808, + 0.05939185991883278 + ], + [ + 0.3761935234069824, + 0.11195913702249527, + 0.051857974380254745 + ], + [ + 0.3799300193786621, + 0.1133204773068428, + 0.04397352412343025 + ], + [ + 0.3828733265399933, + 0.11097759753465652, + 0.04648521915078163 + ], + [ + 0.3831549286842346, + 0.10887391120195389, + 0.045557890087366104 + ], + [ + 0.3794664144515991, + 0.10868488997220993, + 0.04216601327061653 + ], + [ + 0.3818623423576355, + 0.10965488106012344, + 0.06865635514259338 + ], + [ + 0.3761496841907501, + 0.10950183123350143, + 0.09183276444673538 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8498968726929881, + 0.4897605914863313, + 0.19444759914598472, + 0.47987218208826193, + -0.8718031897335901, + 0.09839658138465882, + 0.21771080507069143, + 0.009683046901504733, + -0.9759652882957337 + ], + [ + 0.8465573754477251, + 0.5068956751997283, + 0.16247271936811716, + 0.4886318536760945, + -0.8610984043937282, + 0.1405291767699474, + 0.21113863134946012, + -0.039576665023557105, + -0.9766545786190172 + ], + [ + 0.8167966501463623, + 0.545770800397761, + 0.18702263430630175, + 0.5247361433814868, + -0.8375217214594638, + 0.15234613848962653, + 0.23978159257708923, + -0.026298279730125815, + -0.9704706014838529 + ], + [ + 0.8176487422480341, + 0.549937601290496, + 0.17035013644568417, + 0.5220275567317725, + -0.8329713150207381, + 0.18342851023022086, + 0.24277101209342059, + -0.06105262516450616, + -0.9681605304120068 + ], + [ + 0.8432836857829662, + 0.5082956543364071, + 0.1746658325918929, + 0.48627547468372334, + -0.8599709303838425, + 0.15487466421551255, + 0.2289296573478739, + -0.04566756701940621, + -0.9723711664324035 + ], + [ + 0.8395066732975833, + 0.5192365406825552, + 0.16006861125416721, + 0.5099458408087636, + -0.8546304454013987, + 0.09778569033784848, + 0.18757341211021228, + -0.00046541703853739125, + -0.9822504764347597 + ], + [ + 0.8395251338270462, + 0.5037165478993499, + 0.20363494062916052, + 0.5017591348262196, + -0.8625583322130573, + 0.0650453238001937, + 0.20841142073102267, + 0.04756850746229501, + -0.9768837785564287 + ], + [ + 0.8499397499438374, + 0.48342162636054314, + 0.20953747309809378, + 0.4896269974011032, + -0.8715804736167149, + 0.024756442111959483, + 0.19459656955195037, + 0.08155371957789619, + -0.9774871691953929 + ], + [ + 0.8547085607359066, + 0.4767089326735515, + 0.20547960899806716, + 0.48461170493376926, + -0.8746276616706298, + 0.013339748189223156, + 0.18607732706039326, + 0.08817622667028724, + -0.9785704785064027 + ], + [ + 0.8425055819954181, + 0.4786531572391792, + 0.2471345774502783, + 0.48044419742801514, + -0.8751617294830112, + 0.0571429821242783, + 0.2436343930242865, + 0.07059109230824173, + -0.9672947742143638 + ], + [ + 0.8416888287958236, + 0.4950062086903043, + 0.2157052823608307, + 0.4940290402183104, + -0.8672055007448006, + 0.06236927848656641, + 0.21793398748540777, + 0.054069148652542184, + -0.9744646244285626 + ], + [ + 0.8485508560295624, + 0.4903005001897369, + 0.19891421328097894, + 0.4870543089380004, + -0.8706880501401788, + 0.06841359139835052, + 0.20673544658917073, + 0.03882961314238617, + -0.9776260615730274 + ], + [ + 0.8578076863376763, + 0.484060101318895, + 0.1727767101525666, + 0.4781092344064738, + -0.8748843698377964, + 0.07738797961426297, + 0.18862007643742054, + 0.016222136871054667, + -0.9819161415518529 + ], + [ + 0.8647023163078269, + 0.47823511160667403, + 0.1535613304137182, + 0.4740889220839232, + -0.8780749157115197, + 0.0649933562413229, + 0.1659204572353358, + 0.016601819923121177, + -0.9859993820718436 + ], + [ + 0.8770333312793781, + 0.4647307426435581, + 0.12181080685621896, + 0.45975572750123467, + -0.88544490549166, + 0.06791163647472506, + 0.139417383617706, + -0.0035575526463689014, + -0.9902273158039832 + ], + [ + 0.8795745820246064, + 0.4607329873128696, + 0.11863249579267021, + 0.4543461519617803, + -0.8874195347363315, + 0.07782122824702509, + 0.14113160118754975, + -0.014549356346996778, + -0.9898839262136376 + ], + [ + 0.8760598673041828, + 0.4672226684389886, + 0.11925639184432937, + 0.45862240582613883, + -0.8837281436859822, + 0.0932204748516779, + 0.1489449488006279, + -0.026973063490802807, + -0.9884775445465108 + ], + [ + 0.8707136276123906, + 0.4764373393265075, + 0.12192309209312784, + 0.46814781623444884, + -0.8789230303374428, + 0.09127940018078, + 0.1506499281280534, + -0.02240018834574066, + -0.9883333601154457 + ], + [ + 0.8715774162484259, + 0.47566808542891664, + 0.11871259406695908, + 0.4675253846153263, + -0.8793081353929445, + 0.09075911949811977, + 0.14755616634356225, + -0.02360244767331523, + -0.988772017321394 + ], + [ + 0.8757037384684637, + 0.4691358753406778, + 0.1142562597877773, + 0.46158891530941315, + -0.882813833590166, + 0.08703682258282303, + 0.14169910266418556, + -0.02347904789744388, + -0.9896312942778203 + ], + [ + 0.8796934967113095, + 0.462147637913614, + 0.11206655439825033, + 0.45555603815951884, + -0.8865890203961847, + 0.08017858198631439, + 0.1364113189593588, + -0.01947998161704019, + -0.9904607424708802 + ], + [ + 0.8680619592429157, + 0.46592490268715525, + 0.17141300992432093, + 0.4634656028691543, + -0.8843050756942032, + 0.05660537128754552, + 0.17795524682481775, + 0.030307064480652266, + -0.9835717624912195 + ], + [ + 0.8849070931162574, + 0.4255395742383618, + 0.18935550509443758, + 0.4294932590960722, + -0.9028080509257784, + 0.02175232343064921, + 0.18020814893774909, + 0.06207812771525244, + -0.9816676266006734 + ], + [ + 0.8817308212607027, + 0.4219999247675737, + 0.2108715778266211, + 0.4212198007318971, + -0.9055297894308802, + 0.050888897852541345, + 0.2124256065315749, + 0.04395297429557679, + -0.9761882491303943 + ], + [ + 0.8572636392410209, + 0.4603249455706285, + 0.23065124608516366, + 0.4529123533508697, + -0.8872593069067315, + 0.08741465832206444, + 0.24488661257287567, + 0.029527390551558688, + -0.9691019967938349 + ], + [ + 0.82159406889415, + 0.5349827666691899, + 0.1969178136302897, + 0.5233472712315365, + -0.8447859954476039, + 0.1115538237359219, + 0.2260327844638007, + 0.011404440476395494, + -0.9740529344368103 + ], + [ + 0.7456625910226382, + 0.6408928439143581, + 0.18232844805123571, + 0.6271292911781564, + -0.7674801120684088, + 0.13297792946893816, + 0.22515806113881215, + 0.015186842951350706, + -0.9742038838484387 + ], + [ + 0.7087053927697341, + 0.6910260225748156, + 0.14219599988581633, + 0.6744713322498536, + -0.7227472621045812, + 0.15074752765282512, + 0.20694223404661588, + -0.01092846031067525, + -0.9782921243284306 + ], + [ + 0.6972046606983631, + 0.7047195557772169, + 0.13143823190245063, + 0.6847717526103422, + -0.7089465886729023, + 0.16876723981867753, + 0.2121162604032057, + -0.027660117754934627, + -0.9768529111172994 + ], + [ + 0.7141255981812872, + 0.6935187772788616, + 0.0951647812158026, + 0.6766915993138132, + -0.7187222496481707, + 0.1597711090240858, + 0.1792013098175693, + -0.049699430804642356, + -0.9825562870071933 + ], + [ + 0.7184897752659252, + 0.6915415340791953, + 0.07444964393275097, + 0.6764395824666458, + -0.7196579371513006, + 0.15659484272313898, + 0.16187011493994224, + -0.06215110729929051, + -0.9848529361030518 + ], + [ + 0.721761840178396, + 0.6895059622983895, + 0.060343798498830106, + 0.674845245230612, + -0.7204144785274309, + 0.15995897635858003, + 0.15376521405028715, + -0.07472955963353163, + -0.9852774999283438 + ], + [ + 0.729544270051669, + 0.6805734726078273, + 0.06771193703698103, + 0.6680697873654285, + -0.7303211727532093, + 0.14252629174256873, + 0.14645107457539575, + -0.058742940094106334, + -0.9874722020111816 + ], + [ + 0.724772953382905, + 0.685264408480265, + 0.07153220613691226, + 0.6744259614926122, + -0.7268532846427458, + 0.12974561676148022, + 0.14090347231131956, + -0.04579293694712978, + -0.9889637093525572 + ], + [ + 0.7232443520325937, + 0.6873840758471957, + 0.06648864207254099, + 0.6763538854455514, + -0.7244918016352814, + 0.13287983671712644, + 0.13950995984394682, + -0.05113474000091332, + -0.9888994941192859 + ], + [ + 0.7103701896821468, + 0.6918533525925593, + 0.12927927953615195, + 0.6756055175243155, + -0.7217762631486064, + 0.15032036005124372, + 0.19731036035052144, + -0.019441308126497983, + -0.9801482832901754 + ], + [ + 0.6837365380723955, + 0.7055443519875718, + 0.1863102624205478, + 0.6844721634209835, + -0.7085909905164599, + 0.17145455858827743, + 0.2529865688264389, + 0.010294442060644005, + -0.9674150197594029 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006563.json b/json/chunk-0006/episode_0006563.json new file mode 100644 index 0000000000000000000000000000000000000000..1ac59e1dbc67caee766b12cdd6387a0da82bc2c6 --- /dev/null +++ b/json/chunk-0006/episode_0006563.json @@ -0,0 +1,2242 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 36, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove something to the bottom of the table." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006563.mp4", + "start": 0, + "end": 36, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3325270116329193, + 0.008928092196583748, + 0.1002398356795311, + 0.046729497611522675, + -0.12791791558265686, + 0.004121930338442326, + 0.0, + 1.0014774799346924 + ], + [ + 0.33106932044029236, + 0.008691243827342987, + 0.0904039740562439, + 0.03911396116018295, + -0.09233050793409348, + 0.004306509625166655, + 0.0, + 1.0008161067962646 + ], + [ + 0.3352642059326172, + 0.06077605113387108, + 0.10296589136123657, + 0.01438857801258564, + -0.10686568915843964, + 0.12987808883190155, + 0.0, + 1.0008161067962646 + ], + [ + 0.3384365141391754, + 0.10943340510129929, + 0.10406825691461563, + 0.015257571823894978, + -0.0742841586470604, + 0.23645463585853577, + 0.0, + 1.0008161067962646 + ], + [ + 0.3415372967720032, + 0.1555432379245758, + 0.10350331664085388, + 0.031192494556307793, + -0.04700099676847458, + 0.340209037065506, + 0.0, + 1.0008161067962646 + ], + [ + 0.3251652419567108, + 0.21409063041210175, + 0.1008995845913887, + 0.0630788803100586, + -0.03124161995947361, + 0.43322357535362244, + 0.0, + 1.0008161067962646 + ], + [ + 0.31528881192207336, + 0.24638180434703827, + 0.09049779176712036, + 0.09528688341379166, + 0.004653311334550381, + 0.45173972845077515, + 0.0, + 1.0008161067962646 + ], + [ + 0.30251115560531616, + 0.26720869541168213, + 0.08337464183568954, + 0.1397077739238739, + 0.014228874817490578, + 0.46020305156707764, + 0.0, + 1.0008161067962646 + ], + [ + 0.29639163613319397, + 0.26916563510894775, + 0.07482964545488358, + 0.16378425061702728, + 0.02800283208489418, + 0.43972498178482056, + 0.0, + 1.0008161067962646 + ], + [ + 0.29170241951942444, + 0.261342853307724, + 0.0615493543446064, + 0.16010192036628723, + 0.05416733771562576, + 0.4252389669418335, + 0.0, + 1.0008161067962646 + ], + [ + 0.29810112714767456, + 0.23565639555454254, + 0.046094171702861786, + 0.1667671650648117, + 0.08359494805335999, + 0.3672964870929718, + 0.0, + 1.0014774799346924 + ], + [ + 0.30021676421165466, + 0.20824174582958221, + 0.04430790990591049, + 0.18303999304771423, + 0.08170097321271896, + 0.2959406077861786, + 0.0, + 1.0008161067962646 + ], + [ + 0.30027708411216736, + 0.16581380367279053, + 0.045011214911937714, + 0.19141200184822083, + 0.07993585616350174, + 0.21690458059310913, + 0.0, + 1.0008161067962646 + ], + [ + 0.2935926020145416, + 0.14335130155086517, + 0.051608916372060776, + 0.1927127242088318, + 0.062414124608039856, + 0.18705306947231293, + 0.0, + 1.0001531839370728 + ], + [ + 0.2800997793674469, + 0.1293044239282608, + 0.055196065455675125, + 0.183213010430336, + 0.05665763467550278, + 0.2161070555448532, + 0.0, + 1.0001531839370728 + ], + [ + 0.27745985984802246, + 0.120272696018219, + 0.05282121151685715, + 0.17461645603179932, + 0.04534173756837845, + 0.2219885140657425, + 0.0, + 1.0001531839370728 + ], + [ + 0.27600255608558655, + 0.12333230674266815, + 0.06656641513109207, + 0.15156027674674988, + 0.015538464300334454, + 0.24470192193984985, + 0.0, + 1.0001531839370728 + ], + [ + 0.27488237619400024, + 0.1489088535308838, + 0.08273157477378845, + 0.11449993401765823, + -0.03805951401591301, + 0.2995702028274536, + 0.0, + 1.0001531839370728 + ], + [ + 0.2744092643260956, + 0.17990122735500336, + 0.09141729772090912, + 0.09641435742378235, + -0.0897928923368454, + 0.319580614566803, + 0.0, + 1.0001531839370728 + ], + [ + 0.27606001496315, + 0.20856107771396637, + 0.08068905770778656, + 0.09191661328077316, + -0.0702742338180542, + 0.3079143762588501, + 0.0, + 1.0001531839370728 + ], + [ + 0.27073144912719727, + 0.22839491069316864, + 0.0711897537112236, + 0.07038234919309616, + -0.051091957837343216, + 0.18210077285766602, + 0.0, + 1.0001531839370728 + ], + [ + 0.2691582441329956, + 0.23664145171642303, + 0.05927624925971031, + 0.04524607211351395, + -0.026096349582076073, + 0.08439376205205917, + 0.0, + 1.0001531839370728 + ], + [ + 0.2648956775665283, + 0.23578229546546936, + 0.053471751511096954, + 0.04399846866726875, + -0.019065724685788155, + 0.010423938743770123, + 0.0, + 1.0001531839370728 + ], + [ + 0.252241849899292, + 0.22260937094688416, + 0.05090918019413948, + 0.03102150186896324, + -0.013612412847578526, + -0.007530183997005224, + 0.0, + 1.0001531839370728 + ], + [ + 0.24452093243598938, + 0.20977874100208282, + 0.05822324380278587, + 0.046621739864349365, + -0.038895197212696075, + -0.004494672641158104, + 0.0, + 1.0001531839370728 + ], + [ + 0.2391270250082016, + 0.18936754763126373, + 0.06379326432943344, + 0.07274258881807327, + -0.046660635620355606, + -0.01069177221506834, + 0.0, + 1.0001531839370728 + ], + [ + 0.23667378723621368, + 0.16249099373817444, + 0.06354382634162903, + 0.10913725942373276, + -0.03760052099823952, + -0.05234253779053688, + 0.0, + 1.0001531839370728 + ], + [ + 0.2351304441690445, + 0.13774272799491882, + 0.060950249433517456, + 0.14224213361740112, + -0.023353494703769684, + -0.0790206640958786, + 0.0, + 1.0001531839370728 + ], + [ + 0.23279987275600433, + 0.11870722472667694, + 0.05792095139622688, + 0.14719954133033752, + -0.01506579015403986, + -0.09466449171304703, + 0.0, + 1.0001531839370728 + ], + [ + 0.23359760642051697, + 0.09550037235021591, + 0.054688822478055954, + 0.1363026350736618, + -0.028586488217115402, + -0.10652279853820801, + 0.0, + 1.0001531839370728 + ], + [ + 0.2333078533411026, + 0.07337787747383118, + 0.04974096640944481, + 0.11499399691820145, + -0.01886664517223835, + -0.1200813502073288, + 0.0, + 1.0001531839370728 + ], + [ + 0.2365957349538803, + 0.056346502155065536, + 0.048266153782606125, + 0.09032672643661499, + -0.034449223428964615, + -0.11269550025463104, + 0.0, + 0.9994885921478271 + ], + [ + 0.24123930931091309, + 0.03468858450651169, + 0.0476931594312191, + 0.06568669527769089, + -0.04816775023937225, + -0.13497814536094666, + 0.0, + 0.9994885921478271 + ], + [ + 0.24152864515781403, + 0.027711903676390648, + 0.047641877084970474, + 0.06464049965143204, + -0.033358700573444366, + -0.15435440838336945, + 0.0, + 0.9994885921478271 + ], + [ + 0.2411079704761505, + 0.030909284949302673, + 0.05494840443134308, + 0.05101633816957474, + -0.03460679575800896, + -0.16196408867835999, + 0.0, + 1.0001531839370728 + ], + [ + 0.24083717167377472, + 0.042499177157878876, + 0.07254728674888611, + 0.058930397033691406, + -0.07481106370687485, + -0.16255269944667816, + 0.0, + 1.0001531839370728 + ] + ], + "left_gripper_pos": [ + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3325270116329193, + 0.008928092196583748, + 0.1002398356795311 + ], + [ + 0.33106932044029236, + 0.008691243827342987, + 0.0904039740562439 + ], + [ + 0.3352642059326172, + 0.06077605113387108, + 0.10296589136123657 + ], + [ + 0.3384365141391754, + 0.10943340510129929, + 0.10406825691461563 + ], + [ + 0.3415372967720032, + 0.1555432379245758, + 0.10350331664085388 + ], + [ + 0.3251652419567108, + 0.21409063041210175, + 0.1008995845913887 + ], + [ + 0.31528881192207336, + 0.24638180434703827, + 0.09049779176712036 + ], + [ + 0.30251115560531616, + 0.26720869541168213, + 0.08337464183568954 + ], + [ + 0.29639163613319397, + 0.26916563510894775, + 0.07482964545488358 + ], + [ + 0.29170241951942444, + 0.261342853307724, + 0.0615493543446064 + ], + [ + 0.29810112714767456, + 0.23565639555454254, + 0.046094171702861786 + ], + [ + 0.30021676421165466, + 0.20824174582958221, + 0.04430790990591049 + ], + [ + 0.30027708411216736, + 0.16581380367279053, + 0.045011214911937714 + ], + [ + 0.2935926020145416, + 0.14335130155086517, + 0.051608916372060776 + ], + [ + 0.2800997793674469, + 0.1293044239282608, + 0.055196065455675125 + ], + [ + 0.27745985984802246, + 0.120272696018219, + 0.05282121151685715 + ], + [ + 0.27600255608558655, + 0.12333230674266815, + 0.06656641513109207 + ], + [ + 0.27488237619400024, + 0.1489088535308838, + 0.08273157477378845 + ], + [ + 0.2744092643260956, + 0.17990122735500336, + 0.09141729772090912 + ], + [ + 0.27606001496315, + 0.20856107771396637, + 0.08068905770778656 + ], + [ + 0.27073144912719727, + 0.22839491069316864, + 0.0711897537112236 + ], + [ + 0.2691582441329956, + 0.23664145171642303, + 0.05927624925971031 + ], + [ + 0.2648956775665283, + 0.23578229546546936, + 0.053471751511096954 + ], + [ + 0.252241849899292, + 0.22260937094688416, + 0.05090918019413948 + ], + [ + 0.24452093243598938, + 0.20977874100208282, + 0.05822324380278587 + ], + [ + 0.2391270250082016, + 0.18936754763126373, + 0.06379326432943344 + ], + [ + 0.23667378723621368, + 0.16249099373817444, + 0.06354382634162903 + ], + [ + 0.2351304441690445, + 0.13774272799491882, + 0.060950249433517456 + ], + [ + 0.23279987275600433, + 0.11870722472667694, + 0.05792095139622688 + ], + [ + 0.23359760642051697, + 0.09550037235021591, + 0.054688822478055954 + ], + [ + 0.2333078533411026, + 0.07337787747383118, + 0.04974096640944481 + ], + [ + 0.2365957349538803, + 0.056346502155065536, + 0.048266153782606125 + ], + [ + 0.24123930931091309, + 0.03468858450651169, + 0.0476931594312191 + ], + [ + 0.24152864515781403, + 0.027711903676390648, + 0.047641877084970474 + ], + [ + 0.2411079704761505, + 0.030909284949302673, + 0.05494840443134308 + ], + [ + 0.24083717167377472, + 0.042499177157878876, + 0.07254728674888611 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9918212277664403, + 0.010076450671473721, + 0.127236462123624, + 0.004088241162562345, + -0.9988753269700527, + 0.04723735232490484, + 0.12756934755680055, + -0.04633083543749043, + -0.9907469481414498 + ], + [ + 0.9957313323875752, + 0.007908532489782221, + 0.09195960425927585, + 0.0042881530764381556, + -0.9992103541510521, + 0.03950037848581053, + 0.09219937876611534, + -0.03893742763957718, + -0.994978970272214 + ], + [ + 0.9859210314444556, + 0.1310215946331826, + 0.10388966019426062, + 0.12877442417959054, + -0.99127628845503, + 0.02807966566815439, + 0.10666239933882914, + -0.014306001768433009, + -0.9941923711639946 + ], + [ + 0.9694935480365818, + 0.23533092953853119, + 0.06856831570025906, + 0.23361135795828608, + -0.971796203066217, + 0.03221603853625002, + 0.07421585914294229, + -0.015214904160542301, + -0.9971261268982274 + ], + [ + 0.9416438857642468, + 0.33490315320719716, + 0.033862521682343036, + 0.33331565358506615, + -0.9417374203456144, + 0.04507001437705818, + 0.04698369374549766, + -0.031152994922874887, + -0.9984097472627984 + ], + [ + 0.9071743160403206, + 0.4207510020367823, + 0.0018315572118287795, + 0.4195938977253517, + -0.9049855252294368, + 0.07030049869558228, + 0.031236538035186376, + -0.06300629659204007, + -0.9975241777928655 + ], + [ + 0.8996792775451435, + 0.4341528275380558, + -0.045700327094666496, + 0.43652668235259134, + -0.8958009681866996, + 0.08357679695950991, + -0.004653294541305898, + -0.09514172447713205, + -0.9954528613216345 + ], + [ + 0.8958716375647386, + 0.43802754325130167, + -0.07447066778472651, + 0.44408508395531876, + -0.8881127138695862, + 0.11850842025610006, + -0.014228394690601515, + -0.1392396452754315, + -0.9901564896359065 + ], + [ + 0.9045140129814147, + 0.41586270154426314, + -0.09440664057450812, + 0.4255237321963283, + -0.8947026232571516, + 0.13578206536387294, + -0.027999172451427544, + -0.16298904687456345, + -0.9862305090296876 + ], + [ + 0.9096041076324887, + 0.3994001507724015, + -0.11445473752137517, + 0.4119334114016832, + -0.9028508478112425, + 0.1231714706313608, + -0.05414085286616288, + -0.15918500610768455, + -0.985763106370603 + ], + [ + 0.9300424583001748, + 0.3411759363355336, + -0.1364551436353345, + 0.35783959140686344, + -0.9253305716785645, + 0.12535613243392002, + -0.08349762021002087, + -0.16541557841567822, + -0.9826829772803994 + ], + [ + 0.9533375858728328, + 0.2725589423083664, + -0.12984248276239696, + 0.29066688359572557, + -0.944881548890671, + 0.1507037535919898, + -0.0816101105434105, + -0.18141246245423948, + -0.9800149531121355 + ], + [ + 0.9734499368554371, + 0.19644206802648376, + -0.11749780570556936, + 0.21452057557038165, + -0.9620020862621528, + 0.16891686915230786, + -0.0798507551191445, + -0.18963781251834783, + -0.9786017356259687 + ], + [ + 0.9806433597396335, + 0.17078412128130574, + -0.09576734786312616, + 0.1856020845457552, + -0.9665892472613051, + 0.176796757015209, + -0.06237360989100363, + -0.19114918518528076, + -0.9795772158396545 + ], + [ + 0.9751723176170609, + 0.2007631099136058, + -0.09345118860232723, + 0.21408478881954385, + -0.9626045448177484, + 0.16601263052041243, + -0.056627326879004375, + -0.18189739963516, + -0.9816856329072488 + ], + [ + 0.9744590266464062, + 0.20914039596685224, + -0.0817918098721779, + 0.219943494350189, + -0.9623616980025049, + 0.1596396614590607, + -0.04532620302172499, + -0.17355188559207121, + -0.9837811130160354 + ], + [ + 0.9700924593687822, + 0.23721393066213173, + -0.051479815225469926, + 0.24223789099582135, + -0.9596561262694352, + 0.14276177177185093, + -0.015537839030049842, + -0.15096248015107208, + -0.988417373959459 + ], + [ + 0.9547714910727996, + 0.29733084793188413, + 0.002401395996057362, + 0.29489586721791294, + -0.9479241653352222, + 0.12031709883186778, + 0.038050326311585565, + -0.11416717409846483, + -0.9927326070125594 + ], + [ + 0.945542568219047, + 0.3209045852867604, + 0.054493108074885444, + 0.3129027553006452, + -0.9422461479820831, + 0.11943224999216498, + 0.08967227782873255, + -0.09587723272424345, + -0.9913457715823213 + ], + [ + 0.9506156036453747, + 0.3079342389100032, + 0.03881338187863692, + 0.30232371773428207, + -0.9469916287221921, + 0.10866105477774447, + 0.0702164069236097, + -0.09156068827289877, + -0.993320842709812 + ], + [ + 0.9821820875836232, + 0.18417970664674066, + 0.037365525413103215, + 0.18085969495511178, + -0.9803801473208442, + 0.0783871002136473, + 0.051069732431457085, + -0.07023248819941542, + -0.9962225052821779 + ], + [ + 0.9961016810097671, + 0.08538336954016268, + 0.02216125663142703, + 0.08426491683853166, + -0.9953216880598633, + 0.0472669130350104, + 0.02609338766261082, + -0.04521523508323178, + -0.9986364291556045 + ], + [ + 0.9997639356930818, + 0.011252157811051714, + 0.01858660356479187, + 0.010421855501021246, + -0.9989692065924741, + 0.044180416565700764, + 0.01906456963572425, + -0.0439762802496778, + -0.9988506539818686 + ], + [ + 0.9998790034640306, + -0.007104305126449733, + 0.01383861555385975, + -0.007529415186524955, + -0.9994937129248181, + 0.030913196708042667, + 0.013611992459818525, + -0.03101365300043696, + -0.9994262689107398 + ], + [ + 0.9992335837890598, + -0.00267754403252348, + 0.03905221870810465, + -0.004491258095478786, + -0.998911458910336, + 0.046429794941865984, + 0.03888539094302045, + -0.0465696039877711, + -0.9981579025162454 + ], + [ + 0.9988544957960391, + -0.007273495230737432, + 0.047294740671339236, + -0.01067993170336261, + -0.99733466337711, + 0.07217692349552318, + 0.04664370575814383, + -0.07259934912652824, + -0.9962698927597644 + ], + [ + 0.9979245938146255, + -0.04791846354026872, + 0.04301541481672987, + -0.05228166056115154, + -0.9929032478630208, + 0.10681651722479008, + 0.037591661693571594, + -0.10884374688058696, + -0.9933478271663514 + ], + [ + 0.9966076620411303, + -0.07484119414267366, + 0.03423395420063584, + -0.07891692712815161, + -0.98707295460238, + 0.13949588131976567, + 0.023351371984588226, + -0.14172430261541866, + -0.9896307066146497 + ], + [ + 0.9954096833408747, + -0.09130126481329934, + 0.028699152508597024, + -0.09451244071943013, + -0.9849656346474562, + 0.14460324032603872, + 0.015065220226605579, + -0.14665189261317324, + -0.9890734358643438 + ], + [ + 0.9939255595335511, + -0.10147352823118592, + 0.042604051148121796, + -0.10627801922995665, + -0.985522484107418, + 0.13210002251059902, + 0.028582594956966925, + -0.135825462955436, + -0.9903203920340463 + ], + [ + 0.9926222056648772, + -0.11685273988830686, + 0.03235110510616902, + -0.11977165254130001, + -0.9865012361371329, + 0.11166943336220259, + 0.018865525927489975, + -0.11472030456943969, + -0.9932186786659697 + ], + [ + 0.9930670278091003, + -0.10891152201608716, + 0.04422848234496887, + -0.1123903851180751, + -0.9899551406572418, + 0.08577424333278452, + 0.03444241006971821, + -0.09015042905300188, + -0.9953324171000105 + ], + [ + 0.9897549801890309, + -0.13114670886258695, + 0.05644129645501513, + -0.1344125768321247, + -0.9891925947803395, + 0.05857704005058009, + 0.04814912647555727, + -0.06556333721105842, + -0.9966860641312237 + ], + [ + 0.9875612559607179, + -0.15129232108183654, + 0.042818212327929636, + -0.15365668074271221, + -0.9863785770885014, + 0.05871053673741476, + 0.03335251397453265, + -0.06455955578017555, + -0.997356342321562 + ], + [ + 0.9863215451428593, + -0.15930579407048892, + 0.04232580256266638, + -0.16116034656251152, + -0.9859129614100236, + 0.04475461115425583, + 0.034599888480369684, + -0.0509636782354692, + -0.9981009724561227 + ], + [ + 0.9840572054175754, + -0.15721289029359437, + 0.08315962717139759, + -0.16138511215046275, + -0.9858167736154414, + 0.04604491757646825, + 0.07474130077764328, + -0.058731558671428624, + -0.9954719192293121 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0014576911926269531, + -0.0002368483692407608, + -0.009835861623287201, + -0.007615536451339722, + 0.035587407648563385, + 0.000184579286724329, + 1.0 + ], + [ + 0.004194885492324829, + 0.05208480730652809, + 0.012561917304992676, + -0.024725383147597313, + -0.014535181224346161, + 0.1255715787410736, + 1.0 + ], + [ + 0.0031723082065582275, + 0.04865735396742821, + 0.0011023655533790588, + 0.0008689938113093376, + 0.03258153051137924, + 0.10657654702663422, + 1.0 + ], + [ + 0.003100782632827759, + 0.04610983282327652, + -0.0005649402737617493, + 0.01593492180109024, + 0.027283161878585815, + 0.10375440120697021, + 1.0 + ], + [ + -0.01637205481529236, + 0.05854739248752594, + -0.0026037320494651794, + 0.03188638389110565, + 0.01575937680900097, + 0.09301453828811646, + 1.0 + ], + [ + -0.009876430034637451, + 0.03229117393493652, + -0.010401792824268341, + 0.03220800310373306, + 0.035894930362701416, + 0.01851615309715271, + 1.0 + ], + [ + -0.012777656316757202, + 0.02082689106464386, + -0.007123149931430817, + 0.044420890510082245, + 0.009575563482940197, + 0.00846332311630249, + 1.0 + ], + [ + -0.006119519472122192, + 0.001956939697265625, + -0.00854499638080597, + 0.02407647669315338, + 0.013773957267403603, + -0.02047806978225708, + 1.0 + ], + [ + -0.004689216613769531, + -0.007822781801223755, + -0.013280291110277176, + -0.0036823302507400513, + 0.026164505630731583, + -0.01448601484298706, + 1.0 + ], + [ + 0.006398707628250122, + -0.025686457753181458, + -0.015455182641744614, + 0.006665244698524475, + 0.029427610337734222, + -0.057942479848861694, + 1.0 + ], + [ + 0.0021156370639801025, + -0.027414649724960327, + -0.001786261796951294, + 0.016272827982902527, + -0.0018939748406410217, + -0.07135587930679321, + 1.0 + ], + [ + 6.031990051269531e-05, + -0.04242794215679169, + 0.0007033050060272217, + 0.008372008800506592, + -0.0017651170492172241, + -0.07903602719306946, + 1.0 + ], + [ + -0.006684482097625732, + -0.022462502121925354, + 0.006597701460123062, + 0.001300722360610962, + -0.017521731555461884, + -0.029851511120796204, + 1.0 + ], + [ + -0.013492822647094727, + -0.01404687762260437, + 0.0035871490836143494, + -0.009499713778495789, + -0.005756489932537079, + 0.029053986072540283, + 1.0 + ], + [ + -0.0026399195194244385, + -0.009031727910041809, + -0.002374853938817978, + -0.008596554398536682, + -0.011315897107124329, + 0.005881458520889282, + 1.0 + ], + [ + -0.001457303762435913, + 0.0030596107244491577, + 0.013745203614234924, + -0.02305617928504944, + -0.02980327233672142, + 0.02271340787410736, + 1.0 + ], + [ + -0.0011201798915863037, + 0.025576546788215637, + 0.01616515964269638, + -0.037060342729091644, + -0.05359797924757004, + 0.05486828088760376, + 1.0 + ], + [ + -0.0004731118679046631, + 0.030992373824119568, + 0.008685722947120667, + -0.018085576593875885, + -0.05173337832093239, + 0.020010411739349365, + 1.0 + ], + [ + 0.0016507506370544434, + 0.028659850358963013, + -0.010728240013122559, + -0.004497744143009186, + 0.0195186585187912, + -0.01166623830795288, + 1.0 + ], + [ + -0.005328565835952759, + 0.01983383297920227, + -0.009499303996562958, + -0.021534264087677002, + 0.019182275980710983, + -0.12581360340118408, + 1.0 + ], + [ + -0.0015732049942016602, + 0.008246541023254395, + -0.01191350445151329, + -0.025136277079582214, + 0.024995608255267143, + -0.09770701080560684, + 1.0 + ], + [ + -0.004262566566467285, + -0.0008591562509536743, + -0.0058044977486133575, + -0.0012476034462451935, + 0.007030624896287918, + -0.07396982610225677, + 1.0 + ], + [ + -0.012653827667236328, + -0.013172924518585205, + -0.0025625713169574738, + -0.012976966798305511, + 0.005453311838209629, + -0.01795412227511406, + 1.0 + ], + [ + -0.007720917463302612, + -0.01283062994480133, + 0.007314063608646393, + 0.015600237995386124, + -0.025282785296440125, + 0.0030355113558471203, + 1.0 + ], + [ + -0.005393907427787781, + -0.020411193370819092, + 0.005570020526647568, + 0.026120848953723907, + -0.007765438407659531, + -0.006197099573910236, + 1.0 + ], + [ + -0.002453237771987915, + -0.026876553893089294, + -0.00024943798780441284, + 0.036394670605659485, + 0.009060114622116089, + -0.041650764644145966, + 1.0 + ], + [ + -0.0015433430671691895, + -0.024748265743255615, + -0.0025935769081115723, + 0.033104874193668365, + 0.014247026294469833, + -0.02667812630534172, + 1.0 + ], + [ + -0.002330571413040161, + -0.019035503268241882, + -0.003029298037290573, + 0.004957407712936401, + 0.008287704549729824, + -0.015643827617168427, + 1.0 + ], + [ + 0.0007977336645126343, + -0.02320685237646103, + -0.003232128918170929, + -0.01089690625667572, + -0.013520698063075542, + -0.01185830682516098, + 1.0 + ], + [ + -0.0002897530794143677, + -0.022122494876384735, + -0.004947856068611145, + -0.021308638155460358, + 0.009719843044877052, + -0.013558551669120789, + 1.0 + ], + [ + 0.00328788161277771, + -0.01703137531876564, + -0.001474812626838684, + -0.024667270481586456, + -0.015582578256726265, + 0.007385849952697754, + 1.0 + ], + [ + 0.004643574357032776, + -0.02165791764855385, + -0.0005729943513870239, + -0.024640031158924103, + -0.013718526810407639, + -0.022282645106315613, + 1.0 + ], + [ + 0.00028933584690093994, + -0.00697668083012104, + -5.128234624862671e-05, + -0.00104619562625885, + 0.014809049665927887, + -0.01937626302242279, + 1.0 + ], + [ + -0.0004206746816635132, + 0.0031973812729120255, + 0.007306527346372604, + -0.0136241614818573, + -0.0012480951845645905, + -0.0076096802949905396, + 1.0 + ], + [ + -0.00027079880237579346, + 0.011589892208576202, + 0.01759888231754303, + 0.007914058864116669, + -0.04020426794886589, + -0.0005886107683181763, + 1.0 + ], + [ + -0.0020374655723571777, + 0.008805710822343826, + 0.006918333470821381, + 0.006558209657669067, + -0.01609257608652115, + 0.0062143802642822266, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.33106932044029236, + 0.008691243827342987, + 0.0904039740562439 + ], + [ + 0.3352642059326172, + 0.06077605113387108, + 0.10296589136123657 + ], + [ + 0.3384365141391754, + 0.10943340510129929, + 0.10406825691461563 + ], + [ + 0.3415372967720032, + 0.1555432379245758, + 0.10350331664085388 + ], + [ + 0.3251652419567108, + 0.21409063041210175, + 0.1008995845913887 + ], + [ + 0.31528881192207336, + 0.24638180434703827, + 0.09049779176712036 + ], + [ + 0.30251115560531616, + 0.26720869541168213, + 0.08337464183568954 + ], + [ + 0.29639163613319397, + 0.26916563510894775, + 0.07482964545488358 + ], + [ + 0.29170241951942444, + 0.261342853307724, + 0.0615493543446064 + ], + [ + 0.29810112714767456, + 0.23565639555454254, + 0.046094171702861786 + ], + [ + 0.30021676421165466, + 0.20824174582958221, + 0.04430790990591049 + ], + [ + 0.30027708411216736, + 0.16581380367279053, + 0.045011214911937714 + ], + [ + 0.2935926020145416, + 0.14335130155086517, + 0.051608916372060776 + ], + [ + 0.2800997793674469, + 0.1293044239282608, + 0.055196065455675125 + ], + [ + 0.27745985984802246, + 0.120272696018219, + 0.05282121151685715 + ], + [ + 0.27600255608558655, + 0.12333230674266815, + 0.06656641513109207 + ], + [ + 0.27488237619400024, + 0.1489088535308838, + 0.08273157477378845 + ], + [ + 0.2744092643260956, + 0.17990122735500336, + 0.09141729772090912 + ], + [ + 0.27606001496315, + 0.20856107771396637, + 0.08068905770778656 + ], + [ + 0.27073144912719727, + 0.22839491069316864, + 0.0711897537112236 + ], + [ + 0.2691582441329956, + 0.23664145171642303, + 0.05927624925971031 + ], + [ + 0.2648956775665283, + 0.23578229546546936, + 0.053471751511096954 + ], + [ + 0.252241849899292, + 0.22260937094688416, + 0.05090918019413948 + ], + [ + 0.24452093243598938, + 0.20977874100208282, + 0.05822324380278587 + ], + [ + 0.2391270250082016, + 0.18936754763126373, + 0.06379326432943344 + ], + [ + 0.23667378723621368, + 0.16249099373817444, + 0.06354382634162903 + ], + [ + 0.2351304441690445, + 0.13774272799491882, + 0.060950249433517456 + ], + [ + 0.23279987275600433, + 0.11870722472667694, + 0.05792095139622688 + ], + [ + 0.23359760642051697, + 0.09550037235021591, + 0.054688822478055954 + ], + [ + 0.2333078533411026, + 0.07337787747383118, + 0.04974096640944481 + ], + [ + 0.2365957349538803, + 0.056346502155065536, + 0.048266153782606125 + ], + [ + 0.24123930931091309, + 0.03468858450651169, + 0.0476931594312191 + ], + [ + 0.24152864515781403, + 0.027711903676390648, + 0.047641877084970474 + ], + [ + 0.2411079704761505, + 0.030909284949302673, + 0.05494840443134308 + ], + [ + 0.24083717167377472, + 0.042499177157878876, + 0.07254728674888611 + ], + [ + 0.23879970610141754, + 0.0513048879802227, + 0.07946562021970749 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9957313323875752, + 0.007908532489782221, + 0.09195960425927585, + 0.0042881530764381556, + -0.9992103541510521, + 0.03950037848581053, + 0.09219937876611534, + -0.03893742763957718, + -0.994978970272214 + ], + [ + 0.9859210314444556, + 0.1310215946331826, + 0.10388966019426062, + 0.12877442417959054, + -0.99127628845503, + 0.02807966566815439, + 0.10666239933882914, + -0.014306001768433009, + -0.9941923711639946 + ], + [ + 0.9694935480365818, + 0.23533092953853119, + 0.06856831570025906, + 0.23361135795828608, + -0.971796203066217, + 0.03221603853625002, + 0.07421585914294229, + -0.015214904160542301, + -0.9971261268982274 + ], + [ + 0.9416438857642468, + 0.33490315320719716, + 0.033862521682343036, + 0.33331565358506615, + -0.9417374203456144, + 0.04507001437705818, + 0.04698369374549766, + -0.031152994922874887, + -0.9984097472627984 + ], + [ + 0.9071743160403206, + 0.4207510020367823, + 0.0018315572118287795, + 0.4195938977253517, + -0.9049855252294368, + 0.07030049869558228, + 0.031236538035186376, + -0.06300629659204007, + -0.9975241777928655 + ], + [ + 0.8996792775451435, + 0.4341528275380558, + -0.045700327094666496, + 0.43652668235259134, + -0.8958009681866996, + 0.08357679695950991, + -0.004653294541305898, + -0.09514172447713205, + -0.9954528613216345 + ], + [ + 0.8958716375647386, + 0.43802754325130167, + -0.07447066778472651, + 0.44408508395531876, + -0.8881127138695862, + 0.11850842025610006, + -0.014228394690601515, + -0.1392396452754315, + -0.9901564896359065 + ], + [ + 0.9045140129814147, + 0.41586270154426314, + -0.09440664057450812, + 0.4255237321963283, + -0.8947026232571516, + 0.13578206536387294, + -0.027999172451427544, + -0.16298904687456345, + -0.9862305090296876 + ], + [ + 0.9096041076324887, + 0.3994001507724015, + -0.11445473752137517, + 0.4119334114016832, + -0.9028508478112425, + 0.1231714706313608, + -0.05414085286616288, + -0.15918500610768455, + -0.985763106370603 + ], + [ + 0.9300424583001748, + 0.3411759363355336, + -0.1364551436353345, + 0.35783959140686344, + -0.9253305716785645, + 0.12535613243392002, + -0.08349762021002087, + -0.16541557841567822, + -0.9826829772803994 + ], + [ + 0.9533375858728328, + 0.2725589423083664, + -0.12984248276239696, + 0.29066688359572557, + -0.944881548890671, + 0.1507037535919898, + -0.0816101105434105, + -0.18141246245423948, + -0.9800149531121355 + ], + [ + 0.9734499368554371, + 0.19644206802648376, + -0.11749780570556936, + 0.21452057557038165, + -0.9620020862621528, + 0.16891686915230786, + -0.0798507551191445, + -0.18963781251834783, + -0.9786017356259687 + ], + [ + 0.9806433597396335, + 0.17078412128130574, + -0.09576734786312616, + 0.1856020845457552, + -0.9665892472613051, + 0.176796757015209, + -0.06237360989100363, + -0.19114918518528076, + -0.9795772158396545 + ], + [ + 0.9751723176170609, + 0.2007631099136058, + -0.09345118860232723, + 0.21408478881954385, + -0.9626045448177484, + 0.16601263052041243, + -0.056627326879004375, + -0.18189739963516, + -0.9816856329072488 + ], + [ + 0.9744590266464062, + 0.20914039596685224, + -0.0817918098721779, + 0.219943494350189, + -0.9623616980025049, + 0.1596396614590607, + -0.04532620302172499, + -0.17355188559207121, + -0.9837811130160354 + ], + [ + 0.9700924593687822, + 0.23721393066213173, + -0.051479815225469926, + 0.24223789099582135, + -0.9596561262694352, + 0.14276177177185093, + -0.015537839030049842, + -0.15096248015107208, + -0.988417373959459 + ], + [ + 0.9547714910727996, + 0.29733084793188413, + 0.002401395996057362, + 0.29489586721791294, + -0.9479241653352222, + 0.12031709883186778, + 0.038050326311585565, + -0.11416717409846483, + -0.9927326070125594 + ], + [ + 0.945542568219047, + 0.3209045852867604, + 0.054493108074885444, + 0.3129027553006452, + -0.9422461479820831, + 0.11943224999216498, + 0.08967227782873255, + -0.09587723272424345, + -0.9913457715823213 + ], + [ + 0.9506156036453747, + 0.3079342389100032, + 0.03881338187863692, + 0.30232371773428207, + -0.9469916287221921, + 0.10866105477774447, + 0.0702164069236097, + -0.09156068827289877, + -0.993320842709812 + ], + [ + 0.9821820875836232, + 0.18417970664674066, + 0.037365525413103215, + 0.18085969495511178, + -0.9803801473208442, + 0.0783871002136473, + 0.051069732431457085, + -0.07023248819941542, + -0.9962225052821779 + ], + [ + 0.9961016810097671, + 0.08538336954016268, + 0.02216125663142703, + 0.08426491683853166, + -0.9953216880598633, + 0.0472669130350104, + 0.02609338766261082, + -0.04521523508323178, + -0.9986364291556045 + ], + [ + 0.9997639356930818, + 0.011252157811051714, + 0.01858660356479187, + 0.010421855501021246, + -0.9989692065924741, + 0.044180416565700764, + 0.01906456963572425, + -0.0439762802496778, + -0.9988506539818686 + ], + [ + 0.9998790034640306, + -0.007104305126449733, + 0.01383861555385975, + -0.007529415186524955, + -0.9994937129248181, + 0.030913196708042667, + 0.013611992459818525, + -0.03101365300043696, + -0.9994262689107398 + ], + [ + 0.9992335837890598, + -0.00267754403252348, + 0.03905221870810465, + -0.004491258095478786, + -0.998911458910336, + 0.046429794941865984, + 0.03888539094302045, + -0.0465696039877711, + -0.9981579025162454 + ], + [ + 0.9988544957960391, + -0.007273495230737432, + 0.047294740671339236, + -0.01067993170336261, + -0.99733466337711, + 0.07217692349552318, + 0.04664370575814383, + -0.07259934912652824, + -0.9962698927597644 + ], + [ + 0.9979245938146255, + -0.04791846354026872, + 0.04301541481672987, + -0.05228166056115154, + -0.9929032478630208, + 0.10681651722479008, + 0.037591661693571594, + -0.10884374688058696, + -0.9933478271663514 + ], + [ + 0.9966076620411303, + -0.07484119414267366, + 0.03423395420063584, + -0.07891692712815161, + -0.98707295460238, + 0.13949588131976567, + 0.023351371984588226, + -0.14172430261541866, + -0.9896307066146497 + ], + [ + 0.9954096833408747, + -0.09130126481329934, + 0.028699152508597024, + -0.09451244071943013, + -0.9849656346474562, + 0.14460324032603872, + 0.015065220226605579, + -0.14665189261317324, + -0.9890734358643438 + ], + [ + 0.9939255595335511, + -0.10147352823118592, + 0.042604051148121796, + -0.10627801922995665, + -0.985522484107418, + 0.13210002251059902, + 0.028582594956966925, + -0.135825462955436, + -0.9903203920340463 + ], + [ + 0.9926222056648772, + -0.11685273988830686, + 0.03235110510616902, + -0.11977165254130001, + -0.9865012361371329, + 0.11166943336220259, + 0.018865525927489975, + -0.11472030456943969, + -0.9932186786659697 + ], + [ + 0.9930670278091003, + -0.10891152201608716, + 0.04422848234496887, + -0.1123903851180751, + -0.9899551406572418, + 0.08577424333278452, + 0.03444241006971821, + -0.09015042905300188, + -0.9953324171000105 + ], + [ + 0.9897549801890309, + -0.13114670886258695, + 0.05644129645501513, + -0.1344125768321247, + -0.9891925947803395, + 0.05857704005058009, + 0.04814912647555727, + -0.06556333721105842, + -0.9966860641312237 + ], + [ + 0.9875612559607179, + -0.15129232108183654, + 0.042818212327929636, + -0.15365668074271221, + -0.9863785770885014, + 0.05871053673741476, + 0.03335251397453265, + -0.06455955578017555, + -0.997356342321562 + ], + [ + 0.9863215451428593, + -0.15930579407048892, + 0.04232580256266638, + -0.16116034656251152, + -0.9859129614100236, + 0.04475461115425583, + 0.034599888480369684, + -0.0509636782354692, + -0.9981009724561227 + ], + [ + 0.9840572054175754, + -0.15721289029359437, + 0.08315962717139759, + -0.16138511215046275, + -0.9858167736154414, + 0.04604491757646825, + 0.07474130077764328, + -0.058731558671428624, + -0.9954719192293121 + ], + [ + 0.9837255005450164, + -0.1495002141857251, + 0.09966857847826809, + -0.1550593577984203, + -0.9866115486925996, + 0.05053956416047951, + 0.09077849490158911, + -0.0651716038226164, + -0.9937363467834864 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006565.json b/json/chunk-0006/episode_0006565.json new file mode 100644 index 0000000000000000000000000000000000000000..46e71104433a5645e361baf9a6269027a4843842 --- /dev/null +++ b/json/chunk-0006/episode_0006565.json @@ -0,0 +1,2482 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 40, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut the chocolate bar on top of the orange cloth." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006565.mp4", + "start": 0, + "end": 40, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2877020537853241, + -0.04166948422789574, + 0.12451278418302536, + -0.0006416825344786048, + -0.3254164159297943, + -0.1691836565732956, + 0.0, + 0.9988223910331726 + ], + [ + 0.28485727310180664, + -0.04127422347664833, + 0.11751867085695267, + -0.008104365319013596, + -0.3007820248603821, + -0.1464519500732422, + 0.0, + 0.9988223910331726 + ], + [ + 0.27404069900512695, + -0.02835405431687832, + 0.11636786162853241, + -0.05313509702682495, + -0.28990164399147034, + 0.06395068019628525, + 0.0, + 0.9988223910331726 + ], + [ + 0.2750625014305115, + -0.022047247737646103, + 0.11846917122602463, + -0.10903984308242798, + -0.2901708483695984, + 0.1609445959329605, + 0.0, + 0.9988223910331726 + ], + [ + 0.2742037773132324, + -0.002085882006213069, + 0.1134038046002388, + -0.1789042204618454, + -0.26801592111587524, + 0.3686758577823639, + 0.0, + 0.9988223910331726 + ], + [ + 0.27303051948547363, + 0.014124713838100433, + 0.11843778192996979, + -0.17193296551704407, + -0.27744442224502563, + 0.6079187393188477, + 0.0, + 0.9988223910331726 + ], + [ + 0.27577024698257446, + 0.035870883613824844, + 0.12224879860877991, + -0.16687390208244324, + -0.2844553291797638, + 0.8647154569625854, + 0.0, + 0.9988223910331726 + ], + [ + 0.2743697762489319, + 0.0540396124124527, + 0.11261466890573502, + -0.11381206661462784, + -0.30175384879112244, + 1.0569084882736206, + 0.0, + 0.9988223910331726 + ], + [ + 0.27459517121315, + 0.06522657722234726, + 0.09987407922744751, + -0.08354821801185608, + -0.3100968599319458, + 1.1950311660766602, + 0.0, + 0.9988223910331726 + ], + [ + 0.2694261372089386, + 0.07618843019008636, + 0.08812332153320312, + -0.07718241959810257, + -0.3098974823951721, + 1.3305001258850098, + 0.0, + 0.9988223910331726 + ], + [ + 0.2668457329273224, + 0.08452130854129791, + 0.07017851620912552, + -0.056742336601018906, + -0.28363749384880066, + 1.3883252143859863, + 0.0, + 0.9988223910331726 + ], + [ + 0.2688179314136505, + 0.08585204184055328, + 0.05314282327890396, + -0.04049237444996834, + -0.2509532570838928, + 1.4068204164505005, + 0.0, + 0.9988223910331726 + ], + [ + 0.2781282067298889, + 0.08742064237594604, + 0.039602894335985184, + -0.031824640929698944, + -0.2352045327425003, + 1.403872013092041, + 0.0, + 0.9988223910331726 + ], + [ + 0.2884540855884552, + 0.08801738172769547, + 0.030497701838612556, + -0.026670848950743675, + -0.22440779209136963, + 1.3969672918319702, + 0.0, + 0.9988223910331726 + ], + [ + 0.29472437500953674, + 0.08966772258281708, + 0.024897553026676178, + -0.020218202844262123, + -0.23039668798446655, + 1.4021549224853516, + 0.0, + 0.9988223910331726 + ], + [ + 0.295122355222702, + 0.08792541921138763, + 0.012721261940896511, + 0.012697604484856129, + -0.23048724234104156, + 1.361260175704956, + 0.0, + 0.9994885921478271 + ], + [ + 0.29573655128479004, + 0.08925459533929825, + 0.012170257046818733, + 0.016827121376991272, + -0.2540515661239624, + 1.3495283126831055, + 0.0, + 0.9994885921478271 + ], + [ + 0.29233303666114807, + 0.0882376953959465, + 0.008263343013823032, + 0.01655307412147522, + -0.28031814098358154, + 1.3398282527923584, + 0.0, + 0.9522681832313538 + ], + [ + 0.29340845346450806, + 0.08383464813232422, + 0.007188242860138416, + 0.00439685070887208, + -0.30029407143592834, + 1.3381990194320679, + 0.0, + 0.6741776466369629 + ], + [ + 0.29351386427879333, + 0.08332925289869308, + 0.007918184623122215, + 0.002807354088872671, + -0.2854638993740082, + 1.3331701755523682, + 0.0, + 0.5879040956497192 + ], + [ + 0.2922562062740326, + 0.08336897939443588, + 0.008233614265918732, + 0.004037824925035238, + -0.28697746992111206, + 1.3287147283554077, + 0.0, + 0.5879040956497192 + ], + [ + 0.2886658012866974, + 0.08294431865215302, + 0.008893649093806744, + 0.003091166727244854, + -0.2857746183872223, + 1.3209959268569946, + 0.0, + 0.5869058966636658 + ], + [ + 0.288400262594223, + 0.08420532941818237, + 0.011458194814622402, + -0.0021699839271605015, + -0.29588907957077026, + 1.3075637817382812, + 0.0, + 0.5869058966636658 + ], + [ + 0.28757497668266296, + 0.08458364754915237, + 0.027458416298031807, + -0.021071359515190125, + -0.3126309812068939, + 1.29771888256073, + 0.0, + 0.5869058966636658 + ], + [ + 0.2941066026687622, + 0.07761061191558838, + 0.05376076698303223, + -0.08167897909879684, + -0.32451528310775757, + 1.3088321685791016, + 0.0, + 0.5869058966636658 + ], + [ + 0.2956460416316986, + 0.06237752363085747, + 0.07906462252140045, + -0.11971019208431244, + -0.3567715585231781, + 1.287086844444275, + 0.0, + 0.5869058966636658 + ], + [ + 0.29610252380371094, + 0.03523540496826172, + 0.10155169665813446, + -0.16923539340496063, + -0.38512131571769714, + 1.248457908630371, + 0.0, + 0.5869058966636658 + ], + [ + 0.28593775629997253, + -0.005964435636997223, + 0.10268973559141159, + -0.1651337444782257, + -0.3898696005344391, + 1.1602164506912231, + 0.0, + 0.5869058966636658 + ], + [ + 0.27225056290626526, + -0.04284984618425369, + 0.09227237105369568, + -0.1530032455921173, + -0.3592681586742401, + 1.0814141035079956, + 0.0, + 0.5869058966636658 + ], + [ + 0.2628001272678375, + -0.06257361173629761, + 0.07603698968887329, + -0.11766672879457474, + -0.35426071286201477, + 0.9994465708732605, + 0.0, + 0.5869058966636658 + ], + [ + 0.2581525146961212, + -0.0664699599146843, + 0.05047779157757759, + -0.05202966928482056, + -0.3487834930419922, + 0.9290707111358643, + 0.0, + 0.5869058966636658 + ], + [ + 0.2600056231021881, + -0.06281149387359619, + 0.036970578134059906, + -0.004930147435516119, + -0.36000728607177734, + 0.8841179609298706, + 0.0, + 0.5869058966636658 + ], + [ + 0.26494941115379333, + -0.04573681578040123, + 0.025232810527086258, + 0.03731682524085045, + -0.37129122018814087, + 0.8913573026657104, + 0.0, + 0.5869058966636658 + ], + [ + 0.2681176960468292, + -0.04475182667374611, + 0.017155999317765236, + 0.052326083183288574, + -0.3572559952735901, + 0.8783266544342041, + 0.0, + 0.6581199765205383 + ], + [ + 0.27165108919143677, + -0.044178400188684464, + 0.01340546552091837, + 0.04737624526023865, + -0.2989007234573364, + 0.86866694688797, + 0.0, + 0.9351479411125183 + ], + [ + 0.2717225253582001, + -0.04345713183283806, + 0.014179444871842861, + 0.06283082813024521, + -0.29897916316986084, + 0.8491788506507874, + 0.0, + 0.9961419701576233 + ], + [ + 0.2687514126300812, + -0.04253691807389259, + 0.020953895524144173, + 0.030847741290926933, + -0.30439698696136475, + 0.8384928107261658, + 0.0, + 0.9974852800369263 + ], + [ + 0.26859161257743835, + -0.03504806384444237, + 0.039519306272268295, + -0.01212349534034729, + -0.335155189037323, + 0.8658647537231445, + 0.0, + 0.9988223910331726 + ], + [ + 0.2690299451351166, + -0.03358061611652374, + 0.05874628573656082, + -0.061960477381944656, + -0.3522781431674957, + 0.8713071346282959, + 0.0, + 0.9988223910331726 + ], + [ + 0.26845651865005493, + -0.025971414521336555, + 0.08635332435369492, + -0.16608721017837524, + -0.3782048523426056, + 0.8915172815322876, + 0.0, + 0.9988223910331726 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9522681832313538 + ], + [ + 0.6741776466369629 + ], + [ + 0.5879040956497192 + ], + [ + 0.5879040956497192 + ], + [ + 0.5869058966636658 + ], + [ + 0.5869058966636658 + ], + [ + 0.5869058966636658 + ], + [ + 0.5869058966636658 + ], + [ + 0.5869058966636658 + ], + [ + 0.5869058966636658 + ], + [ + 0.5869058966636658 + ], + [ + 0.5869058966636658 + ], + [ + 0.5869058966636658 + ], + [ + 0.5869058966636658 + ], + [ + 0.5869058966636658 + ], + [ + 0.5869058966636658 + ], + [ + 0.6581199765205383 + ], + [ + 0.9351479411125183 + ], + [ + 0.9961419701576233 + ], + [ + 0.9974852800369263 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2877020537853241, + -0.04166948422789574, + 0.12451278418302536 + ], + [ + 0.28485727310180664, + -0.04127422347664833, + 0.11751867085695267 + ], + [ + 0.27404069900512695, + -0.02835405431687832, + 0.11636786162853241 + ], + [ + 0.2750625014305115, + -0.022047247737646103, + 0.11846917122602463 + ], + [ + 0.2742037773132324, + -0.002085882006213069, + 0.1134038046002388 + ], + [ + 0.27303051948547363, + 0.014124713838100433, + 0.11843778192996979 + ], + [ + 0.27577024698257446, + 0.035870883613824844, + 0.12224879860877991 + ], + [ + 0.2743697762489319, + 0.0540396124124527, + 0.11261466890573502 + ], + [ + 0.27459517121315, + 0.06522657722234726, + 0.09987407922744751 + ], + [ + 0.2694261372089386, + 0.07618843019008636, + 0.08812332153320312 + ], + [ + 0.2668457329273224, + 0.08452130854129791, + 0.07017851620912552 + ], + [ + 0.2688179314136505, + 0.08585204184055328, + 0.05314282327890396 + ], + [ + 0.2781282067298889, + 0.08742064237594604, + 0.039602894335985184 + ], + [ + 0.2884540855884552, + 0.08801738172769547, + 0.030497701838612556 + ], + [ + 0.29472437500953674, + 0.08966772258281708, + 0.024897553026676178 + ], + [ + 0.295122355222702, + 0.08792541921138763, + 0.012721261940896511 + ], + [ + 0.29573655128479004, + 0.08925459533929825, + 0.012170257046818733 + ], + [ + 0.29233303666114807, + 0.0882376953959465, + 0.008263343013823032 + ], + [ + 0.29340845346450806, + 0.08383464813232422, + 0.007188242860138416 + ], + [ + 0.29351386427879333, + 0.08332925289869308, + 0.007918184623122215 + ], + [ + 0.2922562062740326, + 0.08336897939443588, + 0.008233614265918732 + ], + [ + 0.2886658012866974, + 0.08294431865215302, + 0.008893649093806744 + ], + [ + 0.288400262594223, + 0.08420532941818237, + 0.011458194814622402 + ], + [ + 0.28757497668266296, + 0.08458364754915237, + 0.027458416298031807 + ], + [ + 0.2941066026687622, + 0.07761061191558838, + 0.05376076698303223 + ], + [ + 0.2956460416316986, + 0.06237752363085747, + 0.07906462252140045 + ], + [ + 0.29610252380371094, + 0.03523540496826172, + 0.10155169665813446 + ], + [ + 0.28593775629997253, + -0.005964435636997223, + 0.10268973559141159 + ], + [ + 0.27225056290626526, + -0.04284984618425369, + 0.09227237105369568 + ], + [ + 0.2628001272678375, + -0.06257361173629761, + 0.07603698968887329 + ], + [ + 0.2581525146961212, + -0.0664699599146843, + 0.05047779157757759 + ], + [ + 0.2600056231021881, + -0.06281149387359619, + 0.036970578134059906 + ], + [ + 0.26494941115379333, + -0.04573681578040123, + 0.025232810527086258 + ], + [ + 0.2681176960468292, + -0.04475182667374611, + 0.017155999317765236 + ], + [ + 0.27165108919143677, + -0.044178400188684464, + 0.01340546552091837 + ], + [ + 0.2717225253582001, + -0.04345713183283806, + 0.014179444871842861 + ], + [ + 0.2687514126300812, + -0.04253691807389259, + 0.020953895524144173 + ], + [ + 0.26859161257743835, + -0.03504806384444237, + 0.039519306272268295 + ], + [ + 0.2690299451351166, + -0.03358061611652374, + 0.05874628573656082 + ], + [ + 0.26845651865005493, + -0.025971414521336555, + 0.08635332435369492 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9339895421253419, + -0.16857990153878846, + 0.31503071595904136, + -0.15954086373595863, + -0.985687804087318, + -0.05446343426469519, + 0.3197033750195298, + 0.0006080055039934078, + -0.9475174839180692 + ], + [ + 0.9448807569779051, + -0.1482995262990057, + 0.29190341826082045, + -0.13937752161587105, + -0.9889121984039998, + -0.05125007625346082, + 0.2962672131051264, + 0.0077404358571512635, + -0.9550737270450187 + ], + [ + 0.9563131462653742, + 0.048665994143464494, + 0.2882651336774002, + 0.061240383672939214, + -0.9975176339339543, + -0.03475896141136517, + 0.2858579746790569, + 0.05089391913415445, + -0.9569195511157425 + ], + [ + 0.945811631720592, + 0.12856508765516525, + 0.2981801058726934, + 0.1535513883027381, + -0.9862037537432911, + -0.06183952823998365, + 0.28611593533449464, + 0.10427451433050008, + -0.9525043292336289 + ], + [ + 0.8995025422634131, + 0.3106703267786168, + 0.3072118560878223, + 0.3475143513670969, + -0.9348999962688402, + -0.07208170759928628, + 0.2648187154556175, + 0.17159820813688742, + -0.948907320505352 + ], + [ + 0.789448470765423, + 0.5242741367962235, + 0.3192299194823525, + 0.549318319229723, + -0.8355008873840333, + 0.013698588946476534, + 0.27389869690227936, + 0.16454451272244563, + -0.9475782855089946 + ], + [ + 0.6227821211166586, + 0.7200952070695894, + 0.3059498690518447, + 0.7303332042344945, + -0.6753120340400623, + 0.1027962425055015, + 0.2806347099166668, + 0.1594256862493591, + -0.9464817009081102 + ], + [ + 0.46935604666313313, + 0.8486148932437831, + 0.24404439027684613, + 0.8314925584207742, + -0.5177784926938704, + 0.2013096068113478, + 0.2971952670410999, + 0.1084352132312487, + -0.9486394350752363 + ], + [ + 0.34948072767945043, + 0.9176370285041262, + 0.1892234258720588, + 0.8858589970477637, + -0.3893927068042153, + 0.2522442412369726, + 0.30515087797706136, + 0.07947077328051587, + -0.9489822642515637 + ], + [ + 0.22665361957879826, + 0.9627798111330754, + 0.14725206961665802, + 0.9250010393734216, + -0.2601204524734073, + 0.2769664733557472, + 0.30496100388397096, + 0.0734328637572412, + -0.9495295680654138 + ], + [ + 0.174209759500159, + 0.9789356724102302, + 0.10647022577991858, + 0.9441054683818325, + -0.19677548856763022, + 0.26446979349349287, + 0.27984964582149663, + 0.05444590325911139, + -0.9584987320554378 + ], + [ + 0.15812869295491644, + 0.9841363278182229, + 0.08044255548422685, + 0.9556823658712803, + -0.1730260298608292, + 0.23818733919600268, + 0.24832746933644279, + 0.03921327911642444, + -0.9678821140582645 + ], + [ + 0.16157554014929987, + 0.9843690924676398, + 0.07007734740911137, + 0.9589498535138175, + -0.17337822652176493, + 0.22439957445145883, + 0.23304189166604844, + 0.030943179581336716, + -0.9719742776257543 + ], + [ + 0.16861827665794232, + 0.9835530794414307, + 0.06473960687387834, + 0.9602336705856274, + -0.17873833029674518, + 0.2144852143071506, + 0.22252904226315787, + 0.02599902313569355, + -0.9745793329151975 + ], + [ + 0.16340807415149855, + 0.9848373294413807, + 0.058251487885443626, + 0.9597644503728749, + -0.17236017306413948, + 0.2216848450881414, + 0.22836374734741002, + 0.019682613649348507, + -0.9733769021388267 + ], + [ + 0.20250553582550823, + 0.9786520196811164, + 0.035096044422354714, + 0.9522611163513233, + -0.20515218258897883, + 0.22607819059854106, + 0.22845190794860037, + -0.012361486684471804, + -0.9734767174419706 + ], + [ + 0.21242247214253845, + 0.9764099332949554, + 0.038734164400343926, + 0.9443045936855714, + -0.21531001052307291, + 0.2488582602866169, + 0.2513275306709948, + -0.016286237487357566, + -0.9677650700429961 + ], + [ + 0.2199846709209699, + 0.9743601919820642, + 0.047211871817025075, + 0.9354492087893508, + -0.2244308531172598, + 0.2730669697060344, + 0.2766613856958899, + -0.015906239333468103, + -0.960835818032975 + ], + [ + 0.22019042905373176, + 0.9733613711404755, + 0.06390474258352535, + 0.9295256133217785, + -0.22923786888793218, + 0.2888462110647985, + 0.29580113105244277, + -0.004200076100780992, + -0.9552403101988748 + ], + [ + 0.22586993102942354, + 0.972081771822784, + 0.06355944577040055, + 0.9325678236594485, + -0.2346268796499601, + 0.2743491965011069, + 0.281602607466343, + -0.002693740076579604, + -0.9595273394919794 + ], + [ + 0.2299202421889105, + 0.9711071409078129, + 0.06393436563888101, + 0.93113735522498, + -0.23861249591467026, + 0.27576675379385573, + 0.28305460239399455, + -0.0038726826909584455, + -0.9590959776749941 + ], + [ + 0.2371845828467301, + 0.9691725743708695, + 0.06669328862160077, + 0.9296641583561644, + -0.2463650241925313, + 0.2739139053106612, + 0.2819007384306522, + -0.0029657953326226727, + -0.9594389911455017 + ], + [ + 0.24889552733765108, + 0.9653869902598267, + 0.07796778506784437, + 0.9235940938720633, + -0.26081344018612995, + 0.28098095875506945, + 0.29159040834011435, + 0.00207568189976573, + -0.9565410212367769 + ], + [ + 0.2566233211281582, + 0.9609840055423111, + 0.10321924309453946, + 0.9162692727286748, + -0.2758764194721387, + 0.2904183551921233, + 0.3075631494610821, + 0.02004849797585817, + -0.9513164388480272 + ], + [ + 0.24546093142402148, + 0.9559258865543211, + 0.16110440887755567, + 0.9154692716888989, + -0.28324161575344564, + 0.2858149745880611, + 0.3188494060490758, + 0.07732972598368797, + -0.9446455259733351 + ], + [ + 0.2622920606429709, + 0.941477916956684, + 0.21171255703563585, + 0.8995702716336096, + -0.3179571913695322, + 0.2994604328612255, + 0.34925091455384616, + 0.11190422842458615, + -0.9303231924143351 + ], + [ + 0.29358178422597314, + 0.9149026071484953, + 0.2770612845627854, + 0.8790225298961648, + -0.3722748597777633, + 0.2978771906547953, + 0.37567156920059946, + 0.15609179418000563, + -0.9135131219002968 + ], + [ + 0.3691889834614469, + 0.8794793042525294, + 0.30035919809819417, + 0.8480848770422792, + -0.45099597034336225, + 0.27812708617865906, + 0.3800678042440396, + 0.1520486373682312, + -0.9123758414445104 + ], + [ + 0.4400681199671559, + 0.8471233563565672, + 0.29786249999581604, + 0.826271793345495, + -0.5118842126954941, + 0.23505207149636836, + 0.35158921102643725, + 0.14267645884412306, + -0.9252180579633694 + ], + [ + 0.5071879613165329, + 0.8133330506226842, + 0.2850433662802517, + 0.7889377589893235, + -0.5712846266139623, + 0.22629866953972627, + 0.3468970803228007, + 0.11010551375541706, + -0.9314178393740226 + ], + [ + 0.5625377337144556, + 0.7893412455033634, + 0.24595059726417245, + 0.7528312921460815, + -0.6120062468242704, + 0.242267206641203, + 0.3417548005706218, + 0.048874860565213396, + -0.9385173969041093 + ], + [ + 0.5933306399813126, + 0.772245625025339, + 0.22714631031251475, + 0.7237795326381188, + -0.6353073310718427, + 0.26930982756022537, + 0.3522810522771729, + 0.004614077978899539, + -0.935882882892348 + ], + [ + 0.5855402742038873, + 0.7858892545051468, + 0.1987980556710291, + 0.7249172244076856, + -0.6173891858098834, + 0.3054924074376756, + 0.36281897006950187, + -0.0347659732835752, + -0.93121089021733 + ], + [ + 0.5981288271617888, + 0.7802954587847496, + 0.182704414609938, + 0.7210745145329355, + -0.6234885823509659, + 0.30218129023662965, + 0.34970480495577183, + -0.04899984365158619, + -0.9355776636458171 + ], + [ + 0.6172086012277513, + 0.7716187557074128, + 0.15381169790047322, + 0.7296170573724021, + -0.6344731257991905, + 0.2551525077866984, + 0.2944698493253922, + -0.04525868401918488, + -0.9545884764437145 + ], + [ + 0.6312940882411391, + 0.7614741901441439, + 0.14705384012703956, + 0.717433710492103, + -0.6454119434480093, + 0.26216844643129095, + 0.29454481017550116, + -0.06000400819098324, + -0.9537519980580351 + ], + [ + 0.6378481303503702, + 0.7494629917496418, + 0.17735553728658493, + 0.7094497303904883, + -0.6613920146616618, + 0.24339614415732147, + 0.29971793849784917, + -0.02942493737400881, + -0.9535739774150378 + ], + [ + 0.6119275421902348, + 0.7590160859054809, + 0.22234941971082894, + 0.7192768082985816, + -0.6509712049232066, + 0.24264658127538896, + 0.32891572804112595, + 0.011448654835934977, + -0.9442898771826498 + ], + [ + 0.6042889290783073, + 0.7499474968744535, + 0.26909783002680254, + 0.7181813136775532, + -0.658939317239826, + 0.2236393902690123, + 0.34503694132335483, + 0.05811822543104089, + -0.9367880128369332 + ], + [ + 0.5838344608723772, + 0.7289681442792455, + 0.35741120145280003, + 0.723041980045577, + -0.6670831151988345, + 0.17947259542445543, + 0.36925278250763705, + 0.15364101679789793, + -0.9165406813489928 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.002844780683517456, + 0.000395260751247406, + -0.006994113326072693, + -0.007462682668119669, + 0.02463439106941223, + 0.022731706500053406, + 1.0 + ], + [ + -0.010816574096679688, + 0.012920169159770012, + -0.0011508092284202576, + -0.045030731707811356, + 0.010880380868911743, + 0.21040263772010803, + 1.0 + ], + [ + 0.0010218024253845215, + 0.006306806579232216, + 0.002101309597492218, + -0.05590474605560303, + -0.00026920437812805176, + 0.09699391573667526, + 1.0 + ], + [ + -0.0008587241172790527, + 0.019961366429924965, + -0.005065366625785828, + -0.06986437737941742, + 0.022154927253723145, + 0.20773126184940338, + 1.0 + ], + [ + -0.001173257827758789, + 0.01621059514582157, + 0.0050339773297309875, + 0.006971254944801331, + -0.00942850112915039, + 0.23924288153648376, + 1.0 + ], + [ + 0.00273972749710083, + 0.02174616977572441, + 0.0038110166788101196, + 0.00505906343460083, + -0.007010906934738159, + 0.2567967176437378, + 1.0 + ], + [ + -0.0014004707336425781, + 0.018168728798627853, + -0.009634129703044891, + 0.0530618354678154, + -0.017298519611358643, + 0.19219303131103516, + 1.0 + ], + [ + 0.00022539496421813965, + 0.011186964809894562, + -0.012740589678287506, + 0.03026384860277176, + -0.008343011140823364, + 0.13812267780303955, + 1.0 + ], + [ + -0.005169034004211426, + 0.010961852967739105, + -0.011750757694244385, + 0.0063657984137535095, + 0.00019937753677368164, + 0.1354689598083496, + 1.0 + ], + [ + -0.002580404281616211, + 0.008332878351211548, + -0.017944805324077606, + 0.020440082997083664, + 0.02625998854637146, + 0.05782508850097656, + 1.0 + ], + [ + 0.001972198486328125, + 0.001330733299255371, + -0.017035692930221558, + 0.016249962151050568, + 0.03268423676490784, + 0.01849520206451416, + 1.0 + ], + [ + 0.009310275316238403, + 0.0015686005353927612, + -0.013539928942918777, + 0.008667733520269394, + 0.015748724341392517, + -0.0029484033584594727, + 1.0 + ], + [ + 0.010325878858566284, + 0.0005967393517494202, + -0.009105192497372627, + 0.005153791978955269, + 0.010796740651130676, + -0.006904721260070801, + 1.0 + ], + [ + 0.006270289421081543, + 0.0016503408551216125, + -0.0056001488119363785, + 0.006452646106481552, + -0.005988895893096924, + 0.005187630653381348, + 1.0 + ], + [ + 0.0003979802131652832, + -0.0017423033714294434, + -0.012176291085779667, + 0.032915808260440826, + -9.055435657501221e-05, + -0.04089474678039551, + 1.0 + ], + [ + 0.0006141960620880127, + 0.001329176127910614, + -0.0005510048940777779, + 0.004129516892135143, + -0.023564323782920837, + -0.011731863021850586, + 1.0 + ], + [ + -0.0034035146236419678, + -0.0010168999433517456, + -0.003906914032995701, + -0.00027404725551605225, + -0.02626657485961914, + -0.00970005989074707, + 0.0 + ], + [ + 0.0010754168033599854, + -0.004403047263622284, + -0.001075100153684616, + -0.012156223878264427, + -0.019975930452346802, + -0.0016292333602905273, + 0.0 + ], + [ + 0.00010541081428527832, + -0.000505395233631134, + 0.000729941762983799, + -0.0015894966199994087, + 0.014830172061920166, + -0.005028843879699707, + 0.0 + ], + [ + -0.0012576580047607422, + 3.972649574279785e-05, + 0.0003154296427965164, + 0.0012304708361625671, + -0.0015135705471038818, + -0.004455447196960449, + 0.0 + ], + [ + -0.003590404987335205, + -0.00042466074228286743, + 0.0006600348278880119, + -0.0009466581977903843, + 0.0012028515338897705, + -0.007718801498413086, + 0.0 + ], + [ + -0.00026553869247436523, + 0.001261010766029358, + 0.0025645457208156586, + -0.0052611506544053555, + -0.010114461183547974, + -0.013432145118713379, + 0.0 + ], + [ + -0.0008252859115600586, + 0.0003783181309700012, + 0.01600022241473198, + -0.01890137605369091, + -0.016741901636123657, + -0.00984489917755127, + 0.0 + ], + [ + 0.006531625986099243, + -0.006973035633563995, + 0.02630235068500042, + -0.06060761958360672, + -0.011884301900863647, + 0.011113286018371582, + 0.0 + ], + [ + 0.0015394389629364014, + -0.015233088284730911, + 0.025303855538368225, + -0.038031212985515594, + -0.03225627541542053, + -0.02174532413482666, + 0.0 + ], + [ + 0.0004564821720123291, + -0.02714211866259575, + 0.02248707413673401, + -0.04952520132064819, + -0.028349757194519043, + -0.03862893581390381, + 0.0 + ], + [ + -0.010164767503738403, + -0.04119984060525894, + 0.0011380389332771301, + 0.004101648926734924, + -0.004748284816741943, + -0.08824145793914795, + 0.0 + ], + [ + -0.013687193393707275, + -0.03688541054725647, + -0.010417364537715912, + 0.012130498886108398, + 0.030601441860198975, + -0.07880234718322754, + 0.0 + ], + [ + -0.009450435638427734, + -0.019723765552043915, + -0.016235381364822388, + 0.03533651679754257, + 0.005007445812225342, + -0.08196753263473511, + 0.0 + ], + [ + -0.004647612571716309, + -0.0038963481783866882, + -0.0255591981112957, + 0.06563705950975418, + 0.005477219820022583, + -0.07037585973739624, + 0.0 + ], + [ + 0.0018531084060668945, + 0.0036584660410881042, + -0.013507213443517685, + 0.0470995232462883, + -0.011223793029785156, + -0.04495275020599365, + 0.0 + ], + [ + 0.004943788051605225, + 0.01707467809319496, + -0.011737767606973648, + 0.042246971279382706, + -0.011283934116363525, + 0.007239341735839844, + 0.0 + ], + [ + 0.0031682848930358887, + 0.0009849891066551208, + -0.008076811209321022, + 0.015009257942438126, + 0.014035224914550781, + -0.013030648231506348, + 1.0 + ], + [ + 0.003533393144607544, + 0.0005734264850616455, + -0.0037505337968468666, + -0.004949837923049927, + 0.05835527181625366, + -0.00965970754623413, + 1.0 + ], + [ + 7.143616676330566e-05, + 0.000721268355846405, + 0.0007739793509244919, + 0.015454582870006561, + -7.843971252441406e-05, + -0.019488096237182617, + 1.0 + ], + [ + -0.0029711127281188965, + 0.0009202137589454651, + 0.0067744506523013115, + -0.031983084976673126, + -0.005417823791503906, + -0.010686039924621582, + 1.0 + ], + [ + -0.00015980005264282227, + 0.007488854229450226, + 0.018565410748124123, + -0.04297123849391937, + -0.030758202075958252, + 0.02737194299697876, + 1.0 + ], + [ + 0.00043833255767822266, + 0.0014674477279186249, + 0.019226979464292526, + -0.049836982041597366, + -0.01712295413017273, + 0.005442380905151367, + 1.0 + ], + [ + -0.0005734264850616455, + 0.007609201595187187, + 0.027607038617134094, + -0.10412673652172089, + -0.025926709175109863, + 0.0202101469039917, + 1.0 + ], + [ + 7.537007331848145e-05, + 0.0002487208694219589, + 0.001172475516796112, + -0.0014664530754089355, + -0.0022728443145751953, + -0.005536198616027832, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9522681832313538 + ], + [ + 0.6741776466369629 + ], + [ + 0.5879040956497192 + ], + [ + 0.5879040956497192 + ], + [ + 0.5869058966636658 + ], + [ + 0.5869058966636658 + ], + [ + 0.5869058966636658 + ], + [ + 0.5869058966636658 + ], + [ + 0.5869058966636658 + ], + [ + 0.5869058966636658 + ], + [ + 0.5869058966636658 + ], + [ + 0.5869058966636658 + ], + [ + 0.5869058966636658 + ], + [ + 0.5869058966636658 + ], + [ + 0.5869058966636658 + ], + [ + 0.5869058966636658 + ], + [ + 0.6581199765205383 + ], + [ + 0.9351479411125183 + ], + [ + 0.9961419701576233 + ], + [ + 0.9974852800369263 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.28485727310180664, + -0.04127422347664833, + 0.11751867085695267 + ], + [ + 0.27404069900512695, + -0.02835405431687832, + 0.11636786162853241 + ], + [ + 0.2750625014305115, + -0.022047247737646103, + 0.11846917122602463 + ], + [ + 0.2742037773132324, + -0.002085882006213069, + 0.1134038046002388 + ], + [ + 0.27303051948547363, + 0.014124713838100433, + 0.11843778192996979 + ], + [ + 0.27577024698257446, + 0.035870883613824844, + 0.12224879860877991 + ], + [ + 0.2743697762489319, + 0.0540396124124527, + 0.11261466890573502 + ], + [ + 0.27459517121315, + 0.06522657722234726, + 0.09987407922744751 + ], + [ + 0.2694261372089386, + 0.07618843019008636, + 0.08812332153320312 + ], + [ + 0.2668457329273224, + 0.08452130854129791, + 0.07017851620912552 + ], + [ + 0.2688179314136505, + 0.08585204184055328, + 0.05314282327890396 + ], + [ + 0.2781282067298889, + 0.08742064237594604, + 0.039602894335985184 + ], + [ + 0.2884540855884552, + 0.08801738172769547, + 0.030497701838612556 + ], + [ + 0.29472437500953674, + 0.08966772258281708, + 0.024897553026676178 + ], + [ + 0.295122355222702, + 0.08792541921138763, + 0.012721261940896511 + ], + [ + 0.29573655128479004, + 0.08925459533929825, + 0.012170257046818733 + ], + [ + 0.29233303666114807, + 0.0882376953959465, + 0.008263343013823032 + ], + [ + 0.29340845346450806, + 0.08383464813232422, + 0.007188242860138416 + ], + [ + 0.29351386427879333, + 0.08332925289869308, + 0.007918184623122215 + ], + [ + 0.2922562062740326, + 0.08336897939443588, + 0.008233614265918732 + ], + [ + 0.2886658012866974, + 0.08294431865215302, + 0.008893649093806744 + ], + [ + 0.288400262594223, + 0.08420532941818237, + 0.011458194814622402 + ], + [ + 0.28757497668266296, + 0.08458364754915237, + 0.027458416298031807 + ], + [ + 0.2941066026687622, + 0.07761061191558838, + 0.05376076698303223 + ], + [ + 0.2956460416316986, + 0.06237752363085747, + 0.07906462252140045 + ], + [ + 0.29610252380371094, + 0.03523540496826172, + 0.10155169665813446 + ], + [ + 0.28593775629997253, + -0.005964435636997223, + 0.10268973559141159 + ], + [ + 0.27225056290626526, + -0.04284984618425369, + 0.09227237105369568 + ], + [ + 0.2628001272678375, + -0.06257361173629761, + 0.07603698968887329 + ], + [ + 0.2581525146961212, + -0.0664699599146843, + 0.05047779157757759 + ], + [ + 0.2600056231021881, + -0.06281149387359619, + 0.036970578134059906 + ], + [ + 0.26494941115379333, + -0.04573681578040123, + 0.025232810527086258 + ], + [ + 0.2681176960468292, + -0.04475182667374611, + 0.017155999317765236 + ], + [ + 0.27165108919143677, + -0.044178400188684464, + 0.01340546552091837 + ], + [ + 0.2717225253582001, + -0.04345713183283806, + 0.014179444871842861 + ], + [ + 0.2687514126300812, + -0.04253691807389259, + 0.020953895524144173 + ], + [ + 0.26859161257743835, + -0.03504806384444237, + 0.039519306272268295 + ], + [ + 0.2690299451351166, + -0.03358061611652374, + 0.05874628573656082 + ], + [ + 0.26845651865005493, + -0.025971414521336555, + 0.08635332435369492 + ], + [ + 0.2685318887233734, + -0.025722693651914597, + 0.08752579987049103 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9448807569779051, + -0.1482995262990057, + 0.29190341826082045, + -0.13937752161587105, + -0.9889121984039998, + -0.05125007625346082, + 0.2962672131051264, + 0.0077404358571512635, + -0.9550737270450187 + ], + [ + 0.9563131462653742, + 0.048665994143464494, + 0.2882651336774002, + 0.061240383672939214, + -0.9975176339339543, + -0.03475896141136517, + 0.2858579746790569, + 0.05089391913415445, + -0.9569195511157425 + ], + [ + 0.945811631720592, + 0.12856508765516525, + 0.2981801058726934, + 0.1535513883027381, + -0.9862037537432911, + -0.06183952823998365, + 0.28611593533449464, + 0.10427451433050008, + -0.9525043292336289 + ], + [ + 0.8995025422634131, + 0.3106703267786168, + 0.3072118560878223, + 0.3475143513670969, + -0.9348999962688402, + -0.07208170759928628, + 0.2648187154556175, + 0.17159820813688742, + -0.948907320505352 + ], + [ + 0.789448470765423, + 0.5242741367962235, + 0.3192299194823525, + 0.549318319229723, + -0.8355008873840333, + 0.013698588946476534, + 0.27389869690227936, + 0.16454451272244563, + -0.9475782855089946 + ], + [ + 0.6227821211166586, + 0.7200952070695894, + 0.3059498690518447, + 0.7303332042344945, + -0.6753120340400623, + 0.1027962425055015, + 0.2806347099166668, + 0.1594256862493591, + -0.9464817009081102 + ], + [ + 0.46935604666313313, + 0.8486148932437831, + 0.24404439027684613, + 0.8314925584207742, + -0.5177784926938704, + 0.2013096068113478, + 0.2971952670410999, + 0.1084352132312487, + -0.9486394350752363 + ], + [ + 0.34948072767945043, + 0.9176370285041262, + 0.1892234258720588, + 0.8858589970477637, + -0.3893927068042153, + 0.2522442412369726, + 0.30515087797706136, + 0.07947077328051587, + -0.9489822642515637 + ], + [ + 0.22665361957879826, + 0.9627798111330754, + 0.14725206961665802, + 0.9250010393734216, + -0.2601204524734073, + 0.2769664733557472, + 0.30496100388397096, + 0.0734328637572412, + -0.9495295680654138 + ], + [ + 0.174209759500159, + 0.9789356724102302, + 0.10647022577991858, + 0.9441054683818325, + -0.19677548856763022, + 0.26446979349349287, + 0.27984964582149663, + 0.05444590325911139, + -0.9584987320554378 + ], + [ + 0.15812869295491644, + 0.9841363278182229, + 0.08044255548422685, + 0.9556823658712803, + -0.1730260298608292, + 0.23818733919600268, + 0.24832746933644279, + 0.03921327911642444, + -0.9678821140582645 + ], + [ + 0.16157554014929987, + 0.9843690924676398, + 0.07007734740911137, + 0.9589498535138175, + -0.17337822652176493, + 0.22439957445145883, + 0.23304189166604844, + 0.030943179581336716, + -0.9719742776257543 + ], + [ + 0.16861827665794232, + 0.9835530794414307, + 0.06473960687387834, + 0.9602336705856274, + -0.17873833029674518, + 0.2144852143071506, + 0.22252904226315787, + 0.02599902313569355, + -0.9745793329151975 + ], + [ + 0.16340807415149855, + 0.9848373294413807, + 0.058251487885443626, + 0.9597644503728749, + -0.17236017306413948, + 0.2216848450881414, + 0.22836374734741002, + 0.019682613649348507, + -0.9733769021388267 + ], + [ + 0.20250553582550823, + 0.9786520196811164, + 0.035096044422354714, + 0.9522611163513233, + -0.20515218258897883, + 0.22607819059854106, + 0.22845190794860037, + -0.012361486684471804, + -0.9734767174419706 + ], + [ + 0.21242247214253845, + 0.9764099332949554, + 0.038734164400343926, + 0.9443045936855714, + -0.21531001052307291, + 0.2488582602866169, + 0.2513275306709948, + -0.016286237487357566, + -0.9677650700429961 + ], + [ + 0.2199846709209699, + 0.9743601919820642, + 0.047211871817025075, + 0.9354492087893508, + -0.2244308531172598, + 0.2730669697060344, + 0.2766613856958899, + -0.015906239333468103, + -0.960835818032975 + ], + [ + 0.22019042905373176, + 0.9733613711404755, + 0.06390474258352535, + 0.9295256133217785, + -0.22923786888793218, + 0.2888462110647985, + 0.29580113105244277, + -0.004200076100780992, + -0.9552403101988748 + ], + [ + 0.22586993102942354, + 0.972081771822784, + 0.06355944577040055, + 0.9325678236594485, + -0.2346268796499601, + 0.2743491965011069, + 0.281602607466343, + -0.002693740076579604, + -0.9595273394919794 + ], + [ + 0.2299202421889105, + 0.9711071409078129, + 0.06393436563888101, + 0.93113735522498, + -0.23861249591467026, + 0.27576675379385573, + 0.28305460239399455, + -0.0038726826909584455, + -0.9590959776749941 + ], + [ + 0.2371845828467301, + 0.9691725743708695, + 0.06669328862160077, + 0.9296641583561644, + -0.2463650241925313, + 0.2739139053106612, + 0.2819007384306522, + -0.0029657953326226727, + -0.9594389911455017 + ], + [ + 0.24889552733765108, + 0.9653869902598267, + 0.07796778506784437, + 0.9235940938720633, + -0.26081344018612995, + 0.28098095875506945, + 0.29159040834011435, + 0.00207568189976573, + -0.9565410212367769 + ], + [ + 0.2566233211281582, + 0.9609840055423111, + 0.10321924309453946, + 0.9162692727286748, + -0.2758764194721387, + 0.2904183551921233, + 0.3075631494610821, + 0.02004849797585817, + -0.9513164388480272 + ], + [ + 0.24546093142402148, + 0.9559258865543211, + 0.16110440887755567, + 0.9154692716888989, + -0.28324161575344564, + 0.2858149745880611, + 0.3188494060490758, + 0.07732972598368797, + -0.9446455259733351 + ], + [ + 0.2622920606429709, + 0.941477916956684, + 0.21171255703563585, + 0.8995702716336096, + -0.3179571913695322, + 0.2994604328612255, + 0.34925091455384616, + 0.11190422842458615, + -0.9303231924143351 + ], + [ + 0.29358178422597314, + 0.9149026071484953, + 0.2770612845627854, + 0.8790225298961648, + -0.3722748597777633, + 0.2978771906547953, + 0.37567156920059946, + 0.15609179418000563, + -0.9135131219002968 + ], + [ + 0.3691889834614469, + 0.8794793042525294, + 0.30035919809819417, + 0.8480848770422792, + -0.45099597034336225, + 0.27812708617865906, + 0.3800678042440396, + 0.1520486373682312, + -0.9123758414445104 + ], + [ + 0.4400681199671559, + 0.8471233563565672, + 0.29786249999581604, + 0.826271793345495, + -0.5118842126954941, + 0.23505207149636836, + 0.35158921102643725, + 0.14267645884412306, + -0.9252180579633694 + ], + [ + 0.5071879613165329, + 0.8133330506226842, + 0.2850433662802517, + 0.7889377589893235, + -0.5712846266139623, + 0.22629866953972627, + 0.3468970803228007, + 0.11010551375541706, + -0.9314178393740226 + ], + [ + 0.5625377337144556, + 0.7893412455033634, + 0.24595059726417245, + 0.7528312921460815, + -0.6120062468242704, + 0.242267206641203, + 0.3417548005706218, + 0.048874860565213396, + -0.9385173969041093 + ], + [ + 0.5933306399813126, + 0.772245625025339, + 0.22714631031251475, + 0.7237795326381188, + -0.6353073310718427, + 0.26930982756022537, + 0.3522810522771729, + 0.004614077978899539, + -0.935882882892348 + ], + [ + 0.5855402742038873, + 0.7858892545051468, + 0.1987980556710291, + 0.7249172244076856, + -0.6173891858098834, + 0.3054924074376756, + 0.36281897006950187, + -0.0347659732835752, + -0.93121089021733 + ], + [ + 0.5981288271617888, + 0.7802954587847496, + 0.182704414609938, + 0.7210745145329355, + -0.6234885823509659, + 0.30218129023662965, + 0.34970480495577183, + -0.04899984365158619, + -0.9355776636458171 + ], + [ + 0.6172086012277513, + 0.7716187557074128, + 0.15381169790047322, + 0.7296170573724021, + -0.6344731257991905, + 0.2551525077866984, + 0.2944698493253922, + -0.04525868401918488, + -0.9545884764437145 + ], + [ + 0.6312940882411391, + 0.7614741901441439, + 0.14705384012703956, + 0.717433710492103, + -0.6454119434480093, + 0.26216844643129095, + 0.29454481017550116, + -0.06000400819098324, + -0.9537519980580351 + ], + [ + 0.6378481303503702, + 0.7494629917496418, + 0.17735553728658493, + 0.7094497303904883, + -0.6613920146616618, + 0.24339614415732147, + 0.29971793849784917, + -0.02942493737400881, + -0.9535739774150378 + ], + [ + 0.6119275421902348, + 0.7590160859054809, + 0.22234941971082894, + 0.7192768082985816, + -0.6509712049232066, + 0.24264658127538896, + 0.32891572804112595, + 0.011448654835934977, + -0.9442898771826498 + ], + [ + 0.6042889290783073, + 0.7499474968744535, + 0.26909783002680254, + 0.7181813136775532, + -0.658939317239826, + 0.2236393902690123, + 0.34503694132335483, + 0.05811822543104089, + -0.9367880128369332 + ], + [ + 0.5838344608723772, + 0.7289681442792455, + 0.35741120145280003, + 0.723041980045577, + -0.6670831151988345, + 0.17947259542445543, + 0.36925278250763705, + 0.15364101679789793, + -0.9165406813489928 + ], + [ + 0.5872960261679715, + 0.7245148198486027, + 0.3607792309253069, + 0.7191468015594253, + -0.6716408568621097, + 0.1781191657300792, + 0.37136404706723786, + 0.15484455177137396, + -0.9154845216236944 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006566.json b/json/chunk-0006/episode_0006566.json new file mode 100644 index 0000000000000000000000000000000000000000..df5c4cd497ea9d71770b2bcea1176563f669846f --- /dev/null +++ b/json/chunk-0006/episode_0006566.json @@ -0,0 +1,1942 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 31, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the cloth to left." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006566.mp4", + "start": 0, + "end": 31, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.29458117485046387, + -0.09237073361873627, + 0.11099974811077118, + -0.060779307037591934, + 0.06636333465576172, + -0.02222939394414425, + 0.0, + 1.0001531839370728 + ], + [ + 0.29231807589530945, + -0.091263547539711, + 0.10151012986898422, + -0.052943915128707886, + 0.09762103110551834, + -0.019941283389925957, + 0.0, + 1.0001531839370728 + ], + [ + 0.28737586736679077, + -0.05200999230146408, + 0.10789243876934052, + -0.0496886745095253, + 0.07064121216535568, + 0.031957875937223434, + 0.0, + 1.0001531839370728 + ], + [ + 0.29041191935539246, + -0.02153445966541767, + 0.11572258174419403, + -0.03681764379143715, + 0.07108227908611298, + 0.08205678313970566, + 0.0, + 1.0001531839370728 + ], + [ + 0.30248674750328064, + 0.008429957553744316, + 0.10908026993274689, + 0.03831137716770172, + 0.10217025130987167, + 0.1243814155459404, + 0.0, + 1.0001531839370728 + ], + [ + 0.30960720777511597, + 0.04317080229520798, + 0.09367907792329788, + 0.10714565962553024, + 0.11415058374404907, + 0.19403527677059174, + 0.0, + 1.0001531839370728 + ], + [ + 0.30809736251831055, + 0.0637839138507843, + 0.0732426792383194, + 0.1072089672088623, + 0.09597887843847275, + 0.24884416162967682, + 0.0, + 1.0001531839370728 + ], + [ + 0.3035878837108612, + 0.06605212390422821, + 0.05144569277763367, + 0.08747740089893341, + 0.0628671944141388, + 0.28151774406433105, + 0.0, + 1.0001531839370728 + ], + [ + 0.2992672026157379, + 0.07077037543058395, + 0.021990878507494926, + 0.036338724195957184, + 0.10705326497554779, + 0.32447928190231323, + 0.0, + 1.0001531839370728 + ], + [ + 0.300057053565979, + 0.06773068755865097, + 0.00774958124384284, + 0.018301689997315407, + 0.11990191042423248, + 0.3287651836872101, + 0.0, + 1.0001531839370728 + ], + [ + 0.30005404353141785, + 0.06559068709611893, + 0.0040272255428135395, + 0.01932721771299839, + 0.13055860996246338, + 0.33136165142059326, + 0.0, + 0.9994885921478271 + ], + [ + 0.302445650100708, + 0.06134633719921112, + 0.003540843026712537, + -0.002796077635139227, + 0.12218037247657776, + 0.3218270540237427, + 0.0, + 0.9994885921478271 + ], + [ + 0.30508166551589966, + 0.030014386400580406, + 0.003268226981163025, + 0.02503272145986557, + 0.15005071461200714, + 0.32886555790901184, + 0.0, + 0.9994885921478271 + ], + [ + 0.3067036271095276, + 0.0052850316278636456, + 0.0008547681500203907, + -0.03560462221503258, + 0.1090434342622757, + 0.3013366460800171, + 0.0, + 0.9994885921478271 + ], + [ + 0.3148241937160492, + -0.018170863389968872, + 0.00024407816817983985, + -0.04850146546959877, + 0.09046502411365509, + 0.26395896077156067, + 0.0, + 1.0001531839370728 + ], + [ + 0.3281436562538147, + -0.04719211533665657, + -0.0022020069882273674, + -0.060546018183231354, + 0.08474807441234589, + 0.21251051127910614, + 0.0, + 1.003452181816101 + ], + [ + 0.3397430181503296, + -0.0666113868355751, + -0.005451492965221405, + -0.08526228368282318, + 0.08372974395751953, + 0.19118250906467438, + 0.0, + 1.0027955770492554 + ], + [ + 0.3434482514858246, + -0.0895484909415245, + -0.006487337406724691, + -0.09265995025634766, + 0.0869104266166687, + 0.16942664980888367, + 0.0, + 1.0027955770492554 + ], + [ + 0.3422185480594635, + -0.0995212122797966, + -0.006098372396081686, + -0.10944955050945282, + 0.09206556528806686, + 0.17450331151485443, + 0.0, + 1.002137303352356 + ], + [ + 0.3387693762779236, + -0.11513189971446991, + -0.0061911484226584435, + -0.12950268387794495, + 0.09782075136899948, + 0.16732598841190338, + 0.0, + 1.0014774799346924 + ], + [ + 0.334156334400177, + -0.12809407711029053, + -0.005305187776684761, + -0.155765101313591, + 0.11560933291912079, + 0.15807084739208221, + 0.0, + 1.0014774799346924 + ], + [ + 0.3293780982494354, + -0.1318211853504181, + -0.0019176376517862082, + -0.1175609678030014, + 0.12395742535591125, + 0.12858957052230835, + 0.0, + 1.0014774799346924 + ], + [ + 0.3151443600654602, + -0.13124553859233856, + 0.003912059590220451, + -0.04316036030650139, + 0.18787261843681335, + 0.10854459553956985, + 0.0, + 1.0008161067962646 + ], + [ + 0.31731581687927246, + -0.12572920322418213, + 0.032428234815597534, + 0.008723845705389977, + 0.19049575924873352, + 0.1353539079427719, + 0.0, + 1.0008161067962646 + ], + [ + 0.328523725271225, + -0.12484653294086456, + 0.06989317387342453, + 0.011174322105944157, + 0.12887993454933167, + 0.14534489810466766, + 0.0, + 1.0008161067962646 + ], + [ + 0.331365168094635, + -0.12954898178577423, + 0.08149311691522598, + -0.02409614622592926, + 0.11964602023363113, + 0.13119204342365265, + 0.0, + 1.0008161067962646 + ], + [ + 0.3319007456302643, + -0.13106931746006012, + 0.09121596068143845, + -0.03878498449921608, + 0.13647423684597015, + 0.14795619249343872, + 0.0, + 1.0008161067962646 + ], + [ + 0.3147827386856079, + -0.13155300915241241, + 0.1022585928440094, + -0.06276384741067886, + 0.13762587308883667, + 0.17837277054786682, + 0.0, + 1.0008161067962646 + ], + [ + 0.2960575222969055, + -0.12464793771505356, + 0.10693538933992386, + -0.05941769853234291, + 0.14617034792900085, + 0.18008820712566376, + 0.0, + 1.0008161067962646 + ], + [ + 0.2796187102794647, + -0.09145105630159378, + 0.12527194619178772, + -0.02432974800467491, + 0.12383347749710083, + 0.2825395464897156, + 0.0, + 1.0008161067962646 + ], + [ + 0.2585081160068512, + -0.0626201331615448, + 0.14759261906147003, + 0.018188977614045143, + 0.11774905771017075, + 0.3671557903289795, + 0.0, + 1.0008161067962646 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.003452181816101 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.002137303352356 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.29458117485046387, + -0.09237073361873627, + 0.11099974811077118 + ], + [ + 0.29231807589530945, + -0.091263547539711, + 0.10151012986898422 + ], + [ + 0.28737586736679077, + -0.05200999230146408, + 0.10789243876934052 + ], + [ + 0.29041191935539246, + -0.02153445966541767, + 0.11572258174419403 + ], + [ + 0.30248674750328064, + 0.008429957553744316, + 0.10908026993274689 + ], + [ + 0.30960720777511597, + 0.04317080229520798, + 0.09367907792329788 + ], + [ + 0.30809736251831055, + 0.0637839138507843, + 0.0732426792383194 + ], + [ + 0.3035878837108612, + 0.06605212390422821, + 0.05144569277763367 + ], + [ + 0.2992672026157379, + 0.07077037543058395, + 0.021990878507494926 + ], + [ + 0.300057053565979, + 0.06773068755865097, + 0.00774958124384284 + ], + [ + 0.30005404353141785, + 0.06559068709611893, + 0.0040272255428135395 + ], + [ + 0.302445650100708, + 0.06134633719921112, + 0.003540843026712537 + ], + [ + 0.30508166551589966, + 0.030014386400580406, + 0.003268226981163025 + ], + [ + 0.3067036271095276, + 0.0052850316278636456, + 0.0008547681500203907 + ], + [ + 0.3148241937160492, + -0.018170863389968872, + 0.00024407816817983985 + ], + [ + 0.3281436562538147, + -0.04719211533665657, + -0.0022020069882273674 + ], + [ + 0.3397430181503296, + -0.0666113868355751, + -0.005451492965221405 + ], + [ + 0.3434482514858246, + -0.0895484909415245, + -0.006487337406724691 + ], + [ + 0.3422185480594635, + -0.0995212122797966, + -0.006098372396081686 + ], + [ + 0.3387693762779236, + -0.11513189971446991, + -0.0061911484226584435 + ], + [ + 0.334156334400177, + -0.12809407711029053, + -0.005305187776684761 + ], + [ + 0.3293780982494354, + -0.1318211853504181, + -0.0019176376517862082 + ], + [ + 0.3151443600654602, + -0.13124553859233856, + 0.003912059590220451 + ], + [ + 0.31731581687927246, + -0.12572920322418213, + 0.032428234815597534 + ], + [ + 0.328523725271225, + -0.12484653294086456, + 0.06989317387342453 + ], + [ + 0.331365168094635, + -0.12954898178577423, + 0.08149311691522598 + ], + [ + 0.3319007456302643, + -0.13106931746006012, + 0.09121596068143845 + ], + [ + 0.3147827386856079, + -0.13155300915241241, + 0.1022585928440094 + ], + [ + 0.2960575222969055, + -0.12464793771505356, + 0.10693538933992386 + ], + [ + 0.2796187102794647, + -0.09145105630159378, + 0.12527194619178772 + ], + [ + 0.2585081160068512, + -0.0626201331615448, + 0.14759261906147003 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9975522429963737, + -0.018159438988158756, + -0.06752597476926898, + -0.022178635070719863, + -0.9979964341730517, + -0.05925559487739652, + -0.06631463367390676, + 0.06060818553223355, + -0.9959563329821175 + ], + [ + 0.9950409758512839, + -0.014755223360162347, + -0.09836533820668857, + -0.019845024643434326, + -0.9985031028741244, + -0.05096791684626058, + -0.09746605241737243, + 0.05266722827658171, + -0.9938443196456055 + ], + [ + 0.9969966110081423, + 0.03541691639615138, + -0.06887234329734421, + 0.031872745350216544, + -0.9981437766659492, + -0.05189536787494676, + -0.07058247475201943, + 0.049544355238753786, + -0.9962747969922038 + ], + [ + 0.9941184461579651, + 0.08451467302597535, + -0.06771842475860136, + 0.08175774440898681, + -0.9957455387975155, + -0.042502861009596285, + -0.071022434748667, + 0.03671637248093487, + -0.9967987368341782 + ], + [ + 0.9871000446008458, + 0.12009357540189755, + -0.10588217553581525, + 0.1234139933347069, + -0.9920311237045576, + 0.025362094760764318, + -0.10199258893757607, + -0.038102266975362696, + -0.9940551941683867 + ], + [ + 0.9748481678921603, + 0.1797619853649905, + -0.13174474628969157, + 0.1915651123597964, + -0.977955865028112, + 0.08309713462987507, + -0.11390284142143624, + -0.10624478657681956, + -0.9877946082265123 + ], + [ + 0.964737061128973, + 0.23493140005117072, + -0.11869979003447753, + 0.24515038181013601, + -0.9661586795747654, + 0.08024148665553353, + -0.0958315876033409, + -0.10651123486441426, + -0.9896826075389425 + ], + [ + 0.9587371685357798, + 0.27147892433741305, + -0.08439333687321898, + 0.27726514682044345, + -0.9584865802584914, + 0.06653956584634682, + -0.06282579109436981, + -0.08719328589394684, + -0.9942083538516375 + ], + [ + 0.9423908718262575, + 0.3149254798838723, + -0.11278912544416263, + 0.3169901521823629, + -0.9484287477290052, + 0.0003923016610314356, + -0.10684890321359729, + -0.036122743543419045, + -0.9936188702319152 + ], + [ + 0.9396466575766456, + 0.3207487303889242, + -0.11909832433301162, + 0.3205564741740478, + -0.946990036563538, + -0.02129360266586407, + -0.1196148225352569, + -0.01816927635548309, + -0.9926541047245897 + ], + [ + 0.9375525358645971, + 0.3228910022374231, + -0.1293701788202184, + 0.3225621215771238, + -0.9462421657126091, + -0.02407159220275113, + -0.13018801871726787, + -0.019161537037073753, + -0.9913041487257322 + ], + [ + 0.9415870959956626, + 0.31662238286774813, + -0.1147345079808329, + 0.313942401885995, + -0.9485476080649212, + -0.041201984568327424, + -0.12187661364062868, + 0.0027752299842389895, + -0.9925413790598492 + ], + [ + 0.9357750122383137, + 0.31932721573921513, + -0.14951674073034305, + 0.3193405414028931, + -0.9473212883709244, + -0.024576314120694612, + -0.14948827742298382, + -0.024748856286558107, + -0.9884537161777563 + ], + [ + 0.9492689064812417, + 0.3003081706601618, + -0.09329279619914357, + 0.295034109456509, + -0.9531856359219806, + -0.06627229986362519, + -0.10882746640950736, + 0.03538567657621852, + -0.9934306399785195 + ], + [ + 0.9614170952289972, + 0.2648258964584992, + -0.07446081900160077, + 0.2598375446026773, + -0.9630866423620176, + -0.07034607109644805, + -0.0903416815002278, + 0.04828419895583929, + -0.9947396728365185 + ], + [ + 0.9739962587110643, + 0.21553479689168623, + -0.06982864273139563, + 0.21015763198351792, + -0.9746330806871295, + -0.07696835550663286, + -0.08464666405671029, + 0.06029186810155036, + -0.9945852567301083 + ], + [ + 0.9783407627627035, + 0.19632197245393262, + -0.06562800506406405, + 0.1893542968929653, + -0.9768604547752622, + -0.0994414508363526, + -0.08363194464474832, + 0.08486068010607327, + -0.992876811496206 + ], + [ + 0.9819613135819315, + 0.17581037060704038, + -0.06958945477198927, + 0.1679808182297758, + -0.9800989215814555, + -0.10577593592931643, + -0.08680105607250785, + 0.09217818343774704, + -0.9919519943842113 + ], + [ + 0.9806421714504915, + 0.18246985848496708, + -0.07103296641236609, + 0.1728837300737803, + -0.9771766219190815, + -0.12343850878307083, + -0.0919355613929698, + 0.10876856310206579, + -0.9898066741703002 + ], + [ + 0.9813197706343935, + 0.17758804568043107, + -0.07398644330866962, + 0.16575008515280948, + -0.9756762589931937, + -0.14346688436319818, + -0.09766481983753551, + 0.12852363077835918, + -0.9868856363822761 + ], + [ + 0.9809406988079754, + 0.1731797533386179, + -0.08811423526137245, + 0.15636261458557388, + -0.9727599084642746, + -0.1711399814319828, + -0.11535197519801864, + 0.15410040077219658, + -0.9812986234066388 + ], + [ + 0.9841342072027061, + 0.1417324378334317, + -0.10673227384110957, + 0.1272515493272423, + -0.9830387528429646, + -0.13206760996839934, + -0.1236402256845142, + 0.1163904054239062, + -0.9854777359828791 + ], + [ + 0.9766221615511178, + 0.11624179663720804, + -0.18082311323991931, + 0.10642535150478999, + -0.9923160405541505, + -0.0631072120760851, + -0.18676937148340092, + 0.04238773848046218, + -0.981488910534504 + ], + [ + 0.9729295757401581, + 0.13329916175835055, + -0.1887839350278432, + 0.13249997347395787, + -0.9910388278823815, + -0.016905580703299457, + -0.18934570942980536, + -0.008565926922196472, + -0.9818731217507113 + ], + [ + 0.9812499291610887, + 0.1434036676043385, + -0.1287787429624271, + 0.1436325172488179, + -0.9896022384355888, + -0.007557094153179133, + -0.1285234473165364, + -0.011081416917361198, + -0.9916445561233002 + ], + [ + 0.9843190433122968, + 0.1336292023612133, + -0.11514884823162815, + 0.12988082461105824, + -0.9907426481827029, + -0.03949653744667259, + -0.11936076562722008, + 0.023921566592319622, + -0.992562726622682 + ], + [ + 0.9798778595465902, + 0.15252387582166538, + -0.12874722394960728, + 0.14604625697971463, + -0.9875529233360802, + -0.058392760104120575, + -0.13605098747384484, + 0.03841472262947397, + -0.9899567858713291 + ], + [ + 0.9748282343177119, + 0.18554754508320853, + -0.12362047601674603, + 0.17575072315946655, + -0.98066917182679, + -0.08602126909946392, + -0.13719182514252348, + 0.062129573812738564, + -0.9885941124505602 + ], + [ + 0.9733364764349661, + 0.18730951151577324, + -0.1324056287960872, + 0.1772062797672489, + -0.9805425253611698, + -0.08446472855216741, + -0.14565039667716784, + 0.05874949237280457, + -0.9875902283304152 + ], + [ + 0.9529965687162827, + 0.2815985951853669, + -0.11180237566625943, + 0.2766605039092416, + -0.9592285652760926, + -0.057788624616387035, + -0.12351722791447385, + 0.024141059380172487, + -0.9920487405668771 + ], + [ + 0.9268891668159939, + 0.35690859399091673, + -0.11615820235600617, + 0.3564766351982372, + -0.9339646773175345, + -0.02518710147865067, + -0.11747715095666396, + -0.018062033622488628, + -0.9929113162536343 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.002263098955154419, + 0.0011071860790252686, + -0.009489618241786957, + 0.007835391908884048, + 0.03125769644975662, + 0.0022881105542182922, + 1.0 + ], + [ + -0.004942208528518677, + 0.03925355523824692, + 0.006382308900356293, + 0.0032552406191825867, + -0.02697981894016266, + 0.05189915746450424, + 1.0 + ], + [ + 0.0030360519886016846, + 0.03047553263604641, + 0.007830142974853516, + 0.01287103071808815, + 0.0004410669207572937, + 0.050098907202482224, + 1.0 + ], + [ + 0.012074828147888184, + 0.029964417219161987, + -0.0066423118114471436, + 0.07512901723384857, + 0.031087972223758698, + 0.04232463240623474, + 1.0 + ], + [ + 0.007120460271835327, + 0.03474084287881851, + -0.015401192009449005, + 0.06883428245782852, + 0.011980332434177399, + 0.06965386122465134, + 1.0 + ], + [ + -0.00150984525680542, + 0.020613111555576324, + -0.020436398684978485, + 6.330758333206177e-05, + -0.018171705305576324, + 0.05480888485908508, + 1.0 + ], + [ + -0.004509478807449341, + 0.0022682100534439087, + -0.02179698646068573, + -0.019731566309928894, + -0.033111684024333954, + 0.032673582434654236, + 1.0 + ], + [ + -0.004320681095123291, + 0.004718251526355743, + -0.02945481427013874, + -0.05113867670297623, + 0.044186070561409, + 0.04296153783798218, + 1.0 + ], + [ + 0.0007898509502410889, + -0.0030396878719329834, + -0.014241296797990799, + -0.018037034198641777, + 0.012848645448684692, + 0.004285901784896851, + 1.0 + ], + [ + -3.0100345611572266e-06, + -0.0021400004625320435, + -0.0037223557010293007, + 0.0010255277156829834, + 0.010656699538230896, + 0.0025964677333831787, + 1.0 + ], + [ + 0.002391606569290161, + -0.004244349896907806, + -0.0004863825161010027, + -0.022123295813798904, + -0.00837823748588562, + -0.009534597396850586, + 1.0 + ], + [ + 0.0026360154151916504, + -0.031331948935985565, + -0.0002726160455495119, + 0.027828799560666084, + 0.027870342135429382, + 0.007038503885269165, + 1.0 + ], + [ + 0.0016219615936279297, + -0.024729354307055473, + -0.002413458889350295, + -0.06063734367489815, + -0.041007280349731445, + -0.02752891182899475, + 1.0 + ], + [ + 0.008120566606521606, + -0.023455895483493805, + -0.0006106899818405509, + -0.012896843254566193, + -0.018578410148620605, + -0.03737768530845642, + 1.0 + ], + [ + 0.013319462537765503, + -0.0290212519466877, + -0.002446085214614868, + -0.012044552713632584, + -0.005716949701309204, + -0.05144844949245453, + 1.0 + ], + [ + 0.011599361896514893, + -0.019419271498918533, + -0.0032494859769940376, + -0.024716265499591827, + -0.001018330454826355, + -0.021328002214431763, + 1.0 + ], + [ + 0.003705233335494995, + -0.022937104105949402, + -0.0010358444415032864, + -0.007397666573524475, + 0.00318068265914917, + -0.02175585925579071, + 1.0 + ], + [ + -0.001229703426361084, + -0.009972721338272095, + 0.00038896501064300537, + -0.016789600253105164, + 0.005155138671398163, + 0.005076661705970764, + 1.0 + ], + [ + -0.003449171781539917, + -0.01561068743467331, + -9.277602657675743e-05, + -0.020053133368492126, + 0.005755186080932617, + -0.00717732310295105, + 1.0 + ], + [ + -0.004613041877746582, + -0.012962177395820618, + 0.0008859606459736824, + -0.026262417435646057, + 0.017788581550121307, + -0.009255141019821167, + 1.0 + ], + [ + -0.004778236150741577, + -0.0037271082401275635, + 0.003387550124898553, + 0.0382041335105896, + 0.008348092436790466, + -0.029481276869773865, + 1.0 + ], + [ + -0.01423373818397522, + 0.0005756467580795288, + 0.005829697474837303, + 0.07440060377120972, + 0.0639151930809021, + -0.020044974982738495, + 1.0 + ], + [ + 0.002171456813812256, + 0.005516335368156433, + 0.028516175225377083, + 0.051884204149246216, + 0.002623140811920166, + 0.026809312403202057, + 1.0 + ], + [ + 0.011207908391952515, + 0.0008826702833175659, + 0.037464939057826996, + 0.00245047640055418, + -0.061615824699401855, + 0.009990990161895752, + 1.0 + ], + [ + 0.002841442823410034, + -0.004702448844909668, + 0.011599943041801453, + -0.03527046740055084, + -0.009233914315700531, + -0.014152854681015015, + 1.0 + ], + [ + 0.0005355775356292725, + -0.0015203356742858887, + 0.009722843766212463, + -0.01468883827328682, + 0.01682821661233902, + 0.016764149069786072, + 1.0 + ], + [ + -0.017118006944656372, + -0.0004836916923522949, + 0.011042632162570953, + -0.023978862911462784, + 0.0011516362428665161, + 0.0304165780544281, + 1.0 + ], + [ + -0.018725216388702393, + 0.006905071437358856, + 0.004676796495914459, + 0.0033461488783359528, + 0.008544474840164185, + 0.001715436577796936, + 1.0 + ], + [ + -0.016438812017440796, + 0.03319688141345978, + 0.01833655685186386, + 0.035087950527668, + -0.022336870431900024, + 0.10245133936405182, + 1.0 + ], + [ + -0.021110594272613525, + 0.02883092314004898, + 0.022320672869682312, + 0.042518727481365204, + -0.006084419786930084, + 0.08461624383926392, + 1.0 + ], + [ + -0.04071985185146332, + 0.023389525711536407, + 0.01693958044052124, + -0.0109260194003582, + 0.019940875470638275, + 0.08164441585540771, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.003452181816101 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.002137303352356 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.29231807589530945, + -0.091263547539711, + 0.10151012986898422 + ], + [ + 0.28737586736679077, + -0.05200999230146408, + 0.10789243876934052 + ], + [ + 0.29041191935539246, + -0.02153445966541767, + 0.11572258174419403 + ], + [ + 0.30248674750328064, + 0.008429957553744316, + 0.10908026993274689 + ], + [ + 0.30960720777511597, + 0.04317080229520798, + 0.09367907792329788 + ], + [ + 0.30809736251831055, + 0.0637839138507843, + 0.0732426792383194 + ], + [ + 0.3035878837108612, + 0.06605212390422821, + 0.05144569277763367 + ], + [ + 0.2992672026157379, + 0.07077037543058395, + 0.021990878507494926 + ], + [ + 0.300057053565979, + 0.06773068755865097, + 0.00774958124384284 + ], + [ + 0.30005404353141785, + 0.06559068709611893, + 0.0040272255428135395 + ], + [ + 0.302445650100708, + 0.06134633719921112, + 0.003540843026712537 + ], + [ + 0.30508166551589966, + 0.030014386400580406, + 0.003268226981163025 + ], + [ + 0.3067036271095276, + 0.0052850316278636456, + 0.0008547681500203907 + ], + [ + 0.3148241937160492, + -0.018170863389968872, + 0.00024407816817983985 + ], + [ + 0.3281436562538147, + -0.04719211533665657, + -0.0022020069882273674 + ], + [ + 0.3397430181503296, + -0.0666113868355751, + -0.005451492965221405 + ], + [ + 0.3434482514858246, + -0.0895484909415245, + -0.006487337406724691 + ], + [ + 0.3422185480594635, + -0.0995212122797966, + -0.006098372396081686 + ], + [ + 0.3387693762779236, + -0.11513189971446991, + -0.0061911484226584435 + ], + [ + 0.334156334400177, + -0.12809407711029053, + -0.005305187776684761 + ], + [ + 0.3293780982494354, + -0.1318211853504181, + -0.0019176376517862082 + ], + [ + 0.3151443600654602, + -0.13124553859233856, + 0.003912059590220451 + ], + [ + 0.31731581687927246, + -0.12572920322418213, + 0.032428234815597534 + ], + [ + 0.328523725271225, + -0.12484653294086456, + 0.06989317387342453 + ], + [ + 0.331365168094635, + -0.12954898178577423, + 0.08149311691522598 + ], + [ + 0.3319007456302643, + -0.13106931746006012, + 0.09121596068143845 + ], + [ + 0.3147827386856079, + -0.13155300915241241, + 0.1022585928440094 + ], + [ + 0.2960575222969055, + -0.12464793771505356, + 0.10693538933992386 + ], + [ + 0.2796187102794647, + -0.09145105630159378, + 0.12527194619178772 + ], + [ + 0.2585081160068512, + -0.0626201331615448, + 0.14759261906147003 + ], + [ + 0.21778826415538788, + -0.03923060745000839, + 0.16453219950199127 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9950409758512839, + -0.014755223360162347, + -0.09836533820668857, + -0.019845024643434326, + -0.9985031028741244, + -0.05096791684626058, + -0.09746605241737243, + 0.05266722827658171, + -0.9938443196456055 + ], + [ + 0.9969966110081423, + 0.03541691639615138, + -0.06887234329734421, + 0.031872745350216544, + -0.9981437766659492, + -0.05189536787494676, + -0.07058247475201943, + 0.049544355238753786, + -0.9962747969922038 + ], + [ + 0.9941184461579651, + 0.08451467302597535, + -0.06771842475860136, + 0.08175774440898681, + -0.9957455387975155, + -0.042502861009596285, + -0.071022434748667, + 0.03671637248093487, + -0.9967987368341782 + ], + [ + 0.9871000446008458, + 0.12009357540189755, + -0.10588217553581525, + 0.1234139933347069, + -0.9920311237045576, + 0.025362094760764318, + -0.10199258893757607, + -0.038102266975362696, + -0.9940551941683867 + ], + [ + 0.9748481678921603, + 0.1797619853649905, + -0.13174474628969157, + 0.1915651123597964, + -0.977955865028112, + 0.08309713462987507, + -0.11390284142143624, + -0.10624478657681956, + -0.9877946082265123 + ], + [ + 0.964737061128973, + 0.23493140005117072, + -0.11869979003447753, + 0.24515038181013601, + -0.9661586795747654, + 0.08024148665553353, + -0.0958315876033409, + -0.10651123486441426, + -0.9896826075389425 + ], + [ + 0.9587371685357798, + 0.27147892433741305, + -0.08439333687321898, + 0.27726514682044345, + -0.9584865802584914, + 0.06653956584634682, + -0.06282579109436981, + -0.08719328589394684, + -0.9942083538516375 + ], + [ + 0.9423908718262575, + 0.3149254798838723, + -0.11278912544416263, + 0.3169901521823629, + -0.9484287477290052, + 0.0003923016610314356, + -0.10684890321359729, + -0.036122743543419045, + -0.9936188702319152 + ], + [ + 0.9396466575766456, + 0.3207487303889242, + -0.11909832433301162, + 0.3205564741740478, + -0.946990036563538, + -0.02129360266586407, + -0.1196148225352569, + -0.01816927635548309, + -0.9926541047245897 + ], + [ + 0.9375525358645971, + 0.3228910022374231, + -0.1293701788202184, + 0.3225621215771238, + -0.9462421657126091, + -0.02407159220275113, + -0.13018801871726787, + -0.019161537037073753, + -0.9913041487257322 + ], + [ + 0.9415870959956626, + 0.31662238286774813, + -0.1147345079808329, + 0.313942401885995, + -0.9485476080649212, + -0.041201984568327424, + -0.12187661364062868, + 0.0027752299842389895, + -0.9925413790598492 + ], + [ + 0.9357750122383137, + 0.31932721573921513, + -0.14951674073034305, + 0.3193405414028931, + -0.9473212883709244, + -0.024576314120694612, + -0.14948827742298382, + -0.024748856286558107, + -0.9884537161777563 + ], + [ + 0.9492689064812417, + 0.3003081706601618, + -0.09329279619914357, + 0.295034109456509, + -0.9531856359219806, + -0.06627229986362519, + -0.10882746640950736, + 0.03538567657621852, + -0.9934306399785195 + ], + [ + 0.9614170952289972, + 0.2648258964584992, + -0.07446081900160077, + 0.2598375446026773, + -0.9630866423620176, + -0.07034607109644805, + -0.0903416815002278, + 0.04828419895583929, + -0.9947396728365185 + ], + [ + 0.9739962587110643, + 0.21553479689168623, + -0.06982864273139563, + 0.21015763198351792, + -0.9746330806871295, + -0.07696835550663286, + -0.08464666405671029, + 0.06029186810155036, + -0.9945852567301083 + ], + [ + 0.9783407627627035, + 0.19632197245393262, + -0.06562800506406405, + 0.1893542968929653, + -0.9768604547752622, + -0.0994414508363526, + -0.08363194464474832, + 0.08486068010607327, + -0.992876811496206 + ], + [ + 0.9819613135819315, + 0.17581037060704038, + -0.06958945477198927, + 0.1679808182297758, + -0.9800989215814555, + -0.10577593592931643, + -0.08680105607250785, + 0.09217818343774704, + -0.9919519943842113 + ], + [ + 0.9806421714504915, + 0.18246985848496708, + -0.07103296641236609, + 0.1728837300737803, + -0.9771766219190815, + -0.12343850878307083, + -0.0919355613929698, + 0.10876856310206579, + -0.9898066741703002 + ], + [ + 0.9813197706343935, + 0.17758804568043107, + -0.07398644330866962, + 0.16575008515280948, + -0.9756762589931937, + -0.14346688436319818, + -0.09766481983753551, + 0.12852363077835918, + -0.9868856363822761 + ], + [ + 0.9809406988079754, + 0.1731797533386179, + -0.08811423526137245, + 0.15636261458557388, + -0.9727599084642746, + -0.1711399814319828, + -0.11535197519801864, + 0.15410040077219658, + -0.9812986234066388 + ], + [ + 0.9841342072027061, + 0.1417324378334317, + -0.10673227384110957, + 0.1272515493272423, + -0.9830387528429646, + -0.13206760996839934, + -0.1236402256845142, + 0.1163904054239062, + -0.9854777359828791 + ], + [ + 0.9766221615511178, + 0.11624179663720804, + -0.18082311323991931, + 0.10642535150478999, + -0.9923160405541505, + -0.0631072120760851, + -0.18676937148340092, + 0.04238773848046218, + -0.981488910534504 + ], + [ + 0.9729295757401581, + 0.13329916175835055, + -0.1887839350278432, + 0.13249997347395787, + -0.9910388278823815, + -0.016905580703299457, + -0.18934570942980536, + -0.008565926922196472, + -0.9818731217507113 + ], + [ + 0.9812499291610887, + 0.1434036676043385, + -0.1287787429624271, + 0.1436325172488179, + -0.9896022384355888, + -0.007557094153179133, + -0.1285234473165364, + -0.011081416917361198, + -0.9916445561233002 + ], + [ + 0.9843190433122968, + 0.1336292023612133, + -0.11514884823162815, + 0.12988082461105824, + -0.9907426481827029, + -0.03949653744667259, + -0.11936076562722008, + 0.023921566592319622, + -0.992562726622682 + ], + [ + 0.9798778595465902, + 0.15252387582166538, + -0.12874722394960728, + 0.14604625697971463, + -0.9875529233360802, + -0.058392760104120575, + -0.13605098747384484, + 0.03841472262947397, + -0.9899567858713291 + ], + [ + 0.9748282343177119, + 0.18554754508320853, + -0.12362047601674603, + 0.17575072315946655, + -0.98066917182679, + -0.08602126909946392, + -0.13719182514252348, + 0.062129573812738564, + -0.9885941124505602 + ], + [ + 0.9733364764349661, + 0.18730951151577324, + -0.1324056287960872, + 0.1772062797672489, + -0.9805425253611698, + -0.08446472855216741, + -0.14565039667716784, + 0.05874949237280457, + -0.9875902283304152 + ], + [ + 0.9529965687162827, + 0.2815985951853669, + -0.11180237566625943, + 0.2766605039092416, + -0.9592285652760926, + -0.057788624616387035, + -0.12351722791447385, + 0.024141059380172487, + -0.9920487405668771 + ], + [ + 0.9268891668159939, + 0.35690859399091673, + -0.11615820235600617, + 0.3564766351982372, + -0.9339646773175345, + -0.02518710147865067, + -0.11747715095666396, + -0.018062033622488628, + -0.9929113162536343 + ], + [ + 0.8924412955662714, + 0.43297527782627726, + -0.12681065712018486, + 0.42977845722041846, + -0.9013770869662476, + -0.05300778057491781, + -0.13725527923264724, + -0.007194156204848232, + -0.9905095822046692 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006567.json b/json/chunk-0006/episode_0006567.json new file mode 100644 index 0000000000000000000000000000000000000000..de1a35b8e9d6e37b987e4b757ec601e92042f5d9 --- /dev/null +++ b/json/chunk-0006/episode_0006567.json @@ -0,0 +1,2782 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 45, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nUnfold the cloth from top right to bottom left." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006567.mp4", + "start": 0, + "end": 45, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.42129263281822205, + 0.10383398830890656, + 0.16559778153896332, + -0.01214760635048151, + -0.3104296326637268, + 0.48499107360839844, + 0.0, + 0.9994885921478271 + ], + [ + 0.4208598732948303, + 0.10325272381305695, + 0.14552247524261475, + -0.0021535842679440975, + -0.2637379467487335, + 0.48202237486839294, + 0.0, + 0.9994885921478271 + ], + [ + 0.4085618853569031, + 0.10386810451745987, + 0.12387964874505997, + -0.003574850270524621, + -0.25038596987724304, + 0.46351590752601624, + 0.0, + 0.9994885921478271 + ], + [ + 0.3940524160861969, + 0.10702822357416153, + 0.1287061870098114, + -0.042499467730522156, + -0.32012495398521423, + 0.4968104660511017, + 0.0, + 0.9994885921478271 + ], + [ + 0.3903684616088867, + 0.10512422770261765, + 0.11968914419412613, + -0.05809793993830681, + -0.3470281660556793, + 0.5158951282501221, + 0.0, + 0.9994885921478271 + ], + [ + 0.3936145603656769, + 0.09754081815481186, + 0.1153201088309288, + -0.07569756358861923, + -0.3676641583442688, + 0.5368738174438477, + 0.0, + 0.9994885921478271 + ], + [ + 0.3997819125652313, + 0.08640342205762863, + 0.11342735588550568, + -0.09850964695215225, + -0.39838796854019165, + 0.5782612562179565, + 0.0, + 0.9994885921478271 + ], + [ + 0.4054422974586487, + 0.08034978806972504, + 0.113914355635643, + -0.12953713536262512, + -0.4266376793384552, + 0.6217015385627747, + 0.0, + 0.9994885921478271 + ], + [ + 0.4093029201030731, + 0.07836709916591644, + 0.11531084775924683, + -0.16033923625946045, + -0.4435466527938843, + 0.6703874468803406, + 0.0, + 0.9994885921478271 + ], + [ + 0.4128686189651489, + 0.07741118967533112, + 0.11352583020925522, + -0.16508910059928894, + -0.46510350704193115, + 0.703766405582428, + 0.0, + 0.9994885921478271 + ], + [ + 0.4133663475513458, + 0.07249604910612106, + 0.10519619286060333, + -0.16854175925254822, + -0.4795849025249481, + 0.7360072731971741, + 0.0, + 0.9994885921478271 + ], + [ + 0.41144853830337524, + 0.06947318464517593, + 0.09921842813491821, + -0.1795015037059784, + -0.4810246527194977, + 0.7664690613746643, + 0.0, + 0.9994885921478271 + ], + [ + 0.41038498282432556, + 0.06450123339891434, + 0.09405374526977539, + -0.1789356768131256, + -0.49164390563964844, + 0.7658243775367737, + 0.0, + 0.9994885921478271 + ], + [ + 0.4090181887149811, + 0.06204889342188835, + 0.08895742148160934, + -0.1841052770614624, + -0.5000742077827454, + 0.7689531445503235, + 0.0, + 0.9974852800369263 + ], + [ + 0.4103119671344757, + 0.06084724888205528, + 0.08858378231525421, + -0.20839886367321014, + -0.49996688961982727, + 0.7861735224723816, + 0.0, + 0.9461179971694946 + ], + [ + 0.4100736379623413, + 0.06799819320440292, + 0.08737245947122574, + -0.22891268134117126, + -0.5073633193969727, + 0.8235297203063965, + 0.0, + 0.6641445755958557 + ], + [ + 0.41037437319755554, + 0.07285396009683609, + 0.08776973932981491, + -0.2438051998615265, + -0.5062111616134644, + 0.837769091129303, + 0.0, + 0.3610773980617523 + ], + [ + 0.40423476696014404, + 0.0814390778541565, + 0.08283741027116776, + -0.24920906126499176, + -0.48224693536758423, + 0.8427541255950928, + 0.0, + 0.14767317473888397 + ], + [ + 0.39973771572113037, + 0.09044618159532547, + 0.09714452177286148, + -0.2952848970890045, + -0.4817640781402588, + 0.8573175072669983, + 0.0, + 0.059241458773612976 + ], + [ + 0.3896644711494446, + 0.1043706014752388, + 0.11044805496931076, + -0.34188398718833923, + -0.4656336009502411, + 0.8726248741149902, + 0.0, + 0.05012403428554535 + ], + [ + 0.37739241123199463, + 0.1161532998085022, + 0.12122029811143875, + -0.39616021513938904, + -0.44163310527801514, + 0.8802196979522705, + 0.0, + 0.05012403428554535 + ], + [ + 0.3604486584663391, + 0.12948644161224365, + 0.12922072410583496, + -0.44532662630081177, + -0.42107799649238586, + 0.8852778077125549, + 0.0, + 0.05012403428554535 + ], + [ + 0.34522587060928345, + 0.1466020792722702, + 0.13124841451644897, + -0.46505171060562134, + -0.4161243438720703, + 0.8832476735115051, + 0.0, + 0.05012403428554535 + ], + [ + 0.3306741416454315, + 0.1661452203989029, + 0.12729193270206451, + -0.45894643664360046, + -0.4215574264526367, + 0.8696818351745605, + 0.0, + 0.05012403428554535 + ], + [ + 0.3154789209365845, + 0.1833251565694809, + 0.11812963336706161, + -0.4152151644229889, + -0.422237366437912, + 0.8431946039199829, + 0.0, + 0.05012403428554535 + ], + [ + 0.30672672390937805, + 0.18737773597240448, + 0.10056442022323608, + -0.3412538468837738, + -0.4061371386051178, + 0.7850182056427002, + 0.0, + 0.05012403428554535 + ], + [ + 0.29658937454223633, + 0.18556202948093414, + 0.08738873153924942, + -0.2838652431964874, + -0.38884904980659485, + 0.727257490158081, + 0.0, + 0.05012403428554535 + ], + [ + 0.28883275389671326, + 0.18778693675994873, + 0.07308592647314072, + -0.2243875414133072, + -0.37771984934806824, + 0.6767341494560242, + 0.0, + 0.05012403428554535 + ], + [ + 0.2882477641105652, + 0.19196076691150665, + 0.06807360053062439, + -0.1957055926322937, + -0.38231346011161804, + 0.6623368859291077, + 0.0, + 0.05012403428554535 + ], + [ + 0.2823570668697357, + 0.20703816413879395, + 0.06530974060297012, + -0.1803106814622879, + -0.3950155973434448, + 0.7320541739463806, + 0.0, + 0.05012403428554535 + ], + [ + 0.2773437201976776, + 0.22884796559810638, + 0.05551830306649208, + -0.11357288062572479, + -0.3906579613685608, + 0.7803230285644531, + 0.0, + 0.0498691126704216 + ], + [ + 0.2672822177410126, + 0.252681702375412, + 0.03732769191265106, + -0.04527173191308975, + -0.3495318591594696, + 0.7805573344230652, + 0.0, + 0.05012403428554535 + ], + [ + 0.2564517557621002, + 0.27039769291877747, + 0.03062988445162773, + -0.018740305677056313, + -0.33702701330184937, + 0.7488174438476562, + 0.0, + 0.05012403428554535 + ], + [ + 0.23820967972278595, + 0.29174259305000305, + 0.02805090881884098, + 0.006492548156529665, + -0.3437443673610687, + 0.6856063604354858, + 0.0, + 0.05012403428554535 + ], + [ + 0.21364344656467438, + 0.311430960893631, + 0.029231315478682518, + 0.0042339772917330265, + -0.3347390592098236, + 0.6215932965278625, + 0.0, + 0.0498691126704216 + ], + [ + 0.19182278215885162, + 0.32435667514801025, + 0.03850984945893288, + -0.05679770186543465, + -0.3435191810131073, + 0.5739219784736633, + 0.0, + 0.05012403428554535 + ], + [ + 0.1828283965587616, + 0.3305473029613495, + 0.05444188788533211, + -0.14359907805919647, + -0.38139185309410095, + 0.5268785953521729, + 0.0, + 0.05012403428554535 + ], + [ + 0.18081554770469666, + 0.3322172462940216, + 0.061588920652866364, + -0.19476184248924255, + -0.41868364810943604, + 0.529758870601654, + 0.0, + 0.07081232219934464 + ], + [ + 0.17534193396568298, + 0.3416998088359833, + 0.06302383542060852, + -0.1426081359386444, + -0.36954250931739807, + 0.598183810710907, + 0.0, + 0.2142026573419571 + ], + [ + 0.18549391627311707, + 0.33236926794052124, + 0.058873552829027176, + -0.11414971202611923, + -0.3569396734237671, + 0.5846230983734131, + 0.0, + 0.4662301242351532 + ], + [ + 0.19925372302532196, + 0.32176145911216736, + 0.08043789118528366, + -0.14690591394901276, + -0.4001646339893341, + 0.5895872116088867, + 0.0, + 0.7652681469917297 + ], + [ + 0.22218240797519684, + 0.3042331039905548, + 0.0978095605969429, + -0.11562446504831314, + -0.4206511378288269, + 0.48929563164711, + 0.0, + 0.9961419701576233 + ], + [ + 0.24494071304798126, + 0.2838730216026306, + 0.11699586361646652, + -0.08863554894924164, + -0.4212411642074585, + 0.40578970313072205, + 0.0, + 1.002137303352356 + ], + [ + 0.27305468916893005, + 0.24972565472126007, + 0.14448772370815277, + 0.021438756957650185, + -0.4172496199607849, + 0.36451297998428345, + 0.0, + 0.9994885921478271 + ], + [ + 0.2705807387828827, + 0.251559317111969, + 0.1472642570734024, + 0.03196106106042862, + -0.4213317036628723, + 0.370689332485199, + 0.0, + 0.9994885921478271 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9974852800369263 + ], + [ + 0.9461179971694946 + ], + [ + 0.6641445755958557 + ], + [ + 0.3610773980617523 + ], + [ + 0.14767317473888397 + ], + [ + 0.059241458773612976 + ], + [ + 0.05012403428554535 + ], + [ + 0.05012403428554535 + ], + [ + 0.05012403428554535 + ], + [ + 0.05012403428554535 + ], + [ + 0.05012403428554535 + ], + [ + 0.05012403428554535 + ], + [ + 0.05012403428554535 + ], + [ + 0.05012403428554535 + ], + [ + 0.05012403428554535 + ], + [ + 0.05012403428554535 + ], + [ + 0.05012403428554535 + ], + [ + 0.0498691126704216 + ], + [ + 0.05012403428554535 + ], + [ + 0.05012403428554535 + ], + [ + 0.05012403428554535 + ], + [ + 0.0498691126704216 + ], + [ + 0.05012403428554535 + ], + [ + 0.05012403428554535 + ], + [ + 0.07081232219934464 + ], + [ + 0.2142026573419571 + ], + [ + 0.4662301242351532 + ], + [ + 0.7652681469917297 + ], + [ + 0.9961419701576233 + ], + [ + 1.002137303352356 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.42129263281822205, + 0.10383398830890656, + 0.16559778153896332 + ], + [ + 0.4208598732948303, + 0.10325272381305695, + 0.14552247524261475 + ], + [ + 0.4085618853569031, + 0.10386810451745987, + 0.12387964874505997 + ], + [ + 0.3940524160861969, + 0.10702822357416153, + 0.1287061870098114 + ], + [ + 0.3903684616088867, + 0.10512422770261765, + 0.11968914419412613 + ], + [ + 0.3936145603656769, + 0.09754081815481186, + 0.1153201088309288 + ], + [ + 0.3997819125652313, + 0.08640342205762863, + 0.11342735588550568 + ], + [ + 0.4054422974586487, + 0.08034978806972504, + 0.113914355635643 + ], + [ + 0.4093029201030731, + 0.07836709916591644, + 0.11531084775924683 + ], + [ + 0.4128686189651489, + 0.07741118967533112, + 0.11352583020925522 + ], + [ + 0.4133663475513458, + 0.07249604910612106, + 0.10519619286060333 + ], + [ + 0.41144853830337524, + 0.06947318464517593, + 0.09921842813491821 + ], + [ + 0.41038498282432556, + 0.06450123339891434, + 0.09405374526977539 + ], + [ + 0.4090181887149811, + 0.06204889342188835, + 0.08895742148160934 + ], + [ + 0.4103119671344757, + 0.06084724888205528, + 0.08858378231525421 + ], + [ + 0.4100736379623413, + 0.06799819320440292, + 0.08737245947122574 + ], + [ + 0.41037437319755554, + 0.07285396009683609, + 0.08776973932981491 + ], + [ + 0.40423476696014404, + 0.0814390778541565, + 0.08283741027116776 + ], + [ + 0.39973771572113037, + 0.09044618159532547, + 0.09714452177286148 + ], + [ + 0.3896644711494446, + 0.1043706014752388, + 0.11044805496931076 + ], + [ + 0.37739241123199463, + 0.1161532998085022, + 0.12122029811143875 + ], + [ + 0.3604486584663391, + 0.12948644161224365, + 0.12922072410583496 + ], + [ + 0.34522587060928345, + 0.1466020792722702, + 0.13124841451644897 + ], + [ + 0.3306741416454315, + 0.1661452203989029, + 0.12729193270206451 + ], + [ + 0.3154789209365845, + 0.1833251565694809, + 0.11812963336706161 + ], + [ + 0.30672672390937805, + 0.18737773597240448, + 0.10056442022323608 + ], + [ + 0.29658937454223633, + 0.18556202948093414, + 0.08738873153924942 + ], + [ + 0.28883275389671326, + 0.18778693675994873, + 0.07308592647314072 + ], + [ + 0.2882477641105652, + 0.19196076691150665, + 0.06807360053062439 + ], + [ + 0.2823570668697357, + 0.20703816413879395, + 0.06530974060297012 + ], + [ + 0.2773437201976776, + 0.22884796559810638, + 0.05551830306649208 + ], + [ + 0.2672822177410126, + 0.252681702375412, + 0.03732769191265106 + ], + [ + 0.2564517557621002, + 0.27039769291877747, + 0.03062988445162773 + ], + [ + 0.23820967972278595, + 0.29174259305000305, + 0.02805090881884098 + ], + [ + 0.21364344656467438, + 0.311430960893631, + 0.029231315478682518 + ], + [ + 0.19182278215885162, + 0.32435667514801025, + 0.03850984945893288 + ], + [ + 0.1828283965587616, + 0.3305473029613495, + 0.05444188788533211 + ], + [ + 0.18081554770469666, + 0.3322172462940216, + 0.061588920652866364 + ], + [ + 0.17534193396568298, + 0.3416998088359833, + 0.06302383542060852 + ], + [ + 0.18549391627311707, + 0.33236926794052124, + 0.058873552829027176 + ], + [ + 0.19925372302532196, + 0.32176145911216736, + 0.08043789118528366 + ], + [ + 0.22218240797519684, + 0.3042331039905548, + 0.0978095605969429 + ], + [ + 0.24494071304798126, + 0.2838730216026306, + 0.11699586361646652 + ], + [ + 0.27305468916893005, + 0.24972565472126007, + 0.14448772370815277 + ], + [ + 0.2705807387828827, + 0.251559317111969, + 0.1472642570734024 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8423935890427292, + 0.4628833656975543, + 0.27588408961049876, + 0.4439172080341548, + -0.8863437263904493, + 0.13165223545178903, + 0.30546776188473707, + 0.011566695673206166, + -0.9521321641454683 + ], + [ + 0.855421307481232, + 0.46307354008265866, + 0.23198552364838107, + 0.4475427990976454, + -0.8863174226818541, + 0.11894061218288728, + 0.26069106176266166, + 0.002079116617625887, + -0.9654200368705562 + ], + [ + 0.8665931963767767, + 0.4463006311054305, + 0.22323077446529732, + 0.43315394307900057, + -0.8948763890941259, + 0.10758210742020752, + 0.24777791182548126, + 0.0034633678339952498, + -0.9688106685491501 + ], + [ + 0.8344451669746598, + 0.4644400506408436, + 0.29664238178885133, + 0.4524096680904204, + -0.8846858633070983, + 0.11250073547710518, + 0.3146851689084627, + 0.04032818648668091, + -0.9483390120857349 + ], + [ + 0.8179975554766657, + 0.4753032935119873, + 0.32398576884001684, + 0.4639060623483171, + -0.8781259582286689, + 0.11698703689495395, + 0.34010463764947185, + 0.05460385207693348, + -0.9388009665459883 + ], + [ + 0.8018835161319446, + 0.48662924272084657, + 0.3466623814099322, + 0.4772715168444765, + -0.8707535150101514, + 0.1183225054942597, + 0.35943667837999294, + 0.07057121386515848, + -0.9304971671148473 + ], + [ + 0.7718342973461954, + 0.5119686894371233, + 0.3770409506620457, + 0.5037655806072742, + -0.8542077849093479, + 0.12864408262987084, + 0.3879330576729968, + 0.09064833829861182, + -0.9172190695401943 + ], + [ + 0.7400231278819212, + 0.5340871718511685, + 0.4087990497345589, + 0.5302124280666515, + -0.8372108615217729, + 0.13398788927972874, + 0.4138122174652699, + 0.11759619982801886, + -0.9027350566265193 + ], + [ + 0.7077580398785696, + 0.5596338542774444, + 0.43114789357460376, + 0.5611707354116735, + -0.816097459577559, + 0.13810265091075044, + 0.4291456194635655, + 0.14420431899782718, + -0.8916496799066358 + ], + [ + 0.6814234512850563, + 0.582099158153646, + 0.4436469881736821, + 0.5783563706480218, + -0.799741142005621, + 0.16099072741743042, + 0.448515315869604, + 0.14688320482737938, + -0.8816231255871341 + ], + [ + 0.6575426550037884, + 0.6044566122087741, + 0.4497442170919606, + 0.5955985186167291, + -0.7826138869723774, + 0.18104670264753447, + 0.46141094641558594, + 0.14882105991787115, + -0.8746154758822844 + ], + [ + 0.6386182027144329, + 0.622944121607391, + 0.45178248363187246, + 0.6148876285723253, + -0.7660864622250442, + 0.1871489690706787, + 0.46268779472824795, + 0.15827872172314159, + -0.8722773932982549 + ], + [ + 0.6354368818065457, + 0.6215013148220213, + 0.45820965170375116, + 0.6110355803559825, + -0.7675401965704125, + 0.1936945177016641, + 0.47207572356455896, + 0.156901760102146, + -0.8674827657641659 + ], + [ + 0.6306395113675106, + 0.6205502784757392, + 0.46605917927429485, + 0.6102315240669599, + -0.7675343395475714, + 0.19623589032128597, + 0.47949066074018787, + 0.1606498972889654, + -0.8627168230444925 + ], + [ + 0.6200744647497223, + 0.6222642607709777, + 0.4778021012223516, + 0.6210367718028252, + -0.7614589177792682, + 0.18572464726888382, + 0.47939648124915474, + 0.1815695632576519, + -0.858610218588362 + ], + [ + 0.5940215232011179, + 0.639481130030271, + 0.4880597446102586, + 0.6411431146038133, + -0.7427837697937762, + 0.1928931775026458, + 0.48587440411071725, + 0.1983334456569377, + -0.8512284697799418 + ], + [ + 0.5852063254851221, + 0.6428568167856976, + 0.4942354395673803, + 0.6499519119799635, + -0.7363166629799196, + 0.1881496317607491, + 0.48486706294178344, + 0.2111229142709897, + -0.8487231859351629 + ], + [ + 0.5895228991666951, + 0.647306447487095, + 0.48317400012804046, + 0.6613464935613621, + -0.7302382076474949, + 0.1713854589685642, + 0.4637710284312573, + 0.21850977811853403, + -0.8585859945598945 + ], + [ + 0.5799757735769493, + 0.6351179993570443, + 0.5101502023488034, + 0.6700307421183945, + -0.7280922663083567, + 0.14470817654242893, + 0.4633431845620404, + 0.25788908203851285, + -0.8478244598295337 + ], + [ + 0.5743818920820927, + 0.6249224032950955, + 0.5287319092962689, + 0.6844664244292655, + -0.720923025596245, + 0.10851592046410981, + 0.44898903759135633, + 0.29956965972047056, + -0.8418235344166554 + ], + [ + 0.5758664867469891, + 0.6061158636344318, + 0.5486358986544407, + 0.6969167574010099, + -0.7147890082405577, + 0.058169639436230935, + 0.42741645112856963, + 0.3488556055865607, + -0.8340353372342759 + ], + [ + 0.577774691019481, + 0.587129791756751, + 0.5669700292334837, + 0.7064731570597359, + -0.7076232122398984, + 0.012847873494753775, + 0.4087445226194388, + 0.3931259303721413, + -0.8236382203963372 + ], + [ + 0.5804856378084915, + 0.5756829450777532, + 0.5758694045047653, + 0.7068548388987412, + -0.7073379285729038, + -0.005412164782027051, + 0.404218580749949, + 0.41019775907334965, + -0.8175237840134675 + ], + [ + 0.5885956360803046, + 0.5681207380971012, + 0.5751469413386696, + 0.6972268254371192, + -0.7168298061818542, + -0.005457367512152922, + 0.40918202682681326, + 0.40422005877156925, + -0.8180319144193646 + ], + [ + 0.6066694469975434, + 0.5733743584642925, + 0.5506305722854082, + 0.6811858922862772, + -0.7320163511140657, + 0.011740606960350175, + 0.4098023453200865, + 0.3679591101702881, + -0.8346664789081005 + ], + [ + 0.649833063991954, + 0.5725527911783205, + 0.49990028031272754, + 0.6493394333030965, + -0.7600401121262947, + 0.026406974773019398, + 0.39506365221371936, + 0.3074448393988161, + -0.8656802997796551 + ], + [ + 0.6912339380699387, + 0.5589004066672546, + 0.4580676568886981, + 0.6151917660357068, + -0.787696889626642, + 0.032752115571095766, + 0.3791236392816896, + 0.25916007697886606, + -0.8883137512377685 + ], + [ + 0.7246649712204314, + 0.5465732468947406, + 0.41966458662249817, + 0.5821045916458338, + -0.8114686988384535, + 0.05169908306985961, + 0.3688020117501102, + 0.2068241682791645, + -0.9062057379782493 + ], + [ + 0.7316266420578101, + 0.5460152049044377, + 0.4081542020417998, + 0.5705635775432013, + -0.8181174569377634, + 0.07170098071010408, + 0.37306790348717583, + 0.18041957395707456, + -0.9100929165315108 + ], + [ + 0.6865231167864022, + 0.6062313643771965, + 0.4014592668792771, + 0.6169259178773551, + -0.7778721612959142, + 0.11965497286785005, + 0.3848225850558497, + 0.1655247217976393, + -0.9080270615486894 + ], + [ + 0.6571422976025749, + 0.6683068216696306, + 0.34861152134065443, + 0.6505057504652625, + -0.7364678783534427, + 0.18562686434135647, + 0.3807968872157893, + 0.10479053518049883, + -0.9187016242629323 + ], + [ + 0.6675584597948674, + 0.6919426217906387, + 0.274920190065775, + 0.6611264730325427, + -0.7206992977519276, + 0.20857686562854733, + 0.34245801116612123, + 0.04251976445578805, + -0.9385704982678548 + ], + [ + 0.6912857250455058, + 0.6761144069879224, + 0.25493794345228354, + 0.642474058100422, + -0.736584380934487, + 0.21135404995252488, + 0.33068282540265853, + 0.01768497743082932, + -0.9435762346291825 + ], + [ + 0.7287537188901783, + 0.6348227705800631, + 0.25674514047355845, + 0.5961032333144956, + -0.7726336033403627, + 0.21839929079850717, + 0.33701476590164225, + -0.006112686998317046, + -0.9414795178982501 + ], + [ + 0.7678296478884848, + 0.5834567306491936, + 0.2646051308716426, + 0.5500095016998965, + -0.8121343803555366, + 0.1947493165183373, + 0.3285227235112913, + -0.003998962950850005, + -0.9444876009943385 + ], + [ + 0.7907142379903356, + 0.5259983016656739, + 0.3132040556636994, + 0.5112092576421524, + -0.84880434983015, + 0.1348935528866217, + 0.3368027445558042, + 0.05345055990579704, + -0.9400568859943713 + ], + [ + 0.8022728881759758, + 0.45162016736443655, + 0.39038114366282667, + 0.4667075506892395, + -0.8822681752467545, + 0.06153802951356811, + 0.37221267445833855, + 0.13282353472363329, + -0.9185943792534823 + ], + [ + 0.7883933750978166, + 0.42787419507984636, + 0.44199497654005854, + 0.4616777595919742, + -0.8863744192747282, + 0.03455481375327672, + 0.4065581537738588, + 0.17681646427909914, + -0.8963517197840529 + ], + [ + 0.770574421703927, + 0.515005537064851, + 0.37547883749713956, + 0.5251263331947778, + -0.8468795040126866, + 0.08388945028210466, + 0.36118886306344805, + 0.13253076048891754, + -0.9230266533113567 + ], + [ + 0.7813585926458162, + 0.5151048296284865, + 0.35234324768889425, + 0.5171000802710893, + -0.8504570889133187, + 0.09659320318074405, + 0.3494084381954483, + 0.10672279236644597, + -0.9308727028478846 + ], + [ + 0.7655052149836917, + 0.5026318740588589, + 0.40170009336923296, + 0.5120908126784618, + -0.853924148405427, + 0.09260965576211873, + 0.3895699749763625, + 0.13481375282271818, + -0.9110765536697619 + ], + [ + 0.8057163330273956, + 0.42528312417795244, + 0.4122565402541559, + 0.4290308327556849, + -0.8989127514280755, + 0.08881672063845848, + 0.4083549133264466, + 0.10530968430988068, + -0.9067282587152024 + ], + [ + 0.8384722133865395, + 0.3599391714872561, + 0.4091553986051569, + 0.36023673971754316, + -0.9294719826548518, + 0.07944384694445476, + 0.4088934320044188, + 0.08078134864389507, + -0.9089997442105917 + ], + [ + 0.8541412898632026, + 0.3645289510743536, + 0.37089257309827106, + 0.3259095918294321, + -0.93098580214469, + 0.16446389925628538, + 0.4052475723608937, + -0.019597959935670095, + -0.9139968955428472 + ], + [ + 0.8505630893433475, + 0.37425442341810133, + 0.3694266606495602, + 0.33057679511479143, + -0.9268674478304827, + 0.17786432099732874, + 0.40897605501830303, + -0.029160944843953512, + -0.9120790676895694 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.00043275952339172363, + -0.0005812644958496094, + -0.020075306296348572, + 0.0099940225481987, + 0.046691685914993286, + -0.002968698740005493, + 1.0 + ], + [ + -0.012297987937927246, + 0.0006153807044029236, + -0.02164282649755478, + -0.0014212660025805235, + 0.013351976871490479, + -0.01850646734237671, + 1.0 + ], + [ + -0.014509469270706177, + 0.00316011905670166, + 0.004826538264751434, + -0.03892461583018303, + -0.06973898410797119, + 0.03329455852508545, + 1.0 + ], + [ + -0.0036839544773101807, + -0.0019039958715438843, + -0.009017042815685272, + -0.015598472207784653, + -0.026903212070465088, + 0.019084662199020386, + 1.0 + ], + [ + 0.003246098756790161, + -0.007583409547805786, + -0.004369035363197327, + -0.017599623650312424, + -0.020635992288589478, + 0.020978689193725586, + 1.0 + ], + [ + 0.006167352199554443, + -0.011137396097183228, + -0.0018927529454231262, + -0.02281208336353302, + -0.03072381019592285, + 0.04138743877410889, + 1.0 + ], + [ + 0.005660384893417358, + -0.006053633987903595, + 0.0004869997501373291, + -0.03102748841047287, + -0.02824971079826355, + 0.043440282344818115, + 1.0 + ], + [ + 0.0038606226444244385, + -0.0019826889038085938, + 0.0013964921236038208, + -0.030802100896835327, + -0.016908973455429077, + 0.04868590831756592, + 1.0 + ], + [ + 0.0035656988620758057, + -0.0009559094905853271, + -0.0017850175499916077, + -0.004749864339828491, + -0.021556854248046875, + 0.0333789587020874, + 1.0 + ], + [ + 0.0004977285861968994, + -0.0049151405692100525, + -0.008329637348651886, + -0.0034526586532592773, + -0.014481395483016968, + 0.032240867614746094, + 1.0 + ], + [ + -0.001917809247970581, + -0.0030228644609451294, + -0.00597776472568512, + -0.010959744453430176, + -0.0014397501945495605, + 0.030461788177490234, + 1.0 + ], + [ + -0.0010635554790496826, + -0.004971951246261597, + -0.005164682865142822, + 0.0005658268928527832, + -0.010619252920150757, + -0.000644683837890625, + 1.0 + ], + [ + -0.0013667941093444824, + -0.0024523399770259857, + -0.005096323788166046, + -0.005169600248336792, + -0.008430302143096924, + 0.0031287670135498047, + 1.0 + ], + [ + 0.001293778419494629, + -0.0012016445398330688, + -0.00037363916635513306, + -0.02429358661174774, + 0.00010731816291809082, + 0.017220377922058105, + 0.0 + ], + [ + -0.00023832917213439941, + 0.007150944322347641, + -0.001211322844028473, + -0.02051381766796112, + -0.007396429777145386, + 0.03735619783401489, + 0.0 + ], + [ + 0.0003007352352142334, + 0.0048557668924331665, + 0.00039727985858917236, + -0.014892518520355225, + 0.0011521577835083008, + 0.014239370822906494, + 0.0 + ], + [ + -0.006139606237411499, + 0.008585117757320404, + -0.004932329058647156, + -0.005403861403465271, + 0.023964226245880127, + 0.004985034465789795, + 0.0 + ], + [ + -0.004497051239013672, + 0.009007103741168976, + 0.014307111501693726, + -0.046075835824012756, + 0.00048285722732543945, + 0.014563381671905518, + 0.0 + ], + [ + -0.010073244571685791, + 0.01392441987991333, + 0.01330353319644928, + -0.04659909009933472, + 0.0161304771900177, + 0.015307366847991943, + 0.0 + ], + [ + -0.012272059917449951, + 0.011782698333263397, + 0.01077224314212799, + -0.054276227951049805, + 0.024000495672225952, + 0.0075948238372802734, + 0.0 + ], + [ + -0.016943752765655518, + 0.013333141803741455, + 0.00800042599439621, + -0.04916641116142273, + 0.020555108785629272, + 0.005058109760284424, + 0.0 + ], + [ + -0.015222787857055664, + 0.01711563766002655, + 0.0020276904106140137, + -0.01972508430480957, + 0.004953652620315552, + -0.0020301342010498047, + 0.0 + ], + [ + -0.014551728963851929, + 0.01954314112663269, + -0.0039564818143844604, + 0.006105273962020874, + -0.005433082580566406, + -0.01356583833694458, + 0.0 + ], + [ + -0.015195220708847046, + 0.017179936170578003, + -0.0091622993350029, + 0.04373127222061157, + -0.0006799399852752686, + -0.026487231254577637, + 0.0 + ], + [ + -0.008752197027206421, + 0.004052579402923584, + -0.01756521314382553, + 0.07396131753921509, + 0.01610022783279419, + -0.058176398277282715, + 0.0 + ], + [ + -0.010137349367141724, + -0.001815706491470337, + -0.013175688683986664, + 0.05738860368728638, + 0.01728808879852295, + -0.05776071548461914, + 0.0 + ], + [ + -0.007756620645523071, + 0.0022249072790145874, + -0.014302805066108704, + 0.05947770178318024, + 0.011129200458526611, + -0.050523340702056885, + 0.0 + ], + [ + -0.0005849897861480713, + 0.004173830151557922, + -0.005012325942516327, + 0.02868194878101349, + -0.004593610763549805, + -0.014397263526916504, + 0.0 + ], + [ + -0.005890697240829468, + 0.015077397227287292, + -0.0027638599276542664, + 0.015394911170005798, + -0.012702137231826782, + 0.06971728801727295, + 0.0 + ], + [ + -0.0050133466720581055, + 0.02180980145931244, + -0.009791437536478043, + 0.06673780083656311, + 0.004357635974884033, + 0.04826885461807251, + 0.0 + ], + [ + -0.010061502456665039, + 0.023833736777305603, + -0.01819061115384102, + 0.06830114871263504, + 0.041126102209091187, + 0.00023430585861206055, + 0.0 + ], + [ + -0.010830461978912354, + 0.01771599054336548, + -0.006697807461023331, + 0.02653142623603344, + 0.01250484585762024, + -0.031739890575408936, + 0.0 + ], + [ + -0.01824207603931427, + 0.021344900131225586, + -0.002578975632786751, + 0.02523285336792469, + -0.00671735405921936, + -0.06321108341217041, + 0.0 + ], + [ + -0.024566233158111572, + 0.01968836784362793, + 0.0011804066598415375, + -0.0022585708647966385, + 0.009005308151245117, + -0.06401306390762329, + 0.0 + ], + [ + -0.021820664405822754, + 0.012925714254379272, + 0.009278533980250359, + -0.061031680554151535, + -0.008780121803283691, + -0.04767131805419922, + 0.0 + ], + [ + -0.008994385600090027, + 0.006190627813339233, + 0.01593203842639923, + -0.08680137991905212, + -0.03787267208099365, + -0.04704338312149048, + 0.0 + ], + [ + -0.0020128488540649414, + 0.0016699433326721191, + 0.007147032767534256, + -0.05116276443004608, + -0.03729179501533508, + 0.002880275249481201, + 1.0 + ], + [ + -0.005473613739013672, + 0.00948256254196167, + 0.001434914767742157, + 0.052153706550598145, + 0.049141138792037964, + 0.06842494010925293, + 1.0 + ], + [ + 0.010151982307434082, + -0.009330540895462036, + -0.004150282591581345, + 0.028458423912525177, + 0.012602835893630981, + -0.013560712337493896, + 1.0 + ], + [ + 0.013759806752204895, + -0.010607808828353882, + 0.021564338356256485, + -0.032756201922893524, + -0.04322496056556702, + 0.004964113235473633, + 1.0 + ], + [ + 0.022928684949874878, + -0.01752835512161255, + 0.01737166941165924, + 0.031281448900699615, + -0.020486503839492798, + -0.10029157996177673, + 1.0 + ], + [ + 0.022758305072784424, + -0.020360082387924194, + 0.01918630301952362, + 0.026988916099071503, + -0.0005900263786315918, + -0.08350592851638794, + 1.0 + ], + [ + 0.02811397612094879, + -0.034147366881370544, + 0.02749186009168625, + 0.11007430404424667, + 0.003991544246673584, + -0.0412767231464386, + 1.0 + ], + [ + -0.0024739503860473633, + 0.0018336623907089233, + 0.002776533365249634, + 0.010522304102778435, + -0.004082083702087402, + 0.006176352500915527, + 1.0 + ], + [ + 0.0009921491146087646, + -0.000599205493927002, + 0.00046387314796447754, + 2.790987491607666e-05, + -0.0014368295669555664, + -0.0016807317733764648, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9974852800369263 + ], + [ + 0.9461179971694946 + ], + [ + 0.6641445755958557 + ], + [ + 0.3610773980617523 + ], + [ + 0.14767317473888397 + ], + [ + 0.059241458773612976 + ], + [ + 0.05012403428554535 + ], + [ + 0.05012403428554535 + ], + [ + 0.05012403428554535 + ], + [ + 0.05012403428554535 + ], + [ + 0.05012403428554535 + ], + [ + 0.05012403428554535 + ], + [ + 0.05012403428554535 + ], + [ + 0.05012403428554535 + ], + [ + 0.05012403428554535 + ], + [ + 0.05012403428554535 + ], + [ + 0.05012403428554535 + ], + [ + 0.0498691126704216 + ], + [ + 0.05012403428554535 + ], + [ + 0.05012403428554535 + ], + [ + 0.05012403428554535 + ], + [ + 0.0498691126704216 + ], + [ + 0.05012403428554535 + ], + [ + 0.05012403428554535 + ], + [ + 0.07081232219934464 + ], + [ + 0.2142026573419571 + ], + [ + 0.4662301242351532 + ], + [ + 0.7652681469917297 + ], + [ + 0.9961419701576233 + ], + [ + 1.002137303352356 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.4208598732948303, + 0.10325272381305695, + 0.14552247524261475 + ], + [ + 0.4085618853569031, + 0.10386810451745987, + 0.12387964874505997 + ], + [ + 0.3940524160861969, + 0.10702822357416153, + 0.1287061870098114 + ], + [ + 0.3903684616088867, + 0.10512422770261765, + 0.11968914419412613 + ], + [ + 0.3936145603656769, + 0.09754081815481186, + 0.1153201088309288 + ], + [ + 0.3997819125652313, + 0.08640342205762863, + 0.11342735588550568 + ], + [ + 0.4054422974586487, + 0.08034978806972504, + 0.113914355635643 + ], + [ + 0.4093029201030731, + 0.07836709916591644, + 0.11531084775924683 + ], + [ + 0.4128686189651489, + 0.07741118967533112, + 0.11352583020925522 + ], + [ + 0.4133663475513458, + 0.07249604910612106, + 0.10519619286060333 + ], + [ + 0.41144853830337524, + 0.06947318464517593, + 0.09921842813491821 + ], + [ + 0.41038498282432556, + 0.06450123339891434, + 0.09405374526977539 + ], + [ + 0.4090181887149811, + 0.06204889342188835, + 0.08895742148160934 + ], + [ + 0.4103119671344757, + 0.06084724888205528, + 0.08858378231525421 + ], + [ + 0.4100736379623413, + 0.06799819320440292, + 0.08737245947122574 + ], + [ + 0.41037437319755554, + 0.07285396009683609, + 0.08776973932981491 + ], + [ + 0.40423476696014404, + 0.0814390778541565, + 0.08283741027116776 + ], + [ + 0.39973771572113037, + 0.09044618159532547, + 0.09714452177286148 + ], + [ + 0.3896644711494446, + 0.1043706014752388, + 0.11044805496931076 + ], + [ + 0.37739241123199463, + 0.1161532998085022, + 0.12122029811143875 + ], + [ + 0.3604486584663391, + 0.12948644161224365, + 0.12922072410583496 + ], + [ + 0.34522587060928345, + 0.1466020792722702, + 0.13124841451644897 + ], + [ + 0.3306741416454315, + 0.1661452203989029, + 0.12729193270206451 + ], + [ + 0.3154789209365845, + 0.1833251565694809, + 0.11812963336706161 + ], + [ + 0.30672672390937805, + 0.18737773597240448, + 0.10056442022323608 + ], + [ + 0.29658937454223633, + 0.18556202948093414, + 0.08738873153924942 + ], + [ + 0.28883275389671326, + 0.18778693675994873, + 0.07308592647314072 + ], + [ + 0.2882477641105652, + 0.19196076691150665, + 0.06807360053062439 + ], + [ + 0.2823570668697357, + 0.20703816413879395, + 0.06530974060297012 + ], + [ + 0.2773437201976776, + 0.22884796559810638, + 0.05551830306649208 + ], + [ + 0.2672822177410126, + 0.252681702375412, + 0.03732769191265106 + ], + [ + 0.2564517557621002, + 0.27039769291877747, + 0.03062988445162773 + ], + [ + 0.23820967972278595, + 0.29174259305000305, + 0.02805090881884098 + ], + [ + 0.21364344656467438, + 0.311430960893631, + 0.029231315478682518 + ], + [ + 0.19182278215885162, + 0.32435667514801025, + 0.03850984945893288 + ], + [ + 0.1828283965587616, + 0.3305473029613495, + 0.05444188788533211 + ], + [ + 0.18081554770469666, + 0.3322172462940216, + 0.061588920652866364 + ], + [ + 0.17534193396568298, + 0.3416998088359833, + 0.06302383542060852 + ], + [ + 0.18549391627311707, + 0.33236926794052124, + 0.058873552829027176 + ], + [ + 0.19925372302532196, + 0.32176145911216736, + 0.08043789118528366 + ], + [ + 0.22218240797519684, + 0.3042331039905548, + 0.0978095605969429 + ], + [ + 0.24494071304798126, + 0.2838730216026306, + 0.11699586361646652 + ], + [ + 0.27305468916893005, + 0.24972565472126007, + 0.14448772370815277 + ], + [ + 0.2705807387828827, + 0.251559317111969, + 0.1472642570734024 + ], + [ + 0.27157288789749146, + 0.250960111618042, + 0.14772813022136688 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.855421307481232, + 0.46307354008265866, + 0.23198552364838107, + 0.4475427990976454, + -0.8863174226818541, + 0.11894061218288728, + 0.26069106176266166, + 0.002079116617625887, + -0.9654200368705562 + ], + [ + 0.8665931963767767, + 0.4463006311054305, + 0.22323077446529732, + 0.43315394307900057, + -0.8948763890941259, + 0.10758210742020752, + 0.24777791182548126, + 0.0034633678339952498, + -0.9688106685491501 + ], + [ + 0.8344451669746598, + 0.4644400506408436, + 0.29664238178885133, + 0.4524096680904204, + -0.8846858633070983, + 0.11250073547710518, + 0.3146851689084627, + 0.04032818648668091, + -0.9483390120857349 + ], + [ + 0.8179975554766657, + 0.4753032935119873, + 0.32398576884001684, + 0.4639060623483171, + -0.8781259582286689, + 0.11698703689495395, + 0.34010463764947185, + 0.05460385207693348, + -0.9388009665459883 + ], + [ + 0.8018835161319446, + 0.48662924272084657, + 0.3466623814099322, + 0.4772715168444765, + -0.8707535150101514, + 0.1183225054942597, + 0.35943667837999294, + 0.07057121386515848, + -0.9304971671148473 + ], + [ + 0.7718342973461954, + 0.5119686894371233, + 0.3770409506620457, + 0.5037655806072742, + -0.8542077849093479, + 0.12864408262987084, + 0.3879330576729968, + 0.09064833829861182, + -0.9172190695401943 + ], + [ + 0.7400231278819212, + 0.5340871718511685, + 0.4087990497345589, + 0.5302124280666515, + -0.8372108615217729, + 0.13398788927972874, + 0.4138122174652699, + 0.11759619982801886, + -0.9027350566265193 + ], + [ + 0.7077580398785696, + 0.5596338542774444, + 0.43114789357460376, + 0.5611707354116735, + -0.816097459577559, + 0.13810265091075044, + 0.4291456194635655, + 0.14420431899782718, + -0.8916496799066358 + ], + [ + 0.6814234512850563, + 0.582099158153646, + 0.4436469881736821, + 0.5783563706480218, + -0.799741142005621, + 0.16099072741743042, + 0.448515315869604, + 0.14688320482737938, + -0.8816231255871341 + ], + [ + 0.6575426550037884, + 0.6044566122087741, + 0.4497442170919606, + 0.5955985186167291, + -0.7826138869723774, + 0.18104670264753447, + 0.46141094641558594, + 0.14882105991787115, + -0.8746154758822844 + ], + [ + 0.6386182027144329, + 0.622944121607391, + 0.45178248363187246, + 0.6148876285723253, + -0.7660864622250442, + 0.1871489690706787, + 0.46268779472824795, + 0.15827872172314159, + -0.8722773932982549 + ], + [ + 0.6354368818065457, + 0.6215013148220213, + 0.45820965170375116, + 0.6110355803559825, + -0.7675401965704125, + 0.1936945177016641, + 0.47207572356455896, + 0.156901760102146, + -0.8674827657641659 + ], + [ + 0.6306395113675106, + 0.6205502784757392, + 0.46605917927429485, + 0.6102315240669599, + -0.7675343395475714, + 0.19623589032128597, + 0.47949066074018787, + 0.1606498972889654, + -0.8627168230444925 + ], + [ + 0.6200744647497223, + 0.6222642607709777, + 0.4778021012223516, + 0.6210367718028252, + -0.7614589177792682, + 0.18572464726888382, + 0.47939648124915474, + 0.1815695632576519, + -0.858610218588362 + ], + [ + 0.5940215232011179, + 0.639481130030271, + 0.4880597446102586, + 0.6411431146038133, + -0.7427837697937762, + 0.1928931775026458, + 0.48587440411071725, + 0.1983334456569377, + -0.8512284697799418 + ], + [ + 0.5852063254851221, + 0.6428568167856976, + 0.4942354395673803, + 0.6499519119799635, + -0.7363166629799196, + 0.1881496317607491, + 0.48486706294178344, + 0.2111229142709897, + -0.8487231859351629 + ], + [ + 0.5895228991666951, + 0.647306447487095, + 0.48317400012804046, + 0.6613464935613621, + -0.7302382076474949, + 0.1713854589685642, + 0.4637710284312573, + 0.21850977811853403, + -0.8585859945598945 + ], + [ + 0.5799757735769493, + 0.6351179993570443, + 0.5101502023488034, + 0.6700307421183945, + -0.7280922663083567, + 0.14470817654242893, + 0.4633431845620404, + 0.25788908203851285, + -0.8478244598295337 + ], + [ + 0.5743818920820927, + 0.6249224032950955, + 0.5287319092962689, + 0.6844664244292655, + -0.720923025596245, + 0.10851592046410981, + 0.44898903759135633, + 0.29956965972047056, + -0.8418235344166554 + ], + [ + 0.5758664867469891, + 0.6061158636344318, + 0.5486358986544407, + 0.6969167574010099, + -0.7147890082405577, + 0.058169639436230935, + 0.42741645112856963, + 0.3488556055865607, + -0.8340353372342759 + ], + [ + 0.577774691019481, + 0.587129791756751, + 0.5669700292334837, + 0.7064731570597359, + -0.7076232122398984, + 0.012847873494753775, + 0.4087445226194388, + 0.3931259303721413, + -0.8236382203963372 + ], + [ + 0.5804856378084915, + 0.5756829450777532, + 0.5758694045047653, + 0.7068548388987412, + -0.7073379285729038, + -0.005412164782027051, + 0.404218580749949, + 0.41019775907334965, + -0.8175237840134675 + ], + [ + 0.5885956360803046, + 0.5681207380971012, + 0.5751469413386696, + 0.6972268254371192, + -0.7168298061818542, + -0.005457367512152922, + 0.40918202682681326, + 0.40422005877156925, + -0.8180319144193646 + ], + [ + 0.6066694469975434, + 0.5733743584642925, + 0.5506305722854082, + 0.6811858922862772, + -0.7320163511140657, + 0.011740606960350175, + 0.4098023453200865, + 0.3679591101702881, + -0.8346664789081005 + ], + [ + 0.649833063991954, + 0.5725527911783205, + 0.49990028031272754, + 0.6493394333030965, + -0.7600401121262947, + 0.026406974773019398, + 0.39506365221371936, + 0.3074448393988161, + -0.8656802997796551 + ], + [ + 0.6912339380699387, + 0.5589004066672546, + 0.4580676568886981, + 0.6151917660357068, + -0.787696889626642, + 0.032752115571095766, + 0.3791236392816896, + 0.25916007697886606, + -0.8883137512377685 + ], + [ + 0.7246649712204314, + 0.5465732468947406, + 0.41966458662249817, + 0.5821045916458338, + -0.8114686988384535, + 0.05169908306985961, + 0.3688020117501102, + 0.2068241682791645, + -0.9062057379782493 + ], + [ + 0.7316266420578101, + 0.5460152049044377, + 0.4081542020417998, + 0.5705635775432013, + -0.8181174569377634, + 0.07170098071010408, + 0.37306790348717583, + 0.18041957395707456, + -0.9100929165315108 + ], + [ + 0.6865231167864022, + 0.6062313643771965, + 0.4014592668792771, + 0.6169259178773551, + -0.7778721612959142, + 0.11965497286785005, + 0.3848225850558497, + 0.1655247217976393, + -0.9080270615486894 + ], + [ + 0.6571422976025749, + 0.6683068216696306, + 0.34861152134065443, + 0.6505057504652625, + -0.7364678783534427, + 0.18562686434135647, + 0.3807968872157893, + 0.10479053518049883, + -0.9187016242629323 + ], + [ + 0.6675584597948674, + 0.6919426217906387, + 0.274920190065775, + 0.6611264730325427, + -0.7206992977519276, + 0.20857686562854733, + 0.34245801116612123, + 0.04251976445578805, + -0.9385704982678548 + ], + [ + 0.6912857250455058, + 0.6761144069879224, + 0.25493794345228354, + 0.642474058100422, + -0.736584380934487, + 0.21135404995252488, + 0.33068282540265853, + 0.01768497743082932, + -0.9435762346291825 + ], + [ + 0.7287537188901783, + 0.6348227705800631, + 0.25674514047355845, + 0.5961032333144956, + -0.7726336033403627, + 0.21839929079850717, + 0.33701476590164225, + -0.006112686998317046, + -0.9414795178982501 + ], + [ + 0.7678296478884848, + 0.5834567306491936, + 0.2646051308716426, + 0.5500095016998965, + -0.8121343803555366, + 0.1947493165183373, + 0.3285227235112913, + -0.003998962950850005, + -0.9444876009943385 + ], + [ + 0.7907142379903356, + 0.5259983016656739, + 0.3132040556636994, + 0.5112092576421524, + -0.84880434983015, + 0.1348935528866217, + 0.3368027445558042, + 0.05345055990579704, + -0.9400568859943713 + ], + [ + 0.8022728881759758, + 0.45162016736443655, + 0.39038114366282667, + 0.4667075506892395, + -0.8822681752467545, + 0.06153802951356811, + 0.37221267445833855, + 0.13282353472363329, + -0.9185943792534823 + ], + [ + 0.7883933750978166, + 0.42787419507984636, + 0.44199497654005854, + 0.4616777595919742, + -0.8863744192747282, + 0.03455481375327672, + 0.4065581537738588, + 0.17681646427909914, + -0.8963517197840529 + ], + [ + 0.770574421703927, + 0.515005537064851, + 0.37547883749713956, + 0.5251263331947778, + -0.8468795040126866, + 0.08388945028210466, + 0.36118886306344805, + 0.13253076048891754, + -0.9230266533113567 + ], + [ + 0.7813585926458162, + 0.5151048296284865, + 0.35234324768889425, + 0.5171000802710893, + -0.8504570889133187, + 0.09659320318074405, + 0.3494084381954483, + 0.10672279236644597, + -0.9308727028478846 + ], + [ + 0.7655052149836917, + 0.5026318740588589, + 0.40170009336923296, + 0.5120908126784618, + -0.853924148405427, + 0.09260965576211873, + 0.3895699749763625, + 0.13481375282271818, + -0.9110765536697619 + ], + [ + 0.8057163330273956, + 0.42528312417795244, + 0.4122565402541559, + 0.4290308327556849, + -0.8989127514280755, + 0.08881672063845848, + 0.4083549133264466, + 0.10530968430988068, + -0.9067282587152024 + ], + [ + 0.8384722133865395, + 0.3599391714872561, + 0.4091553986051569, + 0.36023673971754316, + -0.9294719826548518, + 0.07944384694445476, + 0.4088934320044188, + 0.08078134864389507, + -0.9089997442105917 + ], + [ + 0.8541412898632026, + 0.3645289510743536, + 0.37089257309827106, + 0.3259095918294321, + -0.93098580214469, + 0.16446389925628538, + 0.4052475723608937, + -0.019597959935670095, + -0.9139968955428472 + ], + [ + 0.8505630893433475, + 0.37425442341810133, + 0.3694266606495602, + 0.33057679511479143, + -0.9268674478304827, + 0.17786432099732874, + 0.40897605501830303, + -0.029160944843953512, + -0.9120790676895694 + ], + [ + 0.8505685473959912, + 0.3727454991893243, + 0.3709365700692973, + 0.32893446835726947, + -0.9274750914863745, + 0.1777415826385642, + 0.41028680420797564, + -0.02916757628673476, + -0.9114899839199351 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006568.json b/json/chunk-0006/episode_0006568.json new file mode 100644 index 0000000000000000000000000000000000000000..d66bc788cb7eec4f98b84fe01e73a08ba4f2fe32 --- /dev/null +++ b/json/chunk-0006/episode_0006568.json @@ -0,0 +1,922 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 14, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut sweet potato in pot which is in sink." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006568.mp4", + "start": 0, + "end": 14, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2523978650569916, + 0.03936474770307541, + 0.05742160975933075, + 0.20496933162212372, + -0.20893071591854095, + -0.2579423785209656, + 0.0, + 1.003452181816101 + ], + [ + 0.25241225957870483, + 0.03690776228904724, + 0.049633000046014786, + 0.17946484684944153, + -0.20888827741146088, + -0.2653624415397644, + 0.0, + 1.003452181816101 + ], + [ + 0.2539675533771515, + 0.04209921136498451, + 0.038974154740571976, + 0.16065429151058197, + -0.23783127963542938, + -0.2685657739639282, + 0.0, + 1.003452181816101 + ], + [ + 0.2559710741043091, + 0.0450105294585228, + 0.02846805937588215, + 0.15849363803863525, + -0.26606714725494385, + -0.2743092477321625, + 0.0, + 1.003452181816101 + ], + [ + 0.2571416199207306, + 0.046245358884334564, + 0.019357940182089806, + 0.13831530511379242, + -0.29016396403312683, + -0.2748814523220062, + 0.0, + 1.003452181816101 + ], + [ + 0.2579571306705475, + 0.04998846724629402, + 0.01333110686391592, + 0.11761011928319931, + -0.316738098859787, + -0.2649993598461151, + 0.0, + 1.003452181816101 + ], + [ + 0.2559812068939209, + 0.052081041038036346, + 0.010236159898340702, + 0.11514714360237122, + -0.3236289322376251, + -0.23298409581184387, + 0.0, + 0.8553624749183655 + ], + [ + 0.25657010078430176, + 0.05197945609688759, + 0.010057499632239342, + 0.11667484790086746, + -0.34033480286598206, + -0.20992106199264526, + 0.0, + 0.8026900887489319 + ], + [ + 0.2569073438644409, + 0.05190635100007057, + 0.009503809735178947, + 0.11929808557033539, + -0.3478618264198303, + -0.21102960407733917, + 0.0, + 0.8026900887489319 + ], + [ + 0.2530140280723572, + 0.051211126148700714, + 0.012275740504264832, + 0.14201270043849945, + -0.29877468943595886, + -0.23894982039928436, + 0.0, + 0.8026900887489319 + ], + [ + 0.26482322812080383, + 0.05226292088627815, + 0.03345199674367905, + 0.23253057897090912, + -0.32022467255592346, + -0.3333699703216553, + 0.0, + 0.8026900887489319 + ], + [ + 0.2843436300754547, + 0.05418114736676216, + 0.04530369117856026, + 0.31348341703414917, + -0.34802302718162537, + -0.43991002440452576, + 0.0, + 0.8026900887489319 + ], + [ + 0.30412471294403076, + 0.05487280711531639, + 0.04749255254864693, + 0.36762362718582153, + -0.36018913984298706, + -0.5524666905403137, + 0.0, + 0.8026900887489319 + ], + [ + 0.3152739107608795, + 0.06303146481513977, + 0.043655239045619965, + 0.3985278904438019, + -0.38638079166412354, + -0.6095361709594727, + 0.0, + 0.8026900887489319 + ] + ], + "left_gripper_pos": [ + [ + 1.003452181816101 + ], + [ + 1.003452181816101 + ], + [ + 1.003452181816101 + ], + [ + 1.003452181816101 + ], + [ + 1.003452181816101 + ], + [ + 1.003452181816101 + ], + [ + 0.8553624749183655 + ], + [ + 0.8026900887489319 + ], + [ + 0.8026900887489319 + ], + [ + 0.8026900887489319 + ], + [ + 0.8026900887489319 + ], + [ + 0.8026900887489319 + ], + [ + 0.8026900887489319 + ], + [ + 0.8026900887489319 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2523978650569916, + 0.03936474770307541, + 0.05742160975933075 + ], + [ + 0.25241225957870483, + 0.03690776228904724, + 0.049633000046014786 + ], + [ + 0.2539675533771515, + 0.04209921136498451, + 0.038974154740571976 + ], + [ + 0.2559710741043091, + 0.0450105294585228, + 0.02846805937588215 + ], + [ + 0.2571416199207306, + 0.046245358884334564, + 0.019357940182089806 + ], + [ + 0.2579571306705475, + 0.04998846724629402, + 0.01333110686391592 + ], + [ + 0.2559812068939209, + 0.052081041038036346, + 0.010236159898340702 + ], + [ + 0.25657010078430176, + 0.05197945609688759, + 0.010057499632239342 + ], + [ + 0.2569073438644409, + 0.05190635100007057, + 0.009503809735178947 + ], + [ + 0.2530140280723572, + 0.051211126148700714, + 0.012275740504264832 + ], + [ + 0.26482322812080383, + 0.05226292088627815, + 0.03345199674367905 + ], + [ + 0.2843436300754547, + 0.05418114736676216, + 0.04530369117856026 + ], + [ + 0.30412471294403076, + 0.05487280711531639, + 0.04749255254864693 + ], + [ + 0.3152739107608795, + 0.06303146481513977, + 0.043655239045619965 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9458896143688188, + -0.20893197308235567, + 0.24827458197149668, + -0.24954413440879197, + -0.9574457135535122, + 0.14500148475161553, + 0.20741398798387342, + -0.19911086414839355, + -0.9577757051453675 + ], + [ + 0.9440204525812617, + -0.22232604943087286, + 0.24371399806480362, + -0.25655806922874, + -0.9592069756347119, + 0.11874314720155632, + 0.20737247218927365, + -0.17462275234965946, + -0.9625505452390221 + ], + [ + 0.9370127241310998, + -0.2255961099698081, + 0.26667123951207283, + -0.2578796446572398, + -0.9617370620181827, + 0.09251979470410482, + 0.23559550863263679, + -0.15546130935742242, + -0.9593365090545677 + ], + [ + 0.928740568241714, + -0.2275385540313109, + 0.29268953403119524, + -0.26135039981704145, + -0.9617888821545446, + 0.0815972712741304, + 0.26293901463558156, + -0.15227722283142558, + -0.9527196450106493 + ], + [ + 0.9222237538040954, + -0.2308742826994108, + 0.31016191498557033, + -0.26008612838082823, + -0.9639728813401117, + 0.05578073022751245, + 0.28610933879088074, + -0.13211112606013065, + -0.9490458875248181 + ], + [ + 0.9170855344417429, + -0.2248276674403807, + 0.3292516400430237, + -0.24888038465374826, + -0.9679978076320742, + 0.03223039798234861, + 0.31146858052186516, + -0.11150230658069743, + -0.943691983104063 + ], + [ + 0.9224719648211164, + -0.19380327166616773, + 0.3338948427432785, + -0.2188963851372176, + -0.974974294109325, + 0.03885226376779802, + 0.31800919278053585, + -0.1089284981880923, + -0.9418092883326002 + ], + [ + 0.921949465382699, + -0.16896090425367316, + 0.34851312186822586, + -0.19643048084443804, + -0.9794951772854616, + 0.04476900568189229, + 0.33380271040807713, + -0.10973336096330744, + -0.9362341267097233 + ], + [ + 0.9192482579130741, + -0.16830705828851522, + 0.3558867438582735, + -0.19692049745217838, + -0.9793641262253351, + 0.04547775220997865, + 0.3408884832419022, + -0.11188673913003255, + -0.9334218765380866 + ], + [ + 0.9285436986916338, + -0.19382248700931387, + 0.3166061325204944, + -0.22619688243487335, + -0.9716666547205183, + 0.06854839517436698, + 0.2943494012169968, + -0.13526550053048064, + -0.9460769917767972 + ], + [ + 0.8969084163862832, + -0.24987788186092483, + 0.36485111589818026, + -0.31059452288783207, + -0.9432496427563203, + 0.11752086534804862, + 0.31477981982257003, + -0.21872621149915233, + -0.9236192448383146 + ], + [ + 0.8505467170166039, + -0.30994903952415215, + 0.4248551224480319, + -0.4003273460944465, + -0.9054817874376146, + 0.14085719217618747, + 0.3410400242511924, + -0.2898867460178849, + -0.8942356380406162 + ], + [ + 0.7966091761326898, + -0.3818981786733901, + 0.4685804110578511, + -0.4911129628367455, + -0.8608319683856875, + 0.13332809133463236, + 0.35245124235120906, + -0.3363362949953068, + -0.8733017911546497 + ], + [ + 0.7594687725445597, + -0.40772179533231545, + 0.5069222042292616, + -0.5302828802299818, + -0.8393783306663299, + 0.11934858584331821, + 0.37683849387324336, + -0.3594536905065779, + -0.8536895184530185 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + 1.4394521713256836e-05, + -0.0024569854140281677, + -0.007788609713315964, + -0.02550448477268219, + 4.2438507080078125e-05, + -0.007420063018798828, + 1.0 + ], + [ + 0.0015552937984466553, + 0.005191449075937271, + -0.01065884530544281, + -0.018810555338859558, + -0.028943002223968506, + -0.0032033324241638184, + 1.0 + ], + [ + 0.0020035207271575928, + 0.0029113180935382843, + -0.010506095364689827, + -0.0021606534719467163, + -0.028235867619514465, + -0.005743473768234253, + 1.0 + ], + [ + 0.0011705458164215088, + 0.0012348294258117676, + -0.009110119193792343, + -0.020178332924842834, + -0.024096816778182983, + -0.00057220458984375, + 1.0 + ], + [ + 0.0008155107498168945, + 0.0037431083619594574, + -0.006026833318173885, + -0.02070518583059311, + -0.026574134826660156, + 0.009882092475891113, + 1.0 + ], + [ + -0.001975923776626587, + 0.002092573791742325, + -0.003094946965575218, + -0.0024629756808280945, + -0.006890833377838135, + 0.03201526403427124, + 0.0 + ], + [ + 0.0005888938903808594, + -0.00010158494114875793, + -0.00017866026610136032, + 0.0015277042984962463, + -0.016705870628356934, + 0.02306303381919861, + 0.0 + ], + [ + 0.00033724308013916016, + -7.31050968170166e-05, + -0.0005536898970603943, + 0.002623237669467926, + -0.007527023553848267, + -0.0011085420846939087, + 0.0 + ], + [ + -0.0038933157920837402, + -0.0006952248513698578, + 0.002771930769085884, + 0.022714614868164062, + 0.04908713698387146, + -0.02792021632194519, + 0.0 + ], + [ + 0.011809200048446655, + 0.0010517947375774384, + 0.021176256239414215, + 0.09051787853240967, + -0.0214499831199646, + -0.09442014992237091, + 0.0 + ], + [ + 0.01952040195465088, + 0.0019182264804840088, + 0.01185169443488121, + 0.08095283806324005, + -0.027798354625701904, + -0.10654005408287048, + 0.0 + ], + [ + 0.01978108286857605, + 0.0006916597485542297, + 0.00218886137008667, + 0.05414021015167236, + -0.012166112661361694, + -0.11255666613578796, + 0.0 + ], + [ + 0.011149197816848755, + 0.00815865769982338, + -0.0038373135030269623, + 0.030904263257980347, + -0.026191651821136475, + -0.057069480419158936, + 1.0 + ], + [ + 0.005886495113372803, + 0.0052658990025520325, + -0.000719558447599411, + 0.02250826358795166, + -0.016004443168640137, + -0.021969854831695557, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.003452181816101 + ], + [ + 1.003452181816101 + ], + [ + 1.003452181816101 + ], + [ + 1.003452181816101 + ], + [ + 1.003452181816101 + ], + [ + 0.8553624749183655 + ], + [ + 0.8026900887489319 + ], + [ + 0.8026900887489319 + ], + [ + 0.8026900887489319 + ], + [ + 0.8026900887489319 + ], + [ + 0.8026900887489319 + ], + [ + 0.8026900887489319 + ], + [ + 0.8026900887489319 + ], + [ + 0.9781157374382019 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.25241225957870483, + 0.03690776228904724, + 0.049633000046014786 + ], + [ + 0.2539675533771515, + 0.04209921136498451, + 0.038974154740571976 + ], + [ + 0.2559710741043091, + 0.0450105294585228, + 0.02846805937588215 + ], + [ + 0.2571416199207306, + 0.046245358884334564, + 0.019357940182089806 + ], + [ + 0.2579571306705475, + 0.04998846724629402, + 0.01333110686391592 + ], + [ + 0.2559812068939209, + 0.052081041038036346, + 0.010236159898340702 + ], + [ + 0.25657010078430176, + 0.05197945609688759, + 0.010057499632239342 + ], + [ + 0.2569073438644409, + 0.05190635100007057, + 0.009503809735178947 + ], + [ + 0.2530140280723572, + 0.051211126148700714, + 0.012275740504264832 + ], + [ + 0.26482322812080383, + 0.05226292088627815, + 0.03345199674367905 + ], + [ + 0.2843436300754547, + 0.05418114736676216, + 0.04530369117856026 + ], + [ + 0.30412471294403076, + 0.05487280711531639, + 0.04749255254864693 + ], + [ + 0.3152739107608795, + 0.06303146481513977, + 0.043655239045619965 + ], + [ + 0.3211604058742523, + 0.0682973638176918, + 0.042935680598020554 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9440204525812617, + -0.22232604943087286, + 0.24371399806480362, + -0.25655806922874, + -0.9592069756347119, + 0.11874314720155632, + 0.20737247218927365, + -0.17462275234965946, + -0.9625505452390221 + ], + [ + 0.9370127241310998, + -0.2255961099698081, + 0.26667123951207283, + -0.2578796446572398, + -0.9617370620181827, + 0.09251979470410482, + 0.23559550863263679, + -0.15546130935742242, + -0.9593365090545677 + ], + [ + 0.928740568241714, + -0.2275385540313109, + 0.29268953403119524, + -0.26135039981704145, + -0.9617888821545446, + 0.0815972712741304, + 0.26293901463558156, + -0.15227722283142558, + -0.9527196450106493 + ], + [ + 0.9222237538040954, + -0.2308742826994108, + 0.31016191498557033, + -0.26008612838082823, + -0.9639728813401117, + 0.05578073022751245, + 0.28610933879088074, + -0.13211112606013065, + -0.9490458875248181 + ], + [ + 0.9170855344417429, + -0.2248276674403807, + 0.3292516400430237, + -0.24888038465374826, + -0.9679978076320742, + 0.03223039798234861, + 0.31146858052186516, + -0.11150230658069743, + -0.943691983104063 + ], + [ + 0.9224719648211164, + -0.19380327166616773, + 0.3338948427432785, + -0.2188963851372176, + -0.974974294109325, + 0.03885226376779802, + 0.31800919278053585, + -0.1089284981880923, + -0.9418092883326002 + ], + [ + 0.921949465382699, + -0.16896090425367316, + 0.34851312186822586, + -0.19643048084443804, + -0.9794951772854616, + 0.04476900568189229, + 0.33380271040807713, + -0.10973336096330744, + -0.9362341267097233 + ], + [ + 0.9192482579130741, + -0.16830705828851522, + 0.3558867438582735, + -0.19692049745217838, + -0.9793641262253351, + 0.04547775220997865, + 0.3408884832419022, + -0.11188673913003255, + -0.9334218765380866 + ], + [ + 0.9285436986916338, + -0.19382248700931387, + 0.3166061325204944, + -0.22619688243487335, + -0.9716666547205183, + 0.06854839517436698, + 0.2943494012169968, + -0.13526550053048064, + -0.9460769917767972 + ], + [ + 0.8969084163862832, + -0.24987788186092483, + 0.36485111589818026, + -0.31059452288783207, + -0.9432496427563203, + 0.11752086534804862, + 0.31477981982257003, + -0.21872621149915233, + -0.9236192448383146 + ], + [ + 0.8505467170166039, + -0.30994903952415215, + 0.4248551224480319, + -0.4003273460944465, + -0.9054817874376146, + 0.14085719217618747, + 0.3410400242511924, + -0.2898867460178849, + -0.8942356380406162 + ], + [ + 0.7966091761326898, + -0.3818981786733901, + 0.4685804110578511, + -0.4911129628367455, + -0.8608319683856875, + 0.13332809133463236, + 0.35245124235120906, + -0.3363362949953068, + -0.8733017911546497 + ], + [ + 0.7594687725445597, + -0.40772179533231545, + 0.5069222042292616, + -0.5302828802299818, + -0.8393783306663299, + 0.11934858584331821, + 0.37683849387324336, + -0.3594536905065779, + -0.8536895184530185 + ], + [ + 0.742672720238676, + -0.4096155383981547, + 0.529766308211531, + -0.5432085835512684, + -0.8311389223966862, + 0.11888030296689059, + 0.39161417922428404, + -0.37606276388398907, + -0.8397708808064407 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006569.json b/json/chunk-0006/episode_0006569.json new file mode 100644 index 0000000000000000000000000000000000000000..07ca07f36548a7e8b8c0f01977aee0b079435971 --- /dev/null +++ b/json/chunk-0006/episode_0006569.json @@ -0,0 +1,2722 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 44, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut the blue object on the bottom edge of the cloth." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006569.mp4", + "start": 0, + "end": 44, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.21073442697525024, + 0.05506373196840286, + 0.18673814833164215, + -0.043407317250967026, + -0.0436876118183136, + 0.7254089713096619, + 0.0, + 0.9981546401977539 + ], + [ + 0.21240998804569244, + 0.05552871525287628, + 0.1830734759569168, + -0.037518370896577835, + -0.031060410663485527, + 0.7313767075538635, + 0.0, + 0.9981546401977539 + ], + [ + 0.23626238107681274, + 0.05498311668634415, + 0.1724979132413864, + -0.04008812829852104, + -0.020297683775424957, + 0.7392482757568359, + 0.0, + 0.9981546401977539 + ], + [ + 0.2614976763725281, + 0.05265320464968681, + 0.176831915974617, + -0.11684553325176239, + -0.08131145685911179, + 0.702233076095581, + 0.0, + 0.9988223910331726 + ], + [ + 0.28688356280326843, + 0.04561835527420044, + 0.18285278975963593, + -0.2134520411491394, + -0.1816585659980774, + 0.5217651724815369, + 0.0, + 0.9988223910331726 + ], + [ + 0.3164065480232239, + 0.04190824553370476, + 0.17681336402893066, + -0.22265376150608063, + -0.3003447949886322, + 0.3414733111858368, + 0.0, + 0.9988223910331726 + ], + [ + 0.33810967206954956, + 0.025382589548826218, + 0.16398726403713226, + -0.18546584248542786, + -0.3178562819957733, + 0.30929630994796753, + 0.0, + 0.9988223910331726 + ], + [ + 0.3647500276565552, + 0.020475683733820915, + 0.14282993972301483, + -0.1011422649025917, + -0.35632696747779846, + 0.3190551698207855, + 0.0, + 0.9981546401977539 + ], + [ + 0.3895370662212372, + 0.020088745281100273, + 0.12584097683429718, + -0.016078436747193336, + -0.4074188768863678, + 0.29874348640441895, + 0.0, + 0.9988223910331726 + ], + [ + 0.4092337489128113, + 0.02236589603126049, + 0.1102350726723671, + 0.060293469578027725, + -0.42785966396331787, + 0.2510099411010742, + 0.0, + 0.9988223910331726 + ], + [ + 0.4285219609737396, + 0.024953700602054596, + 0.09538714587688446, + 0.09318380057811737, + -0.412584125995636, + 0.23223894834518433, + 0.0, + 0.9981546401977539 + ], + [ + 0.44974324107170105, + 0.03414404019713402, + 0.081288643181324, + 0.10646092891693115, + -0.3802698254585266, + 0.243997260928154, + 0.0, + 0.9988223910331726 + ], + [ + 0.4640370309352875, + 0.05048225820064545, + 0.07421751320362091, + 0.10445671528577805, + -0.3591570556163788, + 0.2829139828681946, + 0.0, + 0.9981546401977539 + ], + [ + 0.47480371594429016, + 0.05493009835481644, + 0.07441187649965286, + 0.10140252113342285, + -0.35741135478019714, + 0.29377347230911255, + 0.0, + 0.9988223910331726 + ], + [ + 0.4800902009010315, + 0.05653952807188034, + 0.0709635466337204, + 0.08911215513944626, + -0.34129011631011963, + 0.3164176344871521, + 0.0, + 0.9988223910331726 + ], + [ + 0.4803926348686218, + 0.05576657876372337, + 0.0695096105337143, + 0.08050750195980072, + -0.3249969184398651, + 0.32649919390678406, + 0.0, + 0.9988223910331726 + ], + [ + 0.47734323143959045, + 0.051278628408908844, + 0.06602323055267334, + 0.05396740511059761, + -0.31912678480148315, + 0.32590270042419434, + 0.0, + 0.9988223910331726 + ], + [ + 0.47206011414527893, + 0.04380187392234802, + 0.07047721743583679, + 0.03164791315793991, + -0.31320619583129883, + 0.3069606125354767, + 0.0, + 0.9988223910331726 + ], + [ + 0.4719843566417694, + 0.04074495658278465, + 0.06926346570253372, + 0.027943726629018784, + -0.3114551901817322, + 0.29723435640335083, + 0.0, + 0.9988223910331726 + ], + [ + 0.4699770510196686, + 0.03811672702431679, + 0.06791026890277863, + 0.03117685765028, + -0.30009010434150696, + 0.28292396664619446, + 0.0, + 0.9988223910331726 + ], + [ + 0.4693983793258667, + 0.03591560572385788, + 0.06794623285531998, + 0.02873213402926922, + -0.2912561893463135, + 0.2789510488510132, + 0.0, + 0.9988223910331726 + ], + [ + 0.47042110562324524, + 0.030895717442035675, + 0.0688202753663063, + 0.027522655203938484, + -0.2942827045917511, + 0.2700303792953491, + 0.0, + 0.9988223910331726 + ], + [ + 0.46899181604385376, + 0.017869815230369568, + 0.065833680331707, + 0.031073249876499176, + -0.2851743698120117, + 0.23683293163776398, + 0.0, + 0.9988223910331726 + ], + [ + 0.46872738003730774, + 0.01603986695408821, + 0.06337244808673859, + 0.030643144622445107, + -0.28607162833213806, + 0.24082417786121368, + 0.0, + 0.9988223910331726 + ], + [ + 0.4687463641166687, + 0.016658175736665726, + 0.06344155967235565, + 0.03240532800555229, + -0.28742489218711853, + 0.24787452816963196, + 0.0, + 0.9988223910331726 + ], + [ + 0.4676637649536133, + 0.01678965613245964, + 0.05124681442975998, + 0.03697795793414116, + -0.25556015968322754, + 0.2644551992416382, + 0.0, + 0.973810613155365 + ], + [ + 0.4681089222431183, + 0.017249176278710365, + 0.04967665299773216, + 0.0056587993167340755, + -0.25008058547973633, + 0.32227426767349243, + 0.0, + 0.7051732540130615 + ], + [ + 0.4679527282714844, + 0.023568013682961464, + 0.04954303056001663, + -0.012203690595924854, + -0.24642036855220795, + 0.35591429471969604, + 0.0, + 0.6169373393058777 + ], + [ + 0.46199220418930054, + 0.022301552817225456, + 0.04838249832391739, + -0.04570726305246353, + -0.22454486787319183, + 0.36827319860458374, + 0.0, + 0.6119219660758972 + ], + [ + 0.44594040513038635, + 0.02722007781267166, + 0.06524841487407684, + -0.10503125190734863, + -0.20949922502040863, + 0.4055623412132263, + 0.0, + 0.6009007096290588 + ], + [ + 0.4215424656867981, + 0.025645209476351738, + 0.10205475986003876, + -0.1729385107755661, + -0.2509893476963043, + 0.4354858696460724, + 0.0, + 0.5988990664482117 + ], + [ + 0.38464778661727905, + 0.02706759423017502, + 0.13023778796195984, + -0.20719227194786072, + -0.28534552454948425, + 0.4539191722869873, + 0.0, + 0.5948979258537292 + ], + [ + 0.3371990919113159, + 0.03828156366944313, + 0.13351060450077057, + -0.2227640599012375, + -0.21827061474323273, + 0.5456700325012207, + 0.0, + 0.5948979258537292 + ], + [ + 0.2881779372692108, + 0.03856382519006729, + 0.13557440042495728, + -0.20182320475578308, + -0.15353557467460632, + 0.620818555355072, + 0.0, + 0.5948979258537292 + ], + [ + 0.24955829977989197, + 0.05224904045462608, + 0.12543648481369019, + -0.11943616718053818, + -0.04166271165013313, + 0.7569990754127502, + 0.0, + 0.5948979258537292 + ], + [ + 0.2233715057373047, + 0.060515936464071274, + 0.11281275749206543, + -0.03997201845049858, + -0.01185984443873167, + 0.8283180594444275, + 0.0, + 0.5948979258537292 + ], + [ + 0.21767906844615936, + 0.07218334078788757, + 0.10405729711055756, + -4.0089048525260296e-06, + -0.049059998244047165, + 0.8618034720420837, + 0.0, + 0.5948979258537292 + ], + [ + 0.2141219526529312, + 0.08844013512134552, + 0.08731669187545776, + 0.04007605463266373, + -0.07730817049741745, + 0.8950694799423218, + 0.0, + 0.5948979258537292 + ], + [ + 0.2105478048324585, + 0.09418696165084839, + 0.07566271722316742, + 0.07008981704711914, + -0.07492727041244507, + 0.8971565961837769, + 0.0, + 0.5948979258537292 + ], + [ + 0.20270298421382904, + 0.09176082909107208, + 0.070760078728199, + 0.08812764286994934, + -0.04611188545823097, + 0.8801956176757812, + 0.0, + 0.5948979258537292 + ], + [ + 0.1984071433544159, + 0.0901012197136879, + 0.0683073028922081, + 0.11267051100730896, + -0.0454208143055439, + 0.8716878890991211, + 0.0, + 0.6350118517875671 + ], + [ + 0.19864918291568756, + 0.09039071202278137, + 0.0753001794219017, + 0.0998123437166214, + -0.09006958454847336, + 0.8717249035835266, + 0.0, + 0.9231109023094177 + ], + [ + 0.1983834207057953, + 0.08727850764989853, + 0.07986246049404144, + 0.08062577992677689, + -0.08690796792507172, + 0.8689023852348328, + 0.0, + 1.003452181816101 + ], + [ + 0.20130397379398346, + 0.08234968036413193, + 0.09767724573612213, + 0.02718108519911766, + -0.07155551016330719, + 0.8669756054878235, + 0.0, + 1.0008161067962646 + ] + ], + "left_gripper_pos": [ + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9981546401977539 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9981546401977539 + ], + [ + 0.9988223910331726 + ], + [ + 0.9981546401977539 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.973810613155365 + ], + [ + 0.7051732540130615 + ], + [ + 0.6169373393058777 + ], + [ + 0.6119219660758972 + ], + [ + 0.6009007096290588 + ], + [ + 0.5988990664482117 + ], + [ + 0.5948979258537292 + ], + [ + 0.5948979258537292 + ], + [ + 0.5948979258537292 + ], + [ + 0.5948979258537292 + ], + [ + 0.5948979258537292 + ], + [ + 0.5948979258537292 + ], + [ + 0.5948979258537292 + ], + [ + 0.5948979258537292 + ], + [ + 0.5948979258537292 + ], + [ + 0.6350118517875671 + ], + [ + 0.9231109023094177 + ], + [ + 1.003452181816101 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.21073442697525024, + 0.05506373196840286, + 0.18673814833164215 + ], + [ + 0.21240998804569244, + 0.05552871525287628, + 0.1830734759569168 + ], + [ + 0.23626238107681274, + 0.05498311668634415, + 0.1724979132413864 + ], + [ + 0.2614976763725281, + 0.05265320464968681, + 0.176831915974617 + ], + [ + 0.28688356280326843, + 0.04561835527420044, + 0.18285278975963593 + ], + [ + 0.3164065480232239, + 0.04190824553370476, + 0.17681336402893066 + ], + [ + 0.33810967206954956, + 0.025382589548826218, + 0.16398726403713226 + ], + [ + 0.3647500276565552, + 0.020475683733820915, + 0.14282993972301483 + ], + [ + 0.3895370662212372, + 0.020088745281100273, + 0.12584097683429718 + ], + [ + 0.4092337489128113, + 0.02236589603126049, + 0.1102350726723671 + ], + [ + 0.4285219609737396, + 0.024953700602054596, + 0.09538714587688446 + ], + [ + 0.44974324107170105, + 0.03414404019713402, + 0.081288643181324 + ], + [ + 0.4640370309352875, + 0.05048225820064545, + 0.07421751320362091 + ], + [ + 0.47480371594429016, + 0.05493009835481644, + 0.07441187649965286 + ], + [ + 0.4800902009010315, + 0.05653952807188034, + 0.0709635466337204 + ], + [ + 0.4803926348686218, + 0.05576657876372337, + 0.0695096105337143 + ], + [ + 0.47734323143959045, + 0.051278628408908844, + 0.06602323055267334 + ], + [ + 0.47206011414527893, + 0.04380187392234802, + 0.07047721743583679 + ], + [ + 0.4719843566417694, + 0.04074495658278465, + 0.06926346570253372 + ], + [ + 0.4699770510196686, + 0.03811672702431679, + 0.06791026890277863 + ], + [ + 0.4693983793258667, + 0.03591560572385788, + 0.06794623285531998 + ], + [ + 0.47042110562324524, + 0.030895717442035675, + 0.0688202753663063 + ], + [ + 0.46899181604385376, + 0.017869815230369568, + 0.065833680331707 + ], + [ + 0.46872738003730774, + 0.01603986695408821, + 0.06337244808673859 + ], + [ + 0.4687463641166687, + 0.016658175736665726, + 0.06344155967235565 + ], + [ + 0.4676637649536133, + 0.01678965613245964, + 0.05124681442975998 + ], + [ + 0.4681089222431183, + 0.017249176278710365, + 0.04967665299773216 + ], + [ + 0.4679527282714844, + 0.023568013682961464, + 0.04954303056001663 + ], + [ + 0.46199220418930054, + 0.022301552817225456, + 0.04838249832391739 + ], + [ + 0.44594040513038635, + 0.02722007781267166, + 0.06524841487407684 + ], + [ + 0.4215424656867981, + 0.025645209476351738, + 0.10205475986003876 + ], + [ + 0.38464778661727905, + 0.02706759423017502, + 0.13023778796195984 + ], + [ + 0.3371990919113159, + 0.03828156366944313, + 0.13351060450077057 + ], + [ + 0.2881779372692108, + 0.03856382519006729, + 0.13557440042495728 + ], + [ + 0.24955829977989197, + 0.05224904045462608, + 0.12543648481369019 + ], + [ + 0.2233715057373047, + 0.060515936464071274, + 0.11281275749206543 + ], + [ + 0.21767906844615936, + 0.07218334078788757, + 0.10405729711055756 + ], + [ + 0.2141219526529312, + 0.08844013512134552, + 0.08731669187545776 + ], + [ + 0.2105478048324585, + 0.09418696165084839, + 0.07566271722316742 + ], + [ + 0.20270298421382904, + 0.09176082909107208, + 0.070760078728199 + ], + [ + 0.1984071433544159, + 0.0901012197136879, + 0.0683073028922081 + ], + [ + 0.19864918291568756, + 0.09039071202278137, + 0.0753001794219017 + ], + [ + 0.1983834207057953, + 0.08727850764989853, + 0.07986246049404144 + ], + [ + 0.20130397379398346, + 0.08234968036413193, + 0.09767724573612213 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.747514232660367, + 0.6613985587290877, + 0.061436296122635126, + 0.6628084779901356, + -0.7487806929035006, + -0.0035207157444395905, + 0.043673716061064224, + 0.04335228305451509, + -0.9981047971427542 + ], + [ + 0.7438966308897825, + 0.6665579062669701, + 0.048149352475642185, + 0.6675727403416721, + -0.7445098701301021, + -0.0071895501645632045, + 0.03105541665379627, + 0.03749147732287318, + -0.9988142721370212 + ], + [ + 0.7388230064210812, + 0.6725902062711608, + 0.0419878507550908, + 0.6735938136543305, + -0.7389295492451562, + -0.01595291380798336, + 0.02029629004349457, + 0.040069136258061126, + -0.9989907531754249 + ], + [ + 0.7608794491061917, + 0.6342911595209331, + 0.13688385179212634, + 0.6437899261019215, + -0.7643124530162516, + -0.03689180415705966, + 0.08122188730595256, + 0.11619466045335645, + -0.989899896911091 + ], + [ + 0.8526755921317808, + 0.45392191132007714, + 0.25864886043871443, + 0.4902100600015387, + -0.8663402969939797, + -0.095648245554591, + 0.18066109613307824, + 0.20834919780961864, + -0.9612243131111924 + ], + [ + 0.9000815049449743, + 0.2650521007762729, + 0.345833295577617, + 0.3198848353895701, + -0.9408795881908603, + -0.11144187998048838, + 0.29584958432247055, + 0.21093360187481364, + -0.9316544633373146 + ], + [ + 0.9048325648025366, + 0.2442709639388997, + 0.34872586059715116, + 0.2891408605948784, + -0.953754773479658, + -0.08215470040855244, + 0.31253094631942613, + 0.17516714372600445, + -0.9336170946118955 + ], + [ + 0.8898867922594264, + 0.27862233811663417, + 0.36120782060283363, + 0.29396621983248594, + -0.9557275986777058, + 0.012985327225170193, + 0.3488342852410402, + 0.09462742640570002, + -0.9323949225581436 + ], + [ + 0.8774792129991935, + 0.2881930550608396, + 0.3833731782076251, + 0.27022852983203205, + -0.9574585392840651, + 0.10124073891888949, + 0.396240801053014, + 0.014761726414076193, + -0.9180279511072316 + ], + [ + 0.8813429044695638, + 0.2721496025236703, + 0.38622438890800415, + 0.22599217415750592, + -0.9606918330552853, + 0.16124124509702548, + 0.4149243569142651, + -0.05482513791212727, + -0.9082026108155599 + ], + [ + 0.8914939795179815, + 0.26546735069110344, + 0.36710430425185675, + 0.21084394212215113, + -0.9603442348901281, + 0.18243843505052787, + 0.4009779502087167, + -0.08524104780175684, + -0.9121132863937872 + ], + [ + 0.9010604907329323, + 0.27848803920425885, + 0.33246714733984584, + 0.2243257811811616, + -0.9553579429370376, + 0.1922736195232565, + 0.37117103326847745, + -0.09866920941853935, + -0.9233073438325569 + ], + [ + 0.8989760642343267, + 0.3128247418443128, + 0.3065660072868456, + 0.2613430516532356, + -0.9447815607176566, + 0.1977058721446656, + 0.3514851992422062, + -0.09761395093913419, + -0.9310905816813521 + ], + [ + 0.8966709959601723, + 0.3219763314942971, + 0.30382950311197116, + 0.27126713222535953, + -0.9419862969322808, + 0.19767640063001535, + 0.34985035083306987, + -0.09483173703609749, + -0.9319933871400025 + ], + [ + 0.8955431335913231, + 0.3382373167637229, + 0.28913321052053326, + 0.29321723316623044, + -0.9373167999876656, + 0.18831056963225204, + 0.33470307744592737, + -0.08386139761153402, + -0.938584634403774 + ], + [ + 0.897588176329917, + 0.3440124768722799, + 0.2756644363513964, + 0.30393951684176307, + -0.9358671633648212, + 0.17825101020044457, + 0.31930586561278457, + -0.07621068357968211, + -0.9445822864597813 + ], + [ + 0.8995295418477638, + 0.33573055025425663, + 0.2795203051106061, + 0.30399893183101406, + -0.9405645879769035, + 0.15140312179555698, + 0.31373755399817016, + -0.05121770660437514, + -0.9481273615614273 + ], + [ + 0.9068810101108823, + 0.3113051130405896, + 0.2839999297448005, + 0.28746268574856226, + -0.9498331020843737, + 0.12321640510499898, + 0.30811043118091486, + -0.03010323536700979, + -0.9508742069369371 + ], + [ + 0.9101484578057853, + 0.3009492512659839, + 0.2847092076421026, + 0.2787862517548472, + -0.9532692215145394, + 0.11643031025272807, + 0.30644413942223325, + -0.02659585447973531, + -0.9515170255640512 + ], + [ + 0.9173298676863251, + 0.28787713531428627, + 0.27501394294440706, + 0.2666886534270315, + -0.9572042529781604, + 0.11241521344461651, + 0.29560628542685985, + -0.029778734757577655, + -0.9548456163026418 + ], + [ + 0.9208567087126038, + 0.28316432705478245, + 0.26803150169822043, + 0.26375084061051746, + -0.958676540405718, + 0.10665263687771304, + 0.2871557349178949, + -0.02751826228772633, + -0.9574885530096053 + ], + [ + 0.922331056828788, + 0.27435247356245, + 0.2720958321240082, + 0.25529279014474654, + -0.9612684993333037, + 0.10386752856214895, + 0.2900534656045359, + -0.026336143219226553, + -0.9566479993451796 + ], + [ + 0.9328259119987782, + 0.24300817607692, + 0.26605045435671987, + 0.225149249054799, + -0.9695659763612238, + 0.0961750130375221, + 0.2813247830421424, + -0.029813484239117366, + -0.959149374500039 + ], + [ + 0.9316743466007922, + 0.246787335850249, + 0.2666063066581954, + 0.22881028842579595, + -0.9686237920967745, + 0.09702474578461381, + 0.28218569027590923, + -0.029393200710390123, + -0.958909420099473 + ], + [ + 0.9296669601135141, + 0.2541192505116967, + 0.26672598259763103, + 0.23527927233636836, + -0.966673693053551, + 0.10092390780721128, + 0.2834836984416692, + -0.03107052747513317, + -0.9584735859898541 + ], + [ + 0.933885993713529, + 0.2702253014419544, + 0.23416924906208159, + 0.25289419440754896, + -0.9621324634953068, + 0.10171356410729532, + 0.2527874149965761, + -0.035768829293910426, + -0.9668604416720604 + ], + [ + 0.9190115277828982, + 0.3180478350522819, + 0.23294502875292247, + 0.30687204550338637, + -0.9480588136783797, + 0.08374982683749777, + 0.2474820387234414, + -0.005482738850227521, + -0.9688769684970272 + ], + [ + 0.909013321676679, + 0.34563129914931384, + 0.23288148501477787, + 0.3379215425932615, + -0.9382957656539118, + 0.07355329501341293, + 0.24393403220075963, + 0.01183474563719605, + -0.9697196124292743 + ], + [ + 0.909529185845714, + 0.3501373502035615, + 0.22396539037820318, + 0.35096722284157933, + -0.9356386278393525, + 0.03744818534672353, + 0.2226626789242006, + 0.04454429354386329, + -0.9738773728385809 + ], + [ + 0.8987895215196486, + 0.37232681638864407, + 0.23140902705896713, + 0.38590909989357103, + -0.9224191367726329, + -0.01473440650194021, + 0.20797010031688376, + 0.10254597950932787, + -0.9727449611592226 + ], + [ + 0.8782568068235093, + 0.3768096355230999, + 0.29441379017485214, + 0.40863319124294484, + -0.9111697141296352, + -0.052807831498044154, + 0.24836242928989916, + 0.16668608409182675, + -0.9542179274606784 + ], + [ + 0.8623946214814687, + 0.3770707566874321, + 0.33777679211426237, + 0.4207605587541146, + -0.9049049072974075, + -0.06409103639352094, + 0.2814890211655856, + 0.197394916855115, + -0.939041627279112 + ], + [ + 0.8344987187847616, + 0.4652745211811785, + 0.2951804673182436, + 0.5066770431098678, + -0.8584869606320819, + -0.079237064623393, + 0.21654159492354522, + 0.21568439527308345, + -0.9521501873673354 + ], + [ + 0.803834153610482, + 0.5449582899189691, + 0.2384766565890945, + 0.5748583573968331, + -0.8147255490692233, + -0.07589564299001421, + 0.1529330651636039, + 0.19809780902989688, + -0.9681780495535 + ], + [ + 0.726269366492415, + 0.6782433501441285, + 0.11188728828591679, + 0.6861472362640386, + -0.7251298437383425, + -0.05821236885086517, + 0.04165065980183719, + 0.11904901387780015, + -0.992014392452446 + ], + [ + 0.6760684123048584, + 0.735886265549452, + 0.037455387586694415, + 0.7367434102644208, + -0.675925082600136, + -0.018287431310901985, + 0.011859566414484749, + 0.03995856463489255, + -0.9991309542781566 + ], + [ + 0.6502862927548421, + 0.7590178545399386, + 0.031931707513883786, + 0.7581047318393026, + -0.6510698092167657, + 0.037219874923262286, + 0.04904032032952929, + 4.004081336776016e-06, + -0.9987967996374159 + ], + [ + 0.6235964754383305, + 0.781561416849981, + 0.017005514174585235, + 0.7779220908982735, + -0.6225480670940208, + 0.08527088981567613, + 0.07723118743972646, + -0.03994566120305229, + -0.9962126719921309 + ], + [ + 0.6220844521644247, + 0.7829077242533775, + -0.008150440459578648, + 0.7793634175959339, + -0.6182058194155297, + 0.10205012569301317, + 0.07485718194317677, + -0.06983595166653817, + -0.9947458681323362 + ], + [ + 0.6363232530123497, + 0.7704563236355303, + -0.03859755232918912, + 0.7700441015468605, + -0.6314009160104224, + 0.09146018223296974, + 0.04609554586583927, + -0.08792005818482397, + -0.9950604323457484 + ], + [ + 0.6428718178393589, + 0.7638482926507514, + -0.05702290454238814, + 0.7646268330310911, + -0.6355476615041872, + 0.10688768013855941, + 0.04540519834514697, + -0.11231632014578809, + -0.9926345814005004 + ], + [ + 0.6408987233238645, + 0.7673981366450298, + -0.01867956946977873, + 0.7623373337179089, + -0.6334437396565529, + 0.13263038230281368, + 0.08994785190158616, + -0.09924277587641897, + -0.9909895334334429 + ], + [ + 0.6432282791304909, + 0.7656536884776621, + -0.0056400573913938865, + 0.7607387086303747, + -0.6382294690388164, + 0.11806676942230662, + 0.08679860666057296, + -0.08023449489453693, + -0.9929896412907848 + ], + [ + 0.6454792056417411, + 0.7633510472245675, + 0.02552986065889072, + 0.7604243137032556, + -0.6454148469873401, + 0.07207314629763747, + 0.07149446281383712, + -0.02710819044982332, + -0.9970725589431776 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + 0.0016755610704421997, + 0.0004649832844734192, + -0.003664672374725342, + 0.005888946354389191, + 0.012627201154828072, + 0.00596773624420166, + 1.0 + ], + [ + 0.0238523930311203, + -0.000545598566532135, + -0.010575562715530396, + -0.002569757401943207, + 0.01076272688806057, + 0.007871568202972412, + 1.0 + ], + [ + 0.025235295295715332, + -0.0023299120366573334, + 0.004334002733230591, + -0.07675740122795105, + -0.06101377308368683, + -0.03701519966125488, + 1.0 + ], + [ + 0.025385886430740356, + -0.007034849375486374, + 0.006020873785018921, + -0.09660650789737701, + -0.1003471091389656, + -0.1804679036140442, + 1.0 + ], + [ + 0.029522985219955444, + -0.0037101097404956818, + -0.006039425730705261, + -0.009201720356941223, + -0.11868622899055481, + -0.18029186129570007, + 1.0 + ], + [ + 0.021703124046325684, + -0.01652565598487854, + -0.012826099991798401, + 0.03718791902065277, + -0.017511487007141113, + -0.03217700123786926, + 1.0 + ], + [ + 0.026640355587005615, + -0.004906905815005302, + -0.02115732431411743, + 0.08432357758283615, + -0.038470685482025146, + 0.009758859872817993, + 1.0 + ], + [ + 0.024787038564682007, + -0.0003869384527206421, + -0.01698896288871765, + 0.08506383001804352, + -0.051091909408569336, + -0.020311683416366577, + 1.0 + ], + [ + 0.019696682691574097, + 0.0022771507501602173, + -0.015605904161930084, + 0.07637190818786621, + -0.020440787076950073, + -0.04773354530334473, + 1.0 + ], + [ + 0.019288212060928345, + 0.0025878045707941055, + -0.014847926795482635, + 0.032890331000089645, + 0.015275537967681885, + -0.018770992755889893, + 1.0 + ], + [ + 0.021221280097961426, + 0.009190339595079422, + -0.014098502695560455, + 0.013277128338813782, + 0.032314300537109375, + 0.011758312582969666, + 1.0 + ], + [ + 0.014293789863586426, + 0.01633821800351143, + -0.0070711299777030945, + -0.0020042136311531067, + 0.021112769842147827, + 0.03891672194004059, + 1.0 + ], + [ + 0.010766685009002686, + 0.00444784015417099, + 0.0001943632960319519, + -0.003054194152355194, + 0.0017457008361816406, + 0.010859489440917969, + 1.0 + ], + [ + 0.005286484956741333, + 0.0016094297170639038, + -0.0034483298659324646, + -0.012290365993976593, + 0.016121238470077515, + 0.02264416217803955, + 1.0 + ], + [ + 0.00030243396759033203, + -0.0007729493081569672, + -0.0014539361000061035, + -0.008604653179645538, + 0.016293197870254517, + 0.010081559419631958, + 1.0 + ], + [ + -0.003049403429031372, + -0.004487950354814529, + -0.0034863799810409546, + -0.02654009684920311, + 0.005870133638381958, + -0.0005964934825897217, + 1.0 + ], + [ + -0.0052831172943115234, + -0.0074767544865608215, + 0.004453986883163452, + -0.0223194919526577, + 0.005920588970184326, + -0.01894208788871765, + 1.0 + ], + [ + -7.575750350952148e-05, + -0.0030569173395633698, + -0.00121375173330307, + -0.0037041865289211273, + 0.0017510056495666504, + -0.009726256132125854, + 1.0 + ], + [ + -0.00200730562210083, + -0.002628229558467865, + -0.0013531967997550964, + 0.003233131021261215, + 0.01136508584022522, + -0.014310389757156372, + 1.0 + ], + [ + -0.0005786716938018799, + -0.002201121300458908, + 3.596395254135132e-05, + -0.0024447236210107803, + 0.008833914995193481, + -0.003972917795181274, + 1.0 + ], + [ + 0.00102272629737854, + -0.005019888281822205, + 0.0008740425109863281, + -0.0012094788253307343, + -0.003026515245437622, + -0.008920669555664062, + 1.0 + ], + [ + -0.0014292895793914795, + -0.013025902211666107, + -0.002986595034599304, + 0.003550594672560692, + 0.00910833477973938, + -0.033197447657585144, + 1.0 + ], + [ + -0.0002644360065460205, + -0.0018299482762813568, + -0.0024612322449684143, + -0.0004301052540540695, + -0.0008972585201263428, + 0.003991246223449707, + 1.0 + ], + [ + 1.8984079360961914e-05, + 0.0006183087825775146, + 6.911158561706543e-05, + 0.0017621833831071854, + -0.0013532638549804688, + 0.007050350308418274, + 1.0 + ], + [ + -0.00108259916305542, + 0.0001314803957939148, + -0.012194745242595673, + 0.004572629928588867, + 0.03186473250389099, + 0.016580671072006226, + 0.0 + ], + [ + 0.0004451572895050049, + 0.0004595201462507248, + -0.0015701614320278168, + -0.031319160014390945, + 0.005479574203491211, + 0.05781906843185425, + 0.0 + ], + [ + -0.00015619397163391113, + 0.006318837404251099, + -0.0001336224377155304, + -0.017862489446997643, + 0.0036602169275283813, + 0.03364002704620361, + 0.0 + ], + [ + -0.005960524082183838, + -0.0012664608657360077, + -0.0011605322360992432, + -0.03350357338786125, + 0.021875500679016113, + 0.012358903884887695, + 0.0 + ], + [ + -0.016051799058914185, + 0.004918524995446205, + 0.016865916550159454, + -0.0593239888548851, + 0.015045642852783203, + 0.03728914260864258, + 0.0 + ], + [ + -0.024397939443588257, + -0.0015748683363199234, + 0.036806344985961914, + -0.06790725886821747, + -0.04149012267589569, + 0.02992352843284607, + 0.0 + ], + [ + -0.03689467906951904, + 0.0014223847538232803, + 0.02818302810192108, + -0.03425376117229462, + -0.03435617685317993, + 0.018433302640914917, + 0.0 + ], + [ + -0.047448694705963135, + 0.011213969439268112, + 0.00327281653881073, + -0.01557178795337677, + 0.06707490980625153, + 0.0917508602142334, + 0.0 + ], + [ + -0.0490211546421051, + 0.00028226152062416077, + 0.0020637959241867065, + 0.020940855145454407, + 0.0647350400686264, + 0.07514852285385132, + 0.0 + ], + [ + -0.03861963748931885, + 0.013685215264558792, + -0.01013791561126709, + 0.0823870375752449, + 0.11187286674976349, + 0.13618052005767822, + 0.0 + ], + [ + -0.02618679404258728, + 0.00826689600944519, + -0.012623727321624756, + 0.0794641524553299, + 0.029802866280078888, + 0.07131898403167725, + 0.0 + ], + [ + -0.005692437291145325, + 0.0116674043238163, + -0.008755460381507874, + 0.039968010038137436, + -0.03720015287399292, + 0.03348541259765625, + 0.0 + ], + [ + -0.0035571157932281494, + 0.016256794333457947, + -0.016740605235099792, + 0.04008006304502487, + -0.028248172253370285, + 0.03326600790023804, + 0.0 + ], + [ + -0.0035741478204727173, + 0.005746826529502869, + -0.011653974652290344, + 0.030013762414455414, + 0.0023809000849723816, + 0.002087116241455078, + 0.0 + ], + [ + -0.007844820618629456, + -0.002426132559776306, + -0.004902638494968414, + 0.0180378258228302, + 0.028815384954214096, + -0.016960978507995605, + 1.0 + ], + [ + -0.004295840859413147, + -0.0016596093773841858, + -0.0024527758359909058, + 0.02454286813735962, + 0.0006910711526870728, + -0.008507728576660156, + 1.0 + ], + [ + 0.00024203956127166748, + 0.00028949230909347534, + 0.0069928765296936035, + -0.012858167290687561, + -0.04464877024292946, + 3.701448440551758e-05, + 1.0 + ], + [ + -0.00026576220989227295, + -0.003112204372882843, + 0.00456228107213974, + -0.019186563789844513, + 0.003161616623401642, + -0.0028225183486938477, + 1.0 + ], + [ + 0.0029205530881881714, + -0.0049288272857666016, + 0.01781478524208069, + -0.053444694727659225, + 0.015352457761764526, + -0.0019267797470092773, + 1.0 + ], + [ + 0.005991548299789429, + -0.0007794573903083801, + 0.031648188829422, + -0.08217781782150269, + 0.085209421813488, + 0.017722785472869873, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9981546401977539 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9981546401977539 + ], + [ + 0.9988223910331726 + ], + [ + 0.9981546401977539 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.973810613155365 + ], + [ + 0.7051732540130615 + ], + [ + 0.6169373393058777 + ], + [ + 0.6119219660758972 + ], + [ + 0.6009007096290588 + ], + [ + 0.5988990664482117 + ], + [ + 0.5948979258537292 + ], + [ + 0.5948979258537292 + ], + [ + 0.5948979258537292 + ], + [ + 0.5948979258537292 + ], + [ + 0.5948979258537292 + ], + [ + 0.5948979258537292 + ], + [ + 0.5948979258537292 + ], + [ + 0.5948979258537292 + ], + [ + 0.5948979258537292 + ], + [ + 0.6350118517875671 + ], + [ + 0.9231109023094177 + ], + [ + 1.003452181816101 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.21240998804569244, + 0.05552871525287628, + 0.1830734759569168 + ], + [ + 0.23626238107681274, + 0.05498311668634415, + 0.1724979132413864 + ], + [ + 0.2614976763725281, + 0.05265320464968681, + 0.176831915974617 + ], + [ + 0.28688356280326843, + 0.04561835527420044, + 0.18285278975963593 + ], + [ + 0.3164065480232239, + 0.04190824553370476, + 0.17681336402893066 + ], + [ + 0.33810967206954956, + 0.025382589548826218, + 0.16398726403713226 + ], + [ + 0.3647500276565552, + 0.020475683733820915, + 0.14282993972301483 + ], + [ + 0.3895370662212372, + 0.020088745281100273, + 0.12584097683429718 + ], + [ + 0.4092337489128113, + 0.02236589603126049, + 0.1102350726723671 + ], + [ + 0.4285219609737396, + 0.024953700602054596, + 0.09538714587688446 + ], + [ + 0.44974324107170105, + 0.03414404019713402, + 0.081288643181324 + ], + [ + 0.4640370309352875, + 0.05048225820064545, + 0.07421751320362091 + ], + [ + 0.47480371594429016, + 0.05493009835481644, + 0.07441187649965286 + ], + [ + 0.4800902009010315, + 0.05653952807188034, + 0.0709635466337204 + ], + [ + 0.4803926348686218, + 0.05576657876372337, + 0.0695096105337143 + ], + [ + 0.47734323143959045, + 0.051278628408908844, + 0.06602323055267334 + ], + [ + 0.47206011414527893, + 0.04380187392234802, + 0.07047721743583679 + ], + [ + 0.4719843566417694, + 0.04074495658278465, + 0.06926346570253372 + ], + [ + 0.4699770510196686, + 0.03811672702431679, + 0.06791026890277863 + ], + [ + 0.4693983793258667, + 0.03591560572385788, + 0.06794623285531998 + ], + [ + 0.47042110562324524, + 0.030895717442035675, + 0.0688202753663063 + ], + [ + 0.46899181604385376, + 0.017869815230369568, + 0.065833680331707 + ], + [ + 0.46872738003730774, + 0.01603986695408821, + 0.06337244808673859 + ], + [ + 0.4687463641166687, + 0.016658175736665726, + 0.06344155967235565 + ], + [ + 0.4676637649536133, + 0.01678965613245964, + 0.05124681442975998 + ], + [ + 0.4681089222431183, + 0.017249176278710365, + 0.04967665299773216 + ], + [ + 0.4679527282714844, + 0.023568013682961464, + 0.04954303056001663 + ], + [ + 0.46199220418930054, + 0.022301552817225456, + 0.04838249832391739 + ], + [ + 0.44594040513038635, + 0.02722007781267166, + 0.06524841487407684 + ], + [ + 0.4215424656867981, + 0.025645209476351738, + 0.10205475986003876 + ], + [ + 0.38464778661727905, + 0.02706759423017502, + 0.13023778796195984 + ], + [ + 0.3371990919113159, + 0.03828156366944313, + 0.13351060450077057 + ], + [ + 0.2881779372692108, + 0.03856382519006729, + 0.13557440042495728 + ], + [ + 0.24955829977989197, + 0.05224904045462608, + 0.12543648481369019 + ], + [ + 0.2233715057373047, + 0.060515936464071274, + 0.11281275749206543 + ], + [ + 0.21767906844615936, + 0.07218334078788757, + 0.10405729711055756 + ], + [ + 0.2141219526529312, + 0.08844013512134552, + 0.08731669187545776 + ], + [ + 0.2105478048324585, + 0.09418696165084839, + 0.07566271722316742 + ], + [ + 0.20270298421382904, + 0.09176082909107208, + 0.070760078728199 + ], + [ + 0.1984071433544159, + 0.0901012197136879, + 0.0683073028922081 + ], + [ + 0.19864918291568756, + 0.09039071202278137, + 0.0753001794219017 + ], + [ + 0.1983834207057953, + 0.08727850764989853, + 0.07986246049404144 + ], + [ + 0.20130397379398346, + 0.08234968036413193, + 0.09767724573612213 + ], + [ + 0.2072955220937729, + 0.08157022297382355, + 0.12932543456554413 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.7438966308897825, + 0.6665579062669701, + 0.048149352475642185, + 0.6675727403416721, + -0.7445098701301021, + -0.0071895501645632045, + 0.03105541665379627, + 0.03749147732287318, + -0.9988142721370212 + ], + [ + 0.7388230064210812, + 0.6725902062711608, + 0.0419878507550908, + 0.6735938136543305, + -0.7389295492451562, + -0.01595291380798336, + 0.02029629004349457, + 0.040069136258061126, + -0.9989907531754249 + ], + [ + 0.7608794491061917, + 0.6342911595209331, + 0.13688385179212634, + 0.6437899261019215, + -0.7643124530162516, + -0.03689180415705966, + 0.08122188730595256, + 0.11619466045335645, + -0.989899896911091 + ], + [ + 0.8526755921317808, + 0.45392191132007714, + 0.25864886043871443, + 0.4902100600015387, + -0.8663402969939797, + -0.095648245554591, + 0.18066109613307824, + 0.20834919780961864, + -0.9612243131111924 + ], + [ + 0.9000815049449743, + 0.2650521007762729, + 0.345833295577617, + 0.3198848353895701, + -0.9408795881908603, + -0.11144187998048838, + 0.29584958432247055, + 0.21093360187481364, + -0.9316544633373146 + ], + [ + 0.9048325648025366, + 0.2442709639388997, + 0.34872586059715116, + 0.2891408605948784, + -0.953754773479658, + -0.08215470040855244, + 0.31253094631942613, + 0.17516714372600445, + -0.9336170946118955 + ], + [ + 0.8898867922594264, + 0.27862233811663417, + 0.36120782060283363, + 0.29396621983248594, + -0.9557275986777058, + 0.012985327225170193, + 0.3488342852410402, + 0.09462742640570002, + -0.9323949225581436 + ], + [ + 0.8774792129991935, + 0.2881930550608396, + 0.3833731782076251, + 0.27022852983203205, + -0.9574585392840651, + 0.10124073891888949, + 0.396240801053014, + 0.014761726414076193, + -0.9180279511072316 + ], + [ + 0.8813429044695638, + 0.2721496025236703, + 0.38622438890800415, + 0.22599217415750592, + -0.9606918330552853, + 0.16124124509702548, + 0.4149243569142651, + -0.05482513791212727, + -0.9082026108155599 + ], + [ + 0.8914939795179815, + 0.26546735069110344, + 0.36710430425185675, + 0.21084394212215113, + -0.9603442348901281, + 0.18243843505052787, + 0.4009779502087167, + -0.08524104780175684, + -0.9121132863937872 + ], + [ + 0.9010604907329323, + 0.27848803920425885, + 0.33246714733984584, + 0.2243257811811616, + -0.9553579429370376, + 0.1922736195232565, + 0.37117103326847745, + -0.09866920941853935, + -0.9233073438325569 + ], + [ + 0.8989760642343267, + 0.3128247418443128, + 0.3065660072868456, + 0.2613430516532356, + -0.9447815607176566, + 0.1977058721446656, + 0.3514851992422062, + -0.09761395093913419, + -0.9310905816813521 + ], + [ + 0.8966709959601723, + 0.3219763314942971, + 0.30382950311197116, + 0.27126713222535953, + -0.9419862969322808, + 0.19767640063001535, + 0.34985035083306987, + -0.09483173703609749, + -0.9319933871400025 + ], + [ + 0.8955431335913231, + 0.3382373167637229, + 0.28913321052053326, + 0.29321723316623044, + -0.9373167999876656, + 0.18831056963225204, + 0.33470307744592737, + -0.08386139761153402, + -0.938584634403774 + ], + [ + 0.897588176329917, + 0.3440124768722799, + 0.2756644363513964, + 0.30393951684176307, + -0.9358671633648212, + 0.17825101020044457, + 0.31930586561278457, + -0.07621068357968211, + -0.9445822864597813 + ], + [ + 0.8995295418477638, + 0.33573055025425663, + 0.2795203051106061, + 0.30399893183101406, + -0.9405645879769035, + 0.15140312179555698, + 0.31373755399817016, + -0.05121770660437514, + -0.9481273615614273 + ], + [ + 0.9068810101108823, + 0.3113051130405896, + 0.2839999297448005, + 0.28746268574856226, + -0.9498331020843737, + 0.12321640510499898, + 0.30811043118091486, + -0.03010323536700979, + -0.9508742069369371 + ], + [ + 0.9101484578057853, + 0.3009492512659839, + 0.2847092076421026, + 0.2787862517548472, + -0.9532692215145394, + 0.11643031025272807, + 0.30644413942223325, + -0.02659585447973531, + -0.9515170255640512 + ], + [ + 0.9173298676863251, + 0.28787713531428627, + 0.27501394294440706, + 0.2666886534270315, + -0.9572042529781604, + 0.11241521344461651, + 0.29560628542685985, + -0.029778734757577655, + -0.9548456163026418 + ], + [ + 0.9208567087126038, + 0.28316432705478245, + 0.26803150169822043, + 0.26375084061051746, + -0.958676540405718, + 0.10665263687771304, + 0.2871557349178949, + -0.02751826228772633, + -0.9574885530096053 + ], + [ + 0.922331056828788, + 0.27435247356245, + 0.2720958321240082, + 0.25529279014474654, + -0.9612684993333037, + 0.10386752856214895, + 0.2900534656045359, + -0.026336143219226553, + -0.9566479993451796 + ], + [ + 0.9328259119987782, + 0.24300817607692, + 0.26605045435671987, + 0.225149249054799, + -0.9695659763612238, + 0.0961750130375221, + 0.2813247830421424, + -0.029813484239117366, + -0.959149374500039 + ], + [ + 0.9316743466007922, + 0.246787335850249, + 0.2666063066581954, + 0.22881028842579595, + -0.9686237920967745, + 0.09702474578461381, + 0.28218569027590923, + -0.029393200710390123, + -0.958909420099473 + ], + [ + 0.9296669601135141, + 0.2541192505116967, + 0.26672598259763103, + 0.23527927233636836, + -0.966673693053551, + 0.10092390780721128, + 0.2834836984416692, + -0.03107052747513317, + -0.9584735859898541 + ], + [ + 0.933885993713529, + 0.2702253014419544, + 0.23416924906208159, + 0.25289419440754896, + -0.9621324634953068, + 0.10171356410729532, + 0.2527874149965761, + -0.035768829293910426, + -0.9668604416720604 + ], + [ + 0.9190115277828982, + 0.3180478350522819, + 0.23294502875292247, + 0.30687204550338637, + -0.9480588136783797, + 0.08374982683749777, + 0.2474820387234414, + -0.005482738850227521, + -0.9688769684970272 + ], + [ + 0.909013321676679, + 0.34563129914931384, + 0.23288148501477787, + 0.3379215425932615, + -0.9382957656539118, + 0.07355329501341293, + 0.24393403220075963, + 0.01183474563719605, + -0.9697196124292743 + ], + [ + 0.909529185845714, + 0.3501373502035615, + 0.22396539037820318, + 0.35096722284157933, + -0.9356386278393525, + 0.03744818534672353, + 0.2226626789242006, + 0.04454429354386329, + -0.9738773728385809 + ], + [ + 0.8987895215196486, + 0.37232681638864407, + 0.23140902705896713, + 0.38590909989357103, + -0.9224191367726329, + -0.01473440650194021, + 0.20797010031688376, + 0.10254597950932787, + -0.9727449611592226 + ], + [ + 0.8782568068235093, + 0.3768096355230999, + 0.29441379017485214, + 0.40863319124294484, + -0.9111697141296352, + -0.052807831498044154, + 0.24836242928989916, + 0.16668608409182675, + -0.9542179274606784 + ], + [ + 0.8623946214814687, + 0.3770707566874321, + 0.33777679211426237, + 0.4207605587541146, + -0.9049049072974075, + -0.06409103639352094, + 0.2814890211655856, + 0.197394916855115, + -0.939041627279112 + ], + [ + 0.8344987187847616, + 0.4652745211811785, + 0.2951804673182436, + 0.5066770431098678, + -0.8584869606320819, + -0.079237064623393, + 0.21654159492354522, + 0.21568439527308345, + -0.9521501873673354 + ], + [ + 0.803834153610482, + 0.5449582899189691, + 0.2384766565890945, + 0.5748583573968331, + -0.8147255490692233, + -0.07589564299001421, + 0.1529330651636039, + 0.19809780902989688, + -0.9681780495535 + ], + [ + 0.726269366492415, + 0.6782433501441285, + 0.11188728828591679, + 0.6861472362640386, + -0.7251298437383425, + -0.05821236885086517, + 0.04165065980183719, + 0.11904901387780015, + -0.992014392452446 + ], + [ + 0.6760684123048584, + 0.735886265549452, + 0.037455387586694415, + 0.7367434102644208, + -0.675925082600136, + -0.018287431310901985, + 0.011859566414484749, + 0.03995856463489255, + -0.9991309542781566 + ], + [ + 0.6502862927548421, + 0.7590178545399386, + 0.031931707513883786, + 0.7581047318393026, + -0.6510698092167657, + 0.037219874923262286, + 0.04904032032952929, + 4.004081336776016e-06, + -0.9987967996374159 + ], + [ + 0.6235964754383305, + 0.781561416849981, + 0.017005514174585235, + 0.7779220908982735, + -0.6225480670940208, + 0.08527088981567613, + 0.07723118743972646, + -0.03994566120305229, + -0.9962126719921309 + ], + [ + 0.6220844521644247, + 0.7829077242533775, + -0.008150440459578648, + 0.7793634175959339, + -0.6182058194155297, + 0.10205012569301317, + 0.07485718194317677, + -0.06983595166653817, + -0.9947458681323362 + ], + [ + 0.6363232530123497, + 0.7704563236355303, + -0.03859755232918912, + 0.7700441015468605, + -0.6314009160104224, + 0.09146018223296974, + 0.04609554586583927, + -0.08792005818482397, + -0.9950604323457484 + ], + [ + 0.6428718178393589, + 0.7638482926507514, + -0.05702290454238814, + 0.7646268330310911, + -0.6355476615041872, + 0.10688768013855941, + 0.04540519834514697, + -0.11231632014578809, + -0.9926345814005004 + ], + [ + 0.6408987233238645, + 0.7673981366450298, + -0.01867956946977873, + 0.7623373337179089, + -0.6334437396565529, + 0.13263038230281368, + 0.08994785190158616, + -0.09924277587641897, + -0.9909895334334429 + ], + [ + 0.6432282791304909, + 0.7656536884776621, + -0.0056400573913938865, + 0.7607387086303747, + -0.6382294690388164, + 0.11806676942230662, + 0.08679860666057296, + -0.08023449489453693, + -0.9929896412907848 + ], + [ + 0.6454792056417411, + 0.7633510472245675, + 0.02552986065889072, + 0.7604243137032556, + -0.6454148469873401, + 0.07207314629763747, + 0.07149446281383712, + -0.02710819044982332, + -0.9970725589431776 + ], + [ + 0.6334638397539086, + 0.7730295932928783, + 0.03389412364527624, + 0.7736518248260962, + -0.6319843501436914, + -0.04537218439426423, + -0.013653485543457725, + 0.054963888753462295, + -0.9983949886020118 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006570.json b/json/chunk-0006/episode_0006570.json new file mode 100644 index 0000000000000000000000000000000000000000..85bd096970f8e488a852096c332bca74630ffb61 --- /dev/null +++ b/json/chunk-0006/episode_0006570.json @@ -0,0 +1,1582 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 25, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove green cloth from right to left." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006570.mp4", + "start": 0, + "end": 25, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3374680280685425, + -0.10091663897037506, + 0.11929468810558319, + 0.054936498403549194, + -0.3500981330871582, + 0.09380695223808289, + 0.0, + 1.0001531839370728 + ], + [ + 0.33669114112854004, + -0.10101357847452164, + 0.10814633965492249, + 0.06786807626485825, + -0.3201521635055542, + 0.09066865593194962, + 0.0, + 1.0001531839370728 + ], + [ + 0.3393002450466156, + -0.098031185567379, + 0.08509881049394608, + 0.07734102010726929, + -0.2688438594341278, + 0.09331853687763214, + 0.0, + 1.0001531839370728 + ], + [ + 0.34360751509666443, + -0.09127647429704666, + 0.07088124006986618, + 0.09483081847429276, + -0.24505670368671417, + 0.09351984411478043, + 0.0, + 1.0001531839370728 + ], + [ + 0.35194337368011475, + -0.08804664760828018, + 0.06107006594538689, + 0.07410216331481934, + -0.23811757564544678, + 0.1131366416811943, + 0.0, + 1.0001531839370728 + ], + [ + 0.35551688075065613, + -0.08482131361961365, + 0.04284527525305748, + 0.05891581252217293, + -0.20485427975654602, + 0.1198464035987854, + 0.0, + 1.0001531839370728 + ], + [ + 0.36088669300079346, + -0.09028749912977219, + 0.02805904671549797, + 0.05267847329378128, + -0.18884623050689697, + 0.11210546642541885, + 0.0, + 1.0001531839370728 + ], + [ + 0.361273854970932, + -0.09827827662229538, + 0.016580235213041306, + 0.04219520837068558, + -0.1645108461380005, + 0.1043013334274292, + 0.0, + 1.0001531839370728 + ], + [ + 0.36216723918914795, + -0.10035374015569687, + 0.013904370367527008, + 0.037417102605104446, + -0.16072988510131836, + 0.09323959797620773, + 0.0, + 1.0001531839370728 + ], + [ + 0.3626174330711365, + -0.09868296980857849, + 0.0126018226146698, + 0.04698605462908745, + -0.14940127730369568, + 0.09018267691135406, + 0.0, + 1.0008161067962646 + ], + [ + 0.3638373017311096, + -0.09242535382509232, + 0.01261034607887268, + 0.05075261369347572, + -0.14853641390800476, + 0.11021210253238678, + 0.0, + 1.002137303352356 + ], + [ + 0.3662544786930084, + -0.08212175220251083, + 0.012569347396492958, + 0.05092887580394745, + -0.14671610295772552, + 0.12444503605365753, + 0.0, + 1.0001531839370728 + ], + [ + 0.36653339862823486, + -0.06457826495170593, + 0.009977043606340885, + 0.05877212435007095, + -0.1390264332294464, + 0.15718957781791687, + 0.0, + 1.0008161067962646 + ], + [ + 0.3698650002479553, + -0.03852890431880951, + 0.010211680084466934, + 0.061969880014657974, + -0.13763810694217682, + 0.20456337928771973, + 0.0, + 1.0008161067962646 + ], + [ + 0.3723248839378357, + -0.01176595687866211, + 0.010192479938268661, + 0.059202712029218674, + -0.1344785839319229, + 0.2506438195705414, + 0.0, + 1.0008161067962646 + ], + [ + 0.37465304136276245, + 0.01977703534066677, + 0.012826207093894482, + 0.04604969546198845, + -0.1316506266593933, + 0.30485066771507263, + 0.0, + 1.0001531839370728 + ], + [ + 0.3777131140232086, + 0.048574261367321014, + 0.012766990810632706, + 0.04959241673350334, + -0.1286146491765976, + 0.33631300926208496, + 0.0, + 1.0008161067962646 + ], + [ + 0.3772643208503723, + 0.07314741611480713, + 0.013448922894895077, + 0.04447751119732857, + -0.1262507438659668, + 0.3756307065486908, + 0.0, + 1.0001531839370728 + ], + [ + 0.37705597281455994, + 0.07560871541500092, + 0.013480260968208313, + 0.04448750987648964, + -0.12018879503011703, + 0.36666184663772583, + 0.0, + 1.0001531839370728 + ], + [ + 0.37695416808128357, + 0.07447139918804169, + 0.013377745635807514, + 0.03712739050388336, + -0.11724535375833511, + 0.37427446246147156, + 0.0, + 0.9994885921478271 + ], + [ + 0.37614360451698303, + 0.07193594425916672, + 0.013201901689171791, + 0.03630455583333969, + -0.11606405675411224, + 0.3772698938846588, + 0.0, + 0.9988223910331726 + ], + [ + 0.37536221742630005, + 0.06593763828277588, + 0.022122865542769432, + 0.04222341999411583, + -0.12552513182163239, + 0.3585015833377838, + 0.0, + 0.9988223910331726 + ], + [ + 0.3731439411640167, + 0.06449300050735474, + 0.05114223435521126, + 0.03325379267334938, + -0.16920651495456696, + 0.37710919976234436, + 0.0, + 0.9988223910331726 + ], + [ + 0.37477752566337585, + 0.06365597248077393, + 0.07925919443368912, + 0.01586172915995121, + -0.22939956188201904, + 0.37602683901786804, + 0.0, + 0.9988223910331726 + ], + [ + 0.3692469894886017, + 0.06312217563390732, + 0.09676263481378555, + 0.02302483282983303, + -0.2739429771900177, + 0.40364617109298706, + 0.0, + 0.9988223910331726 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.002137303352356 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3374680280685425, + -0.10091663897037506, + 0.11929468810558319 + ], + [ + 0.33669114112854004, + -0.10101357847452164, + 0.10814633965492249 + ], + [ + 0.3393002450466156, + -0.098031185567379, + 0.08509881049394608 + ], + [ + 0.34360751509666443, + -0.09127647429704666, + 0.07088124006986618 + ], + [ + 0.35194337368011475, + -0.08804664760828018, + 0.06107006594538689 + ], + [ + 0.35551688075065613, + -0.08482131361961365, + 0.04284527525305748 + ], + [ + 0.36088669300079346, + -0.09028749912977219, + 0.02805904671549797 + ], + [ + 0.361273854970932, + -0.09827827662229538, + 0.016580235213041306 + ], + [ + 0.36216723918914795, + -0.10035374015569687, + 0.013904370367527008 + ], + [ + 0.3626174330711365, + -0.09868296980857849, + 0.0126018226146698 + ], + [ + 0.3638373017311096, + -0.09242535382509232, + 0.01261034607887268 + ], + [ + 0.3662544786930084, + -0.08212175220251083, + 0.012569347396492958 + ], + [ + 0.36653339862823486, + -0.06457826495170593, + 0.009977043606340885 + ], + [ + 0.3698650002479553, + -0.03852890431880951, + 0.010211680084466934 + ], + [ + 0.3723248839378357, + -0.01176595687866211, + 0.010192479938268661 + ], + [ + 0.37465304136276245, + 0.01977703534066677, + 0.012826207093894482 + ], + [ + 0.3777131140232086, + 0.048574261367321014, + 0.012766990810632706 + ], + [ + 0.3772643208503723, + 0.07314741611480713, + 0.013448922894895077 + ], + [ + 0.37705597281455994, + 0.07560871541500092, + 0.013480260968208313 + ], + [ + 0.37695416808128357, + 0.07447139918804169, + 0.013377745635807514 + ], + [ + 0.37614360451698303, + 0.07193594425916672, + 0.013201901689171791 + ], + [ + 0.37536221742630005, + 0.06593763828277588, + 0.022122865542769432 + ], + [ + 0.3731439411640167, + 0.06449300050735474, + 0.05114223435521126 + ], + [ + 0.37477752566337585, + 0.06365597248077393, + 0.07925919443368912 + ], + [ + 0.3692469894886017, + 0.06312217563390732, + 0.09676263481378555 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9352091168146528, + 0.11227851033304684, + 0.335823530956586, + 0.0879873572364113, + -0.9923372618848613, + 0.08674666357508243, + 0.34298998934853675, + -0.05157804564200048, + -0.9379219436682578 + ], + [ + 0.9452886707055314, + 0.11159080241611427, + 0.3065563926130019, + 0.08594369119341505, + -0.9916672749920431, + 0.09596716966705918, + 0.314710995962677, + -0.06437009030584745, + -0.9470023656222811 + ], + [ + 0.9598839098827073, + 0.11333792100593637, + 0.2564710416603383, + 0.08983588765965475, + -0.9907603025833271, + 0.10160480359410297, + 0.26561700404282995, + -0.07448851245021933, + -0.9611966857393263 + ], + [ + 0.9658843290425101, + 0.1158361825704217, + 0.23162349129052362, + 0.090593615422517, + -0.9890115056846327, + 0.11682909940632116, + 0.24261133476154084, + -0.09185978679992085, + -0.9657647331593218 + ], + [ + 0.9655709749227143, + 0.1299367403409419, + 0.22536445127031535, + 0.10970994944662255, + -0.9889086431244302, + 0.10011704423432818, + 0.23587373609458773, + -0.07194538945178863, + -0.9691168358652179 + ], + [ + 0.9720676321006988, + 0.13124434267315682, + 0.19457502701639603, + 0.11705979669996427, + -0.9896723376840821, + 0.08273855219598039, + 0.20342448873895022, + -0.05765055541115736, + -0.9773918819194691 + ], + [ + 0.9760558416109233, + 0.12153809701216914, + 0.18039812923601195, + 0.10988190007746998, + -0.9912384876473965, + 0.0732954885505723, + 0.18772576299633786, + -0.05171800055263865, + -0.9808589533293154 + ], + [ + 0.9811375001237103, + 0.1108903636294355, + 0.15834308669824593, + 0.1027066605812211, + -0.9929610626652063, + 0.05898872691487827, + 0.16376980101120747, + -0.04161316239984427, + -0.9856205136825399 + ], + [ + 0.9828230599554812, + 0.09900017462407082, + 0.1557491516642957, + 0.09190450918371684, + -0.9944020418015692, + 0.05213578859641501, + 0.16003872659904667, + -0.03692620594203332, + -0.9864198200073242 + ], + [ + 0.9848419384984083, + 0.09692379918220424, + 0.14384760452223253, + 0.08905724502707708, + -0.9942075174274565, + 0.060168259065062075, + 0.14884610603870033, + -0.046445553531215635, + -0.9877690252656713 + ], + [ + 0.9829883334043207, + 0.11730963902486032, + 0.14132368868258852, + 0.10877799957126642, + -0.9918272012696957, + 0.06667945433787255, + 0.147990821337912, + -0.050172217544970435, + -0.9877152754647215 + ], + [ + 0.9816062722498894, + 0.13134767976978032, + 0.13855292598415728, + 0.12279055137019555, + -0.9900563938840122, + 0.06863539483086692, + 0.14619031012307035, + -0.05035994388877804, + -0.9879738201377806 + ], + [ + 0.9781414733795645, + 0.16431230986887424, + 0.12743909478809864, + 0.15503263139568452, + -0.9846915940327478, + 0.0796702444064048, + 0.1385790072752174, + -0.058171552040507786, + -0.9886414563813385 + ], + [ + 0.9698897770288033, + 0.21106963695322659, + 0.12150485081448964, + 0.20121853382740437, + -0.9755441844975665, + 0.08845702763109116, + 0.1372039433083757, + -0.06134453887194059, + -0.9886414544673013 + ], + [ + 0.9600064294938071, + 0.2552781825230923, + 0.11498132395419101, + 0.2457883632728064, + -0.9650881369598164, + 0.09051501742310658, + 0.13407362085894, + -0.05863392727028535, + -0.9892352231712314 + ], + [ + 0.9456373452667162, + 0.30559675534714836, + 0.11126829898139244, + 0.2975533970049802, + -0.9510668026379531, + 0.083270119795863, + 0.1312706637741808, + -0.04563507468292223, + -0.9902956390851018 + ], + [ + 0.9361810631095806, + 0.3356051131345029, + 0.10456684519001427, + 0.32728320725232996, + -0.9407190025072348, + 0.08906997570686201, + 0.12826035757646756, + -0.04916265208234887, + -0.9905212336515488 + ], + [ + 0.9228723144637044, + 0.37170473871300946, + 0.10070887952260538, + 0.3639394835171542, + -0.9273025322489634, + 0.08751037665286918, + 0.12591562068969953, + -0.044108966242175585, + -0.9910598647727463 + ], + [ + 0.9267948123058827, + 0.36312430497132625, + 0.09587551836623756, + 0.35591494997193246, + -0.9306940093839832, + 0.0844583286789572, + 0.11989964249062754, + -0.04415201055283014, + -0.9918037485787006 + ], + [ + 0.9243830228090089, + 0.36938682943173545, + 0.095233383772968, + 0.3630873549643239, + -0.9285442443781283, + 0.07728621414755596, + 0.1169769199777907, + -0.03686402683675286, + -0.9924502222871879 + ], + [ + 0.9234190963621338, + 0.3720486714867172, + 0.0942176125716897, + 0.3659052974948798, + -0.9275128094874154, + 0.07637605319695945, + 0.11580365166489234, + -0.03605238246954111, + -0.9926176202240953 + ], + [ + 0.9290559012640313, + 0.35550739661954656, + 0.10232117706159687, + 0.34811083913502994, + -0.9337347911541448, + 0.08341572672482495, + 0.12519575073932648, + -0.04187876236372992, + -0.9912477960932364 + ], + [ + 0.9164552149902272, + 0.37323625469429966, + 0.14423777972150126, + 0.36297547439889966, + -0.9271572891650021, + 0.09288792242858301, + 0.1684002491153448, + -0.03277284439862668, + -0.9851737393820001 + ], + [ + 0.9057644844170245, + 0.3705363188276603, + 0.20565392094100257, + 0.3576075891017399, + -0.9286895451704071, + 0.09824734555204764, + 0.2273928560566554, + -0.015445553432259923, + -0.9736806067153481 + ], + [ + 0.8853433552808007, + 0.3983977882923732, + 0.2396796727798999, + 0.3781282106361506, + -0.9169448976488686, + 0.1274013775310511, + 0.270529480059452, + -0.02216431725661514, + -0.9624565151004544 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0007768869400024414, + -9.693950414657593e-05, + -0.011148348450660706, + 0.012931577861309052, + 0.029945969581604004, + -0.0031382963061332703, + 1.0 + ], + [ + 0.0026091039180755615, + 0.002982392907142639, + -0.02304752916097641, + 0.009472943842411041, + 0.05130830407142639, + 0.0026498809456825256, + 1.0 + ], + [ + 0.004307270050048828, + 0.006754711270332336, + -0.014217570424079895, + 0.017489798367023468, + 0.023787155747413635, + 0.0002013072371482849, + 1.0 + ], + [ + 0.008335858583450317, + 0.0032298266887664795, + -0.009811174124479294, + -0.02072865515947342, + 0.006939128041267395, + 0.01961679756641388, + 1.0 + ], + [ + 0.003573507070541382, + 0.0032253339886665344, + -0.018224790692329407, + -0.015186350792646408, + 0.03326329588890076, + 0.006709761917591095, + 1.0 + ], + [ + 0.005369812250137329, + -0.005466185510158539, + -0.01478622853755951, + -0.006237339228391647, + 0.016008049249649048, + -0.007740937173366547, + 1.0 + ], + [ + 0.0003871619701385498, + -0.007990777492523193, + -0.011478811502456665, + -0.010483264923095703, + 0.024335384368896484, + -0.0078041329979896545, + 1.0 + ], + [ + 0.0008933842182159424, + -0.0020754635334014893, + -0.0026758648455142975, + -0.004778105765581131, + 0.003780961036682129, + -0.011061735451221466, + 1.0 + ], + [ + 0.0004501938819885254, + 0.0016707703471183777, + -0.0013025477528572083, + 0.009568952023983002, + 0.01132860779762268, + -0.003056921064853668, + 1.0 + ], + [ + 0.0012198686599731445, + 0.0062576159834861755, + 8.52346420288086e-06, + 0.003766559064388275, + 0.000864863395690918, + 0.020029425621032715, + 1.0 + ], + [ + 0.0024171769618988037, + 0.010303601622581482, + -4.0998682379722595e-05, + 0.00017626211047172546, + 0.0018203109502792358, + 0.014232933521270752, + 1.0 + ], + [ + 0.00027891993522644043, + 0.0175434872508049, + -0.002592303790152073, + 0.007843248546123505, + 0.007689669728279114, + 0.03274454176425934, + 1.0 + ], + [ + 0.003331601619720459, + 0.026049360632896423, + 0.00023463647812604904, + 0.003197755664587021, + 0.0013883262872695923, + 0.047373801469802856, + 1.0 + ], + [ + 0.002459883689880371, + 0.0267629474401474, + -1.9200146198272705e-05, + -0.0027671679854393005, + 0.0031595230102539062, + 0.046080440282821655, + 1.0 + ], + [ + 0.002328157424926758, + 0.03154299408197403, + 0.00263372715562582, + -0.013153016567230225, + 0.002827957272529602, + 0.05420684814453125, + 1.0 + ], + [ + 0.003060072660446167, + 0.028797226026654243, + -5.921628326177597e-05, + 0.0035427212715148926, + 0.0030359774827957153, + 0.03146234154701233, + 1.0 + ], + [ + -0.0004487931728363037, + 0.024573154747486115, + 0.0006819320842623711, + -0.005114905536174774, + 0.0023639053106307983, + 0.039317697286605835, + 1.0 + ], + [ + -0.00020834803581237793, + 0.0024612993001937866, + 3.1338073313236237e-05, + 9.998679161071777e-06, + 0.006061948835849762, + -0.008968859910964966, + 1.0 + ], + [ + -0.00010180473327636719, + -0.0011373162269592285, + -0.0001025153324007988, + -0.0073601193726062775, + 0.0029434412717819214, + 0.0076126158237457275, + 1.0 + ], + [ + -0.0008105635643005371, + -0.0025354549288749695, + -0.00017584394663572311, + -0.0008228346705436707, + 0.0011812970042228699, + 0.002995431423187256, + 1.0 + ], + [ + -0.0007813870906829834, + -0.005998305976390839, + 0.008920963853597641, + 0.005918864160776138, + -0.009461075067520142, + -0.018768310546875, + 1.0 + ], + [ + -0.002218276262283325, + -0.0014446377754211426, + 0.029019368812441826, + -0.008969627320766449, + -0.04368138313293457, + 0.018607616424560547, + 1.0 + ], + [ + 0.0016335844993591309, + -0.0008370280265808105, + 0.02811696007847786, + -0.01739206351339817, + -0.06019304692745209, + -0.0010823607444763184, + 1.0 + ], + [ + -0.00553053617477417, + -0.0005337968468666077, + 0.017503440380096436, + 0.007163103669881821, + -0.04454341530799866, + 0.02761933207511902, + 1.0 + ], + [ + 0.00019112229347229004, + -0.0005543678998947144, + 0.002871207892894745, + -0.00349622406065464, + -0.00747448205947876, + 0.003849118947982788, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.002137303352356 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.33669114112854004, + -0.10101357847452164, + 0.10814633965492249 + ], + [ + 0.3393002450466156, + -0.098031185567379, + 0.08509881049394608 + ], + [ + 0.34360751509666443, + -0.09127647429704666, + 0.07088124006986618 + ], + [ + 0.35194337368011475, + -0.08804664760828018, + 0.06107006594538689 + ], + [ + 0.35551688075065613, + -0.08482131361961365, + 0.04284527525305748 + ], + [ + 0.36088669300079346, + -0.09028749912977219, + 0.02805904671549797 + ], + [ + 0.361273854970932, + -0.09827827662229538, + 0.016580235213041306 + ], + [ + 0.36216723918914795, + -0.10035374015569687, + 0.013904370367527008 + ], + [ + 0.3626174330711365, + -0.09868296980857849, + 0.0126018226146698 + ], + [ + 0.3638373017311096, + -0.09242535382509232, + 0.01261034607887268 + ], + [ + 0.3662544786930084, + -0.08212175220251083, + 0.012569347396492958 + ], + [ + 0.36653339862823486, + -0.06457826495170593, + 0.009977043606340885 + ], + [ + 0.3698650002479553, + -0.03852890431880951, + 0.010211680084466934 + ], + [ + 0.3723248839378357, + -0.01176595687866211, + 0.010192479938268661 + ], + [ + 0.37465304136276245, + 0.01977703534066677, + 0.012826207093894482 + ], + [ + 0.3777131140232086, + 0.048574261367321014, + 0.012766990810632706 + ], + [ + 0.3772643208503723, + 0.07314741611480713, + 0.013448922894895077 + ], + [ + 0.37705597281455994, + 0.07560871541500092, + 0.013480260968208313 + ], + [ + 0.37695416808128357, + 0.07447139918804169, + 0.013377745635807514 + ], + [ + 0.37614360451698303, + 0.07193594425916672, + 0.013201901689171791 + ], + [ + 0.37536221742630005, + 0.06593763828277588, + 0.022122865542769432 + ], + [ + 0.3731439411640167, + 0.06449300050735474, + 0.05114223435521126 + ], + [ + 0.37477752566337585, + 0.06365597248077393, + 0.07925919443368912 + ], + [ + 0.3692469894886017, + 0.06312217563390732, + 0.09676263481378555 + ], + [ + 0.369438111782074, + 0.0625678077340126, + 0.0996338427066803 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9452886707055314, + 0.11159080241611427, + 0.3065563926130019, + 0.08594369119341505, + -0.9916672749920431, + 0.09596716966705918, + 0.314710995962677, + -0.06437009030584745, + -0.9470023656222811 + ], + [ + 0.9598839098827073, + 0.11333792100593637, + 0.2564710416603383, + 0.08983588765965475, + -0.9907603025833271, + 0.10160480359410297, + 0.26561700404282995, + -0.07448851245021933, + -0.9611966857393263 + ], + [ + 0.9658843290425101, + 0.1158361825704217, + 0.23162349129052362, + 0.090593615422517, + -0.9890115056846327, + 0.11682909940632116, + 0.24261133476154084, + -0.09185978679992085, + -0.9657647331593218 + ], + [ + 0.9655709749227143, + 0.1299367403409419, + 0.22536445127031535, + 0.10970994944662255, + -0.9889086431244302, + 0.10011704423432818, + 0.23587373609458773, + -0.07194538945178863, + -0.9691168358652179 + ], + [ + 0.9720676321006988, + 0.13124434267315682, + 0.19457502701639603, + 0.11705979669996427, + -0.9896723376840821, + 0.08273855219598039, + 0.20342448873895022, + -0.05765055541115736, + -0.9773918819194691 + ], + [ + 0.9760558416109233, + 0.12153809701216914, + 0.18039812923601195, + 0.10988190007746998, + -0.9912384876473965, + 0.0732954885505723, + 0.18772576299633786, + -0.05171800055263865, + -0.9808589533293154 + ], + [ + 0.9811375001237103, + 0.1108903636294355, + 0.15834308669824593, + 0.1027066605812211, + -0.9929610626652063, + 0.05898872691487827, + 0.16376980101120747, + -0.04161316239984427, + -0.9856205136825399 + ], + [ + 0.9828230599554812, + 0.09900017462407082, + 0.1557491516642957, + 0.09190450918371684, + -0.9944020418015692, + 0.05213578859641501, + 0.16003872659904667, + -0.03692620594203332, + -0.9864198200073242 + ], + [ + 0.9848419384984083, + 0.09692379918220424, + 0.14384760452223253, + 0.08905724502707708, + -0.9942075174274565, + 0.060168259065062075, + 0.14884610603870033, + -0.046445553531215635, + -0.9877690252656713 + ], + [ + 0.9829883334043207, + 0.11730963902486032, + 0.14132368868258852, + 0.10877799957126642, + -0.9918272012696957, + 0.06667945433787255, + 0.147990821337912, + -0.050172217544970435, + -0.9877152754647215 + ], + [ + 0.9816062722498894, + 0.13134767976978032, + 0.13855292598415728, + 0.12279055137019555, + -0.9900563938840122, + 0.06863539483086692, + 0.14619031012307035, + -0.05035994388877804, + -0.9879738201377806 + ], + [ + 0.9781414733795645, + 0.16431230986887424, + 0.12743909478809864, + 0.15503263139568452, + -0.9846915940327478, + 0.0796702444064048, + 0.1385790072752174, + -0.058171552040507786, + -0.9886414563813385 + ], + [ + 0.9698897770288033, + 0.21106963695322659, + 0.12150485081448964, + 0.20121853382740437, + -0.9755441844975665, + 0.08845702763109116, + 0.1372039433083757, + -0.06134453887194059, + -0.9886414544673013 + ], + [ + 0.9600064294938071, + 0.2552781825230923, + 0.11498132395419101, + 0.2457883632728064, + -0.9650881369598164, + 0.09051501742310658, + 0.13407362085894, + -0.05863392727028535, + -0.9892352231712314 + ], + [ + 0.9456373452667162, + 0.30559675534714836, + 0.11126829898139244, + 0.2975533970049802, + -0.9510668026379531, + 0.083270119795863, + 0.1312706637741808, + -0.04563507468292223, + -0.9902956390851018 + ], + [ + 0.9361810631095806, + 0.3356051131345029, + 0.10456684519001427, + 0.32728320725232996, + -0.9407190025072348, + 0.08906997570686201, + 0.12826035757646756, + -0.04916265208234887, + -0.9905212336515488 + ], + [ + 0.9228723144637044, + 0.37170473871300946, + 0.10070887952260538, + 0.3639394835171542, + -0.9273025322489634, + 0.08751037665286918, + 0.12591562068969953, + -0.044108966242175585, + -0.9910598647727463 + ], + [ + 0.9267948123058827, + 0.36312430497132625, + 0.09587551836623756, + 0.35591494997193246, + -0.9306940093839832, + 0.0844583286789572, + 0.11989964249062754, + -0.04415201055283014, + -0.9918037485787006 + ], + [ + 0.9243830228090089, + 0.36938682943173545, + 0.095233383772968, + 0.3630873549643239, + -0.9285442443781283, + 0.07728621414755596, + 0.1169769199777907, + -0.03686402683675286, + -0.9924502222871879 + ], + [ + 0.9234190963621338, + 0.3720486714867172, + 0.0942176125716897, + 0.3659052974948798, + -0.9275128094874154, + 0.07637605319695945, + 0.11580365166489234, + -0.03605238246954111, + -0.9926176202240953 + ], + [ + 0.9290559012640313, + 0.35550739661954656, + 0.10232117706159687, + 0.34811083913502994, + -0.9337347911541448, + 0.08341572672482495, + 0.12519575073932648, + -0.04187876236372992, + -0.9912477960932364 + ], + [ + 0.9164552149902272, + 0.37323625469429966, + 0.14423777972150126, + 0.36297547439889966, + -0.9271572891650021, + 0.09288792242858301, + 0.1684002491153448, + -0.03277284439862668, + -0.9851737393820001 + ], + [ + 0.9057644844170245, + 0.3705363188276603, + 0.20565392094100257, + 0.3576075891017399, + -0.9286895451704071, + 0.09824734555204764, + 0.2273928560566554, + -0.015445553432259923, + -0.9736806067153481 + ], + [ + 0.8853433552808007, + 0.3983977882923732, + 0.2396796727798999, + 0.3781282106361506, + -0.9169448976488686, + 0.1274013775310511, + 0.270529480059452, + -0.02216431725661514, + -0.9624565151004544 + ], + [ + 0.8820001735873563, + 0.40121442231599996, + 0.24718956514689647, + 0.38072117516850806, + -0.9157920501911762, + 0.12796994797589167, + 0.27771762740269756, + -0.01875921459658248, + -0.9604795735972399 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006571.json b/json/chunk-0006/episode_0006571.json new file mode 100644 index 0000000000000000000000000000000000000000..800627b45e85c36a39ee9a9d02d8a2ac0e4225e5 --- /dev/null +++ b/json/chunk-0006/episode_0006571.json @@ -0,0 +1,2662 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 43, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nUnfold the cloth from right to left." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006571.mp4", + "start": 0, + "end": 43, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.11909697204828262, + -0.018138067796826363, + 0.24526762962341309, + -0.03800242021679878, + -0.12443587183952332, + 0.030016930773854256, + 0.0, + 0.9994885921478271 + ], + [ + 0.11903540045022964, + -0.018321260809898376, + 0.24323494732379913, + -0.03912763670086861, + -0.12727758288383484, + 0.03334760665893555, + 0.0, + 0.9994885921478271 + ], + [ + 0.13391785323619843, + -0.024968337267637253, + 0.22584550082683563, + -0.044314101338386536, + -0.19921991229057312, + 0.03031020238995552, + 0.0, + 0.9994885921478271 + ], + [ + 0.15712827444076538, + -0.029666397720575333, + 0.20430125296115875, + -0.011195198632776737, + -0.2987649142742157, + 0.13346491754055023, + 0.0, + 0.9994885921478271 + ], + [ + 0.18877951800823212, + -0.027805635705590248, + 0.17923185229301453, + 0.029287878423929214, + -0.33074769377708435, + 0.2788464426994324, + 0.0, + 0.9994885921478271 + ], + [ + 0.2343982756137848, + -0.03201797604560852, + 0.15504424273967743, + 0.04334123805165291, + -0.3648882210254669, + 0.4354022443294525, + 0.0, + 0.9994885921478271 + ], + [ + 0.2737441956996918, + -0.045767515897750854, + 0.1494729071855545, + -0.03469599783420563, + -0.3812614977359772, + 0.5896474719047546, + 0.0, + 0.9994885921478271 + ], + [ + 0.3045505881309509, + -0.05500096082687378, + 0.14548154175281525, + -0.08768866211175919, + -0.43201449513435364, + 0.6541673541069031, + 0.0, + 0.9994885921478271 + ], + [ + 0.3349318206310272, + -0.061734654009342194, + 0.14024992287158966, + -0.13352669775485992, + -0.48061802983283997, + 0.6835646629333496, + 0.0, + 0.9994885921478271 + ], + [ + 0.3676503896713257, + -0.05838969349861145, + 0.1301097869873047, + -0.14954635500907898, + -0.49510249495506287, + 0.7370579242706299, + 0.0, + 0.9994885921478271 + ], + [ + 0.3944428861141205, + -0.06129363179206848, + 0.11851824820041656, + -0.16061781346797943, + -0.5198216438293457, + 0.7810602188110352, + 0.0, + 0.9994885921478271 + ], + [ + 0.41358041763305664, + -0.06145789474248886, + 0.10707546025514603, + -0.12892712652683258, + -0.5359088778495789, + 0.7959721088409424, + 0.0, + 0.9994885921478271 + ], + [ + 0.4247409403324127, + -0.05963120609521866, + 0.09694308787584305, + -0.10363329201936722, + -0.5543537139892578, + 0.8102909326553345, + 0.0, + 0.9994885921478271 + ], + [ + 0.43494412302970886, + -0.05559808388352394, + 0.08587288856506348, + -0.07793015986680984, + -0.5846399068832397, + 0.8477832078933716, + 0.0, + 0.9994885921478271 + ], + [ + 0.4412599802017212, + -0.05513595789670944, + 0.08233571797609329, + -0.07414215058088303, + -0.6008318662643433, + 0.8496592044830322, + 0.0, + 0.9994885921478271 + ], + [ + 0.4439207911491394, + -0.054209738969802856, + 0.0783044844865799, + -0.05204091966152191, + -0.6096292734146118, + 0.8292571306228638, + 0.0, + 0.9994885921478271 + ], + [ + 0.44273966550827026, + -0.05207439139485359, + 0.07078728824853897, + -0.016913296654820442, + -0.6018815636634827, + 0.8031607270240784, + 0.0, + 0.9994885921478271 + ], + [ + 0.44407641887664795, + -0.04634873941540718, + 0.0703502744436264, + -0.010991526767611504, + -0.610598623752594, + 0.8071746826171875, + 0.0, + 0.993436336517334 + ], + [ + 0.44425302743911743, + -0.04483000189065933, + 0.06430331617593765, + 0.0023709938395768404, + -0.6110602617263794, + 0.8038799166679382, + 0.0, + 0.9082958698272705 + ], + [ + 0.4450697600841522, + -0.044683344662189484, + 0.06507045775651932, + 0.0015724672703072429, + -0.6156592965126038, + 0.8015181422233582, + 0.0, + 0.6189444065093994 + ], + [ + 0.44192129373550415, + -0.04408589005470276, + 0.06033552438020706, + 0.013515431433916092, + -0.6091576218605042, + 0.7908679246902466, + 0.0, + 0.32440370321273804 + ], + [ + 0.43780988454818726, + -0.04391572251915932, + 0.05386453494429588, + 0.020954610779881477, + -0.597966194152832, + 0.7845850586891174, + 0.0, + 0.13157258927822113 + ], + [ + 0.43230029940605164, + -0.042906779795885086, + 0.05708087608218193, + 0.0178103968501091, + -0.5858290791511536, + 0.7816184759140015, + 0.0, + 0.06065736711025238 + ], + [ + 0.4293479025363922, + -0.03446848690509796, + 0.07192573696374893, + -0.03199559077620506, + -0.5833625197410583, + 0.8168229460716248, + 0.0, + 0.054840996861457825 + ], + [ + 0.4218878149986267, + -0.027753738686442375, + 0.08707786351442337, + -0.08370912820100784, + -0.5754001140594482, + 0.8424429297447205, + 0.0, + 0.054572440683841705 + ], + [ + 0.4091881811618805, + -0.014402464032173157, + 0.09933733940124512, + -0.10833486914634705, + -0.5720236301422119, + 0.8480474948883057, + 0.0, + 0.054572440683841705 + ], + [ + 0.3874017596244812, + 0.00776571175083518, + 0.09657005220651627, + -0.0847095400094986, + -0.5592578649520874, + 0.8223966956138611, + 0.0, + 0.054572440683841705 + ], + [ + 0.36561545729637146, + 0.03119460493326187, + 0.09226290881633759, + -0.06853540241718292, + -0.5376405715942383, + 0.8090766668319702, + 0.0, + 0.054572440683841705 + ], + [ + 0.3446045219898224, + 0.050920695066452026, + 0.08697553724050522, + -0.051504187285900116, + -0.5142755508422852, + 0.7761741876602173, + 0.0, + 0.054572440683841705 + ], + [ + 0.3273182511329651, + 0.06418538838624954, + 0.09804893285036087, + -0.07833623886108398, + -0.5218316912651062, + 0.75408536195755, + 0.0, + 0.054572440683841705 + ], + [ + 0.31006696820259094, + 0.08024219423532486, + 0.10558301210403442, + -0.09384127706289291, + -0.5116588473320007, + 0.7296503186225891, + 0.0, + 0.054572440683841705 + ], + [ + 0.2933664917945862, + 0.09314149618148804, + 0.10184462368488312, + -0.07303295284509659, + -0.4985519051551819, + 0.6979843974113464, + 0.0, + 0.054572440683841705 + ], + [ + 0.2792445123195648, + 0.11037992686033249, + 0.098355732858181, + -0.04587480053305626, + -0.44313204288482666, + 0.6859192252159119, + 0.0, + 0.054572440683841705 + ], + [ + 0.26214399933815, + 0.11910398304462433, + 0.10620047897100449, + -0.056327931582927704, + -0.3595340847969055, + 0.6801280975341797, + 0.0, + 0.054572440683841705 + ], + [ + 0.2562384605407715, + 0.12910467386245728, + 0.11809297651052475, + -0.04159620404243469, + -0.3084697425365448, + 0.6727484464645386, + 0.0, + 0.054572440683841705 + ], + [ + 0.2544836699962616, + 0.1365550458431244, + 0.11884646862745285, + 0.0141493184491992, + -0.2508467733860016, + 0.6320939064025879, + 0.0, + 0.054572440683841705 + ], + [ + 0.2532193660736084, + 0.14715173840522766, + 0.11592020839452744, + 0.10886083543300629, + -0.18518659472465515, + 0.59653240442276, + 0.0, + 0.054572440683841705 + ], + [ + 0.255930095911026, + 0.151768296957016, + 0.10876955091953278, + 0.19134563207626343, + -0.12629704177379608, + 0.5480356812477112, + 0.0, + 0.054572440683841705 + ], + [ + 0.25009238719940186, + 0.15648873150348663, + 0.10603927820920944, + 0.24299435317516327, + -0.08126182854175568, + 0.5579107403755188, + 0.0, + 0.054572440683841705 + ], + [ + 0.24774615466594696, + 0.15796613693237305, + 0.10563725233078003, + 0.25357481837272644, + -0.08672519773244858, + 0.5792854428291321, + 0.0, + 0.07921512424945831 + ], + [ + 0.24329493939876556, + 0.15816405415534973, + 0.10264663398265839, + 0.25779303908348083, + -0.12409551441669464, + 0.6236237287521362, + 0.0, + 0.2062399983406067 + ], + [ + 0.23689144849777222, + 0.16143250465393066, + 0.1043509691953659, + 0.25172433257102966, + -0.20045195519924164, + 0.7369783520698547, + 0.0, + 0.457809716463089 + ], + [ + 0.2360743284225464, + 0.16079634428024292, + 0.11201900988817215, + 0.23099829256534576, + -0.24526360630989075, + 0.7680985927581787, + 0.0, + 0.7672095894813538 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.993436336517334 + ], + [ + 0.9082958698272705 + ], + [ + 0.6189444065093994 + ], + [ + 0.32440370321273804 + ], + [ + 0.13157258927822113 + ], + [ + 0.06065736711025238 + ], + [ + 0.054840996861457825 + ], + [ + 0.054572440683841705 + ], + [ + 0.054572440683841705 + ], + [ + 0.054572440683841705 + ], + [ + 0.054572440683841705 + ], + [ + 0.054572440683841705 + ], + [ + 0.054572440683841705 + ], + [ + 0.054572440683841705 + ], + [ + 0.054572440683841705 + ], + [ + 0.054572440683841705 + ], + [ + 0.054572440683841705 + ], + [ + 0.054572440683841705 + ], + [ + 0.054572440683841705 + ], + [ + 0.054572440683841705 + ], + [ + 0.054572440683841705 + ], + [ + 0.054572440683841705 + ], + [ + 0.07921512424945831 + ], + [ + 0.2062399983406067 + ], + [ + 0.457809716463089 + ], + [ + 0.7672095894813538 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.11909697204828262, + -0.018138067796826363, + 0.24526762962341309 + ], + [ + 0.11903540045022964, + -0.018321260809898376, + 0.24323494732379913 + ], + [ + 0.13391785323619843, + -0.024968337267637253, + 0.22584550082683563 + ], + [ + 0.15712827444076538, + -0.029666397720575333, + 0.20430125296115875 + ], + [ + 0.18877951800823212, + -0.027805635705590248, + 0.17923185229301453 + ], + [ + 0.2343982756137848, + -0.03201797604560852, + 0.15504424273967743 + ], + [ + 0.2737441956996918, + -0.045767515897750854, + 0.1494729071855545 + ], + [ + 0.3045505881309509, + -0.05500096082687378, + 0.14548154175281525 + ], + [ + 0.3349318206310272, + -0.061734654009342194, + 0.14024992287158966 + ], + [ + 0.3676503896713257, + -0.05838969349861145, + 0.1301097869873047 + ], + [ + 0.3944428861141205, + -0.06129363179206848, + 0.11851824820041656 + ], + [ + 0.41358041763305664, + -0.06145789474248886, + 0.10707546025514603 + ], + [ + 0.4247409403324127, + -0.05963120609521866, + 0.09694308787584305 + ], + [ + 0.43494412302970886, + -0.05559808388352394, + 0.08587288856506348 + ], + [ + 0.4412599802017212, + -0.05513595789670944, + 0.08233571797609329 + ], + [ + 0.4439207911491394, + -0.054209738969802856, + 0.0783044844865799 + ], + [ + 0.44273966550827026, + -0.05207439139485359, + 0.07078728824853897 + ], + [ + 0.44407641887664795, + -0.04634873941540718, + 0.0703502744436264 + ], + [ + 0.44425302743911743, + -0.04483000189065933, + 0.06430331617593765 + ], + [ + 0.4450697600841522, + -0.044683344662189484, + 0.06507045775651932 + ], + [ + 0.44192129373550415, + -0.04408589005470276, + 0.06033552438020706 + ], + [ + 0.43780988454818726, + -0.04391572251915932, + 0.05386453494429588 + ], + [ + 0.43230029940605164, + -0.042906779795885086, + 0.05708087608218193 + ], + [ + 0.4293479025363922, + -0.03446848690509796, + 0.07192573696374893 + ], + [ + 0.4218878149986267, + -0.027753738686442375, + 0.08707786351442337 + ], + [ + 0.4091881811618805, + -0.014402464032173157, + 0.09933733940124512 + ], + [ + 0.3874017596244812, + 0.00776571175083518, + 0.09657005220651627 + ], + [ + 0.36561545729637146, + 0.03119460493326187, + 0.09226290881633759 + ], + [ + 0.3446045219898224, + 0.050920695066452026, + 0.08697553724050522 + ], + [ + 0.3273182511329651, + 0.06418538838624954, + 0.09804893285036087 + ], + [ + 0.31006696820259094, + 0.08024219423532486, + 0.10558301210403442 + ], + [ + 0.2933664917945862, + 0.09314149618148804, + 0.10184462368488312 + ], + [ + 0.2792445123195648, + 0.11037992686033249, + 0.098355732858181 + ], + [ + 0.26214399933815, + 0.11910398304462433, + 0.10620047897100449 + ], + [ + 0.2562384605407715, + 0.12910467386245728, + 0.11809297651052475 + ], + [ + 0.2544836699962616, + 0.1365550458431244, + 0.11884646862745285 + ], + [ + 0.2532193660736084, + 0.14715173840522766, + 0.11592020839452744 + ], + [ + 0.255930095911026, + 0.151768296957016, + 0.10876955091953278 + ], + [ + 0.25009238719940186, + 0.15648873150348663, + 0.10603927820920944 + ], + [ + 0.24774615466594696, + 0.15796613693237305, + 0.10563725233078003 + ], + [ + 0.24329493939876556, + 0.15816405415534973, + 0.10264663398265839 + ], + [ + 0.23689144849777222, + 0.16143250465393066, + 0.1043509691953659 + ], + [ + 0.2360743284225464, + 0.16079634428024292, + 0.11201900988817215 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.991820850771585, + 0.025277343778038946, + 0.1251097752625911, + 0.029780362550682046, + -0.998969370554013, + -0.03425385673568672, + 0.124114986931793, + 0.03769950379575111, + -0.9915514194596642 + ], + [ + 0.9913596543190492, + 0.028353298872756224, + 0.12807078601869995, + 0.033071732000472476, + -0.9988446097914517, + -0.03486697625335118, + 0.1269342204880323, + 0.03880123623797302, + -0.9911519397829481 + ], + [ + 0.9797710248594318, + 0.021512736881810258, + 0.1989621597132301, + 0.02970615571447872, + -0.9988251146774934, + -0.03828752541180453, + 0.19790473253200902, + 0.04342340890978546, + -0.9792589669745627 + ], + [ + 0.9472014873538361, + 0.12979487664478515, + 0.29319384773805457, + 0.12717417962281422, + -0.9914831418736298, + 0.028069688592139222, + 0.2943400591016192, + 0.010699036272510114, + -0.9556408636255017 + ], + [ + 0.9092669443604218, + 0.28427134471778026, + 0.3040122143365401, + 0.2603283974449365, + -0.9583437305785383, + 0.11750072146400203, + 0.3247502877246032, + -0.027696509403800113, + -0.9453941791600118 + ], + [ + 0.8470066145414396, + 0.43539779704938875, + 0.30497303691898425, + 0.39400701616621037, + -0.8993278166462688, + 0.18965218010361595, + 0.35684487685106037, + -0.040475134722370645, + -0.9332863962012717 + ], + [ + 0.7714578009889855, + 0.5450054917020578, + 0.3283624145785209, + 0.5161401372263378, + -0.8378139938777913, + 0.1779524386079631, + 0.37209168230049894, + 0.032198224751402715, + -0.9276373506309684 + ], + [ + 0.7206463166537345, + 0.5770624286963192, + 0.3842757339209837, + 0.5525923512302408, + -0.812818494203014, + 0.18430352368682112, + 0.4187010624004187, + 0.07953017583691091, + -0.9046349382353692 + ], + [ + 0.6874891299673377, + 0.578217853252744, + 0.4393436130826771, + 0.5600108797619145, + -0.8072972303340522, + 0.18616926825675228, + 0.4623272766396542, + 0.11804785501971765, + -0.8788163592015138 + ], + [ + 0.6515360425894855, + 0.6121957026926901, + 0.44801473950243637, + 0.5914051245035106, + -0.7797624635964064, + 0.20545188993302166, + 0.4751218411290094, + 0.13109890148535475, + -0.8700990254629147 + ], + [ + 0.6163599110884534, + 0.6385549583676351, + 0.4608123535096926, + 0.611035504392629, + -0.756955306583603, + 0.23163392714921818, + 0.4967253490357418, + 0.13880284211438806, + -0.8567366565323846 + ], + [ + 0.6015113181023783, + 0.662684857449409, + 0.4461310501433362, + 0.6143684435493794, + -0.7406946133195693, + 0.27188767050031304, + 0.5106227078435236, + 0.11054532783718317, + -0.8526688576041213 + ], + [ + 0.5860605256926389, + 0.6830660680758316, + 0.4358369039770394, + 0.6159890504191075, + -0.7250410717440929, + 0.3080145029831276, + 0.5263939114281565, + 0.08795561907917163, + -0.8456791703026425 + ], + [ + 0.5517545915029867, + 0.7191114434967466, + 0.42242822181691075, + 0.6252793121825689, + -0.6918554684433174, + 0.36105649494444875, + 0.5518991325521949, + 0.06492104910660912, + -0.8313799401423103 + ], + [ + 0.5446085695828273, + 0.7213437136880347, + 0.42786066968079833, + 0.6195198147825944, + -0.6898767124545849, + 0.37452012056042316, + 0.5653288468039525, + 0.06110129569500486, + -0.8225994934569951 + ], + [ + 0.5537531529941607, + 0.7163151342810037, + 0.4245586813963572, + 0.6045894644656054, + -0.6964724396738357, + 0.386520012718576, + 0.5725635554296296, + 0.04264703008139259, + -0.818750392866482 + ], + [ + 0.5724038624214272, + 0.7128019391489304, + 0.4052989191085465, + 0.5931085279594683, + -0.7012268237478284, + 0.39560487322362975, + 0.5661943944854843, + 0.013940487870088947, + -0.8241538512020431 + ], + [ + 0.5665837920115221, + 0.7179345352916234, + 0.4044166288191482, + 0.5918136443136947, + -0.6960523750790171, + 0.40653130451541236, + 0.5733580181997875, + 0.009005230838785683, + -0.8192554478204903 + ], + [ + 0.5683468711596769, + 0.720995778058057, + 0.39641761069037107, + 0.5897530250295874, + -0.6929367336934138, + 0.41476505707057065, + 0.5737361793642235, + -0.0019419373727759537, + -0.8190378656495582 + ], + [ + 0.5678966522039046, + 0.7190437614124994, + 0.40058639715966654, + 0.5865072303850201, + -0.6949636113914655, + 0.4159745756026744, + 0.5774968927376929, + -0.0012837505586690834, + -0.8163918733444209 + ], + [ + 0.5767390136083822, + 0.716337008434274, + 0.39272560462677425, + 0.58308302657779, + -0.6976664199864144, + 0.41626403945119295, + 0.5721768033561957, + -0.011084077353349653, + -0.8200553938181923 + ], + [ + 0.5848862192347242, + 0.7147241544521882, + 0.3835068364343914, + 0.5839358443022177, + -0.6991920283668669, + 0.41249174198677324, + 0.562962734369129, + -0.017317347107200287, + -0.8263008345637819 + ], + [ + 0.5914223175832443, + 0.711306289814005, + 0.3798196997727983, + 0.5869683479243355, + -0.7027255100117569, + 0.402051011830206, + 0.5528904057762626, + -0.014839799518552327, + -0.8331218275563357 + ], + [ + 0.5713280201474003, + 0.7165391378523215, + 0.4001948991682721, + 0.6084133444062833, + -0.6970357259873041, + 0.37943958550171464, + 0.5508334555406134, + 0.026699449867058883, + -0.8341880145590581 + ], + [ + 0.5584565262629754, + 0.7133724047326855, + 0.4233510605162058, + 0.626102829952577, + -0.6972654386941461, + 0.34902171039640795, + 0.5441705197818648, + 0.07014784507428098, + -0.836036916189572 + ], + [ + 0.5561509087657335, + 0.7068784409346229, + 0.4370572461599119, + 0.6305973164127665, + -0.7014685451221923, + 0.3320977337127917, + 0.541334638843725, + 0.0909106701437847, + -0.8358780167236974 + ], + [ + 0.5767971614557909, + 0.6996054325401191, + 0.4217312809087027, + 0.6211392867594652, + -0.7109210573934202, + 0.3298139423956547, + 0.5305572739869704, + 0.07171812124542992, + -0.8446096673046909 + ], + [ + 0.5927977096736793, + 0.6977470363870768, + 0.40216905477509274, + 0.6215571914456417, + -0.7139252371216981, + 0.3224552892463281, + 0.5121108602322804, + 0.058820311234968004, + -0.8569029337202525 + ], + [ + 0.6212944282588945, + 0.6815543601050831, + 0.38662240964047123, + 0.6099372549879116, + -0.7303934686237672, + 0.3074116555525402, + 0.4919042370139385, + 0.044822262476285235, + -0.8694947880201711 + ], + [ + 0.6318872366186442, + 0.6540896978082883, + 0.4157946457321403, + 0.5935042507379275, + -0.7533686261626633, + 0.28317559476373155, + 0.4984688802267052, + 0.06784084562300052, + -0.864249035354215 + ], + [ + 0.6499458096332076, + 0.6294770583552486, + 0.4258275208868696, + 0.5812387336169608, + -0.7727115901406785, + 0.2551045530868002, + 0.48962432444026527, + 0.08170331368241607, + -0.8680971083062808 + ], + [ + 0.6728815210853986, + 0.6142309926377197, + 0.4122508293079374, + 0.5644457516944602, + -0.7865197152900196, + 0.2505748009161786, + 0.4781542135920967, + 0.0640860760492341, + -0.8759346567414351 + ], + [ + 0.6990946713834961, + 0.6175023737105128, + 0.3604961288350874, + 0.572207996161606, + -0.7854771965280265, + 0.23580411969088189, + 0.42877109227642807, + 0.04142936393856987, + -0.9024627184719181 + ], + [ + 0.7277799789040672, + 0.6124947634089014, + 0.30852304144596604, + 0.5886817654523021, + -0.788716066479846, + 0.17714611342199904, + 0.35183814649687456, + 0.05269849403192507, + -0.9345762608778435 + ], + [ + 0.7451957076084714, + 0.6127247497407576, + 0.2631572503599987, + 0.5937253673612238, + -0.7893025562676852, + 0.1564981240177563, + 0.30360096428320005, + 0.03962140487694955, + -0.9519751040662184 + ], + [ + 0.7815416113239878, + 0.5936097812967592, + 0.19188574026727004, + 0.5723437750802017, + -0.804636298247054, + 0.15806021216682364, + 0.24822431971111938, + -0.013706023934442327, + -0.9686056122136916 + ], + [ + 0.8131435458295293, + 0.575001604895231, + 0.09039208064697354, + 0.5521718380060804, + -0.8111531364521676, + 0.19270923832758574, + 0.18412994104372923, + -0.10678831205576766, + -0.9770836306169053 + ], + [ + 0.8467511845317915, + 0.5319498288338307, + 0.006466150142603287, + 0.5168617991511804, + -0.8254906143849235, + 0.2267578579467687, + 0.1259615499754324, + -0.18866537882203047, + -0.9739297011395263 + ], + [ + 0.8455635117791536, + 0.5304309734504988, + -0.060541968518223785, + 0.5276678740600105, + -0.8130997635021902, + 0.24583610247006385, + 0.08117242285834776, + -0.23981608994610623, + -0.9674188755499176 + ], + [ + 0.8337089044467723, + 0.5481045233813088, + -0.06716319003078286, + 0.5453687195604037, + -0.7981978505943715, + 0.255838134435762, + 0.08661652481604429, + -0.24992323372482528, + -0.9643837176525316 + ], + [ + 0.8055251335140089, + 0.5902996412823631, + -0.05172613245886108, + 0.5794898192923894, + -0.7665142598678211, + 0.27685273839310365, + 0.12377725402396021, + -0.2529866062091034, + -0.9595191339754972 + ], + [ + 0.7256753296472511, + 0.6875975629820132, + -0.02459486374325691, + 0.6585967090588478, + -0.6838355910233825, + 0.31403703486460977, + 0.1991122566749936, + -0.2440870251178808, + -0.9490921100772538 + ], + [ + 0.6977087745191164, + 0.7162980801516662, + 0.01093280979755304, + 0.6739768349166929, + -0.6615056015262195, + 0.3288853373823632, + 0.24281205067852188, + -0.22209772515825382, + -0.9443065754959135 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -6.157159805297852e-05, + -0.00018319301307201385, + -0.0020326822996139526, + -0.0011252164840698242, + -0.0028417110443115234, + 0.003330675885081291, + 1.0 + ], + [ + 0.01488245278596878, + -0.006647076457738876, + -0.0173894464969635, + -0.005186464637517929, + -0.07194232940673828, + -0.0030374042689800262, + 1.0 + ], + [ + 0.023210421204566956, + -0.00469806045293808, + -0.02154424786567688, + 0.03311890363693237, + -0.09954500198364258, + 0.10315471887588501, + 1.0 + ], + [ + 0.031651243567466736, + 0.0018607620149850845, + -0.025069400668144226, + 0.04048307612538338, + -0.03198277950286865, + 0.14538152515888214, + 1.0 + ], + [ + 0.04561875760555267, + -0.004212340340018272, + -0.024187609553337097, + 0.014053359627723694, + -0.03414052724838257, + 0.15655580163002014, + 1.0 + ], + [ + 0.03934592008590698, + -0.013749539852142334, + -0.005571335554122925, + -0.07803723216056824, + -0.016373276710510254, + 0.15424522757530212, + 1.0 + ], + [ + 0.030806392431259155, + -0.009233444929122925, + -0.003991365432739258, + -0.05299266427755356, + -0.050752997398376465, + 0.06451988220214844, + 1.0 + ], + [ + 0.030381232500076294, + -0.006733693182468414, + -0.005231618881225586, + -0.04583803564310074, + -0.04860353469848633, + 0.029397308826446533, + 1.0 + ], + [ + 0.03271856904029846, + 0.0033449605107307434, + -0.010140135884284973, + -0.016019657254219055, + -0.0144844651222229, + 0.05349326133728027, + 1.0 + ], + [ + 0.0267924964427948, + -0.0029039382934570312, + -0.011591538786888123, + -0.011071458458900452, + -0.024719148874282837, + 0.04400229454040527, + 1.0 + ], + [ + 0.019137531518936157, + -0.00016426295042037964, + -0.011442787945270538, + 0.03169068694114685, + -0.016087234020233154, + 0.014911890029907227, + 1.0 + ], + [ + 0.011160522699356079, + 0.0018266886472702026, + -0.010132372379302979, + 0.025293834507465363, + -0.018444836139678955, + 0.01431882381439209, + 1.0 + ], + [ + 0.010203182697296143, + 0.004033122211694717, + -0.011070199310779572, + 0.025703132152557373, + -0.030286192893981934, + 0.03749227523803711, + 1.0 + ], + [ + 0.006315857172012329, + 0.0004621259868144989, + -0.0035371705889701843, + 0.003788009285926819, + -0.016191959381103516, + 0.0018759965896606445, + 1.0 + ], + [ + 0.002660810947418213, + 0.0009262189269065857, + -0.004031233489513397, + 0.022101230919361115, + -0.008797407150268555, + -0.020402073860168457, + 1.0 + ], + [ + -0.0011811256408691406, + 0.0021353475749492645, + -0.007517196238040924, + 0.03512762486934662, + 0.00774770975112915, + -0.0260964035987854, + 1.0 + ], + [ + 0.0013367533683776855, + 0.005725651979446411, + -0.00043701380491256714, + 0.005921769887208939, + -0.008717060089111328, + 0.004013955593109131, + 0.0 + ], + [ + 0.00017660856246948242, + 0.0015187375247478485, + -0.006046958267688751, + 0.0133625203743577, + -0.0004616379737854004, + -0.0032947659492492676, + 0.0 + ], + [ + 0.00081673264503479, + 0.00014665722846984863, + 0.000767141580581665, + -0.0007985265692695975, + -0.004599034786224365, + -0.002361774444580078, + 0.0 + ], + [ + -0.0031484663486480713, + 0.0005974546074867249, + -0.004734933376312256, + 0.011942964047193527, + 0.006501674652099609, + -0.010650217533111572, + 0.0 + ], + [ + -0.0041114091873168945, + 0.00017016753554344177, + -0.006470989435911179, + 0.0074391793459653854, + 0.01119142770767212, + -0.00628286600112915, + 0.0 + ], + [ + -0.00550958514213562, + 0.001008942723274231, + 0.0032163411378860474, + -0.003144213929772377, + 0.012137115001678467, + -0.002966582775115967, + 0.0 + ], + [ + -0.002952396869659424, + 0.008438292890787125, + 0.014844860881567001, + -0.04980598762631416, + 0.002466559410095215, + 0.03520447015762329, + 0.0 + ], + [ + -0.007460087537765503, + 0.006714748218655586, + 0.015152126550674438, + -0.05171353742480278, + 0.007962405681610107, + 0.025619983673095703, + 0.0 + ], + [ + -0.012699633836746216, + 0.013351274654269218, + 0.012259475886821747, + -0.024625740945339203, + 0.003376483917236328, + 0.005604565143585205, + 0.0 + ], + [ + -0.021786421537399292, + 0.022168176248669624, + -0.0027672871947288513, + 0.02362532913684845, + 0.012765765190124512, + -0.02565079927444458, + 0.0 + ], + [ + -0.02178630232810974, + 0.023428892716765404, + -0.00430714339017868, + 0.016174137592315674, + 0.02161729335784912, + -0.01332002878189087, + 0.0 + ], + [ + -0.021010935306549072, + 0.019726090133190155, + -0.005287371575832367, + 0.017031215131282806, + 0.023365020751953125, + -0.03290247917175293, + 0.0 + ], + [ + -0.0172862708568573, + 0.013264693319797516, + 0.011073395609855652, + -0.02683205157518387, + -0.007556140422821045, + -0.022088825702667236, + 0.0 + ], + [ + -0.017251282930374146, + 0.016056805849075317, + 0.0075340792536735535, + -0.01550503820180893, + 0.010172843933105469, + -0.024435043334960938, + 0.0 + ], + [ + -0.01670047640800476, + 0.012899301946163177, + -0.003738388419151306, + 0.020808324217796326, + 0.013106942176818848, + -0.031665921211242676, + 0.0 + ], + [ + -0.014121979475021362, + 0.017238430678844452, + -0.003488890826702118, + 0.02715815231204033, + 0.055419862270355225, + -0.01206517219543457, + 0.0 + ], + [ + -0.017100512981414795, + 0.00872405618429184, + 0.007844746112823486, + -0.010453131049871445, + 0.08359795808792114, + -0.005791127681732178, + 0.0 + ], + [ + -0.00590553879737854, + 0.010000690817832947, + 0.011892497539520264, + 0.014731727540493011, + 0.05106434226036072, + -0.007379651069641113, + 0.0 + ], + [ + -0.0017547905445098877, + 0.007450371980667114, + 0.0007534921169281006, + 0.05574552342295647, + 0.05762296915054321, + -0.040654540061950684, + 0.0 + ], + [ + -0.0012643039226531982, + 0.010596692562103271, + -0.002926260232925415, + 0.09471151977777481, + 0.06566017866134644, + -0.03556150197982788, + 0.0 + ], + [ + 0.0027107298374176025, + 0.00461655855178833, + -0.007150657474994659, + 0.08248479664325714, + 0.05888955295085907, + -0.04849672317504883, + 0.0 + ], + [ + -0.0058377087116241455, + 0.004720434546470642, + -0.0027302727103233337, + 0.05164872109889984, + 0.045035213232040405, + 0.009875059127807617, + 0.0 + ], + [ + -0.002346232533454895, + 0.0014774054288864136, + -0.00040202587842941284, + 0.010580465197563171, + -0.005463369190692902, + 0.02137470245361328, + 1.0 + ], + [ + -0.0044512152671813965, + 0.00019791722297668457, + -0.002990618348121643, + 0.0042182207107543945, + -0.03737031668424606, + 0.04433828592300415, + 1.0 + ], + [ + -0.006403490900993347, + 0.0032684504985809326, + 0.0017043352127075195, + -0.006068706512451172, + -0.076356440782547, + 0.1133546233177185, + 1.0 + ], + [ + -0.0008171200752258301, + -0.0006361603736877441, + 0.007668040692806244, + -0.0207260400056839, + -0.04481165111064911, + 0.031120240688323975, + 1.0 + ], + [ + -0.0004053264856338501, + -0.0035049468278884888, + 0.006959088146686554, + -0.01257479190826416, + -0.018136441707611084, + 0.02403712272644043, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.993436336517334 + ], + [ + 0.9082958698272705 + ], + [ + 0.6189444065093994 + ], + [ + 0.32440370321273804 + ], + [ + 0.13157258927822113 + ], + [ + 0.06065736711025238 + ], + [ + 0.054840996861457825 + ], + [ + 0.054572440683841705 + ], + [ + 0.054572440683841705 + ], + [ + 0.054572440683841705 + ], + [ + 0.054572440683841705 + ], + [ + 0.054572440683841705 + ], + [ + 0.054572440683841705 + ], + [ + 0.054572440683841705 + ], + [ + 0.054572440683841705 + ], + [ + 0.054572440683841705 + ], + [ + 0.054572440683841705 + ], + [ + 0.054572440683841705 + ], + [ + 0.054572440683841705 + ], + [ + 0.054572440683841705 + ], + [ + 0.054572440683841705 + ], + [ + 0.054572440683841705 + ], + [ + 0.07921512424945831 + ], + [ + 0.2062399983406067 + ], + [ + 0.457809716463089 + ], + [ + 0.7672095894813538 + ], + [ + 0.9941151142120361 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.11903540045022964, + -0.018321260809898376, + 0.24323494732379913 + ], + [ + 0.13391785323619843, + -0.024968337267637253, + 0.22584550082683563 + ], + [ + 0.15712827444076538, + -0.029666397720575333, + 0.20430125296115875 + ], + [ + 0.18877951800823212, + -0.027805635705590248, + 0.17923185229301453 + ], + [ + 0.2343982756137848, + -0.03201797604560852, + 0.15504424273967743 + ], + [ + 0.2737441956996918, + -0.045767515897750854, + 0.1494729071855545 + ], + [ + 0.3045505881309509, + -0.05500096082687378, + 0.14548154175281525 + ], + [ + 0.3349318206310272, + -0.061734654009342194, + 0.14024992287158966 + ], + [ + 0.3676503896713257, + -0.05838969349861145, + 0.1301097869873047 + ], + [ + 0.3944428861141205, + -0.06129363179206848, + 0.11851824820041656 + ], + [ + 0.41358041763305664, + -0.06145789474248886, + 0.10707546025514603 + ], + [ + 0.4247409403324127, + -0.05963120609521866, + 0.09694308787584305 + ], + [ + 0.43494412302970886, + -0.05559808388352394, + 0.08587288856506348 + ], + [ + 0.4412599802017212, + -0.05513595789670944, + 0.08233571797609329 + ], + [ + 0.4439207911491394, + -0.054209738969802856, + 0.0783044844865799 + ], + [ + 0.44273966550827026, + -0.05207439139485359, + 0.07078728824853897 + ], + [ + 0.44407641887664795, + -0.04634873941540718, + 0.0703502744436264 + ], + [ + 0.44425302743911743, + -0.04483000189065933, + 0.06430331617593765 + ], + [ + 0.4450697600841522, + -0.044683344662189484, + 0.06507045775651932 + ], + [ + 0.44192129373550415, + -0.04408589005470276, + 0.06033552438020706 + ], + [ + 0.43780988454818726, + -0.04391572251915932, + 0.05386453494429588 + ], + [ + 0.43230029940605164, + -0.042906779795885086, + 0.05708087608218193 + ], + [ + 0.4293479025363922, + -0.03446848690509796, + 0.07192573696374893 + ], + [ + 0.4218878149986267, + -0.027753738686442375, + 0.08707786351442337 + ], + [ + 0.4091881811618805, + -0.014402464032173157, + 0.09933733940124512 + ], + [ + 0.3874017596244812, + 0.00776571175083518, + 0.09657005220651627 + ], + [ + 0.36561545729637146, + 0.03119460493326187, + 0.09226290881633759 + ], + [ + 0.3446045219898224, + 0.050920695066452026, + 0.08697553724050522 + ], + [ + 0.3273182511329651, + 0.06418538838624954, + 0.09804893285036087 + ], + [ + 0.31006696820259094, + 0.08024219423532486, + 0.10558301210403442 + ], + [ + 0.2933664917945862, + 0.09314149618148804, + 0.10184462368488312 + ], + [ + 0.2792445123195648, + 0.11037992686033249, + 0.098355732858181 + ], + [ + 0.26214399933815, + 0.11910398304462433, + 0.10620047897100449 + ], + [ + 0.2562384605407715, + 0.12910467386245728, + 0.11809297651052475 + ], + [ + 0.2544836699962616, + 0.1365550458431244, + 0.11884646862745285 + ], + [ + 0.2532193660736084, + 0.14715173840522766, + 0.11592020839452744 + ], + [ + 0.255930095911026, + 0.151768296957016, + 0.10876955091953278 + ], + [ + 0.25009238719940186, + 0.15648873150348663, + 0.10603927820920944 + ], + [ + 0.24774615466594696, + 0.15796613693237305, + 0.10563725233078003 + ], + [ + 0.24329493939876556, + 0.15816405415534973, + 0.10264663398265839 + ], + [ + 0.23689144849777222, + 0.16143250465393066, + 0.1043509691953659 + ], + [ + 0.2360743284225464, + 0.16079634428024292, + 0.11201900988817215 + ], + [ + 0.23566900193691254, + 0.15729139745235443, + 0.1189780980348587 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9913596543190492, + 0.028353298872756224, + 0.12807078601869995, + 0.033071732000472476, + -0.9988446097914517, + -0.03486697625335118, + 0.1269342204880323, + 0.03880123623797302, + -0.9911519397829481 + ], + [ + 0.9797710248594318, + 0.021512736881810258, + 0.1989621597132301, + 0.02970615571447872, + -0.9988251146774934, + -0.03828752541180453, + 0.19790473253200902, + 0.04342340890978546, + -0.9792589669745627 + ], + [ + 0.9472014873538361, + 0.12979487664478515, + 0.29319384773805457, + 0.12717417962281422, + -0.9914831418736298, + 0.028069688592139222, + 0.2943400591016192, + 0.010699036272510114, + -0.9556408636255017 + ], + [ + 0.9092669443604218, + 0.28427134471778026, + 0.3040122143365401, + 0.2603283974449365, + -0.9583437305785383, + 0.11750072146400203, + 0.3247502877246032, + -0.027696509403800113, + -0.9453941791600118 + ], + [ + 0.8470066145414396, + 0.43539779704938875, + 0.30497303691898425, + 0.39400701616621037, + -0.8993278166462688, + 0.18965218010361595, + 0.35684487685106037, + -0.040475134722370645, + -0.9332863962012717 + ], + [ + 0.7714578009889855, + 0.5450054917020578, + 0.3283624145785209, + 0.5161401372263378, + -0.8378139938777913, + 0.1779524386079631, + 0.37209168230049894, + 0.032198224751402715, + -0.9276373506309684 + ], + [ + 0.7206463166537345, + 0.5770624286963192, + 0.3842757339209837, + 0.5525923512302408, + -0.812818494203014, + 0.18430352368682112, + 0.4187010624004187, + 0.07953017583691091, + -0.9046349382353692 + ], + [ + 0.6874891299673377, + 0.578217853252744, + 0.4393436130826771, + 0.5600108797619145, + -0.8072972303340522, + 0.18616926825675228, + 0.4623272766396542, + 0.11804785501971765, + -0.8788163592015138 + ], + [ + 0.6515360425894855, + 0.6121957026926901, + 0.44801473950243637, + 0.5914051245035106, + -0.7797624635964064, + 0.20545188993302166, + 0.4751218411290094, + 0.13109890148535475, + -0.8700990254629147 + ], + [ + 0.6163599110884534, + 0.6385549583676351, + 0.4608123535096926, + 0.611035504392629, + -0.756955306583603, + 0.23163392714921818, + 0.4967253490357418, + 0.13880284211438806, + -0.8567366565323846 + ], + [ + 0.6015113181023783, + 0.662684857449409, + 0.4461310501433362, + 0.6143684435493794, + -0.7406946133195693, + 0.27188767050031304, + 0.5106227078435236, + 0.11054532783718317, + -0.8526688576041213 + ], + [ + 0.5860605256926389, + 0.6830660680758316, + 0.4358369039770394, + 0.6159890504191075, + -0.7250410717440929, + 0.3080145029831276, + 0.5263939114281565, + 0.08795561907917163, + -0.8456791703026425 + ], + [ + 0.5517545915029867, + 0.7191114434967466, + 0.42242822181691075, + 0.6252793121825689, + -0.6918554684433174, + 0.36105649494444875, + 0.5518991325521949, + 0.06492104910660912, + -0.8313799401423103 + ], + [ + 0.5446085695828273, + 0.7213437136880347, + 0.42786066968079833, + 0.6195198147825944, + -0.6898767124545849, + 0.37452012056042316, + 0.5653288468039525, + 0.06110129569500486, + -0.8225994934569951 + ], + [ + 0.5537531529941607, + 0.7163151342810037, + 0.4245586813963572, + 0.6045894644656054, + -0.6964724396738357, + 0.386520012718576, + 0.5725635554296296, + 0.04264703008139259, + -0.818750392866482 + ], + [ + 0.5724038624214272, + 0.7128019391489304, + 0.4052989191085465, + 0.5931085279594683, + -0.7012268237478284, + 0.39560487322362975, + 0.5661943944854843, + 0.013940487870088947, + -0.8241538512020431 + ], + [ + 0.5665837920115221, + 0.7179345352916234, + 0.4044166288191482, + 0.5918136443136947, + -0.6960523750790171, + 0.40653130451541236, + 0.5733580181997875, + 0.009005230838785683, + -0.8192554478204903 + ], + [ + 0.5683468711596769, + 0.720995778058057, + 0.39641761069037107, + 0.5897530250295874, + -0.6929367336934138, + 0.41476505707057065, + 0.5737361793642235, + -0.0019419373727759537, + -0.8190378656495582 + ], + [ + 0.5678966522039046, + 0.7190437614124994, + 0.40058639715966654, + 0.5865072303850201, + -0.6949636113914655, + 0.4159745756026744, + 0.5774968927376929, + -0.0012837505586690834, + -0.8163918733444209 + ], + [ + 0.5767390136083822, + 0.716337008434274, + 0.39272560462677425, + 0.58308302657779, + -0.6976664199864144, + 0.41626403945119295, + 0.5721768033561957, + -0.011084077353349653, + -0.8200553938181923 + ], + [ + 0.5848862192347242, + 0.7147241544521882, + 0.3835068364343914, + 0.5839358443022177, + -0.6991920283668669, + 0.41249174198677324, + 0.562962734369129, + -0.017317347107200287, + -0.8263008345637819 + ], + [ + 0.5914223175832443, + 0.711306289814005, + 0.3798196997727983, + 0.5869683479243355, + -0.7027255100117569, + 0.402051011830206, + 0.5528904057762626, + -0.014839799518552327, + -0.8331218275563357 + ], + [ + 0.5713280201474003, + 0.7165391378523215, + 0.4001948991682721, + 0.6084133444062833, + -0.6970357259873041, + 0.37943958550171464, + 0.5508334555406134, + 0.026699449867058883, + -0.8341880145590581 + ], + [ + 0.5584565262629754, + 0.7133724047326855, + 0.4233510605162058, + 0.626102829952577, + -0.6972654386941461, + 0.34902171039640795, + 0.5441705197818648, + 0.07014784507428098, + -0.836036916189572 + ], + [ + 0.5561509087657335, + 0.7068784409346229, + 0.4370572461599119, + 0.6305973164127665, + -0.7014685451221923, + 0.3320977337127917, + 0.541334638843725, + 0.0909106701437847, + -0.8358780167236974 + ], + [ + 0.5767971614557909, + 0.6996054325401191, + 0.4217312809087027, + 0.6211392867594652, + -0.7109210573934202, + 0.3298139423956547, + 0.5305572739869704, + 0.07171812124542992, + -0.8446096673046909 + ], + [ + 0.5927977096736793, + 0.6977470363870768, + 0.40216905477509274, + 0.6215571914456417, + -0.7139252371216981, + 0.3224552892463281, + 0.5121108602322804, + 0.058820311234968004, + -0.8569029337202525 + ], + [ + 0.6212944282588945, + 0.6815543601050831, + 0.38662240964047123, + 0.6099372549879116, + -0.7303934686237672, + 0.3074116555525402, + 0.4919042370139385, + 0.044822262476285235, + -0.8694947880201711 + ], + [ + 0.6318872366186442, + 0.6540896978082883, + 0.4157946457321403, + 0.5935042507379275, + -0.7533686261626633, + 0.28317559476373155, + 0.4984688802267052, + 0.06784084562300052, + -0.864249035354215 + ], + [ + 0.6499458096332076, + 0.6294770583552486, + 0.4258275208868696, + 0.5812387336169608, + -0.7727115901406785, + 0.2551045530868002, + 0.48962432444026527, + 0.08170331368241607, + -0.8680971083062808 + ], + [ + 0.6728815210853986, + 0.6142309926377197, + 0.4122508293079374, + 0.5644457516944602, + -0.7865197152900196, + 0.2505748009161786, + 0.4781542135920967, + 0.0640860760492341, + -0.8759346567414351 + ], + [ + 0.6990946713834961, + 0.6175023737105128, + 0.3604961288350874, + 0.572207996161606, + -0.7854771965280265, + 0.23580411969088189, + 0.42877109227642807, + 0.04142936393856987, + -0.9024627184719181 + ], + [ + 0.7277799789040672, + 0.6124947634089014, + 0.30852304144596604, + 0.5886817654523021, + -0.788716066479846, + 0.17714611342199904, + 0.35183814649687456, + 0.05269849403192507, + -0.9345762608778435 + ], + [ + 0.7451957076084714, + 0.6127247497407576, + 0.2631572503599987, + 0.5937253673612238, + -0.7893025562676852, + 0.1564981240177563, + 0.30360096428320005, + 0.03962140487694955, + -0.9519751040662184 + ], + [ + 0.7815416113239878, + 0.5936097812967592, + 0.19188574026727004, + 0.5723437750802017, + -0.804636298247054, + 0.15806021216682364, + 0.24822431971111938, + -0.013706023934442327, + -0.9686056122136916 + ], + [ + 0.8131435458295293, + 0.575001604895231, + 0.09039208064697354, + 0.5521718380060804, + -0.8111531364521676, + 0.19270923832758574, + 0.18412994104372923, + -0.10678831205576766, + -0.9770836306169053 + ], + [ + 0.8467511845317915, + 0.5319498288338307, + 0.006466150142603287, + 0.5168617991511804, + -0.8254906143849235, + 0.2267578579467687, + 0.1259615499754324, + -0.18866537882203047, + -0.9739297011395263 + ], + [ + 0.8455635117791536, + 0.5304309734504988, + -0.060541968518223785, + 0.5276678740600105, + -0.8130997635021902, + 0.24583610247006385, + 0.08117242285834776, + -0.23981608994610623, + -0.9674188755499176 + ], + [ + 0.8337089044467723, + 0.5481045233813088, + -0.06716319003078286, + 0.5453687195604037, + -0.7981978505943715, + 0.255838134435762, + 0.08661652481604429, + -0.24992323372482528, + -0.9643837176525316 + ], + [ + 0.8055251335140089, + 0.5902996412823631, + -0.05172613245886108, + 0.5794898192923894, + -0.7665142598678211, + 0.27685273839310365, + 0.12377725402396021, + -0.2529866062091034, + -0.9595191339754972 + ], + [ + 0.7256753296472511, + 0.6875975629820132, + -0.02459486374325691, + 0.6585967090588478, + -0.6838355910233825, + 0.31403703486460977, + 0.1991122566749936, + -0.2440870251178808, + -0.9490921100772538 + ], + [ + 0.6977087745191164, + 0.7162980801516662, + 0.01093280979755304, + 0.6739768349166929, + -0.6615056015262195, + 0.3288853373823632, + 0.24281205067852188, + -0.22209772515825382, + -0.9443065754959135 + ], + [ + 0.6781035708154768, + 0.7345657264769204, + 0.024263980150292463, + 0.6873032093219115, + -0.6454776028311033, + 0.33312604626359255, + 0.2603648319245523, + -0.20921725007476466, + -0.9425700486266542 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006572.json b/json/chunk-0006/episode_0006572.json new file mode 100644 index 0000000000000000000000000000000000000000..442e26cffab2663d1945bda2ac51ed13a9e977e7 --- /dev/null +++ b/json/chunk-0006/episode_0006572.json @@ -0,0 +1,1342 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 21, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nClose oven." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006572.mp4", + "start": 0, + "end": 21, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.30776017904281616, + -0.0869537740945816, + 0.08562280237674713, + -0.05175112560391426, + -0.1782812625169754, + 0.7818104028701782, + 0.0, + 0.9981546401977539 + ], + [ + 0.30341559648513794, + -0.08505319058895111, + 0.0773940235376358, + -0.023568248376250267, + -0.1632431447505951, + 0.7842433452606201, + 0.0, + 0.9981546401977539 + ], + [ + 0.3008182644844055, + -0.0763581171631813, + 0.09215731173753738, + -0.05383280664682388, + -0.16111096739768982, + 0.8513463139533997, + 0.0, + 0.9981546401977539 + ], + [ + 0.2943341135978699, + -0.07403384149074554, + 0.12115658074617386, + -0.11161188036203384, + -0.1617138683795929, + 0.9015565514564514, + 0.0, + 0.9981546401977539 + ], + [ + 0.28603091835975647, + -0.08173300325870514, + 0.14928962290287018, + -0.12708313763141632, + -0.1229405552148819, + 0.9202144742012024, + 0.0, + 0.9981546401977539 + ], + [ + 0.2708561420440674, + -0.09895171970129013, + 0.1803513616323471, + -0.18316492438316345, + -0.06756122410297394, + 0.9181523323059082, + 0.0, + 0.9981546401977539 + ], + [ + 0.2630016803741455, + -0.11572208255529404, + 0.19966523349285126, + -0.18725787103176117, + -0.014860618859529495, + 0.9409967660903931, + 0.0, + 0.9981546401977539 + ], + [ + 0.2592782974243164, + -0.13103163242340088, + 0.21535718441009521, + -0.19931644201278687, + 0.031216252595186234, + 0.9756542444229126, + 0.0, + 0.9981546401977539 + ], + [ + 0.258262038230896, + -0.147172749042511, + 0.2105712592601776, + -0.15058159828186035, + 0.05446556583046913, + 1.0291565656661987, + 0.0, + 0.9981546401977539 + ], + [ + 0.25249162316322327, + -0.16736803948879242, + 0.2085050642490387, + -0.14757002890110016, + 0.09618969261646271, + 1.0320907831192017, + 0.0, + 0.9981546401977539 + ], + [ + 0.24714896082878113, + -0.18162070214748383, + 0.197580024600029, + -0.13462036848068237, + 0.11989343166351318, + 1.0154141187667847, + 0.0, + 0.9981546401977539 + ], + [ + 0.24518248438835144, + -0.17878565192222595, + 0.17369508743286133, + -0.10423016548156738, + 0.04478765279054642, + 1.002124547958374, + 0.0, + 0.9981546401977539 + ], + [ + 0.25252872705459595, + -0.16648061573505402, + 0.16414102911949158, + -0.10932883620262146, + -0.007261720485985279, + 1.0239653587341309, + 0.0, + 0.9981546401977539 + ], + [ + 0.2664550244808197, + -0.14884285628795624, + 0.16342206299304962, + -0.12603554129600525, + -0.04624822363257408, + 1.0678136348724365, + 0.0, + 0.9988223910331726 + ], + [ + 0.2765958607196808, + -0.13308770954608917, + 0.1643134355545044, + -0.13662712275981903, + -0.07155980914831161, + 1.0814012289047241, + 0.0, + 0.9988223910331726 + ], + [ + 0.2873401641845703, + -0.11620911210775375, + 0.17430151998996735, + -0.19235973060131073, + -0.09651059657335281, + 1.1087088584899902, + 0.0, + 0.9988223910331726 + ], + [ + 0.28313595056533813, + -0.10586512833833694, + 0.18338273465633392, + -0.22458429634571075, + -0.0851985514163971, + 1.082650065422058, + 0.0, + 0.9988223910331726 + ], + [ + 0.2581711411476135, + -0.11035870760679245, + 0.16837047040462494, + -0.19244883954524994, + -0.035304196178913116, + 0.9086921215057373, + 0.0, + 0.9988223910331726 + ], + [ + 0.2646891474723816, + -0.10183663666248322, + 0.13193382322788239, + -0.1246921494603157, + -0.10698801279067993, + 0.902311384677887, + 0.0, + 0.9988223910331726 + ], + [ + 0.28212499618530273, + -0.0919559970498085, + 0.10547634214162827, + -0.0868205726146698, + -0.16945773363113403, + 0.9585428237915039, + 0.0, + 0.9988223910331726 + ], + [ + 0.2960006296634674, + -0.08720646053552628, + 0.10118796676397324, + -0.07850523293018341, + -0.1866287887096405, + 0.990334689617157, + 0.0, + 0.9988223910331726 + ] + ], + "left_gripper_pos": [ + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.30776017904281616, + -0.0869537740945816, + 0.08562280237674713 + ], + [ + 0.30341559648513794, + -0.08505319058895111, + 0.0773940235376358 + ], + [ + 0.3008182644844055, + -0.0763581171631813, + 0.09215731173753738 + ], + [ + 0.2943341135978699, + -0.07403384149074554, + 0.12115658074617386 + ], + [ + 0.28603091835975647, + -0.08173300325870514, + 0.14928962290287018 + ], + [ + 0.2708561420440674, + -0.09895171970129013, + 0.1803513616323471 + ], + [ + 0.2630016803741455, + -0.11572208255529404, + 0.19966523349285126 + ], + [ + 0.2592782974243164, + -0.13103163242340088, + 0.21535718441009521 + ], + [ + 0.258262038230896, + -0.147172749042511, + 0.2105712592601776 + ], + [ + 0.25249162316322327, + -0.16736803948879242, + 0.2085050642490387 + ], + [ + 0.24714896082878113, + -0.18162070214748383, + 0.197580024600029 + ], + [ + 0.24518248438835144, + -0.17878565192222595, + 0.17369508743286133 + ], + [ + 0.25252872705459595, + -0.16648061573505402, + 0.16414102911949158 + ], + [ + 0.2664550244808197, + -0.14884285628795624, + 0.16342206299304962 + ], + [ + 0.2765958607196808, + -0.13308770954608917, + 0.1643134355545044 + ], + [ + 0.2873401641845703, + -0.11620911210775375, + 0.17430151998996735 + ], + [ + 0.28313595056533813, + -0.10586512833833694, + 0.18338273465633392 + ], + [ + 0.2581711411476135, + -0.11035870760679245, + 0.16837047040462494 + ], + [ + 0.2646891474723816, + -0.10183663666248322, + 0.13193382322788239 + ], + [ + 0.28212499618530273, + -0.0919559970498085, + 0.10547634214162827 + ], + [ + 0.2960006296634674, + -0.08720646053552628, + 0.10118796676397324 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.6983913344781034, + 0.6971122629967874, + 0.16212352298599808, + 0.693397906551662, + -0.7151523295011601, + 0.08807093049829985, + 0.17733834079427402, + 0.05090813676183541, + -0.9828323735489037 + ], + [ + 0.6985113379212122, + 0.703382281498915, + 0.13166349862015392, + 0.6968998910093649, + -0.7104313302401, + 0.09807072409448958, + 0.16251908413061422, + 0.02325276514015296, + -0.986431374301671 + ], + [ + 0.6504372002135526, + 0.7453907990232244, + 0.14602741287126275, + 0.7424274463689503, + -0.6645087548587844, + 0.0850270638920776, + 0.1604148853954469, + 0.05310999385753419, + -0.9856198014934656 + ], + [ + 0.6122955651821893, + 0.7682878810689937, + 0.18662227268131634, + 0.7740606804667498, + -0.630594771650023, + 0.0563941213515035, + 0.16100994942417726, + 0.10992709297607924, + -0.9808118221230069 + ], + [ + 0.6010782602419356, + 0.7799013312833026, + 0.1745246072250564, + 0.7897256104610088, + -0.6131330295173633, + 0.020033679064200817, + 0.12263109412589937, + 0.12578474302312032, + -0.9844489896262236 + ], + [ + 0.6059036648542253, + 0.7737234767727887, + 0.18502089181183362, + 0.7926683862960393, + -0.6068997499665564, + -0.057875062482592714, + 0.0675098384167171, + 0.18172692420541045, + -0.9810289224766973 + ], + [ + 0.5889177519528578, + 0.7923885361442308, + 0.15904807204740073, + 0.8080563468582486, + -0.5809221139871977, + -0.09784905611576894, + 0.014860071900695326, + 0.18614485023187788, + -0.9824099312381048 + ], + [ + 0.5603532838789864, + 0.8151394256263019, + 0.1468057016456063, + 0.827665427149947, + -0.5444099220380213, + -0.13633699970019728, + -0.03121118303961056, + 0.19790288925677232, + -0.9797246084880638 + ], + [ + 0.5147772494550431, + 0.8513783666641205, + 0.10079315561998607, + 0.8555938392672787, + -0.5027102705590647, + -0.12345673769507322, + -0.054438641160287085, + 0.14979072284613068, + -0.9872178957544556 + ], + [ + 0.510653751953599, + 0.8562887377964881, + 0.07747479034246828, + 0.8544055181564669, + -0.4953278906104175, + -0.15697608520794953, + -0.09604142939112993, + 0.14635531526504753, + -0.984558868496027 + ], + [ + 0.523483047231361, + 0.8504753667863862, + 0.05154754844733454, + 0.8435993167549196, + -0.5088574594342219, + -0.17147675862571501, + -0.11960640464457249, + 0.13325065278530843, + -0.9838386918089204 + ], + [ + 0.5379733215788478, + 0.840552573383575, + 0.06368733506491725, + 0.8417720073304391, + -0.5316657104616691, + -0.09354923834094919, + -0.044772680780858665, + 0.1039372103605734, + -0.9935755951905004 + ], + [ + 0.5199692214417575, + 0.8486648378420141, + 0.09695360624464022, + 0.8541541295900512, + -0.5175551889744003, + -0.05057024095191545, + 0.007261656664605452, + 0.10910829196839678, + -0.994003344544788 + ], + [ + 0.481525534161727, + 0.8663977497835158, + 0.13224257680612433, + 0.8752118522324088, + -0.483309100760378, + -0.020408989051657903, + 0.04623173868869035, + 0.1255677199452751, + -0.9910072522668871 + ], + [ + 0.4688889654018534, + 0.8698143900836722, + 0.15351242597180467, + 0.8803584876394609, + -0.4743064978866563, + -0.0015097362870498121, + 0.07149875079706383, + 0.13585386584806708, + -0.9881455640585525 + ], + [ + 0.44374299212797647, + 0.8704012328828689, + 0.21329287548648543, + 0.8909583292694551, + -0.4540847230879385, + -0.0005654763764516985, + 0.09636084496668115, + 0.19028599016778125, + -0.9769881419460398 + ], + [ + 0.4672883466042158, + 0.8521359027098425, + 0.23559712315896347, + 0.8800002013261969, + -0.47394910165877535, + -0.031175225784146707, + 0.0850955157088256, + 0.2218933355234477, + -0.9713506580306246 + ], + [ + 0.6143947137250588, + 0.7699896523417382, + 0.17214839828866169, + 0.7882088982110385, + -0.6087527731380538, + -0.09025959216432262, + 0.03529686285838313, + 0.19114391563264066, + -0.9809271812876724 + ], + [ + 0.6162538846696607, + 0.7704373895552515, + 0.1632708743311007, + 0.7802745169314739, + -0.6254077765448885, + 0.006065580313032323, + 0.10678402435246397, + 0.123658165166997, + -0.9865626337595723 + ], + [ + 0.5664811021501125, + 0.8068681716654136, + 0.1675198927295111, + 0.8066331602720034, + -0.5845157956261005, + 0.08765973655668664, + 0.1686478747461547, + 0.08546951630201217, + -0.981963775363789 + ], + [ + 0.5388870653830851, + 0.8256539112538098, + 0.16702200332319242, + 0.8216890750500457, + -0.558889026024844, + 0.11166969388514286, + 0.18554728428680115, + 0.07706280179364755, + -0.9796088657589344 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.004344582557678223, + 0.0019005835056304932, + -0.008228778839111328, + 0.028182877227663994, + 0.01503811776638031, + 0.0024329423904418945, + 1.0 + ], + [ + -0.002597332000732422, + 0.008695073425769806, + 0.01476328819990158, + -0.030264558270573616, + 0.0021321773529052734, + 0.06710296869277954, + 1.0 + ], + [ + -0.0064841508865356445, + 0.0023242756724357605, + 0.028999269008636475, + -0.05777907371520996, + -0.0006029009819030762, + 0.05021023750305176, + 1.0 + ], + [ + -0.008303195238113403, + -0.007699161767959595, + 0.02813304215669632, + -0.015471257269382477, + 0.038773313164711, + 0.018657922744750977, + 1.0 + ], + [ + -0.015174776315689087, + -0.01721871644258499, + 0.03106173872947693, + -0.05608178675174713, + 0.05537933111190796, + -0.0020621418952941895, + 1.0 + ], + [ + -0.007854461669921875, + -0.016770362854003906, + 0.01931387186050415, + -0.004092946648597717, + 0.05270060524344444, + 0.022844433784484863, + 1.0 + ], + [ + -0.0037233829498291016, + -0.015309549868106842, + 0.015691950917243958, + -0.012058570981025696, + 0.04607687145471573, + 0.03465747833251953, + 1.0 + ], + [ + -0.0010162591934204102, + -0.016141116619110107, + -0.0047859251499176025, + 0.048734843730926514, + 0.023249313235282898, + 0.05350232124328613, + 1.0 + ], + [ + -0.0057704150676727295, + -0.020195290446281433, + -0.002066195011138916, + 0.003011569380760193, + 0.041724126785993576, + 0.0029342174530029297, + 1.0 + ], + [ + -0.005342662334442139, + -0.014252662658691406, + -0.010925039649009705, + 0.012949660420417786, + 0.023703739047050476, + -0.016676664352416992, + 1.0 + ], + [ + -0.0019664764404296875, + 0.0028350502252578735, + -0.023884937167167664, + 0.03039020299911499, + -0.07510577887296677, + -0.013289570808410645, + 1.0 + ], + [ + 0.007346242666244507, + 0.012305036187171936, + -0.009554058313369751, + -0.005098670721054077, + -0.05204937234520912, + 0.021840810775756836, + 1.0 + ], + [ + 0.013926297426223755, + 0.01763775944709778, + -0.0007189661264419556, + -0.01670670509338379, + -0.03898650407791138, + 0.043848276138305664, + 1.0 + ], + [ + 0.010140836238861084, + 0.015755146741867065, + 0.000891372561454773, + -0.010591581463813782, + -0.025311585515737534, + 0.013587594032287598, + 1.0 + ], + [ + 0.010744303464889526, + 0.01687859743833542, + 0.009988084435462952, + -0.0557326078414917, + -0.0249507874250412, + 0.027307629585266113, + 1.0 + ], + [ + -0.004204213619232178, + 0.010343983769416809, + 0.009081214666366577, + -0.032224565744400024, + 0.011312045156955719, + -0.02605879306793213, + 1.0 + ], + [ + -0.02496480941772461, + -0.004493579268455505, + -0.015012264251708984, + 0.032135456800460815, + 0.04989435523748398, + -0.1739579439163208, + 1.0 + ], + [ + 0.006518006324768066, + 0.008522070944309235, + -0.036436647176742554, + 0.06775669008493423, + -0.07168381661176682, + -0.006380736827850342, + 1.0 + ], + [ + 0.017435848712921143, + 0.009880639612674713, + -0.02645748108625412, + 0.037871576845645905, + -0.0624697208404541, + 0.05623143911361694, + 1.0 + ], + [ + 0.013875633478164673, + 0.0047495365142822266, + -0.004288375377655029, + 0.00831533968448639, + -0.01717105507850647, + 0.031791865825653076, + 1.0 + ], + [ + 0.00030800700187683105, + -0.0002670660614967346, + -0.0008628293871879578, + 0.006088487803936005, + 0.002167254686355591, + -0.0012039542198181152, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9981546401977539 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.30341559648513794, + -0.08505319058895111, + 0.0773940235376358 + ], + [ + 0.3008182644844055, + -0.0763581171631813, + 0.09215731173753738 + ], + [ + 0.2943341135978699, + -0.07403384149074554, + 0.12115658074617386 + ], + [ + 0.28603091835975647, + -0.08173300325870514, + 0.14928962290287018 + ], + [ + 0.2708561420440674, + -0.09895171970129013, + 0.1803513616323471 + ], + [ + 0.2630016803741455, + -0.11572208255529404, + 0.19966523349285126 + ], + [ + 0.2592782974243164, + -0.13103163242340088, + 0.21535718441009521 + ], + [ + 0.258262038230896, + -0.147172749042511, + 0.2105712592601776 + ], + [ + 0.25249162316322327, + -0.16736803948879242, + 0.2085050642490387 + ], + [ + 0.24714896082878113, + -0.18162070214748383, + 0.197580024600029 + ], + [ + 0.24518248438835144, + -0.17878565192222595, + 0.17369508743286133 + ], + [ + 0.25252872705459595, + -0.16648061573505402, + 0.16414102911949158 + ], + [ + 0.2664550244808197, + -0.14884285628795624, + 0.16342206299304962 + ], + [ + 0.2765958607196808, + -0.13308770954608917, + 0.1643134355545044 + ], + [ + 0.2873401641845703, + -0.11620911210775375, + 0.17430151998996735 + ], + [ + 0.28313595056533813, + -0.10586512833833694, + 0.18338273465633392 + ], + [ + 0.2581711411476135, + -0.11035870760679245, + 0.16837047040462494 + ], + [ + 0.2646891474723816, + -0.10183663666248322, + 0.13193382322788239 + ], + [ + 0.28212499618530273, + -0.0919559970498085, + 0.10547634214162827 + ], + [ + 0.2960006296634674, + -0.08720646053552628, + 0.10118796676397324 + ], + [ + 0.29630863666534424, + -0.08747352659702301, + 0.10032513737678528 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.6985113379212122, + 0.703382281498915, + 0.13166349862015392, + 0.6968998910093649, + -0.7104313302401, + 0.09807072409448958, + 0.16251908413061422, + 0.02325276514015296, + -0.986431374301671 + ], + [ + 0.6504372002135526, + 0.7453907990232244, + 0.14602741287126275, + 0.7424274463689503, + -0.6645087548587844, + 0.0850270638920776, + 0.1604148853954469, + 0.05310999385753419, + -0.9856198014934656 + ], + [ + 0.6122955651821893, + 0.7682878810689937, + 0.18662227268131634, + 0.7740606804667498, + -0.630594771650023, + 0.0563941213515035, + 0.16100994942417726, + 0.10992709297607924, + -0.9808118221230069 + ], + [ + 0.6010782602419356, + 0.7799013312833026, + 0.1745246072250564, + 0.7897256104610088, + -0.6131330295173633, + 0.020033679064200817, + 0.12263109412589937, + 0.12578474302312032, + -0.9844489896262236 + ], + [ + 0.6059036648542253, + 0.7737234767727887, + 0.18502089181183362, + 0.7926683862960393, + -0.6068997499665564, + -0.057875062482592714, + 0.0675098384167171, + 0.18172692420541045, + -0.9810289224766973 + ], + [ + 0.5889177519528578, + 0.7923885361442308, + 0.15904807204740073, + 0.8080563468582486, + -0.5809221139871977, + -0.09784905611576894, + 0.014860071900695326, + 0.18614485023187788, + -0.9824099312381048 + ], + [ + 0.5603532838789864, + 0.8151394256263019, + 0.1468057016456063, + 0.827665427149947, + -0.5444099220380213, + -0.13633699970019728, + -0.03121118303961056, + 0.19790288925677232, + -0.9797246084880638 + ], + [ + 0.5147772494550431, + 0.8513783666641205, + 0.10079315561998607, + 0.8555938392672787, + -0.5027102705590647, + -0.12345673769507322, + -0.054438641160287085, + 0.14979072284613068, + -0.9872178957544556 + ], + [ + 0.510653751953599, + 0.8562887377964881, + 0.07747479034246828, + 0.8544055181564669, + -0.4953278906104175, + -0.15697608520794953, + -0.09604142939112993, + 0.14635531526504753, + -0.984558868496027 + ], + [ + 0.523483047231361, + 0.8504753667863862, + 0.05154754844733454, + 0.8435993167549196, + -0.5088574594342219, + -0.17147675862571501, + -0.11960640464457249, + 0.13325065278530843, + -0.9838386918089204 + ], + [ + 0.5379733215788478, + 0.840552573383575, + 0.06368733506491725, + 0.8417720073304391, + -0.5316657104616691, + -0.09354923834094919, + -0.044772680780858665, + 0.1039372103605734, + -0.9935755951905004 + ], + [ + 0.5199692214417575, + 0.8486648378420141, + 0.09695360624464022, + 0.8541541295900512, + -0.5175551889744003, + -0.05057024095191545, + 0.007261656664605452, + 0.10910829196839678, + -0.994003344544788 + ], + [ + 0.481525534161727, + 0.8663977497835158, + 0.13224257680612433, + 0.8752118522324088, + -0.483309100760378, + -0.020408989051657903, + 0.04623173868869035, + 0.1255677199452751, + -0.9910072522668871 + ], + [ + 0.4688889654018534, + 0.8698143900836722, + 0.15351242597180467, + 0.8803584876394609, + -0.4743064978866563, + -0.0015097362870498121, + 0.07149875079706383, + 0.13585386584806708, + -0.9881455640585525 + ], + [ + 0.44374299212797647, + 0.8704012328828689, + 0.21329287548648543, + 0.8909583292694551, + -0.4540847230879385, + -0.0005654763764516985, + 0.09636084496668115, + 0.19028599016778125, + -0.9769881419460398 + ], + [ + 0.4672883466042158, + 0.8521359027098425, + 0.23559712315896347, + 0.8800002013261969, + -0.47394910165877535, + -0.031175225784146707, + 0.0850955157088256, + 0.2218933355234477, + -0.9713506580306246 + ], + [ + 0.6143947137250588, + 0.7699896523417382, + 0.17214839828866169, + 0.7882088982110385, + -0.6087527731380538, + -0.09025959216432262, + 0.03529686285838313, + 0.19114391563264066, + -0.9809271812876724 + ], + [ + 0.6162538846696607, + 0.7704373895552515, + 0.1632708743311007, + 0.7802745169314739, + -0.6254077765448885, + 0.006065580313032323, + 0.10678402435246397, + 0.123658165166997, + -0.9865626337595723 + ], + [ + 0.5664811021501125, + 0.8068681716654136, + 0.1675198927295111, + 0.8066331602720034, + -0.5845157956261005, + 0.08765973655668664, + 0.1686478747461547, + 0.08546951630201217, + -0.981963775363789 + ], + [ + 0.5388870653830851, + 0.8256539112538098, + 0.16702200332319242, + 0.8216890750500457, + -0.558889026024844, + 0.11166969388514286, + 0.18554728428680115, + 0.07706280179364755, + -0.9796088657589344 + ], + [ + 0.5400956183763614, + 0.8260675426937251, + 0.1609631570223654, + 0.8213737535730065, + -0.5590648502105314, + 0.11310017772075395, + 0.18341722915812975, + 0.07112600204585454, + -0.9804586742341195 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006573.json b/json/chunk-0006/episode_0006573.json new file mode 100644 index 0000000000000000000000000000000000000000..555b576d729c754445613797ecbbacdc6f30e534 --- /dev/null +++ b/json/chunk-0006/episode_0006573.json @@ -0,0 +1,1822 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 29, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut the red pepper inside the pot." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006573.mp4", + "start": 0, + "end": 29, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.24668020009994507, + 0.09152913838624954, + 0.12052962929010391, + 0.0013834148412570357, + -0.08097438514232635, + -0.14332379400730133, + 0.0, + 1.0014774799346924 + ], + [ + 0.24411919713020325, + 0.08935998380184174, + 0.11316117644309998, + -0.017758868634700775, + -0.05648462846875191, + -0.1404241919517517, + 0.0, + 1.0014774799346924 + ], + [ + 0.23413269221782684, + 0.07297820597887039, + 0.10221142321825027, + -0.056644607335329056, + -0.03012010082602501, + -0.15378044545650482, + 0.0, + 1.0014774799346924 + ], + [ + 0.22543996572494507, + 0.059102918952703476, + 0.09761454910039902, + -0.04788737744092941, + -0.04507247731089592, + -0.1560557782649994, + 0.0, + 1.0014774799346924 + ], + [ + 0.2227577269077301, + 0.049278441816568375, + 0.08631279319524765, + -0.02439015917479992, + -0.04959606006741524, + -0.16204385459423065, + 0.0, + 1.0014774799346924 + ], + [ + 0.22344230115413666, + 0.04981573298573494, + 0.06621704250574112, + 0.023214977234601974, + -0.060104675590991974, + -0.14949403703212738, + 0.0, + 1.0014774799346924 + ], + [ + 0.22386853396892548, + 0.054302021861076355, + 0.04852189123630524, + 0.07487957924604416, + -0.06914065033197403, + -0.16274374723434448, + 0.0, + 1.0014774799346924 + ], + [ + 0.22382110357284546, + 0.05340753123164177, + 0.039465002715587616, + 0.08438415080308914, + -0.07730158418416977, + -0.1729145348072052, + 0.0, + 1.0014774799346924 + ], + [ + 0.22250202298164368, + 0.04855727031826973, + 0.0357779823243618, + 0.06847082078456879, + -0.0909164622426033, + -0.17707663774490356, + 0.0, + 1.0014774799346924 + ], + [ + 0.22327707707881927, + 0.04418573155999184, + 0.035693392157554626, + 0.04248075932264328, + -0.10036688297986984, + -0.18033342063426971, + 0.0, + 1.0014774799346924 + ], + [ + 0.224265456199646, + 0.04235986992716789, + 0.034753404557704926, + 0.046001140028238297, + -0.10064525157213211, + -0.19308076798915863, + 0.0, + 0.9643021821975708 + ], + [ + 0.2244875282049179, + 0.04256098344922066, + 0.02960030362010002, + 0.038747332990169525, + -0.08044217526912689, + -0.18891021609306335, + 0.0, + 0.6971942782402039 + ], + [ + 0.22846250236034393, + 0.04394156113266945, + 0.028853831812739372, + 0.041617631912231445, + -0.07604322582483292, + -0.1918816864490509, + 0.0, + 0.6781873106956482 + ], + [ + 0.23118805885314941, + 0.043649863451719284, + 0.029240036383271217, + 0.03659817948937416, + -0.07459542900323868, + -0.2013482004404068, + 0.0, + 0.6781873106956482 + ], + [ + 0.23104482889175415, + 0.044367071241140366, + 0.04393206909298897, + -0.003018239513039589, + -0.08438662439584732, + -0.20550502836704254, + 0.0, + 0.6781873106956482 + ], + [ + 0.24622125923633575, + 0.04918162524700165, + 0.07870360463857651, + -0.019052140414714813, + -0.16964668035507202, + -0.19814680516719818, + 0.0, + 0.6781873106956482 + ], + [ + 0.2668204605579376, + 0.061465516686439514, + 0.09209570288658142, + -0.006731095258146524, + -0.18333451449871063, + -0.1765499711036682, + 0.0, + 0.6781873106956482 + ], + [ + 0.2938975989818573, + 0.07918999344110489, + 0.08226104825735092, + 0.010544011369347572, + -0.14376294612884521, + -0.12836259603500366, + 0.0, + 0.6781873106956482 + ], + [ + 0.3148435652256012, + 0.08921236544847488, + 0.07332546263933182, + 0.027214832603931427, + -0.10470779985189438, + -0.09008855372667313, + 0.0, + 0.6781873106956482 + ], + [ + 0.33257827162742615, + 0.08460435271263123, + 0.06594423949718475, + 0.02621276117861271, + -0.07046686857938766, + -0.09066072106361389, + 0.0, + 0.6781873106956482 + ], + [ + 0.3463422358036041, + 0.08233354985713959, + 0.06195194274187088, + 0.02385873720049858, + -0.061632368713617325, + -0.07813003659248352, + 0.0, + 0.6781873106956482 + ], + [ + 0.3564896583557129, + 0.08264607936143875, + 0.06226859614253044, + 0.02346295304596424, + -0.06025378778576851, + -0.06338470429182053, + 0.0, + 0.6791892647743225 + ], + [ + 0.3605356812477112, + 0.08202000707387924, + 0.06805520504713058, + 0.02792792022228241, + -0.046178169548511505, + -0.07014168798923492, + 0.0, + 0.7190925478935242 + ], + [ + 0.35858896374702454, + 0.08026459813117981, + 0.068284772336483, + 0.01590524986386299, + -0.03366652503609657, + -0.07495468109846115, + 0.0, + 0.9837720394134521 + ], + [ + 0.35611143708229065, + 0.07655566185712814, + 0.07434298098087311, + -0.0043867710046470165, + -0.032051119953393936, + -0.0919196605682373, + 0.0, + 1.0092895030975342 + ], + [ + 0.3466142416000366, + 0.07225845754146576, + 0.10614735633134842, + -0.02048392780125141, + -0.08989164233207703, + -0.09720935672521591, + 0.0, + 1.0027955770492554 + ], + [ + 0.32209789752960205, + 0.07241174578666687, + 0.12422049790620804, + -0.024208346381783485, + -0.10205762088298798, + -0.09360400587320328, + 0.0, + 1.0008161067962646 + ], + [ + 0.297230988740921, + 0.06631211191415787, + 0.1202588826417923, + -0.017392070963978767, + -0.11476510763168335, + -0.07512354105710983, + 0.0, + 1.0008161067962646 + ], + [ + 0.2854275703430176, + 0.05881750211119652, + 0.09974602609872818, + -0.0035079524386674166, + -0.11862701922655106, + -0.07410388439893723, + 0.0, + 1.0008161067962646 + ] + ], + "left_gripper_pos": [ + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 0.9643021821975708 + ], + [ + 0.6971942782402039 + ], + [ + 0.6781873106956482 + ], + [ + 0.6781873106956482 + ], + [ + 0.6781873106956482 + ], + [ + 0.6781873106956482 + ], + [ + 0.6781873106956482 + ], + [ + 0.6781873106956482 + ], + [ + 0.6781873106956482 + ], + [ + 0.6781873106956482 + ], + [ + 0.6781873106956482 + ], + [ + 0.6791892647743225 + ], + [ + 0.7190925478935242 + ], + [ + 0.9837720394134521 + ], + [ + 1.0092895030975342 + ], + [ + 1.0027955770492554 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.24668020009994507, + 0.09152913838624954, + 0.12052962929010391 + ], + [ + 0.24411919713020325, + 0.08935998380184174, + 0.11316117644309998 + ], + [ + 0.23413269221782684, + 0.07297820597887039, + 0.10221142321825027 + ], + [ + 0.22543996572494507, + 0.059102918952703476, + 0.09761454910039902 + ], + [ + 0.2227577269077301, + 0.049278441816568375, + 0.08631279319524765 + ], + [ + 0.22344230115413666, + 0.04981573298573494, + 0.06621704250574112 + ], + [ + 0.22386853396892548, + 0.054302021861076355, + 0.04852189123630524 + ], + [ + 0.22382110357284546, + 0.05340753123164177, + 0.039465002715587616 + ], + [ + 0.22250202298164368, + 0.04855727031826973, + 0.0357779823243618 + ], + [ + 0.22327707707881927, + 0.04418573155999184, + 0.035693392157554626 + ], + [ + 0.224265456199646, + 0.04235986992716789, + 0.034753404557704926 + ], + [ + 0.2244875282049179, + 0.04256098344922066, + 0.02960030362010002 + ], + [ + 0.22846250236034393, + 0.04394156113266945, + 0.028853831812739372 + ], + [ + 0.23118805885314941, + 0.043649863451719284, + 0.029240036383271217 + ], + [ + 0.23104482889175415, + 0.044367071241140366, + 0.04393206909298897 + ], + [ + 0.24622125923633575, + 0.04918162524700165, + 0.07870360463857651 + ], + [ + 0.2668204605579376, + 0.061465516686439514, + 0.09209570288658142 + ], + [ + 0.2938975989818573, + 0.07918999344110489, + 0.08226104825735092 + ], + [ + 0.3148435652256012, + 0.08921236544847488, + 0.07332546263933182 + ], + [ + 0.33257827162742615, + 0.08460435271263123, + 0.06594423949718475 + ], + [ + 0.3463422358036041, + 0.08233354985713959, + 0.06195194274187088 + ], + [ + 0.3564896583557129, + 0.08264607936143875, + 0.06226859614253044 + ], + [ + 0.3605356812477112, + 0.08202000707387924, + 0.06805520504713058 + ], + [ + 0.35858896374702454, + 0.08026459813117981, + 0.068284772336483 + ], + [ + 0.35611143708229065, + 0.07655566185712814, + 0.07434298098087311 + ], + [ + 0.3466142416000366, + 0.07225845754146576, + 0.10614735633134842 + ], + [ + 0.32209789752960205, + 0.07241174578666687, + 0.12422049790620804 + ], + [ + 0.297230988740921, + 0.06631211191415787, + 0.1202588826417923 + ], + [ + 0.2854275703430176, + 0.05881750211119652, + 0.09974602609872818 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9865036764435892, + -0.14272272366709854, + 0.08025409966056299, + -0.14236559822011802, + -0.9897617505414997, + -0.01018398784632435, + 0.08088592465139083, + -0.0013788814565372188, + -0.9967224116469031 + ], + [ + 0.9885775799206319, + -0.1409337227261169, + 0.05340462785962144, + -0.1397399259583352, + -0.9898602661874982, + -0.025483455738464608, + 0.0564545974339172, + 0.017729614259009933, + -0.9982477343860096 + ], + [ + 0.9877508476111663, + -0.15461422788534904, + 0.02104052230434946, + -0.1531055743143642, + -0.9863529622724403, + -0.06055177066156455, + 0.030115546770582972, + 0.05658864154403572, + -0.997943274685946 + ], + [ + 0.986844738331602, + -0.15737559736825182, + 0.03701869500965666, + -0.15526528764021427, + -0.9863803144899284, + -0.05428227740940632, + 0.04505721785944635, + 0.04782046151738929, + -0.9978391907411887 + ], + [ + 0.9856860745363094, + -0.16248083734455204, + 0.044977104853627006, + -0.161137237940566, + -0.9864110083329638, + -0.03206420416026013, + 0.04957573009130939, + 0.02435775308518093, + -0.9984733080310935 + ], + [ + 0.9870609594662838, + -0.14751888819628067, + 0.06283979569375106, + -0.14866888847466775, + -0.9887877848744145, + 0.014009928010352085, + 0.06006849338218781, + -0.023170975561716878, + -0.9979252887838409 + ], + [ + 0.9844287469812499, + -0.15647230621204872, + 0.08010280585353355, + -0.16163918224579527, + -0.9848586946585822, + 0.06265880878459205, + 0.069085576496376, + -0.07463088465291255, + -0.9948152663565668 + ], + [ + 0.982145746690163, + -0.16503019873522995, + 0.09030374169342656, + -0.17154034569518622, + -0.9827021921531263, + 0.06978761592300138, + 0.07722462079672912, + -0.08403234521808169, + -0.9934661156274787 + ], + [ + 0.9802973831024342, + -0.1696253552279321, + 0.10121402840672569, + -0.17542516065552777, + -0.9831504934279595, + 0.051391830881399744, + 0.09079126440083263, + -0.06813476451972203, + -0.9935364110954065 + ], + [ + 0.9788330248409478, + -0.17500956232518147, + 0.1061016615113481, + -0.17845497497065402, + -0.9836596110540344, + 0.023824178668924327, + 0.10019846001283413, + -0.04225426222020682, + -0.9940698395662562 + ], + [ + 0.9764513206632984, + -0.18714583682815347, + 0.10732778826003303, + -0.19091230338249646, + -0.9812661059867157, + 0.02587125159046519, + 0.10047542382140004, + -0.04575221305639396, + -0.9938870278901684 + ], + [ + 0.9790332696220553, + -0.18459025728712397, + 0.08614112773711223, + -0.18718135344528813, + -0.9820567813052627, + 0.022969963315981043, + 0.08035544720514119, + -0.038612371165479706, + -0.9960181157476209 + ], + [ + 0.9788102683327963, + -0.18743848525888623, + 0.08244557507916221, + -0.19015526253388582, + -0.9813999068740064, + 0.02636662508476744, + 0.07596995943758593, + -0.04148538334818674, + -0.9962467205624848 + ], + [ + 0.9770730732016576, + -0.19718472742485868, + 0.08028943202348006, + -0.19943431269504078, + -0.9796870880636295, + 0.020956249694623355, + 0.0745262674774843, + -0.03648825498418487, + -0.9965512744982489 + ], + [ + 0.9754744901896831, + -0.20430970149593136, + 0.0818966718726751, + -0.20333544682950122, + -0.9789016808904326, + -0.02015428521511555, + 0.08428650575165803, + 0.0030074947262728746, + -0.9964370225576962 + ], + [ + 0.9663584419818628, + -0.199970530672708, + 0.16175026575824314, + -0.19402681313977913, + -0.9796219639831791, + -0.0519076436043871, + 0.16883411205443039, + 0.01877750101090107, + -0.9854655996342935 + ], + [ + 0.9679572476266676, + -0.17683830301297723, + 0.17828903879514377, + -0.17269081501041736, + -0.9842176657019921, + -0.03864542574690285, + 0.18230921309150463, + 0.006618240522375543, + -0.9832189734308142 + ], + [ + 0.9815415938531284, + -0.12650510028092218, + 0.1434313743194779, + -0.1266898134686303, + -0.9919110693209808, + -0.007881733425592598, + 0.14326824735280325, + -0.010435044869202308, + -0.9896288794992968 + ], + [ + 0.9904901248961873, + -0.08710091275128762, + 0.10650231678713627, + -0.08947400935560962, + -0.9958318408943355, + 0.017701590629965066, + 0.10451657348462602, + -0.02706244000254161, + -0.9941548723454214 + ], + [ + 0.9934215606672888, + -0.08866766125246844, + 0.07246825959953977, + -0.09031188619326314, + -0.9957180825051943, + 0.019729758852924384, + 0.07040856491637838, + -0.026144713044838876, + -0.9971755552390059 + ], + [ + 0.9950565197651587, + -0.076563441188831, + 0.06324999562193886, + -0.07790238008010532, + -0.9967803505651225, + 0.018977668590395468, + 0.0615933571962568, + -0.02381117805982075, + -0.9978172608993584 + ], + [ + 0.9961807959394361, + -0.06191492581976765, + 0.06156593020660332, + -0.06322732232695227, + -0.9978066589585045, + 0.019600434929628673, + 0.06021733565042019, + -0.023418225782488172, + -0.9979105466866082 + ], + [ + 0.9964776792249063, + -0.06877099295083229, + 0.047987345572572844, + -0.07000947632930198, + -0.9972424209653454, + 0.024621678482054692, + 0.04616175939716615, + -0.027894521966388742, + -0.9985444344713083 + ], + [ + 0.9966271399640164, + -0.07434119624393974, + 0.03475241614858372, + -0.07484208134014568, + -0.9971061716286619, + 0.013339616212921812, + 0.033660165594056754, + -0.01589556671066079, + -0.9993069219269559 + ], + [ + 0.9952669367491299, + -0.09192937335276312, + 0.03150737896067331, + -0.09174313074947134, + -0.9957558769298256, + -0.007309686723741866, + 0.03204563268666419, + 0.004384503926572157, + -0.9994767899011108 + ], + [ + 0.9912604178160935, + -0.09886601422174726, + 0.08734011279457497, + -0.09666446162034728, + -0.9948916320540775, + -0.02909677522377131, + 0.08977062955506225, + 0.02039979658426851, + -0.9957535249089547 + ], + [ + 0.9904417610587937, + -0.09589531336951011, + 0.09914235635952179, + -0.09298103278459262, + -0.9951001160958333, + -0.03361973361538288, + 0.10188054521382123, + 0.024080029481340894, + -0.9945051566920665 + ], + [ + 0.9906198173518257, + -0.07702745641305346, + 0.11286783611095975, + -0.07455918071905666, + -0.9968792722746561, + -0.025935402053079773, + 0.11451334437670734, + 0.017276789854802133, + -0.993271466665571 + ], + [ + 0.9902469137300346, + -0.0744496476999617, + 0.1177637457178238, + -0.07351575990862462, + -0.9972186904770739, + -0.01226035922176878, + 0.11834898771513908, + 0.0034832916244462494, + -0.9929659529844215 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0025610029697418213, + -0.0021691545844078064, + -0.007368452847003937, + -0.019142283126711845, + 0.024489756673574448, + 0.0028996020555496216, + 1.0 + ], + [ + -0.009986504912376404, + -0.016381777822971344, + -0.010949753224849701, + -0.03888573870062828, + 0.026364527642726898, + -0.013356253504753113, + 1.0 + ], + [ + -0.008692726492881775, + -0.013875287026166916, + -0.004596874117851257, + 0.008757229894399643, + -0.01495237648487091, + -0.002275332808494568, + 1.0 + ], + [ + -0.002682238817214966, + -0.009824477136135101, + -0.011301755905151367, + 0.023497218266129494, + -0.004523582756519318, + -0.005988076329231262, + 1.0 + ], + [ + 0.0006845742464065552, + 0.0005372911691665649, + -0.02009575068950653, + 0.047605134546756744, + -0.010508615523576736, + 0.012549817562103271, + 1.0 + ], + [ + 0.00042623281478881836, + 0.004486288875341415, + -0.017695151269435883, + 0.051664602011442184, + -0.009035974740982056, + -0.013249710202217102, + 1.0 + ], + [ + -4.743039608001709e-05, + -0.0008944906294345856, + -0.00905688852071762, + 0.009504571557044983, + -0.00816093385219574, + -0.010170787572860718, + 1.0 + ], + [ + -0.0013190805912017822, + -0.00485026091337204, + -0.003687020391225815, + -0.015913330018520355, + -0.013614878058433533, + -0.004162102937698364, + 1.0 + ], + [ + 0.0007750540971755981, + -0.004371538758277893, + -8.459016680717468e-05, + -0.025990061461925507, + -0.00945042073726654, + -0.00325678288936615, + 1.0 + ], + [ + 0.0009883791208267212, + -0.001825861632823944, + -0.0009399875998497009, + 0.0035203807055950165, + -0.00027836859226226807, + -0.012747347354888916, + 0.0 + ], + [ + 0.00022207200527191162, + 0.0002011135220527649, + -0.005153100937604904, + -0.007253807038068771, + 0.02020307630300522, + 0.004170551896095276, + 0.0 + ], + [ + 0.003974974155426025, + 0.0013805776834487915, + -0.0007464718073606491, + 0.00287029892206192, + 0.004398949444293976, + -0.002971470355987549, + 0.0 + ], + [ + 0.002725556492805481, + -0.0002916976809501648, + 0.0003862045705318451, + -0.0050194524228572845, + 0.0014477968215942383, + -0.009466513991355896, + 0.0 + ], + [ + -0.00014322996139526367, + 0.0007172077894210815, + 0.01469203270971775, + -0.0396164208650589, + -0.009791195392608643, + -0.004156827926635742, + 0.0 + ], + [ + 0.015176430344581604, + 0.004814554005861282, + 0.03477153554558754, + -0.016033900901675224, + -0.0852600559592247, + 0.00735822319984436, + 0.0 + ], + [ + 0.020599201321601868, + 0.012283891439437866, + 0.013392098248004913, + 0.012321045622229576, + -0.01368783414363861, + 0.021596834063529968, + 0.0 + ], + [ + 0.027077138423919678, + 0.017724476754665375, + -0.0098346546292305, + 0.01727510616183281, + 0.03957156836986542, + 0.04818737506866455, + 0.0 + ], + [ + 0.020945966243743896, + 0.010022372007369995, + -0.008935585618019104, + 0.016670821234583855, + 0.039055146276950836, + 0.038274042308330536, + 0.0 + ], + [ + 0.01773470640182495, + -0.0046080127358436584, + -0.007381223142147064, + -0.001002071425318718, + 0.034240931272506714, + -0.0005721673369407654, + 0.0 + ], + [ + 0.013763964176177979, + -0.002270802855491638, + -0.003992296755313873, + -0.002354023978114128, + 0.00883449986577034, + 0.012530684471130371, + 0.0 + ], + [ + 0.010147422552108765, + 0.0003125295042991638, + 0.00031665340065956116, + -0.0003957841545343399, + 0.001378580927848816, + 0.014745332300662994, + 1.0 + ], + [ + 0.004046022891998291, + -0.0006260722875595093, + 0.005786608904600143, + 0.004464967176318169, + 0.014075618237257004, + -0.006756983697414398, + 1.0 + ], + [ + -0.0019467175006866455, + -0.0017554089426994324, + 0.000229567289352417, + -0.012022670358419418, + 0.012511644512414932, + -0.004812993109226227, + 1.0 + ], + [ + -0.0024775266647338867, + -0.0037089362740516663, + 0.006058208644390106, + -0.020292021334171295, + 0.0016154050827026367, + -0.016964979469776154, + 1.0 + ], + [ + -0.009497195482254028, + -0.004297204315662384, + 0.03180437535047531, + -0.016097156330943108, + -0.05784052237868309, + -0.005289696156978607, + 1.0 + ], + [ + -0.02451634407043457, + 0.00015328824520111084, + 0.01807314157485962, + -0.003724418580532074, + -0.01216597855091095, + 0.0036053508520126343, + 1.0 + ], + [ + -0.02486690878868103, + -0.006099633872509003, + -0.003961615264415741, + 0.006816275417804718, + -0.012707486748695374, + 0.018480464816093445, + 1.0 + ], + [ + -0.011803418397903442, + -0.0074946098029613495, + -0.020512856543064117, + 0.013884118758141994, + -0.0038619115948677063, + 0.0010196566581726074, + 1.0 + ], + [ + -0.003263711929321289, + -0.0017911531031131744, + -0.010398924350738525, + 0.03715728968381882, + 0.0037839189171791077, + -0.012199565768241882, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 0.9643021821975708 + ], + [ + 0.6971942782402039 + ], + [ + 0.6781873106956482 + ], + [ + 0.6781873106956482 + ], + [ + 0.6781873106956482 + ], + [ + 0.6781873106956482 + ], + [ + 0.6781873106956482 + ], + [ + 0.6781873106956482 + ], + [ + 0.6781873106956482 + ], + [ + 0.6781873106956482 + ], + [ + 0.6781873106956482 + ], + [ + 0.6791892647743225 + ], + [ + 0.7190925478935242 + ], + [ + 0.9837720394134521 + ], + [ + 1.0092895030975342 + ], + [ + 1.0027955770492554 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.24411919713020325, + 0.08935998380184174, + 0.11316117644309998 + ], + [ + 0.23413269221782684, + 0.07297820597887039, + 0.10221142321825027 + ], + [ + 0.22543996572494507, + 0.059102918952703476, + 0.09761454910039902 + ], + [ + 0.2227577269077301, + 0.049278441816568375, + 0.08631279319524765 + ], + [ + 0.22344230115413666, + 0.04981573298573494, + 0.06621704250574112 + ], + [ + 0.22386853396892548, + 0.054302021861076355, + 0.04852189123630524 + ], + [ + 0.22382110357284546, + 0.05340753123164177, + 0.039465002715587616 + ], + [ + 0.22250202298164368, + 0.04855727031826973, + 0.0357779823243618 + ], + [ + 0.22327707707881927, + 0.04418573155999184, + 0.035693392157554626 + ], + [ + 0.224265456199646, + 0.04235986992716789, + 0.034753404557704926 + ], + [ + 0.2244875282049179, + 0.04256098344922066, + 0.02960030362010002 + ], + [ + 0.22846250236034393, + 0.04394156113266945, + 0.028853831812739372 + ], + [ + 0.23118805885314941, + 0.043649863451719284, + 0.029240036383271217 + ], + [ + 0.23104482889175415, + 0.044367071241140366, + 0.04393206909298897 + ], + [ + 0.24622125923633575, + 0.04918162524700165, + 0.07870360463857651 + ], + [ + 0.2668204605579376, + 0.061465516686439514, + 0.09209570288658142 + ], + [ + 0.2938975989818573, + 0.07918999344110489, + 0.08226104825735092 + ], + [ + 0.3148435652256012, + 0.08921236544847488, + 0.07332546263933182 + ], + [ + 0.33257827162742615, + 0.08460435271263123, + 0.06594423949718475 + ], + [ + 0.3463422358036041, + 0.08233354985713959, + 0.06195194274187088 + ], + [ + 0.3564896583557129, + 0.08264607936143875, + 0.06226859614253044 + ], + [ + 0.3605356812477112, + 0.08202000707387924, + 0.06805520504713058 + ], + [ + 0.35858896374702454, + 0.08026459813117981, + 0.068284772336483 + ], + [ + 0.35611143708229065, + 0.07655566185712814, + 0.07434298098087311 + ], + [ + 0.3466142416000366, + 0.07225845754146576, + 0.10614735633134842 + ], + [ + 0.32209789752960205, + 0.07241174578666687, + 0.12422049790620804 + ], + [ + 0.297230988740921, + 0.06631211191415787, + 0.1202588826417923 + ], + [ + 0.2854275703430176, + 0.05881750211119652, + 0.09974602609872818 + ], + [ + 0.2821638584136963, + 0.057026349008083344, + 0.08934710174798965 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9885775799206319, + -0.1409337227261169, + 0.05340462785962144, + -0.1397399259583352, + -0.9898602661874982, + -0.025483455738464608, + 0.0564545974339172, + 0.017729614259009933, + -0.9982477343860096 + ], + [ + 0.9877508476111663, + -0.15461422788534904, + 0.02104052230434946, + -0.1531055743143642, + -0.9863529622724403, + -0.06055177066156455, + 0.030115546770582972, + 0.05658864154403572, + -0.997943274685946 + ], + [ + 0.986844738331602, + -0.15737559736825182, + 0.03701869500965666, + -0.15526528764021427, + -0.9863803144899284, + -0.05428227740940632, + 0.04505721785944635, + 0.04782046151738929, + -0.9978391907411887 + ], + [ + 0.9856860745363094, + -0.16248083734455204, + 0.044977104853627006, + -0.161137237940566, + -0.9864110083329638, + -0.03206420416026013, + 0.04957573009130939, + 0.02435775308518093, + -0.9984733080310935 + ], + [ + 0.9870609594662838, + -0.14751888819628067, + 0.06283979569375106, + -0.14866888847466775, + -0.9887877848744145, + 0.014009928010352085, + 0.06006849338218781, + -0.023170975561716878, + -0.9979252887838409 + ], + [ + 0.9844287469812499, + -0.15647230621204872, + 0.08010280585353355, + -0.16163918224579527, + -0.9848586946585822, + 0.06265880878459205, + 0.069085576496376, + -0.07463088465291255, + -0.9948152663565668 + ], + [ + 0.982145746690163, + -0.16503019873522995, + 0.09030374169342656, + -0.17154034569518622, + -0.9827021921531263, + 0.06978761592300138, + 0.07722462079672912, + -0.08403234521808169, + -0.9934661156274787 + ], + [ + 0.9802973831024342, + -0.1696253552279321, + 0.10121402840672569, + -0.17542516065552777, + -0.9831504934279595, + 0.051391830881399744, + 0.09079126440083263, + -0.06813476451972203, + -0.9935364110954065 + ], + [ + 0.9788330248409478, + -0.17500956232518147, + 0.1061016615113481, + -0.17845497497065402, + -0.9836596110540344, + 0.023824178668924327, + 0.10019846001283413, + -0.04225426222020682, + -0.9940698395662562 + ], + [ + 0.9764513206632984, + -0.18714583682815347, + 0.10732778826003303, + -0.19091230338249646, + -0.9812661059867157, + 0.02587125159046519, + 0.10047542382140004, + -0.04575221305639396, + -0.9938870278901684 + ], + [ + 0.9790332696220553, + -0.18459025728712397, + 0.08614112773711223, + -0.18718135344528813, + -0.9820567813052627, + 0.022969963315981043, + 0.08035544720514119, + -0.038612371165479706, + -0.9960181157476209 + ], + [ + 0.9788102683327963, + -0.18743848525888623, + 0.08244557507916221, + -0.19015526253388582, + -0.9813999068740064, + 0.02636662508476744, + 0.07596995943758593, + -0.04148538334818674, + -0.9962467205624848 + ], + [ + 0.9770730732016576, + -0.19718472742485868, + 0.08028943202348006, + -0.19943431269504078, + -0.9796870880636295, + 0.020956249694623355, + 0.0745262674774843, + -0.03648825498418487, + -0.9965512744982489 + ], + [ + 0.9754744901896831, + -0.20430970149593136, + 0.0818966718726751, + -0.20333544682950122, + -0.9789016808904326, + -0.02015428521511555, + 0.08428650575165803, + 0.0030074947262728746, + -0.9964370225576962 + ], + [ + 0.9663584419818628, + -0.199970530672708, + 0.16175026575824314, + -0.19402681313977913, + -0.9796219639831791, + -0.0519076436043871, + 0.16883411205443039, + 0.01877750101090107, + -0.9854655996342935 + ], + [ + 0.9679572476266676, + -0.17683830301297723, + 0.17828903879514377, + -0.17269081501041736, + -0.9842176657019921, + -0.03864542574690285, + 0.18230921309150463, + 0.006618240522375543, + -0.9832189734308142 + ], + [ + 0.9815415938531284, + -0.12650510028092218, + 0.1434313743194779, + -0.1266898134686303, + -0.9919110693209808, + -0.007881733425592598, + 0.14326824735280325, + -0.010435044869202308, + -0.9896288794992968 + ], + [ + 0.9904901248961873, + -0.08710091275128762, + 0.10650231678713627, + -0.08947400935560962, + -0.9958318408943355, + 0.017701590629965066, + 0.10451657348462602, + -0.02706244000254161, + -0.9941548723454214 + ], + [ + 0.9934215606672888, + -0.08866766125246844, + 0.07246825959953977, + -0.09031188619326314, + -0.9957180825051943, + 0.019729758852924384, + 0.07040856491637838, + -0.026144713044838876, + -0.9971755552390059 + ], + [ + 0.9950565197651587, + -0.076563441188831, + 0.06324999562193886, + -0.07790238008010532, + -0.9967803505651225, + 0.018977668590395468, + 0.0615933571962568, + -0.02381117805982075, + -0.9978172608993584 + ], + [ + 0.9961807959394361, + -0.06191492581976765, + 0.06156593020660332, + -0.06322732232695227, + -0.9978066589585045, + 0.019600434929628673, + 0.06021733565042019, + -0.023418225782488172, + -0.9979105466866082 + ], + [ + 0.9964776792249063, + -0.06877099295083229, + 0.047987345572572844, + -0.07000947632930198, + -0.9972424209653454, + 0.024621678482054692, + 0.04616175939716615, + -0.027894521966388742, + -0.9985444344713083 + ], + [ + 0.9966271399640164, + -0.07434119624393974, + 0.03475241614858372, + -0.07484208134014568, + -0.9971061716286619, + 0.013339616212921812, + 0.033660165594056754, + -0.01589556671066079, + -0.9993069219269559 + ], + [ + 0.9952669367491299, + -0.09192937335276312, + 0.03150737896067331, + -0.09174313074947134, + -0.9957558769298256, + -0.007309686723741866, + 0.03204563268666419, + 0.004384503926572157, + -0.9994767899011108 + ], + [ + 0.9912604178160935, + -0.09886601422174726, + 0.08734011279457497, + -0.09666446162034728, + -0.9948916320540775, + -0.02909677522377131, + 0.08977062955506225, + 0.02039979658426851, + -0.9957535249089547 + ], + [ + 0.9904417610587937, + -0.09589531336951011, + 0.09914235635952179, + -0.09298103278459262, + -0.9951001160958333, + -0.03361973361538288, + 0.10188054521382123, + 0.024080029481340894, + -0.9945051566920665 + ], + [ + 0.9906198173518257, + -0.07702745641305346, + 0.11286783611095975, + -0.07455918071905666, + -0.9968792722746561, + -0.025935402053079773, + 0.11451334437670734, + 0.017276789854802133, + -0.993271466665571 + ], + [ + 0.9902469137300346, + -0.0744496476999617, + 0.1177637457178238, + -0.07351575990862462, + -0.9972186904770739, + -0.01226035922176878, + 0.11834898771513908, + 0.0034832916244462494, + -0.9929659529844215 + ], + [ + 0.9897154605576772, + -0.08230673084595622, + 0.11699961192481005, + -0.08562855989022106, + -0.9960464918306089, + 0.023646053435270077, + 0.11459082364758384, + -0.03342137294289599, + -0.992850419230601 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006575.json b/json/chunk-0006/episode_0006575.json new file mode 100644 index 0000000000000000000000000000000000000000..5e55369855866f0ecbba0a40993a59647cce5022 --- /dev/null +++ b/json/chunk-0006/episode_0006575.json @@ -0,0 +1,2182 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 35, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nOpen low fridge." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006575.mp4", + "start": 0, + "end": 35, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.1933698058128357, + 0.023725926876068115, + 0.10216450691223145, + 0.16403339803218842, + 0.11833705753087997, + 0.2693670988082886, + 0.0, + 0.993436336517334 + ], + [ + 0.19125641882419586, + 0.02072683535516262, + 0.09614342451095581, + 0.1623430699110031, + 0.14102502167224884, + 0.26245802640914917, + 0.0, + 0.993436336517334 + ], + [ + 0.20800013840198517, + -0.0011935338843613863, + 0.0728226900100708, + 0.11250870674848557, + 0.10019867867231369, + 0.19081737101078033, + 0.0, + 0.993436336517334 + ], + [ + 0.2254762500524521, + -0.021138692274689674, + 0.04849875345826149, + 0.0814843401312828, + 0.061696186661720276, + 0.11213276535272598, + 0.0, + 0.993436336517334 + ], + [ + 0.24752536416053772, + -0.03553145378828049, + 0.02592010423541069, + 0.04798631742596626, + 0.03912542015314102, + 0.09217130392789841, + 0.0, + 0.993436336517334 + ], + [ + 0.2629006505012512, + -0.04702698066830635, + 0.0011453010374680161, + 0.023934919387102127, + -0.02618168294429779, + 0.07244645059108734, + 0.0, + 0.9941151142120361 + ], + [ + 0.276743084192276, + -0.052949458360672, + -0.011979576200246811, + -0.0038686878979206085, + -0.09618017822504044, + 0.061230212450027466, + 0.0, + 0.9941151142120361 + ], + [ + 0.2835513651371002, + -0.054643988609313965, + -0.01676788367331028, + -0.026447240263223648, + -0.19887106120586395, + 0.06667762994766235, + 0.0, + 0.9941151142120361 + ], + [ + 0.2911893427371979, + -0.051183268427848816, + -0.027375072240829468, + 0.015299943275749683, + -0.24040453135967255, + 0.09005612879991531, + 0.0, + 0.993436336517334 + ], + [ + 0.3030962646007538, + -0.045345738530159, + -0.03350645676255226, + 0.05749407783150673, + -0.25845423340797424, + 0.10961779206991196, + 0.0, + 0.9941151142120361 + ], + [ + 0.3115296959877014, + -0.03874657303094864, + -0.03642261400818825, + 0.07816457003355026, + -0.27329909801483154, + 0.11594688892364502, + 0.0, + 0.9398812651634216 + ], + [ + 0.3118872344493866, + -0.03735031932592392, + -0.04018121212720871, + 0.09439738094806671, + -0.2651107907295227, + 0.09916508197784424, + 0.0, + 0.6551066637039185 + ], + [ + 0.31026455760002136, + -0.0387028269469738, + -0.041866738349199295, + 0.06455264985561371, + -0.24254877865314484, + 0.0741138681769371, + 0.0, + 0.36359503865242004 + ], + [ + 0.3086835443973541, + -0.03867819905281067, + -0.04270004853606224, + 0.053507111966609955, + -0.23924297094345093, + 0.06966794282197952, + 0.0, + 0.21234850585460663 + ], + [ + 0.29783692955970764, + -0.03468338027596474, + -0.0422869436442852, + 0.07604396343231201, + -0.2335481345653534, + 0.04403827711939812, + 0.0, + 0.20928038656711578 + ], + [ + 0.27594083547592163, + -0.027584342285990715, + -0.03755424544215202, + 0.0675232782959938, + -0.17773859202861786, + 0.016997257247567177, + 0.0, + 0.23460371792316437 + ], + [ + 0.2687654495239258, + -0.01900344155728817, + -0.01352897472679615, + 0.07604072242975235, + -0.22720585763454437, + -0.0033125742338597775, + 0.0, + 0.288376122713089 + ], + [ + 0.25710615515708923, + -0.007842950522899628, + 0.0044906544499099255, + 0.07661940902471542, + -0.16412964463233948, + -0.002621483290567994, + 0.0, + 0.5541232228279114 + ], + [ + 0.25798875093460083, + -0.007304303348064423, + 0.03563164547085762, + 0.043937843292951584, + -0.1768636554479599, + 0.021103300154209137, + 0.0, + 0.8490449786186218 + ], + [ + 0.2701275050640106, + -0.01625942438840866, + 0.04810101538896561, + -0.004441510885953903, + -0.2232898473739624, + 0.030050106346607208, + 0.0, + 1.0047606229782104 + ], + [ + 0.28661981225013733, + -0.02706839144229889, + 0.058227699249982834, + -0.029479291290044785, + -0.2900519371032715, + 0.02176709473133087, + 0.0, + 0.9994885921478271 + ], + [ + 0.2987184226512909, + -0.03842451050877571, + 0.053584154695272446, + -0.02556147240102291, + -0.3314914107322693, + 0.00673501193523407, + 0.0, + 0.9994885921478271 + ], + [ + 0.3069378733634949, + -0.0497329905629158, + 0.05297096073627472, + -0.02207787148654461, + -0.38940414786338806, + -0.017631113529205322, + 0.0, + 0.9994885921478271 + ], + [ + 0.3112519383430481, + -0.0610697939991951, + 0.043786097317934036, + -0.008301901631057262, + -0.42072823643684387, + -0.0672609880566597, + 0.0, + 0.9994885921478271 + ], + [ + 0.3149782419204712, + -0.07105407863855362, + 0.031509555876255035, + 0.024973956868052483, + -0.4413415193557739, + -0.08546894043684006, + 0.0, + 0.9994885921478271 + ], + [ + 0.3162330985069275, + -0.07529077678918839, + 0.01554129645228386, + 0.039651576429605484, + -0.4311579167842865, + -0.10029593855142593, + 0.0, + 0.9988223910331726 + ], + [ + 0.3181912302970886, + -0.07668306678533554, + 0.0045035057701170444, + 0.02927693910896778, + -0.40486404299736023, + -0.0879509299993515, + 0.0, + 0.9988223910331726 + ], + [ + 0.31155431270599365, + -0.0704742968082428, + 0.0010063507361337543, + 0.05484621226787567, + -0.36390477418899536, + -0.09395492076873779, + 0.0, + 0.9988223910331726 + ], + [ + 0.2972101867198944, + -0.05810011923313141, + 0.002300066640600562, + 0.032867707312107086, + -0.266824871301651, + -0.07463590055704117, + 0.0, + 0.9988223910331726 + ], + [ + 0.2849177122116089, + -0.03198634460568428, + -0.0010651933262124658, + 0.03104550391435623, + -0.16295427083969116, + -0.0033293503802269697, + 0.0, + 0.9988223910331726 + ], + [ + 0.27390870451927185, + -0.004475856199860573, + -0.01358801405876875, + 0.056557655334472656, + -0.09387147426605225, + 0.005882489029318094, + 0.0, + 0.9988223910331726 + ], + [ + 0.2586950957775116, + 0.01857493445277214, + -0.031061837449669838, + 0.10565569251775742, + -0.0426546111702919, + -0.011640405282378197, + 0.0, + 0.9988223910331726 + ], + [ + 0.24078010022640228, + 0.038896344602108, + -0.041191525757312775, + 0.16729727387428284, + -0.0477403849363327, + -0.04294233024120331, + 0.0, + 0.9988223910331726 + ], + [ + 0.21946845948696136, + 0.0563591867685318, + -0.04896770045161247, + 0.19619745016098022, + -0.023313535377383232, + -0.0950763076543808, + 0.0, + 0.9988223910331726 + ], + [ + 0.20247259736061096, + 0.07338555157184601, + -0.05320851132273674, + 0.1969592124223709, + 0.0017331915441900492, + -0.11068332195281982, + 0.0, + 0.9988223910331726 + ] + ], + "left_gripper_pos": [ + [ + 0.993436336517334 + ], + [ + 0.993436336517334 + ], + [ + 0.993436336517334 + ], + [ + 0.993436336517334 + ], + [ + 0.993436336517334 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.993436336517334 + ], + [ + 0.9941151142120361 + ], + [ + 0.9398812651634216 + ], + [ + 0.6551066637039185 + ], + [ + 0.36359503865242004 + ], + [ + 0.21234850585460663 + ], + [ + 0.20928038656711578 + ], + [ + 0.23460371792316437 + ], + [ + 0.288376122713089 + ], + [ + 0.5541232228279114 + ], + [ + 0.8490449786186218 + ], + [ + 1.0047606229782104 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.1933698058128357, + 0.023725926876068115, + 0.10216450691223145 + ], + [ + 0.19125641882419586, + 0.02072683535516262, + 0.09614342451095581 + ], + [ + 0.20800013840198517, + -0.0011935338843613863, + 0.0728226900100708 + ], + [ + 0.2254762500524521, + -0.021138692274689674, + 0.04849875345826149 + ], + [ + 0.24752536416053772, + -0.03553145378828049, + 0.02592010423541069 + ], + [ + 0.2629006505012512, + -0.04702698066830635, + 0.0011453010374680161 + ], + [ + 0.276743084192276, + -0.052949458360672, + -0.011979576200246811 + ], + [ + 0.2835513651371002, + -0.054643988609313965, + -0.01676788367331028 + ], + [ + 0.2911893427371979, + -0.051183268427848816, + -0.027375072240829468 + ], + [ + 0.3030962646007538, + -0.045345738530159, + -0.03350645676255226 + ], + [ + 0.3115296959877014, + -0.03874657303094864, + -0.03642261400818825 + ], + [ + 0.3118872344493866, + -0.03735031932592392, + -0.04018121212720871 + ], + [ + 0.31026455760002136, + -0.0387028269469738, + -0.041866738349199295 + ], + [ + 0.3086835443973541, + -0.03867819905281067, + -0.04270004853606224 + ], + [ + 0.29783692955970764, + -0.03468338027596474, + -0.0422869436442852 + ], + [ + 0.27594083547592163, + -0.027584342285990715, + -0.03755424544215202 + ], + [ + 0.2687654495239258, + -0.01900344155728817, + -0.01352897472679615 + ], + [ + 0.25710615515708923, + -0.007842950522899628, + 0.0044906544499099255 + ], + [ + 0.25798875093460083, + -0.007304303348064423, + 0.03563164547085762 + ], + [ + 0.2701275050640106, + -0.01625942438840866, + 0.04810101538896561 + ], + [ + 0.28661981225013733, + -0.02706839144229889, + 0.058227699249982834 + ], + [ + 0.2987184226512909, + -0.03842451050877571, + 0.053584154695272446 + ], + [ + 0.3069378733634949, + -0.0497329905629158, + 0.05297096073627472 + ], + [ + 0.3112519383430481, + -0.0610697939991951, + 0.043786097317934036 + ], + [ + 0.3149782419204712, + -0.07105407863855362, + 0.031509555876255035 + ], + [ + 0.3162330985069275, + -0.07529077678918839, + 0.01554129645228386 + ], + [ + 0.3181912302970886, + -0.07668306678533554, + 0.0045035057701170444 + ], + [ + 0.31155431270599365, + -0.0704742968082428, + 0.0010063507361337543 + ], + [ + 0.2972101867198944, + -0.05810011923313141, + 0.002300066640600562 + ], + [ + 0.2849177122116089, + -0.03198634460568428, + -0.0010651933262124658 + ], + [ + 0.27390870451927185, + -0.004475856199860573, + -0.01358801405876875 + ], + [ + 0.2586950957775116, + 0.01857493445277214, + -0.031061837449669838 + ], + [ + 0.24078010022640228, + 0.038896344602108, + -0.041191525757312775 + ], + [ + 0.21946845948696136, + 0.0563591867685318, + -0.04896770045161247 + ], + [ + 0.20247259736061096, + 0.07338555157184601, + -0.05320851132273674 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9571980503432264, + 0.24396516495077003, + -0.15573339625677501, + 0.26426024823088645, + -0.9561308462624013, + 0.126413314292817, + -0.11806105888088753, + -0.16215672393116431, + -0.9796768769649693 + ], + [ + 0.9561675576716347, + 0.23410315094252193, + -0.17589575428373463, + 0.2568794283897043, + -0.9589511431906845, + 0.12010688674450822, + -0.14055803401598907, + -0.1600263093746217, + -0.9770542561094026 + ], + [ + 0.9769248872502171, + 0.17743557173799368, + -0.11888810938509184, + 0.18871021050160458, + -0.9777718834773693, + 0.09138161923252142, + -0.1000311007816587, + -0.11170837821367174, + -0.9886935911157109 + ], + [ + 0.9918290490060795, + 0.10653963734972621, + -0.07017437724045018, + 0.11168502701034522, + -0.9909840946182329, + 0.07400661426778035, + -0.061657053849455454, + -0.08123933706690617, + -0.9947856944204291 + ], + [ + 0.994993178690778, + 0.0900665802384281, + -0.04331957390114306, + 0.09197041269850646, + -0.9947816905353446, + 0.04416821666887131, + -0.039115438728054716, + -0.04793119339007484, + -0.9980844569240196 + ], + [ + 0.9970350817803451, + 0.07298724401145223, + 0.02437022590936142, + 0.07235828764556798, + -0.9970458784670537, + 0.02576420852388584, + 0.026178691874534605, + -0.02392443193628134, + -0.9993709509727928 + ], + [ + 0.9935129283659581, + 0.060820681070045894, + 0.09608801134311692, + 0.060909145657315096, + -0.9981412806349051, + 0.002014911364786184, + 0.09603195897718206, + 0.0038507981883930814, + -0.9953708023688045 + ], + [ + 0.9781119067025325, + 0.0613921617428335, + 0.19881675091218595, + 0.06531500726557542, + -0.9977770307938454, + -0.01322673981430925, + 0.19756276924723, + 0.025922949229579845, + -0.9799474235440422 + ], + [ + 0.9673059613701367, + 0.09355186939570569, + 0.23572701336580923, + 0.0873480921213519, + -0.9955035143292603, + 0.03664783432690128, + 0.23809554363858934, + -0.014859363736748885, + -0.9711280612817156 + ], + [ + 0.9609835431705734, + 0.1238160952948117, + 0.24734632461647052, + 0.10576485960568331, + -0.9907488797795018, + 0.08503206270726373, + 0.2555864320106222, + -0.05555386360648591, + -0.965188760818562 + ], + [ + 0.9564205637490154, + 0.13626842155688257, + 0.2582452758995042, + 0.11139361691638842, + -0.9878146804942662, + 0.10869047387096754, + 0.2699095540144887, + -0.07518692895980202, + -0.959945705946588 + ], + [ + 0.9603222861765865, + 0.12313745656094313, + 0.25023643512541505, + 0.09554382728435973, + -0.9882118577521098, + 0.11961898371905773, + 0.26201618984412134, + -0.09096422917732887, + -0.9607668943452119 + ], + [ + 0.9680641474080451, + 0.08934261586804099, + 0.2342428301848114, + 0.07187863338029357, + -0.9940305229939502, + 0.08207789848525174, + 0.24017757715181504, + -0.06261961630535287, + -0.9687071358709269 + ], + [ + 0.9691609079227008, + 0.08215461303795764, + 0.23233113030980104, + 0.06762889717897062, + -0.9952642635937542, + 0.06982390621798754, + 0.2369672273138261, + -0.05195830222173875, + -0.9701272432054632 + ], + [ + 0.9719081660474809, + 0.061461727859465666, + 0.2271936900064581, + 0.04282885172596041, + -0.9953692956601256, + 0.08605611376828834, + 0.2314307806452229, + -0.07390819484735012, + -0.9700398819143201 + ], + [ + 0.9841038614363273, + 0.028885315995728644, + 0.17522907414563565, + 0.016728677531494856, + -0.9973742925917011, + 0.0704604273706248, + 0.17680424557729668, + -0.06640902797836101, + -0.9820031057735064 + ], + [ + 0.9742942494543914, + 0.013809042851625767, + 0.22485556656579833, + -0.0032274338319854276, + -0.9971615114614651, + 0.07522302659921783, + 0.2252560746150131, + -0.07401506870501735, + -0.9714841586220679 + ], + [ + 0.9865575497035962, + 0.009893053681786704, + 0.1631144647530867, + -0.002586250056121745, + -0.9970955293152597, + 0.07611712507819574, + 0.16339373437645607, + -0.07551577920124886, + -0.983666536311033 + ], + [ + 0.984181158574637, + 0.02880771744359454, + 0.1748072153041035, + 0.02077255416773885, + -0.9986493610915613, + 0.04762304678162143, + 0.17594302515312601, + -0.043238513007574246, + -0.9834502950799598 + ], + [ + 0.9747339649948071, + 0.029062211190329063, + 0.2214702810000262, + 0.029299679128972855, + -0.9995682209354066, + 0.002213707063960085, + 0.22143898999146716, + 0.004331232706113395, + -0.9751646087378295 + ], + [ + 0.9580020241249809, + 0.013328001218226252, + 0.2864515424220413, + 0.020856214852101995, + -0.9995122065000913, + -0.023245803048332993, + 0.2860019931302622, + 0.02824382128618376, + -0.9578126886216698 + ], + [ + 0.9455365649566677, + -0.0015852179241692375, + 0.3255120449600566, + 0.006368296339934118, + -0.9997066731875606, + -0.023366907925232997, + 0.3254536051907734, + 0.024167223017807143, + -0.9452491185925197 + ], + [ + 0.9249916434326039, + -0.02600550217542936, + 0.3790965225855475, + -0.0163103227687431, + -0.999453150550349, + -0.02876409612974025, + 0.3796372386252832, + 0.020423361907023443, + -0.9249099703957054 + ], + [ + 0.9107277770682615, + -0.0705909689430068, + 0.4069297619737219, + -0.0613489931612836, + -0.9974765620020061, + -0.03573246835518511, + 0.4084252895137608, + 0.007577820289831106, + -0.912760296860712 + ], + [ + 0.9008789649179875, + -0.07471064961914865, + 0.42759257407230594, + -0.07718520661400853, + -0.9969496105885308, + -0.011572287039719912, + 0.4271528232942496, + -0.02257859120630996, + -0.903897490189507 + ], + [ + 0.9039169303204627, + -0.08356546086115155, + 0.419465131841843, + -0.09096441366805977, + -0.9958513214225383, + -0.0023708789530635203, + 0.4179230294277374, + -0.036013322146774066, + -0.9077683526659733 + ], + [ + 0.9156032453801771, + -0.07631415287543075, + 0.3947744256156831, + -0.0807364396807577, + -0.9967207256382742, + -0.005424241033312254, + 0.3938937983225459, + -0.026906228907401346, + -0.9187620641325043 + ], + [ + 0.9303924498150367, + -0.07425032785648612, + 0.358966263234275, + -0.08767307968498765, + -0.9959229347037352, + 0.021235329751374224, + 0.3559260041437325, + -0.05122886827077204, + -0.9331089339567871 + ], + [ + 0.9619274937309277, + -0.06588580738191326, + 0.2652443348879855, + -0.07192793299769644, + -0.9973235380888392, + 0.01311994011566865, + 0.2636700006811834, + -0.03169890786120657, + -0.9640919613715238 + ], + [ + 0.9867468379521896, + 0.0017080607940976565, + 0.16225831356105813, + -0.0032852380986210733, + -0.9995293534443326, + 0.030500472353548466, + 0.1622340439056808, + -0.03062930184444092, + -0.9862768175651964 + ], + [ + 0.9955800819603663, + 0.011171488460395748, + 0.09324965549196049, + 0.005856556462891712, + -0.9983525996107921, + 0.05707703213000812, + 0.09373367137900357, + -0.05627863445351409, + -0.9940053893988002 + ], + [ + 0.9990227428623366, + -0.007078578884598766, + 0.04362857967878216, + -0.011629554882464166, + -0.9944086019706717, + 0.10495849551117627, + 0.042641677934259166, + -0.10536330503409792, + -0.9935191297882704 + ], + [ + 0.9979398144089799, + -0.034390488294394034, + 0.05416106657224787, + -0.04288022198018937, + -0.9854705521054711, + 0.16434438687058148, + 0.0477222524646522, + -0.16632824549008748, + -0.9849149716457197 + ], + [ + 0.9952131306811249, + -0.08858800229491999, + 0.04126730387691604, + -0.0949073340296409, + -0.9768166483476608, + 0.19189015987858443, + 0.02331142353569695, + -0.19488817655321672, + -0.9805484058283415 + ], + [ + 0.9938793592009545, + -0.10865898949681063, + 0.019925946798887754, + -0.11045730127238837, + -0.9746278524299867, + 0.1946785398120013, + -0.001733190676452544, + -0.1956879487072317, + -0.9806646841713201 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0021133869886398315, + -0.0029990915209054947, + -0.006021082401275635, + -0.0016903281211853027, + 0.022687964141368866, + -0.006909072399139404, + 1.0 + ], + [ + 0.016743719577789307, + -0.021920369938015938, + -0.02332073450088501, + -0.04983436316251755, + -0.04082634299993515, + -0.07164065539836884, + 1.0 + ], + [ + 0.01747611165046692, + -0.019945157691836357, + -0.02432393655180931, + -0.03102436661720276, + -0.038502492010593414, + -0.07868460565805435, + 1.0 + ], + [ + 0.022049114108085632, + -0.014392761513590813, + -0.0225786492228508, + -0.033498022705316544, + -0.022570766508579254, + -0.019961461424827576, + 1.0 + ], + [ + 0.015375286340713501, + -0.011495526880025864, + -0.02477480284869671, + -0.024051398038864136, + -0.06530710309743881, + -0.019724853336811066, + 1.0 + ], + [ + 0.01384243369102478, + -0.005922477692365646, + -0.013124877586960793, + -0.027803607285022736, + -0.06999849528074265, + -0.011216238141059875, + 1.0 + ], + [ + 0.006808280944824219, + -0.0016945302486419678, + -0.004788307473063469, + -0.02257855236530304, + -0.10269088298082352, + 0.005447417497634888, + 1.0 + ], + [ + 0.007637977600097656, + 0.003460720181465149, + -0.010607188567519188, + 0.04174718260765076, + -0.041533470153808594, + 0.02337849885225296, + 1.0 + ], + [ + 0.011906921863555908, + 0.005837529897689819, + -0.006131384521722794, + 0.04219413548707962, + -0.018049702048301697, + 0.019561663269996643, + 1.0 + ], + [ + 0.008433431386947632, + 0.006599165499210358, + -0.0029161572456359863, + 0.020670492202043533, + -0.0148448646068573, + 0.006329096853733063, + 0.0 + ], + [ + 0.00035753846168518066, + 0.0013962537050247192, + -0.003758598119020462, + 0.01623281091451645, + 0.008188307285308838, + -0.01678180694580078, + 0.0 + ], + [ + -0.0016226768493652344, + -0.001352507621049881, + -0.0016855262219905853, + -0.029844731092453003, + 0.02256201207637787, + -0.025051213800907135, + 0.0 + ], + [ + -0.0015810132026672363, + 2.4627894163131714e-05, + -0.0008333101868629456, + -0.011045537889003754, + 0.0033058077096939087, + -0.004445925354957581, + 0.0 + ], + [ + -0.010846614837646484, + 0.003994818776845932, + 0.0004131048917770386, + 0.022536851465702057, + 0.005694836378097534, + -0.025629665702581406, + 0.0 + ], + [ + -0.02189609408378601, + 0.007099037989974022, + 0.004732698202133179, + -0.008520685136318207, + 0.055809542536735535, + -0.02704101987183094, + 0.0 + ], + [ + -0.00717538595199585, + 0.008580900728702545, + 0.024025270715355873, + 0.008517444133758545, + -0.049467265605926514, + -0.02030983194708824, + 1.0 + ], + [ + -0.011659294366836548, + 0.011160491034388542, + 0.018019629642367363, + 0.0005786865949630737, + 0.0630762130022049, + 0.0006910909432917833, + 1.0 + ], + [ + 0.0008825957775115967, + 0.0005386471748352051, + 0.031140990555286407, + -0.03268156573176384, + -0.012734010815620422, + 0.023724783211946487, + 1.0 + ], + [ + 0.01213875412940979, + -0.008955121040344238, + 0.012469369918107986, + -0.04837935417890549, + -0.0464261919260025, + 0.008946806192398071, + 1.0 + ], + [ + 0.01649230718612671, + -0.010808967053890228, + 0.010126683861017227, + -0.02503778040409088, + -0.06676208972930908, + -0.008283011615276337, + 1.0 + ], + [ + 0.012098610401153564, + -0.011356119066476822, + -0.004643544554710388, + 0.0039178188890218735, + -0.0414394736289978, + -0.015032082796096802, + 1.0 + ], + [ + 0.00821945071220398, + -0.011308480054140091, + -0.0006131939589977264, + 0.003483600914478302, + -0.057912737131118774, + -0.024366125464439392, + 1.0 + ], + [ + 0.004314064979553223, + -0.011336803436279297, + -0.009184863418340683, + 0.013775969855487347, + -0.03132408857345581, + -0.049629874527454376, + 1.0 + ], + [ + 0.0037263035774230957, + -0.00998428463935852, + -0.012276541441679, + 0.03327585756778717, + -0.020613282918930054, + -0.01820795238018036, + 1.0 + ], + [ + 0.0012548565864562988, + -0.004236698150634766, + -0.015968259423971176, + 0.014677619561553001, + 0.010183602571487427, + -0.014826998114585876, + 1.0 + ], + [ + 0.001958131790161133, + -0.0013922899961471558, + -0.011037791147828102, + -0.010374637320637703, + 0.02629387378692627, + 0.012345008552074432, + 1.0 + ], + [ + -0.006636917591094971, + 0.006208769977092743, + -0.0034971549175679684, + 0.02556927315890789, + 0.04095926880836487, + -0.0060039907693862915, + 1.0 + ], + [ + -0.014344125986099243, + 0.01237417757511139, + 0.0012937159044668078, + -0.021978504955768585, + 0.09707990288734436, + 0.019319020211696625, + 1.0 + ], + [ + -0.012292474508285522, + 0.02611377462744713, + -0.0033652600832283497, + -0.0018222033977508545, + 0.10387060046195984, + 0.07130654901266098, + 1.0 + ], + [ + -0.011009007692337036, + 0.027510488405823708, + -0.012522820383310318, + 0.025512151420116425, + 0.06908279657363892, + 0.00921183917671442, + 1.0 + ], + [ + -0.015213608741760254, + 0.023050790652632713, + -0.017473824322223663, + 0.04909803718328476, + 0.051216863095760345, + -0.017522893846035004, + 1.0 + ], + [ + -0.017914995551109314, + 0.02032141014933586, + -0.010129688307642937, + 0.06164158135652542, + -0.005085773766040802, + -0.03130192309617996, + 1.0 + ], + [ + -0.021311640739440918, + 0.017462842166423798, + -0.007776174694299698, + 0.028900176286697388, + 0.02442684955894947, + -0.05213397741317749, + 1.0 + ], + [ + -0.016995862126350403, + 0.01702636480331421, + -0.004240810871124268, + 0.000761762261390686, + 0.025046726688742638, + -0.015607014298439026, + 1.0 + ], + [ + -0.010064691305160522, + 0.013929575681686401, + -0.0009473823010921478, + -0.035972028970718384, + 0.02780207060277462, + 0.003349028527736664, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.993436336517334 + ], + [ + 0.993436336517334 + ], + [ + 0.993436336517334 + ], + [ + 0.993436336517334 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.993436336517334 + ], + [ + 0.9941151142120361 + ], + [ + 0.9398812651634216 + ], + [ + 0.6551066637039185 + ], + [ + 0.36359503865242004 + ], + [ + 0.21234850585460663 + ], + [ + 0.20928038656711578 + ], + [ + 0.23460371792316437 + ], + [ + 0.288376122713089 + ], + [ + 0.5541232228279114 + ], + [ + 0.8490449786186218 + ], + [ + 1.0047606229782104 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.19125641882419586, + 0.02072683535516262, + 0.09614342451095581 + ], + [ + 0.20800013840198517, + -0.0011935338843613863, + 0.0728226900100708 + ], + [ + 0.2254762500524521, + -0.021138692274689674, + 0.04849875345826149 + ], + [ + 0.24752536416053772, + -0.03553145378828049, + 0.02592010423541069 + ], + [ + 0.2629006505012512, + -0.04702698066830635, + 0.0011453010374680161 + ], + [ + 0.276743084192276, + -0.052949458360672, + -0.011979576200246811 + ], + [ + 0.2835513651371002, + -0.054643988609313965, + -0.01676788367331028 + ], + [ + 0.2911893427371979, + -0.051183268427848816, + -0.027375072240829468 + ], + [ + 0.3030962646007538, + -0.045345738530159, + -0.03350645676255226 + ], + [ + 0.3115296959877014, + -0.03874657303094864, + -0.03642261400818825 + ], + [ + 0.3118872344493866, + -0.03735031932592392, + -0.04018121212720871 + ], + [ + 0.31026455760002136, + -0.0387028269469738, + -0.041866738349199295 + ], + [ + 0.3086835443973541, + -0.03867819905281067, + -0.04270004853606224 + ], + [ + 0.29783692955970764, + -0.03468338027596474, + -0.0422869436442852 + ], + [ + 0.27594083547592163, + -0.027584342285990715, + -0.03755424544215202 + ], + [ + 0.2687654495239258, + -0.01900344155728817, + -0.01352897472679615 + ], + [ + 0.25710615515708923, + -0.007842950522899628, + 0.0044906544499099255 + ], + [ + 0.25798875093460083, + -0.007304303348064423, + 0.03563164547085762 + ], + [ + 0.2701275050640106, + -0.01625942438840866, + 0.04810101538896561 + ], + [ + 0.28661981225013733, + -0.02706839144229889, + 0.058227699249982834 + ], + [ + 0.2987184226512909, + -0.03842451050877571, + 0.053584154695272446 + ], + [ + 0.3069378733634949, + -0.0497329905629158, + 0.05297096073627472 + ], + [ + 0.3112519383430481, + -0.0610697939991951, + 0.043786097317934036 + ], + [ + 0.3149782419204712, + -0.07105407863855362, + 0.031509555876255035 + ], + [ + 0.3162330985069275, + -0.07529077678918839, + 0.01554129645228386 + ], + [ + 0.3181912302970886, + -0.07668306678533554, + 0.0045035057701170444 + ], + [ + 0.31155431270599365, + -0.0704742968082428, + 0.0010063507361337543 + ], + [ + 0.2972101867198944, + -0.05810011923313141, + 0.002300066640600562 + ], + [ + 0.2849177122116089, + -0.03198634460568428, + -0.0010651933262124658 + ], + [ + 0.27390870451927185, + -0.004475856199860573, + -0.01358801405876875 + ], + [ + 0.2586950957775116, + 0.01857493445277214, + -0.031061837449669838 + ], + [ + 0.24078010022640228, + 0.038896344602108, + -0.041191525757312775 + ], + [ + 0.21946845948696136, + 0.0563591867685318, + -0.04896770045161247 + ], + [ + 0.20247259736061096, + 0.07338555157184601, + -0.05320851132273674 + ], + [ + 0.19240790605545044, + 0.08731512725353241, + -0.05415589362382889 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9561675576716347, + 0.23410315094252193, + -0.17589575428373463, + 0.2568794283897043, + -0.9589511431906845, + 0.12010688674450822, + -0.14055803401598907, + -0.1600263093746217, + -0.9770542561094026 + ], + [ + 0.9769248872502171, + 0.17743557173799368, + -0.11888810938509184, + 0.18871021050160458, + -0.9777718834773693, + 0.09138161923252142, + -0.1000311007816587, + -0.11170837821367174, + -0.9886935911157109 + ], + [ + 0.9918290490060795, + 0.10653963734972621, + -0.07017437724045018, + 0.11168502701034522, + -0.9909840946182329, + 0.07400661426778035, + -0.061657053849455454, + -0.08123933706690617, + -0.9947856944204291 + ], + [ + 0.994993178690778, + 0.0900665802384281, + -0.04331957390114306, + 0.09197041269850646, + -0.9947816905353446, + 0.04416821666887131, + -0.039115438728054716, + -0.04793119339007484, + -0.9980844569240196 + ], + [ + 0.9970350817803451, + 0.07298724401145223, + 0.02437022590936142, + 0.07235828764556798, + -0.9970458784670537, + 0.02576420852388584, + 0.026178691874534605, + -0.02392443193628134, + -0.9993709509727928 + ], + [ + 0.9935129283659581, + 0.060820681070045894, + 0.09608801134311692, + 0.060909145657315096, + -0.9981412806349051, + 0.002014911364786184, + 0.09603195897718206, + 0.0038507981883930814, + -0.9953708023688045 + ], + [ + 0.9781119067025325, + 0.0613921617428335, + 0.19881675091218595, + 0.06531500726557542, + -0.9977770307938454, + -0.01322673981430925, + 0.19756276924723, + 0.025922949229579845, + -0.9799474235440422 + ], + [ + 0.9673059613701367, + 0.09355186939570569, + 0.23572701336580923, + 0.0873480921213519, + -0.9955035143292603, + 0.03664783432690128, + 0.23809554363858934, + -0.014859363736748885, + -0.9711280612817156 + ], + [ + 0.9609835431705734, + 0.1238160952948117, + 0.24734632461647052, + 0.10576485960568331, + -0.9907488797795018, + 0.08503206270726373, + 0.2555864320106222, + -0.05555386360648591, + -0.965188760818562 + ], + [ + 0.9564205637490154, + 0.13626842155688257, + 0.2582452758995042, + 0.11139361691638842, + -0.9878146804942662, + 0.10869047387096754, + 0.2699095540144887, + -0.07518692895980202, + -0.959945705946588 + ], + [ + 0.9603222861765865, + 0.12313745656094313, + 0.25023643512541505, + 0.09554382728435973, + -0.9882118577521098, + 0.11961898371905773, + 0.26201618984412134, + -0.09096422917732887, + -0.9607668943452119 + ], + [ + 0.9680641474080451, + 0.08934261586804099, + 0.2342428301848114, + 0.07187863338029357, + -0.9940305229939502, + 0.08207789848525174, + 0.24017757715181504, + -0.06261961630535287, + -0.9687071358709269 + ], + [ + 0.9691609079227008, + 0.08215461303795764, + 0.23233113030980104, + 0.06762889717897062, + -0.9952642635937542, + 0.06982390621798754, + 0.2369672273138261, + -0.05195830222173875, + -0.9701272432054632 + ], + [ + 0.9719081660474809, + 0.061461727859465666, + 0.2271936900064581, + 0.04282885172596041, + -0.9953692956601256, + 0.08605611376828834, + 0.2314307806452229, + -0.07390819484735012, + -0.9700398819143201 + ], + [ + 0.9841038614363273, + 0.028885315995728644, + 0.17522907414563565, + 0.016728677531494856, + -0.9973742925917011, + 0.0704604273706248, + 0.17680424557729668, + -0.06640902797836101, + -0.9820031057735064 + ], + [ + 0.9742942494543914, + 0.013809042851625767, + 0.22485556656579833, + -0.0032274338319854276, + -0.9971615114614651, + 0.07522302659921783, + 0.2252560746150131, + -0.07401506870501735, + -0.9714841586220679 + ], + [ + 0.9865575497035962, + 0.009893053681786704, + 0.1631144647530867, + -0.002586250056121745, + -0.9970955293152597, + 0.07611712507819574, + 0.16339373437645607, + -0.07551577920124886, + -0.983666536311033 + ], + [ + 0.984181158574637, + 0.02880771744359454, + 0.1748072153041035, + 0.02077255416773885, + -0.9986493610915613, + 0.04762304678162143, + 0.17594302515312601, + -0.043238513007574246, + -0.9834502950799598 + ], + [ + 0.9747339649948071, + 0.029062211190329063, + 0.2214702810000262, + 0.029299679128972855, + -0.9995682209354066, + 0.002213707063960085, + 0.22143898999146716, + 0.004331232706113395, + -0.9751646087378295 + ], + [ + 0.9580020241249809, + 0.013328001218226252, + 0.2864515424220413, + 0.020856214852101995, + -0.9995122065000913, + -0.023245803048332993, + 0.2860019931302622, + 0.02824382128618376, + -0.9578126886216698 + ], + [ + 0.9455365649566677, + -0.0015852179241692375, + 0.3255120449600566, + 0.006368296339934118, + -0.9997066731875606, + -0.023366907925232997, + 0.3254536051907734, + 0.024167223017807143, + -0.9452491185925197 + ], + [ + 0.9249916434326039, + -0.02600550217542936, + 0.3790965225855475, + -0.0163103227687431, + -0.999453150550349, + -0.02876409612974025, + 0.3796372386252832, + 0.020423361907023443, + -0.9249099703957054 + ], + [ + 0.9107277770682615, + -0.0705909689430068, + 0.4069297619737219, + -0.0613489931612836, + -0.9974765620020061, + -0.03573246835518511, + 0.4084252895137608, + 0.007577820289831106, + -0.912760296860712 + ], + [ + 0.9008789649179875, + -0.07471064961914865, + 0.42759257407230594, + -0.07718520661400853, + -0.9969496105885308, + -0.011572287039719912, + 0.4271528232942496, + -0.02257859120630996, + -0.903897490189507 + ], + [ + 0.9039169303204627, + -0.08356546086115155, + 0.419465131841843, + -0.09096441366805977, + -0.9958513214225383, + -0.0023708789530635203, + 0.4179230294277374, + -0.036013322146774066, + -0.9077683526659733 + ], + [ + 0.9156032453801771, + -0.07631415287543075, + 0.3947744256156831, + -0.0807364396807577, + -0.9967207256382742, + -0.005424241033312254, + 0.3938937983225459, + -0.026906228907401346, + -0.9187620641325043 + ], + [ + 0.9303924498150367, + -0.07425032785648612, + 0.358966263234275, + -0.08767307968498765, + -0.9959229347037352, + 0.021235329751374224, + 0.3559260041437325, + -0.05122886827077204, + -0.9331089339567871 + ], + [ + 0.9619274937309277, + -0.06588580738191326, + 0.2652443348879855, + -0.07192793299769644, + -0.9973235380888392, + 0.01311994011566865, + 0.2636700006811834, + -0.03169890786120657, + -0.9640919613715238 + ], + [ + 0.9867468379521896, + 0.0017080607940976565, + 0.16225831356105813, + -0.0032852380986210733, + -0.9995293534443326, + 0.030500472353548466, + 0.1622340439056808, + -0.03062930184444092, + -0.9862768175651964 + ], + [ + 0.9955800819603663, + 0.011171488460395748, + 0.09324965549196049, + 0.005856556462891712, + -0.9983525996107921, + 0.05707703213000812, + 0.09373367137900357, + -0.05627863445351409, + -0.9940053893988002 + ], + [ + 0.9990227428623366, + -0.007078578884598766, + 0.04362857967878216, + -0.011629554882464166, + -0.9944086019706717, + 0.10495849551117627, + 0.042641677934259166, + -0.10536330503409792, + -0.9935191297882704 + ], + [ + 0.9979398144089799, + -0.034390488294394034, + 0.05416106657224787, + -0.04288022198018937, + -0.9854705521054711, + 0.16434438687058148, + 0.0477222524646522, + -0.16632824549008748, + -0.9849149716457197 + ], + [ + 0.9952131306811249, + -0.08858800229491999, + 0.04126730387691604, + -0.0949073340296409, + -0.9768166483476608, + 0.19189015987858443, + 0.02331142353569695, + -0.19488817655321672, + -0.9805484058283415 + ], + [ + 0.9938793592009545, + -0.10865898949681063, + 0.019925946798887754, + -0.11045730127238837, + -0.9746278524299867, + 0.1946785398120013, + -0.001733190676452544, + -0.1956879487072317, + -0.9806646841713201 + ], + [ + 0.9938115785499335, + -0.11044945648806359, + -0.01180948354419958, + -0.10708159631070183, + -0.9808820386768023, + 0.16249294733246708, + -0.029530968010569165, + -0.16022279414219245, + -0.9866390313410611 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006576.json b/json/chunk-0006/episode_0006576.json new file mode 100644 index 0000000000000000000000000000000000000000..ea7b4a1d43700c43b69a6ea66b5dc6b00ee5b95e --- /dev/null +++ b/json/chunk-0006/episode_0006576.json @@ -0,0 +1,1102 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 17, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMoved the green thing." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006576.mp4", + "start": 0, + "end": 17, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.32208043336868286, + 0.1250583380460739, + 0.05804981291294098, + 0.07828790694475174, + -0.17089372873306274, + 0.1944907009601593, + 0.0, + 1.0001531839370728 + ], + [ + 0.3196145296096802, + 0.12416747212409973, + 0.04501720517873764, + 0.07180885225534439, + -0.13331635296344757, + 0.20000943541526794, + 0.0, + 1.0001531839370728 + ], + [ + 0.3275262713432312, + 0.11831367760896683, + 0.030386202037334442, + 0.06382231414318085, + -0.1045403927564621, + 0.2000909298658371, + 0.0, + 1.0001531839370728 + ], + [ + 0.34031355381011963, + 0.1112290471792221, + 0.019787320867180824, + 0.054440926760435104, + -0.09412473440170288, + 0.19623415172100067, + 0.0, + 1.0001531839370728 + ], + [ + 0.3541216552257538, + 0.1102883368730545, + 0.013313661329448223, + 0.053916968405246735, + -0.09984245896339417, + 0.20452775061130524, + 0.0, + 1.0001531839370728 + ], + [ + 0.3584778308868408, + 0.11605918407440186, + 0.0059270430356264114, + 0.09071072936058044, + -0.07573095709085464, + 0.19709430634975433, + 0.0, + 1.0001531839370728 + ], + [ + 0.3529640734195709, + 0.12354683130979538, + 0.004086889326572418, + 0.13489177823066711, + -0.06258292496204376, + 0.1917950063943863, + 0.0, + 1.0001531839370728 + ], + [ + 0.3380334973335266, + 0.13181224465370178, + -0.000838104693684727, + 0.13346317410469055, + -0.010969147086143494, + 0.2062869668006897, + 0.0, + 0.9476637244224548 + ], + [ + 0.33958700299263, + 0.13232527673244476, + 0.0011354769812896848, + 0.12259198725223541, + -0.009795941412448883, + 0.2144453078508377, + 0.0, + 0.728995144367218 + ], + [ + 0.3572556674480438, + 0.13933402299880981, + 0.017871545627713203, + 0.10415517538785934, + -0.058249279856681824, + 0.2358773797750473, + 0.0, + 0.7250383496284485 + ], + [ + 0.37443476915359497, + 0.14726436138153076, + 0.026133477687835693, + 0.07725518196821213, + -0.07233291119337082, + 0.26606836915016174, + 0.0, + 0.7250383496284485 + ], + [ + 0.4031989872455597, + 0.15501682460308075, + 0.043855030089616776, + 0.05789564549922943, + -0.12049464136362076, + 0.29415425658226013, + 0.0, + 0.7250383496284485 + ], + [ + 0.41584110260009766, + 0.16331951320171356, + 0.03487612307071686, + 0.07813315838575363, + -0.10213147848844528, + 0.3023107945919037, + 0.0, + 0.7250383496284485 + ], + [ + 0.4138563871383667, + 0.1780870109796524, + 0.021140659227967262, + 0.11233057081699371, + -0.07424139976501465, + 0.3213484585285187, + 0.0, + 0.7250383496284485 + ], + [ + 0.4092589020729065, + 0.18658506870269775, + 0.016900744289159775, + 0.12978224456310272, + -0.07396654784679413, + 0.33238211274147034, + 0.0, + 0.7903241515159607 + ], + [ + 0.40785032510757446, + 0.18484461307525635, + 0.014885022304952145, + 0.12215042859315872, + -0.06684599816799164, + 0.33723583817481995, + 0.0, + 1.0001531839370728 + ], + [ + 0.40581169724464417, + 0.18256647884845734, + 0.017923839390277863, + 0.11263243854045868, + -0.05343681201338768, + 0.3427290618419647, + 0.0, + 1.0060625076293945 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9476637244224548 + ], + [ + 0.728995144367218 + ], + [ + 0.7250383496284485 + ], + [ + 0.7250383496284485 + ], + [ + 0.7250383496284485 + ], + [ + 0.7250383496284485 + ], + [ + 0.7250383496284485 + ], + [ + 0.7903241515159607 + ], + [ + 1.0001531839370728 + ], + [ + 1.0060625076293945 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.32208043336868286, + 0.1250583380460739, + 0.05804981291294098 + ], + [ + 0.3196145296096802, + 0.12416747212409973, + 0.04501720517873764 + ], + [ + 0.3275262713432312, + 0.11831367760896683, + 0.030386202037334442 + ], + [ + 0.34031355381011963, + 0.1112290471792221, + 0.019787320867180824 + ], + [ + 0.3541216552257538, + 0.1102883368730545, + 0.013313661329448223 + ], + [ + 0.3584778308868408, + 0.11605918407440186, + 0.0059270430356264114 + ], + [ + 0.3529640734195709, + 0.12354683130979538, + 0.004086889326572418 + ], + [ + 0.3380334973335266, + 0.13181224465370178, + -0.000838104693684727 + ], + [ + 0.33958700299263, + 0.13232527673244476, + 0.0011354769812896848 + ], + [ + 0.3572556674480438, + 0.13933402299880981, + 0.017871545627713203 + ], + [ + 0.37443476915359497, + 0.14726436138153076, + 0.026133477687835693 + ], + [ + 0.4031989872455597, + 0.15501682460308075, + 0.043855030089616776 + ], + [ + 0.41584110260009766, + 0.16331951320171356, + 0.03487612307071686 + ], + [ + 0.4138563871383667, + 0.1780870109796524, + 0.021140659227967262 + ], + [ + 0.4092589020729065, + 0.18658506870269775, + 0.016900744289159775 + ], + [ + 0.40785032510757446, + 0.18484461307525635, + 0.014885022304952145 + ], + [ + 0.40581169724464417, + 0.18256647884845734, + 0.017923839390277863 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9668540373020789, + 0.20572442934204294, + 0.15123071686850365, + 0.19045157771235544, + -0.975570536570207, + 0.10950034120035207, + 0.17006312680750452, + -0.07706871834933851, + -0.9824148540980259 + ], + [ + 0.9713681277809153, + 0.20751319627768106, + 0.11568160485583019, + 0.19691560956742904, + -0.9756441815633364, + 0.09665750715953514, + 0.13292179294640769, + -0.07111050802960378, + -0.9885722495638265 + ], + [ + 0.974698059272484, + 0.2048763438456989, + 0.0893833149020133, + 0.19767335096292435, + -0.9767303707268022, + 0.0832047427672973, + 0.10435008178981968, + -0.06343080192069565, + -0.9925157902009194 + ], + [ + 0.9764662754550171, + 0.1997042779267299, + 0.08143595199155078, + 0.194114089554625, + -0.9783575360196187, + 0.07166764925682732, + 0.09398581347940642, + -0.05417317686257667, + -0.9940985533503357 + ], + [ + 0.9742806911740762, + 0.20806932944139322, + 0.08651178504211843, + 0.20209329027292333, + -0.9766431207262642, + 0.0729829895573481, + 0.09967666142095988, + -0.0536224662233379, + -0.9935739500832833 + ], + [ + 0.9778289840041755, + 0.2017365752613454, + 0.05615008676026663, + 0.19525945786858848, + -0.975265827576722, + 0.10358720806140444, + 0.07565858942794833, + -0.09032673891442837, + -0.9930341676311334 + ], + [ + 0.9797418747366221, + 0.19714629594717117, + 0.0352022283652596, + 0.19024811965391783, + -0.9711428234072854, + 0.14383069739341145, + 0.06254208067947574, + -0.13421979935477826, + -0.9889760025427541 + ], + [ + 0.9787393046347704, + 0.2044341432782589, + -0.016614891667737195, + 0.2048146874640124, + -0.9697947734248944, + 0.1324727943268991, + 0.010968927115504252, + -0.13305930444671019, + -0.9910473773428254 + ], + [ + 0.9770477051925596, + 0.21237881221413663, + -0.016523374366806752, + 0.2127952639962371, + -0.9695065844151161, + 0.12155310936585355, + 0.009795784742679928, + -0.12227928237542073, + -0.9924473888841802 + ], + [ + 0.9706606286959452, + 0.23831468129414574, + 0.03200088403875233, + 0.23329980924713184, + -0.9656260236993316, + 0.11461928877754088, + 0.05821634568438515, + -0.10379063076350944, + -0.9928939329358744 + ], + [ + 0.9622892619547717, + 0.26753732469375224, + 0.04922556472251498, + 0.2622526352665462, + -0.9604677982535312, + 0.09340858533221638, + 0.0722698527900299, + -0.07697654456861433, + -0.9944102171458132 + ], + [ + 0.9501084255189546, + 0.29610137335025455, + 0.09807118056792047, + 0.28782833771971505, + -0.9534276015360815, + 0.0901701537908193, + 0.12020327684134968, + -0.05744375796592277, + -0.9910859634296885 + ], + [ + 0.9496764732753536, + 0.3044156888603734, + 0.0737948811432782, + 0.2961755801434467, + -0.9493692846377163, + 0.1047758899421209, + 0.10195401823360875, + -0.07764695591029287, + -0.9917541673236799 + ], + [ + 0.9461967564342062, + 0.32174447158002395, + 0.03452814969091368, + 0.3149762401008611, + -0.9402044728036786, + 0.1296360964079106, + 0.07417321811349224, + -0.11178570717067339, + -0.990960286483288 + ], + [ + 0.9426831281345596, + 0.3325920113088514, + 0.027038379092956755, + 0.32540350323567657, + -0.9341974876800623, + 0.1462450481014966, + 0.07389912051161779, + -0.12906435613984554, + -0.9888788156097877 + ], + [ + 0.9415653119784236, + 0.3360949495946294, + 0.022247429873080232, + 0.33014092042558196, + -0.9339484790080075, + 0.13692045580985826, + 0.06679622698568857, + -0.12157476471543485, + -0.9903321870185091 + ], + [ + 0.9404966587980963, + 0.33958331049570195, + 0.012215155438942003, + 0.3355789904380044, + -0.9338558248004954, + 0.12369332909577845, + 0.0534113842380782, + -0.11223401319994948, + -0.9922453075297492 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0024659037590026855, + -0.0008908659219741821, + -0.013032607734203339, + -0.006479054689407349, + 0.03757737576961517, + 0.005518734455108643, + 1.0 + ], + [ + 0.007911741733551025, + -0.005853794515132904, + -0.014631003141403198, + -0.007986538112163544, + 0.028775960206985474, + 8.149445056915283e-05, + 1.0 + ], + [ + 0.012787282466888428, + -0.0070846304297447205, + -0.010598881170153618, + -0.009381387382745743, + 0.010415658354759216, + -0.0038567781448364258, + 1.0 + ], + [ + 0.013808101415634155, + -0.0009407103061676025, + -0.006473659537732601, + -0.0005239583551883698, + -0.005717724561691284, + 0.008293598890304565, + 1.0 + ], + [ + 0.004356175661087036, + 0.005770847201347351, + -0.007386618293821812, + 0.03679376095533371, + 0.02411150187253952, + -0.007433444261550903, + 1.0 + ], + [ + -0.0055137574672698975, + 0.007487647235393524, + -0.0018401537090539932, + 0.04418104887008667, + 0.013148032128810883, + -0.005299299955368042, + 1.0 + ], + [ + -0.014930576086044312, + 0.008265413343906403, + -0.004924993962049484, + -0.0014286041259765625, + 0.05161377787590027, + 0.014491960406303406, + 0.0 + ], + [ + 0.0015535056591033936, + 0.000513032078742981, + 0.0019735817331820726, + -0.01087118685245514, + 0.0011732056736946106, + 0.00815834105014801, + 0.0 + ], + [ + 0.01766866445541382, + 0.007008746266365051, + 0.016736067831516266, + -0.018436811864376068, + -0.04845333844423294, + 0.021432071924209595, + 0.0 + ], + [ + 0.017179101705551147, + 0.007930338382720947, + 0.00826193206012249, + -0.026899993419647217, + -0.014083631336688995, + 0.03019098937511444, + 0.0 + ], + [ + 0.02876421809196472, + 0.007752463221549988, + 0.017721552401781082, + -0.019359536468982697, + -0.04816173017024994, + 0.02808588743209839, + 0.0 + ], + [ + 0.012642115354537964, + 0.008302688598632812, + -0.008978907018899918, + 0.0202375128865242, + 0.018363162875175476, + 0.008156538009643555, + 0.0 + ], + [ + -0.001984715461730957, + 0.014767497777938843, + -0.013735463842749596, + 0.03419741243124008, + 0.027890078723430634, + 0.01903766393661499, + 0.0 + ], + [ + -0.004597485065460205, + 0.008498057723045349, + -0.0042399149388074875, + 0.01745167374610901, + 0.00027485191822052, + 0.01103365421295166, + 1.0 + ], + [ + -0.0014085769653320312, + -0.0017404556274414062, + -0.00201572198420763, + -0.007631815969944, + 0.00712054967880249, + 0.004853725433349609, + 1.0 + ], + [ + -0.002038627862930298, + -0.0022781342267990112, + 0.003038817085325718, + -0.009517990052700043, + 0.013409186154603958, + 0.005493223667144775, + 1.0 + ], + [ + 0.00010892748832702637, + -0.0015206784009933472, + 0.039206549525260925, + -0.0056762173771858215, + -0.04220592603087425, + -0.018033534288406372, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9476637244224548 + ], + [ + 0.728995144367218 + ], + [ + 0.7250383496284485 + ], + [ + 0.7250383496284485 + ], + [ + 0.7250383496284485 + ], + [ + 0.7250383496284485 + ], + [ + 0.7250383496284485 + ], + [ + 0.7903241515159607 + ], + [ + 1.0001531839370728 + ], + [ + 1.0060625076293945 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3196145296096802, + 0.12416747212409973, + 0.04501720517873764 + ], + [ + 0.3275262713432312, + 0.11831367760896683, + 0.030386202037334442 + ], + [ + 0.34031355381011963, + 0.1112290471792221, + 0.019787320867180824 + ], + [ + 0.3541216552257538, + 0.1102883368730545, + 0.013313661329448223 + ], + [ + 0.3584778308868408, + 0.11605918407440186, + 0.0059270430356264114 + ], + [ + 0.3529640734195709, + 0.12354683130979538, + 0.004086889326572418 + ], + [ + 0.3380334973335266, + 0.13181224465370178, + -0.000838104693684727 + ], + [ + 0.33958700299263, + 0.13232527673244476, + 0.0011354769812896848 + ], + [ + 0.3572556674480438, + 0.13933402299880981, + 0.017871545627713203 + ], + [ + 0.37443476915359497, + 0.14726436138153076, + 0.026133477687835693 + ], + [ + 0.4031989872455597, + 0.15501682460308075, + 0.043855030089616776 + ], + [ + 0.41584110260009766, + 0.16331951320171356, + 0.03487612307071686 + ], + [ + 0.4138563871383667, + 0.1780870109796524, + 0.021140659227967262 + ], + [ + 0.4092589020729065, + 0.18658506870269775, + 0.016900744289159775 + ], + [ + 0.40785032510757446, + 0.18484461307525635, + 0.014885022304952145 + ], + [ + 0.40581169724464417, + 0.18256647884845734, + 0.017923839390277863 + ], + [ + 0.4059206247329712, + 0.181045800447464, + 0.05713038891553879 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9713681277809153, + 0.20751319627768106, + 0.11568160485583019, + 0.19691560956742904, + -0.9756441815633364, + 0.09665750715953514, + 0.13292179294640769, + -0.07111050802960378, + -0.9885722495638265 + ], + [ + 0.974698059272484, + 0.2048763438456989, + 0.0893833149020133, + 0.19767335096292435, + -0.9767303707268022, + 0.0832047427672973, + 0.10435008178981968, + -0.06343080192069565, + -0.9925157902009194 + ], + [ + 0.9764662754550171, + 0.1997042779267299, + 0.08143595199155078, + 0.194114089554625, + -0.9783575360196187, + 0.07166764925682732, + 0.09398581347940642, + -0.05417317686257667, + -0.9940985533503357 + ], + [ + 0.9742806911740762, + 0.20806932944139322, + 0.08651178504211843, + 0.20209329027292333, + -0.9766431207262642, + 0.0729829895573481, + 0.09967666142095988, + -0.0536224662233379, + -0.9935739500832833 + ], + [ + 0.9778289840041755, + 0.2017365752613454, + 0.05615008676026663, + 0.19525945786858848, + -0.975265827576722, + 0.10358720806140444, + 0.07565858942794833, + -0.09032673891442837, + -0.9930341676311334 + ], + [ + 0.9797418747366221, + 0.19714629594717117, + 0.0352022283652596, + 0.19024811965391783, + -0.9711428234072854, + 0.14383069739341145, + 0.06254208067947574, + -0.13421979935477826, + -0.9889760025427541 + ], + [ + 0.9787393046347704, + 0.2044341432782589, + -0.016614891667737195, + 0.2048146874640124, + -0.9697947734248944, + 0.1324727943268991, + 0.010968927115504252, + -0.13305930444671019, + -0.9910473773428254 + ], + [ + 0.9770477051925596, + 0.21237881221413663, + -0.016523374366806752, + 0.2127952639962371, + -0.9695065844151161, + 0.12155310936585355, + 0.009795784742679928, + -0.12227928237542073, + -0.9924473888841802 + ], + [ + 0.9706606286959452, + 0.23831468129414574, + 0.03200088403875233, + 0.23329980924713184, + -0.9656260236993316, + 0.11461928877754088, + 0.05821634568438515, + -0.10379063076350944, + -0.9928939329358744 + ], + [ + 0.9622892619547717, + 0.26753732469375224, + 0.04922556472251498, + 0.2622526352665462, + -0.9604677982535312, + 0.09340858533221638, + 0.0722698527900299, + -0.07697654456861433, + -0.9944102171458132 + ], + [ + 0.9501084255189546, + 0.29610137335025455, + 0.09807118056792047, + 0.28782833771971505, + -0.9534276015360815, + 0.0901701537908193, + 0.12020327684134968, + -0.05744375796592277, + -0.9910859634296885 + ], + [ + 0.9496764732753536, + 0.3044156888603734, + 0.0737948811432782, + 0.2961755801434467, + -0.9493692846377163, + 0.1047758899421209, + 0.10195401823360875, + -0.07764695591029287, + -0.9917541673236799 + ], + [ + 0.9461967564342062, + 0.32174447158002395, + 0.03452814969091368, + 0.3149762401008611, + -0.9402044728036786, + 0.1296360964079106, + 0.07417321811349224, + -0.11178570717067339, + -0.990960286483288 + ], + [ + 0.9426831281345596, + 0.3325920113088514, + 0.027038379092956755, + 0.32540350323567657, + -0.9341974876800623, + 0.1462450481014966, + 0.07389912051161779, + -0.12906435613984554, + -0.9888788156097877 + ], + [ + 0.9415653119784236, + 0.3360949495946294, + 0.022247429873080232, + 0.33014092042558196, + -0.9339484790080075, + 0.13692045580985826, + 0.06679622698568857, + -0.12157476471543485, + -0.9903321870185091 + ], + [ + 0.9404966587980963, + 0.33958331049570195, + 0.012215155438942003, + 0.3355789904380044, + -0.9338558248004954, + 0.12369332909577845, + 0.0534113842380782, + -0.11223401319994948, + -0.9922453075297492 + ], + [ + 0.9434164288133013, + 0.3268590874819847, + 0.05593369982042492, + 0.3175622253394707, + -0.9390798621343, + 0.1314657581702076, + 0.09549698886666727, + -0.10626452589772625, + -0.9897414690984364 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006577.json b/json/chunk-0006/episode_0006577.json new file mode 100644 index 0000000000000000000000000000000000000000..f7db7193df40e8d24fdffc05df9d3a8b54ecba8c --- /dev/null +++ b/json/chunk-0006/episode_0006577.json @@ -0,0 +1,2482 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 40, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the doll on the left edge of the burner." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006577.mp4", + "start": 0, + "end": 40, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3369775414466858, + 0.18416108191013336, + 0.0698581337928772, + -0.16590021550655365, + -0.2587350606918335, + 0.023554952815175056, + 0.0, + 0.9968144297599792 + ], + [ + 0.3321380317211151, + 0.18191026151180267, + 0.05382254719734192, + -0.18971307575702667, + -0.2135837823152542, + 0.03558102250099182, + 0.0, + 0.9968144297599792 + ], + [ + 0.327740877866745, + 0.17582057416439056, + 0.057448022067546844, + -0.15020811557769775, + -0.13942573964595795, + 0.06665877252817154, + 0.0, + 0.9968144297599792 + ], + [ + 0.3276652991771698, + 0.17447443306446075, + 0.07584844529628754, + -0.0834839791059494, + -0.17806346714496613, + 0.05510232225060463, + 0.0, + 0.9968144297599792 + ], + [ + 0.32178735733032227, + 0.16612018644809723, + 0.09778741002082825, + -0.06440532952547073, + -0.18520841002464294, + 0.06400331854820251, + 0.0, + 0.9968144297599792 + ], + [ + 0.3120676875114441, + 0.15507708489894867, + 0.11164464056491852, + -0.08252016454935074, + -0.17162826657295227, + 0.09646881371736526, + 0.0, + 0.9968144297599792 + ], + [ + 0.290924608707428, + 0.11704839020967484, + 0.11542535573244095, + -0.14528179168701172, + -0.14513446390628815, + 0.1415412575006485, + 0.0, + 0.9968144297599792 + ], + [ + 0.28330883383750916, + 0.06646202504634857, + 0.09812625497579575, + -0.19189806282520294, + -0.14862236380577087, + 0.197239488363266, + 0.0, + 0.9968144297599792 + ], + [ + 0.28097444772720337, + 0.01918952912092209, + 0.08463412523269653, + -0.22273394465446472, + -0.16091103851795197, + 0.23471905291080475, + 0.0, + 0.9968144297599792 + ], + [ + 0.2868819534778595, + -0.022081581875681877, + 0.08047453314065933, + -0.22277572751045227, + -0.17824438214302063, + 0.29527148604393005, + 0.0, + 0.9968144297599792 + ], + [ + 0.2888585031032562, + -0.05447995290160179, + 0.06975369155406952, + -0.22403891384601593, + -0.18048912286758423, + 0.311983197927475, + 0.0, + 0.9968144297599792 + ], + [ + 0.2931031286716461, + -0.06525574624538422, + 0.06004074215888977, + -0.23755943775177002, + -0.18030087649822235, + 0.34172892570495605, + 0.0, + 0.9968144297599792 + ], + [ + 0.2954650819301605, + -0.07405491173267365, + 0.047108400613069534, + -0.21679739654064178, + -0.1925067901611328, + 0.33046478033065796, + 0.0, + 0.9968144297599792 + ], + [ + 0.29021528363227844, + -0.0757983922958374, + 0.028440436348319054, + -0.17434953153133392, + -0.21250706911087036, + 0.3153919279575348, + 0.0, + 0.9968144297599792 + ], + [ + 0.28408458828926086, + -0.07214818894863129, + 0.014070706441998482, + -0.15084131062030792, + -0.23058238625526428, + 0.31024375557899475, + 0.0, + 0.9968144297599792 + ], + [ + 0.28381845355033875, + -0.0721793994307518, + 0.008719189092516899, + -0.15273286402225494, + -0.2492203414440155, + 0.3143531084060669, + 0.0, + 0.9968144297599792 + ], + [ + 0.2877056896686554, + -0.07259692996740341, + 0.003965836018323898, + -0.16746710240840912, + -0.27477923035621643, + 0.32417067885398865, + 0.0, + 0.9522681832313538 + ], + [ + 0.29157811403274536, + -0.07013386487960815, + 0.0025195307098329067, + -0.19144506752490997, + -0.27659353613853455, + 0.34560683369636536, + 0.0, + 0.6871993541717529 + ], + [ + 0.2915280759334564, + -0.056598931550979614, + 0.0030150802340358496, + -0.19948498904705048, + -0.234231635928154, + 0.3310820758342743, + 0.0, + 0.457809716463089 + ], + [ + 0.29079344868659973, + -0.031146835535764694, + 0.01843596063554287, + -0.20342284440994263, + -0.15710870921611786, + 0.30592674016952515, + 0.0, + 0.36359503865242004 + ], + [ + 0.29359525442123413, + 0.007151404861360788, + 0.04395277053117752, + -0.21555955708026886, + -0.11148358136415482, + 0.25573739409446716, + 0.0, + 0.3486233055591583 + ], + [ + 0.29227128624916077, + 0.039848316460847855, + 0.056622542440891266, + -0.1903950721025467, + -0.08789321035146713, + 0.196885347366333, + 0.0, + 0.3486233055591583 + ], + [ + 0.2852894365787506, + 0.06858071684837341, + 0.06332432478666306, + -0.1350376456975937, + -0.062041040509939194, + 0.16115258634090424, + 0.0, + 0.3486233055591583 + ], + [ + 0.2764849066734314, + 0.08772750198841095, + 0.06137930229306221, + -0.09531032294034958, + -0.045916344970464706, + 0.13944096863269806, + 0.0, + 0.3486233055591583 + ], + [ + 0.26576289534568787, + 0.10737375915050507, + 0.05399058014154434, + -0.05955427512526512, + -0.05485513061285019, + 0.09654055535793304, + 0.0, + 0.3486233055591583 + ], + [ + 0.2580147683620453, + 0.13287310302257538, + 0.046146269887685776, + -0.043003182858228683, + -0.06465230882167816, + 0.04883312061429024, + 0.0, + 0.3486233055591583 + ], + [ + 0.24988007545471191, + 0.15331530570983887, + 0.035134922713041306, + -0.046476639807224274, + -0.0701531171798706, + 0.012089785188436508, + 0.0, + 0.3486233055591583 + ], + [ + 0.2462690770626068, + 0.17357482016086578, + 0.02282945066690445, + -0.043277569115161896, + -0.0801507830619812, + -0.018318170681595802, + 0.0, + 0.3486233055591583 + ], + [ + 0.24359959363937378, + 0.1923980861902237, + 0.014840012416243553, + -0.04296641796827316, + -0.09990490972995758, + -0.037948090583086014, + 0.0, + 0.3486233055591583 + ], + [ + 0.2428135722875595, + 0.20414668321609497, + 0.009299538098275661, + -0.043344542384147644, + -0.11761629581451416, + -0.0433247946202755, + 0.0, + 0.3486233055591583 + ], + [ + 0.24447870254516602, + 0.20796643197536469, + 0.00786642450839281, + -0.03723860904574394, + -0.12906505167484283, + -0.056306056678295135, + 0.0, + 0.41573449969291687 + ], + [ + 0.2439117729663849, + 0.20677977800369263, + 0.008610949851572514, + -0.04844309389591217, + -0.11957702785730362, + -0.03931836783885956, + 0.0, + 0.7210758328437805 + ], + [ + 0.2458420693874359, + 0.19929812848567963, + 0.009333926253020763, + -0.061194878071546555, + -0.0868944302201271, + -0.016390472650527954, + 0.0, + 0.9701826572418213 + ], + [ + 0.24947287142276764, + 0.19284427165985107, + 0.01877470687031746, + -0.06158507615327835, + -0.0406644307076931, + -0.004621730651706457, + 0.0, + 0.9961419701576233 + ], + [ + 0.2547847330570221, + 0.18942175805568695, + 0.03716960549354553, + -0.031116152182221413, + -0.031203946098685265, + -0.005309247877448797, + 0.0, + 0.9961419701576233 + ], + [ + 0.25821971893310547, + 0.18531359732151031, + 0.04977719858288765, + -0.0222980547696352, + -0.007093193009495735, + -0.0014270347310230136, + 0.0, + 0.9961419701576233 + ], + [ + 0.26294684410095215, + 0.18319261074066162, + 0.06724882870912552, + -0.01208844780921936, + 0.010284137912094593, + 0.005150272510945797, + 0.0, + 0.9961419701576233 + ], + [ + 0.2657128572463989, + 0.17090919613838196, + 0.0755498930811882, + -0.031498249620199203, + 0.04368617758154869, + 0.027322618290781975, + 0.0, + 0.9961419701576233 + ], + [ + 0.27631524205207825, + 0.1448192000389099, + 0.09155908226966858, + -0.04153234139084816, + 0.010260723531246185, + 0.09387961775064468, + 0.0, + 0.9961419701576233 + ], + [ + 0.28581327199935913, + 0.1098216250538826, + 0.08908086270093918, + -0.05592227727174759, + -0.00642250943928957, + 0.15770339965820312, + 0.0, + 0.9961419701576233 + ] + ], + "left_gripper_pos": [ + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9522681832313538 + ], + [ + 0.6871993541717529 + ], + [ + 0.457809716463089 + ], + [ + 0.36359503865242004 + ], + [ + 0.3486233055591583 + ], + [ + 0.3486233055591583 + ], + [ + 0.3486233055591583 + ], + [ + 0.3486233055591583 + ], + [ + 0.3486233055591583 + ], + [ + 0.3486233055591583 + ], + [ + 0.3486233055591583 + ], + [ + 0.3486233055591583 + ], + [ + 0.3486233055591583 + ], + [ + 0.3486233055591583 + ], + [ + 0.41573449969291687 + ], + [ + 0.7210758328437805 + ], + [ + 0.9701826572418213 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3369775414466858, + 0.18416108191013336, + 0.0698581337928772 + ], + [ + 0.3321380317211151, + 0.18191026151180267, + 0.05382254719734192 + ], + [ + 0.327740877866745, + 0.17582057416439056, + 0.057448022067546844 + ], + [ + 0.3276652991771698, + 0.17447443306446075, + 0.07584844529628754 + ], + [ + 0.32178735733032227, + 0.16612018644809723, + 0.09778741002082825 + ], + [ + 0.3120676875114441, + 0.15507708489894867, + 0.11164464056491852 + ], + [ + 0.290924608707428, + 0.11704839020967484, + 0.11542535573244095 + ], + [ + 0.28330883383750916, + 0.06646202504634857, + 0.09812625497579575 + ], + [ + 0.28097444772720337, + 0.01918952912092209, + 0.08463412523269653 + ], + [ + 0.2868819534778595, + -0.022081581875681877, + 0.08047453314065933 + ], + [ + 0.2888585031032562, + -0.05447995290160179, + 0.06975369155406952 + ], + [ + 0.2931031286716461, + -0.06525574624538422, + 0.06004074215888977 + ], + [ + 0.2954650819301605, + -0.07405491173267365, + 0.047108400613069534 + ], + [ + 0.29021528363227844, + -0.0757983922958374, + 0.028440436348319054 + ], + [ + 0.28408458828926086, + -0.07214818894863129, + 0.014070706441998482 + ], + [ + 0.28381845355033875, + -0.0721793994307518, + 0.008719189092516899 + ], + [ + 0.2877056896686554, + -0.07259692996740341, + 0.003965836018323898 + ], + [ + 0.29157811403274536, + -0.07013386487960815, + 0.0025195307098329067 + ], + [ + 0.2915280759334564, + -0.056598931550979614, + 0.0030150802340358496 + ], + [ + 0.29079344868659973, + -0.031146835535764694, + 0.01843596063554287 + ], + [ + 0.29359525442123413, + 0.007151404861360788, + 0.04395277053117752 + ], + [ + 0.29227128624916077, + 0.039848316460847855, + 0.056622542440891266 + ], + [ + 0.2852894365787506, + 0.06858071684837341, + 0.06332432478666306 + ], + [ + 0.2764849066734314, + 0.08772750198841095, + 0.06137930229306221 + ], + [ + 0.26576289534568787, + 0.10737375915050507, + 0.05399058014154434 + ], + [ + 0.2580147683620453, + 0.13287310302257538, + 0.046146269887685776 + ], + [ + 0.24988007545471191, + 0.15331530570983887, + 0.035134922713041306 + ], + [ + 0.2462690770626068, + 0.17357482016086578, + 0.02282945066690445 + ], + [ + 0.24359959363937378, + 0.1923980861902237, + 0.014840012416243553 + ], + [ + 0.2428135722875595, + 0.20414668321609497, + 0.009299538098275661 + ], + [ + 0.24447870254516602, + 0.20796643197536469, + 0.00786642450839281 + ], + [ + 0.2439117729663849, + 0.20677977800369263, + 0.008610949851572514 + ], + [ + 0.2458420693874359, + 0.19929812848567963, + 0.009333926253020763 + ], + [ + 0.24947287142276764, + 0.19284427165985107, + 0.01877470687031746 + ], + [ + 0.2547847330570221, + 0.18942175805568695, + 0.03716960549354553 + ], + [ + 0.25821971893310547, + 0.18531359732151031, + 0.04977719858288765 + ], + [ + 0.26294684410095215, + 0.18319261074066162, + 0.06724882870912552 + ], + [ + 0.2657128572463989, + 0.17090919613838196, + 0.0755498930811882 + ], + [ + 0.27631524205207825, + 0.1448192000389099, + 0.09155908226966858 + ], + [ + 0.28581327199935913, + 0.1098216250538826, + 0.08908086270093918 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9664462247177255, + -0.01901132372966153, + 0.256164525840136, + 0.02276880636037873, + -0.9869916590992708, + -0.15915101735582018, + 0.25585792187419026, + 0.1596434603687699, + -0.9534414976157194 + ], + [ + 0.9766590048488982, + -0.00501091885802407, + 0.21473723230906697, + 0.03476519828556921, + -0.9828587273308079, + -0.18105276329796738, + 0.21196360356373675, + 0.18429219408825498, + -0.9597436209542693 + ], + [ + 0.9880966449977846, + 0.04510890036161632, + 0.14707211582175464, + 0.06596303832620758, + -0.9879293445517141, + -0.14015879475935775, + 0.13897444987801574, + 0.1481917584813213, + -0.9791451909698156 + ], + [ + 0.9826947933801938, + 0.040135202699071365, + 0.1808317133905519, + 0.05420363516980457, + -0.9958182141750231, + -0.0735394469087605, + 0.17712399328672832, + 0.08206856780505027, + -0.9807608481075246 + ], + [ + 0.9808853964811908, + 0.05199915683190082, + 0.18750980416689833, + 0.06286578559642626, + -0.9966414834460171, + -0.05247519867391233, + 0.1841513832999398, + 0.06326010720267386, + -0.9808600444841378 + ], + [ + 0.9807267886453545, + 0.08197957356079279, + 0.17735364544367563, + 0.09490413265315918, + -0.9933193782498609, + -0.06564920714419563, + 0.17078691881617283, + 0.08121552999334859, + -0.981955124254249 + ], + [ + 0.9795913541869711, + 0.11885475249075274, + 0.1620935736310912, + 0.1395859913464819, + -0.9825239000428668, + -0.12313625324970041, + 0.14462548123327354, + 0.14324920123657367, + -0.9790623762167187 + ], + [ + 0.9698010239770408, + 0.16467217278374816, + 0.17991400557978482, + 0.19380279708846712, + -0.9681454409547086, + -0.15853984041653252, + 0.14807582427178956, + 0.1886199370938622, + -0.9708223676847056 + ], + [ + 0.9600156708109331, + 0.19240351664291983, + 0.20334895765868047, + 0.22956535210531992, + -0.9567852573336284, + -0.17849851669350927, + 0.1602175424546096, + 0.21804324830744062, + -0.9626980216855882 + ], + [ + 0.9415653162621194, + 0.2463309802382544, + 0.22972984870729357, + 0.28638914103401536, + -0.9444798159534514, + -0.1610563167166484, + 0.1773020448557041, + 0.21743717582647923, + -0.9598359544519005 + ], + [ + 0.9362668644949218, + 0.2613189398542528, + 0.23476961072995928, + 0.3019606613900204, + -0.9401828163748966, + -0.1577213706707754, + 0.17951077243928465, + 0.21856048011206441, + -0.9591700574514588 + ], + [ + 0.9269037933994345, + 0.28594414127931933, + 0.24307469191540873, + 0.3296842335717054, + -0.9298580754839094, + -0.16331645842228257, + 0.17932558076296692, + 0.2315165383409847, + -0.9561602525511252 + ], + [ + 0.9284188579498576, + 0.2779602223516463, + 0.24652898205546825, + 0.31848876022536465, + -0.9371031878875736, + -0.14283740707901665, + 0.19131997755904168, + 0.2111296522072868, + -0.9585514780884945 + ], + [ + 0.9292896562036487, + 0.27070485800971544, + 0.25127597323032047, + 0.30321145519764725, + -0.947610910278498, + -0.10048072530631032, + 0.21091123324714145, + 0.16956545217436486, + -0.96268583095373 + ], + [ + 0.9270561750902047, + 0.2691203951855252, + 0.2610384284397727, + 0.2972107734510062, + -0.9519309977358381, + -0.07411566429781365, + 0.22854453476680273, + 0.14629281747522077, + -0.9624789905153188 + ], + [ + 0.9216155746942185, + 0.2699157482922356, + 0.2788731276134149, + 0.29964857424007224, + -0.9515288299181706, + -0.0693081365385714, + 0.24664846327706436, + 0.14743939317021032, + -0.9578236585638626 + ], + [ + 0.9123542879861154, + 0.27119484208201305, + 0.3066969364396399, + 0.30657342699800383, + -0.9490599842912749, + -0.07278653773703533, + 0.271334456072295, + 0.16043224066613676, + -0.9490200783454451 + ], + [ + 0.9051087613141524, + 0.28368986458529294, + 0.3166988963099477, + 0.3258915567808947, + -0.941283374244516, + -0.08820602354591969, + 0.2730802508627926, + 0.18304554106133433, + -0.9444159605207219 + ], + [ + 0.9198671268241749, + 0.2751247550313694, + 0.2795547140671511, + 0.316189924147325, + -0.9418877561350477, + -0.11345213400634685, + 0.23209567177340149, + 0.19275327237640916, + -0.9534032594512354 + ], + [ + 0.9418239039785108, + 0.2648255329227819, + 0.20696659393931566, + 0.2974676555429804, + -0.9434263999026596, + -0.1464910300068571, + 0.15646318353031102, + 0.19953462125373556, + -0.9673185654791748 + ], + [ + 0.9614710655505617, + 0.22408224047773218, + 0.15924992813670988, + 0.25138855559767376, + -0.9511060620579151, + -0.17944651802473222, + 0.11125279422820236, + 0.21256624430789822, + -0.97079266970721 + ], + [ + 0.9768950619375036, + 0.17578976981247774, + 0.12154832286542211, + 0.19486070421404073, + -0.9662088549448061, + -0.16872982717781332, + 0.08778008837617415, + 0.18851632676116598, + -0.9781391775351544 + ], + [ + 0.9851439999006701, + 0.1507562894785471, + 0.08224257195862221, + 0.16014725947736339, + -0.9793965593438354, + -0.12302534221593293, + 0.06200124790355987, + 0.13436860023129613, + -0.9889898505699053 + ], + [ + 0.9892501102761846, + 0.13403296857747282, + 0.05847548762402035, + 0.13884304024588012, + -0.9864064374083323, + -0.08789169707476818, + 0.04590021235068178, + 0.09506578550515477, + -0.994412221833808 + ], + [ + 0.9938464173767774, + 0.092971685490745, + 0.06021265950242098, + 0.09624567678779167, + -0.9938935527221675, + -0.0539664299075649, + 0.0548276241232869, + 0.059429551187251704, + -0.9967256694189618 + ], + [ + 0.9967211580350012, + 0.045994435070544896, + 0.06656909994815777, + 0.04871173121385602, + -0.998020086050621, + -0.03978787606370013, + 0.06460727797636606, + 0.04290011400978727, + -0.9969882044690559 + ], + [ + 0.9974673783030392, + 0.008820039200447667, + 0.07057645591671705, + 0.012059753904773818, + -0.9988865247838866, + -0.04561000921865919, + 0.07009558871297131, + 0.04634563100954015, + -0.996463090600605 + ], + [ + 0.996622410802797, + -0.021763351003835304, + 0.0791841324932237, + -0.018258341700120886, + -0.9988326068175597, + -0.044721991418087484, + 0.08006499387361601, + 0.04312516795470743, + -0.9958563232941264 + ], + [ + 0.9942973014612418, + -0.04218498515898155, + 0.09794540996916881, + -0.03774980643387706, + -0.99819527309876, + -0.04670277162542321, + 0.09973880098084628, + 0.0427390195304961, + -0.9940953413976321 + ], + [ + 0.9921592844120612, + -0.04835047789278722, + 0.11524836503172477, + -0.04301201232071675, + -0.9979030575351707, + -0.04836790834923769, + 0.11734530732444777, + 0.04303160523960082, + -0.9921584348275401 + ], + [ + 0.9901110753399569, + -0.061021463654819585, + 0.12631880090698064, + -0.055808240423015035, + -0.9974533918113309, + -0.04440913717871889, + 0.12870702696450118, + 0.036920348555977284, + -0.9909951508824167 + ], + [ + 0.9920918334273571, + -0.045034285964107454, + 0.1171567630760106, + -0.03902754504656944, + -0.9978278329950852, + -0.0530703912551131, + 0.11929226619686407, + 0.04807836091253306, + -0.9916944219050448 + ], + [ + 0.9960932399040294, + -0.02166583799651056, + 0.08560869629543075, + -0.016327901182664657, + -0.997907119940828, + -0.06256819970537303, + 0.08678512004061226, + 0.06092595042599879, + -0.9943622938870047 + ], + [ + 0.9991626446148438, + -0.007114975440889166, + 0.04029127363024385, + -0.004617893500711873, + -0.9980820147965374, + -0.06173302843131077, + 0.04065322454477286, + 0.061495275136879295, + -0.997279121645466 + ], + [ + 0.9994991092129747, + -0.006277271756414793, + 0.03101816470660979, + -0.005306638385568845, + -0.9994966910900139, + -0.03127625439783732, + 0.031198882536319524, + 0.031095986226674793, + -0.9990293636170438 + ], + [ + 0.9999738252236673, + -0.001584829311034847, + 0.007059545566223777, + -0.001426998347368097, + -0.9997501650308372, + -0.02230630396391117, + 0.007093133529217794, + 0.022295646141537933, + -0.9997262583426866 + ], + [ + 0.9999338567969729, + 0.005274185838887905, + -0.010220811849723403, + 0.0051499773904163165, + -0.9999130337010271, + -0.012140954150580857, + -0.010283956631995918, + 0.01208751415904776, + -0.9998740581880529 + ], + [ + 0.998673027286132, + 0.028680527472370338, + -0.042773963050668676, + 0.02729315393806629, + -0.9990933426542649, + -0.03267378784349111, + -0.04367228319273421, + 0.03146299426048101, + -0.9985503551012834 + ], + [ + 0.9955441352623117, + 0.09408508729755491, + -0.006314356105489058, + 0.09373684436856636, + -0.9946980617423918, + -0.0422985812262226, + -0.010260543486513077, + 0.04151821665413451, + -0.9990850609098412 + ], + [ + 0.9875702014926142, + 0.1564504967164184, + 0.015110896764353537, + 0.1570472828911276, + -0.9861031023618343, + -0.05419245749068489, + 0.006422465286097388, + 0.055891981442345674, + -0.9984161649082496 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.004839509725570679, + -0.0022508203983306885, + -0.01603558659553528, + -0.023812860250473022, + 0.045151278376579285, + 0.012026069685816765, + 1.0 + ], + [ + -0.004397153854370117, + -0.006089687347412109, + 0.0036254748702049255, + 0.03950496017932892, + 0.07415804266929626, + 0.031077750027179718, + 1.0 + ], + [ + -7.557868957519531e-05, + -0.0013461410999298096, + 0.018400423228740692, + 0.06672413647174835, + -0.03863772749900818, + -0.01155645027756691, + 1.0 + ], + [ + -0.005877941846847534, + -0.008354246616363525, + 0.02193896472454071, + 0.019078649580478668, + -0.007144942879676819, + 0.008900996297597885, + 1.0 + ], + [ + -0.009719669818878174, + -0.01104310154914856, + 0.013857230544090271, + -0.018114835023880005, + 0.013580143451690674, + 0.03246549516916275, + 1.0 + ], + [ + -0.021143078804016113, + -0.038028694689273834, + 0.0037807151675224304, + -0.06276162713766098, + 0.026493802666664124, + 0.045072443783283234, + 1.0 + ], + [ + -0.007615774869918823, + -0.05058636516332626, + -0.017299100756645203, + -0.04661627113819122, + -0.003487899899482727, + 0.05569823086261749, + 1.0 + ], + [ + -0.002334386110305786, + -0.04727249592542648, + -0.013492129743099213, + -0.03083588182926178, + -0.012288674712181091, + 0.03747956454753876, + 1.0 + ], + [ + 0.005907505750656128, + -0.041271112859249115, + -0.004159592092037201, + -4.178285598754883e-05, + -0.017333343625068665, + 0.060552433133125305, + 1.0 + ], + [ + 0.0019765496253967285, + -0.032398372888565063, + -0.010720841586589813, + -0.0012631863355636597, + -0.0022447407245635986, + 0.016711711883544922, + 1.0 + ], + [ + 0.004244625568389893, + -0.010775793343782425, + -0.009712949395179749, + -0.01352052390575409, + 0.00018824636936187744, + 0.02974572777748108, + 1.0 + ], + [ + 0.0023619532585144043, + -0.008799165487289429, + -0.012932341545820236, + 0.020762041211128235, + -0.012205913662910461, + -0.011264145374298096, + 1.0 + ], + [ + -0.00524979829788208, + -0.0017434805631637573, + -0.01866796426475048, + 0.04244786500930786, + -0.02000027894973755, + -0.015072852373123169, + 1.0 + ], + [ + -0.006130695343017578, + 0.0036502033472061157, + -0.014369729906320572, + 0.023508220911026, + -0.01807531714439392, + -0.005148172378540039, + 1.0 + ], + [ + -0.00026613473892211914, + -3.1210482120513916e-05, + -0.005351517349481583, + -0.0018915534019470215, + -0.01863795518875122, + 0.0041093528270721436, + 1.0 + ], + [ + 0.0038872361183166504, + -0.00041753053665161133, + -0.004753353074193001, + -0.014734238386154175, + -0.025558888912200928, + 0.009817570447921753, + 0.0 + ], + [ + 0.003872424364089966, + 0.0024630650877952576, + -0.0014463053084909916, + -0.023977965116500854, + -0.0018143057823181152, + 0.02143615484237671, + 0.0 + ], + [ + -5.003809928894043e-05, + 0.01353493332862854, + 0.0004955495242029428, + -0.008039921522140503, + 0.042361900210380554, + -0.014524757862091064, + 0.0 + ], + [ + -0.0007346272468566895, + 0.02545209601521492, + 0.015420880168676376, + -0.003937855362892151, + 0.07712292671203613, + -0.025155335664749146, + 0.0 + ], + [ + 0.0028018057346343994, + 0.038298241794109344, + 0.02551680989563465, + -0.012136712670326233, + 0.04562512785196304, + -0.05018934607505798, + 0.0 + ], + [ + -0.0013239681720733643, + 0.032696910202503204, + 0.012669771909713745, + 0.025164484977722168, + 0.023590371012687683, + -0.058852046728134155, + 0.0 + ], + [ + -0.006981849670410156, + 0.02873240038752556, + 0.0067017823457717896, + 0.055357426404953, + 0.02585216984152794, + -0.03573276102542877, + 0.0 + ], + [ + -0.008804529905319214, + 0.019146785140037537, + -0.0019450224936008453, + 0.03972732275724411, + 0.016124695539474487, + -0.021711617708206177, + 0.0 + ], + [ + -0.01072201132774353, + 0.019646257162094116, + -0.007388722151517868, + 0.03575604781508446, + -0.008938785642385483, + -0.042900413274765015, + 0.0 + ], + [ + -0.007748126983642578, + 0.025499343872070312, + -0.007844310253858566, + 0.016551092267036438, + -0.009797178208827972, + -0.04770743474364281, + 0.0 + ], + [ + -0.008134692907333374, + 0.02044220268726349, + -0.01101134717464447, + -0.00347345694899559, + -0.005500808358192444, + -0.03674333542585373, + 0.0 + ], + [ + -0.0036109983921051025, + 0.020259514451026917, + -0.012305472046136856, + 0.003199070692062378, + -0.009997665882110596, + -0.03040795587003231, + 0.0 + ], + [ + -0.0026694834232330322, + 0.01882326602935791, + -0.007989438250660896, + 0.0003111511468887329, + -0.01975412666797638, + -0.01962991990149021, + 0.0 + ], + [ + -0.00078602135181427, + 0.011748597025871277, + -0.005540474317967892, + -0.0003781244158744812, + -0.01771138608455658, + -0.005376704037189484, + 0.0 + ], + [ + 0.0016651302576065063, + 0.0038197487592697144, + -0.0014331135898828506, + 0.006105933338403702, + -0.011448755860328674, + -0.012981262058019638, + 1.0 + ], + [ + -0.0005669295787811279, + -0.001186653971672058, + 0.0007445253431797028, + -0.011204484850168228, + 0.009488023817539215, + 0.016987688839435577, + 1.0 + ], + [ + 0.0019302964210510254, + -0.0074816495180130005, + 0.0007229764014482498, + -0.012751784175634384, + 0.032682597637176514, + 0.022927895188331604, + 1.0 + ], + [ + 0.003630802035331726, + -0.006453856825828552, + 0.009440780617296696, + -0.00039019808173179626, + 0.046229999512434006, + 0.01176874153316021, + 1.0 + ], + [ + 0.005311861634254456, + -0.0034225136041641235, + 0.018394898623228073, + 0.030468923971056938, + 0.009460484609007835, + -0.0006875172257423401, + 1.0 + ], + [ + 0.003434985876083374, + -0.004108160734176636, + 0.012607593089342117, + 0.008818097412586212, + 0.02411075308918953, + 0.003882213030010462, + 1.0 + ], + [ + 0.00472712516784668, + -0.002120986580848694, + 0.01747163012623787, + 0.01020960696041584, + 0.017377331852912903, + 0.006577307358384132, + 1.0 + ], + [ + 0.0027660131454467773, + -0.012283414602279663, + 0.008301064372062683, + -0.019409801810979843, + 0.03340204060077667, + 0.022172346711158752, + 1.0 + ], + [ + 0.010602384805679321, + -0.026089996099472046, + 0.016009189188480377, + -0.010034091770648956, + -0.033425454050302505, + 0.06655699759721756, + 1.0 + ], + [ + 0.009498029947280884, + -0.03499757498502731, + -0.0024782195687294006, + -0.01438993588089943, + -0.01668323203921318, + 0.06382378190755844, + 1.0 + ], + [ + 0.009621113538742065, + -0.029898785054683685, + 0.0031493529677391052, + -0.015200480818748474, + -0.019180111587047577, + 0.041725799441337585, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9522681832313538 + ], + [ + 0.6871993541717529 + ], + [ + 0.457809716463089 + ], + [ + 0.36359503865242004 + ], + [ + 0.3486233055591583 + ], + [ + 0.3486233055591583 + ], + [ + 0.3486233055591583 + ], + [ + 0.3486233055591583 + ], + [ + 0.3486233055591583 + ], + [ + 0.3486233055591583 + ], + [ + 0.3486233055591583 + ], + [ + 0.3486233055591583 + ], + [ + 0.3486233055591583 + ], + [ + 0.3486233055591583 + ], + [ + 0.41573449969291687 + ], + [ + 0.7210758328437805 + ], + [ + 0.9701826572418213 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3321380317211151, + 0.18191026151180267, + 0.05382254719734192 + ], + [ + 0.327740877866745, + 0.17582057416439056, + 0.057448022067546844 + ], + [ + 0.3276652991771698, + 0.17447443306446075, + 0.07584844529628754 + ], + [ + 0.32178735733032227, + 0.16612018644809723, + 0.09778741002082825 + ], + [ + 0.3120676875114441, + 0.15507708489894867, + 0.11164464056491852 + ], + [ + 0.290924608707428, + 0.11704839020967484, + 0.11542535573244095 + ], + [ + 0.28330883383750916, + 0.06646202504634857, + 0.09812625497579575 + ], + [ + 0.28097444772720337, + 0.01918952912092209, + 0.08463412523269653 + ], + [ + 0.2868819534778595, + -0.022081581875681877, + 0.08047453314065933 + ], + [ + 0.2888585031032562, + -0.05447995290160179, + 0.06975369155406952 + ], + [ + 0.2931031286716461, + -0.06525574624538422, + 0.06004074215888977 + ], + [ + 0.2954650819301605, + -0.07405491173267365, + 0.047108400613069534 + ], + [ + 0.29021528363227844, + -0.0757983922958374, + 0.028440436348319054 + ], + [ + 0.28408458828926086, + -0.07214818894863129, + 0.014070706441998482 + ], + [ + 0.28381845355033875, + -0.0721793994307518, + 0.008719189092516899 + ], + [ + 0.2877056896686554, + -0.07259692996740341, + 0.003965836018323898 + ], + [ + 0.29157811403274536, + -0.07013386487960815, + 0.0025195307098329067 + ], + [ + 0.2915280759334564, + -0.056598931550979614, + 0.0030150802340358496 + ], + [ + 0.29079344868659973, + -0.031146835535764694, + 0.01843596063554287 + ], + [ + 0.29359525442123413, + 0.007151404861360788, + 0.04395277053117752 + ], + [ + 0.29227128624916077, + 0.039848316460847855, + 0.056622542440891266 + ], + [ + 0.2852894365787506, + 0.06858071684837341, + 0.06332432478666306 + ], + [ + 0.2764849066734314, + 0.08772750198841095, + 0.06137930229306221 + ], + [ + 0.26576289534568787, + 0.10737375915050507, + 0.05399058014154434 + ], + [ + 0.2580147683620453, + 0.13287310302257538, + 0.046146269887685776 + ], + [ + 0.24988007545471191, + 0.15331530570983887, + 0.035134922713041306 + ], + [ + 0.2462690770626068, + 0.17357482016086578, + 0.02282945066690445 + ], + [ + 0.24359959363937378, + 0.1923980861902237, + 0.014840012416243553 + ], + [ + 0.2428135722875595, + 0.20414668321609497, + 0.009299538098275661 + ], + [ + 0.24447870254516602, + 0.20796643197536469, + 0.00786642450839281 + ], + [ + 0.2439117729663849, + 0.20677977800369263, + 0.008610949851572514 + ], + [ + 0.2458420693874359, + 0.19929812848567963, + 0.009333926253020763 + ], + [ + 0.24947287142276764, + 0.19284427165985107, + 0.01877470687031746 + ], + [ + 0.2547847330570221, + 0.18942175805568695, + 0.03716960549354553 + ], + [ + 0.25821971893310547, + 0.18531359732151031, + 0.04977719858288765 + ], + [ + 0.26294684410095215, + 0.18319261074066162, + 0.06724882870912552 + ], + [ + 0.2657128572463989, + 0.17090919613838196, + 0.0755498930811882 + ], + [ + 0.27631524205207825, + 0.1448192000389099, + 0.09155908226966858 + ], + [ + 0.28581327199935913, + 0.1098216250538826, + 0.08908086270093918 + ], + [ + 0.2954343855381012, + 0.07992283999919891, + 0.09223021566867828 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9766590048488982, + -0.00501091885802407, + 0.21473723230906697, + 0.03476519828556921, + -0.9828587273308079, + -0.18105276329796738, + 0.21196360356373675, + 0.18429219408825498, + -0.9597436209542693 + ], + [ + 0.9880966449977846, + 0.04510890036161632, + 0.14707211582175464, + 0.06596303832620758, + -0.9879293445517141, + -0.14015879475935775, + 0.13897444987801574, + 0.1481917584813213, + -0.9791451909698156 + ], + [ + 0.9826947933801938, + 0.040135202699071365, + 0.1808317133905519, + 0.05420363516980457, + -0.9958182141750231, + -0.0735394469087605, + 0.17712399328672832, + 0.08206856780505027, + -0.9807608481075246 + ], + [ + 0.9808853964811908, + 0.05199915683190082, + 0.18750980416689833, + 0.06286578559642626, + -0.9966414834460171, + -0.05247519867391233, + 0.1841513832999398, + 0.06326010720267386, + -0.9808600444841378 + ], + [ + 0.9807267886453545, + 0.08197957356079279, + 0.17735364544367563, + 0.09490413265315918, + -0.9933193782498609, + -0.06564920714419563, + 0.17078691881617283, + 0.08121552999334859, + -0.981955124254249 + ], + [ + 0.9795913541869711, + 0.11885475249075274, + 0.1620935736310912, + 0.1395859913464819, + -0.9825239000428668, + -0.12313625324970041, + 0.14462548123327354, + 0.14324920123657367, + -0.9790623762167187 + ], + [ + 0.9698010239770408, + 0.16467217278374816, + 0.17991400557978482, + 0.19380279708846712, + -0.9681454409547086, + -0.15853984041653252, + 0.14807582427178956, + 0.1886199370938622, + -0.9708223676847056 + ], + [ + 0.9600156708109331, + 0.19240351664291983, + 0.20334895765868047, + 0.22956535210531992, + -0.9567852573336284, + -0.17849851669350927, + 0.1602175424546096, + 0.21804324830744062, + -0.9626980216855882 + ], + [ + 0.9415653162621194, + 0.2463309802382544, + 0.22972984870729357, + 0.28638914103401536, + -0.9444798159534514, + -0.1610563167166484, + 0.1773020448557041, + 0.21743717582647923, + -0.9598359544519005 + ], + [ + 0.9362668644949218, + 0.2613189398542528, + 0.23476961072995928, + 0.3019606613900204, + -0.9401828163748966, + -0.1577213706707754, + 0.17951077243928465, + 0.21856048011206441, + -0.9591700574514588 + ], + [ + 0.9269037933994345, + 0.28594414127931933, + 0.24307469191540873, + 0.3296842335717054, + -0.9298580754839094, + -0.16331645842228257, + 0.17932558076296692, + 0.2315165383409847, + -0.9561602525511252 + ], + [ + 0.9284188579498576, + 0.2779602223516463, + 0.24652898205546825, + 0.31848876022536465, + -0.9371031878875736, + -0.14283740707901665, + 0.19131997755904168, + 0.2111296522072868, + -0.9585514780884945 + ], + [ + 0.9292896562036487, + 0.27070485800971544, + 0.25127597323032047, + 0.30321145519764725, + -0.947610910278498, + -0.10048072530631032, + 0.21091123324714145, + 0.16956545217436486, + -0.96268583095373 + ], + [ + 0.9270561750902047, + 0.2691203951855252, + 0.2610384284397727, + 0.2972107734510062, + -0.9519309977358381, + -0.07411566429781365, + 0.22854453476680273, + 0.14629281747522077, + -0.9624789905153188 + ], + [ + 0.9216155746942185, + 0.2699157482922356, + 0.2788731276134149, + 0.29964857424007224, + -0.9515288299181706, + -0.0693081365385714, + 0.24664846327706436, + 0.14743939317021032, + -0.9578236585638626 + ], + [ + 0.9123542879861154, + 0.27119484208201305, + 0.3066969364396399, + 0.30657342699800383, + -0.9490599842912749, + -0.07278653773703533, + 0.271334456072295, + 0.16043224066613676, + -0.9490200783454451 + ], + [ + 0.9051087613141524, + 0.28368986458529294, + 0.3166988963099477, + 0.3258915567808947, + -0.941283374244516, + -0.08820602354591969, + 0.2730802508627926, + 0.18304554106133433, + -0.9444159605207219 + ], + [ + 0.9198671268241749, + 0.2751247550313694, + 0.2795547140671511, + 0.316189924147325, + -0.9418877561350477, + -0.11345213400634685, + 0.23209567177340149, + 0.19275327237640916, + -0.9534032594512354 + ], + [ + 0.9418239039785108, + 0.2648255329227819, + 0.20696659393931566, + 0.2974676555429804, + -0.9434263999026596, + -0.1464910300068571, + 0.15646318353031102, + 0.19953462125373556, + -0.9673185654791748 + ], + [ + 0.9614710655505617, + 0.22408224047773218, + 0.15924992813670988, + 0.25138855559767376, + -0.9511060620579151, + -0.17944651802473222, + 0.11125279422820236, + 0.21256624430789822, + -0.97079266970721 + ], + [ + 0.9768950619375036, + 0.17578976981247774, + 0.12154832286542211, + 0.19486070421404073, + -0.9662088549448061, + -0.16872982717781332, + 0.08778008837617415, + 0.18851632676116598, + -0.9781391775351544 + ], + [ + 0.9851439999006701, + 0.1507562894785471, + 0.08224257195862221, + 0.16014725947736339, + -0.9793965593438354, + -0.12302534221593293, + 0.06200124790355987, + 0.13436860023129613, + -0.9889898505699053 + ], + [ + 0.9892501102761846, + 0.13403296857747282, + 0.05847548762402035, + 0.13884304024588012, + -0.9864064374083323, + -0.08789169707476818, + 0.04590021235068178, + 0.09506578550515477, + -0.994412221833808 + ], + [ + 0.9938464173767774, + 0.092971685490745, + 0.06021265950242098, + 0.09624567678779167, + -0.9938935527221675, + -0.0539664299075649, + 0.0548276241232869, + 0.059429551187251704, + -0.9967256694189618 + ], + [ + 0.9967211580350012, + 0.045994435070544896, + 0.06656909994815777, + 0.04871173121385602, + -0.998020086050621, + -0.03978787606370013, + 0.06460727797636606, + 0.04290011400978727, + -0.9969882044690559 + ], + [ + 0.9974673783030392, + 0.008820039200447667, + 0.07057645591671705, + 0.012059753904773818, + -0.9988865247838866, + -0.04561000921865919, + 0.07009558871297131, + 0.04634563100954015, + -0.996463090600605 + ], + [ + 0.996622410802797, + -0.021763351003835304, + 0.0791841324932237, + -0.018258341700120886, + -0.9988326068175597, + -0.044721991418087484, + 0.08006499387361601, + 0.04312516795470743, + -0.9958563232941264 + ], + [ + 0.9942973014612418, + -0.04218498515898155, + 0.09794540996916881, + -0.03774980643387706, + -0.99819527309876, + -0.04670277162542321, + 0.09973880098084628, + 0.0427390195304961, + -0.9940953413976321 + ], + [ + 0.9921592844120612, + -0.04835047789278722, + 0.11524836503172477, + -0.04301201232071675, + -0.9979030575351707, + -0.04836790834923769, + 0.11734530732444777, + 0.04303160523960082, + -0.9921584348275401 + ], + [ + 0.9901110753399569, + -0.061021463654819585, + 0.12631880090698064, + -0.055808240423015035, + -0.9974533918113309, + -0.04440913717871889, + 0.12870702696450118, + 0.036920348555977284, + -0.9909951508824167 + ], + [ + 0.9920918334273571, + -0.045034285964107454, + 0.1171567630760106, + -0.03902754504656944, + -0.9978278329950852, + -0.0530703912551131, + 0.11929226619686407, + 0.04807836091253306, + -0.9916944219050448 + ], + [ + 0.9960932399040294, + -0.02166583799651056, + 0.08560869629543075, + -0.016327901182664657, + -0.997907119940828, + -0.06256819970537303, + 0.08678512004061226, + 0.06092595042599879, + -0.9943622938870047 + ], + [ + 0.9991626446148438, + -0.007114975440889166, + 0.04029127363024385, + -0.004617893500711873, + -0.9980820147965374, + -0.06173302843131077, + 0.04065322454477286, + 0.061495275136879295, + -0.997279121645466 + ], + [ + 0.9994991092129747, + -0.006277271756414793, + 0.03101816470660979, + -0.005306638385568845, + -0.9994966910900139, + -0.03127625439783732, + 0.031198882536319524, + 0.031095986226674793, + -0.9990293636170438 + ], + [ + 0.9999738252236673, + -0.001584829311034847, + 0.007059545566223777, + -0.001426998347368097, + -0.9997501650308372, + -0.02230630396391117, + 0.007093133529217794, + 0.022295646141537933, + -0.9997262583426866 + ], + [ + 0.9999338567969729, + 0.005274185838887905, + -0.010220811849723403, + 0.0051499773904163165, + -0.9999130337010271, + -0.012140954150580857, + -0.010283956631995918, + 0.01208751415904776, + -0.9998740581880529 + ], + [ + 0.998673027286132, + 0.028680527472370338, + -0.042773963050668676, + 0.02729315393806629, + -0.9990933426542649, + -0.03267378784349111, + -0.04367228319273421, + 0.03146299426048101, + -0.9985503551012834 + ], + [ + 0.9955441352623117, + 0.09408508729755491, + -0.006314356105489058, + 0.09373684436856636, + -0.9946980617423918, + -0.0422985812262226, + -0.010260543486513077, + 0.04151821665413451, + -0.9990850609098412 + ], + [ + 0.9875702014926142, + 0.1564504967164184, + 0.015110896764353537, + 0.1570472828911276, + -0.9861031023618343, + -0.05419245749068489, + 0.006422465286097388, + 0.055891981442345674, + -0.9984161649082496 + ], + [ + 0.9798585852848598, + 0.19582588401029763, + 0.03910723711973303, + 0.1980449491895789, + -0.9780621705438369, + -0.06459557764720558, + 0.02559982312537874, + 0.0710395221173715, + -0.9971449419985469 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006578.json b/json/chunk-0006/episode_0006578.json new file mode 100644 index 0000000000000000000000000000000000000000..57069f2da2ec2f2b8c42e64085170487635313f2 --- /dev/null +++ b/json/chunk-0006/episode_0006578.json @@ -0,0 +1,1942 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 31, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut potato in pot cardboard fence." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006578.mp4", + "start": 0, + "end": 31, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.24083320796489716, + 0.13858941197395325, + 0.08968520164489746, + 0.056727856397628784, + 0.044635530561208725, + 0.5314329862594604, + 0.0, + 0.9844722747802734 + ], + [ + 0.2380629926919937, + 0.13589654862880707, + 0.08028419315814972, + 0.0551590695977211, + 0.0810631513595581, + 0.5090140104293823, + 0.0, + 0.9844722747802734 + ], + [ + 0.2516680657863617, + 0.12336140125989914, + 0.06694649159908295, + 0.004408436827361584, + 0.08334361761808395, + 0.26450350880622864, + 0.0, + 0.9844722747802734 + ], + [ + 0.25909778475761414, + 0.11277049779891968, + 0.07249784469604492, + -0.07560539990663528, + 0.06601665914058685, + 0.10998620092868805, + 0.0, + 0.9844722747802734 + ], + [ + 0.26434391736984253, + 0.11567776650190353, + 0.08136648684740067, + -0.1440563052892685, + 0.024638347327709198, + 0.047043491154909134, + 0.0, + 0.9844722747802734 + ], + [ + 0.27525532245635986, + 0.12087160348892212, + 0.08301669359207153, + -0.16823847591876984, + -0.06184932962059975, + 0.10098078846931458, + 0.0, + 0.9844722747802734 + ], + [ + 0.2908603847026825, + 0.12610258162021637, + 0.08464085310697556, + -0.18172979354858398, + -0.10349974036216736, + 0.11094625294208527, + 0.0, + 0.9844722747802734 + ], + [ + 0.30752119421958923, + 0.12969715893268585, + 0.06733445078134537, + -0.16179253160953522, + -0.07561874389648438, + 0.14060021936893463, + 0.0, + 0.9844722747802734 + ], + [ + 0.3245919644832611, + 0.1297556608915329, + 0.06046890467405319, + -0.14203427731990814, + -0.09536782652139664, + 0.16674254834651947, + 0.0, + 0.9844722747802734 + ], + [ + 0.328861802816391, + 0.12677335739135742, + 0.049614861607551575, + -0.13939101994037628, + -0.08836563676595688, + 0.16931039094924927, + 0.0, + 0.9844722747802734 + ], + [ + 0.335912823677063, + 0.12195859104394913, + 0.04643317684531212, + -0.14442984759807587, + -0.08129534870386124, + 0.18184298276901245, + 0.0, + 0.9844722747802734 + ], + [ + 0.33936554193496704, + 0.11674785614013672, + 0.04317966848611832, + -0.14372888207435608, + -0.07991444319486618, + 0.19963324069976807, + 0.0, + 0.9844722747802734 + ], + [ + 0.34367871284484863, + 0.10864663124084473, + 0.030055001378059387, + -0.11924304813146591, + -0.0613894909620285, + 0.2093277871608734, + 0.0, + 0.9844722747802734 + ], + [ + 0.35168030858039856, + 0.10362639278173447, + 0.015272446908056736, + -0.0909682884812355, + -0.05798032134771347, + 0.22242480516433716, + 0.0, + 0.9844722747802734 + ], + [ + 0.35818299651145935, + 0.10036801546812057, + 0.006429305300116539, + -0.04901483282446861, + -0.08238285779953003, + 0.23905745148658752, + 0.0, + 0.9844722747802734 + ], + [ + 0.36048194766044617, + 0.09949388355016708, + 0.0031667009461671114, + -0.045431338250637054, + -0.10077068209648132, + 0.257654070854187, + 0.0, + 0.9343546032905579 + ], + [ + 0.35868316888809204, + 0.10289175808429718, + 0.003590128617361188, + -0.07252165675163269, + -0.10444008558988571, + 0.28300046920776367, + 0.0, + 0.6971942782402039 + ], + [ + 0.3501920700073242, + 0.10478314012289047, + 0.005584388040006161, + -0.09917604923248291, + -0.054796669632196426, + 0.30384692549705505, + 0.0, + 0.6861988306045532 + ], + [ + 0.3501351773738861, + 0.11676669120788574, + 0.032572269439697266, + -0.07751736789941788, + -0.11106151342391968, + 0.340756356716156, + 0.0, + 0.7031799554824829 + ], + [ + 0.3423265814781189, + 0.11753608286380768, + 0.05280430242419243, + -0.09483911097049713, + -0.07671559602022171, + 0.4009057283401489, + 0.0, + 0.7031799554824829 + ], + [ + 0.34259670972824097, + 0.10431802272796631, + 0.06276745349168777, + -0.04860066622495651, + -0.07493362575769424, + 0.43391433358192444, + 0.0, + 0.7031799554824829 + ], + [ + 0.341895192861557, + 0.0696956217288971, + 0.06064842641353607, + -0.07851025462150574, + -0.03974461182951927, + 0.33799824118614197, + 0.0, + 0.7031799554824829 + ], + [ + 0.33900031447410583, + 0.04745502024888992, + 0.06139787659049034, + -0.09094137698411942, + 0.0028930811677128077, + 0.30424678325653076, + 0.0, + 0.7031799554824829 + ], + [ + 0.3406321704387665, + 0.022204801440238953, + 0.0810992494225502, + -0.10011713206768036, + -0.028271492570638657, + 0.26658785343170166, + 0.0, + 0.7031799554824829 + ], + [ + 0.3420589566230774, + 0.0007597673102281988, + 0.08144776523113251, + -0.09956308454275131, + -0.034628648310899734, + 0.23378439247608185, + 0.0, + 0.7031799554824829 + ], + [ + 0.34474197030067444, + -0.0035148668102920055, + 0.07935512810945511, + -0.08674918115139008, + -0.059702590107917786, + 0.23520472645759583, + 0.0, + 0.7031799554824829 + ], + [ + 0.3436981439590454, + -0.001406261115334928, + 0.06937967240810394, + -0.06811056286096573, + -0.03633212298154831, + 0.23853594064712524, + 0.0, + 0.7720533609390259 + ], + [ + 0.34266337752342224, + -0.0015752608887851238, + 0.06623661518096924, + -0.028873983770608902, + -0.04621617868542671, + 0.18969252705574036, + 0.0, + 0.9795387983322144 + ], + [ + 0.3345320224761963, + -0.0020972848869860172, + 0.05817565321922302, + -0.02428491786122322, + -0.02558564953505993, + 0.1699138581752777, + 0.0, + 0.9865638017654419 + ], + [ + 0.3336413502693176, + 0.0028744691517204046, + 0.0732840970158577, + -0.03179028257727623, + -0.05618514493107796, + 0.15678119659423828, + 0.0, + 0.9851709604263306 + ], + [ + 0.32991889119148254, + 0.011762636713683605, + 0.09925099462270737, + -0.06471215933561325, + -0.047057706862688065, + 0.15935766696929932, + 0.0, + 0.9851709604263306 + ] + ], + "left_gripper_pos": [ + [ + 0.9844722747802734 + ], + [ + 0.9844722747802734 + ], + [ + 0.9844722747802734 + ], + [ + 0.9844722747802734 + ], + [ + 0.9844722747802734 + ], + [ + 0.9844722747802734 + ], + [ + 0.9844722747802734 + ], + [ + 0.9844722747802734 + ], + [ + 0.9844722747802734 + ], + [ + 0.9844722747802734 + ], + [ + 0.9844722747802734 + ], + [ + 0.9844722747802734 + ], + [ + 0.9844722747802734 + ], + [ + 0.9844722747802734 + ], + [ + 0.9844722747802734 + ], + [ + 0.9343546032905579 + ], + [ + 0.6971942782402039 + ], + [ + 0.6861988306045532 + ], + [ + 0.7031799554824829 + ], + [ + 0.7031799554824829 + ], + [ + 0.7031799554824829 + ], + [ + 0.7031799554824829 + ], + [ + 0.7031799554824829 + ], + [ + 0.7031799554824829 + ], + [ + 0.7031799554824829 + ], + [ + 0.7031799554824829 + ], + [ + 0.7720533609390259 + ], + [ + 0.9795387983322144 + ], + [ + 0.9865638017654419 + ], + [ + 0.9851709604263306 + ], + [ + 0.9851709604263306 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.24083320796489716, + 0.13858941197395325, + 0.08968520164489746 + ], + [ + 0.2380629926919937, + 0.13589654862880707, + 0.08028419315814972 + ], + [ + 0.2516680657863617, + 0.12336140125989914, + 0.06694649159908295 + ], + [ + 0.25909778475761414, + 0.11277049779891968, + 0.07249784469604492 + ], + [ + 0.26434391736984253, + 0.11567776650190353, + 0.08136648684740067 + ], + [ + 0.27525532245635986, + 0.12087160348892212, + 0.08301669359207153 + ], + [ + 0.2908603847026825, + 0.12610258162021637, + 0.08464085310697556 + ], + [ + 0.30752119421958923, + 0.12969715893268585, + 0.06733445078134537 + ], + [ + 0.3245919644832611, + 0.1297556608915329, + 0.06046890467405319 + ], + [ + 0.328861802816391, + 0.12677335739135742, + 0.049614861607551575 + ], + [ + 0.335912823677063, + 0.12195859104394913, + 0.04643317684531212 + ], + [ + 0.33936554193496704, + 0.11674785614013672, + 0.04317966848611832 + ], + [ + 0.34367871284484863, + 0.10864663124084473, + 0.030055001378059387 + ], + [ + 0.35168030858039856, + 0.10362639278173447, + 0.015272446908056736 + ], + [ + 0.35818299651145935, + 0.10036801546812057, + 0.006429305300116539 + ], + [ + 0.36048194766044617, + 0.09949388355016708, + 0.0031667009461671114 + ], + [ + 0.35868316888809204, + 0.10289175808429718, + 0.003590128617361188 + ], + [ + 0.3501920700073242, + 0.10478314012289047, + 0.005584388040006161 + ], + [ + 0.3501351773738861, + 0.11676669120788574, + 0.032572269439697266 + ], + [ + 0.3423265814781189, + 0.11753608286380768, + 0.05280430242419243 + ], + [ + 0.34259670972824097, + 0.10431802272796631, + 0.06276745349168777 + ], + [ + 0.341895192861557, + 0.0696956217288971, + 0.06064842641353607 + ], + [ + 0.33900031447410583, + 0.04745502024888992, + 0.06139787659049034 + ], + [ + 0.3406321704387665, + 0.022204801440238953, + 0.0810992494225502 + ], + [ + 0.3420589566230774, + 0.0007597673102281988, + 0.08144776523113251 + ], + [ + 0.34474197030067444, + -0.0035148668102920055, + 0.07935512810945511 + ], + [ + 0.3436981439590454, + -0.001406261115334928, + 0.06937967240810394 + ], + [ + 0.34266337752342224, + -0.0015752608887851238, + 0.06623661518096924 + ], + [ + 0.3345320224761963, + -0.0020972848869860172, + 0.05817565321922302 + ], + [ + 0.3336413502693176, + 0.0028744691517204046, + 0.0732840970158577 + ], + [ + 0.32991889119148254, + 0.011762636713683605, + 0.09925099462270737 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.861223129204098, + 0.5037730635052855, + -0.0671373384220803, + 0.5062644703226249, + -0.8619770887641626, + 0.02630179717454829, + -0.04462071058212229, + -0.05664096514148127, + -0.9973970088460201 + ], + [ + 0.8703579072762218, + 0.48267708496410977, + -0.0974676607511673, + 0.4857162338606026, + -0.8740728357762401, + 0.00874173451631901, + -0.08097439969538237, + -0.0549500628628476, + -0.9952003000327828 + ], + [ + 0.961872063589189, + 0.261073309908096, + -0.08150374310610685, + 0.26052263402777326, + -0.9653089802467174, + -0.017507992868209116, + -0.08324716479199713, + -0.004393120607676819, + -0.9965192472026921 + ], + [ + 0.9917924665388786, + 0.11440375039161109, + -0.05709190146650531, + 0.10952548404387587, + -0.9905712076198572, + -0.08229733276050011, + -0.06596871729601766, + 0.075368856505003, + -0.9949711874257697 + ], + [ + 0.9985904860873607, + 0.05007181139655441, + -0.01760269295525657, + 0.04701186831693584, + -0.9883806238954536, + -0.14454627821353727, + -0.024635854626138716, + 0.14351500274013906, + -0.9893414570588549 + ], + [ + 0.9930034515840896, + 0.08908886278116993, + 0.07750690079239839, + 0.10061650372245898, + -0.9819023093119816, + -0.1604499116436848, + 0.061809904713995556, + 0.1671257894406358, + -0.9839961921588373 + ], + [ + 0.9885333575147324, + 0.09033808038015699, + 0.12099930708015766, + 0.11012629394253547, + -0.9795529261298217, + -0.1683694280235753, + 0.1033150543876945, + 0.17976400124533254, + -0.978269340924643 + ], + [ + 0.9873025262547472, + 0.12625771154051882, + 0.0963987133085575, + 0.13973696062677662, + -0.9789064715230827, + -0.14904932688549422, + 0.07554669738502802, + 0.1606272401766879, + -0.9841197011682247 + ], + [ + 0.9816495979572349, + 0.1510070526468654, + 0.11645143572024254, + 0.16521677948484328, + -0.9784375952631028, + -0.12394873114483014, + 0.09522333016155037, + 0.14091395327171663, + -0.985431770934082 + ], + [ + 0.9818552888663574, + 0.15478206840603556, + 0.10955684837157113, + 0.16784519345443225, + -0.9782067853089725, + -0.12222715005157518, + 0.08825068135377943, + 0.1383979641303852, + -0.9864369319754601 + ], + [ + 0.9802638801633641, + 0.16746446207103083, + 0.10506369111317972, + 0.18024521640713786, + -0.975385524533013, + -0.12702259835872856, + 0.08120583236079419, + 0.1434528928767876, + -0.9863198671404075 + ], + [ + 0.9770113000388896, + 0.18505781534132942, + 0.1058419792776647, + 0.19767697087509378, + -0.9723004766735742, + -0.12472208403481658, + 0.0798294105074471, + 0.14277740732144897, + -0.9865302211167171 + ], + [ + 0.9763282006358973, + 0.1991877647506588, + 0.08430586584993335, + 0.20741096150972854, + -0.9727414150302169, + -0.1037055086802092, + 0.06135093877587091, + 0.11873657338262394, + -0.9910286012283762 + ], + [ + 0.9737264242061199, + 0.2145487626200174, + 0.07632613746930486, + 0.22022465461349797, + -0.9724937591125014, + -0.07587483105484899, + 0.0579478412292411, + 0.09069022519244158, + -0.9941917977691302 + ], + [ + 0.9682664910719662, + 0.23258546672031288, + 0.09145492298217633, + 0.2359839131884634, + -0.9713494353558394, + -0.02814013415304266, + 0.08228970156369114, + 0.048829039560344525, + -0.995411537964159 + ], + [ + 0.962084801057789, + 0.2501318264854679, + 0.10875157448348864, + 0.25352008115171737, + -0.9671568418546237, + -0.01830878768833814, + 0.10060021881895011, + 0.04518531434917518, + -0.9939003387366085 + ], + [ + 0.9549897539417326, + 0.27125072267291633, + 0.1200733747161722, + 0.27771647464478694, + -0.9598072349624397, + -0.04054172449006273, + 0.10425032171260233, + 0.07206328582001634, + -0.9919368695938477 + ], + [ + 0.95276037210917, + 0.2925484208488815, + 0.08162778201826831, + 0.2987440417565714, + -0.9511262516156231, + -0.07817193231948646, + 0.05476925098396129, + 0.09886493284496861, + -0.9935924990659983 + ], + [ + 0.9366954113203461, + 0.325107055572045, + 0.13002733877413122, + 0.3321410512493297, + -0.9425402657379583, + -0.03605786374161557, + 0.11083333653011454, + 0.07696265250037827, + -0.9908545411076786 + ], + [ + 0.917999924372654, + 0.3818165323154354, + 0.1072020265779405, + 0.3891046037255697, + -0.9194026789525499, + -0.05741359851500119, + 0.07664036933215257, + 0.09441848116492055, + -0.992578160248925 + ], + [ + 0.9047808681072455, + 0.41662923021917003, + 0.08827040973101333, + 0.41924579206216867, + -0.9077847468217797, + -0.012641964874264604, + 0.07486351945550004, + 0.04844520579684928, + -0.9960163229034135 + ], + [ + 0.9426753055627028, + 0.32763780364955797, + 0.06337773979843708, + 0.3313373895075241, + -0.9415476488557843, + -0.060856875112707084, + 0.039734148998109314, + 0.07836768820016367, + -0.9961323721521943 + ], + [ + 0.9540688750649122, + 0.2985873700870423, + 0.02445739268353842, + 0.29957338289154123, + -0.950051625837588, + -0.08750826535975914, + -0.002893077131905496, + 0.09081569615358165, + -0.9958635144621222 + ], + [ + 0.9642899149950334, + 0.2593966172588342, + 0.05346358380752618, + 0.26333608843466444, + -0.9605890809959579, + -0.0890096736274823, + 0.02826772659414019, + 0.09991002164955343, + -0.994594853800875 + ], + [ + 0.9722134653915072, + 0.22716562503243373, + 0.056539866599245384, + 0.231521734759049, + -0.9687763029932183, + -0.08871392840446657, + 0.03462172794066347, + 0.099339083760703, + -0.9944511463073421 + ], + [ + 0.9707340368591407, + 0.22713851096765236, + 0.07799696480347, + 0.23262687588946873, + -0.9700145665919591, + -0.07040225289945838, + 0.05966712911697518, + 0.08648605341216146, + -0.9944646782405732 + ], + [ + 0.971043691692584, + 0.23333028409606954, + 0.05129451576616323, + 0.2361243451697772, + -0.9700160877039391, + -0.05756807460466001, + 0.03632413030179263, + 0.06801299963382926, + -0.997022963345693 + ], + [ + 0.9810136337082408, + 0.18716849140579175, + 0.050795731153653205, + 0.18835560945437793, + -0.9819044044770584, + -0.01964446119453957, + 0.04619972798214301, + 0.028839145157822866, + -0.9985158430595594 + ], + [ + 0.9852767553164594, + 0.16843531698517167, + 0.0293131271817645, + 0.1690421036407887, + -0.9854137651744675, + -0.019608125901678895, + 0.025582858123486145, + 0.024274583349338262, + -0.9993779375058514 + ], + [ + 0.9861763660485137, + 0.15429779425303225, + 0.060401703088545984, + 0.15589331246709442, + -0.9875146049054825, + -0.02263139912611667, + 0.056155588995083945, + 0.0317347725219146, + -0.9979175587379939 + ], + [ + 0.9862364319309058, + 0.15534848882247865, + 0.056608721525645875, + 0.15850838033977366, + -0.9857455448584904, + -0.05639870702152472, + 0.04704034113670476, + 0.06459541634056047, + -0.9968022063045067 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0027702152729034424, + -0.002692863345146179, + -0.009401008486747742, + -0.0015687867999076843, + 0.03642762079834938, + -0.022418975830078125, + 1.0 + ], + [ + 0.013605073094367981, + -0.012535147368907928, + -0.013337701559066772, + -0.05075063183903694, + 0.0022804662585258484, + -0.2445105016231537, + 1.0 + ], + [ + 0.007429718971252441, + -0.010590903460979462, + 0.005551353096961975, + -0.08001383394002914, + -0.0173269584774971, + -0.1545173078775406, + 1.0 + ], + [ + 0.0052461326122283936, + 0.002907268702983856, + 0.008868642151355743, + -0.06845090538263321, + -0.041378311812877655, + -0.06294271349906921, + 1.0 + ], + [ + 0.010911405086517334, + 0.005193836987018585, + 0.001650206744670868, + -0.024182170629501343, + -0.08648768067359924, + 0.05393729731440544, + 1.0 + ], + [ + 0.015605062246322632, + 0.0052309781312942505, + 0.0016241595149040222, + -0.013491317629814148, + -0.04165041074156761, + 0.009965464472770691, + 1.0 + ], + [ + 0.01666080951690674, + 0.0035945773124694824, + -0.017306402325630188, + 0.019937261939048767, + 0.027880996465682983, + 0.029653966426849365, + 1.0 + ], + [ + 0.017070770263671875, + 5.85019588470459e-05, + -0.006865546107292175, + 0.019758254289627075, + -0.019749082624912262, + 0.02614232897758484, + 1.0 + ], + [ + 0.004269838333129883, + -0.002982303500175476, + -0.010854043066501617, + 0.0026432573795318604, + 0.007002189755439758, + 0.0025678426027297974, + 1.0 + ], + [ + 0.007051020860671997, + -0.004814766347408295, + -0.003181684762239456, + -0.005038827657699585, + 0.007070288062095642, + 0.012532591819763184, + 1.0 + ], + [ + 0.0034527182579040527, + -0.0052107349038124084, + -0.003253508359193802, + 0.0007009655237197876, + 0.0013809055089950562, + 0.017790257930755615, + 1.0 + ], + [ + 0.004313170909881592, + -0.008101224899291992, + -0.01312466710805893, + 0.024485833942890167, + 0.018524952232837677, + 0.009694546461105347, + 1.0 + ], + [ + 0.008001595735549927, + -0.00502023845911026, + -0.014782554470002651, + 0.028274759650230408, + 0.003409169614315033, + 0.013097018003463745, + 1.0 + ], + [ + 0.006502687931060791, + -0.0032583773136138916, + -0.008843141607940197, + 0.04195345565676689, + -0.02440253645181656, + 0.016632646322250366, + 1.0 + ], + [ + 0.0022989511489868164, + -0.0008741319179534912, + -0.0032626043539494276, + 0.0035834945738315582, + -0.018387824296951294, + 0.018596619367599487, + 0.0 + ], + [ + -0.001798778772354126, + 0.0033978745341300964, + 0.00042342767119407654, + -0.027090318500995636, + -0.0036694034934043884, + 0.02534639835357666, + 0.0 + ], + [ + -0.008491098880767822, + 0.0018913820385932922, + 0.001994259422644973, + -0.02665439248085022, + 0.049643415957689285, + 0.020846456289291382, + 0.0 + ], + [ + -5.689263343811035e-05, + 0.01198355108499527, + 0.02698788046836853, + 0.021658681333065033, + -0.05626484379172325, + 0.03690943121910095, + 0.0 + ], + [ + -0.007808595895767212, + 0.000769391655921936, + 0.020232032984495163, + -0.017321743071079254, + 0.03434591740369797, + 0.06014937162399292, + 0.0 + ], + [ + 0.0002701282501220703, + -0.01321806013584137, + 0.009963151067495346, + 0.04623844474554062, + 0.0017819702625274658, + 0.03300860524177551, + 0.0 + ], + [ + -0.00070151686668396, + -0.034622400999069214, + -0.002119027078151703, + -0.029909588396549225, + 0.03518901392817497, + -0.09591609239578247, + 0.0 + ], + [ + -0.002894878387451172, + -0.02224060148000717, + 0.0007494501769542694, + -0.012431122362613678, + 0.042637694627046585, + -0.033751457929611206, + 0.0 + ], + [ + 0.0016318559646606445, + -0.02525021880865097, + 0.01970137283205986, + -0.009175755083560944, + -0.03116457350552082, + -0.0376589298248291, + 0.0 + ], + [ + 0.001426786184310913, + -0.021445034071803093, + 0.0003485158085823059, + 0.0005540475249290466, + -0.006357155740261078, + -0.03280346095561981, + 0.0 + ], + [ + 0.002683013677597046, + -0.004274634178727865, + -0.0020926371216773987, + 0.012813903391361237, + -0.02507394179701805, + 0.001420333981513977, + 0.0 + ], + [ + -0.0010438263416290283, + 0.0021086055785417557, + -0.009975455701351166, + 0.018638618290424347, + 0.023370467126369476, + 0.003331214189529419, + 1.0 + ], + [ + -0.001034766435623169, + -0.0001689997734501958, + -0.0031430572271347046, + 0.03923657909035683, + -0.009884055703878403, + -0.04884341359138489, + 1.0 + ], + [ + -0.008131355047225952, + -0.0005220239982008934, + -0.008060961961746216, + 0.004589065909385681, + 0.020630529150366783, + -0.019778668880462646, + 1.0 + ], + [ + -0.0008906722068786621, + 0.004971753805875778, + 0.015108443796634674, + -0.007505364716053009, + -0.030599495396018028, + -0.013132661581039429, + 1.0 + ], + [ + -0.003722459077835083, + 0.008888167329132557, + 0.02596689760684967, + -0.03292187675833702, + 0.009127438068389893, + 0.002576470375061035, + 1.0 + ], + [ + -0.0005742013454437256, + 0.01646031066775322, + 0.019757531583309174, + -0.005136311054229736, + 0.012869376689195633, + 0.008554250001907349, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9844722747802734 + ], + [ + 0.9844722747802734 + ], + [ + 0.9844722747802734 + ], + [ + 0.9844722747802734 + ], + [ + 0.9844722747802734 + ], + [ + 0.9844722747802734 + ], + [ + 0.9844722747802734 + ], + [ + 0.9844722747802734 + ], + [ + 0.9844722747802734 + ], + [ + 0.9844722747802734 + ], + [ + 0.9844722747802734 + ], + [ + 0.9844722747802734 + ], + [ + 0.9844722747802734 + ], + [ + 0.9844722747802734 + ], + [ + 0.9343546032905579 + ], + [ + 0.6971942782402039 + ], + [ + 0.6861988306045532 + ], + [ + 0.7031799554824829 + ], + [ + 0.7031799554824829 + ], + [ + 0.7031799554824829 + ], + [ + 0.7031799554824829 + ], + [ + 0.7031799554824829 + ], + [ + 0.7031799554824829 + ], + [ + 0.7031799554824829 + ], + [ + 0.7031799554824829 + ], + [ + 0.7720533609390259 + ], + [ + 0.9795387983322144 + ], + [ + 0.9865638017654419 + ], + [ + 0.9851709604263306 + ], + [ + 0.9851709604263306 + ], + [ + 0.9851709604263306 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2380629926919937, + 0.13589654862880707, + 0.08028419315814972 + ], + [ + 0.2516680657863617, + 0.12336140125989914, + 0.06694649159908295 + ], + [ + 0.25909778475761414, + 0.11277049779891968, + 0.07249784469604492 + ], + [ + 0.26434391736984253, + 0.11567776650190353, + 0.08136648684740067 + ], + [ + 0.27525532245635986, + 0.12087160348892212, + 0.08301669359207153 + ], + [ + 0.2908603847026825, + 0.12610258162021637, + 0.08464085310697556 + ], + [ + 0.30752119421958923, + 0.12969715893268585, + 0.06733445078134537 + ], + [ + 0.3245919644832611, + 0.1297556608915329, + 0.06046890467405319 + ], + [ + 0.328861802816391, + 0.12677335739135742, + 0.049614861607551575 + ], + [ + 0.335912823677063, + 0.12195859104394913, + 0.04643317684531212 + ], + [ + 0.33936554193496704, + 0.11674785614013672, + 0.04317966848611832 + ], + [ + 0.34367871284484863, + 0.10864663124084473, + 0.030055001378059387 + ], + [ + 0.35168030858039856, + 0.10362639278173447, + 0.015272446908056736 + ], + [ + 0.35818299651145935, + 0.10036801546812057, + 0.006429305300116539 + ], + [ + 0.36048194766044617, + 0.09949388355016708, + 0.0031667009461671114 + ], + [ + 0.35868316888809204, + 0.10289175808429718, + 0.003590128617361188 + ], + [ + 0.3501920700073242, + 0.10478314012289047, + 0.005584388040006161 + ], + [ + 0.3501351773738861, + 0.11676669120788574, + 0.032572269439697266 + ], + [ + 0.3423265814781189, + 0.11753608286380768, + 0.05280430242419243 + ], + [ + 0.34259670972824097, + 0.10431802272796631, + 0.06276745349168777 + ], + [ + 0.341895192861557, + 0.0696956217288971, + 0.06064842641353607 + ], + [ + 0.33900031447410583, + 0.04745502024888992, + 0.06139787659049034 + ], + [ + 0.3406321704387665, + 0.022204801440238953, + 0.0810992494225502 + ], + [ + 0.3420589566230774, + 0.0007597673102281988, + 0.08144776523113251 + ], + [ + 0.34474197030067444, + -0.0035148668102920055, + 0.07935512810945511 + ], + [ + 0.3436981439590454, + -0.001406261115334928, + 0.06937967240810394 + ], + [ + 0.34266337752342224, + -0.0015752608887851238, + 0.06623661518096924 + ], + [ + 0.3345320224761963, + -0.0020972848869860172, + 0.05817565321922302 + ], + [ + 0.3336413502693176, + 0.0028744691517204046, + 0.0732840970158577 + ], + [ + 0.32991889119148254, + 0.011762636713683605, + 0.09925099462270737 + ], + [ + 0.3293446898460388, + 0.0282229483127594, + 0.11900852620601654 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8703579072762218, + 0.48267708496410977, + -0.0974676607511673, + 0.4857162338606026, + -0.8740728357762401, + 0.00874173451631901, + -0.08097439969538237, + -0.0549500628628476, + -0.9952003000327828 + ], + [ + 0.961872063589189, + 0.261073309908096, + -0.08150374310610685, + 0.26052263402777326, + -0.9653089802467174, + -0.017507992868209116, + -0.08324716479199713, + -0.004393120607676819, + -0.9965192472026921 + ], + [ + 0.9917924665388786, + 0.11440375039161109, + -0.05709190146650531, + 0.10952548404387587, + -0.9905712076198572, + -0.08229733276050011, + -0.06596871729601766, + 0.075368856505003, + -0.9949711874257697 + ], + [ + 0.9985904860873607, + 0.05007181139655441, + -0.01760269295525657, + 0.04701186831693584, + -0.9883806238954536, + -0.14454627821353727, + -0.024635854626138716, + 0.14351500274013906, + -0.9893414570588549 + ], + [ + 0.9930034515840896, + 0.08908886278116993, + 0.07750690079239839, + 0.10061650372245898, + -0.9819023093119816, + -0.1604499116436848, + 0.061809904713995556, + 0.1671257894406358, + -0.9839961921588373 + ], + [ + 0.9885333575147324, + 0.09033808038015699, + 0.12099930708015766, + 0.11012629394253547, + -0.9795529261298217, + -0.1683694280235753, + 0.1033150543876945, + 0.17976400124533254, + -0.978269340924643 + ], + [ + 0.9873025262547472, + 0.12625771154051882, + 0.0963987133085575, + 0.13973696062677662, + -0.9789064715230827, + -0.14904932688549422, + 0.07554669738502802, + 0.1606272401766879, + -0.9841197011682247 + ], + [ + 0.9816495979572349, + 0.1510070526468654, + 0.11645143572024254, + 0.16521677948484328, + -0.9784375952631028, + -0.12394873114483014, + 0.09522333016155037, + 0.14091395327171663, + -0.985431770934082 + ], + [ + 0.9818552888663574, + 0.15478206840603556, + 0.10955684837157113, + 0.16784519345443225, + -0.9782067853089725, + -0.12222715005157518, + 0.08825068135377943, + 0.1383979641303852, + -0.9864369319754601 + ], + [ + 0.9802638801633641, + 0.16746446207103083, + 0.10506369111317972, + 0.18024521640713786, + -0.975385524533013, + -0.12702259835872856, + 0.08120583236079419, + 0.1434528928767876, + -0.9863198671404075 + ], + [ + 0.9770113000388896, + 0.18505781534132942, + 0.1058419792776647, + 0.19767697087509378, + -0.9723004766735742, + -0.12472208403481658, + 0.0798294105074471, + 0.14277740732144897, + -0.9865302211167171 + ], + [ + 0.9763282006358973, + 0.1991877647506588, + 0.08430586584993335, + 0.20741096150972854, + -0.9727414150302169, + -0.1037055086802092, + 0.06135093877587091, + 0.11873657338262394, + -0.9910286012283762 + ], + [ + 0.9737264242061199, + 0.2145487626200174, + 0.07632613746930486, + 0.22022465461349797, + -0.9724937591125014, + -0.07587483105484899, + 0.0579478412292411, + 0.09069022519244158, + -0.9941917977691302 + ], + [ + 0.9682664910719662, + 0.23258546672031288, + 0.09145492298217633, + 0.2359839131884634, + -0.9713494353558394, + -0.02814013415304266, + 0.08228970156369114, + 0.048829039560344525, + -0.995411537964159 + ], + [ + 0.962084801057789, + 0.2501318264854679, + 0.10875157448348864, + 0.25352008115171737, + -0.9671568418546237, + -0.01830878768833814, + 0.10060021881895011, + 0.04518531434917518, + -0.9939003387366085 + ], + [ + 0.9549897539417326, + 0.27125072267291633, + 0.1200733747161722, + 0.27771647464478694, + -0.9598072349624397, + -0.04054172449006273, + 0.10425032171260233, + 0.07206328582001634, + -0.9919368695938477 + ], + [ + 0.95276037210917, + 0.2925484208488815, + 0.08162778201826831, + 0.2987440417565714, + -0.9511262516156231, + -0.07817193231948646, + 0.05476925098396129, + 0.09886493284496861, + -0.9935924990659983 + ], + [ + 0.9366954113203461, + 0.325107055572045, + 0.13002733877413122, + 0.3321410512493297, + -0.9425402657379583, + -0.03605786374161557, + 0.11083333653011454, + 0.07696265250037827, + -0.9908545411076786 + ], + [ + 0.917999924372654, + 0.3818165323154354, + 0.1072020265779405, + 0.3891046037255697, + -0.9194026789525499, + -0.05741359851500119, + 0.07664036933215257, + 0.09441848116492055, + -0.992578160248925 + ], + [ + 0.9047808681072455, + 0.41662923021917003, + 0.08827040973101333, + 0.41924579206216867, + -0.9077847468217797, + -0.012641964874264604, + 0.07486351945550004, + 0.04844520579684928, + -0.9960163229034135 + ], + [ + 0.9426753055627028, + 0.32763780364955797, + 0.06337773979843708, + 0.3313373895075241, + -0.9415476488557843, + -0.060856875112707084, + 0.039734148998109314, + 0.07836768820016367, + -0.9961323721521943 + ], + [ + 0.9540688750649122, + 0.2985873700870423, + 0.02445739268353842, + 0.29957338289154123, + -0.950051625837588, + -0.08750826535975914, + -0.002893077131905496, + 0.09081569615358165, + -0.9958635144621222 + ], + [ + 0.9642899149950334, + 0.2593966172588342, + 0.05346358380752618, + 0.26333608843466444, + -0.9605890809959579, + -0.0890096736274823, + 0.02826772659414019, + 0.09991002164955343, + -0.994594853800875 + ], + [ + 0.9722134653915072, + 0.22716562503243373, + 0.056539866599245384, + 0.231521734759049, + -0.9687763029932183, + -0.08871392840446657, + 0.03462172794066347, + 0.099339083760703, + -0.9944511463073421 + ], + [ + 0.9707340368591407, + 0.22713851096765236, + 0.07799696480347, + 0.23262687588946873, + -0.9700145665919591, + -0.07040225289945838, + 0.05966712911697518, + 0.08648605341216146, + -0.9944646782405732 + ], + [ + 0.971043691692584, + 0.23333028409606954, + 0.05129451576616323, + 0.2361243451697772, + -0.9700160877039391, + -0.05756807460466001, + 0.03632413030179263, + 0.06801299963382926, + -0.997022963345693 + ], + [ + 0.9810136337082408, + 0.18716849140579175, + 0.050795731153653205, + 0.18835560945437793, + -0.9819044044770584, + -0.01964446119453957, + 0.04619972798214301, + 0.028839145157822866, + -0.9985158430595594 + ], + [ + 0.9852767553164594, + 0.16843531698517167, + 0.0293131271817645, + 0.1690421036407887, + -0.9854137651744675, + -0.019608125901678895, + 0.025582858123486145, + 0.024274583349338262, + -0.9993779375058514 + ], + [ + 0.9861763660485137, + 0.15429779425303225, + 0.060401703088545984, + 0.15589331246709442, + -0.9875146049054825, + -0.02263139912611667, + 0.056155588995083945, + 0.0317347725219146, + -0.9979175587379939 + ], + [ + 0.9862364319309058, + 0.15534848882247865, + 0.056608721525645875, + 0.15850838033977366, + -0.9857455448584904, + -0.05639870702152472, + 0.04704034113670476, + 0.06459541634056047, + -0.9968022063045067 + ], + [ + 0.9853597393515096, + 0.16436443644073004, + 0.045282624688136756, + 0.1670263376574266, + -0.983930456580784, + -0.06311148185138307, + 0.03418167043713274, + 0.0697509042683416, + -0.996978648096275 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006580.json b/json/chunk-0006/episode_0006580.json new file mode 100644 index 0000000000000000000000000000000000000000..1f201468dba99ae83b555276643d24819f088121 --- /dev/null +++ b/json/chunk-0006/episode_0006580.json @@ -0,0 +1,1282 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 20, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nTurn faucet front to right." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006580.mp4", + "start": 0, + "end": 20, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2876105010509491, + 0.08114466071128845, + 0.22533373534679413, + 0.1106911450624466, + 0.22454780340194702, + 0.09625693410634995, + 0.0, + 0.9759697914123535 + ], + [ + 0.299278199672699, + 0.08346979320049286, + 0.2136407047510147, + 0.10259787738323212, + 0.2639765441417694, + 0.08269546926021576, + 0.0, + 0.9752515554428101 + ], + [ + 0.3223598599433899, + 0.08661153167486191, + 0.21052302420139313, + 0.10194860398769379, + 0.2631887197494507, + 0.06205926835536957, + 0.0, + 0.9752515554428101 + ], + [ + 0.3325677216053009, + 0.08028095960617065, + 0.20746876299381256, + 0.09956040233373642, + 0.28370654582977295, + 0.03458946570754051, + 0.0, + 0.9752515554428101 + ], + [ + 0.3382740914821625, + 0.051342982798814774, + 0.20505325496196747, + 0.09431447088718414, + 0.3025042414665222, + -0.05833286792039871, + 0.0, + 0.9759697914123535 + ], + [ + 0.33274540305137634, + 0.022352732717990875, + 0.1973397433757782, + 0.09546873718500137, + 0.346578985452652, + -0.1265706717967987, + 0.0, + 0.9759697914123535 + ], + [ + 0.3242444694042206, + 0.0007468933472409844, + 0.20030178129673004, + 0.10668221116065979, + 0.35169517993927, + -0.15295198559761047, + 0.0, + 0.9752515554428101 + ], + [ + 0.3215888738632202, + -0.028753455728292465, + 0.20212322473526, + 0.10378727316856384, + 0.3471353054046631, + -0.23451031744480133, + 0.0, + 0.9759697914123535 + ], + [ + 0.3231060802936554, + -0.031092923134565353, + 0.20228588581085205, + 0.14039099216461182, + 0.33391088247299194, + -0.21922272443771362, + 0.0, + 0.9752515554428101 + ], + [ + 0.3238929510116577, + -0.01929708756506443, + 0.20042270421981812, + 0.18522483110427856, + 0.3096502721309662, + -0.15505047142505646, + 0.0, + 0.9752515554428101 + ], + [ + 0.31762993335723877, + 0.01690039597451687, + 0.19594968855381012, + 0.24041171371936798, + 0.30663007497787476, + 0.026310967281460762, + 0.0, + 0.9759697914123535 + ], + [ + 0.3057006597518921, + 0.06024171784520149, + 0.2102406620979309, + 0.29082006216049194, + 0.253145307302475, + 0.2126724272966385, + 0.0, + 0.9752515554428101 + ], + [ + 0.29619792103767395, + 0.09247739613056183, + 0.21240413188934326, + 0.2525753080844879, + 0.2520960569381714, + 0.2963920533657074, + 0.0, + 0.9752515554428101 + ], + [ + 0.29633063077926636, + 0.07064691931009293, + 0.2085104137659073, + 0.03667519986629486, + 0.29569196701049805, + 0.15504314005374908, + 0.0, + 0.9752515554428101 + ], + [ + 0.2870236933231354, + 0.05555667728185654, + 0.21321985125541687, + -0.11574605852365494, + 0.2880115211009979, + 0.07898752391338348, + 0.0, + 0.9759697914123535 + ], + [ + 0.2697157561779022, + 0.04788200929760933, + 0.22104285657405853, + -0.10160234570503235, + 0.26033860445022583, + 0.06221594288945198, + 0.0, + 0.9752515554428101 + ], + [ + 0.25161969661712646, + 0.040505360811948776, + 0.2220131903886795, + -0.04008488729596138, + 0.26406338810920715, + 0.03924378380179405, + 0.0, + 0.9759697914123535 + ], + [ + 0.24282313883304596, + 0.038017820566892624, + 0.22249293327331543, + -0.005573470611125231, + 0.24946850538253784, + 0.029448453336954117, + 0.0, + 0.9759697914123535 + ], + [ + 0.24261198937892914, + 0.03869759291410446, + 0.2217385321855545, + -0.001068352023139596, + 0.24845391511917114, + 0.0291883647441864, + 0.0, + 0.9752515554428101 + ], + [ + 0.24301855266094208, + 0.04013282060623169, + 0.2231001853942871, + 0.0014096394879743457, + 0.24404850602149963, + 0.036005523055791855, + 0.0, + 0.9759697914123535 + ] + ], + "left_gripper_pos": [ + [ + 0.9759697914123535 + ], + [ + 0.9752515554428101 + ], + [ + 0.9752515554428101 + ], + [ + 0.9752515554428101 + ], + [ + 0.9759697914123535 + ], + [ + 0.9759697914123535 + ], + [ + 0.9752515554428101 + ], + [ + 0.9759697914123535 + ], + [ + 0.9752515554428101 + ], + [ + 0.9752515554428101 + ], + [ + 0.9759697914123535 + ], + [ + 0.9752515554428101 + ], + [ + 0.9752515554428101 + ], + [ + 0.9752515554428101 + ], + [ + 0.9759697914123535 + ], + [ + 0.9752515554428101 + ], + [ + 0.9759697914123535 + ], + [ + 0.9759697914123535 + ], + [ + 0.9752515554428101 + ], + [ + 0.9759697914123535 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2876105010509491, + 0.08114466071128845, + 0.22533373534679413 + ], + [ + 0.299278199672699, + 0.08346979320049286, + 0.2136407047510147 + ], + [ + 0.3223598599433899, + 0.08661153167486191, + 0.21052302420139313 + ], + [ + 0.3325677216053009, + 0.08028095960617065, + 0.20746876299381256 + ], + [ + 0.3382740914821625, + 0.051342982798814774, + 0.20505325496196747 + ], + [ + 0.33274540305137634, + 0.022352732717990875, + 0.1973397433757782 + ], + [ + 0.3242444694042206, + 0.0007468933472409844, + 0.20030178129673004 + ], + [ + 0.3215888738632202, + -0.028753455728292465, + 0.20212322473526 + ], + [ + 0.3231060802936554, + -0.031092923134565353, + 0.20228588581085205 + ], + [ + 0.3238929510116577, + -0.01929708756506443, + 0.20042270421981812 + ], + [ + 0.31762993335723877, + 0.01690039597451687, + 0.19594968855381012 + ], + [ + 0.3057006597518921, + 0.06024171784520149, + 0.2102406620979309 + ], + [ + 0.29619792103767395, + 0.09247739613056183, + 0.21240413188934326 + ], + [ + 0.29633063077926636, + 0.07064691931009293, + 0.2085104137659073 + ], + [ + 0.2870236933231354, + 0.05555667728185654, + 0.21321985125541687 + ], + [ + 0.2697157561779022, + 0.04788200929760933, + 0.22104285657405853 + ], + [ + 0.25161969661712646, + 0.040505360811948776, + 0.2220131903886795 + ], + [ + 0.24282313883304596, + 0.038017820566892624, + 0.22249293327331543 + ], + [ + 0.24261198937892914, + 0.03869759291410446, + 0.2217385321855545 + ], + [ + 0.24301855266094208, + 0.04013282060623169, + 0.2231001853942871 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9703819871486377, + 0.07103723418255911, + -0.23089502025196118, + 0.09369554939688157, + -0.9916431537066028, + 0.08868483370926206, + -0.22266554075715855, + -0.1076920009402518, + -0.968928526720525 + ], + [ + 0.9620611016435267, + 0.05553516569508282, + -0.26712222310332606, + 0.07973994546587196, + -0.993549457546844, + 0.08062888133585504, + -0.2609214015782208, + -0.0988702219052396, + -0.9602836567488093 + ], + [ + 0.9637065389579557, + 0.03527128135461996, + -0.2646235882934122, + 0.05988382036938297, + -0.9945347729767154, + 0.0855249285186516, + -0.2601607864910574, + -0.09826760428420053, + -0.9605518430155647 + ], + [ + 0.9594502697118122, + 0.006605430473589953, + -0.2818005469089615, + 0.03320011380848245, + -0.9954149362640797, + 0.08970427584838062, + -0.2799159380832664, + -0.09542260188570167, + -0.9552704301172147 + ], + [ + 0.952969792103658, + -0.0860487144987293, + -0.2905928321053818, + -0.055652598807226485, + -0.9922267219950953, + 0.11130552728804241, + -0.2979116707749334, + -0.08989855889825729, + -0.9503509275652356 + ], + [ + 0.9330165333328937, + -0.15777894483642135, + -0.32339751559616897, + -0.11872721625913313, + -0.9833959691353404, + 0.1372450946581379, + -0.3396821994847918, + -0.08965585566302794, + -0.9362573529209285 + ], + [ + 0.9278303081812121, + -0.1877431695225879, + -0.32230951198804225, + -0.1430305987528846, + -0.9771182290099713, + 0.1574236778785483, + -0.3444897197896455, + -0.09996233707767359, + -0.9334529255003818 + ], + [ + 0.9146120920610644, + -0.2653972521367233, + -0.3050393738748476, + -0.21850632688082705, + -0.959204554237392, + 0.17939233050299208, + -0.34020538821237345, + -0.09742136156163123, + -0.9352910627942222 + ], + [ + 0.9221564807983184, + -0.2600946033409505, + -0.2863183931125866, + -0.20545961719741712, + -0.9564902142321527, + 0.20715408704445318, + -0.3277404012671476, + -0.13220161644640985, + -0.9354725875118975 + ], + [ + 0.9410144767272436, + -0.20723573555570382, + -0.2674791664755194, + -0.14708530704271003, + -0.9624371093847927, + 0.2282120131176194, + -0.3047255602044304, + -0.17540855277816753, + -0.936148584665044 + ], + [ + 0.953026215662763, + -0.046294486543741485, + -0.29932900423307474, + 0.025080829389296948, + -0.9727946366744876, + 0.23030750498951705, + -0.30184761760971, + -0.22699650960533022, + -0.9259376870882507 + ], + [ + 0.9463178303749508, + 0.13201406310483796, + -0.29505059067386774, + 0.2043458644028723, + -0.9515833270071327, + 0.22963436037204868, + -0.25045025776766394, + -0.2775994576806462, + -0.9274767972728603 + ], + [ + 0.9261664427974959, + 0.22318938001792898, + -0.30397733613387257, + 0.28283961052908724, + -0.9442577666978247, + 0.16846075135351501, + -0.24943430989257898, + -0.2419995261938524, + -0.9376666541849316 + ], + [ + 0.9451261806537846, + 0.14376221919797127, + -0.2933750619498252, + 0.14772088874767791, + -0.9889904562269176, + -0.008741654286753575, + -0.2914018559830831, + -0.035075658558998066, + -0.9559574553850536 + ], + [ + 0.9558211218912829, + 0.11107904091594618, + -0.27215332005265497, + 0.07565534783862575, + -0.9876234664633043, + -0.1373905267273652, + -0.28404621329971264, + 0.11073091329976406, + -0.9523950931991902 + ], + [ + 0.9644332833449657, + 0.08791291203507622, + -0.24927848257312946, + 0.0600806666423188, + -0.9912948084495, + -0.11715338764578438, + -0.25740776109562746, + 0.09800980888963011, + -0.9613195732373051 + ], + [ + 0.9645941344888124, + 0.049653706077165405, + -0.25902251867855275, + 0.03787376847607203, + -0.9980170209849973, + -0.05027527708180366, + -0.261005236290768, + 0.03868507848038708, + -0.964561937530072 + ], + [ + 0.9686236261816132, + 0.03081916445253518, + -0.24661396940406674, + 0.02853271609916408, + -0.9995103847803571, + -0.012840359349601045, + -0.24688895259769497, + 0.005400909059591372, + -0.9690287277818667 + ], + [ + 0.9688809002903352, + 0.029446805547967154, + -0.24576958049280534, + 0.028288083012067793, + -0.9995658123835164, + -0.008244457143029375, + -0.24590564331078635, + 0.0010355467643218303, + -0.9692932178813628 + ], + [ + 0.9697387534093465, + 0.03565731348169707, + -0.241527029815205, + 0.034931047191699746, + -0.9993631396704676, + -0.007289513706469936, + -0.24163313530676664, + -0.0013678681418734973, + -0.9703667125672482 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + 0.011667698621749878, + 0.0023251324892044067, + -0.011693030595779419, + -0.008093267679214478, + 0.03942874073982239, + -0.013561464846134186, + 1.0 + ], + [ + 0.023081660270690918, + 0.003141738474369049, + -0.003117680549621582, + -0.0006492733955383301, + -0.0007878243923187256, + -0.02063620090484619, + 1.0 + ], + [ + 0.01020786166191101, + -0.006330572068691254, + -0.0030542612075805664, + -0.002388201653957367, + 0.020517826080322266, + -0.027469802647829056, + 1.0 + ], + [ + 0.005706369876861572, + -0.02893797680735588, + -0.0024155080318450928, + -0.005245931446552277, + 0.018797695636749268, + -0.09292232990264893, + 1.0 + ], + [ + -0.005528688430786133, + -0.0289902500808239, + -0.00771351158618927, + 0.0011542662978172302, + 0.04407474398612976, + -0.0682378038764, + 1.0 + ], + [ + -0.008500933647155762, + -0.0216058399528265, + 0.0029620379209518433, + 0.011213473975658417, + 0.005116194486618042, + -0.026381313800811768, + 1.0 + ], + [ + -0.002655595541000366, + -0.02950034849345684, + 0.0018214434385299683, + -0.0028949379920959473, + -0.004559874534606934, + -0.08155833184719086, + 1.0 + ], + [ + 0.0015172064304351807, + -0.002339467406272888, + 0.00016266107559204102, + 0.036603718996047974, + -0.013224422931671143, + 0.015287593007087708, + 1.0 + ], + [ + 0.0007868707180023193, + 0.011795835569500923, + -0.0018631815910339355, + 0.04483383893966675, + -0.024260610342025757, + 0.06417225301265717, + 1.0 + ], + [ + -0.006263017654418945, + 0.0361974835395813, + -0.004473015666007996, + 0.055186882615089417, + -0.0030201971530914307, + 0.18136143684387207, + 1.0 + ], + [ + -0.01192927360534668, + 0.04334132373332977, + 0.014290973544120789, + 0.05040834844112396, + -0.05348476767539978, + 0.18636146187782288, + 1.0 + ], + [ + -0.00950273871421814, + 0.032235678285360336, + 0.0021634697914123535, + -0.03824475407600403, + -0.0010492503643035889, + 0.08371962606906891, + 1.0 + ], + [ + 0.00013270974159240723, + -0.021830476820468903, + -0.003893718123435974, + -0.21590010821819305, + 0.04359591007232666, + -0.1413489133119583, + 1.0 + ], + [ + -0.009306937456130981, + -0.01509024202823639, + 0.0047094374895095825, + -0.1524212658405304, + -0.007680445909500122, + -0.0760556161403656, + 1.0 + ], + [ + -0.017307937145233154, + -0.007674667984247208, + 0.007823005318641663, + 0.014143712818622589, + -0.027672916650772095, + -0.016771581023931503, + 1.0 + ], + [ + -0.018096059560775757, + -0.007376648485660553, + 0.0009703338146209717, + 0.06151745840907097, + 0.0037247836589813232, + -0.02297215908765793, + 1.0 + ], + [ + -0.008796557784080505, + -0.0024875402450561523, + 0.0004797428846359253, + 0.034511417150497437, + -0.014594882726669312, + -0.009795330464839935, + 1.0 + ], + [ + -0.0002111494541168213, + 0.0006797723472118378, + -0.0007544010877609253, + 0.004505118355154991, + -0.0010145902633666992, + -0.00026008859276771545, + 1.0 + ], + [ + 0.00040656328201293945, + 0.0014352276921272278, + 0.001361653208732605, + 0.00247799139469862, + -0.004405409097671509, + 0.0068171583116054535, + 1.0 + ], + [ + 0.0005727261304855347, + 0.00040363892912864685, + 0.0013796985149383545, + 0.005216542631387711, + -0.004076212644577026, + 3.244355320930481e-05, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9752515554428101 + ], + [ + 0.9752515554428101 + ], + [ + 0.9752515554428101 + ], + [ + 0.9759697914123535 + ], + [ + 0.9759697914123535 + ], + [ + 0.9752515554428101 + ], + [ + 0.9759697914123535 + ], + [ + 0.9752515554428101 + ], + [ + 0.9752515554428101 + ], + [ + 0.9759697914123535 + ], + [ + 0.9752515554428101 + ], + [ + 0.9752515554428101 + ], + [ + 0.9752515554428101 + ], + [ + 0.9759697914123535 + ], + [ + 0.9752515554428101 + ], + [ + 0.9759697914123535 + ], + [ + 0.9759697914123535 + ], + [ + 0.9752515554428101 + ], + [ + 0.9759697914123535 + ], + [ + 0.9759697914123535 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.299278199672699, + 0.08346979320049286, + 0.2136407047510147 + ], + [ + 0.3223598599433899, + 0.08661153167486191, + 0.21052302420139313 + ], + [ + 0.3325677216053009, + 0.08028095960617065, + 0.20746876299381256 + ], + [ + 0.3382740914821625, + 0.051342982798814774, + 0.20505325496196747 + ], + [ + 0.33274540305137634, + 0.022352732717990875, + 0.1973397433757782 + ], + [ + 0.3242444694042206, + 0.0007468933472409844, + 0.20030178129673004 + ], + [ + 0.3215888738632202, + -0.028753455728292465, + 0.20212322473526 + ], + [ + 0.3231060802936554, + -0.031092923134565353, + 0.20228588581085205 + ], + [ + 0.3238929510116577, + -0.01929708756506443, + 0.20042270421981812 + ], + [ + 0.31762993335723877, + 0.01690039597451687, + 0.19594968855381012 + ], + [ + 0.3057006597518921, + 0.06024171784520149, + 0.2102406620979309 + ], + [ + 0.29619792103767395, + 0.09247739613056183, + 0.21240413188934326 + ], + [ + 0.29633063077926636, + 0.07064691931009293, + 0.2085104137659073 + ], + [ + 0.2870236933231354, + 0.05555667728185654, + 0.21321985125541687 + ], + [ + 0.2697157561779022, + 0.04788200929760933, + 0.22104285657405853 + ], + [ + 0.25161969661712646, + 0.040505360811948776, + 0.2220131903886795 + ], + [ + 0.24282313883304596, + 0.038017820566892624, + 0.22249293327331543 + ], + [ + 0.24261198937892914, + 0.03869759291410446, + 0.2217385321855545 + ], + [ + 0.24301855266094208, + 0.04013282060623169, + 0.2231001853942871 + ], + [ + 0.2435912787914276, + 0.040536459535360336, + 0.22447988390922546 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9620611016435267, + 0.05553516569508282, + -0.26712222310332606, + 0.07973994546587196, + -0.993549457546844, + 0.08062888133585504, + -0.2609214015782208, + -0.0988702219052396, + -0.9602836567488093 + ], + [ + 0.9637065389579557, + 0.03527128135461996, + -0.2646235882934122, + 0.05988382036938297, + -0.9945347729767154, + 0.0855249285186516, + -0.2601607864910574, + -0.09826760428420053, + -0.9605518430155647 + ], + [ + 0.9594502697118122, + 0.006605430473589953, + -0.2818005469089615, + 0.03320011380848245, + -0.9954149362640797, + 0.08970427584838062, + -0.2799159380832664, + -0.09542260188570167, + -0.9552704301172147 + ], + [ + 0.952969792103658, + -0.0860487144987293, + -0.2905928321053818, + -0.055652598807226485, + -0.9922267219950953, + 0.11130552728804241, + -0.2979116707749334, + -0.08989855889825729, + -0.9503509275652356 + ], + [ + 0.9330165333328937, + -0.15777894483642135, + -0.32339751559616897, + -0.11872721625913313, + -0.9833959691353404, + 0.1372450946581379, + -0.3396821994847918, + -0.08965585566302794, + -0.9362573529209285 + ], + [ + 0.9278303081812121, + -0.1877431695225879, + -0.32230951198804225, + -0.1430305987528846, + -0.9771182290099713, + 0.1574236778785483, + -0.3444897197896455, + -0.09996233707767359, + -0.9334529255003818 + ], + [ + 0.9146120920610644, + -0.2653972521367233, + -0.3050393738748476, + -0.21850632688082705, + -0.959204554237392, + 0.17939233050299208, + -0.34020538821237345, + -0.09742136156163123, + -0.9352910627942222 + ], + [ + 0.9221564807983184, + -0.2600946033409505, + -0.2863183931125866, + -0.20545961719741712, + -0.9564902142321527, + 0.20715408704445318, + -0.3277404012671476, + -0.13220161644640985, + -0.9354725875118975 + ], + [ + 0.9410144767272436, + -0.20723573555570382, + -0.2674791664755194, + -0.14708530704271003, + -0.9624371093847927, + 0.2282120131176194, + -0.3047255602044304, + -0.17540855277816753, + -0.936148584665044 + ], + [ + 0.953026215662763, + -0.046294486543741485, + -0.29932900423307474, + 0.025080829389296948, + -0.9727946366744876, + 0.23030750498951705, + -0.30184761760971, + -0.22699650960533022, + -0.9259376870882507 + ], + [ + 0.9463178303749508, + 0.13201406310483796, + -0.29505059067386774, + 0.2043458644028723, + -0.9515833270071327, + 0.22963436037204868, + -0.25045025776766394, + -0.2775994576806462, + -0.9274767972728603 + ], + [ + 0.9261664427974959, + 0.22318938001792898, + -0.30397733613387257, + 0.28283961052908724, + -0.9442577666978247, + 0.16846075135351501, + -0.24943430989257898, + -0.2419995261938524, + -0.9376666541849316 + ], + [ + 0.9451261806537846, + 0.14376221919797127, + -0.2933750619498252, + 0.14772088874767791, + -0.9889904562269176, + -0.008741654286753575, + -0.2914018559830831, + -0.035075658558998066, + -0.9559574553850536 + ], + [ + 0.9558211218912829, + 0.11107904091594618, + -0.27215332005265497, + 0.07565534783862575, + -0.9876234664633043, + -0.1373905267273652, + -0.28404621329971264, + 0.11073091329976406, + -0.9523950931991902 + ], + [ + 0.9644332833449657, + 0.08791291203507622, + -0.24927848257312946, + 0.0600806666423188, + -0.9912948084495, + -0.11715338764578438, + -0.25740776109562746, + 0.09800980888963011, + -0.9613195732373051 + ], + [ + 0.9645941344888124, + 0.049653706077165405, + -0.25902251867855275, + 0.03787376847607203, + -0.9980170209849973, + -0.05027527708180366, + -0.261005236290768, + 0.03868507848038708, + -0.964561937530072 + ], + [ + 0.9686236261816132, + 0.03081916445253518, + -0.24661396940406674, + 0.02853271609916408, + -0.9995103847803571, + -0.012840359349601045, + -0.24688895259769497, + 0.005400909059591372, + -0.9690287277818667 + ], + [ + 0.9688809002903352, + 0.029446805547967154, + -0.24576958049280534, + 0.028288083012067793, + -0.9995658123835164, + -0.008244457143029375, + -0.24590564331078635, + 0.0010355467643218303, + -0.9692932178813628 + ], + [ + 0.9697387534093465, + 0.03565731348169707, + -0.241527029815205, + 0.034931047191699746, + -0.9993631396704676, + -0.007289513706469936, + -0.24163313530676664, + -0.0013678681418734973, + -0.9703667125672482 + ], + [ + 0.9707138690721643, + 0.03445552700565214, + -0.2377549180347531, + 0.034997706228248986, + -0.9993855068136656, + -0.001941476127671832, + -0.237675713840751, + -0.006436258972098138, + -0.9713232364258223 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006581.json b/json/chunk-0006/episode_0006581.json new file mode 100644 index 0000000000000000000000000000000000000000..b76c58eb556260fdaefb83c48e89d98d8e7f48b8 --- /dev/null +++ b/json/chunk-0006/episode_0006581.json @@ -0,0 +1,2182 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 35, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nTake cucumber out of cup." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006581.mp4", + "start": 0, + "end": 35, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.37139806151390076, + -0.11210886389017105, + 0.03129349276423454, + 0.0255874190479517, + -0.022697003558278084, + -0.10366036742925644, + 0.0, + 0.9954678416252136 + ], + [ + 0.3627355098724365, + -0.10999292135238647, + 0.014537539333105087, + 0.03622163087129593, + 0.028131600469350815, + -0.09754180908203125, + 0.0, + 0.9954678416252136 + ], + [ + 0.35128334164619446, + -0.1026674434542656, + 0.024197468534111977, + 0.05556676164269447, + 0.02105940878391266, + -0.0454559326171875, + 0.0, + 0.9954678416252136 + ], + [ + 0.3455891013145447, + -0.09248550981283188, + 0.052538931369781494, + 0.06927516311407089, + -0.03917338699102402, + 0.022460004314780235, + 0.0, + 0.9954678416252136 + ], + [ + 0.33885514736175537, + -0.07955189794301987, + 0.06563258171081543, + 0.09501916170120239, + -0.04970979318022728, + 0.11745642125606537, + 0.0, + 0.9954678416252136 + ], + [ + 0.32729122042655945, + -0.05993141978979111, + 0.0821029543876648, + 0.09516877681016922, + -0.07341345399618149, + 0.2872598171234131, + 0.0, + 0.9954678416252136 + ], + [ + 0.316663920879364, + -0.035291798412799835, + 0.09063246846199036, + 0.10996779799461365, + -0.09350214898586273, + 0.4871020019054413, + 0.0, + 0.9954678416252136 + ], + [ + 0.31012746691703796, + -0.014548832550644875, + 0.0904087945818901, + 0.07589416205883026, + -0.12872818112373352, + 0.6215066909790039, + 0.0, + 0.9954678416252136 + ], + [ + 0.3185807764530182, + 0.010127260349690914, + 0.0884954184293747, + 0.045674968510866165, + -0.18804514408111572, + 0.6627827286720276, + 0.0, + 0.9954678416252136 + ], + [ + 0.3242729604244232, + 0.022670544683933258, + 0.09005583822727203, + 0.04312138259410858, + -0.23544476926326752, + 0.684061586856842, + 0.0, + 0.9954678416252136 + ], + [ + 0.32848554849624634, + 0.029110955074429512, + 0.08240018039941788, + 0.05617296323180199, + -0.24840721487998962, + 0.7011422514915466, + 0.0, + 0.9954678416252136 + ], + [ + 0.3411608338356018, + 0.03441464528441429, + 0.0772341787815094, + 0.03592116758227348, + -0.23998068273067474, + 0.6990510821342468, + 0.0, + 0.9954678416252136 + ], + [ + 0.3523373305797577, + 0.03737246245145798, + 0.06739027798175812, + 0.036374468356370926, + -0.22965575754642487, + 0.6856207847595215, + 0.0, + 0.9954678416252136 + ], + [ + 0.3581380844116211, + 0.03729939088225365, + 0.06248228996992111, + 0.036283284425735474, + -0.22627367079257965, + 0.6888024210929871, + 0.0, + 0.9954678416252136 + ], + [ + 0.35881882905960083, + 0.03849954530596733, + 0.05789083242416382, + 0.04299889877438545, + -0.21306495368480682, + 0.6905258893966675, + 0.0, + 0.9507390260696411 + ], + [ + 0.3656972050666809, + 0.04196527600288391, + 0.0530443899333477, + 0.04364688694477081, + -0.19557346403598785, + 0.6908174753189087, + 0.0, + 0.7031799554824829 + ], + [ + 0.36847561597824097, + 0.04366832226514816, + 0.053998541086912155, + 0.039933640509843826, + -0.19866342842578888, + 0.697392463684082, + 0.0, + 0.4283607602119446 + ], + [ + 0.36925941705703735, + 0.04489373415708542, + 0.052475880831480026, + 0.04632929712533951, + -0.18919186294078827, + 0.706720232963562, + 0.0, + 0.39099013805389404 + ], + [ + 0.3686099350452423, + 0.04456125199794769, + 0.052432458847761154, + 0.0485079251229763, + -0.187183678150177, + 0.7153252363204956, + 0.0, + 0.4175282120704651 + ], + [ + 0.3671114444732666, + 0.044193752110004425, + 0.05311807245016098, + 0.06339272111654282, + -0.1877320557832718, + 0.7139003276824951, + 0.0, + 0.41842639446258545 + ], + [ + 0.3672492802143097, + 0.04372737556695938, + 0.06718568503856659, + 0.05291029438376427, + -0.22495655715465546, + 0.7103186845779419, + 0.0, + 0.41842639446258545 + ], + [ + 0.3643702566623688, + 0.04048938304185867, + 0.07994849234819412, + 0.03915785998106003, + -0.25324898958206177, + 0.7114978432655334, + 0.0, + 0.41842639446258545 + ], + [ + 0.35976743698120117, + 0.035800643265247345, + 0.08836612105369568, + 0.031792838126420975, + -0.2699100971221924, + 0.7052244544029236, + 0.0, + 0.41842639446258545 + ], + [ + 0.34870243072509766, + 0.022770944982767105, + 0.09924472123384476, + 0.024729788303375244, + -0.28944018483161926, + 0.6799608469009399, + 0.0, + 0.41842639446258545 + ], + [ + 0.33087536692619324, + 0.011708635836839676, + 0.10845085233449936, + 0.009421784430742264, + -0.30641934275627136, + 0.6391888856887817, + 0.0, + 0.41842639446258545 + ], + [ + 0.31332021951675415, + 0.009234581142663956, + 0.10634486377239227, + 0.018677467480301857, + -0.3046862781047821, + 0.6323038339614868, + 0.0, + 0.41842639446258545 + ], + [ + 0.295349657535553, + 0.011092076078057289, + 0.09992461651563644, + 0.0303622018545866, + -0.29976528882980347, + 0.643655002117157, + 0.0, + 0.41842639446258545 + ], + [ + 0.28116339445114136, + 0.014793056063354015, + 0.08747856318950653, + 0.05075974017381668, + -0.2814231812953949, + 0.6603947281837463, + 0.0, + 0.41842639446258545 + ], + [ + 0.27996647357940674, + 0.02353714033961296, + 0.07617045193910599, + 0.006169615779072046, + -0.26258280873298645, + 0.703080415725708, + 0.0, + 0.41842639446258545 + ], + [ + 0.28251492977142334, + 0.03311538323760033, + 0.05521540343761444, + 0.01132873073220253, + -0.235041081905365, + 0.7327936291694641, + 0.0, + 0.41842639446258545 + ], + [ + 0.28474509716033936, + 0.041598767042160034, + 0.04238376393914223, + 0.0041748215444386005, + -0.23117056488990784, + 0.7667697668075562, + 0.0, + 0.41842639446258545 + ], + [ + 0.2883976697921753, + 0.04435150325298309, + 0.036342695355415344, + 0.004103172104805708, + -0.2436843365430832, + 0.769432783126831, + 0.0, + 0.41842639446258545 + ], + [ + 0.2873557209968567, + 0.04485916346311569, + 0.022384528070688248, + 0.008093930780887604, + -0.21171435713768005, + 0.7708107829093933, + 0.0, + 0.37802740931510925 + ], + [ + 0.28925395011901855, + 0.04540441930294037, + 0.02149137482047081, + -0.005805581342428923, + -0.2133634388446808, + 0.7821166515350342, + 0.0, + 0.36275482177734375 + ], + [ + 0.2856340706348419, + 0.04296604543924332, + 0.015319527126848698, + -0.007737611886113882, + -0.19425064325332642, + 0.7662408351898193, + 0.0, + 0.6470694541931152 + ] + ], + "left_gripper_pos": [ + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9507390260696411 + ], + [ + 0.7031799554824829 + ], + [ + 0.4283607602119446 + ], + [ + 0.39099013805389404 + ], + [ + 0.4175282120704651 + ], + [ + 0.41842639446258545 + ], + [ + 0.41842639446258545 + ], + [ + 0.41842639446258545 + ], + [ + 0.41842639446258545 + ], + [ + 0.41842639446258545 + ], + [ + 0.41842639446258545 + ], + [ + 0.41842639446258545 + ], + [ + 0.41842639446258545 + ], + [ + 0.41842639446258545 + ], + [ + 0.41842639446258545 + ], + [ + 0.41842639446258545 + ], + [ + 0.41842639446258545 + ], + [ + 0.41842639446258545 + ], + [ + 0.37802740931510925 + ], + [ + 0.36275482177734375 + ], + [ + 0.6470694541931152 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.37139806151390076, + -0.11210886389017105, + 0.03129349276423454 + ], + [ + 0.3627355098724365, + -0.10999292135238647, + 0.014537539333105087 + ], + [ + 0.35128334164619446, + -0.1026674434542656, + 0.024197468534111977 + ], + [ + 0.3455891013145447, + -0.09248550981283188, + 0.052538931369781494 + ], + [ + 0.33885514736175537, + -0.07955189794301987, + 0.06563258171081543 + ], + [ + 0.32729122042655945, + -0.05993141978979111, + 0.0821029543876648 + ], + [ + 0.316663920879364, + -0.035291798412799835, + 0.09063246846199036 + ], + [ + 0.31012746691703796, + -0.014548832550644875, + 0.0904087945818901 + ], + [ + 0.3185807764530182, + 0.010127260349690914, + 0.0884954184293747 + ], + [ + 0.3242729604244232, + 0.022670544683933258, + 0.09005583822727203 + ], + [ + 0.32848554849624634, + 0.029110955074429512, + 0.08240018039941788 + ], + [ + 0.3411608338356018, + 0.03441464528441429, + 0.0772341787815094 + ], + [ + 0.3523373305797577, + 0.03737246245145798, + 0.06739027798175812 + ], + [ + 0.3581380844116211, + 0.03729939088225365, + 0.06248228996992111 + ], + [ + 0.35881882905960083, + 0.03849954530596733, + 0.05789083242416382 + ], + [ + 0.3656972050666809, + 0.04196527600288391, + 0.0530443899333477 + ], + [ + 0.36847561597824097, + 0.04366832226514816, + 0.053998541086912155 + ], + [ + 0.36925941705703735, + 0.04489373415708542, + 0.052475880831480026 + ], + [ + 0.3686099350452423, + 0.04456125199794769, + 0.052432458847761154 + ], + [ + 0.3671114444732666, + 0.044193752110004425, + 0.05311807245016098 + ], + [ + 0.3672492802143097, + 0.04372737556695938, + 0.06718568503856659 + ], + [ + 0.3643702566623688, + 0.04048938304185867, + 0.07994849234819412 + ], + [ + 0.35976743698120117, + 0.035800643265247345, + 0.08836612105369568 + ], + [ + 0.34870243072509766, + 0.022770944982767105, + 0.09924472123384476 + ], + [ + 0.33087536692619324, + 0.011708635836839676, + 0.10845085233449936 + ], + [ + 0.31332021951675415, + 0.009234581142663956, + 0.10634486377239227 + ], + [ + 0.295349657535553, + 0.011092076078057289, + 0.09992461651563644 + ], + [ + 0.28116339445114136, + 0.014793056063354015, + 0.08747856318950653 + ], + [ + 0.27996647357940674, + 0.02353714033961296, + 0.07617045193910599 + ], + [ + 0.28251492977142334, + 0.03311538323760033, + 0.05521540343761444 + ], + [ + 0.28474509716033936, + 0.041598767042160034, + 0.04238376393914223 + ], + [ + 0.2883976697921753, + 0.04435150325298309, + 0.036342695355415344 + ], + [ + 0.2873557209968567, + 0.04485916346311569, + 0.022384528070688248 + ], + [ + 0.28925395011901855, + 0.04540441930294037, + 0.02149137482047081 + ], + [ + 0.2856340706348419, + 0.04296604543924332, + 0.015319527126848698 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.994375890104984, + -0.10286342143405613, + 0.025213205048160273, + -0.10344816896651601, + -0.99436657251603, + 0.023099692642935387, + 0.022695054866555566, + -0.02557803732897992, + -0.9994151782372536 + ], + [ + 0.9948527817735798, + -0.09833710129668814, + -0.024449071678376563, + -0.09734867433513066, + -0.9944945546504358, + 0.03877907136360389, + -0.028127890119277906, + -0.036199382304062964, + -0.9989486606018557 + ], + [ + 0.9987455448646562, + -0.04653845282576961, + -0.01847996270519179, + -0.04543020442938081, + -0.997372072878126, + 0.05643620086695597, + -0.02105785218170008, + -0.05552585570141491, + -0.998235165785157 + ], + [ + 0.9989807991900129, + 0.02511444433701431, + 0.03750503346653396, + 0.022440886635603997, + -0.9972889437728817, + 0.07007973484095031, + 0.039163368811822, + -0.06916666331414972, + -0.9968360964718804 + ], + [ + 0.9918831551114217, + 0.12133977031630244, + 0.03800614089589632, + 0.11704177793721077, + -0.9880776201528895, + 0.1000191920098305, + 0.049689323033307614, + -0.0947590454394179, + -0.9942593698245454 + ], + [ + 0.9564406525021697, + 0.28872757088234613, + 0.04310067347041799, + 0.2825622381384034, + -0.952709390830435, + 0.11181859506234863, + 0.07334752769821204, + -0.09476922726223481, + -0.9927935000515862 + ], + [ + 0.8798329278271741, + 0.47429444163706647, + 0.030639871788996513, + 0.4660223337485898, + -0.8735591141339593, + 0.14041958040462355, + 0.09336596574009598, + -0.10926690599479748, + -0.9896178755942838 + ], + [ + 0.8062752832672957, + 0.5884979603257665, + 0.059919264720576855, + 0.5774431167207035, + -0.8049944201630609, + 0.13617426503644994, + 0.12837295098314885, + -0.07519397714411669, + -0.988871200539852 + ], + [ + 0.7743868294347864, + 0.6213994439842, + 0.1191124234245352, + 0.6044657985049239, + -0.7822089443711839, + 0.15089819675371358, + 0.1869388585493752, + -0.04485419001436657, + -0.9813470154855577 + ], + [ + 0.7536303520770027, + 0.6391521218353411, + 0.1533814121126627, + 0.6145110497649922, + -0.7679370988561132, + 0.1806897393799209, + 0.2332755069548033, + -0.04191869933380239, + -0.9715067475324821 + ], + [ + 0.7406517953844486, + 0.6546207080247999, + 0.15134941895792953, + 0.6252900072107601, + -0.7539961401430106, + 0.20125165224616032, + 0.24586037679170852, + -0.054420118288657185, + -0.967776382151005 + ], + [ + 0.7435172296521733, + 0.6496104543855893, + 0.15870849619130545, + 0.6250508064003372, + -0.7594664878980402, + 0.18033896744215958, + 0.2376838627855195, + -0.03488425594396766, + -0.9707159574554187 + ], + [ + 0.7537039459600559, + 0.6391426286027816, + 0.1530590152423842, + 0.6165300724180022, + -0.7682725532377785, + 0.17218581168539443, + 0.2276423327250331, + -0.03541163995400165, + -0.9731007060460257 + ], + [ + 0.752328632980668, + 0.641477579923774, + 0.1500271390534984, + 0.619410781419145, + -0.7663268539256157, + 0.1705093452400558, + 0.2243477476133065, + -0.03535063517967375, + -0.9738677634736812 + ], + [ + 0.7534788560563004, + 0.6433612231062679, + 0.13548413220483152, + 0.622539755420546, + -0.7644090470921605, + 0.1676993191536035, + 0.21145653547955423, + -0.042013632631116876, + -0.9764839928417269 + ], + [ + 0.7560325954817793, + 0.6430957319482109, + 0.12183018558255357, + 0.6250207324529986, + -0.764588735544729, + 0.15733133661807414, + 0.194329098626535, + -0.0428012269462877, + -0.9800021716296812 + ], + [ + 0.7514429185567498, + 0.6477486827171489, + 0.12551965658458486, + 0.6295894508449128, + -0.7608481302736866, + 0.15724899377686402, + 0.19735922460253746, + -0.039137791164468055, + -0.9795496770287108 + ], + [ + 0.7469257811650829, + 0.655270043386006, + 0.11279648785238064, + 0.6377564920631905, + -0.7540239801017189, + 0.15720844208507384, + 0.18806523937768002, + -0.04548634600035691, + -0.9811026745786353 + ], + [ + 0.7416938990016759, + 0.6619030885274504, + 0.10851019114126564, + 0.6444065006111626, + -0.7480738932262524, + 0.15851092152717255, + 0.1860925096659392, + -0.04764191086784593, + -0.9813764956300373 + ], + [ + 0.7425341244566446, + 0.6624075242796389, + 0.09929423847899699, + 0.6432820837006544, + -0.7465539509254985, + 0.16983921557541562, + 0.18663128035554083, + -0.06223720860745565, + -0.9804566767877118 + ], + [ + 0.7390515044565567, + 0.6601067372265401, + 0.1343948258997787, + 0.6356455925890205, + -0.7494006764997749, + 0.18534645042145415, + 0.22306401409159043, + -0.051553094279695205, + -0.9734396355642889 + ], + [ + 0.7332267575939541, + 0.6598972220050174, + 0.16405541240177846, + 0.63214152023447, + -0.7503994329664305, + 0.1931263560452392, + 0.2505506342915737, + -0.0378991740506331, + -0.9673613762510729 + ], + [ + 0.733897101991778, + 0.6543313512196373, + 0.18233355834610743, + 0.6247364242162553, + -0.7555871099881604, + 0.19695816682033473, + 0.2666447898338853, + -0.030636612587283715, + -0.9633078189362007 + ], + [ + 0.7452522474530368, + 0.6340582583783105, + 0.2063230783224721, + 0.6026084487713512, + -0.7729220505616834, + 0.19863172260469414, + 0.28541574086862004, + -0.023698707512981573, + -0.9581107587991227 + ], + [ + 0.7651955343829311, + 0.5987991148208173, + 0.23646440376984063, + 0.568757468247927, + -0.8008488806917841, + 0.18749936695073086, + 0.3016467080420882, + -0.008982782671435652, + -0.9533774557555097 + ], + [ + 0.7695138407511577, + 0.5954212722579388, + 0.23091547682028618, + 0.5637837335341596, + -0.8032160933970112, + 0.19233254823437557, + 0.2999939177628215, + -0.01781616824073, + -0.9537747288823143 + ], + [ + 0.7642364323659849, + 0.6070172519431628, + 0.21788237948003503, + 0.5733611124962769, + -0.7941592014819231, + 0.20141548445595175, + 0.2952959703780987, + -0.029003767771874175, + -0.9549654817497291 + ], + [ + 0.7586823012193442, + 0.6237669899122709, + 0.18792527268120474, + 0.5892970660161945, + -0.7800890733149083, + 0.21021419000484393, + 0.2777231243545001, + -0.04874197360050821, + -0.9594238303316748 + ], + [ + 0.7367055744647761, + 0.6477800429748809, + 0.1940255459365738, + 0.6244080049266961, + -0.7618041198106823, + 0.17253731892820906, + 0.25957569211308473, + -0.005958100614549475, + -0.9657043859800368 + ], + [ + 0.7228710756683874, + 0.6708668501505023, + 0.1655145834395619, + 0.6505558739443341, + -0.7414959843992641, + 0.16419732030788353, + 0.23288293805805507, + -0.01101700907276991, + -0.9724423698464287 + ], + [ + 0.7009986434208043, + 0.6944953890599512, + 0.16210199411684928, + 0.675356389843377, + -0.7194856777391718, + 0.16196946078173252, + 0.2291171067814724, + -0.004063754750426016, + -0.9733903827742577 + ], + [ + 0.6970835168438806, + 0.6964331881829418, + 0.17045640188010064, + 0.6751730571689947, + -0.7176105897973943, + 0.1708109606661971, + 0.24127974100127142, + -0.0039819352052601065, + -0.9704474384398057 + ], + [ + 0.7013291910919943, + 0.6979143272913294, + 0.14509637308954598, + 0.6811608522372105, + -0.7161375386273314, + 0.15220683016298944, + 0.21013628697044878, + -0.007913123926682558, + -0.9776400786424393 + ], + [ + 0.6933366368355592, + 0.7038986169926061, + 0.15430827916042697, + 0.6888011191139399, + -0.7102777934124411, + 0.1451153833765998, + 0.21174826169047947, + 0.00567390351081383, + -0.9773077716308257 + ], + [ + 0.7069713195084913, + 0.6923346611138742, + 0.14444469672770904, + 0.6803899327584885, + -0.721536609174008, + 0.12827494308154835, + 0.1930313259378444, + 0.007592011723647381, + -0.9811632221830707 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.008662551641464233, + 0.0021159425377845764, + -0.016755953431129456, + 0.01063421182334423, + 0.05082860589027405, + 0.006118558347225189, + 1.0 + ], + [ + -0.011452168226242065, + 0.00732547789812088, + 0.00965992920100689, + 0.019345130771398544, + -0.007072191685438156, + 0.05208587646484375, + 1.0 + ], + [ + -0.00569424033164978, + 0.010181933641433716, + 0.028341462835669518, + 0.013708401471376419, + -0.060232795774936676, + 0.06791593879461288, + 1.0 + ], + [ + -0.006733953952789307, + 0.012933611869812012, + 0.013093650341033936, + 0.0257439985871315, + -0.010536406189203262, + 0.09499641507863998, + 1.0 + ], + [ + -0.011563926935195923, + 0.01962047815322876, + 0.016470372676849365, + 0.0001496151089668274, + -0.02370366081595421, + 0.16980339586734772, + 1.0 + ], + [ + -0.010627299547195435, + 0.024639621376991272, + 0.008529514074325562, + 0.014799021184444427, + -0.020088694989681244, + 0.1998421847820282, + 1.0 + ], + [ + -0.00653645396232605, + 0.02074296586215496, + -0.00022367388010025024, + -0.034073635935783386, + -0.03522603213787079, + 0.13440468907356262, + 1.0 + ], + [ + 0.008453309535980225, + 0.024676091969013214, + -0.0019133761525154114, + -0.030219193547964096, + -0.0593169629573822, + 0.04127603769302368, + 1.0 + ], + [ + 0.005692183971405029, + 0.012543284334242344, + 0.0015604197978973389, + -0.0025535859167575836, + -0.047399625182151794, + 0.021278858184814453, + 1.0 + ], + [ + 0.00421258807182312, + 0.006440410390496254, + -0.0076556578278541565, + 0.013051580637693405, + -0.012962445616722107, + 0.01708066463470459, + 1.0 + ], + [ + 0.012675285339355469, + 0.005303690209984779, + -0.005166001617908478, + -0.020251795649528503, + 0.00842653214931488, + -0.0020911693572998047, + 1.0 + ], + [ + 0.011176496744155884, + 0.002957817167043686, + -0.009843900799751282, + 0.0004533007740974426, + 0.010324925184249878, + -0.013430297374725342, + 1.0 + ], + [ + 0.005800753831863403, + -7.307156920433044e-05, + -0.004907988011837006, + -9.118393063545227e-05, + 0.003382086753845215, + 0.003181636333465576, + 1.0 + ], + [ + 0.0006807446479797363, + 0.001200154423713684, + -0.004591457545757294, + 0.006715614348649979, + 0.013208717107772827, + 0.00172346830368042, + 0.0 + ], + [ + 0.006878376007080078, + 0.00346573069691658, + -0.004846442490816116, + 0.0006479881703853607, + 0.01749148964881897, + 0.00029158592224121094, + 0.0 + ], + [ + 0.0027784109115600586, + 0.0017030462622642517, + 0.0009541511535644531, + -0.0037132464349269867, + -0.0030899643898010254, + 0.00657498836517334, + 0.0 + ], + [ + 0.0007838010787963867, + 0.0012254118919372559, + -0.001522660255432129, + 0.006395656615495682, + 0.00947156548500061, + 0.00932776927947998, + 0.0 + ], + [ + -0.0006494820117950439, + -0.00033248215913772583, + -4.342198371887207e-05, + 0.002178627997636795, + 0.002008184790611267, + 0.008605003356933594, + 0.0 + ], + [ + -0.001498490571975708, + -0.0003674998879432678, + 0.000685613602399826, + 0.014884795993566513, + -0.0005483776330947876, + -0.0014249086380004883, + 0.0 + ], + [ + 0.00013783574104309082, + -0.00046637654304504395, + 0.014067612588405609, + -0.01048242673277855, + -0.03722450137138367, + -0.0035816431045532227, + 0.0 + ], + [ + -0.002879023551940918, + -0.003237992525100708, + 0.012762807309627533, + -0.013752434402704239, + -0.02829243242740631, + 0.0011791586875915527, + 0.0 + ], + [ + -0.0046028196811676025, + -0.004688739776611328, + 0.008417628705501556, + -0.007365021854639053, + -0.016661107540130615, + -0.006273388862609863, + 0.0 + ], + [ + -0.011065006256103516, + -0.01302969828248024, + 0.010878600180149078, + -0.007063049823045731, + -0.01953008770942688, + -0.025263607501983643, + 0.0 + ], + [ + -0.01782706379890442, + -0.01106230914592743, + 0.009206131100654602, + -0.01530800387263298, + -0.0169791579246521, + -0.0407719612121582, + 0.0 + ], + [ + -0.017555147409439087, + -0.00247405469417572, + -0.002105988562107086, + 0.009255683049559593, + 0.0017330646514892578, + -0.006885051727294922, + 0.0 + ], + [ + -0.017970561981201172, + 0.0018574949353933334, + -0.006420247256755829, + 0.011684734374284744, + 0.004920989274978638, + 0.011351168155670166, + 0.0 + ], + [ + -0.014186263084411621, + 0.0037009799852967262, + -0.012446053326129913, + 0.02039753831923008, + 0.01834210753440857, + 0.016739726066589355, + 0.0 + ], + [ + -0.0011969208717346191, + 0.008744084276258945, + -0.011308111250400543, + -0.04459012299776077, + 0.018840372562408447, + 0.04268568754196167, + 0.0 + ], + [ + 0.0025484561920166016, + 0.009578242897987366, + -0.020955048501491547, + 0.005159114953130484, + 0.02754172682762146, + 0.029713213443756104, + 0.0 + ], + [ + 0.0022301673889160156, + 0.008483383804559708, + -0.012831639498472214, + -0.007153909187763929, + 0.0038705170154571533, + 0.03397613763809204, + 0.0 + ], + [ + 0.0036525726318359375, + 0.002752736210823059, + -0.006041068583726883, + -7.164943963289261e-05, + -0.012513771653175354, + 0.0026630163192749023, + 0.0 + ], + [ + -0.0010419487953186035, + 0.0005076602101325989, + -0.013958167284727097, + 0.003990758676081896, + 0.03196997940540314, + 0.0013779997825622559, + 0.0 + ], + [ + 0.0018982291221618652, + 0.0005452558398246765, + -0.0008931532502174377, + -0.013899512588977814, + -0.0016490817070007324, + 0.01130586862564087, + 1.0 + ], + [ + -0.0036198794841766357, + -0.002438373863697052, + -0.006171847693622112, + -0.0019320305436849594, + 0.01911279559135437, + -0.015875816345214844, + 1.0 + ], + [ + -0.007149785757064819, + -0.000766366720199585, + -0.002673044800758362, + 0.018553150817751884, + 0.023676827549934387, + -0.0057356953620910645, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9507390260696411 + ], + [ + 0.7031799554824829 + ], + [ + 0.4283607602119446 + ], + [ + 0.39099013805389404 + ], + [ + 0.4175282120704651 + ], + [ + 0.41842639446258545 + ], + [ + 0.41842639446258545 + ], + [ + 0.41842639446258545 + ], + [ + 0.41842639446258545 + ], + [ + 0.41842639446258545 + ], + [ + 0.41842639446258545 + ], + [ + 0.41842639446258545 + ], + [ + 0.41842639446258545 + ], + [ + 0.41842639446258545 + ], + [ + 0.41842639446258545 + ], + [ + 0.41842639446258545 + ], + [ + 0.41842639446258545 + ], + [ + 0.41842639446258545 + ], + [ + 0.37802740931510925 + ], + [ + 0.36275482177734375 + ], + [ + 0.6470694541931152 + ], + [ + 0.9222983717918396 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3627355098724365, + -0.10999292135238647, + 0.014537539333105087 + ], + [ + 0.35128334164619446, + -0.1026674434542656, + 0.024197468534111977 + ], + [ + 0.3455891013145447, + -0.09248550981283188, + 0.052538931369781494 + ], + [ + 0.33885514736175537, + -0.07955189794301987, + 0.06563258171081543 + ], + [ + 0.32729122042655945, + -0.05993141978979111, + 0.0821029543876648 + ], + [ + 0.316663920879364, + -0.035291798412799835, + 0.09063246846199036 + ], + [ + 0.31012746691703796, + -0.014548832550644875, + 0.0904087945818901 + ], + [ + 0.3185807764530182, + 0.010127260349690914, + 0.0884954184293747 + ], + [ + 0.3242729604244232, + 0.022670544683933258, + 0.09005583822727203 + ], + [ + 0.32848554849624634, + 0.029110955074429512, + 0.08240018039941788 + ], + [ + 0.3411608338356018, + 0.03441464528441429, + 0.0772341787815094 + ], + [ + 0.3523373305797577, + 0.03737246245145798, + 0.06739027798175812 + ], + [ + 0.3581380844116211, + 0.03729939088225365, + 0.06248228996992111 + ], + [ + 0.35881882905960083, + 0.03849954530596733, + 0.05789083242416382 + ], + [ + 0.3656972050666809, + 0.04196527600288391, + 0.0530443899333477 + ], + [ + 0.36847561597824097, + 0.04366832226514816, + 0.053998541086912155 + ], + [ + 0.36925941705703735, + 0.04489373415708542, + 0.052475880831480026 + ], + [ + 0.3686099350452423, + 0.04456125199794769, + 0.052432458847761154 + ], + [ + 0.3671114444732666, + 0.044193752110004425, + 0.05311807245016098 + ], + [ + 0.3672492802143097, + 0.04372737556695938, + 0.06718568503856659 + ], + [ + 0.3643702566623688, + 0.04048938304185867, + 0.07994849234819412 + ], + [ + 0.35976743698120117, + 0.035800643265247345, + 0.08836612105369568 + ], + [ + 0.34870243072509766, + 0.022770944982767105, + 0.09924472123384476 + ], + [ + 0.33087536692619324, + 0.011708635836839676, + 0.10845085233449936 + ], + [ + 0.31332021951675415, + 0.009234581142663956, + 0.10634486377239227 + ], + [ + 0.295349657535553, + 0.011092076078057289, + 0.09992461651563644 + ], + [ + 0.28116339445114136, + 0.014793056063354015, + 0.08747856318950653 + ], + [ + 0.27996647357940674, + 0.02353714033961296, + 0.07617045193910599 + ], + [ + 0.28251492977142334, + 0.03311538323760033, + 0.05521540343761444 + ], + [ + 0.28474509716033936, + 0.041598767042160034, + 0.04238376393914223 + ], + [ + 0.2883976697921753, + 0.04435150325298309, + 0.036342695355415344 + ], + [ + 0.2873557209968567, + 0.04485916346311569, + 0.022384528070688248 + ], + [ + 0.28925395011901855, + 0.04540441930294037, + 0.02149137482047081 + ], + [ + 0.2856340706348419, + 0.04296604543924332, + 0.015319527126848698 + ], + [ + 0.2784842848777771, + 0.04219967871904373, + 0.012646482326090336 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9948527817735798, + -0.09833710129668814, + -0.024449071678376563, + -0.09734867433513066, + -0.9944945546504358, + 0.03877907136360389, + -0.028127890119277906, + -0.036199382304062964, + -0.9989486606018557 + ], + [ + 0.9987455448646562, + -0.04653845282576961, + -0.01847996270519179, + -0.04543020442938081, + -0.997372072878126, + 0.05643620086695597, + -0.02105785218170008, + -0.05552585570141491, + -0.998235165785157 + ], + [ + 0.9989807991900129, + 0.02511444433701431, + 0.03750503346653396, + 0.022440886635603997, + -0.9972889437728817, + 0.07007973484095031, + 0.039163368811822, + -0.06916666331414972, + -0.9968360964718804 + ], + [ + 0.9918831551114217, + 0.12133977031630244, + 0.03800614089589632, + 0.11704177793721077, + -0.9880776201528895, + 0.1000191920098305, + 0.049689323033307614, + -0.0947590454394179, + -0.9942593698245454 + ], + [ + 0.9564406525021697, + 0.28872757088234613, + 0.04310067347041799, + 0.2825622381384034, + -0.952709390830435, + 0.11181859506234863, + 0.07334752769821204, + -0.09476922726223481, + -0.9927935000515862 + ], + [ + 0.8798329278271741, + 0.47429444163706647, + 0.030639871788996513, + 0.4660223337485898, + -0.8735591141339593, + 0.14041958040462355, + 0.09336596574009598, + -0.10926690599479748, + -0.9896178755942838 + ], + [ + 0.8062752832672957, + 0.5884979603257665, + 0.059919264720576855, + 0.5774431167207035, + -0.8049944201630609, + 0.13617426503644994, + 0.12837295098314885, + -0.07519397714411669, + -0.988871200539852 + ], + [ + 0.7743868294347864, + 0.6213994439842, + 0.1191124234245352, + 0.6044657985049239, + -0.7822089443711839, + 0.15089819675371358, + 0.1869388585493752, + -0.04485419001436657, + -0.9813470154855577 + ], + [ + 0.7536303520770027, + 0.6391521218353411, + 0.1533814121126627, + 0.6145110497649922, + -0.7679370988561132, + 0.1806897393799209, + 0.2332755069548033, + -0.04191869933380239, + -0.9715067475324821 + ], + [ + 0.7406517953844486, + 0.6546207080247999, + 0.15134941895792953, + 0.6252900072107601, + -0.7539961401430106, + 0.20125165224616032, + 0.24586037679170852, + -0.054420118288657185, + -0.967776382151005 + ], + [ + 0.7435172296521733, + 0.6496104543855893, + 0.15870849619130545, + 0.6250508064003372, + -0.7594664878980402, + 0.18033896744215958, + 0.2376838627855195, + -0.03488425594396766, + -0.9707159574554187 + ], + [ + 0.7537039459600559, + 0.6391426286027816, + 0.1530590152423842, + 0.6165300724180022, + -0.7682725532377785, + 0.17218581168539443, + 0.2276423327250331, + -0.03541163995400165, + -0.9731007060460257 + ], + [ + 0.752328632980668, + 0.641477579923774, + 0.1500271390534984, + 0.619410781419145, + -0.7663268539256157, + 0.1705093452400558, + 0.2243477476133065, + -0.03535063517967375, + -0.9738677634736812 + ], + [ + 0.7534788560563004, + 0.6433612231062679, + 0.13548413220483152, + 0.622539755420546, + -0.7644090470921605, + 0.1676993191536035, + 0.21145653547955423, + -0.042013632631116876, + -0.9764839928417269 + ], + [ + 0.7560325954817793, + 0.6430957319482109, + 0.12183018558255357, + 0.6250207324529986, + -0.764588735544729, + 0.15733133661807414, + 0.194329098626535, + -0.0428012269462877, + -0.9800021716296812 + ], + [ + 0.7514429185567498, + 0.6477486827171489, + 0.12551965658458486, + 0.6295894508449128, + -0.7608481302736866, + 0.15724899377686402, + 0.19735922460253746, + -0.039137791164468055, + -0.9795496770287108 + ], + [ + 0.7469257811650829, + 0.655270043386006, + 0.11279648785238064, + 0.6377564920631905, + -0.7540239801017189, + 0.15720844208507384, + 0.18806523937768002, + -0.04548634600035691, + -0.9811026745786353 + ], + [ + 0.7416938990016759, + 0.6619030885274504, + 0.10851019114126564, + 0.6444065006111626, + -0.7480738932262524, + 0.15851092152717255, + 0.1860925096659392, + -0.04764191086784593, + -0.9813764956300373 + ], + [ + 0.7425341244566446, + 0.6624075242796389, + 0.09929423847899699, + 0.6432820837006544, + -0.7465539509254985, + 0.16983921557541562, + 0.18663128035554083, + -0.06223720860745565, + -0.9804566767877118 + ], + [ + 0.7390515044565567, + 0.6601067372265401, + 0.1343948258997787, + 0.6356455925890205, + -0.7494006764997749, + 0.18534645042145415, + 0.22306401409159043, + -0.051553094279695205, + -0.9734396355642889 + ], + [ + 0.7332267575939541, + 0.6598972220050174, + 0.16405541240177846, + 0.63214152023447, + -0.7503994329664305, + 0.1931263560452392, + 0.2505506342915737, + -0.0378991740506331, + -0.9673613762510729 + ], + [ + 0.733897101991778, + 0.6543313512196373, + 0.18233355834610743, + 0.6247364242162553, + -0.7555871099881604, + 0.19695816682033473, + 0.2666447898338853, + -0.030636612587283715, + -0.9633078189362007 + ], + [ + 0.7452522474530368, + 0.6340582583783105, + 0.2063230783224721, + 0.6026084487713512, + -0.7729220505616834, + 0.19863172260469414, + 0.28541574086862004, + -0.023698707512981573, + -0.9581107587991227 + ], + [ + 0.7651955343829311, + 0.5987991148208173, + 0.23646440376984063, + 0.568757468247927, + -0.8008488806917841, + 0.18749936695073086, + 0.3016467080420882, + -0.008982782671435652, + -0.9533774557555097 + ], + [ + 0.7695138407511577, + 0.5954212722579388, + 0.23091547682028618, + 0.5637837335341596, + -0.8032160933970112, + 0.19233254823437557, + 0.2999939177628215, + -0.01781616824073, + -0.9537747288823143 + ], + [ + 0.7642364323659849, + 0.6070172519431628, + 0.21788237948003503, + 0.5733611124962769, + -0.7941592014819231, + 0.20141548445595175, + 0.2952959703780987, + -0.029003767771874175, + -0.9549654817497291 + ], + [ + 0.7586823012193442, + 0.6237669899122709, + 0.18792527268120474, + 0.5892970660161945, + -0.7800890733149083, + 0.21021419000484393, + 0.2777231243545001, + -0.04874197360050821, + -0.9594238303316748 + ], + [ + 0.7367055744647761, + 0.6477800429748809, + 0.1940255459365738, + 0.6244080049266961, + -0.7618041198106823, + 0.17253731892820906, + 0.25957569211308473, + -0.005958100614549475, + -0.9657043859800368 + ], + [ + 0.7228710756683874, + 0.6708668501505023, + 0.1655145834395619, + 0.6505558739443341, + -0.7414959843992641, + 0.16419732030788353, + 0.23288293805805507, + -0.01101700907276991, + -0.9724423698464287 + ], + [ + 0.7009986434208043, + 0.6944953890599512, + 0.16210199411684928, + 0.675356389843377, + -0.7194856777391718, + 0.16196946078173252, + 0.2291171067814724, + -0.004063754750426016, + -0.9733903827742577 + ], + [ + 0.6970835168438806, + 0.6964331881829418, + 0.17045640188010064, + 0.6751730571689947, + -0.7176105897973943, + 0.1708109606661971, + 0.24127974100127142, + -0.0039819352052601065, + -0.9704474384398057 + ], + [ + 0.7013291910919943, + 0.6979143272913294, + 0.14509637308954598, + 0.6811608522372105, + -0.7161375386273314, + 0.15220683016298944, + 0.21013628697044878, + -0.007913123926682558, + -0.9776400786424393 + ], + [ + 0.6933366368355592, + 0.7038986169926061, + 0.15430827916042697, + 0.6888011191139399, + -0.7102777934124411, + 0.1451153833765998, + 0.21174826169047947, + 0.00567390351081383, + -0.9773077716308257 + ], + [ + 0.7069713195084913, + 0.6923346611138742, + 0.14444469672770904, + 0.6803899327584885, + -0.721536609174008, + 0.12827494308154835, + 0.1930313259378444, + 0.007592011723647381, + -0.9811632221830707 + ], + [ + 0.713973803962197, + 0.690577258114782, + 0.11551821427991463, + 0.6792842332308375, + -0.7231800949378215, + 0.12483381260586689, + 0.16974786519937032, + -0.010658370437987438, + -0.985429886597653 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006582.json b/json/chunk-0006/episode_0006582.json new file mode 100644 index 0000000000000000000000000000000000000000..f82c2ec4ac2140d50c8b194e2cddac9a6d3b3aa0 --- /dev/null +++ b/json/chunk-0006/episode_0006582.json @@ -0,0 +1,1582 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 25, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut banana in colander." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006582.mp4", + "start": 0, + "end": 25, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2765234112739563, + 0.057899605482816696, + 0.11043820530176163, + 0.07827526330947876, + -0.18651336431503296, + 0.3138793110847473, + 0.0, + 1.0073583126068115 + ], + [ + 0.27192404866218567, + 0.055038951337337494, + 0.10131324827671051, + 0.07463295757770538, + -0.1589016169309616, + 0.3096514642238617, + 0.0, + 1.0073583126068115 + ], + [ + 0.2546713650226593, + 0.014793799258768559, + 0.08966025710105896, + 0.03259076178073883, + -0.18113882839679718, + 0.1442319005727768, + 0.0, + 1.0073583126068115 + ], + [ + 0.2370794415473938, + -0.024588974192738533, + 0.08200462907552719, + -0.0038024443201720715, + -0.1552966982126236, + -0.016838062554597855, + 0.0, + 1.0073583126068115 + ], + [ + 0.22478283941745758, + -0.05758323147892952, + 0.07741203159093857, + -0.048180848360061646, + -0.133481964468956, + -0.1726067215204239, + 0.0, + 1.0073583126068115 + ], + [ + 0.2139863222837448, + -0.08766056597232819, + 0.07024739682674408, + -0.027004366740584373, + -0.1057930439710617, + -0.2999582886695862, + 0.0, + 1.0073583126068115 + ], + [ + 0.20772898197174072, + -0.10080782324075699, + 0.05432164669036865, + -0.015075515024363995, + -0.08807000517845154, + -0.365160197019577, + 0.0, + 1.0073583126068115 + ], + [ + 0.20042259991168976, + -0.10649136453866959, + 0.03760979697108269, + 0.005599244497716427, + -0.09008465707302094, + -0.39892521500587463, + 0.0, + 1.0073583126068115 + ], + [ + 0.19640353322029114, + -0.11083124577999115, + 0.025558799505233765, + -0.004320853855460882, + -0.09374208003282547, + -0.400554895401001, + 0.0, + 1.0073583126068115 + ], + [ + 0.1933286339044571, + -0.11559303849935532, + 0.018416427075862885, + -0.057478416711091995, + -0.10890094190835953, + -0.3892539143562317, + 0.0, + 1.0073583126068115 + ], + [ + 0.19257798790931702, + -0.11697983741760254, + 0.012798723764717579, + -0.08074162900447845, + -0.09627985954284668, + -0.3654589354991913, + 0.0, + 1.0073583126068115 + ], + [ + 0.19542725384235382, + -0.11725857108831406, + 0.004668010398745537, + -0.0377923808991909, + -0.09650400280952454, + -0.35184246301651, + 0.0, + 0.9694526195526123 + ], + [ + 0.1984500288963318, + -0.11580782383680344, + 0.0048381006345152855, + -0.02402721531689167, + -0.11095663905143738, + -0.32107529044151306, + 0.0, + 0.6561112403869629 + ], + [ + 0.19969528913497925, + -0.10988771915435791, + 0.00936446338891983, + -0.023580415174365044, + -0.09541945904493332, + -0.3010503053665161, + 0.0, + 0.38924968242645264 + ], + [ + 0.22303374111652374, + -0.09665563702583313, + 0.0360453799366951, + -0.02795160375535488, + -0.13365375995635986, + -0.1955963373184204, + 0.0, + 0.3746064603328705 + ], + [ + 0.257245272397995, + -0.0790444165468216, + 0.06195690110325813, + -0.04333694651722908, + -0.16795240342617035, + -0.021810749545693398, + 0.0, + 0.39886748790740967 + ], + [ + 0.29825007915496826, + -0.06520198285579681, + 0.08348022401332855, + -0.0696563869714737, + -0.24399982392787933, + 0.16540613770484924, + 0.0, + 0.400628000497818 + ], + [ + 0.33762213587760925, + -0.07030854374170303, + 0.07882606983184814, + -0.07680713385343552, + -0.20507071912288666, + 0.28318339586257935, + 0.0, + 0.400628000497818 + ], + [ + 0.3560028672218323, + -0.08244097232818604, + 0.07749555259943008, + -0.07844378054141998, + -0.1944221407175064, + 0.3245871365070343, + 0.0, + 0.40239205956459045 + ], + [ + 0.367521196603775, + -0.09771015495061874, + 0.07188361138105392, + -0.08676094561815262, + -0.19285382330417633, + 0.3370150625705719, + 0.0, + 0.40239205956459045 + ], + [ + 0.3804568350315094, + -0.10872071236371994, + 0.07082244008779526, + -0.09386882185935974, + -0.2018257975578308, + 0.36104539036750793, + 0.0, + 0.37120094895362854 + ], + [ + 0.39649417996406555, + -0.11497146636247635, + 0.06514376401901245, + -0.07781441509723663, + -0.18971799314022064, + 0.38593748211860657, + 0.0, + 0.4121573865413666 + ], + [ + 0.3990877866744995, + -0.11046261340379715, + 0.06369629502296448, + -0.05626697093248367, + -0.21750067174434662, + 0.4127395451068878, + 0.0, + 0.7250383496284485 + ], + [ + 0.3925207257270813, + -0.10816148668527603, + 0.05720719322562218, + -0.03639866039156914, + -0.19902755320072174, + 0.4020196795463562, + 0.0, + 0.9886419177055359 + ], + [ + 0.380878746509552, + -0.10671606659889221, + 0.06304898113012314, + -0.04095837473869324, + -0.18378134071826935, + 0.39981043338775635, + 0.0, + 1.0041072368621826 + ] + ], + "left_gripper_pos": [ + [ + 1.0073583126068115 + ], + [ + 1.0073583126068115 + ], + [ + 1.0073583126068115 + ], + [ + 1.0073583126068115 + ], + [ + 1.0073583126068115 + ], + [ + 1.0073583126068115 + ], + [ + 1.0073583126068115 + ], + [ + 1.0073583126068115 + ], + [ + 1.0073583126068115 + ], + [ + 1.0073583126068115 + ], + [ + 1.0073583126068115 + ], + [ + 0.9694526195526123 + ], + [ + 0.6561112403869629 + ], + [ + 0.38924968242645264 + ], + [ + 0.3746064603328705 + ], + [ + 0.39886748790740967 + ], + [ + 0.400628000497818 + ], + [ + 0.400628000497818 + ], + [ + 0.40239205956459045 + ], + [ + 0.40239205956459045 + ], + [ + 0.37120094895362854 + ], + [ + 0.4121573865413666 + ], + [ + 0.7250383496284485 + ], + [ + 0.9886419177055359 + ], + [ + 1.0041072368621826 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2765234112739563, + 0.057899605482816696, + 0.11043820530176163 + ], + [ + 0.27192404866218567, + 0.055038951337337494, + 0.10131324827671051 + ], + [ + 0.2546713650226593, + 0.014793799258768559, + 0.08966025710105896 + ], + [ + 0.2370794415473938, + -0.024588974192738533, + 0.08200462907552719 + ], + [ + 0.22478283941745758, + -0.05758323147892952, + 0.07741203159093857 + ], + [ + 0.2139863222837448, + -0.08766056597232819, + 0.07024739682674408 + ], + [ + 0.20772898197174072, + -0.10080782324075699, + 0.05432164669036865 + ], + [ + 0.20042259991168976, + -0.10649136453866959, + 0.03760979697108269 + ], + [ + 0.19640353322029114, + -0.11083124577999115, + 0.025558799505233765 + ], + [ + 0.1933286339044571, + -0.11559303849935532, + 0.018416427075862885 + ], + [ + 0.19257798790931702, + -0.11697983741760254, + 0.012798723764717579 + ], + [ + 0.19542725384235382, + -0.11725857108831406, + 0.004668010398745537 + ], + [ + 0.1984500288963318, + -0.11580782383680344, + 0.0048381006345152855 + ], + [ + 0.19969528913497925, + -0.10988771915435791, + 0.00936446338891983 + ], + [ + 0.22303374111652374, + -0.09665563702583313, + 0.0360453799366951 + ], + [ + 0.257245272397995, + -0.0790444165468216, + 0.06195690110325813 + ], + [ + 0.29825007915496826, + -0.06520198285579681, + 0.08348022401332855 + ], + [ + 0.33762213587760925, + -0.07030854374170303, + 0.07882606983184814 + ], + [ + 0.3560028672218323, + -0.08244097232818604, + 0.07749555259943008 + ], + [ + 0.367521196603775, + -0.09771015495061874, + 0.07188361138105392 + ], + [ + 0.3804568350315094, + -0.10872071236371994, + 0.07082244008779526 + ], + [ + 0.39649417996406555, + -0.11497146636247635, + 0.06514376401901245 + ], + [ + 0.3990877866744995, + -0.11046261340379715, + 0.06369629502296448 + ], + [ + 0.3925207257270813, + -0.10816148668527603, + 0.05720719322562218 + ], + [ + 0.380878746509552, + -0.10671606659889221, + 0.06304898113012314 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9346470761649126, + 0.32159698923141405, + 0.15169119794394761, + 0.30339598791564065, + -0.9437537363296757, + 0.13145249971175685, + 0.18543386296216932, + -0.07683919365185157, + -0.9796479065388037 + ], + [ + 0.9404406942872766, + 0.3151157684712439, + 0.12756705291431136, + 0.30088765125183303, + -0.9461931688556927, + 0.11910125328886371, + 0.15823375699458264, + -0.07362431440495833, + -0.9846530040962549 + ], + [ + 0.9734256504604426, + 0.1494652520416972, + 0.173501128116725, + 0.14138076785381237, + -0.9882473454203095, + 0.05812626558431269, + 0.18014988622458442, + -0.032051875168600766, + -0.9831168271326891 + ], + [ + 0.987825632108724, + -0.017425196758681063, + 0.15458616712669088, + -0.01663464190269864, + -0.9998411123311076, + -0.006406151829490228, + 0.15467323374704794, + 0.003756675447087416, + -0.9879585407049308 + ], + [ + 0.9763770933564677, + -0.17786607101928717, + 0.1226842791434055, + -0.17022310649597325, + -0.9828963052027204, + -0.07027764391114016, + 0.1330859330794795, + 0.04773378257589028, + -0.9899543526937803 + ], + [ + 0.9500075869945084, + -0.2980965191135346, + 0.09286576304142455, + -0.29382836676474516, + -0.9541580246812239, + -0.05698556677604939, + 0.10559581211977245, + 0.02685012530360549, + -0.9940465759882414 + ], + [ + 0.9304464454649697, + -0.3582968667112762, + 0.07676436299797673, + -0.35571494080526916, + -0.9334869358869154, + -0.045486497077282514, + 0.08795619938075416, + 0.015016518682430754, + -0.9960111501168816 + ], + [ + 0.9177425166880416, + -0.3879579174228228, + 0.085072483048551, + -0.38685314563349726, + -0.9216602176685961, + -0.029784003769547616, + 0.08996286331908265, + -0.005576511097673579, + -0.9959295084228651 + ], + [ + 0.9168017303698824, + -0.39029817203774086, + 0.08450990530575646, + -0.3882173617804625, + -0.9206784622349122, + -0.04047776165964737, + 0.0936048460444616, + 0.004301869448946914, + -0.9956001339474786 + ], + [ + 0.9197117545215393, + -0.38464811087954526, + 0.07858829042363075, + -0.37725015743681306, + -0.9212951113849714, + -0.09432728370971448, + 0.10868581926273396, + 0.05710646666490783, + -0.9924345037110702 + ], + [ + 0.9296343732108693, + -0.3634550054307601, + 0.06066622760779536, + -0.35572282545074224, + -0.9281462801285703, + -0.10957077227453847, + 0.09613117911570337, + 0.08028039431158866, + -0.9921259268313679 + ], + [ + 0.934371483320882, + -0.3477994693167793, + 0.07736575663497411, + -0.3430244648988603, + -0.9368143886818657, + -0.06865142124875168, + 0.09635428188506173, + 0.03760758303307537, + -0.9946363768035156 + ], + [ + 0.9430614977613043, + -0.3180202994350599, + 0.0974581991801614, + -0.3136464190022015, + -0.9477831872954736, + -0.05773173933919253, + 0.11072910767860732, + 0.023877165394323212, + -0.9935637602516666 + ], + [ + 0.9506811801853753, + -0.2985863819621915, + 0.08397300844956201, + -0.2951745582836635, + -0.9540939607467193, + -0.05076114861468068, + 0.09527472793656297, + 0.023470972995720048, + -0.9951742760156373 + ], + [ + 0.9721836250648337, + -0.19792884354386986, + 0.1252324720237725, + -0.19261823575381304, + -0.979824960976047, + -0.05330348115626546, + 0.1332561983957489, + 0.027698713718765408, + -0.9906944871389153 + ], + [ + 0.9856946194793245, + -0.02902892766457915, + 0.1660224035729961, + -0.021502148169141193, + -0.9986655365918312, + -0.04695533673463024, + 0.1671639158240272, + 0.042713784454141375, + -0.9850034303818352 + ], + [ + 0.9571352779619131, + 0.14766874610680042, + 0.24917062648718546, + 0.15977582664747786, + -0.9867281770296573, + -0.028968774134301586, + 0.24158589549037474, + 0.06753847850651064, + -0.9680262439733435 + ], + [ + 0.940051963964423, + 0.26358688135143915, + 0.2163891425789507, + 0.27355899284483165, + -0.9617059651810683, + -0.01694443769710998, + 0.2036363977297586, + 0.07512384784189546, + -0.976160143114374 + ], + [ + 0.9299257576503177, + 0.30358758620174126, + 0.20753954505752292, + 0.31290893514912616, + -0.9496962538589364, + -0.012846155461580633, + 0.19319959514016383, + 0.0768869488957877, + -0.97814227673032 + ], + [ + 0.9262500490131665, + 0.3137542257330493, + 0.20885193927220658, + 0.32454131547363646, + -0.9456878511320627, + -0.018639280347251486, + 0.1916605886815239, + 0.0850457174458338, + -0.9777696276170451 + ], + [ + 0.916538900627773, + 0.33411944623382084, + 0.21981956074116255, + 0.3460821763280678, + -0.9380467592550813, + -0.017187340663031327, + 0.20045840182955904, + 0.09182849829679118, + -0.9753891305712273 + ], + [ + 0.9098231479438655, + 0.3617074349148012, + 0.20344426999271925, + 0.36967375550654713, + -0.9291607844658426, + -0.0012454318553297913, + 0.1885819555397631, + 0.07634113005566215, + -0.9790857357282987 + ], + [ + 0.8944436591991551, + 0.3893691554476874, + 0.21991407709462374, + 0.39166985917687086, + -0.9194434715009733, + 0.03490593254174759, + 0.21578985594970773, + 0.054912325576263216, + -0.9748945453581176 + ], + [ + 0.9021057990854311, + 0.3843972536483026, + 0.19607110609184217, + 0.3835537011111815, + -0.9224783152640279, + 0.0438214129342635, + 0.19771617440247616, + 0.035672247690372756, + -0.9796100270640181 + ], + [ + 0.9056226015391738, + 0.3820244404286266, + 0.1841331868420605, + 0.38268874731779, + -0.9232749706822333, + 0.03335642648818442, + 0.1827485328470769, + 0.04025736487794093, + -0.9823351354376595 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.00459936261177063, + -0.0028606541454792023, + -0.009124957025051117, + -0.0036423057317733765, + 0.02761174738407135, + -0.00422784686088562, + 1.0 + ], + [ + -0.017252683639526367, + -0.04024515300989151, + -0.01165299117565155, + -0.04204219579696655, + -0.02223721146583557, + -0.1654195636510849, + 1.0 + ], + [ + -0.017591923475265503, + -0.039382774382829666, + -0.007655628025531769, + -0.03639320656657219, + 0.025842130184173584, + -0.16106995940208435, + 1.0 + ], + [ + -0.012296602129936218, + -0.03299425542354584, + -0.004592597484588623, + -0.04437840357422829, + 0.021814733743667603, + -0.15576866269111633, + 1.0 + ], + [ + -0.010796517133712769, + -0.030077334493398666, + -0.0071646347641944885, + 0.021176481619477272, + 0.027688920497894287, + -0.1273515671491623, + 1.0 + ], + [ + -0.006257340312004089, + -0.013147257268428802, + -0.015925750136375427, + 0.011928851716220379, + 0.01772303879261017, + -0.06520190834999084, + 1.0 + ], + [ + -0.007306382060050964, + -0.005683541297912598, + -0.016711849719285965, + 0.02067475952208042, + -0.002014651894569397, + -0.03376501798629761, + 1.0 + ], + [ + -0.004019066691398621, + -0.004339881241321564, + -0.012050997465848923, + -0.009920097887516022, + -0.003657422959804535, + -0.0016296803951263428, + 1.0 + ], + [ + -0.0030748993158340454, + -0.004761792719364166, + -0.00714237242937088, + -0.053157564252614975, + -0.015158861875534058, + 0.011300981044769287, + 1.0 + ], + [ + -0.0007506459951400757, + -0.001386798918247223, + -0.005617703311145306, + -0.02326321229338646, + 0.012621082365512848, + 0.023794978857040405, + 1.0 + ], + [ + 0.002849265933036804, + -0.00027873367071151733, + -0.008130713365972042, + 0.04294924810528755, + -0.00022414326667785645, + 0.013616472482681274, + 0.0 + ], + [ + 0.0030227750539779663, + 0.0014507472515106201, + 0.0001700902357697487, + 0.013765165582299232, + -0.014452636241912842, + 0.030767172574996948, + 0.0 + ], + [ + 0.001245260238647461, + 0.005920104682445526, + 0.004526362754404545, + 0.0004468001425266266, + 0.015537180006504059, + 0.020024985074996948, + 0.0 + ], + [ + 0.023338451981544495, + 0.01323208212852478, + 0.02668091654777527, + -0.004371188580989838, + -0.038234300911426544, + 0.1054539680480957, + 0.0 + ], + [ + 0.03421153128147125, + 0.017611220479011536, + 0.025911521166563034, + -0.015385342761874199, + -0.034298643469810486, + 0.17378558218479156, + 0.0 + ], + [ + 0.04100480675697327, + 0.01384243369102478, + 0.02152332291007042, + -0.026319440454244614, + -0.07604742050170898, + 0.1872168928384781, + 0.0 + ], + [ + 0.03937205672264099, + -0.0051065608859062195, + -0.004654154181480408, + -0.0071507468819618225, + 0.038929104804992676, + 0.1177772581577301, + 0.0 + ], + [ + 0.018380731344223022, + -0.012132428586483002, + -0.0013305172324180603, + -0.0016366466879844666, + 0.010648578405380249, + 0.041403740644454956, + 0.0 + ], + [ + 0.011518329381942749, + -0.015269182622432709, + -0.00561194121837616, + -0.008317165076732635, + 0.0015683174133300781, + 0.012427926063537598, + 0.0 + ], + [ + 0.012935638427734375, + -0.011010557413101196, + -0.001061171293258667, + -0.007107876241207123, + -0.00897197425365448, + 0.024030327796936035, + 1.0 + ], + [ + 0.016037344932556152, + -0.006250753998756409, + -0.005678676068782806, + 0.016054406762123108, + 0.012107804417610168, + 0.024892091751098633, + 1.0 + ], + [ + 0.00259360671043396, + 0.004508852958679199, + -0.0014474689960479736, + 0.02154744416475296, + -0.027782678604125977, + 0.02680206298828125, + 1.0 + ], + [ + -0.006567060947418213, + 0.002301126718521118, + -0.0064891017973423, + 0.019868310540914536, + 0.018473118543624878, + -0.010719865560531616, + 1.0 + ], + [ + -0.011641979217529297, + 0.0014454200863838196, + 0.005841787904500961, + -0.0045597143471241, + 0.015246212482452393, + -0.0022092461585998535, + 1.0 + ], + [ + -0.012434720993041992, + 0.002397783100605011, + 0.02679716795682907, + -0.01762162521481514, + -0.048551589250564575, + 0.0011901557445526123, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0073583126068115 + ], + [ + 1.0073583126068115 + ], + [ + 1.0073583126068115 + ], + [ + 1.0073583126068115 + ], + [ + 1.0073583126068115 + ], + [ + 1.0073583126068115 + ], + [ + 1.0073583126068115 + ], + [ + 1.0073583126068115 + ], + [ + 1.0073583126068115 + ], + [ + 1.0073583126068115 + ], + [ + 0.9694526195526123 + ], + [ + 0.6561112403869629 + ], + [ + 0.38924968242645264 + ], + [ + 0.3746064603328705 + ], + [ + 0.39886748790740967 + ], + [ + 0.400628000497818 + ], + [ + 0.400628000497818 + ], + [ + 0.40239205956459045 + ], + [ + 0.40239205956459045 + ], + [ + 0.37120094895362854 + ], + [ + 0.4121573865413666 + ], + [ + 0.7250383496284485 + ], + [ + 0.9886419177055359 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.27192404866218567, + 0.055038951337337494, + 0.10131324827671051 + ], + [ + 0.2546713650226593, + 0.014793799258768559, + 0.08966025710105896 + ], + [ + 0.2370794415473938, + -0.024588974192738533, + 0.08200462907552719 + ], + [ + 0.22478283941745758, + -0.05758323147892952, + 0.07741203159093857 + ], + [ + 0.2139863222837448, + -0.08766056597232819, + 0.07024739682674408 + ], + [ + 0.20772898197174072, + -0.10080782324075699, + 0.05432164669036865 + ], + [ + 0.20042259991168976, + -0.10649136453866959, + 0.03760979697108269 + ], + [ + 0.19640353322029114, + -0.11083124577999115, + 0.025558799505233765 + ], + [ + 0.1933286339044571, + -0.11559303849935532, + 0.018416427075862885 + ], + [ + 0.19257798790931702, + -0.11697983741760254, + 0.012798723764717579 + ], + [ + 0.19542725384235382, + -0.11725857108831406, + 0.004668010398745537 + ], + [ + 0.1984500288963318, + -0.11580782383680344, + 0.0048381006345152855 + ], + [ + 0.19969528913497925, + -0.10988771915435791, + 0.00936446338891983 + ], + [ + 0.22303374111652374, + -0.09665563702583313, + 0.0360453799366951 + ], + [ + 0.257245272397995, + -0.0790444165468216, + 0.06195690110325813 + ], + [ + 0.29825007915496826, + -0.06520198285579681, + 0.08348022401332855 + ], + [ + 0.33762213587760925, + -0.07030854374170303, + 0.07882606983184814 + ], + [ + 0.3560028672218323, + -0.08244097232818604, + 0.07749555259943008 + ], + [ + 0.367521196603775, + -0.09771015495061874, + 0.07188361138105392 + ], + [ + 0.3804568350315094, + -0.10872071236371994, + 0.07082244008779526 + ], + [ + 0.39649417996406555, + -0.11497146636247635, + 0.06514376401901245 + ], + [ + 0.3990877866744995, + -0.11046261340379715, + 0.06369629502296448 + ], + [ + 0.3925207257270813, + -0.10816148668527603, + 0.05720719322562218 + ], + [ + 0.380878746509552, + -0.10671606659889221, + 0.06304898113012314 + ], + [ + 0.36844402551651, + -0.1043182834982872, + 0.08984614908695221 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9404406942872766, + 0.3151157684712439, + 0.12756705291431136, + 0.30088765125183303, + -0.9461931688556927, + 0.11910125328886371, + 0.15823375699458264, + -0.07362431440495833, + -0.9846530040962549 + ], + [ + 0.9734256504604426, + 0.1494652520416972, + 0.173501128116725, + 0.14138076785381237, + -0.9882473454203095, + 0.05812626558431269, + 0.18014988622458442, + -0.032051875168600766, + -0.9831168271326891 + ], + [ + 0.987825632108724, + -0.017425196758681063, + 0.15458616712669088, + -0.01663464190269864, + -0.9998411123311076, + -0.006406151829490228, + 0.15467323374704794, + 0.003756675447087416, + -0.9879585407049308 + ], + [ + 0.9763770933564677, + -0.17786607101928717, + 0.1226842791434055, + -0.17022310649597325, + -0.9828963052027204, + -0.07027764391114016, + 0.1330859330794795, + 0.04773378257589028, + -0.9899543526937803 + ], + [ + 0.9500075869945084, + -0.2980965191135346, + 0.09286576304142455, + -0.29382836676474516, + -0.9541580246812239, + -0.05698556677604939, + 0.10559581211977245, + 0.02685012530360549, + -0.9940465759882414 + ], + [ + 0.9304464454649697, + -0.3582968667112762, + 0.07676436299797673, + -0.35571494080526916, + -0.9334869358869154, + -0.045486497077282514, + 0.08795619938075416, + 0.015016518682430754, + -0.9960111501168816 + ], + [ + 0.9177425166880416, + -0.3879579174228228, + 0.085072483048551, + -0.38685314563349726, + -0.9216602176685961, + -0.029784003769547616, + 0.08996286331908265, + -0.005576511097673579, + -0.9959295084228651 + ], + [ + 0.9168017303698824, + -0.39029817203774086, + 0.08450990530575646, + -0.3882173617804625, + -0.9206784622349122, + -0.04047776165964737, + 0.0936048460444616, + 0.004301869448946914, + -0.9956001339474786 + ], + [ + 0.9197117545215393, + -0.38464811087954526, + 0.07858829042363075, + -0.37725015743681306, + -0.9212951113849714, + -0.09432728370971448, + 0.10868581926273396, + 0.05710646666490783, + -0.9924345037110702 + ], + [ + 0.9296343732108693, + -0.3634550054307601, + 0.06066622760779536, + -0.35572282545074224, + -0.9281462801285703, + -0.10957077227453847, + 0.09613117911570337, + 0.08028039431158866, + -0.9921259268313679 + ], + [ + 0.934371483320882, + -0.3477994693167793, + 0.07736575663497411, + -0.3430244648988603, + -0.9368143886818657, + -0.06865142124875168, + 0.09635428188506173, + 0.03760758303307537, + -0.9946363768035156 + ], + [ + 0.9430614977613043, + -0.3180202994350599, + 0.0974581991801614, + -0.3136464190022015, + -0.9477831872954736, + -0.05773173933919253, + 0.11072910767860732, + 0.023877165394323212, + -0.9935637602516666 + ], + [ + 0.9506811801853753, + -0.2985863819621915, + 0.08397300844956201, + -0.2951745582836635, + -0.9540939607467193, + -0.05076114861468068, + 0.09527472793656297, + 0.023470972995720048, + -0.9951742760156373 + ], + [ + 0.9721836250648337, + -0.19792884354386986, + 0.1252324720237725, + -0.19261823575381304, + -0.979824960976047, + -0.05330348115626546, + 0.1332561983957489, + 0.027698713718765408, + -0.9906944871389153 + ], + [ + 0.9856946194793245, + -0.02902892766457915, + 0.1660224035729961, + -0.021502148169141193, + -0.9986655365918312, + -0.04695533673463024, + 0.1671639158240272, + 0.042713784454141375, + -0.9850034303818352 + ], + [ + 0.9571352779619131, + 0.14766874610680042, + 0.24917062648718546, + 0.15977582664747786, + -0.9867281770296573, + -0.028968774134301586, + 0.24158589549037474, + 0.06753847850651064, + -0.9680262439733435 + ], + [ + 0.940051963964423, + 0.26358688135143915, + 0.2163891425789507, + 0.27355899284483165, + -0.9617059651810683, + -0.01694443769710998, + 0.2036363977297586, + 0.07512384784189546, + -0.976160143114374 + ], + [ + 0.9299257576503177, + 0.30358758620174126, + 0.20753954505752292, + 0.31290893514912616, + -0.9496962538589364, + -0.012846155461580633, + 0.19319959514016383, + 0.0768869488957877, + -0.97814227673032 + ], + [ + 0.9262500490131665, + 0.3137542257330493, + 0.20885193927220658, + 0.32454131547363646, + -0.9456878511320627, + -0.018639280347251486, + 0.1916605886815239, + 0.0850457174458338, + -0.9777696276170451 + ], + [ + 0.916538900627773, + 0.33411944623382084, + 0.21981956074116255, + 0.3460821763280678, + -0.9380467592550813, + -0.017187340663031327, + 0.20045840182955904, + 0.09182849829679118, + -0.9753891305712273 + ], + [ + 0.9098231479438655, + 0.3617074349148012, + 0.20344426999271925, + 0.36967375550654713, + -0.9291607844658426, + -0.0012454318553297913, + 0.1885819555397631, + 0.07634113005566215, + -0.9790857357282987 + ], + [ + 0.8944436591991551, + 0.3893691554476874, + 0.21991407709462374, + 0.39166985917687086, + -0.9194434715009733, + 0.03490593254174759, + 0.21578985594970773, + 0.054912325576263216, + -0.9748945453581176 + ], + [ + 0.9021057990854311, + 0.3843972536483026, + 0.19607110609184217, + 0.3835537011111815, + -0.9224783152640279, + 0.0438214129342635, + 0.19771617440247616, + 0.035672247690372756, + -0.9796100270640181 + ], + [ + 0.9056226015391738, + 0.3820244404286266, + 0.1841331868420605, + 0.38268874731779, + -0.9232749706822333, + 0.03335642648818442, + 0.1827485328470769, + 0.04025736487794093, + -0.9823351354376595 + ], + [ + 0.8959341988657483, + 0.3772593314161652, + 0.23447240383938153, + 0.3798520595803959, + -0.9243535150687477, + 0.03581887787999405, + 0.23024839659663507, + 0.05697346785547286, + -0.9714626600262103 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006583.json b/json/chunk-0006/episode_0006583.json new file mode 100644 index 0000000000000000000000000000000000000000..a16347ea4070d51fa812eef6e4a9c05b3c738d77 --- /dev/null +++ b/json/chunk-0006/episode_0006583.json @@ -0,0 +1,2122 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 34, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove white piece to left of towel." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006583.mp4", + "start": 0, + "end": 34, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.37178918719291687, + 0.028549930080771446, + 0.0638497918844223, + 0.1974048614501953, + -0.2968728244304657, + -0.4436648488044739, + 0.0, + 0.9994885921478271 + ], + [ + 0.36899054050445557, + 0.028848061338067055, + 0.050201959908008575, + 0.1817375123500824, + -0.2595040500164032, + -0.4445929229259491, + 0.0, + 0.9994885921478271 + ], + [ + 0.3709441125392914, + 0.017070678994059563, + 0.050922829657793045, + 0.22463788092136383, + -0.22251854836940765, + -0.584619402885437, + 0.0, + 0.9994885921478271 + ], + [ + 0.37810003757476807, + 0.006793494801968336, + 0.05257042124867439, + 0.2639195919036865, + -0.24165958166122437, + -0.7317651510238647, + 0.0, + 0.9994885921478271 + ], + [ + 0.38201388716697693, + -0.006709234789013863, + 0.0559946708381176, + 0.2849200367927551, + -0.21883907914161682, + -0.8822200894355774, + 0.0, + 0.9994885921478271 + ], + [ + 0.38980305194854736, + -0.02344287373125553, + 0.05870332196354866, + 0.28689780831336975, + -0.207439124584198, + -1.0794525146484375, + 0.0, + 0.9994885921478271 + ], + [ + 0.39630553126335144, + -0.04132499545812607, + 0.06929602473974228, + 0.30712151527404785, + -0.19692420959472656, + -1.2128137350082397, + 0.0, + 0.9994885921478271 + ], + [ + 0.39671456813812256, + -0.06007593125104904, + 0.0549495555460453, + 0.2672593295574188, + -0.18449686467647552, + -1.2591463327407837, + 0.0, + 0.9994885921478271 + ], + [ + 0.392005056142807, + -0.0730140209197998, + 0.05462905019521713, + 0.25631141662597656, + -0.1638868749141693, + -1.3013397455215454, + 0.0, + 0.9994885921478271 + ], + [ + 0.3845319151878357, + -0.07600008696317673, + 0.04956679046154022, + 0.22748197615146637, + -0.15082228183746338, + -1.2935764789581299, + 0.0, + 0.9994885921478271 + ], + [ + 0.37951797246932983, + -0.07561725378036499, + 0.03860120102763176, + 0.19647519290447235, + -0.12987692654132843, + -1.295687198638916, + 0.0, + 0.9994885921478271 + ], + [ + 0.3767732083797455, + -0.07659634202718735, + 0.02760785073041916, + 0.16540740430355072, + -0.12004567682743073, + -1.2968552112579346, + 0.0, + 0.9994885921478271 + ], + [ + 0.3790624141693115, + -0.07789137214422226, + 0.010379298590123653, + 0.12647487223148346, + -0.09935284405946732, + -1.3119608163833618, + 0.0, + 0.9484345316886902 + ], + [ + 0.3832324147224426, + -0.08243943750858307, + 0.01426943764090538, + 0.1443573236465454, + -0.1018863394856453, + -1.3361870050430298, + 0.0, + 0.67718505859375 + ], + [ + 0.38314762711524963, + -0.08390072733163834, + 0.014299502596259117, + 0.1469935029745102, + -0.09996908158063889, + -1.3442360162734985, + 0.0, + 0.6340072751045227 + ], + [ + 0.3828802704811096, + -0.08403048664331436, + 0.01426334585994482, + 0.14565597474575043, + -0.09962452203035355, + -1.3493324518203735, + 0.0, + 0.6340072751045227 + ], + [ + 0.3812251091003418, + -0.08451441675424576, + 0.01516205444931984, + 0.13137780129909515, + -0.09559456259012222, + -1.3664697408676147, + 0.0, + 0.6340072751045227 + ], + [ + 0.38294389843940735, + -0.08467021584510803, + 0.019495394080877304, + 0.12993139028549194, + -0.09784647822380066, + -1.3871546983718872, + 0.0, + 0.6340072751045227 + ], + [ + 0.3863504230976105, + -0.06796474754810333, + 0.048770736902952194, + 0.18999430537223816, + -0.11732369661331177, + -1.3794792890548706, + 0.0, + 0.6340072751045227 + ], + [ + 0.37591156363487244, + -0.035214614123106, + 0.073396697640419, + 0.22185663878917694, + -0.13795393705368042, + -1.2935582399368286, + 0.0, + 0.6340072751045227 + ], + [ + 0.3658260703086853, + -0.0033368351869285107, + 0.07848241925239563, + 0.22715488076210022, + -0.13588650524616241, + -1.2063566446304321, + 0.0, + 0.6340072751045227 + ], + [ + 0.3612583875656128, + 0.02835196442902088, + 0.07473985105752945, + 0.22770985960960388, + -0.12899605929851532, + -1.1180297136306763, + 0.0, + 0.6340072751045227 + ], + [ + 0.3577806353569031, + 0.05807049572467804, + 0.0741494819521904, + 0.23190085589885712, + -0.11591024696826935, + -1.028887391090393, + 0.0, + 0.6340072751045227 + ], + [ + 0.3577744662761688, + 0.08499517291784286, + 0.06681879609823227, + 0.21895505487918854, + -0.11839479207992554, + -0.9395937919616699, + 0.0, + 0.6340072751045227 + ], + [ + 0.3657028377056122, + 0.10544626414775848, + 0.057970080524683, + 0.21156498789787292, + -0.10713274031877518, + -0.8847787976264954, + 0.0, + 0.6340072751045227 + ], + [ + 0.3692795932292938, + 0.11698723584413528, + 0.04232490807771683, + 0.18478044867515564, + -0.08328080177307129, + -0.8452742695808411, + 0.0, + 0.6340072751045227 + ], + [ + 0.37564313411712646, + 0.12464159727096558, + 0.024641627445816994, + 0.15534812211990356, + -0.052144307643175125, + -0.8223827481269836, + 0.0, + 0.6340072751045227 + ], + [ + 0.37811586260795593, + 0.12648361921310425, + 0.015431532636284828, + 0.13063102960586548, + -0.03788864612579346, + -0.7929244041442871, + 0.0, + 0.6340072751045227 + ], + [ + 0.3831338584423065, + 0.12946665287017822, + 0.015126964077353477, + 0.11752179265022278, + -0.02463196963071823, + -0.773161768913269, + 0.0, + 0.6861988306045532 + ], + [ + 0.3803040683269501, + 0.12870080769062042, + 0.011922391131520271, + 0.08489853143692017, + -0.011080384254455566, + -0.7209039926528931, + 0.0, + 0.9774019718170166 + ], + [ + 0.38180041313171387, + 0.12897498905658722, + 0.011382794007658958, + 0.09021292626857758, + -0.026652023196220398, + -0.7007109522819519, + 0.0, + 1.0047606229782104 + ], + [ + 0.37850505113601685, + 0.12785567343235016, + 0.012996318750083447, + 0.09531351923942566, + -0.030061224475502968, + -0.7012186050415039, + 0.0, + 1.0008161067962646 + ], + [ + 0.37941214442253113, + 0.1278281956911087, + 0.03285947069525719, + 0.15566541254520416, + -0.0658627301454544, + -0.7226223349571228, + 0.0, + 1.0008161067962646 + ], + [ + 0.3782777786254883, + 0.11993072926998138, + 0.056488748639822006, + 0.2199219912290573, + -0.14348649978637695, + -0.7725950479507446, + 0.0, + 1.0008161067962646 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9484345316886902 + ], + [ + 0.67718505859375 + ], + [ + 0.6340072751045227 + ], + [ + 0.6340072751045227 + ], + [ + 0.6340072751045227 + ], + [ + 0.6340072751045227 + ], + [ + 0.6340072751045227 + ], + [ + 0.6340072751045227 + ], + [ + 0.6340072751045227 + ], + [ + 0.6340072751045227 + ], + [ + 0.6340072751045227 + ], + [ + 0.6340072751045227 + ], + [ + 0.6340072751045227 + ], + [ + 0.6340072751045227 + ], + [ + 0.6340072751045227 + ], + [ + 0.6340072751045227 + ], + [ + 0.6861988306045532 + ], + [ + 0.9774019718170166 + ], + [ + 1.0047606229782104 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.37178918719291687, + 0.028549930080771446, + 0.0638497918844223 + ], + [ + 0.36899054050445557, + 0.028848061338067055, + 0.050201959908008575 + ], + [ + 0.3709441125392914, + 0.017070678994059563, + 0.050922829657793045 + ], + [ + 0.37810003757476807, + 0.006793494801968336, + 0.05257042124867439 + ], + [ + 0.38201388716697693, + -0.006709234789013863, + 0.0559946708381176 + ], + [ + 0.38980305194854736, + -0.02344287373125553, + 0.05870332196354866 + ], + [ + 0.39630553126335144, + -0.04132499545812607, + 0.06929602473974228 + ], + [ + 0.39671456813812256, + -0.06007593125104904, + 0.0549495555460453 + ], + [ + 0.392005056142807, + -0.0730140209197998, + 0.05462905019521713 + ], + [ + 0.3845319151878357, + -0.07600008696317673, + 0.04956679046154022 + ], + [ + 0.37951797246932983, + -0.07561725378036499, + 0.03860120102763176 + ], + [ + 0.3767732083797455, + -0.07659634202718735, + 0.02760785073041916 + ], + [ + 0.3790624141693115, + -0.07789137214422226, + 0.010379298590123653 + ], + [ + 0.3832324147224426, + -0.08243943750858307, + 0.01426943764090538 + ], + [ + 0.38314762711524963, + -0.08390072733163834, + 0.014299502596259117 + ], + [ + 0.3828802704811096, + -0.08403048664331436, + 0.01426334585994482 + ], + [ + 0.3812251091003418, + -0.08451441675424576, + 0.01516205444931984 + ], + [ + 0.38294389843940735, + -0.08467021584510803, + 0.019495394080877304 + ], + [ + 0.3863504230976105, + -0.06796474754810333, + 0.048770736902952194 + ], + [ + 0.37591156363487244, + -0.035214614123106, + 0.073396697640419 + ], + [ + 0.3658260703086853, + -0.0033368351869285107, + 0.07848241925239563 + ], + [ + 0.3612583875656128, + 0.02835196442902088, + 0.07473985105752945 + ], + [ + 0.3577806353569031, + 0.05807049572467804, + 0.0741494819521904 + ], + [ + 0.3577744662761688, + 0.08499517291784286, + 0.06681879609823227 + ], + [ + 0.3657028377056122, + 0.10544626414775848, + 0.057970080524683 + ], + [ + 0.3692795932292938, + 0.11698723584413528, + 0.04232490807771683 + ], + [ + 0.37564313411712646, + 0.12464159727096558, + 0.024641627445816994 + ], + [ + 0.37811586260795593, + 0.12648361921310425, + 0.015431532636284828 + ], + [ + 0.3831338584423065, + 0.12946665287017822, + 0.015126964077353477 + ], + [ + 0.3803040683269501, + 0.12870080769062042, + 0.011922391131520271 + ], + [ + 0.38180041313171387, + 0.12897498905658722, + 0.011382794007658958 + ], + [ + 0.37850505113601685, + 0.12785567343235016, + 0.012996318750083447 + ], + [ + 0.37941214442253113, + 0.1278281956911087, + 0.03285947069525719 + ], + [ + 0.3782777786254883, + 0.11993072926998138, + 0.056488748639822006 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8636756443357049, + -0.369097600813495, + 0.3432657024158214, + -0.4104751421885919, + -0.9102711022387149, + 0.054006278101445565, + 0.29253126162268644, + -0.1875459450450404, + -0.9376843709215816 + ], + [ + 0.8725581660593172, + -0.3811381074767365, + 0.3055748515049185, + -0.41568984938713716, + -0.9078646093032217, + 0.0546241731398136, + 0.25660123920141253, + -0.1746871323359587, + -0.9505999210164806 + ], + [ + 0.8133616166734705, + -0.49702135937745145, + 0.30234524776306376, + -0.5382752350034987, + -0.8400995717280414, + 0.06702597231140535, + 0.22068677328794836, + -0.21726131249017017, + -0.9508390348480661 + ], + [ + 0.7223771892497659, + -0.5986010247949504, + 0.34619071270911184, + -0.6487679523743003, + -0.7599492823330168, + 0.039714383459774, + 0.23931431303552486, + -0.2532862045117491, + -0.9373231876894793 + ], + [ + 0.6202833470556537, + -0.7022460491472472, + 0.3494267531579652, + -0.7537358046249175, + -0.6569381713983333, + 0.0177362844542463, + 0.21709653657270428, + -0.2743769768346024, + -0.9367957986622487 + ], + [ + 0.46169625126039815, + -0.8181638735114671, + 0.3427016890136473, + -0.862797353254376, + -0.5039125433164033, + -0.04065557656259412, + 0.2059546037099882, + -0.27691158294499946, + -0.9385641568063187 + ], + [ + 0.3436135346656203, + -0.8720546343673651, + 0.348497422476838, + -0.91850382894407, + -0.38938969449803895, + -0.0687486875060648, + 0.19565391641794758, + -0.2964732374045338, + -0.9347850900036829 + ], + [ + 0.3014256555663902, + -0.903181899030134, + 0.30562236735993803, + -0.9356751318817381, + -0.341857574264826, + -0.08743824389740001, + 0.18345196031785566, + -0.2596071188971713, + -0.9481294859213303 + ], + [ + 0.2626406372097706, + -0.9214153215926447, + 0.286380342936397, + -0.9509997872687502, + -0.2973805016644103, + -0.08464184452512265, + 0.16315422244256217, + -0.25011725722977685, + -0.9543699792716744 + ], + [ + 0.2705758202065467, + -0.9277671634362772, + 0.2569762945661691, + -0.950901321560337, + -0.2992235708348946, + -0.07906915524791615, + 0.15025113035967066, + -0.22296489657840501, + -0.9631776849156246 + ], + [ + 0.26936406692675346, + -0.9370117525858092, + 0.22237800018155982, + -0.954290109804305, + -0.29075736964265947, + -0.06921371488490809, + 0.12951210668646743, + -0.19356943848281488, + -0.9725006358389081 + ], + [ + 0.268580745163517, + -0.9442380565012434, + 0.19047014459532685, + -0.9557837157145019, + -0.2858186722499367, + -0.06917496200406252, + 0.11975755551275313, + -0.16346919969229085, + -0.9792527501363333 + ], + [ + 0.25469280111983894, + -0.9557650702912056, + 0.14712140384382297, + -0.9619215277337637, + -0.2660054210458004, + -0.06283383210173332, + 0.09918947292970431, + -0.12551592084470206, + -0.9871206623683015 + ], + [ + 0.23125749182605876, + -0.959087421330755, + 0.16331347378414, + -0.9675613764184583, + -0.24427591054568482, + -0.06445356770804012, + 0.10171015356167104, + -0.14311043907485987, + -0.984466579874737 + ], + [ + 0.22350556495686652, + -0.9606527876461025, + 0.16489840515021395, + -0.9695796475580122, + -0.2364486824436372, + -0.06330345655609014, + 0.09980265264306712, + -0.14573346272713134, + -0.984276987624402 + ], + [ + 0.21856882415969742, + -0.9620755439740886, + 0.16321248969490237, + -0.9707396230723268, + -0.23141518196963956, + -0.06412174164318399, + 0.09945980747439598, + -0.14442181705310295, + -0.9845049951403171 + ], + [ + 0.20198138791706222, + -0.9682223287869058, + 0.14747556059753597, + -0.9747271417906573, + -0.213402945543835, + -0.06607709050669615, + 0.09544903347709903, + -0.13040208921514734, + -0.9868560062828882 + ], + [ + 0.18173771518040593, + -0.9725863555941676, + 0.145076475670803, + -0.9784824903923013, + -0.19351644019686476, + -0.07157795309460314, + 0.09769042366929118, + -0.128946377559002, + -0.9868279550345773 + ], + [ + 0.18884486061373962, + -0.95988474502709, + 0.20726527659995542, + -0.9750055436066045, + -0.20843317655412041, + -0.0769402420580325, + 0.1170547246212942, + -0.1875550243950762, + -0.9752544817984666 + ], + [ + 0.2710999399015072, + -0.929959535625633, + 0.2483547557111721, + -0.952677257986008, + -0.2960959121289249, + -0.06879864051564501, + 0.1375167797094599, + -0.2179506203696076, + -0.966222884421003 + ], + [ + 0.3531401659388965, + -0.8994478631738786, + 0.2574598311049554, + -0.9257106757893275, + -0.37577437249855195, + -0.04305073405861956, + 0.13546869723414007, + -0.22313037087152218, + -0.9653295135156812 + ], + [ + 0.43382047682663294, + -0.8633236317386451, + 0.25782183919813473, + -0.8917689736631264, + -0.452276315483513, + -0.013936716416423217, + 0.12863860811485323, + -0.22387148396848994, + -0.9660919558551448 + ], + [ + 0.5123114933524453, + -0.8200830946453188, + 0.2549522536788881, + -0.8509769731408974, + -0.52473739655886, + 0.02211008449973896, + 0.11565087532285835, + -0.22828574753932046, + -0.9667008288542376 + ], + [ + 0.5859849174159303, + -0.7729034012587838, + 0.24339681362673699, + -0.8016668401730768, + -0.5967399042090669, + 0.035096496854645776, + 0.11811838945718721, + -0.21568917229929963, + -0.9692916109328931 + ], + [ + 0.6298289050275331, + -0.7422987829444868, + 0.22870956960947808, + -0.7693386573040909, + -0.6367109121367145, + 0.05212719773373592, + 0.10692792324438738, + -0.20878632906674494, + -0.9720980855991209 + ], + [ + 0.6612264350629097, + -0.725275983281843, + 0.19171423955604297, + -0.7455601447346876, + -0.6636650934839579, + 0.0607347863593974, + 0.08318456682094252, + -0.18309394245983568, + -0.9795697709082937 + ], + [ + 0.6795522270569339, + -0.7184575195384395, + 0.14841685659194734, + -0.7317733292227153, + -0.6781919328559517, + 0.0675536590231228, + 0.052120680542999016, + -0.1545137366960674, + -0.9866148893220462 + ], + [ + 0.7012612999627237, + -0.7028761233208068, + 0.11915428838319128, + -0.7118972724150602, + -0.6993009940850747, + 0.06465596027918702, + 0.03787958160524627, + -0.13016633565227229, + -0.9907683192150785 + ], + [ + 0.7154889555270648, + -0.6915173828758667, + 0.09939448525598188, + -0.6981897616620147, + -0.7127861844566077, + 0.06683496059795056, + 0.02462947886433344, + -0.11721588812231283, + -0.9928009993662217 + ], + [ + 0.7511632287744676, + -0.6569808601651889, + 0.06426471126306979, + -0.6600235100709432, + -0.749123869694236, + 0.056412711404124724, + 0.011080157523641172, + -0.08479137474379154, + -0.9963371180872012 + ], + [ + 0.764112519493628, + -0.640304273041087, + 0.0783740740195707, + -0.6445323074807424, + -0.762823625432899, + 0.05175153229574658, + 0.026648868018164962, + -0.09005861650465918, + -0.9955798729517472 + ], + [ + 0.7637113684013923, + -0.6400354201695231, + 0.08425916391048971, + -0.6448577678337657, + -0.762434032149244, + 0.0534116643168743, + 0.030056697072794576, + -0.09512627160289369, + -0.9950113503935554 + ], + [ + 0.7484477339643743, + -0.6457035706734283, + 0.15130396010408367, + -0.6599199641859258, + -0.7477528937371112, + 0.07328881754144209, + 0.06581512282477045, + -0.15470135334689647, + -0.9857666361163777 + ], + [ + 0.7087427030158271, + -0.6588456660511535, + 0.25220263529041725, + -0.6908229235772716, + -0.7206278900123022, + 0.05881438936662263, + 0.14299464738923118, + -0.2159116311411438, + -0.9658854478435837 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0027986466884613037, + 0.0002981312572956085, + -0.013647831976413727, + -0.015667349100112915, + 0.0373687744140625, + -0.0009280741214752197, + 1.0 + ], + [ + 0.0019535720348358154, + -0.011777382344007492, + 0.0007208697497844696, + 0.04290036857128143, + 0.036985501646995544, + -0.14002647995948792, + 1.0 + ], + [ + 0.007155925035476685, + -0.01027718372642994, + 0.0016475915908813477, + 0.03928171098232269, + -0.01914103329181671, + -0.14714574813842773, + 1.0 + ], + [ + 0.003913849592208862, + -0.013502730056643486, + 0.003424249589443207, + 0.021000444889068604, + 0.022820502519607544, + -0.15045493841171265, + 1.0 + ], + [ + 0.007789164781570435, + -0.01673363894224167, + 0.002708651125431061, + 0.001977771520614624, + 0.011399954557418823, + -0.1972324252128601, + 1.0 + ], + [ + 0.006502479314804077, + -0.017882121726870537, + 0.010592702776193619, + 0.0202237069606781, + 0.010514914989471436, + -0.13336122035980225, + 1.0 + ], + [ + 0.00040903687477111816, + -0.018750935792922974, + -0.014346469193696976, + -0.03986218571662903, + 0.012427344918251038, + -0.046332597732543945, + 1.0 + ], + [ + -0.004709511995315552, + -0.012938089668750763, + -0.0003205053508281708, + -0.01094791293144226, + 0.020609989762306213, + -0.04219341278076172, + 1.0 + ], + [ + -0.0074731409549713135, + -0.0029860660433769226, + -0.00506225973367691, + -0.028829440474510193, + 0.013064593076705933, + 0.007763266563415527, + 1.0 + ], + [ + -0.005013942718505859, + 0.00038283318281173706, + -0.010965589433908463, + -0.03100678324699402, + 0.02094535529613495, + -0.002110719680786133, + 1.0 + ], + [ + -0.0027447640895843506, + -0.0009790882468223572, + -0.0109933502972126, + -0.03106778860092163, + 0.009831249713897705, + -0.0011680126190185547, + 1.0 + ], + [ + 0.00228920578956604, + -0.0012950301170349121, + -0.01722855120897293, + -0.03893253207206726, + 0.02069283276796341, + -0.015105605125427246, + 0.0 + ], + [ + 0.0041700005531311035, + -0.004548065364360809, + 0.003890139050781727, + 0.01788245141506195, + -0.0025334954261779785, + -0.02422618865966797, + 0.0 + ], + [ + -8.478760719299316e-05, + -0.0014612898230552673, + 3.0064955353736877e-05, + 0.0026361793279647827, + 0.0019172579050064087, + -0.00804901123046875, + 0.0 + ], + [ + -0.00026735663414001465, + -0.0001297593116760254, + -3.615673631429672e-05, + -0.0013375282287597656, + 0.00034455955028533936, + -0.005096435546875, + 0.0 + ], + [ + -0.0016551613807678223, + -0.0004839301109313965, + 0.0008987085893750191, + -0.014278173446655273, + 0.004029959440231323, + -0.01713728904724121, + 0.0 + ], + [ + 0.0017187893390655518, + -0.00015579909086227417, + 0.004333339631557465, + -0.0014464110136032104, + -0.0022519156336784363, + -0.02068495750427246, + 0.0 + ], + [ + 0.003406524658203125, + 0.0167054682970047, + 0.02927534282207489, + 0.060062915086746216, + -0.01947721838951111, + 0.0076754093170166016, + 0.0 + ], + [ + -0.010438859462738037, + 0.03275013342499733, + 0.024625960737466812, + 0.03186233341693878, + -0.020630240440368652, + 0.08592104911804199, + 0.0 + ], + [ + -0.010085493326187134, + 0.031877778470516205, + 0.0050857216119766235, + 0.005298241972923279, + 0.0020674318075180054, + 0.08720159530639648, + 0.0 + ], + [ + -0.00456768274307251, + 0.03168879821896553, + -0.0037425681948661804, + 0.0005549788475036621, + 0.006890445947647095, + 0.08832693099975586, + 0.0 + ], + [ + -0.003477752208709717, + 0.029718531295657158, + -0.0005903691053390503, + 0.004190996289253235, + 0.013085812330245972, + 0.0891423225402832, + 0.0 + ], + [ + -6.16908073425293e-06, + 0.026924677193164825, + -0.00733068585395813, + -0.012945801019668579, + -0.002484545111656189, + 0.08929359912872314, + 0.0 + ], + [ + 0.00792837142944336, + 0.02045109122991562, + -0.00884871557354927, + -0.007390066981315613, + 0.01126205176115036, + 0.05481499433517456, + 0.0 + ], + [ + 0.0035767555236816406, + 0.0115409716963768, + -0.01564517244696617, + -0.026784539222717285, + 0.023851938545703888, + 0.0395045280456543, + 0.0 + ], + [ + 0.006363540887832642, + 0.007654361426830292, + -0.017683280631899834, + -0.029432326555252075, + 0.031136494129896164, + 0.022891521453857422, + 0.0 + ], + [ + 0.0024727284908294678, + 0.0018420219421386719, + -0.009210094809532166, + -0.024717092514038086, + 0.014255661517381668, + 0.029458343982696533, + 0.0 + ], + [ + 0.005017995834350586, + 0.0029830336570739746, + -0.0003045685589313507, + -0.0131092369556427, + 0.013256676495075226, + 0.019762635231018066, + 1.0 + ], + [ + -0.0028297901153564453, + -0.0007658451795578003, + -0.003204572945833206, + -0.03262326121330261, + 0.013551585376262665, + 0.05225777626037598, + 1.0 + ], + [ + 0.001496344804763794, + 0.0002741813659667969, + -0.0005395971238613129, + 0.00531439483165741, + -0.015571638941764832, + 0.020193040370941162, + 1.0 + ], + [ + -0.0032953619956970215, + -0.0011193156242370605, + 0.001613524742424488, + 0.0051005929708480835, + -0.00340920127928257, + -0.000507652759552002, + 1.0 + ], + [ + 0.0009070932865142822, + -2.7477741241455078e-05, + 0.019863151013851166, + 0.0603518933057785, + -0.03580150753259659, + -0.021403729915618896, + 1.0 + ], + [ + -0.0011343657970428467, + -0.00789746642112732, + 0.02362927794456482, + 0.06425657868385315, + -0.07762376964092255, + -0.049972712993621826, + 1.0 + ], + [ + -0.004338622093200684, + -0.0021642372012138367, + 0.02503040060400963, + 0.07836399972438812, + -0.03249777853488922, + -0.04431629180908203, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9484345316886902 + ], + [ + 0.67718505859375 + ], + [ + 0.6340072751045227 + ], + [ + 0.6340072751045227 + ], + [ + 0.6340072751045227 + ], + [ + 0.6340072751045227 + ], + [ + 0.6340072751045227 + ], + [ + 0.6340072751045227 + ], + [ + 0.6340072751045227 + ], + [ + 0.6340072751045227 + ], + [ + 0.6340072751045227 + ], + [ + 0.6340072751045227 + ], + [ + 0.6340072751045227 + ], + [ + 0.6340072751045227 + ], + [ + 0.6340072751045227 + ], + [ + 0.6340072751045227 + ], + [ + 0.6861988306045532 + ], + [ + 0.9774019718170166 + ], + [ + 1.0047606229782104 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.36899054050445557, + 0.028848061338067055, + 0.050201959908008575 + ], + [ + 0.3709441125392914, + 0.017070678994059563, + 0.050922829657793045 + ], + [ + 0.37810003757476807, + 0.006793494801968336, + 0.05257042124867439 + ], + [ + 0.38201388716697693, + -0.006709234789013863, + 0.0559946708381176 + ], + [ + 0.38980305194854736, + -0.02344287373125553, + 0.05870332196354866 + ], + [ + 0.39630553126335144, + -0.04132499545812607, + 0.06929602473974228 + ], + [ + 0.39671456813812256, + -0.06007593125104904, + 0.0549495555460453 + ], + [ + 0.392005056142807, + -0.0730140209197998, + 0.05462905019521713 + ], + [ + 0.3845319151878357, + -0.07600008696317673, + 0.04956679046154022 + ], + [ + 0.37951797246932983, + -0.07561725378036499, + 0.03860120102763176 + ], + [ + 0.3767732083797455, + -0.07659634202718735, + 0.02760785073041916 + ], + [ + 0.3790624141693115, + -0.07789137214422226, + 0.010379298590123653 + ], + [ + 0.3832324147224426, + -0.08243943750858307, + 0.01426943764090538 + ], + [ + 0.38314762711524963, + -0.08390072733163834, + 0.014299502596259117 + ], + [ + 0.3828802704811096, + -0.08403048664331436, + 0.01426334585994482 + ], + [ + 0.3812251091003418, + -0.08451441675424576, + 0.01516205444931984 + ], + [ + 0.38294389843940735, + -0.08467021584510803, + 0.019495394080877304 + ], + [ + 0.3863504230976105, + -0.06796474754810333, + 0.048770736902952194 + ], + [ + 0.37591156363487244, + -0.035214614123106, + 0.073396697640419 + ], + [ + 0.3658260703086853, + -0.0033368351869285107, + 0.07848241925239563 + ], + [ + 0.3612583875656128, + 0.02835196442902088, + 0.07473985105752945 + ], + [ + 0.3577806353569031, + 0.05807049572467804, + 0.0741494819521904 + ], + [ + 0.3577744662761688, + 0.08499517291784286, + 0.06681879609823227 + ], + [ + 0.3657028377056122, + 0.10544626414775848, + 0.057970080524683 + ], + [ + 0.3692795932292938, + 0.11698723584413528, + 0.04232490807771683 + ], + [ + 0.37564313411712646, + 0.12464159727096558, + 0.024641627445816994 + ], + [ + 0.37811586260795593, + 0.12648361921310425, + 0.015431532636284828 + ], + [ + 0.3831338584423065, + 0.12946665287017822, + 0.015126964077353477 + ], + [ + 0.3803040683269501, + 0.12870080769062042, + 0.011922391131520271 + ], + [ + 0.38180041313171387, + 0.12897498905658722, + 0.011382794007658958 + ], + [ + 0.37850505113601685, + 0.12785567343235016, + 0.012996318750083447 + ], + [ + 0.37941214442253113, + 0.1278281956911087, + 0.03285947069525719 + ], + [ + 0.3782777786254883, + 0.11993072926998138, + 0.056488748639822006 + ], + [ + 0.3739391565322876, + 0.11776649206876755, + 0.08151914924383163 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8725581660593172, + -0.3811381074767365, + 0.3055748515049185, + -0.41568984938713716, + -0.9078646093032217, + 0.0546241731398136, + 0.25660123920141253, + -0.1746871323359587, + -0.9505999210164806 + ], + [ + 0.8133616166734705, + -0.49702135937745145, + 0.30234524776306376, + -0.5382752350034987, + -0.8400995717280414, + 0.06702597231140535, + 0.22068677328794836, + -0.21726131249017017, + -0.9508390348480661 + ], + [ + 0.7223771892497659, + -0.5986010247949504, + 0.34619071270911184, + -0.6487679523743003, + -0.7599492823330168, + 0.039714383459774, + 0.23931431303552486, + -0.2532862045117491, + -0.9373231876894793 + ], + [ + 0.6202833470556537, + -0.7022460491472472, + 0.3494267531579652, + -0.7537358046249175, + -0.6569381713983333, + 0.0177362844542463, + 0.21709653657270428, + -0.2743769768346024, + -0.9367957986622487 + ], + [ + 0.46169625126039815, + -0.8181638735114671, + 0.3427016890136473, + -0.862797353254376, + -0.5039125433164033, + -0.04065557656259412, + 0.2059546037099882, + -0.27691158294499946, + -0.9385641568063187 + ], + [ + 0.3436135346656203, + -0.8720546343673651, + 0.348497422476838, + -0.91850382894407, + -0.38938969449803895, + -0.0687486875060648, + 0.19565391641794758, + -0.2964732374045338, + -0.9347850900036829 + ], + [ + 0.3014256555663902, + -0.903181899030134, + 0.30562236735993803, + -0.9356751318817381, + -0.341857574264826, + -0.08743824389740001, + 0.18345196031785566, + -0.2596071188971713, + -0.9481294859213303 + ], + [ + 0.2626406372097706, + -0.9214153215926447, + 0.286380342936397, + -0.9509997872687502, + -0.2973805016644103, + -0.08464184452512265, + 0.16315422244256217, + -0.25011725722977685, + -0.9543699792716744 + ], + [ + 0.2705758202065467, + -0.9277671634362772, + 0.2569762945661691, + -0.950901321560337, + -0.2992235708348946, + -0.07906915524791615, + 0.15025113035967066, + -0.22296489657840501, + -0.9631776849156246 + ], + [ + 0.26936406692675346, + -0.9370117525858092, + 0.22237800018155982, + -0.954290109804305, + -0.29075736964265947, + -0.06921371488490809, + 0.12951210668646743, + -0.19356943848281488, + -0.9725006358389081 + ], + [ + 0.268580745163517, + -0.9442380565012434, + 0.19047014459532685, + -0.9557837157145019, + -0.2858186722499367, + -0.06917496200406252, + 0.11975755551275313, + -0.16346919969229085, + -0.9792527501363333 + ], + [ + 0.25469280111983894, + -0.9557650702912056, + 0.14712140384382297, + -0.9619215277337637, + -0.2660054210458004, + -0.06283383210173332, + 0.09918947292970431, + -0.12551592084470206, + -0.9871206623683015 + ], + [ + 0.23125749182605876, + -0.959087421330755, + 0.16331347378414, + -0.9675613764184583, + -0.24427591054568482, + -0.06445356770804012, + 0.10171015356167104, + -0.14311043907485987, + -0.984466579874737 + ], + [ + 0.22350556495686652, + -0.9606527876461025, + 0.16489840515021395, + -0.9695796475580122, + -0.2364486824436372, + -0.06330345655609014, + 0.09980265264306712, + -0.14573346272713134, + -0.984276987624402 + ], + [ + 0.21856882415969742, + -0.9620755439740886, + 0.16321248969490237, + -0.9707396230723268, + -0.23141518196963956, + -0.06412174164318399, + 0.09945980747439598, + -0.14442181705310295, + -0.9845049951403171 + ], + [ + 0.20198138791706222, + -0.9682223287869058, + 0.14747556059753597, + -0.9747271417906573, + -0.213402945543835, + -0.06607709050669615, + 0.09544903347709903, + -0.13040208921514734, + -0.9868560062828882 + ], + [ + 0.18173771518040593, + -0.9725863555941676, + 0.145076475670803, + -0.9784824903923013, + -0.19351644019686476, + -0.07157795309460314, + 0.09769042366929118, + -0.128946377559002, + -0.9868279550345773 + ], + [ + 0.18884486061373962, + -0.95988474502709, + 0.20726527659995542, + -0.9750055436066045, + -0.20843317655412041, + -0.0769402420580325, + 0.1170547246212942, + -0.1875550243950762, + -0.9752544817984666 + ], + [ + 0.2710999399015072, + -0.929959535625633, + 0.2483547557111721, + -0.952677257986008, + -0.2960959121289249, + -0.06879864051564501, + 0.1375167797094599, + -0.2179506203696076, + -0.966222884421003 + ], + [ + 0.3531401659388965, + -0.8994478631738786, + 0.2574598311049554, + -0.9257106757893275, + -0.37577437249855195, + -0.04305073405861956, + 0.13546869723414007, + -0.22313037087152218, + -0.9653295135156812 + ], + [ + 0.43382047682663294, + -0.8633236317386451, + 0.25782183919813473, + -0.8917689736631264, + -0.452276315483513, + -0.013936716416423217, + 0.12863860811485323, + -0.22387148396848994, + -0.9660919558551448 + ], + [ + 0.5123114933524453, + -0.8200830946453188, + 0.2549522536788881, + -0.8509769731408974, + -0.52473739655886, + 0.02211008449973896, + 0.11565087532285835, + -0.22828574753932046, + -0.9667008288542376 + ], + [ + 0.5859849174159303, + -0.7729034012587838, + 0.24339681362673699, + -0.8016668401730768, + -0.5967399042090669, + 0.035096496854645776, + 0.11811838945718721, + -0.21568917229929963, + -0.9692916109328931 + ], + [ + 0.6298289050275331, + -0.7422987829444868, + 0.22870956960947808, + -0.7693386573040909, + -0.6367109121367145, + 0.05212719773373592, + 0.10692792324438738, + -0.20878632906674494, + -0.9720980855991209 + ], + [ + 0.6612264350629097, + -0.725275983281843, + 0.19171423955604297, + -0.7455601447346876, + -0.6636650934839579, + 0.0607347863593974, + 0.08318456682094252, + -0.18309394245983568, + -0.9795697709082937 + ], + [ + 0.6795522270569339, + -0.7184575195384395, + 0.14841685659194734, + -0.7317733292227153, + -0.6781919328559517, + 0.0675536590231228, + 0.052120680542999016, + -0.1545137366960674, + -0.9866148893220462 + ], + [ + 0.7012612999627237, + -0.7028761233208068, + 0.11915428838319128, + -0.7118972724150602, + -0.6993009940850747, + 0.06465596027918702, + 0.03787958160524627, + -0.13016633565227229, + -0.9907683192150785 + ], + [ + 0.7154889555270648, + -0.6915173828758667, + 0.09939448525598188, + -0.6981897616620147, + -0.7127861844566077, + 0.06683496059795056, + 0.02462947886433344, + -0.11721588812231283, + -0.9928009993662217 + ], + [ + 0.7511632287744676, + -0.6569808601651889, + 0.06426471126306979, + -0.6600235100709432, + -0.749123869694236, + 0.056412711404124724, + 0.011080157523641172, + -0.08479137474379154, + -0.9963371180872012 + ], + [ + 0.764112519493628, + -0.640304273041087, + 0.0783740740195707, + -0.6445323074807424, + -0.762823625432899, + 0.05175153229574658, + 0.026648868018164962, + -0.09005861650465918, + -0.9955798729517472 + ], + [ + 0.7637113684013923, + -0.6400354201695231, + 0.08425916391048971, + -0.6448577678337657, + -0.762434032149244, + 0.0534116643168743, + 0.030056697072794576, + -0.09512627160289369, + -0.9950113503935554 + ], + [ + 0.7484477339643743, + -0.6457035706734283, + 0.15130396010408367, + -0.6599199641859258, + -0.7477528937371112, + 0.07328881754144209, + 0.06581512282477045, + -0.15470135334689647, + -0.9857666361163777 + ], + [ + 0.7087427030158271, + -0.6588456660511535, + 0.25220263529041725, + -0.6908229235772716, + -0.7206278900123022, + 0.05881438936662263, + 0.14299464738923118, + -0.2159116311411438, + -0.9658854478435837 + ], + [ + 0.6739042640867463, + -0.6616244218387289, + 0.3287950231865876, + -0.7177750222329521, + -0.6917612510686537, + 0.07915421011175873, + 0.17507729808340713, + -0.28934321479256936, + -0.9410783409203057 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006584.json b/json/chunk-0006/episode_0006584.json new file mode 100644 index 0000000000000000000000000000000000000000..6d5c306e769f81aff58ec587581f915148d776c0 --- /dev/null +++ b/json/chunk-0006/episode_0006584.json @@ -0,0 +1,2242 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 36, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the silver pot to the left side of the burner." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006584.mp4", + "start": 0, + "end": 36, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3814159035682678, + 0.1310122013092041, + 0.09018643200397491, + 0.03753833845257759, + -0.2620213031768799, + 0.07535098493099213, + 0.0, + 0.9988223910331726 + ], + [ + 0.377898246049881, + 0.1287401169538498, + 0.07507839053869247, + 0.018869202584028244, + -0.22846074402332306, + 0.09048826992511749, + 0.0, + 0.9988223910331726 + ], + [ + 0.36687082052230835, + 0.11165666580200195, + 0.06881677359342575, + -0.02251419983804226, + -0.25705140829086304, + 0.14121247828006744, + 0.0, + 0.9988223910331726 + ], + [ + 0.351316899061203, + 0.09679357707500458, + 0.07334261387586594, + -0.08897160738706589, + -0.31296807527542114, + 0.2518862783908844, + 0.0, + 0.9981546401977539 + ], + [ + 0.34375399351119995, + 0.07008622586727142, + 0.07486983388662338, + -0.10477231442928314, + -0.2936890125274658, + 0.3481293022632599, + 0.0, + 0.9988223910331726 + ], + [ + 0.3526955246925354, + 0.042527440935373306, + 0.0800459235906601, + -0.08685159683227539, + -0.30265599489212036, + 0.4159691333770752, + 0.0, + 0.9981546401977539 + ], + [ + 0.36747533082962036, + 0.01758173480629921, + 0.08347740769386292, + -0.052582621574401855, + -0.33157169818878174, + 0.4255639314651489, + 0.0, + 0.9988223910331726 + ], + [ + 0.37761372327804565, + -0.003615280147641897, + 0.06714818626642227, + -0.044100891798734665, + -0.35518500208854675, + 0.45354530215263367, + 0.0, + 0.9988223910331726 + ], + [ + 0.3808148205280304, + -0.008351314812898636, + 0.04881654307246208, + -0.025018105283379555, + -0.3375255763530731, + 0.4704091548919678, + 0.0, + 0.9988223910331726 + ], + [ + 0.3823947012424469, + -0.007283240556716919, + 0.038564663380384445, + -0.021090419963002205, + -0.3403337001800537, + 0.491105854511261, + 0.0, + 0.9988223910331726 + ], + [ + 0.37863919138908386, + -0.005908424500375986, + 0.022866999730467796, + 0.004056393634527922, + -0.3063851594924927, + 0.5034483075141907, + 0.0, + 0.9430103898048401 + ], + [ + 0.3789580762386322, + -0.0035085901618003845, + 0.014830093830823898, + 0.026512449607253075, + -0.3141452670097351, + 0.5413699746131897, + 0.0, + 0.6269758939743042 + ], + [ + 0.38334059715270996, + -0.009417287074029446, + 0.015035617165267467, + 0.042599938809871674, + -0.30184441804885864, + 0.5104382038116455, + 0.0, + 0.3502708673477173 + ], + [ + 0.38472574949264526, + -0.011400846764445305, + 0.015022052451968193, + 0.032319992780685425, + -0.3027922213077545, + 0.49398064613342285, + 0.0, + 0.16707322001457214 + ], + [ + 0.3852503299713135, + -0.011530149728059769, + 0.015277120284736156, + 0.028476746752858162, + -0.30210110545158386, + 0.4926890432834625, + 0.0, + 0.1004381775856018 + ], + [ + 0.3842630386352539, + -0.011950652115046978, + 0.014345770701766014, + 0.024649376049637794, + -0.29555389285087585, + 0.49270525574684143, + 0.0, + 0.09775853902101517 + ], + [ + 0.3824552595615387, + -0.011576908640563488, + 0.014554611407220364, + 0.022169098258018494, + -0.29377463459968567, + 0.49613553285598755, + 0.0, + 0.09737934172153473 + ], + [ + 0.3793413043022156, + -0.007722804788500071, + 0.01629052124917507, + 0.03896065056324005, + -0.30217739939689636, + 0.5133048892021179, + 0.0, + 0.09737934172153473 + ], + [ + 0.3765921890735626, + -0.008252790197730064, + 0.026275912299752235, + 0.027322573587298393, + -0.3052767515182495, + 0.5244374871253967, + 0.0, + 0.08926420658826828 + ], + [ + 0.3755303919315338, + -0.008096160367131233, + 0.04312421754002571, + 0.006376981735229492, + -0.31719207763671875, + 0.5143935084342957, + 0.0, + 0.07888144999742508 + ], + [ + 0.3677384853363037, + -0.007792646996676922, + 0.06453107297420502, + -0.02572489343583584, + -0.3358732759952545, + 0.5167288184165955, + 0.0, + 0.07788556814193726 + ], + [ + 0.33921194076538086, + 0.013583878055214882, + 0.08956931531429291, + -0.021820446476340294, + -0.35824355483055115, + 0.5395767688751221, + 0.0, + 0.07788556814193726 + ], + [ + 0.3140213191509247, + 0.05277129262685776, + 0.08442971110343933, + -0.015476150438189507, + -0.332444965839386, + 0.5350109338760376, + 0.0, + 0.07788556814193726 + ], + [ + 0.2979116439819336, + 0.08998521417379379, + 0.0756114274263382, + -0.002435521688312292, + -0.3106580078601837, + 0.5309170484542847, + 0.0, + 0.07788556814193726 + ], + [ + 0.2824217677116394, + 0.13135170936584473, + 0.063603475689888, + -0.026725906878709793, + -0.31645467877388, + 0.5924814939498901, + 0.0, + 0.07788556814193726 + ], + [ + 0.27409231662750244, + 0.14982859790325165, + 0.03498246520757675, + -0.021195778623223305, + -0.2632424235343933, + 0.6128506660461426, + 0.0, + 0.07788556814193726 + ], + [ + 0.2735792398452759, + 0.16289111971855164, + 0.023375341668725014, + -0.006421632599085569, + -0.24666906893253326, + 0.6420087218284607, + 0.0, + 0.07788556814193726 + ], + [ + 0.2763213813304901, + 0.16943955421447754, + 0.015720991417765617, + 0.01939200609922409, + -0.23986156284809113, + 0.639350175857544, + 0.0, + 0.07788556814193726 + ], + [ + 0.27336177229881287, + 0.1741577535867691, + 0.012646960094571114, + 0.02637660689651966, + -0.22301197052001953, + 0.6614329218864441, + 0.0, + 0.11119577288627625 + ], + [ + 0.2686774730682373, + 0.17594952881336212, + 0.01045960932970047, + 0.02006739377975464, + -0.20974552631378174, + 0.726274311542511, + 0.0, + 0.300372838973999 + ], + [ + 0.26655784249305725, + 0.17554613947868347, + 0.010227588005363941, + 0.014372602105140686, + -0.1943100243806839, + 0.73626708984375, + 0.0, + 0.5938982367515564 + ], + [ + 0.2657546401023865, + 0.17372824251651764, + 0.010086591355502605, + 0.008748938329517841, + -0.18425527215003967, + 0.7219967246055603, + 0.0, + 0.8862238526344299 + ], + [ + 0.26551541686058044, + 0.17141596972942352, + 0.012532372027635574, + 0.005911963060498238, + -0.18088398873806, + 0.6913052797317505, + 0.0, + 1.0014774799346924 + ], + [ + 0.2701011598110199, + 0.16745111346244812, + 0.0387878455221653, + -0.046872928738594055, + -0.24887533485889435, + 0.6222209930419922, + 0.0, + 1.0014774799346924 + ], + [ + 0.273054838180542, + 0.16390900313854218, + 0.07232756912708282, + -0.03016688860952854, + -0.32569336891174316, + 0.5574507713317871, + 0.0, + 1.0014774799346924 + ], + [ + 0.2800726592540741, + 0.1521264612674713, + 0.09229191392660141, + -0.020798398181796074, + -0.3803612291812897, + 0.48161324858665466, + 0.0, + 1.0014774799346924 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9981546401977539 + ], + [ + 0.9988223910331726 + ], + [ + 0.9981546401977539 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9430103898048401 + ], + [ + 0.6269758939743042 + ], + [ + 0.3502708673477173 + ], + [ + 0.16707322001457214 + ], + [ + 0.1004381775856018 + ], + [ + 0.09775853902101517 + ], + [ + 0.09737934172153473 + ], + [ + 0.09737934172153473 + ], + [ + 0.08926420658826828 + ], + [ + 0.07888144999742508 + ], + [ + 0.07788556814193726 + ], + [ + 0.07788556814193726 + ], + [ + 0.07788556814193726 + ], + [ + 0.07788556814193726 + ], + [ + 0.07788556814193726 + ], + [ + 0.07788556814193726 + ], + [ + 0.07788556814193726 + ], + [ + 0.07788556814193726 + ], + [ + 0.11119577288627625 + ], + [ + 0.300372838973999 + ], + [ + 0.5938982367515564 + ], + [ + 0.8862238526344299 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3814159035682678, + 0.1310122013092041, + 0.09018643200397491 + ], + [ + 0.377898246049881, + 0.1287401169538498, + 0.07507839053869247 + ], + [ + 0.36687082052230835, + 0.11165666580200195, + 0.06881677359342575 + ], + [ + 0.351316899061203, + 0.09679357707500458, + 0.07334261387586594 + ], + [ + 0.34375399351119995, + 0.07008622586727142, + 0.07486983388662338 + ], + [ + 0.3526955246925354, + 0.042527440935373306, + 0.0800459235906601 + ], + [ + 0.36747533082962036, + 0.01758173480629921, + 0.08347740769386292 + ], + [ + 0.37761372327804565, + -0.003615280147641897, + 0.06714818626642227 + ], + [ + 0.3808148205280304, + -0.008351314812898636, + 0.04881654307246208 + ], + [ + 0.3823947012424469, + -0.007283240556716919, + 0.038564663380384445 + ], + [ + 0.37863919138908386, + -0.005908424500375986, + 0.022866999730467796 + ], + [ + 0.3789580762386322, + -0.0035085901618003845, + 0.014830093830823898 + ], + [ + 0.38334059715270996, + -0.009417287074029446, + 0.015035617165267467 + ], + [ + 0.38472574949264526, + -0.011400846764445305, + 0.015022052451968193 + ], + [ + 0.3852503299713135, + -0.011530149728059769, + 0.015277120284736156 + ], + [ + 0.3842630386352539, + -0.011950652115046978, + 0.014345770701766014 + ], + [ + 0.3824552595615387, + -0.011576908640563488, + 0.014554611407220364 + ], + [ + 0.3793413043022156, + -0.007722804788500071, + 0.01629052124917507 + ], + [ + 0.3765921890735626, + -0.008252790197730064, + 0.026275912299752235 + ], + [ + 0.3755303919315338, + -0.008096160367131233, + 0.04312421754002571 + ], + [ + 0.3677384853363037, + -0.007792646996676922, + 0.06453107297420502 + ], + [ + 0.33921194076538086, + 0.013583878055214882, + 0.08956931531429291 + ], + [ + 0.3140213191509247, + 0.05277129262685776, + 0.08442971110343933 + ], + [ + 0.2979116439819336, + 0.08998521417379379, + 0.0756114274263382 + ], + [ + 0.2824217677116394, + 0.13135170936584473, + 0.063603475689888 + ], + [ + 0.27409231662750244, + 0.14982859790325165, + 0.03498246520757675 + ], + [ + 0.2735792398452759, + 0.16289111971855164, + 0.023375341668725014 + ], + [ + 0.2763213813304901, + 0.16943955421447754, + 0.015720991417765617 + ], + [ + 0.27336177229881287, + 0.1741577535867691, + 0.012646960094571114 + ], + [ + 0.2686774730682373, + 0.17594952881336212, + 0.01045960932970047 + ], + [ + 0.26655784249305725, + 0.17554613947868347, + 0.010227588005363941 + ], + [ + 0.2657546401023865, + 0.17372824251651764, + 0.010086591355502605 + ], + [ + 0.26551541686058044, + 0.17141596972942352, + 0.012532372027635574 + ], + [ + 0.2701011598110199, + 0.16745111346244812, + 0.0387878455221653 + ], + [ + 0.273054838180542, + 0.16390900313854218, + 0.07232756912708282 + ], + [ + 0.2800726592540741, + 0.1521264612674713, + 0.09229191392660141 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9631276740324165, + 0.08492048258729906, + 0.25529119677350287, + 0.07271028174365113, + -0.9957281517312068, + 0.05690925037912226, + 0.2590333925224043, + -0.03624857910449717, + -0.9651879309602037 + ], + [ + 0.9700311934091936, + 0.09460447848895671, + 0.2238067837733435, + 0.08801680663354088, + -0.9953452910777656, + 0.03925293975426536, + 0.22647853223466785, + -0.018377817583996134, + -0.9738427646482156 + ], + [ + 0.9575169251522633, + 0.13504162692687424, + 0.25480403655338324, + 0.13611932663349854, + -0.9906006822171481, + 0.01348396483841142, + 0.2542299489906684, + 0.021772629328206942, + -0.9668986946150763 + ], + [ + 0.9214008298994121, + 0.22175182887843467, + 0.31913419912278906, + 0.23712448884202017, + -0.9714316441513431, + -0.009619643071800736, + 0.3078838863144435, + 0.08453808094869217, + -0.9476607121841799 + ], + [ + 0.899763518294324, + 0.3108107671762951, + 0.30630422483848063, + 0.3265331592122661, + -0.9451857421397426, + -9.37582041354787e-05, + 0.2894852450151415, + 0.10010284642819525, + -0.9519336705125503 + ], + [ + 0.8731492601419638, + 0.3789041091210481, + 0.30666275549001043, + 0.38571060957321635, + -0.9217243953636205, + 0.04063821667132839, + 0.2980565301686895, + 0.08279984953339493, + -0.9509503087654202 + ], + [ + 0.8611961709157834, + 0.39668061922480213, + 0.31778238077561843, + 0.3903481605244783, + -0.916610511628554, + 0.0863335597968501, + 0.3255295205893756, + 0.049695636664275886, + -0.9442250128657805 + ], + [ + 0.8427920128692077, + 0.42394746155188595, + 0.3316175099230764, + 0.4108064562264448, + -0.9047430483200444, + 0.11259694507056647, + 0.3477638258452705, + 0.04133480809519057, + -0.9366705691294002 + ], + [ + 0.8410883853309395, + 0.44572501435513806, + 0.3064303177551217, + 0.42767723872392, + -0.8948586819261982, + 0.1277502205821593, + 0.33115329915142927, + 0.023604045403684125, + -0.943281687250264 + ], + [ + 0.8312340812376212, + 0.4652889396020001, + 0.3042303483761837, + 0.44455184922292296, + -0.884935600659151, + 0.1387898989066106, + 0.33380167096874647, + 0.01987926985766776, + -0.9424336894914139 + ], + [ + 0.8351324269690832, + 0.48351654769041, + 0.2622319155523908, + 0.45998125389162453, + -0.8753266765786941, + 0.1490652720722937, + 0.30161411686626616, + -0.003867477116350007, + -0.9534222396859309 + ], + [ + 0.8150624925406841, + 0.5221495814107086, + 0.25106363314106145, + 0.4900916835710972, + -0.8524811843966874, + 0.18189549731664317, + 0.3090036811234053, + -0.025211998775251335, + -0.9507266064279163 + ], + [ + 0.8330832256455374, + 0.4991629440790897, + 0.23834574551756113, + 0.46647176174752436, + -0.8655535700047314, + 0.18226659854242394, + 0.29728174286388215, + -0.0406616860245589, + -0.9539235779922062 + ], + [ + 0.840398588872882, + 0.48237057511335807, + 0.24708063478402512, + 0.4525648970172505, + -0.8754240440500478, + 0.16975793674177755, + 0.2981865620852725, + -0.030844308451772634, + -0.9540091209353806 + ], + [ + 0.8411637919551569, + 0.48026893690112327, + 0.24856633591756974, + 0.4515764266581742, + -0.8766999531171816, + 0.16575862900906793, + 0.2975268155818158, + -0.027183459165384116, + -0.9543263873316863 + ], + [ + 0.8428547027052467, + 0.4791924160779499, + 0.24488891053093362, + 0.45250179051285727, + -0.8773931252050798, + 0.15944727475100218, + 0.2912697713637804, + -0.023578214865427313, + -0.9563503479758091 + ], + [ + 0.8417519672440784, + 0.48155858665365814, + 0.2440388355587193, + 0.4556363268904312, + -0.8761570302851576, + 0.15730351521720673, + 0.28956719990102564, + -0.02121758473589977, + -0.956922489462681 + ], + [ + 0.831656298326536, + 0.5007841226304094, + 0.23992303760809253, + 0.4688093937277186, + -0.8647730723253738, + 0.1799591223961211, + 0.2975996535724664, + -0.03718596377968762, + -0.9539662731414162 + ], + [ + 0.825583431375125, + 0.5076467446956839, + 0.2463874599868045, + 0.4775744989552737, + -0.8611712172361772, + 0.1740882895302842, + 0.30055714229825486, + -0.026056039680577597, + -0.9534078282716534 + ], + [ + 0.8271617937822137, + 0.4937285064970607, + 0.26839435310597093, + 0.4674631444514319, + -0.8695949933826536, + 0.1590055221160651, + 0.31189994467227855, + -0.006058824638876734, + -0.9500956347428531 + ], + [ + 0.8208580882792331, + 0.48650426582426615, + 0.2991748623152593, + 0.46643321302838187, + -0.8733406258467815, + 0.14041441888058356, + 0.3295937752606725, + 0.02428478083787486, + -0.9438104644096046 + ], + [ + 0.8034600115649704, + 0.507087243212528, + 0.3119527810216415, + 0.48115561477874563, + -0.8616524812386135, + 0.16138239043411196, + 0.3506298392648649, + 0.020433534849833138, + -0.9362911867953451 + ], + [ + 0.8131612802917964, + 0.5054446143393077, + 0.2886078205274328, + 0.48193472768248385, + -0.8627350447653872, + 0.15305933747169836, + 0.3263550987617881, + 0.01462820457382312, + -0.9451340461242149 + ], + [ + 0.8210650149071339, + 0.5056808463465432, + 0.2648379182326281, + 0.4820879501149731, + -0.8627175112211704, + 0.15267515903477347, + 0.305685213331446, + 0.002318937384649236, + -0.9521298088390652 + ], + [ + 0.7883655797209083, + 0.5513231844055587, + 0.27298801997199607, + 0.5306927000103657, + -0.833905150284405, + 0.15155018470741743, + 0.3111992462507335, + 0.025395800165748356, + -0.9500053065467146 + ], + [ + 0.7898322275613782, + 0.5705611376984429, + 0.22500008989707174, + 0.5553867426965372, + -0.821000127635993, + 0.13230403039444436, + 0.26021264062754923, + 0.020464079992570473, + -0.9653344514144805 + ], + [ + 0.7766523687235852, + 0.5975372793546002, + 0.19939984437693709, + 0.5806802595907729, + -0.8018169501727256, + 0.14106741132274886, + 0.2441752122506235, + 0.006227214241642326, + -0.9697111361251616 + ], + [ + 0.7795092534225604, + 0.6002586568366354, + 0.17903873525380132, + 0.5795918353567279, + -0.7995841189067423, + 0.1572849044884732, + 0.23756815488701766, + -0.018835649306750482, + -0.9711882361822403 + ], + [ + 0.7695710620498438, + 0.6186374412411431, + 0.1582659052041427, + 0.5990368059314257, + -0.7852554845065443, + 0.15661650357439294, + 0.22116800309934265, + -0.025720426648943306, + -0.9748964940228503 + ], + [ + 0.7312681413418443, + 0.6670786920172377, + 0.14231276862957676, + 0.6495345108513743, + -0.7447286941333787, + 0.15324520007966996, + 0.20821100996707653, + -0.01962627807210235, + -0.977886999881646 + ], + [ + 0.7270360490708938, + 0.6735135233560277, + 0.13340958439308281, + 0.6588892119438241, + -0.7390403761586529, + 0.140300850999999, + 0.19308958991989178, + -0.014101640465812013, + -0.9810797898238153 + ], + [ + 0.7377840938477573, + 0.6620621776377658, + 0.13171295990441984, + 0.6496976924423772, + -0.7493995598465257, + 0.12764485158784805, + 0.18321446258495538, + -0.008600735048415034, + -0.9830353442559088 + ], + [ + 0.7578452237829303, + 0.6383515653558963, + 0.1348254271162411, + 0.6271418428013792, + -0.7697229756535716, + 0.11924617293104584, + 0.17989921010690987, + -0.00581547579202394, + -0.983667857787486 + ], + [ + 0.7875502465090323, + 0.5728229429877341, + 0.2272410288887845, + 0.5648840348923292, + -0.8184201935668337, + 0.10533002366746182, + 0.24631410099164863, + 0.04541214318766916, + -0.9681255605053398 + ], + [ + 0.803994465572514, + 0.5205941053403973, + 0.2873580985697092, + 0.5012133264117151, + -0.8533259356006933, + 0.14359682816310623, + 0.3199657806017244, + 0.02857665333856472, + -0.9469980328004364 + ], + [ + 0.82290912306787, + 0.45626663313574195, + 0.33858726298938524, + 0.43010420534197785, + -0.8896335548361146, + 0.15350084904261385, + 0.3712559059716285, + 0.01931055661113394, + -0.9283297661308471 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.003517657518386841, + -0.002272084355354309, + -0.01510804146528244, + -0.018669135868549347, + 0.033560559153556824, + 0.015137284994125366, + 1.0 + ], + [ + -0.011027425527572632, + -0.01708345115184784, + -0.006261616945266724, + -0.041383400559425354, + -0.028590664267539978, + 0.05072420835494995, + 1.0 + ], + [ + -0.015553921461105347, + -0.014863088726997375, + 0.0045258402824401855, + -0.06645740568637848, + -0.055916666984558105, + 0.11067380011081696, + 1.0 + ], + [ + -0.007562905550003052, + -0.026707351207733154, + 0.0015272200107574463, + -0.015800707042217255, + 0.019279062747955322, + 0.09624302387237549, + 1.0 + ], + [ + 0.00894153118133545, + -0.027558784931898117, + 0.005176089704036713, + 0.01792071759700775, + -0.008966982364654541, + 0.06783983111381531, + 1.0 + ], + [ + 0.014779806137084961, + -0.024945706129074097, + 0.00343148410320282, + 0.034268975257873535, + -0.028915703296661377, + 0.00959479808807373, + 1.0 + ], + [ + 0.010138392448425293, + -0.021197015419602394, + -0.016329221427440643, + 0.00848172977566719, + -0.023613303899765015, + 0.02798137068748474, + 1.0 + ], + [ + 0.003201097249984741, + -0.004736034665256739, + -0.01833164319396019, + 0.01908278651535511, + 0.017659425735473633, + 0.016863852739334106, + 1.0 + ], + [ + 0.001579880714416504, + 0.001068074256181717, + -0.010251879692077637, + 0.00392768532037735, + -0.002808123826980591, + 0.020696699619293213, + 1.0 + ], + [ + -0.003755509853363037, + 0.0013748160563409328, + -0.01569766364991665, + 0.025146814063191414, + 0.033948540687561035, + 0.012342453002929688, + 0.0 + ], + [ + 0.00031888484954833984, + 0.0023998343385756016, + -0.008036905899643898, + 0.022456055507063866, + -0.007760107517242432, + 0.03792166709899902, + 0.0 + ], + [ + 0.004382520914077759, + -0.005908696912229061, + 0.00020552333444356918, + 0.0160874892026186, + 0.012300848960876465, + -0.03093177080154419, + 0.0 + ], + [ + 0.0013851523399353027, + -0.0019835596904158592, + -1.3564713299274445e-05, + -0.010279946029186249, + -0.000947803258895874, + -0.016457557678222656, + 0.0 + ], + [ + 0.0005245804786682129, + -0.0001293029636144638, + 0.0002550678327679634, + -0.003843246027827263, + 0.0006911158561706543, + -0.0012916028499603271, + 0.0 + ], + [ + -0.0009872913360595703, + -0.0004205023869872093, + -0.0009313495829701424, + -0.0038273707032203674, + 0.006547212600708008, + 1.621246337890625e-05, + 0.0 + ], + [ + -0.00180777907371521, + 0.00037374347448349, + 0.00020884070545434952, + -0.002480277791619301, + 0.0017792582511901855, + 0.003430277109146118, + 0.0 + ], + [ + -0.00311395525932312, + 0.0038541038520634174, + 0.001735909841954708, + 0.016791552305221558, + -0.008402764797210693, + 0.01716935634613037, + 0.0 + ], + [ + -0.002749115228652954, + -0.0005299854092299938, + 0.009985391050577164, + -0.011638076975941658, + -0.0030993521213531494, + 0.011132597923278809, + 0.0 + ], + [ + -0.0010617971420288086, + 0.00015662983059883118, + 0.016848305240273476, + -0.0209455918520689, + -0.011915326118469238, + -0.010043978691101074, + 0.0 + ], + [ + -0.0077919065952301025, + 0.00030351337045431137, + 0.021406855434179306, + -0.03210187703371048, + -0.018681198358535767, + 0.0023353099822998047, + 0.0 + ], + [ + -0.02852654457092285, + 0.02137652412056923, + 0.02503824234008789, + 0.0039044469594955444, + -0.02237027883529663, + 0.02284795045852661, + 0.0 + ], + [ + -0.025190621614456177, + 0.039187416434288025, + -0.005139604210853577, + 0.006344296038150787, + 0.02579858899116516, + -0.004565834999084473, + 0.0 + ], + [ + -0.01610967516899109, + 0.037213921546936035, + -0.008818283677101135, + 0.013040628284215927, + 0.02178695797920227, + -0.00409388542175293, + 0.0 + ], + [ + -0.01548987627029419, + 0.041366495192050934, + -0.012007951736450195, + -0.024290384724736214, + -0.005796670913696289, + 0.06156444549560547, + 0.0 + ], + [ + -0.008329451084136963, + 0.01847688853740692, + -0.02862101048231125, + 0.005530128255486488, + 0.053212255239486694, + 0.02036917209625244, + 0.0 + ], + [ + -0.0005130767822265625, + 0.013062521815299988, + -0.011607123538851738, + 0.014774145558476448, + 0.016573354601860046, + 0.029158055782318115, + 0.0 + ], + [ + 0.0027421414852142334, + 0.006548434495925903, + -0.007654350250959396, + 0.025813639163970947, + 0.006807506084442139, + -0.002658545970916748, + 0.0 + ], + [ + -0.002959609031677246, + 0.004718199372291565, + -0.003074031323194504, + 0.00698460079729557, + 0.016849592328071594, + 0.022082746028900146, + 1.0 + ], + [ + -0.0046842992305755615, + 0.0017917752265930176, + -0.0021873507648706436, + -0.006309213116765022, + 0.013266444206237793, + 0.0648413896560669, + 1.0 + ], + [ + -0.0021196305751800537, + -0.0004033893346786499, + -0.00023202132433652878, + -0.005694791674613953, + 0.01543550193309784, + 0.009992778301239014, + 1.0 + ], + [ + -0.0008032023906707764, + -0.0018178969621658325, + -0.00014099664986133575, + -0.005623663775622845, + 0.010054752230644226, + -0.014270365238189697, + 1.0 + ], + [ + -0.00023922324180603027, + -0.002312272787094116, + 0.002445780672132969, + -0.0028369752690196037, + 0.0033712834119796753, + -0.030691444873809814, + 1.0 + ], + [ + 0.004585742950439453, + -0.003964856266975403, + 0.026255473494529724, + -0.052784889936447144, + -0.06799134612083435, + -0.0690842866897583, + 1.0 + ], + [ + 0.0029536783695220947, + -0.003542110323905945, + 0.033539723604917526, + 0.016706040129065514, + -0.07681803405284882, + -0.06477022171020508, + 1.0 + ], + [ + 0.0070178210735321045, + -0.011782541871070862, + 0.019964344799518585, + 0.009368490427732468, + -0.05466786026954651, + -0.07583752274513245, + 1.0 + ], + [ + -0.00027045607566833496, + 1.1652708053588867e-05, + -9.643286466598511e-05, + 0.0025637801736593246, + 0.0015160441398620605, + -0.004619687795639038, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9981546401977539 + ], + [ + 0.9988223910331726 + ], + [ + 0.9981546401977539 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9430103898048401 + ], + [ + 0.6269758939743042 + ], + [ + 0.3502708673477173 + ], + [ + 0.16707322001457214 + ], + [ + 0.1004381775856018 + ], + [ + 0.09775853902101517 + ], + [ + 0.09737934172153473 + ], + [ + 0.09737934172153473 + ], + [ + 0.08926420658826828 + ], + [ + 0.07888144999742508 + ], + [ + 0.07788556814193726 + ], + [ + 0.07788556814193726 + ], + [ + 0.07788556814193726 + ], + [ + 0.07788556814193726 + ], + [ + 0.07788556814193726 + ], + [ + 0.07788556814193726 + ], + [ + 0.07788556814193726 + ], + [ + 0.07788556814193726 + ], + [ + 0.11119577288627625 + ], + [ + 0.300372838973999 + ], + [ + 0.5938982367515564 + ], + [ + 0.8862238526344299 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.377898246049881, + 0.1287401169538498, + 0.07507839053869247 + ], + [ + 0.36687082052230835, + 0.11165666580200195, + 0.06881677359342575 + ], + [ + 0.351316899061203, + 0.09679357707500458, + 0.07334261387586594 + ], + [ + 0.34375399351119995, + 0.07008622586727142, + 0.07486983388662338 + ], + [ + 0.3526955246925354, + 0.042527440935373306, + 0.0800459235906601 + ], + [ + 0.36747533082962036, + 0.01758173480629921, + 0.08347740769386292 + ], + [ + 0.37761372327804565, + -0.003615280147641897, + 0.06714818626642227 + ], + [ + 0.3808148205280304, + -0.008351314812898636, + 0.04881654307246208 + ], + [ + 0.3823947012424469, + -0.007283240556716919, + 0.038564663380384445 + ], + [ + 0.37863919138908386, + -0.005908424500375986, + 0.022866999730467796 + ], + [ + 0.3789580762386322, + -0.0035085901618003845, + 0.014830093830823898 + ], + [ + 0.38334059715270996, + -0.009417287074029446, + 0.015035617165267467 + ], + [ + 0.38472574949264526, + -0.011400846764445305, + 0.015022052451968193 + ], + [ + 0.3852503299713135, + -0.011530149728059769, + 0.015277120284736156 + ], + [ + 0.3842630386352539, + -0.011950652115046978, + 0.014345770701766014 + ], + [ + 0.3824552595615387, + -0.011576908640563488, + 0.014554611407220364 + ], + [ + 0.3793413043022156, + -0.007722804788500071, + 0.01629052124917507 + ], + [ + 0.3765921890735626, + -0.008252790197730064, + 0.026275912299752235 + ], + [ + 0.3755303919315338, + -0.008096160367131233, + 0.04312421754002571 + ], + [ + 0.3677384853363037, + -0.007792646996676922, + 0.06453107297420502 + ], + [ + 0.33921194076538086, + 0.013583878055214882, + 0.08956931531429291 + ], + [ + 0.3140213191509247, + 0.05277129262685776, + 0.08442971110343933 + ], + [ + 0.2979116439819336, + 0.08998521417379379, + 0.0756114274263382 + ], + [ + 0.2824217677116394, + 0.13135170936584473, + 0.063603475689888 + ], + [ + 0.27409231662750244, + 0.14982859790325165, + 0.03498246520757675 + ], + [ + 0.2735792398452759, + 0.16289111971855164, + 0.023375341668725014 + ], + [ + 0.2763213813304901, + 0.16943955421447754, + 0.015720991417765617 + ], + [ + 0.27336177229881287, + 0.1741577535867691, + 0.012646960094571114 + ], + [ + 0.2686774730682373, + 0.17594952881336212, + 0.01045960932970047 + ], + [ + 0.26655784249305725, + 0.17554613947868347, + 0.010227588005363941 + ], + [ + 0.2657546401023865, + 0.17372824251651764, + 0.010086591355502605 + ], + [ + 0.26551541686058044, + 0.17141596972942352, + 0.012532372027635574 + ], + [ + 0.2701011598110199, + 0.16745111346244812, + 0.0387878455221653 + ], + [ + 0.273054838180542, + 0.16390900313854218, + 0.07232756912708282 + ], + [ + 0.2800726592540741, + 0.1521264612674713, + 0.09229191392660141 + ], + [ + 0.27980220317840576, + 0.1521381139755249, + 0.09219548106193542 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9700311934091936, + 0.09460447848895671, + 0.2238067837733435, + 0.08801680663354088, + -0.9953452910777656, + 0.03925293975426536, + 0.22647853223466785, + -0.018377817583996134, + -0.9738427646482156 + ], + [ + 0.9575169251522633, + 0.13504162692687424, + 0.25480403655338324, + 0.13611932663349854, + -0.9906006822171481, + 0.01348396483841142, + 0.2542299489906684, + 0.021772629328206942, + -0.9668986946150763 + ], + [ + 0.9214008298994121, + 0.22175182887843467, + 0.31913419912278906, + 0.23712448884202017, + -0.9714316441513431, + -0.009619643071800736, + 0.3078838863144435, + 0.08453808094869217, + -0.9476607121841799 + ], + [ + 0.899763518294324, + 0.3108107671762951, + 0.30630422483848063, + 0.3265331592122661, + -0.9451857421397426, + -9.37582041354787e-05, + 0.2894852450151415, + 0.10010284642819525, + -0.9519336705125503 + ], + [ + 0.8731492601419638, + 0.3789041091210481, + 0.30666275549001043, + 0.38571060957321635, + -0.9217243953636205, + 0.04063821667132839, + 0.2980565301686895, + 0.08279984953339493, + -0.9509503087654202 + ], + [ + 0.8611961709157834, + 0.39668061922480213, + 0.31778238077561843, + 0.3903481605244783, + -0.916610511628554, + 0.0863335597968501, + 0.3255295205893756, + 0.049695636664275886, + -0.9442250128657805 + ], + [ + 0.8427920128692077, + 0.42394746155188595, + 0.3316175099230764, + 0.4108064562264448, + -0.9047430483200444, + 0.11259694507056647, + 0.3477638258452705, + 0.04133480809519057, + -0.9366705691294002 + ], + [ + 0.8410883853309395, + 0.44572501435513806, + 0.3064303177551217, + 0.42767723872392, + -0.8948586819261982, + 0.1277502205821593, + 0.33115329915142927, + 0.023604045403684125, + -0.943281687250264 + ], + [ + 0.8312340812376212, + 0.4652889396020001, + 0.3042303483761837, + 0.44455184922292296, + -0.884935600659151, + 0.1387898989066106, + 0.33380167096874647, + 0.01987926985766776, + -0.9424336894914139 + ], + [ + 0.8351324269690832, + 0.48351654769041, + 0.2622319155523908, + 0.45998125389162453, + -0.8753266765786941, + 0.1490652720722937, + 0.30161411686626616, + -0.003867477116350007, + -0.9534222396859309 + ], + [ + 0.8150624925406841, + 0.5221495814107086, + 0.25106363314106145, + 0.4900916835710972, + -0.8524811843966874, + 0.18189549731664317, + 0.3090036811234053, + -0.025211998775251335, + -0.9507266064279163 + ], + [ + 0.8330832256455374, + 0.4991629440790897, + 0.23834574551756113, + 0.46647176174752436, + -0.8655535700047314, + 0.18226659854242394, + 0.29728174286388215, + -0.0406616860245589, + -0.9539235779922062 + ], + [ + 0.840398588872882, + 0.48237057511335807, + 0.24708063478402512, + 0.4525648970172505, + -0.8754240440500478, + 0.16975793674177755, + 0.2981865620852725, + -0.030844308451772634, + -0.9540091209353806 + ], + [ + 0.8411637919551569, + 0.48026893690112327, + 0.24856633591756974, + 0.4515764266581742, + -0.8766999531171816, + 0.16575862900906793, + 0.2975268155818158, + -0.027183459165384116, + -0.9543263873316863 + ], + [ + 0.8428547027052467, + 0.4791924160779499, + 0.24488891053093362, + 0.45250179051285727, + -0.8773931252050798, + 0.15944727475100218, + 0.2912697713637804, + -0.023578214865427313, + -0.9563503479758091 + ], + [ + 0.8417519672440784, + 0.48155858665365814, + 0.2440388355587193, + 0.4556363268904312, + -0.8761570302851576, + 0.15730351521720673, + 0.28956719990102564, + -0.02121758473589977, + -0.956922489462681 + ], + [ + 0.831656298326536, + 0.5007841226304094, + 0.23992303760809253, + 0.4688093937277186, + -0.8647730723253738, + 0.1799591223961211, + 0.2975996535724664, + -0.03718596377968762, + -0.9539662731414162 + ], + [ + 0.825583431375125, + 0.5076467446956839, + 0.2463874599868045, + 0.4775744989552737, + -0.8611712172361772, + 0.1740882895302842, + 0.30055714229825486, + -0.026056039680577597, + -0.9534078282716534 + ], + [ + 0.8271617937822137, + 0.4937285064970607, + 0.26839435310597093, + 0.4674631444514319, + -0.8695949933826536, + 0.1590055221160651, + 0.31189994467227855, + -0.006058824638876734, + -0.9500956347428531 + ], + [ + 0.8208580882792331, + 0.48650426582426615, + 0.2991748623152593, + 0.46643321302838187, + -0.8733406258467815, + 0.14041441888058356, + 0.3295937752606725, + 0.02428478083787486, + -0.9438104644096046 + ], + [ + 0.8034600115649704, + 0.507087243212528, + 0.3119527810216415, + 0.48115561477874563, + -0.8616524812386135, + 0.16138239043411196, + 0.3506298392648649, + 0.020433534849833138, + -0.9362911867953451 + ], + [ + 0.8131612802917964, + 0.5054446143393077, + 0.2886078205274328, + 0.48193472768248385, + -0.8627350447653872, + 0.15305933747169836, + 0.3263550987617881, + 0.01462820457382312, + -0.9451340461242149 + ], + [ + 0.8210650149071339, + 0.5056808463465432, + 0.2648379182326281, + 0.4820879501149731, + -0.8627175112211704, + 0.15267515903477347, + 0.305685213331446, + 0.002318937384649236, + -0.9521298088390652 + ], + [ + 0.7883655797209083, + 0.5513231844055587, + 0.27298801997199607, + 0.5306927000103657, + -0.833905150284405, + 0.15155018470741743, + 0.3111992462507335, + 0.025395800165748356, + -0.9500053065467146 + ], + [ + 0.7898322275613782, + 0.5705611376984429, + 0.22500008989707174, + 0.5553867426965372, + -0.821000127635993, + 0.13230403039444436, + 0.26021264062754923, + 0.020464079992570473, + -0.9653344514144805 + ], + [ + 0.7766523687235852, + 0.5975372793546002, + 0.19939984437693709, + 0.5806802595907729, + -0.8018169501727256, + 0.14106741132274886, + 0.2441752122506235, + 0.006227214241642326, + -0.9697111361251616 + ], + [ + 0.7795092534225604, + 0.6002586568366354, + 0.17903873525380132, + 0.5795918353567279, + -0.7995841189067423, + 0.1572849044884732, + 0.23756815488701766, + -0.018835649306750482, + -0.9711882361822403 + ], + [ + 0.7695710620498438, + 0.6186374412411431, + 0.1582659052041427, + 0.5990368059314257, + -0.7852554845065443, + 0.15661650357439294, + 0.22116800309934265, + -0.025720426648943306, + -0.9748964940228503 + ], + [ + 0.7312681413418443, + 0.6670786920172377, + 0.14231276862957676, + 0.6495345108513743, + -0.7447286941333787, + 0.15324520007966996, + 0.20821100996707653, + -0.01962627807210235, + -0.977886999881646 + ], + [ + 0.7270360490708938, + 0.6735135233560277, + 0.13340958439308281, + 0.6588892119438241, + -0.7390403761586529, + 0.140300850999999, + 0.19308958991989178, + -0.014101640465812013, + -0.9810797898238153 + ], + [ + 0.7377840938477573, + 0.6620621776377658, + 0.13171295990441984, + 0.6496976924423772, + -0.7493995598465257, + 0.12764485158784805, + 0.18321446258495538, + -0.008600735048415034, + -0.9830353442559088 + ], + [ + 0.7578452237829303, + 0.6383515653558963, + 0.1348254271162411, + 0.6271418428013792, + -0.7697229756535716, + 0.11924617293104584, + 0.17989921010690987, + -0.00581547579202394, + -0.983667857787486 + ], + [ + 0.7875502465090323, + 0.5728229429877341, + 0.2272410288887845, + 0.5648840348923292, + -0.8184201935668337, + 0.10533002366746182, + 0.24631410099164863, + 0.04541214318766916, + -0.9681255605053398 + ], + [ + 0.803994465572514, + 0.5205941053403973, + 0.2873580985697092, + 0.5012133264117151, + -0.8533259356006933, + 0.14359682816310623, + 0.3199657806017244, + 0.02857665333856472, + -0.9469980328004364 + ], + [ + 0.82290912306787, + 0.45626663313574195, + 0.33858726298938524, + 0.43010420534197785, + -0.8896335548361146, + 0.15350084904261385, + 0.3712559059716285, + 0.01931055661113394, + -0.9283297661308471 + ], + [ + 0.825386349617428, + 0.4530431441427358, + 0.3368817053662624, + 0.4265559619549571, + -0.891327617682716, + 0.15357437701887375, + 0.36984778650939376, + 0.016940705455153665, + -0.9289379028292384 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006585.json b/json/chunk-0006/episode_0006585.json new file mode 100644 index 0000000000000000000000000000000000000000..69eb6f4da389b86ad93273cd9211fb0b4e51dfa8 --- /dev/null +++ b/json/chunk-0006/episode_0006585.json @@ -0,0 +1,1942 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 31, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the capsicum on the green table cloth." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006585.mp4", + "start": 0, + "end": 31, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.296668142080307, + 0.02250819280743599, + 0.0886705070734024, + 0.08388156443834305, + -0.0767238661646843, + -0.06329317390918732, + 0.0, + 1.0014774799346924 + ], + [ + 0.29579266905784607, + 0.022499756887555122, + 0.07988821715116501, + 0.08056406676769257, + -0.04516031965613365, + -0.05674455687403679, + 0.0, + 1.0014774799346924 + ], + [ + 0.32233741879463196, + 0.025201011449098587, + 0.0685025081038475, + 0.08259715139865875, + -0.024548176676034927, + -0.022247236222028732, + 0.0, + 1.0014774799346924 + ], + [ + 0.3526489734649658, + 0.03798529878258705, + 0.065410315990448, + 0.05033392086625099, + -0.05845503881573677, + 0.044538985937833786, + 0.0, + 1.0014774799346924 + ], + [ + 0.3751749098300934, + 0.04408436641097069, + 0.06137116998434067, + 0.03778461366891861, + -0.07693709433078766, + 0.09709884226322174, + 0.0, + 1.0014774799346924 + ], + [ + 0.37748298048973083, + 0.04798620194196701, + 0.05290884152054787, + 0.07020270079374313, + -0.05087286978960037, + 0.12395653128623962, + 0.0, + 1.0014774799346924 + ], + [ + 0.3780243396759033, + 0.04545564576983452, + 0.04449416324496269, + 0.07203925400972366, + -0.04148866981267929, + 0.1322767734527588, + 0.0, + 1.0014774799346924 + ], + [ + 0.3772175908088684, + 0.04436565190553665, + 0.04304080456495285, + 0.07238417863845825, + -0.04403353109955788, + 0.1415555775165558, + 0.0, + 1.0014774799346924 + ], + [ + 0.37219884991645813, + 0.041565459221601486, + 0.037542279809713364, + 0.07281959056854248, + -0.028774434700608253, + 0.13623575866222382, + 0.0, + 0.9453431367874146 + ], + [ + 0.3697475790977478, + 0.040193747729063034, + 0.0354040190577507, + 0.07293972373008728, + -0.022732330486178398, + 0.13434894382953644, + 0.0, + 0.85895174741745 + ], + [ + 0.36904019117355347, + 0.03981419652700424, + 0.03446147218346596, + 0.07795757055282593, + -0.02243715524673462, + 0.14014394581317902, + 0.0, + 0.8490449786186218 + ], + [ + 0.3672093152999878, + 0.039853569120168686, + 0.03439890220761299, + 0.07917923480272293, + -0.022127466276288033, + 0.1343986541032791, + 0.0, + 0.8490449786186218 + ], + [ + 0.35940268635749817, + 0.03323906660079956, + 0.041996702551841736, + 0.07267526537179947, + -0.025081101804971695, + 0.10773177444934845, + 0.0, + 0.8490449786186218 + ], + [ + 0.35781562328338623, + 0.010213891975581646, + 0.07310308516025543, + 0.06607059389352798, + -0.11824776232242584, + 0.04264555498957634, + 0.0, + 0.8490449786186218 + ], + [ + 0.3521687984466553, + -0.024871917441487312, + 0.09356936812400818, + 0.04564446210861206, + -0.16177068650722504, + -0.037854522466659546, + 0.0, + 0.8481387495994568 + ], + [ + 0.35172557830810547, + -0.07221382856369019, + 0.10439004004001617, + 0.031009681522846222, + -0.1769654005765915, + -0.14153952896595, + 0.0, + 0.8490449786186218 + ], + [ + 0.3467044532299042, + -0.09450656920671463, + 0.10294928401708603, + -0.011412282474339008, + -0.1792014092206955, + -0.17497844994068146, + 0.0, + 0.8481387495994568 + ], + [ + 0.33726322650909424, + -0.09869653731584549, + 0.09739948064088821, + -0.049486059695482254, + -0.13580502569675446, + -0.17042671144008636, + 0.0, + 0.8490449786186218 + ], + [ + 0.33517396450042725, + -0.09200085699558258, + 0.09446270018815994, + -0.0511152520775795, + -0.10588762909173965, + -0.13936884701251984, + 0.0, + 0.8481387495994568 + ], + [ + 0.3388423025608063, + -0.0791425034403801, + 0.08447116613388062, + -0.05570909380912781, + -0.08206567168235779, + -0.09121275693178177, + 0.0, + 0.8481387495994568 + ], + [ + 0.343322217464447, + -0.07088091969490051, + 0.06907663494348526, + -0.08953027427196503, + -0.019868027418851852, + -0.07199161499738693, + 0.0, + 0.8481387495994568 + ], + [ + 0.35012519359588623, + -0.07548809796571732, + 0.061273831874132156, + -0.13961653411388397, + 0.019702661782503128, + -0.09751933813095093, + 0.0, + 0.9132781028747559 + ], + [ + 0.3524913489818573, + -0.08069617301225662, + 0.06183311715722084, + -0.16417163610458374, + -0.002767677651718259, + -0.12085526436567307, + 0.0, + 1.0067112445831299 + ], + [ + 0.34912654757499695, + -0.07954290509223938, + 0.058034591376781464, + -0.16331985592842102, + 0.00804988481104374, + -0.11832065135240555, + 0.0, + 1.0008161067962646 + ], + [ + 0.34377241134643555, + -0.07402747869491577, + 0.06460010260343552, + -0.148042693734169, + -0.0068791029043495655, + -0.10292146354913712, + 0.0, + 1.0008161067962646 + ], + [ + 0.33524954319000244, + -0.05549768730998039, + 0.11935731768608093, + -0.057018838822841644, + -0.12484918534755707, + -0.05465678870677948, + 0.0, + 1.0008161067962646 + ], + [ + 0.3224776089191437, + -0.019205540418624878, + 0.13342781364917755, + -0.020345373079180717, + -0.15680049359798431, + 0.03750382736325264, + 0.0, + 1.0008161067962646 + ], + [ + 0.31548574566841125, + 0.019716789945960045, + 0.1269412636756897, + 0.03361048549413681, + -0.12711559236049652, + 0.10714945197105408, + 0.0, + 1.0008161067962646 + ], + [ + 0.31452587246894836, + 0.046397462487220764, + 0.09279052168130875, + 0.05607607215642929, + -0.031335245817899704, + 0.14332415163516998, + 0.0, + 1.0008161067962646 + ], + [ + 0.3150363564491272, + 0.05730399116873741, + 0.0767098069190979, + 0.08771689981222153, + -0.0025064970832318068, + 0.1430014669895172, + 0.0, + 1.0008161067962646 + ], + [ + 0.3177984952926636, + 0.06129948049783707, + 0.07384529709815979, + 0.08334314078092575, + -0.020511601120233536, + 0.0979839488863945, + 0.0, + 1.0008161067962646 + ] + ], + "left_gripper_pos": [ + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 0.9453431367874146 + ], + [ + 0.85895174741745 + ], + [ + 0.8490449786186218 + ], + [ + 0.8490449786186218 + ], + [ + 0.8490449786186218 + ], + [ + 0.8490449786186218 + ], + [ + 0.8481387495994568 + ], + [ + 0.8490449786186218 + ], + [ + 0.8481387495994568 + ], + [ + 0.8490449786186218 + ], + [ + 0.8481387495994568 + ], + [ + 0.8481387495994568 + ], + [ + 0.8481387495994568 + ], + [ + 0.9132781028747559 + ], + [ + 1.0067112445831299 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.296668142080307, + 0.02250819280743599, + 0.0886705070734024 + ], + [ + 0.29579266905784607, + 0.022499756887555122, + 0.07988821715116501 + ], + [ + 0.32233741879463196, + 0.025201011449098587, + 0.0685025081038475 + ], + [ + 0.3526489734649658, + 0.03798529878258705, + 0.065410315990448 + ], + [ + 0.3751749098300934, + 0.04408436641097069, + 0.06137116998434067 + ], + [ + 0.37748298048973083, + 0.04798620194196701, + 0.05290884152054787 + ], + [ + 0.3780243396759033, + 0.04545564576983452, + 0.04449416324496269 + ], + [ + 0.3772175908088684, + 0.04436565190553665, + 0.04304080456495285 + ], + [ + 0.37219884991645813, + 0.041565459221601486, + 0.037542279809713364 + ], + [ + 0.3697475790977478, + 0.040193747729063034, + 0.0354040190577507 + ], + [ + 0.36904019117355347, + 0.03981419652700424, + 0.03446147218346596 + ], + [ + 0.3672093152999878, + 0.039853569120168686, + 0.03439890220761299 + ], + [ + 0.35940268635749817, + 0.03323906660079956, + 0.041996702551841736 + ], + [ + 0.35781562328338623, + 0.010213891975581646, + 0.07310308516025543 + ], + [ + 0.3521687984466553, + -0.024871917441487312, + 0.09356936812400818 + ], + [ + 0.35172557830810547, + -0.07221382856369019, + 0.10439004004001617 + ], + [ + 0.3467044532299042, + -0.09450656920671463, + 0.10294928401708603 + ], + [ + 0.33726322650909424, + -0.09869653731584549, + 0.09739948064088821 + ], + [ + 0.33517396450042725, + -0.09200085699558258, + 0.09446270018815994 + ], + [ + 0.3388423025608063, + -0.0791425034403801, + 0.08447116613388062 + ], + [ + 0.343322217464447, + -0.07088091969490051, + 0.06907663494348526 + ], + [ + 0.35012519359588623, + -0.07548809796571732, + 0.061273831874132156 + ], + [ + 0.3524913489818573, + -0.08069617301225662, + 0.06183311715722084 + ], + [ + 0.34912654757499695, + -0.07954290509223938, + 0.058034591376781464 + ], + [ + 0.34377241134643555, + -0.07402747869491577, + 0.06460010260343552 + ], + [ + 0.33524954319000244, + -0.05549768730998039, + 0.11935731768608093 + ], + [ + 0.3224776089191437, + -0.019205540418624878, + 0.13342781364917755 + ], + [ + 0.31548574566841125, + 0.019716789945960045, + 0.1269412636756897 + ], + [ + 0.31452587246894836, + 0.046397462487220764, + 0.09279052168130875 + ], + [ + 0.3150363564491272, + 0.05730399116873741, + 0.0767098069190979 + ], + [ + 0.3177984952926636, + 0.06129948049783707, + 0.07384529709815979 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9950617139262066, + -0.056619523421163824, + 0.08152554842379364, + -0.06306484974888123, + -0.9948948888965604, + 0.07878441961232974, + 0.07664861514985824, + -0.08353675607216796, + -0.9935525150592432 + ], + [ + 0.9973725466610951, + -0.05290287388285034, + 0.04949029300475554, + -0.05665628629319659, + -0.995358200376631, + 0.07779536082863431, + 0.04514497081873758, + -0.08039489335728542, + -0.9957402235180849 + ], + [ + 0.9994513236459478, + -0.02014496171857402, + 0.026291294751679253, + -0.022238698747594144, + -0.9963892274469037, + 0.08193868259726685, + 0.024545711242012207, + -0.08247840896331037, + -0.9962905299733127 + ], + [ + 0.9973019878028456, + 0.047404312133097405, + 0.05604976641949845, + 0.04444821405401005, + -0.9976122023262477, + 0.05286066625745761, + 0.05842175444045963, + -0.05022673551965416, + -0.9970276694491166 + ], + [ + 0.9923453456983605, + 0.0997669445101041, + 0.0727823581228259, + 0.09665955001244933, + -0.9942977367177875, + 0.04504378036173342, + 0.07686121429038363, + -0.03766387580962808, + -0.996330159232774 + ], + [ + 0.9910434024645921, + 0.1268743629653251, + 0.04166377867581708, + 0.12347938065180661, + -0.989441908861478, + 0.07587853149871106, + 0.05085092905002592, + -0.07005430044399548, + -0.9962462436586909 + ], + [ + 0.990411162454609, + 0.13450857120064358, + 0.031514656255013096, + 0.1317778698096268, + -0.9882993847479219, + 0.07680442132661566, + 0.041476768361907, + -0.07191502193867871, + -0.9965479954853215 + ], + [ + 0.9890381041974852, + 0.14386554040677665, + 0.03326161043771799, + 0.14094654816106642, + -0.9869561875034037, + 0.07779173805891137, + 0.04401930266286127, + -0.0722508839545386, + -0.9964146279340058 + ], + [ + 0.990324133625256, + 0.1375285973089728, + 0.018547109791335795, + 0.13575850158354033, + -0.9878243466697711, + 0.07597821644544636, + 0.028770464146018575, + -0.07272513354175172, + -0.9969369665852282 + ], + [ + 0.9907327069659957, + 0.13523055078396873, + 0.012704388316463268, + 0.13391054292176335, + -0.9881319076512006, + 0.07525489735557536, + 0.022730372681273953, + -0.0728562366325908, + -0.9970833961818374 + ], + [ + 0.9899466646144575, + 0.14099150231867127, + 0.011269316422714419, + 0.13965049143020922, + -0.9869444603571316, + 0.0802394691761587, + 0.02243527271980897, + -0.07785902930485827, + -0.9967119092765439 + ], + [ + 0.9907394925809879, + 0.13530888363764718, + 0.011258945292530808, + 0.13396161010582372, + -0.9876428039257683, + 0.0813386677509629, + 0.02212566062791824, + -0.07907716397532175, + -0.9966229263264006 + ], + [ + 0.9938898518525556, + 0.10905009918735703, + 0.017059843250530803, + 0.10748968607212767, + -0.991382363096859, + 0.07487975379635725, + 0.025078472294390863, + -0.07258847021197809, + -0.9970466309153571 + ], + [ + 0.9921140409248405, + 0.05032136577535438, + 0.11479324869645881, + 0.042334921041333816, + -0.9965788734745884, + 0.07098100735087036, + 0.11797238770241146, + -0.06556149091214501, + -0.9908502443099909 + ], + [ + 0.9862365899412054, + -0.030462110672868893, + 0.16250984116199493, + -0.03735135791724004, + -0.9985209564121119, + 0.0395066534596372, + 0.1610660259734534, + -0.04503287043033701, + -0.985915704235369 + ], + [ + 0.9745386128147466, + -0.13559600865052307, + 0.17857271508031788, + -0.13886428676991203, + -0.9902940077951822, + 0.005872647174742802, + 0.17604318218264728, + -0.030520494147419353, + -0.9839091916655746 + ], + [ + 0.9689611649083582, + -0.17607864446923943, + 0.17352398065199237, + -0.17129914975794286, + -0.9843120511749343, + -0.042265674063000226, + 0.17824382792019394, + 0.011229286427421653, + -0.9839222738279114 + ], + [ + 0.9764385380652063, + -0.1759953274274095, + 0.12487364055236698, + -0.1680413026870435, + -0.9831701906968421, + -0.0716833084921227, + 0.1353879683440307, + 0.049010415718032115, + -0.9895797477610492 + ], + [ + 0.9847573197724323, + -0.1440843209745639, + 0.09743063996461933, + -0.13814004837930402, + -0.9882602766034281, + -0.06526065216867113, + 0.10568986795516384, + 0.050806831597882476, + -0.9931003562956795 + ], + [ + 0.9924914923910758, + -0.09549036323612774, + 0.0764344690592373, + -0.09077978054118434, + -0.9938823519882102, + -0.06290390966607634, + 0.08197358706455103, + 0.055492890854738026, + -0.9950883730043049 + ], + [ + 0.9972128711740517, + -0.07341305256700809, + 0.013304633688986415, + -0.07191524864764481, + -0.9932871704834965, + -0.09060239491777769, + 0.01986672033204836, + 0.0893930683312931, + -0.9957982691075362 + ], + [ + 0.9950555875178703, + -0.0936887427497008, + -0.03296660782437793, + -0.0973459454589951, + -0.9858313685691361, + -0.13660263411734902, + -0.01970138706183667, + 0.13913637995536737, + -0.990077230886942 + ], + [ + 0.9927020850921635, + -0.11938925555331223, + -0.016993407901212863, + -0.12056081549842798, + -0.9793035067284996, + -0.1625722346393057, + 0.002767674118299552, + 0.16343453541919883, + -0.9865502990787067 + ], + [ + 0.9929761007129289, + -0.1151742335864516, + -0.027080608019772, + -0.11804094275789132, + -0.9799487477244385, + -0.16052036526912283, + -0.008049797871703474, + 0.16258950689105944, + -0.9866609615278931 + ], + [ + 0.9946847241256159, + -0.10262536106023064, + -0.008386588007315425, + -0.1027374239546273, + -0.9837235747603387, + -0.14742099640114784, + 0.006879048648928245, + 0.14749902958323954, + -0.9890382778040939 + ], + [ + 0.9907347715005856, + -0.061626631489487334, + 0.1210238440595143, + -0.054204367892236184, + -0.9964963077789146, + -0.06369454516985006, + 0.12452509402158998, + 0.056544379687550585, + -0.9906039743937355 + ], + [ + 0.9870374096904804, + 0.03431262122033495, + 0.156779449853916, + 0.037035045964144066, + -0.9992091170288335, + -0.01447569745789768, + 0.1561587565330247, + 0.020094389053879398, + -0.9875275481152973 + ], + [ + 0.9862429455866192, + 0.11111982518055535, + 0.1223815212050893, + 0.10608167695986359, + -0.9932478510617205, + 0.046961518019091375, + 0.12677353861911425, + -0.03333302886203279, + -0.991371463727331 + ], + [ + 0.9892607884704145, + 0.1443473970359958, + 0.022954767779846764, + 0.14276384730271713, + -0.9879401201951821, + 0.05993999342722747, + 0.031330118069049284, + -0.05601917419653912, + -0.9979380120148332 + ], + [ + 0.989789593263302, + 0.142184000737165, + -0.010013540934194208, + 0.14251413457336568, + -0.9859559915402456, + 0.08706609094644951, + 0.0025064944587097674, + -0.08760418186516358, + -0.9961522096573713 + ], + [ + 0.9949940658085497, + 0.09918688807794467, + 0.012197140615079427, + 0.09780665736717263, + -0.991582001212179, + 0.08484687764856161, + 0.020510162857257756, + -0.0832291782097046, + -0.9963193449462403 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0008754730224609375, + -8.435919880867004e-06, + -0.008782289922237396, + -0.003317497670650482, + 0.031563546508550644, + 0.006548617035150528, + 1.0 + ], + [ + 0.02654474973678589, + 0.0027012545615434647, + -0.011385709047317505, + 0.0020330846309661865, + 0.020612142980098724, + 0.03449732065200806, + 1.0 + ], + [ + 0.030311554670333862, + 0.012784287333488464, + -0.0030921921133995056, + -0.03226323053240776, + -0.03390686213970184, + 0.06678622215986252, + 1.0 + ], + [ + 0.022525936365127563, + 0.0060990676283836365, + -0.00403914600610733, + -0.012549307197332382, + -0.018482055515050888, + 0.052559856325387955, + 1.0 + ], + [ + 0.002308070659637451, + 0.0039018355309963226, + -0.008462328463792801, + 0.032418087124824524, + 0.026064224541187286, + 0.026857689023017883, + 1.0 + ], + [ + 0.0005413591861724854, + -0.002530556172132492, + -0.008414678275585175, + 0.0018365532159805298, + 0.009384199976921082, + 0.008320242166519165, + 1.0 + ], + [ + -0.0008067488670349121, + -0.0010899938642978668, + -0.001453358680009842, + 0.0003449246287345886, + -0.002544861286878586, + 0.009278804063796997, + 1.0 + ], + [ + -0.005018740892410278, + -0.0028001926839351654, + -0.005498524755239487, + 0.0004354119300842285, + 0.015259096398949623, + -0.00531981885433197, + 0.0 + ], + [ + -0.002451270818710327, + -0.0013717114925384521, + -0.0021382607519626617, + 0.0001201331615447998, + 0.006042104214429855, + -0.001886814832687378, + 0.0 + ], + [ + -0.0007073879241943359, + -0.0003795512020587921, + -0.0009425468742847443, + 0.0050178468227386475, + 0.000295175239443779, + 0.005795001983642578, + 0.0 + ], + [ + -0.0018308758735656738, + 3.937259316444397e-05, + -6.256997585296631e-05, + 0.0012216642498970032, + 0.0003096889704465866, + -0.005745291709899902, + 0.0 + ], + [ + -0.007806628942489624, + -0.006614502519369125, + 0.0075978003442287445, + -0.006503969430923462, + -0.0029536355286836624, + -0.026666879653930664, + 0.0 + ], + [ + -0.0015870630741119385, + -0.02302517369389534, + 0.031106382608413696, + -0.006604671478271484, + -0.09316666424274445, + -0.06508621573448181, + 0.0 + ], + [ + -0.005646824836730957, + -0.035085808485746384, + 0.020466282963752747, + -0.020426131784915924, + -0.043522924184799194, + -0.08050008118152618, + 0.0 + ], + [ + -0.0004432201385498047, + -0.04734191298484802, + 0.010820671916007996, + -0.014634780585765839, + -0.015194714069366455, + -0.10368500649929047, + 0.0 + ], + [ + -0.005021125078201294, + -0.022292740643024445, + -0.0014407560229301453, + -0.042421963065862656, + -0.002236008644104004, + -0.033438920974731445, + 0.0 + ], + [ + -0.009441226720809937, + -0.004189968109130859, + -0.005549803376197815, + -0.03807377815246582, + 0.04339638352394104, + 0.004551738500595093, + 0.0 + ], + [ + -0.002089262008666992, + 0.006695680320262909, + -0.0029367804527282715, + -0.0016291923820972443, + 0.0299173966050148, + 0.03105786442756653, + 0.0 + ], + [ + 0.0036683380603790283, + 0.012858353555202484, + -0.009991534054279327, + -0.004593841731548309, + 0.023821957409381866, + 0.04815609008073807, + 0.0 + ], + [ + 0.004479914903640747, + 0.008261583745479584, + -0.015394531190395355, + -0.03382118046283722, + 0.062197644263505936, + 0.019221141934394836, + 0.0 + ], + [ + 0.006802976131439209, + -0.004607178270816803, + -0.007802803069353104, + -0.050086259841918945, + 0.03957068920135498, + -0.025527723133563995, + 1.0 + ], + [ + 0.0023661553859710693, + -0.005208075046539307, + 0.0005592852830886841, + -0.024555101990699768, + -0.022470340132713318, + -0.023335926234722137, + 1.0 + ], + [ + -0.0033648014068603516, + 0.0011532679200172424, + -0.003798525780439377, + 0.0008517801761627197, + 0.010817562229931355, + 0.002534613013267517, + 1.0 + ], + [ + -0.005354136228561401, + 0.005515426397323608, + 0.006565511226654053, + 0.015277162194252014, + -0.014928987249732018, + 0.015399187803268433, + 1.0 + ], + [ + -0.008522868156433105, + 0.01852979138493538, + 0.054757215082645416, + 0.09102385491132736, + -0.11797007918357849, + 0.048264674842357635, + 1.0 + ], + [ + -0.012771934270858765, + 0.036292146891355515, + 0.014070495963096619, + 0.03667346388101578, + -0.031951308250427246, + 0.09216061234474182, + 1.0 + ], + [ + -0.006991863250732422, + 0.03892233222723007, + -0.006486549973487854, + 0.05395586043596268, + 0.029684901237487793, + 0.06964562833309174, + 1.0 + ], + [ + -0.0009598731994628906, + 0.02668067254126072, + -0.03415074199438095, + 0.02246558666229248, + 0.09578034281730652, + 0.036174699664115906, + 1.0 + ], + [ + 0.000510483980178833, + 0.010906528681516647, + -0.016080714762210846, + 0.031640827655792236, + 0.028828749433159828, + -0.000322684645652771, + 1.0 + ], + [ + 0.002762138843536377, + 0.003995489329099655, + -0.0028645098209381104, + -0.004373759031295776, + -0.01800510473549366, + -0.04501751810312271, + 1.0 + ], + [ + 0.00043067336082458496, + 0.0008187964558601379, + -0.0012622848153114319, + 0.005973123013973236, + -0.004878511652350426, + -0.031647175550460815, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 0.9453431367874146 + ], + [ + 0.85895174741745 + ], + [ + 0.8490449786186218 + ], + [ + 0.8490449786186218 + ], + [ + 0.8490449786186218 + ], + [ + 0.8490449786186218 + ], + [ + 0.8481387495994568 + ], + [ + 0.8490449786186218 + ], + [ + 0.8481387495994568 + ], + [ + 0.8490449786186218 + ], + [ + 0.8481387495994568 + ], + [ + 0.8481387495994568 + ], + [ + 0.8481387495994568 + ], + [ + 0.9132781028747559 + ], + [ + 1.0067112445831299 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.29579266905784607, + 0.022499756887555122, + 0.07988821715116501 + ], + [ + 0.32233741879463196, + 0.025201011449098587, + 0.0685025081038475 + ], + [ + 0.3526489734649658, + 0.03798529878258705, + 0.065410315990448 + ], + [ + 0.3751749098300934, + 0.04408436641097069, + 0.06137116998434067 + ], + [ + 0.37748298048973083, + 0.04798620194196701, + 0.05290884152054787 + ], + [ + 0.3780243396759033, + 0.04545564576983452, + 0.04449416324496269 + ], + [ + 0.3772175908088684, + 0.04436565190553665, + 0.04304080456495285 + ], + [ + 0.37219884991645813, + 0.041565459221601486, + 0.037542279809713364 + ], + [ + 0.3697475790977478, + 0.040193747729063034, + 0.0354040190577507 + ], + [ + 0.36904019117355347, + 0.03981419652700424, + 0.03446147218346596 + ], + [ + 0.3672093152999878, + 0.039853569120168686, + 0.03439890220761299 + ], + [ + 0.35940268635749817, + 0.03323906660079956, + 0.041996702551841736 + ], + [ + 0.35781562328338623, + 0.010213891975581646, + 0.07310308516025543 + ], + [ + 0.3521687984466553, + -0.024871917441487312, + 0.09356936812400818 + ], + [ + 0.35172557830810547, + -0.07221382856369019, + 0.10439004004001617 + ], + [ + 0.3467044532299042, + -0.09450656920671463, + 0.10294928401708603 + ], + [ + 0.33726322650909424, + -0.09869653731584549, + 0.09739948064088821 + ], + [ + 0.33517396450042725, + -0.09200085699558258, + 0.09446270018815994 + ], + [ + 0.3388423025608063, + -0.0791425034403801, + 0.08447116613388062 + ], + [ + 0.343322217464447, + -0.07088091969490051, + 0.06907663494348526 + ], + [ + 0.35012519359588623, + -0.07548809796571732, + 0.061273831874132156 + ], + [ + 0.3524913489818573, + -0.08069617301225662, + 0.06183311715722084 + ], + [ + 0.34912654757499695, + -0.07954290509223938, + 0.058034591376781464 + ], + [ + 0.34377241134643555, + -0.07402747869491577, + 0.06460010260343552 + ], + [ + 0.33524954319000244, + -0.05549768730998039, + 0.11935731768608093 + ], + [ + 0.3224776089191437, + -0.019205540418624878, + 0.13342781364917755 + ], + [ + 0.31548574566841125, + 0.019716789945960045, + 0.1269412636756897 + ], + [ + 0.31452587246894836, + 0.046397462487220764, + 0.09279052168130875 + ], + [ + 0.3150363564491272, + 0.05730399116873741, + 0.0767098069190979 + ], + [ + 0.3177984952926636, + 0.06129948049783707, + 0.07384529709815979 + ], + [ + 0.31822916865348816, + 0.062118276953697205, + 0.07258301228284836 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9973725466610951, + -0.05290287388285034, + 0.04949029300475554, + -0.05665628629319659, + -0.995358200376631, + 0.07779536082863431, + 0.04514497081873758, + -0.08039489335728542, + -0.9957402235180849 + ], + [ + 0.9994513236459478, + -0.02014496171857402, + 0.026291294751679253, + -0.022238698747594144, + -0.9963892274469037, + 0.08193868259726685, + 0.024545711242012207, + -0.08247840896331037, + -0.9962905299733127 + ], + [ + 0.9973019878028456, + 0.047404312133097405, + 0.05604976641949845, + 0.04444821405401005, + -0.9976122023262477, + 0.05286066625745761, + 0.05842175444045963, + -0.05022673551965416, + -0.9970276694491166 + ], + [ + 0.9923453456983605, + 0.0997669445101041, + 0.0727823581228259, + 0.09665955001244933, + -0.9942977367177875, + 0.04504378036173342, + 0.07686121429038363, + -0.03766387580962808, + -0.996330159232774 + ], + [ + 0.9910434024645921, + 0.1268743629653251, + 0.04166377867581708, + 0.12347938065180661, + -0.989441908861478, + 0.07587853149871106, + 0.05085092905002592, + -0.07005430044399548, + -0.9962462436586909 + ], + [ + 0.990411162454609, + 0.13450857120064358, + 0.031514656255013096, + 0.1317778698096268, + -0.9882993847479219, + 0.07680442132661566, + 0.041476768361907, + -0.07191502193867871, + -0.9965479954853215 + ], + [ + 0.9890381041974852, + 0.14386554040677665, + 0.03326161043771799, + 0.14094654816106642, + -0.9869561875034037, + 0.07779173805891137, + 0.04401930266286127, + -0.0722508839545386, + -0.9964146279340058 + ], + [ + 0.990324133625256, + 0.1375285973089728, + 0.018547109791335795, + 0.13575850158354033, + -0.9878243466697711, + 0.07597821644544636, + 0.028770464146018575, + -0.07272513354175172, + -0.9969369665852282 + ], + [ + 0.9907327069659957, + 0.13523055078396873, + 0.012704388316463268, + 0.13391054292176335, + -0.9881319076512006, + 0.07525489735557536, + 0.022730372681273953, + -0.0728562366325908, + -0.9970833961818374 + ], + [ + 0.9899466646144575, + 0.14099150231867127, + 0.011269316422714419, + 0.13965049143020922, + -0.9869444603571316, + 0.0802394691761587, + 0.02243527271980897, + -0.07785902930485827, + -0.9967119092765439 + ], + [ + 0.9907394925809879, + 0.13530888363764718, + 0.011258945292530808, + 0.13396161010582372, + -0.9876428039257683, + 0.0813386677509629, + 0.02212566062791824, + -0.07907716397532175, + -0.9966229263264006 + ], + [ + 0.9938898518525556, + 0.10905009918735703, + 0.017059843250530803, + 0.10748968607212767, + -0.991382363096859, + 0.07487975379635725, + 0.025078472294390863, + -0.07258847021197809, + -0.9970466309153571 + ], + [ + 0.9921140409248405, + 0.05032136577535438, + 0.11479324869645881, + 0.042334921041333816, + -0.9965788734745884, + 0.07098100735087036, + 0.11797238770241146, + -0.06556149091214501, + -0.9908502443099909 + ], + [ + 0.9862365899412054, + -0.030462110672868893, + 0.16250984116199493, + -0.03735135791724004, + -0.9985209564121119, + 0.0395066534596372, + 0.1610660259734534, + -0.04503287043033701, + -0.985915704235369 + ], + [ + 0.9745386128147466, + -0.13559600865052307, + 0.17857271508031788, + -0.13886428676991203, + -0.9902940077951822, + 0.005872647174742802, + 0.17604318218264728, + -0.030520494147419353, + -0.9839091916655746 + ], + [ + 0.9689611649083582, + -0.17607864446923943, + 0.17352398065199237, + -0.17129914975794286, + -0.9843120511749343, + -0.042265674063000226, + 0.17824382792019394, + 0.011229286427421653, + -0.9839222738279114 + ], + [ + 0.9764385380652063, + -0.1759953274274095, + 0.12487364055236698, + -0.1680413026870435, + -0.9831701906968421, + -0.0716833084921227, + 0.1353879683440307, + 0.049010415718032115, + -0.9895797477610492 + ], + [ + 0.9847573197724323, + -0.1440843209745639, + 0.09743063996461933, + -0.13814004837930402, + -0.9882602766034281, + -0.06526065216867113, + 0.10568986795516384, + 0.050806831597882476, + -0.9931003562956795 + ], + [ + 0.9924914923910758, + -0.09549036323612774, + 0.0764344690592373, + -0.09077978054118434, + -0.9938823519882102, + -0.06290390966607634, + 0.08197358706455103, + 0.055492890854738026, + -0.9950883730043049 + ], + [ + 0.9972128711740517, + -0.07341305256700809, + 0.013304633688986415, + -0.07191524864764481, + -0.9932871704834965, + -0.09060239491777769, + 0.01986672033204836, + 0.0893930683312931, + -0.9957982691075362 + ], + [ + 0.9950555875178703, + -0.0936887427497008, + -0.03296660782437793, + -0.0973459454589951, + -0.9858313685691361, + -0.13660263411734902, + -0.01970138706183667, + 0.13913637995536737, + -0.990077230886942 + ], + [ + 0.9927020850921635, + -0.11938925555331223, + -0.016993407901212863, + -0.12056081549842798, + -0.9793035067284996, + -0.1625722346393057, + 0.002767674118299552, + 0.16343453541919883, + -0.9865502990787067 + ], + [ + 0.9929761007129289, + -0.1151742335864516, + -0.027080608019772, + -0.11804094275789132, + -0.9799487477244385, + -0.16052036526912283, + -0.008049797871703474, + 0.16258950689105944, + -0.9866609615278931 + ], + [ + 0.9946847241256159, + -0.10262536106023064, + -0.008386588007315425, + -0.1027374239546273, + -0.9837235747603387, + -0.14742099640114784, + 0.006879048648928245, + 0.14749902958323954, + -0.9890382778040939 + ], + [ + 0.9907347715005856, + -0.061626631489487334, + 0.1210238440595143, + -0.054204367892236184, + -0.9964963077789146, + -0.06369454516985006, + 0.12452509402158998, + 0.056544379687550585, + -0.9906039743937355 + ], + [ + 0.9870374096904804, + 0.03431262122033495, + 0.156779449853916, + 0.037035045964144066, + -0.9992091170288335, + -0.01447569745789768, + 0.1561587565330247, + 0.020094389053879398, + -0.9875275481152973 + ], + [ + 0.9862429455866192, + 0.11111982518055535, + 0.1223815212050893, + 0.10608167695986359, + -0.9932478510617205, + 0.046961518019091375, + 0.12677353861911425, + -0.03333302886203279, + -0.991371463727331 + ], + [ + 0.9892607884704145, + 0.1443473970359958, + 0.022954767779846764, + 0.14276384730271713, + -0.9879401201951821, + 0.05993999342722747, + 0.031330118069049284, + -0.05601917419653912, + -0.9979380120148332 + ], + [ + 0.989789593263302, + 0.142184000737165, + -0.010013540934194208, + 0.14251413457336568, + -0.9859559915402456, + 0.08706609094644951, + 0.0025064944587097674, + -0.08760418186516358, + -0.9961522096573713 + ], + [ + 0.9949940658085497, + 0.09918688807794467, + 0.012197140615079427, + 0.09780665736717263, + -0.991582001212179, + 0.08484687764856161, + 0.020510162857257756, + -0.0832291782097046, + -0.9963193449462403 + ], + [ + 0.9974789203273601, + 0.06828341528946098, + 0.019317833702851187, + 0.06626676536513164, + -0.993673134656873, + 0.09067754556242955, + 0.02538738487136072, + -0.08916880989219775, + -0.9956929265751577 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006588.json b/json/chunk-0006/episode_0006588.json new file mode 100644 index 0000000000000000000000000000000000000000..f1d68a487cd60176c1f41204c4df1b31f83eb5b7 --- /dev/null +++ b/json/chunk-0006/episode_0006588.json @@ -0,0 +1,1282 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 20, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nFlip pot upright in sink." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006588.mp4", + "start": 0, + "end": 20, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.36952799558639526, + -0.0713069960474968, + 0.03709840774536133, + 0.04407275840640068, + -0.16004236042499542, + 0.029144085943698883, + 0.0, + 1.0041072368621826 + ], + [ + 0.3614109754562378, + -0.07149474322795868, + 0.01591693051159382, + -0.016916679218411446, + -0.15153928101062775, + 0.06354660540819168, + 0.0, + 1.0041072368621826 + ], + [ + 0.35945573449134827, + -0.07262863218784332, + 0.0130761181935668, + -0.091915562748909, + -0.22470630705356598, + 0.10044251382350922, + 0.0, + 1.0041072368621826 + ], + [ + 0.3600033223628998, + -0.0719340369105339, + 0.014973064884543419, + -0.16876748204231262, + -0.31576672196388245, + 0.14315076172351837, + 0.0, + 1.0041072368621826 + ], + [ + 0.3606063723564148, + -0.07313565909862518, + 0.014650546945631504, + -0.22456437349319458, + -0.40361666679382324, + 0.16649934649467468, + 0.0, + 1.0041072368621826 + ], + [ + 0.363393634557724, + -0.07652103155851364, + 0.014402693137526512, + -0.2687644064426422, + -0.4912346303462982, + 0.16475769877433777, + 0.0, + 1.0041072368621826 + ], + [ + 0.3670923113822937, + -0.08326630294322968, + 0.017776578664779663, + -0.3359959125518799, + -0.5337933897972107, + 0.185328409075737, + 0.0, + 1.0041072368621826 + ], + [ + 0.3684270679950714, + -0.08732572197914124, + 0.02022368647158146, + -0.416073203086853, + -0.5192258358001709, + 0.26231124997138977, + 0.0, + 1.0041072368621826 + ], + [ + 0.37108907103538513, + -0.0943441316485405, + 0.025012733414769173, + -0.4941747486591339, + -0.49011293053627014, + 0.32955312728881836, + 0.0, + 1.0041072368621826 + ], + [ + 0.37451261281967163, + -0.10229209065437317, + 0.02642420306801796, + -0.5906760692596436, + -0.4587364196777344, + 0.40637674927711487, + 0.0, + 1.0041072368621826 + ], + [ + 0.37398260831832886, + -0.10399673134088516, + 0.025132179260253906, + -0.675118625164032, + -0.43715280294418335, + 0.4642406702041626, + 0.0, + 1.0041072368621826 + ], + [ + 0.37381136417388916, + -0.10335332155227661, + 0.01907547004520893, + -0.7299923896789551, + -0.43731245398521423, + 0.5157024264335632, + 0.0, + 1.0041072368621826 + ], + [ + 0.3756490647792816, + -0.10750235617160797, + 0.01704476773738861, + -0.7587496042251587, + -0.4491552710533142, + 0.5609305500984192, + 0.0, + 0.8362758755683899 + ], + [ + 0.37495186924934387, + -0.11110524088144302, + 0.01699601486325264, + -0.7628634572029114, + -0.4486164152622223, + 0.555592954158783, + 0.0, + 0.505268931388855 + ], + [ + 0.3720671832561493, + -0.10553709417581558, + 0.016459539532661438, + -0.7753198742866516, + -0.41101783514022827, + 0.536203145980835, + 0.0, + 0.21794094145298004 + ], + [ + 0.3734806478023529, + -0.09889097511768341, + 0.015993118286132812, + -0.744724690914154, + -0.38536322116851807, + 0.5238679647445679, + 0.0, + 0.09143470972776413 + ], + [ + 0.3729390501976013, + -0.10351205617189407, + 0.012980902567505836, + -0.6439171433448792, + -0.35849007964134216, + 0.46187326312065125, + 0.0, + 0.056741900742053986 + ], + [ + 0.3750339150428772, + -0.10204298794269562, + 0.013301415368914604, + -0.5329157114028931, + -0.3358064591884613, + 0.40502214431762695, + 0.0, + 0.05403778702020645 + ], + [ + 0.37423455715179443, + -0.10359518975019455, + 0.014599400572478771, + -0.4497833251953125, + -0.311879426240921, + 0.3543998599052429, + 0.0, + 0.05403778702020645 + ], + [ + 0.3756406605243683, + -0.1070261225104332, + 0.015340671874582767, + -0.37629541754722595, + -0.2925279140472412, + 0.32717740535736084, + 0.0, + 0.05403778702020645 + ] + ], + "left_gripper_pos": [ + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 0.8362758755683899 + ], + [ + 0.505268931388855 + ], + [ + 0.21794094145298004 + ], + [ + 0.09143470972776413 + ], + [ + 0.056741900742053986 + ], + [ + 0.05403778702020645 + ], + [ + 0.05403778702020645 + ], + [ + 0.05403778702020645 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.36952799558639526, + -0.0713069960474968, + 0.03709840774536133 + ], + [ + 0.3614109754562378, + -0.07149474322795868, + 0.01591693051159382 + ], + [ + 0.35945573449134827, + -0.07262863218784332, + 0.0130761181935668 + ], + [ + 0.3600033223628998, + -0.0719340369105339, + 0.014973064884543419 + ], + [ + 0.3606063723564148, + -0.07313565909862518, + 0.014650546945631504 + ], + [ + 0.363393634557724, + -0.07652103155851364, + 0.014402693137526512 + ], + [ + 0.3670923113822937, + -0.08326630294322968, + 0.017776578664779663 + ], + [ + 0.3684270679950714, + -0.08732572197914124, + 0.02022368647158146 + ], + [ + 0.37108907103538513, + -0.0943441316485405, + 0.025012733414769173 + ], + [ + 0.37451261281967163, + -0.10229209065437317, + 0.02642420306801796 + ], + [ + 0.37398260831832886, + -0.10399673134088516, + 0.025132179260253906 + ], + [ + 0.37381136417388916, + -0.10335332155227661, + 0.01907547004520893 + ], + [ + 0.3756490647792816, + -0.10750235617160797, + 0.01704476773738861 + ], + [ + 0.37495186924934387, + -0.11110524088144302, + 0.01699601486325264 + ], + [ + 0.3720671832561493, + -0.10553709417581558, + 0.016459539532661438 + ], + [ + 0.3734806478023529, + -0.09889097511768341, + 0.015993118286132812 + ], + [ + 0.3729390501976013, + -0.10351205617189407, + 0.012980902567505836 + ], + [ + 0.3750339150428772, + -0.10204298794269562, + 0.013301415368914604 + ], + [ + 0.37423455715179443, + -0.10359518975019455, + 0.014599400572478771 + ], + [ + 0.3756406605243683, + -0.1070261225104332, + 0.015340671874582767 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9868013018024474, + 0.03612984494102254, + 0.15785380915750066, + 0.028767567254130925, + -0.998400110334807, + 0.04867901763310341, + 0.15936002583858358, + -0.04349544789955159, + -0.986261896342317 + ], + [ + 0.9865446043657125, + 0.06094629397566961, + 0.15170791952805632, + 0.06277608363641904, + -0.998000963668734, + -0.007296563543994484, + 0.15095995137841453, + 0.01672201443933971, + -0.9883984355071174 + ], + [ + 0.96994619041267, + 0.0795017024160186, + 0.22996492562324056, + 0.09775278775408804, + -0.9928106820588912, + -0.06907490192582753, + 0.22282006236030893, + 0.08947865054141853, + -0.9707444519063881 + ], + [ + 0.9408356871504582, + 0.08900749899924257, + 0.3269646386171207, + 0.13560891888948318, + -0.9831507607969036, + -0.12257570176056377, + 0.3105453765583221, + 0.159662915751808, + -0.9370535323191949 + ], + [ + 0.9069287618087135, + 0.07532171415183085, + 0.41449591117566376, + 0.15241406519780393, + -0.9759038511539552, + -0.15614616880589333, + 0.39274695891119693, + 0.20478845836645393, + -0.8965553600229591 + ], + [ + 0.8698105735360702, + 0.03456207942646788, + 0.4921737790969478, + 0.14461892773089868, + -0.9715882172455853, + -0.18735448180257205, + 0.4717148841268608, + 0.23414055346151322, + -0.8500960353500765 + ], + [ + 0.8461412360948252, + 0.009081041879653057, + 0.5328813594584645, + 0.15863436616558782, + -0.958828236576184, + -0.23554946532617643, + 0.5088026596345223, + 0.2838414124517164, + -0.8127446746218957 + ], + [ + 0.8385051373914825, + 0.04349655037658458, + 0.5431548441038042, + 0.22513685172179737, + -0.9354009019298829, + -0.27265096857623417, + 0.49620815447238276, + 0.3509034094649103, + -0.794131138201376 + ], + [ + 0.834801635757119, + 0.07364952770762057, + 0.5456023973606444, + 0.2855235659343108, + -0.9052395597422151, + -0.3146706735205482, + 0.47072552749281976, + 0.418469935056468, + -0.7767241410053132 + ], + [ + 0.8235917623870156, + 0.10177907471100578, + 0.5579763694630996, + 0.3544164576568921, + -0.8604049196611182, + -0.3661862214295965, + 0.4428155185516767, + 0.4993439637904083, + -0.7446945832728296 + ], + [ + 0.8100754831271103, + 0.11293126393543143, + 0.5753470615744242, + 0.40563845018851374, + -0.816483681028919, + -0.4108671882033495, + 0.423361735830057, + 0.5662163263624707, + -0.7072226752555015 + ], + [ + 0.788078589127611, + 0.12179102244577208, + 0.6034062348122101, + 0.4467376115974936, + -0.7875411723183217, + -0.424504897837058, + 0.42350636800737906, + 0.6041074811282323, + -0.6750529664419684 + ], + [ + 0.7627738439950714, + 0.13309160906860362, + 0.6328212121227542, + 0.47921008137618126, + -0.7734130034463587, + -0.414957858110334, + 0.43420474528085895, + 0.6197733050846997, + -0.653718050446805 + ], + [ + 0.7655194660973068, + 0.12665129932114144, + 0.6308243776253113, + 0.4752552356194984, + -0.7722079431947402, + -0.42169580681245133, + 0.4337192733120696, + 0.6226189371093814, + -0.6513319054909215 + ], + [ + 0.788057942030074, + 0.12445698050309212, + 0.6028889947638603, + 0.46832722691510104, + -0.7568331912488673, + -0.4559310574572291, + 0.39954259914724544, + 0.6416494219027308, + -0.6547149997048756 + ], + [ + 0.8023880457780744, + 0.14720511579309317, + 0.5783632750069676, + 0.4635469912011698, + -0.7641121384907825, + -0.448616569867171, + 0.3758957447761093, + 0.6280631287501167, + -0.6813509340742323 + ], + [ + 0.8383081112515971, + 0.16782654075589445, + 0.5187232044430727, + 0.41729639106665506, + -0.8098155017791818, + -0.41238643901185357, + 0.350860702576571, + 0.5621682179704238, + -0.748908313541406 + ], + [ + 0.867757569298437, + 0.1855255359755866, + 0.4610608164073797, + 0.37203000476931947, + -0.8576112777089732, + -0.35510079118149307, + 0.3295306912513739, + 0.4796698571385881, + -0.8132197437814934 + ], + [ + 0.8926114443868065, + 0.18739494979766477, + 0.41003407436459505, + 0.33028647067623496, + -0.890873513954345, + -0.3118577070121476, + 0.30684793732064763, + 0.4137964655781495, + -0.8570979106479584 + ], + [ + 0.9067247037710902, + 0.19853639280243995, + 0.3720666772289934, + 0.307718929780875, + -0.9147531505121677, + -0.2617933037389927, + 0.2883736670116424, + 0.35186641550602527, + -0.8905226857375389 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.00811702013015747, + -0.00018774718046188354, + -0.02118147723376751, + -0.060989439487457275, + 0.008503079414367676, + 0.0344025194644928, + 1.0 + ], + [ + -0.0019552409648895264, + -0.0011338889598846436, + -0.0028408123180270195, + -0.0749988853931427, + -0.07316702604293823, + 0.036895908415317535, + 1.0 + ], + [ + 0.0005475878715515137, + 0.0006945952773094177, + 0.0018969466909766197, + -0.07685191929340363, + -0.09106041491031647, + 0.042708247900009155, + 1.0 + ], + [ + 0.0006030499935150146, + -0.001201622188091278, + -0.0003225179389119148, + -0.05579689145088196, + -0.0878499448299408, + 0.02334858477115631, + 1.0 + ], + [ + 0.002787262201309204, + -0.0033853724598884583, + -0.0002478538081049919, + -0.04420003294944763, + -0.08761796355247498, + -0.001741647720336914, + 1.0 + ], + [ + 0.003698676824569702, + -0.006745271384716034, + 0.003373885527253151, + -0.06723150610923767, + -0.042558759450912476, + 0.02057071030139923, + 1.0 + ], + [ + 0.00133475661277771, + -0.00405941903591156, + 0.002447107806801796, + -0.08007729053497314, + 0.014567553997039795, + 0.07698284089565277, + 1.0 + ], + [ + 0.0026620030403137207, + -0.0070184096693992615, + 0.004789046943187714, + -0.07810154557228088, + 0.029112905263900757, + 0.06724187731742859, + 1.0 + ], + [ + 0.003423541784286499, + -0.007947959005832672, + 0.001411469653248787, + -0.09650132060050964, + 0.03137651085853577, + 0.07682362198829651, + 1.0 + ], + [ + -0.0005300045013427734, + -0.0017046406865119934, + -0.0012920238077640533, + -0.08444255590438843, + 0.021583616733551025, + 0.05786392092704773, + 1.0 + ], + [ + -0.00017124414443969727, + 0.000643409788608551, + -0.006056709215044975, + -0.054873764514923096, + -0.0001596510410308838, + 0.051461756229400635, + 1.0 + ], + [ + 0.001837700605392456, + -0.00414903461933136, + -0.00203070230782032, + -0.028757214546203613, + -0.011842817068099976, + 0.04522812366485596, + 0.0 + ], + [ + -0.0006971955299377441, + -0.0036028847098350525, + -4.875287413597107e-05, + -0.0041138529777526855, + 0.0005388557910919189, + -0.0053375959396362305, + 0.0 + ], + [ + -0.00288468599319458, + 0.005568146705627441, + -0.0005364753305912018, + -0.012456417083740234, + 0.03759858012199402, + -0.019389808177947998, + 0.0 + ], + [ + 0.0014134645462036133, + 0.006646119058132172, + -0.0004664212465286255, + 0.03059518337249756, + 0.025654613971710205, + -0.01233518123626709, + 0.0 + ], + [ + -0.0005415976047515869, + -0.004621081054210663, + -0.003012215718626976, + 0.1008075475692749, + 0.026873141527175903, + -0.061994701623916626, + 0.0 + ], + [ + 0.002094864845275879, + 0.0014690682291984558, + 0.0003205128014087677, + 0.11100143194198608, + 0.02268362045288086, + -0.05685111880302429, + 0.0 + ], + [ + -0.0007993578910827637, + -0.0015522018074989319, + 0.001297985203564167, + 0.08313238620758057, + 0.023927032947540283, + -0.05062228441238403, + 0.0 + ], + [ + 0.0014061033725738525, + -0.0034309327602386475, + 0.0007412713021039963, + 0.07348790764808655, + 0.01935151219367981, + -0.02722245454788208, + 0.0 + ], + [ + 0.0008248090744018555, + 0.0005049854516983032, + -0.004874224774539471, + 0.10568901896476746, + 0.0008605718612670898, + -0.051862478256225586, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 0.8362758755683899 + ], + [ + 0.505268931388855 + ], + [ + 0.21794094145298004 + ], + [ + 0.09143470972776413 + ], + [ + 0.056741900742053986 + ], + [ + 0.05403778702020645 + ], + [ + 0.05403778702020645 + ], + [ + 0.05403778702020645 + ], + [ + 0.12930262088775635 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3614109754562378, + -0.07149474322795868, + 0.01591693051159382 + ], + [ + 0.35945573449134827, + -0.07262863218784332, + 0.0130761181935668 + ], + [ + 0.3600033223628998, + -0.0719340369105339, + 0.014973064884543419 + ], + [ + 0.3606063723564148, + -0.07313565909862518, + 0.014650546945631504 + ], + [ + 0.363393634557724, + -0.07652103155851364, + 0.014402693137526512 + ], + [ + 0.3670923113822937, + -0.08326630294322968, + 0.017776578664779663 + ], + [ + 0.3684270679950714, + -0.08732572197914124, + 0.02022368647158146 + ], + [ + 0.37108907103538513, + -0.0943441316485405, + 0.025012733414769173 + ], + [ + 0.37451261281967163, + -0.10229209065437317, + 0.02642420306801796 + ], + [ + 0.37398260831832886, + -0.10399673134088516, + 0.025132179260253906 + ], + [ + 0.37381136417388916, + -0.10335332155227661, + 0.01907547004520893 + ], + [ + 0.3756490647792816, + -0.10750235617160797, + 0.01704476773738861 + ], + [ + 0.37495186924934387, + -0.11110524088144302, + 0.01699601486325264 + ], + [ + 0.3720671832561493, + -0.10553709417581558, + 0.016459539532661438 + ], + [ + 0.3734806478023529, + -0.09889097511768341, + 0.015993118286132812 + ], + [ + 0.3729390501976013, + -0.10351205617189407, + 0.012980902567505836 + ], + [ + 0.3750339150428772, + -0.10204298794269562, + 0.013301415368914604 + ], + [ + 0.37423455715179443, + -0.10359518975019455, + 0.014599400572478771 + ], + [ + 0.3756406605243683, + -0.1070261225104332, + 0.015340671874582767 + ], + [ + 0.37646546959877014, + -0.1065211370587349, + 0.010466447100043297 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9865446043657125, + 0.06094629397566961, + 0.15170791952805632, + 0.06277608363641904, + -0.998000963668734, + -0.007296563543994484, + 0.15095995137841453, + 0.01672201443933971, + -0.9883984355071174 + ], + [ + 0.96994619041267, + 0.0795017024160186, + 0.22996492562324056, + 0.09775278775408804, + -0.9928106820588912, + -0.06907490192582753, + 0.22282006236030893, + 0.08947865054141853, + -0.9707444519063881 + ], + [ + 0.9408356871504582, + 0.08900749899924257, + 0.3269646386171207, + 0.13560891888948318, + -0.9831507607969036, + -0.12257570176056377, + 0.3105453765583221, + 0.159662915751808, + -0.9370535323191949 + ], + [ + 0.9069287618087135, + 0.07532171415183085, + 0.41449591117566376, + 0.15241406519780393, + -0.9759038511539552, + -0.15614616880589333, + 0.39274695891119693, + 0.20478845836645393, + -0.8965553600229591 + ], + [ + 0.8698105735360702, + 0.03456207942646788, + 0.4921737790969478, + 0.14461892773089868, + -0.9715882172455853, + -0.18735448180257205, + 0.4717148841268608, + 0.23414055346151322, + -0.8500960353500765 + ], + [ + 0.8461412360948252, + 0.009081041879653057, + 0.5328813594584645, + 0.15863436616558782, + -0.958828236576184, + -0.23554946532617643, + 0.5088026596345223, + 0.2838414124517164, + -0.8127446746218957 + ], + [ + 0.8385051373914825, + 0.04349655037658458, + 0.5431548441038042, + 0.22513685172179737, + -0.9354009019298829, + -0.27265096857623417, + 0.49620815447238276, + 0.3509034094649103, + -0.794131138201376 + ], + [ + 0.834801635757119, + 0.07364952770762057, + 0.5456023973606444, + 0.2855235659343108, + -0.9052395597422151, + -0.3146706735205482, + 0.47072552749281976, + 0.418469935056468, + -0.7767241410053132 + ], + [ + 0.8235917623870156, + 0.10177907471100578, + 0.5579763694630996, + 0.3544164576568921, + -0.8604049196611182, + -0.3661862214295965, + 0.4428155185516767, + 0.4993439637904083, + -0.7446945832728296 + ], + [ + 0.8100754831271103, + 0.11293126393543143, + 0.5753470615744242, + 0.40563845018851374, + -0.816483681028919, + -0.4108671882033495, + 0.423361735830057, + 0.5662163263624707, + -0.7072226752555015 + ], + [ + 0.788078589127611, + 0.12179102244577208, + 0.6034062348122101, + 0.4467376115974936, + -0.7875411723183217, + -0.424504897837058, + 0.42350636800737906, + 0.6041074811282323, + -0.6750529664419684 + ], + [ + 0.7627738439950714, + 0.13309160906860362, + 0.6328212121227542, + 0.47921008137618126, + -0.7734130034463587, + -0.414957858110334, + 0.43420474528085895, + 0.6197733050846997, + -0.653718050446805 + ], + [ + 0.7655194660973068, + 0.12665129932114144, + 0.6308243776253113, + 0.4752552356194984, + -0.7722079431947402, + -0.42169580681245133, + 0.4337192733120696, + 0.6226189371093814, + -0.6513319054909215 + ], + [ + 0.788057942030074, + 0.12445698050309212, + 0.6028889947638603, + 0.46832722691510104, + -0.7568331912488673, + -0.4559310574572291, + 0.39954259914724544, + 0.6416494219027308, + -0.6547149997048756 + ], + [ + 0.8023880457780744, + 0.14720511579309317, + 0.5783632750069676, + 0.4635469912011698, + -0.7641121384907825, + -0.448616569867171, + 0.3758957447761093, + 0.6280631287501167, + -0.6813509340742323 + ], + [ + 0.8383081112515971, + 0.16782654075589445, + 0.5187232044430727, + 0.41729639106665506, + -0.8098155017791818, + -0.41238643901185357, + 0.350860702576571, + 0.5621682179704238, + -0.748908313541406 + ], + [ + 0.867757569298437, + 0.1855255359755866, + 0.4610608164073797, + 0.37203000476931947, + -0.8576112777089732, + -0.35510079118149307, + 0.3295306912513739, + 0.4796698571385881, + -0.8132197437814934 + ], + [ + 0.8926114443868065, + 0.18739494979766477, + 0.41003407436459505, + 0.33028647067623496, + -0.890873513954345, + -0.3118577070121476, + 0.30684793732064763, + 0.4137964655781495, + -0.8570979106479584 + ], + [ + 0.9067247037710902, + 0.19853639280243995, + 0.3720666772289934, + 0.307718929780875, + -0.9147531505121677, + -0.2617933037389927, + 0.2883736670116424, + 0.35186641550602527, + -0.8905226857375389 + ], + [ + 0.9216959528355717, + 0.18798539619604127, + 0.33931999844327604, + 0.2603686393554264, + -0.9482152762661916, + -0.18192295483427495, + 0.287549547324859, + 0.25602593749940095, + -0.9229116843776664 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006589.json b/json/chunk-0006/episode_0006589.json new file mode 100644 index 0000000000000000000000000000000000000000..a5017c3c224de2491699950d85626f7a4787d4c3 --- /dev/null +++ b/json/chunk-0006/episode_0006589.json @@ -0,0 +1,2182 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 35, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut broccoli in pot." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006589.mp4", + "start": 0, + "end": 35, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.34202131628990173, + 0.14584100246429443, + 0.11229967325925827, + 0.014884321950376034, + -0.2419964224100113, + -0.02268112450838089, + 0.0, + 1.002137303352356 + ], + [ + 0.33889201283454895, + 0.1433359682559967, + 0.0998242050409317, + -0.004046483431011438, + -0.21294108033180237, + -0.013786119408905506, + 0.0, + 1.0014774799346924 + ], + [ + 0.3445521295070648, + 0.13219045102596283, + 0.09208773076534271, + 0.0033814904745668173, + -0.2410544455051422, + -0.009814847260713577, + 0.0, + 1.0014774799346924 + ], + [ + 0.34645766019821167, + 0.11504071205854416, + 0.09566614031791687, + 0.037113770842552185, + -0.3141750395298004, + -0.00752667523920536, + 0.0, + 1.002137303352356 + ], + [ + 0.34774860739707947, + 0.09510617703199387, + 0.10335173457860947, + 0.046569280326366425, + -0.2673419713973999, + 0.012231226079165936, + 0.0, + 1.0014774799346924 + ], + [ + 0.35233795642852783, + 0.06896133720874786, + 0.10933477431535721, + 0.037757936865091324, + -0.23946690559387207, + 0.035340361297130585, + 0.0, + 1.002137303352356 + ], + [ + 0.35536178946495056, + 0.04805546998977661, + 0.09928303956985474, + 0.003470839001238346, + -0.2168664038181305, + 0.05440767854452133, + 0.0, + 1.002137303352356 + ], + [ + 0.346806138753891, + 0.035528514534235, + 0.08406460285186768, + -0.01777341216802597, + -0.19653144478797913, + 0.10736376792192459, + 0.0, + 1.002137303352356 + ], + [ + 0.3345223367214203, + 0.01879071071743965, + 0.06451389938592911, + -0.02329341322183609, + -0.18268124759197235, + 0.16069836914539337, + 0.0, + 1.002137303352356 + ], + [ + 0.32637104392051697, + 0.002583495108410716, + 0.06329101324081421, + -0.02499142289161682, + -0.21071988344192505, + 0.18289005756378174, + 0.0, + 1.002137303352356 + ], + [ + 0.3295056223869324, + -0.0035284182522445917, + 0.06447941809892654, + -0.03774319961667061, + -0.2302546501159668, + 0.17801715433597565, + 0.0, + 1.002137303352356 + ], + [ + 0.33110517263412476, + -0.003739581909030676, + 0.06439118087291718, + -0.029115132987499237, + -0.24121300876140594, + 0.16470330953598022, + 0.0, + 1.002137303352356 + ], + [ + 0.33745360374450684, + -0.0006229518912732601, + 0.06608610600233078, + -0.025416633114218712, + -0.2828674018383026, + 0.11728519946336746, + 0.0, + 1.002137303352356 + ], + [ + 0.339900404214859, + -0.0008347666007466614, + 0.06177012622356415, + -0.04242010787129402, + -0.31373491883277893, + 0.09265518188476562, + 0.0, + 1.0014774799346924 + ], + [ + 0.3383207321166992, + -0.00021189871768001467, + 0.054781340062618256, + -0.03579794988036156, + -0.3436247408390045, + 0.07755530625581741, + 0.0, + 1.002137303352356 + ], + [ + 0.33975622057914734, + -0.003971758298575878, + 0.05101950094103813, + -0.06498990952968597, + -0.3460794985294342, + 0.10075701773166656, + 0.0, + 1.002137303352356 + ], + [ + 0.34267276525497437, + -0.0063468459993600845, + 0.045028310269117355, + -0.07132481783628464, + -0.3503754734992981, + 0.09851846098899841, + 0.0, + 1.0014774799346924 + ], + [ + 0.3467022776603699, + -0.008926959708333015, + 0.039932843297719955, + -0.0781106948852539, + -0.3501182198524475, + 0.09565551578998566, + 0.0, + 0.9406655430793762 + ], + [ + 0.3504575788974762, + -0.00945484172552824, + 0.04087568074464798, + -0.0677393227815628, + -0.36653730273246765, + 0.07756868004798889, + 0.0, + 0.6249675154685974 + ], + [ + 0.3476443588733673, + -0.009708588942885399, + 0.03977779671549797, + -0.05951733514666557, + -0.3481053113937378, + 0.07770217955112457, + 0.0, + 0.32124534249305725 + ], + [ + 0.3456478416919708, + -0.01061174925416708, + 0.04125436767935753, + -0.042208001017570496, + -0.32432594895362854, + 0.07435155659914017, + 0.0, + 0.1897224336862564 + ], + [ + 0.3431095778942108, + -0.011533704586327076, + 0.0476246178150177, + -0.016597073525190353, + -0.2839895188808441, + 0.07807651162147522, + 0.0, + 0.18516062200069427 + ], + [ + 0.34551477432250977, + -0.013947874307632446, + 0.0754103735089302, + 0.03442874550819397, + -0.2899636924266815, + 0.07186079025268555, + 0.0, + 0.2129654437303543 + ], + [ + 0.3436228036880493, + -0.014636731706559658, + 0.09815743565559387, + 0.0937102884054184, + -0.2773389220237732, + 0.047908980399370193, + 0.0, + 0.21669040620326996 + ], + [ + 0.33712103962898254, + -0.002032694173976779, + 0.11591985821723938, + 0.14040164649486542, + -0.30604904890060425, + 0.03633984178304672, + 0.0, + 0.21669040620326996 + ], + [ + 0.3189374804496765, + 0.027903571724891663, + 0.10759936273097992, + 0.14887844026088715, + -0.28508299589157104, + 0.08198372274637222, + 0.0, + 0.21669040620326996 + ], + [ + 0.3101106882095337, + 0.056145500391721725, + 0.11146417260169983, + 0.18120510876178741, + -0.2676420211791992, + 0.09406612813472748, + 0.0, + 0.21669040620326996 + ], + [ + 0.30378907918930054, + 0.07312814891338348, + 0.11097653955221176, + 0.19946233928203583, + -0.23990213871002197, + 0.08380077034235, + 0.0, + 0.21669040620326996 + ], + [ + 0.3011726140975952, + 0.09797606617212296, + 0.11163755506277084, + 0.22136779129505157, + -0.249880850315094, + 0.08210369199514389, + 0.0, + 0.21669040620326996 + ], + [ + 0.2999841868877411, + 0.11420191824436188, + 0.11283401399850845, + 0.2539399266242981, + -0.2682047486305237, + 0.08605797588825226, + 0.0, + 0.21669040620326996 + ], + [ + 0.29386183619499207, + 0.12721887230873108, + 0.10467374324798584, + 0.26437491178512573, + -0.27955272793769836, + 0.08013368397951126, + 0.0, + 0.21669040620326996 + ], + [ + 0.28935834765434265, + 0.14270129799842834, + 0.09984469413757324, + 0.28241631388664246, + -0.27121326327323914, + 0.0938330590724945, + 0.0, + 0.21669040620326996 + ], + [ + 0.28612110018730164, + 0.1560557782649994, + 0.08612070232629776, + 0.2692809998989105, + -0.21102237701416016, + 0.07218969613313675, + 0.0, + 0.21669040620326996 + ], + [ + 0.28753265738487244, + 0.16193614900112152, + 0.08052736520767212, + 0.24753281474113464, + -0.22092799842357635, + 0.0684201791882515, + 0.0, + 0.2723398804664612 + ], + [ + 0.2962523400783539, + 0.1655554175376892, + 0.0796775072813034, + 0.2517043650150299, + -0.22637557983398438, + 0.05222359299659729, + 0.0, + 0.5769375562667847 + ] + ], + "left_gripper_pos": [ + [ + 1.002137303352356 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.002137303352356 + ], + [ + 1.0014774799346924 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.0014774799346924 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.0014774799346924 + ], + [ + 0.9406655430793762 + ], + [ + 0.6249675154685974 + ], + [ + 0.32124534249305725 + ], + [ + 0.1897224336862564 + ], + [ + 0.18516062200069427 + ], + [ + 0.2129654437303543 + ], + [ + 0.21669040620326996 + ], + [ + 0.21669040620326996 + ], + [ + 0.21669040620326996 + ], + [ + 0.21669040620326996 + ], + [ + 0.21669040620326996 + ], + [ + 0.21669040620326996 + ], + [ + 0.21669040620326996 + ], + [ + 0.21669040620326996 + ], + [ + 0.21669040620326996 + ], + [ + 0.21669040620326996 + ], + [ + 0.2723398804664612 + ], + [ + 0.5769375562667847 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.34202131628990173, + 0.14584100246429443, + 0.11229967325925827 + ], + [ + 0.33889201283454895, + 0.1433359682559967, + 0.0998242050409317 + ], + [ + 0.3445521295070648, + 0.13219045102596283, + 0.09208773076534271 + ], + [ + 0.34645766019821167, + 0.11504071205854416, + 0.09566614031791687 + ], + [ + 0.34774860739707947, + 0.09510617703199387, + 0.10335173457860947 + ], + [ + 0.35233795642852783, + 0.06896133720874786, + 0.10933477431535721 + ], + [ + 0.35536178946495056, + 0.04805546998977661, + 0.09928303956985474 + ], + [ + 0.346806138753891, + 0.035528514534235, + 0.08406460285186768 + ], + [ + 0.3345223367214203, + 0.01879071071743965, + 0.06451389938592911 + ], + [ + 0.32637104392051697, + 0.002583495108410716, + 0.06329101324081421 + ], + [ + 0.3295056223869324, + -0.0035284182522445917, + 0.06447941809892654 + ], + [ + 0.33110517263412476, + -0.003739581909030676, + 0.06439118087291718 + ], + [ + 0.33745360374450684, + -0.0006229518912732601, + 0.06608610600233078 + ], + [ + 0.339900404214859, + -0.0008347666007466614, + 0.06177012622356415 + ], + [ + 0.3383207321166992, + -0.00021189871768001467, + 0.054781340062618256 + ], + [ + 0.33975622057914734, + -0.003971758298575878, + 0.05101950094103813 + ], + [ + 0.34267276525497437, + -0.0063468459993600845, + 0.045028310269117355 + ], + [ + 0.3467022776603699, + -0.008926959708333015, + 0.039932843297719955 + ], + [ + 0.3504575788974762, + -0.00945484172552824, + 0.04087568074464798 + ], + [ + 0.3476443588733673, + -0.009708588942885399, + 0.03977779671549797 + ], + [ + 0.3456478416919708, + -0.01061174925416708, + 0.04125436767935753 + ], + [ + 0.3431095778942108, + -0.011533704586327076, + 0.0476246178150177 + ], + [ + 0.34551477432250977, + -0.013947874307632446, + 0.0754103735089302 + ], + [ + 0.3436228036880493, + -0.014636731706559658, + 0.09815743565559387 + ], + [ + 0.33712103962898254, + -0.002032694173976779, + 0.11591985821723938 + ], + [ + 0.3189374804496765, + 0.027903571724891663, + 0.10759936273097992 + ], + [ + 0.3101106882095337, + 0.056145500391721725, + 0.11146417260169983 + ], + [ + 0.30378907918930054, + 0.07312814891338348, + 0.11097653955221176 + ], + [ + 0.3011726140975952, + 0.09797606617212296, + 0.11163755506277084 + ], + [ + 0.2999841868877411, + 0.11420191824436188, + 0.11283401399850845 + ], + [ + 0.29386183619499207, + 0.12721887230873108, + 0.10467374324798584 + ], + [ + 0.28935834765434265, + 0.14270129799842834, + 0.09984469413757324 + ], + [ + 0.28612110018730164, + 0.1560557782649994, + 0.08612070232629776 + ], + [ + 0.28753265738487244, + 0.16193614900112152, + 0.08052736520767212 + ], + [ + 0.2962523400783539, + 0.1655554175376892, + 0.0796775072813034 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9706117734992046, + -0.01911081779705209, + 0.23989072884931717, + -0.022018342270488458, + -0.9997129446958309, + 0.009445676855057485, + 0.23964135233383316, + -0.01445008133950894, + -0.9707539427686571 + ], + [ + 0.9773207076193989, + -0.014640651704405802, + 0.21125786559555101, + -0.013474313616457661, + -0.9998849977286524, + -0.0069594676332593065, + 0.2113354616028341, + 0.003955077097013373, + -0.977405586250802 + ], + [ + 0.9710400178234524, + -0.00900742186930407, + 0.23874704215277356, + -0.009530915502537355, + -0.9999540407291341, + 0.001038305909299989, + 0.2387267170534403, + -0.003283714473911665, + -0.9710812385089833 + ], + [ + 0.9510247028798836, + 0.003944963967064237, + 0.3090897147617944, + -0.007158189256027618, + -0.9993693626638812, + 0.03477984035849707, + 0.30903199646444984, + -0.035289010018505984, + -0.950396712395992 + ], + [ + 0.9644043274094298, + 0.024514444277886516, + 0.26329324962047806, + 0.011796435626430459, + -0.9986907153635178, + 0.049776491973784164, + 0.2641687668527005, + -0.04489874239275655, + -0.9634308307040377 + ], + [ + 0.970857966878457, + 0.0442557114231076, + 0.23553394692711122, + 0.03432476237688319, + -0.9983469398914583, + 0.046099873070662364, + 0.23718477783449576, + -0.03667178228277569, + -0.9707721470807685 + ], + [ + 0.9751314282071848, + 0.055126227595812406, + 0.21466205243049039, + 0.05310705004548106, + -0.998473640161371, + 0.01516677745494342, + 0.21517048812065906, + -0.0033895329996477767, + -0.9765706180855338 + ], + [ + 0.9751026632461874, + 0.1036902722710681, + 0.19601817152127543, + 0.10509481525504248, + -0.9944568921052005, + 0.003251084584274374, + 0.19526872749291135, + 0.017430352286095102, + -0.9805948739833805 + ], + [ + 0.970690305698223, + 0.15578746802630597, + 0.1830043584984888, + 0.15734511152417338, + -0.987525029242148, + 0.006068978475866784, + 0.18166685526792212, + 0.02290374262533946, + -0.9830933690503748 + ], + [ + 0.9615716769636344, + 0.1766758048512106, + 0.21015606115818217, + 0.1778492820578782, + -0.9839657198286904, + 0.013457156962194905, + 0.20916391403117776, + 0.02443608360979363, + -0.9775752323401887 + ], + [ + 0.958222130009876, + 0.1684764812591633, + 0.23114070351599092, + 0.17240501380190387, + -0.9850207954798369, + 0.0032471045925088968, + 0.22822546040111685, + 0.036738368700857456, + -0.972914914825494 + ], + [ + 0.9579077626007867, + 0.15703022263001495, + 0.24032109256143744, + 0.1592128543411088, + -0.9871891493881582, + 0.01043313676905046, + 0.2388806927353316, + 0.02826822440573113, + -0.9706373793169287 + ], + [ + 0.953662058804657, + 0.10993414964642924, + 0.28007706142770616, + 0.11236614732536833, + -0.993639235941608, + 0.0074106499465894805, + 0.2791102408220024, + 0.02440392466169672, + -0.9599489163124202 + ], + [ + 0.9471075167381656, + 0.0794080821311255, + 0.31093682353545976, + 0.0880064079820204, + -0.9960257287667678, + -0.013697437305253362, + 0.30861338903580865, + 0.040337378780550374, + -0.9503318746527167 + ], + [ + 0.9387094911825271, + 0.06540635916979862, + 0.33844718841200705, + 0.07294821768885143, + -0.997289553512041, + -0.009597082461572226, + 0.33690213519635226, + 0.033697991570798023, + -0.9409364466658912 + ], + [ + 0.9359388277788789, + 0.07845613833425924, + 0.3433120228211851, + 0.09462282489091195, + -0.99504382022381, + -0.03056659686766342, + 0.33921236956449885, + 0.06109361825986421, + -0.9387238881281099 + ], + [ + 0.9346894854592512, + 0.073766176435235, + 0.34772707255266466, + 0.09238325032087066, + -0.9950267878960255, + -0.037242803727291184, + 0.34325049283587594, + 0.06693461423989805, + -0.9368558355395373 + ], + [ + 0.9350380105413961, + 0.06857542512204567, + 0.34785245422753347, + 0.08971534136605913, + -0.9949497056466715, + -0.04501378407968712, + 0.34300885756254024, + 0.07329730078885525, + -0.9364680610307585 + ], + [ + 0.9307667159133927, + 0.05312795041498246, + 0.36173296978918207, + 0.07234349835541433, + -0.9965863128345519, + -0.03977611489993896, + 0.35838490313278865, + 0.06319131234225278, + -0.9314328313147254 + ], + [ + 0.9371843903972533, + 0.057257379170324335, + 0.34410319807620876, + 0.07296818051197954, + -0.9967924362132617, + -0.032870712508278374, + 0.3411173742694735, + 0.05591450293596849, + -0.9383562784640617 + ], + [ + 0.9452469744050633, + 0.06080763433367862, + 0.3206409034805365, + 0.07041037823068266, + -0.9973478732962316, + -0.018428192230809104, + 0.31866994840349366, + 0.03999564024021959, + -0.947021548195335 + ], + [ + 0.9570208678212812, + 0.0733505540065179, + 0.28059001190623156, + 0.074873053362279, + -0.9971789618310035, + 0.005305088298184349, + 0.28018758793853016, + 0.015931550727380863, + -0.9598130553689138 + ], + [ + 0.9557811220146325, + 0.08157284293683632, + 0.2825390558766208, + 0.06880165749916899, + -0.9961214096394962, + 0.05484951397405297, + 0.2859174334065992, + -0.03298497465551579, + -0.957686385369009 + ], + [ + 0.9606838685826145, + 0.07327121466149215, + 0.2678018553841105, + 0.046060630557550955, + -0.9932430593967695, + 0.10652062369694774, + 0.2737972296386202, + -0.08999752253354244, + -0.9575675030931458 + ], + [ + 0.9529018656219562, + 0.07810977625668987, + 0.29304760252785717, + 0.03464355428322072, + -0.9879742769077958, + 0.15068726659921625, + 0.3012936418858198, + -0.13343796694212476, + -0.9441485319257408 + ], + [ + 0.9564150971272694, + 0.12256155445756697, + 0.2650449534625789, + 0.07858661798352962, + -0.9822002575666953, + 0.17060714378310182, + 0.28123709830132043, + -0.1423422614856953, + -0.9490228527987042 + ], + [ + 0.9601336052459539, + 0.1398382599859672, + 0.2420510713083163, + 0.09058338224256647, + -0.9748021330699173, + 0.20385154457064167, + 0.26445814591141575, + -0.17379891370902253, + -0.9486073089823102 + ], + [ + 0.9679525019325015, + 0.128958078469283, + 0.21549424122264005, + 0.0813055791638358, + -0.9727928647645244, + 0.21694110965896524, + 0.23760756890184365, + -0.19246780577733041, + -0.9521022985687073 + ], + [ + 0.9656779005894144, + 0.13412305228657107, + 0.22243470763024978, + 0.07946435805439514, + -0.9678587577118518, + 0.23861022802778953, + 0.24728851188889436, + -0.2127449928101824, + -0.9452978154645083 + ], + [ + 0.9606797969989194, + 0.1495223226224107, + 0.23396025875288132, + 0.08287885948811255, + -0.9586260291443672, + 0.2723366132139651, + 0.26500079676873645, + -0.24223792288678261, + -0.9333248986432497 + ], + [ + 0.9580945386261943, + 0.14913643937119112, + 0.24456732714396484, + 0.07694040408375641, + -0.9563869949260654, + 0.28178731368838905, + 0.2759257676877757, + -0.25116177732285083, + -0.927783774560613 + ], + [ + 0.9592082811949082, + 0.16431297734746467, + 0.2300450363783617, + 0.0902705362331285, + -0.9491649614213821, + 0.30155779926596166, + 0.2679005479189874, + -0.26849044952317797, + -0.9252795117906526 + ], + [ + 0.9752705101753172, + 0.1251069213142772, + 0.18219684470824413, + 0.07052703810817552, + -0.9574325146132502, + 0.2799087652379551, + 0.20945970705141534, + -0.26013696046623586, + -0.9425791175924297 + ], + [ + 0.9734116336175176, + 0.11984825822942242, + 0.1952080596119163, + 0.06670512025388374, + -0.9635807562961877, + 0.2589643856355193, + 0.21913516027783106, + -0.23905756857928748, + -0.9459552105860872 + ], + [ + 0.9731577262729585, + 0.10637845343702235, + 0.20407759416357507, + 0.05086804563112485, + -0.9642510116662204, + 0.260062354896552, + 0.22444705774172086, + -0.24270066160811682, + -0.943779586093102 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.003129303455352783, + -0.0025050342082977295, + -0.012475468218326569, + -0.01893080584704876, + 0.029055342078208923, + 0.008895005099475384, + 1.0 + ], + [ + 0.005660116672515869, + -0.011145517230033875, + -0.007736474275588989, + 0.007427973672747612, + -0.028113365173339844, + 0.003971272148191929, + 1.0 + ], + [ + 0.0019055306911468506, + -0.01714973896741867, + 0.0035784095525741577, + 0.033732280135154724, + -0.0731205940246582, + 0.002288172021508217, + 1.0 + ], + [ + 0.0012909471988677979, + -0.019934535026550293, + 0.0076855942606925964, + 0.00945550948381424, + 0.04683306813240051, + 0.01975790038704872, + 1.0 + ], + [ + 0.004589349031448364, + -0.026144839823246002, + 0.005983039736747742, + -0.0088113434612751, + 0.027875065803527832, + 0.023109134286642075, + 1.0 + ], + [ + 0.0030238330364227295, + -0.020905867218971252, + -0.010051734745502472, + -0.03428709879517555, + 0.022600501775741577, + 0.019067317247390747, + 1.0 + ], + [ + -0.00855565071105957, + -0.01252695545554161, + -0.01521843671798706, + -0.021244250237941742, + 0.020334959030151367, + 0.05295608937740326, + 1.0 + ], + [ + -0.012283802032470703, + -0.01673780381679535, + -0.019550703465938568, + -0.00552000105381012, + 0.013850197196006775, + 0.05333460122346878, + 1.0 + ], + [ + -0.00815129280090332, + -0.016207216307520866, + -0.0012228861451148987, + -0.0016980096697807312, + -0.028038635849952698, + 0.022191688418388367, + 1.0 + ], + [ + 0.0031345784664154053, + -0.006111913360655308, + 0.0011884048581123352, + -0.012751776725053787, + -0.019534766674041748, + -0.004872903227806091, + 1.0 + ], + [ + 0.0015995502471923828, + -0.00021116365678608418, + -8.82372260093689e-05, + 0.008628066629171371, + -0.010958358645439148, + -0.013313844799995422, + 1.0 + ], + [ + 0.00634843111038208, + 0.0031166300177574158, + 0.0016949251294136047, + 0.003698499873280525, + -0.04165439307689667, + -0.04741811007261276, + 1.0 + ], + [ + 0.002446800470352173, + -0.0002118147094734013, + -0.004315979778766632, + -0.01700347475707531, + -0.03086751699447632, + -0.024630017578601837, + 1.0 + ], + [ + -0.00157967209815979, + 0.000622867897618562, + -0.006988786160945892, + 0.006622157990932465, + -0.029889822006225586, + -0.015099875628948212, + 1.0 + ], + [ + 0.0014354884624481201, + -0.0037598595954477787, + -0.003761839121580124, + -0.029191959649324417, + -0.0024547576904296875, + 0.02320171147584915, + 1.0 + ], + [ + 0.0029165446758270264, + -0.0023750877007842064, + -0.005991190671920776, + -0.006334908306598663, + -0.004295974969863892, + -0.002238556742668152, + 1.0 + ], + [ + 0.004029512405395508, + -0.002580113708972931, + -0.0050954669713974, + -0.006785877048969269, + 0.00025725364685058594, + -0.0028629451990127563, + 0.0 + ], + [ + 0.0037553012371063232, + -0.0005278820171952248, + 0.0009428374469280243, + 0.010371372103691101, + -0.01641908288002014, + -0.018086835741996765, + 0.0 + ], + [ + -0.0028132200241088867, + -0.00025374721735715866, + -0.0010978840291500092, + 0.008221987634897232, + 0.01843199133872986, + 0.00013349950313568115, + 0.0 + ], + [ + -0.0019965171813964844, + -0.0009031603112816811, + 0.001476570963859558, + 0.017309334129095078, + 0.023779362440109253, + -0.0033506229519844055, + 0.0 + ], + [ + -0.0025382637977600098, + -0.000921955332159996, + 0.0063702501356601715, + 0.025610927492380142, + 0.040336430072784424, + 0.0037249550223350525, + 0.0 + ], + [ + 0.00240519642829895, + -0.0024141697213053703, + 0.027785755693912506, + 0.05102581903338432, + -0.005974173545837402, + -0.006215721368789673, + 0.0 + ], + [ + -0.0018919706344604492, + -0.0006888573989272118, + 0.022747062146663666, + 0.059281542897224426, + 0.012624770402908325, + -0.023951809853315353, + 0.0 + ], + [ + -0.0065017640590667725, + 0.012604037299752235, + 0.017762422561645508, + 0.04669135808944702, + -0.028710126876831055, + -0.011569138616323471, + 0.0 + ], + [ + -0.01818355917930603, + 0.02993626520037651, + -0.00832049548625946, + 0.008476793766021729, + 0.020966053009033203, + 0.0456438809633255, + 0.0 + ], + [ + -0.008826792240142822, + 0.028241928666830063, + 0.0038648098707199097, + 0.03232666850090027, + 0.017440974712371826, + 0.012082405388355255, + 0.0 + ], + [ + -0.006321609020233154, + 0.01698264852166176, + -0.0004876330494880676, + 0.018257230520248413, + 0.027739882469177246, + -0.010265357792377472, + 0.0 + ], + [ + -0.0026164650917053223, + 0.02484791725873947, + 0.000661015510559082, + 0.021905452013015747, + -0.009978711605072021, + -0.0016970783472061157, + 0.0 + ], + [ + -0.001188427209854126, + 0.016225852072238922, + 0.0011964589357376099, + 0.03257213532924652, + -0.018323898315429688, + 0.003954283893108368, + 0.0 + ], + [ + -0.0061223506927490234, + 0.013016954064369202, + -0.008160270750522614, + 0.010434985160827637, + -0.011347979307174683, + -0.005924291908740997, + 0.0 + ], + [ + -0.004503488540649414, + 0.015482425689697266, + -0.004829049110412598, + 0.018041402101516724, + 0.008339464664459229, + 0.013699375092983246, + 0.0 + ], + [ + -0.0032372474670410156, + 0.013354480266571045, + -0.013723991811275482, + -0.013135313987731934, + 0.06019088625907898, + -0.021643362939357758, + 0.0 + ], + [ + 0.0014115571975708008, + 0.005880370736122131, + -0.005593337118625641, + -0.02174818515777588, + -0.009905621409416199, + -0.003769516944885254, + 1.0 + ], + [ + 0.008719682693481445, + 0.003619268536567688, + -0.0008498579263687134, + 0.004171550273895264, + -0.00544758141040802, + -0.016196586191654205, + 1.0 + ], + [ + 0.007786542177200317, + -0.0016356110572814941, + 0.0009154975414276123, + 0.003766268491744995, + -0.008159175515174866, + -0.016399633139371872, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.002137303352356 + ], + [ + 1.0014774799346924 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.0014774799346924 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.0014774799346924 + ], + [ + 0.9406655430793762 + ], + [ + 0.6249675154685974 + ], + [ + 0.32124534249305725 + ], + [ + 0.1897224336862564 + ], + [ + 0.18516062200069427 + ], + [ + 0.2129654437303543 + ], + [ + 0.21669040620326996 + ], + [ + 0.21669040620326996 + ], + [ + 0.21669040620326996 + ], + [ + 0.21669040620326996 + ], + [ + 0.21669040620326996 + ], + [ + 0.21669040620326996 + ], + [ + 0.21669040620326996 + ], + [ + 0.21669040620326996 + ], + [ + 0.21669040620326996 + ], + [ + 0.21669040620326996 + ], + [ + 0.2723398804664612 + ], + [ + 0.5769375562667847 + ], + [ + 0.8792814016342163 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.33889201283454895, + 0.1433359682559967, + 0.0998242050409317 + ], + [ + 0.3445521295070648, + 0.13219045102596283, + 0.09208773076534271 + ], + [ + 0.34645766019821167, + 0.11504071205854416, + 0.09566614031791687 + ], + [ + 0.34774860739707947, + 0.09510617703199387, + 0.10335173457860947 + ], + [ + 0.35233795642852783, + 0.06896133720874786, + 0.10933477431535721 + ], + [ + 0.35536178946495056, + 0.04805546998977661, + 0.09928303956985474 + ], + [ + 0.346806138753891, + 0.035528514534235, + 0.08406460285186768 + ], + [ + 0.3345223367214203, + 0.01879071071743965, + 0.06451389938592911 + ], + [ + 0.32637104392051697, + 0.002583495108410716, + 0.06329101324081421 + ], + [ + 0.3295056223869324, + -0.0035284182522445917, + 0.06447941809892654 + ], + [ + 0.33110517263412476, + -0.003739581909030676, + 0.06439118087291718 + ], + [ + 0.33745360374450684, + -0.0006229518912732601, + 0.06608610600233078 + ], + [ + 0.339900404214859, + -0.0008347666007466614, + 0.06177012622356415 + ], + [ + 0.3383207321166992, + -0.00021189871768001467, + 0.054781340062618256 + ], + [ + 0.33975622057914734, + -0.003971758298575878, + 0.05101950094103813 + ], + [ + 0.34267276525497437, + -0.0063468459993600845, + 0.045028310269117355 + ], + [ + 0.3467022776603699, + -0.008926959708333015, + 0.039932843297719955 + ], + [ + 0.3504575788974762, + -0.00945484172552824, + 0.04087568074464798 + ], + [ + 0.3476443588733673, + -0.009708588942885399, + 0.03977779671549797 + ], + [ + 0.3456478416919708, + -0.01061174925416708, + 0.04125436767935753 + ], + [ + 0.3431095778942108, + -0.011533704586327076, + 0.0476246178150177 + ], + [ + 0.34551477432250977, + -0.013947874307632446, + 0.0754103735089302 + ], + [ + 0.3436228036880493, + -0.014636731706559658, + 0.09815743565559387 + ], + [ + 0.33712103962898254, + -0.002032694173976779, + 0.11591985821723938 + ], + [ + 0.3189374804496765, + 0.027903571724891663, + 0.10759936273097992 + ], + [ + 0.3101106882095337, + 0.056145500391721725, + 0.11146417260169983 + ], + [ + 0.30378907918930054, + 0.07312814891338348, + 0.11097653955221176 + ], + [ + 0.3011726140975952, + 0.09797606617212296, + 0.11163755506277084 + ], + [ + 0.2999841868877411, + 0.11420191824436188, + 0.11283401399850845 + ], + [ + 0.29386183619499207, + 0.12721887230873108, + 0.10467374324798584 + ], + [ + 0.28935834765434265, + 0.14270129799842834, + 0.09984469413757324 + ], + [ + 0.28612110018730164, + 0.1560557782649994, + 0.08612070232629776 + ], + [ + 0.28753265738487244, + 0.16193614900112152, + 0.08052736520767212 + ], + [ + 0.2962523400783539, + 0.1655554175376892, + 0.0796775072813034 + ], + [ + 0.3040388822555542, + 0.16391980648040771, + 0.08059300482273102 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9773207076193989, + -0.014640651704405802, + 0.21125786559555101, + -0.013474313616457661, + -0.9998849977286524, + -0.0069594676332593065, + 0.2113354616028341, + 0.003955077097013373, + -0.977405586250802 + ], + [ + 0.9710400178234524, + -0.00900742186930407, + 0.23874704215277356, + -0.009530915502537355, + -0.9999540407291341, + 0.001038305909299989, + 0.2387267170534403, + -0.003283714473911665, + -0.9710812385089833 + ], + [ + 0.9510247028798836, + 0.003944963967064237, + 0.3090897147617944, + -0.007158189256027618, + -0.9993693626638812, + 0.03477984035849707, + 0.30903199646444984, + -0.035289010018505984, + -0.950396712395992 + ], + [ + 0.9644043274094298, + 0.024514444277886516, + 0.26329324962047806, + 0.011796435626430459, + -0.9986907153635178, + 0.049776491973784164, + 0.2641687668527005, + -0.04489874239275655, + -0.9634308307040377 + ], + [ + 0.970857966878457, + 0.0442557114231076, + 0.23553394692711122, + 0.03432476237688319, + -0.9983469398914583, + 0.046099873070662364, + 0.23718477783449576, + -0.03667178228277569, + -0.9707721470807685 + ], + [ + 0.9751314282071848, + 0.055126227595812406, + 0.21466205243049039, + 0.05310705004548106, + -0.998473640161371, + 0.01516677745494342, + 0.21517048812065906, + -0.0033895329996477767, + -0.9765706180855338 + ], + [ + 0.9751026632461874, + 0.1036902722710681, + 0.19601817152127543, + 0.10509481525504248, + -0.9944568921052005, + 0.003251084584274374, + 0.19526872749291135, + 0.017430352286095102, + -0.9805948739833805 + ], + [ + 0.970690305698223, + 0.15578746802630597, + 0.1830043584984888, + 0.15734511152417338, + -0.987525029242148, + 0.006068978475866784, + 0.18166685526792212, + 0.02290374262533946, + -0.9830933690503748 + ], + [ + 0.9615716769636344, + 0.1766758048512106, + 0.21015606115818217, + 0.1778492820578782, + -0.9839657198286904, + 0.013457156962194905, + 0.20916391403117776, + 0.02443608360979363, + -0.9775752323401887 + ], + [ + 0.958222130009876, + 0.1684764812591633, + 0.23114070351599092, + 0.17240501380190387, + -0.9850207954798369, + 0.0032471045925088968, + 0.22822546040111685, + 0.036738368700857456, + -0.972914914825494 + ], + [ + 0.9579077626007867, + 0.15703022263001495, + 0.24032109256143744, + 0.1592128543411088, + -0.9871891493881582, + 0.01043313676905046, + 0.2388806927353316, + 0.02826822440573113, + -0.9706373793169287 + ], + [ + 0.953662058804657, + 0.10993414964642924, + 0.28007706142770616, + 0.11236614732536833, + -0.993639235941608, + 0.0074106499465894805, + 0.2791102408220024, + 0.02440392466169672, + -0.9599489163124202 + ], + [ + 0.9471075167381656, + 0.0794080821311255, + 0.31093682353545976, + 0.0880064079820204, + -0.9960257287667678, + -0.013697437305253362, + 0.30861338903580865, + 0.040337378780550374, + -0.9503318746527167 + ], + [ + 0.9387094911825271, + 0.06540635916979862, + 0.33844718841200705, + 0.07294821768885143, + -0.997289553512041, + -0.009597082461572226, + 0.33690213519635226, + 0.033697991570798023, + -0.9409364466658912 + ], + [ + 0.9359388277788789, + 0.07845613833425924, + 0.3433120228211851, + 0.09462282489091195, + -0.99504382022381, + -0.03056659686766342, + 0.33921236956449885, + 0.06109361825986421, + -0.9387238881281099 + ], + [ + 0.9346894854592512, + 0.073766176435235, + 0.34772707255266466, + 0.09238325032087066, + -0.9950267878960255, + -0.037242803727291184, + 0.34325049283587594, + 0.06693461423989805, + -0.9368558355395373 + ], + [ + 0.9350380105413961, + 0.06857542512204567, + 0.34785245422753347, + 0.08971534136605913, + -0.9949497056466715, + -0.04501378407968712, + 0.34300885756254024, + 0.07329730078885525, + -0.9364680610307585 + ], + [ + 0.9307667159133927, + 0.05312795041498246, + 0.36173296978918207, + 0.07234349835541433, + -0.9965863128345519, + -0.03977611489993896, + 0.35838490313278865, + 0.06319131234225278, + -0.9314328313147254 + ], + [ + 0.9371843903972533, + 0.057257379170324335, + 0.34410319807620876, + 0.07296818051197954, + -0.9967924362132617, + -0.032870712508278374, + 0.3411173742694735, + 0.05591450293596849, + -0.9383562784640617 + ], + [ + 0.9452469744050633, + 0.06080763433367862, + 0.3206409034805365, + 0.07041037823068266, + -0.9973478732962316, + -0.018428192230809104, + 0.31866994840349366, + 0.03999564024021959, + -0.947021548195335 + ], + [ + 0.9570208678212812, + 0.0733505540065179, + 0.28059001190623156, + 0.074873053362279, + -0.9971789618310035, + 0.005305088298184349, + 0.28018758793853016, + 0.015931550727380863, + -0.9598130553689138 + ], + [ + 0.9557811220146325, + 0.08157284293683632, + 0.2825390558766208, + 0.06880165749916899, + -0.9961214096394962, + 0.05484951397405297, + 0.2859174334065992, + -0.03298497465551579, + -0.957686385369009 + ], + [ + 0.9606838685826145, + 0.07327121466149215, + 0.2678018553841105, + 0.046060630557550955, + -0.9932430593967695, + 0.10652062369694774, + 0.2737972296386202, + -0.08999752253354244, + -0.9575675030931458 + ], + [ + 0.9529018656219562, + 0.07810977625668987, + 0.29304760252785717, + 0.03464355428322072, + -0.9879742769077958, + 0.15068726659921625, + 0.3012936418858198, + -0.13343796694212476, + -0.9441485319257408 + ], + [ + 0.9564150971272694, + 0.12256155445756697, + 0.2650449534625789, + 0.07858661798352962, + -0.9822002575666953, + 0.17060714378310182, + 0.28123709830132043, + -0.1423422614856953, + -0.9490228527987042 + ], + [ + 0.9601336052459539, + 0.1398382599859672, + 0.2420510713083163, + 0.09058338224256647, + -0.9748021330699173, + 0.20385154457064167, + 0.26445814591141575, + -0.17379891370902253, + -0.9486073089823102 + ], + [ + 0.9679525019325015, + 0.128958078469283, + 0.21549424122264005, + 0.0813055791638358, + -0.9727928647645244, + 0.21694110965896524, + 0.23760756890184365, + -0.19246780577733041, + -0.9521022985687073 + ], + [ + 0.9656779005894144, + 0.13412305228657107, + 0.22243470763024978, + 0.07946435805439514, + -0.9678587577118518, + 0.23861022802778953, + 0.24728851188889436, + -0.2127449928101824, + -0.9452978154645083 + ], + [ + 0.9606797969989194, + 0.1495223226224107, + 0.23396025875288132, + 0.08287885948811255, + -0.9586260291443672, + 0.2723366132139651, + 0.26500079676873645, + -0.24223792288678261, + -0.9333248986432497 + ], + [ + 0.9580945386261943, + 0.14913643937119112, + 0.24456732714396484, + 0.07694040408375641, + -0.9563869949260654, + 0.28178731368838905, + 0.2759257676877757, + -0.25116177732285083, + -0.927783774560613 + ], + [ + 0.9592082811949082, + 0.16431297734746467, + 0.2300450363783617, + 0.0902705362331285, + -0.9491649614213821, + 0.30155779926596166, + 0.2679005479189874, + -0.26849044952317797, + -0.9252795117906526 + ], + [ + 0.9752705101753172, + 0.1251069213142772, + 0.18219684470824413, + 0.07052703810817552, + -0.9574325146132502, + 0.2799087652379551, + 0.20945970705141534, + -0.26013696046623586, + -0.9425791175924297 + ], + [ + 0.9734116336175176, + 0.11984825822942242, + 0.1952080596119163, + 0.06670512025388374, + -0.9635807562961877, + 0.2589643856355193, + 0.21913516027783106, + -0.23905756857928748, + -0.9459552105860872 + ], + [ + 0.9731577262729585, + 0.10637845343702235, + 0.20407759416357507, + 0.05086804563112485, + -0.9642510116662204, + 0.260062354896552, + 0.22444705774172086, + -0.24270066160811682, + -0.943779586093102 + ], + [ + 0.9719985212232529, + 0.09334144739638042, + 0.21565307541919884, + 0.03483573950032398, + -0.9648203661448055, + 0.26059188844948616, + 0.2323905032338359, + -0.24578249585792847, + -0.9410555874849117 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006590.json b/json/chunk-0006/episode_0006590.json new file mode 100644 index 0000000000000000000000000000000000000000..7e52dc3e8f169a1eb6bb14c4008061f312a14a24 --- /dev/null +++ b/json/chunk-0006/episode_0006590.json @@ -0,0 +1,2782 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 45, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the green dish spoon to the upper left side of the table." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006590.mp4", + "start": 0, + "end": 45, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.31565791368484497, + -0.07030607014894485, + 0.11082445830106735, + -0.06925636529922485, + -0.23993249237537384, + -0.45649096369743347, + 0.0, + 1.0014774799346924 + ], + [ + 0.3139985203742981, + -0.07020541280508041, + 0.10222704708576202, + -0.08230739086866379, + -0.2122611701488495, + -0.45369115471839905, + 0.0, + 1.0014774799346924 + ], + [ + 0.3074563443660736, + -0.04533327743411064, + 0.09711876511573792, + -0.13914385437965393, + -0.16699270904064178, + -0.3809022605419159, + 0.0, + 1.0014774799346924 + ], + [ + 0.3002356290817261, + -0.026845857501029968, + 0.0954020693898201, + -0.23697003722190857, + -0.14978718757629395, + -0.3033902943134308, + 0.0, + 1.0014774799346924 + ], + [ + 0.2826344966888428, + 0.006388725712895393, + 0.085712730884552, + -0.34277623891830444, + -0.11009632796049118, + -0.12946724891662598, + 0.0, + 1.0014774799346924 + ], + [ + 0.254953533411026, + 0.034195031970739365, + 0.08644115179777145, + -0.30907565355300903, + -0.1271962672472, + 0.09855540096759796, + 0.0, + 1.0014774799346924 + ], + [ + 0.23976503312587738, + 0.06200302764773369, + 0.08156083524227142, + -0.254868745803833, + -0.14401733875274658, + 0.342322438955307, + 0.0, + 1.0014774799346924 + ], + [ + 0.2316158562898636, + 0.08552972972393036, + 0.08547656983137131, + -0.1900988668203354, + -0.15591858327388763, + 0.5150277614593506, + 0.0, + 1.0014774799346924 + ], + [ + 0.23417140543460846, + 0.10160645842552185, + 0.08803629130125046, + -0.14537778496742249, + -0.11765863001346588, + 0.5673635601997375, + 0.0, + 1.0014774799346924 + ], + [ + 0.2456255704164505, + 0.12203340977430344, + 0.08890237659215927, + -0.1067042201757431, + -0.09645052999258041, + 0.6389584541320801, + 0.0, + 1.0014774799346924 + ], + [ + 0.25466060638427734, + 0.13826625049114227, + 0.0786200687289238, + -0.07758436352014542, + -0.09758112579584122, + 0.6918043494224548, + 0.0, + 1.0014774799346924 + ], + [ + 0.2592528462409973, + 0.14719080924987793, + 0.06608720868825912, + -0.0508955754339695, + -0.1078464463353157, + 0.7198816537857056, + 0.0, + 1.0014774799346924 + ], + [ + 0.2615671455860138, + 0.1514909863471985, + 0.05976346135139465, + -0.038156282156705856, + -0.12078387290239334, + 0.7282432317733765, + 0.0, + 1.0014774799346924 + ], + [ + 0.2678596079349518, + 0.14970619976520538, + 0.03760410472750664, + -0.05643216893076897, + -0.10095836967229843, + 0.6797193288803101, + 0.0, + 1.0014774799346924 + ], + [ + 0.2739960253238678, + 0.1478854864835739, + 0.025337468832731247, + -0.05516161769628525, + -0.09300877898931503, + 0.6118413209915161, + 0.0, + 0.9679883122444153 + ], + [ + 0.28463226556777954, + 0.14347420632839203, + 0.021677525714039803, + -0.030461983755230904, + -0.09967277199029922, + 0.5476062297821045, + 0.0, + 0.6931989789009094 + ], + [ + 0.28566962480545044, + 0.14077885448932648, + 0.02124568447470665, + -0.04408711567521095, + -0.09660597890615463, + 0.5337088704109192, + 0.0, + 0.4448287785053253 + ], + [ + 0.28519755601882935, + 0.14145618677139282, + 0.021696418523788452, + -0.04193263500928879, + -0.09667138755321503, + 0.5345239043235779, + 0.0, + 0.43931102752685547 + ], + [ + 0.2798908054828644, + 0.14062216877937317, + 0.026241278275847435, + -0.03261508047580719, + -0.08023825287818909, + 0.52785325050354, + 0.0, + 0.43931102752685547 + ], + [ + 0.2732219994068146, + 0.14389117062091827, + 0.05580947920680046, + -0.04817895591259003, + -0.1067664846777916, + 0.5390390157699585, + 0.0, + 0.43931102752685547 + ], + [ + 0.27250027656555176, + 0.14333370327949524, + 0.0856747105717659, + -0.0595720075070858, + -0.18324504792690277, + 0.5246479511260986, + 0.0, + 0.43931102752685547 + ], + [ + 0.2723197638988495, + 0.1312626302242279, + 0.10125475376844406, + -0.0757373794913292, + -0.28396663069725037, + 0.5127341151237488, + 0.0, + 0.43931102752685547 + ], + [ + 0.28674644231796265, + 0.10884859412908554, + 0.10406704992055893, + -0.11501164734363556, + -0.33506864309310913, + 0.49045529961586, + 0.0, + 0.43931102752685547 + ], + [ + 0.2963227927684784, + 0.09143080562353134, + 0.10559330135583878, + -0.09819149225950241, + -0.3611844778060913, + 0.4170334041118622, + 0.0, + 0.43931102752685547 + ], + [ + 0.2993438243865967, + 0.08186277002096176, + 0.10272365063428879, + -0.0856262817978859, + -0.35461726784706116, + 0.3848607838153839, + 0.0, + 0.43931102752685547 + ], + [ + 0.2967422306537628, + 0.08191069215536118, + 0.09661802649497986, + -0.05404793098568916, + -0.33143240213394165, + 0.3707515597343445, + 0.0, + 0.43931102752685547 + ], + [ + 0.28341343998908997, + 0.08712100237607956, + 0.08577258884906769, + -0.04324226826429367, + -0.2891135513782501, + 0.39335718750953674, + 0.0, + 0.43931102752685547 + ], + [ + 0.2784242630004883, + 0.08916085958480835, + 0.07563649863004684, + -0.03788205608725548, + -0.26211225986480713, + 0.3904763460159302, + 0.0, + 0.43931102752685547 + ], + [ + 0.27596208453178406, + 0.08675603568553925, + 0.06514935195446014, + -0.041125401854515076, + -0.2457953542470932, + 0.36941611766815186, + 0.0, + 0.43931102752685547 + ], + [ + 0.28520774841308594, + 0.08530790358781815, + 0.054176948964595795, + -0.045952823013067245, + -0.2658689618110657, + 0.3284858167171478, + 0.0, + 0.43931102752685547 + ], + [ + 0.2971261441707611, + 0.08242574334144592, + 0.052408523857593536, + -0.04009494557976723, + -0.29469138383865356, + 0.3073408007621765, + 0.0, + 0.43931102752685547 + ], + [ + 0.31166017055511475, + 0.08696481585502625, + 0.05129578709602356, + -0.02770545706152916, + -0.3188687860965729, + 0.3046298027038574, + 0.0, + 0.43931102752685547 + ], + [ + 0.3316909372806549, + 0.09065686166286469, + 0.050457388162612915, + -0.03044932335615158, + -0.3481219410896301, + 0.2979253828525543, + 0.0, + 0.43931102752685547 + ], + [ + 0.35382160544395447, + 0.08770924806594849, + 0.0474487729370594, + -0.029492778703570366, + -0.3681487739086151, + 0.2704390585422516, + 0.0, + 0.43931102752685547 + ], + [ + 0.37647512555122375, + 0.08610396087169647, + 0.04518519341945648, + -0.025922561064362526, + -0.39089521765708923, + 0.256264865398407, + 0.0, + 0.43931102752685547 + ], + [ + 0.3968782126903534, + 0.08747179806232452, + 0.04529481753706932, + -0.023811111226677895, + -0.41698145866394043, + 0.2464292347431183, + 0.0, + 0.438394159078598 + ], + [ + 0.4172104597091675, + 0.09177049249410629, + 0.04885004088282585, + -0.024742653593420982, + -0.44927915930747986, + 0.24271035194396973, + 0.0, + 0.43931102752685547 + ], + [ + 0.4339343011379242, + 0.09508800506591797, + 0.05809151381254196, + -0.024690115824341774, + -0.48629269003868103, + 0.23504938185214996, + 0.0, + 0.438394159078598 + ], + [ + 0.4445948302745819, + 0.09723717719316483, + 0.06473793834447861, + -0.02439703233540058, + -0.5002076029777527, + 0.23075781762599945, + 0.0, + 0.438394159078598 + ], + [ + 0.4479336440563202, + 0.09751948714256287, + 0.06456998735666275, + -0.02423170395195484, + -0.5004149079322815, + 0.22434823215007782, + 0.0, + 0.43931102752685547 + ], + [ + 0.44102901220321655, + 0.09754861891269684, + 0.05642234534025192, + -0.02281022258102894, + -0.47402799129486084, + 0.23472943902015686, + 0.0, + 0.43931102752685547 + ], + [ + 0.4223542809486389, + 0.10297859460115433, + 0.03825204819440842, + -0.01097900327295065, + -0.41724973917007446, + 0.24771279096603394, + 0.0, + 0.43931102752685547 + ], + [ + 0.4159712493419647, + 0.12440215796232224, + 0.036405324935913086, + 0.0026657902635633945, + -0.38544145226478577, + 0.24919508397579193, + 0.0, + 0.438394159078598 + ], + [ + 0.4197991192340851, + 0.13229382038116455, + 0.02952001802623272, + -0.011318978853523731, + -0.3546322286128998, + 0.23050466179847717, + 0.0, + 0.438394159078598 + ], + [ + 0.41962841153144836, + 0.13780951499938965, + 0.028020290657877922, + -0.02766353264451027, + -0.3446815609931946, + 0.23015259206295013, + 0.0, + 0.49086472392082214 + ] + ], + "left_gripper_pos": [ + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 0.9679883122444153 + ], + [ + 0.6931989789009094 + ], + [ + 0.4448287785053253 + ], + [ + 0.43931102752685547 + ], + [ + 0.43931102752685547 + ], + [ + 0.43931102752685547 + ], + [ + 0.43931102752685547 + ], + [ + 0.43931102752685547 + ], + [ + 0.43931102752685547 + ], + [ + 0.43931102752685547 + ], + [ + 0.43931102752685547 + ], + [ + 0.43931102752685547 + ], + [ + 0.43931102752685547 + ], + [ + 0.43931102752685547 + ], + [ + 0.43931102752685547 + ], + [ + 0.43931102752685547 + ], + [ + 0.43931102752685547 + ], + [ + 0.43931102752685547 + ], + [ + 0.43931102752685547 + ], + [ + 0.43931102752685547 + ], + [ + 0.43931102752685547 + ], + [ + 0.438394159078598 + ], + [ + 0.43931102752685547 + ], + [ + 0.438394159078598 + ], + [ + 0.438394159078598 + ], + [ + 0.43931102752685547 + ], + [ + 0.43931102752685547 + ], + [ + 0.43931102752685547 + ], + [ + 0.438394159078598 + ], + [ + 0.438394159078598 + ], + [ + 0.49086472392082214 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.31565791368484497, + -0.07030607014894485, + 0.11082445830106735 + ], + [ + 0.3139985203742981, + -0.07020541280508041, + 0.10222704708576202 + ], + [ + 0.3074563443660736, + -0.04533327743411064, + 0.09711876511573792 + ], + [ + 0.3002356290817261, + -0.026845857501029968, + 0.0954020693898201 + ], + [ + 0.2826344966888428, + 0.006388725712895393, + 0.085712730884552 + ], + [ + 0.254953533411026, + 0.034195031970739365, + 0.08644115179777145 + ], + [ + 0.23976503312587738, + 0.06200302764773369, + 0.08156083524227142 + ], + [ + 0.2316158562898636, + 0.08552972972393036, + 0.08547656983137131 + ], + [ + 0.23417140543460846, + 0.10160645842552185, + 0.08803629130125046 + ], + [ + 0.2456255704164505, + 0.12203340977430344, + 0.08890237659215927 + ], + [ + 0.25466060638427734, + 0.13826625049114227, + 0.0786200687289238 + ], + [ + 0.2592528462409973, + 0.14719080924987793, + 0.06608720868825912 + ], + [ + 0.2615671455860138, + 0.1514909863471985, + 0.05976346135139465 + ], + [ + 0.2678596079349518, + 0.14970619976520538, + 0.03760410472750664 + ], + [ + 0.2739960253238678, + 0.1478854864835739, + 0.025337468832731247 + ], + [ + 0.28463226556777954, + 0.14347420632839203, + 0.021677525714039803 + ], + [ + 0.28566962480545044, + 0.14077885448932648, + 0.02124568447470665 + ], + [ + 0.28519755601882935, + 0.14145618677139282, + 0.021696418523788452 + ], + [ + 0.2798908054828644, + 0.14062216877937317, + 0.026241278275847435 + ], + [ + 0.2732219994068146, + 0.14389117062091827, + 0.05580947920680046 + ], + [ + 0.27250027656555176, + 0.14333370327949524, + 0.0856747105717659 + ], + [ + 0.2723197638988495, + 0.1312626302242279, + 0.10125475376844406 + ], + [ + 0.28674644231796265, + 0.10884859412908554, + 0.10406704992055893 + ], + [ + 0.2963227927684784, + 0.09143080562353134, + 0.10559330135583878 + ], + [ + 0.2993438243865967, + 0.08186277002096176, + 0.10272365063428879 + ], + [ + 0.2967422306537628, + 0.08191069215536118, + 0.09661802649497986 + ], + [ + 0.28341343998908997, + 0.08712100237607956, + 0.08577258884906769 + ], + [ + 0.2784242630004883, + 0.08916085958480835, + 0.07563649863004684 + ], + [ + 0.27596208453178406, + 0.08675603568553925, + 0.06514935195446014 + ], + [ + 0.28520774841308594, + 0.08530790358781815, + 0.054176948964595795 + ], + [ + 0.2971261441707611, + 0.08242574334144592, + 0.052408523857593536 + ], + [ + 0.31166017055511475, + 0.08696481585502625, + 0.05129578709602356 + ], + [ + 0.3316909372806549, + 0.09065686166286469, + 0.050457388162612915 + ], + [ + 0.35382160544395447, + 0.08770924806594849, + 0.0474487729370594 + ], + [ + 0.37647512555122375, + 0.08610396087169647, + 0.04518519341945648 + ], + [ + 0.3968782126903534, + 0.08747179806232452, + 0.04529481753706932 + ], + [ + 0.4172104597091675, + 0.09177049249410629, + 0.04885004088282585 + ], + [ + 0.4339343011379242, + 0.09508800506591797, + 0.05809151381254196 + ], + [ + 0.4445948302745819, + 0.09723717719316483, + 0.06473793834447861 + ], + [ + 0.4479336440563202, + 0.09751948714256287, + 0.06456998735666275 + ], + [ + 0.44102901220321655, + 0.09754861891269684, + 0.05642234534025192 + ], + [ + 0.4223542809486389, + 0.10297859460115433, + 0.03825204819440842 + ], + [ + 0.4159712493419647, + 0.12440215796232224, + 0.036405324935913086 + ], + [ + 0.4197991192340851, + 0.13229382038116455, + 0.02952001802623272 + ], + [ + 0.41962841153144836, + 0.13780951499938965, + 0.028020290657877922 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8718920377342118, + -0.45450524735984926, + 0.18228893180345865, + -0.4281739196847352, + -0.8882041593556106, + -0.16661472265440064, + 0.23763705316615427, + 0.06721868360623565, + -0.9690254277039128 + ], + [ + 0.8786629291906618, + -0.4523705116930134, + 0.15268391210827667, + -0.42844981723057823, + -0.8882013774831813, + -0.16591885713222598, + 0.21067085935451732, + 0.08036935477892779, + -0.9742476871059272 + ], + [ + 0.9154156813115946, + -0.38956655507119803, + 0.10125230653564737, + -0.36658672068927073, + -0.9107870130738299, + -0.18995050152694493, + 0.16621764835033637, + 0.1367659167556396, + -0.9765586400164987 + ], + [ + 0.9436433416039621, + -0.3238407210583014, + 0.06829664143241325, + -0.29541214516754477, + -0.917192969908613, + -0.2673737467249315, + 0.14922770632164023, + 0.23212979846339796, + -0.961169521120663 + ], + [ + 0.9856270054227476, + -0.15821510323594187, + 0.059223198912478396, + -0.12832419949831295, + -0.9291751333217132, + -0.3466503590647113, + 0.10987404609144008, + 0.33406818574149855, + -0.9361229306404578 + ], + [ + 0.9871080040838595, + 0.05533460797382228, + 0.1501861159826795, + 0.09760103501036979, + -0.9517891457570901, + -0.2908117260082433, + 0.12685356218287303, + 0.3017209027882762, + -0.9449193989871008 + ], + [ + 0.9322257171539945, + 0.29074759533566996, + 0.2154554433827253, + 0.33220057001788406, + -0.9236944485586466, + -0.1908699740182603, + 0.1435200109967741, + 0.24950831951753424, + -0.9576782366405862 + ], + [ + 0.859721957014389, + 0.45814965197558366, + 0.22578098463334006, + 0.4865839253330799, + -0.8690543809023533, + -0.08933401727158075, + 0.1552876048974956, + 0.18666381392513903, + -0.9700733891495634 + ], + [ + 0.8374902080514768, + 0.5174004834580636, + 0.17580355836915196, + 0.533695008152654, + -0.8435636893978979, + -0.059748976579895, + 0.11738734893859837, + 0.14386466434384926, + -0.9826103849758555 + ], + [ + 0.7989865015806129, + 0.5847350425297752, + 0.14037628122184725, + 0.593587968688121, + -0.80426828635647, + -0.028387444230458046, + 0.09630105773398051, + 0.10600685637697715, + -0.9896911905642019 + ], + [ + 0.7664326756613711, + 0.630193620725126, + 0.1242455394608105, + 0.6348929536011494, + -0.7725967609407182, + 0.0022764998396211586, + 0.09742633702526539, + 0.07713783365681862, + -0.9922488918978809 + ], + [ + 0.7475154700678379, + 0.6543247253893534, + 0.11436684726531038, + 0.6554653220592774, + -0.754520387794794, + 0.032622016794206614, + 0.10763751013000608, + 0.0505780401571786, + -0.9929028292168736 + ], + [ + 0.7409072860869395, + 0.6616446098267404, + 0.11525104646165438, + 0.6607105685797022, + -0.7488606955031895, + 0.05166433293449093, + 0.12049040621714496, + 0.03786910373509957, + -0.991991931918767 + ], + [ + 0.7737888975140012, + 0.6231529471118554, + 0.11371519946724634, + 0.6253740738917523, + -0.7800842958847112, + 0.019384504587100483, + 0.1007869524695513, + 0.05611502312093749, + -0.9933242644736093 + ], + [ + 0.8150536791623251, + 0.5693104701201908, + 0.10757829100466859, + 0.5718931568438501, + -0.8202878088019667, + 0.008131905437447146, + 0.09287473951044589, + 0.054895349005134875, + -0.9941633585173372 + ], + [ + 0.8495358071234353, + 0.5178158804796225, + 0.10077512757742577, + 0.5180609100840223, + -0.8549551180139217, + 0.02578060559249386, + 0.09950781807500114, + 0.030306106726444428, + -0.9945751525335015 + ], + [ + 0.8569119169409328, + 0.5045757081635859, + 0.10538178844483416, + 0.5063578265725025, + -0.8622522899971454, + 0.011078802437548621, + 0.09645578299608353, + 0.04386733552307981, + -0.9943701216351576 + ], + [ + 0.8564935027370859, + 0.5055018075049452, + 0.104339840801058, + 0.5070528554769255, + -0.8618160933333772, + 0.013054616972212267, + 0.09652088645393238, + 0.041724619600763194, + -0.9944560194384255 + ], + [ + 0.8611108871452119, + 0.5011541219846285, + 0.08563052059751816, + 0.5020594264313392, + -0.8647473683883851, + 0.012178719012982633, + 0.08015218257428006, + 0.03250438252264521, + -0.9962525245867137 + ], + [ + 0.8533156468223536, + 0.5083114540220268, + 0.1160683962074142, + 0.5103886478813515, + -0.8598409087027372, + 0.013305631706044832, + 0.1065637602658336, + 0.04788608807643546, + -0.9931520968949026 + ], + [ + 0.8510097469149827, + 0.490630085187113, + 0.18725525403839224, + 0.49252190659496214, + -0.8693993267698673, + 0.03958512518818521, + 0.18222124513832058, + 0.05853998737091757, + -0.9815133660316869 + ], + [ + 0.8365081472604773, + 0.47068259699441745, + 0.28055661185121594, + 0.47091543499817173, + -0.8793077321342173, + 0.07110953022950914, + 0.2801656164616311, + 0.07263473752667898, + -0.9571997817891018 + ], + [ + 0.8330618881985362, + 0.43462770586486926, + 0.34220848575938373, + 0.4448326576134574, + -0.8940656220264942, + 0.05263620646405533, + 0.3288339963441101, + 0.10837629263366973, + -0.9381485927310999 + ], + [ + 0.8553032947237772, + 0.37142451004205584, + 0.3612479859800882, + 0.3789156344785842, + -0.923922820360156, + 0.052816322907094426, + 0.35338253491413985, + 0.09170853481412303, + -0.9309727862080089 + ], + [ + 0.8691815506533546, + 0.3465310550216871, + 0.35276005996907656, + 0.3520706415330053, + -0.9346037185814406, + 0.05061771018409772, + 0.34723147232698837, + 0.08020048079219805, + -0.9343437202156025 + ], + [ + 0.8813302595076721, + 0.3454028132119138, + 0.3224187809378278, + 0.3425977814480037, + -0.937063266468245, + 0.06737354660969347, + 0.32539780857136263, + 0.05108161372899632, + -0.9441964493238663 + ], + [ + 0.8852941571094024, + 0.3715496780897457, + 0.2796517335890458, + 0.3673836113243608, + -0.9274880080220297, + 0.06924793935993995, + 0.28510267890397545, + 0.041434667691840676, + -0.9576009768139562 + ], + [ + 0.8931435905369296, + 0.37128087076225336, + 0.2538602798565075, + 0.3676284915211332, + -0.9277997951196721, + 0.06353607162699505, + 0.25912124363837385, + 0.036579436599234655, + -0.9651518667615916 + ], + [ + 0.904510048758455, + 0.3514364650605801, + 0.2415656902805135, + 0.3502186869736572, + -0.9353620413236232, + 0.04944413964618872, + 0.2433278508297495, + 0.039878097705732564, + -0.9691239829526185 + ], + [ + 0.9132750919613302, + 0.3108452065487792, + 0.26325627052108413, + 0.3112751214167175, + -0.949426542993724, + 0.04119512405605584, + 0.26274779768826084, + 0.04432264685950989, + -0.9638459927733971 + ], + [ + 0.9120532254641364, + 0.29118527860747695, + 0.28873871829519365, + 0.2894838101186336, + -0.9558974484009476, + 0.049590239158089584, + 0.2904445516783954, + 0.03835624672518995, + -0.9561227749287704 + ], + [ + 0.9058696520557807, + 0.29154043481569053, + 0.30725290617310136, + 0.2848202612863045, + -0.9561967353657569, + 0.06756642684551036, + 0.31349257127584335, + 0.026305477440004305, + -0.9492262267823796 + ], + [ + 0.8986050482811954, + 0.28347339685050854, + 0.33489072916637247, + 0.27592977203063784, + -0.9585529826321516, + 0.07098549425147559, + 0.3411330064808605, + 0.0286183990649395, + -0.9395792990079597 + ], + [ + 0.8990842501352068, + 0.25681152677333235, + 0.3545354014413277, + 0.24925391930695956, + -0.9660698188163945, + 0.06768743518688408, + 0.3598888646081358, + 0.027512631433742142, + -0.9325894382002502 + ], + [ + 0.8943751398100136, + 0.24383071082042393, + 0.3750195911557491, + 0.2343495695366665, + -0.9695216797152912, + 0.07147021631434398, + 0.38101625758987967, + 0.023964495046773154, + -0.9242577099647887 + ], + [ + 0.8866938385627094, + 0.23452214141324335, + 0.3984638024236009, + 0.22304055758959557, + -0.9718670093868683, + 0.07567975776617587, + 0.40500240286330413, + 0.021768813756643888, + -0.9140564383136188 + ], + [ + 0.874359256885776, + 0.22983074861066854, + 0.4274034591474584, + 0.2164837286134471, + -0.9729754410779735, + 0.08033421627639298, + 0.4343163422481047, + 0.02228492881259874, + -0.9004847010383045 + ], + [ + 0.859762092127681, + 0.22159949218469255, + 0.4601117364333568, + 0.20589231535387564, + -0.9748934853392965, + 0.08480003962981739, + 0.46735158009624045, + 0.02182561125111395, + -0.8838020950841099 + ], + [ + 0.8542238777560875, + 0.2172575349486123, + 0.47233540009129665, + 0.20069380768179315, + -0.9758795790265252, + 0.08591299550821938, + 0.4796077170245869, + 0.02140585777455302, + -0.8772218801554139 + ], + [ + 0.8553957343970584, + 0.21107201166724912, + 0.47301875593474957, + 0.19519237831124006, + -0.9772393184579172, + 0.0830857984802908, + 0.4797896132937011, + 0.021258418347713408, + -0.8771259924462589 + ], + [ + 0.8653378555299501, + 0.22239348977134013, + 0.44914533449002, + 0.20693486269299835, + -0.9747457700573462, + 0.08395621690822544, + 0.4564738310013587, + 0.02029333542412195, + -0.8895053806179629 + ], + [ + 0.8863014535660118, + 0.24085911171373525, + 0.39554597926315127, + 0.22415184624047668, + -0.9705081912889624, + 0.0887118958652821, + 0.4052476813428556, + 0.010036879270836477, + -0.9141518352116033 + ], + [ + 0.8980100271616469, + 0.24759440273834102, + 0.3636963057961706, + 0.22852981332498026, + -0.9688606245582362, + 0.09530590014408076, + 0.37596823740681495, + -0.002470205106467352, + -0.9266292584134953 + ], + [ + 0.9129712736325346, + 0.22462780444425348, + 0.3406256053093218, + 0.21425222223519744, + -0.9743868243932212, + 0.06831033389007472, + 0.3472455021869502, + 0.01061442035384624, + -0.9377141863550347 + ], + [ + 0.9163656037911894, + 0.21893902418598335, + 0.33517127543525965, + 0.214708424926445, + -0.9753911932644969, + 0.050122972454418366, + 0.33789698497325243, + 0.02603312871229002, + -0.9408229927863345 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.001659393310546875, + 0.00010065734386444092, + -0.008597411215305328, + -0.013051025569438934, + 0.027671322226524353, + 0.002799808979034424, + 1.0 + ], + [ + -0.006542176008224487, + 0.024872135370969772, + -0.005108281970024109, + -0.05683646351099014, + 0.0452684611082077, + 0.07278889417648315, + 1.0 + ], + [ + -0.007220715284347534, + 0.018487419933080673, + -0.0017166957259178162, + -0.09782618284225464, + 0.01720552146434784, + 0.07751196622848511, + 1.0 + ], + [ + -0.0176011323928833, + 0.03323458135128021, + -0.009689338505268097, + -0.10580620169639587, + 0.039690859615802765, + 0.1739230453968048, + 1.0 + ], + [ + -0.027680963277816772, + 0.02780630625784397, + 0.0007284209132194519, + 0.03370058536529541, + -0.017099939286708832, + 0.22802264988422394, + 1.0 + ], + [ + -0.01518850028514862, + 0.027807995676994324, + -0.0048803165555000305, + 0.054206907749176025, + -0.01682107150554657, + 0.24376703798770905, + 1.0 + ], + [ + -0.008149176836013794, + 0.02352670207619667, + 0.003915734589099884, + 0.06476987898349762, + -0.011901244521141052, + 0.17270532250404358, + 1.0 + ], + [ + 0.002555549144744873, + 0.01607672870159149, + 0.0025597214698791504, + 0.0447210818529129, + 0.03825995326042175, + 0.05233579874038696, + 1.0 + ], + [ + 0.011454164981842041, + 0.020426951348781586, + 0.0008660852909088135, + 0.03867356479167938, + 0.021208100020885468, + 0.07159489393234253, + 1.0 + ], + [ + 0.009035035967826843, + 0.016232840716838837, + -0.010282307863235474, + 0.029119856655597687, + -0.0011305958032608032, + 0.052845895290374756, + 1.0 + ], + [ + 0.004592239856719971, + 0.008924558758735657, + -0.012532860040664673, + 0.02668878808617592, + -0.010265320539474487, + 0.028077304363250732, + 1.0 + ], + [ + 0.0023142993450164795, + 0.004300177097320557, + -0.0063237473368644714, + 0.012739293277263641, + -0.012937426567077637, + 0.008361577987670898, + 1.0 + ], + [ + 0.006292462348937988, + -0.001784786581993103, + -0.022159356623888016, + -0.01827588677406311, + 0.01982550323009491, + -0.048523902893066406, + 1.0 + ], + [ + 0.006136417388916016, + -0.0018207132816314697, + -0.01226663589477539, + 0.0012705512344837189, + 0.007949590682983398, + -0.06787800788879395, + 0.0 + ], + [ + 0.010636240243911743, + -0.004411280155181885, + -0.0036599431186914444, + 0.024699633941054344, + -0.006663993000984192, + -0.06423509120941162, + 0.0 + ], + [ + 0.0010373592376708984, + -0.0026953518390655518, + -0.00043184123933315277, + -0.01362513191998005, + 0.0030667930841445923, + -0.013897359371185303, + 0.0 + ], + [ + -0.00047206878662109375, + 0.0006773322820663452, + 0.00045073404908180237, + 0.002154480665922165, + -6.540864706039429e-05, + 0.0008150339126586914, + 0.0 + ], + [ + -0.005306750535964966, + -0.0008340179920196533, + 0.004544859752058983, + 0.009317554533481598, + 0.01643313467502594, + -0.006670653820037842, + 0.0 + ], + [ + -0.006668806076049805, + 0.003269001841545105, + 0.029568200930953026, + -0.015563875436782837, + -0.02652823179960251, + 0.011185765266418457, + 0.0 + ], + [ + -0.0007217228412628174, + -0.0005574673414230347, + 0.02986523136496544, + -0.011393051594495773, + -0.07647856324911118, + -0.014391064643859863, + 0.0 + ], + [ + -0.0001805126667022705, + -0.012071073055267334, + 0.015580043196678162, + -0.016165371984243393, + -0.1007215827703476, + -0.011913836002349854, + 0.0 + ], + [ + 0.01442667841911316, + -0.022414036095142365, + 0.002812296152114868, + -0.039274267852306366, + -0.051102012395858765, + -0.022278815507888794, + 0.0 + ], + [ + 0.009576350450515747, + -0.0174177885055542, + 0.0015262514352798462, + 0.016820155084133148, + -0.026115834712982178, + -0.0734218955039978, + 0.0 + ], + [ + 0.003021031618118286, + -0.00956803560256958, + -0.002869650721549988, + 0.012565210461616516, + 0.006567209959030151, + -0.03217262029647827, + 0.0 + ], + [ + -0.0026015937328338623, + 4.792213439941406e-05, + -0.0061056241393089294, + 0.03157835081219673, + 0.023184865713119507, + -0.014109224081039429, + 0.0 + ], + [ + -0.013328790664672852, + 0.005210310220718384, + -0.01084543764591217, + 0.010805662721395493, + 0.04231885075569153, + 0.02260562777519226, + 0.0 + ], + [ + -0.004989176988601685, + 0.0020398572087287903, + -0.010136090219020844, + 0.005360212177038193, + 0.027001291513442993, + -0.0028808414936065674, + 0.0 + ], + [ + -0.0024621784687042236, + -0.002404823899269104, + -0.0104871466755867, + -0.0032433457672595978, + 0.016316905617713928, + -0.02106022834777832, + 0.0 + ], + [ + 0.00924566388130188, + -0.0014481320977210999, + -0.01097240298986435, + -0.00482742115855217, + -0.020073607563972473, + -0.04093030095100403, + 0.0 + ], + [ + 0.011918395757675171, + -0.002882160246372223, + -0.0017684251070022583, + 0.005857877433300018, + -0.02882242202758789, + -0.021145015954971313, + 0.0 + ], + [ + 0.014534026384353638, + 0.004539072513580322, + -0.0011127367615699768, + 0.012389488518238068, + -0.02417740225791931, + -0.002710998058319092, + 0.0 + ], + [ + 0.02003076672554016, + 0.00369204580783844, + -0.0008383989334106445, + -0.0027438662946224213, + -0.02925315499305725, + -0.006704419851303101, + 0.0 + ], + [ + 0.02213066816329956, + -0.0029476135969161987, + -0.0030086152255535126, + 0.0009565446525812149, + -0.020026832818984985, + -0.027486324310302734, + 0.0 + ], + [ + 0.022653520107269287, + -0.0016052871942520142, + -0.0022635795176029205, + 0.00357021763920784, + -0.02274644374847412, + -0.014174193143844604, + 0.0 + ], + [ + 0.02040308713912964, + 0.0013678371906280518, + 0.00010962411761283875, + 0.0021114498376846313, + -0.026086241006851196, + -0.009835630655288696, + 0.0 + ], + [ + 0.020332247018814087, + 0.004298694431781769, + 0.0035552233457565308, + -0.0009315423667430878, + -0.03229770064353943, + -0.0037188827991485596, + 0.0 + ], + [ + 0.016723841428756714, + 0.003317512571811676, + 0.00924147292971611, + 5.2537769079208374e-05, + -0.03701353073120117, + -0.007660970091819763, + 0.0 + ], + [ + 0.010660529136657715, + 0.0021491721272468567, + 0.0066464245319366455, + 0.0002930834889411926, + -0.013914912939071655, + -0.004291564226150513, + 0.0 + ], + [ + 0.0033388137817382812, + 0.00028230994939804077, + -0.00016795098781585693, + 0.00016532838344573975, + -0.0002073049545288086, + -0.006409585475921631, + 0.0 + ], + [ + -0.006904631853103638, + 2.9131770133972168e-05, + -0.008147642016410828, + 0.0014214813709259033, + 0.026386916637420654, + 0.01038120687007904, + 0.0 + ], + [ + -0.018674731254577637, + 0.005429975688457489, + -0.018170297145843506, + 0.011831219308078289, + 0.05677825212478638, + 0.012983351945877075, + 0.0 + ], + [ + -0.006383031606674194, + 0.021423563361167908, + -0.0018467232584953308, + 0.013644794002175331, + 0.031808286905288696, + 0.0014822930097579956, + 0.0 + ], + [ + 0.0038278698921203613, + 0.007891662418842316, + -0.0068853069096803665, + -0.013984769582748413, + 0.030809223651885986, + -0.01869042217731476, + 0.0 + ], + [ + -0.00017070770263671875, + 0.005515694618225098, + -0.0014997273683547974, + -0.016344554722309113, + 0.0099506676197052, + -0.0003520697355270386, + 1.0 + ], + [ + 0.0003781914710998535, + -0.0005724579095840454, + -0.0008069518953561783, + -0.006086260080337524, + 0.019177228212356567, + -0.000490143895149231, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 0.9679883122444153 + ], + [ + 0.6931989789009094 + ], + [ + 0.4448287785053253 + ], + [ + 0.43931102752685547 + ], + [ + 0.43931102752685547 + ], + [ + 0.43931102752685547 + ], + [ + 0.43931102752685547 + ], + [ + 0.43931102752685547 + ], + [ + 0.43931102752685547 + ], + [ + 0.43931102752685547 + ], + [ + 0.43931102752685547 + ], + [ + 0.43931102752685547 + ], + [ + 0.43931102752685547 + ], + [ + 0.43931102752685547 + ], + [ + 0.43931102752685547 + ], + [ + 0.43931102752685547 + ], + [ + 0.43931102752685547 + ], + [ + 0.43931102752685547 + ], + [ + 0.43931102752685547 + ], + [ + 0.43931102752685547 + ], + [ + 0.43931102752685547 + ], + [ + 0.438394159078598 + ], + [ + 0.43931102752685547 + ], + [ + 0.438394159078598 + ], + [ + 0.438394159078598 + ], + [ + 0.43931102752685547 + ], + [ + 0.43931102752685547 + ], + [ + 0.43931102752685547 + ], + [ + 0.438394159078598 + ], + [ + 0.438394159078598 + ], + [ + 0.49086472392082214 + ], + [ + 0.7836189270019531 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3139985203742981, + -0.07020541280508041, + 0.10222704708576202 + ], + [ + 0.3074563443660736, + -0.04533327743411064, + 0.09711876511573792 + ], + [ + 0.3002356290817261, + -0.026845857501029968, + 0.0954020693898201 + ], + [ + 0.2826344966888428, + 0.006388725712895393, + 0.085712730884552 + ], + [ + 0.254953533411026, + 0.034195031970739365, + 0.08644115179777145 + ], + [ + 0.23976503312587738, + 0.06200302764773369, + 0.08156083524227142 + ], + [ + 0.2316158562898636, + 0.08552972972393036, + 0.08547656983137131 + ], + [ + 0.23417140543460846, + 0.10160645842552185, + 0.08803629130125046 + ], + [ + 0.2456255704164505, + 0.12203340977430344, + 0.08890237659215927 + ], + [ + 0.25466060638427734, + 0.13826625049114227, + 0.0786200687289238 + ], + [ + 0.2592528462409973, + 0.14719080924987793, + 0.06608720868825912 + ], + [ + 0.2615671455860138, + 0.1514909863471985, + 0.05976346135139465 + ], + [ + 0.2678596079349518, + 0.14970619976520538, + 0.03760410472750664 + ], + [ + 0.2739960253238678, + 0.1478854864835739, + 0.025337468832731247 + ], + [ + 0.28463226556777954, + 0.14347420632839203, + 0.021677525714039803 + ], + [ + 0.28566962480545044, + 0.14077885448932648, + 0.02124568447470665 + ], + [ + 0.28519755601882935, + 0.14145618677139282, + 0.021696418523788452 + ], + [ + 0.2798908054828644, + 0.14062216877937317, + 0.026241278275847435 + ], + [ + 0.2732219994068146, + 0.14389117062091827, + 0.05580947920680046 + ], + [ + 0.27250027656555176, + 0.14333370327949524, + 0.0856747105717659 + ], + [ + 0.2723197638988495, + 0.1312626302242279, + 0.10125475376844406 + ], + [ + 0.28674644231796265, + 0.10884859412908554, + 0.10406704992055893 + ], + [ + 0.2963227927684784, + 0.09143080562353134, + 0.10559330135583878 + ], + [ + 0.2993438243865967, + 0.08186277002096176, + 0.10272365063428879 + ], + [ + 0.2967422306537628, + 0.08191069215536118, + 0.09661802649497986 + ], + [ + 0.28341343998908997, + 0.08712100237607956, + 0.08577258884906769 + ], + [ + 0.2784242630004883, + 0.08916085958480835, + 0.07563649863004684 + ], + [ + 0.27596208453178406, + 0.08675603568553925, + 0.06514935195446014 + ], + [ + 0.28520774841308594, + 0.08530790358781815, + 0.054176948964595795 + ], + [ + 0.2971261441707611, + 0.08242574334144592, + 0.052408523857593536 + ], + [ + 0.31166017055511475, + 0.08696481585502625, + 0.05129578709602356 + ], + [ + 0.3316909372806549, + 0.09065686166286469, + 0.050457388162612915 + ], + [ + 0.35382160544395447, + 0.08770924806594849, + 0.0474487729370594 + ], + [ + 0.37647512555122375, + 0.08610396087169647, + 0.04518519341945648 + ], + [ + 0.3968782126903534, + 0.08747179806232452, + 0.04529481753706932 + ], + [ + 0.4172104597091675, + 0.09177049249410629, + 0.04885004088282585 + ], + [ + 0.4339343011379242, + 0.09508800506591797, + 0.05809151381254196 + ], + [ + 0.4445948302745819, + 0.09723717719316483, + 0.06473793834447861 + ], + [ + 0.4479336440563202, + 0.09751948714256287, + 0.06456998735666275 + ], + [ + 0.44102901220321655, + 0.09754861891269684, + 0.05642234534025192 + ], + [ + 0.4223542809486389, + 0.10297859460115433, + 0.03825204819440842 + ], + [ + 0.4159712493419647, + 0.12440215796232224, + 0.036405324935913086 + ], + [ + 0.4197991192340851, + 0.13229382038116455, + 0.02952001802623272 + ], + [ + 0.41962841153144836, + 0.13780951499938965, + 0.028020290657877922 + ], + [ + 0.4200066030025482, + 0.1372370570898056, + 0.027213338762521744 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8786629291906618, + -0.4523705116930134, + 0.15268391210827667, + -0.42844981723057823, + -0.8882013774831813, + -0.16591885713222598, + 0.21067085935451732, + 0.08036935477892779, + -0.9742476871059272 + ], + [ + 0.9154156813115946, + -0.38956655507119803, + 0.10125230653564737, + -0.36658672068927073, + -0.9107870130738299, + -0.18995050152694493, + 0.16621764835033637, + 0.1367659167556396, + -0.9765586400164987 + ], + [ + 0.9436433416039621, + -0.3238407210583014, + 0.06829664143241325, + -0.29541214516754477, + -0.917192969908613, + -0.2673737467249315, + 0.14922770632164023, + 0.23212979846339796, + -0.961169521120663 + ], + [ + 0.9856270054227476, + -0.15821510323594187, + 0.059223198912478396, + -0.12832419949831295, + -0.9291751333217132, + -0.3466503590647113, + 0.10987404609144008, + 0.33406818574149855, + -0.9361229306404578 + ], + [ + 0.9871080040838595, + 0.05533460797382228, + 0.1501861159826795, + 0.09760103501036979, + -0.9517891457570901, + -0.2908117260082433, + 0.12685356218287303, + 0.3017209027882762, + -0.9449193989871008 + ], + [ + 0.9322257171539945, + 0.29074759533566996, + 0.2154554433827253, + 0.33220057001788406, + -0.9236944485586466, + -0.1908699740182603, + 0.1435200109967741, + 0.24950831951753424, + -0.9576782366405862 + ], + [ + 0.859721957014389, + 0.45814965197558366, + 0.22578098463334006, + 0.4865839253330799, + -0.8690543809023533, + -0.08933401727158075, + 0.1552876048974956, + 0.18666381392513903, + -0.9700733891495634 + ], + [ + 0.8374902080514768, + 0.5174004834580636, + 0.17580355836915196, + 0.533695008152654, + -0.8435636893978979, + -0.059748976579895, + 0.11738734893859837, + 0.14386466434384926, + -0.9826103849758555 + ], + [ + 0.7989865015806129, + 0.5847350425297752, + 0.14037628122184725, + 0.593587968688121, + -0.80426828635647, + -0.028387444230458046, + 0.09630105773398051, + 0.10600685637697715, + -0.9896911905642019 + ], + [ + 0.7664326756613711, + 0.630193620725126, + 0.1242455394608105, + 0.6348929536011494, + -0.7725967609407182, + 0.0022764998396211586, + 0.09742633702526539, + 0.07713783365681862, + -0.9922488918978809 + ], + [ + 0.7475154700678379, + 0.6543247253893534, + 0.11436684726531038, + 0.6554653220592774, + -0.754520387794794, + 0.032622016794206614, + 0.10763751013000608, + 0.0505780401571786, + -0.9929028292168736 + ], + [ + 0.7409072860869395, + 0.6616446098267404, + 0.11525104646165438, + 0.6607105685797022, + -0.7488606955031895, + 0.05166433293449093, + 0.12049040621714496, + 0.03786910373509957, + -0.991991931918767 + ], + [ + 0.7737888975140012, + 0.6231529471118554, + 0.11371519946724634, + 0.6253740738917523, + -0.7800842958847112, + 0.019384504587100483, + 0.1007869524695513, + 0.05611502312093749, + -0.9933242644736093 + ], + [ + 0.8150536791623251, + 0.5693104701201908, + 0.10757829100466859, + 0.5718931568438501, + -0.8202878088019667, + 0.008131905437447146, + 0.09287473951044589, + 0.054895349005134875, + -0.9941633585173372 + ], + [ + 0.8495358071234353, + 0.5178158804796225, + 0.10077512757742577, + 0.5180609100840223, + -0.8549551180139217, + 0.02578060559249386, + 0.09950781807500114, + 0.030306106726444428, + -0.9945751525335015 + ], + [ + 0.8569119169409328, + 0.5045757081635859, + 0.10538178844483416, + 0.5063578265725025, + -0.8622522899971454, + 0.011078802437548621, + 0.09645578299608353, + 0.04386733552307981, + -0.9943701216351576 + ], + [ + 0.8564935027370859, + 0.5055018075049452, + 0.104339840801058, + 0.5070528554769255, + -0.8618160933333772, + 0.013054616972212267, + 0.09652088645393238, + 0.041724619600763194, + -0.9944560194384255 + ], + [ + 0.8611108871452119, + 0.5011541219846285, + 0.08563052059751816, + 0.5020594264313392, + -0.8647473683883851, + 0.012178719012982633, + 0.08015218257428006, + 0.03250438252264521, + -0.9962525245867137 + ], + [ + 0.8533156468223536, + 0.5083114540220268, + 0.1160683962074142, + 0.5103886478813515, + -0.8598409087027372, + 0.013305631706044832, + 0.1065637602658336, + 0.04788608807643546, + -0.9931520968949026 + ], + [ + 0.8510097469149827, + 0.490630085187113, + 0.18725525403839224, + 0.49252190659496214, + -0.8693993267698673, + 0.03958512518818521, + 0.18222124513832058, + 0.05853998737091757, + -0.9815133660316869 + ], + [ + 0.8365081472604773, + 0.47068259699441745, + 0.28055661185121594, + 0.47091543499817173, + -0.8793077321342173, + 0.07110953022950914, + 0.2801656164616311, + 0.07263473752667898, + -0.9571997817891018 + ], + [ + 0.8330618881985362, + 0.43462770586486926, + 0.34220848575938373, + 0.4448326576134574, + -0.8940656220264942, + 0.05263620646405533, + 0.3288339963441101, + 0.10837629263366973, + -0.9381485927310999 + ], + [ + 0.8553032947237772, + 0.37142451004205584, + 0.3612479859800882, + 0.3789156344785842, + -0.923922820360156, + 0.052816322907094426, + 0.35338253491413985, + 0.09170853481412303, + -0.9309727862080089 + ], + [ + 0.8691815506533546, + 0.3465310550216871, + 0.35276005996907656, + 0.3520706415330053, + -0.9346037185814406, + 0.05061771018409772, + 0.34723147232698837, + 0.08020048079219805, + -0.9343437202156025 + ], + [ + 0.8813302595076721, + 0.3454028132119138, + 0.3224187809378278, + 0.3425977814480037, + -0.937063266468245, + 0.06737354660969347, + 0.32539780857136263, + 0.05108161372899632, + -0.9441964493238663 + ], + [ + 0.8852941571094024, + 0.3715496780897457, + 0.2796517335890458, + 0.3673836113243608, + -0.9274880080220297, + 0.06924793935993995, + 0.28510267890397545, + 0.041434667691840676, + -0.9576009768139562 + ], + [ + 0.8931435905369296, + 0.37128087076225336, + 0.2538602798565075, + 0.3676284915211332, + -0.9277997951196721, + 0.06353607162699505, + 0.25912124363837385, + 0.036579436599234655, + -0.9651518667615916 + ], + [ + 0.904510048758455, + 0.3514364650605801, + 0.2415656902805135, + 0.3502186869736572, + -0.9353620413236232, + 0.04944413964618872, + 0.2433278508297495, + 0.039878097705732564, + -0.9691239829526185 + ], + [ + 0.9132750919613302, + 0.3108452065487792, + 0.26325627052108413, + 0.3112751214167175, + -0.949426542993724, + 0.04119512405605584, + 0.26274779768826084, + 0.04432264685950989, + -0.9638459927733971 + ], + [ + 0.9120532254641364, + 0.29118527860747695, + 0.28873871829519365, + 0.2894838101186336, + -0.9558974484009476, + 0.049590239158089584, + 0.2904445516783954, + 0.03835624672518995, + -0.9561227749287704 + ], + [ + 0.9058696520557807, + 0.29154043481569053, + 0.30725290617310136, + 0.2848202612863045, + -0.9561967353657569, + 0.06756642684551036, + 0.31349257127584335, + 0.026305477440004305, + -0.9492262267823796 + ], + [ + 0.8986050482811954, + 0.28347339685050854, + 0.33489072916637247, + 0.27592977203063784, + -0.9585529826321516, + 0.07098549425147559, + 0.3411330064808605, + 0.0286183990649395, + -0.9395792990079597 + ], + [ + 0.8990842501352068, + 0.25681152677333235, + 0.3545354014413277, + 0.24925391930695956, + -0.9660698188163945, + 0.06768743518688408, + 0.3598888646081358, + 0.027512631433742142, + -0.9325894382002502 + ], + [ + 0.8943751398100136, + 0.24383071082042393, + 0.3750195911557491, + 0.2343495695366665, + -0.9695216797152912, + 0.07147021631434398, + 0.38101625758987967, + 0.023964495046773154, + -0.9242577099647887 + ], + [ + 0.8866938385627094, + 0.23452214141324335, + 0.3984638024236009, + 0.22304055758959557, + -0.9718670093868683, + 0.07567975776617587, + 0.40500240286330413, + 0.021768813756643888, + -0.9140564383136188 + ], + [ + 0.874359256885776, + 0.22983074861066854, + 0.4274034591474584, + 0.2164837286134471, + -0.9729754410779735, + 0.08033421627639298, + 0.4343163422481047, + 0.02228492881259874, + -0.9004847010383045 + ], + [ + 0.859762092127681, + 0.22159949218469255, + 0.4601117364333568, + 0.20589231535387564, + -0.9748934853392965, + 0.08480003962981739, + 0.46735158009624045, + 0.02182561125111395, + -0.8838020950841099 + ], + [ + 0.8542238777560875, + 0.2172575349486123, + 0.47233540009129665, + 0.20069380768179315, + -0.9758795790265252, + 0.08591299550821938, + 0.4796077170245869, + 0.02140585777455302, + -0.8772218801554139 + ], + [ + 0.8553957343970584, + 0.21107201166724912, + 0.47301875593474957, + 0.19519237831124006, + -0.9772393184579172, + 0.0830857984802908, + 0.4797896132937011, + 0.021258418347713408, + -0.8771259924462589 + ], + [ + 0.8653378555299501, + 0.22239348977134013, + 0.44914533449002, + 0.20693486269299835, + -0.9747457700573462, + 0.08395621690822544, + 0.4564738310013587, + 0.02029333542412195, + -0.8895053806179629 + ], + [ + 0.8863014535660118, + 0.24085911171373525, + 0.39554597926315127, + 0.22415184624047668, + -0.9705081912889624, + 0.0887118958652821, + 0.4052476813428556, + 0.010036879270836477, + -0.9141518352116033 + ], + [ + 0.8980100271616469, + 0.24759440273834102, + 0.3636963057961706, + 0.22852981332498026, + -0.9688606245582362, + 0.09530590014408076, + 0.37596823740681495, + -0.002470205106467352, + -0.9266292584134953 + ], + [ + 0.9129712736325346, + 0.22462780444425348, + 0.3406256053093218, + 0.21425222223519744, + -0.9743868243932212, + 0.06831033389007472, + 0.3472455021869502, + 0.01061442035384624, + -0.9377141863550347 + ], + [ + 0.9163656037911894, + 0.21893902418598335, + 0.33517127543525965, + 0.214708424926445, + -0.9753911932644969, + 0.050122972454418366, + 0.33789698497325243, + 0.02603312871229002, + -0.9408229927863345 + ], + [ + 0.922611612766742, + 0.2170118510380008, + 0.3188944472658809, + 0.2156949083454905, + -0.9756452630438655, + 0.03990021571241142, + 0.3197866765545144, + 0.03197150620673125, + -0.9469500009446598 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006591.json b/json/chunk-0006/episode_0006591.json new file mode 100644 index 0000000000000000000000000000000000000000..3bfb398dffbee14873680b800ce9543bbb24693b --- /dev/null +++ b/json/chunk-0006/episode_0006591.json @@ -0,0 +1,2422 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 39, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut the clothes." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006591.mp4", + "start": 0, + "end": 39, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.29915207624435425, + -0.0011792514706030488, + 0.10824193805456161, + -0.07570955157279968, + -0.31416937708854675, + -0.1645241677761078, + 0.0, + 0.9988223910331726 + ], + [ + 0.29333922266960144, + -0.002926245331764221, + 0.09943470358848572, + -0.08535102754831314, + -0.2836427390575409, + -0.1587125062942505, + 0.0, + 0.9988223910331726 + ], + [ + 0.281524121761322, + -0.010193695314228535, + 0.08643335849046707, + -0.07323072850704193, + -0.25466927886009216, + -0.17718540132045746, + 0.0, + 0.9988223910331726 + ], + [ + 0.2632578909397125, + -0.026671092957258224, + 0.07862984389066696, + -0.006675945594906807, + -0.25477004051208496, + -0.24667075276374817, + 0.0, + 0.9988223910331726 + ], + [ + 0.24987557530403137, + -0.03654879331588745, + 0.07226765155792236, + 0.010894310660660267, + -0.26374751329421997, + -0.27078381180763245, + 0.0, + 0.9988223910331726 + ], + [ + 0.2444923371076584, + -0.05164406821131706, + 0.06024419516324997, + 0.025091521441936493, + -0.25524580478668213, + -0.2728942036628723, + 0.0, + 0.9988223910331726 + ], + [ + 0.24864105880260468, + -0.049312688410282135, + 0.0480148009955883, + 0.05514077469706535, + -0.24525116384029388, + -0.23981405794620514, + 0.0, + 0.9988223910331726 + ], + [ + 0.2509903311729431, + -0.04684049263596535, + 0.030292460694909096, + 0.07764285057783127, + -0.20278610289096832, + -0.22937741875648499, + 0.0, + 0.9988223910331726 + ], + [ + 0.2592005431652069, + -0.04736275225877762, + 0.018615618348121643, + 0.08689706027507782, + -0.19029562175273895, + -0.21956849098205566, + 0.0, + 0.9988223910331726 + ], + [ + 0.257356196641922, + -0.047569479793310165, + 0.0019474135478958488, + 0.0823293998837471, + -0.13966742157936096, + -0.2267281711101532, + 0.0, + 0.9988223910331726 + ], + [ + 0.2563622295856476, + -0.04474437236785889, + -0.009897635318338871, + 0.09807734191417694, + -0.11058079451322556, + -0.22316978871822357, + 0.0, + 0.9988223910331726 + ], + [ + 0.2589947581291199, + -0.03870425373315811, + -0.019455792382359505, + 0.11960900574922562, + -0.0834130346775055, + -0.21626998484134674, + 0.0, + 0.9359400868415833 + ], + [ + 0.2593117952346802, + -0.03338418900966644, + -0.022889934480190277, + 0.15102456510066986, + -0.07306966930627823, + -0.22063638269901276, + 0.0, + 0.6911999583244324 + ], + [ + 0.2615109980106354, + -0.032528117299079895, + -0.02015652507543564, + 0.16178305447101593, + -0.08731908351182938, + -0.21967168152332306, + 0.0, + 0.5266194939613342 + ], + [ + 0.2587125599384308, + -0.03468475863337517, + -0.01932743936777115, + 0.16473768651485443, + -0.08678790926933289, + -0.23123128712177277, + 0.0, + 0.4112652540206909 + ], + [ + 0.2554880678653717, + -0.03788965195417404, + -0.017098642885684967, + 0.13778923451900482, + -0.08979035913944244, + -0.20504619181156158, + 0.0, + 0.25822705030441284 + ], + [ + 0.2542535662651062, + -0.0416153147816658, + -0.0029506671708077192, + 0.11190742999315262, + -0.09842510521411896, + -0.2215501219034195, + 0.0, + 0.09437843412160873 + ], + [ + 0.25290629267692566, + -0.04678484797477722, + 0.01645437628030777, + 0.07805366069078445, + -0.12276802957057953, + -0.24222639203071594, + 0.0, + 0.04711414873600006 + ], + [ + 0.25152117013931274, + -0.04874468594789505, + 0.031968388706445694, + 0.056967124342918396, + -0.14118017256259918, + -0.25495728850364685, + 0.0, + 0.04711414873600006 + ], + [ + 0.256653368473053, + -0.05218549445271492, + 0.05619277432560921, + 0.03464965894818306, + -0.1783820390701294, + -0.265257328748703, + 0.0, + 0.04711414873600006 + ], + [ + 0.2639482319355011, + -0.04699541628360748, + 0.0877319723367691, + 0.015949103981256485, + -0.23417937755584717, + -0.25315603613853455, + 0.0, + 0.04711414873600006 + ], + [ + 0.2852424681186676, + -0.017838578671216965, + 0.12622395157814026, + 0.009840114042162895, + -0.307787150144577, + -0.16113916039466858, + 0.0, + 0.04711414873600006 + ], + [ + 0.3052351176738739, + 0.014663903042674065, + 0.14991378784179688, + 0.01739281788468361, + -0.35921546816825867, + -0.04750868305563927, + 0.0, + 0.04711414873600006 + ], + [ + 0.32340455055236816, + 0.056546393781900406, + 0.129242941737175, + -0.014322590082883835, + -0.29716914892196655, + 0.10852494835853577, + 0.0, + 0.04711414873600006 + ], + [ + 0.32887953519821167, + 0.07325752079486847, + 0.1020117774605751, + 0.02134205587208271, + -0.23691703379154205, + 0.15156520903110504, + 0.0, + 0.04711414873600006 + ], + [ + 0.32597294449806213, + 0.09691804647445679, + 0.07810933142900467, + 0.07775293290615082, + -0.199349045753479, + 0.18984761834144592, + 0.0, + 0.04711414873600006 + ], + [ + 0.3186850845813751, + 0.11078978329896927, + 0.05199693515896797, + 0.1192578449845314, + -0.15788394212722778, + 0.19709981977939606, + 0.0, + 0.04711414873600006 + ], + [ + 0.31042882800102234, + 0.1359596699476242, + 0.03026876412332058, + 0.12627936899662018, + -0.12698426842689514, + 0.2532182037830353, + 0.0, + 0.04711414873600006 + ], + [ + 0.30390074849128723, + 0.15246208012104034, + 0.003639047499746084, + 0.10226859897375107, + -0.07751722633838654, + 0.30583080649375916, + 0.0, + 0.04711414873600006 + ], + [ + 0.3052451014518738, + 0.15654568374156952, + 0.0021112007088959217, + 0.11850062012672424, + -0.09169889986515045, + 0.2991233170032501, + 0.0, + 0.062092870473861694 + ], + [ + 0.3057671785354614, + 0.15599514544010162, + 0.0021147970110177994, + 0.11623869836330414, + -0.09479605406522751, + 0.3107723593711853, + 0.0, + 0.2032272070646286 + ], + [ + 0.306746244430542, + 0.15222063660621643, + 0.007494093384593725, + 0.10779371112585068, + -0.09711053967475891, + 0.31164172291755676, + 0.0, + 0.438394159078598 + ], + [ + 0.3073057532310486, + 0.14839503169059753, + 0.017873384058475494, + 0.09783938527107239, + -0.10325711220502853, + 0.3072117269039154, + 0.0, + 0.7309711575508118 + ], + [ + 0.30783963203430176, + 0.14608821272850037, + 0.029328398406505585, + 0.08642863482236862, + -0.11811545491218567, + 0.31707441806793213, + 0.0, + 0.9954678416252136 + ], + [ + 0.3083130121231079, + 0.1431197226047516, + 0.04726565629243851, + 0.06848223507404327, + -0.1454022079706192, + 0.32987168431282043, + 0.0, + 1.0143678188323975 + ], + [ + 0.31221458315849304, + 0.14137452840805054, + 0.062297940254211426, + 0.04535365477204323, + -0.1501772403717041, + 0.35312917828559875, + 0.0, + 1.0027955770492554 + ], + [ + 0.3162120282649994, + 0.13926181197166443, + 0.09497949481010437, + 0.023889876902103424, + -0.21403299272060394, + 0.36549440026283264, + 0.0, + 1.0001531839370728 + ], + [ + 0.3155420422554016, + 0.1342450976371765, + 0.120154969394207, + 0.0008208496146835387, + -0.27185049653053284, + 0.35831019282341003, + 0.0, + 1.0001531839370728 + ], + [ + 0.3137199878692627, + 0.12717753648757935, + 0.13868999481201172, + -0.03461036831140518, + -0.308581680059433, + 0.35153281688690186, + 0.0, + 1.0001531839370728 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9359400868415833 + ], + [ + 0.6911999583244324 + ], + [ + 0.5266194939613342 + ], + [ + 0.4112652540206909 + ], + [ + 0.25822705030441284 + ], + [ + 0.09437843412160873 + ], + [ + 0.04711414873600006 + ], + [ + 0.04711414873600006 + ], + [ + 0.04711414873600006 + ], + [ + 0.04711414873600006 + ], + [ + 0.04711414873600006 + ], + [ + 0.04711414873600006 + ], + [ + 0.04711414873600006 + ], + [ + 0.04711414873600006 + ], + [ + 0.04711414873600006 + ], + [ + 0.04711414873600006 + ], + [ + 0.04711414873600006 + ], + [ + 0.04711414873600006 + ], + [ + 0.062092870473861694 + ], + [ + 0.2032272070646286 + ], + [ + 0.438394159078598 + ], + [ + 0.7309711575508118 + ], + [ + 0.9954678416252136 + ], + [ + 1.0143678188323975 + ], + [ + 1.0027955770492554 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.29915207624435425, + -0.0011792514706030488, + 0.10824193805456161 + ], + [ + 0.29333922266960144, + -0.002926245331764221, + 0.09943470358848572 + ], + [ + 0.281524121761322, + -0.010193695314228535, + 0.08643335849046707 + ], + [ + 0.2632578909397125, + -0.026671092957258224, + 0.07862984389066696 + ], + [ + 0.24987557530403137, + -0.03654879331588745, + 0.07226765155792236 + ], + [ + 0.2444923371076584, + -0.05164406821131706, + 0.06024419516324997 + ], + [ + 0.24864105880260468, + -0.049312688410282135, + 0.0480148009955883 + ], + [ + 0.2509903311729431, + -0.04684049263596535, + 0.030292460694909096 + ], + [ + 0.2592005431652069, + -0.04736275225877762, + 0.018615618348121643 + ], + [ + 0.257356196641922, + -0.047569479793310165, + 0.0019474135478958488 + ], + [ + 0.2563622295856476, + -0.04474437236785889, + -0.009897635318338871 + ], + [ + 0.2589947581291199, + -0.03870425373315811, + -0.019455792382359505 + ], + [ + 0.2593117952346802, + -0.03338418900966644, + -0.022889934480190277 + ], + [ + 0.2615109980106354, + -0.032528117299079895, + -0.02015652507543564 + ], + [ + 0.2587125599384308, + -0.03468475863337517, + -0.01932743936777115 + ], + [ + 0.2554880678653717, + -0.03788965195417404, + -0.017098642885684967 + ], + [ + 0.2542535662651062, + -0.0416153147816658, + -0.0029506671708077192 + ], + [ + 0.25290629267692566, + -0.04678484797477722, + 0.01645437628030777 + ], + [ + 0.25152117013931274, + -0.04874468594789505, + 0.031968388706445694 + ], + [ + 0.256653368473053, + -0.05218549445271492, + 0.05619277432560921 + ], + [ + 0.2639482319355011, + -0.04699541628360748, + 0.0877319723367691 + ], + [ + 0.2852424681186676, + -0.017838578671216965, + 0.12622395157814026 + ], + [ + 0.3052351176738739, + 0.014663903042674065, + 0.14991378784179688 + ], + [ + 0.32340455055236816, + 0.056546393781900406, + 0.129242941737175 + ], + [ + 0.32887953519821167, + 0.07325752079486847, + 0.1020117774605751 + ], + [ + 0.32597294449806213, + 0.09691804647445679, + 0.07810933142900467 + ], + [ + 0.3186850845813751, + 0.11078978329896927, + 0.05199693515896797 + ], + [ + 0.31042882800102234, + 0.1359596699476242, + 0.03026876412332058 + ], + [ + 0.30390074849128723, + 0.15246208012104034, + 0.003639047499746084 + ], + [ + 0.3052451014518738, + 0.15654568374156952, + 0.0021112007088959217 + ], + [ + 0.3057671785354614, + 0.15599514544010162, + 0.0021147970110177994 + ], + [ + 0.306746244430542, + 0.15222063660621643, + 0.007494093384593725 + ], + [ + 0.3073057532310486, + 0.14839503169059753, + 0.017873384058475494 + ], + [ + 0.30783963203430176, + 0.14608821272850037, + 0.029328398406505585 + ], + [ + 0.3083130121231079, + 0.1431197226047516, + 0.04726565629243851 + ], + [ + 0.31221458315849304, + 0.14137452840805054, + 0.062297940254211426 + ], + [ + 0.3162120282649994, + 0.13926181197166443, + 0.09497949481010437 + ], + [ + 0.3155420422554016, + 0.1342450976371765, + 0.120154969394207 + ], + [ + 0.3137199878692627, + 0.12717753648757935, + 0.13868999481201172 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9382107471858507, + -0.1863720597497824, + 0.29159226534596416, + -0.15576632320308262, + -0.9798422335693733, + -0.125084171139176, + 0.3090266111854454, + 0.07193505861821066, + -0.9483290045763834 + ], + [ + 0.9479761629095544, + -0.18102875629515336, + 0.2618583280125115, + -0.15173184183592436, + -0.9800666381231479, + -0.12824520658125527, + 0.2798546814479903, + 0.08184115243702751, + -0.9565476376215788 + ], + [ + 0.95259532534608, + -0.1939309497226249, + 0.23442041905191854, + -0.17057477837521431, + -0.9784566277406277, + -0.11630508420823879, + 0.2519253681371586, + 0.07080546850434458, + -0.9651529384086429 + ], + [ + 0.9384290495525812, + -0.24580295498089058, + 0.24275878208316384, + -0.23629512820314494, + -0.9692982876644223, + -0.06801060151386684, + 0.25202287861084766, + 0.006460406603376885, + -0.9676997115857897 + ], + [ + 0.9302413649176656, + -0.2647342911902894, + 0.2540998978041776, + -0.25823701879467315, + -0.9642640405468104, + -0.05923261122370781, + 0.26070029750684615, + -0.010517374972602533, + -0.9653624913489893 + ], + [ + 0.9317950681483318, + -0.2633347121508467, + 0.24982549980111265, + -0.26078756827522453, + -0.9643990373497189, + -0.04386731120128198, + 0.2524832572816267, + -0.02427604035599215, + -0.9672966859537427 + ], + [ + 0.942314879630488, + -0.22416255888460643, + 0.24858361736301954, + -0.23041448971614384, + -0.9730841609109974, + -0.004047062266503875, + 0.24279998055153917, + -0.05346366035397562, + -0.9686019855780427 + ], + [ + 0.9538540929057301, + -0.2114739537866737, + 0.21316926682056736, + -0.2227122872600157, + -0.974426236269147, + 0.029878875041682105, + 0.20139912251645653, + -0.0759755022370765, + -0.976558301643801 + ], + [ + 0.9583732802190283, + -0.2009649532104355, + 0.2028145540718116, + -0.21387669400733428, + -0.9758844476843264, + 0.043661247443823055, + 0.18914918853305562, + -0.08522107925264216, + -0.978243299045949 + ], + [ + 0.9649186509512755, + -0.21287379454972677, + 0.15367740445612504, + -0.22260170668552143, + -0.9736801245217782, + 0.0489437972775683, + 0.13921378246087496, + -0.08143563535243849, + -0.9869081821870164 + ], + [ + 0.9692444469045829, + -0.20972024131538, + 0.12877353193590804, + -0.21997011405830577, + -0.9729058685552288, + 0.07118510976301423, + 0.1103555665374679, + -0.0973221008477273, + -0.9891157958605149 + ], + [ + 0.9733088022788452, + -0.20334480212395442, + 0.10639956229087345, + -0.2138419107167435, + -0.9718598185664544, + 0.09879337162477311, + 0.08331634069936066, + -0.11890914390890234, + -0.9894033570123562 + ], + [ + 0.9731546598301697, + -0.20564217290029319, + 0.10335039804312718, + -0.21826664194312723, + -0.967055530545057, + 0.1310086785563806, + 0.07300466468450903, + -0.15004965033969353, + -0.9859794223852941 + ], + [ + 0.9722507113282118, + -0.20135390366133132, + 0.11910146851374148, + -0.21707899616388066, + -0.9662855355349824, + 0.13845206116325748, + 0.08720816330062423, + -0.16046454217744116, + -0.9831815025505292 + ], + [ + 0.9697214151592516, + -0.21223701828206765, + 0.12081318244411747, + -0.2283136611213754, + -0.9634643823752439, + 0.1400330533825621, + 0.08667900049546072, + -0.1633763506907503, + -0.982748655001919 + ], + [ + 0.9751075232728247, + -0.1896241043132208, + 0.11492613767175285, + -0.202792142659191, + -0.9722799864164919, + 0.11639147258128939, + 0.08966975483646793, + -0.1368003182648179, + -0.9865318078958288 + ], + [ + 0.9708364482912114, + -0.2076620445211793, + 0.11980428178737818, + -0.21867860323980287, + -0.9718671805472784, + 0.08748629527058813, + 0.09826626661471699, + -0.1111335171780656, + -0.9889353276151266 + ], + [ + 0.9634995416005123, + -0.22986433719682925, + 0.13722616303265417, + -0.23805926544232675, + -0.9701409965758573, + 0.046413714566515246, + 0.12245986882510534, + -0.0773875522798371, + -0.9894517407531673 + ], + [ + 0.9580463132108683, + -0.24404233544608425, + 0.15030169743912983, + -0.24969480427703475, + -0.9681248783447983, + 0.0196653158358294, + 0.14071164294441355, + -0.056369836259213275, + -0.9884445736104749 + ], + [ + 0.9497121196949654, + -0.2560683169115784, + 0.18021072881093125, + -0.25799770640163755, + -0.9660572877571391, + -0.01305757492088692, + 0.1774375191327639, + -0.03409301754599644, + -0.9835413529479167 + ], + [ + 0.941701848376022, + -0.24684599444513122, + 0.2286147059827474, + -0.24362434391000543, + -0.9689305435530197, + -0.0426706084380027, + 0.23204484010553478, + -0.015513116915829005, + -0.9725813772553702 + ], + [ + 0.940660236841028, + -0.1574925447131249, + 0.30059011491725046, + -0.15290291434564024, + -0.9874756503925552, + -0.03889137007627966, + 0.3029505200701779, + -0.009377539207313212, + -0.9529601482473569 + ], + [ + 0.9351165984694874, + -0.04137656787121095, + 0.3519160793400254, + -0.04445961269064342, + -0.9990109511603016, + 0.0006799273401398281, + 0.35153988409034603, + -0.01628186392858523, + -0.9360313086648103 + ], + [ + 0.9505440378526947, + 0.10413188780566762, + 0.2926133661416079, + 0.10356464543212354, + -0.9944692125307659, + 0.01747425377395955, + 0.29281461083629917, + 0.01369435177239356, + -0.9560711628379556 + ], + [ + 0.9609223858783548, + 0.1559025248549917, + 0.2287412753782955, + 0.14676797915015863, + -0.9875545939832395, + 0.05652507584053199, + 0.2347068993745798, + -0.02074431600313658, + -0.9718448151528788 + ], + [ + 0.962584521081408, + 0.20324475510238776, + 0.17922781396269669, + 0.1849719977084614, + -0.9761633213716593, + 0.11353647023045772, + 0.19803131024718676, + -0.0761363220284582, + -0.9772342915748309 + ], + [ + 0.9684416444554543, + 0.21277939164902254, + 0.12979103117660934, + 0.19339048321918817, + -0.9700101663180026, + 0.14724265088611402, + 0.1572288214185446, + -0.1174955647213674, + -0.9805477499776044 + ], + [ + 0.9603162934015824, + 0.26396735835808943, + 0.09007691351782415, + 0.24850371826578893, + -0.956406680955137, + 0.15340196423923594, + 0.12664327315543836, + -0.12492995775965995, + -0.9840497888921304 + ], + [ + 0.9507335276121385, + 0.30705138840251367, + 0.04272241044542444, + 0.30018138710499576, + -0.9462343751528149, + 0.12054726091820586, + 0.0774396171859035, + -0.10178385018877029, + -0.991787857120085 + ], + [ + 0.9515803629290163, + 0.30296102080445325, + 0.05205221187428023, + 0.2934444869516721, + -0.9457034561760546, + 0.13976875922156115, + 0.0915704426414511, + -0.11772677201804357, + -0.9888150793675529 + ], + [ + 0.9478229597712586, + 0.3141824118555687, + 0.054046729883216856, + 0.30442114027522116, + -0.9423158869137848, + 0.13917089718551723, + 0.09465414034254241, + -0.11545640454520267, + -0.9887924010455933 + ], + [ + 0.9473468881181796, + 0.3147707986274271, + 0.05876408685799247, + 0.3051770370015191, + -0.9431084801053067, + 0.13195973188981688, + 0.09695797883503629, + -0.10707819145330526, + -0.9895117034453481 + ], + [ + 0.9481035470044099, + 0.31055304456791216, + 0.06823833722517501, + 0.3007914095828785, + -0.9455771482248028, + 0.12413051468593075, + 0.10307372157248114, + -0.09716307562366175, + -0.9899167362240872 + ], + [ + 0.9435314401618444, + 0.3202894588324105, + 0.08463500450142888, + 0.3096157608970654, + -0.9434335206310549, + 0.11862239566719117, + 0.11784100317905702, + -0.08571962850207658, + -0.9893258529216847 + ], + [ + 0.9361005635421162, + 0.3325424689212562, + 0.11459162840228337, + 0.32050351858353726, + -0.9406547279951207, + 0.11156243667111604, + 0.1448904051747521, + -0.06770663973481439, + -0.9871284523425082 + ], + [ + 0.9277342176202297, + 0.3518445974465854, + 0.12455762001672369, + 0.34194306236290667, + -0.9349844099485559, + 0.09422895125718045, + 0.1496133802788294, + -0.044827808342601284, + -0.9877278491774651 + ], + [ + 0.9126365942916024, + 0.36204774562855474, + 0.189778493631673, + 0.34925576368912675, + -0.931867241386455, + 0.09820313620614901, + 0.21240258541211418, + -0.023342543050832144, + -0.9769034074022722 + ], + [ + 0.9020987583966187, + 0.3508985396382462, + 0.2511733365208689, + 0.3378133049537882, + -0.9364131511605077, + 0.09493461607784393, + 0.2685144336818384, + -0.0007907043662979188, + -0.9632753363868127 + ], + [ + 0.8944998840147721, + 0.33426442773775905, + 0.2968791839228673, + 0.32807261582704544, + -0.9419025103922442, + 0.07202790890473085, + 0.3037076163713368, + 0.03296897429306529, + -0.9521946914849421 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.005812853574752808, + -0.0017469938611611724, + -0.008807234466075897, + -0.009641475975513458, + 0.03052663803100586, + 0.0058116614818573, + 1.0 + ], + [ + -0.011815100908279419, + -0.0072674499824643135, + -0.013001345098018646, + 0.01212029904127121, + 0.02897346019744873, + -0.01847289502620697, + 1.0 + ], + [ + -0.018266230821609497, + -0.016477398574352264, + -0.00780351459980011, + 0.06655478477478027, + -0.00010076165199279785, + -0.06948535144329071, + 1.0 + ], + [ + -0.013382315635681152, + -0.009877700358629227, + -0.006362192332744598, + 0.01757025718688965, + -0.00897747278213501, + -0.024113059043884277, + 1.0 + ], + [ + -0.005383238196372986, + -0.015095274895429611, + -0.012023456394672394, + 0.014197210781276226, + 0.008501708507537842, + -0.002110391855239868, + 1.0 + ], + [ + 0.004148721694946289, + 0.0023313798010349274, + -0.012229394167661667, + 0.03004925325512886, + 0.009994640946388245, + 0.033080145716667175, + 1.0 + ], + [ + 0.00234927237033844, + 0.0024721957743167877, + -0.017722340300679207, + 0.022502075880765915, + 0.04246506094932556, + 0.010436639189720154, + 1.0 + ], + [ + 0.008210211992263794, + -0.0005222596228122711, + -0.011676842346787453, + 0.009254209697246552, + 0.01249048113822937, + 0.009808927774429321, + 1.0 + ], + [ + -0.0018443465232849121, + -0.000206727534532547, + -0.016668204218149185, + -0.004567660391330719, + 0.05062820017337799, + -0.007159680128097534, + 1.0 + ], + [ + -0.000993967056274414, + 0.0028251074254512787, + -0.011845048516988754, + 0.01574794203042984, + 0.029086627066135406, + 0.0035583823919296265, + 1.0 + ], + [ + 0.00263252854347229, + 0.006040118634700775, + -0.009558157064020634, + 0.021531663835048676, + 0.027167759835720062, + 0.006899803876876831, + 0.0 + ], + [ + 0.00031703710556030273, + 0.005320064723491669, + -0.0034341420978307724, + 0.031415559351444244, + 0.010343365371227264, + -0.004366397857666016, + 0.0 + ], + [ + 0.0021992027759552, + 0.0008560717105865479, + 0.0027334094047546387, + 0.01075848937034607, + -0.014249414205551147, + 0.0009647011756896973, + 0.0 + ], + [ + -0.00279843807220459, + -0.002156641334295273, + 0.0008290857076644897, + 0.002954632043838501, + 0.0005311742424964905, + -0.011559605598449707, + 0.0 + ], + [ + -0.003224492073059082, + -0.003204893320798874, + 0.0022287964820861816, + -0.02694845199584961, + -0.003002449870109558, + 0.02618509531021118, + 0.0 + ], + [ + -0.001234501600265503, + -0.0037256628274917603, + 0.014147975482046604, + -0.025881804525852203, + -0.008634746074676514, + -0.01650393009185791, + 0.0 + ], + [ + -0.001347273588180542, + -0.00516953319311142, + 0.019405042752623558, + -0.033853769302368164, + -0.02434292435646057, + -0.020676270127296448, + 0.0 + ], + [ + -0.001385122537612915, + -0.0019598379731178284, + 0.015514012426137924, + -0.02108653634786606, + -0.018412142992019653, + -0.012730896472930908, + 0.0 + ], + [ + 0.005132198333740234, + -0.00344080850481987, + 0.024224385619163513, + -0.022317465394735336, + -0.03720186650753021, + -0.010300040245056152, + 0.0 + ], + [ + 0.00729486346244812, + 0.005190078169107437, + 0.0315391980111599, + -0.018700554966926575, + -0.05579733848571777, + 0.012101292610168457, + 0.0 + ], + [ + 0.021294236183166504, + 0.029156837612390518, + 0.038491979241371155, + -0.00610898993909359, + -0.07360777258872986, + 0.09201687574386597, + 0.0 + ], + [ + 0.0199926495552063, + 0.03250247985124588, + 0.023689836263656616, + 0.007552703842520714, + -0.05142831802368164, + 0.11363047361373901, + 0.0 + ], + [ + 0.018169432878494263, + 0.04188249260187149, + -0.020670846104621887, + -0.031715407967567444, + 0.062046319246292114, + 0.15603363513946533, + 0.0 + ], + [ + 0.005474984645843506, + 0.016711127012968063, + -0.027231164276599884, + 0.035664647817611694, + 0.0602521151304245, + 0.043040260672569275, + 0.0 + ], + [ + -0.002906590700149536, + 0.023660525679588318, + -0.023902446031570435, + 0.05641087889671326, + 0.03756798803806305, + 0.03828240931034088, + 0.0 + ], + [ + -0.007287859916687012, + 0.013871736824512482, + -0.026112396270036697, + 0.041504912078380585, + 0.04146510362625122, + 0.007252201437950134, + 0.0 + ], + [ + -0.008256256580352783, + 0.025169886648654938, + -0.021728171035647392, + 0.007021524012088776, + 0.03089967370033264, + 0.05611838400363922, + 0.0 + ], + [ + -0.006528079509735107, + 0.016502410173416138, + -0.026629716157913208, + -0.02401077002286911, + 0.049467042088508606, + 0.05261260271072388, + 0.0 + ], + [ + 0.0013443529605865479, + 0.004083603620529175, + -0.0015278467908501625, + 0.016232021152973175, + -0.014181673526763916, + -0.006707489490509033, + 1.0 + ], + [ + 0.0005220770835876465, + -0.0005505383014678955, + 3.5963021218776703e-06, + -0.002261921763420105, + -0.003097154200077057, + 0.01164904236793518, + 1.0 + ], + [ + 0.0009790658950805664, + -0.003774508833885193, + 0.005379296373575926, + -0.00844498723745346, + -0.0023144856095314026, + 0.00086936354637146, + 1.0 + ], + [ + 0.0005595088005065918, + -0.0038256049156188965, + 0.010379290208220482, + -0.00995432585477829, + -0.006146572530269623, + -0.004429996013641357, + 1.0 + ], + [ + 0.0005338788032531738, + -0.002306818962097168, + 0.01145501434803009, + -0.011410750448703766, + -0.014858342707157135, + 0.009862691164016724, + 1.0 + ], + [ + 0.00047338008880615234, + -0.0029684901237487793, + 0.017937257885932922, + -0.017946399748325348, + -0.027286753058433533, + 0.012797266244888306, + 1.0 + ], + [ + 0.003901571035385132, + -0.0017451941967010498, + 0.015032283961772919, + -0.023128580302000046, + -0.0047750324010849, + 0.02325749397277832, + 1.0 + ], + [ + 0.003997445106506348, + -0.0021127164363861084, + 0.032681554555892944, + -0.021463777869939804, + -0.06385575234889984, + 0.012365221977233887, + 1.0 + ], + [ + -0.0006699860095977783, + -0.005016714334487915, + 0.02517547458410263, + -0.023069027811288834, + -0.057817503809928894, + -0.007184207439422607, + 1.0 + ], + [ + -0.001822054386138916, + -0.007067561149597168, + 0.018535025417804718, + -0.03543121740221977, + -0.036731183528900146, + -0.006777375936508179, + 1.0 + ], + [ + -0.002836853265762329, + -0.006257109344005585, + 0.0010168850421905518, + -0.031066231429576874, + 0.02150672674179077, + -0.027856290340423584, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9359400868415833 + ], + [ + 0.6911999583244324 + ], + [ + 0.5266194939613342 + ], + [ + 0.4112652540206909 + ], + [ + 0.25822705030441284 + ], + [ + 0.09437843412160873 + ], + [ + 0.04711414873600006 + ], + [ + 0.04711414873600006 + ], + [ + 0.04711414873600006 + ], + [ + 0.04711414873600006 + ], + [ + 0.04711414873600006 + ], + [ + 0.04711414873600006 + ], + [ + 0.04711414873600006 + ], + [ + 0.04711414873600006 + ], + [ + 0.04711414873600006 + ], + [ + 0.04711414873600006 + ], + [ + 0.04711414873600006 + ], + [ + 0.04711414873600006 + ], + [ + 0.062092870473861694 + ], + [ + 0.2032272070646286 + ], + [ + 0.438394159078598 + ], + [ + 0.7309711575508118 + ], + [ + 0.9954678416252136 + ], + [ + 1.0143678188323975 + ], + [ + 1.0027955770492554 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.29333922266960144, + -0.002926245331764221, + 0.09943470358848572 + ], + [ + 0.281524121761322, + -0.010193695314228535, + 0.08643335849046707 + ], + [ + 0.2632578909397125, + -0.026671092957258224, + 0.07862984389066696 + ], + [ + 0.24987557530403137, + -0.03654879331588745, + 0.07226765155792236 + ], + [ + 0.2444923371076584, + -0.05164406821131706, + 0.06024419516324997 + ], + [ + 0.24864105880260468, + -0.049312688410282135, + 0.0480148009955883 + ], + [ + 0.2509903311729431, + -0.04684049263596535, + 0.030292460694909096 + ], + [ + 0.2592005431652069, + -0.04736275225877762, + 0.018615618348121643 + ], + [ + 0.257356196641922, + -0.047569479793310165, + 0.0019474135478958488 + ], + [ + 0.2563622295856476, + -0.04474437236785889, + -0.009897635318338871 + ], + [ + 0.2589947581291199, + -0.03870425373315811, + -0.019455792382359505 + ], + [ + 0.2593117952346802, + -0.03338418900966644, + -0.022889934480190277 + ], + [ + 0.2615109980106354, + -0.032528117299079895, + -0.02015652507543564 + ], + [ + 0.2587125599384308, + -0.03468475863337517, + -0.01932743936777115 + ], + [ + 0.2554880678653717, + -0.03788965195417404, + -0.017098642885684967 + ], + [ + 0.2542535662651062, + -0.0416153147816658, + -0.0029506671708077192 + ], + [ + 0.25290629267692566, + -0.04678484797477722, + 0.01645437628030777 + ], + [ + 0.25152117013931274, + -0.04874468594789505, + 0.031968388706445694 + ], + [ + 0.256653368473053, + -0.05218549445271492, + 0.05619277432560921 + ], + [ + 0.2639482319355011, + -0.04699541628360748, + 0.0877319723367691 + ], + [ + 0.2852424681186676, + -0.017838578671216965, + 0.12622395157814026 + ], + [ + 0.3052351176738739, + 0.014663903042674065, + 0.14991378784179688 + ], + [ + 0.32340455055236816, + 0.056546393781900406, + 0.129242941737175 + ], + [ + 0.32887953519821167, + 0.07325752079486847, + 0.1020117774605751 + ], + [ + 0.32597294449806213, + 0.09691804647445679, + 0.07810933142900467 + ], + [ + 0.3186850845813751, + 0.11078978329896927, + 0.05199693515896797 + ], + [ + 0.31042882800102234, + 0.1359596699476242, + 0.03026876412332058 + ], + [ + 0.30390074849128723, + 0.15246208012104034, + 0.003639047499746084 + ], + [ + 0.3052451014518738, + 0.15654568374156952, + 0.0021112007088959217 + ], + [ + 0.3057671785354614, + 0.15599514544010162, + 0.0021147970110177994 + ], + [ + 0.306746244430542, + 0.15222063660621643, + 0.007494093384593725 + ], + [ + 0.3073057532310486, + 0.14839503169059753, + 0.017873384058475494 + ], + [ + 0.30783963203430176, + 0.14608821272850037, + 0.029328398406505585 + ], + [ + 0.3083130121231079, + 0.1431197226047516, + 0.04726565629243851 + ], + [ + 0.31221458315849304, + 0.14137452840805054, + 0.062297940254211426 + ], + [ + 0.3162120282649994, + 0.13926181197166443, + 0.09497949481010437 + ], + [ + 0.3155420422554016, + 0.1342450976371765, + 0.120154969394207 + ], + [ + 0.3137199878692627, + 0.12717753648757935, + 0.13868999481201172 + ], + [ + 0.31088313460350037, + 0.12092042714357376, + 0.13970687985420227 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9479761629095544, + -0.18102875629515336, + 0.2618583280125115, + -0.15173184183592436, + -0.9800666381231479, + -0.12824520658125527, + 0.2798546814479903, + 0.08184115243702751, + -0.9565476376215788 + ], + [ + 0.95259532534608, + -0.1939309497226249, + 0.23442041905191854, + -0.17057477837521431, + -0.9784566277406277, + -0.11630508420823879, + 0.2519253681371586, + 0.07080546850434458, + -0.9651529384086429 + ], + [ + 0.9384290495525812, + -0.24580295498089058, + 0.24275878208316384, + -0.23629512820314494, + -0.9692982876644223, + -0.06801060151386684, + 0.25202287861084766, + 0.006460406603376885, + -0.9676997115857897 + ], + [ + 0.9302413649176656, + -0.2647342911902894, + 0.2540998978041776, + -0.25823701879467315, + -0.9642640405468104, + -0.05923261122370781, + 0.26070029750684615, + -0.010517374972602533, + -0.9653624913489893 + ], + [ + 0.9317950681483318, + -0.2633347121508467, + 0.24982549980111265, + -0.26078756827522453, + -0.9643990373497189, + -0.04386731120128198, + 0.2524832572816267, + -0.02427604035599215, + -0.9672966859537427 + ], + [ + 0.942314879630488, + -0.22416255888460643, + 0.24858361736301954, + -0.23041448971614384, + -0.9730841609109974, + -0.004047062266503875, + 0.24279998055153917, + -0.05346366035397562, + -0.9686019855780427 + ], + [ + 0.9538540929057301, + -0.2114739537866737, + 0.21316926682056736, + -0.2227122872600157, + -0.974426236269147, + 0.029878875041682105, + 0.20139912251645653, + -0.0759755022370765, + -0.976558301643801 + ], + [ + 0.9583732802190283, + -0.2009649532104355, + 0.2028145540718116, + -0.21387669400733428, + -0.9758844476843264, + 0.043661247443823055, + 0.18914918853305562, + -0.08522107925264216, + -0.978243299045949 + ], + [ + 0.9649186509512755, + -0.21287379454972677, + 0.15367740445612504, + -0.22260170668552143, + -0.9736801245217782, + 0.0489437972775683, + 0.13921378246087496, + -0.08143563535243849, + -0.9869081821870164 + ], + [ + 0.9692444469045829, + -0.20972024131538, + 0.12877353193590804, + -0.21997011405830577, + -0.9729058685552288, + 0.07118510976301423, + 0.1103555665374679, + -0.0973221008477273, + -0.9891157958605149 + ], + [ + 0.9733088022788452, + -0.20334480212395442, + 0.10639956229087345, + -0.2138419107167435, + -0.9718598185664544, + 0.09879337162477311, + 0.08331634069936066, + -0.11890914390890234, + -0.9894033570123562 + ], + [ + 0.9731546598301697, + -0.20564217290029319, + 0.10335039804312718, + -0.21826664194312723, + -0.967055530545057, + 0.1310086785563806, + 0.07300466468450903, + -0.15004965033969353, + -0.9859794223852941 + ], + [ + 0.9722507113282118, + -0.20135390366133132, + 0.11910146851374148, + -0.21707899616388066, + -0.9662855355349824, + 0.13845206116325748, + 0.08720816330062423, + -0.16046454217744116, + -0.9831815025505292 + ], + [ + 0.9697214151592516, + -0.21223701828206765, + 0.12081318244411747, + -0.2283136611213754, + -0.9634643823752439, + 0.1400330533825621, + 0.08667900049546072, + -0.1633763506907503, + -0.982748655001919 + ], + [ + 0.9751075232728247, + -0.1896241043132208, + 0.11492613767175285, + -0.202792142659191, + -0.9722799864164919, + 0.11639147258128939, + 0.08966975483646793, + -0.1368003182648179, + -0.9865318078958288 + ], + [ + 0.9708364482912114, + -0.2076620445211793, + 0.11980428178737818, + -0.21867860323980287, + -0.9718671805472784, + 0.08748629527058813, + 0.09826626661471699, + -0.1111335171780656, + -0.9889353276151266 + ], + [ + 0.9634995416005123, + -0.22986433719682925, + 0.13722616303265417, + -0.23805926544232675, + -0.9701409965758573, + 0.046413714566515246, + 0.12245986882510534, + -0.0773875522798371, + -0.9894517407531673 + ], + [ + 0.9580463132108683, + -0.24404233544608425, + 0.15030169743912983, + -0.24969480427703475, + -0.9681248783447983, + 0.0196653158358294, + 0.14071164294441355, + -0.056369836259213275, + -0.9884445736104749 + ], + [ + 0.9497121196949654, + -0.2560683169115784, + 0.18021072881093125, + -0.25799770640163755, + -0.9660572877571391, + -0.01305757492088692, + 0.1774375191327639, + -0.03409301754599644, + -0.9835413529479167 + ], + [ + 0.941701848376022, + -0.24684599444513122, + 0.2286147059827474, + -0.24362434391000543, + -0.9689305435530197, + -0.0426706084380027, + 0.23204484010553478, + -0.015513116915829005, + -0.9725813772553702 + ], + [ + 0.940660236841028, + -0.1574925447131249, + 0.30059011491725046, + -0.15290291434564024, + -0.9874756503925552, + -0.03889137007627966, + 0.3029505200701779, + -0.009377539207313212, + -0.9529601482473569 + ], + [ + 0.9351165984694874, + -0.04137656787121095, + 0.3519160793400254, + -0.04445961269064342, + -0.9990109511603016, + 0.0006799273401398281, + 0.35153988409034603, + -0.01628186392858523, + -0.9360313086648103 + ], + [ + 0.9505440378526947, + 0.10413188780566762, + 0.2926133661416079, + 0.10356464543212354, + -0.9944692125307659, + 0.01747425377395955, + 0.29281461083629917, + 0.01369435177239356, + -0.9560711628379556 + ], + [ + 0.9609223858783548, + 0.1559025248549917, + 0.2287412753782955, + 0.14676797915015863, + -0.9875545939832395, + 0.05652507584053199, + 0.2347068993745798, + -0.02074431600313658, + -0.9718448151528788 + ], + [ + 0.962584521081408, + 0.20324475510238776, + 0.17922781396269669, + 0.1849719977084614, + -0.9761633213716593, + 0.11353647023045772, + 0.19803131024718676, + -0.0761363220284582, + -0.9772342915748309 + ], + [ + 0.9684416444554543, + 0.21277939164902254, + 0.12979103117660934, + 0.19339048321918817, + -0.9700101663180026, + 0.14724265088611402, + 0.1572288214185446, + -0.1174955647213674, + -0.9805477499776044 + ], + [ + 0.9603162934015824, + 0.26396735835808943, + 0.09007691351782415, + 0.24850371826578893, + -0.956406680955137, + 0.15340196423923594, + 0.12664327315543836, + -0.12492995775965995, + -0.9840497888921304 + ], + [ + 0.9507335276121385, + 0.30705138840251367, + 0.04272241044542444, + 0.30018138710499576, + -0.9462343751528149, + 0.12054726091820586, + 0.0774396171859035, + -0.10178385018877029, + -0.991787857120085 + ], + [ + 0.9515803629290163, + 0.30296102080445325, + 0.05205221187428023, + 0.2934444869516721, + -0.9457034561760546, + 0.13976875922156115, + 0.0915704426414511, + -0.11772677201804357, + -0.9888150793675529 + ], + [ + 0.9478229597712586, + 0.3141824118555687, + 0.054046729883216856, + 0.30442114027522116, + -0.9423158869137848, + 0.13917089718551723, + 0.09465414034254241, + -0.11545640454520267, + -0.9887924010455933 + ], + [ + 0.9473468881181796, + 0.3147707986274271, + 0.05876408685799247, + 0.3051770370015191, + -0.9431084801053067, + 0.13195973188981688, + 0.09695797883503629, + -0.10707819145330526, + -0.9895117034453481 + ], + [ + 0.9481035470044099, + 0.31055304456791216, + 0.06823833722517501, + 0.3007914095828785, + -0.9455771482248028, + 0.12413051468593075, + 0.10307372157248114, + -0.09716307562366175, + -0.9899167362240872 + ], + [ + 0.9435314401618444, + 0.3202894588324105, + 0.08463500450142888, + 0.3096157608970654, + -0.9434335206310549, + 0.11862239566719117, + 0.11784100317905702, + -0.08571962850207658, + -0.9893258529216847 + ], + [ + 0.9361005635421162, + 0.3325424689212562, + 0.11459162840228337, + 0.32050351858353726, + -0.9406547279951207, + 0.11156243667111604, + 0.1448904051747521, + -0.06770663973481439, + -0.9871284523425082 + ], + [ + 0.9277342176202297, + 0.3518445974465854, + 0.12455762001672369, + 0.34194306236290667, + -0.9349844099485559, + 0.09422895125718045, + 0.1496133802788294, + -0.044827808342601284, + -0.9877278491774651 + ], + [ + 0.9126365942916024, + 0.36204774562855474, + 0.189778493631673, + 0.34925576368912675, + -0.931867241386455, + 0.09820313620614901, + 0.21240258541211418, + -0.023342543050832144, + -0.9769034074022722 + ], + [ + 0.9020987583966187, + 0.3508985396382462, + 0.2511733365208689, + 0.3378133049537882, + -0.9364131511605077, + 0.09493461607784393, + 0.2685144336818384, + -0.0007907043662979188, + -0.9632753363868127 + ], + [ + 0.8944998840147721, + 0.33426442773775905, + 0.2968791839228673, + 0.32807261582704544, + -0.9419025103922442, + 0.07202790890473085, + 0.3037076163713368, + 0.03296897429306529, + -0.9521946914849421 + ], + [ + 0.9092737626419755, + 0.29975073443693107, + 0.28873988601408207, + 0.30503832433732, + -0.9519388644322616, + 0.027640894864248488, + 0.28314809774459837, + 0.06294359052307788, + -0.9570084948189742 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006592.json b/json/chunk-0006/episode_0006592.json new file mode 100644 index 0000000000000000000000000000000000000000..51a7ddf6b9780fa9f40e468dfb1e34f546c51e6d --- /dev/null +++ b/json/chunk-0006/episode_0006592.json @@ -0,0 +1,2242 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 36, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the tin to the left front edge of the table." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006592.mp4", + "start": 0, + "end": 36, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2680111527442932, + -0.04311820864677429, + 0.2063959389925003, + 0.05370008200407028, + -0.3435593843460083, + -0.19983723759651184, + 0.0, + 1.0001531839370728 + ], + [ + 0.2666679620742798, + -0.04389238730072975, + 0.19972383975982666, + 0.04742440953850746, + -0.32018038630485535, + -0.1806500107049942, + 0.0, + 1.0001531839370728 + ], + [ + 0.2584112882614136, + -0.06396320462226868, + 0.19486068189144135, + 0.0029845433309674263, + -0.30232158303260803, + -0.05244056507945061, + 0.0, + 1.0001531839370728 + ], + [ + 0.2449401319026947, + -0.07915236055850983, + 0.1812659353017807, + -0.05189339816570282, + -0.24781163036823273, + 0.1374179869890213, + 0.0, + 1.0001531839370728 + ], + [ + 0.22713735699653625, + -0.09920793026685715, + 0.16135452687740326, + -0.10898318886756897, + -0.1758720427751541, + 0.31627848744392395, + 0.0, + 1.0001531839370728 + ], + [ + 0.20988132059574127, + -0.1219453290104866, + 0.1313665211200714, + -0.115667425096035, + -0.08227991312742233, + 0.5175198912620544, + 0.0, + 1.0001531839370728 + ], + [ + 0.20789970457553864, + -0.1403450220823288, + 0.11189491301774979, + -0.10681165009737015, + -0.026202840730547905, + 0.6115859150886536, + 0.0, + 1.0001531839370728 + ], + [ + 0.20153015851974487, + -0.1475692242383957, + 0.09370572865009308, + -0.08313748240470886, + 0.0002018295635934919, + 0.7460733652114868, + 0.0, + 1.0001531839370728 + ], + [ + 0.19780224561691284, + -0.1469813883304596, + 0.07270113378763199, + -0.05239233747124672, + 0.02133607491850853, + 0.824984610080719, + 0.0, + 1.0001531839370728 + ], + [ + 0.20313182473182678, + -0.13761653006076813, + 0.061903081834316254, + -0.06646879017353058, + 0.03301136568188667, + 0.8800084590911865, + 0.0, + 1.0001531839370728 + ], + [ + 0.2097383290529251, + -0.12773144245147705, + 0.05655363202095032, + -0.09138433635234833, + 0.015748122707009315, + 0.9348839521408081, + 0.0, + 1.0001531839370728 + ], + [ + 0.2226504236459732, + -0.11768952757120132, + 0.054936766624450684, + -0.1320534497499466, + 0.01704396679997444, + 0.9914361834526062, + 0.0, + 1.0001531839370728 + ], + [ + 0.23070263862609863, + -0.10236082971096039, + 0.0516681969165802, + -0.12542670965194702, + 0.04337950050830841, + 1.0958961248397827, + 0.0, + 0.9994885921478271 + ], + [ + 0.23571325838565826, + -0.08955579996109009, + 0.053839895874261856, + -0.09393744170665741, + 0.03803100809454918, + 1.2025080919265747, + 0.0, + 0.9994885921478271 + ], + [ + 0.23960436880588531, + -0.07335587590932846, + 0.053784649819135666, + -0.0847669169306755, + 0.04887441545724869, + 1.2608460187911987, + 0.0, + 0.9994885921478271 + ], + [ + 0.2424371987581253, + -0.05191824957728386, + 0.05293630436062813, + -0.08187906444072723, + 0.039036959409713745, + 1.2902888059616089, + 0.0, + 0.9994885921478271 + ], + [ + 0.24638448655605316, + -0.02793104015290737, + 0.05309135094285011, + -0.0795699805021286, + 0.0019876891747117043, + 1.2339633703231812, + 0.0, + 1.0001531839370728 + ], + [ + 0.24668899178504944, + -0.003433961421251297, + 0.05268103629350662, + -0.06422697007656097, + -0.02962537296116352, + 1.1874186992645264, + 0.0, + 1.0001531839370728 + ], + [ + 0.24306340515613556, + 0.025030309334397316, + 0.05790789797902107, + -0.057802096009254456, + -0.08510776609182358, + 1.14555025100708, + 0.0, + 1.0001531839370728 + ], + [ + 0.23608934879302979, + 0.05215306580066681, + 0.06105438619852066, + -0.006060374900698662, + -0.1255871206521988, + 1.121541142463684, + 0.0, + 0.9994885921478271 + ], + [ + 0.23802722990512848, + 0.07748521119356155, + 0.06295404583215714, + -0.014565621502697468, + -0.1421729028224945, + 1.1284801959991455, + 0.0, + 0.9994885921478271 + ], + [ + 0.23735632002353668, + 0.10251080989837646, + 0.056190960109233856, + 0.01411010418087244, + -0.1296032965183258, + 1.1373387575149536, + 0.0, + 1.0001531839370728 + ], + [ + 0.22891992330551147, + 0.11659079790115356, + 0.048211801797151566, + 0.04263785481452942, + -0.10502643883228302, + 1.1467971801757812, + 0.0, + 1.0001531839370728 + ], + [ + 0.2198183685541153, + 0.13140735030174255, + 0.04664863646030426, + 0.060040008276700974, + -0.09920342266559601, + 1.1693508625030518, + 0.0, + 1.0001531839370728 + ], + [ + 0.21039597690105438, + 0.1440163552761078, + 0.047905247658491135, + 0.0889061763882637, + -0.1001981571316719, + 1.1820266246795654, + 0.0, + 0.9994885921478271 + ], + [ + 0.2026495635509491, + 0.15915338695049286, + 0.05328531563282013, + 0.08354252576828003, + -0.11058212071657181, + 1.2083399295806885, + 0.0, + 0.9994885921478271 + ], + [ + 0.2023540735244751, + 0.1634751260280609, + 0.06150926649570465, + 0.07750050723552704, + -0.13030147552490234, + 1.2135753631591797, + 0.0, + 1.0001531839370728 + ], + [ + 0.2220732867717743, + 0.14130370318889618, + 0.07946491241455078, + 0.049396585673093796, + -0.17978987097740173, + 1.1163432598114014, + 0.0, + 1.0001531839370728 + ], + [ + 0.2294285148382187, + 0.12620246410369873, + 0.0856672152876854, + 0.05052410811185837, + -0.18173187971115112, + 1.0573192834854126, + 0.0, + 1.0001531839370728 + ], + [ + 0.24246510863304138, + 0.10263501107692719, + 0.09914197027683258, + 0.022293856367468834, + -0.21125544607639313, + 0.9511101245880127, + 0.0, + 1.0001531839370728 + ], + [ + 0.25887176394462585, + 0.07071483135223389, + 0.11610808223485947, + 0.002368352608755231, + -0.22957085072994232, + 0.7474961876869202, + 0.0, + 1.0001531839370728 + ], + [ + 0.27894988656044006, + 0.03182736411690712, + 0.13008567690849304, + 0.02036450430750847, + -0.22525611519813538, + 0.4922538995742798, + 0.0, + 1.0001531839370728 + ], + [ + 0.291676789522171, + 0.012463156133890152, + 0.12713511288166046, + -0.026607338339090347, + -0.21902285516262054, + 0.2538916766643524, + 0.0, + 1.0001531839370728 + ], + [ + 0.3103908598423004, + -0.0018444657325744629, + 0.1257532835006714, + -0.04953601956367493, + -0.2250184714794159, + 0.014803789556026459, + 0.0, + 1.0001531839370728 + ], + [ + 0.334315687417984, + -0.007793678902089596, + 0.12490971386432648, + -0.06588518619537354, + -0.24981963634490967, + -0.09647226333618164, + 0.0, + 1.0001531839370728 + ], + [ + 0.35558217763900757, + -0.0066042025573551655, + 0.12151690572500229, + -0.038763877004384995, + -0.2358202338218689, + -0.10617471486330032, + 0.0, + 1.0001531839370728 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2680111527442932, + -0.04311820864677429, + 0.2063959389925003 + ], + [ + 0.2666679620742798, + -0.04389238730072975, + 0.19972383975982666 + ], + [ + 0.2584112882614136, + -0.06396320462226868, + 0.19486068189144135 + ], + [ + 0.2449401319026947, + -0.07915236055850983, + 0.1812659353017807 + ], + [ + 0.22713735699653625, + -0.09920793026685715, + 0.16135452687740326 + ], + [ + 0.20988132059574127, + -0.1219453290104866, + 0.1313665211200714 + ], + [ + 0.20789970457553864, + -0.1403450220823288, + 0.11189491301774979 + ], + [ + 0.20153015851974487, + -0.1475692242383957, + 0.09370572865009308 + ], + [ + 0.19780224561691284, + -0.1469813883304596, + 0.07270113378763199 + ], + [ + 0.20313182473182678, + -0.13761653006076813, + 0.061903081834316254 + ], + [ + 0.2097383290529251, + -0.12773144245147705, + 0.05655363202095032 + ], + [ + 0.2226504236459732, + -0.11768952757120132, + 0.054936766624450684 + ], + [ + 0.23070263862609863, + -0.10236082971096039, + 0.0516681969165802 + ], + [ + 0.23571325838565826, + -0.08955579996109009, + 0.053839895874261856 + ], + [ + 0.23960436880588531, + -0.07335587590932846, + 0.053784649819135666 + ], + [ + 0.2424371987581253, + -0.05191824957728386, + 0.05293630436062813 + ], + [ + 0.24638448655605316, + -0.02793104015290737, + 0.05309135094285011 + ], + [ + 0.24668899178504944, + -0.003433961421251297, + 0.05268103629350662 + ], + [ + 0.24306340515613556, + 0.025030309334397316, + 0.05790789797902107 + ], + [ + 0.23608934879302979, + 0.05215306580066681, + 0.06105438619852066 + ], + [ + 0.23802722990512848, + 0.07748521119356155, + 0.06295404583215714 + ], + [ + 0.23735632002353668, + 0.10251080989837646, + 0.056190960109233856 + ], + [ + 0.22891992330551147, + 0.11659079790115356, + 0.048211801797151566 + ], + [ + 0.2198183685541153, + 0.13140735030174255, + 0.04664863646030426 + ], + [ + 0.21039597690105438, + 0.1440163552761078, + 0.047905247658491135 + ], + [ + 0.2026495635509491, + 0.15915338695049286, + 0.05328531563282013 + ], + [ + 0.2023540735244751, + 0.1634751260280609, + 0.06150926649570465 + ], + [ + 0.2220732867717743, + 0.14130370318889618, + 0.07946491241455078 + ], + [ + 0.2294285148382187, + 0.12620246410369873, + 0.0856672152876854 + ], + [ + 0.24246510863304138, + 0.10263501107692719, + 0.09914197027683258 + ], + [ + 0.25887176394462585, + 0.07071483135223389, + 0.11610808223485947 + ], + [ + 0.27894988656044006, + 0.03182736411690712, + 0.13008567690849304 + ], + [ + 0.291676789522171, + 0.012463156133890152, + 0.12713511288166046 + ], + [ + 0.3103908598423004, + -0.0018444657325744629, + 0.1257532835006714 + ], + [ + 0.334315687417984, + -0.007793678902089596, + 0.12490971386432648 + ], + [ + 0.35558217763900757, + -0.0066042025573551655, + 0.12151690572500229 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9228235747412824, + -0.1805037876504477, + 0.3403160774126933, + -0.18690923181633642, + -0.9822750782454377, + -0.014163676067520874, + 0.3368405987459754, + -0.05053764242384823, + -0.9402044233754123 + ], + [ + 0.9337327828484983, + -0.16478918082282237, + 0.31778548758202074, + -0.17053802273970933, + -0.9853018638674467, + -0.00984986595676246, + 0.3147377845668198, + -0.04499736595711976, + -0.9481114723611835 + ], + [ + 0.9533354944009602, + -0.05152891256758913, + 0.2974831193276001, + -0.05003933004883059, + -0.9986674388014883, + -0.01262585149367447, + 0.2977373012632807, + -0.002849183616034182, + -0.9546435887749842 + ], + [ + 0.9603124903961846, + 0.12419857732534194, + 0.24974914249990723, + 0.1328011896465155, + -0.9909823793301636, + -0.017826045147419447, + 0.24528303002357935, + 0.050285557046617996, + -0.9681464754544961 + ], + [ + 0.9357389608837786, + 0.29109973015754925, + 0.19913197680520306, + 0.30623392651687814, + -0.9506801402360313, + -0.04927527991655427, + 0.17496679494750195, + 0.10708976637849908, + -0.9787330599314591 + ], + [ + 0.8661087621098844, + 0.4831774628368705, + 0.12804355353944114, + 0.49305262586256554, + -0.8679343950381195, + -0.05990821345893888, + 0.0821871055976062, + 0.11501923889653176, + -0.9899575012883886 + ], + [ + 0.8184574160428723, + 0.56860764512338, + 0.0825397118462913, + 0.5739695343678487, + -0.8156762466238517, + -0.07232727225037694, + 0.026199842403712724, + 0.10657207233074509, + -0.9939597384487718 + ], + [ + 0.7343597527561492, + 0.6764283543114259, + 0.05621774644597085, + 0.6787604237113086, + -0.7318119639843587, + -0.061119036090243196, + -0.0002018295622232269, + 0.08304174162968724, + -0.9965460493183123 + ], + [ + 0.6784138243639212, + 0.7342875639887061, + 0.02400950402342397, + 0.73437015454901, + -0.6768165004433109, + -0.051184966888072045, + -0.0213344561585716, + 0.052356452316804566, + -0.9984005423081542 + ], + [ + 0.6367974916896484, + 0.7704390387757961, + 0.030209967030757612, + 0.7703243473420501, + -0.6340480233868782, + -0.06770157997592925, + -0.03300537031782299, + 0.06638366944829109, + -0.9972481406153453 + ], + [ + 0.5938381498350096, + 0.8020266367591289, + 0.06410558266931712, + 0.804430400303811, + -0.590277445985564, + -0.06681517662784119, + -0.01574747178383367, + 0.09124588039796443, + -0.9957038748758676 + ], + [ + 0.5474090885273774, + 0.830756113624972, + 0.10093349034071292, + 0.8366915925965329, + -0.5408440895065789, + -0.08622557465205724, + -0.017043141608979025, + 0.13165086600752982, + -0.9911496258403996 + ], + [ + 0.4568195407786644, + 0.8848326274570346, + 0.09158126746366163, + 0.8885017198458081, + -0.44883306106957765, + -0.09546505707301466, + -0.043365896667904365, + 0.12498041717962584, + -0.9912110241153471 + ], + [ + 0.35975865080251457, + 0.930115719791741, + 0.07388139799060267, + 0.9322703753624005, + -0.35510442049702273, + -0.0690854381553913, + -0.038021841018066715, + 0.09373152265788219, + -0.9948712184327335 + ], + [ + 0.30464709366480097, + 0.950190884706826, + 0.06578321170062516, + 0.9512115123387196, + -0.29997692455927977, + -0.07218381762030852, + -0.04885495999257156, + 0.08456433853590688, + -0.9952196066859358 + ], + [ + 0.2766324567767441, + 0.9585794473937711, + 0.06782276086916046, + 0.9601829896299955, + -0.27284871060404425, + -0.06001839340497664, + -0.0390270455308476, + 0.08172529691572258, + -0.9958904887391837 + ], + [ + 0.3304990267192681, + 0.9408720983752101, + 0.07436456035401214, + 0.943804239466302, + -0.329304856509385, + -0.02814016781699909, + -0.0019876878658490332, + 0.0794858854033994, + -0.9968340098123589 + ], + [ + 0.3738908958186029, + 0.924783203776125, + 0.07058062083553063, + 0.9269995642042026, + -0.37504693811077827, + 0.0034061971388440297, + 0.029621039637076813, + 0.06415465865622179, + -0.9975002625480971 + ], + [ + 0.41105175546722783, + 0.9073900097591258, + 0.0876346079847703, + 0.9076401237360262, + -0.41632934377848196, + 0.05347226658212595, + 0.08500505933038177, + 0.05756081738746059, + -0.9947164883472708 + ], + [ + 0.4308743700253646, + 0.9004246062487548, + 0.059856542808783816, + 0.8936766183444836, + -0.4349705472813142, + 0.11019403260686096, + 0.12525725160489937, + 0.006012608383110032, + -0.9921060777259747 + ], + [ + 0.4237151729768366, + 0.9027834637369432, + 0.0738069765830876, + 0.8946441424630502, + -0.4298536198799441, + 0.12181019593064314, + 0.14169442665737622, + 0.01441815103387202, + -0.9898054386469097 + ], + [ + 0.41648858483378387, + 0.9081945270644572, + 0.04147239700474094, + 0.899907817737685, + -0.4183144086473964, + 0.12320298329414105, + 0.1292407763739809, + -0.013991301874589787, + -0.99151453100502 + ], + [ + 0.40914181111323145, + 0.9124609600539942, + 0.004239667006670764, + 0.9064286643973015, + -0.40696201150382394, + 0.1129999891667468, + 0.1048334620143219, + -0.04239006452111244, + -0.9935859437773801 + ], + [ + 0.38882812790016197, + 0.9211606944240707, + -0.016603072059680833, + 0.9159714020680054, + -0.38457485516747836, + 0.11444899023794562, + 0.09904078729103272, + -0.0597089258074263, + -0.9932903737738001 + ], + [ + 0.37714903575430064, + 0.925087866091159, + -0.0443964507647546, + 0.9207347541626598, + -0.36933429189672257, + 0.1258558433533107, + 0.10003058185688904, + -0.0883437651453264, + -0.9910546210241491 + ], + [ + 0.3524063851013925, + 0.9350327987508263, + -0.039030821154129106, + 0.9293175440893245, + -0.34472501382750403, + 0.1324143764453603, + 0.11035688464049477, + -0.08293569859730932, + -0.9904256801550637 + ], + [ + 0.34670773415937856, + 0.9375776488679302, + -0.02723783062862932, + 0.9289301076071006, + -0.339197640062403, + 0.14843792021298613, + 0.12993306836648644, + -0.07676661591721166, + -0.9885465514711429 + ], + [ + 0.43189531405812714, + 0.9012812494836667, + 0.03403743562303707, + 0.8840185695153492, + -0.4305020710999862, + 0.1821514082587839, + 0.17882283536133614, + -0.04858061452660957, + -0.9826811880999604 + ], + [ + 0.4831197112093067, + 0.8744138191412696, + 0.044674573706028675, + 0.8566976444286483, + -0.4826316089620161, + 0.18203262361769446, + 0.18073320301328624, + -0.04967094649304417, + -0.9822771026563959 + ], + [ + 0.5678680955039778, + 0.8165732243250755, + 0.1036049970997319, + 0.7959628988729125, + -0.5768302048633258, + 0.18360277333189617, + 0.20968760031655506, + -0.021796423392010114, + -0.9775254606406941 + ], + [ + 0.7141520672415875, + 0.6801979628733944, + 0.1652802352292982, + 0.6619693562203751, + -0.7330248376942567, + 0.156432601296825, + 0.22755965433211112, + -0.002306214689415928, + -0.9737614107644937 + ], + [ + 0.8590062960028271, + 0.4765235940481816, + 0.18717224084491516, + 0.4606737177872649, + -0.8789375944354078, + 0.12348453679776178, + 0.2233560143975589, + -0.01984866251166973, + -0.97453482309712 + ], + [ + 0.9448183480487141, + 0.24548872261532814, + 0.21691836312122886, + 0.24517230923857294, + -0.9690515555371869, + 0.028803150757928185, + 0.2172759258940677, + 0.025968630684979205, + -0.9757647268923092 + ], + [ + 0.9746831740710015, + 0.0037381275244234517, + 0.22355924625362522, + 0.014430058734449773, + -0.9988274514250554, + -0.04621142374617944, + 0.22312436798296648, + 0.04826747022933536, + -0.9735942521039562 + ], + [ + 0.9644515326898483, + -0.1123149786625138, + 0.23920406907124525, + -0.09333254753471129, + -0.9916227632574451, + -0.08929351018046758, + 0.2472291986454732, + 0.06379373760572019, + -0.966854736958665 + ], + [ + 0.9668476422993342, + -0.11489928908818822, + 0.2280433948774835, + -0.10304226493749868, + -0.9926622046413897, + -0.0632774771387607, + 0.23364059625152742, + 0.037681571670048514, + -0.971592595144542 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0013431906700134277, + -0.0007741786539554596, + -0.006672099232673645, + -0.0062756724655628204, + 0.023378998041152954, + 0.01918722689151764, + 1.0 + ], + [ + -0.008256673812866211, + -0.020070817321538925, + -0.004863157868385315, + -0.04443986713886261, + 0.017858803272247314, + 0.1282094419002533, + 1.0 + ], + [ + -0.013471156358718872, + -0.01518915593624115, + -0.013594746589660645, + -0.05487794056534767, + 0.054509952664375305, + 0.1898585557937622, + 1.0 + ], + [ + -0.017802774906158447, + -0.02005556970834732, + -0.01991140842437744, + -0.05708979070186615, + 0.07193958759307861, + 0.17886050045490265, + 1.0 + ], + [ + -0.017256036400794983, + -0.022737398743629456, + -0.029988005757331848, + -0.006684236228466034, + 0.09359212964773178, + 0.2012414038181305, + 1.0 + ], + [ + -0.0019816160202026367, + -0.018399693071842194, + -0.019471608102321625, + 0.008855774998664856, + 0.05607707053422928, + 0.09406602382659912, + 1.0 + ], + [ + -0.006369546055793762, + -0.0072242021560668945, + -0.018189184367656708, + 0.023674167692661285, + 0.026404669508337975, + 0.13448745012283325, + 1.0 + ], + [ + -0.0037279129028320312, + 0.0005878359079360962, + -0.02100459486246109, + 0.030745144933462143, + 0.02113424614071846, + 0.07891124486923218, + 1.0 + ], + [ + 0.00532957911491394, + 0.009364858269691467, + -0.010798051953315735, + -0.01407645270228386, + 0.011675290763378143, + 0.05502384901046753, + 1.0 + ], + [ + 0.006606504321098328, + 0.009885087609291077, + -0.005349449813365936, + -0.02491554617881775, + -0.017263242974877357, + 0.05487549304962158, + 1.0 + ], + [ + 0.012912094593048096, + 0.010041914880275726, + -0.0016168653964996338, + -0.04066911339759827, + 0.001295844092965126, + 0.056552231311798096, + 1.0 + ], + [ + 0.008052214980125427, + 0.015328697860240936, + -0.0032685697078704834, + 0.006626740097999573, + 0.02633553370833397, + 0.10445994138717651, + 1.0 + ], + [ + 0.005010619759559631, + 0.0128050297498703, + 0.002171698957681656, + 0.03148926794528961, + -0.005348492413759232, + 0.10661196708679199, + 1.0 + ], + [ + 0.0038911104202270508, + 0.016199924051761627, + -5.5246055126190186e-05, + 0.009170524775981903, + 0.010843407362699509, + 0.05833792686462402, + 1.0 + ], + [ + 0.0028328299522399902, + 0.0214376263320446, + -0.0008483454585075378, + 0.0028878524899482727, + -0.009837456047534943, + 0.029442787170410156, + 1.0 + ], + [ + 0.0039472877979278564, + 0.023987209424376488, + 0.00015504658222198486, + 0.002309083938598633, + -0.037049271166324615, + -0.056325435638427734, + 1.0 + ], + [ + 0.00030450522899627686, + 0.024497078731656075, + -0.0004103146493434906, + 0.015343010425567627, + -0.0316130630671978, + -0.046544671058654785, + 1.0 + ], + [ + -0.0036255866289138794, + 0.028464270755648613, + 0.00522686168551445, + 0.0064248740673065186, + -0.055482394993305206, + -0.04186844825744629, + 1.0 + ], + [ + -0.006974056363105774, + 0.027122756466269493, + 0.003146488219499588, + 0.051741719245910645, + -0.040479354560375214, + -0.024009108543395996, + 1.0 + ], + [ + 0.0019378811120986938, + 0.025332145392894745, + 0.0018996596336364746, + -0.008505246601998806, + -0.016585782170295715, + 0.006939053535461426, + 1.0 + ], + [ + -0.0006709098815917969, + 0.02502559870481491, + -0.006763085722923279, + 0.028675725683569908, + 0.012569606304168701, + 0.008858561515808105, + 1.0 + ], + [ + -0.008436396718025208, + 0.0140799880027771, + -0.00797915831208229, + 0.028527751564979553, + 0.024576857686042786, + 0.009458422660827637, + 1.0 + ], + [ + -0.00910155475139618, + 0.01481655240058899, + -0.0015631653368473053, + 0.017402153462171555, + 0.005823016166687012, + 0.022553682327270508, + 1.0 + ], + [ + -0.009422391653060913, + 0.012609004974365234, + 0.0012566111981868744, + 0.02886616811156273, + -0.0009947344660758972, + 0.012675762176513672, + 1.0 + ], + [ + -0.007746413350105286, + 0.01513703167438507, + 0.005380067974328995, + -0.005363650619983673, + -0.010383963584899902, + 0.026313304901123047, + 1.0 + ], + [ + -0.000295490026473999, + 0.004321739077568054, + 0.008223950862884521, + -0.006042018532752991, + -0.019719354808330536, + 0.005235433578491211, + 1.0 + ], + [ + 0.019719213247299194, + -0.022171422839164734, + 0.01795564591884613, + -0.028103921562433243, + -0.04948839545249939, + -0.09723210334777832, + 1.0 + ], + [ + 0.007355228066444397, + -0.015101239085197449, + 0.006202302873134613, + 0.0011275224387645721, + -0.0019420087337493896, + -0.05902397632598877, + 1.0 + ], + [ + 0.013036593794822693, + -0.023567453026771545, + 0.013474754989147186, + -0.028230251744389534, + -0.029523566365242004, + -0.1062091588973999, + 1.0 + ], + [ + 0.016406655311584473, + -0.0319201797246933, + 0.016966111958026886, + -0.019925503060221672, + -0.018315404653549194, + -0.20361393690109253, + 1.0 + ], + [ + 0.02007812261581421, + -0.03888746723532677, + 0.013977594673633575, + 0.017996151000261307, + 0.004314735531806946, + -0.2552422881126404, + 1.0 + ], + [ + 0.012726902961730957, + -0.019364207983016968, + -0.0029505640268325806, + -0.046971842646598816, + 0.0062332600355148315, + -0.23836222290992737, + 1.0 + ], + [ + 0.018714070320129395, + -0.014307621866464615, + -0.0013818293809890747, + -0.02292868122458458, + -0.005995616316795349, + -0.23908787965774536, + 1.0 + ], + [ + 0.023924827575683594, + -0.005949213169515133, + -0.0008435696363449097, + -0.01634916663169861, + -0.024801164865493774, + -0.1112760528922081, + 1.0 + ], + [ + 0.02126649022102356, + 0.0011894763447344303, + -0.0033928081393241882, + 0.02712130919098854, + 0.013999402523040771, + -0.009702451527118683, + 1.0 + ], + [ + 0.006823062896728516, + 0.012106632813811302, + -0.004328601062297821, + 0.02220267616212368, + 0.03445129096508026, + 0.025786124169826508, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2666679620742798, + -0.04389238730072975, + 0.19972383975982666 + ], + [ + 0.2584112882614136, + -0.06396320462226868, + 0.19486068189144135 + ], + [ + 0.2449401319026947, + -0.07915236055850983, + 0.1812659353017807 + ], + [ + 0.22713735699653625, + -0.09920793026685715, + 0.16135452687740326 + ], + [ + 0.20988132059574127, + -0.1219453290104866, + 0.1313665211200714 + ], + [ + 0.20789970457553864, + -0.1403450220823288, + 0.11189491301774979 + ], + [ + 0.20153015851974487, + -0.1475692242383957, + 0.09370572865009308 + ], + [ + 0.19780224561691284, + -0.1469813883304596, + 0.07270113378763199 + ], + [ + 0.20313182473182678, + -0.13761653006076813, + 0.061903081834316254 + ], + [ + 0.2097383290529251, + -0.12773144245147705, + 0.05655363202095032 + ], + [ + 0.2226504236459732, + -0.11768952757120132, + 0.054936766624450684 + ], + [ + 0.23070263862609863, + -0.10236082971096039, + 0.0516681969165802 + ], + [ + 0.23571325838565826, + -0.08955579996109009, + 0.053839895874261856 + ], + [ + 0.23960436880588531, + -0.07335587590932846, + 0.053784649819135666 + ], + [ + 0.2424371987581253, + -0.05191824957728386, + 0.05293630436062813 + ], + [ + 0.24638448655605316, + -0.02793104015290737, + 0.05309135094285011 + ], + [ + 0.24668899178504944, + -0.003433961421251297, + 0.05268103629350662 + ], + [ + 0.24306340515613556, + 0.025030309334397316, + 0.05790789797902107 + ], + [ + 0.23608934879302979, + 0.05215306580066681, + 0.06105438619852066 + ], + [ + 0.23802722990512848, + 0.07748521119356155, + 0.06295404583215714 + ], + [ + 0.23735632002353668, + 0.10251080989837646, + 0.056190960109233856 + ], + [ + 0.22891992330551147, + 0.11659079790115356, + 0.048211801797151566 + ], + [ + 0.2198183685541153, + 0.13140735030174255, + 0.04664863646030426 + ], + [ + 0.21039597690105438, + 0.1440163552761078, + 0.047905247658491135 + ], + [ + 0.2026495635509491, + 0.15915338695049286, + 0.05328531563282013 + ], + [ + 0.2023540735244751, + 0.1634751260280609, + 0.06150926649570465 + ], + [ + 0.2220732867717743, + 0.14130370318889618, + 0.07946491241455078 + ], + [ + 0.2294285148382187, + 0.12620246410369873, + 0.0856672152876854 + ], + [ + 0.24246510863304138, + 0.10263501107692719, + 0.09914197027683258 + ], + [ + 0.25887176394462585, + 0.07071483135223389, + 0.11610808223485947 + ], + [ + 0.27894988656044006, + 0.03182736411690712, + 0.13008567690849304 + ], + [ + 0.291676789522171, + 0.012463156133890152, + 0.12713511288166046 + ], + [ + 0.3103908598423004, + -0.0018444657325744629, + 0.1257532835006714 + ], + [ + 0.334315687417984, + -0.007793678902089596, + 0.12490971386432648 + ], + [ + 0.35558217763900757, + -0.0066042025573551655, + 0.12151690572500229 + ], + [ + 0.3624052405357361, + 0.005502430722117424, + 0.11718830466270447 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9337327828484983, + -0.16478918082282237, + 0.31778548758202074, + -0.17053802273970933, + -0.9853018638674467, + -0.00984986595676246, + 0.3147377845668198, + -0.04499736595711976, + -0.9481114723611835 + ], + [ + 0.9533354944009602, + -0.05152891256758913, + 0.2974831193276001, + -0.05003933004883059, + -0.9986674388014883, + -0.01262585149367447, + 0.2977373012632807, + -0.002849183616034182, + -0.9546435887749842 + ], + [ + 0.9603124903961846, + 0.12419857732534194, + 0.24974914249990723, + 0.1328011896465155, + -0.9909823793301636, + -0.017826045147419447, + 0.24528303002357935, + 0.050285557046617996, + -0.9681464754544961 + ], + [ + 0.9357389608837786, + 0.29109973015754925, + 0.19913197680520306, + 0.30623392651687814, + -0.9506801402360313, + -0.04927527991655427, + 0.17496679494750195, + 0.10708976637849908, + -0.9787330599314591 + ], + [ + 0.8661087621098844, + 0.4831774628368705, + 0.12804355353944114, + 0.49305262586256554, + -0.8679343950381195, + -0.05990821345893888, + 0.0821871055976062, + 0.11501923889653176, + -0.9899575012883886 + ], + [ + 0.8184574160428723, + 0.56860764512338, + 0.0825397118462913, + 0.5739695343678487, + -0.8156762466238517, + -0.07232727225037694, + 0.026199842403712724, + 0.10657207233074509, + -0.9939597384487718 + ], + [ + 0.7343597527561492, + 0.6764283543114259, + 0.05621774644597085, + 0.6787604237113086, + -0.7318119639843587, + -0.061119036090243196, + -0.0002018295622232269, + 0.08304174162968724, + -0.9965460493183123 + ], + [ + 0.6784138243639212, + 0.7342875639887061, + 0.02400950402342397, + 0.73437015454901, + -0.6768165004433109, + -0.051184966888072045, + -0.0213344561585716, + 0.052356452316804566, + -0.9984005423081542 + ], + [ + 0.6367974916896484, + 0.7704390387757961, + 0.030209967030757612, + 0.7703243473420501, + -0.6340480233868782, + -0.06770157997592925, + -0.03300537031782299, + 0.06638366944829109, + -0.9972481406153453 + ], + [ + 0.5938381498350096, + 0.8020266367591289, + 0.06410558266931712, + 0.804430400303811, + -0.590277445985564, + -0.06681517662784119, + -0.01574747178383367, + 0.09124588039796443, + -0.9957038748758676 + ], + [ + 0.5474090885273774, + 0.830756113624972, + 0.10093349034071292, + 0.8366915925965329, + -0.5408440895065789, + -0.08622557465205724, + -0.017043141608979025, + 0.13165086600752982, + -0.9911496258403996 + ], + [ + 0.4568195407786644, + 0.8848326274570346, + 0.09158126746366163, + 0.8885017198458081, + -0.44883306106957765, + -0.09546505707301466, + -0.043365896667904365, + 0.12498041717962584, + -0.9912110241153471 + ], + [ + 0.35975865080251457, + 0.930115719791741, + 0.07388139799060267, + 0.9322703753624005, + -0.35510442049702273, + -0.0690854381553913, + -0.038021841018066715, + 0.09373152265788219, + -0.9948712184327335 + ], + [ + 0.30464709366480097, + 0.950190884706826, + 0.06578321170062516, + 0.9512115123387196, + -0.29997692455927977, + -0.07218381762030852, + -0.04885495999257156, + 0.08456433853590688, + -0.9952196066859358 + ], + [ + 0.2766324567767441, + 0.9585794473937711, + 0.06782276086916046, + 0.9601829896299955, + -0.27284871060404425, + -0.06001839340497664, + -0.0390270455308476, + 0.08172529691572258, + -0.9958904887391837 + ], + [ + 0.3304990267192681, + 0.9408720983752101, + 0.07436456035401214, + 0.943804239466302, + -0.329304856509385, + -0.02814016781699909, + -0.0019876878658490332, + 0.0794858854033994, + -0.9968340098123589 + ], + [ + 0.3738908958186029, + 0.924783203776125, + 0.07058062083553063, + 0.9269995642042026, + -0.37504693811077827, + 0.0034061971388440297, + 0.029621039637076813, + 0.06415465865622179, + -0.9975002625480971 + ], + [ + 0.41105175546722783, + 0.9073900097591258, + 0.0876346079847703, + 0.9076401237360262, + -0.41632934377848196, + 0.05347226658212595, + 0.08500505933038177, + 0.05756081738746059, + -0.9947164883472708 + ], + [ + 0.4308743700253646, + 0.9004246062487548, + 0.059856542808783816, + 0.8936766183444836, + -0.4349705472813142, + 0.11019403260686096, + 0.12525725160489937, + 0.006012608383110032, + -0.9921060777259747 + ], + [ + 0.4237151729768366, + 0.9027834637369432, + 0.0738069765830876, + 0.8946441424630502, + -0.4298536198799441, + 0.12181019593064314, + 0.14169442665737622, + 0.01441815103387202, + -0.9898054386469097 + ], + [ + 0.41648858483378387, + 0.9081945270644572, + 0.04147239700474094, + 0.899907817737685, + -0.4183144086473964, + 0.12320298329414105, + 0.1292407763739809, + -0.013991301874589787, + -0.99151453100502 + ], + [ + 0.40914181111323145, + 0.9124609600539942, + 0.004239667006670764, + 0.9064286643973015, + -0.40696201150382394, + 0.1129999891667468, + 0.1048334620143219, + -0.04239006452111244, + -0.9935859437773801 + ], + [ + 0.38882812790016197, + 0.9211606944240707, + -0.016603072059680833, + 0.9159714020680054, + -0.38457485516747836, + 0.11444899023794562, + 0.09904078729103272, + -0.0597089258074263, + -0.9932903737738001 + ], + [ + 0.37714903575430064, + 0.925087866091159, + -0.0443964507647546, + 0.9207347541626598, + -0.36933429189672257, + 0.1258558433533107, + 0.10003058185688904, + -0.0883437651453264, + -0.9910546210241491 + ], + [ + 0.3524063851013925, + 0.9350327987508263, + -0.039030821154129106, + 0.9293175440893245, + -0.34472501382750403, + 0.1324143764453603, + 0.11035688464049477, + -0.08293569859730932, + -0.9904256801550637 + ], + [ + 0.34670773415937856, + 0.9375776488679302, + -0.02723783062862932, + 0.9289301076071006, + -0.339197640062403, + 0.14843792021298613, + 0.12993306836648644, + -0.07676661591721166, + -0.9885465514711429 + ], + [ + 0.43189531405812714, + 0.9012812494836667, + 0.03403743562303707, + 0.8840185695153492, + -0.4305020710999862, + 0.1821514082587839, + 0.17882283536133614, + -0.04858061452660957, + -0.9826811880999604 + ], + [ + 0.4831197112093067, + 0.8744138191412696, + 0.044674573706028675, + 0.8566976444286483, + -0.4826316089620161, + 0.18203262361769446, + 0.18073320301328624, + -0.04967094649304417, + -0.9822771026563959 + ], + [ + 0.5678680955039778, + 0.8165732243250755, + 0.1036049970997319, + 0.7959628988729125, + -0.5768302048633258, + 0.18360277333189617, + 0.20968760031655506, + -0.021796423392010114, + -0.9775254606406941 + ], + [ + 0.7141520672415875, + 0.6801979628733944, + 0.1652802352292982, + 0.6619693562203751, + -0.7330248376942567, + 0.156432601296825, + 0.22755965433211112, + -0.002306214689415928, + -0.9737614107644937 + ], + [ + 0.8590062960028271, + 0.4765235940481816, + 0.18717224084491516, + 0.4606737177872649, + -0.8789375944354078, + 0.12348453679776178, + 0.2233560143975589, + -0.01984866251166973, + -0.97453482309712 + ], + [ + 0.9448183480487141, + 0.24548872261532814, + 0.21691836312122886, + 0.24517230923857294, + -0.9690515555371869, + 0.028803150757928185, + 0.2172759258940677, + 0.025968630684979205, + -0.9757647268923092 + ], + [ + 0.9746831740710015, + 0.0037381275244234517, + 0.22355924625362522, + 0.014430058734449773, + -0.9988274514250554, + -0.04621142374617944, + 0.22312436798296648, + 0.04826747022933536, + -0.9735942521039562 + ], + [ + 0.9644515326898483, + -0.1123149786625138, + 0.23920406907124525, + -0.09333254753471129, + -0.9916227632574451, + -0.08929351018046758, + 0.2472291986454732, + 0.06379373760572019, + -0.966854736958665 + ], + [ + 0.9668476422993342, + -0.11489928908818822, + 0.2280433948774835, + -0.10304226493749868, + -0.9926622046413897, + -0.0632774771387607, + 0.23364059625152742, + 0.037681571670048514, + -0.971592595144542 + ], + [ + 0.9766295242926312, + -0.08359259457815066, + 0.19800770290986588, + -0.07867942817525309, + -0.9963679044155356, + -0.032566034953756734, + 0.2000107993633443, + 0.016225818385741, + -0.979659330050885 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006594.json b/json/chunk-0006/episode_0006594.json new file mode 100644 index 0000000000000000000000000000000000000000..4f791198b1d6046089d9c95f30577b1dc8492ea7 --- /dev/null +++ b/json/chunk-0006/episode_0006594.json @@ -0,0 +1,3382 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 55, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nTake the eggplant and put it between the two right burners." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006594.mp4", + "start": 0, + "end": 55, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.31770122051239014, + 0.16348019242286682, + 0.06270530074834824, + -0.8795627355575562, + 0.1806187629699707, + 1.1711064577102661, + 0.0, + 0.9947922229766846 + ], + [ + 0.314454585313797, + 0.16041411459445953, + 0.05059980973601341, + -0.868781566619873, + 0.21681758761405945, + 1.1761656999588013, + 0.0, + 0.9947922229766846 + ], + [ + 0.31204092502593994, + 0.15645663440227509, + 0.05103719234466553, + -0.9159823060035706, + 0.22718067467212677, + 1.2010833024978638, + 0.0, + 0.9947922229766846 + ], + [ + 0.3183700740337372, + 0.1596706509590149, + 0.07301884144544601, + -0.9582703709602356, + 0.18870525062084198, + 1.2529449462890625, + 0.0, + 0.9947922229766846 + ], + [ + 0.3207283616065979, + 0.16124285757541656, + 0.08238063007593155, + -0.9726453423500061, + 0.18268746137619019, + 1.288533091545105, + 0.0, + 0.9947922229766846 + ], + [ + 0.3157120645046234, + 0.15881983935832977, + 0.09184276312589645, + -0.9350387454032898, + 0.08123304694890976, + 1.3715128898620605, + 0.0, + 0.9947922229766846 + ], + [ + 0.31209251284599304, + 0.15308262407779694, + 0.10052498430013657, + -0.7534918785095215, + 0.04381783306598663, + 1.435670018196106, + 0.0, + 0.9947922229766846 + ], + [ + 0.3160933554172516, + 0.14690010249614716, + 0.10204697400331497, + -0.6619804501533508, + 0.012016847729682922, + 1.4725866317749023, + 0.0, + 0.9947922229766846 + ], + [ + 0.3229764699935913, + 0.13300660252571106, + 0.11167789995670319, + -0.6633192300796509, + -0.08510149270296097, + 1.4828197956085205, + 0.0, + 0.9947922229766846 + ], + [ + 0.32793283462524414, + 0.11798501759767532, + 0.11837481707334518, + -0.5963847041130066, + -0.07735057175159454, + 1.4559494256973267, + 0.0, + 0.9947922229766846 + ], + [ + 0.33616432547569275, + 0.11221108585596085, + 0.12874698638916016, + -0.5401871800422668, + -0.08095817267894745, + 1.4775419235229492, + 0.0, + 0.9947922229766846 + ], + [ + 0.35337284207344055, + 0.1133623719215393, + 0.11844824254512787, + -0.4458094835281372, + -0.10644321143627167, + 1.5590755939483643, + 0.0, + 0.9947922229766846 + ], + [ + 0.37436625361442566, + 0.11600324511528015, + 0.11265002191066742, + -0.3643622100353241, + -0.1838640570640564, + 1.6775916814804077, + 0.0, + 0.9947922229766846 + ], + [ + 0.3834487497806549, + 0.12068485468626022, + 0.10327209532260895, + -0.3330972492694855, + -0.21267449855804443, + 1.6919296979904175, + 0.0, + 0.9947922229766846 + ], + [ + 0.3852587938308716, + 0.12509867548942566, + 0.10323730856180191, + -0.34546366333961487, + -0.24016082286834717, + 1.6961669921875, + 0.0, + 0.9947922229766846 + ], + [ + 0.3825520873069763, + 0.13046640157699585, + 0.09938512742519379, + -0.3272639811038971, + -0.25237658619880676, + 1.68328058719635, + 0.0, + 0.9947922229766846 + ], + [ + 0.3796628713607788, + 0.13745276629924774, + 0.09101857244968414, + -0.2981404960155487, + -0.2561882734298706, + 1.673889398574829, + 0.0, + 0.9947922229766846 + ], + [ + 0.3769371807575226, + 0.14340807497501373, + 0.07161519676446915, + -0.20885466039180756, + -0.30336683988571167, + 1.6934274435043335, + 0.0, + 0.9947922229766846 + ], + [ + 0.3771328032016754, + 0.1469910889863968, + 0.06845304369926453, + -0.20196090638637543, + -0.33165228366851807, + 1.6981256008148193, + 0.0, + 0.9947922229766846 + ], + [ + 0.37982743978500366, + 0.14801037311553955, + 0.06164606660604477, + -0.13700690865516663, + -0.3526291251182556, + 1.696724772453308, + 0.0, + 0.9947922229766846 + ], + [ + 0.3936605453491211, + 0.15116553008556366, + 0.07174132019281387, + -0.10415038466453552, + -0.34663015604019165, + 1.7127875089645386, + 0.0, + 0.9947922229766846 + ], + [ + 0.40205705165863037, + 0.15343867242336273, + 0.07362022250890732, + -0.078638955950737, + -0.3519112169742584, + 1.719541072845459, + 0.0, + 0.9947922229766846 + ], + [ + 0.40296781063079834, + 0.15351808071136475, + 0.07302948087453842, + -0.0814574733376503, + -0.3519885540008545, + 1.714081048965454, + 0.0, + 0.9947922229766846 + ], + [ + 0.4007178544998169, + 0.1539323627948761, + 0.07312722504138947, + -0.06663469225168228, + -0.35674190521240234, + 1.7108889818191528, + 0.0, + 0.9947922229766846 + ], + [ + 0.40012940764427185, + 0.15473851561546326, + 0.07156047224998474, + -0.06340672820806503, + -0.3553225100040436, + 1.699153184890747, + 0.0, + 0.9947922229766846 + ], + [ + 0.39485999941825867, + 0.15303394198417664, + 0.0637023076415062, + -0.04245084151625633, + -0.35538700222969055, + 1.6834602355957031, + 0.0, + 0.9947922229766846 + ], + [ + 0.3931177258491516, + 0.15154501795768738, + 0.06217421963810921, + -0.027861591428518295, + -0.3467801511287689, + 1.6761786937713623, + 0.0, + 0.9657809734344482 + ], + [ + 0.38779595494270325, + 0.14990633726119995, + 0.05576947331428528, + -0.0068871998228132725, + -0.3416706919670105, + 1.6724340915679932, + 0.0, + 0.8399420380592346 + ], + [ + 0.3876791298389435, + 0.14937686920166016, + 0.055519022047519684, + -0.011466854251921177, + -0.3385528326034546, + 1.6813186407089233, + 0.0, + 0.5600578188896179 + ], + [ + 0.3872527480125427, + 0.14968913793563843, + 0.05390937998890877, + -0.01472951378673315, + -0.3415456712245941, + 1.6848208904266357, + 0.0, + 0.3228223919868469 + ], + [ + 0.38777247071266174, + 0.1483675241470337, + 0.05316317453980446, + -0.01829364337027073, + -0.3288121223449707, + 1.678708553314209, + 0.0, + 0.31187212467193604 + ], + [ + 0.38702279329299927, + 0.14647223055362701, + 0.0630679577589035, + -0.043896082788705826, + -0.28033965826034546, + 1.6848747730255127, + 0.0, + 0.3110979497432709 + ], + [ + 0.3837765157222748, + 0.14474843442440033, + 0.08512284606695175, + -0.0934138149023056, + -0.21188221871852875, + 1.6890138387680054, + 0.0, + 0.3110979497432709 + ], + [ + 0.37971049547195435, + 0.13978883624076843, + 0.10327640175819397, + -0.13034003973007202, + -0.1409165859222412, + 1.6962502002716064, + 0.0, + 0.3110979497432709 + ], + [ + 0.37314268946647644, + 0.13188263773918152, + 0.11408732831478119, + -0.16039352118968964, + -0.10138346254825592, + 1.6876556873321533, + 0.0, + 0.31187212467193604 + ], + [ + 0.3597230017185211, + 0.11128754913806915, + 0.10821635276079178, + -0.16661694645881653, + -0.0895993709564209, + 1.6649980545043945, + 0.0, + 0.3110979497432709 + ], + [ + 0.3528002202510834, + 0.08945990353822708, + 0.10685297101736069, + -0.20856434106826782, + -0.026330694556236267, + 1.6783491373062134, + 0.0, + 0.3110979497432709 + ], + [ + 0.34709784388542175, + 0.07185070961713791, + 0.09349055588245392, + -0.20855553448200226, + 0.005518551915884018, + 1.6965845823287964, + 0.0, + 0.3110979497432709 + ], + [ + 0.33709290623664856, + 0.05116216838359833, + 0.0827823355793953, + -0.22839319705963135, + 0.012687968090176582, + 1.6741158962249756, + 0.0, + 0.3110979497432709 + ], + [ + 0.3352871239185333, + 0.03457533195614815, + 0.06922744959592819, + -0.2697535455226898, + -0.025515304878354073, + 1.6882081031799316, + 0.0, + 0.3110979497432709 + ], + [ + 0.3378584384918213, + 0.025695189833641052, + 0.055769987404346466, + -0.31163740158081055, + -0.06084263697266579, + 1.7013517618179321, + 0.0, + 0.3110979497432709 + ], + [ + 0.33950522541999817, + 0.019942885264754295, + 0.03483742102980614, + -0.32162076234817505, + -0.08725059032440186, + 1.7194809913635254, + 0.0, + 0.3110979497432709 + ], + [ + 0.33623427152633667, + 0.012758921831846237, + 0.020265620201826096, + -0.31968578696250916, + -0.09095952659845352, + 1.7350170612335205, + 0.0, + 0.3110979497432709 + ], + [ + 0.33599647879600525, + 0.009831488132476807, + 0.010473898611962795, + -0.3140600919723511, + -0.09855949878692627, + 1.7571818828582764, + 0.0, + 0.3110979497432709 + ], + [ + 0.3263927400112152, + 0.005651810672134161, + 0.0026189121417701244, + -0.28580790758132935, + -0.08558645844459534, + 1.7119373083114624, + 0.0, + 0.3110979497432709 + ], + [ + 0.3143828809261322, + 0.008903521113097668, + 0.005188235081732273, + -0.26566556096076965, + -0.06951040029525757, + 1.6827911138534546, + 0.0, + 0.3110979497432709 + ], + [ + 0.307873010635376, + 0.016740070655941963, + 0.005076196510344744, + -0.25406280159950256, + -0.07408668100833893, + 1.6657352447509766, + 0.0, + 0.3110979497432709 + ], + [ + 0.3028526306152344, + 0.02741122804582119, + 0.000993378460407257, + -0.255094438791275, + -0.08765974640846252, + 1.6580629348754883, + 0.0, + 0.3110979497432709 + ], + [ + 0.2983023226261139, + 0.029431786388158798, + -0.003946492914110422, + -0.2710895240306854, + -0.10417104512453079, + 1.6398727893829346, + 0.0, + 0.3110979497432709 + ], + [ + 0.2966494858264923, + 0.03096136264503002, + -0.006272070575505495, + -0.2913578748703003, + -0.1217988058924675, + 1.6422629356384277, + 0.0, + 0.3544071912765503 + ], + [ + 0.2965143918991089, + 0.0311894491314888, + -0.01339111477136612, + -0.27081775665283203, + -0.14831402897834778, + 1.655349612236023, + 0.0, + 0.6360166668891907 + ], + [ + 0.29579439759254456, + 0.033592596650123596, + -0.012341597117483616, + -0.2626911699771881, + -0.176980122923851, + 1.6578093767166138, + 0.0, + 0.9198530912399292 + ], + [ + 0.29936736822128296, + 0.032770294696092606, + -0.00926374364644289, + -0.25544703006744385, + -0.17438004910945892, + 1.6567133665084839, + 0.0, + 1.0001531839370728 + ], + [ + 0.29709991812705994, + 0.033132798969745636, + -0.0036125658079981804, + -0.22983206808567047, + -0.15010207891464233, + 1.626990556716919, + 0.0, + 0.9994885921478271 + ], + [ + 0.3049333095550537, + 0.03839413449168205, + 0.019297540187835693, + -0.3002036511898041, + -0.12584683299064636, + 1.602918267250061, + 0.0, + 0.9994885921478271 + ] + ], + "left_gripper_pos": [ + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9657809734344482 + ], + [ + 0.8399420380592346 + ], + [ + 0.5600578188896179 + ], + [ + 0.3228223919868469 + ], + [ + 0.31187212467193604 + ], + [ + 0.3110979497432709 + ], + [ + 0.3110979497432709 + ], + [ + 0.3110979497432709 + ], + [ + 0.31187212467193604 + ], + [ + 0.3110979497432709 + ], + [ + 0.3110979497432709 + ], + [ + 0.3110979497432709 + ], + [ + 0.3110979497432709 + ], + [ + 0.3110979497432709 + ], + [ + 0.3110979497432709 + ], + [ + 0.3110979497432709 + ], + [ + 0.3110979497432709 + ], + [ + 0.3110979497432709 + ], + [ + 0.3110979497432709 + ], + [ + 0.3110979497432709 + ], + [ + 0.3110979497432709 + ], + [ + 0.3110979497432709 + ], + [ + 0.3110979497432709 + ], + [ + 0.3544071912765503 + ], + [ + 0.6360166668891907 + ], + [ + 0.9198530912399292 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.31770122051239014, + 0.16348019242286682, + 0.06270530074834824 + ], + [ + 0.314454585313797, + 0.16041411459445953, + 0.05059980973601341 + ], + [ + 0.31204092502593994, + 0.15645663440227509, + 0.05103719234466553 + ], + [ + 0.3183700740337372, + 0.1596706509590149, + 0.07301884144544601 + ], + [ + 0.3207283616065979, + 0.16124285757541656, + 0.08238063007593155 + ], + [ + 0.3157120645046234, + 0.15881983935832977, + 0.09184276312589645 + ], + [ + 0.31209251284599304, + 0.15308262407779694, + 0.10052498430013657 + ], + [ + 0.3160933554172516, + 0.14690010249614716, + 0.10204697400331497 + ], + [ + 0.3229764699935913, + 0.13300660252571106, + 0.11167789995670319 + ], + [ + 0.32793283462524414, + 0.11798501759767532, + 0.11837481707334518 + ], + [ + 0.33616432547569275, + 0.11221108585596085, + 0.12874698638916016 + ], + [ + 0.35337284207344055, + 0.1133623719215393, + 0.11844824254512787 + ], + [ + 0.37436625361442566, + 0.11600324511528015, + 0.11265002191066742 + ], + [ + 0.3834487497806549, + 0.12068485468626022, + 0.10327209532260895 + ], + [ + 0.3852587938308716, + 0.12509867548942566, + 0.10323730856180191 + ], + [ + 0.3825520873069763, + 0.13046640157699585, + 0.09938512742519379 + ], + [ + 0.3796628713607788, + 0.13745276629924774, + 0.09101857244968414 + ], + [ + 0.3769371807575226, + 0.14340807497501373, + 0.07161519676446915 + ], + [ + 0.3771328032016754, + 0.1469910889863968, + 0.06845304369926453 + ], + [ + 0.37982743978500366, + 0.14801037311553955, + 0.06164606660604477 + ], + [ + 0.3936605453491211, + 0.15116553008556366, + 0.07174132019281387 + ], + [ + 0.40205705165863037, + 0.15343867242336273, + 0.07362022250890732 + ], + [ + 0.40296781063079834, + 0.15351808071136475, + 0.07302948087453842 + ], + [ + 0.4007178544998169, + 0.1539323627948761, + 0.07312722504138947 + ], + [ + 0.40012940764427185, + 0.15473851561546326, + 0.07156047224998474 + ], + [ + 0.39485999941825867, + 0.15303394198417664, + 0.0637023076415062 + ], + [ + 0.3931177258491516, + 0.15154501795768738, + 0.06217421963810921 + ], + [ + 0.38779595494270325, + 0.14990633726119995, + 0.05576947331428528 + ], + [ + 0.3876791298389435, + 0.14937686920166016, + 0.055519022047519684 + ], + [ + 0.3872527480125427, + 0.14968913793563843, + 0.05390937998890877 + ], + [ + 0.38777247071266174, + 0.1483675241470337, + 0.05316317453980446 + ], + [ + 0.38702279329299927, + 0.14647223055362701, + 0.0630679577589035 + ], + [ + 0.3837765157222748, + 0.14474843442440033, + 0.08512284606695175 + ], + [ + 0.37971049547195435, + 0.13978883624076843, + 0.10327640175819397 + ], + [ + 0.37314268946647644, + 0.13188263773918152, + 0.11408732831478119 + ], + [ + 0.3597230017185211, + 0.11128754913806915, + 0.10821635276079178 + ], + [ + 0.3528002202510834, + 0.08945990353822708, + 0.10685297101736069 + ], + [ + 0.34709784388542175, + 0.07185070961713791, + 0.09349055588245392 + ], + [ + 0.33709290623664856, + 0.05116216838359833, + 0.0827823355793953 + ], + [ + 0.3352871239185333, + 0.03457533195614815, + 0.06922744959592819 + ], + [ + 0.3378584384918213, + 0.025695189833641052, + 0.055769987404346466 + ], + [ + 0.33950522541999817, + 0.019942885264754295, + 0.03483742102980614 + ], + [ + 0.33623427152633667, + 0.012758921831846237, + 0.020265620201826096 + ], + [ + 0.33599647879600525, + 0.009831488132476807, + 0.010473898611962795 + ], + [ + 0.3263927400112152, + 0.005651810672134161, + 0.0026189121417701244 + ], + [ + 0.3143828809261322, + 0.008903521113097668, + 0.005188235081732273 + ], + [ + 0.307873010635376, + 0.016740070655941963, + 0.005076196510344744 + ], + [ + 0.3028526306152344, + 0.02741122804582119, + 0.000993378460407257 + ], + [ + 0.2983023226261139, + 0.029431786388158798, + -0.003946492914110422 + ], + [ + 0.2966494858264923, + 0.03096136264503002, + -0.006272070575505495 + ], + [ + 0.2965143918991089, + 0.0311894491314888, + -0.01339111477136612 + ], + [ + 0.29579439759254456, + 0.033592596650123596, + -0.012341597117483616 + ], + [ + 0.29936736822128296, + 0.032770294696092606, + -0.00926374364644289 + ], + [ + 0.29709991812705994, + 0.033132798969745636, + -0.0036125658079981804 + ], + [ + 0.3049333095550537, + 0.03839413449168205, + 0.019297540187835693 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.3828025468810705, + 0.6410999674234158, + 0.6651714379549537, + 0.9061966063832988, + -0.12057206239150187, + -0.4053024652652045, + -0.1796383051600031, + 0.757926915698575, + -0.6271179073977131 + ], + [ + 0.3754657022433754, + 0.659274402951966, + 0.651446673221391, + 0.9015251970186494, + -0.09664198639343502, + -0.42179692460521406, + -0.21512281510656778, + 0.745665868924051, + -0.6306382372980295 + ], + [ + 0.3520631250707724, + 0.6324144373456182, + 0.6900025618809156, + 0.9084725146629984, + -0.05349101597448014, + -0.41450742009270003, + -0.2252315387935044, + 0.772781140198726, + -0.5933633484517451 + ], + [ + 0.3069783039208299, + 0.594104632005622, + 0.7435079065829466, + 0.9330462638212116, + -0.0338871414246244, + -0.35815685281081255, + -0.18758728765875676, + 0.8036736575722341, + -0.5647297244109777 + ], + [ + 0.27389501669749083, + 0.5826474523806928, + 0.7651819823169974, + 0.9444450504817383, + -0.012655020029610498, + -0.3284256340308978, + -0.18167296565209773, + 0.8126264804338699, + -0.5537446494990568 + ], + [ + 0.1973141863342796, + 0.5949606948798356, + 0.7791590873623592, + 0.9769763589490199, + -0.05355241453921272, + -0.20651714929210152, + -0.08114373620900772, + 0.8019687714899649, + -0.5918291845025214 + ], + [ + 0.13458616296455672, + 0.726693549456426, + 0.6736490554561021, + 0.9899332253907538, + -0.068551645508385, + -0.12382601166778895, + -0.043803812687213284, + 0.6835328500346661, + -0.7286041922179352 + ], + [ + 0.09804481720491065, + 0.7856998056150472, + 0.6107888581791034, + 0.9951094493273905, + -0.06999027766535204, + -0.0697032631349816, + -0.012016558517030651, + 0.6146358080105683, + -0.7887194848820478 + ], + [ + 0.08754511541060095, + 0.7803069752371138, + 0.6192389499733126, + 0.9925276093371217, + -0.12136635238089699, + 0.012615594052360346, + 0.08499880864625431, + 0.6135073209881543, + -0.7851012480073224 + ], + [ + 0.11425195418853651, + 0.8169476011634709, + 0.5652814413346251, + 0.9904419735843135, + -0.137927425026381, + -0.0008499341164782126, + 0.07727346198088217, + 0.5599755730197904, + -0.8248976722567756 + ], + [ + 0.09281430353719122, + 0.8500131401500871, + 0.5185201699366134, + 0.9923938664256634, + -0.121270593391541, + 0.021162633559792365, + 0.08086976529970047, + 0.5126120411682229, + -0.8548034723313421 + ], + [ + 0.011654129805736935, + 0.9016630276609837, + 0.43228227561131727, + 0.9942719699496282, + -0.05638223784508317, + 0.09079808934149375, + 0.10624232222121485, + 0.42874797702707396, + -0.897155360661817 + ], + [ + -0.10479580390535476, + 0.9359727560256261, + 0.3361143249872337, + 0.9775433920730219, + 0.03481393690659362, + 0.2078386547575632, + 0.18282985559858725, + 0.35034695628028084, + -0.9186023373184624 + ], + [ + -0.11811487228063344, + 0.9464489069771364, + 0.3004718679475882, + 0.9703073050852714, + 0.0456856532139599, + 0.23752169330099332, + 0.21107489344847952, + 0.31960489291028854, + -0.9237424434243104 + ], + [ + -0.12145374522584768, + 0.9436054150651256, + 0.30798994858661727, + 0.9636763780277859, + 0.03774013870689974, + 0.2643927388595082, + 0.23785883671174174, + 0.32891412646792206, + -0.9139139298686616 + ], + [ + -0.10869140570328684, + 0.9499510701955725, + 0.29288076509140964, + 0.962202219247202, + 0.02652816468477842, + 0.271040856245357, + 0.24970596228765246, + 0.3112703338141032, + -0.9169284114287515 + ], + [ + -0.09955184899931452, + 0.9584691500799496, + 0.2672570255500064, + 0.9622267733590681, + 0.024332689700655663, + 0.27115965194498975, + 0.25339507886266077, + 0.284156310077659, + -0.9246870418964652 + ], + [ + -0.11673819593599805, + 0.9784991456327377, + 0.17003416011381667, + 0.9471692557205953, + 0.05819132978977509, + 0.3154111129224704, + 0.2987349906309977, + 0.19787165318281483, + -0.9335974583509734 + ], + [ + -0.12006550032152141, + 0.9800381017284203, + 0.15846007318279753, + 0.937851370716122, + 0.05961976918807621, + 0.34187759442211463, + 0.32560571567224383, + 0.189659701261273, + -0.926288354476645 + ], + [ + -0.11786770859831058, + 0.9887092317264833, + 0.09252706830225865, + 0.9310366743626682, + 0.07762278187733646, + 0.3565745570358688, + 0.3453663478995693, + 0.12817471994293783, + -0.929673774453202 + ], + [ + -0.13309766132433465, + 0.9895701281242263, + 0.05509967399354343, + 0.9310576337909421, + 0.10578403994621288, + 0.34920111605243986, + 0.3397303270383795, + 0.09777882396950818, + -0.9354264302838227 + ], + [ + -0.1391147075901084, + 0.9899144807801348, + 0.026766002202701783, + 0.9283502362899059, + 0.12095953245412189, + 0.35147493550601333, + 0.3446925251765617, + 0.07374355734758559, + -0.935814592126629 + ], + [ + -0.1340400377307922, + 0.9904762247475342, + 0.03146611661771681, + 0.9290695771564869, + 0.114556283930209, + 0.35171946010189425, + 0.344765121622525, + 0.07637870136349062, + -0.9355764559300497 + ], + [ + -0.13084339533359918, + 0.9912524865005368, + 0.01727755492186281, + 0.927859478855154, + 0.11629962612009231, + 0.35433202573711564, + 0.3492231283810062, + 0.06239314842856744, + -0.9349600534958449 + ], + [ + -0.12000879375139045, + 0.9926022911314192, + 0.018400572355066064, + 0.9298217709006251, + 0.10588484208149679, + 0.3524483998780566, + 0.3478927475265362, + 0.059406160101745875, + -0.9356503323145906 + ], + [ + -0.10540044720665637, + 0.9944250731311906, + 0.003085394085532517, + 0.9315681988163307, + 0.09765157892795068, + 0.35020688183840065, + 0.34795321047913064, + 0.03978621697151419, + -0.9366672943240633 + ], + [ + -0.09892581704984826, + 0.9950623877820994, + -0.008032878836788937, + 0.9352545729381736, + 0.0957309904307796, + 0.3407850660891352, + 0.33987139703019176, + 0.0261996544352891, + -0.9401069149773429 + ], + [ + -0.09559792523555782, + 0.9950498705717479, + -0.027143908447473775, + 0.9373338296459719, + 0.099164748811368, + 0.3340234189310606, + 0.335061678638237, + 0.006489042173266707, + -0.9421738501146171 + ], + [ + -0.10403655085275854, + 0.994253328625597, + -0.025233204385922053, + 0.9374812502076149, + 0.10650511163143417, + 0.3313390509818348, + 0.33212241959227706, + 0.010815716032517936, + -0.9431742780053297 + ], + [ + -0.1072056253767884, + 0.9939597754716385, + -0.023471655926701307, + 0.9361194100276051, + 0.10886395233101448, + 0.334408567552386, + 0.33494388195209635, + 0.013878206917334962, + -0.9421358666963167 + ], + [ + -0.10193289688610113, + 0.9946529780040145, + -0.016587280673842658, + 0.9409213530809635, + 0.10181221126567369, + 0.32295708840878934, + 0.32291901747759644, + 0.017312625015842797, + -0.946268239542237 + ], + [ + -0.10938737670604093, + 0.9939251556788725, + 0.012132053663736542, + 0.9547153700512795, + 0.1016590807698372, + 0.2796140080269229, + 0.27668206303484705, + 0.04216890093138319, + -0.9600358429709903 + ], + [ + -0.11530478202525218, + 0.9910045804352609, + 0.06793179519519348, + 0.9708133445796715, + 0.09794864155653382, + 0.21892353368987477, + 0.21030039759387315, + 0.091192023629056, + -0.9733744179904753 + ], + [ + -0.12388477279757648, + 0.9860094987164212, + 0.11152502638369632, + 0.9823065566604461, + 0.10595261696031155, + 0.15442756133915553, + 0.14045067394209976, + 0.12868298799861927, + -0.9816895113980574 + ], + [ + -0.11599487141263315, + 0.982316371373473, + 0.1469684875666196, + 0.9880798306225915, + 0.0990433815776251, + 0.11785014587390143, + 0.10120987166673817, + 0.15888661081828717, + -0.982095518154869 + ], + [ + -0.09368514926727411, + 0.9831750559704386, + 0.1568116772574446, + 0.9915727435389963, + 0.07798571404029708, + 0.10344913086233548, + 0.08947953440489151, + 0.16518183230352368, + -0.9821956908882945 + ], + [ + -0.10730836614556, + 0.9732613442426629, + 0.2030942400909867, + 0.993877139936676, + 0.09959952127854738, + 0.0478347788996369, + 0.026327652125918546, + 0.2069837944478966, + -0.9779900631241032 + ], + [ + -0.1254548895211387, + 0.9704579496491662, + 0.20608842436676464, + 0.9920839765811899, + 0.12387184342135549, + 0.02061916143417948, + -0.005518523905214734, + 0.2070437981928751, + -0.9783161102239787 + ], + [ + -0.10312754440504773, + 0.9685409433648359, + 0.22647991215765456, + 0.9945872177387037, + 0.10331487941161727, + 0.011059023598285353, + -0.012687627665144474, + 0.2263945156537963, + -0.9739530519414752 + ], + [ + -0.11710406891157682, + 0.9579971780799426, + 0.26177861607705777, + 0.9927918953785906, + 0.106153812980671, + 0.055638300299797175, + 0.025512536426987253, + 0.266407159777157, + -0.9635228776238425 + ], + [ + -0.12994398422124254, + 0.9461595985801734, + 0.2964735653971778, + 0.9896551419947683, + 0.10542897904960957, + 0.09730072096275409, + 0.06080510577265874, + 0.30605023181033886, + -0.9500715734726588 + ], + [ + -0.1475739351778267, + 0.9423373486951665, + 0.3003701964414829, + 0.985204834593201, + 0.11330017002513393, + 0.12858656759731762, + 0.08713993086016524, + 0.3149021954932042, + -0.9451154636991427 + ], + [ + -0.16280776365046523, + 0.9412287696893294, + 0.29594262147288874, + 0.9824677038666355, + 0.12703834170628192, + 0.13644951665557076, + 0.09083415081430082, + 0.31296910845262227, + -0.9454096964809572 + ], + [ + -0.18440895822006076, + 0.9402477454431688, + 0.2862298260440899, + 0.9779114348371805, + 0.14637280177670853, + 0.14921202536901426, + 0.09840000885609122, + 0.30742345403217775, + -0.9464714777361475 + ], + [ + -0.14015793891136058, + 0.9532839463932666, + 0.2675919836411379, + 0.986432247163877, + 0.11110581107171741, + 0.12085909358140999, + 0.08548200930806125, + 0.2809007232012327, + -0.9559223869068458 + ], + [ + -0.11149092344439793, + 0.9609108906086085, + 0.2534167206387255, + 0.9913353897597398, + 0.08971888828849317, + 0.09594095108024195, + 0.06945443829893018, + 0.26191750875809605, + -0.9625878139715527 + ], + [ + -0.0945363199596781, + 0.9653040917394674, + 0.24341506666499357, + 0.9927658752195009, + 0.07323331013068973, + 0.09514619954028936, + 0.07401892466214115, + 0.2506489432619737, + -0.9652441691269189 + ], + [ + -0.08682123905733313, + 0.9658826979437065, + 0.24399320945783776, + 0.992369640619196, + 0.06232808068086021, + 0.10638471100664887, + 0.08754752324239339, + 0.2513679060095522, + -0.963924067031473 + ], + [ + -0.06864738319553843, + 0.9631038582378149, + 0.26022777528127083, + 0.9922071990486734, + 0.03872262295002693, + 0.11842901936542474, + 0.10398274345482052, + 0.26632971430034746, + -0.9582567883111 + ], + [ + -0.0708767925439775, + 0.9579017440610268, + 0.2782098650363083, + 0.9900579502152947, + 0.03358481199815788, + 0.13659178459386598, + 0.12149788267359504, + 0.28512507628739236, + -0.9507586209853381 + ], + [ + -0.08352542021377934, + 0.9634487060968452, + 0.25453898502670885, + 0.9854883412611933, + 0.041984121036332256, + 0.16446903300946644, + 0.14777088149014322, + 0.26458254723454855, + -0.9529742086134885 + ], + [ + -0.08554584940633164, + 0.9660142771312573, + 0.24392278292099745, + 0.9806557004726525, + 0.038376291052544365, + 0.19194180736760347, + 0.17605767458375965, + 0.25562409249447754, + -0.9506103400218905 + ], + [ + -0.08450998527893111, + 0.9677434191907731, + 0.23734097202359955, + 0.9812016293916607, + 0.03934951401001291, + 0.1889311467871998, + 0.17349762207968583, + 0.24884591690467422, + -0.9528768465927624 + ], + [ + -0.05553313400978849, + 0.9740810590878394, + 0.21927644960953763, + 0.9871950867247093, + 0.020674471393657357, + 0.15817214349937408, + 0.14953906437330888, + 0.22525242853054006, + -0.9627561537936018 + ], + [ + -0.03186243153001278, + 0.9559755450962105, + 0.29171140299103526, + 0.9915799472284289, + -0.0064174137746843, + 0.1293368665729557, + 0.12551491429890435, + 0.29337616463926885, + -0.9477217061511735 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0032466351985931396, + -0.0030660778284072876, + -0.012105491012334824, + 0.010781168937683105, + 0.036198824644088745, + 0.005059242248535156, + 1.0 + ], + [ + -0.0024136602878570557, + -0.003957480192184448, + 0.00043738260865211487, + -0.04720073938369751, + 0.010363087058067322, + 0.0249176025390625, + 1.0 + ], + [ + 0.006329149007797241, + 0.003214016556739807, + 0.021981649100780487, + -0.04228806495666504, + -0.03847542405128479, + 0.05186164379119873, + 1.0 + ], + [ + 0.0023582875728607178, + 0.0015722066164016724, + 0.009361788630485535, + -0.014374971389770508, + -0.006017789244651794, + 0.03558814525604248, + 1.0 + ], + [ + -0.005016297101974487, + -0.002423018217086792, + 0.009462133049964905, + 0.03760659694671631, + -0.10145441442728043, + 0.08297979831695557, + 1.0 + ], + [ + -0.003619551658630371, + -0.005737215280532837, + 0.008682221174240112, + 0.1815468668937683, + -0.037415213882923126, + 0.06415712833404541, + 1.0 + ], + [ + 0.004000842571258545, + -0.00618252158164978, + 0.0015219897031784058, + 0.09151142835617065, + -0.03180098533630371, + 0.03691661357879639, + 1.0 + ], + [ + 0.006883114576339722, + -0.013893499970436096, + 0.009630925953388214, + -0.0013387799263000488, + -0.09711834043264389, + 0.010233163833618164, + 1.0 + ], + [ + 0.004956364631652832, + -0.015021584928035736, + 0.006696917116641998, + 0.06693452596664429, + 0.0077509209513664246, + -0.026870369911193848, + 1.0 + ], + [ + 0.008231490850448608, + -0.0057739317417144775, + 0.010372169315814972, + 0.056197524070739746, + -0.0036076009273529053, + 0.02159249782562256, + 1.0 + ], + [ + 0.017208516597747803, + 0.0011512860655784607, + -0.010298743844032288, + 0.09437769651412964, + -0.02548503875732422, + 0.08153367042541504, + 1.0 + ], + [ + 0.020993411540985107, + 0.0026408731937408447, + -0.005798220634460449, + 0.08144727349281311, + -0.07742084562778473, + 0.11851608753204346, + 1.0 + ], + [ + 0.009082496166229248, + 0.004681609570980072, + -0.009377926588058472, + 0.03126496076583862, + -0.028810441493988037, + 0.014338016510009766, + 1.0 + ], + [ + 0.0018100440502166748, + 0.004413820803165436, + -3.4786760807037354e-05, + -0.012366414070129395, + -0.027486324310302734, + 0.0042372941970825195, + 1.0 + ], + [ + -0.0027067065238952637, + 0.00536772608757019, + -0.0038521811366081238, + 0.018199682235717773, + -0.012215763330459595, + -0.012886404991149902, + 1.0 + ], + [ + -0.0028892159461975098, + 0.006986364722251892, + -0.008366554975509644, + 0.02912348508834839, + -0.0038116872310638428, + -0.009391188621520996, + 1.0 + ], + [ + -0.0027256906032562256, + 0.005955308675765991, + -0.019403375685214996, + 0.08928583562374115, + -0.047178566455841064, + 0.019538044929504395, + 1.0 + ], + [ + 0.00019562244415283203, + 0.0035830140113830566, + -0.0031621530652046204, + 0.006893754005432129, + -0.028285443782806396, + 0.00469815731048584, + 1.0 + ], + [ + 0.002694636583328247, + 0.0010192841291427612, + -0.006806977093219757, + 0.0649539977312088, + -0.02097684144973755, + -0.0014008283615112305, + 1.0 + ], + [ + 0.013833105564117432, + 0.003155156970024109, + 0.010095253586769104, + 0.032856523990631104, + 0.005998969078063965, + 0.01606273651123047, + 1.0 + ], + [ + 0.008396506309509277, + 0.0022731423377990723, + 0.0018789023160934448, + 0.025511428713798523, + -0.0052810609340667725, + 0.00675356388092041, + 1.0 + ], + [ + 0.0009107589721679688, + 7.940828800201416e-05, + -0.0005907416343688965, + -0.0028185173869132996, + -7.733702659606934e-05, + -0.005460023880004883, + 1.0 + ], + [ + -0.0022499561309814453, + 0.00041428208351135254, + 9.77441668510437e-05, + 0.014822781085968018, + -0.0047533512115478516, + -0.0031920671463012695, + 1.0 + ], + [ + -0.0005884468555450439, + 0.0008061528205871582, + -0.0015667527914047241, + 0.0032279640436172485, + 0.0014193952083587646, + -0.011735796928405762, + 1.0 + ], + [ + -0.005269408226013184, + -0.001704573631286621, + -0.007858164608478546, + 0.0209558866918087, + -6.449222564697266e-05, + -0.015692949295043945, + 1.0 + ], + [ + -0.0017422735691070557, + -0.0014889240264892578, + -0.001528088003396988, + 0.014589250087738037, + 0.00860685110092163, + -0.00728154182434082, + 0.0 + ], + [ + -0.005321770906448364, + -0.0016386806964874268, + -0.006404746323823929, + 0.02097439207136631, + 0.005109459161758423, + -0.0037446022033691406, + 0.0 + ], + [ + -0.00011682510375976562, + -0.0005294680595397949, + -0.0002504512667655945, + -0.0045796544291079044, + 0.003117859363555908, + 0.008884549140930176, + 0.0 + ], + [ + -0.00042638182640075684, + 0.0003122687339782715, + -0.0016096420586109161, + -0.0032626595348119736, + -0.0029928386211395264, + 0.0035022497177124023, + 0.0 + ], + [ + 0.0005197227001190186, + -0.0013216137886047363, + -0.0007462054491043091, + -0.0035641295835375786, + 0.012733548879623413, + -0.006112337112426758, + 0.0 + ], + [ + -0.0007496774196624756, + -0.0018952935934066772, + 0.009904783219099045, + -0.025602439418435097, + 0.048472464084625244, + 0.006166219711303711, + 0.0 + ], + [ + -0.0032462775707244873, + -0.0017237961292266846, + 0.02205488830804825, + -0.04951773211359978, + 0.06845743954181671, + 0.004139065742492676, + 0.0 + ], + [ + -0.004066020250320435, + -0.004959598183631897, + 0.018153555691242218, + -0.03692622482776642, + 0.07096563279628754, + 0.007236361503601074, + 0.0 + ], + [ + -0.006567806005477905, + -0.007906198501586914, + 0.01081092655658722, + -0.030053481459617615, + 0.03953312337398529, + -0.008594512939453125, + 0.0 + ], + [ + -0.013419687747955322, + -0.020595088601112366, + -0.00587097555398941, + -0.006223425269126892, + 0.011784091591835022, + -0.02265763282775879, + 0.0 + ], + [ + -0.006922781467437744, + -0.02182764559984207, + -0.0013633817434310913, + -0.041947394609451294, + 0.06326867640018463, + 0.013351082801818848, + 0.0 + ], + [ + -0.005702376365661621, + -0.017609193921089172, + -0.013362415134906769, + 8.806586265563965e-06, + 0.031849246472120285, + 0.018235445022583008, + 0.0 + ], + [ + -0.010004937648773193, + -0.02068854123353958, + -0.010708220303058624, + -0.01983766257762909, + 0.007169416174292564, + -0.0224686861038208, + 0.0 + ], + [ + -0.0018057823181152344, + -0.01658683642745018, + -0.013554885983467102, + -0.04136034846305847, + -0.038203272968530655, + 0.014092206954956055, + 0.0 + ], + [ + 0.002571314573287964, + -0.008880142122507095, + -0.013457462191581726, + -0.04188385605812073, + -0.035327330231666565, + 0.013143658638000488, + 0.0 + ], + [ + 0.0016467869281768799, + -0.005752304568886757, + -0.02093256637454033, + -0.009983360767364502, + -0.02640795335173607, + 0.01812922954559326, + 0.0 + ], + [ + -0.003270953893661499, + -0.007183963432908058, + -0.014571800827980042, + 0.0019349753856658936, + -0.0037089362740516663, + 0.015536069869995117, + 0.0 + ], + [ + -0.0002377927303314209, + -0.0029274336993694305, + -0.0097917215898633, + 0.005625694990158081, + -0.007599972188472748, + 0.02216482162475586, + 0.0 + ], + [ + -0.009603738784790039, + -0.004179677460342646, + -0.007854986935853958, + 0.02825218439102173, + 0.012973040342330933, + -0.045244574546813965, + 0.0 + ], + [ + -0.012009859085083008, + 0.0032517104409635067, + 0.0025693229399621487, + 0.020142346620559692, + 0.01607605814933777, + -0.029146194458007812, + 0.0 + ], + [ + -0.006509870290756226, + 0.007836549542844296, + -0.00011203857138752937, + 0.01160275936126709, + -0.00457628071308136, + -0.017055869102478027, + 0.0 + ], + [ + -0.0050203800201416016, + 0.010671157389879227, + -0.004082818049937487, + -0.001031637191772461, + -0.013573065400123596, + -0.007672309875488281, + 0.0 + ], + [ + -0.004550307989120483, + 0.0020205583423376083, + -0.004939871374517679, + -0.0159950852394104, + -0.016511298716068268, + -0.01819014549255371, + 0.0 + ], + [ + -0.001652836799621582, + 0.0015295762568712234, + -0.002325577661395073, + -0.020268350839614868, + -0.017627760767936707, + 0.002390146255493164, + 1.0 + ], + [ + -0.00013509392738342285, + 0.00022808648645877838, + -0.007119044195860624, + 0.02054011821746826, + -0.02651522308588028, + 0.013086676597595215, + 1.0 + ], + [ + -0.0007199943065643311, + 0.002403147518634796, + 0.0010495176538825035, + 0.008126586675643921, + -0.028666093945503235, + 0.0024597644805908203, + 1.0 + ], + [ + 0.0035729706287384033, + -0.0008223019540309906, + 0.0030778534710407257, + 0.007244139909744263, + 0.00260007381439209, + -0.0010960102081298828, + 1.0 + ], + [ + -0.0022674500942230225, + 0.0003625042736530304, + 0.00565117783844471, + 0.025614961981773376, + 0.02427797019481659, + -0.02972280979156494, + 1.0 + ], + [ + 0.007833391427993774, + 0.005261335521936417, + 0.02291010692715645, + -0.0703715831041336, + 0.02425524592399597, + -0.02407228946685791, + 1.0 + ], + [ + 0.015301227569580078, + 0.011794790625572205, + 0.013316791504621506, + -0.05412885546684265, + 0.04789714515209198, + -0.05235743522644043, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9657809734344482 + ], + [ + 0.8399420380592346 + ], + [ + 0.5600578188896179 + ], + [ + 0.3228223919868469 + ], + [ + 0.31187212467193604 + ], + [ + 0.3110979497432709 + ], + [ + 0.3110979497432709 + ], + [ + 0.3110979497432709 + ], + [ + 0.31187212467193604 + ], + [ + 0.3110979497432709 + ], + [ + 0.3110979497432709 + ], + [ + 0.3110979497432709 + ], + [ + 0.3110979497432709 + ], + [ + 0.3110979497432709 + ], + [ + 0.3110979497432709 + ], + [ + 0.3110979497432709 + ], + [ + 0.3110979497432709 + ], + [ + 0.3110979497432709 + ], + [ + 0.3110979497432709 + ], + [ + 0.3110979497432709 + ], + [ + 0.3110979497432709 + ], + [ + 0.3110979497432709 + ], + [ + 0.3110979497432709 + ], + [ + 0.3544071912765503 + ], + [ + 0.6360166668891907 + ], + [ + 0.9198530912399292 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.314454585313797, + 0.16041411459445953, + 0.05059980973601341 + ], + [ + 0.31204092502593994, + 0.15645663440227509, + 0.05103719234466553 + ], + [ + 0.3183700740337372, + 0.1596706509590149, + 0.07301884144544601 + ], + [ + 0.3207283616065979, + 0.16124285757541656, + 0.08238063007593155 + ], + [ + 0.3157120645046234, + 0.15881983935832977, + 0.09184276312589645 + ], + [ + 0.31209251284599304, + 0.15308262407779694, + 0.10052498430013657 + ], + [ + 0.3160933554172516, + 0.14690010249614716, + 0.10204697400331497 + ], + [ + 0.3229764699935913, + 0.13300660252571106, + 0.11167789995670319 + ], + [ + 0.32793283462524414, + 0.11798501759767532, + 0.11837481707334518 + ], + [ + 0.33616432547569275, + 0.11221108585596085, + 0.12874698638916016 + ], + [ + 0.35337284207344055, + 0.1133623719215393, + 0.11844824254512787 + ], + [ + 0.37436625361442566, + 0.11600324511528015, + 0.11265002191066742 + ], + [ + 0.3834487497806549, + 0.12068485468626022, + 0.10327209532260895 + ], + [ + 0.3852587938308716, + 0.12509867548942566, + 0.10323730856180191 + ], + [ + 0.3825520873069763, + 0.13046640157699585, + 0.09938512742519379 + ], + [ + 0.3796628713607788, + 0.13745276629924774, + 0.09101857244968414 + ], + [ + 0.3769371807575226, + 0.14340807497501373, + 0.07161519676446915 + ], + [ + 0.3771328032016754, + 0.1469910889863968, + 0.06845304369926453 + ], + [ + 0.37982743978500366, + 0.14801037311553955, + 0.06164606660604477 + ], + [ + 0.3936605453491211, + 0.15116553008556366, + 0.07174132019281387 + ], + [ + 0.40205705165863037, + 0.15343867242336273, + 0.07362022250890732 + ], + [ + 0.40296781063079834, + 0.15351808071136475, + 0.07302948087453842 + ], + [ + 0.4007178544998169, + 0.1539323627948761, + 0.07312722504138947 + ], + [ + 0.40012940764427185, + 0.15473851561546326, + 0.07156047224998474 + ], + [ + 0.39485999941825867, + 0.15303394198417664, + 0.0637023076415062 + ], + [ + 0.3931177258491516, + 0.15154501795768738, + 0.06217421963810921 + ], + [ + 0.38779595494270325, + 0.14990633726119995, + 0.05576947331428528 + ], + [ + 0.3876791298389435, + 0.14937686920166016, + 0.055519022047519684 + ], + [ + 0.3872527480125427, + 0.14968913793563843, + 0.05390937998890877 + ], + [ + 0.38777247071266174, + 0.1483675241470337, + 0.05316317453980446 + ], + [ + 0.38702279329299927, + 0.14647223055362701, + 0.0630679577589035 + ], + [ + 0.3837765157222748, + 0.14474843442440033, + 0.08512284606695175 + ], + [ + 0.37971049547195435, + 0.13978883624076843, + 0.10327640175819397 + ], + [ + 0.37314268946647644, + 0.13188263773918152, + 0.11408732831478119 + ], + [ + 0.3597230017185211, + 0.11128754913806915, + 0.10821635276079178 + ], + [ + 0.3528002202510834, + 0.08945990353822708, + 0.10685297101736069 + ], + [ + 0.34709784388542175, + 0.07185070961713791, + 0.09349055588245392 + ], + [ + 0.33709290623664856, + 0.05116216838359833, + 0.0827823355793953 + ], + [ + 0.3352871239185333, + 0.03457533195614815, + 0.06922744959592819 + ], + [ + 0.3378584384918213, + 0.025695189833641052, + 0.055769987404346466 + ], + [ + 0.33950522541999817, + 0.019942885264754295, + 0.03483742102980614 + ], + [ + 0.33623427152633667, + 0.012758921831846237, + 0.020265620201826096 + ], + [ + 0.33599647879600525, + 0.009831488132476807, + 0.010473898611962795 + ], + [ + 0.3263927400112152, + 0.005651810672134161, + 0.0026189121417701244 + ], + [ + 0.3143828809261322, + 0.008903521113097668, + 0.005188235081732273 + ], + [ + 0.307873010635376, + 0.016740070655941963, + 0.005076196510344744 + ], + [ + 0.3028526306152344, + 0.02741122804582119, + 0.000993378460407257 + ], + [ + 0.2983023226261139, + 0.029431786388158798, + -0.003946492914110422 + ], + [ + 0.2966494858264923, + 0.03096136264503002, + -0.006272070575505495 + ], + [ + 0.2965143918991089, + 0.0311894491314888, + -0.01339111477136612 + ], + [ + 0.29579439759254456, + 0.033592596650123596, + -0.012341597117483616 + ], + [ + 0.29936736822128296, + 0.032770294696092606, + -0.00926374364644289 + ], + [ + 0.29709991812705994, + 0.033132798969745636, + -0.0036125658079981804 + ], + [ + 0.3049333095550537, + 0.03839413449168205, + 0.019297540187835693 + ], + [ + 0.3202345371246338, + 0.05018892511725426, + 0.0326143316924572 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.3754657022433754, + 0.659274402951966, + 0.651446673221391, + 0.9015251970186494, + -0.09664198639343502, + -0.42179692460521406, + -0.21512281510656778, + 0.745665868924051, + -0.6306382372980295 + ], + [ + 0.3520631250707724, + 0.6324144373456182, + 0.6900025618809156, + 0.9084725146629984, + -0.05349101597448014, + -0.41450742009270003, + -0.2252315387935044, + 0.772781140198726, + -0.5933633484517451 + ], + [ + 0.3069783039208299, + 0.594104632005622, + 0.7435079065829466, + 0.9330462638212116, + -0.0338871414246244, + -0.35815685281081255, + -0.18758728765875676, + 0.8036736575722341, + -0.5647297244109777 + ], + [ + 0.27389501669749083, + 0.5826474523806928, + 0.7651819823169974, + 0.9444450504817383, + -0.012655020029610498, + -0.3284256340308978, + -0.18167296565209773, + 0.8126264804338699, + -0.5537446494990568 + ], + [ + 0.1973141863342796, + 0.5949606948798356, + 0.7791590873623592, + 0.9769763589490199, + -0.05355241453921272, + -0.20651714929210152, + -0.08114373620900772, + 0.8019687714899649, + -0.5918291845025214 + ], + [ + 0.13458616296455672, + 0.726693549456426, + 0.6736490554561021, + 0.9899332253907538, + -0.068551645508385, + -0.12382601166778895, + -0.043803812687213284, + 0.6835328500346661, + -0.7286041922179352 + ], + [ + 0.09804481720491065, + 0.7856998056150472, + 0.6107888581791034, + 0.9951094493273905, + -0.06999027766535204, + -0.0697032631349816, + -0.012016558517030651, + 0.6146358080105683, + -0.7887194848820478 + ], + [ + 0.08754511541060095, + 0.7803069752371138, + 0.6192389499733126, + 0.9925276093371217, + -0.12136635238089699, + 0.012615594052360346, + 0.08499880864625431, + 0.6135073209881543, + -0.7851012480073224 + ], + [ + 0.11425195418853651, + 0.8169476011634709, + 0.5652814413346251, + 0.9904419735843135, + -0.137927425026381, + -0.0008499341164782126, + 0.07727346198088217, + 0.5599755730197904, + -0.8248976722567756 + ], + [ + 0.09281430353719122, + 0.8500131401500871, + 0.5185201699366134, + 0.9923938664256634, + -0.121270593391541, + 0.021162633559792365, + 0.08086976529970047, + 0.5126120411682229, + -0.8548034723313421 + ], + [ + 0.011654129805736935, + 0.9016630276609837, + 0.43228227561131727, + 0.9942719699496282, + -0.05638223784508317, + 0.09079808934149375, + 0.10624232222121485, + 0.42874797702707396, + -0.897155360661817 + ], + [ + -0.10479580390535476, + 0.9359727560256261, + 0.3361143249872337, + 0.9775433920730219, + 0.03481393690659362, + 0.2078386547575632, + 0.18282985559858725, + 0.35034695628028084, + -0.9186023373184624 + ], + [ + -0.11811487228063344, + 0.9464489069771364, + 0.3004718679475882, + 0.9703073050852714, + 0.0456856532139599, + 0.23752169330099332, + 0.21107489344847952, + 0.31960489291028854, + -0.9237424434243104 + ], + [ + -0.12145374522584768, + 0.9436054150651256, + 0.30798994858661727, + 0.9636763780277859, + 0.03774013870689974, + 0.2643927388595082, + 0.23785883671174174, + 0.32891412646792206, + -0.9139139298686616 + ], + [ + -0.10869140570328684, + 0.9499510701955725, + 0.29288076509140964, + 0.962202219247202, + 0.02652816468477842, + 0.271040856245357, + 0.24970596228765246, + 0.3112703338141032, + -0.9169284114287515 + ], + [ + -0.09955184899931452, + 0.9584691500799496, + 0.2672570255500064, + 0.9622267733590681, + 0.024332689700655663, + 0.27115965194498975, + 0.25339507886266077, + 0.284156310077659, + -0.9246870418964652 + ], + [ + -0.11673819593599805, + 0.9784991456327377, + 0.17003416011381667, + 0.9471692557205953, + 0.05819132978977509, + 0.3154111129224704, + 0.2987349906309977, + 0.19787165318281483, + -0.9335974583509734 + ], + [ + -0.12006550032152141, + 0.9800381017284203, + 0.15846007318279753, + 0.937851370716122, + 0.05961976918807621, + 0.34187759442211463, + 0.32560571567224383, + 0.189659701261273, + -0.926288354476645 + ], + [ + -0.11786770859831058, + 0.9887092317264833, + 0.09252706830225865, + 0.9310366743626682, + 0.07762278187733646, + 0.3565745570358688, + 0.3453663478995693, + 0.12817471994293783, + -0.929673774453202 + ], + [ + -0.13309766132433465, + 0.9895701281242263, + 0.05509967399354343, + 0.9310576337909421, + 0.10578403994621288, + 0.34920111605243986, + 0.3397303270383795, + 0.09777882396950818, + -0.9354264302838227 + ], + [ + -0.1391147075901084, + 0.9899144807801348, + 0.026766002202701783, + 0.9283502362899059, + 0.12095953245412189, + 0.35147493550601333, + 0.3446925251765617, + 0.07374355734758559, + -0.935814592126629 + ], + [ + -0.1340400377307922, + 0.9904762247475342, + 0.03146611661771681, + 0.9290695771564869, + 0.114556283930209, + 0.35171946010189425, + 0.344765121622525, + 0.07637870136349062, + -0.9355764559300497 + ], + [ + -0.13084339533359918, + 0.9912524865005368, + 0.01727755492186281, + 0.927859478855154, + 0.11629962612009231, + 0.35433202573711564, + 0.3492231283810062, + 0.06239314842856744, + -0.9349600534958449 + ], + [ + -0.12000879375139045, + 0.9926022911314192, + 0.018400572355066064, + 0.9298217709006251, + 0.10588484208149679, + 0.3524483998780566, + 0.3478927475265362, + 0.059406160101745875, + -0.9356503323145906 + ], + [ + -0.10540044720665637, + 0.9944250731311906, + 0.003085394085532517, + 0.9315681988163307, + 0.09765157892795068, + 0.35020688183840065, + 0.34795321047913064, + 0.03978621697151419, + -0.9366672943240633 + ], + [ + -0.09892581704984826, + 0.9950623877820994, + -0.008032878836788937, + 0.9352545729381736, + 0.0957309904307796, + 0.3407850660891352, + 0.33987139703019176, + 0.0261996544352891, + -0.9401069149773429 + ], + [ + -0.09559792523555782, + 0.9950498705717479, + -0.027143908447473775, + 0.9373338296459719, + 0.099164748811368, + 0.3340234189310606, + 0.335061678638237, + 0.006489042173266707, + -0.9421738501146171 + ], + [ + -0.10403655085275854, + 0.994253328625597, + -0.025233204385922053, + 0.9374812502076149, + 0.10650511163143417, + 0.3313390509818348, + 0.33212241959227706, + 0.010815716032517936, + -0.9431742780053297 + ], + [ + -0.1072056253767884, + 0.9939597754716385, + -0.023471655926701307, + 0.9361194100276051, + 0.10886395233101448, + 0.334408567552386, + 0.33494388195209635, + 0.013878206917334962, + -0.9421358666963167 + ], + [ + -0.10193289688610113, + 0.9946529780040145, + -0.016587280673842658, + 0.9409213530809635, + 0.10181221126567369, + 0.32295708840878934, + 0.32291901747759644, + 0.017312625015842797, + -0.946268239542237 + ], + [ + -0.10938737670604093, + 0.9939251556788725, + 0.012132053663736542, + 0.9547153700512795, + 0.1016590807698372, + 0.2796140080269229, + 0.27668206303484705, + 0.04216890093138319, + -0.9600358429709903 + ], + [ + -0.11530478202525218, + 0.9910045804352609, + 0.06793179519519348, + 0.9708133445796715, + 0.09794864155653382, + 0.21892353368987477, + 0.21030039759387315, + 0.091192023629056, + -0.9733744179904753 + ], + [ + -0.12388477279757648, + 0.9860094987164212, + 0.11152502638369632, + 0.9823065566604461, + 0.10595261696031155, + 0.15442756133915553, + 0.14045067394209976, + 0.12868298799861927, + -0.9816895113980574 + ], + [ + -0.11599487141263315, + 0.982316371373473, + 0.1469684875666196, + 0.9880798306225915, + 0.0990433815776251, + 0.11785014587390143, + 0.10120987166673817, + 0.15888661081828717, + -0.982095518154869 + ], + [ + -0.09368514926727411, + 0.9831750559704386, + 0.1568116772574446, + 0.9915727435389963, + 0.07798571404029708, + 0.10344913086233548, + 0.08947953440489151, + 0.16518183230352368, + -0.9821956908882945 + ], + [ + -0.10730836614556, + 0.9732613442426629, + 0.2030942400909867, + 0.993877139936676, + 0.09959952127854738, + 0.0478347788996369, + 0.026327652125918546, + 0.2069837944478966, + -0.9779900631241032 + ], + [ + -0.1254548895211387, + 0.9704579496491662, + 0.20608842436676464, + 0.9920839765811899, + 0.12387184342135549, + 0.02061916143417948, + -0.005518523905214734, + 0.2070437981928751, + -0.9783161102239787 + ], + [ + -0.10312754440504773, + 0.9685409433648359, + 0.22647991215765456, + 0.9945872177387037, + 0.10331487941161727, + 0.011059023598285353, + -0.012687627665144474, + 0.2263945156537963, + -0.9739530519414752 + ], + [ + -0.11710406891157682, + 0.9579971780799426, + 0.26177861607705777, + 0.9927918953785906, + 0.106153812980671, + 0.055638300299797175, + 0.025512536426987253, + 0.266407159777157, + -0.9635228776238425 + ], + [ + -0.12994398422124254, + 0.9461595985801734, + 0.2964735653971778, + 0.9896551419947683, + 0.10542897904960957, + 0.09730072096275409, + 0.06080510577265874, + 0.30605023181033886, + -0.9500715734726588 + ], + [ + -0.1475739351778267, + 0.9423373486951665, + 0.3003701964414829, + 0.985204834593201, + 0.11330017002513393, + 0.12858656759731762, + 0.08713993086016524, + 0.3149021954932042, + -0.9451154636991427 + ], + [ + -0.16280776365046523, + 0.9412287696893294, + 0.29594262147288874, + 0.9824677038666355, + 0.12703834170628192, + 0.13644951665557076, + 0.09083415081430082, + 0.31296910845262227, + -0.9454096964809572 + ], + [ + -0.18440895822006076, + 0.9402477454431688, + 0.2862298260440899, + 0.9779114348371805, + 0.14637280177670853, + 0.14921202536901426, + 0.09840000885609122, + 0.30742345403217775, + -0.9464714777361475 + ], + [ + -0.14015793891136058, + 0.9532839463932666, + 0.2675919836411379, + 0.986432247163877, + 0.11110581107171741, + 0.12085909358140999, + 0.08548200930806125, + 0.2809007232012327, + -0.9559223869068458 + ], + [ + -0.11149092344439793, + 0.9609108906086085, + 0.2534167206387255, + 0.9913353897597398, + 0.08971888828849317, + 0.09594095108024195, + 0.06945443829893018, + 0.26191750875809605, + -0.9625878139715527 + ], + [ + -0.0945363199596781, + 0.9653040917394674, + 0.24341506666499357, + 0.9927658752195009, + 0.07323331013068973, + 0.09514619954028936, + 0.07401892466214115, + 0.2506489432619737, + -0.9652441691269189 + ], + [ + -0.08682123905733313, + 0.9658826979437065, + 0.24399320945783776, + 0.992369640619196, + 0.06232808068086021, + 0.10638471100664887, + 0.08754752324239339, + 0.2513679060095522, + -0.963924067031473 + ], + [ + -0.06864738319553843, + 0.9631038582378149, + 0.26022777528127083, + 0.9922071990486734, + 0.03872262295002693, + 0.11842901936542474, + 0.10398274345482052, + 0.26632971430034746, + -0.9582567883111 + ], + [ + -0.0708767925439775, + 0.9579017440610268, + 0.2782098650363083, + 0.9900579502152947, + 0.03358481199815788, + 0.13659178459386598, + 0.12149788267359504, + 0.28512507628739236, + -0.9507586209853381 + ], + [ + -0.08352542021377934, + 0.9634487060968452, + 0.25453898502670885, + 0.9854883412611933, + 0.041984121036332256, + 0.16446903300946644, + 0.14777088149014322, + 0.26458254723454855, + -0.9529742086134885 + ], + [ + -0.08554584940633164, + 0.9660142771312573, + 0.24392278292099745, + 0.9806557004726525, + 0.038376291052544365, + 0.19194180736760347, + 0.17605767458375965, + 0.25562409249447754, + -0.9506103400218905 + ], + [ + -0.08450998527893111, + 0.9677434191907731, + 0.23734097202359955, + 0.9812016293916607, + 0.03934951401001291, + 0.1889311467871998, + 0.17349762207968583, + 0.24884591690467422, + -0.9528768465927624 + ], + [ + -0.05553313400978849, + 0.9740810590878394, + 0.21927644960953763, + 0.9871950867247093, + 0.020674471393657357, + 0.15817214349937408, + 0.14953906437330888, + 0.22525242853054006, + -0.9627561537936018 + ], + [ + -0.03186243153001278, + 0.9559755450962105, + 0.29171140299103526, + 0.9915799472284289, + -0.0064174137746843, + 0.1293368665729557, + 0.12551491429890435, + 0.29337616463926885, + -0.9477217061511735 + ], + [ + 0.020172672136612002, + 0.9371395886324513, + 0.34837114506897515, + 0.9967593521243437, + -0.045989991776789085, + 0.06599783791178115, + 0.07787077276827056, + 0.34591084411184775, + -0.9350303902410346 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006596.json b/json/chunk-0006/episode_0006596.json new file mode 100644 index 0000000000000000000000000000000000000000..b621079dd68d54d5aba61eaacd5567a5401e519c --- /dev/null +++ b/json/chunk-0006/episode_0006596.json @@ -0,0 +1,1462 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 23, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut bowl on plate." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006596.mp4", + "start": 0, + "end": 23, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.30867981910705566, + -0.027996648102998734, + 0.06483493745326996, + 0.036402806639671326, + -0.19913984835147858, + 0.3578382134437561, + 0.0, + 0.9968144297599792 + ], + [ + 0.30226582288742065, + -0.02761324867606163, + 0.055282264947891235, + 0.0483291819691658, + -0.1643712967634201, + 0.3562704920768738, + 0.0, + 0.9968144297599792 + ], + [ + 0.27916738390922546, + -0.013554427772760391, + 0.04774303734302521, + 0.045859407633543015, + -0.112918421626091, + 0.3497130572795868, + 0.0, + 0.9968144297599792 + ], + [ + 0.2588122487068176, + 0.004441580269485712, + 0.051751699298620224, + 0.014087342657148838, + -0.15112094581127167, + 0.38341283798217773, + 0.0, + 0.9968144297599792 + ], + [ + 0.2470356673002243, + 0.02115609124302864, + 0.04671615734696388, + 0.015927782282233238, + -0.15949960052967072, + 0.4486662447452545, + 0.0, + 0.9968144297599792 + ], + [ + 0.24417893588542938, + 0.025204569101333618, + 0.033612512052059174, + 0.02788696624338627, + -0.15746308863162994, + 0.45514050126075745, + 0.0, + 0.9968144297599792 + ], + [ + 0.24350135028362274, + 0.022563450038433075, + 0.02164686657488346, + 0.030862677842378616, + -0.1590830534696579, + 0.43610188364982605, + 0.0, + 0.993436336517334 + ], + [ + 0.24279342591762543, + 0.02119326777756214, + 0.01222152728587389, + 0.049716971814632416, + -0.17220085859298706, + 0.42998069524765015, + 0.0, + 0.9287639856338501 + ], + [ + 0.24042773246765137, + 0.021165017038583755, + 0.009926151484251022, + 0.03995959088206291, + -0.17194510996341705, + 0.4489448368549347, + 0.0, + 0.651088297367096 + ], + [ + 0.238105908036232, + 0.022168615832924843, + 0.008876902982592583, + 0.04609092324972153, + -0.16763056814670563, + 0.4542962312698364, + 0.0, + 0.3577343225479126 + ], + [ + 0.23873703181743622, + 0.02300117164850235, + 0.017467672005295753, + 0.034925803542137146, + -0.19278180599212646, + 0.4585581421852112, + 0.0, + 0.14767317473888397 + ], + [ + 0.23510979115962982, + 0.018780365586280823, + 0.027913149446249008, + 0.03525242954492569, + -0.1863214075565338, + 0.4638214111328125, + 0.0, + 0.05896064639091492 + ], + [ + 0.2428857982158661, + 0.004376453813165426, + 0.03615083172917366, + 0.01963876746594906, + -0.17993158102035522, + 0.4927269518375397, + 0.0, + 0.05324139446020126 + ], + [ + 0.2570161521434784, + -0.01723465882241726, + 0.04385669156908989, + 0.0017328558024019003, + -0.2017061412334442, + 0.5522249341011047, + 0.0, + 0.056468017399311066 + ], + [ + 0.2711421251296997, + -0.03618701174855232, + 0.04633915424346924, + -0.008450556546449661, + -0.19645968079566956, + 0.6026411652565002, + 0.0, + 0.056468017399311066 + ], + [ + 0.2779720425605774, + -0.05155244842171669, + 0.03735824674367905, + -0.0036593053955584764, + -0.18022404611110687, + 0.6367713212966919, + 0.0, + 0.056468017399311066 + ], + [ + 0.2774101495742798, + -0.06117458641529083, + 0.030731942504644394, + -0.005020666401833296, + -0.18560610711574554, + 0.6480728983879089, + 0.0, + 0.056741900742053986 + ], + [ + 0.2771909832954407, + -0.0660984069108963, + 0.029750589281320572, + -0.03296429291367531, + -0.16632112860679626, + 0.7052598595619202, + 0.0, + 0.056468017399311066 + ], + [ + 0.27890744805336, + -0.06600116938352585, + 0.028200505301356316, + -0.027188101783394814, + -0.1618686020374298, + 0.7220225930213928, + 0.0, + 0.07954961806535721 + ], + [ + 0.2806662917137146, + -0.0640307366847992, + 0.0270676389336586, + -0.008361454121768475, + -0.1652584671974182, + 0.7199834585189819, + 0.0, + 0.228750541806221 + ], + [ + 0.28090953826904297, + -0.060984183102846146, + 0.024541163817048073, + 0.0036629277747124434, + -0.1589984893798828, + 0.7105780839920044, + 0.0, + 0.47944000363349915 + ], + [ + 0.27929431200027466, + -0.06156376004219055, + 0.025955138728022575, + 0.010185607708990574, + -0.1336374133825302, + 0.7187877297401428, + 0.0, + 0.7807356715202332 + ], + [ + 0.280178964138031, + -0.061444856226444244, + 0.0419122688472271, + 0.001791384187527001, + -0.11613740772008896, + 0.7190362811088562, + 0.0, + 0.9893313646316528 + ] + ], + "left_gripper_pos": [ + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.993436336517334 + ], + [ + 0.9287639856338501 + ], + [ + 0.651088297367096 + ], + [ + 0.3577343225479126 + ], + [ + 0.14767317473888397 + ], + [ + 0.05896064639091492 + ], + [ + 0.05324139446020126 + ], + [ + 0.056468017399311066 + ], + [ + 0.056468017399311066 + ], + [ + 0.056468017399311066 + ], + [ + 0.056741900742053986 + ], + [ + 0.056468017399311066 + ], + [ + 0.07954961806535721 + ], + [ + 0.228750541806221 + ], + [ + 0.47944000363349915 + ], + [ + 0.7807356715202332 + ], + [ + 0.9893313646316528 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.30867981910705566, + -0.027996648102998734, + 0.06483493745326996 + ], + [ + 0.30226582288742065, + -0.02761324867606163, + 0.055282264947891235 + ], + [ + 0.27916738390922546, + -0.013554427772760391, + 0.04774303734302521 + ], + [ + 0.2588122487068176, + 0.004441580269485712, + 0.051751699298620224 + ], + [ + 0.2470356673002243, + 0.02115609124302864, + 0.04671615734696388 + ], + [ + 0.24417893588542938, + 0.025204569101333618, + 0.033612512052059174 + ], + [ + 0.24350135028362274, + 0.022563450038433075, + 0.02164686657488346 + ], + [ + 0.24279342591762543, + 0.02119326777756214, + 0.01222152728587389 + ], + [ + 0.24042773246765137, + 0.021165017038583755, + 0.009926151484251022 + ], + [ + 0.238105908036232, + 0.022168615832924843, + 0.008876902982592583 + ], + [ + 0.23873703181743622, + 0.02300117164850235, + 0.017467672005295753 + ], + [ + 0.23510979115962982, + 0.018780365586280823, + 0.027913149446249008 + ], + [ + 0.2428857982158661, + 0.004376453813165426, + 0.03615083172917366 + ], + [ + 0.2570161521434784, + -0.01723465882241726, + 0.04385669156908989 + ], + [ + 0.2711421251296997, + -0.03618701174855232, + 0.04633915424346924 + ], + [ + 0.2779720425605774, + -0.05155244842171669, + 0.03735824674367905 + ], + [ + 0.2774101495742798, + -0.06117458641529083, + 0.030731942504644394 + ], + [ + 0.2771909832954407, + -0.0660984069108963, + 0.029750589281320572 + ], + [ + 0.27890744805336, + -0.06600116938352585, + 0.028200505301356316 + ], + [ + 0.2806662917137146, + -0.0640307366847992, + 0.0270676389336586 + ], + [ + 0.28090953826904297, + -0.060984183102846146, + 0.024541163817048073 + ], + [ + 0.27929431200027466, + -0.06156376004219055, + 0.025955138728022575 + ], + [ + 0.280178964138031, + -0.061444856226444244, + 0.0419122688472271 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9181451364873164, + 0.356761933590054, + 0.17242514632666936, + 0.34332824316272953, + -0.9335138892171594, + 0.10333216384769614, + 0.19782625152259523, + -0.03567550111406074, + -0.9795876851149058 + ], + [ + 0.9245719466182203, + 0.3557828295535344, + 0.13632789047541133, + 0.34408028161732646, + -0.9333526543471242, + 0.10228187730638899, + 0.1636321341568837, + -0.04765921545785846, + -0.9853695366983928 + ], + [ + 0.9334880317475246, + 0.3471209194276868, + 0.09003977943003781, + 0.34044621445829276, + -0.9367134775272541, + 0.08163477249197638, + 0.11267861219038251, + -0.045551381038075975, + -0.9925868234267335 + ], + [ + 0.9168237851342306, + 0.37601731573993313, + 0.1343321453557468, + 0.3698241870351333, + -0.92650797927361, + 0.0693760407210916, + 0.150546397153651, + -0.013926327802663306, + -0.9885048506193522 + ], + [ + 0.8895896044007077, + 0.43598839642787657, + 0.13617802290546543, + 0.428258351943397, + -0.8998148944707043, + 0.0832342458330765, + 0.1588241786785572, + -0.015724944162832988, + -0.9871816481267051 + ], + [ + 0.8870870064037646, + 0.4433449530651083, + 0.12853752627658788, + 0.43415005122780853, + -0.8959279490222674, + 0.09395128088347089, + 0.15681318850306836, + -0.02753838688904102, + -0.9872442763364347 + ], + [ + 0.8949599276934744, + 0.42663900647085246, + 0.13048327854731154, + 0.4170756278067998, + -0.9039086518252062, + 0.09485288527557956, + 0.1584129051323002, + -0.0304681360293406, + -0.9869027531496924 + ], + [ + 0.8955301053639814, + 0.4240785861988826, + 0.13484503370288914, + 0.4106880094441461, + -0.904300904497879, + 0.1165128019709545, + 0.1713510702784824, + -0.04896148335043325, + -0.983992674699636 + ], + [ + 0.8876206489971068, + 0.43982660594065587, + 0.13668262574547446, + 0.4276151095850324, + -0.8972197935232492, + 0.11019056295653612, + 0.17109909856143363, + -0.03935986301831612, + -0.9844673177178833 + ], + [ + 0.8859747081898998, + 0.4452716600451674, + 0.12954522456826698, + 0.4326788975476864, + -0.8942423471492865, + 0.11454080574997441, + 0.16684660039911067, + -0.045428772001404334, + -0.9849357535442115 + ], + [ + 0.8800805230648757, + 0.4483846458777085, + 0.15623534255403362, + 0.4344554992718768, + -0.8931834361088491, + 0.11606794825968691, + 0.19158990598222678, + -0.03427183686222682, + -0.9808765208342026 + ], + [ + 0.878870340468618, + 0.4529302909739331, + 0.14980345844753873, + 0.4396261237539595, + -0.8908729203294593, + 0.11434295403184566, + 0.18524523194307457, + -0.03463511717792695, + -0.9820817749558473 + ], + [ + 0.8668225422025627, + 0.47603532241962654, + 0.14835448135573318, + 0.46539358615143667, + -0.8792139051531105, + 0.10193978102057374, + 0.17896225942525343, + -0.019320476036045163, + -0.9836662182402874 + ], + [ + 0.8340991712234479, + 0.5248775167217903, + 0.16965307248713052, + 0.5139474555184931, + -0.8511760747197528, + 0.10657064694717756, + 0.2003411728288107, + -0.0016977233697322708, + -0.9797247226670031 + ], + [ + 0.8079938349634416, + 0.5654411716703847, + 0.16559663052457774, + 0.5559168723621877, + -0.8247469867018209, + 0.10367660753183391, + 0.19519834447073103, + 0.008287901199293901, + -0.9807287683195578 + ], + [ + 0.7909974665806818, + 0.5940712628036791, + 0.14629539491653595, + 0.5849721763072577, + -0.8044043600686784, + 0.1036396567383852, + 0.179249995283943, + 0.0036000296307015928, + -0.9837969704046483 + ], + [ + 0.7835554952158176, + 0.6029048726893524, + 0.15015492134635627, + 0.5932831858245613, + -0.7977978227908054, + 0.1073950434988017, + 0.18454226435956017, + 0.004934413611174832, + -0.9828121917372412 + ], + [ + 0.7509355908582894, + 0.6437247936311263, + 0.1473571458968818, + 0.6392864435656493, + -0.7645664860559125, + 0.08216405219618582, + 0.16555537277749421, + 0.03250351465114798, + -0.9856647199123174 + ], + [ + 0.7406602679294494, + 0.6573717297852287, + 0.13886963811378383, + 0.6522644891359058, + -0.7530887017761377, + 0.08607231534824623, + 0.16116266231032778, + 0.0268293894136352, + -0.986563115132904 + ], + [ + 0.7415737875648316, + 0.6583150595483791, + 0.1291882346367658, + 0.6503888618900602, + -0.752697324359215, + 0.10218153566976157, + 0.16450728228896802, + 0.008247440469176144, + -0.9863413880597351 + ], + [ + 0.7484239757733469, + 0.6527072749309661, + 0.11762128098183794, + 0.6440445256069107, + -0.757601565872108, + 0.10604959417130772, + 0.15832940827081277, + -0.003616716787615111, + -0.98737972322521 + ], + [ + 0.7458941581235133, + 0.6594600038739961, + 0.09356499435004918, + 0.6526017222776056, + -0.7516718712396582, + 0.09539596462835284, + 0.13323999758900665, + -0.010094616267109162, + -0.9910323918847969 + ], + [ + 0.7473721199687662, + 0.6588149707525265, + 0.08601016571161409, + 0.6542228588152149, + -0.7523029099688577, + 0.0776709897969359, + 0.11587650882313909, + -0.0017793158055858516, + -0.9932620342780774 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.00641399621963501, + 0.00038339942693710327, + -0.009552672505378723, + 0.011926375329494476, + 0.03476855158805847, + -0.0015677213668823242, + 1.0 + ], + [ + -0.02309843897819519, + 0.014058820903301239, + -0.007539227604866028, + -0.0024697743356227875, + 0.0514528751373291, + -0.006557434797286987, + 1.0 + ], + [ + -0.020355135202407837, + 0.017996007576584816, + 0.0040086619555950165, + -0.03177206590771675, + -0.038202524185180664, + 0.03369978070259094, + 1.0 + ], + [ + -0.011776581406593323, + 0.016714511439204216, + -0.0050355419516563416, + 0.0018404396250844002, + -0.008378654718399048, + 0.06525340676307678, + 1.0 + ], + [ + -0.002856731414794922, + 0.004048477858304977, + -0.013103645294904709, + 0.01195918396115303, + 0.0020365118980407715, + 0.00647425651550293, + 1.0 + ], + [ + -0.0006775856018066406, + -0.002641119062900543, + -0.011965645477175713, + 0.0029757115989923477, + -0.001619964838027954, + -0.019038617610931396, + 1.0 + ], + [ + -0.0007079243659973145, + -0.0013701822608709335, + -0.009425339289009571, + 0.0188542939722538, + -0.013117805123329163, + -0.006121188402175903, + 0.0 + ], + [ + -0.00236569344997406, + -2.8250738978385925e-05, + -0.0022953758016228676, + -0.009757380932569504, + 0.0002557486295700073, + 0.018964141607284546, + 0.0 + ], + [ + -0.0023218244314193726, + 0.0010035987943410873, + -0.0010492485016584396, + 0.006131332367658615, + 0.004314541816711426, + 0.005351394414901733, + 0.0 + ], + [ + 0.0006311237812042236, + 0.000832555815577507, + 0.00859076902270317, + -0.011165119707584381, + -0.025151237845420837, + 0.004261910915374756, + 0.0 + ], + [ + -0.0036272406578063965, + -0.004220806062221527, + 0.010445477440953255, + 0.0003266260027885437, + 0.006460398435592651, + 0.005263268947601318, + 0.0 + ], + [ + 0.007776007056236267, + -0.01440391130745411, + 0.008237682282924652, + -0.015613662078976631, + 0.006389826536178589, + 0.028905540704727173, + 0.0 + ], + [ + 0.014130353927612305, + -0.021611113101243973, + 0.007705859839916229, + -0.017905911430716515, + -0.02177456021308899, + 0.059497982263565063, + 0.0 + ], + [ + 0.014125972986221313, + -0.018952352926135063, + 0.0024824626743793488, + -0.010183412581682205, + 0.005246460437774658, + 0.05041623115539551, + 0.0 + ], + [ + 0.0068299174308776855, + -0.015365436673164368, + -0.008980907499790192, + 0.0047912513837218285, + 0.016235634684562683, + 0.03413015604019165, + 0.0 + ], + [ + -0.0005618929862976074, + -0.009622137993574142, + -0.006626304239034653, + -0.0013613610062748194, + -0.005382061004638672, + 0.011301577091217041, + 0.0 + ], + [ + -0.00021916627883911133, + -0.004923820495605469, + -0.000981353223323822, + -0.027943626046180725, + 0.01928497850894928, + 0.05718696117401123, + 0.0 + ], + [ + 0.0017164647579193115, + 9.723752737045288e-05, + -0.0015500839799642563, + 0.005776191130280495, + 0.004452526569366455, + 0.016762733459472656, + 1.0 + ], + [ + 0.0017588436603546143, + 0.001970432698726654, + -0.0011328663676977158, + 0.018826648592948914, + -0.0033898651599884033, + -0.0020391345024108887, + 1.0 + ], + [ + 0.00024324655532836914, + 0.0030465535819530487, + -0.002526475116610527, + 0.012024382129311562, + 0.0062599778175354, + -0.009405374526977539, + 1.0 + ], + [ + -0.0016152262687683105, + -0.0005795769393444061, + 0.0014139749109745026, + 0.006522679701447487, + 0.0253610759973526, + 0.008209645748138428, + 1.0 + ], + [ + 0.0008846521377563477, + 0.00011890381574630737, + 0.01595713011920452, + -0.008394223637878895, + 0.017500005662441254, + 0.0002485513687133789, + 1.0 + ], + [ + 0.004975646734237671, + 0.005462426692247391, + 0.02877112105488777, + -0.03520028293132782, + -0.009026043117046356, + 0.0036656856536865234, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.993436336517334 + ], + [ + 0.9287639856338501 + ], + [ + 0.651088297367096 + ], + [ + 0.3577343225479126 + ], + [ + 0.14767317473888397 + ], + [ + 0.05896064639091492 + ], + [ + 0.05324139446020126 + ], + [ + 0.056468017399311066 + ], + [ + 0.056468017399311066 + ], + [ + 0.056468017399311066 + ], + [ + 0.056741900742053986 + ], + [ + 0.056468017399311066 + ], + [ + 0.07954961806535721 + ], + [ + 0.228750541806221 + ], + [ + 0.47944000363349915 + ], + [ + 0.7807356715202332 + ], + [ + 0.9893313646316528 + ], + [ + 0.9941151142120361 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.30226582288742065, + -0.02761324867606163, + 0.055282264947891235 + ], + [ + 0.27916738390922546, + -0.013554427772760391, + 0.04774303734302521 + ], + [ + 0.2588122487068176, + 0.004441580269485712, + 0.051751699298620224 + ], + [ + 0.2470356673002243, + 0.02115609124302864, + 0.04671615734696388 + ], + [ + 0.24417893588542938, + 0.025204569101333618, + 0.033612512052059174 + ], + [ + 0.24350135028362274, + 0.022563450038433075, + 0.02164686657488346 + ], + [ + 0.24279342591762543, + 0.02119326777756214, + 0.01222152728587389 + ], + [ + 0.24042773246765137, + 0.021165017038583755, + 0.009926151484251022 + ], + [ + 0.238105908036232, + 0.022168615832924843, + 0.008876902982592583 + ], + [ + 0.23873703181743622, + 0.02300117164850235, + 0.017467672005295753 + ], + [ + 0.23510979115962982, + 0.018780365586280823, + 0.027913149446249008 + ], + [ + 0.2428857982158661, + 0.004376453813165426, + 0.03615083172917366 + ], + [ + 0.2570161521434784, + -0.01723465882241726, + 0.04385669156908989 + ], + [ + 0.2711421251296997, + -0.03618701174855232, + 0.04633915424346924 + ], + [ + 0.2779720425605774, + -0.05155244842171669, + 0.03735824674367905 + ], + [ + 0.2774101495742798, + -0.06117458641529083, + 0.030731942504644394 + ], + [ + 0.2771909832954407, + -0.0660984069108963, + 0.029750589281320572 + ], + [ + 0.27890744805336, + -0.06600116938352585, + 0.028200505301356316 + ], + [ + 0.2806662917137146, + -0.0640307366847992, + 0.0270676389336586 + ], + [ + 0.28090953826904297, + -0.060984183102846146, + 0.024541163817048073 + ], + [ + 0.27929431200027466, + -0.06156376004219055, + 0.025955138728022575 + ], + [ + 0.280178964138031, + -0.061444856226444244, + 0.0419122688472271 + ], + [ + 0.2851546108722687, + -0.055982429534196854, + 0.07068338990211487 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9245719466182203, + 0.3557828295535344, + 0.13632789047541133, + 0.34408028161732646, + -0.9333526543471242, + 0.10228187730638899, + 0.1636321341568837, + -0.04765921545785846, + -0.9853695366983928 + ], + [ + 0.9334880317475246, + 0.3471209194276868, + 0.09003977943003781, + 0.34044621445829276, + -0.9367134775272541, + 0.08163477249197638, + 0.11267861219038251, + -0.045551381038075975, + -0.9925868234267335 + ], + [ + 0.9168237851342306, + 0.37601731573993313, + 0.1343321453557468, + 0.3698241870351333, + -0.92650797927361, + 0.0693760407210916, + 0.150546397153651, + -0.013926327802663306, + -0.9885048506193522 + ], + [ + 0.8895896044007077, + 0.43598839642787657, + 0.13617802290546543, + 0.428258351943397, + -0.8998148944707043, + 0.0832342458330765, + 0.1588241786785572, + -0.015724944162832988, + -0.9871816481267051 + ], + [ + 0.8870870064037646, + 0.4433449530651083, + 0.12853752627658788, + 0.43415005122780853, + -0.8959279490222674, + 0.09395128088347089, + 0.15681318850306836, + -0.02753838688904102, + -0.9872442763364347 + ], + [ + 0.8949599276934744, + 0.42663900647085246, + 0.13048327854731154, + 0.4170756278067998, + -0.9039086518252062, + 0.09485288527557956, + 0.1584129051323002, + -0.0304681360293406, + -0.9869027531496924 + ], + [ + 0.8955301053639814, + 0.4240785861988826, + 0.13484503370288914, + 0.4106880094441461, + -0.904300904497879, + 0.1165128019709545, + 0.1713510702784824, + -0.04896148335043325, + -0.983992674699636 + ], + [ + 0.8876206489971068, + 0.43982660594065587, + 0.13668262574547446, + 0.4276151095850324, + -0.8972197935232492, + 0.11019056295653612, + 0.17109909856143363, + -0.03935986301831612, + -0.9844673177178833 + ], + [ + 0.8859747081898998, + 0.4452716600451674, + 0.12954522456826698, + 0.4326788975476864, + -0.8942423471492865, + 0.11454080574997441, + 0.16684660039911067, + -0.045428772001404334, + -0.9849357535442115 + ], + [ + 0.8800805230648757, + 0.4483846458777085, + 0.15623534255403362, + 0.4344554992718768, + -0.8931834361088491, + 0.11606794825968691, + 0.19158990598222678, + -0.03427183686222682, + -0.9808765208342026 + ], + [ + 0.878870340468618, + 0.4529302909739331, + 0.14980345844753873, + 0.4396261237539595, + -0.8908729203294593, + 0.11434295403184566, + 0.18524523194307457, + -0.03463511717792695, + -0.9820817749558473 + ], + [ + 0.8668225422025627, + 0.47603532241962654, + 0.14835448135573318, + 0.46539358615143667, + -0.8792139051531105, + 0.10193978102057374, + 0.17896225942525343, + -0.019320476036045163, + -0.9836662182402874 + ], + [ + 0.8340991712234479, + 0.5248775167217903, + 0.16965307248713052, + 0.5139474555184931, + -0.8511760747197528, + 0.10657064694717756, + 0.2003411728288107, + -0.0016977233697322708, + -0.9797247226670031 + ], + [ + 0.8079938349634416, + 0.5654411716703847, + 0.16559663052457774, + 0.5559168723621877, + -0.8247469867018209, + 0.10367660753183391, + 0.19519834447073103, + 0.008287901199293901, + -0.9807287683195578 + ], + [ + 0.7909974665806818, + 0.5940712628036791, + 0.14629539491653595, + 0.5849721763072577, + -0.8044043600686784, + 0.1036396567383852, + 0.179249995283943, + 0.0036000296307015928, + -0.9837969704046483 + ], + [ + 0.7835554952158176, + 0.6029048726893524, + 0.15015492134635627, + 0.5932831858245613, + -0.7977978227908054, + 0.1073950434988017, + 0.18454226435956017, + 0.004934413611174832, + -0.9828121917372412 + ], + [ + 0.7509355908582894, + 0.6437247936311263, + 0.1473571458968818, + 0.6392864435656493, + -0.7645664860559125, + 0.08216405219618582, + 0.16555537277749421, + 0.03250351465114798, + -0.9856647199123174 + ], + [ + 0.7406602679294494, + 0.6573717297852287, + 0.13886963811378383, + 0.6522644891359058, + -0.7530887017761377, + 0.08607231534824623, + 0.16116266231032778, + 0.0268293894136352, + -0.986563115132904 + ], + [ + 0.7415737875648316, + 0.6583150595483791, + 0.1291882346367658, + 0.6503888618900602, + -0.752697324359215, + 0.10218153566976157, + 0.16450728228896802, + 0.008247440469176144, + -0.9863413880597351 + ], + [ + 0.7484239757733469, + 0.6527072749309661, + 0.11762128098183794, + 0.6440445256069107, + -0.757601565872108, + 0.10604959417130772, + 0.15832940827081277, + -0.003616716787615111, + -0.98737972322521 + ], + [ + 0.7458941581235133, + 0.6594600038739961, + 0.09356499435004918, + 0.6526017222776056, + -0.7516718712396582, + 0.09539596462835284, + 0.13323999758900665, + -0.010094616267109162, + -0.9910323918847969 + ], + [ + 0.7473721199687662, + 0.6588149707525265, + 0.08601016571161409, + 0.6542228588152149, + -0.7523029099688577, + 0.0776709897969359, + 0.11587650882313909, + -0.0017793158055858516, + -0.9932620342780774 + ], + [ + 0.7441541413298676, + 0.6579170261808488, + 0.1156710880166508, + 0.6562395603190688, + -0.75236084115785, + 0.0574700284016626, + 0.12483690725840185, + 0.033141384304232885, + -0.9916236157093862 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006597.json b/json/chunk-0006/episode_0006597.json new file mode 100644 index 0000000000000000000000000000000000000000..9b1cbe7ad9b3282a681a60bf03223c4a4d1d2add --- /dev/null +++ b/json/chunk-0006/episode_0006597.json @@ -0,0 +1,2542 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 41, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut the green cube on top of the rectangle block." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006597.mp4", + "start": 0, + "end": 41, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2944408059120178, + -0.004632762633264065, + 0.1435871124267578, + -0.08428052067756653, + 0.05843934044241905, + 0.2511698603630066, + 0.0, + 1.0001531839370728 + ], + [ + 0.29245632886886597, + -0.00515116797760129, + 0.13308478891849518, + -0.07588226348161697, + 0.09601262211799622, + 0.25180867314338684, + 0.0, + 0.9994885921478271 + ], + [ + 0.299699991941452, + -0.0035395100712776184, + 0.14031845331192017, + -0.03620542958378792, + 0.06850851327180862, + 0.2533927261829376, + 0.0, + 0.9994885921478271 + ], + [ + 0.30438971519470215, + -0.010396048426628113, + 0.1431950181722641, + -0.02250746078789234, + 0.044058263301849365, + 0.24564437568187714, + 0.0, + 1.0001531839370728 + ], + [ + 0.3103497624397278, + -0.021900294348597527, + 0.12885093688964844, + -0.026811260730028152, + 0.05855223163962364, + 0.23048511147499084, + 0.0, + 1.0001531839370728 + ], + [ + 0.3138545751571655, + -0.03577594831585884, + 0.11903422325849533, + -0.040022432804107666, + 0.06907167285680771, + 0.2048858255147934, + 0.0, + 0.9994885921478271 + ], + [ + 0.3159447908401489, + -0.04832599312067032, + 0.10884196311235428, + -0.048551809042692184, + 0.08092911541461945, + 0.19467943906784058, + 0.0, + 1.0001531839370728 + ], + [ + 0.3157629668712616, + -0.05825888738036156, + 0.09964349120855331, + -0.0592026486992836, + 0.10610196739435196, + 0.18731997907161713, + 0.0, + 0.9994885921478271 + ], + [ + 0.31502118706703186, + -0.06388596445322037, + 0.09946994483470917, + -0.056204065680503845, + 0.10651759803295135, + 0.1839171051979065, + 0.0, + 1.0001531839370728 + ], + [ + 0.3135063648223877, + -0.0659019947052002, + 0.09028810262680054, + -0.043321721255779266, + 0.13537216186523438, + 0.18623597919940948, + 0.0, + 1.0001531839370728 + ], + [ + 0.31241750717163086, + -0.06644925475120544, + 0.0819401815533638, + -0.03579626604914665, + 0.1658949851989746, + 0.1948390156030655, + 0.0, + 1.0001531839370728 + ], + [ + 0.31143268942832947, + -0.06553389132022858, + 0.0774255022406578, + -0.031083887442946434, + 0.1808418184518814, + 0.2023705095052719, + 0.0, + 1.0001531839370728 + ], + [ + 0.3109797239303589, + -0.06566223502159119, + 0.07532933354377747, + -0.03354496508836746, + 0.18654616177082062, + 0.20416122674942017, + 0.0, + 1.0001531839370728 + ], + [ + 0.3108821213245392, + -0.06630314141511917, + 0.07271677255630493, + -0.03904156759381294, + 0.19175930321216583, + 0.2070273458957672, + 0.0, + 0.9628177285194397 + ], + [ + 0.30910107493400574, + -0.06563246250152588, + 0.068260557949543, + -0.040393464267253876, + 0.19199830293655396, + 0.22454211115837097, + 0.0, + 0.6611326336860657 + ], + [ + 0.30854320526123047, + -0.06615108251571655, + 0.06624501198530197, + -0.045578837394714355, + 0.1919538825750351, + 0.23888301849365234, + 0.0, + 0.4985305666923523 + ], + [ + 0.3089861273765564, + -0.06481614708900452, + 0.0665455311536789, + -0.036388710141181946, + 0.18649965524673462, + 0.25009843707084656, + 0.0, + 0.4985305666923523 + ], + [ + 0.30277493596076965, + -0.05691519007086754, + 0.08049629628658295, + -0.0017935284413397312, + 0.161701500415802, + 0.3029439151287079, + 0.0, + 0.4985305666923523 + ], + [ + 0.30143484473228455, + -0.03761862590909004, + 0.1156337559223175, + -0.023611316457390785, + 0.04227150231599808, + 0.39644086360931396, + 0.0, + 0.4985305666923523 + ], + [ + 0.2994247376918793, + -0.008744009770452976, + 0.12736983597278595, + -0.05753319337964058, + -0.0005246870568953454, + 0.5269297957420349, + 0.0, + 0.4985305666923523 + ], + [ + 0.28961214423179626, + 0.01441881526261568, + 0.11145859211683273, + -0.08985859900712967, + 0.050488002598285675, + 0.6960660219192505, + 0.0, + 0.4985305666923523 + ], + [ + 0.289725124835968, + 0.031874582171440125, + 0.09832695126533508, + -0.06229006126523018, + 0.07331939041614532, + 0.8544625043869019, + 0.0, + 0.4985305666923523 + ], + [ + 0.2942294180393219, + 0.032557956874370575, + 0.0823826864361763, + -0.01879013702273369, + 0.11755049228668213, + 0.928107500076294, + 0.0, + 0.4985305666923523 + ], + [ + 0.301226943731308, + 0.03364730626344681, + 0.07460144907236099, + 0.0020056627690792084, + 0.1343434602022171, + 0.9665436148643494, + 0.0, + 0.4985305666923523 + ], + [ + 0.30677515268325806, + 0.03444727137684822, + 0.07435742765665054, + 0.010645846836268902, + 0.13993756473064423, + 0.9920170307159424, + 0.0, + 0.4985305666923523 + ], + [ + 0.3094335198402405, + 0.03265421465039253, + 0.07459615170955658, + -0.0056626019068062305, + 0.1425790935754776, + 1.0021109580993652, + 0.0, + 0.4985305666923523 + ], + [ + 0.3110303580760956, + 0.03451019152998924, + 0.07453952729701996, + -0.016984235495328903, + 0.1391313225030899, + 1.0121171474456787, + 0.0, + 0.4985305666923523 + ], + [ + 0.3131617307662964, + 0.03497326374053955, + 0.06834590435028076, + -0.025052335113286972, + 0.15153595805168152, + 1.0207728147506714, + 0.0, + 0.4985305666923523 + ], + [ + 0.31366559863090515, + 0.03242699056863785, + 0.06346655637025833, + -0.029487667605280876, + 0.17014938592910767, + 1.0175257921218872, + 0.0, + 0.4985305666923523 + ], + [ + 0.31571900844573975, + 0.030625399202108383, + 0.057673379778862, + -0.03167103976011276, + 0.18667076528072357, + 1.0165045261383057, + 0.0, + 0.4985305666923523 + ], + [ + 0.3222653865814209, + 0.03088400512933731, + 0.05704054236412048, + -0.041786979883909225, + 0.18625889718532562, + 1.0083914995193481, + 0.0, + 0.5719637274742126 + ], + [ + 0.32037001848220825, + 0.031528834253549576, + 0.0517965704202652, + -0.02860199473798275, + 0.20378179848194122, + 1.0070894956588745, + 0.0, + 0.875784695148468 + ], + [ + 0.3183116912841797, + 0.03729536756873131, + 0.05619213730096817, + -0.019621936604380608, + 0.19600968062877655, + 1.0326952934265137, + 0.0, + 1.0092895030975342 + ], + [ + 0.316133052110672, + 0.043632421642541885, + 0.08781715482473373, + -0.051835548132658005, + 0.1306142508983612, + 1.0414621829986572, + 0.0, + 1.002137303352356 + ], + [ + 0.31016144156455994, + 0.04383847117424011, + 0.09972584992647171, + -0.03686095029115677, + 0.11001903563737869, + 0.9933851361274719, + 0.0, + 0.9994885921478271 + ], + [ + 0.309516578912735, + 0.027508514001965523, + 0.11395395547151566, + -0.005203453358262777, + 0.08804044127464294, + 0.8216637969017029, + 0.0, + 0.9994885921478271 + ], + [ + 0.30696389079093933, + -0.009699785150587559, + 0.11869513243436813, + 0.027105124667286873, + 0.09179780632257462, + 0.6077885031700134, + 0.0, + 0.9994885921478271 + ], + [ + 0.30707722902297974, + -0.03690251708030701, + 0.11827011406421661, + 0.002405493287369609, + 0.09167458862066269, + 0.5201705098152161, + 0.0, + 0.9994885921478271 + ], + [ + 0.30492275953292847, + -0.05676523596048355, + 0.11149197071790695, + -0.0410323329269886, + 0.10024052858352661, + 0.4556106626987457, + 0.0, + 0.9994885921478271 + ], + [ + 0.30171999335289, + -0.062429964542388916, + 0.10692127048969269, + -0.04229479283094406, + 0.09919753670692444, + 0.4189957082271576, + 0.0, + 0.9994885921478271 + ], + [ + 0.29966050386428833, + -0.06280384957790375, + 0.1034913882613182, + -0.03373207896947861, + 0.09764096885919571, + 0.3739021122455597, + 0.0, + 0.9994885921478271 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9628177285194397 + ], + [ + 0.6611326336860657 + ], + [ + 0.4985305666923523 + ], + [ + 0.4985305666923523 + ], + [ + 0.4985305666923523 + ], + [ + 0.4985305666923523 + ], + [ + 0.4985305666923523 + ], + [ + 0.4985305666923523 + ], + [ + 0.4985305666923523 + ], + [ + 0.4985305666923523 + ], + [ + 0.4985305666923523 + ], + [ + 0.4985305666923523 + ], + [ + 0.4985305666923523 + ], + [ + 0.4985305666923523 + ], + [ + 0.4985305666923523 + ], + [ + 0.4985305666923523 + ], + [ + 0.4985305666923523 + ], + [ + 0.5719637274742126 + ], + [ + 0.875784695148468 + ], + [ + 1.0092895030975342 + ], + [ + 1.002137303352356 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2944408059120178, + -0.004632762633264065, + 0.1435871124267578 + ], + [ + 0.29245632886886597, + -0.00515116797760129, + 0.13308478891849518 + ], + [ + 0.299699991941452, + -0.0035395100712776184, + 0.14031845331192017 + ], + [ + 0.30438971519470215, + -0.010396048426628113, + 0.1431950181722641 + ], + [ + 0.3103497624397278, + -0.021900294348597527, + 0.12885093688964844 + ], + [ + 0.3138545751571655, + -0.03577594831585884, + 0.11903422325849533 + ], + [ + 0.3159447908401489, + -0.04832599312067032, + 0.10884196311235428 + ], + [ + 0.3157629668712616, + -0.05825888738036156, + 0.09964349120855331 + ], + [ + 0.31502118706703186, + -0.06388596445322037, + 0.09946994483470917 + ], + [ + 0.3135063648223877, + -0.0659019947052002, + 0.09028810262680054 + ], + [ + 0.31241750717163086, + -0.06644925475120544, + 0.0819401815533638 + ], + [ + 0.31143268942832947, + -0.06553389132022858, + 0.0774255022406578 + ], + [ + 0.3109797239303589, + -0.06566223502159119, + 0.07532933354377747 + ], + [ + 0.3108821213245392, + -0.06630314141511917, + 0.07271677255630493 + ], + [ + 0.30910107493400574, + -0.06563246250152588, + 0.068260557949543 + ], + [ + 0.30854320526123047, + -0.06615108251571655, + 0.06624501198530197 + ], + [ + 0.3089861273765564, + -0.06481614708900452, + 0.0665455311536789 + ], + [ + 0.30277493596076965, + -0.05691519007086754, + 0.08049629628658295 + ], + [ + 0.30143484473228455, + -0.03761862590909004, + 0.1156337559223175 + ], + [ + 0.2994247376918793, + -0.008744009770452976, + 0.12736983597278595 + ], + [ + 0.28961214423179626, + 0.01441881526261568, + 0.11145859211683273 + ], + [ + 0.289725124835968, + 0.031874582171440125, + 0.09832695126533508 + ], + [ + 0.2942294180393219, + 0.032557956874370575, + 0.0823826864361763 + ], + [ + 0.301226943731308, + 0.03364730626344681, + 0.07460144907236099 + ], + [ + 0.30677515268325806, + 0.03444727137684822, + 0.07435742765665054 + ], + [ + 0.3094335198402405, + 0.03265421465039253, + 0.07459615170955658 + ], + [ + 0.3110303580760956, + 0.03451019152998924, + 0.07453952729701996 + ], + [ + 0.3131617307662964, + 0.03497326374053955, + 0.06834590435028076 + ], + [ + 0.31366559863090515, + 0.03242699056863785, + 0.06346655637025833 + ], + [ + 0.31571900844573975, + 0.030625399202108383, + 0.057673379778862 + ], + [ + 0.3222653865814209, + 0.03088400512933731, + 0.05704054236412048 + ], + [ + 0.32037001848220825, + 0.031528834253549576, + 0.0517965704202652 + ], + [ + 0.3183116912841797, + 0.03729536756873131, + 0.05619213730096817 + ], + [ + 0.316133052110672, + 0.043632421642541885, + 0.08781715482473373 + ], + [ + 0.31016144156455994, + 0.04383847117424011, + 0.09972584992647171 + ], + [ + 0.309516578912735, + 0.027508514001965523, + 0.11395395547151566 + ], + [ + 0.30696389079093933, + -0.009699785150587559, + 0.11869513243436813 + ], + [ + 0.30707722902297974, + -0.03690251708030701, + 0.11827011406421661 + ], + [ + 0.30492275953292847, + -0.05676523596048355, + 0.11149197071790695 + ], + [ + 0.30171999335289, + -0.062429964542388916, + 0.10692127048969269 + ], + [ + 0.29966050386428833, + -0.06280384957790375, + 0.1034913882613182 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9669688029158873, + 0.25241749447122375, + -0.03545056660034855, + 0.24811300584785664, + -0.963962228798796, + -0.09600394668136868, + -0.058406082872912185, + 0.08403707475946164, + -0.9947494657195425 + ], + [ + 0.9640029395751274, + 0.25547730407977687, + -0.07368635959689296, + 0.24800846867669768, + -0.9638657007351212, + -0.09723533519782429, + -0.09586517592511293, + 0.07546030775528956, + -0.9925299038307733 + ], + [ + 0.9657965895779351, + 0.2529242686755475, + -0.05715121936204666, + 0.2501017178961451, + -0.9668118709592748, + -0.05219134868561438, + -0.06845493601652379, + 0.03611260842373193, + -0.997000401829311 + ], + [ + 0.9690395487380444, + 0.24408129285752536, + -0.037238091500058516, + 0.24294542203408806, + -0.9694940973364841, + -0.032537933898685596, + -0.0440440108782865, + 0.0224837209268249, + -0.9987765552910414 + ], + [ + 0.9718873111103403, + 0.22989501765605289, + -0.05082652220676942, + 0.2280583407268684, + -0.9728474034692164, + -0.039462929289535535, + -0.05851878098200344, + 0.026762107916351023, + -0.9979275233463868 + ], + [ + 0.9767495942324651, + 0.20599617251960722, + -0.05937850683527933, + 0.20297023550340537, + -0.9777383405727517, + -0.05320545905952152, + -0.06901676366222388, + 0.03991634103114247, + -0.9968166190690636 + ], + [ + 0.9778985865663489, + 0.19707338493735888, + -0.06983147815182582, + 0.19281887597912645, + -0.9791945913484714, + -0.06323632927397492, + -0.08084080317317242, + 0.04837388989146832, + -0.9955524754221069 + ], + [ + 0.9769816918658311, + 0.19205662883017682, + -0.09284947539628936, + 0.1851791771243969, + -0.979618627022712, + -0.07782042116095253, + -0.10590300334980916, + 0.05883533727722212, + -0.9926343520999894 + ], + [ + 0.9775628169072559, + 0.18846477181102386, + -0.09408490201179685, + 0.18184550038213623, + -0.980490247535323, + -0.07463972453654548, + -0.10631628751570103, + 0.05585610328638758, + -0.9927622790651038 + ], + [ + 0.973717519191735, + 0.19073131886943664, + -0.1244819537982042, + 0.18346727298255097, + -0.9807038943099247, + -0.06752504298179997, + -0.13495907736584112, + 0.042911952736657114, + -0.9899215179744744 + ], + [ + 0.9676095764075977, + 0.19928270421631336, + -0.15497777726029763, + 0.19095053828367034, + -0.9793061349476748, + -0.06706255276249896, + -0.16513509491772374, + 0.03529727828147319, + -0.9856391340508119 + ], + [ + 0.9636182973243125, + 0.20637064116940967, + -0.16985563142009674, + 0.19771437696907207, + -0.9779961692966148, + -0.06657715810155032, + -0.17985772766696645, + 0.0305720673895947, + -0.9832174461908217 + ], + [ + 0.9622423731511688, + 0.20872291763770984, + -0.1747122175613622, + 0.1992283720125435, + -0.977419353680151, + -0.07042345374026673, + -0.18546609150364532, + 0.03295680057708431, + -0.9820978455317392 + ], + [ + 0.9607081313390993, + 0.21267504743667592, + -0.17835136830633996, + 0.20178396762151168, + -0.9763714414343829, + -0.0773436407357851, + -0.19058624501746396, + 0.03831621783465995, + -0.9809223978791545 + ], + [ + 0.9569823262844493, + 0.22999074051349655, + -0.17688721394509233, + 0.21856858677573593, + -0.9723851573287017, + -0.08182223830776901, + -0.19082085854030995, + 0.03964044758689331, + -0.9808241610304314 + ], + [ + 0.953757790978472, + 0.24481733222872887, + -0.17438620928351337, + 0.23227164144615642, + -0.968537061411858, + -0.08936355661896404, + -0.19077725422013306, + 0.04472621727902816, + -0.9806138917841903 + ], + [ + 0.9520868554513315, + 0.25387133890439945, + -0.17052848137388255, + 0.24320752052977596, + -0.9665771020145731, + -0.08110985031960045, + -0.18542039163628593, + 0.03574981320226653, + -0.9820087724768294 + ], + [ + 0.9420111873804206, + 0.2986064764395345, + -0.15313097360918024, + 0.2944395517902085, + -0.9543746847367366, + -0.04974245143974411, + -0.16099774281557758, + 0.0017701305092809906, + -0.986953187059178 + ], + [ + 0.9216171272628394, + 0.38695038703304113, + -0.029854123848662196, + 0.38579276157992876, + -0.9217987864493405, + -0.03809123800896371, + -0.04225891442434132, + 0.023588032463581605, + -0.9988282078897119 + ], + [ + 0.8643549732430867, + 0.5020238336925903, + 0.02936921235813639, + 0.5028818995882239, + -0.8629401216463616, + -0.04943825967307476, + 0.0005246870328212624, + 0.05750145091697488, + -0.9983452848819192 + ], + [ + 0.7663927797655637, + 0.6420920894973724, + 0.01896986368191711, + 0.640386784565753, + -0.7613707374837185, + -0.1010908811764671, + -0.05046655602226152, + 0.08962337144069647, + -0.9946963245206323 + ], + [ + 0.6548598663485766, + 0.7557495870387885, + -0.0010569468411397859, + 0.7521917630287116, + -0.6519112819152794, + -0.09601683260416136, + -0.07325371715949117, + 0.06208254345851021, + -0.9953791492290962 + ], + [ + 0.5952137981935388, + 0.8016665094463223, + -0.055238954300122795, + 0.794962858158914, + -0.5974802387395313, + -0.10512572693476813, + -0.11727995816776221, + 0.01865936622456489, + -0.9929235818854671 + ], + [ + 0.5630279700197296, + 0.822772616073034, + -0.07774784380160438, + 0.8155118990447048, + -0.5683671979704776, + -0.10908286202555946, + -0.1339397158872676, + -0.001987589375084489, + -0.9909874883148194 + ], + [ + 0.5416553460574765, + 0.836271337564436, + -0.0852040847350931, + 0.8289478004287736, + -0.5482144881603999, + -0.11093430098634621, + -0.13948128996985187, + -0.010541581438298649, + -0.9901685941339111 + ], + [ + 0.5330602791811229, + 0.8430294695985247, + -0.07174992785900872, + 0.8340595430403009, + -0.5378381690647235, + -0.12277940609283625, + -0.14209650742628088, + 0.005605112446280376, + -0.9898369387387586 + ], + [ + 0.5249445441730782, + 0.8490821449632096, + -0.05909937941801287, + 0.8397620396861043, + -0.5279930132760962, + -0.1265823630442327, + -0.13868288374977272, + 0.01681930546435239, + -0.9901940055961478 + ], + [ + 0.5167172471714546, + 0.8542212962015113, + -0.05752619917362682, + 0.8427427669904487, + -0.5193195433066404, + -0.1417456899699761, + -0.15095666650014528, + 0.024762654453678576, + -0.9882301836027736 + ], + [ + 0.5178845426631777, + 0.8530640015572827, + -0.0638545982496756, + 0.8385243549937597, + -0.5209966054262357, + -0.15949747087850147, + -0.16932957967481768, + 0.029057638951151377, + -0.9851310304044503 + ], + [ + 0.5171974304158251, + 0.8529402102022446, + -0.0707093755552852, + 0.8355020735108994, + -0.5210804306031367, + -0.17438884712457187, + -0.18558853178538634, + 0.031115633732905032, + -0.9821347739527119 + ], + [ + 0.5239994994239862, + 0.8493617755028466, + -0.06331744560596214, + 0.8313431804409745, + -0.5262122050509217, + -0.17879941719628764, + -0.1851838031192182, + 0.041052278500696204, + -0.9818460518290044 + ], + [ + 0.5232670881297385, + 0.8480269557270087, + -0.08391565313221744, + 0.8277899436911821, + -0.5292125534241895, + -0.18627367613809354, + -0.20237431557382557, + 0.028006350326875137, + -0.9789076977618443 + ], + [ + 0.5026925924100245, + 0.8604765832183081, + -0.08294701482895553, + 0.8422409844841214, + -0.5091263898146903, + -0.17725812604638996, + -0.19475698085384954, + 0.01924497147844413, + -0.9806627093356243 + ], + [ + 0.5006575251062945, + 0.8653917153312883, + -0.02095761413926637, + 0.8557913034604566, + -0.49845581439207953, + -0.13843065419256476, + -0.13024318590963901, + 0.051371004805230686, + -0.9901503584756248 + ], + [ + 0.542556415526569, + 0.8395181212270022, + -0.029014825562897403, + 0.8328127677591601, + -0.5420955472962421, + -0.11205048620561671, + -0.10979722140513533, + 0.03662979297064285, + -0.9932788271369926 + ], + [ + 0.6783662189562842, + 0.7325815545056723, + -0.05606727188839468, + 0.7294437329981088, + -0.68065953283616, + -0.06792967502530885, + -0.0879267500180586, + 0.005183276696557354, + -0.9961134575307918 + ], + [ + 0.8174564855697454, + 0.5688041807860909, + -0.09070114729276908, + 0.5686490138066613, + -0.8220300896275882, + -0.030080406306609762, + -0.09166893310534398, + -0.02698769473525464, + -0.9954237645526676 + ], + [ + 0.8640906771064618, + 0.4968355773488343, + -0.08063318682866864, + 0.494940995339465, + -0.867841385961572, + -0.04341359170441521, + -0.09154623351113984, + -0.00239538989488269, + -0.9957979459896348 + ], + [ + 0.8934846862172213, + 0.4433267240764876, + -0.0717393282302208, + 0.437801966720435, + -0.8954303767591064, + -0.08083240880218667, + -0.10007274069911667, + 0.04081490042441042, + -0.9941426409083924 + ], + [ + 0.9090071953481618, + 0.41030459695060295, + -0.07318508404362106, + 0.40484318123409757, + -0.9109774360849978, + -0.07888034959518808, + -0.09903493026969931, + 0.04207432311050009, + -0.9941940625055395 + ], + [ + 0.9264751797410979, + 0.3681035575418051, + -0.07838056040095451, + 0.36351099234531137, + -0.9291787550112656, + -0.06698208476780862, + -0.09748589522504131, + 0.03356504373275636, + -0.9946707435485327 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0019844770431518555, + -0.000518405344337225, + -0.010502323508262634, + 0.008398257195949554, + 0.037573281675577164, + 0.000638812780380249, + 1.0 + ], + [ + 0.00724366307258606, + 0.0016116579063236713, + 0.007233664393424988, + 0.039676833897829056, + -0.02750410884618759, + 0.0015840530395507812, + 1.0 + ], + [ + 0.004689723253250122, + -0.006856538355350494, + 0.002876564860343933, + 0.013697968795895576, + -0.02445024996995926, + -0.007748350501060486, + 1.0 + ], + [ + 0.005960047245025635, + -0.011504245921969414, + -0.014344081282615662, + -0.004303799942135811, + 0.014493968337774277, + -0.015159264206886292, + 1.0 + ], + [ + 0.003504812717437744, + -0.013875653967261314, + -0.009816713631153107, + -0.013211172074079514, + 0.010519441217184067, + -0.02559928596019745, + 1.0 + ], + [ + 0.0020902156829833984, + -0.012550044804811478, + -0.010192260146141052, + -0.008529376238584518, + 0.011857442557811737, + -0.01020638644695282, + 1.0 + ], + [ + -0.0001818239688873291, + -0.009932894259691238, + -0.009198471903800964, + -0.010650839656591415, + 0.025172851979732513, + -0.00735945999622345, + 1.0 + ], + [ + -0.0007417798042297363, + -0.00562707707285881, + -0.00017354637384414673, + 0.0029985830187797546, + 0.00041563063859939575, + -0.0034028738737106323, + 1.0 + ], + [ + -0.001514822244644165, + -0.002016030251979828, + -0.00918184220790863, + 0.012882344424724579, + 0.02885456383228302, + 0.0023188740015029907, + 1.0 + ], + [ + -0.001088857650756836, + -0.000547260046005249, + -0.008347921073436737, + 0.007525455206632614, + 0.030522823333740234, + 0.008603036403656006, + 1.0 + ], + [ + -0.0009848177433013916, + 0.0009153634309768677, + -0.004514679312705994, + 0.004712378606200218, + 0.0149468332529068, + 0.007531493902206421, + 1.0 + ], + [ + -0.00045296549797058105, + -0.00012834370136260986, + -0.0020961686968803406, + -0.002461077645421028, + 0.005704343318939209, + 0.0017907172441482544, + 1.0 + ], + [ + -9.760260581970215e-05, + -0.0006409063935279846, + -0.002612560987472534, + -0.00549660250544548, + 0.005213141441345215, + 0.002866119146347046, + 0.0 + ], + [ + -0.0017810463905334473, + 0.0006706789135932922, + -0.004456214606761932, + -0.0013518966734409332, + 0.00023899972438812256, + 0.01751476526260376, + 0.0 + ], + [ + -0.0005578696727752686, + -0.0005186200141906738, + -0.002015545964241028, + -0.00518537312746048, + -4.442036151885986e-05, + 0.014340907335281372, + 0.0 + ], + [ + 0.00044292211532592773, + 0.0013349354267120361, + 0.0003005191683769226, + 0.00919012725353241, + -0.005454227328300476, + 0.011215418577194214, + 0.0 + ], + [ + -0.006211191415786743, + 0.007900957018136978, + 0.013950765132904053, + 0.03459518030285835, + -0.024798154830932617, + 0.05284547805786133, + 0.0 + ], + [ + -0.0013400912284851074, + 0.019296564161777496, + 0.03513745963573456, + -0.02181778848171234, + -0.11942999809980392, + 0.09349694848060608, + 0.0 + ], + [ + -0.0020101070404052734, + 0.02887461706995964, + 0.011736080050468445, + -0.033921875059604645, + -0.042796190828084946, + 0.13048893213272095, + 0.0 + ], + [ + -0.009812593460083008, + 0.023162825033068657, + -0.015911243855953217, + -0.03232540562748909, + 0.05101269111037254, + 0.16913622617721558, + 0.0 + ], + [ + 0.00011298060417175293, + 0.01745576784014702, + -0.01313164085149765, + 0.02756853774189949, + 0.02283138781785965, + 0.15839648246765137, + 0.0 + ], + [ + 0.004504293203353882, + 0.0006833747029304504, + -0.015944264829158783, + 0.04349992424249649, + 0.044231101870536804, + 0.07364499568939209, + 0.0 + ], + [ + 0.006997525691986084, + 0.001089349389076233, + -0.007781237363815308, + 0.020795799791812897, + 0.016792967915534973, + 0.03843611478805542, + 0.0 + ], + [ + 0.005548208951950073, + 0.000799965113401413, + -0.00024402141571044922, + 0.008640184067189693, + 0.005594104528427124, + 0.025473415851593018, + 0.0 + ], + [ + 0.002658367156982422, + -0.0017930567264556885, + 0.00023872405290603638, + -0.01630844920873642, + 0.002641528844833374, + 0.010093927383422852, + 0.0 + ], + [ + 0.0015968382358551025, + 0.0018559768795967102, + -5.6624412536621094e-05, + -0.01132163405418396, + -0.0034477710723876953, + 0.010006189346313477, + 0.0 + ], + [ + 0.0021313726902008057, + 0.00046307221055030823, + -0.006193622946739197, + -0.008068099617958069, + 0.012404635548591614, + 0.008655667304992676, + 0.0 + ], + [ + 0.0005038678646087646, + -0.002546273171901703, + -0.00487934798002243, + -0.004435332491993904, + 0.018613427877426147, + -0.0032470226287841797, + 0.0 + ], + [ + 0.0020534098148345947, + -0.0018015913665294647, + -0.005793176591396332, + -0.0021833721548318863, + 0.016521379351615906, + -0.001021265983581543, + 0.0 + ], + [ + 0.006546378135681152, + 0.0002586059272289276, + -0.0006328374147415161, + -0.010115940123796463, + -0.0004118680953979492, + -0.00811302661895752, + 1.0 + ], + [ + -0.0018953680992126465, + 0.000644829124212265, + -0.005243971943855286, + 0.013184985145926476, + 0.0175229012966156, + -0.0013020038604736328, + 1.0 + ], + [ + -0.0020583271980285645, + 0.005766533315181732, + 0.004395566880702972, + 0.008980058133602142, + -0.007772117853164673, + 0.02560579776763916, + 1.0 + ], + [ + -0.0021786391735076904, + 0.006337054073810577, + 0.031625017523765564, + -0.032213613390922546, + -0.06539542973041534, + 0.008766889572143555, + 1.0 + ], + [ + -0.0059716105461120605, + 0.00020604953169822693, + 0.011908695101737976, + 0.014974597841501236, + -0.020595215260982513, + -0.0480770468711853, + 1.0 + ], + [ + -0.0006448626518249512, + -0.01632995717227459, + 0.014228105545043945, + 0.03165749832987785, + -0.02197859436273575, + -0.17172133922576904, + 1.0 + ], + [ + -0.0025526881217956543, + -0.037208300083875656, + 0.004741176962852478, + 0.03230857849121094, + 0.003757365047931671, + -0.21387529373168945, + 1.0 + ], + [ + 0.00011333823204040527, + -0.027202732861042023, + -0.0004250183701515198, + -0.024699632078409195, + -0.00012321770191192627, + -0.08761799335479736, + 1.0 + ], + [ + -0.0021544694900512695, + -0.019862718880176544, + -0.006778143346309662, + -0.04343782737851143, + 0.008565939962863922, + -0.06455984711647034, + 1.0 + ], + [ + -0.003202766180038452, + -0.005664728581905365, + -0.004570700228214264, + -0.0012624599039554596, + -0.0010429918766021729, + -0.036614954471588135, + 1.0 + ], + [ + -0.0020594894886016846, + -0.00037388503551483154, + -0.003429882228374481, + 0.008562713861465454, + -0.0015565678477287292, + -0.0450935959815979, + 1.0 + ], + [ + -0.0015302300453186035, + 0.0018670372664928436, + -0.0017405152320861816, + 0.033407967537641525, + -0.0156126469373703, + -0.09730741381645203, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9628177285194397 + ], + [ + 0.6611326336860657 + ], + [ + 0.4985305666923523 + ], + [ + 0.4985305666923523 + ], + [ + 0.4985305666923523 + ], + [ + 0.4985305666923523 + ], + [ + 0.4985305666923523 + ], + [ + 0.4985305666923523 + ], + [ + 0.4985305666923523 + ], + [ + 0.4985305666923523 + ], + [ + 0.4985305666923523 + ], + [ + 0.4985305666923523 + ], + [ + 0.4985305666923523 + ], + [ + 0.4985305666923523 + ], + [ + 0.4985305666923523 + ], + [ + 0.4985305666923523 + ], + [ + 0.4985305666923523 + ], + [ + 0.5719637274742126 + ], + [ + 0.875784695148468 + ], + [ + 1.0092895030975342 + ], + [ + 1.002137303352356 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.29245632886886597, + -0.00515116797760129, + 0.13308478891849518 + ], + [ + 0.299699991941452, + -0.0035395100712776184, + 0.14031845331192017 + ], + [ + 0.30438971519470215, + -0.010396048426628113, + 0.1431950181722641 + ], + [ + 0.3103497624397278, + -0.021900294348597527, + 0.12885093688964844 + ], + [ + 0.3138545751571655, + -0.03577594831585884, + 0.11903422325849533 + ], + [ + 0.3159447908401489, + -0.04832599312067032, + 0.10884196311235428 + ], + [ + 0.3157629668712616, + -0.05825888738036156, + 0.09964349120855331 + ], + [ + 0.31502118706703186, + -0.06388596445322037, + 0.09946994483470917 + ], + [ + 0.3135063648223877, + -0.0659019947052002, + 0.09028810262680054 + ], + [ + 0.31241750717163086, + -0.06644925475120544, + 0.0819401815533638 + ], + [ + 0.31143268942832947, + -0.06553389132022858, + 0.0774255022406578 + ], + [ + 0.3109797239303589, + -0.06566223502159119, + 0.07532933354377747 + ], + [ + 0.3108821213245392, + -0.06630314141511917, + 0.07271677255630493 + ], + [ + 0.30910107493400574, + -0.06563246250152588, + 0.068260557949543 + ], + [ + 0.30854320526123047, + -0.06615108251571655, + 0.06624501198530197 + ], + [ + 0.3089861273765564, + -0.06481614708900452, + 0.0665455311536789 + ], + [ + 0.30277493596076965, + -0.05691519007086754, + 0.08049629628658295 + ], + [ + 0.30143484473228455, + -0.03761862590909004, + 0.1156337559223175 + ], + [ + 0.2994247376918793, + -0.008744009770452976, + 0.12736983597278595 + ], + [ + 0.28961214423179626, + 0.01441881526261568, + 0.11145859211683273 + ], + [ + 0.289725124835968, + 0.031874582171440125, + 0.09832695126533508 + ], + [ + 0.2942294180393219, + 0.032557956874370575, + 0.0823826864361763 + ], + [ + 0.301226943731308, + 0.03364730626344681, + 0.07460144907236099 + ], + [ + 0.30677515268325806, + 0.03444727137684822, + 0.07435742765665054 + ], + [ + 0.3094335198402405, + 0.03265421465039253, + 0.07459615170955658 + ], + [ + 0.3110303580760956, + 0.03451019152998924, + 0.07453952729701996 + ], + [ + 0.3131617307662964, + 0.03497326374053955, + 0.06834590435028076 + ], + [ + 0.31366559863090515, + 0.03242699056863785, + 0.06346655637025833 + ], + [ + 0.31571900844573975, + 0.030625399202108383, + 0.057673379778862 + ], + [ + 0.3222653865814209, + 0.03088400512933731, + 0.05704054236412048 + ], + [ + 0.32037001848220825, + 0.031528834253549576, + 0.0517965704202652 + ], + [ + 0.3183116912841797, + 0.03729536756873131, + 0.05619213730096817 + ], + [ + 0.316133052110672, + 0.043632421642541885, + 0.08781715482473373 + ], + [ + 0.31016144156455994, + 0.04383847117424011, + 0.09972584992647171 + ], + [ + 0.309516578912735, + 0.027508514001965523, + 0.11395395547151566 + ], + [ + 0.30696389079093933, + -0.009699785150587559, + 0.11869513243436813 + ], + [ + 0.30707722902297974, + -0.03690251708030701, + 0.11827011406421661 + ], + [ + 0.30492275953292847, + -0.05676523596048355, + 0.11149197071790695 + ], + [ + 0.30171999335289, + -0.062429964542388916, + 0.10692127048969269 + ], + [ + 0.29966050386428833, + -0.06280384957790375, + 0.1034913882613182 + ], + [ + 0.2981302738189697, + -0.060936812311410904, + 0.10175087302923203 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9640029395751274, + 0.25547730407977687, + -0.07368635959689296, + 0.24800846867669768, + -0.9638657007351212, + -0.09723533519782429, + -0.09586517592511293, + 0.07546030775528956, + -0.9925299038307733 + ], + [ + 0.9657965895779351, + 0.2529242686755475, + -0.05715121936204666, + 0.2501017178961451, + -0.9668118709592748, + -0.05219134868561438, + -0.06845493601652379, + 0.03611260842373193, + -0.997000401829311 + ], + [ + 0.9690395487380444, + 0.24408129285752536, + -0.037238091500058516, + 0.24294542203408806, + -0.9694940973364841, + -0.032537933898685596, + -0.0440440108782865, + 0.0224837209268249, + -0.9987765552910414 + ], + [ + 0.9718873111103403, + 0.22989501765605289, + -0.05082652220676942, + 0.2280583407268684, + -0.9728474034692164, + -0.039462929289535535, + -0.05851878098200344, + 0.026762107916351023, + -0.9979275233463868 + ], + [ + 0.9767495942324651, + 0.20599617251960722, + -0.05937850683527933, + 0.20297023550340537, + -0.9777383405727517, + -0.05320545905952152, + -0.06901676366222388, + 0.03991634103114247, + -0.9968166190690636 + ], + [ + 0.9778985865663489, + 0.19707338493735888, + -0.06983147815182582, + 0.19281887597912645, + -0.9791945913484714, + -0.06323632927397492, + -0.08084080317317242, + 0.04837388989146832, + -0.9955524754221069 + ], + [ + 0.9769816918658311, + 0.19205662883017682, + -0.09284947539628936, + 0.1851791771243969, + -0.979618627022712, + -0.07782042116095253, + -0.10590300334980916, + 0.05883533727722212, + -0.9926343520999894 + ], + [ + 0.9775628169072559, + 0.18846477181102386, + -0.09408490201179685, + 0.18184550038213623, + -0.980490247535323, + -0.07463972453654548, + -0.10631628751570103, + 0.05585610328638758, + -0.9927622790651038 + ], + [ + 0.973717519191735, + 0.19073131886943664, + -0.1244819537982042, + 0.18346727298255097, + -0.9807038943099247, + -0.06752504298179997, + -0.13495907736584112, + 0.042911952736657114, + -0.9899215179744744 + ], + [ + 0.9676095764075977, + 0.19928270421631336, + -0.15497777726029763, + 0.19095053828367034, + -0.9793061349476748, + -0.06706255276249896, + -0.16513509491772374, + 0.03529727828147319, + -0.9856391340508119 + ], + [ + 0.9636182973243125, + 0.20637064116940967, + -0.16985563142009674, + 0.19771437696907207, + -0.9779961692966148, + -0.06657715810155032, + -0.17985772766696645, + 0.0305720673895947, + -0.9832174461908217 + ], + [ + 0.9622423731511688, + 0.20872291763770984, + -0.1747122175613622, + 0.1992283720125435, + -0.977419353680151, + -0.07042345374026673, + -0.18546609150364532, + 0.03295680057708431, + -0.9820978455317392 + ], + [ + 0.9607081313390993, + 0.21267504743667592, + -0.17835136830633996, + 0.20178396762151168, + -0.9763714414343829, + -0.0773436407357851, + -0.19058624501746396, + 0.03831621783465995, + -0.9809223978791545 + ], + [ + 0.9569823262844493, + 0.22999074051349655, + -0.17688721394509233, + 0.21856858677573593, + -0.9723851573287017, + -0.08182223830776901, + -0.19082085854030995, + 0.03964044758689331, + -0.9808241610304314 + ], + [ + 0.953757790978472, + 0.24481733222872887, + -0.17438620928351337, + 0.23227164144615642, + -0.968537061411858, + -0.08936355661896404, + -0.19077725422013306, + 0.04472621727902816, + -0.9806138917841903 + ], + [ + 0.9520868554513315, + 0.25387133890439945, + -0.17052848137388255, + 0.24320752052977596, + -0.9665771020145731, + -0.08110985031960045, + -0.18542039163628593, + 0.03574981320226653, + -0.9820087724768294 + ], + [ + 0.9420111873804206, + 0.2986064764395345, + -0.15313097360918024, + 0.2944395517902085, + -0.9543746847367366, + -0.04974245143974411, + -0.16099774281557758, + 0.0017701305092809906, + -0.986953187059178 + ], + [ + 0.9216171272628394, + 0.38695038703304113, + -0.029854123848662196, + 0.38579276157992876, + -0.9217987864493405, + -0.03809123800896371, + -0.04225891442434132, + 0.023588032463581605, + -0.9988282078897119 + ], + [ + 0.8643549732430867, + 0.5020238336925903, + 0.02936921235813639, + 0.5028818995882239, + -0.8629401216463616, + -0.04943825967307476, + 0.0005246870328212624, + 0.05750145091697488, + -0.9983452848819192 + ], + [ + 0.7663927797655637, + 0.6420920894973724, + 0.01896986368191711, + 0.640386784565753, + -0.7613707374837185, + -0.1010908811764671, + -0.05046655602226152, + 0.08962337144069647, + -0.9946963245206323 + ], + [ + 0.6548598663485766, + 0.7557495870387885, + -0.0010569468411397859, + 0.7521917630287116, + -0.6519112819152794, + -0.09601683260416136, + -0.07325371715949117, + 0.06208254345851021, + -0.9953791492290962 + ], + [ + 0.5952137981935388, + 0.8016665094463223, + -0.055238954300122795, + 0.794962858158914, + -0.5974802387395313, + -0.10512572693476813, + -0.11727995816776221, + 0.01865936622456489, + -0.9929235818854671 + ], + [ + 0.5630279700197296, + 0.822772616073034, + -0.07774784380160438, + 0.8155118990447048, + -0.5683671979704776, + -0.10908286202555946, + -0.1339397158872676, + -0.001987589375084489, + -0.9909874883148194 + ], + [ + 0.5416553460574765, + 0.836271337564436, + -0.0852040847350931, + 0.8289478004287736, + -0.5482144881603999, + -0.11093430098634621, + -0.13948128996985187, + -0.010541581438298649, + -0.9901685941339111 + ], + [ + 0.5330602791811229, + 0.8430294695985247, + -0.07174992785900872, + 0.8340595430403009, + -0.5378381690647235, + -0.12277940609283625, + -0.14209650742628088, + 0.005605112446280376, + -0.9898369387387586 + ], + [ + 0.5249445441730782, + 0.8490821449632096, + -0.05909937941801287, + 0.8397620396861043, + -0.5279930132760962, + -0.1265823630442327, + -0.13868288374977272, + 0.01681930546435239, + -0.9901940055961478 + ], + [ + 0.5167172471714546, + 0.8542212962015113, + -0.05752619917362682, + 0.8427427669904487, + -0.5193195433066404, + -0.1417456899699761, + -0.15095666650014528, + 0.024762654453678576, + -0.9882301836027736 + ], + [ + 0.5178845426631777, + 0.8530640015572827, + -0.0638545982496756, + 0.8385243549937597, + -0.5209966054262357, + -0.15949747087850147, + -0.16932957967481768, + 0.029057638951151377, + -0.9851310304044503 + ], + [ + 0.5171974304158251, + 0.8529402102022446, + -0.0707093755552852, + 0.8355020735108994, + -0.5210804306031367, + -0.17438884712457187, + -0.18558853178538634, + 0.031115633732905032, + -0.9821347739527119 + ], + [ + 0.5239994994239862, + 0.8493617755028466, + -0.06331744560596214, + 0.8313431804409745, + -0.5262122050509217, + -0.17879941719628764, + -0.1851838031192182, + 0.041052278500696204, + -0.9818460518290044 + ], + [ + 0.5232670881297385, + 0.8480269557270087, + -0.08391565313221744, + 0.8277899436911821, + -0.5292125534241895, + -0.18627367613809354, + -0.20237431557382557, + 0.028006350326875137, + -0.9789076977618443 + ], + [ + 0.5026925924100245, + 0.8604765832183081, + -0.08294701482895553, + 0.8422409844841214, + -0.5091263898146903, + -0.17725812604638996, + -0.19475698085384954, + 0.01924497147844413, + -0.9806627093356243 + ], + [ + 0.5006575251062945, + 0.8653917153312883, + -0.02095761413926637, + 0.8557913034604566, + -0.49845581439207953, + -0.13843065419256476, + -0.13024318590963901, + 0.051371004805230686, + -0.9901503584756248 + ], + [ + 0.542556415526569, + 0.8395181212270022, + -0.029014825562897403, + 0.8328127677591601, + -0.5420955472962421, + -0.11205048620561671, + -0.10979722140513533, + 0.03662979297064285, + -0.9932788271369926 + ], + [ + 0.6783662189562842, + 0.7325815545056723, + -0.05606727188839468, + 0.7294437329981088, + -0.68065953283616, + -0.06792967502530885, + -0.0879267500180586, + 0.005183276696557354, + -0.9961134575307918 + ], + [ + 0.8174564855697454, + 0.5688041807860909, + -0.09070114729276908, + 0.5686490138066613, + -0.8220300896275882, + -0.030080406306609762, + -0.09166893310534398, + -0.02698769473525464, + -0.9954237645526676 + ], + [ + 0.8640906771064618, + 0.4968355773488343, + -0.08063318682866864, + 0.494940995339465, + -0.867841385961572, + -0.04341359170441521, + -0.09154623351113984, + -0.00239538989488269, + -0.9957979459896348 + ], + [ + 0.8934846862172213, + 0.4433267240764876, + -0.0717393282302208, + 0.437801966720435, + -0.8954303767591064, + -0.08083240880218667, + -0.10007274069911667, + 0.04081490042441042, + -0.9941426409083924 + ], + [ + 0.9090071953481618, + 0.41030459695060295, + -0.07318508404362106, + 0.40484318123409757, + -0.9109774360849978, + -0.07888034959518808, + -0.09903493026969931, + 0.04207432311050009, + -0.9941940625055395 + ], + [ + 0.9264751797410979, + 0.3681035575418051, + -0.07838056040095451, + 0.36351099234531137, + -0.9291787550112656, + -0.06698208476780862, + -0.09748589522504131, + 0.03356504373275636, + -0.9946707435485327 + ], + [ + 0.9587563048731534, + 0.27310690184307046, + -0.07873352546188017, + 0.27216315013780096, + -0.9619836359429402, + -0.02268708630630388, + -0.08193636294738654, + 0.0003230227242101598, + -0.9966375108750793 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006599.json b/json/chunk-0006/episode_0006599.json new file mode 100644 index 0000000000000000000000000000000000000000..b019363e2889b672e22a25c0bc151066cbd7ec8e --- /dev/null +++ b/json/chunk-0006/episode_0006599.json @@ -0,0 +1,1762 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 28, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nTake spoon out of bowl sink." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006599.mp4", + "start": 0, + "end": 28, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.31067973375320435, + 0.05105213075876236, + 0.0998043343424797, + 0.09992969036102295, + -0.29808509349823, + 0.5009723901748657, + 0.0, + 0.9752515554428101 + ], + [ + 0.30953511595726013, + 0.05157199874520302, + 0.09156650304794312, + 0.10453862696886063, + -0.2790670096874237, + 0.52462238073349, + 0.0, + 0.9752515554428101 + ], + [ + 0.3313409686088562, + 0.05407179892063141, + 0.07838863879442215, + 0.023593204095959663, + -0.3123140037059784, + 0.7980226874351501, + 0.0, + 0.9752515554428101 + ], + [ + 0.35585498809814453, + 0.05843980982899666, + 0.06394602358341217, + -0.012499621137976646, + -0.250345379114151, + 1.0565484762191772, + 0.0, + 0.9752515554428101 + ], + [ + 0.37039628624916077, + 0.05934912711381912, + 0.04869238659739494, + -0.06349176913499832, + -0.22798660397529602, + 1.3277757167816162, + 0.0, + 0.9752515554428101 + ], + [ + 0.37744665145874023, + 0.05875368416309357, + 0.03947973623871803, + -0.10649234801530838, + -0.18775595724582672, + 1.5677579641342163, + 0.0, + 0.9752515554428101 + ], + [ + 0.37894877791404724, + 0.05885636433959007, + 0.0300455242395401, + -0.11546239256858826, + -0.1627301126718521, + 1.6293448209762573, + 0.0, + 0.9752515554428101 + ], + [ + 0.38429129123687744, + 0.05880711227655411, + 0.01787741482257843, + -0.1109200268983841, + -0.15353228151798248, + 1.6786448955535889, + 0.0, + 0.9752515554428101 + ], + [ + 0.3910734951496124, + 0.058239005506038666, + 0.011113405227661133, + -0.09087701141834259, + -0.14451847970485687, + 1.6968051195144653, + 0.0, + 0.9247323274612427 + ], + [ + 0.3904006779193878, + 0.056026164442300797, + 0.010567877441644669, + -0.08644064515829086, + -0.14888665080070496, + 1.7058231830596924, + 0.0, + 0.6269758939743042 + ], + [ + 0.39280176162719727, + 0.05429178476333618, + 0.010922259651124477, + -0.1006799042224884, + -0.15499097108840942, + 1.7031168937683105, + 0.0, + 0.4085940718650818 + ], + [ + 0.39313504099845886, + 0.05588507279753685, + 0.011128440499305725, + -0.10611142218112946, + -0.17220905423164368, + 1.7046222686767578, + 0.0, + 0.4220271706581116 + ], + [ + 0.38977116346359253, + 0.05797834321856499, + 0.008501638658344746, + -0.11133991926908493, + -0.20610471069812775, + 1.7011728286743164, + 0.0, + 0.4356481730937958 + ], + [ + 0.38783374428749084, + 0.06155363470315933, + 0.025888079777359962, + -0.14288213849067688, + -0.22913363575935364, + 1.7283954620361328, + 0.0, + 0.4356481730937958 + ], + [ + 0.3834487497806549, + 0.05849860981106758, + 0.034146904945373535, + -0.11596860736608505, + -0.21190395951271057, + 1.7376171350479126, + 0.0, + 0.4356481730937958 + ], + [ + 0.3804038465023041, + 0.04890770465135574, + 0.0469149574637413, + -0.11027048528194427, + -0.15864622592926025, + 1.738948941230774, + 0.0, + 0.4356481730937958 + ], + [ + 0.3672970235347748, + 0.031683310866355896, + 0.06321057677268982, + -0.12020524591207504, + -0.1511639654636383, + 1.7947643995285034, + 0.0, + 0.4356481730937958 + ], + [ + 0.35952234268188477, + 0.011529683135449886, + 0.05964193493127823, + -0.10789626091718674, + -0.16552956402301788, + 1.8684675693511963, + 0.0, + 0.4356481730937958 + ], + [ + 0.36164653301239014, + 0.0013496670871973038, + 0.06096309795975685, + -0.10257147252559662, + -0.16274122893810272, + 1.9690276384353638, + 0.0, + 0.4356481730937958 + ], + [ + 0.3628639876842499, + -0.0033388780429959297, + 0.040128182619810104, + -0.061585020273923874, + -0.17864392697811127, + 2.0559115409851074, + 0.0, + 0.4356481730937958 + ], + [ + 0.36924436688423157, + -0.008063381537795067, + 0.02869401127099991, + -0.029164478182792664, + -0.16841307282447815, + 2.1117329597473145, + 0.0, + 0.4356481730937958 + ], + [ + 0.3720993399620056, + -0.01192859560251236, + 0.014236507937312126, + 0.013798070140182972, + -0.16505412757396698, + 2.166958808898926, + 0.0, + 0.4356481730937958 + ], + [ + 0.37678903341293335, + -0.01309535838663578, + 0.007382611744105816, + -0.013106097467243671, + -0.15452809631824493, + 2.1936633586883545, + 0.0, + 0.4356481730937958 + ], + [ + 0.3797091245651245, + -0.018459228798747063, + 0.0038356641307473183, + -0.027407493442296982, + -0.1431647092103958, + 2.177063465118408, + 0.0, + 0.5100988745689392 + ], + [ + 0.3810223937034607, + -0.017838992178440094, + 0.0008993237279355526, + -0.04259616881608963, + -0.13869035243988037, + 2.139759063720703, + 0.0, + 0.8121206760406494 + ], + [ + 0.38372719287872314, + -0.01663515344262123, + 0.000991413020528853, + -0.057486340403556824, + -0.13754869997501373, + 2.113395929336548, + 0.0, + 0.9994885921478271 + ], + [ + 0.3845030963420868, + -0.014959517866373062, + 0.0008124501327984035, + -0.061995044350624084, + -0.14215582609176636, + 2.0854485034942627, + 0.0, + 1.0001531839370728 + ], + [ + 0.38143104314804077, + -0.009737434796988964, + 0.0017602099105715752, + -0.04424099624156952, + -0.15395678579807281, + 2.057974338531494, + 0.0, + 1.0001531839370728 + ] + ], + "left_gripper_pos": [ + [ + 0.9752515554428101 + ], + [ + 0.9752515554428101 + ], + [ + 0.9752515554428101 + ], + [ + 0.9752515554428101 + ], + [ + 0.9752515554428101 + ], + [ + 0.9752515554428101 + ], + [ + 0.9752515554428101 + ], + [ + 0.9752515554428101 + ], + [ + 0.9247323274612427 + ], + [ + 0.6269758939743042 + ], + [ + 0.4085940718650818 + ], + [ + 0.4220271706581116 + ], + [ + 0.4356481730937958 + ], + [ + 0.4356481730937958 + ], + [ + 0.4356481730937958 + ], + [ + 0.4356481730937958 + ], + [ + 0.4356481730937958 + ], + [ + 0.4356481730937958 + ], + [ + 0.4356481730937958 + ], + [ + 0.4356481730937958 + ], + [ + 0.4356481730937958 + ], + [ + 0.4356481730937958 + ], + [ + 0.4356481730937958 + ], + [ + 0.5100988745689392 + ], + [ + 0.8121206760406494 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.31067973375320435, + 0.05105213075876236, + 0.0998043343424797 + ], + [ + 0.30953511595726013, + 0.05157199874520302, + 0.09156650304794312 + ], + [ + 0.3313409686088562, + 0.05407179892063141, + 0.07838863879442215 + ], + [ + 0.35585498809814453, + 0.05843980982899666, + 0.06394602358341217 + ], + [ + 0.37039628624916077, + 0.05934912711381912, + 0.04869238659739494 + ], + [ + 0.37744665145874023, + 0.05875368416309357, + 0.03947973623871803 + ], + [ + 0.37894877791404724, + 0.05885636433959007, + 0.0300455242395401 + ], + [ + 0.38429129123687744, + 0.05880711227655411, + 0.01787741482257843 + ], + [ + 0.3910734951496124, + 0.058239005506038666, + 0.011113405227661133 + ], + [ + 0.3904006779193878, + 0.056026164442300797, + 0.010567877441644669 + ], + [ + 0.39280176162719727, + 0.05429178476333618, + 0.010922259651124477 + ], + [ + 0.39313504099845886, + 0.05588507279753685, + 0.011128440499305725 + ], + [ + 0.38977116346359253, + 0.05797834321856499, + 0.008501638658344746 + ], + [ + 0.38783374428749084, + 0.06155363470315933, + 0.025888079777359962 + ], + [ + 0.3834487497806549, + 0.05849860981106758, + 0.034146904945373535 + ], + [ + 0.3804038465023041, + 0.04890770465135574, + 0.0469149574637413 + ], + [ + 0.3672970235347748, + 0.031683310866355896, + 0.06321057677268982 + ], + [ + 0.35952234268188477, + 0.011529683135449886, + 0.05964193493127823 + ], + [ + 0.36164653301239014, + 0.0013496670871973038, + 0.06096309795975685 + ], + [ + 0.3628639876842499, + -0.0033388780429959297, + 0.040128182619810104 + ], + [ + 0.36924436688423157, + -0.008063381537795067, + 0.02869401127099991 + ], + [ + 0.3720993399620056, + -0.01192859560251236, + 0.014236507937312126 + ], + [ + 0.37678903341293335, + -0.01309535838663578, + 0.007382611744105816 + ], + [ + 0.3797091245651245, + -0.018459228798747063, + 0.0038356641307473183 + ], + [ + 0.3810223937034607, + -0.017838992178440094, + 0.0008993237279355526 + ], + [ + 0.38372719287872314, + -0.01663515344262123, + 0.000991413020528853 + ], + [ + 0.3845030963420868, + -0.014959517866373062, + 0.0008124501327984035 + ], + [ + 0.38143104314804077, + -0.009737434796988964, + 0.0017602099105715752 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8384356979042773, + 0.503581752000319, + 0.20840105453681593, + 0.4590986783282671, + -0.8586682337350388, + 0.22785361074950597, + 0.2936902859084821, + -0.09536395244870224, + -0.9511318165934499 + ], + [ + 0.8320289168129953, + 0.523029800222987, + 0.1848450964069543, + 0.48150834974298506, + -0.8463908398044163, + 0.22753517403461376, + 0.27545887300063693, + -0.10031138705988052, + -0.9560648696146835 + ], + [ + 0.664352125216166, + 0.720838249198223, + 0.19755625075811825, + 0.681341772783902, + -0.6927396515670743, + 0.23640043106225173, + 0.30726152115169514, + -0.022449802662147286, + -0.9513602703392534 + ], + [ + 0.4765466992041489, + 0.8690717851187962, + 0.13273083962689114, + 0.8435216868487782, + -0.4945377524407446, + 0.20953180003676927, + 0.24773858660576537, + 0.012109654053103713, + -0.9687512317335611 + ], + [ + 0.23440874763343872, + 0.9652089710766684, + 0.1158627687656473, + 0.9454993370456478, + -0.25406987822376775, + 0.2036651679242183, + 0.2260166867272482, + 0.06180727410652276, + -0.9721606442293156 + ], + [ + 0.002984960575016349, + 0.9942701766679913, + 0.10685460120634713, + 0.9824210349445253, + -0.02286080924565964, + 0.18527356395115302, + 0.18665476181682059, + 0.10442317362173709, + -0.9768601745909551 + ], + [ + -0.05774198701253108, + 0.9927317304462226, + 0.10559154464772683, + 0.9850978118786664, + 0.03949256134524015, + 0.16739963748543746, + 0.16201285124244966, + 0.11368398727895075, + -0.9802182344093845 + ], + [ + -0.10637346107797396, + 0.9899025074987259, + 0.09368944671641635, + 0.9824953739146972, + 0.09014827663253044, + 0.163021864964196, + 0.15292981074503603, + 0.10939064799113421, + -0.9821640184396736 + ], + [ + -0.12436546966528245, + 0.9896201803828947, + 0.07200783661422536, + 0.9817294114519034, + 0.1121908875016146, + 0.15368984173295128, + 0.14401594580196056, + 0.08980592040910967, + -0.9854919096645287 + ], + [ + -0.13312763456848276, + 0.9889219925054875, + 0.06565307040175064, + 0.9799352581712342, + 0.1214244751033221, + 0.1580600728797747, + 0.14833719259537534, + 0.0853779221160801, + -0.985244481186301 + ], + [ + -0.1303532651744959, + 0.9882858024032556, + 0.07936749351277765, + 0.979376110322805, + 0.11588646857003121, + 0.16550758572144084, + 0.15437117861608912, + 0.0993050812925522, + -0.983009684612598 + ], + [ + -0.13145327688838487, + 0.9879059911352834, + 0.0822300959157809, + 0.9763995491209623, + 0.11468959630791659, + 0.18300332503839464, + 0.17135914469816554, + 0.10434581533410917, + -0.9796672875780699 + ], + [ + -0.12725591605026415, + 0.9883298542530443, + 0.0837259280173378, + 0.9705281430062032, + 0.10665693582699037, + 0.2161004897563354, + 0.20464861461329004, + 0.10875843522299106, + -0.9727746641975765 + ], + [ + -0.15284549733381825, + 0.9826190943536751, + 0.10534690007940731, + 0.9617943910807919, + 0.12340597360762984, + 0.24438190391983053, + 0.22713388833528583, + 0.13867473125813448, + -0.9639395809282747 + ], + [ + -0.1623340120459762, + 0.983535027477716, + 0.07941358987896757, + 0.9640604084662286, + 0.1409345866706906, + 0.2252220484497237, + 0.21032165214495852, + 0.11312069662254393, + -0.9710656572213051 + ], + [ + -0.1652595930127722, + 0.9828173098174965, + 0.08221558514267084, + 0.973514811302192, + 0.14920460378354122, + 0.17322499353457607, + 0.1579815783327611, + 0.10866518178743065, + -0.9814447000084081 + ], + [ + -0.2195675985723879, + 0.9719987807473086, + 0.08371642540684926, + 0.9639051016111929, + 0.20289066329456434, + 0.17240166424895026, + 0.1505889263693409, + 0.11854850894734, + -0.9814627992345364 + ], + [ + -0.2892856845778943, + 0.9556669233878663, + 0.05490468323074609, + 0.9429544515291166, + 0.27462535747426753, + 0.18819621508827702, + 0.1647746796073998, + 0.10621508637900898, + -0.9805955641271165 + ], + [ + -0.3826647532735828, + 0.923337121825187, + 0.031878614487579074, + 0.9095691112543361, + 0.3704587992046096, + 0.1882665927451701, + 0.1620238206377848, + 0.10103879230997549, + -0.9816004502823319 + ], + [ + -0.45888921889503587, + 0.8880439802535122, + -0.028259050185801424, + 0.8705429826078658, + 0.4557516569392771, + 0.18559456519333933, + 0.17769524533342218, + 0.06056662721832236, + -0.9822199771198363 + ], + [ + -0.5076537685104008, + 0.8593791300157224, + -0.061279378347114416, + 0.8450987094708459, + 0.5105301909112703, + 0.15864140512115038, + 0.16761808544396226, + 0.028747783593215087, + -0.9854327690769059 + ], + [ + -0.5538403900128932, + 0.8261447153424325, + -0.10366162116298486, + 0.8162502384195042, + 0.5632935949210349, + 0.12820247345913577, + 0.16430572318233358, + -0.013610115088013366, + -0.9863155651701041 + ], + [ + -0.5764149527915838, + 0.8133162503705507, + -0.07913582678827813, + 0.8025312039636621, + 0.5816777336543213, + 0.1326449427434303, + 0.1539138358397696, + 0.012949558060440049, + -0.9879994129973602 + ], + [ + -0.5639744222714035, + 0.8236999874183011, + -0.05874675949129038, + 0.8133734477131005, + 0.5663767610560514, + 0.1328194228678954, + 0.14267615630840733, + 0.027123702968939387, + -0.9893977052521963 + ], + [ + -0.533585272544048, + 0.8448677423885049, + -0.038539003560610526, + 0.8343708742444909, + 0.5333102454356129, + 0.13930336078462083, + 0.13824616138098716, + 0.042174399637185604, + -0.9894995294989608 + ], + [ + -0.5114869388128587, + 0.8590224865878741, + -0.021482061359116116, + 0.8482808990106839, + 0.5087645708359783, + 0.1468949551063914, + 0.13711538133074933, + 0.05691202859210674, + -0.9889188001064873 + ], + [ + -0.4872668992580323, + 0.8731124116018361, + -0.015674361048820473, + 0.8616834967608435, + 0.48364584168695274, + 0.153584671204273, + 0.14167752220259983, + 0.06133038827323091, + -0.9880111655122055 + ], + [ + -0.46259701550534, + 0.8859677474933919, + -0.03263666108899501, + 0.8732055834905991, + 0.46168296302006245, + 0.15607962909315987, + 0.1533493078119197, + 0.04370345591027536, + -0.987205144706562 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0011446177959442139, + 0.0005198679864406586, + -0.00823783129453659, + 0.004608936607837677, + 0.019018083810806274, + 0.023649990558624268, + 1.0 + ], + [ + 0.02180585265159607, + 0.0024998001754283905, + -0.013177864253520966, + -0.08094542473554611, + -0.03324699401855469, + 0.27340030670166016, + 1.0 + ], + [ + 0.02451401948928833, + 0.00436801090836525, + -0.01444261521100998, + -0.03609282523393631, + 0.06196862459182739, + 0.2585257887840271, + 1.0 + ], + [ + 0.014541298151016235, + 0.000909317284822464, + -0.015253636986017227, + -0.050992146134376526, + 0.02235877513885498, + 0.27122724056243896, + 1.0 + ], + [ + 0.007050365209579468, + -0.0005954429507255554, + -0.00921265035867691, + -0.04300057888031006, + 0.0402306467294693, + 0.2399822473526001, + 1.0 + ], + [ + 0.0015021264553070068, + 0.00010268017649650574, + -0.009434211999177933, + -0.008970044553279877, + 0.02502584457397461, + 0.061586856842041016, + 1.0 + ], + [ + 0.0053425133228302, + -4.9252063035964966e-05, + -0.01216810941696167, + 0.004542365670204163, + 0.009197831153869629, + 0.04930007457733154, + 1.0 + ], + [ + 0.006782203912734985, + -0.0005681067705154419, + -0.006764009594917297, + 0.020043015480041504, + 0.00901380181312561, + 0.018160223960876465, + 0.0 + ], + [ + -0.0006728172302246094, + -0.0022128410637378693, + -0.0005455277860164642, + 0.004436366260051727, + -0.0043681710958480835, + 0.00901806354522705, + 0.0 + ], + [ + 0.0024010837078094482, + -0.0017343796789646149, + 0.0003543822094798088, + -0.01423925906419754, + -0.006104320287704468, + -0.002706289291381836, + 0.0 + ], + [ + 0.0003332793712615967, + 0.0015932880342006683, + 0.0002061808481812477, + -0.005431517958641052, + -0.017218083143234253, + 0.0015053749084472656, + 0.0 + ], + [ + -0.003363877534866333, + 0.002093270421028137, + -0.0026268018409609795, + -0.005228497087955475, + -0.03389565646648407, + -0.0034494400024414062, + 0.0 + ], + [ + -0.0019374191761016846, + 0.003575291484594345, + 0.017386440187692642, + -0.03154221922159195, + -0.02302892506122589, + 0.027222633361816406, + 0.0 + ], + [ + -0.0043849945068359375, + -0.003055024892091751, + 0.008258825168013573, + 0.026913531124591827, + 0.017229676246643066, + 0.009221673011779785, + 0.0 + ], + [ + -0.00304490327835083, + -0.009590905159711838, + 0.012768052518367767, + 0.005698122084140778, + 0.05325773358345032, + 0.0013318061828613281, + 0.0 + ], + [ + -0.013106822967529297, + -0.017224393784999847, + 0.016295619308948517, + -0.009934760630130768, + 0.007482260465621948, + 0.05581545829772949, + 0.0 + ], + [ + -0.007774680852890015, + -0.020153626799583435, + -0.0035686418414115906, + 0.012308984994888306, + -0.014365598559379578, + 0.07370316982269287, + 0.0 + ], + [ + 0.002124190330505371, + -0.010180016048252583, + 0.0013211630284786224, + 0.005324788391590118, + 0.002788335084915161, + 0.10056006908416748, + 0.0 + ], + [ + 0.0012174546718597412, + -0.0046885451301932335, + -0.020834915339946747, + 0.040986452251672745, + -0.015902698040008545, + 0.08688390254974365, + 0.0 + ], + [ + 0.0063803791999816895, + -0.004724503494799137, + -0.011434171348810196, + 0.03242054209113121, + 0.010230854153633118, + 0.05582141876220703, + 0.0 + ], + [ + 0.002854973077774048, + -0.003865214064717293, + -0.014457503333687782, + 0.04296254739165306, + 0.0033589452505111694, + 0.05522584915161133, + 0.0 + ], + [ + 0.004689693450927734, + -0.0011667627841234207, + -0.00685389619320631, + -0.026904167607426643, + 0.010526031255722046, + 0.02670454978942871, + 0.0 + ], + [ + 0.002920091152191162, + -0.005363870412111282, + -0.0035469476133584976, + -0.01430139597505331, + 0.011363387107849121, + -0.01659989356994629, + 1.0 + ], + [ + 0.0013132691383361816, + 0.0006202366203069687, + -0.0029363404028117657, + -0.015188675373792648, + 0.004474356770515442, + -0.03730440139770508, + 1.0 + ], + [ + 0.002704799175262451, + 0.001203838735818863, + 9.208929259330034e-05, + -0.014890171587467194, + 0.0011416524648666382, + -0.026363134384155273, + 1.0 + ], + [ + 0.0007759034633636475, + 0.001675635576248169, + -0.00017896288773044944, + -0.004508703947067261, + -0.0046071261167526245, + -0.027947425842285156, + 1.0 + ], + [ + -0.0030720531940460205, + 0.005222083069384098, + 0.0009477597777731717, + 0.017754048109054565, + -0.011800959706306458, + -0.027474164962768555, + 1.0 + ], + [ + 0.0009840428829193115, + 0.008408850058913231, + 0.029959995299577713, + -0.03274933248758316, + 0.01493750512599945, + -0.09172308444976807, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9752515554428101 + ], + [ + 0.9752515554428101 + ], + [ + 0.9752515554428101 + ], + [ + 0.9752515554428101 + ], + [ + 0.9752515554428101 + ], + [ + 0.9752515554428101 + ], + [ + 0.9752515554428101 + ], + [ + 0.9247323274612427 + ], + [ + 0.6269758939743042 + ], + [ + 0.4085940718650818 + ], + [ + 0.4220271706581116 + ], + [ + 0.4356481730937958 + ], + [ + 0.4356481730937958 + ], + [ + 0.4356481730937958 + ], + [ + 0.4356481730937958 + ], + [ + 0.4356481730937958 + ], + [ + 0.4356481730937958 + ], + [ + 0.4356481730937958 + ], + [ + 0.4356481730937958 + ], + [ + 0.4356481730937958 + ], + [ + 0.4356481730937958 + ], + [ + 0.4356481730937958 + ], + [ + 0.5100988745689392 + ], + [ + 0.8121206760406494 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.30953511595726013, + 0.05157199874520302, + 0.09156650304794312 + ], + [ + 0.3313409686088562, + 0.05407179892063141, + 0.07838863879442215 + ], + [ + 0.35585498809814453, + 0.05843980982899666, + 0.06394602358341217 + ], + [ + 0.37039628624916077, + 0.05934912711381912, + 0.04869238659739494 + ], + [ + 0.37744665145874023, + 0.05875368416309357, + 0.03947973623871803 + ], + [ + 0.37894877791404724, + 0.05885636433959007, + 0.0300455242395401 + ], + [ + 0.38429129123687744, + 0.05880711227655411, + 0.01787741482257843 + ], + [ + 0.3910734951496124, + 0.058239005506038666, + 0.011113405227661133 + ], + [ + 0.3904006779193878, + 0.056026164442300797, + 0.010567877441644669 + ], + [ + 0.39280176162719727, + 0.05429178476333618, + 0.010922259651124477 + ], + [ + 0.39313504099845886, + 0.05588507279753685, + 0.011128440499305725 + ], + [ + 0.38977116346359253, + 0.05797834321856499, + 0.008501638658344746 + ], + [ + 0.38783374428749084, + 0.06155363470315933, + 0.025888079777359962 + ], + [ + 0.3834487497806549, + 0.05849860981106758, + 0.034146904945373535 + ], + [ + 0.3804038465023041, + 0.04890770465135574, + 0.0469149574637413 + ], + [ + 0.3672970235347748, + 0.031683310866355896, + 0.06321057677268982 + ], + [ + 0.35952234268188477, + 0.011529683135449886, + 0.05964193493127823 + ], + [ + 0.36164653301239014, + 0.0013496670871973038, + 0.06096309795975685 + ], + [ + 0.3628639876842499, + -0.0033388780429959297, + 0.040128182619810104 + ], + [ + 0.36924436688423157, + -0.008063381537795067, + 0.02869401127099991 + ], + [ + 0.3720993399620056, + -0.01192859560251236, + 0.014236507937312126 + ], + [ + 0.37678903341293335, + -0.01309535838663578, + 0.007382611744105816 + ], + [ + 0.3797091245651245, + -0.018459228798747063, + 0.0038356641307473183 + ], + [ + 0.3810223937034607, + -0.017838992178440094, + 0.0008993237279355526 + ], + [ + 0.38372719287872314, + -0.01663515344262123, + 0.000991413020528853 + ], + [ + 0.3845030963420868, + -0.014959517866373062, + 0.0008124501327984035 + ], + [ + 0.38143104314804077, + -0.009737434796988964, + 0.0017602099105715752 + ], + [ + 0.3824150860309601, + -0.0013285849709063768, + 0.03172020614147186 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8320289168129953, + 0.523029800222987, + 0.1848450964069543, + 0.48150834974298506, + -0.8463908398044163, + 0.22753517403461376, + 0.27545887300063693, + -0.10031138705988052, + -0.9560648696146835 + ], + [ + 0.664352125216166, + 0.720838249198223, + 0.19755625075811825, + 0.681341772783902, + -0.6927396515670743, + 0.23640043106225173, + 0.30726152115169514, + -0.022449802662147286, + -0.9513602703392534 + ], + [ + 0.4765466992041489, + 0.8690717851187962, + 0.13273083962689114, + 0.8435216868487782, + -0.4945377524407446, + 0.20953180003676927, + 0.24773858660576537, + 0.012109654053103713, + -0.9687512317335611 + ], + [ + 0.23440874763343872, + 0.9652089710766684, + 0.1158627687656473, + 0.9454993370456478, + -0.25406987822376775, + 0.2036651679242183, + 0.2260166867272482, + 0.06180727410652276, + -0.9721606442293156 + ], + [ + 0.002984960575016349, + 0.9942701766679913, + 0.10685460120634713, + 0.9824210349445253, + -0.02286080924565964, + 0.18527356395115302, + 0.18665476181682059, + 0.10442317362173709, + -0.9768601745909551 + ], + [ + -0.05774198701253108, + 0.9927317304462226, + 0.10559154464772683, + 0.9850978118786664, + 0.03949256134524015, + 0.16739963748543746, + 0.16201285124244966, + 0.11368398727895075, + -0.9802182344093845 + ], + [ + -0.10637346107797396, + 0.9899025074987259, + 0.09368944671641635, + 0.9824953739146972, + 0.09014827663253044, + 0.163021864964196, + 0.15292981074503603, + 0.10939064799113421, + -0.9821640184396736 + ], + [ + -0.12436546966528245, + 0.9896201803828947, + 0.07200783661422536, + 0.9817294114519034, + 0.1121908875016146, + 0.15368984173295128, + 0.14401594580196056, + 0.08980592040910967, + -0.9854919096645287 + ], + [ + -0.13312763456848276, + 0.9889219925054875, + 0.06565307040175064, + 0.9799352581712342, + 0.1214244751033221, + 0.1580600728797747, + 0.14833719259537534, + 0.0853779221160801, + -0.985244481186301 + ], + [ + -0.1303532651744959, + 0.9882858024032556, + 0.07936749351277765, + 0.979376110322805, + 0.11588646857003121, + 0.16550758572144084, + 0.15437117861608912, + 0.0993050812925522, + -0.983009684612598 + ], + [ + -0.13145327688838487, + 0.9879059911352834, + 0.0822300959157809, + 0.9763995491209623, + 0.11468959630791659, + 0.18300332503839464, + 0.17135914469816554, + 0.10434581533410917, + -0.9796672875780699 + ], + [ + -0.12725591605026415, + 0.9883298542530443, + 0.0837259280173378, + 0.9705281430062032, + 0.10665693582699037, + 0.2161004897563354, + 0.20464861461329004, + 0.10875843522299106, + -0.9727746641975765 + ], + [ + -0.15284549733381825, + 0.9826190943536751, + 0.10534690007940731, + 0.9617943910807919, + 0.12340597360762984, + 0.24438190391983053, + 0.22713388833528583, + 0.13867473125813448, + -0.9639395809282747 + ], + [ + -0.1623340120459762, + 0.983535027477716, + 0.07941358987896757, + 0.9640604084662286, + 0.1409345866706906, + 0.2252220484497237, + 0.21032165214495852, + 0.11312069662254393, + -0.9710656572213051 + ], + [ + -0.1652595930127722, + 0.9828173098174965, + 0.08221558514267084, + 0.973514811302192, + 0.14920460378354122, + 0.17322499353457607, + 0.1579815783327611, + 0.10866518178743065, + -0.9814447000084081 + ], + [ + -0.2195675985723879, + 0.9719987807473086, + 0.08371642540684926, + 0.9639051016111929, + 0.20289066329456434, + 0.17240166424895026, + 0.1505889263693409, + 0.11854850894734, + -0.9814627992345364 + ], + [ + -0.2892856845778943, + 0.9556669233878663, + 0.05490468323074609, + 0.9429544515291166, + 0.27462535747426753, + 0.18819621508827702, + 0.1647746796073998, + 0.10621508637900898, + -0.9805955641271165 + ], + [ + -0.3826647532735828, + 0.923337121825187, + 0.031878614487579074, + 0.9095691112543361, + 0.3704587992046096, + 0.1882665927451701, + 0.1620238206377848, + 0.10103879230997549, + -0.9816004502823319 + ], + [ + -0.45888921889503587, + 0.8880439802535122, + -0.028259050185801424, + 0.8705429826078658, + 0.4557516569392771, + 0.18559456519333933, + 0.17769524533342218, + 0.06056662721832236, + -0.9822199771198363 + ], + [ + -0.5076537685104008, + 0.8593791300157224, + -0.061279378347114416, + 0.8450987094708459, + 0.5105301909112703, + 0.15864140512115038, + 0.16761808544396226, + 0.028747783593215087, + -0.9854327690769059 + ], + [ + -0.5538403900128932, + 0.8261447153424325, + -0.10366162116298486, + 0.8162502384195042, + 0.5632935949210349, + 0.12820247345913577, + 0.16430572318233358, + -0.013610115088013366, + -0.9863155651701041 + ], + [ + -0.5764149527915838, + 0.8133162503705507, + -0.07913582678827813, + 0.8025312039636621, + 0.5816777336543213, + 0.1326449427434303, + 0.1539138358397696, + 0.012949558060440049, + -0.9879994129973602 + ], + [ + -0.5639744222714035, + 0.8236999874183011, + -0.05874675949129038, + 0.8133734477131005, + 0.5663767610560514, + 0.1328194228678954, + 0.14267615630840733, + 0.027123702968939387, + -0.9893977052521963 + ], + [ + -0.533585272544048, + 0.8448677423885049, + -0.038539003560610526, + 0.8343708742444909, + 0.5333102454356129, + 0.13930336078462083, + 0.13824616138098716, + 0.042174399637185604, + -0.9894995294989608 + ], + [ + -0.5114869388128587, + 0.8590224865878741, + -0.021482061359116116, + 0.8482808990106839, + 0.5087645708359783, + 0.1468949551063914, + 0.13711538133074933, + 0.05691202859210674, + -0.9889188001064873 + ], + [ + -0.4872668992580323, + 0.8731124116018361, + -0.015674361048820473, + 0.8616834967608435, + 0.48364584168695274, + 0.153584671204273, + 0.14167752220259983, + 0.06133038827323091, + -0.9880111655122055 + ], + [ + -0.46259701550534, + 0.8859677474933919, + -0.03263666108899501, + 0.8732055834905991, + 0.46168296302006245, + 0.15607962909315987, + 0.1533493078119197, + 0.04370345591027536, + -0.987205144706562 + ], + [ + -0.3815115086595896, + 0.9241935655724498, + 0.017754495621271002, + 0.9139183720196207, + 0.37425130805469065, + 0.15712787055248703, + 0.13857192372659738, + 0.07617225068116953, + -0.9874186600327518 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006602.json b/json/chunk-0006/episode_0006602.json new file mode 100644 index 0000000000000000000000000000000000000000..3b6e1f30ba19b50935a18cf1e8c22b1260f86fb1 --- /dev/null +++ b/json/chunk-0006/episode_0006602.json @@ -0,0 +1,1402 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 22, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the thing on the left side to the right side." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006602.mp4", + "start": 0, + "end": 22, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2873494625091553, + 0.08584591001272202, + 0.07152030616998672, + 0.07971389591693878, + -0.09806881844997406, + -0.4746900200843811, + 0.0, + 1.0014774799346924 + ], + [ + 0.2856014370918274, + 0.08558584004640579, + 0.06275375187397003, + 0.056261468678712845, + -0.07585133612155914, + -0.4703511893749237, + 0.0, + 1.0014774799346924 + ], + [ + 0.28754857182502747, + 0.12514276802539825, + 0.07552878558635712, + 0.0898529440164566, + -0.0924910455942154, + -0.3714841306209564, + 0.0, + 1.0014774799346924 + ], + [ + 0.29635176062583923, + 0.1482582837343216, + 0.07980700582265854, + 0.08986742794513702, + -0.09032190591096878, + -0.3116392493247986, + 0.0, + 1.0014774799346924 + ], + [ + 0.30059853196144104, + 0.18823862075805664, + 0.08191123604774475, + 0.08332217484712601, + -0.0987384021282196, + -0.20073553919792175, + 0.0, + 1.0014774799346924 + ], + [ + 0.3076991140842438, + 0.2218444049358368, + 0.06756328791379929, + 0.019245609641075134, + -0.12466207891702652, + -0.07977533340454102, + 0.0, + 1.0014774799346924 + ], + [ + 0.3178909122943878, + 0.2456602156162262, + 0.05260509252548218, + 0.05063936486840248, + -0.11323246359825134, + -0.008692966774106026, + 0.0, + 1.0014774799346924 + ], + [ + 0.3268049955368042, + 0.2564810812473297, + 0.029636913910508156, + 0.040233064442873, + -0.09049595892429352, + 0.040590737015008926, + 0.0, + 1.0014774799346924 + ], + [ + 0.3251306116580963, + 0.2595157325267792, + 0.01655437797307968, + 0.06655341386795044, + -0.05835825204849243, + 0.05017856881022453, + 0.0, + 1.0014774799346924 + ], + [ + 0.329881489276886, + 0.24651487171649933, + 0.01197726745158434, + 0.07184243947267532, + -0.05109788104891777, + 0.016591764986515045, + 0.0, + 1.0014774799346924 + ], + [ + 0.32387009263038635, + 0.23261021077632904, + 0.010166579857468605, + 0.09717929363250732, + -0.035325318574905396, + -0.026710599660873413, + 0.0, + 1.0014774799346924 + ], + [ + 0.3135685324668884, + 0.21379414200782776, + 0.007851174101233482, + 0.10336796194314957, + -0.020673202350735664, + -0.075433649122715, + 0.0, + 1.0014774799346924 + ], + [ + 0.2955057621002197, + 0.1896480917930603, + 0.007748154923319817, + 0.10562805831432343, + -0.008954832330346107, + -0.12294432520866394, + 0.0, + 1.0014774799346924 + ], + [ + 0.27731671929359436, + 0.16387839615345, + 0.006696360185742378, + 0.09097051620483398, + -4.3594514863798395e-05, + -0.16634128987789154, + 0.0, + 1.0014774799346924 + ], + [ + 0.2570365369319916, + 0.1338708996772766, + 0.006595422048121691, + 0.04573692008852959, + 0.004539509769529104, + -0.18456904590129852, + 0.0, + 1.0014774799346924 + ], + [ + 0.24056406319141388, + 0.09593015909194946, + 0.007293385453522205, + 0.03206120803952217, + 0.02131596952676773, + -0.2515205442905426, + 0.0, + 1.0014774799346924 + ], + [ + 0.2410033643245697, + 0.07111727446317673, + 0.005337390583008528, + 0.03470431640744209, + 0.031738925725221634, + -0.3115955889225006, + 0.0, + 1.0014774799346924 + ], + [ + 0.24503570795059204, + 0.0522301122546196, + 0.0058110980316996574, + 0.025366846472024918, + 0.033185966312885284, + -0.33761051297187805, + 0.0, + 1.0014774799346924 + ], + [ + 0.25422000885009766, + 0.032319195568561554, + 0.012326676398515701, + 0.023271745070815086, + 0.03247859328985214, + -0.38396361470222473, + 0.0, + 1.0014774799346924 + ], + [ + 0.263442724943161, + 0.022666070610284805, + 0.01878032647073269, + 0.02907300926744938, + 0.015916531905531883, + -0.40449047088623047, + 0.0, + 1.0014774799346924 + ], + [ + 0.26486077904701233, + 0.024384621530771255, + 0.02217247523367405, + 0.049009770154953, + 0.016197077929973602, + -0.4009285569190979, + 0.0, + 1.0014774799346924 + ], + [ + 0.2669338881969452, + 0.029375649988651276, + 0.04152606800198555, + 0.09024901688098907, + -0.020814653486013412, + -0.3969343304634094, + 0.0, + 1.0014774799346924 + ] + ], + "left_gripper_pos": [ + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2873494625091553, + 0.08584591001272202, + 0.07152030616998672 + ], + [ + 0.2856014370918274, + 0.08558584004640579, + 0.06275375187397003 + ], + [ + 0.28754857182502747, + 0.12514276802539825, + 0.07552878558635712 + ], + [ + 0.29635176062583923, + 0.1482582837343216, + 0.07980700582265854 + ], + [ + 0.30059853196144104, + 0.18823862075805664, + 0.08191123604774475 + ], + [ + 0.3076991140842438, + 0.2218444049358368, + 0.06756328791379929 + ], + [ + 0.3178909122943878, + 0.2456602156162262, + 0.05260509252548218 + ], + [ + 0.3268049955368042, + 0.2564810812473297, + 0.029636913910508156 + ], + [ + 0.3251306116580963, + 0.2595157325267792, + 0.01655437797307968 + ], + [ + 0.329881489276886, + 0.24651487171649933, + 0.01197726745158434 + ], + [ + 0.32387009263038635, + 0.23261021077632904, + 0.010166579857468605 + ], + [ + 0.3135685324668884, + 0.21379414200782776, + 0.007851174101233482 + ], + [ + 0.2955057621002197, + 0.1896480917930603, + 0.007748154923319817 + ], + [ + 0.27731671929359436, + 0.16387839615345, + 0.006696360185742378 + ], + [ + 0.2570365369319916, + 0.1338708996772766, + 0.006595422048121691 + ], + [ + 0.24056406319141388, + 0.09593015909194946, + 0.007293385453522205 + ], + [ + 0.2410033643245697, + 0.07111727446317673, + 0.005337390583008528 + ], + [ + 0.24503570795059204, + 0.0522301122546196, + 0.0058110980316996574 + ], + [ + 0.25422000885009766, + 0.032319195568561554, + 0.012326676398515701 + ], + [ + 0.263442724943161, + 0.022666070610284805, + 0.01878032647073269 + ], + [ + 0.26486077904701233, + 0.024384621530771255, + 0.02217247523367405 + ], + [ + 0.2669338881969452, + 0.029375649988651276, + 0.04152606800198555 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8851608065770052, + -0.44867675526944484, + 0.12320517757314024, + -0.45486662429348534, + -0.8901736345502284, + 0.026215538435944888, + 0.09791169799260734, + -0.07924689036498515, + -0.9920348934204307 + ], + [ + 0.8888460855748831, + -0.44868384389276417, + 0.0929270917860943, + -0.45189626738112143, + -0.8919299027013421, + 0.015837051309653037, + 0.0757786228775477, + -0.056070106980352565, + -0.9955469569126282 + ], + [ + 0.9278069341062967, + -0.35381208258674085, + 0.11828483943391695, + -0.3614471820231561, + -0.9310391220541598, + 0.05022039239331837, + 0.09235923143786799, + -0.08934855018551068, + -0.9917089335828098 + ], + [ + 0.9479523163430352, + -0.2976768805438192, + 0.11302601793204405, + -0.305369480647218, + -0.9504733390212293, + 0.05787842516070718, + 0.09019914760751503, + -0.08938068359291082, + -0.9919048377598234 + ], + [ + 0.9751473089882603, + -0.19065891665317825, + 0.11285788972681839, + -0.19841898934022634, + -0.97815640559106, + 0.06196733712514079, + 0.09857804239361527, + -0.08282043046141538, + -0.9916769362327775 + ], + [ + 0.9890840565618301, + -0.07729075536617053, + 0.12545464594872902, + -0.07907232307990103, + -0.9968257205043282, + 0.009276349700951153, + 0.12433944176302997, + -0.01909507988863539, + -0.9920559869009935 + ], + [ + 0.9935585097497067, + -0.002962600463234038, + 0.1132815549965536, + -0.008637188678559005, + -0.9987300834865714, + 0.04963485983295426, + 0.11299064862046293, + -0.0502935715315714, + -0.9923223619302982 + ], + [ + 0.995087714106921, + 0.04417874027287694, + 0.08859277702704908, + 0.04041354137226541, + -0.998220229072953, + 0.04385339146854429, + 0.09037248976992361, + -0.04005762321260316, + -0.9951021052712843 + ], + [ + 0.9970411029100912, + 0.05392046182120144, + 0.05478706877372747, + 0.0500721279945851, + -0.9963356906276981, + 0.06933955277849288, + 0.05832513271243087, + -0.0663910790574748, + -0.996087548117966 + ], + [ + 0.9985573267796558, + 0.020213945122861336, + 0.04974597026129239, + 0.016569348959669425, + -0.997222329945764, + 0.07261598537921402, + 0.05107564791287662, + -0.07168696590114185, + -0.9961185959062144 + ], + [ + 0.9990196414961452, + -0.023155859227036536, + 0.03773012176459233, + -0.02669076156180846, + -0.9950183038547455, + 0.09605299704473362, + 0.035317972084534875, + -0.09696587635597682, + -0.9946608767164581 + ], + [ + 0.9969431557779007, + -0.07283294325900659, + 0.028279082796840473, + -0.07534602666113387, + -0.9919944446649012, + 0.10134099871401513, + 0.020671729825535598, + -0.10316193159399757, + -0.9944497450629747 + ], + [ + 0.9924120697360208, + -0.12101435078688974, + 0.02176719425868786, + -0.12262991871320289, + -0.9870362530733534, + 0.10354389482392824, + 0.008954712650951404, + -0.10542752023330083, + -0.9943866708171406 + ], + [ + 0.9861971571742555, + -0.1648867022930022, + 0.01508451485318822, + -0.1655752556420659, + -0.9821199235021529, + 0.08958398617604715, + 4.3594514849989996e-05, + -0.09084509489820866, + -0.9958650344461613 + ], + [ + 0.9830053033088617, + -0.18353502180658818, + 0.003933120530588733, + -0.183521025114989, + -0.9819493526734457, + 0.045776654802908226, + -0.004539494178486174, + -0.04572050475067231, + -0.9989439566051478 + ], + [ + 0.9683150845008038, + -0.24941079358682403, + -0.012655163791567125, + -0.24882040789432833, + -0.9678673225017713, + 0.03634901165853006, + -0.02131435533861614, + -0.032048433279062975, + -0.9992590235673913 + ], + [ + 0.9513662245672843, + -0.30744122966519516, + -0.019549860729537377, + -0.30642337632535244, + -0.9509349065651579, + 0.04274947856156616, + -0.03173359724271828, + -0.034679875689901996, + -0.9988945314837647 + ], + [ + 0.9430293150244583, + -0.3319209478267235, + -0.022895313894112534, + -0.3310510638532767, + -0.9429665178347068, + 0.034919040140028765, + -0.033179875317941636, + -0.025350160482662233, + -0.9991278522978871 + ], + [ + 0.9266981759532157, + -0.3751975958432252, + -0.02138351604499212, + -0.3744008580651449, + -0.9266530411624855, + 0.03373631254894099, + -0.03247288353481704, + -0.023257372546796353, + -0.9992019848144585 + ], + [ + 0.9191865980643945, + -0.39380941105060036, + -0.00318523261072188, + -0.3935005506263283, + -0.9187324746998072, + 0.03298418694987285, + -0.01591585987565537, + -0.029065231806181632, + -0.9994507980408396 + ], + [ + 0.9205782319782414, + -0.3905353558070911, + 0.004225478960305977, + -0.3902222397752778, + -0.919283813843427, + 0.051418607432031, + -0.016196369734628124, + -0.04898372658457627, + -0.9986682492886748 + ], + [ + 0.9220507166602445, + -0.3832895656382717, + 0.05395910283866827, + -0.38650910554789636, + -0.9192224059316243, + 0.0751057904681165, + 0.020813150527829172, + -0.09010703250080163, + -0.9957145853400988 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0017480254173278809, + -0.00026006996631622314, + -0.008766554296016693, + -0.023452427238225937, + 0.022217482328414917, + 0.0043388307094573975, + 1.0 + ], + [ + 0.0019471347332000732, + 0.03955692797899246, + 0.012775033712387085, + 0.03359147533774376, + -0.01663970947265625, + 0.09886705875396729, + 1.0 + ], + [ + 0.008803188800811768, + 0.02311551570892334, + 0.004278220236301422, + 1.4483928680419922e-05, + 0.0021691396832466125, + 0.05984488129615784, + 1.0 + ], + [ + 0.004246771335601807, + 0.039980337023735046, + 0.002104230225086212, + -0.006545253098011017, + -0.008416496217250824, + 0.11090371012687683, + 1.0 + ], + [ + 0.007100582122802734, + 0.03360578417778015, + -0.014347948133945465, + -0.06407656520605087, + -0.025923676788806915, + 0.12096020579338074, + 1.0 + ], + [ + 0.010191798210144043, + 0.023815810680389404, + -0.014958195388317108, + 0.03139375522732735, + 0.011429615318775177, + 0.07108236849308014, + 1.0 + ], + [ + 0.008914083242416382, + 0.010820865631103516, + -0.022968178614974022, + -0.01040630042552948, + 0.022736504673957825, + 0.0492837056517601, + 1.0 + ], + [ + -0.0016743838787078857, + 0.003034651279449463, + -0.013082535937428474, + 0.02632034942507744, + 0.032137706875801086, + 0.009587831795215607, + 1.0 + ], + [ + 0.004750877618789673, + -0.013000860810279846, + -0.004577110521495342, + 0.005289025604724884, + 0.007260370999574661, + -0.03358680382370949, + 1.0 + ], + [ + -0.006011396646499634, + -0.013904660940170288, + -0.001810687594115734, + 0.025336854159832, + 0.015772562474012375, + -0.04330236464738846, + 1.0 + ], + [ + -0.010301560163497925, + -0.018816068768501282, + -0.0023154057562351227, + 0.006188668310642242, + 0.014652116224169731, + -0.04872304946184158, + 1.0 + ], + [ + -0.0180627703666687, + -0.024146050214767456, + -0.00010301917791366577, + 0.0022600963711738586, + 0.011718370020389557, + -0.047510676085948944, + 1.0 + ], + [ + -0.018189042806625366, + -0.02576969563961029, + -0.0010517947375774384, + -0.014657542109489441, + 0.008911238051950932, + -0.0433969646692276, + 1.0 + ], + [ + -0.020280182361602783, + -0.0300074964761734, + -0.00010093813762068748, + -0.0452335961163044, + 0.0045831045135855675, + -0.018227756023406982, + 1.0 + ], + [ + -0.016472473740577698, + -0.03794074058532715, + 0.0006979634054005146, + -0.013675712049007416, + 0.01677645929157734, + -0.06695149838924408, + 1.0 + ], + [ + 0.00043930113315582275, + -0.024812884628772736, + -0.0019559948705136776, + 0.002643108367919922, + 0.010422956198453903, + -0.06007504463195801, + 1.0 + ], + [ + 0.004032343626022339, + -0.01888716220855713, + 0.0004737074486911297, + -0.009337469935417175, + 0.0014470405876636505, + -0.02601492404937744, + 1.0 + ], + [ + 0.009184300899505615, + -0.019910916686058044, + 0.006515578366816044, + -0.0020951014012098312, + -0.0007073730230331421, + -0.04635310173034668, + 1.0 + ], + [ + 0.009222716093063354, + -0.009653124958276749, + 0.006453650072216988, + 0.005801264196634293, + -0.01656206138432026, + -0.020526856184005737, + 1.0 + ], + [ + 0.0014180541038513184, + 0.0017185509204864502, + 0.0033921487629413605, + 0.019936760887503624, + 0.00028054602444171906, + 0.0035619139671325684, + 1.0 + ], + [ + 0.0020731091499328613, + 0.00499102845788002, + 0.0193535927683115, + 0.04123924672603607, + -0.037011731415987015, + 0.0039942264556884766, + 1.0 + ], + [ + -0.003527730703353882, + 0.00738409161567688, + 0.027095232158899307, + 0.037964895367622375, + -0.050421517342329025, + 0.0067598819732666016, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2856014370918274, + 0.08558584004640579, + 0.06275375187397003 + ], + [ + 0.28754857182502747, + 0.12514276802539825, + 0.07552878558635712 + ], + [ + 0.29635176062583923, + 0.1482582837343216, + 0.07980700582265854 + ], + [ + 0.30059853196144104, + 0.18823862075805664, + 0.08191123604774475 + ], + [ + 0.3076991140842438, + 0.2218444049358368, + 0.06756328791379929 + ], + [ + 0.3178909122943878, + 0.2456602156162262, + 0.05260509252548218 + ], + [ + 0.3268049955368042, + 0.2564810812473297, + 0.029636913910508156 + ], + [ + 0.3251306116580963, + 0.2595157325267792, + 0.01655437797307968 + ], + [ + 0.329881489276886, + 0.24651487171649933, + 0.01197726745158434 + ], + [ + 0.32387009263038635, + 0.23261021077632904, + 0.010166579857468605 + ], + [ + 0.3135685324668884, + 0.21379414200782776, + 0.007851174101233482 + ], + [ + 0.2955057621002197, + 0.1896480917930603, + 0.007748154923319817 + ], + [ + 0.27731671929359436, + 0.16387839615345, + 0.006696360185742378 + ], + [ + 0.2570365369319916, + 0.1338708996772766, + 0.006595422048121691 + ], + [ + 0.24056406319141388, + 0.09593015909194946, + 0.007293385453522205 + ], + [ + 0.2410033643245697, + 0.07111727446317673, + 0.005337390583008528 + ], + [ + 0.24503570795059204, + 0.0522301122546196, + 0.0058110980316996574 + ], + [ + 0.25422000885009766, + 0.032319195568561554, + 0.012326676398515701 + ], + [ + 0.263442724943161, + 0.022666070610284805, + 0.01878032647073269 + ], + [ + 0.26486077904701233, + 0.024384621530771255, + 0.02217247523367405 + ], + [ + 0.2669338881969452, + 0.029375649988651276, + 0.04152606800198555 + ], + [ + 0.2634061574935913, + 0.036759741604328156, + 0.06862130016088486 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8888460855748831, + -0.44868384389276417, + 0.0929270917860943, + -0.45189626738112143, + -0.8919299027013421, + 0.015837051309653037, + 0.0757786228775477, + -0.056070106980352565, + -0.9955469569126282 + ], + [ + 0.9278069341062967, + -0.35381208258674085, + 0.11828483943391695, + -0.3614471820231561, + -0.9310391220541598, + 0.05022039239331837, + 0.09235923143786799, + -0.08934855018551068, + -0.9917089335828098 + ], + [ + 0.9479523163430352, + -0.2976768805438192, + 0.11302601793204405, + -0.305369480647218, + -0.9504733390212293, + 0.05787842516070718, + 0.09019914760751503, + -0.08938068359291082, + -0.9919048377598234 + ], + [ + 0.9751473089882603, + -0.19065891665317825, + 0.11285788972681839, + -0.19841898934022634, + -0.97815640559106, + 0.06196733712514079, + 0.09857804239361527, + -0.08282043046141538, + -0.9916769362327775 + ], + [ + 0.9890840565618301, + -0.07729075536617053, + 0.12545464594872902, + -0.07907232307990103, + -0.9968257205043282, + 0.009276349700951153, + 0.12433944176302997, + -0.01909507988863539, + -0.9920559869009935 + ], + [ + 0.9935585097497067, + -0.002962600463234038, + 0.1132815549965536, + -0.008637188678559005, + -0.9987300834865714, + 0.04963485983295426, + 0.11299064862046293, + -0.0502935715315714, + -0.9923223619302982 + ], + [ + 0.995087714106921, + 0.04417874027287694, + 0.08859277702704908, + 0.04041354137226541, + -0.998220229072953, + 0.04385339146854429, + 0.09037248976992361, + -0.04005762321260316, + -0.9951021052712843 + ], + [ + 0.9970411029100912, + 0.05392046182120144, + 0.05478706877372747, + 0.0500721279945851, + -0.9963356906276981, + 0.06933955277849288, + 0.05832513271243087, + -0.0663910790574748, + -0.996087548117966 + ], + [ + 0.9985573267796558, + 0.020213945122861336, + 0.04974597026129239, + 0.016569348959669425, + -0.997222329945764, + 0.07261598537921402, + 0.05107564791287662, + -0.07168696590114185, + -0.9961185959062144 + ], + [ + 0.9990196414961452, + -0.023155859227036536, + 0.03773012176459233, + -0.02669076156180846, + -0.9950183038547455, + 0.09605299704473362, + 0.035317972084534875, + -0.09696587635597682, + -0.9946608767164581 + ], + [ + 0.9969431557779007, + -0.07283294325900659, + 0.028279082796840473, + -0.07534602666113387, + -0.9919944446649012, + 0.10134099871401513, + 0.020671729825535598, + -0.10316193159399757, + -0.9944497450629747 + ], + [ + 0.9924120697360208, + -0.12101435078688974, + 0.02176719425868786, + -0.12262991871320289, + -0.9870362530733534, + 0.10354389482392824, + 0.008954712650951404, + -0.10542752023330083, + -0.9943866708171406 + ], + [ + 0.9861971571742555, + -0.1648867022930022, + 0.01508451485318822, + -0.1655752556420659, + -0.9821199235021529, + 0.08958398617604715, + 4.3594514849989996e-05, + -0.09084509489820866, + -0.9958650344461613 + ], + [ + 0.9830053033088617, + -0.18353502180658818, + 0.003933120530588733, + -0.183521025114989, + -0.9819493526734457, + 0.045776654802908226, + -0.004539494178486174, + -0.04572050475067231, + -0.9989439566051478 + ], + [ + 0.9683150845008038, + -0.24941079358682403, + -0.012655163791567125, + -0.24882040789432833, + -0.9678673225017713, + 0.03634901165853006, + -0.02131435533861614, + -0.032048433279062975, + -0.9992590235673913 + ], + [ + 0.9513662245672843, + -0.30744122966519516, + -0.019549860729537377, + -0.30642337632535244, + -0.9509349065651579, + 0.04274947856156616, + -0.03173359724271828, + -0.034679875689901996, + -0.9988945314837647 + ], + [ + 0.9430293150244583, + -0.3319209478267235, + -0.022895313894112534, + -0.3310510638532767, + -0.9429665178347068, + 0.034919040140028765, + -0.033179875317941636, + -0.025350160482662233, + -0.9991278522978871 + ], + [ + 0.9266981759532157, + -0.3751975958432252, + -0.02138351604499212, + -0.3744008580651449, + -0.9266530411624855, + 0.03373631254894099, + -0.03247288353481704, + -0.023257372546796353, + -0.9992019848144585 + ], + [ + 0.9191865980643945, + -0.39380941105060036, + -0.00318523261072188, + -0.3935005506263283, + -0.9187324746998072, + 0.03298418694987285, + -0.01591585987565537, + -0.029065231806181632, + -0.9994507980408396 + ], + [ + 0.9205782319782414, + -0.3905353558070911, + 0.004225478960305977, + -0.3902222397752778, + -0.919283813843427, + 0.051418607432031, + -0.016196369734628124, + -0.04898372658457627, + -0.9986682492886748 + ], + [ + 0.9220507166602445, + -0.3832895656382717, + 0.05395910283866827, + -0.38650910554789636, + -0.9192224059316243, + 0.0751057904681165, + 0.020813150527829172, + -0.09010703250080163, + -0.9957145853400988 + ], + [ + 0.9224971149013907, + -0.3688110158621723, + 0.1139188640099744, + -0.3793851064375246, + -0.9207129477192338, + 0.09140354979730161, + 0.0711759370292986, + -0.12753863132742235, + -0.9892764444315499 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006603.json b/json/chunk-0006/episode_0006603.json new file mode 100644 index 0000000000000000000000000000000000000000..fcc8016d4b17e682cd68e90245aa342c32a35d2b --- /dev/null +++ b/json/chunk-0006/episode_0006603.json @@ -0,0 +1,2242 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 36, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the silver pot platen up next to the brush and sponge." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006603.mp4", + "start": 0, + "end": 36, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3898363709449768, + 0.021312909200787544, + 0.02798943966627121, + -0.18243715167045593, + -0.27096402645111084, + 1.0373919010162354, + 0.0, + 1.0014774799346924 + ], + [ + 0.38461819291114807, + 0.0211662407964468, + 0.013619953766465187, + -0.1491781771183014, + -0.24857987463474274, + 1.0356132984161377, + 0.0, + 1.0014774799346924 + ], + [ + 0.365241140127182, + 0.020689072087407112, + -0.0011180114233866334, + -0.10944371670484543, + -0.21362480521202087, + 1.0765409469604492, + 0.0, + 1.0014774799346924 + ], + [ + 0.3452759087085724, + 0.02715890482068062, + 0.0041139875538647175, + -0.1595958173274994, + -0.195523202419281, + 1.1953034400939941, + 0.0, + 1.0014774799346924 + ], + [ + 0.3209989666938782, + 0.03892277553677559, + 0.0013887772802263498, + -0.1822238266468048, + -0.20681926608085632, + 1.347854733467102, + 0.0, + 1.0014774799346924 + ], + [ + 0.2947143614292145, + 0.05049379914999008, + 0.0017627720953896642, + -0.2629299759864807, + -0.1953514963388443, + 1.5555921792984009, + 0.0, + 1.0014774799346924 + ], + [ + 0.26626870036125183, + 0.061632003635168076, + -0.00038698315620422363, + -0.33564937114715576, + -0.15574605762958527, + 1.7985742092132568, + 0.0, + 1.0014774799346924 + ], + [ + 0.24855811893939972, + 0.07438403367996216, + -0.004800114780664444, + -0.37175169587135315, + -0.1268458515405655, + 1.9149219989776611, + 0.0, + 1.0014774799346924 + ], + [ + 0.2458604872226715, + 0.08055593818426132, + -0.004894980229437351, + -0.40067988634109497, + -0.12406051903963089, + 1.9747577905654907, + 0.0, + 1.0014774799346924 + ], + [ + 0.24597685039043427, + 0.0885486826300621, + -0.003777013160288334, + -0.431215763092041, + -0.12151262164115906, + 2.0180776119232178, + 0.0, + 1.0014774799346924 + ], + [ + 0.2466358244419098, + 0.09793171286582947, + -0.01029164157807827, + -0.421531617641449, + -0.12793028354644775, + 2.0587403774261475, + 0.0, + 1.0014774799346924 + ], + [ + 0.24769066274166107, + 0.11005036532878876, + -0.021079814061522484, + -0.39756065607070923, + -0.1359197497367859, + 2.0975728034973145, + 0.0, + 1.0014774799346924 + ], + [ + 0.24772240221500397, + 0.11552245914936066, + -0.023121660575270653, + -0.39144861698150635, + -0.1529468148946762, + 2.1221625804901123, + 0.0, + 1.0014774799346924 + ], + [ + 0.24185888469219208, + 0.12346380203962326, + -0.03207290545105934, + -0.3572302758693695, + -0.162296861410141, + 2.153669834136963, + 0.0, + 0.9537920951843262 + ], + [ + 0.24304570257663727, + 0.12538264691829681, + -0.033694058656692505, + -0.35932227969169617, + -0.1687122881412506, + 2.155961275100708, + 0.0, + 0.6671556830406189 + ], + [ + 0.24339744448661804, + 0.12603209912776947, + -0.033279918134212494, + -0.3582279086112976, + -0.17431586980819702, + 2.1503286361694336, + 0.0, + 0.35856863856315613 + ], + [ + 0.24406568706035614, + 0.12675000727176666, + -0.03282060846686363, + -0.36138445138931274, + -0.1788768470287323, + 2.144665241241455, + 0.0, + 0.15014003217220306 + ], + [ + 0.24459119141101837, + 0.12621186673641205, + -0.03276485204696655, + -0.3639751672744751, + -0.18185672163963318, + 2.1347696781158447, + 0.0, + 0.07689721137285233 + ], + [ + 0.24357163906097412, + 0.12216990441083908, + -0.03325644135475159, + -0.3606541156768799, + -0.1937861293554306, + 2.099644184112549, + 0.0, + 0.07494325935840607 + ], + [ + 0.24411703646183014, + 0.12052293866872787, + -0.0300919096916914, + -0.36815139651298523, + -0.19480812549591064, + 2.072640895843506, + 0.0, + 0.07462053745985031 + ], + [ + 0.2457272708415985, + 0.11784503608942032, + -0.01939404383301735, + -0.3933365046977997, + -0.17668023705482483, + 2.0507352352142334, + 0.0, + 0.07333792001008987 + ], + [ + 0.25365468859672546, + 0.11041116714477539, + -0.006900255102664232, + -0.43720167875289917, + -0.11041299253702164, + 2.018331289291382, + 0.0, + 0.07301933318376541 + ], + [ + 0.2720082700252533, + 0.1052578017115593, + 0.0008138581179082394, + -0.47054970264434814, + -0.06366116553544998, + 1.9449108839035034, + 0.0, + 0.07270156592130661 + ], + [ + 0.29662156105041504, + 0.09607560932636261, + 0.008832152932882309, + -0.5087977647781372, + -0.03631651774048805, + 1.8757535219192505, + 0.0, + 0.07270156592130661 + ], + [ + 0.31774601340293884, + 0.0847778394818306, + 0.002014570403844118, + -0.5019469261169434, + -0.0362204872071743, + 1.8060458898544312, + 0.0, + 0.07270156592130661 + ], + [ + 0.33258745074272156, + 0.07308203727006912, + -0.005508468486368656, + -0.47933804988861084, + -0.06269543617963791, + 1.7395334243774414, + 0.0, + 0.07270156592130661 + ], + [ + 0.34138813614845276, + 0.07198897004127502, + -0.01497217733412981, + -0.448036253452301, + -0.08885826915502548, + 1.722174882888794, + 0.0, + 0.07270156592130661 + ], + [ + 0.34827542304992676, + 0.07369773834943771, + -0.02128797210752964, + -0.4304930865764618, + -0.09263205528259277, + 1.718629240989685, + 0.0, + 0.07270156592130661 + ], + [ + 0.3517568111419678, + 0.07448887079954147, + -0.02354099228978157, + -0.4257778525352478, + -0.09283847361803055, + 1.7131638526916504, + 0.0, + 0.07238461822271347 + ], + [ + 0.35578015446662903, + 0.07441458106040955, + -0.027457742020487785, + -0.3996749520301819, + -0.08941037207841873, + 1.696491003036499, + 0.0, + 0.100052610039711 + ], + [ + 0.35281944274902344, + 0.07404761761426926, + -0.028822161257267, + -0.3715376853942871, + -0.094673752784729, + 1.6797287464141846, + 0.0, + 0.2759375274181366 + ], + [ + 0.3509376347064972, + 0.07112155854701996, + -0.03070593997836113, + -0.37130147218704224, + -0.07469557970762253, + 1.678481101989746, + 0.0, + 0.5590677857398987 + ], + [ + 0.348852276802063, + 0.0776490718126297, + -0.019794773310422897, + -0.3944525122642517, + -0.049746524542570114, + 1.6840503215789795, + 0.0, + 0.8651953339576721 + ], + [ + 0.34637537598609924, + 0.07643188536167145, + -0.004281010013073683, + -0.43042901158332825, + -0.03870157524943352, + 1.667796015739441, + 0.0, + 1.0112061500549316 + ], + [ + 0.34150078892707825, + 0.07811667770147324, + 0.01292348187416792, + -0.4640853703022003, + -0.033209461718797684, + 1.6667243242263794, + 0.0, + 1.0073583126068115 + ], + [ + 0.34220263361930847, + 0.0793418139219284, + 0.02973400615155697, + -0.48773691058158875, + -0.05882544815540314, + 1.6458055973052979, + 0.0, + 1.002137303352356 + ] + ], + "left_gripper_pos": [ + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 0.9537920951843262 + ], + [ + 0.6671556830406189 + ], + [ + 0.35856863856315613 + ], + [ + 0.15014003217220306 + ], + [ + 0.07689721137285233 + ], + [ + 0.07494325935840607 + ], + [ + 0.07462053745985031 + ], + [ + 0.07333792001008987 + ], + [ + 0.07301933318376541 + ], + [ + 0.07270156592130661 + ], + [ + 0.07270156592130661 + ], + [ + 0.07270156592130661 + ], + [ + 0.07270156592130661 + ], + [ + 0.07270156592130661 + ], + [ + 0.07270156592130661 + ], + [ + 0.07238461822271347 + ], + [ + 0.100052610039711 + ], + [ + 0.2759375274181366 + ], + [ + 0.5590677857398987 + ], + [ + 0.8651953339576721 + ], + [ + 1.0112061500549316 + ], + [ + 1.0073583126068115 + ], + [ + 1.002137303352356 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3898363709449768, + 0.021312909200787544, + 0.02798943966627121 + ], + [ + 0.38461819291114807, + 0.0211662407964468, + 0.013619953766465187 + ], + [ + 0.365241140127182, + 0.020689072087407112, + -0.0011180114233866334 + ], + [ + 0.3452759087085724, + 0.02715890482068062, + 0.0041139875538647175 + ], + [ + 0.3209989666938782, + 0.03892277553677559, + 0.0013887772802263498 + ], + [ + 0.2947143614292145, + 0.05049379914999008, + 0.0017627720953896642 + ], + [ + 0.26626870036125183, + 0.061632003635168076, + -0.00038698315620422363 + ], + [ + 0.24855811893939972, + 0.07438403367996216, + -0.004800114780664444 + ], + [ + 0.2458604872226715, + 0.08055593818426132, + -0.004894980229437351 + ], + [ + 0.24597685039043427, + 0.0885486826300621, + -0.003777013160288334 + ], + [ + 0.2466358244419098, + 0.09793171286582947, + -0.01029164157807827 + ], + [ + 0.24769066274166107, + 0.11005036532878876, + -0.021079814061522484 + ], + [ + 0.24772240221500397, + 0.11552245914936066, + -0.023121660575270653 + ], + [ + 0.24185888469219208, + 0.12346380203962326, + -0.03207290545105934 + ], + [ + 0.24304570257663727, + 0.12538264691829681, + -0.033694058656692505 + ], + [ + 0.24339744448661804, + 0.12603209912776947, + -0.033279918134212494 + ], + [ + 0.24406568706035614, + 0.12675000727176666, + -0.03282060846686363 + ], + [ + 0.24459119141101837, + 0.12621186673641205, + -0.03276485204696655 + ], + [ + 0.24357163906097412, + 0.12216990441083908, + -0.03325644135475159 + ], + [ + 0.24411703646183014, + 0.12052293866872787, + -0.0300919096916914 + ], + [ + 0.2457272708415985, + 0.11784503608942032, + -0.01939404383301735 + ], + [ + 0.25365468859672546, + 0.11041116714477539, + -0.006900255102664232 + ], + [ + 0.2720082700252533, + 0.1052578017115593, + 0.0008138581179082394 + ], + [ + 0.29662156105041504, + 0.09607560932636261, + 0.008832152932882309 + ], + [ + 0.31774601340293884, + 0.0847778394818306, + 0.002014570403844118 + ], + [ + 0.33258745074272156, + 0.07308203727006912, + -0.005508468486368656 + ], + [ + 0.34138813614845276, + 0.07198897004127502, + -0.01497217733412981 + ], + [ + 0.34827542304992676, + 0.07369773834943771, + -0.02128797210752964 + ], + [ + 0.3517568111419678, + 0.07448887079954147, + -0.02354099228978157 + ], + [ + 0.35578015446662903, + 0.07441458106040955, + -0.027457742020487785 + ], + [ + 0.35281944274902344, + 0.07404761761426926, + -0.028822161257267 + ], + [ + 0.3509376347064972, + 0.07112155854701996, + -0.03070593997836113 + ], + [ + 0.348852276802063, + 0.0776490718126297, + -0.019794773310422897 + ], + [ + 0.34637537598609924, + 0.07643188536167145, + -0.004281010013073683 + ], + [ + 0.34150078892707825, + 0.07811667770147324, + 0.01292348187416792 + ], + [ + 0.34220263361930847, + 0.0793418139219284, + 0.02973400615155697 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.48991546394857277, + 0.8220993195201708, + 0.2900612815053508, + 0.8296630288068069, + -0.541844228919686, + 0.13440271655567873, + 0.26766041323880874, + 0.17480715211598938, + -0.9475232782121646 + ], + [ + 0.49432255353646826, + 0.8319732100541749, + 0.25192417672255524, + 0.833735909982498, + -0.5357873776032301, + 0.13347778244602906, + 0.24602773313356618, + 0.144057154467265, + -0.9584977260150142 + ], + [ + 0.46359316579361654, + 0.8640704842859186, + 0.19612132677337923, + 0.8603114612160283, + -0.4919229889094686, + 0.13370101975197146, + 0.21200369414185843, + 0.10674254619538076, + -0.9714218766848585 + ], + [ + 0.359743481927548, + 0.9071812630560937, + 0.21818978704466083, + 0.9126006730721438, + -0.3907941972233613, + 0.12016616381002973, + 0.1942797949322426, + 0.15589115233552894, + -0.9684798964896415 + ], + [ + 0.21638752435789177, + 0.9508765041806349, + 0.2213827299033923, + 0.9544677262551309, + -0.253730244772869, + 0.1568831489512525, + 0.20534799448649044, + 0.17735511462801268, + -0.9624849944158408 + ], + [ + 0.014914382387873015, + 0.9647539376277735, + 0.2627306625228481, + 0.9808661183002781, + -0.06512688962333724, + 0.18346701670473303, + 0.19411135764950346, + 0.25496730786454963, + -0.9472657772514379 + ], + [ + -0.22308013424469242, + 0.931346020486324, + 0.28780174396562924, + 0.9623793001404541, + 0.16343904909963514, + 0.21705704294165767, + 0.15511716979928292, + 0.32539555521502544, + -0.9327681363981971 + ], + [ + -0.3346632270660773, + 0.8925714296683857, + 0.30218664330088, + 0.933807669769022, + 0.27106972111127614, + 0.23350469412241873, + 0.12650596954400417, + 0.36032963968620335, + -0.9242071144680409 + ], + [ + -0.390043077870927, + 0.8656534359980674, + 0.3138638656324006, + 0.9124440718461617, + 0.3175515071292619, + 0.25808304104053537, + 0.12374252768458473, + 0.3870467272367434, + -0.9137191131729463 + ], + [ + -0.42932668069447627, + 0.8410030431035924, + 0.3292301364309772, + 0.8949781073514049, + 0.347242246813347, + 0.28006608039838665, + 0.12121381359218125, + 0.4148936050585925, + -0.9017596730148916 + ], + [ + -0.46497977620810005, + 0.8304500082196126, + 0.3068331656870081, + 0.8760803270072745, + 0.3816635678102136, + 0.29464585800110266, + 0.1275816144602846, + 0.4058148652457475, + -0.9050067551114098 + ], + [ + -0.49811264439996716, + 0.823388895470066, + 0.2718722499731384, + 0.8564596314770291, + 0.4181890623720924, + 0.30264634106921195, + 0.13550163518977743, + 0.3835995762887844, + -0.9135046096938765 + ], + [ + -0.5177362825061238, + 0.8178259731242203, + 0.25121667830811184, + 0.8418659348053161, + 0.43471350586190427, + 0.3198216935037765, + 0.15235120475766054, + 0.3770740583820031, + -0.9135667818524353 + ], + [ + -0.5431919754417542, + 0.8132781277280251, + 0.20861726864016383, + 0.8239130208054234, + 0.46850262267627985, + 0.3188614537581001, + 0.16158530862354514, + 0.345085466956586, + -0.9245573040825474 + ], + [ + -0.5444947088400252, + 0.8129947711304487, + 0.20631290352221313, + 0.8217850791668732, + 0.4678410019432939, + 0.3252600199215872, + 0.1679130599563736, + 0.34664722559865474, + -0.9228439224922289 + ], + [ + -0.5393335286000384, + 0.8169044819863014, + 0.2044172503447886, + 0.8240387420277617, + 0.4619889190166163, + 0.32791216864148554, + 0.1734344157459395, + 0.3453017608071969, + -0.9223270555601814 + ], + [ + -0.5342230490755366, + 0.8197144605496343, + 0.2065767097285126, + 0.8264070562300194, + 0.45498817965452415, + 0.3317184556033858, + 0.17792445377089028, + 0.34792809535949226, + -0.9204829869203699 + ], + [ + -0.5257335148007604, + 0.8241880487517258, + 0.2105191955857263, + 0.8312011688780109, + 0.44511696278354773, + 0.33312986401428774, + 0.1808559876561095, + 0.3501213357354452, + -0.9190789748393554 + ], + [ + -0.49509504717897945, + 0.8421309386518566, + 0.21376710790995673, + 0.8472281631618223, + 0.41340646145074333, + 0.3336158527052032, + 0.1925755275321579, + 0.3462810705137057, + -0.9181525398318044 + ], + [ + -0.47194446460631045, + 0.8514659276571089, + 0.22863550985461992, + 0.8601138684305999, + 0.38773383805299955, + 0.3314613162377156, + 0.19357829336165663, + 0.35308390627117137, + -0.915346491483678 + ], + [ + -0.4545371319972546, + 0.8503900241251378, + 0.2650147212970589, + 0.8732144934152016, + 0.3667113452803514, + 0.3209661005967883, + 0.17576246506391247, + 0.37730570643858863, + -0.9092568172763593 + ], + [ + -0.43010945683278384, + 0.8369094777729299, + 0.3385090562405229, + 0.8960269449972152, + 0.3499807478407803, + 0.2732200394915528, + 0.11018878791403978, + 0.42082775829862973, + -0.9004234719638227 + ], + [ + -0.3647081897647864, + 0.8402086719748003, + 0.4012945599641686, + 0.9289459964254461, + 0.2988832919456584, + 0.21846764868250423, + 0.06361817384700896, + 0.4524579155391908, + -0.8895136663493726 + ], + [ + -0.3000543675675592, + 0.8383456594252446, + 0.4551306755498733, + 0.9532308570141969, + 0.24534880051214303, + 0.17650750500540363, + 0.03630853535481701, + 0.4868064516931802, + -0.8727549305791882 + ], + [ + -0.23293280331391997, + 0.8565623596953231, + 0.4604815230750292, + 0.9718183776102609, + 0.18739080689966991, + 0.1430165250187931, + 0.03621256797410402, + 0.4808176467671196, + -0.8760725086875232 + ], + [ + -0.16760756770921287, + 0.8795513154224125, + 0.4453057228301761, + 0.9838608301030228, + 0.12052572330802774, + 0.13225512092190506, + 0.06265437124090076, + 0.460285817248132, + -0.8855571106397524 + ], + [ + -0.1502061111375576, + 0.8967895456858078, + 0.4161810122117227, + 0.9846639485079568, + 0.09791410195673084, + 0.14439438059262133, + 0.08874138090908651, + 0.4314873571573671, + -0.8977436315160912 + ], + [ + -0.1466635361663065, + 0.904533738048175, + 0.4003854691316726, + 0.984852082407351, + 0.09567503959176787, + 0.14461211075500466, + 0.09249963749711979, + 0.41552978657577455, + -0.9048639751538308 + ], + [ + -0.14127606131966008, + 0.9069367137797418, + 0.39687135408896224, + 0.9856200211844622, + 0.09131651607272129, + 0.1421775922312689, + 0.09270516888687583, + 0.4112506426630155, + -0.9067958207727431 + ], + [ + -0.12486319992588152, + 0.9182758723792824, + 0.37573741297658503, + 0.9881478869405212, + 0.08101289225452851, + 0.13038659756101736, + 0.0892912920684423, + 0.38756461847622736, + -0.9175078918822028 + ], + [ + -0.10823025203662201, + 0.9299784934108007, + 0.35132067166260766, + 0.9896210589236137, + 0.067182932292223, + 0.12702997025711327, + 0.0945323874605618, + 0.36142282080963717, + -0.9275975271199306 + ], + [ + -0.10717708668352333, + 0.9293683311048029, + 0.3532528516933815, + 0.9914353289166749, + 0.07323321724588605, + 0.10813364170183998, + 0.07462613929393355, + 0.36181680589946413, + -0.929257519906507 + ], + [ + -0.11287223433715082, + 0.9194523292749857, + 0.37665272188919935, + 0.9923644404883696, + 0.08534610026948125, + 0.08904414872969904, + 0.04972600898870144, + 0.3838273796377675, + -0.9220650013260783 + ], + [ + -0.09677512905530655, + 0.9060783827411508, + 0.4118938440005018, + 0.9945539252015124, + 0.07194514413330483, + 0.07540813021089096, + 0.038691914692781104, + 0.41694827085001673, + -0.9081063127038529 + ], + [ + -0.09572812861911378, + 0.8915435431263241, + 0.44270332741108054, + 0.9948535884356782, + 0.07085665491101228, + 0.07242701175304472, + 0.033203357778037595, + 0.44735829618392203, + -0.8937382681007242 + ], + [ + -0.07480932848078548, + 0.882976336347698, + 0.463418119868279, + 0.9954632693943853, + 0.03872686711623602, + 0.08690862471586289, + 0.058791527101234864, + 0.4678172925548585, + -0.8818676415016862 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.005218178033828735, + -0.00014666840434074402, + -0.014369485899806023, + 0.03325897455215454, + 0.022384151816368103, + -0.0017786026000976562, + 1.0 + ], + [ + -0.019377052783966064, + -0.0004771687090396881, + -0.014737965539097786, + 0.03973446041345596, + 0.03495506942272186, + 0.04092764854431152, + 1.0 + ], + [ + -0.01996523141860962, + 0.006469832733273506, + 0.005231998860836029, + -0.05015210062265396, + 0.018101602792739868, + 0.11876249313354492, + 1.0 + ], + [ + -0.024276942014694214, + 0.01176387071609497, + -0.0027252102736383677, + -0.02262800931930542, + -0.011296063661575317, + 0.1525512933731079, + 1.0 + ], + [ + -0.026284605264663696, + 0.011571023613214493, + 0.00037399481516331434, + -0.0807061493396759, + 0.011467769742012024, + 0.20773744583129883, + 1.0 + ], + [ + -0.028445661067962646, + 0.011138204485177994, + -0.002149755135178566, + -0.07271939516067505, + 0.03960543870925903, + 0.24298202991485596, + 1.0 + ], + [ + -0.017710581421852112, + 0.012752030044794083, + -0.00441313162446022, + -0.03610232472419739, + 0.028900206089019775, + 0.1163477897644043, + 1.0 + ], + [ + -0.0026976317167282104, + 0.006171904504299164, + -9.486544877290726e-05, + -0.02892819046974182, + 0.002785332500934601, + 0.05983579158782959, + 1.0 + ], + [ + 0.00011636316776275635, + 0.007992744445800781, + 0.0011179670691490173, + -0.030535876750946045, + 0.0025478973984718323, + 0.04331982135772705, + 1.0 + ], + [ + 0.0006589740514755249, + 0.009383030235767365, + -0.006514628417789936, + 0.009684145450592041, + -0.006417661905288696, + 0.04066276550292969, + 1.0 + ], + [ + 0.0010548382997512817, + 0.01211865246295929, + -0.010788172483444214, + 0.023970961570739746, + -0.007989466190338135, + 0.03883242607116699, + 1.0 + ], + [ + 3.173947334289551e-05, + 0.005472093820571899, + -0.002041846513748169, + 0.006112039089202881, + -0.01702706515789032, + 0.02458977699279785, + 1.0 + ], + [ + -0.00586351752281189, + 0.007941342890262604, + -0.008951244875788689, + 0.03421834111213684, + -0.009350046515464783, + 0.031507253646850586, + 0.0 + ], + [ + 0.0011868178844451904, + 0.0019188448786735535, + -0.0016211532056331635, + -0.00209200382232666, + -0.006415426731109619, + 0.002291440963745117, + 0.0 + ], + [ + 0.0003517419099807739, + 0.0006494522094726562, + 0.000414140522480011, + 0.0010943710803985596, + -0.005603581666946411, + -0.005632638931274414, + 0.0 + ], + [ + 0.0006682425737380981, + 0.0007179081439971924, + 0.0004593096673488617, + -0.0031565427780151367, + -0.004560977220535278, + -0.005663394927978516, + 0.0 + ], + [ + 0.0005255043506622314, + -0.0005381405353546143, + 5.575641989707947e-05, + -0.0025907158851623535, + -0.002979874610900879, + -0.009895563125610352, + 0.0 + ], + [ + -0.0010195523500442505, + -0.0040419623255729675, + -0.0004915893077850342, + 0.003321051597595215, + -0.011929407715797424, + -0.0351254940032959, + 0.0 + ], + [ + 0.0005453974008560181, + -0.001646965742111206, + 0.0031645316630601883, + -0.007497280836105347, + -0.0010219961404800415, + -0.02700328826904297, + 0.0 + ], + [ + 0.0016102343797683716, + -0.002677902579307556, + 0.01069786585867405, + -0.025185108184814453, + 0.018127888441085815, + -0.02190566062927246, + 0.0 + ], + [ + 0.007927417755126953, + -0.007433868944644928, + 0.012493789196014404, + -0.04386517405509949, + 0.06626724451780319, + -0.03240394592285156, + 0.0 + ], + [ + 0.018353581428527832, + -0.005153365433216095, + 0.007714113220572472, + -0.033348023891448975, + 0.046751827001571655, + -0.07342040538787842, + 0.0 + ], + [ + 0.024613291025161743, + -0.009182192385196686, + 0.008018294349312782, + -0.03824806213378906, + 0.02734464779496193, + -0.06915736198425293, + 0.0 + ], + [ + 0.021124452352523804, + -0.011297769844532013, + -0.006817582529038191, + 0.006850838661193848, + 9.603053331375122e-05, + -0.06970763206481934, + 0.0 + ], + [ + 0.014841437339782715, + -0.011695802211761475, + -0.007523038890212774, + 0.02260887622833252, + -0.026474948972463608, + -0.06651246547698975, + 0.0 + ], + [ + 0.008800685405731201, + -0.001093067228794098, + -0.009463708847761154, + 0.031301796436309814, + -0.026162832975387573, + -0.01735854148864746, + 0.0 + ], + [ + 0.006887286901473999, + 0.0017087683081626892, + -0.00631579477339983, + 0.017543166875839233, + -0.0037737861275672913, + -0.0035456418991088867, + 0.0 + ], + [ + 0.0034813880920410156, + 0.0007911324501037598, + -0.0022530201822519302, + 0.004715234041213989, + -0.00020641833543777466, + -0.005465388298034668, + 0.0 + ], + [ + 0.004023343324661255, + -7.428973913192749e-05, + -0.003916749730706215, + 0.026102900505065918, + 0.0034281015396118164, + -0.016672849655151367, + 1.0 + ], + [ + -0.002960711717605591, + -0.0003669634461402893, + -0.001364419236779213, + 0.028137266635894775, + -0.005263380706310272, + -0.016762256622314453, + 1.0 + ], + [ + -0.0018818080425262451, + -0.002926059067249298, + -0.0018837787210941315, + 0.00023621320724487305, + 0.019978173077106476, + -0.0012476444244384766, + 1.0 + ], + [ + -0.002085357904434204, + 0.006527513265609741, + 0.010911166667938232, + -0.023151040077209473, + 0.024949055165052414, + 0.0055692195892333984, + 1.0 + ], + [ + -0.002476900815963745, + -0.001217186450958252, + 0.015513762831687927, + -0.03597649931907654, + 0.011044949293136597, + -0.016254305839538574, + 1.0 + ], + [ + -0.004874587059020996, + 0.0016847923398017883, + 0.017204491421580315, + -0.03365635871887207, + 0.005492113530635834, + -0.0010716915130615234, + 1.0 + ], + [ + 0.0007018446922302246, + 0.0012251362204551697, + 0.016810525208711624, + -0.023651540279388428, + -0.025615986436605453, + -0.020918726921081543, + 1.0 + ], + [ + -0.0017412304878234863, + -0.00044532865285873413, + -0.0018062256276607513, + 0.007480502128601074, + 0.0020558610558509827, + 0.0008302927017211914, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 0.9537920951843262 + ], + [ + 0.6671556830406189 + ], + [ + 0.35856863856315613 + ], + [ + 0.15014003217220306 + ], + [ + 0.07689721137285233 + ], + [ + 0.07494325935840607 + ], + [ + 0.07462053745985031 + ], + [ + 0.07333792001008987 + ], + [ + 0.07301933318376541 + ], + [ + 0.07270156592130661 + ], + [ + 0.07270156592130661 + ], + [ + 0.07270156592130661 + ], + [ + 0.07270156592130661 + ], + [ + 0.07270156592130661 + ], + [ + 0.07270156592130661 + ], + [ + 0.07238461822271347 + ], + [ + 0.100052610039711 + ], + [ + 0.2759375274181366 + ], + [ + 0.5590677857398987 + ], + [ + 0.8651953339576721 + ], + [ + 1.0112061500549316 + ], + [ + 1.0073583126068115 + ], + [ + 1.002137303352356 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.38461819291114807, + 0.0211662407964468, + 0.013619953766465187 + ], + [ + 0.365241140127182, + 0.020689072087407112, + -0.0011180114233866334 + ], + [ + 0.3452759087085724, + 0.02715890482068062, + 0.0041139875538647175 + ], + [ + 0.3209989666938782, + 0.03892277553677559, + 0.0013887772802263498 + ], + [ + 0.2947143614292145, + 0.05049379914999008, + 0.0017627720953896642 + ], + [ + 0.26626870036125183, + 0.061632003635168076, + -0.00038698315620422363 + ], + [ + 0.24855811893939972, + 0.07438403367996216, + -0.004800114780664444 + ], + [ + 0.2458604872226715, + 0.08055593818426132, + -0.004894980229437351 + ], + [ + 0.24597685039043427, + 0.0885486826300621, + -0.003777013160288334 + ], + [ + 0.2466358244419098, + 0.09793171286582947, + -0.01029164157807827 + ], + [ + 0.24769066274166107, + 0.11005036532878876, + -0.021079814061522484 + ], + [ + 0.24772240221500397, + 0.11552245914936066, + -0.023121660575270653 + ], + [ + 0.24185888469219208, + 0.12346380203962326, + -0.03207290545105934 + ], + [ + 0.24304570257663727, + 0.12538264691829681, + -0.033694058656692505 + ], + [ + 0.24339744448661804, + 0.12603209912776947, + -0.033279918134212494 + ], + [ + 0.24406568706035614, + 0.12675000727176666, + -0.03282060846686363 + ], + [ + 0.24459119141101837, + 0.12621186673641205, + -0.03276485204696655 + ], + [ + 0.24357163906097412, + 0.12216990441083908, + -0.03325644135475159 + ], + [ + 0.24411703646183014, + 0.12052293866872787, + -0.0300919096916914 + ], + [ + 0.2457272708415985, + 0.11784503608942032, + -0.01939404383301735 + ], + [ + 0.25365468859672546, + 0.11041116714477539, + -0.006900255102664232 + ], + [ + 0.2720082700252533, + 0.1052578017115593, + 0.0008138581179082394 + ], + [ + 0.29662156105041504, + 0.09607560932636261, + 0.008832152932882309 + ], + [ + 0.31774601340293884, + 0.0847778394818306, + 0.002014570403844118 + ], + [ + 0.33258745074272156, + 0.07308203727006912, + -0.005508468486368656 + ], + [ + 0.34138813614845276, + 0.07198897004127502, + -0.01497217733412981 + ], + [ + 0.34827542304992676, + 0.07369773834943771, + -0.02128797210752964 + ], + [ + 0.3517568111419678, + 0.07448887079954147, + -0.02354099228978157 + ], + [ + 0.35578015446662903, + 0.07441458106040955, + -0.027457742020487785 + ], + [ + 0.35281944274902344, + 0.07404761761426926, + -0.028822161257267 + ], + [ + 0.3509376347064972, + 0.07112155854701996, + -0.03070593997836113 + ], + [ + 0.348852276802063, + 0.0776490718126297, + -0.019794773310422897 + ], + [ + 0.34637537598609924, + 0.07643188536167145, + -0.004281010013073683 + ], + [ + 0.34150078892707825, + 0.07811667770147324, + 0.01292348187416792 + ], + [ + 0.34220263361930847, + 0.0793418139219284, + 0.02973400615155697 + ], + [ + 0.340461403131485, + 0.07889648526906967, + 0.027927780523896217 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.49432255353646826, + 0.8319732100541749, + 0.25192417672255524, + 0.833735909982498, + -0.5357873776032301, + 0.13347778244602906, + 0.24602773313356618, + 0.144057154467265, + -0.9584977260150142 + ], + [ + 0.46359316579361654, + 0.8640704842859186, + 0.19612132677337923, + 0.8603114612160283, + -0.4919229889094686, + 0.13370101975197146, + 0.21200369414185843, + 0.10674254619538076, + -0.9714218766848585 + ], + [ + 0.359743481927548, + 0.9071812630560937, + 0.21818978704466083, + 0.9126006730721438, + -0.3907941972233613, + 0.12016616381002973, + 0.1942797949322426, + 0.15589115233552894, + -0.9684798964896415 + ], + [ + 0.21638752435789177, + 0.9508765041806349, + 0.2213827299033923, + 0.9544677262551309, + -0.253730244772869, + 0.1568831489512525, + 0.20534799448649044, + 0.17735511462801268, + -0.9624849944158408 + ], + [ + 0.014914382387873015, + 0.9647539376277735, + 0.2627306625228481, + 0.9808661183002781, + -0.06512688962333724, + 0.18346701670473303, + 0.19411135764950346, + 0.25496730786454963, + -0.9472657772514379 + ], + [ + -0.22308013424469242, + 0.931346020486324, + 0.28780174396562924, + 0.9623793001404541, + 0.16343904909963514, + 0.21705704294165767, + 0.15511716979928292, + 0.32539555521502544, + -0.9327681363981971 + ], + [ + -0.3346632270660773, + 0.8925714296683857, + 0.30218664330088, + 0.933807669769022, + 0.27106972111127614, + 0.23350469412241873, + 0.12650596954400417, + 0.36032963968620335, + -0.9242071144680409 + ], + [ + -0.390043077870927, + 0.8656534359980674, + 0.3138638656324006, + 0.9124440718461617, + 0.3175515071292619, + 0.25808304104053537, + 0.12374252768458473, + 0.3870467272367434, + -0.9137191131729463 + ], + [ + -0.42932668069447627, + 0.8410030431035924, + 0.3292301364309772, + 0.8949781073514049, + 0.347242246813347, + 0.28006608039838665, + 0.12121381359218125, + 0.4148936050585925, + -0.9017596730148916 + ], + [ + -0.46497977620810005, + 0.8304500082196126, + 0.3068331656870081, + 0.8760803270072745, + 0.3816635678102136, + 0.29464585800110266, + 0.1275816144602846, + 0.4058148652457475, + -0.9050067551114098 + ], + [ + -0.49811264439996716, + 0.823388895470066, + 0.2718722499731384, + 0.8564596314770291, + 0.4181890623720924, + 0.30264634106921195, + 0.13550163518977743, + 0.3835995762887844, + -0.9135046096938765 + ], + [ + -0.5177362825061238, + 0.8178259731242203, + 0.25121667830811184, + 0.8418659348053161, + 0.43471350586190427, + 0.3198216935037765, + 0.15235120475766054, + 0.3770740583820031, + -0.9135667818524353 + ], + [ + -0.5431919754417542, + 0.8132781277280251, + 0.20861726864016383, + 0.8239130208054234, + 0.46850262267627985, + 0.3188614537581001, + 0.16158530862354514, + 0.345085466956586, + -0.9245573040825474 + ], + [ + -0.5444947088400252, + 0.8129947711304487, + 0.20631290352221313, + 0.8217850791668732, + 0.4678410019432939, + 0.3252600199215872, + 0.1679130599563736, + 0.34664722559865474, + -0.9228439224922289 + ], + [ + -0.5393335286000384, + 0.8169044819863014, + 0.2044172503447886, + 0.8240387420277617, + 0.4619889190166163, + 0.32791216864148554, + 0.1734344157459395, + 0.3453017608071969, + -0.9223270555601814 + ], + [ + -0.5342230490755366, + 0.8197144605496343, + 0.2065767097285126, + 0.8264070562300194, + 0.45498817965452415, + 0.3317184556033858, + 0.17792445377089028, + 0.34792809535949226, + -0.9204829869203699 + ], + [ + -0.5257335148007604, + 0.8241880487517258, + 0.2105191955857263, + 0.8312011688780109, + 0.44511696278354773, + 0.33312986401428774, + 0.1808559876561095, + 0.3501213357354452, + -0.9190789748393554 + ], + [ + -0.49509504717897945, + 0.8421309386518566, + 0.21376710790995673, + 0.8472281631618223, + 0.41340646145074333, + 0.3336158527052032, + 0.1925755275321579, + 0.3462810705137057, + -0.9181525398318044 + ], + [ + -0.47194446460631045, + 0.8514659276571089, + 0.22863550985461992, + 0.8601138684305999, + 0.38773383805299955, + 0.3314613162377156, + 0.19357829336165663, + 0.35308390627117137, + -0.915346491483678 + ], + [ + -0.4545371319972546, + 0.8503900241251378, + 0.2650147212970589, + 0.8732144934152016, + 0.3667113452803514, + 0.3209661005967883, + 0.17576246506391247, + 0.37730570643858863, + -0.9092568172763593 + ], + [ + -0.43010945683278384, + 0.8369094777729299, + 0.3385090562405229, + 0.8960269449972152, + 0.3499807478407803, + 0.2732200394915528, + 0.11018878791403978, + 0.42082775829862973, + -0.9004234719638227 + ], + [ + -0.3647081897647864, + 0.8402086719748003, + 0.4012945599641686, + 0.9289459964254461, + 0.2988832919456584, + 0.21846764868250423, + 0.06361817384700896, + 0.4524579155391908, + -0.8895136663493726 + ], + [ + -0.3000543675675592, + 0.8383456594252446, + 0.4551306755498733, + 0.9532308570141969, + 0.24534880051214303, + 0.17650750500540363, + 0.03630853535481701, + 0.4868064516931802, + -0.8727549305791882 + ], + [ + -0.23293280331391997, + 0.8565623596953231, + 0.4604815230750292, + 0.9718183776102609, + 0.18739080689966991, + 0.1430165250187931, + 0.03621256797410402, + 0.4808176467671196, + -0.8760725086875232 + ], + [ + -0.16760756770921287, + 0.8795513154224125, + 0.4453057228301761, + 0.9838608301030228, + 0.12052572330802774, + 0.13225512092190506, + 0.06265437124090076, + 0.460285817248132, + -0.8855571106397524 + ], + [ + -0.1502061111375576, + 0.8967895456858078, + 0.4161810122117227, + 0.9846639485079568, + 0.09791410195673084, + 0.14439438059262133, + 0.08874138090908651, + 0.4314873571573671, + -0.8977436315160912 + ], + [ + -0.1466635361663065, + 0.904533738048175, + 0.4003854691316726, + 0.984852082407351, + 0.09567503959176787, + 0.14461211075500466, + 0.09249963749711979, + 0.41552978657577455, + -0.9048639751538308 + ], + [ + -0.14127606131966008, + 0.9069367137797418, + 0.39687135408896224, + 0.9856200211844622, + 0.09131651607272129, + 0.1421775922312689, + 0.09270516888687583, + 0.4112506426630155, + -0.9067958207727431 + ], + [ + -0.12486319992588152, + 0.9182758723792824, + 0.37573741297658503, + 0.9881478869405212, + 0.08101289225452851, + 0.13038659756101736, + 0.0892912920684423, + 0.38756461847622736, + -0.9175078918822028 + ], + [ + -0.10823025203662201, + 0.9299784934108007, + 0.35132067166260766, + 0.9896210589236137, + 0.067182932292223, + 0.12702997025711327, + 0.0945323874605618, + 0.36142282080963717, + -0.9275975271199306 + ], + [ + -0.10717708668352333, + 0.9293683311048029, + 0.3532528516933815, + 0.9914353289166749, + 0.07323321724588605, + 0.10813364170183998, + 0.07462613929393355, + 0.36181680589946413, + -0.929257519906507 + ], + [ + -0.11287223433715082, + 0.9194523292749857, + 0.37665272188919935, + 0.9923644404883696, + 0.08534610026948125, + 0.08904414872969904, + 0.04972600898870144, + 0.3838273796377675, + -0.9220650013260783 + ], + [ + -0.09677512905530655, + 0.9060783827411508, + 0.4118938440005018, + 0.9945539252015124, + 0.07194514413330483, + 0.07540813021089096, + 0.038691914692781104, + 0.41694827085001673, + -0.9081063127038529 + ], + [ + -0.09572812861911378, + 0.8915435431263241, + 0.44270332741108054, + 0.9948535884356782, + 0.07085665491101228, + 0.07242701175304472, + 0.033203357778037595, + 0.44735829618392203, + -0.8937382681007242 + ], + [ + -0.07480932848078548, + 0.882976336347698, + 0.463418119868279, + 0.9954632693943853, + 0.03872686711623602, + 0.08690862471586289, + 0.058791527101234864, + 0.4678172925548585, + -0.8818676415016862 + ], + [ + -0.07564482637265657, + 0.886313355725361, + 0.45686594938329544, + 0.9955192287710101, + 0.04105738010411836, + 0.08518072954699851, + 0.05673909930747584, + 0.46126231907867266, + -0.8854477667304497 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006604.json b/json/chunk-0006/episode_0006604.json new file mode 100644 index 0000000000000000000000000000000000000000..0bd2e3de37c4534e5b2b955a83d398ef70abe9dc --- /dev/null +++ b/json/chunk-0006/episode_0006604.json @@ -0,0 +1,1222 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 19, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut banana on plate." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006604.mp4", + "start": 0, + "end": 19, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.20571239292621613, + 0.1014837846159935, + 0.057252366095781326, + 0.20138467848300934, + -0.1099233627319336, + 0.05782218649983406, + 0.0, + 0.9974852800369263 + ], + [ + 0.20853297412395477, + 0.09138607978820801, + 0.059468548744916916, + 0.184750035405159, + -0.07279708236455917, + 0.07468077540397644, + 0.0, + 0.9974852800369263 + ], + [ + 0.23407460749149323, + 0.07149852067232132, + 0.0800037533044815, + 0.19870425760746002, + -0.08080166578292847, + 0.10725761204957962, + 0.0, + 0.9974852800369263 + ], + [ + 0.262189656496048, + 0.046098776161670685, + 0.09374567121267319, + 0.21738453209400177, + -0.10658883303403854, + 0.13477393984794617, + 0.0, + 0.9974852800369263 + ], + [ + 0.292951375246048, + 0.020317815244197845, + 0.09478796273469925, + 0.20968876779079437, + -0.19331082701683044, + 0.11964087933301926, + 0.0, + 0.9981546401977539 + ], + [ + 0.3179676830768585, + 0.006861123722046614, + 0.08761965483427048, + 0.2103489339351654, + -0.2748319208621979, + 0.07065130770206451, + 0.0, + 0.9974852800369263 + ], + [ + 0.3407996892929077, + -0.0008423687540926039, + 0.08128280937671661, + 0.2176082730293274, + -0.330098420381546, + 0.00682590389624238, + 0.0, + 0.9974852800369263 + ], + [ + 0.36357584595680237, + -0.004838900174945593, + 0.06428161263465881, + 0.20230592787265778, + -0.3865422308444977, + -0.08402661979198456, + 0.0, + 0.9974852800369263 + ], + [ + 0.3802923560142517, + -0.0006510732928290963, + 0.04754938930273056, + 0.19049270451068878, + -0.43931782245635986, + -0.13519155979156494, + 0.0, + 0.9974852800369263 + ], + [ + 0.39073148369789124, + -0.0029516397044062614, + 0.03160715475678444, + 0.18783259391784668, + -0.4714724123477936, + -0.17359624803066254, + 0.0, + 0.9974852800369263 + ], + [ + 0.3964478075504303, + -0.005642016883939505, + 0.02091350220143795, + 0.16395023465156555, + -0.49991461634635925, + -0.17497767508029938, + 0.0, + 0.9981546401977539 + ], + [ + 0.4034046232700348, + -0.012917790561914444, + 0.016869643703103065, + 0.1211421862244606, + -0.518696665763855, + -0.17295148968696594, + 0.0, + 0.8214757442474365 + ], + [ + 0.4040367305278778, + -0.012798749841749668, + 0.01660977490246296, + 0.13426248729228973, + -0.4977172315120697, + -0.19555039703845978, + 0.0, + 0.6139277815818787 + ], + [ + 0.3860586881637573, + -0.012343737296760082, + 0.027947494760155678, + 0.17892497777938843, + -0.39175304770469666, + -0.16688430309295654, + 0.0, + 0.6099167466163635 + ], + [ + 0.36313050985336304, + 0.008165670558810234, + 0.058008138090372086, + 0.2406291663646698, + -0.3338785171508789, + -0.09387514740228653, + 0.0, + 0.6099167466163635 + ], + [ + 0.33731672167778015, + 0.0234827883541584, + 0.07105762511491776, + 0.2942061424255371, + -0.27404436469078064, + -0.06271804124116898, + 0.0, + 0.6099167466163635 + ], + [ + 0.3144649565219879, + 0.038969576358795166, + 0.07015456259250641, + 0.3060092329978943, + -0.2607497572898865, + -0.020236678421497345, + 0.0, + 0.6099167466163635 + ], + [ + 0.2924436032772064, + 0.04022127017378807, + 0.051556266844272614, + 0.2643861770629883, + -0.25178635120391846, + 0.00911139976233244, + 0.0, + 0.6099167466163635 + ], + [ + 0.2789478003978729, + 0.0370197519659996, + 0.03894250467419624, + 0.21957165002822876, + -0.24570640921592712, + 0.03685958683490753, + 0.0, + 0.6099167466163635 + ] + ], + "left_gripper_pos": [ + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9981546401977539 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9981546401977539 + ], + [ + 0.8214757442474365 + ], + [ + 0.6139277815818787 + ], + [ + 0.6099167466163635 + ], + [ + 0.6099167466163635 + ], + [ + 0.6099167466163635 + ], + [ + 0.6099167466163635 + ], + [ + 0.6099167466163635 + ], + [ + 0.6099167466163635 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.20571239292621613, + 0.1014837846159935, + 0.057252366095781326 + ], + [ + 0.20853297412395477, + 0.09138607978820801, + 0.059468548744916916 + ], + [ + 0.23407460749149323, + 0.07149852067232132, + 0.0800037533044815 + ], + [ + 0.262189656496048, + 0.046098776161670685, + 0.09374567121267319 + ], + [ + 0.292951375246048, + 0.020317815244197845, + 0.09478796273469925 + ], + [ + 0.3179676830768585, + 0.006861123722046614, + 0.08761965483427048 + ], + [ + 0.3407996892929077, + -0.0008423687540926039, + 0.08128280937671661 + ], + [ + 0.36357584595680237, + -0.004838900174945593, + 0.06428161263465881 + ], + [ + 0.3802923560142517, + -0.0006510732928290963, + 0.04754938930273056 + ], + [ + 0.39073148369789124, + -0.0029516397044062614, + 0.03160715475678444 + ], + [ + 0.3964478075504303, + -0.005642016883939505, + 0.02091350220143795 + ], + [ + 0.4034046232700348, + -0.012917790561914444, + 0.016869643703103065 + ], + [ + 0.4040367305278778, + -0.012798749841749668, + 0.01660977490246296 + ], + [ + 0.3860586881637573, + -0.012343737296760082, + 0.027947494760155678 + ], + [ + 0.36313050985336304, + 0.008165670558810234, + 0.058008138090372086 + ], + [ + 0.33731672167778015, + 0.0234827883541584, + 0.07105762511491776 + ], + [ + 0.3144649565219879, + 0.038969576358795166, + 0.07015456259250641 + ], + [ + 0.2924436032772064, + 0.04022127017378807, + 0.051556266844272614 + ], + [ + 0.2789478003978729, + 0.0370197519659996, + 0.03894250467419624 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.992303357970872, + 0.07852869646524457, + 0.09574596383765334, + 0.05744118048389183, + -0.9768849803410017, + 0.20590348702432915, + 0.10970212643494519, + -0.19881896040275082, + -0.97387702737051 + ], + [ + 0.994571531363905, + 0.08666548934455959, + 0.05758959938327079, + 0.0744137652236444, + -0.9792454324174584, + 0.18852314084691535, + 0.07273280240509042, + -0.18321428996181927, + -0.9803787346776189 + ], + [ + 0.9910094850425424, + 0.12078691197596773, + 0.05753887773518383, + 0.10670280166956221, + -0.972984025095553, + 0.2047354366608819, + 0.08071377002457934, + -0.19675520019599413, + -0.9771246995774149 + ], + [ + 0.9853079822349715, + 0.1539411005842909, + 0.07396159608165803, + 0.13360374679846954, + -0.9645269763011558, + 0.2276790522396825, + 0.10638711851281402, + -0.21445244120374768, + -0.9709232366548314 + ], + [ + 0.9743582877629952, + 0.15644397393888715, + 0.16171335778399176, + 0.11713249219787203, + -0.9663310293182101, + 0.2290945679153567, + 0.1921091000943994, + -0.20427830231088506, + -0.9598773196955447 + ], + [ + 0.9600696862636946, + 0.12556072214773306, + 0.2500014051385932, + 0.06794326515617485, + -0.9715181756740252, + 0.2270157418659153, + 0.2713851695237766, + -0.20096502031138144, + -0.9412561555569224 + ], + [ + 0.9459884078782246, + 0.07664258945573074, + 0.31501086591027666, + 0.006457326248104085, + -0.9759161877064845, + 0.2180502178631511, + 0.32413613667369384, + -0.20423885050098184, + -0.9237003068356588 + ], + [ + 0.9229502862457453, + -0.006735653629598624, + 0.3848602344865971, + -0.07773542858853327, + -0.9825069886825925, + 0.1692253536915222, + 0.3769880266812906, + -0.18610386390412698, + -0.907328705364765 + ], + [ + 0.8967839911074184, + -0.052545253654994, + 0.4393375349452652, + -0.12198167680538435, + -0.9838057132198617, + 0.13132703133668291, + 0.4253221647377391, + -0.1713631084985671, + -0.8886707721245882 + ], + [ + 0.8775102284769667, + -0.08614984437652533, + 0.4717562964415022, + -0.1538813698126938, + -0.9822948923932457, + 0.10685161862466482, + 0.45419855013294685, + -0.16635789338664492, + -0.8752306715175645 + ], + [ + 0.864222556570348, + -0.0947083215719502, + 0.4941150741882259, + -0.15278209835201687, + -0.985145584571705, + 0.07839520152425557, + 0.4793506056511941, + -0.14324283934597942, + -0.8658547717937088 + ], + [ + 0.8555095155030719, + -0.11181382954267587, + 0.5055701102781895, + -0.14945480011082476, + -0.9881715492018213, + 0.0343547969271534, + 0.49574865769614823, + -0.10495073544798988, + -0.8621012768354964 + ], + [ + 0.8619279188520749, + -0.12986847425386072, + 0.4901167637393212, + -0.17073217881860103, + -0.9845303279207814, + 0.03937710654748546, + 0.4774209733758924, + -0.11761893044562635, + -0.8707669041607189 + ], + [ + 0.9114007636127615, + -0.09645164478509044, + 0.40005715629685423, + -0.1535263901945396, + -0.9816519188533452, + 0.11308915830166501, + 0.3818092398042626, + -0.16448887631021072, + -0.9094861812970525 + ], + [ + 0.9406185305329832, + -0.01328271241962211, + 0.3392054680702382, + -0.0885610054015109, + -0.9742327246056696, + 0.20743082372127677, + 0.3277098233807545, + -0.22515365388594397, + -0.9175576841820701 + ], + [ + 0.9607914939007416, + 0.018338329640573036, + 0.2766647988342126, + -0.060338095652738, + -0.960069660497512, + 0.27317679477802187, + 0.27062708560116944, + -0.2791593678495961, + -0.9213202634702178 + ], + [ + 0.9659991252523066, + 0.058354094386888065, + 0.25187395593841094, + -0.019551282627018975, + -0.9549197377089835, + 0.2962195838924977, + 0.25780503749813893, + -0.2910723178216922, + -0.9213107339212384 + ], + [ + 0.9684287259537818, + 0.07389498776102094, + 0.23808681931457928, + 0.0088239854468906, + -0.9646198474541968, + 0.26349703447719236, + 0.2491343814658419, + -0.25307722276261885, + -0.9348176181964007 + ], + [ + 0.96930690164603, + 0.0889113188441642, + 0.22921367280937963, + 0.0357444411904534, + -0.9733754993123886, + 0.22641217339697262, + 0.24324157815915473, + -0.21126976764258049, + -0.9466776747842395 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + 0.0028205811977386475, + -0.010097704827785492, + 0.0022161826491355896, + -0.016634643077850342, + 0.03712628036737442, + 0.01685858890414238, + 1.0 + ], + [ + 0.025541633367538452, + -0.019887559115886688, + 0.02053520455956459, + 0.013954222202301025, + -0.008004583418369293, + 0.03257683664560318, + 1.0 + ], + [ + 0.02811504900455475, + -0.025399744510650635, + 0.013741917908191681, + 0.018680274486541748, + -0.025787167251110077, + 0.027516327798366547, + 1.0 + ], + [ + 0.03076171875, + -0.02578096091747284, + 0.001042291522026062, + -0.0076957643032073975, + -0.0867219939827919, + -0.01513306051492691, + 1.0 + ], + [ + 0.025016307830810547, + -0.013456691056489944, + -0.007168307900428772, + 0.0006601661443710327, + -0.08152109384536743, + -0.04898957163095474, + 1.0 + ], + [ + 0.022832006216049194, + -0.007703492417931557, + -0.0063368454575538635, + 0.007259339094161987, + -0.055266499519348145, + -0.06382540613412857, + 1.0 + ], + [ + 0.022776156663894653, + -0.00399653147906065, + -0.0170011967420578, + -0.015302345156669617, + -0.05644381046295166, + -0.0908525213599205, + 1.0 + ], + [ + 0.01671651005744934, + 0.004187826998531818, + -0.016732223331928253, + -0.011813223361968994, + -0.05277559161186218, + -0.05116493999958038, + 1.0 + ], + [ + 0.010439127683639526, + -0.002300566527992487, + -0.01594223454594612, + -0.002660110592842102, + -0.032154589891433716, + -0.038404688239097595, + 1.0 + ], + [ + 0.0057163238525390625, + -0.002690377179533243, + -0.010693652555346489, + -0.023882359266281128, + -0.028442203998565674, + -0.0013814270496368408, + 1.0 + ], + [ + 0.006956815719604492, + -0.007275773677974939, + -0.004043858498334885, + -0.04280804842710495, + -0.018782049417495728, + 0.002026185393333435, + 0.0 + ], + [ + 0.0006321072578430176, + 0.00011904072016477585, + -0.0002598688006401062, + 0.013120301067829132, + 0.02097943425178528, + -0.022598907351493835, + 0.0 + ], + [ + -0.017978042364120483, + 0.0004550125449895859, + 0.011337719857692719, + 0.044662490487098694, + 0.10596418380737305, + 0.028666093945503235, + 0.0 + ], + [ + -0.022928178310394287, + 0.02050940692424774, + 0.030060643330216408, + 0.06170418858528137, + 0.05787453055381775, + 0.07300915569067001, + 0.0 + ], + [ + -0.025813788175582886, + 0.015317117795348167, + 0.01304948702454567, + 0.05357697606086731, + 0.05983415246009827, + 0.031157106161117554, + 0.0 + ], + [ + -0.022851765155792236, + 0.015486788004636765, + -0.0009030625224113464, + 0.011803090572357178, + 0.013294607400894165, + 0.04248136281967163, + 0.0 + ], + [ + -0.022021353244781494, + 0.0012516938149929047, + -0.018598295748233795, + -0.041623055934906006, + 0.008963406085968018, + 0.02934807911515236, + 0.0 + ], + [ + -0.013495802879333496, + -0.0032015182077884674, + -0.01261376217007637, + -0.04481452703475952, + 0.006079941987991333, + 0.027748186141252518, + 0.0 + ], + [ + -0.006926357746124268, + -0.0060907527804374695, + -0.006179701536893845, + -0.03206606209278107, + -0.041277021169662476, + 0.02761714905500412, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9981546401977539 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9981546401977539 + ], + [ + 0.8214757442474365 + ], + [ + 0.6139277815818787 + ], + [ + 0.6099167466163635 + ], + [ + 0.6099167466163635 + ], + [ + 0.6099167466163635 + ], + [ + 0.6099167466163635 + ], + [ + 0.6099167466163635 + ], + [ + 0.6099167466163635 + ], + [ + 0.8353572487831116 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.20853297412395477, + 0.09138607978820801, + 0.059468548744916916 + ], + [ + 0.23407460749149323, + 0.07149852067232132, + 0.0800037533044815 + ], + [ + 0.262189656496048, + 0.046098776161670685, + 0.09374567121267319 + ], + [ + 0.292951375246048, + 0.020317815244197845, + 0.09478796273469925 + ], + [ + 0.3179676830768585, + 0.006861123722046614, + 0.08761965483427048 + ], + [ + 0.3407996892929077, + -0.0008423687540926039, + 0.08128280937671661 + ], + [ + 0.36357584595680237, + -0.004838900174945593, + 0.06428161263465881 + ], + [ + 0.3802923560142517, + -0.0006510732928290963, + 0.04754938930273056 + ], + [ + 0.39073148369789124, + -0.0029516397044062614, + 0.03160715475678444 + ], + [ + 0.3964478075504303, + -0.005642016883939505, + 0.02091350220143795 + ], + [ + 0.4034046232700348, + -0.012917790561914444, + 0.016869643703103065 + ], + [ + 0.4040367305278778, + -0.012798749841749668, + 0.01660977490246296 + ], + [ + 0.3860586881637573, + -0.012343737296760082, + 0.027947494760155678 + ], + [ + 0.36313050985336304, + 0.008165670558810234, + 0.058008138090372086 + ], + [ + 0.33731672167778015, + 0.0234827883541584, + 0.07105762511491776 + ], + [ + 0.3144649565219879, + 0.038969576358795166, + 0.07015456259250641 + ], + [ + 0.2924436032772064, + 0.04022127017378807, + 0.051556266844272614 + ], + [ + 0.2789478003978729, + 0.0370197519659996, + 0.03894250467419624 + ], + [ + 0.27202144265174866, + 0.030928999185562134, + 0.0327628031373024 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.994571531363905, + 0.08666548934455959, + 0.05758959938327079, + 0.0744137652236444, + -0.9792454324174584, + 0.18852314084691535, + 0.07273280240509042, + -0.18321428996181927, + -0.9803787346776189 + ], + [ + 0.9910094850425424, + 0.12078691197596773, + 0.05753887773518383, + 0.10670280166956221, + -0.972984025095553, + 0.2047354366608819, + 0.08071377002457934, + -0.19675520019599413, + -0.9771246995774149 + ], + [ + 0.9853079822349715, + 0.1539411005842909, + 0.07396159608165803, + 0.13360374679846954, + -0.9645269763011558, + 0.2276790522396825, + 0.10638711851281402, + -0.21445244120374768, + -0.9709232366548314 + ], + [ + 0.9743582877629952, + 0.15644397393888715, + 0.16171335778399176, + 0.11713249219787203, + -0.9663310293182101, + 0.2290945679153567, + 0.1921091000943994, + -0.20427830231088506, + -0.9598773196955447 + ], + [ + 0.9600696862636946, + 0.12556072214773306, + 0.2500014051385932, + 0.06794326515617485, + -0.9715181756740252, + 0.2270157418659153, + 0.2713851695237766, + -0.20096502031138144, + -0.9412561555569224 + ], + [ + 0.9459884078782246, + 0.07664258945573074, + 0.31501086591027666, + 0.006457326248104085, + -0.9759161877064845, + 0.2180502178631511, + 0.32413613667369384, + -0.20423885050098184, + -0.9237003068356588 + ], + [ + 0.9229502862457453, + -0.006735653629598624, + 0.3848602344865971, + -0.07773542858853327, + -0.9825069886825925, + 0.1692253536915222, + 0.3769880266812906, + -0.18610386390412698, + -0.907328705364765 + ], + [ + 0.8967839911074184, + -0.052545253654994, + 0.4393375349452652, + -0.12198167680538435, + -0.9838057132198617, + 0.13132703133668291, + 0.4253221647377391, + -0.1713631084985671, + -0.8886707721245882 + ], + [ + 0.8775102284769667, + -0.08614984437652533, + 0.4717562964415022, + -0.1538813698126938, + -0.9822948923932457, + 0.10685161862466482, + 0.45419855013294685, + -0.16635789338664492, + -0.8752306715175645 + ], + [ + 0.864222556570348, + -0.0947083215719502, + 0.4941150741882259, + -0.15278209835201687, + -0.985145584571705, + 0.07839520152425557, + 0.4793506056511941, + -0.14324283934597942, + -0.8658547717937088 + ], + [ + 0.8555095155030719, + -0.11181382954267587, + 0.5055701102781895, + -0.14945480011082476, + -0.9881715492018213, + 0.0343547969271534, + 0.49574865769614823, + -0.10495073544798988, + -0.8621012768354964 + ], + [ + 0.8619279188520749, + -0.12986847425386072, + 0.4901167637393212, + -0.17073217881860103, + -0.9845303279207814, + 0.03937710654748546, + 0.4774209733758924, + -0.11761893044562635, + -0.8707669041607189 + ], + [ + 0.9114007636127615, + -0.09645164478509044, + 0.40005715629685423, + -0.1535263901945396, + -0.9816519188533452, + 0.11308915830166501, + 0.3818092398042626, + -0.16448887631021072, + -0.9094861812970525 + ], + [ + 0.9406185305329832, + -0.01328271241962211, + 0.3392054680702382, + -0.0885610054015109, + -0.9742327246056696, + 0.20743082372127677, + 0.3277098233807545, + -0.22515365388594397, + -0.9175576841820701 + ], + [ + 0.9607914939007416, + 0.018338329640573036, + 0.2766647988342126, + -0.060338095652738, + -0.960069660497512, + 0.27317679477802187, + 0.27062708560116944, + -0.2791593678495961, + -0.9213202634702178 + ], + [ + 0.9659991252523066, + 0.058354094386888065, + 0.25187395593841094, + -0.019551282627018975, + -0.9549197377089835, + 0.2962195838924977, + 0.25780503749813893, + -0.2910723178216922, + -0.9213107339212384 + ], + [ + 0.9684287259537818, + 0.07389498776102094, + 0.23808681931457928, + 0.0088239854468906, + -0.9646198474541968, + 0.26349703447719236, + 0.2491343814658419, + -0.25307722276261885, + -0.9348176181964007 + ], + [ + 0.96930690164603, + 0.0889113188441642, + 0.22921367280937963, + 0.0357444411904534, + -0.9733754993123886, + 0.22641217339697262, + 0.24324157815915473, + -0.21126976764258049, + -0.9466776747842395 + ], + [ + 0.9571091863377323, + 0.11595801317868468, + 0.2655103474585807, + 0.06179693506033304, + -0.9770310339529549, + 0.2039399360350228, + 0.2830603190930746, + -0.17878506054050547, + -0.9422912277435542 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006606.json b/json/chunk-0006/episode_0006606.json new file mode 100644 index 0000000000000000000000000000000000000000..cbe73a5709815ef389d5a03fe0c33476d0b1ecd4 --- /dev/null +++ b/json/chunk-0006/episode_0006606.json @@ -0,0 +1,5182 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 85, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nSweep into pile." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006606.mp4", + "start": 0, + "end": 85, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.36049872636795044, + -0.15348051488399506, + 0.0795457512140274, + -0.10505915433168411, + -0.19129416346549988, + 0.20986123383045197, + 0.0, + 0.9994885921478271 + ], + [ + 0.35682088136672974, + -0.151870459318161, + 0.0642072856426239, + -0.08043353259563446, + -0.1559746414422989, + 0.210120290517807, + 0.0, + 0.9994885921478271 + ], + [ + 0.35955846309661865, + -0.15266138315200806, + 0.05757974833250046, + -0.07673816382884979, + -0.15148630738258362, + 0.22160202264785767, + 0.0, + 0.9994885921478271 + ], + [ + 0.3592913746833801, + -0.16245749592781067, + 0.05455833673477173, + -0.14069952070713043, + -0.1516772359609604, + 0.1943097561597824, + 0.0, + 0.9994885921478271 + ], + [ + 0.3598049581050873, + -0.16716191172599792, + 0.055350955575704575, + -0.1778969019651413, + -0.1459624171257019, + 0.18266354501247406, + 0.0, + 0.9994885921478271 + ], + [ + 0.36245548725128174, + -0.1657736599445343, + 0.053916145116090775, + -0.17286217212677002, + -0.15122295916080475, + 0.20137162506580353, + 0.0, + 0.9994885921478271 + ], + [ + 0.3663598895072937, + -0.16714268922805786, + 0.040464289486408234, + -0.14526307582855225, + -0.1444193422794342, + 0.20540449023246765, + 0.0, + 0.9994885921478271 + ], + [ + 0.3724752962589264, + -0.16915211081504822, + 0.03081594780087471, + -0.1132907047867775, + -0.14932720363140106, + 0.2089819312095642, + 0.0, + 0.9515043497085571 + ], + [ + 0.3725539445877075, + -0.1689002960920334, + 0.01846642978489399, + -0.059264928102493286, + -0.13460788130760193, + 0.20992054045200348, + 0.0, + 0.6971942782402039 + ], + [ + 0.3696366846561432, + -0.16786344349384308, + 0.01930057629942894, + -0.042928241193294525, + -0.11619936674833298, + 0.20826154947280884, + 0.0, + 0.4077054560184479 + ], + [ + 0.3690868020057678, + -0.1590624302625656, + 0.01661580428481102, + -0.04144170507788658, + -0.09523835778236389, + 0.21232204139232635, + 0.0, + 0.3823249042034149 + ], + [ + 0.36931291222572327, + -0.140363410115242, + 0.01580415666103363, + -0.027604321017861366, + -0.07761023938655853, + 0.21617643535137177, + 0.0, + 0.3823249042034149 + ], + [ + 0.3691347539424896, + -0.10888770967721939, + 0.013981752097606659, + -0.014694190584123135, + -0.09870035201311111, + 0.22907012701034546, + 0.0, + 0.3814634680747986 + ], + [ + 0.36516526341438293, + -0.07941097766160965, + 0.012583024799823761, + -0.004768413491547108, + -0.11564870178699493, + 0.20698904991149902, + 0.0, + 0.3814634680747986 + ], + [ + 0.35453110933303833, + -0.036723073571920395, + 0.01280396617949009, + 0.02090930938720703, + -0.12007850408554077, + 0.19212877750396729, + 0.0, + 0.3814634680747986 + ], + [ + 0.3479761779308319, + -0.006367187015712261, + 0.011962064541876316, + 0.05251254141330719, + -0.11514560133218765, + 0.14846794307231903, + 0.0, + 0.3814634680747986 + ], + [ + 0.3465411961078644, + 0.04184999316930771, + 0.011943964287638664, + 0.11233590543270111, + -0.11588792502880096, + 0.13067476451396942, + 0.0, + 0.3814634680747986 + ], + [ + 0.34328433871269226, + 0.09540930390357971, + 0.012000523507595062, + 0.15791106224060059, + -0.12157748639583588, + 0.15018342435359955, + 0.0, + 0.3814634680747986 + ], + [ + 0.33786407113075256, + 0.13938008248806, + 0.012867146171629429, + 0.20066359639167786, + -0.13177505135536194, + 0.13758167624473572, + 0.0, + 0.3814634680747986 + ], + [ + 0.33159247040748596, + 0.1544225662946701, + 0.014351403340697289, + 0.19596286118030548, + -0.119965560734272, + 0.09602214395999908, + 0.0, + 0.3814634680747986 + ], + [ + 0.31981948018074036, + 0.14204126596450806, + 0.018513785675168037, + 0.06974226236343384, + -0.07515790313482285, + 0.14561642706394196, + 0.0, + 0.3814634680747986 + ], + [ + 0.32512804865837097, + 0.1071397066116333, + 0.04271256923675537, + -0.07339136302471161, + -0.0870361179113388, + 0.2218237817287445, + 0.0, + 0.3814634680747986 + ], + [ + 0.333880215883255, + 0.056918926537036896, + 0.07260563969612122, + -0.14027287065982819, + -0.14304494857788086, + 0.22956645488739014, + 0.0, + 0.3814634680747986 + ], + [ + 0.336022287607193, + 0.01392938382923603, + 0.08573617786169052, + -0.14457817375659943, + -0.15298503637313843, + 0.24606695771217346, + 0.0, + 0.3814634680747986 + ], + [ + 0.3347446322441101, + -0.0406462661921978, + 0.088436558842659, + -0.16973547637462616, + -0.1407010406255722, + 0.23913079500198364, + 0.0, + 0.3814634680747986 + ], + [ + 0.3334393799304962, + -0.07007622718811035, + 0.08374207466840744, + -0.17698869109153748, + -0.16256192326545715, + 0.2579476833343506, + 0.0, + 0.3814634680747986 + ], + [ + 0.3298822343349457, + -0.10179202258586884, + 0.07386903464794159, + -0.1869097799062729, + -0.17323744297027588, + 0.2682417035102844, + 0.0, + 0.3814634680747986 + ], + [ + 0.32592207193374634, + -0.12747161090373993, + 0.05709216371178627, + -0.17908227443695068, + -0.18345767259597778, + 0.2652904689311981, + 0.0, + 0.3814634680747986 + ], + [ + 0.3242999315261841, + -0.14517825841903687, + 0.03933041915297508, + -0.1831337958574295, + -0.1795158088207245, + 0.2692308723926544, + 0.0, + 0.3814634680747986 + ], + [ + 0.32291465997695923, + -0.14884305000305176, + 0.022450430318713188, + -0.18119673430919647, + -0.19734156131744385, + 0.2901345491409302, + 0.0, + 0.3814634680747986 + ], + [ + 0.3235264718532562, + -0.14600491523742676, + 0.017997197806835175, + -0.16505174338817596, + -0.23649069666862488, + 0.2856771945953369, + 0.0, + 0.3814634680747986 + ], + [ + 0.3204216957092285, + -0.13747268915176392, + 0.015016453340649605, + -0.1623634397983551, + -0.27489298582077026, + 0.26577383279800415, + 0.0, + 0.3814634680747986 + ], + [ + 0.3152468800544739, + -0.11870434880256653, + 0.013628637418150902, + -0.13902948796749115, + -0.28044790029525757, + 0.23772016167640686, + 0.0, + 0.3814634680747986 + ], + [ + 0.31052806973457336, + -0.0831294134259224, + 0.013784011825919151, + -0.08614056557416916, + -0.2820587158203125, + 0.20078738033771515, + 0.0, + 0.3814634680747986 + ], + [ + 0.3124762177467346, + -0.05373376980423927, + 0.012781561352312565, + -0.00029572949279099703, + -0.286742240190506, + 0.15587924420833588, + 0.0, + 0.3814634680747986 + ], + [ + 0.318464994430542, + -0.027603542432188988, + 0.011377152055501938, + 0.07501134276390076, + -0.3108713626861572, + 0.11624311655759811, + 0.0, + 0.3814634680747986 + ], + [ + 0.32178130745887756, + 0.004261962603777647, + 0.012001633644104004, + 0.14133432507514954, + -0.32416608929634094, + 0.1052616611123085, + 0.0, + 0.3806030750274658 + ], + [ + 0.3191893994808197, + 0.034194089472293854, + 0.011642493307590485, + 0.21110688149929047, + -0.31112900376319885, + 0.056891169399023056, + 0.0, + 0.3806030750274658 + ], + [ + 0.3143782615661621, + 0.06742716580629349, + 0.010364137589931488, + 0.27883151173591614, + -0.3130348324775696, + 0.023231295868754387, + 0.0, + 0.3806030750274658 + ], + [ + 0.3048045337200165, + 0.10975807905197144, + 0.010924801230430603, + 0.3507896959781647, + -0.2932734787464142, + 0.004983607213944197, + 0.0, + 0.3814634680747986 + ], + [ + 0.29387161135673523, + 0.14158105850219727, + 0.012330250814557076, + 0.38014888763427734, + -0.2547580897808075, + 0.0017235121922567487, + 0.0, + 0.3806030750274658 + ], + [ + 0.29509636759757996, + 0.1424310952425003, + 0.014011858031153679, + 0.3309786915779114, + -0.2217203974723816, + 0.04178379103541374, + 0.0, + 0.3806030750274658 + ], + [ + 0.3008592128753662, + 0.11056900769472122, + 0.019946370273828506, + 0.15884774923324585, + -0.1424570232629776, + 0.16852277517318726, + 0.0, + 0.3806030750274658 + ], + [ + 0.32142388820648193, + 0.060192517936229706, + 0.033384058624506, + 0.06549149751663208, + -0.12059740722179413, + 0.17813768982887268, + 0.0, + 0.3806030750274658 + ], + [ + 0.3427862226963043, + 0.015808893367648125, + 0.05218509957194328, + 0.031010756269097328, + -0.14138676226139069, + 0.18297655880451202, + 0.0, + 0.3806030750274658 + ], + [ + 0.3548523783683777, + -0.009956919588148594, + 0.04669621214270592, + 0.0328134261071682, + -0.12627799808979034, + 0.20489662885665894, + 0.0, + 0.3806030750274658 + ], + [ + 0.37602975964546204, + -0.04507264122366905, + 0.03367619216442108, + 0.04112623631954193, + -0.1368132382631302, + 0.1928146630525589, + 0.0, + 0.3806030750274658 + ], + [ + 0.3897934556007385, + -0.043689437210559845, + 0.02160259149968624, + 0.058426979929208755, + -0.14106385409832, + 0.23259422183036804, + 0.0, + 0.3806030750274658 + ], + [ + 0.40111786127090454, + -0.04252493381500244, + 0.018536973744630814, + 0.07019302994012833, + -0.16778676211833954, + 0.241989865899086, + 0.0, + 0.3806030750274658 + ], + [ + 0.41051650047302246, + -0.036774370819330215, + 0.017547335475683212, + 0.07418189197778702, + -0.1857614666223526, + 0.24692754447460175, + 0.0, + 0.3806030750274658 + ], + [ + 0.4167115092277527, + -0.024653224274516106, + 0.01782030612230301, + 0.07327491790056229, + -0.17732729017734528, + 0.2554458975791931, + 0.0, + 0.3806030750274658 + ], + [ + 0.4234143793582916, + -0.0071469927206635475, + 0.016292236745357513, + 0.07898452132940292, + -0.15904219448566437, + 0.24344739317893982, + 0.0, + 0.3806030750274658 + ], + [ + 0.4290080666542053, + 0.03508592024445534, + 0.014941716566681862, + 0.069989413022995, + -0.09179554879665375, + 0.2696478068828583, + 0.0, + 0.3806030750274658 + ], + [ + 0.4305267333984375, + 0.0690748319029808, + 0.013408239930868149, + 0.0634918212890625, + -0.02509935200214386, + 0.2705234885215759, + 0.0, + 0.3806030750274658 + ], + [ + 0.42793866991996765, + 0.09743759036064148, + 0.012055983766913414, + 0.0700133889913559, + -0.025720247998833656, + 0.28514644503593445, + 0.0, + 0.3806030750274658 + ], + [ + 0.42190301418304443, + 0.12040436267852783, + 0.01183850783854723, + 0.08516161888837814, + -0.02439655177295208, + 0.28033024072647095, + 0.0, + 0.3806030750274658 + ], + [ + 0.40946221351623535, + 0.15304072201251984, + 0.013388105668127537, + 0.1427457332611084, + -0.06865378469228745, + 0.27755096554756165, + 0.0, + 0.3806030750274658 + ], + [ + 0.40071341395378113, + 0.15942971408367157, + 0.016497531905770302, + 0.21777355670928955, + -0.12157205492258072, + 0.20697487890720367, + 0.0, + 0.3806030750274658 + ], + [ + 0.3891199827194214, + 0.1447364091873169, + 0.01648997887969017, + 0.16214178502559662, + -0.09649933129549026, + 0.2155359536409378, + 0.0, + 0.3806030750274658 + ], + [ + 0.37466374039649963, + 0.1146882176399231, + 0.020924178883433342, + -0.0005586591432802379, + -0.013859288766980171, + 0.2415878027677536, + 0.0, + 0.3806030750274658 + ], + [ + 0.35799139738082886, + 0.0801413431763649, + 0.04715250805020332, + -0.11503048986196518, + -0.009326045401394367, + 0.2330797016620636, + 0.0, + 0.3806030750274658 + ], + [ + 0.340051531791687, + 0.044491540640592575, + 0.05886858329176903, + -0.14035901427268982, + -0.030182864516973495, + 0.1959226131439209, + 0.0, + 0.3806030750274658 + ], + [ + 0.331280916929245, + 0.020345013588666916, + 0.04702707380056381, + -0.12453621625900269, + -0.03476832062005997, + 0.17814701795578003, + 0.0, + 0.3806030750274658 + ], + [ + 0.325716495513916, + 0.003674329724162817, + 0.03035878576338291, + -0.09251069277524948, + -0.06628139317035675, + 0.17057622969150543, + 0.0, + 0.3806030750274658 + ], + [ + 0.32285213470458984, + -0.00037127811810933053, + 0.021604275330901146, + -0.08264192938804626, + -0.08885424584150314, + 0.18712769448757172, + 0.0, + 0.3806030750274658 + ], + [ + 0.323194295167923, + 0.00045481108827516437, + 0.02102522924542427, + -0.08159665018320084, + -0.0985737219452858, + 0.18403199315071106, + 0.0, + 0.3806030750274658 + ], + [ + 0.3214794397354126, + 0.012130679562687874, + 0.02111503668129444, + -0.07503456622362137, + -0.09028647094964981, + 0.19051264226436615, + 0.0, + 0.3806030750274658 + ], + [ + 0.32104793190956116, + 0.03916417434811592, + 0.020596463233232498, + -0.040690626949071884, + -0.10721816122531891, + 0.19986462593078613, + 0.0, + 0.3806030750274658 + ], + [ + 0.316546767950058, + 0.05358722805976868, + 0.014728638343513012, + -6.839436537120491e-05, + -0.13192661106586456, + 0.17531363666057587, + 0.0, + 0.3806030750274658 + ], + [ + 0.3152739405632019, + 0.0746244266629219, + 0.014231349341571331, + 0.03758445754647255, + -0.1553562879562378, + 0.1679275780916214, + 0.0, + 0.3806030750274658 + ], + [ + 0.3119942247867584, + 0.09811586141586304, + 0.015928134322166443, + 0.08028198033571243, + -0.16188739240169525, + 0.1646277904510498, + 0.0, + 0.3806030750274658 + ], + [ + 0.3101017475128174, + 0.12014048546552658, + 0.016285903751850128, + 0.11799448728561401, + -0.1457643210887909, + 0.1461377739906311, + 0.0, + 0.3806030750274658 + ], + [ + 0.3101976215839386, + 0.1397060751914978, + 0.018853791058063507, + 0.14205507934093475, + -0.15258380770683289, + 0.15141136944293976, + 0.0, + 0.3806030750274658 + ], + [ + 0.30837681889533997, + 0.12040594220161438, + 0.019017696380615234, + 0.07149853557348251, + -0.14669090509414673, + 0.18762026727199554, + 0.0, + 0.3806030750274658 + ], + [ + 0.318489134311676, + 0.07153179496526718, + 0.037504903972148895, + -0.05071643367409706, + -0.1543142944574356, + 0.22800768911838531, + 0.0, + 0.3806030750274658 + ], + [ + 0.3350653648376465, + 0.025162113830447197, + 0.05680573359131813, + -0.12077449262142181, + -0.12631599605083466, + 0.2675645053386688, + 0.0, + 0.3806030750274658 + ], + [ + 0.35369348526000977, + -0.019815512001514435, + 0.07640525698661804, + -0.14072288572788239, + -0.15506480634212494, + 0.29109108448028564, + 0.0, + 0.3806030750274658 + ], + [ + 0.3641430735588074, + -0.05916006118059158, + 0.07703603804111481, + -0.12836287915706635, + -0.16660061478614807, + 0.2959264814853668, + 0.0, + 0.3806030750274658 + ], + [ + 0.3753037750720978, + -0.09462372213602066, + 0.08129023015499115, + -0.11538299173116684, + -0.18374724686145782, + 0.2705290913581848, + 0.0, + 0.3806030750274658 + ], + [ + 0.38341835141181946, + -0.1251380890607834, + 0.07456820458173752, + -0.10666488111019135, + -0.15608197450637817, + 0.25576329231262207, + 0.0, + 0.3806030750274658 + ], + [ + 0.3821242153644562, + -0.1431550532579422, + 0.06126214563846588, + -0.08487716317176819, + -0.13525091111660004, + 0.21213074028491974, + 0.0, + 0.3806030750274658 + ], + [ + 0.38247454166412354, + -0.1499696522951126, + 0.04910849779844284, + -0.06428951025009155, + -0.1501740962266922, + 0.1799413412809372, + 0.0, + 0.3806030750274658 + ], + [ + 0.3742361068725586, + -0.15699271857738495, + 0.035016968846321106, + -0.036754656583070755, + -0.17625924944877625, + 0.12297289073467255, + 0.0, + 0.44298648834228516 + ], + [ + 0.3740665912628174, + -0.14976060390472412, + 0.025050608441233635, + 0.04313390702009201, + -0.2005116045475006, + 0.05603872612118721, + 0.0, + 0.7555288672447205 + ], + [ + 0.3706657290458679, + -0.14686624705791473, + 0.03144729137420654, + 0.08036312460899353, + -0.1538112312555313, + 0.020852316170930862, + 0.0, + 0.9968144297599792 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9515043497085571 + ], + [ + 0.6971942782402039 + ], + [ + 0.4077054560184479 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3814634680747986 + ], + [ + 0.3814634680747986 + ], + [ + 0.3814634680747986 + ], + [ + 0.3814634680747986 + ], + [ + 0.3814634680747986 + ], + [ + 0.3814634680747986 + ], + [ + 0.3814634680747986 + ], + [ + 0.3814634680747986 + ], + [ + 0.3814634680747986 + ], + [ + 0.3814634680747986 + ], + [ + 0.3814634680747986 + ], + [ + 0.3814634680747986 + ], + [ + 0.3814634680747986 + ], + [ + 0.3814634680747986 + ], + [ + 0.3814634680747986 + ], + [ + 0.3814634680747986 + ], + [ + 0.3814634680747986 + ], + [ + 0.3814634680747986 + ], + [ + 0.3814634680747986 + ], + [ + 0.3814634680747986 + ], + [ + 0.3814634680747986 + ], + [ + 0.3814634680747986 + ], + [ + 0.3814634680747986 + ], + [ + 0.3814634680747986 + ], + [ + 0.3806030750274658 + ], + [ + 0.3806030750274658 + ], + [ + 0.3806030750274658 + ], + [ + 0.3814634680747986 + ], + [ + 0.3806030750274658 + ], + [ + 0.3806030750274658 + ], + [ + 0.3806030750274658 + ], + [ + 0.3806030750274658 + ], + [ + 0.3806030750274658 + ], + [ + 0.3806030750274658 + ], + [ + 0.3806030750274658 + ], + [ + 0.3806030750274658 + ], + [ + 0.3806030750274658 + ], + [ + 0.3806030750274658 + ], + [ + 0.3806030750274658 + ], + [ + 0.3806030750274658 + ], + [ + 0.3806030750274658 + ], + [ + 0.3806030750274658 + ], + [ + 0.3806030750274658 + ], + [ + 0.3806030750274658 + ], + [ + 0.3806030750274658 + ], + [ + 0.3806030750274658 + ], + [ + 0.3806030750274658 + ], + [ + 0.3806030750274658 + ], + [ + 0.3806030750274658 + ], + [ + 0.3806030750274658 + ], + [ + 0.3806030750274658 + ], + [ + 0.3806030750274658 + ], + [ + 0.3806030750274658 + ], + [ + 0.3806030750274658 + ], + [ + 0.3806030750274658 + ], + [ + 0.3806030750274658 + ], + [ + 0.3806030750274658 + ], + [ + 0.3806030750274658 + ], + [ + 0.3806030750274658 + ], + [ + 0.3806030750274658 + ], + [ + 0.3806030750274658 + ], + [ + 0.3806030750274658 + ], + [ + 0.3806030750274658 + ], + [ + 0.3806030750274658 + ], + [ + 0.3806030750274658 + ], + [ + 0.3806030750274658 + ], + [ + 0.3806030750274658 + ], + [ + 0.3806030750274658 + ], + [ + 0.3806030750274658 + ], + [ + 0.3806030750274658 + ], + [ + 0.44298648834228516 + ], + [ + 0.7555288672447205 + ], + [ + 0.9968144297599792 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.36049872636795044, + -0.15348051488399506, + 0.0795457512140274 + ], + [ + 0.35682088136672974, + -0.151870459318161, + 0.0642072856426239 + ], + [ + 0.35955846309661865, + -0.15266138315200806, + 0.05757974833250046 + ], + [ + 0.3592913746833801, + -0.16245749592781067, + 0.05455833673477173 + ], + [ + 0.3598049581050873, + -0.16716191172599792, + 0.055350955575704575 + ], + [ + 0.36245548725128174, + -0.1657736599445343, + 0.053916145116090775 + ], + [ + 0.3663598895072937, + -0.16714268922805786, + 0.040464289486408234 + ], + [ + 0.3724752962589264, + -0.16915211081504822, + 0.03081594780087471 + ], + [ + 0.3725539445877075, + -0.1689002960920334, + 0.01846642978489399 + ], + [ + 0.3696366846561432, + -0.16786344349384308, + 0.01930057629942894 + ], + [ + 0.3690868020057678, + -0.1590624302625656, + 0.01661580428481102 + ], + [ + 0.36931291222572327, + -0.140363410115242, + 0.01580415666103363 + ], + [ + 0.3691347539424896, + -0.10888770967721939, + 0.013981752097606659 + ], + [ + 0.36516526341438293, + -0.07941097766160965, + 0.012583024799823761 + ], + [ + 0.35453110933303833, + -0.036723073571920395, + 0.01280396617949009 + ], + [ + 0.3479761779308319, + -0.006367187015712261, + 0.011962064541876316 + ], + [ + 0.3465411961078644, + 0.04184999316930771, + 0.011943964287638664 + ], + [ + 0.34328433871269226, + 0.09540930390357971, + 0.012000523507595062 + ], + [ + 0.33786407113075256, + 0.13938008248806, + 0.012867146171629429 + ], + [ + 0.33159247040748596, + 0.1544225662946701, + 0.014351403340697289 + ], + [ + 0.31981948018074036, + 0.14204126596450806, + 0.018513785675168037 + ], + [ + 0.32512804865837097, + 0.1071397066116333, + 0.04271256923675537 + ], + [ + 0.333880215883255, + 0.056918926537036896, + 0.07260563969612122 + ], + [ + 0.336022287607193, + 0.01392938382923603, + 0.08573617786169052 + ], + [ + 0.3347446322441101, + -0.0406462661921978, + 0.088436558842659 + ], + [ + 0.3334393799304962, + -0.07007622718811035, + 0.08374207466840744 + ], + [ + 0.3298822343349457, + -0.10179202258586884, + 0.07386903464794159 + ], + [ + 0.32592207193374634, + -0.12747161090373993, + 0.05709216371178627 + ], + [ + 0.3242999315261841, + -0.14517825841903687, + 0.03933041915297508 + ], + [ + 0.32291465997695923, + -0.14884305000305176, + 0.022450430318713188 + ], + [ + 0.3235264718532562, + -0.14600491523742676, + 0.017997197806835175 + ], + [ + 0.3204216957092285, + -0.13747268915176392, + 0.015016453340649605 + ], + [ + 0.3152468800544739, + -0.11870434880256653, + 0.013628637418150902 + ], + [ + 0.31052806973457336, + -0.0831294134259224, + 0.013784011825919151 + ], + [ + 0.3124762177467346, + -0.05373376980423927, + 0.012781561352312565 + ], + [ + 0.318464994430542, + -0.027603542432188988, + 0.011377152055501938 + ], + [ + 0.32178130745887756, + 0.004261962603777647, + 0.012001633644104004 + ], + [ + 0.3191893994808197, + 0.034194089472293854, + 0.011642493307590485 + ], + [ + 0.3143782615661621, + 0.06742716580629349, + 0.010364137589931488 + ], + [ + 0.3048045337200165, + 0.10975807905197144, + 0.010924801230430603 + ], + [ + 0.29387161135673523, + 0.14158105850219727, + 0.012330250814557076 + ], + [ + 0.29509636759757996, + 0.1424310952425003, + 0.014011858031153679 + ], + [ + 0.3008592128753662, + 0.11056900769472122, + 0.019946370273828506 + ], + [ + 0.32142388820648193, + 0.060192517936229706, + 0.033384058624506 + ], + [ + 0.3427862226963043, + 0.015808893367648125, + 0.05218509957194328 + ], + [ + 0.3548523783683777, + -0.009956919588148594, + 0.04669621214270592 + ], + [ + 0.37602975964546204, + -0.04507264122366905, + 0.03367619216442108 + ], + [ + 0.3897934556007385, + -0.043689437210559845, + 0.02160259149968624 + ], + [ + 0.40111786127090454, + -0.04252493381500244, + 0.018536973744630814 + ], + [ + 0.41051650047302246, + -0.036774370819330215, + 0.017547335475683212 + ], + [ + 0.4167115092277527, + -0.024653224274516106, + 0.01782030612230301 + ], + [ + 0.4234143793582916, + -0.0071469927206635475, + 0.016292236745357513 + ], + [ + 0.4290080666542053, + 0.03508592024445534, + 0.014941716566681862 + ], + [ + 0.4305267333984375, + 0.0690748319029808, + 0.013408239930868149 + ], + [ + 0.42793866991996765, + 0.09743759036064148, + 0.012055983766913414 + ], + [ + 0.42190301418304443, + 0.12040436267852783, + 0.01183850783854723 + ], + [ + 0.40946221351623535, + 0.15304072201251984, + 0.013388105668127537 + ], + [ + 0.40071341395378113, + 0.15942971408367157, + 0.016497531905770302 + ], + [ + 0.3891199827194214, + 0.1447364091873169, + 0.01648997887969017 + ], + [ + 0.37466374039649963, + 0.1146882176399231, + 0.020924178883433342 + ], + [ + 0.35799139738082886, + 0.0801413431763649, + 0.04715250805020332 + ], + [ + 0.340051531791687, + 0.044491540640592575, + 0.05886858329176903 + ], + [ + 0.331280916929245, + 0.020345013588666916, + 0.04702707380056381 + ], + [ + 0.325716495513916, + 0.003674329724162817, + 0.03035878576338291 + ], + [ + 0.32285213470458984, + -0.00037127811810933053, + 0.021604275330901146 + ], + [ + 0.323194295167923, + 0.00045481108827516437, + 0.02102522924542427 + ], + [ + 0.3214794397354126, + 0.012130679562687874, + 0.02111503668129444 + ], + [ + 0.32104793190956116, + 0.03916417434811592, + 0.020596463233232498 + ], + [ + 0.316546767950058, + 0.05358722805976868, + 0.014728638343513012 + ], + [ + 0.3152739405632019, + 0.0746244266629219, + 0.014231349341571331 + ], + [ + 0.3119942247867584, + 0.09811586141586304, + 0.015928134322166443 + ], + [ + 0.3101017475128174, + 0.12014048546552658, + 0.016285903751850128 + ], + [ + 0.3101976215839386, + 0.1397060751914978, + 0.018853791058063507 + ], + [ + 0.30837681889533997, + 0.12040594220161438, + 0.019017696380615234 + ], + [ + 0.318489134311676, + 0.07153179496526718, + 0.037504903972148895 + ], + [ + 0.3350653648376465, + 0.025162113830447197, + 0.05680573359131813 + ], + [ + 0.35369348526000977, + -0.019815512001514435, + 0.07640525698661804 + ], + [ + 0.3641430735588074, + -0.05916006118059158, + 0.07703603804111481 + ], + [ + 0.3753037750720978, + -0.09462372213602066, + 0.08129023015499115 + ], + [ + 0.38341835141181946, + -0.1251380890607834, + 0.07456820458173752 + ], + [ + 0.3821242153644562, + -0.1431550532579422, + 0.06126214563846588 + ], + [ + 0.38247454166412354, + -0.1499696522951126, + 0.04910849779844284 + ], + [ + 0.3742361068725586, + -0.15699271857738495, + 0.035016968846321106 + ], + [ + 0.3740665912628174, + -0.14976060390472412, + 0.025050608441233635 + ], + [ + 0.3706657290458679, + -0.14686624705791473, + 0.03144729137420654 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9602190416611023, + 0.18767487069615613, + 0.20677895188005788, + 0.2045241385607932, + -0.9768207586955207, + -0.06317501189135419, + 0.19012961046980467, + 0.10295313638101741, + -0.9763459340479234 + ], + [ + 0.9661334242714457, + 0.1956964076543406, + 0.1681937054015906, + 0.20604553914412277, + -0.97744722916718, + -0.04628336625841291, + 0.1553429827972241, + 0.07937146984016842, + -0.9846668103836306 + ], + [ + 0.9643745067693621, + 0.20785981095568196, + 0.16363407249964027, + 0.21727565808593619, + -0.9752184089730206, + -0.041717420862915446, + 0.15090758462275086, + 0.07578491795600512, + -0.985638649360773 + ], + [ + 0.969916284287038, + 0.17039089176359554, + 0.17386588359661734, + 0.19087247673584465, + -0.975576678033279, + -0.10870990250329789, + 0.15109632391143826, + 0.13862571652315725, + -0.9787506381192767 + ], + [ + 0.9729066434618057, + 0.1534729549419096, + 0.17291244954971138, + 0.17971785705828003, + -0.9725192177914564, + -0.14801304969722567, + 0.14544468007549302, + 0.17507833426124536, + -0.9737522384621486 + ], + [ + 0.9686113469490789, + 0.1716444085370644, + 0.1798061611276226, + 0.19773079050153283, + -0.9703735009531237, + -0.13884452864847474, + 0.15064724706787763, + 0.1700396002875199, + -0.9738541683871001 + ], + [ + 0.968787043928645, + 0.18142042238326428, + 0.16893280870889466, + 0.20183983382258602, + -0.9729168863763388, + -0.11266505086423892, + 0.14391784114024525, + 0.14324581161782243, + -0.9791671422466559 + ], + [ + 0.9673561590494824, + 0.1896815108056295, + 0.16805649647522403, + 0.20515530345569227, + -0.9754608249410134, + -0.07992171463001148, + 0.1487728571112215, + 0.11179044442121176, + -0.9825322048274411 + ], + [ + 0.9692000880337526, + 0.2002420329807625, + 0.14336777037778609, + 0.20649716638052432, + -0.977986753596767, + -0.03001383124612431, + 0.13420174973591226, + 0.05869444621928037, + -0.9892142600826334 + ], + [ + 0.971793996176964, + 0.2017008681291234, + 0.12220142712081697, + 0.20536503475194423, + -0.97851919404776, + -0.018038552643008694, + 0.11593805024986018, + 0.04262565748560172, + -0.9923413837123697 + ], + [ + 0.9731142443177568, + 0.2066981561490133, + 0.10160974239943256, + 0.20977538770509432, + -0.9775351461133356, + -0.020477422356265918, + 0.09509444893924295, + 0.041242094488248976, + -0.9946135608482141 + ], + [ + 0.9737846278711988, + 0.21232476405869605, + 0.08161919559252387, + 0.21385096009729992, + -0.9768116343329727, + -0.010334306808425888, + 0.07753235058486657, + 0.027517732449580327, + -0.9966100084855758 + ], + [ + 0.9691381714223471, + 0.22563743132507802, + 0.09929226695553964, + 0.22596689603375775, + -0.974101607815575, + 0.008063469971470942, + 0.09854017753697406, + 0.014622148820628192, + -0.9950256409635126 + ], + [ + 0.9721168690877695, + 0.20497333546931845, + 0.1139066485398226, + 0.20414135107776687, + -0.9787560967396716, + 0.019047621244311665, + 0.11539108117673719, + 0.004736543202069787, + -0.9933088460007585 + ], + [ + 0.974531700961829, + 0.19336565715164858, + 0.11356798164427909, + 0.18957395557662163, + -0.9809071617030021, + 0.04339188272930264, + 0.11979014645402733, + -0.020757233776964368, + -0.9925822172789773 + ], + [ + 0.9824497804488196, + 0.1536833181923397, + 0.1057065116511698, + 0.14694356714945306, + -0.9867435183381501, + 0.06888263272439227, + 0.11489132678083676, + -0.052140835503867736, + -0.9920087279371579 + ], + [ + 0.9848238885194387, + 0.14233331884703848, + 0.09931331706996724, + 0.12942917604787235, + -0.9835359049866255, + 0.12611586731933763, + 0.11562870313646798, + -0.11134787805848471, + -0.9870317386299449 + ], + [ + 0.9814452950889703, + 0.1666149183039578, + 0.09489258003811019, + 0.14851508677383535, + -0.9735881433165833, + 0.17340529459600662, + 0.12127819980641136, + -0.1560948307662145, + -0.9802683316621947 + ], + [ + 0.9819627097613188, + 0.1603380392382285, + 0.10020453987444217, + 0.13595900329334068, + -0.9670828677976958, + 0.21509504000712423, + 0.13139401075273469, + -0.19759159897481796, + -0.9714387134312105 + ], + [ + 0.9882392817626584, + 0.11723496227489653, + 0.09817884498010918, + 0.09518557957527372, + -0.9741080947870949, + 0.20506858635874686, + 0.11967801561750577, + -0.19331162223378906, + -0.9738109617822118 + ], + [ + 0.9866234999564149, + 0.1499267428922593, + 0.06400032108882035, + 0.14469273271026042, + -0.9862521222834245, + 0.0798170683016963, + 0.07508716557835203, + -0.0694890139314043, + -0.9947528308621443 + ], + [ + 0.9718053177976488, + 0.2131990950736555, + 0.10070039801304251, + 0.21917629316985435, + -0.974274162759037, + -0.052455774634443425, + 0.08692627228020783, + 0.07304794069617476, + -0.9935329997274953 + ], + [ + 0.9638195963999358, + 0.20591174419512717, + 0.16926942783026586, + 0.22523123809002996, + -0.9687362152121153, + -0.10402420259217864, + 0.14255761987314927, + 0.1383853277592205, + -0.9800647050460882 + ], + [ + 0.9585503779452901, + 0.21975573532898637, + 0.18135211531977968, + 0.24074628082855523, + -0.9651071690435916, + -0.10300184720617037, + 0.15238897994330364, + 0.1423923068521658, + -0.9780092176156412 + ], + [ + 0.9619433497880139, + 0.21043945476007608, + 0.1742992474995138, + 0.2345175945690634, + -0.9631935899341348, + -0.13137582025370712, + 0.14023726193902708, + 0.16725233687478283, + -0.9758894231283425 + ], + [ + 0.9541676254587638, + 0.22355865675439227, + 0.19896147746877083, + 0.25173344922233787, + -0.9590799028706276, + -0.12959942303996605, + 0.16184688155478624, + 0.17374483272845634, + -0.9714001853155844 + ], + [ + 0.9498055677255919, + 0.22953501363942802, + 0.21256307541766045, + 0.26106933441399643, + -0.9559337410730195, + -0.13428881303658308, + 0.17237223136601582, + 0.18304196292568836, + -0.9678757428834612 + ], + [ + 0.9488222383797733, + 0.22663766679923486, + 0.21993573594074267, + 0.2577897272407357, + -0.9581034664143764, + -0.12482869931992197, + 0.1824303058297721, + 0.17513741928141852, + -0.9674947379093598 + ], + [ + 0.948484923862532, + 0.23019689708518587, + 0.21768265382854704, + 0.2617157039261712, + -0.9565050933580442, + -0.12885222814739183, + 0.1785531840206592, + 0.17918536478315178, + -0.9674768036100986 + ], + [ + 0.939607836956133, + 0.24754239994302596, + 0.23634693347082772, + 0.2805286798953254, + -0.9526261588745863, + -0.11750345179626598, + 0.19606318493486466, + 0.17670925742104832, + -0.9645377472421174 + ], + [ + 0.9327652736067383, + 0.24104258757006775, + 0.26804368175891213, + 0.2739634868985272, + -0.9572798656543315, + -0.09251630482907053, + 0.23429245015524347, + 0.15973017808276307, + -0.9589542835870236 + ], + [ + 0.928662038030405, + 0.21686298542528185, + 0.3009273411866194, + 0.2527943933954976, + -0.9637244310949534, + -0.0856166781562466, + 0.27144394225883267, + 0.15558170349736467, + -0.949796041130853 + ], + [ + 0.9339076428169488, + 0.195936426711791, + 0.29904085235215905, + 0.22628738762895373, + -0.9715324187473436, + -0.07013399691305426, + 0.2767860778438006, + 0.13316784901150736, + -0.9516594932545435 + ], + [ + 0.9411881832771216, + 0.17523637447804907, + 0.2888892810737363, + 0.19155993814336258, + -0.981052378943336, + -0.029000342551981098, + 0.2783336015611884, + 0.08263439253367871, + -0.9569231752928589 + ], + [ + 0.9475408063877011, + 0.15516610937353317, + 0.27944569907591277, + 0.14890999149163256, + -0.9878883530246448, + 0.04361669854787526, + 0.2828289848373161, + 0.00028365495774449606, + -0.9591703106725926 + ], + [ + 0.9456422442244832, + 0.1384242427910507, + 0.2942778872865021, + 0.11042220886969999, + -0.9877996069664057, + 0.10981289662581012, + 0.3058883484646307, + -0.07134889967433808, + -0.9493901478258777 + ], + [ + 0.9426700524061243, + 0.14863927232065896, + 0.29879681896000765, + 0.09959512616830152, + -0.9798350636440352, + 0.17321679738757842, + 0.3185184188397191, + -0.13352758058796046, + -0.9384649178750215 + ], + [ + 0.9504483606219017, + 0.11964233162012203, + 0.2869383666846247, + 0.054130531012755466, + -0.9725701424918272, + 0.22622379084814223, + 0.3061336299778522, + -0.1994819049887173, + -0.930854000463368 + ], + [ + 0.9511466624792967, + 0.1070662965951338, + 0.2895804457968417, + 0.022100345475066882, + -0.9591494469154223, + 0.2820353049029893, + 0.30794740002860466, + -0.261857111064875, + -0.9146579973959557 + ], + [ + 0.9572907966251013, + 0.10402074277795031, + 0.2697665949831496, + 0.0047708008163803994, + -0.9385948941793686, + 0.3449882086100776, + 0.28908747838059257, + -0.32896703435503005, + -0.8990045162017859 + ], + [ + 0.9677228508066034, + 0.09511132841856795, + 0.2333802031732672, + 0.0016678837835707103, + -0.928446853332115, + 0.3714615171203855, + 0.2520113136159261, + -0.35908254725640626, + -0.898637870371278 + ], + [ + 0.9746691140441606, + 0.1109053981140279, + 0.19421665942328248, + 0.04074908776018139, + -0.9419141700218351, + 0.3333724766065578, + 0.21990823080340433, + -0.3170137047214928, + -0.9225739434016496 + ], + [ + 0.9758472621792073, + 0.1877542424031946, + 0.11167123782311898, + 0.16602719260224225, + -0.9696554052432061, + 0.17945296430889954, + 0.14197567472621186, + -0.15657822180059286, + -0.9774078822292159 + ], + [ + 0.977027271892025, + 0.1845659169838522, + 0.10655107820729569, + 0.175910049478021, + -0.9806703851416714, + 0.08568109592393564, + 0.12030529694019156, + -0.06496936196389985, + -0.9906087106088541 + ], + [ + 0.9734945502878648, + 0.18616603948472754, + 0.132855433845962, + 0.1801415898916125, + -0.9820386637101499, + 0.056116580167587526, + 0.14091617419994773, + -0.030696395895186992, + -0.9895455336304115 + ], + [ + 0.9712861041104816, + 0.2074018621622543, + 0.11656659698863764, + 0.20184585918611886, + -0.9777142759331379, + 0.05773251913745643, + 0.12594265794916223, + -0.03254630867193026, + -0.9915034970692393 + ], + [ + 0.9722975919985718, + 0.1969637075178498, + 0.1258677500974786, + 0.18983157133511064, + -0.9795643562201526, + 0.06646537856237869, + 0.13638682897633922, + -0.04073045474605492, + -0.9898179948545883 + ], + [ + 0.9634061567194662, + 0.2380982119048189, + 0.12311709338168539, + 0.22821307318969386, + -0.969518857769818, + 0.08917386194408092, + 0.14059648082488455, + -0.05781371737256235, + -0.9883775612908372 + ], + [ + 0.9572290253844988, + 0.2504162647265019, + 0.1449285593727802, + 0.2362697432556795, + -0.9656655248329071, + 0.10801251117848251, + 0.16700060294303803, + -0.06915047729128881, + -0.983528855757191 + ], + [ + 0.9529857165769593, + 0.2570268922000811, + 0.16048489239261052, + 0.24022072815560191, + -0.9636553762865365, + 0.1168859166813804, + 0.1846949532734782, + -0.07283881135783371, + -0.980092996503539 + ], + [ + 0.9523782439452778, + 0.2644938633863238, + 0.1517190716115975, + 0.24871455359461, + -0.9616913012644983, + 0.11528621731338609, + 0.17639940841721166, + -0.07206134402834921, + -0.9816773458763756 + ], + [ + 0.9582643225056293, + 0.2524257875670123, + 0.1342039864683632, + 0.23800760457602155, + -0.9644748721700108, + 0.11463246100745361, + 0.15837256194433177, + -0.07790662824057257, + -0.9843011169857392 + ], + [ + 0.9598066623255153, + 0.271918607447812, + 0.06950857414158983, + 0.2652704088306668, + -0.959797291237691, + 0.09176475320950747, + 0.09166668508441354, + -0.06963785361736574, + -0.9933517947782654 + ], + [ + 0.9633276164532107, + 0.268231915146185, + 0.00717935063814381, + 0.2671517512334039, + -0.9612639481085294, + 0.0678348279258369, + 0.02509671674743675, + -0.06342918700261138, + -0.9976707337817856 + ], + [ + 0.9593030763322189, + 0.28233526983352675, + 0.004939954207384398, + 0.2812049474032141, + -0.9567633781292064, + 0.07434793760922359, + 0.02571741230172703, + -0.06993306570442223, + -0.9972201266649627 + ], + [ + 0.9606781572473532, + 0.27766427034853636, + -0.0001765209479981794, + 0.2765906804728804, + -0.9569074526666573, + 0.08846311381902869, + 0.024394131740628877, + -0.08503340521715186, + -0.9960794377627704 + ], + [ + 0.9594637703641639, + 0.280599959235114, + 0.026323682034158965, + 0.27335568724995046, + -0.949273712835685, + 0.15542228401120942, + 0.06859986593784576, + -0.1419263224226082, + -0.9874973303239374 + ], + [ + 0.9714337977136451, + 0.22628909005055958, + 0.07148163668897174, + 0.20398353511184664, + -0.9501575939407815, + 0.23577799744662103, + 0.12127280842348152, + -0.21446163852949213, + -0.9691744484541092 + ], + [ + 0.9723171098959793, + 0.22625988662320629, + 0.05836010202856048, + 0.21287598783460204, + -0.9607226506799313, + 0.17803314936822573, + 0.09634963210605696, + -0.16068121288993448, + -0.9822923679929754 + ], + [ + 0.9708660763088403, + 0.2392370644053012, + 0.013590028970189618, + 0.2392216425941908, + -0.9709610264962605, + 0.002773218322652261, + 0.013858845089475552, + 0.0005586054614902154, + -0.9999038055596768 + ], + [ + 0.9729173646239396, + 0.22840713570061416, + 0.03552438562803728, + 0.23096499520903052, + -0.9667768986229697, + -0.10953355320195211, + 0.009325910212991558, + 0.11477198547552271, + -0.993348085390366 + ], + [ + 0.9804217262022606, + 0.1886160190331117, + 0.056544108045670005, + 0.194582913150377, + -0.9720443413088514, + -0.13140505484704187, + 0.030178281934073084, + 0.1398348879698557, + -0.9897148455014534 + ], + [ + 0.9835789496866897, + 0.17158430220493603, + 0.05595781420028533, + 0.1770991265673198, + -0.9773168450037696, + -0.11613648798276287, + 0.03476131617647569, + 0.12413948488987366, + -0.9916557059730742 + ], + [ + 0.9833231754211844, + 0.16299466574143842, + 0.08067385957939352, + 0.16937750529916154, + -0.9823117292610688, + -0.07984314156370245, + 0.06623287233867664, + 0.09217594857643557, + -0.9935375187308243 + ], + [ + 0.978666570231957, + 0.17820536949504484, + 0.10224769236296928, + 0.18530359645839273, + -0.9805520632255205, + -0.0646546861701455, + 0.08873737346802087, + 0.08222224508798939, + -0.9926556205264178 + ], + [ + 0.978341368045807, + 0.17450019674445907, + 0.11134562814230164, + 0.18210661738514775, + -0.9813107425628879, + -0.06218043450485757, + 0.09841416297869962, + 0.08111046706078413, + -0.9918345349191987 + ], + [ + 0.9779079262008031, + 0.18219269504654909, + 0.10247882583890171, + 0.18859100391819075, + -0.9804243362078681, + -0.05658227825468427, + 0.09016385703137224, + 0.07465884303307098, + -0.9931246326832246 + ], + [ + 0.9744654112629674, + 0.19410575369576674, + 0.1128721340025723, + 0.19739658387586237, + -0.9801464652703283, + -0.01864122560941714, + 0.1070128540234113, + 0.04044580324681277, + -0.993434641067788 + ], + [ + 0.9761153795659212, + 0.17440811597998362, + 0.12953985817187652, + 0.17290134401040474, + -0.9846734506847775, + 0.022876205015874982, + 0.13154425496490896, + 6.780003873602114e-05, + -0.9913102967229188 + ], + [ + 0.9740591448485458, + 0.1727537708473426, + 0.14616742795487558, + 0.1651264899420754, + -0.9842652145633541, + 0.06289061710592701, + 0.1547321060941445, + -0.03712306639514679, + -0.9872587570060304 + ], + [ + 0.9735810363581716, + 0.1761085960806759, + 0.14534692301607824, + 0.16174233876344887, + -0.9811837156055712, + 0.1054416050796614, + 0.1611812070158248, + -0.07914719588803436, + -0.9837460749034697 + ], + [ + 0.9788490821703028, + 0.16152219115732086, + 0.12555897458204432, + 0.14407391528846009, + -0.979971808685901, + 0.13746985529321806, + 0.14524868766295337, + -0.11647246861221142, + -0.9825156399709717 + ], + [ + 0.9770737625603579, + 0.17058673831011553, + 0.1273853493493725, + 0.14908106928168294, + -0.9753558071253118, + 0.16265264919072725, + 0.15199242513354266, + -0.1399328918433686, + -0.9784258216555698 + ], + [ + 0.9718995307153064, + 0.19630337162909672, + 0.12990876984413297, + 0.18451824578955894, + -0.9779931901798625, + 0.0973772916678177, + 0.14616538292670767, + -0.07067040574996056, + -0.9867326763541506 + ], + [ + 0.9625433660234455, + 0.2181563465829126, + 0.1609909220106905, + 0.22335126151360052, + -0.9746274006831842, + -0.01468481589342608, + 0.15370257806731594, + 0.05009229764281831, + -0.9868466340887648 + ], + [ + 0.9567338908708747, + 0.24781934734384214, + 0.15246584253907092, + 0.26227697697513164, + -0.961405354833859, + -0.08312960390599403, + 0.12598035326138324, + 0.1195211896646503, + -0.9848063950915851 + ], + [ + 0.9464375912576408, + 0.2634097061957853, + 0.18673835314762013, + 0.2835540461064102, + -0.9546790138107573, + -0.09047145144189978, + 0.1544441283801978, + 0.1385759981785096, + -0.9782349942307886 + ], + [ + 0.9432883985066276, + 0.2689215164058787, + 0.1946489539061646, + 0.2875883831145136, + -0.954853455731597, + -0.07448355506423439, + 0.16583099571666693, + 0.12623825130042726, + -0.9780408911534471 + ], + [ + 0.9474078166939981, + 0.24519398166684656, + 0.20566560291276137, + 0.26274256008239705, + -0.9628437791254816, + -0.06243559978657029, + 0.18271501303521692, + 0.11318908230796343, + -0.9766286170586143 + ], + [ + 0.9557098255747027, + 0.23553498092491515, + 0.17647096662247622, + 0.2499086512429105, + -0.96615880978437, + -0.0638969507097081, + 0.15544901200689756, + 0.1051685648696862, + -0.9822296969799529 + ], + [ + 0.9686567594997558, + 0.19861064087361735, + 0.14919080268972218, + 0.2086205740166613, + -0.9764720332502012, + -0.05458776765152734, + 0.13483893492753263, + 0.08400108101679035, + -0.9873005013751485 + ], + [ + 0.9727809593901082, + 0.16914557413513748, + 0.15838869845590384, + 0.17695754209200792, + -0.9835419210417039, + -0.03648722859234036, + 0.1496102715217634, + 0.063522156009452, + -0.9867024386060343 + ], + [ + 0.9770718717232756, + 0.1161855948700074, + 0.1784137467570171, + 0.1207627050093028, + -0.9925684502535977, + -0.014974666607547146, + 0.17534801557477242, + 0.036177052199890244, + -0.9838416002223709 + ], + [ + 0.9784265013130153, + 0.0645321705913085, + 0.1962579437555226, + 0.054887241614186816, + -0.9970205505945, + 0.054197900330413266, + 0.19917071129148858, + -0.04225660482118492, + -0.9790533218944861 + ], + [ + 0.9879795197530127, + 0.03307966026645615, + 0.15100398877268942, + 0.020604647834273244, + -0.996299481213576, + 0.0834433473752401, + 0.15320547325807995, + -0.0793289342561417, + -0.9850050777298321 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.003677845001220703, + 0.0016100555658340454, + -0.015338465571403503, + 0.024625621736049652, + 0.03531952202320099, + 0.0002590566873550415, + 1.0 + ], + [ + 0.002737581729888916, + -0.0007909238338470459, + -0.006627537310123444, + 0.003695368766784668, + 0.004488334059715271, + 0.01148173213005066, + 1.0 + ], + [ + -0.0002670884132385254, + -0.009796112775802612, + -0.0030214115977287292, + -0.06396135687828064, + -0.00019092857837677002, + -0.027292266488075256, + 1.0 + ], + [ + 0.0005135834217071533, + -0.004704415798187256, + 0.0007926188409328461, + -0.037197381258010864, + 0.005714818835258484, + -0.01164621114730835, + 1.0 + ], + [ + 0.002650529146194458, + 0.001388251781463623, + -0.0014348104596138, + 0.005034729838371277, + -0.005260542035102844, + 0.018708080053329468, + 1.0 + ], + [ + 0.003904402256011963, + -0.0013690292835235596, + -0.013451855629682541, + 0.027599096298217773, + 0.006803616881370544, + 0.0040328651666641235, + 1.0 + ], + [ + 0.00611540675163269, + -0.0020094215869903564, + -0.009648341685533524, + 0.03197237104177475, + -0.004907861351966858, + 0.0035774409770965576, + 0.0 + ], + [ + 7.864832878112793e-05, + 0.00025181472301483154, + -0.01234951801598072, + 0.05402577668428421, + 0.014719322323799133, + 0.00093860924243927, + 0.0 + ], + [ + -0.002917259931564331, + 0.0010368525981903076, + 0.0008341465145349503, + 0.01633668690919876, + 0.01840851455926895, + -0.0016589909791946411, + 0.0 + ], + [ + -0.0005498826503753662, + 0.008801013231277466, + -0.00268477201461792, + 0.0014865361154079437, + 0.020961008965969086, + 0.004060491919517517, + 0.0 + ], + [ + 0.00022611021995544434, + 0.01869902014732361, + -0.0008116476237773895, + 0.013837384060025215, + 0.01762811839580536, + 0.00385439395904541, + 0.0 + ], + [ + -0.00017815828323364258, + 0.031475700438022614, + -0.0018224045634269714, + 0.012910130433738232, + -0.021090112626552582, + 0.012893691658973694, + 0.0 + ], + [ + -0.0039694905281066895, + 0.02947673201560974, + -0.001398727297782898, + 0.009925777092576027, + -0.01694834977388382, + -0.022081077098846436, + 0.0 + ], + [ + -0.010634154081344604, + 0.042687904089689255, + 0.00022094137966632843, + 0.025677721947431564, + -0.004429802298545837, + -0.014860272407531738, + 0.0 + ], + [ + -0.006554931402206421, + 0.03035588562488556, + -0.0008419016376137733, + 0.03160323202610016, + 0.004932902753353119, + -0.043660834431648254, + 0.0 + ], + [ + -0.0014349818229675293, + 0.048217181116342545, + -1.8100254237651825e-05, + 0.05982336401939392, + -0.0007423236966133118, + -0.01779317855834961, + 0.0 + ], + [ + -0.003256857395172119, + 0.053559310734272, + 5.655921995639801e-05, + 0.045575156807899475, + -0.005689561367034912, + 0.019508659839630127, + 0.0 + ], + [ + -0.005420267581939697, + 0.043970778584480286, + 0.0008666226640343666, + 0.04275253415107727, + -0.010197564959526062, + -0.01260174810886383, + 0.0 + ], + [ + -0.0062716007232666016, + 0.015042483806610107, + 0.0014842571690678596, + -0.0047007352113723755, + 0.011809490621089935, + -0.04155953228473663, + 0.0 + ], + [ + -0.011772990226745605, + -0.012381300330162048, + 0.004162382334470749, + -0.12622059881687164, + 0.04480765759944916, + 0.04959428310394287, + 0.0 + ], + [ + 0.005308568477630615, + -0.034901559352874756, + 0.024198783561587334, + -0.14313362538814545, + -0.01187821477651596, + 0.07620735466480255, + 0.0 + ], + [ + 0.008752167224884033, + -0.050220780074596405, + 0.029893070459365845, + -0.06688150763511658, + -0.05600883066654205, + 0.00774267315864563, + 0.0 + ], + [ + 0.0021420717239379883, + -0.042989544570446014, + 0.013130538165569305, + -0.00430530309677124, + -0.009940087795257568, + 0.016500502824783325, + 0.0 + ], + [ + -0.0012776553630828857, + -0.05457565188407898, + 0.0027003809809684753, + -0.025157302618026733, + 0.012283995747566223, + -0.006936162710189819, + 0.0 + ], + [ + -0.0013052523136138916, + -0.029429960995912552, + -0.004694484174251556, + -0.007253214716911316, + -0.02186088263988495, + 0.018816888332366943, + 0.0 + ], + [ + -0.003557145595550537, + -0.031715795397758484, + -0.00987304002046585, + -0.009921088814735413, + -0.010675519704818726, + 0.010294020175933838, + 0.0 + ], + [ + -0.003960162401199341, + -0.025679588317871094, + -0.01677687093615532, + 0.007827505469322205, + -0.010220229625701904, + -0.0029512345790863037, + 0.0 + ], + [ + -0.0016221404075622559, + -0.017706647515296936, + -0.017761744558811188, + -0.004051521420478821, + 0.003941863775253296, + 0.003940403461456299, + 0.0 + ], + [ + -0.0013852715492248535, + -0.0036647915840148926, + -0.016879988834261894, + 0.0019370615482330322, + -0.01782575249671936, + 0.020903676748275757, + 0.0 + ], + [ + 0.0006118118762969971, + 0.002838134765625, + -0.004453232511878014, + 0.016144990921020508, + -0.03914913535118103, + -0.004457354545593262, + 0.0 + ], + [ + -0.00310477614402771, + 0.008532226085662842, + -0.0029807444661855698, + 0.002688303589820862, + -0.038402289152145386, + -0.019903361797332764, + 0.0 + ], + [ + -0.005174815654754639, + 0.018768340349197388, + -0.001387815922498703, + 0.023333951830863953, + -0.005554914474487305, + -0.02805367112159729, + 0.0 + ], + [ + -0.004718810319900513, + 0.035574935376644135, + 0.0001553744077682495, + 0.05288892239332199, + -0.0016108155250549316, + -0.03693278133869171, + 0.0 + ], + [ + 0.0019481480121612549, + 0.02939564362168312, + -0.0010024504736065865, + 0.08584483712911606, + -0.0046835243701934814, + -0.04490813612937927, + 0.0 + ], + [ + 0.005988776683807373, + 0.026130227372050285, + -0.001404409296810627, + 0.07530707120895386, + -0.024129122495651245, + -0.03963612765073776, + 0.0 + ], + [ + 0.0033163130283355713, + 0.03186550363898277, + 0.000624481588602066, + 0.06632298231124878, + -0.013294726610183716, + -0.010981455445289612, + 0.0 + ], + [ + -0.0025919079780578613, + 0.02993212640285492, + -0.0003591403365135193, + 0.06977255642414093, + 0.01303708553314209, + -0.048370491713285446, + 0.0 + ], + [ + -0.004811137914657593, + 0.033233076333999634, + -0.0012783557176589966, + 0.06772463023662567, + -0.0019058287143707275, + -0.03365987539291382, + 0.0 + ], + [ + -0.00957372784614563, + 0.04233091324567795, + 0.000560663640499115, + 0.07195818424224854, + 0.019761353731155396, + -0.018247688189148903, + 0.0 + ], + [ + -0.01093292236328125, + 0.03182297945022583, + 0.0014054495841264725, + 0.02935919165611267, + 0.03851538896560669, + -0.00326009513810277, + 0.0 + ], + [ + 0.0012247562408447266, + 0.0008500367403030396, + 0.0016816072165966034, + -0.04917019605636597, + 0.0330376923084259, + 0.04006027802824974, + 0.0 + ], + [ + 0.005762845277786255, + -0.03186208754777908, + 0.005934512242674828, + -0.17213094234466553, + 0.07926337420940399, + 0.12673898041248322, + 0.0 + ], + [ + 0.020564675331115723, + -0.050376489758491516, + 0.01343768835067749, + -0.09335625171661377, + 0.02185961604118347, + 0.009614914655685425, + 0.0 + ], + [ + 0.021362334489822388, + -0.04438362270593643, + 0.018801040947437286, + -0.0344807431101799, + -0.020789355039596558, + 0.004838868975639343, + 0.0 + ], + [ + 0.012066155672073364, + -0.025765813887119293, + -0.005488887429237366, + 0.0018026698380708694, + 0.015108764171600342, + 0.02192007005214691, + 0.0 + ], + [ + 0.02117738127708435, + -0.03511572256684303, + -0.013020019978284836, + 0.008312810212373734, + -0.010535240173339844, + -0.012081965804100037, + 0.0 + ], + [ + 0.01376369595527649, + 0.0013832040131092072, + -0.01207360066473484, + 0.017300743609666824, + -0.004250615835189819, + 0.03977955877780914, + 0.0 + ], + [ + 0.011324405670166016, + 0.0011645033955574036, + -0.0030656177550554276, + 0.011766050010919571, + -0.02672290802001953, + 0.009395644068717957, + 0.0 + ], + [ + 0.00939863920211792, + 0.005750562995672226, + -0.0009896382689476013, + 0.003988862037658691, + -0.01797470450401306, + 0.004937678575515747, + 0.0 + ], + [ + 0.006195008754730225, + 0.01212114654481411, + 0.00027297064661979675, + -0.0009069740772247314, + 0.008434176445007324, + 0.00851835310459137, + 0.0 + ], + [ + 0.00670287013053894, + 0.017506230622529984, + -0.0015280693769454956, + 0.005709603428840637, + 0.018285095691680908, + -0.011998504400253296, + 0.0 + ], + [ + 0.005593687295913696, + 0.04223291203379631, + -0.0013505201786756516, + -0.008995108306407928, + 0.06724664568901062, + 0.026200413703918457, + 0.0 + ], + [ + 0.0015186667442321777, + 0.03398891165852547, + -0.001533476635813713, + -0.006497591733932495, + 0.06669619679450989, + 0.0008756816387176514, + 0.0 + ], + [ + -0.0025880634784698486, + 0.028362758457660675, + -0.0013522561639547348, + 0.006521567702293396, + -0.0006208959966897964, + 0.01462295651435852, + 0.0 + ], + [ + -0.006035655736923218, + 0.022966772317886353, + -0.00021747592836618423, + 0.015148229897022247, + 0.0013236962258815765, + -0.004816204309463501, + 0.0 + ], + [ + -0.012440800666809082, + 0.032636359333992004, + 0.001549597829580307, + 0.057584114372730255, + -0.044257231056690216, + -0.0027792751789093018, + 0.0 + ], + [ + -0.008748799562454224, + 0.006388992071151733, + 0.003109426237642765, + 0.07502782344818115, + -0.052918270230293274, + -0.07057608664035797, + 0.0 + ], + [ + -0.011593431234359741, + -0.014693304896354675, + -7.553026080131531e-06, + -0.05563177168369293, + 0.025072723627090454, + 0.00856107473373413, + 0.0 + ], + [ + -0.014456242322921753, + -0.0300481915473938, + 0.004434200003743172, + -0.16270044445991516, + 0.08264004439115524, + 0.026051849126815796, + 0.0 + ], + [ + -0.016672343015670776, + -0.0345468744635582, + 0.02622832916676998, + -0.11447183042764664, + 0.004533243365585804, + -0.008508101105690002, + 0.0 + ], + [ + -0.017939865589141846, + -0.035649802535772324, + 0.011716075241565704, + -0.02532852441072464, + -0.020856820046901703, + -0.0371570885181427, + 0.0 + ], + [ + -0.008770614862442017, + -0.02414652705192566, + -0.011841509491205215, + 0.015822798013687134, + -0.0045854561030864716, + -0.01777559518814087, + 0.0 + ], + [ + -0.0055644214153289795, + -0.01667068339884281, + -0.0166682880371809, + 0.032025523483753204, + -0.03151307255029678, + -0.007570788264274597, + 0.0 + ], + [ + -0.002864360809326172, + -0.0040456079877913, + -0.008754510432481766, + 0.009868763387203217, + -0.022572852671146393, + 0.016551464796066284, + 0.0 + ], + [ + 0.0003421604633331299, + 0.0008260891772806644, + -0.0005790460854768753, + 0.0010452792048454285, + -0.009719476103782654, + -0.0030957013368606567, + 0.0 + ], + [ + -0.001714855432510376, + 0.011675868183374405, + 8.98074358701706e-05, + 0.006562083959579468, + 0.008287250995635986, + 0.00648064911365509, + 0.0 + ], + [ + -0.00043150782585144043, + 0.027033494785428047, + -0.000518573448061943, + 0.034343939274549484, + -0.016931690275669098, + 0.009351983666419983, + 0.0 + ], + [ + -0.004501163959503174, + 0.014423053711652756, + -0.005867824889719486, + 0.04062223434448242, + -0.024708449840545654, + -0.024550989270210266, + 0.0 + ], + [ + -0.001272827386856079, + 0.02103719860315323, + -0.0004972890019416809, + 0.03765285015106201, + -0.02342967689037323, + -0.007386058568954468, + 0.0 + ], + [ + -0.0032797157764434814, + 0.02349143475294113, + 0.0016967849805951118, + 0.04269752278923988, + -0.0065311044454574585, + -0.0032997876405715942, + 0.0 + ], + [ + -0.00189247727394104, + 0.022024624049663544, + 0.0003577694296836853, + 0.03771250694990158, + 0.016123071312904358, + -0.0184900164604187, + 0.0 + ], + [ + 9.587407112121582e-05, + 0.019565589725971222, + 0.002567887306213379, + 0.02406059205532074, + -0.006819486618041992, + 0.005273595452308655, + 0.0 + ], + [ + -0.0018208026885986328, + -0.019300132989883423, + 0.0001639053225517273, + -0.07055654376745224, + 0.005892902612686157, + 0.036208897829055786, + 0.0 + ], + [ + 0.01011231541633606, + -0.0488741472363472, + 0.01848720759153366, + -0.12221497297286987, + -0.007623389363288879, + 0.04038742184638977, + 0.0 + ], + [ + 0.01657623052597046, + -0.046369679272174835, + 0.019300829619169235, + -0.07005806267261505, + 0.027998298406600952, + 0.03955681622028351, + 0.0 + ], + [ + 0.01862812042236328, + -0.04497762769460678, + 0.01959952339529991, + -0.01994839310646057, + -0.028748810291290283, + 0.02352657914161682, + 0.0 + ], + [ + 0.010449588298797607, + -0.03934454917907715, + 0.0006307810544967651, + 0.01236000657081604, + -0.011535808444023132, + 0.004835397005081177, + 0.0 + ], + [ + 0.011160701513290405, + -0.03546366095542908, + 0.004254192113876343, + 0.012979887425899506, + -0.017146632075309753, + -0.025397390127182007, + 0.0 + ], + [ + 0.00811457633972168, + -0.030514366924762726, + -0.006722025573253632, + 0.008718110620975494, + 0.02766527235507965, + -0.014765799045562744, + 0.0 + ], + [ + -0.0012941360473632812, + -0.018016964197158813, + -0.013306058943271637, + 0.021787717938423157, + 0.020831063389778137, + -0.04363255202770233, + 0.0 + ], + [ + 0.0003503262996673584, + -0.00681459903717041, + -0.01215364784002304, + 0.020587652921676636, + -0.014923185110092163, + -0.032189399003982544, + 0.0 + ], + [ + -0.008238434791564941, + -0.007023066282272339, + -0.014091528952121735, + 0.027534853667020798, + -0.026085153222084045, + -0.05696845054626465, + 1.0 + ], + [ + -0.00016951560974121094, + 0.007232114672660828, + -0.009966360405087471, + 0.07988856732845306, + -0.024252355098724365, + -0.06693416833877563, + 1.0 + ], + [ + -0.003400862216949463, + 0.002894356846809387, + 0.006396682932972908, + 0.03722921758890152, + 0.0467003732919693, + -0.03518640995025635, + 1.0 + ], + [ + -0.0029287338256835938, + 0.00911790132522583, + 0.03242757171392441, + -0.05063224211335182, + 0.06984013319015503, + 0.0280865840613842, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9515043497085571 + ], + [ + 0.6971942782402039 + ], + [ + 0.4077054560184479 + ], + [ + 0.3823249042034149 + ], + [ + 0.3823249042034149 + ], + [ + 0.3814634680747986 + ], + [ + 0.3814634680747986 + ], + [ + 0.3814634680747986 + ], + [ + 0.3814634680747986 + ], + [ + 0.3814634680747986 + ], + [ + 0.3814634680747986 + ], + [ + 0.3814634680747986 + ], + [ + 0.3814634680747986 + ], + [ + 0.3814634680747986 + ], + [ + 0.3814634680747986 + ], + [ + 0.3814634680747986 + ], + [ + 0.3814634680747986 + ], + [ + 0.3814634680747986 + ], + [ + 0.3814634680747986 + ], + [ + 0.3814634680747986 + ], + [ + 0.3814634680747986 + ], + [ + 0.3814634680747986 + ], + [ + 0.3814634680747986 + ], + [ + 0.3814634680747986 + ], + [ + 0.3814634680747986 + ], + [ + 0.3814634680747986 + ], + [ + 0.3814634680747986 + ], + [ + 0.3814634680747986 + ], + [ + 0.3814634680747986 + ], + [ + 0.3806030750274658 + ], + [ + 0.3806030750274658 + ], + [ + 0.3806030750274658 + ], + [ + 0.3814634680747986 + ], + [ + 0.3806030750274658 + ], + [ + 0.3806030750274658 + ], + [ + 0.3806030750274658 + ], + [ + 0.3806030750274658 + ], + [ + 0.3806030750274658 + ], + [ + 0.3806030750274658 + ], + [ + 0.3806030750274658 + ], + [ + 0.3806030750274658 + ], + [ + 0.3806030750274658 + ], + [ + 0.3806030750274658 + ], + [ + 0.3806030750274658 + ], + [ + 0.3806030750274658 + ], + [ + 0.3806030750274658 + ], + [ + 0.3806030750274658 + ], + [ + 0.3806030750274658 + ], + [ + 0.3806030750274658 + ], + [ + 0.3806030750274658 + ], + [ + 0.3806030750274658 + ], + [ + 0.3806030750274658 + ], + [ + 0.3806030750274658 + ], + [ + 0.3806030750274658 + ], + [ + 0.3806030750274658 + ], + [ + 0.3806030750274658 + ], + [ + 0.3806030750274658 + ], + [ + 0.3806030750274658 + ], + [ + 0.3806030750274658 + ], + [ + 0.3806030750274658 + ], + [ + 0.3806030750274658 + ], + [ + 0.3806030750274658 + ], + [ + 0.3806030750274658 + ], + [ + 0.3806030750274658 + ], + [ + 0.3806030750274658 + ], + [ + 0.3806030750274658 + ], + [ + 0.3806030750274658 + ], + [ + 0.3806030750274658 + ], + [ + 0.3806030750274658 + ], + [ + 0.3806030750274658 + ], + [ + 0.3806030750274658 + ], + [ + 0.3806030750274658 + ], + [ + 0.3806030750274658 + ], + [ + 0.3806030750274658 + ], + [ + 0.3806030750274658 + ], + [ + 0.44298648834228516 + ], + [ + 0.7555288672447205 + ], + [ + 0.9968144297599792 + ], + [ + 1.0060625076293945 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.35682088136672974, + -0.151870459318161, + 0.0642072856426239 + ], + [ + 0.35955846309661865, + -0.15266138315200806, + 0.05757974833250046 + ], + [ + 0.3592913746833801, + -0.16245749592781067, + 0.05455833673477173 + ], + [ + 0.3598049581050873, + -0.16716191172599792, + 0.055350955575704575 + ], + [ + 0.36245548725128174, + -0.1657736599445343, + 0.053916145116090775 + ], + [ + 0.3663598895072937, + -0.16714268922805786, + 0.040464289486408234 + ], + [ + 0.3724752962589264, + -0.16915211081504822, + 0.03081594780087471 + ], + [ + 0.3725539445877075, + -0.1689002960920334, + 0.01846642978489399 + ], + [ + 0.3696366846561432, + -0.16786344349384308, + 0.01930057629942894 + ], + [ + 0.3690868020057678, + -0.1590624302625656, + 0.01661580428481102 + ], + [ + 0.36931291222572327, + -0.140363410115242, + 0.01580415666103363 + ], + [ + 0.3691347539424896, + -0.10888770967721939, + 0.013981752097606659 + ], + [ + 0.36516526341438293, + -0.07941097766160965, + 0.012583024799823761 + ], + [ + 0.35453110933303833, + -0.036723073571920395, + 0.01280396617949009 + ], + [ + 0.3479761779308319, + -0.006367187015712261, + 0.011962064541876316 + ], + [ + 0.3465411961078644, + 0.04184999316930771, + 0.011943964287638664 + ], + [ + 0.34328433871269226, + 0.09540930390357971, + 0.012000523507595062 + ], + [ + 0.33786407113075256, + 0.13938008248806, + 0.012867146171629429 + ], + [ + 0.33159247040748596, + 0.1544225662946701, + 0.014351403340697289 + ], + [ + 0.31981948018074036, + 0.14204126596450806, + 0.018513785675168037 + ], + [ + 0.32512804865837097, + 0.1071397066116333, + 0.04271256923675537 + ], + [ + 0.333880215883255, + 0.056918926537036896, + 0.07260563969612122 + ], + [ + 0.336022287607193, + 0.01392938382923603, + 0.08573617786169052 + ], + [ + 0.3347446322441101, + -0.0406462661921978, + 0.088436558842659 + ], + [ + 0.3334393799304962, + -0.07007622718811035, + 0.08374207466840744 + ], + [ + 0.3298822343349457, + -0.10179202258586884, + 0.07386903464794159 + ], + [ + 0.32592207193374634, + -0.12747161090373993, + 0.05709216371178627 + ], + [ + 0.3242999315261841, + -0.14517825841903687, + 0.03933041915297508 + ], + [ + 0.32291465997695923, + -0.14884305000305176, + 0.022450430318713188 + ], + [ + 0.3235264718532562, + -0.14600491523742676, + 0.017997197806835175 + ], + [ + 0.3204216957092285, + -0.13747268915176392, + 0.015016453340649605 + ], + [ + 0.3152468800544739, + -0.11870434880256653, + 0.013628637418150902 + ], + [ + 0.31052806973457336, + -0.0831294134259224, + 0.013784011825919151 + ], + [ + 0.3124762177467346, + -0.05373376980423927, + 0.012781561352312565 + ], + [ + 0.318464994430542, + -0.027603542432188988, + 0.011377152055501938 + ], + [ + 0.32178130745887756, + 0.004261962603777647, + 0.012001633644104004 + ], + [ + 0.3191893994808197, + 0.034194089472293854, + 0.011642493307590485 + ], + [ + 0.3143782615661621, + 0.06742716580629349, + 0.010364137589931488 + ], + [ + 0.3048045337200165, + 0.10975807905197144, + 0.010924801230430603 + ], + [ + 0.29387161135673523, + 0.14158105850219727, + 0.012330250814557076 + ], + [ + 0.29509636759757996, + 0.1424310952425003, + 0.014011858031153679 + ], + [ + 0.3008592128753662, + 0.11056900769472122, + 0.019946370273828506 + ], + [ + 0.32142388820648193, + 0.060192517936229706, + 0.033384058624506 + ], + [ + 0.3427862226963043, + 0.015808893367648125, + 0.05218509957194328 + ], + [ + 0.3548523783683777, + -0.009956919588148594, + 0.04669621214270592 + ], + [ + 0.37602975964546204, + -0.04507264122366905, + 0.03367619216442108 + ], + [ + 0.3897934556007385, + -0.043689437210559845, + 0.02160259149968624 + ], + [ + 0.40111786127090454, + -0.04252493381500244, + 0.018536973744630814 + ], + [ + 0.41051650047302246, + -0.036774370819330215, + 0.017547335475683212 + ], + [ + 0.4167115092277527, + -0.024653224274516106, + 0.01782030612230301 + ], + [ + 0.4234143793582916, + -0.0071469927206635475, + 0.016292236745357513 + ], + [ + 0.4290080666542053, + 0.03508592024445534, + 0.014941716566681862 + ], + [ + 0.4305267333984375, + 0.0690748319029808, + 0.013408239930868149 + ], + [ + 0.42793866991996765, + 0.09743759036064148, + 0.012055983766913414 + ], + [ + 0.42190301418304443, + 0.12040436267852783, + 0.01183850783854723 + ], + [ + 0.40946221351623535, + 0.15304072201251984, + 0.013388105668127537 + ], + [ + 0.40071341395378113, + 0.15942971408367157, + 0.016497531905770302 + ], + [ + 0.3891199827194214, + 0.1447364091873169, + 0.01648997887969017 + ], + [ + 0.37466374039649963, + 0.1146882176399231, + 0.020924178883433342 + ], + [ + 0.35799139738082886, + 0.0801413431763649, + 0.04715250805020332 + ], + [ + 0.340051531791687, + 0.044491540640592575, + 0.05886858329176903 + ], + [ + 0.331280916929245, + 0.020345013588666916, + 0.04702707380056381 + ], + [ + 0.325716495513916, + 0.003674329724162817, + 0.03035878576338291 + ], + [ + 0.32285213470458984, + -0.00037127811810933053, + 0.021604275330901146 + ], + [ + 0.323194295167923, + 0.00045481108827516437, + 0.02102522924542427 + ], + [ + 0.3214794397354126, + 0.012130679562687874, + 0.02111503668129444 + ], + [ + 0.32104793190956116, + 0.03916417434811592, + 0.020596463233232498 + ], + [ + 0.316546767950058, + 0.05358722805976868, + 0.014728638343513012 + ], + [ + 0.3152739405632019, + 0.0746244266629219, + 0.014231349341571331 + ], + [ + 0.3119942247867584, + 0.09811586141586304, + 0.015928134322166443 + ], + [ + 0.3101017475128174, + 0.12014048546552658, + 0.016285903751850128 + ], + [ + 0.3101976215839386, + 0.1397060751914978, + 0.018853791058063507 + ], + [ + 0.30837681889533997, + 0.12040594220161438, + 0.019017696380615234 + ], + [ + 0.318489134311676, + 0.07153179496526718, + 0.037504903972148895 + ], + [ + 0.3350653648376465, + 0.025162113830447197, + 0.05680573359131813 + ], + [ + 0.35369348526000977, + -0.019815512001514435, + 0.07640525698661804 + ], + [ + 0.3641430735588074, + -0.05916006118059158, + 0.07703603804111481 + ], + [ + 0.3753037750720978, + -0.09462372213602066, + 0.08129023015499115 + ], + [ + 0.38341835141181946, + -0.1251380890607834, + 0.07456820458173752 + ], + [ + 0.3821242153644562, + -0.1431550532579422, + 0.06126214563846588 + ], + [ + 0.38247454166412354, + -0.1499696522951126, + 0.04910849779844284 + ], + [ + 0.3742361068725586, + -0.15699271857738495, + 0.035016968846321106 + ], + [ + 0.3740665912628174, + -0.14976060390472412, + 0.025050608441233635 + ], + [ + 0.3706657290458679, + -0.14686624705791473, + 0.03144729137420654 + ], + [ + 0.3677369952201843, + -0.1377483457326889, + 0.06387486308813095 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9661334242714457, + 0.1956964076543406, + 0.1681937054015906, + 0.20604553914412277, + -0.97744722916718, + -0.04628336625841291, + 0.1553429827972241, + 0.07937146984016842, + -0.9846668103836306 + ], + [ + 0.9643745067693621, + 0.20785981095568196, + 0.16363407249964027, + 0.21727565808593619, + -0.9752184089730206, + -0.041717420862915446, + 0.15090758462275086, + 0.07578491795600512, + -0.985638649360773 + ], + [ + 0.969916284287038, + 0.17039089176359554, + 0.17386588359661734, + 0.19087247673584465, + -0.975576678033279, + -0.10870990250329789, + 0.15109632391143826, + 0.13862571652315725, + -0.9787506381192767 + ], + [ + 0.9729066434618057, + 0.1534729549419096, + 0.17291244954971138, + 0.17971785705828003, + -0.9725192177914564, + -0.14801304969722567, + 0.14544468007549302, + 0.17507833426124536, + -0.9737522384621486 + ], + [ + 0.9686113469490789, + 0.1716444085370644, + 0.1798061611276226, + 0.19773079050153283, + -0.9703735009531237, + -0.13884452864847474, + 0.15064724706787763, + 0.1700396002875199, + -0.9738541683871001 + ], + [ + 0.968787043928645, + 0.18142042238326428, + 0.16893280870889466, + 0.20183983382258602, + -0.9729168863763388, + -0.11266505086423892, + 0.14391784114024525, + 0.14324581161782243, + -0.9791671422466559 + ], + [ + 0.9673561590494824, + 0.1896815108056295, + 0.16805649647522403, + 0.20515530345569227, + -0.9754608249410134, + -0.07992171463001148, + 0.1487728571112215, + 0.11179044442121176, + -0.9825322048274411 + ], + [ + 0.9692000880337526, + 0.2002420329807625, + 0.14336777037778609, + 0.20649716638052432, + -0.977986753596767, + -0.03001383124612431, + 0.13420174973591226, + 0.05869444621928037, + -0.9892142600826334 + ], + [ + 0.971793996176964, + 0.2017008681291234, + 0.12220142712081697, + 0.20536503475194423, + -0.97851919404776, + -0.018038552643008694, + 0.11593805024986018, + 0.04262565748560172, + -0.9923413837123697 + ], + [ + 0.9731142443177568, + 0.2066981561490133, + 0.10160974239943256, + 0.20977538770509432, + -0.9775351461133356, + -0.020477422356265918, + 0.09509444893924295, + 0.041242094488248976, + -0.9946135608482141 + ], + [ + 0.9737846278711988, + 0.21232476405869605, + 0.08161919559252387, + 0.21385096009729992, + -0.9768116343329727, + -0.010334306808425888, + 0.07753235058486657, + 0.027517732449580327, + -0.9966100084855758 + ], + [ + 0.9691381714223471, + 0.22563743132507802, + 0.09929226695553964, + 0.22596689603375775, + -0.974101607815575, + 0.008063469971470942, + 0.09854017753697406, + 0.014622148820628192, + -0.9950256409635126 + ], + [ + 0.9721168690877695, + 0.20497333546931845, + 0.1139066485398226, + 0.20414135107776687, + -0.9787560967396716, + 0.019047621244311665, + 0.11539108117673719, + 0.004736543202069787, + -0.9933088460007585 + ], + [ + 0.974531700961829, + 0.19336565715164858, + 0.11356798164427909, + 0.18957395557662163, + -0.9809071617030021, + 0.04339188272930264, + 0.11979014645402733, + -0.020757233776964368, + -0.9925822172789773 + ], + [ + 0.9824497804488196, + 0.1536833181923397, + 0.1057065116511698, + 0.14694356714945306, + -0.9867435183381501, + 0.06888263272439227, + 0.11489132678083676, + -0.052140835503867736, + -0.9920087279371579 + ], + [ + 0.9848238885194387, + 0.14233331884703848, + 0.09931331706996724, + 0.12942917604787235, + -0.9835359049866255, + 0.12611586731933763, + 0.11562870313646798, + -0.11134787805848471, + -0.9870317386299449 + ], + [ + 0.9814452950889703, + 0.1666149183039578, + 0.09489258003811019, + 0.14851508677383535, + -0.9735881433165833, + 0.17340529459600662, + 0.12127819980641136, + -0.1560948307662145, + -0.9802683316621947 + ], + [ + 0.9819627097613188, + 0.1603380392382285, + 0.10020453987444217, + 0.13595900329334068, + -0.9670828677976958, + 0.21509504000712423, + 0.13139401075273469, + -0.19759159897481796, + -0.9714387134312105 + ], + [ + 0.9882392817626584, + 0.11723496227489653, + 0.09817884498010918, + 0.09518557957527372, + -0.9741080947870949, + 0.20506858635874686, + 0.11967801561750577, + -0.19331162223378906, + -0.9738109617822118 + ], + [ + 0.9866234999564149, + 0.1499267428922593, + 0.06400032108882035, + 0.14469273271026042, + -0.9862521222834245, + 0.0798170683016963, + 0.07508716557835203, + -0.0694890139314043, + -0.9947528308621443 + ], + [ + 0.9718053177976488, + 0.2131990950736555, + 0.10070039801304251, + 0.21917629316985435, + -0.974274162759037, + -0.052455774634443425, + 0.08692627228020783, + 0.07304794069617476, + -0.9935329997274953 + ], + [ + 0.9638195963999358, + 0.20591174419512717, + 0.16926942783026586, + 0.22523123809002996, + -0.9687362152121153, + -0.10402420259217864, + 0.14255761987314927, + 0.1383853277592205, + -0.9800647050460882 + ], + [ + 0.9585503779452901, + 0.21975573532898637, + 0.18135211531977968, + 0.24074628082855523, + -0.9651071690435916, + -0.10300184720617037, + 0.15238897994330364, + 0.1423923068521658, + -0.9780092176156412 + ], + [ + 0.9619433497880139, + 0.21043945476007608, + 0.1742992474995138, + 0.2345175945690634, + -0.9631935899341348, + -0.13137582025370712, + 0.14023726193902708, + 0.16725233687478283, + -0.9758894231283425 + ], + [ + 0.9541676254587638, + 0.22355865675439227, + 0.19896147746877083, + 0.25173344922233787, + -0.9590799028706276, + -0.12959942303996605, + 0.16184688155478624, + 0.17374483272845634, + -0.9714001853155844 + ], + [ + 0.9498055677255919, + 0.22953501363942802, + 0.21256307541766045, + 0.26106933441399643, + -0.9559337410730195, + -0.13428881303658308, + 0.17237223136601582, + 0.18304196292568836, + -0.9678757428834612 + ], + [ + 0.9488222383797733, + 0.22663766679923486, + 0.21993573594074267, + 0.2577897272407357, + -0.9581034664143764, + -0.12482869931992197, + 0.1824303058297721, + 0.17513741928141852, + -0.9674947379093598 + ], + [ + 0.948484923862532, + 0.23019689708518587, + 0.21768265382854704, + 0.2617157039261712, + -0.9565050933580442, + -0.12885222814739183, + 0.1785531840206592, + 0.17918536478315178, + -0.9674768036100986 + ], + [ + 0.939607836956133, + 0.24754239994302596, + 0.23634693347082772, + 0.2805286798953254, + -0.9526261588745863, + -0.11750345179626598, + 0.19606318493486466, + 0.17670925742104832, + -0.9645377472421174 + ], + [ + 0.9327652736067383, + 0.24104258757006775, + 0.26804368175891213, + 0.2739634868985272, + -0.9572798656543315, + -0.09251630482907053, + 0.23429245015524347, + 0.15973017808276307, + -0.9589542835870236 + ], + [ + 0.928662038030405, + 0.21686298542528185, + 0.3009273411866194, + 0.2527943933954976, + -0.9637244310949534, + -0.0856166781562466, + 0.27144394225883267, + 0.15558170349736467, + -0.949796041130853 + ], + [ + 0.9339076428169488, + 0.195936426711791, + 0.29904085235215905, + 0.22628738762895373, + -0.9715324187473436, + -0.07013399691305426, + 0.2767860778438006, + 0.13316784901150736, + -0.9516594932545435 + ], + [ + 0.9411881832771216, + 0.17523637447804907, + 0.2888892810737363, + 0.19155993814336258, + -0.981052378943336, + -0.029000342551981098, + 0.2783336015611884, + 0.08263439253367871, + -0.9569231752928589 + ], + [ + 0.9475408063877011, + 0.15516610937353317, + 0.27944569907591277, + 0.14890999149163256, + -0.9878883530246448, + 0.04361669854787526, + 0.2828289848373161, + 0.00028365495774449606, + -0.9591703106725926 + ], + [ + 0.9456422442244832, + 0.1384242427910507, + 0.2942778872865021, + 0.11042220886969999, + -0.9877996069664057, + 0.10981289662581012, + 0.3058883484646307, + -0.07134889967433808, + -0.9493901478258777 + ], + [ + 0.9426700524061243, + 0.14863927232065896, + 0.29879681896000765, + 0.09959512616830152, + -0.9798350636440352, + 0.17321679738757842, + 0.3185184188397191, + -0.13352758058796046, + -0.9384649178750215 + ], + [ + 0.9504483606219017, + 0.11964233162012203, + 0.2869383666846247, + 0.054130531012755466, + -0.9725701424918272, + 0.22622379084814223, + 0.3061336299778522, + -0.1994819049887173, + -0.930854000463368 + ], + [ + 0.9511466624792967, + 0.1070662965951338, + 0.2895804457968417, + 0.022100345475066882, + -0.9591494469154223, + 0.2820353049029893, + 0.30794740002860466, + -0.261857111064875, + -0.9146579973959557 + ], + [ + 0.9572907966251013, + 0.10402074277795031, + 0.2697665949831496, + 0.0047708008163803994, + -0.9385948941793686, + 0.3449882086100776, + 0.28908747838059257, + -0.32896703435503005, + -0.8990045162017859 + ], + [ + 0.9677228508066034, + 0.09511132841856795, + 0.2333802031732672, + 0.0016678837835707103, + -0.928446853332115, + 0.3714615171203855, + 0.2520113136159261, + -0.35908254725640626, + -0.898637870371278 + ], + [ + 0.9746691140441606, + 0.1109053981140279, + 0.19421665942328248, + 0.04074908776018139, + -0.9419141700218351, + 0.3333724766065578, + 0.21990823080340433, + -0.3170137047214928, + -0.9225739434016496 + ], + [ + 0.9758472621792073, + 0.1877542424031946, + 0.11167123782311898, + 0.16602719260224225, + -0.9696554052432061, + 0.17945296430889954, + 0.14197567472621186, + -0.15657822180059286, + -0.9774078822292159 + ], + [ + 0.977027271892025, + 0.1845659169838522, + 0.10655107820729569, + 0.175910049478021, + -0.9806703851416714, + 0.08568109592393564, + 0.12030529694019156, + -0.06496936196389985, + -0.9906087106088541 + ], + [ + 0.9734945502878648, + 0.18616603948472754, + 0.132855433845962, + 0.1801415898916125, + -0.9820386637101499, + 0.056116580167587526, + 0.14091617419994773, + -0.030696395895186992, + -0.9895455336304115 + ], + [ + 0.9712861041104816, + 0.2074018621622543, + 0.11656659698863764, + 0.20184585918611886, + -0.9777142759331379, + 0.05773251913745643, + 0.12594265794916223, + -0.03254630867193026, + -0.9915034970692393 + ], + [ + 0.9722975919985718, + 0.1969637075178498, + 0.1258677500974786, + 0.18983157133511064, + -0.9795643562201526, + 0.06646537856237869, + 0.13638682897633922, + -0.04073045474605492, + -0.9898179948545883 + ], + [ + 0.9634061567194662, + 0.2380982119048189, + 0.12311709338168539, + 0.22821307318969386, + -0.969518857769818, + 0.08917386194408092, + 0.14059648082488455, + -0.05781371737256235, + -0.9883775612908372 + ], + [ + 0.9572290253844988, + 0.2504162647265019, + 0.1449285593727802, + 0.2362697432556795, + -0.9656655248329071, + 0.10801251117848251, + 0.16700060294303803, + -0.06915047729128881, + -0.983528855757191 + ], + [ + 0.9529857165769593, + 0.2570268922000811, + 0.16048489239261052, + 0.24022072815560191, + -0.9636553762865365, + 0.1168859166813804, + 0.1846949532734782, + -0.07283881135783371, + -0.980092996503539 + ], + [ + 0.9523782439452778, + 0.2644938633863238, + 0.1517190716115975, + 0.24871455359461, + -0.9616913012644983, + 0.11528621731338609, + 0.17639940841721166, + -0.07206134402834921, + -0.9816773458763756 + ], + [ + 0.9582643225056293, + 0.2524257875670123, + 0.1342039864683632, + 0.23800760457602155, + -0.9644748721700108, + 0.11463246100745361, + 0.15837256194433177, + -0.07790662824057257, + -0.9843011169857392 + ], + [ + 0.9598066623255153, + 0.271918607447812, + 0.06950857414158983, + 0.2652704088306668, + -0.959797291237691, + 0.09176475320950747, + 0.09166668508441354, + -0.06963785361736574, + -0.9933517947782654 + ], + [ + 0.9633276164532107, + 0.268231915146185, + 0.00717935063814381, + 0.2671517512334039, + -0.9612639481085294, + 0.0678348279258369, + 0.02509671674743675, + -0.06342918700261138, + -0.9976707337817856 + ], + [ + 0.9593030763322189, + 0.28233526983352675, + 0.004939954207384398, + 0.2812049474032141, + -0.9567633781292064, + 0.07434793760922359, + 0.02571741230172703, + -0.06993306570442223, + -0.9972201266649627 + ], + [ + 0.9606781572473532, + 0.27766427034853636, + -0.0001765209479981794, + 0.2765906804728804, + -0.9569074526666573, + 0.08846311381902869, + 0.024394131740628877, + -0.08503340521715186, + -0.9960794377627704 + ], + [ + 0.9594637703641639, + 0.280599959235114, + 0.026323682034158965, + 0.27335568724995046, + -0.949273712835685, + 0.15542228401120942, + 0.06859986593784576, + -0.1419263224226082, + -0.9874973303239374 + ], + [ + 0.9714337977136451, + 0.22628909005055958, + 0.07148163668897174, + 0.20398353511184664, + -0.9501575939407815, + 0.23577799744662103, + 0.12127280842348152, + -0.21446163852949213, + -0.9691744484541092 + ], + [ + 0.9723171098959793, + 0.22625988662320629, + 0.05836010202856048, + 0.21287598783460204, + -0.9607226506799313, + 0.17803314936822573, + 0.09634963210605696, + -0.16068121288993448, + -0.9822923679929754 + ], + [ + 0.9708660763088403, + 0.2392370644053012, + 0.013590028970189618, + 0.2392216425941908, + -0.9709610264962605, + 0.002773218322652261, + 0.013858845089475552, + 0.0005586054614902154, + -0.9999038055596768 + ], + [ + 0.9729173646239396, + 0.22840713570061416, + 0.03552438562803728, + 0.23096499520903052, + -0.9667768986229697, + -0.10953355320195211, + 0.009325910212991558, + 0.11477198547552271, + -0.993348085390366 + ], + [ + 0.9804217262022606, + 0.1886160190331117, + 0.056544108045670005, + 0.194582913150377, + -0.9720443413088514, + -0.13140505484704187, + 0.030178281934073084, + 0.1398348879698557, + -0.9897148455014534 + ], + [ + 0.9835789496866897, + 0.17158430220493603, + 0.05595781420028533, + 0.1770991265673198, + -0.9773168450037696, + -0.11613648798276287, + 0.03476131617647569, + 0.12413948488987366, + -0.9916557059730742 + ], + [ + 0.9833231754211844, + 0.16299466574143842, + 0.08067385957939352, + 0.16937750529916154, + -0.9823117292610688, + -0.07984314156370245, + 0.06623287233867664, + 0.09217594857643557, + -0.9935375187308243 + ], + [ + 0.978666570231957, + 0.17820536949504484, + 0.10224769236296928, + 0.18530359645839273, + -0.9805520632255205, + -0.0646546861701455, + 0.08873737346802087, + 0.08222224508798939, + -0.9926556205264178 + ], + [ + 0.978341368045807, + 0.17450019674445907, + 0.11134562814230164, + 0.18210661738514775, + -0.9813107425628879, + -0.06218043450485757, + 0.09841416297869962, + 0.08111046706078413, + -0.9918345349191987 + ], + [ + 0.9779079262008031, + 0.18219269504654909, + 0.10247882583890171, + 0.18859100391819075, + -0.9804243362078681, + -0.05658227825468427, + 0.09016385703137224, + 0.07465884303307098, + -0.9931246326832246 + ], + [ + 0.9744654112629674, + 0.19410575369576674, + 0.1128721340025723, + 0.19739658387586237, + -0.9801464652703283, + -0.01864122560941714, + 0.1070128540234113, + 0.04044580324681277, + -0.993434641067788 + ], + [ + 0.9761153795659212, + 0.17440811597998362, + 0.12953985817187652, + 0.17290134401040474, + -0.9846734506847775, + 0.022876205015874982, + 0.13154425496490896, + 6.780003873602114e-05, + -0.9913102967229188 + ], + [ + 0.9740591448485458, + 0.1727537708473426, + 0.14616742795487558, + 0.1651264899420754, + -0.9842652145633541, + 0.06289061710592701, + 0.1547321060941445, + -0.03712306639514679, + -0.9872587570060304 + ], + [ + 0.9735810363581716, + 0.1761085960806759, + 0.14534692301607824, + 0.16174233876344887, + -0.9811837156055712, + 0.1054416050796614, + 0.1611812070158248, + -0.07914719588803436, + -0.9837460749034697 + ], + [ + 0.9788490821703028, + 0.16152219115732086, + 0.12555897458204432, + 0.14407391528846009, + -0.979971808685901, + 0.13746985529321806, + 0.14524868766295337, + -0.11647246861221142, + -0.9825156399709717 + ], + [ + 0.9770737625603579, + 0.17058673831011553, + 0.1273853493493725, + 0.14908106928168294, + -0.9753558071253118, + 0.16265264919072725, + 0.15199242513354266, + -0.1399328918433686, + -0.9784258216555698 + ], + [ + 0.9718995307153064, + 0.19630337162909672, + 0.12990876984413297, + 0.18451824578955894, + -0.9779931901798625, + 0.0973772916678177, + 0.14616538292670767, + -0.07067040574996056, + -0.9867326763541506 + ], + [ + 0.9625433660234455, + 0.2181563465829126, + 0.1609909220106905, + 0.22335126151360052, + -0.9746274006831842, + -0.01468481589342608, + 0.15370257806731594, + 0.05009229764281831, + -0.9868466340887648 + ], + [ + 0.9567338908708747, + 0.24781934734384214, + 0.15246584253907092, + 0.26227697697513164, + -0.961405354833859, + -0.08312960390599403, + 0.12598035326138324, + 0.1195211896646503, + -0.9848063950915851 + ], + [ + 0.9464375912576408, + 0.2634097061957853, + 0.18673835314762013, + 0.2835540461064102, + -0.9546790138107573, + -0.09047145144189978, + 0.1544441283801978, + 0.1385759981785096, + -0.9782349942307886 + ], + [ + 0.9432883985066276, + 0.2689215164058787, + 0.1946489539061646, + 0.2875883831145136, + -0.954853455731597, + -0.07448355506423439, + 0.16583099571666693, + 0.12623825130042726, + -0.9780408911534471 + ], + [ + 0.9474078166939981, + 0.24519398166684656, + 0.20566560291276137, + 0.26274256008239705, + -0.9628437791254816, + -0.06243559978657029, + 0.18271501303521692, + 0.11318908230796343, + -0.9766286170586143 + ], + [ + 0.9557098255747027, + 0.23553498092491515, + 0.17647096662247622, + 0.2499086512429105, + -0.96615880978437, + -0.0638969507097081, + 0.15544901200689756, + 0.1051685648696862, + -0.9822296969799529 + ], + [ + 0.9686567594997558, + 0.19861064087361735, + 0.14919080268972218, + 0.2086205740166613, + -0.9764720332502012, + -0.05458776765152734, + 0.13483893492753263, + 0.08400108101679035, + -0.9873005013751485 + ], + [ + 0.9727809593901082, + 0.16914557413513748, + 0.15838869845590384, + 0.17695754209200792, + -0.9835419210417039, + -0.03648722859234036, + 0.1496102715217634, + 0.063522156009452, + -0.9867024386060343 + ], + [ + 0.9770718717232756, + 0.1161855948700074, + 0.1784137467570171, + 0.1207627050093028, + -0.9925684502535977, + -0.014974666607547146, + 0.17534801557477242, + 0.036177052199890244, + -0.9838416002223709 + ], + [ + 0.9784265013130153, + 0.0645321705913085, + 0.1962579437555226, + 0.054887241614186816, + -0.9970205505945, + 0.054197900330413266, + 0.19917071129148858, + -0.04225660482118492, + -0.9790533218944861 + ], + [ + 0.9879795197530127, + 0.03307966026645615, + 0.15100398877268942, + 0.020604647834273244, + -0.996299481213576, + 0.0834433473752401, + 0.15320547325807995, + -0.0793289342561417, + -0.9850050777298321 + ], + [ + 0.9952834480547277, + 0.0513879982838811, + 0.08228080979589213, + 0.04874700019679534, + -0.9982393625218431, + 0.03379208611195389, + 0.08387245078156223, + -0.029621761331154916, + -0.9960361254771507 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006607.json b/json/chunk-0006/episode_0006607.json new file mode 100644 index 0000000000000000000000000000000000000000..38e503b22082d950122327014f20aa2259ab36b9 --- /dev/null +++ b/json/chunk-0006/episode_0006607.json @@ -0,0 +1,2182 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 35, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nTopple metal pot cardboard fence." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006607.mp4", + "start": 0, + "end": 35, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.288278728723526, + 0.07247699052095413, + 0.19242438673973083, + -0.18681782484054565, + 0.02053886093199253, + -0.011128063313663006, + 0.0, + 0.9907060265541077 + ], + [ + 0.28773826360702515, + 0.07253550738096237, + 0.1828911304473877, + -0.1953326016664505, + 0.04827449470758438, + -0.011992750689387321, + 0.0, + 0.9907060265541077 + ], + [ + 0.29605430364608765, + 0.08298411965370178, + 0.1741953194141388, + -0.1606266051530838, + -0.01237702090293169, + -0.0060975030064582825, + 0.0, + 0.9907060265541077 + ], + [ + 0.304374635219574, + 0.1005362719297409, + 0.1562519520521164, + -0.14172866940498352, + -0.023629646748304367, + -0.002551262965425849, + 0.0, + 0.9907060265541077 + ], + [ + 0.3134672939777374, + 0.12050600349903107, + 0.13026420772075653, + -0.11504671722650528, + -0.03549160063266754, + 0.012025967240333557, + 0.0, + 0.9907060265541077 + ], + [ + 0.3136581480503082, + 0.13028176128864288, + 0.10796426236629486, + -0.10280895978212357, + 0.0016249932814389467, + 0.01954491436481476, + 0.0, + 0.9907060265541077 + ], + [ + 0.3110620379447937, + 0.13426226377487183, + 0.0967862606048584, + -0.11404229700565338, + 0.025949202477931976, + 0.024747198447585106, + 0.0, + 0.9907060265541077 + ], + [ + 0.304356187582016, + 0.1309373825788498, + 0.08449097722768784, + -0.1211882084608078, + 0.04143000766634941, + 0.028399275615811348, + 0.0, + 0.9907060265541077 + ], + [ + 0.30123743414878845, + 0.12561756372451782, + 0.07396157085895538, + -0.12736725807189941, + 0.0454382486641407, + 0.04112687706947327, + 0.0, + 0.9907060265541077 + ], + [ + 0.3018738627433777, + 0.12248992174863815, + 0.06434999406337738, + -0.12061703205108643, + 0.04870171844959259, + 0.0487801767885685, + 0.0, + 0.9907060265541077 + ], + [ + 0.3060471713542938, + 0.12180691957473755, + 0.06106670945882797, + -0.10711462795734406, + 0.029178662225604057, + 0.05549042299389839, + 0.0, + 0.9907060265541077 + ], + [ + 0.3059859871864319, + 0.12316721677780151, + 0.05241980403661728, + -0.09211455285549164, + 0.03861628472805023, + 0.047483064234256744, + 0.0, + 0.9907060265541077 + ], + [ + 0.30192726850509644, + 0.122216135263443, + 0.04479790851473808, + -0.07597268372774124, + 0.045376162976026535, + 0.04081692919135094, + 0.0, + 0.9907060265541077 + ], + [ + 0.29780393838882446, + 0.12192096561193466, + 0.03985888510942459, + -0.061133600771427155, + 0.056417934596538544, + 0.03325396031141281, + 0.0, + 0.9907060265541077 + ], + [ + 0.2972850501537323, + 0.12147064507007599, + 0.03924104943871498, + -0.06286157667636871, + 0.05739175155758858, + 0.03404450789093971, + 0.0, + 0.9367310404777527 + ], + [ + 0.29656556248664856, + 0.114966481924057, + 0.04018210247159004, + -0.10365507006645203, + 0.06587346643209457, + 0.04433286935091019, + 0.0, + 0.6911999583244324 + ], + [ + 0.298333078622818, + 0.11174830049276352, + 0.0414281003177166, + -0.11102920025587082, + 0.056571125984191895, + 0.044635333120822906, + 0.0, + 0.672171950340271 + ], + [ + 0.3029397428035736, + 0.10372491180896759, + 0.06327668577432632, + -0.09320371598005295, + -0.0043845949694514275, + 0.0513080358505249, + 0.0, + 0.6931989789009094 + ], + [ + 0.3078311085700989, + 0.0905165895819664, + 0.0771317109465599, + -0.04952102154493332, + -0.026327624917030334, + 0.059094976633787155, + 0.0, + 0.6931989789009094 + ], + [ + 0.30839481949806213, + 0.0733981728553772, + 0.09500041604042053, + 0.09335401654243469, + -0.06337694078683853, + 0.054978277534246445, + 0.0, + 0.6931989789009094 + ], + [ + 0.3041552007198334, + 0.05841672047972679, + 0.09966462105512619, + 0.2923334240913391, + -0.11994826048612595, + 0.02170315571129322, + 0.0, + 0.6931989789009094 + ], + [ + 0.30150628089904785, + 0.050214752554893494, + 0.0923217162489891, + 0.4438078701496124, + -0.16312241554260254, + -0.017934033647179604, + 0.0, + 0.6931989789009094 + ], + [ + 0.30306053161621094, + 0.054350513964891434, + 0.08767903596162796, + 0.6007490754127502, + -0.22507357597351074, + -0.03367235139012337, + 0.0, + 0.6931989789009094 + ], + [ + 0.3044453561306, + 0.05747659504413605, + 0.07911472767591476, + 0.6976960301399231, + -0.2529769837856293, + -0.06564730405807495, + 0.0, + 0.6931989789009094 + ], + [ + 0.30104175209999084, + 0.06012320518493652, + 0.07093892991542816, + 0.741178035736084, + -0.25055015087127686, + -0.12552033364772797, + 0.0, + 0.6931989789009094 + ], + [ + 0.298649400472641, + 0.0566498339176178, + 0.06557111442089081, + 0.7031568288803101, + -0.20321336388587952, + -0.10144031792879105, + 0.0, + 0.6931989789009094 + ], + [ + 0.29236459732055664, + 0.05275365710258484, + 0.059370193630456924, + 0.625005841255188, + -0.1598014533519745, + -0.05655401945114136, + 0.0, + 0.7662391662597656 + ], + [ + 0.28805726766586304, + 0.048858895897865295, + 0.06213007867336273, + 0.48253244161605835, + -0.14766566455364227, + -0.030229678377509117, + 0.0, + 0.9844722747802734 + ], + [ + 0.28823062777519226, + 0.04919007793068886, + 0.07435990869998932, + 0.5526744723320007, + -0.25697359442710876, + -0.05911996215581894, + 0.0, + 0.9941151142120361 + ], + [ + 0.28702065348625183, + 0.04077090322971344, + 0.08097247034311295, + 0.5841944217681885, + -0.3196798264980316, + -0.11692464351654053, + 0.0, + 0.9941151142120361 + ], + [ + 0.2829870879650116, + 0.042587265372276306, + 0.09291180223226547, + 0.42085182666778564, + -0.27274030447006226, + -0.03427038714289665, + 0.0, + 0.9941151142120361 + ], + [ + 0.2886313796043396, + 0.04003385826945305, + 0.12549124658107758, + 0.15777716040611267, + -0.3611961901187897, + 0.05245780944824219, + 0.0, + 0.9941151142120361 + ], + [ + 0.28872817754745483, + 0.0402078814804554, + 0.153777077794075, + -0.047775592654943466, + -0.36477357149124146, + 0.13966694474220276, + 0.0, + 0.993436336517334 + ], + [ + 0.28648078441619873, + 0.03988528996706009, + 0.17067217826843262, + -0.12659335136413574, + -0.341764360666275, + 0.16833409667015076, + 0.0, + 0.9941151142120361 + ], + [ + 0.28488782048225403, + 0.04045936465263367, + 0.18714474141597748, + -0.19571734964847565, + -0.32009124755859375, + 0.187007337808609, + 0.0, + 0.9941151142120361 + ] + ], + "left_gripper_pos": [ + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9367310404777527 + ], + [ + 0.6911999583244324 + ], + [ + 0.672171950340271 + ], + [ + 0.6931989789009094 + ], + [ + 0.6931989789009094 + ], + [ + 0.6931989789009094 + ], + [ + 0.6931989789009094 + ], + [ + 0.6931989789009094 + ], + [ + 0.6931989789009094 + ], + [ + 0.6931989789009094 + ], + [ + 0.6931989789009094 + ], + [ + 0.6931989789009094 + ], + [ + 0.7662391662597656 + ], + [ + 0.9844722747802734 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.993436336517334 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.288278728723526, + 0.07247699052095413, + 0.19242438673973083 + ], + [ + 0.28773826360702515, + 0.07253550738096237, + 0.1828911304473877 + ], + [ + 0.29605430364608765, + 0.08298411965370178, + 0.1741953194141388 + ], + [ + 0.304374635219574, + 0.1005362719297409, + 0.1562519520521164 + ], + [ + 0.3134672939777374, + 0.12050600349903107, + 0.13026420772075653 + ], + [ + 0.3136581480503082, + 0.13028176128864288, + 0.10796426236629486 + ], + [ + 0.3110620379447937, + 0.13426226377487183, + 0.0967862606048584 + ], + [ + 0.304356187582016, + 0.1309373825788498, + 0.08449097722768784 + ], + [ + 0.30123743414878845, + 0.12561756372451782, + 0.07396157085895538 + ], + [ + 0.3018738627433777, + 0.12248992174863815, + 0.06434999406337738 + ], + [ + 0.3060471713542938, + 0.12180691957473755, + 0.06106670945882797 + ], + [ + 0.3059859871864319, + 0.12316721677780151, + 0.05241980403661728 + ], + [ + 0.30192726850509644, + 0.122216135263443, + 0.04479790851473808 + ], + [ + 0.29780393838882446, + 0.12192096561193466, + 0.03985888510942459 + ], + [ + 0.2972850501537323, + 0.12147064507007599, + 0.03924104943871498 + ], + [ + 0.29656556248664856, + 0.114966481924057, + 0.04018210247159004 + ], + [ + 0.298333078622818, + 0.11174830049276352, + 0.0414281003177166 + ], + [ + 0.3029397428035736, + 0.10372491180896759, + 0.06327668577432632 + ], + [ + 0.3078311085700989, + 0.0905165895819664, + 0.0771317109465599 + ], + [ + 0.30839481949806213, + 0.0733981728553772, + 0.09500041604042053 + ], + [ + 0.3041552007198334, + 0.05841672047972679, + 0.09966462105512619 + ], + [ + 0.30150628089904785, + 0.050214752554893494, + 0.0923217162489891 + ], + [ + 0.30306053161621094, + 0.054350513964891434, + 0.08767903596162796 + ], + [ + 0.3044453561306, + 0.05747659504413605, + 0.07911472767591476 + ], + [ + 0.30104175209999084, + 0.06012320518493652, + 0.07093892991542816 + ], + [ + 0.298649400472641, + 0.0566498339176178, + 0.06557111442089081 + ], + [ + 0.29236459732055664, + 0.05275365710258484, + 0.059370193630456924 + ], + [ + 0.28805726766586304, + 0.048858895897865295, + 0.06213007867336273 + ], + [ + 0.28823062777519226, + 0.04919007793068886, + 0.07435990869998932 + ], + [ + 0.28702065348625183, + 0.04077090322971344, + 0.08097247034311295 + ], + [ + 0.2829870879650116, + 0.042587265372276306, + 0.09291180223226547 + ], + [ + 0.2886313796043396, + 0.04003385826945305, + 0.12549124658107758 + ], + [ + 0.28872817754745483, + 0.0402078814804554, + 0.153777077794075 + ], + [ + 0.28648078441619873, + 0.03988528996706009, + 0.17067217826843262 + ], + [ + 0.28488782048225403, + 0.04045936465263367, + 0.18714474141597748 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9997271818118719, + -0.007119971465620586, + -0.022245627723686434, + -0.011125486616453028, + -0.9825818521198169, + -0.18549697418647357, + -0.020537416927141117, + 0.18569386067158725, + -0.9823929990664844 + ], + [ + 0.9987631844539564, + -0.002398983991524868, + -0.049662322289642125, + -0.011978492147547733, + -0.9810249461227123, + -0.19351116456370218, + -0.04825574686255529, + 0.19386670668461228, + -0.9798403354291959 + ], + [ + 0.9999048173645928, + -0.007998427631218791, + 0.011241946740130663, + -0.006096998191441982, + -0.9870968396768974, + -0.1600082988876967, + 0.012376704898046648, + 0.15992452674717872, + -0.9870516515970971 + ], + [ + 0.9997175793262351, + -0.005863155740549493, + 0.023030088815608914, + -0.0025505479698128154, + -0.9899615562538987, + -0.1413138770411901, + 0.023627447833959068, + 0.14121522773455056, + -0.9896969249041508 + ], + [ + 0.999297973719276, + 0.007873139784622875, + 0.036627495006914125, + 0.01201810406917838, + -0.9933665741466111, + -0.11436089603884791, + 0.03548414991418181, + 0.11472080473112786, + -0.9927638249184499 + ], + [ + 0.9998076841923225, + 0.019607213565369815, + 0.00038962313480434593, + 0.019543644213522105, + -0.9945265656227161, + -0.10263993492564406, + -0.0016249925662786407, + 0.10262781029958283, + -0.9947184988489318 + ], + [ + 0.9993572451336084, + 0.027535597425382762, + -0.022954029567651094, + 0.024736341979976307, + -0.9931269544211878, + -0.11439827703049543, + -0.02594629037868435, + 0.11375694825602334, + -0.9931697471928259 + ], + [ + 0.9987390136712926, + 0.033192293208657485, + -0.037665026781409566, + 0.02837109220125262, + -0.9921232377678434, + -0.12201050040205327, + -0.04141815662486456, + 0.12078804888150951, + -0.991813885539619 + ], + [ + 0.9981231423366361, + 0.046547085846361066, + -0.03979398863208828, + 0.04107284753222361, + -0.9908237849664258, + -0.12876819615262425, + -0.045422614715953886, + 0.12689206414909282, + -0.9908759711126053 + ], + [ + 0.9976261991755709, + 0.05425730516112314, + -0.042404145494952486, + 0.048703018196337246, + -0.9912680793202114, + -0.12253820195917049, + -0.04868246847759039, + 0.12018211080469494, + -0.9915575008568372 + ], + [ + 0.9980357897189379, + 0.05825832618857264, + -0.023033234028286026, + 0.0554383414929958, + -0.9925653459660532, + -0.10835416134046329, + -0.02917452197726473, + 0.10686440668901427, + -0.9938454838909331 + ], + [ + 0.9981282153036948, + 0.050811200506187, + -0.03403362628021352, + 0.047429837278401894, + -0.9944695641098423, + -0.09370537121704707, + -0.03860668789737728, + 0.09191576558077692, + -0.9950180981707288 + ], + [ + 0.9981386406564051, + 0.04412787553853649, + -0.042094947785206616, + 0.0407635944112837, + -0.9961444831747769, + -0.07768203145598744, + -0.04536059302143436, + 0.07582149590262709, + -0.9960891111541335 + ], + [ + 0.9978569480780349, + 0.0366288729293262, + -0.05422026226714266, + 0.0331949321883303, + -0.9974655535192581, + -0.06293302804992423, + -0.05638800980175318, + 0.060998321374015466, + -0.9965438260007184 + ], + [ + 0.9977750411907709, + 0.03757199572580284, + -0.05507551464976257, + 0.03398188993758578, + -0.9973238961945909, + -0.06473235076460027, + -0.05736025046167219, + 0.0627167538734403, + -0.9963816590295874 + ], + [ + 0.9968507179578724, + 0.05088475309751274, + -0.060822594560567204, + 0.04422222794266005, + -0.9933535035912299, + -0.10626952271848854, + -0.06582583582956913, + 0.10324513937824435, + -0.9924753903911698 + ], + [ + 0.9974058827534449, + 0.05060433387543039, + -0.05119283584492933, + 0.04454913303539831, + -0.9925731904092823, + -0.11319821741764971, + -0.05654095678900646, + 0.11062397151505218, + -0.9922527183795573 + ], + [ + 0.998674431787166, + 0.05065540071510739, + 0.009132889628853285, + 0.051285034315387584, + -0.9943703481976015, + -0.09272246696809766, + 0.00438458092073081, + 0.0930679375712836, + -0.9956501064361802 + ], + [ + 0.997908453000455, + 0.05768737111276494, + 0.02916996133588853, + 0.05904011967404209, + -0.9971075858022271, + -0.04786153575189024, + 0.026324583550625957, + 0.04948362910855279, + -0.9984279577170972 + ], + [ + 0.9964844623599084, + 0.060606340259642545, + 0.05784105631483994, + 0.05484026406254614, + -0.9938169062915145, + 0.09654274807935068, + 0.0633345222831456, + -0.09303132961263744, + -0.9936467732537908 + ], + [ + 0.992581016275164, + 0.055257375608309, + 0.10830304045152445, + 0.021545523299362268, + -0.9566001376587183, + 0.29060620615719424, + 0.11966083969251978, + -0.2861167577619377, + -0.950693685879883 + ], + [ + 0.9865663383530657, + 0.0535245583475117, + 0.1543437128046644, + -0.01769501102743087, + -0.9042284547590174, + 0.42668230358061426, + 0.16239995878498248, + -0.4236815115836708, + -0.8911342379960566 + ], + [ + 0.9742251266224206, + 0.09831076288920562, + 0.2030280683986111, + -0.032816854615654284, + -0.8286919049726915, + 0.5587421414980854, + 0.2231780829531962, + -0.551003376153789, + -0.8041062260401062 + ], + [ + 0.9660861599223698, + 0.11018065876448312, + 0.23353319687075275, + -0.06351221485769525, + -0.7752221198129816, + 0.6284877592416077, + 0.2502872952635015, + -0.6220055364599993, + -0.7419335431443904 + ], + [ + 0.9611544745486947, + 0.07372940903969794, + 0.2659812968944983, + -0.12128204756390332, + -0.7528267123422369, + 0.64694868894116, + 0.24793696980024865, + -0.654076383480275, + -0.714640709433513 + ], + [ + 0.9743882422474174, + 0.05258373558786246, + 0.21863783780858678, + -0.09918268787492136, + -0.7720987581875864, + 0.6277151440192381, + 0.2018176102224334, + -0.6333233442380066, + -0.7471085555977077 + ], + [ + 0.9856805135081371, + 0.04711527972317717, + 0.16190761472809828, + -0.05580370101089946, + -0.8149257044990478, + 0.5768726402770521, + 0.15912219280735695, + -0.5776471644207541, + -0.8006271798988845 + ], + [ + 0.9886653125945135, + 0.041466413146560605, + 0.14429634871732627, + -0.02989614167572462, + -0.8874814506291749, + 0.4598726948863575, + 0.14712960404112585, + -0.45897408572804477, + -0.8761824400459116 + ], + [ + 0.9654738730254344, + 0.08290023647380958, + 0.2469569826869728, + -0.05714537194933119, + -0.8575199190437544, + 0.5112670485254899, + 0.25415469102505256, + -0.507727426121319, + -0.8231757125876471 + ], + [ + 0.9428541116330813, + 0.07482967761261466, + 0.3246946927884495, + -0.11074803401325203, + -0.8486808757692097, + 0.5171804753331347, + 0.314262624470033, + -0.5235850365050551, + -0.7918950135019209 + ], + [ + 0.9624708851082868, + 0.07871001153931828, + 0.25972009818716607, + -0.0329971688033897, + -0.915975998134617, + 0.3998739272473919, + 0.2693714576005249, + -0.3934370406110389, + -0.8790030221252918 + ], + [ + 0.9341879324675586, + 0.10723246653145808, + 0.3402853287368814, + 0.04905045350848629, + -0.9833090175691934, + 0.17520681772613456, + 0.35339349151137395, + -0.1469849451089697, + -0.9238552192138729 + ], + [ + 0.9251076661340865, + 0.1221834851098455, + 0.35950939073458954, + 0.1300537093635325, + -0.9915042510903671, + 0.002313601200709975, + 0.3567377730781105, + 0.04461519960890313, + -0.9331385991497342 + ], + [ + 0.9288475340856245, + 0.12448311396224918, + 0.3489214994254679, + 0.15785050479863563, + -0.9850654918318109, + -0.06876914233119906, + 0.33514993146034067, + 0.11895348309492453, + -0.9346253753786674 + ], + [ + 0.932657318014073, + 0.1222459339167753, + 0.339420474921021, + 0.17647579662059643, + -0.9751828324895817, + -0.13369643385192523, + 0.3146531747208693, + 0.1845924561254109, + -0.9310848536946921 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0005404651165008545, + 5.8516860008239746e-05, + -0.00953325629234314, + -0.008514776825904846, + 0.02773563377559185, + -0.0008646873757243156, + 1.0 + ], + [ + 0.0083160400390625, + 0.01044861227273941, + -0.008695811033248901, + 0.0347059965133667, + -0.0606515146791935, + 0.005895247682929039, + 1.0 + ], + [ + 0.008320331573486328, + 0.017552152276039124, + -0.0179433673620224, + 0.01889793574810028, + -0.011252625845372677, + 0.0035462400410324335, + 1.0 + ], + [ + 0.009092658758163452, + 0.01996973156929016, + -0.025987744331359863, + 0.02668195217847824, + -0.011861953884363174, + 0.01457723043859005, + 1.0 + ], + [ + 0.00019085407257080078, + 0.009775757789611816, + -0.02229994535446167, + 0.012237757444381714, + 0.03711659461259842, + 0.007518947124481201, + 1.0 + ], + [ + -0.0025961101055145264, + 0.003980502486228943, + -0.011178001761436462, + -0.011233337223529816, + 0.0243242084980011, + 0.005202284082770348, + 1.0 + ], + [ + -0.00670585036277771, + -0.0033248811960220337, + -0.012295283377170563, + -0.007145911455154419, + 0.015480805188417435, + 0.003652077168226242, + 1.0 + ], + [ + -0.003118753433227539, + -0.00531981885433197, + -0.010529406368732452, + -0.006179049611091614, + 0.00400824099779129, + 0.012727601453661919, + 1.0 + ], + [ + 0.0006364285945892334, + -0.003127641975879669, + -0.009611576795578003, + 0.006750226020812988, + 0.003263469785451889, + 0.00765329971909523, + 1.0 + ], + [ + 0.004173308610916138, + -0.0006830021739006042, + -0.003283284604549408, + 0.01350240409374237, + -0.019523056223988533, + 0.006710246205329895, + 1.0 + ], + [ + -6.118416786193848e-05, + 0.0013602972030639648, + -0.008646905422210693, + 0.015000075101852417, + 0.009437622502446175, + -0.008007358759641647, + 1.0 + ], + [ + -0.004058718681335449, + -0.0009510815143585205, + -0.007621895521879196, + 0.016141869127750397, + 0.006759878247976303, + -0.0066661350429058075, + 1.0 + ], + [ + -0.004123330116271973, + -0.0002951696515083313, + -0.004939023405313492, + 0.014839082956314087, + 0.011041771620512009, + -0.007562968879938126, + 1.0 + ], + [ + -0.0005188882350921631, + -0.0004503205418586731, + -0.00061783567070961, + -0.0017279759049415588, + 0.0009738169610500336, + 0.0007905475795269012, + 0.0 + ], + [ + -0.0007194876670837402, + -0.006504163146018982, + 0.000941053032875061, + -0.04079349339008331, + 0.008481714874505997, + 0.010288361459970474, + 0.0 + ], + [ + 0.0017675161361694336, + -0.0032181814312934875, + 0.0012459978461265564, + -0.007374130189418793, + -0.00930234044790268, + 0.0003024637699127197, + 0.0 + ], + [ + 0.004606664180755615, + -0.008023388683795929, + 0.021848585456609726, + 0.01782548427581787, + -0.0609557218849659, + 0.006672702729701996, + 0.0 + ], + [ + 0.0048913657665252686, + -0.01320832222700119, + 0.013855025172233582, + 0.04368269443511963, + -0.021943029016256332, + 0.007786940783262253, + 0.0 + ], + [ + 0.0005637109279632568, + -0.017118416726589203, + 0.017868705093860626, + 0.1428750455379486, + -0.0370493158698082, + -0.0041166990995407104, + 0.0 + ], + [ + -0.00423961877822876, + -0.014981452375650406, + 0.004664205014705658, + 0.19897940754890442, + -0.056571319699287415, + -0.033275119960308075, + 0.0 + ], + [ + -0.0026489198207855225, + -0.008201967924833298, + -0.007342904806137085, + 0.15147444605827332, + -0.04317415505647659, + -0.039637189358472824, + 0.0 + ], + [ + 0.001554250717163086, + 0.00413576140999794, + -0.004642680287361145, + 0.15694120526313782, + -0.0619511604309082, + -0.015738317742943764, + 0.0 + ], + [ + 0.001384824514389038, + 0.0031260810792446136, + -0.008564308285713196, + 0.09694695472717285, + -0.02790340781211853, + -0.031974952667951584, + 0.0 + ], + [ + -0.003403604030609131, + 0.002646610140800476, + -0.008175797760486603, + 0.04348200559616089, + 0.002426832914352417, + -0.059873029589653015, + 0.0 + ], + [ + -0.0023923516273498535, + -0.0034733712673187256, + -0.0053678154945373535, + -0.038021206855773926, + 0.04733678698539734, + 0.02408001571893692, + 0.0 + ], + [ + -0.006284803152084351, + -0.003896176815032959, + -0.006200920790433884, + -0.07815098762512207, + 0.04341191053390503, + 0.04488629847764969, + 1.0 + ], + [ + -0.0043073296546936035, + -0.0038947612047195435, + 0.0027598850429058075, + -0.14247339963912964, + 0.012135788798332214, + 0.02632434107363224, + 1.0 + ], + [ + 0.00017336010932922363, + 0.0003311820328235626, + 0.012229830026626587, + 0.07014203071594238, + -0.10930792987346649, + -0.028890283778309822, + 1.0 + ], + [ + -0.0012099742889404297, + -0.008419174700975418, + 0.006612561643123627, + 0.031519949436187744, + -0.06270623207092285, + -0.05780468136072159, + 1.0 + ], + [ + -0.004033565521240234, + 0.0018163621425628662, + 0.011939331889152527, + -0.16334259510040283, + 0.04693952202796936, + 0.08265425264835358, + 1.0 + ], + [ + 0.005644291639328003, + -0.0025534071028232574, + 0.0325794443488121, + -0.263074666261673, + -0.08845588564872742, + 0.08672820031642914, + 1.0 + ], + [ + 9.679794311523438e-05, + 0.00017402321100234985, + 0.028285831212997437, + -0.20555275678634644, + -0.0035773813724517822, + 0.08720913529396057, + 1.0 + ], + [ + -0.0022473931312561035, + -0.00032259151339530945, + 0.016895100474357605, + -0.07881775498390198, + 0.02300921082496643, + 0.028667151927947998, + 1.0 + ], + [ + -0.0015929639339447021, + 0.0005740746855735779, + 0.01647256314754486, + -0.0691239982843399, + 0.021673113107681274, + 0.018673241138458252, + 1.0 + ], + [ + 0.0005435943603515625, + 0.004130881279706955, + 0.02601008117198944, + -0.06301672756671906, + 0.03245854377746582, + 0.026459887623786926, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9367310404777527 + ], + [ + 0.6911999583244324 + ], + [ + 0.672171950340271 + ], + [ + 0.6931989789009094 + ], + [ + 0.6931989789009094 + ], + [ + 0.6931989789009094 + ], + [ + 0.6931989789009094 + ], + [ + 0.6931989789009094 + ], + [ + 0.6931989789009094 + ], + [ + 0.6931989789009094 + ], + [ + 0.6931989789009094 + ], + [ + 0.6931989789009094 + ], + [ + 0.7662391662597656 + ], + [ + 0.9844722747802734 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.993436336517334 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.28773826360702515, + 0.07253550738096237, + 0.1828911304473877 + ], + [ + 0.29605430364608765, + 0.08298411965370178, + 0.1741953194141388 + ], + [ + 0.304374635219574, + 0.1005362719297409, + 0.1562519520521164 + ], + [ + 0.3134672939777374, + 0.12050600349903107, + 0.13026420772075653 + ], + [ + 0.3136581480503082, + 0.13028176128864288, + 0.10796426236629486 + ], + [ + 0.3110620379447937, + 0.13426226377487183, + 0.0967862606048584 + ], + [ + 0.304356187582016, + 0.1309373825788498, + 0.08449097722768784 + ], + [ + 0.30123743414878845, + 0.12561756372451782, + 0.07396157085895538 + ], + [ + 0.3018738627433777, + 0.12248992174863815, + 0.06434999406337738 + ], + [ + 0.3060471713542938, + 0.12180691957473755, + 0.06106670945882797 + ], + [ + 0.3059859871864319, + 0.12316721677780151, + 0.05241980403661728 + ], + [ + 0.30192726850509644, + 0.122216135263443, + 0.04479790851473808 + ], + [ + 0.29780393838882446, + 0.12192096561193466, + 0.03985888510942459 + ], + [ + 0.2972850501537323, + 0.12147064507007599, + 0.03924104943871498 + ], + [ + 0.29656556248664856, + 0.114966481924057, + 0.04018210247159004 + ], + [ + 0.298333078622818, + 0.11174830049276352, + 0.0414281003177166 + ], + [ + 0.3029397428035736, + 0.10372491180896759, + 0.06327668577432632 + ], + [ + 0.3078311085700989, + 0.0905165895819664, + 0.0771317109465599 + ], + [ + 0.30839481949806213, + 0.0733981728553772, + 0.09500041604042053 + ], + [ + 0.3041552007198334, + 0.05841672047972679, + 0.09966462105512619 + ], + [ + 0.30150628089904785, + 0.050214752554893494, + 0.0923217162489891 + ], + [ + 0.30306053161621094, + 0.054350513964891434, + 0.08767903596162796 + ], + [ + 0.3044453561306, + 0.05747659504413605, + 0.07911472767591476 + ], + [ + 0.30104175209999084, + 0.06012320518493652, + 0.07093892991542816 + ], + [ + 0.298649400472641, + 0.0566498339176178, + 0.06557111442089081 + ], + [ + 0.29236459732055664, + 0.05275365710258484, + 0.059370193630456924 + ], + [ + 0.28805726766586304, + 0.048858895897865295, + 0.06213007867336273 + ], + [ + 0.28823062777519226, + 0.04919007793068886, + 0.07435990869998932 + ], + [ + 0.28702065348625183, + 0.04077090322971344, + 0.08097247034311295 + ], + [ + 0.2829870879650116, + 0.042587265372276306, + 0.09291180223226547 + ], + [ + 0.2886313796043396, + 0.04003385826945305, + 0.12549124658107758 + ], + [ + 0.28872817754745483, + 0.0402078814804554, + 0.153777077794075 + ], + [ + 0.28648078441619873, + 0.03988528996706009, + 0.17067217826843262 + ], + [ + 0.28488782048225403, + 0.04045936465263367, + 0.18714474141597748 + ], + [ + 0.2854314148426056, + 0.04459024593234062, + 0.21315482258796692 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9987631844539564, + -0.002398983991524868, + -0.049662322289642125, + -0.011978492147547733, + -0.9810249461227123, + -0.19351116456370218, + -0.04825574686255529, + 0.19386670668461228, + -0.9798403354291959 + ], + [ + 0.9999048173645928, + -0.007998427631218791, + 0.011241946740130663, + -0.006096998191441982, + -0.9870968396768974, + -0.1600082988876967, + 0.012376704898046648, + 0.15992452674717872, + -0.9870516515970971 + ], + [ + 0.9997175793262351, + -0.005863155740549493, + 0.023030088815608914, + -0.0025505479698128154, + -0.9899615562538987, + -0.1413138770411901, + 0.023627447833959068, + 0.14121522773455056, + -0.9896969249041508 + ], + [ + 0.999297973719276, + 0.007873139784622875, + 0.036627495006914125, + 0.01201810406917838, + -0.9933665741466111, + -0.11436089603884791, + 0.03548414991418181, + 0.11472080473112786, + -0.9927638249184499 + ], + [ + 0.9998076841923225, + 0.019607213565369815, + 0.00038962313480434593, + 0.019543644213522105, + -0.9945265656227161, + -0.10263993492564406, + -0.0016249925662786407, + 0.10262781029958283, + -0.9947184988489318 + ], + [ + 0.9993572451336084, + 0.027535597425382762, + -0.022954029567651094, + 0.024736341979976307, + -0.9931269544211878, + -0.11439827703049543, + -0.02594629037868435, + 0.11375694825602334, + -0.9931697471928259 + ], + [ + 0.9987390136712926, + 0.033192293208657485, + -0.037665026781409566, + 0.02837109220125262, + -0.9921232377678434, + -0.12201050040205327, + -0.04141815662486456, + 0.12078804888150951, + -0.991813885539619 + ], + [ + 0.9981231423366361, + 0.046547085846361066, + -0.03979398863208828, + 0.04107284753222361, + -0.9908237849664258, + -0.12876819615262425, + -0.045422614715953886, + 0.12689206414909282, + -0.9908759711126053 + ], + [ + 0.9976261991755709, + 0.05425730516112314, + -0.042404145494952486, + 0.048703018196337246, + -0.9912680793202114, + -0.12253820195917049, + -0.04868246847759039, + 0.12018211080469494, + -0.9915575008568372 + ], + [ + 0.9980357897189379, + 0.05825832618857264, + -0.023033234028286026, + 0.0554383414929958, + -0.9925653459660532, + -0.10835416134046329, + -0.02917452197726473, + 0.10686440668901427, + -0.9938454838909331 + ], + [ + 0.9981282153036948, + 0.050811200506187, + -0.03403362628021352, + 0.047429837278401894, + -0.9944695641098423, + -0.09370537121704707, + -0.03860668789737728, + 0.09191576558077692, + -0.9950180981707288 + ], + [ + 0.9981386406564051, + 0.04412787553853649, + -0.042094947785206616, + 0.0407635944112837, + -0.9961444831747769, + -0.07768203145598744, + -0.04536059302143436, + 0.07582149590262709, + -0.9960891111541335 + ], + [ + 0.9978569480780349, + 0.0366288729293262, + -0.05422026226714266, + 0.0331949321883303, + -0.9974655535192581, + -0.06293302804992423, + -0.05638800980175318, + 0.060998321374015466, + -0.9965438260007184 + ], + [ + 0.9977750411907709, + 0.03757199572580284, + -0.05507551464976257, + 0.03398188993758578, + -0.9973238961945909, + -0.06473235076460027, + -0.05736025046167219, + 0.0627167538734403, + -0.9963816590295874 + ], + [ + 0.9968507179578724, + 0.05088475309751274, + -0.060822594560567204, + 0.04422222794266005, + -0.9933535035912299, + -0.10626952271848854, + -0.06582583582956913, + 0.10324513937824435, + -0.9924753903911698 + ], + [ + 0.9974058827534449, + 0.05060433387543039, + -0.05119283584492933, + 0.04454913303539831, + -0.9925731904092823, + -0.11319821741764971, + -0.05654095678900646, + 0.11062397151505218, + -0.9922527183795573 + ], + [ + 0.998674431787166, + 0.05065540071510739, + 0.009132889628853285, + 0.051285034315387584, + -0.9943703481976015, + -0.09272246696809766, + 0.00438458092073081, + 0.0930679375712836, + -0.9956501064361802 + ], + [ + 0.997908453000455, + 0.05768737111276494, + 0.02916996133588853, + 0.05904011967404209, + -0.9971075858022271, + -0.04786153575189024, + 0.026324583550625957, + 0.04948362910855279, + -0.9984279577170972 + ], + [ + 0.9964844623599084, + 0.060606340259642545, + 0.05784105631483994, + 0.05484026406254614, + -0.9938169062915145, + 0.09654274807935068, + 0.0633345222831456, + -0.09303132961263744, + -0.9936467732537908 + ], + [ + 0.992581016275164, + 0.055257375608309, + 0.10830304045152445, + 0.021545523299362268, + -0.9566001376587183, + 0.29060620615719424, + 0.11966083969251978, + -0.2861167577619377, + -0.950693685879883 + ], + [ + 0.9865663383530657, + 0.0535245583475117, + 0.1543437128046644, + -0.01769501102743087, + -0.9042284547590174, + 0.42668230358061426, + 0.16239995878498248, + -0.4236815115836708, + -0.8911342379960566 + ], + [ + 0.9742251266224206, + 0.09831076288920562, + 0.2030280683986111, + -0.032816854615654284, + -0.8286919049726915, + 0.5587421414980854, + 0.2231780829531962, + -0.551003376153789, + -0.8041062260401062 + ], + [ + 0.9660861599223698, + 0.11018065876448312, + 0.23353319687075275, + -0.06351221485769525, + -0.7752221198129816, + 0.6284877592416077, + 0.2502872952635015, + -0.6220055364599993, + -0.7419335431443904 + ], + [ + 0.9611544745486947, + 0.07372940903969794, + 0.2659812968944983, + -0.12128204756390332, + -0.7528267123422369, + 0.64694868894116, + 0.24793696980024865, + -0.654076383480275, + -0.714640709433513 + ], + [ + 0.9743882422474174, + 0.05258373558786246, + 0.21863783780858678, + -0.09918268787492136, + -0.7720987581875864, + 0.6277151440192381, + 0.2018176102224334, + -0.6333233442380066, + -0.7471085555977077 + ], + [ + 0.9856805135081371, + 0.04711527972317717, + 0.16190761472809828, + -0.05580370101089946, + -0.8149257044990478, + 0.5768726402770521, + 0.15912219280735695, + -0.5776471644207541, + -0.8006271798988845 + ], + [ + 0.9886653125945135, + 0.041466413146560605, + 0.14429634871732627, + -0.02989614167572462, + -0.8874814506291749, + 0.4598726948863575, + 0.14712960404112585, + -0.45897408572804477, + -0.8761824400459116 + ], + [ + 0.9654738730254344, + 0.08290023647380958, + 0.2469569826869728, + -0.05714537194933119, + -0.8575199190437544, + 0.5112670485254899, + 0.25415469102505256, + -0.507727426121319, + -0.8231757125876471 + ], + [ + 0.9428541116330813, + 0.07482967761261466, + 0.3246946927884495, + -0.11074803401325203, + -0.8486808757692097, + 0.5171804753331347, + 0.314262624470033, + -0.5235850365050551, + -0.7918950135019209 + ], + [ + 0.9624708851082868, + 0.07871001153931828, + 0.25972009818716607, + -0.0329971688033897, + -0.915975998134617, + 0.3998739272473919, + 0.2693714576005249, + -0.3934370406110389, + -0.8790030221252918 + ], + [ + 0.9341879324675586, + 0.10723246653145808, + 0.3402853287368814, + 0.04905045350848629, + -0.9833090175691934, + 0.17520681772613456, + 0.35339349151137395, + -0.1469849451089697, + -0.9238552192138729 + ], + [ + 0.9251076661340865, + 0.1221834851098455, + 0.35950939073458954, + 0.1300537093635325, + -0.9915042510903671, + 0.002313601200709975, + 0.3567377730781105, + 0.04461519960890313, + -0.9331385991497342 + ], + [ + 0.9288475340856245, + 0.12448311396224918, + 0.3489214994254679, + 0.15785050479863563, + -0.9850654918318109, + -0.06876914233119906, + 0.33514993146034067, + 0.11895348309492453, + -0.9346253753786674 + ], + [ + 0.932657318014073, + 0.1222459339167753, + 0.339420474921021, + 0.17647579662059643, + -0.9751828324895817, + -0.13369643385192523, + 0.3146531747208693, + 0.1845924561254109, + -0.9310848536946921 + ], + [ + 0.937152849152864, + 0.13386338774607104, + 0.32221907259784305, + 0.20314651073643386, + -0.9601489412239156, + -0.19195183208869232, + 0.2836829788695137, + 0.24534588663301166, + -0.9270001960150711 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006608.json b/json/chunk-0006/episode_0006608.json new file mode 100644 index 0000000000000000000000000000000000000000..1038bcaa13b9827ccdf08cf77828c941e8bd0574 --- /dev/null +++ b/json/chunk-0006/episode_0006608.json @@ -0,0 +1,2182 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 35, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nRight pepper shaker." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006608.mp4", + "start": 0, + "end": 35, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3246902525424957, + -0.11001958698034286, + 0.10464388877153397, + 0.01361908670514822, + -0.05567397177219391, + 0.8069692254066467, + 0.0, + 1.0060625076293945 + ], + [ + 0.3193218410015106, + -0.10835481435060501, + 0.09199083596467972, + 0.053216516971588135, + -0.0402434766292572, + 0.8121150135993958, + 0.0, + 1.0060625076293945 + ], + [ + 0.3110102713108063, + -0.10489331185817719, + 0.08016033470630646, + 0.08218882977962494, + -0.06734856963157654, + 0.8963202238082886, + 0.0, + 1.0060625076293945 + ], + [ + 0.2996872067451477, + -0.10275472700595856, + 0.08302181959152222, + 0.07371922582387924, + -0.059649113565683365, + 0.9568056464195251, + 0.0, + 1.0060625076293945 + ], + [ + 0.28321653604507446, + -0.09993956238031387, + 0.08177068829536438, + 0.05547177046537399, + -0.047656480222940445, + 1.0639947652816772, + 0.0, + 1.0060625076293945 + ], + [ + 0.27567732334136963, + -0.09548325091600418, + 0.0763939619064331, + 0.048632316291332245, + -0.04210749641060829, + 1.1058100461959839, + 0.0, + 1.0060625076293945 + ], + [ + 0.27392449975013733, + -0.09236443787813187, + 0.06858478486537933, + 0.03685576468706131, + -0.035835303366184235, + 1.1295453310012817, + 0.0, + 1.0060625076293945 + ], + [ + 0.275703489780426, + -0.09031631052494049, + 0.0645517110824585, + 0.015415612608194351, + -0.03696214035153389, + 1.1380068063735962, + 0.0, + 1.0060625076293945 + ], + [ + 0.27448582649230957, + -0.08634743839502335, + 0.05806460604071617, + 0.004247520584613085, + -0.03964214771986008, + 1.1627848148345947, + 0.0, + 1.0060625076293945 + ], + [ + 0.2706899046897888, + -0.08111879229545593, + 0.04780363664031029, + -0.00550377182662487, + -0.033859509974718094, + 1.1844254732131958, + 0.0, + 1.0060625076293945 + ], + [ + 0.26695582270622253, + -0.0772412046790123, + 0.03909359872341156, + -0.020864643156528473, + -0.032412588596343994, + 1.191597819328308, + 0.0, + 1.0060625076293945 + ], + [ + 0.26467087864875793, + -0.07556826621294022, + 0.03268253430724144, + -0.03719664737582207, + -0.037315044552087784, + 1.1835269927978516, + 0.0, + 1.0060625076293945 + ], + [ + 0.26865994930267334, + -0.07233360409736633, + 0.029696784913539886, + -0.06988688558340073, + -0.04437338933348656, + 1.1789964437484741, + 0.0, + 1.0060625076293945 + ], + [ + 0.2696108818054199, + -0.0686718001961708, + 0.021748945116996765, + -0.07263387739658356, + -0.04497034102678299, + 1.1843383312225342, + 0.0, + 1.0060625076293945 + ], + [ + 0.27002862095832825, + -0.06836407631635666, + 0.018438389524817467, + -0.053539831191301346, + -0.04408201575279236, + 1.2048077583312988, + 0.0, + 0.9492040276527405 + ], + [ + 0.2729802429676056, + -0.06918314099311829, + 0.01655925065279007, + -0.041065048426389694, + -0.026057133451104164, + 1.221843957901001, + 0.0, + 0.641040563583374 + ], + [ + 0.2749461233615875, + -0.07046999782323837, + 0.020861146971583366, + -0.028957713395357132, + -0.05238722637295723, + 1.2348086833953857, + 0.0, + 0.4634169340133667 + ], + [ + 0.2765648365020752, + -0.0715496763586998, + 0.02734854631125927, + -0.008450577035546303, + -0.08591853827238083, + 1.2423938512802124, + 0.0, + 0.4918208718299866 + ], + [ + 0.28573545813560486, + -0.07479391992092133, + 0.041141577064991, + -0.0032009819988161325, + -0.13777515292167664, + 1.2351332902908325, + 0.0, + 0.49661046266555786 + ], + [ + 0.2904909551143646, + -0.07877141237258911, + 0.05281161516904831, + -0.010363945737481117, + -0.21163639426231384, + 1.2379826307296753, + 0.0, + 0.49661046266555786 + ], + [ + 0.3007986843585968, + -0.08236328512430191, + 0.06834892183542252, + -0.030189378187060356, + -0.3064196705818176, + 1.2113679647445679, + 0.0, + 0.49661046266555786 + ], + [ + 0.30650100111961365, + -0.08309731632471085, + 0.07707620412111282, + -0.06200192868709564, + -0.44214749336242676, + 1.183915376663208, + 0.0, + 0.49661046266555786 + ], + [ + 0.3129611611366272, + -0.08311881124973297, + 0.08567303419113159, + -0.0973161831498146, + -0.5511632561683655, + 1.1619765758514404, + 0.0, + 0.49661046266555786 + ], + [ + 0.3167349696159363, + -0.07407468557357788, + 0.0924622192978859, + -0.11979608237743378, + -0.6928190588951111, + 1.1481703519821167, + 0.0, + 0.49661046266555786 + ], + [ + 0.322238564491272, + -0.0662313774228096, + 0.10223257541656494, + -0.173813596367836, + -0.8553377985954285, + 1.1441211700439453, + 0.0, + 0.49661046266555786 + ], + [ + 0.32099980115890503, + -0.06007106602191925, + 0.10781919956207275, + -0.2983795702457428, + -0.9998993277549744, + 1.2216756343841553, + 0.0, + 0.49661046266555786 + ], + [ + 0.31870147585868835, + -0.05832948908209801, + 0.1032555103302002, + -0.4018925428390503, + -1.0947027206420898, + 1.3090852499008179, + 0.0, + 0.49661046266555786 + ], + [ + 0.3156915605068207, + -0.06053568795323372, + 0.09056217223405838, + -0.48987412452697754, + -1.1783026456832886, + 1.3786060810089111, + 0.0, + 0.49661046266555786 + ], + [ + 0.310318261384964, + -0.061615437269210815, + 0.07911006361246109, + -0.5057857632637024, + -1.203906536102295, + 1.3890780210494995, + 0.0, + 0.49661046266555786 + ], + [ + 0.30154451727867126, + -0.06322647631168365, + 0.075015589594841, + -0.5280766487121582, + -1.257194995880127, + 1.420526146888733, + 0.0, + 0.49661046266555786 + ], + [ + 0.2965332567691803, + -0.065156951546669, + 0.07854044437408447, + -0.54329913854599, + -1.2878512144088745, + 1.4474135637283325, + 0.0, + 0.49661046266555786 + ], + [ + 0.29465624690055847, + -0.06610382348299026, + 0.07748623937368393, + -0.5165354609489441, + -1.3159788846969604, + 1.4341657161712646, + 0.0, + 0.49661046266555786 + ], + [ + 0.29567962884902954, + -0.06750547885894775, + 0.07886618375778198, + -0.46835941076278687, + -1.326741337776184, + 1.385469913482666, + 0.0, + 0.49661046266555786 + ], + [ + 0.29640665650367737, + -0.06781692802906036, + 0.07601439952850342, + -0.44108453392982483, + -1.336855411529541, + 1.3518424034118652, + 0.0, + 0.49661046266555786 + ], + [ + 0.2957404553890228, + -0.06818779557943344, + 0.07795421034097672, + -0.462328165769577, + -1.3529291152954102, + 1.3709931373596191, + 0.0, + 0.49661046266555786 + ] + ], + "left_gripper_pos": [ + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 0.9492040276527405 + ], + [ + 0.641040563583374 + ], + [ + 0.4634169340133667 + ], + [ + 0.4918208718299866 + ], + [ + 0.49661046266555786 + ], + [ + 0.49661046266555786 + ], + [ + 0.49661046266555786 + ], + [ + 0.49661046266555786 + ], + [ + 0.49661046266555786 + ], + [ + 0.49661046266555786 + ], + [ + 0.49661046266555786 + ], + [ + 0.49661046266555786 + ], + [ + 0.49661046266555786 + ], + [ + 0.49661046266555786 + ], + [ + 0.49661046266555786 + ], + [ + 0.49661046266555786 + ], + [ + 0.49661046266555786 + ], + [ + 0.49661046266555786 + ], + [ + 0.49661046266555786 + ], + [ + 0.49661046266555786 + ], + [ + 0.49661046266555786 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3246902525424957, + -0.11001958698034286, + 0.10464388877153397 + ], + [ + 0.3193218410015106, + -0.10835481435060501, + 0.09199083596467972 + ], + [ + 0.3110102713108063, + -0.10489331185817719, + 0.08016033470630646 + ], + [ + 0.2996872067451477, + -0.10275472700595856, + 0.08302181959152222 + ], + [ + 0.28321653604507446, + -0.09993956238031387, + 0.08177068829536438 + ], + [ + 0.27567732334136963, + -0.09548325091600418, + 0.0763939619064331 + ], + [ + 0.27392449975013733, + -0.09236443787813187, + 0.06858478486537933 + ], + [ + 0.275703489780426, + -0.09031631052494049, + 0.0645517110824585 + ], + [ + 0.27448582649230957, + -0.08634743839502335, + 0.05806460604071617 + ], + [ + 0.2706899046897888, + -0.08111879229545593, + 0.04780363664031029 + ], + [ + 0.26695582270622253, + -0.0772412046790123, + 0.03909359872341156 + ], + [ + 0.26467087864875793, + -0.07556826621294022, + 0.03268253430724144 + ], + [ + 0.26865994930267334, + -0.07233360409736633, + 0.029696784913539886 + ], + [ + 0.2696108818054199, + -0.0686718001961708, + 0.021748945116996765 + ], + [ + 0.27002862095832825, + -0.06836407631635666, + 0.018438389524817467 + ], + [ + 0.2729802429676056, + -0.06918314099311829, + 0.01655925065279007 + ], + [ + 0.2749461233615875, + -0.07046999782323837, + 0.020861146971583366 + ], + [ + 0.2765648365020752, + -0.0715496763586998, + 0.02734854631125927 + ], + [ + 0.28573545813560486, + -0.07479391992092133, + 0.041141577064991 + ], + [ + 0.2904909551143646, + -0.07877141237258911, + 0.05281161516904831 + ], + [ + 0.3007986843585968, + -0.08236328512430191, + 0.06834892183542252 + ], + [ + 0.30650100111961365, + -0.08309731632471085, + 0.07707620412111282 + ], + [ + 0.3129611611366272, + -0.08311881124973297, + 0.08567303419113159 + ], + [ + 0.3167349696159363, + -0.07407468557357788, + 0.0924622192978859 + ], + [ + 0.322238564491272, + -0.0662313774228096, + 0.10223257541656494 + ], + [ + 0.32099980115890503, + -0.06007106602191925, + 0.10781919956207275 + ], + [ + 0.31870147585868835, + -0.05832948908209801, + 0.1032555103302002 + ], + [ + 0.3156915605068207, + -0.06053568795323372, + 0.09056217223405838 + ], + [ + 0.310318261384964, + -0.061615437269210815, + 0.07911006361246109 + ], + [ + 0.30154451727867126, + -0.06322647631168365, + 0.075015589594841 + ], + [ + 0.2965332567691803, + -0.065156951546669, + 0.07854044437408447 + ], + [ + 0.29465624690055847, + -0.06610382348299026, + 0.07748623937368393 + ], + [ + 0.29567962884902954, + -0.06750547885894775, + 0.07886618375778198 + ], + [ + 0.29640665650367737, + -0.06781692802906036, + 0.07601439952850342 + ], + [ + 0.2957404553890228, + -0.06818779557943344, + 0.07795421034097672 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.6906187121590509, + 0.7226513340490711, + 0.028650371949980578, + 0.7210751725361598, + -0.691078979294776, + 0.04960282178302079, + 0.05564521513770655, + -0.01359756500218734, + -0.9983580100636695 + ], + [ + 0.6874079973525969, + 0.7261887071501715, + -0.010963885408650781, + 0.7251562465263498, + -0.6854379738884617, + 0.06575106140204605, + 0.04023261487285251, + -0.05314833543247034, + -0.9977758220869304 + ], + [ + 0.6230724700533679, + 0.7818479955483473, + -0.02223530792741453, + 0.7792635760777136, + -0.6180650684802566, + 0.10365254518375097, + 0.06729766756856312, + -0.0819102129256642, + -0.9943649938318946 + ], + [ + 0.5751092000056484, + 0.8176650340051991, + -0.02594802948472209, + 0.8159017153714249, + -0.5709802831174398, + 0.09102695834254211, + 0.059613747767018235, + -0.07352148295841994, + -0.9955103176867457 + ], + [ + 0.4848322525241651, + 0.8742386374688254, + -0.025386840468942982, + 0.8733088031410559, + -0.4823275012645157, + 0.06849756112639854, + 0.047638443180694094, + -0.05538037811878903, + -0.9973282270399947 + ], + [ + 0.448013072247196, + 0.8936885442577287, + -0.024598230792707725, + 0.8930354379786543, + -0.4460512698101068, + 0.05937988897821593, + 0.04209505445895798, + -0.04857005830029368, + -0.9979323403050951 + ], + [ + 0.42679678569930457, + 0.9041678555528874, + -0.01802755395594225, + 0.9036375846277802, + -0.42558724056344555, + 0.04811045954532951, + 0.035827634094546444, + -0.03682376480595771, + -0.9986793233970064 + ], + [ + 0.41911829300381176, + 0.9079303924133397, + 0.0015029975814476217, + 0.9071792979914153, + -0.4188378024195316, + 0.04000770625992399, + 0.036953724648185804, + -0.015404473263836805, + -0.9991982408101456 + ], + [ + 0.3964731244820698, + 0.9179701520505982, + 0.011826305747223556, + 0.9171904844246183, + -0.39662676026545424, + 0.03806347753771294, + 0.03963176559729888, + -0.004244170770780511, + -0.9992053393422742 + ], + [ + 0.37661329799262727, + 0.9261984859389842, + 0.01785464699873262, + 0.9257518001175231, + -0.3769961646495131, + 0.029283039779407917, + 0.033853040547071805, + 0.005500589412967542, + -0.999411684523364 + ], + [ + 0.36998160059718804, + 0.9285091510227624, + 0.03137469819029527, + 0.9284736976197746, + -0.37072354042494876, + 0.02237519615679492, + 0.03240691358038392, + 0.02085217115268086, + -0.9992572135893807 + ], + [ + 0.37739848337554205, + 0.9247793386890734, + 0.048513497911830475, + 0.9252992047693808, + -0.37868475925849143, + 0.02047522303884436, + 0.03730638549890261, + 0.03716218291676193, + -0.9986126404977401 + ], + [ + 0.38147665484628634, + 0.9207843332006047, + 0.08143570187335096, + 0.9233135199402245, + -0.38378324154767685, + 0.014232617564960564, + 0.04435882891691627, + 0.06976127320709875, + -0.9965769709649348 + ], + [ + 0.37652895083060717, + 0.9225780283076815, + 0.08411736366715938, + 0.9253134498761958, + -0.37893801058043425, + 0.014177574389012865, + 0.044955185069305244, + 0.0724966607593319, + -0.9963549897070477 + ], + [ + 0.3575249082048264, + 0.931588469022374, + 0.06571806751327741, + 0.9328633202569766, + -0.35956183075323056, + 0.021938905727372445, + 0.04406774026722752, + 0.053462269405014945, + -0.9975970228593336 + ], + [ + 0.34179743473398205, + 0.938573470489104, + 0.047480038998598574, + 0.9394124190473141, + -0.3426304044718649, + 0.010426546461803738, + 0.02605418486430077, + 0.041039571458355094, + -0.998817767676152 + ], + [ + 0.32924943316017835, + 0.9431894754792648, + 0.04459174933606439, + 0.9427899548545108, + -0.3309948596690477, + 0.0398685828453522, + 0.05236326755589734, + 0.02891394504069999, + -0.9982094329313126 + ], + [ + 0.32134155966990596, + 0.9462911183735474, + 0.035675219918782475, + 0.9430672052184095, + -0.3232061796925939, + 0.0784984831067286, + 0.08581286890933604, + 0.008419304951120386, + -0.9962756982049144 + ], + [ + 0.32627392883747003, + 0.9440424697472337, + 0.048261150778918696, + 0.9352449584902361, + -0.32980867533999364, + 0.12862000345621072, + 0.13733969193047774, + 0.0031706441021740056, + -0.9905189326996326 + ], + [ + 0.3194143644138872, + 0.9443648453146642, + 0.07841876522799468, + 0.924039627523007, + -0.32874362471395796, + 0.19513686473106862, + 0.21006006420358797, + 0.010132528990297374, + -0.9776359758535105 + ], + [ + 0.33535505589618053, + 0.9324688582886812, + 0.1343086549953998, + 0.892494292110355, + -0.3601022221844463, + 0.2716253451507431, + 0.3016470205974299, + 0.028778775158566416, + -0.9529852344423111 + ], + [ + 0.34101846487303145, + 0.9143076948205895, + 0.2185128046762943, + 0.8370327883744999, + -0.4011296986469075, + 0.3721170192956113, + 0.42788142960597175, + 0.0560036075204135, + -0.9020981532754897 + ], + [ + 0.338659258363538, + 0.8930221277304018, + 0.296346732913532, + 0.7817100818869505, + -0.44233457519262115, + 0.4396242389421454, + 0.5236785794750016, + 0.08277441013398557, + -0.8478850997782749 + ], + [ + 0.3155945360742074, + 0.8741705752524952, + 0.36908792199532553, + 0.7017486081893486, + -0.47683308251844236, + 0.5293194709438456, + 0.6387088379726853, + 0.09195660269215067, + -0.7639338999657628 + ], + [ + 0.27146812331918135, + 0.8426091596077319, + 0.4650966159484645, + 0.5971543145622822, + -0.5264415249378641, + 0.6051991783047521, + 0.754792542770007, + 0.11344216573324067, + -0.6460797879616257 + ], + [ + 0.1848510929996014, + 0.8135411719167266, + 0.5513445701312494, + 0.5077875543705505, + -0.5593878179815823, + 0.6551618645191276, + 0.8414165870977517, + 0.15885852413441207, + -0.5165095316319037 + ], + [ + 0.11858044500803233, + 0.7990326345559047, + 0.5894790301413168, + 0.4427046244383955, + -0.5739407425245768, + 0.6889155532945941, + 0.8887920417974929, + 0.17927317977039342, + -0.4217935910518982 + ], + [ + 0.0730598349095194, + 0.7831070900018108, + 0.6175803964763531, + 0.3754512746258919, + -0.5952767994370998, + 0.7104096511406048, + 0.9239581164234594, + 0.17996893521054863, + -0.3375093798020946 + ], + [ + 0.06482673295713304, + 0.7786595553969209, + 0.624088768912864, + 0.35280759033130016, + -0.6028968051077166, + 0.7155712728970676, + 0.933447534090013, + 0.17379510689308114, + -0.31380083161345573 + ], + [ + 0.04618202864883758, + 0.7822900902392196, + 0.6211999959299676, + 0.30500988395782574, + -0.6032091450149641, + 0.7369584099922801, + 0.9512287794836275, + 0.15543790426993592, + -0.2664636316615433 + ], + [ + 0.034359267687177286, + 0.7884076414826817, + 0.6141928293099131, + 0.27706249841211045, + -0.5979822387469307, + 0.7520994708925463, + 0.9602373730998185, + 0.14432821274762608, + -0.23898442272967463 + ], + [ + 0.034333252346519794, + 0.7963358800044017, + 0.6038794532031413, + 0.24971960762960255, + -0.591905035668814, + 0.7663475362491988, + 0.9677093289560803, + 0.12448933676229001, + -0.21918270845086668 + ], + [ + 0.044526260876300794, + 0.7963128072140851, + 0.6032440013453919, + 0.23750163027457327, + -0.5949681670999056, + 0.7678579658730506, + 0.9703661101405467, + 0.10908158966847836, + -0.21561729774325206 + ], + [ + 0.050351760489181, + 0.7924946026026143, + 0.6077968452216288, + 0.22627839393499882, + -0.6017957321661374, + 0.7659242685702159, + 0.9727603963226698, + 0.0989656586516105, + -0.20962588044851527 + ], + [ + 0.042900234923397396, + 0.7907763888554322, + 0.6105999284902349, + 0.2118476285247492, + -0.6044650525431305, + 0.7679469920134272, + 0.9763606670344508, + 0.09640904046194526, + -0.19345579542947228 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.005368411540985107, + 0.001664772629737854, + -0.012653052806854248, + 0.03959742933511734, + 0.015430495142936707, + 0.0051457881927490234, + 1.0 + ], + [ + -0.008311569690704346, + 0.003461502492427826, + -0.01183050125837326, + 0.028972312808036804, + -0.027105093002319336, + 0.08420521020889282, + 1.0 + ], + [ + -0.01132306456565857, + 0.002138584852218628, + 0.0028614848852157593, + -0.008469603955745697, + 0.007699456065893173, + 0.06048542261123657, + 1.0 + ], + [ + -0.016470670700073242, + 0.002815164625644684, + -0.001251131296157837, + -0.01824745535850525, + 0.01199263334274292, + 0.1071891188621521, + 1.0 + ], + [ + -0.007539212703704834, + 0.004456311464309692, + -0.005376726388931274, + -0.006839454174041748, + 0.005548983812332153, + 0.04181528091430664, + 1.0 + ], + [ + -0.0017528235912322998, + 0.0031188130378723145, + -0.007809177041053772, + -0.011776551604270935, + 0.006272193044424057, + 0.02373528480529785, + 1.0 + ], + [ + 0.0017789900302886963, + 0.0020481273531913757, + -0.004033073782920837, + -0.02144015207886696, + -0.0011268369853496552, + 0.008461475372314453, + 1.0 + ], + [ + -0.001217663288116455, + 0.003968872129917145, + -0.006487105041742325, + -0.011168092489242554, + -0.002680007368326187, + 0.024778008460998535, + 1.0 + ], + [ + -0.003795921802520752, + 0.005228646099567413, + -0.010260969400405884, + -0.009751291945576668, + 0.005782637745141983, + 0.021640658378601074, + 1.0 + ], + [ + -0.003734081983566284, + 0.003877587616443634, + -0.008710037916898727, + -0.015360871329903603, + 0.0014469213783740997, + 0.007172346115112305, + 1.0 + ], + [ + -0.0022849440574645996, + 0.0016729384660720825, + -0.00641106441617012, + -0.016332004219293594, + -0.00490245595574379, + -0.008070826530456543, + 1.0 + ], + [ + 0.003989070653915405, + 0.003234662115573883, + -0.0029857493937015533, + -0.03269023820757866, + -0.007058344781398773, + -0.004530549049377441, + 1.0 + ], + [ + 0.000950932502746582, + 0.003661803901195526, + -0.007947839796543121, + -0.002746991813182831, + -0.0005969516932964325, + 0.005341887474060059, + 1.0 + ], + [ + 0.0004177391529083252, + 0.00030772387981414795, + -0.0033105555921792984, + 0.01909404620528221, + 0.0008883252739906311, + 0.02046942710876465, + 0.0 + ], + [ + 0.0029516220092773438, + -0.0008190646767616272, + -0.0018791388720273972, + 0.012474782764911652, + 0.018024882301688194, + 0.01703619956970215, + 0.0 + ], + [ + 0.0019658803939819336, + -0.0012868568301200867, + 0.004301896318793297, + 0.012107335031032562, + -0.026330092921853065, + 0.012964725494384766, + 0.0 + ], + [ + 0.001618713140487671, + -0.0010796785354614258, + 0.006487399339675903, + 0.02050713635981083, + -0.0335313118994236, + 0.00758516788482666, + 0.0 + ], + [ + 0.009170621633529663, + -0.003244243562221527, + 0.013793030753731728, + 0.005249595269560814, + -0.05185661464929581, + -0.007260560989379883, + 0.0 + ], + [ + 0.004755496978759766, + -0.003977492451667786, + 0.011670038104057312, + -0.007162963971495628, + -0.07386124134063721, + 0.0028493404388427734, + 0.0 + ], + [ + 0.010307729244232178, + -0.003591872751712799, + 0.015537306666374207, + -0.01982543244957924, + -0.09478327631950378, + -0.026614665985107422, + 0.0 + ], + [ + 0.005702316761016846, + -0.0007340312004089355, + 0.008727282285690308, + -0.03181254863739014, + -0.13572782278060913, + -0.027452588081359863, + 0.0 + ], + [ + 0.00646016001701355, + -2.1494925022125244e-05, + 0.008596830070018768, + -0.035314254462718964, + -0.10901576280593872, + -0.021938800811767578, + 0.0 + ], + [ + 0.003773808479309082, + 0.00904412567615509, + 0.006789185106754303, + -0.02247989922761917, + -0.1416558027267456, + -0.01380622386932373, + 0.0 + ], + [ + 0.005503594875335693, + 0.00784330815076828, + 0.009770356118679047, + -0.05401751399040222, + -0.16251873970031738, + -0.004049181938171387, + 0.0 + ], + [ + -0.0012387633323669434, + 0.00616031140089035, + 0.0055866241455078125, + -0.1245659738779068, + -0.1445615291595459, + 0.07755446434020996, + 0.0 + ], + [ + -0.002298325300216675, + 0.0017415769398212433, + -0.004563689231872559, + -0.1035129725933075, + -0.09480339288711548, + 0.0874096155166626, + 0.0 + ], + [ + -0.0030099153518676758, + -0.0022061988711357117, + -0.012693338096141815, + -0.08798158168792725, + -0.08359992504119873, + 0.06952083110809326, + 0.0 + ], + [ + -0.0053732991218566895, + -0.0010797493159770966, + -0.01145210862159729, + -0.015911638736724854, + -0.025603890419006348, + 0.010471940040588379, + 0.0 + ], + [ + -0.008773744106292725, + -0.0016110390424728394, + -0.004094474017620087, + -0.02229088544845581, + -0.05328845977783203, + 0.0314481258392334, + 0.0 + ], + [ + -0.005011260509490967, + -0.0019304752349853516, + 0.0035248547792434692, + -0.015222489833831787, + -0.03065621852874756, + 0.02688741683959961, + 0.0 + ], + [ + -0.0018770098686218262, + -0.0009468719363212585, + -0.0010542050004005432, + 0.0267636775970459, + -0.028127670288085938, + -0.013247847557067871, + 0.0 + ], + [ + 0.0010233819484710693, + -0.001401655375957489, + 0.001379944384098053, + 0.04817605018615723, + -0.010762453079223633, + -0.04869580268859863, + 0.0 + ], + [ + 0.0007270276546478271, + -0.00031144917011260986, + -0.0028517842292785645, + 0.027274876832962036, + -0.010114073753356934, + -0.03362751007080078, + 0.0 + ], + [ + -0.000666201114654541, + -0.0003708675503730774, + 0.0019398108124732971, + -0.021243631839752197, + -0.01607370376586914, + 0.019150733947753906, + 0.0 + ], + [ + -0.00019121170043945312, + 0.0003859475255012512, + -0.0054490044713020325, + 0.012918084859848022, + -0.00258791446685791, + -0.021864652633666992, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 0.9492040276527405 + ], + [ + 0.641040563583374 + ], + [ + 0.4634169340133667 + ], + [ + 0.4918208718299866 + ], + [ + 0.49661046266555786 + ], + [ + 0.49661046266555786 + ], + [ + 0.49661046266555786 + ], + [ + 0.49661046266555786 + ], + [ + 0.49661046266555786 + ], + [ + 0.49661046266555786 + ], + [ + 0.49661046266555786 + ], + [ + 0.49661046266555786 + ], + [ + 0.49661046266555786 + ], + [ + 0.49661046266555786 + ], + [ + 0.49661046266555786 + ], + [ + 0.49661046266555786 + ], + [ + 0.49661046266555786 + ], + [ + 0.49661046266555786 + ], + [ + 0.49661046266555786 + ], + [ + 0.49661046266555786 + ], + [ + 0.49661046266555786 + ], + [ + 0.5719637274742126 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3193218410015106, + -0.10835481435060501, + 0.09199083596467972 + ], + [ + 0.3110102713108063, + -0.10489331185817719, + 0.08016033470630646 + ], + [ + 0.2996872067451477, + -0.10275472700595856, + 0.08302181959152222 + ], + [ + 0.28321653604507446, + -0.09993956238031387, + 0.08177068829536438 + ], + [ + 0.27567732334136963, + -0.09548325091600418, + 0.0763939619064331 + ], + [ + 0.27392449975013733, + -0.09236443787813187, + 0.06858478486537933 + ], + [ + 0.275703489780426, + -0.09031631052494049, + 0.0645517110824585 + ], + [ + 0.27448582649230957, + -0.08634743839502335, + 0.05806460604071617 + ], + [ + 0.2706899046897888, + -0.08111879229545593, + 0.04780363664031029 + ], + [ + 0.26695582270622253, + -0.0772412046790123, + 0.03909359872341156 + ], + [ + 0.26467087864875793, + -0.07556826621294022, + 0.03268253430724144 + ], + [ + 0.26865994930267334, + -0.07233360409736633, + 0.029696784913539886 + ], + [ + 0.2696108818054199, + -0.0686718001961708, + 0.021748945116996765 + ], + [ + 0.27002862095832825, + -0.06836407631635666, + 0.018438389524817467 + ], + [ + 0.2729802429676056, + -0.06918314099311829, + 0.01655925065279007 + ], + [ + 0.2749461233615875, + -0.07046999782323837, + 0.020861146971583366 + ], + [ + 0.2765648365020752, + -0.0715496763586998, + 0.02734854631125927 + ], + [ + 0.28573545813560486, + -0.07479391992092133, + 0.041141577064991 + ], + [ + 0.2904909551143646, + -0.07877141237258911, + 0.05281161516904831 + ], + [ + 0.3007986843585968, + -0.08236328512430191, + 0.06834892183542252 + ], + [ + 0.30650100111961365, + -0.08309731632471085, + 0.07707620412111282 + ], + [ + 0.3129611611366272, + -0.08311881124973297, + 0.08567303419113159 + ], + [ + 0.3167349696159363, + -0.07407468557357788, + 0.0924622192978859 + ], + [ + 0.322238564491272, + -0.0662313774228096, + 0.10223257541656494 + ], + [ + 0.32099980115890503, + -0.06007106602191925, + 0.10781919956207275 + ], + [ + 0.31870147585868835, + -0.05832948908209801, + 0.1032555103302002 + ], + [ + 0.3156915605068207, + -0.06053568795323372, + 0.09056217223405838 + ], + [ + 0.310318261384964, + -0.061615437269210815, + 0.07911006361246109 + ], + [ + 0.30154451727867126, + -0.06322647631168365, + 0.075015589594841 + ], + [ + 0.2965332567691803, + -0.065156951546669, + 0.07854044437408447 + ], + [ + 0.29465624690055847, + -0.06610382348299026, + 0.07748623937368393 + ], + [ + 0.29567962884902954, + -0.06750547885894775, + 0.07886618375778198 + ], + [ + 0.29640665650367737, + -0.06781692802906036, + 0.07601439952850342 + ], + [ + 0.2957404553890228, + -0.06818779557943344, + 0.07795421034097672 + ], + [ + 0.2955492436885834, + -0.06780184805393219, + 0.07250520586967468 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.6874079973525969, + 0.7261887071501715, + -0.010963885408650781, + 0.7251562465263498, + -0.6854379738884617, + 0.06575106140204605, + 0.04023261487285251, + -0.05314833543247034, + -0.9977758220869304 + ], + [ + 0.6230724700533679, + 0.7818479955483473, + -0.02223530792741453, + 0.7792635760777136, + -0.6180650684802566, + 0.10365254518375097, + 0.06729766756856312, + -0.0819102129256642, + -0.9943649938318946 + ], + [ + 0.5751092000056484, + 0.8176650340051991, + -0.02594802948472209, + 0.8159017153714249, + -0.5709802831174398, + 0.09102695834254211, + 0.059613747767018235, + -0.07352148295841994, + -0.9955103176867457 + ], + [ + 0.4848322525241651, + 0.8742386374688254, + -0.025386840468942982, + 0.8733088031410559, + -0.4823275012645157, + 0.06849756112639854, + 0.047638443180694094, + -0.05538037811878903, + -0.9973282270399947 + ], + [ + 0.448013072247196, + 0.8936885442577287, + -0.024598230792707725, + 0.8930354379786543, + -0.4460512698101068, + 0.05937988897821593, + 0.04209505445895798, + -0.04857005830029368, + -0.9979323403050951 + ], + [ + 0.42679678569930457, + 0.9041678555528874, + -0.01802755395594225, + 0.9036375846277802, + -0.42558724056344555, + 0.04811045954532951, + 0.035827634094546444, + -0.03682376480595771, + -0.9986793233970064 + ], + [ + 0.41911829300381176, + 0.9079303924133397, + 0.0015029975814476217, + 0.9071792979914153, + -0.4188378024195316, + 0.04000770625992399, + 0.036953724648185804, + -0.015404473263836805, + -0.9991982408101456 + ], + [ + 0.3964731244820698, + 0.9179701520505982, + 0.011826305747223556, + 0.9171904844246183, + -0.39662676026545424, + 0.03806347753771294, + 0.03963176559729888, + -0.004244170770780511, + -0.9992053393422742 + ], + [ + 0.37661329799262727, + 0.9261984859389842, + 0.01785464699873262, + 0.9257518001175231, + -0.3769961646495131, + 0.029283039779407917, + 0.033853040547071805, + 0.005500589412967542, + -0.999411684523364 + ], + [ + 0.36998160059718804, + 0.9285091510227624, + 0.03137469819029527, + 0.9284736976197746, + -0.37072354042494876, + 0.02237519615679492, + 0.03240691358038392, + 0.02085217115268086, + -0.9992572135893807 + ], + [ + 0.37739848337554205, + 0.9247793386890734, + 0.048513497911830475, + 0.9252992047693808, + -0.37868475925849143, + 0.02047522303884436, + 0.03730638549890261, + 0.03716218291676193, + -0.9986126404977401 + ], + [ + 0.38147665484628634, + 0.9207843332006047, + 0.08143570187335096, + 0.9233135199402245, + -0.38378324154767685, + 0.014232617564960564, + 0.04435882891691627, + 0.06976127320709875, + -0.9965769709649348 + ], + [ + 0.37652895083060717, + 0.9225780283076815, + 0.08411736366715938, + 0.9253134498761958, + -0.37893801058043425, + 0.014177574389012865, + 0.044955185069305244, + 0.0724966607593319, + -0.9963549897070477 + ], + [ + 0.3575249082048264, + 0.931588469022374, + 0.06571806751327741, + 0.9328633202569766, + -0.35956183075323056, + 0.021938905727372445, + 0.04406774026722752, + 0.053462269405014945, + -0.9975970228593336 + ], + [ + 0.34179743473398205, + 0.938573470489104, + 0.047480038998598574, + 0.9394124190473141, + -0.3426304044718649, + 0.010426546461803738, + 0.02605418486430077, + 0.041039571458355094, + -0.998817767676152 + ], + [ + 0.32924943316017835, + 0.9431894754792648, + 0.04459174933606439, + 0.9427899548545108, + -0.3309948596690477, + 0.0398685828453522, + 0.05236326755589734, + 0.02891394504069999, + -0.9982094329313126 + ], + [ + 0.32134155966990596, + 0.9462911183735474, + 0.035675219918782475, + 0.9430672052184095, + -0.3232061796925939, + 0.0784984831067286, + 0.08581286890933604, + 0.008419304951120386, + -0.9962756982049144 + ], + [ + 0.32627392883747003, + 0.9440424697472337, + 0.048261150778918696, + 0.9352449584902361, + -0.32980867533999364, + 0.12862000345621072, + 0.13733969193047774, + 0.0031706441021740056, + -0.9905189326996326 + ], + [ + 0.3194143644138872, + 0.9443648453146642, + 0.07841876522799468, + 0.924039627523007, + -0.32874362471395796, + 0.19513686473106862, + 0.21006006420358797, + 0.010132528990297374, + -0.9776359758535105 + ], + [ + 0.33535505589618053, + 0.9324688582886812, + 0.1343086549953998, + 0.892494292110355, + -0.3601022221844463, + 0.2716253451507431, + 0.3016470205974299, + 0.028778775158566416, + -0.9529852344423111 + ], + [ + 0.34101846487303145, + 0.9143076948205895, + 0.2185128046762943, + 0.8370327883744999, + -0.4011296986469075, + 0.3721170192956113, + 0.42788142960597175, + 0.0560036075204135, + -0.9020981532754897 + ], + [ + 0.338659258363538, + 0.8930221277304018, + 0.296346732913532, + 0.7817100818869505, + -0.44233457519262115, + 0.4396242389421454, + 0.5236785794750016, + 0.08277441013398557, + -0.8478850997782749 + ], + [ + 0.3155945360742074, + 0.8741705752524952, + 0.36908792199532553, + 0.7017486081893486, + -0.47683308251844236, + 0.5293194709438456, + 0.6387088379726853, + 0.09195660269215067, + -0.7639338999657628 + ], + [ + 0.27146812331918135, + 0.8426091596077319, + 0.4650966159484645, + 0.5971543145622822, + -0.5264415249378641, + 0.6051991783047521, + 0.754792542770007, + 0.11344216573324067, + -0.6460797879616257 + ], + [ + 0.1848510929996014, + 0.8135411719167266, + 0.5513445701312494, + 0.5077875543705505, + -0.5593878179815823, + 0.6551618645191276, + 0.8414165870977517, + 0.15885852413441207, + -0.5165095316319037 + ], + [ + 0.11858044500803233, + 0.7990326345559047, + 0.5894790301413168, + 0.4427046244383955, + -0.5739407425245768, + 0.6889155532945941, + 0.8887920417974929, + 0.17927317977039342, + -0.4217935910518982 + ], + [ + 0.0730598349095194, + 0.7831070900018108, + 0.6175803964763531, + 0.3754512746258919, + -0.5952767994370998, + 0.7104096511406048, + 0.9239581164234594, + 0.17996893521054863, + -0.3375093798020946 + ], + [ + 0.06482673295713304, + 0.7786595553969209, + 0.624088768912864, + 0.35280759033130016, + -0.6028968051077166, + 0.7155712728970676, + 0.933447534090013, + 0.17379510689308114, + -0.31380083161345573 + ], + [ + 0.04618202864883758, + 0.7822900902392196, + 0.6211999959299676, + 0.30500988395782574, + -0.6032091450149641, + 0.7369584099922801, + 0.9512287794836275, + 0.15543790426993592, + -0.2664636316615433 + ], + [ + 0.034359267687177286, + 0.7884076414826817, + 0.6141928293099131, + 0.27706249841211045, + -0.5979822387469307, + 0.7520994708925463, + 0.9602373730998185, + 0.14432821274762608, + -0.23898442272967463 + ], + [ + 0.034333252346519794, + 0.7963358800044017, + 0.6038794532031413, + 0.24971960762960255, + -0.591905035668814, + 0.7663475362491988, + 0.9677093289560803, + 0.12448933676229001, + -0.21918270845086668 + ], + [ + 0.044526260876300794, + 0.7963128072140851, + 0.6032440013453919, + 0.23750163027457327, + -0.5949681670999056, + 0.7678579658730506, + 0.9703661101405467, + 0.10908158966847836, + -0.21561729774325206 + ], + [ + 0.050351760489181, + 0.7924946026026143, + 0.6077968452216288, + 0.22627839393499882, + -0.6017957321661374, + 0.7659242685702159, + 0.9727603963226698, + 0.0989656586516105, + -0.20962588044851527 + ], + [ + 0.042900234923397396, + 0.7907763888554322, + 0.6105999284902349, + 0.2118476285247492, + -0.6044650525431305, + 0.7679469920134272, + 0.9763606670344508, + 0.09640904046194526, + -0.19345579542947228 + ], + [ + 0.04696590714933868, + 0.785356593428193, + 0.6172594468491381, + 0.20839345096664447, + -0.612047746343725, + 0.762869402840211, + 0.9769167687985771, + 0.09280397272978924, + -0.19240854836965038 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006609.json b/json/chunk-0006/episode_0006609.json new file mode 100644 index 0000000000000000000000000000000000000000..8add38164253c685e4d1922b026f0b33f5b16884 --- /dev/null +++ b/json/chunk-0006/episode_0006609.json @@ -0,0 +1,1522 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 24, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMoved something to the front right side of the table." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006609.mp4", + "start": 0, + "end": 24, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.24314822256565094, + 0.04031135141849518, + 0.07736462354660034, + 0.06185637041926384, + -0.16985946893692017, + -0.09160555899143219, + 0.0, + 1.0014774799346924 + ], + [ + 0.24208855628967285, + 0.03618720546364784, + 0.07281563431024551, + 0.05158378556370735, + -0.15198378264904022, + -0.09068381041288376, + 0.0, + 1.0014774799346924 + ], + [ + 0.2586469054222107, + -0.016835367307066917, + 0.08496382087469101, + 0.022655921056866646, + -0.20658740401268005, + -0.24276678264141083, + 0.0, + 1.0008161067962646 + ], + [ + 0.2800256907939911, + -0.05906761810183525, + 0.09557335823774338, + 0.012143310159444809, + -0.2701133191585541, + -0.34650376439094543, + 0.0, + 1.0008161067962646 + ], + [ + 0.3028387129306793, + -0.1073135957121849, + 0.09368760138750076, + -0.012722327373921871, + -0.29874473810195923, + -0.40594181418418884, + 0.0, + 1.0014774799346924 + ], + [ + 0.31826984882354736, + -0.14421848952770233, + 0.08370018750429153, + -0.0170895978808403, + -0.2988119423389435, + -0.45056894421577454, + 0.0, + 1.0008161067962646 + ], + [ + 0.327180951833725, + -0.15976542234420776, + 0.06813830882310867, + -0.0070501831360161304, + -0.2822921574115753, + -0.4525592625141144, + 0.0, + 1.0014774799346924 + ], + [ + 0.33943668007850647, + -0.1754923164844513, + 0.05195244401693344, + 0.034279629588127136, + -0.2685999572277069, + -0.4706919193267822, + 0.0, + 1.0014774799346924 + ], + [ + 0.34447842836380005, + -0.17844125628471375, + 0.034410178661346436, + 0.044157080352306366, + -0.23112374544143677, + -0.47118550539016724, + 0.0, + 1.0014774799346924 + ], + [ + 0.34783878922462463, + -0.18094436824321747, + 0.02061539702117443, + 0.038624271750450134, + -0.21441107988357544, + -0.46058735251426697, + 0.0, + 1.0014774799346924 + ], + [ + 0.35463547706604004, + -0.18619653582572937, + 0.01444389671087265, + 0.022910498082637787, + -0.2176203429698944, + -0.42802998423576355, + 0.0, + 1.0014774799346924 + ], + [ + 0.3574417531490326, + -0.18803004920482635, + 0.00791100598871708, + 0.01360317599028349, + -0.21577954292297363, + -0.40856775641441345, + 0.0, + 0.9560673832893372 + ], + [ + 0.3605092763900757, + -0.18926209211349487, + 0.007521353662014008, + 0.013165087439119816, + -0.23678746819496155, + -0.38873010873794556, + 0.0, + 0.67718505859375 + ], + [ + 0.3615739941596985, + -0.18556562066078186, + 0.007485462352633476, + 0.03413435444235802, + -0.23374685645103455, + -0.390494167804718, + 0.0, + 0.5023775696754456 + ], + [ + 0.36055535078048706, + -0.17450979351997375, + 0.009444807656109333, + 0.04579606652259827, + -0.2179594486951828, + -0.3971531093120575, + 0.0, + 0.47659820318222046 + ], + [ + 0.348814457654953, + -0.1576566845178604, + 0.0448770672082901, + 0.046339888125658035, + -0.27987658977508545, + -0.3746705651283264, + 0.0, + 0.475652277469635 + ], + [ + 0.3169952929019928, + -0.1423615962266922, + 0.05846935138106346, + 0.044550683349370956, + -0.28904491662979126, + -0.37428975105285645, + 0.0, + 0.47659820318222046 + ], + [ + 0.2798011302947998, + -0.12258592247962952, + 0.05773483216762543, + 0.04906097427010536, + -0.2584192156791687, + -0.3754405975341797, + 0.0, + 0.47659820318222046 + ], + [ + 0.25468847155570984, + -0.10929429531097412, + 0.042345259338617325, + 0.052859481424093246, + -0.20461486279964447, + -0.3762042820453644, + 0.0, + 0.47659820318222046 + ], + [ + 0.24272209405899048, + -0.10330521315336227, + 0.03249072656035423, + 0.05670912191271782, + -0.1698482185602188, + -0.37496933341026306, + 0.0, + 0.47659820318222046 + ], + [ + 0.23670218884944916, + -0.1043255478143692, + 0.011363743804395199, + 0.04291978478431702, + -0.10077963024377823, + -0.3887290954589844, + 0.0, + 0.549187958240509 + ], + [ + 0.23970972001552582, + -0.10844143480062485, + 0.0028504165820777416, + 0.03145446628332138, + -0.053922299295663834, + -0.41184842586517334, + 0.0, + 0.8562611937522888 + ], + [ + 0.2421664595603943, + -0.11003571003675461, + 0.004790955223143101, + 0.011742773465812206, + -0.040301717817783356, + -0.40797892212867737, + 0.0, + 1.00800359249115 + ], + [ + 0.24533601105213165, + -0.10977042466402054, + 0.028937429189682007, + 0.006861782632768154, + -0.05721961334347725, + -0.3763490617275238, + 0.0, + 1.002137303352356 + ] + ], + "left_gripper_pos": [ + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 0.9560673832893372 + ], + [ + 0.67718505859375 + ], + [ + 0.5023775696754456 + ], + [ + 0.47659820318222046 + ], + [ + 0.475652277469635 + ], + [ + 0.47659820318222046 + ], + [ + 0.47659820318222046 + ], + [ + 0.47659820318222046 + ], + [ + 0.47659820318222046 + ], + [ + 0.549187958240509 + ], + [ + 0.8562611937522888 + ], + [ + 1.00800359249115 + ], + [ + 1.002137303352356 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.24314822256565094, + 0.04031135141849518, + 0.07736462354660034 + ], + [ + 0.24208855628967285, + 0.03618720546364784, + 0.07281563431024551 + ], + [ + 0.2586469054222107, + -0.016835367307066917, + 0.08496382087469101 + ], + [ + 0.2800256907939911, + -0.05906761810183525, + 0.09557335823774338 + ], + [ + 0.3028387129306793, + -0.1073135957121849, + 0.09368760138750076 + ], + [ + 0.31826984882354736, + -0.14421848952770233, + 0.08370018750429153 + ], + [ + 0.327180951833725, + -0.15976542234420776, + 0.06813830882310867 + ], + [ + 0.33943668007850647, + -0.1754923164844513, + 0.05195244401693344 + ], + [ + 0.34447842836380005, + -0.17844125628471375, + 0.034410178661346436 + ], + [ + 0.34783878922462463, + -0.18094436824321747, + 0.02061539702117443 + ], + [ + 0.35463547706604004, + -0.18619653582572937, + 0.01444389671087265 + ], + [ + 0.3574417531490326, + -0.18803004920482635, + 0.00791100598871708 + ], + [ + 0.3605092763900757, + -0.18926209211349487, + 0.007521353662014008 + ], + [ + 0.3615739941596985, + -0.18556562066078186, + 0.007485462352633476 + ], + [ + 0.36055535078048706, + -0.17450979351997375, + 0.009444807656109333 + ], + [ + 0.348814457654953, + -0.1576566845178604, + 0.0448770672082901 + ], + [ + 0.3169952929019928, + -0.1423615962266922, + 0.05846935138106346 + ], + [ + 0.2798011302947998, + -0.12258592247962952, + 0.05773483216762543 + ], + [ + 0.25468847155570984, + -0.10929429531097412, + 0.042345259338617325 + ], + [ + 0.24272209405899048, + -0.10330521315336227, + 0.03249072656035423 + ], + [ + 0.23670218884944916, + -0.1043255478143692, + 0.011363743804395199 + ], + [ + 0.23970972001552582, + -0.10844143480062485, + 0.0028504165820777416 + ], + [ + 0.2421664595603943, + -0.11003571003675461, + 0.004790955223143101 + ], + [ + 0.24533601105213165, + -0.10977042466402054, + 0.028937429189682007 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9814760179705498, + -0.0808965859345574, + 0.17366798361472732, + -0.09016099816088904, + -0.9948585864457504, + 0.04612360985216867, + 0.16904384212181342, + -0.06092729568342648, + -0.9837235608042533 + ], + [ + 0.9844110853265943, + -0.08266490074853497, + 0.15524602819509245, + -0.08951566180511783, + -0.9952732914416679, + 0.03765662802828479, + 0.151399344046493, + -0.05096655302356337, + -0.9871578643232236 + ], + [ + 0.9500367093851885, + -0.23581695322513146, + 0.20450089337746008, + -0.23527770450842916, + -0.9715445200631043, + -0.027306543109608693, + 0.2051210681080991, + -0.022172282403234392, + -0.9784854303009443 + ], + [ + 0.906461528899063, + -0.3365387432679909, + 0.25508659491548036, + -0.32729736454238606, + -0.9415968992941544, + -0.07919415637054521, + 0.26684064868303237, + -0.01170271418241206, + -0.9636696086788163 + ], + [ + 0.878037266199458, + -0.3982922968544186, + 0.2653559975418191, + -0.37739348112018056, + -0.9171779639192303, + -0.12790130143578332, + 0.29432077665868944, + 0.01215848540760281, + -0.9556293484712675 + ], + [ + 0.8603088645679857, + -0.43994279016781507, + 0.2575247540045434, + -0.41618040227841163, + -0.8978772873617004, + -0.14356270267508092, + 0.2943850035329962, + 0.016331510014450365, + -0.9555473570030558 + ], + [ + 0.8637349616930494, + -0.4390238871294293, + 0.247426640600547, + -0.41996126235840614, + -0.8984498756446356, + -0.12814194891787928, + 0.2785578109969996, + 0.006771077012151752, + -0.9603955947674141 + ], + [ + 0.8592973387600453, + -0.44513031504606126, + 0.2519267477400889, + -0.4372419862154755, + -0.8948559081308893, + -0.08973488270225514, + 0.26538185523929486, + -0.033044005662688836, + -0.9635769635060369 + ], + [ + 0.8673378907806706, + -0.4444904746211271, + 0.2239491040107608, + -0.4418723980963516, + -0.8947524163543615, + -0.06455150833722237, + 0.22907153253234408, + -0.04296895855284681, + -0.9724607455235234 + ], + [ + 0.8752796361223663, + -0.43678289667415743, + 0.20762047048022658, + -0.4342966977976424, + -0.8987753407645669, + -0.05991047584187696, + 0.2127720302849075, + -0.03773046522995942, + -0.9763731229002411 + ], + [ + 0.8883270305898485, + -0.41047050048394057, + 0.20588602418786278, + -0.4052892559156395, + -0.9115994915644288, + -0.06875308006788948, + 0.2159067061551565, + -0.022368174085913923, + -0.9761577531451013 + ], + [ + 0.896409339939964, + -0.3945858719683258, + 0.20187195176991166, + -0.3880820134803388, + -0.9187629929165613, + -0.07257350522090192, + 0.21410895843341923, + -0.013287305595874946, + -0.9767194077259639 + ], + [ + 0.8995695429251971, + -0.3761229470659271, + 0.22204991810805397, + -0.36843780321335706, + -0.9264813846433624, + -0.076719157142355, + 0.23458095106949162, + -0.01279736690728258, + -0.9720123480674373 + ], + [ + 0.8995736165447985, + -0.37311395641064227, + 0.22705348257207908, + -0.37029391482538476, + -0.9271913285627235, + -0.056556669645434404, + 0.23162410293361685, + -0.03319963508367958, + -0.9722386842594302 + ], + [ + 0.9003481159772136, + -0.37726020024549084, + 0.2169055355840735, + -0.37764332820818475, + -0.9250280671969988, + -0.041335112890008505, + 0.21623780131171993, + -0.04469693735052377, + -0.9753170751480548 + ], + [ + 0.8944170580481782, + -0.35366458602319556, + 0.27375077509567636, + -0.351726061989832, + -0.9343121828758791, + -0.057875057208046345, + 0.27623704239215774, + -0.0445208436886756, + -0.960057806013618 + ], + [ + 0.8921560803710376, + -0.3534332542014605, + 0.28132270274820165, + -0.3504447152361872, + -0.9344852228233648, + -0.0626567625064886, + 0.28503689203332067, + -0.042688442807540194, + -0.9575654896823783 + ], + [ + 0.8994541571425384, + -0.3545815793306933, + 0.25544886532994665, + -0.354506839831302, + -0.9338222110044783, + -0.04796851829618485, + 0.25555257719661045, + -0.047412886793139854, + -0.9656318648709308 + ], + [ + 0.9106640393865194, + -0.35689496428806244, + 0.20812734523375467, + -0.35972878951347753, + -0.9327109479923988, + -0.025406406481218197, + 0.20319007200991898, + -0.051732697213110204, + -0.9777717129655883 + ], + [ + 0.917129091619672, + -0.3567403510939654, + 0.177793563455569, + -0.3609739014117981, + -0.9325318388530408, + -0.009067084697508266, + 0.16903275364384437, + -0.05586314909419844, + -0.9840260345991151 + ], + [ + 0.9206960870269187, + -0.37466887325199183, + 0.1092792329283249, + -0.37708953842649595, + -0.9261754116054699, + 0.001608398809458983, + 0.10060912156764151, + -0.042688901994791216, + -0.9940097898430711 + ], + [ + 0.9150505360684326, + -0.3985526008067493, + 0.06195434473102018, + -0.39972205225758023, + -0.9166076806365577, + 0.007255393652891202, + 0.053896172219021585, + -0.031403569673622594, + -0.9980526130579948 + ], + [ + 0.9171792109432018, + -0.396293304185908, + 0.04164026982407068, + -0.3964327758105015, + -0.918048993520791, + -0.00520574285225204, + 0.040290808837583375, + -0.011732968630252864, + -0.9991191060981344 + ], + [ + 0.9284905965698991, + -0.36715390788181584, + 0.05570655265212591, + -0.36692601376790585, + -0.9301349786949041, + -0.014636318820826642, + 0.057188394816322353, + -0.006850498911859952, + -0.9983399011173454 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0010596662759780884, + -0.004124145954847336, + -0.004548989236354828, + -0.010272584855556488, + 0.017875686287879944, + 0.0009217485785484314, + 1.0 + ], + [ + 0.016558349132537842, + -0.05302257090806961, + 0.012148186564445496, + -0.028927864506840706, + -0.05460362136363983, + -0.15208297967910767, + 1.0 + ], + [ + 0.021378785371780396, + -0.04223225265741348, + 0.010609537363052368, + -0.010512610897421837, + -0.06352591514587402, + -0.1037369817495346, + 1.0 + ], + [ + 0.022813022136688232, + -0.048245977610349655, + -0.0018857568502426147, + -0.024865638464689255, + -0.02863141894340515, + -0.05943804979324341, + 1.0 + ], + [ + 0.015431135892868042, + -0.036904893815517426, + -0.009987413883209229, + -0.00436727050691843, + -6.720423698425293e-05, + -0.04462713003158569, + 1.0 + ], + [ + 0.008911103010177612, + -0.015546932816505432, + -0.015561878681182861, + 0.010039415210485458, + 0.016519784927368164, + -0.0019903182983398438, + 1.0 + ], + [ + 0.012255728244781494, + -0.01572689414024353, + -0.016185864806175232, + 0.04132981225848198, + 0.013692200183868408, + -0.018132656812667847, + 1.0 + ], + [ + 0.005041748285293579, + -0.002948939800262451, + -0.017542265355587006, + 0.00987745076417923, + 0.03747621178627014, + -0.0004935860633850098, + 1.0 + ], + [ + 0.003360360860824585, + -0.002503111958503723, + -0.013794781640172005, + -0.005532808601856232, + 0.016712665557861328, + 0.010598152875900269, + 1.0 + ], + [ + 0.006796687841415405, + -0.005252167582511902, + -0.006171500310301781, + -0.015713773667812347, + -0.0032092630863189697, + 0.03255736827850342, + 1.0 + ], + [ + 0.0028062760829925537, + -0.0018335133790969849, + -0.006532890722155571, + -0.009307322092354298, + 0.0018408000469207764, + 0.019462227821350098, + 0.0 + ], + [ + 0.003067523241043091, + -0.001232042908668518, + -0.0003896523267030716, + -0.0004380885511636734, + -0.021007925271987915, + 0.019837647676467896, + 0.0 + ], + [ + 0.0010647177696228027, + 0.0036964714527130127, + -3.589130938053131e-05, + 0.020969267934560776, + 0.003040611743927002, + -0.001764059066772461, + 0.0 + ], + [ + -0.0010186433792114258, + 0.011055827140808105, + 0.0019593453034758568, + 0.01166171208024025, + 0.015787407755851746, + -0.0066589415073394775, + 0.0 + ], + [ + -0.011740893125534058, + 0.016853109002113342, + 0.03543226048350334, + 0.0005438216030597687, + -0.06191714107990265, + 0.02248254418373108, + 0.0 + ], + [ + -0.031819164752960205, + 0.015295088291168213, + 0.013592284172773361, + -0.0017892047762870789, + -0.00916832685470581, + 0.0003808140754699707, + 0.0 + ], + [ + -0.03719416260719299, + 0.019775673747062683, + -0.0007345192134380341, + 0.0045102909207344055, + 0.03062570095062256, + -0.0011508464813232422, + 0.0 + ], + [ + -0.025112658739089966, + 0.013291627168655396, + -0.015389572829008102, + 0.0037985071539878845, + 0.05380435287952423, + -0.0007636845111846924, + 0.0 + ], + [ + -0.01196637749671936, + 0.005989082157611847, + -0.009854532778263092, + 0.0038496404886245728, + 0.03476664423942566, + 0.0012349486351013184, + 0.0 + ], + [ + -0.006019905209541321, + -0.0010203346610069275, + -0.02112698182463646, + -0.013789337128400803, + 0.06906858831644058, + -0.013759762048721313, + 1.0 + ], + [ + 0.00300753116607666, + -0.004115886986255646, + -0.008513327687978745, + -0.011465318500995636, + 0.046857330948114395, + -0.023119330406188965, + 1.0 + ], + [ + 0.0024567395448684692, + -0.0015942752361297607, + 0.0019405386410653591, + -0.0197116918861866, + 0.013620581477880478, + 0.0038695037364959717, + 1.0 + ], + [ + 0.0031695514917373657, + 0.0002652853727340698, + 0.02414647489786148, + -0.004880990833044052, + -0.016917895525693893, + 0.031629860401153564, + 1.0 + ], + [ + 0.0047170668840408325, + -0.0027058273553848267, + 0.039358727633953094, + -0.016294796019792557, + -0.06052780523896217, + 0.04312247037887573, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 0.9560673832893372 + ], + [ + 0.67718505859375 + ], + [ + 0.5023775696754456 + ], + [ + 0.47659820318222046 + ], + [ + 0.475652277469635 + ], + [ + 0.47659820318222046 + ], + [ + 0.47659820318222046 + ], + [ + 0.47659820318222046 + ], + [ + 0.47659820318222046 + ], + [ + 0.549187958240509 + ], + [ + 0.8562611937522888 + ], + [ + 1.00800359249115 + ], + [ + 1.002137303352356 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.24208855628967285, + 0.03618720546364784, + 0.07281563431024551 + ], + [ + 0.2586469054222107, + -0.016835367307066917, + 0.08496382087469101 + ], + [ + 0.2800256907939911, + -0.05906761810183525, + 0.09557335823774338 + ], + [ + 0.3028387129306793, + -0.1073135957121849, + 0.09368760138750076 + ], + [ + 0.31826984882354736, + -0.14421848952770233, + 0.08370018750429153 + ], + [ + 0.327180951833725, + -0.15976542234420776, + 0.06813830882310867 + ], + [ + 0.33943668007850647, + -0.1754923164844513, + 0.05195244401693344 + ], + [ + 0.34447842836380005, + -0.17844125628471375, + 0.034410178661346436 + ], + [ + 0.34783878922462463, + -0.18094436824321747, + 0.02061539702117443 + ], + [ + 0.35463547706604004, + -0.18619653582572937, + 0.01444389671087265 + ], + [ + 0.3574417531490326, + -0.18803004920482635, + 0.00791100598871708 + ], + [ + 0.3605092763900757, + -0.18926209211349487, + 0.007521353662014008 + ], + [ + 0.3615739941596985, + -0.18556562066078186, + 0.007485462352633476 + ], + [ + 0.36055535078048706, + -0.17450979351997375, + 0.009444807656109333 + ], + [ + 0.348814457654953, + -0.1576566845178604, + 0.0448770672082901 + ], + [ + 0.3169952929019928, + -0.1423615962266922, + 0.05846935138106346 + ], + [ + 0.2798011302947998, + -0.12258592247962952, + 0.05773483216762543 + ], + [ + 0.25468847155570984, + -0.10929429531097412, + 0.042345259338617325 + ], + [ + 0.24272209405899048, + -0.10330521315336227, + 0.03249072656035423 + ], + [ + 0.23670218884944916, + -0.1043255478143692, + 0.011363743804395199 + ], + [ + 0.23970972001552582, + -0.10844143480062485, + 0.0028504165820777416 + ], + [ + 0.2421664595603943, + -0.11003571003675461, + 0.004790955223143101 + ], + [ + 0.24533601105213165, + -0.10977042466402054, + 0.028937429189682007 + ], + [ + 0.2500530779361725, + -0.11247625201940536, + 0.0682961568236351 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9844110853265943, + -0.08266490074853497, + 0.15524602819509245, + -0.08951566180511783, + -0.9952732914416679, + 0.03765662802828479, + 0.151399344046493, + -0.05096655302356337, + -0.9871578643232236 + ], + [ + 0.9500367093851885, + -0.23581695322513146, + 0.20450089337746008, + -0.23527770450842916, + -0.9715445200631043, + -0.027306543109608693, + 0.2051210681080991, + -0.022172282403234392, + -0.9784854303009443 + ], + [ + 0.906461528899063, + -0.3365387432679909, + 0.25508659491548036, + -0.32729736454238606, + -0.9415968992941544, + -0.07919415637054521, + 0.26684064868303237, + -0.01170271418241206, + -0.9636696086788163 + ], + [ + 0.878037266199458, + -0.3982922968544186, + 0.2653559975418191, + -0.37739348112018056, + -0.9171779639192303, + -0.12790130143578332, + 0.29432077665868944, + 0.01215848540760281, + -0.9556293484712675 + ], + [ + 0.8603088645679857, + -0.43994279016781507, + 0.2575247540045434, + -0.41618040227841163, + -0.8978772873617004, + -0.14356270267508092, + 0.2943850035329962, + 0.016331510014450365, + -0.9555473570030558 + ], + [ + 0.8637349616930494, + -0.4390238871294293, + 0.247426640600547, + -0.41996126235840614, + -0.8984498756446356, + -0.12814194891787928, + 0.2785578109969996, + 0.006771077012151752, + -0.9603955947674141 + ], + [ + 0.8592973387600453, + -0.44513031504606126, + 0.2519267477400889, + -0.4372419862154755, + -0.8948559081308893, + -0.08973488270225514, + 0.26538185523929486, + -0.033044005662688836, + -0.9635769635060369 + ], + [ + 0.8673378907806706, + -0.4444904746211271, + 0.2239491040107608, + -0.4418723980963516, + -0.8947524163543615, + -0.06455150833722237, + 0.22907153253234408, + -0.04296895855284681, + -0.9724607455235234 + ], + [ + 0.8752796361223663, + -0.43678289667415743, + 0.20762047048022658, + -0.4342966977976424, + -0.8987753407645669, + -0.05991047584187696, + 0.2127720302849075, + -0.03773046522995942, + -0.9763731229002411 + ], + [ + 0.8883270305898485, + -0.41047050048394057, + 0.20588602418786278, + -0.4052892559156395, + -0.9115994915644288, + -0.06875308006788948, + 0.2159067061551565, + -0.022368174085913923, + -0.9761577531451013 + ], + [ + 0.896409339939964, + -0.3945858719683258, + 0.20187195176991166, + -0.3880820134803388, + -0.9187629929165613, + -0.07257350522090192, + 0.21410895843341923, + -0.013287305595874946, + -0.9767194077259639 + ], + [ + 0.8995695429251971, + -0.3761229470659271, + 0.22204991810805397, + -0.36843780321335706, + -0.9264813846433624, + -0.076719157142355, + 0.23458095106949162, + -0.01279736690728258, + -0.9720123480674373 + ], + [ + 0.8995736165447985, + -0.37311395641064227, + 0.22705348257207908, + -0.37029391482538476, + -0.9271913285627235, + -0.056556669645434404, + 0.23162410293361685, + -0.03319963508367958, + -0.9722386842594302 + ], + [ + 0.9003481159772136, + -0.37726020024549084, + 0.2169055355840735, + -0.37764332820818475, + -0.9250280671969988, + -0.041335112890008505, + 0.21623780131171993, + -0.04469693735052377, + -0.9753170751480548 + ], + [ + 0.8944170580481782, + -0.35366458602319556, + 0.27375077509567636, + -0.351726061989832, + -0.9343121828758791, + -0.057875057208046345, + 0.27623704239215774, + -0.0445208436886756, + -0.960057806013618 + ], + [ + 0.8921560803710376, + -0.3534332542014605, + 0.28132270274820165, + -0.3504447152361872, + -0.9344852228233648, + -0.0626567625064886, + 0.28503689203332067, + -0.042688442807540194, + -0.9575654896823783 + ], + [ + 0.8994541571425384, + -0.3545815793306933, + 0.25544886532994665, + -0.354506839831302, + -0.9338222110044783, + -0.04796851829618485, + 0.25555257719661045, + -0.047412886793139854, + -0.9656318648709308 + ], + [ + 0.9106640393865194, + -0.35689496428806244, + 0.20812734523375467, + -0.35972878951347753, + -0.9327109479923988, + -0.025406406481218197, + 0.20319007200991898, + -0.051732697213110204, + -0.9777717129655883 + ], + [ + 0.917129091619672, + -0.3567403510939654, + 0.177793563455569, + -0.3609739014117981, + -0.9325318388530408, + -0.009067084697508266, + 0.16903275364384437, + -0.05586314909419844, + -0.9840260345991151 + ], + [ + 0.9206960870269187, + -0.37466887325199183, + 0.1092792329283249, + -0.37708953842649595, + -0.9261754116054699, + 0.001608398809458983, + 0.10060912156764151, + -0.042688901994791216, + -0.9940097898430711 + ], + [ + 0.9150505360684326, + -0.3985526008067493, + 0.06195434473102018, + -0.39972205225758023, + -0.9166076806365577, + 0.007255393652891202, + 0.053896172219021585, + -0.031403569673622594, + -0.9980526130579948 + ], + [ + 0.9171792109432018, + -0.396293304185908, + 0.04164026982407068, + -0.3964327758105015, + -0.918048993520791, + -0.00520574285225204, + 0.040290808837583375, + -0.011732968630252864, + -0.9991191060981344 + ], + [ + 0.9284905965698991, + -0.36715390788181584, + 0.05570655265212591, + -0.36692601376790585, + -0.9301349786949041, + -0.014636318820826642, + 0.057188394816322353, + -0.006850498911859952, + -0.9983399011173454 + ], + [ + 0.9384485331590576, + -0.32812645115996103, + 0.107923040453756, + -0.3248289581695059, + -0.9445873601314642, + -0.04733779688985666, + 0.11747552317877427, + 0.009367557261188379, + -0.9930315958341064 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006610.json b/json/chunk-0006/episode_0006610.json new file mode 100644 index 0000000000000000000000000000000000000000..a7e5468d8308b693f8796165aa136ac0ee070ca4 --- /dev/null +++ b/json/chunk-0006/episode_0006610.json @@ -0,0 +1,4582 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 75, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut spoon on plate and croissant in pot or pan in sink." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006610.mp4", + "start": 0, + "end": 75, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3197983503341675, + -0.025664517655968666, + 0.09739948809146881, + -0.014669502153992653, + -0.19123360514640808, + -0.020811844617128372, + 0.0, + 1.0001531839370728 + ], + [ + 0.31582894921302795, + -0.025745326653122902, + 0.08597151190042496, + -0.015216113068163395, + -0.15740692615509033, + -0.020856540650129318, + 0.0, + 1.0001531839370728 + ], + [ + 0.31808894872665405, + -0.0273806881159544, + 0.06972328573465347, + -0.037652648985385895, + -0.17801664769649506, + -0.01633274555206299, + 0.0, + 1.0001531839370728 + ], + [ + 0.3223123252391815, + -0.027777159586548805, + 0.05869995057582855, + -0.05059188976883888, + -0.20735882222652435, + -0.018767159432172775, + 0.0, + 1.0001531839370728 + ], + [ + 0.3263840675354004, + -0.026726335287094116, + 0.049456290900707245, + -0.06584245711565018, + -0.223702535033226, + -0.017961347475647926, + 0.0, + 0.9994885921478271 + ], + [ + 0.32834941148757935, + -0.024791989475488663, + 0.05013466998934746, + -0.06518465280532837, + -0.23884031176567078, + -0.028199143707752228, + 0.0, + 0.9994885921478271 + ], + [ + 0.32606786489486694, + -0.02020784094929695, + 0.04673397168517113, + -0.05952442064881325, + -0.23581194877624512, + -0.03930020332336426, + 0.0, + 1.0001531839370728 + ], + [ + 0.3246214985847473, + -0.014806403778493404, + 0.04462317004799843, + -0.06023431569337845, + -0.23662731051445007, + -0.04681427776813507, + 0.0, + 0.9994885921478271 + ], + [ + 0.32215163111686707, + -0.011043637059628963, + 0.041880276054143906, + -0.06740973144769669, + -0.2345169335603714, + -0.04596477374434471, + 0.0, + 0.9994885921478271 + ], + [ + 0.3205465078353882, + -0.011659063398838043, + 0.03791707381606102, + -0.06910780817270279, + -0.24808010458946228, + -0.05210694298148155, + 0.0, + 0.9499720335006714 + ], + [ + 0.3223726451396942, + -0.012665027752518654, + 0.03448734059929848, + -0.07461631298065186, + -0.2588372230529785, + -0.04253048449754715, + 0.0, + 0.657115638256073 + ], + [ + 0.32193341851234436, + -0.015385077334940434, + 0.03210631012916565, + -0.08501571416854858, + -0.2503015100955963, + -0.0158222746104002, + 0.0, + 0.3644362688064575 + ], + [ + 0.31856393814086914, + -0.01801486872136593, + 0.03425898402929306, + -0.09575006365776062, + -0.21261414885520935, + -0.006855745799839497, + 0.0, + 0.3110979497432709 + ], + [ + 0.31500133872032166, + -0.020872725173830986, + 0.03786711022257805, + -0.0747244730591774, + -0.16199567914009094, + -0.0058015258982777596, + 0.0, + 0.34125998616218567 + ], + [ + 0.3120116889476776, + -0.018890196457505226, + 0.05788283795118332, + -0.05163516476750374, + -0.13688001036643982, + -0.020884713158011436, + 0.0, + 0.34288913011550903 + ], + [ + 0.31707122921943665, + -0.017625542357563972, + 0.0758044421672821, + -0.041141897439956665, + -0.1369665265083313, + -0.03102652169764042, + 0.0, + 0.34288913011550903 + ], + [ + 0.3358565866947174, + -0.0053365593776106834, + 0.09307248145341873, + -0.03558933734893799, + -0.1786854863166809, + -0.09084351360797882, + 0.0, + 0.34288913011550903 + ], + [ + 0.3535345494747162, + 0.016521073877811432, + 0.08780614286661148, + -0.0453072190284729, + -0.1776769459247589, + -0.12431743741035461, + 0.0, + 0.34288913011550903 + ], + [ + 0.36663931608200073, + 0.033895473927259445, + 0.0794326514005661, + -0.05478576570749283, + -0.2069711536169052, + -0.14425908029079437, + 0.0, + 0.34288913011550903 + ], + [ + 0.37742146849632263, + 0.0466676726937294, + 0.07442673295736313, + -0.06183508038520813, + -0.19952869415283203, + -0.14504146575927734, + 0.0, + 0.34288913011550903 + ], + [ + 0.3769385814666748, + 0.051300883293151855, + 0.07140074670314789, + -0.06471482664346695, + -0.19476792216300964, + -0.1467735916376114, + 0.0, + 0.3849146366119385 + ], + [ + 0.37609806656837463, + 0.050415147095918655, + 0.06972578912973404, + -0.0720345601439476, + -0.19427698850631714, + -0.13290616869926453, + 0.0, + 0.6069100499153137 + ], + [ + 0.36865413188934326, + 0.04162975773215294, + 0.062391817569732666, + -0.08795143663883209, + -0.15870791673660278, + -0.11372970789670944, + 0.0, + 0.9041115045547485 + ], + [ + 0.36409106850624084, + 0.03612957522273064, + 0.06037868931889534, + -0.09586545825004578, + -0.1317773312330246, + -0.10205204039812088, + 0.0, + 1.0086473226547241 + ], + [ + 0.35932111740112305, + 0.03243973106145859, + 0.07021192461252213, + -0.09497176110744476, + -0.1174185574054718, + -0.0955735296010971, + 0.0, + 1.0027955770492554 + ], + [ + 0.35126346349716187, + 0.0325717031955719, + 0.07646998763084412, + -0.09653516858816147, + -0.07601910084486008, + -0.0979800596833229, + 0.0, + 1.0014774799346924 + ], + [ + 0.34937575459480286, + 0.03504662960767746, + 0.10057328641414642, + -0.07784086465835571, + -0.07961098849773407, + -0.09909064322710037, + 0.0, + 1.0014774799346924 + ], + [ + 0.3456784784793854, + 0.03714275732636452, + 0.1088825911283493, + -0.043149128556251526, + -0.07460121810436249, + -0.13237865269184113, + 0.0, + 1.0014774799346924 + ], + [ + 0.3456784784793854, + 0.03714275732636452, + 0.1088825911283493, + -0.04303453862667084, + -0.0746672973036766, + -0.1339154690504074, + 0.0, + 1.0014774799346924 + ], + [ + 0.3456784784793854, + 0.03714275732636452, + 0.1088825911283493, + -0.04303453862667084, + -0.0746672973036766, + -0.1339154690504074, + 0.0, + 1.0014774799346924 + ], + [ + 0.3463510572910309, + 0.03680386766791344, + 0.10912571847438812, + -0.04372623562812805, + -0.08151053637266159, + -0.13709411025047302, + 0.0, + 1.0014774799346924 + ], + [ + 0.3229871392250061, + 0.044553402811288834, + 0.12083602696657181, + -0.06499383598566055, + -0.17974375188350677, + -0.11157965660095215, + 0.0, + 1.0014774799346924 + ], + [ + 0.3004198968410492, + 0.06166005879640579, + 0.12262434512376785, + -0.021563207730650902, + -0.2616586983203888, + -0.07247616350650787, + 0.0, + 1.0014774799346924 + ], + [ + 0.28726282715797424, + 0.0682561919093132, + 0.12957169115543365, + 0.03362620994448662, + -0.3332380950450897, + -0.07883686572313309, + 0.0, + 1.0014774799346924 + ], + [ + 0.27838605642318726, + 0.08072763681411743, + 0.12459830939769745, + 0.05329888314008713, + -0.3738645613193512, + -0.0470011942088604, + 0.0, + 1.0014774799346924 + ], + [ + 0.27051103115081787, + 0.09207718074321747, + 0.12084886431694031, + 0.10407154262065887, + -0.39758992195129395, + -0.028076592832803726, + 0.0, + 1.0014774799346924 + ], + [ + 0.2635471820831299, + 0.10076167434453964, + 0.10988181084394455, + 0.15469419956207275, + -0.3962132930755615, + 0.012108896858990192, + 0.0, + 1.0014774799346924 + ], + [ + 0.2596496343612671, + 0.10593374818563461, + 0.10333248972892761, + 0.1912892758846283, + -0.40218356251716614, + 0.03152383863925934, + 0.0, + 1.0014774799346924 + ], + [ + 0.2591933012008667, + 0.10712577402591705, + 0.09476736187934875, + 0.18759167194366455, + -0.4096452295780182, + 0.03956146165728569, + 0.0, + 1.0014774799346924 + ], + [ + 0.25977209210395813, + 0.11002153158187866, + 0.0850064605474472, + 0.17199642956256866, + -0.39109575748443604, + 0.034911930561065674, + 0.0, + 1.0014774799346924 + ], + [ + 0.2606762647628784, + 0.11383650451898575, + 0.07574079185724258, + 0.15984678268432617, + -0.34589922428131104, + 0.04108408838510513, + 0.0, + 1.0014774799346924 + ], + [ + 0.2652551233768463, + 0.11660335212945938, + 0.0666750818490982, + 0.14013078808784485, + -0.29700183868408203, + 0.07302489131689072, + 0.0, + 1.0014774799346924 + ], + [ + 0.2647283673286438, + 0.11605395376682281, + 0.05968698859214783, + 0.11198856681585312, + -0.27931350469589233, + 0.09191736578941345, + 0.0, + 1.0014774799346924 + ], + [ + 0.26352736353874207, + 0.11795926094055176, + 0.052443236112594604, + 0.0840764045715332, + -0.2681578993797302, + 0.1074872687458992, + 0.0, + 1.0014774799346924 + ], + [ + 0.2635068893432617, + 0.12332714349031448, + 0.04997338354587555, + 0.0728597640991211, + -0.2820197343826294, + 0.11797953397035599, + 0.0, + 1.0014774799346924 + ], + [ + 0.2581718862056732, + 0.12409085780382156, + 0.044037289917469025, + 0.07528188824653625, + -0.2862294614315033, + 0.12379751354455948, + 0.0, + 1.0014774799346924 + ], + [ + 0.25568610429763794, + 0.12452741712331772, + 0.04113965854048729, + 0.07174395024776459, + -0.29277634620666504, + 0.12739209830760956, + 0.0, + 1.0014774799346924 + ], + [ + 0.2512668967247009, + 0.12280617654323578, + 0.032043203711509705, + 0.053287919610738754, + -0.2966216206550598, + 0.1473044753074646, + 0.0, + 1.0014774799346924 + ], + [ + 0.24708931148052216, + 0.12207050621509552, + 0.023309698328375816, + 0.03754156082868576, + -0.31068938970565796, + 0.16504593193531036, + 0.0, + 1.0014774799346924 + ], + [ + 0.24577543139457703, + 0.12248597294092178, + 0.020204676315188408, + 0.028100265190005302, + -0.326726496219635, + 0.1738135814666748, + 0.0, + 1.0014774799346924 + ], + [ + 0.2478943020105362, + 0.12253206968307495, + 0.017939308658242226, + 0.01483459584414959, + -0.33427152037620544, + 0.18045297265052795, + 0.0, + 0.9499720335006714 + ], + [ + 0.25142475962638855, + 0.12125085294246674, + 0.017827998846769333, + 0.012862910516560078, + -0.33689600229263306, + 0.18102586269378662, + 0.0, + 0.6831957101821899 + ], + [ + 0.25512751936912537, + 0.12089502066373825, + 0.018800096586346626, + 0.0039005728904157877, + -0.32880541682243347, + 0.18726634979248047, + 0.0, + 0.6400356888771057 + ], + [ + 0.25314781069755554, + 0.11922124773263931, + 0.019585050642490387, + 0.003913652151823044, + -0.29221099615097046, + 0.17808744311332703, + 0.0, + 0.6711689233779907 + ], + [ + 0.24456436932086945, + 0.11578438431024551, + 0.029775550588965416, + 0.008152550086379051, + -0.23358450829982758, + 0.17168474197387695, + 0.0, + 0.6711689233779907 + ], + [ + 0.24696722626686096, + 0.11933090537786484, + 0.04533999040722847, + 0.002728287596255541, + -0.22707733511924744, + 0.14939267933368683, + 0.0, + 0.6711689233779907 + ], + [ + 0.25668051838874817, + 0.13714005053043365, + 0.06255495548248291, + -0.0015325252898037434, + -0.2610089182853699, + 0.11606393754482269, + 0.0, + 0.6711689233779907 + ], + [ + 0.2643548846244812, + 0.15478359162807465, + 0.05810694396495819, + -0.013210193254053593, + -0.2605413794517517, + 0.09888363629579544, + 0.0, + 0.6711689233779907 + ], + [ + 0.27020159363746643, + 0.1668846607208252, + 0.05087130144238472, + -0.03460375592112541, + -0.2696272134780884, + 0.08288030326366425, + 0.0, + 0.6711689233779907 + ], + [ + 0.2702313959598541, + 0.17685402929782867, + 0.03737828508019447, + -0.06016356870532036, + -0.2737085223197937, + 0.08672389388084412, + 0.0, + 0.6711689233779907 + ], + [ + 0.271006315946579, + 0.18574480712413788, + 0.027808234095573425, + -0.07407903671264648, + -0.289859414100647, + 0.08852431923151016, + 0.0, + 0.6711689233779907 + ], + [ + 0.2713778018951416, + 0.19402150809764862, + 0.02041841857135296, + -0.08077557384967804, + -0.3041388690471649, + 0.08240573108196259, + 0.0, + 0.6711689233779907 + ], + [ + 0.2702708840370178, + 0.20022717118263245, + 0.012457992881536484, + -0.09664487838745117, + -0.3157148063182831, + 0.0794239416718483, + 0.0, + 0.6711689233779907 + ], + [ + 0.27163955569267273, + 0.20869511365890503, + 0.0030191177502274513, + -0.10867321491241455, + -0.33108291029930115, + 0.05843592435121536, + 0.0, + 0.6541022062301636 + ], + [ + 0.27100205421447754, + 0.21055202186107635, + 0.0033550988882780075, + -0.11500825732946396, + -0.33694273233413696, + 0.04631296917796135, + 0.0, + 0.728995144367218 + ], + [ + 0.26817840337753296, + 0.20971229672431946, + 0.0016230056062340736, + -0.11333481967449188, + -0.319579541683197, + 0.04492521286010742, + 0.0, + 0.9872581958770752 + ], + [ + 0.26352864503860474, + 0.20244015753269196, + 0.0024859756231307983, + -0.11331580579280853, + -0.2979962229728699, + 0.05864374339580536, + 0.0, + 1.0001531839370728 + ], + [ + 0.2620197534561157, + 0.19600807130336761, + 0.01574696972966194, + -0.08673095703125, + -0.2949024736881256, + 0.06072156876325607, + 0.0, + 1.0001531839370728 + ], + [ + 0.2594481408596039, + 0.1901538223028183, + 0.03702660650014877, + -0.05293871462345123, + -0.2807977497577667, + 0.06773938983678818, + 0.0, + 1.0001531839370728 + ], + [ + 0.2554260194301605, + 0.1826615035533905, + 0.054984912276268005, + -0.021149253472685814, + -0.25326406955718994, + 0.07370216399431229, + 0.0, + 1.0001531839370728 + ], + [ + 0.25144246220588684, + 0.17415358126163483, + 0.07092125713825226, + -0.004745866637676954, + -0.21761754155158997, + 0.07783706486225128, + 0.0, + 1.0001531839370728 + ], + [ + 0.25181230902671814, + 0.16899380087852478, + 0.08971623331308365, + 0.01704215630888939, + -0.18441788852214813, + 0.08429212123155594, + 0.0, + 1.0001531839370728 + ], + [ + 0.25442564487457275, + 0.16478891670703888, + 0.10252340137958527, + 0.015425549820065498, + -0.15322446823120117, + 0.08696150779724121, + 0.0, + 1.0001531839370728 + ], + [ + 0.2583676278591156, + 0.16219034790992737, + 0.1215156763792038, + -0.00969809852540493, + -0.12459857016801834, + 0.08298775553703308, + 0.0, + 1.0001531839370728 + ], + [ + 0.25699687004089355, + 0.16119356453418732, + 0.12135204672813416, + -0.015232931822538376, + -0.11540607362985611, + 0.08287233114242554, + 0.0, + 1.0001531839370728 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9499720335006714 + ], + [ + 0.657115638256073 + ], + [ + 0.3644362688064575 + ], + [ + 0.3110979497432709 + ], + [ + 0.34125998616218567 + ], + [ + 0.34288913011550903 + ], + [ + 0.34288913011550903 + ], + [ + 0.34288913011550903 + ], + [ + 0.34288913011550903 + ], + [ + 0.34288913011550903 + ], + [ + 0.34288913011550903 + ], + [ + 0.3849146366119385 + ], + [ + 0.6069100499153137 + ], + [ + 0.9041115045547485 + ], + [ + 1.0086473226547241 + ], + [ + 1.0027955770492554 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 0.9499720335006714 + ], + [ + 0.6831957101821899 + ], + [ + 0.6400356888771057 + ], + [ + 0.6711689233779907 + ], + [ + 0.6711689233779907 + ], + [ + 0.6711689233779907 + ], + [ + 0.6711689233779907 + ], + [ + 0.6711689233779907 + ], + [ + 0.6711689233779907 + ], + [ + 0.6711689233779907 + ], + [ + 0.6711689233779907 + ], + [ + 0.6711689233779907 + ], + [ + 0.6711689233779907 + ], + [ + 0.6541022062301636 + ], + [ + 0.728995144367218 + ], + [ + 0.9872581958770752 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3197983503341675, + -0.025664517655968666, + 0.09739948809146881 + ], + [ + 0.31582894921302795, + -0.025745326653122902, + 0.08597151190042496 + ], + [ + 0.31808894872665405, + -0.0273806881159544, + 0.06972328573465347 + ], + [ + 0.3223123252391815, + -0.027777159586548805, + 0.05869995057582855 + ], + [ + 0.3263840675354004, + -0.026726335287094116, + 0.049456290900707245 + ], + [ + 0.32834941148757935, + -0.024791989475488663, + 0.05013466998934746 + ], + [ + 0.32606786489486694, + -0.02020784094929695, + 0.04673397168517113 + ], + [ + 0.3246214985847473, + -0.014806403778493404, + 0.04462317004799843 + ], + [ + 0.32215163111686707, + -0.011043637059628963, + 0.041880276054143906 + ], + [ + 0.3205465078353882, + -0.011659063398838043, + 0.03791707381606102 + ], + [ + 0.3223726451396942, + -0.012665027752518654, + 0.03448734059929848 + ], + [ + 0.32193341851234436, + -0.015385077334940434, + 0.03210631012916565 + ], + [ + 0.31856393814086914, + -0.01801486872136593, + 0.03425898402929306 + ], + [ + 0.31500133872032166, + -0.020872725173830986, + 0.03786711022257805 + ], + [ + 0.3120116889476776, + -0.018890196457505226, + 0.05788283795118332 + ], + [ + 0.31707122921943665, + -0.017625542357563972, + 0.0758044421672821 + ], + [ + 0.3358565866947174, + -0.0053365593776106834, + 0.09307248145341873 + ], + [ + 0.3535345494747162, + 0.016521073877811432, + 0.08780614286661148 + ], + [ + 0.36663931608200073, + 0.033895473927259445, + 0.0794326514005661 + ], + [ + 0.37742146849632263, + 0.0466676726937294, + 0.07442673295736313 + ], + [ + 0.3769385814666748, + 0.051300883293151855, + 0.07140074670314789 + ], + [ + 0.37609806656837463, + 0.050415147095918655, + 0.06972578912973404 + ], + [ + 0.36865413188934326, + 0.04162975773215294, + 0.062391817569732666 + ], + [ + 0.36409106850624084, + 0.03612957522273064, + 0.06037868931889534 + ], + [ + 0.35932111740112305, + 0.03243973106145859, + 0.07021192461252213 + ], + [ + 0.35126346349716187, + 0.0325717031955719, + 0.07646998763084412 + ], + [ + 0.34937575459480286, + 0.03504662960767746, + 0.10057328641414642 + ], + [ + 0.3456784784793854, + 0.03714275732636452, + 0.1088825911283493 + ], + [ + 0.3456784784793854, + 0.03714275732636452, + 0.1088825911283493 + ], + [ + 0.3456784784793854, + 0.03714275732636452, + 0.1088825911283493 + ], + [ + 0.3463510572910309, + 0.03680386766791344, + 0.10912571847438812 + ], + [ + 0.3229871392250061, + 0.044553402811288834, + 0.12083602696657181 + ], + [ + 0.3004198968410492, + 0.06166005879640579, + 0.12262434512376785 + ], + [ + 0.28726282715797424, + 0.0682561919093132, + 0.12957169115543365 + ], + [ + 0.27838605642318726, + 0.08072763681411743, + 0.12459830939769745 + ], + [ + 0.27051103115081787, + 0.09207718074321747, + 0.12084886431694031 + ], + [ + 0.2635471820831299, + 0.10076167434453964, + 0.10988181084394455 + ], + [ + 0.2596496343612671, + 0.10593374818563461, + 0.10333248972892761 + ], + [ + 0.2591933012008667, + 0.10712577402591705, + 0.09476736187934875 + ], + [ + 0.25977209210395813, + 0.11002153158187866, + 0.0850064605474472 + ], + [ + 0.2606762647628784, + 0.11383650451898575, + 0.07574079185724258 + ], + [ + 0.2652551233768463, + 0.11660335212945938, + 0.0666750818490982 + ], + [ + 0.2647283673286438, + 0.11605395376682281, + 0.05968698859214783 + ], + [ + 0.26352736353874207, + 0.11795926094055176, + 0.052443236112594604 + ], + [ + 0.2635068893432617, + 0.12332714349031448, + 0.04997338354587555 + ], + [ + 0.2581718862056732, + 0.12409085780382156, + 0.044037289917469025 + ], + [ + 0.25568610429763794, + 0.12452741712331772, + 0.04113965854048729 + ], + [ + 0.2512668967247009, + 0.12280617654323578, + 0.032043203711509705 + ], + [ + 0.24708931148052216, + 0.12207050621509552, + 0.023309698328375816 + ], + [ + 0.24577543139457703, + 0.12248597294092178, + 0.020204676315188408 + ], + [ + 0.2478943020105362, + 0.12253206968307495, + 0.017939308658242226 + ], + [ + 0.25142475962638855, + 0.12125085294246674, + 0.017827998846769333 + ], + [ + 0.25512751936912537, + 0.12089502066373825, + 0.018800096586346626 + ], + [ + 0.25314781069755554, + 0.11922124773263931, + 0.019585050642490387 + ], + [ + 0.24456436932086945, + 0.11578438431024551, + 0.029775550588965416 + ], + [ + 0.24696722626686096, + 0.11933090537786484, + 0.04533999040722847 + ], + [ + 0.25668051838874817, + 0.13714005053043365, + 0.06255495548248291 + ], + [ + 0.2643548846244812, + 0.15478359162807465, + 0.05810694396495819 + ], + [ + 0.27020159363746643, + 0.1668846607208252, + 0.05087130144238472 + ], + [ + 0.2702313959598541, + 0.17685402929782867, + 0.03737828508019447 + ], + [ + 0.271006315946579, + 0.18574480712413788, + 0.027808234095573425 + ], + [ + 0.2713778018951416, + 0.19402150809764862, + 0.02041841857135296 + ], + [ + 0.2702708840370178, + 0.20022717118263245, + 0.012457992881536484 + ], + [ + 0.27163955569267273, + 0.20869511365890503, + 0.0030191177502274513 + ], + [ + 0.27100205421447754, + 0.21055202186107635, + 0.0033550988882780075 + ], + [ + 0.26817840337753296, + 0.20971229672431946, + 0.0016230056062340736 + ], + [ + 0.26352864503860474, + 0.20244015753269196, + 0.0024859756231307983 + ], + [ + 0.2620197534561157, + 0.19600807130336761, + 0.01574696972966194 + ], + [ + 0.2594481408596039, + 0.1901538223028183, + 0.03702660650014877 + ], + [ + 0.2554260194301605, + 0.1826615035533905, + 0.054984912276268005 + ], + [ + 0.25144246220588684, + 0.17415358126163483, + 0.07092125713825226 + ], + [ + 0.25181230902671814, + 0.16899380087852478, + 0.08971623331308365 + ], + [ + 0.25442564487457275, + 0.16478891670703888, + 0.10252340137958527 + ], + [ + 0.2583676278591156, + 0.16219034790992737, + 0.1215156763792038 + ], + [ + 0.25699687004089355, + 0.16119356453418732, + 0.12135204672813416 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9815578998052699, + -0.023595633947885577, + 0.18970328249259458, + -0.020430980355071394, + -0.999617847427343, + -0.01862079875987498, + 0.1900701564465038, + 0.0144015680855407, + -0.9816648768623023 + ], + [ + 0.9874222867621633, + -0.02323724677693994, + 0.1563881644102513, + -0.02059719971091764, + -0.9996170302068463, + -0.0184810249854662, + 0.1567577206055535, + 0.01502741769807594, + -0.987522756065843 + ], + [ + 0.9840655676507873, + -0.02298543179337082, + 0.1763140053694137, + -0.016073921833912173, + -0.9990490737299186, + -0.040528722114923935, + 0.1770779139277697, + 0.037048862393651724, + -0.9834992598849911 + ], + [ + 0.9784057568445493, + -0.02915142767499403, + 0.20462739122110238, + -0.01836405285688786, + -0.9983492531879821, + -0.054419943234699716, + 0.2058760222466762, + 0.0494869975196324, + -0.9773259950192555 + ], + [ + 0.974925477687343, + -0.03251514249423061, + 0.22014331346803337, + -0.017512858582563972, + -0.9974100669351232, + -0.06976000401905715, + 0.22184141349254885, + 0.06415546652508756, + -0.9729699190491837 + ], + [ + 0.9712266988704646, + -0.04353960652045423, + 0.23414312303636775, + -0.027395023070941073, + -0.9970450104617468, + -0.07176879422337867, + 0.23657601761827474, + 0.06328941283800227, + -0.9695495026611578 + ], + [ + 0.9715741799845427, + -0.05310840146211958, + 0.23070134477610255, + -0.03820273295910817, + -0.9969120802021885, + -0.06860652695917926, + 0.23363254050285648, + 0.057842908304163415, + -0.9706029229180682 + ], + [ + 0.9710690872946175, + -0.060808758882572554, + 0.2309266605309136, + -0.04549313673933982, + -0.9964324632217934, + -0.07108249255171865, + 0.23442525932675085, + 0.05852043302053191, + -0.9703711437943088 + ], + [ + 0.971599423769515, + -0.06148005319831787, + 0.22850549837909637, + -0.0446908257870485, + -0.995955825323276, + -0.07794051638977423, + 0.23237316932300703, + 0.06551486139316015, + -0.9704177003308508 + ], + [ + 0.9680699174781253, + -0.06889148607665305, + 0.2410282100087991, + -0.05048886693684996, + -0.9953758886233008, + -0.08171728496962595, + 0.2455432939204989, + 0.06693880409392088, + -0.9670717074328806 + ], + [ + 0.9658140906732564, + -0.06146293038819779, + 0.2518440994843569, + -0.041101326136366426, + -0.9955044535344358, + -0.08533208061999116, + 0.2559566823640734, + 0.0720637993808277, + -0.9639984364987202 + ], + [ + 0.9687165138651531, + -0.03679454143563908, + 0.24542713274103428, + -0.015328577864428709, + -0.9959308514763512, + -0.08880750969509178, + 0.24769608488144979, + 0.08226725228261068, + -0.9653386704863068 + ], + [ + 0.9774596569540003, + -0.02699774238550069, + 0.20938897041977655, + -0.00670131992814273, + -0.9952577646967862, + -0.09704161026063551, + 0.2110159030466391, + 0.09345107659541727, + -0.9730052337703886 + ], + [ + 0.9868907611624521, + -0.017826054869137957, + 0.1604021736136955, + -0.005725536545934865, + -0.997122788059411, + -0.07558679622717147, + 0.16128807694140565, + 0.07367752235539184, + -0.9841533310090017 + ], + [ + 0.9904305111180134, + -0.02789646749356055, + 0.13516356664387003, + -0.020687865032381066, + -0.998302341147656, + -0.054446743699797746, + 0.13645297683419427, + 0.05112947056727852, + -0.9893262163475691 + ], + [ + 0.9901579633767935, + -0.03660846639012743, + 0.13508155962263327, + -0.03073101918885785, + -0.9984987017207398, + -0.045342553099828715, + 0.13653868324080967, + 0.04074509603080654, + -0.98979645641329 + ], + [ + 0.9800203970468949, + -0.09695926972247676, + 0.17366324132334762, + -0.0892742112765258, + -0.9946722218686627, + -0.05154887238158541, + 0.17773614312514355, + 0.03501529748185421, + -0.9834550281376656 + ], + [ + 0.9766609640801476, + -0.13181346343821337, + 0.1695835254335143, + -0.12204536696163792, + -0.9902716553107233, + -0.06683544786532924, + 0.17674357030804755, + 0.044578689354699386, + -0.9832468920928158 + ], + [ + 0.9684921999433836, + -0.1546793293861596, + 0.19518494744593556, + -0.1406911100760659, + -0.9865102376810866, + -0.08368728993084927, + 0.2054966427813092, + 0.05358970060612074, + -0.9771894769155862 + ], + [ + 0.9698683371716795, + -0.15637698341548573, + 0.18681982659695012, + -0.1416659312371948, + -0.9858385035155094, + -0.08973967301589472, + 0.19820739763828193, + 0.06056966273782785, + -0.9782868411040221 + ], + [ + 0.9705439819205962, + -0.15832256614395027, + 0.18159940585615417, + -0.14348202874408464, + -0.9853468688972231, + -0.0922196041084569, + 0.1935388503251876, + 0.06344693061160132, + -0.9790389166988059 + ], + [ + 0.972534384794294, + -0.14594380307102994, + 0.1813209219531721, + -0.13002229550145922, + -0.9867692039867338, + -0.09685422415113694, + 0.19305717563798327, + 0.07061830080476227, + -0.9786429290227017 + ], + [ + 0.981053246701298, + -0.12683851813119218, + 0.14644629546398713, + -0.11205845432641043, + -0.9881240683320238, + -0.1051367128882478, + 0.15804249412995852, + 0.0867341680149945, + -0.9836156536716609 + ], + [ + 0.9861722417971474, + -0.1139188699332175, + 0.12036112570895906, + -0.1009917299179298, + -0.9889482325158191, + -0.10854521588730533, + 0.1313962708640283, + 0.09488880058772202, + -0.986778159226303 + ], + [ + 0.9885821072082887, + -0.10605648096500297, + 0.10703943270094146, + -0.09477101276301853, + -0.9898903400866634, + -0.10552520904021687, + 0.11714893276292018, + 0.09417609807392557, + -0.9886389584191384 + ], + [ + 0.9923295839084715, + -0.10465286970162625, + 0.0658010164302533, + -0.09754084550716736, + -0.9898541476976841, + -0.10331771263166138, + 0.075945904154121, + 0.09610693600831365, + -0.9924694839103655 + ], + [ + 0.9919427936521708, + -0.10478285734328799, + 0.07120426201080171, + -0.09861522712509524, + -0.9914695279966245, + -0.08522448024609112, + 0.07952692060297958, + 0.07751598455239188, + -0.9938142386976957 + ], + [ + 0.9884936887514331, + -0.1350563651857431, + 0.06811758599216527, + -0.1316252340577072, + -0.9899037439689842, + -0.05258683709295994, + 0.07453204047816361, + 0.04301576337812592, + -0.996290429063312 + ], + [ + 0.9882853546238197, + -0.13657251766423145, + 0.06811758403616205, + -0.1331435534372265, + -0.9897006711500279, + -0.052586839639708734, + 0.07459793572330825, + 0.04290138627174198, + -0.9962904290626221 + ], + [ + 0.9882853546238197, + -0.13657251766423145, + 0.06811758403616205, + -0.1331435534372265, + -0.9897006711500279, + -0.052586839639708734, + 0.07459793572330825, + 0.04290138627174198, + -0.9962904290626221 + ], + [ + 0.9873283187329246, + -0.1400601166516315, + 0.0746053265628412, + -0.13621132317590148, + -0.9891840401383648, + -0.05441884025052679, + 0.08142030745880859, + 0.04356717180485338, + -0.9957271890805433 + ], + [ + 0.9777711661613167, + -0.12265222561773767, + 0.1700587491855522, + -0.10955440024680838, + -0.990390326416889, + -0.0844087360787386, + 0.1787774594575644, + 0.06390174403616546, + -0.981812195432016 + ], + [ + 0.9634263397437921, + -0.07795885905631125, + 0.2563827298835027, + -0.06994796192063865, + -0.9967389959861325, + -0.04023253041638193, + 0.25868314694047584, + 0.020827630090684997, + -0.9657376658874693 + ], + [ + 0.9420529548732133, + -0.06774764399484672, + 0.3285521068990354, + -0.07442275160227209, + -0.9971965200836441, + 0.0077688079534161385, + 0.32710469923037516, + -0.03177038032850825, + -0.9444538944147501 + ], + [ + 0.9298948346892036, + -0.027482281086293775, + 0.3667973836392955, + -0.043738380127278945, + -0.9983913024803941, + 0.036079928427642904, + 0.3652157588634152, + -0.049593662476128175, + -0.9296009456320619 + ], + [ + 0.921633467803347, + 0.012286660731804337, + 0.38786697332054254, + -0.025883129155042907, + -0.9953266451017023, + 0.09303189332553218, + 0.3871973846114153, + -0.09578051742735245, + -0.9170083302955477 + ], + [ + 0.9224613677467648, + 0.07142261183151835, + 0.3794256653600706, + 0.011170535525135871, + -0.9872662444349424, + 0.15868390509250274, + 0.3859277706395974, + -0.14214138425697492, + -0.9115127989944307 + ], + [ + 0.9197512877689497, + 0.10532703153740676, + 0.37810552108489087, + 0.029003699319065004, + -0.9789265303771086, + 0.2021426069626219, + 0.39142860661066664, + -0.1749544642224196, + -0.903423810498416 + ], + [ + 0.9165444657530153, + 0.1130764576796982, + 0.38361433369483366, + 0.03627876745903225, + -0.9787497431422069, + 0.2018236639512757, + 0.3982839355650354, + -0.1710633070464716, + -0.9011699349474278 + ], + [ + 0.9239285624018195, + 0.09959259879203237, + 0.3693742354901818, + 0.03226924125786414, + -0.9823673936845495, + 0.18415482587775678, + 0.381201662701973, + -0.15822647721312144, + -0.910851071395306 + ], + [ + 0.9399771044361336, + 0.09446779215251856, + 0.3279007157383009, + 0.03863984498000829, + -0.9842021524277134, + 0.1727804547296257, + 0.33904277829763957, + -0.14973963871495036, + -0.9287777102631894 + ], + [ + 0.9536697628724129, + 0.1130117328770352, + 0.27882311886751027, + 0.06976568653712273, + -0.9845764272891657, + 0.16044316067849818, + 0.29265462983674123, + -0.13355750468855015, + -0.9468451090735424 + ], + [ + 0.9571871027755453, + 0.12189323459524185, + 0.2625545460281868, + 0.0882307384759218, + -0.9867128333799725, + 0.1364299132568088, + 0.2756958234506853, + -0.10742357191592644, + -0.9552235283579821 + ], + [ + 0.9586956693113965, + 0.12902333127745752, + 0.25348687072438475, + 0.10344627553832017, + -0.9883298303940135, + 0.11181687900576767, + 0.26495562217251295, + -0.08097608498444464, + -0.9608545113282075 + ], + [ + 0.9538184146046683, + 0.1375115715727266, + 0.26705991770506504, + 0.11305608843391701, + -0.9880292619990876, + 0.10495950791405578, + 0.2782961602844343, + -0.06991956176305239, + -0.9579470246594032 + ], + [ + 0.951973490387472, + 0.1442040840767779, + 0.27009564182909623, + 0.1184577243657471, + -0.9869140967673481, + 0.1093998772393206, + 0.28233710549196783, + -0.07215086789129635, + -0.9565981450561936 + ], + [ + 0.9496877056308044, + 0.1472417060387613, + 0.27642927083884267, + 0.12164145203046378, + -0.9867165345406741, + 0.10767468417396742, + 0.28861153636266795, + -0.06863206587913742, + -0.9549832567179085 + ], + [ + 0.9459726536054788, + 0.16196360959071032, + 0.2808977176820001, + 0.14036270213890156, + -0.9854812239442958, + 0.09552522756590784, + 0.29229103728796524, + -0.05093669032829323, + -0.954971938383283 + ], + [ + 0.9391844583161778, + 0.17550027379010574, + 0.2951816511183336, + 0.15643156732228358, + -0.983830578530105, + 0.08721558057028911, + 0.3057150928600706, + -0.035735789465417514, + -0.9514521718661646 + ], + [ + 0.9328275449978769, + 0.18175300882462372, + 0.3111247580576485, + 0.16379086557795888, + -0.9829841000017364, + 0.08315534557080141, + 0.32094442454490013, + -0.02661020343726546, + -0.9467241274133508 + ], + [ + 0.9293108099779718, + 0.18424320933829877, + 0.3200560236440027, + 0.16954117764209262, + -0.9827807874551768, + 0.07346912884140802, + 0.32808109903165555, + -0.014012980471935194, + -0.9445456203045328 + ], + [ + 0.9283633567830717, + 0.1842062325498661, + 0.32281502702360687, + 0.1699179360495762, + -0.9828126457552574, + 0.07216091984033549, + 0.330559181979747, + -0.012139490653888568, + -0.943707189744544 + ], + [ + 0.9298821987302905, + 0.18740984077329986, + 0.31653854120129926, + 0.17620017954701817, + -0.982274871730765, + 0.06394977008486911, + 0.32291267118544414, + -0.0036916050215945184, + -0.9464215650756514 + ], + [ + 0.942464030794223, + 0.17825580644603778, + 0.28281870186990526, + 0.16963817879930038, + -0.9839770433868602, + 0.05488229570006594, + 0.28807019796008443, + -0.003747740109131585, + -0.9576019608852689 + ], + [ + 0.9585405476438312, + 0.1726961631001193, + 0.22666286368340322, + 0.16620298487738103, + -0.9849432133322785, + 0.04757556440584309, + 0.2314661667296391, + -0.007931063055004663, + -0.972810624889708 + ], + [ + 0.9634761275671798, + 0.14944442944760886, + 0.22221636779326132, + 0.14501672486785142, + -0.9887665529535868, + 0.03620570768378402, + 0.22513085332035948, + -0.002658245165592859, + -0.9743249112159077 + ], + [ + 0.9596301237399807, + 0.11541058166045731, + 0.2564964390621913, + 0.11188128067858905, + -0.9933167699230628, + 0.02836148133176071, + 0.25805542940327425, + 0.0014806182519289408, + -0.9661289785142996 + ], + [ + 0.961530519710501, + 0.09532768176221186, + 0.257627041971716, + 0.09539074645606212, + -0.9953641111341135, + 0.012283800582537648, + 0.25760369786905063, + 0.012763986682801653, + -0.9661663498011883 + ], + [ + 0.9605616757214989, + 0.0735518868412757, + 0.2681629860312455, + 0.07979443321302765, + -0.9967337186257356, + -0.012439557175576588, + 0.266372137362971, + 0.03334687536488154, + -0.9632932421335059 + ], + [ + 0.9591568283385609, + 0.07026696463216577, + 0.274008635507887, + 0.08339098202592375, + -0.9958470825652911, + -0.0365312504980306, + 0.2703037601815117, + 0.057889047561518615, + -0.961033160408191 + ], + [ + 0.9545316953827536, + 0.06709538043457881, + 0.2904607588540405, + 0.08472069034271922, + -0.9952225968629368, + -0.048522029236682876, + 0.2858175067024044, + 0.07092385083828684, + -0.9556558796160307 + ], + [ + 0.9508675002154946, + 0.05796240943460565, + 0.30412391574236936, + 0.07853478087816138, + -0.99534603447679, + -0.055844067220682685, + 0.2994716768349818, + 0.07698461368263196, + -0.9509942607764678 + ], + [ + 0.9475780632443016, + 0.049103514976177265, + 0.3157287742274407, + 0.07541903673684862, + -0.9945729370692689, + -0.07167036868255673, + 0.31049602727871384, + 0.09172522917056171, + -0.9461388372631914 + ], + [ + 0.9440766863774057, + 0.022861708544221856, + 0.3289324437040175, + 0.05523087482000798, + -0.9944631323735841, + -0.08940150343442835, + 0.32506731719026166, + 0.10256910174198927, + -0.9401121308985261 + ], + [ + 0.9427578564880329, + 0.008092908806788202, + 0.33337985670573206, + 0.04369315904053472, + -0.9940850756955029, + -0.09942721022197396, + 0.33060328474343376, + 0.10830220268540744, + -0.9375351198810318 + ], + [ + 0.9484097150973493, + 0.009127898149182717, + 0.31691590964219973, + 0.042636196042187435, + -0.9941776391441381, + -0.09895946954607238, + 0.31416741889638544, + 0.1073662111707683, + -0.9432769103517891 + ], + [ + 0.9542834400923398, + 0.025092348037573757, + 0.29784809892878467, + 0.05602699518556623, + -0.9938244005179203, + -0.09578119202470194, + 0.29360533335756417, + 0.10808993942619062, + -0.9497960166366439 + ], + [ + 0.9550670653662237, + 0.03532610225721783, + 0.2942770245059276, + 0.05806455147272674, + -0.995932981834636, + -0.06889124440915569, + 0.29064653535698787, + 0.08288282206394489, + -0.9532339845450832 + ], + [ + 0.9586310577323636, + 0.05296275748249443, + 0.2796809637261357, + 0.06503658954544793, + -0.9973013979255605, + -0.03406117608098035, + 0.2771222422888977, + 0.050841597295650486, + -0.9594886110909291 + ], + [ + 0.9654715447803341, + 0.06833450201910518, + 0.25138634022809525, + 0.07128646513184533, + -0.9974523796391352, + -0.0026439064340461893, + 0.25056523323973134, + 0.020473060006425566, + -0.9678832149105034 + ], + [ + 0.9734582382873183, + 0.07673607039407146, + 0.21561686810411373, + 0.0759245263331366, + -0.9970406723510067, + 0.012056698509180001, + 0.2159039708102644, + 0.004633916089931523, + -0.9764036062049505 + ], + [ + 0.9795528884796876, + 0.08729396016702652, + 0.18126197392023094, + 0.08276470260611084, + -0.9960417274439405, + 0.032417297743846316, + 0.18337432392137928, + -0.016752364276386184, + -0.9829004098165431 + ], + [ + 0.9845495821366084, + 0.08918695590851587, + 0.15069109864355845, + 0.08583439391422094, + -0.9958982380894854, + 0.02862090480116538, + 0.15262561100945204, + -0.0152442207420211, + -0.988166502467049 + ], + [ + 0.9888328072906819, + 0.08168755621753672, + 0.12464679051157433, + 0.08224991953681181, + -0.9966115319234682, + 0.0006365322821369609, + 0.12427642560766504, + 0.00962276448662219, + -0.9922009738162011 + ], + [ + 0.9899389889585989, + 0.0810199155224945, + 0.11600246302710365, + 0.08222687783504919, + -0.9965976247005814, + -0.005649336479501272, + 0.1151500703479012, + 0.015131018798698883, + -0.9932328596905091 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.003969401121139526, + -8.080899715423584e-05, + -0.011427976191043854, + -0.000546610914170742, + 0.03382667899131775, + -4.4696033000946045e-05, + 1.0 + ], + [ + 0.0022599995136260986, + -0.0016353614628314972, + -0.016248226165771484, + -0.022436536848545074, + -0.020609721541404724, + 0.00452379509806633, + 1.0 + ], + [ + 0.004223376512527466, + -0.00039647147059440613, + -0.01102333515882492, + -0.012939240783452988, + -0.029342174530029297, + -0.002434413880109787, + 1.0 + ], + [ + 0.004071742296218872, + 0.001050824299454689, + -0.009243659675121307, + -0.015250567346811295, + -0.01634371280670166, + 0.0008058119565248489, + 1.0 + ], + [ + 0.001965343952178955, + 0.0019343458116054535, + 0.000678379088640213, + 0.0006578043103218079, + -0.015137776732444763, + -0.010237796232104301, + 1.0 + ], + [ + -0.0022815465927124023, + 0.004584148526191711, + -0.0034006983041763306, + 0.0056602321565151215, + 0.003028362989425659, + -0.01110105961561203, + 1.0 + ], + [ + -0.001446366310119629, + 0.005401437170803547, + -0.002110801637172699, + -0.0007098950445652008, + -0.0008153617382049561, + -0.007514074444770813, + 1.0 + ], + [ + -0.002469867467880249, + 0.003762766718864441, + -0.0027428939938545227, + -0.007175415754318237, + 0.0021103769540786743, + 0.0008495040237903595, + 1.0 + ], + [ + -0.0016051232814788818, + -0.0006154263392090797, + -0.003963202238082886, + -0.0016980767250061035, + -0.013563171029090881, + -0.006142169237136841, + 0.0 + ], + [ + 0.0018261373043060303, + -0.0010059643536806107, + -0.0034297332167625427, + -0.005508504807949066, + -0.010757118463516235, + 0.009576458483934402, + 0.0 + ], + [ + -0.0004392266273498535, + -0.0027200495824217796, + -0.0023810304701328278, + -0.010399401187896729, + 0.008535712957382202, + 0.02670820988714695, + 0.0 + ], + [ + -0.0033694803714752197, + -0.002629791386425495, + 0.002152673900127411, + -0.010734349489212036, + 0.03768736124038696, + 0.008966528810560703, + 0.0 + ], + [ + -0.0035625994205474854, + -0.0028578564524650574, + 0.0036081261932849884, + 0.02102559059858322, + 0.05061846971511841, + 0.001054219901561737, + 0.0 + ], + [ + -0.002989649772644043, + 0.00198252871632576, + 0.02001572772860527, + 0.02308930829167366, + 0.025115668773651123, + -0.015083187259733677, + 0.0 + ], + [ + 0.005059540271759033, + 0.0012646540999412537, + 0.017921604216098785, + 0.010493267327547073, + -8.651614189147949e-05, + -0.010141808539628983, + 0.0 + ], + [ + 0.01878535747528076, + 0.012288982979953289, + 0.017268039286136627, + 0.005552560091018677, + -0.04171895980834961, + -0.05981699377298355, + 0.0 + ], + [ + 0.01767796277999878, + 0.02185763418674469, + -0.005266338586807251, + -0.009717881679534912, + 0.001008540391921997, + -0.03347392380237579, + 0.0 + ], + [ + 0.013104766607284546, + 0.017374400049448013, + -0.00837349146604538, + -0.009478546679019928, + -0.0292942076921463, + -0.01994164288043976, + 0.0 + ], + [ + 0.0107821524143219, + 0.012772198766469955, + -0.005005918443202972, + -0.0070493146777153015, + 0.007442459464073181, + -0.0007823854684829712, + 0.0 + ], + [ + -0.00048288702964782715, + 0.004633210599422455, + -0.0030259862542152405, + -0.0028797462582588196, + 0.004760771989822388, + -0.0017321258783340454, + 1.0 + ], + [ + -0.0008405148983001709, + -0.0008857361972332001, + -0.0016749575734138489, + -0.007319733500480652, + 0.0004909336566925049, + 0.013867422938346863, + 1.0 + ], + [ + -0.007443934679031372, + -0.008785389363765717, + -0.007333971560001373, + -0.01591687649488449, + 0.035569071769714355, + 0.019176460802555084, + 1.0 + ], + [ + -0.004563063383102417, + -0.005500182509422302, + -0.002013128250837326, + -0.007914021611213684, + 0.026930585503578186, + 0.011677667498588562, + 1.0 + ], + [ + -0.004769951105117798, + -0.003689844161272049, + 0.009833235293626785, + 0.0008936971426010132, + 0.014358773827552795, + 0.006478510797023773, + 1.0 + ], + [ + -0.008057653903961182, + 0.00013197213411331177, + 0.006258063018321991, + -0.0015634074807167053, + 0.041399456560611725, + -0.0024065300822257996, + 1.0 + ], + [ + -0.0018877089023590088, + 0.0024749264121055603, + 0.024103298783302307, + 0.018694303929805756, + -0.003591887652873993, + -0.0011105835437774658, + 1.0 + ], + [ + -0.0036972761154174805, + 0.0020961277186870575, + 0.00830930471420288, + 0.03469173610210419, + 0.005009770393371582, + -0.03328800946474075, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.00011458992958068848, + -6.607919931411743e-05, + -0.0015368163585662842, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0006725788116455078, + -0.0003388896584510803, + 0.00024312734603881836, + -0.0006916970014572144, + -0.006843239068984985, + -0.003178641200065613, + 1.0 + ], + [ + -0.02336391806602478, + 0.007749535143375397, + 0.011710308492183685, + -0.0212676003575325, + -0.09823321551084518, + 0.025514453649520874, + 1.0 + ], + [ + -0.02256724238395691, + 0.01710665598511696, + 0.001788318157196045, + 0.0434306263923645, + -0.08191494643688202, + 0.039103493094444275, + 1.0 + ], + [ + -0.013157069683074951, + 0.00659613311290741, + 0.006947346031665802, + 0.05518941581249237, + -0.07157939672470093, + -0.006360702216625214, + 1.0 + ], + [ + -0.008876770734786987, + 0.01247144490480423, + -0.004973381757736206, + 0.01967267319560051, + -0.040626466274261475, + 0.03183567151427269, + 1.0 + ], + [ + -0.007875025272369385, + 0.011349543929100037, + -0.003749445080757141, + 0.05077265948057175, + -0.02372536063194275, + 0.01892460137605667, + 1.0 + ], + [ + -0.006963849067687988, + 0.008684493601322174, + -0.010967053472995758, + 0.05062265694141388, + 0.0013766288757324219, + 0.040185488760471344, + 1.0 + ], + [ + -0.003897547721862793, + 0.005172073841094971, + -0.006549321115016937, + 0.03659507632255554, + -0.005970269441604614, + 0.01941494271159172, + 1.0 + ], + [ + -0.0004563331604003906, + 0.0011920258402824402, + -0.008565127849578857, + -0.003697603940963745, + -0.007461667060852051, + 0.008037623018026352, + 1.0 + ], + [ + 0.0005787909030914307, + 0.002895757555961609, + -0.00976090133190155, + -0.015595242381095886, + 0.018549472093582153, + -0.0046495310962200165, + 1.0 + ], + [ + 0.0009041726589202881, + 0.003814972937107086, + -0.00926566869020462, + -0.012149646878242493, + 0.045196533203125, + 0.006172157824039459, + 1.0 + ], + [ + 0.0045788586139678955, + 0.002766847610473633, + -0.009065710008144379, + -0.019715994596481323, + 0.048897385597229004, + 0.031940802931785583, + 1.0 + ], + [ + -0.0005267560482025146, + -0.0005493983626365662, + -0.006988093256950378, + -0.02814222127199173, + 0.017688333988189697, + 0.018892474472522736, + 1.0 + ], + [ + -0.0012010037899017334, + 0.0019053071737289429, + -0.007243752479553223, + -0.027912162244319916, + 0.01115560531616211, + 0.015569902956485748, + 1.0 + ], + [ + -2.047419548034668e-05, + 0.005367882549762726, + -0.002469852566719055, + -0.01121664047241211, + -0.01386183500289917, + 0.010492265224456787, + 1.0 + ], + [ + -0.005335003137588501, + 0.0007637143135070801, + -0.005936093628406525, + 0.002422124147415161, + -0.004209727048873901, + 0.005817979574203491, + 1.0 + ], + [ + -0.0024857819080352783, + 0.0004365593194961548, + -0.0028976313769817352, + -0.0035379379987716675, + -0.006546884775161743, + 0.0035945847630500793, + 1.0 + ], + [ + -0.004419207572937012, + -0.0017212405800819397, + -0.009096454828977585, + -0.018456030637025833, + -0.0038452744483947754, + 0.01991237699985504, + 1.0 + ], + [ + -0.004177585244178772, + -0.0007356703281402588, + -0.008733505383133888, + -0.015746358782052994, + -0.014067769050598145, + 0.017741456627845764, + 1.0 + ], + [ + -0.0013138800859451294, + 0.00041546672582626343, + -0.0031050220131874084, + -0.009441295638680458, + -0.01603710651397705, + 0.008767649531364441, + 1.0 + ], + [ + 0.0021188706159591675, + 4.6096742153167725e-05, + -0.0022653676569461823, + -0.013265669345855713, + -0.007545024156570435, + 0.006639391183853149, + 0.0 + ], + [ + 0.003530457615852356, + -0.0012812167406082153, + -0.00011130981147289276, + -0.001971685327589512, + -0.0026244819164276123, + 0.000572890043258667, + 0.0 + ], + [ + 0.0037027597427368164, + -0.0003558322787284851, + 0.0009720977395772934, + -0.008962337858974934, + 0.008090585470199585, + 0.006240487098693848, + 0.0 + ], + [ + -0.0019797086715698242, + -0.001673772931098938, + 0.0007849540561437607, + 1.3079261407256126e-05, + 0.03659442067146301, + -0.009178906679153442, + 0.0 + ], + [ + -0.008583441376686096, + -0.003436863422393799, + 0.010190499946475029, + 0.004238897934556007, + 0.05862648785114288, + -0.006402701139450073, + 0.0 + ], + [ + 0.002402856945991516, + 0.0035465210676193237, + 0.015564439818263054, + -0.00542426249012351, + 0.006507173180580139, + -0.022292062640190125, + 0.0 + ], + [ + 0.009713292121887207, + 0.017809145152568817, + 0.01721496507525444, + -0.004260812886059284, + -0.033931583166122437, + -0.033328741788864136, + 0.0 + ], + [ + 0.007674366235733032, + 0.01764354109764099, + -0.004448011517524719, + -0.011677667498588562, + 0.00046753883361816406, + -0.017180301249027252, + 0.0 + ], + [ + 0.0058467090129852295, + 0.01210106909275055, + -0.007235642522573471, + -0.021393563598394394, + -0.00908583402633667, + -0.016003333032131195, + 0.0 + ], + [ + 2.9802322387695312e-05, + 0.009969368577003479, + -0.013493016362190247, + -0.025559812784194946, + -0.004081308841705322, + 0.0038435906171798706, + 0.0 + ], + [ + 0.0007749199867248535, + 0.008890777826309204, + -0.009570050984621048, + -0.013915468007326126, + -0.01615089178085327, + 0.0018004253506660461, + 0.0 + ], + [ + 0.00037148594856262207, + 0.008276700973510742, + -0.007389815524220467, + -0.006696537137031555, + -0.014279454946517944, + -0.006118588149547577, + 0.0 + ], + [ + -0.0011069178581237793, + 0.006205663084983826, + -0.007960425689816475, + -0.015869304537773132, + -0.011575937271118164, + -0.0029817894101142883, + 0.0 + ], + [ + 0.0013686716556549072, + 0.008467942476272583, + -0.009438875131309032, + -0.012028336524963379, + -0.015368103981018066, + -0.020988017320632935, + 1.0 + ], + [ + -0.0006375014781951904, + 0.0018569082021713257, + 0.0003359811380505562, + -0.006335042417049408, + -0.005859822034835815, + -0.012122955173254013, + 1.0 + ], + [ + -0.00282365083694458, + -0.000839725136756897, + -0.0017320932820439339, + 0.0016734376549720764, + 0.01736319065093994, + -0.0013877563178539276, + 1.0 + ], + [ + -0.004649758338928223, + -0.0072721391916275024, + 0.0008629700168967247, + 1.901388168334961e-05, + 0.02158331871032715, + 0.013718530535697937, + 1.0 + ], + [ + -0.0015088915824890137, + -0.006432086229324341, + 0.013260994106531143, + 0.026584848761558533, + 0.0030937492847442627, + 0.002077825367450714, + 1.0 + ], + [ + -0.002571612596511841, + -0.005854249000549316, + 0.02127963677048683, + 0.03379224240779877, + 0.014104723930358887, + 0.0070178210735321045, + 1.0 + ], + [ + -0.004022121429443359, + -0.007492318749427795, + 0.017958305776119232, + 0.03178945928812027, + 0.027533680200576782, + 0.005962774157524109, + 1.0 + ], + [ + -0.003983557224273682, + -0.008507922291755676, + 0.015936344861984253, + 0.016403386369347572, + 0.035646528005599976, + 0.004134900867938995, + 1.0 + ], + [ + 0.00036984682083129883, + -0.005159780383110046, + 0.01879497617483139, + 0.02178802341222763, + 0.033199653029441833, + 0.006455056369304657, + 1.0 + ], + [ + 0.0026133358478546143, + -0.004204884171485901, + 0.012807168066501617, + -0.0016166064888238907, + 0.03119342029094696, + 0.002669386565685272, + 1.0 + ], + [ + 0.003941982984542847, + -0.0025985687971115112, + 0.01899227499961853, + -0.02512364834547043, + 0.02862589806318283, + -0.00397375226020813, + 1.0 + ], + [ + -0.001370757818222046, + -0.0009967833757400513, + -0.0001636296510696411, + -0.005534833297133446, + 0.009192496538162231, + -0.00011542439460754395, + 1.0 + ], + [ + -0.00019600987434387207, + -0.0001423954963684082, + -2.189725637435913e-05, + -0.0007902942597866058, + 0.0013131499290466309, + -2.0660459995269775e-05, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9499720335006714 + ], + [ + 0.657115638256073 + ], + [ + 0.3644362688064575 + ], + [ + 0.3110979497432709 + ], + [ + 0.34125998616218567 + ], + [ + 0.34288913011550903 + ], + [ + 0.34288913011550903 + ], + [ + 0.34288913011550903 + ], + [ + 0.34288913011550903 + ], + [ + 0.34288913011550903 + ], + [ + 0.34288913011550903 + ], + [ + 0.3849146366119385 + ], + [ + 0.6069100499153137 + ], + [ + 0.9041115045547485 + ], + [ + 1.0086473226547241 + ], + [ + 1.0027955770492554 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 0.9499720335006714 + ], + [ + 0.6831957101821899 + ], + [ + 0.6400356888771057 + ], + [ + 0.6711689233779907 + ], + [ + 0.6711689233779907 + ], + [ + 0.6711689233779907 + ], + [ + 0.6711689233779907 + ], + [ + 0.6711689233779907 + ], + [ + 0.6711689233779907 + ], + [ + 0.6711689233779907 + ], + [ + 0.6711689233779907 + ], + [ + 0.6711689233779907 + ], + [ + 0.6711689233779907 + ], + [ + 0.6541022062301636 + ], + [ + 0.728995144367218 + ], + [ + 0.9872581958770752 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.31582894921302795, + -0.025745326653122902, + 0.08597151190042496 + ], + [ + 0.31808894872665405, + -0.0273806881159544, + 0.06972328573465347 + ], + [ + 0.3223123252391815, + -0.027777159586548805, + 0.05869995057582855 + ], + [ + 0.3263840675354004, + -0.026726335287094116, + 0.049456290900707245 + ], + [ + 0.32834941148757935, + -0.024791989475488663, + 0.05013466998934746 + ], + [ + 0.32606786489486694, + -0.02020784094929695, + 0.04673397168517113 + ], + [ + 0.3246214985847473, + -0.014806403778493404, + 0.04462317004799843 + ], + [ + 0.32215163111686707, + -0.011043637059628963, + 0.041880276054143906 + ], + [ + 0.3205465078353882, + -0.011659063398838043, + 0.03791707381606102 + ], + [ + 0.3223726451396942, + -0.012665027752518654, + 0.03448734059929848 + ], + [ + 0.32193341851234436, + -0.015385077334940434, + 0.03210631012916565 + ], + [ + 0.31856393814086914, + -0.01801486872136593, + 0.03425898402929306 + ], + [ + 0.31500133872032166, + -0.020872725173830986, + 0.03786711022257805 + ], + [ + 0.3120116889476776, + -0.018890196457505226, + 0.05788283795118332 + ], + [ + 0.31707122921943665, + -0.017625542357563972, + 0.0758044421672821 + ], + [ + 0.3358565866947174, + -0.0053365593776106834, + 0.09307248145341873 + ], + [ + 0.3535345494747162, + 0.016521073877811432, + 0.08780614286661148 + ], + [ + 0.36663931608200073, + 0.033895473927259445, + 0.0794326514005661 + ], + [ + 0.37742146849632263, + 0.0466676726937294, + 0.07442673295736313 + ], + [ + 0.3769385814666748, + 0.051300883293151855, + 0.07140074670314789 + ], + [ + 0.37609806656837463, + 0.050415147095918655, + 0.06972578912973404 + ], + [ + 0.36865413188934326, + 0.04162975773215294, + 0.062391817569732666 + ], + [ + 0.36409106850624084, + 0.03612957522273064, + 0.06037868931889534 + ], + [ + 0.35932111740112305, + 0.03243973106145859, + 0.07021192461252213 + ], + [ + 0.35126346349716187, + 0.0325717031955719, + 0.07646998763084412 + ], + [ + 0.34937575459480286, + 0.03504662960767746, + 0.10057328641414642 + ], + [ + 0.3456784784793854, + 0.03714275732636452, + 0.1088825911283493 + ], + [ + 0.3456784784793854, + 0.03714275732636452, + 0.1088825911283493 + ], + [ + 0.3456784784793854, + 0.03714275732636452, + 0.1088825911283493 + ], + [ + 0.3463510572910309, + 0.03680386766791344, + 0.10912571847438812 + ], + [ + 0.3229871392250061, + 0.044553402811288834, + 0.12083602696657181 + ], + [ + 0.3004198968410492, + 0.06166005879640579, + 0.12262434512376785 + ], + [ + 0.28726282715797424, + 0.0682561919093132, + 0.12957169115543365 + ], + [ + 0.27838605642318726, + 0.08072763681411743, + 0.12459830939769745 + ], + [ + 0.27051103115081787, + 0.09207718074321747, + 0.12084886431694031 + ], + [ + 0.2635471820831299, + 0.10076167434453964, + 0.10988181084394455 + ], + [ + 0.2596496343612671, + 0.10593374818563461, + 0.10333248972892761 + ], + [ + 0.2591933012008667, + 0.10712577402591705, + 0.09476736187934875 + ], + [ + 0.25977209210395813, + 0.11002153158187866, + 0.0850064605474472 + ], + [ + 0.2606762647628784, + 0.11383650451898575, + 0.07574079185724258 + ], + [ + 0.2652551233768463, + 0.11660335212945938, + 0.0666750818490982 + ], + [ + 0.2647283673286438, + 0.11605395376682281, + 0.05968698859214783 + ], + [ + 0.26352736353874207, + 0.11795926094055176, + 0.052443236112594604 + ], + [ + 0.2635068893432617, + 0.12332714349031448, + 0.04997338354587555 + ], + [ + 0.2581718862056732, + 0.12409085780382156, + 0.044037289917469025 + ], + [ + 0.25568610429763794, + 0.12452741712331772, + 0.04113965854048729 + ], + [ + 0.2512668967247009, + 0.12280617654323578, + 0.032043203711509705 + ], + [ + 0.24708931148052216, + 0.12207050621509552, + 0.023309698328375816 + ], + [ + 0.24577543139457703, + 0.12248597294092178, + 0.020204676315188408 + ], + [ + 0.2478943020105362, + 0.12253206968307495, + 0.017939308658242226 + ], + [ + 0.25142475962638855, + 0.12125085294246674, + 0.017827998846769333 + ], + [ + 0.25512751936912537, + 0.12089502066373825, + 0.018800096586346626 + ], + [ + 0.25314781069755554, + 0.11922124773263931, + 0.019585050642490387 + ], + [ + 0.24456436932086945, + 0.11578438431024551, + 0.029775550588965416 + ], + [ + 0.24696722626686096, + 0.11933090537786484, + 0.04533999040722847 + ], + [ + 0.25668051838874817, + 0.13714005053043365, + 0.06255495548248291 + ], + [ + 0.2643548846244812, + 0.15478359162807465, + 0.05810694396495819 + ], + [ + 0.27020159363746643, + 0.1668846607208252, + 0.05087130144238472 + ], + [ + 0.2702313959598541, + 0.17685402929782867, + 0.03737828508019447 + ], + [ + 0.271006315946579, + 0.18574480712413788, + 0.027808234095573425 + ], + [ + 0.2713778018951416, + 0.19402150809764862, + 0.02041841857135296 + ], + [ + 0.2702708840370178, + 0.20022717118263245, + 0.012457992881536484 + ], + [ + 0.27163955569267273, + 0.20869511365890503, + 0.0030191177502274513 + ], + [ + 0.27100205421447754, + 0.21055202186107635, + 0.0033550988882780075 + ], + [ + 0.26817840337753296, + 0.20971229672431946, + 0.0016230056062340736 + ], + [ + 0.26352864503860474, + 0.20244015753269196, + 0.0024859756231307983 + ], + [ + 0.2620197534561157, + 0.19600807130336761, + 0.01574696972966194 + ], + [ + 0.2594481408596039, + 0.1901538223028183, + 0.03702660650014877 + ], + [ + 0.2554260194301605, + 0.1826615035533905, + 0.054984912276268005 + ], + [ + 0.25144246220588684, + 0.17415358126163483, + 0.07092125713825226 + ], + [ + 0.25181230902671814, + 0.16899380087852478, + 0.08971623331308365 + ], + [ + 0.25442564487457275, + 0.16478891670703888, + 0.10252340137958527 + ], + [ + 0.2583676278591156, + 0.16219034790992737, + 0.1215156763792038 + ], + [ + 0.25699687004089355, + 0.16119356453418732, + 0.12135204672813416 + ], + [ + 0.2568008601665497, + 0.1610511690378189, + 0.1213301494717598 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9874222867621633, + -0.02323724677693994, + 0.1563881644102513, + -0.02059719971091764, + -0.9996170302068463, + -0.0184810249854662, + 0.1567577206055535, + 0.01502741769807594, + -0.987522756065843 + ], + [ + 0.9840655676507873, + -0.02298543179337082, + 0.1763140053694137, + -0.016073921833912173, + -0.9990490737299186, + -0.040528722114923935, + 0.1770779139277697, + 0.037048862393651724, + -0.9834992598849911 + ], + [ + 0.9784057568445493, + -0.02915142767499403, + 0.20462739122110238, + -0.01836405285688786, + -0.9983492531879821, + -0.054419943234699716, + 0.2058760222466762, + 0.0494869975196324, + -0.9773259950192555 + ], + [ + 0.974925477687343, + -0.03251514249423061, + 0.22014331346803337, + -0.017512858582563972, + -0.9974100669351232, + -0.06976000401905715, + 0.22184141349254885, + 0.06415546652508756, + -0.9729699190491837 + ], + [ + 0.9712266988704646, + -0.04353960652045423, + 0.23414312303636775, + -0.027395023070941073, + -0.9970450104617468, + -0.07176879422337867, + 0.23657601761827474, + 0.06328941283800227, + -0.9695495026611578 + ], + [ + 0.9715741799845427, + -0.05310840146211958, + 0.23070134477610255, + -0.03820273295910817, + -0.9969120802021885, + -0.06860652695917926, + 0.23363254050285648, + 0.057842908304163415, + -0.9706029229180682 + ], + [ + 0.9710690872946175, + -0.060808758882572554, + 0.2309266605309136, + -0.04549313673933982, + -0.9964324632217934, + -0.07108249255171865, + 0.23442525932675085, + 0.05852043302053191, + -0.9703711437943088 + ], + [ + 0.971599423769515, + -0.06148005319831787, + 0.22850549837909637, + -0.0446908257870485, + -0.995955825323276, + -0.07794051638977423, + 0.23237316932300703, + 0.06551486139316015, + -0.9704177003308508 + ], + [ + 0.9680699174781253, + -0.06889148607665305, + 0.2410282100087991, + -0.05048886693684996, + -0.9953758886233008, + -0.08171728496962595, + 0.2455432939204989, + 0.06693880409392088, + -0.9670717074328806 + ], + [ + 0.9658140906732564, + -0.06146293038819779, + 0.2518440994843569, + -0.041101326136366426, + -0.9955044535344358, + -0.08533208061999116, + 0.2559566823640734, + 0.0720637993808277, + -0.9639984364987202 + ], + [ + 0.9687165138651531, + -0.03679454143563908, + 0.24542713274103428, + -0.015328577864428709, + -0.9959308514763512, + -0.08880750969509178, + 0.24769608488144979, + 0.08226725228261068, + -0.9653386704863068 + ], + [ + 0.9774596569540003, + -0.02699774238550069, + 0.20938897041977655, + -0.00670131992814273, + -0.9952577646967862, + -0.09704161026063551, + 0.2110159030466391, + 0.09345107659541727, + -0.9730052337703886 + ], + [ + 0.9868907611624521, + -0.017826054869137957, + 0.1604021736136955, + -0.005725536545934865, + -0.997122788059411, + -0.07558679622717147, + 0.16128807694140565, + 0.07367752235539184, + -0.9841533310090017 + ], + [ + 0.9904305111180134, + -0.02789646749356055, + 0.13516356664387003, + -0.020687865032381066, + -0.998302341147656, + -0.054446743699797746, + 0.13645297683419427, + 0.05112947056727852, + -0.9893262163475691 + ], + [ + 0.9901579633767935, + -0.03660846639012743, + 0.13508155962263327, + -0.03073101918885785, + -0.9984987017207398, + -0.045342553099828715, + 0.13653868324080967, + 0.04074509603080654, + -0.98979645641329 + ], + [ + 0.9800203970468949, + -0.09695926972247676, + 0.17366324132334762, + -0.0892742112765258, + -0.9946722218686627, + -0.05154887238158541, + 0.17773614312514355, + 0.03501529748185421, + -0.9834550281376656 + ], + [ + 0.9766609640801476, + -0.13181346343821337, + 0.1695835254335143, + -0.12204536696163792, + -0.9902716553107233, + -0.06683544786532924, + 0.17674357030804755, + 0.044578689354699386, + -0.9832468920928158 + ], + [ + 0.9684921999433836, + -0.1546793293861596, + 0.19518494744593556, + -0.1406911100760659, + -0.9865102376810866, + -0.08368728993084927, + 0.2054966427813092, + 0.05358970060612074, + -0.9771894769155862 + ], + [ + 0.9698683371716795, + -0.15637698341548573, + 0.18681982659695012, + -0.1416659312371948, + -0.9858385035155094, + -0.08973967301589472, + 0.19820739763828193, + 0.06056966273782785, + -0.9782868411040221 + ], + [ + 0.9705439819205962, + -0.15832256614395027, + 0.18159940585615417, + -0.14348202874408464, + -0.9853468688972231, + -0.0922196041084569, + 0.1935388503251876, + 0.06344693061160132, + -0.9790389166988059 + ], + [ + 0.972534384794294, + -0.14594380307102994, + 0.1813209219531721, + -0.13002229550145922, + -0.9867692039867338, + -0.09685422415113694, + 0.19305717563798327, + 0.07061830080476227, + -0.9786429290227017 + ], + [ + 0.981053246701298, + -0.12683851813119218, + 0.14644629546398713, + -0.11205845432641043, + -0.9881240683320238, + -0.1051367128882478, + 0.15804249412995852, + 0.0867341680149945, + -0.9836156536716609 + ], + [ + 0.9861722417971474, + -0.1139188699332175, + 0.12036112570895906, + -0.1009917299179298, + -0.9889482325158191, + -0.10854521588730533, + 0.1313962708640283, + 0.09488880058772202, + -0.986778159226303 + ], + [ + 0.9885821072082887, + -0.10605648096500297, + 0.10703943270094146, + -0.09477101276301853, + -0.9898903400866634, + -0.10552520904021687, + 0.11714893276292018, + 0.09417609807392557, + -0.9886389584191384 + ], + [ + 0.9923295839084715, + -0.10465286970162625, + 0.0658010164302533, + -0.09754084550716736, + -0.9898541476976841, + -0.10331771263166138, + 0.075945904154121, + 0.09610693600831365, + -0.9924694839103655 + ], + [ + 0.9919427936521708, + -0.10478285734328799, + 0.07120426201080171, + -0.09861522712509524, + -0.9914695279966245, + -0.08522448024609112, + 0.07952692060297958, + 0.07751598455239188, + -0.9938142386976957 + ], + [ + 0.9884936887514331, + -0.1350563651857431, + 0.06811758599216527, + -0.1316252340577072, + -0.9899037439689842, + -0.05258683709295994, + 0.07453204047816361, + 0.04301576337812592, + -0.996290429063312 + ], + [ + 0.9882853546238197, + -0.13657251766423145, + 0.06811758403616205, + -0.1331435534372265, + -0.9897006711500279, + -0.052586839639708734, + 0.07459793572330825, + 0.04290138627174198, + -0.9962904290626221 + ], + [ + 0.9882853546238197, + -0.13657251766423145, + 0.06811758403616205, + -0.1331435534372265, + -0.9897006711500279, + -0.052586839639708734, + 0.07459793572330825, + 0.04290138627174198, + -0.9962904290626221 + ], + [ + 0.9873283187329246, + -0.1400601166516315, + 0.0746053265628412, + -0.13621132317590148, + -0.9891840401383648, + -0.05441884025052679, + 0.08142030745880859, + 0.04356717180485338, + -0.9957271890805433 + ], + [ + 0.9777711661613167, + -0.12265222561773767, + 0.1700587491855522, + -0.10955440024680838, + -0.990390326416889, + -0.0844087360787386, + 0.1787774594575644, + 0.06390174403616546, + -0.981812195432016 + ], + [ + 0.9634263397437921, + -0.07795885905631125, + 0.2563827298835027, + -0.06994796192063865, + -0.9967389959861325, + -0.04023253041638193, + 0.25868314694047584, + 0.020827630090684997, + -0.9657376658874693 + ], + [ + 0.9420529548732133, + -0.06774764399484672, + 0.3285521068990354, + -0.07442275160227209, + -0.9971965200836441, + 0.0077688079534161385, + 0.32710469923037516, + -0.03177038032850825, + -0.9444538944147501 + ], + [ + 0.9298948346892036, + -0.027482281086293775, + 0.3667973836392955, + -0.043738380127278945, + -0.9983913024803941, + 0.036079928427642904, + 0.3652157588634152, + -0.049593662476128175, + -0.9296009456320619 + ], + [ + 0.921633467803347, + 0.012286660731804337, + 0.38786697332054254, + -0.025883129155042907, + -0.9953266451017023, + 0.09303189332553218, + 0.3871973846114153, + -0.09578051742735245, + -0.9170083302955477 + ], + [ + 0.9224613677467648, + 0.07142261183151835, + 0.3794256653600706, + 0.011170535525135871, + -0.9872662444349424, + 0.15868390509250274, + 0.3859277706395974, + -0.14214138425697492, + -0.9115127989944307 + ], + [ + 0.9197512877689497, + 0.10532703153740676, + 0.37810552108489087, + 0.029003699319065004, + -0.9789265303771086, + 0.2021426069626219, + 0.39142860661066664, + -0.1749544642224196, + -0.903423810498416 + ], + [ + 0.9165444657530153, + 0.1130764576796982, + 0.38361433369483366, + 0.03627876745903225, + -0.9787497431422069, + 0.2018236639512757, + 0.3982839355650354, + -0.1710633070464716, + -0.9011699349474278 + ], + [ + 0.9239285624018195, + 0.09959259879203237, + 0.3693742354901818, + 0.03226924125786414, + -0.9823673936845495, + 0.18415482587775678, + 0.381201662701973, + -0.15822647721312144, + -0.910851071395306 + ], + [ + 0.9399771044361336, + 0.09446779215251856, + 0.3279007157383009, + 0.03863984498000829, + -0.9842021524277134, + 0.1727804547296257, + 0.33904277829763957, + -0.14973963871495036, + -0.9287777102631894 + ], + [ + 0.9536697628724129, + 0.1130117328770352, + 0.27882311886751027, + 0.06976568653712273, + -0.9845764272891657, + 0.16044316067849818, + 0.29265462983674123, + -0.13355750468855015, + -0.9468451090735424 + ], + [ + 0.9571871027755453, + 0.12189323459524185, + 0.2625545460281868, + 0.0882307384759218, + -0.9867128333799725, + 0.1364299132568088, + 0.2756958234506853, + -0.10742357191592644, + -0.9552235283579821 + ], + [ + 0.9586956693113965, + 0.12902333127745752, + 0.25348687072438475, + 0.10344627553832017, + -0.9883298303940135, + 0.11181687900576767, + 0.26495562217251295, + -0.08097608498444464, + -0.9608545113282075 + ], + [ + 0.9538184146046683, + 0.1375115715727266, + 0.26705991770506504, + 0.11305608843391701, + -0.9880292619990876, + 0.10495950791405578, + 0.2782961602844343, + -0.06991956176305239, + -0.9579470246594032 + ], + [ + 0.951973490387472, + 0.1442040840767779, + 0.27009564182909623, + 0.1184577243657471, + -0.9869140967673481, + 0.1093998772393206, + 0.28233710549196783, + -0.07215086789129635, + -0.9565981450561936 + ], + [ + 0.9496877056308044, + 0.1472417060387613, + 0.27642927083884267, + 0.12164145203046378, + -0.9867165345406741, + 0.10767468417396742, + 0.28861153636266795, + -0.06863206587913742, + -0.9549832567179085 + ], + [ + 0.9459726536054788, + 0.16196360959071032, + 0.2808977176820001, + 0.14036270213890156, + -0.9854812239442958, + 0.09552522756590784, + 0.29229103728796524, + -0.05093669032829323, + -0.954971938383283 + ], + [ + 0.9391844583161778, + 0.17550027379010574, + 0.2951816511183336, + 0.15643156732228358, + -0.983830578530105, + 0.08721558057028911, + 0.3057150928600706, + -0.035735789465417514, + -0.9514521718661646 + ], + [ + 0.9328275449978769, + 0.18175300882462372, + 0.3111247580576485, + 0.16379086557795888, + -0.9829841000017364, + 0.08315534557080141, + 0.32094442454490013, + -0.02661020343726546, + -0.9467241274133508 + ], + [ + 0.9293108099779718, + 0.18424320933829877, + 0.3200560236440027, + 0.16954117764209262, + -0.9827807874551768, + 0.07346912884140802, + 0.32808109903165555, + -0.014012980471935194, + -0.9445456203045328 + ], + [ + 0.9283633567830717, + 0.1842062325498661, + 0.32281502702360687, + 0.1699179360495762, + -0.9828126457552574, + 0.07216091984033549, + 0.330559181979747, + -0.012139490653888568, + -0.943707189744544 + ], + [ + 0.9298821987302905, + 0.18740984077329986, + 0.31653854120129926, + 0.17620017954701817, + -0.982274871730765, + 0.06394977008486911, + 0.32291267118544414, + -0.0036916050215945184, + -0.9464215650756514 + ], + [ + 0.942464030794223, + 0.17825580644603778, + 0.28281870186990526, + 0.16963817879930038, + -0.9839770433868602, + 0.05488229570006594, + 0.28807019796008443, + -0.003747740109131585, + -0.9576019608852689 + ], + [ + 0.9585405476438312, + 0.1726961631001193, + 0.22666286368340322, + 0.16620298487738103, + -0.9849432133322785, + 0.04757556440584309, + 0.2314661667296391, + -0.007931063055004663, + -0.972810624889708 + ], + [ + 0.9634761275671798, + 0.14944442944760886, + 0.22221636779326132, + 0.14501672486785142, + -0.9887665529535868, + 0.03620570768378402, + 0.22513085332035948, + -0.002658245165592859, + -0.9743249112159077 + ], + [ + 0.9596301237399807, + 0.11541058166045731, + 0.2564964390621913, + 0.11188128067858905, + -0.9933167699230628, + 0.02836148133176071, + 0.25805542940327425, + 0.0014806182519289408, + -0.9661289785142996 + ], + [ + 0.961530519710501, + 0.09532768176221186, + 0.257627041971716, + 0.09539074645606212, + -0.9953641111341135, + 0.012283800582537648, + 0.25760369786905063, + 0.012763986682801653, + -0.9661663498011883 + ], + [ + 0.9605616757214989, + 0.0735518868412757, + 0.2681629860312455, + 0.07979443321302765, + -0.9967337186257356, + -0.012439557175576588, + 0.266372137362971, + 0.03334687536488154, + -0.9632932421335059 + ], + [ + 0.9591568283385609, + 0.07026696463216577, + 0.274008635507887, + 0.08339098202592375, + -0.9958470825652911, + -0.0365312504980306, + 0.2703037601815117, + 0.057889047561518615, + -0.961033160408191 + ], + [ + 0.9545316953827536, + 0.06709538043457881, + 0.2904607588540405, + 0.08472069034271922, + -0.9952225968629368, + -0.048522029236682876, + 0.2858175067024044, + 0.07092385083828684, + -0.9556558796160307 + ], + [ + 0.9508675002154946, + 0.05796240943460565, + 0.30412391574236936, + 0.07853478087816138, + -0.99534603447679, + -0.055844067220682685, + 0.2994716768349818, + 0.07698461368263196, + -0.9509942607764678 + ], + [ + 0.9475780632443016, + 0.049103514976177265, + 0.3157287742274407, + 0.07541903673684862, + -0.9945729370692689, + -0.07167036868255673, + 0.31049602727871384, + 0.09172522917056171, + -0.9461388372631914 + ], + [ + 0.9440766863774057, + 0.022861708544221856, + 0.3289324437040175, + 0.05523087482000798, + -0.9944631323735841, + -0.08940150343442835, + 0.32506731719026166, + 0.10256910174198927, + -0.9401121308985261 + ], + [ + 0.9427578564880329, + 0.008092908806788202, + 0.33337985670573206, + 0.04369315904053472, + -0.9940850756955029, + -0.09942721022197396, + 0.33060328474343376, + 0.10830220268540744, + -0.9375351198810318 + ], + [ + 0.9484097150973493, + 0.009127898149182717, + 0.31691590964219973, + 0.042636196042187435, + -0.9941776391441381, + -0.09895946954607238, + 0.31416741889638544, + 0.1073662111707683, + -0.9432769103517891 + ], + [ + 0.9542834400923398, + 0.025092348037573757, + 0.29784809892878467, + 0.05602699518556623, + -0.9938244005179203, + -0.09578119202470194, + 0.29360533335756417, + 0.10808993942619062, + -0.9497960166366439 + ], + [ + 0.9550670653662237, + 0.03532610225721783, + 0.2942770245059276, + 0.05806455147272674, + -0.995932981834636, + -0.06889124440915569, + 0.29064653535698787, + 0.08288282206394489, + -0.9532339845450832 + ], + [ + 0.9586310577323636, + 0.05296275748249443, + 0.2796809637261357, + 0.06503658954544793, + -0.9973013979255605, + -0.03406117608098035, + 0.2771222422888977, + 0.050841597295650486, + -0.9594886110909291 + ], + [ + 0.9654715447803341, + 0.06833450201910518, + 0.25138634022809525, + 0.07128646513184533, + -0.9974523796391352, + -0.0026439064340461893, + 0.25056523323973134, + 0.020473060006425566, + -0.9678832149105034 + ], + [ + 0.9734582382873183, + 0.07673607039407146, + 0.21561686810411373, + 0.0759245263331366, + -0.9970406723510067, + 0.012056698509180001, + 0.2159039708102644, + 0.004633916089931523, + -0.9764036062049505 + ], + [ + 0.9795528884796876, + 0.08729396016702652, + 0.18126197392023094, + 0.08276470260611084, + -0.9960417274439405, + 0.032417297743846316, + 0.18337432392137928, + -0.016752364276386184, + -0.9829004098165431 + ], + [ + 0.9845495821366084, + 0.08918695590851587, + 0.15069109864355845, + 0.08583439391422094, + -0.9958982380894854, + 0.02862090480116538, + 0.15262561100945204, + -0.0152442207420211, + -0.988166502467049 + ], + [ + 0.9888328072906819, + 0.08168755621753672, + 0.12464679051157433, + 0.08224991953681181, + -0.9966115319234682, + 0.0006365322821369609, + 0.12427642560766504, + 0.00962276448662219, + -0.9922009738162011 + ], + [ + 0.9899389889585989, + 0.0810199155224945, + 0.11600246302710365, + 0.08222687783504919, + -0.9965976247005814, + -0.005649336479501272, + 0.1151500703479012, + 0.015131018798698883, + -0.9932328596905091 + ], + [ + 0.990090524663819, + 0.08092845399554795, + 0.11476645112930206, + 0.08221886795798826, + -0.9965927908901396, + -0.0065472816885822245, + 0.11384555644657762, + 0.015918369253577185, + -0.9933709250817019 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006611.json b/json/chunk-0006/episode_0006611.json new file mode 100644 index 0000000000000000000000000000000000000000..02c12229551be23b9812298a374f238638a384f7 --- /dev/null +++ b/json/chunk-0006/episode_0006611.json @@ -0,0 +1,1462 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 23, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMoove the silver pot between two burners." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006611.mp4", + "start": 0, + "end": 23, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.28726446628570557, + 0.15652506053447723, + 0.07430917024612427, + 0.09683661162853241, + -0.05400506407022476, + -0.043880708515644073, + 0.0, + 1.0008161067962646 + ], + [ + 0.28513577580451965, + 0.15354344248771667, + 0.06363966315984726, + 0.07109285145998001, + -0.024568673223257065, + -0.03817729279398918, + 0.0, + 1.0008161067962646 + ], + [ + 0.29134219884872437, + 0.13180634379386902, + 0.06408890336751938, + 0.02223202958703041, + -0.02307920716702938, + -0.05632820352911949, + 0.0, + 1.0008161067962646 + ], + [ + 0.3125649690628052, + 0.10002213716506958, + 0.07917846739292145, + -0.01796388253569603, + -0.07629597187042236, + -0.09459896385669708, + 0.0, + 1.0014774799346924 + ], + [ + 0.33611929416656494, + 0.07748713344335556, + 0.10193051397800446, + -0.030210739001631737, + -0.14153651893138885, + -0.07013770937919617, + 0.0, + 1.0008161067962646 + ], + [ + 0.36734333634376526, + 0.05329594388604164, + 0.12070707976818085, + -0.015189530327916145, + -0.21269124746322632, + -0.019602110609412193, + 0.0, + 1.0014774799346924 + ], + [ + 0.3830944895744324, + 0.03787805512547493, + 0.10527684539556503, + 0.002167257945984602, + -0.17582590878009796, + -0.007898349314928055, + 0.0, + 1.0014774799346924 + ], + [ + 0.38763535022735596, + 0.024691833183169365, + 0.07778370380401611, + 0.02016621083021164, + -0.1446569412946701, + -0.015394863672554493, + 0.0, + 1.0008161067962646 + ], + [ + 0.38733112812042236, + 0.022613581269979477, + 0.05579068884253502, + 0.03201845660805702, + -0.09824806451797485, + -0.009857124648988247, + 0.0, + 1.0008161067962646 + ], + [ + 0.3873284161090851, + 0.02259085327386856, + 0.03271839767694473, + 0.03242897242307663, + -0.0588051863014698, + 0.004304307978600264, + 0.0, + 0.9287639856338501 + ], + [ + 0.3898371458053589, + 0.01856325939297676, + 0.03065875545144081, + 0.008275255560874939, + -0.0763537809252739, + -0.01189968641847372, + 0.0, + 0.6380261182785034 + ], + [ + 0.3853173851966858, + 0.0171208418905735, + 0.035061925649642944, + -0.0010606383439153433, + -0.08320026099681854, + -0.03198717162013054, + 0.0, + 0.3445223569869995 + ], + [ + 0.3853566646575928, + 0.013844368979334831, + 0.0490076057612896, + -0.018569624051451683, + -0.10822857916355133, + -0.04349211975932121, + 0.0, + 0.1506364643573761 + ], + [ + 0.38101926445961, + 0.013801002874970436, + 0.05850367620587349, + -0.0669957846403122, + -0.10419709235429764, + -0.05115940421819687, + 0.0, + 0.07988496869802475 + ], + [ + 0.38401156663894653, + 0.03299027308821678, + 0.09703674167394638, + -0.09725475311279297, + -0.15122123062610626, + -0.025071365758776665, + 0.0, + 0.07821663469076157 + ], + [ + 0.3865915834903717, + 0.08193673193454742, + 0.11466242372989655, + -0.05413578823208809, + -0.16452547907829285, + 0.05582955479621887, + 0.0, + 0.07821663469076157 + ], + [ + 0.3898282051086426, + 0.12887883186340332, + 0.0785919800400734, + -0.011050635017454624, + -0.09381116181612015, + 0.1117064580321312, + 0.0, + 0.07788556814193726 + ], + [ + 0.3849988281726837, + 0.1476731151342392, + 0.05535300821065903, + 0.019662773236632347, + -0.04883124679327011, + 0.11477646231651306, + 0.0, + 0.07788556814193726 + ], + [ + 0.37352296710014343, + 0.14377114176750183, + 0.03980632871389389, + 0.011397548019886017, + -0.004982823971658945, + 0.10908206552267075, + 0.0, + 0.07788556814193726 + ], + [ + 0.36700987815856934, + 0.14052671194076538, + 0.0324440635740757, + 0.012582550756633282, + 0.017555179074406624, + 0.099554643034935, + 0.0, + 0.11704280227422714 + ], + [ + 0.3678256571292877, + 0.1377641260623932, + 0.04256649687886238, + 0.01949319988489151, + -0.018453165888786316, + 0.07753435522317886, + 0.0, + 0.30647560954093933 + ], + [ + 0.3686695396900177, + 0.13978277146816254, + 0.0853291004896164, + 0.09459198266267776, + -0.14113305509090424, + 0.030547646805644035, + 0.0, + 0.58391273021698 + ], + [ + 0.3612767159938812, + 0.13267897069454193, + 0.1134539470076561, + 0.12150843441486359, + -0.22400058805942535, + -0.0249919556081295, + 0.0, + 0.8810233473777771 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9287639856338501 + ], + [ + 0.6380261182785034 + ], + [ + 0.3445223569869995 + ], + [ + 0.1506364643573761 + ], + [ + 0.07988496869802475 + ], + [ + 0.07821663469076157 + ], + [ + 0.07821663469076157 + ], + [ + 0.07788556814193726 + ], + [ + 0.07788556814193726 + ], + [ + 0.07788556814193726 + ], + [ + 0.11704280227422714 + ], + [ + 0.30647560954093933 + ], + [ + 0.58391273021698 + ], + [ + 0.8810233473777771 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.28726446628570557, + 0.15652506053447723, + 0.07430917024612427 + ], + [ + 0.28513577580451965, + 0.15354344248771667, + 0.06363966315984726 + ], + [ + 0.29134219884872437, + 0.13180634379386902, + 0.06408890336751938 + ], + [ + 0.3125649690628052, + 0.10002213716506958, + 0.07917846739292145 + ], + [ + 0.33611929416656494, + 0.07748713344335556, + 0.10193051397800446 + ], + [ + 0.36734333634376526, + 0.05329594388604164, + 0.12070707976818085 + ], + [ + 0.3830944895744324, + 0.03787805512547493, + 0.10527684539556503 + ], + [ + 0.38763535022735596, + 0.024691833183169365, + 0.07778370380401611 + ], + [ + 0.38733112812042236, + 0.022613581269979477, + 0.05579068884253502 + ], + [ + 0.3873284161090851, + 0.02259085327386856, + 0.03271839767694473 + ], + [ + 0.3898371458053589, + 0.01856325939297676, + 0.03065875545144081 + ], + [ + 0.3853173851966858, + 0.0171208418905735, + 0.035061925649642944 + ], + [ + 0.3853566646575928, + 0.013844368979334831, + 0.0490076057612896 + ], + [ + 0.38101926445961, + 0.013801002874970436, + 0.05850367620587349 + ], + [ + 0.38401156663894653, + 0.03299027308821678, + 0.09703674167394638 + ], + [ + 0.3865915834903717, + 0.08193673193454742, + 0.11466242372989655 + ], + [ + 0.3898282051086426, + 0.12887883186340332, + 0.0785919800400734 + ], + [ + 0.3849988281726837, + 0.1476731151342392, + 0.05535300821065903 + ], + [ + 0.37352296710014343, + 0.14377114176750183, + 0.03980632871389389 + ], + [ + 0.36700987815856934, + 0.14052671194076538, + 0.0324440635740757 + ], + [ + 0.3678256571292877, + 0.1377641260623932, + 0.04256649687886238 + ], + [ + 0.3686695396900177, + 0.13978277146816254, + 0.0853291004896164 + ], + [ + 0.3612767159938812, + 0.13267897069454193, + 0.1134539470076561 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9975808805024087, + -0.03844717614930901, + 0.057915468591584265, + -0.04380267370588631, + -0.9945858422732781, + 0.09423549291943822, + 0.053978816514021824, + -0.09654437837439236, + -0.9938639093819875 + ], + [ + 0.9989697609028745, + -0.03632786688135738, + 0.02719747946969228, + -0.038156500628037056, + -0.9968137473180039, + 0.07004594647559255, + 0.02456620160864443, + -0.07101154304540457, + -0.9971729350984383 + ], + [ + 0.9981480954567603, + -0.055772312567464934, + 0.024286388922984656, + -0.05628342826982278, + -0.9981961383500881, + 0.020896054296606983, + 0.023077158365734565, + -0.02222427802759915, + -0.9994866313402666 + ], + [ + 0.9926327349185224, + -0.09580573992791765, + 0.07417218997062662, + -0.09418314315358846, + -0.9952389001918814, + -0.02508120991031357, + 0.07622197264493473, + 0.017910660002321426, + -0.9969299971133361 + ], + [ + 0.9875663611578556, + -0.07429877681577403, + 0.13853654417918793, + -0.06937944582175735, + -0.9967875585470142, + -0.040013193116131995, + 0.1410644349469352, + 0.029904094862791566, + -0.9895486700024104 + ], + [ + 0.977278570216784, + -0.0228042320818704, + 0.2107286482521876, + -0.019159176617302147, + -0.9996297029276047, + -0.019323120250509685, + 0.21109126496940853, + 0.014846683940356093, + -0.9773535971333966 + ], + [ + 0.9845516947320335, + -0.007519161031694755, + 0.17493262308003107, + -0.007776494913687673, + -0.9999694540005273, + 0.0007856161562130019, + 0.17492137241383102, + -0.0021338423716282815, + -0.9845800933340034 + ], + [ + 0.9894381561249985, + -0.012484647896952836, + 0.1444169961287523, + -0.015233468998313751, + -0.9997229427432809, + 0.01794377816938654, + 0.14415296259959542, + -0.019954230619190765, + -0.9893542096004625 + ], + [ + 0.9951291931421046, + -0.006711909012734381, + 0.09835059345905843, + -0.009809430204956216, + -0.9994698492604126, + 0.031045055941687497, + 0.09809008122842137, + -0.03185860475245563, + -0.9946674646673775 + ], + [ + 0.9982622257221079, + 0.006207572795317857, + 0.05860029638435464, + 0.0042968545989816335, + -0.9994567662175581, + 0.032675824434840524, + 0.05877130028252385, + -0.032367244274607944, + -0.9977466089950741 + ], + [ + 0.9970158717960607, + -0.011267816750933028, + 0.07637007065866071, + -0.011864736259485625, + -0.9999024734745867, + 0.00736692424941831, + 0.07627961339856333, + -0.008251051149472626, + -0.9970523259762724 + ], + [ + 0.9960310779650204, + -0.032069797648687476, + 0.08302782549610334, + -0.03187108771551059, + -0.9994850728724219, + -0.0037179124571795753, + 0.08310430491658886, + 0.0010569692432897348, + -0.9965402938769455 + ], + [ + 0.9932089016735276, + -0.04547474439015368, + 0.1070893330781099, + -0.043224017607179664, + -0.9987949135144727, + -0.02324661350628048, + 0.1080174149772082, + 0.01845991224969248, + -0.9939776002010178 + ], + [ + 0.9932751317549572, + -0.0579761904227394, + 0.10021613633162273, + -0.05085974318432652, + -0.9960951359710789, + -0.07216485722276356, + 0.10400864944992068, + 0.06658259110926637, + -0.9923451815778517 + ], + [ + 0.9882771585019858, + -0.03957358894841232, + 0.14745232802835864, + -0.02478265090101071, + -0.9945949945584381, + -0.10082964352619161, + 0.15064553825971486, + 0.09599337402676467, + -0.9839162535223199 + ], + [ + 0.984959160441646, + 0.046870358972510864, + 0.16630881429399672, + 0.05504703606250866, + -0.9974737527165294, + -0.044899181087588405, + 0.16378423636852232, + 0.05337866700650322, + -0.9850509843788737 + ], + [ + 0.9893976832107385, + 0.11043879786921458, + 0.09431593917480868, + 0.11098412755216062, + -0.9938220322873877, + -0.0005399737516217657, + 0.09367362429579196, + 0.011001821002427973, + -0.9955421698983532 + ], + [ + 0.9922362441882078, + 0.11545588587683395, + 0.04622958074300796, + 0.1143881100406497, + -0.9931184645551188, + 0.025121218939592644, + 0.04881184283149954, + -0.019638069560886786, + -0.998614915882651 + ], + [ + 0.9940441080172349, + 0.1089152501330106, + 0.0037120889918050245, + 0.10886451665704258, + -0.9939857006203295, + 0.011871982788924752, + 0.0049828033523148674, + -0.011397159767931889, + -0.9999226352173332 + ], + [ + 0.9948952028726146, + 0.09916262894856621, + -0.018716525347088366, + 0.09937495985716911, + -0.9949917133201456, + 0.010775331903355737, + -0.01755427738316927, + -0.012580279975041454, + -0.9997667647513117 + ], + [ + 0.9968259740313782, + 0.0778005664162892, + 0.016883404920177154, + 0.07744350724533682, + -0.9967784430412401, + 0.020862374596928995, + 0.018452118629998876, + -0.019488646786929534, + -0.9996397911070161 + ], + [ + 0.989595346223442, + 0.04368610297769904, + 0.13708601365393702, + 0.030239215698139504, + -0.9946592645552084, + 0.09868402742315055, + 0.14066499410609212, + -0.09351188074845684, + -0.9856312127728196 + ], + [ + 0.9747121145866656, + 0.0021110334097044665, + 0.22345432915012745, + -0.02436503489246185, + -0.9929897752609056, + 0.11566179707226022, + 0.22213203000170753, + -0.1181814273278111, + -0.9678277282048088 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.002128690481185913, + -0.002981618046760559, + -0.010669507086277008, + -0.0257437601685524, + 0.029436390846967697, + 0.005703415721654892, + 1.0 + ], + [ + 0.006206423044204712, + -0.021737098693847656, + 0.00044924020767211914, + -0.0488608218729496, + 0.001489466056227684, + -0.01815091073513031, + 1.0 + ], + [ + 0.02122277021408081, + -0.03178420662879944, + 0.015089564025402069, + -0.04019591212272644, + -0.05321676284074783, + -0.03827076032757759, + 1.0 + ], + [ + 0.023554325103759766, + -0.02253500372171402, + 0.022752046585083008, + -0.012246856465935707, + -0.06524054706096649, + 0.024461254477500916, + 1.0 + ], + [ + 0.031224042177200317, + -0.02419118955731392, + 0.01877656579017639, + 0.015021208673715591, + -0.07115472853183746, + 0.050535596907138824, + 1.0 + ], + [ + 0.015751153230667114, + -0.015417888760566711, + -0.015430234372615814, + 0.017356788739562035, + 0.03686533868312836, + 0.011703761294484138, + 1.0 + ], + [ + 0.004540860652923584, + -0.013186221942305565, + -0.02749314159154892, + 0.01799895241856575, + 0.031168967485427856, + -0.007496514357626438, + 1.0 + ], + [ + -0.00030422210693359375, + -0.002078251913189888, + -0.021993014961481094, + 0.011852245777845383, + 0.04640887677669525, + 0.005537739023566246, + 1.0 + ], + [ + -2.7120113372802734e-06, + -2.2727996110916138e-05, + -0.023072291165590286, + 0.00041051581501960754, + 0.03944287821650505, + 0.014161432161927223, + 0.0 + ], + [ + 0.0025087296962738037, + -0.0040275938808918, + -0.0020596422255039215, + -0.02415371686220169, + -0.017548594623804092, + -0.016203993931412697, + 0.0 + ], + [ + -0.004519760608673096, + -0.0014424175024032593, + 0.004403170198202133, + -0.009335894137620926, + -0.006846480071544647, + -0.020087484270334244, + 0.0 + ], + [ + 3.927946090698242e-05, + -0.0032764729112386703, + 0.013945680111646652, + -0.017508985474705696, + -0.025028318166732788, + -0.011504948139190674, + 0.0 + ], + [ + -0.004337400197982788, + -4.336610436439514e-05, + 0.009496070444583893, + -0.04842615872621536, + 0.004031486809253693, + -0.007667284458875656, + 0.0 + ], + [ + 0.002992302179336548, + 0.019189270213246346, + 0.03853306546807289, + -0.030258968472480774, + -0.047024138271808624, + 0.026088038459420204, + 0.0 + ], + [ + 0.002580016851425171, + 0.04894645884633064, + 0.017625682055950165, + 0.04311896488070488, + -0.013304248452186584, + 0.08090092241764069, + 0.0 + ], + [ + 0.003236621618270874, + 0.046942099928855896, + -0.03607044368982315, + 0.04308515414595604, + 0.0707143172621727, + 0.05587690323591232, + 0.0 + ], + [ + -0.004829376935958862, + 0.018794283270835876, + -0.023238971829414368, + 0.030713409185409546, + 0.04497991502285004, + 0.0030700042843818665, + 0.0 + ], + [ + -0.011475861072540283, + -0.0039019733667373657, + -0.015546679496765137, + -0.00826522521674633, + 0.043848421424627304, + -0.005694396793842316, + 0.0 + ], + [ + -0.006513088941574097, + -0.00324442982673645, + -0.0073622651398181915, + 0.0011850027367472649, + 0.02253800258040428, + -0.009527422487735748, + 1.0 + ], + [ + 0.0008157789707183838, + -0.0027625858783721924, + 0.010122433304786682, + 0.006910649128258228, + -0.03600834310054779, + -0.022020287811756134, + 1.0 + ], + [ + 0.0008438825607299805, + 0.002018645405769348, + 0.04276260361075401, + 0.07509878277778625, + -0.12267988920211792, + -0.04698670655488968, + 1.0 + ], + [ + -0.007392823696136475, + -0.0071038007736206055, + 0.028124846518039703, + 0.02691645175218582, + -0.08286753296852112, + -0.05553960055112839, + 1.0 + ], + [ + -0.006016045808792114, + -0.005601212382316589, + 0.0019866079092025757, + -0.033194757997989655, + 0.031031310558319092, + -0.01751665398478508, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9287639856338501 + ], + [ + 0.6380261182785034 + ], + [ + 0.3445223569869995 + ], + [ + 0.1506364643573761 + ], + [ + 0.07988496869802475 + ], + [ + 0.07821663469076157 + ], + [ + 0.07821663469076157 + ], + [ + 0.07788556814193726 + ], + [ + 0.07788556814193726 + ], + [ + 0.07788556814193726 + ], + [ + 0.11704280227422714 + ], + [ + 0.30647560954093933 + ], + [ + 0.58391273021698 + ], + [ + 0.8810233473777771 + ], + [ + 1.0086473226547241 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.28513577580451965, + 0.15354344248771667, + 0.06363966315984726 + ], + [ + 0.29134219884872437, + 0.13180634379386902, + 0.06408890336751938 + ], + [ + 0.3125649690628052, + 0.10002213716506958, + 0.07917846739292145 + ], + [ + 0.33611929416656494, + 0.07748713344335556, + 0.10193051397800446 + ], + [ + 0.36734333634376526, + 0.05329594388604164, + 0.12070707976818085 + ], + [ + 0.3830944895744324, + 0.03787805512547493, + 0.10527684539556503 + ], + [ + 0.38763535022735596, + 0.024691833183169365, + 0.07778370380401611 + ], + [ + 0.38733112812042236, + 0.022613581269979477, + 0.05579068884253502 + ], + [ + 0.3873284161090851, + 0.02259085327386856, + 0.03271839767694473 + ], + [ + 0.3898371458053589, + 0.01856325939297676, + 0.03065875545144081 + ], + [ + 0.3853173851966858, + 0.0171208418905735, + 0.035061925649642944 + ], + [ + 0.3853566646575928, + 0.013844368979334831, + 0.0490076057612896 + ], + [ + 0.38101926445961, + 0.013801002874970436, + 0.05850367620587349 + ], + [ + 0.38401156663894653, + 0.03299027308821678, + 0.09703674167394638 + ], + [ + 0.3865915834903717, + 0.08193673193454742, + 0.11466242372989655 + ], + [ + 0.3898282051086426, + 0.12887883186340332, + 0.0785919800400734 + ], + [ + 0.3849988281726837, + 0.1476731151342392, + 0.05535300821065903 + ], + [ + 0.37352296710014343, + 0.14377114176750183, + 0.03980632871389389 + ], + [ + 0.36700987815856934, + 0.14052671194076538, + 0.0324440635740757 + ], + [ + 0.3678256571292877, + 0.1377641260623932, + 0.04256649687886238 + ], + [ + 0.3686695396900177, + 0.13978277146816254, + 0.0853291004896164 + ], + [ + 0.3612767159938812, + 0.13267897069454193, + 0.1134539470076561 + ], + [ + 0.3552606701850891, + 0.12707775831222534, + 0.11544055491685867 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9989697609028745, + -0.03632786688135738, + 0.02719747946969228, + -0.038156500628037056, + -0.9968137473180039, + 0.07004594647559255, + 0.02456620160864443, + -0.07101154304540457, + -0.9971729350984383 + ], + [ + 0.9981480954567603, + -0.055772312567464934, + 0.024286388922984656, + -0.05628342826982278, + -0.9981961383500881, + 0.020896054296606983, + 0.023077158365734565, + -0.02222427802759915, + -0.9994866313402666 + ], + [ + 0.9926327349185224, + -0.09580573992791765, + 0.07417218997062662, + -0.09418314315358846, + -0.9952389001918814, + -0.02508120991031357, + 0.07622197264493473, + 0.017910660002321426, + -0.9969299971133361 + ], + [ + 0.9875663611578556, + -0.07429877681577403, + 0.13853654417918793, + -0.06937944582175735, + -0.9967875585470142, + -0.040013193116131995, + 0.1410644349469352, + 0.029904094862791566, + -0.9895486700024104 + ], + [ + 0.977278570216784, + -0.0228042320818704, + 0.2107286482521876, + -0.019159176617302147, + -0.9996297029276047, + -0.019323120250509685, + 0.21109126496940853, + 0.014846683940356093, + -0.9773535971333966 + ], + [ + 0.9845516947320335, + -0.007519161031694755, + 0.17493262308003107, + -0.007776494913687673, + -0.9999694540005273, + 0.0007856161562130019, + 0.17492137241383102, + -0.0021338423716282815, + -0.9845800933340034 + ], + [ + 0.9894381561249985, + -0.012484647896952836, + 0.1444169961287523, + -0.015233468998313751, + -0.9997229427432809, + 0.01794377816938654, + 0.14415296259959542, + -0.019954230619190765, + -0.9893542096004625 + ], + [ + 0.9951291931421046, + -0.006711909012734381, + 0.09835059345905843, + -0.009809430204956216, + -0.9994698492604126, + 0.031045055941687497, + 0.09809008122842137, + -0.03185860475245563, + -0.9946674646673775 + ], + [ + 0.9982622257221079, + 0.006207572795317857, + 0.05860029638435464, + 0.0042968545989816335, + -0.9994567662175581, + 0.032675824434840524, + 0.05877130028252385, + -0.032367244274607944, + -0.9977466089950741 + ], + [ + 0.9970158717960607, + -0.011267816750933028, + 0.07637007065866071, + -0.011864736259485625, + -0.9999024734745867, + 0.00736692424941831, + 0.07627961339856333, + -0.008251051149472626, + -0.9970523259762724 + ], + [ + 0.9960310779650204, + -0.032069797648687476, + 0.08302782549610334, + -0.03187108771551059, + -0.9994850728724219, + -0.0037179124571795753, + 0.08310430491658886, + 0.0010569692432897348, + -0.9965402938769455 + ], + [ + 0.9932089016735276, + -0.04547474439015368, + 0.1070893330781099, + -0.043224017607179664, + -0.9987949135144727, + -0.02324661350628048, + 0.1080174149772082, + 0.01845991224969248, + -0.9939776002010178 + ], + [ + 0.9932751317549572, + -0.0579761904227394, + 0.10021613633162273, + -0.05085974318432652, + -0.9960951359710789, + -0.07216485722276356, + 0.10400864944992068, + 0.06658259110926637, + -0.9923451815778517 + ], + [ + 0.9882771585019858, + -0.03957358894841232, + 0.14745232802835864, + -0.02478265090101071, + -0.9945949945584381, + -0.10082964352619161, + 0.15064553825971486, + 0.09599337402676467, + -0.9839162535223199 + ], + [ + 0.984959160441646, + 0.046870358972510864, + 0.16630881429399672, + 0.05504703606250866, + -0.9974737527165294, + -0.044899181087588405, + 0.16378423636852232, + 0.05337866700650322, + -0.9850509843788737 + ], + [ + 0.9893976832107385, + 0.11043879786921458, + 0.09431593917480868, + 0.11098412755216062, + -0.9938220322873877, + -0.0005399737516217657, + 0.09367362429579196, + 0.011001821002427973, + -0.9955421698983532 + ], + [ + 0.9922362441882078, + 0.11545588587683395, + 0.04622958074300796, + 0.1143881100406497, + -0.9931184645551188, + 0.025121218939592644, + 0.04881184283149954, + -0.019638069560886786, + -0.998614915882651 + ], + [ + 0.9940441080172349, + 0.1089152501330106, + 0.0037120889918050245, + 0.10886451665704258, + -0.9939857006203295, + 0.011871982788924752, + 0.0049828033523148674, + -0.011397159767931889, + -0.9999226352173332 + ], + [ + 0.9948952028726146, + 0.09916262894856621, + -0.018716525347088366, + 0.09937495985716911, + -0.9949917133201456, + 0.010775331903355737, + -0.01755427738316927, + -0.012580279975041454, + -0.9997667647513117 + ], + [ + 0.9968259740313782, + 0.0778005664162892, + 0.016883404920177154, + 0.07744350724533682, + -0.9967784430412401, + 0.020862374596928995, + 0.018452118629998876, + -0.019488646786929534, + -0.9996397911070161 + ], + [ + 0.989595346223442, + 0.04368610297769904, + 0.13708601365393702, + 0.030239215698139504, + -0.9946592645552084, + 0.09868402742315055, + 0.14066499410609212, + -0.09351188074845684, + -0.9856312127728196 + ], + [ + 0.9747121145866656, + 0.0021110334097044665, + 0.22345432915012745, + -0.02436503489246185, + -0.9929897752609056, + 0.11566179707226022, + 0.22213203000170753, + -0.1181814273278111, + -0.9678277282048088 + ], + [ + 0.9805525446501335, + -0.025431225390949237, + 0.19460205537265757, + -0.04170704962708782, + -0.9959218315495066, + 0.0800014215778695, + 0.19177390122629245, + -0.08656187508476874, + -0.9776143475779482 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006612.json b/json/chunk-0006/episode_0006612.json new file mode 100644 index 0000000000000000000000000000000000000000..4c411a3ee61172dc989e484b274d6360a2e1e1e2 --- /dev/null +++ b/json/chunk-0006/episode_0006612.json @@ -0,0 +1,1702 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 27, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nTake the thing out of the drawer and put it on the table." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006612.mp4", + "start": 0, + "end": 27, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.4095049500465393, + 0.10190428793430328, + 0.10413660854101181, + 0.03061223030090332, + -0.22205989062786102, + 0.07196416705846786, + 0.0, + 1.0008161067962646 + ], + [ + 0.4082956910133362, + 0.10070665180683136, + 0.08931700140237808, + 0.018770774826407433, + -0.1867544800043106, + 0.07299227267503738, + 0.0, + 1.0008161067962646 + ], + [ + 0.41242408752441406, + 0.08271043747663498, + 0.08497290313243866, + -0.024210723116993904, + -0.194716215133667, + 0.027517516165971756, + 0.0, + 1.0008161067962646 + ], + [ + 0.4188331067562103, + 0.059262171387672424, + 0.090812548995018, + -0.032767027616500854, + -0.2253255695104599, + -0.060710608959198, + 0.0, + 0.9988223910331726 + ], + [ + 0.42331069707870483, + 0.03211182355880737, + 0.0949607715010643, + -0.060579318553209305, + -0.2511328160762787, + -0.1362042874097824, + 0.0, + 0.9988223910331726 + ], + [ + 0.426578164100647, + 0.010058498941361904, + 0.09805096685886383, + -0.07714589685201645, + -0.268425315618515, + -0.20115771889686584, + 0.0, + 0.9988223910331726 + ], + [ + 0.4365573525428772, + -0.011321282014250755, + 0.11095807701349258, + -0.061874501407146454, + -0.30056682229042053, + -0.27608081698417664, + 0.0, + 0.9988223910331726 + ], + [ + 0.4413597285747528, + -0.022182412445545197, + 0.10211531072854996, + -0.06378699094057083, + -0.2822018265724182, + -0.2873270809650421, + 0.0, + 0.9988223910331726 + ], + [ + 0.4463708698749542, + -0.021957090124487877, + 0.09549546241760254, + -0.04956416040658951, + -0.26955828070640564, + -0.28643137216567993, + 0.0, + 0.9988223910331726 + ], + [ + 0.4456871747970581, + -0.025816751644015312, + 0.07753831148147583, + -0.039123933762311935, + -0.21024280786514282, + -0.2969602346420288, + 0.0, + 0.9988223910331726 + ], + [ + 0.44245120882987976, + -0.022515179589390755, + 0.07355090975761414, + -0.02455262653529644, + -0.18489745259284973, + -0.29914459586143494, + 0.0, + 0.9988223910331726 + ], + [ + 0.4340520203113556, + -0.020303048193454742, + 0.06237725168466568, + -0.024876752868294716, + -0.14722655713558197, + -0.3074209988117218, + 0.0, + 0.9643021821975708 + ], + [ + 0.42811840772628784, + -0.019078141078352928, + 0.0566885881125927, + -0.02828897163271904, + -0.12304271757602692, + -0.31258174777030945, + 0.0, + 0.6981924772262573 + ], + [ + 0.42621034383773804, + -0.017998522147536278, + 0.05646263435482979, + -0.028452664613723755, + -0.1107824295759201, + -0.32043206691741943, + 0.0, + 0.5285724997520447 + ], + [ + 0.42745500802993774, + -0.018140288069844246, + 0.061555393040180206, + -0.031688813120126724, + -0.11005974560976028, + -0.3400004506111145, + 0.0, + 0.48323801159858704 + ], + [ + 0.42810049653053284, + -0.016015034168958664, + 0.06933104246854782, + -0.05071835592389107, + -0.13780605792999268, + -0.33565255999565125, + 0.0, + 0.47944000363349915 + ], + [ + 0.41614964604377747, + -0.010011699981987476, + 0.10791037976741791, + -0.05460707098245621, + -0.2281724363565445, + -0.3192770779132843, + 0.0, + 0.4784920811653137 + ], + [ + 0.3861294984817505, + -0.004600265063345432, + 0.11863626539707184, + -0.05114147439599037, + -0.23324453830718994, + -0.3218625783920288, + 0.0, + 0.4784920811653137 + ], + [ + 0.35404065251350403, + 0.006059891078621149, + 0.11470284312963486, + -0.03502434492111206, + -0.20308896899223328, + -0.3240737318992615, + 0.0, + 0.4784920811653137 + ], + [ + 0.3282453715801239, + 0.017055222764611244, + 0.0936347022652626, + -0.011428559198975563, + -0.14904867112636566, + -0.32996851205825806, + 0.0, + 0.4784920811653137 + ], + [ + 0.31131115555763245, + 0.033813588321208954, + 0.0724329724907875, + 0.005955258850008249, + -0.1107620894908905, + -0.3305162489414215, + 0.0, + 0.4784920811653137 + ], + [ + 0.2977903187274933, + 0.047935761511325836, + 0.05673178657889366, + 0.028083112090826035, + -0.07935278117656708, + -0.3462057411670685, + 0.0, + 0.4784920811653137 + ], + [ + 0.2806146740913391, + 0.06374507397413254, + 0.03572475165128708, + 0.06062431260943413, + -0.011403079144656658, + -0.33884790539741516, + 0.0, + 0.4784920811653137 + ], + [ + 0.268852561712265, + 0.07464015483856201, + 0.027106596156954765, + 0.07767884433269501, + 0.009827809408307076, + -0.30954301357269287, + 0.0, + 0.5482020378112793 + ], + [ + 0.2636445164680481, + 0.07684344053268433, + 0.023185530677437782, + 0.08131486177444458, + 0.019440552219748497, + -0.31274884939193726, + 0.0, + 0.6971942782402039 + ], + [ + 0.25749701261520386, + 0.07965657860040665, + 0.023262860253453255, + 0.0703696683049202, + 0.023289425298571587, + -0.3038654029369354, + 0.0, + 0.9628177285194397 + ], + [ + 0.25697362422943115, + 0.07892324775457382, + 0.04687260836362839, + 0.08010844886302948, + -0.02384159341454506, + -0.29331257939338684, + 0.0, + 1.0047606229782104 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9643021821975708 + ], + [ + 0.6981924772262573 + ], + [ + 0.5285724997520447 + ], + [ + 0.48323801159858704 + ], + [ + 0.47944000363349915 + ], + [ + 0.4784920811653137 + ], + [ + 0.4784920811653137 + ], + [ + 0.4784920811653137 + ], + [ + 0.4784920811653137 + ], + [ + 0.4784920811653137 + ], + [ + 0.4784920811653137 + ], + [ + 0.4784920811653137 + ], + [ + 0.5482020378112793 + ], + [ + 0.6971942782402039 + ], + [ + 0.9628177285194397 + ], + [ + 1.0047606229782104 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.4095049500465393, + 0.10190428793430328, + 0.10413660854101181 + ], + [ + 0.4082956910133362, + 0.10070665180683136, + 0.08931700140237808 + ], + [ + 0.41242408752441406, + 0.08271043747663498, + 0.08497290313243866 + ], + [ + 0.4188331067562103, + 0.059262171387672424, + 0.090812548995018 + ], + [ + 0.42331069707870483, + 0.03211182355880737, + 0.0949607715010643 + ], + [ + 0.426578164100647, + 0.010058498941361904, + 0.09805096685886383 + ], + [ + 0.4365573525428772, + -0.011321282014250755, + 0.11095807701349258 + ], + [ + 0.4413597285747528, + -0.022182412445545197, + 0.10211531072854996 + ], + [ + 0.4463708698749542, + -0.021957090124487877, + 0.09549546241760254 + ], + [ + 0.4456871747970581, + -0.025816751644015312, + 0.07753831148147583 + ], + [ + 0.44245120882987976, + -0.022515179589390755, + 0.07355090975761414 + ], + [ + 0.4340520203113556, + -0.020303048193454742, + 0.06237725168466568 + ], + [ + 0.42811840772628784, + -0.019078141078352928, + 0.0566885881125927 + ], + [ + 0.42621034383773804, + -0.017998522147536278, + 0.05646263435482979 + ], + [ + 0.42745500802993774, + -0.018140288069844246, + 0.061555393040180206 + ], + [ + 0.42810049653053284, + -0.016015034168958664, + 0.06933104246854782 + ], + [ + 0.41614964604377747, + -0.010011699981987476, + 0.10791037976741791 + ], + [ + 0.3861294984817505, + -0.004600265063345432, + 0.11863626539707184 + ], + [ + 0.35404065251350403, + 0.006059891078621149, + 0.11470284312963486 + ], + [ + 0.3282453715801239, + 0.017055222764611244, + 0.0936347022652626 + ], + [ + 0.31131115555763245, + 0.033813588321208954, + 0.0724329724907875 + ], + [ + 0.2977903187274933, + 0.047935761511325836, + 0.05673178657889366 + ], + [ + 0.2806146740913391, + 0.06374507397413254, + 0.03572475165128708 + ], + [ + 0.268852561712265, + 0.07464015483856201, + 0.027106596156954765 + ], + [ + 0.2636445164680481, + 0.07684344053268433, + 0.023185530677437782 + ], + [ + 0.25749701261520386, + 0.07965657860040665, + 0.023262860253453255 + ], + [ + 0.25697362422943115, + 0.07892324775457382, + 0.04687260836362839 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9729211002965339, + 0.07859189921747314, + 0.21736569640854725, + 0.07013657381507724, + -0.9964597021695012, + 0.046356477063639, + 0.22023940067858977, + -0.029855909459602946, + -0.9749888363766408 + ], + [ + 0.9799955539940282, + 0.07639032734973378, + 0.18377494943364384, + 0.07165941197861767, + -0.9969073990922239, + 0.03225781006292955, + 0.18567079152849156, + -0.018443305630439666, + -0.9824389047928658 + ], + [ + 0.9807311893239955, + 0.022823723720925816, + 0.19402425601623163, + 0.02699410013477952, + -0.9994573393468704, + -0.018877112692045936, + 0.19348812068200683, + 0.023750883376951554, + -0.9808150909798237 + ], + [ + 0.9729256670424283, + -0.06794688853435289, + 0.22090465533470816, + -0.0591395860404916, + -0.9971777691554963, + -0.0462493898881613, + 0.22342371354224078, + 0.03193300863633256, + -0.9741981970761528 + ], + [ + 0.9596605823352715, + -0.1504399685163103, + 0.23752764593777123, + -0.13152422205570058, + -0.9868783087647978, + -0.09366206650600589, + 0.2485013998442874, + 0.05864315443719131, + -0.9668547123084654 + ], + [ + 0.9447477184233274, + -0.21923726039897634, + 0.24369401344035765, + -0.19264880740433, + -0.9728376631217954, + -0.12834842506791386, + 0.26521347164050163, + 0.07430952068527935, + -0.9613219593850529 + ], + [ + 0.9189976764661342, + -0.2896790737412048, + 0.2674496305592597, + -0.26036658975990873, + -0.9552997482860756, + -0.1400415290596198, + 0.2960616651757573, + 0.05906289157329329, + -0.9533410015583927 + ], + [ + 0.9210709821176406, + -0.29983665831390766, + 0.24844762875099724, + -0.2721803038096838, + -0.9520240563705894, + -0.13988594750637587, + 0.2784710543645652, + 0.06122233597991242, + -0.9584913653540389 + ], + [ + 0.9246180929861925, + -0.2948401086297549, + 0.24114454682984474, + -0.27232821963463955, + -0.9543525512457165, + -0.1226725263513373, + 0.26630569448136926, + 0.04775477226399836, + -0.9627049178293468 + ], + [ + 0.9351744513581397, + -0.30019661410842213, + 0.1879647264910142, + -0.28617154717090876, + -0.9531100281444136, + -0.09842316719331777, + 0.20869736729726862, + 0.03825267478745116, + -0.9772318771687684 + ], + [ + 0.9393010193682837, + -0.2989270715911584, + 0.16839299535205596, + -0.2896797209627674, + -0.9539707892204339, + -0.07762340225135433, + 0.18384573499713355, + 0.024131704955863288, + -0.9826588454490637 + ], + [ + 0.9428060724395194, + -0.30598578050911074, + 0.13224754023193785, + -0.2993279307449921, + -0.9517180735902937, + -0.06808449366413548, + 0.14669526116098286, + 0.024605091501775856, + -0.9888756695485537 + ], + [ + 0.9443489491658907, + -0.3106965558807871, + 0.10804032753140991, + -0.3051914143521874, + -0.9500945474534137, + -0.0646417164453728, + 0.12273248475847329, + 0.02807135663108273, + -0.9920427088194849 + ], + [ + 0.943281341283716, + -0.3178342733210632, + 0.0959254183648168, + -0.3130458259889606, + -0.9477246072666691, + -0.06180921947514727, + 0.1105559678031125, + 0.02827443162486581, + -0.99346763132948 + ], + [ + 0.9370504143302829, + -0.33660091668205816, + 0.09293193149958215, + -0.3314697632113328, + -0.9411206558115482, + -0.0664808790665723, + 0.10983768515435793, + 0.03149180994543471, + -0.9934505266123184 + ], + [ + 0.9352443685805548, + -0.33553740309859, + 0.11283892130029274, + -0.3262627324909794, + -0.9406875169863547, + -0.09305710490642966, + 0.13737030401756753, + 0.05021599852538017, + -0.9892460528433864 + ], + [ + 0.9248538479562993, + -0.3251343152543452, + 0.19731456348813695, + -0.305744922270899, + -0.9441721918200676, + -0.12271476968666412, + 0.2261977065002824, + 0.053165301069185565, + -0.9726294506831646 + ], + [ + 0.9229599907250329, + -0.32712915665283177, + 0.20280870392676584, + -0.3077682163829853, + -0.9436699363730675, + -0.12151451012157731, + 0.23113541594762896, + 0.04973495806028223, + -0.9716495527922908 + ], + [ + 0.9284641056586351, + -0.3249307508014013, + 0.17992890731382996, + -0.311886549061568, + -0.9451157005181546, + -0.0973811745079321, + 0.20169577342616116, + 0.0342975191189655, + -0.9788475341769561 + ], + [ + 0.9355634682604943, + -0.32559760127738246, + 0.13677426255992045, + -0.320420838195981, + -0.945440889651821, + -0.05892376960241317, + 0.14849741851688983, + 0.01130160239912905, + -0.9888482140738446 + ], + [ + 0.9400787494304129, + -0.3239029873165194, + 0.1064838000673613, + -0.32254269843650557, + -0.9460717855594771, + -0.03023878723759167, + 0.11053575238197144, + -0.005918730922892556, + -0.9938545246008663 + ], + [ + 0.9377069187297815, + -0.3371035481778812, + 0.08406504845762018, + -0.3382633240920407, + -0.9410513792045709, + -0.00047462762040486467, + 0.07926952844884426, + -0.027991061127759186, + -0.9964601559302008 + ], + [ + 0.9430769308831194, + -0.33113849649036486, + 0.030873914202387803, + -0.3323791176622728, + -0.9416352619670845, + 0.0533587440091019, + 0.011402832022126467, + -0.060583244897252225, + -0.9980980141547193 + ], + [ + 0.9524268807709864, + -0.304431201225639, + 0.014306659469071953, + -0.30460869005439, + -0.9493683948339433, + 0.0768973135666687, + -0.009827651204536906, + -0.07759700129989897, + -0.9969363684112771 + ], + [ + 0.951311617373709, + -0.3081610430510363, + 0.006555775737143178, + -0.30761716335154266, + -0.947861655731927, + 0.08324639574588506, + -0.01943932769847556, + -0.08120993251337859, + -0.9965074306796734 + ], + [ + 0.9539282877425204, + -0.30003258263100496, + -0.0011274770031619741, + -0.2991296083167776, + -0.9513355919250005, + 0.07404099516457364, + -0.023287320001981707, + -0.07029253798575195, + -0.9972545611982164 + ], + [ + 0.9570193206587738, + -0.28637148009935987, + 0.04588458642639531, + -0.28904274078783265, + -0.9547729399528988, + 0.06973469101929378, + 0.02383933479938563, + -0.08000005324623549, + -0.9965097478684906 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.001209259033203125, + -0.0011976361274719238, + -0.014819607138633728, + -0.011841455474495888, + 0.035305410623550415, + 0.001028105616569519, + 1.0 + ], + [ + 0.004128396511077881, + -0.01799621433019638, + -0.004344098269939423, + -0.04298149794340134, + -0.007961735129356384, + -0.04547475650906563, + 1.0 + ], + [ + 0.006409019231796265, + -0.023448266088962555, + 0.005839645862579346, + -0.00855630449950695, + -0.030609354376792908, + -0.08822812139987946, + 1.0 + ], + [ + 0.004477590322494507, + -0.02715034782886505, + 0.004148222506046295, + -0.02781229093670845, + -0.025807246565818787, + -0.07549367845058441, + 1.0 + ], + [ + 0.0032674670219421387, + -0.022053323686122894, + 0.00309019535779953, + -0.016566578298807144, + -0.017292499542236328, + -0.06495343148708344, + 1.0 + ], + [ + 0.009979188442230225, + -0.021379780024290085, + 0.012907110154628754, + 0.015271395444869995, + -0.03214150667190552, + -0.07492309808731079, + 1.0 + ], + [ + 0.00480237603187561, + -0.010861130431294441, + -0.008842766284942627, + -0.0019124895334243774, + 0.01836499571800232, + -0.011246263980865479, + 1.0 + ], + [ + 0.005011141300201416, + 0.00022532232105731964, + -0.006619848310947418, + 0.014222830533981323, + 0.012643545866012573, + 0.0008957087993621826, + 1.0 + ], + [ + -0.0006836950778961182, + -0.0038596615195274353, + -0.01795715093612671, + 0.010440226644277573, + 0.05931547284126282, + -0.010528862476348877, + 1.0 + ], + [ + -0.0032359659671783447, + 0.0033015720546245575, + -0.003987401723861694, + 0.014571307227015495, + 0.02534535527229309, + -0.002184361219406128, + 1.0 + ], + [ + -0.00839918851852417, + 0.0022121313959360123, + -0.011173658072948456, + -0.00032412633299827576, + 0.03767089545726776, + -0.008276402950286865, + 0.0 + ], + [ + -0.005933612585067749, + 0.0012249071151018143, + -0.005688663572072983, + -0.003412218764424324, + 0.024183839559555054, + -0.0051607489585876465, + 0.0 + ], + [ + -0.0019080638885498047, + 0.0010796189308166504, + -0.00022595375776290894, + -0.00016369298100471497, + 0.012260288000106812, + -0.007850319147109985, + 0.0 + ], + [ + 0.001244664192199707, + -0.00014176592230796814, + 0.005092758685350418, + -0.0032361485064029694, + 0.0007226839661598206, + -0.01956838369369507, + 0.0 + ], + [ + 0.0006454885005950928, + 0.002125253900885582, + 0.007775649428367615, + -0.019029542803764343, + -0.02774631232023239, + 0.004347890615463257, + 0.0 + ], + [ + -0.011950850486755371, + 0.006003334186971188, + 0.03857933729887009, + -0.0038887150585651398, + -0.09036637842655182, + 0.016375482082366943, + 0.0 + ], + [ + -0.030020147562026978, + 0.005411434918642044, + 0.01072588562965393, + 0.0034655965864658356, + -0.005072101950645447, + -0.002585500478744507, + 0.0 + ], + [ + -0.03208884596824646, + 0.010660156607627869, + -0.003933422267436981, + 0.01611712947487831, + 0.030155569314956665, + -0.002211153507232666, + 0.0 + ], + [ + -0.025795280933380127, + 0.010995332151651382, + -0.021068140864372253, + 0.023595785722136497, + 0.054040297865867615, + -0.005894780158996582, + 0.0 + ], + [ + -0.016934216022491455, + 0.01675836555659771, + -0.021201729774475098, + 0.017383817583322525, + 0.03828658163547516, + -0.0005477368831634521, + 0.0 + ], + [ + -0.01352083683013916, + 0.014122173190116882, + -0.015701185911893845, + 0.022127853706479073, + 0.031409308314323425, + -0.015689492225646973, + 0.0 + ], + [ + -0.017175644636154175, + 0.0158093124628067, + -0.021007034927606583, + 0.03254120051860809, + 0.06794970482587814, + 0.00735783576965332, + 0.0 + ], + [ + -0.011762112379074097, + 0.010895080864429474, + -0.008618155494332314, + 0.01705453172326088, + 0.02123088762164116, + 0.02930489182472229, + 1.0 + ], + [ + -0.005208045244216919, + 0.0022032856941223145, + -0.003921065479516983, + 0.0036360174417495728, + 0.009612742811441422, + -0.0032058358192443848, + 1.0 + ], + [ + -0.006147503852844238, + 0.0028131380677223206, + 7.732957601547241e-05, + -0.010945193469524384, + 0.0038488730788230896, + 0.008883446455001831, + 1.0 + ], + [ + -0.0005233883857727051, + -0.0007333308458328247, + 0.023609748110175133, + 0.009738780558109283, + -0.0471310168504715, + 0.010552823543548584, + 1.0 + ], + [ + -0.004430294036865234, + 0.0007607266306877136, + 0.016669876873493195, + -0.012370996177196503, + -0.03333497419953346, + 0.013564318418502808, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9643021821975708 + ], + [ + 0.6981924772262573 + ], + [ + 0.5285724997520447 + ], + [ + 0.48323801159858704 + ], + [ + 0.47944000363349915 + ], + [ + 0.4784920811653137 + ], + [ + 0.4784920811653137 + ], + [ + 0.4784920811653137 + ], + [ + 0.4784920811653137 + ], + [ + 0.4784920811653137 + ], + [ + 0.4784920811653137 + ], + [ + 0.4784920811653137 + ], + [ + 0.5482020378112793 + ], + [ + 0.6971942782402039 + ], + [ + 0.9628177285194397 + ], + [ + 1.0047606229782104 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.4082956910133362, + 0.10070665180683136, + 0.08931700140237808 + ], + [ + 0.41242408752441406, + 0.08271043747663498, + 0.08497290313243866 + ], + [ + 0.4188331067562103, + 0.059262171387672424, + 0.090812548995018 + ], + [ + 0.42331069707870483, + 0.03211182355880737, + 0.0949607715010643 + ], + [ + 0.426578164100647, + 0.010058498941361904, + 0.09805096685886383 + ], + [ + 0.4365573525428772, + -0.011321282014250755, + 0.11095807701349258 + ], + [ + 0.4413597285747528, + -0.022182412445545197, + 0.10211531072854996 + ], + [ + 0.4463708698749542, + -0.021957090124487877, + 0.09549546241760254 + ], + [ + 0.4456871747970581, + -0.025816751644015312, + 0.07753831148147583 + ], + [ + 0.44245120882987976, + -0.022515179589390755, + 0.07355090975761414 + ], + [ + 0.4340520203113556, + -0.020303048193454742, + 0.06237725168466568 + ], + [ + 0.42811840772628784, + -0.019078141078352928, + 0.0566885881125927 + ], + [ + 0.42621034383773804, + -0.017998522147536278, + 0.05646263435482979 + ], + [ + 0.42745500802993774, + -0.018140288069844246, + 0.061555393040180206 + ], + [ + 0.42810049653053284, + -0.016015034168958664, + 0.06933104246854782 + ], + [ + 0.41614964604377747, + -0.010011699981987476, + 0.10791037976741791 + ], + [ + 0.3861294984817505, + -0.004600265063345432, + 0.11863626539707184 + ], + [ + 0.35404065251350403, + 0.006059891078621149, + 0.11470284312963486 + ], + [ + 0.3282453715801239, + 0.017055222764611244, + 0.0936347022652626 + ], + [ + 0.31131115555763245, + 0.033813588321208954, + 0.0724329724907875 + ], + [ + 0.2977903187274933, + 0.047935761511325836, + 0.05673178657889366 + ], + [ + 0.2806146740913391, + 0.06374507397413254, + 0.03572475165128708 + ], + [ + 0.268852561712265, + 0.07464015483856201, + 0.027106596156954765 + ], + [ + 0.2636445164680481, + 0.07684344053268433, + 0.023185530677437782 + ], + [ + 0.25749701261520386, + 0.07965657860040665, + 0.023262860253453255 + ], + [ + 0.25697362422943115, + 0.07892324775457382, + 0.04687260836362839 + ], + [ + 0.2525433301925659, + 0.07968397438526154, + 0.06354248523712158 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9799955539940282, + 0.07639032734973378, + 0.18377494943364384, + 0.07165941197861767, + -0.9969073990922239, + 0.03225781006292955, + 0.18567079152849156, + -0.018443305630439666, + -0.9824389047928658 + ], + [ + 0.9807311893239955, + 0.022823723720925816, + 0.19402425601623163, + 0.02699410013477952, + -0.9994573393468704, + -0.018877112692045936, + 0.19348812068200683, + 0.023750883376951554, + -0.9808150909798237 + ], + [ + 0.9729256670424283, + -0.06794688853435289, + 0.22090465533470816, + -0.0591395860404916, + -0.9971777691554963, + -0.0462493898881613, + 0.22342371354224078, + 0.03193300863633256, + -0.9741981970761528 + ], + [ + 0.9596605823352715, + -0.1504399685163103, + 0.23752764593777123, + -0.13152422205570058, + -0.9868783087647978, + -0.09366206650600589, + 0.2485013998442874, + 0.05864315443719131, + -0.9668547123084654 + ], + [ + 0.9447477184233274, + -0.21923726039897634, + 0.24369401344035765, + -0.19264880740433, + -0.9728376631217954, + -0.12834842506791386, + 0.26521347164050163, + 0.07430952068527935, + -0.9613219593850529 + ], + [ + 0.9189976764661342, + -0.2896790737412048, + 0.2674496305592597, + -0.26036658975990873, + -0.9552997482860756, + -0.1400415290596198, + 0.2960616651757573, + 0.05906289157329329, + -0.9533410015583927 + ], + [ + 0.9210709821176406, + -0.29983665831390766, + 0.24844762875099724, + -0.2721803038096838, + -0.9520240563705894, + -0.13988594750637587, + 0.2784710543645652, + 0.06122233597991242, + -0.9584913653540389 + ], + [ + 0.9246180929861925, + -0.2948401086297549, + 0.24114454682984474, + -0.27232821963463955, + -0.9543525512457165, + -0.1226725263513373, + 0.26630569448136926, + 0.04775477226399836, + -0.9627049178293468 + ], + [ + 0.9351744513581397, + -0.30019661410842213, + 0.1879647264910142, + -0.28617154717090876, + -0.9531100281444136, + -0.09842316719331777, + 0.20869736729726862, + 0.03825267478745116, + -0.9772318771687684 + ], + [ + 0.9393010193682837, + -0.2989270715911584, + 0.16839299535205596, + -0.2896797209627674, + -0.9539707892204339, + -0.07762340225135433, + 0.18384573499713355, + 0.024131704955863288, + -0.9826588454490637 + ], + [ + 0.9428060724395194, + -0.30598578050911074, + 0.13224754023193785, + -0.2993279307449921, + -0.9517180735902937, + -0.06808449366413548, + 0.14669526116098286, + 0.024605091501775856, + -0.9888756695485537 + ], + [ + 0.9443489491658907, + -0.3106965558807871, + 0.10804032753140991, + -0.3051914143521874, + -0.9500945474534137, + -0.0646417164453728, + 0.12273248475847329, + 0.02807135663108273, + -0.9920427088194849 + ], + [ + 0.943281341283716, + -0.3178342733210632, + 0.0959254183648168, + -0.3130458259889606, + -0.9477246072666691, + -0.06180921947514727, + 0.1105559678031125, + 0.02827443162486581, + -0.99346763132948 + ], + [ + 0.9370504143302829, + -0.33660091668205816, + 0.09293193149958215, + -0.3314697632113328, + -0.9411206558115482, + -0.0664808790665723, + 0.10983768515435793, + 0.03149180994543471, + -0.9934505266123184 + ], + [ + 0.9352443685805548, + -0.33553740309859, + 0.11283892130029274, + -0.3262627324909794, + -0.9406875169863547, + -0.09305710490642966, + 0.13737030401756753, + 0.05021599852538017, + -0.9892460528433864 + ], + [ + 0.9248538479562993, + -0.3251343152543452, + 0.19731456348813695, + -0.305744922270899, + -0.9441721918200676, + -0.12271476968666412, + 0.2261977065002824, + 0.053165301069185565, + -0.9726294506831646 + ], + [ + 0.9229599907250329, + -0.32712915665283177, + 0.20280870392676584, + -0.3077682163829853, + -0.9436699363730675, + -0.12151451012157731, + 0.23113541594762896, + 0.04973495806028223, + -0.9716495527922908 + ], + [ + 0.9284641056586351, + -0.3249307508014013, + 0.17992890731382996, + -0.311886549061568, + -0.9451157005181546, + -0.0973811745079321, + 0.20169577342616116, + 0.0342975191189655, + -0.9788475341769561 + ], + [ + 0.9355634682604943, + -0.32559760127738246, + 0.13677426255992045, + -0.320420838195981, + -0.945440889651821, + -0.05892376960241317, + 0.14849741851688983, + 0.01130160239912905, + -0.9888482140738446 + ], + [ + 0.9400787494304129, + -0.3239029873165194, + 0.1064838000673613, + -0.32254269843650557, + -0.9460717855594771, + -0.03023878723759167, + 0.11053575238197144, + -0.005918730922892556, + -0.9938545246008663 + ], + [ + 0.9377069187297815, + -0.3371035481778812, + 0.08406504845762018, + -0.3382633240920407, + -0.9410513792045709, + -0.00047462762040486467, + 0.07926952844884426, + -0.027991061127759186, + -0.9964601559302008 + ], + [ + 0.9430769308831194, + -0.33113849649036486, + 0.030873914202387803, + -0.3323791176622728, + -0.9416352619670845, + 0.0533587440091019, + 0.011402832022126467, + -0.060583244897252225, + -0.9980980141547193 + ], + [ + 0.9524268807709864, + -0.304431201225639, + 0.014306659469071953, + -0.30460869005439, + -0.9493683948339433, + 0.0768973135666687, + -0.009827651204536906, + -0.07759700129989897, + -0.9969363684112771 + ], + [ + 0.951311617373709, + -0.3081610430510363, + 0.006555775737143178, + -0.30761716335154266, + -0.947861655731927, + 0.08324639574588506, + -0.01943932769847556, + -0.08120993251337859, + -0.9965074306796734 + ], + [ + 0.9539282877425204, + -0.30003258263100496, + -0.0011274770031619741, + -0.2991296083167776, + -0.9513355919250005, + 0.07404099516457364, + -0.023287320001981707, + -0.07029253798575195, + -0.9972545611982164 + ], + [ + 0.9570193206587738, + -0.28637148009935987, + 0.04588458642639531, + -0.28904274078783265, + -0.9547729399528988, + 0.06973469101929378, + 0.02383933479938563, + -0.08000005324623549, + -0.9965097478684906 + ], + [ + 0.9595543697001016, + -0.2717629319810429, + 0.07348687223244457, + -0.2756624976699246, + -0.9599888127222279, + 0.04931193391610065, + 0.05714541948239959, + -0.06757505641310332, + -0.9960763087148224 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006613.json b/json/chunk-0006/episode_0006613.json new file mode 100644 index 0000000000000000000000000000000000000000..d52ea528a2eb5912ca948cc194132eb51c0701da --- /dev/null +++ b/json/chunk-0006/episode_0006613.json @@ -0,0 +1,2362 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 38, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPlace the pan on the far edge near the green cloth." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006613.mp4", + "start": 0, + "end": 38, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.31692951917648315, + 0.06325735151767731, + 0.10332384705543518, + -0.015379638411104679, + -0.15391996502876282, + 0.7349804639816284, + 0.0, + 1.0008161067962646 + ], + [ + 0.31414884328842163, + 0.06157447025179863, + 0.09144601225852966, + 0.0034450599923729897, + -0.12212757021188736, + 0.7297112345695496, + 0.0, + 1.0008161067962646 + ], + [ + 0.3067752718925476, + 0.04257122799754143, + 0.08025126159191132, + 0.027892474085092545, + -0.10804238170385361, + 0.6521390676498413, + 0.0, + 1.0008161067962646 + ], + [ + 0.29848629236221313, + 0.022695695981383324, + 0.08078988641500473, + -0.002017056569457054, + -0.12231993675231934, + 0.5682068467140198, + 0.0, + 1.0008161067962646 + ], + [ + 0.28446435928344727, + 0.002008437179028988, + 0.069856658577919, + -0.013001078739762306, + -0.11347363144159317, + 0.43516165018081665, + 0.0, + 1.0008161067962646 + ], + [ + 0.26827472448349, + -0.018504902720451355, + 0.06111236289143562, + -0.03233709931373596, + -0.1075609028339386, + 0.29117605090141296, + 0.0, + 1.0008161067962646 + ], + [ + 0.2505159378051758, + -0.021977895870804787, + 0.04998684674501419, + -0.036110956221818924, + -0.08398386836051941, + 0.1920163333415985, + 0.0, + 1.0008161067962646 + ], + [ + 0.23774932324886322, + -0.028407160192728043, + 0.03875493258237839, + -0.02826734073460102, + -0.0741581916809082, + 0.09201516956090927, + 0.0, + 1.0008161067962646 + ], + [ + 0.23641294240951538, + -0.03321700170636177, + 0.03332150727510452, + -0.001778109697625041, + -0.08803059160709381, + 0.08006500452756882, + 0.0, + 0.9406655430793762 + ], + [ + 0.23624007403850555, + -0.037257395684719086, + 0.025210976600646973, + 0.053639717400074005, + -0.0881662592291832, + 0.08092610538005829, + 0.0, + 0.649078905582428 + ], + [ + 0.23908253014087677, + -0.03756330907344818, + 0.02445334754884243, + 0.08346198499202728, + -0.11340844631195068, + 0.10025912523269653, + 0.0, + 0.3437051773071289 + ], + [ + 0.24282313883304596, + -0.034387413412332535, + 0.025588195770978928, + 0.09739142656326294, + -0.1425015777349472, + 0.1250215619802475, + 0.0, + 0.1541406512260437 + ], + [ + 0.2421521544456482, + -0.03327775374054909, + 0.025826940312981606, + 0.10152554512023926, + -0.13819754123687744, + 0.13883094489574432, + 0.0, + 0.08191495388746262 + ], + [ + 0.2413989156484604, + -0.03334252908825874, + 0.029498372226953506, + 0.08847469836473465, + -0.13884219527244568, + 0.15490269660949707, + 0.0, + 0.08022117614746094 + ], + [ + 0.2435128539800644, + -0.029079226776957512, + 0.04119352623820305, + 0.07435987144708633, + -0.14395776391029358, + 0.18249540030956268, + 0.0, + 0.07821663469076157 + ], + [ + 0.2569778561592102, + -0.019529500976204872, + 0.06705436110496521, + 0.01726720482110977, + -0.16987822949886322, + 0.2550713121891022, + 0.0, + 0.06926051527261734 + ], + [ + 0.27139925956726074, + -0.010237428359687328, + 0.09718694537878036, + -0.0016234720824286342, + -0.21159805357456207, + 0.30165448784828186, + 0.0, + 0.0650232583284378 + ], + [ + 0.2826036810874939, + 0.006396658718585968, + 0.11559943854808807, + -0.03237736225128174, + -0.22602611780166626, + 0.3768152594566345, + 0.0, + 0.06267260015010834 + ], + [ + 0.2976527214050293, + 0.019096629694104195, + 0.13115835189819336, + -0.07065461575984955, + -0.2637951076030731, + 0.40965062379837036, + 0.0, + 0.06267260015010834 + ], + [ + 0.310373991727829, + 0.03241657093167305, + 0.12653879821300507, + -0.08386535942554474, + -0.24398361146450043, + 0.4476112425327301, + 0.0, + 0.06267260015010834 + ], + [ + 0.3269321620464325, + 0.04416448995471001, + 0.10871528089046478, + -0.11078854650259018, + -0.19171985983848572, + 0.4594271183013916, + 0.0, + 0.06267260015010834 + ], + [ + 0.33979564905166626, + 0.048015281558036804, + 0.0936005488038063, + -0.16584806144237518, + -0.12657399475574493, + 0.4394095242023468, + 0.0, + 0.06267260015010834 + ], + [ + 0.34958726167678833, + 0.04676800221204758, + 0.08043841272592545, + -0.1852121204137802, + -0.08897890895605087, + 0.39452481269836426, + 0.0, + 0.06267260015010834 + ], + [ + 0.359043687582016, + 0.046469204127788544, + 0.06829946488142014, + -0.1841481775045395, + -0.08791845291852951, + 0.38015589118003845, + 0.0, + 0.06267260015010834 + ], + [ + 0.36437684297561646, + 0.04266995191574097, + 0.058379121124744415, + -0.20274817943572998, + -0.08643724024295807, + 0.3645060956478119, + 0.0, + 0.06267260015010834 + ], + [ + 0.37017884850502014, + 0.037682875990867615, + 0.05437951534986496, + -0.2761229872703552, + -0.1042875126004219, + 0.3602984845638275, + 0.0, + 0.06267260015010834 + ], + [ + 0.3699292242527008, + 0.040782004594802856, + 0.0460398904979229, + -0.28617388010025024, + -0.08954046666622162, + 0.36555686593055725, + 0.0, + 0.06238236278295517 + ], + [ + 0.37216562032699585, + 0.03639937564730644, + 0.03685929253697395, + -0.3224928677082062, + -0.07983739674091339, + 0.35568568110466003, + 0.0, + 0.06267260015010834 + ], + [ + 0.3725413978099823, + 0.037150684744119644, + 0.0338696651160717, + -0.3395272493362427, + -0.08173012733459473, + 0.3507412374019623, + 0.0, + 0.06267260015010834 + ], + [ + 0.3715324401855469, + 0.03823700547218323, + 0.02691219002008438, + -0.35418716073036194, + -0.06788313388824463, + 0.3447314202785492, + 0.0, + 0.0846695825457573 + ], + [ + 0.3684341013431549, + 0.038891199976205826, + 0.02294878289103508, + -0.34496399760246277, + -0.025469722226262093, + 0.3544377088546753, + 0.0, + 0.24929283559322357 + ], + [ + 0.36751389503479004, + 0.041286204010248184, + 0.02156703919172287, + -0.3245144188404083, + -0.024836033582687378, + 0.3606293499469757, + 0.0, + 0.5217453241348267 + ], + [ + 0.36642396450042725, + 0.04013723507523537, + 0.020749351009726524, + -0.3145686388015747, + -0.02249283157289028, + 0.3481883406639099, + 0.0, + 0.8158720135688782 + ], + [ + 0.3651178181171417, + 0.03554515168070793, + 0.02200976386666298, + -0.34278273582458496, + -0.019242148846387863, + 0.3613699972629547, + 0.0, + 1.0073583126068115 + ], + [ + 0.36879441142082214, + 0.0346706248819828, + 0.04594353213906288, + -0.3615623414516449, + -0.07327349483966827, + 0.3663844168186188, + 0.0, + 1.003452181816101 + ], + [ + 0.3650378882884979, + 0.03259214758872986, + 0.06637914478778839, + -0.3774677813053131, + -0.10358653217554092, + 0.37262675166130066, + 0.0, + 0.9994885921478271 + ], + [ + 0.3578474819660187, + 0.03608135133981705, + 0.08347953855991364, + -0.34192806482315063, + -0.10229884088039398, + 0.3900722861289978, + 0.0, + 0.9994885921478271 + ], + [ + 0.35141855478286743, + 0.03497794270515442, + 0.10603751987218857, + -0.2845698297023773, + -0.13899977505207062, + 0.3702406883239746, + 0.0, + 0.9994885921478271 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9406655430793762 + ], + [ + 0.649078905582428 + ], + [ + 0.3437051773071289 + ], + [ + 0.1541406512260437 + ], + [ + 0.08191495388746262 + ], + [ + 0.08022117614746094 + ], + [ + 0.07821663469076157 + ], + [ + 0.06926051527261734 + ], + [ + 0.0650232583284378 + ], + [ + 0.06267260015010834 + ], + [ + 0.06267260015010834 + ], + [ + 0.06267260015010834 + ], + [ + 0.06267260015010834 + ], + [ + 0.06267260015010834 + ], + [ + 0.06267260015010834 + ], + [ + 0.06267260015010834 + ], + [ + 0.06267260015010834 + ], + [ + 0.06267260015010834 + ], + [ + 0.06238236278295517 + ], + [ + 0.06267260015010834 + ], + [ + 0.06267260015010834 + ], + [ + 0.0846695825457573 + ], + [ + 0.24929283559322357 + ], + [ + 0.5217453241348267 + ], + [ + 0.8158720135688782 + ], + [ + 1.0073583126068115 + ], + [ + 1.003452181816101 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.31692951917648315, + 0.06325735151767731, + 0.10332384705543518 + ], + [ + 0.31414884328842163, + 0.06157447025179863, + 0.09144601225852966 + ], + [ + 0.3067752718925476, + 0.04257122799754143, + 0.08025126159191132 + ], + [ + 0.29848629236221313, + 0.022695695981383324, + 0.08078988641500473 + ], + [ + 0.28446435928344727, + 0.002008437179028988, + 0.069856658577919 + ], + [ + 0.26827472448349, + -0.018504902720451355, + 0.06111236289143562 + ], + [ + 0.2505159378051758, + -0.021977895870804787, + 0.04998684674501419 + ], + [ + 0.23774932324886322, + -0.028407160192728043, + 0.03875493258237839 + ], + [ + 0.23641294240951538, + -0.03321700170636177, + 0.03332150727510452 + ], + [ + 0.23624007403850555, + -0.037257395684719086, + 0.025210976600646973 + ], + [ + 0.23908253014087677, + -0.03756330907344818, + 0.02445334754884243 + ], + [ + 0.24282313883304596, + -0.034387413412332535, + 0.025588195770978928 + ], + [ + 0.2421521544456482, + -0.03327775374054909, + 0.025826940312981606 + ], + [ + 0.2413989156484604, + -0.03334252908825874, + 0.029498372226953506 + ], + [ + 0.2435128539800644, + -0.029079226776957512, + 0.04119352623820305 + ], + [ + 0.2569778561592102, + -0.019529500976204872, + 0.06705436110496521 + ], + [ + 0.27139925956726074, + -0.010237428359687328, + 0.09718694537878036 + ], + [ + 0.2826036810874939, + 0.006396658718585968, + 0.11559943854808807 + ], + [ + 0.2976527214050293, + 0.019096629694104195, + 0.13115835189819336 + ], + [ + 0.310373991727829, + 0.03241657093167305, + 0.12653879821300507 + ], + [ + 0.3269321620464325, + 0.04416448995471001, + 0.10871528089046478 + ], + [ + 0.33979564905166626, + 0.048015281558036804, + 0.0936005488038063 + ], + [ + 0.34958726167678833, + 0.04676800221204758, + 0.08043841272592545 + ], + [ + 0.359043687582016, + 0.046469204127788544, + 0.06829946488142014 + ], + [ + 0.36437684297561646, + 0.04266995191574097, + 0.058379121124744415 + ], + [ + 0.37017884850502014, + 0.037682875990867615, + 0.05437951534986496 + ], + [ + 0.3699292242527008, + 0.040782004594802856, + 0.0460398904979229 + ], + [ + 0.37216562032699585, + 0.03639937564730644, + 0.03685929253697395 + ], + [ + 0.3725413978099823, + 0.037150684744119644, + 0.0338696651160717 + ], + [ + 0.3715324401855469, + 0.03823700547218323, + 0.02691219002008438 + ], + [ + 0.3684341013431549, + 0.038891199976205826, + 0.02294878289103508 + ], + [ + 0.36751389503479004, + 0.041286204010248184, + 0.02156703919172287 + ], + [ + 0.36642396450042725, + 0.04013723507523537, + 0.020749351009726524 + ], + [ + 0.3651178181171417, + 0.03554515168070793, + 0.02200976386666298 + ], + [ + 0.36879441142082214, + 0.0346706248819828, + 0.04594353213906288 + ], + [ + 0.3650378882884979, + 0.03259214758872986, + 0.06637914478778839 + ], + [ + 0.3578474819660187, + 0.03608135133981705, + 0.08347953855991364 + ], + [ + 0.35141855478286743, + 0.03497794270515442, + 0.10603751987218857 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.7330735461502562, + 0.6687442356068852, + 0.12403355706118781, + 0.6626449454599227, + -0.7433371993617987, + 0.09138645578735272, + 0.15331292245308079, + 0.015197216439872728, + -0.9880608242519158 + ], + [ + 0.7398152183127591, + 0.666963294221558, + 0.0885065359957782, + 0.661688979709943, + -0.7450827282323426, + 0.08378199221947194, + 0.1218242048332724, + -0.003419393363818711, + -0.992545802905722 + ], + [ + 0.7901531153202548, + 0.6090420159157673, + 0.06874501581172915, + 0.6033491926979758, + -0.7926531892614201, + 0.08758237964568306, + 0.10783230508710073, + -0.027726240332181375, + -0.9937823954853724 + ], + [ + 0.8365695619008624, + 0.5379129906701562, + 0.10392777573530408, + 0.5341008094090643, + -0.8429979872617471, + 0.06395872779555346, + 0.12201513631341619, + 0.0020019842486469486, + -0.9925262205954494 + ], + [ + 0.9009700602585897, + 0.4201864849236311, + 0.1081492875850612, + 0.41884586276652336, + -0.9073458361422961, + 0.03593990649130905, + 0.11323026874912814, + 0.012917101948987028, + -0.9934848034651761 + ], + [ + 0.9523710796467841, + 0.28360408737333787, + 0.11206269797552842, + 0.2854199128812277, + -0.958402548627129, + -0.00016767795214063172, + 0.1073536211931892, + 0.03214461712572379, + -0.9937011238831067 + ], + [ + 0.9781616405644903, + 0.187741288417172, + 0.0891796700579504, + 0.19016593323533806, + -0.9815594460239707, + -0.019441495771885215, + 0.08388517607371156, + 0.035975860581444516, + -0.995825795353036 + ], + [ + 0.9930327587199062, + 0.08976347483737461, + 0.07634434290929787, + 0.09163283580150512, + -0.9955641987838522, + -0.021338919908014318, + 0.07409023897995501, + 0.028185895142540083, + -0.9968531445518476 + ], + [ + 0.9929367229385293, + 0.0798235388997117, + 0.08777737110223954, + 0.07966979456378939, + -0.9968074364713284, + 0.0052591282188023366, + 0.08791693849456803, + 0.0017712235839737918, + -0.9961262343160919 + ], + [ + 0.9928558535066355, + 0.08542691096131765, + 0.08330364362509633, + 0.08052381864685833, + -0.9949120906825951, + 0.06054623393833031, + 0.0880520799762153, + -0.05340575528156359, + -0.9946831940445497 + ], + [ + 0.9885866729926616, + 0.10912951378692004, + 0.10386115347872373, + 0.09944827300027614, + -0.9905705463400127, + 0.09423393083656981, + 0.11316550259934836, + -0.08282959582346941, + -0.9901175824502653 + ], + [ + 0.9821379121600767, + 0.13780708636492534, + 0.128118415715523, + 0.12343218475025347, + -0.9857711573122421, + 0.11410399282699295, + 0.14201977772699428, + -0.09625192132572301, + -0.9851730560543575 + ], + [ + 0.9809360940690928, + 0.15150042847540793, + 0.12170455835440032, + 0.137066023363175, + -0.9833465745326012, + 0.11934160881438106, + 0.13775806543312588, + -0.10038493177149145, + -0.9853657092071733 + ], + [ + 0.9785186657342703, + 0.1657627109253986, + 0.12257220107465658, + 0.15279927110392208, + -0.9822753656850983, + 0.10857020179734553, + 0.13839654460908127, + -0.08750902601942812, + -0.9865032016194359 + ], + [ + 0.9732216175468984, + 0.19146351073089415, + 0.12720616022032658, + 0.17960681922191238, + -0.9787421052811678, + 0.0990216230869542, + 0.14346105265327555, + -0.07352289037019905, + -0.9869211270224312 + ], + [ + 0.9537164002305771, + 0.255101443174886, + 0.15921143684208003, + 0.24868243927972805, + -0.9667645256414686, + 0.05935820377260495, + 0.16906233266199064, + -0.017017803951043034, + -0.9854584324179128 + ], + [ + 0.9335498682671626, + 0.29677443279126825, + 0.201021340906343, + 0.29047402612352113, + -0.9549462899240481, + 0.06084754315408053, + 0.210022578800364, + 0.001587262333941953, + -0.9776952475042149 + ], + [ + 0.9061903826812348, + 0.3610224607498669, + 0.2201857696813053, + 0.35860182354752745, + -0.9320233292758853, + 0.052318694879395444, + 0.22410649808612418, + 0.03154832039278985, + -0.9740538901908705 + ], + [ + 0.8855295970908506, + 0.3804105958885032, + 0.26669291556370534, + 0.3845110245884848, + -0.9223030114939882, + 0.038838472666079475, + 0.26074624569882, + 0.06815374916227324, + -0.9629986821533539 + ], + [ + 0.8747846412004893, + 0.4130500768101527, + 0.2532616543554476, + 0.4199948663529067, + -0.9070734205639983, + 0.02867266892934698, + 0.24157016321751176, + 0.08128618427171308, + -0.9669728085575157 + ], + [ + 0.8798845242207138, + 0.42183331948615344, + 0.21876899827941942, + 0.43531007908556985, + -0.9001536071365419, + -0.015120139072999549, + 0.19054752447461165, + 0.1085363263168822, + -0.9756595240073416 + ], + [ + 0.897763170112575, + 0.40070760334346894, + 0.18290627931307527, + 0.42200200107843183, + -0.9014507272458274, + -0.09644116047501738, + 0.12623629222699304, + 0.16376813783731553, + -0.9783886730507867 + ], + [ + 0.9195272076368854, + 0.3626885737393365, + 0.15141569566738297, + 0.3828489785737603, + -0.9136803126064945, + -0.13643660051586814, + 0.08886154410396047, + 0.18342651071811844, + -0.9790088565203257 + ], + [ + 0.9250202074108116, + 0.34986139275579803, + 0.1481034156953585, + 0.36963205604480015, + -0.9188724255666231, + -0.13800582841823825, + 0.08780523347587342, + 0.18240195007807272, + -0.9792955476167363 + ], + [ + 0.9308118559115963, + 0.33294449502692297, + 0.15078876657655, + 0.355156980956891, + -0.9213595954935545, + -0.15798738769136206, + 0.08632964596241884, + 0.2006102166471624, + -0.9758599967232915 + ], + [ + 0.9307074627510165, + 0.31264081603142907, + 0.18984029848998696, + 0.3506381391940568, + -0.9103490362860489, + -0.21981248252906638, + 0.10409857886683394, + 0.27114636690220284, + -0.9568924357489934 + ], + [ + 0.9301834751796546, + 0.31935729028503684, + 0.18102382065490685, + 0.35603737329495705, + -0.9049662686916021, + -0.23296660994148194, + 0.08942086624456602, + 0.2811529364459811, + -0.9554877995075991 + ], + [ + 0.9344219950806041, + 0.3065871350016419, + 0.1812728985840637, + 0.34712397836285536, + -0.8978849500710806, + -0.27075368895251783, + 0.07975260970731396, + 0.31592237193231165, + -0.9454271924149076 + ], + [ + 0.9359834641113876, + 0.2984450972202043, + 0.18672300033812106, + 0.3424470780415596, + -0.8948481577858564, + -0.28631586272516835, + 0.08163916738211591, + 0.3319296588924862, + -0.9397647300769874 + ], + [ + 0.9389985805811604, + 0.2948257032119073, + 0.17708605363543142, + 0.33716556720511853, + -0.8906972190826538, + -0.3049226856265013, + 0.06783101029630381, + 0.3460292887083863, + -0.9357684998962892 + ], + [ + 0.9375376118599473, + 0.31854009474070744, + 0.1398407465316457, + 0.3469505150003589, + -0.8855802039499909, + -0.3088252621028245, + 0.025466968585456225, + 0.33805311774109353, + -0.9407823994402711 + ], + [ + 0.9353863738968765, + 0.327036925047755, + 0.13453319732825017, + 0.3527543476405756, + -0.8896320165770281, + -0.2900331796566774, + 0.024833480398943585, + 0.3187502544883686, + -0.9475133632381528 + ], + [ + 0.9397546109994732, + 0.31791168628876404, + 0.1256719174130126, + 0.34110911589720955, + -0.896241219257779, + -0.2835423212770072, + 0.02249093499729747, + 0.3093280404754214, + -0.9506893926086392 + ], + [ + 0.9352401629413698, + 0.32693787131732227, + 0.1357846306468379, + 0.3534906265015793, + -0.8832802689685311, + -0.3079940639466943, + 0.01924096143442816, + 0.3360470127071173, + -0.9416486556320789 + ], + [ + 0.9311234921146662, + 0.3109026169949422, + 0.1906531016739178, + 0.35728089684255454, + -0.882542365826041, + -0.3057275474561528, + 0.07320794481180885, + 0.35278681277489754, + -0.9328354954377327 + ], + [ + 0.9263818209639405, + 0.30293840328122246, + 0.2237075001088634, + 0.3621116901180226, + -0.8796809518585206, + -0.30827998121376043, + 0.10340138136119317, + 0.366592071320031, + -0.9246179792638073 + ], + [ + 0.9200463267805966, + 0.3265729986681936, + 0.21648287026551427, + 0.3782673110502052, + -0.8843605996696022, + -0.2735327606391392, + 0.10212050709029397, + 0.33355120490396273, + -0.9371846113433231 + ], + [ + 0.923248894726202, + 0.31102534567139767, + 0.2255542345796998, + 0.35834990398285943, + -0.9088227253898822, + -0.21360383922201004, + 0.13855260626318827, + 0.27803684677555685, + -0.9505254794758442 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0027806758880615234, + -0.0016828812658786774, + -0.011877834796905518, + 0.01882469840347767, + 0.03179239481687546, + -0.005269229412078857, + 1.0 + ], + [ + -0.0073735713958740234, + -0.019003242254257202, + -0.011194750666618347, + 0.02444741502404213, + 0.014085188508033752, + -0.07757216691970825, + 1.0 + ], + [ + -0.008288979530334473, + -0.019875532016158104, + 0.0005386248230934143, + -0.0299095306545496, + -0.014277555048465729, + -0.08393222093582153, + 1.0 + ], + [ + -0.01402193307876587, + -0.02068725973367691, + -0.010933227837085724, + -0.010984022170305252, + 0.008846305310726166, + -0.13304519653320312, + 1.0 + ], + [ + -0.016189634799957275, + -0.020513340830802917, + -0.008744295686483383, + -0.019336020573973656, + 0.0059127286076545715, + -0.1439855992794037, + 1.0 + ], + [ + -0.01775878667831421, + -0.0034729931503534317, + -0.011125516146421432, + -0.003773856908082962, + 0.02357703447341919, + -0.09915971755981445, + 1.0 + ], + [ + -0.012766614556312561, + -0.006429264321923256, + -0.011231914162635803, + 0.007843615487217903, + 0.009825676679611206, + -0.10000116378068924, + 1.0 + ], + [ + -0.0013363808393478394, + -0.004809841513633728, + -0.005433425307273865, + 0.02648923173546791, + -0.013872399926185608, + -0.011950165033340454, + 0.0 + ], + [ + -0.00017286837100982666, + -0.004040393978357315, + -0.00811053067445755, + 0.055417828261852264, + -0.00013566762208938599, + 0.0008611008524894714, + 0.0 + ], + [ + 0.002842456102371216, + -0.00030591338872909546, + -0.0007576290518045425, + 0.029822267591953278, + -0.025242187082767487, + 0.019333019852638245, + 0.0 + ], + [ + 0.0037406086921691895, + 0.0031758956611156464, + 0.0011348482221364975, + 0.013929441571235657, + -0.02909313142299652, + 0.024762436747550964, + 0.0 + ], + [ + -0.0006709843873977661, + 0.0011096596717834473, + 0.00023874454200267792, + 0.004134118556976318, + 0.004304036498069763, + 0.013809382915496826, + 0.0 + ], + [ + -0.0007532387971878052, + -6.477534770965576e-05, + 0.003671431913971901, + -0.013050846755504608, + -0.0006446540355682373, + 0.016071751713752747, + 0.0 + ], + [ + 0.002113938331604004, + 0.004263302311301231, + 0.011695154011249542, + -0.014114826917648315, + -0.0051155686378479, + 0.027592703700065613, + 0.0 + ], + [ + 0.013465002179145813, + 0.00954972580075264, + 0.02586083486676216, + -0.05709266662597656, + -0.02592046558856964, + 0.07257591187953949, + 0.0 + ], + [ + 0.014421403408050537, + 0.009292072616517544, + 0.030132584273815155, + -0.018890677019953728, + -0.04171982407569885, + 0.04658317565917969, + 0.0 + ], + [ + 0.011204421520233154, + 0.01663408800959587, + 0.01841249316930771, + -0.030753890052437782, + -0.014428064227104187, + 0.07516077160835266, + 0.0 + ], + [ + 0.0150490403175354, + 0.012699970975518227, + 0.015558913350105286, + -0.03827725350856781, + -0.03776898980140686, + 0.03283536434173584, + 0.0 + ], + [ + 0.012721270322799683, + 0.013319941237568855, + -0.0046195536851882935, + -0.01321074366569519, + 0.019811496138572693, + 0.03796061873435974, + 0.0 + ], + [ + 0.016558170318603516, + 0.011747919023036957, + -0.017823517322540283, + -0.02692318707704544, + 0.05226375162601471, + 0.011815875768661499, + 0.0 + ], + [ + 0.012863487005233765, + 0.0038507916033267975, + -0.015114732086658478, + -0.055059514939785004, + 0.06514586508274078, + -0.0200175940990448, + 0.0 + ], + [ + 0.00979161262512207, + -0.0012472793459892273, + -0.01316213607788086, + -0.01936405897140503, + 0.03759508579969406, + -0.044884711503982544, + 0.0 + ], + [ + 0.009456425905227661, + -0.0002987980842590332, + -0.01213894784450531, + 0.0010639429092407227, + 0.0010604560375213623, + -0.014368921518325806, + 0.0 + ], + [ + 0.005333155393600464, + -0.003799252212047577, + -0.00992034375667572, + -0.01860000193119049, + 0.0014812126755714417, + -0.015649795532226562, + 0.0 + ], + [ + 0.0058020055294036865, + -0.004987075924873352, + -0.003999605774879456, + -0.07337480783462524, + -0.017850272357463837, + -0.004207611083984375, + 0.0 + ], + [ + -0.00024962425231933594, + 0.0030991286039352417, + -0.008339624851942062, + -0.01005089282989502, + 0.014747045934200287, + 0.005258381366729736, + 0.0 + ], + [ + 0.002236396074295044, + -0.004382628947496414, + -0.009180597960948944, + -0.03631898760795593, + 0.009703069925308228, + -0.009871184825897217, + 0.0 + ], + [ + 0.0003757774829864502, + 0.0007513090968132019, + -0.002989627420902252, + -0.0170343816280365, + -0.0018927305936813354, + -0.004944443702697754, + 0.0 + ], + [ + -0.0010089576244354248, + 0.0010863207280635834, + -0.00695747509598732, + -0.014659911394119263, + 0.013846993446350098, + -0.006009817123413086, + 1.0 + ], + [ + -0.0030983388423919678, + 0.0006541945040225983, + -0.003963407129049301, + 0.00922316312789917, + 0.042413413524627686, + 0.009706288576126099, + 1.0 + ], + [ + -0.0009202063083648682, + 0.0023950040340423584, + -0.00138174369931221, + 0.020449578762054443, + 0.0006336886435747147, + 0.006191641092300415, + 1.0 + ], + [ + -0.001089930534362793, + -0.0011489689350128174, + -0.0008176881819963455, + 0.009945780038833618, + 0.0023432020097970963, + -0.012441009283065796, + 1.0 + ], + [ + -0.0013061463832855225, + -0.004592083394527435, + 0.0012604128569364548, + -0.028214097023010254, + 0.0032506827265024185, + 0.0131816565990448, + 1.0 + ], + [ + 0.00367659330368042, + -0.0008745267987251282, + 0.023933768272399902, + -0.018779605627059937, + -0.05403134599328041, + 0.0050144195556640625, + 1.0 + ], + [ + -0.0037565231323242188, + -0.002078477293252945, + 0.02043561264872551, + -0.015905439853668213, + -0.03031303733587265, + 0.006242334842681885, + 1.0 + ], + [ + -0.007190406322479248, + 0.0034892037510871887, + 0.017100393772125244, + 0.035539716482162476, + 0.0012876912951469421, + 0.017445534467697144, + 1.0 + ], + [ + -0.006428927183151245, + -0.0011034086346626282, + 0.022557981312274933, + 0.057358235120773315, + -0.036700934171676636, + -0.019831597805023193, + 1.0 + ], + [ + 0.00016921758651733398, + -0.001961398869752884, + 0.002632610499858856, + 1.049041748046875e-05, + -0.007367983460426331, + -0.00523984432220459, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9406655430793762 + ], + [ + 0.649078905582428 + ], + [ + 0.3437051773071289 + ], + [ + 0.1541406512260437 + ], + [ + 0.08191495388746262 + ], + [ + 0.08022117614746094 + ], + [ + 0.07821663469076157 + ], + [ + 0.06926051527261734 + ], + [ + 0.0650232583284378 + ], + [ + 0.06267260015010834 + ], + [ + 0.06267260015010834 + ], + [ + 0.06267260015010834 + ], + [ + 0.06267260015010834 + ], + [ + 0.06267260015010834 + ], + [ + 0.06267260015010834 + ], + [ + 0.06267260015010834 + ], + [ + 0.06267260015010834 + ], + [ + 0.06267260015010834 + ], + [ + 0.06238236278295517 + ], + [ + 0.06267260015010834 + ], + [ + 0.06267260015010834 + ], + [ + 0.0846695825457573 + ], + [ + 0.24929283559322357 + ], + [ + 0.5217453241348267 + ], + [ + 0.8158720135688782 + ], + [ + 1.0073583126068115 + ], + [ + 1.003452181816101 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.31414884328842163, + 0.06157447025179863, + 0.09144601225852966 + ], + [ + 0.3067752718925476, + 0.04257122799754143, + 0.08025126159191132 + ], + [ + 0.29848629236221313, + 0.022695695981383324, + 0.08078988641500473 + ], + [ + 0.28446435928344727, + 0.002008437179028988, + 0.069856658577919 + ], + [ + 0.26827472448349, + -0.018504902720451355, + 0.06111236289143562 + ], + [ + 0.2505159378051758, + -0.021977895870804787, + 0.04998684674501419 + ], + [ + 0.23774932324886322, + -0.028407160192728043, + 0.03875493258237839 + ], + [ + 0.23641294240951538, + -0.03321700170636177, + 0.03332150727510452 + ], + [ + 0.23624007403850555, + -0.037257395684719086, + 0.025210976600646973 + ], + [ + 0.23908253014087677, + -0.03756330907344818, + 0.02445334754884243 + ], + [ + 0.24282313883304596, + -0.034387413412332535, + 0.025588195770978928 + ], + [ + 0.2421521544456482, + -0.03327775374054909, + 0.025826940312981606 + ], + [ + 0.2413989156484604, + -0.03334252908825874, + 0.029498372226953506 + ], + [ + 0.2435128539800644, + -0.029079226776957512, + 0.04119352623820305 + ], + [ + 0.2569778561592102, + -0.019529500976204872, + 0.06705436110496521 + ], + [ + 0.27139925956726074, + -0.010237428359687328, + 0.09718694537878036 + ], + [ + 0.2826036810874939, + 0.006396658718585968, + 0.11559943854808807 + ], + [ + 0.2976527214050293, + 0.019096629694104195, + 0.13115835189819336 + ], + [ + 0.310373991727829, + 0.03241657093167305, + 0.12653879821300507 + ], + [ + 0.3269321620464325, + 0.04416448995471001, + 0.10871528089046478 + ], + [ + 0.33979564905166626, + 0.048015281558036804, + 0.0936005488038063 + ], + [ + 0.34958726167678833, + 0.04676800221204758, + 0.08043841272592545 + ], + [ + 0.359043687582016, + 0.046469204127788544, + 0.06829946488142014 + ], + [ + 0.36437684297561646, + 0.04266995191574097, + 0.058379121124744415 + ], + [ + 0.37017884850502014, + 0.037682875990867615, + 0.05437951534986496 + ], + [ + 0.3699292242527008, + 0.040782004594802856, + 0.0460398904979229 + ], + [ + 0.37216562032699585, + 0.03639937564730644, + 0.03685929253697395 + ], + [ + 0.3725413978099823, + 0.037150684744119644, + 0.0338696651160717 + ], + [ + 0.3715324401855469, + 0.03823700547218323, + 0.02691219002008438 + ], + [ + 0.3684341013431549, + 0.038891199976205826, + 0.02294878289103508 + ], + [ + 0.36751389503479004, + 0.041286204010248184, + 0.02156703919172287 + ], + [ + 0.36642396450042725, + 0.04013723507523537, + 0.020749351009726524 + ], + [ + 0.3651178181171417, + 0.03554515168070793, + 0.02200976386666298 + ], + [ + 0.36879441142082214, + 0.0346706248819828, + 0.04594353213906288 + ], + [ + 0.3650378882884979, + 0.03259214758872986, + 0.06637914478778839 + ], + [ + 0.3578474819660187, + 0.03608135133981705, + 0.08347953855991364 + ], + [ + 0.35141855478286743, + 0.03497794270515442, + 0.10603751987218857 + ], + [ + 0.35158777236938477, + 0.033016543835401535, + 0.10867013037204742 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.7398152183127591, + 0.666963294221558, + 0.0885065359957782, + 0.661688979709943, + -0.7450827282323426, + 0.08378199221947194, + 0.1218242048332724, + -0.003419393363818711, + -0.992545802905722 + ], + [ + 0.7901531153202548, + 0.6090420159157673, + 0.06874501581172915, + 0.6033491926979758, + -0.7926531892614201, + 0.08758237964568306, + 0.10783230508710073, + -0.027726240332181375, + -0.9937823954853724 + ], + [ + 0.8365695619008624, + 0.5379129906701562, + 0.10392777573530408, + 0.5341008094090643, + -0.8429979872617471, + 0.06395872779555346, + 0.12201513631341619, + 0.0020019842486469486, + -0.9925262205954494 + ], + [ + 0.9009700602585897, + 0.4201864849236311, + 0.1081492875850612, + 0.41884586276652336, + -0.9073458361422961, + 0.03593990649130905, + 0.11323026874912814, + 0.012917101948987028, + -0.9934848034651761 + ], + [ + 0.9523710796467841, + 0.28360408737333787, + 0.11206269797552842, + 0.2854199128812277, + -0.958402548627129, + -0.00016767795214063172, + 0.1073536211931892, + 0.03214461712572379, + -0.9937011238831067 + ], + [ + 0.9781616405644903, + 0.187741288417172, + 0.0891796700579504, + 0.19016593323533806, + -0.9815594460239707, + -0.019441495771885215, + 0.08388517607371156, + 0.035975860581444516, + -0.995825795353036 + ], + [ + 0.9930327587199062, + 0.08976347483737461, + 0.07634434290929787, + 0.09163283580150512, + -0.9955641987838522, + -0.021338919908014318, + 0.07409023897995501, + 0.028185895142540083, + -0.9968531445518476 + ], + [ + 0.9929367229385293, + 0.0798235388997117, + 0.08777737110223954, + 0.07966979456378939, + -0.9968074364713284, + 0.0052591282188023366, + 0.08791693849456803, + 0.0017712235839737918, + -0.9961262343160919 + ], + [ + 0.9928558535066355, + 0.08542691096131765, + 0.08330364362509633, + 0.08052381864685833, + -0.9949120906825951, + 0.06054623393833031, + 0.0880520799762153, + -0.05340575528156359, + -0.9946831940445497 + ], + [ + 0.9885866729926616, + 0.10912951378692004, + 0.10386115347872373, + 0.09944827300027614, + -0.9905705463400127, + 0.09423393083656981, + 0.11316550259934836, + -0.08282959582346941, + -0.9901175824502653 + ], + [ + 0.9821379121600767, + 0.13780708636492534, + 0.128118415715523, + 0.12343218475025347, + -0.9857711573122421, + 0.11410399282699295, + 0.14201977772699428, + -0.09625192132572301, + -0.9851730560543575 + ], + [ + 0.9809360940690928, + 0.15150042847540793, + 0.12170455835440032, + 0.137066023363175, + -0.9833465745326012, + 0.11934160881438106, + 0.13775806543312588, + -0.10038493177149145, + -0.9853657092071733 + ], + [ + 0.9785186657342703, + 0.1657627109253986, + 0.12257220107465658, + 0.15279927110392208, + -0.9822753656850983, + 0.10857020179734553, + 0.13839654460908127, + -0.08750902601942812, + -0.9865032016194359 + ], + [ + 0.9732216175468984, + 0.19146351073089415, + 0.12720616022032658, + 0.17960681922191238, + -0.9787421052811678, + 0.0990216230869542, + 0.14346105265327555, + -0.07352289037019905, + -0.9869211270224312 + ], + [ + 0.9537164002305771, + 0.255101443174886, + 0.15921143684208003, + 0.24868243927972805, + -0.9667645256414686, + 0.05935820377260495, + 0.16906233266199064, + -0.017017803951043034, + -0.9854584324179128 + ], + [ + 0.9335498682671626, + 0.29677443279126825, + 0.201021340906343, + 0.29047402612352113, + -0.9549462899240481, + 0.06084754315408053, + 0.210022578800364, + 0.001587262333941953, + -0.9776952475042149 + ], + [ + 0.9061903826812348, + 0.3610224607498669, + 0.2201857696813053, + 0.35860182354752745, + -0.9320233292758853, + 0.052318694879395444, + 0.22410649808612418, + 0.03154832039278985, + -0.9740538901908705 + ], + [ + 0.8855295970908506, + 0.3804105958885032, + 0.26669291556370534, + 0.3845110245884848, + -0.9223030114939882, + 0.038838472666079475, + 0.26074624569882, + 0.06815374916227324, + -0.9629986821533539 + ], + [ + 0.8747846412004893, + 0.4130500768101527, + 0.2532616543554476, + 0.4199948663529067, + -0.9070734205639983, + 0.02867266892934698, + 0.24157016321751176, + 0.08128618427171308, + -0.9669728085575157 + ], + [ + 0.8798845242207138, + 0.42183331948615344, + 0.21876899827941942, + 0.43531007908556985, + -0.9001536071365419, + -0.015120139072999549, + 0.19054752447461165, + 0.1085363263168822, + -0.9756595240073416 + ], + [ + 0.897763170112575, + 0.40070760334346894, + 0.18290627931307527, + 0.42200200107843183, + -0.9014507272458274, + -0.09644116047501738, + 0.12623629222699304, + 0.16376813783731553, + -0.9783886730507867 + ], + [ + 0.9195272076368854, + 0.3626885737393365, + 0.15141569566738297, + 0.3828489785737603, + -0.9136803126064945, + -0.13643660051586814, + 0.08886154410396047, + 0.18342651071811844, + -0.9790088565203257 + ], + [ + 0.9250202074108116, + 0.34986139275579803, + 0.1481034156953585, + 0.36963205604480015, + -0.9188724255666231, + -0.13800582841823825, + 0.08780523347587342, + 0.18240195007807272, + -0.9792955476167363 + ], + [ + 0.9308118559115963, + 0.33294449502692297, + 0.15078876657655, + 0.355156980956891, + -0.9213595954935545, + -0.15798738769136206, + 0.08632964596241884, + 0.2006102166471624, + -0.9758599967232915 + ], + [ + 0.9307074627510165, + 0.31264081603142907, + 0.18984029848998696, + 0.3506381391940568, + -0.9103490362860489, + -0.21981248252906638, + 0.10409857886683394, + 0.27114636690220284, + -0.9568924357489934 + ], + [ + 0.9301834751796546, + 0.31935729028503684, + 0.18102382065490685, + 0.35603737329495705, + -0.9049662686916021, + -0.23296660994148194, + 0.08942086624456602, + 0.2811529364459811, + -0.9554877995075991 + ], + [ + 0.9344219950806041, + 0.3065871350016419, + 0.1812728985840637, + 0.34712397836285536, + -0.8978849500710806, + -0.27075368895251783, + 0.07975260970731396, + 0.31592237193231165, + -0.9454271924149076 + ], + [ + 0.9359834641113876, + 0.2984450972202043, + 0.18672300033812106, + 0.3424470780415596, + -0.8948481577858564, + -0.28631586272516835, + 0.08163916738211591, + 0.3319296588924862, + -0.9397647300769874 + ], + [ + 0.9389985805811604, + 0.2948257032119073, + 0.17708605363543142, + 0.33716556720511853, + -0.8906972190826538, + -0.3049226856265013, + 0.06783101029630381, + 0.3460292887083863, + -0.9357684998962892 + ], + [ + 0.9375376118599473, + 0.31854009474070744, + 0.1398407465316457, + 0.3469505150003589, + -0.8855802039499909, + -0.3088252621028245, + 0.025466968585456225, + 0.33805311774109353, + -0.9407823994402711 + ], + [ + 0.9353863738968765, + 0.327036925047755, + 0.13453319732825017, + 0.3527543476405756, + -0.8896320165770281, + -0.2900331796566774, + 0.024833480398943585, + 0.3187502544883686, + -0.9475133632381528 + ], + [ + 0.9397546109994732, + 0.31791168628876404, + 0.1256719174130126, + 0.34110911589720955, + -0.896241219257779, + -0.2835423212770072, + 0.02249093499729747, + 0.3093280404754214, + -0.9506893926086392 + ], + [ + 0.9352401629413698, + 0.32693787131732227, + 0.1357846306468379, + 0.3534906265015793, + -0.8832802689685311, + -0.3079940639466943, + 0.01924096143442816, + 0.3360470127071173, + -0.9416486556320789 + ], + [ + 0.9311234921146662, + 0.3109026169949422, + 0.1906531016739178, + 0.35728089684255454, + -0.882542365826041, + -0.3057275474561528, + 0.07320794481180885, + 0.35278681277489754, + -0.9328354954377327 + ], + [ + 0.9263818209639405, + 0.30293840328122246, + 0.2237075001088634, + 0.3621116901180226, + -0.8796809518585206, + -0.30827998121376043, + 0.10340138136119317, + 0.366592071320031, + -0.9246179792638073 + ], + [ + 0.9200463267805966, + 0.3265729986681936, + 0.21648287026551427, + 0.3782673110502052, + -0.8843605996696022, + -0.2735327606391392, + 0.10212050709029397, + 0.33355120490396273, + -0.9371846113433231 + ], + [ + 0.923248894726202, + 0.31102534567139767, + 0.2255542345796998, + 0.35834990398285943, + -0.9088227253898822, + -0.21360383922201004, + 0.13855260626318827, + 0.27803684677555685, + -0.9505254794758442 + ], + [ + 0.9241352043279425, + 0.3043488165423891, + 0.2309673613110717, + 0.35313334043874944, + -0.9111730470039516, + -0.21227463881515538, + 0.14584569925891622, + 0.27773274254718616, + -0.9495228042153048 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006614.json b/json/chunk-0006/episode_0006614.json new file mode 100644 index 0000000000000000000000000000000000000000..8cb436cfc5c054783d22cc47b1a1384e6f0fd966 --- /dev/null +++ b/json/chunk-0006/episode_0006614.json @@ -0,0 +1,2782 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 45, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the red ford." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006614.mp4", + "start": 0, + "end": 45, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.26378926634788513, + -0.03232526406645775, + 0.097187340259552, + 0.008088591508567333, + -0.12203570455312729, + -0.0010806757491081953, + 0.0, + 1.0008161067962646 + ], + [ + 0.26035550236701965, + -0.03205578774213791, + 0.09012861549854279, + 0.010423462837934494, + -0.09300848841667175, + 0.002451955107972026, + 0.0, + 1.0008161067962646 + ], + [ + 0.26036161184310913, + -0.03389234095811844, + 0.09014588594436646, + 0.0002514909137971699, + -0.09474732726812363, + 0.08805064857006073, + 0.0, + 1.0008161067962646 + ], + [ + 0.25993990898132324, + -0.040957011282444, + 0.09944689273834229, + -0.01696980930864811, + -0.12956759333610535, + 0.17629243433475494, + 0.0, + 1.0008161067962646 + ], + [ + 0.26044654846191406, + -0.04538312181830406, + 0.10612493008375168, + -0.027225656434893608, + -0.16111873090267181, + 0.2185267060995102, + 0.0, + 1.0008161067962646 + ], + [ + 0.26552411913871765, + -0.059417564421892166, + 0.11310739070177078, + -0.04534958675503731, + -0.19283080101013184, + 0.1972929835319519, + 0.0, + 1.0008161067962646 + ], + [ + 0.26565197110176086, + -0.07333697378635406, + 0.11249125003814697, + -0.07653263211250305, + -0.19936521351337433, + 0.20434580743312836, + 0.0, + 1.0008161067962646 + ], + [ + 0.2658478319644928, + -0.09303442388772964, + 0.09098608046770096, + -0.23034466803073883, + -0.21037070453166962, + 0.16782434284687042, + 0.0, + 1.0008161067962646 + ], + [ + 0.25645655393600464, + -0.0905592069029808, + 0.0856809914112091, + -0.18897633254528046, + -0.17582421004772186, + 0.17156721651554108, + 0.0, + 1.0008161067962646 + ], + [ + 0.26017674803733826, + -0.0942373052239418, + 0.07966770231723785, + -0.15680189430713654, + -0.12175440788269043, + 0.17372070252895355, + 0.0, + 1.0008161067962646 + ], + [ + 0.26182037591934204, + -0.09804324060678482, + 0.07563012838363647, + -0.13442085683345795, + -0.1021127924323082, + 0.18108898401260376, + 0.0, + 1.0008161067962646 + ], + [ + 0.2635430097579956, + -0.10286823660135269, + 0.077019102871418, + -0.13105826079845428, + -0.1069130152463913, + 0.20788908004760742, + 0.0, + 1.0008161067962646 + ], + [ + 0.2662224769592285, + -0.1083909198641777, + 0.0764387920498848, + -0.13082090020179749, + -0.10287220776081085, + 0.22473978996276855, + 0.0, + 1.0008161067962646 + ], + [ + 0.26810070872306824, + -0.10965904593467712, + 0.07724712789058685, + -0.1449507623910904, + -0.10887444764375687, + 0.2701292932033539, + 0.0, + 1.0008161067962646 + ], + [ + 0.26460370421409607, + -0.10984992235898972, + 0.06713752448558807, + -0.09747481346130371, + -0.07950630784034729, + 0.2553471624851227, + 0.0, + 1.0008161067962646 + ], + [ + 0.2630765438079834, + -0.10956190526485443, + 0.06553614139556885, + -0.08909322321414948, + -0.06571172922849655, + 0.2748584449291229, + 0.0, + 1.0008161067962646 + ], + [ + 0.2593330442905426, + -0.10866987705230713, + 0.059318434447050095, + -0.07592526078224182, + -0.036783020943403244, + 0.2873101830482483, + 0.0, + 1.0008161067962646 + ], + [ + 0.2571508586406708, + -0.10790739953517914, + 0.05329137668013573, + -0.06505227833986282, + -0.008182801306247711, + 0.2989940643310547, + 0.0, + 1.0008161067962646 + ], + [ + 0.25618332624435425, + -0.10881105065345764, + 0.0477987602353096, + -0.07500472664833069, + 0.01956581510603428, + 0.3480719327926636, + 0.0, + 1.0008161067962646 + ], + [ + 0.25449079275131226, + -0.10918199270963669, + 0.043290022760629654, + -0.09329268336296082, + 0.030923742800951004, + 0.40190020203590393, + 0.0, + 0.9484345316886902 + ], + [ + 0.2531977593898773, + -0.10593841224908829, + 0.03877100348472595, + -0.09387483447790146, + 0.02296522818505764, + 0.4231482744216919, + 0.0, + 0.6831957101821899 + ], + [ + 0.25345051288604736, + -0.10565577447414398, + 0.0383467897772789, + -0.09837725758552551, + 0.019583487883210182, + 0.4324663281440735, + 0.0, + 0.570969820022583 + ], + [ + 0.2534261643886566, + -0.1032411977648735, + 0.03831819072365761, + -0.09521233290433884, + 0.0252105500549078, + 0.4437022805213928, + 0.0, + 0.570969820022583 + ], + [ + 0.25426793098449707, + -0.09712398052215576, + 0.04797843471169472, + -0.08810728788375854, + -0.0037508374080061913, + 0.4463402032852173, + 0.0, + 0.570969820022583 + ], + [ + 0.25945988297462463, + -0.0887879729270935, + 0.06073680892586708, + -0.07826462388038635, + -0.046103525906801224, + 0.4589502811431885, + 0.0, + 0.570969820022583 + ], + [ + 0.27246081829071045, + -0.07470066845417023, + 0.07375892996788025, + -0.07902621477842331, + -0.08158349990844727, + 0.49343422055244446, + 0.0, + 0.570969820022583 + ], + [ + 0.2849368751049042, + -0.05935642495751381, + 0.08105960488319397, + -0.07390646636486053, + -0.09028218686580658, + 0.4621104300022125, + 0.0, + 0.570969820022583 + ], + [ + 0.29190656542778015, + -0.0380222387611866, + 0.08308643102645874, + -0.05954384803771973, + -0.11087370663881302, + 0.35540321469306946, + 0.0, + 0.570969820022583 + ], + [ + 0.29358500242233276, + -0.026952097192406654, + 0.08347676694393158, + -0.060554154217243195, + -0.11333280801773071, + 0.28248265385627747, + 0.0, + 0.570969820022583 + ], + [ + 0.2964857220649719, + -0.021838847547769547, + 0.07837746292352676, + -0.08450868725776672, + -0.11890066415071487, + 0.23076055943965912, + 0.0, + 0.570969820022583 + ], + [ + 0.295044869184494, + -0.020185142755508423, + 0.07273314893245697, + -0.08188476413488388, + -0.12143043428659439, + 0.20303866267204285, + 0.0, + 0.570969820022583 + ], + [ + 0.29531311988830566, + -0.02153758704662323, + 0.0612119659781456, + -0.05027841031551361, + -0.10567781329154968, + 0.1525665819644928, + 0.0, + 0.570969820022583 + ], + [ + 0.2949078679084778, + -0.026050815358757973, + 0.048677727580070496, + -0.02376096323132515, + -0.0828746035695076, + 0.11406499892473221, + 0.0, + 0.570969820022583 + ], + [ + 0.298136442899704, + -0.03584492579102516, + 0.04048914462327957, + -0.007473870646208525, + -0.06734512001276016, + 0.07366190105676651, + 0.0, + 0.570969820022583 + ], + [ + 0.3049604594707489, + -0.043641649186611176, + 0.031014706939458847, + -0.0026801794301718473, + -0.048006970435380936, + 0.055577557533979416, + 0.0, + 0.570969820022583 + ], + [ + 0.30653733015060425, + -0.04539467766880989, + 0.024680592119693756, + -0.0037010693922638893, + -0.035263366997241974, + 0.053861912339925766, + 0.0, + 0.570969820022583 + ], + [ + 0.3067097067832947, + -0.04556639865040779, + 0.016773110255599022, + -0.007688154000788927, + -0.020350683480501175, + 0.056789595633745193, + 0.0, + 0.570969820022583 + ], + [ + 0.30755093693733215, + -0.044483259320259094, + 0.015278458595275879, + -0.013202960602939129, + -0.025546791031956673, + 0.05791600048542023, + 0.0, + 0.570969820022583 + ], + [ + 0.2999097406864166, + -0.04523611068725586, + 0.007021184545010328, + -0.012770649045705795, + -0.02566615305840969, + 0.04752359911799431, + 0.0, + 0.570969820022583 + ], + [ + 0.30056989192962646, + -0.0463072769343853, + 0.004920767620205879, + -0.022452078759670258, + -0.04254697263240814, + 0.05148445814847946, + 0.0, + 0.570969820022583 + ], + [ + 0.2972804605960846, + -0.045970018953084946, + -0.004681929014623165, + -0.01850293204188347, + -0.018349887803196907, + 0.04951762035489082, + 0.0, + 0.570969820022583 + ], + [ + 0.2955111861228943, + -0.045037150382995605, + -0.008346878923475742, + -0.022782251238822937, + -0.0020103855058550835, + 0.05573784559965134, + 0.0, + 0.6199479699134827 + ], + [ + 0.29503631591796875, + -0.044279731810092926, + -0.007287357002496719, + -0.022154657170176506, + 0.00872938334941864, + 0.05647023394703865, + 0.0, + 0.9141042232513428 + ], + [ + 0.29573461413383484, + -0.04289104789495468, + -0.007043563760817051, + -0.0160434041172266, + 0.0064190165139734745, + 0.07593785226345062, + 0.0, + 1.0047606229782104 + ], + [ + 0.29646944999694824, + -0.040958862751722336, + 0.0067676967009902, + -0.0003505539789330214, + -0.020417192950844765, + 0.09236232936382294, + 0.0, + 1.0008161067962646 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9484345316886902 + ], + [ + 0.6831957101821899 + ], + [ + 0.570969820022583 + ], + [ + 0.570969820022583 + ], + [ + 0.570969820022583 + ], + [ + 0.570969820022583 + ], + [ + 0.570969820022583 + ], + [ + 0.570969820022583 + ], + [ + 0.570969820022583 + ], + [ + 0.570969820022583 + ], + [ + 0.570969820022583 + ], + [ + 0.570969820022583 + ], + [ + 0.570969820022583 + ], + [ + 0.570969820022583 + ], + [ + 0.570969820022583 + ], + [ + 0.570969820022583 + ], + [ + 0.570969820022583 + ], + [ + 0.570969820022583 + ], + [ + 0.570969820022583 + ], + [ + 0.570969820022583 + ], + [ + 0.570969820022583 + ], + [ + 0.570969820022583 + ], + [ + 0.6199479699134827 + ], + [ + 0.9141042232513428 + ], + [ + 1.0047606229782104 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.26378926634788513, + -0.03232526406645775, + 0.097187340259552 + ], + [ + 0.26035550236701965, + -0.03205578774213791, + 0.09012861549854279 + ], + [ + 0.26036161184310913, + -0.03389234095811844, + 0.09014588594436646 + ], + [ + 0.25993990898132324, + -0.040957011282444, + 0.09944689273834229 + ], + [ + 0.26044654846191406, + -0.04538312181830406, + 0.10612493008375168 + ], + [ + 0.26552411913871765, + -0.059417564421892166, + 0.11310739070177078 + ], + [ + 0.26565197110176086, + -0.07333697378635406, + 0.11249125003814697 + ], + [ + 0.2658478319644928, + -0.09303442388772964, + 0.09098608046770096 + ], + [ + 0.25645655393600464, + -0.0905592069029808, + 0.0856809914112091 + ], + [ + 0.26017674803733826, + -0.0942373052239418, + 0.07966770231723785 + ], + [ + 0.26182037591934204, + -0.09804324060678482, + 0.07563012838363647 + ], + [ + 0.2635430097579956, + -0.10286823660135269, + 0.077019102871418 + ], + [ + 0.2662224769592285, + -0.1083909198641777, + 0.0764387920498848 + ], + [ + 0.26810070872306824, + -0.10965904593467712, + 0.07724712789058685 + ], + [ + 0.26460370421409607, + -0.10984992235898972, + 0.06713752448558807 + ], + [ + 0.2630765438079834, + -0.10956190526485443, + 0.06553614139556885 + ], + [ + 0.2593330442905426, + -0.10866987705230713, + 0.059318434447050095 + ], + [ + 0.2571508586406708, + -0.10790739953517914, + 0.05329137668013573 + ], + [ + 0.25618332624435425, + -0.10881105065345764, + 0.0477987602353096 + ], + [ + 0.25449079275131226, + -0.10918199270963669, + 0.043290022760629654 + ], + [ + 0.2531977593898773, + -0.10593841224908829, + 0.03877100348472595 + ], + [ + 0.25345051288604736, + -0.10565577447414398, + 0.0383467897772789 + ], + [ + 0.2534261643886566, + -0.1032411977648735, + 0.03831819072365761 + ], + [ + 0.25426793098449707, + -0.09712398052215576, + 0.04797843471169472 + ], + [ + 0.25945988297462463, + -0.0887879729270935, + 0.06073680892586708 + ], + [ + 0.27246081829071045, + -0.07470066845417023, + 0.07375892996788025 + ], + [ + 0.2849368751049042, + -0.05935642495751381, + 0.08105960488319397 + ], + [ + 0.29190656542778015, + -0.0380222387611866, + 0.08308643102645874 + ], + [ + 0.29358500242233276, + -0.026952097192406654, + 0.08347676694393158 + ], + [ + 0.2964857220649719, + -0.021838847547769547, + 0.07837746292352676 + ], + [ + 0.295044869184494, + -0.020185142755508423, + 0.07273314893245697 + ], + [ + 0.29531311988830566, + -0.02153758704662323, + 0.0612119659781456 + ], + [ + 0.2949078679084778, + -0.026050815358757973, + 0.048677727580070496 + ], + [ + 0.298136442899704, + -0.03584492579102516, + 0.04048914462327957 + ], + [ + 0.3049604594707489, + -0.043641649186611176, + 0.031014706939458847 + ], + [ + 0.30653733015060425, + -0.04539467766880989, + 0.024680592119693756 + ], + [ + 0.3067097067832947, + -0.04556639865040779, + 0.016773110255599022 + ], + [ + 0.30755093693733215, + -0.044483259320259094, + 0.015278458595275879 + ], + [ + 0.2999097406864166, + -0.04523611068725586, + 0.007021184545010328 + ], + [ + 0.30056989192962646, + -0.0463072769343853, + 0.004920767620205879 + ], + [ + 0.2972804605960846, + -0.045970018953084946, + -0.004681929014623165 + ], + [ + 0.2955111861228943, + -0.045037150382995605, + -0.008346878923475742 + ], + [ + 0.29503631591796875, + -0.044279731810092926, + -0.007287357002496719 + ], + [ + 0.29573461413383484, + -0.04289104789495468, + -0.007043563760817051 + ], + [ + 0.29646944999694824, + -0.040958862751722336, + 0.0067676967009902 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9925623006045563, + -9.600280356109991e-05, + 0.12173771068182997, + -0.0010726384253062788, + -0.9999677676853344, + 0.007956948989306892, + 0.12173302290422179, + -0.008028348140905694, + -0.9925304110004536 + ], + [ + 0.9956748346159604, + 0.003419872392003634, + 0.09284356835721824, + 0.0024413548891612023, + -0.9999402966988569, + 0.010650954140659285, + 0.09287445019371157, + -0.01037822290296705, + -0.9956237386636537 + ], + [ + 0.9916582496306275, + 0.0879606152803042, + 0.09421701597392189, + 0.08754250564418177, + -0.9961239217476473, + 0.008569844084082553, + 0.09460563220579597, + -0.0002503629313536735, + -0.9955147973151098 + ], + [ + 0.9762484663034958, + 0.1731969309462954, + 0.1301604976590679, + 0.1739106199920168, + -0.984743460662031, + 0.005950877024380276, + 0.1292053725433442, + 0.016826758278145997, + -0.9914750788152894 + ], + [ + 0.963574353288801, + 0.2124480494744769, + 0.16245089091340492, + 0.21398381168474664, + -0.9768028687145907, + 0.008190482758234138, + 0.16042254835569614, + 0.026869721722344826, + -0.9866826359238455 + ], + [ + 0.96242601790132, + 0.1872948327605324, + 0.19661334056419616, + 0.1923825346843003, + -0.9812955449980246, + -0.006929192988653597, + 0.19163799314084973, + 0.04449380842582724, + -0.9804566184164976 + ], + [ + 0.9597985561463184, + 0.18750538952764126, + 0.2088742696397287, + 0.1989071514822078, + -0.9794004291140862, + -0.034795754631531436, + 0.1980471577899481, + 0.07494350104733048, + -0.9773232806712895 + ], + [ + 0.9642138282194288, + 0.11561875271338634, + 0.23858750489377076, + 0.16335507189642579, + -0.9678731933756306, + -0.19114549963463254, + 0.20882244600652447, + 0.22327961296513518, + -0.9521236266777503 + ], + [ + 0.9701274644548656, + 0.1353104650689949, + 0.201354862750284, + 0.16809462010193404, + -0.9733867958605659, + -0.15576374525892572, + 0.17491969987156927, + 0.18495735640172128, + -0.9670542254236454 + ], + [ + 0.9776569783757447, + 0.15204691846189167, + 0.14515015404556422, + 0.17156865631475726, + -0.9761431573670352, + -0.13307416163877922, + 0.12145381345827257, + 0.15500409966113188, + -0.9804196551909211 + ], + [ + 0.9785243429807243, + 0.16503854964103226, + 0.12350055597658798, + 0.1791627148726866, + -0.9772351309708752, + -0.11363195147397886, + 0.10193542953061123, + 0.13331832555474443, + -0.9858171190832958 + ], + [ + 0.9728819609349082, + 0.19097998238604555, + 0.13048883636263087, + 0.2052164277817293, + -0.9729557864506964, + -0.10603421797048893, + 0.10670945532591766, + 0.12993723076906247, + -0.9857633631882011 + ], + [ + 0.9696983965303719, + 0.20788951068083883, + 0.12832369662422835, + 0.22167455225772903, + -0.969507452227487, + -0.10447819368989122, + 0.10269085961155922, + 0.1297584348867096, + -0.9862136360484937 + ], + [ + 0.9580301469924075, + 0.24893151436826383, + 0.1421665875233305, + 0.26527599673770846, + -0.9578180697924389, + -0.11051330568715173, + 0.10865948190802871, + 0.143588461700129, + -0.9836541417887027 + ], + [ + 0.964519132550217, + 0.2439035245973751, + 0.1010639086595923, + 0.2517834350196522, + -0.9649349871862188, + -0.07419954416056945, + 0.07942257106315143, + 0.09701309804819849, + -0.992109124044734 + ], + [ + 0.9603864003928115, + 0.26471102139464514, + 0.08709785928908842, + 0.2708249289425945, + -0.9602320487308728, + -0.06788424304173495, + 0.06566444855305467, + 0.08878337537126206, + -0.9938841443819841 + ], + [ + 0.9583608748927084, + 0.27988220284845, + 0.05666026829783066, + 0.2831820137820207, + -0.9570371763225083, + -0.06235214677138343, + 0.036774726990726925, + 0.07580102680927084, + -0.9964445914296581 + ], + [ + 0.9556012864552422, + 0.2934276840321501, + 0.02695135559883674, + 0.2945491887313966, + -0.9537686534381455, + -0.059717092498403436, + 0.00818270998889494, + 0.06500423034168976, + -0.9978514384891782 + ], + [ + 0.9398521700937152, + 0.3415051648817887, + 0.007219468761351426, + 0.3410207121239809, + -0.9368891099238364, + -0.07709519834966543, + -0.01956456676205122, + 0.07492007785089137, + -0.9969975976210923 + ], + [ + 0.9198793526016019, + 0.39211761625334046, + 0.008108741027779651, + 0.39098082251183236, + -0.9151905635675193, + -0.09777642243883351, + -0.03091881442145831, + 0.09311287440931164, + -0.995175371245695 + ], + [ + 0.911560243483042, + 0.41078771505807377, + 0.017645839693917403, + 0.4105248025473551, + -0.9069021215697051, + -0.09485741081129248, + -0.02296320958820326, + 0.09371229935144046, + -0.9953344643664629 + ], + [ + 0.9077607491661868, + 0.41883114584235887, + 0.023471121524547788, + 0.41903097534725403, + -0.9027387591193231, + -0.09734358984151842, + -0.01958223615352266, + 0.09819981698598795, + -0.9949740358276422 + ], + [ + 0.902881519748237, + 0.4295062512804731, + 0.01814776592611291, + 0.42914976884783645, + -0.8980490496282422, + -0.09663529562049072, + -0.025207879620515797, + 0.09503833212344481, + -0.995154399192523 + ], + [ + 0.9020266086491588, + 0.429695051336891, + 0.041354082573356515, + 0.4316641386235517, + -0.898676495930856, + -0.07776006100708406, + 0.003750828613060541, + 0.0879927185511669, + -0.9961140561033615 + ], + [ + 0.8955654029438123, + 0.4384207266706119, + 0.07582793334714917, + 0.4425365289880638, + -0.89536997682087, + -0.04973957296751768, + 0.04608719519870642, + 0.07810167113069377, + -0.9958795606926116 + ], + [ + 0.8777821016829035, + 0.4665090309719006, + 0.10893991916099104, + 0.4720778201381975, + -0.8810099656738237, + -0.031047900363404834, + 0.08149302852828973, + 0.07868141079738297, + -0.9935633456887493 + ], + [ + 0.8914680798447346, + 0.4386620554484331, + 0.11340310281336231, + 0.4440224215932856, + -0.8956381484680938, + -0.026007616789697863, + 0.09015959039601264, + 0.0735384805282311, + -0.9932086085718461 + ], + [ + 0.931749787405254, + 0.34117878543022223, + 0.12425526162952596, + 0.34583181576892125, + -0.9381359760086977, + -0.01735643166606422, + 0.11064668486780099, + 0.0591432742631505, + -0.9920984750704936 + ], + [ + 0.9542053514518001, + 0.2716572170928278, + 0.12527770616565137, + 0.2769525591629976, + -0.960513857000659, + -0.026653526648157164, + 0.11309034987041712, + 0.060128919091381905, + -0.9917636239825944 + ], + [ + 0.9666195137031312, + 0.21815460810574835, + 0.13436994712565054, + 0.22710315731589029, + -0.9723086367728029, + -0.055136836998219044, + 0.11862070504543785, + 0.08381218180695175, + -0.9893961019305071 + ], + [ + 0.9722460055383584, + 0.1912665660167901, + 0.13473976932907133, + 0.20016165247961665, + -0.9781743829659683, + -0.05576907194652437, + 0.12113223184328621, + 0.08119099231621893, + -0.9893103684766335 + ], + [ + 0.982870371767299, + 0.1465437323026925, + 0.11176209923229082, + 0.15112757352309567, + -0.9879409132355067, + -0.033663162008558414, + 0.10548122497882235, + 0.04997685942703817, + -0.9931646513538314 + ], + [ + 0.9900918067019501, + 0.11183172348578284, + 0.08492278801280455, + 0.11342717509117635, + -0.9934450445626147, + -0.014185181874764235, + 0.08277976958474793, + 0.023677184295940307, + -0.9962865555106684 + ], + [ + 0.9950275102500281, + 0.07309166805707278, + 0.06765989880471827, + 0.07342847556410907, + -0.9972973494954143, + -0.0025011328938224454, + 0.06729422576983159, + 0.007456859262196945, + -0.997705308409243 + ], + [ + 0.9973056306471411, + 0.05542033137727132, + 0.04806314543953112, + 0.05548495134011503, + -0.9984595235000638, + -1.0334914805413794e-05, + 0.047988532529065236, + 0.002677088354692954, + -0.9988442991495962 + ], + [ + 0.9979290113236612, + 0.05370520862167667, + 0.03540393940626494, + 0.0538024038132531, + -0.9985499835967597, + -0.0017976659385247284, + 0.035256059089125984, + 0.003698760037238014, + -0.999371467209111 + ], + [ + 0.9981811700432919, + 0.05660120351534728, + 0.02075224160468671, + 0.056747322608382264, + -0.9983672779537878, + -0.006520712225274624, + 0.020349278802582634, + 0.00768648630772847, + -0.9997633843967563 + ], + [ + 0.9979975827651159, + 0.05754190197947004, + 0.0262631740574329, + 0.05786474081527629, + -0.99825584657041, + -0.011701989505007499, + 0.025544012319266778, + 0.013198268999360078, + -0.9995865691024735 + ], + [ + 0.9985419805107322, + 0.04717448021208374, + 0.026238932417772073, + 0.04749006615413009, + -0.9988050836932764, + -0.01153682820984768, + 0.02566333521545939, + 0.01276609592580713, + -0.9995891256013303 + ], + [ + 0.9977711812343704, + 0.050495112056172034, + 0.043622397419260245, + 0.05141514449276112, + -0.9984724054021189, + -0.020232117222259663, + 0.04253413705434435, + 0.02242987536615819, + -0.9988432048505416 + ], + [ + 0.998606105021159, + 0.04914984182015923, + 0.01923902449511613, + 0.04948905357221339, + -0.9986200923650645, + -0.017571132613380936, + 0.01834885802977789, + 0.01849876141377452, + -0.9996604999874505 + ], + [ + 0.9984450307075877, + 0.055648807171336453, + 0.0032758076456665653, + 0.05570887730772195, + -0.9981904984409421, + -0.0226329364276173, + 0.0020103841516429665, + 0.022780234472691372, + -0.9997384754389179 + ], + [ + 0.998367939910973, + 0.05661944515490899, + -0.007462907494427082, + 0.056438075444045235, + -0.998150052492218, + -0.022610093983768134, + -0.008729272483568256, + 0.02215200081556567, + -0.9997165041459378 + ], + [ + 0.9970975641363264, + 0.07595780769955189, + -0.005182571068709084, + 0.07586332701847133, + -0.9969819724151547, + -0.016483394458541613, + -0.006418972432781063, + 0.016042385379528117, + -0.9998507081880983 + ], + [ + 0.9955300962027525, + 0.09222393261505434, + 0.020361085618222852, + 0.09221184147334378, + -0.995738230367875, + 0.0015339087156282052, + 0.020415774455885754, + 0.00035048090801715834, + -0.9997915149252368 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0034337639808654785, + 0.0002694763243198395, + -0.007058724761009216, + 0.002334871329367161, + 0.029027216136455536, + 0.003532630857080221, + 1.0 + ], + [ + 6.109476089477539e-06, + -0.0018365532159805298, + 1.7270445823669434e-05, + -0.010171972215175629, + -0.0017388388514518738, + 0.08559869229793549, + 1.0 + ], + [ + -0.00042170286178588867, + -0.0070646703243255615, + 0.00930100679397583, + -0.017221299931406975, + -0.03482026606798172, + 0.08824178576469421, + 1.0 + ], + [ + 0.0005066394805908203, + -0.004426110535860062, + 0.006678037345409393, + -0.010255847126245499, + -0.03155113756656647, + 0.04223427176475525, + 1.0 + ], + [ + 0.005077570676803589, + -0.014034442603588104, + 0.006982460618019104, + -0.0181239303201437, + -0.03171207010746002, + -0.02123372256755829, + 1.0 + ], + [ + 0.0001278519630432129, + -0.013919409364461899, + -0.0006161406636238098, + -0.031183045357465744, + -0.006534412503242493, + 0.007052823901176453, + 1.0 + ], + [ + 0.0001958608627319336, + -0.01969745010137558, + -0.021505169570446014, + -0.15381203591823578, + -0.011005491018295288, + -0.036521464586257935, + 1.0 + ], + [ + -0.00939127802848816, + 0.0024752169847488403, + -0.005305089056491852, + 0.041368335485458374, + 0.034546494483947754, + 0.0037428736686706543, + 1.0 + ], + [ + 0.003720194101333618, + -0.0036780983209609985, + -0.0060132890939712524, + 0.03217443823814392, + 0.05406980216503143, + 0.0021534860134124756, + 1.0 + ], + [ + 0.0016436278820037842, + -0.0038059353828430176, + -0.004037573933601379, + 0.02238103747367859, + 0.019641615450382233, + 0.0073682814836502075, + 1.0 + ], + [ + 0.0017226338386535645, + -0.004824995994567871, + 0.0013889744877815247, + 0.003362596035003662, + -0.004800222814083099, + 0.026800096035003662, + 1.0 + ], + [ + 0.00267946720123291, + -0.005522683262825012, + -0.0005803108215332031, + 0.00023736059665679932, + 0.004040807485580444, + 0.016850709915161133, + 1.0 + ], + [ + 0.0018782317638397217, + -0.0012681260704994202, + 0.0008083358407020569, + -0.014129862189292908, + -0.006002239882946014, + 0.04538950324058533, + 1.0 + ], + [ + -0.003497004508972168, + -0.00019087642431259155, + -0.01010960340499878, + 0.04747594892978668, + 0.029368139803409576, + -0.014782130718231201, + 1.0 + ], + [ + -0.001527160406112671, + 0.0002880170941352844, + -0.001601383090019226, + 0.008381590247154236, + 0.013794578611850739, + 0.019511282444000244, + 1.0 + ], + [ + -0.003743499517440796, + 0.0008920282125473022, + -0.006217706948518753, + 0.013167962431907654, + 0.028928708285093307, + 0.012451738119125366, + 1.0 + ], + [ + -0.002182185649871826, + 0.0007624775171279907, + -0.006027057766914368, + 0.010872982442378998, + 0.028600219637155533, + 0.011683881282806396, + 1.0 + ], + [ + -0.0009675323963165283, + -0.0009036511182785034, + -0.005492616444826126, + -0.009952448308467865, + 0.02774861641228199, + 0.04907786846160889, + 1.0 + ], + [ + -0.0016925334930419922, + -0.00037094205617904663, + -0.004508737474679947, + -0.018287956714630127, + 0.011357927694916725, + 0.053828269243240356, + 0.0 + ], + [ + -0.0012930333614349365, + 0.003243580460548401, + -0.004519019275903702, + -0.0005821511149406433, + -0.007958514615893364, + 0.021248072385787964, + 0.0 + ], + [ + 0.00025275349617004395, + 0.0002826377749443054, + -0.000424213707447052, + -0.004502423107624054, + -0.003381740301847458, + 0.009318053722381592, + 0.0 + ], + [ + -2.434849739074707e-05, + 0.0024145767092704773, + -2.8599053621292114e-05, + 0.003164924681186676, + 0.005627062171697617, + 0.011235952377319336, + 0.0 + ], + [ + 0.0008417665958404541, + 0.006117217242717743, + 0.00966024398803711, + 0.007105045020580292, + -0.028961386531591415, + 0.002637922763824463, + 0.0 + ], + [ + 0.0051919519901275635, + 0.008336007595062256, + 0.012758374214172363, + 0.009842664003372192, + -0.04235268756747246, + 0.012610077857971191, + 0.0 + ], + [ + 0.013000935316085815, + 0.014087304472923279, + 0.013022121042013168, + -0.0007615908980369568, + -0.03547997400164604, + 0.03448393940925598, + 0.0 + ], + [ + 0.012476056814193726, + 0.015344243496656418, + 0.007300674915313721, + 0.005119748413562775, + -0.008698686957359314, + -0.031323790550231934, + 0.0 + ], + [ + 0.0069696903228759766, + 0.02133418619632721, + 0.0020268261432647705, + 0.014362618327140808, + -0.02059151977300644, + -0.10670721530914307, + 0.0 + ], + [ + 0.0016784369945526123, + 0.011070141568779945, + 0.00039033591747283936, + -0.001010306179523468, + -0.002459101378917694, + -0.07292056083679199, + 0.0 + ], + [ + 0.00290071964263916, + 0.005113249644637108, + -0.005099304020404816, + -0.02395453304052353, + -0.005567856132984161, + -0.05172209441661835, + 0.0 + ], + [ + -0.0014408528804779053, + 0.0016537047922611237, + -0.005644313991069794, + 0.002623923122882843, + -0.0025297701358795166, + -0.027721896767616272, + 0.0 + ], + [ + 0.0002682507038116455, + -0.0013524442911148071, + -0.01152118295431137, + 0.03160635381937027, + 0.015752620995044708, + -0.05047208070755005, + 0.0 + ], + [ + -0.00040525197982788086, + -0.004513228312134743, + -0.012534238398075104, + 0.02651744708418846, + 0.022803209722042084, + -0.03850158303976059, + 0.0 + ], + [ + 0.0032285749912261963, + -0.009794110432267189, + -0.008188582956790924, + 0.016287092119455338, + 0.015529483556747437, + -0.0404030978679657, + 0.0 + ], + [ + 0.006824016571044922, + -0.007796723395586014, + -0.009474437683820724, + 0.004793691448867321, + 0.019338149577379227, + -0.018084343522787094, + 0.0 + ], + [ + 0.0015768706798553467, + -0.0017530284821987152, + -0.006334114819765091, + -0.001020889962092042, + 0.012743603438138962, + -0.00171564519405365, + 0.0 + ], + [ + 0.0001723766326904297, + -0.0001717209815979004, + -0.007907481864094734, + -0.003987084608525038, + 0.014912683516740799, + 0.0029276832938194275, + 0.0 + ], + [ + 0.0008412301540374756, + 0.001083139330148697, + -0.001494651660323143, + -0.005514806602150202, + -0.005196107551455498, + 0.0011264048516750336, + 0.0 + ], + [ + -0.007641196250915527, + -0.0007528513669967651, + -0.008257273584604263, + 0.0004323115572333336, + -0.00011936202645301819, + -0.010392401367425919, + 0.0 + ], + [ + 0.0006601512432098389, + -0.0010711662471294403, + -0.002100416924804449, + -0.009681429713964462, + -0.01688081957399845, + 0.003960859030485153, + 0.0 + ], + [ + -0.00328943133354187, + 0.000337257981300354, + -0.009602696634829044, + 0.003949146717786789, + 0.024197084829211235, + -0.0019668377935886383, + 0.0 + ], + [ + -0.0017692744731903076, + 0.0009328685700893402, + -0.003664949908852577, + -0.004279319196939468, + 0.016339503228664398, + 0.006220225244760513, + 1.0 + ], + [ + -0.0004748702049255371, + 0.0007574185729026794, + 0.001059521920979023, + 0.000627594068646431, + 0.010739768855273724, + 0.0007323883473873138, + 1.0 + ], + [ + 0.0006982982158660889, + 0.0013886839151382446, + 0.00024379324167966843, + 0.006111253052949905, + -0.0023103668354451656, + 0.019467618316411972, + 1.0 + ], + [ + 0.0007348358631134033, + 0.0019321851432323456, + 0.013811260461807251, + 0.015692850574851036, + -0.026836208999156952, + 0.016424477100372314, + 1.0 + ], + [ + 0.0012998878955841064, + 0.0031980201601982117, + 0.022534523159265518, + 0.007946846075356007, + -0.06863784044981003, + 0.004719056189060211, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9484345316886902 + ], + [ + 0.6831957101821899 + ], + [ + 0.570969820022583 + ], + [ + 0.570969820022583 + ], + [ + 0.570969820022583 + ], + [ + 0.570969820022583 + ], + [ + 0.570969820022583 + ], + [ + 0.570969820022583 + ], + [ + 0.570969820022583 + ], + [ + 0.570969820022583 + ], + [ + 0.570969820022583 + ], + [ + 0.570969820022583 + ], + [ + 0.570969820022583 + ], + [ + 0.570969820022583 + ], + [ + 0.570969820022583 + ], + [ + 0.570969820022583 + ], + [ + 0.570969820022583 + ], + [ + 0.570969820022583 + ], + [ + 0.570969820022583 + ], + [ + 0.570969820022583 + ], + [ + 0.570969820022583 + ], + [ + 0.570969820022583 + ], + [ + 0.6199479699134827 + ], + [ + 0.9141042232513428 + ], + [ + 1.0047606229782104 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.26035550236701965, + -0.03205578774213791, + 0.09012861549854279 + ], + [ + 0.26036161184310913, + -0.03389234095811844, + 0.09014588594436646 + ], + [ + 0.25993990898132324, + -0.040957011282444, + 0.09944689273834229 + ], + [ + 0.26044654846191406, + -0.04538312181830406, + 0.10612493008375168 + ], + [ + 0.26552411913871765, + -0.059417564421892166, + 0.11310739070177078 + ], + [ + 0.26565197110176086, + -0.07333697378635406, + 0.11249125003814697 + ], + [ + 0.2658478319644928, + -0.09303442388772964, + 0.09098608046770096 + ], + [ + 0.25645655393600464, + -0.0905592069029808, + 0.0856809914112091 + ], + [ + 0.26017674803733826, + -0.0942373052239418, + 0.07966770231723785 + ], + [ + 0.26182037591934204, + -0.09804324060678482, + 0.07563012838363647 + ], + [ + 0.2635430097579956, + -0.10286823660135269, + 0.077019102871418 + ], + [ + 0.2662224769592285, + -0.1083909198641777, + 0.0764387920498848 + ], + [ + 0.26810070872306824, + -0.10965904593467712, + 0.07724712789058685 + ], + [ + 0.26460370421409607, + -0.10984992235898972, + 0.06713752448558807 + ], + [ + 0.2630765438079834, + -0.10956190526485443, + 0.06553614139556885 + ], + [ + 0.2593330442905426, + -0.10866987705230713, + 0.059318434447050095 + ], + [ + 0.2571508586406708, + -0.10790739953517914, + 0.05329137668013573 + ], + [ + 0.25618332624435425, + -0.10881105065345764, + 0.0477987602353096 + ], + [ + 0.25449079275131226, + -0.10918199270963669, + 0.043290022760629654 + ], + [ + 0.2531977593898773, + -0.10593841224908829, + 0.03877100348472595 + ], + [ + 0.25345051288604736, + -0.10565577447414398, + 0.0383467897772789 + ], + [ + 0.2534261643886566, + -0.1032411977648735, + 0.03831819072365761 + ], + [ + 0.25426793098449707, + -0.09712398052215576, + 0.04797843471169472 + ], + [ + 0.25945988297462463, + -0.0887879729270935, + 0.06073680892586708 + ], + [ + 0.27246081829071045, + -0.07470066845417023, + 0.07375892996788025 + ], + [ + 0.2849368751049042, + -0.05935642495751381, + 0.08105960488319397 + ], + [ + 0.29190656542778015, + -0.0380222387611866, + 0.08308643102645874 + ], + [ + 0.29358500242233276, + -0.026952097192406654, + 0.08347676694393158 + ], + [ + 0.2964857220649719, + -0.021838847547769547, + 0.07837746292352676 + ], + [ + 0.295044869184494, + -0.020185142755508423, + 0.07273314893245697 + ], + [ + 0.29531311988830566, + -0.02153758704662323, + 0.0612119659781456 + ], + [ + 0.2949078679084778, + -0.026050815358757973, + 0.048677727580070496 + ], + [ + 0.298136442899704, + -0.03584492579102516, + 0.04048914462327957 + ], + [ + 0.3049604594707489, + -0.043641649186611176, + 0.031014706939458847 + ], + [ + 0.30653733015060425, + -0.04539467766880989, + 0.024680592119693756 + ], + [ + 0.3067097067832947, + -0.04556639865040779, + 0.016773110255599022 + ], + [ + 0.30755093693733215, + -0.044483259320259094, + 0.015278458595275879 + ], + [ + 0.2999097406864166, + -0.04523611068725586, + 0.007021184545010328 + ], + [ + 0.30056989192962646, + -0.0463072769343853, + 0.004920767620205879 + ], + [ + 0.2972804605960846, + -0.045970018953084946, + -0.004681929014623165 + ], + [ + 0.2955111861228943, + -0.045037150382995605, + -0.008346878923475742 + ], + [ + 0.29503631591796875, + -0.044279731810092926, + -0.007287357002496719 + ], + [ + 0.29573461413383484, + -0.04289104789495468, + -0.007043563760817051 + ], + [ + 0.29646944999694824, + -0.040958862751722336, + 0.0067676967009902 + ], + [ + 0.29776933789253235, + -0.037760842591524124, + 0.029302218928933144 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9956748346159604, + 0.003419872392003634, + 0.09284356835721824, + 0.0024413548891612023, + -0.9999402966988569, + 0.010650954140659285, + 0.09287445019371157, + -0.01037822290296705, + -0.9956237386636537 + ], + [ + 0.9916582496306275, + 0.0879606152803042, + 0.09421701597392189, + 0.08754250564418177, + -0.9961239217476473, + 0.008569844084082553, + 0.09460563220579597, + -0.0002503629313536735, + -0.9955147973151098 + ], + [ + 0.9762484663034958, + 0.1731969309462954, + 0.1301604976590679, + 0.1739106199920168, + -0.984743460662031, + 0.005950877024380276, + 0.1292053725433442, + 0.016826758278145997, + -0.9914750788152894 + ], + [ + 0.963574353288801, + 0.2124480494744769, + 0.16245089091340492, + 0.21398381168474664, + -0.9768028687145907, + 0.008190482758234138, + 0.16042254835569614, + 0.026869721722344826, + -0.9866826359238455 + ], + [ + 0.96242601790132, + 0.1872948327605324, + 0.19661334056419616, + 0.1923825346843003, + -0.9812955449980246, + -0.006929192988653597, + 0.19163799314084973, + 0.04449380842582724, + -0.9804566184164976 + ], + [ + 0.9597985561463184, + 0.18750538952764126, + 0.2088742696397287, + 0.1989071514822078, + -0.9794004291140862, + -0.034795754631531436, + 0.1980471577899481, + 0.07494350104733048, + -0.9773232806712895 + ], + [ + 0.9642138282194288, + 0.11561875271338634, + 0.23858750489377076, + 0.16335507189642579, + -0.9678731933756306, + -0.19114549963463254, + 0.20882244600652447, + 0.22327961296513518, + -0.9521236266777503 + ], + [ + 0.9701274644548656, + 0.1353104650689949, + 0.201354862750284, + 0.16809462010193404, + -0.9733867958605659, + -0.15576374525892572, + 0.17491969987156927, + 0.18495735640172128, + -0.9670542254236454 + ], + [ + 0.9776569783757447, + 0.15204691846189167, + 0.14515015404556422, + 0.17156865631475726, + -0.9761431573670352, + -0.13307416163877922, + 0.12145381345827257, + 0.15500409966113188, + -0.9804196551909211 + ], + [ + 0.9785243429807243, + 0.16503854964103226, + 0.12350055597658798, + 0.1791627148726866, + -0.9772351309708752, + -0.11363195147397886, + 0.10193542953061123, + 0.13331832555474443, + -0.9858171190832958 + ], + [ + 0.9728819609349082, + 0.19097998238604555, + 0.13048883636263087, + 0.2052164277817293, + -0.9729557864506964, + -0.10603421797048893, + 0.10670945532591766, + 0.12993723076906247, + -0.9857633631882011 + ], + [ + 0.9696983965303719, + 0.20788951068083883, + 0.12832369662422835, + 0.22167455225772903, + -0.969507452227487, + -0.10447819368989122, + 0.10269085961155922, + 0.1297584348867096, + -0.9862136360484937 + ], + [ + 0.9580301469924075, + 0.24893151436826383, + 0.1421665875233305, + 0.26527599673770846, + -0.9578180697924389, + -0.11051330568715173, + 0.10865948190802871, + 0.143588461700129, + -0.9836541417887027 + ], + [ + 0.964519132550217, + 0.2439035245973751, + 0.1010639086595923, + 0.2517834350196522, + -0.9649349871862188, + -0.07419954416056945, + 0.07942257106315143, + 0.09701309804819849, + -0.992109124044734 + ], + [ + 0.9603864003928115, + 0.26471102139464514, + 0.08709785928908842, + 0.2708249289425945, + -0.9602320487308728, + -0.06788424304173495, + 0.06566444855305467, + 0.08878337537126206, + -0.9938841443819841 + ], + [ + 0.9583608748927084, + 0.27988220284845, + 0.05666026829783066, + 0.2831820137820207, + -0.9570371763225083, + -0.06235214677138343, + 0.036774726990726925, + 0.07580102680927084, + -0.9964445914296581 + ], + [ + 0.9556012864552422, + 0.2934276840321501, + 0.02695135559883674, + 0.2945491887313966, + -0.9537686534381455, + -0.059717092498403436, + 0.00818270998889494, + 0.06500423034168976, + -0.9978514384891782 + ], + [ + 0.9398521700937152, + 0.3415051648817887, + 0.007219468761351426, + 0.3410207121239809, + -0.9368891099238364, + -0.07709519834966543, + -0.01956456676205122, + 0.07492007785089137, + -0.9969975976210923 + ], + [ + 0.9198793526016019, + 0.39211761625334046, + 0.008108741027779651, + 0.39098082251183236, + -0.9151905635675193, + -0.09777642243883351, + -0.03091881442145831, + 0.09311287440931164, + -0.995175371245695 + ], + [ + 0.911560243483042, + 0.41078771505807377, + 0.017645839693917403, + 0.4105248025473551, + -0.9069021215697051, + -0.09485741081129248, + -0.02296320958820326, + 0.09371229935144046, + -0.9953344643664629 + ], + [ + 0.9077607491661868, + 0.41883114584235887, + 0.023471121524547788, + 0.41903097534725403, + -0.9027387591193231, + -0.09734358984151842, + -0.01958223615352266, + 0.09819981698598795, + -0.9949740358276422 + ], + [ + 0.902881519748237, + 0.4295062512804731, + 0.01814776592611291, + 0.42914976884783645, + -0.8980490496282422, + -0.09663529562049072, + -0.025207879620515797, + 0.09503833212344481, + -0.995154399192523 + ], + [ + 0.9020266086491588, + 0.429695051336891, + 0.041354082573356515, + 0.4316641386235517, + -0.898676495930856, + -0.07776006100708406, + 0.003750828613060541, + 0.0879927185511669, + -0.9961140561033615 + ], + [ + 0.8955654029438123, + 0.4384207266706119, + 0.07582793334714917, + 0.4425365289880638, + -0.89536997682087, + -0.04973957296751768, + 0.04608719519870642, + 0.07810167113069377, + -0.9958795606926116 + ], + [ + 0.8777821016829035, + 0.4665090309719006, + 0.10893991916099104, + 0.4720778201381975, + -0.8810099656738237, + -0.031047900363404834, + 0.08149302852828973, + 0.07868141079738297, + -0.9935633456887493 + ], + [ + 0.8914680798447346, + 0.4386620554484331, + 0.11340310281336231, + 0.4440224215932856, + -0.8956381484680938, + -0.026007616789697863, + 0.09015959039601264, + 0.0735384805282311, + -0.9932086085718461 + ], + [ + 0.931749787405254, + 0.34117878543022223, + 0.12425526162952596, + 0.34583181576892125, + -0.9381359760086977, + -0.01735643166606422, + 0.11064668486780099, + 0.0591432742631505, + -0.9920984750704936 + ], + [ + 0.9542053514518001, + 0.2716572170928278, + 0.12527770616565137, + 0.2769525591629976, + -0.960513857000659, + -0.026653526648157164, + 0.11309034987041712, + 0.060128919091381905, + -0.9917636239825944 + ], + [ + 0.9666195137031312, + 0.21815460810574835, + 0.13436994712565054, + 0.22710315731589029, + -0.9723086367728029, + -0.055136836998219044, + 0.11862070504543785, + 0.08381218180695175, + -0.9893961019305071 + ], + [ + 0.9722460055383584, + 0.1912665660167901, + 0.13473976932907133, + 0.20016165247961665, + -0.9781743829659683, + -0.05576907194652437, + 0.12113223184328621, + 0.08119099231621893, + -0.9893103684766335 + ], + [ + 0.982870371767299, + 0.1465437323026925, + 0.11176209923229082, + 0.15112757352309567, + -0.9879409132355067, + -0.033663162008558414, + 0.10548122497882235, + 0.04997685942703817, + -0.9931646513538314 + ], + [ + 0.9900918067019501, + 0.11183172348578284, + 0.08492278801280455, + 0.11342717509117635, + -0.9934450445626147, + -0.014185181874764235, + 0.08277976958474793, + 0.023677184295940307, + -0.9962865555106684 + ], + [ + 0.9950275102500281, + 0.07309166805707278, + 0.06765989880471827, + 0.07342847556410907, + -0.9972973494954143, + -0.0025011328938224454, + 0.06729422576983159, + 0.007456859262196945, + -0.997705308409243 + ], + [ + 0.9973056306471411, + 0.05542033137727132, + 0.04806314543953112, + 0.05548495134011503, + -0.9984595235000638, + -1.0334914805413794e-05, + 0.047988532529065236, + 0.002677088354692954, + -0.9988442991495962 + ], + [ + 0.9979290113236612, + 0.05370520862167667, + 0.03540393940626494, + 0.0538024038132531, + -0.9985499835967597, + -0.0017976659385247284, + 0.035256059089125984, + 0.003698760037238014, + -0.999371467209111 + ], + [ + 0.9981811700432919, + 0.05660120351534728, + 0.02075224160468671, + 0.056747322608382264, + -0.9983672779537878, + -0.006520712225274624, + 0.020349278802582634, + 0.00768648630772847, + -0.9997633843967563 + ], + [ + 0.9979975827651159, + 0.05754190197947004, + 0.0262631740574329, + 0.05786474081527629, + -0.99825584657041, + -0.011701989505007499, + 0.025544012319266778, + 0.013198268999360078, + -0.9995865691024735 + ], + [ + 0.9985419805107322, + 0.04717448021208374, + 0.026238932417772073, + 0.04749006615413009, + -0.9988050836932764, + -0.01153682820984768, + 0.02566333521545939, + 0.01276609592580713, + -0.9995891256013303 + ], + [ + 0.9977711812343704, + 0.050495112056172034, + 0.043622397419260245, + 0.05141514449276112, + -0.9984724054021189, + -0.020232117222259663, + 0.04253413705434435, + 0.02242987536615819, + -0.9988432048505416 + ], + [ + 0.998606105021159, + 0.04914984182015923, + 0.01923902449511613, + 0.04948905357221339, + -0.9986200923650645, + -0.017571132613380936, + 0.01834885802977789, + 0.01849876141377452, + -0.9996604999874505 + ], + [ + 0.9984450307075877, + 0.055648807171336453, + 0.0032758076456665653, + 0.05570887730772195, + -0.9981904984409421, + -0.0226329364276173, + 0.0020103841516429665, + 0.022780234472691372, + -0.9997384754389179 + ], + [ + 0.998367939910973, + 0.05661944515490899, + -0.007462907494427082, + 0.056438075444045235, + -0.998150052492218, + -0.022610093983768134, + -0.008729272483568256, + 0.02215200081556567, + -0.9997165041459378 + ], + [ + 0.9970975641363264, + 0.07595780769955189, + -0.005182571068709084, + 0.07586332701847133, + -0.9969819724151547, + -0.016483394458541613, + -0.006418972432781063, + 0.016042385379528117, + -0.9998507081880983 + ], + [ + 0.9955300962027525, + 0.09222393261505434, + 0.020361085618222852, + 0.09221184147334378, + -0.995738230367875, + 0.0015339087156282052, + 0.020415774455885754, + 0.00035048090801715834, + -0.9997915149252368 + ], + [ + 0.991347182490428, + 0.09759857207577115, + 0.08777973853378628, + 0.09654485394975072, + -0.995197102385865, + 0.016180808959957254, + 0.08893736528653566, + -0.007566117336377797, + -0.9960084833596251 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006615.json b/json/chunk-0006/episode_0006615.json new file mode 100644 index 0000000000000000000000000000000000000000..a651fad07fa324d9f4130157109906239d0c2d2b --- /dev/null +++ b/json/chunk-0006/episode_0006615.json @@ -0,0 +1,2362 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 38, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPick up the egg and place it on the near edge of the table." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006615.mp4", + "start": 0, + "end": 38, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.29304781556129456, + 0.061617277562618256, + 0.16439040005207062, + -0.4421379864215851, + -0.16093988716602325, + 1.520564079284668, + 0.0, + 1.0001531839370728 + ], + [ + 0.29364827275276184, + 0.05873873084783554, + 0.15545101463794708, + -0.41261571645736694, + -0.1494133174419403, + 1.502593755722046, + 0.0, + 1.0001531839370728 + ], + [ + 0.3247915506362915, + 0.021898945793509483, + 0.15103676915168762, + -0.39366742968559265, + -0.1643313318490982, + 1.2561187744140625, + 0.0, + 1.0001531839370728 + ], + [ + 0.3485841751098633, + -0.0011594094103202224, + 0.14376792311668396, + -0.3564361035823822, + -0.1819668412208557, + 1.0061273574829102, + 0.0, + 1.0001531839370728 + ], + [ + 0.3654780387878418, + -0.026308780536055565, + 0.13300663232803345, + -0.3332980275154114, + -0.174453005194664, + 0.8209152817726135, + 0.0, + 1.0001531839370728 + ], + [ + 0.3703567385673523, + -0.03707938641309738, + 0.11970914155244827, + -0.3022754192352295, + -0.17120391130447388, + 0.7403494119644165, + 0.0, + 1.0001531839370728 + ], + [ + 0.37673458456993103, + -0.046896617859601974, + 0.10563044995069504, + -0.27706554532051086, + -0.16774402558803558, + 0.6636450290679932, + 0.0, + 1.0001531839370728 + ], + [ + 0.38133570551872253, + -0.05180151388049126, + 0.09291667491197586, + -0.2894434630870819, + -0.16382423043251038, + 0.6090232729911804, + 0.0, + 1.0001531839370728 + ], + [ + 0.3875814974308014, + -0.050040047615766525, + 0.07563034445047379, + -0.2701209485530853, + -0.17891398072242737, + 0.5883510708808899, + 0.0, + 1.0001531839370728 + ], + [ + 0.39570266008377075, + -0.05260976031422615, + 0.05959282070398331, + -0.2550432085990906, + -0.17783713340759277, + 0.568528413772583, + 0.0, + 1.0001531839370728 + ], + [ + 0.3999120891094208, + -0.05993315950036049, + 0.042678311467170715, + -0.2438245415687561, + -0.17654216289520264, + 0.5459235906600952, + 0.0, + 1.0001531839370728 + ], + [ + 0.40291357040405273, + -0.06993204355239868, + 0.02874542772769928, + -0.24160027503967285, + -0.16808922588825226, + 0.5173850059509277, + 0.0, + 1.0001531839370728 + ], + [ + 0.4055345058441162, + -0.07837451249361038, + 0.020386382937431335, + -0.24728359282016754, + -0.1467151939868927, + 0.5127100348472595, + 0.0, + 0.9263488054275513 + ], + [ + 0.4070274531841278, + -0.0820736214518547, + 0.01844518631696701, + -0.26177963614463806, + -0.15046462416648865, + 0.5196183323860168, + 0.0, + 0.6641445755958557 + ], + [ + 0.4054030776023865, + -0.08068686723709106, + 0.015811337158083916, + -0.25917118787765503, + -0.15449930727481842, + 0.5290119051933289, + 0.0, + 0.5256435871124268 + ], + [ + 0.39954182505607605, + -0.07960920035839081, + 0.01812882348895073, + -0.25924986600875854, + -0.1536862701177597, + 0.5344449877738953, + 0.0, + 0.5159127116203308 + ], + [ + 0.39649340510368347, + -0.07630038261413574, + 0.03563028573989868, + -0.2768137454986572, + -0.16534341871738434, + 0.5574387311935425, + 0.0, + 0.5159127116203308 + ], + [ + 0.4030628800392151, + -0.06728623062372208, + 0.058759190142154694, + -0.2933080494403839, + -0.17210611701011658, + 0.5838838815689087, + 0.0, + 0.5159127116203308 + ], + [ + 0.4006710648536682, + -0.06765206158161163, + 0.08418579399585724, + -0.3077394664287567, + -0.20117636024951935, + 0.562195360660553, + 0.0, + 0.5159127116203308 + ], + [ + 0.3817434310913086, + -0.07653425633907318, + 0.09347882121801376, + -0.3127579987049103, + -0.19660721719264984, + 0.5080546140670776, + 0.0, + 0.5159127116203308 + ], + [ + 0.3550780117511749, + -0.08834180980920792, + 0.09485054016113281, + -0.308036208152771, + -0.17747487127780914, + 0.4326165020465851, + 0.0, + 0.5159127116203308 + ], + [ + 0.32730069756507874, + -0.0975673571228981, + 0.09594864398241043, + -0.3133832514286041, + -0.17520637810230255, + 0.356233149766922, + 0.0, + 0.5159127116203308 + ], + [ + 0.30464670062065125, + -0.09728000313043594, + 0.09534353017807007, + -0.3095971345901489, + -0.17474114894866943, + 0.3142678141593933, + 0.0, + 0.5159127116203308 + ], + [ + 0.28071388602256775, + -0.09274525195360184, + 0.08705178648233414, + -0.29578953981399536, + -0.15787342190742493, + 0.2735114097595215, + 0.0, + 0.5159127116203308 + ], + [ + 0.2654222846031189, + -0.08874239027500153, + 0.07796772569417953, + -0.29352864623069763, + -0.14045816659927368, + 0.2563687860965729, + 0.0, + 0.5159127116203308 + ], + [ + 0.25838422775268555, + -0.08050920069217682, + 0.06793523579835892, + -0.28246742486953735, + -0.12603938579559326, + 0.2553847134113312, + 0.0, + 0.5159127116203308 + ], + [ + 0.2574326992034912, + -0.08108904957771301, + 0.05337874963879585, + -0.25375208258628845, + -0.1019759550690651, + 0.22164250910282135, + 0.0, + 0.5159127116203308 + ], + [ + 0.25335264205932617, + -0.0853046402335167, + 0.03824670985341072, + -0.2278400957584381, + -0.07245665043592453, + 0.17083819210529327, + 0.0, + 0.5159127116203308 + ], + [ + 0.24925969541072845, + -0.0907624289393425, + 0.027258414775133133, + -0.20806793868541718, + -0.048195838928222656, + 0.12370702624320984, + 0.0, + 0.5159127116203308 + ], + [ + 0.2435058057308197, + -0.09363127499818802, + 0.017865322530269623, + -0.1909431666135788, + -0.013338982127606869, + 0.07901942729949951, + 0.0, + 0.5159127116203308 + ], + [ + 0.23877137899398804, + -0.09414379298686981, + 0.016879701986908913, + -0.1552765816450119, + 0.005507386289536953, + 0.09017018228769302, + 0.0, + 0.6119219660758972 + ], + [ + 0.23725970089435577, + -0.09217806160449982, + 0.017756972461938858, + -0.1339702308177948, + 0.021686820313334465, + 0.10018216073513031, + 0.0, + 0.9222983717918396 + ], + [ + 0.2369181215763092, + -0.09000144153833389, + 0.019946549087762833, + -0.11712513864040375, + 0.029865622520446777, + 0.11016669124364853, + 0.0, + 1.0099300146102905 + ], + [ + 0.24120505154132843, + -0.09001471847295761, + 0.029305625706911087, + -0.11918095499277115, + 0.00464446097612381, + 0.10464198887348175, + 0.0, + 1.0047606229782104 + ], + [ + 0.24647954106330872, + -0.09262267500162125, + 0.037797391414642334, + -0.14471222460269928, + -0.004028450697660446, + 0.08833261579275131, + 0.0, + 1.0008161067962646 + ], + [ + 0.2569192051887512, + -0.09662048518657684, + 0.07962552458047867, + -0.17040498554706573, + -0.1087423712015152, + 0.02611912041902542, + 0.0, + 1.0008161067962646 + ], + [ + 0.2530173361301422, + -0.1035509780049324, + 0.11602664738893509, + -0.21381805837154388, + -0.12162253260612488, + -0.02863338775932789, + 0.0, + 1.0008161067962646 + ], + [ + 0.24892956018447876, + -0.09913366287946701, + 0.13406449556350708, + -0.20372729003429413, + -0.15554240345954895, + -0.021522069349884987, + 0.0, + 1.0008161067962646 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9263488054275513 + ], + [ + 0.6641445755958557 + ], + [ + 0.5256435871124268 + ], + [ + 0.5159127116203308 + ], + [ + 0.5159127116203308 + ], + [ + 0.5159127116203308 + ], + [ + 0.5159127116203308 + ], + [ + 0.5159127116203308 + ], + [ + 0.5159127116203308 + ], + [ + 0.5159127116203308 + ], + [ + 0.5159127116203308 + ], + [ + 0.5159127116203308 + ], + [ + 0.5159127116203308 + ], + [ + 0.5159127116203308 + ], + [ + 0.5159127116203308 + ], + [ + 0.5159127116203308 + ], + [ + 0.5159127116203308 + ], + [ + 0.5159127116203308 + ], + [ + 0.6119219660758972 + ], + [ + 0.9222983717918396 + ], + [ + 1.0099300146102905 + ], + [ + 1.0047606229782104 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.29304781556129456, + 0.061617277562618256, + 0.16439040005207062 + ], + [ + 0.29364827275276184, + 0.05873873084783554, + 0.15545101463794708 + ], + [ + 0.3247915506362915, + 0.021898945793509483, + 0.15103676915168762 + ], + [ + 0.3485841751098633, + -0.0011594094103202224, + 0.14376792311668396 + ], + [ + 0.3654780387878418, + -0.026308780536055565, + 0.13300663232803345 + ], + [ + 0.3703567385673523, + -0.03707938641309738, + 0.11970914155244827 + ], + [ + 0.37673458456993103, + -0.046896617859601974, + 0.10563044995069504 + ], + [ + 0.38133570551872253, + -0.05180151388049126, + 0.09291667491197586 + ], + [ + 0.3875814974308014, + -0.050040047615766525, + 0.07563034445047379 + ], + [ + 0.39570266008377075, + -0.05260976031422615, + 0.05959282070398331 + ], + [ + 0.3999120891094208, + -0.05993315950036049, + 0.042678311467170715 + ], + [ + 0.40291357040405273, + -0.06993204355239868, + 0.02874542772769928 + ], + [ + 0.4055345058441162, + -0.07837451249361038, + 0.020386382937431335 + ], + [ + 0.4070274531841278, + -0.0820736214518547, + 0.01844518631696701 + ], + [ + 0.4054030776023865, + -0.08068686723709106, + 0.015811337158083916 + ], + [ + 0.39954182505607605, + -0.07960920035839081, + 0.01812882348895073 + ], + [ + 0.39649340510368347, + -0.07630038261413574, + 0.03563028573989868 + ], + [ + 0.4030628800392151, + -0.06728623062372208, + 0.058759190142154694 + ], + [ + 0.4006710648536682, + -0.06765206158161163, + 0.08418579399585724 + ], + [ + 0.3817434310913086, + -0.07653425633907318, + 0.09347882121801376 + ], + [ + 0.3550780117511749, + -0.08834180980920792, + 0.09485054016113281 + ], + [ + 0.32730069756507874, + -0.0975673571228981, + 0.09594864398241043 + ], + [ + 0.30464670062065125, + -0.09728000313043594, + 0.09534353017807007 + ], + [ + 0.28071388602256775, + -0.09274525195360184, + 0.08705178648233414 + ], + [ + 0.2654222846031189, + -0.08874239027500153, + 0.07796772569417953 + ], + [ + 0.25838422775268555, + -0.08050920069217682, + 0.06793523579835892 + ], + [ + 0.2574326992034912, + -0.08108904957771301, + 0.05337874963879585 + ], + [ + 0.25335264205932617, + -0.0853046402335167, + 0.03824670985341072 + ], + [ + 0.24925969541072845, + -0.0907624289393425, + 0.027258414775133133 + ], + [ + 0.2435058057308197, + -0.09363127499818802, + 0.017865322530269623 + ], + [ + 0.23877137899398804, + -0.09414379298686981, + 0.016879701986908913 + ], + [ + 0.23725970089435577, + -0.09217806160449982, + 0.017756972461938858 + ], + [ + 0.2369181215763092, + -0.09000144153833389, + 0.019946549087762833 + ], + [ + 0.24120505154132843, + -0.09001471847295761, + 0.029305625706911087 + ], + [ + 0.24647954106330872, + -0.09262267500162125, + 0.037797391414642334 + ], + [ + 0.2569192051887512, + -0.09662048518657684, + 0.07962552458047867 + ], + [ + 0.2530173361301422, + -0.1035509780049324, + 0.11602664738893509 + ], + [ + 0.24892956018447876, + -0.09913366287946701, + 0.13406449556350708 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.049562252144079166, + 0.8992561425995005, + 0.4346055374238501, + 0.9858320327326267, + -0.11386120279177514, + 0.12316992220939194, + 0.16024601836134378, + 0.42234348165430124, + -0.8921587286483604 + ], + [ + 0.06739042380675969, + 0.9098771937081073, + 0.4093678335543777, + 0.9865595891934767, + -0.12198455489528853, + 0.1087195720070532, + 0.1488580120435034, + 0.3965391036667856, + -0.9058686612934563 + ], + [ + 0.3053401452914436, + 0.8587388640200169, + 0.411503291718318, + 0.9380857219007088, + -0.34550426471774365, + 0.024939555486764353, + 0.16359270778193682, + 0.3784103149802636, + -0.9110669895661414 + ], + [ + 0.5263009251952917, + 0.7578779703094388, + 0.3855234341233037, + 0.8308184289015977, + -0.554843721104125, + -0.04346473684274052, + 0.18096429022340474, + 0.3431755050567761, + -0.9216737483475193 + ], + [ + 0.6712068715516812, + 0.65279748431841, + 0.35119336561125464, + 0.7206628714066773, + -0.6855986195390649, + -0.10295415806081633, + 0.17356947127213346, + 0.32219555762561963, + -0.9306254140569277 + ], + [ + 0.727440218998055, + 0.6065216316645711, + 0.3208772944709679, + 0.6646842901903237, + -0.7389739704539164, + -0.1100557375413016, + 0.17036878281612367, + 0.2933410665326637, + -0.9407047871289016 + ], + [ + 0.77669521492883, + 0.556524010377065, + 0.29500096437213125, + 0.607346205716274, + -0.7858407369260105, + -0.11655437610673598, + 0.16695846641816187, + 0.26969494259517257, + -0.9483614861590924 + ], + [ + 0.8092252411932567, + 0.510089924528306, + 0.2914837523952618, + 0.5644070982186035, + -0.812718401835628, + -0.1446838857585671, + 0.1630924170406796, + 0.2815973512170337, + -0.945570618881202 + ], + [ + 0.8185784674220244, + 0.4953617340304808, + 0.29076802632222953, + 0.5461310987187651, + -0.8280483425637544, + -0.12679418515710295, + 0.1779609948422519, + 0.2625884514515717, + -0.9483549912764847 + ], + [ + 0.8294037184541756, + 0.4833674521518103, + 0.28008102044703653, + 0.5299013354736566, + -0.8394634564622251, + -0.12043952809492622, + 0.17690123368032562, + 0.24830829922650724, + -0.9523911707159078 + ], + [ + 0.8413642088560526, + 0.4676141690571938, + 0.27100416408789674, + 0.5111375421213499, + -0.8513830376338608, + -0.11783605672070788, + 0.17562653868414854, + 0.23766344297407374, + -0.9553383729252872 + ], + [ + 0.8568664408529428, + 0.44545543527523307, + 0.2595175480073805, + 0.4876381960100516, + -0.8636711542748596, + -0.12759751982540435, + 0.1672988115082499, + 0.235884701617728, + -0.9572719128913387 + ], + [ + 0.8620563470495674, + 0.4444369024014307, + 0.24358713901882562, + 0.4852705540696714, + -0.8624635485847088, + -0.14376757880546473, + 0.1461894109177188, + 0.24214141972511136, + -0.959164318033692 + ], + [ + 0.8582015960967645, + 0.4459588533670899, + 0.2541863913754562, + 0.49093864481826127, + -0.8576993716385255, + -0.152744999639556, + 0.14989752326498013, + 0.2558759249995773, + -0.9550174048281193 + ], + [ + 0.8530230687811475, + 0.4537788149319955, + 0.2577526551679089, + 0.498669159805385, + -0.8543775107591055, + -0.14617844631841398, + 0.15388538977493793, + 0.25322688685838207, + -0.9550892265049519 + ], + [ + 0.8504085679349362, + 0.4585708917506076, + 0.2579108466542324, + 0.5033598842703882, + -0.8517831949195849, + -0.14523847892306443, + 0.1530819861713058, + 0.25333402079396394, + -0.9551899179839637 + ], + [ + 0.8370393657308245, + 0.47070358611357177, + 0.2789323112096605, + 0.521799653100551, + -0.8401029108196142, + -0.1481628200884299, + 0.16459107582455434, + 0.26956489617944535, + -0.9488121755683161 + ], + [ + 0.8220017459976308, + 0.48641429998573193, + 0.29616593042792144, + 0.5431242213183871, + -0.8259915692550772, + -0.15084431622315134, + 0.1712577291515384, + 0.2848491816539497, + -0.9431499000248758 + ], + [ + 0.8290232072030971, + 0.4567916719484696, + 0.3225862525855876, + 0.5222945993395123, + -0.8386020607617506, + -0.15477381944929658, + 0.19982210443158963, + 0.29679614573755314, + -0.9338003932617848 + ], + [ + 0.8568608422836608, + 0.4103663896212124, + 0.31207198405205616, + 0.4771064801598661, + -0.8605477674517837, + -0.178401083301683, + 0.19534304070122077, + 0.30175646836978, + -0.9331581485721481 + ], + [ + 0.8936116149459341, + 0.35091909750059214, + 0.27984650907790365, + 0.4126624043368079, + -0.887579833125756, + -0.2047236671111082, + 0.17654467332854934, + 0.2984255800661613, + -0.9379627665752467 + ], + [ + 0.9228688995873442, + 0.2813982501617116, + 0.2629220777728093, + 0.3434072567545261, + -0.9103113624136003, + -0.231094524965491, + 0.17431135987873947, + 0.3035592994237233, + -0.9367322464560526 + ], + [ + 0.9365403843759604, + 0.24404906269575027, + 0.25165882346990043, + 0.30441281406834614, + -0.9221816068674928, + -0.23856639031154384, + 0.17385323426361465, + 0.3000352295191601, + -0.9379519785060779 + ], + [ + 0.9508544787693685, + 0.21425864978355502, + 0.22353744920518376, + 0.2667548028276295, + -0.9333938222317937, + -0.24003718001158658, + 0.15721843203843727, + 0.2878701158725063, + -0.9446762202018874 + ], + [ + 0.9577909399548201, + 0.20354256160955447, + 0.20299492839448813, + 0.2510725310430582, + -0.9362148608034675, + -0.24589493399900897, + 0.13999678387768488, + 0.2864823904259477, + -0.9478020576469224 + ], + [ + 0.9598910078140164, + 0.20870545263869422, + 0.18721988985326915, + 0.2506137850547324, + -0.9380732397931938, + -0.23918889506923607, + 0.12570594201680702, + 0.2765151547795878, + -0.9527525309957924 + ], + [ + 0.9704697283261676, + 0.18786231912097798, + 0.15131508668015453, + 0.21869021036224165, + -0.9499162749625953, + -0.2232345458321938, + 0.10179930399690042, + 0.24973349718384827, + -0.96294863938326 + ], + [ + 0.9828569747018729, + 0.14950107666605564, + 0.10789622493661191, + 0.16956232494409582, + -0.9627552954356469, + -0.2105964365087245, + 0.07239326791514986, + 0.22528131122290307, + -0.9716005071912297 + ], + [ + 0.9912057181319422, + 0.1108545087426346, + 0.07226688199977624, + 0.12324846215044176, + -0.9721826974774777, + -0.1991748460598532, + 0.04817718256697415, + 0.2063300283934557, + -0.9772956965335845 + ], + [ + 0.9967909039313785, + 0.0749790238239829, + 0.028036401803160343, + 0.07893019668072819, + -0.9789618002669499, + -0.18815902229240605, + 0.013338586567069762, + 0.1897681206222352, + -0.9817383268997385 + ], + [ + 0.995922318850491, + 0.08981292615928897, + 0.008507238692288263, + 0.09004667577640334, + -0.983878398084768, + -0.1545150282780629, + -0.005507358448544779, + 0.15465101382421453, + -0.9879538111298839 + ], + [ + 0.9947519922201616, + 0.10200042955926744, + -0.008024110152806796, + 0.0999911472439187, + -0.985780604268075, + -0.13504951211209107, + -0.021685120402350263, + 0.13353843124207274, + -0.9908063599586661 + ], + [ + 0.9934945439221184, + 0.1126590725692551, + -0.01662902777729745, + 0.10989495416864699, + -0.9867443578982147, + -0.11940967801778886, + -0.029861182917858397, + 0.11680541735671483, + -0.9927057994344904 + ], + [ + 0.9945192946541502, + 0.1042593824804456, + 0.007832861891259747, + 0.10444999616062774, + -0.9874174957902933, + -0.11873031335455499, + -0.004644444278516785, + 0.11889772988590706, + -0.9928956435423218 + ], + [ + 0.9960931279963814, + 0.08671702100943827, + 0.0166924721246825, + 0.08821707335401772, + -0.985740657657718, + -0.14329376751757752, + 0.004028439801774318, + 0.14420649814685307, + -0.9895394168829179 + ], + [ + 0.9937543020644939, + 0.007339795499967229, + 0.11134861710111008, + 0.02596189235853401, + -0.9856606763834075, + -0.1667303546945426, + 0.10852818653914226, + 0.1685798280738913, + -0.9796950925125137 + ], + [ + 0.9922062126479914, + -0.053710787183218874, + 0.11243657288839723, + -0.028417992010001912, + -0.9760902709529251, + -0.21549988557111685, + 0.12132291338757226, + 0.2106251036586189, + -0.9700091836657773 + ], + [ + 0.9876988541915478, + -0.05241083687812184, + 0.14732303827452914, + -0.02126060597188417, + -0.978417963472515, + -0.20553898751332939, + 0.1549159774278036, + 0.1998784453912707, + -0.9674965875937532 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + 0.0006004571914672852, + -0.002878546714782715, + -0.008939385414123535, + 0.02952226996421814, + 0.011526569724082947, + -0.01797032356262207, + 1.0 + ], + [ + 0.031143277883529663, + -0.03683978319168091, + -0.0044142454862594604, + 0.018948286771774292, + -0.014918014407157898, + -0.2464749813079834, + 1.0 + ], + [ + 0.023792624473571777, + -0.02305835485458374, + -0.007268846035003662, + 0.03723132610321045, + -0.017635509371757507, + -0.24999141693115234, + 1.0 + ], + [ + 0.016893863677978516, + -0.025149371474981308, + -0.010761290788650513, + 0.023138076066970825, + 0.007513836026191711, + -0.18521207571029663, + 1.0 + ], + [ + 0.004878699779510498, + -0.010770605877041817, + -0.013297490775585175, + 0.031022608280181885, + 0.0032490938901901245, + -0.08056586980819702, + 1.0 + ], + [ + 0.006377846002578735, + -0.009817231446504593, + -0.014078691601753235, + 0.025209873914718628, + 0.0034598857164382935, + -0.07670438289642334, + 1.0 + ], + [ + 0.004601120948791504, + -0.004904896020889282, + -0.012713775038719177, + -0.012377917766571045, + 0.0039197951555252075, + -0.054621756076812744, + 1.0 + ], + [ + 0.006245791912078857, + 0.0017614662647247314, + -0.017286330461502075, + 0.019322514533996582, + -0.015089750289916992, + -0.020672202110290527, + 1.0 + ], + [ + 0.00812116265296936, + -0.0025697126984596252, + -0.01603752374649048, + 0.015077739953994751, + 0.0010768473148345947, + -0.019822657108306885, + 1.0 + ], + [ + 0.004209429025650024, + -0.007323399186134338, + -0.01691450923681259, + 0.011218667030334473, + 0.0012949705123901367, + -0.022604823112487793, + 1.0 + ], + [ + 0.003001481294631958, + -0.009998884052038193, + -0.013932883739471436, + 0.002224266529083252, + 0.008452937006950378, + -0.02853858470916748, + 1.0 + ], + [ + 0.0026209354400634766, + -0.0084424689412117, + -0.008359044790267944, + -0.00568331778049469, + 0.021374031901359558, + -0.004674971103668213, + 0.0 + ], + [ + 0.0014929473400115967, + -0.0036991089582443237, + -0.001941196620464325, + -0.01449604332447052, + -0.0037494301795959473, + 0.006908297538757324, + 0.0 + ], + [ + -0.001624375581741333, + 0.0013867542147636414, + -0.002633849158883095, + 0.0026084482669830322, + -0.004034683108329773, + 0.009393572807312012, + 0.0 + ], + [ + -0.005861252546310425, + 0.0010776668787002563, + 0.0023174863308668137, + -7.867813110351562e-05, + 0.0008130371570587158, + 0.005433082580566406, + 0.0 + ], + [ + -0.003048419952392578, + 0.003308817744255066, + 0.017501462250947952, + -0.01756387948989868, + -0.011657148599624634, + 0.022993743419647217, + 0.0 + ], + [ + 0.006569474935531616, + 0.009014151990413666, + 0.023128904402256012, + -0.016494303941726685, + -0.006762698292732239, + 0.02644515037536621, + 0.0 + ], + [ + -0.002391815185546875, + -0.0003658309578895569, + 0.025426603853702545, + -0.014431416988372803, + -0.02907024323940277, + -0.021688520908355713, + 0.0 + ], + [ + -0.01892763376235962, + -0.008882194757461548, + 0.009293027222156525, + -0.0050185322761535645, + 0.004569143056869507, + -0.05414074659347534, + 0.0 + ], + [ + -0.026665419340133667, + -0.011807553470134735, + 0.001371718943119049, + 0.004721790552139282, + 0.019132345914840698, + -0.07543811202049255, + 0.0 + ], + [ + -0.02777731418609619, + -0.009225547313690186, + 0.0010981038212776184, + -0.00534704327583313, + 0.002268493175506592, + -0.07638335227966309, + 0.0 + ], + [ + -0.02265399694442749, + 0.0002873539924621582, + -0.0006051138043403625, + 0.0037861168384552, + 0.0004652291536331177, + -0.041965335607528687, + 0.0 + ], + [ + -0.023932814598083496, + 0.0045347511768341064, + -0.008291743695735931, + 0.013807594776153564, + 0.016867727041244507, + -0.040756404399871826, + 0.0 + ], + [ + -0.015291601419448853, + 0.004002861678600311, + -0.009084060788154602, + 0.0022608935832977295, + 0.017415255308151245, + -0.01714262366294861, + 0.0 + ], + [ + -0.00703805685043335, + 0.008233189582824707, + -0.010032489895820618, + 0.011061221361160278, + 0.01441878080368042, + -0.0009840726852416992, + 0.0 + ], + [ + -0.0009515285491943359, + -0.0005798488855361938, + -0.014556486159563065, + 0.0287153422832489, + 0.024063430726528168, + -0.03374220430850983, + 0.0 + ], + [ + -0.004080057144165039, + -0.00421559065580368, + -0.015132039785385132, + 0.025911986827850342, + 0.029519304633140564, + -0.050804316997528076, + 0.0 + ], + [ + -0.004092946648597717, + -0.005457788705825806, + -0.010988295078277588, + 0.019772157073020935, + 0.024260811507701874, + -0.047131165862083435, + 0.0 + ], + [ + -0.0057538896799087524, + -0.00286884605884552, + -0.00939309224486351, + 0.01712477207183838, + 0.03485685586929321, + -0.04468759894371033, + 0.0 + ], + [ + -0.004734426736831665, + -0.0005125179886817932, + -0.0009856205433607101, + 0.035666584968566895, + 0.01884636841714382, + 0.011150754988193512, + 1.0 + ], + [ + -0.0015116780996322632, + 0.001965731382369995, + 0.0008772704750299454, + 0.021306350827217102, + 0.016179434955120087, + 0.010011978447437286, + 1.0 + ], + [ + -0.0003415793180465698, + 0.002176620066165924, + 0.0021895766258239746, + 0.016845092177391052, + 0.008178802207112312, + 0.009984530508518219, + 1.0 + ], + [ + 0.004286929965019226, + -1.3276934623718262e-05, + 0.009359076619148254, + -0.002055816352367401, + -0.025221161544322968, + -0.0055247023701667786, + 1.0 + ], + [ + 0.005274489521980286, + -0.0026079565286636353, + 0.008491765707731247, + -0.02553126960992813, + -0.008672911673784256, + -0.016309373080730438, + 1.0 + ], + [ + 0.010439664125442505, + -0.003997810184955597, + 0.041828133165836334, + -0.025692760944366455, + -0.10471391677856445, + -0.06221349537372589, + 1.0 + ], + [ + -0.003901869058609009, + -0.00693049281835556, + 0.03640112280845642, + -0.04341307282447815, + -0.01288016140460968, + -0.05475250631570816, + 1.0 + ], + [ + -0.004087775945663452, + 0.004417315125465393, + 0.01803784817457199, + 0.010090768337249756, + -0.03391987085342407, + 0.007111318409442902, + 1.0 + ], + [ + -0.00017674267292022705, + 0.003403112292289734, + 0.004053190350532532, + 0.016036003828048706, + -0.00859995186328888, + 0.013551698997616768, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9263488054275513 + ], + [ + 0.6641445755958557 + ], + [ + 0.5256435871124268 + ], + [ + 0.5159127116203308 + ], + [ + 0.5159127116203308 + ], + [ + 0.5159127116203308 + ], + [ + 0.5159127116203308 + ], + [ + 0.5159127116203308 + ], + [ + 0.5159127116203308 + ], + [ + 0.5159127116203308 + ], + [ + 0.5159127116203308 + ], + [ + 0.5159127116203308 + ], + [ + 0.5159127116203308 + ], + [ + 0.5159127116203308 + ], + [ + 0.5159127116203308 + ], + [ + 0.5159127116203308 + ], + [ + 0.5159127116203308 + ], + [ + 0.5159127116203308 + ], + [ + 0.6119219660758972 + ], + [ + 0.9222983717918396 + ], + [ + 1.0099300146102905 + ], + [ + 1.0047606229782104 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.29364827275276184, + 0.05873873084783554, + 0.15545101463794708 + ], + [ + 0.3247915506362915, + 0.021898945793509483, + 0.15103676915168762 + ], + [ + 0.3485841751098633, + -0.0011594094103202224, + 0.14376792311668396 + ], + [ + 0.3654780387878418, + -0.026308780536055565, + 0.13300663232803345 + ], + [ + 0.3703567385673523, + -0.03707938641309738, + 0.11970914155244827 + ], + [ + 0.37673458456993103, + -0.046896617859601974, + 0.10563044995069504 + ], + [ + 0.38133570551872253, + -0.05180151388049126, + 0.09291667491197586 + ], + [ + 0.3875814974308014, + -0.050040047615766525, + 0.07563034445047379 + ], + [ + 0.39570266008377075, + -0.05260976031422615, + 0.05959282070398331 + ], + [ + 0.3999120891094208, + -0.05993315950036049, + 0.042678311467170715 + ], + [ + 0.40291357040405273, + -0.06993204355239868, + 0.02874542772769928 + ], + [ + 0.4055345058441162, + -0.07837451249361038, + 0.020386382937431335 + ], + [ + 0.4070274531841278, + -0.0820736214518547, + 0.01844518631696701 + ], + [ + 0.4054030776023865, + -0.08068686723709106, + 0.015811337158083916 + ], + [ + 0.39954182505607605, + -0.07960920035839081, + 0.01812882348895073 + ], + [ + 0.39649340510368347, + -0.07630038261413574, + 0.03563028573989868 + ], + [ + 0.4030628800392151, + -0.06728623062372208, + 0.058759190142154694 + ], + [ + 0.4006710648536682, + -0.06765206158161163, + 0.08418579399585724 + ], + [ + 0.3817434310913086, + -0.07653425633907318, + 0.09347882121801376 + ], + [ + 0.3550780117511749, + -0.08834180980920792, + 0.09485054016113281 + ], + [ + 0.32730069756507874, + -0.0975673571228981, + 0.09594864398241043 + ], + [ + 0.30464670062065125, + -0.09728000313043594, + 0.09534353017807007 + ], + [ + 0.28071388602256775, + -0.09274525195360184, + 0.08705178648233414 + ], + [ + 0.2654222846031189, + -0.08874239027500153, + 0.07796772569417953 + ], + [ + 0.25838422775268555, + -0.08050920069217682, + 0.06793523579835892 + ], + [ + 0.2574326992034912, + -0.08108904957771301, + 0.05337874963879585 + ], + [ + 0.25335264205932617, + -0.0853046402335167, + 0.03824670985341072 + ], + [ + 0.24925969541072845, + -0.0907624289393425, + 0.027258414775133133 + ], + [ + 0.2435058057308197, + -0.09363127499818802, + 0.017865322530269623 + ], + [ + 0.23877137899398804, + -0.09414379298686981, + 0.016879701986908913 + ], + [ + 0.23725970089435577, + -0.09217806160449982, + 0.017756972461938858 + ], + [ + 0.2369181215763092, + -0.09000144153833389, + 0.019946549087762833 + ], + [ + 0.24120505154132843, + -0.09001471847295761, + 0.029305625706911087 + ], + [ + 0.24647954106330872, + -0.09262267500162125, + 0.037797391414642334 + ], + [ + 0.2569192051887512, + -0.09662048518657684, + 0.07962552458047867 + ], + [ + 0.2530173361301422, + -0.1035509780049324, + 0.11602664738893509 + ], + [ + 0.24892956018447876, + -0.09913366287946701, + 0.13406449556350708 + ], + [ + 0.24875281751155853, + -0.09573055058717728, + 0.1381176859140396 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.06739042380675969, + 0.9098771937081073, + 0.4093678335543777, + 0.9865595891934767, + -0.12198455489528853, + 0.1087195720070532, + 0.1488580120435034, + 0.3965391036667856, + -0.9058686612934563 + ], + [ + 0.3053401452914436, + 0.8587388640200169, + 0.411503291718318, + 0.9380857219007088, + -0.34550426471774365, + 0.024939555486764353, + 0.16359270778193682, + 0.3784103149802636, + -0.9110669895661414 + ], + [ + 0.5263009251952917, + 0.7578779703094388, + 0.3855234341233037, + 0.8308184289015977, + -0.554843721104125, + -0.04346473684274052, + 0.18096429022340474, + 0.3431755050567761, + -0.9216737483475193 + ], + [ + 0.6712068715516812, + 0.65279748431841, + 0.35119336561125464, + 0.7206628714066773, + -0.6855986195390649, + -0.10295415806081633, + 0.17356947127213346, + 0.32219555762561963, + -0.9306254140569277 + ], + [ + 0.727440218998055, + 0.6065216316645711, + 0.3208772944709679, + 0.6646842901903237, + -0.7389739704539164, + -0.1100557375413016, + 0.17036878281612367, + 0.2933410665326637, + -0.9407047871289016 + ], + [ + 0.77669521492883, + 0.556524010377065, + 0.29500096437213125, + 0.607346205716274, + -0.7858407369260105, + -0.11655437610673598, + 0.16695846641816187, + 0.26969494259517257, + -0.9483614861590924 + ], + [ + 0.8092252411932567, + 0.510089924528306, + 0.2914837523952618, + 0.5644070982186035, + -0.812718401835628, + -0.1446838857585671, + 0.1630924170406796, + 0.2815973512170337, + -0.945570618881202 + ], + [ + 0.8185784674220244, + 0.4953617340304808, + 0.29076802632222953, + 0.5461310987187651, + -0.8280483425637544, + -0.12679418515710295, + 0.1779609948422519, + 0.2625884514515717, + -0.9483549912764847 + ], + [ + 0.8294037184541756, + 0.4833674521518103, + 0.28008102044703653, + 0.5299013354736566, + -0.8394634564622251, + -0.12043952809492622, + 0.17690123368032562, + 0.24830829922650724, + -0.9523911707159078 + ], + [ + 0.8413642088560526, + 0.4676141690571938, + 0.27100416408789674, + 0.5111375421213499, + -0.8513830376338608, + -0.11783605672070788, + 0.17562653868414854, + 0.23766344297407374, + -0.9553383729252872 + ], + [ + 0.8568664408529428, + 0.44545543527523307, + 0.2595175480073805, + 0.4876381960100516, + -0.8636711542748596, + -0.12759751982540435, + 0.1672988115082499, + 0.235884701617728, + -0.9572719128913387 + ], + [ + 0.8620563470495674, + 0.4444369024014307, + 0.24358713901882562, + 0.4852705540696714, + -0.8624635485847088, + -0.14376757880546473, + 0.1461894109177188, + 0.24214141972511136, + -0.959164318033692 + ], + [ + 0.8582015960967645, + 0.4459588533670899, + 0.2541863913754562, + 0.49093864481826127, + -0.8576993716385255, + -0.152744999639556, + 0.14989752326498013, + 0.2558759249995773, + -0.9550174048281193 + ], + [ + 0.8530230687811475, + 0.4537788149319955, + 0.2577526551679089, + 0.498669159805385, + -0.8543775107591055, + -0.14617844631841398, + 0.15388538977493793, + 0.25322688685838207, + -0.9550892265049519 + ], + [ + 0.8504085679349362, + 0.4585708917506076, + 0.2579108466542324, + 0.5033598842703882, + -0.8517831949195849, + -0.14523847892306443, + 0.1530819861713058, + 0.25333402079396394, + -0.9551899179839637 + ], + [ + 0.8370393657308245, + 0.47070358611357177, + 0.2789323112096605, + 0.521799653100551, + -0.8401029108196142, + -0.1481628200884299, + 0.16459107582455434, + 0.26956489617944535, + -0.9488121755683161 + ], + [ + 0.8220017459976308, + 0.48641429998573193, + 0.29616593042792144, + 0.5431242213183871, + -0.8259915692550772, + -0.15084431622315134, + 0.1712577291515384, + 0.2848491816539497, + -0.9431499000248758 + ], + [ + 0.8290232072030971, + 0.4567916719484696, + 0.3225862525855876, + 0.5222945993395123, + -0.8386020607617506, + -0.15477381944929658, + 0.19982210443158963, + 0.29679614573755314, + -0.9338003932617848 + ], + [ + 0.8568608422836608, + 0.4103663896212124, + 0.31207198405205616, + 0.4771064801598661, + -0.8605477674517837, + -0.178401083301683, + 0.19534304070122077, + 0.30175646836978, + -0.9331581485721481 + ], + [ + 0.8936116149459341, + 0.35091909750059214, + 0.27984650907790365, + 0.4126624043368079, + -0.887579833125756, + -0.2047236671111082, + 0.17654467332854934, + 0.2984255800661613, + -0.9379627665752467 + ], + [ + 0.9228688995873442, + 0.2813982501617116, + 0.2629220777728093, + 0.3434072567545261, + -0.9103113624136003, + -0.231094524965491, + 0.17431135987873947, + 0.3035592994237233, + -0.9367322464560526 + ], + [ + 0.9365403843759604, + 0.24404906269575027, + 0.25165882346990043, + 0.30441281406834614, + -0.9221816068674928, + -0.23856639031154384, + 0.17385323426361465, + 0.3000352295191601, + -0.9379519785060779 + ], + [ + 0.9508544787693685, + 0.21425864978355502, + 0.22353744920518376, + 0.2667548028276295, + -0.9333938222317937, + -0.24003718001158658, + 0.15721843203843727, + 0.2878701158725063, + -0.9446762202018874 + ], + [ + 0.9577909399548201, + 0.20354256160955447, + 0.20299492839448813, + 0.2510725310430582, + -0.9362148608034675, + -0.24589493399900897, + 0.13999678387768488, + 0.2864823904259477, + -0.9478020576469224 + ], + [ + 0.9598910078140164, + 0.20870545263869422, + 0.18721988985326915, + 0.2506137850547324, + -0.9380732397931938, + -0.23918889506923607, + 0.12570594201680702, + 0.2765151547795878, + -0.9527525309957924 + ], + [ + 0.9704697283261676, + 0.18786231912097798, + 0.15131508668015453, + 0.21869021036224165, + -0.9499162749625953, + -0.2232345458321938, + 0.10179930399690042, + 0.24973349718384827, + -0.96294863938326 + ], + [ + 0.9828569747018729, + 0.14950107666605564, + 0.10789622493661191, + 0.16956232494409582, + -0.9627552954356469, + -0.2105964365087245, + 0.07239326791514986, + 0.22528131122290307, + -0.9716005071912297 + ], + [ + 0.9912057181319422, + 0.1108545087426346, + 0.07226688199977624, + 0.12324846215044176, + -0.9721826974774777, + -0.1991748460598532, + 0.04817718256697415, + 0.2063300283934557, + -0.9772956965335845 + ], + [ + 0.9967909039313785, + 0.0749790238239829, + 0.028036401803160343, + 0.07893019668072819, + -0.9789618002669499, + -0.18815902229240605, + 0.013338586567069762, + 0.1897681206222352, + -0.9817383268997385 + ], + [ + 0.995922318850491, + 0.08981292615928897, + 0.008507238692288263, + 0.09004667577640334, + -0.983878398084768, + -0.1545150282780629, + -0.005507358448544779, + 0.15465101382421453, + -0.9879538111298839 + ], + [ + 0.9947519922201616, + 0.10200042955926744, + -0.008024110152806796, + 0.0999911472439187, + -0.985780604268075, + -0.13504951211209107, + -0.021685120402350263, + 0.13353843124207274, + -0.9908063599586661 + ], + [ + 0.9934945439221184, + 0.1126590725692551, + -0.01662902777729745, + 0.10989495416864699, + -0.9867443578982147, + -0.11940967801778886, + -0.029861182917858397, + 0.11680541735671483, + -0.9927057994344904 + ], + [ + 0.9945192946541502, + 0.1042593824804456, + 0.007832861891259747, + 0.10444999616062774, + -0.9874174957902933, + -0.11873031335455499, + -0.004644444278516785, + 0.11889772988590706, + -0.9928956435423218 + ], + [ + 0.9960931279963814, + 0.08671702100943827, + 0.0166924721246825, + 0.08821707335401772, + -0.985740657657718, + -0.14329376751757752, + 0.004028439801774318, + 0.14420649814685307, + -0.9895394168829179 + ], + [ + 0.9937543020644939, + 0.007339795499967229, + 0.11134861710111008, + 0.02596189235853401, + -0.9856606763834075, + -0.1667303546945426, + 0.10852818653914226, + 0.1685798280738913, + -0.9796950925125137 + ], + [ + 0.9922062126479914, + -0.053710787183218874, + 0.11243657288839723, + -0.028417992010001912, + -0.9760902709529251, + -0.21549988557111685, + 0.12132291338757226, + 0.2106251036586189, + -0.9700091836657773 + ], + [ + 0.9876988541915478, + -0.05241083687812184, + 0.14732303827452914, + -0.02126060597188417, + -0.978417963472515, + -0.20553898751332939, + 0.1549159774278036, + 0.1998784453912707, + -0.9674965875937532 + ], + [ + 0.9865275263846695, + -0.03831951765545343, + 0.15904418962036587, + -0.007863156255758974, + -0.9821634179198415, + -0.18786482181002467, + 0.16340627423401777, + 0.18408322864038484, + -0.9692325595409437 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006618.json b/json/chunk-0006/episode_0006618.json new file mode 100644 index 0000000000000000000000000000000000000000..09aa9ebe86481c725142a52f25f9e3ca239e8ac2 --- /dev/null +++ b/json/chunk-0006/episode_0006618.json @@ -0,0 +1,1462 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 23, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nSlide the can to the top left edge of the stove." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006618.mp4", + "start": 0, + "end": 23, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.37733930349349976, + -0.011591247282922268, + 0.057571716606616974, + -0.18725921213626862, + -0.26189184188842773, + 1.336043357849121, + 0.0, + 0.9994885921478271 + ], + [ + 0.37057849764823914, + -0.010815048590302467, + 0.042495112866163254, + -0.14103011786937714, + -0.25662094354629517, + 1.3219152688980103, + 0.0, + 0.9994885921478271 + ], + [ + 0.34923821687698364, + -0.014288433827459812, + 0.037534814327955246, + -0.1175147071480751, + -0.2502158582210541, + 1.2671587467193604, + 0.0, + 0.9994885921478271 + ], + [ + 0.3366684317588806, + -0.027680519968271255, + 0.05335972085595131, + -0.14662562310695648, + -0.2658148407936096, + 1.1725847721099854, + 0.0, + 0.9994885921478271 + ], + [ + 0.32231226563453674, + -0.03167092055082321, + 0.058300115168094635, + -0.1360349953174591, + -0.2303786724805832, + 1.0566320419311523, + 0.0, + 0.9994885921478271 + ], + [ + 0.3023863732814789, + -0.02729913592338562, + 0.050879012793302536, + -0.04460742697119713, + -0.26142457127571106, + 0.8950549364089966, + 0.0, + 0.9994885921478271 + ], + [ + 0.2810498774051666, + -0.033273059874773026, + 0.046437717974185944, + -0.01758633181452751, + -0.27571719884872437, + 0.7116103172302246, + 0.0, + 0.9994885921478271 + ], + [ + 0.26338788866996765, + -0.033072542399168015, + 0.0325816310942173, + 0.009647566825151443, + -0.22902722656726837, + 0.6117634177207947, + 0.0, + 0.9994885921478271 + ], + [ + 0.2645198404788971, + -0.026175308972597122, + 0.025246774777770042, + 0.0339154414832592, + -0.25432679057121277, + 0.5975825190544128, + 0.0, + 0.9994885921478271 + ], + [ + 0.2663731575012207, + -0.019989630207419395, + 0.013829831965267658, + 0.052590057253837585, + -0.23240216076374054, + 0.6240937113761902, + 0.0, + 0.9994885921478271 + ], + [ + 0.27516260743141174, + -0.006653166376054287, + 0.010442400351166725, + 0.06321655213832855, + -0.23835177719593048, + 0.6744561195373535, + 0.0, + 0.9994885921478271 + ], + [ + 0.28083184361457825, + -0.00046999671030789614, + -0.0025562678929418325, + 0.1239340752363205, + -0.231435164809227, + 0.6883202195167542, + 0.0, + 0.9994885921478271 + ], + [ + 0.29308485984802246, + 0.001341851893812418, + -0.010041896253824234, + 0.11422061175107956, + -0.2265528440475464, + 0.7260152101516724, + 0.0, + 0.9981546401977539 + ], + [ + 0.3077520728111267, + 0.0003596829192247242, + -0.015500972047448158, + 0.10906022042036057, + -0.22796960175037384, + 0.7603381276130676, + 0.0, + 0.9981546401977539 + ], + [ + 0.32820644974708557, + 0.012874878942966461, + -0.013764133676886559, + 0.0993272066116333, + -0.24816614389419556, + 0.8471857905387878, + 0.0, + 0.9968144297599792 + ], + [ + 0.3467409610748291, + 0.03650466352701187, + -0.01045023649930954, + 0.07099731266498566, + -0.26395660638809204, + 0.9840885400772095, + 0.0, + 1.0001531839370728 + ], + [ + 0.3592638671398163, + 0.04834594577550888, + -0.00910960789769888, + 0.05307997763156891, + -0.2794225513935089, + 1.045301914215088, + 0.0, + 1.0001531839370728 + ], + [ + 0.36682164669036865, + 0.0607505701482296, + -0.0028500459156930447, + 0.03850754350423813, + -0.3017995357513428, + 1.0915406942367554, + 0.0, + 1.0001531839370728 + ], + [ + 0.3722769021987915, + 0.06562002003192902, + -0.001983683556318283, + 0.028817398473620415, + -0.30569764971733093, + 1.1168053150177002, + 0.0, + 1.0001531839370728 + ], + [ + 0.3752293288707733, + 0.06456192582845688, + -0.0014122853754088283, + 0.009705985896289349, + -0.3063662052154541, + 1.123797059059143, + 0.0, + 1.0001531839370728 + ], + [ + 0.37584516406059265, + 0.06417682766914368, + -0.0011497726663947105, + 0.0012018195120617747, + -0.30679988861083984, + 1.1313718557357788, + 0.0, + 1.0001531839370728 + ], + [ + 0.37600594758987427, + 0.06002012640237808, + 0.017232341691851616, + -0.03746933117508888, + -0.323920339345932, + 1.141321063041687, + 0.0, + 1.0001531839370728 + ], + [ + 0.371904194355011, + 0.058199238032102585, + 0.03966813161969185, + -0.052642304450273514, + -0.32451266050338745, + 1.1754268407821655, + 0.0, + 1.0001531839370728 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9968144297599792 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.37733930349349976, + -0.011591247282922268, + 0.057571716606616974 + ], + [ + 0.37057849764823914, + -0.010815048590302467, + 0.042495112866163254 + ], + [ + 0.34923821687698364, + -0.014288433827459812, + 0.037534814327955246 + ], + [ + 0.3366684317588806, + -0.027680519968271255, + 0.05335972085595131 + ], + [ + 0.32231226563453674, + -0.03167092055082321, + 0.058300115168094635 + ], + [ + 0.3023863732814789, + -0.02729913592338562, + 0.050879012793302536 + ], + [ + 0.2810498774051666, + -0.033273059874773026, + 0.046437717974185944 + ], + [ + 0.26338788866996765, + -0.033072542399168015, + 0.0325816310942173 + ], + [ + 0.2645198404788971, + -0.026175308972597122, + 0.025246774777770042 + ], + [ + 0.2663731575012207, + -0.019989630207419395, + 0.013829831965267658 + ], + [ + 0.27516260743141174, + -0.006653166376054287, + 0.010442400351166725 + ], + [ + 0.28083184361457825, + -0.00046999671030789614, + -0.0025562678929418325 + ], + [ + 0.29308485984802246, + 0.001341851893812418, + -0.010041896253824234 + ], + [ + 0.3077520728111267, + 0.0003596829192247242, + -0.015500972047448158 + ], + [ + 0.32820644974708557, + 0.012874878942966461, + -0.013764133676886559 + ], + [ + 0.3467409610748291, + 0.03650466352701187, + -0.01045023649930954 + ], + [ + 0.3592638671398163, + 0.04834594577550888, + -0.00910960789769888 + ], + [ + 0.36682164669036865, + 0.0607505701482296, + -0.0028500459156930447 + ], + [ + 0.3722769021987915, + 0.06562002003192902, + -0.001983683556318283 + ], + [ + 0.3752293288707733, + 0.06456192582845688, + -0.0014122853754088283 + ], + [ + 0.37584516406059265, + 0.06417682766914368, + -0.0011497726663947105 + ], + [ + 0.37600594758987427, + 0.06002012640237808, + 0.017232341691851616 + ], + [ + 0.371904194355011, + 0.058199238032102585, + 0.03966813161969185 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.2246714242124387, + 0.9443580144349627, + 0.24023049705399463, + 0.939408973018473, + -0.27541449310519095, + 0.20410202938723768, + 0.25890834778881217, + 0.17981879089813066, + -0.9490161589168027 + ], + [ + 0.2382534549106946, + 0.9507783722160402, + 0.19813070975831634, + 0.937450769681684, + -0.27845168915177854, + 0.20892752626626188, + 0.25381360413960447, + 0.13596008140163018, + -0.9576499937967555 + ], + [ + 0.2896824031861949, + 0.9389936275397661, + 0.18540515829928106, + 0.9245387268243674, + -0.3246344516100919, + 0.19960114085293312, + 0.24761310120074093, + 0.11359331083970375, + -0.9621768610012538 + ], + [ + 0.37415147641847674, + 0.8969826201400425, + 0.23544182266661595, + 0.8893827669067077, + -0.41898658922120485, + 0.18288939822239547, + 0.2626955778524691, + 0.14096956132259736, + -0.9545253355240351 + ], + [ + 0.4788138080840021, + 0.8474300636868075, + 0.22934607986157132, + 0.8477000333540763, + -0.5142272013211089, + 0.13028829138858963, + 0.22834620785026113, + 0.13203284659975192, + -0.9645855777374925 + ], + [ + 0.6042240120345076, + 0.7722585153123978, + 0.19629092900186335, + 0.7537329313169454, + -0.6338462861481959, + 0.173567144887805, + 0.2584569819704784, + 0.04307750066601668, + -0.9650618205105211 + ], + [ + 0.728707737888473, + 0.6493275872019726, + 0.21762058091993308, + 0.6283884027449906, + -0.7603205617148192, + 0.16444044128273677, + 0.27223711730229594, + 0.016921227264188363, + -0.9620814019774052 + ], + [ + 0.7972600603266445, + 0.5760782467725505, + 0.1803059893720121, + 0.5593153472761574, + -0.817340552130593, + 0.13827785124237835, + 0.227030259016958, + -0.00939550096175927, + -0.9738423825508782 + ], + [ + 0.8001057222057485, + 0.5693748260085365, + 0.1887939109223758, + 0.5445469098300184, + -0.8214227133981793, + 0.1695092590631851, + 0.25159391146884913, + -0.032818187355807535, + -0.9672763153776089 + ], + [ + 0.7896768316686075, + 0.5933786960401767, + 0.15592377821066739, + 0.5686520457337717, + -0.8032964152961114, + 0.17705852155491952, + 0.2303157667391147, + -0.051152636863381784, + -0.9717705775198675 + ], + [ + 0.7589652980034577, + 0.6348749871181525, + 0.14458709194893044, + 0.6068177994777277, + -0.7701721971663723, + 0.1964865006786239, + 0.23610132287543628, + -0.061388414571874494, + -0.9697874137628415 + ], + [ + 0.7517228886773527, + 0.6522671372136875, + 0.09726397251622713, + 0.6183041031561074, + -0.7483785071533617, + 0.24006175466164503, + 0.22937466001914542, + -0.12032120237915961, + -0.9658727005144805 + ], + [ + 0.7287162345259598, + 0.6787136737496762, + 0.09121621897187142, + 0.6469301329288726, + -0.7259569006577504, + 0.2333837644225153, + 0.22461979575927282, + -0.11106001734472709, + -0.9680969062549737 + ], + [ + 0.7058555695816239, + 0.7028963942184354, + 0.08777570213517745, + 0.6713358761817478, + -0.7033453703242368, + 0.23369516767521611, + 0.22600012442891837, + -0.10602805778747529, + -0.9683398136604369 + ], + [ + 0.6418111821263608, + 0.7618531429401196, + 0.08751111409315311, + 0.7264612388773484, + -0.6405775332666785, + 0.24882622908922875, + 0.24562669827677808, + -0.09612602387615354, + -0.9645866019323561 + ], + [ + 0.5344478061012102, + 0.840916209906499, + 0.08500276742607933, + 0.8039251261000276, + -0.5368149695621593, + 0.2559962501268965, + 0.26090215441551595, + -0.06848077372859436, + -0.9629332528534236 + ], + [ + 0.4821845625548813, + 0.8711979650196173, + 0.09226133198385497, + 0.8315239342842171, + -0.48827592642069656, + 0.26486707305836843, + 0.27580064239637714, + -0.05099730800432381, + -0.9598610734007591 + ], + [ + 0.4402776773563423, + 0.8919572388352611, + 0.102800053069448, + 0.8472335034966848, + -0.45062304729669705, + 0.2813081225236331, + 0.297238889404528, + -0.03675803768450496, + -0.9540953250546547 + ], + [ + 0.41822309189705986, + 0.9021338466176525, + 0.10603757914485509, + 0.8570375690130809, + -0.43058043100396204, + 0.2829966390906277, + 0.30095855313350395, + -0.0274775403426199, + -0.9532412779944581 + ], + [ + 0.41213366474515156, + 0.9029711205480749, + 0.12161002359955785, + 0.8597590754873455, + -0.4296015840194706, + 0.2761463581601371, + 0.30159604523414424, + -0.009253889134614335, + -0.9533908909964519 + ], + [ + 0.40555372157007263, + 0.9051504105971254, + 0.12739275142848333, + 0.8627377568678104, + -0.42508989821798315, + 0.27382867144936407, + 0.30200950613410005, + -0.0011457001702500635, + -0.953304225090688 + ], + [ + 0.39473918570708383, + 0.9035814946840751, + 0.16649762079921832, + 0.8619021649911142, + -0.42694185805968393, + 0.2735787049829979, + 0.3182854587488059, + 0.03551242460092875, + -0.9473295279088606 + ], + [ + 0.36504680658531213, + 0.9151142218642285, + 0.17119226017461625, + 0.8746870699846365, + -0.4000984606857286, + 0.27357586033603576, + 0.3188469203294229, + 0.049871662281683465, + -0.9464932428167168 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.00676080584526062, + 0.0007761986926198006, + -0.01507660374045372, + 0.04622909426689148, + 0.005270898342132568, + -0.01412808895111084, + 1.0 + ], + [ + -0.021340280771255493, + -0.003473385237157345, + -0.004960298538208008, + 0.023515410721302032, + 0.006405085325241089, + -0.0547565221786499, + 1.0 + ], + [ + -0.012569785118103027, + -0.013392086140811443, + 0.015824906527996063, + -0.029110915958881378, + -0.015598982572555542, + -0.094573974609375, + 1.0 + ], + [ + -0.014356166124343872, + -0.003990400582551956, + 0.004940394312143326, + 0.010590627789497375, + 0.03543616831302643, + -0.11595273017883301, + 1.0 + ], + [ + -0.01992589235305786, + 0.0043717846274375916, + -0.007421102374792099, + 0.09142756462097168, + -0.03104589879512787, + -0.16157710552215576, + 1.0 + ], + [ + -0.021336495876312256, + -0.005973923951387405, + -0.004441294819116592, + 0.027021095156669617, + -0.014292627573013306, + -0.18344461917877197, + 1.0 + ], + [ + -0.017661988735198975, + 0.00020051747560501099, + -0.013856086879968643, + 0.027233898639678955, + 0.046689972281455994, + -0.09984689950942993, + 1.0 + ], + [ + 0.0011319518089294434, + 0.006897233426570892, + -0.007334856316447258, + 0.024267874658107758, + -0.025299564003944397, + -0.014180898666381836, + 1.0 + ], + [ + 0.0018533170223236084, + 0.006185678765177727, + -0.011416942812502384, + 0.018674615770578384, + 0.02192462980747223, + 0.026511192321777344, + 1.0 + ], + [ + 0.00878944993019104, + 0.013336463831365108, + -0.003387431614100933, + 0.010626494884490967, + -0.005949616432189941, + 0.05036240816116333, + 1.0 + ], + [ + 0.005669236183166504, + 0.006183169782161713, + -0.012998668476939201, + 0.06071752309799194, + 0.006916612386703491, + 0.013864099979400635, + 1.0 + ], + [ + 0.012253016233444214, + 0.0018118486041203141, + -0.007485628128051758, + -0.009713463485240936, + 0.004882320761680603, + 0.03769499063491821, + 1.0 + ], + [ + 0.014667212963104248, + -0.0009821689454838634, + -0.005459075793623924, + -0.005160391330718994, + -0.0014167577028274536, + 0.034322917461395264, + 1.0 + ], + [ + 0.020454376935958862, + 0.012515195645391941, + 0.0017368383705615997, + -0.009733013808727264, + -0.020196542143821716, + 0.08684766292572021, + 1.0 + ], + [ + 0.01853451132774353, + 0.02362978458404541, + 0.0033138971775770187, + -0.028329893946647644, + -0.015790462493896484, + 0.13690274953842163, + 1.0 + ], + [ + 0.012522906064987183, + 0.01184128224849701, + 0.0013406286016106606, + -0.017917335033416748, + -0.01546594500541687, + 0.06121337413787842, + 1.0 + ], + [ + 0.007557779550552368, + 0.012404624372720718, + 0.006259561982005835, + -0.01457243412733078, + -0.022376984357833862, + 0.04623878002166748, + 1.0 + ], + [ + 0.0054552555084228516, + 0.004869449883699417, + 0.0008663623593747616, + -0.009690145030617714, + -0.003898113965988159, + 0.025264620780944824, + 1.0 + ], + [ + 0.0029524266719818115, + -0.0010580942034721375, + 0.0005713981809094548, + -0.01911141350865364, + -0.0006685554981231689, + 0.006991744041442871, + 1.0 + ], + [ + 0.0006158351898193359, + -0.0003850981593132019, + 0.0002625127090141177, + -0.008504166267812252, + -0.0004336833953857422, + 0.007574796676635742, + 1.0 + ], + [ + 0.0001607835292816162, + -0.0041567012667655945, + 0.018382113426923752, + -0.03867115080356598, + -0.017120450735092163, + 0.009949207305908203, + 1.0 + ], + [ + -0.004101753234863281, + -0.0018208883702754974, + 0.022435789927840233, + -0.015172973275184631, + -0.0005923211574554443, + 0.034105777740478516, + 1.0 + ], + [ + 0.00048479437828063965, + -0.0010563023388385773, + 0.02346891537308693, + -0.055119458585977554, + -0.01674911379814148, + 0.029048919677734375, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9968144297599792 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.37057849764823914, + -0.010815048590302467, + 0.042495112866163254 + ], + [ + 0.34923821687698364, + -0.014288433827459812, + 0.037534814327955246 + ], + [ + 0.3366684317588806, + -0.027680519968271255, + 0.05335972085595131 + ], + [ + 0.32231226563453674, + -0.03167092055082321, + 0.058300115168094635 + ], + [ + 0.3023863732814789, + -0.02729913592338562, + 0.050879012793302536 + ], + [ + 0.2810498774051666, + -0.033273059874773026, + 0.046437717974185944 + ], + [ + 0.26338788866996765, + -0.033072542399168015, + 0.0325816310942173 + ], + [ + 0.2645198404788971, + -0.026175308972597122, + 0.025246774777770042 + ], + [ + 0.2663731575012207, + -0.019989630207419395, + 0.013829831965267658 + ], + [ + 0.27516260743141174, + -0.006653166376054287, + 0.010442400351166725 + ], + [ + 0.28083184361457825, + -0.00046999671030789614, + -0.0025562678929418325 + ], + [ + 0.29308485984802246, + 0.001341851893812418, + -0.010041896253824234 + ], + [ + 0.3077520728111267, + 0.0003596829192247242, + -0.015500972047448158 + ], + [ + 0.32820644974708557, + 0.012874878942966461, + -0.013764133676886559 + ], + [ + 0.3467409610748291, + 0.03650466352701187, + -0.01045023649930954 + ], + [ + 0.3592638671398163, + 0.04834594577550888, + -0.00910960789769888 + ], + [ + 0.36682164669036865, + 0.0607505701482296, + -0.0028500459156930447 + ], + [ + 0.3722769021987915, + 0.06562002003192902, + -0.001983683556318283 + ], + [ + 0.3752293288707733, + 0.06456192582845688, + -0.0014122853754088283 + ], + [ + 0.37584516406059265, + 0.06417682766914368, + -0.0011497726663947105 + ], + [ + 0.37600594758987427, + 0.06002012640237808, + 0.017232341691851616 + ], + [ + 0.371904194355011, + 0.058199238032102585, + 0.03966813161969185 + ], + [ + 0.3723889887332916, + 0.05714293569326401, + 0.06313704699277878 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.2382534549106946, + 0.9507783722160402, + 0.19813070975831634, + 0.937450769681684, + -0.27845168915177854, + 0.20892752626626188, + 0.25381360413960447, + 0.13596008140163018, + -0.9576499937967555 + ], + [ + 0.2896824031861949, + 0.9389936275397661, + 0.18540515829928106, + 0.9245387268243674, + -0.3246344516100919, + 0.19960114085293312, + 0.24761310120074093, + 0.11359331083970375, + -0.9621768610012538 + ], + [ + 0.37415147641847674, + 0.8969826201400425, + 0.23544182266661595, + 0.8893827669067077, + -0.41898658922120485, + 0.18288939822239547, + 0.2626955778524691, + 0.14096956132259736, + -0.9545253355240351 + ], + [ + 0.4788138080840021, + 0.8474300636868075, + 0.22934607986157132, + 0.8477000333540763, + -0.5142272013211089, + 0.13028829138858963, + 0.22834620785026113, + 0.13203284659975192, + -0.9645855777374925 + ], + [ + 0.6042240120345076, + 0.7722585153123978, + 0.19629092900186335, + 0.7537329313169454, + -0.6338462861481959, + 0.173567144887805, + 0.2584569819704784, + 0.04307750066601668, + -0.9650618205105211 + ], + [ + 0.728707737888473, + 0.6493275872019726, + 0.21762058091993308, + 0.6283884027449906, + -0.7603205617148192, + 0.16444044128273677, + 0.27223711730229594, + 0.016921227264188363, + -0.9620814019774052 + ], + [ + 0.7972600603266445, + 0.5760782467725505, + 0.1803059893720121, + 0.5593153472761574, + -0.817340552130593, + 0.13827785124237835, + 0.227030259016958, + -0.00939550096175927, + -0.9738423825508782 + ], + [ + 0.8001057222057485, + 0.5693748260085365, + 0.1887939109223758, + 0.5445469098300184, + -0.8214227133981793, + 0.1695092590631851, + 0.25159391146884913, + -0.032818187355807535, + -0.9672763153776089 + ], + [ + 0.7896768316686075, + 0.5933786960401767, + 0.15592377821066739, + 0.5686520457337717, + -0.8032964152961114, + 0.17705852155491952, + 0.2303157667391147, + -0.051152636863381784, + -0.9717705775198675 + ], + [ + 0.7589652980034577, + 0.6348749871181525, + 0.14458709194893044, + 0.6068177994777277, + -0.7701721971663723, + 0.1964865006786239, + 0.23610132287543628, + -0.061388414571874494, + -0.9697874137628415 + ], + [ + 0.7517228886773527, + 0.6522671372136875, + 0.09726397251622713, + 0.6183041031561074, + -0.7483785071533617, + 0.24006175466164503, + 0.22937466001914542, + -0.12032120237915961, + -0.9658727005144805 + ], + [ + 0.7287162345259598, + 0.6787136737496762, + 0.09121621897187142, + 0.6469301329288726, + -0.7259569006577504, + 0.2333837644225153, + 0.22461979575927282, + -0.11106001734472709, + -0.9680969062549737 + ], + [ + 0.7058555695816239, + 0.7028963942184354, + 0.08777570213517745, + 0.6713358761817478, + -0.7033453703242368, + 0.23369516767521611, + 0.22600012442891837, + -0.10602805778747529, + -0.9683398136604369 + ], + [ + 0.6418111821263608, + 0.7618531429401196, + 0.08751111409315311, + 0.7264612388773484, + -0.6405775332666785, + 0.24882622908922875, + 0.24562669827677808, + -0.09612602387615354, + -0.9645866019323561 + ], + [ + 0.5344478061012102, + 0.840916209906499, + 0.08500276742607933, + 0.8039251261000276, + -0.5368149695621593, + 0.2559962501268965, + 0.26090215441551595, + -0.06848077372859436, + -0.9629332528534236 + ], + [ + 0.4821845625548813, + 0.8711979650196173, + 0.09226133198385497, + 0.8315239342842171, + -0.48827592642069656, + 0.26486707305836843, + 0.27580064239637714, + -0.05099730800432381, + -0.9598610734007591 + ], + [ + 0.4402776773563423, + 0.8919572388352611, + 0.102800053069448, + 0.8472335034966848, + -0.45062304729669705, + 0.2813081225236331, + 0.297238889404528, + -0.03675803768450496, + -0.9540953250546547 + ], + [ + 0.41822309189705986, + 0.9021338466176525, + 0.10603757914485509, + 0.8570375690130809, + -0.43058043100396204, + 0.2829966390906277, + 0.30095855313350395, + -0.0274775403426199, + -0.9532412779944581 + ], + [ + 0.41213366474515156, + 0.9029711205480749, + 0.12161002359955785, + 0.8597590754873455, + -0.4296015840194706, + 0.2761463581601371, + 0.30159604523414424, + -0.009253889134614335, + -0.9533908909964519 + ], + [ + 0.40555372157007263, + 0.9051504105971254, + 0.12739275142848333, + 0.8627377568678104, + -0.42508989821798315, + 0.27382867144936407, + 0.30200950613410005, + -0.0011457001702500635, + -0.953304225090688 + ], + [ + 0.39473918570708383, + 0.9035814946840751, + 0.16649762079921832, + 0.8619021649911142, + -0.42694185805968393, + 0.2735787049829979, + 0.3182854587488059, + 0.03551242460092875, + -0.9473295279088606 + ], + [ + 0.36504680658531213, + 0.9151142218642285, + 0.17119226017461625, + 0.8746870699846365, + -0.4000984606857286, + 0.27357586033603576, + 0.3188469203294229, + 0.049871662281683465, + -0.9464932428167168 + ], + [ + 0.33752728832117934, + 0.9153427760259665, + 0.2195972040250716, + 0.8798108075174289, + -0.3897121578701008, + 0.27213485073352744, + 0.3346763699666904, + 0.10135105517609144, + -0.9368669548023412 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006619.json b/json/chunk-0006/episode_0006619.json new file mode 100644 index 0000000000000000000000000000000000000000..da71bd70e892af8ab95447ca98b3604fb8d69240 --- /dev/null +++ b/json/chunk-0006/episode_0006619.json @@ -0,0 +1,3742 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 61, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut pan on stove and put stuffedpig in pan." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006619.mp4", + "start": 0, + "end": 61, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.35101041197776794, + -0.024862462654709816, + 0.12476016581058502, + 0.040477853268384933, + -0.11815326660871506, + 0.023560261353850365, + 0.0, + 1.0112061500549316 + ], + [ + 0.34867820143699646, + -0.02466120757162571, + 0.11233558505773544, + 0.04438147321343422, + -0.08461925387382507, + 0.022822199389338493, + 0.0, + 1.0112061500549316 + ], + [ + 0.3538867235183716, + -0.025007829070091248, + 0.09156180918216705, + 0.046593837440013885, + -0.10802104324102402, + 0.01580417901277542, + 0.0, + 1.0112061500549316 + ], + [ + 0.35693734884262085, + -0.025813372805714607, + 0.07919391244649887, + 0.038637761026620865, + -0.14010734856128693, + 6.478883733507246e-06, + 0.0, + 1.0112061500549316 + ], + [ + 0.35709819197654724, + -0.02421717159450054, + 0.0702313780784607, + 0.029128193855285645, + -0.15668262541294098, + -0.008783694356679916, + 0.0, + 1.0112061500549316 + ], + [ + 0.3542976677417755, + -0.02106415294110775, + 0.06102815270423889, + 0.015716053545475006, + -0.16857585310935974, + -0.014912741258740425, + 0.0, + 1.0112061500549316 + ], + [ + 0.3508193790912628, + -0.019393781200051308, + 0.05180102214217186, + -0.014147287234663963, + -0.18079449236392975, + -0.028690043836832047, + 0.0, + 1.0112061500549316 + ], + [ + 0.35178154706954956, + -0.017501287162303925, + 0.03845446929335594, + -0.05177568644285202, + -0.2164553701877594, + -0.029491769149899483, + 0.0, + 0.959831714630127 + ], + [ + 0.3602268695831299, + -0.017023209482431412, + 0.03650825098156929, + -0.048399507999420166, + -0.28083375096321106, + -0.047181449830532074, + 0.0, + 0.6701657772064209 + ], + [ + 0.37313899397850037, + -0.012618754990398884, + 0.032921187579631805, + -0.05663038045167923, + -0.3301727771759033, + -0.061716821044683456, + 0.0, + 0.36275482177734375 + ], + [ + 0.375853031873703, + -0.009999758563935757, + 0.03413287177681923, + -0.045810550451278687, + -0.3283728063106537, + -0.07358718663454056, + 0.0, + 0.14767317473888397 + ], + [ + 0.3740801215171814, + -0.00996445119380951, + 0.03670400753617287, + -0.02331666462123394, + -0.2968510389328003, + -0.05937230587005615, + 0.0, + 0.07143880426883698 + ], + [ + 0.36527377367019653, + -0.01047602016478777, + 0.04333742707967758, + 0.016488555818796158, + -0.20864249765872955, + -0.04134871065616608, + 0.0, + 0.0686454325914383 + ], + [ + 0.34883835911750793, + -0.00890659261494875, + 0.07126304507255554, + 0.09884122014045715, + -0.07004851847887039, + -0.015790589153766632, + 0.0, + 0.06413581967353821 + ], + [ + 0.3524375557899475, + -0.005444720387458801, + 0.0977993980050087, + 0.143985778093338, + -0.04408061504364014, + -0.008737409487366676, + 0.0, + 0.06238236278295517 + ], + [ + 0.3720543086528778, + 0.015739545226097107, + 0.12625239789485931, + 0.1818849891424179, + -0.084312304854393, + -0.06322217732667923, + 0.0, + 0.06238236278295517 + ], + [ + 0.38759613037109375, + 0.047028034925460815, + 0.12665441632270813, + 0.1987123042345047, + -0.07084270566701889, + -0.11419107019901276, + 0.0, + 0.06238236278295517 + ], + [ + 0.38835886120796204, + 0.07230303436517715, + 0.1265498548746109, + 0.2159193754196167, + -0.07993121445178986, + -0.12234648317098618, + 0.0, + 0.06238236278295517 + ], + [ + 0.3832775056362152, + 0.08421850204467773, + 0.1199672743678093, + 0.22588829696178436, + -0.06354928016662598, + -0.12118002027273178, + 0.0, + 0.06238236278295517 + ], + [ + 0.3654595911502838, + 0.09244890511035919, + 0.1013312116265297, + 0.21282252669334412, + -0.010340357199311256, + -0.08636663854122162, + 0.0, + 0.06238236278295517 + ], + [ + 0.3572818338871002, + 0.0941588431596756, + 0.09888793528079987, + 0.19579647481441498, + -0.04040531441569328, + -0.0715552568435669, + 0.0, + 0.08890553563833237 + ], + [ + 0.3566664457321167, + 0.09526269137859344, + 0.08675669133663177, + 0.17763951420783997, + -0.06926629692316055, + -0.08885252475738525, + 0.0, + 0.25614848732948303 + ], + [ + 0.35950997471809387, + 0.09659232944250107, + 0.0863792821764946, + 0.16625221073627472, + -0.0919833779335022, + -0.10289579629898071, + 0.0, + 0.5393473505973816 + ], + [ + 0.3577951490879059, + 0.09449271857738495, + 0.0856136679649353, + 0.15645556151866913, + -0.07993651181459427, + -0.1167704313993454, + 0.0, + 0.8643063306808472 + ], + [ + 0.3515138030052185, + 0.09489641338586807, + 0.0866314247250557, + 0.15657386183738708, + -0.03452432155609131, + -0.12078314274549484, + 0.0, + 1.0199549198150635 + ], + [ + 0.35447871685028076, + 0.09773600101470947, + 0.09996257722377777, + 0.1741243153810501, + -0.015985913574695587, + -0.14358767867088318, + 0.0, + 1.0118417739868164 + ], + [ + 0.3592333495616913, + 0.09480088949203491, + 0.11353954672813416, + 0.21164420247077942, + 0.007157883606851101, + -0.19994652271270752, + 0.0, + 1.0112061500549316 + ], + [ + 0.3590109050273895, + 0.0933314859867096, + 0.11391840875148773, + 0.21171918511390686, + 0.011980588547885418, + -0.2037169188261032, + 0.0, + 1.0112061500549316 + ], + [ + 0.35843250155448914, + 0.09324997663497925, + 0.11352118104696274, + 0.2106974869966507, + 0.014837943017482758, + -0.2034180909395218, + 0.0, + 1.0112061500549316 + ], + [ + 0.35920730233192444, + 0.09287514537572861, + 0.11346615105867386, + 0.20932415127754211, + 0.009796268306672573, + -0.2050340175628662, + 0.0, + 1.0112061500549316 + ], + [ + 0.33083802461624146, + 0.10119751840829849, + 0.12260282039642334, + 0.19244053959846497, + -0.02633436769247055, + -0.18463510274887085, + 0.0, + 1.0105689764022827 + ], + [ + 0.3016013205051422, + 0.11416622996330261, + 0.1263928860425949, + 0.21494661271572113, + -0.07638537883758545, + -0.13614456355571747, + 0.0, + 1.0112061500549316 + ], + [ + 0.2829906642436981, + 0.11691898107528687, + 0.11172917485237122, + 0.21910420060157776, + -0.11541976779699326, + -0.1505468487739563, + 0.0, + 1.0112061500549316 + ], + [ + 0.2668962776660919, + 0.12150638550519943, + 0.09930511564016342, + 0.21465075016021729, + -0.15820585191249847, + -0.15880738198757172, + 0.0, + 1.0112061500549316 + ], + [ + 0.25224220752716064, + 0.1220899149775505, + 0.08592114597558975, + 0.22565093636512756, + -0.18753133714199066, + -0.1406053900718689, + 0.0, + 1.0112061500549316 + ], + [ + 0.2466418296098709, + 0.1187790110707283, + 0.07350809872150421, + 0.23571103811264038, + -0.21853940188884735, + -0.13829155266284943, + 0.0, + 1.0112061500549316 + ], + [ + 0.24870893359184265, + 0.11564728617668152, + 0.06817412376403809, + 0.24477407336235046, + -0.25335338711738586, + -0.1429423689842224, + 0.0, + 1.0112061500549316 + ], + [ + 0.2540147304534912, + 0.11318609863519669, + 0.0604373924434185, + 0.24761448800563812, + -0.2540842592716217, + -0.15182234346866608, + 0.0, + 1.0112061500549316 + ], + [ + 0.2570885121822357, + 0.11266078799962997, + 0.05386786162853241, + 0.23993879556655884, + -0.2544901967048645, + -0.16135482490062714, + 0.0, + 1.0112061500549316 + ], + [ + 0.26305723190307617, + 0.11247619986534119, + 0.0396835133433342, + 0.21754810214042664, + -0.26615017652511597, + -0.17073050141334534, + 0.0, + 1.0112061500549316 + ], + [ + 0.2664010226726532, + 0.11408674716949463, + 0.03007149137556553, + 0.2013307362794876, + -0.28127285838127136, + -0.15633578598499298, + 0.0, + 1.0099300146102905 + ], + [ + 0.26971435546875, + 0.11397657543420792, + 0.02445966936647892, + 0.19056716561317444, + -0.29560601711273193, + -0.15385392308235168, + 0.0, + 0.9545519351959229 + ], + [ + 0.2656801640987396, + 0.11378409713506699, + 0.022541863843798637, + 0.17968295514583588, + -0.26932457089424133, + -0.12295109778642654, + 0.0, + 0.6791892647743225 + ], + [ + 0.26496732234954834, + 0.11106304824352264, + 0.02399825118482113, + 0.1911986917257309, + -0.2303626537322998, + -0.1162421926856041, + 0.0, + 0.4841892421245575 + ], + [ + 0.2598205804824829, + 0.10973254591226578, + 0.035075843334198, + 0.20310527086257935, + -0.15969814360141754, + -0.11717354506254196, + 0.0, + 0.40415963530540466 + ], + [ + 0.264883816242218, + 0.11273889988660812, + 0.07177690416574478, + 0.24495354294776917, + -0.10072099417448044, + -0.11813216656446457, + 0.0, + 0.3918617069721222 + ], + [ + 0.277304083108902, + 0.10957486182451248, + 0.10790827870368958, + 0.27538853883743286, + -0.04503808915615082, + -0.08831434696912766, + 0.0, + 0.3918617069721222 + ], + [ + 0.2970726191997528, + 0.0967729240655899, + 0.13343490660190582, + 0.28840968012809753, + -0.02783368155360222, + -0.07156602293252945, + 0.0, + 0.3918617069721222 + ], + [ + 0.3166545331478119, + 0.08488069474697113, + 0.13408297300338745, + 0.283572793006897, + 8.862846880219877e-05, + -0.0709291622042656, + 0.0, + 0.3918617069721222 + ], + [ + 0.3309853971004486, + 0.07542916387319565, + 0.1307217925786972, + 0.27797654271125793, + -0.011886568740010262, + -0.06707333028316498, + 0.0, + 0.39273425936698914 + ], + [ + 0.3462368845939636, + 0.06883673369884491, + 0.11716344207525253, + 0.29243892431259155, + -0.0656728744506836, + -0.07766565680503845, + 0.0, + 0.3918617069721222 + ], + [ + 0.3520907461643219, + 0.06764526665210724, + 0.11327317357063293, + 0.29327070713043213, + -0.08630519360303879, + -0.11441279947757721, + 0.0, + 0.4662301242351532 + ], + [ + 0.35184618830680847, + 0.06745034456253052, + 0.1126411110162735, + 0.29320815205574036, + -0.07696538418531418, + -0.1354290395975113, + 0.0, + 0.7931879758834839 + ], + [ + 0.34795618057250977, + 0.06703231483697891, + 0.11211524158716202, + 0.2860668897628784, + -0.05698779225349426, + -0.11779303103685379, + 0.0, + 1.0143678188323975 + ], + [ + 0.3436445891857147, + 0.06548870354890823, + 0.1120670884847641, + 0.2888244092464447, + -0.0313812680542469, + -0.10283444076776505, + 0.0, + 1.0112061500549316 + ], + [ + 0.34143322706222534, + 0.06223836541175842, + 0.11234067380428314, + 0.29600802063941956, + -0.016260208562016487, + -0.0964767336845398, + 0.0, + 1.0092895030975342 + ], + [ + 0.33992040157318115, + 0.05759352073073387, + 0.11333680897951126, + 0.2944258451461792, + -0.003602586919441819, + -0.09325721859931946, + 0.0, + 1.0092895030975342 + ], + [ + 0.3400841951370239, + 0.047615405172109604, + 0.11953970789909363, + 0.27814099192619324, + 0.005764896981418133, + -0.07904409617185593, + 0.0, + 1.0092895030975342 + ], + [ + 0.34543806314468384, + 0.03532848879694939, + 0.13312487304210663, + 0.15487714111804962, + -0.011289923451840878, + -0.06259170919656754, + 0.0, + 1.0092895030975342 + ], + [ + 0.34836068749427795, + 0.02857878804206848, + 0.14621439576148987, + 0.06132059171795845, + -0.0196476299315691, + -0.05726049095392227, + 0.0, + 1.0092895030975342 + ], + [ + 0.3517439067363739, + 0.028762415051460266, + 0.14626868069171906, + 0.05049772188067436, + -0.03662298247218132, + -0.07538235187530518, + 0.0, + 1.0092895030975342 + ] + ], + "left_gripper_pos": [ + [ + 1.0112061500549316 + ], + [ + 1.0112061500549316 + ], + [ + 1.0112061500549316 + ], + [ + 1.0112061500549316 + ], + [ + 1.0112061500549316 + ], + [ + 1.0112061500549316 + ], + [ + 1.0112061500549316 + ], + [ + 0.959831714630127 + ], + [ + 0.6701657772064209 + ], + [ + 0.36275482177734375 + ], + [ + 0.14767317473888397 + ], + [ + 0.07143880426883698 + ], + [ + 0.0686454325914383 + ], + [ + 0.06413581967353821 + ], + [ + 0.06238236278295517 + ], + [ + 0.06238236278295517 + ], + [ + 0.06238236278295517 + ], + [ + 0.06238236278295517 + ], + [ + 0.06238236278295517 + ], + [ + 0.06238236278295517 + ], + [ + 0.08890553563833237 + ], + [ + 0.25614848732948303 + ], + [ + 0.5393473505973816 + ], + [ + 0.8643063306808472 + ], + [ + 1.0199549198150635 + ], + [ + 1.0118417739868164 + ], + [ + 1.0112061500549316 + ], + [ + 1.0112061500549316 + ], + [ + 1.0112061500549316 + ], + [ + 1.0112061500549316 + ], + [ + 1.0105689764022827 + ], + [ + 1.0112061500549316 + ], + [ + 1.0112061500549316 + ], + [ + 1.0112061500549316 + ], + [ + 1.0112061500549316 + ], + [ + 1.0112061500549316 + ], + [ + 1.0112061500549316 + ], + [ + 1.0112061500549316 + ], + [ + 1.0112061500549316 + ], + [ + 1.0112061500549316 + ], + [ + 1.0099300146102905 + ], + [ + 0.9545519351959229 + ], + [ + 0.6791892647743225 + ], + [ + 0.4841892421245575 + ], + [ + 0.40415963530540466 + ], + [ + 0.3918617069721222 + ], + [ + 0.3918617069721222 + ], + [ + 0.3918617069721222 + ], + [ + 0.3918617069721222 + ], + [ + 0.39273425936698914 + ], + [ + 0.3918617069721222 + ], + [ + 0.4662301242351532 + ], + [ + 0.7931879758834839 + ], + [ + 1.0143678188323975 + ], + [ + 1.0112061500549316 + ], + [ + 1.0092895030975342 + ], + [ + 1.0092895030975342 + ], + [ + 1.0092895030975342 + ], + [ + 1.0092895030975342 + ], + [ + 1.0092895030975342 + ], + [ + 1.0092895030975342 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.35101041197776794, + -0.024862462654709816, + 0.12476016581058502 + ], + [ + 0.34867820143699646, + -0.02466120757162571, + 0.11233558505773544 + ], + [ + 0.3538867235183716, + -0.025007829070091248, + 0.09156180918216705 + ], + [ + 0.35693734884262085, + -0.025813372805714607, + 0.07919391244649887 + ], + [ + 0.35709819197654724, + -0.02421717159450054, + 0.0702313780784607 + ], + [ + 0.3542976677417755, + -0.02106415294110775, + 0.06102815270423889 + ], + [ + 0.3508193790912628, + -0.019393781200051308, + 0.05180102214217186 + ], + [ + 0.35178154706954956, + -0.017501287162303925, + 0.03845446929335594 + ], + [ + 0.3602268695831299, + -0.017023209482431412, + 0.03650825098156929 + ], + [ + 0.37313899397850037, + -0.012618754990398884, + 0.032921187579631805 + ], + [ + 0.375853031873703, + -0.009999758563935757, + 0.03413287177681923 + ], + [ + 0.3740801215171814, + -0.00996445119380951, + 0.03670400753617287 + ], + [ + 0.36527377367019653, + -0.01047602016478777, + 0.04333742707967758 + ], + [ + 0.34883835911750793, + -0.00890659261494875, + 0.07126304507255554 + ], + [ + 0.3524375557899475, + -0.005444720387458801, + 0.0977993980050087 + ], + [ + 0.3720543086528778, + 0.015739545226097107, + 0.12625239789485931 + ], + [ + 0.38759613037109375, + 0.047028034925460815, + 0.12665441632270813 + ], + [ + 0.38835886120796204, + 0.07230303436517715, + 0.1265498548746109 + ], + [ + 0.3832775056362152, + 0.08421850204467773, + 0.1199672743678093 + ], + [ + 0.3654595911502838, + 0.09244890511035919, + 0.1013312116265297 + ], + [ + 0.3572818338871002, + 0.0941588431596756, + 0.09888793528079987 + ], + [ + 0.3566664457321167, + 0.09526269137859344, + 0.08675669133663177 + ], + [ + 0.35950997471809387, + 0.09659232944250107, + 0.0863792821764946 + ], + [ + 0.3577951490879059, + 0.09449271857738495, + 0.0856136679649353 + ], + [ + 0.3515138030052185, + 0.09489641338586807, + 0.0866314247250557 + ], + [ + 0.35447871685028076, + 0.09773600101470947, + 0.09996257722377777 + ], + [ + 0.3592333495616913, + 0.09480088949203491, + 0.11353954672813416 + ], + [ + 0.3590109050273895, + 0.0933314859867096, + 0.11391840875148773 + ], + [ + 0.35843250155448914, + 0.09324997663497925, + 0.11352118104696274 + ], + [ + 0.35920730233192444, + 0.09287514537572861, + 0.11346615105867386 + ], + [ + 0.33083802461624146, + 0.10119751840829849, + 0.12260282039642334 + ], + [ + 0.3016013205051422, + 0.11416622996330261, + 0.1263928860425949 + ], + [ + 0.2829906642436981, + 0.11691898107528687, + 0.11172917485237122 + ], + [ + 0.2668962776660919, + 0.12150638550519943, + 0.09930511564016342 + ], + [ + 0.25224220752716064, + 0.1220899149775505, + 0.08592114597558975 + ], + [ + 0.2466418296098709, + 0.1187790110707283, + 0.07350809872150421 + ], + [ + 0.24870893359184265, + 0.11564728617668152, + 0.06817412376403809 + ], + [ + 0.2540147304534912, + 0.11318609863519669, + 0.0604373924434185 + ], + [ + 0.2570885121822357, + 0.11266078799962997, + 0.05386786162853241 + ], + [ + 0.26305723190307617, + 0.11247619986534119, + 0.0396835133433342 + ], + [ + 0.2664010226726532, + 0.11408674716949463, + 0.03007149137556553 + ], + [ + 0.26971435546875, + 0.11397657543420792, + 0.02445966936647892 + ], + [ + 0.2656801640987396, + 0.11378409713506699, + 0.022541863843798637 + ], + [ + 0.26496732234954834, + 0.11106304824352264, + 0.02399825118482113 + ], + [ + 0.2598205804824829, + 0.10973254591226578, + 0.035075843334198 + ], + [ + 0.264883816242218, + 0.11273889988660812, + 0.07177690416574478 + ], + [ + 0.277304083108902, + 0.10957486182451248, + 0.10790827870368958 + ], + [ + 0.2970726191997528, + 0.0967729240655899, + 0.13343490660190582 + ], + [ + 0.3166545331478119, + 0.08488069474697113, + 0.13408297300338745 + ], + [ + 0.3309853971004486, + 0.07542916387319565, + 0.1307217925786972 + ], + [ + 0.3462368845939636, + 0.06883673369884491, + 0.11716344207525253 + ], + [ + 0.3520907461643219, + 0.06764526665210724, + 0.11327317357063293 + ], + [ + 0.35184618830680847, + 0.06745034456253052, + 0.1126411110162735 + ], + [ + 0.34795618057250977, + 0.06703231483697891, + 0.11211524158716202 + ], + [ + 0.3436445891857147, + 0.06548870354890823, + 0.1120670884847641 + ], + [ + 0.34143322706222534, + 0.06223836541175842, + 0.11234067380428314 + ], + [ + 0.33992040157318115, + 0.05759352073073387, + 0.11333680897951126 + ], + [ + 0.3400841951370239, + 0.047615405172109604, + 0.11953970789909363 + ], + [ + 0.34543806314468384, + 0.03532848879694939, + 0.13312487304210663 + ], + [ + 0.34836068749427795, + 0.02857878804206848, + 0.14621439576148987 + ], + [ + 0.3517439067363739, + 0.028762415051460266, + 0.14626868069171906 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9927524241251376, + 0.02830762891184426, + 0.116795986827684, + 0.023393835261729952, + -0.9987912047533152, + 0.04323028775255305, + 0.11787855133742633, + -0.04018466688689625, + -0.9922146137211341 + ], + [ + 0.9961624434384795, + 0.026546586390136795, + 0.0834006296961187, + 0.022738565860530642, + -0.998669573794636, + 0.04628217798944307, + 0.08451830514914754, + -0.044208156802463296, + -0.9954407541219339 + ], + [ + 0.9940472424839285, + 0.020807257553536348, + 0.10694455452802812, + 0.01571140867953245, + -0.9987105980032597, + 0.048273109214923414, + 0.10781109102222408, + -0.04630550149897975, + -0.9930924273115396 + ], + [ + 0.9902010107338063, + 0.005400872231540372, + 0.1395449351316162, + 6.415397221435498e-06, + -0.9992536195978394, + 0.03862905227233825, + 0.1396494121025616, + -0.038249631367569266, + -0.9894619787539357 + ], + [ + 0.9877122645271129, + -0.004235442138099459, + 0.15622593745155644, + -0.008675985772036814, + -0.9995771618879684, + 0.027752922420489733, + 0.15604233327403888, + -0.028767315861740007, + -0.9873313687736781 + ], + [ + 0.985715091192049, + -0.012273931837123948, + 0.1679735383728875, + -0.014700803895806833, + -0.9998046453300662, + 0.013212022602059777, + 0.16777856049289283, + -0.01549263611132537, + -0.9857029638107286 + ], + [ + 0.9832963210713501, + -0.031225946085112782, + 0.1793133716671408, + -0.028218557387655413, + -0.9994154684610598, + -0.019298560042661828, + 0.1798111731414601, + 0.013916238423160737, + -0.9836027045111465 + ], + [ + 0.9762401567595667, + -0.040557994034714634, + 0.21286193988108082, + -0.02879939938676475, + -0.9978979215484509, + -0.05805456712648313, + 0.2147690641713057, + 0.050544903691289916, + -0.9753560692310372 + ], + [ + 0.9597554501499858, + -0.06050281221963552, + 0.27424238480022317, + -0.04531628464292421, + -0.9970850152558308, + -0.06138327702592105, + 0.27715683331565116, + 0.04648528870293287, + -0.9596995403149078 + ], + [ + 0.9441852990468079, + -0.07989396325634554, + 0.31957952953698865, + -0.058346213533416146, + -0.9953643094502953, + -0.07645659447588049, + 0.32420647808179637, + 0.05354293704803595, + -0.9444698584190324 + ], + [ + 0.9440066590157211, + -0.08817257234233157, + 0.31792613170438244, + -0.06959245567262705, + -0.9951615841066082, + -0.06935641017151695, + 0.3225032059490719, + 0.04334765281953067, + -0.9455753080255469 + ], + [ + 0.9545773815640111, + -0.06612903399067682, + 0.29053222449473015, + -0.05674214931141849, + -0.9975619737721789, + -0.040625570460921995, + 0.29251042904128577, + 0.022294827813072612, + -0.9560024003917921 + ], + [ + 0.9774767987935155, + -0.03791907596640517, + 0.20760840902582683, + -0.04044045518318231, + -0.9991506188328313, + 0.007912677836678818, + 0.20713202892106775, + -0.016130237562541942, + -0.9781800131014831 + ], + [ + 0.9974232425331194, + -0.008806964843190995, + 0.0711991055068035, + -0.015751209806778268, + -0.9951041791956287, + 0.09756829370762406, + 0.06999124691231748, + -0.09843835592717474, + -0.9926787574225682 + ], + [ + 0.9989904731563606, + -0.002324100256258487, + 0.04486237957163469, + -0.008728810964982367, + -0.9896694145434266, + 0.14310226335180262, + 0.04406634091875759, + -0.14334939300628355, + -0.9886906033349168 + ], + [ + 0.9944570630932131, + -0.04693564602106255, + 0.09408610310033488, + -0.06295564196380087, + -0.9825019766785309, + 0.17528962595574615, + 0.08421245043903572, + -0.18024125763921311, + -0.98001089393725 + ], + [ + 0.9909953219378764, + -0.09781868816244103, + 0.09143181144122382, + -0.1136572614538779, + -0.9755291769140213, + 0.1882149088363, + 0.07078346428403477, + -0.19691198347391403, + -0.9778626549512561 + ], + [ + 0.9893560673321047, + -0.1022288559958022, + 0.10355594157237756, + -0.12165183040174413, + -0.9715661302206627, + 0.2031257905041889, + 0.0798461282283457, + -0.21356150310820507, + -0.9736611731999519 + ], + [ + 0.9906629086675246, + -0.1036932879433674, + 0.08851386007792139, + -0.12063964513325744, + -0.9691679306325253, + 0.2148478490829976, + 0.06350651472503957, + -0.22352007576269894, + -0.9726282426078916 + ], + [ + 0.9962194578612762, + -0.08213727352427828, + 0.028288868421752995, + -0.08625469611773844, + -0.9739838425856531, + 0.20956049670613713, + 0.010340172929983314, + -0.21120829216696063, + -0.9773863811940978 + ], + [ + 0.9966269196908973, + -0.062289653951080645, + 0.05343015963000105, + -0.07143585773578155, + -0.978944783874305, + 0.1912172281852314, + 0.04039432109821812, + -0.19438906640020753, + -0.9800924393581806 + ], + [ + 0.9936667191556273, + -0.0751574840539013, + 0.08353324986601779, + -0.0885228754133649, + -0.9814660761977675, + 0.16996482518894143, + 0.06921092233918619, + -0.1762829936881182, + -0.9819033324952683 + ], + [ + 0.9905057672661424, + -0.086177852029246, + 0.10710603546082861, + -0.10228009975036395, + -0.9825570495917885, + 0.1553075191113929, + 0.09185372179485429, + -0.16478780937043086, + -0.9820427035904947 + ], + [ + 0.9900185999496125, + -0.10272466413850156, + 0.09649256516147692, + -0.11613321784127953, + -0.9825086209597774, + 0.14556746014665128, + 0.07985140867661467, + -0.1553204851825703, + -0.984631555159092 + ], + [ + 0.9921230158893966, + -0.11367250772770388, + 0.05263537146656529, + -0.12041788095255412, + -0.981219567003533, + 0.1506907272405836, + 0.03451746354274475, + -0.1558419786716486, + -0.9871787185683658 + ], + [ + 0.9895825315930369, + -0.13819012172703374, + 0.040372062406866915, + -0.14307650226665877, + -0.975139511024688, + 0.16921007221105816, + 0.015985232718204095, + -0.17322362510812528, + -0.9847527852407145 + ], + [ + 0.980052093570318, + -0.1956588194553184, + 0.034864312094001364, + -0.19861183113228723, + -0.9579099380632924, + 0.20727250443283396, + -0.007157822484291402, + -0.2100623167751191, + -0.9776617966599457 + ], + [ + 0.9792510893637154, + -0.2002588916714266, + 0.031043200326454988, + -0.20229625885140798, + -0.9569448633510796, + 0.2081652040104389, + -0.011980301945307243, + -0.21012592608365901, + -0.9776009244844156 + ], + [ + 0.9792739735029364, + -0.20058968851779038, + 0.028040358059522392, + -0.20199588219511513, + -0.9570961418075903, + 0.20776101393967614, + -0.014837398558627698, + -0.20911899052300573, + -0.9777776329036432 + ], + [ + 0.9790070810919155, + -0.20114917107863536, + 0.03292637462985642, + -0.2035906956837478, + -0.9572684012891849, + 0.20539726513334075, + -0.00979611162121876, + -0.20778888051969033, + -0.9781246430437578 + ], + [ + 0.9826624706056732, + -0.17524849028106346, + 0.060518059431563465, + -0.18352419524453426, + -0.9657820001777994, + 0.18325937327300645, + 0.026331323988746057, + -0.1911886366570384, + -0.9812000645078569 + ], + [ + 0.987857672497181, + -0.11647486783961246, + 0.10281451283839667, + -0.1353286073717845, + -0.9701565168835671, + 0.20120263610389993, + 0.07631111921119633, + -0.21267331264192457, + -0.9741389403851202 + ], + [ + 0.9821109958718455, + -0.12164489432050779, + 0.14373764807232808, + -0.14898093876010537, + -0.9688063554029416, + 0.19803768736537755, + 0.1151636734121037, + -0.21590916010355324, + -0.969598145062999 + ], + [ + 0.9750852692763277, + -0.12137536368047369, + 0.18567912842251258, + -0.15616577380770608, + -0.9700631656047621, + 0.18598307941290743, + 0.15754671920211968, + -0.21034608584021763, + -0.9648489806391194 + ], + [ + 0.9727718306402162, + -0.0952884875061934, + 0.21127013433437322, + -0.1376855025811421, + -0.9708759481156489, + 0.19606783456119883, + 0.18643408457645397, + -0.21981810098197405, + -0.9575606166655027 + ], + [ + 0.9668951821124576, + -0.0838915753529173, + 0.24098944041704967, + -0.13457241085490365, + -0.9700450482477069, + 0.20224458115559632, + 0.21680399683681095, + -0.22797984111519462, + -0.9492213751284124 + ], + [ + 0.9582040326121213, + -0.07808705690031222, + 0.27522253437993804, + -0.13790850916376568, + -0.9689503287216705, + 0.20522305808654678, + 0.250651700544992, + -0.23460109124813122, + -0.9392209819840535 + ], + [ + 0.9567603031729796, + -0.08572947759681694, + 0.2779571530709809, + -0.14638404204732003, + -0.9676650898198481, + 0.20541661611912876, + 0.2513591743029012, + -0.23722295549740108, + -0.9383729721591737 + ], + [ + 0.9552206625161287, + -0.09700316738757336, + 0.27954225336973104, + -0.15548114749164804, + -0.9683467330548309, + 0.19526960172212374, + 0.2517520579398088, + -0.2299891086525944, + -0.9400669716697085 + ], + [ + 0.9507634488211971, + -0.1099539393940759, + 0.289756786973742, + -0.16392012128445316, + -0.9718783891824546, + 0.1690638650871538, + 0.2630191214032029, + -0.2082367111050332, + -0.9420501122150806 + ], + [ + 0.948986579394339, + -0.09772341312373573, + 0.2997909382501066, + -0.14958118487003916, + -0.9764947336063077, + 0.15518860902792037, + 0.27757871183198957, + -0.19211499099912333, + -0.9412979809662292 + ], + [ + 0.9453259311046722, + -0.09594466716295118, + 0.3116945697699512, + -0.14660066215555181, + -0.9787549026993171, + 0.1433425488039193, + 0.291319635171813, + -0.18120005873354664, + -0.9393079414538775 + ], + [ + 0.9566739994950171, + -0.07347279103078018, + 0.2817385448751304, + -0.1182204313522215, + -0.9823049762925031, + 0.14526136155867497, + 0.2660804169816021, + -0.1722750200381144, + -0.9484316154419171 + ], + [ + 0.967013405736325, + -0.07076890636111714, + 0.2446974356602148, + -0.11291680396818264, + -0.9801841184604891, + 0.1627540761377254, + 0.2283306122880691, + -0.18501582583737247, + -0.955842181367756 + ], + [ + 0.9805056131572272, + -0.08264630610066014, + 0.17826477682112654, + -0.11541801869713735, + -0.976478800165747, + 0.1821203826782999, + 0.1590201984881082, + -0.19914502483059712, + -0.9669818175943246 + ], + [ + 0.9879977555863834, + -0.09012463563446221, + 0.12545112597352254, + -0.11726028750566192, + -0.9662610696743802, + 0.22932415966446348, + 0.10055078284309228, + -0.2412821901497876, + -0.9652318088346256 + ], + [ + 0.995092730623215, + -0.07268125322218924, + 0.06714084368613396, + -0.08811015335264821, + -0.959649084882531, + 0.267039762507934, + 0.04502286460240708, + -0.27164511649240625, + -0.9613437846830969 + ], + [ + 0.9970539045517842, + -0.06065621705660606, + 0.04695034345373554, + -0.0714772525287303, + -0.956809397037072, + 0.281792086674731, + 0.027830087836475708, + -0.2843177818461886, + -0.9583260849716434 + ], + [ + 0.9974855774807914, + -0.06806404036567744, + 0.019743584449424943, + -0.07086970341977368, + -0.9576461900458543, + 0.2790900568416098, + -8.862846868617005e-05, + -0.27978752849217403, + -0.9600619412544357 + ], + [ + 0.9976809417905353, + -0.061195825946699596, + 0.029796128517832615, + -0.06701831485310772, + -0.9596690189290458, + 0.27302732387439155, + 0.011886288832081747, + -0.2743910439399643, + -0.9615447317433217 + ], + [ + 0.9948363485553959, + -0.055431417317686485, + 0.0850176309192335, + -0.07742034638686927, + -0.956125021671733, + 0.28254386013248456, + 0.06562567758357774, + -0.2876669965557056, + -0.9554794448518061 + ], + [ + 0.9897643446407833, + -0.08453332726974609, + 0.11498112305290287, + -0.11373843277893443, + -0.9538894145123394, + 0.2777742856894753, + 0.0861980915495964, + -0.2880088565687042, + -0.9537404193758358 + ], + [ + 0.9879102287137504, + -0.10723371190875024, + 0.11195673732748904, + -0.13461573841540025, + -0.9515562909493931, + 0.2764402794918108, + 0.0768894204271417, + -0.2881693186043669, + -0.9544875383374437 + ], + [ + 0.9914583033382259, + -0.09678410352534446, + 0.08742579737400973, + -0.11733004051548553, + -0.954601987226146, + 0.2738041409046384, + 0.05695695158907755, + -0.2817230613362846, + -0.9578037494064173 + ], + [ + 0.9942274462058185, + -0.08951182053026333, + 0.05915588894111848, + -0.10260275069616301, + -0.9544327735204376, + 0.2802333962604487, + 0.03137611767948725, + -0.28468529083084454, + -0.9581074179985876 + ], + [ + 0.9952181490363188, + -0.08741683023815867, + 0.04357905024018585, + -0.09631440570799969, + -0.9525174358982711, + 0.2888495621649755, + 0.016259492053521632, + -0.29166561693298054, + -0.9563821395327631 + ], + [ + 0.9956482350741643, + -0.08807406594733456, + 0.030455720336357267, + -0.09312149814805341, + -0.9529079466448025, + 0.2886084402851874, + 0.0036025791266715897, + -0.2901885665023539, + -0.9569627042340497 + ], + [ + 0.996861076549631, + -0.07750502166786118, + 0.016154432103150013, + -0.07896049892997127, + -0.9584401815762805, + 0.27414897035873853, + -0.005764865049671064, + -0.27456399974558, + -0.9615515463950273 + ], + [ + 0.9979781726987972, + -0.06006402298654074, + 0.020781721763164188, + -0.06254686131758218, + -0.9862046419517798, + 0.1532589127329322, + 0.011289683613299772, + -0.15424888114807736, + -0.9879675225980242 + ], + [ + 0.9981683738239684, + -0.05591964344687394, + 0.02308443142875341, + -0.0572181597573641, + -0.996553530306522, + 0.06005949906208439, + 0.019646365862293423, + -0.06127034119688126, + -0.997927835866914 + ], + [ + 0.9964914535252087, + -0.07337204752031039, + 0.04026568879199782, + -0.07526047928997477, + -0.9960281649063923, + 0.047578934101636335, + 0.0366147963023145, + -0.05044241623754644, + -0.9980555692624825 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0023322105407714844, + 0.00020125508308410645, + -0.012424580752849579, + 0.003903619945049286, + 0.033534012734889984, + -0.0007380619645118713, + 1.0 + ], + [ + 0.005208522081375122, + -0.000346621498465538, + -0.02077377587556839, + 0.002212364226579666, + -0.023401789367198944, + -0.007018020376563072, + 1.0 + ], + [ + 0.0030506253242492676, + -0.0008055437356233597, + -0.012367896735668182, + -0.00795607641339302, + -0.03208630532026291, + -0.015797700732946396, + 1.0 + ], + [ + 0.0001608431339263916, + 0.0015962012112140656, + -0.008962534368038177, + -0.00950956717133522, + -0.016575276851654053, + -0.008790173567831516, + 1.0 + ], + [ + -0.0028005242347717285, + 0.0031530186533927917, + -0.009203225374221802, + -0.013412140309810638, + -0.011893227696418762, + -0.006129046902060509, + 1.0 + ], + [ + -0.0034782886505126953, + 0.0016703717410564423, + -0.009227130562067032, + -0.02986334078013897, + -0.012218639254570007, + -0.013777302578091621, + 1.0 + ], + [ + 0.0009621679782867432, + 0.0018924940377473831, + -0.013346552848815918, + -0.03762839734554291, + -0.03566087782382965, + -0.0008017253130674362, + 0.0 + ], + [ + 0.008445322513580322, + 0.0004780776798725128, + -0.0019462183117866516, + 0.0033761784434318542, + -0.06437838077545166, + -0.01768968068063259, + 0.0 + ], + [ + 0.012912124395370483, + 0.004404454492032528, + -0.0035870634019374847, + -0.008230872452259064, + -0.04933902621269226, + -0.014535371214151382, + 0.0 + ], + [ + 0.0027140378952026367, + 0.002618996426463127, + 0.0012116841971874237, + 0.010819830000400543, + 0.0017999708652496338, + -0.011870365589857101, + 0.0 + ], + [ + -0.0017729103565216064, + 3.5307370126247406e-05, + 0.0025711357593536377, + 0.022493885830044746, + 0.031521767377853394, + 0.014214880764484406, + 0.0 + ], + [ + -0.008806347846984863, + -0.00051156897097826, + 0.006633419543504715, + 0.03980521857738495, + 0.08820854127407074, + 0.018023595213890076, + 0.0 + ], + [ + -0.0164354145526886, + 0.0015694275498390198, + 0.02792561799287796, + 0.0823526680469513, + 0.13859397172927856, + 0.025558121502399445, + 0.0 + ], + [ + 0.003599196672439575, + 0.0034618722274899483, + 0.026536352932453156, + 0.04514455795288086, + 0.025967903435230255, + 0.007053179666399956, + 0.0 + ], + [ + 0.019616752862930298, + 0.021184265613555908, + 0.028452999889850616, + 0.037899211049079895, + -0.04023168981075287, + -0.0544847697019577, + 0.0 + ], + [ + 0.015541821718215942, + 0.03128848969936371, + 0.0004020184278488159, + 0.016827315092086792, + 0.013469599187374115, + -0.05096889287233353, + 0.0 + ], + [ + 0.0007627308368682861, + 0.02527499943971634, + -0.000104561448097229, + 0.017207071185112, + -0.009088508784770966, + -0.00815541297197342, + 0.0 + ], + [ + -0.005081355571746826, + 0.01191546767950058, + -0.006582580506801605, + 0.009968921542167664, + 0.01638193428516388, + 0.0011664628982543945, + 0.0 + ], + [ + -0.017817914485931396, + 0.008230403065681458, + -0.018636062741279602, + -0.013065770268440247, + 0.05320892482995987, + 0.03481338173151016, + 0.0 + ], + [ + -0.008177757263183594, + 0.0017099380493164062, + -0.002443276345729828, + -0.017026051878929138, + -0.030064957216382027, + 0.014811381697654724, + 1.0 + ], + [ + -0.0006153881549835205, + 0.0011038482189178467, + -0.01213124394416809, + -0.018156960606575012, + -0.02886098250746727, + -0.01729726791381836, + 1.0 + ], + [ + 0.002843528985977173, + 0.0013296380639076233, + -0.0003774091601371765, + -0.011387303471565247, + -0.022717081010341644, + -0.014043271541595459, + 1.0 + ], + [ + -0.0017148256301879883, + -0.0020996108651161194, + -0.0007656142115592957, + -0.00979664921760559, + 0.012046866118907928, + -0.013874635100364685, + 1.0 + ], + [ + -0.006281346082687378, + 0.0004036948084831238, + 0.0010177567601203918, + 0.00011830031871795654, + 0.04541219025850296, + -0.004012711346149445, + 1.0 + ], + [ + 0.002964913845062256, + 0.0028395876288414, + 0.013331152498722076, + 0.017550453543663025, + 0.01853840798139572, + -0.022804535925388336, + 1.0 + ], + [ + 0.0047546327114105225, + -0.0029351115226745605, + 0.013576969504356384, + 0.03751988708972931, + 0.023143798112869263, + -0.05635884404182434, + 1.0 + ], + [ + -0.0002224445343017578, + -0.0014694035053253174, + 0.00037886202335357666, + 7.49826431274414e-05, + 0.004822704941034317, + -0.003770396113395691, + 1.0 + ], + [ + -0.0005784034729003906, + -8.150935173034668e-05, + -0.0003972277045249939, + -0.0010216981172561646, + 0.0028573544695973396, + 0.0002988278865814209, + 1.0 + ], + [ + 0.0007748007774353027, + -0.00037483125925064087, + -5.5029988288879395e-05, + -0.0013733357191085815, + -0.0050416747108101845, + -0.0016159266233444214, + 1.0 + ], + [ + -0.028369277715682983, + 0.008322373032569885, + 0.009136669337749481, + -0.01688361167907715, + -0.0361306369304657, + 0.02039891481399536, + 1.0 + ], + [ + -0.029236704111099243, + 0.01296871155500412, + 0.00379006564617157, + 0.022506073117256165, + -0.0500510111451149, + 0.04849053919315338, + 1.0 + ], + [ + -0.018610656261444092, + 0.002752751111984253, + -0.014663711190223694, + 0.004157587885856628, + -0.039034388959407806, + -0.01440228521823883, + 1.0 + ], + [ + -0.0160943865776062, + 0.004587404429912567, + -0.012424059212207794, + -0.004453450441360474, + -0.04278608411550522, + -0.008260533213615417, + 1.0 + ], + [ + -0.014654070138931274, + 0.0005835294723510742, + -0.01338396966457367, + 0.011000186204910278, + -0.029325485229492188, + 0.01820199191570282, + 1.0 + ], + [ + -0.005600377917289734, + -0.0033109039068222046, + -0.01241304725408554, + 0.010060101747512817, + -0.03100806474685669, + 0.00231383740901947, + 1.0 + ], + [ + 0.0020671039819717407, + -0.0031317248940467834, + -0.0053339749574661255, + 0.009063035249710083, + -0.03481398522853851, + -0.004650816321372986, + 1.0 + ], + [ + 0.00530579686164856, + -0.0024611875414848328, + -0.007736731320619583, + 0.0028404146432876587, + -0.0007308721542358398, + -0.008879974484443665, + 1.0 + ], + [ + 0.003073781728744507, + -0.0005253106355667114, + -0.006569530814886093, + -0.007675692439079285, + -0.00040593743324279785, + -0.00953248143196106, + 1.0 + ], + [ + 0.005968719720840454, + -0.00018458813428878784, + -0.014184348285198212, + -0.022390693426132202, + -0.011659979820251465, + -0.0093756765127182, + 1.0 + ], + [ + 0.0033437907695770264, + 0.0016105473041534424, + -0.009612021967768669, + -0.016217365860939026, + -0.015122681856155396, + 0.014394715428352356, + 1.0 + ], + [ + 0.0033133327960968018, + -0.00011017173528671265, + -0.005611822009086609, + -0.010763570666313171, + -0.014333158731460571, + 0.0024818629026412964, + 0.0 + ], + [ + -0.004034191370010376, + -0.00019247829914093018, + -0.0019178055226802826, + -0.010884210467338562, + 0.0262814462184906, + 0.03090282529592514, + 0.0 + ], + [ + -0.0007128417491912842, + -0.002721048891544342, + 0.0014563873410224915, + 0.01151573657989502, + 0.03896191716194153, + 0.006708905100822449, + 0.0 + ], + [ + -0.00514674186706543, + -0.0013305023312568665, + 0.01107759214937687, + 0.01190657913684845, + 0.07066451013088226, + -0.0009313523769378662, + 0.0 + ], + [ + 0.005063235759735107, + 0.003006353974342346, + 0.03670106083154678, + 0.04184827208518982, + 0.0589771494269371, + -0.0009586215019226074, + 0.0 + ], + [ + 0.01242026686668396, + -0.003164038062095642, + 0.036131374537944794, + 0.030434995889663696, + 0.05568290501832962, + 0.029817819595336914, + 0.0 + ], + [ + 0.01976853609085083, + -0.012801937758922577, + 0.025526627898216248, + 0.013021141290664673, + 0.0172044076025486, + 0.016748324036598206, + 0.0 + ], + [ + 0.019581913948059082, + -0.011892229318618774, + 0.0006480664014816284, + -0.0048368871212005615, + 0.027922309935092926, + 0.000636860728263855, + 0.0 + ], + [ + 0.014330863952636719, + -0.009451530873775482, + -0.0033611804246902466, + -0.005596250295639038, + -0.011975197121500969, + 0.0038558319211006165, + 0.0 + ], + [ + 0.015251487493515015, + -0.0065924301743507385, + -0.013558350503444672, + 0.014462381601333618, + -0.05378630757331848, + -0.010592326521873474, + 0.0 + ], + [ + 0.005853861570358276, + -0.001191467046737671, + -0.0038902685046195984, + 0.0008317828178405762, + -0.020632319152355194, + -0.03674714267253876, + 1.0 + ], + [ + -0.00024455785751342773, + -0.0001949220895767212, + -0.000632062554359436, + -6.255507469177246e-05, + 0.00933980941772461, + -0.021016240119934082, + 1.0 + ], + [ + -0.003890007734298706, + -0.0004180297255516052, + -0.0005258694291114807, + -0.0071412622928619385, + 0.019977591931819916, + 0.0176360085606575, + 1.0 + ], + [ + -0.004311591386795044, + -0.0015436112880706787, + -4.81531023979187e-05, + 0.002757519483566284, + 0.02560652419924736, + 0.014958590269088745, + 1.0 + ], + [ + -0.00221136212348938, + -0.003250338137149811, + 0.00027358531951904297, + 0.0071836113929748535, + 0.015121059492230415, + 0.00635770708322525, + 1.0 + ], + [ + -0.0015128254890441895, + -0.004644844681024551, + 0.000996135175228119, + -0.0015821754932403564, + 0.012657621875405312, + 0.003219515085220337, + 1.0 + ], + [ + 0.00016379356384277344, + -0.009978115558624268, + 0.006202898919582367, + -0.016284853219985962, + 0.009367483668029308, + 0.014213122427463531, + 1.0 + ], + [ + 0.005353868007659912, + -0.012286916375160217, + 0.013585165143013, + -0.12326385080814362, + -0.01705482043325901, + 0.01645238697528839, + 1.0 + ], + [ + 0.002922624349594116, + -0.006749700754880905, + 0.01308952271938324, + -0.09355655312538147, + -0.008357706479728222, + 0.005331218242645264, + 1.0 + ], + [ + 0.0033832192420959473, + 0.00018362700939178467, + 5.428493022918701e-05, + -0.010822869837284088, + -0.01697535254061222, + -0.018121860921382904, + 1.0 + ], + [ + 0.0036526620388031006, + -0.00035735592246055603, + -0.002004578709602356, + 0.0017758607864379883, + -0.01535610482096672, + 0.0004741847515106201, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0112061500549316 + ], + [ + 1.0112061500549316 + ], + [ + 1.0112061500549316 + ], + [ + 1.0112061500549316 + ], + [ + 1.0112061500549316 + ], + [ + 1.0112061500549316 + ], + [ + 0.959831714630127 + ], + [ + 0.6701657772064209 + ], + [ + 0.36275482177734375 + ], + [ + 0.14767317473888397 + ], + [ + 0.07143880426883698 + ], + [ + 0.0686454325914383 + ], + [ + 0.06413581967353821 + ], + [ + 0.06238236278295517 + ], + [ + 0.06238236278295517 + ], + [ + 0.06238236278295517 + ], + [ + 0.06238236278295517 + ], + [ + 0.06238236278295517 + ], + [ + 0.06238236278295517 + ], + [ + 0.08890553563833237 + ], + [ + 0.25614848732948303 + ], + [ + 0.5393473505973816 + ], + [ + 0.8643063306808472 + ], + [ + 1.0199549198150635 + ], + [ + 1.0118417739868164 + ], + [ + 1.0112061500549316 + ], + [ + 1.0112061500549316 + ], + [ + 1.0112061500549316 + ], + [ + 1.0112061500549316 + ], + [ + 1.0105689764022827 + ], + [ + 1.0112061500549316 + ], + [ + 1.0112061500549316 + ], + [ + 1.0112061500549316 + ], + [ + 1.0112061500549316 + ], + [ + 1.0112061500549316 + ], + [ + 1.0112061500549316 + ], + [ + 1.0112061500549316 + ], + [ + 1.0112061500549316 + ], + [ + 1.0112061500549316 + ], + [ + 1.0099300146102905 + ], + [ + 0.9545519351959229 + ], + [ + 0.6791892647743225 + ], + [ + 0.4841892421245575 + ], + [ + 0.40415963530540466 + ], + [ + 0.3918617069721222 + ], + [ + 0.3918617069721222 + ], + [ + 0.3918617069721222 + ], + [ + 0.3918617069721222 + ], + [ + 0.39273425936698914 + ], + [ + 0.3918617069721222 + ], + [ + 0.4662301242351532 + ], + [ + 0.7931879758834839 + ], + [ + 1.0143678188323975 + ], + [ + 1.0112061500549316 + ], + [ + 1.0092895030975342 + ], + [ + 1.0092895030975342 + ], + [ + 1.0092895030975342 + ], + [ + 1.0092895030975342 + ], + [ + 1.0092895030975342 + ], + [ + 1.0092895030975342 + ], + [ + 1.0092895030975342 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.34867820143699646, + -0.02466120757162571, + 0.11233558505773544 + ], + [ + 0.3538867235183716, + -0.025007829070091248, + 0.09156180918216705 + ], + [ + 0.35693734884262085, + -0.025813372805714607, + 0.07919391244649887 + ], + [ + 0.35709819197654724, + -0.02421717159450054, + 0.0702313780784607 + ], + [ + 0.3542976677417755, + -0.02106415294110775, + 0.06102815270423889 + ], + [ + 0.3508193790912628, + -0.019393781200051308, + 0.05180102214217186 + ], + [ + 0.35178154706954956, + -0.017501287162303925, + 0.03845446929335594 + ], + [ + 0.3602268695831299, + -0.017023209482431412, + 0.03650825098156929 + ], + [ + 0.37313899397850037, + -0.012618754990398884, + 0.032921187579631805 + ], + [ + 0.375853031873703, + -0.009999758563935757, + 0.03413287177681923 + ], + [ + 0.3740801215171814, + -0.00996445119380951, + 0.03670400753617287 + ], + [ + 0.36527377367019653, + -0.01047602016478777, + 0.04333742707967758 + ], + [ + 0.34883835911750793, + -0.00890659261494875, + 0.07126304507255554 + ], + [ + 0.3524375557899475, + -0.005444720387458801, + 0.0977993980050087 + ], + [ + 0.3720543086528778, + 0.015739545226097107, + 0.12625239789485931 + ], + [ + 0.38759613037109375, + 0.047028034925460815, + 0.12665441632270813 + ], + [ + 0.38835886120796204, + 0.07230303436517715, + 0.1265498548746109 + ], + [ + 0.3832775056362152, + 0.08421850204467773, + 0.1199672743678093 + ], + [ + 0.3654595911502838, + 0.09244890511035919, + 0.1013312116265297 + ], + [ + 0.3572818338871002, + 0.0941588431596756, + 0.09888793528079987 + ], + [ + 0.3566664457321167, + 0.09526269137859344, + 0.08675669133663177 + ], + [ + 0.35950997471809387, + 0.09659232944250107, + 0.0863792821764946 + ], + [ + 0.3577951490879059, + 0.09449271857738495, + 0.0856136679649353 + ], + [ + 0.3515138030052185, + 0.09489641338586807, + 0.0866314247250557 + ], + [ + 0.35447871685028076, + 0.09773600101470947, + 0.09996257722377777 + ], + [ + 0.3592333495616913, + 0.09480088949203491, + 0.11353954672813416 + ], + [ + 0.3590109050273895, + 0.0933314859867096, + 0.11391840875148773 + ], + [ + 0.35843250155448914, + 0.09324997663497925, + 0.11352118104696274 + ], + [ + 0.35920730233192444, + 0.09287514537572861, + 0.11346615105867386 + ], + [ + 0.33083802461624146, + 0.10119751840829849, + 0.12260282039642334 + ], + [ + 0.3016013205051422, + 0.11416622996330261, + 0.1263928860425949 + ], + [ + 0.2829906642436981, + 0.11691898107528687, + 0.11172917485237122 + ], + [ + 0.2668962776660919, + 0.12150638550519943, + 0.09930511564016342 + ], + [ + 0.25224220752716064, + 0.1220899149775505, + 0.08592114597558975 + ], + [ + 0.2466418296098709, + 0.1187790110707283, + 0.07350809872150421 + ], + [ + 0.24870893359184265, + 0.11564728617668152, + 0.06817412376403809 + ], + [ + 0.2540147304534912, + 0.11318609863519669, + 0.0604373924434185 + ], + [ + 0.2570885121822357, + 0.11266078799962997, + 0.05386786162853241 + ], + [ + 0.26305723190307617, + 0.11247619986534119, + 0.0396835133433342 + ], + [ + 0.2664010226726532, + 0.11408674716949463, + 0.03007149137556553 + ], + [ + 0.26971435546875, + 0.11397657543420792, + 0.02445966936647892 + ], + [ + 0.2656801640987396, + 0.11378409713506699, + 0.022541863843798637 + ], + [ + 0.26496732234954834, + 0.11106304824352264, + 0.02399825118482113 + ], + [ + 0.2598205804824829, + 0.10973254591226578, + 0.035075843334198 + ], + [ + 0.264883816242218, + 0.11273889988660812, + 0.07177690416574478 + ], + [ + 0.277304083108902, + 0.10957486182451248, + 0.10790827870368958 + ], + [ + 0.2970726191997528, + 0.0967729240655899, + 0.13343490660190582 + ], + [ + 0.3166545331478119, + 0.08488069474697113, + 0.13408297300338745 + ], + [ + 0.3309853971004486, + 0.07542916387319565, + 0.1307217925786972 + ], + [ + 0.3462368845939636, + 0.06883673369884491, + 0.11716344207525253 + ], + [ + 0.3520907461643219, + 0.06764526665210724, + 0.11327317357063293 + ], + [ + 0.35184618830680847, + 0.06745034456253052, + 0.1126411110162735 + ], + [ + 0.34795618057250977, + 0.06703231483697891, + 0.11211524158716202 + ], + [ + 0.3436445891857147, + 0.06548870354890823, + 0.1120670884847641 + ], + [ + 0.34143322706222534, + 0.06223836541175842, + 0.11234067380428314 + ], + [ + 0.33992040157318115, + 0.05759352073073387, + 0.11333680897951126 + ], + [ + 0.3400841951370239, + 0.047615405172109604, + 0.11953970789909363 + ], + [ + 0.34543806314468384, + 0.03532848879694939, + 0.13312487304210663 + ], + [ + 0.34836068749427795, + 0.02857878804206848, + 0.14621439576148987 + ], + [ + 0.3517439067363739, + 0.028762415051460266, + 0.14626868069171906 + ], + [ + 0.355396568775177, + 0.02840505912899971, + 0.1442641019821167 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9961624434384795, + 0.026546586390136795, + 0.0834006296961187, + 0.022738565860530642, + -0.998669573794636, + 0.04628217798944307, + 0.08451830514914754, + -0.044208156802463296, + -0.9954407541219339 + ], + [ + 0.9940472424839285, + 0.020807257553536348, + 0.10694455452802812, + 0.01571140867953245, + -0.9987105980032597, + 0.048273109214923414, + 0.10781109102222408, + -0.04630550149897975, + -0.9930924273115396 + ], + [ + 0.9902010107338063, + 0.005400872231540372, + 0.1395449351316162, + 6.415397221435498e-06, + -0.9992536195978394, + 0.03862905227233825, + 0.1396494121025616, + -0.038249631367569266, + -0.9894619787539357 + ], + [ + 0.9877122645271129, + -0.004235442138099459, + 0.15622593745155644, + -0.008675985772036814, + -0.9995771618879684, + 0.027752922420489733, + 0.15604233327403888, + -0.028767315861740007, + -0.9873313687736781 + ], + [ + 0.985715091192049, + -0.012273931837123948, + 0.1679735383728875, + -0.014700803895806833, + -0.9998046453300662, + 0.013212022602059777, + 0.16777856049289283, + -0.01549263611132537, + -0.9857029638107286 + ], + [ + 0.9832963210713501, + -0.031225946085112782, + 0.1793133716671408, + -0.028218557387655413, + -0.9994154684610598, + -0.019298560042661828, + 0.1798111731414601, + 0.013916238423160737, + -0.9836027045111465 + ], + [ + 0.9762401567595667, + -0.040557994034714634, + 0.21286193988108082, + -0.02879939938676475, + -0.9978979215484509, + -0.05805456712648313, + 0.2147690641713057, + 0.050544903691289916, + -0.9753560692310372 + ], + [ + 0.9597554501499858, + -0.06050281221963552, + 0.27424238480022317, + -0.04531628464292421, + -0.9970850152558308, + -0.06138327702592105, + 0.27715683331565116, + 0.04648528870293287, + -0.9596995403149078 + ], + [ + 0.9441852990468079, + -0.07989396325634554, + 0.31957952953698865, + -0.058346213533416146, + -0.9953643094502953, + -0.07645659447588049, + 0.32420647808179637, + 0.05354293704803595, + -0.9444698584190324 + ], + [ + 0.9440066590157211, + -0.08817257234233157, + 0.31792613170438244, + -0.06959245567262705, + -0.9951615841066082, + -0.06935641017151695, + 0.3225032059490719, + 0.04334765281953067, + -0.9455753080255469 + ], + [ + 0.9545773815640111, + -0.06612903399067682, + 0.29053222449473015, + -0.05674214931141849, + -0.9975619737721789, + -0.040625570460921995, + 0.29251042904128577, + 0.022294827813072612, + -0.9560024003917921 + ], + [ + 0.9774767987935155, + -0.03791907596640517, + 0.20760840902582683, + -0.04044045518318231, + -0.9991506188328313, + 0.007912677836678818, + 0.20713202892106775, + -0.016130237562541942, + -0.9781800131014831 + ], + [ + 0.9974232425331194, + -0.008806964843190995, + 0.0711991055068035, + -0.015751209806778268, + -0.9951041791956287, + 0.09756829370762406, + 0.06999124691231748, + -0.09843835592717474, + -0.9926787574225682 + ], + [ + 0.9989904731563606, + -0.002324100256258487, + 0.04486237957163469, + -0.008728810964982367, + -0.9896694145434266, + 0.14310226335180262, + 0.04406634091875759, + -0.14334939300628355, + -0.9886906033349168 + ], + [ + 0.9944570630932131, + -0.04693564602106255, + 0.09408610310033488, + -0.06295564196380087, + -0.9825019766785309, + 0.17528962595574615, + 0.08421245043903572, + -0.18024125763921311, + -0.98001089393725 + ], + [ + 0.9909953219378764, + -0.09781868816244103, + 0.09143181144122382, + -0.1136572614538779, + -0.9755291769140213, + 0.1882149088363, + 0.07078346428403477, + -0.19691198347391403, + -0.9778626549512561 + ], + [ + 0.9893560673321047, + -0.1022288559958022, + 0.10355594157237756, + -0.12165183040174413, + -0.9715661302206627, + 0.2031257905041889, + 0.0798461282283457, + -0.21356150310820507, + -0.9736611731999519 + ], + [ + 0.9906629086675246, + -0.1036932879433674, + 0.08851386007792139, + -0.12063964513325744, + -0.9691679306325253, + 0.2148478490829976, + 0.06350651472503957, + -0.22352007576269894, + -0.9726282426078916 + ], + [ + 0.9962194578612762, + -0.08213727352427828, + 0.028288868421752995, + -0.08625469611773844, + -0.9739838425856531, + 0.20956049670613713, + 0.010340172929983314, + -0.21120829216696063, + -0.9773863811940978 + ], + [ + 0.9966269196908973, + -0.062289653951080645, + 0.05343015963000105, + -0.07143585773578155, + -0.978944783874305, + 0.1912172281852314, + 0.04039432109821812, + -0.19438906640020753, + -0.9800924393581806 + ], + [ + 0.9936667191556273, + -0.0751574840539013, + 0.08353324986601779, + -0.0885228754133649, + -0.9814660761977675, + 0.16996482518894143, + 0.06921092233918619, + -0.1762829936881182, + -0.9819033324952683 + ], + [ + 0.9905057672661424, + -0.086177852029246, + 0.10710603546082861, + -0.10228009975036395, + -0.9825570495917885, + 0.1553075191113929, + 0.09185372179485429, + -0.16478780937043086, + -0.9820427035904947 + ], + [ + 0.9900185999496125, + -0.10272466413850156, + 0.09649256516147692, + -0.11613321784127953, + -0.9825086209597774, + 0.14556746014665128, + 0.07985140867661467, + -0.1553204851825703, + -0.984631555159092 + ], + [ + 0.9921230158893966, + -0.11367250772770388, + 0.05263537146656529, + -0.12041788095255412, + -0.981219567003533, + 0.1506907272405836, + 0.03451746354274475, + -0.1558419786716486, + -0.9871787185683658 + ], + [ + 0.9895825315930369, + -0.13819012172703374, + 0.040372062406866915, + -0.14307650226665877, + -0.975139511024688, + 0.16921007221105816, + 0.015985232718204095, + -0.17322362510812528, + -0.9847527852407145 + ], + [ + 0.980052093570318, + -0.1956588194553184, + 0.034864312094001364, + -0.19861183113228723, + -0.9579099380632924, + 0.20727250443283396, + -0.007157822484291402, + -0.2100623167751191, + -0.9776617966599457 + ], + [ + 0.9792510893637154, + -0.2002588916714266, + 0.031043200326454988, + -0.20229625885140798, + -0.9569448633510796, + 0.2081652040104389, + -0.011980301945307243, + -0.21012592608365901, + -0.9776009244844156 + ], + [ + 0.9792739735029364, + -0.20058968851779038, + 0.028040358059522392, + -0.20199588219511513, + -0.9570961418075903, + 0.20776101393967614, + -0.014837398558627698, + -0.20911899052300573, + -0.9777776329036432 + ], + [ + 0.9790070810919155, + -0.20114917107863536, + 0.03292637462985642, + -0.2035906956837478, + -0.9572684012891849, + 0.20539726513334075, + -0.00979611162121876, + -0.20778888051969033, + -0.9781246430437578 + ], + [ + 0.9826624706056732, + -0.17524849028106346, + 0.060518059431563465, + -0.18352419524453426, + -0.9657820001777994, + 0.18325937327300645, + 0.026331323988746057, + -0.1911886366570384, + -0.9812000645078569 + ], + [ + 0.987857672497181, + -0.11647486783961246, + 0.10281451283839667, + -0.1353286073717845, + -0.9701565168835671, + 0.20120263610389993, + 0.07631111921119633, + -0.21267331264192457, + -0.9741389403851202 + ], + [ + 0.9821109958718455, + -0.12164489432050779, + 0.14373764807232808, + -0.14898093876010537, + -0.9688063554029416, + 0.19803768736537755, + 0.1151636734121037, + -0.21590916010355324, + -0.969598145062999 + ], + [ + 0.9750852692763277, + -0.12137536368047369, + 0.18567912842251258, + -0.15616577380770608, + -0.9700631656047621, + 0.18598307941290743, + 0.15754671920211968, + -0.21034608584021763, + -0.9648489806391194 + ], + [ + 0.9727718306402162, + -0.0952884875061934, + 0.21127013433437322, + -0.1376855025811421, + -0.9708759481156489, + 0.19606783456119883, + 0.18643408457645397, + -0.21981810098197405, + -0.9575606166655027 + ], + [ + 0.9668951821124576, + -0.0838915753529173, + 0.24098944041704967, + -0.13457241085490365, + -0.9700450482477069, + 0.20224458115559632, + 0.21680399683681095, + -0.22797984111519462, + -0.9492213751284124 + ], + [ + 0.9582040326121213, + -0.07808705690031222, + 0.27522253437993804, + -0.13790850916376568, + -0.9689503287216705, + 0.20522305808654678, + 0.250651700544992, + -0.23460109124813122, + -0.9392209819840535 + ], + [ + 0.9567603031729796, + -0.08572947759681694, + 0.2779571530709809, + -0.14638404204732003, + -0.9676650898198481, + 0.20541661611912876, + 0.2513591743029012, + -0.23722295549740108, + -0.9383729721591737 + ], + [ + 0.9552206625161287, + -0.09700316738757336, + 0.27954225336973104, + -0.15548114749164804, + -0.9683467330548309, + 0.19526960172212374, + 0.2517520579398088, + -0.2299891086525944, + -0.9400669716697085 + ], + [ + 0.9507634488211971, + -0.1099539393940759, + 0.289756786973742, + -0.16392012128445316, + -0.9718783891824546, + 0.1690638650871538, + 0.2630191214032029, + -0.2082367111050332, + -0.9420501122150806 + ], + [ + 0.948986579394339, + -0.09772341312373573, + 0.2997909382501066, + -0.14958118487003916, + -0.9764947336063077, + 0.15518860902792037, + 0.27757871183198957, + -0.19211499099912333, + -0.9412979809662292 + ], + [ + 0.9453259311046722, + -0.09594466716295118, + 0.3116945697699512, + -0.14660066215555181, + -0.9787549026993171, + 0.1433425488039193, + 0.291319635171813, + -0.18120005873354664, + -0.9393079414538775 + ], + [ + 0.9566739994950171, + -0.07347279103078018, + 0.2817385448751304, + -0.1182204313522215, + -0.9823049762925031, + 0.14526136155867497, + 0.2660804169816021, + -0.1722750200381144, + -0.9484316154419171 + ], + [ + 0.967013405736325, + -0.07076890636111714, + 0.2446974356602148, + -0.11291680396818264, + -0.9801841184604891, + 0.1627540761377254, + 0.2283306122880691, + -0.18501582583737247, + -0.955842181367756 + ], + [ + 0.9805056131572272, + -0.08264630610066014, + 0.17826477682112654, + -0.11541801869713735, + -0.976478800165747, + 0.1821203826782999, + 0.1590201984881082, + -0.19914502483059712, + -0.9669818175943246 + ], + [ + 0.9879977555863834, + -0.09012463563446221, + 0.12545112597352254, + -0.11726028750566192, + -0.9662610696743802, + 0.22932415966446348, + 0.10055078284309228, + -0.2412821901497876, + -0.9652318088346256 + ], + [ + 0.995092730623215, + -0.07268125322218924, + 0.06714084368613396, + -0.08811015335264821, + -0.959649084882531, + 0.267039762507934, + 0.04502286460240708, + -0.27164511649240625, + -0.9613437846830969 + ], + [ + 0.9970539045517842, + -0.06065621705660606, + 0.04695034345373554, + -0.0714772525287303, + -0.956809397037072, + 0.281792086674731, + 0.027830087836475708, + -0.2843177818461886, + -0.9583260849716434 + ], + [ + 0.9974855774807914, + -0.06806404036567744, + 0.019743584449424943, + -0.07086970341977368, + -0.9576461900458543, + 0.2790900568416098, + -8.862846868617005e-05, + -0.27978752849217403, + -0.9600619412544357 + ], + [ + 0.9976809417905353, + -0.061195825946699596, + 0.029796128517832615, + -0.06701831485310772, + -0.9596690189290458, + 0.27302732387439155, + 0.011886288832081747, + -0.2743910439399643, + -0.9615447317433217 + ], + [ + 0.9948363485553959, + -0.055431417317686485, + 0.0850176309192335, + -0.07742034638686927, + -0.956125021671733, + 0.28254386013248456, + 0.06562567758357774, + -0.2876669965557056, + -0.9554794448518061 + ], + [ + 0.9897643446407833, + -0.08453332726974609, + 0.11498112305290287, + -0.11373843277893443, + -0.9538894145123394, + 0.2777742856894753, + 0.0861980915495964, + -0.2880088565687042, + -0.9537404193758358 + ], + [ + 0.9879102287137504, + -0.10723371190875024, + 0.11195673732748904, + -0.13461573841540025, + -0.9515562909493931, + 0.2764402794918108, + 0.0768894204271417, + -0.2881693186043669, + -0.9544875383374437 + ], + [ + 0.9914583033382259, + -0.09678410352534446, + 0.08742579737400973, + -0.11733004051548553, + -0.954601987226146, + 0.2738041409046384, + 0.05695695158907755, + -0.2817230613362846, + -0.9578037494064173 + ], + [ + 0.9942274462058185, + -0.08951182053026333, + 0.05915588894111848, + -0.10260275069616301, + -0.9544327735204376, + 0.2802333962604487, + 0.03137611767948725, + -0.28468529083084454, + -0.9581074179985876 + ], + [ + 0.9952181490363188, + -0.08741683023815867, + 0.04357905024018585, + -0.09631440570799969, + -0.9525174358982711, + 0.2888495621649755, + 0.016259492053521632, + -0.29166561693298054, + -0.9563821395327631 + ], + [ + 0.9956482350741643, + -0.08807406594733456, + 0.030455720336357267, + -0.09312149814805341, + -0.9529079466448025, + 0.2886084402851874, + 0.0036025791266715897, + -0.2901885665023539, + -0.9569627042340497 + ], + [ + 0.996861076549631, + -0.07750502166786118, + 0.016154432103150013, + -0.07896049892997127, + -0.9584401815762805, + 0.27414897035873853, + -0.005764865049671064, + -0.27456399974558, + -0.9615515463950273 + ], + [ + 0.9979781726987972, + -0.06006402298654074, + 0.020781721763164188, + -0.06254686131758218, + -0.9862046419517798, + 0.1532589127329322, + 0.011289683613299772, + -0.15424888114807736, + -0.9879675225980242 + ], + [ + 0.9981683738239684, + -0.05591964344687394, + 0.02308443142875341, + -0.0572181597573641, + -0.996553530306522, + 0.06005949906208439, + 0.019646365862293423, + -0.06127034119688126, + -0.997927835866914 + ], + [ + 0.9964914535252087, + -0.07337204752031039, + 0.04026568879199782, + -0.07526047928997477, + -0.9960281649063923, + 0.047578934101636335, + 0.0366147963023145, + -0.05044241623754644, + -0.9980555692624825 + ], + [ + 0.9958488738121481, + -0.07202884663559979, + 0.05564949037880972, + -0.0747370552127936, + -0.996036733887166, + 0.048220299931735926, + 0.051955684050889274, + -0.05217921041690816, + -0.9972852836049833 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006620.json b/json/chunk-0006/episode_0006620.json new file mode 100644 index 0000000000000000000000000000000000000000..400da21827049d810f36de71b47bfa6196505977 --- /dev/null +++ b/json/chunk-0006/episode_0006620.json @@ -0,0 +1,1822 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 29, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nUnfold the cloth from bottom left to top right." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006620.mp4", + "start": 0, + "end": 29, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2555820643901825, + 0.1625061184167862, + 0.09306561946868896, + 0.03715444356203079, + -0.30521610379219055, + 0.7722316384315491, + 0.0, + 1.0008161067962646 + ], + [ + 0.25374576449394226, + 0.16129156947135925, + 0.08451111614704132, + 0.04160802811384201, + -0.2770669758319855, + 0.7790423035621643, + 0.0, + 1.0008161067962646 + ], + [ + 0.25717249512672424, + 0.15405812859535217, + 0.07463245093822479, + 0.052121229469776154, + -0.270712286233902, + 0.7761356234550476, + 0.0, + 1.0008161067962646 + ], + [ + 0.2584986984729767, + 0.15131542086601257, + 0.06611865013837814, + 0.03935505077242851, + -0.26496294140815735, + 0.8068258762359619, + 0.0, + 1.0008161067962646 + ], + [ + 0.25876861810684204, + 0.15092900395393372, + 0.06141580268740654, + 0.03090382181107998, + -0.26602840423583984, + 0.8264979124069214, + 0.0, + 1.0008161067962646 + ], + [ + 0.2583228349685669, + 0.15064553916454315, + 0.05716101452708244, + 0.02952631749212742, + -0.26659128069877625, + 0.8404467701911926, + 0.0, + 1.0008161067962646 + ], + [ + 0.25539663434028625, + 0.14993900060653687, + 0.05080677196383476, + 0.03779948502779007, + -0.260833203792572, + 0.8455252051353455, + 0.0, + 1.0008161067962646 + ], + [ + 0.2532390058040619, + 0.14876499772071838, + 0.045452967286109924, + 0.040876735001802444, + -0.25361695885658264, + 0.8418096303939819, + 0.0, + 1.0008161067962646 + ], + [ + 0.2517077624797821, + 0.14659330248832703, + 0.040837693959474564, + 0.03427066281437874, + -0.2374480962753296, + 0.8611936569213867, + 0.0, + 0.9907060265541077 + ], + [ + 0.2516666650772095, + 0.1431075930595398, + 0.03597867116332054, + 0.021306181326508522, + -0.195340096950531, + 0.8957411050796509, + 0.0, + 0.8801529407501221 + ], + [ + 0.25062617659568787, + 0.14738836884498596, + 0.033762864768505096, + 0.020423870533704758, + -0.1709790825843811, + 0.9257537722587585, + 0.0, + 0.5958979725837708 + ], + [ + 0.2513703405857086, + 0.1481315940618515, + 0.03530970588326454, + 0.01020046602934599, + -0.15745140612125397, + 0.9161657094955444, + 0.0, + 0.3095528483390808 + ], + [ + 0.2477492392063141, + 0.14808224141597748, + 0.03668970987200737, + 0.0015260402578860521, + -0.1214853897690773, + 0.9071358442306519, + 0.0, + 0.13900397717952728 + ], + [ + 0.24641381204128265, + 0.14790795743465424, + 0.04574751853942871, + -0.025692066177725792, + -0.10192075371742249, + 0.8984889388084412, + 0.0, + 0.05868057906627655 + ], + [ + 0.24816948175430298, + 0.14777548611164093, + 0.05873042345046997, + -0.04966067150235176, + -0.0916307345032692, + 0.8850262761116028, + 0.0, + 0.05166913568973541 + ], + [ + 0.24724538624286652, + 0.1452769786119461, + 0.07213413715362549, + -0.0621328204870224, + -0.1053697019815445, + 0.879850447177887, + 0.0, + 0.051409780979156494 + ], + [ + 0.2587747871875763, + 0.12355004996061325, + 0.08031899482011795, + -0.05935359746217728, + -0.13002781569957733, + 0.8281434774398804, + 0.0, + 0.05115113407373428 + ], + [ + 0.27471432089805603, + 0.0939784049987793, + 0.08761657774448395, + -0.032914675772190094, + -0.13780613243579865, + 0.8041304349899292, + 0.0, + 0.05115113407373428 + ], + [ + 0.29659533500671387, + 0.06186516955494881, + 0.09916535019874573, + -0.006687799468636513, + -0.16172552108764648, + 0.7790810465812683, + 0.0, + 0.05115113407373428 + ], + [ + 0.320591002702713, + 0.031805429607629776, + 0.09850261360406876, + 0.03287506103515625, + -0.14795450866222382, + 0.7702147960662842, + 0.0, + 0.05115113407373428 + ], + [ + 0.3402424454689026, + 3.955170905101113e-05, + 0.0943969339132309, + 0.06171563267707825, + -0.13719548285007477, + 0.7497369647026062, + 0.0, + 0.05115113407373428 + ], + [ + 0.3553423285484314, + -0.02665690891444683, + 0.08644697815179825, + 0.09947560727596283, + -0.10249979048967361, + 0.7295918464660645, + 0.0, + 0.05115113407373428 + ], + [ + 0.36861953139305115, + -0.04789821803569794, + 0.08266974985599518, + 0.12421410530805588, + -0.0911843329668045, + 0.7385379672050476, + 0.0, + 0.05115113407373428 + ], + [ + 0.3813644349575043, + -0.0626901239156723, + 0.08520738035440445, + 0.12808740139007568, + -0.0938665121793747, + 0.7503586411476135, + 0.0, + 0.06621777266263962 + ], + [ + 0.3914163410663605, + -0.07311931997537613, + 0.07968346774578094, + 0.14492423832416534, + -0.0985972210764885, + 0.749040424823761, + 0.0, + 0.20024193823337555 + ], + [ + 0.39139100909233093, + -0.07600261270999908, + 0.0729016587138176, + 0.14071477949619293, + -0.09975142776966095, + 0.7582851648330688, + 0.0, + 0.44944798946380615 + ], + [ + 0.37785282731056213, + -0.07233040034770966, + 0.058451101183891296, + 0.16406401991844177, + -0.08463872224092484, + 0.7412764430046082, + 0.0, + 0.7565051317214966 + ], + [ + 0.367524117231369, + -0.07057563960552216, + 0.09154712408781052, + 0.09328320622444153, + -0.12264256179332733, + 0.7184187769889832, + 0.0, + 0.9974852800369263 + ], + [ + 0.3512324392795563, + -0.04997439682483673, + 0.1240343227982521, + 0.015913493931293488, + -0.16027578711509705, + 0.719060480594635, + 0.0, + 1.0008161067962646 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9907060265541077 + ], + [ + 0.8801529407501221 + ], + [ + 0.5958979725837708 + ], + [ + 0.3095528483390808 + ], + [ + 0.13900397717952728 + ], + [ + 0.05868057906627655 + ], + [ + 0.05166913568973541 + ], + [ + 0.051409780979156494 + ], + [ + 0.05115113407373428 + ], + [ + 0.05115113407373428 + ], + [ + 0.05115113407373428 + ], + [ + 0.05115113407373428 + ], + [ + 0.05115113407373428 + ], + [ + 0.05115113407373428 + ], + [ + 0.05115113407373428 + ], + [ + 0.06621777266263962 + ], + [ + 0.20024193823337555 + ], + [ + 0.44944798946380615 + ], + [ + 0.7565051317214966 + ], + [ + 0.9974852800369263 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2555820643901825, + 0.1625061184167862, + 0.09306561946868896 + ], + [ + 0.25374576449394226, + 0.16129156947135925, + 0.08451111614704132 + ], + [ + 0.25717249512672424, + 0.15405812859535217, + 0.07463245093822479 + ], + [ + 0.2584986984729767, + 0.15131542086601257, + 0.06611865013837814 + ], + [ + 0.25876861810684204, + 0.15092900395393372, + 0.06141580268740654 + ], + [ + 0.2583228349685669, + 0.15064553916454315, + 0.05716101452708244 + ], + [ + 0.25539663434028625, + 0.14993900060653687, + 0.05080677196383476 + ], + [ + 0.2532390058040619, + 0.14876499772071838, + 0.045452967286109924 + ], + [ + 0.2517077624797821, + 0.14659330248832703, + 0.040837693959474564 + ], + [ + 0.2516666650772095, + 0.1431075930595398, + 0.03597867116332054 + ], + [ + 0.25062617659568787, + 0.14738836884498596, + 0.033762864768505096 + ], + [ + 0.2513703405857086, + 0.1481315940618515, + 0.03530970588326454 + ], + [ + 0.2477492392063141, + 0.14808224141597748, + 0.03668970987200737 + ], + [ + 0.24641381204128265, + 0.14790795743465424, + 0.04574751853942871 + ], + [ + 0.24816948175430298, + 0.14777548611164093, + 0.05873042345046997 + ], + [ + 0.24724538624286652, + 0.1452769786119461, + 0.07213413715362549 + ], + [ + 0.2587747871875763, + 0.12355004996061325, + 0.08031899482011795 + ], + [ + 0.27471432089805603, + 0.0939784049987793, + 0.08761657774448395 + ], + [ + 0.29659533500671387, + 0.06186516955494881, + 0.09916535019874573 + ], + [ + 0.320591002702713, + 0.031805429607629776, + 0.09850261360406876 + ], + [ + 0.3402424454689026, + 3.955170905101113e-05, + 0.0943969339132309 + ], + [ + 0.3553423285484314, + -0.02665690891444683, + 0.08644697815179825 + ], + [ + 0.36861953139305115, + -0.04789821803569794, + 0.08266974985599518 + ], + [ + 0.3813644349575043, + -0.0626901239156723, + 0.08520738035440445 + ], + [ + 0.3914163410663605, + -0.07311931997537613, + 0.07968346774578094 + ], + [ + 0.39139100909233093, + -0.07600261270999908, + 0.0729016587138176 + ], + [ + 0.37785282731056213, + -0.07233040034770966, + 0.058451101183891296 + ], + [ + 0.367524117231369, + -0.07057563960552216, + 0.09154712408781052 + ], + [ + 0.3512324392795563, + -0.04997439682483673, + 0.1240343227982521 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.6832468746445368, + 0.7052502654253755, + 0.1891977045471468, + 0.6654877009428936, + -0.7080726253928779, + 0.23613402351837942, + 0.30049929813930326, + -0.035429088143418774, + -0.9531237860483346 + ], + [ + 0.6844481461846262, + 0.7100865973500596, + 0.16525059590888883, + 0.6758024675230327, + -0.7029767093387372, + 0.22161852588865655, + 0.2735356650863082, + -0.040009628729781935, + -0.961029380162072 + ], + [ + 0.6876361750862019, + 0.7095177396964113, + 0.15408136736449887, + 0.6750142104945062, + -0.7028972255627728, + 0.22425723160387673, + 0.2674178497095819, + -0.05020027243204915, + -0.9622721165577082 + ], + [ + 0.6676518508409353, + 0.7286636697840218, + 0.15261147534034258, + 0.6968954544943345, + -0.6838182474197444, + 0.21616967872697745, + 0.2618735030006069, + -0.03797184262939789, + -0.9643549178562423 + ], + [ + 0.6536248072264683, + 0.7407153826342042, + 0.1552911243671918, + 0.7096882004479436, + -0.6711571864323392, + 0.21422112231333723, + 0.26290163469085115, + -0.029811961178202548, + -0.9643619535462749 + ], + [ + 0.6435633767678743, + 0.7498051018566918, + 0.15368308076300155, + 0.7186258320392107, + -0.6610455713461184, + 0.2158602930824381, + 0.26344466897070284, + -0.028479147342575645, + -0.964254035281967 + ], + [ + 0.6409012262558849, + 0.7542497140294011, + 0.14266389546857847, + 0.7230080243912309, + -0.6555716782841088, + 0.21791092514522034, + 0.25788566235754934, + -0.03651223792543204, + -0.9654852881489621 + ], + [ + 0.6448060346880466, + 0.7520566581369216, + 0.13651359119810572, + 0.7219909489892645, + -0.6579102811711975, + 0.21420348154690977, + 0.2509068496622983, + -0.03955812029358419, + -0.9672026198844684 + ], + [ + 0.6332513162406028, + 0.7634264994663205, + 0.12717212899115954, + 0.7373349757499486, + -0.6450355956435323, + 0.20066443104998938, + 0.23522309413696296, + -0.03330255643931153, + -0.9713706994341756 + ], + [ + 0.6130551315928534, + 0.7830795208607092, + 0.10464162477824562, + 0.7658253898018906, + -0.6215703334158326, + 0.16480835219160747, + 0.1941001750706356, + -0.020899392955124108, + -0.9807590618554874 + ], + [ + 0.5924656632353619, + 0.8009967042416607, + 0.08595765050930448, + 0.7874226030087031, + -0.5983304084719837, + 0.14821054810217404, + 0.17014723670421572, + -0.020124663767282128, + -0.9852131321445998 + ], + [ + 0.6013346574202998, + 0.7942054516132961, + 0.08737465543812148, + 0.7834601918292161, + -0.6075658095058565, + 0.13059063878556051, + 0.1568016505147125, + -0.010074112725850841, + -0.9875787333922539 + ], + [ + 0.6114643659609524, + 0.787855644422571, + 0.07344938877530101, + 0.7819367576180123, + -0.6158580915728052, + 0.09640393213003204, + 0.1211867824715221, + -0.0015147923280490402, + -0.9926285655563225 + ], + [ + 0.6195609756631547, + 0.7805007031356278, + 0.0834436926322787, + 0.7783265874224626, + -0.6246323294384253, + 0.06357811204832994, + 0.10174438926360148, + 0.02555592739692569, + -0.9944822642100057 + ], + [ + 0.6306125008008721, + 0.770101052812405, + 0.09629248304460206, + 0.7706848608312689, + -0.6360038085822418, + 0.03929377500788549, + 0.09150256345675425, + 0.049432013170696995, + -0.994577174961669 + ], + [ + 0.6337319627810205, + 0.7649947960079234, + 0.11474650944804957, + 0.7663693985304622, + -0.6410694882231618, + 0.04132621765116582, + 0.10517482752908797, + 0.061748468402782745, + -0.9925348267462142 + ], + [ + 0.6705359201164135, + 0.7301787088950036, + 0.13122740914176442, + 0.7304583610841808, + -0.6807198363701026, + 0.05523664630001506, + 0.12966172355728936, + 0.058818002760091005, + -0.9898122448199288 + ], + [ + 0.6871609758508712, + 0.7167013918134706, + 0.11894918343693027, + 0.7133997284594955, + -0.6966179489956675, + 0.07605432644490098, + 0.13737037781704037, + 0.032596749986825886, + -0.9899832479333678 + ], + [ + 0.7022743123601096, + 0.7018438550091339, + 0.1192727688328432, + 0.6934571960917071, + -0.7123002434665171, + 0.10837656732969571, + 0.16102145008589044, + 0.006600480547506615, + -0.9869288354632156 + ], + [ + 0.7099193585414865, + 0.6993910464371922, + 0.08286536388343346, + 0.6886822446615255, + -0.713999483095613, + 0.1261804423322422, + 0.147415298581956, + -0.032510033877049344, + -0.9885402507947291 + ], + [ + 0.7249911049436171, + 0.6863223981708504, + 0.05787454986128355, + 0.6750430341945608, + -0.7247266605392368, + 0.13815994169456972, + 0.13676549176614153, + -0.06109691704708655, + -0.9887175365033772 + ], + [ + 0.7415340449400649, + 0.6708451219155117, + 0.009699618393967935, + 0.6630669612519976, + -0.7349879460152705, + 0.14189758316580436, + 0.10232040407889488, + -0.09879039231836584, + -0.9898338210501375 + ], + [ + 0.7363816055693271, + 0.6763629327276206, + -0.016592595072252733, + 0.6704107449640511, + -0.726161486285144, + 0.15244319884106505, + 0.09105802554352799, + -0.12338022154398348, + -0.9881729387692578 + ], + [ + 0.7282243737771438, + 0.6850723492249932, + -0.019108578289236962, + 0.6788992461302347, + -0.7172882027591648, + 0.15682298232824893, + 0.09372873113771349, + -0.12717511749503668, + -0.9874418537055425 + ], + [ + 0.7287857962392467, + 0.6842090346267111, + -0.027004816887193007, + 0.6776291849841285, + -0.714985098401561, + 0.17209008315837257, + 0.09843754800721474, + -0.14371606033736697, + -0.9847109947306536 + ], + [ + 0.7224072679089271, + 0.6910207499893264, + -0.024860859931803307, + 0.6842589797095096, + -0.7092355715772277, + 0.16963063607858178, + 0.09958608316055415, + -0.1395536710148185, + -0.9851940849127279 + ], + [ + 0.7349668406196468, + 0.6763472387902121, + -0.04876633849727396, + 0.6728128415977721, + -0.7183792167741632, + 0.17678852080401403, + 0.08453770384098547, + -0.1627443193718166, + -0.9830400109565725 + ], + [ + 0.7471926527129796, + 0.6639123395969176, + 0.030389884216422754, + 0.653251255825002, + -0.7420739264529175, + 0.15029665479247306, + 0.12233534442179148, + -0.09244832615952035, + -0.9881737552148937 + ], + [ + 0.7427813036580931, + 0.660505454320684, + 0.10958320924580665, + 0.6502359713057199, + -0.750656896415439, + 0.11707862949337772, + 0.15959046511646735, + -0.015708872542848938, + -0.9870583137623339 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0018362998962402344, + -0.001214548945426941, + -0.008554503321647644, + 0.004453584551811218, + 0.028149127960205078, + 0.006810665130615234, + 1.0 + ], + [ + 0.0034267306327819824, + -0.00723344087600708, + -0.009878665208816528, + 0.010513201355934143, + 0.006354689598083496, + -0.0029066801071166992, + 1.0 + ], + [ + 0.0013262033462524414, + -0.0027427077293395996, + -0.00851380079984665, + -0.012766178697347641, + 0.005749344825744629, + 0.030690252780914307, + 1.0 + ], + [ + 0.00026991963386535645, + -0.0003864169120788574, + -0.004702847450971603, + -0.008451228961348534, + -0.0010654628276824951, + 0.019672036170959473, + 1.0 + ], + [ + -0.0004457831382751465, + -0.00028346478939056396, + -0.004254788160324097, + -0.0013775043189525604, + -0.0005628764629364014, + 0.01394885778427124, + 1.0 + ], + [ + -0.0029262006282806396, + -0.0007065385580062866, + -0.006354242563247681, + 0.008273167535662651, + 0.005758076906204224, + 0.005078434944152832, + 1.0 + ], + [ + -0.0021576285362243652, + -0.0011740028858184814, + -0.005353804677724838, + 0.003077249974012375, + 0.00721624493598938, + -0.0037155747413635254, + 1.0 + ], + [ + -0.0015312433242797852, + -0.0021716952323913574, + -0.004615273326635361, + -0.006606072187423706, + 0.016168862581253052, + 0.019384026527404785, + 0.0 + ], + [ + -4.1097402572631836e-05, + -0.0034857094287872314, + -0.004859022796154022, + -0.012964481487870216, + 0.042107999324798584, + 0.03454744815826416, + 0.0 + ], + [ + -0.0010404884815216064, + 0.004280775785446167, + -0.002215806394815445, + -0.0008823107928037643, + 0.024361014366149902, + 0.030012667179107666, + 0.0 + ], + [ + 0.000744163990020752, + 0.0007432252168655396, + 0.0015468411147594452, + -0.010223404504358768, + 0.013527676463127136, + -0.009588062763214111, + 0.0 + ], + [ + -0.0036211013793945312, + -4.935264587402344e-05, + 0.0013800039887428284, + -0.00867442600429058, + 0.035966016352176666, + -0.009029865264892578, + 0.0 + ], + [ + -0.001335427165031433, + -0.0001742839813232422, + 0.009057808667421341, + -0.027218107134103775, + 0.019564636051654816, + -0.008646905422210693, + 0.0 + ], + [ + 0.0017556697130203247, + -0.00013247132301330566, + 0.01298290491104126, + -0.02396860532462597, + 0.01029001921415329, + -0.013462662696838379, + 0.0 + ], + [ + -0.0009240955114364624, + -0.0024985074996948242, + 0.013403713703155518, + -0.012472148984670639, + -0.013738967478275299, + -0.00517582893371582, + 0.0 + ], + [ + 0.011529400944709778, + -0.021726928651332855, + 0.008184857666492462, + 0.0027792230248451233, + -0.024658113718032837, + -0.05170696973800659, + 0.0 + ], + [ + 0.015939533710479736, + -0.029571644961833954, + 0.007297582924365997, + 0.026438921689987183, + -0.0077783167362213135, + -0.024013042449951172, + 0.0 + ], + [ + 0.021881014108657837, + -0.03211323544383049, + 0.01154877245426178, + 0.02622687630355358, + -0.02391938865184784, + -0.02504938840866089, + 0.0 + ], + [ + 0.023995667695999146, + -0.03005973994731903, + -0.0006627365946769714, + 0.039562858641147614, + 0.013771012425422668, + -0.00886625051498413, + 0.0 + ], + [ + 0.019651442766189575, + -0.031765878200531006, + -0.00410567969083786, + 0.028840571641921997, + 0.010759025812149048, + -0.02047783136367798, + 0.0 + ], + [ + 0.015099883079528809, + -0.0266964603215456, + -0.007949955761432648, + 0.03775997459888458, + 0.034695692360401154, + -0.020145118236541748, + 0.0 + ], + [ + 0.013277202844619751, + -0.021241309121251106, + -0.00377722829580307, + 0.024738498032093048, + 0.01131545752286911, + 0.008946120738983154, + 0.0 + ], + [ + 0.012744903564453125, + -0.014791905879974365, + 0.0025376304984092712, + 0.003873296082019806, + -0.0026821792125701904, + 0.011820673942565918, + 1.0 + ], + [ + 0.010051906108856201, + -0.010429196059703827, + -0.005523912608623505, + 0.01683683693408966, + -0.0047307088971138, + -0.001318216323852539, + 1.0 + ], + [ + -2.5331974029541016e-05, + -0.0028832927346229553, + -0.006781809031963348, + -0.004209458827972412, + -0.0011542066931724548, + 0.009244740009307861, + 1.0 + ], + [ + -0.013538181781768799, + 0.0036722123622894287, + -0.0144505575299263, + 0.02334924042224884, + 0.015112705528736115, + -0.017008721828460693, + 1.0 + ], + [ + -0.010328710079193115, + 0.0017547607421875, + 0.03309602290391922, + -0.07078081369400024, + -0.038003839552402496, + -0.022857666015625, + 1.0 + ], + [ + -0.016291677951812744, + 0.020601242780685425, + 0.03248719871044159, + -0.07736971229314804, + -0.037633225321769714, + 0.0006417036056518555, + 1.0 + ], + [ + -0.025776028633117676, + 0.047669313848018646, + 0.02713599056005478, + 0.10767776519060135, + -0.054605334997177124, + -0.0016723871231079102, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9907060265541077 + ], + [ + 0.8801529407501221 + ], + [ + 0.5958979725837708 + ], + [ + 0.3095528483390808 + ], + [ + 0.13900397717952728 + ], + [ + 0.05868057906627655 + ], + [ + 0.05166913568973541 + ], + [ + 0.051409780979156494 + ], + [ + 0.05115113407373428 + ], + [ + 0.05115113407373428 + ], + [ + 0.05115113407373428 + ], + [ + 0.05115113407373428 + ], + [ + 0.05115113407373428 + ], + [ + 0.05115113407373428 + ], + [ + 0.05115113407373428 + ], + [ + 0.06621777266263962 + ], + [ + 0.20024193823337555 + ], + [ + 0.44944798946380615 + ], + [ + 0.7565051317214966 + ], + [ + 0.9974852800369263 + ], + [ + 1.0008161067962646 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.25374576449394226, + 0.16129156947135925, + 0.08451111614704132 + ], + [ + 0.25717249512672424, + 0.15405812859535217, + 0.07463245093822479 + ], + [ + 0.2584986984729767, + 0.15131542086601257, + 0.06611865013837814 + ], + [ + 0.25876861810684204, + 0.15092900395393372, + 0.06141580268740654 + ], + [ + 0.2583228349685669, + 0.15064553916454315, + 0.05716101452708244 + ], + [ + 0.25539663434028625, + 0.14993900060653687, + 0.05080677196383476 + ], + [ + 0.2532390058040619, + 0.14876499772071838, + 0.045452967286109924 + ], + [ + 0.2517077624797821, + 0.14659330248832703, + 0.040837693959474564 + ], + [ + 0.2516666650772095, + 0.1431075930595398, + 0.03597867116332054 + ], + [ + 0.25062617659568787, + 0.14738836884498596, + 0.033762864768505096 + ], + [ + 0.2513703405857086, + 0.1481315940618515, + 0.03530970588326454 + ], + [ + 0.2477492392063141, + 0.14808224141597748, + 0.03668970987200737 + ], + [ + 0.24641381204128265, + 0.14790795743465424, + 0.04574751853942871 + ], + [ + 0.24816948175430298, + 0.14777548611164093, + 0.05873042345046997 + ], + [ + 0.24724538624286652, + 0.1452769786119461, + 0.07213413715362549 + ], + [ + 0.2587747871875763, + 0.12355004996061325, + 0.08031899482011795 + ], + [ + 0.27471432089805603, + 0.0939784049987793, + 0.08761657774448395 + ], + [ + 0.29659533500671387, + 0.06186516955494881, + 0.09916535019874573 + ], + [ + 0.320591002702713, + 0.031805429607629776, + 0.09850261360406876 + ], + [ + 0.3402424454689026, + 3.955170905101113e-05, + 0.0943969339132309 + ], + [ + 0.3553423285484314, + -0.02665690891444683, + 0.08644697815179825 + ], + [ + 0.36861953139305115, + -0.04789821803569794, + 0.08266974985599518 + ], + [ + 0.3813644349575043, + -0.0626901239156723, + 0.08520738035440445 + ], + [ + 0.3914163410663605, + -0.07311931997537613, + 0.07968346774578094 + ], + [ + 0.39139100909233093, + -0.07600261270999908, + 0.0729016587138176 + ], + [ + 0.37785282731056213, + -0.07233040034770966, + 0.058451101183891296 + ], + [ + 0.367524117231369, + -0.07057563960552216, + 0.09154712408781052 + ], + [ + 0.3512324392795563, + -0.04997439682483673, + 0.1240343227982521 + ], + [ + 0.3254564106464386, + -0.0023050832096487284, + 0.15117031335830688 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.6844481461846262, + 0.7100865973500596, + 0.16525059590888883, + 0.6758024675230327, + -0.7029767093387372, + 0.22161852588865655, + 0.2735356650863082, + -0.040009628729781935, + -0.961029380162072 + ], + [ + 0.6876361750862019, + 0.7095177396964113, + 0.15408136736449887, + 0.6750142104945062, + -0.7028972255627728, + 0.22425723160387673, + 0.2674178497095819, + -0.05020027243204915, + -0.9622721165577082 + ], + [ + 0.6676518508409353, + 0.7286636697840218, + 0.15261147534034258, + 0.6968954544943345, + -0.6838182474197444, + 0.21616967872697745, + 0.2618735030006069, + -0.03797184262939789, + -0.9643549178562423 + ], + [ + 0.6536248072264683, + 0.7407153826342042, + 0.1552911243671918, + 0.7096882004479436, + -0.6711571864323392, + 0.21422112231333723, + 0.26290163469085115, + -0.029811961178202548, + -0.9643619535462749 + ], + [ + 0.6435633767678743, + 0.7498051018566918, + 0.15368308076300155, + 0.7186258320392107, + -0.6610455713461184, + 0.2158602930824381, + 0.26344466897070284, + -0.028479147342575645, + -0.964254035281967 + ], + [ + 0.6409012262558849, + 0.7542497140294011, + 0.14266389546857847, + 0.7230080243912309, + -0.6555716782841088, + 0.21791092514522034, + 0.25788566235754934, + -0.03651223792543204, + -0.9654852881489621 + ], + [ + 0.6448060346880466, + 0.7520566581369216, + 0.13651359119810572, + 0.7219909489892645, + -0.6579102811711975, + 0.21420348154690977, + 0.2509068496622983, + -0.03955812029358419, + -0.9672026198844684 + ], + [ + 0.6332513162406028, + 0.7634264994663205, + 0.12717212899115954, + 0.7373349757499486, + -0.6450355956435323, + 0.20066443104998938, + 0.23522309413696296, + -0.03330255643931153, + -0.9713706994341756 + ], + [ + 0.6130551315928534, + 0.7830795208607092, + 0.10464162477824562, + 0.7658253898018906, + -0.6215703334158326, + 0.16480835219160747, + 0.1941001750706356, + -0.020899392955124108, + -0.9807590618554874 + ], + [ + 0.5924656632353619, + 0.8009967042416607, + 0.08595765050930448, + 0.7874226030087031, + -0.5983304084719837, + 0.14821054810217404, + 0.17014723670421572, + -0.020124663767282128, + -0.9852131321445998 + ], + [ + 0.6013346574202998, + 0.7942054516132961, + 0.08737465543812148, + 0.7834601918292161, + -0.6075658095058565, + 0.13059063878556051, + 0.1568016505147125, + -0.010074112725850841, + -0.9875787333922539 + ], + [ + 0.6114643659609524, + 0.787855644422571, + 0.07344938877530101, + 0.7819367576180123, + -0.6158580915728052, + 0.09640393213003204, + 0.1211867824715221, + -0.0015147923280490402, + -0.9926285655563225 + ], + [ + 0.6195609756631547, + 0.7805007031356278, + 0.0834436926322787, + 0.7783265874224626, + -0.6246323294384253, + 0.06357811204832994, + 0.10174438926360148, + 0.02555592739692569, + -0.9944822642100057 + ], + [ + 0.6306125008008721, + 0.770101052812405, + 0.09629248304460206, + 0.7706848608312689, + -0.6360038085822418, + 0.03929377500788549, + 0.09150256345675425, + 0.049432013170696995, + -0.994577174961669 + ], + [ + 0.6337319627810205, + 0.7649947960079234, + 0.11474650944804957, + 0.7663693985304622, + -0.6410694882231618, + 0.04132621765116582, + 0.10517482752908797, + 0.061748468402782745, + -0.9925348267462142 + ], + [ + 0.6705359201164135, + 0.7301787088950036, + 0.13122740914176442, + 0.7304583610841808, + -0.6807198363701026, + 0.05523664630001506, + 0.12966172355728936, + 0.058818002760091005, + -0.9898122448199288 + ], + [ + 0.6871609758508712, + 0.7167013918134706, + 0.11894918343693027, + 0.7133997284594955, + -0.6966179489956675, + 0.07605432644490098, + 0.13737037781704037, + 0.032596749986825886, + -0.9899832479333678 + ], + [ + 0.7022743123601096, + 0.7018438550091339, + 0.1192727688328432, + 0.6934571960917071, + -0.7123002434665171, + 0.10837656732969571, + 0.16102145008589044, + 0.006600480547506615, + -0.9869288354632156 + ], + [ + 0.7099193585414865, + 0.6993910464371922, + 0.08286536388343346, + 0.6886822446615255, + -0.713999483095613, + 0.1261804423322422, + 0.147415298581956, + -0.032510033877049344, + -0.9885402507947291 + ], + [ + 0.7249911049436171, + 0.6863223981708504, + 0.05787454986128355, + 0.6750430341945608, + -0.7247266605392368, + 0.13815994169456972, + 0.13676549176614153, + -0.06109691704708655, + -0.9887175365033772 + ], + [ + 0.7415340449400649, + 0.6708451219155117, + 0.009699618393967935, + 0.6630669612519976, + -0.7349879460152705, + 0.14189758316580436, + 0.10232040407889488, + -0.09879039231836584, + -0.9898338210501375 + ], + [ + 0.7363816055693271, + 0.6763629327276206, + -0.016592595072252733, + 0.6704107449640511, + -0.726161486285144, + 0.15244319884106505, + 0.09105802554352799, + -0.12338022154398348, + -0.9881729387692578 + ], + [ + 0.7282243737771438, + 0.6850723492249932, + -0.019108578289236962, + 0.6788992461302347, + -0.7172882027591648, + 0.15682298232824893, + 0.09372873113771349, + -0.12717511749503668, + -0.9874418537055425 + ], + [ + 0.7287857962392467, + 0.6842090346267111, + -0.027004816887193007, + 0.6776291849841285, + -0.714985098401561, + 0.17209008315837257, + 0.09843754800721474, + -0.14371606033736697, + -0.9847109947306536 + ], + [ + 0.7224072679089271, + 0.6910207499893264, + -0.024860859931803307, + 0.6842589797095096, + -0.7092355715772277, + 0.16963063607858178, + 0.09958608316055415, + -0.1395536710148185, + -0.9851940849127279 + ], + [ + 0.7349668406196468, + 0.6763472387902121, + -0.04876633849727396, + 0.6728128415977721, + -0.7183792167741632, + 0.17678852080401403, + 0.08453770384098547, + -0.1627443193718166, + -0.9830400109565725 + ], + [ + 0.7471926527129796, + 0.6639123395969176, + 0.030389884216422754, + 0.653251255825002, + -0.7420739264529175, + 0.15029665479247306, + 0.12233534442179148, + -0.09244832615952035, + -0.9881737552148937 + ], + [ + 0.7427813036580931, + 0.660505454320684, + 0.10958320924580665, + 0.6502359713057199, + -0.750656896415439, + 0.11707862949337772, + 0.15959046511646735, + -0.015708872542848938, + -0.9870583137623339 + ], + [ + 0.7361956477284346, + 0.6722117300966495, + 0.07840509030783772, + 0.642299297039685, + -0.7304965330152929, + 0.23200523329219075, + 0.2132312859034467, + -0.12044170861087372, + -0.9695494899894777 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006622.json b/json/chunk-0006/episode_0006622.json new file mode 100644 index 0000000000000000000000000000000000000000..65f02517d6e04802c22515477b1177b66675b1fe --- /dev/null +++ b/json/chunk-0006/episode_0006622.json @@ -0,0 +1,1882 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 30, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the black and white object to the left top burner." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006622.mp4", + "start": 0, + "end": 30, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.37511372566223145, + 0.05022067949175835, + -0.016421301290392876, + 0.008960437029600143, + 0.029484013095498085, + 0.0896674320101738, + 0.0, + 1.0008161067962646 + ], + [ + 0.364852637052536, + 0.04811835289001465, + -0.0345052070915699, + 0.005720750894397497, + 0.0846097320318222, + 0.0904080793261528, + 0.0, + 1.0008161067962646 + ], + [ + 0.35783177614212036, + 0.04035569354891777, + -0.039506979286670685, + -0.017394203692674637, + 0.05643059313297272, + 0.10707776248455048, + 0.0, + 1.0008161067962646 + ], + [ + 0.3604869842529297, + 0.037797942757606506, + -0.025363173335790634, + -0.01719481311738491, + -0.009282978251576424, + 0.11503110080957413, + 0.0, + 1.0008161067962646 + ], + [ + 0.3620488941669464, + 0.02624909207224846, + -0.025624724105000496, + -0.03516366705298424, + -0.030477944761514664, + 0.10944628715515137, + 0.0, + 1.0008161067962646 + ], + [ + 0.36543381214141846, + 0.015789587050676346, + -0.024194007739424706, + -0.06489390879869461, + -0.03910302743315697, + 0.11257238686084747, + 0.0, + 1.0008161067962646 + ], + [ + 0.3671315610408783, + -0.004231652710586786, + -0.023068374022841454, + -0.061401210725307465, + -0.0441085584461689, + 0.07313462346792221, + 0.0, + 1.0008161067962646 + ], + [ + 0.3648678958415985, + -0.01888575777411461, + -0.02324775978922844, + -0.047718800604343414, + -0.02901238575577736, + 0.05707633122801781, + 0.0, + 1.0008161067962646 + ], + [ + 0.36538246273994446, + -0.024674568325281143, + -0.023242097347974777, + -0.037918660789728165, + -0.020903779193758965, + 0.0625271424651146, + 0.0, + 1.0008161067962646 + ], + [ + 0.36005863547325134, + -0.025064481422305107, + -0.04502152279019356, + -0.002415955998003483, + 0.03758059814572334, + 0.08543653786182404, + 0.0, + 1.0008161067962646 + ], + [ + 0.3615172803401947, + -0.022771740332245827, + -0.05943426862359047, + 0.018391478806734085, + 0.06688057631254196, + 0.101751908659935, + 0.0, + 1.0008161067962646 + ], + [ + 0.3640710115432739, + -0.020525583997368813, + -0.06589344143867493, + 0.02890019305050373, + 0.07091807574033737, + 0.12551255524158478, + 0.0, + 0.9701826572418213 + ], + [ + 0.36483967304229736, + -0.0203926470130682, + -0.06565514951944351, + 0.02937278151512146, + 0.06770593672990799, + 0.12443895637989044, + 0.0, + 0.7121403217315674 + ], + [ + 0.36549967527389526, + -0.016764715313911438, + -0.06495378911495209, + 0.05765730142593384, + 0.060681991279125214, + 0.10575342923402786, + 0.0, + 0.5968981385231018 + ], + [ + 0.3706415593624115, + 0.004531397484242916, + -0.059079449623823166, + 0.10638982802629471, + 0.04095872491598129, + 0.09478933364152908, + 0.0, + 0.5968981385231018 + ], + [ + 0.39730632305145264, + 0.0528278686106205, + -0.04402535408735275, + 0.09947821497917175, + -0.08589748293161392, + 0.11749829351902008, + 0.0, + 0.5968981385231018 + ], + [ + 0.43430739641189575, + 0.09839068353176117, + -0.02911384403705597, + 0.10715591907501221, + -0.1600806713104248, + 0.09531895816326141, + 0.0, + 0.5958979725837708 + ], + [ + 0.44911205768585205, + 0.13454502820968628, + -0.046030156314373016, + 0.10149873048067093, + -0.16327650845050812, + 0.13950899243354797, + 0.0, + 0.5958979725837708 + ], + [ + 0.4647608697414398, + 0.1626928299665451, + -0.05463802441954613, + 0.06804532557725906, + -0.1937294453382492, + 0.206124410033226, + 0.0, + 0.5958979725837708 + ], + [ + 0.4724090099334717, + 0.18265503644943237, + -0.06481163948774338, + 0.0509854219853878, + -0.22322015464305878, + 0.2532516121864319, + 0.0, + 0.5958979725837708 + ], + [ + 0.474064439535141, + 0.19466529786586761, + -0.06498119980096817, + 0.06117473542690277, + -0.25646647810935974, + 0.27566030621528625, + 0.0, + 0.5958979725837708 + ], + [ + 0.4781346321105957, + 0.20234015583992004, + -0.06581246107816696, + -0.011663921177387238, + -0.32067161798477173, + 0.3505057394504547, + 0.0, + 0.5958979725837708 + ], + [ + 0.47935113310813904, + 0.20394892990589142, + -0.06575151532888412, + -0.019060511142015457, + -0.3567250072956085, + 0.3566089868545532, + 0.0, + 0.5958979725837708 + ], + [ + 0.480358362197876, + 0.20453666150569916, + -0.06518155336380005, + -0.06121266260743141, + -0.36853182315826416, + 0.3648861050605774, + 0.0, + 0.5958979725837708 + ], + [ + 0.48169493675231934, + 0.20748348534107208, + -0.06309760361909866, + -0.0487176738679409, + -0.37696391344070435, + 0.35650378465652466, + 0.0, + 0.641040563583374 + ], + [ + 0.4904954433441162, + 0.21647395193576813, + -0.05302394926548004, + -0.026362964883446693, + -0.42959317564964294, + 0.3579660654067993, + 0.0, + 0.9468915462493896 + ], + [ + 0.4808945953845978, + 0.20831413567066193, + -0.06302523612976074, + 0.0029628125485032797, + -0.36400967836380005, + 0.31751930713653564, + 0.0, + 0.9994885921478271 + ], + [ + 0.4656022787094116, + 0.20090897381305695, + -0.0565919503569603, + 0.021513963118195534, + -0.32816049456596375, + 0.29372432827949524, + 0.0, + 0.9988223910331726 + ], + [ + 0.4503013789653778, + 0.18812134861946106, + -0.0361628420650959, + 0.03210896998643875, + -0.3483775854110718, + 0.28936806321144104, + 0.0, + 0.9988223910331726 + ], + [ + 0.42404988408088684, + 0.17200638353824615, + -0.03443973511457443, + 0.02133556455373764, + -0.2421683520078659, + 0.2326241433620453, + 0.0, + 0.9988223910331726 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9701826572418213 + ], + [ + 0.7121403217315674 + ], + [ + 0.5968981385231018 + ], + [ + 0.5968981385231018 + ], + [ + 0.5968981385231018 + ], + [ + 0.5958979725837708 + ], + [ + 0.5958979725837708 + ], + [ + 0.5958979725837708 + ], + [ + 0.5958979725837708 + ], + [ + 0.5958979725837708 + ], + [ + 0.5958979725837708 + ], + [ + 0.5958979725837708 + ], + [ + 0.5958979725837708 + ], + [ + 0.641040563583374 + ], + [ + 0.9468915462493896 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.37511372566223145, + 0.05022067949175835, + -0.016421301290392876 + ], + [ + 0.364852637052536, + 0.04811835289001465, + -0.0345052070915699 + ], + [ + 0.35783177614212036, + 0.04035569354891777, + -0.039506979286670685 + ], + [ + 0.3604869842529297, + 0.037797942757606506, + -0.025363173335790634 + ], + [ + 0.3620488941669464, + 0.02624909207224846, + -0.025624724105000496 + ], + [ + 0.36543381214141846, + 0.015789587050676346, + -0.024194007739424706 + ], + [ + 0.3671315610408783, + -0.004231652710586786, + -0.023068374022841454 + ], + [ + 0.3648678958415985, + -0.01888575777411461, + -0.02324775978922844 + ], + [ + 0.36538246273994446, + -0.024674568325281143, + -0.023242097347974777 + ], + [ + 0.36005863547325134, + -0.025064481422305107, + -0.04502152279019356 + ], + [ + 0.3615172803401947, + -0.022771740332245827, + -0.05943426862359047 + ], + [ + 0.3640710115432739, + -0.020525583997368813, + -0.06589344143867493 + ], + [ + 0.36483967304229736, + -0.0203926470130682, + -0.06565514951944351 + ], + [ + 0.36549967527389526, + -0.016764715313911438, + -0.06495378911495209 + ], + [ + 0.3706415593624115, + 0.004531397484242916, + -0.059079449623823166 + ], + [ + 0.39730632305145264, + 0.0528278686106205, + -0.04402535408735275 + ], + [ + 0.43430739641189575, + 0.09839068353176117, + -0.02911384403705597 + ], + [ + 0.44911205768585205, + 0.13454502820968628, + -0.046030156314373016 + ], + [ + 0.4647608697414398, + 0.1626928299665451, + -0.05463802441954613 + ], + [ + 0.4724090099334717, + 0.18265503644943237, + -0.06481163948774338 + ], + [ + 0.474064439535141, + 0.19466529786586761, + -0.06498119980096817 + ], + [ + 0.4781346321105957, + 0.20234015583992004, + -0.06581246107816696 + ], + [ + 0.47935113310813904, + 0.20394892990589142, + -0.06575151532888412 + ], + [ + 0.480358362197876, + 0.20453666150569916, + -0.06518155336380005 + ], + [ + 0.48169493675231934, + 0.20748348534107208, + -0.06309760361909866 + ], + [ + 0.4904954433441162, + 0.21647395193576813, + -0.05302394926548004 + ], + [ + 0.4808945953845978, + 0.20831413567066193, + -0.06302523612976074 + ], + [ + 0.4656022787094116, + 0.20090897381305695, + -0.0565919503569603 + ], + [ + 0.4503013789653778, + 0.18812134861946106, + -0.0361628420650959 + ], + [ + 0.42404988408088684, + 0.17200638353824615, + -0.03443973511457443 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9955496926993753, + 0.08928064077075713, + -0.030162502378653366, + 0.08950840299661857, + -0.9959662392243291, + 0.006284593729209962, + -0.02947974150453453, + -0.008956422774150371, + -0.9995252509726387 + ], + [ + 0.9923533136388972, + 0.08980201522220642, + -0.0846787988337754, + 0.08996199584318933, + -0.9959433242676856, + -0.0019323950272978306, + -0.08450881737316161, + -0.005700255140092039, + -0.9964064265537068 + ], + [ + 0.9926899850944667, + 0.10783246955335844, + -0.0542102573612349, + 0.10670314136214694, + -0.9940174007790394, + -0.023320518260366685, + -0.05640064819305704, + 0.01736564016978443, + -0.9982571820051667 + ], + [ + 0.9933484133353069, + 0.11460206237891073, + 0.011193615266221832, + 0.11477263835201142, + -0.9932626844459675, + -0.016015029594359968, + 0.00928284492740992, + 0.017193224993877095, + -0.999809092679379 + ], + [ + 0.9935550933589382, + 0.10809547595328513, + 0.03411223444667642, + 0.1091771905187968, + -0.9935192710216229, + -0.03161960118480732, + 0.030473226460855832, + 0.03514009372635027, + -0.9989176924461641 + ], + [ + 0.9929108299520586, + 0.10957924900560004, + 0.04604858251110459, + 0.112248902794642, + -0.9918636518025533, + -0.06005564131954097, + 0.03909306313545042, + 0.06479879952800863, + -0.9971323121804928 + ], + [ + 0.9963568304353648, + 0.07023324172480516, + 0.048377248801666044, + 0.07299837621684707, + -0.9956451374018825, + -0.05798273396184147, + 0.04409425716005277, + 0.0613029536385574, + -0.9971447459424793 + ], + [ + 0.9979514438929005, + 0.0555989469100264, + 0.0316492138065333, + 0.05702134023057019, + -0.9973140506827324, + -0.04597011060580941, + 0.029008315883297137, + 0.04768061884347623, + -0.9984413233617279 + ], + [ + 0.9978277659386618, + 0.061650643237369226, + 0.023215247366285087, + 0.06247275550650988, + -0.9973779074275455, + -0.036530324319314814, + 0.020902256846642785, + 0.03790129237729374, + -0.9990628547267925 + ], + [ + 0.9956490263060228, + 0.08542282800660761, + -0.0372284416974745, + 0.08527238590970324, + -0.9963418649554034, + -0.005613228879650641, + -0.037571752915393365, + 0.0024142478212130754, + -0.999291016066052 + ], + [ + 0.9926036306859636, + 0.10033655083971818, + -0.06834185331575429, + 0.10134932738852312, + -0.9947843378158278, + 0.01150804389195469, + -0.06683072786478825, + -0.018349327015284456, + -0.9975955874056124 + ], + [ + 0.9896397744004068, + 0.1230995621365959, + -0.0738892057508463, + 0.1248686082987906, + -0.9919756557412337, + 0.019802249323578328, + -0.07085864510584249, + -0.02882353584361783, + -0.9970698351646371 + ], + [ + 0.9899940041216527, + 0.12209296635274873, + -0.07074729231824639, + 0.12383367188953963, + -0.9920860563288668, + 0.020747976869811627, + -0.06765422019010109, + -0.029301269682779324, + -0.9972784676736214 + ], + [ + 0.9925830113569369, + 0.1019058610379662, + -0.0662884684670331, + 0.10536213299484784, + -0.9931297629241673, + 0.0509126204880731, + -0.060644756544734446, + -0.05751929659077282, + -0.9965007496351079 + ], + [ + 0.9946759275738528, + 0.08978366719168403, + -0.05058351718404309, + 0.09456807009572966, + -0.9902937163990436, + 0.1018588993605356, + -0.040947273700023344, + -0.10610018080184161, + -0.9935119890622115 + ], + [ + 0.9894435138616349, + 0.125110165317434, + 0.07313671725873823, + 0.11679590865504084, + -0.987196397753093, + 0.10863695496818784, + 0.08579189121696547, + -0.09894806111067087, + -0.9913874281046008 + ], + [ + 0.9827330534018011, + 0.11159915733711637, + 0.1475851409635091, + 0.09395782095574376, + -0.9881284047214791, + 0.12154909980676018, + 0.1593978470143863, + -0.10558353974096008, + -0.9815520579688822 + ], + [ + 0.9771135890237317, + 0.15465171470427969, + 0.14605437783300998, + 0.13720743449696504, + -0.9828974824196834, + 0.12282776140518387, + 0.16255200418303858, + -0.09997692829885213, + -0.981621851704618 + ], + [ + 0.9605205394870616, + 0.21700713377519773, + 0.1740924958582574, + 0.20083918867368503, + -0.973887173484735, + 0.10586497822608601, + 0.19251990420831785, + -0.06672089037615689, + -0.9790221699588998 + ], + [ + 0.9440838764160948, + 0.2611495339319615, + 0.20126240388676428, + 0.24433686324613038, + -0.9640181214712544, + 0.10473088720179646, + 0.22137102689873736, + -0.049698917514901, + -0.973922423013068 + ], + [ + 0.930772881873595, + 0.28659589406374086, + 0.22699038718528933, + 0.2632799253372178, + -0.9562246673398384, + 0.12774218757029446, + 0.25366419393196105, + -0.05913695187123117, + -0.965482934929576 + ], + [ + 0.8913224979662435, + 0.339896582912671, + 0.300024194930185, + 0.3258690452946972, + -0.9403976755524235, + 0.09727063860344293, + 0.3152040132008767, + 0.011069089388417032, + -0.948959380227717 + ], + [ + 0.8780922242592369, + 0.3427982312096841, + 0.33383142209051836, + 0.3271212486118239, + -0.9392392727550113, + 0.10402536816218702, + 0.3492072943140036, + 0.017859484711190372, + -0.9368752875403126 + ], + [ + 0.8714420479848859, + 0.3355875793810618, + 0.3577285752760978, + 0.33288348869060885, + -0.9402788583680349, + 0.07116355431872116, + 0.36024622130020534, + 0.057067022624838495, + -0.9311100981987356 + ], + [ + 0.8713240614755783, + 0.33178719327225253, + 0.3615406453971996, + 0.32449547941704987, + -0.9422669790006059, + 0.08267783332290936, + 0.3680992579883878, + 0.04527911953199561, + -0.9286833354824483 + ], + [ + 0.8515064468013328, + 0.33996521566446053, + 0.39919972844928864, + 0.31853368099740426, + -0.940132620482456, + 0.12118972718441967, + 0.41650097854148294, + 0.023964724972487993, + -0.9088193587457191 + ], + [ + 0.8877649560636378, + 0.3132115662126235, + 0.3373009006450513, + 0.2917537799827266, + -0.9496793402124929, + 0.11396877923078363, + 0.3560240366198864, + -0.002768675531671247, + -0.9344726961151312 + ], + [ + 0.906094498554327, + 0.29608856780601195, + 0.3021991391519294, + 0.2740693917931349, + -0.9549433772357454, + 0.11388202121375368, + 0.3223022310995127, + -0.02036433863825115, + -0.9464177542396924 + ], + [ + 0.9008497251237626, + 0.29570316076355535, + 0.3178512442305117, + 0.2682052189810921, + -0.954803180997387, + 0.12812824071443268, + 0.3413733048376013, + -0.03017492786593097, + -0.9394433141347807 + ], + [ + 0.944671028354268, + 0.23545756271009752, + 0.22837772297382797, + 0.2238049206152629, + -0.9716639197531147, + 0.07603015558585079, + 0.23980826861575455, + -0.02071142710276858, + -0.9705993154185104 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.010261088609695435, + -0.002102326601743698, + -0.018083905801177025, + -0.0032396861352026463, + 0.05512572079896927, + 0.0007406473159790039, + 1.0 + ], + [ + -0.007020860910415649, + -0.007762659341096878, + -0.005001772195100784, + -0.02311495505273342, + -0.028179138898849487, + 0.016669683158397675, + 1.0 + ], + [ + 0.002655208110809326, + -0.002557750791311264, + 0.01414380595088005, + 0.00019939057528972626, + -0.06571356952190399, + 0.007953338325023651, + 1.0 + ], + [ + 0.0015619099140167236, + -0.011548850685358047, + -0.00026155076920986176, + -0.017968853935599327, + -0.02119496650993824, + -0.00558481365442276, + 1.0 + ], + [ + 0.003384917974472046, + -0.010459505021572113, + 0.0014307163655757904, + -0.029730241745710373, + -0.008625082671642303, + 0.003126099705696106, + 1.0 + ], + [ + 0.0016977488994598389, + -0.020021239295601845, + 0.001125633716583252, + 0.003492698073387146, + -0.005005531013011932, + -0.03943776339292526, + 1.0 + ], + [ + -0.002263665199279785, + -0.01465410552918911, + -0.00017938576638698578, + 0.01368241012096405, + 0.01509617269039154, + -0.016058292239904404, + 1.0 + ], + [ + 0.0005145668983459473, + -0.005788810551166534, + 5.662441253662109e-06, + 0.00980013981461525, + 0.008108606562018394, + 0.0054508112370967865, + 1.0 + ], + [ + -0.005323827266693115, + -0.00038991309702396393, + -0.02177942544221878, + 0.035502705723047256, + 0.05848437547683716, + 0.022909395396709442, + 1.0 + ], + [ + 0.0014586448669433594, + 0.0022927410900592804, + -0.014412745833396912, + 0.020807433873414993, + 0.02929997816681862, + 0.016315370798110962, + 1.0 + ], + [ + 0.0025537312030792236, + 0.002246156334877014, + -0.006459172815084457, + 0.010508714243769646, + 0.00403749942779541, + 0.02376064658164978, + 0.0 + ], + [ + 0.0007686614990234375, + 0.0001329369843006134, + 0.0002382919192314148, + 0.0004725884646177292, + -0.0032121390104293823, + -0.001073598861694336, + 0.0 + ], + [ + 0.0006600022315979004, + 0.003627931699156761, + 0.0007013604044914246, + 0.028284519910812378, + -0.007023945450782776, + -0.01868552714586258, + 0.0 + ], + [ + 0.005141884088516235, + 0.02129611372947693, + 0.0058743394911289215, + 0.04873252660036087, + -0.01972326636314392, + -0.01096409559249878, + 0.0 + ], + [ + 0.026664763689041138, + 0.04829647019505501, + 0.015054095536470413, + -0.006911613047122955, + -0.12685620784759521, + 0.022708959877490997, + 0.0 + ], + [ + 0.037001073360443115, + 0.04556281492114067, + 0.014911510050296783, + 0.007677704095840454, + -0.07418318837881088, + -0.022179335355758667, + 0.0 + ], + [ + 0.014804661273956299, + 0.03615434467792511, + -0.016916312277317047, + -0.005657188594341278, + -0.003195837140083313, + 0.04419003427028656, + 0.0 + ], + [ + 0.01564881205558777, + 0.028147801756858826, + -0.008607868105173111, + -0.033453404903411865, + -0.03045293688774109, + 0.06661541759967804, + 0.0 + ], + [ + 0.00764814019203186, + 0.019962206482887268, + -0.01017361506819725, + -0.01705990359187126, + -0.02949070930480957, + 0.04712720215320587, + 0.0 + ], + [ + 0.0016554296016693115, + 0.012010261416435242, + -0.00016956031322479248, + 0.010189313441514969, + -0.033246323466300964, + 0.02240869402885437, + 0.0 + ], + [ + 0.004070192575454712, + 0.007674857974052429, + -0.0008312612771987915, + -0.07283865660429001, + -0.06420513987541199, + 0.07484543323516846, + 0.0 + ], + [ + 0.001216500997543335, + 0.0016087740659713745, + 6.0945749282836914e-05, + -0.00739658996462822, + -0.03605338931083679, + 0.006103247404098511, + 0.0 + ], + [ + 0.0010072290897369385, + 0.0005877315998077393, + 0.0005699619650840759, + -0.042152151465415955, + -0.01180681586265564, + 0.00827711820602417, + 0.0 + ], + [ + 0.0013365745544433594, + 0.002946823835372925, + 0.0020839497447013855, + 0.012494988739490509, + -0.008432090282440186, + -0.008382320404052734, + 1.0 + ], + [ + 0.008800506591796875, + 0.008990466594696045, + 0.010073654353618622, + 0.02235470898449421, + -0.0526292622089386, + 0.0014622807502746582, + 1.0 + ], + [ + -0.009600847959518433, + -0.008159816265106201, + -0.0100012868642807, + 0.029325777664780617, + 0.0655834972858429, + -0.04044675827026367, + 1.0 + ], + [ + -0.015292316675186157, + -0.0074051618576049805, + 0.0064332857728004456, + 0.01855115033686161, + 0.035849183797836304, + -0.023794978857040405, + 1.0 + ], + [ + -0.015300899744033813, + -0.012787625193595886, + 0.020429108291864395, + 0.010595006868243217, + -0.020217090845108032, + -0.004356265068054199, + 1.0 + ], + [ + -0.026251494884490967, + -0.016114965081214905, + 0.0017231069505214691, + -0.01077340543270111, + 0.10620923340320587, + -0.05674391984939575, + 1.0 + ], + [ + -0.02738472819328308, + -0.011927753686904907, + -0.006019089370965958, + 0.0349014550447464, + 0.15442568063735962, + -0.06558729708194733, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9701826572418213 + ], + [ + 0.7121403217315674 + ], + [ + 0.5968981385231018 + ], + [ + 0.5968981385231018 + ], + [ + 0.5968981385231018 + ], + [ + 0.5958979725837708 + ], + [ + 0.5958979725837708 + ], + [ + 0.5958979725837708 + ], + [ + 0.5958979725837708 + ], + [ + 0.5958979725837708 + ], + [ + 0.5958979725837708 + ], + [ + 0.5958979725837708 + ], + [ + 0.5958979725837708 + ], + [ + 0.641040563583374 + ], + [ + 0.9468915462493896 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.364852637052536, + 0.04811835289001465, + -0.0345052070915699 + ], + [ + 0.35783177614212036, + 0.04035569354891777, + -0.039506979286670685 + ], + [ + 0.3604869842529297, + 0.037797942757606506, + -0.025363173335790634 + ], + [ + 0.3620488941669464, + 0.02624909207224846, + -0.025624724105000496 + ], + [ + 0.36543381214141846, + 0.015789587050676346, + -0.024194007739424706 + ], + [ + 0.3671315610408783, + -0.004231652710586786, + -0.023068374022841454 + ], + [ + 0.3648678958415985, + -0.01888575777411461, + -0.02324775978922844 + ], + [ + 0.36538246273994446, + -0.024674568325281143, + -0.023242097347974777 + ], + [ + 0.36005863547325134, + -0.025064481422305107, + -0.04502152279019356 + ], + [ + 0.3615172803401947, + -0.022771740332245827, + -0.05943426862359047 + ], + [ + 0.3640710115432739, + -0.020525583997368813, + -0.06589344143867493 + ], + [ + 0.36483967304229736, + -0.0203926470130682, + -0.06565514951944351 + ], + [ + 0.36549967527389526, + -0.016764715313911438, + -0.06495378911495209 + ], + [ + 0.3706415593624115, + 0.004531397484242916, + -0.059079449623823166 + ], + [ + 0.39730632305145264, + 0.0528278686106205, + -0.04402535408735275 + ], + [ + 0.43430739641189575, + 0.09839068353176117, + -0.02911384403705597 + ], + [ + 0.44911205768585205, + 0.13454502820968628, + -0.046030156314373016 + ], + [ + 0.4647608697414398, + 0.1626928299665451, + -0.05463802441954613 + ], + [ + 0.4724090099334717, + 0.18265503644943237, + -0.06481163948774338 + ], + [ + 0.474064439535141, + 0.19466529786586761, + -0.06498119980096817 + ], + [ + 0.4781346321105957, + 0.20234015583992004, + -0.06581246107816696 + ], + [ + 0.47935113310813904, + 0.20394892990589142, + -0.06575151532888412 + ], + [ + 0.480358362197876, + 0.20453666150569916, + -0.06518155336380005 + ], + [ + 0.48169493675231934, + 0.20748348534107208, + -0.06309760361909866 + ], + [ + 0.4904954433441162, + 0.21647395193576813, + -0.05302394926548004 + ], + [ + 0.4808945953845978, + 0.20831413567066193, + -0.06302523612976074 + ], + [ + 0.4656022787094116, + 0.20090897381305695, + -0.0565919503569603 + ], + [ + 0.4503013789653778, + 0.18812134861946106, + -0.0361628420650959 + ], + [ + 0.42404988408088684, + 0.17200638353824615, + -0.03443973511457443 + ], + [ + 0.39666515588760376, + 0.16007862985134125, + -0.04045882448554039 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9923533136388972, + 0.08980201522220642, + -0.0846787988337754, + 0.08996199584318933, + -0.9959433242676856, + -0.0019323950272978306, + -0.08450881737316161, + -0.005700255140092039, + -0.9964064265537068 + ], + [ + 0.9926899850944667, + 0.10783246955335844, + -0.0542102573612349, + 0.10670314136214694, + -0.9940174007790394, + -0.023320518260366685, + -0.05640064819305704, + 0.01736564016978443, + -0.9982571820051667 + ], + [ + 0.9933484133353069, + 0.11460206237891073, + 0.011193615266221832, + 0.11477263835201142, + -0.9932626844459675, + -0.016015029594359968, + 0.00928284492740992, + 0.017193224993877095, + -0.999809092679379 + ], + [ + 0.9935550933589382, + 0.10809547595328513, + 0.03411223444667642, + 0.1091771905187968, + -0.9935192710216229, + -0.03161960118480732, + 0.030473226460855832, + 0.03514009372635027, + -0.9989176924461641 + ], + [ + 0.9929108299520586, + 0.10957924900560004, + 0.04604858251110459, + 0.112248902794642, + -0.9918636518025533, + -0.06005564131954097, + 0.03909306313545042, + 0.06479879952800863, + -0.9971323121804928 + ], + [ + 0.9963568304353648, + 0.07023324172480516, + 0.048377248801666044, + 0.07299837621684707, + -0.9956451374018825, + -0.05798273396184147, + 0.04409425716005277, + 0.0613029536385574, + -0.9971447459424793 + ], + [ + 0.9979514438929005, + 0.0555989469100264, + 0.0316492138065333, + 0.05702134023057019, + -0.9973140506827324, + -0.04597011060580941, + 0.029008315883297137, + 0.04768061884347623, + -0.9984413233617279 + ], + [ + 0.9978277659386618, + 0.061650643237369226, + 0.023215247366285087, + 0.06247275550650988, + -0.9973779074275455, + -0.036530324319314814, + 0.020902256846642785, + 0.03790129237729374, + -0.9990628547267925 + ], + [ + 0.9956490263060228, + 0.08542282800660761, + -0.0372284416974745, + 0.08527238590970324, + -0.9963418649554034, + -0.005613228879650641, + -0.037571752915393365, + 0.0024142478212130754, + -0.999291016066052 + ], + [ + 0.9926036306859636, + 0.10033655083971818, + -0.06834185331575429, + 0.10134932738852312, + -0.9947843378158278, + 0.01150804389195469, + -0.06683072786478825, + -0.018349327015284456, + -0.9975955874056124 + ], + [ + 0.9896397744004068, + 0.1230995621365959, + -0.0738892057508463, + 0.1248686082987906, + -0.9919756557412337, + 0.019802249323578328, + -0.07085864510584249, + -0.02882353584361783, + -0.9970698351646371 + ], + [ + 0.9899940041216527, + 0.12209296635274873, + -0.07074729231824639, + 0.12383367188953963, + -0.9920860563288668, + 0.020747976869811627, + -0.06765422019010109, + -0.029301269682779324, + -0.9972784676736214 + ], + [ + 0.9925830113569369, + 0.1019058610379662, + -0.0662884684670331, + 0.10536213299484784, + -0.9931297629241673, + 0.0509126204880731, + -0.060644756544734446, + -0.05751929659077282, + -0.9965007496351079 + ], + [ + 0.9946759275738528, + 0.08978366719168403, + -0.05058351718404309, + 0.09456807009572966, + -0.9902937163990436, + 0.1018588993605356, + -0.040947273700023344, + -0.10610018080184161, + -0.9935119890622115 + ], + [ + 0.9894435138616349, + 0.125110165317434, + 0.07313671725873823, + 0.11679590865504084, + -0.987196397753093, + 0.10863695496818784, + 0.08579189121696547, + -0.09894806111067087, + -0.9913874281046008 + ], + [ + 0.9827330534018011, + 0.11159915733711637, + 0.1475851409635091, + 0.09395782095574376, + -0.9881284047214791, + 0.12154909980676018, + 0.1593978470143863, + -0.10558353974096008, + -0.9815520579688822 + ], + [ + 0.9771135890237317, + 0.15465171470427969, + 0.14605437783300998, + 0.13720743449696504, + -0.9828974824196834, + 0.12282776140518387, + 0.16255200418303858, + -0.09997692829885213, + -0.981621851704618 + ], + [ + 0.9605205394870616, + 0.21700713377519773, + 0.1740924958582574, + 0.20083918867368503, + -0.973887173484735, + 0.10586497822608601, + 0.19251990420831785, + -0.06672089037615689, + -0.9790221699588998 + ], + [ + 0.9440838764160948, + 0.2611495339319615, + 0.20126240388676428, + 0.24433686324613038, + -0.9640181214712544, + 0.10473088720179646, + 0.22137102689873736, + -0.049698917514901, + -0.973922423013068 + ], + [ + 0.930772881873595, + 0.28659589406374086, + 0.22699038718528933, + 0.2632799253372178, + -0.9562246673398384, + 0.12774218757029446, + 0.25366419393196105, + -0.05913695187123117, + -0.965482934929576 + ], + [ + 0.8913224979662435, + 0.339896582912671, + 0.300024194930185, + 0.3258690452946972, + -0.9403976755524235, + 0.09727063860344293, + 0.3152040132008767, + 0.011069089388417032, + -0.948959380227717 + ], + [ + 0.8780922242592369, + 0.3427982312096841, + 0.33383142209051836, + 0.3271212486118239, + -0.9392392727550113, + 0.10402536816218702, + 0.3492072943140036, + 0.017859484711190372, + -0.9368752875403126 + ], + [ + 0.8714420479848859, + 0.3355875793810618, + 0.3577285752760978, + 0.33288348869060885, + -0.9402788583680349, + 0.07116355431872116, + 0.36024622130020534, + 0.057067022624838495, + -0.9311100981987356 + ], + [ + 0.8713240614755783, + 0.33178719327225253, + 0.3615406453971996, + 0.32449547941704987, + -0.9422669790006059, + 0.08267783332290936, + 0.3680992579883878, + 0.04527911953199561, + -0.9286833354824483 + ], + [ + 0.8515064468013328, + 0.33996521566446053, + 0.39919972844928864, + 0.31853368099740426, + -0.940132620482456, + 0.12118972718441967, + 0.41650097854148294, + 0.023964724972487993, + -0.9088193587457191 + ], + [ + 0.8877649560636378, + 0.3132115662126235, + 0.3373009006450513, + 0.2917537799827266, + -0.9496793402124929, + 0.11396877923078363, + 0.3560240366198864, + -0.002768675531671247, + -0.9344726961151312 + ], + [ + 0.906094498554327, + 0.29608856780601195, + 0.3021991391519294, + 0.2740693917931349, + -0.9549433772357454, + 0.11388202121375368, + 0.3223022310995127, + -0.02036433863825115, + -0.9464177542396924 + ], + [ + 0.9008497251237626, + 0.29570316076355535, + 0.3178512442305117, + 0.2682052189810921, + -0.954803180997387, + 0.12812824071443268, + 0.3413733048376013, + -0.03017492786593097, + -0.9394433141347807 + ], + [ + 0.944671028354268, + 0.23545756271009752, + 0.22837772297382797, + 0.2238049206152629, + -0.9716639197531147, + 0.07603015558585079, + 0.23980826861575455, + -0.02071142710276858, + -0.9705993154185104 + ], + [ + 0.9822883764560012, + 0.1708552376893117, + 0.07692875427018495, + 0.16562157825601215, + -0.9837039585905105, + 0.06997152756191156, + 0.08763012207809218, + -0.055991156511439474, + -0.9945782785166236 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006623.json b/json/chunk-0006/episode_0006623.json new file mode 100644 index 0000000000000000000000000000000000000000..824f58a46133aa633ce26432a11e299490003f8d --- /dev/null +++ b/json/chunk-0006/episode_0006623.json @@ -0,0 +1,1942 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 31, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nClose the drawer." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006623.mp4", + "start": 0, + "end": 31, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3230206370353699, + 0.1355680376291275, + 0.18489471077919006, + 0.039230164140462875, + -0.23652970790863037, + 0.026087017729878426, + 0.0, + 1.0008161067962646 + ], + [ + 0.32221606373786926, + 0.13520695269107819, + 0.1709069311618805, + 0.022350311279296875, + -0.1968672275543213, + 0.029717091470956802, + 0.0, + 1.0008161067962646 + ], + [ + 0.3281383216381073, + 0.11921834200620651, + 0.16826796531677246, + 0.020159559324383736, + -0.197922021150589, + -0.019420241937041283, + 0.0, + 1.0008161067962646 + ], + [ + 0.33599525690078735, + 0.0879058688879013, + 0.17004160583019257, + 0.009763799607753754, + -0.21217918395996094, + -0.10225874930620193, + 0.0, + 1.0008161067962646 + ], + [ + 0.3435525596141815, + 0.05435321480035782, + 0.17772364616394043, + 0.005735423881560564, + -0.2539714574813843, + -0.17780740559101105, + 0.0, + 1.0008161067962646 + ], + [ + 0.34868282079696655, + 0.008930767886340618, + 0.1745394468307495, + 0.008177516050636768, + -0.2599787414073944, + -0.2811237573623657, + 0.0, + 1.0008161067962646 + ], + [ + 0.343630850315094, + -0.025623369961977005, + 0.161935493350029, + 0.01442793384194374, + -0.23817457258701324, + -0.34529930353164673, + 0.0, + 1.0008161067962646 + ], + [ + 0.33180201053619385, + -0.05327485874295235, + 0.1398666948080063, + 0.020634125918149948, + -0.20121906697750092, + -0.3616965115070343, + 0.0, + 1.0008161067962646 + ], + [ + 0.32883691787719727, + -0.06957431882619858, + 0.11406107991933823, + 0.07227586209774017, + -0.1423346847295761, + -0.34956595301628113, + 0.0, + 1.0008161067962646 + ], + [ + 0.3276893198490143, + -0.07616030424833298, + 0.08001558482646942, + 0.10597387701272964, + -0.12532804906368256, + -0.2876666486263275, + 0.0, + 1.0008161067962646 + ], + [ + 0.32904911041259766, + -0.07469020783901215, + 0.05657739192247391, + 0.11741369217634201, + -0.09353957325220108, + -0.25835737586021423, + 0.0, + 1.0008161067962646 + ], + [ + 0.3247457444667816, + -0.07271408289670944, + 0.03912707418203354, + 0.12286653369665146, + -0.0338941253721714, + -0.24784430861473083, + 0.0, + 1.0008161067962646 + ], + [ + 0.3231607973575592, + -0.07203422486782074, + 0.03316458314657211, + 0.1227223128080368, + 0.012521965429186821, + -0.23206856846809387, + 0.0, + 1.0008161067962646 + ], + [ + 0.32367753982543945, + -0.06813959032297134, + 0.026081204414367676, + 0.12306439131498337, + 0.03267282992601395, + -0.20789313316345215, + 0.0, + 0.9575772881507874 + ], + [ + 0.32285481691360474, + -0.0645829439163208, + 0.025089042261242867, + 0.12202626466751099, + 0.042864151298999786, + -0.18996059894561768, + 0.0, + 0.684196949005127 + ], + [ + 0.3239358961582184, + -0.05756126716732979, + 0.02510370872914791, + 0.12238474190235138, + 0.04399723932147026, + -0.16525162756443024, + 0.0, + 0.38924968242645264 + ], + [ + 0.32473224401474, + -0.05015724152326584, + 0.02634839341044426, + 0.11933524906635284, + 0.05106184631586075, + -0.12966404855251312, + 0.0, + 0.19087372720241547 + ], + [ + 0.3257818818092346, + -0.03697403520345688, + 0.02601516805589199, + 0.12659594416618347, + 0.0562371127307415, + -0.09332974255084991, + 0.0, + 0.14474673569202423 + ], + [ + 0.32681891322135925, + -0.017784483730793, + 0.02619554102420807, + 0.13349103927612305, + 0.060471173375844955, + -0.04311034828424454, + 0.0, + 0.12395496666431427 + ], + [ + 0.32758161425590515, + -0.00222173985093832, + 0.02682744339108467, + 0.1395479440689087, + 0.058707695454359055, + -0.004212020430713892, + 0.0, + 0.11661893874406815 + ], + [ + 0.32747745513916016, + 0.013740177266299725, + 0.026360729709267616, + 0.1407259702682495, + 0.06137780472636223, + 0.02173014171421528, + 0.0, + 0.11619604378938675 + ], + [ + 0.32655662298202515, + 0.029954848811030388, + 0.027108192443847656, + 0.15005230903625488, + 0.06298772990703583, + 0.046280257403850555, + 0.0, + 0.11619604378938675 + ], + [ + 0.3249479830265045, + 0.04068144038319588, + 0.02717733196914196, + 0.1506742686033249, + 0.06827783584594727, + 0.06294940412044525, + 0.0, + 0.11577415466308594 + ], + [ + 0.32257500290870667, + 0.05509015917778015, + 0.027197709307074547, + 0.14899219572544098, + 0.0736817717552185, + 0.08181296288967133, + 0.0, + 0.11577415466308594 + ], + [ + 0.319566935300827, + 0.059356946498155594, + 0.026844294741749763, + 0.14546121656894684, + 0.07829570025205612, + 0.08785407990217209, + 0.0, + 0.11535319685935974 + ], + [ + 0.3186328411102295, + 0.06003628671169281, + 0.027141544967889786, + 0.130506694316864, + 0.07196898013353348, + 0.08069966733455658, + 0.0, + 0.1394769847393036 + ], + [ + 0.3177594840526581, + 0.05988597869873047, + 0.029320426285266876, + 0.12516725063323975, + 0.07544136792421341, + 0.056446075439453125, + 0.0, + 0.33639705181121826 + ], + [ + 0.32019132375717163, + 0.05509360507130623, + 0.0449841134250164, + 0.11068740487098694, + 0.03934142738580704, + 0.03141183778643608, + 0.0, + 0.648074209690094 + ], + [ + 0.324624627828598, + 0.042728401720523834, + 0.05983844771981239, + 0.10655847936868668, + -0.007328794337809086, + 0.0023465557023882866, + 0.0, + 0.9351479411125183 + ], + [ + 0.33612456917762756, + 0.018933625891804695, + 0.09005358815193176, + 0.08281707763671875, + -0.10008808225393295, + -0.03520576283335686, + 0.0, + 1.0014774799346924 + ], + [ + 0.3423580229282379, + 0.008212682791054249, + 0.12041132152080536, + 0.06208982691168785, + -0.1683439314365387, + -0.024725766852498055, + 0.0, + 0.9994885921478271 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9575772881507874 + ], + [ + 0.684196949005127 + ], + [ + 0.38924968242645264 + ], + [ + 0.19087372720241547 + ], + [ + 0.14474673569202423 + ], + [ + 0.12395496666431427 + ], + [ + 0.11661893874406815 + ], + [ + 0.11619604378938675 + ], + [ + 0.11619604378938675 + ], + [ + 0.11577415466308594 + ], + [ + 0.11577415466308594 + ], + [ + 0.11535319685935974 + ], + [ + 0.1394769847393036 + ], + [ + 0.33639705181121826 + ], + [ + 0.648074209690094 + ], + [ + 0.9351479411125183 + ], + [ + 1.0014774799346924 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3230206370353699, + 0.1355680376291275, + 0.18489471077919006 + ], + [ + 0.32221606373786926, + 0.13520695269107819, + 0.1709069311618805 + ], + [ + 0.3281383216381073, + 0.11921834200620651, + 0.16826796531677246 + ], + [ + 0.33599525690078735, + 0.0879058688879013, + 0.17004160583019257 + ], + [ + 0.3435525596141815, + 0.05435321480035782, + 0.17772364616394043 + ], + [ + 0.34868282079696655, + 0.008930767886340618, + 0.1745394468307495 + ], + [ + 0.343630850315094, + -0.025623369961977005, + 0.161935493350029 + ], + [ + 0.33180201053619385, + -0.05327485874295235, + 0.1398666948080063 + ], + [ + 0.32883691787719727, + -0.06957431882619858, + 0.11406107991933823 + ], + [ + 0.3276893198490143, + -0.07616030424833298, + 0.08001558482646942 + ], + [ + 0.32904911041259766, + -0.07469020783901215, + 0.05657739192247391 + ], + [ + 0.3247457444667816, + -0.07271408289670944, + 0.03912707418203354 + ], + [ + 0.3231607973575592, + -0.07203422486782074, + 0.03316458314657211 + ], + [ + 0.32367753982543945, + -0.06813959032297134, + 0.026081204414367676 + ], + [ + 0.32285481691360474, + -0.0645829439163208, + 0.025089042261242867 + ], + [ + 0.3239358961582184, + -0.05756126716732979, + 0.02510370872914791 + ], + [ + 0.32473224401474, + -0.05015724152326584, + 0.02634839341044426 + ], + [ + 0.3257818818092346, + -0.03697403520345688, + 0.02601516805589199 + ], + [ + 0.32681891322135925, + -0.017784483730793, + 0.02619554102420807 + ], + [ + 0.32758161425590515, + -0.00222173985093832, + 0.02682744339108467 + ], + [ + 0.32747745513916016, + 0.013740177266299725, + 0.026360729709267616 + ], + [ + 0.32655662298202515, + 0.029954848811030388, + 0.027108192443847656 + ], + [ + 0.3249479830265045, + 0.04068144038319588, + 0.02717733196914196 + ], + [ + 0.32257500290870667, + 0.05509015917778015, + 0.027197709307074547 + ], + [ + 0.319566935300827, + 0.059356946498155594, + 0.026844294741749763 + ], + [ + 0.3186328411102295, + 0.06003628671169281, + 0.027141544967889786 + ], + [ + 0.3177594840526581, + 0.05988597869873047, + 0.029320426285266876 + ], + [ + 0.32019132375717163, + 0.05509360507130623, + 0.0449841134250164 + ], + [ + 0.324624627828598, + 0.042728401720523834, + 0.05983844771981239 + ], + [ + 0.33612456917762756, + 0.018933625891804695, + 0.09005358815193176 + ], + [ + 0.3423580229282379, + 0.008212682791054249, + 0.12041132152080536 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.971826248408333, + 0.03525132407949511, + 0.23304739229441587, + 0.02535780110278935, + -0.9986508860968739, + 0.04531434233396671, + 0.23433037538444804, + -0.03812809788818425, + -0.9714090401698002 + ], + [ + 0.9802511613857015, + 0.03407467978569345, + 0.1947988110833473, + 0.029138791475030623, + -0.9991789486043241, + 0.02814888092503562, + 0.19559803535147752, + -0.02191677128273245, + -0.9804392197903867 + ], + [ + 0.9802924066164773, + -0.015452069852570171, + 0.1969467721678785, + -0.01903990937298561, + -0.9996852465127704, + 0.016336760871419297, + 0.19663234571439017, + -0.019764651324339973, + -0.980278062172608 + ], + [ + 0.9724675978043227, + -0.10003036743335235, + 0.21047730711845997, + -0.09979139763667645, + -0.9949386033921863, + -0.011783566426361658, + 0.21059071246949312, + -0.009544688111943525, + -0.9775277237758717 + ], + [ + 0.9526618381530557, + -0.17545076749683444, + 0.24829911460094387, + -0.17119831592278037, + -0.9844725542082133, + -0.0387933839199435, + 0.2512499925413825, + -0.005551413831448467, + -0.9679063090260478 + ], + [ + 0.928458889192999, + -0.2754066208313714, + 0.24922938085375898, + -0.268112371026697, + -0.9612953457194483, + -0.06345876456857306, + 0.2570600077432225, + -0.0079026261693196, + -0.9663631309806282 + ], + [ + 0.9144107352086714, + -0.33524016360818054, + 0.22686348326493053, + -0.3289231758175287, + -0.9420283796570456, + -0.06627274198969234, + 0.23592912441080297, + -0.014020150665438564, + -0.9716691225052231 + ], + [ + 0.9164269511620763, + -0.34992924533676717, + 0.19419363131117875, + -0.346721855099408, + -0.9365579649109583, + -0.051411414669012875, + 0.19986394967628981, + -0.020216370096649672, + -0.9796150774666081 + ], + [ + 0.9300205554675236, + -0.3319716714735304, + 0.15765968332756825, + -0.33902661566475706, + -0.9405769681186715, + 0.019388680088872026, + 0.1418545744020256, + -0.07148269989135767, + -0.9873031466259298 + ], + [ + 0.9513875001668386, + -0.26944522515200736, + 0.1492015253577448, + -0.281490267113441, + -0.9572803178288443, + 0.0661636049343626, + 0.12500021618660254, + -0.10494600392721398, + -0.9865907369385807 + ], + [ + 0.9625844143698088, + -0.24315520935388693, + 0.11961099187114772, + -0.2543758685449048, + -0.9629499068889926, + 0.08955665427262167, + 0.09340322646652875, + -0.11663198955067171, + -0.988773389760816 + ], + [ + 0.9688866958869546, + -0.2394390984944943, + 0.06266967883597109, + -0.24517381314882808, + -0.9631540864155284, + 0.11056223210089583, + 0.03388763608343677, + -0.122487239879151, + -0.9918913772119726 + ], + [ + 0.9731164279515747, + -0.22975312025841174, + 0.01605993095537522, + -0.22997309892193904, + -0.9655208669224932, + 0.12199110340298291, + -0.012521638191852608, + -0.12240489887566194, + -0.9924012541851361 + ], + [ + 0.9779457234012267, + -0.20876155319565634, + -0.006385607926304805, + -0.20628870079024894, + -0.9702402541996316, + 0.12680229121315306, + -0.03266701712006292, + -0.12268847964650664, + -0.9919074568499352 + ], + [ + 0.9811096712742552, + -0.19253829802129235, + -0.018783416281053438, + -0.1886467663574326, + -0.9737245824800543, + 0.12756502270186906, + -0.0428510265338832, + -0.12161184674655735, + -0.9916523323503478 + ], + [ + 0.9854224545805051, + -0.16856640482026974, + -0.0229772316544314, + -0.1643413449807854, + -0.9781159461354796, + 0.1275974852628459, + -0.04398304603411354, + -0.1219613179719891, + -0.9915598461918961 + ], + [ + 0.9903129569989345, + -0.13440680468116162, + -0.0348576828751797, + -0.12913249122034165, + -0.9837674036562077, + 0.12460535788942763, + -0.05103966017965753, + -0.11889704100154898, + -0.9915938920393879 + ], + [ + 0.9940739303979431, + -0.09951427901901447, + -0.043748476253595577, + -0.09304698108653922, + -0.987018830335362, + 0.1309048810170781, + -0.056207474715262655, + -0.12605846593838865, + -0.9904291912859765 + ], + [ + 0.9972447667795175, + -0.0507496036486149, + -0.05410501696122814, + -0.04301822234227849, + -0.989835802555781, + 0.1355526337820983, + -0.060434325324078726, + -0.13285165301290708, + -0.9892917318032947 + ], + [ + 0.9982683428862265, + -0.012332274899832383, + -0.05751721991701934, + -0.004204751521262748, + -0.9902358166165961, + 0.1393389663888312, + -0.058673977671811546, + -0.1388558334585132, + -0.9885729218720841 + ], + [ + 0.997881328130018, + 0.012912098942442931, + -0.06376623456322135, + 0.0216875163899762, + -0.9900676167727541, + 0.13890920002200358, + -0.06133927454988129, + -0.13999782826465218, + -0.9882500197211609 + ], + [ + 0.9969483120923025, + 0.036344158516738306, + -0.06908809707915411, + 0.04617199389317701, + -0.9881398838614055, + 0.14645039058430687, + -0.06294608801376658, + -0.1491934048947131, + -0.9868024715917998 + ], + [ + 0.9956939293953353, + 0.05197451247132222, + -0.07676098630584019, + 0.06276126128298769, + -0.9873561038208618, + 0.1455642412471413, + -0.06822479789230279, + -0.14975504766469733, + -0.9863664646831312 + ], + [ + 0.9939509873636211, + 0.06992535254117739, + -0.08468695171556263, + 0.08149999272294374, + -0.9865064403597175, + 0.14199575456667193, + -0.07361512008440994, + -0.1480388064015327, + -0.986237966159368 + ], + [ + 0.9930915841674138, + 0.07552093781988271, + -0.08980920557861642, + 0.08747231026167805, + -0.9866179452038926, + 0.13759950995237552, + -0.0782157298332088, + -0.14450473401399194, + -0.9864079690747659 + ], + [ + 0.9941653238274746, + 0.0705993279824277, + -0.08155393177181582, + 0.08040342746792824, + -0.9890236505646853, + 0.12396575121828067, + -0.07190686859001712, + -0.12979966684137773, + -0.9889294457833911 + ], + [ + 0.9955675227118047, + 0.04658051684012677, + -0.08170411967818253, + 0.05625563866462028, + -0.9911274358835127, + 0.12042304163825575, + -0.07536982711878665, + -0.12448558667524552, + -0.9893547027584213 + ], + [ + 0.9987332963535196, + 0.026872026197290663, + -0.0425405331758359, + 0.03138237067488039, + -0.9935265578574054, + 0.10917932790981849, + -0.039331279735811776, + -0.110376052837866, + -0.993111362030601 + ], + [ + 0.999970391420349, + 0.003112702927460265, + 0.007037567983227324, + 0.002346490531053895, + -0.9943234486719833, + 0.10637374395611315, + 0.0073287287315632315, + -0.10635408079400821, + -0.9943013120949001 + ], + [ + 0.994378810168892, + -0.026817260330662535, + 0.10242859188457071, + -0.03502233518107704, + -0.9962460310269424, + 0.0791661651308727, + 0.09992105846898722, + -0.08230844556557841, + -0.9915851460479908 + ], + [ + 0.9855622476592615, + -0.014282322146636033, + 0.1687100212285108, + -0.024373749630709287, + -0.9980250029984427, + 0.05789657778226936, + 0.16754992186737766, + -0.061172777148488004, + -0.9839638789194334 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0008045732975006104, + -0.0003610849380493164, + -0.01398777961730957, + -0.016879852861166, + 0.03966248035430908, + 0.0036300737410783768, + 1.0 + ], + [ + 0.005922257900238037, + -0.015988610684871674, + -0.0026389658451080322, + -0.0021907519549131393, + -0.0010547935962677002, + -0.049137331545352936, + 1.0 + ], + [ + 0.007856935262680054, + -0.031312473118305206, + 0.001773640513420105, + -0.010395759716629982, + -0.014257162809371948, + -0.0828385055065155, + 1.0 + ], + [ + 0.007557302713394165, + -0.03355265408754349, + 0.007682040333747864, + -0.00402837572619319, + -0.04179227352142334, + -0.07554865628480911, + 1.0 + ], + [ + 0.005130261182785034, + -0.045422445982694626, + -0.003184199333190918, + 0.0024420921690762043, + -0.006007283926010132, + -0.10331635177135468, + 1.0 + ], + [ + -0.005051970481872559, + -0.0345541387796402, + -0.01260395348072052, + 0.0062504177913069725, + 0.021804168820381165, + -0.064175546169281, + 1.0 + ], + [ + -0.011828839778900146, + -0.027651488780975342, + -0.022068798542022705, + 0.006206192076206207, + 0.03695550560951233, + -0.016397207975387573, + 1.0 + ], + [ + -0.002965092658996582, + -0.01629946008324623, + -0.02580561488866806, + 0.051641736179590225, + 0.058884382247924805, + 0.012130558490753174, + 1.0 + ], + [ + -0.0011475980281829834, + -0.006585985422134399, + -0.034045495092868805, + 0.03369801491498947, + 0.017006635665893555, + 0.06189930438995361, + 1.0 + ], + [ + 0.001359790563583374, + 0.0014700964093208313, + -0.023438192903995514, + 0.011439815163612366, + 0.031788475811481476, + 0.02930927276611328, + 1.0 + ], + [ + -0.00430336594581604, + 0.001976124942302704, + -0.01745031774044037, + 0.005452841520309448, + 0.05964544788002968, + 0.010513067245483398, + 1.0 + ], + [ + -0.0015849471092224121, + 0.0006798580288887024, + -0.005962491035461426, + -0.00014422088861465454, + 0.046416088938713074, + 0.015775740146636963, + 1.0 + ], + [ + 0.000516742467880249, + 0.0038946345448493958, + -0.007083378732204437, + 0.0003420785069465637, + 0.020150864496827126, + 0.024175435304641724, + 0.0 + ], + [ + -0.0008227229118347168, + 0.003556646406650543, + -0.0009921621531248093, + -0.0010381266474723816, + 0.01019132137298584, + 0.017932534217834473, + 0.0 + ], + [ + 0.0010810792446136475, + 0.007021676748991013, + 1.4666467905044556e-05, + 0.00035847723484039307, + 0.0011330880224704742, + 0.02470897138118744, + 0.0 + ], + [ + 0.0007963478565216064, + 0.00740402564406395, + 0.0012446846812963486, + -0.003049492835998535, + 0.007064606994390488, + 0.035587579011917114, + 0.0 + ], + [ + 0.001049637794494629, + 0.01318320631980896, + -0.000333225354552269, + 0.0072606950998306274, + 0.0051752664148807526, + 0.03633430600166321, + 0.0 + ], + [ + 0.0010370314121246338, + 0.01918955147266388, + 0.00018037296831607819, + 0.006895095109939575, + 0.004234060645103455, + 0.05021939426660538, + 0.0 + ], + [ + 0.0007627010345458984, + 0.015562743879854679, + 0.0006319023668766022, + 0.0060569047927856445, + -0.0017634779214859009, + 0.03889832645654678, + 0.0 + ], + [ + -0.00010415911674499512, + 0.015961917117238045, + -0.00046671368181705475, + 0.0011780261993408203, + 0.002670109272003174, + 0.025942161679267883, + 0.0 + ], + [ + -0.0009208321571350098, + 0.016214672476053238, + 0.00074746273458004, + 0.009326338768005371, + 0.0016099251806735992, + 0.024550115689635277, + 0.0 + ], + [ + -0.0016086399555206299, + 0.01072659157216549, + 6.91395252943039e-05, + 0.0006219595670700073, + 0.005290105938911438, + 0.016669146716594696, + 0.0 + ], + [ + -0.0023729801177978516, + 0.014408718794584274, + 2.037733793258667e-05, + -0.0016820728778839111, + 0.00540393590927124, + 0.018863558769226074, + 0.0 + ], + [ + -0.0030080676078796387, + 0.0042667873203754425, + -0.0003534145653247833, + -0.0035309791564941406, + 0.004613928496837616, + 0.006041117012500763, + 0.0 + ], + [ + -0.0009340941905975342, + 0.0006793402135372162, + 0.0002972502261400223, + -0.014954522252082825, + -0.006326720118522644, + -0.007154412567615509, + 1.0 + ], + [ + -0.0008733570575714111, + -0.0001503080129623413, + 0.0021788813173770905, + -0.005339443683624268, + 0.0034723877906799316, + -0.024253591895103455, + 1.0 + ], + [ + 0.00243183970451355, + -0.00479237362742424, + 0.015663687139749527, + -0.014479845762252808, + -0.03609994053840637, + -0.025034237653017044, + 1.0 + ], + [ + 0.004433304071426392, + -0.012365203350782394, + 0.01485433429479599, + -0.0041289255023002625, + -0.04667022079229355, + -0.02906528115272522, + 1.0 + ], + [ + 0.011499941349029541, + -0.02379477582871914, + 0.03021514043211937, + -0.023741401731967926, + -0.09275928884744644, + -0.03755231946706772, + 1.0 + ], + [ + 0.0062334537506103516, + -0.010720943100750446, + 0.030357733368873596, + -0.0207272507250309, + -0.06825584918260574, + 0.010479995980858803, + 1.0 + ], + [ + -0.0031603574752807617, + -0.0002690674737095833, + 0.01879929006099701, + -0.00029799342155456543, + -0.037106871604919434, + 0.02579336240887642, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9575772881507874 + ], + [ + 0.684196949005127 + ], + [ + 0.38924968242645264 + ], + [ + 0.19087372720241547 + ], + [ + 0.14474673569202423 + ], + [ + 0.12395496666431427 + ], + [ + 0.11661893874406815 + ], + [ + 0.11619604378938675 + ], + [ + 0.11619604378938675 + ], + [ + 0.11577415466308594 + ], + [ + 0.11577415466308594 + ], + [ + 0.11535319685935974 + ], + [ + 0.1394769847393036 + ], + [ + 0.33639705181121826 + ], + [ + 0.648074209690094 + ], + [ + 0.9351479411125183 + ], + [ + 1.0014774799346924 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.32221606373786926, + 0.13520695269107819, + 0.1709069311618805 + ], + [ + 0.3281383216381073, + 0.11921834200620651, + 0.16826796531677246 + ], + [ + 0.33599525690078735, + 0.0879058688879013, + 0.17004160583019257 + ], + [ + 0.3435525596141815, + 0.05435321480035782, + 0.17772364616394043 + ], + [ + 0.34868282079696655, + 0.008930767886340618, + 0.1745394468307495 + ], + [ + 0.343630850315094, + -0.025623369961977005, + 0.161935493350029 + ], + [ + 0.33180201053619385, + -0.05327485874295235, + 0.1398666948080063 + ], + [ + 0.32883691787719727, + -0.06957431882619858, + 0.11406107991933823 + ], + [ + 0.3276893198490143, + -0.07616030424833298, + 0.08001558482646942 + ], + [ + 0.32904911041259766, + -0.07469020783901215, + 0.05657739192247391 + ], + [ + 0.3247457444667816, + -0.07271408289670944, + 0.03912707418203354 + ], + [ + 0.3231607973575592, + -0.07203422486782074, + 0.03316458314657211 + ], + [ + 0.32367753982543945, + -0.06813959032297134, + 0.026081204414367676 + ], + [ + 0.32285481691360474, + -0.0645829439163208, + 0.025089042261242867 + ], + [ + 0.3239358961582184, + -0.05756126716732979, + 0.02510370872914791 + ], + [ + 0.32473224401474, + -0.05015724152326584, + 0.02634839341044426 + ], + [ + 0.3257818818092346, + -0.03697403520345688, + 0.02601516805589199 + ], + [ + 0.32681891322135925, + -0.017784483730793, + 0.02619554102420807 + ], + [ + 0.32758161425590515, + -0.00222173985093832, + 0.02682744339108467 + ], + [ + 0.32747745513916016, + 0.013740177266299725, + 0.026360729709267616 + ], + [ + 0.32655662298202515, + 0.029954848811030388, + 0.027108192443847656 + ], + [ + 0.3249479830265045, + 0.04068144038319588, + 0.02717733196914196 + ], + [ + 0.32257500290870667, + 0.05509015917778015, + 0.027197709307074547 + ], + [ + 0.319566935300827, + 0.059356946498155594, + 0.026844294741749763 + ], + [ + 0.3186328411102295, + 0.06003628671169281, + 0.027141544967889786 + ], + [ + 0.3177594840526581, + 0.05988597869873047, + 0.029320426285266876 + ], + [ + 0.32019132375717163, + 0.05509360507130623, + 0.0449841134250164 + ], + [ + 0.324624627828598, + 0.042728401720523834, + 0.05983844771981239 + ], + [ + 0.33612456917762756, + 0.018933625891804695, + 0.09005358815193176 + ], + [ + 0.3423580229282379, + 0.008212682791054249, + 0.12041132152080536 + ], + [ + 0.33919766545295715, + 0.007943615317344666, + 0.13921061158180237 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9802511613857015, + 0.03407467978569345, + 0.1947988110833473, + 0.029138791475030623, + -0.9991789486043241, + 0.02814888092503562, + 0.19559803535147752, + -0.02191677128273245, + -0.9804392197903867 + ], + [ + 0.9802924066164773, + -0.015452069852570171, + 0.1969467721678785, + -0.01903990937298561, + -0.9996852465127704, + 0.016336760871419297, + 0.19663234571439017, + -0.019764651324339973, + -0.980278062172608 + ], + [ + 0.9724675978043227, + -0.10003036743335235, + 0.21047730711845997, + -0.09979139763667645, + -0.9949386033921863, + -0.011783566426361658, + 0.21059071246949312, + -0.009544688111943525, + -0.9775277237758717 + ], + [ + 0.9526618381530557, + -0.17545076749683444, + 0.24829911460094387, + -0.17119831592278037, + -0.9844725542082133, + -0.0387933839199435, + 0.2512499925413825, + -0.005551413831448467, + -0.9679063090260478 + ], + [ + 0.928458889192999, + -0.2754066208313714, + 0.24922938085375898, + -0.268112371026697, + -0.9612953457194483, + -0.06345876456857306, + 0.2570600077432225, + -0.0079026261693196, + -0.9663631309806282 + ], + [ + 0.9144107352086714, + -0.33524016360818054, + 0.22686348326493053, + -0.3289231758175287, + -0.9420283796570456, + -0.06627274198969234, + 0.23592912441080297, + -0.014020150665438564, + -0.9716691225052231 + ], + [ + 0.9164269511620763, + -0.34992924533676717, + 0.19419363131117875, + -0.346721855099408, + -0.9365579649109583, + -0.051411414669012875, + 0.19986394967628981, + -0.020216370096649672, + -0.9796150774666081 + ], + [ + 0.9300205554675236, + -0.3319716714735304, + 0.15765968332756825, + -0.33902661566475706, + -0.9405769681186715, + 0.019388680088872026, + 0.1418545744020256, + -0.07148269989135767, + -0.9873031466259298 + ], + [ + 0.9513875001668386, + -0.26944522515200736, + 0.1492015253577448, + -0.281490267113441, + -0.9572803178288443, + 0.0661636049343626, + 0.12500021618660254, + -0.10494600392721398, + -0.9865907369385807 + ], + [ + 0.9625844143698088, + -0.24315520935388693, + 0.11961099187114772, + -0.2543758685449048, + -0.9629499068889926, + 0.08955665427262167, + 0.09340322646652875, + -0.11663198955067171, + -0.988773389760816 + ], + [ + 0.9688866958869546, + -0.2394390984944943, + 0.06266967883597109, + -0.24517381314882808, + -0.9631540864155284, + 0.11056223210089583, + 0.03388763608343677, + -0.122487239879151, + -0.9918913772119726 + ], + [ + 0.9731164279515747, + -0.22975312025841174, + 0.01605993095537522, + -0.22997309892193904, + -0.9655208669224932, + 0.12199110340298291, + -0.012521638191852608, + -0.12240489887566194, + -0.9924012541851361 + ], + [ + 0.9779457234012267, + -0.20876155319565634, + -0.006385607926304805, + -0.20628870079024894, + -0.9702402541996316, + 0.12680229121315306, + -0.03266701712006292, + -0.12268847964650664, + -0.9919074568499352 + ], + [ + 0.9811096712742552, + -0.19253829802129235, + -0.018783416281053438, + -0.1886467663574326, + -0.9737245824800543, + 0.12756502270186906, + -0.0428510265338832, + -0.12161184674655735, + -0.9916523323503478 + ], + [ + 0.9854224545805051, + -0.16856640482026974, + -0.0229772316544314, + -0.1643413449807854, + -0.9781159461354796, + 0.1275974852628459, + -0.04398304603411354, + -0.1219613179719891, + -0.9915598461918961 + ], + [ + 0.9903129569989345, + -0.13440680468116162, + -0.0348576828751797, + -0.12913249122034165, + -0.9837674036562077, + 0.12460535788942763, + -0.05103966017965753, + -0.11889704100154898, + -0.9915938920393879 + ], + [ + 0.9940739303979431, + -0.09951427901901447, + -0.043748476253595577, + -0.09304698108653922, + -0.987018830335362, + 0.1309048810170781, + -0.056207474715262655, + -0.12605846593838865, + -0.9904291912859765 + ], + [ + 0.9972447667795175, + -0.0507496036486149, + -0.05410501696122814, + -0.04301822234227849, + -0.989835802555781, + 0.1355526337820983, + -0.060434325324078726, + -0.13285165301290708, + -0.9892917318032947 + ], + [ + 0.9982683428862265, + -0.012332274899832383, + -0.05751721991701934, + -0.004204751521262748, + -0.9902358166165961, + 0.1393389663888312, + -0.058673977671811546, + -0.1388558334585132, + -0.9885729218720841 + ], + [ + 0.997881328130018, + 0.012912098942442931, + -0.06376623456322135, + 0.0216875163899762, + -0.9900676167727541, + 0.13890920002200358, + -0.06133927454988129, + -0.13999782826465218, + -0.9882500197211609 + ], + [ + 0.9969483120923025, + 0.036344158516738306, + -0.06908809707915411, + 0.04617199389317701, + -0.9881398838614055, + 0.14645039058430687, + -0.06294608801376658, + -0.1491934048947131, + -0.9868024715917998 + ], + [ + 0.9956939293953353, + 0.05197451247132222, + -0.07676098630584019, + 0.06276126128298769, + -0.9873561038208618, + 0.1455642412471413, + -0.06822479789230279, + -0.14975504766469733, + -0.9863664646831312 + ], + [ + 0.9939509873636211, + 0.06992535254117739, + -0.08468695171556263, + 0.08149999272294374, + -0.9865064403597175, + 0.14199575456667193, + -0.07361512008440994, + -0.1480388064015327, + -0.986237966159368 + ], + [ + 0.9930915841674138, + 0.07552093781988271, + -0.08980920557861642, + 0.08747231026167805, + -0.9866179452038926, + 0.13759950995237552, + -0.0782157298332088, + -0.14450473401399194, + -0.9864079690747659 + ], + [ + 0.9941653238274746, + 0.0705993279824277, + -0.08155393177181582, + 0.08040342746792824, + -0.9890236505646853, + 0.12396575121828067, + -0.07190686859001712, + -0.12979966684137773, + -0.9889294457833911 + ], + [ + 0.9955675227118047, + 0.04658051684012677, + -0.08170411967818253, + 0.05625563866462028, + -0.9911274358835127, + 0.12042304163825575, + -0.07536982711878665, + -0.12448558667524552, + -0.9893547027584213 + ], + [ + 0.9987332963535196, + 0.026872026197290663, + -0.0425405331758359, + 0.03138237067488039, + -0.9935265578574054, + 0.10917932790981849, + -0.039331279735811776, + -0.110376052837866, + -0.993111362030601 + ], + [ + 0.999970391420349, + 0.003112702927460265, + 0.007037567983227324, + 0.002346490531053895, + -0.9943234486719833, + 0.10637374395611315, + 0.0073287287315632315, + -0.10635408079400821, + -0.9943013120949001 + ], + [ + 0.994378810168892, + -0.026817260330662535, + 0.10242859188457071, + -0.03502233518107704, + -0.9962460310269424, + 0.0791661651308727, + 0.09992105846898722, + -0.08230844556557841, + -0.9915851460479908 + ], + [ + 0.9855622476592615, + -0.014282322146636033, + 0.1687100212285108, + -0.024373749630709287, + -0.9980250029984427, + 0.05789657778226936, + 0.16754992186737766, + -0.061172777148488004, + -0.9839638789194334 + ], + [ + 0.9789685584493549, + 0.01366358891009365, + 0.20355310831743187, + 0.0010451423100701239, + -0.9980774736409932, + 0.061969865966971016, + 0.2040085028746201, + -0.060453808387136515, + -0.9771007459859744 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006625.json b/json/chunk-0006/episode_0006625.json new file mode 100644 index 0000000000000000000000000000000000000000..11aa8bdb1727626b24642bd21b44fd01fa714d8e --- /dev/null +++ b/json/chunk-0006/episode_0006625.json @@ -0,0 +1,2182 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 35, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPlace spatula in middle of blue cloth." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006625.mp4", + "start": 0, + "end": 35, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2822510600090027, + 0.02449646219611168, + 0.09286627173423767, + -0.032236889004707336, + -0.01538931019604206, + -0.07047209143638611, + 0.0, + 1.0014774799346924 + ], + [ + 0.2804460823535919, + 0.024304697290062904, + 0.08447694033384323, + -0.03768574446439743, + 0.01464152242988348, + -0.07506972551345825, + 0.0, + 1.0014774799346924 + ], + [ + 0.2786247134208679, + 0.04261818155646324, + 0.08396323770284653, + -0.020329110324382782, + 0.015941830351948738, + -0.05167254060506821, + 0.0, + 1.0014774799346924 + ], + [ + 0.276443213224411, + 0.06856396049261093, + 0.0801023468375206, + 0.0046368008479475975, + 0.03245266526937485, + -0.10274606943130493, + 0.0, + 1.0014774799346924 + ], + [ + 0.2703843414783478, + 0.10954391211271286, + 0.0759241133928299, + 0.013643519021570683, + -0.02238316461443901, + -0.06303855776786804, + 0.0, + 1.0014774799346924 + ], + [ + 0.26718488335609436, + 0.12494903802871704, + 0.06998535990715027, + 0.009745356626808643, + -0.0730447992682457, + -0.031306616961956024, + 0.0, + 1.0014774799346924 + ], + [ + 0.25803080201148987, + 0.1464935541152954, + 0.0656549334526062, + 0.015285649336874485, + -0.10567132383584976, + 0.07819218188524246, + 0.0, + 1.0014774799346924 + ], + [ + 0.2535952925682068, + 0.15820825099945068, + 0.056932829320430756, + 0.004243253730237484, + -0.10293659567832947, + 0.12227586656808853, + 0.0, + 1.0014774799346924 + ], + [ + 0.25141438841819763, + 0.1644304096698761, + 0.05021229013800621, + 0.004884243942797184, + -0.08383597433567047, + 0.13161656260490417, + 0.0, + 1.0014774799346924 + ], + [ + 0.25344711542129517, + 0.17393168807029724, + 0.04145920276641846, + 0.004069836810231209, + -0.06966511905193329, + 0.12161702662706375, + 0.0, + 1.0014774799346924 + ], + [ + 0.2540760934352875, + 0.17744703590869904, + 0.033121995627880096, + 0.0102106723934412, + -0.06083386018872261, + 0.1281900703907013, + 0.0, + 1.0014774799346924 + ], + [ + 0.2575915455818176, + 0.18123306334018707, + 0.029032288119196892, + 0.02821650356054306, + -0.0769706517457962, + 0.14292091131210327, + 0.0, + 1.0014774799346924 + ], + [ + 0.2599739134311676, + 0.18262887001037598, + 0.026624800637364388, + 0.03888992965221405, + -0.08867733925580978, + 0.1445092111825943, + 0.0, + 1.0014774799346924 + ], + [ + 0.25983113050460815, + 0.1823674440383911, + 0.017778879031538963, + 0.03487503528594971, + -0.0769125372171402, + 0.14906282722949982, + 0.0, + 1.0014774799346924 + ], + [ + 0.2601032853126526, + 0.17862455546855927, + 0.008208817802369595, + 0.02374769002199173, + -0.051602479070425034, + 0.13343772292137146, + 0.0, + 0.941448450088501 + ], + [ + 0.26169827580451965, + 0.17722535133361816, + 0.0073503730818629265, + 0.02773978002369404, + -0.0478714294731617, + 0.12652939558029175, + 0.0, + 0.7021830081939697 + ], + [ + 0.2629929184913635, + 0.1770475059747696, + 0.007408588193356991, + 0.022628387436270714, + -0.05730397626757622, + 0.13201399147510529, + 0.0, + 0.43108752369880676 + ], + [ + 0.2626493275165558, + 0.17555959522724152, + 0.008574961684644222, + 0.013422723859548569, + -0.05339977145195007, + 0.13094091415405273, + 0.0, + 0.35357794165611267 + ], + [ + 0.25976812839508057, + 0.15733356773853302, + 0.021994629874825478, + -0.034371960908174515, + -0.0013564673718065023, + 0.17034763097763062, + 0.0, + 0.35357794165611267 + ], + [ + 0.26003339886665344, + 0.13937798142433167, + 0.05475428327918053, + -0.08598031103610992, + 0.010490193963050842, + 0.20069395005702972, + 0.0, + 0.35357794165611267 + ], + [ + 0.2655695080757141, + 0.10017038136720657, + 0.07899249345064163, + -0.05506102368235588, + 0.009219623170793056, + 0.1742573231458664, + 0.0, + 0.3519224226474762 + ], + [ + 0.2652091085910797, + 0.06296641379594803, + 0.06559672206640244, + -0.05167096108198166, + 0.02011025883257389, + 0.09263260662555695, + 0.0, + 0.3519224226474762 + ], + [ + 0.26284918189048767, + 0.03357146307826042, + 0.047518376260995865, + -0.041091904044151306, + -0.006208064965903759, + 0.054690610617399216, + 0.0, + 0.3519224226474762 + ], + [ + 0.2586890161037445, + 0.01827067881822586, + 0.03866257146000862, + -0.023217568174004555, + -0.07153800874948502, + 0.05840831249952316, + 0.0, + 0.3519224226474762 + ], + [ + 0.25694018602371216, + 0.009975207038223743, + 0.03387150168418884, + -0.016639739274978638, + -0.09066160768270493, + 0.048687342554330826, + 0.0, + 0.3519224226474762 + ], + [ + 0.25679224729537964, + 0.00966184027493, + 0.03346326947212219, + -0.018941529095172882, + -0.09523029625415802, + 0.05263330787420273, + 0.0, + 0.3519224226474762 + ], + [ + 0.2560359537601471, + 0.013974045403301716, + 0.03255553916096687, + -0.030063407495617867, + -0.09436937421560287, + 0.06475333124399185, + 0.0, + 0.3519224226474762 + ], + [ + 0.2539708614349365, + 0.024734601378440857, + 0.0326753631234169, + -0.022126520052552223, + -0.08517846465110779, + 0.0902455523610115, + 0.0, + 0.43108752369880676 + ], + [ + 0.252096951007843, + 0.026477070525288582, + 0.032809674739837646, + -0.010194477625191212, + -0.06628601253032684, + 0.0887814313173294, + 0.0, + 0.7437760233879089 + ], + [ + 0.25158751010894775, + 0.026055121794342995, + 0.0324428454041481, + -0.012671798467636108, + -0.055645089596509933, + 0.08778412640094757, + 0.0, + 0.9913908839225769 + ], + [ + 0.2507043778896332, + 0.025691257789731026, + 0.03452368825674057, + -0.01192934438586235, + -0.04341555014252663, + 0.0802648738026619, + 0.0, + 1.003452181816101 + ], + [ + 0.2520078420639038, + 0.026862137019634247, + 0.059824928641319275, + -0.0034371744841337204, + -0.11521848291158676, + 0.08117352426052094, + 0.0, + 1.0001531839370728 + ], + [ + 0.24770112335681915, + 0.03920557349920273, + 0.07213327288627625, + -0.03760285675525665, + -0.08304792642593384, + 0.11960587650537491, + 0.0, + 1.0001531839370728 + ], + [ + 0.2548328638076782, + 0.0414736308157444, + 0.07300745695829391, + -0.03487482666969299, + -0.041723426431417465, + 0.06783998012542725, + 0.0, + 1.0001531839370728 + ], + [ + 0.2590394914150238, + 0.042776308953762054, + 0.07251692563295364, + -0.025549929589033127, + -0.006021955981850624, + 0.014497613534331322, + 0.0, + 1.0001531839370728 + ] + ], + "left_gripper_pos": [ + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 0.941448450088501 + ], + [ + 0.7021830081939697 + ], + [ + 0.43108752369880676 + ], + [ + 0.35357794165611267 + ], + [ + 0.35357794165611267 + ], + [ + 0.35357794165611267 + ], + [ + 0.3519224226474762 + ], + [ + 0.3519224226474762 + ], + [ + 0.3519224226474762 + ], + [ + 0.3519224226474762 + ], + [ + 0.3519224226474762 + ], + [ + 0.3519224226474762 + ], + [ + 0.3519224226474762 + ], + [ + 0.43108752369880676 + ], + [ + 0.7437760233879089 + ], + [ + 0.9913908839225769 + ], + [ + 1.003452181816101 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2822510600090027, + 0.02449646219611168, + 0.09286627173423767 + ], + [ + 0.2804460823535919, + 0.024304697290062904, + 0.08447694033384323 + ], + [ + 0.2786247134208679, + 0.04261818155646324, + 0.08396323770284653 + ], + [ + 0.276443213224411, + 0.06856396049261093, + 0.0801023468375206 + ], + [ + 0.2703843414783478, + 0.10954391211271286, + 0.0759241133928299 + ], + [ + 0.26718488335609436, + 0.12494903802871704, + 0.06998535990715027 + ], + [ + 0.25803080201148987, + 0.1464935541152954, + 0.0656549334526062 + ], + [ + 0.2535952925682068, + 0.15820825099945068, + 0.056932829320430756 + ], + [ + 0.25141438841819763, + 0.1644304096698761, + 0.05021229013800621 + ], + [ + 0.25344711542129517, + 0.17393168807029724, + 0.04145920276641846 + ], + [ + 0.2540760934352875, + 0.17744703590869904, + 0.033121995627880096 + ], + [ + 0.2575915455818176, + 0.18123306334018707, + 0.029032288119196892 + ], + [ + 0.2599739134311676, + 0.18262887001037598, + 0.026624800637364388 + ], + [ + 0.25983113050460815, + 0.1823674440383911, + 0.017778879031538963 + ], + [ + 0.2601032853126526, + 0.17862455546855927, + 0.008208817802369595 + ], + [ + 0.26169827580451965, + 0.17722535133361816, + 0.0073503730818629265 + ], + [ + 0.2629929184913635, + 0.1770475059747696, + 0.007408588193356991 + ], + [ + 0.2626493275165558, + 0.17555959522724152, + 0.008574961684644222 + ], + [ + 0.25976812839508057, + 0.15733356773853302, + 0.021994629874825478 + ], + [ + 0.26003339886665344, + 0.13937798142433167, + 0.05475428327918053 + ], + [ + 0.2655695080757141, + 0.10017038136720657, + 0.07899249345064163 + ], + [ + 0.2652091085910797, + 0.06296641379594803, + 0.06559672206640244 + ], + [ + 0.26284918189048767, + 0.03357146307826042, + 0.047518376260995865 + ], + [ + 0.2586890161037445, + 0.01827067881822586, + 0.03866257146000862 + ], + [ + 0.25694018602371216, + 0.009975207038223743, + 0.03387150168418884 + ], + [ + 0.25679224729537964, + 0.00966184027493, + 0.03346326947212219 + ], + [ + 0.2560359537601471, + 0.013974045403301716, + 0.03255553916096687 + ], + [ + 0.2539708614349365, + 0.024734601378440857, + 0.0326753631234169 + ], + [ + 0.252096951007843, + 0.026477070525288582, + 0.032809674739837646 + ], + [ + 0.25158751010894775, + 0.026055121794342995, + 0.0324428454041481 + ], + [ + 0.2507043778896332, + 0.025691257789731026, + 0.03452368825674057 + ], + [ + 0.2520078420639038, + 0.026862137019634247, + 0.059824928641319275 + ], + [ + 0.24770112335681915, + 0.03920557349920273, + 0.07213327288627625 + ], + [ + 0.2548328638076782, + 0.0414736308157444, + 0.07300745695829391 + ], + [ + 0.2590394914150238, + 0.042776308953762054, + 0.07251692563295364 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.997399750492588, + -0.07087195723506255, + 0.01307300252407667, + -0.07040543689736896, + -0.9969646706978932, + -0.03323431713653287, + 0.015388702759285689, + 0.0322274891655014, + -0.9993620849169101 + ], + [ + 0.9970767078784797, + -0.07439591260245271, + -0.017415131187012406, + -0.07499119778662616, + -0.9965169388192843, + -0.03647342732414515, + -0.01464099930809884, + 0.03767278638872893, + -0.9991828672995595 + ], + [ + 0.9985383726115739, + -0.051315261978783486, + -0.016966505541167864, + -0.05164298593136907, + -0.9984756547339322, + -0.019477394788263214, + -0.015941155112540555, + 0.02032512710155253, + -0.9996663287227312 + ], + [ + 0.9942024998324842, + -0.10271394091029609, + -0.03179993191054428, + -0.1025113823828264, + -0.9947001403487058, + 0.007940231245174146, + -0.03244696917742859, + -0.004634342773370487, + -0.9994627141911087 + ], + [ + 0.9977637329875993, + -0.06268620814771628, + 0.023194232962335255, + -0.06298103476386596, + -0.9979400776024904, + 0.012206177731273544, + 0.022381295644412463, + -0.013639678251187646, + -0.999656459381162 + ], + [ + 0.9968447091565243, + -0.030589161867346962, + 0.07324567566005213, + -0.031218035123044614, + -0.9994847872866445, + 0.0074561562233688376, + 0.07297986098712891, + -0.00971921595727636, + -0.9972860556186851 + ], + [ + 0.9913835710571777, + 0.07971066445033119, + 0.10394626020595542, + 0.07767681486620505, + -0.9967021502149511, + 0.023476289935461546, + 0.10547477172366286, + -0.015199793741339174, + -0.9943058074858366 + ], + [ + 0.9872798427591295, + 0.12240305562130616, + 0.10146922713845938, + 0.12132576472383652, + -0.9924714993330912, + 0.016744605868837067, + 0.10275490691779685, + -0.004220780270738808, + -0.9946977501322808 + ], + [ + 0.9878692357117898, + 0.13164078588643344, + 0.08237157656259102, + 0.13077596715077058, + -0.991285536623171, + 0.015831339093483766, + 0.08373780239524546, + -0.004867070259867397, + -0.9964759365268689 + ], + [ + 0.9902060432789808, + 0.12159764646947593, + 0.06860032235251762, + 0.12102317645443952, + -0.9925711708231666, + 0.01248445479809475, + 0.06960878259718795, + -0.00405995367121652, + -0.9975661051587131 + ], + [ + 0.9899602673347676, + 0.12844827734498346, + 0.05898905954142278, + 0.12760279583764703, + -0.9916638398083817, + 0.01789847230664907, + 0.060796345226428544, + -0.010191607508255273, + -0.9980981592726772 + ], + [ + 0.9868735887483056, + 0.14452544285026903, + 0.07206189145431968, + 0.14201313033897095, + -0.9891011793103386, + 0.038873228554161234, + 0.07689467239261108, + -0.02812922778590312, + -0.9966423410139678 + ], + [ + 0.9856883984374719, + 0.14730526686893908, + 0.08197279755164058, + 0.14344093392888818, + -0.9883326110941755, + 0.05121863256059926, + 0.08856116338090839, + -0.038727357261243434, + -0.9953175936052673 + ], + [ + 0.9859871650819924, + 0.1510705426406405, + 0.07076016845541358, + 0.14807237165476375, + -0.9879114807899432, + 0.045885497446965254, + 0.07683672979838221, + -0.03476488558422658, + -0.9964374138320009 + ], + [ + 0.9897911097898628, + 0.134218464933058, + 0.047947498912506256, + 0.13286499096885923, + -0.9906679852422001, + 0.030394690177802434, + 0.0515795808028357, + -0.02371385011281659, + -0.9983872996773498 + ], + [ + 0.990869370110082, + 0.1274601558797011, + 0.043952247277830925, + 0.1260474818176444, + -0.9914566920724878, + 0.03355085799366088, + 0.04785314728499998, + -0.027704447437234558, + -0.9984700996460122 + ], + [ + 0.9896716596136996, + 0.13288177735203388, + 0.053781403897902445, + 0.13141481353577678, + -0.9908744400860613, + 0.029966494080736372, + 0.05727261946883388, + -0.02258931676475133, + -0.9981029855817881 + ], + [ + 0.9900262535965881, + 0.13126557323868202, + 0.051160203985359566, + 0.13038094564194555, + -0.9912566286423584, + 0.020275728990517588, + 0.05337439651195535, + -0.013403188236575854, + -0.9984846159766704 + ], + [ + 0.9855249876471924, + 0.1693788868774682, + 0.007161801669350317, + 0.16952480267028489, + -0.9849516883296658, + -0.03363796866848089, + 0.0013564669558223702, + 0.0343651616712416, + -0.9994084228485905 + ], + [ + 0.9798745580620605, + 0.19949573926732242, + 0.006877534214076863, + 0.19933843164280365, + -0.9761290112360498, + -0.08623423388375813, + -0.010490001566662561, + 0.08586968870047167, + -0.9962511512814503 + ], + [ + 0.9848137166246013, + 0.17361370214056066, + 0.0004753704746377546, + 0.17336938745065789, + -0.9832750815832492, + -0.05579578328546147, + -0.009219492557789675, + 0.055030867397336196, + -0.9984420887515076 + ], + [ + 0.9955113296167872, + 0.09341086268091531, + -0.015218519567407234, + 0.09248148252786853, + -0.9942876728725328, + -0.05328413425374155, + -0.020108903353090152, + 0.05163752808694845, + -0.9984634183078546 + ], + [ + 0.9984856001252822, + 0.05436256011396059, + 0.008439099496509388, + 0.0546622974905454, + -0.9976758906074524, + -0.04067985415021112, + 0.006208025089436902, + 0.041079549151413, + -0.9991365927970041 + ], + [ + 0.9957413288307658, + 0.05670283139044826, + 0.07269109278754415, + 0.05822579880572878, + -0.9981225294586942, + -0.01900453999477964, + 0.07147700617524319, + 0.02315610285183542, + -0.9971734214713807 + ], + [ + 0.9947129228604917, + 0.04715670707801742, + 0.09122744144113548, + 0.04846823216402252, + -0.9987500483104013, + -0.012213577316484831, + 0.09053745945868016, + 0.016570636002561947, + -0.9957551819886445 + ], + [ + 0.9940904828507868, + 0.050801092026799805, + 0.09593414905222132, + 0.05237063955739765, + -0.998530797692202, + -0.013912662308976564, + 0.09508642394074106, + 0.01885457793373, + -0.9952904484988803 + ], + [ + 0.9934640747482231, + 0.06185235628824181, + 0.09593444744328872, + 0.06442017128499364, + -0.9976365933863122, + -0.023901235703741586, + 0.09422936758924372, + 0.029925132550184717, + -0.995100654569971 + ], + [ + 0.9923198939555973, + 0.08822643301853798, + 0.08670250617356898, + 0.08979636438053852, + -0.9958564838690251, + -0.014369289476509275, + 0.0850755017851196, + 0.022044501646614652, + -0.9961306133952328 + ], + [ + 0.9938740526379573, + 0.08798765325835867, + 0.06687705411491791, + 0.08847012789801775, + -0.9960696286183326, + -0.004281520039105608, + 0.06623748155471489, + 0.010171913203705961, + -0.9977520374417007 + ], + [ + 0.9946076185258154, + 0.08696235915106607, + 0.0565087007573765, + 0.08753572815251415, + -0.9961312558435375, + -0.007747091608188058, + 0.05561637768872466, + 0.012651846602670736, + -0.9983720495438198 + ], + [ + 0.9958412308111215, + 0.07965693559755017, + 0.04421555866206427, + 0.08010316485659348, + -0.9967510913779711, + -0.008410993804594777, + 0.04340191236049526, + 0.011917820607446094, + -0.998986606294309 + ], + [ + 0.9900987605595531, + 0.08069008221431312, + 0.11486320111630038, + 0.08054679491970787, + -0.9967333909594622, + 0.005895860803471225, + 0.11496372543806505, + 0.003414378230187299, + -0.9933638225014549 + ], + [ + 0.9894338653155793, + 0.11614032403937564, + 0.0867873913578494, + 0.11890966957895462, + -0.9925259904670704, + -0.027434444189458642, + 0.08295249632949885, + 0.0374644281871419, + -0.9958490347303223 + ], + [ + 0.996831456953079, + 0.06629570154444371, + 0.04395368455012968, + 0.06772896028154442, + -0.9971916739796636, + -0.03196174721158863, + 0.041711321820139445, + 0.034837412394817156, + -0.9985221681713684 + ], + [ + 0.9998767814248855, + 0.014338547381491646, + 0.006389681244025913, + 0.014496842825946194, + -0.9995707943217703, + -0.0254571932275431, + 0.006021919585260985, + 0.02554668663316973, + -0.99965549230051 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0018049776554107666, + -0.00019176490604877472, + -0.00838933140039444, + -0.005448855459690094, + 0.030030831694602966, + -0.0045976340770721436, + 1.0 + ], + [ + -0.001821368932723999, + 0.018313484266400337, + -0.0005137026309967041, + 0.01735663414001465, + 0.001300307922065258, + 0.023397184908390045, + 1.0 + ], + [ + -0.002181500196456909, + 0.02594577893614769, + -0.0038608908653259277, + 0.024965912103652954, + 0.01651083491742611, + -0.051073528826236725, + 1.0 + ], + [ + -0.006058871746063232, + 0.04097995162010193, + -0.004178233444690704, + 0.009006718173623085, + -0.05483582988381386, + 0.03970751166343689, + 1.0 + ], + [ + -0.003199458122253418, + 0.015405125916004181, + -0.0059387534856796265, + -0.003898162394762039, + -0.050661634653806686, + 0.03173194080591202, + 1.0 + ], + [ + -0.009154081344604492, + 0.02154451608657837, + -0.004330426454544067, + 0.005540292710065842, + -0.032626524567604065, + 0.10949879884719849, + 1.0 + ], + [ + -0.004435509443283081, + 0.011714696884155273, + -0.008722104132175446, + -0.011042395606637001, + 0.002734728157520294, + 0.04408368468284607, + 1.0 + ], + [ + -0.0021809041500091553, + 0.006222158670425415, + -0.006720539182424545, + 0.0006409902125597, + 0.019100621342658997, + 0.009340696036815643, + 1.0 + ], + [ + 0.002032727003097534, + 0.009501278400421143, + -0.008753087371587753, + -0.0008144071325659752, + 0.014170855283737183, + -0.009999535977840424, + 1.0 + ], + [ + 0.0006289780139923096, + 0.0035153478384017944, + -0.00833720713853836, + 0.0061408355832099915, + 0.008831258863210678, + 0.006573043763637543, + 1.0 + ], + [ + 0.0035154521465301514, + 0.003786027431488037, + -0.004089707508683205, + 0.01800583116710186, + -0.016136791557073593, + 0.014730840921401978, + 1.0 + ], + [ + 0.0023823678493499756, + 0.0013958066701889038, + -0.0024074874818325043, + 0.01067342609167099, + -0.01170668751001358, + 0.0015882998704910278, + 1.0 + ], + [ + -0.00014278292655944824, + -0.0002614259719848633, + -0.008845921605825424, + -0.004014894366264343, + 0.011764802038669586, + 0.004553616046905518, + 1.0 + ], + [ + 0.0002721548080444336, + -0.003742888569831848, + -0.009570061229169369, + -0.011127345263957977, + 0.025310058146715164, + -0.015625104308128357, + 0.0 + ], + [ + 0.0015949904918670654, + -0.001399204134941101, + -0.0008584447205066681, + 0.003992090001702309, + 0.003731049597263336, + -0.006908327341079712, + 0.0 + ], + [ + 0.001294642686843872, + -0.00017784535884857178, + 5.821511149406433e-05, + -0.005111392587423325, + -0.00943254679441452, + 0.005484595894813538, + 0.0 + ], + [ + -0.00034359097480773926, + -0.0014879107475280762, + 0.0011663734912872314, + -0.009205663576722145, + 0.0039042048156261444, + -0.0010730773210525513, + 0.0 + ], + [ + -0.0028811991214752197, + -0.018226027488708496, + 0.013419668190181255, + -0.047794684767723083, + 0.05204330384731293, + 0.03940671682357788, + 0.0 + ], + [ + 0.000265270471572876, + -0.017955586314201355, + 0.0327596515417099, + -0.05160835012793541, + 0.011846661567687988, + 0.03034631907939911, + 0.0 + ], + [ + 0.005536109209060669, + -0.03920760005712509, + 0.024238210171461105, + 0.030919287353754044, + -0.0012705707922577858, + -0.02643662691116333, + 0.0 + ], + [ + -0.0003603994846343994, + -0.037203967571258545, + -0.013395771384239197, + 0.003390062600374222, + 0.010890635661780834, + -0.08162471652030945, + 0.0 + ], + [ + -0.002359926700592041, + -0.029394950717687607, + -0.01807834580540657, + 0.010579057037830353, + -0.026318322867155075, + -0.03794199600815773, + 0.0 + ], + [ + -0.004160165786743164, + -0.015300784260034561, + -0.008855804800987244, + 0.01787433587014675, + -0.06532994657754898, + 0.003717701882123947, + 0.0 + ], + [ + -0.0017488300800323486, + -0.008295471780002117, + -0.0047910697758197784, + 0.006577828899025917, + -0.01912359893321991, + -0.009720969945192337, + 0.0 + ], + [ + -0.00014793872833251953, + -0.00031336676329374313, + -0.0004082322120666504, + -0.0023017898201942444, + -0.0045686885714530945, + 0.0039459653198719025, + 0.0 + ], + [ + -0.0007562935352325439, + 0.0043122051283717155, + -0.0009077303111553192, + -0.011121878400444984, + 0.0008609220385551453, + 0.012120023369789124, + 0.0 + ], + [ + -0.0020650923252105713, + 0.010760555975139141, + 0.00011982396245002747, + 0.007936887443065643, + 0.009190909564495087, + 0.025492221117019653, + 1.0 + ], + [ + -0.0018739104270935059, + 0.001742469146847725, + 0.00013431161642074585, + 0.011932042427361012, + 0.018892452120780945, + -0.0014641210436820984, + 1.0 + ], + [ + -0.0005094408988952637, + -0.00042194873094558716, + -0.0003668293356895447, + -0.0024773208424448967, + 0.01064092293381691, + -0.000997304916381836, + 1.0 + ], + [ + -0.0008831322193145752, + -0.000363864004611969, + 0.0020808428525924683, + 0.0007424540817737579, + 0.012229539453983307, + -0.007519252598285675, + 1.0 + ], + [ + 0.0013034641742706299, + 0.0011708792299032211, + 0.025301240384578705, + 0.00849216990172863, + -0.07180292904376984, + 0.0009086504578590393, + 1.0 + ], + [ + -0.004306718707084656, + 0.012343436479568481, + 0.01230834424495697, + -0.03416568040847778, + 0.032170556485652924, + 0.03843235224485397, + 1.0 + ], + [ + 0.00713174045085907, + 0.0022680573165416718, + 0.0008741840720176697, + 0.0027280300855636597, + 0.04132449999451637, + -0.05176589637994766, + 1.0 + ], + [ + 0.004206627607345581, + 0.0013026781380176544, + -0.000490531325340271, + 0.009324897080659866, + 0.03570146858692169, + -0.053342364728450775, + 1.0 + ], + [ + 0.0031926631927490234, + 0.0028952211141586304, + 0.0025339871644973755, + 0.016749806702136993, + 0.002791269915178418, + -0.021298550069332123, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 0.941448450088501 + ], + [ + 0.7021830081939697 + ], + [ + 0.43108752369880676 + ], + [ + 0.35357794165611267 + ], + [ + 0.35357794165611267 + ], + [ + 0.35357794165611267 + ], + [ + 0.3519224226474762 + ], + [ + 0.3519224226474762 + ], + [ + 0.3519224226474762 + ], + [ + 0.3519224226474762 + ], + [ + 0.3519224226474762 + ], + [ + 0.3519224226474762 + ], + [ + 0.3519224226474762 + ], + [ + 0.43108752369880676 + ], + [ + 0.7437760233879089 + ], + [ + 0.9913908839225769 + ], + [ + 1.003452181816101 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2804460823535919, + 0.024304697290062904, + 0.08447694033384323 + ], + [ + 0.2786247134208679, + 0.04261818155646324, + 0.08396323770284653 + ], + [ + 0.276443213224411, + 0.06856396049261093, + 0.0801023468375206 + ], + [ + 0.2703843414783478, + 0.10954391211271286, + 0.0759241133928299 + ], + [ + 0.26718488335609436, + 0.12494903802871704, + 0.06998535990715027 + ], + [ + 0.25803080201148987, + 0.1464935541152954, + 0.0656549334526062 + ], + [ + 0.2535952925682068, + 0.15820825099945068, + 0.056932829320430756 + ], + [ + 0.25141438841819763, + 0.1644304096698761, + 0.05021229013800621 + ], + [ + 0.25344711542129517, + 0.17393168807029724, + 0.04145920276641846 + ], + [ + 0.2540760934352875, + 0.17744703590869904, + 0.033121995627880096 + ], + [ + 0.2575915455818176, + 0.18123306334018707, + 0.029032288119196892 + ], + [ + 0.2599739134311676, + 0.18262887001037598, + 0.026624800637364388 + ], + [ + 0.25983113050460815, + 0.1823674440383911, + 0.017778879031538963 + ], + [ + 0.2601032853126526, + 0.17862455546855927, + 0.008208817802369595 + ], + [ + 0.26169827580451965, + 0.17722535133361816, + 0.0073503730818629265 + ], + [ + 0.2629929184913635, + 0.1770475059747696, + 0.007408588193356991 + ], + [ + 0.2626493275165558, + 0.17555959522724152, + 0.008574961684644222 + ], + [ + 0.25976812839508057, + 0.15733356773853302, + 0.021994629874825478 + ], + [ + 0.26003339886665344, + 0.13937798142433167, + 0.05475428327918053 + ], + [ + 0.2655695080757141, + 0.10017038136720657, + 0.07899249345064163 + ], + [ + 0.2652091085910797, + 0.06296641379594803, + 0.06559672206640244 + ], + [ + 0.26284918189048767, + 0.03357146307826042, + 0.047518376260995865 + ], + [ + 0.2586890161037445, + 0.01827067881822586, + 0.03866257146000862 + ], + [ + 0.25694018602371216, + 0.009975207038223743, + 0.03387150168418884 + ], + [ + 0.25679224729537964, + 0.00966184027493, + 0.03346326947212219 + ], + [ + 0.2560359537601471, + 0.013974045403301716, + 0.03255553916096687 + ], + [ + 0.2539708614349365, + 0.024734601378440857, + 0.0326753631234169 + ], + [ + 0.252096951007843, + 0.026477070525288582, + 0.032809674739837646 + ], + [ + 0.25158751010894775, + 0.026055121794342995, + 0.0324428454041481 + ], + [ + 0.2507043778896332, + 0.025691257789731026, + 0.03452368825674057 + ], + [ + 0.2520078420639038, + 0.026862137019634247, + 0.059824928641319275 + ], + [ + 0.24770112335681915, + 0.03920557349920273, + 0.07213327288627625 + ], + [ + 0.2548328638076782, + 0.0414736308157444, + 0.07300745695829391 + ], + [ + 0.2590394914150238, + 0.042776308953762054, + 0.07251692563295364 + ], + [ + 0.2622321546077728, + 0.045671530067920685, + 0.07505091279745102 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9970767078784797, + -0.07439591260245271, + -0.017415131187012406, + -0.07499119778662616, + -0.9965169388192843, + -0.03647342732414515, + -0.01464099930809884, + 0.03767278638872893, + -0.9991828672995595 + ], + [ + 0.9985383726115739, + -0.051315261978783486, + -0.016966505541167864, + -0.05164298593136907, + -0.9984756547339322, + -0.019477394788263214, + -0.015941155112540555, + 0.02032512710155253, + -0.9996663287227312 + ], + [ + 0.9942024998324842, + -0.10271394091029609, + -0.03179993191054428, + -0.1025113823828264, + -0.9947001403487058, + 0.007940231245174146, + -0.03244696917742859, + -0.004634342773370487, + -0.9994627141911087 + ], + [ + 0.9977637329875993, + -0.06268620814771628, + 0.023194232962335255, + -0.06298103476386596, + -0.9979400776024904, + 0.012206177731273544, + 0.022381295644412463, + -0.013639678251187646, + -0.999656459381162 + ], + [ + 0.9968447091565243, + -0.030589161867346962, + 0.07324567566005213, + -0.031218035123044614, + -0.9994847872866445, + 0.0074561562233688376, + 0.07297986098712891, + -0.00971921595727636, + -0.9972860556186851 + ], + [ + 0.9913835710571777, + 0.07971066445033119, + 0.10394626020595542, + 0.07767681486620505, + -0.9967021502149511, + 0.023476289935461546, + 0.10547477172366286, + -0.015199793741339174, + -0.9943058074858366 + ], + [ + 0.9872798427591295, + 0.12240305562130616, + 0.10146922713845938, + 0.12132576472383652, + -0.9924714993330912, + 0.016744605868837067, + 0.10275490691779685, + -0.004220780270738808, + -0.9946977501322808 + ], + [ + 0.9878692357117898, + 0.13164078588643344, + 0.08237157656259102, + 0.13077596715077058, + -0.991285536623171, + 0.015831339093483766, + 0.08373780239524546, + -0.004867070259867397, + -0.9964759365268689 + ], + [ + 0.9902060432789808, + 0.12159764646947593, + 0.06860032235251762, + 0.12102317645443952, + -0.9925711708231666, + 0.01248445479809475, + 0.06960878259718795, + -0.00405995367121652, + -0.9975661051587131 + ], + [ + 0.9899602673347676, + 0.12844827734498346, + 0.05898905954142278, + 0.12760279583764703, + -0.9916638398083817, + 0.01789847230664907, + 0.060796345226428544, + -0.010191607508255273, + -0.9980981592726772 + ], + [ + 0.9868735887483056, + 0.14452544285026903, + 0.07206189145431968, + 0.14201313033897095, + -0.9891011793103386, + 0.038873228554161234, + 0.07689467239261108, + -0.02812922778590312, + -0.9966423410139678 + ], + [ + 0.9856883984374719, + 0.14730526686893908, + 0.08197279755164058, + 0.14344093392888818, + -0.9883326110941755, + 0.05121863256059926, + 0.08856116338090839, + -0.038727357261243434, + -0.9953175936052673 + ], + [ + 0.9859871650819924, + 0.1510705426406405, + 0.07076016845541358, + 0.14807237165476375, + -0.9879114807899432, + 0.045885497446965254, + 0.07683672979838221, + -0.03476488558422658, + -0.9964374138320009 + ], + [ + 0.9897911097898628, + 0.134218464933058, + 0.047947498912506256, + 0.13286499096885923, + -0.9906679852422001, + 0.030394690177802434, + 0.0515795808028357, + -0.02371385011281659, + -0.9983872996773498 + ], + [ + 0.990869370110082, + 0.1274601558797011, + 0.043952247277830925, + 0.1260474818176444, + -0.9914566920724878, + 0.03355085799366088, + 0.04785314728499998, + -0.027704447437234558, + -0.9984700996460122 + ], + [ + 0.9896716596136996, + 0.13288177735203388, + 0.053781403897902445, + 0.13141481353577678, + -0.9908744400860613, + 0.029966494080736372, + 0.05727261946883388, + -0.02258931676475133, + -0.9981029855817881 + ], + [ + 0.9900262535965881, + 0.13126557323868202, + 0.051160203985359566, + 0.13038094564194555, + -0.9912566286423584, + 0.020275728990517588, + 0.05337439651195535, + -0.013403188236575854, + -0.9984846159766704 + ], + [ + 0.9855249876471924, + 0.1693788868774682, + 0.007161801669350317, + 0.16952480267028489, + -0.9849516883296658, + -0.03363796866848089, + 0.0013564669558223702, + 0.0343651616712416, + -0.9994084228485905 + ], + [ + 0.9798745580620605, + 0.19949573926732242, + 0.006877534214076863, + 0.19933843164280365, + -0.9761290112360498, + -0.08623423388375813, + -0.010490001566662561, + 0.08586968870047167, + -0.9962511512814503 + ], + [ + 0.9848137166246013, + 0.17361370214056066, + 0.0004753704746377546, + 0.17336938745065789, + -0.9832750815832492, + -0.05579578328546147, + -0.009219492557789675, + 0.055030867397336196, + -0.9984420887515076 + ], + [ + 0.9955113296167872, + 0.09341086268091531, + -0.015218519567407234, + 0.09248148252786853, + -0.9942876728725328, + -0.05328413425374155, + -0.020108903353090152, + 0.05163752808694845, + -0.9984634183078546 + ], + [ + 0.9984856001252822, + 0.05436256011396059, + 0.008439099496509388, + 0.0546622974905454, + -0.9976758906074524, + -0.04067985415021112, + 0.006208025089436902, + 0.041079549151413, + -0.9991365927970041 + ], + [ + 0.9957413288307658, + 0.05670283139044826, + 0.07269109278754415, + 0.05822579880572878, + -0.9981225294586942, + -0.01900453999477964, + 0.07147700617524319, + 0.02315610285183542, + -0.9971734214713807 + ], + [ + 0.9947129228604917, + 0.04715670707801742, + 0.09122744144113548, + 0.04846823216402252, + -0.9987500483104013, + -0.012213577316484831, + 0.09053745945868016, + 0.016570636002561947, + -0.9957551819886445 + ], + [ + 0.9940904828507868, + 0.050801092026799805, + 0.09593414905222132, + 0.05237063955739765, + -0.998530797692202, + -0.013912662308976564, + 0.09508642394074106, + 0.01885457793373, + -0.9952904484988803 + ], + [ + 0.9934640747482231, + 0.06185235628824181, + 0.09593444744328872, + 0.06442017128499364, + -0.9976365933863122, + -0.023901235703741586, + 0.09422936758924372, + 0.029925132550184717, + -0.995100654569971 + ], + [ + 0.9923198939555973, + 0.08822643301853798, + 0.08670250617356898, + 0.08979636438053852, + -0.9958564838690251, + -0.014369289476509275, + 0.0850755017851196, + 0.022044501646614652, + -0.9961306133952328 + ], + [ + 0.9938740526379573, + 0.08798765325835867, + 0.06687705411491791, + 0.08847012789801775, + -0.9960696286183326, + -0.004281520039105608, + 0.06623748155471489, + 0.010171913203705961, + -0.9977520374417007 + ], + [ + 0.9946076185258154, + 0.08696235915106607, + 0.0565087007573765, + 0.08753572815251415, + -0.9961312558435375, + -0.007747091608188058, + 0.05561637768872466, + 0.012651846602670736, + -0.9983720495438198 + ], + [ + 0.9958412308111215, + 0.07965693559755017, + 0.04421555866206427, + 0.08010316485659348, + -0.9967510913779711, + -0.008410993804594777, + 0.04340191236049526, + 0.011917820607446094, + -0.998986606294309 + ], + [ + 0.9900987605595531, + 0.08069008221431312, + 0.11486320111630038, + 0.08054679491970787, + -0.9967333909594622, + 0.005895860803471225, + 0.11496372543806505, + 0.003414378230187299, + -0.9933638225014549 + ], + [ + 0.9894338653155793, + 0.11614032403937564, + 0.0867873913578494, + 0.11890966957895462, + -0.9925259904670704, + -0.027434444189458642, + 0.08295249632949885, + 0.0374644281871419, + -0.9958490347303223 + ], + [ + 0.996831456953079, + 0.06629570154444371, + 0.04395368455012968, + 0.06772896028154442, + -0.9971916739796636, + -0.03196174721158863, + 0.041711321820139445, + 0.034837412394817156, + -0.9985221681713684 + ], + [ + 0.9998767814248855, + 0.014338547381491646, + 0.006389681244025913, + 0.014496842825946194, + -0.9995707943217703, + -0.0254571932275431, + 0.006021919585260985, + 0.02554668663316973, + -0.99965549230051 + ], + [ + 0.9999716551729241, + -0.0068290510640185865, + 0.0031706327897153266, + -0.006800849547915851, + -0.9999379604285865, + -0.008821776427941476, + 0.003230680446717712, + 0.008799963379639583, + -0.9999560607088532 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006626.json b/json/chunk-0006/episode_0006626.json new file mode 100644 index 0000000000000000000000000000000000000000..c323e534bec1d977972117c4db193c741d697d62 --- /dev/null +++ b/json/chunk-0006/episode_0006626.json @@ -0,0 +1,1282 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 20, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut the banana close to the microwave oven." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006626.mp4", + "start": 0, + "end": 20, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3580431342124939, + 0.048563096672296524, + 0.10833530128002167, + 0.008459149859845638, + -0.2655368447303772, + -0.10100779682397842, + 0.0, + 1.0001531839370728 + ], + [ + 0.35316306352615356, + 0.046086713671684265, + 0.09172879159450531, + -0.010011641308665276, + -0.21908827126026154, + -0.09172005206346512, + 0.0, + 1.0001531839370728 + ], + [ + 0.327849417924881, + 0.014168419875204563, + 0.07760035246610641, + -0.04351618140935898, + -0.17756210267543793, + -0.12574665248394012, + 0.0, + 1.0001531839370728 + ], + [ + 0.30035698413848877, + -0.016767526045441628, + 0.07250269502401352, + -0.05735485255718231, + -0.17161424458026886, + -0.18107323348522186, + 0.0, + 1.0001531839370728 + ], + [ + 0.27991995215415955, + -0.03688677400350571, + 0.05707358941435814, + -0.05323656275868416, + -0.1371074616909027, + -0.23350310325622559, + 0.0, + 1.0001531839370728 + ], + [ + 0.2693209946155548, + -0.054292019456624985, + 0.046940531581640244, + -0.04332312196493149, + -0.12417232245206833, + -0.28388679027557373, + 0.0, + 1.0001531839370728 + ], + [ + 0.26451998949050903, + -0.06591422855854034, + 0.026740817353129387, + -0.05254510045051575, + -0.07763203233480453, + -0.32515305280685425, + 0.0, + 1.0001531839370728 + ], + [ + 0.25878435373306274, + -0.06961852312088013, + 0.012578630819916725, + -0.05023300647735596, + -0.02545752190053463, + -0.3398886024951935, + 0.0, + 0.9383087754249573 + ], + [ + 0.2596239447593689, + -0.07095329463481903, + 0.012717870064079762, + -0.061924077570438385, + -0.03309120610356331, + -0.3275667726993561, + 0.0, + 0.648074209690094 + ], + [ + 0.2594592571258545, + -0.06535595655441284, + 0.020724806934595108, + -0.05233960226178169, + -0.017058435827493668, + -0.33564117550849915, + 0.0, + 0.5413121581077576 + ], + [ + 0.2891368865966797, + -0.0367952361702919, + 0.06726489961147308, + -0.03281678259372711, + -0.1288430094718933, + -0.25282806158065796, + 0.0, + 0.5413121581077576 + ], + [ + 0.3201613128185272, + 0.011995187029242516, + 0.09206009656190872, + -0.03858152776956558, + -0.1902228593826294, + -0.11371787637472153, + 0.0, + 0.5413121581077576 + ], + [ + 0.3532792329788208, + 0.05146131291985512, + 0.07046911120414734, + -0.02691340260207653, + -0.1597975641489029, + -0.04924006015062332, + 0.0, + 0.5413121581077576 + ], + [ + 0.37759628891944885, + 0.08937818557024002, + 0.05302624776959419, + -0.0035892983432859182, + -0.1369805634021759, + 0.009651681408286095, + 0.0, + 0.5413121581077576 + ], + [ + 0.39114999771118164, + 0.10269587486982346, + 0.0392335020005703, + 0.01382123026996851, + -0.11515586823225021, + 0.019817426800727844, + 0.0, + 0.5413121581077576 + ], + [ + 0.39356181025505066, + 0.11216253787279129, + 0.02538049966096878, + 0.025836898013949394, + -0.0710495263338089, + 0.029891232028603554, + 0.0, + 0.5413121581077576 + ], + [ + 0.3913998603820801, + 0.11567564308643341, + 0.023479709401726723, + 0.03678542375564575, + -0.058815889060497284, + 0.028411393985152245, + 0.0, + 0.6269758939743042 + ], + [ + 0.39006301760673523, + 0.11596214771270752, + 0.02341938018798828, + 0.038857601583004, + -0.05040660873055458, + 0.02791152149438858, + 0.0, + 0.930367648601532 + ], + [ + 0.39322590827941895, + 0.11693106591701508, + 0.029619818553328514, + 0.03956914320588112, + -0.05181950703263283, + 0.028556032106280327, + 0.0, + 1.0073583126068115 + ], + [ + 0.39549413323402405, + 0.11158581078052521, + 0.05387694388628006, + 0.014801878482103348, + -0.0976908802986145, + 0.01826726458966732, + 0.0, + 1.0014774799346924 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9383087754249573 + ], + [ + 0.648074209690094 + ], + [ + 0.5413121581077576 + ], + [ + 0.5413121581077576 + ], + [ + 0.5413121581077576 + ], + [ + 0.5413121581077576 + ], + [ + 0.5413121581077576 + ], + [ + 0.5413121581077576 + ], + [ + 0.5413121581077576 + ], + [ + 0.6269758939743042 + ], + [ + 0.930367648601532 + ], + [ + 1.0073583126068115 + ], + [ + 1.0014774799346924 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3580431342124939, + 0.048563096672296524, + 0.10833530128002167 + ], + [ + 0.35316306352615356, + 0.046086713671684265, + 0.09172879159450531 + ], + [ + 0.327849417924881, + 0.014168419875204563, + 0.07760035246610641 + ], + [ + 0.30035698413848877, + -0.016767526045441628, + 0.07250269502401352 + ], + [ + 0.27991995215415955, + -0.03688677400350571, + 0.05707358941435814 + ], + [ + 0.2693209946155548, + -0.054292019456624985, + 0.046940531581640244 + ], + [ + 0.26451998949050903, + -0.06591422855854034, + 0.026740817353129387 + ], + [ + 0.25878435373306274, + -0.06961852312088013, + 0.012578630819916725 + ], + [ + 0.2596239447593689, + -0.07095329463481903, + 0.012717870064079762 + ], + [ + 0.2594592571258545, + -0.06535595655441284, + 0.020724806934595108 + ], + [ + 0.2891368865966797, + -0.0367952361702919, + 0.06726489961147308 + ], + [ + 0.3201613128185272, + 0.011995187029242516, + 0.09206009656190872 + ], + [ + 0.3532792329788208, + 0.05146131291985512, + 0.07046911120414734 + ], + [ + 0.37759628891944885, + 0.08937818557024002, + 0.05302624776959419 + ], + [ + 0.39114999771118164, + 0.10269587486982346, + 0.0392335020005703 + ], + [ + 0.39356181025505066, + 0.11216253787279129, + 0.02538049966096878 + ], + [ + 0.3913998603820801, + 0.11567564308643341, + 0.023479709401726723 + ], + [ + 0.39006301760673523, + 0.11596214771270752, + 0.02341938018798828 + ], + [ + 0.39322590827941895, + 0.11693106591701508, + 0.029619818553328514 + ], + [ + 0.39549413323402405, + 0.11158581078052521, + 0.05387694388628006 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9600334446154279, + -0.09862394903128263, + 0.2619333921005696, + -0.09730199872652598, + -0.9950912968468545, + -0.01804527593217126, + 0.26242733520664135, + -0.008162574172406001, + -0.964917232781766 + ], + [ + 0.9719931504193849, + -0.09375366129872634, + 0.21549841421895163, + -0.08940210350037123, + -0.9955474654100107, + -0.02987487247525038, + 0.21733977875094115, + 0.0097721598834274, + -0.9760470918268774 + ], + [ + 0.9765056686716223, + -0.132919988369198, + 0.16961413780731913, + -0.12344364525571838, + -0.9902014216182733, + -0.06529020654838671, + 0.1766305338783992, + 0.04281846934539946, + -0.9833454292285844 + ], + [ + 0.969201527696378, + -0.18941849438114156, + 0.15738180548395145, + -0.1774399787672381, + -0.9802706211745913, + -0.0870893977305089, + 0.1707731028180052, + 0.05648135310314477, + -0.9836901972194034 + ], + [ + 0.9637319594032703, + -0.23813463274596033, + 0.12046828259620697, + -0.2292155175960439, + -0.9698006680692116, + -0.0833481295872202, + 0.1366782971722675, + 0.052712056490493354, + -0.9892120511713512 + ], + [ + 0.9525827421457139, + -0.2849755050874184, + 0.10665402414500333, + -0.2779324325746776, + -0.9575708931899564, + -0.07623350600957102, + 0.12385347104249628, + 0.04297610982347974, + -0.9913694425869528 + ], + [ + 0.9447478066289638, + -0.3228727032320981, + 0.05661094750451985, + -0.318491674724182, + -0.9449927836038485, + -0.07450967768039159, + 0.0775540779143679, + 0.052362739082743734, + -0.9956121275650497 + ], + [ + 0.942486320994311, + -0.3341665497760636, + 0.007228537152874283, + -0.3332740453592203, + -0.9411764539227662, + -0.05581481229268577, + 0.025454772214836607, + 0.050195613275753614, + -0.9984149713317414 + ], + [ + 0.946309658276563, + -0.3230620533250618, + 0.011355190614418965, + -0.3215639942035439, + -0.9443544934327455, + -0.06921841059462538, + 0.03308516713510877, + 0.061850630027331606, + -0.9975369022150831 + ], + [ + 0.944061943722728, + -0.3297661733808937, + -0.0011477404703780052, + -0.3293267137746259, + -0.9426123985278384, + -0.055007106231845404, + 0.017057608533161486, + 0.05230809722517428, + -0.9984853033248969 + ], + [ + 0.9601835996462513, + -0.25409017114625976, + 0.11612768790099948, + -0.2480697279001689, + -0.9666330239280111, + -0.06389058734528372, + 0.12848682839070963, + 0.032538930201431074, + -0.9911772560704987 + ], + [ + 0.9756197140594959, + -0.12063448870773333, + 0.1833398311134045, + -0.1114261284407852, + -0.9919741496454781, + -0.05976206435380653, + 0.18907773914230505, + 0.037876200566511836, + -0.9812313702646691 + ], + [ + 0.9860629100887538, + -0.053479049488762344, + 0.15754341818392895, + -0.04859307601167786, + -0.9982154925447962, + -0.03470653263108597, + 0.15911835315582265, + 0.026567305270347723, + -0.9869019849912405 + ], + [ + 0.9905866824454983, + 0.009161365288918566, + 0.13657999102234797, + 0.009561123956786292, + -0.999951712135729, + -0.002271190328291914, + 0.13655258866204117, + 0.0035556691166864166, + -0.9906264420793683 + ], + [ + 0.9931818286139441, + 0.021401955064202886, + 0.11459411691047684, + 0.019684885206822086, + -0.9996766796897658, + 0.01609476246608388, + 0.11490152568811447, + -0.013729253580412371, + -0.993282007785638 + ], + [ + 0.9970314614175091, + 0.031709938169923714, + 0.07016227451362751, + 0.029811377962445946, + -0.9991648744952772, + 0.027943430691615055, + 0.0709897646681985, + -0.025768845455249198, + -0.9971441319670178 + ], + [ + 0.9978679654980827, + 0.030549314007500064, + 0.05767376220075309, + 0.028358450706466254, + -0.9988587766930752, + 0.038431009572253164, + 0.058781984538179545, + -0.036713534791475086, + -0.9975955065340205 + ], + [ + 0.998340849361398, + 0.029843426469288, + 0.049243460407799394, + 0.027872450490648352, + -0.9988013054350685, + 0.04023777783189892, + 0.050385265703463966, + -0.03879848138490861, + -0.997975953038056 + ], + [ + 0.998250521244601, + 0.030577967687931834, + 0.05060518478336354, + 0.028513824860171462, + -0.9987513635484477, + 0.041020429080644405, + 0.051796318659978524, + -0.039505717335501025, + -0.9978759640712275 + ], + [ + 0.9950659933427012, + 0.019707663729825825, + 0.09723824804682393, + 0.018179155914978866, + -0.9996972604391333, + 0.016580282286821006, + 0.09753556881016504, + -0.014730765791495334, + -0.9951230161925076 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.004880070686340332, + -0.002476383000612259, + -0.016606509685516357, + -0.01847079023718834, + 0.04644857347011566, + 0.009287744760513306, + 1.0 + ], + [ + -0.025313645601272583, + -0.03191829472780228, + -0.014128439128398895, + -0.03350453823804855, + 0.04152616858482361, + -0.034026600420475006, + 1.0 + ], + [ + -0.027492433786392212, + -0.030935946851968765, + -0.0050976574420928955, + -0.013838671147823334, + 0.005947858095169067, + -0.05532658100128174, + 1.0 + ], + [ + -0.020437031984329224, + -0.02011924795806408, + -0.01542910560965538, + 0.004118289798498154, + 0.03450678288936615, + -0.05242986977100372, + 1.0 + ], + [ + -0.010598957538604736, + -0.017405245453119278, + -0.010133057832717896, + 0.00991344079375267, + 0.012935139238834381, + -0.050383687019348145, + 1.0 + ], + [ + -0.004801005125045776, + -0.01162220910191536, + -0.020199714228510857, + -0.009221978485584259, + 0.046540290117263794, + -0.04126626253128052, + 1.0 + ], + [ + -0.005735635757446289, + -0.0037042945623397827, + -0.014162186533212662, + 0.00231209397315979, + 0.052174508571624756, + -0.014735549688339233, + 0.0 + ], + [ + 0.0008395910263061523, + -0.0013347715139389038, + 0.00013923924416303635, + -0.011691071093082428, + -0.007633684203028679, + 0.012321829795837402, + 0.0 + ], + [ + -0.0001646876335144043, + 0.005597338080406189, + 0.008006936870515347, + 0.009584475308656693, + 0.01603277027606964, + -0.008074402809143066, + 0.0 + ], + [ + 0.029677629470825195, + 0.02856072038412094, + 0.046540092676877975, + 0.01952281966805458, + -0.11178457736968994, + 0.08281311392784119, + 0.0 + ], + [ + 0.031024426221847534, + 0.048790425062179565, + 0.02479519695043564, + -0.0057647451758384705, + -0.061379849910736084, + 0.13911017775535583, + 0.0 + ], + [ + 0.03311792016029358, + 0.03946612775325775, + -0.021590985357761383, + 0.011668125167489052, + 0.0304252952337265, + 0.0644778162240982, + 0.0 + ], + [ + 0.024317055940628052, + 0.0379168726503849, + -0.017442863434553146, + 0.02332410402595997, + 0.02281700074672699, + 0.058891743421554565, + 0.0 + ], + [ + 0.013553708791732788, + 0.013317689299583435, + -0.013792745769023895, + 0.017410527914762497, + 0.02182469516992569, + 0.01016574539244175, + 0.0 + ], + [ + 0.0024118125438690186, + 0.009466663002967834, + -0.013853002339601517, + 0.012015667743980885, + 0.044106341898441315, + 0.01007380522787571, + 0.0 + ], + [ + -0.002161949872970581, + 0.0035131052136421204, + -0.0019007902592420578, + 0.010948525741696358, + 0.012233637273311615, + -0.0014798380434513092, + 1.0 + ], + [ + -0.0013368427753448486, + 0.0002865046262741089, + -6.032921373844147e-05, + 0.002072177827358246, + 0.008409280329942703, + -0.0004998724907636642, + 1.0 + ], + [ + 0.003162890672683716, + 0.0009689182043075562, + 0.006200438365340233, + 0.000711541622877121, + -0.001412898302078247, + 0.0006445106118917465, + 1.0 + ], + [ + 0.0022682249546051025, + -0.005345255136489868, + 0.024257125332951546, + -0.02476726472377777, + -0.045871373265981674, + -0.010288767516613007, + 1.0 + ], + [ + 0.0019380152225494385, + -0.002406492829322815, + 0.03452938050031662, + -0.002462795004248619, + -0.07400737702846527, + -0.0023305919021368027, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9383087754249573 + ], + [ + 0.648074209690094 + ], + [ + 0.5413121581077576 + ], + [ + 0.5413121581077576 + ], + [ + 0.5413121581077576 + ], + [ + 0.5413121581077576 + ], + [ + 0.5413121581077576 + ], + [ + 0.5413121581077576 + ], + [ + 0.5413121581077576 + ], + [ + 0.6269758939743042 + ], + [ + 0.930367648601532 + ], + [ + 1.0073583126068115 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.35316306352615356, + 0.046086713671684265, + 0.09172879159450531 + ], + [ + 0.327849417924881, + 0.014168419875204563, + 0.07760035246610641 + ], + [ + 0.30035698413848877, + -0.016767526045441628, + 0.07250269502401352 + ], + [ + 0.27991995215415955, + -0.03688677400350571, + 0.05707358941435814 + ], + [ + 0.2693209946155548, + -0.054292019456624985, + 0.046940531581640244 + ], + [ + 0.26451998949050903, + -0.06591422855854034, + 0.026740817353129387 + ], + [ + 0.25878435373306274, + -0.06961852312088013, + 0.012578630819916725 + ], + [ + 0.2596239447593689, + -0.07095329463481903, + 0.012717870064079762 + ], + [ + 0.2594592571258545, + -0.06535595655441284, + 0.020724806934595108 + ], + [ + 0.2891368865966797, + -0.0367952361702919, + 0.06726489961147308 + ], + [ + 0.3201613128185272, + 0.011995187029242516, + 0.09206009656190872 + ], + [ + 0.3532792329788208, + 0.05146131291985512, + 0.07046911120414734 + ], + [ + 0.37759628891944885, + 0.08937818557024002, + 0.05302624776959419 + ], + [ + 0.39114999771118164, + 0.10269587486982346, + 0.0392335020005703 + ], + [ + 0.39356181025505066, + 0.11216253787279129, + 0.02538049966096878 + ], + [ + 0.3913998603820801, + 0.11567564308643341, + 0.023479709401726723 + ], + [ + 0.39006301760673523, + 0.11596214771270752, + 0.02341938018798828 + ], + [ + 0.39322590827941895, + 0.11693106591701508, + 0.029619818553328514 + ], + [ + 0.39549413323402405, + 0.11158581078052521, + 0.05387694388628006 + ], + [ + 0.3974321484565735, + 0.10917931795120239, + 0.08840632438659668 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9719931504193849, + -0.09375366129872634, + 0.21549841421895163, + -0.08940210350037123, + -0.9955474654100107, + -0.02987487247525038, + 0.21733977875094115, + 0.0097721598834274, + -0.9760470918268774 + ], + [ + 0.9765056686716223, + -0.132919988369198, + 0.16961413780731913, + -0.12344364525571838, + -0.9902014216182733, + -0.06529020654838671, + 0.1766305338783992, + 0.04281846934539946, + -0.9833454292285844 + ], + [ + 0.969201527696378, + -0.18941849438114156, + 0.15738180548395145, + -0.1774399787672381, + -0.9802706211745913, + -0.0870893977305089, + 0.1707731028180052, + 0.05648135310314477, + -0.9836901972194034 + ], + [ + 0.9637319594032703, + -0.23813463274596033, + 0.12046828259620697, + -0.2292155175960439, + -0.9698006680692116, + -0.0833481295872202, + 0.1366782971722675, + 0.052712056490493354, + -0.9892120511713512 + ], + [ + 0.9525827421457139, + -0.2849755050874184, + 0.10665402414500333, + -0.2779324325746776, + -0.9575708931899564, + -0.07623350600957102, + 0.12385347104249628, + 0.04297610982347974, + -0.9913694425869528 + ], + [ + 0.9447478066289638, + -0.3228727032320981, + 0.05661094750451985, + -0.318491674724182, + -0.9449927836038485, + -0.07450967768039159, + 0.0775540779143679, + 0.052362739082743734, + -0.9956121275650497 + ], + [ + 0.942486320994311, + -0.3341665497760636, + 0.007228537152874283, + -0.3332740453592203, + -0.9411764539227662, + -0.05581481229268577, + 0.025454772214836607, + 0.050195613275753614, + -0.9984149713317414 + ], + [ + 0.946309658276563, + -0.3230620533250618, + 0.011355190614418965, + -0.3215639942035439, + -0.9443544934327455, + -0.06921841059462538, + 0.03308516713510877, + 0.061850630027331606, + -0.9975369022150831 + ], + [ + 0.944061943722728, + -0.3297661733808937, + -0.0011477404703780052, + -0.3293267137746259, + -0.9426123985278384, + -0.055007106231845404, + 0.017057608533161486, + 0.05230809722517428, + -0.9984853033248969 + ], + [ + 0.9601835996462513, + -0.25409017114625976, + 0.11612768790099948, + -0.2480697279001689, + -0.9666330239280111, + -0.06389058734528372, + 0.12848682839070963, + 0.032538930201431074, + -0.9911772560704987 + ], + [ + 0.9756197140594959, + -0.12063448870773333, + 0.1833398311134045, + -0.1114261284407852, + -0.9919741496454781, + -0.05976206435380653, + 0.18907773914230505, + 0.037876200566511836, + -0.9812313702646691 + ], + [ + 0.9860629100887538, + -0.053479049488762344, + 0.15754341818392895, + -0.04859307601167786, + -0.9982154925447962, + -0.03470653263108597, + 0.15911835315582265, + 0.026567305270347723, + -0.9869019849912405 + ], + [ + 0.9905866824454983, + 0.009161365288918566, + 0.13657999102234797, + 0.009561123956786292, + -0.999951712135729, + -0.002271190328291914, + 0.13655258866204117, + 0.0035556691166864166, + -0.9906264420793683 + ], + [ + 0.9931818286139441, + 0.021401955064202886, + 0.11459411691047684, + 0.019684885206822086, + -0.9996766796897658, + 0.01609476246608388, + 0.11490152568811447, + -0.013729253580412371, + -0.993282007785638 + ], + [ + 0.9970314614175091, + 0.031709938169923714, + 0.07016227451362751, + 0.029811377962445946, + -0.9991648744952772, + 0.027943430691615055, + 0.0709897646681985, + -0.025768845455249198, + -0.9971441319670178 + ], + [ + 0.9978679654980827, + 0.030549314007500064, + 0.05767376220075309, + 0.028358450706466254, + -0.9988587766930752, + 0.038431009572253164, + 0.058781984538179545, + -0.036713534791475086, + -0.9975955065340205 + ], + [ + 0.998340849361398, + 0.029843426469288, + 0.049243460407799394, + 0.027872450490648352, + -0.9988013054350685, + 0.04023777783189892, + 0.050385265703463966, + -0.03879848138490861, + -0.997975953038056 + ], + [ + 0.998250521244601, + 0.030577967687931834, + 0.05060518478336354, + 0.028513824860171462, + -0.9987513635484477, + 0.041020429080644405, + 0.051796318659978524, + -0.039505717335501025, + -0.9978759640712275 + ], + [ + 0.9950659933427012, + 0.019707663729825825, + 0.09723824804682393, + 0.018179155914978866, + -0.9996972604391333, + 0.016580282286821006, + 0.09753556881016504, + -0.014730765791495334, + -0.9951230161925076 + ], + [ + 0.9851709117513784, + 0.01804266874128552, + 0.17062454906504604, + 0.015701675675333805, + -0.9997633025637195, + 0.015059755239430274, + 0.17085588084682568, + -0.012157341468312688, + -0.9852210244551617 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006628.json b/json/chunk-0006/episode_0006628.json new file mode 100644 index 0000000000000000000000000000000000000000..eed4e05e2ae3e8d32d6da853cf6ad17b1bd8ba2e --- /dev/null +++ b/json/chunk-0006/episode_0006628.json @@ -0,0 +1,2182 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 35, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nTake broccoli out of pan." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006628.mp4", + "start": 0, + "end": 35, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.344626247882843, + -0.0018594107823446393, + 0.131182461977005, + -0.03778937831521034, + -0.28966963291168213, + -0.14511319994926453, + 0.0, + 1.0054124593734741 + ], + [ + 0.34157833456993103, + -0.0014674779959022999, + 0.12162991613149643, + -0.04560992494225502, + -0.2649189233779907, + -0.14225107431411743, + 0.0, + 1.0054124593734741 + ], + [ + 0.33080410957336426, + 0.015526197850704193, + 0.11331148445606232, + -0.049419693648815155, + -0.2813567519187927, + -0.10460153967142105, + 0.0, + 1.0054124593734741 + ], + [ + 0.3226681649684906, + 0.042685192078351974, + 0.11780617386102676, + 0.016666045412421227, + -0.3237999379634857, + -0.12567010521888733, + 0.0, + 1.0054124593734741 + ], + [ + 0.31373608112335205, + 0.06477659195661545, + 0.12088184803724289, + 0.04154634103178978, + -0.30557337403297424, + -0.15589359402656555, + 0.0, + 1.0054124593734741 + ], + [ + 0.3121272027492523, + 0.07982820272445679, + 0.12153246253728867, + 0.07476230710744858, + -0.3117522597312927, + -0.1728958636522293, + 0.0, + 1.0054124593734741 + ], + [ + 0.30865225195884705, + 0.09332963824272156, + 0.11832404881715775, + 0.11374805867671967, + -0.31375259160995483, + -0.21053579449653625, + 0.0, + 1.0054124593734741 + ], + [ + 0.30205681920051575, + 0.10915379226207733, + 0.1149815171957016, + 0.15153217315673828, + -0.294395387172699, + -0.2178727388381958, + 0.0, + 1.0054124593734741 + ], + [ + 0.2919277250766754, + 0.12297151237726212, + 0.10399316996335983, + 0.17285090684890747, + -0.28699564933776855, + -0.2095494121313095, + 0.0, + 1.0054124593734741 + ], + [ + 0.2870129346847534, + 0.13008154928684235, + 0.09697555750608444, + 0.1807425171136856, + -0.28417059779167175, + -0.21083657443523407, + 0.0, + 1.0054124593734741 + ], + [ + 0.2847454845905304, + 0.13287897408008575, + 0.08878989517688751, + 0.1621573567390442, + -0.26994550228118896, + -0.20833314955234528, + 0.0, + 1.0054124593734741 + ], + [ + 0.283680260181427, + 0.133987694978714, + 0.0798947811126709, + 0.1457929164171219, + -0.25634104013442993, + -0.21240070462226868, + 0.0, + 1.0054124593734741 + ], + [ + 0.28188103437423706, + 0.13154684007167816, + 0.07024691998958588, + 0.13040374219417572, + -0.2674187123775482, + -0.20380641520023346, + 0.0, + 1.0054124593734741 + ], + [ + 0.2841489613056183, + 0.1317831128835678, + 0.06408420205116272, + 0.12273130565881729, + -0.2704025208950043, + -0.2031697928905487, + 0.0, + 1.0054124593734741 + ], + [ + 0.28593727946281433, + 0.12955248355865479, + 0.054403383284807205, + 0.09665372967720032, + -0.26705050468444824, + -0.19903144240379333, + 0.0, + 1.0054124593734741 + ], + [ + 0.2930709421634674, + 0.12836919724941254, + 0.04881135746836662, + 0.08668247610330582, + -0.2773500978946686, + -0.2073153257369995, + 0.0, + 1.0054124593734741 + ], + [ + 0.2987169325351715, + 0.1260794848203659, + 0.042498718947172165, + 0.07482064515352249, + -0.28016817569732666, + -0.21247464418411255, + 0.0, + 0.9484345316886902 + ], + [ + 0.3017192780971527, + 0.12501122057437897, + 0.04176775738596916, + 0.07759629189968109, + -0.28488561511039734, + -0.22294606268405914, + 0.0, + 0.641040563583374 + ], + [ + 0.3032855689525604, + 0.12693463265895844, + 0.044340651482343674, + 0.08617273718118668, + -0.28316304087638855, + -0.21716418862342834, + 0.0, + 0.4112652540206909 + ], + [ + 0.304964542388916, + 0.12934023141860962, + 0.049239978194236755, + 0.08995593339204788, + -0.2680111527442932, + -0.2280445545911789, + 0.0, + 0.39711064100265503 + ], + [ + 0.3021252453327179, + 0.1335664689540863, + 0.057737164199352264, + 0.09833718091249466, + -0.2197306752204895, + -0.24537864327430725, + 0.0, + 0.39974725246429443 + ], + [ + 0.30196183919906616, + 0.13659213483333588, + 0.0909581333398819, + 0.1540248543024063, + -0.22403696179389954, + -0.25900784134864807, + 0.0, + 0.39974725246429443 + ], + [ + 0.29711174964904785, + 0.12990011274814606, + 0.10621019452810287, + 0.1718245893716812, + -0.1906924843788147, + -0.24555754661560059, + 0.0, + 0.39974725246429443 + ], + [ + 0.3034200072288513, + 0.11621806025505066, + 0.12742598354816437, + 0.17128071188926697, + -0.16511130332946777, + -0.23639947175979614, + 0.0, + 0.39974725246429443 + ], + [ + 0.31385892629623413, + 0.08074449747800827, + 0.13376303017139435, + 0.14588171243667603, + -0.16576118767261505, + -0.2134900987148285, + 0.0, + 0.39974725246429443 + ], + [ + 0.3318158686161041, + 0.03917514532804489, + 0.138100728392601, + 0.14133846759796143, + -0.21580468118190765, + -0.21250051259994507, + 0.0, + 0.39974725246429443 + ], + [ + 0.34264838695526123, + 0.009943686425685883, + 0.11939922720193863, + 0.10320006310939789, + -0.21881963312625885, + -0.19275051355361938, + 0.0, + 0.39974725246429443 + ], + [ + 0.35105955600738525, + -0.002411309629678726, + 0.09362198412418365, + 0.03222496435046196, + -0.2419785112142563, + -0.17161838710308075, + 0.0, + 0.39974725246429443 + ], + [ + 0.3606060743331909, + -0.009203639812767506, + 0.07737191021442413, + -0.006670903880149126, + -0.28032177686691284, + -0.16453956067562103, + 0.0, + 0.39974725246429443 + ], + [ + 0.3614382743835449, + -0.009993973188102245, + 0.06804654747247696, + -0.029029350727796555, + -0.2792736887931824, + -0.158985435962677, + 0.0, + 0.35274967551231384 + ], + [ + 0.3573324680328369, + -0.011294339783489704, + 0.056688304990530014, + -0.05583330988883972, + -0.28113240003585815, + -0.14639338850975037, + 0.0, + 0.39974725246429443 + ], + [ + 0.36097028851509094, + -0.007541226223111153, + 0.04954221099615097, + -0.08499535173177719, + -0.30815064907073975, + -0.15332503616809845, + 0.0, + 0.7230578064918518 + ], + [ + 0.35655757784843445, + -0.0031865425407886505, + 0.04520605504512787, + -0.08110318332910538, + -0.29735440015792847, + -0.15861253440380096, + 0.0, + 0.9907060265541077 + ], + [ + 0.35014116764068604, + 0.001358400797471404, + 0.05210520699620247, + -0.061063021421432495, + -0.27066588401794434, + -0.17100033164024353, + 0.0, + 1.0060625076293945 + ], + [ + 0.34652212262153625, + 0.007495141122490168, + 0.07068011909723282, + 0.018526606261730194, + -0.26374536752700806, + -0.20732352137565613, + 0.0, + 1.0060625076293945 + ] + ], + "left_gripper_pos": [ + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 0.9484345316886902 + ], + [ + 0.641040563583374 + ], + [ + 0.4112652540206909 + ], + [ + 0.39711064100265503 + ], + [ + 0.39974725246429443 + ], + [ + 0.39974725246429443 + ], + [ + 0.39974725246429443 + ], + [ + 0.39974725246429443 + ], + [ + 0.39974725246429443 + ], + [ + 0.39974725246429443 + ], + [ + 0.39974725246429443 + ], + [ + 0.39974725246429443 + ], + [ + 0.39974725246429443 + ], + [ + 0.35274967551231384 + ], + [ + 0.39974725246429443 + ], + [ + 0.7230578064918518 + ], + [ + 0.9907060265541077 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.344626247882843, + -0.0018594107823446393, + 0.131182461977005 + ], + [ + 0.34157833456993103, + -0.0014674779959022999, + 0.12162991613149643 + ], + [ + 0.33080410957336426, + 0.015526197850704193, + 0.11331148445606232 + ], + [ + 0.3226681649684906, + 0.042685192078351974, + 0.11780617386102676 + ], + [ + 0.31373608112335205, + 0.06477659195661545, + 0.12088184803724289 + ], + [ + 0.3121272027492523, + 0.07982820272445679, + 0.12153246253728867 + ], + [ + 0.30865225195884705, + 0.09332963824272156, + 0.11832404881715775 + ], + [ + 0.30205681920051575, + 0.10915379226207733, + 0.1149815171957016 + ], + [ + 0.2919277250766754, + 0.12297151237726212, + 0.10399316996335983 + ], + [ + 0.2870129346847534, + 0.13008154928684235, + 0.09697555750608444 + ], + [ + 0.2847454845905304, + 0.13287897408008575, + 0.08878989517688751 + ], + [ + 0.283680260181427, + 0.133987694978714, + 0.0798947811126709 + ], + [ + 0.28188103437423706, + 0.13154684007167816, + 0.07024691998958588 + ], + [ + 0.2841489613056183, + 0.1317831128835678, + 0.06408420205116272 + ], + [ + 0.28593727946281433, + 0.12955248355865479, + 0.054403383284807205 + ], + [ + 0.2930709421634674, + 0.12836919724941254, + 0.04881135746836662 + ], + [ + 0.2987169325351715, + 0.1260794848203659, + 0.042498718947172165 + ], + [ + 0.3017192780971527, + 0.12501122057437897, + 0.04176775738596916 + ], + [ + 0.3032855689525604, + 0.12693463265895844, + 0.044340651482343674 + ], + [ + 0.304964542388916, + 0.12934023141860962, + 0.049239978194236755 + ], + [ + 0.3021252453327179, + 0.1335664689540863, + 0.057737164199352264 + ], + [ + 0.30196183919906616, + 0.13659213483333588, + 0.0909581333398819 + ], + [ + 0.29711174964904785, + 0.12990011274814606, + 0.10621019452810287 + ], + [ + 0.3034200072288513, + 0.11621806025505066, + 0.12742598354816437 + ], + [ + 0.31385892629623413, + 0.08074449747800827, + 0.13376303017139435 + ], + [ + 0.3318158686161041, + 0.03917514532804489, + 0.138100728392601 + ], + [ + 0.34264838695526123, + 0.009943686425685883, + 0.11939922720193863 + ], + [ + 0.35105955600738525, + -0.002411309629678726, + 0.09362198412418365 + ], + [ + 0.3606060743331909, + -0.009203639812767506, + 0.07737191021442413 + ], + [ + 0.3614382743835449, + -0.009993973188102245, + 0.06804654747247696 + ], + [ + 0.3573324680328369, + -0.011294339783489704, + 0.056688304990530014 + ], + [ + 0.36097028851509094, + -0.007541226223111153, + 0.04954221099615097 + ], + [ + 0.35655757784843445, + -0.0031865425407886505, + 0.04520605504512787 + ], + [ + 0.35014116764068604, + 0.001358400797471404, + 0.05210520699620247 + ], + [ + 0.34652212262153625, + 0.007495141122490168, + 0.07068011909723282 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9482657190054727, + -0.15517920433737376, + 0.27696848322553547, + -0.1385799728757075, + -0.9872226252979509, + -0.0786579888987132, + 0.28563563726678487, + 0.0362063895057422, + -0.9576541025245788 + ], + [ + 0.955365471539147, + -0.15344174536369778, + 0.2524528600957526, + -0.13682591973749067, + -0.9871774523123455, + -0.08221523784613596, + 0.2618310208488926, + 0.0440035046996154, + -0.9641100601567115 + ], + [ + 0.9554287687423162, + -0.11792470239033223, + 0.27064669298865124, + -0.10030541735957693, + -0.9918878876588677, + -0.07808483568498166, + 0.27765930761972085, + 0.047457168918732154, + -0.959506709726595 + ], + [ + 0.9405569487216235, + -0.1200615788212451, + 0.3177071662748875, + -0.11882608947787113, + -0.9926407212638052, + -0.023340071728023166, + 0.3181713165432516, + -0.015799233520087358, + -0.9479015758765841 + ], + [ + 0.9421095781171155, + -0.14278525817630472, + 0.3033841012108512, + -0.14807030432577778, + -0.9889607650013593, + -0.00563828562570157, + 0.3008400368914708, + -0.0396102933017598, + -0.9528516657212109 + ], + [ + 0.937606936435093, + -0.14898651131757795, + 0.3141595966928541, + -0.16374321270955944, + -0.9862803367676204, + 0.020958473157684458, + 0.30672690302670136, + -0.07109231147576107, + -0.9491388150363896 + ], + [ + 0.9301791332894559, + -0.17337644204881592, + 0.32358521186137384, + -0.1987817400771023, + -0.9789202347671274, + 0.04691475008343826, + 0.30863019911343087, + -0.10796195304812573, + -0.9450352463740378 + ], + [ + 0.9343542934026715, + -0.170911007294837, + 0.3126843168204297, + -0.20685374814900104, + -0.974638980909444, + 0.08538374417013044, + 0.2901613021695076, + -0.1444585908738723, + -0.9460116987892017 + ], + [ + 0.9381181227609329, + -0.15729842191577204, + 0.3085313504496925, + -0.19951092422010114, + -0.9736767767439016, + 0.11022216449719854, + 0.2830720382947497, + -0.1649567849238527, + -0.944806583509684 + ], + [ + 0.938638784068944, + -0.1565872057008377, + 0.3073071428593518, + -0.20088482590791149, + -0.9724745289647476, + 0.1180617517858364, + 0.2803614091873605, + -0.1725506810348655, + -0.9442583029621088 + ], + [ + 0.9429455251849703, + -0.161992333224463, + 0.2908817981760552, + -0.1993391429368681, + -0.974446945907542, + 0.1035232133613475, + 0.2666789129774524, + -0.1556008791362014, + -0.9511418000409854 + ], + [ + 0.9455861037964318, + -0.17256461602720433, + 0.275841210848682, + -0.20391895473741348, + -0.9749219413052241, + 0.08913062470584276, + 0.2535428567439521, + -0.14052993153430557, + -0.9570618361093911 + ], + [ + 0.9444950978795414, + -0.16703043831183917, + 0.2828954625985909, + -0.19520441286061352, + -0.9779430073141936, + 0.07431494900095445, + 0.2642427809444545, + -0.12541254770805918, + -0.9562674550543457 + ], + [ + 0.9438427411259044, + -0.16822812251478445, + 0.2843592425420521, + -0.19444313122376863, + -0.9786629673318722, + 0.06641283831512605, + 0.26711935299381667, + -0.11797497687359575, + -0.9564147406265961 + ], + [ + 0.9455117340674207, + -0.17183386645891532, + 0.2765514112757313, + -0.19071149071928087, + -0.9807184876664812, + 0.042665855866250574, + 0.26388764284908967, + -0.09308259927048487, + -0.9600515307339506 + ], + [ + 0.9411897247380252, + -0.18186358505089353, + 0.28475873731985285, + -0.19796740386633357, + -0.9797920673788868, + 0.02857291913387666, + 0.27380797843376387, + -0.08326548585004172, + -0.9581732879871846 + ], + [ + 0.939397833490281, + -0.19008446856099226, + 0.28530616054626445, + -0.2026571226726097, + -0.979136072921638, + 0.01492117065283928, + 0.276517270823767, + -0.07183624096149159, + -0.9583202770580916 + ], + [ + 0.9359416699260104, + -0.1991912350764446, + 0.2904066844355198, + -0.21219187735084688, + -0.977132738604988, + 0.013646183812309885, + 0.28104767866401986, + -0.07439397163101855, + -0.9568060092320329 + ], + [ + 0.9376242494617282, + -0.19118022544111501, + 0.2903633727273731, + -0.20688086732339506, + -0.9780700235771722, + 0.02406939374537157, + 0.279394118686938, + -0.08263867363428803, + -0.9566137026319008 + ], + [ + 0.939334083490651, + -0.20198546974666642, + 0.27722436690160807, + -0.2180022083846766, + -0.9755498671953416, + 0.027883574995961693, + 0.26481411732040067, + -0.08662751656586891, + -0.960400518867752 + ], + [ + 0.9467218241287361, + -0.22099133881673622, + 0.23426612193474533, + -0.237082833095079, + -0.9705574199257913, + 0.042544387157440744, + 0.21796678180394685, + -0.09581817570261814, + -0.9712411437099712 + ], + [ + 0.9424866838947469, + -0.22014226148265134, + 0.25150792311652576, + -0.24972075386995926, + -0.9639307399901947, + 0.09207102469602313, + 0.22216749484950202, + -0.14958246291347269, + -0.9634659781336531 + ], + [ + 0.9524189239146286, + -0.2080821776838143, + 0.2227105760839895, + -0.23869061414737733, + -0.9635962676300215, + 0.12045340894901965, + 0.18953887223271318, + -0.16788103031567767, + -0.9674145830888109 + ], + [ + 0.9589658470077833, + -0.2035412689015433, + 0.19737136602505126, + -0.23101860801503613, + -0.9645229164827601, + 0.1277730266151122, + 0.16436212162003813, + -0.1681264269338426, + -0.971966356178556 + ], + [ + 0.9639016401009367, + -0.18618045187371787, + 0.1903430260104695, + -0.20896792665010186, + -0.9719985679940681, + 0.10747645997630564, + 0.1650031328256579, + -0.14337232354111792, + -0.975816756876074 + ], + [ + 0.954832750181464, + -0.17931562009113403, + 0.2369395019245083, + -0.20601276054463616, + -0.9741211005399554, + 0.09298830020816964, + 0.2141335136630424, + -0.1376008352960053, + -0.9670640353421077 + ], + [ + 0.9580770185951003, + -0.16859148093630985, + 0.23165780581630746, + -0.1869913416674491, + -0.9805429640414175, + 0.05974724939508892, + 0.21707755430106412, + -0.10056047048703341, + -0.9709608268071865 + ], + [ + 0.9566034417244852, + -0.1630814004570888, + 0.24148356487724806, + -0.16580172385867242, + -0.9861166130848329, + -0.009154985723110421, + 0.2396239630052929, + -0.03128070048851933, + -0.9703617233437155 + ], + [ + 0.9479875343807843, + -0.16561514757461765, + 0.2718294640992391, + -0.1574045076277818, + -0.9861696247613743, + -0.05189693802592296, + 0.27666487965966596, + 0.00641046736584255, + -0.9609450818184433 + ], + [ + 0.9491329432751928, + -0.1661499473541662, + 0.26747121524376666, + -0.15218268922108882, + -0.9857057091520032, + -0.07228197594548802, + 0.27565755039760304, + 0.027900715749858647, + -0.9608509067329013 + ], + [ + 0.9504654084483861, + -0.16096069754745204, + 0.2659081818750234, + -0.14014443133552465, + -0.9855035478799714, + -0.09561535170479432, + 0.27744377035479695, + 0.053613533375694994, + -0.9592447775882276 + ], + [ + 0.9417174160503008, + -0.17761941944700904, + 0.28569152970092004, + -0.14553105703340447, + -0.9807688111455068, + -0.1300509535642419, + 0.30329691680972326, + 0.08089425764253041, + -0.9494562124364553 + ], + [ + 0.9441132267276251, + -0.1808676891802323, + 0.27556685963401795, + -0.15101674399399598, + -0.9804524387193879, + -0.12612279113093078, + 0.2929917373432287, + 0.07745898540393746, + -0.9529721650860474 + ], + [ + 0.949539099650499, + -0.18592951428033, + 0.2525979294341119, + -0.16397287510091235, + -0.980801907787807, + -0.10554863291838011, + 0.2673731371436941, + 0.058803345136810944, + -0.9617971574789876 + ], + [ + 0.9447462018478823, + -0.20107999908757274, + 0.2588850093399434, + -0.19872354939882786, + -0.9794115390940596, + -0.03552447049200431, + 0.2606982259401327, + -0.017884939372204013, + -0.9652546627368969 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0030479133129119873, + 0.0003919327864423394, + -0.009552545845508575, + -0.007820546627044678, + 0.024750709533691406, + 0.0028621256351470947, + 1.0 + ], + [ + -0.010774224996566772, + 0.016993675380945206, + -0.008318431675434113, + -0.003809768706560135, + -0.016437828540802002, + 0.03764953464269638, + 1.0 + ], + [ + -0.008135944604873657, + 0.02715899422764778, + 0.004494689404964447, + 0.06608574092388153, + -0.04244318604469299, + -0.021068565547466278, + 1.0 + ], + [ + -0.00893208384513855, + 0.022091399878263474, + 0.0030756741762161255, + 0.024880295619368553, + 0.018226563930511475, + -0.030223488807678223, + 1.0 + ], + [ + -0.0016088783740997314, + 0.015051610767841339, + 0.0006506145000457764, + 0.0332159660756588, + -0.0061788856983184814, + -0.017002269625663757, + 1.0 + ], + [ + -0.0034749507904052734, + 0.01350143551826477, + -0.0032084137201309204, + 0.03898575156927109, + -0.0020003318786621094, + -0.037639930844306946, + 1.0 + ], + [ + -0.006595432758331299, + 0.015824154019355774, + -0.0033425316214561462, + 0.037784114480018616, + 0.01935720443725586, + -0.007336944341659546, + 1.0 + ], + [ + -0.010129094123840332, + 0.013817720115184784, + -0.010988347232341766, + 0.02131873369216919, + 0.00739973783493042, + 0.008323326706886292, + 1.0 + ], + [ + -0.004914790391921997, + 0.007110036909580231, + -0.007017612457275391, + 0.007891610264778137, + 0.0028250515460968018, + -0.0012871623039245605, + 1.0 + ], + [ + -0.0022674500942230225, + 0.002797424793243408, + -0.00818566232919693, + -0.01858516037464142, + 0.014225095510482788, + 0.002503424882888794, + 1.0 + ], + [ + -0.0010652244091033936, + 0.0011087208986282349, + -0.008895114064216614, + -0.016364440321922302, + 0.013604462146759033, + -0.004067555069923401, + 1.0 + ], + [ + -0.0017992258071899414, + -0.0024408549070358276, + -0.009647861123085022, + -0.015389174222946167, + -0.011077672243118286, + 0.008594289422035217, + 1.0 + ], + [ + 0.0022679269313812256, + 0.00023627281188964844, + -0.006162717938423157, + -0.007672436535358429, + -0.0029838085174560547, + 0.0006366223096847534, + 1.0 + ], + [ + 0.001788318157196045, + -0.002230629324913025, + -0.009680818766355515, + -0.026077575981616974, + 0.0033520162105560303, + 0.004138350486755371, + 1.0 + ], + [ + 0.007133662700653076, + -0.0011832863092422485, + -0.005592025816440582, + -0.0099712535738945, + -0.010299593210220337, + -0.008283883333206177, + 1.0 + ], + [ + 0.0056459903717041016, + -0.002289712429046631, + -0.006312638521194458, + -0.011861830949783325, + -0.002818077802658081, + -0.005159318447113037, + 0.0 + ], + [ + 0.003002345561981201, + -0.0010682642459869385, + -0.0007309615612030029, + 0.0027756467461586, + -0.004717439413070679, + -0.010471418499946594, + 0.0 + ], + [ + 0.0015662908554077148, + 0.0019234120845794678, + 0.0025728940963745117, + 0.008576445281505585, + 0.001722574234008789, + 0.005781874060630798, + 0.0 + ], + [ + 0.0016789734363555908, + 0.002405598759651184, + 0.004899326711893082, + 0.003783196210861206, + 0.015151888132095337, + -0.01088036596775055, + 0.0 + ], + [ + -0.00283929705619812, + 0.004226237535476685, + 0.008497186005115509, + 0.008381247520446777, + 0.04828047752380371, + -0.017334088683128357, + 0.0 + ], + [ + -0.0001634061336517334, + 0.0030256658792495728, + 0.03322096914052963, + 0.05568767338991165, + -0.004306286573410034, + -0.01362919807434082, + 0.0 + ], + [ + -0.0048500895500183105, + -0.006692022085189819, + 0.015252061188220978, + 0.017799735069274902, + 0.03334447741508484, + 0.013450294733047485, + 0.0 + ], + [ + 0.006308257579803467, + -0.013682052493095398, + 0.021215789020061493, + -0.0005438774824142456, + 0.025581181049346924, + 0.009158074855804443, + 0.0 + ], + [ + 0.010438919067382812, + -0.03547356277704239, + 0.0063370466232299805, + -0.025398999452590942, + -0.0006498843431472778, + 0.02290937304496765, + 0.0 + ], + [ + 0.017956942319869995, + -0.04156935214996338, + 0.004337698221206665, + -0.0045432448387146, + -0.0500434935092926, + 0.0009895861148834229, + 0.0 + ], + [ + 0.010832518339157104, + -0.02923145890235901, + -0.018701501190662384, + -0.03813840448856354, + -0.0030149519443511963, + 0.019749999046325684, + 0.0 + ], + [ + 0.008411169052124023, + -0.012354996055364609, + -0.025777243077754974, + -0.07097509503364563, + -0.023158878087997437, + 0.021132126450538635, + 0.0 + ], + [ + 0.009546518325805664, + -0.0067923301830887794, + -0.01625007390975952, + -0.0388958677649498, + -0.038343265652656555, + 0.007078826427459717, + 0.0 + ], + [ + 0.0008322000503540039, + -0.0007903333753347397, + -0.009325362741947174, + -0.022358447313308716, + 0.0010480880737304688, + 0.005554124712944031, + 1.0 + ], + [ + -0.004105806350708008, + -0.0013003665953874588, + -0.011358242481946945, + -0.026803959161043167, + -0.0018587112426757812, + 0.012592047452926636, + 1.0 + ], + [ + 0.0036378204822540283, + 0.0037531135603785515, + -0.007146093994379044, + -0.02916204184293747, + -0.027018249034881592, + -0.0069316476583480835, + 1.0 + ], + [ + -0.004412710666656494, + 0.004354683682322502, + -0.004336155951023102, + 0.003892168402671814, + 0.01079624891281128, + -0.005287498235702515, + 1.0 + ], + [ + -0.006416410207748413, + 0.004544943571090698, + 0.0068991519510746, + 0.020040161907672882, + 0.02668851613998413, + -0.012387797236442566, + 1.0 + ], + [ + -0.0036190450191497803, + 0.006136740557849407, + 0.01857491210103035, + 0.07958962768316269, + 0.006920516490936279, + -0.0363231897354126, + 1.0 + ], + [ + 0.003239154815673828, + 0.0012100660242140293, + 0.021843433380126953, + 0.05660109966993332, + 0.016242027282714844, + -0.004682853817939758, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 0.9484345316886902 + ], + [ + 0.641040563583374 + ], + [ + 0.4112652540206909 + ], + [ + 0.39711064100265503 + ], + [ + 0.39974725246429443 + ], + [ + 0.39974725246429443 + ], + [ + 0.39974725246429443 + ], + [ + 0.39974725246429443 + ], + [ + 0.39974725246429443 + ], + [ + 0.39974725246429443 + ], + [ + 0.39974725246429443 + ], + [ + 0.39974725246429443 + ], + [ + 0.39974725246429443 + ], + [ + 0.35274967551231384 + ], + [ + 0.39974725246429443 + ], + [ + 0.7230578064918518 + ], + [ + 0.9907060265541077 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0054124593734741 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.34157833456993103, + -0.0014674779959022999, + 0.12162991613149643 + ], + [ + 0.33080410957336426, + 0.015526197850704193, + 0.11331148445606232 + ], + [ + 0.3226681649684906, + 0.042685192078351974, + 0.11780617386102676 + ], + [ + 0.31373608112335205, + 0.06477659195661545, + 0.12088184803724289 + ], + [ + 0.3121272027492523, + 0.07982820272445679, + 0.12153246253728867 + ], + [ + 0.30865225195884705, + 0.09332963824272156, + 0.11832404881715775 + ], + [ + 0.30205681920051575, + 0.10915379226207733, + 0.1149815171957016 + ], + [ + 0.2919277250766754, + 0.12297151237726212, + 0.10399316996335983 + ], + [ + 0.2870129346847534, + 0.13008154928684235, + 0.09697555750608444 + ], + [ + 0.2847454845905304, + 0.13287897408008575, + 0.08878989517688751 + ], + [ + 0.283680260181427, + 0.133987694978714, + 0.0798947811126709 + ], + [ + 0.28188103437423706, + 0.13154684007167816, + 0.07024691998958588 + ], + [ + 0.2841489613056183, + 0.1317831128835678, + 0.06408420205116272 + ], + [ + 0.28593727946281433, + 0.12955248355865479, + 0.054403383284807205 + ], + [ + 0.2930709421634674, + 0.12836919724941254, + 0.04881135746836662 + ], + [ + 0.2987169325351715, + 0.1260794848203659, + 0.042498718947172165 + ], + [ + 0.3017192780971527, + 0.12501122057437897, + 0.04176775738596916 + ], + [ + 0.3032855689525604, + 0.12693463265895844, + 0.044340651482343674 + ], + [ + 0.304964542388916, + 0.12934023141860962, + 0.049239978194236755 + ], + [ + 0.3021252453327179, + 0.1335664689540863, + 0.057737164199352264 + ], + [ + 0.30196183919906616, + 0.13659213483333588, + 0.0909581333398819 + ], + [ + 0.29711174964904785, + 0.12990011274814606, + 0.10621019452810287 + ], + [ + 0.3034200072288513, + 0.11621806025505066, + 0.12742598354816437 + ], + [ + 0.31385892629623413, + 0.08074449747800827, + 0.13376303017139435 + ], + [ + 0.3318158686161041, + 0.03917514532804489, + 0.138100728392601 + ], + [ + 0.34264838695526123, + 0.009943686425685883, + 0.11939922720193863 + ], + [ + 0.35105955600738525, + -0.002411309629678726, + 0.09362198412418365 + ], + [ + 0.3606060743331909, + -0.009203639812767506, + 0.07737191021442413 + ], + [ + 0.3614382743835449, + -0.009993973188102245, + 0.06804654747247696 + ], + [ + 0.3573324680328369, + -0.011294339783489704, + 0.056688304990530014 + ], + [ + 0.36097028851509094, + -0.007541226223111153, + 0.04954221099615097 + ], + [ + 0.35655757784843445, + -0.0031865425407886505, + 0.04520605504512787 + ], + [ + 0.35014116764068604, + 0.001358400797471404, + 0.05210520699620247 + ], + [ + 0.34652212262153625, + 0.007495141122490168, + 0.07068011909723282 + ], + [ + 0.3497612774372101, + 0.008705207146704197, + 0.09252355247735977 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.955365471539147, + -0.15344174536369778, + 0.2524528600957526, + -0.13682591973749067, + -0.9871774523123455, + -0.08221523784613596, + 0.2618310208488926, + 0.0440035046996154, + -0.9641100601567115 + ], + [ + 0.9554287687423162, + -0.11792470239033223, + 0.27064669298865124, + -0.10030541735957693, + -0.9918878876588677, + -0.07808483568498166, + 0.27765930761972085, + 0.047457168918732154, + -0.959506709726595 + ], + [ + 0.9405569487216235, + -0.1200615788212451, + 0.3177071662748875, + -0.11882608947787113, + -0.9926407212638052, + -0.023340071728023166, + 0.3181713165432516, + -0.015799233520087358, + -0.9479015758765841 + ], + [ + 0.9421095781171155, + -0.14278525817630472, + 0.3033841012108512, + -0.14807030432577778, + -0.9889607650013593, + -0.00563828562570157, + 0.3008400368914708, + -0.0396102933017598, + -0.9528516657212109 + ], + [ + 0.937606936435093, + -0.14898651131757795, + 0.3141595966928541, + -0.16374321270955944, + -0.9862803367676204, + 0.020958473157684458, + 0.30672690302670136, + -0.07109231147576107, + -0.9491388150363896 + ], + [ + 0.9301791332894559, + -0.17337644204881592, + 0.32358521186137384, + -0.1987817400771023, + -0.9789202347671274, + 0.04691475008343826, + 0.30863019911343087, + -0.10796195304812573, + -0.9450352463740378 + ], + [ + 0.9343542934026715, + -0.170911007294837, + 0.3126843168204297, + -0.20685374814900104, + -0.974638980909444, + 0.08538374417013044, + 0.2901613021695076, + -0.1444585908738723, + -0.9460116987892017 + ], + [ + 0.9381181227609329, + -0.15729842191577204, + 0.3085313504496925, + -0.19951092422010114, + -0.9736767767439016, + 0.11022216449719854, + 0.2830720382947497, + -0.1649567849238527, + -0.944806583509684 + ], + [ + 0.938638784068944, + -0.1565872057008377, + 0.3073071428593518, + -0.20088482590791149, + -0.9724745289647476, + 0.1180617517858364, + 0.2803614091873605, + -0.1725506810348655, + -0.9442583029621088 + ], + [ + 0.9429455251849703, + -0.161992333224463, + 0.2908817981760552, + -0.1993391429368681, + -0.974446945907542, + 0.1035232133613475, + 0.2666789129774524, + -0.1556008791362014, + -0.9511418000409854 + ], + [ + 0.9455861037964318, + -0.17256461602720433, + 0.275841210848682, + -0.20391895473741348, + -0.9749219413052241, + 0.08913062470584276, + 0.2535428567439521, + -0.14052993153430557, + -0.9570618361093911 + ], + [ + 0.9444950978795414, + -0.16703043831183917, + 0.2828954625985909, + -0.19520441286061352, + -0.9779430073141936, + 0.07431494900095445, + 0.2642427809444545, + -0.12541254770805918, + -0.9562674550543457 + ], + [ + 0.9438427411259044, + -0.16822812251478445, + 0.2843592425420521, + -0.19444313122376863, + -0.9786629673318722, + 0.06641283831512605, + 0.26711935299381667, + -0.11797497687359575, + -0.9564147406265961 + ], + [ + 0.9455117340674207, + -0.17183386645891532, + 0.2765514112757313, + -0.19071149071928087, + -0.9807184876664812, + 0.042665855866250574, + 0.26388764284908967, + -0.09308259927048487, + -0.9600515307339506 + ], + [ + 0.9411897247380252, + -0.18186358505089353, + 0.28475873731985285, + -0.19796740386633357, + -0.9797920673788868, + 0.02857291913387666, + 0.27380797843376387, + -0.08326548585004172, + -0.9581732879871846 + ], + [ + 0.939397833490281, + -0.19008446856099226, + 0.28530616054626445, + -0.2026571226726097, + -0.979136072921638, + 0.01492117065283928, + 0.276517270823767, + -0.07183624096149159, + -0.9583202770580916 + ], + [ + 0.9359416699260104, + -0.1991912350764446, + 0.2904066844355198, + -0.21219187735084688, + -0.977132738604988, + 0.013646183812309885, + 0.28104767866401986, + -0.07439397163101855, + -0.9568060092320329 + ], + [ + 0.9376242494617282, + -0.19118022544111501, + 0.2903633727273731, + -0.20688086732339506, + -0.9780700235771722, + 0.02406939374537157, + 0.279394118686938, + -0.08263867363428803, + -0.9566137026319008 + ], + [ + 0.939334083490651, + -0.20198546974666642, + 0.27722436690160807, + -0.2180022083846766, + -0.9755498671953416, + 0.027883574995961693, + 0.26481411732040067, + -0.08662751656586891, + -0.960400518867752 + ], + [ + 0.9467218241287361, + -0.22099133881673622, + 0.23426612193474533, + -0.237082833095079, + -0.9705574199257913, + 0.042544387157440744, + 0.21796678180394685, + -0.09581817570261814, + -0.9712411437099712 + ], + [ + 0.9424866838947469, + -0.22014226148265134, + 0.25150792311652576, + -0.24972075386995926, + -0.9639307399901947, + 0.09207102469602313, + 0.22216749484950202, + -0.14958246291347269, + -0.9634659781336531 + ], + [ + 0.9524189239146286, + -0.2080821776838143, + 0.2227105760839895, + -0.23869061414737733, + -0.9635962676300215, + 0.12045340894901965, + 0.18953887223271318, + -0.16788103031567767, + -0.9674145830888109 + ], + [ + 0.9589658470077833, + -0.2035412689015433, + 0.19737136602505126, + -0.23101860801503613, + -0.9645229164827601, + 0.1277730266151122, + 0.16436212162003813, + -0.1681264269338426, + -0.971966356178556 + ], + [ + 0.9639016401009367, + -0.18618045187371787, + 0.1903430260104695, + -0.20896792665010186, + -0.9719985679940681, + 0.10747645997630564, + 0.1650031328256579, + -0.14337232354111792, + -0.975816756876074 + ], + [ + 0.954832750181464, + -0.17931562009113403, + 0.2369395019245083, + -0.20601276054463616, + -0.9741211005399554, + 0.09298830020816964, + 0.2141335136630424, + -0.1376008352960053, + -0.9670640353421077 + ], + [ + 0.9580770185951003, + -0.16859148093630985, + 0.23165780581630746, + -0.1869913416674491, + -0.9805429640414175, + 0.05974724939508892, + 0.21707755430106412, + -0.10056047048703341, + -0.9709608268071865 + ], + [ + 0.9566034417244852, + -0.1630814004570888, + 0.24148356487724806, + -0.16580172385867242, + -0.9861166130848329, + -0.009154985723110421, + 0.2396239630052929, + -0.03128070048851933, + -0.9703617233437155 + ], + [ + 0.9479875343807843, + -0.16561514757461765, + 0.2718294640992391, + -0.1574045076277818, + -0.9861696247613743, + -0.05189693802592296, + 0.27666487965966596, + 0.00641046736584255, + -0.9609450818184433 + ], + [ + 0.9491329432751928, + -0.1661499473541662, + 0.26747121524376666, + -0.15218268922108882, + -0.9857057091520032, + -0.07228197594548802, + 0.27565755039760304, + 0.027900715749858647, + -0.9608509067329013 + ], + [ + 0.9504654084483861, + -0.16096069754745204, + 0.2659081818750234, + -0.14014443133552465, + -0.9855035478799714, + -0.09561535170479432, + 0.27744377035479695, + 0.053613533375694994, + -0.9592447775882276 + ], + [ + 0.9417174160503008, + -0.17761941944700904, + 0.28569152970092004, + -0.14553105703340447, + -0.9807688111455068, + -0.1300509535642419, + 0.30329691680972326, + 0.08089425764253041, + -0.9494562124364553 + ], + [ + 0.9441132267276251, + -0.1808676891802323, + 0.27556685963401795, + -0.15101674399399598, + -0.9804524387193879, + -0.12612279113093078, + 0.2929917373432287, + 0.07745898540393746, + -0.9529721650860474 + ], + [ + 0.949539099650499, + -0.18592951428033, + 0.2525979294341119, + -0.16397287510091235, + -0.980801907787807, + -0.10554863291838011, + 0.2673731371436941, + 0.058803345136810944, + -0.9617971574789876 + ], + [ + 0.9447462018478823, + -0.20107999908757274, + 0.2588850093399434, + -0.19872354939882786, + -0.9794115390940596, + -0.03552447049200431, + 0.2606982259401327, + -0.017884939372204013, + -0.9652546627368969 + ], + [ + 0.9478200498054459, + -0.19185212836849802, + 0.25461719114639275, + -0.20400961098272608, + -0.97872228456349, + 0.021971989566235518, + 0.24498414604516372, + -0.07276984636028411, + -0.9667922825753326 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006629.json b/json/chunk-0006/episode_0006629.json new file mode 100644 index 0000000000000000000000000000000000000000..a55b6a970194c7758259af1aa9097694c78dfeb9 --- /dev/null +++ b/json/chunk-0006/episode_0006629.json @@ -0,0 +1,742 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 11, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nLift bowl." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006629.mp4", + "start": 0, + "end": 11, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.27971625328063965, + 0.1307116597890854, + 0.089616559445858, + 0.17942485213279724, + -0.11928195506334305, + 0.04177723079919815, + 0.0, + 1.0014774799346924 + ], + [ + 0.27529895305633545, + 0.1265556961297989, + 0.0732976496219635, + 0.1478869765996933, + -0.08922069519758224, + 0.04413061961531639, + 0.0, + 1.0014774799346924 + ], + [ + 0.27283984422683716, + 0.12698790431022644, + 0.055961672216653824, + 0.1044173315167427, + -0.1093500629067421, + 0.05604487657546997, + 0.0, + 1.0014774799346924 + ], + [ + 0.27057012915611267, + 0.1287095546722412, + 0.044928357005119324, + 0.08235242962837219, + -0.12549950182437897, + 0.06751874834299088, + 0.0, + 1.0014774799346924 + ], + [ + 0.2691247761249542, + 0.13062931597232819, + 0.037549711763858795, + 0.07808328419923782, + -0.12780748307704926, + 0.055570803582668304, + 0.0, + 1.0014774799346924 + ], + [ + 0.26751989126205444, + 0.13283798098564148, + 0.028276633471250534, + 0.06916863471269608, + -0.13257993757724762, + 0.05782473459839821, + 0.0, + 0.8801529407501221 + ], + [ + 0.2650233209133148, + 0.1342131644487381, + 0.017203180119395256, + 0.06505483388900757, + -0.1358640193939209, + 0.06614500284194946, + 0.0, + 0.6470694541931152 + ], + [ + 0.2657967507839203, + 0.1342734843492508, + 0.014011279679834843, + 0.06134353578090668, + -0.14406099915504456, + 0.07950932532548904, + 0.0, + 0.3259891867637634 + ], + [ + 0.26514315605163574, + 0.134105384349823, + 0.013246404007077217, + 0.05879267677664757, + -0.14182166755199432, + 0.09546126425266266, + 0.0, + 0.12483644485473633 + ], + [ + 0.2622504234313965, + 0.1315341591835022, + 0.016683997586369514, + 0.06883580982685089, + -0.11423900723457336, + 0.10180961340665817, + 0.0, + 0.059241458773612976 + ], + [ + 0.25532811880111694, + 0.1297328621149063, + 0.03068854846060276, + 0.0923900231719017, + -0.07128694653511047, + 0.08438046276569366, + 0.0, + 0.05538023263216019 + ] + ], + "left_gripper_pos": [ + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 0.8801529407501221 + ], + [ + 0.6470694541931152 + ], + [ + 0.3259891867637634 + ], + [ + 0.12483644485473633 + ], + [ + 0.059241458773612976 + ], + [ + 0.05538023263216019 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.27971625328063965, + 0.1307116597890854, + 0.089616559445858 + ], + [ + 0.27529895305633545, + 0.1265556961297989, + 0.0732976496219635 + ], + [ + 0.27283984422683716, + 0.12698790431022644, + 0.055961672216653824 + ], + [ + 0.27057012915611267, + 0.1287095546722412, + 0.044928357005119324 + ], + [ + 0.2691247761249542, + 0.13062931597232819, + 0.037549711763858795 + ], + [ + 0.26751989126205444, + 0.13283798098564148, + 0.028276633471250534 + ], + [ + 0.2650233209133148, + 0.1342131644487381, + 0.017203180119395256 + ], + [ + 0.2657967507839203, + 0.1342734843492508, + 0.014011279679834843 + ], + [ + 0.26514315605163574, + 0.134105384349823, + 0.013246404007077217 + ], + [ + 0.2622504234313965, + 0.1315341591835022, + 0.016683997586369514 + ], + [ + 0.25532811880111694, + 0.1297328621149063, + 0.03068854846060276 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.992027997046507, + 0.06231312646119688, + 0.10953322485221742, + 0.04146831079204168, + -0.9822009970849247, + 0.18319820011516078, + 0.11899929527501488, + -0.17719558571254176, + -0.9769549079297566 + ], + [ + 0.9950527481013269, + 0.05675107008971943, + 0.08154351316732354, + 0.043940823115246844, + -0.9875424586875476, + 0.15109300563993094, + 0.08910237123641719, + -0.14676242139262136, + -0.9851505261161986 + ], + [ + 0.9924665118097842, + 0.06706719578890737, + 0.10252908945822285, + 0.05568097387400399, + -0.9923547557097339, + 0.11014385125243002, + 0.10913226875934719, + -0.1036051642983462, + -0.9886132296536148 + ], + [ + 0.989874663301075, + 0.07751178122306814, + 0.11891204617788032, + 0.06693684602532075, + -0.9936454776562214, + 0.09048824994175708, + 0.12517032235624234, + -0.08161242861823573, + -0.988772876800465 + ], + [ + 0.9903126659595236, + 0.06529999526119216, + 0.12254278542219152, + 0.05508918955984225, + -0.9948618713916726, + 0.08494138004941308, + 0.12745981654537544, + -0.07736774179170118, + -0.9888216359365686 + ], + [ + 0.9895674297878713, + 0.0667752942350339, + 0.12766112165750199, + 0.05728533655718431, + -0.9954134095713527, + 0.0766194117770743, + 0.13219187614432665, + -0.0685069640646803, + -0.9888539344898638 + ], + [ + 0.9886180414028387, + 0.07474294032200902, + 0.13056745798565417, + 0.06548767741301485, + -0.9951205256077926, + 0.07380043103613586, + 0.13544641863063, + -0.06440987801642802, + -0.9886888465508473 + ], + [ + 0.9865146722540916, + 0.08804953408185912, + 0.13797130489841075, + 0.07860282120819428, + -0.9942667792027899, + 0.07249253942181719, + 0.14356321926425075, + -0.06067001995778975, + -0.9877797076032725 + ], + [ + 0.9854528959198651, + 0.10341920782943102, + 0.13485939854190462, + 0.09435938131314507, + -0.9929354704716811, + 0.07194066052922814, + 0.14134672646139282, + -0.058168882842238825, + -0.9882497073045526 + ], + [ + 0.9883374463328248, + 0.10919297821908194, + 0.10614134766412964, + 0.10097135731623133, + -0.9916690358724569, + 0.07998317506519582, + 0.11399068899707762, + -0.06833313105250576, + -0.9911290057417009 + ], + [ + 0.9939112785806177, + 0.09046880450405351, + 0.06289487834354657, + 0.0840663075259947, + -0.9916385028096788, + 0.09790779174470231, + 0.07122658386576644, + -0.09202431829134329, + -0.9932060705582839 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.004417300224304199, + -0.004155963659286499, + -0.0163189098238945, + -0.03153787553310394, + 0.030061259865760803, + 0.0023533888161182404, + 1.0 + ], + [ + -0.002459108829498291, + 0.00043220818042755127, + -0.017335977405309677, + -0.04346964508295059, + -0.02012936770915985, + 0.01191425696015358, + 1.0 + ], + [ + -0.0022697150707244873, + 0.0017216503620147705, + -0.0110333152115345, + -0.022064901888370514, + -0.01614943891763687, + 0.011473871767520905, + 1.0 + ], + [ + -0.0014453530311584473, + 0.001919761300086975, + -0.0073786452412605286, + -0.004269145429134369, + -0.002307981252670288, + -0.01194794476032257, + 1.0 + ], + [ + -0.0016048848628997803, + 0.0022086650133132935, + -0.009273078292608261, + -0.008914649486541748, + -0.004772454500198364, + 0.002253931015729904, + 0.0 + ], + [ + -0.002496570348739624, + 0.0013751834630966187, + -0.011073453351855278, + -0.004113800823688507, + -0.003284081816673279, + 0.008320268243551254, + 0.0 + ], + [ + 0.0007734298706054688, + 6.031990051269531e-05, + -0.0031919004395604134, + -0.003711298108100891, + -0.008196979761123657, + 0.013364322483539581, + 0.0 + ], + [ + -0.0006535947322845459, + -0.0001680999994277954, + -0.0007648756727576256, + -0.0025508590042591095, + 0.002239331603050232, + 0.015951938927173615, + 0.0 + ], + [ + -0.002892732620239258, + -0.0025712251663208008, + 0.0034375935792922974, + 0.010043133050203323, + 0.02758266031742096, + 0.006348349153995514, + 0.0 + ], + [ + -0.006922304630279541, + -0.0018012970685958862, + 0.014004550874233246, + 0.023554213345050812, + 0.04295206069946289, + -0.017429150640964508, + 0.0 + ], + [ + 0.00016257166862487793, + 0.00642549991607666, + 0.03580816835165024, + 0.0412542000412941, + -0.0016026422381401062, + -0.015310920774936676, + 0.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 0.8801529407501221 + ], + [ + 0.6470694541931152 + ], + [ + 0.3259891867637634 + ], + [ + 0.12483644485473633 + ], + [ + 0.059241458773612976 + ], + [ + 0.05538023263216019 + ], + [ + 0.05538023263216019 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.27529895305633545, + 0.1265556961297989, + 0.0732976496219635 + ], + [ + 0.27283984422683716, + 0.12698790431022644, + 0.055961672216653824 + ], + [ + 0.27057012915611267, + 0.1287095546722412, + 0.044928357005119324 + ], + [ + 0.2691247761249542, + 0.13062931597232819, + 0.037549711763858795 + ], + [ + 0.26751989126205444, + 0.13283798098564148, + 0.028276633471250534 + ], + [ + 0.2650233209133148, + 0.1342131644487381, + 0.017203180119395256 + ], + [ + 0.2657967507839203, + 0.1342734843492508, + 0.014011279679834843 + ], + [ + 0.26514315605163574, + 0.134105384349823, + 0.013246404007077217 + ], + [ + 0.2622504234313965, + 0.1315341591835022, + 0.016683997586369514 + ], + [ + 0.25532811880111694, + 0.1297328621149063, + 0.03068854846060276 + ], + [ + 0.2554906904697418, + 0.13615836203098297, + 0.06649671494960785 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9950527481013269, + 0.05675107008971943, + 0.08154351316732354, + 0.043940823115246844, + -0.9875424586875476, + 0.15109300563993094, + 0.08910237123641719, + -0.14676242139262136, + -0.9851505261161986 + ], + [ + 0.9924665118097842, + 0.06706719578890737, + 0.10252908945822285, + 0.05568097387400399, + -0.9923547557097339, + 0.11014385125243002, + 0.10913226875934719, + -0.1036051642983462, + -0.9886132296536148 + ], + [ + 0.989874663301075, + 0.07751178122306814, + 0.11891204617788032, + 0.06693684602532075, + -0.9936454776562214, + 0.09048824994175708, + 0.12517032235624234, + -0.08161242861823573, + -0.988772876800465 + ], + [ + 0.9903126659595236, + 0.06529999526119216, + 0.12254278542219152, + 0.05508918955984225, + -0.9948618713916726, + 0.08494138004941308, + 0.12745981654537544, + -0.07736774179170118, + -0.9888216359365686 + ], + [ + 0.9895674297878713, + 0.0667752942350339, + 0.12766112165750199, + 0.05728533655718431, + -0.9954134095713527, + 0.0766194117770743, + 0.13219187614432665, + -0.0685069640646803, + -0.9888539344898638 + ], + [ + 0.9886180414028387, + 0.07474294032200902, + 0.13056745798565417, + 0.06548767741301485, + -0.9951205256077926, + 0.07380043103613586, + 0.13544641863063, + -0.06440987801642802, + -0.9886888465508473 + ], + [ + 0.9865146722540916, + 0.08804953408185912, + 0.13797130489841075, + 0.07860282120819428, + -0.9942667792027899, + 0.07249253942181719, + 0.14356321926425075, + -0.06067001995778975, + -0.9877797076032725 + ], + [ + 0.9854528959198651, + 0.10341920782943102, + 0.13485939854190462, + 0.09435938131314507, + -0.9929354704716811, + 0.07194066052922814, + 0.14134672646139282, + -0.058168882842238825, + -0.9882497073045526 + ], + [ + 0.9883374463328248, + 0.10919297821908194, + 0.10614134766412964, + 0.10097135731623133, + -0.9916690358724569, + 0.07998317506519582, + 0.11399068899707762, + -0.06833313105250576, + -0.9911290057417009 + ], + [ + 0.9939112785806177, + 0.09046880450405351, + 0.06289487834354657, + 0.0840663075259947, + -0.9916385028096788, + 0.09790779174470231, + 0.07122658386576644, + -0.09202431829134329, + -0.9932060705582839 + ], + [ + 0.9949667082446297, + 0.07807979283436611, + 0.06280760651217597, + 0.06883138536806566, + -0.988050106165142, + 0.1379102175161966, + 0.07282506349574093, + -0.13289294058750556, + -0.9884513020219292 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006630.json b/json/chunk-0006/episode_0006630.json new file mode 100644 index 0000000000000000000000000000000000000000..5e3c5069963d26e5fa818c9995b74e6845f043eb --- /dev/null +++ b/json/chunk-0006/episode_0006630.json @@ -0,0 +1,1402 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 22, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut potato on plate." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006630.mp4", + "start": 0, + "end": 22, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.31888359785079956, + -0.013770769350230694, + 0.05912212282419205, + 0.10397418588399887, + -0.08438524603843689, + -0.04977612569928169, + 0.0, + 1.0099300146102905 + ], + [ + 0.31993865966796875, + -0.02308395318686962, + 0.05486441031098366, + 0.08795186877250671, + -0.045773234218358994, + -0.0643172338604927, + 0.0, + 1.0099300146102905 + ], + [ + 0.3373308777809143, + -0.04335863143205643, + 0.06866864860057831, + 0.06907704472541809, + -0.07473627477884293, + -0.08549301326274872, + 0.0, + 1.0099300146102905 + ], + [ + 0.34991154074668884, + -0.060683950781822205, + 0.08347757160663605, + 0.07472412288188934, + -0.11055931448936462, + -0.13422124087810516, + 0.0, + 1.0099300146102905 + ], + [ + 0.36158281564712524, + -0.07208751887083054, + 0.08819160610437393, + 0.07547051459550858, + -0.16272595524787903, + -0.1966663897037506, + 0.0, + 1.0099300146102905 + ], + [ + 0.3746665120124817, + -0.07620134204626083, + 0.08428850769996643, + 0.08322730660438538, + -0.20273074507713318, + -0.2566913068294525, + 0.0, + 1.0099300146102905 + ], + [ + 0.38730907440185547, + -0.08237826079130173, + 0.08122330904006958, + 0.07098378986120224, + -0.22217854857444763, + -0.3029490113258362, + 0.0, + 1.0099300146102905 + ], + [ + 0.3959598243236542, + -0.08198115974664688, + 0.0813184604048729, + 0.05612056702375412, + -0.24606168270111084, + -0.3187001645565033, + 0.0, + 1.0099300146102905 + ], + [ + 0.40074604749679565, + -0.08008945733308792, + 0.07869438827037811, + 0.04427363723516464, + -0.2805987298488617, + -0.3255506753921509, + 0.0, + 1.0099300146102905 + ], + [ + 0.40157291293144226, + -0.0749281793832779, + 0.06735637038946152, + 0.050260331481695175, + -0.2810816168785095, + -0.3420123755931854, + 0.0, + 1.0099300146102905 + ], + [ + 0.4046679735183716, + -0.07066072523593903, + 0.06107527017593384, + 0.045330267399549484, + -0.28965964913368225, + -0.35107922554016113, + 0.0, + 1.0099300146102905 + ], + [ + 0.40352189540863037, + -0.06885582953691483, + 0.04887907952070236, + 0.02733662910759449, + -0.29095593094825745, + -0.3641379475593567, + 0.0, + 1.0099300146102905 + ], + [ + 0.4025996923446655, + -0.06831295788288116, + 0.04314417392015457, + 0.010638324543833733, + -0.3096652328968048, + -0.35887420177459717, + 0.0, + 1.0099300146102905 + ], + [ + 0.400947242975235, + -0.06752561777830124, + 0.03726551681756973, + 0.007315180264413357, + -0.3215196430683136, + -0.3521508574485779, + 0.0, + 0.8224069476127625 + ], + [ + 0.40023258328437805, + -0.06575137376785278, + 0.036890484392642975, + 0.012558145448565483, + -0.31378883123397827, + -0.35110005736351013, + 0.0, + 0.6430501937866211 + ], + [ + 0.3954765200614929, + -0.05592573061585426, + 0.04303126037120819, + 0.038367196917533875, + -0.24326349794864655, + -0.3641585409641266, + 0.0, + 0.6430501937866211 + ], + [ + 0.3780478239059448, + -0.028476186096668243, + 0.06117003411054611, + 0.08044563233852386, + -0.12578269839286804, + -0.41267725825309753, + 0.0, + 0.6430501937866211 + ], + [ + 0.3798273205757141, + 0.014855673536658287, + 0.08600644022226334, + 0.11881302297115326, + -0.12532013654708862, + -0.4717211425304413, + 0.0, + 0.6430501937866211 + ], + [ + 0.38255423307418823, + 0.05353996157646179, + 0.09279573708772659, + 0.15312296152114868, + -0.12377157062292099, + -0.5320809483528137, + 0.0, + 0.6430501937866211 + ], + [ + 0.3883795738220215, + 0.07768125087022781, + 0.09822608530521393, + 0.2006474733352661, + -0.14781394600868225, + -0.6100581884384155, + 0.0, + 0.6430501937866211 + ], + [ + 0.38451462984085083, + 0.09128444641828537, + 0.08662082999944687, + 0.2070675790309906, + -0.17694203555583954, + -0.6282249093055725, + 0.0, + 0.6430501937866211 + ], + [ + 0.3794792890548706, + 0.09636208415031433, + 0.0749829113483429, + 0.19370019435882568, + -0.21164588630199432, + -0.6325250864028931, + 0.0, + 0.649078905582428 + ] + ], + "left_gripper_pos": [ + [ + 1.0099300146102905 + ], + [ + 1.0099300146102905 + ], + [ + 1.0099300146102905 + ], + [ + 1.0099300146102905 + ], + [ + 1.0099300146102905 + ], + [ + 1.0099300146102905 + ], + [ + 1.0099300146102905 + ], + [ + 1.0099300146102905 + ], + [ + 1.0099300146102905 + ], + [ + 1.0099300146102905 + ], + [ + 1.0099300146102905 + ], + [ + 1.0099300146102905 + ], + [ + 1.0099300146102905 + ], + [ + 0.8224069476127625 + ], + [ + 0.6430501937866211 + ], + [ + 0.6430501937866211 + ], + [ + 0.6430501937866211 + ], + [ + 0.6430501937866211 + ], + [ + 0.6430501937866211 + ], + [ + 0.6430501937866211 + ], + [ + 0.6430501937866211 + ], + [ + 0.649078905582428 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.31888359785079956, + -0.013770769350230694, + 0.05912212282419205 + ], + [ + 0.31993865966796875, + -0.02308395318686962, + 0.05486441031098366 + ], + [ + 0.3373308777809143, + -0.04335863143205643, + 0.06866864860057831 + ], + [ + 0.34991154074668884, + -0.060683950781822205, + 0.08347757160663605 + ], + [ + 0.36158281564712524, + -0.07208751887083054, + 0.08819160610437393 + ], + [ + 0.3746665120124817, + -0.07620134204626083, + 0.08428850769996643 + ], + [ + 0.38730907440185547, + -0.08237826079130173, + 0.08122330904006958 + ], + [ + 0.3959598243236542, + -0.08198115974664688, + 0.0813184604048729 + ], + [ + 0.40074604749679565, + -0.08008945733308792, + 0.07869438827037811 + ], + [ + 0.40157291293144226, + -0.0749281793832779, + 0.06735637038946152 + ], + [ + 0.4046679735183716, + -0.07066072523593903, + 0.06107527017593384 + ], + [ + 0.40352189540863037, + -0.06885582953691483, + 0.04887907952070236 + ], + [ + 0.4025996923446655, + -0.06831295788288116, + 0.04314417392015457 + ], + [ + 0.400947242975235, + -0.06752561777830124, + 0.03726551681756973 + ], + [ + 0.40023258328437805, + -0.06575137376785278, + 0.036890484392642975 + ], + [ + 0.3954765200614929, + -0.05592573061585426, + 0.04303126037120819 + ], + [ + 0.3780478239059448, + -0.028476186096668243, + 0.06117003411054611 + ], + [ + 0.3798273205757141, + 0.014855673536658287, + 0.08600644022226334 + ], + [ + 0.38255423307418823, + 0.05353996157646179, + 0.09279573708772659 + ], + [ + 0.3883795738220215, + 0.07768125087022781, + 0.09822608530521393 + ], + [ + 0.38451462984085083, + 0.09128444641828537, + 0.08662082999944687 + ], + [ + 0.3794792890548706, + 0.09636208415031433, + 0.0749829113483429 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9952075090762224, + -0.040750009050487646, + 0.08889010428999582, + -0.04957852712260241, + -0.9938029121030957, + 0.09948739389370065, + 0.08428513229896799, + -0.10341764190790728, + -0.9910604460957735 + ], + [ + 0.996887113711518, + -0.060013528202637625, + 0.051131780221217255, + -0.06420557926433605, + -0.9943334074462262, + 0.08472731807220572, + 0.045757251963494325, + -0.08774651713343885, + -0.9950913639579538 + ], + [ + 0.993566437256022, + -0.08005043144515825, + 0.0801103188348376, + -0.08515054644038983, + -0.9944116024897834, + 0.06240952871640569, + 0.07466672082848108, + -0.06882945052188687, + -0.9948303310321699 + ], + [ + 0.9849552994888774, + -0.12528229682055725, + 0.1190269049927027, + -0.13300157298594978, + -0.9893426523914712, + 0.05925957932918351, + 0.110334217684448, + -0.07419880229743948, + -0.9911210310277885 + ], + [ + 0.9677673954187115, + -0.18286504331248113, + 0.17316652187650966, + -0.19281969218793013, + -0.9803186197644115, + 0.042378886815855624, + 0.16200874874226756, + -0.07440282036000803, + -0.9839803786933158 + ], + [ + 0.9474267044676198, + -0.23681324130093714, + 0.21517929362782356, + -0.2486822700203026, + -0.9681367906101942, + 0.029466646306322064, + 0.20134489871654132, + -0.08142876280244409, + -0.9761299034192573 + ], + [ + 0.9309999195293642, + -0.28266811639263684, + 0.23094996386957103, + -0.291003024995339, + -0.9567197839751562, + 0.0021199986067580237, + 0.22035514352943883, + -0.06918085664090348, + -0.972963318833013 + ], + [ + 0.9210395362414525, + -0.2998641544615525, + 0.24853100721879276, + -0.3038946403897154, + -0.9524295008122137, + -0.022936728733683045, + 0.2435861659095914, + -0.05440160706868137, + -0.9683523351166192 + ], + [ + 0.9104188238815749, + -0.30790422801604, + 0.27628346221215694, + -0.30732194837174487, + -0.9504663799653645, + -0.04654976481712777, + 0.27693101157343236, + -0.04252818977315804, + -0.9599482110528327 + ], + [ + 0.9051105705615288, + -0.3218311357645067, + 0.27784811518221914, + -0.3222217867495897, + -0.9455659470447019, + -0.045586839475425876, + 0.277394980491151, + -0.04826758583132091, + -0.9595427374308714 + ], + [ + 0.8998843485403898, + -0.33140455063215585, + 0.2835122273771218, + -0.32958444702704764, + -0.9424887908414282, + -0.05557851577846829, + 0.28562606941578905, + -0.04342698422134656, + -0.9573566971153048 + ], + [ + 0.8951570643804968, + -0.3486839320750622, + 0.2776928980049082, + -0.34117520127084267, + -0.9368745338141563, + -0.07658713944460423, + 0.2868681092897762, + -0.02618441145377648, + -0.9576121680875449 + ], + [ + 0.8917586515558127, + -0.34816517486707704, + 0.2890458759178842, + -0.33451480675612716, + -0.9373784459786293, + -0.09706437593474515, + 0.30473980940512213, + -0.010132128328651728, + -0.9523817451732588 + ], + [ + 0.8905339813018772, + -0.34273845940579256, + 0.29913137012151003, + -0.32724261990557973, + -0.9394052273729591, + -0.10212779495167586, + 0.3160086958676299, + -0.006940261414610932, + -0.94873090858659 + ], + [ + 0.8931446797629156, + -0.34026415492040746, + 0.29413072924721734, + -0.32713713161288, + -0.9402540245693166, + -0.09435924120773805, + 0.30866466939268594, + -0.011944628813982422, + -0.9510959193010976 + ], + [ + 0.9069116066058003, + -0.3472676175994692, + 0.2385718750617413, + -0.34567665189814456, + -0.9370268121071486, + -0.04988392250819527, + 0.24087131447346585, + -0.03722841870269856, + -0.9698427989652351 + ], + [ + 0.9088133583553062, + -0.3905314055210277, + 0.1467770451287271, + -0.39789477799561435, + -0.9171310150215648, + 0.023461605429613407, + 0.12545128663656882, + -0.07972404020924119, + -0.9888913247136637 + ], + [ + 0.8838016665409736, + -0.43801874857079326, + 0.16442077155844573, + -0.45085643250325314, + -0.8912400631567108, + 0.04918970517153293, + 0.1249923657262231, + -0.11760410590153311, + -0.9851630234561505 + ], + [ + 0.8551608649025567, + -0.4851648226102101, + 0.18252394374633377, + -0.503446682236162, + -0.8612233762583271, + 0.06953944442982868, + 0.12345579485999211, + -0.15135848535120716, + -0.9807391475961772 + ], + [ + 0.8106771077656207, + -0.5373632527356427, + 0.23247228125980482, + -0.566667739677617, + -0.8199879817614242, + 0.08066834927954461, + 0.14727627016403047, + -0.197130526241361, + -0.9692519052704387 + ], + [ + 0.7964396210348975, + -0.545876025156729, + 0.26019856879867437, + -0.5785333400660833, + -0.8130567541516147, + 0.06509907034990545, + 0.1760201820183412, + -0.2023810260067145, + -0.9633580932522958 + ], + [ + 0.7885406136092893, + -0.5475137764511881, + 0.2800577891879529, + -0.5779918435498834, + -0.8153593765578508, + 0.033384365337682215, + 0.2100693444519987, + -0.18819604580158214, + -0.9594024801229963 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + 0.0010550618171691895, + -0.009313183836638927, + -0.004257712513208389, + -0.016022317111492157, + 0.038612011820077896, + -0.014541108161211014, + 1.0 + ], + [ + 0.017392218112945557, + -0.020274678245186806, + 0.01380423828959465, + -0.018874824047088623, + -0.028963040560483932, + -0.021175779402256012, + 1.0 + ], + [ + 0.012580662965774536, + -0.017325319349765778, + 0.01480892300605774, + 0.0056470781564712524, + -0.0358230397105217, + -0.048728227615356445, + 1.0 + ], + [ + 0.011671274900436401, + -0.011403568089008331, + 0.0047140344977378845, + 0.0007463917136192322, + -0.052166640758514404, + -0.06244514882564545, + 1.0 + ], + [ + 0.013083696365356445, + -0.004113823175430298, + -0.0039030984044075012, + 0.0077567920088768005, + -0.04000478982925415, + -0.060024917125701904, + 1.0 + ], + [ + 0.01264256238937378, + -0.0061769187450408936, + -0.0030651986598968506, + -0.012243516743183136, + -0.019447803497314453, + -0.04625770449638367, + 1.0 + ], + [ + 0.008650749921798706, + 0.0003971010446548462, + 9.515136480331421e-05, + -0.01486322283744812, + -0.023883134126663208, + -0.015751153230667114, + 1.0 + ], + [ + 0.0047862231731414795, + 0.00189170241355896, + -0.0026240721344947815, + -0.011846929788589478, + -0.034537047147750854, + -0.006850510835647583, + 1.0 + ], + [ + 0.0008268654346466064, + 0.005161277949810028, + -0.011338017880916595, + 0.005986694246530533, + -0.00048288702964782715, + -0.016461700201034546, + 1.0 + ], + [ + 0.0030950605869293213, + 0.004267454147338867, + -0.0062811002135276794, + -0.004930064082145691, + -0.00857803225517273, + -0.009066849946975708, + 1.0 + ], + [ + -0.001146078109741211, + 0.0018048956990242004, + -0.012196190655231476, + -0.017993638291954994, + -0.0012962818145751953, + -0.013058722019195557, + 1.0 + ], + [ + -0.0009222030639648438, + 0.0005428716540336609, + -0.0057349056005477905, + -0.016698304563760757, + -0.018709301948547363, + 0.0052637457847595215, + 1.0 + ], + [ + -0.001652449369430542, + 0.0007873401045799255, + -0.005878657102584839, + -0.003323144279420376, + -0.011854410171508789, + 0.006723344326019287, + 0.0 + ], + [ + -0.0007146596908569336, + 0.0017742440104484558, + -0.0003750324249267578, + 0.005242965184152126, + 0.007730811834335327, + 0.001050800085067749, + 0.0 + ], + [ + -0.004756063222885132, + 0.00982564315199852, + 0.006140775978565216, + 0.02580905146896839, + 0.07052533328533173, + -0.013058483600616455, + 0.0 + ], + [ + -0.017428696155548096, + 0.02744954451918602, + 0.01813877373933792, + 0.04207843542098999, + 0.1174807995557785, + -0.04851871728897095, + 0.0 + ], + [ + 0.0017794966697692871, + 0.04333186149597168, + 0.024836406111717224, + 0.038367390632629395, + 0.00046256184577941895, + -0.05904388427734375, + 0.0 + ], + [ + 0.002726912498474121, + 0.038684286177158356, + 0.006789296865463257, + 0.03430993854999542, + 0.001548565924167633, + -0.060359805822372437, + 0.0 + ], + [ + 0.005825340747833252, + 0.02414128929376602, + 0.005430348217487335, + 0.04752451181411743, + -0.02404237538576126, + -0.0779772400856018, + 0.0 + ], + [ + -0.0038649439811706543, + 0.013603195548057556, + -0.01160525530576706, + 0.006420105695724487, + -0.029128089547157288, + -0.018166720867156982, + 0.0 + ], + [ + -0.005035340785980225, + 0.005077637732028961, + -0.011637918651103973, + -0.013367384672164917, + -0.034703850746154785, + -0.004300177097320557, + 1.0 + ], + [ + 0.0005580782890319824, + 0.0024983063340187073, + -0.0010171979665756226, + 0.0038971006870269775, + -0.017447859048843384, + -0.006769120693206787, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0099300146102905 + ], + [ + 1.0099300146102905 + ], + [ + 1.0099300146102905 + ], + [ + 1.0099300146102905 + ], + [ + 1.0099300146102905 + ], + [ + 1.0099300146102905 + ], + [ + 1.0099300146102905 + ], + [ + 1.0099300146102905 + ], + [ + 1.0099300146102905 + ], + [ + 1.0099300146102905 + ], + [ + 1.0099300146102905 + ], + [ + 1.0099300146102905 + ], + [ + 0.8224069476127625 + ], + [ + 0.6430501937866211 + ], + [ + 0.6430501937866211 + ], + [ + 0.6430501937866211 + ], + [ + 0.6430501937866211 + ], + [ + 0.6430501937866211 + ], + [ + 0.6430501937866211 + ], + [ + 0.6430501937866211 + ], + [ + 0.649078905582428 + ], + [ + 0.8598465323448181 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.31993865966796875, + -0.02308395318686962, + 0.05486441031098366 + ], + [ + 0.3373308777809143, + -0.04335863143205643, + 0.06866864860057831 + ], + [ + 0.34991154074668884, + -0.060683950781822205, + 0.08347757160663605 + ], + [ + 0.36158281564712524, + -0.07208751887083054, + 0.08819160610437393 + ], + [ + 0.3746665120124817, + -0.07620134204626083, + 0.08428850769996643 + ], + [ + 0.38730907440185547, + -0.08237826079130173, + 0.08122330904006958 + ], + [ + 0.3959598243236542, + -0.08198115974664688, + 0.0813184604048729 + ], + [ + 0.40074604749679565, + -0.08008945733308792, + 0.07869438827037811 + ], + [ + 0.40157291293144226, + -0.0749281793832779, + 0.06735637038946152 + ], + [ + 0.4046679735183716, + -0.07066072523593903, + 0.06107527017593384 + ], + [ + 0.40352189540863037, + -0.06885582953691483, + 0.04887907952070236 + ], + [ + 0.4025996923446655, + -0.06831295788288116, + 0.04314417392015457 + ], + [ + 0.400947242975235, + -0.06752561777830124, + 0.03726551681756973 + ], + [ + 0.40023258328437805, + -0.06575137376785278, + 0.036890484392642975 + ], + [ + 0.3954765200614929, + -0.05592573061585426, + 0.04303126037120819 + ], + [ + 0.3780478239059448, + -0.028476186096668243, + 0.06117003411054611 + ], + [ + 0.3798273205757141, + 0.014855673536658287, + 0.08600644022226334 + ], + [ + 0.38255423307418823, + 0.05353996157646179, + 0.09279573708772659 + ], + [ + 0.3883795738220215, + 0.07768125087022781, + 0.09822608530521393 + ], + [ + 0.38451462984085083, + 0.09128444641828537, + 0.08662082999944687 + ], + [ + 0.3794792890548706, + 0.09636208415031433, + 0.0749829113483429 + ], + [ + 0.3800373673439026, + 0.09886039048433304, + 0.07396571338176727 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.996887113711518, + -0.060013528202637625, + 0.051131780221217255, + -0.06420557926433605, + -0.9943334074462262, + 0.08472731807220572, + 0.045757251963494325, + -0.08774651713343885, + -0.9950913639579538 + ], + [ + 0.993566437256022, + -0.08005043144515825, + 0.0801103188348376, + -0.08515054644038983, + -0.9944116024897834, + 0.06240952871640569, + 0.07466672082848108, + -0.06882945052188687, + -0.9948303310321699 + ], + [ + 0.9849552994888774, + -0.12528229682055725, + 0.1190269049927027, + -0.13300157298594978, + -0.9893426523914712, + 0.05925957932918351, + 0.110334217684448, + -0.07419880229743948, + -0.9911210310277885 + ], + [ + 0.9677673954187115, + -0.18286504331248113, + 0.17316652187650966, + -0.19281969218793013, + -0.9803186197644115, + 0.042378886815855624, + 0.16200874874226756, + -0.07440282036000803, + -0.9839803786933158 + ], + [ + 0.9474267044676198, + -0.23681324130093714, + 0.21517929362782356, + -0.2486822700203026, + -0.9681367906101942, + 0.029466646306322064, + 0.20134489871654132, + -0.08142876280244409, + -0.9761299034192573 + ], + [ + 0.9309999195293642, + -0.28266811639263684, + 0.23094996386957103, + -0.291003024995339, + -0.9567197839751562, + 0.0021199986067580237, + 0.22035514352943883, + -0.06918085664090348, + -0.972963318833013 + ], + [ + 0.9210395362414525, + -0.2998641544615525, + 0.24853100721879276, + -0.3038946403897154, + -0.9524295008122137, + -0.022936728733683045, + 0.2435861659095914, + -0.05440160706868137, + -0.9683523351166192 + ], + [ + 0.9104188238815749, + -0.30790422801604, + 0.27628346221215694, + -0.30732194837174487, + -0.9504663799653645, + -0.04654976481712777, + 0.27693101157343236, + -0.04252818977315804, + -0.9599482110528327 + ], + [ + 0.9051105705615288, + -0.3218311357645067, + 0.27784811518221914, + -0.3222217867495897, + -0.9455659470447019, + -0.045586839475425876, + 0.277394980491151, + -0.04826758583132091, + -0.9595427374308714 + ], + [ + 0.8998843485403898, + -0.33140455063215585, + 0.2835122273771218, + -0.32958444702704764, + -0.9424887908414282, + -0.05557851577846829, + 0.28562606941578905, + -0.04342698422134656, + -0.9573566971153048 + ], + [ + 0.8951570643804968, + -0.3486839320750622, + 0.2776928980049082, + -0.34117520127084267, + -0.9368745338141563, + -0.07658713944460423, + 0.2868681092897762, + -0.02618441145377648, + -0.9576121680875449 + ], + [ + 0.8917586515558127, + -0.34816517486707704, + 0.2890458759178842, + -0.33451480675612716, + -0.9373784459786293, + -0.09706437593474515, + 0.30473980940512213, + -0.010132128328651728, + -0.9523817451732588 + ], + [ + 0.8905339813018772, + -0.34273845940579256, + 0.29913137012151003, + -0.32724261990557973, + -0.9394052273729591, + -0.10212779495167586, + 0.3160086958676299, + -0.006940261414610932, + -0.94873090858659 + ], + [ + 0.8931446797629156, + -0.34026415492040746, + 0.29413072924721734, + -0.32713713161288, + -0.9402540245693166, + -0.09435924120773805, + 0.30866466939268594, + -0.011944628813982422, + -0.9510959193010976 + ], + [ + 0.9069116066058003, + -0.3472676175994692, + 0.2385718750617413, + -0.34567665189814456, + -0.9370268121071486, + -0.04988392250819527, + 0.24087131447346585, + -0.03722841870269856, + -0.9698427989652351 + ], + [ + 0.9088133583553062, + -0.3905314055210277, + 0.1467770451287271, + -0.39789477799561435, + -0.9171310150215648, + 0.023461605429613407, + 0.12545128663656882, + -0.07972404020924119, + -0.9888913247136637 + ], + [ + 0.8838016665409736, + -0.43801874857079326, + 0.16442077155844573, + -0.45085643250325314, + -0.8912400631567108, + 0.04918970517153293, + 0.1249923657262231, + -0.11760410590153311, + -0.9851630234561505 + ], + [ + 0.8551608649025567, + -0.4851648226102101, + 0.18252394374633377, + -0.503446682236162, + -0.8612233762583271, + 0.06953944442982868, + 0.12345579485999211, + -0.15135848535120716, + -0.9807391475961772 + ], + [ + 0.8106771077656207, + -0.5373632527356427, + 0.23247228125980482, + -0.566667739677617, + -0.8199879817614242, + 0.08066834927954461, + 0.14727627016403047, + -0.197130526241361, + -0.9692519052704387 + ], + [ + 0.7964396210348975, + -0.545876025156729, + 0.26019856879867437, + -0.5785333400660833, + -0.8130567541516147, + 0.06509907034990545, + 0.1760201820183412, + -0.2023810260067145, + -0.9633580932522958 + ], + [ + 0.7885406136092893, + -0.5475137764511881, + 0.2800577891879529, + -0.5779918435498834, + -0.8153593765578508, + 0.033384365337682215, + 0.2100693444519987, + -0.18819604580158214, + -0.9594024801229963 + ], + [ + 0.7815493709565247, + -0.5492416725675697, + 0.2958279328809891, + -0.5810408104517222, + -0.813499825806528, + 0.02469028153655474, + 0.22709504034008834, + -0.1911847758790614, + -0.9549221036948545 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006631.json b/json/chunk-0006/episode_0006631.json new file mode 100644 index 0000000000000000000000000000000000000000..d5f1cde13e243cf8a0ce804c171e79417001cccf --- /dev/null +++ b/json/chunk-0006/episode_0006631.json @@ -0,0 +1,1222 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 19, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut corn in pan which is on stove." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006631.mp4", + "start": 0, + "end": 19, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3267379701137543, + 0.21745771169662476, + 0.042556751519441605, + 0.09552358835935593, + -0.24941304326057434, + 0.09828430414199829, + 0.0, + 1.0086473226547241 + ], + [ + 0.3257657587528229, + 0.2112477868795395, + 0.0325164720416069, + 0.0659114345908165, + -0.23023878037929535, + 0.10673905909061432, + 0.0, + 1.0086473226547241 + ], + [ + 0.32780879735946655, + 0.20892679691314697, + 0.030836377292871475, + 0.04692879691720009, + -0.23898568749427795, + 0.09845063835382462, + 0.0, + 1.0086473226547241 + ], + [ + 0.3302129805088043, + 0.20591086149215698, + 0.025005817413330078, + 0.022790677845478058, + -0.2455601841211319, + 0.09881890565156937, + 0.0, + 1.0086473226547241 + ], + [ + 0.330058753490448, + 0.20550625026226044, + 0.022943533957004547, + 0.01772136427462101, + -0.2577348053455353, + 0.10625150799751282, + 0.0, + 1.0086473226547241 + ], + [ + 0.3294324576854706, + 0.20485225319862366, + 0.02094663307070732, + 0.012393437325954437, + -0.26072561740875244, + 0.11270392686128616, + 0.0, + 0.8362758755683899 + ], + [ + 0.3293929994106293, + 0.2042105495929718, + 0.01694139465689659, + 0.002867469098418951, + -0.25307926535606384, + 0.12056583166122437, + 0.0, + 0.5275958180427551 + ], + [ + 0.32997623085975647, + 0.20626644790172577, + 0.017245234921574593, + -0.00555741460993886, + -0.2525171935558319, + 0.13028472661972046, + 0.0, + 0.4937349259853363 + ], + [ + 0.3271172046661377, + 0.20662955939769745, + 0.0172622911632061, + 0.003919551149010658, + -0.23044778406620026, + 0.1340004801750183, + 0.0, + 0.4937349259853363 + ], + [ + 0.32074087858200073, + 0.20050255954265594, + 0.02376616559922695, + 0.03868852183222771, + -0.19769924879074097, + 0.14757059514522552, + 0.0, + 0.4937349259853363 + ], + [ + 0.32191184163093567, + 0.20040598511695862, + 0.056092146784067154, + 0.10847026109695435, + -0.24939827620983124, + 0.14132225513458252, + 0.0, + 0.4937349259853363 + ], + [ + 0.3237053155899048, + 0.19775669276714325, + 0.061319559812545776, + 0.15374469757080078, + -0.24503366649150848, + 0.12277501076459885, + 0.0, + 0.4937349259853363 + ], + [ + 0.33918634057044983, + 0.19262021780014038, + 0.08053860068321228, + 0.1953723132610321, + -0.28740194439888, + 0.07794009894132614, + 0.0, + 0.4937349259853363 + ], + [ + 0.3558056056499481, + 0.18600143492221832, + 0.09346970915794373, + 0.20867206156253815, + -0.32774174213409424, + 0.049926090985536575, + 0.0, + 0.4937349259853363 + ], + [ + 0.37609243392944336, + 0.1698099672794342, + 0.09924575686454773, + 0.20387205481529236, + -0.3659886419773102, + 0.03818125277757645, + 0.0, + 0.4937349259853363 + ], + [ + 0.38432857394218445, + 0.15499775111675262, + 0.09649894386529922, + 0.18686909973621368, + -0.37671712040901184, + 0.03322500362992287, + 0.0, + 0.4937349259853363 + ], + [ + 0.39131250977516174, + 0.14644654095172882, + 0.0846945196390152, + 0.1536448746919632, + -0.38332313299179077, + 0.038045670837163925, + 0.0, + 0.4937349259853363 + ], + [ + 0.393934041261673, + 0.14434033632278442, + 0.08163923770189285, + 0.13512620329856873, + -0.40907952189445496, + 0.0379386804997921, + 0.0, + 0.4937349259853363 + ], + [ + 0.3925345540046692, + 0.14483986794948578, + 0.06487441062927246, + 0.1021728664636612, + -0.38159051537513733, + 0.01668497920036316, + 0.0, + 0.7408273816108704 + ] + ], + "left_gripper_pos": [ + [ + 1.0086473226547241 + ], + [ + 1.0086473226547241 + ], + [ + 1.0086473226547241 + ], + [ + 1.0086473226547241 + ], + [ + 1.0086473226547241 + ], + [ + 0.8362758755683899 + ], + [ + 0.5275958180427551 + ], + [ + 0.4937349259853363 + ], + [ + 0.4937349259853363 + ], + [ + 0.4937349259853363 + ], + [ + 0.4937349259853363 + ], + [ + 0.4937349259853363 + ], + [ + 0.4937349259853363 + ], + [ + 0.4937349259853363 + ], + [ + 0.4937349259853363 + ], + [ + 0.4937349259853363 + ], + [ + 0.4937349259853363 + ], + [ + 0.4937349259853363 + ], + [ + 0.7408273816108704 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3267379701137543, + 0.21745771169662476, + 0.042556751519441605 + ], + [ + 0.3257657587528229, + 0.2112477868795395, + 0.0325164720416069 + ], + [ + 0.32780879735946655, + 0.20892679691314697, + 0.030836377292871475 + ], + [ + 0.3302129805088043, + 0.20591086149215698, + 0.025005817413330078 + ], + [ + 0.330058753490448, + 0.20550625026226044, + 0.022943533957004547 + ], + [ + 0.3294324576854706, + 0.20485225319862366, + 0.02094663307070732 + ], + [ + 0.3293929994106293, + 0.2042105495929718, + 0.01694139465689659 + ], + [ + 0.32997623085975647, + 0.20626644790172577, + 0.017245234921574593 + ], + [ + 0.3271172046661377, + 0.20662955939769745, + 0.0172622911632061 + ], + [ + 0.32074087858200073, + 0.20050255954265594, + 0.02376616559922695 + ], + [ + 0.32191184163093567, + 0.20040598511695862, + 0.056092146784067154 + ], + [ + 0.3237053155899048, + 0.19775669276714325, + 0.061319559812545776 + ], + [ + 0.33918634057044983, + 0.19262021780014038, + 0.08053860068321228 + ], + [ + 0.3558056056499481, + 0.18600143492221832, + 0.09346970915794373 + ], + [ + 0.37609243392944336, + 0.1698099672794342, + 0.09924575686454773 + ], + [ + 0.38432857394218445, + 0.15499775111675262, + 0.09649894386529922 + ], + [ + 0.39131250977516174, + 0.14644654095172882, + 0.0846945196390152 + ], + [ + 0.393934041261673, + 0.14434033632278442, + 0.08163923770189285 + ], + [ + 0.3925345540046692, + 0.14483986794948578, + 0.06487441062927246 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9643807838678076, + 0.12110792305607154, + 0.23516499458796622, + 0.09508987482830236, + -0.9883269174538527, + 0.11902865176630323, + 0.2468352069937579, + -0.09242713459374768, + -0.9646396246159177 + ], + [ + 0.9680709037958835, + 0.1212503777748251, + 0.2194016205803483, + 0.10372519849994845, + -0.9905484540543523, + 0.0897487791932491, + 0.22821000946489445, + -0.06412570514227885, + -0.9714978566728997 + ], + [ + 0.9668738553968663, + 0.1092344676344187, + 0.230700625986633, + 0.09549808712463938, + -0.9929705189359455, + 0.06992613159337183, + 0.23671726406313076, + -0.04557827996649173, + -0.9705089166461901 + ], + [ + 0.9652690326447978, + 0.10414543344775222, + 0.23960263627296763, + 0.0956985368023336, + -0.9943163955327486, + 0.04665507077108407, + 0.24309974222707148, + -0.022105073325874157, + -0.9697493908543532 + ], + [ + 0.9615167225022787, + 0.11052635470249349, + 0.2515343262154389, + 0.10254879669706972, + -0.9937254713005603, + 0.04464786651635917, + 0.2548908327980026, + -0.017135127798127436, + -0.9668180029100011 + ], + [ + 0.9600732333656202, + 0.11563129501122586, + 0.2547327819282594, + 0.1086645054172062, + -0.9932200261892034, + 0.04130381143613978, + 0.25778171354329477, + -0.011974272034035253, + -0.9661289794701003 + ], + [ + 0.9611179833118193, + 0.12098621827733638, + 0.24822279738486855, + 0.11644274506343336, + -0.9926503050506721, + 0.032961477589747455, + 0.2503863200670377, + -0.002776124953217279, + -0.9681420266952212 + ], + [ + 0.9600803052652278, + 0.12853775349936813, + 0.24844285734784727, + 0.12579636730039012, + -0.9916900167050595, + 0.026947815153446745, + 0.24984211297507963, + 0.00538114233733614, + -0.9682716364178459 + ], + [ + 0.9648365618487559, + 0.13448604242924217, + 0.22584045986401963, + 0.13006800203241342, + -0.9909081406005482, + 0.034400170622543774, + 0.22841349296214503, + -0.0038159249578712234, + -0.9735567343249946 + ], + [ + 0.9698639900748319, + 0.15444003837901676, + 0.1884465847438313, + 0.1441714733585992, + -0.9872739918235458, + 0.06711669940046067, + 0.19641391759683652, + -0.037925448109269594, + -0.9797873408857526 + ], + [ + 0.9594001757119004, + 0.1664783758676169, + 0.22767576334000775, + 0.13649449704697345, + -0.980448467450388, + 0.14173939096129604, + 0.24682089684600958, + -0.10490830778668506, + -0.9633658141316132 + ], + [ + 0.9628266188135297, + 0.15789261391107096, + 0.21916848445074294, + 0.11880861116369522, + -0.9762163031156998, + 0.18134564633447894, + 0.24258898577111854, + -0.14856531224833583, + -0.958686044531313 + ], + [ + 0.956072285565826, + 0.13124180524469928, + 0.26210946821709763, + 0.07466762324784534, + -0.9737128033479561, + 0.21519322162833582, + 0.2834616919646376, + -0.1861691842179491, + -0.9407393390499665 + ], + [ + 0.9455919799588989, + 0.11542596612348778, + 0.30419180426479164, + 0.04724897557998885, + -0.9737598526187098, + 0.22261914503166771, + 0.3219057963815679, + -0.196134126995912, + -0.9262332656968764 + ], + [ + 0.9330898633186901, + 0.10978448802297541, + 0.34247725933474904, + 0.0356438622557487, + -0.975810469128461, + 0.21569293781388788, + 0.3578726338453403, + -0.1890536816061133, + -0.9144320004329316 + ], + [ + 0.9293641174099014, + 0.10094696014664917, + 0.3550944219613504, + 0.03088949332384979, + -0.9797781125828434, + 0.1976883641133099, + 0.3678697819515903, + -0.17275578525986204, + -0.9136888213096063 + ], + [ + 0.9267557603145731, + 0.09478504723624476, + 0.36351004875268655, + 0.035276066631518666, + -0.9853275686610015, + 0.16698856715239008, + 0.37400449174677886, + -0.14193441181412803, + -0.9165016436953134 + ], + [ + 0.9168271348762966, + 0.09113032079675853, + 0.38874576446052794, + 0.03479990968696431, + -0.9881388530905911, + 0.14956795545366522, + 0.39776496959925906, + -0.12359964257347321, + -0.909123840472468 + ], + [ + 0.9279443269631525, + 0.05457461682382256, + 0.3687016914192751, + 0.01548416869280143, + -0.994012715447679, + 0.10816174022372298, + 0.37239705500553344, + -0.09465903404780872, + -0.9232335028021573 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0009722113609313965, + -0.006209924817085266, + -0.010040279477834702, + -0.02961215376853943, + 0.01917426288127899, + 0.008454754948616028, + 1.0 + ], + [ + 0.0020430386066436768, + -0.002320989966392517, + -0.0016800947487354279, + -0.01898263767361641, + -0.008746907114982605, + -0.008288420736789703, + 1.0 + ], + [ + 0.0024041831493377686, + -0.0030159354209899902, + -0.005830559879541397, + -0.02413811907172203, + -0.006574496626853943, + 0.000368267297744751, + 1.0 + ], + [ + -0.00015422701835632324, + -0.0004046112298965454, + -0.002062283456325531, + -0.005069313570857048, + -0.012174621224403381, + 0.007432602345943451, + 1.0 + ], + [ + -0.000626295804977417, + -0.0006539970636367798, + -0.001996900886297226, + -0.005327926948666573, + -0.002990812063217163, + 0.006452418863773346, + 0.0 + ], + [ + -3.9458274841308594e-05, + -0.0006417036056518555, + -0.00400523841381073, + -0.009525967761874199, + 0.007646352052688599, + 0.007861904799938202, + 0.0 + ], + [ + 0.0005832314491271973, + 0.0020558983087539673, + 0.0003038402646780014, + -0.008424883708357811, + 0.0005620718002319336, + 0.009718894958496094, + 0.0 + ], + [ + -0.0028590261936187744, + 0.0003631114959716797, + 1.7056241631507874e-05, + 0.009476965293288231, + 0.022069409489631653, + 0.0037157535552978516, + 0.0 + ], + [ + -0.006376326084136963, + -0.006126999855041504, + 0.006503874436020851, + 0.0347689688205719, + 0.03274853527545929, + 0.013570114970207214, + 0.0 + ], + [ + 0.0011709630489349365, + -9.657442569732666e-05, + 0.03232598304748535, + 0.06978173553943634, + -0.05169902741909027, + -0.006248340010643005, + 0.0 + ], + [ + 0.0017934739589691162, + -0.0026492923498153687, + 0.0052274130284786224, + 0.045274436473846436, + 0.004364609718322754, + -0.018547244369983673, + 0.0 + ], + [ + 0.015481024980545044, + -0.005136474967002869, + 0.019219040870666504, + 0.04162761569023132, + -0.04236827790737152, + -0.044834911823272705, + 0.0 + ], + [ + 0.01661926507949829, + -0.006618782877922058, + 0.012931108474731445, + 0.013299748301506042, + -0.04033979773521423, + -0.028014007955789566, + 0.0 + ], + [ + 0.02028682827949524, + -0.01619146764278412, + 0.005776047706604004, + -0.004800006747245789, + -0.03824689984321594, + -0.011744838207960129, + 0.0 + ], + [ + 0.008236140012741089, + -0.01481221616268158, + -0.0027468129992485046, + -0.017002955079078674, + -0.01072847843170166, + -0.00495624914765358, + 0.0 + ], + [ + 0.006983935832977295, + -0.008551210165023804, + -0.011804424226284027, + -0.03322422504425049, + -0.006606012582778931, + 0.004820667207241058, + 0.0 + ], + [ + 0.0026215314865112305, + -0.002106204628944397, + -0.003055281937122345, + -0.01851867139339447, + -0.025756388902664185, + -0.00010699033737182617, + 0.0 + ], + [ + -0.0013994872570037842, + 0.000499531626701355, + -0.016764827072620392, + -0.03295333683490753, + 0.027489006519317627, + -0.02125370129942894, + 1.0 + ], + [ + 0.0019211769104003906, + 0.004610240459442139, + -0.0019304975867271423, + -0.017219960689544678, + 0.0074575841426849365, + -0.014442271552979946, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0086473226547241 + ], + [ + 1.0086473226547241 + ], + [ + 1.0086473226547241 + ], + [ + 1.0086473226547241 + ], + [ + 0.8362758755683899 + ], + [ + 0.5275958180427551 + ], + [ + 0.4937349259853363 + ], + [ + 0.4937349259853363 + ], + [ + 0.4937349259853363 + ], + [ + 0.4937349259853363 + ], + [ + 0.4937349259853363 + ], + [ + 0.4937349259853363 + ], + [ + 0.4937349259853363 + ], + [ + 0.4937349259853363 + ], + [ + 0.4937349259853363 + ], + [ + 0.4937349259853363 + ], + [ + 0.4937349259853363 + ], + [ + 0.7408273816108704 + ], + [ + 0.9981546401977539 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3257657587528229, + 0.2112477868795395, + 0.0325164720416069 + ], + [ + 0.32780879735946655, + 0.20892679691314697, + 0.030836377292871475 + ], + [ + 0.3302129805088043, + 0.20591086149215698, + 0.025005817413330078 + ], + [ + 0.330058753490448, + 0.20550625026226044, + 0.022943533957004547 + ], + [ + 0.3294324576854706, + 0.20485225319862366, + 0.02094663307070732 + ], + [ + 0.3293929994106293, + 0.2042105495929718, + 0.01694139465689659 + ], + [ + 0.32997623085975647, + 0.20626644790172577, + 0.017245234921574593 + ], + [ + 0.3271172046661377, + 0.20662955939769745, + 0.0172622911632061 + ], + [ + 0.32074087858200073, + 0.20050255954265594, + 0.02376616559922695 + ], + [ + 0.32191184163093567, + 0.20040598511695862, + 0.056092146784067154 + ], + [ + 0.3237053155899048, + 0.19775669276714325, + 0.061319559812545776 + ], + [ + 0.33918634057044983, + 0.19262021780014038, + 0.08053860068321228 + ], + [ + 0.3558056056499481, + 0.18600143492221832, + 0.09346970915794373 + ], + [ + 0.37609243392944336, + 0.1698099672794342, + 0.09924575686454773 + ], + [ + 0.38432857394218445, + 0.15499775111675262, + 0.09649894386529922 + ], + [ + 0.39131250977516174, + 0.14644654095172882, + 0.0846945196390152 + ], + [ + 0.393934041261673, + 0.14434033632278442, + 0.08163923770189285 + ], + [ + 0.3925345540046692, + 0.14483986794948578, + 0.06487441062927246 + ], + [ + 0.3944557309150696, + 0.14945010840892792, + 0.06294391304254532 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9680709037958835, + 0.1212503777748251, + 0.2194016205803483, + 0.10372519849994845, + -0.9905484540543523, + 0.0897487791932491, + 0.22821000946489445, + -0.06412570514227885, + -0.9714978566728997 + ], + [ + 0.9668738553968663, + 0.1092344676344187, + 0.230700625986633, + 0.09549808712463938, + -0.9929705189359455, + 0.06992613159337183, + 0.23671726406313076, + -0.04557827996649173, + -0.9705089166461901 + ], + [ + 0.9652690326447978, + 0.10414543344775222, + 0.23960263627296763, + 0.0956985368023336, + -0.9943163955327486, + 0.04665507077108407, + 0.24309974222707148, + -0.022105073325874157, + -0.9697493908543532 + ], + [ + 0.9615167225022787, + 0.11052635470249349, + 0.2515343262154389, + 0.10254879669706972, + -0.9937254713005603, + 0.04464786651635917, + 0.2548908327980026, + -0.017135127798127436, + -0.9668180029100011 + ], + [ + 0.9600732333656202, + 0.11563129501122586, + 0.2547327819282594, + 0.1086645054172062, + -0.9932200261892034, + 0.04130381143613978, + 0.25778171354329477, + -0.011974272034035253, + -0.9661289794701003 + ], + [ + 0.9611179833118193, + 0.12098621827733638, + 0.24822279738486855, + 0.11644274506343336, + -0.9926503050506721, + 0.032961477589747455, + 0.2503863200670377, + -0.002776124953217279, + -0.9681420266952212 + ], + [ + 0.9600803052652278, + 0.12853775349936813, + 0.24844285734784727, + 0.12579636730039012, + -0.9916900167050595, + 0.026947815153446745, + 0.24984211297507963, + 0.00538114233733614, + -0.9682716364178459 + ], + [ + 0.9648365618487559, + 0.13448604242924217, + 0.22584045986401963, + 0.13006800203241342, + -0.9909081406005482, + 0.034400170622543774, + 0.22841349296214503, + -0.0038159249578712234, + -0.9735567343249946 + ], + [ + 0.9698639900748319, + 0.15444003837901676, + 0.1884465847438313, + 0.1441714733585992, + -0.9872739918235458, + 0.06711669940046067, + 0.19641391759683652, + -0.037925448109269594, + -0.9797873408857526 + ], + [ + 0.9594001757119004, + 0.1664783758676169, + 0.22767576334000775, + 0.13649449704697345, + -0.980448467450388, + 0.14173939096129604, + 0.24682089684600958, + -0.10490830778668506, + -0.9633658141316132 + ], + [ + 0.9628266188135297, + 0.15789261391107096, + 0.21916848445074294, + 0.11880861116369522, + -0.9762163031156998, + 0.18134564633447894, + 0.24258898577111854, + -0.14856531224833583, + -0.958686044531313 + ], + [ + 0.956072285565826, + 0.13124180524469928, + 0.26210946821709763, + 0.07466762324784534, + -0.9737128033479561, + 0.21519322162833582, + 0.2834616919646376, + -0.1861691842179491, + -0.9407393390499665 + ], + [ + 0.9455919799588989, + 0.11542596612348778, + 0.30419180426479164, + 0.04724897557998885, + -0.9737598526187098, + 0.22261914503166771, + 0.3219057963815679, + -0.196134126995912, + -0.9262332656968764 + ], + [ + 0.9330898633186901, + 0.10978448802297541, + 0.34247725933474904, + 0.0356438622557487, + -0.975810469128461, + 0.21569293781388788, + 0.3578726338453403, + -0.1890536816061133, + -0.9144320004329316 + ], + [ + 0.9293641174099014, + 0.10094696014664917, + 0.3550944219613504, + 0.03088949332384979, + -0.9797781125828434, + 0.1976883641133099, + 0.3678697819515903, + -0.17275578525986204, + -0.9136888213096063 + ], + [ + 0.9267557603145731, + 0.09478504723624476, + 0.36351004875268655, + 0.035276066631518666, + -0.9853275686610015, + 0.16698856715239008, + 0.37400449174677886, + -0.14193441181412803, + -0.9165016436953134 + ], + [ + 0.9168271348762966, + 0.09113032079675853, + 0.38874576446052794, + 0.03479990968696431, + -0.9881388530905911, + 0.14956795545366522, + 0.39776496959925906, + -0.12359964257347321, + -0.909123840472468 + ], + [ + 0.9279443269631525, + 0.05457461682382256, + 0.3687016914192751, + 0.01548416869280143, + -0.994012715447679, + 0.10816174022372298, + 0.37239705500553344, + -0.09465903404780872, + -0.9232335028021573 + ], + [ + 0.9308225146603551, + 0.03324457106721124, + 0.3639563774629183, + 0.0020875660552315146, + -0.9963216194210663, + 0.08566722093163241, + 0.3654655774068718, + -0.07898119503236968, + -0.9274679954380748 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006635.json b/json/chunk-0006/episode_0006635.json new file mode 100644 index 0000000000000000000000000000000000000000..f1e171a33385a6d848fe684b305678341087589b --- /dev/null +++ b/json/chunk-0006/episode_0006635.json @@ -0,0 +1,2422 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 39, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nUnfold the cloth from right to left." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006635.mp4", + "start": 0, + "end": 39, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3121918737888336, + 0.19259919226169586, + 0.09227271378040314, + -0.22756633162498474, + -0.1994716078042984, + 0.760183572769165, + 0.0, + 1.0014774799346924 + ], + [ + 0.3112795948982239, + 0.19098377227783203, + 0.07861316949129105, + -0.22811327874660492, + -0.153566375374794, + 0.7663562893867493, + 0.0, + 1.0014774799346924 + ], + [ + 0.34439873695373535, + 0.19315461814403534, + 0.08405647426843643, + -0.2745167911052704, + -0.016190866008400917, + 0.7613478302955627, + 0.0, + 1.0014774799346924 + ], + [ + 0.36497992277145386, + 0.18289156258106232, + 0.10081321001052856, + -0.2887665033340454, + -0.009952119551599026, + 0.7811518907546997, + 0.0, + 1.0014774799346924 + ], + [ + 0.3809922933578491, + 0.1682180017232895, + 0.10957349836826324, + -0.28097349405288696, + 0.005506341345608234, + 0.8324200510978699, + 0.0, + 1.0014774799346924 + ], + [ + 0.3949175477027893, + 0.1377180516719818, + 0.12068663537502289, + -0.28735944628715515, + 0.04112027585506439, + 0.8498535752296448, + 0.0, + 1.0014774799346924 + ], + [ + 0.40006229281425476, + 0.11539437621831894, + 0.12117433547973633, + -0.30796384811401367, + 0.06844940036535263, + 0.8476201295852661, + 0.0, + 1.0014774799346924 + ], + [ + 0.3980271518230438, + 0.07465090602636337, + 0.12807811796665192, + -0.3382490277290344, + 0.06393451243638992, + 0.8036123514175415, + 0.0, + 1.0008161067962646 + ], + [ + 0.3875555396080017, + 0.04601972550153732, + 0.12084851413965225, + -0.3300679624080658, + 0.03167824074625969, + 0.7763314843177795, + 0.0, + 1.0014774799346924 + ], + [ + 0.3821251690387726, + 0.01934165507555008, + 0.10832125693559647, + -0.3167293965816498, + -0.021232428029179573, + 0.742965817451477, + 0.0, + 1.0014774799346924 + ], + [ + 0.3842165768146515, + -0.003657432971522212, + 0.09773464500904083, + -0.3069925904273987, + -0.07395419478416443, + 0.751315712928772, + 0.0, + 1.0014774799346924 + ], + [ + 0.3899803161621094, + -0.026057520881295204, + 0.08959197998046875, + -0.27966755628585815, + -0.1117006167769432, + 0.7435071468353271, + 0.0, + 1.0014774799346924 + ], + [ + 0.4041682481765747, + -0.0382770337164402, + 0.07190151512622833, + -0.24072566628456116, + -0.1260048896074295, + 0.7561817765235901, + 0.0, + 1.0014774799346924 + ], + [ + 0.41812652349472046, + -0.0494636669754982, + 0.05927316099405289, + -0.2124691903591156, + -0.14460887014865875, + 0.7656771540641785, + 0.0, + 1.0014774799346924 + ], + [ + 0.4265197217464447, + -0.049760520458221436, + 0.050188399851322174, + -0.19572687149047852, + -0.15907886624336243, + 0.7848978638648987, + 0.0, + 1.0014774799346924 + ], + [ + 0.4274582266807556, + -0.04723236709833145, + 0.04086432605981827, + -0.17871302366256714, + -0.16573704779148102, + 0.7877598404884338, + 0.0, + 1.0014774799346924 + ], + [ + 0.4293515980243683, + -0.04729646071791649, + 0.041346628218889236, + -0.18664757907390594, + -0.1754470020532608, + 0.7822312712669373, + 0.0, + 1.0014774799346924 + ], + [ + 0.42758432030677795, + -0.047195129096508026, + 0.0381726510822773, + -0.18530550599098206, + -0.17408141493797302, + 0.765215277671814, + 0.0, + 0.9605803489685059 + ], + [ + 0.42807433009147644, + -0.041905373334884644, + 0.037215929478406906, + -0.18764695525169373, + -0.17098604142665863, + 0.7634591460227966, + 0.0, + 0.6831957101821899 + ], + [ + 0.42845484614372253, + -0.038587309420108795, + 0.033116664737463, + -0.1865016371011734, + -0.162870854139328, + 0.7625232934951782, + 0.0, + 0.3788849711418152 + ], + [ + 0.42798373103141785, + -0.03677763789892197, + 0.03268154338002205, + -0.1915813535451889, + -0.15291589498519897, + 0.7586298584938049, + 0.0, + 0.17243100702762604 + ], + [ + 0.4261307418346405, + -0.03298259153962135, + 0.030147850513458252, + -0.19413776695728302, + -0.14631669223308563, + 0.7555972337722778, + 0.0, + 0.07397755235433578 + ], + [ + 0.42186659574508667, + -0.02734680101275444, + 0.03162696585059166, + -0.20722849667072296, + -0.1186615377664566, + 0.7502017021179199, + 0.0, + 0.057568058371543884 + ], + [ + 0.41062185168266296, + -0.006295669358223677, + 0.04578285291790962, + -0.2510436773300171, + -0.06683902442455292, + 0.7482499480247498, + 0.0, + 0.05565106123685837 + ], + [ + 0.39926257729530334, + 0.02028355933725834, + 0.06829091906547546, + -0.3281213939189911, + -0.043520160019397736, + 0.7463760375976562, + 0.0, + 0.05565106123685837 + ], + [ + 0.38730257749557495, + 0.055850278586149216, + 0.08446218818426132, + -0.39961037039756775, + -0.017376720905303955, + 0.7207012176513672, + 0.0, + 0.05565106123685837 + ], + [ + 0.37322965264320374, + 0.09257344901561737, + 0.08789091557264328, + -0.4261278212070465, + -0.005023211240768433, + 0.6993829607963562, + 0.0, + 0.05565106123685837 + ], + [ + 0.3629685342311859, + 0.12401729077100754, + 0.07371092587709427, + -0.4070630669593811, + -0.01796850562095642, + 0.6800475716590881, + 0.0, + 0.05565106123685837 + ], + [ + 0.34110087156295776, + 0.15356922149658203, + 0.058804951608181, + -0.3946833610534668, + -0.04064479097723961, + 0.6808571815490723, + 0.0, + 0.05565106123685837 + ], + [ + 0.3102443814277649, + 0.17871582508087158, + 0.0453832745552063, + -0.4078250825405121, + -0.03419455513358116, + 0.674542248249054, + 0.0, + 0.05565106123685837 + ], + [ + 0.2787708044052124, + 0.20031684637069702, + 0.040330011397600174, + -0.43431398272514343, + -0.024045193567872047, + 0.648602306842804, + 0.0, + 0.05565106123685837 + ], + [ + 0.25593456625938416, + 0.22134211659431458, + 0.04172961041331291, + -0.45729056000709534, + -0.05126518756151199, + 0.6268621683120728, + 0.0, + 0.05565106123685837 + ], + [ + 0.24789640307426453, + 0.23009900748729706, + 0.04395027831196785, + -0.4806775748729706, + -0.0768222063779831, + 0.6245822906494141, + 0.0, + 0.05565106123685837 + ], + [ + 0.2465159296989441, + 0.23323342204093933, + 0.045553725212812424, + -0.5014263987541199, + -0.10619647055864334, + 0.6157371997833252, + 0.0, + 0.05565106123685837 + ], + [ + 0.24520863592624664, + 0.23364922404289246, + 0.04925787076354027, + -0.46421149373054504, + -0.18464890122413635, + 0.6095488667488098, + 0.0, + 0.07821663469076157 + ], + [ + 0.24186226725578308, + 0.23032662272453308, + 0.05917816609144211, + -0.3945775330066681, + -0.2913552522659302, + 0.6028759479522705, + 0.0, + 0.22681957483291626 + ], + [ + 0.2445642352104187, + 0.2214585840702057, + 0.06457517296075821, + -0.3599781095981598, + -0.3137402832508087, + 0.5613413453102112, + 0.0, + 0.47944000363349915 + ], + [ + 0.2526702880859375, + 0.20765267312526703, + 0.06530201435089111, + -0.28225940465927124, + -0.3087835907936096, + 0.5041993856430054, + 0.0, + 0.7903241515159607 + ], + [ + 0.26265308260917664, + 0.19599196314811707, + 0.06779827177524567, + -0.21164949238300323, + -0.29694080352783203, + 0.46834805607795715, + 0.0, + 1.0008161067962646 + ] + ], + "left_gripper_pos": [ + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 0.9605803489685059 + ], + [ + 0.6831957101821899 + ], + [ + 0.3788849711418152 + ], + [ + 0.17243100702762604 + ], + [ + 0.07397755235433578 + ], + [ + 0.057568058371543884 + ], + [ + 0.05565106123685837 + ], + [ + 0.05565106123685837 + ], + [ + 0.05565106123685837 + ], + [ + 0.05565106123685837 + ], + [ + 0.05565106123685837 + ], + [ + 0.05565106123685837 + ], + [ + 0.05565106123685837 + ], + [ + 0.05565106123685837 + ], + [ + 0.05565106123685837 + ], + [ + 0.05565106123685837 + ], + [ + 0.05565106123685837 + ], + [ + 0.07821663469076157 + ], + [ + 0.22681957483291626 + ], + [ + 0.47944000363349915 + ], + [ + 0.7903241515159607 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3121918737888336, + 0.19259919226169586, + 0.09227271378040314 + ], + [ + 0.3112795948982239, + 0.19098377227783203, + 0.07861316949129105 + ], + [ + 0.34439873695373535, + 0.19315461814403534, + 0.08405647426843643 + ], + [ + 0.36497992277145386, + 0.18289156258106232, + 0.10081321001052856 + ], + [ + 0.3809922933578491, + 0.1682180017232895, + 0.10957349836826324 + ], + [ + 0.3949175477027893, + 0.1377180516719818, + 0.12068663537502289 + ], + [ + 0.40006229281425476, + 0.11539437621831894, + 0.12117433547973633 + ], + [ + 0.3980271518230438, + 0.07465090602636337, + 0.12807811796665192 + ], + [ + 0.3875555396080017, + 0.04601972550153732, + 0.12084851413965225 + ], + [ + 0.3821251690387726, + 0.01934165507555008, + 0.10832125693559647 + ], + [ + 0.3842165768146515, + -0.003657432971522212, + 0.09773464500904083 + ], + [ + 0.3899803161621094, + -0.026057520881295204, + 0.08959197998046875 + ], + [ + 0.4041682481765747, + -0.0382770337164402, + 0.07190151512622833 + ], + [ + 0.41812652349472046, + -0.0494636669754982, + 0.05927316099405289 + ], + [ + 0.4265197217464447, + -0.049760520458221436, + 0.050188399851322174 + ], + [ + 0.4274582266807556, + -0.04723236709833145, + 0.04086432605981827 + ], + [ + 0.4293515980243683, + -0.04729646071791649, + 0.041346628218889236 + ], + [ + 0.42758432030677795, + -0.047195129096508026, + 0.0381726510822773 + ], + [ + 0.42807433009147644, + -0.041905373334884644, + 0.037215929478406906 + ], + [ + 0.42845484614372253, + -0.038587309420108795, + 0.033116664737463 + ], + [ + 0.42798373103141785, + -0.03677763789892197, + 0.03268154338002205 + ], + [ + 0.4261307418346405, + -0.03298259153962135, + 0.030147850513458252 + ], + [ + 0.42186659574508667, + -0.02734680101275444, + 0.03162696585059166 + ], + [ + 0.41062185168266296, + -0.006295669358223677, + 0.04578285291790962 + ], + [ + 0.39926257729530334, + 0.02028355933725834, + 0.06829091906547546 + ], + [ + 0.38730257749557495, + 0.055850278586149216, + 0.08446218818426132 + ], + [ + 0.37322965264320374, + 0.09257344901561737, + 0.08789091557264328 + ], + [ + 0.3629685342311859, + 0.12401729077100754, + 0.07371092587709427 + ], + [ + 0.34110087156295776, + 0.15356922149658203, + 0.058804951608181 + ], + [ + 0.3102443814277649, + 0.17871582508087158, + 0.0453832745552063 + ], + [ + 0.2787708044052124, + 0.20031684637069702, + 0.040330011397600174 + ], + [ + 0.25593456625938416, + 0.22134211659431458, + 0.04172961041331291 + ], + [ + 0.24789640307426453, + 0.23009900748729706, + 0.04395027831196785 + ], + [ + 0.2465159296989441, + 0.23323342204093933, + 0.045553725212812424 + ], + [ + 0.24520863592624664, + 0.23364922404289246, + 0.04925787076354027 + ], + [ + 0.24186226725578308, + 0.23032662272453308, + 0.05917816609144211 + ], + [ + 0.2445642352104187, + 0.2214585840702057, + 0.06457517296075821 + ], + [ + 0.2526702880859375, + 0.20765267312526703, + 0.06530201435089111 + ], + [ + 0.26265308260917664, + 0.19599196314811707, + 0.06779827177524567 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.7103395677430486, + 0.6388918107588064, + 0.2953556375692736, + 0.6753915189843955, + -0.7368290832769081, + -0.0304827512088703, + 0.19815144355408923, + 0.22113379701584412, + -0.9549009630505071 + ], + [ + 0.7119641309626645, + 0.6506281675449008, + 0.26417809110473706, + 0.6853533707724435, + -0.7257686964099971, + -0.0595865461508191, + 0.15296350346872928, + 0.22347882877019576, + -0.9626314869658451 + ], + [ + 0.7238119215505399, + 0.6608883247796382, + 0.19830008671525803, + 0.6898073506312685, + -0.6998289171634907, + -0.18548667261247204, + 0.016190158627559514, + 0.2710463223726522, + -0.9624301376681192 + ], + [ + 0.7100677998203837, + 0.6729328417320011, + 0.20728026962721913, + 0.7040629788907924, + -0.6826971945606641, + -0.19549900842311702, + 0.009951955268323986, + 0.28475591487709595, + -0.9585483960285182 + ], + [ + 0.6730777500173203, + 0.7115889111102586, + 0.20151318571383375, + 0.7395512307764999, + -0.6455642486649706, + -0.1905538713923071, + -0.005506313520460285, + 0.277286895526183, + -0.9607713870015415 + ], + [ + 0.6595351553144805, + 0.7280727113349383, + 0.18687831846871744, + 0.7505487689849661, + -0.6242743362569065, + -0.21669817365670288, + -0.04110868861269963, + 0.28318135549571416, + -0.9581849485460278 + ], + [ + 0.6602195299878263, + 0.7281557888053946, + 0.18411767827084657, + 0.7479519801776503, + -0.6150917770702728, + -0.24945929753942817, + -0.06839596165699419, + 0.30240908222096585, + -0.9507211680715264 + ], + [ + 0.692692678872167, + 0.6937944311883633, + 0.19704349745403074, + 0.7183973811705413, + -0.639518377535001, + -0.27371782463388866, + -0.06389096465236108, + 0.3311578657483702, + -0.941409800559127 + ], + [ + 0.7131307731290957, + 0.6701692008833992, + 0.20571276723529933, + 0.7003151612757473, + -0.6677821983984595, + -0.2522411750476998, + -0.031672942768587786, + 0.3239447139396266, + -0.945545687424437 + ], + [ + 0.736299500017548, + 0.6379567434312741, + 0.22555318615455788, + 0.6763226286431978, + -0.7043063212015372, + -0.21573202799007957, + 0.021230832745426503, + 0.31139010810576634, + -0.9500449738379837 + ], + [ + 0.7287938750200762, + 0.6343698425955006, + 0.25774869648279736, + 0.6807350647195197, + -0.7118656571011325, + -0.1727630108017451, + 0.0738868012200591, + 0.30136719968392806, + -0.9506411265878069 + ], + [ + 0.7315118029278131, + 0.6279260007575568, + 0.2657055132094953, + 0.6726553799771039, + -0.7283266715669642, + -0.13067134066828, + 0.11146847969340239, + 0.27431587095319243, + -0.9551573592754407 + ], + [ + 0.7216937786700721, + 0.6445683809872434, + 0.25236816768443104, + 0.6807089750940934, + -0.7270427531430305, + -0.08968905356035259, + 0.12567171939327607, + 0.23651730874015667, + -0.9634657137703715 + ], + [ + 0.7133885945269038, + 0.655534218288157, + 0.24769255510059934, + 0.6857917678133587, + -0.7257619409824105, + -0.05439904613935763, + 0.14410539337011846, + 0.20867317430560833, + -0.9673102614605431 + ], + [ + 0.6985277918136357, + 0.6714636617491984, + 0.2473771917827599, + 0.6978291950075705, + -0.7157257380732338, + -0.02776837147927684, + 0.1584087707769125, + 0.19202400581667672, + -0.9685212659157592 + ], + [ + 0.6957682971792184, + 0.6767978407634941, + 0.2405226795506056, + 0.6990624431087481, + -0.7149860143338794, + -0.010329566388889516, + 0.16497932378076877, + 0.17532735680670616, + -0.970588553754893 + ], + [ + 0.6984531708860392, + 0.6696459894232006, + 0.2524627040349922, + 0.6940432701226337, + -0.719853266978017, + -0.010733742057504464, + 0.1745482949693823, + 0.18271705686798542, + -0.9675470892172552 + ], + [ + 0.7103325743776399, + 0.6578172572287376, + 0.2504078470617388, + 0.6822229680882849, + -0.7309910768394958, + -0.014962198830548556, + 0.1732035091758978, + 0.18146212186871047, + -0.9680248151447666 + ], + [ + 0.7119134685031985, + 0.6563554460292519, + 0.24975336200237014, + 0.6813419094947261, + -0.7317137683090991, + -0.01918759059857568, + 0.17015409407306598, + 0.18382733674467383, + -0.9681193596533096 + ], + [ + 0.7135257918576268, + 0.6570289197861208, + 0.2432980536679858, + 0.6816067489793571, + -0.7313245191782354, + -0.024014316449039064, + 0.162151731719826, + 0.1829684295538612, + -0.969654252652385 + ], + [ + 0.717310225630703, + 0.6542913712794839, + 0.23951793601908428, + 0.6799003317344655, + -0.7324530367124, + -0.03532828778963172, + 0.15232064572143023, + 0.18818966624125705, + -0.9702489734119848 + ], + [ + 0.7200847804736527, + 0.652369253913462, + 0.23641545101495487, + 0.6783963994318609, + -0.7334760606895896, + -0.042322495592397924, + 0.14579517882323334, + 0.19085917568635388, + -0.9707299010992847 + ], + [ + 0.7264070798136081, + 0.6493809197440877, + 0.22502705497115025, + 0.6769919920489119, + -0.7325061456082342, + -0.07153033865300955, + 0.11838326359039211, + 0.20430165862883015, + -0.9717233326329036 + ], + [ + 0.7312442046911345, + 0.646870970910881, + 0.21642518360496843, + 0.6788380562967272, + -0.7211956623288217, + -0.13804242087624236, + 0.06678926881551871, + 0.2478603712393458, + -0.9664907810942545 + ], + [ + 0.7334591560605549, + 0.6324652704983437, + 0.24904888677606224, + 0.6783397802810155, + -0.7045064862102326, + -0.20862826600443035, + 0.04350642342508122, + 0.32196007904889196, + -0.9457530854401635 + ], + [ + 0.7512297408315229, + 0.6028397400359468, + 0.2687715095087179, + 0.6598120614621351, + -0.6966079964260681, + -0.28175404675771143, + 0.01737584643378315, + 0.38900070327526537, + -0.9210735762207374 + ], + [ + 0.7652298947349675, + 0.5845885837167476, + 0.269591164528731, + 0.6437375053272637, + -0.6981431967142235, + -0.31336576251510895, + 0.0050231901159722425, + 0.4133427931749769, + -0.9105616414561766 + ], + [ + 0.7774172869889582, + 0.5719156457676892, + 0.2617916270946317, + 0.6287285021714247, + -0.7184811274925553, + -0.29746485505737147, + 0.017967538729732987, + 0.3958501781774934, + -0.9181393162199526 + ], + [ + 0.776391702478648, + 0.5689248742964008, + 0.2711833544470065, + 0.6289394524027243, + -0.727128680397276, + -0.2751709420616153, + 0.04063360104233191, + 0.3841983466265052, + -0.9223559729929611 + ], + [ + 0.7805363668011396, + 0.5627288295098393, + 0.27221176414578974, + 0.6241747897487989, + -0.7254086260817058, + -0.29015195509990027, + 0.034187891758916344, + 0.3963818735067715, + -0.9174489622929127 + ], + [ + 0.7966985159600976, + 0.5399278379848333, + 0.27156841575559043, + 0.6038985136196606, + -0.7290525327113498, + -0.3221629863828715, + 0.024042876594580972, + 0.42066653576935403, + -0.906896689689001 + ], + [ + 0.8088081771160164, + 0.5080107522889268, + 0.29623370535627036, + 0.5858357403788341, + -0.7399312160427222, + -0.3306029050391449, + 0.051242735339265946, + 0.44093862507652626, + -0.8960732732263432 + ], + [ + 0.8088148945804816, + 0.48970810206954096, + 0.3255832321729914, + 0.5830338031451786, + -0.7400337197704459, + -0.33529342074187185, + 0.07674666569195741, + 0.46101634284498516, + -0.8840666722227468 + ], + [ + 0.8117489564786037, + 0.4648683717934082, + 0.3534982723607624, + 0.5743067760628598, + -0.7452805586198654, + -0.33871612880337665, + 0.10599697459919429, + 0.4779689172419135, + -0.8719577716417297 + ], + [ + 0.805968599785918, + 0.44451535108102636, + 0.39092290648213346, + 0.562765614407004, + -0.7801999186759898, + -0.27309879190338104, + 0.18360141448320647, + 0.44010702056578344, + -0.8789745906728333 + ], + [ + 0.7889935118075759, + 0.4324864067012659, + 0.4363997552063651, + 0.5431172223131573, + -0.8230259310812018, + -0.16628890400372706, + 0.28725062428546355, + 0.36821708921035634, + -0.8842529355682476 + ], + [ + 0.8052186712224226, + 0.4061734698087094, + 0.43202546677059384, + 0.5063373560758784, + -0.8501521711256538, + -0.14444295681142127, + 0.30861849159906984, + 0.3350587983532002, + -0.8902192023817641 + ], + [ + 0.8341509272871231, + 0.38987823067009464, + 0.3901117734131964, + 0.4602575696312404, + -0.8818064799165265, + -0.10286059291277921, + 0.3038999837169731, + 0.265353155675189, + -0.9150040998105105 + ], + [ + 0.8532639950844548, + 0.3864923732167267, + 0.3500917024692502, + 0.4316572478280899, + -0.900150637356096, + -0.058316811168762694, + 0.29259626636372954, + 0.20087925605377127, + -0.93489836313756 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0009122788906097412, + -0.0016154199838638306, + -0.013659544289112091, + -0.0005469471216201782, + 0.045905232429504395, + 0.0061727166175842285, + 1.0 + ], + [ + 0.033119142055511475, + 0.002170845866203308, + 0.005443304777145386, + -0.046403512358665466, + 0.13737550377845764, + -0.0050084590911865234, + 1.0 + ], + [ + 0.020581185817718506, + -0.010263055562973022, + 0.016756735742092133, + -0.014249712228775024, + 0.006238746456801891, + 0.019804060459136963, + 1.0 + ], + [ + 0.016012370586395264, + -0.014673560857772827, + 0.00876028835773468, + 0.007793009281158447, + 0.01545846089720726, + 0.051268160343170166, + 1.0 + ], + [ + 0.013925254344940186, + -0.030499950051307678, + 0.011113137006759644, + -0.0063859522342681885, + 0.03561393544077873, + 0.017433524131774902, + 1.0 + ], + [ + 0.005144745111465454, + -0.022323675453662872, + 0.00048770010471343994, + -0.02060440182685852, + 0.02732912451028824, + -0.002233445644378662, + 1.0 + ], + [ + -0.0020351409912109375, + -0.040743470191955566, + 0.006903782486915588, + -0.030285179615020752, + -0.0045148879289627075, + -0.04400777816772461, + 1.0 + ], + [ + -0.010471612215042114, + -0.02863118052482605, + -0.007229603826999664, + 0.008181065320968628, + -0.032256271690130234, + -0.027280867099761963, + 1.0 + ], + [ + -0.005430370569229126, + -0.026678070425987244, + -0.012527257204055786, + 0.013338565826416016, + -0.05291067063808441, + -0.03336566686630249, + 1.0 + ], + [ + 0.0020914077758789062, + -0.02299908734858036, + -0.010586611926555634, + 0.009736806154251099, + -0.052721768617630005, + 0.008349895477294922, + 1.0 + ], + [ + 0.005763739347457886, + -0.022400088608264923, + -0.008142665028572083, + 0.027325034141540527, + -0.03774642199277878, + -0.007808566093444824, + 1.0 + ], + [ + 0.014187932014465332, + -0.012219512835144997, + -0.017690464854240417, + 0.038941890001297, + -0.014304272830486298, + 0.01267462968826294, + 1.0 + ], + [ + 0.013958275318145752, + -0.011186633259057999, + -0.012628354132175446, + 0.028256475925445557, + -0.018603980541229248, + 0.009495377540588379, + 1.0 + ], + [ + 0.008393198251724243, + -0.0002968534827232361, + -0.009084761142730713, + 0.016742318868637085, + -0.014469996094703674, + 0.019220709800720215, + 1.0 + ], + [ + 0.0009385049343109131, + 0.002528153359889984, + -0.009324073791503906, + 0.017013847827911377, + -0.006658181548118591, + 0.0028619766235351562, + 1.0 + ], + [ + 0.001893371343612671, + -6.409361958503723e-05, + 0.00048230215907096863, + -0.007934555411338806, + -0.009709954261779785, + -0.005528569221496582, + 1.0 + ], + [ + -0.001767277717590332, + 0.00010133162140846252, + -0.0031739771366119385, + 0.0013420730829238892, + 0.0013655871152877808, + -0.01701599359512329, + 0.0 + ], + [ + 0.0004900097846984863, + 0.005289755761623383, + -0.0009567216038703918, + -0.00234144926071167, + 0.003095373511314392, + -0.001756131649017334, + 0.0 + ], + [ + 0.00038051605224609375, + 0.0033180639147758484, + -0.004099264740943909, + 0.0011453181505203247, + 0.008115187287330627, + -0.0009358525276184082, + 0.0 + ], + [ + -0.0004711151123046875, + 0.0018096715211868286, + -0.0004351213574409485, + -0.005079716444015503, + 0.009954959154129028, + -0.003893435001373291, + 0.0 + ], + [ + -0.0018529891967773438, + 0.0037950463593006134, + -0.002533692866563797, + -0.002556413412094116, + 0.006599202752113342, + -0.0030326247215270996, + 0.0 + ], + [ + -0.004264146089553833, + 0.005635790526866913, + 0.0014791153371334076, + -0.013090729713439941, + 0.02765515446662903, + -0.00539553165435791, + 0.0 + ], + [ + -0.011244744062423706, + 0.021051131188869476, + 0.014155887067317963, + -0.04381518065929413, + 0.051822513341903687, + -0.001951754093170166, + 0.0 + ], + [ + -0.01135927438735962, + 0.026579229161143303, + 0.02250806614756584, + -0.077077716588974, + 0.023318864405155182, + -0.0018739104270935059, + 0.0 + ], + [ + -0.011959999799728394, + 0.03556671738624573, + 0.016171269118785858, + -0.07148897647857666, + 0.02614343911409378, + -0.025674819946289062, + 0.0 + ], + [ + -0.014072924852371216, + 0.036723170429468155, + 0.003428727388381958, + -0.02651745080947876, + 0.012353509664535522, + -0.021318256855010986, + 0.0 + ], + [ + -0.010261118412017822, + 0.03144384175539017, + -0.014179989695549011, + 0.019064754247665405, + -0.012945294380187988, + -0.019335389137268066, + 0.0 + ], + [ + -0.02186766266822815, + 0.029551930725574493, + -0.014905974268913269, + 0.012379705905914307, + -0.022676285356283188, + 0.0008096098899841309, + 0.0 + ], + [ + -0.03085649013519287, + 0.02514660358428955, + -0.013421677052974701, + -0.013141721487045288, + 0.006450235843658447, + -0.0063149333000183105, + 0.0 + ], + [ + -0.03147357702255249, + 0.02160102128982544, + -0.005053263157606125, + -0.026488900184631348, + 0.010149361565709114, + -0.02593994140625, + 0.0 + ], + [ + -0.022836238145828247, + 0.021025270223617554, + 0.001399599015712738, + -0.022976577281951904, + -0.027219993993639946, + -0.0217401385307312, + 0.0 + ], + [ + -0.008038163185119629, + 0.008756890892982483, + 0.0022206678986549377, + -0.023387014865875244, + -0.0255570188164711, + -0.0022798776626586914, + 0.0 + ], + [ + -0.0013804733753204346, + 0.003134414553642273, + 0.001603446900844574, + -0.020748823881149292, + -0.029374264180660248, + -0.008845090866088867, + 0.0 + ], + [ + -0.0013072937726974487, + 0.000415802001953125, + 0.0037041455507278442, + 0.03721490502357483, + -0.07845243066549301, + -0.006188333034515381, + 1.0 + ], + [ + -0.003346368670463562, + -0.003322601318359375, + 0.00992029532790184, + 0.06963396072387695, + -0.10670635104179382, + -0.006672918796539307, + 1.0 + ], + [ + 0.00270196795463562, + -0.008868038654327393, + 0.005397006869316101, + 0.0345994234085083, + -0.02238503098487854, + -0.041534602642059326, + 1.0 + ], + [ + 0.008106052875518799, + -0.01380591094493866, + 0.000726841390132904, + 0.07771870493888855, + 0.004956692457199097, + -0.05714195966720581, + 1.0 + ], + [ + 0.009982794523239136, + -0.011660709977149963, + 0.0024962574243545532, + 0.070609912276268, + 0.011842787265777588, + -0.03585132956504822, + 1.0 + ], + [ + 0.0043487548828125, + -0.010528460144996643, + 0.016224436461925507, + 0.013116568326950073, + 0.05980956554412842, + -0.009116768836975098, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 0.9605803489685059 + ], + [ + 0.6831957101821899 + ], + [ + 0.3788849711418152 + ], + [ + 0.17243100702762604 + ], + [ + 0.07397755235433578 + ], + [ + 0.057568058371543884 + ], + [ + 0.05565106123685837 + ], + [ + 0.05565106123685837 + ], + [ + 0.05565106123685837 + ], + [ + 0.05565106123685837 + ], + [ + 0.05565106123685837 + ], + [ + 0.05565106123685837 + ], + [ + 0.05565106123685837 + ], + [ + 0.05565106123685837 + ], + [ + 0.05565106123685837 + ], + [ + 0.05565106123685837 + ], + [ + 0.05565106123685837 + ], + [ + 0.07821663469076157 + ], + [ + 0.22681957483291626 + ], + [ + 0.47944000363349915 + ], + [ + 0.7903241515159607 + ], + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3112795948982239, + 0.19098377227783203, + 0.07861316949129105 + ], + [ + 0.34439873695373535, + 0.19315461814403534, + 0.08405647426843643 + ], + [ + 0.36497992277145386, + 0.18289156258106232, + 0.10081321001052856 + ], + [ + 0.3809922933578491, + 0.1682180017232895, + 0.10957349836826324 + ], + [ + 0.3949175477027893, + 0.1377180516719818, + 0.12068663537502289 + ], + [ + 0.40006229281425476, + 0.11539437621831894, + 0.12117433547973633 + ], + [ + 0.3980271518230438, + 0.07465090602636337, + 0.12807811796665192 + ], + [ + 0.3875555396080017, + 0.04601972550153732, + 0.12084851413965225 + ], + [ + 0.3821251690387726, + 0.01934165507555008, + 0.10832125693559647 + ], + [ + 0.3842165768146515, + -0.003657432971522212, + 0.09773464500904083 + ], + [ + 0.3899803161621094, + -0.026057520881295204, + 0.08959197998046875 + ], + [ + 0.4041682481765747, + -0.0382770337164402, + 0.07190151512622833 + ], + [ + 0.41812652349472046, + -0.0494636669754982, + 0.05927316099405289 + ], + [ + 0.4265197217464447, + -0.049760520458221436, + 0.050188399851322174 + ], + [ + 0.4274582266807556, + -0.04723236709833145, + 0.04086432605981827 + ], + [ + 0.4293515980243683, + -0.04729646071791649, + 0.041346628218889236 + ], + [ + 0.42758432030677795, + -0.047195129096508026, + 0.0381726510822773 + ], + [ + 0.42807433009147644, + -0.041905373334884644, + 0.037215929478406906 + ], + [ + 0.42845484614372253, + -0.038587309420108795, + 0.033116664737463 + ], + [ + 0.42798373103141785, + -0.03677763789892197, + 0.03268154338002205 + ], + [ + 0.4261307418346405, + -0.03298259153962135, + 0.030147850513458252 + ], + [ + 0.42186659574508667, + -0.02734680101275444, + 0.03162696585059166 + ], + [ + 0.41062185168266296, + -0.006295669358223677, + 0.04578285291790962 + ], + [ + 0.39926257729530334, + 0.02028355933725834, + 0.06829091906547546 + ], + [ + 0.38730257749557495, + 0.055850278586149216, + 0.08446218818426132 + ], + [ + 0.37322965264320374, + 0.09257344901561737, + 0.08789091557264328 + ], + [ + 0.3629685342311859, + 0.12401729077100754, + 0.07371092587709427 + ], + [ + 0.34110087156295776, + 0.15356922149658203, + 0.058804951608181 + ], + [ + 0.3102443814277649, + 0.17871582508087158, + 0.0453832745552063 + ], + [ + 0.2787708044052124, + 0.20031684637069702, + 0.040330011397600174 + ], + [ + 0.25593456625938416, + 0.22134211659431458, + 0.04172961041331291 + ], + [ + 0.24789640307426453, + 0.23009900748729706, + 0.04395027831196785 + ], + [ + 0.2465159296989441, + 0.23323342204093933, + 0.045553725212812424 + ], + [ + 0.24520863592624664, + 0.23364922404289246, + 0.04925787076354027 + ], + [ + 0.24186226725578308, + 0.23032662272453308, + 0.05917816609144211 + ], + [ + 0.2445642352104187, + 0.2214585840702057, + 0.06457517296075821 + ], + [ + 0.2526702880859375, + 0.20765267312526703, + 0.06530201435089111 + ], + [ + 0.26265308260917664, + 0.19599196314811707, + 0.06779827177524567 + ], + [ + 0.26700183749198914, + 0.18546350300312042, + 0.08402270823717117 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.7119641309626645, + 0.6506281675449008, + 0.26417809110473706, + 0.6853533707724435, + -0.7257686964099971, + -0.0595865461508191, + 0.15296350346872928, + 0.22347882877019576, + -0.9626314869658451 + ], + [ + 0.7238119215505399, + 0.6608883247796382, + 0.19830008671525803, + 0.6898073506312685, + -0.6998289171634907, + -0.18548667261247204, + 0.016190158627559514, + 0.2710463223726522, + -0.9624301376681192 + ], + [ + 0.7100677998203837, + 0.6729328417320011, + 0.20728026962721913, + 0.7040629788907924, + -0.6826971945606641, + -0.19549900842311702, + 0.009951955268323986, + 0.28475591487709595, + -0.9585483960285182 + ], + [ + 0.6730777500173203, + 0.7115889111102586, + 0.20151318571383375, + 0.7395512307764999, + -0.6455642486649706, + -0.1905538713923071, + -0.005506313520460285, + 0.277286895526183, + -0.9607713870015415 + ], + [ + 0.6595351553144805, + 0.7280727113349383, + 0.18687831846871744, + 0.7505487689849661, + -0.6242743362569065, + -0.21669817365670288, + -0.04110868861269963, + 0.28318135549571416, + -0.9581849485460278 + ], + [ + 0.6602195299878263, + 0.7281557888053946, + 0.18411767827084657, + 0.7479519801776503, + -0.6150917770702728, + -0.24945929753942817, + -0.06839596165699419, + 0.30240908222096585, + -0.9507211680715264 + ], + [ + 0.692692678872167, + 0.6937944311883633, + 0.19704349745403074, + 0.7183973811705413, + -0.639518377535001, + -0.27371782463388866, + -0.06389096465236108, + 0.3311578657483702, + -0.941409800559127 + ], + [ + 0.7131307731290957, + 0.6701692008833992, + 0.20571276723529933, + 0.7003151612757473, + -0.6677821983984595, + -0.2522411750476998, + -0.031672942768587786, + 0.3239447139396266, + -0.945545687424437 + ], + [ + 0.736299500017548, + 0.6379567434312741, + 0.22555318615455788, + 0.6763226286431978, + -0.7043063212015372, + -0.21573202799007957, + 0.021230832745426503, + 0.31139010810576634, + -0.9500449738379837 + ], + [ + 0.7287938750200762, + 0.6343698425955006, + 0.25774869648279736, + 0.6807350647195197, + -0.7118656571011325, + -0.1727630108017451, + 0.0738868012200591, + 0.30136719968392806, + -0.9506411265878069 + ], + [ + 0.7315118029278131, + 0.6279260007575568, + 0.2657055132094953, + 0.6726553799771039, + -0.7283266715669642, + -0.13067134066828, + 0.11146847969340239, + 0.27431587095319243, + -0.9551573592754407 + ], + [ + 0.7216937786700721, + 0.6445683809872434, + 0.25236816768443104, + 0.6807089750940934, + -0.7270427531430305, + -0.08968905356035259, + 0.12567171939327607, + 0.23651730874015667, + -0.9634657137703715 + ], + [ + 0.7133885945269038, + 0.655534218288157, + 0.24769255510059934, + 0.6857917678133587, + -0.7257619409824105, + -0.05439904613935763, + 0.14410539337011846, + 0.20867317430560833, + -0.9673102614605431 + ], + [ + 0.6985277918136357, + 0.6714636617491984, + 0.2473771917827599, + 0.6978291950075705, + -0.7157257380732338, + -0.02776837147927684, + 0.1584087707769125, + 0.19202400581667672, + -0.9685212659157592 + ], + [ + 0.6957682971792184, + 0.6767978407634941, + 0.2405226795506056, + 0.6990624431087481, + -0.7149860143338794, + -0.010329566388889516, + 0.16497932378076877, + 0.17532735680670616, + -0.970588553754893 + ], + [ + 0.6984531708860392, + 0.6696459894232006, + 0.2524627040349922, + 0.6940432701226337, + -0.719853266978017, + -0.010733742057504464, + 0.1745482949693823, + 0.18271705686798542, + -0.9675470892172552 + ], + [ + 0.7103325743776399, + 0.6578172572287376, + 0.2504078470617388, + 0.6822229680882849, + -0.7309910768394958, + -0.014962198830548556, + 0.1732035091758978, + 0.18146212186871047, + -0.9680248151447666 + ], + [ + 0.7119134685031985, + 0.6563554460292519, + 0.24975336200237014, + 0.6813419094947261, + -0.7317137683090991, + -0.01918759059857568, + 0.17015409407306598, + 0.18382733674467383, + -0.9681193596533096 + ], + [ + 0.7135257918576268, + 0.6570289197861208, + 0.2432980536679858, + 0.6816067489793571, + -0.7313245191782354, + -0.024014316449039064, + 0.162151731719826, + 0.1829684295538612, + -0.969654252652385 + ], + [ + 0.717310225630703, + 0.6542913712794839, + 0.23951793601908428, + 0.6799003317344655, + -0.7324530367124, + -0.03532828778963172, + 0.15232064572143023, + 0.18818966624125705, + -0.9702489734119848 + ], + [ + 0.7200847804736527, + 0.652369253913462, + 0.23641545101495487, + 0.6783963994318609, + -0.7334760606895896, + -0.042322495592397924, + 0.14579517882323334, + 0.19085917568635388, + -0.9707299010992847 + ], + [ + 0.7264070798136081, + 0.6493809197440877, + 0.22502705497115025, + 0.6769919920489119, + -0.7325061456082342, + -0.07153033865300955, + 0.11838326359039211, + 0.20430165862883015, + -0.9717233326329036 + ], + [ + 0.7312442046911345, + 0.646870970910881, + 0.21642518360496843, + 0.6788380562967272, + -0.7211956623288217, + -0.13804242087624236, + 0.06678926881551871, + 0.2478603712393458, + -0.9664907810942545 + ], + [ + 0.7334591560605549, + 0.6324652704983437, + 0.24904888677606224, + 0.6783397802810155, + -0.7045064862102326, + -0.20862826600443035, + 0.04350642342508122, + 0.32196007904889196, + -0.9457530854401635 + ], + [ + 0.7512297408315229, + 0.6028397400359468, + 0.2687715095087179, + 0.6598120614621351, + -0.6966079964260681, + -0.28175404675771143, + 0.01737584643378315, + 0.38900070327526537, + -0.9210735762207374 + ], + [ + 0.7652298947349675, + 0.5845885837167476, + 0.269591164528731, + 0.6437375053272637, + -0.6981431967142235, + -0.31336576251510895, + 0.0050231901159722425, + 0.4133427931749769, + -0.9105616414561766 + ], + [ + 0.7774172869889582, + 0.5719156457676892, + 0.2617916270946317, + 0.6287285021714247, + -0.7184811274925553, + -0.29746485505737147, + 0.017967538729732987, + 0.3958501781774934, + -0.9181393162199526 + ], + [ + 0.776391702478648, + 0.5689248742964008, + 0.2711833544470065, + 0.6289394524027243, + -0.727128680397276, + -0.2751709420616153, + 0.04063360104233191, + 0.3841983466265052, + -0.9223559729929611 + ], + [ + 0.7805363668011396, + 0.5627288295098393, + 0.27221176414578974, + 0.6241747897487989, + -0.7254086260817058, + -0.29015195509990027, + 0.034187891758916344, + 0.3963818735067715, + -0.9174489622929127 + ], + [ + 0.7966985159600976, + 0.5399278379848333, + 0.27156841575559043, + 0.6038985136196606, + -0.7290525327113498, + -0.3221629863828715, + 0.024042876594580972, + 0.42066653576935403, + -0.906896689689001 + ], + [ + 0.8088081771160164, + 0.5080107522889268, + 0.29623370535627036, + 0.5858357403788341, + -0.7399312160427222, + -0.3306029050391449, + 0.051242735339265946, + 0.44093862507652626, + -0.8960732732263432 + ], + [ + 0.8088148945804816, + 0.48970810206954096, + 0.3255832321729914, + 0.5830338031451786, + -0.7400337197704459, + -0.33529342074187185, + 0.07674666569195741, + 0.46101634284498516, + -0.8840666722227468 + ], + [ + 0.8117489564786037, + 0.4648683717934082, + 0.3534982723607624, + 0.5743067760628598, + -0.7452805586198654, + -0.33871612880337665, + 0.10599697459919429, + 0.4779689172419135, + -0.8719577716417297 + ], + [ + 0.805968599785918, + 0.44451535108102636, + 0.39092290648213346, + 0.562765614407004, + -0.7801999186759898, + -0.27309879190338104, + 0.18360141448320647, + 0.44010702056578344, + -0.8789745906728333 + ], + [ + 0.7889935118075759, + 0.4324864067012659, + 0.4363997552063651, + 0.5431172223131573, + -0.8230259310812018, + -0.16628890400372706, + 0.28725062428546355, + 0.36821708921035634, + -0.8842529355682476 + ], + [ + 0.8052186712224226, + 0.4061734698087094, + 0.43202546677059384, + 0.5063373560758784, + -0.8501521711256538, + -0.14444295681142127, + 0.30861849159906984, + 0.3350587983532002, + -0.8902192023817641 + ], + [ + 0.8341509272871231, + 0.38987823067009464, + 0.3901117734131964, + 0.4602575696312404, + -0.8818064799165265, + -0.10286059291277921, + 0.3038999837169731, + 0.265353155675189, + -0.9150040998105105 + ], + [ + 0.8532639950844548, + 0.3864923732167267, + 0.3500917024692502, + 0.4316572478280899, + -0.900150637356096, + -0.058316811168762694, + 0.29259626636372954, + 0.20087925605377127, + -0.93489836313756 + ], + [ + 0.8713087262832971, + 0.39301997230575775, + 0.29386460295748423, + 0.43085495519483347, + -0.8993229854591311, + -0.07471395725654942, + 0.23491511464066434, + 0.19171194327338317, + -0.9529225675361596 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006636.json b/json/chunk-0006/episode_0006636.json new file mode 100644 index 0000000000000000000000000000000000000000..25df9d7a405f4ad8a557f33fb12e66e53c107966 --- /dev/null +++ b/json/chunk-0006/episode_0006636.json @@ -0,0 +1,1402 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 22, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPush the can downward." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006636.mp4", + "start": 0, + "end": 22, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.38779252767562866, + 0.13095876574516296, + 0.1351449191570282, + -0.0029045999981462955, + -0.28273260593414307, + 0.2001849114894867, + 0.0, + 1.0001531839370728 + ], + [ + 0.3865637183189392, + 0.12937311828136444, + 0.11960924416780472, + -0.015786081552505493, + -0.2428063303232193, + 0.2021976262331009, + 0.0, + 1.0001531839370728 + ], + [ + 0.384323388338089, + 0.1219477578997612, + 0.11731770634651184, + -0.03829324617981911, + -0.22322162985801697, + 0.17645886540412903, + 0.0, + 1.0001531839370728 + ], + [ + 0.3857860565185547, + 0.09956924617290497, + 0.13639158010482788, + -0.042348943650722504, + -0.25371187925338745, + 0.10875512659549713, + 0.0, + 0.9994885921478271 + ], + [ + 0.38815808296203613, + 0.07266447693109512, + 0.1502649039030075, + -0.05775243416428566, + -0.293436199426651, + 0.03679951652884483, + 0.0, + 1.0001531839370728 + ], + [ + 0.3965465724468231, + 0.020445534959435463, + 0.15995140373706818, + -0.04099227115511894, + -0.3286190330982208, + -0.088078573346138, + 0.0, + 1.0001531839370728 + ], + [ + 0.41016003489494324, + -0.025312282145023346, + 0.1719326227903366, + -0.01916995458304882, + -0.361492782831192, + -0.1950278878211975, + 0.0, + 1.0001531839370728 + ], + [ + 0.42176634073257446, + -0.04409187287092209, + 0.15898141264915466, + -0.006002408917993307, + -0.3359762132167816, + -0.22738038003444672, + 0.0, + 1.0001531839370728 + ], + [ + 0.4266622066497803, + -0.059791985899209976, + 0.14328046143054962, + -0.01889241300523281, + -0.3024708926677704, + -0.26091375946998596, + 0.0, + 0.9994885921478271 + ], + [ + 0.43045422434806824, + -0.0672815814614296, + 0.1351904422044754, + -0.006473732180893421, + -0.31071358919143677, + -0.2950161099433899, + 0.0, + 1.0001531839370728 + ], + [ + 0.43108776211738586, + -0.06606942415237427, + 0.11996735632419586, + 0.0021938348654657602, + -0.27452555298805237, + -0.2888655960559845, + 0.0, + 1.0001531839370728 + ], + [ + 0.42786040902137756, + -0.06473956257104874, + 0.11310526728630066, + 0.004598811734467745, + -0.2523939311504364, + -0.28919872641563416, + 0.0, + 1.0001531839370728 + ], + [ + 0.4211360812187195, + -0.06247072294354439, + 0.0957731232047081, + 0.002517749322578311, + -0.20410384237766266, + -0.27272021770477295, + 0.0, + 0.9994885921478271 + ], + [ + 0.40476667881011963, + -0.06084145978093147, + 0.08160132169723511, + -0.019654856994748116, + -0.15982212126255035, + -0.2428324967622757, + 0.0, + 1.0001531839370728 + ], + [ + 0.3871024549007416, + -0.05645453929901123, + 0.08031787723302841, + -0.031533654779195786, + -0.12686417996883392, + -0.19146543741226196, + 0.0, + 0.9994885921478271 + ], + [ + 0.3716866374015808, + -0.05361928790807724, + 0.08060970902442932, + -0.03304457664489746, + -0.0942634642124176, + -0.14058628678321838, + 0.0, + 0.9994885921478271 + ], + [ + 0.3493994176387787, + -0.04930567741394043, + 0.08579002320766449, + -0.01295247208327055, + -0.082240529358387, + -0.07837625592947006, + 0.0, + 0.9988223910331726 + ], + [ + 0.32495176792144775, + -0.04856305569410324, + 0.09111908823251724, + -0.020214766263961792, + -0.06617450714111328, + -0.0626051127910614, + 0.0, + 0.9994885921478271 + ], + [ + 0.3037222623825073, + -0.04607087001204491, + 0.0894436463713646, + -0.01525229774415493, + -0.032558001577854156, + -0.055035486817359924, + 0.0, + 0.9994885921478271 + ], + [ + 0.2948654890060425, + -0.053524136543273926, + 0.09404420852661133, + -0.0018980111926794052, + -0.04299811273813248, + -0.07339802384376526, + 0.0, + 0.9988223910331726 + ], + [ + 0.29368090629577637, + -0.052335746586322784, + 0.09998005628585815, + 0.019593318924307823, + -0.05507802590727806, + -0.06964191794395447, + 0.0, + 0.9988223910331726 + ], + [ + 0.30206194519996643, + -0.05275856703519821, + 0.11434374004602432, + -0.019384123384952545, + -0.067764051258564, + -0.08716174960136414, + 0.0, + 0.9988223910331726 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.38779252767562866, + 0.13095876574516296, + 0.1351449191570282 + ], + [ + 0.3865637183189392, + 0.12937311828136444, + 0.11960924416780472 + ], + [ + 0.384323388338089, + 0.1219477578997612, + 0.11731770634651184 + ], + [ + 0.3857860565185547, + 0.09956924617290497, + 0.13639158010482788 + ], + [ + 0.38815808296203613, + 0.07266447693109512, + 0.1502649039030075 + ], + [ + 0.3965465724468231, + 0.020445534959435463, + 0.15995140373706818 + ], + [ + 0.41016003489494324, + -0.025312282145023346, + 0.1719326227903366 + ], + [ + 0.42176634073257446, + -0.04409187287092209, + 0.15898141264915466 + ], + [ + 0.4266622066497803, + -0.059791985899209976, + 0.14328046143054962 + ], + [ + 0.43045422434806824, + -0.0672815814614296, + 0.1351904422044754 + ], + [ + 0.43108776211738586, + -0.06606942415237427, + 0.11996735632419586 + ], + [ + 0.42786040902137756, + -0.06473956257104874, + 0.11310526728630066 + ], + [ + 0.4211360812187195, + -0.06247072294354439, + 0.0957731232047081 + ], + [ + 0.40476667881011963, + -0.06084145978093147, + 0.08160132169723511 + ], + [ + 0.3871024549007416, + -0.05645453929901123, + 0.08031787723302841 + ], + [ + 0.3716866374015808, + -0.05361928790807724, + 0.08060970902442932 + ], + [ + 0.3493994176387787, + -0.04930567741394043, + 0.08579002320766449 + ], + [ + 0.32495176792144775, + -0.04856305569410324, + 0.09111908823251724 + ], + [ + 0.3037222623825073, + -0.04607087001204491, + 0.0894436463713646 + ], + [ + 0.2948654890060425, + -0.053524136543273926, + 0.09404420852661133 + ], + [ + 0.29368090629577637, + -0.052335746586322784, + 0.09998005628585815 + ], + [ + 0.30206194519996643, + -0.05275856703519821, + 0.11434374004602432 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9411193871010437, + 0.19805557001972682, + 0.27398593103792285, + 0.19095552583201622, + -0.9801868246083285, + 0.05262866156820317, + 0.27898079929768377, + 0.0027892738129054635, + -0.9602926291369848 + ], + [ + 0.9508922710686399, + 0.19707971388190773, + 0.23867022268843863, + 0.19493195379753178, + -0.9802677239617396, + 0.03281345375828365, + 0.2404275820503971, + 0.015322393256129201, + -0.9705461359741243 + ], + [ + 0.9600460945777035, + 0.16707244953959458, + 0.2244956411401761, + 0.1711891579477328, + -0.9852375176141859, + 0.0011428414513615752, + 0.22137246551286657, + 0.037334039297621954, + -0.9744744229698787 + ], + [ + 0.9622685339192042, + 0.09787997713057497, + 0.25388733467013186, + 0.1050661929026814, + -0.9943540960496398, + -0.014866969369730034, + 0.25099873254246113, + 0.04098099249923154, + -0.9671195347607534 + ], + [ + 0.9566075446035289, + 0.020045958609582484, + 0.2906891211432428, + 0.03521859431001388, + -0.9982711318551409, + -0.04705738963736571, + 0.28924324749669544, + 0.05525311618433029, + -0.955659686776358 + ], + [ + 0.9428199543354661, + -0.10106555658532879, + 0.31761027530444874, + -0.08325764763301408, + -0.9941233599151044, + -0.06918749440268093, + 0.32273626665977106, + 0.03878786592739856, + -0.9456938212969944 + ], + [ + 0.917637417660795, + -0.2004092044833064, + 0.3431875878687869, + -0.18126897776792578, + -0.9795481965813262, + -0.08733205753469342, + 0.3536709309623838, + 0.01792990051952484, + -0.935198049217149 + ], + [ + 0.919788315268095, + -0.2273500383611247, + 0.3198459240845105, + -0.21282228905388753, + -0.9737966151786365, + -0.08016748435927121, + 0.3296909588965746, + 0.005666773669873969, + -0.9440719036694353 + ], + [ + 0.9222945037662914, + -0.263354332332392, + 0.2828733708998605, + -0.24625282046817232, + -0.9645306017564308, + -0.09508031703169337, + 0.2978798360647463, + 0.01803368839525723, + -0.9544330198337138 + ], + [ + 0.9109818253008576, + -0.29264291568519163, + 0.2906410808381826, + -0.27683263463423713, + -0.956201930932319, + -0.09508711628170732, + 0.30573813365850216, + 0.006163698611528275, + -0.9520956897531053 + ], + [ + 0.9226730472882899, + -0.2842942342883254, + 0.2604826983854317, + -0.27419792904214485, + -0.9587347543229774, + -0.07512101278776107, + 0.2710902866514031, + -0.002111682664328929, + -0.9625516075928527 + ], + [ + 0.9281057656467739, + -0.2840805692500148, + 0.24066141765518306, + -0.2761489309019637, + -0.9587900709392894, + -0.06680844130747604, + 0.249722757743297, + -0.00445309362348717, + -0.968307138372047 + ], + [ + 0.9430519249313463, + -0.2688597988371653, + 0.19587617377445826, + -0.26376117672962124, + -0.963176167660304, + -0.052170026848907695, + 0.20268968531597326, + -0.002465485844464474, + -0.9792399158766266 + ], + [ + 0.9582903048278, + -0.24344249591482212, + 0.14971787754240895, + -0.23738855360172215, + -0.9697212332302876, + -0.0573358913876143, + 0.15914259735194797, + 0.019403118437298323, + -0.9870649181806553 + ], + [ + 0.9738368022228716, + -0.1941193643607209, + 0.11815056079647322, + -0.18876843466687013, + -0.9804792417611472, + -0.0550175839973471, + 0.126524150697608, + 0.031275051649441624, + -0.9914703779914826 + ], + [ + 0.9857383023380147, + -0.14312618345528993, + 0.08851494175161169, + -0.1395015606529621, + -0.9891577322690901, + -0.045894392551367166, + 0.09412392830283088, + 0.03289188808496324, + -0.9950169897137685 + ], + [ + 0.9935606820890693, + -0.07935019260282547, + 0.08087470519635588, + -0.07803140986195581, + -0.9967632225624359, + -0.019343661026367906, + 0.08214785500339274, + 0.012908333774816155, + -0.9965365546920489 + ], + [ + 0.9958564939689599, + -0.06388545897854853, + 0.06471855646528744, + -0.062427288622211426, + -0.9977534032052073, + -0.024310080783608138, + 0.06612622063243533, + 0.020169147813594804, + -0.9976074019479524 + ], + [ + 0.997956767305601, + -0.05549703563612484, + 0.03166022148623191, + -0.054978555994079616, + -0.9983424818055373, + -0.01701903061770641, + 0.03255224984176091, + 0.015243623518155572, + -0.9993537826877309 + ], + [ + 0.9963857862215246, + -0.07341337305311949, + 0.04272986862462161, + -0.07326435993109809, + -0.9972997948816739, + -0.0050450661895953776, + 0.04298486454091045, + 0.0018962557671368093, + -0.9990739240088617 + ], + [ + 0.9960632463218599, + -0.06849634891741158, + 0.05626952560438221, + -0.06948011731691503, + -0.9974595552828586, + 0.01571460698044951, + 0.05505018278249163, + -0.019562355683978325, + -0.9982919370683648 + ], + [ + 0.9939174267368324, + -0.08834255085086395, + 0.06575517118825, + -0.08685163558085124, + -0.9959024144355276, + -0.02520266490706296, + 0.0677122014541291, + 0.019338423685740305, + -0.99751746006954 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0012288093566894531, + -0.001585647463798523, + -0.01553567498922348, + -0.012881482020020485, + 0.03992627561092377, + 0.0020127147436141968, + 1.0 + ], + [ + -0.0022403299808502197, + -0.007425360381603241, + -0.002291537821292877, + -0.022507164627313614, + 0.01958470046520233, + -0.025738760828971863, + 1.0 + ], + [ + 0.0014626681804656982, + -0.02237851172685623, + 0.01907387375831604, + -0.004055697470903397, + -0.030490249395370483, + -0.0677037388086319, + 1.0 + ], + [ + 0.0023720264434814453, + -0.026904769241809845, + 0.013873323798179626, + -0.015403490513563156, + -0.03972432017326355, + -0.071955606341362, + 1.0 + ], + [ + 0.008388489484786987, + -0.05221894383430481, + 0.009686499834060669, + 0.016760163009166718, + -0.035182833671569824, + -0.12487809360027313, + 1.0 + ], + [ + 0.013613462448120117, + -0.04575781524181366, + 0.011981219053268433, + 0.021822316572070122, + -0.03287374973297119, + -0.10694931447505951, + 1.0 + ], + [ + 0.011606305837631226, + -0.018779590725898743, + -0.012951210141181946, + 0.013167545199394226, + 0.0255165696144104, + -0.03235249221324921, + 1.0 + ], + [ + 0.0048958659172058105, + -0.015700113028287888, + -0.01570095121860504, + -0.012890003621578217, + 0.03350532054901123, + -0.033533379435539246, + 1.0 + ], + [ + 0.003792017698287964, + -0.00748959556221962, + -0.008090019226074219, + 0.01241868082433939, + -0.008242696523666382, + -0.03410235047340393, + 1.0 + ], + [ + 0.000633537769317627, + 0.0012121573090553284, + -0.015223085880279541, + 0.008667566813528538, + 0.0361880362033844, + 0.0061505138874053955, + 1.0 + ], + [ + -0.0032273530960083008, + 0.001329861581325531, + -0.006862089037895203, + 0.0024049768690019846, + 0.022131621837615967, + -0.0003331303596496582, + 1.0 + ], + [ + -0.006724327802658081, + 0.0022688396275043488, + -0.01733214408159256, + -0.002081062411889434, + 0.04829008877277374, + 0.016478508710861206, + 1.0 + ], + [ + -0.016369402408599854, + 0.001629263162612915, + -0.014171801507472992, + -0.022172605618834496, + 0.044281721115112305, + 0.029887720942497253, + 1.0 + ], + [ + -0.017664223909378052, + 0.004386920481920242, + -0.0012834444642066956, + -0.01187879778444767, + 0.03295794129371643, + 0.05136705935001373, + 1.0 + ], + [ + -0.015415817499160767, + 0.0028352513909339905, + 0.0002918317914009094, + -0.0015109218657016754, + 0.03260071575641632, + 0.05087915062904358, + 1.0 + ], + [ + -0.022287219762802124, + 0.00431361049413681, + 0.0051803141832351685, + 0.020092103630304337, + 0.012022934854030609, + 0.06221003085374832, + 1.0 + ], + [ + -0.024447649717330933, + 0.0007426217198371887, + 0.005329065024852753, + -0.007262294180691242, + 0.016066022217273712, + 0.01577114313840866, + 1.0 + ], + [ + -0.02122950553894043, + 0.0024921856820583344, + -0.001675441861152649, + 0.004962468519806862, + 0.033616505563259125, + 0.007569625973701477, + 1.0 + ], + [ + -0.008856773376464844, + -0.007453266531229019, + 0.004600562155246735, + 0.013354286551475525, + -0.01044011116027832, + -0.018362537026405334, + 1.0 + ], + [ + -0.0011845827102661133, + 0.0011883899569511414, + 0.005935847759246826, + 0.02149133011698723, + -0.012079913169145584, + 0.003756105899810791, + 1.0 + ], + [ + 0.008381038904190063, + -0.00042282044887542725, + 0.014363683760166168, + -0.03897744417190552, + -0.012686025351285934, + -0.017519831657409668, + 1.0 + ], + [ + 0.018031537532806396, + 0.013060573488473892, + 0.027213163673877716, + -0.023414690047502518, + -0.06229285150766373, + 0.03565257787704468, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3865637183189392, + 0.12937311828136444, + 0.11960924416780472 + ], + [ + 0.384323388338089, + 0.1219477578997612, + 0.11731770634651184 + ], + [ + 0.3857860565185547, + 0.09956924617290497, + 0.13639158010482788 + ], + [ + 0.38815808296203613, + 0.07266447693109512, + 0.1502649039030075 + ], + [ + 0.3965465724468231, + 0.020445534959435463, + 0.15995140373706818 + ], + [ + 0.41016003489494324, + -0.025312282145023346, + 0.1719326227903366 + ], + [ + 0.42176634073257446, + -0.04409187287092209, + 0.15898141264915466 + ], + [ + 0.4266622066497803, + -0.059791985899209976, + 0.14328046143054962 + ], + [ + 0.43045422434806824, + -0.0672815814614296, + 0.1351904422044754 + ], + [ + 0.43108776211738586, + -0.06606942415237427, + 0.11996735632419586 + ], + [ + 0.42786040902137756, + -0.06473956257104874, + 0.11310526728630066 + ], + [ + 0.4211360812187195, + -0.06247072294354439, + 0.0957731232047081 + ], + [ + 0.40476667881011963, + -0.06084145978093147, + 0.08160132169723511 + ], + [ + 0.3871024549007416, + -0.05645453929901123, + 0.08031787723302841 + ], + [ + 0.3716866374015808, + -0.05361928790807724, + 0.08060970902442932 + ], + [ + 0.3493994176387787, + -0.04930567741394043, + 0.08579002320766449 + ], + [ + 0.32495176792144775, + -0.04856305569410324, + 0.09111908823251724 + ], + [ + 0.3037222623825073, + -0.04607087001204491, + 0.0894436463713646 + ], + [ + 0.2948654890060425, + -0.053524136543273926, + 0.09404420852661133 + ], + [ + 0.29368090629577637, + -0.052335746586322784, + 0.09998005628585815 + ], + [ + 0.30206194519996643, + -0.05275856703519821, + 0.11434374004602432 + ], + [ + 0.3200934827327728, + -0.03969799354672432, + 0.14155690371990204 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9508922710686399, + 0.19707971388190773, + 0.23867022268843863, + 0.19493195379753178, + -0.9802677239617396, + 0.03281345375828365, + 0.2404275820503971, + 0.015322393256129201, + -0.9705461359741243 + ], + [ + 0.9600460945777035, + 0.16707244953959458, + 0.2244956411401761, + 0.1711891579477328, + -0.9852375176141859, + 0.0011428414513615752, + 0.22137246551286657, + 0.037334039297621954, + -0.9744744229698787 + ], + [ + 0.9622685339192042, + 0.09787997713057497, + 0.25388733467013186, + 0.1050661929026814, + -0.9943540960496398, + -0.014866969369730034, + 0.25099873254246113, + 0.04098099249923154, + -0.9671195347607534 + ], + [ + 0.9566075446035289, + 0.020045958609582484, + 0.2906891211432428, + 0.03521859431001388, + -0.9982711318551409, + -0.04705738963736571, + 0.28924324749669544, + 0.05525311618433029, + -0.955659686776358 + ], + [ + 0.9428199543354661, + -0.10106555658532879, + 0.31761027530444874, + -0.08325764763301408, + -0.9941233599151044, + -0.06918749440268093, + 0.32273626665977106, + 0.03878786592739856, + -0.9456938212969944 + ], + [ + 0.917637417660795, + -0.2004092044833064, + 0.3431875878687869, + -0.18126897776792578, + -0.9795481965813262, + -0.08733205753469342, + 0.3536709309623838, + 0.01792990051952484, + -0.935198049217149 + ], + [ + 0.919788315268095, + -0.2273500383611247, + 0.3198459240845105, + -0.21282228905388753, + -0.9737966151786365, + -0.08016748435927121, + 0.3296909588965746, + 0.005666773669873969, + -0.9440719036694353 + ], + [ + 0.9222945037662914, + -0.263354332332392, + 0.2828733708998605, + -0.24625282046817232, + -0.9645306017564308, + -0.09508031703169337, + 0.2978798360647463, + 0.01803368839525723, + -0.9544330198337138 + ], + [ + 0.9109818253008576, + -0.29264291568519163, + 0.2906410808381826, + -0.27683263463423713, + -0.956201930932319, + -0.09508711628170732, + 0.30573813365850216, + 0.006163698611528275, + -0.9520956897531053 + ], + [ + 0.9226730472882899, + -0.2842942342883254, + 0.2604826983854317, + -0.27419792904214485, + -0.9587347543229774, + -0.07512101278776107, + 0.2710902866514031, + -0.002111682664328929, + -0.9625516075928527 + ], + [ + 0.9281057656467739, + -0.2840805692500148, + 0.24066141765518306, + -0.2761489309019637, + -0.9587900709392894, + -0.06680844130747604, + 0.249722757743297, + -0.00445309362348717, + -0.968307138372047 + ], + [ + 0.9430519249313463, + -0.2688597988371653, + 0.19587617377445826, + -0.26376117672962124, + -0.963176167660304, + -0.052170026848907695, + 0.20268968531597326, + -0.002465485844464474, + -0.9792399158766266 + ], + [ + 0.9582903048278, + -0.24344249591482212, + 0.14971787754240895, + -0.23738855360172215, + -0.9697212332302876, + -0.0573358913876143, + 0.15914259735194797, + 0.019403118437298323, + -0.9870649181806553 + ], + [ + 0.9738368022228716, + -0.1941193643607209, + 0.11815056079647322, + -0.18876843466687013, + -0.9804792417611472, + -0.0550175839973471, + 0.126524150697608, + 0.031275051649441624, + -0.9914703779914826 + ], + [ + 0.9857383023380147, + -0.14312618345528993, + 0.08851494175161169, + -0.1395015606529621, + -0.9891577322690901, + -0.045894392551367166, + 0.09412392830283088, + 0.03289188808496324, + -0.9950169897137685 + ], + [ + 0.9935606820890693, + -0.07935019260282547, + 0.08087470519635588, + -0.07803140986195581, + -0.9967632225624359, + -0.019343661026367906, + 0.08214785500339274, + 0.012908333774816155, + -0.9965365546920489 + ], + [ + 0.9958564939689599, + -0.06388545897854853, + 0.06471855646528744, + -0.062427288622211426, + -0.9977534032052073, + -0.024310080783608138, + 0.06612622063243533, + 0.020169147813594804, + -0.9976074019479524 + ], + [ + 0.997956767305601, + -0.05549703563612484, + 0.03166022148623191, + -0.054978555994079616, + -0.9983424818055373, + -0.01701903061770641, + 0.03255224984176091, + 0.015243623518155572, + -0.9993537826877309 + ], + [ + 0.9963857862215246, + -0.07341337305311949, + 0.04272986862462161, + -0.07326435993109809, + -0.9972997948816739, + -0.0050450661895953776, + 0.04298486454091045, + 0.0018962557671368093, + -0.9990739240088617 + ], + [ + 0.9960632463218599, + -0.06849634891741158, + 0.05626952560438221, + -0.06948011731691503, + -0.9974595552828586, + 0.01571460698044951, + 0.05505018278249163, + -0.019562355683978325, + -0.9982919370683648 + ], + [ + 0.9939174267368324, + -0.08834255085086395, + 0.06575517118825, + -0.08685163558085124, + -0.9959024144355276, + -0.02520266490706296, + 0.0677122014541291, + 0.019338423685740305, + -0.99751746006954 + ], + [ + 0.9902394127471229, + -0.05698079819635153, + 0.1271970678873522, + -0.05105156986692108, + -0.9974734877346093, + -0.04940018705103225, + 0.12969056502442994, + 0.04242440221689354, + -0.990646519925338 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006637.json b/json/chunk-0006/episode_0006637.json new file mode 100644 index 0000000000000000000000000000000000000000..5db99217281dd460e8963f747b6c27c88e25143d --- /dev/null +++ b/json/chunk-0006/episode_0006637.json @@ -0,0 +1,1282 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 20, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut pot or pan in sink." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006637.mp4", + "start": 0, + "end": 20, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3000553846359253, + -0.021692676469683647, + 0.10157030820846558, + 0.17911963164806366, + -0.17347991466522217, + 0.0018326063873246312, + 0.0, + 1.0027955770492554 + ], + [ + 0.29736095666885376, + -0.020419541746377945, + 0.08720938116312027, + 0.2776601016521454, + -0.1780177354812622, + -0.1340331733226776, + 0.0, + 1.002137303352356 + ], + [ + 0.30309343338012695, + -0.028359750285744667, + 0.08246312290430069, + 0.35971102118492126, + -0.18399730324745178, + -0.386563241481781, + 0.0, + 1.002137303352356 + ], + [ + 0.31682270765304565, + -0.01992202363908291, + 0.08536181598901749, + 0.3806774616241455, + -0.19026850163936615, + -0.524207592010498, + 0.0, + 1.0027955770492554 + ], + [ + 0.335970401763916, + -0.014407733455300331, + 0.08303408324718475, + 0.3693065643310547, + -0.20266041159629822, + -0.6155885457992554, + 0.0, + 1.0027955770492554 + ], + [ + 0.3527897298336029, + -0.012110402807593346, + 0.07829291373491287, + 0.32880789041519165, + -0.21703535318374634, + -0.6838970184326172, + 0.0, + 1.0027955770492554 + ], + [ + 0.36808744072914124, + -0.004020655527710915, + 0.06937339156866074, + 0.27583804726600647, + -0.24316734075546265, + -0.7080819606781006, + 0.0, + 1.002137303352356 + ], + [ + 0.372957319021225, + -0.004026108421385288, + 0.06096788868308067, + 0.23483267426490784, + -0.2736593782901764, + -0.6744589805603027, + 0.0, + 1.002137303352356 + ], + [ + 0.372345894575119, + -0.0071625541895627975, + 0.054917193949222565, + 0.2241152822971344, + -0.2985403835773468, + -0.6662678718566895, + 0.0, + 1.002137303352356 + ], + [ + 0.3755359947681427, + -0.008066150359809399, + 0.04614042490720749, + 0.22779220342636108, + -0.3112417757511139, + -0.6694237589836121, + 0.0, + 1.002137303352356 + ], + [ + 0.37791234254837036, + -0.008240672759711742, + 0.035330671817064285, + 0.22580187022686005, + -0.3107509911060333, + -0.6678793430328369, + 0.0, + 1.002137303352356 + ], + [ + 0.3760855197906494, + -0.008200790733098984, + 0.023165790364146233, + 0.2074999213218689, + -0.2874356210231781, + -0.6624823808670044, + 0.0, + 1.0027955770492554 + ], + [ + 0.3741524815559387, + -0.008546976372599602, + 0.017106059938669205, + 0.17885267734527588, + -0.26754674315452576, + -0.6314876079559326, + 0.0, + 0.8196109533309937 + ], + [ + 0.3729518949985504, + -0.008658327162265778, + 0.015876956284046173, + 0.1658015102148056, + -0.26303619146347046, + -0.6067098379135132, + 0.0, + 0.5033408999443054 + ], + [ + 0.3722184896469116, + -0.010100286453962326, + 0.015654824674129486, + 0.16357532143592834, + -0.2589181065559387, + -0.6068862676620483, + 0.0, + 0.21794094145298004 + ], + [ + 0.36807116866111755, + -0.010840597562491894, + 0.01568441651761532, + 0.16382162272930145, + -0.2225140482187271, + -0.570292055606842, + 0.0, + 0.08606764674186707 + ], + [ + 0.35260236263275146, + -0.01408966351300478, + 0.02608073502779007, + 0.16340117156505585, + -0.16552232205867767, + -0.4844464063644409, + 0.0, + 0.06122923642396927 + ], + [ + 0.33266356587409973, + -0.018336569890379906, + 0.0407547652721405, + 0.18883047997951508, + -0.15610484778881073, + -0.41266563534736633, + 0.0, + 0.06122923642396927 + ], + [ + 0.31027039885520935, + -0.021662242710590363, + 0.046096209436655045, + 0.22199462354183197, + -0.1557297706604004, + -0.3251211643218994, + 0.0, + 0.06122923642396927 + ], + [ + 0.2913602292537689, + -0.01682652160525322, + 0.04122886806726456, + 0.24380652606487274, + -0.1614839732646942, + -0.25660133361816406, + 0.0, + 0.06122923642396927 + ] + ], + "left_gripper_pos": [ + [ + 1.0027955770492554 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.0027955770492554 + ], + [ + 0.8196109533309937 + ], + [ + 0.5033408999443054 + ], + [ + 0.21794094145298004 + ], + [ + 0.08606764674186707 + ], + [ + 0.06122923642396927 + ], + [ + 0.06122923642396927 + ], + [ + 0.06122923642396927 + ], + [ + 0.06122923642396927 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3000553846359253, + -0.021692676469683647, + 0.10157030820846558 + ], + [ + 0.29736095666885376, + -0.020419541746377945, + 0.08720938116312027 + ], + [ + 0.30309343338012695, + -0.028359750285744667, + 0.08246312290430069 + ], + [ + 0.31682270765304565, + -0.01992202363908291, + 0.08536181598901749 + ], + [ + 0.335970401763916, + -0.014407733455300331, + 0.08303408324718475 + ], + [ + 0.3527897298336029, + -0.012110402807593346, + 0.07829291373491287 + ], + [ + 0.36808744072914124, + -0.004020655527710915, + 0.06937339156866074 + ], + [ + 0.372957319021225, + -0.004026108421385288, + 0.06096788868308067 + ], + [ + 0.372345894575119, + -0.0071625541895627975, + 0.054917193949222565 + ], + [ + 0.3755359947681427, + -0.008066150359809399, + 0.04614042490720749 + ], + [ + 0.37791234254837036, + -0.008240672759711742, + 0.035330671817064285 + ], + [ + 0.3760855197906494, + -0.008200790733098984, + 0.023165790364146233 + ], + [ + 0.3741524815559387, + -0.008546976372599602, + 0.017106059938669205 + ], + [ + 0.3729518949985504, + -0.008658327162265778, + 0.015876956284046173 + ], + [ + 0.3722184896469116, + -0.010100286453962326, + 0.015654824674129486 + ], + [ + 0.36807116866111755, + -0.010840597562491894, + 0.01568441651761532 + ], + [ + 0.35260236263275146, + -0.01408966351300478, + 0.02608073502779007 + ], + [ + 0.33266356587409973, + -0.018336569890379906, + 0.0407547652721405 + ], + [ + 0.31027039885520935, + -0.021662242710590363, + 0.046096209436655045 + ], + [ + 0.2913602292537689, + -0.01682652160525322, + 0.04122886806726456 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9849884063284368, + 0.032556201571154776, + 0.16952266260835083, + 0.0018050980656535483, + -0.9839429130646754, + 0.1784743271475595, + 0.172611068647233, + -0.1754891380372559, + -0.9692311289942153 + ], + [ + 0.9753693775518377, + -0.08041093884977099, + 0.20539877859285974, + -0.1315203808343049, + -0.9595602609121513, + 0.2488905283521315, + 0.1770789845219913, + -0.26977432530080053, + -0.94650137171013 + ], + [ + 0.9105759668913428, + -0.2932278418737119, + 0.29132257253769656, + -0.37064367570061035, + -0.8912118252510615, + 0.2614665336057603, + 0.18296085423673786, + -0.3460620107477225, + -0.9201991146128137 + ], + [ + 0.850097596080034, + -0.40386317531193766, + 0.3379772370528924, + -0.49149438982305665, + -0.8389178374700584, + 0.23377366564055596, + 0.18912255791261157, + -0.36484434708724806, + -0.9116585218639001 + ], + [ + 0.7997250697162261, + -0.4791894845416848, + 0.36168667486106176, + -0.5656215896010278, + -0.8033415177311665, + 0.1863186068716493, + 0.2012760051386739, + -0.35358145284228376, + -0.9134922692400611 + ], + [ + 0.7569322752262425, + -0.544072892896356, + 0.361992013635956, + -0.6169960802577582, + -0.7775253734700461, + 0.12153242594808676, + 0.215335477029183, + -0.31533946918464795, + -0.9242248922783667 + ], + [ + 0.7372631416811115, + -0.5759791872032882, + 0.35311617893709857, + -0.6312440263020254, + -0.7735450250707121, + 0.05620563536122972, + 0.24077798731716646, + -0.26434082185124375, + -0.9338896566117989 + ], + [ + 0.7519809673498302, + -0.5582203543953795, + 0.350591871956996, + -0.6012371234109052, + -0.7988768671671957, + 0.01759751510033862, + 0.27025644520749853, + -0.2240218450147745, + -0.9363629994718836 + ], + [ + 0.7513606010252148, + -0.5512117811188147, + 0.36279859368918693, + -0.5907177469642618, + -0.8068743152115605, + -0.002526434907421257, + 0.2941254675278803, + -0.212413304215388, + -0.9318641518718309 + ], + [ + 0.7465027078647111, + -0.5502722236155134, + 0.37407778210940534, + -0.5907200401586999, + -0.8068365854484953, + -0.008034832712390957, + 0.30624098567232494, + -0.2149772180931056, + -0.9273625258739926 + ], + [ + 0.747532049432532, + -0.5498510847631553, + 0.37263872538422493, + -0.5896594375666087, + -0.8076042430659224, + -0.008782611829591058, + 0.30577374439253147, + -0.2131646574052554, + -0.9279349363363095 + ], + [ + 0.756120140045481, + -0.5558325584820534, + 0.3454453657945009, + -0.5898419221088442, + -0.8074771562163078, + -0.008194456160607377, + 0.28349398713296525, + -0.19756216520406625, + -0.9384030851075326 + ], + [ + 0.7784336959079876, + -0.5429681697370569, + 0.3150024567006128, + -0.5693430093136592, + -0.8220394316441262, + -0.009985517906876504, + 0.26436625885444853, + -0.1715713830293173, + -0.9490383246764643 + ], + [ + 0.7932719183001842, + -0.5270939688085121, + 0.30478125218267144, + -0.5505566633718262, + -0.8347301042206414, + -0.010630781941081094, + 0.2600135074438012, + -0.15936624847654635, + -0.9523630477886488 + ], + [ + 0.7940475934679943, + -0.5284506311814579, + 0.30038034175292844, + -0.5513026068452789, + -0.8342417318829031, + -0.010303808549005825, + 0.2560348706588363, + -0.15741875107157216, + -0.9537638501315615 + ], + [ + 0.8209907658877437, + -0.5023543707056702, + 0.2713194584985858, + -0.526567609790552, + -0.8499041975549789, + 0.01973340563339128, + 0.22068238408745, + -0.15906898255579865, + -0.9622870383321922 + ], + [ + 0.8728380194973877, + -0.43579567718500895, + 0.2196267731100603, + -0.45935329605174374, + -0.885628251786336, + 0.06824330768857792, + 0.1647675366274482, + -0.16045163565616385, + -0.9731941900201545 + ], + [ + 0.904916120527438, + -0.3671898804541645, + 0.21517064507415434, + -0.3961759636379841, + -0.9114757931620983, + 0.11070900737988065, + 0.1554716071991476, + -0.18542780312450485, + -0.9702809434299603 + ], + [ + 0.9361446037310096, + -0.279224549012732, + 0.21369822679177036, + -0.31555813395472115, + -0.9352659967109735, + 0.16031400279215485, + 0.1551010799457075, + -0.2175113022922377, + -0.9636557935148886 + ], + [ + 0.9546738778413618, + -0.2087469884440179, + 0.21218501780966897, + -0.2504927103638472, + -0.94850301882082, + 0.19389539794013927, + 0.160783049547862, + -0.2382576716568519, + -0.9578006540375432 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.002694427967071533, + 0.0012731347233057022, + -0.014360927045345306, + 0.09854047000408173, + -0.004537820816040039, + -0.13586577773094177, + 1.0 + ], + [ + 0.005732476711273193, + -0.007940208539366722, + -0.00474625825881958, + 0.08205091953277588, + -0.005979567766189575, + -0.2525300681591034, + 1.0 + ], + [ + 0.013729274272918701, + 0.008437726646661758, + 0.002898693084716797, + 0.020966440439224243, + -0.006271198391914368, + -0.13764435052871704, + 1.0 + ], + [ + 0.01914769411087036, + 0.0055142901837825775, + -0.002327732741832733, + -0.01137089729309082, + -0.012391909956932068, + -0.09138095378875732, + 1.0 + ], + [ + 0.01681932806968689, + 0.0022973306477069855, + -0.004741169512271881, + -0.04049867391586304, + -0.01437494158744812, + -0.06830847263336182, + 1.0 + ], + [ + 0.01529771089553833, + 0.008089747279882431, + -0.008919522166252136, + -0.05296984314918518, + -0.02613198757171631, + -0.0241849422454834, + 1.0 + ], + [ + 0.00486987829208374, + -5.452893674373627e-06, + -0.008405502885580063, + -0.04100537300109863, + -0.030492037534713745, + 0.03362298011779785, + 1.0 + ], + [ + -0.000611424446105957, + -0.0031364457681775093, + -0.0060506947338581085, + -0.010717391967773438, + -0.02488100528717041, + 0.008191108703613281, + 1.0 + ], + [ + 0.0031901001930236816, + -0.0009035961702466011, + -0.008776769042015076, + 0.0036769211292266846, + -0.01270139217376709, + -0.0031558871269226074, + 1.0 + ], + [ + 0.002376347780227661, + -0.00017452239990234375, + -0.010809753090143204, + -0.0019903331995010376, + 0.0004907846450805664, + 0.0015444159507751465, + 1.0 + ], + [ + -0.0018268227577209473, + 3.9882026612758636e-05, + -0.012164881452918053, + -0.01830194890499115, + 0.023315370082855225, + 0.0053969621658325195, + 1.0 + ], + [ + -0.0019330382347106934, + -0.000346185639500618, + -0.006059730425477028, + -0.028647243976593018, + 0.019888877868652344, + 0.030994772911071777, + 0.0 + ], + [ + -0.0012005865573883057, + -0.00011135078966617584, + -0.0012291036546230316, + -0.013051167130470276, + 0.004510551691055298, + 0.024777770042419434, + 0.0 + ], + [ + -0.0007334053516387939, + -0.0014419592916965485, + -0.000222131609916687, + -0.0022261887788772583, + 0.004118084907531738, + -0.00017642974853515625, + 0.0 + ], + [ + -0.004147320985794067, + -0.0007403111085295677, + 2.9591843485832214e-05, + 0.0002463012933731079, + 0.03640405833721161, + 0.0365942120552063, + 0.0 + ], + [ + -0.015468806028366089, + -0.003249065950512886, + 0.010396318510174751, + -0.00042045116424560547, + 0.05699172616004944, + 0.08584564924240112, + 0.0 + ], + [ + -0.019938796758651733, + -0.004246906377375126, + 0.014674030244350433, + 0.02542930841445923, + 0.009417474269866943, + 0.07178077101707458, + 0.0 + ], + [ + -0.02239316701889038, + -0.003325672820210457, + 0.005341444164514542, + 0.033164143562316895, + 0.00037507712841033936, + 0.08754447102546692, + 0.0 + ], + [ + -0.01891016960144043, + 0.004835721105337143, + -0.004867341369390488, + 0.02181190252304077, + -0.005754202604293823, + 0.06851983070373535, + 0.0 + ], + [ + -0.009480059146881104, + 0.009665649384260178, + -0.01145167462527752, + 0.016929790377616882, + -0.019782721996307373, + 0.05313637852668762, + 0.0 + ] + ], + "left_gripper_pos": [ + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.0027955770492554 + ], + [ + 0.8196109533309937 + ], + [ + 0.5033408999443054 + ], + [ + 0.21794094145298004 + ], + [ + 0.08606764674186707 + ], + [ + 0.06122923642396927 + ], + [ + 0.06122923642396927 + ], + [ + 0.06122923642396927 + ], + [ + 0.06122923642396927 + ], + [ + 0.06122923642396927 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.29736095666885376, + -0.020419541746377945, + 0.08720938116312027 + ], + [ + 0.30309343338012695, + -0.028359750285744667, + 0.08246312290430069 + ], + [ + 0.31682270765304565, + -0.01992202363908291, + 0.08536181598901749 + ], + [ + 0.335970401763916, + -0.014407733455300331, + 0.08303408324718475 + ], + [ + 0.3527897298336029, + -0.012110402807593346, + 0.07829291373491287 + ], + [ + 0.36808744072914124, + -0.004020655527710915, + 0.06937339156866074 + ], + [ + 0.372957319021225, + -0.004026108421385288, + 0.06096788868308067 + ], + [ + 0.372345894575119, + -0.0071625541895627975, + 0.054917193949222565 + ], + [ + 0.3755359947681427, + -0.008066150359809399, + 0.04614042490720749 + ], + [ + 0.37791234254837036, + -0.008240672759711742, + 0.035330671817064285 + ], + [ + 0.3760855197906494, + -0.008200790733098984, + 0.023165790364146233 + ], + [ + 0.3741524815559387, + -0.008546976372599602, + 0.017106059938669205 + ], + [ + 0.3729518949985504, + -0.008658327162265778, + 0.015876956284046173 + ], + [ + 0.3722184896469116, + -0.010100286453962326, + 0.015654824674129486 + ], + [ + 0.36807116866111755, + -0.010840597562491894, + 0.01568441651761532 + ], + [ + 0.35260236263275146, + -0.01408966351300478, + 0.02608073502779007 + ], + [ + 0.33266356587409973, + -0.018336569890379906, + 0.0407547652721405 + ], + [ + 0.31027039885520935, + -0.021662242710590363, + 0.046096209436655045 + ], + [ + 0.2913602292537689, + -0.01682652160525322, + 0.04122886806726456 + ], + [ + 0.2818801701068878, + -0.007160871755331755, + 0.029777193441987038 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9753693775518377, + -0.08041093884977099, + 0.20539877859285974, + -0.1315203808343049, + -0.9595602609121513, + 0.2488905283521315, + 0.1770789845219913, + -0.26977432530080053, + -0.94650137171013 + ], + [ + 0.9105759668913428, + -0.2932278418737119, + 0.29132257253769656, + -0.37064367570061035, + -0.8912118252510615, + 0.2614665336057603, + 0.18296085423673786, + -0.3460620107477225, + -0.9201991146128137 + ], + [ + 0.850097596080034, + -0.40386317531193766, + 0.3379772370528924, + -0.49149438982305665, + -0.8389178374700584, + 0.23377366564055596, + 0.18912255791261157, + -0.36484434708724806, + -0.9116585218639001 + ], + [ + 0.7997250697162261, + -0.4791894845416848, + 0.36168667486106176, + -0.5656215896010278, + -0.8033415177311665, + 0.1863186068716493, + 0.2012760051386739, + -0.35358145284228376, + -0.9134922692400611 + ], + [ + 0.7569322752262425, + -0.544072892896356, + 0.361992013635956, + -0.6169960802577582, + -0.7775253734700461, + 0.12153242594808676, + 0.215335477029183, + -0.31533946918464795, + -0.9242248922783667 + ], + [ + 0.7372631416811115, + -0.5759791872032882, + 0.35311617893709857, + -0.6312440263020254, + -0.7735450250707121, + 0.05620563536122972, + 0.24077798731716646, + -0.26434082185124375, + -0.9338896566117989 + ], + [ + 0.7519809673498302, + -0.5582203543953795, + 0.350591871956996, + -0.6012371234109052, + -0.7988768671671957, + 0.01759751510033862, + 0.27025644520749853, + -0.2240218450147745, + -0.9363629994718836 + ], + [ + 0.7513606010252148, + -0.5512117811188147, + 0.36279859368918693, + -0.5907177469642618, + -0.8068743152115605, + -0.002526434907421257, + 0.2941254675278803, + -0.212413304215388, + -0.9318641518718309 + ], + [ + 0.7465027078647111, + -0.5502722236155134, + 0.37407778210940534, + -0.5907200401586999, + -0.8068365854484953, + -0.008034832712390957, + 0.30624098567232494, + -0.2149772180931056, + -0.9273625258739926 + ], + [ + 0.747532049432532, + -0.5498510847631553, + 0.37263872538422493, + -0.5896594375666087, + -0.8076042430659224, + -0.008782611829591058, + 0.30577374439253147, + -0.2131646574052554, + -0.9279349363363095 + ], + [ + 0.756120140045481, + -0.5558325584820534, + 0.3454453657945009, + -0.5898419221088442, + -0.8074771562163078, + -0.008194456160607377, + 0.28349398713296525, + -0.19756216520406625, + -0.9384030851075326 + ], + [ + 0.7784336959079876, + -0.5429681697370569, + 0.3150024567006128, + -0.5693430093136592, + -0.8220394316441262, + -0.009985517906876504, + 0.26436625885444853, + -0.1715713830293173, + -0.9490383246764643 + ], + [ + 0.7932719183001842, + -0.5270939688085121, + 0.30478125218267144, + -0.5505566633718262, + -0.8347301042206414, + -0.010630781941081094, + 0.2600135074438012, + -0.15936624847654635, + -0.9523630477886488 + ], + [ + 0.7940475934679943, + -0.5284506311814579, + 0.30038034175292844, + -0.5513026068452789, + -0.8342417318829031, + -0.010303808549005825, + 0.2560348706588363, + -0.15741875107157216, + -0.9537638501315615 + ], + [ + 0.8209907658877437, + -0.5023543707056702, + 0.2713194584985858, + -0.526567609790552, + -0.8499041975549789, + 0.01973340563339128, + 0.22068238408745, + -0.15906898255579865, + -0.9622870383321922 + ], + [ + 0.8728380194973877, + -0.43579567718500895, + 0.2196267731100603, + -0.45935329605174374, + -0.885628251786336, + 0.06824330768857792, + 0.1647675366274482, + -0.16045163565616385, + -0.9731941900201545 + ], + [ + 0.904916120527438, + -0.3671898804541645, + 0.21517064507415434, + -0.3961759636379841, + -0.9114757931620983, + 0.11070900737988065, + 0.1554716071991476, + -0.18542780312450485, + -0.9702809434299603 + ], + [ + 0.9361446037310096, + -0.279224549012732, + 0.21369822679177036, + -0.31555813395472115, + -0.9352659967109735, + 0.16031400279215485, + 0.1551010799457075, + -0.2175113022922377, + -0.9636557935148886 + ], + [ + 0.9546738778413618, + -0.2087469884440179, + 0.21218501780966897, + -0.2504927103638472, + -0.94850301882082, + 0.19389539794013927, + 0.160783049547862, + -0.2382576716568519, + -0.9578006540375432 + ], + [ + 0.9633264046056185, + -0.14971935123218705, + 0.2226799363576013, + -0.19875342699581522, + -0.9556605949801888, + 0.217278398511059, + 0.1802756596078115, + -0.25356841891040854, + -0.9503703191305188 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006638.json b/json/chunk-0006/episode_0006638.json new file mode 100644 index 0000000000000000000000000000000000000000..518f51eab85d314f6d4e0fd7aa36f60a25c7dfeb --- /dev/null +++ b/json/chunk-0006/episode_0006638.json @@ -0,0 +1,2782 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 45, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut the cube on top of the rectangular block." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006638.mp4", + "start": 0, + "end": 45, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.34859347343444824, + -0.01771595887839794, + 0.17715322971343994, + 0.022669998928904533, + -0.13935574889183044, + 0.17896768450737, + 0.0, + 0.9994885921478271 + ], + [ + 0.3470822274684906, + -0.018372908234596252, + 0.1655747890472412, + 0.030545495450496674, + -0.1033473089337349, + 0.17662353813648224, + 0.0, + 0.9994885921478271 + ], + [ + 0.3393404483795166, + -0.016031906008720398, + 0.14552675187587738, + 0.06210649758577347, + -0.08209515362977982, + 0.2587869167327881, + 0.0, + 0.9994885921478271 + ], + [ + 0.3299141824245453, + -0.010839812457561493, + 0.13791990280151367, + 0.09104015678167343, + -0.10130444914102554, + 0.36964473128318787, + 0.0, + 0.9994885921478271 + ], + [ + 0.3175865411758423, + -0.007969057187438011, + 0.13180553913116455, + 0.077553391456604, + -0.1299883872270584, + 0.5093241930007935, + 0.0, + 0.9994885921478271 + ], + [ + 0.31063348054885864, + -0.009107029065489769, + 0.12249599397182465, + 0.04785666614770889, + -0.136979341506958, + 0.5865355134010315, + 0.0, + 0.9994885921478271 + ], + [ + 0.3004278838634491, + -0.01216196920722723, + 0.1121007651090622, + -0.02963338978588581, + -0.13721980154514313, + 0.6499805450439453, + 0.0, + 0.9994885921478271 + ], + [ + 0.2988428473472595, + -0.016121724620461464, + 0.10469046235084534, + -0.07964609563350677, + -0.13106898963451385, + 0.6674321293830872, + 0.0, + 0.9994885921478271 + ], + [ + 0.2974192500114441, + -0.011815457604825497, + 0.09917560964822769, + -0.1053214967250824, + -0.11595643311738968, + 0.6856510639190674, + 0.0, + 0.9994885921478271 + ], + [ + 0.2869793474674225, + -0.00501427473500371, + 0.08575177937746048, + -0.1240265816450119, + -0.06386110931634903, + 0.7322582006454468, + 0.0, + 0.9994885921478271 + ], + [ + 0.28174108266830444, + 0.000838689913507551, + 0.08037559688091278, + -0.13451988995075226, + -0.03501591831445694, + 0.7568498253822327, + 0.0, + 0.9994885921478271 + ], + [ + 0.27583855390548706, + 0.006253221537917852, + 0.07595657557249069, + -0.13335056602954865, + -0.009672925807535648, + 0.7661237716674805, + 0.0, + 0.9994885921478271 + ], + [ + 0.27665209770202637, + 0.011060547083616257, + 0.0724245086312294, + -0.09074384719133377, + -0.0030506672337651253, + 0.7438743114471436, + 0.0, + 0.9994885921478271 + ], + [ + 0.2854054272174835, + 0.012772122398018837, + 0.06954823434352875, + -0.05285501107573509, + 0.011607550084590912, + 0.711291491985321, + 0.0, + 0.9994885921478271 + ], + [ + 0.2859591543674469, + 0.012765932828187943, + 0.06651007384061813, + -0.06025618314743042, + 0.025054078549146652, + 0.7063148021697998, + 0.0, + 0.9994885921478271 + ], + [ + 0.2867776155471802, + 0.010324531234800816, + 0.05386592820286751, + -0.07233007997274399, + 0.0640624389052391, + 0.7013925909996033, + 0.0, + 0.9994885921478271 + ], + [ + 0.28570330142974854, + 0.007479615043848753, + 0.050834085792303085, + -0.09449385106563568, + 0.08217912167310715, + 0.7042576670646667, + 0.0, + 0.9994885921478271 + ], + [ + 0.2854514420032501, + 0.005523223429918289, + 0.04494887962937355, + -0.09630222618579865, + 0.10134454816579819, + 0.6969010829925537, + 0.0, + 0.9994885921478271 + ], + [ + 0.2839943468570709, + 0.00899885781109333, + 0.041088465601205826, + -0.10410784929990768, + 0.113893523812294, + 0.7044098377227783, + 0.0, + 0.9994885921478271 + ], + [ + 0.28081247210502625, + 0.01330132968723774, + 0.032448284327983856, + -0.09209214895963669, + 0.14338083565235138, + 0.6797221302986145, + 0.0, + 0.9499720335006714 + ], + [ + 0.2860809862613678, + 0.019011979922652245, + 0.03616071119904518, + -0.05833924561738968, + 0.139548659324646, + 0.6395809054374695, + 0.0, + 0.6641445755958557 + ], + [ + 0.2922061085700989, + 0.020497845485806465, + 0.04526108130812645, + -0.03187466412782669, + 0.12311974167823792, + 0.5758283734321594, + 0.0, + 0.5551114082336426 + ], + [ + 0.30840611457824707, + 0.011514753103256226, + 0.07618102431297302, + -0.05080093815922737, + 0.0379403680562973, + 0.48135682940483093, + 0.0, + 0.5551114082336426 + ], + [ + 0.3342764675617218, + -0.011087661609053612, + 0.11673204600811005, + -0.0450281985104084, + -0.054769519716501236, + 0.35870441794395447, + 0.0, + 0.5551114082336426 + ], + [ + 0.35764366388320923, + -0.03320317342877388, + 0.12351392954587936, + -0.05493265017867088, + -0.06678353250026703, + 0.2668113112449646, + 0.0, + 0.5551114082336426 + ], + [ + 0.3741656541824341, + -0.049077920615673065, + 0.12865912914276123, + -0.08035045117139816, + -0.07870706915855408, + 0.21463292837142944, + 0.0, + 0.5551114082336426 + ], + [ + 0.37687817215919495, + -0.05166894197463989, + 0.12335038185119629, + -0.07861623913049698, + -0.08593778312206268, + 0.17434915900230408, + 0.0, + 0.5551114082336426 + ], + [ + 0.3745488226413727, + -0.052862498909235, + 0.1169147789478302, + -0.07998920232057571, + -0.07705181837081909, + 0.15537792444229126, + 0.0, + 0.5551114082336426 + ], + [ + 0.3750336468219757, + -0.05705850571393967, + 0.10247230529785156, + -0.07353772222995758, + -0.029436547309160233, + 0.12539458274841309, + 0.0, + 0.5551114082336426 + ], + [ + 0.37825244665145874, + -0.05983201041817665, + 0.10432594269514084, + -0.08128276467323303, + -0.03379673883318901, + 0.10270091891288757, + 0.0, + 0.5551114082336426 + ], + [ + 0.37819603085517883, + -0.06127547100186348, + 0.10113200545310974, + -0.08576321601867676, + -0.015270364470779896, + 0.0873735249042511, + 0.0, + 0.5551114082336426 + ], + [ + 0.38021227717399597, + -0.06364613771438599, + 0.10433410108089447, + -0.10056491196155548, + -0.022626778110861778, + 0.07876774668693542, + 0.0, + 0.5551114082336426 + ], + [ + 0.38024666905403137, + -0.0660528838634491, + 0.09689022600650787, + -0.10956201702356339, + 0.0072695352137088776, + 0.0661960020661354, + 0.0, + 0.5551114082336426 + ], + [ + 0.38015860319137573, + -0.06650914251804352, + 0.09575898945331573, + -0.11188498139381409, + 0.01067778654396534, + 0.06548250466585159, + 0.0, + 0.5551114082336426 + ], + [ + 0.38024455308914185, + -0.06999193876981735, + 0.09641524404287338, + -0.13436339795589447, + 0.010072323493659496, + 0.06904331594705582, + 0.0, + 0.5551114082336426 + ], + [ + 0.38027310371398926, + -0.07076234370470047, + 0.09587088227272034, + -0.14318764209747314, + 0.009881937876343727, + 0.07060964405536652, + 0.0, + 0.5551114082336426 + ], + [ + 0.3792394697666168, + -0.07063163816928864, + 0.09475402534008026, + -0.142311230301857, + 0.014177856966853142, + 0.06910190731287003, + 0.0, + 0.5551114082336426 + ], + [ + 0.3790111541748047, + -0.07014889270067215, + 0.09409641474485397, + -0.138919398188591, + 0.01640281267464161, + 0.06655780225992203, + 0.0, + 0.5551114082336426 + ], + [ + 0.37606608867645264, + -0.06780124455690384, + 0.09441809356212616, + -0.12328355759382248, + 0.03175804018974304, + 0.05888944864273071, + 0.0, + 0.5551114082336426 + ], + [ + 0.3762401342391968, + -0.06768982112407684, + 0.09463351964950562, + -0.13357172906398773, + 0.0330519936978817, + 0.06160290166735649, + 0.0, + 0.5551114082336426 + ], + [ + 0.3742563724517822, + -0.06833329796791077, + 0.0923752561211586, + -0.15988458693027496, + 0.04485398158431053, + 0.06340998411178589, + 0.0, + 0.5551114082336426 + ], + [ + 0.37440720200538635, + -0.06912201642990112, + 0.09166556596755981, + -0.1617995798587799, + 0.04113825410604477, + 0.057199690490961075, + 0.0, + 0.5551114082336426 + ], + [ + 0.3746345341205597, + -0.06834131479263306, + 0.09199574589729309, + -0.16043363511562347, + 0.04088030755519867, + 0.058086980134248734, + 0.0, + 0.5551114082336426 + ], + [ + 0.3718163073062897, + -0.06570766866207123, + 0.09161240607500076, + -0.13945910334587097, + 0.05578715726733208, + 0.04888312891125679, + 0.0, + 0.5551114082336426 + ], + [ + 0.37144598364830017, + -0.06404577940702438, + 0.09140200912952423, + -0.12895244359970093, + 0.05715940520167351, + 0.04589943215250969, + 0.0, + 0.5551114082336426 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9499720335006714 + ], + [ + 0.6641445755958557 + ], + [ + 0.5551114082336426 + ], + [ + 0.5551114082336426 + ], + [ + 0.5551114082336426 + ], + [ + 0.5551114082336426 + ], + [ + 0.5551114082336426 + ], + [ + 0.5551114082336426 + ], + [ + 0.5551114082336426 + ], + [ + 0.5551114082336426 + ], + [ + 0.5551114082336426 + ], + [ + 0.5551114082336426 + ], + [ + 0.5551114082336426 + ], + [ + 0.5551114082336426 + ], + [ + 0.5551114082336426 + ], + [ + 0.5551114082336426 + ], + [ + 0.5551114082336426 + ], + [ + 0.5551114082336426 + ], + [ + 0.5551114082336426 + ], + [ + 0.5551114082336426 + ], + [ + 0.5551114082336426 + ], + [ + 0.5551114082336426 + ], + [ + 0.5551114082336426 + ], + [ + 0.5551114082336426 + ], + [ + 0.5551114082336426 + ], + [ + 0.5551114082336426 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.34859347343444824, + -0.01771595887839794, + 0.17715322971343994 + ], + [ + 0.3470822274684906, + -0.018372908234596252, + 0.1655747890472412 + ], + [ + 0.3393404483795166, + -0.016031906008720398, + 0.14552675187587738 + ], + [ + 0.3299141824245453, + -0.010839812457561493, + 0.13791990280151367 + ], + [ + 0.3175865411758423, + -0.007969057187438011, + 0.13180553913116455 + ], + [ + 0.31063348054885864, + -0.009107029065489769, + 0.12249599397182465 + ], + [ + 0.3004278838634491, + -0.01216196920722723, + 0.1121007651090622 + ], + [ + 0.2988428473472595, + -0.016121724620461464, + 0.10469046235084534 + ], + [ + 0.2974192500114441, + -0.011815457604825497, + 0.09917560964822769 + ], + [ + 0.2869793474674225, + -0.00501427473500371, + 0.08575177937746048 + ], + [ + 0.28174108266830444, + 0.000838689913507551, + 0.08037559688091278 + ], + [ + 0.27583855390548706, + 0.006253221537917852, + 0.07595657557249069 + ], + [ + 0.27665209770202637, + 0.011060547083616257, + 0.0724245086312294 + ], + [ + 0.2854054272174835, + 0.012772122398018837, + 0.06954823434352875 + ], + [ + 0.2859591543674469, + 0.012765932828187943, + 0.06651007384061813 + ], + [ + 0.2867776155471802, + 0.010324531234800816, + 0.05386592820286751 + ], + [ + 0.28570330142974854, + 0.007479615043848753, + 0.050834085792303085 + ], + [ + 0.2854514420032501, + 0.005523223429918289, + 0.04494887962937355 + ], + [ + 0.2839943468570709, + 0.00899885781109333, + 0.041088465601205826 + ], + [ + 0.28081247210502625, + 0.01330132968723774, + 0.032448284327983856 + ], + [ + 0.2860809862613678, + 0.019011979922652245, + 0.03616071119904518 + ], + [ + 0.2922061085700989, + 0.020497845485806465, + 0.04526108130812645 + ], + [ + 0.30840611457824707, + 0.011514753103256226, + 0.07618102431297302 + ], + [ + 0.3342764675617218, + -0.011087661609053612, + 0.11673204600811005 + ], + [ + 0.35764366388320923, + -0.03320317342877388, + 0.12351392954587936 + ], + [ + 0.3741656541824341, + -0.049077920615673065, + 0.12865912914276123 + ], + [ + 0.37687817215919495, + -0.05166894197463989, + 0.12335038185119629 + ], + [ + 0.3745488226413727, + -0.052862498909235, + 0.1169147789478302 + ], + [ + 0.3750336468219757, + -0.05705850571393967, + 0.10247230529785156 + ], + [ + 0.37825244665145874, + -0.05983201041817665, + 0.10432594269514084 + ], + [ + 0.37819603085517883, + -0.06127547100186348, + 0.10113200545310974 + ], + [ + 0.38021227717399597, + -0.06364613771438599, + 0.10433410108089447 + ], + [ + 0.38024666905403137, + -0.0660528838634491, + 0.09689022600650787 + ], + [ + 0.38015860319137573, + -0.06650914251804352, + 0.09575898945331573 + ], + [ + 0.38024455308914185, + -0.06999193876981735, + 0.09641524404287338 + ], + [ + 0.38027310371398926, + -0.07076234370470047, + 0.09587088227272034 + ], + [ + 0.3792394697666168, + -0.07063163816928864, + 0.09475402534008026 + ], + [ + 0.3790111541748047, + -0.07014889270067215, + 0.09409641474485397 + ], + [ + 0.37606608867645264, + -0.06780124455690384, + 0.09441809356212616 + ], + [ + 0.3762401342391968, + -0.06768982112407684, + 0.09463351964950562 + ], + [ + 0.3742563724517822, + -0.06833329796791077, + 0.0923752561211586 + ], + [ + 0.37440720200538635, + -0.06912201642990112, + 0.09166556596755981 + ], + [ + 0.3746345341205597, + -0.06834131479263306, + 0.09199574589729309 + ], + [ + 0.3718163073062897, + -0.06570766866207123, + 0.09161240607500076 + ], + [ + 0.37144598364830017, + -0.06404577940702438, + 0.09140200912952423 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9744885126969043, + 0.1810665182297908, + 0.13261619281941522, + 0.17628812003537442, + -0.9832146202797434, + 0.047026686068163265, + 0.1389051379761343, + -0.022448306045245215, + -0.9900512290783393 + ], + [ + 0.9791899963263577, + 0.17872635703872747, + 0.09614489270914514, + 0.17476915135123205, + -0.9834297529503854, + 0.04818365643985891, + 0.1031634374686975, + -0.030377793066803375, + -0.9942004299224744 + ], + [ + 0.963445359940124, + 0.260334828076891, + 0.06323618979682519, + 0.25504617495900417, + -0.96353485746303, + 0.0809445927315657, + 0.0820029697549152, + -0.06185754395280821, + -0.9947105896729462 + ], + [ + 0.9276751417482945, + 0.36836126996129764, + 0.061063951516273876, + 0.35943191134181257, + -0.9252724318129129, + 0.12115951483969452, + 0.10113126366981308, + -0.09044833729549011, + -0.9907530296643196 + ], + [ + 0.8657084431215977, + 0.4948896949737492, + 0.07505385610859203, + 0.48347374888714373, + -0.8655533280070637, + 0.1306543933930561, + 0.12962262782782488, + -0.07682204231004211, + -0.9885830001422862 + ], + [ + 0.8250617560375568, + 0.5582858176066786, + 0.0871208619302236, + 0.5482944645284217, + -0.828294093607957, + 0.11533462039502289, + 0.1365513782124298, + -0.0473902980937561, + -0.9894988028061836 + ], + [ + 0.788612374463164, + 0.6016786933859346, + 0.1267804116138001, + 0.5994823876685056, + -0.7981987819562621, + 0.05915717504079032, + 0.13678958190899454, + 0.029350543588386162, + -0.9901652164524001 + ], + [ + 0.7786770016853306, + 0.6088420626486974, + 0.15157001615102983, + 0.6136621183899282, + -0.7893601004440632, + 0.018150379613785395, + 0.13069403773519916, + 0.07887949401852362, + -0.9882798661937074 + ], + [ + 0.7688091924022404, + 0.6202544004837396, + 0.1556178150417616, + 0.6289250252493948, + -0.7774192887046064, + -0.0085183428595191, + 0.11569675143608532, + 0.10442091854882782, + -0.9877806099921966 + ], + [ + 0.7421506676105497, + 0.657544142488362, + 0.1298001819893193, + 0.6671878942888988, + -0.7432322308450764, + -0.04966049483640482, + 0.06381771133126714, + 0.12345667949647786, + -0.9902957881401613 + ], + [ + 0.726556984802512, + 0.6770180881896551, + 0.11730923279395711, + 0.6862137672302359, + -0.7236586484488265, + -0.07368056859787059, + 0.035008763165386675, + 0.13403234232543354, + -0.9903583784228757 + ], + [ + 0.7205699370841223, + 0.6862649475253388, + 0.09909282299252485, + 0.6933147937229067, + -0.7150977953663586, + -0.08916131373604191, + 0.009672774966228245, + 0.13294948236160029, + -0.9910756139489234 + ], + [ + 0.7358471974637812, + 0.6741544360086628, + 0.06359794332005159, + 0.6771407500977903, + -0.7330102347598189, + -0.06462507481122694, + 0.0030506625018923428, + 0.09061893923014504, + -0.9958809674409399 + ], + [ + 0.7574683739796385, + 0.6523655163293703, + 0.025707888379954375, + 0.6527686674870051, + -0.756061212781919, + -0.0475868603080025, + -0.011607289428713172, + 0.05282684574198634, + -0.998536226283789 + ], + [ + 0.7605201031373398, + 0.6490044088173831, + 0.020061157981771664, + 0.6488309465489933, + -0.758399062305318, + -0.0620424459120714, + -0.025051457528613885, + 0.06020082748612315, + -0.9978718779711545 + ], + [ + 0.762377238003341, + 0.6471293077445885, + -0.0021461669101436737, + 0.6439585095997717, + -0.7589614874898482, + -0.09641005352782053, + -0.06401862922960137, + 0.07211878787948564, + -0.9953393871169552 + ], + [ + 0.7595204861807511, + 0.6504822982026179, + -0.001187769672825821, + 0.6452832030899116, + -0.7536777983360923, + -0.12481732293750043, + -0.08208665471182938, + 0.09403486598225606, + -0.9921790287533393 + ], + [ + 0.7629002858360686, + 0.6463301793645011, + -0.015506550676967441, + 0.6385511340970382, + -0.7570379435102543, + -0.13836907613029722, + -0.10117115702922427, + 0.0956600822099657, + -0.9902593325270665 + ], + [ + 0.757057013168732, + 0.6530773312309532, + -0.018832903235934707, + 0.6433886350883529, + -0.7502200593430852, + -0.15238414221435304, + -0.11364745070253324, + 0.10324660765135835, + -0.988141890093372 + ], + [ + 0.7697666072742658, + 0.6361333095790181, + -0.052856246267695674, + 0.6221268348989278, + -0.7661919268367294, + -0.1609600340111236, + -0.14289006831864984, + 0.0910183700923333, + -0.9855445625042161 + ], + [ + 0.7945462648165812, + 0.602350984607413, + -0.07661282143674775, + 0.5910570928213862, + -0.7961403506691994, + -0.12966130903957107, + -0.13909617568988084, + 0.05773935727737153, + -0.9885941637141328 + ], + [ + 0.8323925230325017, + 0.5475358645860594, + -0.08559885858808583, + 0.5404078600932373, + -0.8361842768686744, + -0.09356922499978751, + -0.1228089261781686, + 0.03162802727975786, + -0.9919262248480765 + ], + [ + 0.885729677030828, + 0.4640922080622349, + -0.010067851944881316, + 0.4626490659871983, + -0.8843322997148638, + -0.06254778511021011, + -0.037931266364805254, + 0.050742547205863305, + -0.9979911888063053 + ], + [ + 0.9349484009456404, + 0.3483982989325556, + 0.06700830448602196, + 0.35053499893796636, + -0.9362684061730449, + -0.02294964317251663, + 0.054742141799071956, + 0.0449454881282601, + -0.9974884465537245 + ], + [ + 0.9624662039312769, + 0.25972483483623837, + 0.07875161242416984, + 0.26306917871160235, + -0.9641275192001365, + -0.03539398159283276, + 0.06673390069613017, + 0.05478263310830801, + -0.9962657525016103 + ], + [ + 0.9740298737590863, + 0.2061355937115027, + 0.09366921602140411, + 0.21232942233372465, + -0.9752464461427206, + -0.061729941660593604, + 0.07862583186386625, + 0.08001553781110136, + -0.9936878243555746 + ], + [ + 0.9812052152693503, + 0.16629276807561288, + 0.0978930069717833, + 0.17282704060673637, + -0.9829671223549663, + -0.06250160321394665, + 0.08583204275411768, + 0.078245457727248, + -0.9932323538738094 + ], + [ + 0.9850218365956699, + 0.14818211171243142, + 0.08817053475020957, + 0.15429432482527375, + -0.985746039372764, + -0.06706718413369046, + 0.07697559844786099, + 0.07966685401943467, + -0.9938450329977203 + ], + [ + 0.9917185731191586, + 0.12258275853369739, + 0.038311082479744185, + 0.12501204607614935, + -0.9897373832999268, + -0.06922355404390051, + 0.029432296314681864, + 0.0734396310508389, + -0.996865266986849 + ], + [ + 0.9941628479180654, + 0.09945290056979617, + 0.04182526016291018, + 0.10246192993478245, + -0.9917279351167663, + -0.07731271320471292, + 0.03379030531795498, + 0.0811469240161862, + -0.9961292044655804 + ], + [ + 0.9960692162855689, + 0.08563868159213567, + 0.022630346515545872, + 0.08725222324703069, + -0.9926381081495793, + -0.08400378436519704, + 0.015269771010175346, + 0.0856481317039958, + -0.9962084278045995 + ], + [ + 0.9966442436743259, + 0.07602437746525825, + 0.030340494093720097, + 0.07866617970038856, + -0.9920414300502985, + -0.09831293523796913, + 0.022624847450917862, + 0.10036979174422389, + -0.9946929280853685 + ], + [ + 0.9977834795015639, + 0.0665441771863288, + 2.2723268862135347e-05, + 0.06614592067865918, + -0.9917744817251182, + -0.10958145179019083, + -0.007269471186062759, + 0.10934006530758919, + -0.9939778191223421 + ], + [ + 0.9977999019467613, + 0.06621618898785113, + -0.0032820711385454612, + 0.06543198669334856, + -0.991539579107115, + -0.11210672674485891, + -0.010677583640259941, + 0.11164532851852868, + -0.9936907516061497 + ], + [ + 0.9975668523823713, + 0.06971271384688706, + -0.0007159301854478117, + 0.06898497487233658, + -0.9885326587253662, + -0.13432890930556207, + -0.010072153185465562, + 0.1339526788140531, + -0.9909365426548502 + ], + [ + 0.9974594703519801, + 0.07123558182094913, + 0.0003112680163230184, + 0.07054754062046986, + -0.987200343004773, + -0.14303330830146388, + -0.009881777044149477, + 0.14269188713409503, + -0.9897178263669703 + ], + [ + 0.9975131488382942, + 0.07035491764210422, + -0.00420754777556361, + 0.06903998649142118, + -0.9873895355975443, + -0.14246187299670773, + -0.014177381985941519, + 0.14181710248076015, + -0.9897913473475034 + ], + [ + 0.9976516217799535, + 0.06813415729474365, + -0.006998440509364152, + 0.06649972499965581, + -0.9880223288348295, + -0.13924677482358275, + -0.01640207714888972, + 0.1384543763610762, + -0.9902329814400582 + ], + [ + 0.9977631474007116, + 0.06230662479832998, + -0.024219541599005672, + 0.058825739264222916, + -0.9904600653726726, + -0.12461296602672853, + -0.03175270207468174, + 0.12290949275056451, + -0.9919097854657728 + ], + [ + 0.9975580098179355, + 0.06540811506690931, + -0.024490723375873345, + 0.061530321849963356, + -0.988941652843551, + -0.13493860368369556, + -0.03304597617138161, + 0.13310216284666257, + -0.9905512494083387 + ], + [ + 0.9969865106412551, + 0.06968349327270533, + -0.03408971053980859, + 0.06330376602904274, + -0.9848092054633902, + -0.16168939990335415, + -0.04483894296161898, + 0.15904414355731364, + -0.9862527209565537 + ], + [ + 0.9975198687305867, + 0.06303626928634103, + -0.031313579197740485, + 0.05712013665054877, + -0.9849461262478196, + -0.16315151969392447, + -0.04112665165967079, + 0.16095824658548655, + -0.9861039708770014 + ], + [ + 0.997479351368253, + 0.0638264404611176, + -0.03100208205963783, + 0.058005817036300825, + -0.9851141722352434, + -0.16181901263826315, + -0.04086892198138215, + 0.15961282266577015, + -0.98633335037235 + ], + [ + 0.997251616177336, + 0.0561308140541832, + -0.04835851264571843, + 0.04878764584299154, + -0.9887296519168237, + -0.14153953876403447, + -0.055758224907095366, + 0.13879123579697494, + -0.9887507336134616 + ], + [ + 0.9973153719379132, + 0.052841049857967066, + -0.05069390837418036, + 0.04580838282502577, + -0.9903156205325698, + -0.13105939032418581, + -0.05712828510727272, + 0.12838533864542026, + -0.9900775544681352 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0015112459659576416, + -0.0006569493561983109, + -0.01157844066619873, + 0.00787549652159214, + 0.03600843995809555, + -0.0023441463708877563, + 1.0 + ], + [ + -0.007741779088973999, + 0.0023410022258758545, + -0.02004803717136383, + 0.031561002135276794, + 0.021252155303955078, + 0.08216337859630585, + 1.0 + ], + [ + -0.009426265954971313, + 0.005192093551158905, + -0.0076068490743637085, + 0.028933659195899963, + -0.019209295511245728, + 0.11085781455039978, + 1.0 + ], + [ + -0.012327641248703003, + 0.0028707552701234818, + -0.006114363670349121, + -0.013486765325069427, + -0.028683938086032867, + 0.1396794617176056, + 1.0 + ], + [ + -0.006953060626983643, + -0.0011379718780517578, + -0.009309545159339905, + -0.02969672530889511, + -0.006990954279899597, + 0.07721132040023804, + 1.0 + ], + [ + -0.010205596685409546, + -0.003054940141737461, + -0.010395228862762451, + -0.07749005407094955, + -0.00024046003818511963, + 0.06344503164291382, + 1.0 + ], + [ + -0.0015850365161895752, + -0.003959755413234234, + -0.007410302758216858, + -0.05001270771026611, + 0.0061508119106292725, + 0.017451584339141846, + 1.0 + ], + [ + -0.0014235973358154297, + 0.004306267015635967, + -0.005514852702617645, + -0.025675401091575623, + 0.015112556517124176, + 0.018218934535980225, + 1.0 + ], + [ + -0.010439902544021606, + 0.006801182869821787, + -0.013423830270767212, + -0.018705084919929504, + 0.05209532380104065, + 0.046607136726379395, + 1.0 + ], + [ + -0.005238264799118042, + 0.005852964706718922, + -0.005376182496547699, + -0.010493308305740356, + 0.02884519100189209, + 0.02459162473678589, + 1.0 + ], + [ + -0.005902528762817383, + 0.0054145315662026405, + -0.004419021308422089, + 0.0011693239212036133, + 0.025342993438243866, + 0.009273946285247803, + 1.0 + ], + [ + 0.0008135437965393066, + 0.004807325545698404, + -0.0035320669412612915, + 0.042606718838214874, + 0.006622258573770523, + -0.022249460220336914, + 1.0 + ], + [ + 0.008753329515457153, + 0.0017115753144025803, + -0.002876274287700653, + 0.03788883611559868, + 0.014658217318356037, + -0.03258281946182251, + 1.0 + ], + [ + 0.0005537271499633789, + -6.18956983089447e-06, + -0.003038160502910614, + -0.007401172071695328, + 0.01344652846455574, + -0.00497668981552124, + 1.0 + ], + [ + 0.0008184611797332764, + -0.002441401593387127, + -0.012644145637750626, + -0.012073896825313568, + 0.03900836035609245, + -0.004922211170196533, + 1.0 + ], + [ + -0.0010743141174316406, + -0.0028449161909520626, + -0.0030318424105644226, + -0.022163771092891693, + 0.018116682767868042, + 0.0028650760650634766, + 1.0 + ], + [ + -0.0002518594264984131, + -0.001956391613930464, + -0.005885206162929535, + -0.0018083751201629639, + 0.01916542649269104, + -0.007356584072113037, + 1.0 + ], + [ + -0.0014570951461791992, + 0.003475634381175041, + -0.0038604140281677246, + -0.007805623114109039, + 0.012548975646495819, + 0.007508754730224609, + 1.0 + ], + [ + -0.0031818747520446777, + 0.004302471876144409, + -0.00864018127322197, + 0.012015700340270996, + 0.029487311840057373, + -0.02468770742416382, + 0.0 + ], + [ + 0.005268514156341553, + 0.005710650235414505, + 0.003712426871061325, + 0.03375290334224701, + -0.0038321763277053833, + -0.04014122486114502, + 0.0 + ], + [ + 0.006125122308731079, + 0.0014858655631542206, + 0.009100370109081268, + 0.02646458148956299, + -0.01642891764640808, + -0.06375253200531006, + 0.0 + ], + [ + 0.016200006008148193, + -0.00898309238255024, + 0.030919943004846573, + -0.01892627403140068, + -0.08517937362194061, + -0.09447154402732849, + 0.0 + ], + [ + 0.02587035298347473, + -0.022602414712309837, + 0.040551021695137024, + 0.00577273964881897, + -0.09270988404750824, + -0.12265241146087646, + 0.0 + ], + [ + 0.023367196321487427, + -0.022115511819720268, + 0.006781883537769318, + -0.009904451668262482, + -0.012014012783765793, + -0.09189310669898987, + 0.0 + ], + [ + 0.016521990299224854, + -0.015874747186899185, + 0.0051451995968818665, + -0.02541780099272728, + -0.011923536658287048, + -0.052178382873535156, + 0.0 + ], + [ + 0.0027125179767608643, + -0.0025910213589668274, + -0.005308747291564941, + 0.001734212040901184, + -0.007230713963508606, + -0.040283769369125366, + 0.0 + ], + [ + -0.0023293495178222656, + -0.001193556934595108, + -0.006435602903366089, + -0.0013729631900787354, + 0.008885964751243591, + -0.018971234560012817, + 0.0 + ], + [ + 0.00048482418060302734, + -0.004196006804704666, + -0.014442473649978638, + 0.0064514800906181335, + 0.04761527106165886, + -0.029983341693878174, + 0.0 + ], + [ + 0.0032187998294830322, + -0.0027735047042369843, + 0.0018536373972892761, + -0.007745042443275452, + -0.004360191524028778, + -0.022693663835525513, + 0.0 + ], + [ + -5.6415796279907227e-05, + -0.0014434605836868286, + -0.0031939372420310974, + -0.004480451345443726, + 0.01852637529373169, + -0.015327394008636475, + 0.0 + ], + [ + 0.0020162463188171387, + -0.0023706667125225067, + 0.003202095627784729, + -0.014801695942878723, + -0.0073564136400818825, + -0.008605778217315674, + 0.0 + ], + [ + 3.439188003540039e-05, + -0.0024067461490631104, + -0.007443875074386597, + -0.008997105062007904, + 0.029896313324570656, + -0.012571744620800018, + 0.0 + ], + [ + -8.806586265563965e-05, + -0.0004562586545944214, + -0.0011312365531921387, + -0.002322964370250702, + 0.003408251330256462, + -0.0007134974002838135, + 0.0 + ], + [ + 8.594989776611328e-05, + -0.0034827962517738342, + 0.0006562545895576477, + -0.022478416562080383, + -0.0006054630503058434, + 0.0035608112812042236, + 0.0 + ], + [ + 2.855062484741211e-05, + -0.0007704049348831177, + -0.0005443617701530457, + -0.008824244141578674, + -0.0001903856173157692, + 0.0015663281083106995, + 0.0 + ], + [ + -0.0010336339473724365, + 0.00013070553541183472, + -0.0011168569326400757, + 0.0008764117956161499, + 0.004295919090509415, + -0.0015077367424964905, + 0.0 + ], + [ + -0.0002283155918121338, + 0.0004827454686164856, + -0.0006576105952262878, + 0.003391832113265991, + 0.0022249557077884674, + -0.002544105052947998, + 0.0 + ], + [ + -0.0029450654983520508, + 0.0023476481437683105, + 0.0003216788172721863, + 0.015635840594768524, + 0.015355227515101433, + -0.007668353617191315, + 0.0 + ], + [ + 0.00017404556274414062, + 0.00011142343282699585, + 0.00021542608737945557, + -0.010288171470165253, + 0.0012939535081386566, + 0.002713453024625778, + 0.0 + ], + [ + -0.0019837617874145508, + -0.0006434768438339233, + -0.0022582635283470154, + -0.02631285786628723, + 0.011801987886428833, + 0.0018070824444293976, + 0.0 + ], + [ + 0.00015082955360412598, + -0.0007887184619903564, + -0.0007096901535987854, + -0.0019149929285049438, + -0.0037157274782657623, + -0.006210293620824814, + 0.0 + ], + [ + 0.00022733211517333984, + 0.0007807016372680664, + 0.00033017992973327637, + 0.001365944743156433, + -0.00025794655084609985, + 0.0008872896432876587, + 0.0 + ], + [ + -0.0028182268142700195, + 0.0026336461305618286, + -0.0003833398222923279, + 0.020974531769752502, + 0.014906849712133408, + -0.009203851222991943, + 0.0 + ], + [ + -0.00037032365798950195, + 0.0016618892550468445, + -0.00021039694547653198, + 0.010506659746170044, + 0.0013722479343414307, + -0.002983696758747101, + 0.0 + ], + [ + -0.0004846155643463135, + 3.7692487239837646e-05, + 2.057105302810669e-05, + 0.0001745373010635376, + 0.0026253946125507355, + -0.00343969464302063, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9499720335006714 + ], + [ + 0.6641445755958557 + ], + [ + 0.5551114082336426 + ], + [ + 0.5551114082336426 + ], + [ + 0.5551114082336426 + ], + [ + 0.5551114082336426 + ], + [ + 0.5551114082336426 + ], + [ + 0.5551114082336426 + ], + [ + 0.5551114082336426 + ], + [ + 0.5551114082336426 + ], + [ + 0.5551114082336426 + ], + [ + 0.5551114082336426 + ], + [ + 0.5551114082336426 + ], + [ + 0.5551114082336426 + ], + [ + 0.5551114082336426 + ], + [ + 0.5551114082336426 + ], + [ + 0.5551114082336426 + ], + [ + 0.5551114082336426 + ], + [ + 0.5551114082336426 + ], + [ + 0.5551114082336426 + ], + [ + 0.5551114082336426 + ], + [ + 0.5551114082336426 + ], + [ + 0.5551114082336426 + ], + [ + 0.5551114082336426 + ], + [ + 0.5551114082336426 + ], + [ + 0.5551114082336426 + ], + [ + 0.6169373393058777 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3470822274684906, + -0.018372908234596252, + 0.1655747890472412 + ], + [ + 0.3393404483795166, + -0.016031906008720398, + 0.14552675187587738 + ], + [ + 0.3299141824245453, + -0.010839812457561493, + 0.13791990280151367 + ], + [ + 0.3175865411758423, + -0.007969057187438011, + 0.13180553913116455 + ], + [ + 0.31063348054885864, + -0.009107029065489769, + 0.12249599397182465 + ], + [ + 0.3004278838634491, + -0.01216196920722723, + 0.1121007651090622 + ], + [ + 0.2988428473472595, + -0.016121724620461464, + 0.10469046235084534 + ], + [ + 0.2974192500114441, + -0.011815457604825497, + 0.09917560964822769 + ], + [ + 0.2869793474674225, + -0.00501427473500371, + 0.08575177937746048 + ], + [ + 0.28174108266830444, + 0.000838689913507551, + 0.08037559688091278 + ], + [ + 0.27583855390548706, + 0.006253221537917852, + 0.07595657557249069 + ], + [ + 0.27665209770202637, + 0.011060547083616257, + 0.0724245086312294 + ], + [ + 0.2854054272174835, + 0.012772122398018837, + 0.06954823434352875 + ], + [ + 0.2859591543674469, + 0.012765932828187943, + 0.06651007384061813 + ], + [ + 0.2867776155471802, + 0.010324531234800816, + 0.05386592820286751 + ], + [ + 0.28570330142974854, + 0.007479615043848753, + 0.050834085792303085 + ], + [ + 0.2854514420032501, + 0.005523223429918289, + 0.04494887962937355 + ], + [ + 0.2839943468570709, + 0.00899885781109333, + 0.041088465601205826 + ], + [ + 0.28081247210502625, + 0.01330132968723774, + 0.032448284327983856 + ], + [ + 0.2860809862613678, + 0.019011979922652245, + 0.03616071119904518 + ], + [ + 0.2922061085700989, + 0.020497845485806465, + 0.04526108130812645 + ], + [ + 0.30840611457824707, + 0.011514753103256226, + 0.07618102431297302 + ], + [ + 0.3342764675617218, + -0.011087661609053612, + 0.11673204600811005 + ], + [ + 0.35764366388320923, + -0.03320317342877388, + 0.12351392954587936 + ], + [ + 0.3741656541824341, + -0.049077920615673065, + 0.12865912914276123 + ], + [ + 0.37687817215919495, + -0.05166894197463989, + 0.12335038185119629 + ], + [ + 0.3745488226413727, + -0.052862498909235, + 0.1169147789478302 + ], + [ + 0.3750336468219757, + -0.05705850571393967, + 0.10247230529785156 + ], + [ + 0.37825244665145874, + -0.05983201041817665, + 0.10432594269514084 + ], + [ + 0.37819603085517883, + -0.06127547100186348, + 0.10113200545310974 + ], + [ + 0.38021227717399597, + -0.06364613771438599, + 0.10433410108089447 + ], + [ + 0.38024666905403137, + -0.0660528838634491, + 0.09689022600650787 + ], + [ + 0.38015860319137573, + -0.06650914251804352, + 0.09575898945331573 + ], + [ + 0.38024455308914185, + -0.06999193876981735, + 0.09641524404287338 + ], + [ + 0.38027310371398926, + -0.07076234370470047, + 0.09587088227272034 + ], + [ + 0.3792394697666168, + -0.07063163816928864, + 0.09475402534008026 + ], + [ + 0.3790111541748047, + -0.07014889270067215, + 0.09409641474485397 + ], + [ + 0.37606608867645264, + -0.06780124455690384, + 0.09441809356212616 + ], + [ + 0.3762401342391968, + -0.06768982112407684, + 0.09463351964950562 + ], + [ + 0.3742563724517822, + -0.06833329796791077, + 0.0923752561211586 + ], + [ + 0.37440720200538635, + -0.06912201642990112, + 0.09166556596755981 + ], + [ + 0.3746345341205597, + -0.06834131479263306, + 0.09199574589729309 + ], + [ + 0.3718163073062897, + -0.06570766866207123, + 0.09161240607500076 + ], + [ + 0.37144598364830017, + -0.06404577940702438, + 0.09140200912952423 + ], + [ + 0.37096136808395386, + -0.06400808691978455, + 0.09142258018255234 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9791899963263577, + 0.17872635703872747, + 0.09614489270914514, + 0.17476915135123205, + -0.9834297529503854, + 0.04818365643985891, + 0.1031634374686975, + -0.030377793066803375, + -0.9942004299224744 + ], + [ + 0.963445359940124, + 0.260334828076891, + 0.06323618979682519, + 0.25504617495900417, + -0.96353485746303, + 0.0809445927315657, + 0.0820029697549152, + -0.06185754395280821, + -0.9947105896729462 + ], + [ + 0.9276751417482945, + 0.36836126996129764, + 0.061063951516273876, + 0.35943191134181257, + -0.9252724318129129, + 0.12115951483969452, + 0.10113126366981308, + -0.09044833729549011, + -0.9907530296643196 + ], + [ + 0.8657084431215977, + 0.4948896949737492, + 0.07505385610859203, + 0.48347374888714373, + -0.8655533280070637, + 0.1306543933930561, + 0.12962262782782488, + -0.07682204231004211, + -0.9885830001422862 + ], + [ + 0.8250617560375568, + 0.5582858176066786, + 0.0871208619302236, + 0.5482944645284217, + -0.828294093607957, + 0.11533462039502289, + 0.1365513782124298, + -0.0473902980937561, + -0.9894988028061836 + ], + [ + 0.788612374463164, + 0.6016786933859346, + 0.1267804116138001, + 0.5994823876685056, + -0.7981987819562621, + 0.05915717504079032, + 0.13678958190899454, + 0.029350543588386162, + -0.9901652164524001 + ], + [ + 0.7786770016853306, + 0.6088420626486974, + 0.15157001615102983, + 0.6136621183899282, + -0.7893601004440632, + 0.018150379613785395, + 0.13069403773519916, + 0.07887949401852362, + -0.9882798661937074 + ], + [ + 0.7688091924022404, + 0.6202544004837396, + 0.1556178150417616, + 0.6289250252493948, + -0.7774192887046064, + -0.0085183428595191, + 0.11569675143608532, + 0.10442091854882782, + -0.9877806099921966 + ], + [ + 0.7421506676105497, + 0.657544142488362, + 0.1298001819893193, + 0.6671878942888988, + -0.7432322308450764, + -0.04966049483640482, + 0.06381771133126714, + 0.12345667949647786, + -0.9902957881401613 + ], + [ + 0.726556984802512, + 0.6770180881896551, + 0.11730923279395711, + 0.6862137672302359, + -0.7236586484488265, + -0.07368056859787059, + 0.035008763165386675, + 0.13403234232543354, + -0.9903583784228757 + ], + [ + 0.7205699370841223, + 0.6862649475253388, + 0.09909282299252485, + 0.6933147937229067, + -0.7150977953663586, + -0.08916131373604191, + 0.009672774966228245, + 0.13294948236160029, + -0.9910756139489234 + ], + [ + 0.7358471974637812, + 0.6741544360086628, + 0.06359794332005159, + 0.6771407500977903, + -0.7330102347598189, + -0.06462507481122694, + 0.0030506625018923428, + 0.09061893923014504, + -0.9958809674409399 + ], + [ + 0.7574683739796385, + 0.6523655163293703, + 0.025707888379954375, + 0.6527686674870051, + -0.756061212781919, + -0.0475868603080025, + -0.011607289428713172, + 0.05282684574198634, + -0.998536226283789 + ], + [ + 0.7605201031373398, + 0.6490044088173831, + 0.020061157981771664, + 0.6488309465489933, + -0.758399062305318, + -0.0620424459120714, + -0.025051457528613885, + 0.06020082748612315, + -0.9978718779711545 + ], + [ + 0.762377238003341, + 0.6471293077445885, + -0.0021461669101436737, + 0.6439585095997717, + -0.7589614874898482, + -0.09641005352782053, + -0.06401862922960137, + 0.07211878787948564, + -0.9953393871169552 + ], + [ + 0.7595204861807511, + 0.6504822982026179, + -0.001187769672825821, + 0.6452832030899116, + -0.7536777983360923, + -0.12481732293750043, + -0.08208665471182938, + 0.09403486598225606, + -0.9921790287533393 + ], + [ + 0.7629002858360686, + 0.6463301793645011, + -0.015506550676967441, + 0.6385511340970382, + -0.7570379435102543, + -0.13836907613029722, + -0.10117115702922427, + 0.0956600822099657, + -0.9902593325270665 + ], + [ + 0.757057013168732, + 0.6530773312309532, + -0.018832903235934707, + 0.6433886350883529, + -0.7502200593430852, + -0.15238414221435304, + -0.11364745070253324, + 0.10324660765135835, + -0.988141890093372 + ], + [ + 0.7697666072742658, + 0.6361333095790181, + -0.052856246267695674, + 0.6221268348989278, + -0.7661919268367294, + -0.1609600340111236, + -0.14289006831864984, + 0.0910183700923333, + -0.9855445625042161 + ], + [ + 0.7945462648165812, + 0.602350984607413, + -0.07661282143674775, + 0.5910570928213862, + -0.7961403506691994, + -0.12966130903957107, + -0.13909617568988084, + 0.05773935727737153, + -0.9885941637141328 + ], + [ + 0.8323925230325017, + 0.5475358645860594, + -0.08559885858808583, + 0.5404078600932373, + -0.8361842768686744, + -0.09356922499978751, + -0.1228089261781686, + 0.03162802727975786, + -0.9919262248480765 + ], + [ + 0.885729677030828, + 0.4640922080622349, + -0.010067851944881316, + 0.4626490659871983, + -0.8843322997148638, + -0.06254778511021011, + -0.037931266364805254, + 0.050742547205863305, + -0.9979911888063053 + ], + [ + 0.9349484009456404, + 0.3483982989325556, + 0.06700830448602196, + 0.35053499893796636, + -0.9362684061730449, + -0.02294964317251663, + 0.054742141799071956, + 0.0449454881282601, + -0.9974884465537245 + ], + [ + 0.9624662039312769, + 0.25972483483623837, + 0.07875161242416984, + 0.26306917871160235, + -0.9641275192001365, + -0.03539398159283276, + 0.06673390069613017, + 0.05478263310830801, + -0.9962657525016103 + ], + [ + 0.9740298737590863, + 0.2061355937115027, + 0.09366921602140411, + 0.21232942233372465, + -0.9752464461427206, + -0.061729941660593604, + 0.07862583186386625, + 0.08001553781110136, + -0.9936878243555746 + ], + [ + 0.9812052152693503, + 0.16629276807561288, + 0.0978930069717833, + 0.17282704060673637, + -0.9829671223549663, + -0.06250160321394665, + 0.08583204275411768, + 0.078245457727248, + -0.9932323538738094 + ], + [ + 0.9850218365956699, + 0.14818211171243142, + 0.08817053475020957, + 0.15429432482527375, + -0.985746039372764, + -0.06706718413369046, + 0.07697559844786099, + 0.07966685401943467, + -0.9938450329977203 + ], + [ + 0.9917185731191586, + 0.12258275853369739, + 0.038311082479744185, + 0.12501204607614935, + -0.9897373832999268, + -0.06922355404390051, + 0.029432296314681864, + 0.0734396310508389, + -0.996865266986849 + ], + [ + 0.9941628479180654, + 0.09945290056979617, + 0.04182526016291018, + 0.10246192993478245, + -0.9917279351167663, + -0.07731271320471292, + 0.03379030531795498, + 0.0811469240161862, + -0.9961292044655804 + ], + [ + 0.9960692162855689, + 0.08563868159213567, + 0.022630346515545872, + 0.08725222324703069, + -0.9926381081495793, + -0.08400378436519704, + 0.015269771010175346, + 0.0856481317039958, + -0.9962084278045995 + ], + [ + 0.9966442436743259, + 0.07602437746525825, + 0.030340494093720097, + 0.07866617970038856, + -0.9920414300502985, + -0.09831293523796913, + 0.022624847450917862, + 0.10036979174422389, + -0.9946929280853685 + ], + [ + 0.9977834795015639, + 0.0665441771863288, + 2.2723268862135347e-05, + 0.06614592067865918, + -0.9917744817251182, + -0.10958145179019083, + -0.007269471186062759, + 0.10934006530758919, + -0.9939778191223421 + ], + [ + 0.9977999019467613, + 0.06621618898785113, + -0.0032820711385454612, + 0.06543198669334856, + -0.991539579107115, + -0.11210672674485891, + -0.010677583640259941, + 0.11164532851852868, + -0.9936907516061497 + ], + [ + 0.9975668523823713, + 0.06971271384688706, + -0.0007159301854478117, + 0.06898497487233658, + -0.9885326587253662, + -0.13432890930556207, + -0.010072153185465562, + 0.1339526788140531, + -0.9909365426548502 + ], + [ + 0.9974594703519801, + 0.07123558182094913, + 0.0003112680163230184, + 0.07054754062046986, + -0.987200343004773, + -0.14303330830146388, + -0.009881777044149477, + 0.14269188713409503, + -0.9897178263669703 + ], + [ + 0.9975131488382942, + 0.07035491764210422, + -0.00420754777556361, + 0.06903998649142118, + -0.9873895355975443, + -0.14246187299670773, + -0.014177381985941519, + 0.14181710248076015, + -0.9897913473475034 + ], + [ + 0.9976516217799535, + 0.06813415729474365, + -0.006998440509364152, + 0.06649972499965581, + -0.9880223288348295, + -0.13924677482358275, + -0.01640207714888972, + 0.1384543763610762, + -0.9902329814400582 + ], + [ + 0.9977631474007116, + 0.06230662479832998, + -0.024219541599005672, + 0.058825739264222916, + -0.9904600653726726, + -0.12461296602672853, + -0.03175270207468174, + 0.12290949275056451, + -0.9919097854657728 + ], + [ + 0.9975580098179355, + 0.06540811506690931, + -0.024490723375873345, + 0.061530321849963356, + -0.988941652843551, + -0.13493860368369556, + -0.03304597617138161, + 0.13310216284666257, + -0.9905512494083387 + ], + [ + 0.9969865106412551, + 0.06968349327270533, + -0.03408971053980859, + 0.06330376602904274, + -0.9848092054633902, + -0.16168939990335415, + -0.04483894296161898, + 0.15904414355731364, + -0.9862527209565537 + ], + [ + 0.9975198687305867, + 0.06303626928634103, + -0.031313579197740485, + 0.05712013665054877, + -0.9849461262478196, + -0.16315151969392447, + -0.04112665165967079, + 0.16095824658548655, + -0.9861039708770014 + ], + [ + 0.997479351368253, + 0.0638264404611176, + -0.03100208205963783, + 0.058005817036300825, + -0.9851141722352434, + -0.16181901263826315, + -0.04086892198138215, + 0.15961282266577015, + -0.98633335037235 + ], + [ + 0.997251616177336, + 0.0561308140541832, + -0.04835851264571843, + 0.04878764584299154, + -0.9887296519168237, + -0.14153953876403447, + -0.055758224907095366, + 0.13879123579697494, + -0.9887507336134616 + ], + [ + 0.9973153719379132, + 0.052841049857967066, + -0.05069390837418036, + 0.04580838282502577, + -0.9903156205325698, + -0.13105939032418581, + -0.05712828510727272, + 0.12838533864542026, + -0.9900775544681352 + ], + [ + 0.9973137520549329, + 0.0497617127482515, + -0.053749901455465696, + 0.04237114583556356, + -0.9905000609681758, + -0.13082169247728534, + -0.05974919215096698, + 0.12819282806148133, + -0.9899477930026948 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006640.json b/json/chunk-0006/episode_0006640.json new file mode 100644 index 0000000000000000000000000000000000000000..950e98d67d40e30a24c2da6c4de5265c6b81ebd6 --- /dev/null +++ b/json/chunk-0006/episode_0006640.json @@ -0,0 +1,2722 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 44, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove blue object to lower part of the sink." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006640.mp4", + "start": 0, + "end": 44, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.20773108303546906, + 0.01863747648894787, + 0.12854138016700745, + -0.039055079221725464, + -0.19248037040233612, + 0.2850878834724426, + 0.0, + 0.9974852800369263 + ], + [ + 0.20570555329322815, + 0.018454192206263542, + 0.12411697953939438, + -0.03634019196033478, + -0.17893479764461517, + 0.2845933139324188, + 0.0, + 0.9974852800369263 + ], + [ + 0.21603116393089294, + 0.021279631182551384, + 0.12138738483190536, + -0.014581231400370598, + -0.2257380187511444, + 0.22600117325782776, + 0.0, + 0.9974852800369263 + ], + [ + 0.2309197187423706, + 0.023023055866360664, + 0.12303858250379562, + -0.00101557862944901, + -0.2700630724430084, + 0.12231758236885071, + 0.0, + 0.9974852800369263 + ], + [ + 0.2436954379081726, + 0.028430741280317307, + 0.13145866990089417, + 0.049149587750434875, + -0.330556720495224, + 0.02691204845905304, + 0.0, + 0.9974852800369263 + ], + [ + 0.258710116147995, + 0.034048039466142654, + 0.13708184659481049, + 0.14733612537384033, + -0.34668222069740295, + -0.08979947865009308, + 0.0, + 0.9974852800369263 + ], + [ + 0.2695818245410919, + 0.03642231225967407, + 0.13819782435894012, + 0.22811469435691833, + -0.31352028250694275, + -0.22138702869415283, + 0.0, + 0.9974852800369263 + ], + [ + 0.2776066064834595, + 0.035842083394527435, + 0.12910552322864532, + 0.26270008087158203, + -0.27548348903656006, + -0.38624411821365356, + 0.0, + 0.9974852800369263 + ], + [ + 0.28725466132164, + 0.038469187915325165, + 0.12788952887058258, + 0.22463925182819366, + -0.3155251741409302, + -0.48505011200904846, + 0.0, + 0.9974852800369263 + ], + [ + 0.29245007038116455, + 0.041857026517391205, + 0.12343702465295792, + 0.16852280497550964, + -0.3392053246498108, + -0.5021156668663025, + 0.0, + 0.9974852800369263 + ], + [ + 0.30112406611442566, + 0.046022750437259674, + 0.1214088574051857, + 0.15756066143512726, + -0.3357953429222107, + -0.48588183522224426, + 0.0, + 0.9974852800369263 + ], + [ + 0.30868399143218994, + 0.048731062561273575, + 0.11799894273281097, + 0.14412277936935425, + -0.32194849848747253, + -0.44826164841651917, + 0.0, + 0.9583302736282349 + ], + [ + 0.3109641671180725, + 0.04618057608604431, + 0.11752911657094955, + 0.15714210271835327, + -0.32257869839668274, + -0.4374193847179413, + 0.0, + 0.7031799554824829 + ], + [ + 0.3109823763370514, + 0.044764019548892975, + 0.11777886748313904, + 0.14363272488117218, + -0.32134735584259033, + -0.4394640028476715, + 0.0, + 0.4503740966320038 + ], + [ + 0.3079192042350769, + 0.04751960188150406, + 0.119116872549057, + 0.16232207417488098, + -0.3166806995868683, + -0.43266940116882324, + 0.0, + 0.4050447642803192 + ], + [ + 0.304557740688324, + 0.05582481995224953, + 0.12728115916252136, + 0.21011202037334442, + -0.3049159348011017, + -0.4080032706260681, + 0.0, + 0.40327540040016174 + ], + [ + 0.30115529894828796, + 0.06590881198644638, + 0.14036984741687775, + 0.18387646973133087, + -0.32886525988578796, + -0.3568741977214813, + 0.0, + 0.40327540040016174 + ], + [ + 0.28767532110214233, + 0.06616784632205963, + 0.15699002146720886, + 0.1598973125219345, + -0.3650987148284912, + -0.3791682720184326, + 0.0, + 0.40239205956459045 + ], + [ + 0.2658054530620575, + 0.05304688215255737, + 0.1691889613866806, + 0.14725586771965027, + -0.3776465356349945, + -0.4795113801956177, + 0.0, + 0.40239205956459045 + ], + [ + 0.2446150928735733, + 0.036458466202020645, + 0.17856454849243164, + 0.18530820310115814, + -0.3780656158924103, + -0.5643686652183533, + 0.0, + 0.4015096127986908 + ], + [ + 0.2344502955675125, + 0.013741510920226574, + 0.18769828975200653, + 0.22197861969470978, + -0.3686218857765198, + -0.6638340950012207, + 0.0, + 0.39711064100265503 + ], + [ + 0.22895461320877075, + -0.009734136052429676, + 0.19013863801956177, + 0.22426317632198334, + -0.32579243183135986, + -0.6986775994300842, + 0.0, + 0.39711064100265503 + ], + [ + 0.23117823898792267, + -0.019987257197499275, + 0.19296051561832428, + 0.24781587719917297, + -0.2834804952144623, + -0.6740779876708984, + 0.0, + 0.39711064100265503 + ], + [ + 0.23270419239997864, + -0.02029264345765114, + 0.19786323606967926, + 0.22120289504528046, + -0.2619682252407074, + -0.6692226529121399, + 0.0, + 0.39711064100265503 + ], + [ + 0.22828219830989838, + -0.03832023963332176, + 0.1930372416973114, + 0.23590761423110962, + -0.17453981935977936, + -0.7580569386482239, + 0.0, + 0.39711064100265503 + ], + [ + 0.22649399936199188, + -0.0594949908554554, + 0.18961137533187866, + 0.24292877316474915, + -0.15114732086658478, + -0.811728835105896, + 0.0, + 0.3962334990501404 + ], + [ + 0.22524863481521606, + -0.07341103255748749, + 0.19118168950080872, + 0.20130276679992676, + -0.17233599722385406, + -0.8535066843032837, + 0.0, + 0.3962334990501404 + ], + [ + 0.22017700970172882, + -0.08428917825222015, + 0.18537624180316925, + 0.15166623890399933, + -0.19096152484416962, + -0.9268295764923096, + 0.0, + 0.39711064100265503 + ], + [ + 0.21217738091945648, + -0.102601557970047, + 0.17017610371112823, + 0.0724739357829094, + -0.17605741322040558, + -0.9981544613838196, + 0.0, + 0.39711064100265503 + ], + [ + 0.194394052028656, + -0.1297673135995865, + 0.13850095868110657, + -0.09691119194030762, + -0.1364527940750122, + -0.9968010187149048, + 0.0, + 0.37631502747535706 + ], + [ + 0.191925510764122, + -0.13781556487083435, + 0.11215291172266006, + -0.08393553644418716, + -0.11517183482646942, + -1.0253664255142212, + 0.0, + 0.37205085158348083 + ], + [ + 0.19472184777259827, + -0.13801945745944977, + 0.10049547255039215, + -0.021172773092985153, + -0.135506272315979, + -1.0388602018356323, + 0.0, + 0.37205085158348083 + ], + [ + 0.20400898158550262, + -0.1283380687236786, + 0.09471475332975388, + -0.007643390446901321, + -0.12141065299510956, + -1.0035462379455566, + 0.0, + 0.37205085158348083 + ], + [ + 0.21739740669727325, + -0.1177232414484024, + 0.08159542083740234, + -0.00718252407386899, + -0.11260067671537399, + -0.966517984867096, + 0.0, + 0.37205085158348083 + ], + [ + 0.2274930477142334, + -0.11493399739265442, + 0.07200587540864944, + -0.01517059002071619, + -0.09584913402795792, + -0.960594892501831, + 0.0, + 0.37205085158348083 + ], + [ + 0.22542066872119904, + -0.12166856974363327, + 0.07181421667337418, + -0.02045983076095581, + -0.10623543709516525, + -0.9774796366691589, + 0.0, + 0.37205085158348083 + ], + [ + 0.22012962400913239, + -0.12768274545669556, + 0.07056735455989838, + -0.04441478103399277, + -0.11734342575073242, + -0.9960349798202515, + 0.0, + 0.4077054560184479 + ], + [ + 0.22045035660266876, + -0.1330382376909256, + 0.06942450255155563, + -0.027379976585507393, + -0.129598006606102, + -0.9542707204818726, + 0.0, + 0.6981924772262573 + ], + [ + 0.2172805368900299, + -0.13210099935531616, + 0.06982628256082535, + -0.04222581163048744, + -0.14881736040115356, + -0.9409356713294983, + 0.0, + 0.9613274931907654 + ], + [ + 0.21137641370296478, + -0.12396486103534698, + 0.07952075451612473, + -0.06110929697751999, + -0.1284329742193222, + -0.9363768100738525, + 0.0, + 0.9988223910331726 + ], + [ + 0.2121187150478363, + -0.11596079170703888, + 0.08490447700023651, + -0.06622977554798126, + -0.10302213579416275, + -0.9009717106819153, + 0.0, + 0.9988223910331726 + ], + [ + 0.21990074217319489, + -0.10777398943901062, + 0.09429764002561569, + -0.030696801841259003, + -0.06737098097801208, + -0.8236435055732727, + 0.0, + 0.9988223910331726 + ], + [ + 0.22804848849773407, + -0.09795618057250977, + 0.1081315279006958, + -0.010593440383672714, + -0.05409643054008484, + -0.7186205387115479, + 0.0, + 0.9988223910331726 + ], + [ + 0.23706285655498505, + -0.07991330325603485, + 0.11942270398139954, + 0.02283562533557415, + -0.06106167286634445, + -0.5386189222335815, + 0.0, + 0.9988223910331726 + ] + ], + "left_gripper_pos": [ + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9583302736282349 + ], + [ + 0.7031799554824829 + ], + [ + 0.4503740966320038 + ], + [ + 0.4050447642803192 + ], + [ + 0.40327540040016174 + ], + [ + 0.40327540040016174 + ], + [ + 0.40239205956459045 + ], + [ + 0.40239205956459045 + ], + [ + 0.4015096127986908 + ], + [ + 0.39711064100265503 + ], + [ + 0.39711064100265503 + ], + [ + 0.39711064100265503 + ], + [ + 0.39711064100265503 + ], + [ + 0.39711064100265503 + ], + [ + 0.3962334990501404 + ], + [ + 0.3962334990501404 + ], + [ + 0.39711064100265503 + ], + [ + 0.39711064100265503 + ], + [ + 0.37631502747535706 + ], + [ + 0.37205085158348083 + ], + [ + 0.37205085158348083 + ], + [ + 0.37205085158348083 + ], + [ + 0.37205085158348083 + ], + [ + 0.37205085158348083 + ], + [ + 0.37205085158348083 + ], + [ + 0.4077054560184479 + ], + [ + 0.6981924772262573 + ], + [ + 0.9613274931907654 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.20773108303546906, + 0.01863747648894787, + 0.12854138016700745 + ], + [ + 0.20570555329322815, + 0.018454192206263542, + 0.12411697953939438 + ], + [ + 0.21603116393089294, + 0.021279631182551384, + 0.12138738483190536 + ], + [ + 0.2309197187423706, + 0.023023055866360664, + 0.12303858250379562 + ], + [ + 0.2436954379081726, + 0.028430741280317307, + 0.13145866990089417 + ], + [ + 0.258710116147995, + 0.034048039466142654, + 0.13708184659481049 + ], + [ + 0.2695818245410919, + 0.03642231225967407, + 0.13819782435894012 + ], + [ + 0.2776066064834595, + 0.035842083394527435, + 0.12910552322864532 + ], + [ + 0.28725466132164, + 0.038469187915325165, + 0.12788952887058258 + ], + [ + 0.29245007038116455, + 0.041857026517391205, + 0.12343702465295792 + ], + [ + 0.30112406611442566, + 0.046022750437259674, + 0.1214088574051857 + ], + [ + 0.30868399143218994, + 0.048731062561273575, + 0.11799894273281097 + ], + [ + 0.3109641671180725, + 0.04618057608604431, + 0.11752911657094955 + ], + [ + 0.3109823763370514, + 0.044764019548892975, + 0.11777886748313904 + ], + [ + 0.3079192042350769, + 0.04751960188150406, + 0.119116872549057 + ], + [ + 0.304557740688324, + 0.05582481995224953, + 0.12728115916252136 + ], + [ + 0.30115529894828796, + 0.06590881198644638, + 0.14036984741687775 + ], + [ + 0.28767532110214233, + 0.06616784632205963, + 0.15699002146720886 + ], + [ + 0.2658054530620575, + 0.05304688215255737, + 0.1691889613866806 + ], + [ + 0.2446150928735733, + 0.036458466202020645, + 0.17856454849243164 + ], + [ + 0.2344502955675125, + 0.013741510920226574, + 0.18769828975200653 + ], + [ + 0.22895461320877075, + -0.009734136052429676, + 0.19013863801956177 + ], + [ + 0.23117823898792267, + -0.019987257197499275, + 0.19296051561832428 + ], + [ + 0.23270419239997864, + -0.02029264345765114, + 0.19786323606967926 + ], + [ + 0.22828219830989838, + -0.03832023963332176, + 0.1930372416973114 + ], + [ + 0.22649399936199188, + -0.0594949908554554, + 0.18961137533187866 + ], + [ + 0.22524863481521606, + -0.07341103255748749, + 0.19118168950080872 + ], + [ + 0.22017700970172882, + -0.08428917825222015, + 0.18537624180316925 + ], + [ + 0.21217738091945648, + -0.102601557970047, + 0.17017610371112823 + ], + [ + 0.194394052028656, + -0.1297673135995865, + 0.13850095868110657 + ], + [ + 0.191925510764122, + -0.13781556487083435, + 0.11215291172266006 + ], + [ + 0.19472184777259827, + -0.13801945745944977, + 0.10049547255039215 + ], + [ + 0.20400898158550262, + -0.1283380687236786, + 0.09471475332975388 + ], + [ + 0.21739740669727325, + -0.1177232414484024, + 0.08159542083740234 + ], + [ + 0.2274930477142334, + -0.11493399739265442, + 0.07200587540864944 + ], + [ + 0.22542066872119904, + -0.12166856974363327, + 0.07181421667337418 + ], + [ + 0.22012962400913239, + -0.12768274545669556, + 0.07056735455989838 + ], + [ + 0.22045035660266876, + -0.1330382376909256, + 0.06942450255155563 + ], + [ + 0.2172805368900299, + -0.13210099935531616, + 0.06982628256082535 + ], + [ + 0.21137641370296478, + -0.12396486103534698, + 0.07952075451612473 + ], + [ + 0.2121187150478363, + -0.11596079170703888, + 0.08490447700023651 + ], + [ + 0.21990074217319489, + -0.10777398943901062, + 0.09429764002561569 + ], + [ + 0.22804848849773407, + -0.09795618057250977, + 0.1081315279006958 + ], + [ + 0.23706285655498505, + -0.07991330325603485, + 0.11942270398139954 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9419151084030211, + 0.2738596978607127, + 0.194413976991791, + 0.2760480331687844, + -0.9610057905960029, + 0.01628968460705937, + 0.1912940457666448, + 0.03832409592659586, + -0.9807843043838121 + ], + [ + 0.9444519776921517, + 0.27437542524808867, + 0.1809104415265023, + 0.27628437308492493, + -0.9609578100919358, + 0.01506759477757402, + 0.1779814794366356, + 0.03575210823492293, + -0.9833841465746257 + ], + [ + 0.9498446088484815, + 0.2208778190950541, + 0.22137797558313557, + 0.2183970401955066, + -0.97519795040628, + 0.03594009400700705, + 0.2238257176361043, + 0.014210790097766676, + -0.9745255776886924 + ], + [ + 0.9565534084494883, + 0.12174381254877992, + 0.2649226696410751, + 0.11759033225802779, + -0.992561074251627, + 0.03154405871005054, + 0.2667922235431784, + 0.000978767870348141, + -0.9637535740376494 + ], + [ + 0.9455192920551169, + 0.04281657388934196, + 0.3227382985515801, + 0.025452005912750986, + -0.9980016432150381, + 0.057835244748342944, + 0.32456965931307813, + -0.04647000258728163, + -0.9447195748543217 + ], + [ + 0.9367156557055406, + -0.03902737078532205, + 0.3479089603412423, + -0.08434341308630978, + -0.9896532992469217, + 0.11607125379970273, + 0.33977929457971867, + -0.13806958977004274, + -0.9303154407810508 + ], + [ + 0.9280373076782898, + -0.14585267187091006, + 0.3427444436680881, + -0.20887916846471682, + -0.9656351686966147, + 0.15465514526761923, + 0.3084092225253957, + -0.21511791902204844, + -0.9266110469754307 + ], + [ + 0.8914020689229967, + -0.2983531227880705, + 0.34115651194489516, + -0.3625075168278265, + -0.9211606127090399, + 0.14160305730043074, + 0.272012227230917, + -0.24989705823821232, + -0.9292797256589446 + ], + [ + 0.8409794684379193, + -0.39338695850727146, + 0.3714838281032881, + -0.443235446942563, + -0.8946536847533049, + 0.056010025271918826, + 0.3103157621512344, + -0.21175808186166784, + -0.9267484246152059 + ], + [ + 0.826619004546824, + -0.4255429456549867, + 0.3682583640941438, + -0.45385743990780963, + -0.8910082668263759, + -0.010848626059869929, + 0.332737803025666, + -0.15816911787809573, + -0.9296601984528101 + ], + [ + 0.8348760677637266, + -0.41548299478336925, + 0.3610482412659292, + -0.44090633017938397, + -0.8974556626043536, + -0.013226551596281277, + 0.3295201958653307, + -0.1481459236875043, + -0.9324533370692878 + ], + [ + 0.8548987291498197, + -0.3879511164025011, + 0.34444461699970824, + -0.4111318098872146, + -0.9115542885255963, + -0.006278054591718332, + 0.3164155460733336, + -0.13624503790100534, + -0.9387856474459263 + ], + [ + 0.8591251918738031, + -0.37344348523750526, + 0.34991980227113006, + -0.40175424062117715, + -0.9157020264005853, + 0.009128471326773371, + 0.317013303870205, + -0.14842426411987897, + -0.9367351829571525 + ], + [ + 0.8586545725649707, + -0.38015932391629664, + 0.3437894900266318, + -0.40367575362439995, + -0.9148955916277381, + -0.0034557713905318393, + 0.3158452325887476, + -0.1358121675684294, + -0.9390403847499449 + ], + [ + 0.8627062796998534, + -0.36809395808436185, + 0.3467631943967342, + -0.39844594760325514, + -0.9170179169649056, + 0.01785964176265087, + 0.31141403597940676, + -0.1535740146871671, + -0.9377826614988588 + ], + [ + 0.8755735076000157, + -0.33057570944990894, + 0.3522651460344811, + -0.37847482629109647, + -0.9225720309924085, + 0.07495100729454166, + 0.3002129888144902, + -0.19894860630884423, + -0.9328942133998039 + ], + [ + 0.8867793879407274, + -0.28812621676846295, + 0.3613939683145834, + -0.33062538217784443, + -0.9418276102586994, + 0.06039544034231678, + 0.32296930780373495, + -0.17304345051194728, + -0.9304551523054166 + ], + [ + 0.8677428462599303, + -0.3126168705343543, + 0.3863845817602226, + -0.34575094613680146, + -0.9381643121655526, + 0.017435785742047502, + 0.3570415046044675, + -0.1487226130628519, + -0.9221729492636052 + ], + [ + 0.8247024720253796, + -0.4083521923879507, + 0.39129824891913606, + -0.42883699628162014, + -0.9025782671287056, + -0.03809596208393525, + 0.3687338650780339, + -0.13638533161193347, + -0.91947505570609 + ], + [ + 0.7852580904462896, + -0.46826092787783635, + 0.4050943529742599, + -0.4971093037865991, + -0.8668386838629446, + -0.03838015434518659, + 0.36912338245829024, + -0.1712378450627821, + -0.913468953463009 + ], + [ + 0.7347261038479559, + -0.5385400312424276, + 0.4124950752115811, + -0.5747518366883764, + -0.8171887533842255, + -0.043160949545547306, + 0.3603302354059961, + -0.20537082580478802, + -0.9099367809691609 + ], + [ + 0.7254159656034449, + -0.5725985922009998, + 0.3819718956376957, + -0.6093714035395913, + -0.7923008487901033, + -0.03042790749740254, + 0.32005963412434596, + -0.21068986025890032, + -0.9236728930678191 + ], + [ + 0.7501000400041034, + -0.5515077935542329, + 0.3649507961832448, + -0.5992649213211311, + -0.8002376070405102, + 0.022390318266088588, + 0.2796989168013012, + -0.235497188787934, + -0.9307575355661425 + ], + [ + 0.7575453511983304, + -0.5606951728045393, + 0.334284256391901, + -0.5992105634615035, + -0.800444735309199, + 0.015327307393478345, + 0.258982125858033, + -0.21191778809121797, + -0.9423476585510147 + ], + [ + 0.7151401853724606, + -0.6389958305587488, + 0.28329991845035385, + -0.6770660733429373, + -0.7339646081172989, + 0.053642206882227955, + 0.1736549670853632, + -0.23017446113709986, + -0.9575299837847516 + ], + [ + 0.6803985281049973, + -0.6792483499354983, + 0.2750991131618863, + -0.7172069253439189, + -0.6943132995681387, + 0.05952535830657986, + 0.15057247155863432, + -0.2378039552923948, + -0.9595713676720545 + ], + [ + 0.6476072584831633, + -0.715834080974004, + 0.2611252712320752, + -0.7424271041281518, + -0.6699095605824301, + 0.004814114263519256, + 0.17148420864851718, + -0.19698413427573014, + -0.9652929177342147 + ], + [ + 0.5894589910629418, + -0.7733237346969295, + 0.2334705531955834, + -0.7851833595017848, + -0.616413763252901, + -0.05933940034991577, + 0.18980302899729928, + -0.148339050242307, + -0.9705515629561681 + ], + [ + 0.5334783047086435, + -0.8313939418376997, + 0.15551531075994823, + -0.8274802838078534, + -0.5510913548879066, + -0.10758577265180444, + 0.175149302923152, + -0.07129117787905434, + -0.9819573766931795 + ], + [ + 0.5379441478734508, + -0.8429449823195393, + -0.007736313787482199, + -0.8319326910888872, + -0.5293907684013557, + -0.16623300463212531, + 0.13602974405000157, + 0.09586016437360018, + -0.9860561533807075 + ], + [ + 0.5153487349536823, + -0.8568927883186263, + -0.012265019737836197, + -0.8492406464938268, + -0.5087228367868495, + -0.14139094622459966, + 0.11491738651912739, + 0.0832815985621711, + -0.9898778559077595 + ], + [ + 0.5025533989135291, + -0.8630841424676526, + 0.0502577781177787, + -0.8539263690029645, + -0.5046243391012801, + -0.12713784923463664, + 0.13509195964924092, + 0.020977116281151065, + -0.9906109847112816 + ], + [ + 0.5333595632350319, + -0.8438544879485241, + 0.05862746348657567, + -0.837173408171717, + -0.5365184431249297, + -0.10624803450865763, + 0.12111259619002167, + 0.007587051860598798, + -0.9926097801695171 + ], + [ + 0.5645702885296884, + -0.8233496446259567, + 0.05792885294752132, + -0.8177010280952879, + -0.5674895825003814, + -0.09654326701252938, + 0.11236288515970977, + 0.007136977501293537, + -0.9936416082223672 + ], + [ + 0.570402327069677, + -0.8202702340192906, + 0.04240198645624198, + -0.8157709410993045, + -0.5717768111585227, + -0.08711515298354158, + 0.09570243952717288, + 0.01510037758895455, + -0.9952954444109641 + ], + [ + 0.5559618257313266, + -0.8301302083312422, + 0.042311766039936805, + -0.8244166871721842, + -0.5571983461065707, + -0.09933342341902313, + 0.10603572153539012, + 0.02034306545313378, + -0.9941542060698826 + ], + [ + 0.5398960100601939, + -0.8413202263133219, + 0.026316821943078245, + -0.8335501798696894, + -0.538735483596778, + -0.12230362362969474, + 0.1170743181073087, + 0.044094846749324394, + -0.9921437640432268 + ], + [ + 0.5733550640040967, + -0.8176321812955648, + 0.05236016320367387, + -0.8090501518158174, + -0.5751005633075971, + -0.12123198394024576, + 0.12923553082516254, + 0.02714697392236992, + -0.9912422606906938 + ], + [ + 0.5825216549999144, + -0.8110759601957935, + 0.053144221215782245, + -0.7991776544823805, + -0.583449227420521, + -0.14457550137709335, + 0.14826866841042768, + 0.04174668627410521, + -0.9880655930417424 + ], + [ + 0.5878284146249972, + -0.8085486972421088, + 0.026584942120508194, + -0.7987823371755645, + -0.585303757147376, + -0.13916281718012138, + 0.1280801810422079, + 0.06056827599704246, + -0.9899125977413061 + ], + [ + 0.6175567142245955, + -0.7864374349517484, + 0.011826479722883289, + -0.7797740957336567, + -0.6141518625887721, + -0.12153126882206083, + 0.10283999386853004, + 0.06583046851767416, + -0.9925171459858335 + ], + [ + 0.678011140531057, + -0.7346851109761147, + 0.0232095029199106, + -0.7319623672933598, + -0.6777167986132426, + -0.07022131972355827, + 0.06732002809027815, + 0.030622354374405837, + -0.997261392630083 + ], + [ + 0.7516134967648064, + -0.6587411559161647, + 0.0337230037691706, + -0.6573838918183643, + -0.7522952882974236, + -0.04356854350603457, + 0.05407004955353222, + 0.010577745871937508, + -0.998481117014011 + ], + [ + 0.8568181045241681, + -0.5116210875252306, + 0.06408274774939227, + -0.5119949604602431, + -0.8589088596573367, + -0.011693214504483847, + 0.061023734914589095, + -0.022791086012607462, + -0.9978760795687208 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0020255297422409058, + -0.00018328428268432617, + -0.004424400627613068, + 0.002714887261390686, + 0.013545572757720947, + -0.0004945695400238037, + 1.0 + ], + [ + 0.010325610637664795, + 0.002825438976287842, + -0.0027295947074890137, + 0.02175896055996418, + -0.046803221106529236, + -0.058592140674591064, + 1.0 + ], + [ + 0.014888554811477661, + 0.0017434246838092804, + 0.0016511976718902588, + 0.013565653003752232, + -0.044325053691864014, + -0.10368359088897705, + 1.0 + ], + [ + 0.012775719165802002, + 0.005407685413956642, + 0.008420087397098541, + 0.05016516521573067, + -0.060493648052215576, + -0.09540553390979767, + 1.0 + ], + [ + 0.015014678239822388, + 0.005617298185825348, + 0.005623176693916321, + 0.09818653762340546, + -0.016125500202178955, + -0.11671152710914612, + 1.0 + ], + [ + 0.010871708393096924, + 0.002374272793531418, + 0.0011159777641296387, + 0.080778568983078, + 0.033161938190460205, + -0.13158755004405975, + 1.0 + ], + [ + 0.008024781942367554, + -0.000580228865146637, + -0.0090923011302948, + 0.034585386514663696, + 0.03803679347038269, + -0.16485708951950073, + 1.0 + ], + [ + 0.009648054838180542, + 0.0026271045207977295, + -0.0012159943580627441, + -0.03806082904338837, + -0.04004168510437012, + -0.0988059937953949, + 1.0 + ], + [ + 0.005195409059524536, + 0.00338783860206604, + -0.004452504217624664, + -0.05611644685268402, + -0.023680150508880615, + -0.01706555485725403, + 1.0 + ], + [ + 0.008673995733261108, + 0.004165723919868469, + -0.002028167247772217, + -0.010962143540382385, + 0.0034099817276000977, + 0.016233831644058228, + 1.0 + ], + [ + 0.007559925317764282, + 0.0027083121240139008, + -0.0034099146723747253, + -0.01343788206577301, + 0.01384684443473816, + 0.0376201868057251, + 0.0 + ], + [ + 0.0022801756858825684, + -0.0025504864752292633, + -0.0004698261618614197, + 0.013019323348999023, + -0.0006301999092102051, + 0.01084226369857788, + 0.0 + ], + [ + 1.8209218978881836e-05, + -0.0014165565371513367, + 0.00024975091218948364, + -0.013509377837181091, + 0.0012313425540924072, + -0.0020446181297302246, + 0.0 + ], + [ + -0.0030631721019744873, + 0.002755582332611084, + 0.0013380050659179688, + 0.0186893492937088, + 0.004666656255722046, + 0.006794601678848267, + 0.0 + ], + [ + -0.0033614635467529297, + 0.008305218070745468, + 0.008164286613464355, + 0.04778994619846344, + 0.011764764785766602, + 0.024666130542755127, + 0.0 + ], + [ + -0.0034024417400360107, + 0.010083992034196854, + 0.013088688254356384, + -0.02623555064201355, + -0.02394932508468628, + 0.05112907290458679, + 0.0 + ], + [ + -0.01347997784614563, + 0.00025903433561325073, + 0.016620174050331116, + -0.023979157209396362, + -0.03623345494270325, + -0.022294074296951294, + 0.0 + ], + [ + -0.02186986804008484, + -0.013120964169502258, + 0.01219893991947174, + -0.01264144480228424, + -0.012547820806503296, + -0.10034310817718506, + 0.0 + ], + [ + -0.021190360188484192, + -0.016588415950536728, + 0.009375587105751038, + 0.038052335381507874, + -0.0004190802574157715, + -0.0848572850227356, + 0.0 + ], + [ + -0.010164797306060791, + -0.022716954350471497, + 0.00913374125957489, + 0.036670416593551636, + 0.009443730115890503, + -0.09946542978286743, + 0.0 + ], + [ + -0.00549568235874176, + -0.02347564697265625, + 0.002440348267555237, + 0.0022845566272735596, + 0.04282945394515991, + -0.034843504428863525, + 0.0 + ], + [ + 0.0022236257791519165, + -0.0102531211450696, + 0.002821877598762512, + 0.023552700877189636, + 0.04231193661689758, + 0.02459961175918579, + 0.0 + ], + [ + 0.0015259534120559692, + -0.0003053862601518631, + 0.0049027204513549805, + -0.026612982153892517, + 0.021512269973754883, + 0.004855334758758545, + 0.0 + ], + [ + -0.004421994090080261, + -0.018027596175670624, + -0.004825994372367859, + 0.014704719185829163, + 0.08742840588092804, + -0.08883428573608398, + 0.0 + ], + [ + -0.0017881989479064941, + -0.021174751222133636, + -0.0034258663654327393, + 0.007021158933639526, + 0.02339249849319458, + -0.05367189645767212, + 0.0 + ], + [ + -0.0012453645467758179, + -0.01391604170203209, + 0.0015703141689300537, + -0.04162600636482239, + -0.021188676357269287, + -0.041777849197387695, + 0.0 + ], + [ + -0.005071625113487244, + -0.010878145694732666, + -0.005805447697639465, + -0.04963652789592743, + -0.018625527620315552, + -0.07332289218902588, + 0.0 + ], + [ + -0.007999628782272339, + -0.018312379717826843, + -0.015200138092041016, + -0.07919230312108994, + 0.014904111623764038, + -0.07132488489151001, + 0.0 + ], + [ + -0.017783328890800476, + -0.02716575562953949, + -0.03167514503002167, + -0.1693851351737976, + 0.03960461914539337, + 0.001353442668914795, + 0.0 + ], + [ + -0.0024685412645339966, + -0.008048251271247864, + -0.026348046958446503, + 0.012975655496120453, + 0.021280959248542786, + -0.028565406799316406, + 0.0 + ], + [ + 0.0027963370084762573, + -0.00020389258861541748, + -0.011657439172267914, + 0.06276276707649231, + -0.020334437489509583, + -0.013493776321411133, + 0.0 + ], + [ + 0.009287133812904358, + 0.00968138873577118, + -0.005780719220638275, + 0.013529382646083832, + 0.014095619320869446, + 0.035313963890075684, + 0.0 + ], + [ + 0.01338842511177063, + 0.010614827275276184, + -0.013119332492351532, + 0.00046086637303233147, + 0.008809976279735565, + 0.03702825307846069, + 0.0 + ], + [ + 0.010095641016960144, + 0.002789244055747986, + -0.0095895454287529, + -0.007988065481185913, + 0.016751542687416077, + 0.005923092365264893, + 0.0 + ], + [ + -0.002072378993034363, + -0.006734572350978851, + -0.00019165873527526855, + -0.00528924074023962, + -0.010386303067207336, + -0.01688474416732788, + 0.0 + ], + [ + -0.00529104471206665, + -0.006014175713062286, + -0.0012468621134757996, + -0.023954950273036957, + -0.01110798865556717, + -0.01855534315109253, + 1.0 + ], + [ + 0.00032073259353637695, + -0.0053554922342300415, + -0.001142852008342743, + 0.017034804448485374, + -0.012254580855369568, + 0.041764259338378906, + 1.0 + ], + [ + -0.003169819712638855, + 0.000937238335609436, + 0.00040178000926971436, + -0.01484583504498005, + -0.019219353795051575, + 0.013335049152374268, + 1.0 + ], + [ + -0.0059041231870651245, + 0.008136138319969177, + 0.009694471955299377, + -0.018883485347032547, + 0.02038438618183136, + 0.004558861255645752, + 1.0 + ], + [ + 0.000742301344871521, + 0.008004069328308105, + 0.005383722484111786, + -0.005120478570461273, + 0.025410838425159454, + 0.035405099391937256, + 1.0 + ], + [ + 0.0077820271253585815, + 0.00818680226802826, + 0.009393163025379181, + 0.03553297370672226, + 0.035651154816150665, + 0.07732820510864258, + 1.0 + ], + [ + 0.008147746324539185, + 0.009817808866500854, + 0.013833887875080109, + 0.02010336145758629, + 0.013274550437927246, + 0.10502296686172485, + 1.0 + ], + [ + 0.009014368057250977, + 0.018042877316474915, + 0.011291176080703735, + 0.033429063856601715, + -0.006965242326259613, + 0.1800016164779663, + 1.0 + ], + [ + 0.009135305881500244, + 0.023468632251024246, + 0.009502232074737549, + 0.07689522951841354, + -0.09686896950006485, + 0.19977998733520508, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9583302736282349 + ], + [ + 0.7031799554824829 + ], + [ + 0.4503740966320038 + ], + [ + 0.4050447642803192 + ], + [ + 0.40327540040016174 + ], + [ + 0.40327540040016174 + ], + [ + 0.40239205956459045 + ], + [ + 0.40239205956459045 + ], + [ + 0.4015096127986908 + ], + [ + 0.39711064100265503 + ], + [ + 0.39711064100265503 + ], + [ + 0.39711064100265503 + ], + [ + 0.39711064100265503 + ], + [ + 0.39711064100265503 + ], + [ + 0.3962334990501404 + ], + [ + 0.3962334990501404 + ], + [ + 0.39711064100265503 + ], + [ + 0.39711064100265503 + ], + [ + 0.37631502747535706 + ], + [ + 0.37205085158348083 + ], + [ + 0.37205085158348083 + ], + [ + 0.37205085158348083 + ], + [ + 0.37205085158348083 + ], + [ + 0.37205085158348083 + ], + [ + 0.37205085158348083 + ], + [ + 0.4077054560184479 + ], + [ + 0.6981924772262573 + ], + [ + 0.9613274931907654 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.20570555329322815, + 0.018454192206263542, + 0.12411697953939438 + ], + [ + 0.21603116393089294, + 0.021279631182551384, + 0.12138738483190536 + ], + [ + 0.2309197187423706, + 0.023023055866360664, + 0.12303858250379562 + ], + [ + 0.2436954379081726, + 0.028430741280317307, + 0.13145866990089417 + ], + [ + 0.258710116147995, + 0.034048039466142654, + 0.13708184659481049 + ], + [ + 0.2695818245410919, + 0.03642231225967407, + 0.13819782435894012 + ], + [ + 0.2776066064834595, + 0.035842083394527435, + 0.12910552322864532 + ], + [ + 0.28725466132164, + 0.038469187915325165, + 0.12788952887058258 + ], + [ + 0.29245007038116455, + 0.041857026517391205, + 0.12343702465295792 + ], + [ + 0.30112406611442566, + 0.046022750437259674, + 0.1214088574051857 + ], + [ + 0.30868399143218994, + 0.048731062561273575, + 0.11799894273281097 + ], + [ + 0.3109641671180725, + 0.04618057608604431, + 0.11752911657094955 + ], + [ + 0.3109823763370514, + 0.044764019548892975, + 0.11777886748313904 + ], + [ + 0.3079192042350769, + 0.04751960188150406, + 0.119116872549057 + ], + [ + 0.304557740688324, + 0.05582481995224953, + 0.12728115916252136 + ], + [ + 0.30115529894828796, + 0.06590881198644638, + 0.14036984741687775 + ], + [ + 0.28767532110214233, + 0.06616784632205963, + 0.15699002146720886 + ], + [ + 0.2658054530620575, + 0.05304688215255737, + 0.1691889613866806 + ], + [ + 0.2446150928735733, + 0.036458466202020645, + 0.17856454849243164 + ], + [ + 0.2344502955675125, + 0.013741510920226574, + 0.18769828975200653 + ], + [ + 0.22895461320877075, + -0.009734136052429676, + 0.19013863801956177 + ], + [ + 0.23117823898792267, + -0.019987257197499275, + 0.19296051561832428 + ], + [ + 0.23270419239997864, + -0.02029264345765114, + 0.19786323606967926 + ], + [ + 0.22828219830989838, + -0.03832023963332176, + 0.1930372416973114 + ], + [ + 0.22649399936199188, + -0.0594949908554554, + 0.18961137533187866 + ], + [ + 0.22524863481521606, + -0.07341103255748749, + 0.19118168950080872 + ], + [ + 0.22017700970172882, + -0.08428917825222015, + 0.18537624180316925 + ], + [ + 0.21217738091945648, + -0.102601557970047, + 0.17017610371112823 + ], + [ + 0.194394052028656, + -0.1297673135995865, + 0.13850095868110657 + ], + [ + 0.191925510764122, + -0.13781556487083435, + 0.11215291172266006 + ], + [ + 0.19472184777259827, + -0.13801945745944977, + 0.10049547255039215 + ], + [ + 0.20400898158550262, + -0.1283380687236786, + 0.09471475332975388 + ], + [ + 0.21739740669727325, + -0.1177232414484024, + 0.08159542083740234 + ], + [ + 0.2274930477142334, + -0.11493399739265442, + 0.07200587540864944 + ], + [ + 0.22542066872119904, + -0.12166856974363327, + 0.07181421667337418 + ], + [ + 0.22012962400913239, + -0.12768274545669556, + 0.07056735455989838 + ], + [ + 0.22045035660266876, + -0.1330382376909256, + 0.06942450255155563 + ], + [ + 0.2172805368900299, + -0.13210099935531616, + 0.06982628256082535 + ], + [ + 0.21137641370296478, + -0.12396486103534698, + 0.07952075451612473 + ], + [ + 0.2121187150478363, + -0.11596079170703888, + 0.08490447700023651 + ], + [ + 0.21990074217319489, + -0.10777398943901062, + 0.09429764002561569 + ], + [ + 0.22804848849773407, + -0.09795618057250977, + 0.1081315279006958 + ], + [ + 0.23706285655498505, + -0.07991330325603485, + 0.11942270398139954 + ], + [ + 0.2461981624364853, + -0.056444671005010605, + 0.12892493605613708 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9444519776921517, + 0.27437542524808867, + 0.1809104415265023, + 0.27628437308492493, + -0.9609578100919358, + 0.01506759477757402, + 0.1779814794366356, + 0.03575210823492293, + -0.9833841465746257 + ], + [ + 0.9498446088484815, + 0.2208778190950541, + 0.22137797558313557, + 0.2183970401955066, + -0.97519795040628, + 0.03594009400700705, + 0.2238257176361043, + 0.014210790097766676, + -0.9745255776886924 + ], + [ + 0.9565534084494883, + 0.12174381254877992, + 0.2649226696410751, + 0.11759033225802779, + -0.992561074251627, + 0.03154405871005054, + 0.2667922235431784, + 0.000978767870348141, + -0.9637535740376494 + ], + [ + 0.9455192920551169, + 0.04281657388934196, + 0.3227382985515801, + 0.025452005912750986, + -0.9980016432150381, + 0.057835244748342944, + 0.32456965931307813, + -0.04647000258728163, + -0.9447195748543217 + ], + [ + 0.9367156557055406, + -0.03902737078532205, + 0.3479089603412423, + -0.08434341308630978, + -0.9896532992469217, + 0.11607125379970273, + 0.33977929457971867, + -0.13806958977004274, + -0.9303154407810508 + ], + [ + 0.9280373076782898, + -0.14585267187091006, + 0.3427444436680881, + -0.20887916846471682, + -0.9656351686966147, + 0.15465514526761923, + 0.3084092225253957, + -0.21511791902204844, + -0.9266110469754307 + ], + [ + 0.8914020689229967, + -0.2983531227880705, + 0.34115651194489516, + -0.3625075168278265, + -0.9211606127090399, + 0.14160305730043074, + 0.272012227230917, + -0.24989705823821232, + -0.9292797256589446 + ], + [ + 0.8409794684379193, + -0.39338695850727146, + 0.3714838281032881, + -0.443235446942563, + -0.8946536847533049, + 0.056010025271918826, + 0.3103157621512344, + -0.21175808186166784, + -0.9267484246152059 + ], + [ + 0.826619004546824, + -0.4255429456549867, + 0.3682583640941438, + -0.45385743990780963, + -0.8910082668263759, + -0.010848626059869929, + 0.332737803025666, + -0.15816911787809573, + -0.9296601984528101 + ], + [ + 0.8348760677637266, + -0.41548299478336925, + 0.3610482412659292, + -0.44090633017938397, + -0.8974556626043536, + -0.013226551596281277, + 0.3295201958653307, + -0.1481459236875043, + -0.9324533370692878 + ], + [ + 0.8548987291498197, + -0.3879511164025011, + 0.34444461699970824, + -0.4111318098872146, + -0.9115542885255963, + -0.006278054591718332, + 0.3164155460733336, + -0.13624503790100534, + -0.9387856474459263 + ], + [ + 0.8591251918738031, + -0.37344348523750526, + 0.34991980227113006, + -0.40175424062117715, + -0.9157020264005853, + 0.009128471326773371, + 0.317013303870205, + -0.14842426411987897, + -0.9367351829571525 + ], + [ + 0.8586545725649707, + -0.38015932391629664, + 0.3437894900266318, + -0.40367575362439995, + -0.9148955916277381, + -0.0034557713905318393, + 0.3158452325887476, + -0.1358121675684294, + -0.9390403847499449 + ], + [ + 0.8627062796998534, + -0.36809395808436185, + 0.3467631943967342, + -0.39844594760325514, + -0.9170179169649056, + 0.01785964176265087, + 0.31141403597940676, + -0.1535740146871671, + -0.9377826614988588 + ], + [ + 0.8755735076000157, + -0.33057570944990894, + 0.3522651460344811, + -0.37847482629109647, + -0.9225720309924085, + 0.07495100729454166, + 0.3002129888144902, + -0.19894860630884423, + -0.9328942133998039 + ], + [ + 0.8867793879407274, + -0.28812621676846295, + 0.3613939683145834, + -0.33062538217784443, + -0.9418276102586994, + 0.06039544034231678, + 0.32296930780373495, + -0.17304345051194728, + -0.9304551523054166 + ], + [ + 0.8677428462599303, + -0.3126168705343543, + 0.3863845817602226, + -0.34575094613680146, + -0.9381643121655526, + 0.017435785742047502, + 0.3570415046044675, + -0.1487226130628519, + -0.9221729492636052 + ], + [ + 0.8247024720253796, + -0.4083521923879507, + 0.39129824891913606, + -0.42883699628162014, + -0.9025782671287056, + -0.03809596208393525, + 0.3687338650780339, + -0.13638533161193347, + -0.91947505570609 + ], + [ + 0.7852580904462896, + -0.46826092787783635, + 0.4050943529742599, + -0.4971093037865991, + -0.8668386838629446, + -0.03838015434518659, + 0.36912338245829024, + -0.1712378450627821, + -0.913468953463009 + ], + [ + 0.7347261038479559, + -0.5385400312424276, + 0.4124950752115811, + -0.5747518366883764, + -0.8171887533842255, + -0.043160949545547306, + 0.3603302354059961, + -0.20537082580478802, + -0.9099367809691609 + ], + [ + 0.7254159656034449, + -0.5725985922009998, + 0.3819718956376957, + -0.6093714035395913, + -0.7923008487901033, + -0.03042790749740254, + 0.32005963412434596, + -0.21068986025890032, + -0.9236728930678191 + ], + [ + 0.7501000400041034, + -0.5515077935542329, + 0.3649507961832448, + -0.5992649213211311, + -0.8002376070405102, + 0.022390318266088588, + 0.2796989168013012, + -0.235497188787934, + -0.9307575355661425 + ], + [ + 0.7575453511983304, + -0.5606951728045393, + 0.334284256391901, + -0.5992105634615035, + -0.800444735309199, + 0.015327307393478345, + 0.258982125858033, + -0.21191778809121797, + -0.9423476585510147 + ], + [ + 0.7151401853724606, + -0.6389958305587488, + 0.28329991845035385, + -0.6770660733429373, + -0.7339646081172989, + 0.053642206882227955, + 0.1736549670853632, + -0.23017446113709986, + -0.9575299837847516 + ], + [ + 0.6803985281049973, + -0.6792483499354983, + 0.2750991131618863, + -0.7172069253439189, + -0.6943132995681387, + 0.05952535830657986, + 0.15057247155863432, + -0.2378039552923948, + -0.9595713676720545 + ], + [ + 0.6476072584831633, + -0.715834080974004, + 0.2611252712320752, + -0.7424271041281518, + -0.6699095605824301, + 0.004814114263519256, + 0.17148420864851718, + -0.19698413427573014, + -0.9652929177342147 + ], + [ + 0.5894589910629418, + -0.7733237346969295, + 0.2334705531955834, + -0.7851833595017848, + -0.616413763252901, + -0.05933940034991577, + 0.18980302899729928, + -0.148339050242307, + -0.9705515629561681 + ], + [ + 0.5334783047086435, + -0.8313939418376997, + 0.15551531075994823, + -0.8274802838078534, + -0.5510913548879066, + -0.10758577265180444, + 0.175149302923152, + -0.07129117787905434, + -0.9819573766931795 + ], + [ + 0.5379441478734508, + -0.8429449823195393, + -0.007736313787482199, + -0.8319326910888872, + -0.5293907684013557, + -0.16623300463212531, + 0.13602974405000157, + 0.09586016437360018, + -0.9860561533807075 + ], + [ + 0.5153487349536823, + -0.8568927883186263, + -0.012265019737836197, + -0.8492406464938268, + -0.5087228367868495, + -0.14139094622459966, + 0.11491738651912739, + 0.0832815985621711, + -0.9898778559077595 + ], + [ + 0.5025533989135291, + -0.8630841424676526, + 0.0502577781177787, + -0.8539263690029645, + -0.5046243391012801, + -0.12713784923463664, + 0.13509195964924092, + 0.020977116281151065, + -0.9906109847112816 + ], + [ + 0.5333595632350319, + -0.8438544879485241, + 0.05862746348657567, + -0.837173408171717, + -0.5365184431249297, + -0.10624803450865763, + 0.12111259619002167, + 0.007587051860598798, + -0.9926097801695171 + ], + [ + 0.5645702885296884, + -0.8233496446259567, + 0.05792885294752132, + -0.8177010280952879, + -0.5674895825003814, + -0.09654326701252938, + 0.11236288515970977, + 0.007136977501293537, + -0.9936416082223672 + ], + [ + 0.570402327069677, + -0.8202702340192906, + 0.04240198645624198, + -0.8157709410993045, + -0.5717768111585227, + -0.08711515298354158, + 0.09570243952717288, + 0.01510037758895455, + -0.9952954444109641 + ], + [ + 0.5559618257313266, + -0.8301302083312422, + 0.042311766039936805, + -0.8244166871721842, + -0.5571983461065707, + -0.09933342341902313, + 0.10603572153539012, + 0.02034306545313378, + -0.9941542060698826 + ], + [ + 0.5398960100601939, + -0.8413202263133219, + 0.026316821943078245, + -0.8335501798696894, + -0.538735483596778, + -0.12230362362969474, + 0.1170743181073087, + 0.044094846749324394, + -0.9921437640432268 + ], + [ + 0.5733550640040967, + -0.8176321812955648, + 0.05236016320367387, + -0.8090501518158174, + -0.5751005633075971, + -0.12123198394024576, + 0.12923553082516254, + 0.02714697392236992, + -0.9912422606906938 + ], + [ + 0.5825216549999144, + -0.8110759601957935, + 0.053144221215782245, + -0.7991776544823805, + -0.583449227420521, + -0.14457550137709335, + 0.14826866841042768, + 0.04174668627410521, + -0.9880655930417424 + ], + [ + 0.5878284146249972, + -0.8085486972421088, + 0.026584942120508194, + -0.7987823371755645, + -0.585303757147376, + -0.13916281718012138, + 0.1280801810422079, + 0.06056827599704246, + -0.9899125977413061 + ], + [ + 0.6175567142245955, + -0.7864374349517484, + 0.011826479722883289, + -0.7797740957336567, + -0.6141518625887721, + -0.12153126882206083, + 0.10283999386853004, + 0.06583046851767416, + -0.9925171459858335 + ], + [ + 0.678011140531057, + -0.7346851109761147, + 0.0232095029199106, + -0.7319623672933598, + -0.6777167986132426, + -0.07022131972355827, + 0.06732002809027815, + 0.030622354374405837, + -0.997261392630083 + ], + [ + 0.7516134967648064, + -0.6587411559161647, + 0.0337230037691706, + -0.6573838918183643, + -0.7522952882974236, + -0.04356854350603457, + 0.05407004955353222, + 0.010577745871937508, + -0.998481117014011 + ], + [ + 0.8568181045241681, + -0.5116210875252306, + 0.06408274774939227, + -0.5119949604602431, + -0.8589088596573367, + -0.011693214504483847, + 0.061023734914589095, + -0.022791086012607462, + -0.9978760795687208 + ], + [ + 0.9314037015246195, + -0.3159717958640056, + 0.1806902570829765, + -0.3282555983278149, + -0.9436597493026979, + 0.041887226124644746, + 0.157274940637996, + -0.09832650590987205, + -0.9826476943863809 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006641.json b/json/chunk-0006/episode_0006641.json new file mode 100644 index 0000000000000000000000000000000000000000..587015cec9cbdcdced06a7b1e6f50363ab70a7f7 --- /dev/null +++ b/json/chunk-0006/episode_0006641.json @@ -0,0 +1,1882 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 30, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPlace the spatula next to the pan." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006641.mp4", + "start": 0, + "end": 30, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.33767402172088623, + 0.016948271542787552, + 0.11861483007669449, + -0.035902686417102814, + -0.20617103576660156, + 0.003902197116985917, + 0.0, + 1.0014774799346924 + ], + [ + 0.33562424778938293, + 0.016811644658446312, + 0.10811246186494827, + -0.03828054666519165, + -0.1754973977804184, + 0.006026389542967081, + 0.0, + 1.0014774799346924 + ], + [ + 0.3137427568435669, + 0.017067285254597664, + 0.08727441728115082, + -0.02930637076497078, + -0.1316385418176651, + 0.005152727477252483, + 0.0, + 1.0014774799346924 + ], + [ + 0.2957610785961151, + 0.023367376998066902, + 0.08392705768346786, + -0.02030152641236782, + -0.1439611166715622, + 0.005325706209987402, + 0.0, + 1.0014774799346924 + ], + [ + 0.2782563865184784, + 0.02556649222970009, + 0.08277808874845505, + 0.006376502104103565, + -0.16776685416698456, + -0.02382148616015911, + 0.0, + 1.0014774799346924 + ], + [ + 0.26741325855255127, + 0.033666446805000305, + 0.07132156938314438, + 0.05428639426827431, + -0.15085002779960632, + -0.07831301540136337, + 0.0, + 1.0014774799346924 + ], + [ + 0.25881683826446533, + 0.04364028945565224, + 0.06578527390956879, + 0.08241352438926697, + -0.11668296158313751, + -0.1350947767496109, + 0.0, + 1.0014774799346924 + ], + [ + 0.24212166666984558, + 0.05626789107918739, + 0.06166002154350281, + 0.07040917128324509, + -0.08043733239173889, + -0.12807929515838623, + 0.0, + 1.0014774799346924 + ], + [ + 0.22945162653923035, + 0.06698404252529144, + 0.0612889863550663, + 0.07235273718833923, + -0.06694874167442322, + -0.07864003628492355, + 0.0, + 1.0014774799346924 + ], + [ + 0.2181311547756195, + 0.07282387465238571, + 0.05132729932665825, + 0.06308503448963165, + -0.0458403006196022, + -0.008218580856919289, + 0.0, + 1.0014774799346924 + ], + [ + 0.2163744568824768, + 0.07386856526136398, + 0.039312317967414856, + 0.06640998274087906, + -0.04770972207188606, + 0.06688851863145828, + 0.0, + 1.0014774799346924 + ], + [ + 0.22093860805034637, + 0.07634342461824417, + 0.03186526149511337, + 0.07482298463582993, + -0.07468932121992111, + 0.11785224825143814, + 0.0, + 1.0014774799346924 + ], + [ + 0.2283506691455841, + 0.07312420010566711, + 0.019559577107429504, + 0.038449645042419434, + -0.09527964144945145, + 0.1391136795282364, + 0.0, + 1.0014774799346924 + ], + [ + 0.22914882004261017, + 0.07251051813364029, + 0.01673796959221363, + 0.026825007051229477, + -0.08883614838123322, + 0.12577931582927704, + 0.0, + 0.9643021821975708 + ], + [ + 0.23121657967567444, + 0.07380270212888718, + 0.01812027022242546, + 0.015991684049367905, + -0.09694784879684448, + 0.1097695603966713, + 0.0, + 0.6791892647743225 + ], + [ + 0.22955895960330963, + 0.07460393756628036, + 0.019663911312818527, + 0.02548692747950554, + -0.08713272958993912, + 0.0981229692697525, + 0.0, + 0.41573449969291687 + ], + [ + 0.23503194749355316, + 0.07534417510032654, + 0.03204367309808731, + 0.02961648441851139, + -0.11598658561706543, + 0.0823540985584259, + 0.0, + 0.4077054560184479 + ], + [ + 0.24787414073944092, + 0.06713034957647324, + 0.04750784486532211, + -0.0014334821607917547, + -0.12644165754318237, + 0.06338239461183548, + 0.0, + 0.4077054560184479 + ], + [ + 0.28189730644226074, + 0.04131447523832321, + 0.07363155484199524, + -0.02735748142004013, + -0.1708533614873886, + 0.007831261493265629, + 0.0, + 0.4077054560184479 + ], + [ + 0.31529054045677185, + 0.020746508613228798, + 0.0678696408867836, + -0.08009452372789383, + -0.15736353397369385, + -0.005939236376434565, + 0.0, + 0.4077054560184479 + ], + [ + 0.34221747517585754, + 0.005684673320502043, + 0.04906473681330681, + -0.0916970819234848, + -0.11539598554372787, + -0.011726337485015392, + 0.0, + 0.4077054560184479 + ], + [ + 0.34692713618278503, + 0.011044695973396301, + 0.03491266071796417, + -0.05249461159110069, + -0.08032624423503876, + -0.011425329372286797, + 0.0, + 0.4077054560184479 + ], + [ + 0.346357524394989, + 0.01669665239751339, + 0.02998298592865467, + -0.022688789293169975, + -0.07012233138084412, + -0.027925841510295868, + 0.0, + 0.4077054560184479 + ], + [ + 0.34332799911499023, + 0.02449694648385048, + 0.027351578697562218, + 0.010595780797302723, + -0.06218832731246948, + -0.023969775065779686, + 0.0, + 0.4568776488304138 + ], + [ + 0.3413090109825134, + 0.02895331010222435, + 0.02258693240582943, + 0.011926211416721344, + -0.04504602774977684, + -0.022728241980075836, + 0.0, + 0.7701175808906555 + ], + [ + 0.340728759765625, + 0.02963271178305149, + 0.02316766418516636, + 0.012337244115769863, + -0.03888537362217903, + -0.015907609835267067, + 0.0, + 0.9994885921478271 + ], + [ + 0.33806273341178894, + 0.030199289321899414, + 0.024156665429472923, + 0.025645704939961433, + -0.02225380949676037, + -0.023713530972599983, + 0.0, + 1.0073583126068115 + ], + [ + 0.33684778213500977, + 0.03148438036441803, + 0.06046406179666519, + 0.040066175162792206, + -0.09761153906583786, + -0.034892622381448746, + 0.0, + 1.0008161067962646 + ], + [ + 0.31691381335258484, + 0.042533762753009796, + 0.08031251281499863, + 0.028053516522049904, + -0.10330111533403397, + 0.004595020320266485, + 0.0, + 1.0008161067962646 + ], + [ + 0.29685112833976746, + 0.046113271266222, + 0.0805567055940628, + 0.002958574565127492, + -0.08649762719869614, + 0.006138286553323269, + 0.0, + 1.0001531839370728 + ] + ], + "left_gripper_pos": [ + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 0.9643021821975708 + ], + [ + 0.6791892647743225 + ], + [ + 0.41573449969291687 + ], + [ + 0.4077054560184479 + ], + [ + 0.4077054560184479 + ], + [ + 0.4077054560184479 + ], + [ + 0.4077054560184479 + ], + [ + 0.4077054560184479 + ], + [ + 0.4077054560184479 + ], + [ + 0.4077054560184479 + ], + [ + 0.4568776488304138 + ], + [ + 0.7701175808906555 + ], + [ + 0.9994885921478271 + ], + [ + 1.0073583126068115 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.33767402172088623, + 0.016948271542787552, + 0.11861483007669449 + ], + [ + 0.33562424778938293, + 0.016811644658446312, + 0.10811246186494827 + ], + [ + 0.3137427568435669, + 0.017067285254597664, + 0.08727441728115082 + ], + [ + 0.2957610785961151, + 0.023367376998066902, + 0.08392705768346786 + ], + [ + 0.2782563865184784, + 0.02556649222970009, + 0.08277808874845505 + ], + [ + 0.26741325855255127, + 0.033666446805000305, + 0.07132156938314438 + ], + [ + 0.25881683826446533, + 0.04364028945565224, + 0.06578527390956879 + ], + [ + 0.24212166666984558, + 0.05626789107918739, + 0.06166002154350281 + ], + [ + 0.22945162653923035, + 0.06698404252529144, + 0.0612889863550663 + ], + [ + 0.2181311547756195, + 0.07282387465238571, + 0.05132729932665825 + ], + [ + 0.2163744568824768, + 0.07386856526136398, + 0.039312317967414856 + ], + [ + 0.22093860805034637, + 0.07634342461824417, + 0.03186526149511337 + ], + [ + 0.2283506691455841, + 0.07312420010566711, + 0.019559577107429504 + ], + [ + 0.22914882004261017, + 0.07251051813364029, + 0.01673796959221363 + ], + [ + 0.23121657967567444, + 0.07380270212888718, + 0.01812027022242546 + ], + [ + 0.22955895960330963, + 0.07460393756628036, + 0.019663911312818527 + ], + [ + 0.23503194749355316, + 0.07534417510032654, + 0.03204367309808731 + ], + [ + 0.24787414073944092, + 0.06713034957647324, + 0.04750784486532211 + ], + [ + 0.28189730644226074, + 0.04131447523832321, + 0.07363155484199524 + ], + [ + 0.31529054045677185, + 0.020746508613228798, + 0.0678696408867836 + ], + [ + 0.34221747517585754, + 0.005684673320502043, + 0.04906473681330681 + ], + [ + 0.34692713618278503, + 0.011044695973396301, + 0.03491266071796417 + ], + [ + 0.346357524394989, + 0.01669665239751339, + 0.02998298592865467 + ], + [ + 0.34332799911499023, + 0.02449694648385048, + 0.027351578697562218 + ], + [ + 0.3413090109825134, + 0.02895331010222435, + 0.02258693240582943 + ], + [ + 0.340728759765625, + 0.02963271178305149, + 0.02316766418516636 + ], + [ + 0.33806273341178894, + 0.030199289321899414, + 0.024156665429472923 + ], + [ + 0.33684778213500977, + 0.03148438036441803, + 0.06046406179666519 + ], + [ + 0.31691381335258484, + 0.042533762753009796, + 0.08031251281499863 + ], + [ + 0.29685112833976746, + 0.046113271266222, + 0.0805567055940628 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.978814476522662, + -0.003448458529245748, + 0.20472012281023869, + 0.003819546415296139, + -0.9993766331276421, + -0.035096384765946786, + 0.2047135354949656, + 0.03513478749373697, + -0.9781911444563998 + ], + [ + 0.9846219363837995, + -0.0006600120062404346, + 0.17469747215105538, + 0.005933787174556516, + -0.9992895125384528, + -0.03721908516377717, + 0.17459791683059742, + 0.037683345324069195, + -0.9839184584728567 + ], + [ + 0.9913349913489783, + 0.0013043781240425615, + 0.13135156460746947, + 0.005108124257087827, + -0.9995771476327913, + -0.02862574011037531, + 0.13125868349825418, + 0.02904865793805487, + -0.9909224659267256 + ], + [ + 0.9896414478068798, + 0.002412279231446569, + 0.14354088508718654, + 0.005270589434507241, + -0.9997952626970077, + -0.01953595596930769, + 0.1434643707326534, + 0.02009013682211746, + -0.9894515454193565 + ], + [ + 0.985680383113628, + -0.022754303782042528, + 0.16708208762271776, + -0.0234848140286744, + -0.9997213192276313, + 0.0023973718532338474, + 0.1669809745300631, + -0.006286934162103576, + -0.9859400735358267 + ], + [ + 0.9856136027681864, + -0.06998866000407168, + 0.1538421707762531, + -0.07734455414259712, + -0.9961043909290922, + 0.04235401180838544, + 0.15027856128802344, + -0.053643544277167665, + -0.9871872791798855 + ], + [ + 0.9841507893535335, + -0.12473082596165308, + 0.12605334136682206, + -0.13376840754529756, + -0.988816181293853, + 0.06594370898150316, + 0.11641837036143368, + -0.08176050798744962, + -0.9898292693065921 + ], + [ + 0.9886021992952229, + -0.12180648557988337, + 0.08848091104484779, + -0.1273164145595376, + -0.9900736684294422, + 0.05953706128430373, + 0.08035061998735643, + -0.07012354207642854, + -0.9942969710877646 + ], + [ + 0.9946761590011158, + -0.07353233210199807, + 0.07219650164951416, + -0.07838301608613486, + -0.9946811517729773, + 0.06682446480761402, + 0.06689874067594664, + -0.07212768153229927, + -0.9951493134463529 + ], + [ + 0.9989157805217508, + -0.005313330474726985, + 0.046249669662473375, + -0.008209854957382506, + -0.998000836333083, + 0.06266521331684531, + 0.045824248015655586, + -0.06297697355171429, + -0.9969624060595598 + ], + [ + 0.996628448604071, + 0.06984911293999096, + 0.04304459146674327, + 0.06676259719549513, + -0.9953528579153689, + 0.06939339922081439, + 0.04769162451368696, + -0.06628566708726438, + -0.9966602827894978 + ], + [ + 0.9902948457230286, + 0.1227900290828302, + 0.06510550892390693, + 0.11725182010809009, + -0.9896290641004436, + 0.082983891021213, + 0.07461989825605023, + -0.07454478013595715, + -0.994421915757461 + ], + [ + 0.9858474328389978, + 0.14218462135090765, + 0.08881651094282558, + 0.1380364703943568, + -0.9891002277218129, + 0.051251071810508135, + 0.09513554543821093, + -0.03826581989134716, + -0.9947285835956546 + ], + [ + 0.9881880202461175, + 0.1277636117910022, + 0.08462207834942967, + 0.12495324742216812, + -0.9914447607572909, + 0.037735557841017044, + 0.08871934738665163, + -0.026716022702423105, + -0.9956983135118038 + ], + [ + 0.9893138678471481, + 0.11107379353244651, + 0.0944493688471619, + 0.10903483374988171, + -0.9936847065944538, + 0.02649733778005027, + 0.0967960531966642, + -0.01591591249680234, + -0.9951769731132966 + ], + [ + 0.9914143957512602, + 0.10014080071800494, + 0.08407922412058837, + 0.09759394081407116, + -0.9946493328694457, + 0.03388402778221517, + 0.08702251785338598, + -0.025387490106806042, + -0.9958828027095024 + ], + [ + 0.9899146824244608, + 0.08564026796909716, + 0.11284797748590847, + 0.0817083355867427, + -0.9958918658865893, + 0.03902741801057042, + 0.11572670139653643, + -0.029413193691076707, + -0.9928455039031844 + ], + [ + 0.9900249363354883, + 0.06315949383920254, + 0.12594246214795202, + 0.06283431575163147, + -0.9980024329358073, + 0.006556875645763144, + 0.12610501258053491, + 0.001422038039385942, + -0.9920158787085405 + ], + [ + 0.9854098166596369, + 0.003177563310928321, + 0.17016872897869836, + 0.00771715971395019, + -0.9996315762434989, + -0.02602224477033216, + 0.1700233474460788, + 0.026955794708053732, + -0.9850712900368618 + ], + [ + 0.9876264695596751, + -0.01845852640810818, + 0.15573451585288894, + -0.005865816025799318, + -0.9967020981545125, + -0.08093528116183074, + 0.15671486473032487, + 0.07902031597781858, + -0.9844776487230791 + ], + [ + 0.9932809729494336, + -0.022219296777343567, + 0.11357469624589196, + -0.011648081808703293, + -0.995606673262108, + -0.09290680462773207, + 0.11514004936078519, + 0.09095963394098588, + -0.9891759772793299 + ], + [ + 0.9967105236343309, + -0.015619295251582649, + 0.07952464833259001, + -0.011388241558992217, + -0.9985091936088765, + -0.053382564876047686, + 0.0802398905206897, + 0.05230131828544368, + -0.9954024975229029 + ], + [ + 0.9971534938181462, + -0.029503956485757887, + 0.06938606717454801, + -0.02785359137170979, + -0.9993084360652875, + -0.0246338599583376, + 0.0700648786052056, + 0.022631088361713406, + -0.997285689572252 + ], + [ + 0.9977802230804869, + -0.02330782665832157, + 0.06238085961190259, + -0.023921148987458913, + -0.9996724025726886, + 0.009103085502654387, + 0.06214825066382849, + -0.010575100520301316, + -0.9980109028404509 + ], + [ + 0.9987275858613173, + -0.022187773669878574, + 0.045286995254699224, + -0.022703231670308296, + -0.999682831366937, + 0.010899538609883755, + 0.045030795144536555, + -0.011913831027771011, + -0.9989145549639831 + ], + [ + 0.9991176314063971, + -0.015426183763665028, + 0.0390639407556407, + -0.015894914229448606, + -0.999805012492725, + 0.011717025905079732, + 0.03887557478043304, + -0.012327605157185832, + -0.999168013817786 + ], + [ + 0.9994713112150931, + -0.023133066947597182, + 0.02284642798295618, + -0.023705437499792474, + -0.9994036365752544, + 0.02510823436843244, + 0.022251972742340153, + -0.025636544497156518, + -0.9994236425537067 + ], + [ + 0.9946339868380604, + -0.030956252738782906, + 0.09871647604629001, + -0.03471947951964104, + -0.9987254424839855, + 0.03663397708483966, + 0.09745660556632567, + -0.03986478334996851, + -0.9944410535974215 + ], + [ + 0.9946586819890585, + 0.00748559439041655, + 0.10294693885886809, + 0.0045705090230795786, + -0.9995826822560702, + 0.02852317971458738, + 0.10311749022866736, + -0.02790030842809565, + -0.994277806248615 + ], + [ + 0.996242643286655, + 0.006393806640514136, + 0.08636964127436741, + 0.00611529962655829, + -0.9999752154054292, + 0.003488794253518436, + 0.08638980731369073, + -0.0029475093739773856, + -0.9962570518600078 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.002049773931503296, + -0.00013662688434123993, + -0.010502368211746216, + -0.0023778602480888367, + 0.030673637986183167, + 0.002124192425981164, + 1.0 + ], + [ + -0.02188149094581604, + 0.00025564059615135193, + -0.020838044583797455, + 0.008974175900220871, + 0.043858855962753296, + -0.0008736620657145977, + 1.0 + ], + [ + -0.017981678247451782, + 0.006300091743469238, + -0.003347359597682953, + 0.009004844352602959, + -0.012322574853897095, + 0.0001729787327349186, + 1.0 + ], + [ + -0.01750469207763672, + 0.0021991152316331863, + -0.0011489689350128174, + 0.02667802944779396, + -0.023805737495422363, + -0.0291471928358078, + 1.0 + ], + [ + -0.010843127965927124, + 0.008099954575300217, + -0.011456519365310669, + 0.04790989309549332, + 0.016916826367378235, + -0.05449152737855911, + 1.0 + ], + [ + -0.008596420288085938, + 0.009973842650651932, + -0.005536295473575592, + 0.02812713012099266, + 0.03416706621646881, + -0.05678176134824753, + 1.0 + ], + [ + -0.01669517159461975, + 0.012627601623535156, + -0.004125252366065979, + -0.012004353106021881, + 0.03624562919139862, + 0.00701548159122467, + 1.0 + ], + [ + -0.012670040130615234, + 0.01071615144610405, + -0.0003710351884365082, + 0.0019435659050941467, + 0.013488590717315674, + 0.04943925887346268, + 1.0 + ], + [ + -0.01132047176361084, + 0.005839832127094269, + -0.00996168702840805, + -0.00926770269870758, + 0.021108441054821014, + 0.07042145729064941, + 1.0 + ], + [ + -0.0017566978931427002, + 0.0010446906089782715, + -0.012014981359243393, + 0.003324948251247406, + -0.0018694214522838593, + 0.07510709762573242, + 1.0 + ], + [ + 0.004564151167869568, + 0.002474859356880188, + -0.007447056472301483, + 0.008413001894950867, + -0.02697959914803505, + 0.05096372961997986, + 1.0 + ], + [ + 0.007412061095237732, + -0.003219224512577057, + -0.012305684387683868, + -0.03637333959341049, + -0.020590320229530334, + 0.02126143127679825, + 1.0 + ], + [ + 0.000798150897026062, + -0.000613681972026825, + -0.0028216075152158737, + -0.011624637991189957, + 0.006443493068218231, + -0.01333436369895935, + 0.0 + ], + [ + 0.00206775963306427, + 0.0012921839952468872, + 0.0013823006302118301, + -0.010833323001861572, + -0.008111700415611267, + -0.016009755432605743, + 0.0 + ], + [ + -0.0016576200723648071, + 0.0008012354373931885, + 0.0015436410903930664, + 0.009495243430137634, + 0.009815119206905365, + -0.011646591126918793, + 0.0 + ], + [ + 0.00547298789024353, + 0.0007402375340461731, + 0.012379761785268784, + 0.004129556939005852, + -0.028853856027126312, + -0.0157688707113266, + 0.0 + ], + [ + 0.012842193245887756, + -0.008213825523853302, + 0.015464171767234802, + -0.03104996681213379, + -0.010455071926116943, + -0.018971703946590424, + 0.0 + ], + [ + 0.034023165702819824, + -0.025815874338150024, + 0.026123709976673126, + -0.025923999026417732, + -0.04441170394420624, + -0.055551134049892426, + 0.0 + ], + [ + 0.03339323401451111, + -0.020567966625094414, + -0.005761913955211639, + -0.0527370423078537, + 0.013489827513694763, + -0.01377049833536148, + 0.0 + ], + [ + 0.026926934719085693, + -0.015061834827065468, + -0.01880490407347679, + -0.011602558195590973, + 0.04196754842996597, + -0.005787101108580828, + 0.0 + ], + [ + 0.00470966100692749, + 0.0053600226528942585, + -0.014152076095342636, + 0.03920247033238411, + 0.03506974130868912, + 0.00030100811272859573, + 0.0 + ], + [ + -0.0005696117877960205, + 0.005651956424117088, + -0.004929674789309502, + 0.029805822297930717, + 0.010203912854194641, + -0.01650051213800907, + 0.0 + ], + [ + -0.0030295252799987793, + 0.0078002940863370895, + -0.002631407231092453, + 0.03328457102179527, + 0.007934004068374634, + 0.003956066444516182, + 1.0 + ], + [ + -0.0020189881324768066, + 0.004456363618373871, + -0.004764646291732788, + 0.001330430619418621, + 0.017142299562692642, + 0.0012415330857038498, + 1.0 + ], + [ + -0.0005802512168884277, + 0.0006794016808271408, + 0.0005807317793369293, + 0.00041103269904851913, + 0.006160654127597809, + 0.006820632144808769, + 1.0 + ], + [ + -0.0026660263538360596, + 0.0005665775388479233, + 0.0009890012443065643, + 0.01330846082419157, + 0.016631564125418663, + -0.007805921137332916, + 1.0 + ], + [ + -0.0012149512767791748, + 0.0012850910425186157, + 0.03630739450454712, + 0.014420470222830772, + -0.07535772770643234, + -0.011179091408848763, + 1.0 + ], + [ + -0.019933968782424927, + 0.011049382388591766, + 0.019848451018333435, + -0.012012658640742302, + -0.005689576268196106, + 0.03948764130473137, + 1.0 + ], + [ + -0.020062685012817383, + 0.003579508513212204, + 0.00024419277906417847, + -0.02509494125843048, + 0.01680348813533783, + 0.0015432662330567837, + 1.0 + ], + [ + -0.0026917457580566406, + -0.0009619966149330139, + -0.0009162575006484985, + -0.024112289771437645, + 0.01374325156211853, + -0.014364863745868206, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 0.9643021821975708 + ], + [ + 0.6791892647743225 + ], + [ + 0.41573449969291687 + ], + [ + 0.4077054560184479 + ], + [ + 0.4077054560184479 + ], + [ + 0.4077054560184479 + ], + [ + 0.4077054560184479 + ], + [ + 0.4077054560184479 + ], + [ + 0.4077054560184479 + ], + [ + 0.4077054560184479 + ], + [ + 0.4568776488304138 + ], + [ + 0.7701175808906555 + ], + [ + 0.9994885921478271 + ], + [ + 1.0073583126068115 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.33562424778938293, + 0.016811644658446312, + 0.10811246186494827 + ], + [ + 0.3137427568435669, + 0.017067285254597664, + 0.08727441728115082 + ], + [ + 0.2957610785961151, + 0.023367376998066902, + 0.08392705768346786 + ], + [ + 0.2782563865184784, + 0.02556649222970009, + 0.08277808874845505 + ], + [ + 0.26741325855255127, + 0.033666446805000305, + 0.07132156938314438 + ], + [ + 0.25881683826446533, + 0.04364028945565224, + 0.06578527390956879 + ], + [ + 0.24212166666984558, + 0.05626789107918739, + 0.06166002154350281 + ], + [ + 0.22945162653923035, + 0.06698404252529144, + 0.0612889863550663 + ], + [ + 0.2181311547756195, + 0.07282387465238571, + 0.05132729932665825 + ], + [ + 0.2163744568824768, + 0.07386856526136398, + 0.039312317967414856 + ], + [ + 0.22093860805034637, + 0.07634342461824417, + 0.03186526149511337 + ], + [ + 0.2283506691455841, + 0.07312420010566711, + 0.019559577107429504 + ], + [ + 0.22914882004261017, + 0.07251051813364029, + 0.01673796959221363 + ], + [ + 0.23121657967567444, + 0.07380270212888718, + 0.01812027022242546 + ], + [ + 0.22955895960330963, + 0.07460393756628036, + 0.019663911312818527 + ], + [ + 0.23503194749355316, + 0.07534417510032654, + 0.03204367309808731 + ], + [ + 0.24787414073944092, + 0.06713034957647324, + 0.04750784486532211 + ], + [ + 0.28189730644226074, + 0.04131447523832321, + 0.07363155484199524 + ], + [ + 0.31529054045677185, + 0.020746508613228798, + 0.0678696408867836 + ], + [ + 0.34221747517585754, + 0.005684673320502043, + 0.04906473681330681 + ], + [ + 0.34692713618278503, + 0.011044695973396301, + 0.03491266071796417 + ], + [ + 0.346357524394989, + 0.01669665239751339, + 0.02998298592865467 + ], + [ + 0.34332799911499023, + 0.02449694648385048, + 0.027351578697562218 + ], + [ + 0.3413090109825134, + 0.02895331010222435, + 0.02258693240582943 + ], + [ + 0.340728759765625, + 0.02963271178305149, + 0.02316766418516636 + ], + [ + 0.33806273341178894, + 0.030199289321899414, + 0.024156665429472923 + ], + [ + 0.33684778213500977, + 0.03148438036441803, + 0.06046406179666519 + ], + [ + 0.31691381335258484, + 0.042533762753009796, + 0.08031251281499863 + ], + [ + 0.29685112833976746, + 0.046113271266222, + 0.0805567055940628 + ], + [ + 0.2941593825817108, + 0.045151274651288986, + 0.0796404480934143 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9846219363837995, + -0.0006600120062404346, + 0.17469747215105538, + 0.005933787174556516, + -0.9992895125384528, + -0.03721908516377717, + 0.17459791683059742, + 0.037683345324069195, + -0.9839184584728567 + ], + [ + 0.9913349913489783, + 0.0013043781240425615, + 0.13135156460746947, + 0.005108124257087827, + -0.9995771476327913, + -0.02862574011037531, + 0.13125868349825418, + 0.02904865793805487, + -0.9909224659267256 + ], + [ + 0.9896414478068798, + 0.002412279231446569, + 0.14354088508718654, + 0.005270589434507241, + -0.9997952626970077, + -0.01953595596930769, + 0.1434643707326534, + 0.02009013682211746, + -0.9894515454193565 + ], + [ + 0.985680383113628, + -0.022754303782042528, + 0.16708208762271776, + -0.0234848140286744, + -0.9997213192276313, + 0.0023973718532338474, + 0.1669809745300631, + -0.006286934162103576, + -0.9859400735358267 + ], + [ + 0.9856136027681864, + -0.06998866000407168, + 0.1538421707762531, + -0.07734455414259712, + -0.9961043909290922, + 0.04235401180838544, + 0.15027856128802344, + -0.053643544277167665, + -0.9871872791798855 + ], + [ + 0.9841507893535335, + -0.12473082596165308, + 0.12605334136682206, + -0.13376840754529756, + -0.988816181293853, + 0.06594370898150316, + 0.11641837036143368, + -0.08176050798744962, + -0.9898292693065921 + ], + [ + 0.9886021992952229, + -0.12180648557988337, + 0.08848091104484779, + -0.1273164145595376, + -0.9900736684294422, + 0.05953706128430373, + 0.08035061998735643, + -0.07012354207642854, + -0.9942969710877646 + ], + [ + 0.9946761590011158, + -0.07353233210199807, + 0.07219650164951416, + -0.07838301608613486, + -0.9946811517729773, + 0.06682446480761402, + 0.06689874067594664, + -0.07212768153229927, + -0.9951493134463529 + ], + [ + 0.9989157805217508, + -0.005313330474726985, + 0.046249669662473375, + -0.008209854957382506, + -0.998000836333083, + 0.06266521331684531, + 0.045824248015655586, + -0.06297697355171429, + -0.9969624060595598 + ], + [ + 0.996628448604071, + 0.06984911293999096, + 0.04304459146674327, + 0.06676259719549513, + -0.9953528579153689, + 0.06939339922081439, + 0.04769162451368696, + -0.06628566708726438, + -0.9966602827894978 + ], + [ + 0.9902948457230286, + 0.1227900290828302, + 0.06510550892390693, + 0.11725182010809009, + -0.9896290641004436, + 0.082983891021213, + 0.07461989825605023, + -0.07454478013595715, + -0.994421915757461 + ], + [ + 0.9858474328389978, + 0.14218462135090765, + 0.08881651094282558, + 0.1380364703943568, + -0.9891002277218129, + 0.051251071810508135, + 0.09513554543821093, + -0.03826581989134716, + -0.9947285835956546 + ], + [ + 0.9881880202461175, + 0.1277636117910022, + 0.08462207834942967, + 0.12495324742216812, + -0.9914447607572909, + 0.037735557841017044, + 0.08871934738665163, + -0.026716022702423105, + -0.9956983135118038 + ], + [ + 0.9893138678471481, + 0.11107379353244651, + 0.0944493688471619, + 0.10903483374988171, + -0.9936847065944538, + 0.02649733778005027, + 0.0967960531966642, + -0.01591591249680234, + -0.9951769731132966 + ], + [ + 0.9914143957512602, + 0.10014080071800494, + 0.08407922412058837, + 0.09759394081407116, + -0.9946493328694457, + 0.03388402778221517, + 0.08702251785338598, + -0.025387490106806042, + -0.9958828027095024 + ], + [ + 0.9899146824244608, + 0.08564026796909716, + 0.11284797748590847, + 0.0817083355867427, + -0.9958918658865893, + 0.03902741801057042, + 0.11572670139653643, + -0.029413193691076707, + -0.9928455039031844 + ], + [ + 0.9900249363354883, + 0.06315949383920254, + 0.12594246214795202, + 0.06283431575163147, + -0.9980024329358073, + 0.006556875645763144, + 0.12610501258053491, + 0.001422038039385942, + -0.9920158787085405 + ], + [ + 0.9854098166596369, + 0.003177563310928321, + 0.17016872897869836, + 0.00771715971395019, + -0.9996315762434989, + -0.02602224477033216, + 0.1700233474460788, + 0.026955794708053732, + -0.9850712900368618 + ], + [ + 0.9876264695596751, + -0.01845852640810818, + 0.15573451585288894, + -0.005865816025799318, + -0.9967020981545125, + -0.08093528116183074, + 0.15671486473032487, + 0.07902031597781858, + -0.9844776487230791 + ], + [ + 0.9932809729494336, + -0.022219296777343567, + 0.11357469624589196, + -0.011648081808703293, + -0.995606673262108, + -0.09290680462773207, + 0.11514004936078519, + 0.09095963394098588, + -0.9891759772793299 + ], + [ + 0.9967105236343309, + -0.015619295251582649, + 0.07952464833259001, + -0.011388241558992217, + -0.9985091936088765, + -0.053382564876047686, + 0.0802398905206897, + 0.05230131828544368, + -0.9954024975229029 + ], + [ + 0.9971534938181462, + -0.029503956485757887, + 0.06938606717454801, + -0.02785359137170979, + -0.9993084360652875, + -0.0246338599583376, + 0.0700648786052056, + 0.022631088361713406, + -0.997285689572252 + ], + [ + 0.9977802230804869, + -0.02330782665832157, + 0.06238085961190259, + -0.023921148987458913, + -0.9996724025726886, + 0.009103085502654387, + 0.06214825066382849, + -0.010575100520301316, + -0.9980109028404509 + ], + [ + 0.9987275858613173, + -0.022187773669878574, + 0.045286995254699224, + -0.022703231670308296, + -0.999682831366937, + 0.010899538609883755, + 0.045030795144536555, + -0.011913831027771011, + -0.9989145549639831 + ], + [ + 0.9991176314063971, + -0.015426183763665028, + 0.0390639407556407, + -0.015894914229448606, + -0.999805012492725, + 0.011717025905079732, + 0.03887557478043304, + -0.012327605157185832, + -0.999168013817786 + ], + [ + 0.9994713112150931, + -0.023133066947597182, + 0.02284642798295618, + -0.023705437499792474, + -0.9994036365752544, + 0.02510823436843244, + 0.022251972742340153, + -0.025636544497156518, + -0.9994236425537067 + ], + [ + 0.9946339868380604, + -0.030956252738782906, + 0.09871647604629001, + -0.03471947951964104, + -0.9987254424839855, + 0.03663397708483966, + 0.09745660556632567, + -0.03986478334996851, + -0.9944410535974215 + ], + [ + 0.9946586819890585, + 0.00748559439041655, + 0.10294693885886809, + 0.0045705090230795786, + -0.9995826822560702, + 0.02852317971458738, + 0.10311749022866736, + -0.02790030842809565, + -0.994277806248615 + ], + [ + 0.996242643286655, + 0.006393806640514136, + 0.08636964127436741, + 0.00611529962655829, + -0.9999752154054292, + 0.003488794253518436, + 0.08638980731369073, + -0.0029475093739773856, + -0.9962570518600078 + ], + [ + 0.9973208190428808, + -0.009762145096586692, + 0.07249747876133739, + -0.008204721793572721, + -0.9997297893419232, + -0.021749272232510587, + 0.07269020872117132, + 0.02109618035254182, + -0.9971314280126795 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006643.json b/json/chunk-0006/episode_0006643.json new file mode 100644 index 0000000000000000000000000000000000000000..6a971228a1dd29a09e36259e7d54bc8ce3911936 --- /dev/null +++ b/json/chunk-0006/episode_0006643.json @@ -0,0 +1,2782 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 45, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut the green ontop of the blue." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006643.mp4", + "start": 0, + "end": 45, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.28326544165611267, + -0.03185109794139862, + 0.13343942165374756, + -0.024547981098294258, + 0.07825561612844467, + 0.01770664006471634, + 0.0, + 1.0001531839370728 + ], + [ + 0.2808443605899811, + -0.03205931559205055, + 0.12371741235256195, + -0.02043342776596546, + 0.11484267562627792, + 0.016569368541240692, + 0.0, + 1.0001531839370728 + ], + [ + 0.278856098651886, + -0.04565088823437691, + 0.12521985173225403, + -0.022767379879951477, + 0.12172559648752213, + -0.016567042097449303, + 0.0, + 1.0001531839370728 + ], + [ + 0.27636510133743286, + -0.06440851092338562, + 0.12584899365901947, + -0.022996608167886734, + 0.11622186005115509, + -0.06523195654153824, + 0.0, + 1.0001531839370728 + ], + [ + 0.27667930722236633, + -0.08109639585018158, + 0.12995150685310364, + -0.016779839992523193, + 0.09332290291786194, + -0.08788275718688965, + 0.0, + 1.0001531839370728 + ], + [ + 0.2742081880569458, + -0.0998711958527565, + 0.1285080462694168, + -0.014406046830117702, + 0.08500529825687408, + -0.10586976259946823, + 0.0, + 1.0001531839370728 + ], + [ + 0.2790546119213104, + -0.12322746217250824, + 0.11361999064683914, + -0.00429146271198988, + 0.08779825270175934, + -0.10348063707351685, + 0.0, + 1.0001531839370728 + ], + [ + 0.279469758272171, + -0.13472215831279755, + 0.10869485139846802, + -0.01501408964395523, + 0.08982009440660477, + -0.11989619582891464, + 0.0, + 1.0001531839370728 + ], + [ + 0.2812590003013611, + -0.14063149690628052, + 0.09838741272687912, + -0.03496077284216881, + 0.10561984777450562, + -0.09411568194627762, + 0.0, + 1.0001531839370728 + ], + [ + 0.283553808927536, + -0.14526385068893433, + 0.09281230717897415, + -0.06528400629758835, + 0.09607448428869247, + -0.07244867086410522, + 0.0, + 1.0001531839370728 + ], + [ + 0.2826393246650696, + -0.14356353878974915, + 0.07996921986341476, + -0.06034589931368828, + 0.11760263890028, + -0.04259295016527176, + 0.0, + 1.0001531839370728 + ], + [ + 0.2833141088485718, + -0.14414742588996887, + 0.07303888350725174, + -0.06176470220088959, + 0.11956189572811127, + -0.01015525683760643, + 0.0, + 1.0001531839370728 + ], + [ + 0.2822868227958679, + -0.14450132846832275, + 0.063578762114048, + -0.06428162008523941, + 0.15308672189712524, + 0.008832622319459915, + 0.0, + 1.0001531839370728 + ], + [ + 0.2806178331375122, + -0.14709685742855072, + 0.05765894800424576, + -0.08606896549463272, + 0.16319233179092407, + 0.0257017333060503, + 0.0, + 1.0001531839370728 + ], + [ + 0.27590858936309814, + -0.14702017605304718, + 0.04622190073132515, + -0.10445525497198105, + 0.18536897003650665, + 0.040073852986097336, + 0.0, + 1.0001531839370728 + ], + [ + 0.2762981653213501, + -0.14302001893520355, + 0.03671715036034584, + -0.14113277196884155, + 0.194573312997818, + 0.03817491605877876, + 0.0, + 1.0001531839370728 + ], + [ + 0.2778383493423462, + -0.13881365954875946, + 0.03450316935777664, + -0.1452072560787201, + 0.19311900436878204, + 0.041347846388816833, + 0.0, + 1.0001531839370728 + ], + [ + 0.2785983085632324, + -0.1381610631942749, + 0.032625481486320496, + -0.14896512031555176, + 0.19473083317279816, + 0.04134347662329674, + 0.0, + 1.0001531839370728 + ], + [ + 0.2789122462272644, + -0.13771912455558777, + 0.02743467129766941, + -0.15191833674907684, + 0.20401179790496826, + 0.04247479513287544, + 0.0, + 1.0001531839370728 + ], + [ + 0.2767229974269867, + -0.1379944384098053, + 0.017945587635040283, + -0.1477668583393097, + 0.23209024965763092, + 0.04095327481627464, + 0.0, + 1.0001531839370728 + ], + [ + 0.2793549597263336, + -0.13974633812904358, + 0.017751913517713547, + -0.16210998594760895, + 0.22626349329948425, + 0.04353019595146179, + 0.0, + 1.0001531839370728 + ], + [ + 0.28045573830604553, + -0.13658271729946136, + 0.011957737617194653, + -0.1617880016565323, + 0.23609337210655212, + 0.05300406739115715, + 0.0, + 0.973810613155365 + ], + [ + 0.2851930260658264, + -0.13818685710430145, + 0.0109872380271554, + -0.17786628007888794, + 0.21072901785373688, + 0.060976725071668625, + 0.0, + 0.7001883387565613 + ], + [ + 0.2857866585254669, + -0.13762302696704865, + 0.010484385304152966, + -0.1723330318927765, + 0.2021607905626297, + 0.06358300149440765, + 0.0, + 0.5227190852165222 + ], + [ + 0.28447777032852173, + -0.1365884691476822, + 0.021389339119195938, + -0.14236460626125336, + 0.18196678161621094, + 0.05437035113573074, + 0.0, + 0.5188266634941101 + ], + [ + 0.28555330634117126, + -0.1407664567232132, + 0.056179631501436234, + -0.09612304717302322, + 0.11410988122224808, + 0.032480932772159576, + 0.0, + 0.5130034685134888 + ], + [ + 0.2867966294288635, + -0.14825539290905, + 0.10059071332216263, + -0.045542217791080475, + 0.020792702212929726, + -0.014817734248936176, + 0.0, + 0.5130034685134888 + ], + [ + 0.2879699468612671, + -0.1465127319097519, + 0.1526356041431427, + -0.03512515500187874, + -0.04805142432451248, + -0.03492576628923416, + 0.0, + 0.5130034685134888 + ], + [ + 0.28761136531829834, + -0.13138210773468018, + 0.17253321409225464, + -0.06094949692487717, + -0.035727608948946, + -0.03566918522119522, + 0.0, + 0.5130034685134888 + ], + [ + 0.29006972908973694, + -0.09617428481578827, + 0.17452766001224518, + -0.08375304192304611, + -0.003526853397488594, + 0.019243529066443443, + 0.0, + 0.5130034685134888 + ], + [ + 0.28278306126594543, + -0.07761024683713913, + 0.16500870883464813, + -0.10999017208814621, + 0.03674894943833351, + 0.018347280099987984, + 0.0, + 0.5130034685134888 + ], + [ + 0.27997100353240967, + -0.06357039511203766, + 0.15760043263435364, + -0.12645606696605682, + 0.0643625557422638, + 0.012238570488989353, + 0.0, + 0.5130034685134888 + ], + [ + 0.2757161855697632, + -0.05838114768266678, + 0.1518494337797165, + -0.12906846404075623, + 0.08259657025337219, + -0.03168120235204697, + 0.0, + 0.5130034685134888 + ], + [ + 0.2756367027759552, + -0.05783514305949211, + 0.1516578495502472, + -0.14096106588840485, + 0.07702883332967758, + -0.08093810081481934, + 0.0, + 0.5130034685134888 + ], + [ + 0.27657824754714966, + -0.057114556431770325, + 0.15057706832885742, + -0.16359812021255493, + 0.06579142063856125, + -0.10972677916288376, + 0.0, + 0.5130034685134888 + ], + [ + 0.2768562436103821, + -0.05491623282432556, + 0.1492234468460083, + -0.1772843450307846, + 0.0654241144657135, + -0.13995997607707977, + 0.0, + 0.5130034685134888 + ], + [ + 0.27825599908828735, + -0.051187045872211456, + 0.14456088840961456, + -0.18337763845920563, + 0.07660061866044998, + -0.15444844961166382, + 0.0, + 0.5130034685134888 + ], + [ + 0.2792491316795349, + -0.047403305768966675, + 0.14248444139957428, + -0.18863864243030548, + 0.08002976328134537, + -0.15981324017047882, + 0.0, + 0.5130034685134888 + ], + [ + 0.2805606424808502, + -0.04340483248233795, + 0.13859786093235016, + -0.1966293603181839, + 0.0805852860212326, + -0.14839819073677063, + 0.0, + 0.5130034685134888 + ], + [ + 0.28467291593551636, + -0.044336240738630295, + 0.12697665393352509, + -0.2152503877878189, + 0.09978163242340088, + -0.14765693247318268, + 0.0, + 0.5130034685134888 + ], + [ + 0.28528743982315063, + -0.04643264785408974, + 0.1171598881483078, + -0.22925347089767456, + 0.13164381682872772, + -0.15005069971084595, + 0.0, + 0.5130034685134888 + ], + [ + 0.28513604402542114, + -0.05014374852180481, + 0.11482734233140945, + -0.22787146270275116, + 0.1368139237165451, + -0.16208946704864502, + 0.0, + 0.5130034685134888 + ], + [ + 0.2853719890117645, + -0.049913957715034485, + 0.11473876982927322, + -0.2253357619047165, + 0.13685786724090576, + -0.156037837266922, + 0.0, + 0.5819184184074402 + ], + [ + 0.28544408082962036, + -0.04924198240041733, + 0.11469108611345291, + -0.22137562930583954, + 0.14106324315071106, + -0.1367034912109375, + 0.0, + 0.8687413334846497 + ], + [ + 0.2860592007637024, + -0.047287438064813614, + 0.11469859629869461, + -0.2193843275308609, + 0.14450708031654358, + -0.10569385439157486, + 0.0, + 1.0092895030975342 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.973810613155365 + ], + [ + 0.7001883387565613 + ], + [ + 0.5227190852165222 + ], + [ + 0.5188266634941101 + ], + [ + 0.5130034685134888 + ], + [ + 0.5130034685134888 + ], + [ + 0.5130034685134888 + ], + [ + 0.5130034685134888 + ], + [ + 0.5130034685134888 + ], + [ + 0.5130034685134888 + ], + [ + 0.5130034685134888 + ], + [ + 0.5130034685134888 + ], + [ + 0.5130034685134888 + ], + [ + 0.5130034685134888 + ], + [ + 0.5130034685134888 + ], + [ + 0.5130034685134888 + ], + [ + 0.5130034685134888 + ], + [ + 0.5130034685134888 + ], + [ + 0.5130034685134888 + ], + [ + 0.5130034685134888 + ], + [ + 0.5130034685134888 + ], + [ + 0.5819184184074402 + ], + [ + 0.8687413334846497 + ], + [ + 1.0092895030975342 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.28326544165611267, + -0.03185109794139862, + 0.13343942165374756 + ], + [ + 0.2808443605899811, + -0.03205931559205055, + 0.12371741235256195 + ], + [ + 0.278856098651886, + -0.04565088823437691, + 0.12521985173225403 + ], + [ + 0.27636510133743286, + -0.06440851092338562, + 0.12584899365901947 + ], + [ + 0.27667930722236633, + -0.08109639585018158, + 0.12995150685310364 + ], + [ + 0.2742081880569458, + -0.0998711958527565, + 0.1285080462694168 + ], + [ + 0.2790546119213104, + -0.12322746217250824, + 0.11361999064683914 + ], + [ + 0.279469758272171, + -0.13472215831279755, + 0.10869485139846802 + ], + [ + 0.2812590003013611, + -0.14063149690628052, + 0.09838741272687912 + ], + [ + 0.283553808927536, + -0.14526385068893433, + 0.09281230717897415 + ], + [ + 0.2826393246650696, + -0.14356353878974915, + 0.07996921986341476 + ], + [ + 0.2833141088485718, + -0.14414742588996887, + 0.07303888350725174 + ], + [ + 0.2822868227958679, + -0.14450132846832275, + 0.063578762114048 + ], + [ + 0.2806178331375122, + -0.14709685742855072, + 0.05765894800424576 + ], + [ + 0.27590858936309814, + -0.14702017605304718, + 0.04622190073132515 + ], + [ + 0.2762981653213501, + -0.14302001893520355, + 0.03671715036034584 + ], + [ + 0.2778383493423462, + -0.13881365954875946, + 0.03450316935777664 + ], + [ + 0.2785983085632324, + -0.1381610631942749, + 0.032625481486320496 + ], + [ + 0.2789122462272644, + -0.13771912455558777, + 0.02743467129766941 + ], + [ + 0.2767229974269867, + -0.1379944384098053, + 0.017945587635040283 + ], + [ + 0.2793549597263336, + -0.13974633812904358, + 0.017751913517713547 + ], + [ + 0.28045573830604553, + -0.13658271729946136, + 0.011957737617194653 + ], + [ + 0.2851930260658264, + -0.13818685710430145, + 0.0109872380271554 + ], + [ + 0.2857866585254669, + -0.13762302696704865, + 0.010484385304152966 + ], + [ + 0.28447777032852173, + -0.1365884691476822, + 0.021389339119195938 + ], + [ + 0.28555330634117126, + -0.1407664567232132, + 0.056179631501436234 + ], + [ + 0.2867966294288635, + -0.14825539290905, + 0.10059071332216263 + ], + [ + 0.2879699468612671, + -0.1465127319097519, + 0.1526356041431427 + ], + [ + 0.28761136531829834, + -0.13138210773468018, + 0.17253321409225464 + ], + [ + 0.29006972908973694, + -0.09617428481578827, + 0.17452766001224518 + ], + [ + 0.28278306126594543, + -0.07761024683713913, + 0.16500870883464813 + ], + [ + 0.27997100353240967, + -0.06357039511203766, + 0.15760043263435364 + ], + [ + 0.2757161855697632, + -0.05838114768266678, + 0.1518494337797165 + ], + [ + 0.2756367027759552, + -0.05783514305949211, + 0.1516578495502472 + ], + [ + 0.27657824754714966, + -0.057114556431770325, + 0.15057706832885742 + ], + [ + 0.2768562436103821, + -0.05491623282432556, + 0.1492234468460083 + ], + [ + 0.27825599908828735, + -0.051187045872211456, + 0.14456088840961456 + ], + [ + 0.2792491316795349, + -0.047403305768966675, + 0.14248444139957428 + ], + [ + 0.2805606424808502, + -0.04340483248233795, + 0.13859786093235016 + ], + [ + 0.28467291593551636, + -0.044336240738630295, + 0.12697665393352509 + ], + [ + 0.28528743982315063, + -0.04643264785408974, + 0.1171598881483078 + ], + [ + 0.28513604402542114, + -0.05014374852180481, + 0.11482734233140945 + ], + [ + 0.2853719890117645, + -0.049913957715034485, + 0.11473876982927322 + ], + [ + 0.28544408082962036, + -0.04924198240041733, + 0.11469108611345291 + ], + [ + 0.2860592007637024, + -0.047287438064813614, + 0.11469859629869461 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9967833128534412, + 0.01961894409464656, + -0.07770536821565295, + 0.01765152811415696, + -0.9995080273472888, + -0.0259254088408796, + -0.07817576844620207, + 0.024470396419812336, + -0.9966392270660951 + ], + [ + 0.9932764598389217, + 0.018906141971622943, + -0.11421222406383408, + 0.016459470036750544, + -0.9996152123052411, + -0.0223274085835441, + -0.11459040176196222, + 0.02029741667543052, + -0.9932054443569747 + ], + [ + 0.9924643679786598, + -0.013798075015609848, + -0.12175422546500334, + -0.01644370340939373, + -0.999649433763844, + -0.020751245596591465, + -0.12142521530103687, + 0.022596962218178064, + -0.9923433349338358 + ], + [ + 0.9911413367519589, + -0.06250767852215906, + -0.11718208355934898, + -0.06474595050030123, + -0.9977831174006306, + -0.015388714179289333, + -0.11596039183856, + 0.022839456124210428, + -0.9929912118284824 + ], + [ + 0.9918061657021755, + -0.08619975576311242, + -0.0942874953614156, + -0.0873877526053469, + -0.9961377968633519, + -0.008536413463189077, + -0.09318750114546419, + 0.016706039824195166, + -0.9955084117493216 + ], + [ + 0.9908104705480781, + -0.10444491063110378, + -0.08594109666251995, + -0.10529054329741794, + -0.9944270896972673, + -0.005353948856442776, + -0.08490296192966659, + 0.01435353334491505, + -0.9962858340537046 + ], + [ + 0.9908194681704517, + -0.102920817187714, + -0.08765892358360733, + -0.1028981784654542, + -0.9946803659720851, + 0.004788989259849498, + -0.08768549687898844, + 0.004274919771477552, + -0.9961390358268433 + ], + [ + 0.9888188828126696, + -0.11825863202086184, + -0.09084114126131515, + -0.11912699091727802, + -0.992870235032653, + -0.004178088222966802, + -0.08969937027704589, + 0.014953004338878667, + -0.9958566315655797 + ], + [ + 0.9900264567564867, + -0.09025074405349547, + -0.10817771545002641, + -0.09345310664674926, + -0.9953123249639615, + -0.024897643119478514, + -0.10542358265714433, + 0.03475886897791784, + -0.9938197468591115 + ], + [ + 0.9927772357679785, + -0.06598949210185044, + -0.10019354806089821, + -0.07205149686605548, + -0.9957050767696054, + -0.058137611703569826, + -0.09592675299546262, + 0.06493679255533091, + -0.9932679754388407 + ], + [ + 0.9921920978423818, + -0.03543279075569783, + -0.11957992439534484, + -0.04228596283002738, + -0.9975757518208337, + -0.055267682479330754, + -0.11733174475252212, + 0.05989271006025286, + -0.9912850876286637 + ], + [ + 0.9928097909438276, + -0.002773657762612346, + -0.11967048854537697, + -0.010082585023423, + -0.9981164674232517, + -0.06051329554547887, + -0.11927724210979539, + 0.06128478017538227, + -0.9909677670002877 + ], + [ + 0.9882665431166383, + 0.018609404460555444, + -0.15160121972435953, + 0.00872921213128117, + -0.9978092021916317, + -0.06557893623159076, + -0.15248947705286803, + 0.06348610940452575, + -0.9862638963790674 + ], + [ + 0.9863877739925953, + 0.039565438636311824, + -0.15960493533549883, + 0.025357459285247748, + -0.9956103857488896, + -0.09009416766663614, + -0.16246894649910645, + 0.08482060984491438, + -0.9830611911620797 + ], + [ + 0.9820792177335292, + 0.059046409325367005, + -0.17898025489332614, + 0.03937677901873049, + -0.9929811388265437, + -0.11152545542991404, + -0.1843091950229528, + 0.10247916608033503, + -0.9775111974547758 + ], + [ + 0.9804154322787356, + 0.06496358884071486, + -0.1859174878128315, + 0.03744546866022581, + -0.988297960993863, + -0.14786810735310327, + -0.19334791704726442, + 0.13801040692754793, + -0.971375164677982 + ], + [ + 0.9805715959083336, + 0.06864777517145383, + -0.18375752572831838, + 0.0405676451053785, + -0.9874823102866629, + -0.15242359739069103, + -0.19192084688326105, + 0.14200764005829034, + -0.9710819835094705 + ], + [ + 0.9802614203364087, + 0.06956804670439833, + -0.18506170505477784, + 0.040550521856275425, + -0.986893153048162, + -0.1561971819330973, + -0.19350246245779576, + 0.145609722698699, + -0.9702343045256531 + ], + [ + 0.9783784577127143, + 0.07260565145459015, + -0.19365952819457447, + 0.041581433363760086, + -0.9862891555722454, + -0.15970186598785363, + -0.20259955055010806, + 0.14819622457215892, + -0.9679831099453402 + ], + [ + 0.9723717514347792, + 0.07433189380570734, + -0.2212870230603621, + 0.03984408516207509, + -0.9868865180175452, + -0.15642074489275012, + -0.2300122298688865, + 0.14328213468001708, + -0.9625822582991441 + ], + [ + 0.9735882913262079, + 0.07911992721212696, + -0.21416319971102077, + 0.042407278020593485, + -0.9843783997222306, + -0.17088238332603037, + -0.22433782954151743, + 0.15728700924821484, + -0.9617345449542473 + ], + [ + 0.9708937481610925, + 0.08991280694226943, + -0.22199328127100537, + 0.051509564219187357, + -0.9835586276601518, + -0.1730872345068489, + -0.23390616617706966, + 0.1566145366913355, + -0.9595622920484651 + ], + [ + 0.9760612918782064, + 0.09691769284058474, + -0.19470828259605397, + 0.059590895542982074, + -0.9801389826401059, + -0.18914676808659323, + -0.20917284638650432, + 0.17301599788365282, + -0.9624511337262228 + ], + [ + 0.9776554411752838, + 0.09696053765183979, + -0.18651673511679154, + 0.06224617289681958, + -0.9810088306406934, + -0.18370380552584784, + -0.20078658396431884, + 0.16798907209472122, + -0.9651240435077214 + ], + [ + 0.982036371971806, + 0.07943181042258383, + -0.17115826482365348, + 0.05344633761861004, + -0.9870251862621524, + -0.15140928201177567, + -0.18096423160285224, + 0.13954163958171972, + -0.9735399723191829 + ], + [ + 0.9929725001373859, + 0.043247498183756616, + -0.11016019186510051, + 0.03226402011831962, + -0.9945038239468915, + -0.09960510609810959, + -0.11386240370163656, + 0.09535092058211588, + -0.9889102866122029 + ], + [ + 0.9996740826701271, + -0.013855382202561311, + -0.02144194071580638, + -0.014813989120825426, + -0.9988674908606935, + -0.04521373052502709, + -0.020791204004753407, + 0.04551663526319414, + -0.9987471961163893 + ], + [ + 0.998236613755093, + -0.03658291625042651, + 0.04674776141570617, + -0.03487836147492621, + -0.9987148073377237, + -0.03677272773670835, + 0.0480329351548486, + 0.03507739789362911, + -0.9982296395606686 + ], + [ + 0.9987261648445999, + -0.03776978888472478, + 0.03345879110787786, + -0.035638864173938606, + -0.9974306660512844, + -0.06214449115474947, + 0.03572000861126494, + 0.06087289600548425, + -0.9975061761797351 + ], + [ + 0.9998086308188182, + 0.018879908194729844, + 0.005123554113923439, + 0.019242221724270217, + -0.9963159389259505, + -0.08357204523771987, + 0.0035268460859175874, + 0.08365464068812946, + -0.9964885661401369 + ], + [ + 0.9991566403591565, + 0.02226767919669893, + -0.034498673733870014, + 0.01833386398878727, + -0.9937158973396933, + -0.11042003806197796, + -0.036740678510933364, + 0.10969442026630578, + -0.9932860900591508 + ], + [ + 0.997854710332068, + 0.02025169359175612, + -0.06225629265199574, + 0.012212924977507835, + -0.9918415145231191, + -0.12689071885673772, + -0.0643181275504743, + 0.12585817007708125, + -0.9899610595842899 + ], + [ + 0.9960907455368864, + -0.02079880365097922, + -0.08585241069683038, + -0.03156791473422109, + -0.9915209539294353, + -0.1260542132504702, + -0.08250268732048775, + 0.12827161683533142, + -0.9883014210752442 + ], + [ + 0.9937707530507646, + -0.06927179359561551, + -0.08729896329832937, + -0.08061001909204542, + -0.9877143016118892, + -0.13387487894791333, + -0.07695268158353347, + 0.14007811036484186, + -0.9871455859161398 + ], + [ + 0.9918355906362278, + -0.09740127425063723, + -0.08231131709331756, + -0.10926981216360322, + -0.9818865654522702, + -0.15478656509553773, + -0.06574396776142576, + 0.16251696637181123, + -0.9845130605249925 + ], + [ + 0.9881031062686825, + -0.12589990190110903, + -0.08832590833652391, + -0.13920502927606923, + -0.9763095364290841, + -0.16565521091072197, + -0.06537745181964201, + 0.1759798391262993, + -0.9822203851553135 + ], + [ + 0.9851990414369699, + -0.13746736085872807, + -0.10239908910831137, + -0.1533840325951753, + -0.9736762008471385, + -0.16860603325126014, + -0.07652572963727854, + 0.18181688756113687, + -0.9803501579033193 + ], + [ + 0.9840971338437291, + -0.14151058210666861, + -0.10736659774990087, + -0.15862449414018137, + -0.9721291303936574, + -0.17263610195681142, + -0.07994436202340219, + 0.18692166538928232, + -0.9791165354485482 + ], + [ + 0.9857996111654157, + -0.12945142264734844, + -0.10696474092285434, + -0.14737429705242167, + -0.9722768450038602, + -0.1815449069449337, + -0.08049809435272594, + 0.19473075217827723, + -0.9775479481650312 + ], + [ + 0.984198574206416, + -0.12268016154167936, + -0.12768220116431833, + -0.14638917875213817, + -0.9694228882785338, + -0.1969504303777474, + -0.09961613762002892, + 0.21252962533682884, + -0.9720636725440648 + ], + [ + 0.9802081838257657, + -0.11608247989662232, + -0.1603645042459341, + -0.14819480942104876, + -0.9673530091811448, + -0.2055880689360235, + -0.13126391286889547, + 0.22528429481265305, + -0.9654101572332418 + ], + [ + 0.9776702876437099, + -0.12680216002925382, + -0.1675769103145803, + -0.15987262527869506, + -0.9663527558871432, + -0.20150209645515166, + -0.13638750802461105, + 0.2237935731902031, + -0.9650465710283612 + ], + [ + 0.9786139480257117, + -0.1213636919824574, + -0.1660891176384449, + -0.1539523037779193, + -0.9676143290392619, + -0.20005298897884613, + -0.13643104078984827, + 0.2213444476518132, + -0.9656050986830551 + ], + [ + 0.980830356524513, + -0.10236952398113289, + -0.16580799823854234, + -0.13492446548728165, + -0.9707016424135293, + -0.1988308578381325, + -0.14059587594580272, + 0.2173908967173018, + -0.9659057913127344 + ], + [ + 0.9840547757053968, + -0.07180391249872889, + -0.16272798333807298, + -0.10439758043596228, + -0.9738912124360559, + -0.2015863376792826, + -0.1440046652387278, + 0.21536040603997722, + -0.9658584533459228 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.002421081066131592, + -0.00020821765065193176, + -0.009722009301185608, + 0.004114553332328796, + 0.03658705949783325, + -0.001137271523475647, + 1.0 + ], + [ + -0.0019882619380950928, + -0.013591572642326355, + 0.0015024393796920776, + -0.0023339521139860153, + 0.006882920861244202, + -0.033136412501335144, + 1.0 + ], + [ + -0.002490997314453125, + -0.018757622689008713, + 0.0006291419267654419, + -0.00022922828793525696, + -0.005503736436367035, + -0.04866491258144379, + 1.0 + ], + [ + 0.0003142058849334717, + -0.01668788492679596, + 0.0041025131940841675, + 0.006216768175363541, + -0.022898957133293152, + -0.02265080064535141, + 1.0 + ], + [ + -0.0024711191654205322, + -0.01877480000257492, + -0.0014434605836868286, + 0.002373793162405491, + -0.008317604660987854, + -0.017987005412578583, + 1.0 + ], + [ + 0.004846423864364624, + -0.02335626631975174, + -0.014888055622577667, + 0.010114584118127823, + 0.002792954444885254, + 0.0023891255259513855, + 1.0 + ], + [ + 0.0004151463508605957, + -0.011494696140289307, + -0.004925139248371124, + -0.010722626931965351, + 0.0020218417048454285, + -0.016415558755397797, + 1.0 + ], + [ + 0.0017892420291900635, + -0.005909338593482971, + -0.010307438671588898, + -0.019946683198213577, + 0.01579975336790085, + 0.025780513882637024, + 1.0 + ], + [ + 0.0022948086261749268, + -0.004632353782653809, + -0.005575105547904968, + -0.03032323345541954, + -0.009545363485813141, + 0.021667011082172394, + 1.0 + ], + [ + -0.0009144842624664307, + 0.0017003118991851807, + -0.012843087315559387, + 0.00493810698390007, + 0.021528154611587524, + 0.029855720698833466, + 1.0 + ], + [ + 0.0006747841835021973, + -0.0005838871002197266, + -0.006930336356163025, + -0.0014188028872013092, + 0.0019592568278312683, + 0.03243769332766533, + 1.0 + ], + [ + -0.0010272860527038574, + -0.00035390257835388184, + -0.009460121393203735, + -0.002516917884349823, + 0.03352482616901398, + 0.018987879157066345, + 1.0 + ], + [ + -0.0016689896583557129, + -0.0025955289602279663, + -0.005919814109802246, + -0.02178734540939331, + 0.010105609893798828, + 0.016869110986590385, + 1.0 + ], + [ + -0.0047092437744140625, + 7.668137550354004e-05, + -0.011437047272920609, + -0.018386289477348328, + 0.02217663824558258, + 0.014372119680047035, + 1.0 + ], + [ + 0.0003895759582519531, + 0.004000157117843628, + -0.009504750370979309, + -0.036677516996860504, + 0.00920434296131134, + -0.001898936927318573, + 1.0 + ], + [ + 0.0015401840209960938, + 0.004206359386444092, + -0.0022139810025691986, + -0.00407448410987854, + -0.0014543086290359497, + 0.0031729303300380707, + 1.0 + ], + [ + 0.0007599592208862305, + 0.0006525963544845581, + -0.0018776878714561462, + -0.003757864236831665, + 0.0016118288040161133, + -4.369765520095825e-06, + 1.0 + ], + [ + 0.0003139376640319824, + 0.0004419386386871338, + -0.005190810188651085, + -0.0029532164335250854, + 0.009280964732170105, + 0.0011313185095787048, + 1.0 + ], + [ + -0.00218924880027771, + -0.0002753138542175293, + -0.009489083662629128, + 0.004151478409767151, + 0.02807845175266266, + -0.0015215203166007996, + 1.0 + ], + [ + 0.002631962299346924, + -0.0017518997192382812, + -0.00019367411732673645, + -0.014343127608299255, + -0.0058267563581466675, + 0.002576921135187149, + 1.0 + ], + [ + 0.001100778579711914, + 0.0031636208295822144, + -0.005794175900518894, + 0.00032198429107666016, + 0.009829878807067871, + 0.009473871439695358, + 0.0 + ], + [ + 0.004737287759780884, + -0.0016041398048400879, + -0.0009704995900392532, + -0.016078278422355652, + -0.025364354252815247, + 0.007972657680511475, + 0.0 + ], + [ + 0.0005936324596405029, + 0.0005638301372528076, + -0.0005028527230024338, + 0.00553324818611145, + -0.008568227291107178, + 0.002606276422739029, + 0.0 + ], + [ + -0.0013088881969451904, + 0.001034557819366455, + 0.010904953815042973, + 0.029968425631523132, + -0.020194008946418762, + -0.00921265035867691, + 0.0 + ], + [ + 0.0010755360126495361, + -0.004177987575531006, + 0.034790292382240295, + 0.04624155908823013, + -0.06785690039396286, + -0.021889418363571167, + 0.0 + ], + [ + 0.0012433230876922607, + -0.007488936185836792, + 0.044411081820726395, + 0.05058082938194275, + -0.0933171808719635, + -0.04729866608977318, + 0.0 + ], + [ + 0.0011733174324035645, + 0.0017426609992980957, + 0.05204489082098007, + 0.010417062789201736, + -0.06884412467479706, + -0.02010803297162056, + 0.0 + ], + [ + -0.00035858154296875, + 0.015130624175071716, + 0.01989760994911194, + -0.02582434192299843, + 0.012323815375566483, + -0.0007434189319610596, + 0.0 + ], + [ + 0.0024583637714385986, + 0.03520782291889191, + 0.0019944459199905396, + -0.022803544998168945, + 0.032200753688812256, + 0.054912716150283813, + 0.0 + ], + [ + -0.007286667823791504, + 0.01856403797864914, + -0.009518951177597046, + -0.026237130165100098, + 0.040275804698467255, + -0.0008962489664554596, + 0.0 + ], + [ + -0.0028120577335357666, + 0.014039851725101471, + -0.007408276200294495, + -0.016465894877910614, + 0.027613606303930283, + -0.0061087096109986305, + 0.0 + ], + [ + -0.004254817962646484, + 0.00518924742937088, + -0.005750998854637146, + -0.002612397074699402, + 0.0182340145111084, + -0.043919771909713745, + 0.0 + ], + [ + -7.94827938079834e-05, + 0.0005460046231746674, + -0.00019158422946929932, + -0.01189260184764862, + -0.005567736923694611, + -0.04925689846277237, + 0.0 + ], + [ + 0.000941544771194458, + 0.0007205866277217865, + -0.0010807812213897705, + -0.022637054324150085, + -0.011237412691116333, + -0.028788678348064423, + 0.0 + ], + [ + 0.0002779960632324219, + 0.002198323607444763, + -0.001353621482849121, + -0.013686224818229675, + -0.0003673061728477478, + -0.030233196914196014, + 0.0 + ], + [ + 0.0013997554779052734, + 0.0037291869521141052, + -0.004662558436393738, + -0.0060932934284210205, + 0.01117650419473648, + -0.014488473534584045, + 0.0 + ], + [ + 0.0009931325912475586, + 0.0037837401032447815, + -0.002076447010040283, + -0.0052610039710998535, + 0.0034291446208953857, + -0.0053647905588150024, + 0.0 + ], + [ + 0.0013115108013153076, + 0.003998473286628723, + -0.003886580467224121, + -0.007990717887878418, + 0.0005555227398872375, + 0.011415049433708191, + 0.0 + ], + [ + 0.004112273454666138, + -0.0009314082562923431, + -0.011621206998825073, + -0.01862102746963501, + 0.019196346402168274, + 0.0007412582635879517, + 0.0 + ], + [ + 0.0006145238876342773, + -0.002096407115459442, + -0.009816765785217285, + -0.014003083109855652, + 0.03186218440532684, + -0.002393767237663269, + 0.0 + ], + [ + -0.0001513957977294922, + -0.0037111006677150726, + -0.002332545816898346, + 0.0013820081949234009, + 0.005170106887817383, + -0.012038767337799072, + 0.0 + ], + [ + 0.0002359449863433838, + 0.0002297908067703247, + -8.857250213623047e-05, + 0.002535700798034668, + 4.394352436065674e-05, + 0.0060516297817230225, + 1.0 + ], + [ + 7.209181785583496e-05, + 0.000671975314617157, + -4.76837158203125e-05, + 0.003960132598876953, + 0.004205375909805298, + 0.019334346055984497, + 1.0 + ], + [ + 0.0006151199340820312, + 0.001954544335603714, + 7.510185241699219e-06, + 0.0019913017749786377, + 0.0034438371658325195, + 0.03100963681936264, + 1.0 + ], + [ + -0.0007098615169525146, + 0.0017483197152614594, + 0.005119048058986664, + 0.011077255010604858, + 0.008746922016143799, + 0.022268563508987427, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.973810613155365 + ], + [ + 0.7001883387565613 + ], + [ + 0.5227190852165222 + ], + [ + 0.5188266634941101 + ], + [ + 0.5130034685134888 + ], + [ + 0.5130034685134888 + ], + [ + 0.5130034685134888 + ], + [ + 0.5130034685134888 + ], + [ + 0.5130034685134888 + ], + [ + 0.5130034685134888 + ], + [ + 0.5130034685134888 + ], + [ + 0.5130034685134888 + ], + [ + 0.5130034685134888 + ], + [ + 0.5130034685134888 + ], + [ + 0.5130034685134888 + ], + [ + 0.5130034685134888 + ], + [ + 0.5130034685134888 + ], + [ + 0.5130034685134888 + ], + [ + 0.5130034685134888 + ], + [ + 0.5130034685134888 + ], + [ + 0.5130034685134888 + ], + [ + 0.5819184184074402 + ], + [ + 0.8687413334846497 + ], + [ + 1.0092895030975342 + ], + [ + 1.002137303352356 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2808443605899811, + -0.03205931559205055, + 0.12371741235256195 + ], + [ + 0.278856098651886, + -0.04565088823437691, + 0.12521985173225403 + ], + [ + 0.27636510133743286, + -0.06440851092338562, + 0.12584899365901947 + ], + [ + 0.27667930722236633, + -0.08109639585018158, + 0.12995150685310364 + ], + [ + 0.2742081880569458, + -0.0998711958527565, + 0.1285080462694168 + ], + [ + 0.2790546119213104, + -0.12322746217250824, + 0.11361999064683914 + ], + [ + 0.279469758272171, + -0.13472215831279755, + 0.10869485139846802 + ], + [ + 0.2812590003013611, + -0.14063149690628052, + 0.09838741272687912 + ], + [ + 0.283553808927536, + -0.14526385068893433, + 0.09281230717897415 + ], + [ + 0.2826393246650696, + -0.14356353878974915, + 0.07996921986341476 + ], + [ + 0.2833141088485718, + -0.14414742588996887, + 0.07303888350725174 + ], + [ + 0.2822868227958679, + -0.14450132846832275, + 0.063578762114048 + ], + [ + 0.2806178331375122, + -0.14709685742855072, + 0.05765894800424576 + ], + [ + 0.27590858936309814, + -0.14702017605304718, + 0.04622190073132515 + ], + [ + 0.2762981653213501, + -0.14302001893520355, + 0.03671715036034584 + ], + [ + 0.2778383493423462, + -0.13881365954875946, + 0.03450316935777664 + ], + [ + 0.2785983085632324, + -0.1381610631942749, + 0.032625481486320496 + ], + [ + 0.2789122462272644, + -0.13771912455558777, + 0.02743467129766941 + ], + [ + 0.2767229974269867, + -0.1379944384098053, + 0.017945587635040283 + ], + [ + 0.2793549597263336, + -0.13974633812904358, + 0.017751913517713547 + ], + [ + 0.28045573830604553, + -0.13658271729946136, + 0.011957737617194653 + ], + [ + 0.2851930260658264, + -0.13818685710430145, + 0.0109872380271554 + ], + [ + 0.2857866585254669, + -0.13762302696704865, + 0.010484385304152966 + ], + [ + 0.28447777032852173, + -0.1365884691476822, + 0.021389339119195938 + ], + [ + 0.28555330634117126, + -0.1407664567232132, + 0.056179631501436234 + ], + [ + 0.2867966294288635, + -0.14825539290905, + 0.10059071332216263 + ], + [ + 0.2879699468612671, + -0.1465127319097519, + 0.1526356041431427 + ], + [ + 0.28761136531829834, + -0.13138210773468018, + 0.17253321409225464 + ], + [ + 0.29006972908973694, + -0.09617428481578827, + 0.17452766001224518 + ], + [ + 0.28278306126594543, + -0.07761024683713913, + 0.16500870883464813 + ], + [ + 0.27997100353240967, + -0.06357039511203766, + 0.15760043263435364 + ], + [ + 0.2757161855697632, + -0.05838114768266678, + 0.1518494337797165 + ], + [ + 0.2756367027759552, + -0.05783514305949211, + 0.1516578495502472 + ], + [ + 0.27657824754714966, + -0.057114556431770325, + 0.15057706832885742 + ], + [ + 0.2768562436103821, + -0.05491623282432556, + 0.1492234468460083 + ], + [ + 0.27825599908828735, + -0.051187045872211456, + 0.14456088840961456 + ], + [ + 0.2792491316795349, + -0.047403305768966675, + 0.14248444139957428 + ], + [ + 0.2805606424808502, + -0.04340483248233795, + 0.13859786093235016 + ], + [ + 0.28467291593551636, + -0.044336240738630295, + 0.12697665393352509 + ], + [ + 0.28528743982315063, + -0.04643264785408974, + 0.1171598881483078 + ], + [ + 0.28513604402542114, + -0.05014374852180481, + 0.11482734233140945 + ], + [ + 0.2853719890117645, + -0.049913957715034485, + 0.11473876982927322 + ], + [ + 0.28544408082962036, + -0.04924198240041733, + 0.11469108611345291 + ], + [ + 0.2860592007637024, + -0.047287438064813614, + 0.11469859629869461 + ], + [ + 0.2853493392467499, + -0.045539118349552155, + 0.11981764435768127 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9932764598389217, + 0.018906141971622943, + -0.11421222406383408, + 0.016459470036750544, + -0.9996152123052411, + -0.0223274085835441, + -0.11459040176196222, + 0.02029741667543052, + -0.9932054443569747 + ], + [ + 0.9924643679786598, + -0.013798075015609848, + -0.12175422546500334, + -0.01644370340939373, + -0.999649433763844, + -0.020751245596591465, + -0.12142521530103687, + 0.022596962218178064, + -0.9923433349338358 + ], + [ + 0.9911413367519589, + -0.06250767852215906, + -0.11718208355934898, + -0.06474595050030123, + -0.9977831174006306, + -0.015388714179289333, + -0.11596039183856, + 0.022839456124210428, + -0.9929912118284824 + ], + [ + 0.9918061657021755, + -0.08619975576311242, + -0.0942874953614156, + -0.0873877526053469, + -0.9961377968633519, + -0.008536413463189077, + -0.09318750114546419, + 0.016706039824195166, + -0.9955084117493216 + ], + [ + 0.9908104705480781, + -0.10444491063110378, + -0.08594109666251995, + -0.10529054329741794, + -0.9944270896972673, + -0.005353948856442776, + -0.08490296192966659, + 0.01435353334491505, + -0.9962858340537046 + ], + [ + 0.9908194681704517, + -0.102920817187714, + -0.08765892358360733, + -0.1028981784654542, + -0.9946803659720851, + 0.004788989259849498, + -0.08768549687898844, + 0.004274919771477552, + -0.9961390358268433 + ], + [ + 0.9888188828126696, + -0.11825863202086184, + -0.09084114126131515, + -0.11912699091727802, + -0.992870235032653, + -0.004178088222966802, + -0.08969937027704589, + 0.014953004338878667, + -0.9958566315655797 + ], + [ + 0.9900264567564867, + -0.09025074405349547, + -0.10817771545002641, + -0.09345310664674926, + -0.9953123249639615, + -0.024897643119478514, + -0.10542358265714433, + 0.03475886897791784, + -0.9938197468591115 + ], + [ + 0.9927772357679785, + -0.06598949210185044, + -0.10019354806089821, + -0.07205149686605548, + -0.9957050767696054, + -0.058137611703569826, + -0.09592675299546262, + 0.06493679255533091, + -0.9932679754388407 + ], + [ + 0.9921920978423818, + -0.03543279075569783, + -0.11957992439534484, + -0.04228596283002738, + -0.9975757518208337, + -0.055267682479330754, + -0.11733174475252212, + 0.05989271006025286, + -0.9912850876286637 + ], + [ + 0.9928097909438276, + -0.002773657762612346, + -0.11967048854537697, + -0.010082585023423, + -0.9981164674232517, + -0.06051329554547887, + -0.11927724210979539, + 0.06128478017538227, + -0.9909677670002877 + ], + [ + 0.9882665431166383, + 0.018609404460555444, + -0.15160121972435953, + 0.00872921213128117, + -0.9978092021916317, + -0.06557893623159076, + -0.15248947705286803, + 0.06348610940452575, + -0.9862638963790674 + ], + [ + 0.9863877739925953, + 0.039565438636311824, + -0.15960493533549883, + 0.025357459285247748, + -0.9956103857488896, + -0.09009416766663614, + -0.16246894649910645, + 0.08482060984491438, + -0.9830611911620797 + ], + [ + 0.9820792177335292, + 0.059046409325367005, + -0.17898025489332614, + 0.03937677901873049, + -0.9929811388265437, + -0.11152545542991404, + -0.1843091950229528, + 0.10247916608033503, + -0.9775111974547758 + ], + [ + 0.9804154322787356, + 0.06496358884071486, + -0.1859174878128315, + 0.03744546866022581, + -0.988297960993863, + -0.14786810735310327, + -0.19334791704726442, + 0.13801040692754793, + -0.971375164677982 + ], + [ + 0.9805715959083336, + 0.06864777517145383, + -0.18375752572831838, + 0.0405676451053785, + -0.9874823102866629, + -0.15242359739069103, + -0.19192084688326105, + 0.14200764005829034, + -0.9710819835094705 + ], + [ + 0.9802614203364087, + 0.06956804670439833, + -0.18506170505477784, + 0.040550521856275425, + -0.986893153048162, + -0.1561971819330973, + -0.19350246245779576, + 0.145609722698699, + -0.9702343045256531 + ], + [ + 0.9783784577127143, + 0.07260565145459015, + -0.19365952819457447, + 0.041581433363760086, + -0.9862891555722454, + -0.15970186598785363, + -0.20259955055010806, + 0.14819622457215892, + -0.9679831099453402 + ], + [ + 0.9723717514347792, + 0.07433189380570734, + -0.2212870230603621, + 0.03984408516207509, + -0.9868865180175452, + -0.15642074489275012, + -0.2300122298688865, + 0.14328213468001708, + -0.9625822582991441 + ], + [ + 0.9735882913262079, + 0.07911992721212696, + -0.21416319971102077, + 0.042407278020593485, + -0.9843783997222306, + -0.17088238332603037, + -0.22433782954151743, + 0.15728700924821484, + -0.9617345449542473 + ], + [ + 0.9708937481610925, + 0.08991280694226943, + -0.22199328127100537, + 0.051509564219187357, + -0.9835586276601518, + -0.1730872345068489, + -0.23390616617706966, + 0.1566145366913355, + -0.9595622920484651 + ], + [ + 0.9760612918782064, + 0.09691769284058474, + -0.19470828259605397, + 0.059590895542982074, + -0.9801389826401059, + -0.18914676808659323, + -0.20917284638650432, + 0.17301599788365282, + -0.9624511337262228 + ], + [ + 0.9776554411752838, + 0.09696053765183979, + -0.18651673511679154, + 0.06224617289681958, + -0.9810088306406934, + -0.18370380552584784, + -0.20078658396431884, + 0.16798907209472122, + -0.9651240435077214 + ], + [ + 0.982036371971806, + 0.07943181042258383, + -0.17115826482365348, + 0.05344633761861004, + -0.9870251862621524, + -0.15140928201177567, + -0.18096423160285224, + 0.13954163958171972, + -0.9735399723191829 + ], + [ + 0.9929725001373859, + 0.043247498183756616, + -0.11016019186510051, + 0.03226402011831962, + -0.9945038239468915, + -0.09960510609810959, + -0.11386240370163656, + 0.09535092058211588, + -0.9889102866122029 + ], + [ + 0.9996740826701271, + -0.013855382202561311, + -0.02144194071580638, + -0.014813989120825426, + -0.9988674908606935, + -0.04521373052502709, + -0.020791204004753407, + 0.04551663526319414, + -0.9987471961163893 + ], + [ + 0.998236613755093, + -0.03658291625042651, + 0.04674776141570617, + -0.03487836147492621, + -0.9987148073377237, + -0.03677272773670835, + 0.0480329351548486, + 0.03507739789362911, + -0.9982296395606686 + ], + [ + 0.9987261648445999, + -0.03776978888472478, + 0.03345879110787786, + -0.035638864173938606, + -0.9974306660512844, + -0.06214449115474947, + 0.03572000861126494, + 0.06087289600548425, + -0.9975061761797351 + ], + [ + 0.9998086308188182, + 0.018879908194729844, + 0.005123554113923439, + 0.019242221724270217, + -0.9963159389259505, + -0.08357204523771987, + 0.0035268460859175874, + 0.08365464068812946, + -0.9964885661401369 + ], + [ + 0.9991566403591565, + 0.02226767919669893, + -0.034498673733870014, + 0.01833386398878727, + -0.9937158973396933, + -0.11042003806197796, + -0.036740678510933364, + 0.10969442026630578, + -0.9932860900591508 + ], + [ + 0.997854710332068, + 0.02025169359175612, + -0.06225629265199574, + 0.012212924977507835, + -0.9918415145231191, + -0.12689071885673772, + -0.0643181275504743, + 0.12585817007708125, + -0.9899610595842899 + ], + [ + 0.9960907455368864, + -0.02079880365097922, + -0.08585241069683038, + -0.03156791473422109, + -0.9915209539294353, + -0.1260542132504702, + -0.08250268732048775, + 0.12827161683533142, + -0.9883014210752442 + ], + [ + 0.9937707530507646, + -0.06927179359561551, + -0.08729896329832937, + -0.08061001909204542, + -0.9877143016118892, + -0.13387487894791333, + -0.07695268158353347, + 0.14007811036484186, + -0.9871455859161398 + ], + [ + 0.9918355906362278, + -0.09740127425063723, + -0.08231131709331756, + -0.10926981216360322, + -0.9818865654522702, + -0.15478656509553773, + -0.06574396776142576, + 0.16251696637181123, + -0.9845130605249925 + ], + [ + 0.9881031062686825, + -0.12589990190110903, + -0.08832590833652391, + -0.13920502927606923, + -0.9763095364290841, + -0.16565521091072197, + -0.06537745181964201, + 0.1759798391262993, + -0.9822203851553135 + ], + [ + 0.9851990414369699, + -0.13746736085872807, + -0.10239908910831137, + -0.1533840325951753, + -0.9736762008471385, + -0.16860603325126014, + -0.07652572963727854, + 0.18181688756113687, + -0.9803501579033193 + ], + [ + 0.9840971338437291, + -0.14151058210666861, + -0.10736659774990087, + -0.15862449414018137, + -0.9721291303936574, + -0.17263610195681142, + -0.07994436202340219, + 0.18692166538928232, + -0.9791165354485482 + ], + [ + 0.9857996111654157, + -0.12945142264734844, + -0.10696474092285434, + -0.14737429705242167, + -0.9722768450038602, + -0.1815449069449337, + -0.08049809435272594, + 0.19473075217827723, + -0.9775479481650312 + ], + [ + 0.984198574206416, + -0.12268016154167936, + -0.12768220116431833, + -0.14638917875213817, + -0.9694228882785338, + -0.1969504303777474, + -0.09961613762002892, + 0.21252962533682884, + -0.9720636725440648 + ], + [ + 0.9802081838257657, + -0.11608247989662232, + -0.1603645042459341, + -0.14819480942104876, + -0.9673530091811448, + -0.2055880689360235, + -0.13126391286889547, + 0.22528429481265305, + -0.9654101572332418 + ], + [ + 0.9776702876437099, + -0.12680216002925382, + -0.1675769103145803, + -0.15987262527869506, + -0.9663527558871432, + -0.20150209645515166, + -0.13638750802461105, + 0.2237935731902031, + -0.9650465710283612 + ], + [ + 0.9786139480257117, + -0.1213636919824574, + -0.1660891176384449, + -0.1539523037779193, + -0.9676143290392619, + -0.20005298897884613, + -0.13643104078984827, + 0.2213444476518132, + -0.9656050986830551 + ], + [ + 0.980830356524513, + -0.10236952398113289, + -0.16580799823854234, + -0.13492446548728165, + -0.9707016424135293, + -0.1988308578381325, + -0.14059587594580272, + 0.2173908967173018, + -0.9659057913127344 + ], + [ + 0.9840547757053968, + -0.07180391249872889, + -0.16272798333807298, + -0.10439758043596228, + -0.9738912124360559, + -0.2015863376792826, + -0.1440046652387278, + 0.21536040603997722, + -0.9658584533459228 + ], + [ + 0.984842462320694, + -0.05006738499232456, + -0.16606800224649837, + -0.08235190796021903, + -0.9776103812731816, + -0.19363911196402517, + -0.15265479902520013, + 0.20438003666438415, + -0.9669153597640493 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006644.json b/json/chunk-0006/episode_0006644.json new file mode 100644 index 0000000000000000000000000000000000000000..3283e0d07e9b7ce22083de5d934fd0f45a97360d --- /dev/null +++ b/json/chunk-0006/episode_0006644.json @@ -0,0 +1,2542 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 41, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nUnfold cloth from the bottom left to the top right." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006644.mp4", + "start": 0, + "end": 41, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2011835128068924, + 0.19500058889389038, + 0.1977882981300354, + 0.08163083344697952, + -0.21851569414138794, + -0.36000242829322815, + 0.0, + 1.0001531839370728 + ], + [ + 0.2021131068468094, + 0.1964193880558014, + 0.19059769809246063, + 0.05413442105054855, + -0.21251289546489716, + -0.33725741505622864, + 0.0, + 1.0001531839370728 + ], + [ + 0.201996311545372, + 0.20097729563713074, + 0.1859215348958969, + 0.02002914622426033, + -0.22220490872859955, + -0.20369809865951538, + 0.0, + 1.0001531839370728 + ], + [ + 0.1965569704771042, + 0.2094864845275879, + 0.18040290474891663, + -0.05335865914821625, + -0.23441144824028015, + 0.01648043841123581, + 0.0, + 1.0001531839370728 + ], + [ + 0.18315522372722626, + 0.22322173416614532, + 0.16232852637767792, + -0.17456567287445068, + -0.2233952134847641, + 0.297465980052948, + 0.0, + 1.0001531839370728 + ], + [ + 0.171715646982193, + 0.22973771393299103, + 0.1357962042093277, + -0.1854994297027588, + -0.20084214210510254, + 0.40033024549484253, + 0.0, + 1.0001531839370728 + ], + [ + 0.15743613243103027, + 0.24691390991210938, + 0.10148219019174576, + -0.2169163078069687, + -0.16476303339004517, + 0.5256128907203674, + 0.0, + 1.0001531839370728 + ], + [ + 0.1492830365896225, + 0.26150816679000854, + 0.0742141604423523, + -0.18482092022895813, + -0.13108223676681519, + 0.5768086910247803, + 0.0, + 1.0001531839370728 + ], + [ + 0.14363670349121094, + 0.26605328917503357, + 0.0534556545317173, + -0.1476648598909378, + -0.10564510524272919, + 0.5889476537704468, + 0.0, + 1.0001531839370728 + ], + [ + 0.14039722084999084, + 0.26861193776130676, + 0.039817068725824356, + -0.12329170852899551, + -0.09621500968933105, + 0.58880215883255, + 0.0, + 1.0008161067962646 + ], + [ + 0.1377723217010498, + 0.2642345130443573, + 0.03197382390499115, + -0.11429262161254883, + -0.09085322916507721, + 0.5781656503677368, + 0.0, + 1.0001531839370728 + ], + [ + 0.13963019847869873, + 0.2592478096485138, + 0.029088757932186127, + -0.11544117331504822, + -0.08480838686227798, + 0.5711086988449097, + 0.0, + 1.0001531839370728 + ], + [ + 0.14615733921527863, + 0.24937334656715393, + 0.025876404717564583, + -0.13682734966278076, + -0.07557138800621033, + 0.5621426701545715, + 0.0, + 1.0008161067962646 + ], + [ + 0.15322166681289673, + 0.2416667938232422, + 0.03453250229358673, + -0.15639802813529968, + -0.07030239701271057, + 0.5770743489265442, + 0.0, + 1.0001531839370728 + ], + [ + 0.15941369533538818, + 0.2410009801387787, + 0.038428012281656265, + -0.1571955531835556, + -0.06891586631536484, + 0.5917251706123352, + 0.0, + 1.0001531839370728 + ], + [ + 0.16277870535850525, + 0.24677756428718567, + 0.03159239888191223, + -0.10552173107862473, + -0.08383869379758835, + 0.5815104246139526, + 0.0, + 0.993436336517334 + ], + [ + 0.1606776863336563, + 0.24916702508926392, + 0.01942058838903904, + -0.07006573677062988, + -0.07349911332130432, + 0.5765119791030884, + 0.0, + 0.9157527089118958 + ], + [ + 0.15903840959072113, + 0.2512369155883789, + 0.01562278438359499, + -0.05090905725955963, + -0.07649162411689758, + 0.5728789567947388, + 0.0, + 0.7555288672447205 + ], + [ + 0.15836159884929657, + 0.2528216242790222, + 0.014132070355117321, + -0.03792624920606613, + -0.08076819777488708, + 0.5566251277923584, + 0.0, + 0.5004528760910034 + ], + [ + 0.15836159884929657, + 0.2528216242790222, + 0.014132070355117321, + -0.036930762231349945, + -0.08122741430997849, + 0.5443215370178223, + 0.0, + 0.3372049927711487 + ], + [ + 0.15847770869731903, + 0.24870723485946655, + 0.014815817587077618, + -0.052420590072870255, + -0.07517750561237335, + 0.54006427526474, + 0.0, + 0.1531343013048172 + ], + [ + 0.15926606953144073, + 0.24288509786128998, + 0.015830356627702713, + -0.08108395338058472, + -0.058951012790203094, + 0.5403198003768921, + 0.0, + 0.06443082541227341 + ], + [ + 0.16446584463119507, + 0.233921617269516, + 0.024662969633936882, + -0.11284999549388885, + -0.05649393051862717, + 0.5224615335464478, + 0.0, + 0.05166913568973541 + ], + [ + 0.17338000237941742, + 0.21752208471298218, + 0.0478459857404232, + -0.1689552217721939, + -0.053383175283670425, + 0.529176652431488, + 0.0, + 0.051409780979156494 + ], + [ + 0.18936841189861298, + 0.19512909650802612, + 0.06822057068347931, + -0.19025678932666779, + -0.045431699603796005, + 0.5349113345146179, + 0.0, + 0.051409780979156494 + ], + [ + 0.21207816898822784, + 0.16877992451190948, + 0.07035084813833237, + -0.19557631015777588, + -0.01819819211959839, + 0.547760546207428, + 0.0, + 0.051409780979156494 + ], + [ + 0.23818649351596832, + 0.1454532891511917, + 0.06897225975990295, + -0.17797444760799408, + -0.036148689687252045, + 0.5602239966392517, + 0.0, + 0.051409780979156494 + ], + [ + 0.26467370986938477, + 0.11167501658201218, + 0.05821786820888519, + -0.17875459790229797, + -0.005893048830330372, + 0.5767279267311096, + 0.0, + 0.051409780979156494 + ], + [ + 0.288907527923584, + 0.08899082988500595, + 0.05584016069769859, + -0.19408348202705383, + -0.007907570339739323, + 0.5975447297096252, + 0.0, + 0.05115113407373428 + ], + [ + 0.3122735023498535, + 0.0646444633603096, + 0.05130692571401596, + -0.20736509561538696, + -0.009439919143915176, + 0.6025754809379578, + 0.0, + 0.051409780979156494 + ], + [ + 0.3312687873840332, + 0.044446174055337906, + 0.05023184418678284, + -0.21999898552894592, + -0.027735983952879906, + 0.5933534502983093, + 0.0, + 0.05115113407373428 + ], + [ + 0.35297152400016785, + 0.014782044105231762, + 0.05114804953336716, + -0.24055446684360504, + -0.034342266619205475, + 0.579166054725647, + 0.0, + 0.05115113407373428 + ], + [ + 0.369245320558548, + -0.0043517290614545345, + 0.05118817463517189, + -0.2603705823421478, + -0.01925000548362732, + 0.5852366089820862, + 0.0, + 0.05115113407373428 + ], + [ + 0.38637134432792664, + -0.019092483446002007, + 0.05516216903924942, + -0.28960928320884705, + -0.023396804928779602, + 0.5923435688018799, + 0.0, + 0.05115113407373428 + ], + [ + 0.3988783061504364, + -0.02889852225780487, + 0.05018817260861397, + -0.295306533575058, + -0.02056112140417099, + 0.6016350984573364, + 0.0, + 0.051409780979156494 + ], + [ + 0.4081285893917084, + -0.03182618319988251, + 0.04436861723661423, + -0.2954195737838745, + -0.028322581201791763, + 0.6124712228775024, + 0.0, + 0.0665184035897255 + ], + [ + 0.4136030673980713, + -0.03171401843428612, + 0.0467819981276989, + -0.2895781993865967, + -0.05040498822927475, + 0.6051236987113953, + 0.0, + 0.19846400618553162 + ], + [ + 0.41262316703796387, + -0.03662920370697975, + 0.04822107031941414, + -0.30127763748168945, + -0.02869035303592682, + 0.6112232804298401, + 0.0, + 0.4466742277145386 + ], + [ + 0.4103845953941345, + -0.037542376667261124, + 0.049571484327316284, + -0.294582724571228, + 0.006420249585062265, + 0.660515308380127, + 0.0, + 0.7525970935821533 + ], + [ + 0.4159046709537506, + -0.04612871631979942, + 0.07587362825870514, + -0.3639092743396759, + 0.005030353553593159, + 0.6452631950378418, + 0.0, + 0.9851709604263306 + ], + [ + 0.4125862121582031, + -0.04483277350664139, + 0.09863784909248352, + -0.3741878569126129, + -0.1280956119298935, + 0.45691266655921936, + 0.0, + 1.0001531839370728 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.993436336517334 + ], + [ + 0.9157527089118958 + ], + [ + 0.7555288672447205 + ], + [ + 0.5004528760910034 + ], + [ + 0.3372049927711487 + ], + [ + 0.1531343013048172 + ], + [ + 0.06443082541227341 + ], + [ + 0.05166913568973541 + ], + [ + 0.051409780979156494 + ], + [ + 0.051409780979156494 + ], + [ + 0.051409780979156494 + ], + [ + 0.051409780979156494 + ], + [ + 0.051409780979156494 + ], + [ + 0.05115113407373428 + ], + [ + 0.051409780979156494 + ], + [ + 0.05115113407373428 + ], + [ + 0.05115113407373428 + ], + [ + 0.05115113407373428 + ], + [ + 0.05115113407373428 + ], + [ + 0.051409780979156494 + ], + [ + 0.0665184035897255 + ], + [ + 0.19846400618553162 + ], + [ + 0.4466742277145386 + ], + [ + 0.7525970935821533 + ], + [ + 0.9851709604263306 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2011835128068924, + 0.19500058889389038, + 0.1977882981300354 + ], + [ + 0.2021131068468094, + 0.1964193880558014, + 0.19059769809246063 + ], + [ + 0.201996311545372, + 0.20097729563713074, + 0.1859215348958969 + ], + [ + 0.1965569704771042, + 0.2094864845275879, + 0.18040290474891663 + ], + [ + 0.18315522372722626, + 0.22322173416614532, + 0.16232852637767792 + ], + [ + 0.171715646982193, + 0.22973771393299103, + 0.1357962042093277 + ], + [ + 0.15743613243103027, + 0.24691390991210938, + 0.10148219019174576 + ], + [ + 0.1492830365896225, + 0.26150816679000854, + 0.0742141604423523 + ], + [ + 0.14363670349121094, + 0.26605328917503357, + 0.0534556545317173 + ], + [ + 0.14039722084999084, + 0.26861193776130676, + 0.039817068725824356 + ], + [ + 0.1377723217010498, + 0.2642345130443573, + 0.03197382390499115 + ], + [ + 0.13963019847869873, + 0.2592478096485138, + 0.029088757932186127 + ], + [ + 0.14615733921527863, + 0.24937334656715393, + 0.025876404717564583 + ], + [ + 0.15322166681289673, + 0.2416667938232422, + 0.03453250229358673 + ], + [ + 0.15941369533538818, + 0.2410009801387787, + 0.038428012281656265 + ], + [ + 0.16277870535850525, + 0.24677756428718567, + 0.03159239888191223 + ], + [ + 0.1606776863336563, + 0.24916702508926392, + 0.01942058838903904 + ], + [ + 0.15903840959072113, + 0.2512369155883789, + 0.01562278438359499 + ], + [ + 0.15836159884929657, + 0.2528216242790222, + 0.014132070355117321 + ], + [ + 0.15836159884929657, + 0.2528216242790222, + 0.014132070355117321 + ], + [ + 0.15847770869731903, + 0.24870723485946655, + 0.014815817587077618 + ], + [ + 0.15926606953144073, + 0.24288509786128998, + 0.015830356627702713 + ], + [ + 0.16446584463119507, + 0.233921617269516, + 0.024662969633936882 + ], + [ + 0.17338000237941742, + 0.21752208471298218, + 0.0478459857404232 + ], + [ + 0.18936841189861298, + 0.19512909650802612, + 0.06822057068347931 + ], + [ + 0.21207816898822784, + 0.16877992451190948, + 0.07035084813833237 + ], + [ + 0.23818649351596832, + 0.1454532891511917, + 0.06897225975990295 + ], + [ + 0.26467370986938477, + 0.11167501658201218, + 0.05821786820888519 + ], + [ + 0.288907527923584, + 0.08899082988500595, + 0.05584016069769859 + ], + [ + 0.3122735023498535, + 0.0646444633603096, + 0.05130692571401596 + ], + [ + 0.3312687873840332, + 0.044446174055337906, + 0.05023184418678284 + ], + [ + 0.35297152400016785, + 0.014782044105231762, + 0.05114804953336716 + ], + [ + 0.369245320558548, + -0.0043517290614545345, + 0.05118817463517189 + ], + [ + 0.38637134432792664, + -0.019092483446002007, + 0.05516216903924942 + ], + [ + 0.3988783061504364, + -0.02889852225780487, + 0.05018817260861397 + ], + [ + 0.4081285893917084, + -0.03182618319988251, + 0.04436861723661423 + ], + [ + 0.4136030673980713, + -0.03171401843428612, + 0.0467819981276989 + ], + [ + 0.41262316703796387, + -0.03662920370697975, + 0.04822107031941414 + ], + [ + 0.4103845953941345, + -0.037542376667261124, + 0.049571484327316284 + ], + [ + 0.4159046709537506, + -0.04612871631979942, + 0.07587362825870514 + ], + [ + 0.4125862121582031, + -0.04483277350664139, + 0.09863784909248352 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.913640636987328, + -0.3345602144405056, + 0.23093343057884286, + -0.3438994740552321, + -0.939006449118567, + 0.00020064464979248353, + 0.21678085291354732, + -0.07960120242347898, + -0.9729695320937918 + ], + [ + 0.9224370210637896, + -0.31964613040757295, + 0.21664785594698782, + -0.32345632074255815, + -0.9460596797743295, + -0.018630375116477946, + 0.21091692853502608, + -0.05289077065763155, + -0.9760720340408245 + ], + [ + 0.9552473933650492, + -0.19792927995039317, + 0.2198327036807707, + -0.1973187672900094, + -0.9800216162050283, + -0.024958682778441998, + 0.22038085566679735, + -0.01953540143438774, + -0.9752182558516668 + ], + [ + 0.9725191276335403, + 0.004070154226058306, + 0.23278741424628943, + 0.01602899279705323, + -0.9986453049701116, + -0.04950380036991545, + 0.23227057019090788, + 0.05187474053649354, + -0.9712669012776363 + ], + [ + 0.9323244813617383, + 0.2518563069483185, + 0.2594984818913588, + 0.2858151838163394, + -0.9528294836471648, + -0.10210610066352252, + 0.2215417390777585, + 0.16936462364682783, + -0.9603306108332539 + ], + [ + 0.902420607802343, + 0.34915148449505456, + 0.25244858385134467, + 0.38188865519706533, + -0.9194726195538183, + -0.09344065990036748, + 0.1994946155800368, + 0.18073002729413523, + -0.9630880310692447 + ], + [ + 0.8533018868641289, + 0.4594502449960823, + 0.24653876418761583, + 0.4949482759744441, + -0.8624570974818644, + -0.10580150808510616, + 0.16401857816736004, + 0.21230456277762202, + -0.963340375277482 + ], + [ + 0.8310163360446827, + 0.5159301078516786, + 0.207913378691769, + 0.5406731772664369, + -0.8370313560647337, + -0.08397037780699598, + 0.13070717123206227, + 0.18219394275493614, + -0.9745363013310094 + ], + [ + 0.8268897347819004, + 0.5365403698576214, + 0.16845711034374694, + 0.5523892996061444, + -0.8310946073259277, + -0.06440353526317777, + 0.10544869934215306, + 0.1463085273892432, + -0.9836027585464772 + ], + [ + 0.8277602563234204, + 0.5413248278117847, + 0.14758180391202416, + 0.552796672174254, + -0.8318551721940657, + -0.049323541306884336, + 0.09606662940093105, + 0.12241079727100564, + -0.9878192139389784 + ], + [ + 0.8340125326300417, + 0.534257920569094, + 0.1378099043073878, + 0.5442347585304708, + -0.8376571563625597, + -0.046249497314787225, + 0.09072829229795881, + 0.11357360038221048, + -0.9893782968475294 + ], + [ + 0.8382784642518275, + 0.5287586277526982, + 0.13305461265465757, + 0.5386222992041881, + -0.8409767784644944, + -0.051420588128439554, + 0.08470675989312468, + 0.1147709530350084, + -0.9897739101268755 + ], + [ + 0.8437000637462385, + 0.5193053490391121, + 0.1359858701996608, + 0.5314790978453255, + -0.8436959325551978, + -0.07554562822118747, + 0.07549947674065013, + 0.13601149895939277, + -0.9878262504928218 + ], + [ + 0.835992216364531, + 0.52974596861755, + 0.14313009086621953, + 0.5442267214282429, + -0.8338029538858392, + -0.09268176613937662, + 0.07024450057751314, + 0.1553764551812858, + -0.9853546911208739 + ], + [ + 0.8280094540892788, + 0.541968903162198, + 0.14377083133910706, + 0.5564696411052404, + -0.8257592530589941, + -0.09199562226354367, + 0.06886132780435504, + 0.1561773478857153, + -0.9853257093674177 + ], + [ + 0.8326988622232846, + 0.5388611160856114, + 0.1274413685700858, + 0.5473574074138756, + -0.835830677875388, + -0.04227228964144112, + 0.0837405123056208, + 0.10495606458579951, + -0.99094487793492 + ], + [ + 0.8361056108638075, + 0.5394555522895282, + 0.09957466839542989, + 0.543631316658055, + -0.8391143884668022, + -0.01876258555249459, + 0.07343295602581526, + 0.06981941114034969, + -0.9948531805233001 + ], + [ + 0.8378866964943287, + 0.5380835334918497, + 0.0917169276782975, + 0.5404686093168833, + -0.8413630242922278, + -0.0013941653094290372, + 0.07641705425423459, + 0.05073827291859112, + -0.9957841440193471 + ], + [ + 0.8462751066507321, + 0.525346507183074, + 0.08848441249076484, + 0.5266014765619854, + -0.8500486427712254, + 0.010401432859654837, + 0.08068041116670287, + 0.03779354856773173, + -0.9960232522088176 + ], + [ + 0.8526581939927199, + 0.5149218511586957, + 0.08848441340922929, + 0.5161304189371068, + -0.856446846472107, + 0.010401433352658383, + 0.0811381221429233, + 0.036800629984896326, + -0.9960232521220751 + ], + [ + 0.8552531302187756, + 0.5101095630347766, + 0.09127057001824274, + 0.5127387882322819, + -0.8585210063807192, + -0.006373118948193569, + 0.07510671270317199, + 0.052248591402122575, + -0.9958057372818339 + ], + [ + 0.8560545698774321, + 0.508627980504446, + 0.09202255614757751, + 0.5135166748417288, + -0.8571815079719883, + -0.039249038846355735, + 0.05891687408085497, + 0.08085443611105997, + -0.9949830963939557 + ], + [ + 0.8652109380920536, + 0.4903304834688978, + 0.10481435773320966, + 0.4982186892686142, + -0.8642541840011398, + -0.06959053886835281, + 0.05646388464613813, + 0.11243096734299043, + -0.9920539840719288 + ], + [ + 0.8619933090687425, + 0.4898895459657285, + 0.13029108900539568, + 0.5041036378954759, + -0.855460962041853, + -0.11860044132706432, + 0.053357823992985914, + 0.1679129988295126, + -0.9843567277378733 + ], + [ + 0.8594261231094659, + 0.49317745451059264, + 0.13476920004023818, + 0.5092387645137626, + -0.8491682824679843, + -0.13996109733376078, + 0.0454160724141798, + 0.18891592419069964, + -0.98094248249 + ], + [ + 0.8535515605768556, + 0.5078296490630675, + 0.11644217865230973, + 0.5206904990467575, + -0.8392595958613859, + -0.1566037514142685, + 0.01819718767428892, + 0.19429971252440167, + -0.9807734111779752 + ], + [ + 0.8465826779692797, + 0.5175623360944351, + 0.12420546533399421, + 0.5310288228300327, + -0.8371548755622826, + -0.13107289439868522, + 0.036140817452192615, + 0.17692072399459088, + -0.9835613345059459 + ], + [ + 0.8382367880508279, + 0.5357171051001864, + 0.10181488329957825, + 0.5452745726106475, + -0.8254659072594323, + -0.14588240612437647, + 0.005893014721398894, + 0.1778010665194043, + -0.9840488062703269 + ], + [ + 0.8266936285879858, + 0.5507903550378634, + 0.11492445018051524, + 0.5625967615323255, + -0.8120557327152127, + -0.1550818199457903, + 0.00790748793037141, + 0.19286127595145502, + -0.9811941703215565 + ], + [ + 0.8238419448292545, + 0.5530230895619006, + 0.12429767637153076, + 0.5667409818545539, + -0.8073300286845302, + -0.16438638712123355, + 0.009439778942745183, + 0.20587298801845266, + -0.9785331897170715 + ], + [ + 0.8287514061956447, + 0.5406501835148108, + 0.14445928767006572, + 0.5589293507850925, + -0.8124717038770243, + -0.16579418334223833, + 0.027732427944490178, + 0.21814469845624535, + -0.9755223231560297 + ], + [ + 0.8364259017641578, + 0.5247203748797142, + 0.15830426097900013, + 0.5470034580906784, + -0.8172983483878626, + -0.18113703806596554, + 0.03433551652232346, + 0.23810068859321615, + -0.9706333676505158 + ], + [ + 0.8334269648935088, + 0.529647183971993, + 0.1577128869145823, + 0.5522942850032524, + -0.8082225881947173, + -0.20432148855315868, + 0.019248816616618175, + 0.2573909641816709, + -0.9661156114132974 + ], + [ + 0.829407463105455, + 0.5295136788629908, + 0.17804079319626276, + 0.558154055385147, + -0.7988148840839969, + -0.22440773476639503, + 0.023394670377831384, + 0.2854996407403199, + -0.9580932337382728 + ], + [ + 0.8242370082013157, + 0.5365582446225058, + 0.1809381232326659, + 0.5658715880567317, + -0.79211159005445, + -0.22879810910836518, + 0.020559672699162035, + 0.2909716120672704, + -0.9565107531175366 + ], + [ + 0.8179016761377881, + 0.5432408773640893, + 0.18954207272184037, + 0.5746606772988874, + -0.7875240213415624, + -0.22264550697554786, + 0.028318794772749498, + 0.2910245092268159, + -0.9562963875765244 + ], + [ + 0.8213871965093148, + 0.5333465465062145, + 0.20214978293449204, + 0.5681413217671362, + -0.7963735170207079, + -0.20737564921841528, + 0.05038364726038819, + 0.2851853480071552, + -0.9571472224118807 + ], + [ + 0.8186095979482918, + 0.5410503133651818, + 0.19272489344756372, + 0.5736335203036678, + -0.7869447708454591, + -0.22729388910177428, + 0.02868641718580267, + 0.29661841825218227, + -0.9545651383863836 + ], + [ + 0.7896599073570373, + 0.5885673173658915, + 0.17327938031281642, + 0.6135112156061128, + -0.7545159628675283, + -0.23304430931390954, + -0.006420205478461491, + 0.2903345909580964, + -0.9569036556805548 + ], + [ + 0.7989313984523954, + 0.5634544683181619, + 0.21030378669723726, + 0.6014011276373392, + -0.7455440655867303, + -0.28719458550771076, + -0.0050303323385592486, + 0.35592570629375236, + -0.934500715545931 + ], + [ + 0.8900662605972535, + 0.36874875500847526, + 0.267967176023709, + 0.437564984853255, + -0.8559218103561371, + -0.2755625856081397, + 0.1277455900483168, + 0.36252201345073115, + -0.9231786685072587 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + 0.0009295940399169922, + 0.0014187991619110107, + -0.007190600037574768, + -0.02749641239643097, + 0.006002798676490784, + 0.02274501323699951, + 1.0 + ], + [ + -0.00011679530143737793, + 0.004557907581329346, + -0.004676163196563721, + -0.03410527482628822, + -0.009692013263702393, + 0.13355931639671326, + 1.0 + ], + [ + -0.005439341068267822, + 0.008509188890457153, + -0.005518630146980286, + -0.07338780164718628, + -0.012206539511680603, + 0.2201785445213318, + 1.0 + ], + [ + -0.01340174674987793, + 0.013735249638557434, + -0.01807437837123871, + -0.12120701372623444, + 0.011016234755516052, + 0.2809855341911316, + 1.0 + ], + [ + -0.011439576745033264, + 0.006515979766845703, + -0.02653232216835022, + -0.010933756828308105, + 0.02255307137966156, + 0.10286426544189453, + 1.0 + ], + [ + -0.01427951455116272, + 0.017176195979118347, + -0.03431401401758194, + -0.0314168781042099, + 0.03607910871505737, + 0.1252826452255249, + 1.0 + ], + [ + -0.008153095841407776, + 0.01459425687789917, + -0.027268029749393463, + 0.03209538757801056, + 0.03368079662322998, + 0.05119580030441284, + 1.0 + ], + [ + -0.00564633309841156, + 0.004545122385025024, + -0.020758505910634995, + 0.037156060338020325, + 0.025437131524086, + 0.012138962745666504, + 1.0 + ], + [ + -0.0032394826412200928, + 0.0025586485862731934, + -0.013638585805892944, + 0.02437315136194229, + 0.009430095553398132, + -0.00014549493789672852, + 1.0 + ], + [ + -0.00262489914894104, + -0.004377424716949463, + -0.007843244820833206, + 0.008999086916446686, + 0.005361780524253845, + -0.010636508464813232, + 1.0 + ], + [ + 0.0018578767776489258, + -0.004986703395843506, + -0.002885065972805023, + -0.0011485517024993896, + 0.006044842302799225, + -0.0070569515228271484, + 1.0 + ], + [ + 0.006527140736579895, + -0.009874463081359863, + -0.003212353214621544, + -0.021386176347732544, + 0.009236998856067657, + -0.008966028690338135, + 1.0 + ], + [ + 0.007064327597618103, + -0.007706552743911743, + 0.008656097576022148, + -0.01957067847251892, + 0.005268990993499756, + 0.014931678771972656, + 1.0 + ], + [ + 0.006192028522491455, + -0.000665813684463501, + 0.0038955099880695343, + -0.0007975250482559204, + 0.0013865306973457336, + 0.014650821685791016, + 1.0 + ], + [ + 0.0033650100231170654, + 0.005776584148406982, + -0.006835613399744034, + 0.05167382210493088, + -0.01492282748222351, + -0.010214745998382568, + 1.0 + ], + [ + -0.002101019024848938, + 0.002389460802078247, + -0.012171810492873192, + 0.03545599430799484, + 0.010339580476284027, + -0.004998445510864258, + 0.0 + ], + [ + -0.0016392767429351807, + 0.0020698904991149902, + -0.00379780400544405, + 0.01915667951107025, + -0.0029925107955932617, + -0.0036330223083496094, + 0.0 + ], + [ + -0.0006768107414245605, + 0.0015847086906433105, + -0.0014907140284776688, + 0.0129828080534935, + -0.004276573657989502, + -0.01625382900238037, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0009954869747161865, + -0.00045921653509140015, + -0.012303590774536133, + 0.0 + ], + [ + 0.00011610984802246094, + -0.004114389419555664, + 0.0006837472319602966, + -0.01548982784152031, + 0.006049908697605133, + -0.004257261753082275, + 0.0 + ], + [ + 0.0007883608341217041, + -0.005822136998176575, + 0.0010145390406250954, + -0.028663363307714462, + 0.016226492822170258, + 0.0002555251121520996, + 0.0 + ], + [ + 0.0051997750997543335, + -0.008963480591773987, + 0.008832613006234169, + -0.03176604211330414, + 0.0024570822715759277, + -0.017858266830444336, + 0.0 + ], + [ + 0.008914157748222351, + -0.016399532556533813, + 0.02318301610648632, + -0.056105226278305054, + 0.0031107552349567413, + 0.006715118885040283, + 0.0 + ], + [ + 0.015988409519195557, + -0.022392988204956055, + 0.020374584943056107, + -0.021301567554473877, + 0.00795147567987442, + 0.005734682083129883, + 0.0 + ], + [ + 0.022709757089614868, + -0.026349171996116638, + 0.002130277454853058, + -0.005319520831108093, + 0.027233507484197617, + 0.012849211692810059, + 0.0 + ], + [ + 0.02610832452774048, + -0.023326635360717773, + -0.0013785883784294128, + 0.0176018625497818, + -0.017950497567653656, + 0.01246345043182373, + 0.0 + ], + [ + 0.026487216353416443, + -0.033778272569179535, + -0.010754391551017761, + -0.000780150294303894, + 0.030255641788244247, + 0.01650393009185791, + 0.0 + ], + [ + 0.02423381805419922, + -0.022684186697006226, + -0.0023777075111865997, + -0.01532888412475586, + -0.002014521509408951, + 0.020816802978515625, + 0.0 + ], + [ + 0.02336597442626953, + -0.02434636652469635, + -0.0045332349836826324, + -0.01328161358833313, + -0.0015323488041758537, + 0.0050307512283325195, + 0.0 + ], + [ + 0.018995285034179688, + -0.020198289304971695, + -0.0010750815272331238, + -0.01263388991355896, + -0.01829606480896473, + -0.009222030639648438, + 0.0 + ], + [ + 0.021702736616134644, + -0.02966412901878357, + 0.0009162053465843201, + -0.02055548131465912, + -0.006606282666325569, + -0.014187395572662354, + 0.0 + ], + [ + 0.016273796558380127, + -0.01913377270102501, + 4.0125101804733276e-05, + -0.019816115498542786, + 0.015092261135578156, + 0.006070554256439209, + 0.0 + ], + [ + 0.017126023769378662, + -0.014740753918886185, + 0.00397399440407753, + -0.02923870086669922, + -0.004146799445152283, + 0.007106959819793701, + 0.0 + ], + [ + 0.012506961822509766, + -0.009806038811802864, + -0.004973996430635452, + -0.0056972503662109375, + 0.002835683524608612, + 0.009291529655456543, + 0.0 + ], + [ + 0.009250283241271973, + -0.0029276609420776367, + -0.005819555371999741, + -0.00011304020881652832, + -0.007761459797620773, + 0.010836124420166016, + 1.0 + ], + [ + 0.005474478006362915, + 0.00011216476559638977, + 0.002413380891084671, + 0.005841374397277832, + -0.022082407027482986, + -0.007347524166107178, + 1.0 + ], + [ + -0.0009799003601074219, + -0.004915185272693634, + 0.0014390721917152405, + -0.011699438095092773, + 0.02171463519334793, + 0.006099581718444824, + 1.0 + ], + [ + -0.0022385716438293457, + -0.0009131729602813721, + 0.0013504140079021454, + 0.006694912910461426, + 0.035110604017972946, + 0.049292027950286865, + 1.0 + ], + [ + 0.005520075559616089, + -0.0085863396525383, + 0.026302143931388855, + -0.06932654976844788, + -0.0013898960314691067, + -0.015252113342285156, + 1.0 + ], + [ + -0.0033184587955474854, + 0.0012959428131580353, + 0.02276422083377838, + -0.010278582572937012, + -0.13312596082687378, + -0.18835052847862244, + 1.0 + ], + [ + -0.04388973116874695, + 0.018730809912085533, + 0.025182701647281647, + 0.08781397342681885, + -0.03987041115760803, + -0.2600763738155365, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.993436336517334 + ], + [ + 0.9157527089118958 + ], + [ + 0.7555288672447205 + ], + [ + 0.5004528760910034 + ], + [ + 0.3372049927711487 + ], + [ + 0.1531343013048172 + ], + [ + 0.06443082541227341 + ], + [ + 0.05166913568973541 + ], + [ + 0.051409780979156494 + ], + [ + 0.051409780979156494 + ], + [ + 0.051409780979156494 + ], + [ + 0.051409780979156494 + ], + [ + 0.051409780979156494 + ], + [ + 0.05115113407373428 + ], + [ + 0.051409780979156494 + ], + [ + 0.05115113407373428 + ], + [ + 0.05115113407373428 + ], + [ + 0.05115113407373428 + ], + [ + 0.05115113407373428 + ], + [ + 0.051409780979156494 + ], + [ + 0.0665184035897255 + ], + [ + 0.19846400618553162 + ], + [ + 0.4466742277145386 + ], + [ + 0.7525970935821533 + ], + [ + 0.9851709604263306 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2021131068468094, + 0.1964193880558014, + 0.19059769809246063 + ], + [ + 0.201996311545372, + 0.20097729563713074, + 0.1859215348958969 + ], + [ + 0.1965569704771042, + 0.2094864845275879, + 0.18040290474891663 + ], + [ + 0.18315522372722626, + 0.22322173416614532, + 0.16232852637767792 + ], + [ + 0.171715646982193, + 0.22973771393299103, + 0.1357962042093277 + ], + [ + 0.15743613243103027, + 0.24691390991210938, + 0.10148219019174576 + ], + [ + 0.1492830365896225, + 0.26150816679000854, + 0.0742141604423523 + ], + [ + 0.14363670349121094, + 0.26605328917503357, + 0.0534556545317173 + ], + [ + 0.14039722084999084, + 0.26861193776130676, + 0.039817068725824356 + ], + [ + 0.1377723217010498, + 0.2642345130443573, + 0.03197382390499115 + ], + [ + 0.13963019847869873, + 0.2592478096485138, + 0.029088757932186127 + ], + [ + 0.14615733921527863, + 0.24937334656715393, + 0.025876404717564583 + ], + [ + 0.15322166681289673, + 0.2416667938232422, + 0.03453250229358673 + ], + [ + 0.15941369533538818, + 0.2410009801387787, + 0.038428012281656265 + ], + [ + 0.16277870535850525, + 0.24677756428718567, + 0.03159239888191223 + ], + [ + 0.1606776863336563, + 0.24916702508926392, + 0.01942058838903904 + ], + [ + 0.15903840959072113, + 0.2512369155883789, + 0.01562278438359499 + ], + [ + 0.15836159884929657, + 0.2528216242790222, + 0.014132070355117321 + ], + [ + 0.15836159884929657, + 0.2528216242790222, + 0.014132070355117321 + ], + [ + 0.15847770869731903, + 0.24870723485946655, + 0.014815817587077618 + ], + [ + 0.15926606953144073, + 0.24288509786128998, + 0.015830356627702713 + ], + [ + 0.16446584463119507, + 0.233921617269516, + 0.024662969633936882 + ], + [ + 0.17338000237941742, + 0.21752208471298218, + 0.0478459857404232 + ], + [ + 0.18936841189861298, + 0.19512909650802612, + 0.06822057068347931 + ], + [ + 0.21207816898822784, + 0.16877992451190948, + 0.07035084813833237 + ], + [ + 0.23818649351596832, + 0.1454532891511917, + 0.06897225975990295 + ], + [ + 0.26467370986938477, + 0.11167501658201218, + 0.05821786820888519 + ], + [ + 0.288907527923584, + 0.08899082988500595, + 0.05584016069769859 + ], + [ + 0.3122735023498535, + 0.0646444633603096, + 0.05130692571401596 + ], + [ + 0.3312687873840332, + 0.044446174055337906, + 0.05023184418678284 + ], + [ + 0.35297152400016785, + 0.014782044105231762, + 0.05114804953336716 + ], + [ + 0.369245320558548, + -0.0043517290614545345, + 0.05118817463517189 + ], + [ + 0.38637134432792664, + -0.019092483446002007, + 0.05516216903924942 + ], + [ + 0.3988783061504364, + -0.02889852225780487, + 0.05018817260861397 + ], + [ + 0.4081285893917084, + -0.03182618319988251, + 0.04436861723661423 + ], + [ + 0.4136030673980713, + -0.03171401843428612, + 0.0467819981276989 + ], + [ + 0.41262316703796387, + -0.03662920370697975, + 0.04822107031941414 + ], + [ + 0.4103845953941345, + -0.037542376667261124, + 0.049571484327316284 + ], + [ + 0.4159046709537506, + -0.04612871631979942, + 0.07587362825870514 + ], + [ + 0.4125862121582031, + -0.04483277350664139, + 0.09863784909248352 + ], + [ + 0.3686964809894562, + -0.026101963594555855, + 0.12382055073976517 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9224370210637896, + -0.31964613040757295, + 0.21664785594698782, + -0.32345632074255815, + -0.9460596797743295, + -0.018630375116477946, + 0.21091692853502608, + -0.05289077065763155, + -0.9760720340408245 + ], + [ + 0.9552473933650492, + -0.19792927995039317, + 0.2198327036807707, + -0.1973187672900094, + -0.9800216162050283, + -0.024958682778441998, + 0.22038085566679735, + -0.01953540143438774, + -0.9752182558516668 + ], + [ + 0.9725191276335403, + 0.004070154226058306, + 0.23278741424628943, + 0.01602899279705323, + -0.9986453049701116, + -0.04950380036991545, + 0.23227057019090788, + 0.05187474053649354, + -0.9712669012776363 + ], + [ + 0.9323244813617383, + 0.2518563069483185, + 0.2594984818913588, + 0.2858151838163394, + -0.9528294836471648, + -0.10210610066352252, + 0.2215417390777585, + 0.16936462364682783, + -0.9603306108332539 + ], + [ + 0.902420607802343, + 0.34915148449505456, + 0.25244858385134467, + 0.38188865519706533, + -0.9194726195538183, + -0.09344065990036748, + 0.1994946155800368, + 0.18073002729413523, + -0.9630880310692447 + ], + [ + 0.8533018868641289, + 0.4594502449960823, + 0.24653876418761583, + 0.4949482759744441, + -0.8624570974818644, + -0.10580150808510616, + 0.16401857816736004, + 0.21230456277762202, + -0.963340375277482 + ], + [ + 0.8310163360446827, + 0.5159301078516786, + 0.207913378691769, + 0.5406731772664369, + -0.8370313560647337, + -0.08397037780699598, + 0.13070717123206227, + 0.18219394275493614, + -0.9745363013310094 + ], + [ + 0.8268897347819004, + 0.5365403698576214, + 0.16845711034374694, + 0.5523892996061444, + -0.8310946073259277, + -0.06440353526317777, + 0.10544869934215306, + 0.1463085273892432, + -0.9836027585464772 + ], + [ + 0.8277602563234204, + 0.5413248278117847, + 0.14758180391202416, + 0.552796672174254, + -0.8318551721940657, + -0.049323541306884336, + 0.09606662940093105, + 0.12241079727100564, + -0.9878192139389784 + ], + [ + 0.8340125326300417, + 0.534257920569094, + 0.1378099043073878, + 0.5442347585304708, + -0.8376571563625597, + -0.046249497314787225, + 0.09072829229795881, + 0.11357360038221048, + -0.9893782968475294 + ], + [ + 0.8382784642518275, + 0.5287586277526982, + 0.13305461265465757, + 0.5386222992041881, + -0.8409767784644944, + -0.051420588128439554, + 0.08470675989312468, + 0.1147709530350084, + -0.9897739101268755 + ], + [ + 0.8437000637462385, + 0.5193053490391121, + 0.1359858701996608, + 0.5314790978453255, + -0.8436959325551978, + -0.07554562822118747, + 0.07549947674065013, + 0.13601149895939277, + -0.9878262504928218 + ], + [ + 0.835992216364531, + 0.52974596861755, + 0.14313009086621953, + 0.5442267214282429, + -0.8338029538858392, + -0.09268176613937662, + 0.07024450057751314, + 0.1553764551812858, + -0.9853546911208739 + ], + [ + 0.8280094540892788, + 0.541968903162198, + 0.14377083133910706, + 0.5564696411052404, + -0.8257592530589941, + -0.09199562226354367, + 0.06886132780435504, + 0.1561773478857153, + -0.9853257093674177 + ], + [ + 0.8326988622232846, + 0.5388611160856114, + 0.1274413685700858, + 0.5473574074138756, + -0.835830677875388, + -0.04227228964144112, + 0.0837405123056208, + 0.10495606458579951, + -0.99094487793492 + ], + [ + 0.8361056108638075, + 0.5394555522895282, + 0.09957466839542989, + 0.543631316658055, + -0.8391143884668022, + -0.01876258555249459, + 0.07343295602581526, + 0.06981941114034969, + -0.9948531805233001 + ], + [ + 0.8378866964943287, + 0.5380835334918497, + 0.0917169276782975, + 0.5404686093168833, + -0.8413630242922278, + -0.0013941653094290372, + 0.07641705425423459, + 0.05073827291859112, + -0.9957841440193471 + ], + [ + 0.8462751066507321, + 0.525346507183074, + 0.08848441249076484, + 0.5266014765619854, + -0.8500486427712254, + 0.010401432859654837, + 0.08068041116670287, + 0.03779354856773173, + -0.9960232522088176 + ], + [ + 0.8526581939927199, + 0.5149218511586957, + 0.08848441340922929, + 0.5161304189371068, + -0.856446846472107, + 0.010401433352658383, + 0.0811381221429233, + 0.036800629984896326, + -0.9960232521220751 + ], + [ + 0.8552531302187756, + 0.5101095630347766, + 0.09127057001824274, + 0.5127387882322819, + -0.8585210063807192, + -0.006373118948193569, + 0.07510671270317199, + 0.052248591402122575, + -0.9958057372818339 + ], + [ + 0.8560545698774321, + 0.508627980504446, + 0.09202255614757751, + 0.5135166748417288, + -0.8571815079719883, + -0.039249038846355735, + 0.05891687408085497, + 0.08085443611105997, + -0.9949830963939557 + ], + [ + 0.8652109380920536, + 0.4903304834688978, + 0.10481435773320966, + 0.4982186892686142, + -0.8642541840011398, + -0.06959053886835281, + 0.05646388464613813, + 0.11243096734299043, + -0.9920539840719288 + ], + [ + 0.8619933090687425, + 0.4898895459657285, + 0.13029108900539568, + 0.5041036378954759, + -0.855460962041853, + -0.11860044132706432, + 0.053357823992985914, + 0.1679129988295126, + -0.9843567277378733 + ], + [ + 0.8594261231094659, + 0.49317745451059264, + 0.13476920004023818, + 0.5092387645137626, + -0.8491682824679843, + -0.13996109733376078, + 0.0454160724141798, + 0.18891592419069964, + -0.98094248249 + ], + [ + 0.8535515605768556, + 0.5078296490630675, + 0.11644217865230973, + 0.5206904990467575, + -0.8392595958613859, + -0.1566037514142685, + 0.01819718767428892, + 0.19429971252440167, + -0.9807734111779752 + ], + [ + 0.8465826779692797, + 0.5175623360944351, + 0.12420546533399421, + 0.5310288228300327, + -0.8371548755622826, + -0.13107289439868522, + 0.036140817452192615, + 0.17692072399459088, + -0.9835613345059459 + ], + [ + 0.8382367880508279, + 0.5357171051001864, + 0.10181488329957825, + 0.5452745726106475, + -0.8254659072594323, + -0.14588240612437647, + 0.005893014721398894, + 0.1778010665194043, + -0.9840488062703269 + ], + [ + 0.8266936285879858, + 0.5507903550378634, + 0.11492445018051524, + 0.5625967615323255, + -0.8120557327152127, + -0.1550818199457903, + 0.00790748793037141, + 0.19286127595145502, + -0.9811941703215565 + ], + [ + 0.8238419448292545, + 0.5530230895619006, + 0.12429767637153076, + 0.5667409818545539, + -0.8073300286845302, + -0.16438638712123355, + 0.009439778942745183, + 0.20587298801845266, + -0.9785331897170715 + ], + [ + 0.8287514061956447, + 0.5406501835148108, + 0.14445928767006572, + 0.5589293507850925, + -0.8124717038770243, + -0.16579418334223833, + 0.027732427944490178, + 0.21814469845624535, + -0.9755223231560297 + ], + [ + 0.8364259017641578, + 0.5247203748797142, + 0.15830426097900013, + 0.5470034580906784, + -0.8172983483878626, + -0.18113703806596554, + 0.03433551652232346, + 0.23810068859321615, + -0.9706333676505158 + ], + [ + 0.8334269648935088, + 0.529647183971993, + 0.1577128869145823, + 0.5522942850032524, + -0.8082225881947173, + -0.20432148855315868, + 0.019248816616618175, + 0.2573909641816709, + -0.9661156114132974 + ], + [ + 0.829407463105455, + 0.5295136788629908, + 0.17804079319626276, + 0.558154055385147, + -0.7988148840839969, + -0.22440773476639503, + 0.023394670377831384, + 0.2854996407403199, + -0.9580932337382728 + ], + [ + 0.8242370082013157, + 0.5365582446225058, + 0.1809381232326659, + 0.5658715880567317, + -0.79211159005445, + -0.22879810910836518, + 0.020559672699162035, + 0.2909716120672704, + -0.9565107531175366 + ], + [ + 0.8179016761377881, + 0.5432408773640893, + 0.18954207272184037, + 0.5746606772988874, + -0.7875240213415624, + -0.22264550697554786, + 0.028318794772749498, + 0.2910245092268159, + -0.9562963875765244 + ], + [ + 0.8213871965093148, + 0.5333465465062145, + 0.20214978293449204, + 0.5681413217671362, + -0.7963735170207079, + -0.20737564921841528, + 0.05038364726038819, + 0.2851853480071552, + -0.9571472224118807 + ], + [ + 0.8186095979482918, + 0.5410503133651818, + 0.19272489344756372, + 0.5736335203036678, + -0.7869447708454591, + -0.22729388910177428, + 0.02868641718580267, + 0.29661841825218227, + -0.9545651383863836 + ], + [ + 0.7896599073570373, + 0.5885673173658915, + 0.17327938031281642, + 0.6135112156061128, + -0.7545159628675283, + -0.23304430931390954, + -0.006420205478461491, + 0.2903345909580964, + -0.9569036556805548 + ], + [ + 0.7989313984523954, + 0.5634544683181619, + 0.21030378669723726, + 0.6014011276373392, + -0.7455440655867303, + -0.28719458550771076, + -0.0050303323385592486, + 0.35592570629375236, + -0.934500715545931 + ], + [ + 0.8900662605972535, + 0.36874875500847526, + 0.267967176023709, + 0.437564984853255, + -0.8559218103561371, + -0.2755625856081397, + 0.1277455900483168, + 0.36252201345073115, + -0.9231786685072587 + ], + [ + 0.9668887944234497, + 0.141291447783802, + 0.21251537827066935, + 0.19281544266106107, + -0.9499864716209239, + -0.24565811366337412, + 0.16717734382920318, + 0.27850032409386044, + -0.9457744473127975 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006645.json b/json/chunk-0006/episode_0006645.json new file mode 100644 index 0000000000000000000000000000000000000000..4d50640aa43bd686f393dbe06916b5efe977e6d9 --- /dev/null +++ b/json/chunk-0006/episode_0006645.json @@ -0,0 +1,1282 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 20, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nClose small4fbox flaps." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006645.mp4", + "start": 0, + "end": 20, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2293013036251068, + 0.00407831696793437, + 0.14221882820129395, + -0.06538211554288864, + 0.0008577972184866667, + 0.014262513257563114, + 0.0, + 0.9954678416252136 + ], + [ + 0.2265673279762268, + 0.0026521633844822645, + 0.1347569078207016, + -0.08068102598190308, + 0.016598057001829147, + 0.017934855073690414, + 0.0, + 0.9954678416252136 + ], + [ + 0.227597177028656, + 0.007024703081697226, + 0.12154977768659592, + -0.11616858094930649, + -0.010421078652143478, + 0.031227700412273407, + 0.0, + 0.9954678416252136 + ], + [ + 0.23190316557884216, + 0.007082668598741293, + 0.11351623386144638, + -0.12890075147151947, + -0.06105700507760048, + 0.006647428963333368, + 0.0, + 0.9954678416252136 + ], + [ + 0.2393442541360855, + 0.011289998888969421, + 0.11258532106876373, + -0.10735554248094559, + -0.12312985211610794, + -0.054854921996593475, + 0.0, + 0.9954678416252136 + ], + [ + 0.2487555593252182, + 0.015055960044264793, + 0.11993008106946945, + -0.07172708213329315, + -0.15392373502254486, + -0.1054694876074791, + 0.0, + 0.9954678416252136 + ], + [ + 0.26093149185180664, + 0.015342376194894314, + 0.1354358196258545, + -0.011078478768467903, + -0.17861562967300415, + -0.1725999414920807, + 0.0, + 0.9954678416252136 + ], + [ + 0.2706056237220764, + 0.01602094992995262, + 0.13970164954662323, + 0.02914537489414215, + -0.19564087688922882, + -0.2375495433807373, + 0.0, + 0.9954678416252136 + ], + [ + 0.2823544442653656, + 0.014271663501858711, + 0.14944666624069214, + 0.0494975745677948, + -0.1890512853860855, + -0.2710492014884949, + 0.0, + 0.9954678416252136 + ], + [ + 0.29370206594467163, + 0.011695527471601963, + 0.1576671600341797, + 0.08213721215724945, + -0.19067315757274628, + -0.321530282497406, + 0.0, + 0.9954678416252136 + ], + [ + 0.30743396282196045, + 0.01215825229883194, + 0.1614694595336914, + 0.0907813161611557, + -0.18012459576129913, + -0.3669496178627014, + 0.0, + 0.9954678416252136 + ], + [ + 0.319954514503479, + 0.013104841113090515, + 0.16289955377578735, + 0.07522241026163101, + -0.17502909898757935, + -0.40186047554016113, + 0.0, + 0.9954678416252136 + ], + [ + 0.3262921869754791, + 0.016137275844812393, + 0.16160020232200623, + 0.05322037637233734, + -0.16217432916164398, + -0.40274307131767273, + 0.0, + 0.9954678416252136 + ], + [ + 0.3292827308177948, + 0.01389262080192566, + 0.16982974112033844, + 0.09592952579259872, + -0.15297649800777435, + -0.4318144917488098, + 0.0, + 0.9954678416252136 + ], + [ + 0.33201560378074646, + 0.010331382974982262, + 0.1752377599477768, + 0.11932194232940674, + -0.15581505000591278, + -0.44147950410842896, + 0.0, + 0.9954678416252136 + ], + [ + 0.33706772327423096, + 0.009541344828903675, + 0.1738550364971161, + 0.08563609421253204, + -0.1700611263513565, + -0.43407416343688965, + 0.0, + 0.9954678416252136 + ], + [ + 0.34559327363967896, + 0.012878963723778725, + 0.1678132563829422, + 0.06611737608909607, + -0.21619394421577454, + -0.4474055767059326, + 0.0, + 0.9954678416252136 + ], + [ + 0.3525879681110382, + 0.014359477907419205, + 0.15582320094108582, + 0.024427929893136024, + -0.22602368891239166, + -0.4546886384487152, + 0.0, + 0.9947922229766846 + ], + [ + 0.3551953434944153, + 0.015891142189502716, + 0.14646649360656738, + -0.029487546533346176, + -0.25060203671455383, + -0.43369174003601074, + 0.0, + 0.9947922229766846 + ], + [ + 0.3520989716053009, + 0.01797536388039589, + 0.13678328692913055, + -0.03949782997369766, + -0.3169129490852356, + -0.4239286780357361, + 0.0, + 0.9954678416252136 + ] + ], + "left_gripper_pos": [ + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9954678416252136 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2293013036251068, + 0.00407831696793437, + 0.14221882820129395 + ], + [ + 0.2265673279762268, + 0.0026521633844822645, + 0.1347569078207016 + ], + [ + 0.227597177028656, + 0.007024703081697226, + 0.12154977768659592 + ], + [ + 0.23190316557884216, + 0.007082668598741293, + 0.11351623386144638 + ], + [ + 0.2393442541360855, + 0.011289998888969421, + 0.11258532106876373 + ], + [ + 0.2487555593252182, + 0.015055960044264793, + 0.11993008106946945 + ], + [ + 0.26093149185180664, + 0.015342376194894314, + 0.1354358196258545 + ], + [ + 0.2706056237220764, + 0.01602094992995262, + 0.13970164954662323 + ], + [ + 0.2823544442653656, + 0.014271663501858711, + 0.14944666624069214 + ], + [ + 0.29370206594467163, + 0.011695527471601963, + 0.1576671600341797 + ], + [ + 0.30743396282196045, + 0.01215825229883194, + 0.1614694595336914 + ], + [ + 0.319954514503479, + 0.013104841113090515, + 0.16289955377578735 + ], + [ + 0.3262921869754791, + 0.016137275844812393, + 0.16160020232200623 + ], + [ + 0.3292827308177948, + 0.01389262080192566, + 0.16982974112033844 + ], + [ + 0.33201560378074646, + 0.010331382974982262, + 0.1752377599477768 + ], + [ + 0.33706772327423096, + 0.009541344828903675, + 0.1738550364971161 + ], + [ + 0.34559327363967896, + 0.012878963723778725, + 0.1678132563829422 + ], + [ + 0.3525879681110382, + 0.014359477907419205, + 0.15582320094108582 + ], + [ + 0.3551953434944153, + 0.015891142189502716, + 0.14646649360656738 + ], + [ + 0.3520989716053009, + 0.01797536388039589, + 0.13678328692913055 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.999897924211327, + 0.014287595702725833, + 7.594020804694218e-05, + 0.014262024470326064, + -0.9977610608814395, + -0.06534110533770258, + -0.0008577971132898413, + 0.06533551865394792, + -0.9978629836737769 + ], + [ + 0.9997014523647794, + 0.019212974913003333, + -0.01509528849484849, + 0.01793142330773794, + -0.9965627601269588, + -0.08087724764293079, + -0.016597294897335326, + 0.0805824219239503, + -0.9966097546577402 + ], + [ + 0.9994581825097701, + 0.02980491512566137, + 0.013964542549586907, + 0.031220929921687943, + -0.992813468830861, + -0.11552778731914833, + 0.01042089003358886, + 0.11590117834770032, + -0.9932060822953727 + ], + [ + 0.9981145471586458, + -0.0012512363939032405, + 0.0613659934962175, + 0.006634993279511978, + -0.9917340236403271, + -0.12813899959944944, + 0.06101907582446712, + 0.12830456251300434, + -0.9898558539625223 + ], + [ + 0.9909363260091739, + -0.06765195915535241, + 0.11605347999039996, + -0.05441232251074882, + -0.9920259038667394, + -0.1136833550541343, + 0.12281896007712283, + 0.10633822680400795, + -0.986715604703682 + ], + [ + 0.9826860567479971, + -0.11592984340610382, + 0.14452814701956415, + -0.10402941582657743, + -0.9907295492389757, + -0.08736613135258688, + 0.15331664787573965, + 0.07081830040725819, + -0.9856362279317731 + ], + [ + 0.9694685540252171, + -0.17367269711356986, + 0.17311417340458476, + -0.16901188816212165, + -0.984743083546098, + -0.04142512604684623, + 0.17766739829279007, + 0.010902003734214568, + -0.984030203753142 + ], + [ + 0.9533765465770008, + -0.22971591854613496, + 0.19571345687871552, + -0.23083252929761497, + -0.9728378465600055, + -0.017403095085545287, + 0.1943952259058259, + -0.02858532957648527, + -0.9805066930307137 + ], + [ + 0.946323968074175, + -0.25845588984453516, + 0.19409147444701813, + -0.26297210278332084, + -0.9647999786184162, + -0.0025834890405046773, + 0.18792716835536716, + -0.04859582556736101, + -0.9809800329932103 + ], + [ + 0.931558568699839, + -0.30020108488225106, + 0.20512908549844086, + -0.31029154388518576, + -0.9504681588186514, + 0.018150395732058993, + 0.18951989572405056, + -0.08055797730456003, + -0.9785666157279957 + ], + [ + 0.9183245247722781, + -0.34213236992793916, + 0.19906156999597072, + -0.35296539863837983, + -0.9354093166592754, + 0.020611590697385322, + 0.17915215478977245, + -0.08918997563918665, + -0.9797702045273995 + ], + [ + 0.9062735346685655, + -0.377981118756399, + 0.18920505866124576, + -0.3851553686612515, + -0.9228509020856228, + 0.0012468003720421672, + 0.17413679206520344, + -0.07400328630144257, + -0.9819368061468248 + ], + [ + 0.9079177244443827, + -0.3834865525974602, + 0.16918472039947696, + -0.38680054018902826, + -0.9220531991160855, + -0.014256230542046364, + 0.1614643853895022, + -0.05249725684935816, + -0.9854812480580656 + ], + [ + 0.8976016996991436, + -0.4033395536864324, + 0.1778437323304865, + -0.41363191285456424, + -0.910140620797222, + 0.023509382023378593, + 0.15238054129541062, + -0.09466390445611536, + -0.9837778793140456 + ], + [ + 0.8931674134062662, + -0.4075375452977895, + 0.1901712933168732, + -0.4221012745745294, + -0.9055849610575564, + 0.04178985892464648, + 0.1551853267281344, + -0.11759688549887812, + -0.9808610945945638 + ], + [ + 0.8941720649860395, + -0.40589631391112374, + 0.1889563456250257, + -0.4145036339902473, + -0.9100231278228745, + 0.00668163425750342, + 0.16924259395164312, + -0.08429762262860363, + -0.9819627565298414 + ], + [ + 0.8805848234733076, + -0.41890489244056617, + 0.22156051037547647, + -0.42255677460318297, + -0.9057341866854131, + -0.033035667183643994, + 0.2145137312748039, + -0.06453118748846429, + -0.974586879111293 + ], + [ + 0.8755472518704218, + -0.43413387984147384, + 0.21200184932198202, + -0.42801208887334924, + -0.9005338041369224, + -0.07644945640718914, + 0.22410413097581178, + -0.0238042429090125, + -0.9742744461901403 + ], + [ + 0.8790757558553863, + -0.4266755203919595, + 0.21254132719434107, + -0.40709722011810584, + -0.903953646245679, + -0.13091851974129728, + 0.24798723523478353, + 0.028562313236020202, + -0.9683421530756656 + ], + [ + 0.866090038957923, + -0.4222401007108555, + 0.2675842704075664, + -0.390860384953716, + -0.905707160195043, + -0.16408138055630528, + 0.31163472831457006, + 0.037521158339219596, + -0.9494608779645356 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.002733975648880005, + -0.0014261535834521055, + -0.007461920380592346, + -0.015298910439014435, + 0.01574026048183441, + 0.0036723418161273003, + 1.0 + ], + [ + 0.0010298490524291992, + 0.004372539930045605, + -0.013207130134105682, + -0.03548755496740341, + -0.027019135653972626, + 0.013292845338582993, + 1.0 + ], + [ + 0.004305988550186157, + 5.796551704406738e-05, + -0.008033543825149536, + -0.012732170522212982, + -0.050635926425457, + -0.024580271914601326, + 1.0 + ], + [ + 0.007441088557243347, + 0.004207330290228128, + -0.0009309127926826477, + 0.021545208990573883, + -0.06207284703850746, + -0.061502352356910706, + 1.0 + ], + [ + 0.00941130518913269, + 0.003765961155295372, + 0.007344760000705719, + 0.035628460347652435, + -0.03079388290643692, + -0.05061456561088562, + 1.0 + ], + [ + 0.01217593252658844, + 0.0002864161506295204, + 0.01550573855638504, + 0.0606486052274704, + -0.02469189465045929, + -0.06713045388460159, + 1.0 + ], + [ + 0.009674131870269775, + 0.0006785737350583076, + 0.004265829920768738, + 0.040223851799964905, + -0.01702524721622467, + -0.06494960188865662, + 1.0 + ], + [ + 0.011748820543289185, + -0.0017492864280939102, + 0.009745016694068909, + 0.02035219967365265, + 0.0065895915031433105, + -0.03349965810775757, + 1.0 + ], + [ + 0.01134762167930603, + -0.002576136030256748, + 0.008220493793487549, + 0.03263963758945465, + -0.0016218721866607666, + -0.05048108100891113, + 1.0 + ], + [ + 0.013731896877288818, + 0.00046272482722997665, + 0.0038022994995117188, + 0.00864410400390625, + 0.010548561811447144, + -0.04541933536529541, + 1.0 + ], + [ + 0.012520551681518555, + 0.0009465888142585754, + 0.0014300942420959473, + -0.015558905899524689, + 0.005095496773719788, + -0.03491085767745972, + 1.0 + ], + [ + 0.006337672472000122, + 0.003032434731721878, + -0.001299351453781128, + -0.02200203388929367, + 0.012854769825935364, + -0.0008825957775115967, + 1.0 + ], + [ + 0.002990543842315674, + -0.002244655042886734, + 0.008229538798332214, + 0.04270914942026138, + 0.009197831153869629, + -0.029071420431137085, + 1.0 + ], + [ + 0.00273287296295166, + -0.0035612378269433975, + 0.0054080188274383545, + 0.023392416536808014, + -0.0028385519981384277, + -0.00966501235961914, + 1.0 + ], + [ + 0.005052119493484497, + -0.0007900381460785866, + -0.0013827234506607056, + -0.033685848116874695, + -0.014246076345443726, + 0.007405340671539307, + 1.0 + ], + [ + 0.008525550365447998, + 0.0033376188948750496, + -0.006041780114173889, + -0.019518718123435974, + -0.04613281786441803, + -0.013331413269042969, + 1.0 + ], + [ + 0.006994694471359253, + 0.00148051418364048, + -0.011990055441856384, + -0.041689448058605194, + -0.009829744696617126, + -0.007283061742782593, + 1.0 + ], + [ + 0.002607375383377075, + 0.0015316642820835114, + -0.009356707334518433, + -0.05391547828912735, + -0.02457834780216217, + 0.020996898412704468, + 1.0 + ], + [ + -0.00309637188911438, + 0.0020842216908931732, + -0.009683206677436829, + -0.010010283440351486, + -0.06631091237068176, + 0.009763062000274658, + 1.0 + ], + [ + -0.001121819019317627, + 0.0011478681117296219, + -0.0041227638721466064, + 0.0038455724716186523, + -0.07412731647491455, + 0.004052102565765381, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9947922229766846 + ], + [ + 0.9947922229766846 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2265673279762268, + 0.0026521633844822645, + 0.1347569078207016 + ], + [ + 0.227597177028656, + 0.007024703081697226, + 0.12154977768659592 + ], + [ + 0.23190316557884216, + 0.007082668598741293, + 0.11351623386144638 + ], + [ + 0.2393442541360855, + 0.011289998888969421, + 0.11258532106876373 + ], + [ + 0.2487555593252182, + 0.015055960044264793, + 0.11993008106946945 + ], + [ + 0.26093149185180664, + 0.015342376194894314, + 0.1354358196258545 + ], + [ + 0.2706056237220764, + 0.01602094992995262, + 0.13970164954662323 + ], + [ + 0.2823544442653656, + 0.014271663501858711, + 0.14944666624069214 + ], + [ + 0.29370206594467163, + 0.011695527471601963, + 0.1576671600341797 + ], + [ + 0.30743396282196045, + 0.01215825229883194, + 0.1614694595336914 + ], + [ + 0.319954514503479, + 0.013104841113090515, + 0.16289955377578735 + ], + [ + 0.3262921869754791, + 0.016137275844812393, + 0.16160020232200623 + ], + [ + 0.3292827308177948, + 0.01389262080192566, + 0.16982974112033844 + ], + [ + 0.33201560378074646, + 0.010331382974982262, + 0.1752377599477768 + ], + [ + 0.33706772327423096, + 0.009541344828903675, + 0.1738550364971161 + ], + [ + 0.34559327363967896, + 0.012878963723778725, + 0.1678132563829422 + ], + [ + 0.3525879681110382, + 0.014359477907419205, + 0.15582320094108582 + ], + [ + 0.3551953434944153, + 0.015891142189502716, + 0.14646649360656738 + ], + [ + 0.3520989716053009, + 0.01797536388039589, + 0.13678328692913055 + ], + [ + 0.3509771525859833, + 0.01912323199212551, + 0.13266052305698395 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9997014523647794, + 0.019212974913003333, + -0.01509528849484849, + 0.01793142330773794, + -0.9965627601269588, + -0.08087724764293079, + -0.016597294897335326, + 0.0805824219239503, + -0.9966097546577402 + ], + [ + 0.9994581825097701, + 0.02980491512566137, + 0.013964542549586907, + 0.031220929921687943, + -0.992813468830861, + -0.11552778731914833, + 0.01042089003358886, + 0.11590117834770032, + -0.9932060822953727 + ], + [ + 0.9981145471586458, + -0.0012512363939032405, + 0.0613659934962175, + 0.006634993279511978, + -0.9917340236403271, + -0.12813899959944944, + 0.06101907582446712, + 0.12830456251300434, + -0.9898558539625223 + ], + [ + 0.9909363260091739, + -0.06765195915535241, + 0.11605347999039996, + -0.05441232251074882, + -0.9920259038667394, + -0.1136833550541343, + 0.12281896007712283, + 0.10633822680400795, + -0.986715604703682 + ], + [ + 0.9826860567479971, + -0.11592984340610382, + 0.14452814701956415, + -0.10402941582657743, + -0.9907295492389757, + -0.08736613135258688, + 0.15331664787573965, + 0.07081830040725819, + -0.9856362279317731 + ], + [ + 0.9694685540252171, + -0.17367269711356986, + 0.17311417340458476, + -0.16901188816212165, + -0.984743083546098, + -0.04142512604684623, + 0.17766739829279007, + 0.010902003734214568, + -0.984030203753142 + ], + [ + 0.9533765465770008, + -0.22971591854613496, + 0.19571345687871552, + -0.23083252929761497, + -0.9728378465600055, + -0.017403095085545287, + 0.1943952259058259, + -0.02858532957648527, + -0.9805066930307137 + ], + [ + 0.946323968074175, + -0.25845588984453516, + 0.19409147444701813, + -0.26297210278332084, + -0.9647999786184162, + -0.0025834890405046773, + 0.18792716835536716, + -0.04859582556736101, + -0.9809800329932103 + ], + [ + 0.931558568699839, + -0.30020108488225106, + 0.20512908549844086, + -0.31029154388518576, + -0.9504681588186514, + 0.018150395732058993, + 0.18951989572405056, + -0.08055797730456003, + -0.9785666157279957 + ], + [ + 0.9183245247722781, + -0.34213236992793916, + 0.19906156999597072, + -0.35296539863837983, + -0.9354093166592754, + 0.020611590697385322, + 0.17915215478977245, + -0.08918997563918665, + -0.9797702045273995 + ], + [ + 0.9062735346685655, + -0.377981118756399, + 0.18920505866124576, + -0.3851553686612515, + -0.9228509020856228, + 0.0012468003720421672, + 0.17413679206520344, + -0.07400328630144257, + -0.9819368061468248 + ], + [ + 0.9079177244443827, + -0.3834865525974602, + 0.16918472039947696, + -0.38680054018902826, + -0.9220531991160855, + -0.014256230542046364, + 0.1614643853895022, + -0.05249725684935816, + -0.9854812480580656 + ], + [ + 0.8976016996991436, + -0.4033395536864324, + 0.1778437323304865, + -0.41363191285456424, + -0.910140620797222, + 0.023509382023378593, + 0.15238054129541062, + -0.09466390445611536, + -0.9837778793140456 + ], + [ + 0.8931674134062662, + -0.4075375452977895, + 0.1901712933168732, + -0.4221012745745294, + -0.9055849610575564, + 0.04178985892464648, + 0.1551853267281344, + -0.11759688549887812, + -0.9808610945945638 + ], + [ + 0.8941720649860395, + -0.40589631391112374, + 0.1889563456250257, + -0.4145036339902473, + -0.9100231278228745, + 0.00668163425750342, + 0.16924259395164312, + -0.08429762262860363, + -0.9819627565298414 + ], + [ + 0.8805848234733076, + -0.41890489244056617, + 0.22156051037547647, + -0.42255677460318297, + -0.9057341866854131, + -0.033035667183643994, + 0.2145137312748039, + -0.06453118748846429, + -0.974586879111293 + ], + [ + 0.8755472518704218, + -0.43413387984147384, + 0.21200184932198202, + -0.42801208887334924, + -0.9005338041369224, + -0.07644945640718914, + 0.22410413097581178, + -0.0238042429090125, + -0.9742744461901403 + ], + [ + 0.8790757558553863, + -0.4266755203919595, + 0.21254132719434107, + -0.40709722011810584, + -0.903953646245679, + -0.13091851974129728, + 0.24798723523478353, + 0.028562313236020202, + -0.9683421530756656 + ], + [ + 0.866090038957923, + -0.4222401007108555, + 0.2675842704075664, + -0.390860384953716, + -0.905707160195043, + -0.16408138055630528, + 0.31163472831457006, + 0.037521158339219596, + -0.9494608779645356 + ], + [ + 0.8442091747376513, + -0.4197946055495582, + 0.3332917017272775, + -0.37687567200234134, + -0.9070206851724034, + -0.18782493051287819, + 0.3811503602799784, + 0.03295399552216198, + -0.9239255581688214 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006646.json b/json/chunk-0006/episode_0006646.json new file mode 100644 index 0000000000000000000000000000000000000000..9efb7ce312543e738be42aad8f53b585ec97675a --- /dev/null +++ b/json/chunk-0006/episode_0006646.json @@ -0,0 +1,1282 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 20, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove drying rack out of sink." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006646.mp4", + "start": 0, + "end": 20, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.253273606300354, + -0.13676515221595764, + 0.08251697570085526, + -0.034786406904459, + 0.0550236739218235, + 0.1735948771238327, + 0.0, + 0.9947922229766846 + ], + [ + 0.25014981627464294, + -0.13534997403621674, + 0.06979500502347946, + -0.015806378796696663, + 0.07732486724853516, + 0.1737413853406906, + 0.0, + 0.9941151142120361 + ], + [ + 0.24699418246746063, + -0.13979636132717133, + 0.04667450115084648, + 0.00653178570792079, + 0.07005558907985687, + 0.16599859297275543, + 0.0, + 0.9941151142120361 + ], + [ + 0.24697232246398926, + -0.14332523941993713, + 0.03247343376278877, + 0.004603785928338766, + 0.05307359993457794, + 0.17119517922401428, + 0.0, + 0.9941151142120361 + ], + [ + 0.24801714718341827, + -0.1504620462656021, + 0.019953226670622826, + -0.009072338230907917, + 0.0350530743598938, + 0.16588535904884338, + 0.0, + 0.9941151142120361 + ], + [ + 0.24539385735988617, + -0.15454840660095215, + 0.0029652041848748922, + 0.01087238360196352, + 0.052991218864917755, + 0.16396065056324005, + 0.0, + 0.9900195002555847 + ], + [ + 0.24823300540447235, + -0.1591205894947052, + -0.005010444670915604, + 0.036058783531188965, + 0.04795394837856293, + 0.1538904309272766, + 0.0, + 0.8998980522155762 + ], + [ + 0.24951814115047455, + -0.15992319583892822, + -0.005759140010923147, + 0.02497745119035244, + 0.03522058576345444, + 0.15352225303649902, + 0.0, + 0.6019018292427063 + ], + [ + 0.24907071888446808, + -0.15954259037971497, + -0.006574936211109161, + 0.026545973494648933, + 0.03181438148021698, + 0.15336385369300842, + 0.0, + 0.3142010271549225 + ], + [ + 0.24939174950122833, + -0.15913814306259155, + -0.004964611493051052, + 0.030708448961377144, + -0.0032396316528320312, + 0.14972123503684998, + 0.0, + 0.12661112844944 + ], + [ + 0.2477978765964508, + -0.1580624282360077, + 0.007615217007696629, + 0.026840362697839737, + -0.02481698803603649, + 0.14105303585529327, + 0.0, + 0.07624256610870361 + ], + [ + 0.2496969848871231, + -0.15275774896144867, + 0.03727217763662338, + -0.007902275770902634, + -0.055496249347925186, + 0.1702847182750702, + 0.0, + 0.07494325935840607 + ], + [ + 0.2556047737598419, + -0.14341267943382263, + 0.06622093170881271, + -0.04716796427965164, + -0.0505642406642437, + 0.18782594799995422, + 0.0, + 0.08157449960708618 + ], + [ + 0.26596319675445557, + -0.1261843889951706, + 0.10537707060575485, + -0.10581375658512115, + -0.0638655573129654, + 0.190426304936409, + 0.0, + 0.0832853764295578 + ], + [ + 0.26936906576156616, + -0.09972523152828217, + 0.11467143148183823, + -0.07479710131883621, + -0.022990673780441284, + 0.19954818487167358, + 0.0, + 0.08397578448057175 + ], + [ + 0.2736018896102905, + -0.09059331566095352, + 0.1267261654138565, + -0.08232758194208145, + -0.032265085726976395, + 0.16752514243125916, + 0.0, + 0.0846695825457573 + ], + [ + 0.27351081371307373, + -0.05676078796386719, + 0.12093131244182587, + -0.07360522449016571, + -0.0773315504193306, + 0.15375517308712006, + 0.0, + 0.08501782268285751 + ], + [ + 0.266428142786026, + -0.019873609766364098, + 0.09881511330604553, + -0.0211450457572937, + -0.0833652913570404, + 0.13035495579242706, + 0.0, + 0.08501782268285751 + ], + [ + 0.26504912972450256, + -0.0036048274487257004, + 0.08607876300811768, + 0.021190349012613297, + -0.11918539553880692, + 0.0931548997759819, + 0.0, + 0.08501782268285751 + ], + [ + 0.2629683315753937, + 0.031907834112644196, + 0.08773139864206314, + 0.05362449958920479, + -0.10676540434360504, + 0.0616932287812233, + 0.0, + 0.08501782268285751 + ] + ], + "left_gripper_pos": [ + [ + 0.9947922229766846 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9900195002555847 + ], + [ + 0.8998980522155762 + ], + [ + 0.6019018292427063 + ], + [ + 0.3142010271549225 + ], + [ + 0.12661112844944 + ], + [ + 0.07624256610870361 + ], + [ + 0.07494325935840607 + ], + [ + 0.08157449960708618 + ], + [ + 0.0832853764295578 + ], + [ + 0.08397578448057175 + ], + [ + 0.0846695825457573 + ], + [ + 0.08501782268285751 + ], + [ + 0.08501782268285751 + ], + [ + 0.08501782268285751 + ], + [ + 0.08501782268285751 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.253273606300354, + -0.13676515221595764, + 0.08251697570085526 + ], + [ + 0.25014981627464294, + -0.13534997403621674, + 0.06979500502347946 + ], + [ + 0.24699418246746063, + -0.13979636132717133, + 0.04667450115084648 + ], + [ + 0.24697232246398926, + -0.14332523941993713, + 0.03247343376278877 + ], + [ + 0.24801714718341827, + -0.1504620462656021, + 0.019953226670622826 + ], + [ + 0.24539385735988617, + -0.15454840660095215, + 0.0029652041848748922 + ], + [ + 0.24823300540447235, + -0.1591205894947052, + -0.005010444670915604 + ], + [ + 0.24951814115047455, + -0.15992319583892822, + -0.005759140010923147 + ], + [ + 0.24907071888446808, + -0.15954259037971497, + -0.006574936211109161 + ], + [ + 0.24939174950122833, + -0.15913814306259155, + -0.004964611493051052 + ], + [ + 0.2477978765964508, + -0.1580624282360077, + 0.007615217007696629 + ], + [ + 0.2496969848871231, + -0.15275774896144867, + 0.03727217763662338 + ], + [ + 0.2556047737598419, + -0.14341267943382263, + 0.06622093170881271 + ], + [ + 0.26596319675445557, + -0.1261843889951706, + 0.10537707060575485 + ], + [ + 0.26936906576156616, + -0.09972523152828217, + 0.11467143148183823 + ], + [ + 0.2736018896102905, + -0.09059331566095352, + 0.1267261654138565 + ], + [ + 0.27351081371307373, + -0.05676078796386719, + 0.12093131244182587 + ], + [ + 0.266428142786026, + -0.019873609766364098, + 0.09881511330604553 + ], + [ + 0.26504912972450256, + -0.0036048274487257004, + 0.08607876300811768 + ], + [ + 0.2629683315753937, + 0.031907834112644196, + 0.08773139864206314 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9834795359841908, + 0.1745037851415042, + -0.04812931821258852, + 0.1724628998906463, + -0.9840439428252569, + -0.043750048574047004, + -0.05499591313570293, + 0.03472675568218685, + -0.9978825091052352 + ], + [ + 0.9820018015198836, + 0.1740495903644113, + -0.07334304265357211, + 0.17235206382882162, + -0.9846107911389361, + -0.028919821346335455, + -0.07724783431041202, + 0.015758491892906155, + -0.9968873768022204 + ], + [ + 0.9838346707851022, + 0.16478282876582953, + -0.07011390664554866, + 0.16483197060718754, + -0.9863083517682051, + -0.0051241290028514784, + -0.0699983001716518, + -0.006515717628773389, + -0.9975258309421673 + ], + [ + 0.9839943702697818, + 0.17011771917664076, + -0.053056959011168664, + 0.17012029883237811, + -0.9854130233421591, + -0.004500816908913181, + -0.053048687095512706, + -0.004597287222131639, + -0.9985813445822225 + ], + [ + 0.9856666830843887, + 0.16543238474612068, + -0.033065328285545814, + 0.16502416490388752, + -0.9861794573517929, + -0.014734411935939174, + -0.03504589641019258, + 0.009066640752501102, + -0.9993445757946912 + ], + [ + 0.9852036577296797, + 0.16264922497554732, + -0.05402760785852385, + 0.16299788634535192, + -0.9866242228741381, + 0.00208131808022226, + -0.05296642184448901, + -0.010856908070768797, + -0.9985372730670272 + ], + [ + 0.9870462330385746, + 0.15147639448304942, + -0.05286431460612694, + 0.15310752701965033, + -0.9878047458363276, + 0.028281960207092637, + -0.04793557149223341, + -0.03600952676229053, + -0.9982011295165264 + ], + [ + 0.9876257001217662, + 0.15200309779614576, + -0.03860744383362461, + 0.1528250622471283, + -0.9880648199121829, + 0.019297979196463557, + -0.03521330441967197, + -0.02495936522191879, + -0.9990680924139087 + ], + [ + 0.9877627013327821, + 0.1518751474605784, + -0.035479366392207765, + 0.15268605838956256, + -0.9880435867077184, + 0.021373776905503704, + -0.031809014904961366, + -0.026529424222449888, + -0.9991418198740363 + ], + [ + 0.9888075087368192, + 0.14919052216313866, + -0.0013779558683299734, + 0.14916170919225702, + -0.9883316677804225, + 0.030843134944637033, + 0.0032396259860641655, + -0.030703461678751678, + -0.9995232875048042 + ], + [ + 0.9897636358384196, + 0.14119446847774095, + 0.02078622724789149, + 0.14054248006775946, + -0.9896182766435645, + 0.030057907934939895, + 0.024814440721406587, + -0.02682887631471188, + -0.999332004354596 + ], + [ + 0.9840193027760158, + 0.16902568763167503, + 0.05600293460920591, + 0.16920206430858287, + -0.9855800649261943, + 0.0016115377105928625, + 0.05546776719787591, + 0.007890027928841376, + -0.9984293035870713 + ], + [ + 0.9811568828223677, + 0.18417464850982584, + 0.058402655218548004, + 0.1864848709438881, + -0.981764844890658, + -0.036894203418200905, + 0.050542696795243196, + 0.04709021324122767, + -0.9976111204359941 + ], + [ + 0.9799217752996555, + 0.18160005213662017, + 0.08230878056166578, + 0.1888916287973587, + -0.9777075389989698, + -0.09169471497779441, + 0.06382215026033249, + 0.10540108751125363, + -0.9923796369774991 + ], + [ + 0.9798972099019301, + 0.19598846828715127, + 0.03728241307732563, + 0.19817411553505015, + -0.9777562531002176, + -0.068700287156045, + 0.02298864846641976, + 0.07470762894028131, + -0.9969404657349444 + ], + [ + 0.9854872640469909, + 0.16356218603879386, + 0.04541215365282094, + 0.16665586652105385, + -0.9831032078622562, + -0.07572255176008054, + 0.03225948783370745, + 0.08219181217829653, + -0.9960942884363682 + ], + [ + 0.9852496038013092, + 0.14712122105392003, + 0.08739888171462373, + 0.1526923731687194, + -0.98639731860882, + -0.06087174235583013, + 0.07725449750964491, + 0.0733190027000751, + -0.9943118557362165 + ], + [ + 0.988072407463186, + 0.12821138349974037, + 0.08529219630767206, + 0.12953466976707595, + -0.9915230176314515, + -0.010142723271154137, + 0.08326876328034745, + 0.02107004148318506, + -0.99630435430829 + ], + [ + 0.988600802444865, + 0.09550783684517572, + 0.11639031964267822, + 0.09236032592472532, + -0.9952063287955019, + 0.03215483354736039, + 0.11890342131514982, + -0.02103844639072082, + -0.9926829101848269 + ], + [ + 0.992414394767422, + 0.0672662434413754, + 0.10290248564392139, + 0.06130304228304225, + -0.9963107163725531, + 0.060057417926962245, + 0.10656268608314713, + -0.05329361063482088, + -0.9928767219550718 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0031237900257110596, + 0.0014151781797409058, + -0.012721970677375793, + 0.018980028107762337, + 0.022301193326711655, + 0.00014650821685791016, + 1.0 + ], + [ + -0.003155633807182312, + -0.00444638729095459, + -0.02312050387263298, + 0.02233816497027874, + -0.007269278168678284, + -0.007742792367935181, + 1.0 + ], + [ + -2.1860003471374512e-05, + -0.003528878092765808, + -0.014201067388057709, + -0.0019279997795820236, + -0.01698198914527893, + 0.00519658625125885, + 1.0 + ], + [ + 0.0010448247194290161, + -0.007136806845664978, + -0.012520207092165947, + -0.013676123693585396, + -0.018020525574684143, + -0.0053098201751708984, + 1.0 + ], + [ + -0.0026232898235321045, + -0.004086360335350037, + -0.01698802225291729, + 0.019944721832871437, + 0.017938144505023956, + -0.0019247084856033325, + 1.0 + ], + [ + 0.0028391480445861816, + -0.004572182893753052, + -0.00797564908862114, + 0.02518640086054802, + -0.005037270486354828, + -0.01007021963596344, + 0.0 + ], + [ + 0.0012851357460021973, + -0.0008026063442230225, + -0.0007486953400075436, + -0.011081332340836525, + -0.01273336261510849, + -0.0003681778907775879, + 0.0 + ], + [ + -0.0004474222660064697, + 0.00038060545921325684, + -0.0008157962001860142, + 0.0015685223042964935, + -0.0034062042832374573, + -0.00015839934349060059, + 0.0 + ], + [ + 0.0003210306167602539, + 0.0004044473171234131, + 0.0016103247180581093, + 0.0041624754667282104, + -0.03505401313304901, + -0.0036426186561584473, + 0.0 + ], + [ + -0.0015938729047775269, + 0.0010757148265838623, + 0.01257982850074768, + -0.003868086263537407, + -0.02157735638320446, + -0.008668199181556702, + 0.0 + ], + [ + 0.0018991082906723022, + 0.005304679274559021, + 0.02965696156024933, + -0.03474263846874237, + -0.030679261311888695, + 0.029231682419776917, + 0.0 + ], + [ + 0.005907788872718811, + 0.009345069527626038, + 0.02894875407218933, + -0.03926568850874901, + 0.004932008683681488, + 0.017541229724884033, + 0.0 + ], + [ + 0.010358422994613647, + 0.01722829043865204, + 0.03915613889694214, + -0.05864579230546951, + -0.013301316648721695, + 0.002600356936454773, + 0.0 + ], + [ + 0.0034058690071105957, + 0.026459157466888428, + 0.009294360876083374, + 0.031016655266284943, + 0.04087488353252411, + 0.009121879935264587, + 0.0 + ], + [ + 0.004232823848724365, + 0.009131915867328644, + 0.01205473393201828, + -0.007530480623245239, + -0.00927441194653511, + -0.03202304244041443, + 0.0 + ], + [ + -9.107589721679688e-05, + 0.033832527697086334, + -0.00579485297203064, + 0.008722357451915741, + -0.0450664646923542, + -0.013769969344139099, + 0.0 + ], + [ + -0.0070826709270477295, + 0.03688717633485794, + -0.022116199135780334, + 0.05246017873287201, + -0.006033740937709808, + -0.023400217294692993, + 0.0 + ], + [ + -0.0013790130615234375, + 0.016268782317638397, + -0.012736350297927856, + 0.042335394769907, + -0.03582010418176651, + -0.03720005601644516, + 0.0 + ], + [ + -0.0020807981491088867, + 0.035512663424015045, + 0.001652635633945465, + 0.03243415057659149, + 0.012419991195201874, + -0.031461670994758606, + 0.0 + ], + [ + 0.00565454363822937, + 0.03538288176059723, + 0.0057019516825675964, + -0.0033101439476013184, + 0.002932332456111908, + -0.003627888858318329, + 0.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9900195002555847 + ], + [ + 0.8998980522155762 + ], + [ + 0.6019018292427063 + ], + [ + 0.3142010271549225 + ], + [ + 0.12661112844944 + ], + [ + 0.07624256610870361 + ], + [ + 0.07494325935840607 + ], + [ + 0.08157449960708618 + ], + [ + 0.0832853764295578 + ], + [ + 0.08397578448057175 + ], + [ + 0.0846695825457573 + ], + [ + 0.08501782268285751 + ], + [ + 0.08501782268285751 + ], + [ + 0.08501782268285751 + ], + [ + 0.08501782268285751 + ], + [ + 0.08501782268285751 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.25014981627464294, + -0.13534997403621674, + 0.06979500502347946 + ], + [ + 0.24699418246746063, + -0.13979636132717133, + 0.04667450115084648 + ], + [ + 0.24697232246398926, + -0.14332523941993713, + 0.03247343376278877 + ], + [ + 0.24801714718341827, + -0.1504620462656021, + 0.019953226670622826 + ], + [ + 0.24539385735988617, + -0.15454840660095215, + 0.0029652041848748922 + ], + [ + 0.24823300540447235, + -0.1591205894947052, + -0.005010444670915604 + ], + [ + 0.24951814115047455, + -0.15992319583892822, + -0.005759140010923147 + ], + [ + 0.24907071888446808, + -0.15954259037971497, + -0.006574936211109161 + ], + [ + 0.24939174950122833, + -0.15913814306259155, + -0.004964611493051052 + ], + [ + 0.2477978765964508, + -0.1580624282360077, + 0.007615217007696629 + ], + [ + 0.2496969848871231, + -0.15275774896144867, + 0.03727217763662338 + ], + [ + 0.2556047737598419, + -0.14341267943382263, + 0.06622093170881271 + ], + [ + 0.26596319675445557, + -0.1261843889951706, + 0.10537707060575485 + ], + [ + 0.26936906576156616, + -0.09972523152828217, + 0.11467143148183823 + ], + [ + 0.2736018896102905, + -0.09059331566095352, + 0.1267261654138565 + ], + [ + 0.27351081371307373, + -0.05676078796386719, + 0.12093131244182587 + ], + [ + 0.266428142786026, + -0.019873609766364098, + 0.09881511330604553 + ], + [ + 0.26504912972450256, + -0.0036048274487257004, + 0.08607876300811768 + ], + [ + 0.2629683315753937, + 0.031907834112644196, + 0.08773139864206314 + ], + [ + 0.26862287521362305, + 0.06729071587324142, + 0.09343335032463074 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9820018015198836, + 0.1740495903644113, + -0.07334304265357211, + 0.17235206382882162, + -0.9846107911389361, + -0.028919821346335455, + -0.07724783431041202, + 0.015758491892906155, + -0.9968873768022204 + ], + [ + 0.9838346707851022, + 0.16478282876582953, + -0.07011390664554866, + 0.16483197060718754, + -0.9863083517682051, + -0.0051241290028514784, + -0.0699983001716518, + -0.006515717628773389, + -0.9975258309421673 + ], + [ + 0.9839943702697818, + 0.17011771917664076, + -0.053056959011168664, + 0.17012029883237811, + -0.9854130233421591, + -0.004500816908913181, + -0.053048687095512706, + -0.004597287222131639, + -0.9985813445822225 + ], + [ + 0.9856666830843887, + 0.16543238474612068, + -0.033065328285545814, + 0.16502416490388752, + -0.9861794573517929, + -0.014734411935939174, + -0.03504589641019258, + 0.009066640752501102, + -0.9993445757946912 + ], + [ + 0.9852036577296797, + 0.16264922497554732, + -0.05402760785852385, + 0.16299788634535192, + -0.9866242228741381, + 0.00208131808022226, + -0.05296642184448901, + -0.010856908070768797, + -0.9985372730670272 + ], + [ + 0.9870462330385746, + 0.15147639448304942, + -0.05286431460612694, + 0.15310752701965033, + -0.9878047458363276, + 0.028281960207092637, + -0.04793557149223341, + -0.03600952676229053, + -0.9982011295165264 + ], + [ + 0.9876257001217662, + 0.15200309779614576, + -0.03860744383362461, + 0.1528250622471283, + -0.9880648199121829, + 0.019297979196463557, + -0.03521330441967197, + -0.02495936522191879, + -0.9990680924139087 + ], + [ + 0.9877627013327821, + 0.1518751474605784, + -0.035479366392207765, + 0.15268605838956256, + -0.9880435867077184, + 0.021373776905503704, + -0.031809014904961366, + -0.026529424222449888, + -0.9991418198740363 + ], + [ + 0.9888075087368192, + 0.14919052216313866, + -0.0013779558683299734, + 0.14916170919225702, + -0.9883316677804225, + 0.030843134944637033, + 0.0032396259860641655, + -0.030703461678751678, + -0.9995232875048042 + ], + [ + 0.9897636358384196, + 0.14119446847774095, + 0.02078622724789149, + 0.14054248006775946, + -0.9896182766435645, + 0.030057907934939895, + 0.024814440721406587, + -0.02682887631471188, + -0.999332004354596 + ], + [ + 0.9840193027760158, + 0.16902568763167503, + 0.05600293460920591, + 0.16920206430858287, + -0.9855800649261943, + 0.0016115377105928625, + 0.05546776719787591, + 0.007890027928841376, + -0.9984293035870713 + ], + [ + 0.9811568828223677, + 0.18417464850982584, + 0.058402655218548004, + 0.1864848709438881, + -0.981764844890658, + -0.036894203418200905, + 0.050542696795243196, + 0.04709021324122767, + -0.9976111204359941 + ], + [ + 0.9799217752996555, + 0.18160005213662017, + 0.08230878056166578, + 0.1888916287973587, + -0.9777075389989698, + -0.09169471497779441, + 0.06382215026033249, + 0.10540108751125363, + -0.9923796369774991 + ], + [ + 0.9798972099019301, + 0.19598846828715127, + 0.03728241307732563, + 0.19817411553505015, + -0.9777562531002176, + -0.068700287156045, + 0.02298864846641976, + 0.07470762894028131, + -0.9969404657349444 + ], + [ + 0.9854872640469909, + 0.16356218603879386, + 0.04541215365282094, + 0.16665586652105385, + -0.9831032078622562, + -0.07572255176008054, + 0.03225948783370745, + 0.08219181217829653, + -0.9960942884363682 + ], + [ + 0.9852496038013092, + 0.14712122105392003, + 0.08739888171462373, + 0.1526923731687194, + -0.98639731860882, + -0.06087174235583013, + 0.07725449750964491, + 0.0733190027000751, + -0.9943118557362165 + ], + [ + 0.988072407463186, + 0.12821138349974037, + 0.08529219630767206, + 0.12953466976707595, + -0.9915230176314515, + -0.010142723271154137, + 0.08326876328034745, + 0.02107004148318506, + -0.99630435430829 + ], + [ + 0.988600802444865, + 0.09550783684517572, + 0.11639031964267822, + 0.09236032592472532, + -0.9952063287955019, + 0.03215483354736039, + 0.11890342131514982, + -0.02103844639072082, + -0.9926829101848269 + ], + [ + 0.992414394767422, + 0.0672662434413754, + 0.10290248564392139, + 0.06130304228304225, + -0.9963107163725531, + 0.060057417926962245, + 0.10656268608314713, + -0.05329361063482088, + -0.9928767219550718 + ], + [ + 0.9929379465945286, + 0.06316320294162212, + 0.10042232822832062, + 0.05772016343096773, + -0.9967488065079436, + 0.056215651365899316, + 0.10364659640404733, + -0.05002226023627303, + -0.9933555036011584 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006648.json b/json/chunk-0006/episode_0006648.json new file mode 100644 index 0000000000000000000000000000000000000000..3432ea0af95949b2c4570aa8e6038481fa6f78b8 --- /dev/null +++ b/json/chunk-0006/episode_0006648.json @@ -0,0 +1,2182 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 35, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nTake broccoli out of pan." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006648.mp4", + "start": 0, + "end": 35, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.33341288566589355, + -0.007898109033703804, + 0.08285663276910782, + -0.0007098966743797064, + -0.1808227151632309, + -0.1256384402513504, + 0.0, + 1.00800359249115 + ], + [ + 0.3279840648174286, + -0.00812545232474804, + 0.07344029098749161, + -0.0034793021623045206, + -0.15016427636146545, + -0.12282485514879227, + 0.0, + 1.00800359249115 + ], + [ + 0.3170074224472046, + -0.006166619248688221, + 0.08531388640403748, + 0.0580013208091259, + -0.18659749627113342, + -0.16027697920799255, + 0.0, + 1.00800359249115 + ], + [ + 0.3003426492214203, + -0.006384044885635376, + 0.1037350445985794, + 0.12325863540172577, + -0.20166735351085663, + -0.13985039293766022, + 0.0, + 1.00800359249115 + ], + [ + 0.2791499197483063, + -0.011252472177147865, + 0.11045907437801361, + 0.13148938119411469, + -0.1900801658630371, + -0.08642755448818207, + 0.0, + 1.00800359249115 + ], + [ + 0.25509196519851685, + -0.01903555914759636, + 0.10256172716617584, + 0.0902000442147255, + -0.2020837962627411, + -0.006152094807475805, + 0.0, + 1.00800359249115 + ], + [ + 0.23862890899181366, + -0.02475292608141899, + 0.08649112284183502, + 0.053058136254549026, + -0.1922043114900589, + 0.03570875898003578, + 0.0, + 1.00800359249115 + ], + [ + 0.22803737223148346, + -0.02688162587583065, + 0.06885255873203278, + 0.04431530833244324, + -0.2128913551568985, + 0.07325854897499084, + 0.0, + 1.00800359249115 + ], + [ + 0.22361977398395538, + -0.02523229271173477, + 0.05503207817673683, + 0.04249449074268341, + -0.2625449597835541, + 0.09610849618911743, + 0.0, + 1.00800359249115 + ], + [ + 0.22177566587924957, + -0.021888552233576775, + 0.04600813612341881, + 0.06893792003393173, + -0.2621389925479889, + 0.12258729338645935, + 0.0, + 1.00800359249115 + ], + [ + 0.2205607146024704, + -0.018528848886489868, + 0.04442097619175911, + 0.09149210900068283, + -0.26524293422698975, + 0.12570932507514954, + 0.0, + 1.00800359249115 + ], + [ + 0.2168535739183426, + -0.01530041079968214, + 0.04222985729575157, + 0.10318131744861603, + -0.2555176615715027, + 0.1266402155160904, + 0.0, + 1.00800359249115 + ], + [ + 0.20975250005722046, + -0.011737561784684658, + 0.03417472913861275, + 0.10845795273780823, + -0.2641178369522095, + 0.1367167979478836, + 0.0, + 1.00800359249115 + ], + [ + 0.20630031824111938, + -0.008659585379064083, + 0.027786780148744583, + 0.10955975204706192, + -0.2911869287490845, + 0.13836218416690826, + 0.0, + 1.00800359249115 + ], + [ + 0.208506777882576, + -0.00587072316557169, + 0.023233512416481972, + 0.10802671313285828, + -0.30806422233581543, + 0.11976388096809387, + 0.0, + 0.9476637244224548 + ], + [ + 0.21035948395729065, + -0.003697221167385578, + 0.021122178062796593, + 0.12289804965257645, + -0.3117499053478241, + 0.09682699292898178, + 0.0, + 0.6430501937866211 + ], + [ + 0.20832325518131256, + -0.003744113026186824, + 0.021171700209379196, + 0.16203290224075317, + -0.3059068024158478, + 0.08026827871799469, + 0.0, + 0.3142010271549225 + ], + [ + 0.20435038208961487, + -0.003589148633182049, + 0.02600020170211792, + 0.20350725948810577, + -0.28696927428245544, + 0.06256706267595291, + 0.0, + 0.22171935439109802 + ], + [ + 0.20717428624629974, + -0.002828773111104965, + 0.03802354261279106, + 0.20478396117687225, + -0.26976078748703003, + 0.06581327319145203, + 0.0, + 0.23789463937282562 + ], + [ + 0.21484504640102386, + 0.004698216449469328, + 0.05729471892118454, + 0.18823155760765076, + -0.2063264399766922, + 0.04852910712361336, + 0.0, + 0.25133779644966125 + ], + [ + 0.23401212692260742, + 0.029318416491150856, + 0.07571177184581757, + 0.1708146035671234, + -0.16474200785160065, + 0.03007313422858715, + 0.0, + 0.25133779644966125 + ], + [ + 0.2508930265903473, + 0.061173051595687866, + 0.07121571898460388, + 0.2207350730895996, + -0.19358070194721222, + -0.07185711711645126, + 0.0, + 0.25133779644966125 + ], + [ + 0.2623170018196106, + 0.08637126535177231, + 0.05994110554456711, + 0.25512993335723877, + -0.24489137530326843, + -0.14566649496555328, + 0.0, + 0.25133779644966125 + ], + [ + 0.2645867168903351, + 0.10852234065532684, + 0.044124800711870193, + 0.29124870896339417, + -0.2626587152481079, + -0.23531880974769592, + 0.0, + 0.25133779644966125 + ], + [ + 0.27346283197402954, + 0.1318175047636032, + 0.03918222337961197, + 0.3389848470687866, + -0.2958880066871643, + -0.33114248514175415, + 0.0, + 0.25202175974845886 + ], + [ + 0.27592724561691284, + 0.15220636129379272, + 0.03652563691139221, + 0.3646092116832733, + -0.2789528965950012, + -0.3681274950504303, + 0.0, + 0.3103247880935669 + ], + [ + 0.27420854568481445, + 0.15361790359020233, + 0.03691469877958298, + 0.32770851254463196, + -0.24629655480384827, + -0.40174463391304016, + 0.0, + 0.6059080362319946 + ], + [ + 0.2763662040233612, + 0.14549565315246582, + 0.036953140050172806, + 0.30917176604270935, + -0.23351433873176575, + -0.40126246213912964, + 0.0, + 0.9124506115913391 + ], + [ + 0.28291013836860657, + 0.14294485747814178, + 0.05935375392436981, + 0.338661789894104, + -0.1876603066921234, + -0.40795451402664185, + 0.0, + 1.013738751411438 + ], + [ + 0.28438812494277954, + 0.13769729435443878, + 0.08619649708271027, + 0.38671910762786865, + -0.11689293384552002, + -0.41095462441444397, + 0.0, + 1.0131081342697144 + ], + [ + 0.28108149766921997, + 0.1250644326210022, + 0.1186591386795044, + 0.46256694197654724, + -0.07068182528018951, + -0.40374383330345154, + 0.0, + 1.0131081342697144 + ], + [ + 0.2759403586387634, + 0.10906647890806198, + 0.12777063250541687, + 0.41244569420814514, + -0.13077819347381592, + -0.3697604238986969, + 0.0, + 1.0131081342697144 + ], + [ + 0.27553126215934753, + 0.10930541902780533, + 0.1280956119298935, + 0.4114798605442047, + -0.13155236840248108, + -0.3670427203178406, + 0.0, + 1.0131081342697144 + ], + [ + 0.27553126215934753, + 0.10930541902780533, + 0.1280956119298935, + 0.4114798605442047, + -0.13155236840248108, + -0.3670427203178406, + 0.0, + 1.0131081342697144 + ], + [ + 0.27555692195892334, + 0.10931164026260376, + 0.127645343542099, + 0.4106001853942871, + -0.1302904486656189, + -0.3669278919696808, + 0.0, + 1.0131081342697144 + ] + ], + "left_gripper_pos": [ + [ + 1.00800359249115 + ], + [ + 1.00800359249115 + ], + [ + 1.00800359249115 + ], + [ + 1.00800359249115 + ], + [ + 1.00800359249115 + ], + [ + 1.00800359249115 + ], + [ + 1.00800359249115 + ], + [ + 1.00800359249115 + ], + [ + 1.00800359249115 + ], + [ + 1.00800359249115 + ], + [ + 1.00800359249115 + ], + [ + 1.00800359249115 + ], + [ + 1.00800359249115 + ], + [ + 1.00800359249115 + ], + [ + 0.9476637244224548 + ], + [ + 0.6430501937866211 + ], + [ + 0.3142010271549225 + ], + [ + 0.22171935439109802 + ], + [ + 0.23789463937282562 + ], + [ + 0.25133779644966125 + ], + [ + 0.25133779644966125 + ], + [ + 0.25133779644966125 + ], + [ + 0.25133779644966125 + ], + [ + 0.25133779644966125 + ], + [ + 0.25202175974845886 + ], + [ + 0.3103247880935669 + ], + [ + 0.6059080362319946 + ], + [ + 0.9124506115913391 + ], + [ + 1.013738751411438 + ], + [ + 1.0131081342697144 + ], + [ + 1.0131081342697144 + ], + [ + 1.0131081342697144 + ], + [ + 1.0131081342697144 + ], + [ + 1.0131081342697144 + ], + [ + 1.0131081342697144 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.33341288566589355, + -0.007898109033703804, + 0.08285663276910782 + ], + [ + 0.3279840648174286, + -0.00812545232474804, + 0.07344029098749161 + ], + [ + 0.3170074224472046, + -0.006166619248688221, + 0.08531388640403748 + ], + [ + 0.3003426492214203, + -0.006384044885635376, + 0.1037350445985794 + ], + [ + 0.2791499197483063, + -0.011252472177147865, + 0.11045907437801361 + ], + [ + 0.25509196519851685, + -0.01903555914759636, + 0.10256172716617584 + ], + [ + 0.23862890899181366, + -0.02475292608141899, + 0.08649112284183502 + ], + [ + 0.22803737223148346, + -0.02688162587583065, + 0.06885255873203278 + ], + [ + 0.22361977398395538, + -0.02523229271173477, + 0.05503207817673683 + ], + [ + 0.22177566587924957, + -0.021888552233576775, + 0.04600813612341881 + ], + [ + 0.2205607146024704, + -0.018528848886489868, + 0.04442097619175911 + ], + [ + 0.2168535739183426, + -0.01530041079968214, + 0.04222985729575157 + ], + [ + 0.20975250005722046, + -0.011737561784684658, + 0.03417472913861275 + ], + [ + 0.20630031824111938, + -0.008659585379064083, + 0.027786780148744583 + ], + [ + 0.208506777882576, + -0.00587072316557169, + 0.023233512416481972 + ], + [ + 0.21035948395729065, + -0.003697221167385578, + 0.021122178062796593 + ], + [ + 0.20832325518131256, + -0.003744113026186824, + 0.021171700209379196 + ], + [ + 0.20435038208961487, + -0.003589148633182049, + 0.02600020170211792 + ], + [ + 0.20717428624629974, + -0.002828773111104965, + 0.03802354261279106 + ], + [ + 0.21484504640102386, + 0.004698216449469328, + 0.05729471892118454 + ], + [ + 0.23401212692260742, + 0.029318416491150856, + 0.07571177184581757 + ], + [ + 0.2508930265903473, + 0.061173051595687866, + 0.07121571898460388 + ], + [ + 0.2623170018196106, + 0.08637126535177231, + 0.05994110554456711 + ], + [ + 0.2645867168903351, + 0.10852234065532684, + 0.044124800711870193 + ], + [ + 0.27346283197402954, + 0.1318175047636032, + 0.03918222337961197 + ], + [ + 0.27592724561691284, + 0.15220636129379272, + 0.03652563691139221 + ], + [ + 0.27420854568481445, + 0.15361790359020233, + 0.03691469877958298 + ], + [ + 0.2763662040233612, + 0.14549565315246582, + 0.036953140050172806 + ], + [ + 0.28291013836860657, + 0.14294485747814178, + 0.05935375392436981 + ], + [ + 0.28438812494277954, + 0.13769729435443878, + 0.08619649708271027 + ], + [ + 0.28108149766921997, + 0.1250644326210022, + 0.1186591386795044 + ], + [ + 0.2759403586387634, + 0.10906647890806198, + 0.12777063250541687 + ], + [ + 0.27553126215934753, + 0.10930541902780533, + 0.1280956119298935 + ], + [ + 0.27553126215934753, + 0.10930541902780533, + 0.1280956119298935 + ], + [ + 0.27555692195892334, + 0.10931164026260376, + 0.127645343542099 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.975942446889461, + -0.12543479604961483, + 0.17833242077480915, + -0.12326515121729228, + -0.9921016199390384, + -0.023239582821429093, + 0.17983893586982247, + 0.0006983225096831441, + -0.983695821629269 + ], + [ + 0.9812977989568847, + -0.12303210823505957, + 0.14804637822523573, + -0.12113753159264327, + -0.9923967280143016, + -0.021781475297812596, + 0.14960056217145148, + 0.0034401409483413494, + -0.9887405307906826 + ], + [ + 0.9700467467390971, + -0.14870693484577452, + 0.19208216124791178, + -0.15682131338087912, + -0.9872393414689731, + 0.027668724679762967, + 0.18551653514010635, + -0.05696253316595915, + -0.980988728276185 + ], + [ + 0.9701686855436803, + -0.11395122311649991, + 0.21398093452618783, + -0.13656998625418976, + -0.9861570270138164, + 0.09403699764348646, + 0.20030317133030484, + -0.1204551236831556, + -0.9723009836123266 + ], + [ + 0.9783237815011007, + -0.06089555500744123, + 0.1979250108746292, + -0.08476529484462447, + -0.9898057014834359, + 0.11445312621674837, + 0.18893761758657343, + -0.1287493871489055, + -0.9735122865015576 + ], + [ + 0.9796319249272566, + 0.011952227454437789, + 0.2004455934217435, + -0.006026864514240532, + -0.9960271130654393, + 0.0888463107993401, + 0.20071115705770942, + -0.08824474090507226, + -0.9756679235965235 + ], + [ + 0.9809597948892294, + 0.04577504566680693, + 0.18873930699534366, + 0.03504375309501835, + -0.9975944810509192, + 0.05980958740672332, + 0.19102307761078566, + -0.05205666692123906, + -0.9802042069125978 + ], + [ + 0.9748024414838898, + 0.08245625286972792, + 0.20727075635441405, + 0.07154064000736331, + -0.9956535632283354, + 0.05963152570625645, + 0.21128685927994728, + -0.043300674283463084, + -0.9764644974100252 + ], + [ + 0.9612758615284329, + 0.10684876166166482, + 0.2540316125487876, + 0.09267228645563161, + -0.9934285139629981, + 0.06716870527525487, + 0.25953914033504455, + -0.04102596466431277, + -0.9648607696748314 + ], + [ + 0.9585898238873366, + 0.1397069926158437, + 0.24816830126726877, + 0.11810312946994565, + -0.987955311870936, + 0.09997976072889518, + 0.2591470631688705, + -0.06653012821450495, + -0.9635437414516849 + ], + [ + 0.9574137863751124, + 0.14861573849064127, + 0.24753222806687422, + 0.12099386203151727, + -0.9849566081257309, + 0.1233732769288097, + 0.2621437144193388, + -0.08816939595083959, + -0.960992627759493 + ], + [ + 0.9597844317694941, + 0.15145422404936745, + 0.23637991147835172, + 0.12220128447670489, + -0.9834280096998209, + 0.13392608338218692, + 0.2527462969167953, + -0.09965424103094178, + -0.9623867941942025 + ], + [ + 0.9563155548527059, + 0.16348510204282687, + 0.24234929535034297, + 0.13156513960573354, + -0.9809964718721468, + 0.14260622782657237, + 0.2610577974075571, + -0.10449183501330092, + -0.9596511255806811 + ], + [ + 0.948749314042916, + 0.16818477032143367, + 0.2675605018215937, + 0.13211518042199064, + -0.9801754234203824, + 0.14765404980812058, + 0.28708939061755884, + -0.10473787449915477, + -0.9521605218870598 + ], + [ + 0.9460964088065532, + 0.1512387491148893, + 0.28640605093032995, + 0.11385304502080154, + -0.9831434965356094, + 0.14306064923390863, + 0.30321455997830066, + -0.1027409654709341, + -0.9473675235257253 + ], + [ + 0.9473399966514962, + 0.1333715063838362, + 0.2911339417334391, + 0.09201582682316718, + -0.984173683325943, + 0.15144387958149788, + 0.306724662129396, + -0.1166799140107356, + -0.9446193833010494 + ], + [ + 0.9505039650555379, + 0.12755966378146655, + 0.28332092155303246, + 0.0764595974076609, + -0.9798281824761742, + 0.1846365694809541, + 0.3011580023475364, + -0.15383518778678693, + -0.9410837330549524 + ], + [ + 0.9572294520951313, + 0.11832929974704069, + 0.26402642455449327, + 0.05996930825179987, + -0.9738706326498671, + 0.21904262811139769, + 0.2830467419163399, + -0.19384057285182182, + -0.9393137783547212 + ], + [ + 0.9617480571585445, + 0.11846872464470953, + 0.24699359472022986, + 0.06338733241914052, + -0.9734211237735293, + 0.22007580939363786, + 0.26650088300144625, + -0.19600121701799567, + -0.9436952910166047 + ], + [ + 0.9776377681796753, + 0.08594294662400674, + 0.19193281156239655, + 0.04748116772521681, + -0.979320547868589, + 0.19666418899692006, + 0.20486564607106073, + -0.1831531447940482, + -0.9615014262141982 + ], + [ + 0.9860146576739105, + 0.05749559432273171, + 0.15642682469984748, + 0.02966149357712537, + -0.9841628129005436, + 0.1747677129863051, + 0.16399783733627438, + -0.16768367343651924, + -0.9721043642592392 + ], + [ + 0.9787892833193429, + -0.02804232165250664, + 0.2029412896764602, + -0.07045428019994204, + -0.9762427679727209, + 0.20490547182168828, + 0.19237394122051882, + -0.214857362399565, + -0.9575116607968734 + ], + [ + 0.9598890346701211, + -0.07991380005743685, + 0.26875048963758763, + -0.14082109788013453, + -0.9662642071514185, + 0.21564531149522845, + 0.24245094248506574, + -0.2448413088888812, + -0.9387599660987268 + ], + [ + 0.9390883403133742, + -0.15083099959015292, + 0.30880916218614296, + -0.22515658541539177, + -0.9488701595753679, + 0.22124631592751323, + 0.25964899601491553, + -0.2773002521276367, + -0.925033496171028 + ], + [ + 0.9045760192838999, + -0.2149273795557316, + 0.3681690465720868, + -0.31099494786007786, + -0.9233806176330456, + 0.22505638712358766, + 0.2915893820803501, + -0.3180793242210521, + -0.9021092925810474 + ], + [ + 0.8969369450025715, + -0.24460532466507923, + 0.36833727999612653, + -0.3459580172713589, + -0.9070039994977763, + 0.24011829414000843, + 0.27534917282447735, + -0.3428002042597534, + -0.8981485695497974 + ], + [ + 0.8926049867915512, + -0.2979861728278712, + 0.3383202304891814, + -0.37922432943967166, + -0.9020863949882575, + 0.20598311566271885, + 0.2438139567700877, + -0.3121608187785387, + -0.9182104212562752 + ], + [ + 0.8955836592796194, + -0.307246965620365, + 0.3217595551780941, + -0.37998015749958924, + -0.9044204803501744, + 0.19400689325317055, + 0.23139790218995962, + -0.296011649838715, + -0.9267319537071375 + ], + [ + 0.9018184661420114, + -0.3173044245206466, + 0.29332806941186385, + -0.3897672706019269, + -0.8903852367066755, + 0.23515017546734263, + 0.18656079141340023, + -0.32639245155857843, + -0.9266407279376333 + ], + [ + 0.9104838635366419, + -0.3296595133313554, + 0.24968728343574803, + -0.3967584877060539, + -0.8666117137703893, + 0.30260013216975645, + 0.11662691229984075, + -0.37457808642001855, + -0.9198311913070367 + ], + [ + 0.9173004655395843, + -0.32259647575238265, + 0.2334338659085364, + -0.39188295407714474, + -0.835337392233737, + 0.38553753570814675, + 0.07062298651737012, + -0.4451325139419524, + -0.8926754386713489 + ], + [ + 0.9244518029552958, + -0.28234653849730057, + 0.25626021191612114, + -0.35830602774969283, + -0.873115856844846, + 0.3305835613038355, + 0.13040573028413782, + -0.39742814787667313, + -0.9083199947069194 + ], + [ + 0.9253276476777574, + -0.2799325975573713, + 0.2557469164387538, + -0.35575598600045333, + -0.8743096815175195, + 0.3301821606773737, + 0.13117325515513192, + -0.39651017846899794, + -0.9086106181981862 + ], + [ + 0.9253276476777574, + -0.2799325975573713, + 0.2557469164387538, + -0.35575598600045333, + -0.8743096815175195, + 0.3301821606773737, + 0.13117325515513192, + -0.39651017846899794, + -0.9086106181981862 + ], + [ + 0.9255222670304378, + -0.28052318657108843, + 0.25439197123109164, + -0.35570883046948865, + -0.8744528021461365, + 0.32985379298228157, + 0.12992213497655772, + -0.39577650083698945, + -0.9091101144681875 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.005428820848464966, + -0.00022734329104423523, + -0.009416341781616211, + -0.0027694054879248142, + 0.030658438801765442, + 0.002813585102558136, + 1.0 + ], + [ + -0.010976642370223999, + 0.0019588330760598183, + 0.011873595416545868, + 0.06148062273859978, + -0.03643321990966797, + -0.03745212405920029, + 1.0 + ], + [ + -0.016664773225784302, + -0.000217425636947155, + 0.01842115819454193, + 0.06525731086730957, + -0.015069857239723206, + 0.020426586270332336, + 1.0 + ], + [ + -0.021192729473114014, + -0.004868427291512489, + 0.006724029779434204, + 0.008230745792388916, + 0.011587187647819519, + 0.05342283844947815, + 1.0 + ], + [ + -0.02405795454978943, + -0.007783086970448494, + -0.007897347211837769, + -0.04128933697938919, + -0.01200363039970398, + 0.08027546107769012, + 1.0 + ], + [ + -0.016463056206703186, + -0.005717366933822632, + -0.01607060432434082, + -0.03714190796017647, + 0.00987948477268219, + 0.041860852390527725, + 1.0 + ], + [ + -0.0105915367603302, + -0.0021286997944116592, + -0.017638564109802246, + -0.00874282792210579, + -0.0206870436668396, + 0.03754978999495506, + 1.0 + ], + [ + -0.004417598247528076, + 0.0016493331640958786, + -0.013820480555295944, + -0.0018208175897598267, + -0.04965360462665558, + 0.022849947214126587, + 1.0 + ], + [ + -0.0018441081047058105, + 0.003343740478157997, + -0.009023942053318024, + 0.02644342929124832, + 0.00040596723556518555, + 0.02647879719734192, + 1.0 + ], + [ + -0.0012149512767791748, + 0.0033597033470869064, + -0.0015871599316596985, + 0.0225541889667511, + -0.0031039416790008545, + 0.0031220316886901855, + 1.0 + ], + [ + -0.0037071406841278076, + 0.003228438086807728, + -0.002191118896007538, + 0.011689208447933197, + 0.00972527265548706, + 0.0009308904409408569, + 1.0 + ], + [ + -0.007101073861122131, + 0.0035628490149974823, + -0.008055128157138824, + 0.0052766352891922, + -0.008600175380706787, + 0.010076582431793213, + 1.0 + ], + [ + -0.0034521818161010742, + 0.003077976405620575, + -0.006387948989868164, + 0.0011017993092536926, + -0.027069091796875, + 0.0016453862190246582, + 1.0 + ], + [ + 0.002206459641456604, + 0.0027888622134923935, + -0.004553267732262611, + -0.0015330389142036438, + -0.016877293586730957, + -0.018598303198814392, + 0.0 + ], + [ + 0.0018527060747146606, + 0.0021735019981861115, + -0.002111334353685379, + 0.01487133651971817, + -0.003685683012008667, + -0.02293688803911209, + 0.0 + ], + [ + -0.0020362287759780884, + -4.689185880124569e-05, + 4.9522146582603455e-05, + 0.03913485258817673, + 0.005843102931976318, + -0.01655871421098709, + 0.0 + ], + [ + -0.003972873091697693, + 0.00015496439300477505, + 0.004828501492738724, + 0.0414743572473526, + 0.018937528133392334, + -0.01770121604204178, + 0.0 + ], + [ + 0.0028239041566848755, + 0.0007603755220770836, + 0.012023340910673141, + 0.0012767016887664795, + 0.017208486795425415, + 0.003246210515499115, + 0.0 + ], + [ + 0.007670760154724121, + 0.007526989560574293, + 0.01927117630839348, + -0.016552403569221497, + 0.06343434751033783, + -0.01728416606783867, + 0.0 + ], + [ + 0.019167080521583557, + 0.02462019957602024, + 0.018417052924633026, + -0.017416954040527344, + 0.04158443212509155, + -0.018455972895026207, + 0.0 + ], + [ + 0.016880899667739868, + 0.03185463696718216, + -0.004496052861213684, + 0.049920469522476196, + -0.028838694095611572, + -0.10193025320768356, + 0.0 + ], + [ + 0.011423975229263306, + 0.025198213756084442, + -0.011274613440036774, + 0.03439486026763916, + -0.05131067335605621, + -0.07380937784910202, + 0.0 + ], + [ + 0.0022697150707244873, + 0.022151075303554535, + -0.015816304832696915, + 0.036118775606155396, + -0.017767339944839478, + -0.08965231478214264, + 0.0 + ], + [ + 0.008876115083694458, + 0.023295164108276367, + -0.0049425773322582245, + 0.047736138105392456, + -0.033229291439056396, + -0.09582367539405823, + 0.0 + ], + [ + 0.0024644136428833008, + 0.020388856530189514, + -0.002656586468219757, + 0.025624364614486694, + 0.016935110092163086, + -0.03698500990867615, + 1.0 + ], + [ + -0.0017186999320983887, + 0.001411542296409607, + 0.0003890618681907654, + -0.03690069913864136, + 0.032656341791152954, + -0.03361713886260986, + 1.0 + ], + [ + 0.002157658338546753, + -0.008122250437736511, + 3.844127058982849e-05, + -0.018536746501922607, + 0.01278221607208252, + 0.00048217177391052246, + 1.0 + ], + [ + 0.006543934345245361, + -0.0025507956743240356, + 0.022400613874197006, + 0.029490023851394653, + 0.045854032039642334, + -0.006692051887512207, + 1.0 + ], + [ + 0.0014779865741729736, + -0.005247563123703003, + 0.026842743158340454, + 0.04805731773376465, + 0.0707673728466034, + -0.003000110387802124, + 1.0 + ], + [ + -0.0033066272735595703, + -0.012632861733436584, + 0.03246264159679413, + 0.07584783434867859, + 0.046211108565330505, + 0.007210791110992432, + 1.0 + ], + [ + -0.005141139030456543, + -0.015997953712940216, + 0.009111493825912476, + -0.0501212477684021, + -0.060096368193626404, + 0.03398340940475464, + 1.0 + ], + [ + -0.00040909647941589355, + 0.00023894011974334717, + 0.00032497942447662354, + -0.0009658336639404297, + -0.0007741749286651611, + 0.0027177035808563232, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 2.5659799575805664e-05, + 6.2212347984313965e-06, + -0.00045026838779449463, + -0.0008796751499176025, + 0.0012619197368621826, + 0.00011482834815979004, + 1.0 + ], + [ + -0.00023409724235534668, + -2.2277235984802246e-06, + -6.611645221710205e-05, + -0.0006649792194366455, + 0.0012979507446289062, + 0.0005693435668945312, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.00800359249115 + ], + [ + 1.00800359249115 + ], + [ + 1.00800359249115 + ], + [ + 1.00800359249115 + ], + [ + 1.00800359249115 + ], + [ + 1.00800359249115 + ], + [ + 1.00800359249115 + ], + [ + 1.00800359249115 + ], + [ + 1.00800359249115 + ], + [ + 1.00800359249115 + ], + [ + 1.00800359249115 + ], + [ + 1.00800359249115 + ], + [ + 1.00800359249115 + ], + [ + 0.9476637244224548 + ], + [ + 0.6430501937866211 + ], + [ + 0.3142010271549225 + ], + [ + 0.22171935439109802 + ], + [ + 0.23789463937282562 + ], + [ + 0.25133779644966125 + ], + [ + 0.25133779644966125 + ], + [ + 0.25133779644966125 + ], + [ + 0.25133779644966125 + ], + [ + 0.25133779644966125 + ], + [ + 0.25202175974845886 + ], + [ + 0.3103247880935669 + ], + [ + 0.6059080362319946 + ], + [ + 0.9124506115913391 + ], + [ + 1.013738751411438 + ], + [ + 1.0131081342697144 + ], + [ + 1.0131081342697144 + ], + [ + 1.0131081342697144 + ], + [ + 1.0131081342697144 + ], + [ + 1.0131081342697144 + ], + [ + 1.0131081342697144 + ], + [ + 1.0131081342697144 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3279840648174286, + -0.00812545232474804, + 0.07344029098749161 + ], + [ + 0.3170074224472046, + -0.006166619248688221, + 0.08531388640403748 + ], + [ + 0.3003426492214203, + -0.006384044885635376, + 0.1037350445985794 + ], + [ + 0.2791499197483063, + -0.011252472177147865, + 0.11045907437801361 + ], + [ + 0.25509196519851685, + -0.01903555914759636, + 0.10256172716617584 + ], + [ + 0.23862890899181366, + -0.02475292608141899, + 0.08649112284183502 + ], + [ + 0.22803737223148346, + -0.02688162587583065, + 0.06885255873203278 + ], + [ + 0.22361977398395538, + -0.02523229271173477, + 0.05503207817673683 + ], + [ + 0.22177566587924957, + -0.021888552233576775, + 0.04600813612341881 + ], + [ + 0.2205607146024704, + -0.018528848886489868, + 0.04442097619175911 + ], + [ + 0.2168535739183426, + -0.01530041079968214, + 0.04222985729575157 + ], + [ + 0.20975250005722046, + -0.011737561784684658, + 0.03417472913861275 + ], + [ + 0.20630031824111938, + -0.008659585379064083, + 0.027786780148744583 + ], + [ + 0.208506777882576, + -0.00587072316557169, + 0.023233512416481972 + ], + [ + 0.21035948395729065, + -0.003697221167385578, + 0.021122178062796593 + ], + [ + 0.20832325518131256, + -0.003744113026186824, + 0.021171700209379196 + ], + [ + 0.20435038208961487, + -0.003589148633182049, + 0.02600020170211792 + ], + [ + 0.20717428624629974, + -0.002828773111104965, + 0.03802354261279106 + ], + [ + 0.21484504640102386, + 0.004698216449469328, + 0.05729471892118454 + ], + [ + 0.23401212692260742, + 0.029318416491150856, + 0.07571177184581757 + ], + [ + 0.2508930265903473, + 0.061173051595687866, + 0.07121571898460388 + ], + [ + 0.2623170018196106, + 0.08637126535177231, + 0.05994110554456711 + ], + [ + 0.2645867168903351, + 0.10852234065532684, + 0.044124800711870193 + ], + [ + 0.27346283197402954, + 0.1318175047636032, + 0.03918222337961197 + ], + [ + 0.27592724561691284, + 0.15220636129379272, + 0.03652563691139221 + ], + [ + 0.27420854568481445, + 0.15361790359020233, + 0.03691469877958298 + ], + [ + 0.2763662040233612, + 0.14549565315246582, + 0.036953140050172806 + ], + [ + 0.28291013836860657, + 0.14294485747814178, + 0.05935375392436981 + ], + [ + 0.28438812494277954, + 0.13769729435443878, + 0.08619649708271027 + ], + [ + 0.28108149766921997, + 0.1250644326210022, + 0.1186591386795044 + ], + [ + 0.2759403586387634, + 0.10906647890806198, + 0.12777063250541687 + ], + [ + 0.27553126215934753, + 0.10930541902780533, + 0.1280956119298935 + ], + [ + 0.27553126215934753, + 0.10930541902780533, + 0.1280956119298935 + ], + [ + 0.27555692195892334, + 0.10931164026260376, + 0.127645343542099 + ], + [ + 0.275322824716568, + 0.10930941253900528, + 0.1275792270898819 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9812977989568847, + -0.12303210823505957, + 0.14804637822523573, + -0.12113753159264327, + -0.9923967280143016, + -0.021781475297812596, + 0.14960056217145148, + 0.0034401409483413494, + -0.9887405307906826 + ], + [ + 0.9700467467390971, + -0.14870693484577452, + 0.19208216124791178, + -0.15682131338087912, + -0.9872393414689731, + 0.027668724679762967, + 0.18551653514010635, + -0.05696253316595915, + -0.980988728276185 + ], + [ + 0.9701686855436803, + -0.11395122311649991, + 0.21398093452618783, + -0.13656998625418976, + -0.9861570270138164, + 0.09403699764348646, + 0.20030317133030484, + -0.1204551236831556, + -0.9723009836123266 + ], + [ + 0.9783237815011007, + -0.06089555500744123, + 0.1979250108746292, + -0.08476529484462447, + -0.9898057014834359, + 0.11445312621674837, + 0.18893761758657343, + -0.1287493871489055, + -0.9735122865015576 + ], + [ + 0.9796319249272566, + 0.011952227454437789, + 0.2004455934217435, + -0.006026864514240532, + -0.9960271130654393, + 0.0888463107993401, + 0.20071115705770942, + -0.08824474090507226, + -0.9756679235965235 + ], + [ + 0.9809597948892294, + 0.04577504566680693, + 0.18873930699534366, + 0.03504375309501835, + -0.9975944810509192, + 0.05980958740672332, + 0.19102307761078566, + -0.05205666692123906, + -0.9802042069125978 + ], + [ + 0.9748024414838898, + 0.08245625286972792, + 0.20727075635441405, + 0.07154064000736331, + -0.9956535632283354, + 0.05963152570625645, + 0.21128685927994728, + -0.043300674283463084, + -0.9764644974100252 + ], + [ + 0.9612758615284329, + 0.10684876166166482, + 0.2540316125487876, + 0.09267228645563161, + -0.9934285139629981, + 0.06716870527525487, + 0.25953914033504455, + -0.04102596466431277, + -0.9648607696748314 + ], + [ + 0.9585898238873366, + 0.1397069926158437, + 0.24816830126726877, + 0.11810312946994565, + -0.987955311870936, + 0.09997976072889518, + 0.2591470631688705, + -0.06653012821450495, + -0.9635437414516849 + ], + [ + 0.9574137863751124, + 0.14861573849064127, + 0.24753222806687422, + 0.12099386203151727, + -0.9849566081257309, + 0.1233732769288097, + 0.2621437144193388, + -0.08816939595083959, + -0.960992627759493 + ], + [ + 0.9597844317694941, + 0.15145422404936745, + 0.23637991147835172, + 0.12220128447670489, + -0.9834280096998209, + 0.13392608338218692, + 0.2527462969167953, + -0.09965424103094178, + -0.9623867941942025 + ], + [ + 0.9563155548527059, + 0.16348510204282687, + 0.24234929535034297, + 0.13156513960573354, + -0.9809964718721468, + 0.14260622782657237, + 0.2610577974075571, + -0.10449183501330092, + -0.9596511255806811 + ], + [ + 0.948749314042916, + 0.16818477032143367, + 0.2675605018215937, + 0.13211518042199064, + -0.9801754234203824, + 0.14765404980812058, + 0.28708939061755884, + -0.10473787449915477, + -0.9521605218870598 + ], + [ + 0.9460964088065532, + 0.1512387491148893, + 0.28640605093032995, + 0.11385304502080154, + -0.9831434965356094, + 0.14306064923390863, + 0.30321455997830066, + -0.1027409654709341, + -0.9473675235257253 + ], + [ + 0.9473399966514962, + 0.1333715063838362, + 0.2911339417334391, + 0.09201582682316718, + -0.984173683325943, + 0.15144387958149788, + 0.306724662129396, + -0.1166799140107356, + -0.9446193833010494 + ], + [ + 0.9505039650555379, + 0.12755966378146655, + 0.28332092155303246, + 0.0764595974076609, + -0.9798281824761742, + 0.1846365694809541, + 0.3011580023475364, + -0.15383518778678693, + -0.9410837330549524 + ], + [ + 0.9572294520951313, + 0.11832929974704069, + 0.26402642455449327, + 0.05996930825179987, + -0.9738706326498671, + 0.21904262811139769, + 0.2830467419163399, + -0.19384057285182182, + -0.9393137783547212 + ], + [ + 0.9617480571585445, + 0.11846872464470953, + 0.24699359472022986, + 0.06338733241914052, + -0.9734211237735293, + 0.22007580939363786, + 0.26650088300144625, + -0.19600121701799567, + -0.9436952910166047 + ], + [ + 0.9776377681796753, + 0.08594294662400674, + 0.19193281156239655, + 0.04748116772521681, + -0.979320547868589, + 0.19666418899692006, + 0.20486564607106073, + -0.1831531447940482, + -0.9615014262141982 + ], + [ + 0.9860146576739105, + 0.05749559432273171, + 0.15642682469984748, + 0.02966149357712537, + -0.9841628129005436, + 0.1747677129863051, + 0.16399783733627438, + -0.16768367343651924, + -0.9721043642592392 + ], + [ + 0.9787892833193429, + -0.02804232165250664, + 0.2029412896764602, + -0.07045428019994204, + -0.9762427679727209, + 0.20490547182168828, + 0.19237394122051882, + -0.214857362399565, + -0.9575116607968734 + ], + [ + 0.9598890346701211, + -0.07991380005743685, + 0.26875048963758763, + -0.14082109788013453, + -0.9662642071514185, + 0.21564531149522845, + 0.24245094248506574, + -0.2448413088888812, + -0.9387599660987268 + ], + [ + 0.9390883403133742, + -0.15083099959015292, + 0.30880916218614296, + -0.22515658541539177, + -0.9488701595753679, + 0.22124631592751323, + 0.25964899601491553, + -0.2773002521276367, + -0.925033496171028 + ], + [ + 0.9045760192838999, + -0.2149273795557316, + 0.3681690465720868, + -0.31099494786007786, + -0.9233806176330456, + 0.22505638712358766, + 0.2915893820803501, + -0.3180793242210521, + -0.9021092925810474 + ], + [ + 0.8969369450025715, + -0.24460532466507923, + 0.36833727999612653, + -0.3459580172713589, + -0.9070039994977763, + 0.24011829414000843, + 0.27534917282447735, + -0.3428002042597534, + -0.8981485695497974 + ], + [ + 0.8926049867915512, + -0.2979861728278712, + 0.3383202304891814, + -0.37922432943967166, + -0.9020863949882575, + 0.20598311566271885, + 0.2438139567700877, + -0.3121608187785387, + -0.9182104212562752 + ], + [ + 0.8955836592796194, + -0.307246965620365, + 0.3217595551780941, + -0.37998015749958924, + -0.9044204803501744, + 0.19400689325317055, + 0.23139790218995962, + -0.296011649838715, + -0.9267319537071375 + ], + [ + 0.9018184661420114, + -0.3173044245206466, + 0.29332806941186385, + -0.3897672706019269, + -0.8903852367066755, + 0.23515017546734263, + 0.18656079141340023, + -0.32639245155857843, + -0.9266407279376333 + ], + [ + 0.9104838635366419, + -0.3296595133313554, + 0.24968728343574803, + -0.3967584877060539, + -0.8666117137703893, + 0.30260013216975645, + 0.11662691229984075, + -0.37457808642001855, + -0.9198311913070367 + ], + [ + 0.9173004655395843, + -0.32259647575238265, + 0.2334338659085364, + -0.39188295407714474, + -0.835337392233737, + 0.38553753570814675, + 0.07062298651737012, + -0.4451325139419524, + -0.8926754386713489 + ], + [ + 0.9244518029552958, + -0.28234653849730057, + 0.25626021191612114, + -0.35830602774969283, + -0.873115856844846, + 0.3305835613038355, + 0.13040573028413782, + -0.39742814787667313, + -0.9083199947069194 + ], + [ + 0.9253276476777574, + -0.2799325975573713, + 0.2557469164387538, + -0.35575598600045333, + -0.8743096815175195, + 0.3301821606773737, + 0.13117325515513192, + -0.39651017846899794, + -0.9086106181981862 + ], + [ + 0.9253276476777574, + -0.2799325975573713, + 0.2557469164387538, + -0.35575598600045333, + -0.8743096815175195, + 0.3301821606773737, + 0.13117325515513192, + -0.39651017846899794, + -0.9086106181981862 + ], + [ + 0.9255222670304378, + -0.28052318657108843, + 0.25439197123109164, + -0.35570883046948865, + -0.8744528021461365, + 0.32985379298228157, + 0.12992213497655772, + -0.39577650083698945, + -0.9091101144681875 + ], + [ + 0.9258812994657154, + -0.28067317181705853, + 0.25291577634032675, + -0.35524194070838844, + -0.8746478728094682, + 0.3298397522307009, + 0.12863507632607848, + -0.39523874963371736, + -0.909526991312825 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006649.json b/json/chunk-0006/episode_0006649.json new file mode 100644 index 0000000000000000000000000000000000000000..86e07ace9db24b0c7d41af22199a312eb57a48b8 --- /dev/null +++ b/json/chunk-0006/episode_0006649.json @@ -0,0 +1,2302 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 37, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nTake the block off of the arch and put it to the right side of the table." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006649.mp4", + "start": 0, + "end": 37, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3991885781288147, + -0.13362805545330048, + 0.1500568687915802, + 0.022012686356902122, + -0.12661112844944, + -0.17412169277668, + 0.0, + 0.9994885921478271 + ], + [ + 0.3983687162399292, + -0.13384830951690674, + 0.13106180727481842, + 0.027065688744187355, + -0.07768575847148895, + -0.17446301877498627, + 0.0, + 0.9994885921478271 + ], + [ + 0.4011037349700928, + -0.11826664209365845, + 0.11432700604200363, + 0.0224076546728611, + -0.05086563527584076, + -0.17089369893074036, + 0.0, + 0.9994885921478271 + ], + [ + 0.4105503559112549, + -0.08196881413459778, + 0.10574162006378174, + 0.0569387786090374, + -0.05498160794377327, + -0.10430820286273956, + 0.0, + 0.9994885921478271 + ], + [ + 0.4111570715904236, + -0.06675107777118683, + 0.0880345031619072, + 0.07502172142267227, + -0.05731571465730667, + -0.07908344268798828, + 0.0, + 0.9994885921478271 + ], + [ + 0.4175158739089966, + -0.04744384065270424, + 0.08309409022331238, + 0.09325908124446869, + -0.09097323566675186, + -0.04091857746243477, + 0.0, + 1.0001531839370728 + ], + [ + 0.4267929196357727, + -0.040190163999795914, + 0.08453060686588287, + 0.13292385637760162, + -0.14937415719032288, + -0.03555193170905113, + 0.0, + 0.9994885921478271 + ], + [ + 0.433223694562912, + -0.03912016749382019, + 0.09267980605363846, + 0.14735297858715057, + -0.17925739288330078, + -0.04068395867943764, + 0.0, + 1.0001531839370728 + ], + [ + 0.43797290325164795, + -0.040422141551971436, + 0.08972622454166412, + 0.14832600951194763, + -0.1761695146560669, + -0.042282991111278534, + 0.0, + 1.0001531839370728 + ], + [ + 0.44060876965522766, + -0.040301207453012466, + 0.08908391743898392, + 0.14839328825473785, + -0.1749994158744812, + -0.04682755842804909, + 0.0, + 0.9994885921478271 + ], + [ + 0.44061288237571716, + -0.04006774351000786, + 0.08399661630392075, + 0.14750806987285614, + -0.16311027109622955, + -0.05044342204928398, + 0.0, + 0.9994885921478271 + ], + [ + 0.44152599573135376, + -0.03886333480477333, + 0.0844736322760582, + 0.14616116881370544, + -0.16830362379550934, + -0.04318302869796753, + 0.0, + 0.9994885921478271 + ], + [ + 0.44270679354667664, + -0.03705120086669922, + 0.08473025262355804, + 0.14901530742645264, + -0.1754256933927536, + -0.038214314728975296, + 0.0, + 1.0001531839370728 + ], + [ + 0.44329455494880676, + -0.03443241864442825, + 0.08500748127698898, + 0.15703409910202026, + -0.1785580813884735, + -0.034439969807863235, + 0.0, + 0.9994885921478271 + ], + [ + 0.4440986216068268, + -0.032329052686691284, + 0.08537634462118149, + 0.16519473493099213, + -0.1843877136707306, + -0.02696312963962555, + 0.0, + 0.9994885921478271 + ], + [ + 0.4442794620990753, + -0.028745833784341812, + 0.08419867604970932, + 0.1611676663160324, + -0.1859244406223297, + -0.014514685608446598, + 0.0, + 0.9994885921478271 + ], + [ + 0.44207605719566345, + -0.024676496163010597, + 0.08110985159873962, + 0.12406139075756073, + -0.17151418328285217, + 0.018701916560530663, + 0.0, + 0.9492040276527405 + ], + [ + 0.4384017586708069, + -0.021903004497289658, + 0.07168393582105637, + 0.10342645645141602, + -0.13508176803588867, + 0.045357655733823776, + 0.0, + 0.6581199765205383 + ], + [ + 0.43764227628707886, + -0.02006896585226059, + 0.06812851130962372, + 0.10146403312683105, + -0.12967783212661743, + 0.05912626534700394, + 0.0, + 0.561048150062561 + ], + [ + 0.4365498125553131, + -0.020608944818377495, + 0.06765668094158173, + 0.10234200954437256, + -0.12382747232913971, + 0.05956439673900604, + 0.0, + 0.5600578188896179 + ], + [ + 0.4348343014717102, + -0.02963137999176979, + 0.06883519887924194, + 0.08527962863445282, + -0.1220201700925827, + 0.058635834604501724, + 0.0, + 0.5600578188896179 + ], + [ + 0.4284681975841522, + -0.04486493766307831, + 0.0836792066693306, + 0.07288744300603867, + -0.16434288024902344, + 0.059546928852796555, + 0.0, + 0.5600578188896179 + ], + [ + 0.41669178009033203, + -0.07916981726884842, + 0.09200358390808105, + 0.05604476481676102, + -0.19523470103740692, + -0.004653186071664095, + 0.0, + 0.5600578188896179 + ], + [ + 0.4004485011100769, + -0.09877371788024902, + 0.07546486705541611, + 0.058344289660453796, + -0.1524985134601593, + -0.03420093283057213, + 0.0, + 0.5600578188896179 + ], + [ + 0.37945228815078735, + -0.11835573613643646, + 0.06183382496237755, + 0.03504587709903717, + -0.10294777899980545, + -0.05714813992381096, + 0.0, + 0.5600578188896179 + ], + [ + 0.35273119807243347, + -0.12088923156261444, + 0.05532999336719513, + 0.030708611011505127, + -0.05186353996396065, + -0.015229408629238605, + 0.0, + 0.5600578188896179 + ], + [ + 0.3439390957355499, + -0.11801786720752716, + 0.052965499460697174, + 0.028361063450574875, + -0.050310615450143814, + 0.004287695977836847, + 0.0, + 0.5600578188896179 + ], + [ + 0.3425995707511902, + -0.11409852653741837, + 0.05254550278186798, + 0.04192929342389107, + -0.06129399314522743, + 0.013427762314677238, + 0.0, + 0.5600578188896179 + ], + [ + 0.3426191508769989, + -0.1108953058719635, + 0.04984772205352783, + 0.039114028215408325, + -0.06347127258777618, + 0.022592484951019287, + 0.0, + 0.5600578188896179 + ], + [ + 0.34353384375572205, + -0.1090950071811676, + 0.050797827541828156, + 0.056422535330057144, + -0.0647846981883049, + 0.008733688853681087, + 0.0, + 0.5600578188896179 + ], + [ + 0.35052603483200073, + -0.10934872925281525, + 0.05385589227080345, + 0.05518030375242233, + -0.08932935446500778, + -0.004656221717596054, + 0.0, + 0.5600578188896179 + ], + [ + 0.35387229919433594, + -0.10811853408813477, + 0.05579787492752075, + 0.05321032181382179, + -0.09746228903532028, + -0.00901207234710455, + 0.0, + 0.5600578188896179 + ], + [ + 0.35489359498023987, + -0.10884717106819153, + 0.05037838593125343, + 0.0567905567586422, + -0.08038514107465744, + -0.013390925712883472, + 0.0, + 0.5600578188896179 + ], + [ + 0.3604227304458618, + -0.10974778234958649, + 0.049170829355716705, + 0.054352257400751114, + -0.08528957515954971, + -0.018575068563222885, + 0.0, + 0.5600578188896179 + ], + [ + 0.3686884343624115, + -0.10612373799085617, + 0.04939423128962517, + 0.05115114897489548, + -0.09100250899791718, + -0.016336213797330856, + 0.0, + 0.6119219660758972 + ], + [ + 0.3692028224468231, + -0.10230158269405365, + 0.051311593502759933, + 0.07664119452238083, + -0.07711929082870483, + -0.015760814771056175, + 0.0, + 0.8965065479278564 + ], + [ + 0.37109115719795227, + -0.10769887268543243, + 0.05630521848797798, + 0.07913723587989807, + -0.08486372232437134, + -0.025601617991924286, + 0.0, + 1.0047606229782104 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9492040276527405 + ], + [ + 0.6581199765205383 + ], + [ + 0.561048150062561 + ], + [ + 0.5600578188896179 + ], + [ + 0.5600578188896179 + ], + [ + 0.5600578188896179 + ], + [ + 0.5600578188896179 + ], + [ + 0.5600578188896179 + ], + [ + 0.5600578188896179 + ], + [ + 0.5600578188896179 + ], + [ + 0.5600578188896179 + ], + [ + 0.5600578188896179 + ], + [ + 0.5600578188896179 + ], + [ + 0.5600578188896179 + ], + [ + 0.5600578188896179 + ], + [ + 0.5600578188896179 + ], + [ + 0.5600578188896179 + ], + [ + 0.5600578188896179 + ], + [ + 0.6119219660758972 + ], + [ + 0.8965065479278564 + ], + [ + 1.0047606229782104 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3991885781288147, + -0.13362805545330048, + 0.1500568687915802 + ], + [ + 0.3983687162399292, + -0.13384830951690674, + 0.13106180727481842 + ], + [ + 0.4011037349700928, + -0.11826664209365845, + 0.11432700604200363 + ], + [ + 0.4105503559112549, + -0.08196881413459778, + 0.10574162006378174 + ], + [ + 0.4111570715904236, + -0.06675107777118683, + 0.0880345031619072 + ], + [ + 0.4175158739089966, + -0.04744384065270424, + 0.08309409022331238 + ], + [ + 0.4267929196357727, + -0.040190163999795914, + 0.08453060686588287 + ], + [ + 0.433223694562912, + -0.03912016749382019, + 0.09267980605363846 + ], + [ + 0.43797290325164795, + -0.040422141551971436, + 0.08972622454166412 + ], + [ + 0.44060876965522766, + -0.040301207453012466, + 0.08908391743898392 + ], + [ + 0.44061288237571716, + -0.04006774351000786, + 0.08399661630392075 + ], + [ + 0.44152599573135376, + -0.03886333480477333, + 0.0844736322760582 + ], + [ + 0.44270679354667664, + -0.03705120086669922, + 0.08473025262355804 + ], + [ + 0.44329455494880676, + -0.03443241864442825, + 0.08500748127698898 + ], + [ + 0.4440986216068268, + -0.032329052686691284, + 0.08537634462118149 + ], + [ + 0.4442794620990753, + -0.028745833784341812, + 0.08419867604970932 + ], + [ + 0.44207605719566345, + -0.024676496163010597, + 0.08110985159873962 + ], + [ + 0.4384017586708069, + -0.021903004497289658, + 0.07168393582105637 + ], + [ + 0.43764227628707886, + -0.02006896585226059, + 0.06812851130962372 + ], + [ + 0.4365498125553131, + -0.020608944818377495, + 0.06765668094158173 + ], + [ + 0.4348343014717102, + -0.02963137999176979, + 0.06883519887924194 + ], + [ + 0.4284681975841522, + -0.04486493766307831, + 0.0836792066693306 + ], + [ + 0.41669178009033203, + -0.07916981726884842, + 0.09200358390808105 + ], + [ + 0.4004485011100769, + -0.09877371788024902, + 0.07546486705541611 + ], + [ + 0.37945228815078735, + -0.11835573613643646, + 0.06183382496237755 + ], + [ + 0.35273119807243347, + -0.12088923156261444, + 0.05532999336719513 + ], + [ + 0.3439390957355499, + -0.11801786720752716, + 0.052965499460697174 + ], + [ + 0.3425995707511902, + -0.11409852653741837, + 0.05254550278186798 + ], + [ + 0.3426191508769989, + -0.1108953058719635, + 0.04984772205352783 + ], + [ + 0.34353384375572205, + -0.1090950071811676, + 0.050797827541828156 + ], + [ + 0.35052603483200073, + -0.10934872925281525, + 0.05385589227080345 + ], + [ + 0.35387229919433594, + -0.10811853408813477, + 0.05579787492752075 + ], + [ + 0.35489359498023987, + -0.10884717106819153, + 0.05037838593125343 + ], + [ + 0.3604227304458618, + -0.10974778234958649, + 0.049170829355716705 + ], + [ + 0.3686884343624115, + -0.10612373799085617, + 0.04939423128962517 + ], + [ + 0.3692028224468231, + -0.10230158269405365, + 0.051311593502759933 + ], + [ + 0.37109115719795227, + -0.10769887268543243, + 0.05630521848797798 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9769956272832687, + -0.17046384717233307, + 0.1281468730659454, + -0.17185645527478563, + -0.9851219831550461, + -0.00019257480255911903, + 0.12627312877155478, + -0.02183472261963608, + -0.991755182410642 + ], + [ + 0.9818496520141308, + -0.17144739298716039, + 0.0810990275998225, + -0.17305581389743852, + -0.9848237557205186, + 0.013185425470101559, + 0.07760764212386377, + -0.026980763637055583, + -0.9966188299834274 + ], + [ + 0.9841586381312465, + -0.16889780623165074, + 0.05390089091829235, + -0.1698431416511505, + -0.9853795257933157, + 0.013434931388259448, + 0.05084370389455439, + -0.022376800429814894, + -0.998455906175534 + ], + [ + 0.993061935318324, + -0.10084010325366516, + 0.06049186885536802, + -0.10396182141839888, + -0.9932786775346824, + 0.050886230380344274, + 0.05495391077251767, + -0.05682202328976575, + -0.9968707666292875 + ], + [ + 0.9952375703461044, + -0.07449869955234041, + 0.0628659075858473, + -0.07887130735722621, + -0.9944097096968032, + 0.07020431707865844, + 0.05728433858694827, + -0.07482829027666592, + -0.995549713237328 + ], + [ + 0.9950312015206925, + -0.03227637334991877, + 0.0941867491936287, + -0.04073800012023489, + -0.9951671908607101, + 0.08934583135550596, + 0.09084780320123655, + -0.09273886972450883, + -0.9915372805375146 + ], + [ + 0.9882395423248568, + -0.015519923040523173, + 0.15212409071009528, + -0.03514863455548702, + -0.991253353552038, + 0.12720598476770928, + 0.14881928797854763, + -0.13105693823927866, + -0.9801412645455264 + ], + [ + 0.9831621512344966, + -0.014075732241303719, + 0.18219236576165357, + -0.04002101149212275, + -0.9894093954522505, + 0.1395255060193645, + 0.17829891480069196, + -0.14446771941400424, + -0.9733131947262466 + ], + [ + 0.9836422849055788, + -0.01592905462503886, + 0.17942720129480016, + -0.0416161421043344, + -0.9892306900087982, + 0.14032369244382442, + 0.17525967038107787, + -0.1454953853682986, + -0.9737120420198399 + ], + [ + 0.983647173635369, + -0.020582537257869456, + 0.17892623328952656, + -0.04609549346604605, + -0.9891307225826241, + 0.13962671350890163, + 0.1741075623896658, + -0.14559111512452813, + -0.9739044018359936 + ], + [ + 0.9854718698626881, + -0.026038062220290478, + 0.16783090604876422, + -0.049752779902853844, + -0.9890856215034712, + 0.1386877580287095, + 0.16238797554398854, + -0.14502293836115712, + -0.9760115228560678 + ], + [ + 0.9849512757354985, + -0.01833565093737688, + 0.17185688328291315, + -0.04255963719674315, + -0.9894683398910309, + 0.13835129791573728, + 0.16751018389547473, + -0.14358345398405123, + -0.9753584623272175 + ], + [ + 0.983933459922829, + -0.011889436868906597, + 0.1781392369334471, + -0.03761865662543403, + -0.9891856958439599, + 0.1417621099285647, + 0.17452731338672525, + -0.1461858420936893, + -0.9737401688609598 + ], + [ + 0.9835172470310455, + -0.006249491832117092, + 0.18070630493791248, + -0.03388570276024283, + -0.9880661932578003, + 0.1502563039924906, + 0.17761076527316125, + -0.15390302658778213, + -0.9719919106999824 + ], + [ + 0.982691372678546, + 0.0035462064219210446, + 0.18521633427742942, + -0.026502857805979926, + -0.9868406561730462, + 0.159508989878527, + 0.18334466065656604, + -0.16165687038899754, + -0.9696658144251368 + ], + [ + 0.9826622621896852, + 0.015334653015375222, + 0.18476938838765555, + -0.014264035506152933, + -0.987367155255892, + 0.15780569702316272, + 0.1848551209983902, + -0.15770526033961285, + -0.9700297083604632 + ], + [ + 0.9851551541990011, + 0.03967324615227251, + 0.16701902794257803, + 0.018426437830403326, + -0.9917457608024748, + 0.1268889763502053, + 0.17067451052815338, + -0.1219277633275616, + -0.9777544845133228 + ], + [ + 0.9898712097242752, + 0.05898926797998885, + 0.12913270082432807, + 0.04492905287863906, + -0.993002838218385, + 0.10920963097484117, + 0.13467133461293393, + -0.10230165958290997, + -0.9855952526672164 + ], + [ + 0.9898708300170425, + 0.0718633081499515, + 0.12243939244833033, + 0.05859566309812374, + -0.9923444766233964, + 0.10871516904796821, + 0.1293146865110932, + -0.10043955723111408, + -0.9865037289315004 + ], + [ + 0.9905833143553502, + 0.07181366197790924, + 0.11656541199726565, + 0.05907337655535179, + -0.9922523116019358, + 0.10929632337350054, + 0.12351126872929168, + -0.10138120177793208, + -0.9871508589992429 + ], + [ + 0.9908589611577975, + 0.06873891141087787, + 0.11607532533375707, + 0.05816651940225049, + -0.9940459970965654, + 0.09213691809976345, + 0.12171760396063373, + -0.08454299328946417, + -0.9889576872504403 + ], + [ + 0.9847775623718785, + 0.0712467463687688, + 0.15854669274622424, + 0.05870988774365683, + -0.994868166855668, + 0.08240436674333523, + 0.16360410059050634, + -0.07184171287704108, + -0.9839067367189152 + ], + [ + 0.9809915449436745, + 0.006220832163355143, + 0.19395074115923847, + -0.004564769139074134, + -0.9984696592760993, + 0.055113540874970696, + 0.19399678252932315, + -0.0549512579679981, + -0.9794618969699663 + ], + [ + 0.9878166107753793, + -0.025283318769716557, + 0.15355486728929166, + -0.033797428241918545, + -0.9980175457410518, + 0.053091545817013606, + 0.1519081213117832, + -0.0576344704581953, + -0.9867128206801248 + ], + [ + 0.993081688526093, + -0.053487055681661365, + 0.10453657153681103, + -0.0568146352555833, + -0.9979601143354749, + 0.02911541544098089, + 0.10276603103622806, + -0.034853193111001095, + -0.9940947629854149 + ], + [ + 0.9985395787755014, + -0.013630131363014582, + 0.0522774247440626, + -0.015208343077599341, + -0.9994368567382494, + 0.029911129935225593, + 0.05184029243434298, + -0.03066250009694054, + -0.9981845496540842 + ], + [ + 0.9987255073889925, + 0.005712014951365483, + 0.050147121311144474, + 0.004282257583182234, + -0.9995825490052562, + 0.028572539161676295, + 0.050289394116359576, + -0.02832138078112761, + -0.9983330487517978 + ], + [ + 0.9980321294888378, + 0.01598297835103718, + 0.060633430638599266, + 0.01340214371715402, + -0.9989965473505086, + 0.04273500819641653, + 0.06125562057281193, + -0.04183829328250993, + -0.9972448576771135 + ], + [ + 0.9977316894649776, + 0.02505296956497744, + 0.062480593413776375, + 0.02254507413166472, + -0.9989241079964015, + 0.040525869466194714, + 0.06342866441727324, + -0.03902531459923962, + -0.9972230589746063 + ], + [ + 0.997864146896502, + 0.012370363334341276, + 0.06414139419667429, + 0.008715256570505793, + -0.9983387085154817, + 0.056954959244572424, + 0.06473939018423817, + -0.056274303110896325, + -0.9963142145768856 + ], + [ + 0.9960019887240062, + 0.0002709988528593675, + 0.08933064993296679, + -0.00463763960600898, + -0.9984900389387336, + 0.05473695679347747, + 0.08921059778249042, + -0.05493240118316321, + -0.9944968077090759 + ], + [ + 0.9952138937279272, + -0.0038240551430022813, + 0.09764569797569672, + -0.008969182430470297, + -0.9985907538413151, + 0.05230736190215255, + 0.09730806491461358, + -0.05293281538797171, + -0.9938456910193232 + ], + [ + 0.9966814863525799, + -0.008811595400376994, + 0.08092200287012587, + -0.013347285550609152, + -0.9983593678078827, + 0.05568143926548381, + 0.0802985973130484, + -0.05657674872900808, + -0.9951639095007476 + ], + [ + 0.9961931639126809, + -0.0139195867264876, + 0.08605478068652908, + -0.018506484821240263, + -0.9984369792283495, + 0.052736216482885505, + 0.08518620893785586, + -0.05412802984344018, + -0.9948936959253807 + ], + [ + 0.9957292476498734, + -0.011668307547968194, + 0.09158119879966005, + -0.016267893047351666, + -0.9986347085040195, + 0.0496394462790597, + 0.09087695544205228, + -0.050917281644425556, + -0.994559605754992 + ], + [ + 0.9969039510834478, + -0.009815752176577403, + 0.07801386622530225, + -0.015713319619163082, + -0.9970336337719089, + 0.07534603316784234, + 0.07704287053814494, + -0.07633861497821133, + -0.994101006921556 + ], + [ + 0.9960747107147794, + -0.018820077301863365, + 0.08649263185277827, + -0.02550669720604269, + -0.996715138098695, + 0.07686573932863894, + 0.08476189634563162, + -0.07877016043687421, + -0.9932827808598321 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.000819861888885498, + -0.0002202540636062622, + -0.01899506151676178, + 0.0050530023872852325, + 0.04892536997795105, + -0.0003413259983062744, + 1.0 + ], + [ + 0.0027350187301635742, + 0.015581667423248291, + -0.01673480123281479, + -0.004658034071326256, + 0.026820123195648193, + 0.0035693198442459106, + 1.0 + ], + [ + 0.00944662094116211, + 0.03629782795906067, + -0.008585385978221893, + 0.0345311239361763, + -0.00411597266793251, + 0.0665854960680008, + 1.0 + ], + [ + 0.0006067156791687012, + 0.01521773636341095, + -0.017707116901874542, + 0.018082942813634872, + -0.0023341067135334015, + 0.025224760174751282, + 1.0 + ], + [ + 0.006358802318572998, + 0.01930723711848259, + -0.004940412938594818, + 0.018237359821796417, + -0.03365752100944519, + 0.03816486522555351, + 1.0 + ], + [ + 0.009277045726776123, + 0.007253676652908325, + 0.0014365166425704956, + 0.039664775133132935, + -0.058400921523571014, + 0.0053666457533836365, + 1.0 + ], + [ + 0.006430774927139282, + 0.0010699965059757233, + 0.008149199187755585, + 0.01442912220954895, + -0.029883235692977905, + -0.005132026970386505, + 1.0 + ], + [ + 0.004749208688735962, + -0.0013019740581512451, + -0.0029535815119743347, + 0.0009730309247970581, + 0.0030878782272338867, + -0.0015990324318408966, + 1.0 + ], + [ + 0.002635866403579712, + 0.00012093409895896912, + -0.0006423071026802063, + 6.727874279022217e-05, + 0.0011700987815856934, + -0.004544567316770554, + 1.0 + ], + [ + 4.112720489501953e-06, + 0.00023346394300460815, + -0.005087301135063171, + -0.0008852183818817139, + 0.011889144778251648, + -0.003615863621234894, + 1.0 + ], + [ + 0.0009131133556365967, + 0.0012044087052345276, + 0.00047701597213745117, + -0.0013469010591506958, + -0.005193352699279785, + 0.007260393351316452, + 1.0 + ], + [ + 0.001180797815322876, + 0.001812133938074112, + 0.0002566203474998474, + 0.0028541386127471924, + -0.007122069597244263, + 0.004968713968992233, + 1.0 + ], + [ + 0.000587761402130127, + 0.0026187822222709656, + 0.0002772286534309387, + 0.008018791675567627, + -0.0031323879957199097, + 0.0037743449211120605, + 1.0 + ], + [ + 0.0008040666580200195, + 0.002103365957736969, + 0.0003688633441925049, + 0.008160635828971863, + -0.00582963228225708, + 0.007476840168237686, + 1.0 + ], + [ + 0.00018084049224853516, + 0.003583218902349472, + -0.001177668571472168, + -0.004027068614959717, + -0.001536726951599121, + 0.012448444031178951, + 1.0 + ], + [ + -0.0022034049034118652, + 0.004069337621331215, + -0.003088824450969696, + -0.03710627555847168, + 0.014410257339477539, + 0.033216603100299835, + 0.0 + ], + [ + -0.0036742985248565674, + 0.0027734916657209396, + -0.009425915777683258, + -0.020634934306144714, + 0.0364324152469635, + 0.026655739173293114, + 0.0 + ], + [ + -0.0007594823837280273, + 0.001834038645029068, + -0.0035554245114326477, + -0.001962423324584961, + 0.00540393590927124, + 0.01376860961318016, + 0.0 + ], + [ + -0.001092463731765747, + -0.0005399789661169052, + -0.0004718303680419922, + 0.0008779764175415039, + 0.005850359797477722, + 0.0004381313920021057, + 0.0 + ], + [ + -0.0017155110836029053, + -0.009022435173392296, + 0.0011785179376602173, + -0.01706238090991974, + 0.0018073022365570068, + -0.0009285621345043182, + 0.0 + ], + [ + -0.006366103887557983, + -0.015233557671308517, + 0.014844007790088654, + -0.012392185628414154, + -0.042322710156440735, + 0.0009110942482948303, + 0.0 + ], + [ + -0.01177641749382019, + -0.03430487960577011, + 0.008324377238750458, + -0.01684267818927765, + -0.030891820788383484, + -0.06420011818408966, + 0.0 + ], + [ + -0.016243278980255127, + -0.019603900611400604, + -0.016538716852664948, + 0.0022995248436927795, + 0.04273618757724762, + -0.02954774722456932, + 0.0 + ], + [ + -0.02099621295928955, + -0.01958201825618744, + -0.013631042093038559, + -0.023298412561416626, + 0.04955073446035385, + -0.02294720709323883, + 0.0 + ], + [ + -0.026721090078353882, + -0.0025334954261779785, + -0.006503831595182419, + -0.0043372660875320435, + 0.0510842390358448, + 0.04191873222589493, + 0.0 + ], + [ + -0.008792102336883545, + 0.0028713643550872803, + -0.0023644939064979553, + -0.002347547560930252, + 0.0015529245138168335, + 0.01951710507273674, + 0.0 + ], + [ + -0.0013395249843597412, + 0.003919340670108795, + -0.0004199966788291931, + 0.013568229973316193, + -0.010983377695083618, + 0.009140066802501678, + 0.0 + ], + [ + 1.958012580871582e-05, + 0.0032032206654548645, + -0.002697780728340149, + -0.0028152652084827423, + -0.002177279442548752, + 0.009164722636342049, + 0.0 + ], + [ + 0.0009146928787231445, + 0.0018002986907958984, + 0.0009501054883003235, + 0.01730850711464882, + -0.001313425600528717, + -0.0138587960973382, + 0.0 + ], + [ + 0.0069921910762786865, + -0.00025372207164764404, + 0.003058064728975296, + -0.0012422315776348114, + -0.02454465627670288, + -0.013389910571277142, + 0.0 + ], + [ + 0.003346264362335205, + 0.001230195164680481, + 0.0019419826567173004, + -0.00196998193860054, + -0.0081329345703125, + -0.004355850629508495, + 0.0 + ], + [ + 0.0010212957859039307, + -0.0007286369800567627, + -0.005419488996267319, + 0.003580234944820404, + 0.017077147960662842, + -0.004378853365778923, + 0.0 + ], + [ + 0.005529135465621948, + -0.0009006112813949585, + -0.001207556575536728, + -0.0024382993578910828, + -0.004904434084892273, + -0.005184142850339413, + 0.0 + ], + [ + 0.008265703916549683, + 0.003624044358730316, + 0.00022340193390846252, + -0.0032011084258556366, + -0.005712933838367462, + 0.002238854765892029, + 1.0 + ], + [ + 0.0005143880844116211, + 0.0038221552968025208, + 0.0019173622131347656, + 0.02549004554748535, + 0.013883218169212341, + 0.0005753990262746811, + 1.0 + ], + [ + 0.0018883347511291504, + -0.005397289991378784, + 0.004993624985218048, + 0.0024960413575172424, + -0.007744431495666504, + -0.00984080322086811, + 1.0 + ], + [ + 0.007172286510467529, + -0.006449498236179352, + 0.012666929513216019, + -0.027759455144405365, + -0.015832506120204926, + 0.0166185162961483, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9492040276527405 + ], + [ + 0.6581199765205383 + ], + [ + 0.561048150062561 + ], + [ + 0.5600578188896179 + ], + [ + 0.5600578188896179 + ], + [ + 0.5600578188896179 + ], + [ + 0.5600578188896179 + ], + [ + 0.5600578188896179 + ], + [ + 0.5600578188896179 + ], + [ + 0.5600578188896179 + ], + [ + 0.5600578188896179 + ], + [ + 0.5600578188896179 + ], + [ + 0.5600578188896179 + ], + [ + 0.5600578188896179 + ], + [ + 0.5600578188896179 + ], + [ + 0.5600578188896179 + ], + [ + 0.5600578188896179 + ], + [ + 0.5600578188896179 + ], + [ + 0.6119219660758972 + ], + [ + 0.8965065479278564 + ], + [ + 1.0047606229782104 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3983687162399292, + -0.13384830951690674, + 0.13106180727481842 + ], + [ + 0.4011037349700928, + -0.11826664209365845, + 0.11432700604200363 + ], + [ + 0.4105503559112549, + -0.08196881413459778, + 0.10574162006378174 + ], + [ + 0.4111570715904236, + -0.06675107777118683, + 0.0880345031619072 + ], + [ + 0.4175158739089966, + -0.04744384065270424, + 0.08309409022331238 + ], + [ + 0.4267929196357727, + -0.040190163999795914, + 0.08453060686588287 + ], + [ + 0.433223694562912, + -0.03912016749382019, + 0.09267980605363846 + ], + [ + 0.43797290325164795, + -0.040422141551971436, + 0.08972622454166412 + ], + [ + 0.44060876965522766, + -0.040301207453012466, + 0.08908391743898392 + ], + [ + 0.44061288237571716, + -0.04006774351000786, + 0.08399661630392075 + ], + [ + 0.44152599573135376, + -0.03886333480477333, + 0.0844736322760582 + ], + [ + 0.44270679354667664, + -0.03705120086669922, + 0.08473025262355804 + ], + [ + 0.44329455494880676, + -0.03443241864442825, + 0.08500748127698898 + ], + [ + 0.4440986216068268, + -0.032329052686691284, + 0.08537634462118149 + ], + [ + 0.4442794620990753, + -0.028745833784341812, + 0.08419867604970932 + ], + [ + 0.44207605719566345, + -0.024676496163010597, + 0.08110985159873962 + ], + [ + 0.4384017586708069, + -0.021903004497289658, + 0.07168393582105637 + ], + [ + 0.43764227628707886, + -0.02006896585226059, + 0.06812851130962372 + ], + [ + 0.4365498125553131, + -0.020608944818377495, + 0.06765668094158173 + ], + [ + 0.4348343014717102, + -0.02963137999176979, + 0.06883519887924194 + ], + [ + 0.4284681975841522, + -0.04486493766307831, + 0.0836792066693306 + ], + [ + 0.41669178009033203, + -0.07916981726884842, + 0.09200358390808105 + ], + [ + 0.4004485011100769, + -0.09877371788024902, + 0.07546486705541611 + ], + [ + 0.37945228815078735, + -0.11835573613643646, + 0.06183382496237755 + ], + [ + 0.35273119807243347, + -0.12088923156261444, + 0.05532999336719513 + ], + [ + 0.3439390957355499, + -0.11801786720752716, + 0.052965499460697174 + ], + [ + 0.3425995707511902, + -0.11409852653741837, + 0.05254550278186798 + ], + [ + 0.3426191508769989, + -0.1108953058719635, + 0.04984772205352783 + ], + [ + 0.34353384375572205, + -0.1090950071811676, + 0.050797827541828156 + ], + [ + 0.35052603483200073, + -0.10934872925281525, + 0.05385589227080345 + ], + [ + 0.35387229919433594, + -0.10811853408813477, + 0.05579787492752075 + ], + [ + 0.35489359498023987, + -0.10884717106819153, + 0.05037838593125343 + ], + [ + 0.3604227304458618, + -0.10974778234958649, + 0.049170829355716705 + ], + [ + 0.3686884343624115, + -0.10612373799085617, + 0.04939423128962517 + ], + [ + 0.3692028224468231, + -0.10230158269405365, + 0.051311593502759933 + ], + [ + 0.37109115719795227, + -0.10769887268543243, + 0.05630521848797798 + ], + [ + 0.3782634437084198, + -0.11414837092161179, + 0.068972148001194 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9818496520141308, + -0.17144739298716039, + 0.0810990275998225, + -0.17305581389743852, + -0.9848237557205186, + 0.013185425470101559, + 0.07760764212386377, + -0.026980763637055583, + -0.9966188299834274 + ], + [ + 0.9841586381312465, + -0.16889780623165074, + 0.05390089091829235, + -0.1698431416511505, + -0.9853795257933157, + 0.013434931388259448, + 0.05084370389455439, + -0.022376800429814894, + -0.998455906175534 + ], + [ + 0.993061935318324, + -0.10084010325366516, + 0.06049186885536802, + -0.10396182141839888, + -0.9932786775346824, + 0.050886230380344274, + 0.05495391077251767, + -0.05682202328976575, + -0.9968707666292875 + ], + [ + 0.9952375703461044, + -0.07449869955234041, + 0.0628659075858473, + -0.07887130735722621, + -0.9944097096968032, + 0.07020431707865844, + 0.05728433858694827, + -0.07482829027666592, + -0.995549713237328 + ], + [ + 0.9950312015206925, + -0.03227637334991877, + 0.0941867491936287, + -0.04073800012023489, + -0.9951671908607101, + 0.08934583135550596, + 0.09084780320123655, + -0.09273886972450883, + -0.9915372805375146 + ], + [ + 0.9882395423248568, + -0.015519923040523173, + 0.15212409071009528, + -0.03514863455548702, + -0.991253353552038, + 0.12720598476770928, + 0.14881928797854763, + -0.13105693823927866, + -0.9801412645455264 + ], + [ + 0.9831621512344966, + -0.014075732241303719, + 0.18219236576165357, + -0.04002101149212275, + -0.9894093954522505, + 0.1395255060193645, + 0.17829891480069196, + -0.14446771941400424, + -0.9733131947262466 + ], + [ + 0.9836422849055788, + -0.01592905462503886, + 0.17942720129480016, + -0.0416161421043344, + -0.9892306900087982, + 0.14032369244382442, + 0.17525967038107787, + -0.1454953853682986, + -0.9737120420198399 + ], + [ + 0.983647173635369, + -0.020582537257869456, + 0.17892623328952656, + -0.04609549346604605, + -0.9891307225826241, + 0.13962671350890163, + 0.1741075623896658, + -0.14559111512452813, + -0.9739044018359936 + ], + [ + 0.9854718698626881, + -0.026038062220290478, + 0.16783090604876422, + -0.049752779902853844, + -0.9890856215034712, + 0.1386877580287095, + 0.16238797554398854, + -0.14502293836115712, + -0.9760115228560678 + ], + [ + 0.9849512757354985, + -0.01833565093737688, + 0.17185688328291315, + -0.04255963719674315, + -0.9894683398910309, + 0.13835129791573728, + 0.16751018389547473, + -0.14358345398405123, + -0.9753584623272175 + ], + [ + 0.983933459922829, + -0.011889436868906597, + 0.1781392369334471, + -0.03761865662543403, + -0.9891856958439599, + 0.1417621099285647, + 0.17452731338672525, + -0.1461858420936893, + -0.9737401688609598 + ], + [ + 0.9835172470310455, + -0.006249491832117092, + 0.18070630493791248, + -0.03388570276024283, + -0.9880661932578003, + 0.1502563039924906, + 0.17761076527316125, + -0.15390302658778213, + -0.9719919106999824 + ], + [ + 0.982691372678546, + 0.0035462064219210446, + 0.18521633427742942, + -0.026502857805979926, + -0.9868406561730462, + 0.159508989878527, + 0.18334466065656604, + -0.16165687038899754, + -0.9696658144251368 + ], + [ + 0.9826622621896852, + 0.015334653015375222, + 0.18476938838765555, + -0.014264035506152933, + -0.987367155255892, + 0.15780569702316272, + 0.1848551209983902, + -0.15770526033961285, + -0.9700297083604632 + ], + [ + 0.9851551541990011, + 0.03967324615227251, + 0.16701902794257803, + 0.018426437830403326, + -0.9917457608024748, + 0.1268889763502053, + 0.17067451052815338, + -0.1219277633275616, + -0.9777544845133228 + ], + [ + 0.9898712097242752, + 0.05898926797998885, + 0.12913270082432807, + 0.04492905287863906, + -0.993002838218385, + 0.10920963097484117, + 0.13467133461293393, + -0.10230165958290997, + -0.9855952526672164 + ], + [ + 0.9898708300170425, + 0.0718633081499515, + 0.12243939244833033, + 0.05859566309812374, + -0.9923444766233964, + 0.10871516904796821, + 0.1293146865110932, + -0.10043955723111408, + -0.9865037289315004 + ], + [ + 0.9905833143553502, + 0.07181366197790924, + 0.11656541199726565, + 0.05907337655535179, + -0.9922523116019358, + 0.10929632337350054, + 0.12351126872929168, + -0.10138120177793208, + -0.9871508589992429 + ], + [ + 0.9908589611577975, + 0.06873891141087787, + 0.11607532533375707, + 0.05816651940225049, + -0.9940459970965654, + 0.09213691809976345, + 0.12171760396063373, + -0.08454299328946417, + -0.9889576872504403 + ], + [ + 0.9847775623718785, + 0.0712467463687688, + 0.15854669274622424, + 0.05870988774365683, + -0.994868166855668, + 0.08240436674333523, + 0.16360410059050634, + -0.07184171287704108, + -0.9839067367189152 + ], + [ + 0.9809915449436745, + 0.006220832163355143, + 0.19395074115923847, + -0.004564769139074134, + -0.9984696592760993, + 0.055113540874970696, + 0.19399678252932315, + -0.0549512579679981, + -0.9794618969699663 + ], + [ + 0.9878166107753793, + -0.025283318769716557, + 0.15355486728929166, + -0.033797428241918545, + -0.9980175457410518, + 0.053091545817013606, + 0.1519081213117832, + -0.0576344704581953, + -0.9867128206801248 + ], + [ + 0.993081688526093, + -0.053487055681661365, + 0.10453657153681103, + -0.0568146352555833, + -0.9979601143354749, + 0.02911541544098089, + 0.10276603103622806, + -0.034853193111001095, + -0.9940947629854149 + ], + [ + 0.9985395787755014, + -0.013630131363014582, + 0.0522774247440626, + -0.015208343077599341, + -0.9994368567382494, + 0.029911129935225593, + 0.05184029243434298, + -0.03066250009694054, + -0.9981845496540842 + ], + [ + 0.9987255073889925, + 0.005712014951365483, + 0.050147121311144474, + 0.004282257583182234, + -0.9995825490052562, + 0.028572539161676295, + 0.050289394116359576, + -0.02832138078112761, + -0.9983330487517978 + ], + [ + 0.9980321294888378, + 0.01598297835103718, + 0.060633430638599266, + 0.01340214371715402, + -0.9989965473505086, + 0.04273500819641653, + 0.06125562057281193, + -0.04183829328250993, + -0.9972448576771135 + ], + [ + 0.9977316894649776, + 0.02505296956497744, + 0.062480593413776375, + 0.02254507413166472, + -0.9989241079964015, + 0.040525869466194714, + 0.06342866441727324, + -0.03902531459923962, + -0.9972230589746063 + ], + [ + 0.997864146896502, + 0.012370363334341276, + 0.06414139419667429, + 0.008715256570505793, + -0.9983387085154817, + 0.056954959244572424, + 0.06473939018423817, + -0.056274303110896325, + -0.9963142145768856 + ], + [ + 0.9960019887240062, + 0.0002709988528593675, + 0.08933064993296679, + -0.00463763960600898, + -0.9984900389387336, + 0.05473695679347747, + 0.08921059778249042, + -0.05493240118316321, + -0.9944968077090759 + ], + [ + 0.9952138937279272, + -0.0038240551430022813, + 0.09764569797569672, + -0.008969182430470297, + -0.9985907538413151, + 0.05230736190215255, + 0.09730806491461358, + -0.05293281538797171, + -0.9938456910193232 + ], + [ + 0.9966814863525799, + -0.008811595400376994, + 0.08092200287012587, + -0.013347285550609152, + -0.9983593678078827, + 0.05568143926548381, + 0.0802985973130484, + -0.05657674872900808, + -0.9951639095007476 + ], + [ + 0.9961931639126809, + -0.0139195867264876, + 0.08605478068652908, + -0.018506484821240263, + -0.9984369792283495, + 0.052736216482885505, + 0.08518620893785586, + -0.05412802984344018, + -0.9948936959253807 + ], + [ + 0.9957292476498734, + -0.011668307547968194, + 0.09158119879966005, + -0.016267893047351666, + -0.9986347085040195, + 0.0496394462790597, + 0.09087695544205228, + -0.050917281644425556, + -0.994559605754992 + ], + [ + 0.9969039510834478, + -0.009815752176577403, + 0.07801386622530225, + -0.015713319619163082, + -0.9970336337719089, + 0.07534603316784234, + 0.07704287053814494, + -0.07633861497821133, + -0.994101006921556 + ], + [ + 0.9960747107147794, + -0.018820077301863365, + 0.08649263185277827, + -0.02550669720604269, + -0.996715138098695, + 0.07686573932863894, + 0.08476189634563162, + -0.07877016043687421, + -0.9932827808598321 + ], + [ + 0.9948942738530807, + -0.003808798458580061, + 0.10085076553330011, + -0.008937477773059378, + -0.9986865325588936, + 0.050451275271787076, + 0.1005261425968729, + -0.0510950363518364, + -0.9936215536685974 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006650.json b/json/chunk-0006/episode_0006650.json new file mode 100644 index 0000000000000000000000000000000000000000..27efa6ed7f7dc58b8739fefd768a07de4d11b8ef --- /dev/null +++ b/json/chunk-0006/episode_0006650.json @@ -0,0 +1,1282 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 20, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut pan in sink." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006650.mp4", + "start": 0, + "end": 20, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.37791356444358826, + -0.12297560274600983, + 0.06259715557098389, + -0.013046203181147575, + -0.18336035311222076, + 0.3412407636642456, + 0.0, + 0.9988223910331726 + ], + [ + 0.37584397196769714, + -0.12513677775859833, + 0.055435750633478165, + -0.016730953007936478, + -0.15072013437747955, + 0.3913517892360687, + 0.0, + 0.9988223910331726 + ], + [ + 0.3853989541530609, + -0.12922020256519318, + 0.06379155814647675, + -0.06731553375720978, + -0.1717643290758133, + 0.48949509859085083, + 0.0, + 0.9988223910331726 + ], + [ + 0.3913556635379791, + -0.12990179657936096, + 0.05982314795255661, + -0.09450663626194, + -0.1926712989807129, + 0.5705834031105042, + 0.0, + 0.9988223910331726 + ], + [ + 0.4021760821342468, + -0.12808839976787567, + 0.05469468608498573, + -0.102802574634552, + -0.23423981666564941, + 0.5868600010871887, + 0.0, + 0.9988223910331726 + ], + [ + 0.41299813985824585, + -0.11951109021902084, + 0.04541943967342377, + -0.10835203528404236, + -0.24373139441013336, + 0.5957003831863403, + 0.0, + 0.9988223910331726 + ], + [ + 0.4199894666671753, + -0.10901959985494614, + 0.03390935808420181, + -0.11912880837917328, + -0.2337772101163864, + 0.6088802814483643, + 0.0, + 0.9988223910331726 + ], + [ + 0.42262938618659973, + -0.10999729484319687, + 0.02759360335767269, + -0.13324366509914398, + -0.22521354258060455, + 0.6047171950340271, + 0.0, + 0.9988223910331726 + ], + [ + 0.42595335841178894, + -0.10652488470077515, + 0.019373437389731407, + -0.14763277769088745, + -0.21633534133434296, + 0.6218802332878113, + 0.0, + 0.8490449786186218 + ], + [ + 0.43264803290367126, + -0.10641246289014816, + 0.012653383426368237, + -0.1586788296699524, + -0.2121155709028244, + 0.632549524307251, + 0.0, + 0.5749470591545105 + ], + [ + 0.4346989393234253, + -0.10805325210094452, + 0.011986671015620232, + -0.15802736580371857, + -0.19685760140419006, + 0.6510215997695923, + 0.0, + 0.2737756073474884 + ], + [ + 0.42682692408561707, + -0.1079670712351799, + 0.011546491645276546, + -0.10401412099599838, + -0.18653136491775513, + 0.6583616733551025, + 0.0, + 0.12133388966321945 + ], + [ + 0.41184476017951965, + -0.1067524254322052, + 0.015366226434707642, + -0.03994249179959297, + -0.18597103655338287, + 0.6429165601730347, + 0.0, + 0.08998419344425201 + ], + [ + 0.3932960331439972, + -0.1002805083990097, + 0.02616368792951107, + -0.020560482516884804, + -0.17598174512386322, + 0.6189674139022827, + 0.0, + 0.08998419344425201 + ], + [ + 0.38273611664772034, + -0.08306845277547836, + 0.03538157045841217, + -0.00895009096711874, + -0.1755981296300888, + 0.6027035713195801, + 0.0, + 0.08998419344425201 + ], + [ + 0.37350746989250183, + -0.06384676694869995, + 0.03581361472606659, + 0.006495181005448103, + -0.20384003221988678, + 0.5873320698738098, + 0.0, + 0.08998419344425201 + ], + [ + 0.36293670535087585, + -0.044238463044166565, + 0.025522001087665558, + 0.005624828860163689, + -0.21715037524700165, + 0.5677871108055115, + 0.0, + 0.09034547209739685 + ], + [ + 0.35387328267097473, + -0.02165048196911812, + 0.009713792242109776, + 0.0063773090951144695, + -0.2286926954984665, + 0.5737062096595764, + 0.0, + 0.09034547209739685 + ], + [ + 0.34756505489349365, + -0.0146813178434968, + -0.0005223755142651498, + -0.0122744245454669, + -0.2332141399383545, + 0.5294163227081299, + 0.0, + 0.08998419344425201 + ], + [ + 0.34875616431236267, + 0.01466237660497427, + -0.003277757205069065, + -0.009709320031106472, + -0.262884259223938, + 0.5154476165771484, + 0.0, + 0.08998419344425201 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.8490449786186218 + ], + [ + 0.5749470591545105 + ], + [ + 0.2737756073474884 + ], + [ + 0.12133388966321945 + ], + [ + 0.08998419344425201 + ], + [ + 0.08998419344425201 + ], + [ + 0.08998419344425201 + ], + [ + 0.08998419344425201 + ], + [ + 0.09034547209739685 + ], + [ + 0.09034547209739685 + ], + [ + 0.08998419344425201 + ], + [ + 0.08998419344425201 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.37791356444358826, + -0.12297560274600983, + 0.06259715557098389 + ], + [ + 0.37584397196769714, + -0.12513677775859833, + 0.055435750633478165 + ], + [ + 0.3853989541530609, + -0.12922020256519318, + 0.06379155814647675 + ], + [ + 0.3913556635379791, + -0.12990179657936096, + 0.05982314795255661 + ], + [ + 0.4021760821342468, + -0.12808839976787567, + 0.05469468608498573 + ], + [ + 0.41299813985824585, + -0.11951109021902084, + 0.04541943967342377 + ], + [ + 0.4199894666671753, + -0.10901959985494614, + 0.03390935808420181 + ], + [ + 0.42262938618659973, + -0.10999729484319687, + 0.02759360335767269 + ], + [ + 0.42595335841178894, + -0.10652488470077515, + 0.019373437389731407 + ], + [ + 0.43264803290367126, + -0.10641246289014816, + 0.012653383426368237 + ], + [ + 0.4346989393234253, + -0.10805325210094452, + 0.011986671015620232 + ], + [ + 0.42682692408561707, + -0.1079670712351799, + 0.011546491645276546 + ], + [ + 0.41184476017951965, + -0.1067524254322052, + 0.015366226434707642 + ], + [ + 0.3932960331439972, + -0.1002805083990097, + 0.02616368792951107 + ], + [ + 0.38273611664772034, + -0.08306845277547836, + 0.03538157045841217 + ], + [ + 0.37350746989250183, + -0.06384676694869995, + 0.03581361472606659 + ], + [ + 0.36293670535087585, + -0.044238463044166565, + 0.025522001087665558 + ], + [ + 0.35387328267097473, + -0.02165048196911812, + 0.009713792242109776 + ], + [ + 0.34756505489349365, + -0.0146813178434968, + -0.0005223755142651498 + ], + [ + 0.34875616431236267, + 0.01466237660497427, + -0.003277757205069065 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9265432764559745, + 0.3323865402904859, + 0.17617248561551632, + 0.3290465676868249, + -0.9430560175935813, + 0.04872067296389896, + 0.18233461862122582, + 0.012827139753531211, + -0.9831528626505626 + ], + [ + 0.9139146128386141, + 0.37906285036762355, + 0.1451600355167306, + 0.37711406150545435, + -0.9252230904677362, + 0.04179973062343128, + 0.15015014170791255, + 0.01654050593251872, + -0.988524833582136 + ], + [ + 0.869583113174525, + 0.45896858913877225, + 0.18213468496051527, + 0.4632615110672742, + -0.8859771290991812, + 0.020815837164008907, + 0.17092098070560874, + 0.06627488888815741, + -0.9830532322603366 + ], + [ + 0.8260134978363098, + 0.5225059582757926, + 0.2113982614841493, + 0.5301288123063975, + -0.8475901599914136, + 0.023544915551744573, + 0.19148144493614366, + 0.09261989123307224, + -0.9771163758699069 + ], + [ + 0.8099438507471498, + 0.5309920350190931, + 0.2490751239749994, + 0.5386268318513157, + -0.8414770373982872, + 0.042397305824975584, + 0.23210362911142415, + 0.0998191077784423, + -0.9675557095462888 + ], + [ + 0.8032907856914383, + 0.5361963106563216, + 0.25926324471814677, + 0.5445052441709103, + -0.8375441937261184, + 0.045097257411554285, + 0.24132540830507135, + 0.10494398503114047, + -0.9647532364870173 + ], + [ + 0.7979757266177988, + 0.5453119665219828, + 0.2566507332869409, + 0.5563913505410822, + -0.8302217603985772, + 0.03406601831383457, + 0.23165363103536074, + 0.11561439239392274, + -0.9659036740273419 + ], + [ + 0.8018877479900219, + 0.5390839388426484, + 0.2576131722280256, + 0.5541720545816496, + -0.8322377053741636, + 0.01654495918095534, + 0.22331451709247155, + 0.12949482088269826, + -0.9661064733352704 + ], + [ + 0.7938390428192776, + 0.5505639204915117, + 0.25826138609708893, + 0.5689852054072825, + -0.8223373875397721, + 0.00413002202116404, + 0.21465183466116886, + 0.14366833508911825, + -0.9660662499897795 + ], + [ + 0.7884468248372942, + 0.5569454732499901, + 0.2610811066131242, + 0.5779527180771304, + -0.8160576213201111, + -0.004540303141749233, + 0.21052852555234858, + 0.1544723228015512, + -0.9653061904997022 + ], + [ + 0.7801015402561099, + 0.5739640870306357, + 0.24901167380091557, + 0.5942951188974244, + -0.8042059223002872, + -0.008133030913535622, + 0.19558859512952417, + 0.1543310122309615, + -0.9684663340142629 + ], + [ + 0.7772745783257071, + 0.5932846400897026, + 0.20942198003606605, + 0.6012087424447644, + -0.7985011625954535, + 0.03072362839402841, + 0.18545155134584146, + 0.10202562995317167, + -0.9773425668290926 + ], + [ + 0.7865502820177617, + 0.5931447342626879, + 0.17180796859932027, + 0.5891946248706512, + -0.8041388468428448, + 0.07880614837557065, + 0.18490091368436287, + 0.039243333379126465, + -0.9819733259635837 + ], + [ + 0.8018984885150231, + 0.5771402151663219, + 0.15449267346736278, + 0.5712334261207679, + -0.8163941778436321, + 0.084811079850155, + 0.17507480401145892, + 0.02024150243415246, + -0.9843470397068086 + ], + [ + 0.8111377439803604, + 0.5655610077502842, + 0.14898425018415087, + 0.5581545335794309, + -0.8246593776595335, + 0.09165384597996011, + 0.1746971005345497, + 0.00881234081690771, + -0.9845827876385751 + ], + [ + 0.815187966777178, + 0.5552249492751608, + 0.16490553212092648, + 0.5426694479919419, + -0.8316758970105455, + 0.11758006866737977, + 0.2024313440102887, + -0.006360663023601672, + -0.9792758002361176 + ], + [ + 0.8232933207132141, + 0.5387808911517015, + 0.17861483532670924, + 0.5251384140021241, + -0.8424280275166767, + 0.12060126281965447, + 0.21544779926548963, + -0.005492702808281742, + -0.9764999109101431 + ], + [ + 0.8180273595815881, + 0.5439518424793549, + 0.18694285768461422, + 0.5286173767886758, + -0.839093447566838, + 0.12839725545141847, + 0.2267044506246712, + -0.0062112248158269975, + -0.973943793426116 + ], + [ + 0.8397366257871643, + 0.5025433180933808, + 0.20565167821168473, + 0.4913578021633858, + -0.8644695517603773, + 0.1061126963769121, + 0.2311058406115134, + 0.011941839008579244, + -0.9728553247612608 + ], + [ + 0.8401803800809897, + 0.4907058524858742, + 0.2308780961093436, + 0.4759896808415685, + -0.8712748500831529, + 0.11964096014710637, + 0.2598667979163664, + 0.009375603910745052, + -0.9655989568097116 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0020695924758911133, + -0.002161175012588501, + -0.007161404937505722, + -0.0036847498267889023, + 0.03264021873474121, + 0.05011102557182312, + 1.0 + ], + [ + 0.00955498218536377, + -0.004083424806594849, + 0.008355807512998581, + -0.0505845807492733, + -0.02104419469833374, + 0.0981433093547821, + 1.0 + ], + [ + 0.005956709384918213, + -0.0006815940141677856, + -0.0039684101939201355, + -0.027191102504730225, + -0.020906969904899597, + 0.08108830451965332, + 1.0 + ], + [ + 0.0108204185962677, + 0.0018133968114852905, + -0.005128461867570877, + -0.008295938372612, + -0.04156851768493652, + 0.01627659797668457, + 1.0 + ], + [ + 0.010822057723999023, + 0.008577309548854828, + -0.009275246411561966, + -0.0055494606494903564, + -0.009491577744483948, + 0.008840382099151611, + 1.0 + ], + [ + 0.006991326808929443, + 0.010491490364074707, + -0.011510081589221954, + -0.01077677309513092, + 0.009954184293746948, + 0.013179898262023926, + 1.0 + ], + [ + 0.0026399195194244385, + -0.0009776949882507324, + -0.006315754726529121, + -0.014114856719970703, + 0.00856366753578186, + -0.004163086414337158, + 1.0 + ], + [ + 0.003323972225189209, + 0.0034724101424217224, + -0.008220165967941284, + -0.01438911259174347, + 0.008878201246261597, + 0.01716303825378418, + 0.0 + ], + [ + 0.006694674491882324, + 0.00011242181062698364, + -0.006720053963363171, + -0.011046051979064941, + 0.004219770431518555, + 0.010669291019439697, + 0.0 + ], + [ + 0.0020509064197540283, + -0.0016407892107963562, + -0.0006667124107480049, + 0.0006514638662338257, + 0.015257969498634338, + 0.01847207546234131, + 0.0 + ], + [ + -0.007872015237808228, + 8.618086576461792e-05, + -0.00044017937034368515, + 0.054013244807720184, + 0.010326236486434937, + 0.007340073585510254, + 0.0 + ], + [ + -0.014982163906097412, + 0.001214645802974701, + 0.003819734789431095, + 0.06407162547111511, + 0.0005603283643722534, + -0.015445113182067871, + 0.0 + ], + [ + -0.01854872703552246, + 0.006471917033195496, + 0.010797461494803429, + 0.019382009282708168, + 0.009989291429519653, + -0.023949146270751953, + 0.0 + ], + [ + -0.010559916496276855, + 0.01721205562353134, + 0.0092178825289011, + 0.011610391549766064, + 0.00038361549377441406, + -0.016263842582702637, + 0.0 + ], + [ + -0.009228646755218506, + 0.019221685826778412, + 0.00043204426765441895, + 0.015445271506905556, + -0.028241902589797974, + -0.015371501445770264, + 0.0 + ], + [ + -0.010570764541625977, + 0.019608303904533386, + -0.010291613638401031, + -0.0008703521452844143, + -0.013310343027114868, + -0.01954495906829834, + 0.0 + ], + [ + -0.009063422679901123, + 0.022587981075048447, + -0.015808209776878357, + 0.0007524802349507809, + -0.011542320251464844, + 0.005919098854064941, + 0.0 + ], + [ + -0.006308227777481079, + 0.006969164125621319, + -0.010236167348921299, + -0.018651733174920082, + -0.0045214444398880005, + -0.04428988695144653, + 0.0 + ], + [ + 0.0011911094188690186, + 0.02934369444847107, + -0.0027553816325962543, + 0.002565104514360428, + -0.029670119285583496, + -0.013968706130981445, + 0.0 + ], + [ + 0.008732259273529053, + 0.006295229308307171, + 0.0037965846713632345, + 0.01603013277053833, + -0.04690071940422058, + -0.06561359763145447, + 0.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.8490449786186218 + ], + [ + 0.5749470591545105 + ], + [ + 0.2737756073474884 + ], + [ + 0.12133388966321945 + ], + [ + 0.08998419344425201 + ], + [ + 0.08998419344425201 + ], + [ + 0.08998419344425201 + ], + [ + 0.08998419344425201 + ], + [ + 0.09034547209739685 + ], + [ + 0.09034547209739685 + ], + [ + 0.08998419344425201 + ], + [ + 0.08998419344425201 + ], + [ + 0.08998419344425201 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.37584397196769714, + -0.12513677775859833, + 0.055435750633478165 + ], + [ + 0.3853989541530609, + -0.12922020256519318, + 0.06379155814647675 + ], + [ + 0.3913556635379791, + -0.12990179657936096, + 0.05982314795255661 + ], + [ + 0.4021760821342468, + -0.12808839976787567, + 0.05469468608498573 + ], + [ + 0.41299813985824585, + -0.11951109021902084, + 0.04541943967342377 + ], + [ + 0.4199894666671753, + -0.10901959985494614, + 0.03390935808420181 + ], + [ + 0.42262938618659973, + -0.10999729484319687, + 0.02759360335767269 + ], + [ + 0.42595335841178894, + -0.10652488470077515, + 0.019373437389731407 + ], + [ + 0.43264803290367126, + -0.10641246289014816, + 0.012653383426368237 + ], + [ + 0.4346989393234253, + -0.10805325210094452, + 0.011986671015620232 + ], + [ + 0.42682692408561707, + -0.1079670712351799, + 0.011546491645276546 + ], + [ + 0.41184476017951965, + -0.1067524254322052, + 0.015366226434707642 + ], + [ + 0.3932960331439972, + -0.1002805083990097, + 0.02616368792951107 + ], + [ + 0.38273611664772034, + -0.08306845277547836, + 0.03538157045841217 + ], + [ + 0.37350746989250183, + -0.06384676694869995, + 0.03581361472606659 + ], + [ + 0.36293670535087585, + -0.044238463044166565, + 0.025522001087665558 + ], + [ + 0.35387328267097473, + -0.02165048196911812, + 0.009713792242109776 + ], + [ + 0.34756505489349365, + -0.0146813178434968, + -0.0005223755142651498 + ], + [ + 0.34875616431236267, + 0.01466237660497427, + -0.003277757205069065 + ], + [ + 0.3574884235858917, + 0.02095760591328144, + 0.0005188275245018303 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9139146128386141, + 0.37906285036762355, + 0.1451600355167306, + 0.37711406150545435, + -0.9252230904677362, + 0.04179973062343128, + 0.15015014170791255, + 0.01654050593251872, + -0.988524833582136 + ], + [ + 0.869583113174525, + 0.45896858913877225, + 0.18213468496051527, + 0.4632615110672742, + -0.8859771290991812, + 0.020815837164008907, + 0.17092098070560874, + 0.06627488888815741, + -0.9830532322603366 + ], + [ + 0.8260134978363098, + 0.5225059582757926, + 0.2113982614841493, + 0.5301288123063975, + -0.8475901599914136, + 0.023544915551744573, + 0.19148144493614366, + 0.09261989123307224, + -0.9771163758699069 + ], + [ + 0.8099438507471498, + 0.5309920350190931, + 0.2490751239749994, + 0.5386268318513157, + -0.8414770373982872, + 0.042397305824975584, + 0.23210362911142415, + 0.0998191077784423, + -0.9675557095462888 + ], + [ + 0.8032907856914383, + 0.5361963106563216, + 0.25926324471814677, + 0.5445052441709103, + -0.8375441937261184, + 0.045097257411554285, + 0.24132540830507135, + 0.10494398503114047, + -0.9647532364870173 + ], + [ + 0.7979757266177988, + 0.5453119665219828, + 0.2566507332869409, + 0.5563913505410822, + -0.8302217603985772, + 0.03406601831383457, + 0.23165363103536074, + 0.11561439239392274, + -0.9659036740273419 + ], + [ + 0.8018877479900219, + 0.5390839388426484, + 0.2576131722280256, + 0.5541720545816496, + -0.8322377053741636, + 0.01654495918095534, + 0.22331451709247155, + 0.12949482088269826, + -0.9661064733352704 + ], + [ + 0.7938390428192776, + 0.5505639204915117, + 0.25826138609708893, + 0.5689852054072825, + -0.8223373875397721, + 0.00413002202116404, + 0.21465183466116886, + 0.14366833508911825, + -0.9660662499897795 + ], + [ + 0.7884468248372942, + 0.5569454732499901, + 0.2610811066131242, + 0.5779527180771304, + -0.8160576213201111, + -0.004540303141749233, + 0.21052852555234858, + 0.1544723228015512, + -0.9653061904997022 + ], + [ + 0.7801015402561099, + 0.5739640870306357, + 0.24901167380091557, + 0.5942951188974244, + -0.8042059223002872, + -0.008133030913535622, + 0.19558859512952417, + 0.1543310122309615, + -0.9684663340142629 + ], + [ + 0.7772745783257071, + 0.5932846400897026, + 0.20942198003606605, + 0.6012087424447644, + -0.7985011625954535, + 0.03072362839402841, + 0.18545155134584146, + 0.10202562995317167, + -0.9773425668290926 + ], + [ + 0.7865502820177617, + 0.5931447342626879, + 0.17180796859932027, + 0.5891946248706512, + -0.8041388468428448, + 0.07880614837557065, + 0.18490091368436287, + 0.039243333379126465, + -0.9819733259635837 + ], + [ + 0.8018984885150231, + 0.5771402151663219, + 0.15449267346736278, + 0.5712334261207679, + -0.8163941778436321, + 0.084811079850155, + 0.17507480401145892, + 0.02024150243415246, + -0.9843470397068086 + ], + [ + 0.8111377439803604, + 0.5655610077502842, + 0.14898425018415087, + 0.5581545335794309, + -0.8246593776595335, + 0.09165384597996011, + 0.1746971005345497, + 0.00881234081690771, + -0.9845827876385751 + ], + [ + 0.815187966777178, + 0.5552249492751608, + 0.16490553212092648, + 0.5426694479919419, + -0.8316758970105455, + 0.11758006866737977, + 0.2024313440102887, + -0.006360663023601672, + -0.9792758002361176 + ], + [ + 0.8232933207132141, + 0.5387808911517015, + 0.17861483532670924, + 0.5251384140021241, + -0.8424280275166767, + 0.12060126281965447, + 0.21544779926548963, + -0.005492702808281742, + -0.9764999109101431 + ], + [ + 0.8180273595815881, + 0.5439518424793549, + 0.18694285768461422, + 0.5286173767886758, + -0.839093447566838, + 0.12839725545141847, + 0.2267044506246712, + -0.0062112248158269975, + -0.973943793426116 + ], + [ + 0.8397366257871643, + 0.5025433180933808, + 0.20565167821168473, + 0.4913578021633858, + -0.8644695517603773, + 0.1061126963769121, + 0.2311058406115134, + 0.011941839008579244, + -0.9728553247612608 + ], + [ + 0.8401803800809897, + 0.4907058524858742, + 0.2308780961093436, + 0.4759896808415685, + -0.8712748500831529, + 0.11964096014710637, + 0.2598667979163664, + 0.009375603910745052, + -0.9655989568097116 + ], + [ + 0.857653795325107, + 0.4365426055051719, + 0.2717729216518737, + 0.41411845290949256, + -0.8996634450921243, + 0.13824468353184122, + 0.3048538573223045, + -0.006019895657435256, + -0.952380116619402 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006651.json b/json/chunk-0006/episode_0006651.json new file mode 100644 index 0000000000000000000000000000000000000000..b352546b0b6f06f5532f35c1c0b7d9c15731d290 --- /dev/null +++ b/json/chunk-0006/episode_0006651.json @@ -0,0 +1,2422 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 39, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMoved the blue brush to the upper right side of the stove." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006651.mp4", + "start": 0, + "end": 39, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.21748867630958557, + 0.0902329608798027, + 0.06983313709497452, + 0.046543773263692856, + 0.324181467294693, + -1.6867296695709229, + 0.0, + 0.9981546401977539 + ], + [ + 0.20376169681549072, + 0.08724624663591385, + 0.05804019793868065, + -0.005094303283840418, + 0.30615463852882385, + -1.7022862434387207, + 0.0, + 0.9988223910331726 + ], + [ + 0.20110896229743958, + 0.08660759031772614, + 0.05605471879243851, + -0.012954854406416416, + 0.30204203724861145, + -1.6958990097045898, + 0.0, + 0.9988223910331726 + ], + [ + 0.20042546093463898, + 0.0862998217344284, + 0.053376831114292145, + -0.026142632588744164, + 0.2968941330909729, + -1.7032091617584229, + 0.0, + 0.9988223910331726 + ], + [ + 0.20147009193897247, + 0.08578013628721237, + 0.04540370777249336, + -0.0455632358789444, + 0.2844165861606598, + -1.7285869121551514, + 0.0, + 0.9988223910331726 + ], + [ + 0.20103418827056885, + 0.08609670400619507, + 0.03718111291527748, + -0.06688295304775238, + 0.2664027810096741, + -1.74565851688385, + 0.0, + 0.9988223910331726 + ], + [ + 0.20301438868045807, + 0.08230182528495789, + 0.02429589070379734, + -0.07286926358938217, + 0.22385795414447784, + -1.760216474533081, + 0.0, + 0.9988223910331726 + ], + [ + 0.2032475471496582, + 0.0837000235915184, + 0.013560902327299118, + -0.09929735958576202, + 0.22198010981082916, + -1.7755787372589111, + 0.0, + 0.9981546401977539 + ], + [ + 0.20545220375061035, + 0.08630290627479553, + 0.006638227496296167, + -0.09615308791399002, + 0.22850580513477325, + -1.7691949605941772, + 0.0, + 0.9988223910331726 + ], + [ + 0.20480500161647797, + 0.08800385892391205, + 0.004721219185739756, + -0.1056305393576622, + 0.2300005704164505, + -1.774382472038269, + 0.0, + 0.9981546401977539 + ], + [ + 0.21350513398647308, + 0.09333184361457825, + 0.003972210921347141, + -0.09908749908208847, + 0.2336079180240631, + -1.7804232835769653, + 0.0, + 0.9327637553215027 + ], + [ + 0.21522220969200134, + 0.09562277048826218, + 0.0033560728188604116, + -0.09676959365606308, + 0.2429627776145935, + -1.7894219160079956, + 0.0, + 0.6611326336860657 + ], + [ + 0.2186095267534256, + 0.09777270257472992, + 0.0036070533096790314, + -0.0743744745850563, + 0.2626907527446747, + -1.7790204286575317, + 0.0, + 0.3661215305328369 + ], + [ + 0.21895690262317657, + 0.09860057383775711, + 0.003833961905911565, + -0.07247426360845566, + 0.26866891980171204, + -1.7758803367614746, + 0.0, + 0.27449509501457214 + ], + [ + 0.2187211662530899, + 0.09922090917825699, + 0.004054782912135124, + -0.06138560175895691, + 0.2794942259788513, + -1.784897804260254, + 0.0, + 0.2737756073474884 + ], + [ + 0.212803915143013, + 0.10149095952510834, + 0.01609998196363449, + -0.04234395548701286, + 0.3148023784160614, + -1.7765551805496216, + 0.0, + 0.2737756073474884 + ], + [ + 0.2063131481409073, + 0.11031690239906311, + 0.03040265291929245, + -0.02958412654697895, + 0.32953715324401855, + -1.7418874502182007, + 0.0, + 0.2737756073474884 + ], + [ + 0.206318199634552, + 0.11270321160554886, + 0.05354900285601616, + 0.0282110795378685, + 0.3646056354045868, + -1.7175129652023315, + 0.0, + 0.2737756073474884 + ], + [ + 0.20627380907535553, + 0.1060568243265152, + 0.07554131001234055, + 0.07547507435083389, + 0.39369258284568787, + -1.7230900526046753, + 0.0, + 0.2737756073474884 + ], + [ + 0.21254456043243408, + 0.07915466278791428, + 0.08763430267572403, + 0.08744660019874573, + 0.40973761677742004, + -1.8256665468215942, + 0.0, + 0.2737756073474884 + ], + [ + 0.21582111716270447, + 0.056721944361925125, + 0.09101905673742294, + 0.06724606454372406, + 0.4221743643283844, + -1.9367735385894775, + 0.0, + 0.2737756073474884 + ], + [ + 0.2254258394241333, + 0.02916954830288887, + 0.09579560905694962, + 0.06574650853872299, + 0.4395945370197296, + -2.0856761932373047, + 0.0, + 0.2737756073474884 + ], + [ + 0.2362522929906845, + 0.006603319197893143, + 0.09717653691768646, + 0.09585881233215332, + 0.45608147978782654, + -2.217090129852295, + 0.0, + 0.2737756073474884 + ], + [ + 0.2565053701400757, + -0.019727645441889763, + 0.09489431232213974, + 0.08766971528530121, + 0.4641001522541046, + -2.3946533203125, + 0.0, + 0.2737756073474884 + ], + [ + 0.27496325969696045, + -0.0480121374130249, + 0.08703900128602982, + 0.06862018257379532, + 0.4508882164955139, + -2.561215877532959, + 0.0, + 0.2737756073474884 + ], + [ + 0.2864859998226166, + -0.05905330926179886, + 0.07450025528669357, + 0.031190091744065285, + 0.42288827896118164, + -2.6399612426757812, + 0.0, + 0.2737756073474884 + ], + [ + 0.3007460832595825, + -0.07804851979017258, + 0.058902643620967865, + -0.0049176523461937904, + 0.4019133746623993, + -2.7444255352020264, + 0.0, + 0.2737756073474884 + ], + [ + 0.3063676655292511, + -0.08703398704528809, + 0.04828261956572533, + -0.023406606167554855, + 0.3860401511192322, + -2.80053448677063, + 0.0, + 0.2737756073474884 + ], + [ + 0.3105958104133606, + -0.09502419084310532, + 0.03126022592186928, + -0.03316768258810043, + 0.3400217592716217, + -2.8576176166534424, + 0.0, + 0.2737756073474884 + ], + [ + 0.31203359365463257, + -0.09781889617443085, + 0.018082937225699425, + -0.03567850962281227, + 0.324294775724411, + -2.8792643547058105, + 0.0, + 0.2737756073474884 + ], + [ + 0.3098107874393463, + -0.10095345228910446, + 0.002235894091427326, + -0.03696845844388008, + 0.29105475544929504, + -2.903473377227783, + 0.0, + 0.2737756073474884 + ], + [ + 0.3098973333835602, + -0.10170427709817886, + 0.00013315113028511405, + -0.03268977254629135, + 0.2904376983642578, + -2.9053213596343994, + 0.0, + 0.316539466381073 + ], + [ + 0.3074549436569214, + -0.09840957075357437, + -0.00116869923658669, + -0.052285581827163696, + 0.2750382125377655, + -2.8702690601348877, + 0.0, + 0.4606100916862488 + ], + [ + 0.3098016679286957, + -0.09642628580331802, + -0.0008937230450101197, + -0.04180146008729935, + 0.30023762583732605, + -2.818657398223877, + 0.0, + 0.7525970935821533 + ], + [ + 0.3084181547164917, + -0.09340398013591766, + 0.006456741131842136, + -0.036000750958919525, + 0.321226567029953, + -2.809136152267456, + 0.0, + 1.003452181816101 + ], + [ + 0.3077069818973541, + -0.0922766774892807, + 0.022111251950263977, + 0.015525465831160545, + 0.34697508811950684, + -2.791936159133911, + 0.0, + 1.0105689764022827 + ], + [ + 0.30675673484802246, + -0.09018876403570175, + 0.039518631994724274, + 0.04638573154807091, + 0.3897636830806732, + -2.7743654251098633, + 0.0, + 0.9994885921478271 + ], + [ + 0.29961395263671875, + -0.08607549965381622, + 0.06675630062818527, + 0.09689781814813614, + 0.4520244598388672, + -2.763099431991577, + 0.0, + 0.9994885921478271 + ], + [ + 0.29163432121276855, + -0.08126755058765411, + 0.09378843754529953, + 0.1687024086713791, + 0.5021359920501709, + -2.7238118648529053, + 0.0, + 0.9988223910331726 + ] + ], + "left_gripper_pos": [ + [ + 0.9981546401977539 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9981546401977539 + ], + [ + 0.9988223910331726 + ], + [ + 0.9981546401977539 + ], + [ + 0.9327637553215027 + ], + [ + 0.6611326336860657 + ], + [ + 0.3661215305328369 + ], + [ + 0.27449509501457214 + ], + [ + 0.2737756073474884 + ], + [ + 0.2737756073474884 + ], + [ + 0.2737756073474884 + ], + [ + 0.2737756073474884 + ], + [ + 0.2737756073474884 + ], + [ + 0.2737756073474884 + ], + [ + 0.2737756073474884 + ], + [ + 0.2737756073474884 + ], + [ + 0.2737756073474884 + ], + [ + 0.2737756073474884 + ], + [ + 0.2737756073474884 + ], + [ + 0.2737756073474884 + ], + [ + 0.2737756073474884 + ], + [ + 0.2737756073474884 + ], + [ + 0.2737756073474884 + ], + [ + 0.2737756073474884 + ], + [ + 0.2737756073474884 + ], + [ + 0.316539466381073 + ], + [ + 0.4606100916862488 + ], + [ + 0.7525970935821533 + ], + [ + 1.003452181816101 + ], + [ + 1.0105689764022827 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.21748867630958557, + 0.0902329608798027, + 0.06983313709497452 + ], + [ + 0.20376169681549072, + 0.08724624663591385, + 0.05804019793868065 + ], + [ + 0.20110896229743958, + 0.08660759031772614, + 0.05605471879243851 + ], + [ + 0.20042546093463898, + 0.0862998217344284, + 0.053376831114292145 + ], + [ + 0.20147009193897247, + 0.08578013628721237, + 0.04540370777249336 + ], + [ + 0.20103418827056885, + 0.08609670400619507, + 0.03718111291527748 + ], + [ + 0.20301438868045807, + 0.08230182528495789, + 0.02429589070379734 + ], + [ + 0.2032475471496582, + 0.0837000235915184, + 0.013560902327299118 + ], + [ + 0.20545220375061035, + 0.08630290627479553, + 0.006638227496296167 + ], + [ + 0.20480500161647797, + 0.08800385892391205, + 0.004721219185739756 + ], + [ + 0.21350513398647308, + 0.09333184361457825, + 0.003972210921347141 + ], + [ + 0.21522220969200134, + 0.09562277048826218, + 0.0033560728188604116 + ], + [ + 0.2186095267534256, + 0.09777270257472992, + 0.0036070533096790314 + ], + [ + 0.21895690262317657, + 0.09860057383775711, + 0.003833961905911565 + ], + [ + 0.2187211662530899, + 0.09922090917825699, + 0.004054782912135124 + ], + [ + 0.212803915143013, + 0.10149095952510834, + 0.01609998196363449 + ], + [ + 0.2063131481409073, + 0.11031690239906311, + 0.03040265291929245 + ], + [ + 0.206318199634552, + 0.11270321160554886, + 0.05354900285601616 + ], + [ + 0.20627380907535553, + 0.1060568243265152, + 0.07554131001234055 + ], + [ + 0.21254456043243408, + 0.07915466278791428, + 0.08763430267572403 + ], + [ + 0.21582111716270447, + 0.056721944361925125, + 0.09101905673742294 + ], + [ + 0.2254258394241333, + 0.02916954830288887, + 0.09579560905694962 + ], + [ + 0.2362522929906845, + 0.006603319197893143, + 0.09717653691768646 + ], + [ + 0.2565053701400757, + -0.019727645441889763, + 0.09489431232213974 + ], + [ + 0.27496325969696045, + -0.0480121374130249, + 0.08703900128602982 + ], + [ + 0.2864859998226166, + -0.05905330926179886, + 0.07450025528669357 + ], + [ + 0.3007460832595825, + -0.07804851979017258, + 0.058902643620967865 + ], + [ + 0.3063676655292511, + -0.08703398704528809, + 0.04828261956572533 + ], + [ + 0.3105958104133606, + -0.09502419084310532, + 0.03126022592186928 + ], + [ + 0.31203359365463257, + -0.09781889617443085, + 0.018082937225699425 + ], + [ + 0.3098107874393463, + -0.10095345228910446, + 0.002235894091427326 + ], + [ + 0.3098973333835602, + -0.10170427709817886, + 0.00013315113028511405 + ], + [ + 0.3074549436569214, + -0.09840957075357437, + -0.00116869923658669 + ], + [ + 0.3098016679286957, + -0.09642628580331802, + -0.0008937230450101197 + ], + [ + 0.3084181547164917, + -0.09340398013591766, + 0.006456741131842136 + ], + [ + 0.3077069818973541, + -0.0922766774892807, + 0.022111251950263977 + ], + [ + 0.30675673484802246, + -0.09018876403570175, + 0.039518631994724274 + ], + [ + 0.29961395263671875, + -0.08607549965381622, + 0.06675630062818527 + ], + [ + 0.29163432121276855, + -0.08126755058765411, + 0.09378843754529953 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + -0.10964857220332269, + -0.9904972280765398, + 0.08302067083843817, + -0.9415486823103028, + 0.1302694351391842, + 0.3106701677152971, + -0.3185329958630749, + -0.04410346291629971, + -0.9468852174922182 + ], + [ + -0.12501461113705453, + -0.9915560919476922, + 0.03446539603240367, + -0.9452686437861895, + 0.1295875080190672, + 0.2994566226351089, + -0.3013943232326529, + 0.004857395066039716, + -0.9534872141965529 + ], + [ + -0.11912810620797992, + -0.9925824393159816, + 0.024260986641841592, + -0.947269677775629, + 0.1209426821368465, + 0.29673729998839227, + -0.2974704218542672, + 0.012368055590150251, + -0.9546509201392741 + ], + [ + -0.12625005409921058, + -0.9919171448019847, + 0.012700460142242187, + -0.9478789283926897, + 0.12440086792637212, + 0.2933427366891692, + -0.29255163808988044, + 0.024996037826895495, + -0.9559229765749351 + ], + [ + -0.15082374299096696, + -0.9885602277410666, + -0.0009352426024399341, + -0.9479014866039785, + 0.1443518107121085, + 0.28398120789605624, + -0.2805975235887912, + 0.043717626567167336, + -0.9588293898724483 + ], + [ + -0.16783540550653453, + -0.9856097751668733, + -0.020115858270593173, + -0.9500126117317613, + 0.15625709699855306, + 0.27029568473836707, + -0.2632628234465608, + 0.06447550490760241, + -0.9625671898926614 + ], + [ + -0.18359129828036785, + -0.9825504193777977, + -0.029814569865131688, + -0.9576081464258593, + 0.17191669707500196, + 0.23115208665649567, + -0.22199295730846752, + 0.07098818667451517, + -0.972460695482396 + ], + [ + -0.19836450654631, + -0.9787205648707994, + -0.05251265030088201, + -0.9550813588728283, + 0.18098289667070322, + 0.23465887804707825, + -0.22016157811087508, + 0.09670184595789943, + -0.9706583500449909 + ], + [ + -0.1919762137328589, + -0.9801413090327202, + -0.04968045579924961, + -0.9548993274562363, + 0.17486852157226296, + 0.2399755708124448, + -0.22652242225533298, + 0.09350943530337742, + -0.9695068734799255 + ], + [ + -0.19685848104030912, + -0.9787490127266312, + -0.05742045392668764, + -0.9535579342492357, + 0.17751551740364535, + 0.2433423660426727, + -0.22797807893048028, + 0.10265773798190111, + -0.9682393218412516 + ], + [ + -0.2024426634670332, + -0.9780762471487954, + -0.048824407540707215, + -0.9515407707315646, + 0.18467547225054026, + 0.24589658717562315, + -0.23148894065149728, + 0.0962383744270833, + -0.9680656205256332 + ], + [ + -0.21051801020905025, + -0.9766707523801099, + -0.04238406331267448, + -0.9475250401469437, + 0.19318226070647238, + 0.254709466731941, + -0.2405794373427526, + 0.09378089140974895, + -0.9660883389909217 + ], + [ + -0.19963101324752647, + -0.9796836547425458, + -0.019167555401102723, + -0.9448353243401961, + 0.1872722411608207, + 0.2687290783848296, + -0.25967993459010724, + 0.07175684163124707, + -0.9630250709355317 + ], + [ + -0.19634350446562576, + -0.9803881951983353, + -0.016976895178682172, + -0.9439207618756822, + 0.18429627635096446, + 0.2739497724459737, + -0.26544834441787096, + 0.06981310220094848, + -0.9615941489042514 + ], + [ + -0.204224646658276, + -0.9789229856042556, + -0.001442897415894595, + -0.939248791643311, + 0.19553194453920186, + 0.2820974407209306, + -0.27586953636435246, + 0.05896648980878026, + -0.9593846736245834 + ], + [ + -0.19426977566726833, + -0.9807066495158445, + 0.021765152367850732, + -0.9308004107103343, + 0.19129642271366676, + 0.3114743554105653, + -0.3096285672925906, + 0.04025104038854904, + -0.9500052652822388 + ], + [ + -0.16109645774124953, + -0.9865981284330592, + 0.02592420250666494, + -0.9323774219271941, + 0.16075072110465954, + 0.32377700465711134, + -0.3236051210713775, + 0.027988187449649954, + -0.9457781912159227 + ], + [ + -0.136580905537048, + -0.9873923592932727, + 0.0800124056127886, + -0.9242270994022921, + 0.15608280573218863, + 0.34848590571957805, + -0.356580881390333, + -0.02635311298562898, + -0.9338927071472722 + ], + [ + -0.1401000506401931, + -0.9812237024789678, + 0.13255950174952238, + -0.9128100336446667, + 0.17986387583790947, + 0.3666426443366723, + -0.38360111872652014, + -0.06963499021347969, + -0.9208697789860034 + ], + [ + -0.23125070054516744, + -0.9552267864980418, + 0.18456678968328366, + -0.8875953529417914, + 0.2848241670807357, + 0.3620078497531537, + -0.39836867714907753, + -0.08010605597200096, + -0.9137206448707966 + ], + [ + -0.3264417387519191, + -0.9218110138713164, + 0.20904603776718678, + -0.8517892510012007, + 0.38276271764617936, + 0.35769788070231145, + -0.40974487559875306, + -0.06129564981014163, + -0.9101384401479344 + ], + [ + -0.445612135035394, + -0.8547032384343913, + 0.2662934458805951, + -0.7876025638031516, + 0.5157012154584563, + 0.33724539710035, + -0.42557258675800513, + -0.05945275926678634, + -0.9029691815425736 + ], + [ + -0.5406748285606408, + -0.7692692576795713, + 0.34043433867640704, + -0.7167210440599271, + 0.6331200800110214, + 0.2923523717852914, + -0.4404335077654392, + -0.08592888615569617, + -0.8936635562455658 + ], + [ + -0.6561567967594755, + -0.648028659146307, + 0.3866744302270109, + -0.6075327979919313, + 0.7575807462952675, + 0.23869501923333125, + -0.447618316683354, + -0.07829603928516778, + -0.8907904202458713 + ], + [ + -0.7526810103436157, + -0.5220622250917121, + 0.401151255513933, + -0.49353827296487995, + 0.8506717544465645, + 0.1810456829246355, + -0.43576515439736324, + -0.06171385030197521, + -0.8979421645595823 + ], + [ + -0.799559734877015, + -0.4694012585589939, + 0.3746554267945812, + -0.4384966934027142, + 0.8825269096942948, + 0.16990262958625396, + -0.41039600416948907, + -0.028437864347913636, + -0.9114638816941931 + ], + [ + -0.8486773825909113, + -0.3885767903517817, + 0.3588241606672376, + -0.35598446130695804, + 0.9214052286764718, + 0.15584437068965204, + -0.39117996317121734, + 0.004525767069373687, + -0.920303077168494 + ], + [ + -0.8730473936566163, + -0.3426976152352266, + 0.34691006462983764, + -0.30986887741745833, + 0.9391955240107137, + 0.14796299025866372, + -0.37652294383932794, + 0.021682070711299947, + -0.9261535296980931 + ], + [ + -0.9049897383402177, + -0.29063629136524327, + 0.31068331084942685, + -0.26413301654282983, + 0.956322733231294, + 0.12522212055787987, + -0.3335076057167053, + 0.03126301403391008, + -0.9422289004709132 + ], + [ + -0.9154477097382696, + -0.2701422088131095, + 0.2982929394949378, + -0.24581250189379986, + 0.9622265645790975, + 0.11703098876373784, + -0.318640400212633, + 0.03381161687766247, + -0.947272437008726 + ], + [ + -0.9309117876401052, + -0.24602111036370994, + 0.2699571389834156, + -0.22595487871122066, + 0.9686176022280308, + 0.10355835765701424, + -0.2869627788046761, + 0.03540556325533869, + -0.9572872137824003 + ], + [ + -0.9314997340857223, + -0.2430538076690911, + 0.2706161339901685, + -0.22427559153051949, + 0.969507200063505, + 0.09877372154909397, + -0.2863716194769724, + 0.03131510182929086, + -0.9576067355420789 + ], + [ + -0.9272068070117695, + -0.2813147956439811, + 0.2472842954633886, + -0.25793375818314646, + 0.9582964822026184, + 0.12303669610162932, + -0.2715837134670587, + 0.050297494469125716, + -0.9610996039066767 + ], + [ + -0.9058866136785019, + -0.3287944266616328, + 0.2669525578718907, + -0.3031551259240471, + 0.9435574317149859, + 0.1334029335561821, + -0.29574721094893214, + 0.039919895436588484, + -0.9544317624452048 + ], + [ + -0.8968932031057038, + -0.33689635819759584, + 0.28650205244637955, + -0.30967201186912113, + 0.9409221498091016, + 0.13699909876911412, + -0.3157306245642347, + 0.034151893531922634, + -0.9482340538498195 + ], + [ + -0.8835021216301037, + -0.337573973110555, + 0.32475808497011976, + -0.32215956638128046, + 0.9411857749245779, + 0.10189480295209735, + -0.3400547233374807, + -0.014599649241529462, + -0.9402923137928403 + ], + [ + -0.86332590823558, + -0.34219858717792706, + 0.37090228241767614, + -0.3321013434081225, + 0.9386482076720339, + 0.09299591356935297, + -0.3799698328495715, + -0.042891364719589924, + -0.9240039269163092 + ], + [ + -0.8358957263237515, + -0.32852068803145534, + 0.43971865124079884, + -0.3324078243460398, + 0.9404786125939913, + 0.07074614877725538, + -0.43678756052252726, + -0.0870295167665569, + -0.8953449001274086 + ], + [ + -0.8011652864992286, + -0.326111901795675, + 0.5017820355650621, + -0.35564800248368506, + 0.9338040651159311, + 0.039044414483085696, + -0.48129895287437924, + -0.1471767491153757, + -0.8641124478225366 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.013726979494094849, + -0.002986714243888855, + -0.011792939156293869, + -0.051638077944517136, + -0.01802682876586914, + -0.015556573867797852, + 1.0 + ], + [ + -0.0026527345180511475, + -0.0006386563181877136, + -0.0019854791462421417, + -0.007860550656914711, + -0.004112601280212402, + 0.006387233734130859, + 1.0 + ], + [ + -0.0006835013628005981, + -0.0003077685832977295, + -0.0026778876781463623, + -0.013187778182327747, + -0.00514790415763855, + -0.007310152053833008, + 1.0 + ], + [ + 0.001044631004333496, + -0.0005196854472160339, + -0.007973123341798782, + -0.019420603290200233, + -0.01247754693031311, + -0.025377750396728516, + 1.0 + ], + [ + -0.0004359036684036255, + 0.00031656771898269653, + -0.008222594857215881, + -0.021319717168807983, + -0.018013805150985718, + -0.01707160472869873, + 1.0 + ], + [ + 0.001980200409889221, + -0.0037948787212371826, + -0.01288522221148014, + -0.005986310541629791, + -0.04254482686519623, + -0.014557957649230957, + 1.0 + ], + [ + 0.00023315846920013428, + 0.0013981983065605164, + -0.010734988376498222, + -0.026428095996379852, + -0.0018778443336486816, + -0.015362262725830078, + 1.0 + ], + [ + 0.0022046566009521484, + 0.00260288268327713, + -0.006922674831002951, + 0.003144271671772003, + 0.006525695323944092, + 0.006383776664733887, + 1.0 + ], + [ + -0.0006472021341323853, + 0.0017009526491165161, + -0.0019170083105564117, + -0.00947745144367218, + 0.001494765281677246, + -0.005187511444091797, + 1.0 + ], + [ + 0.008700132369995117, + 0.005327984690666199, + -0.0007490082643926144, + 0.0065430402755737305, + 0.00360734760761261, + -0.006040811538696289, + 0.0 + ], + [ + 0.0017170757055282593, + 0.0022909268736839294, + -0.0006161381024867296, + 0.0023179054260253906, + 0.009354859590530396, + -0.008998632431030273, + 0.0 + ], + [ + 0.0033873170614242554, + 0.002149932086467743, + 0.00025098049081861973, + 0.022395119071006775, + 0.019727975130081177, + 0.010401487350463867, + 0.0 + ], + [ + 0.00034737586975097656, + 0.0008278712630271912, + 0.00022690859623253345, + 0.001900210976600647, + 0.0059781670570373535, + 0.003140091896057129, + 0.0 + ], + [ + -0.00023573637008666992, + 0.0006203353404998779, + 0.00022082100622355938, + 0.011088661849498749, + 0.010825306177139282, + -0.009017467498779297, + 0.0 + ], + [ + -0.005917251110076904, + 0.002270050346851349, + 0.012045199051499367, + 0.019041646271944046, + 0.03530815243721008, + 0.008342623710632324, + 0.0 + ], + [ + -0.006490767002105713, + 0.008825942873954773, + 0.014302670955657959, + 0.012759828940033913, + 0.014734774827957153, + 0.0346677303314209, + 0.0 + ], + [ + 5.0514936447143555e-06, + 0.0023863092064857483, + 0.02314634993672371, + 0.0577952042222023, + 0.03506848216056824, + 0.02437448501586914, + 0.0 + ], + [ + -4.439055919647217e-05, + -0.006646387279033661, + 0.021992307156324387, + 0.04726399481296539, + 0.029086947441101074, + -0.00557708740234375, + 0.0 + ], + [ + 0.006270751357078552, + -0.02690216153860092, + 0.012092992663383484, + 0.011971525847911835, + 0.016045033931732178, + -0.10257649421691895, + 0.0 + ], + [ + 0.0032765567302703857, + -0.02243271842598915, + 0.0033847540616989136, + -0.020200535655021667, + 0.012436747550964355, + -0.1111069917678833, + 0.0 + ], + [ + 0.009604722261428833, + -0.027552396059036255, + 0.004776552319526672, + -0.0014995560050010681, + 0.017420172691345215, + -0.14890265464782715, + 0.0 + ], + [ + 0.010826453566551208, + -0.022566229104995728, + 0.001380927860736847, + 0.03011230379343033, + 0.016486942768096924, + -0.13141393661499023, + 0.0 + ], + [ + 0.020253077149391174, + -0.026330964639782906, + -0.0022822245955467224, + -0.008189097046852112, + 0.008018672466278076, + -0.17756319046020508, + 0.0 + ], + [ + 0.018457889556884766, + -0.02828449197113514, + -0.007855311036109924, + -0.01904953271150589, + -0.013211935758590698, + -0.16656255722045898, + 0.0 + ], + [ + 0.011522740125656128, + -0.011041171848773956, + -0.012538745999336243, + -0.03743009269237518, + -0.027999937534332275, + -0.07874536514282227, + 0.0 + ], + [ + 0.014260083436965942, + -0.018995210528373718, + -0.015597611665725708, + -0.03610774502158165, + -0.02097490429878235, + -0.10446429252624512, + 0.0 + ], + [ + 0.005621582269668579, + -0.008985467255115509, + -0.010620024055242538, + -0.01848895475268364, + -0.015873223543167114, + -0.056108951568603516, + 0.0 + ], + [ + 0.004228144884109497, + -0.00799020379781723, + -0.01702239364385605, + -0.009761076420545578, + -0.046018391847610474, + -0.0570831298828125, + 0.0 + ], + [ + 0.0014377832412719727, + -0.002794705331325531, + -0.013177288696169853, + -0.0025108270347118378, + -0.015726983547210693, + -0.021646738052368164, + 0.0 + ], + [ + -0.002222806215286255, + -0.0031345561146736145, + -0.015847042202949524, + -0.00128994882106781, + -0.03324002027511597, + -0.024209022521972656, + 0.0 + ], + [ + 8.654594421386719e-05, + -0.0007508248090744019, + -0.0021027429029345512, + 0.00427868589758873, + -0.0006170570850372314, + -0.001847982406616211, + 1.0 + ], + [ + -0.002442389726638794, + 0.003294706344604492, + -0.001301850425079465, + -0.019595809280872345, + -0.01539948582649231, + 0.03505229949951172, + 1.0 + ], + [ + 0.002346724271774292, + 0.0019832849502563477, + 0.00027497619157657027, + 0.01048412173986435, + 0.025199413299560547, + 0.05161166191101074, + 1.0 + ], + [ + -0.0013835132122039795, + 0.00302230566740036, + 0.007350464351475239, + 0.005800709128379822, + 0.020988941192626953, + 0.009521245956420898, + 1.0 + ], + [ + -0.0007111728191375732, + 0.0011273026466369629, + 0.015654511749744415, + 0.05152621865272522, + 0.025748521089553833, + 0.017199993133544922, + 1.0 + ], + [ + -0.000950247049331665, + 0.002087913453578949, + 0.017407380044460297, + 0.030860265716910362, + 0.04278859496116638, + 0.01757073402404785, + 1.0 + ], + [ + -0.007142782211303711, + 0.0041132643818855286, + 0.027237668633461, + 0.05051208660006523, + 0.06226077675819397, + 0.011265993118286133, + 1.0 + ], + [ + -0.007979631423950195, + 0.004807949066162109, + 0.027032136917114258, + 0.07180459052324295, + 0.05011153221130371, + 0.039287567138671875, + 1.0 + ], + [ + 6.616115570068359e-06, + -0.000501781702041626, + 0.0027672797441482544, + 0.00762408971786499, + 0.00634080171585083, + 0.002156496047973633, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9981546401977539 + ], + [ + 0.9988223910331726 + ], + [ + 0.9981546401977539 + ], + [ + 0.9327637553215027 + ], + [ + 0.6611326336860657 + ], + [ + 0.3661215305328369 + ], + [ + 0.27449509501457214 + ], + [ + 0.2737756073474884 + ], + [ + 0.2737756073474884 + ], + [ + 0.2737756073474884 + ], + [ + 0.2737756073474884 + ], + [ + 0.2737756073474884 + ], + [ + 0.2737756073474884 + ], + [ + 0.2737756073474884 + ], + [ + 0.2737756073474884 + ], + [ + 0.2737756073474884 + ], + [ + 0.2737756073474884 + ], + [ + 0.2737756073474884 + ], + [ + 0.2737756073474884 + ], + [ + 0.2737756073474884 + ], + [ + 0.2737756073474884 + ], + [ + 0.2737756073474884 + ], + [ + 0.2737756073474884 + ], + [ + 0.2737756073474884 + ], + [ + 0.316539466381073 + ], + [ + 0.4606100916862488 + ], + [ + 0.7525970935821533 + ], + [ + 1.003452181816101 + ], + [ + 1.0105689764022827 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.20376169681549072, + 0.08724624663591385, + 0.05804019793868065 + ], + [ + 0.20110896229743958, + 0.08660759031772614, + 0.05605471879243851 + ], + [ + 0.20042546093463898, + 0.0862998217344284, + 0.053376831114292145 + ], + [ + 0.20147009193897247, + 0.08578013628721237, + 0.04540370777249336 + ], + [ + 0.20103418827056885, + 0.08609670400619507, + 0.03718111291527748 + ], + [ + 0.20301438868045807, + 0.08230182528495789, + 0.02429589070379734 + ], + [ + 0.2032475471496582, + 0.0837000235915184, + 0.013560902327299118 + ], + [ + 0.20545220375061035, + 0.08630290627479553, + 0.006638227496296167 + ], + [ + 0.20480500161647797, + 0.08800385892391205, + 0.004721219185739756 + ], + [ + 0.21350513398647308, + 0.09333184361457825, + 0.003972210921347141 + ], + [ + 0.21522220969200134, + 0.09562277048826218, + 0.0033560728188604116 + ], + [ + 0.2186095267534256, + 0.09777270257472992, + 0.0036070533096790314 + ], + [ + 0.21895690262317657, + 0.09860057383775711, + 0.003833961905911565 + ], + [ + 0.2187211662530899, + 0.09922090917825699, + 0.004054782912135124 + ], + [ + 0.212803915143013, + 0.10149095952510834, + 0.01609998196363449 + ], + [ + 0.2063131481409073, + 0.11031690239906311, + 0.03040265291929245 + ], + [ + 0.206318199634552, + 0.11270321160554886, + 0.05354900285601616 + ], + [ + 0.20627380907535553, + 0.1060568243265152, + 0.07554131001234055 + ], + [ + 0.21254456043243408, + 0.07915466278791428, + 0.08763430267572403 + ], + [ + 0.21582111716270447, + 0.056721944361925125, + 0.09101905673742294 + ], + [ + 0.2254258394241333, + 0.02916954830288887, + 0.09579560905694962 + ], + [ + 0.2362522929906845, + 0.006603319197893143, + 0.09717653691768646 + ], + [ + 0.2565053701400757, + -0.019727645441889763, + 0.09489431232213974 + ], + [ + 0.27496325969696045, + -0.0480121374130249, + 0.08703900128602982 + ], + [ + 0.2864859998226166, + -0.05905330926179886, + 0.07450025528669357 + ], + [ + 0.3007460832595825, + -0.07804851979017258, + 0.058902643620967865 + ], + [ + 0.3063676655292511, + -0.08703398704528809, + 0.04828261956572533 + ], + [ + 0.3105958104133606, + -0.09502419084310532, + 0.03126022592186928 + ], + [ + 0.31203359365463257, + -0.09781889617443085, + 0.018082937225699425 + ], + [ + 0.3098107874393463, + -0.10095345228910446, + 0.002235894091427326 + ], + [ + 0.3098973333835602, + -0.10170427709817886, + 0.00013315113028511405 + ], + [ + 0.3074549436569214, + -0.09840957075357437, + -0.00116869923658669 + ], + [ + 0.3098016679286957, + -0.09642628580331802, + -0.0008937230450101197 + ], + [ + 0.3084181547164917, + -0.09340398013591766, + 0.006456741131842136 + ], + [ + 0.3077069818973541, + -0.0922766774892807, + 0.022111251950263977 + ], + [ + 0.30675673484802246, + -0.09018876403570175, + 0.039518631994724274 + ], + [ + 0.29961395263671875, + -0.08607549965381622, + 0.06675630062818527 + ], + [ + 0.29163432121276855, + -0.08126755058765411, + 0.09378843754529953 + ], + [ + 0.2916409373283386, + -0.08176933228969574, + 0.09655571728944778 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + -0.12501461113705453, + -0.9915560919476922, + 0.03446539603240367, + -0.9452686437861895, + 0.1295875080190672, + 0.2994566226351089, + -0.3013943232326529, + 0.004857395066039716, + -0.9534872141965529 + ], + [ + -0.11912810620797992, + -0.9925824393159816, + 0.024260986641841592, + -0.947269677775629, + 0.1209426821368465, + 0.29673729998839227, + -0.2974704218542672, + 0.012368055590150251, + -0.9546509201392741 + ], + [ + -0.12625005409921058, + -0.9919171448019847, + 0.012700460142242187, + -0.9478789283926897, + 0.12440086792637212, + 0.2933427366891692, + -0.29255163808988044, + 0.024996037826895495, + -0.9559229765749351 + ], + [ + -0.15082374299096696, + -0.9885602277410666, + -0.0009352426024399341, + -0.9479014866039785, + 0.1443518107121085, + 0.28398120789605624, + -0.2805975235887912, + 0.043717626567167336, + -0.9588293898724483 + ], + [ + -0.16783540550653453, + -0.9856097751668733, + -0.020115858270593173, + -0.9500126117317613, + 0.15625709699855306, + 0.27029568473836707, + -0.2632628234465608, + 0.06447550490760241, + -0.9625671898926614 + ], + [ + -0.18359129828036785, + -0.9825504193777977, + -0.029814569865131688, + -0.9576081464258593, + 0.17191669707500196, + 0.23115208665649567, + -0.22199295730846752, + 0.07098818667451517, + -0.972460695482396 + ], + [ + -0.19836450654631, + -0.9787205648707994, + -0.05251265030088201, + -0.9550813588728283, + 0.18098289667070322, + 0.23465887804707825, + -0.22016157811087508, + 0.09670184595789943, + -0.9706583500449909 + ], + [ + -0.1919762137328589, + -0.9801413090327202, + -0.04968045579924961, + -0.9548993274562363, + 0.17486852157226296, + 0.2399755708124448, + -0.22652242225533298, + 0.09350943530337742, + -0.9695068734799255 + ], + [ + -0.19685848104030912, + -0.9787490127266312, + -0.05742045392668764, + -0.9535579342492357, + 0.17751551740364535, + 0.2433423660426727, + -0.22797807893048028, + 0.10265773798190111, + -0.9682393218412516 + ], + [ + -0.2024426634670332, + -0.9780762471487954, + -0.048824407540707215, + -0.9515407707315646, + 0.18467547225054026, + 0.24589658717562315, + -0.23148894065149728, + 0.0962383744270833, + -0.9680656205256332 + ], + [ + -0.21051801020905025, + -0.9766707523801099, + -0.04238406331267448, + -0.9475250401469437, + 0.19318226070647238, + 0.254709466731941, + -0.2405794373427526, + 0.09378089140974895, + -0.9660883389909217 + ], + [ + -0.19963101324752647, + -0.9796836547425458, + -0.019167555401102723, + -0.9448353243401961, + 0.1872722411608207, + 0.2687290783848296, + -0.25967993459010724, + 0.07175684163124707, + -0.9630250709355317 + ], + [ + -0.19634350446562576, + -0.9803881951983353, + -0.016976895178682172, + -0.9439207618756822, + 0.18429627635096446, + 0.2739497724459737, + -0.26544834441787096, + 0.06981310220094848, + -0.9615941489042514 + ], + [ + -0.204224646658276, + -0.9789229856042556, + -0.001442897415894595, + -0.939248791643311, + 0.19553194453920186, + 0.2820974407209306, + -0.27586953636435246, + 0.05896648980878026, + -0.9593846736245834 + ], + [ + -0.19426977566726833, + -0.9807066495158445, + 0.021765152367850732, + -0.9308004107103343, + 0.19129642271366676, + 0.3114743554105653, + -0.3096285672925906, + 0.04025104038854904, + -0.9500052652822388 + ], + [ + -0.16109645774124953, + -0.9865981284330592, + 0.02592420250666494, + -0.9323774219271941, + 0.16075072110465954, + 0.32377700465711134, + -0.3236051210713775, + 0.027988187449649954, + -0.9457781912159227 + ], + [ + -0.136580905537048, + -0.9873923592932727, + 0.0800124056127886, + -0.9242270994022921, + 0.15608280573218863, + 0.34848590571957805, + -0.356580881390333, + -0.02635311298562898, + -0.9338927071472722 + ], + [ + -0.1401000506401931, + -0.9812237024789678, + 0.13255950174952238, + -0.9128100336446667, + 0.17986387583790947, + 0.3666426443366723, + -0.38360111872652014, + -0.06963499021347969, + -0.9208697789860034 + ], + [ + -0.23125070054516744, + -0.9552267864980418, + 0.18456678968328366, + -0.8875953529417914, + 0.2848241670807357, + 0.3620078497531537, + -0.39836867714907753, + -0.08010605597200096, + -0.9137206448707966 + ], + [ + -0.3264417387519191, + -0.9218110138713164, + 0.20904603776718678, + -0.8517892510012007, + 0.38276271764617936, + 0.35769788070231145, + -0.40974487559875306, + -0.06129564981014163, + -0.9101384401479344 + ], + [ + -0.445612135035394, + -0.8547032384343913, + 0.2662934458805951, + -0.7876025638031516, + 0.5157012154584563, + 0.33724539710035, + -0.42557258675800513, + -0.05945275926678634, + -0.9029691815425736 + ], + [ + -0.5406748285606408, + -0.7692692576795713, + 0.34043433867640704, + -0.7167210440599271, + 0.6331200800110214, + 0.2923523717852914, + -0.4404335077654392, + -0.08592888615569617, + -0.8936635562455658 + ], + [ + -0.6561567967594755, + -0.648028659146307, + 0.3866744302270109, + -0.6075327979919313, + 0.7575807462952675, + 0.23869501923333125, + -0.447618316683354, + -0.07829603928516778, + -0.8907904202458713 + ], + [ + -0.7526810103436157, + -0.5220622250917121, + 0.401151255513933, + -0.49353827296487995, + 0.8506717544465645, + 0.1810456829246355, + -0.43576515439736324, + -0.06171385030197521, + -0.8979421645595823 + ], + [ + -0.799559734877015, + -0.4694012585589939, + 0.3746554267945812, + -0.4384966934027142, + 0.8825269096942948, + 0.16990262958625396, + -0.41039600416948907, + -0.028437864347913636, + -0.9114638816941931 + ], + [ + -0.8486773825909113, + -0.3885767903517817, + 0.3588241606672376, + -0.35598446130695804, + 0.9214052286764718, + 0.15584437068965204, + -0.39117996317121734, + 0.004525767069373687, + -0.920303077168494 + ], + [ + -0.8730473936566163, + -0.3426976152352266, + 0.34691006462983764, + -0.30986887741745833, + 0.9391955240107137, + 0.14796299025866372, + -0.37652294383932794, + 0.021682070711299947, + -0.9261535296980931 + ], + [ + -0.9049897383402177, + -0.29063629136524327, + 0.31068331084942685, + -0.26413301654282983, + 0.956322733231294, + 0.12522212055787987, + -0.3335076057167053, + 0.03126301403391008, + -0.9422289004709132 + ], + [ + -0.9154477097382696, + -0.2701422088131095, + 0.2982929394949378, + -0.24581250189379986, + 0.9622265645790975, + 0.11703098876373784, + -0.318640400212633, + 0.03381161687766247, + -0.947272437008726 + ], + [ + -0.9309117876401052, + -0.24602111036370994, + 0.2699571389834156, + -0.22595487871122066, + 0.9686176022280308, + 0.10355835765701424, + -0.2869627788046761, + 0.03540556325533869, + -0.9572872137824003 + ], + [ + -0.9314997340857223, + -0.2430538076690911, + 0.2706161339901685, + -0.22427559153051949, + 0.969507200063505, + 0.09877372154909397, + -0.2863716194769724, + 0.03131510182929086, + -0.9576067355420789 + ], + [ + -0.9272068070117695, + -0.2813147956439811, + 0.2472842954633886, + -0.25793375818314646, + 0.9582964822026184, + 0.12303669610162932, + -0.2715837134670587, + 0.050297494469125716, + -0.9610996039066767 + ], + [ + -0.9058866136785019, + -0.3287944266616328, + 0.2669525578718907, + -0.3031551259240471, + 0.9435574317149859, + 0.1334029335561821, + -0.29574721094893214, + 0.039919895436588484, + -0.9544317624452048 + ], + [ + -0.8968932031057038, + -0.33689635819759584, + 0.28650205244637955, + -0.30967201186912113, + 0.9409221498091016, + 0.13699909876911412, + -0.3157306245642347, + 0.034151893531922634, + -0.9482340538498195 + ], + [ + -0.8835021216301037, + -0.337573973110555, + 0.32475808497011976, + -0.32215956638128046, + 0.9411857749245779, + 0.10189480295209735, + -0.3400547233374807, + -0.014599649241529462, + -0.9402923137928403 + ], + [ + -0.86332590823558, + -0.34219858717792706, + 0.37090228241767614, + -0.3321013434081225, + 0.9386482076720339, + 0.09299591356935297, + -0.3799698328495715, + -0.042891364719589924, + -0.9240039269163092 + ], + [ + -0.8358957263237515, + -0.32852068803145534, + 0.43971865124079884, + -0.3324078243460398, + 0.9404786125939913, + 0.07074614877725538, + -0.43678756052252726, + -0.0870295167665569, + -0.8953449001274086 + ], + [ + -0.8011652864992286, + -0.326111901795675, + 0.5017820355650621, + -0.35564800248368506, + 0.9338040651159311, + 0.039044414483085696, + -0.48129895287437924, + -0.1471767491153757, + -0.8641124478225366 + ], + [ + -0.797593736885787, + -0.3234017082825286, + 0.5091714504570224, + -0.356123470806797, + 0.9337742424678734, + 0.035238297973501816, + -0.4868473111983737, + -0.15322205841030573, + -0.8599434262760677 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006652.json b/json/chunk-0006/episode_0006652.json new file mode 100644 index 0000000000000000000000000000000000000000..93e1708795721e03c8723ab1265090f252b105a0 --- /dev/null +++ b/json/chunk-0006/episode_0006652.json @@ -0,0 +1,3382 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 55, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut the red object on the left burner." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006652.mp4", + "start": 0, + "end": 55, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.26081880927085876, + -0.11328436434268951, + 0.06284280121326447, + -0.13155515491962433, + -0.16757430136203766, + 0.492453396320343, + 0.0, + 0.9994885921478271 + ], + [ + 0.25664472579956055, + -0.11076661199331284, + 0.055722080171108246, + -0.10643298178911209, + -0.14594794809818268, + 0.507112443447113, + 0.0, + 0.9994885921478271 + ], + [ + 0.24622252583503723, + -0.10444796085357666, + 0.051367390900850296, + -0.03493598848581314, + -0.12447261810302734, + 0.666138231754303, + 0.0, + 0.9994885921478271 + ], + [ + 0.24139346182346344, + -0.0995703935623169, + 0.04285725951194763, + 0.015571276657283306, + -0.11294176429510117, + 0.7528945207595825, + 0.0, + 0.9994885921478271 + ], + [ + 0.24040129780769348, + -0.09586169570684433, + 0.03472509607672691, + 0.029625900089740753, + -0.10797309875488281, + 0.8749114274978638, + 0.0, + 0.9994885921478271 + ], + [ + 0.2347673624753952, + -0.09069345146417618, + 0.023662656545639038, + 0.006910592317581177, + -0.14907148480415344, + 0.9372352361679077, + 0.0, + 0.9994885921478271 + ], + [ + 0.22883838415145874, + -0.08797399699687958, + 0.01876295544207096, + -0.0016224937280640006, + -0.17811168730258942, + 1.039202332496643, + 0.0, + 0.9994885921478271 + ], + [ + 0.2232145369052887, + -0.08976249396800995, + 0.010910866782069206, + -0.03584025800228119, + -0.21224048733711243, + 1.1343231201171875, + 0.0, + 0.9994885921478271 + ], + [ + 0.22065530717372894, + -0.09325245767831802, + 0.001187948975712061, + 0.0394032746553421, + -0.18937648832798004, + 1.1856069564819336, + 0.0, + 0.9994885921478271 + ], + [ + 0.21776551008224487, + -0.09561650454998016, + -0.0055791279301047325, + 0.07968665659427643, + -0.17687676846981049, + 1.2458066940307617, + 0.0, + 0.9994885921478271 + ], + [ + 0.21272432804107666, + -0.0942867249250412, + -0.010245608165860176, + 0.062120452523231506, + -0.18691127002239227, + 1.2717838287353516, + 0.0, + 0.9994885921478271 + ], + [ + 0.2098173350095749, + -0.09278808534145355, + -0.00989270955324173, + 0.02065497450530529, + -0.18817611038684845, + 1.281819224357605, + 0.0, + 0.9994885921478271 + ], + [ + 0.21003246307373047, + -0.09714760631322861, + -0.013699856586754322, + -0.03382069617509842, + -0.19840885698795319, + 1.320178508758545, + 0.0, + 0.9994885921478271 + ], + [ + 0.21230685710906982, + -0.1006104052066803, + -0.01790015399456024, + -0.09854495525360107, + -0.2206401377916336, + 1.345436453819275, + 0.0, + 0.9994885921478271 + ], + [ + 0.21550290286540985, + -0.10096532851457596, + -0.018730632960796356, + -0.10936728864908218, + -0.21457725763320923, + 1.351586937904358, + 0.0, + 0.9994885921478271 + ], + [ + 0.21895906329154968, + -0.09940677881240845, + -0.020177671685814857, + -0.14527520537376404, + -0.21692118048667908, + 1.3417762517929077, + 0.0, + 0.9530308246612549 + ], + [ + 0.21876603364944458, + -0.09554197639226913, + -0.020760372281074524, + -0.11687397956848145, + -0.17402370274066925, + 1.3765225410461426, + 0.0, + 0.7121403217315674 + ], + [ + 0.22237470746040344, + -0.09550784528255463, + -0.0206783264875412, + -0.11550513654947281, + -0.1433042734861374, + 1.3865119218826294, + 0.0, + 0.4485226273536682 + ], + [ + 0.22540290653705597, + -0.09723984450101852, + -0.019849201664328575, + -0.11442399024963379, + -0.12163341790437698, + 1.3889801502227783, + 0.0, + 0.2533928155899048 + ], + [ + 0.227199986577034, + -0.0976075604557991, + -0.018238166347146034, + -0.09854995459318161, + -0.0897003561258316, + 1.3809654712677002, + 0.0, + 0.23134081065654755 + ], + [ + 0.22162789106369019, + -0.09932886064052582, + -0.013085789047181606, + -0.07905767112970352, + -0.08628591895103455, + 1.355355143547058, + 0.0, + 0.23134081065654755 + ], + [ + 0.21670497953891754, + -0.1104361042380333, + 0.00710753258317709, + -0.126485675573349, + -0.0890757218003273, + 1.320668339729309, + 0.0, + 0.23134081065654755 + ], + [ + 0.20664754509925842, + -0.11554370075464249, + 0.02067173644900322, + -0.11945857107639313, + -0.09677231311798096, + 1.3335903882980347, + 0.0, + 0.23134081065654755 + ], + [ + 0.2013728767633438, + -0.11786998808383942, + 0.033876996487379074, + -0.12128839641809464, + -0.11734253913164139, + 1.3479667901992798, + 0.0, + 0.23134081065654755 + ], + [ + 0.2052699625492096, + -0.12362661212682724, + 0.04813225567340851, + -0.1316060870885849, + -0.13368715345859528, + 1.343909740447998, + 0.0, + 0.23134081065654755 + ], + [ + 0.21068435907363892, + -0.12054561078548431, + 0.06084812432527542, + -0.11627593636512756, + -0.21069703996181488, + 1.3031806945800781, + 0.0, + 0.23134081065654755 + ], + [ + 0.21955503523349762, + -0.10552391409873962, + 0.07158371061086655, + -0.09935872256755829, + -0.22892528772354126, + 1.1343681812286377, + 0.0, + 0.23134081065654755 + ], + [ + 0.23220165073871613, + -0.0890076532959938, + 0.07952208071947098, + -0.06926976144313812, + -0.22972333431243896, + 1.0169765949249268, + 0.0, + 0.23134081065654755 + ], + [ + 0.2414940446615219, + -0.0710916817188263, + 0.08874749392271042, + -0.029324419796466827, + -0.21303707361221313, + 0.911079466342926, + 0.0, + 0.2306915670633316 + ], + [ + 0.2530383765697479, + -0.058440279215574265, + 0.10066021233797073, + -0.012727214023470879, + -0.15792842209339142, + 0.748908519744873, + 0.0, + 0.23134081065654755 + ], + [ + 0.26450344920158386, + -0.056449633091688156, + 0.09652257710695267, + 0.009774737991392612, + -0.1295953392982483, + 0.7359169125556946, + 0.0, + 0.23134081065654755 + ], + [ + 0.26825693249702454, + -0.06876101344823837, + 0.09079050272703171, + 0.01381457969546318, + -0.09939774125814438, + 0.6642600893974304, + 0.0, + 0.2306915670633316 + ], + [ + 0.26764097809791565, + -0.07270307093858719, + 0.08989263325929642, + 0.012728402391076088, + -0.07092006504535675, + 0.6341375708580017, + 0.0, + 0.23134081065654755 + ], + [ + 0.2737288773059845, + -0.07750044018030167, + 0.08986641466617584, + 0.0028729266487061977, + -0.06056579202413559, + 0.6165027618408203, + 0.0, + 0.23134081065654755 + ], + [ + 0.2788916528224945, + -0.07693994045257568, + 0.08941154181957245, + -0.0031549260020256042, + -0.05086075887084007, + 0.6093434691429138, + 0.0, + 0.23134081065654755 + ], + [ + 0.28481224179267883, + -0.0685473307967186, + 0.09579257667064667, + -0.028346719220280647, + -0.021190110594034195, + 0.6167534589767456, + 0.0, + 0.2306915670633316 + ], + [ + 0.2886525094509125, + -0.05828721821308136, + 0.09306201338768005, + -0.02473451755940914, + -0.011702013202011585, + 0.6284804940223694, + 0.0, + 0.2306915670633316 + ], + [ + 0.2902166247367859, + -0.05140828713774681, + 0.09308138489723206, + -0.030450062826275826, + -0.008113219402730465, + 0.6440809965133667, + 0.0, + 0.23134081065654755 + ], + [ + 0.29147273302078247, + -0.045359496027231216, + 0.09266643971204758, + -0.03707943111658096, + -0.0020234391558915377, + 0.6487141847610474, + 0.0, + 0.23134081065654755 + ], + [ + 0.29108914732933044, + -0.044208016246557236, + 0.08541018515825272, + -0.014871560968458652, + 0.010296945460140705, + 0.6393285393714905, + 0.0, + 0.23134081065654755 + ], + [ + 0.2930507957935333, + -0.04506815969944, + 0.08233751356601715, + -0.002051758114248514, + -8.700085163582116e-05, + 0.6495730876922607, + 0.0, + 0.2306915670633316 + ], + [ + 0.2949763238430023, + -0.04558075964450836, + 0.083372563123703, + -0.00972951389849186, + -0.005300567019730806, + 0.6717736721038818, + 0.0, + 0.2666412889957428 + ], + [ + 0.29702234268188477, + -0.04429417476058006, + 0.08467745780944824, + -0.02607804350554943, + 0.005861910060048103, + 0.7013180255889893, + 0.0, + 0.5266194939613342 + ], + [ + 0.2962774932384491, + -0.04324338957667351, + 0.08433486521244049, + -0.024396555498242378, + 0.01126889232546091, + 0.7179657816886902, + 0.0, + 0.8242669105529785 + ], + [ + 0.2987858057022095, + -0.04354550689458847, + 0.08689506351947784, + -0.0342538058757782, + 0.00641234265640378, + 0.7253686785697937, + 0.0, + 1.0092895030975342 + ], + [ + 0.29916033148765564, + -0.042352668941020966, + 0.08727380633354187, + -0.03883868828415871, + 0.011468371376395226, + 0.7316995859146118, + 0.0, + 1.0027955770492554 + ], + [ + 0.2985515892505646, + -0.04222286865115166, + 0.08695138245820999, + -0.04018818959593773, + 0.017606524750590324, + 0.7358367443084717, + 0.0, + 1.0001531839370728 + ], + [ + 0.2989930808544159, + -0.04218515008687973, + 0.08689552545547485, + -0.045751336961984634, + 0.023585565388202667, + 0.7382194399833679, + 0.0, + 1.0001531839370728 + ], + [ + 0.30326539278030396, + -0.042003437876701355, + 0.09043103456497192, + -0.06057555228471756, + -0.021202439442276955, + 0.7442068457603455, + 0.0, + 1.0001531839370728 + ], + [ + 0.30334001779556274, + -0.04182622954249382, + 0.10137180984020233, + -0.09120356291532516, + -0.051207199692726135, + 0.7527859807014465, + 0.0, + 1.0001531839370728 + ], + [ + 0.3023933470249176, + -0.04090229794383049, + 0.10205220431089401, + -0.08224174380302429, + -0.05199401080608368, + 0.7683747410774231, + 0.0, + 1.0001531839370728 + ], + [ + 0.3001307547092438, + -0.040272198617458344, + 0.11386285722255707, + -0.09753366559743881, + -0.09471782296895981, + 0.7706153988838196, + 0.0, + 1.0001531839370728 + ], + [ + 0.2841036915779114, + -0.03982485830783844, + 0.10969012975692749, + -0.10059989243745804, + -0.10456728935241699, + 0.7216550707817078, + 0.0, + 1.0001531839370728 + ], + [ + 0.2633915841579437, + -0.03474828600883484, + 0.10900015383958817, + -0.12650436162948608, + -0.10591118037700653, + 0.668205738067627, + 0.0, + 1.0001531839370728 + ], + [ + 0.2533859610557556, + -0.02202657423913479, + 0.1053379476070404, + -0.12910781800746918, + -0.10120349377393723, + 0.6242188215255737, + 0.0, + 1.0001531839370728 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9530308246612549 + ], + [ + 0.7121403217315674 + ], + [ + 0.4485226273536682 + ], + [ + 0.2533928155899048 + ], + [ + 0.23134081065654755 + ], + [ + 0.23134081065654755 + ], + [ + 0.23134081065654755 + ], + [ + 0.23134081065654755 + ], + [ + 0.23134081065654755 + ], + [ + 0.23134081065654755 + ], + [ + 0.23134081065654755 + ], + [ + 0.23134081065654755 + ], + [ + 0.23134081065654755 + ], + [ + 0.2306915670633316 + ], + [ + 0.23134081065654755 + ], + [ + 0.23134081065654755 + ], + [ + 0.2306915670633316 + ], + [ + 0.23134081065654755 + ], + [ + 0.23134081065654755 + ], + [ + 0.23134081065654755 + ], + [ + 0.2306915670633316 + ], + [ + 0.2306915670633316 + ], + [ + 0.23134081065654755 + ], + [ + 0.23134081065654755 + ], + [ + 0.23134081065654755 + ], + [ + 0.2306915670633316 + ], + [ + 0.2666412889957428 + ], + [ + 0.5266194939613342 + ], + [ + 0.8242669105529785 + ], + [ + 1.0092895030975342 + ], + [ + 1.0027955770492554 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.26081880927085876, + -0.11328436434268951, + 0.06284280121326447 + ], + [ + 0.25664472579956055, + -0.11076661199331284, + 0.055722080171108246 + ], + [ + 0.24622252583503723, + -0.10444796085357666, + 0.051367390900850296 + ], + [ + 0.24139346182346344, + -0.0995703935623169, + 0.04285725951194763 + ], + [ + 0.24040129780769348, + -0.09586169570684433, + 0.03472509607672691 + ], + [ + 0.2347673624753952, + -0.09069345146417618, + 0.023662656545639038 + ], + [ + 0.22883838415145874, + -0.08797399699687958, + 0.01876295544207096 + ], + [ + 0.2232145369052887, + -0.08976249396800995, + 0.010910866782069206 + ], + [ + 0.22065530717372894, + -0.09325245767831802, + 0.001187948975712061 + ], + [ + 0.21776551008224487, + -0.09561650454998016, + -0.0055791279301047325 + ], + [ + 0.21272432804107666, + -0.0942867249250412, + -0.010245608165860176 + ], + [ + 0.2098173350095749, + -0.09278808534145355, + -0.00989270955324173 + ], + [ + 0.21003246307373047, + -0.09714760631322861, + -0.013699856586754322 + ], + [ + 0.21230685710906982, + -0.1006104052066803, + -0.01790015399456024 + ], + [ + 0.21550290286540985, + -0.10096532851457596, + -0.018730632960796356 + ], + [ + 0.21895906329154968, + -0.09940677881240845, + -0.020177671685814857 + ], + [ + 0.21876603364944458, + -0.09554197639226913, + -0.020760372281074524 + ], + [ + 0.22237470746040344, + -0.09550784528255463, + -0.0206783264875412 + ], + [ + 0.22540290653705597, + -0.09723984450101852, + -0.019849201664328575 + ], + [ + 0.227199986577034, + -0.0976075604557991, + -0.018238166347146034 + ], + [ + 0.22162789106369019, + -0.09932886064052582, + -0.013085789047181606 + ], + [ + 0.21670497953891754, + -0.1104361042380333, + 0.00710753258317709 + ], + [ + 0.20664754509925842, + -0.11554370075464249, + 0.02067173644900322 + ], + [ + 0.2013728767633438, + -0.11786998808383942, + 0.033876996487379074 + ], + [ + 0.2052699625492096, + -0.12362661212682724, + 0.04813225567340851 + ], + [ + 0.21068435907363892, + -0.12054561078548431, + 0.06084812432527542 + ], + [ + 0.21955503523349762, + -0.10552391409873962, + 0.07158371061086655 + ], + [ + 0.23220165073871613, + -0.0890076532959938, + 0.07952208071947098 + ], + [ + 0.2414940446615219, + -0.0710916817188263, + 0.08874749392271042 + ], + [ + 0.2530383765697479, + -0.058440279215574265, + 0.10066021233797073 + ], + [ + 0.26450344920158386, + -0.056449633091688156, + 0.09652257710695267 + ], + [ + 0.26825693249702454, + -0.06876101344823837, + 0.09079050272703171 + ], + [ + 0.26764097809791565, + -0.07270307093858719, + 0.08989263325929642 + ], + [ + 0.2737288773059845, + -0.07750044018030167, + 0.08986641466617584 + ], + [ + 0.2788916528224945, + -0.07693994045257568, + 0.08941154181957245 + ], + [ + 0.28481224179267883, + -0.0685473307967186, + 0.09579257667064667 + ], + [ + 0.2886525094509125, + -0.05828721821308136, + 0.09306201338768005 + ], + [ + 0.2902166247367859, + -0.05140828713774681, + 0.09308138489723206 + ], + [ + 0.29147273302078247, + -0.045359496027231216, + 0.09266643971204758 + ], + [ + 0.29108914732933044, + -0.044208016246557236, + 0.08541018515825272 + ], + [ + 0.2930507957935333, + -0.04506815969944, + 0.08233751356601715 + ], + [ + 0.2949763238430023, + -0.04558075964450836, + 0.083372563123703 + ], + [ + 0.29702234268188477, + -0.04429417476058006, + 0.08467745780944824 + ], + [ + 0.2962774932384491, + -0.04324338957667351, + 0.08433486521244049 + ], + [ + 0.2987858057022095, + -0.04354550689458847, + 0.08689506351947784 + ], + [ + 0.29916033148765564, + -0.042352668941020966, + 0.08727380633354187 + ], + [ + 0.2985515892505646, + -0.04222286865115166, + 0.08695138245820999 + ], + [ + 0.2989930808544159, + -0.04218515008687973, + 0.08689552545547485 + ], + [ + 0.30326539278030396, + -0.042003437876701355, + 0.09043103456497192 + ], + [ + 0.30334001779556274, + -0.04182622954249382, + 0.10137180984020233 + ], + [ + 0.3023933470249176, + -0.04090229794383049, + 0.10205220431089401 + ], + [ + 0.3001307547092438, + -0.040272198617458344, + 0.11386285722255707 + ], + [ + 0.2841036915779114, + -0.03982485830783844, + 0.10969012975692749 + ], + [ + 0.2633915841579437, + -0.03474828600883484, + 0.10900015383958817 + ], + [ + 0.2533859610557556, + -0.02202657423913479, + 0.1053379476070404 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8688322874044547, + 0.44942461863767863, + 0.20772089092318136, + 0.4661664702325104, + -0.883905569051127, + -0.037413460563885705, + 0.16679112204942154, + 0.12933853703664894, + -0.9774723855141456 + ], + [ + 0.8648569667640063, + 0.46940188244128517, + 0.17800084213379674, + 0.48049186882557043, + -0.8767070698488468, + -0.02263355185472333, + 0.14543036489080852, + 0.1051027422935652, + -0.9837700048944871 + ], + [ + 0.7801312026225365, + 0.6141679568277304, + 0.11913449332903579, + 0.6131734863886354, + -0.7884139134848394, + 0.049211549594848816, + 0.1241514489835734, + 0.0346586472553605, + -0.9916578018075125 + ], + [ + 0.7250636834796178, + 0.6849514280834095, + 0.07158349017382797, + 0.6793974961573357, + -0.7284244473994734, + 0.0884130456771772, + 0.11270180617058252, + -0.015471444576043832, + -0.9935083981973271 + ], + [ + 0.6373316400097098, + 0.7691962967820908, + 0.0463188693649992, + 0.7630173161135491, + -0.6383336192402611, + 0.10166005045496518, + 0.10776342586151649, + -0.02944906729163701, + -0.993740306358881 + ], + [ + 0.5854526396663433, + 0.8065127673829461, + 0.08235510157854647, + 0.7969862122278873, + -0.5911771764222024, + 0.12378418152622342, + 0.14851997921611615, + -0.006833895358736637, + -0.9888857940368393 + ], + [ + 0.4988887244432704, + 0.8618533073806959, + 0.09120809821678397, + 0.8483633170064117, + -0.5071551308093993, + 0.1518991627744533, + 0.17717145080753086, + 0.0015968251804896888, + -0.9841787069267948 + ], + [ + 0.41326012693222824, + 0.9024752944061589, + 0.12146773429382515, + 0.8859132999727699, + -0.42931497001039587, + 0.17563109478771027, + 0.21065064068099912, + 0.03502855280324288, + -0.9769336252116594 + ], + [ + 0.36901717909555115, + 0.9287942648733758, + 0.03416921232172736, + 0.9101590803089368, + -0.3685707396950187, + 0.18911916447535712, + 0.18824656720257155, + -0.038688801725979716, + -0.9813594685727831 + ], + [ + 0.3143172730406482, + 0.9491191070575405, + -0.019431224526185967, + 0.9328687803216372, + -0.3050124077500071, + 0.19163316471781144, + 0.17595593360131684, + -0.07836039648215087, + -0.981274252028274 + ], + [ + 0.28944599013562744, + 0.957182848775216, + -0.004691780575501875, + 0.9389835689733345, + -0.2829842509697059, + 0.19552434861472895, + 0.18582485300009208, + -0.060999243550038315, + -0.980687624217731 + ], + [ + 0.27994129848478905, + 0.9594324295408639, + 0.033500485787007345, + 0.9416148970861041, + -0.28120770481186724, + 0.1851583439652868, + 0.187067514518625, + -0.020288910758268178, + -0.9821375184321528 + ], + [ + 0.2431370732613683, + 0.9665524210471647, + 0.08161360777321472, + 0.9497537301607554, + -0.25431759217813216, + 0.18245660951154327, + 0.19710965387729376, + 0.033150862380658536, + -0.9798208023265231 + ], + [ + 0.21804000148111524, + 0.9651733065597065, + 0.14456502363545015, + 0.9510843068541425, + -0.2433606496617946, + 0.19030038216452605, + 0.21885428716360722, + 0.0960004296906648, + -0.9710235416761621 + ], + [ + 0.21247092610244334, + 0.9651839262437963, + 0.15256504868999327, + 0.9536849830447233, + -0.23884424548843597, + 0.1828616403515114, + 0.21293439993612073, + 0.10664621379903608, + -0.9712288743680217 + ], + [ + 0.2217029380359951, + 0.9565571494140217, + 0.18933099897039585, + 0.9510659520213862, + -0.2549751721872297, + 0.17453141973222555, + 0.2152239814050968, + 0.14137213824871178, + -0.9662776807704527 + ], + [ + 0.19013815483675, + 0.9705966493016671, + 0.14761309711421877, + 0.96636831131154, + -0.21154750440437553, + 0.14621880957374275, + 0.17314666894906705, + 0.11484684473095644, + -0.9781770970980588 + ], + [ + 0.18136476922241124, + 0.9735011286880306, + 0.1392924008265761, + 0.9729906981389895, + -0.1982025344775113, + 0.11834211702387334, + 0.1428142913713565, + 0.11406711958237992, + -0.9831544997660724 + ], + [ + 0.1794802002899159, + 0.9745805393559666, + 0.13408814269921426, + 0.9762504732468416, + -0.1932585716062592, + 0.09790882486285976, + 0.12133371826994116, + 0.1133309172703616, + -0.986120799903059 + ], + [ + 0.18793417493416675, + 0.975608103510272, + 0.11344414597899828, + 0.978088006808081, + -0.19643273497675984, + 0.06897848626742639, + 0.08958011403213063, + 0.09799494371976686, + -0.991147009366093 + ], + [ + 0.212983108787478, + 0.9723759727958828, + 0.09551524957032953, + 0.9732478587323922, + -0.21975937833979214, + 0.0670404437971742, + 0.08617888862149067, + 0.07868152998619889, + -0.9931678689904321 + ], + [ + 0.2465466112539736, + 0.958362954565204, + 0.14406670606436017, + 0.9650395056281579, + -0.2564232630116189, + 0.05427580274334841, + 0.0889579735388726, + 0.12564854755836558, + -0.9880783984281463 + ], + [ + 0.233888266509292, + 0.9623653633630367, + 0.1383805845789391, + 0.9674505648288414, + -0.2445054193569704, + 0.065241892350145, + 0.09662134030137563, + 0.11861706160667863, + -0.9882278630428122 + ], + [ + 0.21947039206739405, + 0.9649809688674154, + 0.1436818594307879, + 0.9685693352660625, + -0.23318124528999584, + 0.08660224955083151, + 0.11707343758531233, + 0.12015921341583077, + -0.985827354886872 + ], + [ + 0.22293785210152145, + 0.9620109664867299, + 0.15758684735607703, + 0.9656773157754316, + -0.24004258320772326, + 0.09923144684887128, + 0.13328929400787315, + 0.1300555981349155, + -0.9825067457766647 + ], + [ + 0.2585848657342641, + 0.9514760379400984, + 0.16681491671611776, + 0.9430767033985943, + -0.2860468289075354, + 0.16965713418180553, + 0.20914157578069603, + 0.11344849447108517, + -0.9712822660700707 + ], + [ + 0.4116770934890875, + 0.8922822553685027, + 0.18534925802623348, + 0.8826235327852893, + -0.44102084644734235, + 0.1627154337255235, + 0.22693098085099056, + 0.09660740009630653, + -0.9691074967085125 + ], + [ + 0.512123084755165, + 0.8401929013695933, + 0.17834190351400486, + 0.8281780916193392, + -0.5380833181121574, + 0.1568036712936277, + 0.22770813473085105, + 0.06739607746416133, + -0.9713942423752784 + ], + [ + 0.5990376559900104, + 0.7860266633375782, + 0.15269568176077372, + 0.7723027539939366, + -0.617528006554217, + 0.1490222040320035, + 0.2114292857656552, + 0.028657383753030827, + -0.9769730863626983 + ], + [ + 0.7233174566446774, + 0.679318559722015, + 0.12384729036310228, + 0.6723668192666832, + -0.733735870425008, + 0.0977472905039299, + 0.15727274799620858, + 0.01256848713502541, + -0.9874752229139008 + ], + [ + 0.7349999384850552, + 0.6721713012095466, + 0.08922349610517397, + 0.6656380034469006, + -0.7403322193706617, + 0.09399070873726957, + 0.12923288588509102, + -0.009692615332059562, + -0.9915668986073687 + ], + [ + 0.7834867513680043, + 0.6174972499447713, + 0.06961075162254264, + 0.613433854770278, + -0.7864529197768719, + 0.07204658767845973, + 0.09923414862076503, + -0.013745955226073785, + -0.9949691615635302 + ], + [ + 0.8035579171152617, + 0.5931615524397295, + 0.049538334132997394, + 0.5909936082911159, + -0.8049833431106036, + 0.05223382307971952, + 0.07086062941033897, + -0.012696063238915423, + -0.9974054246783522 + ], + [ + 0.8144094926557073, + 0.5783247816979079, + 0.04772447114783997, + 0.5771251564289236, + -0.8158015833697165, + 0.03734073363438931, + 0.06052877075543811, + -0.002867655057890113, + -0.9981623337239814 + ], + [ + 0.8189635490953306, + 0.5721948384227655, + 0.04349450695806373, + 0.5715891166138876, + -0.8201116625698253, + 0.026509294323172762, + 0.05083883379598185, + 0.0031508410467979645, + -0.9987019000577511 + ], + [ + 0.8155773788240314, + 0.5776675495397595, + 0.03367107600376764, + 0.5782599636548141, + -0.8157801429139602, + -0.010870734161559559, + 0.021188524829614124, + 0.028336560059534763, + -0.9993738468558885 + ], + [ + 0.808866399047661, + 0.5875023342403835, + 0.024003244650891653, + 0.5878760223288296, + -0.8088444964359189, + -0.013128707330037317, + 0.01170174613052287, + 0.02473030221054986, + -0.9996256705837797 + ], + [ + 0.7996256147479236, + 0.599987934107648, + 0.024766008241981406, + 0.600444046813853, + -0.7994295592150351, + -0.019476306093771822, + 0.008113130395152768, + 0.03044435544549158, + -0.9995035359300636 + ], + [ + 0.796859666850214, + 0.6036872368939045, + 0.024008151923211336, + 0.6041610522426412, + -0.796358883552374, + -0.028318748917993478, + 0.002023437775128631, + 0.037070859156735705, + -0.9993105909080273 + ], + [ + 0.8024540274539058, + 0.596713633902682, + 0.0006106862223638756, + 0.5966251004478371, + -0.8023164684460165, + -0.018076890659638453, + -0.010296763501918688, + 0.014870224442430725, + -0.999836413162882 + ], + [ + 0.796342084507703, + 0.6048450773610772, + 0.001310280122303369, + 0.6048464903368276, + -0.7963405193048085, + -0.0015812781442756166, + 8.700085152606738e-05, + 0.002051756666932219, + -0.9999978913604926 + ], + [ + 0.7827080124042034, + 0.6223054287759952, + 0.010203951890644571, + 0.6223665090368043, + -0.7827140573171012, + -0.004316585171546292, + 0.005300542198967698, + 0.009729223716554415, + -0.9999386213454657 + ], + [ + 0.7639793016827864, + 0.6451225994927731, + 0.012347397457323843, + 0.6452141233763488, + -0.7636340385171024, + -0.02370211411984549, + -0.0058618764889570765, + 0.02607463982009183, + -0.9996428119895029 + ], + [ + 0.7530976853977346, + 0.6578652382561488, + 0.007563368479379011, + 0.6578122024480485, + -0.7527405462794629, + -0.025783256143145316, + -0.011268653824748983, + 0.02439258660076612, + -0.9996389443993774 + ], + [ + 0.7482395039043739, + 0.6631865121495178, + 0.017924700831365478, + 0.6633977142123398, + -0.7476702708649896, + -0.02987706214666776, + -0.00641229871256205, + 0.034246403718210715, + -0.999392848812513 + ], + [ + 0.7439909955528825, + 0.6679626174433893, + 0.01741666542157879, + 0.6680912218853425, + -0.7431813066761799, + -0.03654674604989754, + -0.011468119984577642, + 0.03882637126055242, + -0.9991801614917888 + ], + [ + 0.7411544938148048, + 0.6711900207897429, + 0.0139273935244594, + 0.6711036124282234, + -0.7401960787981732, + -0.0415897381285057, + -0.01760561512442779, + 0.04017114541649707, + -0.9990376976831341 + ], + [ + 0.7394622762612457, + 0.673065553364308, + 0.013353009433632684, + 0.6727847844838211, + -0.7381681376718261, + -0.04968334019735602, + -0.023583378756981632, + 0.04572265740861573, + -0.998675754610023 + ], + [ + 0.7354600657279398, + 0.6752019835406551, + 0.05657537575854018, + 0.6772363070894938, + -0.7351455754763152, + -0.03019879496574051, + 0.021200850908395248, + 0.060524906281322295, + -0.9979415111319889 + ], + [ + 0.7288303929391255, + 0.6774310217226817, + 0.09946591946975473, + 0.6827784209863367, + -0.7299410188410821, + -0.03161861553971144, + 0.05118482356719441, + 0.09095779142551227, + -0.9945384829233047 + ], + [ + 0.7180694202165321, + 0.6895487483983714, + 0.09433361718991184, + 0.69402836094425, + -0.7195778497621638, + -0.023072761791743272, + 0.051970587402213525, + 0.08203805040284809, + -0.9952732370214565 + ], + [ + 0.7142661050237953, + 0.6866584978805426, + 0.13536631228844936, + 0.6934545855506553, + -0.7204874996867323, + -0.004301229351041901, + 0.09457626019729212, + 0.09694261232088994, + -0.9907862841821621 + ], + [ + 0.7466128406917487, + 0.6494185636496981, + 0.14430798765612737, + 0.6570195911525283, + -0.7538429345867705, + -0.006788727080313556, + 0.10437683150949946, + 0.0998817258599868, + -0.9895095340032194 + ], + [ + 0.7805363530412911, + 0.6041584415996243, + 0.1604854480160554, + 0.6161068920799765, + -0.7869258550587679, + -0.03405871652864956, + 0.10571328730369157, + 0.1254602569897738, + -0.986450416799297 + ], + [ + 0.807268141636329, + 0.5690445122332917, + 0.15654549050101432, + 0.5814730602725908, + -0.8122691208678676, + -0.04591247610148573, + 0.10103082537649541, + 0.12809066469386732, + -0.986603037671194 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.004174083471298218, + 0.0025177523493766785, + -0.0071207210421562195, + 0.025122173130512238, + 0.02162635326385498, + 0.01465904712677002, + 1.0 + ], + [ + -0.010422199964523315, + 0.0063186511397361755, + -0.00435468927025795, + 0.07149699330329895, + 0.021475329995155334, + 0.15902578830718994, + 1.0 + ], + [ + -0.0048290640115737915, + 0.004877567291259766, + -0.008510131388902664, + 0.05050726607441902, + 0.011530853807926178, + 0.08675628900527954, + 1.0 + ], + [ + -0.0009921640157699585, + 0.0037086978554725647, + -0.008132163435220718, + 0.014054623432457447, + 0.004968665540218353, + 0.12201690673828125, + 1.0 + ], + [ + -0.005633935332298279, + 0.005168244242668152, + -0.011062439531087875, + -0.022715307772159576, + -0.04109838604927063, + 0.062323808670043945, + 1.0 + ], + [ + -0.005928978323936462, + 0.0027194544672966003, + -0.004899701103568077, + -0.008533085696399212, + -0.029040202498435974, + 0.10196709632873535, + 1.0 + ], + [ + -0.005623847246170044, + -0.001788496971130371, + -0.007852088660001755, + -0.03421776369214058, + -0.03412880003452301, + 0.09512078762054443, + 1.0 + ], + [ + -0.0025592297315597534, + -0.003489963710308075, + -0.009722918272018433, + 0.07524353265762329, + 0.022863999009132385, + 0.051283836364746094, + 1.0 + ], + [ + -0.00288979709148407, + -0.00236404687166214, + -0.0067670769058167934, + 0.040283381938934326, + 0.012499719858169556, + 0.060199737548828125, + 1.0 + ], + [ + -0.005041182041168213, + 0.0013297796249389648, + -0.004666480235755444, + -0.017566204071044922, + -0.010034501552581787, + 0.025977134704589844, + 1.0 + ], + [ + -0.00290699303150177, + 0.0014986395835876465, + 0.00035289861261844635, + -0.04146547615528107, + -0.0012648403644561768, + 0.010035395622253418, + 1.0 + ], + [ + 0.0002151280641555786, + -0.004359520971775055, + -0.0038071470335125923, + -0.05447567254304886, + -0.010232746601104736, + 0.03835928440093994, + 1.0 + ], + [ + 0.0022743940353393555, + -0.0034627988934516907, + -0.00420029740780592, + -0.06472425907850266, + -0.02223128080368042, + 0.02525794506072998, + 1.0 + ], + [ + 0.003196045756340027, + -0.0003549233078956604, + -0.0008304789662361145, + -0.01082233339548111, + 0.0060628801584243774, + 0.006150484085083008, + 1.0 + ], + [ + 0.0034561604261398315, + 0.001558549702167511, + -0.0014470387250185013, + -0.035907916724681854, + -0.0023439228534698486, + -0.009810686111450195, + 0.0 + ], + [ + -0.00019302964210510254, + 0.0038648024201393127, + -0.0005827005952596664, + 0.028401225805282593, + 0.04289747774600983, + 0.03474628925323486, + 0.0 + ], + [ + 0.0036086738109588623, + 3.413110971450806e-05, + 8.20457935333252e-05, + 0.0013688430190086365, + 0.03071942925453186, + 0.009989380836486816, + 0.0 + ], + [ + 0.003028199076652527, + -0.0017319992184638977, + 0.0008291248232126236, + 0.0010811462998390198, + 0.021670855581760406, + 0.0024682283401489258, + 0.0 + ], + [ + 0.0017970800399780273, + -0.0003677159547805786, + 0.001611035317182541, + 0.01587403565645218, + 0.03193306177854538, + -0.008014678955078125, + 0.0 + ], + [ + -0.005572095513343811, + -0.001721300184726715, + 0.005152377299964428, + 0.01949228346347809, + 0.003414437174797058, + -0.02561032772064209, + 0.0 + ], + [ + -0.004922911524772644, + -0.011107243597507477, + 0.020193321630358696, + -0.04742800444364548, + -0.002789802849292755, + -0.03468680381774902, + 0.0 + ], + [ + -0.010057434439659119, + -0.005107596516609192, + 0.01356420386582613, + 0.007027104496955872, + -0.007696591317653656, + 0.012922048568725586, + 0.0 + ], + [ + -0.005274668335914612, + -0.00232628732919693, + 0.013205260038375854, + -0.0018298253417015076, + -0.02057022601366043, + 0.014376401901245117, + 0.0 + ], + [ + 0.0038970857858657837, + -0.0057566240429878235, + 0.014255259186029434, + -0.010317690670490265, + -0.016344614326953888, + -0.004057049751281738, + 0.0 + ], + [ + 0.005414396524429321, + 0.003081001341342926, + 0.012715868651866913, + 0.015330150723457336, + -0.0770098865032196, + -0.04072904586791992, + 0.0 + ], + [ + 0.008870676159858704, + 0.01502169668674469, + 0.010735586285591125, + 0.016917213797569275, + -0.01822824776172638, + -0.16881251335144043, + 0.0 + ], + [ + 0.012646615505218506, + 0.01651626080274582, + 0.007938370108604431, + 0.030088961124420166, + -0.0007980465888977051, + -0.11739158630371094, + 0.0 + ], + [ + 0.009292393922805786, + 0.01791597157716751, + 0.009225413203239441, + 0.039945341646671295, + 0.01668626070022583, + -0.10589712858200073, + 0.0 + ], + [ + 0.011544331908226013, + 0.01265140250325203, + 0.011912718415260315, + 0.01659720577299595, + 0.055108651518821716, + -0.16217094659805298, + 0.0 + ], + [ + 0.011465072631835938, + 0.0019906461238861084, + -0.004137635231018066, + 0.022501952946186066, + 0.028333082795143127, + -0.012991607189178467, + 0.0 + ], + [ + 0.003753483295440674, + -0.012311380356550217, + -0.0057320743799209595, + 0.004039841704070568, + 0.030197598040103912, + -0.07165682315826416, + 0.0 + ], + [ + -0.0006159543991088867, + -0.003942057490348816, + -0.0008978694677352905, + -0.0010861773043870926, + 0.028477676212787628, + -0.03012251853942871, + 0.0 + ], + [ + 0.006087899208068848, + -0.0047973692417144775, + -2.621859312057495e-05, + -0.009855475276708603, + 0.010354273021221161, + -0.017634809017181396, + 0.0 + ], + [ + 0.00516277551651001, + 0.0005604997277259827, + -0.00045487284660339355, + -0.006027852650731802, + 0.009705033153295517, + -0.007159292697906494, + 0.0 + ], + [ + 0.005920588970184326, + 0.008392609655857086, + 0.006381034851074219, + -0.025191793218255043, + 0.029670648276805878, + 0.007409989833831787, + 0.0 + ], + [ + 0.0038402676582336426, + 0.010260112583637238, + -0.0027305632829666138, + 0.0036122016608715057, + 0.00948809739202261, + 0.01172703504562378, + 0.0 + ], + [ + 0.001564115285873413, + 0.006878931075334549, + 1.9371509552001953e-05, + -0.005715545266866684, + 0.0035887937992811203, + 0.015600502490997314, + 0.0 + ], + [ + 0.001256108283996582, + 0.0060487911105155945, + -0.00041494518518447876, + -0.006629368290305138, + 0.006089780479669571, + 0.004633188247680664, + 0.0 + ], + [ + -0.00038358569145202637, + 0.0011514797806739807, + -0.007256254553794861, + 0.022207871079444885, + 0.012320384383201599, + -0.009385645389556885, + 0.0 + ], + [ + 0.001961648464202881, + -0.0008601434528827667, + -0.003072671592235565, + 0.012819802388548851, + -0.010383945889770985, + 0.010244548320770264, + 0.0 + ], + [ + 0.0019255280494689941, + -0.0005125999450683594, + 0.001035049557685852, + -0.007677755784243345, + -0.0052135661244392395, + 0.022200584411621094, + 1.0 + ], + [ + 0.0020460188388824463, + 0.001286584883928299, + 0.0013048946857452393, + -0.01634852960705757, + 0.011162476614117622, + 0.029544353485107422, + 1.0 + ], + [ + -0.0007448494434356689, + 0.0010507851839065552, + -0.00034259259700775146, + 0.0016814880073070526, + 0.0054069822654128075, + 0.016647756099700928, + 1.0 + ], + [ + 0.002508312463760376, + -0.00030211731791496277, + 0.0025601983070373535, + -0.00985725037753582, + -0.004856549669057131, + 0.007402896881103516, + 1.0 + ], + [ + 0.000374525785446167, + 0.0011928379535675049, + 0.0003787428140640259, + -0.004584882408380508, + 0.0050560287199914455, + 0.006330907344818115, + 1.0 + ], + [ + -0.0006087422370910645, + 0.00012980028986930847, + -0.00032242387533187866, + -0.0013495013117790222, + 0.006138153374195099, + 0.004137158393859863, + 1.0 + ], + [ + 0.00044149160385131836, + 3.771856427192688e-05, + -5.585700273513794e-05, + -0.0055631473660469055, + 0.005979040637612343, + 0.0023826956748962402, + 1.0 + ], + [ + 0.0042723119258880615, + 0.00018171221017837524, + 0.0035355091094970703, + -0.014824215322732925, + -0.04478800296783447, + 0.005987405776977539, + 1.0 + ], + [ + 7.462501525878906e-05, + 0.0001772083342075348, + 0.010940775275230408, + -0.030628010630607605, + -0.03000476025044918, + 0.008579134941101074, + 1.0 + ], + [ + -0.0009466707706451416, + 0.0009239315986633301, + 0.0006803944706916809, + 0.008961819112300873, + -0.0007868111133575439, + 0.015588760375976562, + 1.0 + ], + [ + -0.002262592315673828, + 0.0006300993263721466, + 0.011810652911663055, + -0.01529192179441452, + -0.04272381216287613, + 0.0022406578063964844, + 1.0 + ], + [ + -0.016027063131332397, + 0.00044734030961990356, + -0.004172727465629578, + -0.003066226840019226, + -0.009849466383457184, + -0.048960328102111816, + 1.0 + ], + [ + -0.02071210741996765, + 0.005076572299003601, + -0.000689975917339325, + -0.025904469192028046, + -0.0013438910245895386, + -0.05344933271408081, + 1.0 + ], + [ + -0.01000562310218811, + 0.01272171176970005, + -0.00366220623254776, + -0.0026034563779830933, + 0.004707686603069305, + -0.04398691654205322, + 1.0 + ], + [ + -0.003639891743659973, + 0.024056807160377502, + -0.005191020667552948, + 0.00813932716846466, + -0.01018589735031128, + -0.023440659046173096, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9530308246612549 + ], + [ + 0.7121403217315674 + ], + [ + 0.4485226273536682 + ], + [ + 0.2533928155899048 + ], + [ + 0.23134081065654755 + ], + [ + 0.23134081065654755 + ], + [ + 0.23134081065654755 + ], + [ + 0.23134081065654755 + ], + [ + 0.23134081065654755 + ], + [ + 0.23134081065654755 + ], + [ + 0.23134081065654755 + ], + [ + 0.23134081065654755 + ], + [ + 0.23134081065654755 + ], + [ + 0.2306915670633316 + ], + [ + 0.23134081065654755 + ], + [ + 0.23134081065654755 + ], + [ + 0.2306915670633316 + ], + [ + 0.23134081065654755 + ], + [ + 0.23134081065654755 + ], + [ + 0.23134081065654755 + ], + [ + 0.2306915670633316 + ], + [ + 0.2306915670633316 + ], + [ + 0.23134081065654755 + ], + [ + 0.23134081065654755 + ], + [ + 0.23134081065654755 + ], + [ + 0.2306915670633316 + ], + [ + 0.2666412889957428 + ], + [ + 0.5266194939613342 + ], + [ + 0.8242669105529785 + ], + [ + 1.0092895030975342 + ], + [ + 1.0027955770492554 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.25664472579956055, + -0.11076661199331284, + 0.055722080171108246 + ], + [ + 0.24622252583503723, + -0.10444796085357666, + 0.051367390900850296 + ], + [ + 0.24139346182346344, + -0.0995703935623169, + 0.04285725951194763 + ], + [ + 0.24040129780769348, + -0.09586169570684433, + 0.03472509607672691 + ], + [ + 0.2347673624753952, + -0.09069345146417618, + 0.023662656545639038 + ], + [ + 0.22883838415145874, + -0.08797399699687958, + 0.01876295544207096 + ], + [ + 0.2232145369052887, + -0.08976249396800995, + 0.010910866782069206 + ], + [ + 0.22065530717372894, + -0.09325245767831802, + 0.001187948975712061 + ], + [ + 0.21776551008224487, + -0.09561650454998016, + -0.0055791279301047325 + ], + [ + 0.21272432804107666, + -0.0942867249250412, + -0.010245608165860176 + ], + [ + 0.2098173350095749, + -0.09278808534145355, + -0.00989270955324173 + ], + [ + 0.21003246307373047, + -0.09714760631322861, + -0.013699856586754322 + ], + [ + 0.21230685710906982, + -0.1006104052066803, + -0.01790015399456024 + ], + [ + 0.21550290286540985, + -0.10096532851457596, + -0.018730632960796356 + ], + [ + 0.21895906329154968, + -0.09940677881240845, + -0.020177671685814857 + ], + [ + 0.21876603364944458, + -0.09554197639226913, + -0.020760372281074524 + ], + [ + 0.22237470746040344, + -0.09550784528255463, + -0.0206783264875412 + ], + [ + 0.22540290653705597, + -0.09723984450101852, + -0.019849201664328575 + ], + [ + 0.227199986577034, + -0.0976075604557991, + -0.018238166347146034 + ], + [ + 0.22162789106369019, + -0.09932886064052582, + -0.013085789047181606 + ], + [ + 0.21670497953891754, + -0.1104361042380333, + 0.00710753258317709 + ], + [ + 0.20664754509925842, + -0.11554370075464249, + 0.02067173644900322 + ], + [ + 0.2013728767633438, + -0.11786998808383942, + 0.033876996487379074 + ], + [ + 0.2052699625492096, + -0.12362661212682724, + 0.04813225567340851 + ], + [ + 0.21068435907363892, + -0.12054561078548431, + 0.06084812432527542 + ], + [ + 0.21955503523349762, + -0.10552391409873962, + 0.07158371061086655 + ], + [ + 0.23220165073871613, + -0.0890076532959938, + 0.07952208071947098 + ], + [ + 0.2414940446615219, + -0.0710916817188263, + 0.08874749392271042 + ], + [ + 0.2530383765697479, + -0.058440279215574265, + 0.10066021233797073 + ], + [ + 0.26450344920158386, + -0.056449633091688156, + 0.09652257710695267 + ], + [ + 0.26825693249702454, + -0.06876101344823837, + 0.09079050272703171 + ], + [ + 0.26764097809791565, + -0.07270307093858719, + 0.08989263325929642 + ], + [ + 0.2737288773059845, + -0.07750044018030167, + 0.08986641466617584 + ], + [ + 0.2788916528224945, + -0.07693994045257568, + 0.08941154181957245 + ], + [ + 0.28481224179267883, + -0.0685473307967186, + 0.09579257667064667 + ], + [ + 0.2886525094509125, + -0.05828721821308136, + 0.09306201338768005 + ], + [ + 0.2902166247367859, + -0.05140828713774681, + 0.09308138489723206 + ], + [ + 0.29147273302078247, + -0.045359496027231216, + 0.09266643971204758 + ], + [ + 0.29108914732933044, + -0.044208016246557236, + 0.08541018515825272 + ], + [ + 0.2930507957935333, + -0.04506815969944, + 0.08233751356601715 + ], + [ + 0.2949763238430023, + -0.04558075964450836, + 0.083372563123703 + ], + [ + 0.29702234268188477, + -0.04429417476058006, + 0.08467745780944824 + ], + [ + 0.2962774932384491, + -0.04324338957667351, + 0.08433486521244049 + ], + [ + 0.2987858057022095, + -0.04354550689458847, + 0.08689506351947784 + ], + [ + 0.29916033148765564, + -0.042352668941020966, + 0.08727380633354187 + ], + [ + 0.2985515892505646, + -0.04222286865115166, + 0.08695138245820999 + ], + [ + 0.2989930808544159, + -0.04218515008687973, + 0.08689552545547485 + ], + [ + 0.30326539278030396, + -0.042003437876701355, + 0.09043103456497192 + ], + [ + 0.30334001779556274, + -0.04182622954249382, + 0.10137180984020233 + ], + [ + 0.3023933470249176, + -0.04090229794383049, + 0.10205220431089401 + ], + [ + 0.3001307547092438, + -0.040272198617458344, + 0.11386285722255707 + ], + [ + 0.2841036915779114, + -0.03982485830783844, + 0.10969012975692749 + ], + [ + 0.2633915841579437, + -0.03474828600883484, + 0.10900015383958817 + ], + [ + 0.2533859610557556, + -0.02202657423913479, + 0.1053379476070404 + ], + [ + 0.24974606931209564, + 0.002030233619734645, + 0.10014692693948746 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8648569667640063, + 0.46940188244128517, + 0.17800084213379674, + 0.48049186882557043, + -0.8767070698488468, + -0.02263355185472333, + 0.14543036489080852, + 0.1051027422935652, + -0.9837700048944871 + ], + [ + 0.7801312026225365, + 0.6141679568277304, + 0.11913449332903579, + 0.6131734863886354, + -0.7884139134848394, + 0.049211549594848816, + 0.1241514489835734, + 0.0346586472553605, + -0.9916578018075125 + ], + [ + 0.7250636834796178, + 0.6849514280834095, + 0.07158349017382797, + 0.6793974961573357, + -0.7284244473994734, + 0.0884130456771772, + 0.11270180617058252, + -0.015471444576043832, + -0.9935083981973271 + ], + [ + 0.6373316400097098, + 0.7691962967820908, + 0.0463188693649992, + 0.7630173161135491, + -0.6383336192402611, + 0.10166005045496518, + 0.10776342586151649, + -0.02944906729163701, + -0.993740306358881 + ], + [ + 0.5854526396663433, + 0.8065127673829461, + 0.08235510157854647, + 0.7969862122278873, + -0.5911771764222024, + 0.12378418152622342, + 0.14851997921611615, + -0.006833895358736637, + -0.9888857940368393 + ], + [ + 0.4988887244432704, + 0.8618533073806959, + 0.09120809821678397, + 0.8483633170064117, + -0.5071551308093993, + 0.1518991627744533, + 0.17717145080753086, + 0.0015968251804896888, + -0.9841787069267948 + ], + [ + 0.41326012693222824, + 0.9024752944061589, + 0.12146773429382515, + 0.8859132999727699, + -0.42931497001039587, + 0.17563109478771027, + 0.21065064068099912, + 0.03502855280324288, + -0.9769336252116594 + ], + [ + 0.36901717909555115, + 0.9287942648733758, + 0.03416921232172736, + 0.9101590803089368, + -0.3685707396950187, + 0.18911916447535712, + 0.18824656720257155, + -0.038688801725979716, + -0.9813594685727831 + ], + [ + 0.3143172730406482, + 0.9491191070575405, + -0.019431224526185967, + 0.9328687803216372, + -0.3050124077500071, + 0.19163316471781144, + 0.17595593360131684, + -0.07836039648215087, + -0.981274252028274 + ], + [ + 0.28944599013562744, + 0.957182848775216, + -0.004691780575501875, + 0.9389835689733345, + -0.2829842509697059, + 0.19552434861472895, + 0.18582485300009208, + -0.060999243550038315, + -0.980687624217731 + ], + [ + 0.27994129848478905, + 0.9594324295408639, + 0.033500485787007345, + 0.9416148970861041, + -0.28120770481186724, + 0.1851583439652868, + 0.187067514518625, + -0.020288910758268178, + -0.9821375184321528 + ], + [ + 0.2431370732613683, + 0.9665524210471647, + 0.08161360777321472, + 0.9497537301607554, + -0.25431759217813216, + 0.18245660951154327, + 0.19710965387729376, + 0.033150862380658536, + -0.9798208023265231 + ], + [ + 0.21804000148111524, + 0.9651733065597065, + 0.14456502363545015, + 0.9510843068541425, + -0.2433606496617946, + 0.19030038216452605, + 0.21885428716360722, + 0.0960004296906648, + -0.9710235416761621 + ], + [ + 0.21247092610244334, + 0.9651839262437963, + 0.15256504868999327, + 0.9536849830447233, + -0.23884424548843597, + 0.1828616403515114, + 0.21293439993612073, + 0.10664621379903608, + -0.9712288743680217 + ], + [ + 0.2217029380359951, + 0.9565571494140217, + 0.18933099897039585, + 0.9510659520213862, + -0.2549751721872297, + 0.17453141973222555, + 0.2152239814050968, + 0.14137213824871178, + -0.9662776807704527 + ], + [ + 0.19013815483675, + 0.9705966493016671, + 0.14761309711421877, + 0.96636831131154, + -0.21154750440437553, + 0.14621880957374275, + 0.17314666894906705, + 0.11484684473095644, + -0.9781770970980588 + ], + [ + 0.18136476922241124, + 0.9735011286880306, + 0.1392924008265761, + 0.9729906981389895, + -0.1982025344775113, + 0.11834211702387334, + 0.1428142913713565, + 0.11406711958237992, + -0.9831544997660724 + ], + [ + 0.1794802002899159, + 0.9745805393559666, + 0.13408814269921426, + 0.9762504732468416, + -0.1932585716062592, + 0.09790882486285976, + 0.12133371826994116, + 0.1133309172703616, + -0.986120799903059 + ], + [ + 0.18793417493416675, + 0.975608103510272, + 0.11344414597899828, + 0.978088006808081, + -0.19643273497675984, + 0.06897848626742639, + 0.08958011403213063, + 0.09799494371976686, + -0.991147009366093 + ], + [ + 0.212983108787478, + 0.9723759727958828, + 0.09551524957032953, + 0.9732478587323922, + -0.21975937833979214, + 0.0670404437971742, + 0.08617888862149067, + 0.07868152998619889, + -0.9931678689904321 + ], + [ + 0.2465466112539736, + 0.958362954565204, + 0.14406670606436017, + 0.9650395056281579, + -0.2564232630116189, + 0.05427580274334841, + 0.0889579735388726, + 0.12564854755836558, + -0.9880783984281463 + ], + [ + 0.233888266509292, + 0.9623653633630367, + 0.1383805845789391, + 0.9674505648288414, + -0.2445054193569704, + 0.065241892350145, + 0.09662134030137563, + 0.11861706160667863, + -0.9882278630428122 + ], + [ + 0.21947039206739405, + 0.9649809688674154, + 0.1436818594307879, + 0.9685693352660625, + -0.23318124528999584, + 0.08660224955083151, + 0.11707343758531233, + 0.12015921341583077, + -0.985827354886872 + ], + [ + 0.22293785210152145, + 0.9620109664867299, + 0.15758684735607703, + 0.9656773157754316, + -0.24004258320772326, + 0.09923144684887128, + 0.13328929400787315, + 0.1300555981349155, + -0.9825067457766647 + ], + [ + 0.2585848657342641, + 0.9514760379400984, + 0.16681491671611776, + 0.9430767033985943, + -0.2860468289075354, + 0.16965713418180553, + 0.20914157578069603, + 0.11344849447108517, + -0.9712822660700707 + ], + [ + 0.4116770934890875, + 0.8922822553685027, + 0.18534925802623348, + 0.8826235327852893, + -0.44102084644734235, + 0.1627154337255235, + 0.22693098085099056, + 0.09660740009630653, + -0.9691074967085125 + ], + [ + 0.512123084755165, + 0.8401929013695933, + 0.17834190351400486, + 0.8281780916193392, + -0.5380833181121574, + 0.1568036712936277, + 0.22770813473085105, + 0.06739607746416133, + -0.9713942423752784 + ], + [ + 0.5990376559900104, + 0.7860266633375782, + 0.15269568176077372, + 0.7723027539939366, + -0.617528006554217, + 0.1490222040320035, + 0.2114292857656552, + 0.028657383753030827, + -0.9769730863626983 + ], + [ + 0.7233174566446774, + 0.679318559722015, + 0.12384729036310228, + 0.6723668192666832, + -0.733735870425008, + 0.0977472905039299, + 0.15727274799620858, + 0.01256848713502541, + -0.9874752229139008 + ], + [ + 0.7349999384850552, + 0.6721713012095466, + 0.08922349610517397, + 0.6656380034469006, + -0.7403322193706617, + 0.09399070873726957, + 0.12923288588509102, + -0.009692615332059562, + -0.9915668986073687 + ], + [ + 0.7834867513680043, + 0.6174972499447713, + 0.06961075162254264, + 0.613433854770278, + -0.7864529197768719, + 0.07204658767845973, + 0.09923414862076503, + -0.013745955226073785, + -0.9949691615635302 + ], + [ + 0.8035579171152617, + 0.5931615524397295, + 0.049538334132997394, + 0.5909936082911159, + -0.8049833431106036, + 0.05223382307971952, + 0.07086062941033897, + -0.012696063238915423, + -0.9974054246783522 + ], + [ + 0.8144094926557073, + 0.5783247816979079, + 0.04772447114783997, + 0.5771251564289236, + -0.8158015833697165, + 0.03734073363438931, + 0.06052877075543811, + -0.002867655057890113, + -0.9981623337239814 + ], + [ + 0.8189635490953306, + 0.5721948384227655, + 0.04349450695806373, + 0.5715891166138876, + -0.8201116625698253, + 0.026509294323172762, + 0.05083883379598185, + 0.0031508410467979645, + -0.9987019000577511 + ], + [ + 0.8155773788240314, + 0.5776675495397595, + 0.03367107600376764, + 0.5782599636548141, + -0.8157801429139602, + -0.010870734161559559, + 0.021188524829614124, + 0.028336560059534763, + -0.9993738468558885 + ], + [ + 0.808866399047661, + 0.5875023342403835, + 0.024003244650891653, + 0.5878760223288296, + -0.8088444964359189, + -0.013128707330037317, + 0.01170174613052287, + 0.02473030221054986, + -0.9996256705837797 + ], + [ + 0.7996256147479236, + 0.599987934107648, + 0.024766008241981406, + 0.600444046813853, + -0.7994295592150351, + -0.019476306093771822, + 0.008113130395152768, + 0.03044435544549158, + -0.9995035359300636 + ], + [ + 0.796859666850214, + 0.6036872368939045, + 0.024008151923211336, + 0.6041610522426412, + -0.796358883552374, + -0.028318748917993478, + 0.002023437775128631, + 0.037070859156735705, + -0.9993105909080273 + ], + [ + 0.8024540274539058, + 0.596713633902682, + 0.0006106862223638756, + 0.5966251004478371, + -0.8023164684460165, + -0.018076890659638453, + -0.010296763501918688, + 0.014870224442430725, + -0.999836413162882 + ], + [ + 0.796342084507703, + 0.6048450773610772, + 0.001310280122303369, + 0.6048464903368276, + -0.7963405193048085, + -0.0015812781442756166, + 8.700085152606738e-05, + 0.002051756666932219, + -0.9999978913604926 + ], + [ + 0.7827080124042034, + 0.6223054287759952, + 0.010203951890644571, + 0.6223665090368043, + -0.7827140573171012, + -0.004316585171546292, + 0.005300542198967698, + 0.009729223716554415, + -0.9999386213454657 + ], + [ + 0.7639793016827864, + 0.6451225994927731, + 0.012347397457323843, + 0.6452141233763488, + -0.7636340385171024, + -0.02370211411984549, + -0.0058618764889570765, + 0.02607463982009183, + -0.9996428119895029 + ], + [ + 0.7530976853977346, + 0.6578652382561488, + 0.007563368479379011, + 0.6578122024480485, + -0.7527405462794629, + -0.025783256143145316, + -0.011268653824748983, + 0.02439258660076612, + -0.9996389443993774 + ], + [ + 0.7482395039043739, + 0.6631865121495178, + 0.017924700831365478, + 0.6633977142123398, + -0.7476702708649896, + -0.02987706214666776, + -0.00641229871256205, + 0.034246403718210715, + -0.999392848812513 + ], + [ + 0.7439909955528825, + 0.6679626174433893, + 0.01741666542157879, + 0.6680912218853425, + -0.7431813066761799, + -0.03654674604989754, + -0.011468119984577642, + 0.03882637126055242, + -0.9991801614917888 + ], + [ + 0.7411544938148048, + 0.6711900207897429, + 0.0139273935244594, + 0.6711036124282234, + -0.7401960787981732, + -0.0415897381285057, + -0.01760561512442779, + 0.04017114541649707, + -0.9990376976831341 + ], + [ + 0.7394622762612457, + 0.673065553364308, + 0.013353009433632684, + 0.6727847844838211, + -0.7381681376718261, + -0.04968334019735602, + -0.023583378756981632, + 0.04572265740861573, + -0.998675754610023 + ], + [ + 0.7354600657279398, + 0.6752019835406551, + 0.05657537575854018, + 0.6772363070894938, + -0.7351455754763152, + -0.03019879496574051, + 0.021200850908395248, + 0.060524906281322295, + -0.9979415111319889 + ], + [ + 0.7288303929391255, + 0.6774310217226817, + 0.09946591946975473, + 0.6827784209863367, + -0.7299410188410821, + -0.03161861553971144, + 0.05118482356719441, + 0.09095779142551227, + -0.9945384829233047 + ], + [ + 0.7180694202165321, + 0.6895487483983714, + 0.09433361718991184, + 0.69402836094425, + -0.7195778497621638, + -0.023072761791743272, + 0.051970587402213525, + 0.08203805040284809, + -0.9952732370214565 + ], + [ + 0.7142661050237953, + 0.6866584978805426, + 0.13536631228844936, + 0.6934545855506553, + -0.7204874996867323, + -0.004301229351041901, + 0.09457626019729212, + 0.09694261232088994, + -0.9907862841821621 + ], + [ + 0.7466128406917487, + 0.6494185636496981, + 0.14430798765612737, + 0.6570195911525283, + -0.7538429345867705, + -0.006788727080313556, + 0.10437683150949946, + 0.0998817258599868, + -0.9895095340032194 + ], + [ + 0.7805363530412911, + 0.6041584415996243, + 0.1604854480160554, + 0.6161068920799765, + -0.7869258550587679, + -0.03405871652864956, + 0.10571328730369157, + 0.1254602569897738, + -0.986450416799297 + ], + [ + 0.807268141636329, + 0.5690445122332917, + 0.15654549050101432, + 0.5814730602725908, + -0.8122691208678676, + -0.04591247610148573, + 0.10103082537649541, + 0.12809066469386732, + -0.986603037671194 + ], + [ + 0.8197837823764044, + 0.5500884333890276, + 0.1592396483424933, + 0.5617812608373963, + -0.8264505515692181, + -0.03716585506725194, + 0.11115918821483368, + 0.11992581566343456, + -0.9865401327938355 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006654.json b/json/chunk-0006/episode_0006654.json new file mode 100644 index 0000000000000000000000000000000000000000..0bd4c275e768271ecef4e81932e3006b2048fc04 --- /dev/null +++ b/json/chunk-0006/episode_0006654.json @@ -0,0 +1,1402 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 22, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nTake bowl off plate cardboard fence." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006654.mp4", + "start": 0, + "end": 22, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.26299145817756653, + 0.12302353233098984, + 0.07269058376550674, + 0.01322878897190094, + -0.20069852471351624, + 0.3366411328315735, + 0.0, + 0.9941151142120361 + ], + [ + 0.25645118951797485, + 0.11897078901529312, + 0.06376887857913971, + 0.010244364850223064, + -0.1655651330947876, + 0.32959139347076416, + 0.0, + 0.9941151142120361 + ], + [ + 0.23625071346759796, + 0.09245020151138306, + 0.05395564064383507, + 0.010099136270582676, + -0.09622834622859955, + 0.22434403002262115, + 0.0, + 0.9941151142120361 + ], + [ + 0.21430709958076477, + 0.06522785872220993, + 0.05293680354952812, + -0.016832031309604645, + -0.04943645000457764, + 0.10246767103672028, + 0.0, + 0.9941151142120361 + ], + [ + 0.197139173746109, + 0.05535662919282913, + 0.05613238736987114, + -0.048204049468040466, + -0.1004432737827301, + 0.15369589626789093, + 0.0, + 0.9941151142120361 + ], + [ + 0.1898902803659439, + 0.05257686600089073, + 0.05513685196638107, + -0.04204501584172249, + -0.1173349991440773, + 0.3060615360736847, + 0.0, + 0.9941151142120361 + ], + [ + 0.18819200992584229, + 0.05111126974225044, + 0.04270398989319801, + 0.0053716697730124, + -0.16964440047740936, + 0.4069661498069763, + 0.0, + 0.9941151142120361 + ], + [ + 0.19246625900268555, + 0.049567364156246185, + 0.032018449157476425, + -0.00040562983485870063, + -0.16323436796665192, + 0.423772931098938, + 0.0, + 0.9620732665061951 + ], + [ + 0.19212652742862701, + 0.04333602637052536, + 0.02327505685389042, + -0.02651260420680046, + -0.09637367725372314, + 0.4313974380493164, + 0.0, + 0.6961957812309265 + ], + [ + 0.19315040111541748, + 0.04210000857710838, + 0.02585456892848015, + -0.06845367699861526, + -0.07148156315088272, + 0.44769081473350525, + 0.0, + 0.3962334990501404 + ], + [ + 0.19327032566070557, + 0.045490898191928864, + 0.02092909999191761, + -0.06386230140924454, + -0.04115743935108185, + 0.44003602862358093, + 0.0, + 0.16973881423473358 + ], + [ + 0.1988341510295868, + 0.047586601227521896, + 0.024684766307473183, + -0.07201976329088211, + -0.049660712480545044, + 0.44641637802124023, + 0.0, + 0.05952305346727371 + ], + [ + 0.19740785658359528, + 0.04985908418893814, + 0.027186091989278793, + -0.06625404208898544, + -0.03007589653134346, + 0.45673316717147827, + 0.0, + 0.05297749489545822 + ], + [ + 0.20994673669338226, + 0.05200738459825516, + 0.047548387199640274, + -0.10911796987056732, + -0.038326509296894073, + 0.5065799951553345, + 0.0, + 0.05592256039381027 + ], + [ + 0.23796343803405762, + 0.05382128059864044, + 0.062319424003362656, + -0.13672465085983276, + -0.0671122595667839, + 0.6731073260307312, + 0.0, + 0.056468017399311066 + ], + [ + 0.2569727897644043, + 0.04943770915269852, + 0.05480477213859558, + -0.13495562970638275, + -0.06579933315515518, + 0.765999972820282, + 0.0, + 0.056468017399311066 + ], + [ + 0.2685670256614685, + 0.04528064653277397, + 0.04588908329606056, + -0.12044495344161987, + -0.0630282610654831, + 0.8068985939025879, + 0.0, + 0.056468017399311066 + ], + [ + 0.27535128593444824, + 0.044066984206438065, + 0.03909873217344284, + -0.110110342502594, + -0.06876177340745926, + 0.8258367776870728, + 0.0, + 0.056468017399311066 + ], + [ + 0.2794818580150604, + 0.044915929436683655, + 0.0331546850502491, + -0.09624315053224564, + -0.08177348971366882, + 0.821479082107544, + 0.0, + 0.07112513482570648 + ], + [ + 0.28070229291915894, + 0.045934293419122696, + 0.0326884500682354, + -0.07692728191614151, + -0.10349643230438232, + 0.8179003000259399, + 0.0, + 0.2111179232597351 + ], + [ + 0.27628272771835327, + 0.04370928555727005, + 0.03230572119355202, + -0.0670551285147667, + -0.07630202174186707, + 0.8107597827911377, + 0.0, + 0.472818523645401 + ], + [ + 0.2743830680847168, + 0.03992033004760742, + 0.03905733302235603, + -0.08505713939666748, + -0.0653119683265686, + 0.8039712905883789, + 0.0, + 0.7545521855354309 + ] + ], + "left_gripper_pos": [ + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9620732665061951 + ], + [ + 0.6961957812309265 + ], + [ + 0.3962334990501404 + ], + [ + 0.16973881423473358 + ], + [ + 0.05952305346727371 + ], + [ + 0.05297749489545822 + ], + [ + 0.05592256039381027 + ], + [ + 0.056468017399311066 + ], + [ + 0.056468017399311066 + ], + [ + 0.056468017399311066 + ], + [ + 0.056468017399311066 + ], + [ + 0.07112513482570648 + ], + [ + 0.2111179232597351 + ], + [ + 0.472818523645401 + ], + [ + 0.7545521855354309 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.26299145817756653, + 0.12302353233098984, + 0.07269058376550674 + ], + [ + 0.25645118951797485, + 0.11897078901529312, + 0.06376887857913971 + ], + [ + 0.23625071346759796, + 0.09245020151138306, + 0.05395564064383507 + ], + [ + 0.21430709958076477, + 0.06522785872220993, + 0.05293680354952812 + ], + [ + 0.197139173746109, + 0.05535662919282913, + 0.05613238736987114 + ], + [ + 0.1898902803659439, + 0.05257686600089073, + 0.05513685196638107 + ], + [ + 0.18819200992584229, + 0.05111126974225044, + 0.04270398989319801 + ], + [ + 0.19246625900268555, + 0.049567364156246185, + 0.032018449157476425 + ], + [ + 0.19212652742862701, + 0.04333602637052536, + 0.02327505685389042 + ], + [ + 0.19315040111541748, + 0.04210000857710838, + 0.02585456892848015 + ], + [ + 0.19327032566070557, + 0.045490898191928864, + 0.02092909999191761 + ], + [ + 0.1988341510295868, + 0.047586601227521896, + 0.024684766307473183 + ], + [ + 0.19740785658359528, + 0.04985908418893814, + 0.027186091989278793 + ], + [ + 0.20994673669338226, + 0.05200738459825516, + 0.047548387199640274 + ], + [ + 0.23796343803405762, + 0.05382128059864044, + 0.062319424003362656 + ], + [ + 0.2569727897644043, + 0.04943770915269852, + 0.05480477213859558 + ], + [ + 0.2685670256614685, + 0.04528064653277397, + 0.04588908329606056 + ], + [ + 0.27535128593444824, + 0.044066984206438065, + 0.03909873217344284 + ], + [ + 0.2794818580150604, + 0.044915929436683655, + 0.0331546850502491 + ], + [ + 0.28070229291915894, + 0.045934293419122696, + 0.0326884500682354 + ], + [ + 0.27628272771835327, + 0.04370928555727005, + 0.03230572119355202 + ], + [ + 0.2743830680847168, + 0.03992033004760742, + 0.03905733302235603 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.924923723732989, + 0.33277883646912254, + 0.18377799453187518, + 0.3236883294318337, + -0.9429158020852374, + 0.07833042555470837, + 0.19935388299586657, + -0.012962876849295223, + -0.9798418204783157 + ], + [ + 0.9332360853311459, + 0.32523692528815396, + 0.15261504337680903, + 0.3192305612826991, + -0.945578579276844, + 0.06303173134158338, + 0.16480976238964262, + -0.010104100251501567, + -0.9862736179069055 + ], + [ + 0.9704298085575017, + 0.2234015255076588, + 0.09142070369397311, + 0.221437663152798, + -0.9746746692161596, + 0.031219393424562317, + 0.0960799042489028, + -0.010052242994501564, + -0.9953228644064703 + ], + [ + 0.9935394558231523, + 0.10144658840173612, + 0.05087179399513076, + 0.10216348403067416, + -0.9946989448905902, + -0.011688950520072617, + 0.04941631565938997, + 0.01681067325228999, + -0.9986367853286079 + ], + [ + 0.9832312458410313, + 0.1481388623952984, + 0.10635410029763664, + 0.15231988922459483, + -0.9878038227289456, + -0.03228403860560482, + 0.10027446608434301, + 0.047942520274886255, + -0.9938040783782242 + ], + [ + 0.9469713234782208, + 0.2963473482916368, + 0.12419163285190385, + 0.2992338149181317, + -0.9541675531301237, + -0.00483782629015754, + 0.11706594944495202, + 0.04174361884393538, + -0.9922464581777877 + ], + [ + 0.905143229369484, + 0.39665221396017725, + 0.15291420956559745, + 0.3901429683067845, + -0.917953696587111, + 0.07175984394373694, + 0.16883186490515642, + -0.005294533270076368, + -0.9856306454803945 + ], + [ + 0.8994266807969375, + 0.4111424423465821, + 0.14830218464975964, + 0.40573637741034, + -0.9115710240628857, + 0.06645494815945749, + 0.16251042402423937, + 0.0004002377162393919, + -0.9867067456408883 + ], + [ + 0.9041670997392224, + 0.41567650707111137, + 0.09846266916107396, + 0.41620029965840966, + -0.9091296909030172, + 0.016140498221371848, + 0.09622456190294057, + 0.02638648494484197, + -0.9950098427145545 + ], + [ + 0.8991470687303839, + 0.4274674912287919, + 0.09384078397009064, + 0.4317796101186264, + -0.9014526154049445, + -0.030814776737670593, + 0.0714207048366612, + 0.06822555329308971, + -0.995110223441849 + ], + [ + 0.9039701426112512, + 0.4227279861215183, + 0.06433530148401766, + 0.4256113282199774, + -0.9040105601578251, + -0.04024803615037461, + 0.04114582066529543, + 0.06376485609472238, + -0.9971163746368819 + ], + [ + 0.9008880475741587, + 0.42739475802192706, + 0.07572612860432437, + 0.4312036248291642, + -0.901203969830074, + -0.043529744964844685, + 0.04964030290207386, + 0.07186880810124412, + -0.9961780537383349 + ], + [ + 0.8970921281706652, + 0.43826407491695163, + 0.05612765994957676, + 0.4408190407999988, + -0.8964069306371418, + -0.04618644794598721, + 0.030071362496497316, + 0.06617564010183025, + -0.9973547502341968 + ], + [ + 0.8737668285706084, + 0.47865523181683023, + 0.0861434753422331, + 0.48483329823476384, + -0.87123305246858, + -0.07674399787007014, + 0.038317126881616856, + 0.10882158490234062, + -0.9933225359604407 + ], + [ + 0.7801281057338374, + 0.6104538391492748, + 0.13691694165458923, + 0.6220151456129962, + -0.7802898322785242, + -0.06515317544675739, + 0.06706189135550858, + 0.1359922347439886, + -0.9884375624272673 + ], + [ + 0.7191299101380815, + 0.6805787251846622, + 0.1402311348125495, + 0.6917578079328934, + -0.7202694937894202, + -0.051797601104788926, + 0.06575186315743005, + 0.13425518664972633, + -0.988762983403492 + ], + [ + 0.690367884024587, + 0.711678377739115, + 0.1300233493109428, + 0.7207113712467869, + -0.6921951972121125, + -0.03795956153672452, + 0.06298653874432325, + 0.11991536855259918, + -0.9907840331383544 + ], + [ + 0.6763399897522768, + 0.7255448953190587, + 0.12707801988678563, + 0.7333781316507347, + -0.6793866662344437, + -0.024295550196002866, + 0.06870759985887977, + 0.10962829296903624, + -0.9915951306366564 + ], + [ + 0.6788629499352008, + 0.7234194060626431, + 0.12573566772101724, + 0.7297075326430451, + -0.6837337154507817, + -0.005926479551045721, + 0.08168238493871613, + 0.09577353124868279, + -0.9920460769051411 + ], + [ + 0.6800961326436321, + 0.722124897997228, + 0.1265104029543354, + 0.7258070885406188, + -0.6875263830667562, + 0.022617312204025034, + 0.10331176403181512, + 0.07644020067763564, + -0.9917074039922247 + ], + [ + 0.6869433789622164, + 0.7196630243912899, + 0.10096497127199205, + 0.722701933971834, + -0.6911017032812521, + 0.008963835960289549, + 0.07622800491514578, + 0.066809932238655, + -0.9948495987941708 + ], + [ + 0.692373052549281, + 0.7136667590865421, + 0.10629822707130127, + 0.7185819123204172, + -0.6953367622432811, + -0.012117027645543406, + 0.06526554519440272, + 0.08477348670393453, + -0.9942604611280362 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.006540268659591675, + -0.004052743315696716, + -0.008921705186367035, + -0.0029844241216778755, + 0.03513339161872864, + -0.007049739360809326, + 1.0 + ], + [ + -0.020200476050376892, + -0.026520587503910065, + -0.009813237935304642, + -0.0001452285796403885, + 0.06933678686618805, + -0.105247363448143, + 1.0 + ], + [ + -0.02194361388683319, + -0.027222342789173126, + -0.0010188370943069458, + -0.026931166648864746, + 0.04679189622402191, + -0.12187635898590088, + 1.0 + ], + [ + -0.01716792583465576, + -0.009871229529380798, + 0.0031955838203430176, + -0.03137201815843582, + -0.051006823778152466, + 0.051228225231170654, + 1.0 + ], + [ + -0.0072488933801651, + -0.0027797631919384003, + -0.0009955354034900665, + 0.006159033626317978, + -0.0168917253613472, + 0.15236563980579376, + 1.0 + ], + [ + -0.0016982704401016235, + -0.0014655962586402893, + -0.01243286207318306, + 0.04741668701171875, + -0.05230940133333206, + 0.10090461373329163, + 1.0 + ], + [ + 0.004274249076843262, + -0.0015439055860042572, + -0.010685540735721588, + -0.005777299404144287, + 0.006410032510757446, + 0.01680678129196167, + 0.0 + ], + [ + -0.0003397315740585327, + -0.006231337785720825, + -0.008743392303586006, + -0.026106974110007286, + 0.06686069071292877, + 0.007624506950378418, + 0.0 + ], + [ + 0.0010238736867904663, + -0.001236017793416977, + 0.0025795120745897293, + -0.041941072791814804, + 0.024892114102840424, + 0.016293376684188843, + 0.0 + ], + [ + 0.00011992454528808594, + 0.0033908896148204803, + -0.004925468936562538, + 0.0045913755893707275, + 0.030324123799800873, + -0.007654786109924316, + 0.0 + ], + [ + 0.005563825368881226, + 0.002095703035593033, + 0.0037556663155555725, + -0.008157461881637573, + -0.008503273129463196, + 0.006380349397659302, + 0.0 + ], + [ + -0.0014262944459915161, + 0.0022724829614162445, + 0.0025013256818056107, + 0.0057657212018966675, + 0.019584815949201584, + 0.010316789150238037, + 0.0 + ], + [ + 0.012538880109786987, + 0.0021483004093170166, + 0.02036229521036148, + -0.04286392778158188, + -0.008250612765550613, + 0.0498468279838562, + 0.0 + ], + [ + 0.028016701340675354, + 0.0018138960003852844, + 0.014771036803722382, + -0.027606680989265442, + -0.02878575026988983, + 0.16652733087539673, + 0.0 + ], + [ + 0.01900935173034668, + -0.004383571445941925, + -0.007514651864767075, + 0.0017690211534500122, + 0.0013129264116287231, + 0.09289264678955078, + 0.0 + ], + [ + 0.011594235897064209, + -0.004157062619924545, + -0.008915688842535019, + 0.014510676264762878, + 0.0027710720896720886, + 0.04089862108230591, + 0.0 + ], + [ + 0.006784260272979736, + -0.001213662326335907, + -0.0067903511226177216, + 0.010334610939025879, + -0.005733512341976166, + 0.018938183784484863, + 0.0 + ], + [ + 0.004130572080612183, + 0.0008489452302455902, + -0.005944047123193741, + 0.013867191970348358, + -0.013011716306209564, + -0.004357695579528809, + 1.0 + ], + [ + 0.0012204349040985107, + 0.0010183639824390411, + -0.0004662349820137024, + 0.019315868616104126, + -0.0217229425907135, + -0.003578782081604004, + 1.0 + ], + [ + -0.004419565200805664, + -0.002225007861852646, + -0.0003827288746833801, + 0.009872153401374817, + 0.02719441056251526, + -0.007140517234802246, + 1.0 + ], + [ + -0.0018996596336364746, + -0.003788955509662628, + 0.006751611828804016, + -0.018002010881900787, + 0.010990053415298462, + -0.006788492202758789, + 1.0 + ], + [ + -0.005815863609313965, + -0.0036826618015766144, + 0.02544223889708519, + -0.04027627408504486, + -0.028917238116264343, + -0.013160943984985352, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9620732665061951 + ], + [ + 0.6961957812309265 + ], + [ + 0.3962334990501404 + ], + [ + 0.16973881423473358 + ], + [ + 0.05952305346727371 + ], + [ + 0.05297749489545822 + ], + [ + 0.05592256039381027 + ], + [ + 0.056468017399311066 + ], + [ + 0.056468017399311066 + ], + [ + 0.056468017399311066 + ], + [ + 0.056468017399311066 + ], + [ + 0.07112513482570648 + ], + [ + 0.2111179232597351 + ], + [ + 0.472818523645401 + ], + [ + 0.7545521855354309 + ], + [ + 0.9844722747802734 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.25645118951797485, + 0.11897078901529312, + 0.06376887857913971 + ], + [ + 0.23625071346759796, + 0.09245020151138306, + 0.05395564064383507 + ], + [ + 0.21430709958076477, + 0.06522785872220993, + 0.05293680354952812 + ], + [ + 0.197139173746109, + 0.05535662919282913, + 0.05613238736987114 + ], + [ + 0.1898902803659439, + 0.05257686600089073, + 0.05513685196638107 + ], + [ + 0.18819200992584229, + 0.05111126974225044, + 0.04270398989319801 + ], + [ + 0.19246625900268555, + 0.049567364156246185, + 0.032018449157476425 + ], + [ + 0.19212652742862701, + 0.04333602637052536, + 0.02327505685389042 + ], + [ + 0.19315040111541748, + 0.04210000857710838, + 0.02585456892848015 + ], + [ + 0.19327032566070557, + 0.045490898191928864, + 0.02092909999191761 + ], + [ + 0.1988341510295868, + 0.047586601227521896, + 0.024684766307473183 + ], + [ + 0.19740785658359528, + 0.04985908418893814, + 0.027186091989278793 + ], + [ + 0.20994673669338226, + 0.05200738459825516, + 0.047548387199640274 + ], + [ + 0.23796343803405762, + 0.05382128059864044, + 0.062319424003362656 + ], + [ + 0.2569727897644043, + 0.04943770915269852, + 0.05480477213859558 + ], + [ + 0.2685670256614685, + 0.04528064653277397, + 0.04588908329606056 + ], + [ + 0.27535128593444824, + 0.044066984206438065, + 0.03909873217344284 + ], + [ + 0.2794818580150604, + 0.044915929436683655, + 0.0331546850502491 + ], + [ + 0.28070229291915894, + 0.045934293419122696, + 0.0326884500682354 + ], + [ + 0.27628272771835327, + 0.04370928555727005, + 0.03230572119355202 + ], + [ + 0.2743830680847168, + 0.03992033004760742, + 0.03905733302235603 + ], + [ + 0.26856720447540283, + 0.03623766824603081, + 0.06449957191944122 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9332360853311459, + 0.32523692528815396, + 0.15261504337680903, + 0.3192305612826991, + -0.945578579276844, + 0.06303173134158338, + 0.16480976238964262, + -0.010104100251501567, + -0.9862736179069055 + ], + [ + 0.9704298085575017, + 0.2234015255076588, + 0.09142070369397311, + 0.221437663152798, + -0.9746746692161596, + 0.031219393424562317, + 0.0960799042489028, + -0.010052242994501564, + -0.9953228644064703 + ], + [ + 0.9935394558231523, + 0.10144658840173612, + 0.05087179399513076, + 0.10216348403067416, + -0.9946989448905902, + -0.011688950520072617, + 0.04941631565938997, + 0.01681067325228999, + -0.9986367853286079 + ], + [ + 0.9832312458410313, + 0.1481388623952984, + 0.10635410029763664, + 0.15231988922459483, + -0.9878038227289456, + -0.03228403860560482, + 0.10027446608434301, + 0.047942520274886255, + -0.9938040783782242 + ], + [ + 0.9469713234782208, + 0.2963473482916368, + 0.12419163285190385, + 0.2992338149181317, + -0.9541675531301237, + -0.00483782629015754, + 0.11706594944495202, + 0.04174361884393538, + -0.9922464581777877 + ], + [ + 0.905143229369484, + 0.39665221396017725, + 0.15291420956559745, + 0.3901429683067845, + -0.917953696587111, + 0.07175984394373694, + 0.16883186490515642, + -0.005294533270076368, + -0.9856306454803945 + ], + [ + 0.8994266807969375, + 0.4111424423465821, + 0.14830218464975964, + 0.40573637741034, + -0.9115710240628857, + 0.06645494815945749, + 0.16251042402423937, + 0.0004002377162393919, + -0.9867067456408883 + ], + [ + 0.9041670997392224, + 0.41567650707111137, + 0.09846266916107396, + 0.41620029965840966, + -0.9091296909030172, + 0.016140498221371848, + 0.09622456190294057, + 0.02638648494484197, + -0.9950098427145545 + ], + [ + 0.8991470687303839, + 0.4274674912287919, + 0.09384078397009064, + 0.4317796101186264, + -0.9014526154049445, + -0.030814776737670593, + 0.0714207048366612, + 0.06822555329308971, + -0.995110223441849 + ], + [ + 0.9039701426112512, + 0.4227279861215183, + 0.06433530148401766, + 0.4256113282199774, + -0.9040105601578251, + -0.04024803615037461, + 0.04114582066529543, + 0.06376485609472238, + -0.9971163746368819 + ], + [ + 0.9008880475741587, + 0.42739475802192706, + 0.07572612860432437, + 0.4312036248291642, + -0.901203969830074, + -0.043529744964844685, + 0.04964030290207386, + 0.07186880810124412, + -0.9961780537383349 + ], + [ + 0.8970921281706652, + 0.43826407491695163, + 0.05612765994957676, + 0.4408190407999988, + -0.8964069306371418, + -0.04618644794598721, + 0.030071362496497316, + 0.06617564010183025, + -0.9973547502341968 + ], + [ + 0.8737668285706084, + 0.47865523181683023, + 0.0861434753422331, + 0.48483329823476384, + -0.87123305246858, + -0.07674399787007014, + 0.038317126881616856, + 0.10882158490234062, + -0.9933225359604407 + ], + [ + 0.7801281057338374, + 0.6104538391492748, + 0.13691694165458923, + 0.6220151456129962, + -0.7802898322785242, + -0.06515317544675739, + 0.06706189135550858, + 0.1359922347439886, + -0.9884375624272673 + ], + [ + 0.7191299101380815, + 0.6805787251846622, + 0.1402311348125495, + 0.6917578079328934, + -0.7202694937894202, + -0.051797601104788926, + 0.06575186315743005, + 0.13425518664972633, + -0.988762983403492 + ], + [ + 0.690367884024587, + 0.711678377739115, + 0.1300233493109428, + 0.7207113712467869, + -0.6921951972121125, + -0.03795956153672452, + 0.06298653874432325, + 0.11991536855259918, + -0.9907840331383544 + ], + [ + 0.6763399897522768, + 0.7255448953190587, + 0.12707801988678563, + 0.7333781316507347, + -0.6793866662344437, + -0.024295550196002866, + 0.06870759985887977, + 0.10962829296903624, + -0.9915951306366564 + ], + [ + 0.6788629499352008, + 0.7234194060626431, + 0.12573566772101724, + 0.7297075326430451, + -0.6837337154507817, + -0.005926479551045721, + 0.08168238493871613, + 0.09577353124868279, + -0.9920460769051411 + ], + [ + 0.6800961326436321, + 0.722124897997228, + 0.1265104029543354, + 0.7258070885406188, + -0.6875263830667562, + 0.022617312204025034, + 0.10331176403181512, + 0.07644020067763564, + -0.9917074039922247 + ], + [ + 0.6869433789622164, + 0.7196630243912899, + 0.10096497127199205, + 0.722701933971834, + -0.6911017032812521, + 0.008963835960289549, + 0.07622800491514578, + 0.066809932238655, + -0.9948495987941708 + ], + [ + 0.692373052549281, + 0.7136667590865421, + 0.10629822707130127, + 0.7185819123204172, + -0.6953367622432811, + -0.012117027645543406, + 0.06526554519440272, + 0.08477348670393453, + -0.9942604611280362 + ], + [ + 0.7001495466532628, + 0.6970752670885334, + 0.15452082168652925, + 0.7077695370745829, + -0.7061147400308647, + -0.021546607630314796, + 0.09408982256578569, + 0.12445097799773963, + -0.9877545542111891 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006655.json b/json/chunk-0006/episode_0006655.json new file mode 100644 index 0000000000000000000000000000000000000000..c97266fbcf62150efc2229e7aa905971ff3c9a47 --- /dev/null +++ b/json/chunk-0006/episode_0006655.json @@ -0,0 +1,2242 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 36, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove a can from top to bottom." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006655.mp4", + "start": 0, + "end": 36, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3944661617279053, + 0.174229234457016, + 0.0764583945274353, + 0.1267620474100113, + -0.13531537353992462, + 0.125846266746521, + 0.0, + 1.0008161067962646 + ], + [ + 0.39163827896118164, + 0.17235828936100006, + 0.05766613036394119, + 0.11542230099439621, + -0.09212496876716614, + 0.1238001212477684, + 0.0, + 1.0008161067962646 + ], + [ + 0.39466312527656555, + 0.15070988237857819, + 0.0494934506714344, + 0.12994416058063507, + -0.07888095825910568, + 0.03225962072610855, + 0.0, + 1.0008161067962646 + ], + [ + 0.40877190232276917, + 0.10786870121955872, + 0.06987302750349045, + 0.11595644056797028, + -0.15744777023792267, + -0.07827360928058624, + 0.0, + 1.0008161067962646 + ], + [ + 0.4218828082084656, + 0.07177606970071793, + 0.09097733348608017, + 0.05961674824357033, + -0.25282713770866394, + -0.1115942895412445, + 0.0, + 1.0008161067962646 + ], + [ + 0.43515637516975403, + 0.04413257911801338, + 0.10459745675325394, + 0.037327151745557785, + -0.2986118793487549, + -0.11598549038171768, + 0.0, + 1.0008161067962646 + ], + [ + 0.4537937343120575, + 0.009152902290225029, + 0.1316767930984497, + 0.01547280140221119, + -0.37431439757347107, + -0.10445067286491394, + 0.0, + 1.0008161067962646 + ], + [ + 0.46039003133773804, + -0.009351076558232307, + 0.12069232761859894, + -0.009888269007205963, + -0.34673893451690674, + -0.07510799914598465, + 0.0, + 1.0008161067962646 + ], + [ + 0.4626947343349457, + -0.02607554756104946, + 0.10955765843391418, + 0.011882397346198559, + -0.3234625458717346, + -0.08988912403583527, + 0.0, + 1.0008161067962646 + ], + [ + 0.46315649151802063, + -0.029905978590250015, + 0.10310561954975128, + 0.03018917329609394, + -0.3174392879009247, + -0.08453147858381271, + 0.0, + 1.0008161067962646 + ], + [ + 0.461283415555954, + -0.02917240932583809, + 0.08654946833848953, + 0.057478949427604675, + -0.28316739201545715, + -0.08318253606557846, + 0.0, + 1.0008161067962646 + ], + [ + 0.4596973955631256, + -0.03130336478352547, + 0.08144676685333252, + 0.07095019519329071, + -0.27553683519363403, + -0.08089800924062729, + 0.0, + 1.0008161067962646 + ], + [ + 0.4558328092098236, + -0.02983005903661251, + 0.06501725316047668, + 0.07426998764276505, + -0.23128117620944977, + -0.06236756965517998, + 0.0, + 1.0008161067962646 + ], + [ + 0.4487520158290863, + -0.032270826399326324, + 0.05780215933918953, + 0.04788229987025261, + -0.2013104408979416, + -0.04374576359987259, + 0.0, + 1.0008161067962646 + ], + [ + 0.4337082505226135, + -0.03619248420000076, + 0.04611726105213165, + 0.013298333622515202, + -0.14574047923088074, + -0.017294296994805336, + 0.0, + 1.0008161067962646 + ], + [ + 0.42827993631362915, + -0.040388986468315125, + 0.07068535685539246, + -0.02733703888952732, + -0.17594106495380402, + 0.03246735408902168, + 0.0, + 1.0008161067962646 + ], + [ + 0.413509339094162, + -0.03728974610567093, + 0.07542732357978821, + -0.0693579614162445, + -0.12229454517364502, + 0.1343010514974594, + 0.0, + 1.0008161067962646 + ], + [ + 0.39384326338768005, + -0.038646236062049866, + 0.08362080156803131, + -0.09551838785409927, + -0.09601282328367233, + 0.154718279838562, + 0.0, + 1.0008161067962646 + ], + [ + 0.37277963757514954, + -0.0371134951710701, + 0.08118025213479996, + -0.07722470164299011, + -0.06863752752542496, + 0.1450851559638977, + 0.0, + 1.0008161067962646 + ], + [ + 0.35170450806617737, + -0.036311253905296326, + 0.07978145778179169, + -0.07086709886789322, + -0.05536814406514168, + 0.12421935051679611, + 0.0, + 1.0008161067962646 + ], + [ + 0.34582892060279846, + -0.037123311311006546, + 0.08487409353256226, + -0.0588805191218853, + -0.08835022896528244, + 0.0859612300992012, + 0.0, + 1.0008161067962646 + ], + [ + 0.3616456687450409, + -0.03353157266974449, + 0.10550165176391602, + -0.03859008848667145, + -0.1755199134349823, + 0.08396244794130325, + 0.0, + 1.0008161067962646 + ], + [ + 0.3897911310195923, + -0.035652391612529755, + 0.12162327766418457, + 0.012073689140379429, + -0.2814517915248871, + 0.054752521216869354, + 0.0, + 1.0008161067962646 + ], + [ + 0.4047086834907532, + -0.03745603188872337, + 0.09906834363937378, + 0.047547392547130585, + -0.2548123598098755, + 0.044062305241823196, + 0.0, + 1.0008161067962646 + ], + [ + 0.40667715668678284, + -0.03727062791585922, + 0.07749083638191223, + 0.055604152381420135, + -0.19005325436592102, + 0.054866593331098557, + 0.0, + 1.0008161067962646 + ], + [ + 0.4039517641067505, + -0.040184129029512405, + 0.06290744990110397, + 0.04370353743433952, + -0.13742299377918243, + 0.05966922640800476, + 0.0, + 1.0008161067962646 + ], + [ + 0.39368000626564026, + -0.04251350834965706, + 0.05322549492120743, + 0.0277941282838583, + -0.09508472681045532, + 0.0672043040394783, + 0.0, + 1.0008161067962646 + ], + [ + 0.3756408393383026, + -0.04244587570428848, + 0.039780393242836, + 0.022383926436305046, + -0.050049494951963425, + 0.0687488466501236, + 0.0, + 1.0008161067962646 + ], + [ + 0.3548295795917511, + -0.04062628373503685, + 0.038837745785713196, + 0.025686755776405334, + -0.02548503503203392, + 0.06118309497833252, + 0.0, + 1.0008161067962646 + ], + [ + 0.33799025416374207, + -0.0389467291533947, + 0.03867717832326889, + 0.024853110313415527, + -0.014211651869118214, + 0.05605234578251839, + 0.0, + 1.0008161067962646 + ], + [ + 0.3190236985683441, + -0.04156327247619629, + 0.04084867984056473, + 0.015846161171793938, + 0.007928011938929558, + 0.04600834101438522, + 0.0, + 1.0008161067962646 + ], + [ + 0.30469971895217896, + -0.05115047097206116, + 0.04842435196042061, + -0.01006993092596531, + 0.0018303266260772943, + 0.022101493552327156, + 0.0, + 1.0008161067962646 + ], + [ + 0.29389870166778564, + -0.05659989267587662, + 0.05145084112882614, + -0.020863234996795654, + -0.0010356210405007005, + -0.00011184264440089464, + 0.0, + 1.0008161067962646 + ], + [ + 0.2942580282688141, + -0.06608594954013824, + 0.05995102599263191, + -8.224287012126297e-05, + -0.06048115715384483, + -0.07965847104787827, + 0.0, + 1.0008161067962646 + ], + [ + 0.30202797055244446, + -0.07263925671577454, + 0.07836686074733734, + 0.057950351387262344, + -0.18398968875408173, + -0.20733603835105896, + 0.0, + 1.0008161067962646 + ], + [ + 0.30735236406326294, + -0.07094655930995941, + 0.0862862691283226, + 0.11745945364236832, + -0.22791147232055664, + -0.28960752487182617, + 0.0, + 1.0008161067962646 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3944661617279053, + 0.174229234457016, + 0.0764583945274353 + ], + [ + 0.39163827896118164, + 0.17235828936100006, + 0.05766613036394119 + ], + [ + 0.39466312527656555, + 0.15070988237857819, + 0.0494934506714344 + ], + [ + 0.40877190232276917, + 0.10786870121955872, + 0.06987302750349045 + ], + [ + 0.4218828082084656, + 0.07177606970071793, + 0.09097733348608017 + ], + [ + 0.43515637516975403, + 0.04413257911801338, + 0.10459745675325394 + ], + [ + 0.4537937343120575, + 0.009152902290225029, + 0.1316767930984497 + ], + [ + 0.46039003133773804, + -0.009351076558232307, + 0.12069232761859894 + ], + [ + 0.4626947343349457, + -0.02607554756104946, + 0.10955765843391418 + ], + [ + 0.46315649151802063, + -0.029905978590250015, + 0.10310561954975128 + ], + [ + 0.461283415555954, + -0.02917240932583809, + 0.08654946833848953 + ], + [ + 0.4596973955631256, + -0.03130336478352547, + 0.08144676685333252 + ], + [ + 0.4558328092098236, + -0.02983005903661251, + 0.06501725316047668 + ], + [ + 0.4487520158290863, + -0.032270826399326324, + 0.05780215933918953 + ], + [ + 0.4337082505226135, + -0.03619248420000076, + 0.04611726105213165 + ], + [ + 0.42827993631362915, + -0.040388986468315125, + 0.07068535685539246 + ], + [ + 0.413509339094162, + -0.03728974610567093, + 0.07542732357978821 + ], + [ + 0.39384326338768005, + -0.038646236062049866, + 0.08362080156803131 + ], + [ + 0.37277963757514954, + -0.0371134951710701, + 0.08118025213479996 + ], + [ + 0.35170450806617737, + -0.036311253905296326, + 0.07978145778179169 + ], + [ + 0.34582892060279846, + -0.037123311311006546, + 0.08487409353256226 + ], + [ + 0.3616456687450409, + -0.03353157266974449, + 0.10550165176391602 + ], + [ + 0.3897911310195923, + -0.035652391612529755, + 0.12162327766418457 + ], + [ + 0.4047086834907532, + -0.03745603188872337, + 0.09906834363937378 + ], + [ + 0.40667715668678284, + -0.03727062791585922, + 0.07749083638191223 + ], + [ + 0.4039517641067505, + -0.040184129029512405, + 0.06290744990110397 + ], + [ + 0.39368000626564026, + -0.04251350834965706, + 0.05322549492120743 + ], + [ + 0.3756408393383026, + -0.04244587570428848, + 0.039780393242836 + ], + [ + 0.3548295795917511, + -0.04062628373503685, + 0.038837745785713196 + ], + [ + 0.33799025416374207, + -0.0389467291533947, + 0.03867717832326889 + ], + [ + 0.3190236985683441, + -0.04156327247619629, + 0.04084867984056473 + ], + [ + 0.30469971895217896, + -0.05115047097206116, + 0.04842435196042061 + ], + [ + 0.29389870166778564, + -0.05659989267587662, + 0.05145084112882614 + ], + [ + 0.2942580282688141, + -0.06608594954013824, + 0.05995102599263191 + ], + [ + 0.30202797055244446, + -0.07263925671577454, + 0.07836686074733734 + ], + [ + 0.30735236406326294, + -0.07094655930995941, + 0.0862862691283226 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9830229296959011, + 0.14142720438178477, + 0.11689424944298922, + 0.12436700521484519, + -0.9819910783148093, + 0.14221944355118396, + 0.1349028083694983, + -0.12526718632934405, + -0.9829086246051315 + ], + [ + 0.988138497457503, + 0.13317608774876785, + 0.07646201340770768, + 0.12296049202036455, + -0.9844354349809488, + 0.12556907165373066, + 0.09199471313362441, + -0.1146778270015715, + -0.989133948840934 + ], + [ + 0.9963718314537999, + 0.04218748495385846, + 0.07391474547523079, + 0.03215373210765335, + -0.9907238847518606, + 0.13203151780439024, + 0.07879918144847349, + -0.12917585027956938, + -0.988485856604737 + ], + [ + 0.9846067415994603, + -0.059583120247116386, + 0.16431499072973016, + -0.07722650387494935, + -0.9916618418833052, + 0.1031642304864579, + 0.15679805960580656, + -0.1142656690971888, + -0.9809983309718858 + ], + [ + 0.9621866671010395, + -0.09635384379210114, + 0.25477981560453533, + -0.10782249097270984, + -0.9936740476873649, + 0.03140377991657496, + 0.25014221573623585, + -0.0576872927003525, + -0.9664890315815646 + ], + [ + 0.949324340791242, + -0.10473989958150284, + 0.29633232934820114, + -0.11060426748710905, + -0.9938598591763531, + 0.0030457070771367015, + 0.29419380006198986, + -0.035666984083552546, + -0.9550800355213533 + ], + [ + 0.9256858736769787, + -0.09862203871063586, + 0.3652113863989546, + -0.0970416756988391, + -0.9950207578271709, + -0.022728939055836953, + 0.36563448476921595, + -0.014400867112797543, + -0.93064710743329 + ], + [ + 0.9378344349594164, + -0.07838456201414169, + 0.33811600530321595, + -0.07057162102147017, + -0.9968798209355326, + -0.03535914192883504, + 0.33983263367539496, + 0.009299626303926854, + -0.9404399491939148 + ], + [ + 0.9443125937259854, + -0.08600028392779009, + 0.317612462751136, + -0.08511279412032123, + -0.996231414014678, + -0.016696766373978805, + 0.3178514395240866, + -0.011265917390736895, + -0.9480735949797416 + ], + [ + 0.9466455588233769, + -0.07500435281255141, + 0.3134270776738136, + -0.08021249454529492, + -0.9967707888006689, + 0.0037350117152786244, + 0.312134813307964, + -0.028676500010680298, + -0.9496049266238776 + ], + [ + 0.956855320346302, + -0.06695424597965327, + 0.2827455125554984, + -0.07977774008001975, + -0.9962301744291036, + 0.03407274196014435, + 0.2793982965458097, + -0.05515948243279533, + -0.9585896011250308 + ], + [ + 0.9591321873454477, + -0.06138279333726723, + 0.2762202017956907, + -0.0777615952196403, + -0.9957804191714102, + 0.04872875027853549, + 0.27206356151979366, + -0.06821663636478567, + -0.9598582754845846 + ], + [ + 0.9714810579848987, + -0.04517952021678133, + 0.2327732049217079, + -0.06066759281428441, + -0.9963644997852938, + 0.05980992183343357, + 0.22922477431259947, + -0.07222599615500429, + -0.970690171126068 + ], + [ + 0.9788680187003641, + -0.03412027131020977, + 0.201626409607822, + -0.04284866547637084, + -0.9983168034162595, + 0.03908390824413104, + 0.19995347917082515, + -0.046897410402486676, + -0.978682399486689 + ], + [ + 0.9892506836893472, + -0.015360999702072779, + 0.14542050924237615, + -0.01711010099553571, + -0.9997954460534773, + 0.010784734333809356, + 0.14522509860241672, + -0.013156965413088171, + -0.9893111568141931 + ], + [ + 0.984043373554095, + 0.027667707058611084, + 0.17576443596585442, + 0.031960515607072866, + -0.9992548525282714, + -0.021639434854746988, + 0.17503475199629961, + 0.026911664475124344, + -0.9841943903054784 + ], + [ + 0.9835937524466115, + 0.12519769651895873, + 0.12988020224168184, + 0.1328976525352057, + -0.989744508496885, + -0.05238341198214192, + 0.12198993441520166, + 0.06878477074618905, + -0.9901449950460632 + ], + [ + 0.9835043072418832, + 0.1443655157064032, + 0.1089856665414643, + 0.15339200529865743, + -0.9849599705767869, + -0.07952829101540772, + 0.09586537616428395, + 0.09493394670084547, + -0.9908568894732886 + ], + [ + 0.9871637061227202, + 0.13891030432294083, + 0.0788146221646973, + 0.14423626683345275, + -0.9873095330582025, + -0.06645137517270545, + 0.0685836470596675, + 0.07696631266536426, + -0.9946720414642671 + ], + [ + 0.9907740758147171, + 0.11970084455386527, + 0.06354870971613019, + 0.12371026931763905, + -0.9902895124104416, + -0.06342279460294466, + 0.055339858681160446, + 0.07069928870209004, + -0.9959614001647694 + ], + [ + 0.9924216661975767, + 0.08053345081190683, + 0.09280948099171712, + 0.08552053762494133, + -0.99502684025146, + -0.05106686620046688, + 0.0882353336592927, + 0.05861698115325947, + -0.9943734587238899 + ], + [ + 0.9811672329344207, + 0.07708819458764612, + 0.17711090105081026, + 0.08257533755856275, + -0.9963003265423438, + -0.023811193979072595, + 0.17462008659630804, + 0.03798775574888325, + -0.9839028182550661 + ], + [ + 0.9592136329113774, + 0.058069547903403664, + 0.2766534547827866, + 0.05257190932238239, + -0.9982451632564562, + 0.027254144369069373, + 0.27775060897711135, + -0.011598346493581721, + -0.960583196590206 + ], + [ + 0.9667713633452574, + 0.055967101901790405, + 0.24944100408767372, + 0.04262576426734333, + -0.997372630268147, + 0.058573719470619456, + 0.2520638316700298, + -0.04599478118996281, + -0.966616938019974 + ], + [ + 0.9805164772398401, + 0.06523735113490936, + 0.18528768409712076, + 0.05385164696963503, + -0.996376272762126, + 0.06583557697256877, + 0.18891119072154428, + -0.05457482105837606, + -0.9804764917766332 + ], + [ + 0.9888094094060852, + 0.06555131164765288, + 0.1340111092830041, + 0.0590716156903959, + -0.9969102583768613, + 0.051773361516380734, + 0.13699086133649627, + -0.043277734278170915, + -0.9896264657061435 + ], + [ + 0.9932356896124734, + 0.06976031228413032, + 0.09282437023786028, + 0.06685038502134144, + -0.9971800969375161, + 0.03410103069094619, + 0.0949415130621645, + -0.027665015845053546, + -0.9950983649849698 + ], + [ + 0.9963884722083013, + 0.06979459286492777, + 0.04836038934114273, + 0.06860868313672759, + -0.9973108904165336, + 0.02576502386619667, + 0.05002860230560162, + -0.022354030137774875, + -0.9984975895253569 + ], + [ + 0.9978047799053655, + 0.06177801981731185, + 0.023855763778510817, + 0.061125074939584426, + -0.997759610476985, + 0.02719347190861596, + 0.02548227642174992, + -0.025675590903936802, + -0.999345494621404 + ], + [ + 0.9983286533005166, + 0.056358298599207435, + 0.012792270251212703, + 0.05601734148812462, + -0.9981013560606385, + 0.025607430220891503, + 0.01421117348357693, + -0.024848042355839, + -0.9995902247117578 + ], + [ + 0.9989104096948027, + 0.04586084798279778, + -0.0086473132046813, + 0.04599066586705549, + -0.9988221656510244, + 0.015464153947180913, + -0.007927928888808233, + -0.015845000047206265, + -0.9998430296386718 + ], + [ + 0.9997540972950323, + 0.02211700021043497, + -0.0016072471764093112, + 0.022099657236649025, + -0.9997046756717944, + -0.010107749006295895, + -0.0018303256041159485, + 0.010069743871780898, + -0.9999476237116317 + ], + [ + 0.9999994574901929, + -0.00013342313764050105, + 0.001033062237274228, + -0.00011184258419150121, + -0.999782361937582, + -0.02086183716133638, + 0.0010356208553815613, + 0.020861710303234877, + -0.9997818344682342 + ], + [ + 0.9950063116786646, + -0.07957920775201144, + 0.06024607384039603, + -0.07942875690329987, + -0.9968285424055556, + -0.004891791329564967, + 0.06044429085047438, + 8.209249488503809e-05, + -0.9981715689020628 + ], + [ + 0.9620658537442319, + -0.1951388337427393, + 0.19065709696967936, + -0.20237924324974163, + -0.9791213566498649, + 0.01907906847280617, + 0.18295336826919606, + -0.056940359303851246, + -0.9814712734060557 + ], + [ + 0.9335733353621636, + -0.2582328145191079, + 0.2485088348656945, + -0.2781912344922222, + -0.9593140880062421, + 0.04822984143085358, + 0.22594349858417798, + -0.11415907348210161, + -0.9674281582573713 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.002827882766723633, + -0.0018709450960159302, + -0.01879226416349411, + -0.011339746415615082, + 0.043190404772758484, + -0.002046145498752594, + 1.0 + ], + [ + 0.003024846315383911, + -0.021648406982421875, + -0.00817267969250679, + 0.014521859586238861, + 0.013244010508060455, + -0.09154050052165985, + 1.0 + ], + [ + 0.014108777046203613, + -0.04284118115901947, + 0.020379576832056046, + -0.013987720012664795, + -0.07856681197881699, + -0.1105332300066948, + 1.0 + ], + [ + 0.013110905885696411, + -0.03609263151884079, + 0.02110430598258972, + -0.05633969232439995, + -0.09537936747074127, + -0.033320680260658264, + 1.0 + ], + [ + 0.013273566961288452, + -0.027643490582704544, + 0.013620123267173767, + -0.022289596498012543, + -0.04578474164009094, + -0.004391200840473175, + 1.0 + ], + [ + 0.018637359142303467, + -0.0349796786904335, + 0.02707933634519577, + -0.021854350343346596, + -0.07570251822471619, + 0.011534817516803741, + 1.0 + ], + [ + 0.006596297025680542, + -0.018503978848457336, + -0.010984465479850769, + -0.025361070409417152, + 0.02757546305656433, + 0.02934267371892929, + 1.0 + ], + [ + 0.0023047029972076416, + -0.016724471002817154, + -0.011134669184684753, + 0.021770667284727097, + 0.02327638864517212, + -0.014781124889850616, + 1.0 + ], + [ + 0.00046175718307495117, + -0.003830431029200554, + -0.006452038884162903, + 0.018306776881217957, + 0.0060232579708099365, + 0.0053576454520225525, + 1.0 + ], + [ + -0.0018730759620666504, + 0.0007335692644119263, + -0.01655615121126175, + 0.027289776131510735, + 0.03427189588546753, + 0.001348942518234253, + 1.0 + ], + [ + -0.0015860199928283691, + -0.002130955457687378, + -0.005102701485157013, + 0.013471245765686035, + 0.00763055682182312, + 0.002284526824951172, + 1.0 + ], + [ + -0.003864586353302002, + 0.0014733057469129562, + -0.016429513692855835, + 0.0033197924494743347, + 0.044255658984184265, + 0.01853043958544731, + 1.0 + ], + [ + -0.007080793380737305, + -0.0024407673627138138, + -0.007215093821287155, + -0.026387687772512436, + 0.02997073531150818, + 0.01862180605530739, + 1.0 + ], + [ + -0.015043765306472778, + -0.0039216578006744385, + -0.011684898287057877, + -0.03458396717905998, + 0.05556996166706085, + 0.026451466605067253, + 1.0 + ], + [ + -0.005428314208984375, + -0.004196502268314362, + 0.024568095803260803, + -0.0406353734433651, + -0.03020058572292328, + 0.04976165294647217, + 1.0 + ], + [ + -0.014770597219467163, + 0.0030992403626441956, + 0.004741966724395752, + -0.042020924389362335, + 0.053646519780159, + 0.10183370113372803, + 1.0 + ], + [ + -0.019666075706481934, + -0.0013564899563789368, + 0.008193477988243103, + -0.026160426437854767, + 0.026281721889972687, + 0.0204172283411026, + 1.0 + ], + [ + -0.021063625812530518, + 0.0015327408909797668, + -0.0024405494332313538, + 0.01829368621110916, + 0.027375295758247375, + -0.009633123874664307, + 1.0 + ], + [ + -0.021075129508972168, + 0.0008022412657737732, + -0.0013987943530082703, + 0.006357602775096893, + 0.01326938346028328, + -0.020865805447101593, + 1.0 + ], + [ + -0.005875587463378906, + -0.0008120574057102203, + 0.005092635750770569, + 0.01198657974600792, + -0.03298208490014076, + -0.03825812041759491, + 1.0 + ], + [ + 0.01581674814224243, + 0.0035917386412620544, + 0.02062755823135376, + 0.020290430635213852, + -0.08716968446969986, + -0.0019987821578979492, + 1.0 + ], + [ + 0.02814546227455139, + -0.002120818942785263, + 0.016121625900268555, + 0.0506637766957283, + -0.10593187808990479, + -0.0292099267244339, + 1.0 + ], + [ + 0.014917552471160889, + -0.0018036402761936188, + -0.02255493402481079, + 0.03547370433807373, + 0.026639431715011597, + -0.010690215975046158, + 1.0 + ], + [ + 0.001968473196029663, + 0.000185403972864151, + -0.021577507257461548, + 0.00805675983428955, + 0.06475910544395447, + 0.01080428808927536, + 1.0 + ], + [ + -0.0027253925800323486, + -0.002913501113653183, + -0.014583386480808258, + -0.011900614947080612, + 0.052630260586738586, + 0.004802633076906204, + 1.0 + ], + [ + -0.01027175784111023, + -0.0023293793201446533, + -0.009681954979896545, + -0.015909409150481224, + 0.04233826696872711, + 0.007535077631473541, + 1.0 + ], + [ + -0.018039166927337646, + 6.763264536857605e-05, + -0.01344510167837143, + -0.005410201847553253, + 0.0450352318584919, + 0.0015445426106452942, + 1.0 + ], + [ + -0.020811259746551514, + 0.0018195919692516327, + -0.0009426474571228027, + 0.0033028293401002884, + 0.024564459919929504, + -0.007565751671791077, + 1.0 + ], + [ + -0.016839325428009033, + 0.0016795545816421509, + -0.00016056746244430542, + -0.0008336454629898071, + 0.011273383162915707, + -0.005130749195814133, + 1.0 + ], + [ + -0.01896655559539795, + -0.00261654332280159, + 0.0021715015172958374, + -0.00900694914162159, + 0.022139664739370346, + -0.010044004768133163, + 1.0 + ], + [ + -0.014323979616165161, + -0.009587198495864868, + 0.007575672119855881, + -0.025916092097759247, + -0.006097685545682907, + -0.023906847462058067, + 1.0 + ], + [ + -0.01080101728439331, + -0.00544942170381546, + 0.003026489168405533, + -0.010793304070830345, + -0.0028659477829933167, + -0.02221333608031273, + 1.0 + ], + [ + 0.0003593266010284424, + -0.009486056864261627, + 0.008500184863805771, + 0.02078099176287651, + -0.05944553762674332, + -0.07954663038253784, + 1.0 + ], + [ + 0.007769942283630371, + -0.0065533071756362915, + 0.01841583475470543, + 0.05803259462118149, + -0.1235085278749466, + -0.1276775598526001, + 1.0 + ], + [ + 0.0053243935108184814, + 0.0016926974058151245, + 0.00791940838098526, + 0.05950910225510597, + -0.043921783566474915, + -0.08227148652076721, + 1.0 + ], + [ + 1.2725591659545898e-05, + 0.0016183853149414062, + 0.0017149224877357483, + 0.0023197010159492493, + 0.010255992412567139, + -0.0030936896800994873, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.39163827896118164, + 0.17235828936100006, + 0.05766613036394119 + ], + [ + 0.39466312527656555, + 0.15070988237857819, + 0.0494934506714344 + ], + [ + 0.40877190232276917, + 0.10786870121955872, + 0.06987302750349045 + ], + [ + 0.4218828082084656, + 0.07177606970071793, + 0.09097733348608017 + ], + [ + 0.43515637516975403, + 0.04413257911801338, + 0.10459745675325394 + ], + [ + 0.4537937343120575, + 0.009152902290225029, + 0.1316767930984497 + ], + [ + 0.46039003133773804, + -0.009351076558232307, + 0.12069232761859894 + ], + [ + 0.4626947343349457, + -0.02607554756104946, + 0.10955765843391418 + ], + [ + 0.46315649151802063, + -0.029905978590250015, + 0.10310561954975128 + ], + [ + 0.461283415555954, + -0.02917240932583809, + 0.08654946833848953 + ], + [ + 0.4596973955631256, + -0.03130336478352547, + 0.08144676685333252 + ], + [ + 0.4558328092098236, + -0.02983005903661251, + 0.06501725316047668 + ], + [ + 0.4487520158290863, + -0.032270826399326324, + 0.05780215933918953 + ], + [ + 0.4337082505226135, + -0.03619248420000076, + 0.04611726105213165 + ], + [ + 0.42827993631362915, + -0.040388986468315125, + 0.07068535685539246 + ], + [ + 0.413509339094162, + -0.03728974610567093, + 0.07542732357978821 + ], + [ + 0.39384326338768005, + -0.038646236062049866, + 0.08362080156803131 + ], + [ + 0.37277963757514954, + -0.0371134951710701, + 0.08118025213479996 + ], + [ + 0.35170450806617737, + -0.036311253905296326, + 0.07978145778179169 + ], + [ + 0.34582892060279846, + -0.037123311311006546, + 0.08487409353256226 + ], + [ + 0.3616456687450409, + -0.03353157266974449, + 0.10550165176391602 + ], + [ + 0.3897911310195923, + -0.035652391612529755, + 0.12162327766418457 + ], + [ + 0.4047086834907532, + -0.03745603188872337, + 0.09906834363937378 + ], + [ + 0.40667715668678284, + -0.03727062791585922, + 0.07749083638191223 + ], + [ + 0.4039517641067505, + -0.040184129029512405, + 0.06290744990110397 + ], + [ + 0.39368000626564026, + -0.04251350834965706, + 0.05322549492120743 + ], + [ + 0.3756408393383026, + -0.04244587570428848, + 0.039780393242836 + ], + [ + 0.3548295795917511, + -0.04062628373503685, + 0.038837745785713196 + ], + [ + 0.33799025416374207, + -0.0389467291533947, + 0.03867717832326889 + ], + [ + 0.3190236985683441, + -0.04156327247619629, + 0.04084867984056473 + ], + [ + 0.30469971895217896, + -0.05115047097206116, + 0.04842435196042061 + ], + [ + 0.29389870166778564, + -0.05659989267587662, + 0.05145084112882614 + ], + [ + 0.2942580282688141, + -0.06608594954013824, + 0.05995102599263191 + ], + [ + 0.30202797055244446, + -0.07263925671577454, + 0.07836686074733734 + ], + [ + 0.30735236406326294, + -0.07094655930995941, + 0.0862862691283226 + ], + [ + 0.3073650896549225, + -0.069328173995018, + 0.08800119161605835 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.988138497457503, + 0.13317608774876785, + 0.07646201340770768, + 0.12296049202036455, + -0.9844354349809488, + 0.12556907165373066, + 0.09199471313362441, + -0.1146778270015715, + -0.989133948840934 + ], + [ + 0.9963718314537999, + 0.04218748495385846, + 0.07391474547523079, + 0.03215373210765335, + -0.9907238847518606, + 0.13203151780439024, + 0.07879918144847349, + -0.12917585027956938, + -0.988485856604737 + ], + [ + 0.9846067415994603, + -0.059583120247116386, + 0.16431499072973016, + -0.07722650387494935, + -0.9916618418833052, + 0.1031642304864579, + 0.15679805960580656, + -0.1142656690971888, + -0.9809983309718858 + ], + [ + 0.9621866671010395, + -0.09635384379210114, + 0.25477981560453533, + -0.10782249097270984, + -0.9936740476873649, + 0.03140377991657496, + 0.25014221573623585, + -0.0576872927003525, + -0.9664890315815646 + ], + [ + 0.949324340791242, + -0.10473989958150284, + 0.29633232934820114, + -0.11060426748710905, + -0.9938598591763531, + 0.0030457070771367015, + 0.29419380006198986, + -0.035666984083552546, + -0.9550800355213533 + ], + [ + 0.9256858736769787, + -0.09862203871063586, + 0.3652113863989546, + -0.0970416756988391, + -0.9950207578271709, + -0.022728939055836953, + 0.36563448476921595, + -0.014400867112797543, + -0.93064710743329 + ], + [ + 0.9378344349594164, + -0.07838456201414169, + 0.33811600530321595, + -0.07057162102147017, + -0.9968798209355326, + -0.03535914192883504, + 0.33983263367539496, + 0.009299626303926854, + -0.9404399491939148 + ], + [ + 0.9443125937259854, + -0.08600028392779009, + 0.317612462751136, + -0.08511279412032123, + -0.996231414014678, + -0.016696766373978805, + 0.3178514395240866, + -0.011265917390736895, + -0.9480735949797416 + ], + [ + 0.9466455588233769, + -0.07500435281255141, + 0.3134270776738136, + -0.08021249454529492, + -0.9967707888006689, + 0.0037350117152786244, + 0.312134813307964, + -0.028676500010680298, + -0.9496049266238776 + ], + [ + 0.956855320346302, + -0.06695424597965327, + 0.2827455125554984, + -0.07977774008001975, + -0.9962301744291036, + 0.03407274196014435, + 0.2793982965458097, + -0.05515948243279533, + -0.9585896011250308 + ], + [ + 0.9591321873454477, + -0.06138279333726723, + 0.2762202017956907, + -0.0777615952196403, + -0.9957804191714102, + 0.04872875027853549, + 0.27206356151979366, + -0.06821663636478567, + -0.9598582754845846 + ], + [ + 0.9714810579848987, + -0.04517952021678133, + 0.2327732049217079, + -0.06066759281428441, + -0.9963644997852938, + 0.05980992183343357, + 0.22922477431259947, + -0.07222599615500429, + -0.970690171126068 + ], + [ + 0.9788680187003641, + -0.03412027131020977, + 0.201626409607822, + -0.04284866547637084, + -0.9983168034162595, + 0.03908390824413104, + 0.19995347917082515, + -0.046897410402486676, + -0.978682399486689 + ], + [ + 0.9892506836893472, + -0.015360999702072779, + 0.14542050924237615, + -0.01711010099553571, + -0.9997954460534773, + 0.010784734333809356, + 0.14522509860241672, + -0.013156965413088171, + -0.9893111568141931 + ], + [ + 0.984043373554095, + 0.027667707058611084, + 0.17576443596585442, + 0.031960515607072866, + -0.9992548525282714, + -0.021639434854746988, + 0.17503475199629961, + 0.026911664475124344, + -0.9841943903054784 + ], + [ + 0.9835937524466115, + 0.12519769651895873, + 0.12988020224168184, + 0.1328976525352057, + -0.989744508496885, + -0.05238341198214192, + 0.12198993441520166, + 0.06878477074618905, + -0.9901449950460632 + ], + [ + 0.9835043072418832, + 0.1443655157064032, + 0.1089856665414643, + 0.15339200529865743, + -0.9849599705767869, + -0.07952829101540772, + 0.09586537616428395, + 0.09493394670084547, + -0.9908568894732886 + ], + [ + 0.9871637061227202, + 0.13891030432294083, + 0.0788146221646973, + 0.14423626683345275, + -0.9873095330582025, + -0.06645137517270545, + 0.0685836470596675, + 0.07696631266536426, + -0.9946720414642671 + ], + [ + 0.9907740758147171, + 0.11970084455386527, + 0.06354870971613019, + 0.12371026931763905, + -0.9902895124104416, + -0.06342279460294466, + 0.055339858681160446, + 0.07069928870209004, + -0.9959614001647694 + ], + [ + 0.9924216661975767, + 0.08053345081190683, + 0.09280948099171712, + 0.08552053762494133, + -0.99502684025146, + -0.05106686620046688, + 0.0882353336592927, + 0.05861698115325947, + -0.9943734587238899 + ], + [ + 0.9811672329344207, + 0.07708819458764612, + 0.17711090105081026, + 0.08257533755856275, + -0.9963003265423438, + -0.023811193979072595, + 0.17462008659630804, + 0.03798775574888325, + -0.9839028182550661 + ], + [ + 0.9592136329113774, + 0.058069547903403664, + 0.2766534547827866, + 0.05257190932238239, + -0.9982451632564562, + 0.027254144369069373, + 0.27775060897711135, + -0.011598346493581721, + -0.960583196590206 + ], + [ + 0.9667713633452574, + 0.055967101901790405, + 0.24944100408767372, + 0.04262576426734333, + -0.997372630268147, + 0.058573719470619456, + 0.2520638316700298, + -0.04599478118996281, + -0.966616938019974 + ], + [ + 0.9805164772398401, + 0.06523735113490936, + 0.18528768409712076, + 0.05385164696963503, + -0.996376272762126, + 0.06583557697256877, + 0.18891119072154428, + -0.05457482105837606, + -0.9804764917766332 + ], + [ + 0.9888094094060852, + 0.06555131164765288, + 0.1340111092830041, + 0.0590716156903959, + -0.9969102583768613, + 0.051773361516380734, + 0.13699086133649627, + -0.043277734278170915, + -0.9896264657061435 + ], + [ + 0.9932356896124734, + 0.06976031228413032, + 0.09282437023786028, + 0.06685038502134144, + -0.9971800969375161, + 0.03410103069094619, + 0.0949415130621645, + -0.027665015845053546, + -0.9950983649849698 + ], + [ + 0.9963884722083013, + 0.06979459286492777, + 0.04836038934114273, + 0.06860868313672759, + -0.9973108904165336, + 0.02576502386619667, + 0.05002860230560162, + -0.022354030137774875, + -0.9984975895253569 + ], + [ + 0.9978047799053655, + 0.06177801981731185, + 0.023855763778510817, + 0.061125074939584426, + -0.997759610476985, + 0.02719347190861596, + 0.02548227642174992, + -0.025675590903936802, + -0.999345494621404 + ], + [ + 0.9983286533005166, + 0.056358298599207435, + 0.012792270251212703, + 0.05601734148812462, + -0.9981013560606385, + 0.025607430220891503, + 0.01421117348357693, + -0.024848042355839, + -0.9995902247117578 + ], + [ + 0.9989104096948027, + 0.04586084798279778, + -0.0086473132046813, + 0.04599066586705549, + -0.9988221656510244, + 0.015464153947180913, + -0.007927928888808233, + -0.015845000047206265, + -0.9998430296386718 + ], + [ + 0.9997540972950323, + 0.02211700021043497, + -0.0016072471764093112, + 0.022099657236649025, + -0.9997046756717944, + -0.010107749006295895, + -0.0018303256041159485, + 0.010069743871780898, + -0.9999476237116317 + ], + [ + 0.9999994574901929, + -0.00013342313764050105, + 0.001033062237274228, + -0.00011184258419150121, + -0.999782361937582, + -0.02086183716133638, + 0.0010356208553815613, + 0.020861710303234877, + -0.9997818344682342 + ], + [ + 0.9950063116786646, + -0.07957920775201144, + 0.06024607384039603, + -0.07942875690329987, + -0.9968285424055556, + -0.004891791329564967, + 0.06044429085047438, + 8.209249488503809e-05, + -0.9981715689020628 + ], + [ + 0.9620658537442319, + -0.1951388337427393, + 0.19065709696967936, + -0.20237924324974163, + -0.9791213566498649, + 0.01907906847280617, + 0.18295336826919606, + -0.056940359303851246, + -0.9814712734060557 + ], + [ + 0.9335733353621636, + -0.2582328145191079, + 0.2485088348656945, + -0.2781912344922222, + -0.9593140880062421, + 0.04822984143085358, + 0.22594349858417798, + -0.11415907348210161, + -0.9674281582573713 + ], + [ + 0.9348778560979055, + -0.2617662732452617, + 0.2397536493342092, + -0.2817319161106886, + -0.958053062552446, + 0.05254956496945563, + 0.21594101422005016, + -0.11667367965897915, + -0.9694105068816049 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006657.json b/json/chunk-0006/episode_0006657.json new file mode 100644 index 0000000000000000000000000000000000000000..93ac2b5fbab48fc3e1227703b7fc30a5cd7f4871 --- /dev/null +++ b/json/chunk-0006/episode_0006657.json @@ -0,0 +1,1282 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 20, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove drying rack out of sink." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006657.mp4", + "start": 0, + "end": 20, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.23246687650680542, + -0.07523182034492493, + 0.0886375829577446, + -0.06226341426372528, + 0.09354617446660995, + 0.12445101141929626, + 0.0, + 0.993436336517334 + ], + [ + 0.2294476330280304, + -0.07852674275636673, + 0.07931649684906006, + -0.05814990773797035, + 0.1293153464794159, + 0.13137857615947723, + 0.0, + 0.9927561283111572 + ], + [ + 0.2268519550561905, + -0.10272593051195145, + 0.06404829025268555, + -0.07519256323575974, + 0.16165034472942352, + 0.13713836669921875, + 0.0, + 0.993436336517334 + ], + [ + 0.2277047038078308, + -0.1196325495839119, + 0.049109410494565964, + -0.07757344096899033, + 0.177536278963089, + 0.13344475626945496, + 0.0, + 0.9927561283111572 + ], + [ + 0.23043742775917053, + -0.13565696775913239, + 0.03409987688064575, + -0.08489775657653809, + 0.18050725758075714, + 0.13321344554424286, + 0.0, + 0.993436336517334 + ], + [ + 0.230460524559021, + -0.15694257616996765, + 0.01561637595295906, + -0.0770181193947792, + 0.1581353098154068, + 0.13145627081394196, + 0.0, + 0.9927561283111572 + ], + [ + 0.23347346484661102, + -0.1714135855436325, + 0.003427234711125493, + -0.06635822355747223, + 0.15181095898151398, + 0.14765474200248718, + 0.0, + 0.993436336517334 + ], + [ + 0.23634518682956696, + -0.17356300354003906, + -0.005920840427279472, + -0.038239918649196625, + 0.1264810413122177, + 0.16706696152687073, + 0.0, + 0.8818928003311157 + ], + [ + 0.23772674798965454, + -0.16552409529685974, + -0.006005262024700642, + -0.0377984456717968, + 0.10659284144639969, + 0.18316234648227692, + 0.0, + 0.5819184184074402 + ], + [ + 0.24106504023075104, + -0.16228286921977997, + 0.0028224231209605932, + -0.050727613270282745, + 0.058269303292036057, + 0.18151603639125824, + 0.0, + 0.30647560954093933 + ], + [ + 0.23987562954425812, + -0.16012412309646606, + 0.015022612176835537, + -0.05588475242257118, + 0.007700466550886631, + 0.1715058982372284, + 0.0, + 0.12307736277580261 + ], + [ + 0.23758454620838165, + -0.15709765255451202, + 0.038821496069431305, + -0.07120093703269958, + -0.0021632416173815727, + 0.16697725653648376, + 0.0, + 0.06621777266263962 + ], + [ + 0.2396460324525833, + -0.1530543863773346, + 0.07161742448806763, + -0.12143009155988693, + -0.011339005082845688, + 0.19538849592208862, + 0.0, + 0.06413581967353821 + ], + [ + 0.2427174597978592, + -0.14621275663375854, + 0.08808805793523788, + -0.1330304592847824, + 0.011775600723922253, + 0.19551514089107513, + 0.0, + 0.06803370267152786 + ], + [ + 0.24450069665908813, + -0.1244552880525589, + 0.12216252088546753, + -0.12265460938215256, + -0.008992652408778667, + 0.15867580473423004, + 0.0, + 0.06803370267152786 + ], + [ + 0.24503979086875916, + -0.09105723351240158, + 0.1462400108575821, + -0.10699830204248428, + -0.05530568212270737, + 0.15394704043865204, + 0.0, + 0.0686454325914383 + ], + [ + 0.24149732291698456, + -0.06239822506904602, + 0.14881713688373566, + -0.10112498700618744, + -0.08388441056013107, + 0.15174713730812073, + 0.0, + 0.0686454325914383 + ], + [ + 0.2436884492635727, + -0.03404547646641731, + 0.15559780597686768, + -0.09710349887609482, + -0.13367332518100739, + 0.139227956533432, + 0.0, + 0.0686454325914383 + ], + [ + 0.2480447143316269, + 0.003487082663923502, + 0.15382930636405945, + -0.04973449930548668, + -0.1575705111026764, + 0.1257411539554596, + 0.0, + 0.0686454325914383 + ], + [ + 0.24699515104293823, + 0.028802724555134773, + 0.1526722013950348, + -0.008693319745361805, + -0.15984129905700684, + 0.09841136634349823, + 0.0, + 0.0686454325914383 + ] + ], + "left_gripper_pos": [ + [ + 0.993436336517334 + ], + [ + 0.9927561283111572 + ], + [ + 0.993436336517334 + ], + [ + 0.9927561283111572 + ], + [ + 0.993436336517334 + ], + [ + 0.9927561283111572 + ], + [ + 0.993436336517334 + ], + [ + 0.8818928003311157 + ], + [ + 0.5819184184074402 + ], + [ + 0.30647560954093933 + ], + [ + 0.12307736277580261 + ], + [ + 0.06621777266263962 + ], + [ + 0.06413581967353821 + ], + [ + 0.06803370267152786 + ], + [ + 0.06803370267152786 + ], + [ + 0.0686454325914383 + ], + [ + 0.0686454325914383 + ], + [ + 0.0686454325914383 + ], + [ + 0.0686454325914383 + ], + [ + 0.0686454325914383 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.23246687650680542, + -0.07523182034492493, + 0.0886375829577446 + ], + [ + 0.2294476330280304, + -0.07852674275636673, + 0.07931649684906006 + ], + [ + 0.2268519550561905, + -0.10272593051195145, + 0.06404829025268555 + ], + [ + 0.2277047038078308, + -0.1196325495839119, + 0.049109410494565964 + ], + [ + 0.23043742775917053, + -0.13565696775913239, + 0.03409987688064575 + ], + [ + 0.230460524559021, + -0.15694257616996765, + 0.01561637595295906 + ], + [ + 0.23347346484661102, + -0.1714135855436325, + 0.003427234711125493 + ], + [ + 0.23634518682956696, + -0.17356300354003906, + -0.005920840427279472 + ], + [ + 0.23772674798965454, + -0.16552409529685974, + -0.006005262024700642 + ], + [ + 0.24106504023075104, + -0.16228286921977997, + 0.0028224231209605932 + ], + [ + 0.23987562954425812, + -0.16012412309646606, + 0.015022612176835537 + ], + [ + 0.23758454620838165, + -0.15709765255451202, + 0.038821496069431305 + ], + [ + 0.2396460324525833, + -0.1530543863773346, + 0.07161742448806763 + ], + [ + 0.2427174597978592, + -0.14621275663375854, + 0.08808805793523788 + ], + [ + 0.24450069665908813, + -0.1244552880525589, + 0.12216252088546753 + ], + [ + 0.24503979086875916, + -0.09105723351240158, + 0.1462400108575821 + ], + [ + 0.24149732291698456, + -0.06239822506904602, + 0.14881713688373566 + ], + [ + 0.2436884492635727, + -0.03404547646641731, + 0.15559780597686768 + ], + [ + 0.2480447143316269, + 0.003487082663923502, + 0.15382930636405945 + ], + [ + 0.24699515104293823, + 0.028802724555134773, + 0.1526722013950348 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9879275243259533, + 0.12965678139070994, + -0.08478399447180152, + 0.12358728156024966, + -0.9896217336431185, + -0.07331444699195593, + -0.09340979882078962, + 0.061951136717500174, + -0.9936984784851334 + ], + [ + 0.9831046115020202, + 0.1382094647530577, + -0.12001444369797748, + 0.12990715902128588, + -0.9887247894920823, + -0.07448100884692574, + -0.1289552359482935, + 0.057631887844411145, + -0.9899742989719527 + ], + [ + 0.9776966724753964, + 0.14829974342524233, + -0.14871584559334858, + 0.13492663924511766, + -0.9861592648192131, + -0.09635718153436668, + -0.16094725425603032, + 0.07414236650685163, + -0.984174217725809 + ], + [ + 0.9755309823316658, + 0.1462133892679649, + -0.16419789069835783, + 0.1309577621547297, + -0.9863079525189767, + -0.1002331648170867, + -0.17660511612759283, + 0.0762775694198405, + -0.9813217440579624 + ], + [ + 0.9750369020602886, + 0.14742982613181263, + -0.1660345927432557, + 0.13066184178685689, + -0.9855485098995722, + -0.10780360724762003, + -0.1795286125427968, + 0.08341810955347903, + -0.9802096185393113 + ], + [ + 0.9790023597821175, + 0.14270147421993407, + -0.145570150774473, + 0.12944248084332233, + -0.9868449878118958, + -0.09685873313060288, + -0.15747705767562287, + 0.07598196684738233, + -0.9845952046500286 + ], + [ + 0.9777428059269087, + 0.15671378352684476, + -0.13949837099721693, + 0.14542676207223357, + -0.9854665871529644, + -0.08778759865878216, + -0.1512285103125793, + 0.06554689662974655, + -0.9863232441805516 + ], + [ + 0.978199895793978, + 0.17092471753195526, + -0.11793941158608383, + 0.16496252448237825, + -0.9845539189436248, + -0.05865957900591218, + -0.12614408184711295, + 0.03792521099969527, + -0.9912867138147152 + ], + [ + 0.9776919193753015, + 0.18596303856398813, + -0.09765377143913834, + 0.18110616704162494, + -0.9818380060808093, + -0.056521554072332864, + -0.10639110417572445, + 0.03757496644455276, + -0.9936141378065032 + ], + [ + 0.9819018540071195, + 0.18319310367446576, + -0.048052428278888844, + 0.18021453428038567, + -0.9817728465856216, + -0.060372173567540204, + -0.05823633514812735, + 0.05061980317308575, + -0.9970186381383414 + ], + [ + 0.9852996646149301, + 0.1708237121333526, + 0.001957110801076284, + 0.17066128704731973, + -0.9837172300635211, + -0.05634834850734981, + -0.007700390448447191, + 0.05585401193410286, + -0.9984092514283942 + ], + [ + 0.9860893510774075, + 0.16562954688610912, + 0.013951519273547217, + 0.1662020219032921, + -0.9836187597423981, + -0.06979271737140513, + 0.002163239930192568, + 0.07114062609458408, + -0.9974639500813428 + ], + [ + 0.9809092553894623, + 0.19137068036505311, + 0.03455857907823851, + 0.19413517240641587, + -0.9740155101368961, + -0.11664184861143403, + 0.011338762102689096, + 0.12112410457616676, + -0.9925726088123729 + ], + [ + 0.9808797116577016, + 0.1940874999385824, + 0.014318995282313967, + 0.19425841782296796, + -0.9719771234328809, + -0.13237876955184094, + -0.011775328582310023, + 0.1326292346759679, + -0.9910957712280108 + ], + [ + 0.9873974605067732, + 0.15573731533492546, + 0.028145045692719143, + 0.1580043966707051, + -0.9801929590094672, + -0.1194000575418268, + 0.008992531206603312, + 0.12234235456510988, + -0.9924472190811778 + ], + [ + 0.986662651873494, + 0.14662924646778047, + 0.07068716629102596, + 0.15310522602958526, + -0.9834275267652033, + -0.0971034982011712, + 0.0552774923490011, + 0.10663096961373905, + -0.9927609154065443 + ], + [ + 0.9850326523241907, + 0.14203192086065156, + 0.09766067433621342, + 0.15063388926941104, + -0.9847370343630127, + -0.08719176886329111, + 0.0837860684048436, + 0.1005977465481826, + -0.9913929534401013 + ], + [ + 0.9814887756248376, + 0.12532865445917896, + 0.14481889273816756, + 0.1375405419184076, + -0.9874513633116992, + -0.07760415209676162, + 0.1332755891048617, + 0.09608607321208555, + -0.9864102006180967 + ], + [ + 0.979814230706097, + 0.11751550479234535, + 0.16172253843920253, + 0.12385641902913347, + -0.9918565830805097, + -0.029666581622011426, + 0.15691928106863984, + 0.049098113337031776, + -0.9863902445257886 + ], + [ + 0.9824757416625384, + 0.0968719515972835, + 0.15923957434751637, + 0.09700012467722831, + -0.995259849238625, + 0.006986294161508578, + 0.15916153070779002, + 0.008582394027457054, + -0.9872152499103274 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0030192434787750244, + -0.003294922411441803, + -0.00932108610868454, + 0.004113506525754929, + 0.03576917201280594, + 0.006927564740180969, + 1.0 + ], + [ + -0.002595677971839905, + -0.024199187755584717, + -0.015268206596374512, + -0.017042655497789383, + 0.03233499825000763, + 0.005759790539741516, + 1.0 + ], + [ + 0.0008527487516403198, + -0.01690661907196045, + -0.014938879758119583, + -0.002380877733230591, + 0.015885934233665466, + -0.003693610429763794, + 1.0 + ], + [ + 0.0027327239513397217, + -0.01602441817522049, + -0.015009533613920212, + -0.00732431560754776, + 0.002970978617668152, + -0.00023131072521209717, + 1.0 + ], + [ + 2.3096799850463867e-05, + -0.021285608410835266, + -0.01848350092768669, + 0.00787963718175888, + -0.022371947765350342, + -0.0017571747303009033, + 1.0 + ], + [ + 0.003012940287590027, + -0.014471009373664856, + -0.012189141474664211, + 0.010659895837306976, + -0.006324350833892822, + 0.016198471188545227, + 1.0 + ], + [ + 0.0028717219829559326, + -0.002149417996406555, + -0.009348074905574322, + 0.028118304908275604, + -0.025329917669296265, + 0.019412219524383545, + 0.0 + ], + [ + 0.0013815611600875854, + 0.008038908243179321, + -8.442159742116928e-05, + 0.00044147297739982605, + -0.019888199865818024, + 0.01609538495540619, + 0.0 + ], + [ + 0.0033382922410964966, + 0.003241226077079773, + 0.008827685378491879, + -0.012929167598485947, + -0.04832353815436363, + -0.0016463100910186768, + 0.0 + ], + [ + -0.00118941068649292, + 0.002158746123313904, + 0.0122001888230443, + -0.005157139152288437, + -0.050568837672472, + -0.010010138154029846, + 0.0 + ], + [ + -0.002291083335876465, + 0.0030264705419540405, + 0.023798882961273193, + -0.015316184610128403, + -0.009863708168268204, + -0.004528641700744629, + 0.0 + ], + [ + 0.00206148624420166, + 0.004043266177177429, + 0.03279592841863632, + -0.05022915452718735, + -0.009175763465464115, + 0.02841123938560486, + 0.0 + ], + [ + 0.003071427345275879, + 0.00684162974357605, + 0.016470633447170258, + -0.011600367724895477, + 0.023114606738090515, + 0.00012664496898651123, + 0.0 + ], + [ + 0.0017832368612289429, + 0.021757468581199646, + 0.034074462950229645, + 0.010375849902629852, + -0.02076825313270092, + -0.03683933615684509, + 0.0 + ], + [ + 0.0005390942096710205, + 0.03339805454015732, + 0.024077489972114563, + 0.015656307339668274, + -0.046313028782606125, + -0.004728764295578003, + 0.0 + ], + [ + -0.003542467951774597, + 0.02865900844335556, + 0.0025771260261535645, + 0.0058733150362968445, + -0.028578728437423706, + -0.002199903130531311, + 0.0 + ], + [ + 0.0021911263465881348, + 0.028352748602628708, + 0.006780669093132019, + 0.004021488130092621, + -0.04978891462087631, + -0.01251918077468872, + 0.0 + ], + [ + 0.004356265068054199, + 0.037532560527324677, + -0.0017684996128082275, + 0.04736899957060814, + -0.023897185921669006, + -0.013486802577972412, + 0.0 + ], + [ + -0.0010495632886886597, + 0.02531564235687256, + -0.0011571049690246582, + 0.04104118049144745, + -0.0022707879543304443, + -0.027329787611961365, + 0.0 + ], + [ + 0.0033650994300842285, + 0.03327590227127075, + -0.0012273341417312622, + 0.043614134192466736, + 0.021758317947387695, + 0.0159713476896286, + 0.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9927561283111572 + ], + [ + 0.993436336517334 + ], + [ + 0.9927561283111572 + ], + [ + 0.993436336517334 + ], + [ + 0.9927561283111572 + ], + [ + 0.993436336517334 + ], + [ + 0.8818928003311157 + ], + [ + 0.5819184184074402 + ], + [ + 0.30647560954093933 + ], + [ + 0.12307736277580261 + ], + [ + 0.06621777266263962 + ], + [ + 0.06413581967353821 + ], + [ + 0.06803370267152786 + ], + [ + 0.06803370267152786 + ], + [ + 0.0686454325914383 + ], + [ + 0.0686454325914383 + ], + [ + 0.0686454325914383 + ], + [ + 0.0686454325914383 + ], + [ + 0.0686454325914383 + ], + [ + 0.0686454325914383 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2294476330280304, + -0.07852674275636673, + 0.07931649684906006 + ], + [ + 0.2268519550561905, + -0.10272593051195145, + 0.06404829025268555 + ], + [ + 0.2277047038078308, + -0.1196325495839119, + 0.049109410494565964 + ], + [ + 0.23043742775917053, + -0.13565696775913239, + 0.03409987688064575 + ], + [ + 0.230460524559021, + -0.15694257616996765, + 0.01561637595295906 + ], + [ + 0.23347346484661102, + -0.1714135855436325, + 0.003427234711125493 + ], + [ + 0.23634518682956696, + -0.17356300354003906, + -0.005920840427279472 + ], + [ + 0.23772674798965454, + -0.16552409529685974, + -0.006005262024700642 + ], + [ + 0.24106504023075104, + -0.16228286921977997, + 0.0028224231209605932 + ], + [ + 0.23987562954425812, + -0.16012412309646606, + 0.015022612176835537 + ], + [ + 0.23758454620838165, + -0.15709765255451202, + 0.038821496069431305 + ], + [ + 0.2396460324525833, + -0.1530543863773346, + 0.07161742448806763 + ], + [ + 0.2427174597978592, + -0.14621275663375854, + 0.08808805793523788 + ], + [ + 0.24450069665908813, + -0.1244552880525589, + 0.12216252088546753 + ], + [ + 0.24503979086875916, + -0.09105723351240158, + 0.1462400108575821 + ], + [ + 0.24149732291698456, + -0.06239822506904602, + 0.14881713688373566 + ], + [ + 0.2436884492635727, + -0.03404547646641731, + 0.15559780597686768 + ], + [ + 0.2480447143316269, + 0.003487082663923502, + 0.15382930636405945 + ], + [ + 0.24699515104293823, + 0.028802724555134773, + 0.1526722013950348 + ], + [ + 0.25036025047302246, + 0.062078628689050674, + 0.15144486725330353 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9831046115020202, + 0.1382094647530577, + -0.12001444369797748, + 0.12990715902128588, + -0.9887247894920823, + -0.07448100884692574, + -0.1289552359482935, + 0.057631887844411145, + -0.9899742989719527 + ], + [ + 0.9776966724753964, + 0.14829974342524233, + -0.14871584559334858, + 0.13492663924511766, + -0.9861592648192131, + -0.09635718153436668, + -0.16094725425603032, + 0.07414236650685163, + -0.984174217725809 + ], + [ + 0.9755309823316658, + 0.1462133892679649, + -0.16419789069835783, + 0.1309577621547297, + -0.9863079525189767, + -0.1002331648170867, + -0.17660511612759283, + 0.0762775694198405, + -0.9813217440579624 + ], + [ + 0.9750369020602886, + 0.14742982613181263, + -0.1660345927432557, + 0.13066184178685689, + -0.9855485098995722, + -0.10780360724762003, + -0.1795286125427968, + 0.08341810955347903, + -0.9802096185393113 + ], + [ + 0.9790023597821175, + 0.14270147421993407, + -0.145570150774473, + 0.12944248084332233, + -0.9868449878118958, + -0.09685873313060288, + -0.15747705767562287, + 0.07598196684738233, + -0.9845952046500286 + ], + [ + 0.9777428059269087, + 0.15671378352684476, + -0.13949837099721693, + 0.14542676207223357, + -0.9854665871529644, + -0.08778759865878216, + -0.1512285103125793, + 0.06554689662974655, + -0.9863232441805516 + ], + [ + 0.978199895793978, + 0.17092471753195526, + -0.11793941158608383, + 0.16496252448237825, + -0.9845539189436248, + -0.05865957900591218, + -0.12614408184711295, + 0.03792521099969527, + -0.9912867138147152 + ], + [ + 0.9776919193753015, + 0.18596303856398813, + -0.09765377143913834, + 0.18110616704162494, + -0.9818380060808093, + -0.056521554072332864, + -0.10639110417572445, + 0.03757496644455276, + -0.9936141378065032 + ], + [ + 0.9819018540071195, + 0.18319310367446576, + -0.048052428278888844, + 0.18021453428038567, + -0.9817728465856216, + -0.060372173567540204, + -0.05823633514812735, + 0.05061980317308575, + -0.9970186381383414 + ], + [ + 0.9852996646149301, + 0.1708237121333526, + 0.001957110801076284, + 0.17066128704731973, + -0.9837172300635211, + -0.05634834850734981, + -0.007700390448447191, + 0.05585401193410286, + -0.9984092514283942 + ], + [ + 0.9860893510774075, + 0.16562954688610912, + 0.013951519273547217, + 0.1662020219032921, + -0.9836187597423981, + -0.06979271737140513, + 0.002163239930192568, + 0.07114062609458408, + -0.9974639500813428 + ], + [ + 0.9809092553894623, + 0.19137068036505311, + 0.03455857907823851, + 0.19413517240641587, + -0.9740155101368961, + -0.11664184861143403, + 0.011338762102689096, + 0.12112410457616676, + -0.9925726088123729 + ], + [ + 0.9808797116577016, + 0.1940874999385824, + 0.014318995282313967, + 0.19425841782296796, + -0.9719771234328809, + -0.13237876955184094, + -0.011775328582310023, + 0.1326292346759679, + -0.9910957712280108 + ], + [ + 0.9873974605067732, + 0.15573731533492546, + 0.028145045692719143, + 0.1580043966707051, + -0.9801929590094672, + -0.1194000575418268, + 0.008992531206603312, + 0.12234235456510988, + -0.9924472190811778 + ], + [ + 0.986662651873494, + 0.14662924646778047, + 0.07068716629102596, + 0.15310522602958526, + -0.9834275267652033, + -0.0971034982011712, + 0.0552774923490011, + 0.10663096961373905, + -0.9927609154065443 + ], + [ + 0.9850326523241907, + 0.14203192086065156, + 0.09766067433621342, + 0.15063388926941104, + -0.9847370343630127, + -0.08719176886329111, + 0.0837860684048436, + 0.1005977465481826, + -0.9913929534401013 + ], + [ + 0.9814887756248376, + 0.12532865445917896, + 0.14481889273816756, + 0.1375405419184076, + -0.9874513633116992, + -0.07760415209676162, + 0.1332755891048617, + 0.09608607321208555, + -0.9864102006180967 + ], + [ + 0.979814230706097, + 0.11751550479234535, + 0.16172253843920253, + 0.12385641902913347, + -0.9918565830805097, + -0.029666581622011426, + 0.15691928106863984, + 0.049098113337031776, + -0.9863902445257886 + ], + [ + 0.9824757416625384, + 0.0968719515972835, + 0.15923957434751637, + 0.09700012467722831, + -0.995259849238625, + 0.006986294161508578, + 0.15916153070779002, + 0.008582394027457054, + -0.9872152499103274 + ], + [ + 0.9840093080402235, + 0.11883815578065962, + 0.1326769551235349, + 0.11304709951637648, + -0.9923112513750802, + 0.05038584806626565, + 0.13764459662890977, + -0.034581398541325824, + -0.9898778166489998 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006658.json b/json/chunk-0006/episode_0006658.json new file mode 100644 index 0000000000000000000000000000000000000000..c2b177bdc9fb9b28569339241477c504e0270eeb --- /dev/null +++ b/json/chunk-0006/episode_0006658.json @@ -0,0 +1,1822 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 29, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the mushroom to the left side of the spoon." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006658.mp4", + "start": 0, + "end": 29, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.38250312209129333, + 0.018597371876239777, + 0.05708475038409233, + 0.04568216949701309, + -0.15464529395103455, + -0.2039210945367813, + 0.0, + 1.0001531839370728 + ], + [ + 0.37879589200019836, + 0.01783723384141922, + 0.04273013025522232, + 0.03219408914446831, + -0.116878442466259, + -0.2029634714126587, + 0.0, + 1.0001531839370728 + ], + [ + 0.3781276345252991, + 0.007895268499851227, + 0.041741564869880676, + 0.01713939942419529, + -0.1144978329539299, + -0.2304394543170929, + 0.0, + 1.0001531839370728 + ], + [ + 0.38448506593704224, + 0.0015331711620092392, + 0.04913661256432533, + 0.013794958591461182, + -0.13133956491947174, + -0.2458253800868988, + 0.0, + 1.0001531839370728 + ], + [ + 0.3850927948951721, + -0.003773759352043271, + 0.06563194841146469, + -0.0032731639221310616, + -0.18525387346744537, + -0.2651629149913788, + 0.0, + 1.0001531839370728 + ], + [ + 0.3703470230102539, + -0.011942211538553238, + 0.07264629006385803, + 0.0018223264487460256, + -0.20272250473499298, + -0.30578646063804626, + 0.0, + 1.0001531839370728 + ], + [ + 0.3508569598197937, + -0.031357839703559875, + 0.07357127219438553, + -0.007995779626071453, + -0.2007640302181244, + -0.3686380088329315, + 0.0, + 1.0001531839370728 + ], + [ + 0.3379492461681366, + -0.03734848275780678, + 0.07336223125457764, + -0.0003652072628028691, + -0.19697047770023346, + -0.4000392556190491, + 0.0, + 1.0001531839370728 + ], + [ + 0.33055368065834045, + -0.04414054751396179, + 0.0683789774775505, + -0.0022826867643743753, + -0.18614251911640167, + -0.4209803342819214, + 0.0, + 1.0001531839370728 + ], + [ + 0.33002111315727234, + -0.04757890850305557, + 0.0794995054602623, + -0.005956095643341541, + -0.2138335257768631, + -0.4271048307418823, + 0.0, + 1.0001531839370728 + ], + [ + 0.3309819996356964, + -0.05534747242927551, + 0.08293578773736954, + -0.028852242976427078, + -0.22313274443149567, + -0.4272221028804779, + 0.0, + 1.0001531839370728 + ], + [ + 0.3347971737384796, + -0.059648312628269196, + 0.08926061540842056, + -0.038050584495067596, + -0.23555195331573486, + -0.4261976182460785, + 0.0, + 1.0001531839370728 + ], + [ + 0.33066025376319885, + -0.059493448585271835, + 0.08413577079772949, + -0.028186339884996414, + -0.22471141815185547, + -0.44146671891212463, + 0.0, + 1.0001531839370728 + ], + [ + 0.31994763016700745, + -0.06107437610626221, + 0.07285422831773758, + -0.016291925683617592, + -0.19042567908763885, + -0.4746439754962921, + 0.0, + 1.0001531839370728 + ], + [ + 0.311186820268631, + -0.06429540365934372, + 0.06326630711555481, + -0.006656878627836704, + -0.17353273928165436, + -0.4951276481151581, + 0.0, + 1.0001531839370728 + ], + [ + 0.30639564990997314, + -0.06470808386802673, + 0.05662081390619278, + 0.009782824665307999, + -0.16527900099754333, + -0.5007218718528748, + 0.0, + 1.0001531839370728 + ], + [ + 0.3070448637008667, + -0.06160330772399902, + 0.0550411082804203, + 0.026788389310240746, + -0.16098752617835999, + -0.5024560689926147, + 0.0, + 0.9445669651031494 + ], + [ + 0.3145063817501068, + -0.05974968522787094, + 0.048341915011405945, + 0.02955264411866665, + -0.1469319611787796, + -0.4907239079475403, + 0.0, + 0.6631406545639038 + ], + [ + 0.3189760446548462, + -0.05116844177246094, + 0.0515407957136631, + 0.019660204648971558, + -0.14877630770206451, + -0.46028831601142883, + 0.0, + 0.3936077654361725 + ], + [ + 0.32940033078193665, + -0.03823205456137657, + 0.06173715367913246, + 0.0012772283516824245, + -0.1704196184873581, + -0.4119252562522888, + 0.0, + 0.265934020280838 + ], + [ + 0.3474014401435852, + -0.004698766395449638, + 0.08133493363857269, + 0.00013178764493204653, + -0.20884637534618378, + -0.3107426166534424, + 0.0, + 0.2392188310623169 + ], + [ + 0.37282174825668335, + 0.04948671907186508, + 0.09338770806789398, + -0.0037559557240456343, + -0.21541906893253326, + -0.13368718326091766, + 0.0, + 0.23460371792316437 + ], + [ + 0.3950788676738739, + 0.09855072945356369, + 0.08026548475027084, + -0.006755501497536898, + -0.16904181241989136, + 0.0038306943606585264, + 0.0, + 0.23460371792316437 + ], + [ + 0.41586533188819885, + 0.12897367775440216, + 0.0665772557258606, + 0.01791609637439251, + -0.14103901386260986, + 0.062133289873600006, + 0.0, + 0.23460371792316437 + ], + [ + 0.42772024869918823, + 0.14567944407463074, + 0.05900122970342636, + 0.028477538377046585, + -0.12096131592988968, + 0.09645020961761475, + 0.0, + 0.29134905338287354 + ], + [ + 0.42852088809013367, + 0.1544974148273468, + 0.06325842440128326, + 0.04541515186429024, + -0.1233224868774414, + 0.10724862664937973, + 0.0, + 0.5679898858070374 + ], + [ + 0.42471304535865784, + 0.15648560225963593, + 0.05720986798405647, + 0.06199292838573456, + -0.11036892980337143, + 0.11334780603647232, + 0.0, + 0.8705081939697266 + ], + [ + 0.4175712466239929, + 0.15438713133335114, + 0.07388007640838623, + 0.07386129349470139, + -0.13478347659111023, + 0.11699266731739044, + 0.0, + 1.0099300146102905 + ], + [ + 0.40999123454093933, + 0.1478930562734604, + 0.09550397843122482, + 0.0940357968211174, + -0.16787877678871155, + 0.09660410135984421, + 0.0, + 1.0047606229782104 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9445669651031494 + ], + [ + 0.6631406545639038 + ], + [ + 0.3936077654361725 + ], + [ + 0.265934020280838 + ], + [ + 0.2392188310623169 + ], + [ + 0.23460371792316437 + ], + [ + 0.23460371792316437 + ], + [ + 0.23460371792316437 + ], + [ + 0.29134905338287354 + ], + [ + 0.5679898858070374 + ], + [ + 0.8705081939697266 + ], + [ + 1.0099300146102905 + ], + [ + 1.0047606229782104 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.38250312209129333, + 0.018597371876239777, + 0.05708475038409233 + ], + [ + 0.37879589200019836, + 0.01783723384141922, + 0.04273013025522232 + ], + [ + 0.3781276345252991, + 0.007895268499851227, + 0.041741564869880676 + ], + [ + 0.38448506593704224, + 0.0015331711620092392, + 0.04913661256432533 + ], + [ + 0.3850927948951721, + -0.003773759352043271, + 0.06563194841146469 + ], + [ + 0.3703470230102539, + -0.011942211538553238, + 0.07264629006385803 + ], + [ + 0.3508569598197937, + -0.031357839703559875, + 0.07357127219438553 + ], + [ + 0.3379492461681366, + -0.03734848275780678, + 0.07336223125457764 + ], + [ + 0.33055368065834045, + -0.04414054751396179, + 0.0683789774775505 + ], + [ + 0.33002111315727234, + -0.04757890850305557, + 0.0794995054602623 + ], + [ + 0.3309819996356964, + -0.05534747242927551, + 0.08293578773736954 + ], + [ + 0.3347971737384796, + -0.059648312628269196, + 0.08926061540842056 + ], + [ + 0.33066025376319885, + -0.059493448585271835, + 0.08413577079772949 + ], + [ + 0.31994763016700745, + -0.06107437610626221, + 0.07285422831773758 + ], + [ + 0.311186820268631, + -0.06429540365934372, + 0.06326630711555481 + ], + [ + 0.30639564990997314, + -0.06470808386802673, + 0.05662081390619278 + ], + [ + 0.3070448637008667, + -0.06160330772399902, + 0.0550411082804203 + ], + [ + 0.3145063817501068, + -0.05974968522787094, + 0.048341915011405945 + ], + [ + 0.3189760446548462, + -0.05116844177246094, + 0.0515407957136631 + ], + [ + 0.32940033078193665, + -0.03823205456137657, + 0.06173715367913246 + ], + [ + 0.3474014401435852, + -0.004698766395449638, + 0.08133493363857269 + ], + [ + 0.37282174825668335, + 0.04948671907186508, + 0.09338770806789398 + ], + [ + 0.3950788676738739, + 0.09855072945356369, + 0.08026548475027084 + ], + [ + 0.41586533188819885, + 0.12897367775440216, + 0.0665772557258606 + ], + [ + 0.42772024869918823, + 0.14567944407463074, + 0.05900122970342636 + ], + [ + 0.42852088809013367, + 0.1544974148273468, + 0.06325842440128326 + ], + [ + 0.42471304535865784, + 0.15648560225963593, + 0.05720986798405647 + ], + [ + 0.4175712466239929, + 0.15438713133335114, + 0.07388007640838623 + ], + [ + 0.40999123454093933, + 0.1478930562734604, + 0.09550397843122482 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9675935397632064, + -0.1954112407990313, + 0.1599286990439507, + -0.2000940105719445, + -0.9796828641061911, + 0.01355996718005377, + 0.1540296359203063, + -0.045121311440078755, + -0.9870354292081842 + ], + [ + 0.9727910531933678, + -0.19779186394860482, + 0.1206480227052002, + -0.20019761999765945, + -0.9797225967671891, + 0.008034073128140163, + 0.11661251980045131, + -0.03196892146276067, + -0.9926628371639068 + ], + [ + 0.967191477996212, + -0.22646555163147394, + 0.11512601276755248, + -0.2269098491546306, + -0.9738703494862798, + -0.009405463736229965, + 0.1142478238222734, + -0.01702634181857538, + -0.9933063668557407 + ], + [ + 0.9615830680048979, + -0.24158156796499106, + 0.13037004773284588, + -0.24126102585075873, + -0.9702841444002799, + -0.01848774001484552, + 0.13096228744080352, + -0.013675713692286701, + -0.991293021322797 + ], + [ + 0.9485373533158532, + -0.26264692016028957, + 0.17689964583025677, + -0.25758240917773656, + -0.9648866489170431, + -0.05143011981155958, + 0.1841960690317491, + 0.0032171527711280686, + -0.9828842546715753 + ], + [ + 0.934082518265322, + -0.3006928646292037, + 0.19254519010403268, + -0.2948785022916866, + -0.9537193585681171, + -0.05887320255117236, + 0.20133682712640152, + -0.0017850079840017706, + -0.9795204417413507 + ], + [ + 0.9140828640236714, + -0.3618211233326815, + 0.18313381011860874, + -0.35310756119411063, + -0.9322146136842209, + -0.07931559910336897, + 0.1994180732176239, + 0.007835096926993586, + -0.9798831784097097 + ], + [ + 0.9032363229645615, + -0.38952030073000216, + 0.18010574726162015, + -0.3819239881645076, + -0.9210178103874782, + -0.07655233643444122, + 0.1956992900906258, + 0.00035814558988390977, + -0.9806638871650986 + ], + [ + 0.8969224694355188, + -0.4090398947857704, + 0.16797752318490894, + -0.4015960500646565, + -0.9125137436182628, + -0.07771280641084298, + 0.18506943668298298, + 0.0022432524220740158, + -0.9827228863847703 + ], + [ + 0.8894393847376766, + -0.4153804839162575, + 0.19067415781631183, + -0.40480302311682814, + -0.9096291422462718, + -0.09332382360249333, + 0.21220766563190105, + 0.00582040873207091, + -0.9772072602520162 + ], + [ + 0.8875574774601558, + -0.4199816747565601, + 0.18935975568541635, + -0.4040721789166386, + -0.907096424646016, + -0.11790568527418462, + 0.22128578451885617, + 0.028133063521237803, + -0.9748031248958863 + ], + [ + 0.8854002110116108, + -0.4211962164951965, + 0.1966220067813529, + -0.40199548104887456, + -0.9062148858715595, + -0.13105042480312704, + 0.2333797325323661, + 0.03699091557298489, + -0.9716818268384941 + ], + [ + 0.8813948296818119, + -0.43277403099906386, + 0.18934041381329803, + -0.4165238931303761, + -0.9010836889444312, + -0.12064838154658504, + 0.22282504496058042, + 0.027474053416207248, + -0.974471228783692 + ], + [ + 0.8733774717205618, + -0.4597038359477228, + 0.1608855963284111, + -0.4487605690508091, + -0.8879281998721165, + -0.10098249124009974, + 0.18927689651986923, + 0.01599672112690556, + -0.9817934412884386 + ], + [ + 0.866692674493188, + -0.4761448025001522, + 0.1487613358098687, + -0.46800775830520064, + -0.879342444539237, + -0.08789541169993158, + 0.1726631001285057, + 0.0065568501470297386, + -0.9849591166998576 + ], + [ + 0.8652817040455703, + -0.47862401641522895, + 0.14901886979355716, + -0.4735169082971629, + -0.8779669360827441, + -0.07039741971248033, + 0.16452753629921868, + -0.009649355213356452, + -0.9863252910390548 + ], + [ + 0.8650700672468637, + -0.47764389384340433, + 0.15333000172052813, + -0.47535241619414814, + -0.8781556231527987, + -0.05369154443210884, + 0.16029304155792873, + -0.02643883884043358, + -0.9867153229928466 + ], + [ + 0.8724883912668877, + -0.46724322687321757, + 0.14299571338197953, + -0.46618657318904705, + -0.8836455039137997, + -0.04290340768727144, + 0.14640384586059046, + -0.029229956449333325, + -0.9887929629417871 + ], + [ + 0.8860273680543755, + -0.44150985975046914, + 0.14150811567453367, + -0.43929937687099657, + -0.8970457409337981, + -0.0482182139163948, + 0.14822806933705326, + -0.01944176986938539, + -0.9887620831347426 + ], + [ + 0.9030771419701537, + -0.40017546082094135, + 0.1559207369395319, + -0.3945743340392738, + -0.9164376771861834, + -0.0667313925454639, + 0.16959590374912664, + -0.0012587256811826333, + -0.985512884259347 + ], + [ + 0.9314181981721497, + -0.305739753269202, + 0.1974420000522522, + -0.2991217096439367, + -0.9521151120791489, + -0.06326939362913228, + 0.20733148080654434, + -0.00012892399765704332, + -0.9782707398492343 + ], + [ + 0.9681703050663429, + -0.13408407889979101, + 0.211347392161198, + -0.1302085942325794, + -0.9909631664353572, + -0.03221373552362688, + 0.21375683000952292, + 0.003669135321205058, + -0.9768800105797409 + ], + [ + 0.9857391903454615, + 0.0026940832040218687, + 0.16825870120966654, + 0.0037760840279162187, + -0.9999741984138029, + -0.006110948869571049, + 0.1682378964635737, + 0.006659160785129228, + -0.9857239297953305 + ], + [ + 0.9881599830996778, + 0.06459685941054347, + 0.1391657053829679, + 0.06147676232345617, + -0.9977537951562231, + 0.02660774221122548, + 0.14057188728429953, + -0.017737249100360307, + -0.9899115791320364 + ], + [ + 0.9880793395124127, + 0.09968154624846937, + 0.11731499548748461, + 0.09559707858243685, + -0.9946178377743142, + 0.03995691864560119, + 0.12066655458418321, + -0.02826563494178154, + -0.9922906008252422 + ], + [ + 0.9867034267321741, + 0.11248528994549652, + 0.11731754864836849, + 0.1062301961507258, + -0.9926314164653959, + 0.058292507852037434, + 0.1230101341384646, + -0.045054751045579, + -0.9913821545233995 + ], + [ + 0.9875375859555191, + 0.11966803198243514, + 0.10222073393689095, + 0.11241706612968569, + -0.9909025806768682, + 0.07398972125043281, + 0.110144993385717, + -0.061576275702365714, + -0.9920062715037071 + ], + [ + 0.9841566081629761, + 0.12625607049283097, + 0.12447961790130667, + 0.11566731260964387, + -0.9892988211350325, + 0.08893208248150718, + 0.13437575451996142, + -0.0731248737745507, + -0.9882286726424441 + ], + [ + 0.9813444231401441, + 0.11164403677615475, + 0.1565207086109122, + 0.09509790940543689, + -0.9894266368759413, + 0.10950487599682145, + 0.16709132472529145, + -0.09257720719857847, + -0.9815854266995097 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0037072300910949707, + -0.0007601380348205566, + -0.01435462012887001, + -0.013488080352544785, + 0.03776685148477554, + 0.0009576231241226196, + 1.0 + ], + [ + -0.000668257474899292, + -0.009941965341567993, + -0.0009885653853416443, + -0.015054689720273018, + 0.0023806095123291016, + -0.027475982904434204, + 1.0 + ], + [ + 0.006357431411743164, + -0.006362097337841988, + 0.007395047694444656, + -0.003344440832734108, + -0.01684173196554184, + -0.015385925769805908, + 1.0 + ], + [ + 0.0006077289581298828, + -0.005306930281221867, + 0.01649533584713936, + -0.01706812158226967, + -0.05391430854797363, + -0.01933753490447998, + 1.0 + ], + [ + -0.014745771884918213, + -0.00816845241934061, + 0.007014341652393341, + 0.005095490254461765, + -0.017468631267547607, + -0.04062354564666748, + 1.0 + ], + [ + -0.019490063190460205, + -0.019415628165006638, + 0.0009249821305274963, + -0.009818105958402157, + 0.0019584745168685913, + -0.06285154819488525, + 1.0 + ], + [ + -0.012907713651657104, + -0.0059906430542469025, + -0.00020904093980789185, + 0.007630572188645601, + 0.00379355251789093, + -0.031401246786117554, + 1.0 + ], + [ + -0.007395565509796143, + -0.006792064756155014, + -0.00498325377702713, + -0.0019174795597791672, + 0.010827958583831787, + -0.020941078662872314, + 1.0 + ], + [ + -0.0005325675010681152, + -0.0034383609890937805, + 0.011120527982711792, + -0.003673408878967166, + -0.027691006660461426, + -0.0061244964599609375, + 1.0 + ], + [ + 0.0009608864784240723, + -0.00776856392621994, + 0.0034362822771072388, + -0.02289614826440811, + -0.009299218654632568, + -0.00011727213859558105, + 1.0 + ], + [ + 0.003815174102783203, + -0.004300840198993683, + 0.006324827671051025, + -0.009198341518640518, + -0.012419208884239197, + 0.001024484634399414, + 1.0 + ], + [ + -0.004136919975280762, + 0.00015486404299736023, + -0.0051248446106910706, + 0.009864244610071182, + 0.010840535163879395, + -0.015269100666046143, + 1.0 + ], + [ + -0.010712623596191406, + -0.0015809275209903717, + -0.011281542479991913, + 0.011894414201378822, + 0.034285739064216614, + -0.03317725658416748, + 1.0 + ], + [ + -0.008760809898376465, + -0.0032210275530815125, + -0.00958792120218277, + 0.009635047055780888, + 0.016892939805984497, + -0.020483672618865967, + 1.0 + ], + [ + -0.004791170358657837, + -0.0004126802086830139, + -0.00664549320936203, + 0.01643970236182213, + 0.008253738284111023, + -0.005594223737716675, + 1.0 + ], + [ + 0.0006492137908935547, + 0.00310477614402771, + -0.0015797056257724762, + 0.017005564644932747, + 0.00429147481918335, + -0.0017341971397399902, + 0.0 + ], + [ + 0.007461518049240112, + 0.0018536224961280823, + -0.0066991932690143585, + 0.0027642548084259033, + 0.014055564999580383, + 0.011732161045074463, + 0.0 + ], + [ + 0.00446966290473938, + 0.008581243455410004, + 0.0031988807022571564, + -0.009892439469695091, + -0.0018443465232849121, + 0.03043559193611145, + 0.0 + ], + [ + 0.010424286127090454, + 0.012936387211084366, + 0.01019635796546936, + -0.018382975831627846, + -0.02164331078529358, + 0.048363059759140015, + 0.0 + ], + [ + 0.01800110936164856, + 0.03353329002857208, + 0.01959777995944023, + -0.0011454407358542085, + -0.038426756858825684, + 0.10118263959884644, + 0.0 + ], + [ + 0.025420308113098145, + 0.05418548732995987, + 0.012052774429321289, + -0.003887743456289172, + -0.006572693586349487, + 0.17705543339252472, + 0.0 + ], + [ + 0.022257119417190552, + 0.04906401038169861, + -0.013122223317623138, + -0.0029995457734912634, + 0.04637725651264191, + 0.13751788437366486, + 0.0 + ], + [ + 0.02078646421432495, + 0.03042294830083847, + -0.013688229024410248, + 0.02467159740626812, + 0.028002798557281494, + 0.05830259621143341, + 0.0 + ], + [ + 0.01185491681098938, + 0.016705766320228577, + -0.007576026022434235, + 0.010561442002654076, + 0.020077697932720184, + 0.03431691974401474, + 1.0 + ], + [ + 0.0008006393909454346, + 0.008817970752716064, + 0.004257194697856903, + 0.016937613487243652, + -0.0023611709475517273, + 0.010798417031764984, + 1.0 + ], + [ + -0.00380784273147583, + 0.0019881874322891235, + -0.006048556417226791, + 0.01657777652144432, + 0.012953557074069977, + 0.00609917938709259, + 1.0 + ], + [ + -0.007141798734664917, + -0.00209847092628479, + 0.016670208424329758, + 0.011868365108966827, + -0.0244145467877388, + 0.0036448612809181213, + 1.0 + ], + [ + -0.007580012083053589, + -0.006494075059890747, + 0.021623902022838593, + 0.020174503326416016, + -0.03309530019760132, + -0.020388565957546234, + 1.0 + ], + [ + -0.006614863872528076, + -0.008708328008651733, + 0.003018587827682495, + -0.0018036440014839172, + 0.007964789867401123, + -0.022375822067260742, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9445669651031494 + ], + [ + 0.6631406545639038 + ], + [ + 0.3936077654361725 + ], + [ + 0.265934020280838 + ], + [ + 0.2392188310623169 + ], + [ + 0.23460371792316437 + ], + [ + 0.23460371792316437 + ], + [ + 0.23460371792316437 + ], + [ + 0.29134905338287354 + ], + [ + 0.5679898858070374 + ], + [ + 0.8705081939697266 + ], + [ + 1.0099300146102905 + ], + [ + 1.0047606229782104 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.37879589200019836, + 0.01783723384141922, + 0.04273013025522232 + ], + [ + 0.3781276345252991, + 0.007895268499851227, + 0.041741564869880676 + ], + [ + 0.38448506593704224, + 0.0015331711620092392, + 0.04913661256432533 + ], + [ + 0.3850927948951721, + -0.003773759352043271, + 0.06563194841146469 + ], + [ + 0.3703470230102539, + -0.011942211538553238, + 0.07264629006385803 + ], + [ + 0.3508569598197937, + -0.031357839703559875, + 0.07357127219438553 + ], + [ + 0.3379492461681366, + -0.03734848275780678, + 0.07336223125457764 + ], + [ + 0.33055368065834045, + -0.04414054751396179, + 0.0683789774775505 + ], + [ + 0.33002111315727234, + -0.04757890850305557, + 0.0794995054602623 + ], + [ + 0.3309819996356964, + -0.05534747242927551, + 0.08293578773736954 + ], + [ + 0.3347971737384796, + -0.059648312628269196, + 0.08926061540842056 + ], + [ + 0.33066025376319885, + -0.059493448585271835, + 0.08413577079772949 + ], + [ + 0.31994763016700745, + -0.06107437610626221, + 0.07285422831773758 + ], + [ + 0.311186820268631, + -0.06429540365934372, + 0.06326630711555481 + ], + [ + 0.30639564990997314, + -0.06470808386802673, + 0.05662081390619278 + ], + [ + 0.3070448637008667, + -0.06160330772399902, + 0.0550411082804203 + ], + [ + 0.3145063817501068, + -0.05974968522787094, + 0.048341915011405945 + ], + [ + 0.3189760446548462, + -0.05116844177246094, + 0.0515407957136631 + ], + [ + 0.32940033078193665, + -0.03823205456137657, + 0.06173715367913246 + ], + [ + 0.3474014401435852, + -0.004698766395449638, + 0.08133493363857269 + ], + [ + 0.37282174825668335, + 0.04948671907186508, + 0.09338770806789398 + ], + [ + 0.3950788676738739, + 0.09855072945356369, + 0.08026548475027084 + ], + [ + 0.41586533188819885, + 0.12897367775440216, + 0.0665772557258606 + ], + [ + 0.42772024869918823, + 0.14567944407463074, + 0.05900122970342636 + ], + [ + 0.42852088809013367, + 0.1544974148273468, + 0.06325842440128326 + ], + [ + 0.42471304535865784, + 0.15648560225963593, + 0.05720986798405647 + ], + [ + 0.4175712466239929, + 0.15438713133335114, + 0.07388007640838623 + ], + [ + 0.40999123454093933, + 0.1478930562734604, + 0.09550397843122482 + ], + [ + 0.40337637066841125, + 0.13918472826480865, + 0.09852256625890732 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9727910531933678, + -0.19779186394860482, + 0.1206480227052002, + -0.20019761999765945, + -0.9797225967671891, + 0.008034073128140163, + 0.11661251980045131, + -0.03196892146276067, + -0.9926628371639068 + ], + [ + 0.967191477996212, + -0.22646555163147394, + 0.11512601276755248, + -0.2269098491546306, + -0.9738703494862798, + -0.009405463736229965, + 0.1142478238222734, + -0.01702634181857538, + -0.9933063668557407 + ], + [ + 0.9615830680048979, + -0.24158156796499106, + 0.13037004773284588, + -0.24126102585075873, + -0.9702841444002799, + -0.01848774001484552, + 0.13096228744080352, + -0.013675713692286701, + -0.991293021322797 + ], + [ + 0.9485373533158532, + -0.26264692016028957, + 0.17689964583025677, + -0.25758240917773656, + -0.9648866489170431, + -0.05143011981155958, + 0.1841960690317491, + 0.0032171527711280686, + -0.9828842546715753 + ], + [ + 0.934082518265322, + -0.3006928646292037, + 0.19254519010403268, + -0.2948785022916866, + -0.9537193585681171, + -0.05887320255117236, + 0.20133682712640152, + -0.0017850079840017706, + -0.9795204417413507 + ], + [ + 0.9140828640236714, + -0.3618211233326815, + 0.18313381011860874, + -0.35310756119411063, + -0.9322146136842209, + -0.07931559910336897, + 0.1994180732176239, + 0.007835096926993586, + -0.9798831784097097 + ], + [ + 0.9032363229645615, + -0.38952030073000216, + 0.18010574726162015, + -0.3819239881645076, + -0.9210178103874782, + -0.07655233643444122, + 0.1956992900906258, + 0.00035814558988390977, + -0.9806638871650986 + ], + [ + 0.8969224694355188, + -0.4090398947857704, + 0.16797752318490894, + -0.4015960500646565, + -0.9125137436182628, + -0.07771280641084298, + 0.18506943668298298, + 0.0022432524220740158, + -0.9827228863847703 + ], + [ + 0.8894393847376766, + -0.4153804839162575, + 0.19067415781631183, + -0.40480302311682814, + -0.9096291422462718, + -0.09332382360249333, + 0.21220766563190105, + 0.00582040873207091, + -0.9772072602520162 + ], + [ + 0.8875574774601558, + -0.4199816747565601, + 0.18935975568541635, + -0.4040721789166386, + -0.907096424646016, + -0.11790568527418462, + 0.22128578451885617, + 0.028133063521237803, + -0.9748031248958863 + ], + [ + 0.8854002110116108, + -0.4211962164951965, + 0.1966220067813529, + -0.40199548104887456, + -0.9062148858715595, + -0.13105042480312704, + 0.2333797325323661, + 0.03699091557298489, + -0.9716818268384941 + ], + [ + 0.8813948296818119, + -0.43277403099906386, + 0.18934041381329803, + -0.4165238931303761, + -0.9010836889444312, + -0.12064838154658504, + 0.22282504496058042, + 0.027474053416207248, + -0.974471228783692 + ], + [ + 0.8733774717205618, + -0.4597038359477228, + 0.1608855963284111, + -0.4487605690508091, + -0.8879281998721165, + -0.10098249124009974, + 0.18927689651986923, + 0.01599672112690556, + -0.9817934412884386 + ], + [ + 0.866692674493188, + -0.4761448025001522, + 0.1487613358098687, + -0.46800775830520064, + -0.879342444539237, + -0.08789541169993158, + 0.1726631001285057, + 0.0065568501470297386, + -0.9849591166998576 + ], + [ + 0.8652817040455703, + -0.47862401641522895, + 0.14901886979355716, + -0.4735169082971629, + -0.8779669360827441, + -0.07039741971248033, + 0.16452753629921868, + -0.009649355213356452, + -0.9863252910390548 + ], + [ + 0.8650700672468637, + -0.47764389384340433, + 0.15333000172052813, + -0.47535241619414814, + -0.8781556231527987, + -0.05369154443210884, + 0.16029304155792873, + -0.02643883884043358, + -0.9867153229928466 + ], + [ + 0.8724883912668877, + -0.46724322687321757, + 0.14299571338197953, + -0.46618657318904705, + -0.8836455039137997, + -0.04290340768727144, + 0.14640384586059046, + -0.029229956449333325, + -0.9887929629417871 + ], + [ + 0.8860273680543755, + -0.44150985975046914, + 0.14150811567453367, + -0.43929937687099657, + -0.8970457409337981, + -0.0482182139163948, + 0.14822806933705326, + -0.01944176986938539, + -0.9887620831347426 + ], + [ + 0.9030771419701537, + -0.40017546082094135, + 0.1559207369395319, + -0.3945743340392738, + -0.9164376771861834, + -0.0667313925454639, + 0.16959590374912664, + -0.0012587256811826333, + -0.985512884259347 + ], + [ + 0.9314181981721497, + -0.305739753269202, + 0.1974420000522522, + -0.2991217096439367, + -0.9521151120791489, + -0.06326939362913228, + 0.20733148080654434, + -0.00012892399765704332, + -0.9782707398492343 + ], + [ + 0.9681703050663429, + -0.13408407889979101, + 0.211347392161198, + -0.1302085942325794, + -0.9909631664353572, + -0.03221373552362688, + 0.21375683000952292, + 0.003669135321205058, + -0.9768800105797409 + ], + [ + 0.9857391903454615, + 0.0026940832040218687, + 0.16825870120966654, + 0.0037760840279162187, + -0.9999741984138029, + -0.006110948869571049, + 0.1682378964635737, + 0.006659160785129228, + -0.9857239297953305 + ], + [ + 0.9881599830996778, + 0.06459685941054347, + 0.1391657053829679, + 0.06147676232345617, + -0.9977537951562231, + 0.02660774221122548, + 0.14057188728429953, + -0.017737249100360307, + -0.9899115791320364 + ], + [ + 0.9880793395124127, + 0.09968154624846937, + 0.11731499548748461, + 0.09559707858243685, + -0.9946178377743142, + 0.03995691864560119, + 0.12066655458418321, + -0.02826563494178154, + -0.9922906008252422 + ], + [ + 0.9867034267321741, + 0.11248528994549652, + 0.11731754864836849, + 0.1062301961507258, + -0.9926314164653959, + 0.058292507852037434, + 0.1230101341384646, + -0.045054751045579, + -0.9913821545233995 + ], + [ + 0.9875375859555191, + 0.11966803198243514, + 0.10222073393689095, + 0.11241706612968569, + -0.9909025806768682, + 0.07398972125043281, + 0.110144993385717, + -0.061576275702365714, + -0.9920062715037071 + ], + [ + 0.9841566081629761, + 0.12625607049283097, + 0.12447961790130667, + 0.11566731260964387, + -0.9892988211350325, + 0.08893208248150718, + 0.13437575451996142, + -0.0731248737745507, + -0.9882286726424441 + ], + [ + 0.9813444231401441, + 0.11164403677615475, + 0.1565207086109122, + 0.09509790940543689, + -0.9894266368759413, + 0.10950487599682145, + 0.16709132472529145, + -0.09257720719857847, + -0.9815854266995097 + ], + [ + 0.984522463065094, + 0.08847015747937867, + 0.1512896260680628, + 0.0732139233819501, + -0.9919200753474395, + 0.10360639722406885, + 0.15923329156700322, + -0.09092631829290977, + -0.9830448430760592 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006659.json b/json/chunk-0006/episode_0006659.json new file mode 100644 index 0000000000000000000000000000000000000000..de83dfd7cf7f34934db8c228cdf407df98f1d71d --- /dev/null +++ b/json/chunk-0006/episode_0006659.json @@ -0,0 +1,1042 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 16, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nTurn lever vertical to front." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006659.mp4", + "start": 0, + "end": 16, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2569587230682373, + -0.050246283411979675, + 0.20220662653446198, + 0.0622221864759922, + -0.19259348511695862, + -0.7191849946975708, + 0.0, + 1.0008161067962646 + ], + [ + 0.2611725926399231, + -0.051750048995018005, + 0.19849324226379395, + 0.07481148093938828, + -0.21429942548274994, + -0.7299669981002808, + 0.0, + 1.0008161067962646 + ], + [ + 0.27212345600128174, + -0.05656890198588371, + 0.20247270166873932, + 0.11062520742416382, + -0.2949315011501312, + -0.7478136420249939, + 0.0, + 1.0008161067962646 + ], + [ + 0.28194287419319153, + -0.06581774353981018, + 0.20821228623390198, + 0.12779921293258667, + -0.369730681180954, + -0.7687268257141113, + 0.0, + 1.0008161067962646 + ], + [ + 0.29702404141426086, + -0.07380468398332596, + 0.21067938208580017, + 0.13715112209320068, + -0.40442439913749695, + -0.7910277247428894, + 0.0, + 1.0008161067962646 + ], + [ + 0.3051958382129669, + -0.07820851355791092, + 0.20563918352127075, + 0.13388000428676605, + -0.4089774191379547, + -0.7981883883476257, + 0.0, + 1.0008161067962646 + ], + [ + 0.30756473541259766, + -0.08049233257770538, + 0.20200443267822266, + 0.12200965732336044, + -0.4101712107658386, + -0.7811049818992615, + 0.0, + 0.8279770016670227 + ], + [ + 0.30652734637260437, + -0.07924603670835495, + 0.2001841962337494, + 0.1309671401977539, + -0.414436012506485, + -0.7549887895584106, + 0.0, + 0.629988968372345 + ], + [ + 0.30522459745407104, + -0.0778079628944397, + 0.19932971894741058, + 0.13829602301120758, + -0.4166088402271271, + -0.7505145072937012, + 0.0, + 0.4813377559185028 + ], + [ + 0.3057091534137726, + -0.07789541780948639, + 0.19846341013908386, + 0.13743385672569275, + -0.41528332233428955, + -0.7500070929527283, + 0.0, + 0.4166308641433716 + ], + [ + 0.30691659450531006, + -0.07834678143262863, + 0.19761121273040771, + 0.13514715433120728, + -0.414748877286911, + -0.748779296875, + 0.0, + 0.3788849711418152 + ], + [ + 0.30352383852005005, + -0.07718206197023392, + 0.19557781517505646, + 0.12156199663877487, + -0.3982997536659241, + -0.7248886227607727, + 0.0, + 0.365278422832489 + ], + [ + 0.28896546363830566, + -0.06954796612262726, + 0.18919837474822998, + 0.08263716846704483, + -0.35935303568840027, + -0.6564225554466248, + 0.0, + 0.3445223569869995 + ], + [ + 0.27625390887260437, + -0.06159838289022446, + 0.17706672847270966, + 0.058805838227272034, + -0.31889814138412476, + -0.6125755310058594, + 0.0, + 0.1949377954006195 + ], + [ + 0.2719014883041382, + -0.05482718348503113, + 0.16989518702030182, + 0.058375950902700424, + -0.3168879449367523, + -0.5861228704452515, + 0.0, + 0.10198938846588135 + ], + [ + 0.27075523138046265, + -0.05087966099381447, + 0.16037309169769287, + 0.024864686653017998, + -0.31557756662368774, + -0.5695490837097168, + 0.0, + 0.09624730050563812 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.8279770016670227 + ], + [ + 0.629988968372345 + ], + [ + 0.4813377559185028 + ], + [ + 0.4166308641433716 + ], + [ + 0.3788849711418152 + ], + [ + 0.365278422832489 + ], + [ + 0.3445223569869995 + ], + [ + 0.1949377954006195 + ], + [ + 0.10198938846588135 + ], + [ + 0.09624730050563812 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2569587230682373, + -0.050246283411979675, + 0.20220662653446198 + ], + [ + 0.2611725926399231, + -0.051750048995018005, + 0.19849324226379395 + ], + [ + 0.27212345600128174, + -0.05656890198588371, + 0.20247270166873932 + ], + [ + 0.28194287419319153, + -0.06581774353981018, + 0.20821228623390198 + ], + [ + 0.29702404141426086, + -0.07380468398332596, + 0.21067938208580017 + ], + [ + 0.3051958382129669, + -0.07820851355791092, + 0.20563918352127075 + ], + [ + 0.30756473541259766, + -0.08049233257770538, + 0.20200443267822266 + ], + [ + 0.30652734637260437, + -0.07924603670835495, + 0.2001841962337494 + ], + [ + 0.30522459745407104, + -0.0778079628944397, + 0.19932971894741058 + ], + [ + 0.3057091534137726, + -0.07789541780948639, + 0.19846341013908386 + ], + [ + 0.30691659450531006, + -0.07834678143262863, + 0.19761121273040771 + ], + [ + 0.30352383852005005, + -0.07718206197023392, + 0.19557781517505646 + ], + [ + 0.28896546363830566, + -0.06954796612262726, + 0.18919837474822998 + ], + [ + 0.27625390887260437, + -0.06159838289022446, + 0.17706672847270966 + ], + [ + 0.2719014883041382, + -0.05482718348503113, + 0.16989518702030182 + ], + [ + 0.27075523138046265, + -0.05087966099381447, + 0.16037309169769287 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.7384329119495592, + -0.648542534499496, + 0.18468734524775846, + -0.6465917828096359, + -0.7587276394889972, + -0.07906601974622796, + 0.1914050703423271, + -0.06103236862865843, + -0.9796117338143844 + ], + [ + 0.7281505042085525, + -0.6531350852124767, + 0.2078735281013964, + -0.6515913757097576, + -0.7537114040926357, + -0.0857193002851382, + 0.21266293123508098, + -0.07303204642620208, + -0.974392527615696 + ], + [ + 0.7015203309981588, + -0.6523525862511462, + 0.28688905243608537, + -0.6506747812367769, + -0.7505183534096032, + -0.11551852776853991, + 0.2906743095953039, + -0.10563287559646994, + -0.9509732600523079 + ], + [ + 0.6702235085488986, + -0.656445756611651, + 0.34623607151040936, + -0.6482409064579395, + -0.7449538595498179, + -0.15756736443952818, + 0.361364325553856, + -0.11883903301688015, + -0.924820581760927 + ], + [ + 0.6463939444652627, + -0.6665723706166018, + 0.37128983730934867, + -0.6537130538872655, + -0.7347671558785906, + -0.18104272926431478, + 0.3934896589950287, + -0.12569208953888325, + -0.9106961001845376 + ], + [ + 0.6404392239898924, + -0.6726337188931754, + 0.37067705699592624, + -0.6570351176699513, + -0.7297701590248898, + -0.18905123418063227, + 0.3976712895390585, + -0.12247201804789401, + -0.9093174089786351 + ], + [ + 0.6512320327012034, + -0.6643657228515653, + 0.3667629014551175, + -0.6456641876352044, + -0.7390270471478904, + -0.19224146376170168, + 0.39876634309985404, + -0.11161187160776123, + -0.9102352408729198 + ], + [ + 0.6666257055355487, + -0.6411142190592465, + 0.38024035403844814, + -0.6272671026486674, + -0.7580787160542473, + -0.17847308536664627, + 0.4026737521294108, + -0.11953751873615406, + -0.907504617597302 + ], + [ + 0.6687841364314772, + -0.6347058704651372, + 0.3871385241159753, + -0.6236799663630448, + -0.762401628108892, + -0.17253132183549136, + 0.4046616838977894, + -0.12606433061735994, + -0.9057354504108814 + ], + [ + 0.6694923918560918, + -0.6347740956590568, + 0.3858001875673933, + -0.6237056121935287, + -0.7624614934201329, + -0.17217369244410224, + 0.4034491870918877, + -0.1253567650020021, + -0.9063743348656381 + ], + [ + 0.6704155217021313, + -0.6347667755175058, + 0.38420589396828275, + -0.6230298364101495, + -0.7628008114856096, + -0.17311483165701796, + 0.40296011118174135, + -0.12331286508715818, + -0.9068721442962038 + ], + [ + 0.6899762840918886, + -0.6229521394541868, + 0.36859647222972763, + -0.6111495297498819, + -0.7742337943197526, + -0.16449402426756057, + 0.3878517496122032, + -0.11177058505121104, + -0.9149198635072159 + ], + [ + 0.7415796626368385, + -0.5852088831084694, + 0.3280094009237697, + -0.5713044303060673, + -0.807192546679958, + -0.14849727437560445, + 0.35166866774862443, + -0.07727066529583787, + -0.9329300040242279 + ], + [ + 0.7769189246328898, + -0.5589069338155402, + 0.2898620773405612, + -0.5459871006546472, + -0.827350241586521, + -0.1318698739874179, + 0.31352044664743356, + -0.055808754507126725, + -0.9479400363178871 + ], + [ + 0.791611692687636, + -0.5370471609121321, + 0.2914297084314407, + -0.5255944556959722, + -0.8417285703947244, + -0.12346449660897839, + 0.31161096922584536, + -0.055437899829198736, + -0.9485911886163909 + ], + [ + 0.8005568468841024, + -0.5325874011385354, + 0.2746987350816983, + -0.5126226187417491, + -0.8460449615270651, + -0.14637613818180506, + 0.31036556777667146, + -0.023634365300728613, + -0.9503234350027872 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + 0.004213869571685791, + -0.00150376558303833, + -0.00371338427066803, + 0.012589294463396072, + -0.02170594036579132, + -0.010782003402709961, + 1.0 + ], + [ + 0.010950863361358643, + -0.004818852990865707, + 0.0039794594049453735, + 0.03581372648477554, + -0.08063207566738129, + -0.017846643924713135, + 1.0 + ], + [ + 0.00981941819190979, + -0.009248841553926468, + 0.005739584565162659, + 0.01717400550842285, + -0.07479918003082275, + -0.02091318368911743, + 1.0 + ], + [ + 0.015081167221069336, + -0.007986940443515778, + 0.0024670958518981934, + 0.009351909160614014, + -0.03469371795654297, + -0.022300899028778076, + 1.0 + ], + [ + 0.008171796798706055, + -0.004403829574584961, + -0.005040198564529419, + -0.0032711178064346313, + -0.004553020000457764, + -0.007160663604736328, + 1.0 + ], + [ + 0.0023688971996307373, + -0.002283819019794464, + -0.0036347508430480957, + -0.011870346963405609, + -0.0011937916278839111, + 0.017083406448364258, + 0.0 + ], + [ + -0.0010373890399932861, + 0.0012462958693504333, + -0.0018202364444732666, + 0.008957482874393463, + -0.004264801740646362, + 0.02611619234085083, + 0.0 + ], + [ + -0.0013027489185333252, + 0.0014380738139152527, + -0.0008544772863388062, + 0.007328882813453674, + -0.00217282772064209, + 0.004474282264709473, + 0.0 + ], + [ + 0.0004845559597015381, + -8.74549150466919e-05, + -0.0008663088083267212, + -0.0008621662855148315, + 0.0013255178928375244, + 0.0005074143409729004, + 0.0 + ], + [ + 0.0012074410915374756, + -0.00045136362314224243, + -0.0008521974086761475, + -0.0022867023944854736, + 0.00053444504737854, + 0.0012277960777282715, + 0.0 + ], + [ + -0.0033927559852600098, + 0.0011647194623947144, + -0.0020333975553512573, + -0.013585157692432404, + 0.01644912362098694, + 0.023890674114227295, + 0.0 + ], + [ + -0.014558374881744385, + 0.007634095847606659, + -0.006379440426826477, + -0.03892482817173004, + 0.038946717977523804, + 0.06846606731414795, + 0.0 + ], + [ + -0.012711554765701294, + 0.007949583232402802, + -0.012131646275520325, + -0.023831330239772797, + 0.04045489430427551, + 0.04384702444076538, + 0.0 + ], + [ + -0.0043524205684661865, + 0.006771199405193329, + -0.007171541452407837, + -0.0004298873245716095, + 0.0020101964473724365, + 0.02645266056060791, + 0.0 + ], + [ + -0.0011462569236755371, + 0.0039475224912166595, + -0.009522095322608948, + -0.033511266112327576, + 0.0013103783130645752, + 0.016573786735534668, + 0.0 + ], + [ + -0.0012101829051971436, + 0.0019506029784679413, + -0.007762402296066284, + -0.026933295652270317, + -0.008459419012069702, + 0.005500376224517822, + 0.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.8279770016670227 + ], + [ + 0.629988968372345 + ], + [ + 0.4813377559185028 + ], + [ + 0.4166308641433716 + ], + [ + 0.3788849711418152 + ], + [ + 0.365278422832489 + ], + [ + 0.3445223569869995 + ], + [ + 0.1949377954006195 + ], + [ + 0.10198938846588135 + ], + [ + 0.09624730050563812 + ], + [ + 0.09624730050563812 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2611725926399231, + -0.051750048995018005, + 0.19849324226379395 + ], + [ + 0.27212345600128174, + -0.05656890198588371, + 0.20247270166873932 + ], + [ + 0.28194287419319153, + -0.06581774353981018, + 0.20821228623390198 + ], + [ + 0.29702404141426086, + -0.07380468398332596, + 0.21067938208580017 + ], + [ + 0.3051958382129669, + -0.07820851355791092, + 0.20563918352127075 + ], + [ + 0.30756473541259766, + -0.08049233257770538, + 0.20200443267822266 + ], + [ + 0.30652734637260437, + -0.07924603670835495, + 0.2001841962337494 + ], + [ + 0.30522459745407104, + -0.0778079628944397, + 0.19932971894741058 + ], + [ + 0.3057091534137726, + -0.07789541780948639, + 0.19846341013908386 + ], + [ + 0.30691659450531006, + -0.07834678143262863, + 0.19761121273040771 + ], + [ + 0.30352383852005005, + -0.07718206197023392, + 0.19557781517505646 + ], + [ + 0.28896546363830566, + -0.06954796612262726, + 0.18919837474822998 + ], + [ + 0.27625390887260437, + -0.06159838289022446, + 0.17706672847270966 + ], + [ + 0.2719014883041382, + -0.05482718348503113, + 0.16989518702030182 + ], + [ + 0.27075523138046265, + -0.05087966099381447, + 0.16037309169769287 + ], + [ + 0.2695450484752655, + -0.04892905801534653, + 0.1526106894016266 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.7281505042085525, + -0.6531350852124767, + 0.2078735281013964, + -0.6515913757097576, + -0.7537114040926357, + -0.0857193002851382, + 0.21266293123508098, + -0.07303204642620208, + -0.974392527615696 + ], + [ + 0.7015203309981588, + -0.6523525862511462, + 0.28688905243608537, + -0.6506747812367769, + -0.7505183534096032, + -0.11551852776853991, + 0.2906743095953039, + -0.10563287559646994, + -0.9509732600523079 + ], + [ + 0.6702235085488986, + -0.656445756611651, + 0.34623607151040936, + -0.6482409064579395, + -0.7449538595498179, + -0.15756736443952818, + 0.361364325553856, + -0.11883903301688015, + -0.924820581760927 + ], + [ + 0.6463939444652627, + -0.6665723706166018, + 0.37128983730934867, + -0.6537130538872655, + -0.7347671558785906, + -0.18104272926431478, + 0.3934896589950287, + -0.12569208953888325, + -0.9106961001845376 + ], + [ + 0.6404392239898924, + -0.6726337188931754, + 0.37067705699592624, + -0.6570351176699513, + -0.7297701590248898, + -0.18905123418063227, + 0.3976712895390585, + -0.12247201804789401, + -0.9093174089786351 + ], + [ + 0.6512320327012034, + -0.6643657228515653, + 0.3667629014551175, + -0.6456641876352044, + -0.7390270471478904, + -0.19224146376170168, + 0.39876634309985404, + -0.11161187160776123, + -0.9102352408729198 + ], + [ + 0.6666257055355487, + -0.6411142190592465, + 0.38024035403844814, + -0.6272671026486674, + -0.7580787160542473, + -0.17847308536664627, + 0.4026737521294108, + -0.11953751873615406, + -0.907504617597302 + ], + [ + 0.6687841364314772, + -0.6347058704651372, + 0.3871385241159753, + -0.6236799663630448, + -0.762401628108892, + -0.17253132183549136, + 0.4046616838977894, + -0.12606433061735994, + -0.9057354504108814 + ], + [ + 0.6694923918560918, + -0.6347740956590568, + 0.3858001875673933, + -0.6237056121935287, + -0.7624614934201329, + -0.17217369244410224, + 0.4034491870918877, + -0.1253567650020021, + -0.9063743348656381 + ], + [ + 0.6704155217021313, + -0.6347667755175058, + 0.38420589396828275, + -0.6230298364101495, + -0.7628008114856096, + -0.17311483165701796, + 0.40296011118174135, + -0.12331286508715818, + -0.9068721442962038 + ], + [ + 0.6899762840918886, + -0.6229521394541868, + 0.36859647222972763, + -0.6111495297498819, + -0.7742337943197526, + -0.16449402426756057, + 0.3878517496122032, + -0.11177058505121104, + -0.9149198635072159 + ], + [ + 0.7415796626368385, + -0.5852088831084694, + 0.3280094009237697, + -0.5713044303060673, + -0.807192546679958, + -0.14849727437560445, + 0.35166866774862443, + -0.07727066529583787, + -0.9329300040242279 + ], + [ + 0.7769189246328898, + -0.5589069338155402, + 0.2898620773405612, + -0.5459871006546472, + -0.827350241586521, + -0.1318698739874179, + 0.31352044664743356, + -0.055808754507126725, + -0.9479400363178871 + ], + [ + 0.791611692687636, + -0.5370471609121321, + 0.2914297084314407, + -0.5255944556959722, + -0.8417285703947244, + -0.12346449660897839, + 0.31161096922584536, + -0.055437899829198736, + -0.9485911886163909 + ], + [ + 0.8005568468841024, + -0.5325874011385354, + 0.2746987350816983, + -0.5126226187417491, + -0.8460449615270651, + -0.14637613818180506, + 0.31036556777667146, + -0.023634365300728613, + -0.9503234350027872 + ], + [ + 0.8011168073328662, + -0.5351675913814775, + 0.26796923357680985, + -0.5067897244810045, + -0.8447436319961721, + -0.1719661924983595, + 0.3183960366732956, + 0.0019609530496974836, + -0.947955757666925 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006661.json b/json/chunk-0006/episode_0006661.json new file mode 100644 index 0000000000000000000000000000000000000000..1e63cbcd21deb8246116b6bc6312921ce07488ce --- /dev/null +++ b/json/chunk-0006/episode_0006661.json @@ -0,0 +1,2182 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 35, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut cucumber in cup." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006661.mp4", + "start": 0, + "end": 35, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.22012029588222504, + 0.0816037580370903, + 0.08450712263584137, + 0.02921055257320404, + -0.04745170474052429, + 0.27046388387680054, + 0.0, + 0.9988223910331726 + ], + [ + 0.2180277705192566, + 0.078451007604599, + 0.07888983935117722, + 0.028203599154949188, + -0.023706145584583282, + 0.2881108224391937, + 0.0, + 0.9988223910331726 + ], + [ + 0.22507859766483307, + 0.054410841315984726, + 0.07141492515802383, + 0.07483261078596115, + -0.012614845298230648, + 0.4703333377838135, + 0.0, + 0.9988223910331726 + ], + [ + 0.24258115887641907, + 0.024711159989237785, + 0.0695599690079689, + 0.16496406495571136, + -0.06395792216062546, + 0.7108139991760254, + 0.0, + 0.9988223910331726 + ], + [ + 0.25873667001724243, + 0.00034726932062767446, + 0.0647563561797142, + 0.1273317039012909, + -0.07669059187173843, + 0.925733208656311, + 0.0, + 0.9988223910331726 + ], + [ + 0.2723805904388428, + -0.016270052641630173, + 0.057602547109127045, + 0.09162499755620956, + -0.11741843819618225, + 1.0994235277175903, + 0.0, + 0.9988223910331726 + ], + [ + 0.2876482903957367, + -0.02893008105456829, + 0.053073007613420486, + -0.014051524922251701, + -0.127254456281662, + 1.2992302179336548, + 0.0, + 0.9988223910331726 + ], + [ + 0.30087918043136597, + -0.04087356477975845, + 0.04835904389619827, + -0.06692300736904144, + -0.10203897953033447, + 1.398228645324707, + 0.0, + 0.9988223910331726 + ], + [ + 0.30944573879241943, + -0.046634916216135025, + 0.037662308663129807, + -0.05356776341795921, + -0.11086349934339523, + 1.4912234544754028, + 0.0, + 0.9988223910331726 + ], + [ + 0.3160858154296875, + -0.04708731919527054, + 0.02515595220029354, + -0.054039645940065384, + -0.07723946124315262, + 1.555743932723999, + 0.0, + 0.9988223910331726 + ], + [ + 0.3212568759918213, + -0.04778878390789032, + 0.01183377206325531, + -0.0222789254039526, + -0.030700435861945152, + 1.5592890977859497, + 0.0, + 0.9988223910331726 + ], + [ + 0.32391566038131714, + -0.046208858489990234, + 0.00651188101619482, + -0.014921233989298344, + -0.03166547790169716, + 1.572756052017212, + 0.0, + 0.9988223910331726 + ], + [ + 0.3239605724811554, + -0.04151510074734688, + 0.006340440828353167, + -0.009564816951751709, + -0.03985011577606201, + 1.5668433904647827, + 0.0, + 0.9515043497085571 + ], + [ + 0.3232966363430023, + -0.03424342721700668, + 0.006308321375399828, + 0.002696339040994644, + -0.03559498116374016, + 1.5303245782852173, + 0.0, + 0.680191159248352 + ], + [ + 0.31915244460105896, + -0.024150270968675613, + 0.007031054701656103, + 0.037860892713069916, + -0.05151087045669556, + 1.4575915336608887, + 0.0, + 0.442066490650177 + ], + [ + 0.3141985237598419, + -0.007612794637680054, + 0.018426688387989998, + 0.04830929636955261, + -0.07220268249511719, + 1.4053455591201782, + 0.0, + 0.4448287785053253 + ], + [ + 0.3079327642917633, + 0.018278716132044792, + 0.03673527017235756, + 0.06419385969638824, + -0.09962092339992523, + 1.389922022819519, + 0.0, + 0.45967593789100647 + ], + [ + 0.30442753434181213, + 0.047983746975660324, + 0.055489297956228256, + 0.10080026835203171, + -0.13187311589717865, + 1.3993570804595947, + 0.0, + 0.45967593789100647 + ], + [ + 0.3174665868282318, + 0.0854264497756958, + 0.07845860719680786, + 0.10519977658987045, + -0.20250391960144043, + 1.3933541774749756, + 0.0, + 0.45967593789100647 + ], + [ + 0.3263527452945709, + 0.1199684739112854, + 0.08569256216287613, + 0.13142900168895721, + -0.25388386845588684, + 1.3861814737319946, + 0.0, + 0.45967593789100647 + ], + [ + 0.3345290720462799, + 0.14535567164421082, + 0.09306424111127853, + 0.1268979161977768, + -0.2856081426143646, + 1.423200249671936, + 0.0, + 0.45967593789100647 + ], + [ + 0.34376776218414307, + 0.1613643616437912, + 0.08739780634641647, + 0.12671253085136414, + -0.29138368368148804, + 1.4533199071884155, + 0.0, + 0.45967593789100647 + ], + [ + 0.35334035754203796, + 0.1685563027858734, + 0.07772000133991241, + 0.13205601274967194, + -0.30918294191360474, + 1.4687796831130981, + 0.0, + 0.45967593789100647 + ], + [ + 0.3630237877368927, + 0.17226120829582214, + 0.07249899953603745, + 0.12779785692691803, + -0.3327043354511261, + 1.4839917421340942, + 0.0, + 0.45967593789100647 + ], + [ + 0.3717251420021057, + 0.16898520290851593, + 0.06515903770923615, + 0.11585889756679535, + -0.3358874022960663, + 1.5002188682556152, + 0.0, + 0.45967593789100647 + ], + [ + 0.37902766466140747, + 0.16978926956653595, + 0.06517279148101807, + 0.10170479118824005, + -0.3401339054107666, + 1.5165289640426636, + 0.0, + 0.45967593789100647 + ], + [ + 0.3844580352306366, + 0.16962046921253204, + 0.05732143670320511, + 0.10360479354858398, + -0.3363165259361267, + 1.52250075340271, + 0.0, + 0.45967593789100647 + ], + [ + 0.38951370120048523, + 0.1678617149591446, + 0.05664980784058571, + 0.09429430216550827, + -0.3308704197406769, + 1.5304362773895264, + 0.0, + 0.529549777507782 + ], + [ + 0.390825092792511, + 0.16562604904174805, + 0.05123664066195488, + 0.11697076261043549, + -0.314926415681839, + 1.5105031728744507, + 0.0, + 0.8102405071258545 + ], + [ + 0.3936293125152588, + 0.16505225002765656, + 0.05252620950341225, + 0.10253135859966278, + -0.3196428418159485, + 1.502575397491455, + 0.0, + 0.9844722747802734 + ], + [ + 0.38788020610809326, + 0.16146694123744965, + 0.046074554324150085, + 0.12888731062412262, + -0.3109290599822998, + 1.4975441694259644, + 0.0, + 0.9913908839225769 + ], + [ + 0.379259318113327, + 0.15725186467170715, + 0.05554434284567833, + 0.12443656474351883, + -0.3088224232196808, + 1.4968899488449097, + 0.0, + 0.9913908839225769 + ], + [ + 0.37086382508277893, + 0.1537594199180603, + 0.07540038973093033, + 0.10443787276744843, + -0.3117058575153351, + 1.4919514656066895, + 0.0, + 0.9913908839225769 + ], + [ + 0.35824263095855713, + 0.15031619369983673, + 0.0895531103014946, + 0.10314680635929108, + -0.3120480179786682, + 1.4938766956329346, + 0.0, + 0.9913908839225769 + ], + [ + 0.3481753170490265, + 0.14793266355991364, + 0.10362731665372849, + 0.09250470250844955, + -0.30610382556915283, + 1.4875577688217163, + 0.0, + 0.9913908839225769 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9515043497085571 + ], + [ + 0.680191159248352 + ], + [ + 0.442066490650177 + ], + [ + 0.4448287785053253 + ], + [ + 0.45967593789100647 + ], + [ + 0.45967593789100647 + ], + [ + 0.45967593789100647 + ], + [ + 0.45967593789100647 + ], + [ + 0.45967593789100647 + ], + [ + 0.45967593789100647 + ], + [ + 0.45967593789100647 + ], + [ + 0.45967593789100647 + ], + [ + 0.45967593789100647 + ], + [ + 0.45967593789100647 + ], + [ + 0.45967593789100647 + ], + [ + 0.529549777507782 + ], + [ + 0.8102405071258545 + ], + [ + 0.9844722747802734 + ], + [ + 0.9913908839225769 + ], + [ + 0.9913908839225769 + ], + [ + 0.9913908839225769 + ], + [ + 0.9913908839225769 + ], + [ + 0.9913908839225769 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.22012029588222504, + 0.0816037580370903, + 0.08450712263584137 + ], + [ + 0.2180277705192566, + 0.078451007604599, + 0.07888983935117722 + ], + [ + 0.22507859766483307, + 0.054410841315984726, + 0.07141492515802383 + ], + [ + 0.24258115887641907, + 0.024711159989237785, + 0.0695599690079689 + ], + [ + 0.25873667001724243, + 0.00034726932062767446, + 0.0647563561797142 + ], + [ + 0.2723805904388428, + -0.016270052641630173, + 0.057602547109127045 + ], + [ + 0.2876482903957367, + -0.02893008105456829, + 0.053073007613420486 + ], + [ + 0.30087918043136597, + -0.04087356477975845, + 0.04835904389619827 + ], + [ + 0.30944573879241943, + -0.046634916216135025, + 0.037662308663129807 + ], + [ + 0.3160858154296875, + -0.04708731919527054, + 0.02515595220029354 + ], + [ + 0.3212568759918213, + -0.04778878390789032, + 0.01183377206325531 + ], + [ + 0.32391566038131714, + -0.046208858489990234, + 0.00651188101619482 + ], + [ + 0.3239605724811554, + -0.04151510074734688, + 0.006340440828353167 + ], + [ + 0.3232966363430023, + -0.03424342721700668, + 0.006308321375399828 + ], + [ + 0.31915244460105896, + -0.024150270968675613, + 0.007031054701656103 + ], + [ + 0.3141985237598419, + -0.007612794637680054, + 0.018426688387989998 + ], + [ + 0.3079327642917633, + 0.018278716132044792, + 0.03673527017235756 + ], + [ + 0.30442753434181213, + 0.047983746975660324, + 0.055489297956228256 + ], + [ + 0.3174665868282318, + 0.0854264497756958, + 0.07845860719680786 + ], + [ + 0.3263527452945709, + 0.1199684739112854, + 0.08569256216287613 + ], + [ + 0.3345290720462799, + 0.14535567164421082, + 0.09306424111127853 + ], + [ + 0.34376776218414307, + 0.1613643616437912, + 0.08739780634641647 + ], + [ + 0.35334035754203796, + 0.1685563027858734, + 0.07772000133991241 + ], + [ + 0.3630237877368927, + 0.17226120829582214, + 0.07249899953603745 + ], + [ + 0.3717251420021057, + 0.16898520290851593, + 0.06515903770923615 + ], + [ + 0.37902766466140747, + 0.16978926956653595, + 0.06517279148101807 + ], + [ + 0.3844580352306366, + 0.16962046921253204, + 0.05732143670320511 + ], + [ + 0.38951370120048523, + 0.1678617149591446, + 0.05664980784058571 + ], + [ + 0.390825092792511, + 0.16562604904174805, + 0.05123664066195488 + ], + [ + 0.3936293125152588, + 0.16505225002765656, + 0.05252620950341225 + ], + [ + 0.38788020610809326, + 0.16146694123744965, + 0.046074554324150085 + ], + [ + 0.379259318113327, + 0.15725186467170715, + 0.05554434284567833 + ], + [ + 0.37086382508277893, + 0.1537594199180603, + 0.07540038973093033 + ], + [ + 0.35824263095855713, + 0.15031619369983673, + 0.0895531103014946 + ], + [ + 0.3481753170490265, + 0.14793266355991364, + 0.10362731665372849 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9625623589827719, + 0.2683995189631809, + 0.037886716535676275, + 0.26687774406419607, + -0.9628658285309685, + 0.04081257123212448, + 0.04743389919379464, + -0.029173523402305192, + -0.9984482614234792 + ], + [ + 0.9585129834508302, + 0.284669316979822, + 0.014705119055250723, + 0.28406158572422924, + -0.9582111430547742, + 0.03377011758194661, + 0.02370392524506937, + -0.028191936717858898, + -0.9993214390935838 + ], + [ + 0.8913463479533646, + 0.45275584223469517, + -0.022667935780549944, + 0.45314739556723266, + -0.8884951110428027, + 0.07234552884368022, + 0.012614510725084032, + -0.07475683898741066, + -0.9971220031389223 + ], + [ + 0.7562815631511108, + 0.6515474075148057, + -0.05936474541719219, + 0.6511168528781038, + -0.7406949121356997, + 0.1655834865993641, + 0.06391432653033288, + -0.1638811242853301, + -0.9844074034499893 + ], + [ + 0.599481634761363, + 0.7984425176274574, + -0.055779168410541424, + 0.7967131504728433, + -0.5886070645105888, + 0.1370761812710898, + 0.07661543870187612, + -0.1266146502303556, + -0.9889887789553349 + ], + [ + 0.45098297106508856, + 0.8920760232259435, + -0.02854345099478723, + 0.8848110052999814, + -0.44265515547598977, + 0.14548504469726095, + 0.11714881437446234, + -0.09086683727253639, + -0.988948620088397 + ], + [ + 0.26607150597997103, + 0.962778544322461, + 0.047575501025976366, + 0.9555623896328469, + -0.2699318843212452, + 0.11847910088258026, + 0.12691128091983378, + 0.013937446649380902, + -0.9918161494733699 + ], + [ + 0.17081930064089396, + 0.9817721764984431, + 0.08333162654158165, + 0.9800229075451223, + -0.1780387253168782, + 0.08864148562803836, + 0.10186200084114001, + 0.06652522635099378, + -0.9925716735045327 + ], + [ + 0.07900093732751784, + 0.99493500841854, + 0.06215449239252963, + 0.9907161086127472, + -0.08527987932664932, + 0.10587225470937717, + 0.11063654024140807, + 0.053213449476909064, + -0.9924353302649898 + ], + [ + 0.015006948877995252, + 0.9983643606392125, + 0.055166972826405994, + 0.9969055681473369, + -0.01919719591746083, + 0.07622831406860611, + 0.07716268322323079, + 0.053852307976193614, + -0.9955630814988212 + ], + [ + 0.011501552720615094, + 0.9996777754378461, + 0.022628733518562223, + 0.999462602401064, + -0.012187882862999933, + 0.030429622294900566, + 0.030695613476642365, + 0.022266584986409182, + -0.9992807305789176 + ], + [ + -0.0019587415399629493, + 0.9998876861634051, + 0.014858613339467652, + 0.9994967713471928, + 0.001487115200739686, + 0.031685841552927155, + 0.03166018632473756, + 0.014913200433572651, + -0.9993874269044569 + ], + [ + 0.003949787764911006, + 0.9999449387299431, + 0.009722072051934741, + 0.9991982825676793, + -0.004333794620275333, + 0.03979962735993711, + 0.039839569405463474, + 0.00955707761609813, + -0.999160383010169 + ], + [ + 0.04043507167847965, + 0.9991813808624482, + -0.0012542392785154718, + 0.9985482148111436, + -0.04036467662094373, + 0.035667290039544455, + 0.0355874651504509, + -0.0026946278218337484, + -0.9993629327251774 + ], + [ + 0.11281332193686361, + 0.9931072826891978, + -0.03179747573703627, + 0.9922812759387607, + -0.11094575680318236, + 0.05539772981552926, + 0.051488093914174304, + -0.03780164172422883, + -0.997957920990679 + ], + [ + 0.1642678449193939, + 0.9857672308761252, + -0.03576369187253953, + 0.983774313914445, + -0.16106871008238138, + 0.07902512204710925, + 0.07213996401233304, + -0.04816468792812591, + -0.9962308911236819 + ], + [ + 0.17899777919278687, + 0.9828083860573329, + -0.045248992689683395, + 0.9788096107094912, + -0.17324314603756924, + 0.10917214999137785, + 0.09945622668684341, + -0.06383172131774405, + -0.992992432159898 + ], + [ + 0.16911940406004866, + 0.9825959917154578, + -0.07683582650749612, + 0.9767848714323216, + -0.1566967556376686, + 0.1460734120693138, + 0.1314912244650447, + -0.09975592131470104, + -0.9862853613692837 + ], + [ + 0.17290561907089969, + 0.9825845916234753, + -0.06805267957867044, + 0.9641853043196497, + -0.15474917745828437, + 0.21540517869821338, + 0.20112271335613424, + -0.10286015934322032, + -0.9741506258234163 + ], + [ + 0.1776835335422028, + 0.9805714315499645, + -0.08311575985341461, + 0.9514959790151465, + -0.14962867862145168, + 0.2688245904897957, + 0.25116521221292754, + -0.12685001443457505, + -0.9595963265936273 + ], + [ + 0.14110341388481384, + 0.9864178079837476, + -0.08408171431761566, + 0.9490583910596462, + -0.11060950177557494, + 0.2950486544220029, + 0.2817410104143987, + -0.12143082890887844, + -0.9517754760662707 + ], + [ + 0.11226582921869449, + 0.989400643765506, + -0.09210184420651338, + 0.9512454027551563, + -0.0802125717518008, + 0.2978223078786108, + 0.28727785735593814, + -0.1210467242405351, + -0.9501679447464099 + ], + [ + 0.09701079358877651, + 0.9902195991932395, + -0.10026989229502525, + 0.9476298487234388, + -0.061096023437868574, + 0.31347240026591183, + 0.30428042285968454, + -0.12542894918502495, + -0.9442886227052999 + ], + [ + 0.08194144799029313, + 0.9917192443454247, + -0.09888649804798207, + 0.9416038826155096, + -0.044520042213717526, + 0.33376652630946346, + 0.32660025619195565, + -0.12046122295671866, + -0.9374547276637524 + ], + [ + 0.06657815714428672, + 0.9935099458248049, + -0.09222438147509573, + 0.9417677529966351, + -0.03203843064807377, + 0.3347342802541707, + 0.32960711219107475, + -0.10913994002564731, + -0.9377886889295788 + ], + [ + 0.05113327952438429, + 0.9952052402944167, + -0.08337815910424692, + 0.9413222266423924, + -0.020138696533817613, + 0.336907848722654, + 0.3336133291013551, + -0.09571291758404786, + -0.9378385703592382 + ], + [ + 0.04557217325644619, + 0.9951257435992233, + -0.08745245251436896, + 0.9428759771047137, + -0.013928013475435874, + 0.3328526734750077, + 0.33001222526372637, + -0.09762563631916353, + -0.9389148876813929 + ], + [ + 0.03816055543302449, + 0.995981031641476, + -0.08102812239848829, + 0.944989746237438, + -0.009607083201450373, + 0.3269588406182999, + 0.32486635946977566, + -0.08904767578517558, + -0.9415584739792388 + ], + [ + 0.057293159448566944, + 0.9935402519767695, + -0.09795540609041642, + 0.949091457909323, + -0.02376184362494449, + 0.3141031348316975, + 0.3097465066856395, + -0.11096460016366025, + -0.9443219573358241 + ], + [ + 0.06471515715472836, + 0.9946267377670218, + -0.0808059462748307, + 0.9471393869335695, + -0.03572308261306795, + 0.3188272935112709, + 0.3142275133618012, + -0.09716745282012872, + -0.9443619835417492 + ], + [ + 0.06967734506837975, + 0.9919239544415246, + -0.10598082934809569, + 0.9494965914679059, + -0.033361950883124214, + 0.3119987227924187, + 0.30594327966969703, + -0.12236767889585978, + -0.9441529859014317 + ], + [ + 0.07034594444851539, + 0.9923444884415865, + -0.10150795219711894, + 0.9500914486078543, + -0.03564780819928015, + 0.3099281740223311, + 0.3039369792932005, + -0.11824402746098227, + -0.9453256912767849 + ], + [ + 0.07496773973926929, + 0.9939797474739573, + -0.07990056076144414, + 0.9488548554515555, + -0.046462264977145895, + 0.31227507300327606, + 0.30668273718028716, + -0.09922459143176922, + -0.9466256805996791 + ], + [ + 0.07313277021192893, + 0.9941730369123111, + -0.07919324843496556, + 0.9488927470562748, + -0.044918040130873804, + 0.312385857962229, + 0.30700839158747095, + -0.09799154222357244, + -0.9466485647522633 + ], + [ + 0.07927758337579843, + 0.9945913324041815, + -0.06710548621810619, + 0.9502135179927873, + -0.05504719982991185, + 0.306698672991353, + 0.3013458727075326, + -0.0880788697552419, + -0.949438137903031 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.002092525362968445, + -0.0031527504324913025, + -0.005617283284664154, + -0.0010069534182548523, + 0.02374555915594101, + 0.01764693856239319, + 1.0 + ], + [ + 0.007050827145576477, + -0.024040166288614273, + -0.007474914193153381, + 0.04662901163101196, + 0.011091300286352634, + 0.18222251534461975, + 1.0 + ], + [ + 0.017502561211586, + -0.02969968132674694, + -0.0018549561500549316, + 0.09013145416975021, + -0.051343075931072235, + 0.24048066139221191, + 1.0 + ], + [ + 0.016155511140823364, + -0.024363890290260315, + -0.0048036128282547, + -0.03763236105442047, + -0.012732669711112976, + 0.21491920948028564, + 1.0 + ], + [ + 0.013643920421600342, + -0.016617322340607643, + -0.007153809070587158, + -0.03570670634508133, + -0.04072784632444382, + 0.1736903190612793, + 1.0 + ], + [ + 0.015267699956893921, + -0.012660028412938118, + -0.004529539495706558, + -0.10567652434110641, + -0.009836018085479736, + 0.19980669021606445, + 1.0 + ], + [ + 0.013230890035629272, + -0.011943483725190163, + -0.004713963717222214, + -0.05287148058414459, + 0.025215476751327515, + 0.09899842739105225, + 1.0 + ], + [ + 0.008566558361053467, + -0.005761351436376572, + -0.010696735233068466, + 0.01335524395108223, + -0.00882451981306076, + 0.0929948091506958, + 1.0 + ], + [ + 0.006640076637268066, + -0.0004524029791355133, + -0.012506356462836266, + -0.00047188252210617065, + 0.033624038100242615, + 0.06452047824859619, + 1.0 + ], + [ + 0.005171060562133789, + -0.0007014647126197815, + -0.013322180137038231, + 0.031760722398757935, + 0.04653902351856232, + 0.0035451650619506836, + 1.0 + ], + [ + 0.0026587843894958496, + 0.0015799254179000854, + -0.00532189104706049, + 0.007357691414654255, + -0.0009650420397520065, + 0.013466954231262207, + 1.0 + ], + [ + 4.4912099838256836e-05, + 0.004693757742643356, + -0.00017144018784165382, + 0.005356417037546635, + -0.008184637874364853, + -0.005912661552429199, + 0.0 + ], + [ + -0.0006639361381530762, + 0.007271673530340195, + -3.211945295333862e-05, + 0.012261155992746353, + 0.004255134612321854, + -0.03651881217956543, + 0.0 + ], + [ + -0.004144191741943359, + 0.01009315624833107, + 0.0007227333262562752, + 0.03516455367207527, + -0.0159158892929554, + -0.07273304462432861, + 0.0 + ], + [ + -0.004953920841217041, + 0.01653747633099556, + 0.011395633220672607, + 0.010448403656482697, + -0.02069181203842163, + -0.05224597454071045, + 0.0 + ], + [ + -0.006265759468078613, + 0.025891510769724846, + 0.01830858178436756, + 0.015884563326835632, + -0.027418240904808044, + -0.01542353630065918, + 0.0 + ], + [ + -0.003505229949951172, + 0.029705030843615532, + 0.018754027783870697, + 0.03660640865564346, + -0.03225219249725342, + 0.009435057640075684, + 0.0 + ], + [ + 0.013039052486419678, + 0.03744270280003548, + 0.022969309240579605, + 0.004399508237838745, + -0.07063080370426178, + -0.006002902984619141, + 0.0 + ], + [ + 0.008886158466339111, + 0.0345420241355896, + 0.007233954966068268, + 0.02622922509908676, + -0.05137994885444641, + -0.007172703742980957, + 0.0 + ], + [ + 0.008176326751708984, + 0.025387197732925415, + 0.007371678948402405, + -0.00453108549118042, + -0.03172427415847778, + 0.037018775939941406, + 0.0 + ], + [ + 0.00923869013786316, + 0.016008689999580383, + -0.0056664347648620605, + -0.0001853853464126587, + -0.005775541067123413, + 0.030119657516479492, + 0.0 + ], + [ + 0.009572595357894897, + 0.007191941142082214, + -0.009677805006504059, + 0.0053434818983078, + -0.0177992582321167, + 0.015459775924682617, + 0.0 + ], + [ + 0.009683430194854736, + 0.0037049055099487305, + -0.0052210018038749695, + -0.004258155822753906, + -0.023521393537521362, + 0.015212059020996094, + 0.0 + ], + [ + 0.008701354265213013, + -0.0032760053873062134, + -0.0073399618268013, + -0.01193895936012268, + -0.0031830668449401855, + 0.016227126121520996, + 0.0 + ], + [ + 0.007302522659301758, + 0.0008040666580200195, + 1.3753771781921387e-05, + -0.014154106378555298, + -0.004246503114700317, + 0.01631009578704834, + 0.0 + ], + [ + 0.005430370569229126, + -0.00016880035400390625, + -0.007851354777812958, + 0.001900002360343933, + 0.0038173794746398926, + 0.005971789360046387, + 0.0 + ], + [ + 0.005055665969848633, + -0.0017587542533874512, + -0.0006716288626194, + -0.009310491383075714, + 0.005446106195449829, + 0.007935523986816406, + 1.0 + ], + [ + 0.0013113915920257568, + -0.0022356659173965454, + -0.005413167178630829, + 0.022676460444927216, + 0.01594400405883789, + -0.019933104515075684, + 1.0 + ], + [ + 0.0028042197227478027, + -0.0005737990140914917, + 0.001289568841457367, + -0.014439404010772705, + -0.004716426134109497, + -0.007927775382995605, + 1.0 + ], + [ + -0.005749106407165527, + -0.003585308790206909, + -0.006451655179262161, + 0.02635595202445984, + 0.008713781833648682, + -0.005031228065490723, + 1.0 + ], + [ + -0.008620887994766235, + -0.004215076565742493, + 0.009469788521528244, + -0.00445074588060379, + 0.0021066367626190186, + -0.0006542205810546875, + 1.0 + ], + [ + -0.008395493030548096, + -0.0034924447536468506, + 0.019856046885252, + -0.019998691976070404, + -0.002883434295654297, + -0.004938483238220215, + 1.0 + ], + [ + -0.012621194124221802, + -0.0034432262182235718, + 0.01415272057056427, + -0.0012910664081573486, + -0.0003421604633331299, + 0.0019252300262451172, + 1.0 + ], + [ + -0.01006731390953064, + -0.0023835301399230957, + 0.014074206352233887, + -0.010642103850841522, + 0.005944192409515381, + -0.006318926811218262, + 1.0 + ], + [ + -0.010410279035568237, + -0.003762081265449524, + 0.002703540027141571, + 0.00429108738899231, + 0.007204145193099976, + -0.021204829216003418, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9515043497085571 + ], + [ + 0.680191159248352 + ], + [ + 0.442066490650177 + ], + [ + 0.4448287785053253 + ], + [ + 0.45967593789100647 + ], + [ + 0.45967593789100647 + ], + [ + 0.45967593789100647 + ], + [ + 0.45967593789100647 + ], + [ + 0.45967593789100647 + ], + [ + 0.45967593789100647 + ], + [ + 0.45967593789100647 + ], + [ + 0.45967593789100647 + ], + [ + 0.45967593789100647 + ], + [ + 0.45967593789100647 + ], + [ + 0.45967593789100647 + ], + [ + 0.529549777507782 + ], + [ + 0.8102405071258545 + ], + [ + 0.9844722747802734 + ], + [ + 0.9913908839225769 + ], + [ + 0.9913908839225769 + ], + [ + 0.9913908839225769 + ], + [ + 0.9913908839225769 + ], + [ + 0.9913908839225769 + ], + [ + 0.9913908839225769 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2180277705192566, + 0.078451007604599, + 0.07888983935117722 + ], + [ + 0.22507859766483307, + 0.054410841315984726, + 0.07141492515802383 + ], + [ + 0.24258115887641907, + 0.024711159989237785, + 0.0695599690079689 + ], + [ + 0.25873667001724243, + 0.00034726932062767446, + 0.0647563561797142 + ], + [ + 0.2723805904388428, + -0.016270052641630173, + 0.057602547109127045 + ], + [ + 0.2876482903957367, + -0.02893008105456829, + 0.053073007613420486 + ], + [ + 0.30087918043136597, + -0.04087356477975845, + 0.04835904389619827 + ], + [ + 0.30944573879241943, + -0.046634916216135025, + 0.037662308663129807 + ], + [ + 0.3160858154296875, + -0.04708731919527054, + 0.02515595220029354 + ], + [ + 0.3212568759918213, + -0.04778878390789032, + 0.01183377206325531 + ], + [ + 0.32391566038131714, + -0.046208858489990234, + 0.00651188101619482 + ], + [ + 0.3239605724811554, + -0.04151510074734688, + 0.006340440828353167 + ], + [ + 0.3232966363430023, + -0.03424342721700668, + 0.006308321375399828 + ], + [ + 0.31915244460105896, + -0.024150270968675613, + 0.007031054701656103 + ], + [ + 0.3141985237598419, + -0.007612794637680054, + 0.018426688387989998 + ], + [ + 0.3079327642917633, + 0.018278716132044792, + 0.03673527017235756 + ], + [ + 0.30442753434181213, + 0.047983746975660324, + 0.055489297956228256 + ], + [ + 0.3174665868282318, + 0.0854264497756958, + 0.07845860719680786 + ], + [ + 0.3263527452945709, + 0.1199684739112854, + 0.08569256216287613 + ], + [ + 0.3345290720462799, + 0.14535567164421082, + 0.09306424111127853 + ], + [ + 0.34376776218414307, + 0.1613643616437912, + 0.08739780634641647 + ], + [ + 0.35334035754203796, + 0.1685563027858734, + 0.07772000133991241 + ], + [ + 0.3630237877368927, + 0.17226120829582214, + 0.07249899953603745 + ], + [ + 0.3717251420021057, + 0.16898520290851593, + 0.06515903770923615 + ], + [ + 0.37902766466140747, + 0.16978926956653595, + 0.06517279148101807 + ], + [ + 0.3844580352306366, + 0.16962046921253204, + 0.05732143670320511 + ], + [ + 0.38951370120048523, + 0.1678617149591446, + 0.05664980784058571 + ], + [ + 0.390825092792511, + 0.16562604904174805, + 0.05123664066195488 + ], + [ + 0.3936293125152588, + 0.16505225002765656, + 0.05252620950341225 + ], + [ + 0.38788020610809326, + 0.16146694123744965, + 0.046074554324150085 + ], + [ + 0.379259318113327, + 0.15725186467170715, + 0.05554434284567833 + ], + [ + 0.37086382508277893, + 0.1537594199180603, + 0.07540038973093033 + ], + [ + 0.35824263095855713, + 0.15031619369983673, + 0.0895531103014946 + ], + [ + 0.3481753170490265, + 0.14793266355991364, + 0.10362731665372849 + ], + [ + 0.33776503801345825, + 0.1441705822944641, + 0.10633085668087006 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9585129834508302, + 0.284669316979822, + 0.014705119055250723, + 0.28406158572422924, + -0.9582111430547742, + 0.03377011758194661, + 0.02370392524506937, + -0.028191936717858898, + -0.9993214390935838 + ], + [ + 0.8913463479533646, + 0.45275584223469517, + -0.022667935780549944, + 0.45314739556723266, + -0.8884951110428027, + 0.07234552884368022, + 0.012614510725084032, + -0.07475683898741066, + -0.9971220031389223 + ], + [ + 0.7562815631511108, + 0.6515474075148057, + -0.05936474541719219, + 0.6511168528781038, + -0.7406949121356997, + 0.1655834865993641, + 0.06391432653033288, + -0.1638811242853301, + -0.9844074034499893 + ], + [ + 0.599481634761363, + 0.7984425176274574, + -0.055779168410541424, + 0.7967131504728433, + -0.5886070645105888, + 0.1370761812710898, + 0.07661543870187612, + -0.1266146502303556, + -0.9889887789553349 + ], + [ + 0.45098297106508856, + 0.8920760232259435, + -0.02854345099478723, + 0.8848110052999814, + -0.44265515547598977, + 0.14548504469726095, + 0.11714881437446234, + -0.09086683727253639, + -0.988948620088397 + ], + [ + 0.26607150597997103, + 0.962778544322461, + 0.047575501025976366, + 0.9555623896328469, + -0.2699318843212452, + 0.11847910088258026, + 0.12691128091983378, + 0.013937446649380902, + -0.9918161494733699 + ], + [ + 0.17081930064089396, + 0.9817721764984431, + 0.08333162654158165, + 0.9800229075451223, + -0.1780387253168782, + 0.08864148562803836, + 0.10186200084114001, + 0.06652522635099378, + -0.9925716735045327 + ], + [ + 0.07900093732751784, + 0.99493500841854, + 0.06215449239252963, + 0.9907161086127472, + -0.08527987932664932, + 0.10587225470937717, + 0.11063654024140807, + 0.053213449476909064, + -0.9924353302649898 + ], + [ + 0.015006948877995252, + 0.9983643606392125, + 0.055166972826405994, + 0.9969055681473369, + -0.01919719591746083, + 0.07622831406860611, + 0.07716268322323079, + 0.053852307976193614, + -0.9955630814988212 + ], + [ + 0.011501552720615094, + 0.9996777754378461, + 0.022628733518562223, + 0.999462602401064, + -0.012187882862999933, + 0.030429622294900566, + 0.030695613476642365, + 0.022266584986409182, + -0.9992807305789176 + ], + [ + -0.0019587415399629493, + 0.9998876861634051, + 0.014858613339467652, + 0.9994967713471928, + 0.001487115200739686, + 0.031685841552927155, + 0.03166018632473756, + 0.014913200433572651, + -0.9993874269044569 + ], + [ + 0.003949787764911006, + 0.9999449387299431, + 0.009722072051934741, + 0.9991982825676793, + -0.004333794620275333, + 0.03979962735993711, + 0.039839569405463474, + 0.00955707761609813, + -0.999160383010169 + ], + [ + 0.04043507167847965, + 0.9991813808624482, + -0.0012542392785154718, + 0.9985482148111436, + -0.04036467662094373, + 0.035667290039544455, + 0.0355874651504509, + -0.0026946278218337484, + -0.9993629327251774 + ], + [ + 0.11281332193686361, + 0.9931072826891978, + -0.03179747573703627, + 0.9922812759387607, + -0.11094575680318236, + 0.05539772981552926, + 0.051488093914174304, + -0.03780164172422883, + -0.997957920990679 + ], + [ + 0.1642678449193939, + 0.9857672308761252, + -0.03576369187253953, + 0.983774313914445, + -0.16106871008238138, + 0.07902512204710925, + 0.07213996401233304, + -0.04816468792812591, + -0.9962308911236819 + ], + [ + 0.17899777919278687, + 0.9828083860573329, + -0.045248992689683395, + 0.9788096107094912, + -0.17324314603756924, + 0.10917214999137785, + 0.09945622668684341, + -0.06383172131774405, + -0.992992432159898 + ], + [ + 0.16911940406004866, + 0.9825959917154578, + -0.07683582650749612, + 0.9767848714323216, + -0.1566967556376686, + 0.1460734120693138, + 0.1314912244650447, + -0.09975592131470104, + -0.9862853613692837 + ], + [ + 0.17290561907089969, + 0.9825845916234753, + -0.06805267957867044, + 0.9641853043196497, + -0.15474917745828437, + 0.21540517869821338, + 0.20112271335613424, + -0.10286015934322032, + -0.9741506258234163 + ], + [ + 0.1776835335422028, + 0.9805714315499645, + -0.08311575985341461, + 0.9514959790151465, + -0.14962867862145168, + 0.2688245904897957, + 0.25116521221292754, + -0.12685001443457505, + -0.9595963265936273 + ], + [ + 0.14110341388481384, + 0.9864178079837476, + -0.08408171431761566, + 0.9490583910596462, + -0.11060950177557494, + 0.2950486544220029, + 0.2817410104143987, + -0.12143082890887844, + -0.9517754760662707 + ], + [ + 0.11226582921869449, + 0.989400643765506, + -0.09210184420651338, + 0.9512454027551563, + -0.0802125717518008, + 0.2978223078786108, + 0.28727785735593814, + -0.1210467242405351, + -0.9501679447464099 + ], + [ + 0.09701079358877651, + 0.9902195991932395, + -0.10026989229502525, + 0.9476298487234388, + -0.061096023437868574, + 0.31347240026591183, + 0.30428042285968454, + -0.12542894918502495, + -0.9442886227052999 + ], + [ + 0.08194144799029313, + 0.9917192443454247, + -0.09888649804798207, + 0.9416038826155096, + -0.044520042213717526, + 0.33376652630946346, + 0.32660025619195565, + -0.12046122295671866, + -0.9374547276637524 + ], + [ + 0.06657815714428672, + 0.9935099458248049, + -0.09222438147509573, + 0.9417677529966351, + -0.03203843064807377, + 0.3347342802541707, + 0.32960711219107475, + -0.10913994002564731, + -0.9377886889295788 + ], + [ + 0.05113327952438429, + 0.9952052402944167, + -0.08337815910424692, + 0.9413222266423924, + -0.020138696533817613, + 0.336907848722654, + 0.3336133291013551, + -0.09571291758404786, + -0.9378385703592382 + ], + [ + 0.04557217325644619, + 0.9951257435992233, + -0.08745245251436896, + 0.9428759771047137, + -0.013928013475435874, + 0.3328526734750077, + 0.33001222526372637, + -0.09762563631916353, + -0.9389148876813929 + ], + [ + 0.03816055543302449, + 0.995981031641476, + -0.08102812239848829, + 0.944989746237438, + -0.009607083201450373, + 0.3269588406182999, + 0.32486635946977566, + -0.08904767578517558, + -0.9415584739792388 + ], + [ + 0.057293159448566944, + 0.9935402519767695, + -0.09795540609041642, + 0.949091457909323, + -0.02376184362494449, + 0.3141031348316975, + 0.3097465066856395, + -0.11096460016366025, + -0.9443219573358241 + ], + [ + 0.06471515715472836, + 0.9946267377670218, + -0.0808059462748307, + 0.9471393869335695, + -0.03572308261306795, + 0.3188272935112709, + 0.3142275133618012, + -0.09716745282012872, + -0.9443619835417492 + ], + [ + 0.06967734506837975, + 0.9919239544415246, + -0.10598082934809569, + 0.9494965914679059, + -0.033361950883124214, + 0.3119987227924187, + 0.30594327966969703, + -0.12236767889585978, + -0.9441529859014317 + ], + [ + 0.07034594444851539, + 0.9923444884415865, + -0.10150795219711894, + 0.9500914486078543, + -0.03564780819928015, + 0.3099281740223311, + 0.3039369792932005, + -0.11824402746098227, + -0.9453256912767849 + ], + [ + 0.07496773973926929, + 0.9939797474739573, + -0.07990056076144414, + 0.9488548554515555, + -0.046462264977145895, + 0.31227507300327606, + 0.30668273718028716, + -0.09922459143176922, + -0.9466256805996791 + ], + [ + 0.07313277021192893, + 0.9941730369123111, + -0.07919324843496556, + 0.9488927470562748, + -0.044918040130873804, + 0.312385857962229, + 0.30700839158747095, + -0.09799154222357244, + -0.9466485647522633 + ], + [ + 0.07927758337579843, + 0.9945913324041815, + -0.06710548621810619, + 0.9502135179927873, + -0.05504719982991185, + 0.306698672991353, + 0.3013458727075326, + -0.0880788697552419, + -0.949438137903031 + ], + [ + 0.09963111278704673, + 0.9928621364530213, + -0.06556233188925618, + 0.9504534371951386, + -0.07546181188276102, + 0.3015688622376615, + 0.2944688524933692, + -0.0923595850213338, + -0.951187574543489 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006662.json b/json/chunk-0006/episode_0006662.json new file mode 100644 index 0000000000000000000000000000000000000000..fbd5d64016d2b8d85f6ddc1b84e15b93d0d43803 --- /dev/null +++ b/json/chunk-0006/episode_0006662.json @@ -0,0 +1,2182 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 35, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut lid on pot." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006662.mp4", + "start": 0, + "end": 35, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.391039103269577, + -0.09029698371887207, + 0.16761839389801025, + -0.15994144976139069, + -0.026288684457540512, + 0.03003609925508499, + 0.0, + 1.0008161067962646 + ], + [ + 0.387675404548645, + -0.08971910178661346, + 0.1494811624288559, + -0.1499859243631363, + 0.02319798804819584, + 0.02966499887406826, + 0.0, + 1.0008161067962646 + ], + [ + 0.36694014072418213, + -0.08142637461423874, + 0.12967950105667114, + -0.11595918983221054, + 0.04418883100152016, + -0.006892535835504532, + 0.0, + 1.0008161067962646 + ], + [ + 0.3447400629520416, + -0.07693351060152054, + 0.1351548582315445, + -0.12196791172027588, + 0.024216430261731148, + -0.06845508515834808, + 0.0, + 1.0008161067962646 + ], + [ + 0.3234917223453522, + -0.06777317821979523, + 0.12581755220890045, + -0.11384227126836777, + 0.008914739824831486, + -0.11233054101467133, + 0.0, + 1.0008161067962646 + ], + [ + 0.31077486276626587, + -0.055719513446092606, + 0.11045383661985397, + -0.08178431540727615, + -0.023214302957057953, + -0.12318424880504608, + 0.0, + 1.0008161067962646 + ], + [ + 0.30324798822402954, + -0.044164158403873444, + 0.0894753634929657, + -0.0600409172475338, + -0.031787268817424774, + -0.11659745126962662, + 0.0, + 1.0008161067962646 + ], + [ + 0.30217427015304565, + -0.033941417932510376, + 0.08127208054065704, + -0.05741027370095253, + -0.04401535168290138, + -0.10915270447731018, + 0.0, + 1.0008161067962646 + ], + [ + 0.30616483092308044, + -0.02204464189708233, + 0.07816256582736969, + -0.07108884304761887, + -0.05310647934675217, + -0.08794745802879333, + 0.0, + 1.0008161067962646 + ], + [ + 0.31225061416625977, + -0.013617068529129028, + 0.06479422748088837, + -0.07353270798921585, + -0.05576106533408165, + -0.0673828050494194, + 0.0, + 1.0008161067962646 + ], + [ + 0.3080412447452545, + -0.014988827519118786, + 0.048121679574251175, + -0.1103910505771637, + 0.0015457173576578498, + -0.095860555768013, + 0.0, + 1.0008161067962646 + ], + [ + 0.30867281556129456, + -0.015284441411495209, + 0.04160366207361221, + -0.11002366989850998, + 0.006210512947291136, + -0.11099176108837128, + 0.0, + 1.0008161067962646 + ], + [ + 0.3099771738052368, + -0.014121870510280132, + 0.03072982281446457, + -0.08442933112382889, + 0.006177626550197601, + -0.11860200762748718, + 0.0, + 1.0008161067962646 + ], + [ + 0.3096793293952942, + -0.01455199159681797, + 0.026908928528428078, + -0.08498760312795639, + 0.014114136807620525, + -0.11670950800180435, + 0.0, + 1.0008161067962646 + ], + [ + 0.31133466958999634, + -0.014545915648341179, + 0.02683829888701439, + -0.08071569353342056, + 0.00384615920484066, + -0.11922284215688705, + 0.0, + 0.959831714630127 + ], + [ + 0.3101748526096344, + -0.013891151174902916, + 0.02200194261968136, + -0.06791678071022034, + 0.007586006075143814, + -0.12284776568412781, + 0.0, + 0.8270506262779236 + ], + [ + 0.3075210750102997, + -0.01533778477460146, + 0.01865139976143837, + -0.04475316032767296, + 0.013107668608427048, + -0.1311200112104416, + 0.0, + 0.5217453241348267 + ], + [ + 0.30677685141563416, + -0.016378210857510567, + 0.017280390486121178, + -0.03301766887307167, + 0.008663659915328026, + -0.13473735749721527, + 0.0, + 0.3875128924846649 + ], + [ + 0.30677685141563416, + -0.016378210857510567, + 0.017280390486121178, + -0.03301766887307167, + 0.008663659915328026, + -0.13473735749721527, + 0.0, + 0.4085940718650818 + ], + [ + 0.3023334741592407, + -0.018951237201690674, + 0.020748505368828773, + -0.0529068298637867, + 0.042485807090997696, + -0.11832533031702042, + 0.0, + 0.413944274187088 + ], + [ + 0.3065703809261322, + -0.026723934337496758, + 0.052841149270534515, + -0.10198161751031876, + 0.02498302049934864, + -0.09222712367773056, + 0.0, + 0.413944274187088 + ], + [ + 0.31182625889778137, + -0.029583042487502098, + 0.07342977821826935, + -0.13096891343593597, + 0.040830109268426895, + -0.06252183020114899, + 0.0, + 0.413944274187088 + ], + [ + 0.3230844736099243, + -0.022222701460123062, + 0.08970610797405243, + -0.13119085133075714, + 0.004043862223625183, + -0.01567213237285614, + 0.0, + 0.4148389995098114 + ], + [ + 0.338839054107666, + -0.005865200888365507, + 0.10654610395431519, + -0.1195392981171608, + -0.025526994839310646, + 0.05251310020685196, + 0.0, + 0.4148389995098114 + ], + [ + 0.35541656613349915, + 0.014317472465336323, + 0.08475074917078018, + -0.10182269662618637, + 0.025627823546528816, + 0.11491012573242188, + 0.0, + 0.4148389995098114 + ], + [ + 0.36599212884902954, + 0.02035924233496189, + 0.0796855241060257, + -0.07972190529108047, + 0.021780937910079956, + 0.14707185328006744, + 0.0, + 0.4148389995098114 + ], + [ + 0.37719038128852844, + 0.023609906435012817, + 0.0701894462108612, + -0.06362924724817276, + 0.03867517411708832, + 0.17768900096416473, + 0.0, + 0.4148389995098114 + ], + [ + 0.38548439741134644, + 0.024797305464744568, + 0.07129558175802231, + -0.06125873327255249, + 0.027899090200662613, + 0.20375236868858337, + 0.0, + 0.4148389995098114 + ], + [ + 0.38813045620918274, + 0.0264113899320364, + 0.06394025683403015, + -0.0502619594335556, + 0.043113015592098236, + 0.21909193694591522, + 0.0, + 0.4148389995098114 + ], + [ + 0.39295560121536255, + 0.027304239571094513, + 0.067437544465065, + -0.04907391592860222, + 0.028136910870671272, + 0.2301817685365677, + 0.0, + 0.4148389995098114 + ], + [ + 0.3949257731437683, + 0.02794298529624939, + 0.06421293318271637, + -0.04559427499771118, + 0.03229430690407753, + 0.22919338941574097, + 0.0, + 0.4148389995098114 + ], + [ + 0.39865776896476746, + 0.029196403920650482, + 0.06343481689691544, + -0.03983738273382187, + 0.030415648594498634, + 0.23779407143592834, + 0.0, + 0.4148389995098114 + ], + [ + 0.40083813667297363, + 0.030659282580018044, + 0.061835870146751404, + -0.029457466676831245, + 0.01854657381772995, + 0.24835099279880524, + 0.0, + 0.4148389995098114 + ], + [ + 0.4029158055782318, + 0.0310737956315279, + 0.062495920807123184, + -0.028749516233801842, + 0.013818847946822643, + 0.2493487298488617, + 0.0, + 0.4615449905395508 + ], + [ + 0.40168270468711853, + 0.031183961778879166, + 0.0625050738453865, + -0.02642848715186119, + 0.020845185965299606, + 0.23640067875385284, + 0.0, + 0.7710858583450317 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.959831714630127 + ], + [ + 0.8270506262779236 + ], + [ + 0.5217453241348267 + ], + [ + 0.3875128924846649 + ], + [ + 0.4085940718650818 + ], + [ + 0.413944274187088 + ], + [ + 0.413944274187088 + ], + [ + 0.413944274187088 + ], + [ + 0.4148389995098114 + ], + [ + 0.4148389995098114 + ], + [ + 0.4148389995098114 + ], + [ + 0.4148389995098114 + ], + [ + 0.4148389995098114 + ], + [ + 0.4148389995098114 + ], + [ + 0.4148389995098114 + ], + [ + 0.4148389995098114 + ], + [ + 0.4148389995098114 + ], + [ + 0.4148389995098114 + ], + [ + 0.4148389995098114 + ], + [ + 0.4615449905395508 + ], + [ + 0.7710858583450317 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.391039103269577, + -0.09029698371887207, + 0.16761839389801025 + ], + [ + 0.387675404548645, + -0.08971910178661346, + 0.1494811624288559 + ], + [ + 0.36694014072418213, + -0.08142637461423874, + 0.12967950105667114 + ], + [ + 0.3447400629520416, + -0.07693351060152054, + 0.1351548582315445 + ], + [ + 0.3234917223453522, + -0.06777317821979523, + 0.12581755220890045 + ], + [ + 0.31077486276626587, + -0.055719513446092606, + 0.11045383661985397 + ], + [ + 0.30324798822402954, + -0.044164158403873444, + 0.0894753634929657 + ], + [ + 0.30217427015304565, + -0.033941417932510376, + 0.08127208054065704 + ], + [ + 0.30616483092308044, + -0.02204464189708233, + 0.07816256582736969 + ], + [ + 0.31225061416625977, + -0.013617068529129028, + 0.06479422748088837 + ], + [ + 0.3080412447452545, + -0.014988827519118786, + 0.048121679574251175 + ], + [ + 0.30867281556129456, + -0.015284441411495209, + 0.04160366207361221 + ], + [ + 0.3099771738052368, + -0.014121870510280132, + 0.03072982281446457 + ], + [ + 0.3096793293952942, + -0.01455199159681797, + 0.026908928528428078 + ], + [ + 0.31133466958999634, + -0.014545915648341179, + 0.02683829888701439 + ], + [ + 0.3101748526096344, + -0.013891151174902916, + 0.02200194261968136 + ], + [ + 0.3075210750102997, + -0.01533778477460146, + 0.01865139976143837 + ], + [ + 0.30677685141563416, + -0.016378210857510567, + 0.017280390486121178 + ], + [ + 0.30677685141563416, + -0.016378210857510567, + 0.017280390486121178 + ], + [ + 0.3023334741592407, + -0.018951237201690674, + 0.020748505368828773 + ], + [ + 0.3065703809261322, + -0.026723934337496758, + 0.052841149270534515 + ], + [ + 0.31182625889778137, + -0.029583042487502098, + 0.07342977821826935 + ], + [ + 0.3230844736099243, + -0.022222701460123062, + 0.08970610797405243 + ], + [ + 0.338839054107666, + -0.005865200888365507, + 0.10654610395431519 + ], + [ + 0.35541656613349915, + 0.014317472465336323, + 0.08475074917078018 + ], + [ + 0.36599212884902954, + 0.02035924233496189, + 0.0796855241060257 + ], + [ + 0.37719038128852844, + 0.023609906435012817, + 0.0701894462108612 + ], + [ + 0.38548439741134644, + 0.024797305464744568, + 0.07129558175802231 + ], + [ + 0.38813045620918274, + 0.0264113899320364, + 0.06394025683403015 + ], + [ + 0.39295560121536255, + 0.027304239571094513, + 0.067437544465065 + ], + [ + 0.3949257731437683, + 0.02794298529624939, + 0.06421293318271637 + ], + [ + 0.39865776896476746, + 0.029196403920650482, + 0.06343481689691544 + ], + [ + 0.40083813667297363, + 0.030659282580018044, + 0.061835870146751404 + ], + [ + 0.4029158055782318, + 0.0310737956315279, + 0.062495920807123184 + ], + [ + 0.40168270468711853, + 0.031183961778879166, + 0.0625050738453865 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9992035785673962, + 0.02546390231058483, + 0.03072129973204538, + 0.030021206454761484, + -0.9869170371525765, + -0.15840924512470983, + 0.026285656566077373, + 0.1592053750885843, + -0.9868954923403963 + ], + [ + 0.9992910833092039, + 0.032792158715618906, + -0.01849338112643083, + 0.02965266760758622, + -0.9882353422647715, + -0.1500387536691239, + -0.023195907450922797, + 0.14938401060889916, + -0.9885071407187348 + ], + [ + 0.9990001022221348, + -0.001735353083070327, + -0.04467420183776477, + -0.006885753045189397, + -0.9932958967873449, + -0.1153943145498286, + -0.044174451498178585, + 0.11558654755247774, + -0.9923146516401609 + ], + [ + 0.9973653487988006, + -0.06495436451186566, + -0.03230002393663306, + -0.06838157754390244, + -0.9904479081464138, + -0.1197367992765834, + -0.024214063435422015, + 0.12163006116603431, + -0.9922801052891732 + ], + [ + 0.9936580704638642, + -0.11036257682626369, + -0.02153463810463345, + -0.11209000187867363, + -0.9873788307907165, + -0.11188778300242042, + -0.008914621745729243, + 0.11359201619226952, + -0.9934874852641608 + ], + [ + 0.9921550116615062, + -0.12434415573839556, + 0.01292144607473363, + -0.12283983788661436, + -0.9888722627612474, + -0.08391675738159263, + 0.023212217966987185, + 0.0816711630574489, + -0.9963889873246778 + ], + [ + 0.9927084719755356, + -0.11801793867107918, + 0.024528673421648522, + -0.11627467259259969, + -0.9911986788909289, + -0.06328806742475279, + 0.031781915950430666, + 0.059974537236278054, + -0.9976938231250173 + ], + [ + 0.9930860005040916, + -0.1112663177343708, + 0.03741660247299086, + -0.10883058028768479, + -0.9921360092019034, + -0.061822682238535, + 0.04400114086059109, + 0.05732316968517284, + -0.9973855592599141 + ], + [ + 0.9947307455375153, + -0.09136803413396019, + 0.046504045209794224, + -0.08771029641669759, + -0.9932879649912457, + -0.07540505623660045, + 0.05308152018239629, + 0.07092884421760527, + -0.9960679953060838 + ], + [ + 0.9961799193684461, + -0.07123502747515713, + 0.0505088022793076, + -0.06722717515190905, + -0.9947587720682165, + -0.07704214635138958, + 0.055732173546086665, + 0.07335227504275511, + -0.9957476430189937 + ], + [ + 0.9954077051370398, + -0.0949617026515017, + -0.012073755974839409, + -0.09571369449334435, + -0.9893662318102147, + -0.10951414538812568, + -0.0015457167421424134, + 0.11016684793160128, + -0.9939119057424399 + ], + [ + 0.9938275687980298, + -0.10941655372914885, + -0.018297028912746656, + -0.11076187756543462, + -0.9879129726004181, + -0.10844245038722355, + -0.006210473023633138, + 0.10979971009908021, + -0.9939343306712878 + ], + [ + 0.9929560749609161, + -0.11738538611630142, + -0.016090504172916707, + -0.11832189405975946, + -0.9894996473378702, + -0.08300829659944707, + -0.006177587257407045, + 0.08432745131069448, + -0.9964189472160392 + ], + [ + 0.9930982472760056, + -0.11483456206542861, + -0.02385151174595583, + -0.11643313801150862, + -0.9897519584716458, + -0.08267033974972568, + -0.014113668202109297, + 0.08487687586606443, + -0.9962914836096403 + ], + [ + 0.9928940273534054, + -0.11824545579441055, + -0.013396366294907043, + -0.11893972245742714, + -0.9897056236035596, + -0.07959975520841442, + -0.0038461497221802124, + 0.08062748161428207, + -0.9967368842080909 + ], + [ + 0.9924351415174203, + -0.12174555950108172, + -0.015827464202025274, + -0.12253547852365738, + -0.9902386998169516, + -0.06642570201218423, + -0.007585933316087353, + 0.06786262687666728, + -0.9976658345804581 + ], + [ + 0.9913309132691952, + -0.13003234931548105, + -0.018831052237193304, + -0.130733389996435, + -0.9905000875348033, + -0.042642201322009084, + -0.013107293271427869, + 0.04473437967652439, + -0.9989129262043079 + ], + [ + 0.990899457037755, + -0.1339734329538561, + -0.013014810979862576, + -0.13432501225418514, + -0.9904349704531342, + -0.03154933258268053, + -0.008663551534788658, + 0.03301043117043763, + -0.9994174574764773 + ], + [ + 0.990899457037755, + -0.1339734329538561, + -0.013014810979862576, + -0.13432501225418514, + -0.9904349704531342, + -0.03154933258268053, + -0.008663551534788658, + 0.03301043117043763, + -0.9994174574764773 + ], + [ + 0.9921116455718244, + -0.11565387431685951, + -0.04835973610625089, + -0.11794288751885952, + -0.9918834126334214, + -0.0475054841717376, + -0.042473026787360126, + 0.05283443099133013, + -0.9976996366128145 + ], + [ + 0.9954393593294765, + -0.08908561412332523, + -0.034120891752574115, + -0.09206769481527106, + -0.9908107668299543, + -0.0990836207717483, + -0.024980421716275965, + 0.10177316782977484, + -0.9944939420834946 + ], + [ + 0.9972143422514014, + -0.056625702352660325, + -0.04854982431659765, + -0.06242903158296397, + -0.9898317733754937, + -0.12781109666980578, + -0.040818765582975, + 0.13048597721361888, + -0.990609528586763 + ], + [ + 0.9998690192514581, + -0.015007891979818373, + -0.006058673076635236, + -0.01567136269064829, + -0.9912933557687506, + -0.13073595985859315, + -0.004043851202207886, + 0.1308137836279175, + -0.9913987095414251 + ], + [ + 0.998296157046183, + 0.04907470010448864, + 0.031566701387340114, + 0.052471867590654586, + -0.9916547939420058, + -0.11776023421931096, + 0.025524222581144562, + 0.11921595304946679, + -0.9925402110746626 + ], + [ + 0.9930788839806878, + 0.11665106897784618, + -0.013669612210934384, + 0.11461975671036163, + -0.987961149229651, + -0.10389936950956373, + -0.025625018308853248, + 0.10161346229291236, + -0.994493872639504 + ], + [ + 0.988969780619074, + 0.1477925128418014, + -0.009805415349006976, + 0.1465074700575139, + -0.9858084257723981, + -0.08195919041506601, + -0.021779215771171367, + 0.07961859596885863, + -0.9965874497184583 + ], + [ + 0.9835187851704457, + 0.1788176309162598, + -0.02674049532724892, + 0.17662325936921408, + -0.9818284368808684, + -0.0694056538177221, + -0.03866553331645211, + 0.0635387708849206, + -0.9972300642919805 + ], + [ + 0.9789330948167623, + 0.20363839523381078, + -0.014879511385584007, + 0.20226675101259867, + -0.9771317105728955, + -0.06558796861997009, + -0.02789547108910083, + 0.06119660267927497, + -0.997735846060084 + ], + [ + 0.9751882039537675, + 0.21918248011414335, + -0.031096740672262098, + 0.21714139655755535, + -0.9743919084516971, + -0.05839539917573584, + -0.04309966090886617, + 0.05019411474338603, + -0.9978090849830282 + ], + [ + 0.9732395627087473, + 0.22922348354441155, + -0.016166266428956612, + 0.22806419430765876, + -0.972137944178654, + -0.054171401706985575, + -0.028133198419049175, + 0.04903480478054356, + -0.9984007767759645 + ], + [ + 0.9733421865551678, + 0.22838915834844653, + -0.021056595662465177, + 0.22707361829471912, + -0.9725035528833644, + -0.051714712643278496, + -0.03228869378820598, + 0.045554714115236025, + -0.9984398871616308 + ], + [ + 0.9714104612695486, + 0.23654954416670732, + -0.020150158575207393, + 0.23545039668405604, + -0.9708035858987838, + -0.04586401974732955, + -0.030410959166124133, + 0.03980842574864987, + -0.9987444431895532 + ], + [ + 0.9691523689113226, + 0.24622870574508404, + -0.010728946857549809, + 0.24576360566828853, + -0.9687642806425032, + -0.03310617284034658, + -0.018545510575157482, + 0.02944814116907469, + -0.9993942520443034 + ], + [ + 0.9689808171087049, + 0.2470558401474821, + -0.006291893543931729, + 0.24674932152241302, + -0.9685748616612508, + -0.03126515130488753, + -0.013818408141868129, + 0.028742811395380808, + -0.9994913218180107 + ], + [ + 0.9719760386103615, + 0.23465863299858902, + -0.014067918344323072, + 0.2341540551050243, + -0.971718748924982, + -0.030570434500364292, + -0.02084367638355281, + 0.026419669697052006, + -0.9994336107055418 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.003363698720932007, + 0.000577881932258606, + -0.018137231469154358, + 0.009955525398254395, + 0.0494866743683815, + -0.00037110038101673126, + 1.0 + ], + [ + -0.02073526382446289, + 0.008292727172374725, + -0.019801661372184753, + 0.03402673453092575, + 0.020990842953324318, + -0.03655753284692764, + 1.0 + ], + [ + -0.022200077772140503, + 0.004492864012718201, + 0.005475357174873352, + -0.006008721888065338, + -0.01997240073978901, + -0.06156254932284355, + 1.0 + ], + [ + -0.021248340606689453, + 0.009160332381725311, + -0.009337306022644043, + 0.008125640451908112, + -0.015301690436899662, + -0.04387545585632324, + 1.0 + ], + [ + -0.012716859579086304, + 0.012053664773702621, + -0.015363715589046478, + 0.032057955861091614, + -0.032129041850566864, + -0.010853707790374756, + 1.0 + ], + [ + -0.007526874542236328, + 0.011555355042219162, + -0.020978473126888275, + 0.021743398159742355, + -0.008572965860366821, + 0.006586797535419464, + 1.0 + ], + [ + -0.0010737180709838867, + 0.010222740471363068, + -0.008203282952308655, + 0.0026306435465812683, + -0.012228082865476608, + 0.007444746792316437, + 1.0 + ], + [ + 0.00399056077003479, + 0.011896776035428047, + -0.0031095147132873535, + -0.013678569346666336, + -0.009091127663850784, + 0.021205246448516846, + 1.0 + ], + [ + 0.006085783243179321, + 0.0084275733679533, + -0.013368338346481323, + -0.002443864941596985, + -0.002654585987329483, + 0.020564652979373932, + 1.0 + ], + [ + -0.004209369421005249, + -0.0013717589899897575, + -0.016672547906637192, + -0.036858342587947845, + 0.05730678141117096, + -0.028477750718593597, + 1.0 + ], + [ + 0.0006315708160400391, + -0.0002956138923764229, + -0.006518017500638962, + 0.00036738067865371704, + 0.004664795473217964, + -0.015131205320358276, + 1.0 + ], + [ + 0.0013043582439422607, + 0.0011625709012150764, + -0.010873839259147644, + 0.02559433877468109, + -3.288639709353447e-05, + -0.007610246539115906, + 1.0 + ], + [ + -0.00029784440994262695, + -0.000430121086537838, + -0.0038208942860364914, + -0.0005582720041275024, + 0.007936510257422924, + 0.0018924996256828308, + 1.0 + ], + [ + 0.0016553401947021484, + 6.075948476791382e-06, + -7.062964141368866e-05, + 0.004271909594535828, + -0.010267977602779865, + -0.0025133341550827026, + 0.0 + ], + [ + -0.0011598169803619385, + 0.0006547644734382629, + -0.004836356267333031, + 0.012798912823200226, + 0.003739846870303154, + -0.003624923527240753, + 0.0 + ], + [ + -0.002653777599334717, + -0.0014466335996985435, + -0.0033505428582429886, + 0.02316362038254738, + 0.005521662533283234, + -0.008272245526313782, + 0.0 + ], + [ + -0.0007442235946655273, + -0.0010404260829091072, + -0.001371009275317192, + 0.011735491454601288, + -0.004444008693099022, + -0.0036173462867736816, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + -0.004443377256393433, + -0.002573026344180107, + 0.003468114882707596, + -0.019889160990715027, + 0.03382214903831482, + 0.016412027180194855, + 0.0 + ], + [ + 0.0042369067668914795, + -0.007772697135806084, + 0.03209264576435089, + -0.04907478764653206, + -0.017502786591649055, + 0.026098206639289856, + 0.0 + ], + [ + 0.00525587797164917, + -0.0028591081500053406, + 0.020588628947734833, + -0.028987295925617218, + 0.015847088769078255, + 0.029705293476581573, + 0.0 + ], + [ + 0.011258214712142944, + 0.007360341027379036, + 0.01627632975578308, + -0.000221937894821167, + -0.03678624704480171, + 0.04684969782829285, + 0.0 + ], + [ + 0.0157545804977417, + 0.016357500106096268, + 0.016839995980262756, + 0.011651553213596344, + -0.02957085706293583, + 0.0681852325797081, + 0.0 + ], + [ + 0.01657751202583313, + 0.020182672888040543, + -0.021795354783535004, + 0.017716601490974426, + 0.05115481838583946, + 0.062397025525569916, + 0.0 + ], + [ + 0.010575562715530396, + 0.006041769869625568, + -0.005065225064754486, + 0.022100791335105896, + -0.00384688563644886, + 0.03216172754764557, + 0.0 + ], + [ + 0.011198252439498901, + 0.003250664100050926, + -0.00949607789516449, + 0.016092658042907715, + 0.016894236207008362, + 0.03061714768409729, + 0.0 + ], + [ + 0.008294016122817993, + 0.0011873990297317505, + 0.0011061355471611023, + 0.0023705139756202698, + -0.010776083916425705, + 0.02606336772441864, + 0.0 + ], + [ + 0.0026460587978363037, + 0.001614084467291832, + -0.007355324923992157, + 0.010996773838996887, + 0.015213925391435623, + 0.015339568257331848, + 0.0 + ], + [ + 0.00482514500617981, + 0.0008928496390581131, + 0.003497287631034851, + 0.0011880435049533844, + -0.014976104721426964, + 0.011089831590652466, + 0.0 + ], + [ + 0.0019701719284057617, + 0.0006387457251548767, + -0.003224611282348633, + 0.003479640930891037, + 0.004157396033406258, + -0.0009883791208267212, + 0.0 + ], + [ + 0.0037319958209991455, + 0.0012534186244010925, + -0.0007781162858009338, + 0.005756892263889313, + -0.0018786583095788956, + 0.008600682020187378, + 0.0 + ], + [ + 0.0021803677082061768, + 0.0014628786593675613, + -0.001598946750164032, + 0.010379916056990623, + -0.011869074776768684, + 0.010556921362876892, + 0.0 + ], + [ + 0.0020776689052581787, + 0.0004145130515098572, + 0.0006600506603717804, + 0.0007079504430294037, + -0.004727725870907307, + 0.0009977370500564575, + 1.0 + ], + [ + -0.0012331008911132812, + 0.00011016614735126495, + 9.153038263320923e-06, + 0.002321029081940651, + 0.007026338018476963, + -0.01294805109500885, + 1.0 + ], + [ + -0.004571199417114258, + -0.0038044191896915436, + 0.0005225911736488342, + -0.0166485533118248, + 0.009333182126283646, + -0.015809863805770874, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.959831714630127 + ], + [ + 0.8270506262779236 + ], + [ + 0.5217453241348267 + ], + [ + 0.3875128924846649 + ], + [ + 0.4085940718650818 + ], + [ + 0.413944274187088 + ], + [ + 0.413944274187088 + ], + [ + 0.413944274187088 + ], + [ + 0.4148389995098114 + ], + [ + 0.4148389995098114 + ], + [ + 0.4148389995098114 + ], + [ + 0.4148389995098114 + ], + [ + 0.4148389995098114 + ], + [ + 0.4148389995098114 + ], + [ + 0.4148389995098114 + ], + [ + 0.4148389995098114 + ], + [ + 0.4148389995098114 + ], + [ + 0.4148389995098114 + ], + [ + 0.4148389995098114 + ], + [ + 0.4615449905395508 + ], + [ + 0.7710858583450317 + ], + [ + 0.9974852800369263 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.387675404548645, + -0.08971910178661346, + 0.1494811624288559 + ], + [ + 0.36694014072418213, + -0.08142637461423874, + 0.12967950105667114 + ], + [ + 0.3447400629520416, + -0.07693351060152054, + 0.1351548582315445 + ], + [ + 0.3234917223453522, + -0.06777317821979523, + 0.12581755220890045 + ], + [ + 0.31077486276626587, + -0.055719513446092606, + 0.11045383661985397 + ], + [ + 0.30324798822402954, + -0.044164158403873444, + 0.0894753634929657 + ], + [ + 0.30217427015304565, + -0.033941417932510376, + 0.08127208054065704 + ], + [ + 0.30616483092308044, + -0.02204464189708233, + 0.07816256582736969 + ], + [ + 0.31225061416625977, + -0.013617068529129028, + 0.06479422748088837 + ], + [ + 0.3080412447452545, + -0.014988827519118786, + 0.048121679574251175 + ], + [ + 0.30867281556129456, + -0.015284441411495209, + 0.04160366207361221 + ], + [ + 0.3099771738052368, + -0.014121870510280132, + 0.03072982281446457 + ], + [ + 0.3096793293952942, + -0.01455199159681797, + 0.026908928528428078 + ], + [ + 0.31133466958999634, + -0.014545915648341179, + 0.02683829888701439 + ], + [ + 0.3101748526096344, + -0.013891151174902916, + 0.02200194261968136 + ], + [ + 0.3075210750102997, + -0.01533778477460146, + 0.01865139976143837 + ], + [ + 0.30677685141563416, + -0.016378210857510567, + 0.017280390486121178 + ], + [ + 0.30677685141563416, + -0.016378210857510567, + 0.017280390486121178 + ], + [ + 0.3023334741592407, + -0.018951237201690674, + 0.020748505368828773 + ], + [ + 0.3065703809261322, + -0.026723934337496758, + 0.052841149270534515 + ], + [ + 0.31182625889778137, + -0.029583042487502098, + 0.07342977821826935 + ], + [ + 0.3230844736099243, + -0.022222701460123062, + 0.08970610797405243 + ], + [ + 0.338839054107666, + -0.005865200888365507, + 0.10654610395431519 + ], + [ + 0.35541656613349915, + 0.014317472465336323, + 0.08475074917078018 + ], + [ + 0.36599212884902954, + 0.02035924233496189, + 0.0796855241060257 + ], + [ + 0.37719038128852844, + 0.023609906435012817, + 0.0701894462108612 + ], + [ + 0.38548439741134644, + 0.024797305464744568, + 0.07129558175802231 + ], + [ + 0.38813045620918274, + 0.0264113899320364, + 0.06394025683403015 + ], + [ + 0.39295560121536255, + 0.027304239571094513, + 0.067437544465065 + ], + [ + 0.3949257731437683, + 0.02794298529624939, + 0.06421293318271637 + ], + [ + 0.39865776896476746, + 0.029196403920650482, + 0.06343481689691544 + ], + [ + 0.40083813667297363, + 0.030659282580018044, + 0.061835870146751404 + ], + [ + 0.4029158055782318, + 0.0310737956315279, + 0.062495920807123184 + ], + [ + 0.40168270468711853, + 0.031183961778879166, + 0.0625050738453865 + ], + [ + 0.3971115052700043, + 0.027379542589187622, + 0.06302766501903534 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9992910833092039, + 0.032792158715618906, + -0.01849338112643083, + 0.02965266760758622, + -0.9882353422647715, + -0.1500387536691239, + -0.023195907450922797, + 0.14938401060889916, + -0.9885071407187348 + ], + [ + 0.9990001022221348, + -0.001735353083070327, + -0.04467420183776477, + -0.006885753045189397, + -0.9932958967873449, + -0.1153943145498286, + -0.044174451498178585, + 0.11558654755247774, + -0.9923146516401609 + ], + [ + 0.9973653487988006, + -0.06495436451186566, + -0.03230002393663306, + -0.06838157754390244, + -0.9904479081464138, + -0.1197367992765834, + -0.024214063435422015, + 0.12163006116603431, + -0.9922801052891732 + ], + [ + 0.9936580704638642, + -0.11036257682626369, + -0.02153463810463345, + -0.11209000187867363, + -0.9873788307907165, + -0.11188778300242042, + -0.008914621745729243, + 0.11359201619226952, + -0.9934874852641608 + ], + [ + 0.9921550116615062, + -0.12434415573839556, + 0.01292144607473363, + -0.12283983788661436, + -0.9888722627612474, + -0.08391675738159263, + 0.023212217966987185, + 0.0816711630574489, + -0.9963889873246778 + ], + [ + 0.9927084719755356, + -0.11801793867107918, + 0.024528673421648522, + -0.11627467259259969, + -0.9911986788909289, + -0.06328806742475279, + 0.031781915950430666, + 0.059974537236278054, + -0.9976938231250173 + ], + [ + 0.9930860005040916, + -0.1112663177343708, + 0.03741660247299086, + -0.10883058028768479, + -0.9921360092019034, + -0.061822682238535, + 0.04400114086059109, + 0.05732316968517284, + -0.9973855592599141 + ], + [ + 0.9947307455375153, + -0.09136803413396019, + 0.046504045209794224, + -0.08771029641669759, + -0.9932879649912457, + -0.07540505623660045, + 0.05308152018239629, + 0.07092884421760527, + -0.9960679953060838 + ], + [ + 0.9961799193684461, + -0.07123502747515713, + 0.0505088022793076, + -0.06722717515190905, + -0.9947587720682165, + -0.07704214635138958, + 0.055732173546086665, + 0.07335227504275511, + -0.9957476430189937 + ], + [ + 0.9954077051370398, + -0.0949617026515017, + -0.012073755974839409, + -0.09571369449334435, + -0.9893662318102147, + -0.10951414538812568, + -0.0015457167421424134, + 0.11016684793160128, + -0.9939119057424399 + ], + [ + 0.9938275687980298, + -0.10941655372914885, + -0.018297028912746656, + -0.11076187756543462, + -0.9879129726004181, + -0.10844245038722355, + -0.006210473023633138, + 0.10979971009908021, + -0.9939343306712878 + ], + [ + 0.9929560749609161, + -0.11738538611630142, + -0.016090504172916707, + -0.11832189405975946, + -0.9894996473378702, + -0.08300829659944707, + -0.006177587257407045, + 0.08432745131069448, + -0.9964189472160392 + ], + [ + 0.9930982472760056, + -0.11483456206542861, + -0.02385151174595583, + -0.11643313801150862, + -0.9897519584716458, + -0.08267033974972568, + -0.014113668202109297, + 0.08487687586606443, + -0.9962914836096403 + ], + [ + 0.9928940273534054, + -0.11824545579441055, + -0.013396366294907043, + -0.11893972245742714, + -0.9897056236035596, + -0.07959975520841442, + -0.0038461497221802124, + 0.08062748161428207, + -0.9967368842080909 + ], + [ + 0.9924351415174203, + -0.12174555950108172, + -0.015827464202025274, + -0.12253547852365738, + -0.9902386998169516, + -0.06642570201218423, + -0.007585933316087353, + 0.06786262687666728, + -0.9976658345804581 + ], + [ + 0.9913309132691952, + -0.13003234931548105, + -0.018831052237193304, + -0.130733389996435, + -0.9905000875348033, + -0.042642201322009084, + -0.013107293271427869, + 0.04473437967652439, + -0.9989129262043079 + ], + [ + 0.990899457037755, + -0.1339734329538561, + -0.013014810979862576, + -0.13432501225418514, + -0.9904349704531342, + -0.03154933258268053, + -0.008663551534788658, + 0.03301043117043763, + -0.9994174574764773 + ], + [ + 0.990899457037755, + -0.1339734329538561, + -0.013014810979862576, + -0.13432501225418514, + -0.9904349704531342, + -0.03154933258268053, + -0.008663551534788658, + 0.03301043117043763, + -0.9994174574764773 + ], + [ + 0.9921116455718244, + -0.11565387431685951, + -0.04835973610625089, + -0.11794288751885952, + -0.9918834126334214, + -0.0475054841717376, + -0.042473026787360126, + 0.05283443099133013, + -0.9976996366128145 + ], + [ + 0.9954393593294765, + -0.08908561412332523, + -0.034120891752574115, + -0.09206769481527106, + -0.9908107668299543, + -0.0990836207717483, + -0.024980421716275965, + 0.10177316782977484, + -0.9944939420834946 + ], + [ + 0.9972143422514014, + -0.056625702352660325, + -0.04854982431659765, + -0.06242903158296397, + -0.9898317733754937, + -0.12781109666980578, + -0.040818765582975, + 0.13048597721361888, + -0.990609528586763 + ], + [ + 0.9998690192514581, + -0.015007891979818373, + -0.006058673076635236, + -0.01567136269064829, + -0.9912933557687506, + -0.13073595985859315, + -0.004043851202207886, + 0.1308137836279175, + -0.9913987095414251 + ], + [ + 0.998296157046183, + 0.04907470010448864, + 0.031566701387340114, + 0.052471867590654586, + -0.9916547939420058, + -0.11776023421931096, + 0.025524222581144562, + 0.11921595304946679, + -0.9925402110746626 + ], + [ + 0.9930788839806878, + 0.11665106897784618, + -0.013669612210934384, + 0.11461975671036163, + -0.987961149229651, + -0.10389936950956373, + -0.025625018308853248, + 0.10161346229291236, + -0.994493872639504 + ], + [ + 0.988969780619074, + 0.1477925128418014, + -0.009805415349006976, + 0.1465074700575139, + -0.9858084257723981, + -0.08195919041506601, + -0.021779215771171367, + 0.07961859596885863, + -0.9965874497184583 + ], + [ + 0.9835187851704457, + 0.1788176309162598, + -0.02674049532724892, + 0.17662325936921408, + -0.9818284368808684, + -0.0694056538177221, + -0.03866553331645211, + 0.0635387708849206, + -0.9972300642919805 + ], + [ + 0.9789330948167623, + 0.20363839523381078, + -0.014879511385584007, + 0.20226675101259867, + -0.9771317105728955, + -0.06558796861997009, + -0.02789547108910083, + 0.06119660267927497, + -0.997735846060084 + ], + [ + 0.9751882039537675, + 0.21918248011414335, + -0.031096740672262098, + 0.21714139655755535, + -0.9743919084516971, + -0.05839539917573584, + -0.04309966090886617, + 0.05019411474338603, + -0.9978090849830282 + ], + [ + 0.9732395627087473, + 0.22922348354441155, + -0.016166266428956612, + 0.22806419430765876, + -0.972137944178654, + -0.054171401706985575, + -0.028133198419049175, + 0.04903480478054356, + -0.9984007767759645 + ], + [ + 0.9733421865551678, + 0.22838915834844653, + -0.021056595662465177, + 0.22707361829471912, + -0.9725035528833644, + -0.051714712643278496, + -0.03228869378820598, + 0.045554714115236025, + -0.9984398871616308 + ], + [ + 0.9714104612695486, + 0.23654954416670732, + -0.020150158575207393, + 0.23545039668405604, + -0.9708035858987838, + -0.04586401974732955, + -0.030410959166124133, + 0.03980842574864987, + -0.9987444431895532 + ], + [ + 0.9691523689113226, + 0.24622870574508404, + -0.010728946857549809, + 0.24576360566828853, + -0.9687642806425032, + -0.03310617284034658, + -0.018545510575157482, + 0.02944814116907469, + -0.9993942520443034 + ], + [ + 0.9689808171087049, + 0.2470558401474821, + -0.006291893543931729, + 0.24674932152241302, + -0.9685748616612508, + -0.03126515130488753, + -0.013818408141868129, + 0.028742811395380808, + -0.9994913218180107 + ], + [ + 0.9719760386103615, + 0.23465863299858902, + -0.014067918344323072, + 0.2341540551050243, + -0.971718748924982, + -0.030570434500364292, + -0.02084367638355281, + 0.026419669697052006, + -0.9994336107055418 + ], + [ + 0.9753240467557417, + 0.21987108837042524, + -0.01999270664037512, + 0.2187065302283115, + -0.9745788367380889, + -0.04861629991808948, + -0.030173787556356003, + 0.04304411087521291, + -0.9986174177649145 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006665.json b/json/chunk-0006/episode_0006665.json new file mode 100644 index 0000000000000000000000000000000000000000..1a8f2c1659a7c769aba289c818c90c022de46b7a --- /dev/null +++ b/json/chunk-0006/episode_0006665.json @@ -0,0 +1,1522 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 24, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPlace the yellow vegetable to the right of the spoon." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006665.mp4", + "start": 0, + "end": 24, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.27423176169395447, + 0.060787975788116455, + 0.10066017508506775, + 0.05506065860390663, + -0.09139387309551239, + -0.07730966061353683, + 0.0, + 0.9994885921478271 + ], + [ + 0.2724371552467346, + 0.05868873372673988, + 0.09152936935424805, + 0.04046240448951721, + -0.06218778342008591, + -0.07052842527627945, + 0.0, + 0.9994885921478271 + ], + [ + 0.2759256064891815, + 0.04368221387267113, + 0.07689932733774185, + 0.019643062725663185, + -0.04262222722172737, + -0.08573579788208008, + 0.0, + 0.9994885921478271 + ], + [ + 0.2808201313018799, + 0.031069889664649963, + 0.06422051042318344, + 0.029012395069003105, + -0.03493230417370796, + -0.1039358600974083, + 0.0, + 0.9994885921478271 + ], + [ + 0.2862979769706726, + 0.013531296513974667, + 0.04223562031984329, + 0.03479877859354019, + -0.010279564186930656, + -0.13274028897285461, + 0.0, + 0.9994885921478271 + ], + [ + 0.2911025881767273, + 0.010907950811088085, + 0.02110828459262848, + 0.03858528658747673, + -0.0031466332729905844, + -0.11793722212314606, + 0.0, + 0.9968144297599792 + ], + [ + 0.29765695333480835, + 0.012837500311434269, + 0.007964417338371277, + 0.048647888004779816, + 0.008176766335964203, + -0.11040199548006058, + 0.0, + 0.9994885921478271 + ], + [ + 0.29897111654281616, + 0.017556296661496162, + 0.006591429468244314, + 0.04616563767194748, + 0.00977161806076765, + -0.09910794347524643, + 0.0, + 0.9437892436981201 + ], + [ + 0.2953212857246399, + 0.022575965151190758, + 0.010650793090462685, + 0.008255318738520145, + -0.0017254638951271772, + -0.09783229231834412, + 0.0, + 0.6731748580932617 + ], + [ + 0.2949519753456116, + 0.018870385363698006, + 0.04137502983212471, + -0.05808870494365692, + -0.06152837723493576, + -0.10925915837287903, + 0.0, + 0.6319981217384338 + ], + [ + 0.2955688536167145, + 0.016751334071159363, + 0.07511185854673386, + -0.12932871282100677, + -0.11059842258691788, + -0.10980919748544693, + 0.0, + 0.6319981217384338 + ], + [ + 0.31020790338516235, + 0.028742825612425804, + 0.10513190180063248, + -0.1408601850271225, + -0.14026880264282227, + -0.07649080455303192, + 0.0, + 0.6309936046600342 + ], + [ + 0.34326431155204773, + 0.057444147765636444, + 0.09863919764757156, + -0.12686660885810852, + -0.14091946184635162, + 0.011108449660241604, + 0.0, + 0.6319981217384338 + ], + [ + 0.36438360810279846, + 0.06629714369773865, + 0.06907939165830612, + -0.05287576839327812, + -0.111114501953125, + 0.008996392600238323, + 0.0, + 0.6309936046600342 + ], + [ + 0.37331822514533997, + 0.05936326086521149, + 0.03987971320748329, + 0.0002545239694882184, + -0.06250452250242233, + -0.029850078746676445, + 0.0, + 0.6309936046600342 + ], + [ + 0.37928304076194763, + 0.0653834119439125, + 0.025628913193941116, + 0.0451277494430542, + -0.049250006675720215, + -0.04133874550461769, + 0.0, + 0.6309936046600342 + ], + [ + 0.3864113390445709, + 0.07161635905504227, + 0.013195449486374855, + 0.0747070461511612, + -0.03296409174799919, + -0.048433102667331696, + 0.0, + 0.6309936046600342 + ], + [ + 0.3895263373851776, + 0.08013124018907547, + 0.017103271558880806, + 0.0898134633898735, + -0.04508557915687561, + -0.045149073004722595, + 0.0, + 0.6309936046600342 + ], + [ + 0.3848458230495453, + 0.08869040757417679, + 0.017767110839486122, + 0.07120934128761292, + -0.02836553566157818, + -0.010479580610990524, + 0.0, + 0.7091560959815979 + ], + [ + 0.38284537196159363, + 0.0850052759051323, + 0.01720184087753296, + 0.0518159382045269, + -0.016033131629228592, + -0.016214141622185707, + 0.0, + 0.9830701947212219 + ], + [ + 0.37798601388931274, + 0.08220120519399643, + 0.026551375165581703, + 0.022698193788528442, + -0.021567337214946747, + -0.022386876866221428, + 0.0, + 1.0073583126068115 + ], + [ + 0.37073567509651184, + 0.08795388042926788, + 0.06614456325769424, + 0.002072228118777275, + -0.1008710190653801, + -0.005203159525990486, + 0.0, + 1.002137303352356 + ], + [ + 0.3579171597957611, + 0.08805763721466064, + 0.09648007154464722, + -0.02317400462925434, + -0.14516538381576538, + 0.006144310813397169, + 0.0, + 1.0001531839370728 + ], + [ + 0.34158122539520264, + 0.09330956637859344, + 0.1149723008275032, + -0.03681523725390434, + -0.15577806532382965, + 0.037301503121852875, + 0.0, + 1.0001531839370728 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9968144297599792 + ], + [ + 0.9994885921478271 + ], + [ + 0.9437892436981201 + ], + [ + 0.6731748580932617 + ], + [ + 0.6319981217384338 + ], + [ + 0.6319981217384338 + ], + [ + 0.6309936046600342 + ], + [ + 0.6319981217384338 + ], + [ + 0.6309936046600342 + ], + [ + 0.6309936046600342 + ], + [ + 0.6309936046600342 + ], + [ + 0.6309936046600342 + ], + [ + 0.6309936046600342 + ], + [ + 0.7091560959815979 + ], + [ + 0.9830701947212219 + ], + [ + 1.0073583126068115 + ], + [ + 1.002137303352356 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.27423176169395447, + 0.060787975788116455, + 0.10066017508506775 + ], + [ + 0.2724371552467346, + 0.05868873372673988, + 0.09152936935424805 + ], + [ + 0.2759256064891815, + 0.04368221387267113, + 0.07689932733774185 + ], + [ + 0.2808201313018799, + 0.031069889664649963, + 0.06422051042318344 + ], + [ + 0.2862979769706726, + 0.013531296513974667, + 0.04223562031984329 + ], + [ + 0.2911025881767273, + 0.010907950811088085, + 0.02110828459262848 + ], + [ + 0.29765695333480835, + 0.012837500311434269, + 0.007964417338371277 + ], + [ + 0.29897111654281616, + 0.017556296661496162, + 0.006591429468244314 + ], + [ + 0.2953212857246399, + 0.022575965151190758, + 0.010650793090462685 + ], + [ + 0.2949519753456116, + 0.018870385363698006, + 0.04137502983212471 + ], + [ + 0.2955688536167145, + 0.016751334071159363, + 0.07511185854673386 + ], + [ + 0.31020790338516235, + 0.028742825612425804, + 0.10513190180063248 + ], + [ + 0.34326431155204773, + 0.057444147765636444, + 0.09863919764757156 + ], + [ + 0.36438360810279846, + 0.06629714369773865, + 0.06907939165830612 + ], + [ + 0.37331822514533997, + 0.05936326086521149, + 0.03987971320748329 + ], + [ + 0.37928304076194763, + 0.0653834119439125, + 0.025628913193941116 + ], + [ + 0.3864113390445709, + 0.07161635905504227, + 0.013195449486374855 + ], + [ + 0.3895263373851776, + 0.08013124018907547, + 0.017103271558880806 + ], + [ + 0.3848458230495453, + 0.08869040757417679, + 0.017767110839486122 + ], + [ + 0.38284537196159363, + 0.0850052759051323, + 0.01720184087753296 + ], + [ + 0.37798601388931274, + 0.08220120519399643, + 0.026551375165581703 + ], + [ + 0.37073567509651184, + 0.08795388042926788, + 0.06614456325769424 + ], + [ + 0.3579171597957611, + 0.08805763721466064, + 0.09648007154464722 + ], + [ + 0.34158122539520264, + 0.09330956637859344, + 0.1149723008275032 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9928520484410197, + -0.07210796718503232, + 0.09510652435513353, + -0.0769103414820766, + -0.9958900815650803, + 0.047830375426168845, + 0.09126669315572727, + -0.0548031614849015, + -0.9943173558837632 + ], + [ + 0.99558567002264, + -0.06790458001546763, + 0.06479306798179708, + -0.07033374764606563, + -0.9968746035058617, + 0.03597483602590045, + 0.062147707822818234, + -0.04037317052144681, + -0.9972500536547569 + ], + [ + 0.9954220834629705, + -0.08478043166390263, + 0.04412656978648512, + -0.0855530321615227, + -0.9962063935546852, + 0.01592168737092158, + 0.042609323418809034, + -0.01962396105912966, + -0.9988990668281462 + ], + [ + 0.9939967504729065, + -0.10269751556389368, + 0.03773168888754402, + -0.10368553632628734, + -0.9942900802994198, + 0.025229858796742742, + 0.03492520015737554, + -0.028990628057654177, + -0.998969355825688 + ], + [ + 0.9911505667716168, + -0.13191619963838783, + 0.014787503550913912, + -0.13234382596248226, + -0.9906501793828293, + 0.03312602931805941, + 0.010279383148588877, + -0.034789917529849515, + -0.9993417813342697 + ], + [ + 0.9930485468892633, + -0.11745589047900425, + 0.007661417160466243, + -0.11766342784759577, + -0.9923285962341292, + 0.03793777593844972, + 0.0031466280803659832, + -0.038575521873158804, + -0.999250733221616 + ], + [ + 0.993878661220684, + -0.11044270946798924, + -0.002759473781376145, + -0.11017417461691799, + -0.9926922057668494, + 0.04923246751106472, + -0.008176675220506816, + -0.04862707615224768, + -0.9987835348298558 + ], + [ + 0.9950453188200967, + -0.09928908863080853, + -0.005146879935990066, + -0.0989410532273922, + -0.9939879917772276, + 0.04688859337758401, + -0.009771462555134152, + -0.046147037624722165, + -0.9988868651844393 + ], + [ + 0.9952167555386524, + -0.09765880131832341, + 0.0025234936469617766, + -0.09767616020513531, + -0.9951857163306893, + 0.008047219330505999, + 0.0017254630389447424, + -0.008255212682951388, + -0.9999644364880484 + ], + [ + 0.9921561633381196, + -0.11240654277894446, + 0.054689274000191176, + -0.10883556961347107, + -0.9919712742053399, + -0.06440349321539682, + 0.06148956283056457, + 0.05794618444660271, + -0.9964242436688232 + ], + [ + 0.9879040510227555, + -0.1228223564556181, + 0.09465862204531719, + -0.10891908765467763, + -0.9841160614686795, + -0.14018633993313, + 0.11037308692476522, + 0.12818052236616728, + -0.9855899428102108 + ], + [ + 0.9872831735265966, + -0.09523048691164611, + 0.12729135726286794, + -0.07566571126076814, + -0.9857006257382884, + -0.15056220162626735, + 0.13980928227644385, + 0.13901593715008906, + -0.9803713244519284 + ], + [ + 0.9900261864964732, + -0.006751057591058167, + 0.1407216162238489, + 0.010998108438997992, + -0.9920994228637073, + -0.12497110371706985, + 0.1404535213585407, + 0.12527233683020686, + -0.982130159379644 + ], + [ + 0.9937929148370022, + 0.0031234845743238595, + 0.1112020065641311, + 0.008940792434426807, + -0.9986147137201402, + -0.05185282800664715, + 0.11088599844173108, + 0.052525207146249274, + -0.9924441535743077 + ], + [ + 0.9976026176180884, + -0.029829753645721678, + 0.06244359950365796, + -0.029787364336661737, + -0.9995549616042878, + -0.0016098627660207252, + 0.06246383151402619, + -0.0002540269395198779, + -0.9980471958895035 + ], + [ + 0.9979341751733481, + -0.03906590603634096, + 0.051002323541671245, + -0.0412768621418303, + -0.9982202440612971, + 0.043041433502257344, + 0.0492300992565917, + -0.04505773331809628, + -0.9977706139165563 + ], + [ + 0.9982847171285238, + -0.045822099424881024, + 0.03644116836656059, + -0.04838786764323515, + -0.9961604383661452, + 0.07295886031943408, + 0.03295812210312438, + -0.07459702566769169, + -0.9966689751110797 + ], + [ + 0.9979658066906043, + -0.04091346229674037, + 0.048891075660739663, + -0.04508787151544579, + -0.9951369945793039, + 0.08757537246210631, + 0.045070306395426446, + -0.08960162176301945, + -0.9949573944942862 + ], + [ + 0.9995428369537218, + -0.00843502769457982, + 0.02903390091421416, + -0.010475173203596902, + -0.9974320613999331, + 0.07084880830214316, + 0.02836173197918949, + -0.07112055398596706, + -0.9970644306963663 + ], + [ + 0.9997400426784478, + -0.015361415077156234, + 0.016848560535621192, + -0.01621134730795246, + -0.9985400477700659, + 0.0515263545946673, + 0.016032444721754614, + -0.05178609780801954, + -0.9985294992087425 + ], + [ + 0.99951691661064, + -0.02188990377555688, + 0.0220627632416259, + -0.022379800974569344, + -0.9995028525000998, + 0.022207934449258587, + 0.021565665245891284, + -0.022690966415310786, + -0.9995099009642884 + ], + [ + 0.9949033634416243, + -0.004994454383746495, + 0.10070924901890657, + -0.005176687628944347, + -0.9999854023168202, + 0.0015482436693610988, + 0.10070004626481457, + -0.0020616931575910082, + -0.9949146948877519 + ], + [ + 0.9894633179525881, + 0.0027907251197881715, + 0.14475687990406877, + 0.006079646671547688, + -0.9997332189792685, + -0.02228292542955112, + 0.14465607599615143, + 0.022928208012306155, + -0.9892163145413342 + ], + [ + 0.9872039167040074, + 0.031561006735518204, + 0.15630844410366274, + 0.036841278577268266, + -0.9988402093217515, + -0.03099929732867781, + 0.15514878999547305, + 0.03636123067114521, + -0.9872217146452059 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0017946064472198486, + -0.0020992420613765717, + -0.009130805730819702, + -0.01459825411438942, + 0.029206089675426483, + 0.006781235337257385, + 1.0 + ], + [ + 0.0034884512424468994, + -0.015006519854068756, + -0.014630042016506195, + -0.020819341763854027, + 0.019565556198358536, + -0.015207372605800629, + 1.0 + ], + [ + 0.004894524812698364, + -0.012612324208021164, + -0.01267881691455841, + 0.00936933234333992, + 0.007689923048019409, + -0.018200062215328217, + 1.0 + ], + [ + 0.005477845668792725, + -0.017538592219352722, + -0.02198489010334015, + 0.0057863835245370865, + 0.024652739986777306, + -0.02880442887544632, + 1.0 + ], + [ + 0.0048046112060546875, + -0.0026233457028865814, + -0.021127335727214813, + 0.0037865079939365387, + 0.007132930681109428, + 0.014803066849708557, + 1.0 + ], + [ + 0.006554365158081055, + 0.0019295495003461838, + -0.013143867254257202, + 0.010062601417303085, + 0.011323399841785431, + 0.00753522664308548, + 1.0 + ], + [ + 0.0013141632080078125, + 0.0047187963500618935, + -0.0013729878701269627, + -0.0024822503328323364, + 0.0015948517248034477, + 0.011294052004814148, + 0.0 + ], + [ + -0.0036498308181762695, + 0.005019668489694595, + 0.0040593636222183704, + -0.03791031986474991, + -0.011497082188725471, + 0.0012756511569023132, + 0.0 + ], + [ + -0.0003693103790283203, + -0.003705579787492752, + 0.030724236741662025, + -0.06634402275085449, + -0.059802912175655365, + -0.011426866054534912, + 0.0 + ], + [ + 0.0006168782711029053, + -0.002119051292538643, + 0.033736828714609146, + -0.07124000787734985, + -0.04907004535198212, + -0.0005500391125679016, + 0.0 + ], + [ + 0.014639049768447876, + 0.011991491541266441, + 0.03002004325389862, + -0.011531472206115723, + -0.02967038005590439, + 0.03331839293241501, + 0.0 + ], + [ + 0.033056408166885376, + 0.02870132215321064, + -0.006492704153060913, + 0.013993576169013977, + -0.0006506592035293579, + 0.0875992551445961, + 0.0 + ], + [ + 0.021119296550750732, + 0.008852995932102203, + -0.029559805989265442, + 0.0739908367395401, + 0.029804959893226624, + -0.0021120570600032806, + 0.0 + ], + [ + 0.008934617042541504, + -0.006933882832527161, + -0.02919967845082283, + 0.053130291402339935, + 0.04860997945070267, + -0.038846470415592194, + 0.0 + ], + [ + 0.005964815616607666, + 0.006020151078701019, + -0.014250800013542175, + 0.044873226433992386, + 0.013254515826702118, + -0.011488666757941246, + 0.0 + ], + [ + 0.007128298282623291, + 0.006232947111129761, + -0.012433463707566261, + 0.029579296708106995, + 0.016285914927721024, + -0.0070943571627140045, + 0.0 + ], + [ + 0.0031149983406066895, + 0.008514881134033203, + 0.003907822072505951, + 0.01510641723871231, + -0.012121487408876419, + 0.0032840296626091003, + 0.0 + ], + [ + -0.004680514335632324, + 0.008559167385101318, + 0.0006638392806053162, + -0.01860412210226059, + 0.016720043495297432, + 0.03466949239373207, + 1.0 + ], + [ + -0.00200045108795166, + -0.0036851316690444946, + -0.0005652699619531631, + -0.019393403083086014, + 0.012332404032349586, + -0.005734561011195183, + 1.0 + ], + [ + -0.004859358072280884, + -0.0028040707111358643, + 0.009349534288048744, + -0.02911774441599846, + -0.005534205585718155, + -0.006172735244035721, + 1.0 + ], + [ + -0.007250338792800903, + 0.005752675235271454, + 0.03959318995475769, + -0.020625965669751167, + -0.07930368185043335, + 0.017183717340230942, + 1.0 + ], + [ + -0.012818515300750732, + 0.00010375678539276123, + 0.030335508286952972, + -0.025246232748031616, + -0.044294364750385284, + 0.011347470805048943, + 1.0 + ], + [ + -0.01633593440055847, + 0.0052519291639328, + 0.018492229282855988, + -0.013641232624650002, + -0.01061268150806427, + 0.03115719184279442, + 1.0 + ], + [ + -0.01422274112701416, + -0.001872628927230835, + -0.0025371089577674866, + -0.016235586255788803, + 0.035578422248363495, + -0.001600656658411026, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9968144297599792 + ], + [ + 0.9994885921478271 + ], + [ + 0.9437892436981201 + ], + [ + 0.6731748580932617 + ], + [ + 0.6319981217384338 + ], + [ + 0.6319981217384338 + ], + [ + 0.6309936046600342 + ], + [ + 0.6319981217384338 + ], + [ + 0.6309936046600342 + ], + [ + 0.6309936046600342 + ], + [ + 0.6309936046600342 + ], + [ + 0.6309936046600342 + ], + [ + 0.6309936046600342 + ], + [ + 0.7091560959815979 + ], + [ + 0.9830701947212219 + ], + [ + 1.0073583126068115 + ], + [ + 1.002137303352356 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2724371552467346, + 0.05868873372673988, + 0.09152936935424805 + ], + [ + 0.2759256064891815, + 0.04368221387267113, + 0.07689932733774185 + ], + [ + 0.2808201313018799, + 0.031069889664649963, + 0.06422051042318344 + ], + [ + 0.2862979769706726, + 0.013531296513974667, + 0.04223562031984329 + ], + [ + 0.2911025881767273, + 0.010907950811088085, + 0.02110828459262848 + ], + [ + 0.29765695333480835, + 0.012837500311434269, + 0.007964417338371277 + ], + [ + 0.29897111654281616, + 0.017556296661496162, + 0.006591429468244314 + ], + [ + 0.2953212857246399, + 0.022575965151190758, + 0.010650793090462685 + ], + [ + 0.2949519753456116, + 0.018870385363698006, + 0.04137502983212471 + ], + [ + 0.2955688536167145, + 0.016751334071159363, + 0.07511185854673386 + ], + [ + 0.31020790338516235, + 0.028742825612425804, + 0.10513190180063248 + ], + [ + 0.34326431155204773, + 0.057444147765636444, + 0.09863919764757156 + ], + [ + 0.36438360810279846, + 0.06629714369773865, + 0.06907939165830612 + ], + [ + 0.37331822514533997, + 0.05936326086521149, + 0.03987971320748329 + ], + [ + 0.37928304076194763, + 0.0653834119439125, + 0.025628913193941116 + ], + [ + 0.3864113390445709, + 0.07161635905504227, + 0.013195449486374855 + ], + [ + 0.3895263373851776, + 0.08013124018907547, + 0.017103271558880806 + ], + [ + 0.3848458230495453, + 0.08869040757417679, + 0.017767110839486122 + ], + [ + 0.38284537196159363, + 0.0850052759051323, + 0.01720184087753296 + ], + [ + 0.37798601388931274, + 0.08220120519399643, + 0.026551375165581703 + ], + [ + 0.37073567509651184, + 0.08795388042926788, + 0.06614456325769424 + ], + [ + 0.3579171597957611, + 0.08805763721466064, + 0.09648007154464722 + ], + [ + 0.34158122539520264, + 0.09330956637859344, + 0.1149723008275032 + ], + [ + 0.3273584842681885, + 0.09143693745136261, + 0.11243519186973572 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.99558567002264, + -0.06790458001546763, + 0.06479306798179708, + -0.07033374764606563, + -0.9968746035058617, + 0.03597483602590045, + 0.062147707822818234, + -0.04037317052144681, + -0.9972500536547569 + ], + [ + 0.9954220834629705, + -0.08478043166390263, + 0.04412656978648512, + -0.0855530321615227, + -0.9962063935546852, + 0.01592168737092158, + 0.042609323418809034, + -0.01962396105912966, + -0.9988990668281462 + ], + [ + 0.9939967504729065, + -0.10269751556389368, + 0.03773168888754402, + -0.10368553632628734, + -0.9942900802994198, + 0.025229858796742742, + 0.03492520015737554, + -0.028990628057654177, + -0.998969355825688 + ], + [ + 0.9911505667716168, + -0.13191619963838783, + 0.014787503550913912, + -0.13234382596248226, + -0.9906501793828293, + 0.03312602931805941, + 0.010279383148588877, + -0.034789917529849515, + -0.9993417813342697 + ], + [ + 0.9930485468892633, + -0.11745589047900425, + 0.007661417160466243, + -0.11766342784759577, + -0.9923285962341292, + 0.03793777593844972, + 0.0031466280803659832, + -0.038575521873158804, + -0.999250733221616 + ], + [ + 0.993878661220684, + -0.11044270946798924, + -0.002759473781376145, + -0.11017417461691799, + -0.9926922057668494, + 0.04923246751106472, + -0.008176675220506816, + -0.04862707615224768, + -0.9987835348298558 + ], + [ + 0.9950453188200967, + -0.09928908863080853, + -0.005146879935990066, + -0.0989410532273922, + -0.9939879917772276, + 0.04688859337758401, + -0.009771462555134152, + -0.046147037624722165, + -0.9988868651844393 + ], + [ + 0.9952167555386524, + -0.09765880131832341, + 0.0025234936469617766, + -0.09767616020513531, + -0.9951857163306893, + 0.008047219330505999, + 0.0017254630389447424, + -0.008255212682951388, + -0.9999644364880484 + ], + [ + 0.9921561633381196, + -0.11240654277894446, + 0.054689274000191176, + -0.10883556961347107, + -0.9919712742053399, + -0.06440349321539682, + 0.06148956283056457, + 0.05794618444660271, + -0.9964242436688232 + ], + [ + 0.9879040510227555, + -0.1228223564556181, + 0.09465862204531719, + -0.10891908765467763, + -0.9841160614686795, + -0.14018633993313, + 0.11037308692476522, + 0.12818052236616728, + -0.9855899428102108 + ], + [ + 0.9872831735265966, + -0.09523048691164611, + 0.12729135726286794, + -0.07566571126076814, + -0.9857006257382884, + -0.15056220162626735, + 0.13980928227644385, + 0.13901593715008906, + -0.9803713244519284 + ], + [ + 0.9900261864964732, + -0.006751057591058167, + 0.1407216162238489, + 0.010998108438997992, + -0.9920994228637073, + -0.12497110371706985, + 0.1404535213585407, + 0.12527233683020686, + -0.982130159379644 + ], + [ + 0.9937929148370022, + 0.0031234845743238595, + 0.1112020065641311, + 0.008940792434426807, + -0.9986147137201402, + -0.05185282800664715, + 0.11088599844173108, + 0.052525207146249274, + -0.9924441535743077 + ], + [ + 0.9976026176180884, + -0.029829753645721678, + 0.06244359950365796, + -0.029787364336661737, + -0.9995549616042878, + -0.0016098627660207252, + 0.06246383151402619, + -0.0002540269395198779, + -0.9980471958895035 + ], + [ + 0.9979341751733481, + -0.03906590603634096, + 0.051002323541671245, + -0.0412768621418303, + -0.9982202440612971, + 0.043041433502257344, + 0.0492300992565917, + -0.04505773331809628, + -0.9977706139165563 + ], + [ + 0.9982847171285238, + -0.045822099424881024, + 0.03644116836656059, + -0.04838786764323515, + -0.9961604383661452, + 0.07295886031943408, + 0.03295812210312438, + -0.07459702566769169, + -0.9966689751110797 + ], + [ + 0.9979658066906043, + -0.04091346229674037, + 0.048891075660739663, + -0.04508787151544579, + -0.9951369945793039, + 0.08757537246210631, + 0.045070306395426446, + -0.08960162176301945, + -0.9949573944942862 + ], + [ + 0.9995428369537218, + -0.00843502769457982, + 0.02903390091421416, + -0.010475173203596902, + -0.9974320613999331, + 0.07084880830214316, + 0.02836173197918949, + -0.07112055398596706, + -0.9970644306963663 + ], + [ + 0.9997400426784478, + -0.015361415077156234, + 0.016848560535621192, + -0.01621134730795246, + -0.9985400477700659, + 0.0515263545946673, + 0.016032444721754614, + -0.05178609780801954, + -0.9985294992087425 + ], + [ + 0.99951691661064, + -0.02188990377555688, + 0.0220627632416259, + -0.022379800974569344, + -0.9995028525000998, + 0.022207934449258587, + 0.021565665245891284, + -0.022690966415310786, + -0.9995099009642884 + ], + [ + 0.9949033634416243, + -0.004994454383746495, + 0.10070924901890657, + -0.005176687628944347, + -0.9999854023168202, + 0.0015482436693610988, + 0.10070004626481457, + -0.0020616931575910082, + -0.9949146948877519 + ], + [ + 0.9894633179525881, + 0.0027907251197881715, + 0.14475687990406877, + 0.006079646671547688, + -0.9997332189792685, + -0.02228292542955112, + 0.14465607599615143, + 0.022928208012306155, + -0.9892163145413342 + ], + [ + 0.9872039167040074, + 0.031561006735518204, + 0.15630844410366274, + 0.036841278577268266, + -0.9988402093217515, + -0.03099929732867781, + 0.15514878999547305, + 0.03636123067114521, + -0.9872217146452059 + ], + [ + 0.9921521064531735, + 0.029288736534421232, + 0.12155808312386263, + 0.03543572617367443, + -0.9981837747056832, + -0.04871818166617303, + 0.1199104122713078, + 0.05264334551043591, + -0.9913880023494303 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006666.json b/json/chunk-0006/episode_0006666.json new file mode 100644 index 0000000000000000000000000000000000000000..f12ce6ea4786212ca79991797860b109118c2a86 --- /dev/null +++ b/json/chunk-0006/episode_0006666.json @@ -0,0 +1,5782 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 95, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nSweep into pile." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006666.mp4", + "start": 0, + "end": 95, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2278001308441162, + 0.010415753349661827, + 0.05832713469862938, + -0.025095287710428238, + -0.2652266025543213, + -0.7687994241714478, + 0.0, + 1.0041072368621826 + ], + [ + 0.22574760019779205, + 0.009745941497385502, + 0.05429544672369957, + -0.03880932927131653, + -0.2558865547180176, + -0.7630676031112671, + 0.0, + 1.0041072368621826 + ], + [ + 0.22602204978466034, + 0.0059060328640043736, + 0.05190190672874451, + -0.024722127243876457, + -0.25697237253189087, + -0.7758904099464417, + 0.0, + 1.0041072368621826 + ], + [ + 0.22429727017879486, + 0.005875119939446449, + 0.04662751033902168, + -0.02645980194211006, + -0.24592530727386475, + -0.7766658067703247, + 0.0, + 1.0041072368621826 + ], + [ + 0.22313416004180908, + 0.0041836928576231, + 0.03740742802619934, + -0.012932514771819115, + -0.22476191818714142, + -0.7977294325828552, + 0.0, + 1.0041072368621826 + ], + [ + 0.2251097708940506, + 0.003504362655803561, + 0.034043774008750916, + 0.0068061170168221, + -0.2155691236257553, + -0.8082724809646606, + 0.0, + 1.0041072368621826 + ], + [ + 0.22433680295944214, + 0.0033030076883733273, + 0.029944565147161484, + -0.007662522606551647, + -0.20623566210269928, + -0.8038642406463623, + 0.0, + 0.9716382026672363 + ], + [ + 0.22697192430496216, + 0.0026582113932818174, + 0.028406450524926186, + -0.005867589730769396, + -0.22438737750053406, + -0.7957323789596558, + 0.0, + 0.729983389377594 + ], + [ + 0.22794109582901, + 0.0025396712590008974, + 0.02767052873969078, + -0.00900270789861679, + -0.2315182387828827, + -0.796602725982666, + 0.0, + 0.7200843095779419 + ], + [ + 0.22988803684711456, + 0.0011307817185297608, + 0.027554363012313843, + -0.017344210296869278, + -0.24214810132980347, + -0.7912849187850952, + 0.0, + 0.7200843095779419 + ], + [ + 0.2374626100063324, + 0.0009311471367254853, + 0.02739126607775688, + -0.02932911366224289, + -0.2458711415529251, + -0.7767810225486755, + 0.0, + 0.7200843095779419 + ], + [ + 0.24989451467990875, + 0.0020199979189783335, + 0.026181837543845177, + -0.03493102639913559, + -0.2489534318447113, + -0.7498241662979126, + 0.0, + 0.7200843095779419 + ], + [ + 0.2611611485481262, + 0.005949955899268389, + 0.023073414340615273, + -0.030579617246985435, + -0.23564329743385315, + -0.737270176410675, + 0.0, + 0.7200843095779419 + ], + [ + 0.27160030603408813, + 0.013850873336195946, + 0.02329757995903492, + -0.019396401941776276, + -0.2394423484802246, + -0.7231540083885193, + 0.0, + 0.7200843095779419 + ], + [ + 0.27749425172805786, + 0.027402523905038834, + 0.0228537917137146, + -0.03154166787862778, + -0.2350618839263916, + -0.6822969913482666, + 0.0, + 0.7200843095779419 + ], + [ + 0.2806820571422577, + 0.042557694017887115, + 0.023647822439670563, + -0.03644241392612457, + -0.23387908935546875, + -0.6449999809265137, + 0.0, + 0.7200843095779419 + ], + [ + 0.2826119065284729, + 0.056973446160554886, + 0.02428693138062954, + -0.03932799771428108, + -0.23379893600940704, + -0.6202991604804993, + 0.0, + 0.7200843095779419 + ], + [ + 0.2836834788322449, + 0.06918622553348541, + 0.025295140221714973, + -0.05099457502365112, + -0.23532913625240326, + -0.6006535887718201, + 0.0, + 0.7200843095779419 + ], + [ + 0.28741455078125, + 0.08067110925912857, + 0.026263462379574776, + -0.048732295632362366, + -0.24309998750686646, + -0.5822034478187561, + 0.0, + 0.7200843095779419 + ], + [ + 0.29391324520111084, + 0.08841696381568909, + 0.026742156594991684, + -0.04116072133183479, + -0.25521576404571533, + -0.5684608817100525, + 0.0, + 0.7200843095779419 + ], + [ + 0.2989029586315155, + 0.09565001726150513, + 0.026611387729644775, + -0.03517165035009384, + -0.2636079788208008, + -0.5564985871315002, + 0.0, + 0.7200843095779419 + ], + [ + 0.30354732275009155, + 0.103395976126194, + 0.02785199135541916, + -0.022442730143666267, + -0.2699005603790283, + -0.5451154708862305, + 0.0, + 0.7200843095779419 + ], + [ + 0.30634230375289917, + 0.11446382105350494, + 0.028108131140470505, + -0.01287550013512373, + -0.27140000462532043, + -0.5346000790596008, + 0.0, + 0.7200843095779419 + ], + [ + 0.3061462640762329, + 0.13000953197479248, + 0.03243996575474739, + -0.02529158629477024, + -0.2662963569164276, + -0.5391274690628052, + 0.0, + 0.7200843095779419 + ], + [ + 0.3105156123638153, + 0.14025980234146118, + 0.0390118770301342, + -0.032011013478040695, + -0.2869628965854645, + -0.5305633544921875, + 0.0, + 0.7200843095779419 + ], + [ + 0.3132208287715912, + 0.14529018104076385, + 0.04159253090620041, + -0.033200010657310486, + -0.3042491674423218, + -0.5138067603111267, + 0.0, + 0.7200843095779419 + ], + [ + 0.30904120206832886, + 0.13532033562660217, + 0.04128275811672211, + -0.08521974086761475, + -0.32731884717941284, + -0.5031356811523438, + 0.0, + 0.7200843095779419 + ], + [ + 0.3019388020038605, + 0.11325312405824661, + 0.0677216500043869, + -0.10748477280139923, + -0.39546918869018555, + -0.5585184693336487, + 0.0, + 0.7200843095779419 + ], + [ + 0.2874498665332794, + 0.066944420337677, + 0.08871530741453171, + -0.1655159741640091, + -0.44650033116340637, + -0.629978597164154, + 0.0, + 0.7200843095779419 + ], + [ + 0.2803122401237488, + 0.030903765931725502, + 0.08972648531198502, + -0.22196143865585327, + -0.46415993571281433, + -0.6044554710388184, + 0.0, + 0.7200843095779419 + ], + [ + 0.27684226632118225, + 0.0065120211802423, + 0.07603485882282257, + -0.20077618956565857, + -0.42032358050346375, + -0.4410243630409241, + 0.0, + 0.7200843095779419 + ], + [ + 0.2787010073661804, + -0.02479439042508602, + 0.06424364447593689, + -0.13124637305736542, + -0.37664273381233215, + -0.33535677194595337, + 0.0, + 0.7200843095779419 + ], + [ + 0.2826063632965088, + -0.03481457382440567, + 0.059325069189071655, + -0.1205606535077095, + -0.3688715398311615, + -0.27446046471595764, + 0.0, + 0.7200843095779419 + ], + [ + 0.28399941325187683, + -0.04169442504644394, + 0.04991031065583229, + -0.14076241850852966, + -0.34390532970428467, + -0.26784780621528625, + 0.0, + 0.7200843095779419 + ], + [ + 0.2970438003540039, + -0.04584638401865959, + 0.047356896102428436, + -0.17556804418563843, + -0.3516553044319153, + -0.23148861527442932, + 0.0, + 0.7200843095779419 + ], + [ + 0.3108896017074585, + -0.04762553423643112, + 0.049864452332258224, + -0.19852986931800842, + -0.36821937561035156, + -0.19638831913471222, + 0.0, + 0.7200843095779419 + ], + [ + 0.319934219121933, + -0.04786309599876404, + 0.048302069306373596, + -0.2060757875442505, + -0.3687054216861725, + -0.17392615973949432, + 0.0, + 0.7200843095779419 + ], + [ + 0.3268425762653351, + -0.04818299412727356, + 0.04602081701159477, + -0.21691957116127014, + -0.3704846203327179, + -0.1440708041191101, + 0.0, + 0.7200843095779419 + ], + [ + 0.3331718444824219, + -0.047051481902599335, + 0.04036746174097061, + -0.21434979140758514, + -0.36892127990722656, + -0.11920011043548584, + 0.0, + 0.7200843095779419 + ], + [ + 0.3388266861438751, + -0.04862011969089508, + 0.03937077522277832, + -0.20961593091487885, + -0.3794559836387634, + -0.10785215348005295, + 0.0, + 0.7200843095779419 + ], + [ + 0.33997586369514465, + -0.04955846443772316, + 0.035184431821107864, + -0.21032723784446716, + -0.3725147545337677, + -0.09127942472696304, + 0.0, + 0.7200843095779419 + ], + [ + 0.34343528747558594, + -0.050241440534591675, + 0.04017370566725731, + -0.21345384418964386, + -0.366411954164505, + -0.09328515827655792, + 0.0, + 0.7200843095779419 + ], + [ + 0.342914879322052, + -0.04458034783601761, + 0.0402241125702858, + -0.21727798879146576, + -0.3569640815258026, + -0.06982040405273438, + 0.0, + 0.7200843095779419 + ], + [ + 0.34481820464134216, + -0.02864581160247326, + 0.04200991988182068, + -0.20506669580936432, + -0.3638952672481537, + -0.039487093687057495, + 0.0, + 0.7200843095779419 + ], + [ + 0.3473295569419861, + -0.016825130209326744, + 0.04702245071530342, + -0.1900486797094345, + -0.3942457139492035, + -0.024811837822198868, + 0.0, + 0.7200843095779419 + ], + [ + 0.3454427123069763, + -0.010010089725255966, + 0.0435691736638546, + -0.18864822387695312, + -0.40148064494132996, + -0.0065831770189106464, + 0.0, + 0.7200843095779419 + ], + [ + 0.34161657094955444, + -0.015531901270151138, + 0.04395401477813721, + -0.23622436821460724, + -0.38823431730270386, + -0.027388956397771835, + 0.0, + 0.7200843095779419 + ], + [ + 0.34170907735824585, + -0.030507724732160568, + 0.052493952214717865, + -0.3702985942363739, + -0.40401706099510193, + -0.028990477323532104, + 0.0, + 0.7200843095779419 + ], + [ + 0.34304869174957275, + -0.0361347459256649, + 0.05552743002772331, + -0.38500794768333435, + -0.41193556785583496, + -0.045664768666028976, + 0.0, + 0.7200843095779419 + ], + [ + 0.34100860357284546, + -0.04119225591421127, + 0.04790341481566429, + -0.3781301975250244, + -0.3859070837497711, + -0.05716695263981819, + 0.0, + 0.7200843095779419 + ], + [ + 0.33849799633026123, + -0.04157665744423866, + 0.03731312230229378, + -0.39916279911994934, + -0.33813026547431946, + -0.04213692992925644, + 0.0, + 0.7200843095779419 + ], + [ + 0.33713942766189575, + -0.03808172419667244, + 0.032792143523693085, + -0.44910728931427, + -0.31152036786079407, + -0.011123119853436947, + 0.0, + 0.7200843095779419 + ], + [ + 0.33972764015197754, + -0.03635665029287338, + 0.03587532415986061, + -0.4464500844478607, + -0.28384968638420105, + -0.005909394938498735, + 0.0, + 0.7200843095779419 + ], + [ + 0.33952048420906067, + -0.02925049141049385, + 0.03295016661286354, + -0.3371185064315796, + -0.21931561827659607, + 0.019112732261419296, + 0.0, + 0.7200843095779419 + ], + [ + 0.33856886625289917, + -0.024631064385175705, + 0.031456902623176575, + -0.20086896419525146, + -0.18972083926200867, + 0.028828227892518044, + 0.0, + 0.7200843095779419 + ], + [ + 0.3394886553287506, + -0.014150469563901424, + 0.03237226977944374, + -0.12200375646352768, + -0.20135846734046936, + 0.02844526246190071, + 0.0, + 0.7200843095779419 + ], + [ + 0.33759546279907227, + -0.005259285215288401, + 0.033061686903238297, + -0.09658636897802353, + -0.21730661392211914, + 0.007463580928742886, + 0.0, + 0.7200843095779419 + ], + [ + 0.3367205560207367, + 0.019097797572612762, + 0.033921193331480026, + -0.12280096113681793, + -0.22063297033309937, + 0.03815270587801933, + 0.0, + 0.7200843095779419 + ], + [ + 0.3396574854850769, + 0.03337715566158295, + 0.039075858891010284, + -0.14166244864463806, + -0.23507635295391083, + 0.03799352049827576, + 0.0, + 0.7200843095779419 + ], + [ + 0.34106630086898804, + 0.05304444581270218, + 0.04468793049454689, + -0.16036584973335266, + -0.24171096086502075, + 0.056884489953517914, + 0.0, + 0.7200843095779419 + ], + [ + 0.34338614344596863, + 0.06534959375858307, + 0.046919822692871094, + -0.16667838394641876, + -0.25639304518699646, + 0.0474708266556263, + 0.0, + 0.7200843095779419 + ], + [ + 0.34051448106765747, + 0.07501603662967682, + 0.046633608639240265, + -0.1572619080543518, + -0.2550479471683502, + 0.04459575563669205, + 0.0, + 0.7200843095779419 + ], + [ + 0.3390384614467621, + 0.06702103465795517, + 0.051795944571495056, + -0.22614048421382904, + -0.25717076659202576, + 0.052947353571653366, + 0.0, + 0.7200843095779419 + ], + [ + 0.3321603238582611, + 0.029289958998560905, + 0.07094721496105194, + -0.29957953095436096, + -0.2820807695388794, + -0.011632739566266537, + 0.0, + 0.7200843095779419 + ], + [ + 0.32914361357688904, + -0.0018665402894839644, + 0.07181540876626968, + -0.3293452262878418, + -0.2869357764720917, + -0.08458679914474487, + 0.0, + 0.7200843095779419 + ], + [ + 0.3306427597999573, + -0.008421795442700386, + 0.06842485070228577, + -0.3070525825023651, + -0.2899616062641144, + -0.10838194191455841, + 0.0, + 0.7200843095779419 + ], + [ + 0.3311171233654022, + -0.014973586425185204, + 0.05444559082388878, + -0.2693580090999603, + -0.264892041683197, + -0.1282036006450653, + 0.0, + 0.7200843095779419 + ], + [ + 0.3296731114387512, + -0.014040244743227959, + 0.048678625375032425, + -0.25732511281967163, + -0.2790040671825409, + -0.12005417793989182, + 0.0, + 0.7200843095779419 + ], + [ + 0.32211312651634216, + -0.014469803310930729, + 0.040298763662576675, + -0.26825150847435, + -0.2765277624130249, + -0.11591143906116486, + 0.0, + 0.7200843095779419 + ], + [ + 0.3135222792625427, + 0.004065066576004028, + 0.03002062439918518, + -0.24888643622398376, + -0.28635966777801514, + -0.09640099853277206, + 0.0, + 0.7200843095779419 + ], + [ + 0.3074350357055664, + 0.020085040479898453, + 0.026123937219381332, + -0.21910898387432098, + -0.311422735452652, + -0.09070655703544617, + 0.0, + 0.7200843095779419 + ], + [ + 0.3068464994430542, + 0.0396440252661705, + 0.02628459967672825, + -0.2013864517211914, + -0.33425697684288025, + -0.07080557197332382, + 0.0, + 0.7200843095779419 + ], + [ + 0.3098427951335907, + 0.062007952481508255, + 0.03057269938290119, + -0.18097656965255737, + -0.3456238806247711, + -0.022801658138632774, + 0.0, + 0.7200843095779419 + ], + [ + 0.3181762099266052, + 0.0835641473531723, + 0.03707079589366913, + -0.18691469728946686, + -0.355311781167984, + 0.041730187833309174, + 0.0, + 0.7200843095779419 + ], + [ + 0.32376113533973694, + 0.10172811895608902, + 0.04152541235089302, + -0.18175894021987915, + -0.37005138397216797, + 0.08721251785755157, + 0.0, + 0.7200843095779419 + ], + [ + 0.31997212767601013, + 0.11516296863555908, + 0.04255664348602295, + -0.1750095635652542, + -0.37037065625190735, + 0.11192581057548523, + 0.0, + 0.7200843095779419 + ], + [ + 0.31769534945487976, + 0.11167173087596893, + 0.042498327791690826, + -0.20098917186260223, + -0.3563178479671478, + 0.11175699532032013, + 0.0, + 0.7200843095779419 + ], + [ + 0.31720247864723206, + 0.09870903193950653, + 0.061767369508743286, + -0.2563067078590393, + -0.3812831938266754, + 0.12234509736299515, + 0.0, + 0.7200843095779419 + ], + [ + 0.31807366013526917, + 0.0750788003206253, + 0.07181382179260254, + -0.3131878972053528, + -0.38245198130607605, + 0.09503594040870667, + 0.0, + 0.7200843095779419 + ], + [ + 0.3209318220615387, + 0.058135274797677994, + 0.06480452418327332, + -0.3163330554962158, + -0.3634110689163208, + 0.0421418696641922, + 0.0, + 0.7200843095779419 + ], + [ + 0.3255629241466522, + 0.047581471502780914, + 0.047211430966854095, + -0.3342418074607849, + -0.3249674141407013, + 0.007706733420491219, + 0.0, + 0.7200843095779419 + ], + [ + 0.33195868134498596, + 0.03962132707238197, + 0.0476321280002594, + -0.3691369593143463, + -0.3325735926628113, + -0.00942972395569086, + 0.0, + 0.7200843095779419 + ], + [ + 0.333252876996994, + 0.024949975311756134, + 0.04508035257458687, + -0.3600003123283386, + -0.33646148443222046, + -0.05236663669347763, + 0.0, + 0.7200843095779419 + ], + [ + 0.33601832389831543, + 0.004082459956407547, + 0.04535238444805145, + -0.36966702342033386, + -0.33754852414131165, + -0.07824309915304184, + 0.0, + 0.7200843095779419 + ], + [ + 0.3373473882675171, + -0.008187606930732727, + 0.045107267796993256, + -0.3661712110042572, + -0.3268769383430481, + -0.07457379996776581, + 0.0, + 0.7200843095779419 + ], + [ + 0.34401506185531616, + -0.006096358876675367, + 0.04078284651041031, + -0.2956533432006836, + -0.3270149230957031, + 4.4795317080570385e-05, + 0.0, + 0.7200843095779419 + ], + [ + 0.34389829635620117, + 0.0009348895400762558, + 0.0383039154112339, + -0.2603245973587036, + -0.31191107630729675, + 0.044493433088064194, + 0.0, + 0.7200843095779419 + ], + [ + 0.35028567910194397, + 0.016137229278683662, + 0.04783253371715546, + -0.2510765492916107, + -0.29659321904182434, + 0.09854665398597717, + 0.0, + 0.7200843095779419 + ], + [ + 0.3545520603656769, + 0.024702614173293114, + 0.055684518069028854, + -0.2560688853263855, + -0.28215768933296204, + 0.11504118889570236, + 0.0, + 0.7200843095779419 + ], + [ + 0.35409149527549744, + 0.035923153162002563, + 0.05630144476890564, + -0.2564934492111206, + -0.288690984249115, + 0.13131660223007202, + 0.0, + 0.7200843095779419 + ], + [ + 0.34109923243522644, + 0.03864293172955513, + 0.0775642842054367, + -0.275823175907135, + -0.34726712107658386, + 0.11750330030918121, + 0.0, + 0.7200843095779419 + ], + [ + 0.31231269240379333, + 0.032023560255765915, + 0.09241948276758194, + -0.2917747497558594, + -0.37400853633880615, + 0.02392387203872204, + 0.0, + 0.7200843095779419 + ], + [ + 0.28085026144981384, + 0.024871032685041428, + 0.08720798045396805, + -0.30024680495262146, + -0.3556484878063202, + -0.09325562417507172, + 0.0, + 0.7200843095779419 + ], + [ + 0.26089081168174744, + 0.02130146138370037, + 0.06764140725135803, + -0.28197798132896423, + -0.3217644989490509, + -0.22559624910354614, + 0.0, + 0.7200843095779419 + ], + [ + 0.24412807822227478, + 0.022094961255788803, + 0.037834834307432175, + -0.24884885549545288, + -0.28185707330703735, + -0.302440345287323, + 0.0, + 0.7200843095779419 + ] + ], + "left_gripper_pos": [ + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 0.9716382026672363 + ], + [ + 0.729983389377594 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2278001308441162, + 0.010415753349661827, + 0.05832713469862938 + ], + [ + 0.22574760019779205, + 0.009745941497385502, + 0.05429544672369957 + ], + [ + 0.22602204978466034, + 0.0059060328640043736, + 0.05190190672874451 + ], + [ + 0.22429727017879486, + 0.005875119939446449, + 0.04662751033902168 + ], + [ + 0.22313416004180908, + 0.0041836928576231, + 0.03740742802619934 + ], + [ + 0.2251097708940506, + 0.003504362655803561, + 0.034043774008750916 + ], + [ + 0.22433680295944214, + 0.0033030076883733273, + 0.029944565147161484 + ], + [ + 0.22697192430496216, + 0.0026582113932818174, + 0.028406450524926186 + ], + [ + 0.22794109582901, + 0.0025396712590008974, + 0.02767052873969078 + ], + [ + 0.22988803684711456, + 0.0011307817185297608, + 0.027554363012313843 + ], + [ + 0.2374626100063324, + 0.0009311471367254853, + 0.02739126607775688 + ], + [ + 0.24989451467990875, + 0.0020199979189783335, + 0.026181837543845177 + ], + [ + 0.2611611485481262, + 0.005949955899268389, + 0.023073414340615273 + ], + [ + 0.27160030603408813, + 0.013850873336195946, + 0.02329757995903492 + ], + [ + 0.27749425172805786, + 0.027402523905038834, + 0.0228537917137146 + ], + [ + 0.2806820571422577, + 0.042557694017887115, + 0.023647822439670563 + ], + [ + 0.2826119065284729, + 0.056973446160554886, + 0.02428693138062954 + ], + [ + 0.2836834788322449, + 0.06918622553348541, + 0.025295140221714973 + ], + [ + 0.28741455078125, + 0.08067110925912857, + 0.026263462379574776 + ], + [ + 0.29391324520111084, + 0.08841696381568909, + 0.026742156594991684 + ], + [ + 0.2989029586315155, + 0.09565001726150513, + 0.026611387729644775 + ], + [ + 0.30354732275009155, + 0.103395976126194, + 0.02785199135541916 + ], + [ + 0.30634230375289917, + 0.11446382105350494, + 0.028108131140470505 + ], + [ + 0.3061462640762329, + 0.13000953197479248, + 0.03243996575474739 + ], + [ + 0.3105156123638153, + 0.14025980234146118, + 0.0390118770301342 + ], + [ + 0.3132208287715912, + 0.14529018104076385, + 0.04159253090620041 + ], + [ + 0.30904120206832886, + 0.13532033562660217, + 0.04128275811672211 + ], + [ + 0.3019388020038605, + 0.11325312405824661, + 0.0677216500043869 + ], + [ + 0.2874498665332794, + 0.066944420337677, + 0.08871530741453171 + ], + [ + 0.2803122401237488, + 0.030903765931725502, + 0.08972648531198502 + ], + [ + 0.27684226632118225, + 0.0065120211802423, + 0.07603485882282257 + ], + [ + 0.2787010073661804, + -0.02479439042508602, + 0.06424364447593689 + ], + [ + 0.2826063632965088, + -0.03481457382440567, + 0.059325069189071655 + ], + [ + 0.28399941325187683, + -0.04169442504644394, + 0.04991031065583229 + ], + [ + 0.2970438003540039, + -0.04584638401865959, + 0.047356896102428436 + ], + [ + 0.3108896017074585, + -0.04762553423643112, + 0.049864452332258224 + ], + [ + 0.319934219121933, + -0.04786309599876404, + 0.048302069306373596 + ], + [ + 0.3268425762653351, + -0.04818299412727356, + 0.04602081701159477 + ], + [ + 0.3331718444824219, + -0.047051481902599335, + 0.04036746174097061 + ], + [ + 0.3388266861438751, + -0.04862011969089508, + 0.03937077522277832 + ], + [ + 0.33997586369514465, + -0.04955846443772316, + 0.035184431821107864 + ], + [ + 0.34343528747558594, + -0.050241440534591675, + 0.04017370566725731 + ], + [ + 0.342914879322052, + -0.04458034783601761, + 0.0402241125702858 + ], + [ + 0.34481820464134216, + -0.02864581160247326, + 0.04200991988182068 + ], + [ + 0.3473295569419861, + -0.016825130209326744, + 0.04702245071530342 + ], + [ + 0.3454427123069763, + -0.010010089725255966, + 0.0435691736638546 + ], + [ + 0.34161657094955444, + -0.015531901270151138, + 0.04395401477813721 + ], + [ + 0.34170907735824585, + -0.030507724732160568, + 0.052493952214717865 + ], + [ + 0.34304869174957275, + -0.0361347459256649, + 0.05552743002772331 + ], + [ + 0.34100860357284546, + -0.04119225591421127, + 0.04790341481566429 + ], + [ + 0.33849799633026123, + -0.04157665744423866, + 0.03731312230229378 + ], + [ + 0.33713942766189575, + -0.03808172419667244, + 0.032792143523693085 + ], + [ + 0.33972764015197754, + -0.03635665029287338, + 0.03587532415986061 + ], + [ + 0.33952048420906067, + -0.02925049141049385, + 0.03295016661286354 + ], + [ + 0.33856886625289917, + -0.024631064385175705, + 0.031456902623176575 + ], + [ + 0.3394886553287506, + -0.014150469563901424, + 0.03237226977944374 + ], + [ + 0.33759546279907227, + -0.005259285215288401, + 0.033061686903238297 + ], + [ + 0.3367205560207367, + 0.019097797572612762, + 0.033921193331480026 + ], + [ + 0.3396574854850769, + 0.03337715566158295, + 0.039075858891010284 + ], + [ + 0.34106630086898804, + 0.05304444581270218, + 0.04468793049454689 + ], + [ + 0.34338614344596863, + 0.06534959375858307, + 0.046919822692871094 + ], + [ + 0.34051448106765747, + 0.07501603662967682, + 0.046633608639240265 + ], + [ + 0.3390384614467621, + 0.06702103465795517, + 0.051795944571495056 + ], + [ + 0.3321603238582611, + 0.029289958998560905, + 0.07094721496105194 + ], + [ + 0.32914361357688904, + -0.0018665402894839644, + 0.07181540876626968 + ], + [ + 0.3306427597999573, + -0.008421795442700386, + 0.06842485070228577 + ], + [ + 0.3311171233654022, + -0.014973586425185204, + 0.05444559082388878 + ], + [ + 0.3296731114387512, + -0.014040244743227959, + 0.048678625375032425 + ], + [ + 0.32211312651634216, + -0.014469803310930729, + 0.040298763662576675 + ], + [ + 0.3135222792625427, + 0.004065066576004028, + 0.03002062439918518 + ], + [ + 0.3074350357055664, + 0.020085040479898453, + 0.026123937219381332 + ], + [ + 0.3068464994430542, + 0.0396440252661705, + 0.02628459967672825 + ], + [ + 0.3098427951335907, + 0.062007952481508255, + 0.03057269938290119 + ], + [ + 0.3181762099266052, + 0.0835641473531723, + 0.03707079589366913 + ], + [ + 0.32376113533973694, + 0.10172811895608902, + 0.04152541235089302 + ], + [ + 0.31997212767601013, + 0.11516296863555908, + 0.04255664348602295 + ], + [ + 0.31769534945487976, + 0.11167173087596893, + 0.042498327791690826 + ], + [ + 0.31720247864723206, + 0.09870903193950653, + 0.061767369508743286 + ], + [ + 0.31807366013526917, + 0.0750788003206253, + 0.07181382179260254 + ], + [ + 0.3209318220615387, + 0.058135274797677994, + 0.06480452418327332 + ], + [ + 0.3255629241466522, + 0.047581471502780914, + 0.047211430966854095 + ], + [ + 0.33195868134498596, + 0.03962132707238197, + 0.0476321280002594 + ], + [ + 0.333252876996994, + 0.024949975311756134, + 0.04508035257458687 + ], + [ + 0.33601832389831543, + 0.004082459956407547, + 0.04535238444805145 + ], + [ + 0.3373473882675171, + -0.008187606930732727, + 0.045107267796993256 + ], + [ + 0.34401506185531616, + -0.006096358876675367, + 0.04078284651041031 + ], + [ + 0.34389829635620117, + 0.0009348895400762558, + 0.0383039154112339 + ], + [ + 0.35028567910194397, + 0.016137229278683662, + 0.04783253371715546 + ], + [ + 0.3545520603656769, + 0.024702614173293114, + 0.055684518069028854 + ], + [ + 0.35409149527549744, + 0.035923153162002563, + 0.05630144476890564 + ], + [ + 0.34109923243522644, + 0.03864293172955513, + 0.0775642842054367 + ], + [ + 0.31231269240379333, + 0.032023560255765915, + 0.09241948276758194 + ], + [ + 0.28085026144981384, + 0.024871032685041428, + 0.08720798045396805 + ], + [ + 0.26089081168174744, + 0.02130146138370037, + 0.06764140725135803 + ], + [ + 0.24412807822227478, + 0.022094961255788803, + 0.037834834307432175 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.693613617876943, + -0.6997814514189173, + 0.17089783306318385, + -0.6709613140163246, + -0.7139464561858673, + -0.20022830167868128, + 0.26212795384915644, + 0.02421524209408979, + -0.9647292666137892 + ], + [ + 0.6991870108002151, + -0.6977186080883043, + 0.15596880411024136, + -0.6686376419089429, + -0.715387848792046, + -0.2028396648171571, + 0.2531031958524187, + 0.037536245523595996, + -0.9667108163878608 + ], + [ + 0.6903593777659857, + -0.7046224025457003, + 0.16404633297116397, + -0.6773550939243743, + -0.7091795834015984, + -0.19558730843548433, + 0.25415350925230784, + 0.0239079132728129, + -0.9668683495790296 + ], + [ + 0.6917943872815859, + -0.7052539113710088, + 0.15504014390340404, + -0.6798166857868675, + -0.708490260417749, + -0.18944873876315355, + 0.24345389594634653, + 0.02566069736159389, + -0.9695729622671323 + ], + [ + 0.6807686669716123, + -0.7177252364689568, + 0.146371127635452, + -0.697768643308808, + -0.6962122892154712, + -0.16854485681959713, + 0.2228742750625998, + 0.012606874352228736, + -0.9747656765779085 + ], + [ + 0.6747611186425998, + -0.7220726047892742, + 0.1526714976052188, + -0.7063588055788571, + -0.691785335469472, + -0.14996762120738144, + 0.2139034140667181, + -0.006648536848295347, + -0.9768321894820928 + ], + [ + 0.6792242080641692, + -0.7211106712035694, + 0.13657918968840066, + -0.7047843218558064, + -0.6927792930080469, + -0.1527609598212918, + 0.2047767927423753, + 0.007500070373584286, + -0.9787799620438384 + ], + [ + 0.682219155017602, + -0.7152775881633301, + 0.15150906374972742, + -0.6964673053101434, + -0.6988170348588467, + -0.16305840801724153, + 0.2225091395001492, + 0.005720459976202505, + -0.9749138214101615 + ], + [ + 0.6804860959005457, + -0.7164002861940723, + 0.15397825569568235, + -0.6959086422855015, + -0.6976344676613603, + -0.17034468328421815, + 0.2294555183001346, + 0.008762389622820457, + -0.973279705762796 + ], + [ + 0.6824240356214049, + -0.7140734000064632, + 0.1561941580514622, + -0.6905062336409284, + -0.6998683326291135, + -0.18271688013416898, + 0.2397886087978645, + 0.016837350924481048, + -0.9706791059380184 + ], + [ + 0.6917254605853943, + -0.7057763289788628, + 0.15295640107901615, + -0.6799056297252117, + -0.7078635251576635, + -0.19146165260785264, + 0.24340135958101822, + 0.028442981638477097, + -0.9695085223708071 + ], + [ + 0.7092476472779194, + -0.687391494286769, + 0.1563991956914683, + -0.6604996939370557, + -0.7254979651556586, + -0.19337232703790447, + 0.24638979106243689, + 0.033847247114073706, + -0.9685795964829154 + ], + [ + 0.719847642963851, + -0.6772397183118816, + 0.15220293972269927, + -0.6536909097984677, + -0.7351615449946789, + -0.1795151726397755, + 0.2334685532705419, + 0.029729895759658592, + -0.9719097529770344 + ], + [ + 0.7283329957007237, + -0.6650766690829065, + 0.16493656845949886, + -0.6428730393596355, + -0.7465373460106998, + -0.17145333556336784, + 0.23716092139750497, + 0.018841848446642537, + -0.9712876412829515 + ], + [ + 0.7547828081786704, + -0.6359643925554351, + 0.16078620550133185, + -0.6132365178132658, + -0.771108742371573, + -0.17126669453922058, + 0.23290316807244202, + 0.030669183877746586, + -0.9720162115222628 + ], + [ + 0.777344068393482, + -0.6075466635171171, + 0.16316632919413454, + -0.5848306317745077, + -0.7934928399171055, + -0.168351552230793, + 0.23175273778684902, + 0.035442413144509424, + -0.9721288514794704 + ], + [ + 0.791566379913828, + -0.5882411428918333, + 0.16551442233058483, + -0.5654639414131157, + -0.8077805622446503, + -0.16655657963965603, + 0.2316747658931842, + 0.038248151184424206, + -0.9720410905817263 + ], + [ + 0.8022283834758682, + -0.5742517215809628, + 0.16329293005821047, + -0.5496040456321274, + -0.817176858289103, + -0.17365878987701566, + 0.23316306262033362, + 0.04956755529629724, + -0.971173539431267 + ], + [ + 0.8106936588299982, + -0.5590069558245376, + 0.17403164905445712, + -0.5336976939178935, + -0.8278138445832242, + -0.17289016809253127, + 0.2407126150403271, + 0.047280673177575686, + -0.9694441577029191 + ], + [ + 0.8154335220722265, + -0.5466341699793642, + 0.19041863168255307, + -0.5208983136653069, + -0.8364243849818864, + -0.17046757764546658, + 0.2524541897087942, + 0.039816233104666476, + -0.9667892995269609 + ], + [ + 0.8197782927957462, + -0.5356697588985011, + 0.2025375522280109, + -0.5099697307164033, + -0.8437448241341989, + -0.16740831968510272, + 0.2605655856285163, + 0.0339496855415798, + -0.9648590541823696 + ], + [ + 0.8241117720598474, + -0.5235025728165406, + 0.21629804300279853, + -0.49974517990758355, + -0.8517495331894835, + -0.15740866517010318, + 0.2666355983575989, + 0.021628429576817126, + -0.9635547045822181 + ], + [ + 0.828976176028532, + -0.5124247128749922, + 0.2240968835394504, + -0.49084760090498153, + -0.8586425668805341, + -0.14765356421919343, + 0.2680804585622312, + 0.01240386938778798, + -0.9633166726270621 + ], + [ + 0.827908777193657, + -0.518934288305089, + 0.21277749191818834, + -0.4952916221902953, + -0.8544658950842438, + -0.15676173999413306, + 0.26316015206297805, + 0.024397511331550742, + -0.9644436198176737 + ], + [ + 0.8272518158921921, + -0.5135735649740031, + 0.2278083107855459, + -0.485327145016641, + -0.8574962982194222, + -0.17075614439891723, + 0.2830406250223929, + 0.030696773444141012, + -0.9586165618677011 + ], + [ + 0.8308821803322778, + -0.49988532398881746, + 0.24443703742860903, + -0.4689226766019575, + -0.8655123989783715, + -0.17606763070808987, + 0.29957691128445835, + 0.03166938703699981, + -0.9535463932866426 + ], + [ + 0.8295621363099736, + -0.5043993688957308, + 0.23959953810143553, + -0.45657524126854554, + -0.8597007062506858, + -0.2290278252366756, + 0.32150538263208317, + 0.08059759506126889, + -0.9434714180137824 + ], + [ + 0.7825858694713747, + -0.5619199327617228, + 0.26796519562956855, + -0.4890281894882962, + -0.8212462653460231, + -0.29394897778527473, + 0.38524120598597844, + 0.0989977818957061, + -0.9174904099717874 + ], + [ + 0.7288229513973441, + -0.6385648241598306, + 0.24708717259742397, + -0.5313716578746784, + -0.7550830529213157, + -0.3840491432076646, + 0.43181161022369485, + 0.14860870949157134, + -0.8896371084544921 + ], + [ + 0.735756523681787, + -0.635461679051946, + 0.2342024600984649, + -0.5081853196173839, + -0.7466176024579648, + -0.42931321506016673, + 0.4476717757297959, + 0.19685174664300376, + -0.8722610681777155 + ], + [ + 0.8256005466059116, + -0.4918830450892761, + 0.27646845642445594, + -0.38971031356583147, + -0.8514113125871031, + -0.35103368541940205, + 0.4080558894862828, + 0.18207099371510982, + -0.8946175407978267 + ], + [ + 0.8781024356177657, + -0.3717282516698618, + 0.30125440988077823, + -0.30603729096239274, + -0.920330408863088, + -0.24358389737891423, + 0.3678006105249797, + 0.12169653007530479, + -0.9219070807110026 + ], + [ + 0.8978240174867704, + -0.31080177459634195, + 0.31195238503925554, + -0.25279691258274917, + -0.943831632090181, + -0.21278057066991599, + 0.3605631076698574, + 0.11217890699124286, + -0.9259644367974965 + ], + [ + 0.9078757324230923, + -0.3076560106549901, + 0.2847971797351419, + -0.24915965881046237, + -0.9422854597577621, + -0.223646097105577, + 0.33716630747850246, + 0.13208289608030185, + -0.9321335685749937 + ], + [ + 0.9137621214708336, + -0.2844595961431314, + 0.2900371071556332, + -0.21538664970643479, + -0.9445601044499217, + -0.2478200964607004, + 0.3444522847846407, + 0.16397849628423816, + -0.924372044288987 + ], + [ + 0.9150359571462449, + -0.26092416799314067, + 0.3076162799439309, + -0.18204885622925138, + -0.9476600774862727, + -0.2622948560005192, + 0.3599547347585206, + 0.18400803269368174, + -0.9146439923976564 + ], + [ + 0.918721569793152, + -0.242023297647271, + 0.31205031740529743, + -0.1614206816700546, + -0.9513116467516076, + -0.26258239522846777, + 0.3604081585175082, + 0.19086873539342378, + -0.9130580951524025 + ], + [ + 0.9224946533857199, + -0.2173259550335328, + 0.31901887678242946, + -0.13383178555275282, + -0.9552596745618132, + -0.2637574782481443, + 0.362067214271773, + 0.2006199975695873, + -0.9103070629873506 + ], + [ + 0.9260983956487384, + -0.19235830203092327, + 0.3245613119529386, + -0.11091685618930633, + -0.9610596447024982, + -0.25310434673744464, + 0.3606095015247287, + 0.19840020908277284, + -0.9113715732049132 + ], + [ + 0.9234691928905041, + -0.1819166915743693, + 0.3378031484589751, + -0.09998612452966954, + -0.9641308069850237, + -0.24587509415136774, + 0.3704152057943869, + 0.1932824470795068, + -0.9085342431451109 + ], + [ + 0.9275374739515748, + -0.164814924330694, + 0.3354255135397417, + -0.08490101464768882, + -0.9669648646399109, + -0.24035550391807511, + 0.3639588604874523, + 0.19446077051628305, + -0.9108891022527874 + ], + [ + 0.9295595472129562, + -0.1666001659508019, + 0.3288820957279501, + -0.08696652034687695, + -0.965986320140866, + -0.24353080634585836, + 0.3582678781638113, + 0.19777465460941399, + -0.912430443086007 + ], + [ + 0.9346791197692297, + -0.14326761416253597, + 0.32534494586452856, + -0.06536592554437498, + -0.9688535467341537, + -0.2388516291725442, + 0.3494313077632648, + 0.20198315700282055, + -0.9149320004470435 + ], + [ + 0.9337890551588639, + -0.11106947274791774, + 0.34014933880431875, + -0.036891792168460794, + -0.97542309019294, + -0.21722981100450736, + 0.35591711975699447, + 0.19029810125682925, + -0.9149369576762818 + ], + [ + 0.923002371592826, + -0.09690157389483114, + 0.3723932155809548, + -0.02290608588363508, + -0.979892589745626, + -0.19820651803384784, + 0.38411187597301705, + 0.17441501523181738, + -0.9066628200153433 + ], + [ + 0.9204634483060565, + -0.07974853351843622, + 0.38260581769516117, + -0.006059661358200262, + -0.9817549115340879, + -0.19005413487456557, + 0.39078167924910195, + 0.17261942266255698, + -0.9041527603690086 + ], + [ + 0.9252317677598962, + -0.11518626567275711, + 0.3614945367889569, + -0.025347471038815343, + -0.9694376812279734, + -0.24402476908557216, + 0.37855472740389057, + 0.21661649617629633, + -0.8998742200688221 + ], + [ + 0.9191028852214193, + -0.1692278547958313, + 0.35582554649555953, + -0.02665269850412043, + -0.9277038346604163, + -0.37236437640946213, + 0.39311514857622953, + 0.33275746170080117, + -0.8571656500597354 + ], + [ + 0.9153923193976974, + -0.19252115498020905, + 0.3535427929866347, + -0.04183025835640289, + -0.9189650480545226, + -0.3921141032148495, + 0.4003837297812446, + 0.34414945203971403, + -0.8492667564359411 + ], + [ + 0.9249439406966046, + -0.19183305487746333, + 0.32814445847067997, + -0.05293390275121275, + -0.9198987539288205, + -0.3885669626457301, + 0.3763996659246137, + 0.3420326908010156, + -0.8610092507721713 + ], + [ + 0.9425391811391066, + -0.16762197646883317, + 0.28900305365567364, + -0.039739229492665284, + -0.9151380101151716, + -0.4011772875946158, + 0.3317238093006764, + 0.36664055346773317, + -0.8692145988741345 + ], + [ + 0.9518097842548073, + -0.14308484738941374, + 0.2712652964246719, + -0.010587530954712543, + -0.8992991565742542, + -0.43720582243734785, + 0.30650618066378355, + 0.4132647498062022, + -0.8574766514503569 + ], + [ + 0.9599676751733469, + -0.12624564356878623, + 0.2500481955587411, + -0.005672894155227114, + -0.9012552216301182, + -0.43325147865454544, + 0.2800533536563757, + 0.4144889177823086, + -0.8658920580196283 + ], + [ + 0.9758683053513607, + -0.053913743936340006, + 0.2115995246342258, + 0.018653781085097982, + -0.9449146492518985, + -0.3267848559532574, + 0.21756168564775555, + 0.32284611480383146, + -0.921106562290259 + ], + [ + 0.9816488696889052, + -0.009366282245345846, + 0.1904672396907017, + 0.028307039439828513, + -0.9805709789622808, + -0.19411148017339397, + 0.18858475059412064, + 0.19594087877177252, + -0.9623112614271427 + ], + [ + 0.9793994219989426, + 0.0038995338919930265, + 0.20189493758775143, + 0.027866789998646967, + -0.9928575102986495, + -0.11600606130171866, + 0.20000053550755345, + 0.11924243321482499, + -0.9725127392058674 + ], + [ + 0.9764544881607484, + -0.013362389414884164, + 0.21530926385052807, + 0.007287982421909302, + -0.9954666182136295, + -0.09483194258549427, + 0.21560036610114852, + 0.09416824608882515, + -0.9719304623097301 + ], + [ + 0.9750490354865462, + 0.011068553394916535, + 0.22171347618604423, + 0.03721881975098211, + -0.9927697042796289, + -0.11411868261105172, + 0.21884729345618972, + 0.11952322531743333, + -0.9684111011118255 + ], + [ + 0.9717947415898495, + 0.00474223338289206, + 0.2357806002216039, + 0.03693967938140311, + -0.9905173375715028, + -0.13232862145983612, + 0.23291723917631507, + 0.1373059182730433, + -0.9627547166862801 + ], + [ + 0.9693593876173625, + 0.01796461906597631, + 0.24498908159325425, + 0.05520106789800837, + -0.9877452380825823, + -0.14598694033406656, + 0.23936419895425318, + 0.15503747000966317, + -0.9584717852665208 + ], + [ + 0.9662212646352791, + 0.004769703462095147, + 0.25766978421127656, + 0.04590180693739419, + -0.9870268644226599, + -0.15385380407339516, + 0.25359316214457434, + 0.16048432582921035, + -0.9539052831789222 + ], + [ + 0.9666891362193221, + 0.0045575686248018055, + 0.25591276342490443, + 0.04313883419185081, + -0.9884393612153568, + -0.14535016403411907, + 0.25229180505935755, + 0.15154820278844464, + -0.9557102004956751 + ], + [ + 0.9657581532729613, + -0.005373725799225834, + 0.25938834294901125, + 0.051182175764105255, + -0.9761914342731971, + -0.21078583570935286, + 0.254345383820606, + 0.21684419919073875, + -0.9424897978262022 + ], + [ + 0.9604133402841636, + -0.09325646007802213, + 0.262506092230127, + -0.0111727422355457, + -0.9544404351378838, + -0.2981922628183793, + 0.27835478374756506, + 0.28345491427654523, + -0.9176992568032966 + ], + [ + 0.9556864414829687, + -0.1711515288604832, + 0.2395215642365831, + -0.0810318081971663, + -0.9351378403262354, + -0.3448928321236643, + 0.28301461380274706, + 0.31020053797294356, + -0.9075672727767229 + ], + [ + 0.9526322207856492, + -0.18902160621092845, + 0.23824920630810664, + -0.10365431168963019, + -0.9382875962663668, + -0.32995783118579336, + 0.2859154343318161, + 0.28963290399767117, + -0.9134359010531198 + ], + [ + 0.9572001868744264, + -0.1923404484423299, + 0.21627055772935533, + -0.12339328983826024, + -0.9471235762654525, + -0.2961942391489589, + 0.2618050768614965, + 0.25683084545113155, + -0.9303203848967316 + ], + [ + 0.9544106814550677, + -0.18540553406722612, + 0.2339338347946272, + -0.1151346675466833, + -0.9517192367775525, + -0.28456019165805235, + 0.2753983650158221, + 0.24465339213834625, + -0.9296776098529063 + ], + [ + 0.9555539287587594, + -0.18339231754286092, + 0.23083315857986791, + -0.111258346939729, + -0.9493967557087043, + -0.2937130921256761, + 0.27301697652332696, + 0.25497658346610075, + -0.927603725959537 + ], + [ + 0.9548245751944219, + -0.16254035107585557, + 0.24877834487135184, + -0.09233223902388062, + -0.9579904562339255, + -0.27153092531340145, + 0.28246201203281945, + 0.2362941388118898, + -0.9297205449604298 + ], + [ + 0.9479853144048221, + -0.15474471964536596, + 0.2781688613318675, + -0.0862250912739164, + -0.9660458207537765, + -0.24355842387190618, + 0.3064132459728128, + 0.20690467357225023, + -0.9291401286923116 + ], + [ + 0.9422873424403905, + -0.1347748664415817, + 0.30648050452235964, + -0.0668309156078421, + -0.9726925948664612, + -0.22226728191744244, + 0.32806736045459295, + 0.1889572736562532, + -0.9255630479533806 + ], + [ + 0.9406197007031025, + -0.08338925423438026, + 0.32906049736703524, + -0.02145140662317318, + -0.9820224136508423, + -0.18754150538284078, + 0.3387837301333906, + 0.16934642412997306, + -0.9254984456125781 + ], + [ + 0.936721871154065, + -0.02359869911304535, + 0.34927816636858255, + 0.039112285756957896, + -0.9844237571248828, + -0.1714062294988015, + 0.34788268885429374, + 0.17422103147525472, + -0.9212082647193333 + ], + [ + 0.9287654288084692, + 0.020541457434225554, + 0.3700984014781724, + 0.08120596082802875, + -0.9854834969172691, + -0.14909013793577364, + 0.3616633381699301, + 0.16852396218398513, + -0.9169510913857913 + ], + [ + 0.926360366775488, + 0.047356742466363275, + 0.3736493139436472, + 0.10411877722082298, + -0.985602562086465, + -0.1332173781405297, + 0.36196098007606337, + 0.1623112089523419, + -0.9179538770280374 + ], + [ + 0.9313411309716508, + 0.04007478968422541, + 0.36193605649646327, + 0.10451938516980665, + -0.9815233118026054, + -0.16027378610293924, + 0.3488257385632138, + 0.18709890331001466, + -0.9183216236678835 + ], + [ + 0.9212498608749295, + 0.024424601661517338, + 0.388203725731218, + 0.1132761533990912, + -0.9716147331158589, + -0.2076856361506581, + 0.3721118204371209, + 0.23530458819554323, + -0.8978666626315387 + ], + [ + 0.9235658564086637, + -0.024183370688174367, + 0.3826764605489728, + 0.08803715495850872, + -0.9579739419264889, + -0.2730116956041175, + 0.37319642043157747, + 0.2858340273165218, + -0.8826229889398275 + ], + [ + 0.93385989724976, + -0.07044200491774885, + 0.350633164791689, + 0.039377915736421874, + -0.9541973828085581, + -0.29657500635345774, + 0.35546458622614313, + 0.290766708177649, + -0.8883128105316342 + ], + [ + 0.9476329884327332, + -0.0974568087237869, + 0.304128081024134, + 0.007303299412975896, + -0.9454384511244055, + -0.3257188925333765, + 0.31927790567424397, + 0.310883105956017, + -0.8952169085642923 + ], + [ + 0.94516323332217, + -0.1265854284187794, + 0.30106908125547444, + -0.008912892562088437, + -0.931486852679877, + -0.36366578562014057, + 0.32647668021186144, + 0.3410401334103825, + -0.8815353677994268 + ], + [ + 0.9426348546191459, + -0.16513103934146306, + 0.29012285449986486, + -0.049407788302124694, + -0.9285261494910865, + -0.36796475397291634, + 0.33014905923269566, + 0.33252207378949233, + -0.8834198713694985 + ], + [ + 0.9406825829939217, + -0.19217225917413713, + 0.2796177763587135, + -0.07375248588492192, + -0.9202423043122195, + -0.38433666515170045, + 0.3311749520686576, + 0.3409163008101023, + -0.8798290896329115 + ], + [ + 0.9444175638661109, + -0.18420884538968402, + 0.2722913262324013, + -0.07055965501269967, + -0.9225446961221625, + -0.3793845262281471, + 0.3210869043509706, + 0.3390846279869766, + -0.884265127050278 + ], + [ + 0.9470054195626505, + -0.09354867879578109, + 0.3072936380964179, + 4.242140807469985e-05, + -0.9566161767237918, + -0.29135114317740257, + 0.32121757971722625, + 0.27592414741359444, + -0.905916735332055 + ], + [ + 0.9508069240374135, + -0.03593035979918393, + 0.30769335782108287, + 0.042332602740757626, + -0.9688634718355278, + -0.24394983846684587, + 0.3068780603883323, + 0.24497465621469539, + -0.9196810718204363 + ], + [ + 0.9516977631669863, + 0.023042591237738566, + 0.30617055144478744, + 0.09409141535379045, + -0.9710899486178234, + -0.2193880517488441, + 0.2922638758719168, + 0.23759913864002855, + -0.9263522419565039 + ], + [ + 0.9541083467160941, + 0.040990578499438386, + 0.29664294227397864, + 0.110248548757577, + -0.9690935642446237, + -0.22068738350096012, + 0.27842866271907035, + 0.24326412849808549, + -0.9291394101869414 + ], + [ + 0.9503640177783041, + 0.055052712421627285, + 0.3062310117661197, + 0.12552090072563948, + -0.968414628609125, + -0.21544746593282382, + 0.2846976241441152, + 0.24319191177107996, + -0.9272566833708042 + ], + [ + 0.9338223508708509, + 0.020755971816225904, + 0.35713443777939063, + 0.11023501495834312, + -0.9664321577770523, + -0.2320713810264515, + 0.3403293382756933, + 0.25608216269071654, + -0.9047639843961927 + ], + [ + 0.9306039305359666, + -0.0821531338320231, + 0.3566892023493113, + 0.022267897871040825, + -0.9599748150946963, + -0.2791997405233553, + 0.3653497847206361, + 0.2677670946652738, + -0.8915269585487046 + ], + [ + 0.9333476442066398, + -0.19148890200868113, + 0.3036349378141869, + -0.08729311540246613, + -0.9415230428947446, + -0.3254447291039637, + 0.34819834442060055, + 0.2772478315618182, + -0.8954839768734124 + ], + [ + 0.9246402255667882, + -0.3006196692968265, + 0.23381246266113798, + -0.21220764919482693, + -0.9164849549252599, + -0.33915076443795583, + 0.3162409949500612, + 0.2639756462772867, + -0.9112126487738658 + ], + [ + 0.9169440085204265, + -0.3540693360143789, + 0.1839798644766033, + -0.28609765703446416, + -0.9048035828318142, + -0.31540229411674076, + 0.27813992140266847, + 0.2365700356956683, + -0.9309526316269094 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0020525306463241577, + -0.0006698118522763252, + -0.00403168797492981, + -0.01371404156088829, + 0.009340047836303711, + 0.005731821060180664, + 1.0 + ], + [ + 0.00027444958686828613, + -0.0038399086333811283, + -0.002393539994955063, + 0.014087202027440071, + -0.001085817813873291, + -0.01282280683517456, + 1.0 + ], + [ + -0.0017247796058654785, + -3.091292455792427e-05, + -0.005274396389722824, + -0.0017376746982336044, + 0.011047065258026123, + -0.0007753968238830566, + 1.0 + ], + [ + -0.0011631101369857788, + -0.001691427081823349, + -0.009220082312822342, + 0.013527287170290947, + 0.021163389086723328, + -0.021063625812530518, + 1.0 + ], + [ + 0.001975610852241516, + -0.0006793302018195391, + -0.0033636540174484253, + 0.019738631322979927, + 0.009192794561386108, + -0.01054304838180542, + 1.0 + ], + [ + -0.0007729679346084595, + -0.00020135496743023396, + -0.004099208861589432, + -0.014468640089035034, + 0.00933346152305603, + 0.00440824031829834, + 0.0 + ], + [ + 0.0026351213455200195, + -0.0006447962950915098, + -0.0015381146222352982, + 0.0017949328757822514, + -0.018151715397834778, + 0.008131861686706543, + 0.0 + ], + [ + 0.0009691715240478516, + -0.00011854013428092003, + -0.000735921785235405, + -0.003135118167847395, + -0.007130861282348633, + -0.0008703470230102539, + 0.0 + ], + [ + 0.0019469410181045532, + -0.0014088895404711366, + -0.00011616572737693787, + -0.008341502398252487, + -0.010629862546920776, + 0.005317807197570801, + 0.0 + ], + [ + 0.0075745731592178345, + -0.0001996345818042755, + -0.00016309693455696106, + -0.011984903365373611, + -0.003723040223121643, + 0.014503896236419678, + 0.0 + ], + [ + 0.012431904673576355, + 0.0010888507822528481, + -0.001209428533911705, + -0.0056019127368927, + -0.003082290291786194, + 0.02695685625076294, + 0.0 + ], + [ + 0.011266633868217468, + 0.003929957747459412, + -0.003108423203229904, + 0.004351409152150154, + 0.013310134410858154, + 0.012553989887237549, + 0.0 + ], + [ + 0.010439157485961914, + 0.007900917902588844, + 0.00022416561841964722, + 0.01118321530520916, + -0.00379905104637146, + 0.014116168022155762, + 0.0 + ], + [ + 0.0058939456939697266, + 0.013551650568842888, + -0.00044378824532032013, + -0.012145265936851501, + 0.004380464553833008, + 0.040857017040252686, + 0.0 + ], + [ + 0.003187805414199829, + 0.015155170112848282, + 0.0007940307259559631, + -0.004900746047496796, + 0.0011827945709228516, + 0.03729701042175293, + 0.0 + ], + [ + 0.00192984938621521, + 0.01441575214266777, + 0.0006391089409589767, + -0.0028855837881565094, + 8.015334606170654e-05, + 0.024700820446014404, + 0.0 + ], + [ + 0.0010715723037719727, + 0.012212779372930527, + 0.001008208841085434, + -0.011666577309370041, + -0.0015302002429962158, + 0.0196455717086792, + 0.0 + ], + [ + 0.003731071949005127, + 0.011484883725643158, + 0.0009683221578598022, + 0.0022622793912887573, + -0.007770851254463196, + 0.018450140953063965, + 0.0 + ], + [ + 0.00649869441986084, + 0.007745854556560516, + 0.00047869421541690826, + 0.007571574300527573, + -0.012115776538848877, + 0.013742566108703613, + 0.0 + ], + [ + 0.004989713430404663, + 0.00723305344581604, + -0.00013076886534690857, + 0.0059890709817409515, + -0.00839221477508545, + 0.011962294578552246, + 0.0 + ], + [ + 0.00464436411857605, + 0.007745958864688873, + 0.0012406036257743835, + 0.012728920206427574, + -0.006292581558227539, + 0.011383116245269775, + 0.0 + ], + [ + 0.002794981002807617, + 0.011067844927310944, + 0.0002561397850513458, + 0.009567230008542538, + -0.0014994442462921143, + 0.010515391826629639, + 0.0 + ], + [ + -0.00019603967666625977, + 0.015545710921287537, + 0.004331834614276886, + -0.012416086159646511, + 0.005103647708892822, + -0.004527390003204346, + 0.0 + ], + [ + 0.0043693482875823975, + 0.010250270366668701, + 0.00657191127538681, + -0.006719427183270454, + -0.020666539669036865, + 0.008564114570617676, + 0.0 + ], + [ + 0.002705216407775879, + 0.005030378699302673, + 0.002580653876066208, + -0.0011889971792697906, + -0.0172862708568573, + 0.01675659418106079, + 0.0 + ], + [ + -0.004179626703262329, + -0.009969845414161682, + -0.000309772789478302, + -0.05201973021030426, + -0.023069679737091064, + 0.010671079158782959, + 0.0 + ], + [ + -0.007102400064468384, + -0.02206721156835556, + 0.026438891887664795, + -0.022265031933784485, + -0.0681503415107727, + -0.05538278818130493, + 0.0 + ], + [ + -0.014488935470581055, + -0.04630870372056961, + 0.020993657410144806, + -0.05803120136260986, + -0.051031142473220825, + -0.07146012783050537, + 0.0 + ], + [ + -0.00713762640953064, + -0.03604065626859665, + 0.001011177897453308, + -0.05644546449184418, + -0.01765960454940796, + 0.025523126125335693, + 0.0 + ], + [ + -0.0034699738025665283, + -0.024391744285821915, + -0.013691626489162445, + 0.021185249090194702, + 0.043836355209350586, + 0.1634311079978943, + 0.0 + ], + [ + 0.001858741044998169, + -0.03130641207098961, + -0.011791214346885681, + 0.06952981650829315, + 0.04368084669113159, + 0.1056675910949707, + 0.0 + ], + [ + 0.003905355930328369, + -0.010020183399319649, + -0.004918575286865234, + 0.010685719549655914, + 0.007771193981170654, + 0.06089630722999573, + 0.0 + ], + [ + 0.001393049955368042, + -0.006879851222038269, + -0.009414758533239365, + -0.02020176500082016, + 0.02496621012687683, + 0.006612658500671387, + 0.0 + ], + [ + 0.013044387102127075, + -0.0041519589722156525, + -0.0025534145534038544, + -0.034805625677108765, + -0.007749974727630615, + 0.036359190940856934, + 0.0 + ], + [ + 0.01384580135345459, + -0.0017791502177715302, + 0.002507556229829788, + -0.022961825132369995, + -0.01656407117843628, + 0.0351002961397171, + 0.0 + ], + [ + 0.009044617414474487, + -0.00023756176233291626, + -0.0015623830258846283, + -0.007545918226242065, + -0.00048604607582092285, + 0.022462159395217896, + 0.0 + ], + [ + 0.0069083571434021, + -0.0003198981285095215, + -0.002281252294778824, + -0.010843783617019653, + -0.0017791986465454102, + 0.029855355620384216, + 0.0 + ], + [ + 0.006329268217086792, + 0.0011315122246742249, + -0.005653355270624161, + 0.0025697797536849976, + 0.001563340425491333, + 0.024870693683624268, + 0.0 + ], + [ + 0.005654841661453247, + -0.0015686377882957458, + -0.0009966865181922913, + 0.004733860492706299, + -0.010534703731536865, + 0.011347956955432892, + 0.0 + ], + [ + 0.0011491775512695312, + -0.0009383447468280792, + -0.004186343401670456, + -0.0007113069295883179, + 0.0069412291049957275, + 0.016572728753089905, + 0.0 + ], + [ + 0.003459423780441284, + -0.000682976096868515, + 0.004989273846149445, + -0.0031266063451766968, + 0.006102800369262695, + -0.002005733549594879, + 0.0 + ], + [ + -0.0005204081535339355, + 0.005661092698574066, + 5.040690302848816e-05, + -0.0038241446018218994, + 0.009447872638702393, + 0.023464754223823547, + 0.0 + ], + [ + 0.0019033253192901611, + 0.01593453623354435, + 0.0017858073115348816, + 0.01221129298210144, + -0.006931185722351074, + 0.03033331036567688, + 0.0 + ], + [ + 0.002511352300643921, + 0.011820681393146515, + 0.005012530833482742, + 0.01501801609992981, + -0.030350446701049805, + 0.014675255864858627, + 0.0 + ], + [ + -0.0018868446350097656, + 0.006815040484070778, + -0.003453277051448822, + 0.0014004558324813843, + -0.007234930992126465, + 0.01822866126894951, + 0.0 + ], + [ + -0.003826141357421875, + -0.005521811544895172, + 0.00038484111428260803, + -0.047576144337654114, + 0.013246327638626099, + -0.020805779844522476, + 0.0 + ], + [ + 9.250640869140625e-05, + -0.01497582346200943, + 0.008539937436580658, + -0.13407422602176666, + -0.01578274369239807, + -0.0016015209257602692, + 0.0 + ], + [ + 0.0013396143913269043, + -0.0056270211935043335, + 0.0030334778130054474, + -0.01470935344696045, + -0.007918506860733032, + -0.016674291342496872, + 0.0 + ], + [ + -0.002040088176727295, + -0.0050575099885463715, + -0.007624015212059021, + 0.0068777501583099365, + 0.026028484106063843, + -0.011502183973789215, + 0.0 + ], + [ + -0.0025106072425842285, + -0.0003844015300273895, + -0.010590292513370514, + -0.021032601594924927, + 0.04777681827545166, + 0.015030022710561752, + 0.0 + ], + [ + -0.0013585686683654785, + 0.003494933247566223, + -0.004520978778600693, + -0.04994449019432068, + 0.02660989761352539, + 0.031013809144496918, + 0.0 + ], + [ + 0.002588212490081787, + 0.001725073903799057, + 0.0030831806361675262, + 0.0026572048664093018, + 0.027670681476593018, + 0.0052137249149382114, + 0.0 + ], + [ + -0.00020715594291687012, + 0.007106158882379532, + -0.0029251575469970703, + 0.10933157801628113, + 0.06453406810760498, + 0.025022126734256744, + 0.0 + ], + [ + -0.000951617956161499, + 0.004619427025318146, + -0.001493263989686966, + 0.13624954223632812, + 0.029594779014587402, + 0.009715495631098747, + 0.0 + ], + [ + 0.0009197890758514404, + 0.01048059482127428, + 0.0009153671562671661, + 0.07886520773172379, + -0.011637628078460693, + -0.00038296543061733246, + 0.0 + ], + [ + -0.0018931925296783447, + 0.008891183882951736, + 0.0006894171237945557, + 0.02541738748550415, + -0.01594814658164978, + -0.02098168060183525, + 0.0 + ], + [ + -0.0008749067783355713, + 0.024357082322239876, + 0.0008595064282417297, + -0.026214592158794403, + -0.0033263564109802246, + 0.030689124017953873, + 0.0 + ], + [ + 0.00293692946434021, + 0.014279358088970184, + 0.005154665559530258, + -0.01886148750782013, + -0.014443382620811462, + -0.00015918537974357605, + 0.0 + ], + [ + 0.0014088153839111328, + 0.019667290151119232, + 0.005612071603536606, + -0.0187034010887146, + -0.006634607911109924, + 0.018890969455242157, + 0.0 + ], + [ + 0.002319842576980591, + 0.01230514794588089, + 0.0022318921983242035, + -0.006312534213066101, + -0.014682084321975708, + -0.009413663297891617, + 0.0 + ], + [ + -0.0028716623783111572, + 0.00966644287109375, + -0.00028621405363082886, + 0.009416475892066956, + 0.0013450980186462402, + -0.00287507101893425, + 0.0 + ], + [ + -0.0014760196208953857, + -0.00799500197172165, + 0.005162335932254791, + -0.06887857615947723, + -0.002122819423675537, + 0.008351597934961319, + 0.0 + ], + [ + -0.0068781375885009766, + -0.037731073796749115, + 0.019151270389556885, + -0.07343904674053192, + -0.024910002946853638, + -0.06458009034395218, + 0.0 + ], + [ + -0.0030167102813720703, + -0.031156498938798904, + 0.0008681938052177429, + -0.029765695333480835, + -0.00485500693321228, + -0.07295405864715576, + 0.0 + ], + [ + 0.0014991462230682373, + -0.0065552550368011, + -0.0033905580639839172, + 0.022292643785476685, + -0.003025829792022705, + -0.023795142769813538, + 0.0 + ], + [ + 0.0004743635654449463, + -0.0065517909824848175, + -0.013979259878396988, + 0.037694573402404785, + 0.02506956458091736, + -0.019821658730506897, + 0.0 + ], + [ + -0.001444011926651001, + 0.0009333416819572449, + -0.005766965448856354, + 0.012032896280288696, + -0.014112025499343872, + 0.008149422705173492, + 0.0 + ], + [ + -0.007559984922409058, + -0.00042955856770277023, + -0.00837986171245575, + -0.010926395654678345, + 0.002476304769515991, + 0.004142738878726959, + 0.0 + ], + [ + -0.008590847253799438, + 0.018534868955612183, + -0.010278139263391495, + 0.01936507225036621, + -0.009831905364990234, + 0.019510440528392792, + 0.0 + ], + [ + -0.006087243556976318, + 0.016019973903894424, + -0.0038966871798038483, + 0.02977745234966278, + -0.02506306767463684, + 0.005694441497325897, + 0.0 + ], + [ + -0.000588536262512207, + 0.01955898478627205, + 0.0001606624573469162, + 0.017722532153129578, + -0.02283424139022827, + 0.019900985062122345, + 0.0 + ], + [ + 0.002996295690536499, + 0.022363927215337753, + 0.004288099706172943, + 0.020409882068634033, + -0.01136690378189087, + 0.0480039119720459, + 0.0 + ], + [ + 0.008333414793014526, + 0.021556194871664047, + 0.006498096510767937, + -0.005938127636909485, + -0.00968790054321289, + 0.0645318478345871, + 0.0 + ], + [ + 0.005584925413131714, + 0.018163971602916718, + 0.004454616457223892, + 0.0051557570695877075, + -0.01473960280418396, + 0.0454823300242424, + 0.0 + ], + [ + -0.0037890076637268066, + 0.013434849679470062, + 0.0010312311351299286, + 0.006749376654624939, + -0.0003192722797393799, + 0.024713292717933655, + 0.0 + ], + [ + -0.002276778221130371, + -0.003491237759590149, + -5.83156943321228e-05, + -0.025979608297348022, + 0.014052808284759521, + -0.0001688152551651001, + 0.0 + ], + [ + -0.0004928708076477051, + -0.012962698936462402, + 0.01926904171705246, + -0.05531753599643707, + -0.024965345859527588, + 0.010588102042675018, + 0.0 + ], + [ + 0.0008711814880371094, + -0.023630231618881226, + 0.010046452283859253, + -0.05688118934631348, + -0.0011687874794006348, + -0.027309156954288483, + 0.0 + ], + [ + 0.0028581619262695312, + -0.01694352552294731, + -0.007009297609329224, + -0.003145158290863037, + 0.01904091238975525, + -0.052894070744514465, + 0.0 + ], + [ + 0.004631102085113525, + -0.01055380329489708, + -0.01759309321641922, + -0.017908751964569092, + 0.03844365477561951, + -0.03443513810634613, + 0.0 + ], + [ + 0.00639575719833374, + -0.007960144430398941, + 0.00042069703340530396, + -0.0348951518535614, + -0.007606178522109985, + -0.017136458307504654, + 0.0 + ], + [ + 0.0012941956520080566, + -0.01467135176062584, + -0.002551775425672531, + 0.00913664698600769, + -0.0038878917694091797, + -0.042936913669109344, + 0.0 + ], + [ + 0.002765446901321411, + -0.020867515355348587, + 0.00027203187346458435, + -0.00966671109199524, + -0.0010870397090911865, + -0.02587646245956421, + 0.0 + ], + [ + 0.0013290643692016602, + -0.012270066887140274, + -0.000245116651058197, + 0.00349581241607666, + 0.01067158579826355, + 0.0036692991852760315, + 0.0 + ], + [ + 0.006667673587799072, + 0.0020912480540573597, + -0.004324421286582947, + 0.07051786780357361, + -0.0001379847526550293, + 0.07461859285831451, + 0.0 + ], + [ + -0.00011676549911499023, + 0.007031248416751623, + -0.002478931099176407, + 0.03532874584197998, + 0.015103846788406372, + 0.04444863647222519, + 0.0 + ], + [ + 0.006387382745742798, + 0.015202339738607407, + 0.009528618305921555, + 0.009248048067092896, + 0.015317857265472412, + 0.05405322089791298, + 0.0 + ], + [ + 0.00426638126373291, + 0.008565384894609451, + 0.007851984351873398, + -0.00499233603477478, + 0.014435529708862305, + 0.01649453490972519, + 0.0 + ], + [ + -0.00046056509017944336, + 0.01122053898870945, + 0.0006169266998767853, + -0.0004245638847351074, + -0.006533294916152954, + 0.01627541333436966, + 0.0 + ], + [ + -0.012992262840270996, + 0.0027197785675525665, + 0.021262839436531067, + -0.019329726696014404, + -0.05857613682746887, + -0.013813301920890808, + 0.0 + ], + [ + -0.028786540031433105, + -0.006619371473789215, + 0.014855198562145233, + -0.015951573848724365, + -0.02674141526222229, + -0.09357942640781403, + 0.0 + ], + [ + -0.03146243095397949, + -0.007152527570724487, + -0.005211502313613892, + -0.008472055196762085, + 0.018360048532485962, + -0.1171794980764389, + 0.0 + ], + [ + -0.019959449768066406, + -0.003569571301341057, + -0.019566573202610016, + 0.018268823623657227, + 0.03388398885726929, + -0.13234062492847443, + 0.0 + ], + [ + -0.016762733459472656, + 0.0007934998720884323, + -0.029806572943925858, + 0.03312912583351135, + 0.03990742564201355, + -0.07684409618377686, + 1.0 + ], + [ + -0.006453260779380798, + 0.0067916568368673325, + -0.013177793473005295, + 0.09209240972995758, + -0.011154979467391968, + -0.06308752298355103, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 1.0041072368621826 + ], + [ + 0.9716382026672363 + ], + [ + 0.729983389377594 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7200843095779419 + ], + [ + 0.7642965912818909 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.22574760019779205, + 0.009745941497385502, + 0.05429544672369957 + ], + [ + 0.22602204978466034, + 0.0059060328640043736, + 0.05190190672874451 + ], + [ + 0.22429727017879486, + 0.005875119939446449, + 0.04662751033902168 + ], + [ + 0.22313416004180908, + 0.0041836928576231, + 0.03740742802619934 + ], + [ + 0.2251097708940506, + 0.003504362655803561, + 0.034043774008750916 + ], + [ + 0.22433680295944214, + 0.0033030076883733273, + 0.029944565147161484 + ], + [ + 0.22697192430496216, + 0.0026582113932818174, + 0.028406450524926186 + ], + [ + 0.22794109582901, + 0.0025396712590008974, + 0.02767052873969078 + ], + [ + 0.22988803684711456, + 0.0011307817185297608, + 0.027554363012313843 + ], + [ + 0.2374626100063324, + 0.0009311471367254853, + 0.02739126607775688 + ], + [ + 0.24989451467990875, + 0.0020199979189783335, + 0.026181837543845177 + ], + [ + 0.2611611485481262, + 0.005949955899268389, + 0.023073414340615273 + ], + [ + 0.27160030603408813, + 0.013850873336195946, + 0.02329757995903492 + ], + [ + 0.27749425172805786, + 0.027402523905038834, + 0.0228537917137146 + ], + [ + 0.2806820571422577, + 0.042557694017887115, + 0.023647822439670563 + ], + [ + 0.2826119065284729, + 0.056973446160554886, + 0.02428693138062954 + ], + [ + 0.2836834788322449, + 0.06918622553348541, + 0.025295140221714973 + ], + [ + 0.28741455078125, + 0.08067110925912857, + 0.026263462379574776 + ], + [ + 0.29391324520111084, + 0.08841696381568909, + 0.026742156594991684 + ], + [ + 0.2989029586315155, + 0.09565001726150513, + 0.026611387729644775 + ], + [ + 0.30354732275009155, + 0.103395976126194, + 0.02785199135541916 + ], + [ + 0.30634230375289917, + 0.11446382105350494, + 0.028108131140470505 + ], + [ + 0.3061462640762329, + 0.13000953197479248, + 0.03243996575474739 + ], + [ + 0.3105156123638153, + 0.14025980234146118, + 0.0390118770301342 + ], + [ + 0.3132208287715912, + 0.14529018104076385, + 0.04159253090620041 + ], + [ + 0.30904120206832886, + 0.13532033562660217, + 0.04128275811672211 + ], + [ + 0.3019388020038605, + 0.11325312405824661, + 0.0677216500043869 + ], + [ + 0.2874498665332794, + 0.066944420337677, + 0.08871530741453171 + ], + [ + 0.2803122401237488, + 0.030903765931725502, + 0.08972648531198502 + ], + [ + 0.27684226632118225, + 0.0065120211802423, + 0.07603485882282257 + ], + [ + 0.2787010073661804, + -0.02479439042508602, + 0.06424364447593689 + ], + [ + 0.2826063632965088, + -0.03481457382440567, + 0.059325069189071655 + ], + [ + 0.28399941325187683, + -0.04169442504644394, + 0.04991031065583229 + ], + [ + 0.2970438003540039, + -0.04584638401865959, + 0.047356896102428436 + ], + [ + 0.3108896017074585, + -0.04762553423643112, + 0.049864452332258224 + ], + [ + 0.319934219121933, + -0.04786309599876404, + 0.048302069306373596 + ], + [ + 0.3268425762653351, + -0.04818299412727356, + 0.04602081701159477 + ], + [ + 0.3331718444824219, + -0.047051481902599335, + 0.04036746174097061 + ], + [ + 0.3388266861438751, + -0.04862011969089508, + 0.03937077522277832 + ], + [ + 0.33997586369514465, + -0.04955846443772316, + 0.035184431821107864 + ], + [ + 0.34343528747558594, + -0.050241440534591675, + 0.04017370566725731 + ], + [ + 0.342914879322052, + -0.04458034783601761, + 0.0402241125702858 + ], + [ + 0.34481820464134216, + -0.02864581160247326, + 0.04200991988182068 + ], + [ + 0.3473295569419861, + -0.016825130209326744, + 0.04702245071530342 + ], + [ + 0.3454427123069763, + -0.010010089725255966, + 0.0435691736638546 + ], + [ + 0.34161657094955444, + -0.015531901270151138, + 0.04395401477813721 + ], + [ + 0.34170907735824585, + -0.030507724732160568, + 0.052493952214717865 + ], + [ + 0.34304869174957275, + -0.0361347459256649, + 0.05552743002772331 + ], + [ + 0.34100860357284546, + -0.04119225591421127, + 0.04790341481566429 + ], + [ + 0.33849799633026123, + -0.04157665744423866, + 0.03731312230229378 + ], + [ + 0.33713942766189575, + -0.03808172419667244, + 0.032792143523693085 + ], + [ + 0.33972764015197754, + -0.03635665029287338, + 0.03587532415986061 + ], + [ + 0.33952048420906067, + -0.02925049141049385, + 0.03295016661286354 + ], + [ + 0.33856886625289917, + -0.024631064385175705, + 0.031456902623176575 + ], + [ + 0.3394886553287506, + -0.014150469563901424, + 0.03237226977944374 + ], + [ + 0.33759546279907227, + -0.005259285215288401, + 0.033061686903238297 + ], + [ + 0.3367205560207367, + 0.019097797572612762, + 0.033921193331480026 + ], + [ + 0.3396574854850769, + 0.03337715566158295, + 0.039075858891010284 + ], + [ + 0.34106630086898804, + 0.05304444581270218, + 0.04468793049454689 + ], + [ + 0.34338614344596863, + 0.06534959375858307, + 0.046919822692871094 + ], + [ + 0.34051448106765747, + 0.07501603662967682, + 0.046633608639240265 + ], + [ + 0.3390384614467621, + 0.06702103465795517, + 0.051795944571495056 + ], + [ + 0.3321603238582611, + 0.029289958998560905, + 0.07094721496105194 + ], + [ + 0.32914361357688904, + -0.0018665402894839644, + 0.07181540876626968 + ], + [ + 0.3306427597999573, + -0.008421795442700386, + 0.06842485070228577 + ], + [ + 0.3311171233654022, + -0.014973586425185204, + 0.05444559082388878 + ], + [ + 0.3296731114387512, + -0.014040244743227959, + 0.048678625375032425 + ], + [ + 0.32211312651634216, + -0.014469803310930729, + 0.040298763662576675 + ], + [ + 0.3135222792625427, + 0.004065066576004028, + 0.03002062439918518 + ], + [ + 0.3074350357055664, + 0.020085040479898453, + 0.026123937219381332 + ], + [ + 0.3068464994430542, + 0.0396440252661705, + 0.02628459967672825 + ], + [ + 0.3098427951335907, + 0.062007952481508255, + 0.03057269938290119 + ], + [ + 0.3181762099266052, + 0.0835641473531723, + 0.03707079589366913 + ], + [ + 0.32376113533973694, + 0.10172811895608902, + 0.04152541235089302 + ], + [ + 0.31997212767601013, + 0.11516296863555908, + 0.04255664348602295 + ], + [ + 0.31769534945487976, + 0.11167173087596893, + 0.042498327791690826 + ], + [ + 0.31720247864723206, + 0.09870903193950653, + 0.061767369508743286 + ], + [ + 0.31807366013526917, + 0.0750788003206253, + 0.07181382179260254 + ], + [ + 0.3209318220615387, + 0.058135274797677994, + 0.06480452418327332 + ], + [ + 0.3255629241466522, + 0.047581471502780914, + 0.047211430966854095 + ], + [ + 0.33195868134498596, + 0.03962132707238197, + 0.0476321280002594 + ], + [ + 0.333252876996994, + 0.024949975311756134, + 0.04508035257458687 + ], + [ + 0.33601832389831543, + 0.004082459956407547, + 0.04535238444805145 + ], + [ + 0.3373473882675171, + -0.008187606930732727, + 0.045107267796993256 + ], + [ + 0.34401506185531616, + -0.006096358876675367, + 0.04078284651041031 + ], + [ + 0.34389829635620117, + 0.0009348895400762558, + 0.0383039154112339 + ], + [ + 0.35028567910194397, + 0.016137229278683662, + 0.04783253371715546 + ], + [ + 0.3545520603656769, + 0.024702614173293114, + 0.055684518069028854 + ], + [ + 0.35409149527549744, + 0.035923153162002563, + 0.05630144476890564 + ], + [ + 0.34109923243522644, + 0.03864293172955513, + 0.0775642842054367 + ], + [ + 0.31231269240379333, + 0.032023560255765915, + 0.09241948276758194 + ], + [ + 0.28085026144981384, + 0.024871032685041428, + 0.08720798045396805 + ], + [ + 0.26089081168174744, + 0.02130146138370037, + 0.06764140725135803 + ], + [ + 0.24412807822227478, + 0.022094961255788803, + 0.037834834307432175 + ], + [ + 0.23767481744289398, + 0.028886618092656136, + 0.02465704083442688 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.6991870108002151, + -0.6977186080883043, + 0.15596880411024136, + -0.6686376419089429, + -0.715387848792046, + -0.2028396648171571, + 0.2531031958524187, + 0.037536245523595996, + -0.9667108163878608 + ], + [ + 0.6903593777659857, + -0.7046224025457003, + 0.16404633297116397, + -0.6773550939243743, + -0.7091795834015984, + -0.19558730843548433, + 0.25415350925230784, + 0.0239079132728129, + -0.9668683495790296 + ], + [ + 0.6917943872815859, + -0.7052539113710088, + 0.15504014390340404, + -0.6798166857868675, + -0.708490260417749, + -0.18944873876315355, + 0.24345389594634653, + 0.02566069736159389, + -0.9695729622671323 + ], + [ + 0.6807686669716123, + -0.7177252364689568, + 0.146371127635452, + -0.697768643308808, + -0.6962122892154712, + -0.16854485681959713, + 0.2228742750625998, + 0.012606874352228736, + -0.9747656765779085 + ], + [ + 0.6747611186425998, + -0.7220726047892742, + 0.1526714976052188, + -0.7063588055788571, + -0.691785335469472, + -0.14996762120738144, + 0.2139034140667181, + -0.006648536848295347, + -0.9768321894820928 + ], + [ + 0.6792242080641692, + -0.7211106712035694, + 0.13657918968840066, + -0.7047843218558064, + -0.6927792930080469, + -0.1527609598212918, + 0.2047767927423753, + 0.007500070373584286, + -0.9787799620438384 + ], + [ + 0.682219155017602, + -0.7152775881633301, + 0.15150906374972742, + -0.6964673053101434, + -0.6988170348588467, + -0.16305840801724153, + 0.2225091395001492, + 0.005720459976202505, + -0.9749138214101615 + ], + [ + 0.6804860959005457, + -0.7164002861940723, + 0.15397825569568235, + -0.6959086422855015, + -0.6976344676613603, + -0.17034468328421815, + 0.2294555183001346, + 0.008762389622820457, + -0.973279705762796 + ], + [ + 0.6824240356214049, + -0.7140734000064632, + 0.1561941580514622, + -0.6905062336409284, + -0.6998683326291135, + -0.18271688013416898, + 0.2397886087978645, + 0.016837350924481048, + -0.9706791059380184 + ], + [ + 0.6917254605853943, + -0.7057763289788628, + 0.15295640107901615, + -0.6799056297252117, + -0.7078635251576635, + -0.19146165260785264, + 0.24340135958101822, + 0.028442981638477097, + -0.9695085223708071 + ], + [ + 0.7092476472779194, + -0.687391494286769, + 0.1563991956914683, + -0.6604996939370557, + -0.7254979651556586, + -0.19337232703790447, + 0.24638979106243689, + 0.033847247114073706, + -0.9685795964829154 + ], + [ + 0.719847642963851, + -0.6772397183118816, + 0.15220293972269927, + -0.6536909097984677, + -0.7351615449946789, + -0.1795151726397755, + 0.2334685532705419, + 0.029729895759658592, + -0.9719097529770344 + ], + [ + 0.7283329957007237, + -0.6650766690829065, + 0.16493656845949886, + -0.6428730393596355, + -0.7465373460106998, + -0.17145333556336784, + 0.23716092139750497, + 0.018841848446642537, + -0.9712876412829515 + ], + [ + 0.7547828081786704, + -0.6359643925554351, + 0.16078620550133185, + -0.6132365178132658, + -0.771108742371573, + -0.17126669453922058, + 0.23290316807244202, + 0.030669183877746586, + -0.9720162115222628 + ], + [ + 0.777344068393482, + -0.6075466635171171, + 0.16316632919413454, + -0.5848306317745077, + -0.7934928399171055, + -0.168351552230793, + 0.23175273778684902, + 0.035442413144509424, + -0.9721288514794704 + ], + [ + 0.791566379913828, + -0.5882411428918333, + 0.16551442233058483, + -0.5654639414131157, + -0.8077805622446503, + -0.16655657963965603, + 0.2316747658931842, + 0.038248151184424206, + -0.9720410905817263 + ], + [ + 0.8022283834758682, + -0.5742517215809628, + 0.16329293005821047, + -0.5496040456321274, + -0.817176858289103, + -0.17365878987701566, + 0.23316306262033362, + 0.04956755529629724, + -0.971173539431267 + ], + [ + 0.8106936588299982, + -0.5590069558245376, + 0.17403164905445712, + -0.5336976939178935, + -0.8278138445832242, + -0.17289016809253127, + 0.2407126150403271, + 0.047280673177575686, + -0.9694441577029191 + ], + [ + 0.8154335220722265, + -0.5466341699793642, + 0.19041863168255307, + -0.5208983136653069, + -0.8364243849818864, + -0.17046757764546658, + 0.2524541897087942, + 0.039816233104666476, + -0.9667892995269609 + ], + [ + 0.8197782927957462, + -0.5356697588985011, + 0.2025375522280109, + -0.5099697307164033, + -0.8437448241341989, + -0.16740831968510272, + 0.2605655856285163, + 0.0339496855415798, + -0.9648590541823696 + ], + [ + 0.8241117720598474, + -0.5235025728165406, + 0.21629804300279853, + -0.49974517990758355, + -0.8517495331894835, + -0.15740866517010318, + 0.2666355983575989, + 0.021628429576817126, + -0.9635547045822181 + ], + [ + 0.828976176028532, + -0.5124247128749922, + 0.2240968835394504, + -0.49084760090498153, + -0.8586425668805341, + -0.14765356421919343, + 0.2680804585622312, + 0.01240386938778798, + -0.9633166726270621 + ], + [ + 0.827908777193657, + -0.518934288305089, + 0.21277749191818834, + -0.4952916221902953, + -0.8544658950842438, + -0.15676173999413306, + 0.26316015206297805, + 0.024397511331550742, + -0.9644436198176737 + ], + [ + 0.8272518158921921, + -0.5135735649740031, + 0.2278083107855459, + -0.485327145016641, + -0.8574962982194222, + -0.17075614439891723, + 0.2830406250223929, + 0.030696773444141012, + -0.9586165618677011 + ], + [ + 0.8308821803322778, + -0.49988532398881746, + 0.24443703742860903, + -0.4689226766019575, + -0.8655123989783715, + -0.17606763070808987, + 0.29957691128445835, + 0.03166938703699981, + -0.9535463932866426 + ], + [ + 0.8295621363099736, + -0.5043993688957308, + 0.23959953810143553, + -0.45657524126854554, + -0.8597007062506858, + -0.2290278252366756, + 0.32150538263208317, + 0.08059759506126889, + -0.9434714180137824 + ], + [ + 0.7825858694713747, + -0.5619199327617228, + 0.26796519562956855, + -0.4890281894882962, + -0.8212462653460231, + -0.29394897778527473, + 0.38524120598597844, + 0.0989977818957061, + -0.9174904099717874 + ], + [ + 0.7288229513973441, + -0.6385648241598306, + 0.24708717259742397, + -0.5313716578746784, + -0.7550830529213157, + -0.3840491432076646, + 0.43181161022369485, + 0.14860870949157134, + -0.8896371084544921 + ], + [ + 0.735756523681787, + -0.635461679051946, + 0.2342024600984649, + -0.5081853196173839, + -0.7466176024579648, + -0.42931321506016673, + 0.4476717757297959, + 0.19685174664300376, + -0.8722610681777155 + ], + [ + 0.8256005466059116, + -0.4918830450892761, + 0.27646845642445594, + -0.38971031356583147, + -0.8514113125871031, + -0.35103368541940205, + 0.4080558894862828, + 0.18207099371510982, + -0.8946175407978267 + ], + [ + 0.8781024356177657, + -0.3717282516698618, + 0.30125440988077823, + -0.30603729096239274, + -0.920330408863088, + -0.24358389737891423, + 0.3678006105249797, + 0.12169653007530479, + -0.9219070807110026 + ], + [ + 0.8978240174867704, + -0.31080177459634195, + 0.31195238503925554, + -0.25279691258274917, + -0.943831632090181, + -0.21278057066991599, + 0.3605631076698574, + 0.11217890699124286, + -0.9259644367974965 + ], + [ + 0.9078757324230923, + -0.3076560106549901, + 0.2847971797351419, + -0.24915965881046237, + -0.9422854597577621, + -0.223646097105577, + 0.33716630747850246, + 0.13208289608030185, + -0.9321335685749937 + ], + [ + 0.9137621214708336, + -0.2844595961431314, + 0.2900371071556332, + -0.21538664970643479, + -0.9445601044499217, + -0.2478200964607004, + 0.3444522847846407, + 0.16397849628423816, + -0.924372044288987 + ], + [ + 0.9150359571462449, + -0.26092416799314067, + 0.3076162799439309, + -0.18204885622925138, + -0.9476600774862727, + -0.2622948560005192, + 0.3599547347585206, + 0.18400803269368174, + -0.9146439923976564 + ], + [ + 0.918721569793152, + -0.242023297647271, + 0.31205031740529743, + -0.1614206816700546, + -0.9513116467516076, + -0.26258239522846777, + 0.3604081585175082, + 0.19086873539342378, + -0.9130580951524025 + ], + [ + 0.9224946533857199, + -0.2173259550335328, + 0.31901887678242946, + -0.13383178555275282, + -0.9552596745618132, + -0.2637574782481443, + 0.362067214271773, + 0.2006199975695873, + -0.9103070629873506 + ], + [ + 0.9260983956487384, + -0.19235830203092327, + 0.3245613119529386, + -0.11091685618930633, + -0.9610596447024982, + -0.25310434673744464, + 0.3606095015247287, + 0.19840020908277284, + -0.9113715732049132 + ], + [ + 0.9234691928905041, + -0.1819166915743693, + 0.3378031484589751, + -0.09998612452966954, + -0.9641308069850237, + -0.24587509415136774, + 0.3704152057943869, + 0.1932824470795068, + -0.9085342431451109 + ], + [ + 0.9275374739515748, + -0.164814924330694, + 0.3354255135397417, + -0.08490101464768882, + -0.9669648646399109, + -0.24035550391807511, + 0.3639588604874523, + 0.19446077051628305, + -0.9108891022527874 + ], + [ + 0.9295595472129562, + -0.1666001659508019, + 0.3288820957279501, + -0.08696652034687695, + -0.965986320140866, + -0.24353080634585836, + 0.3582678781638113, + 0.19777465460941399, + -0.912430443086007 + ], + [ + 0.9346791197692297, + -0.14326761416253597, + 0.32534494586452856, + -0.06536592554437498, + -0.9688535467341537, + -0.2388516291725442, + 0.3494313077632648, + 0.20198315700282055, + -0.9149320004470435 + ], + [ + 0.9337890551588639, + -0.11106947274791774, + 0.34014933880431875, + -0.036891792168460794, + -0.97542309019294, + -0.21722981100450736, + 0.35591711975699447, + 0.19029810125682925, + -0.9149369576762818 + ], + [ + 0.923002371592826, + -0.09690157389483114, + 0.3723932155809548, + -0.02290608588363508, + -0.979892589745626, + -0.19820651803384784, + 0.38411187597301705, + 0.17441501523181738, + -0.9066628200153433 + ], + [ + 0.9204634483060565, + -0.07974853351843622, + 0.38260581769516117, + -0.006059661358200262, + -0.9817549115340879, + -0.19005413487456557, + 0.39078167924910195, + 0.17261942266255698, + -0.9041527603690086 + ], + [ + 0.9252317677598962, + -0.11518626567275711, + 0.3614945367889569, + -0.025347471038815343, + -0.9694376812279734, + -0.24402476908557216, + 0.37855472740389057, + 0.21661649617629633, + -0.8998742200688221 + ], + [ + 0.9191028852214193, + -0.1692278547958313, + 0.35582554649555953, + -0.02665269850412043, + -0.9277038346604163, + -0.37236437640946213, + 0.39311514857622953, + 0.33275746170080117, + -0.8571656500597354 + ], + [ + 0.9153923193976974, + -0.19252115498020905, + 0.3535427929866347, + -0.04183025835640289, + -0.9189650480545226, + -0.3921141032148495, + 0.4003837297812446, + 0.34414945203971403, + -0.8492667564359411 + ], + [ + 0.9249439406966046, + -0.19183305487746333, + 0.32814445847067997, + -0.05293390275121275, + -0.9198987539288205, + -0.3885669626457301, + 0.3763996659246137, + 0.3420326908010156, + -0.8610092507721713 + ], + [ + 0.9425391811391066, + -0.16762197646883317, + 0.28900305365567364, + -0.039739229492665284, + -0.9151380101151716, + -0.4011772875946158, + 0.3317238093006764, + 0.36664055346773317, + -0.8692145988741345 + ], + [ + 0.9518097842548073, + -0.14308484738941374, + 0.2712652964246719, + -0.010587530954712543, + -0.8992991565742542, + -0.43720582243734785, + 0.30650618066378355, + 0.4132647498062022, + -0.8574766514503569 + ], + [ + 0.9599676751733469, + -0.12624564356878623, + 0.2500481955587411, + -0.005672894155227114, + -0.9012552216301182, + -0.43325147865454544, + 0.2800533536563757, + 0.4144889177823086, + -0.8658920580196283 + ], + [ + 0.9758683053513607, + -0.053913743936340006, + 0.2115995246342258, + 0.018653781085097982, + -0.9449146492518985, + -0.3267848559532574, + 0.21756168564775555, + 0.32284611480383146, + -0.921106562290259 + ], + [ + 0.9816488696889052, + -0.009366282245345846, + 0.1904672396907017, + 0.028307039439828513, + -0.9805709789622808, + -0.19411148017339397, + 0.18858475059412064, + 0.19594087877177252, + -0.9623112614271427 + ], + [ + 0.9793994219989426, + 0.0038995338919930265, + 0.20189493758775143, + 0.027866789998646967, + -0.9928575102986495, + -0.11600606130171866, + 0.20000053550755345, + 0.11924243321482499, + -0.9725127392058674 + ], + [ + 0.9764544881607484, + -0.013362389414884164, + 0.21530926385052807, + 0.007287982421909302, + -0.9954666182136295, + -0.09483194258549427, + 0.21560036610114852, + 0.09416824608882515, + -0.9719304623097301 + ], + [ + 0.9750490354865462, + 0.011068553394916535, + 0.22171347618604423, + 0.03721881975098211, + -0.9927697042796289, + -0.11411868261105172, + 0.21884729345618972, + 0.11952322531743333, + -0.9684111011118255 + ], + [ + 0.9717947415898495, + 0.00474223338289206, + 0.2357806002216039, + 0.03693967938140311, + -0.9905173375715028, + -0.13232862145983612, + 0.23291723917631507, + 0.1373059182730433, + -0.9627547166862801 + ], + [ + 0.9693593876173625, + 0.01796461906597631, + 0.24498908159325425, + 0.05520106789800837, + -0.9877452380825823, + -0.14598694033406656, + 0.23936419895425318, + 0.15503747000966317, + -0.9584717852665208 + ], + [ + 0.9662212646352791, + 0.004769703462095147, + 0.25766978421127656, + 0.04590180693739419, + -0.9870268644226599, + -0.15385380407339516, + 0.25359316214457434, + 0.16048432582921035, + -0.9539052831789222 + ], + [ + 0.9666891362193221, + 0.0045575686248018055, + 0.25591276342490443, + 0.04313883419185081, + -0.9884393612153568, + -0.14535016403411907, + 0.25229180505935755, + 0.15154820278844464, + -0.9557102004956751 + ], + [ + 0.9657581532729613, + -0.005373725799225834, + 0.25938834294901125, + 0.051182175764105255, + -0.9761914342731971, + -0.21078583570935286, + 0.254345383820606, + 0.21684419919073875, + -0.9424897978262022 + ], + [ + 0.9604133402841636, + -0.09325646007802213, + 0.262506092230127, + -0.0111727422355457, + -0.9544404351378838, + -0.2981922628183793, + 0.27835478374756506, + 0.28345491427654523, + -0.9176992568032966 + ], + [ + 0.9556864414829687, + -0.1711515288604832, + 0.2395215642365831, + -0.0810318081971663, + -0.9351378403262354, + -0.3448928321236643, + 0.28301461380274706, + 0.31020053797294356, + -0.9075672727767229 + ], + [ + 0.9526322207856492, + -0.18902160621092845, + 0.23824920630810664, + -0.10365431168963019, + -0.9382875962663668, + -0.32995783118579336, + 0.2859154343318161, + 0.28963290399767117, + -0.9134359010531198 + ], + [ + 0.9572001868744264, + -0.1923404484423299, + 0.21627055772935533, + -0.12339328983826024, + -0.9471235762654525, + -0.2961942391489589, + 0.2618050768614965, + 0.25683084545113155, + -0.9303203848967316 + ], + [ + 0.9544106814550677, + -0.18540553406722612, + 0.2339338347946272, + -0.1151346675466833, + -0.9517192367775525, + -0.28456019165805235, + 0.2753983650158221, + 0.24465339213834625, + -0.9296776098529063 + ], + [ + 0.9555539287587594, + -0.18339231754286092, + 0.23083315857986791, + -0.111258346939729, + -0.9493967557087043, + -0.2937130921256761, + 0.27301697652332696, + 0.25497658346610075, + -0.927603725959537 + ], + [ + 0.9548245751944219, + -0.16254035107585557, + 0.24877834487135184, + -0.09233223902388062, + -0.9579904562339255, + -0.27153092531340145, + 0.28246201203281945, + 0.2362941388118898, + -0.9297205449604298 + ], + [ + 0.9479853144048221, + -0.15474471964536596, + 0.2781688613318675, + -0.0862250912739164, + -0.9660458207537765, + -0.24355842387190618, + 0.3064132459728128, + 0.20690467357225023, + -0.9291401286923116 + ], + [ + 0.9422873424403905, + -0.1347748664415817, + 0.30648050452235964, + -0.0668309156078421, + -0.9726925948664612, + -0.22226728191744244, + 0.32806736045459295, + 0.1889572736562532, + -0.9255630479533806 + ], + [ + 0.9406197007031025, + -0.08338925423438026, + 0.32906049736703524, + -0.02145140662317318, + -0.9820224136508423, + -0.18754150538284078, + 0.3387837301333906, + 0.16934642412997306, + -0.9254984456125781 + ], + [ + 0.936721871154065, + -0.02359869911304535, + 0.34927816636858255, + 0.039112285756957896, + -0.9844237571248828, + -0.1714062294988015, + 0.34788268885429374, + 0.17422103147525472, + -0.9212082647193333 + ], + [ + 0.9287654288084692, + 0.020541457434225554, + 0.3700984014781724, + 0.08120596082802875, + -0.9854834969172691, + -0.14909013793577364, + 0.3616633381699301, + 0.16852396218398513, + -0.9169510913857913 + ], + [ + 0.926360366775488, + 0.047356742466363275, + 0.3736493139436472, + 0.10411877722082298, + -0.985602562086465, + -0.1332173781405297, + 0.36196098007606337, + 0.1623112089523419, + -0.9179538770280374 + ], + [ + 0.9313411309716508, + 0.04007478968422541, + 0.36193605649646327, + 0.10451938516980665, + -0.9815233118026054, + -0.16027378610293924, + 0.3488257385632138, + 0.18709890331001466, + -0.9183216236678835 + ], + [ + 0.9212498608749295, + 0.024424601661517338, + 0.388203725731218, + 0.1132761533990912, + -0.9716147331158589, + -0.2076856361506581, + 0.3721118204371209, + 0.23530458819554323, + -0.8978666626315387 + ], + [ + 0.9235658564086637, + -0.024183370688174367, + 0.3826764605489728, + 0.08803715495850872, + -0.9579739419264889, + -0.2730116956041175, + 0.37319642043157747, + 0.2858340273165218, + -0.8826229889398275 + ], + [ + 0.93385989724976, + -0.07044200491774885, + 0.350633164791689, + 0.039377915736421874, + -0.9541973828085581, + -0.29657500635345774, + 0.35546458622614313, + 0.290766708177649, + -0.8883128105316342 + ], + [ + 0.9476329884327332, + -0.0974568087237869, + 0.304128081024134, + 0.007303299412975896, + -0.9454384511244055, + -0.3257188925333765, + 0.31927790567424397, + 0.310883105956017, + -0.8952169085642923 + ], + [ + 0.94516323332217, + -0.1265854284187794, + 0.30106908125547444, + -0.008912892562088437, + -0.931486852679877, + -0.36366578562014057, + 0.32647668021186144, + 0.3410401334103825, + -0.8815353677994268 + ], + [ + 0.9426348546191459, + -0.16513103934146306, + 0.29012285449986486, + -0.049407788302124694, + -0.9285261494910865, + -0.36796475397291634, + 0.33014905923269566, + 0.33252207378949233, + -0.8834198713694985 + ], + [ + 0.9406825829939217, + -0.19217225917413713, + 0.2796177763587135, + -0.07375248588492192, + -0.9202423043122195, + -0.38433666515170045, + 0.3311749520686576, + 0.3409163008101023, + -0.8798290896329115 + ], + [ + 0.9444175638661109, + -0.18420884538968402, + 0.2722913262324013, + -0.07055965501269967, + -0.9225446961221625, + -0.3793845262281471, + 0.3210869043509706, + 0.3390846279869766, + -0.884265127050278 + ], + [ + 0.9470054195626505, + -0.09354867879578109, + 0.3072936380964179, + 4.242140807469985e-05, + -0.9566161767237918, + -0.29135114317740257, + 0.32121757971722625, + 0.27592414741359444, + -0.905916735332055 + ], + [ + 0.9508069240374135, + -0.03593035979918393, + 0.30769335782108287, + 0.042332602740757626, + -0.9688634718355278, + -0.24394983846684587, + 0.3068780603883323, + 0.24497465621469539, + -0.9196810718204363 + ], + [ + 0.9516977631669863, + 0.023042591237738566, + 0.30617055144478744, + 0.09409141535379045, + -0.9710899486178234, + -0.2193880517488441, + 0.2922638758719168, + 0.23759913864002855, + -0.9263522419565039 + ], + [ + 0.9541083467160941, + 0.040990578499438386, + 0.29664294227397864, + 0.110248548757577, + -0.9690935642446237, + -0.22068738350096012, + 0.27842866271907035, + 0.24326412849808549, + -0.9291394101869414 + ], + [ + 0.9503640177783041, + 0.055052712421627285, + 0.3062310117661197, + 0.12552090072563948, + -0.968414628609125, + -0.21544746593282382, + 0.2846976241441152, + 0.24319191177107996, + -0.9272566833708042 + ], + [ + 0.9338223508708509, + 0.020755971816225904, + 0.35713443777939063, + 0.11023501495834312, + -0.9664321577770523, + -0.2320713810264515, + 0.3403293382756933, + 0.25608216269071654, + -0.9047639843961927 + ], + [ + 0.9306039305359666, + -0.0821531338320231, + 0.3566892023493113, + 0.022267897871040825, + -0.9599748150946963, + -0.2791997405233553, + 0.3653497847206361, + 0.2677670946652738, + -0.8915269585487046 + ], + [ + 0.9333476442066398, + -0.19148890200868113, + 0.3036349378141869, + -0.08729311540246613, + -0.9415230428947446, + -0.3254447291039637, + 0.34819834442060055, + 0.2772478315618182, + -0.8954839768734124 + ], + [ + 0.9246402255667882, + -0.3006196692968265, + 0.23381246266113798, + -0.21220764919482693, + -0.9164849549252599, + -0.33915076443795583, + 0.3162409949500612, + 0.2639756462772867, + -0.9112126487738658 + ], + [ + 0.9169440085204265, + -0.3540693360143789, + 0.1839798644766033, + -0.28609765703446416, + -0.9048035828318142, + -0.31540229411674076, + 0.27813992140266847, + 0.2365700356956683, + -0.9309526316269094 + ], + [ + 0.8941292341774089, + -0.39517258934010735, + 0.2106455250499172, + -0.3422075127153774, + -0.9063663345582185, + -0.24777829973719356, + 0.28883720472002083, + 0.14946134019784046, + -0.9456396654940984 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006667.json b/json/chunk-0006/episode_0006667.json new file mode 100644 index 0000000000000000000000000000000000000000..e6b5257b093a3c4c1a5290feb83e4e80e43604f5 --- /dev/null +++ b/json/chunk-0006/episode_0006667.json @@ -0,0 +1,2062 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 33, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nOpen fridge." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006667.mp4", + "start": 0, + "end": 33, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.25280144810676575, + 0.11263234913349152, + 0.04982149228453636, + 0.23156601190567017, + -0.15408077836036682, + 0.1213398352265358, + 0.0, + 1.0001531839370728 + ], + [ + 0.2487683743238449, + 0.10991905629634857, + 0.0441436730325222, + 0.22173908352851868, + -0.12837329506874084, + 0.1274530440568924, + 0.0, + 1.0001531839370728 + ], + [ + 0.25064146518707275, + 0.08312862366437912, + 0.04235852137207985, + 0.17258784174919128, + -0.09619751572608948, + 0.1120634451508522, + 0.0, + 1.0001531839370728 + ], + [ + 0.2648364007472992, + 0.045334622263908386, + 0.042481061071157455, + 0.1176653802394867, + -0.11438941955566406, + 0.06503515690565109, + 0.0, + 1.0001531839370728 + ], + [ + 0.27399733662605286, + 0.010504570789635181, + 0.046236515045166016, + 0.08975179493427277, + -0.1666729599237442, + 0.033207423985004425, + 0.0, + 1.0001531839370728 + ], + [ + 0.2765444219112396, + -0.018842162564396858, + 0.057766154408454895, + 0.05784042924642563, + -0.21307697892189026, + -0.009181797504425049, + 0.0, + 1.0001531839370728 + ], + [ + 0.28327476978302, + -0.037571780383586884, + 0.0609813891351223, + 0.05288689211010933, + -0.2668665051460266, + -0.024454498663544655, + 0.0, + 1.0001531839370728 + ], + [ + 0.2941569983959198, + -0.04709102213382721, + 0.06747208535671234, + 0.06411679089069366, + -0.33796054124832153, + -0.012684101238846779, + 0.0, + 1.0001531839370728 + ], + [ + 0.3100494146347046, + -0.048054393380880356, + 0.06454160064458847, + 0.07189206033945084, + -0.35540971159935, + 0.005556503310799599, + 0.0, + 1.0001531839370728 + ], + [ + 0.31860142946243286, + -0.046164371073246, + 0.057308562099933624, + 0.0945669412612915, + -0.3696262538433075, + -0.005399173591285944, + 0.0, + 1.0001531839370728 + ], + [ + 0.326847106218338, + -0.04184294864535332, + 0.05702754855155945, + 0.10495065897703171, + -0.41055378317832947, + -0.02908420003950596, + 0.0, + 0.9679883122444153 + ], + [ + 0.32445842027664185, + -0.037462975829839706, + 0.051030125468969345, + 0.11401784420013428, + -0.4079875946044922, + -0.11761510372161865, + 0.0, + 0.7161149382591248 + ], + [ + 0.32503506541252136, + -0.030578887090086937, + 0.04954995587468147, + 0.11416957527399063, + -0.4199404716491699, + -0.11922077089548111, + 0.0, + 0.4256414473056793 + ], + [ + 0.31340786814689636, + -0.02483307011425495, + 0.05102843418717384, + 0.09879745543003082, + -0.4157909154891968, + -0.08627486974000931, + 0.0, + 0.25684019923210144 + ], + [ + 0.2908416986465454, + -0.01743135415017605, + 0.052695758640766144, + 0.09734977036714554, + -0.3969304859638214, + -0.08092983067035675, + 0.0, + 0.25961822271347046 + ], + [ + 0.268596887588501, + -0.009555448777973652, + 0.05326490476727486, + 0.1251319944858551, + -0.37325921654701233, + -0.0878979042172432, + 0.0, + 0.31342363357543945 + ], + [ + 0.25743988156318665, + -0.003238515928387642, + 0.06492117792367935, + 0.14956273138523102, + -0.33733513951301575, + -0.12913767993450165, + 0.0, + 0.5729578137397766 + ], + [ + 0.23646877706050873, + -0.004713486880064011, + 0.06356427073478699, + 0.13784374296665192, + -0.2604042589664459, + -0.1424412578344345, + 0.0, + 0.8580558896064758 + ], + [ + 0.22101859748363495, + -0.029727337881922722, + 0.0598817877471447, + 0.12020531296730042, + -0.18093392252922058, + -0.17422233521938324, + 0.0, + 0.9981546401977539 + ], + [ + 0.21835198998451233, + -0.0622568242251873, + 0.055035073310136795, + 0.08396241813898087, + -0.14919088780879974, + -0.1853494793176651, + 0.0, + 0.9974852800369263 + ], + [ + 0.22418004274368286, + -0.09235932677984238, + 0.048647042363882065, + 0.05552298203110695, + -0.12834760546684265, + -0.2003098875284195, + 0.0, + 0.9974852800369263 + ], + [ + 0.24058139324188232, + -0.11711496859788895, + 0.04465121403336525, + 0.02953542023897171, + -0.13013921678066254, + -0.19346056878566742, + 0.0, + 0.9974852800369263 + ], + [ + 0.2631492018699646, + -0.12870457768440247, + 0.04454953595995903, + 0.026799313724040985, + -0.15457099676132202, + -0.16734839975833893, + 0.0, + 0.9974852800369263 + ], + [ + 0.2825118601322174, + -0.1255381554365158, + 0.04858603700995445, + 0.03677859157323837, + -0.19254548847675323, + -0.13719478249549866, + 0.0, + 0.9974852800369263 + ], + [ + 0.2949486970901489, + -0.10744733363389969, + 0.05228322744369507, + 0.05960341915488243, + -0.21542030572891235, + -0.09919564425945282, + 0.0, + 0.9974852800369263 + ], + [ + 0.29888179898262024, + -0.08370781689882278, + 0.050353776663541794, + 0.10875208675861359, + -0.2201964557170868, + -0.08931989222764969, + 0.0, + 0.9974852800369263 + ], + [ + 0.29086312651634216, + -0.06565811485052109, + 0.055639542639255524, + 0.11761785298585892, + -0.23717501759529114, + -0.07939901947975159, + 0.0, + 0.9974852800369263 + ], + [ + 0.26791539788246155, + -0.05001072213053703, + 0.05700414255261421, + 0.12695088982582092, + -0.22893652319908142, + -0.09982998669147491, + 0.0, + 0.9974852800369263 + ], + [ + 0.2364935427904129, + -0.02514686994254589, + 0.058348361402750015, + 0.15233106911182404, + -0.24268123507499695, + -0.1328810751438141, + 0.0, + 0.9974852800369263 + ], + [ + 0.21084876358509064, + 0.004002681002020836, + 0.056154634803533554, + 0.16495975852012634, + -0.22218279540538788, + -0.13790960609912872, + 0.0, + 0.9974852800369263 + ], + [ + 0.19213572144508362, + 0.041002530604600906, + 0.050388552248477936, + 0.20503324270248413, + -0.23512083292007446, + -0.13843446969985962, + 0.0, + 0.9974852800369263 + ], + [ + 0.18925687670707703, + 0.07267735153436661, + 0.04665040224790573, + 0.23993396759033203, + -0.23734529316425323, + -0.07676980644464493, + 0.0, + 0.9974852800369263 + ], + [ + 0.19950896501541138, + 0.09423685818910599, + 0.04186376929283142, + 0.23446418344974518, + -0.19557707011699677, + 0.005510319489985704, + 0.0, + 0.9974852800369263 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9679883122444153 + ], + [ + 0.7161149382591248 + ], + [ + 0.4256414473056793 + ], + [ + 0.25684019923210144 + ], + [ + 0.25961822271347046 + ], + [ + 0.31342363357543945 + ], + [ + 0.5729578137397766 + ], + [ + 0.8580558896064758 + ], + [ + 0.9981546401977539 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.25280144810676575, + 0.11263234913349152, + 0.04982149228453636 + ], + [ + 0.2487683743238449, + 0.10991905629634857, + 0.0441436730325222 + ], + [ + 0.25064146518707275, + 0.08312862366437912, + 0.04235852137207985 + ], + [ + 0.2648364007472992, + 0.045334622263908386, + 0.042481061071157455 + ], + [ + 0.27399733662605286, + 0.010504570789635181, + 0.046236515045166016 + ], + [ + 0.2765444219112396, + -0.018842162564396858, + 0.057766154408454895 + ], + [ + 0.28327476978302, + -0.037571780383586884, + 0.0609813891351223 + ], + [ + 0.2941569983959198, + -0.04709102213382721, + 0.06747208535671234 + ], + [ + 0.3100494146347046, + -0.048054393380880356, + 0.06454160064458847 + ], + [ + 0.31860142946243286, + -0.046164371073246, + 0.057308562099933624 + ], + [ + 0.326847106218338, + -0.04184294864535332, + 0.05702754855155945 + ], + [ + 0.32445842027664185, + -0.037462975829839706, + 0.051030125468969345 + ], + [ + 0.32503506541252136, + -0.030578887090086937, + 0.04954995587468147 + ], + [ + 0.31340786814689636, + -0.02483307011425495, + 0.05102843418717384 + ], + [ + 0.2908416986465454, + -0.01743135415017605, + 0.052695758640766144 + ], + [ + 0.268596887588501, + -0.009555448777973652, + 0.05326490476727486 + ], + [ + 0.25743988156318665, + -0.003238515928387642, + 0.06492117792367935 + ], + [ + 0.23646877706050873, + -0.004713486880064011, + 0.06356427073478699 + ], + [ + 0.22101859748363495, + -0.029727337881922722, + 0.0598817877471447 + ], + [ + 0.21835198998451233, + -0.0622568242251873, + 0.055035073310136795 + ], + [ + 0.22418004274368286, + -0.09235932677984238, + 0.048647042363882065 + ], + [ + 0.24058139324188232, + -0.11711496859788895, + 0.04465121403336525 + ], + [ + 0.2631492018699646, + -0.12870457768440247, + 0.04454953595995903 + ], + [ + 0.2825118601322174, + -0.1255381554365158, + 0.04858603700995445 + ], + [ + 0.2949486970901489, + -0.10744733363389969, + 0.05228322744369507 + ], + [ + 0.29888179898262024, + -0.08370781689882278, + 0.050353776663541794 + ], + [ + 0.29086312651634216, + -0.06565811485052109, + 0.055639542639255524 + ], + [ + 0.26791539788246155, + -0.05001072213053703, + 0.05700414255261421 + ], + [ + 0.2364935427904129, + -0.02514686994254589, + 0.058348361402750015 + ], + [ + 0.21084876358509064, + 0.004002681002020836, + 0.056154634803533554 + ], + [ + 0.19213572144508362, + 0.041002530604600906, + 0.050388552248477936 + ], + [ + 0.18925687670707703, + 0.07267735153436661, + 0.04665040224790573 + ], + [ + 0.19950896501541138, + 0.09423685818910599, + 0.04186376929283142 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9808874796829536, + 0.15277458018256496, + 0.12049763421438953, + 0.11960831406940904, + -0.9618884280611706, + 0.2458953093645431, + 0.15347183261659902, + -0.2267831113907113, + -0.9617774259054177 + ], + [ + 0.9837270508265652, + 0.1519230321833299, + 0.09591914180334776, + 0.1260623447909601, + -0.9640251346558067, + 0.23401671944042407, + 0.12802099319202662, + -0.21811678533316953, + -0.9674893763024225 + ], + [ + 0.9891330471683842, + 0.12655895870136655, + 0.07482409352482954, + 0.1113120076225766, + -0.977119705129298, + 0.18123663759589237, + 0.09604921633422155, + -0.170938327534989, + -0.9805889231584877 + ], + [ + 0.9913644366565029, + 0.0779109914845397, + 0.10548189957822583, + 0.06456459422471514, + -0.9901151736003831, + 0.1245124739890798, + 0.1141401196132754, + -0.11662684258857126, + -0.9865952628522439 + ], + [ + 0.9855985117096722, + 0.047929538021993956, + 0.16216760805005798, + 0.0327412234847972, + -0.9949322085440008, + 0.09506793721584218, + 0.1659023387430013, + -0.08838925153408068, + -0.9821729757088856 + ], + [ + 0.9773436599979147, + 0.0030577683065496053, + 0.2116365287819296, + -0.008974023765989141, + -0.9983978689611089, + 0.05586736212999912, + 0.2114682887794965, + -0.056500843417602704, + -0.9757503868991145 + ], + [ + 0.9643135525860863, + -0.010481730775188332, + 0.2645552978467038, + -0.02358650642429988, + -0.9986441052835102, + 0.04640719445510641, + 0.2637101609978238, + -0.05099102178280082, + -0.963253272345362 + ], + [ + 0.943356945832698, + 0.00858482937430045, + 0.33166846918846193, + -0.011966276749353678, + -0.9981344026198304, + 0.05987088213406949, + 0.33156369066886904, + -0.060448449205648874, + -0.9414942931418492 + ], + [ + 0.9374895257667943, + 0.030536795594347847, + 0.34667116002399206, + 0.005209217264930682, + -0.9972625968166328, + 0.07375755585723481, + 0.3479745006937118, + -0.06734105067026638, + -0.9350823117574125 + ], + [ + 0.9324488417557995, + 0.02873749218269614, + 0.3601573462409421, + -0.005034502082111531, + -0.9957015489379287, + 0.09248285912208272, + 0.36126695295453415, + -0.08804874778018858, + -0.9282960770773985 + ], + [ + 0.9165121678314949, + 0.012872978577013526, + 0.39979961560683014, + -0.02666354179912933, + -0.9952930052053095, + 0.09317129025676003, + 0.39911715292071764, + -0.09605269497488915, + -0.9118549106258742 + ], + [ + 0.91157949934017, + -0.07175396909401627, + 0.40481376496109905, + -0.10771265026791899, + -0.9919401009989736, + 0.06672946127766316, + 0.3967629031991095, + -0.10443277239162585, + -0.9119610708224408 + ], + [ + 0.9066315853076825, + -0.07204734362561002, + 0.41572629072380257, + -0.10860435743872715, + -0.991961848459774, + 0.0649367749860548, + 0.40770609765834936, + -0.10402341792481917, + -0.9071685986934506 + ], + [ + 0.9113946773037406, + -0.04605511868319527, + 0.4089482463900383, + -0.07882613109519573, + -0.9948552614624391, + 0.06363528735744758, + 0.40391358387528103, + -0.09023267026736331, + -0.9103361368074144 + ], + [ + 0.9192334181295869, + -0.04300677131524519, + 0.3913570500384969, + -0.07455624812602563, + -0.9950453344930662, + 0.06577346097745553, + 0.3865893025669061, + -0.08963927668505904, + -0.9178853475332379 + ], + [ + 0.9275491002789394, + -0.04176342099757068, + 0.37136031457105106, + -0.08174023997718072, + -0.99234599587071, + 0.09256326294941201, + 0.3646521626704046, + -0.11621205249864901, + -0.9238633876898945 + ], + [ + 0.9357826168083474, + -0.0784350779284855, + 0.3437423928317165, + -0.12152106525541473, + -0.9869535885536316, + 0.10561839205506801, + 0.33097360133175413, + -0.14060779705073692, + -0.9331055259883674 + ], + [ + 0.9564997998598591, + -0.1055933105044431, + 0.27195254300109334, + -0.13717402324847883, + -0.9855053700365501, + 0.09981208832074433, + 0.257471202688524, + -0.13277506695850147, + -0.957120348430797 + ], + [ + 0.9687848205335418, + -0.15083944095054896, + 0.196731884953912, + -0.1705126692993965, + -0.9814954131426941, + 0.0871331371422316, + 0.1799483290063791, + -0.11795853946865463, + -0.976577893388046 + ], + [ + 0.9719538361693713, + -0.17138898135351943, + 0.16103278370023194, + -0.18224288296987134, + -0.9817067102205551, + 0.05513135872409205, + 0.14863805691165533, + -0.08293221435930498, + -0.9854080250632169 + ], + [ + 0.9719441765411236, + -0.1917053970065503, + 0.13628484305438346, + -0.19733642807171606, + -0.9799080870237745, + 0.028956435231275522, + 0.12799551493585012, + -0.055038002725094924, + -0.9902464170156532 + ], + [ + 0.97304638551319, + -0.18841137417720824, + 0.1329732518981649, + -0.1906303020265269, + -0.9816535811216596, + 0.004041611101621283, + 0.1297721834176797, + -0.029281406244879182, + -0.9911113861011439 + ], + [ + 0.9742741310289739, + -0.1624407744653598, + 0.15621431560145824, + -0.1645824972665685, + -0.9863630075422039, + 0.0007867310838588857, + 0.15395622495124336, + -0.026476633913555973, + -0.9877228703717301 + ], + [ + 0.9722975078632636, + -0.1297021363638952, + 0.19446056676233375, + -0.13423742774915023, + -0.9908959633526783, + 0.010271455722498664, + 0.19135796088529528, + -0.036090797081930893, + -0.9808565568786358 + ], + [ + 0.9720844036843621, + -0.08618661522291433, + 0.21822873199933024, + -0.09674406033525366, + -0.994578120741708, + 0.03814378759039727, + 0.21375803821954154, + -0.0581913146295034, + -0.9751519225219336 + ], + [ + 0.9719644404823996, + -0.06506172446161336, + 0.22594711427193878, + -0.08704737151730611, + -0.9922441883151901, + 0.08873683489203993, + 0.21842133950157785, + -0.10591715047531336, + -0.9700895194184534 + ], + [ + 0.9689433521163007, + -0.05128294827223202, + 0.24190667540631014, + -0.07709522824212843, + -0.9921491647576, + 0.09847010029999217, + 0.2349576688936125, + -0.11406179942164674, + -0.9652900081015939 + ], + [ + 0.9690593244498266, + -0.07027211330576649, + 0.236613304335126, + -0.09706384082923253, + -0.9898774120020547, + 0.1035438072102406, + 0.22694192318812068, + -0.12330668797618229, + -0.9660708173834986 + ], + [ + 0.9621397661198514, + -0.09481290897448609, + 0.255533917010312, + -0.12860801935258456, + -0.9845376394019635, + 0.1189353351994867, + 0.2403061543303509, + -0.14729612653632423, + -0.9594565145426615 + ], + [ + 0.966157692440379, + -0.09976445617665781, + 0.23787889066089307, + -0.13409361813691395, + -0.9820339475309495, + 0.13277133527885893, + 0.22035928597005594, + -0.16017608804236477, + -0.9621774295348083 + ], + [ + 0.9631826586644858, + -0.08812543473881565, + 0.25399423969867446, + -0.1341960266045869, + -0.9762329319930009, + 0.1701784032593154, + 0.23296049555998533, + -0.19799790464659953, + -0.9521167140975955 + ], + [ + 0.9691027988630496, + -0.018787660918960794, + 0.24594062094944322, + -0.0745443367786778, + -0.9727779360208587, + 0.2194224898346227, + 0.23512317429388072, + -0.23097642950784436, + -0.9441223341928614 + ], + [ + 0.9809207969874763, + 0.05050655888464528, + 0.18773246268849317, + 0.005405241693452991, + -0.9723754193623422, + 0.23335986626269922, + 0.19433263596135872, + -0.2278928066647593, + -0.9540962714898161 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.004033073782920837, + -0.0027132928371429443, + -0.00567781925201416, + -0.00982692837715149, + 0.025707483291625977, + 0.006113208830356598, + 1.0 + ], + [ + 0.0018730908632278442, + -0.026790432631969452, + -0.0017851516604423523, + -0.04915124177932739, + 0.03217577934265137, + -0.015389598906040192, + 1.0 + ], + [ + 0.01419493556022644, + -0.037794001400470734, + 0.0001225396990776062, + -0.05492246150970459, + -0.018191903829574585, + -0.04702828824520111, + 1.0 + ], + [ + 0.009160935878753662, + -0.03483005240559578, + 0.00375545397400856, + -0.027913585305213928, + -0.05228354036808014, + -0.03182773292064667, + 1.0 + ], + [ + 0.0025470852851867676, + -0.029346734285354614, + 0.01152963936328888, + -0.03191136568784714, + -0.04640401899814606, + -0.042389221489429474, + 1.0 + ], + [ + 0.0067303478717803955, + -0.018729617819190025, + 0.003215234726667404, + -0.0049535371363162994, + -0.05378952622413635, + -0.015272701159119606, + 1.0 + ], + [ + 0.01088222861289978, + -0.009519241750240326, + 0.006490696221590042, + 0.011229898780584335, + -0.07109403610229492, + 0.011770397424697876, + 1.0 + ], + [ + 0.01589241623878479, + -0.0009633712470531464, + -0.002930484712123871, + 0.007775269448757172, + -0.017449170351028442, + 0.018240604549646378, + 1.0 + ], + [ + 0.008552014827728271, + 0.0018900223076343536, + -0.007233038544654846, + 0.022674880921840668, + -0.01421654224395752, + -0.010955676436424255, + 1.0 + ], + [ + 0.008245676755905151, + 0.004321422427892685, + -0.000281013548374176, + 0.010383717715740204, + -0.04092752933502197, + -0.023685026913881302, + 0.0 + ], + [ + -0.002388685941696167, + 0.004379972815513611, + -0.005997423082590103, + 0.00906718522310257, + 0.0025661885738372803, + -0.08853090554475784, + 0.0 + ], + [ + 0.0005766451358795166, + 0.0068840887397527695, + -0.0014801695942878723, + 0.00015173107385635376, + -0.011952877044677734, + -0.0016056671738624573, + 0.0 + ], + [ + -0.011627197265625, + 0.0057458169758319855, + 0.0014784783124923706, + -0.015372119843959808, + 0.0041495561599731445, + 0.0329459011554718, + 0.0 + ], + [ + -0.022566169500350952, + 0.007401715964078903, + 0.0016673244535923004, + -0.0014476850628852844, + 0.018860429525375366, + 0.005345039069652557, + 0.0 + ], + [ + -0.022244811058044434, + 0.007875905372202396, + 0.0005691461265087128, + 0.027782224118709564, + 0.023671269416809082, + -0.006968073546886444, + 1.0 + ], + [ + -0.011157006025314331, + 0.00631693284958601, + 0.011656273156404495, + 0.024430736899375916, + 0.03592407703399658, + -0.04123977571725845, + 1.0 + ], + [ + -0.020971104502677917, + -0.0014749709516763687, + -0.0013569071888923645, + -0.011718988418579102, + 0.07693088054656982, + -0.013303577899932861, + 1.0 + ], + [ + -0.01545017957687378, + -0.02501385100185871, + -0.003682482987642288, + -0.0176384299993515, + 0.07947033643722534, + -0.03178107738494873, + 1.0 + ], + [ + -0.0026666074991226196, + -0.03252948820590973, + -0.004846714437007904, + -0.03624289482831955, + 0.03174303472042084, + -0.01112714409828186, + 1.0 + ], + [ + 0.005828052759170532, + -0.030102502554655075, + -0.00638803094625473, + -0.028439436107873917, + 0.020843282341957092, + -0.014960408210754395, + 1.0 + ], + [ + 0.016401350498199463, + -0.02475564181804657, + -0.003995828330516815, + -0.02598756179213524, + -0.0017916113138198853, + 0.006849318742752075, + 1.0 + ], + [ + 0.022567808628082275, + -0.01158960908651352, + -0.00010167807340621948, + -0.002736106514930725, + -0.024431779980659485, + 0.02611216902732849, + 1.0 + ], + [ + 0.019362658262252808, + 0.0031664222478866577, + 0.004036501049995422, + 0.009979277849197388, + -0.03797449171543121, + 0.03015361726284027, + 1.0 + ], + [ + 0.012436836957931519, + 0.01809082180261612, + 0.003697190433740616, + 0.022824827581644058, + -0.02287481725215912, + 0.03799913823604584, + 1.0 + ], + [ + 0.0039331018924713135, + 0.023739516735076904, + -0.0019294507801532745, + 0.049148667603731155, + -0.0047761499881744385, + 0.009875752031803131, + 1.0 + ], + [ + -0.008018672466278076, + 0.018049702048301697, + 0.00528576597571373, + 0.00886576622724533, + -0.016978561878204346, + 0.009920872747898102, + 1.0 + ], + [ + -0.022947728633880615, + 0.015647392719984055, + 0.0013645999133586884, + 0.009333036839962006, + 0.008238494396209717, + -0.020430967211723328, + 1.0 + ], + [ + -0.031421855092048645, + 0.024863852187991142, + 0.0013442188501358032, + 0.025380179286003113, + -0.013744711875915527, + -0.03305108845233917, + 1.0 + ], + [ + -0.025644779205322266, + 0.029149550944566727, + -0.002193726599216461, + 0.012628689408302307, + 0.02049843966960907, + -0.005028530955314636, + 1.0 + ], + [ + -0.01871304214000702, + 0.03699985146522522, + -0.005766082555055618, + 0.04007348418235779, + -0.012938037514686584, + -0.000524863600730896, + 1.0 + ], + [ + -0.002878844738006592, + 0.0316748209297657, + -0.0037381500005722046, + 0.0349007248878479, + -0.002224460244178772, + 0.06166466325521469, + 1.0 + ], + [ + 0.01025208830833435, + 0.02155950665473938, + -0.00478663295507431, + -0.005469784140586853, + 0.04176822304725647, + 0.08228012919425964, + 1.0 + ], + [ + 0.036861538887023926, + 0.022347450256347656, + -0.008492674678564072, + 0.014014720916748047, + -0.017624065279960632, + 0.10614936798810959, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9679883122444153 + ], + [ + 0.7161149382591248 + ], + [ + 0.4256414473056793 + ], + [ + 0.25684019923210144 + ], + [ + 0.25961822271347046 + ], + [ + 0.31342363357543945 + ], + [ + 0.5729578137397766 + ], + [ + 0.8580558896064758 + ], + [ + 0.9981546401977539 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2487683743238449, + 0.10991905629634857, + 0.0441436730325222 + ], + [ + 0.25064146518707275, + 0.08312862366437912, + 0.04235852137207985 + ], + [ + 0.2648364007472992, + 0.045334622263908386, + 0.042481061071157455 + ], + [ + 0.27399733662605286, + 0.010504570789635181, + 0.046236515045166016 + ], + [ + 0.2765444219112396, + -0.018842162564396858, + 0.057766154408454895 + ], + [ + 0.28327476978302, + -0.037571780383586884, + 0.0609813891351223 + ], + [ + 0.2941569983959198, + -0.04709102213382721, + 0.06747208535671234 + ], + [ + 0.3100494146347046, + -0.048054393380880356, + 0.06454160064458847 + ], + [ + 0.31860142946243286, + -0.046164371073246, + 0.057308562099933624 + ], + [ + 0.326847106218338, + -0.04184294864535332, + 0.05702754855155945 + ], + [ + 0.32445842027664185, + -0.037462975829839706, + 0.051030125468969345 + ], + [ + 0.32503506541252136, + -0.030578887090086937, + 0.04954995587468147 + ], + [ + 0.31340786814689636, + -0.02483307011425495, + 0.05102843418717384 + ], + [ + 0.2908416986465454, + -0.01743135415017605, + 0.052695758640766144 + ], + [ + 0.268596887588501, + -0.009555448777973652, + 0.05326490476727486 + ], + [ + 0.25743988156318665, + -0.003238515928387642, + 0.06492117792367935 + ], + [ + 0.23646877706050873, + -0.004713486880064011, + 0.06356427073478699 + ], + [ + 0.22101859748363495, + -0.029727337881922722, + 0.0598817877471447 + ], + [ + 0.21835198998451233, + -0.0622568242251873, + 0.055035073310136795 + ], + [ + 0.22418004274368286, + -0.09235932677984238, + 0.048647042363882065 + ], + [ + 0.24058139324188232, + -0.11711496859788895, + 0.04465121403336525 + ], + [ + 0.2631492018699646, + -0.12870457768440247, + 0.04454953595995903 + ], + [ + 0.2825118601322174, + -0.1255381554365158, + 0.04858603700995445 + ], + [ + 0.2949486970901489, + -0.10744733363389969, + 0.05228322744369507 + ], + [ + 0.29888179898262024, + -0.08370781689882278, + 0.050353776663541794 + ], + [ + 0.29086312651634216, + -0.06565811485052109, + 0.055639542639255524 + ], + [ + 0.26791539788246155, + -0.05001072213053703, + 0.05700414255261421 + ], + [ + 0.2364935427904129, + -0.02514686994254589, + 0.058348361402750015 + ], + [ + 0.21084876358509064, + 0.004002681002020836, + 0.056154634803533554 + ], + [ + 0.19213572144508362, + 0.041002530604600906, + 0.050388552248477936 + ], + [ + 0.18925687670707703, + 0.07267735153436661, + 0.04665040224790573 + ], + [ + 0.19950896501541138, + 0.09423685818910599, + 0.04186376929283142 + ], + [ + 0.2363705039024353, + 0.11658430844545364, + 0.03337109461426735 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9837270508265652, + 0.1519230321833299, + 0.09591914180334776, + 0.1260623447909601, + -0.9640251346558067, + 0.23401671944042407, + 0.12802099319202662, + -0.21811678533316953, + -0.9674893763024225 + ], + [ + 0.9891330471683842, + 0.12655895870136655, + 0.07482409352482954, + 0.1113120076225766, + -0.977119705129298, + 0.18123663759589237, + 0.09604921633422155, + -0.170938327534989, + -0.9805889231584877 + ], + [ + 0.9913644366565029, + 0.0779109914845397, + 0.10548189957822583, + 0.06456459422471514, + -0.9901151736003831, + 0.1245124739890798, + 0.1141401196132754, + -0.11662684258857126, + -0.9865952628522439 + ], + [ + 0.9855985117096722, + 0.047929538021993956, + 0.16216760805005798, + 0.0327412234847972, + -0.9949322085440008, + 0.09506793721584218, + 0.1659023387430013, + -0.08838925153408068, + -0.9821729757088856 + ], + [ + 0.9773436599979147, + 0.0030577683065496053, + 0.2116365287819296, + -0.008974023765989141, + -0.9983978689611089, + 0.05586736212999912, + 0.2114682887794965, + -0.056500843417602704, + -0.9757503868991145 + ], + [ + 0.9643135525860863, + -0.010481730775188332, + 0.2645552978467038, + -0.02358650642429988, + -0.9986441052835102, + 0.04640719445510641, + 0.2637101609978238, + -0.05099102178280082, + -0.963253272345362 + ], + [ + 0.943356945832698, + 0.00858482937430045, + 0.33166846918846193, + -0.011966276749353678, + -0.9981344026198304, + 0.05987088213406949, + 0.33156369066886904, + -0.060448449205648874, + -0.9414942931418492 + ], + [ + 0.9374895257667943, + 0.030536795594347847, + 0.34667116002399206, + 0.005209217264930682, + -0.9972625968166328, + 0.07375755585723481, + 0.3479745006937118, + -0.06734105067026638, + -0.9350823117574125 + ], + [ + 0.9324488417557995, + 0.02873749218269614, + 0.3601573462409421, + -0.005034502082111531, + -0.9957015489379287, + 0.09248285912208272, + 0.36126695295453415, + -0.08804874778018858, + -0.9282960770773985 + ], + [ + 0.9165121678314949, + 0.012872978577013526, + 0.39979961560683014, + -0.02666354179912933, + -0.9952930052053095, + 0.09317129025676003, + 0.39911715292071764, + -0.09605269497488915, + -0.9118549106258742 + ], + [ + 0.91157949934017, + -0.07175396909401627, + 0.40481376496109905, + -0.10771265026791899, + -0.9919401009989736, + 0.06672946127766316, + 0.3967629031991095, + -0.10443277239162585, + -0.9119610708224408 + ], + [ + 0.9066315853076825, + -0.07204734362561002, + 0.41572629072380257, + -0.10860435743872715, + -0.991961848459774, + 0.0649367749860548, + 0.40770609765834936, + -0.10402341792481917, + -0.9071685986934506 + ], + [ + 0.9113946773037406, + -0.04605511868319527, + 0.4089482463900383, + -0.07882613109519573, + -0.9948552614624391, + 0.06363528735744758, + 0.40391358387528103, + -0.09023267026736331, + -0.9103361368074144 + ], + [ + 0.9192334181295869, + -0.04300677131524519, + 0.3913570500384969, + -0.07455624812602563, + -0.9950453344930662, + 0.06577346097745553, + 0.3865893025669061, + -0.08963927668505904, + -0.9178853475332379 + ], + [ + 0.9275491002789394, + -0.04176342099757068, + 0.37136031457105106, + -0.08174023997718072, + -0.99234599587071, + 0.09256326294941201, + 0.3646521626704046, + -0.11621205249864901, + -0.9238633876898945 + ], + [ + 0.9357826168083474, + -0.0784350779284855, + 0.3437423928317165, + -0.12152106525541473, + -0.9869535885536316, + 0.10561839205506801, + 0.33097360133175413, + -0.14060779705073692, + -0.9331055259883674 + ], + [ + 0.9564997998598591, + -0.1055933105044431, + 0.27195254300109334, + -0.13717402324847883, + -0.9855053700365501, + 0.09981208832074433, + 0.257471202688524, + -0.13277506695850147, + -0.957120348430797 + ], + [ + 0.9687848205335418, + -0.15083944095054896, + 0.196731884953912, + -0.1705126692993965, + -0.9814954131426941, + 0.0871331371422316, + 0.1799483290063791, + -0.11795853946865463, + -0.976577893388046 + ], + [ + 0.9719538361693713, + -0.17138898135351943, + 0.16103278370023194, + -0.18224288296987134, + -0.9817067102205551, + 0.05513135872409205, + 0.14863805691165533, + -0.08293221435930498, + -0.9854080250632169 + ], + [ + 0.9719441765411236, + -0.1917053970065503, + 0.13628484305438346, + -0.19733642807171606, + -0.9799080870237745, + 0.028956435231275522, + 0.12799551493585012, + -0.055038002725094924, + -0.9902464170156532 + ], + [ + 0.97304638551319, + -0.18841137417720824, + 0.1329732518981649, + -0.1906303020265269, + -0.9816535811216596, + 0.004041611101621283, + 0.1297721834176797, + -0.029281406244879182, + -0.9911113861011439 + ], + [ + 0.9742741310289739, + -0.1624407744653598, + 0.15621431560145824, + -0.1645824972665685, + -0.9863630075422039, + 0.0007867310838588857, + 0.15395622495124336, + -0.026476633913555973, + -0.9877228703717301 + ], + [ + 0.9722975078632636, + -0.1297021363638952, + 0.19446056676233375, + -0.13423742774915023, + -0.9908959633526783, + 0.010271455722498664, + 0.19135796088529528, + -0.036090797081930893, + -0.9808565568786358 + ], + [ + 0.9720844036843621, + -0.08618661522291433, + 0.21822873199933024, + -0.09674406033525366, + -0.994578120741708, + 0.03814378759039727, + 0.21375803821954154, + -0.0581913146295034, + -0.9751519225219336 + ], + [ + 0.9719644404823996, + -0.06506172446161336, + 0.22594711427193878, + -0.08704737151730611, + -0.9922441883151901, + 0.08873683489203993, + 0.21842133950157785, + -0.10591715047531336, + -0.9700895194184534 + ], + [ + 0.9689433521163007, + -0.05128294827223202, + 0.24190667540631014, + -0.07709522824212843, + -0.9921491647576, + 0.09847010029999217, + 0.2349576688936125, + -0.11406179942164674, + -0.9652900081015939 + ], + [ + 0.9690593244498266, + -0.07027211330576649, + 0.236613304335126, + -0.09706384082923253, + -0.9898774120020547, + 0.1035438072102406, + 0.22694192318812068, + -0.12330668797618229, + -0.9660708173834986 + ], + [ + 0.9621397661198514, + -0.09481290897448609, + 0.255533917010312, + -0.12860801935258456, + -0.9845376394019635, + 0.1189353351994867, + 0.2403061543303509, + -0.14729612653632423, + -0.9594565145426615 + ], + [ + 0.966157692440379, + -0.09976445617665781, + 0.23787889066089307, + -0.13409361813691395, + -0.9820339475309495, + 0.13277133527885893, + 0.22035928597005594, + -0.16017608804236477, + -0.9621774295348083 + ], + [ + 0.9631826586644858, + -0.08812543473881565, + 0.25399423969867446, + -0.1341960266045869, + -0.9762329319930009, + 0.1701784032593154, + 0.23296049555998533, + -0.19799790464659953, + -0.9521167140975955 + ], + [ + 0.9691027988630496, + -0.018787660918960794, + 0.24594062094944322, + -0.0745443367786778, + -0.9727779360208587, + 0.2194224898346227, + 0.23512317429388072, + -0.23097642950784436, + -0.9441223341928614 + ], + [ + 0.9809207969874763, + 0.05050655888464528, + 0.18773246268849317, + 0.005405241693452991, + -0.9723754193623422, + 0.23335986626269922, + 0.19433263596135872, + -0.2278928066647593, + -0.9540962714898161 + ], + [ + 0.9712721261182967, + 0.15971775276954803, + 0.1764105906001377, + 0.10890492662958694, + -0.95745313623623, + 0.26725120929045726, + 0.2115896358082034, + -0.24036166782923815, + -0.9473415934376043 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006668.json b/json/chunk-0006/episode_0006668.json new file mode 100644 index 0000000000000000000000000000000000000000..4062d5141527a0cb654ca80df7000ba75e13f2d5 --- /dev/null +++ b/json/chunk-0006/episode_0006668.json @@ -0,0 +1,1702 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 27, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut banana in pot cardboard fence." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006668.mp4", + "start": 0, + "end": 27, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.19568738341331482, + 0.16139155626296997, + 0.08759363740682602, + 0.29692867398262024, + 0.014413395896553993, + 0.26011452078819275, + 0.0, + 0.9879508018493652 + ], + [ + 0.19439972937107086, + 0.15768805146217346, + 0.08157212287187576, + 0.2737736701965332, + 0.03313803672790527, + 0.27917879819869995, + 0.0, + 0.9872581958770752 + ], + [ + 0.21697327494621277, + 0.15442614257335663, + 0.09179623425006866, + 0.18214891850948334, + 0.028760584071278572, + 0.3994249105453491, + 0.0, + 0.9872581958770752 + ], + [ + 0.24306626617908478, + 0.15882447361946106, + 0.09858264029026031, + 0.16387347877025604, + 0.0636022612452507, + 0.4828908145427704, + 0.0, + 0.9879508018493652 + ], + [ + 0.26446110010147095, + 0.1631031036376953, + 0.09392836689949036, + 0.13931894302368164, + 0.053953997790813446, + 0.5833357572555542, + 0.0, + 0.9872581958770752 + ], + [ + 0.2818717956542969, + 0.16714876890182495, + 0.07648184150457382, + 0.12427063286304474, + 0.012705666013062, + 0.7278496623039246, + 0.0, + 0.9879508018493652 + ], + [ + 0.2939697802066803, + 0.1660812646150589, + 0.05798856541514397, + 0.059897713363170624, + -0.007862666621804237, + 0.7792765498161316, + 0.0, + 0.9879508018493652 + ], + [ + 0.29284802079200745, + 0.15983110666275024, + 0.0382140576839447, + 0.043467190116643906, + -0.053067877888679504, + 0.7699390053749084, + 0.0, + 0.9879508018493652 + ], + [ + 0.2932182848453522, + 0.1519540548324585, + 0.02449433133006096, + 0.06677881628274918, + -0.1064898744225502, + 0.7291994690895081, + 0.0, + 0.9879508018493652 + ], + [ + 0.29349467158317566, + 0.1464369297027588, + 0.008291575126349926, + 0.08386145532131195, + -0.11429350823163986, + 0.7033784985542297, + 0.0, + 0.9879508018493652 + ], + [ + 0.29693788290023804, + 0.1472751647233963, + 0.003206445137038827, + 0.0773705393075943, + -0.121985524892807, + 0.7054291367530823, + 0.0, + 0.9872581958770752 + ], + [ + 0.3090406358242035, + 0.14896604418754578, + 0.002719651907682419, + 0.07401339709758759, + -0.12440735101699829, + 0.7159220576286316, + 0.0, + 0.9398812651634216 + ], + [ + 0.3103627860546112, + 0.1477470099925995, + 0.0018331040628254414, + 0.06113870441913605, + -0.11887731403112411, + 0.7199826836585999, + 0.0, + 0.6671556830406189 + ], + [ + 0.3109128475189209, + 0.1495438814163208, + 0.0014330311678349972, + 0.05910232663154602, + -0.12527623772621155, + 0.7147602438926697, + 0.0, + 0.4166308641433716 + ], + [ + 0.308013379573822, + 0.15052609145641327, + 0.003380695590749383, + 0.05373668670654297, + -0.10387229919433594, + 0.7024630904197693, + 0.0, + 0.40239205956459045 + ], + [ + 0.3043419122695923, + 0.14387543499469757, + 0.023804090917110443, + 0.010636023245751858, + -0.1155608519911766, + 0.7005603313446045, + 0.0, + 0.4220271706581116 + ], + [ + 0.29244640469551086, + 0.133658304810524, + 0.04886594042181969, + -0.026901964098215103, + -0.08496059477329254, + 0.6843255162239075, + 0.0, + 0.4220271706581116 + ], + [ + 0.2795645296573639, + 0.12972690165042877, + 0.0649881362915039, + -0.04277631640434265, + -0.07251583784818649, + 0.6651052236557007, + 0.0, + 0.4220271706581116 + ], + [ + 0.26128339767456055, + 0.13687118887901306, + 0.06958624720573425, + -0.03433823212981224, + -0.04277568683028221, + 0.6605243682861328, + 0.0, + 0.4220271706581116 + ], + [ + 0.234224334359169, + 0.14716210961341858, + 0.06637395918369293, + -0.012662691995501518, + -0.0208708755671978, + 0.6212003231048584, + 0.0, + 0.4220271706581116 + ], + [ + 0.20654916763305664, + 0.15864378213882446, + 0.059568852186203, + 0.008693939074873924, + -0.016304248943924904, + 0.5775477290153503, + 0.0, + 0.4220271706581116 + ], + [ + 0.18879544734954834, + 0.16612687706947327, + 0.049978550523519516, + 0.02028537541627884, + -0.012395262718200684, + 0.5502499938011169, + 0.0, + 0.4220271706581116 + ], + [ + 0.177614226937294, + 0.16614705324172974, + 0.041266608983278275, + 0.05340607464313507, + -0.00043260594247840345, + 0.5305347442626953, + 0.0, + 0.4918208718299866 + ], + [ + 0.17897170782089233, + 0.16457846760749817, + 0.04170339182019234, + 0.09142760187387466, + 0.0027221604250371456, + 0.5655633211135864, + 0.0, + 0.7816973924636841 + ], + [ + 0.184379443526268, + 0.15595677495002747, + 0.05244576558470726, + 0.0563589371740818, + -0.014612638391554356, + 0.603630781173706, + 0.0, + 0.9830701947212219 + ], + [ + 0.2016860991716385, + 0.14563141763210297, + 0.07597322016954422, + 0.005698997527360916, + -0.024746576324105263, + 0.6524294018745422, + 0.0, + 0.9879508018493652 + ], + [ + 0.21648424863815308, + 0.1262560933828354, + 0.09950724244117737, + -0.011775465682148933, + -0.035552728921175, + 0.6693639755249023, + 0.0, + 0.9872581958770752 + ] + ], + "left_gripper_pos": [ + [ + 0.9879508018493652 + ], + [ + 0.9872581958770752 + ], + [ + 0.9872581958770752 + ], + [ + 0.9879508018493652 + ], + [ + 0.9872581958770752 + ], + [ + 0.9879508018493652 + ], + [ + 0.9879508018493652 + ], + [ + 0.9879508018493652 + ], + [ + 0.9879508018493652 + ], + [ + 0.9879508018493652 + ], + [ + 0.9872581958770752 + ], + [ + 0.9398812651634216 + ], + [ + 0.6671556830406189 + ], + [ + 0.4166308641433716 + ], + [ + 0.40239205956459045 + ], + [ + 0.4220271706581116 + ], + [ + 0.4220271706581116 + ], + [ + 0.4220271706581116 + ], + [ + 0.4220271706581116 + ], + [ + 0.4220271706581116 + ], + [ + 0.4220271706581116 + ], + [ + 0.4220271706581116 + ], + [ + 0.4918208718299866 + ], + [ + 0.7816973924636841 + ], + [ + 0.9830701947212219 + ], + [ + 0.9879508018493652 + ], + [ + 0.9872581958770752 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.19568738341331482, + 0.16139155626296997, + 0.08759363740682602 + ], + [ + 0.19439972937107086, + 0.15768805146217346, + 0.08157212287187576 + ], + [ + 0.21697327494621277, + 0.15442614257335663, + 0.09179623425006866 + ], + [ + 0.24306626617908478, + 0.15882447361946106, + 0.09858264029026031 + ], + [ + 0.26446110010147095, + 0.1631031036376953, + 0.09392836689949036 + ], + [ + 0.2818717956542969, + 0.16714876890182495, + 0.07648184150457382 + ], + [ + 0.2939697802066803, + 0.1660812646150589, + 0.05798856541514397 + ], + [ + 0.29284802079200745, + 0.15983110666275024, + 0.0382140576839447 + ], + [ + 0.2932182848453522, + 0.1519540548324585, + 0.02449433133006096 + ], + [ + 0.29349467158317566, + 0.1464369297027588, + 0.008291575126349926 + ], + [ + 0.29693788290023804, + 0.1472751647233963, + 0.003206445137038827 + ], + [ + 0.3090406358242035, + 0.14896604418754578, + 0.002719651907682419 + ], + [ + 0.3103627860546112, + 0.1477470099925995, + 0.0018331040628254414 + ], + [ + 0.3109128475189209, + 0.1495438814163208, + 0.0014330311678349972 + ], + [ + 0.308013379573822, + 0.15052609145641327, + 0.003380695590749383 + ], + [ + 0.3043419122695923, + 0.14387543499469757, + 0.023804090917110443 + ], + [ + 0.29244640469551086, + 0.133658304810524, + 0.04886594042181969 + ], + [ + 0.2795645296573639, + 0.12972690165042877, + 0.0649881362915039 + ], + [ + 0.26128339767456055, + 0.13687118887901306, + 0.06958624720573425 + ], + [ + 0.234224334359169, + 0.14716210961341858, + 0.06637395918369293 + ], + [ + 0.20654916763305664, + 0.15864378213882446, + 0.059568852186203 + ], + [ + 0.18879544734954834, + 0.16612687706947327, + 0.049978550523519516 + ], + [ + 0.177614226937294, + 0.16614705324172974, + 0.041266608983278275 + ], + [ + 0.17897170782089233, + 0.16457846760749817, + 0.04170339182019234 + ], + [ + 0.184379443526268, + 0.15595677495002747, + 0.05244576558470726 + ], + [ + 0.2016860991716385, + 0.14563141763210297, + 0.07597322016954422 + ], + [ + 0.21648424863815308, + 0.1262560933828354, + 0.09950724244117737 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9662601537094408, + 0.24186130129267852, + -0.0885687658851565, + 0.25716450718920975, + -0.9251568008881825, + 0.27919761820702277, + -0.014412896847558802, + -0.2925542765152404, + -0.9561402949866226 + ], + [ + 0.9607543002028742, + 0.256692602114802, + -0.10516692760186928, + 0.27541504510000686, + -0.9279499528335329, + 0.25110841875334383, + -0.033131972085073, + -0.27021804724291726, + -0.9622289121461576 + ], + [ + 0.9209037882047074, + 0.37765604801318203, + -0.096499338180554, + 0.3887277578456105, + -0.9080694508347869, + 0.15588650596165624, + -0.02875661924747363, + -0.181068445234597, + -0.9830499860077218 + ], + [ + 0.8838655547234413, + 0.44893699235335377, + -0.13129073870668995, + 0.46340250891944873, + -0.8786057752182117, + 0.11536900138410512, + -0.06355938876817292, + -0.16281114412081943, + -0.9846079094997593 + ], + [ + 0.8334154013871811, + 0.5392237531224375, + -0.12106408550514357, + 0.550009598518939, + -0.8306679930944344, + 0.08648772621303186, + -0.05392782461475375, + -0.13866661212064507, + -0.9888697388510295 + ], + [ + 0.7465464103084825, + 0.658959628283406, + -0.09187309479991473, + 0.6652120203314651, + -0.7418967799346604, + 0.08415542721127559, + -0.012705324161515145, + -0.1239410190985101, + -0.9922082435269188 + ], + [ + 0.7114001490660096, + 0.7018394785979623, + -0.03648525990314839, + 0.70274320178598, + -0.7098155537247496, + 0.048102723769209745, + 0.007862585608379297, + -0.059860053222229016, + -0.9981758130588936 + ], + [ + 0.7169424163342312, + 0.6970887680955712, + 0.007798785535726438, + 0.695111512395623, + -0.7156705631758512, + 0.06808546348986039, + 0.0530429731058038, + -0.043392331103068685, + -0.9976490107274892 + ], + [ + 0.7414838081997852, + 0.6700768255604344, + 0.03462383607277889, + 0.6624986565778577, + -0.7393203411250171, + 0.12041994532186728, + 0.10628872099182152, + -0.06635119475668011, + -0.9921190587546855 + ], + [ + 0.7576854332570493, + 0.651810494581176, + 0.032494051515932, + 0.6425780574656199, + -0.7538024023071015, + 0.13738769355278185, + 0.11404483457740607, + -0.08321668961143089, + -0.9899842212259379 + ], + [ + 0.7556759085692281, + 0.6535815383444492, + 0.04225037210931246, + 0.6435426295772051, + -0.7529577461554444, + 0.1375046050915016, + 0.12168321628280634, + -0.07671900181713101, + -0.9895996107695553 + ], + [ + 0.7486572501125146, + 0.661439516174012, + 0.04483400826890424, + 0.6512409815621251, + -0.7464006781381847, + 0.13700807132741277, + 0.12408668658630156, + -0.07337434237079452, + -0.9895547989341904 + ], + [ + 0.7465111294984852, + 0.6635876454184357, + 0.04870903800027225, + 0.6547180781398592, + -0.7456344015718286, + 0.12399023086304076, + 0.11859751975376594, + -0.060669399540766895, + -0.9910872071960255 + ], + [ + 0.7493316534681446, + 0.6598660460177169, + 0.05548760603631271, + 0.6502998290998273, + -0.7490942883991343, + 0.1263640746435874, + 0.12494881105249482, + -0.05860502026907868, + -0.9904308386837665 + ], + [ + 0.7591392609116433, + 0.6494175694566258, + 0.044321586428880545, + 0.6426172082445403, + -0.758553216058646, + 0.10788949010482257, + 0.10368561236023713, + -0.05342133364241274, + -0.9931744332700821 + ], + [ + 0.759382211057525, + 0.6455472108063478, + 0.08128626052125558, + 0.6403465367590497, + -0.7636472888919579, + 0.08245684343129853, + 0.1153038177601927, + -0.010564884670803742, + -0.9932740874611685 + ], + [ + 0.772050745346156, + 0.630153150485232, + 0.0827324213593511, + 0.6298703796843044, + -0.776008167493605, + 0.0327815310741755, + 0.08485841977550007, + 0.026801696154410963, + -0.9960324882635362 + ], + [ + 0.784783909371342, + 0.6141394893634401, + 0.08334808453855622, + 0.6155200076607258, + -0.7880441546043576, + 0.01102409013222248, + 0.0724522999025787, + 0.04265088508245135, + -0.9964595156053809 + ], + [ + 0.7889482804061733, + 0.6120100191092945, + 0.05481192711430102, + 0.612969793052295, + -0.7901058416568518, + -0.0008898230974311548, + 0.04276264315461609, + 0.03430008002263457, + -0.9984962998734006 + ], + [ + 0.8130033389873362, + 0.5817501113234713, + 0.024338832563844063, + 0.5818849032171607, + -0.8132690468763921, + 0.0018484590122357352, + 0.02086936039742657, + 0.012659595881902196, + -0.9997020578295861 + ], + [ + 0.8376926830364021, + 0.5460691750017109, + 0.008912064868749228, + 0.5458984922197075, + -0.8376949883644329, + 0.016184642762894576, + 0.01630352659776121, + -0.008692674045620416, + -0.9998293016502431 + ], + [ + 0.8523283457166343, + 0.523007064209426, + -4.330107538406784e-05, + 0.5228601690878814, + -0.8520869873332906, + 0.02376993055667357, + 0.012394945314035469, + -0.020282425996765857, + -0.999717454347151 + ], + [ + 0.8625365354024233, + 0.5052931387208419, + -0.026637737471949766, + 0.505994602686723, + -0.8612951563508637, + 0.04626138452799243, + 0.0004326059289848534, + -0.05338068572228631, + -0.998574141085142 + ], + [ + 0.8442837272513606, + 0.5334434713724349, + -0.05121572755195471, + 0.5358895201060324, + -0.8408938002432379, + 0.07563093912554238, + -0.002722157063098859, + -0.091299942840132, + -0.9958197177693923 + ], + [ + 0.8231921905292108, + 0.5674117297547951, + -0.01996362663423156, + 0.5675747558240805, + -0.8215057140459417, + 0.05465581708384823, + 0.014612118359607025, + -0.056323092302703964, + -0.9983056622450391 + ], + [ + 0.7943679149964962, + 0.6072208187702857, + 0.016201631895072913, + 0.6069327372803017, + -0.7945126927344345, + 0.01955079285652292, + 0.024744050629592576, + -0.005697221763480057, + -0.9996775848355399 + ], + [ + 0.7837208983557948, + 0.6201160778883756, + 0.03517958818297497, + 0.620095226089759, + -0.7844218061394271, + 0.012819541085755955, + 0.035545239640158356, + 0.011767752431828801, + -0.999298782117554 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0012876540422439575, + -0.003703504800796509, + -0.006021514534950256, + -0.023155003786087036, + 0.01872464083135128, + 0.019064277410507202, + 1.0 + ], + [ + 0.022573545575141907, + -0.0032619088888168335, + 0.010224111378192902, + -0.09162475168704987, + -0.004377452656626701, + 0.12024611234664917, + 1.0 + ], + [ + 0.02609299123287201, + 0.004398331046104431, + 0.00678640604019165, + -0.018275439739227295, + 0.03484167903661728, + 0.08346590399742126, + 1.0 + ], + [ + 0.02139483392238617, + 0.004278630018234253, + -0.0046542733907699585, + -0.024554535746574402, + -0.009648263454437256, + 0.10044494271278381, + 1.0 + ], + [ + 0.017410695552825928, + 0.004045665264129639, + -0.017446525394916534, + -0.015048310160636902, + -0.04124833270907402, + 0.14451390504837036, + 1.0 + ], + [ + 0.012097984552383423, + -0.0010675042867660522, + -0.018493276089429855, + -0.06437291949987411, + -0.020568333566188812, + 0.05142688751220703, + 1.0 + ], + [ + -0.0011217594146728516, + -0.006250157952308655, + -0.019774507731199265, + -0.016430523246526718, + -0.045205213129520416, + -0.009337544441223145, + 1.0 + ], + [ + 0.00037026405334472656, + -0.007877051830291748, + -0.013719726353883743, + 0.02331162616610527, + -0.0534219965338707, + -0.04073953628540039, + 1.0 + ], + [ + 0.00027638673782348633, + -0.005517125129699707, + -0.016202755272388458, + 0.017082639038562775, + -0.007803633809089661, + -0.02582097053527832, + 1.0 + ], + [ + 0.003443211317062378, + 0.0008382350206375122, + -0.005085130222141743, + -0.006490916013717651, + -0.007692016661167145, + 0.002050638198852539, + 1.0 + ], + [ + 0.012102752923965454, + 0.001690879464149475, + -0.0004867932293564081, + -0.003357142210006714, + -0.002421826124191284, + 0.010492920875549316, + 0.0 + ], + [ + 0.0013221502304077148, + -0.001219034194946289, + -0.0008865478448569775, + -0.012874692678451538, + 0.005530036985874176, + 0.004060626029968262, + 0.0 + ], + [ + 0.0005500614643096924, + 0.0017968714237213135, + -0.0004000728949904442, + -0.002036377787590027, + -0.006398923695087433, + -0.005222439765930176, + 0.0 + ], + [ + -0.002899467945098877, + 0.0009822100400924683, + 0.0019476644229143858, + -0.005365639925003052, + 0.02140393853187561, + -0.01229715347290039, + 0.0 + ], + [ + -0.0036714673042297363, + -0.006650656461715698, + 0.020423395559191704, + -0.043100662529468536, + -0.011688552796840668, + -0.001902759075164795, + 0.0 + ], + [ + -0.011895507574081421, + -0.010217130184173584, + 0.025061849504709244, + -0.037537988275289536, + 0.030600257217884064, + -0.01623481512069702, + 0.0 + ], + [ + -0.012881875038146973, + -0.003931403160095215, + 0.01612219586968422, + -0.015874352306127548, + 0.012444756925106049, + -0.019220292568206787, + 0.0 + ], + [ + -0.018281131982803345, + 0.0071442872285842896, + 0.004598110914230347, + 0.00843808427453041, + 0.02974015101790428, + -0.004580855369567871, + 0.0 + ], + [ + -0.02705906331539154, + 0.010290920734405518, + -0.003212288022041321, + 0.021675540134310722, + 0.02190481126308441, + -0.039324045181274414, + 0.0 + ], + [ + -0.027675166726112366, + 0.011481672525405884, + -0.006805106997489929, + 0.021356631070375443, + 0.004566626623272896, + -0.04365259408950806, + 0.0 + ], + [ + -0.0177537202835083, + 0.007483094930648804, + -0.009590301662683487, + 0.011591436341404915, + 0.00390898622572422, + -0.0272977352142334, + 0.0 + ], + [ + -0.011181220412254333, + 2.0176172256469727e-05, + -0.008711941540241241, + 0.03312069922685623, + 0.011962656863033772, + -0.01971524953842163, + 1.0 + ], + [ + 0.0013574808835983276, + -0.0015685856342315674, + 0.0004367828369140625, + 0.038021527230739594, + 0.0031547662802040577, + 0.03502857685089111, + 1.0 + ], + [ + 0.005407735705375671, + -0.008621692657470703, + 0.010742373764514923, + -0.03506866469979286, + -0.017334798350930214, + 0.03806746006011963, + 1.0 + ], + [ + 0.017306655645370483, + -0.0103253573179245, + 0.02352745458483696, + -0.050659939646720886, + -0.010133937932550907, + 0.04879862070083618, + 1.0 + ], + [ + 0.014798149466514587, + -0.019375324249267578, + 0.023534022271633148, + -0.01747446320950985, + -0.01080615259706974, + 0.016934573650360107, + 1.0 + ], + [ + 0.009516596794128418, + -0.01664377748966217, + 0.017656266689300537, + -0.013422217220067978, + 0.041056983172893524, + 0.018444955348968506, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9872581958770752 + ], + [ + 0.9872581958770752 + ], + [ + 0.9879508018493652 + ], + [ + 0.9872581958770752 + ], + [ + 0.9879508018493652 + ], + [ + 0.9879508018493652 + ], + [ + 0.9879508018493652 + ], + [ + 0.9879508018493652 + ], + [ + 0.9879508018493652 + ], + [ + 0.9872581958770752 + ], + [ + 0.9398812651634216 + ], + [ + 0.6671556830406189 + ], + [ + 0.4166308641433716 + ], + [ + 0.40239205956459045 + ], + [ + 0.4220271706581116 + ], + [ + 0.4220271706581116 + ], + [ + 0.4220271706581116 + ], + [ + 0.4220271706581116 + ], + [ + 0.4220271706581116 + ], + [ + 0.4220271706581116 + ], + [ + 0.4220271706581116 + ], + [ + 0.4918208718299866 + ], + [ + 0.7816973924636841 + ], + [ + 0.9830701947212219 + ], + [ + 0.9879508018493652 + ], + [ + 0.9872581958770752 + ], + [ + 0.9872581958770752 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.19439972937107086, + 0.15768805146217346, + 0.08157212287187576 + ], + [ + 0.21697327494621277, + 0.15442614257335663, + 0.09179623425006866 + ], + [ + 0.24306626617908478, + 0.15882447361946106, + 0.09858264029026031 + ], + [ + 0.26446110010147095, + 0.1631031036376953, + 0.09392836689949036 + ], + [ + 0.2818717956542969, + 0.16714876890182495, + 0.07648184150457382 + ], + [ + 0.2939697802066803, + 0.1660812646150589, + 0.05798856541514397 + ], + [ + 0.29284802079200745, + 0.15983110666275024, + 0.0382140576839447 + ], + [ + 0.2932182848453522, + 0.1519540548324585, + 0.02449433133006096 + ], + [ + 0.29349467158317566, + 0.1464369297027588, + 0.008291575126349926 + ], + [ + 0.29693788290023804, + 0.1472751647233963, + 0.003206445137038827 + ], + [ + 0.3090406358242035, + 0.14896604418754578, + 0.002719651907682419 + ], + [ + 0.3103627860546112, + 0.1477470099925995, + 0.0018331040628254414 + ], + [ + 0.3109128475189209, + 0.1495438814163208, + 0.0014330311678349972 + ], + [ + 0.308013379573822, + 0.15052609145641327, + 0.003380695590749383 + ], + [ + 0.3043419122695923, + 0.14387543499469757, + 0.023804090917110443 + ], + [ + 0.29244640469551086, + 0.133658304810524, + 0.04886594042181969 + ], + [ + 0.2795645296573639, + 0.12972690165042877, + 0.0649881362915039 + ], + [ + 0.26128339767456055, + 0.13687118887901306, + 0.06958624720573425 + ], + [ + 0.234224334359169, + 0.14716210961341858, + 0.06637395918369293 + ], + [ + 0.20654916763305664, + 0.15864378213882446, + 0.059568852186203 + ], + [ + 0.18879544734954834, + 0.16612687706947327, + 0.049978550523519516 + ], + [ + 0.177614226937294, + 0.16614705324172974, + 0.041266608983278275 + ], + [ + 0.17897170782089233, + 0.16457846760749817, + 0.04170339182019234 + ], + [ + 0.184379443526268, + 0.15595677495002747, + 0.05244576558470726 + ], + [ + 0.2016860991716385, + 0.14563141763210297, + 0.07597322016954422 + ], + [ + 0.21648424863815308, + 0.1262560933828354, + 0.09950724244117737 + ], + [ + 0.2260008454322815, + 0.10961231589317322, + 0.1171635091304779 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9607543002028742, + 0.256692602114802, + -0.10516692760186928, + 0.27541504510000686, + -0.9279499528335329, + 0.25110841875334383, + -0.033131972085073, + -0.27021804724291726, + -0.9622289121461576 + ], + [ + 0.9209037882047074, + 0.37765604801318203, + -0.096499338180554, + 0.3887277578456105, + -0.9080694508347869, + 0.15588650596165624, + -0.02875661924747363, + -0.181068445234597, + -0.9830499860077218 + ], + [ + 0.8838655547234413, + 0.44893699235335377, + -0.13129073870668995, + 0.46340250891944873, + -0.8786057752182117, + 0.11536900138410512, + -0.06355938876817292, + -0.16281114412081943, + -0.9846079094997593 + ], + [ + 0.8334154013871811, + 0.5392237531224375, + -0.12106408550514357, + 0.550009598518939, + -0.8306679930944344, + 0.08648772621303186, + -0.05392782461475375, + -0.13866661212064507, + -0.9888697388510295 + ], + [ + 0.7465464103084825, + 0.658959628283406, + -0.09187309479991473, + 0.6652120203314651, + -0.7418967799346604, + 0.08415542721127559, + -0.012705324161515145, + -0.1239410190985101, + -0.9922082435269188 + ], + [ + 0.7114001490660096, + 0.7018394785979623, + -0.03648525990314839, + 0.70274320178598, + -0.7098155537247496, + 0.048102723769209745, + 0.007862585608379297, + -0.059860053222229016, + -0.9981758130588936 + ], + [ + 0.7169424163342312, + 0.6970887680955712, + 0.007798785535726438, + 0.695111512395623, + -0.7156705631758512, + 0.06808546348986039, + 0.0530429731058038, + -0.043392331103068685, + -0.9976490107274892 + ], + [ + 0.7414838081997852, + 0.6700768255604344, + 0.03462383607277889, + 0.6624986565778577, + -0.7393203411250171, + 0.12041994532186728, + 0.10628872099182152, + -0.06635119475668011, + -0.9921190587546855 + ], + [ + 0.7576854332570493, + 0.651810494581176, + 0.032494051515932, + 0.6425780574656199, + -0.7538024023071015, + 0.13738769355278185, + 0.11404483457740607, + -0.08321668961143089, + -0.9899842212259379 + ], + [ + 0.7556759085692281, + 0.6535815383444492, + 0.04225037210931246, + 0.6435426295772051, + -0.7529577461554444, + 0.1375046050915016, + 0.12168321628280634, + -0.07671900181713101, + -0.9895996107695553 + ], + [ + 0.7486572501125146, + 0.661439516174012, + 0.04483400826890424, + 0.6512409815621251, + -0.7464006781381847, + 0.13700807132741277, + 0.12408668658630156, + -0.07337434237079452, + -0.9895547989341904 + ], + [ + 0.7465111294984852, + 0.6635876454184357, + 0.04870903800027225, + 0.6547180781398592, + -0.7456344015718286, + 0.12399023086304076, + 0.11859751975376594, + -0.060669399540766895, + -0.9910872071960255 + ], + [ + 0.7493316534681446, + 0.6598660460177169, + 0.05548760603631271, + 0.6502998290998273, + -0.7490942883991343, + 0.1263640746435874, + 0.12494881105249482, + -0.05860502026907868, + -0.9904308386837665 + ], + [ + 0.7591392609116433, + 0.6494175694566258, + 0.044321586428880545, + 0.6426172082445403, + -0.758553216058646, + 0.10788949010482257, + 0.10368561236023713, + -0.05342133364241274, + -0.9931744332700821 + ], + [ + 0.759382211057525, + 0.6455472108063478, + 0.08128626052125558, + 0.6403465367590497, + -0.7636472888919579, + 0.08245684343129853, + 0.1153038177601927, + -0.010564884670803742, + -0.9932740874611685 + ], + [ + 0.772050745346156, + 0.630153150485232, + 0.0827324213593511, + 0.6298703796843044, + -0.776008167493605, + 0.0327815310741755, + 0.08485841977550007, + 0.026801696154410963, + -0.9960324882635362 + ], + [ + 0.784783909371342, + 0.6141394893634401, + 0.08334808453855622, + 0.6155200076607258, + -0.7880441546043576, + 0.01102409013222248, + 0.0724522999025787, + 0.04265088508245135, + -0.9964595156053809 + ], + [ + 0.7889482804061733, + 0.6120100191092945, + 0.05481192711430102, + 0.612969793052295, + -0.7901058416568518, + -0.0008898230974311548, + 0.04276264315461609, + 0.03430008002263457, + -0.9984962998734006 + ], + [ + 0.8130033389873362, + 0.5817501113234713, + 0.024338832563844063, + 0.5818849032171607, + -0.8132690468763921, + 0.0018484590122357352, + 0.02086936039742657, + 0.012659595881902196, + -0.9997020578295861 + ], + [ + 0.8376926830364021, + 0.5460691750017109, + 0.008912064868749228, + 0.5458984922197075, + -0.8376949883644329, + 0.016184642762894576, + 0.01630352659776121, + -0.008692674045620416, + -0.9998293016502431 + ], + [ + 0.8523283457166343, + 0.523007064209426, + -4.330107538406784e-05, + 0.5228601690878814, + -0.8520869873332906, + 0.02376993055667357, + 0.012394945314035469, + -0.020282425996765857, + -0.999717454347151 + ], + [ + 0.8625365354024233, + 0.5052931387208419, + -0.026637737471949766, + 0.505994602686723, + -0.8612951563508637, + 0.04626138452799243, + 0.0004326059289848534, + -0.05338068572228631, + -0.998574141085142 + ], + [ + 0.8442837272513606, + 0.5334434713724349, + -0.05121572755195471, + 0.5358895201060324, + -0.8408938002432379, + 0.07563093912554238, + -0.002722157063098859, + -0.091299942840132, + -0.9958197177693923 + ], + [ + 0.8231921905292108, + 0.5674117297547951, + -0.01996362663423156, + 0.5675747558240805, + -0.8215057140459417, + 0.05465581708384823, + 0.014612118359607025, + -0.056323092302703964, + -0.9983056622450391 + ], + [ + 0.7943679149964962, + 0.6072208187702857, + 0.016201631895072913, + 0.6069327372803017, + -0.7945126927344345, + 0.01955079285652292, + 0.024744050629592576, + -0.005697221763480057, + -0.9996775848355399 + ], + [ + 0.7837208983557948, + 0.6201160778883756, + 0.03517958818297497, + 0.620095226089759, + -0.7844218061394271, + 0.012819541085755955, + 0.035545239640158356, + 0.011767752431828801, + -0.999298782117554 + ], + [ + 0.7726271553361019, + 0.6347514226482054, + 0.011743520908264957, + 0.6348361854236211, + -0.77230554951961, + -0.022959874956093806, + -0.005504226923852849, + 0.02519463489104482, + -0.9996674116218244 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006670.json b/json/chunk-0006/episode_0006670.json new file mode 100644 index 0000000000000000000000000000000000000000..b29ee82705cdc630b3bdb184473944db45a979e5 --- /dev/null +++ b/json/chunk-0006/episode_0006670.json @@ -0,0 +1,2182 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 35, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nClose microwave." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006670.mp4", + "start": 0, + "end": 35, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.20345471799373627, + 0.10378018766641617, + 0.04383382573723793, + -0.007637836039066315, + -0.04695046693086624, + 0.6101887822151184, + 0.0, + 0.9893313646316528 + ], + [ + 0.2005268633365631, + 0.10035014897584915, + 0.040441058576107025, + -0.003979383502155542, + -0.019574198871850967, + 0.6085159182548523, + 0.0, + 0.9893313646316528 + ], + [ + 0.2185021936893463, + 0.08626364171504974, + 0.061878565698862076, + 0.005654667038470507, + 0.017699960619211197, + 0.5459493398666382, + 0.0, + 0.9893313646316528 + ], + [ + 0.23704533278942108, + 0.07676107436418533, + 0.09124824404716492, + 0.009812239557504654, + 0.03559134155511856, + 0.5050424337387085, + 0.0, + 0.9893313646316528 + ], + [ + 0.24569851160049438, + 0.05918984115123749, + 0.12071997672319412, + -0.014457629062235355, + 0.000945393810980022, + 0.4194354712963104, + 0.0, + 0.9893313646316528 + ], + [ + 0.24640990793704987, + 0.033753201365470886, + 0.14148014783859253, + -0.06371079385280609, + -0.03895093500614166, + 0.2979768216609955, + 0.0, + 0.9893313646316528 + ], + [ + 0.24983243644237518, + 0.008626464754343033, + 0.15644767880439758, + -0.11071280390024185, + -0.07207253575325012, + 0.20080333948135376, + 0.0, + 0.9893313646316528 + ], + [ + 0.2537229061126709, + -0.015733549371361732, + 0.1599152535200119, + -0.11755567789077759, + -0.09919978678226471, + 0.10733377933502197, + 0.0, + 0.9893313646316528 + ], + [ + 0.25835829973220825, + -0.03382581099867821, + 0.15504875779151917, + -0.13605228066444397, + -0.06130927801132202, + 0.02585945650935173, + 0.0, + 0.9893313646316528 + ], + [ + 0.26055908203125, + -0.04449967294931412, + 0.139622300863266, + -0.058658916503190994, + -0.07215676456689835, + -0.046826429665088654, + 0.0, + 0.9893313646316528 + ], + [ + 0.2635308802127838, + -0.04493733495473862, + 0.13328608870506287, + -0.009416512213647366, + -0.07771921157836914, + -0.08298400789499283, + 0.0, + 0.9893313646316528 + ], + [ + 0.2689688205718994, + -0.03659331053495407, + 0.12443864345550537, + 0.026225484907627106, + -0.07981963455677032, + -0.05895155668258667, + 0.0, + 0.9893313646316528 + ], + [ + 0.2734881341457367, + -0.02805737778544426, + 0.1223921999335289, + 0.042229484766721725, + -0.09575305134057999, + -0.03277335315942764, + 0.0, + 0.9893313646316528 + ], + [ + 0.28219443559646606, + -0.015746429562568665, + 0.1270068734884262, + 0.051240988075733185, + -0.08871276676654816, + 0.004026527516543865, + 0.0, + 0.9886419177055359 + ], + [ + 0.2897396981716156, + -0.012831907719373703, + 0.14141252636909485, + 0.06356614828109741, + -0.1000039353966713, + 0.017640450969338417, + 0.0, + 0.9893313646316528 + ], + [ + 0.2898404002189636, + -0.01879345253109932, + 0.156911700963974, + 0.037153422832489014, + -0.08808605372905731, + 0.026672080159187317, + 0.0, + 0.9893313646316528 + ], + [ + 0.27226558327674866, + -0.038556382060050964, + 0.16891811788082123, + -0.0030934838578104973, + -0.13226594030857086, + 0.038052186369895935, + 0.0, + 0.9893313646316528 + ], + [ + 0.2467058151960373, + -0.06747886538505554, + 0.16048094630241394, + -0.10185152292251587, + -0.14060765504837036, + 0.0753263533115387, + 0.0, + 0.9886419177055359 + ], + [ + 0.2390822470188141, + -0.08708073198795319, + 0.13772988319396973, + -0.1575719714164734, + -0.1382834017276764, + 0.19295385479927063, + 0.0, + 0.9893313646316528 + ], + [ + 0.23928017914295197, + -0.09070371091365814, + 0.09656092524528503, + -0.2049982100725174, + -0.1168542206287384, + 0.3590319752693176, + 0.0, + 0.9886419177055359 + ], + [ + 0.24053797125816345, + -0.08501304686069489, + 0.059415075927972794, + -0.202078714966774, + -0.12054616212844849, + 0.41816645860671997, + 0.0, + 0.9893313646316528 + ], + [ + 0.2491828352212906, + -0.07173202186822891, + 0.03454623371362686, + -0.19558589160442352, + -0.12645401060581207, + 0.4694894254207611, + 0.0, + 0.9893313646316528 + ], + [ + 0.25690144300460815, + -0.04984937608242035, + 0.028690125793218613, + -0.18344350159168243, + -0.13902176916599274, + 0.4646722376346588, + 0.0, + 0.9893313646316528 + ], + [ + 0.26674288511276245, + -0.02781551517546177, + 0.030952004715800285, + -0.16404524445533752, + -0.20302429795265198, + 0.3960000276565552, + 0.0, + 0.9886419177055359 + ], + [ + 0.283597469329834, + -0.014080989174544811, + 0.04072829708456993, + -0.1615619957447052, + -0.25925540924072266, + 0.36825254559516907, + 0.0, + 0.9886419177055359 + ], + [ + 0.2980602979660034, + -0.0048586404882371426, + 0.04573546350002289, + -0.16813306510448456, + -0.2971934974193573, + 0.36871474981307983, + 0.0, + 0.9893313646316528 + ], + [ + 0.3180559575557709, + 0.0009839331032708287, + 0.05265817418694496, + -0.1812920868396759, + -0.3359018862247467, + 0.3816598951816559, + 0.0, + 0.9886419177055359 + ], + [ + 0.328811913728714, + 0.0030359167139977217, + 0.05419784039258957, + -0.1960376799106598, + -0.3550310730934143, + 0.3896929621696472, + 0.0, + 0.9886419177055359 + ], + [ + 0.3384559154510498, + 0.007938044145703316, + 0.05436227470636368, + -0.19135946035385132, + -0.3965296447277069, + 0.39088383316993713, + 0.0, + 0.9886419177055359 + ], + [ + 0.3439215123653412, + 0.009267931804060936, + 0.05571794509887695, + -0.19117270410060883, + -0.4155890941619873, + 0.39265546202659607, + 0.0, + 0.9886419177055359 + ], + [ + 0.3512696623802185, + 0.010271900333464146, + 0.05446179583668709, + -0.19070255756378174, + -0.42007511854171753, + 0.3978992700576782, + 0.0, + 0.9886419177055359 + ], + [ + 0.35943102836608887, + 0.012243795208632946, + 0.05369256064295769, + -0.19371813535690308, + -0.42840421199798584, + 0.40836337208747864, + 0.0, + 0.9893313646316528 + ], + [ + 0.36420074105262756, + 0.014240751974284649, + 0.05044424533843994, + -0.18493321537971497, + -0.43386006355285645, + 0.41063782572746277, + 0.0, + 0.9886419177055359 + ], + [ + 0.3681834638118744, + 0.015833837911486626, + 0.051697682589292526, + -0.18088430166244507, + -0.4496130347251892, + 0.4106213450431824, + 0.0, + 0.9893313646316528 + ], + [ + 0.3755369484424591, + 0.017402825877070427, + 0.050104621797800064, + -0.18154822289943695, + -0.4557395875453949, + 0.4177423417568207, + 0.0, + 0.9886419177055359 + ] + ], + "left_gripper_pos": [ + [ + 0.9893313646316528 + ], + [ + 0.9893313646316528 + ], + [ + 0.9893313646316528 + ], + [ + 0.9893313646316528 + ], + [ + 0.9893313646316528 + ], + [ + 0.9893313646316528 + ], + [ + 0.9893313646316528 + ], + [ + 0.9893313646316528 + ], + [ + 0.9893313646316528 + ], + [ + 0.9893313646316528 + ], + [ + 0.9893313646316528 + ], + [ + 0.9893313646316528 + ], + [ + 0.9893313646316528 + ], + [ + 0.9886419177055359 + ], + [ + 0.9893313646316528 + ], + [ + 0.9893313646316528 + ], + [ + 0.9893313646316528 + ], + [ + 0.9886419177055359 + ], + [ + 0.9893313646316528 + ], + [ + 0.9886419177055359 + ], + [ + 0.9893313646316528 + ], + [ + 0.9893313646316528 + ], + [ + 0.9893313646316528 + ], + [ + 0.9886419177055359 + ], + [ + 0.9886419177055359 + ], + [ + 0.9893313646316528 + ], + [ + 0.9886419177055359 + ], + [ + 0.9886419177055359 + ], + [ + 0.9886419177055359 + ], + [ + 0.9886419177055359 + ], + [ + 0.9886419177055359 + ], + [ + 0.9893313646316528 + ], + [ + 0.9886419177055359 + ], + [ + 0.9893313646316528 + ], + [ + 0.9886419177055359 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.20345471799373627, + 0.10378018766641617, + 0.04383382573723793 + ], + [ + 0.2005268633365631, + 0.10035014897584915, + 0.040441058576107025 + ], + [ + 0.2185021936893463, + 0.08626364171504974, + 0.061878565698862076 + ], + [ + 0.23704533278942108, + 0.07676107436418533, + 0.09124824404716492 + ], + [ + 0.24569851160049438, + 0.05918984115123749, + 0.12071997672319412 + ], + [ + 0.24640990793704987, + 0.033753201365470886, + 0.14148014783859253 + ], + [ + 0.24983243644237518, + 0.008626464754343033, + 0.15644767880439758 + ], + [ + 0.2537229061126709, + -0.015733549371361732, + 0.1599152535200119 + ], + [ + 0.25835829973220825, + -0.03382581099867821, + 0.15504875779151917 + ], + [ + 0.26055908203125, + -0.04449967294931412, + 0.139622300863266 + ], + [ + 0.2635308802127838, + -0.04493733495473862, + 0.13328608870506287 + ], + [ + 0.2689688205718994, + -0.03659331053495407, + 0.12443864345550537 + ], + [ + 0.2734881341457367, + -0.02805737778544426, + 0.1223921999335289 + ], + [ + 0.28219443559646606, + -0.015746429562568665, + 0.1270068734884262 + ], + [ + 0.2897396981716156, + -0.012831907719373703, + 0.14141252636909485 + ], + [ + 0.2898404002189636, + -0.01879345253109932, + 0.156911700963974 + ], + [ + 0.27226558327674866, + -0.038556382060050964, + 0.16891811788082123 + ], + [ + 0.2467058151960373, + -0.06747886538505554, + 0.16048094630241394 + ], + [ + 0.2390822470188141, + -0.08708073198795319, + 0.13772988319396973 + ], + [ + 0.23928017914295197, + -0.09070371091365814, + 0.09656092524528503 + ], + [ + 0.24053797125816345, + -0.08501304686069489, + 0.059415075927972794 + ], + [ + 0.2491828352212906, + -0.07173202186822891, + 0.03454623371362686 + ], + [ + 0.25690144300460815, + -0.04984937608242035, + 0.028690125793218613 + ], + [ + 0.26674288511276245, + -0.02781551517546177, + 0.030952004715800285 + ], + [ + 0.283597469329834, + -0.014080989174544811, + 0.04072829708456993 + ], + [ + 0.2980602979660034, + -0.0048586404882371426, + 0.04573546350002289 + ], + [ + 0.3180559575557709, + 0.0009839331032708287, + 0.05265817418694496 + ], + [ + 0.328811913728714, + 0.0030359167139977217, + 0.05419784039258957 + ], + [ + 0.3384559154510498, + 0.007938044145703316, + 0.05436227470636368 + ], + [ + 0.3439215123653412, + 0.009267931804060936, + 0.05571794509887695 + ], + [ + 0.3512696623802185, + 0.010271900333464146, + 0.05446179583668709 + ], + [ + 0.35943102836608887, + 0.012243795208632946, + 0.05369256064295769 + ], + [ + 0.36420074105262756, + 0.014240751974284649, + 0.05044424533843994 + ], + [ + 0.3681834638118744, + 0.015833837911486626, + 0.051697682589292526 + ], + [ + 0.3755369484424591, + 0.017402825877070427, + 0.050104621797800064 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8186367471246417, + 0.5727116947249026, + 0.04283912910547012, + 0.5723907311884501, + -0.819721359864023, + 0.020633541436898276, + 0.04693321965022894, + 0.007629345188592546, + -0.9988688932914351 + ], + [ + 0.8203401155887239, + 0.5715819718930967, + 0.01833423471756998, + 0.5715408947978765, + -0.8205353252992101, + 0.007923730798220213, + 0.01957294892249012, + 0.00397861067700834, + -0.9998005152667001 + ], + [ + 0.8545008803837477, + 0.5191358287359195, + -0.018062024971467167, + 0.5191483309543575, + -0.8546730523542261, + -0.0043570686034183435, + -0.017699036434356934, + -0.005653751160079747, + -0.999827374703811 + ], + [ + 0.8745997045641154, + 0.4835157234512785, + -0.035887350859998286, + 0.48353815565280217, + -0.8752807493181205, + -0.008629130952524112, + -0.03558382784704712, + -0.009805868064385924, + -0.9993185859110474 + ], + [ + 0.9133185791344188, + 0.4072148450987531, + 0.0050242351740934325, + 0.40724474120446846, + -0.9132179704993983, + -0.013588933669174123, + -0.0009453936701526761, + 0.014457118943906045, + -0.9998950434633876 + ], + [ + 0.9552073567126467, + 0.2906211114304198, + 0.05584151925750402, + 0.2933641039095608, + -0.9547208703312247, + -0.04945262673841892, + 0.03894108652026907, + 0.06361941012722844, + -0.9972142008794723 + ], + [ + 0.9773627258955015, + 0.1904391353252339, + 0.0921685291555197, + 0.19893878329346568, + -0.9754941877412077, + -0.09399175594081047, + 0.07201015575479715, + 0.11019993384616264, + -0.9912973882990266 + ], + [ + 0.989357284458987, + 0.09483970149115492, + 0.11035213957602885, + 0.10660113877574265, + -0.9886276125434446, + -0.10607375230641772, + 0.09903716928332304, + 0.11670850327939705, + -0.9882159502672627 + ], + [ + 0.9977874658878518, + 0.017310067095275623, + 0.06419138956476377, + 0.025807994537014493, + -0.9906427854487011, + -0.13401798034747253, + 0.06127087672847221, + 0.1353781120255234, + -0.988897692609973 + ], + [ + 0.9963045254431906, + -0.05095071733255918, + 0.0691470677955053, + -0.04668751290408939, + -0.9969879459053707, + -0.0619298947053846, + 0.07209416564638944, + 0.05847272973521238, + -0.9956823645907683 + ], + [ + 0.9935505723053778, + -0.08361370376628906, + 0.07658987409663974, + -0.08263858830474245, + -0.996454020496281, + -0.015819252820413666, + 0.07764099429203074, + 0.009387948619381192, + -0.9969371807822519 + ], + [ + 0.9950844949685518, + -0.056809942456399504, + 0.08111398345095844, + -0.058729830096365135, + -0.9980427764801026, + 0.02148076750815705, + 0.07973490408869799, + -0.0261389891539055, + -0.996473330458963 + ], + [ + 0.9948846398021851, + -0.02870421482320831, + 0.09685360879729608, + -0.032617384520720646, + -0.998704205269527, + 0.039064262491312784, + 0.0956067974189284, + -0.04202354611816858, + -0.9945317299407548 + ], + [ + 0.9960595279308794, + 0.008558978267973827, + 0.08827321626134638, + 0.004010682772317586, + -0.9986611005233746, + 0.05157441929040441, + 0.08859645163218394, + -0.051017155863993004, + -0.9947602316969328 + ], + [ + 0.9948489610224946, + 0.023944925373810457, + 0.09849967157968349, + 0.01755140493755285, + -0.9977132081384363, + 0.06527099272132417, + 0.099837332382135, + -0.06320597167160516, + -0.9929942155963786 + ], + [ + 0.9957686315872175, + 0.029917067046988658, + 0.08688959342882344, + 0.026565520629705377, + -0.9988673111421075, + 0.03947616806896176, + 0.08797218572135712, + -0.037000862571596946, + -0.9954354980149969 + ], + [ + 0.9905480308719767, + 0.037635147327421174, + 0.131902214618606, + 0.03771072135339427, + -0.9992868419594372, + 0.0019258716835412666, + 0.1318806279582265, + 0.0030664592575339595, + -0.991260862133155 + ], + [ + 0.9873233161302961, + 0.06065624976364427, + 0.14667477216646962, + 0.07451244763568242, + -0.9930689557693819, + -0.09089523768850093, + 0.14014479859350848, + 0.10067208377559193, + -0.984999780190567 + ], + [ + 0.9720733190697417, + 0.1681540799227393, + 0.16369993206496383, + 0.18992825028555713, + -0.9734310288575606, + -0.12790344718098262, + 0.13784310681424564, + 0.15542277009064226, + -0.9781835412851457 + ], + [ + 0.9298525474717609, + 0.321790847084105, + 0.17839532138812075, + 0.3489718759628233, + -0.9249729989853388, + -0.15047784200690947, + 0.1165884631825319, + 0.20217715469598121, + -0.9723844550237178 + ], + [ + 0.9072034461730085, + 0.37576619769866987, + 0.18916043962441303, + 0.40313866198605103, + -0.9050410661634274, + -0.13557244472924113, + 0.1202544238850014, + 0.19924967559534634, + -0.9725422563113829 + ], + [ + 0.8846786892432895, + 0.42194713508635334, + 0.19825294951448616, + 0.44881850647977967, + -0.8858853246307598, + -0.1173419781881693, + 0.12611726701778284, + 0.19278954016302716, + -0.9731015507970857 + ], + [ + 0.8853435105201474, + 0.4180128652928946, + 0.20354879717032548, + 0.44380627227600644, + -0.8902968610130826, + -0.10201711600867475, + 0.1385743882120256, + 0.1806564245186883, + -0.9737352798434421 + ], + [ + 0.9036620121534593, + 0.3501720960550371, + 0.24652478766887376, + 0.37780858980656606, + -0.92292659113891, + -0.07394036000105493, + 0.20163243106984374, + 0.15995627687944475, + -0.9663117262186832 + ], + [ + 0.9017794319366984, + 0.31682413777246404, + 0.2939665318716736, + 0.3479553664838116, + -0.935653301009558, + -0.058991213286669106, + 0.2563609156463625, + 0.15548429513829237, + -0.9539935612436314 + ], + [ + 0.8918997318434638, + 0.3096239970146769, + 0.32961773133466743, + 0.3446169428900425, + -0.9372998587507436, + -0.05203976805249553, + 0.2928378920335939, + 0.16000611006612125, + -0.9426791679732982 + ], + [ + 0.8761822508845536, + 0.3112027280378611, + 0.36804554785606447, + 0.35164584486686845, + -0.9349740998806007, + -0.04656857674792381, + 0.3296207866969919, + 0.17022424802082117, + -0.9286408575778918 + ], + [ + 0.867337153782792, + 0.30999345474461626, + 0.38939738017026115, + 0.35621193753066216, + -0.9330315324214438, + -0.050647952258148415, + 0.34761950064491054, + 0.18263684601632177, + -0.9196762828564153 + ], + [ + 0.8528321830480797, + 0.3061351651591805, + 0.42303490188211157, + 0.3514423026264947, + -0.9356834263516688, + -0.031382058176421646, + 0.38621959489652236, + 0.17543598919196204, + -0.9055697864958855 + ], + [ + 0.8452529255740036, + 0.3047976120939139, + 0.43891446486808383, + 0.3500720307004182, + -0.93641834285873, + -0.023880127281815947, + 0.403728950076501, + 0.17383642546819195, + -0.8982114628808565 + ], + [ + 0.8417274749701971, + 0.30919372025893294, + 0.4425992557977669, + 0.35379419233437476, + -0.9351183558691002, + -0.019578814753156995, + 0.407829041818706, + 0.1730690725378503, + -0.8965057550178497 + ], + [ + 0.8348327600082756, + 0.3162839811644514, + 0.4505759714806484, + 0.3612211088224036, + -0.9323627606823743, + -0.014798413220850709, + 0.41541975561843275, + 0.17511175217987723, + -0.8926154272083892 + ], + [ + 0.8319185695342161, + 0.321514345506248, + 0.4522610079343923, + 0.3622088003065125, + -0.9320898601679191, + -0.003643837628908894, + 0.42037635357458025, + 0.1668442932971872, + -0.8918781885153945 + ], + [ + 0.8257498738275484, + 0.3209785758928012, + 0.4637994175197045, + 0.35950682498461506, + -0.933124957717102, + 0.0057145494081281, + 0.4346170597931808, + 0.16202026756947974, + -0.8859218048075377 + ], + [ + 0.8207197479612389, + 0.326397988935249, + 0.46891731480663545, + 0.36429071827084875, + -0.9312249806180887, + 0.01059754945963104, + 0.4401265362235607, + 0.16212460729903178, + -0.8831784892194698 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0029278546571731567, + -0.0034300386905670166, + -0.003392767161130905, + 0.0036584525369107723, + 0.027376268059015274, + -0.0016728639602661133, + 1.0 + ], + [ + 0.017975330352783203, + -0.014086507260799408, + 0.02143750712275505, + 0.009634050540626049, + 0.037274159491062164, + -0.06256657838821411, + 1.0 + ], + [ + 0.018543139100074768, + -0.00950256735086441, + 0.02936967834830284, + 0.004157572519034147, + 0.017891380935907364, + -0.04090690612792969, + 1.0 + ], + [ + 0.008653178811073303, + -0.017571233212947845, + 0.029471732676029205, + -0.024269867688417435, + -0.03464594855904579, + -0.08560696244239807, + 1.0 + ], + [ + 0.000711396336555481, + -0.0254366397857666, + 0.020760171115398407, + -0.04925316572189331, + -0.03989632800221443, + -0.12145864963531494, + 1.0 + ], + [ + 0.0034225285053253174, + -0.025126736611127853, + 0.014967530965805054, + -0.04700201004743576, + -0.03312160074710846, + -0.09717348217964172, + 1.0 + ], + [ + 0.0038904696702957153, + -0.024360014125704765, + 0.003467574715614319, + -0.006842873990535736, + -0.027127251029014587, + -0.09346956014633179, + 1.0 + ], + [ + 0.0046353936195373535, + -0.018092261627316475, + -0.004866495728492737, + -0.018496602773666382, + 0.03789050877094269, + -0.08147431910037994, + 1.0 + ], + [ + 0.002200782299041748, + -0.01067386195063591, + -0.015426456928253174, + 0.07739336788654327, + -0.010847486555576324, + -0.07268588244915009, + 1.0 + ], + [ + 0.0029717981815338135, + -0.0004376620054244995, + -0.006336212158203125, + 0.049242403358221054, + -0.005562447011470795, + -0.036157578229904175, + 1.0 + ], + [ + 0.005437940359115601, + 0.008344024419784546, + -0.008847445249557495, + 0.035641998052597046, + -0.002100422978401184, + 0.02403245121240616, + 1.0 + ], + [ + 0.00451931357383728, + 0.008535932749509811, + -0.002046443521976471, + 0.01600399985909462, + -0.015933416783809662, + 0.026178203523159027, + 1.0 + ], + [ + 0.00870630145072937, + 0.012310948222875595, + 0.004614673554897308, + 0.00901150330901146, + 0.00704028457403183, + 0.03679988160729408, + 1.0 + ], + [ + 0.007545262575149536, + 0.0029145218431949615, + 0.01440565288066864, + 0.012325160205364227, + -0.011291168630123138, + 0.013613923452794552, + 1.0 + ], + [ + 0.00010070204734802246, + -0.0059615448117256165, + 0.01549917459487915, + -0.0264127254486084, + 0.011917881667613983, + 0.0090316291898489, + 1.0 + ], + [ + -0.017574816942214966, + -0.019762929528951645, + 0.012006416916847229, + -0.040246907621622086, + -0.04417988657951355, + 0.011380106210708618, + 1.0 + ], + [ + -0.025559768080711365, + -0.028922483325004578, + -0.008437171578407288, + -0.0987580418586731, + -0.0083417147397995, + 0.03727416694164276, + 1.0 + ], + [ + -0.007623568177223206, + -0.019601866602897644, + -0.022751063108444214, + -0.05572044849395752, + 0.0023242533206939697, + 0.11762750148773193, + 1.0 + ], + [ + 0.00019793212413787842, + -0.003622978925704956, + -0.04116895794868469, + -0.047426238656044006, + 0.02142918109893799, + 0.166078120470047, + 1.0 + ], + [ + 0.0012577921152114868, + 0.005690664052963257, + -0.03714584931731224, + 0.002919495105743408, + -0.003691941499710083, + 0.059134483337402344, + 1.0 + ], + [ + 0.008644863963127136, + 0.013281024992465973, + -0.024868842214345932, + 0.006492823362350464, + -0.005907848477363586, + 0.05132296681404114, + 1.0 + ], + [ + 0.007718607783317566, + 0.021882645785808563, + -0.005856107920408249, + 0.012142390012741089, + -0.012567758560180664, + -0.004817187786102295, + 1.0 + ], + [ + 0.009841442108154297, + 0.02203386090695858, + 0.0022618789225816727, + 0.01939825713634491, + -0.06400252878665924, + -0.06867220997810364, + 1.0 + ], + [ + 0.016854584217071533, + 0.013734526000916958, + 0.009776292368769646, + 0.0024832487106323242, + -0.05623111128807068, + -0.02774748206138611, + 1.0 + ], + [ + 0.014462828636169434, + 0.009222349151968956, + 0.005007166415452957, + -0.006571069359779358, + -0.037938088178634644, + 0.0004622042179107666, + 1.0 + ], + [ + 0.019995659589767456, + 0.0058425734750926495, + 0.006922710686922073, + -0.013159021735191345, + -0.038708388805389404, + 0.01294514536857605, + 1.0 + ], + [ + 0.010755956172943115, + 0.002051983494311571, + 0.0015396662056446075, + -0.014745593070983887, + -0.019129186868667603, + 0.008033066987991333, + 1.0 + ], + [ + 0.009644001722335815, + 0.00490212719887495, + 0.0001644343137741089, + 0.004678219556808472, + -0.0414985716342926, + 0.001190871000289917, + 1.0 + ], + [ + 0.005465596914291382, + 0.0013298876583576202, + 0.0013556703925132751, + 0.00018675625324249268, + -0.019059449434280396, + 0.0017716288566589355, + 1.0 + ], + [ + 0.007348150014877319, + 0.0010039685294032097, + -0.0012561492621898651, + 0.0004701465368270874, + -0.004486024379730225, + 0.005243808031082153, + 1.0 + ], + [ + 0.008161365985870361, + 0.0019718948751688004, + -0.0007692351937294006, + -0.003015577793121338, + -0.00832909345626831, + 0.010464102029800415, + 1.0 + ], + [ + 0.004769712686538696, + 0.001996956765651703, + -0.003248315304517746, + 0.00878491997718811, + -0.0054558515548706055, + 0.002274453639984131, + 1.0 + ], + [ + 0.003982722759246826, + 0.0015930859372019768, + 0.0012534372508525848, + 0.0040489137172698975, + -0.015752971172332764, + -1.6480684280395508e-05, + 1.0 + ], + [ + 0.007353484630584717, + 0.0015689879655838013, + -0.0015930607914924622, + -0.0006639212369918823, + -0.0061265528202056885, + 0.007120996713638306, + 1.0 + ], + [ + 0.006023615598678589, + 0.0017972029745578766, + 0.0013427995145320892, + 0.0017172545194625854, + -0.01030382513999939, + 0.003148406744003296, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9893313646316528 + ], + [ + 0.9893313646316528 + ], + [ + 0.9893313646316528 + ], + [ + 0.9893313646316528 + ], + [ + 0.9893313646316528 + ], + [ + 0.9893313646316528 + ], + [ + 0.9893313646316528 + ], + [ + 0.9893313646316528 + ], + [ + 0.9893313646316528 + ], + [ + 0.9893313646316528 + ], + [ + 0.9893313646316528 + ], + [ + 0.9893313646316528 + ], + [ + 0.9886419177055359 + ], + [ + 0.9893313646316528 + ], + [ + 0.9893313646316528 + ], + [ + 0.9893313646316528 + ], + [ + 0.9886419177055359 + ], + [ + 0.9893313646316528 + ], + [ + 0.9886419177055359 + ], + [ + 0.9893313646316528 + ], + [ + 0.9893313646316528 + ], + [ + 0.9893313646316528 + ], + [ + 0.9886419177055359 + ], + [ + 0.9886419177055359 + ], + [ + 0.9893313646316528 + ], + [ + 0.9886419177055359 + ], + [ + 0.9886419177055359 + ], + [ + 0.9886419177055359 + ], + [ + 0.9886419177055359 + ], + [ + 0.9886419177055359 + ], + [ + 0.9893313646316528 + ], + [ + 0.9886419177055359 + ], + [ + 0.9893313646316528 + ], + [ + 0.9886419177055359 + ], + [ + 0.9886419177055359 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2005268633365631, + 0.10035014897584915, + 0.040441058576107025 + ], + [ + 0.2185021936893463, + 0.08626364171504974, + 0.061878565698862076 + ], + [ + 0.23704533278942108, + 0.07676107436418533, + 0.09124824404716492 + ], + [ + 0.24569851160049438, + 0.05918984115123749, + 0.12071997672319412 + ], + [ + 0.24640990793704987, + 0.033753201365470886, + 0.14148014783859253 + ], + [ + 0.24983243644237518, + 0.008626464754343033, + 0.15644767880439758 + ], + [ + 0.2537229061126709, + -0.015733549371361732, + 0.1599152535200119 + ], + [ + 0.25835829973220825, + -0.03382581099867821, + 0.15504875779151917 + ], + [ + 0.26055908203125, + -0.04449967294931412, + 0.139622300863266 + ], + [ + 0.2635308802127838, + -0.04493733495473862, + 0.13328608870506287 + ], + [ + 0.2689688205718994, + -0.03659331053495407, + 0.12443864345550537 + ], + [ + 0.2734881341457367, + -0.02805737778544426, + 0.1223921999335289 + ], + [ + 0.28219443559646606, + -0.015746429562568665, + 0.1270068734884262 + ], + [ + 0.2897396981716156, + -0.012831907719373703, + 0.14141252636909485 + ], + [ + 0.2898404002189636, + -0.01879345253109932, + 0.156911700963974 + ], + [ + 0.27226558327674866, + -0.038556382060050964, + 0.16891811788082123 + ], + [ + 0.2467058151960373, + -0.06747886538505554, + 0.16048094630241394 + ], + [ + 0.2390822470188141, + -0.08708073198795319, + 0.13772988319396973 + ], + [ + 0.23928017914295197, + -0.09070371091365814, + 0.09656092524528503 + ], + [ + 0.24053797125816345, + -0.08501304686069489, + 0.059415075927972794 + ], + [ + 0.2491828352212906, + -0.07173202186822891, + 0.03454623371362686 + ], + [ + 0.25690144300460815, + -0.04984937608242035, + 0.028690125793218613 + ], + [ + 0.26674288511276245, + -0.02781551517546177, + 0.030952004715800285 + ], + [ + 0.283597469329834, + -0.014080989174544811, + 0.04072829708456993 + ], + [ + 0.2980602979660034, + -0.0048586404882371426, + 0.04573546350002289 + ], + [ + 0.3180559575557709, + 0.0009839331032708287, + 0.05265817418694496 + ], + [ + 0.328811913728714, + 0.0030359167139977217, + 0.05419784039258957 + ], + [ + 0.3384559154510498, + 0.007938044145703316, + 0.05436227470636368 + ], + [ + 0.3439215123653412, + 0.009267931804060936, + 0.05571794509887695 + ], + [ + 0.3512696623802185, + 0.010271900333464146, + 0.05446179583668709 + ], + [ + 0.35943102836608887, + 0.012243795208632946, + 0.05369256064295769 + ], + [ + 0.36420074105262756, + 0.014240751974284649, + 0.05044424533843994 + ], + [ + 0.3681834638118744, + 0.015833837911486626, + 0.051697682589292526 + ], + [ + 0.3755369484424591, + 0.017402825877070427, + 0.050104621797800064 + ], + [ + 0.3815605640411377, + 0.019200028851628304, + 0.05144742131233215 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8203401155887239, + 0.5715819718930967, + 0.01833423471756998, + 0.5715408947978765, + -0.8205353252992101, + 0.007923730798220213, + 0.01957294892249012, + 0.00397861067700834, + -0.9998005152667001 + ], + [ + 0.8545008803837477, + 0.5191358287359195, + -0.018062024971467167, + 0.5191483309543575, + -0.8546730523542261, + -0.0043570686034183435, + -0.017699036434356934, + -0.005653751160079747, + -0.999827374703811 + ], + [ + 0.8745997045641154, + 0.4835157234512785, + -0.035887350859998286, + 0.48353815565280217, + -0.8752807493181205, + -0.008629130952524112, + -0.03558382784704712, + -0.009805868064385924, + -0.9993185859110474 + ], + [ + 0.9133185791344188, + 0.4072148450987531, + 0.0050242351740934325, + 0.40724474120446846, + -0.9132179704993983, + -0.013588933669174123, + -0.0009453936701526761, + 0.014457118943906045, + -0.9998950434633876 + ], + [ + 0.9552073567126467, + 0.2906211114304198, + 0.05584151925750402, + 0.2933641039095608, + -0.9547208703312247, + -0.04945262673841892, + 0.03894108652026907, + 0.06361941012722844, + -0.9972142008794723 + ], + [ + 0.9773627258955015, + 0.1904391353252339, + 0.0921685291555197, + 0.19893878329346568, + -0.9754941877412077, + -0.09399175594081047, + 0.07201015575479715, + 0.11019993384616264, + -0.9912973882990266 + ], + [ + 0.989357284458987, + 0.09483970149115492, + 0.11035213957602885, + 0.10660113877574265, + -0.9886276125434446, + -0.10607375230641772, + 0.09903716928332304, + 0.11670850327939705, + -0.9882159502672627 + ], + [ + 0.9977874658878518, + 0.017310067095275623, + 0.06419138956476377, + 0.025807994537014493, + -0.9906427854487011, + -0.13401798034747253, + 0.06127087672847221, + 0.1353781120255234, + -0.988897692609973 + ], + [ + 0.9963045254431906, + -0.05095071733255918, + 0.0691470677955053, + -0.04668751290408939, + -0.9969879459053707, + -0.0619298947053846, + 0.07209416564638944, + 0.05847272973521238, + -0.9956823645907683 + ], + [ + 0.9935505723053778, + -0.08361370376628906, + 0.07658987409663974, + -0.08263858830474245, + -0.996454020496281, + -0.015819252820413666, + 0.07764099429203074, + 0.009387948619381192, + -0.9969371807822519 + ], + [ + 0.9950844949685518, + -0.056809942456399504, + 0.08111398345095844, + -0.058729830096365135, + -0.9980427764801026, + 0.02148076750815705, + 0.07973490408869799, + -0.0261389891539055, + -0.996473330458963 + ], + [ + 0.9948846398021851, + -0.02870421482320831, + 0.09685360879729608, + -0.032617384520720646, + -0.998704205269527, + 0.039064262491312784, + 0.0956067974189284, + -0.04202354611816858, + -0.9945317299407548 + ], + [ + 0.9960595279308794, + 0.008558978267973827, + 0.08827321626134638, + 0.004010682772317586, + -0.9986611005233746, + 0.05157441929040441, + 0.08859645163218394, + -0.051017155863993004, + -0.9947602316969328 + ], + [ + 0.9948489610224946, + 0.023944925373810457, + 0.09849967157968349, + 0.01755140493755285, + -0.9977132081384363, + 0.06527099272132417, + 0.099837332382135, + -0.06320597167160516, + -0.9929942155963786 + ], + [ + 0.9957686315872175, + 0.029917067046988658, + 0.08688959342882344, + 0.026565520629705377, + -0.9988673111421075, + 0.03947616806896176, + 0.08797218572135712, + -0.037000862571596946, + -0.9954354980149969 + ], + [ + 0.9905480308719767, + 0.037635147327421174, + 0.131902214618606, + 0.03771072135339427, + -0.9992868419594372, + 0.0019258716835412666, + 0.1318806279582265, + 0.0030664592575339595, + -0.991260862133155 + ], + [ + 0.9873233161302961, + 0.06065624976364427, + 0.14667477216646962, + 0.07451244763568242, + -0.9930689557693819, + -0.09089523768850093, + 0.14014479859350848, + 0.10067208377559193, + -0.984999780190567 + ], + [ + 0.9720733190697417, + 0.1681540799227393, + 0.16369993206496383, + 0.18992825028555713, + -0.9734310288575606, + -0.12790344718098262, + 0.13784310681424564, + 0.15542277009064226, + -0.9781835412851457 + ], + [ + 0.9298525474717609, + 0.321790847084105, + 0.17839532138812075, + 0.3489718759628233, + -0.9249729989853388, + -0.15047784200690947, + 0.1165884631825319, + 0.20217715469598121, + -0.9723844550237178 + ], + [ + 0.9072034461730085, + 0.37576619769866987, + 0.18916043962441303, + 0.40313866198605103, + -0.9050410661634274, + -0.13557244472924113, + 0.1202544238850014, + 0.19924967559534634, + -0.9725422563113829 + ], + [ + 0.8846786892432895, + 0.42194713508635334, + 0.19825294951448616, + 0.44881850647977967, + -0.8858853246307598, + -0.1173419781881693, + 0.12611726701778284, + 0.19278954016302716, + -0.9731015507970857 + ], + [ + 0.8853435105201474, + 0.4180128652928946, + 0.20354879717032548, + 0.44380627227600644, + -0.8902968610130826, + -0.10201711600867475, + 0.1385743882120256, + 0.1806564245186883, + -0.9737352798434421 + ], + [ + 0.9036620121534593, + 0.3501720960550371, + 0.24652478766887376, + 0.37780858980656606, + -0.92292659113891, + -0.07394036000105493, + 0.20163243106984374, + 0.15995627687944475, + -0.9663117262186832 + ], + [ + 0.9017794319366984, + 0.31682413777246404, + 0.2939665318716736, + 0.3479553664838116, + -0.935653301009558, + -0.058991213286669106, + 0.2563609156463625, + 0.15548429513829237, + -0.9539935612436314 + ], + [ + 0.8918997318434638, + 0.3096239970146769, + 0.32961773133466743, + 0.3446169428900425, + -0.9372998587507436, + -0.05203976805249553, + 0.2928378920335939, + 0.16000611006612125, + -0.9426791679732982 + ], + [ + 0.8761822508845536, + 0.3112027280378611, + 0.36804554785606447, + 0.35164584486686845, + -0.9349740998806007, + -0.04656857674792381, + 0.3296207866969919, + 0.17022424802082117, + -0.9286408575778918 + ], + [ + 0.867337153782792, + 0.30999345474461626, + 0.38939738017026115, + 0.35621193753066216, + -0.9330315324214438, + -0.050647952258148415, + 0.34761950064491054, + 0.18263684601632177, + -0.9196762828564153 + ], + [ + 0.8528321830480797, + 0.3061351651591805, + 0.42303490188211157, + 0.3514423026264947, + -0.9356834263516688, + -0.031382058176421646, + 0.38621959489652236, + 0.17543598919196204, + -0.9055697864958855 + ], + [ + 0.8452529255740036, + 0.3047976120939139, + 0.43891446486808383, + 0.3500720307004182, + -0.93641834285873, + -0.023880127281815947, + 0.403728950076501, + 0.17383642546819195, + -0.8982114628808565 + ], + [ + 0.8417274749701971, + 0.30919372025893294, + 0.4425992557977669, + 0.35379419233437476, + -0.9351183558691002, + -0.019578814753156995, + 0.407829041818706, + 0.1730690725378503, + -0.8965057550178497 + ], + [ + 0.8348327600082756, + 0.3162839811644514, + 0.4505759714806484, + 0.3612211088224036, + -0.9323627606823743, + -0.014798413220850709, + 0.41541975561843275, + 0.17511175217987723, + -0.8926154272083892 + ], + [ + 0.8319185695342161, + 0.321514345506248, + 0.4522610079343923, + 0.3622088003065125, + -0.9320898601679191, + -0.003643837628908894, + 0.42037635357458025, + 0.1668442932971872, + -0.8918781885153945 + ], + [ + 0.8257498738275484, + 0.3209785758928012, + 0.4637994175197045, + 0.35950682498461506, + -0.933124957717102, + 0.0057145494081281, + 0.4346170597931808, + 0.16202026756947974, + -0.8859218048075377 + ], + [ + 0.8207197479612389, + 0.326397988935249, + 0.46891731480663545, + 0.36429071827084875, + -0.9312249806180887, + 0.01059754945963104, + 0.4401265362235607, + 0.16212460729903178, + -0.8831784892194698 + ], + [ + 0.8153861165837794, + 0.3286263400018481, + 0.47660277961779984, + 0.3650005497945872, + -0.9308450464176556, + 0.017380972624152058, + 0.449355181935262, + 0.15978807282366908, + -0.8789469223173976 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006671.json b/json/chunk-0006/episode_0006671.json new file mode 100644 index 0000000000000000000000000000000000000000..5fd655ee653b241462fa0b7efaf1614cc04a2727 --- /dev/null +++ b/json/chunk-0006/episode_0006671.json @@ -0,0 +1,1462 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 23, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the pot lid from the silver pot to the lower right side of the table." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006671.mp4", + "start": 0, + "end": 23, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2734023630619049, + 0.00480238301679492, + 0.029551731422543526, + 0.08245384693145752, + 0.025948025286197662, + -0.06319063901901245, + 0.0, + 1.0008161067962646 + ], + [ + 0.27069517970085144, + 0.0044004726223647594, + 0.019831329584121704, + 0.07795879989862442, + 0.0675731748342514, + -0.06432763487100601, + 0.0, + 1.0008161067962646 + ], + [ + 0.3062951862812042, + 0.026782400906085968, + 0.031192801892757416, + 0.07365337759256363, + 0.06060987338423729, + -0.009046019986271858, + 0.0, + 1.0008161067962646 + ], + [ + 0.3376549184322357, + 0.04134068638086319, + 0.05280731990933418, + 0.06648436188697815, + 0.013809535652399063, + 0.026097511872649193, + 0.0, + 1.0008161067962646 + ], + [ + 0.3724820613861084, + 0.05350300669670105, + 0.06686387956142426, + 0.09050966054201126, + -0.026840409263968468, + 0.008271530270576477, + 0.0, + 1.0008161067962646 + ], + [ + 0.3888757824897766, + 0.07281307876110077, + 0.06405653059482574, + 0.1079530343413353, + -0.03355635330080986, + 0.0038954238407313824, + 0.0, + 1.0008161067962646 + ], + [ + 0.38755178451538086, + 0.08857201039791107, + 0.050359126180410385, + 0.08972460776567459, + -0.010992025025188923, + 0.017828896641731262, + 0.0, + 1.0008161067962646 + ], + [ + 0.38610735535621643, + 0.10279497504234314, + 0.026668092235922813, + 0.07840803265571594, + 0.035316284745931625, + 0.03730151802301407, + 0.0, + 1.0008161067962646 + ], + [ + 0.39419662952423096, + 0.10700838267803192, + 0.02295525185763836, + 0.0790327936410904, + 0.0246309544891119, + 0.04258878156542778, + 0.0, + 1.0014774799346924 + ], + [ + 0.39861956238746643, + 0.1069464161992073, + 0.02175130508840084, + 0.07764279097318649, + 0.01680728606879711, + 0.03914354369044304, + 0.0, + 0.9461179971694946 + ], + [ + 0.3991973102092743, + 0.10517620295286179, + 0.01982053369283676, + 0.06773901730775833, + 0.006747522857040167, + 0.02605774998664856, + 0.0, + 0.6902000904083252 + ], + [ + 0.3984278738498688, + 0.10405127704143524, + 0.01923404075205326, + 0.06263146549463272, + 0.0031606373377144337, + 0.01889905333518982, + 0.0, + 0.4220271706581116 + ], + [ + 0.3964352607727051, + 0.10334274917840958, + 0.019595395773649216, + 0.06084743142127991, + 0.004636639729142189, + 0.014780339784920216, + 0.0, + 0.2817513048648834 + ], + [ + 0.3894822597503662, + 0.09849370270967484, + 0.02542773447930813, + 0.056234415620565414, + 0.005622546188533306, + 0.030466467142105103, + 0.0, + 0.2817513048648834 + ], + [ + 0.38239413499832153, + 0.07560371607542038, + 0.06287796795368195, + 0.06425181776285172, + -0.07831819355487823, + 0.0034335392992943525, + 0.0, + 0.2817513048648834 + ], + [ + 0.36214324831962585, + 0.03486762195825577, + 0.07170826196670532, + 0.06728504598140717, + -0.09399444609880447, + -0.08804662525653839, + 0.0, + 0.2817513048648834 + ], + [ + 0.338766485452652, + 0.0014381478540599346, + 0.05593707039952278, + 0.05649249255657196, + -0.05835378170013428, + -0.1491369754076004, + 0.0, + 0.2817513048648834 + ], + [ + 0.31284406781196594, + -0.03632316365838051, + 0.03270972520112991, + 0.024016261100769043, + -0.007395712658762932, + -0.2123032808303833, + 0.0, + 0.2817513048648834 + ], + [ + 0.29675057530403137, + -0.05864683911204338, + 0.019718723371624947, + 0.002086783293634653, + 0.0047266921028494835, + -0.25354138016700745, + 0.0, + 0.2817513048648834 + ], + [ + 0.28853562474250793, + -0.06525792926549911, + 0.006468830164521933, + -0.0012798616662621498, + 0.026046283543109894, + -0.27153128385543823, + 0.0, + 0.2817513048648834 + ], + [ + 0.2876322567462921, + -0.06227656826376915, + -0.0067872037179768085, + -0.0019588302820920944, + 0.04904835298657417, + -0.2531548738479614, + 0.0, + 0.34697994589805603 + ], + [ + 0.286318302154541, + -0.056219682097435, + -0.009252503514289856, + -0.003005238715559244, + 0.055152297019958496, + -0.22756093740463257, + 0.0, + 0.6520930528640747 + ], + [ + 0.28283506631851196, + -0.056549444794654846, + 0.007886719889938831, + -0.004656723700463772, + 0.03526272997260094, + -0.19687409698963165, + 0.0, + 0.9499720335006714 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 0.9461179971694946 + ], + [ + 0.6902000904083252 + ], + [ + 0.4220271706581116 + ], + [ + 0.2817513048648834 + ], + [ + 0.2817513048648834 + ], + [ + 0.2817513048648834 + ], + [ + 0.2817513048648834 + ], + [ + 0.2817513048648834 + ], + [ + 0.2817513048648834 + ], + [ + 0.2817513048648834 + ], + [ + 0.2817513048648834 + ], + [ + 0.34697994589805603 + ], + [ + 0.6520930528640747 + ], + [ + 0.9499720335006714 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2734023630619049, + 0.00480238301679492, + 0.029551731422543526 + ], + [ + 0.27069517970085144, + 0.0044004726223647594, + 0.019831329584121704 + ], + [ + 0.3062951862812042, + 0.026782400906085968, + 0.031192801892757416 + ], + [ + 0.3376549184322357, + 0.04134068638086319, + 0.05280731990933418 + ], + [ + 0.3724820613861084, + 0.05350300669670105, + 0.06686387956142426 + ], + [ + 0.3888757824897766, + 0.07281307876110077, + 0.06405653059482574 + ], + [ + 0.38755178451538086, + 0.08857201039791107, + 0.050359126180410385 + ], + [ + 0.38610735535621643, + 0.10279497504234314, + 0.026668092235922813 + ], + [ + 0.39419662952423096, + 0.10700838267803192, + 0.02295525185763836 + ], + [ + 0.39861956238746643, + 0.1069464161992073, + 0.02175130508840084 + ], + [ + 0.3991973102092743, + 0.10517620295286179, + 0.01982053369283676 + ], + [ + 0.3984278738498688, + 0.10405127704143524, + 0.01923404075205326 + ], + [ + 0.3964352607727051, + 0.10334274917840958, + 0.019595395773649216 + ], + [ + 0.3894822597503662, + 0.09849370270967484, + 0.02542773447930813 + ], + [ + 0.38239413499832153, + 0.07560371607542038, + 0.06287796795368195 + ], + [ + 0.36214324831962585, + 0.03486762195825577, + 0.07170826196670532 + ], + [ + 0.338766485452652, + 0.0014381478540599346, + 0.05593707039952278 + ], + [ + 0.31284406781196594, + -0.03632316365838051, + 0.03270972520112991 + ], + [ + 0.29675057530403137, + -0.05864683911204338, + 0.019718723371624947 + ], + [ + 0.28853562474250793, + -0.06525792926549911, + 0.006468830164521933 + ], + [ + 0.2876322567462921, + -0.06227656826376915, + -0.0067872037179768085 + ], + [ + 0.286318302154541, + -0.056219682097435, + -0.009252503514289856 + ], + [ + 0.28283506631851196, + -0.056549444794654846, + 0.007886719889938831 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9976681765863682, + -0.06506663921541062, + -0.020604414285363967, + -0.06312733566359119, + -0.9944785844428419, + 0.08382890060461126, + -0.025945113583247383, + -0.08233272463469854, + -0.9962671195695356 + ], + [ + 0.9956542129860402, + -0.0693357434434758, + -0.06217107723281591, + -0.06413657175060548, + -0.9945626854293772, + 0.0820461145672637, + -0.06752176187887644, + -0.07770211987227653, + -0.9946874847107136 + ], + [ + 0.998122944016714, + -0.013478545730037284, + -0.05974041707597383, + -0.009029286391947904, + -0.997207691138987, + 0.0741302416055897, + -0.06057277123147162, + -0.0734516816570881, + -0.9954575781252991 + ], + [ + 0.9995641616110514, + 0.025119799235372737, + -0.015507498482052988, + 0.02609206143892966, + -0.9974748998122226, + 0.06605322531462182, + -0.013809096735971855, + -0.06642905938647367, + -0.9976955893038545 + ], + [ + 0.999605621249188, + 0.010663205884848134, + 0.025978799188625716, + 0.008268456726672396, + -0.9958526631236768, + 0.09060411675437437, + 0.026837186707714837, + -0.09035357983908825, + -0.9955480882508274 + ], + [ + 0.9994294555228872, + 0.007487510036713866, + 0.03293479355750567, + 0.003893221020529112, + -0.9941571037119177, + 0.10787259137156623, + 0.03355005608506069, + -0.10768282282974247, + -0.9936190433984786 + ], + [ + 0.9997806673347291, + 0.018740994223560827, + 0.0093483880555127, + 0.01782687509596157, + -0.9958015968647692, + 0.08978520037227199, + 0.01099180367532908, + -0.08959885499875823, + -0.9959172784096453 + ], + [ + 0.9986812576278441, + 0.034414547058053066, + -0.03809704205915612, + 0.03726961422169994, + -0.9963373206550323, + 0.07696050497311799, + -0.03530894389009279, + -0.07827887595476005, + -0.9963060253057923 + ], + [ + 0.9987901833349035, + 0.040500341379755264, + -0.027890715694538815, + 0.042562993707219804, + -0.9960573852914811, + 0.07783364807702191, + -0.02462846403065928, + -0.07892659598906958, + -0.9965761542426496 + ], + [ + 0.9990928583920949, + 0.037713057324239664, + -0.019778412908304694, + 0.03912802120150664, + -0.9962746236949813, + 0.07684967233682426, + -0.016806494779317536, + -0.07755384896110197, + -0.9968464988374843 + ], + [ + 0.9996377593249635, + 0.025538484263585147, + -0.008493288720211786, + 0.026054208067431896, + -0.9973797842310388, + 0.06748884536888566, + -0.00674747165575593, + -0.06768568407547498, + -0.9976838776874615 + ], + [ + 0.9998164242889629, + 0.01866308467512658, + -0.004336702946028626, + 0.018897833921290134, + -0.997864797678734, + 0.06251973629713253, + -0.0031606320754516545, + -0.06259021348412794, + -0.9980343058136305 + ], + [ + 0.9998800247457841, + 0.014470527890010923, + -0.005526295047758013, + 0.014779642771493472, + -0.9980445082429551, + 0.060734847703976406, + -0.004636623115749168, + -0.06080923769183908, + -0.998138636832289 + ], + [ + 0.9995201339514788, + 0.030097736447660603, + -0.007323119987090423, + 0.030461272676996984, + -0.9979655548262184, + 0.05600769810745554, + -0.005622516564297327, + -0.056203893469451066, + -0.9984034803957561 + ], + [ + 0.9969288210520878, + 0.008449903614649538, + 0.07785579544643699, + 0.003423007737190716, + -0.9979134312489014, + 0.06447531892961253, + 0.07823815420704554, + -0.06401080269725767, + -0.9948775846124623 + ], + [ + 0.9917292716707276, + -0.08144803244957374, + 0.09919309311409301, + -0.08754475426081593, + -0.9944272668466839, + 0.058739483767286195, + 0.09385610109556701, + -0.06693750041588878, + -0.9933329770651991 + ], + [ + 0.987216473480512, + -0.14509133412367098, + 0.0659707454173078, + -0.1483318372519159, + -0.9878113888751505, + 0.047183959838250716, + 0.058320669973630265, + -0.05636634430899165, + -0.9967053399491083 + ], + [ + 0.9775214450391801, + -0.210477649097561, + 0.012287543240100597, + -0.21070626217560123, + -0.9773036993984492, + 0.021916893531992554, + 0.007395645238933386, + -0.02401329574360589, + -0.9996842831909634 + ], + [ + 0.9680193826671183, + -0.25084268997982373, + -0.0040521185146101864, + -0.2508308859150272, + -0.9680256144972513, + 0.003205674390940096, + -0.004726674502544064, + -0.0020867584680972656, + -0.9999866519045352 + ], + [ + 0.9630345670751389, + -0.26817459991207815, + -0.02543239234512707, + -0.26811595836687485, + -0.9633694758647999, + 0.00575202929345762, + -0.026043338637968566, + 0.0012794272067476408, + -0.9996599959879412 + ], + [ + 0.9669627748069918, + -0.25036606112120974, + -0.04795651755720143, + -0.25015830944549866, + -0.968149269302487, + 0.010383282931284599, + -0.04902868908030926, + 0.0019564732841618514, + -0.9987954544647043 + ], + [ + 0.9727382465044705, + -0.2254396050013617, + -0.05438095516113871, + -0.22525898606657976, + -0.9742525239936677, + 0.009508348343647286, + -0.05512434111773305, + 0.0030006647259770967, + -0.998474988684012 + ], + [ + 0.9800731528385827, + -0.19544164846057752, + -0.03548488596645499, + -0.19548317132728169, + -0.9807042898250696, + 0.0023293017268242733, + -0.03525542246050843, + 0.004653811955588554, + -0.9993674985816845 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.002707183361053467, + -0.0004019103944301605, + -0.009720401838421822, + -0.004495047032833099, + 0.04162514954805374, + -0.0011369958519935608, + 1.0 + ], + [ + 0.03560000658035278, + 0.02238192781805992, + 0.011361472308635712, + -0.004305422306060791, + -0.006963301450014114, + 0.0552816167473793, + 1.0 + ], + [ + 0.031359732151031494, + 0.014558285474777222, + 0.021614518016576767, + -0.00716901570558548, + -0.046800337731838226, + 0.03514353185892105, + 1.0 + ], + [ + 0.03482714295387268, + 0.01216232031583786, + 0.014056559652090073, + 0.02402529865503311, + -0.04064994305372238, + -0.017825981602072716, + 1.0 + ], + [ + 0.016393721103668213, + 0.01931007206439972, + -0.0028073489665985107, + 0.017443373799324036, + -0.0067159440368413925, + -0.004376106429845095, + 1.0 + ], + [ + -0.001323997974395752, + 0.015758931636810303, + -0.01369740441441536, + -0.018228426575660706, + 0.022564329206943512, + 0.013933472335338593, + 1.0 + ], + [ + -0.0014444291591644287, + 0.014222964644432068, + -0.02369103394448757, + -0.011316575109958649, + 0.046308308839797974, + 0.019472621381282806, + 1.0 + ], + [ + 0.008089274168014526, + 0.004213407635688782, + -0.0037128403782844543, + 0.0006247609853744507, + -0.010685330256819725, + 0.0052872635424137115, + 1.0 + ], + [ + 0.004422932863235474, + -6.196647882461548e-05, + -0.0012039467692375183, + -0.0013900026679039001, + -0.007823668420314789, + -0.003445237874984741, + 0.0 + ], + [ + 0.0005777478218078613, + -0.00177021324634552, + -0.0019307713955640793, + -0.009903773665428162, + -0.010059762746095657, + -0.01308579370379448, + 0.0 + ], + [ + -0.0007694363594055176, + -0.0011249259114265442, + -0.0005864929407835007, + -0.00510755181312561, + -0.003586885519325733, + -0.00715869665145874, + 0.0 + ], + [ + -0.0019926130771636963, + -0.0007085278630256653, + 0.0003613550215959549, + -0.0017840340733528137, + 0.0014760023914277554, + -0.004118713550269604, + 0.0 + ], + [ + -0.006953001022338867, + -0.004849046468734741, + 0.005832338705658913, + -0.004613015800714493, + 0.000985906459391117, + 0.01568612828850746, + 0.0 + ], + [ + -0.007088124752044678, + -0.022889986634254456, + 0.03745023161172867, + 0.0080174021422863, + -0.08394073694944382, + -0.02703292854130268, + 0.0 + ], + [ + -0.02025088667869568, + -0.04073609411716461, + 0.008830294013023376, + 0.0030332282185554504, + -0.01567625254392624, + -0.09148016571998596, + 0.0 + ], + [ + -0.023376762866973877, + -0.033429473638534546, + -0.01577119156718254, + -0.010792553424835205, + 0.0356406643986702, + -0.06109035015106201, + 0.0 + ], + [ + -0.025922417640686035, + -0.03776131197810173, + -0.023227345198392868, + -0.03247623145580292, + 0.050958067178726196, + -0.0631663054227829, + 0.0 + ], + [ + -0.01609349250793457, + -0.022323675453662872, + -0.012991001829504967, + -0.021929478272795677, + 0.012122404761612415, + -0.041238099336624146, + 0.0 + ], + [ + -0.008214950561523438, + -0.006611090153455734, + -0.013249892741441727, + -0.003366644959896803, + 0.021319590508937836, + -0.017989903688430786, + 0.0 + ], + [ + -0.0009033679962158203, + 0.002981361001729965, + -0.013256033882498741, + -0.0006789686158299446, + 0.02300206944346428, + 0.018376410007476807, + 1.0 + ], + [ + -0.0013139545917510986, + 0.006056886166334152, + -0.0024652997963130474, + -0.0010464084334671497, + 0.006103944033384323, + 0.025593936443328857, + 1.0 + ], + [ + -0.0034832358360290527, + -0.00032976269721984863, + 0.017139222472906113, + -0.0016514849849045277, + -0.01988956704735756, + 0.030686840415000916, + 1.0 + ], + [ + 0.0007803440093994141, + -0.0016467832028865814, + 0.03229986131191254, + -0.012942041270434856, + -0.06706792116165161, + 0.03407733142375946, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 0.9461179971694946 + ], + [ + 0.6902000904083252 + ], + [ + 0.4220271706581116 + ], + [ + 0.2817513048648834 + ], + [ + 0.2817513048648834 + ], + [ + 0.2817513048648834 + ], + [ + 0.2817513048648834 + ], + [ + 0.2817513048648834 + ], + [ + 0.2817513048648834 + ], + [ + 0.2817513048648834 + ], + [ + 0.2817513048648834 + ], + [ + 0.34697994589805603 + ], + [ + 0.6520930528640747 + ], + [ + 0.9499720335006714 + ], + [ + 1.00800359249115 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.27069517970085144, + 0.0044004726223647594, + 0.019831329584121704 + ], + [ + 0.3062951862812042, + 0.026782400906085968, + 0.031192801892757416 + ], + [ + 0.3376549184322357, + 0.04134068638086319, + 0.05280731990933418 + ], + [ + 0.3724820613861084, + 0.05350300669670105, + 0.06686387956142426 + ], + [ + 0.3888757824897766, + 0.07281307876110077, + 0.06405653059482574 + ], + [ + 0.38755178451538086, + 0.08857201039791107, + 0.050359126180410385 + ], + [ + 0.38610735535621643, + 0.10279497504234314, + 0.026668092235922813 + ], + [ + 0.39419662952423096, + 0.10700838267803192, + 0.02295525185763836 + ], + [ + 0.39861956238746643, + 0.1069464161992073, + 0.02175130508840084 + ], + [ + 0.3991973102092743, + 0.10517620295286179, + 0.01982053369283676 + ], + [ + 0.3984278738498688, + 0.10405127704143524, + 0.01923404075205326 + ], + [ + 0.3964352607727051, + 0.10334274917840958, + 0.019595395773649216 + ], + [ + 0.3894822597503662, + 0.09849370270967484, + 0.02542773447930813 + ], + [ + 0.38239413499832153, + 0.07560371607542038, + 0.06287796795368195 + ], + [ + 0.36214324831962585, + 0.03486762195825577, + 0.07170826196670532 + ], + [ + 0.338766485452652, + 0.0014381478540599346, + 0.05593707039952278 + ], + [ + 0.31284406781196594, + -0.03632316365838051, + 0.03270972520112991 + ], + [ + 0.29675057530403137, + -0.05864683911204338, + 0.019718723371624947 + ], + [ + 0.28853562474250793, + -0.06525792926549911, + 0.006468830164521933 + ], + [ + 0.2876322567462921, + -0.06227656826376915, + -0.0067872037179768085 + ], + [ + 0.286318302154541, + -0.056219682097435, + -0.009252503514289856 + ], + [ + 0.28283506631851196, + -0.056549444794654846, + 0.007886719889938831 + ], + [ + 0.2836154103279114, + -0.05819622799754143, + 0.04018658027052879 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9956542129860402, + -0.0693357434434758, + -0.06217107723281591, + -0.06413657175060548, + -0.9945626854293772, + 0.0820461145672637, + -0.06752176187887644, + -0.07770211987227653, + -0.9946874847107136 + ], + [ + 0.998122944016714, + -0.013478545730037284, + -0.05974041707597383, + -0.009029286391947904, + -0.997207691138987, + 0.0741302416055897, + -0.06057277123147162, + -0.0734516816570881, + -0.9954575781252991 + ], + [ + 0.9995641616110514, + 0.025119799235372737, + -0.015507498482052988, + 0.02609206143892966, + -0.9974748998122226, + 0.06605322531462182, + -0.013809096735971855, + -0.06642905938647367, + -0.9976955893038545 + ], + [ + 0.999605621249188, + 0.010663205884848134, + 0.025978799188625716, + 0.008268456726672396, + -0.9958526631236768, + 0.09060411675437437, + 0.026837186707714837, + -0.09035357983908825, + -0.9955480882508274 + ], + [ + 0.9994294555228872, + 0.007487510036713866, + 0.03293479355750567, + 0.003893221020529112, + -0.9941571037119177, + 0.10787259137156623, + 0.03355005608506069, + -0.10768282282974247, + -0.9936190433984786 + ], + [ + 0.9997806673347291, + 0.018740994223560827, + 0.0093483880555127, + 0.01782687509596157, + -0.9958015968647692, + 0.08978520037227199, + 0.01099180367532908, + -0.08959885499875823, + -0.9959172784096453 + ], + [ + 0.9986812576278441, + 0.034414547058053066, + -0.03809704205915612, + 0.03726961422169994, + -0.9963373206550323, + 0.07696050497311799, + -0.03530894389009279, + -0.07827887595476005, + -0.9963060253057923 + ], + [ + 0.9987901833349035, + 0.040500341379755264, + -0.027890715694538815, + 0.042562993707219804, + -0.9960573852914811, + 0.07783364807702191, + -0.02462846403065928, + -0.07892659598906958, + -0.9965761542426496 + ], + [ + 0.9990928583920949, + 0.037713057324239664, + -0.019778412908304694, + 0.03912802120150664, + -0.9962746236949813, + 0.07684967233682426, + -0.016806494779317536, + -0.07755384896110197, + -0.9968464988374843 + ], + [ + 0.9996377593249635, + 0.025538484263585147, + -0.008493288720211786, + 0.026054208067431896, + -0.9973797842310388, + 0.06748884536888566, + -0.00674747165575593, + -0.06768568407547498, + -0.9976838776874615 + ], + [ + 0.9998164242889629, + 0.01866308467512658, + -0.004336702946028626, + 0.018897833921290134, + -0.997864797678734, + 0.06251973629713253, + -0.0031606320754516545, + -0.06259021348412794, + -0.9980343058136305 + ], + [ + 0.9998800247457841, + 0.014470527890010923, + -0.005526295047758013, + 0.014779642771493472, + -0.9980445082429551, + 0.060734847703976406, + -0.004636623115749168, + -0.06080923769183908, + -0.998138636832289 + ], + [ + 0.9995201339514788, + 0.030097736447660603, + -0.007323119987090423, + 0.030461272676996984, + -0.9979655548262184, + 0.05600769810745554, + -0.005622516564297327, + -0.056203893469451066, + -0.9984034803957561 + ], + [ + 0.9969288210520878, + 0.008449903614649538, + 0.07785579544643699, + 0.003423007737190716, + -0.9979134312489014, + 0.06447531892961253, + 0.07823815420704554, + -0.06401080269725767, + -0.9948775846124623 + ], + [ + 0.9917292716707276, + -0.08144803244957374, + 0.09919309311409301, + -0.08754475426081593, + -0.9944272668466839, + 0.058739483767286195, + 0.09385610109556701, + -0.06693750041588878, + -0.9933329770651991 + ], + [ + 0.987216473480512, + -0.14509133412367098, + 0.0659707454173078, + -0.1483318372519159, + -0.9878113888751505, + 0.047183959838250716, + 0.058320669973630265, + -0.05636634430899165, + -0.9967053399491083 + ], + [ + 0.9775214450391801, + -0.210477649097561, + 0.012287543240100597, + -0.21070626217560123, + -0.9773036993984492, + 0.021916893531992554, + 0.007395645238933386, + -0.02401329574360589, + -0.9996842831909634 + ], + [ + 0.9680193826671183, + -0.25084268997982373, + -0.0040521185146101864, + -0.2508308859150272, + -0.9680256144972513, + 0.003205674390940096, + -0.004726674502544064, + -0.0020867584680972656, + -0.9999866519045352 + ], + [ + 0.9630345670751389, + -0.26817459991207815, + -0.02543239234512707, + -0.26811595836687485, + -0.9633694758647999, + 0.00575202929345762, + -0.026043338637968566, + 0.0012794272067476408, + -0.9996599959879412 + ], + [ + 0.9669627748069918, + -0.25036606112120974, + -0.04795651755720143, + -0.25015830944549866, + -0.968149269302487, + 0.010383282931284599, + -0.04902868908030926, + 0.0019564732841618514, + -0.9987954544647043 + ], + [ + 0.9727382465044705, + -0.2254396050013617, + -0.05438095516113871, + -0.22525898606657976, + -0.9742525239936677, + 0.009508348343647286, + -0.05512434111773305, + 0.0030006647259770967, + -0.998474988684012 + ], + [ + 0.9800731528385827, + -0.19544164846057752, + -0.03548488596645499, + -0.19548317132728169, + -0.9807042898250696, + 0.0023293017268242733, + -0.03525542246050843, + 0.004653811955588554, + -0.9993674985816845 + ], + [ + 0.9862787918350875, + -0.16260573423537064, + 0.028522271475047968, + -0.16199665316036824, + -0.9865343398994165, + -0.022518449415135547, + 0.03179982926305857, + 0.01758895656367021, + -0.9993394815906363 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006672.json b/json/chunk-0006/episode_0006672.json new file mode 100644 index 0000000000000000000000000000000000000000..14ddfbc8ead25c1f09c869e42744dece965531c6 --- /dev/null +++ b/json/chunk-0006/episode_0006672.json @@ -0,0 +1,2302 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 37, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut the red fork on the green cloth." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006672.mp4", + "start": 0, + "end": 37, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.32136860489845276, + 0.03899556025862694, + 0.19433587789535522, + 0.16177712380886078, + -0.0028949996922165155, + -0.11325327306985855, + 0.0, + 0.9994885921478271 + ], + [ + 0.32206106185913086, + 0.037839800119400024, + 0.18558914959430695, + 0.14705146849155426, + 0.0215897299349308, + -0.10389899462461472, + 0.0, + 0.9994885921478271 + ], + [ + 0.33635610342025757, + 0.03229275345802307, + 0.1814250946044922, + 0.05646032094955444, + -0.07692241668701172, + -0.04379995912313461, + 0.0, + 0.9994885921478271 + ], + [ + 0.32729291915893555, + 0.0656367838382721, + 0.1640455424785614, + -0.03582784906029701, + -0.11423775553703308, + 0.0225825272500515, + 0.0, + 0.9994885921478271 + ], + [ + 0.3107996881008148, + 0.11353257298469543, + 0.14462390542030334, + -0.013398424722254276, + -0.1238320842385292, + 0.012390770018100739, + 0.0, + 0.9994885921478271 + ], + [ + 0.2965414822101593, + 0.1621847003698349, + 0.13128718733787537, + 0.051248278468847275, + -0.11001677811145782, + 0.019069841131567955, + 0.0, + 0.9994885921478271 + ], + [ + 0.28770825266838074, + 0.20414336025714874, + 0.09764096140861511, + 0.07180155813694, + -0.040494829416275024, + 0.07468973100185394, + 0.0, + 0.9994885921478271 + ], + [ + 0.28741082549095154, + 0.22150970995426178, + 0.06684339791536331, + 0.07728668302297592, + 0.020542679354548454, + 0.11320004612207413, + 0.0, + 0.9994885921478271 + ], + [ + 0.286525696516037, + 0.22397714853286743, + 0.051386527717113495, + 0.07411278039216995, + 0.04457934573292732, + 0.13445039093494415, + 0.0, + 0.9994885921478271 + ], + [ + 0.2795567810535431, + 0.2182261049747467, + 0.04105609282851219, + 0.05971134454011917, + 0.06410928070545197, + 0.1409689337015152, + 0.0, + 0.9994885921478271 + ], + [ + 0.2741311490535736, + 0.2128315418958664, + 0.03324011713266373, + 0.050643887370824814, + 0.07981524616479874, + 0.14035287499427795, + 0.0, + 0.9994885921478271 + ], + [ + 0.27137652039527893, + 0.21333067119121552, + 0.0248755794018507, + 0.0481661818921566, + 0.10531329363584518, + 0.14505279064178467, + 0.0, + 0.9994885921478271 + ], + [ + 0.2671637237071991, + 0.21417661011219025, + 0.014766830950975418, + 0.039252955466508865, + 0.1435479074716568, + 0.1465715914964676, + 0.0, + 0.9994885921478271 + ], + [ + 0.2661503851413727, + 0.21726976335048676, + 0.0076598203741014, + 0.0392882265150547, + 0.17194801568984985, + 0.15065665543079376, + 0.0, + 0.9994885921478271 + ], + [ + 0.26731061935424805, + 0.21987955272197723, + 0.005691360682249069, + 0.04342669993638992, + 0.18500211834907532, + 0.15510915219783783, + 0.0, + 0.9445669651031494 + ], + [ + 0.2685191035270691, + 0.21866817772388458, + 0.003644166747108102, + 0.04441886022686958, + 0.19003663957118988, + 0.15189898014068604, + 0.0, + 0.6931989789009094 + ], + [ + 0.26926663517951965, + 0.2152022421360016, + 0.004033513367176056, + 0.05119669809937477, + 0.19668923318386078, + 0.1346490979194641, + 0.0, + 0.4709327220916748 + ], + [ + 0.267533540725708, + 0.21197578310966492, + 0.005933698266744614, + 0.045039497315883636, + 0.18446248769760132, + 0.13060955703258514, + 0.0, + 0.4522285461425781 + ], + [ + 0.2585480511188507, + 0.20260053873062134, + 0.0313720628619194, + 0.06710167974233627, + 0.08933504670858383, + 0.16062010824680328, + 0.0, + 0.4513009488582611 + ], + [ + 0.25378167629241943, + 0.20196273922920227, + 0.0860990360379219, + 0.15577660501003265, + -0.06383142620325089, + 0.22553785145282745, + 0.0, + 0.44759801030158997 + ], + [ + 0.2654964029788971, + 0.18027721345424652, + 0.0956018939614296, + 0.16148151457309723, + -0.06864942610263824, + 0.22517205774784088, + 0.0, + 0.44759801030158997 + ], + [ + 0.29636773467063904, + 0.15743418037891388, + 0.09604506939649582, + 0.12147028744220734, + -0.06335907429456711, + 0.18801793456077576, + 0.0, + 0.44759801030158997 + ], + [ + 0.3169272243976593, + 0.14236174523830414, + 0.07462748140096664, + 0.06889701634645462, + -0.01284844521433115, + 0.18015776574611664, + 0.0, + 0.44759801030158997 + ], + [ + 0.3222982585430145, + 0.1364334672689438, + 0.06137365475296974, + 0.04852906987071037, + 0.01708162948489189, + 0.1761922687292099, + 0.0, + 0.44759801030158997 + ], + [ + 0.3174551725387573, + 0.13390597701072693, + 0.05027006193995476, + 0.042433369904756546, + 0.0468471460044384, + 0.18012826144695282, + 0.0, + 0.44759801030158997 + ], + [ + 0.3046555519104004, + 0.13213565945625305, + 0.03759156912565231, + 0.04871894046664238, + 0.08191133290529251, + 0.185064896941185, + 0.0, + 0.44759801030158997 + ], + [ + 0.30221670866012573, + 0.13433773815631866, + 0.03249812498688698, + 0.05477267503738403, + 0.07994770258665085, + 0.18749086558818817, + 0.0, + 0.44759801030158997 + ], + [ + 0.30165717005729675, + 0.13152851164340973, + 0.010166282765567303, + 0.03787848725914955, + 0.13332529366016388, + 0.17815126478672028, + 0.0, + 0.44759801030158997 + ], + [ + 0.30627351999282837, + 0.13117365539073944, + 0.007159899920225143, + 0.03870011121034622, + 0.13309039175510406, + 0.1782015860080719, + 0.0, + 0.5256435871124268 + ], + [ + 0.30821067094802856, + 0.13245433568954468, + 0.007542588748037815, + 0.047908976674079895, + 0.13467788696289062, + 0.17335198819637299, + 0.0, + 0.7613787055015564 + ], + [ + 0.29952535033226013, + 0.12962110340595245, + 0.014000678434967995, + 0.05019335448741913, + 0.13529126346111298, + 0.19351549446582794, + 0.0, + 0.9766865372657776 + ], + [ + 0.29352933168411255, + 0.12853822112083435, + 0.07436703145503998, + 0.02078896202147007, + 0.007557133678346872, + 0.18689288198947906, + 0.0, + 1.0008161067962646 + ], + [ + 0.2794707417488098, + 0.13830888271331787, + 0.12295860052108765, + -0.029404081404209137, + -0.11552081257104874, + 0.19639936089515686, + 0.0, + 1.0001531839370728 + ], + [ + 0.2779337167739868, + 0.13539205491542816, + 0.16685084998607635, + -0.06244561821222305, + -0.14956170320510864, + 0.16384322941303253, + 0.0, + 1.0001531839370728 + ], + [ + 0.27470606565475464, + 0.13174434006214142, + 0.17259401082992554, + -0.05417124554514885, + -0.11617308855056763, + 0.1207527443766594, + 0.0, + 1.0001531839370728 + ], + [ + 0.2867582440376282, + 0.11515092104673386, + 0.16202762722969055, + -0.024311034008860588, + -0.0598013661801815, + 0.01821920834481716, + 0.0, + 1.0001531839370728 + ], + [ + 0.2948945164680481, + 0.1117020770907402, + 0.1574382334947586, + 0.003728513838723302, + -0.03473992645740509, + -0.0014478119555860758, + 0.0, + 1.0001531839370728 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9445669651031494 + ], + [ + 0.6931989789009094 + ], + [ + 0.4709327220916748 + ], + [ + 0.4522285461425781 + ], + [ + 0.4513009488582611 + ], + [ + 0.44759801030158997 + ], + [ + 0.44759801030158997 + ], + [ + 0.44759801030158997 + ], + [ + 0.44759801030158997 + ], + [ + 0.44759801030158997 + ], + [ + 0.44759801030158997 + ], + [ + 0.44759801030158997 + ], + [ + 0.44759801030158997 + ], + [ + 0.44759801030158997 + ], + [ + 0.5256435871124268 + ], + [ + 0.7613787055015564 + ], + [ + 0.9766865372657776 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.32136860489845276, + 0.03899556025862694, + 0.19433587789535522 + ], + [ + 0.32206106185913086, + 0.037839800119400024, + 0.18558914959430695 + ], + [ + 0.33635610342025757, + 0.03229275345802307, + 0.1814250946044922 + ], + [ + 0.32729291915893555, + 0.0656367838382721, + 0.1640455424785614 + ], + [ + 0.3107996881008148, + 0.11353257298469543, + 0.14462390542030334 + ], + [ + 0.2965414822101593, + 0.1621847003698349, + 0.13128718733787537 + ], + [ + 0.28770825266838074, + 0.20414336025714874, + 0.09764096140861511 + ], + [ + 0.28741082549095154, + 0.22150970995426178, + 0.06684339791536331 + ], + [ + 0.286525696516037, + 0.22397714853286743, + 0.051386527717113495 + ], + [ + 0.2795567810535431, + 0.2182261049747467, + 0.04105609282851219 + ], + [ + 0.2741311490535736, + 0.2128315418958664, + 0.03324011713266373 + ], + [ + 0.27137652039527893, + 0.21333067119121552, + 0.0248755794018507 + ], + [ + 0.2671637237071991, + 0.21417661011219025, + 0.014766830950975418 + ], + [ + 0.2661503851413727, + 0.21726976335048676, + 0.0076598203741014 + ], + [ + 0.26731061935424805, + 0.21987955272197723, + 0.005691360682249069 + ], + [ + 0.2685191035270691, + 0.21866817772388458, + 0.003644166747108102 + ], + [ + 0.26926663517951965, + 0.2152022421360016, + 0.004033513367176056 + ], + [ + 0.267533540725708, + 0.21197578310966492, + 0.005933698266744614 + ], + [ + 0.2585480511188507, + 0.20260053873062134, + 0.0313720628619194 + ], + [ + 0.25378167629241943, + 0.20196273922920227, + 0.0860990360379219 + ], + [ + 0.2654964029788971, + 0.18027721345424652, + 0.0956018939614296 + ], + [ + 0.29636773467063904, + 0.15743418037891388, + 0.09604506939649582 + ], + [ + 0.3169272243976593, + 0.14236174523830414, + 0.07462748140096664 + ], + [ + 0.3222982585430145, + 0.1364334672689438, + 0.06137365475296974 + ], + [ + 0.3174551725387573, + 0.13390597701072693, + 0.05027006193995476 + ], + [ + 0.3046555519104004, + 0.13213565945625305, + 0.03759156912565231 + ], + [ + 0.30221670866012573, + 0.13433773815631866, + 0.03249812498688698 + ], + [ + 0.30165717005729675, + 0.13152851164340973, + 0.010166282765567303 + ], + [ + 0.30627351999282837, + 0.13117365539073944, + 0.007159899920225143 + ], + [ + 0.30821067094802856, + 0.13245433568954468, + 0.007542588748037815 + ], + [ + 0.29952535033226013, + 0.12962110340595245, + 0.014000678434967995 + ], + [ + 0.29352933168411255, + 0.12853822112083435, + 0.07436703145503998 + ], + [ + 0.2794707417488098, + 0.13830888271331787, + 0.12295860052108765 + ], + [ + 0.2779337167739868, + 0.13539205491542816, + 0.16685084998607635 + ], + [ + 0.27470606565475464, + 0.13174434006214142, + 0.17259401082992554 + ], + [ + 0.2867582440376282, + 0.11515092104673386, + 0.16202762722969055 + ], + [ + 0.2948945164680481, + 0.1117020770907402, + 0.1574382334947586 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9935895362293695, + -0.1110723737744339, + 0.021041893441858472, + -0.11301085122987954, + -0.9806726435842423, + 0.1597176058854853, + 0.0028949956483749362, + -0.16107170424877745, + -0.9869384606400694 + ], + [ + 0.994375560798236, + -0.10573890863515324, + -0.0060437809225741155, + -0.10368799383506659, + -0.9835449014680103, + 0.14794670233141613, + -0.021588052752681223, + -0.14648791758001126, + -0.9889768682741871 + ], + [ + 0.9960867005865747, + -0.03938386589414276, + 0.079121400529715, + -0.04365647773223028, + -0.9976388796320524, + 0.053016769031300925, + 0.07684658005771428, + -0.05626346020051741, + -0.9954541808539948 + ], + [ + 0.9932286482451149, + 0.018484034934804563, + 0.11469608867659901, + 0.022433426606388043, + -0.9991956398638296, + -0.033238752199918654, + 0.11398944545824032, + 0.03558670720424582, + -0.9928443949554642 + ], + [ + 0.9922664232988063, + 0.010734599616050493, + 0.1236612856349026, + 0.012295574305570347, + -0.9998539892988858, + -0.011866715451197302, + 0.12351584532476016, + 0.013295429823310532, + -0.9922535298498681 + ], + [ + 0.9937735312949164, + 0.02466696818896273, + 0.10865408035594552, + 0.018953400942192767, + -0.9983982603855379, + 0.05330743148807617, + 0.10979497752791816, + -0.05091615008517581, + -0.9926492878001513 + ], + [ + 0.9963945005088731, + 0.07732424149006, + 0.03491362246544725, + 0.07455913290174253, + -0.9944258576693339, + 0.07455299658330121, + 0.040483762876160505, + -0.0716810663745756, + -0.9966056841433276 + ], + [ + 0.9933900707336595, + 0.1110454100124138, + -0.029070333382162732, + 0.11293460519776907, + -0.990812840340511, + 0.0744022201630653, + -0.02054123454418476, + -0.07719347337401081, + -0.9968045070884545 + ], + [ + 0.9899906252459293, + 0.1304077118859377, + -0.053966569335544674, + 0.13391250870666016, + -0.9886971539679537, + 0.06741941669546803, + -0.04456458164352669, + -0.07397138917407695, + -0.9962641374889466 + ], + [ + 0.9880464051424316, + 0.13646686773298383, + -0.0717014316193653, + 0.14021386888421916, + -0.9888529725515036, + 0.05009859926758941, + -0.06406537487314985, + -0.05955327604090146, + -0.9961671722432732 + ], + [ + 0.9870144519088471, + 0.13571671879475378, + -0.08592696877385855, + 0.1394471740908197, + -0.9894617988136551, + 0.03898505260391587, + -0.07973052966814254, + -0.050461083302196286, + -0.9955384079536087 + ], + [ + 0.9840161380928194, + 0.13936896911686303, + -0.11085364414486677, + 0.14374384224279374, + -0.9890822608709474, + 0.03246519748429825, + -0.10511873187102623, + -0.047880806986918385, + -0.9933063377086191 + ], + [ + 0.9791025631730124, + 0.14038113793659432, + -0.1471438306544462, + 0.14454520581729505, + -0.9893354581379834, + 0.0179453265822154, + -0.14305542374643915, + -0.03883925054031602, + -0.9889523033767571 + ], + [ + 0.974093102085932, + 0.14332712444010967, + -0.17492845356983813, + 0.1478740925936788, + -0.9889184651238792, + 0.013172777862959234, + -0.17110196143879183, + -0.038698898392074146, + -0.9844930238732207 + ], + [ + 0.971135395479187, + 0.14645239319398376, + -0.18827570256206064, + 0.15185173827981133, + -0.9882969068094661, + 0.014500812813107378, + -0.18394861572972607, + -0.042672245295928335, + -0.9820091579270132 + ], + [ + 0.9706901216390358, + 0.14287511192277835, + -0.19325472864964247, + 0.14859143288568966, + -0.9887797118918991, + 0.015338429644197996, + -0.18889487506380623, + -0.04360485917906388, + -0.9810287164148674 + ], + [ + 0.9718419737786095, + 0.12415655453597439, + -0.2002706368089247, + 0.1316542556545587, + -0.9909926087814946, + 0.02451135060521293, + -0.19542347599544102, + -0.050187640970693094, + -0.9794339516902895 + ], + [ + 0.9746621685740187, + 0.12191852519091605, + -0.18753541096513687, + 0.12802903300457363, + -0.9915527657255465, + 0.020776897986291024, + -0.1834181666534278, + -0.044260433767541366, + -0.982038079783164 + ], + [ + 0.983191905661818, + 0.15366537429731364, + -0.09859325221915269, + 0.15929260587066107, + -0.9858635079616205, + 0.0519519911508923, + -0.08921626732842608, + -0.06678395324982388, + -0.99377077901914 + ], + [ + 0.9726890114544059, + 0.2305686695193199, + 0.0267240646598004, + 0.2231751929230529, + -0.9606588005105375, + 0.1653103211097643, + 0.06378808869693979, + -0.15483138453732792, + -0.9858794663155559 + ], + [ + 0.9724597204666446, + 0.23111973640616165, + 0.030095838806746145, + 0.22274816953911883, + -0.9596118454112907, + 0.1718381771123896, + 0.06859551761527322, + -0.16040191267526507, + -0.984665365173981 + ], + [ + 0.9804054833860667, + 0.19307186326116624, + 0.039094037440436644, + 0.18653708667443528, + -0.9737040182634554, + 0.13078379147514638, + 0.06331669165036148, + -0.1209286584497731, + -0.9906398215920815 + ], + [ + 0.9837342315494925, + 0.1796298590328618, + 0.0002746298674089695, + 0.17916999809450915, + -0.9813228842545778, + 0.07002505709451695, + 0.012848091708244398, + -0.06883684029726359, + -0.9975451949447433 + ], + [ + 0.9843746264767281, + 0.17425994996142607, + -0.025299497786377086, + 0.17525650076605748, + -0.9835044148267379, + 0.04476857106891465, + -0.017080798811487538, + -0.04850294687703879, + -0.9986769800371912 + ], + [ + 0.9827413459528745, + 0.1770400743959761, + -0.05363076554180589, + 0.17895920456879186, + -0.9832910291681689, + 0.03335198730973656, + -0.046830012330109666, + -0.042374096040750646, + -0.998003700358817 + ], + [ + 0.9796287054097439, + 0.17987543247267335, + -0.08928845574875832, + 0.1833933622246811, + -0.9824912457271837, + 0.032830272027104514, + -0.08181976673858316, + -0.04853638699177657, + -0.9954645874709096 + ], + [ + 0.9793368768438635, + 0.18181931813943703, + -0.08854951837823495, + 0.18579895740160923, + -0.9818165835662976, + 0.03892227720313984, + -0.07986256370905069, + -0.05457042958886478, + -0.9953110263291091 + ], + [ + 0.9754387896845519, + 0.1721289534715201, + -0.13744377379690972, + 0.1756377201097936, + -0.9843591168287394, + 0.013730272786011643, + -0.1329306543028004, + -0.03753335174140135, + -0.9904144024870024 + ], + [ + 0.9754606544096238, + 0.1720743669357915, + -0.13735692171272212, + 0.17569233537039017, + -0.9843372494077134, + 0.014573356530163749, + -0.132697833406754, + -0.0383482942528543, + -0.9904144048513479 + ], + [ + 0.9760924875294739, + 0.16595319435354575, + -0.14036735045008975, + 0.17092314542185796, + -0.9849910517115621, + 0.024039684008931035, + -0.13427112179326733, + -0.04745698401716159, + -0.9898076078311242 + ], + [ + 0.9723668899870628, + 0.18542688352781653, + -0.1418432307938917, + 0.19055263987114432, + -0.9813997186837541, + 0.023329886531797253, + -0.13487891864567134, + -0.0497138112863028, + -0.9896141744500048 + ], + [ + 0.9825582430762971, + 0.18561227897436636, + -0.011286312806337821, + 0.18580147948973422, + -0.982403169725389, + 0.019021628030603487, + -0.007557061746895523, + -0.020786871035602106, + -0.999755368482862 + ], + [ + 0.9742385808951909, + 0.19173123367185524, + 0.11873635302632654, + 0.19383856003508726, + -0.9810128779853707, + -0.0063518399210989295, + 0.11526404529968517, + 0.02920389120524576, + -0.9929055003370783 + ], + [ + 0.9755936840316188, + 0.15361912563708358, + 0.1569016504569408, + 0.16129026709385835, + -0.9862014194852132, + -0.03731232967991345, + 0.14900474293929686, + 0.06170838228189625, + -0.9869091458375212 + ], + [ + 0.9860268174351076, + 0.11405247839534619, + 0.12142136332075837, + 0.11964754626274904, + -0.9920180271346647, + -0.039808271918666385, + 0.11591194922050033, + 0.053779791852760495, + -0.9918024773190363 + ], + [ + 0.9980467626113745, + 0.016760234531620576, + 0.06018101178444783, + 0.018185634127502414, + -0.9995650530547502, + -0.023216102666794934, + 0.05976572891160448, + 0.02426518596878286, + -0.9979174607138434 + ], + [ + 0.999395581993471, + -0.0013182995776496948, + 0.03473805950474127, + -0.0014469378829743695, + -0.9999921885224662, + 0.0036782148946451687, + 0.034732939160027766, + -0.0037262555296093897, + -0.9993896827349349 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + 0.0006924569606781006, + -0.0011557601392269135, + -0.008746728301048279, + -0.014725655317306519, + 0.024484729394316673, + 0.009354278445243835, + 1.0 + ], + [ + 0.014295041561126709, + -0.005547046661376953, + -0.004164054989814758, + -0.09059114754199982, + -0.09851214289665222, + 0.0600990355014801, + 1.0 + ], + [ + -0.009063184261322021, + 0.03334403038024902, + -0.017379552125930786, + -0.09228816628456116, + -0.03731533885002136, + 0.06638248264789581, + 1.0 + ], + [ + -0.016493231058120728, + 0.04789578914642334, + -0.019421637058258057, + 0.02242942526936531, + -0.009594328701496124, + -0.01019175723195076, + 1.0 + ], + [ + -0.014258205890655518, + 0.048652127385139465, + -0.013336718082427979, + 0.06464670598506927, + 0.01381530612707138, + 0.0066790711134672165, + 1.0 + ], + [ + -0.008833229541778564, + 0.04195865988731384, + -0.033646225929260254, + 0.020553279668092728, + 0.0695219486951828, + 0.05561988800764084, + 1.0 + ], + [ + -0.0002974271774291992, + 0.017366349697113037, + -0.0307975634932518, + 0.005485124886035919, + 0.06103751063346863, + 0.038510315120220184, + 1.0 + ], + [ + -0.0008851289749145508, + 0.002467438578605652, + -0.015456870198249817, + -0.0031739026308059692, + 0.024036666378378868, + 0.021250344812870026, + 1.0 + ], + [ + -0.0069689154624938965, + -0.0057510435581207275, + -0.010330434888601303, + -0.014401435852050781, + 0.019529934972524643, + 0.006518542766571045, + 1.0 + ], + [ + -0.005425631999969482, + -0.00539456307888031, + -0.007815975695848465, + -0.009067457169294357, + 0.01570596545934677, + -0.0006160587072372437, + 1.0 + ], + [ + -0.0027546286582946777, + 0.0004991292953491211, + -0.008364537730813026, + -0.002477705478668213, + 0.025498047471046448, + 0.004699915647506714, + 1.0 + ], + [ + -0.004212796688079834, + 0.0008459389209747314, + -0.010108748450875282, + -0.008913226425647736, + 0.038234613835811615, + 0.0015188008546829224, + 1.0 + ], + [ + -0.001013338565826416, + 0.003093153238296509, + -0.007107010576874018, + 3.52710485458374e-05, + 0.028400108218193054, + 0.004085063934326172, + 1.0 + ], + [ + 0.0011602342128753662, + 0.0026097893714904785, + -0.001968459691852331, + 0.00413847342133522, + 0.013054102659225464, + 0.004452496767044067, + 0.0 + ], + [ + 0.001208484172821045, + -0.0012113749980926514, + -0.0020471939351409674, + 0.00099216029047966, + 0.005034521222114563, + -0.0032101720571517944, + 0.0 + ], + [ + 0.0007475316524505615, + -0.0034659355878829956, + 0.00038934662006795406, + 0.006777837872505188, + 0.0066525936126708984, + -0.017249882221221924, + 0.0 + ], + [ + -0.0017330944538116455, + -0.00322645902633667, + 0.0019001848995685577, + -0.006157200783491135, + -0.01222674548625946, + -0.004039540886878967, + 0.0 + ], + [ + -0.0089854896068573, + -0.009375244379043579, + 0.02543836459517479, + 0.022062182426452637, + -0.09512744098901749, + 0.03001055121421814, + 0.0 + ], + [ + -0.004766374826431274, + -0.0006377995014190674, + 0.0547269731760025, + 0.08867492526769638, + -0.15316647291183472, + 0.06491774320602417, + 0.0 + ], + [ + 0.011714726686477661, + -0.02168552577495575, + 0.00950285792350769, + 0.005704909563064575, + -0.00481799989938736, + -0.00036579370498657227, + 0.0 + ], + [ + 0.030871331691741943, + -0.02284303307533264, + 0.00044317543506622314, + -0.04001122713088989, + 0.0052903518080711365, + -0.037154123187065125, + 0.0 + ], + [ + 0.020559489727020264, + -0.015072435140609741, + -0.021417587995529175, + -0.052573271095752716, + 0.05051063001155853, + -0.007860168814659119, + 0.0 + ], + [ + 0.005371034145355225, + -0.0059282779693603516, + -0.013253826647996902, + -0.020367946475744247, + 0.029930073767900467, + -0.003965497016906738, + 0.0 + ], + [ + -0.004843086004257202, + -0.002527490258216858, + -0.011103592813014984, + -0.006095699965953827, + 0.02976551651954651, + 0.00393599271774292, + 0.0 + ], + [ + -0.012799620628356934, + -0.001770317554473877, + -0.012678492814302444, + 0.006285570561885834, + 0.03506418690085411, + 0.004936635494232178, + 0.0 + ], + [ + -0.002438843250274658, + 0.002202078700065613, + -0.005093444138765335, + 0.0060537345707416534, + -0.0019636303186416626, + 0.002425968647003174, + 0.0 + ], + [ + -0.0005595386028289795, + -0.0028092265129089355, + -0.0223318412899971, + -0.016894187778234482, + 0.05337759107351303, + -0.009339600801467896, + 0.0 + ], + [ + 0.004616349935531616, + -0.0003548562526702881, + -0.0030063828453421593, + 0.0008216239511966705, + -0.00023490190505981445, + 5.0321221351623535e-05, + 1.0 + ], + [ + 0.0019371509552001953, + 0.0012806802988052368, + 0.00038268882781267166, + 0.009208865463733673, + 0.00158749520778656, + -0.004849597811698914, + 1.0 + ], + [ + -0.008685320615768433, + -0.002833232283592224, + 0.00645808968693018, + 0.0022843778133392334, + 0.0006133764982223511, + 0.020163506269454956, + 1.0 + ], + [ + -0.005996018648147583, + -0.001082882285118103, + 0.06036635488271713, + -0.02940439246594906, + -0.12773412466049194, + -0.006622612476348877, + 1.0 + ], + [ + -0.014058589935302734, + 0.00977066159248352, + 0.04859156906604767, + -0.05019304156303406, + -0.12307794392108917, + 0.009506478905677795, + 1.0 + ], + [ + -0.001537024974822998, + -0.0029168277978897095, + 0.04389224946498871, + -0.033041536808013916, + -0.034040890634059906, + -0.03255613148212433, + 1.0 + ], + [ + -0.0032276511192321777, + -0.003647714853286743, + 0.005743160843849182, + 0.008274372667074203, + 0.033388614654541016, + -0.04309048503637314, + 1.0 + ], + [ + 0.012052178382873535, + -0.016593419015407562, + -0.010566383600234985, + 0.02986021153628826, + 0.056371722370386124, + -0.10253353416919708, + 1.0 + ], + [ + 0.008136272430419922, + -0.0034488439559936523, + -0.004589393734931946, + 0.02803954854607582, + 0.025061439722776413, + -0.019667020067572594, + 1.0 + ], + [ + 0.0017803609371185303, + 0.0008826553821563721, + -0.0010169893503189087, + 0.018837574869394302, + 0.0010001733899116516, + -0.043334826827049255, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9445669651031494 + ], + [ + 0.6931989789009094 + ], + [ + 0.4709327220916748 + ], + [ + 0.4522285461425781 + ], + [ + 0.4513009488582611 + ], + [ + 0.44759801030158997 + ], + [ + 0.44759801030158997 + ], + [ + 0.44759801030158997 + ], + [ + 0.44759801030158997 + ], + [ + 0.44759801030158997 + ], + [ + 0.44759801030158997 + ], + [ + 0.44759801030158997 + ], + [ + 0.44759801030158997 + ], + [ + 0.44759801030158997 + ], + [ + 0.5256435871124268 + ], + [ + 0.7613787055015564 + ], + [ + 0.9766865372657776 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.32206106185913086, + 0.037839800119400024, + 0.18558914959430695 + ], + [ + 0.33635610342025757, + 0.03229275345802307, + 0.1814250946044922 + ], + [ + 0.32729291915893555, + 0.0656367838382721, + 0.1640455424785614 + ], + [ + 0.3107996881008148, + 0.11353257298469543, + 0.14462390542030334 + ], + [ + 0.2965414822101593, + 0.1621847003698349, + 0.13128718733787537 + ], + [ + 0.28770825266838074, + 0.20414336025714874, + 0.09764096140861511 + ], + [ + 0.28741082549095154, + 0.22150970995426178, + 0.06684339791536331 + ], + [ + 0.286525696516037, + 0.22397714853286743, + 0.051386527717113495 + ], + [ + 0.2795567810535431, + 0.2182261049747467, + 0.04105609282851219 + ], + [ + 0.2741311490535736, + 0.2128315418958664, + 0.03324011713266373 + ], + [ + 0.27137652039527893, + 0.21333067119121552, + 0.0248755794018507 + ], + [ + 0.2671637237071991, + 0.21417661011219025, + 0.014766830950975418 + ], + [ + 0.2661503851413727, + 0.21726976335048676, + 0.0076598203741014 + ], + [ + 0.26731061935424805, + 0.21987955272197723, + 0.005691360682249069 + ], + [ + 0.2685191035270691, + 0.21866817772388458, + 0.003644166747108102 + ], + [ + 0.26926663517951965, + 0.2152022421360016, + 0.004033513367176056 + ], + [ + 0.267533540725708, + 0.21197578310966492, + 0.005933698266744614 + ], + [ + 0.2585480511188507, + 0.20260053873062134, + 0.0313720628619194 + ], + [ + 0.25378167629241943, + 0.20196273922920227, + 0.0860990360379219 + ], + [ + 0.2654964029788971, + 0.18027721345424652, + 0.0956018939614296 + ], + [ + 0.29636773467063904, + 0.15743418037891388, + 0.09604506939649582 + ], + [ + 0.3169272243976593, + 0.14236174523830414, + 0.07462748140096664 + ], + [ + 0.3222982585430145, + 0.1364334672689438, + 0.06137365475296974 + ], + [ + 0.3174551725387573, + 0.13390597701072693, + 0.05027006193995476 + ], + [ + 0.3046555519104004, + 0.13213565945625305, + 0.03759156912565231 + ], + [ + 0.30221670866012573, + 0.13433773815631866, + 0.03249812498688698 + ], + [ + 0.30165717005729675, + 0.13152851164340973, + 0.010166282765567303 + ], + [ + 0.30627351999282837, + 0.13117365539073944, + 0.007159899920225143 + ], + [ + 0.30821067094802856, + 0.13245433568954468, + 0.007542588748037815 + ], + [ + 0.29952535033226013, + 0.12962110340595245, + 0.014000678434967995 + ], + [ + 0.29352933168411255, + 0.12853822112083435, + 0.07436703145503998 + ], + [ + 0.2794707417488098, + 0.13830888271331787, + 0.12295860052108765 + ], + [ + 0.2779337167739868, + 0.13539205491542816, + 0.16685084998607635 + ], + [ + 0.27470606565475464, + 0.13174434006214142, + 0.17259401082992554 + ], + [ + 0.2867582440376282, + 0.11515092104673386, + 0.16202762722969055 + ], + [ + 0.2948945164680481, + 0.1117020770907402, + 0.1574382334947586 + ], + [ + 0.2966748774051666, + 0.11258473247289658, + 0.1564212441444397 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.994375560798236, + -0.10573890863515324, + -0.0060437809225741155, + -0.10368799383506659, + -0.9835449014680103, + 0.14794670233141613, + -0.021588052752681223, + -0.14648791758001126, + -0.9889768682741871 + ], + [ + 0.9960867005865747, + -0.03938386589414276, + 0.079121400529715, + -0.04365647773223028, + -0.9976388796320524, + 0.053016769031300925, + 0.07684658005771428, + -0.05626346020051741, + -0.9954541808539948 + ], + [ + 0.9932286482451149, + 0.018484034934804563, + 0.11469608867659901, + 0.022433426606388043, + -0.9991956398638296, + -0.033238752199918654, + 0.11398944545824032, + 0.03558670720424582, + -0.9928443949554642 + ], + [ + 0.9922664232988063, + 0.010734599616050493, + 0.1236612856349026, + 0.012295574305570347, + -0.9998539892988858, + -0.011866715451197302, + 0.12351584532476016, + 0.013295429823310532, + -0.9922535298498681 + ], + [ + 0.9937735312949164, + 0.02466696818896273, + 0.10865408035594552, + 0.018953400942192767, + -0.9983982603855379, + 0.05330743148807617, + 0.10979497752791816, + -0.05091615008517581, + -0.9926492878001513 + ], + [ + 0.9963945005088731, + 0.07732424149006, + 0.03491362246544725, + 0.07455913290174253, + -0.9944258576693339, + 0.07455299658330121, + 0.040483762876160505, + -0.0716810663745756, + -0.9966056841433276 + ], + [ + 0.9933900707336595, + 0.1110454100124138, + -0.029070333382162732, + 0.11293460519776907, + -0.990812840340511, + 0.0744022201630653, + -0.02054123454418476, + -0.07719347337401081, + -0.9968045070884545 + ], + [ + 0.9899906252459293, + 0.1304077118859377, + -0.053966569335544674, + 0.13391250870666016, + -0.9886971539679537, + 0.06741941669546803, + -0.04456458164352669, + -0.07397138917407695, + -0.9962641374889466 + ], + [ + 0.9880464051424316, + 0.13646686773298383, + -0.0717014316193653, + 0.14021386888421916, + -0.9888529725515036, + 0.05009859926758941, + -0.06406537487314985, + -0.05955327604090146, + -0.9961671722432732 + ], + [ + 0.9870144519088471, + 0.13571671879475378, + -0.08592696877385855, + 0.1394471740908197, + -0.9894617988136551, + 0.03898505260391587, + -0.07973052966814254, + -0.050461083302196286, + -0.9955384079536087 + ], + [ + 0.9840161380928194, + 0.13936896911686303, + -0.11085364414486677, + 0.14374384224279374, + -0.9890822608709474, + 0.03246519748429825, + -0.10511873187102623, + -0.047880806986918385, + -0.9933063377086191 + ], + [ + 0.9791025631730124, + 0.14038113793659432, + -0.1471438306544462, + 0.14454520581729505, + -0.9893354581379834, + 0.0179453265822154, + -0.14305542374643915, + -0.03883925054031602, + -0.9889523033767571 + ], + [ + 0.974093102085932, + 0.14332712444010967, + -0.17492845356983813, + 0.1478740925936788, + -0.9889184651238792, + 0.013172777862959234, + -0.17110196143879183, + -0.038698898392074146, + -0.9844930238732207 + ], + [ + 0.971135395479187, + 0.14645239319398376, + -0.18827570256206064, + 0.15185173827981133, + -0.9882969068094661, + 0.014500812813107378, + -0.18394861572972607, + -0.042672245295928335, + -0.9820091579270132 + ], + [ + 0.9706901216390358, + 0.14287511192277835, + -0.19325472864964247, + 0.14859143288568966, + -0.9887797118918991, + 0.015338429644197996, + -0.18889487506380623, + -0.04360485917906388, + -0.9810287164148674 + ], + [ + 0.9718419737786095, + 0.12415655453597439, + -0.2002706368089247, + 0.1316542556545587, + -0.9909926087814946, + 0.02451135060521293, + -0.19542347599544102, + -0.050187640970693094, + -0.9794339516902895 + ], + [ + 0.9746621685740187, + 0.12191852519091605, + -0.18753541096513687, + 0.12802903300457363, + -0.9915527657255465, + 0.020776897986291024, + -0.1834181666534278, + -0.044260433767541366, + -0.982038079783164 + ], + [ + 0.983191905661818, + 0.15366537429731364, + -0.09859325221915269, + 0.15929260587066107, + -0.9858635079616205, + 0.0519519911508923, + -0.08921626732842608, + -0.06678395324982388, + -0.99377077901914 + ], + [ + 0.9726890114544059, + 0.2305686695193199, + 0.0267240646598004, + 0.2231751929230529, + -0.9606588005105375, + 0.1653103211097643, + 0.06378808869693979, + -0.15483138453732792, + -0.9858794663155559 + ], + [ + 0.9724597204666446, + 0.23111973640616165, + 0.030095838806746145, + 0.22274816953911883, + -0.9596118454112907, + 0.1718381771123896, + 0.06859551761527322, + -0.16040191267526507, + -0.984665365173981 + ], + [ + 0.9804054833860667, + 0.19307186326116624, + 0.039094037440436644, + 0.18653708667443528, + -0.9737040182634554, + 0.13078379147514638, + 0.06331669165036148, + -0.1209286584497731, + -0.9906398215920815 + ], + [ + 0.9837342315494925, + 0.1796298590328618, + 0.0002746298674089695, + 0.17916999809450915, + -0.9813228842545778, + 0.07002505709451695, + 0.012848091708244398, + -0.06883684029726359, + -0.9975451949447433 + ], + [ + 0.9843746264767281, + 0.17425994996142607, + -0.025299497786377086, + 0.17525650076605748, + -0.9835044148267379, + 0.04476857106891465, + -0.017080798811487538, + -0.04850294687703879, + -0.9986769800371912 + ], + [ + 0.9827413459528745, + 0.1770400743959761, + -0.05363076554180589, + 0.17895920456879186, + -0.9832910291681689, + 0.03335198730973656, + -0.046830012330109666, + -0.042374096040750646, + -0.998003700358817 + ], + [ + 0.9796287054097439, + 0.17987543247267335, + -0.08928845574875832, + 0.1833933622246811, + -0.9824912457271837, + 0.032830272027104514, + -0.08181976673858316, + -0.04853638699177657, + -0.9954645874709096 + ], + [ + 0.9793368768438635, + 0.18181931813943703, + -0.08854951837823495, + 0.18579895740160923, + -0.9818165835662976, + 0.03892227720313984, + -0.07986256370905069, + -0.05457042958886478, + -0.9953110263291091 + ], + [ + 0.9754387896845519, + 0.1721289534715201, + -0.13744377379690972, + 0.1756377201097936, + -0.9843591168287394, + 0.013730272786011643, + -0.1329306543028004, + -0.03753335174140135, + -0.9904144024870024 + ], + [ + 0.9754606544096238, + 0.1720743669357915, + -0.13735692171272212, + 0.17569233537039017, + -0.9843372494077134, + 0.014573356530163749, + -0.132697833406754, + -0.0383482942528543, + -0.9904144048513479 + ], + [ + 0.9760924875294739, + 0.16595319435354575, + -0.14036735045008975, + 0.17092314542185796, + -0.9849910517115621, + 0.024039684008931035, + -0.13427112179326733, + -0.04745698401716159, + -0.9898076078311242 + ], + [ + 0.9723668899870628, + 0.18542688352781653, + -0.1418432307938917, + 0.19055263987114432, + -0.9813997186837541, + 0.023329886531797253, + -0.13487891864567134, + -0.0497138112863028, + -0.9896141744500048 + ], + [ + 0.9825582430762971, + 0.18561227897436636, + -0.011286312806337821, + 0.18580147948973422, + -0.982403169725389, + 0.019021628030603487, + -0.007557061746895523, + -0.020786871035602106, + -0.999755368482862 + ], + [ + 0.9742385808951909, + 0.19173123367185524, + 0.11873635302632654, + 0.19383856003508726, + -0.9810128779853707, + -0.0063518399210989295, + 0.11526404529968517, + 0.02920389120524576, + -0.9929055003370783 + ], + [ + 0.9755936840316188, + 0.15361912563708358, + 0.1569016504569408, + 0.16129026709385835, + -0.9862014194852132, + -0.03731232967991345, + 0.14900474293929686, + 0.06170838228189625, + -0.9869091458375212 + ], + [ + 0.9860268174351076, + 0.11405247839534619, + 0.12142136332075837, + 0.11964754626274904, + -0.9920180271346647, + -0.039808271918666385, + 0.11591194922050033, + 0.053779791852760495, + -0.9918024773190363 + ], + [ + 0.9980467626113745, + 0.016760234531620576, + 0.06018101178444783, + 0.018185634127502414, + -0.9995650530547502, + -0.023216102666794934, + 0.05976572891160448, + 0.02426518596878286, + -0.9979174607138434 + ], + [ + 0.999395581993471, + -0.0013182995776496948, + 0.03473805950474127, + -0.0014469378829743695, + -0.9999921885224662, + 0.0036782148946451687, + 0.034732939160027766, + -0.0037262555296093897, + -0.9993896827349349 + ], + [ + 0.9984288643347363, + -0.0439958714588029, + 0.03470109735771051, + -0.04474219287686922, + -0.9987771526761955, + 0.021031772835421406, + 0.03373335203945561, + -0.022551332258033654, + -0.9991764100365711 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006673.json b/json/chunk-0006/episode_0006673.json new file mode 100644 index 0000000000000000000000000000000000000000..170f9788631e67f3f9c91260435385e72bc47c27 --- /dev/null +++ b/json/chunk-0006/episode_0006673.json @@ -0,0 +1,3922 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 64, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut stuffedduck in pot or pan an put pot or pan on stove." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006673.mp4", + "start": 0, + "end": 64, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.29772499203681946, + 0.021974118426442146, + 0.10600116848945618, + 0.06794149428606033, + -0.0572257898747921, + -0.15922701358795166, + 0.0, + 0.9981546401977539 + ], + [ + 0.29469114542007446, + 0.021798910573124886, + 0.09704729914665222, + 0.06259144842624664, + -0.03350687772035599, + -0.15491469204425812, + 0.0, + 0.9981546401977539 + ], + [ + 0.29839110374450684, + 0.020008830353617668, + 0.07892351597547531, + 0.08787629008293152, + -0.06855346262454987, + -0.1517677903175354, + 0.0, + 0.9981546401977539 + ], + [ + 0.301343709230423, + 0.018997931852936745, + 0.06651793420314789, + 0.09981624782085419, + -0.09772902727127075, + -0.14918310940265656, + 0.0, + 0.9981546401977539 + ], + [ + 0.3036467134952545, + 0.018818438053131104, + 0.06027382239699364, + 0.10744841396808624, + -0.12272152304649353, + -0.1441144049167633, + 0.0, + 0.9981546401977539 + ], + [ + 0.3029627203941345, + 0.020538680255413055, + 0.05285565182566643, + 0.12271611392498016, + -0.13941490650177002, + -0.1534130722284317, + 0.0, + 0.9981546401977539 + ], + [ + 0.3014926016330719, + 0.021440992131829262, + 0.047630950808525085, + 0.140263170003891, + -0.1593695729970932, + -0.15399722754955292, + 0.0, + 0.9988223910331726 + ], + [ + 0.29688727855682373, + 0.015674524009227753, + 0.03874165937304497, + 0.143729567527771, + -0.19036072492599487, + -0.1473982036113739, + 0.0, + 0.9988223910331726 + ], + [ + 0.2893175780773163, + 0.010153811424970627, + 0.030328072607517242, + 0.15056630969047546, + -0.19119691848754883, + -0.14585641026496887, + 0.0, + 0.9988223910331726 + ], + [ + 0.285855770111084, + 0.005619635805487633, + 0.02832774631679058, + 0.15458650887012482, + -0.21640987694263458, + -0.14254359900951385, + 0.0, + 0.9650423526763916 + ], + [ + 0.28309348225593567, + 0.0018526153871789575, + 0.025249596685171127, + 0.15143278241157532, + -0.20976004004478455, + -0.13391166925430298, + 0.0, + 0.7081608176231384 + ], + [ + 0.2825438380241394, + -0.0004762901517096907, + 0.024752547964453697, + 0.15153595805168152, + -0.20609194040298462, + -0.13774292171001434, + 0.0, + 0.4784920811653137 + ], + [ + 0.27920570969581604, + -0.00030694398446939886, + 0.02917584590613842, + 0.14517423510551453, + -0.15552985668182373, + -0.12008802592754364, + 0.0, + 0.41932523250579834 + ], + [ + 0.27523812651634216, + 0.0008431181777268648, + 0.04252653568983078, + 0.1423521190881729, + -0.07817719131708145, + -0.15059348940849304, + 0.0, + 0.431998074054718 + ], + [ + 0.27714428305625916, + 0.011197333224117756, + 0.06794983148574829, + 0.15402229130268097, + -0.016508035361766815, + -0.14857497811317444, + 0.0, + 0.4485226273536682 + ], + [ + 0.28495943546295166, + 0.011787990108132362, + 0.09873282164335251, + 0.1560313105583191, + 0.025636689737439156, + -0.1260562539100647, + 0.0, + 0.4485226273536682 + ], + [ + 0.2958953082561493, + -0.003352288156747818, + 0.12714262306690216, + 0.15638768672943115, + 0.03384317085146904, + -0.10752225667238235, + 0.0, + 0.4485226273536682 + ], + [ + 0.3111509680747986, + -0.02060333825647831, + 0.13125066459178925, + 0.152051642537117, + 0.07095851749181747, + -0.085795097053051, + 0.0, + 0.4485226273536682 + ], + [ + 0.33225584030151367, + -0.03903401643037796, + 0.12305654585361481, + 0.13040614128112793, + 0.0698675811290741, + -0.07077917456626892, + 0.0, + 0.4485226273536682 + ], + [ + 0.34530290961265564, + -0.05450392886996269, + 0.11528503149747849, + 0.1204029992222786, + 0.05656946077942848, + -0.0705903172492981, + 0.0, + 0.4485226273536682 + ], + [ + 0.3486846387386322, + -0.065825916826725, + 0.1045922115445137, + 0.1176510900259018, + 0.04864216968417168, + -0.06617021560668945, + 0.0, + 0.4485226273536682 + ], + [ + 0.3514995574951172, + -0.07340410351753235, + 0.09939185529947281, + 0.11534013599157333, + 0.03252619132399559, + -0.06322694569826126, + 0.0, + 0.4485226273536682 + ], + [ + 0.36404895782470703, + -0.07426028698682785, + 0.08616604655981064, + 0.12541942298412323, + 0.009716189466416836, + -0.0783364400267601, + 0.0, + 0.4229295253753662 + ], + [ + 0.370514839887619, + -0.07573211193084717, + 0.08962619304656982, + 0.12272197008132935, + -0.011241135187447071, + -0.10696133226156235, + 0.0, + 0.45408597588539124 + ], + [ + 0.3724319636821747, + -0.07578878849744797, + 0.0927305743098259, + 0.12744224071502686, + 0.0015327743021771312, + -0.10174795985221863, + 0.0, + 0.7710858583450317 + ], + [ + 0.3737185299396515, + -0.07629071176052094, + 0.10476689040660858, + 0.12871597707271576, + 0.014767494983971119, + -0.09294614940881729, + 0.0, + 1.0054124593734741 + ], + [ + 0.37193819880485535, + -0.07587236911058426, + 0.1131637692451477, + 0.13236704468727112, + 0.037412479519844055, + -0.08856693655252457, + 0.0, + 1.0027955770492554 + ], + [ + 0.36834731698036194, + -0.07493490725755692, + 0.12254620343446732, + 0.13289226591587067, + 0.07473630458116531, + -0.10797518491744995, + 0.0, + 1.0027955770492554 + ], + [ + 0.36596688628196716, + -0.05981722101569176, + 0.1285017430782318, + 0.15084758400917053, + 0.11684897541999817, + -0.1176745742559433, + 0.0, + 1.0027955770492554 + ], + [ + 0.3713226020336151, + -0.03490947186946869, + 0.13005875051021576, + 0.1304876208305359, + 0.12266312539577484, + -0.17465509474277496, + 0.0, + 1.0027955770492554 + ], + [ + 0.3795914947986603, + -0.006233850959688425, + 0.11876312643289566, + 0.10926804691553116, + 0.080184705555439, + -0.19754937291145325, + 0.0, + 1.0027955770492554 + ], + [ + 0.38025981187820435, + 0.014543930999934673, + 0.09803267568349838, + 0.09532123059034348, + 0.048763588070869446, + -0.1987639218568802, + 0.0, + 1.0027955770492554 + ], + [ + 0.37383875250816345, + 0.01743735559284687, + 0.07553194463253021, + 0.08167731016874313, + 0.040972884744405746, + -0.19888025522232056, + 0.0, + 1.0027955770492554 + ], + [ + 0.3665328323841095, + 0.015292739495635033, + 0.0743834376335144, + 0.09509436041116714, + 0.016953906044363976, + -0.17975015938282013, + 0.0, + 1.0027955770492554 + ], + [ + 0.3599433898925781, + 0.006578346714377403, + 0.07902880012989044, + 0.10218381136655807, + 0.02337532676756382, + -0.15515239536762238, + 0.0, + 1.0027955770492554 + ], + [ + 0.3528765141963959, + -0.0024722495581954718, + 0.08420318365097046, + 0.11814820021390915, + 0.07625970244407654, + -0.15456481277942657, + 0.0, + 1.0027955770492554 + ], + [ + 0.3536328971385956, + -0.011467091739177704, + 0.08867146819829941, + 0.12529689073562622, + 0.07770786434412003, + -0.1530502736568451, + 0.0, + 1.0027955770492554 + ], + [ + 0.3573452830314636, + -0.022080328315496445, + 0.08590265363454819, + 0.13028083741664886, + 0.03988818824291229, + -0.14135822653770447, + 0.0, + 1.0027955770492554 + ], + [ + 0.3590043783187866, + -0.025094397366046906, + 0.0781538113951683, + 0.12373825162649155, + 0.008287428878247738, + -0.14171433448791504, + 0.0, + 1.0027955770492554 + ], + [ + 0.36302050948143005, + -0.021638574078679085, + 0.07026857882738113, + 0.11195096373558044, + -0.03359716013073921, + -0.16332706809043884, + 0.0, + 1.0027955770492554 + ], + [ + 0.3631267845630646, + -0.01773138903081417, + 0.0583481565117836, + 0.10546589642763138, + -0.06790416687726974, + -0.17756381630897522, + 0.0, + 1.0027955770492554 + ], + [ + 0.3606395721435547, + -0.014833427034318447, + 0.04545164853334427, + 0.0925888866186142, + -0.0969759002327919, + -0.18970784544944763, + 0.0, + 1.0027955770492554 + ], + [ + 0.3599205017089844, + -0.01411664579063654, + 0.04062752053141594, + 0.08534057438373566, + -0.11566739529371262, + -0.18761174380779266, + 0.0, + 0.9522681832313538 + ], + [ + 0.3603708744049072, + -0.014080923981964588, + 0.03922134265303612, + 0.08154928684234619, + -0.12296398729085922, + -0.17429772019386292, + 0.0, + 0.6631406545639038 + ], + [ + 0.36121058464050293, + -0.016927523538470268, + 0.038580238819122314, + 0.09229941666126251, + -0.13783212006092072, + -0.154829740524292, + 0.0, + 0.36275482177734375 + ], + [ + 0.3605310320854187, + -0.020506585016846657, + 0.03882226347923279, + 0.09136702120304108, + -0.13471832871437073, + -0.1490611732006073, + 0.0, + 0.1795559972524643 + ], + [ + 0.3586087226867676, + -0.023089081048965454, + 0.0391775444149971, + 0.08845369517803192, + -0.12241929769515991, + -0.13882246613502502, + 0.0, + 0.103162482380867 + ], + [ + 0.3546430766582489, + -0.022386156022548676, + 0.04034869372844696, + 0.08923851698637009, + -0.09952976554632187, + -0.13637733459472656, + 0.0, + 0.09700111299753189 + ], + [ + 0.34142017364501953, + -0.022040406242012978, + 0.048810724169015884, + 0.10045328736305237, + -0.03207201883196831, + -0.1436336636543274, + 0.0, + 0.10996698588132858 + ], + [ + 0.3247009813785553, + -0.016145482659339905, + 0.0746893584728241, + 0.11310811340808868, + 0.048674892634153366, + -0.15435758233070374, + 0.0, + 0.11119577288627625 + ], + [ + 0.3244844377040863, + 0.00048374556354247034, + 0.09312405437231064, + 0.1121925488114357, + 0.07562663406133652, + -0.16038356721401215, + 0.0, + 0.11119577288627625 + ], + [ + 0.33250391483306885, + 0.03340380638837814, + 0.10563892871141434, + 0.10546276718378067, + 0.06236893683671951, + -0.2015598714351654, + 0.0, + 0.11119577288627625 + ], + [ + 0.3438979983329773, + 0.07095946371555328, + 0.10523784160614014, + 0.08981893956661224, + 0.06427653878927231, + -0.2424623668193817, + 0.0, + 0.11119577288627625 + ], + [ + 0.35285985469818115, + 0.09676823765039444, + 0.09585922211408615, + 0.06735769659280777, + 0.05786428973078728, + -0.26550695300102234, + 0.0, + 0.11119577288627625 + ], + [ + 0.3606308400630951, + 0.11606784164905548, + 0.07422112673521042, + 0.03536350280046463, + 0.03306987136602402, + -0.2776142358779907, + 0.0, + 0.11119577288627625 + ], + [ + 0.3656122088432312, + 0.12060143053531647, + 0.05664419010281563, + 0.03024234063923359, + -0.020453501492738724, + -0.2751877009868622, + 0.0, + 0.09400739520788193 + ], + [ + 0.3652705252170563, + 0.1184077113866806, + 0.0440722331404686, + 0.036226872354745865, + -0.055150795727968216, + -0.2487134039402008, + 0.0, + 0.09851961582899094 + ], + [ + 0.3673211634159088, + 0.10947857052087784, + 0.04271737486124039, + 0.04265280067920685, + -0.05145518109202385, + -0.2494778335094452, + 0.0, + 0.26948168873786926 + ], + [ + 0.3598819971084595, + 0.10051163285970688, + 0.04344511032104492, + 0.024561941623687744, + 0.01198455598205328, + -0.25624725222587585, + 0.0, + 0.5482020378112793 + ], + [ + 0.3581731915473938, + 0.09831693023443222, + 0.06643814593553543, + 0.0348319411277771, + 0.030947139486670494, + -0.25451716780662537, + 0.0, + 0.8544629216194153 + ], + [ + 0.3582921624183655, + 0.09521917998790741, + 0.08417652547359467, + 0.03702894225716591, + 0.0553816594183445, + -0.2512603998184204, + 0.0, + 1.0086473226547241 + ], + [ + 0.3607058525085449, + 0.09244409948587418, + 0.09633158892393112, + 0.03181091323494911, + 0.06800103932619095, + -0.2554910182952881, + 0.0, + 1.002137303352356 + ], + [ + 0.36177265644073486, + 0.08015105873346329, + 0.09749544411897659, + 0.04253823310136795, + 0.07146726548671722, + -0.2450907826423645, + 0.0, + 1.0008161067962646 + ], + [ + 0.3591911196708679, + 0.057064373046159744, + 0.1078105941414833, + 0.06058560684323311, + 0.04632438346743584, + -0.2293962985277176, + 0.0, + 1.0008161067962646 + ] + ], + "left_gripper_pos": [ + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9650423526763916 + ], + [ + 0.7081608176231384 + ], + [ + 0.4784920811653137 + ], + [ + 0.41932523250579834 + ], + [ + 0.431998074054718 + ], + [ + 0.4485226273536682 + ], + [ + 0.4485226273536682 + ], + [ + 0.4485226273536682 + ], + [ + 0.4485226273536682 + ], + [ + 0.4485226273536682 + ], + [ + 0.4485226273536682 + ], + [ + 0.4485226273536682 + ], + [ + 0.4485226273536682 + ], + [ + 0.4229295253753662 + ], + [ + 0.45408597588539124 + ], + [ + 0.7710858583450317 + ], + [ + 1.0054124593734741 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 0.9522681832313538 + ], + [ + 0.6631406545639038 + ], + [ + 0.36275482177734375 + ], + [ + 0.1795559972524643 + ], + [ + 0.103162482380867 + ], + [ + 0.09700111299753189 + ], + [ + 0.10996698588132858 + ], + [ + 0.11119577288627625 + ], + [ + 0.11119577288627625 + ], + [ + 0.11119577288627625 + ], + [ + 0.11119577288627625 + ], + [ + 0.11119577288627625 + ], + [ + 0.11119577288627625 + ], + [ + 0.09400739520788193 + ], + [ + 0.09851961582899094 + ], + [ + 0.26948168873786926 + ], + [ + 0.5482020378112793 + ], + [ + 0.8544629216194153 + ], + [ + 1.0086473226547241 + ], + [ + 1.002137303352356 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.29772499203681946, + 0.021974118426442146, + 0.10600116848945618 + ], + [ + 0.29469114542007446, + 0.021798910573124886, + 0.09704729914665222 + ], + [ + 0.29839110374450684, + 0.020008830353617668, + 0.07892351597547531 + ], + [ + 0.301343709230423, + 0.018997931852936745, + 0.06651793420314789 + ], + [ + 0.3036467134952545, + 0.018818438053131104, + 0.06027382239699364 + ], + [ + 0.3029627203941345, + 0.020538680255413055, + 0.05285565182566643 + ], + [ + 0.3014926016330719, + 0.021440992131829262, + 0.047630950808525085 + ], + [ + 0.29688727855682373, + 0.015674524009227753, + 0.03874165937304497 + ], + [ + 0.2893175780773163, + 0.010153811424970627, + 0.030328072607517242 + ], + [ + 0.285855770111084, + 0.005619635805487633, + 0.02832774631679058 + ], + [ + 0.28309348225593567, + 0.0018526153871789575, + 0.025249596685171127 + ], + [ + 0.2825438380241394, + -0.0004762901517096907, + 0.024752547964453697 + ], + [ + 0.27920570969581604, + -0.00030694398446939886, + 0.02917584590613842 + ], + [ + 0.27523812651634216, + 0.0008431181777268648, + 0.04252653568983078 + ], + [ + 0.27714428305625916, + 0.011197333224117756, + 0.06794983148574829 + ], + [ + 0.28495943546295166, + 0.011787990108132362, + 0.09873282164335251 + ], + [ + 0.2958953082561493, + -0.003352288156747818, + 0.12714262306690216 + ], + [ + 0.3111509680747986, + -0.02060333825647831, + 0.13125066459178925 + ], + [ + 0.33225584030151367, + -0.03903401643037796, + 0.12305654585361481 + ], + [ + 0.34530290961265564, + -0.05450392886996269, + 0.11528503149747849 + ], + [ + 0.3486846387386322, + -0.065825916826725, + 0.1045922115445137 + ], + [ + 0.3514995574951172, + -0.07340410351753235, + 0.09939185529947281 + ], + [ + 0.36404895782470703, + -0.07426028698682785, + 0.08616604655981064 + ], + [ + 0.370514839887619, + -0.07573211193084717, + 0.08962619304656982 + ], + [ + 0.3724319636821747, + -0.07578878849744797, + 0.0927305743098259 + ], + [ + 0.3737185299396515, + -0.07629071176052094, + 0.10476689040660858 + ], + [ + 0.37193819880485535, + -0.07587236911058426, + 0.1131637692451477 + ], + [ + 0.36834731698036194, + -0.07493490725755692, + 0.12254620343446732 + ], + [ + 0.36596688628196716, + -0.05981722101569176, + 0.1285017430782318 + ], + [ + 0.3713226020336151, + -0.03490947186946869, + 0.13005875051021576 + ], + [ + 0.3795914947986603, + -0.006233850959688425, + 0.11876312643289566 + ], + [ + 0.38025981187820435, + 0.014543930999934673, + 0.09803267568349838 + ], + [ + 0.37383875250816345, + 0.01743735559284687, + 0.07553194463253021 + ], + [ + 0.3665328323841095, + 0.015292739495635033, + 0.0743834376335144 + ], + [ + 0.3599433898925781, + 0.006578346714377403, + 0.07902880012989044 + ], + [ + 0.3528765141963959, + -0.0024722495581954718, + 0.08420318365097046 + ], + [ + 0.3536328971385956, + -0.011467091739177704, + 0.08867146819829941 + ], + [ + 0.3573452830314636, + -0.022080328315496445, + 0.08590265363454819 + ], + [ + 0.3590043783187866, + -0.025094397366046906, + 0.0781538113951683 + ], + [ + 0.36302050948143005, + -0.021638574078679085, + 0.07026857882738113 + ], + [ + 0.3631267845630646, + -0.01773138903081417, + 0.0583481565117836 + ], + [ + 0.3606395721435547, + -0.014833427034318447, + 0.04545164853334427 + ], + [ + 0.3599205017089844, + -0.01411664579063654, + 0.04062752053141594 + ], + [ + 0.3603708744049072, + -0.014080923981964588, + 0.03922134265303612 + ], + [ + 0.36121058464050293, + -0.016927523538470268, + 0.038580238819122314 + ], + [ + 0.3605310320854187, + -0.020506585016846657, + 0.03882226347923279 + ], + [ + 0.3586087226867676, + -0.023089081048965454, + 0.0391775444149971 + ], + [ + 0.3546430766582489, + -0.022386156022548676, + 0.04034869372844696 + ], + [ + 0.34142017364501953, + -0.022040406242012978, + 0.048810724169015884 + ], + [ + 0.3247009813785553, + -0.016145482659339905, + 0.0746893584728241 + ], + [ + 0.3244844377040863, + 0.00048374556354247034, + 0.09312405437231064 + ], + [ + 0.33250391483306885, + 0.03340380638837814, + 0.10563892871141434 + ], + [ + 0.3438979983329773, + 0.07095946371555328, + 0.10523784160614014 + ], + [ + 0.35285985469818115, + 0.09676823765039444, + 0.09585922211408615 + ], + [ + 0.3606308400630951, + 0.11606784164905548, + 0.07422112673521042 + ], + [ + 0.3656122088432312, + 0.12060143053531647, + 0.05664419010281563 + ], + [ + 0.3652705252170563, + 0.1184077113866806, + 0.0440722331404686 + ], + [ + 0.3673211634159088, + 0.10947857052087784, + 0.04271737486124039 + ], + [ + 0.3598819971084595, + 0.10051163285970688, + 0.04344511032104492 + ], + [ + 0.3581731915473938, + 0.09831693023443222, + 0.06643814593553543 + ], + [ + 0.3582921624183655, + 0.09521917998790741, + 0.08417652547359467 + ], + [ + 0.3607058525085449, + 0.09244409948587418, + 0.09633158892393112 + ], + [ + 0.36177265644073486, + 0.08015105873346329, + 0.09749544411897659 + ], + [ + 0.3591911196708679, + 0.057064373046159744, + 0.1078105941414833 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.985733897689391, + -0.1543554608288369, + 0.06710495256237166, + -0.15829549933862996, + -0.98568784115434, + 0.05798288272955854, + 0.057194561238063116, + -0.06777810496623032, + -0.9960596923136543 + ], + [ + 0.987470115892934, + -0.15192328191925758, + 0.04268590668214485, + -0.1542092067965628, + -0.9864132660643593, + 0.056642643577238264, + 0.03350060831641617, + -0.06251547762854329, + -0.9974815909575999 + ], + [ + 0.9861834886859023, + -0.14465980759986463, + 0.08071967980903276, + -0.15083072234350292, + -0.9855999676395428, + 0.07643819062660409, + 0.06849977985833063, + -0.08755708911391513, + -0.9938015578098366 + ], + [ + 0.984174140809432, + -0.13827529488871426, + 0.1108205909813484, + -0.14792114811012136, + -0.9854157733391462, + 0.08411353991002825, + 0.09757353382859386, + -0.09917507992359513, + -0.9902745624413205 + ], + [ + 0.9821906045733122, + -0.12979605919315657, + 0.13584770629582985, + -0.14253595810513614, + -0.9858116067980841, + 0.0886508688577301, + 0.12241371220154354, + -0.1064352334525846, + -0.9867555037317661 + ], + [ + 0.9786667026501692, + -0.13485229164110862, + 0.15500433723927468, + -0.15132933996156106, + -0.983422802141012, + 0.09989506041801309, + 0.13896372185086184, + -0.12122067343593494, + -0.9828502593686868 + ], + [ + 0.9756433358594621, + -0.12995916650185513, + 0.1767220875701836, + -0.15144544949700184, + -0.9818644352926243, + 0.11404607198034758, + 0.15869580025845548, + -0.13803204609668965, + -0.9776312173977924 + ], + [ + 0.9712884593447145, + -0.11854257363785028, + 0.2062677555486685, + -0.14421208494651375, + -0.9829373578020891, + 0.11417979327546102, + 0.18921311608646457, + -0.14064781858373188, + -0.9718109835911958 + ], + [ + 0.9713527716305501, + -0.11549338472756686, + 0.2076898435885068, + -0.14269134267176542, + -0.9823310955202482, + 0.12109830511001206, + 0.19003413843880004, + -0.14726471694930524, + -0.9706699384289512 + ], + [ + 0.9667690506323587, + -0.10764116058212857, + 0.2318857116942315, + -0.13874773881078198, + -0.9827508348897531, + 0.12226962622985381, + 0.21472463229518607, + -0.15038010863151263, + -0.9650280592882632 + ], + [ + 0.9693243684349361, + -0.10085336464897703, + 0.22414028552938178, + -0.13058534571035427, + -0.9838994686379539, + 0.12202173207940983, + 0.2082252055922135, + -0.14754807505668274, + -0.9668877025296929 + ], + [ + 0.9695669872526373, + -0.1051356736037293, + 0.2211025720468536, + -0.1344020752820958, + -0.9834189546318227, + 0.1217507364688971, + 0.2046361145783164, + -0.1477621392872446, + -0.9676210057680368 + ], + [ + 0.9808146169246711, + -0.09629168083169694, + 0.1695010307624057, + -0.11835356977013835, + -0.985039169658811, + 0.12526079498608372, + 0.15490358210698807, + -0.14291867072040415, + -0.9775372800103006 + ], + [ + 0.9856625009676976, + -0.13755298647818115, + 0.09771698980748825, + -0.14956671304863817, + -0.9803439815126772, + 0.12866808563003443, + 0.07809758340646514, + -0.14143851605133892, + -0.9868616486839811 + ], + [ + 0.9888482731221893, + -0.14377204413838124, + 0.038841885478636075, + -0.14800879117711147, + -0.9776503186261348, + 0.14930925029785408, + 0.016507285590136714, + -0.15339313483493444, + -0.9880273557487956 + ], + [ + 0.9917394309797543, + -0.1281472424568264, + -0.005584379165529806, + -0.12568136359349436, + -0.9795127944151575, + 0.15734954852902905, + -0.02563388158732354, + -0.15534789933475363, + -0.9875271815433975 + ], + [ + 0.99365573051431, + -0.11124522798016132, + -0.016516309143228255, + -0.10725374687793565, + -0.9815263109075154, + 0.15843842582191656, + -0.033836710784537885, + -0.15566181371140828, + -0.9872307110069856 + ], + [ + 0.9938146142747424, + -0.09540054375812482, + -0.05684407361017907, + -0.08547424383723104, + -0.9839064902802898, + 0.15691453732773125, + -0.07089898514364584, + -0.1510852561800009, + -0.985974938459708 + ], + [ + 0.9950625616566754, + -0.07917486017067507, + -0.05984847455206581, + -0.07054755328037482, + -0.9883846264001819, + 0.1346063632296987, + -0.06981075214755884, + -0.1297195891634219, + -0.989090130914198 + ], + [ + 0.9959138964843913, + -0.07679523078850171, + -0.047518452388704766, + -0.07041888237690284, + -0.9898088940779896, + 0.12377210594029225, + -0.05653929424802509, + -0.11992016399358268, + -0.9911722668001195 + ], + [ + 0.9966313413666428, + -0.07135971304376752, + -0.04041980653142546, + -0.06604372965372908, + -0.9905363867743762, + 0.1203158021599361, + -0.04862299023252124, + -0.11724102451904321, + -0.9919124694198443 + ], + [ + 0.9974739694212464, + -0.06650013297278567, + -0.02496823264918789, + -0.06315140727349197, + -0.991134340486657, + 0.11689576069069704, + -0.032520456429756546, + -0.11502369939573753, + -0.9928302818160408 + ], + [ + 0.9968862127950596, + -0.07885332395789814, + 0.00017899696594793867, + -0.07825265089480789, + -0.9890075348455852, + 0.12546162220613066, + -0.009716036592066438, + -0.12508496839928168, + -0.992098457469566 + ], + [ + 0.9942222685587826, + -0.10458640333069541, + 0.02416122803537336, + -0.10675075130406403, + -0.9869540780502587, + 0.12052354506892779, + 0.011240898444789846, + -0.12240642163838097, + -0.9924163995742115 + ], + [ + 0.9948269718903641, + -0.10094256455019326, + 0.011397133915097994, + -0.10157237126417343, + -0.9867405184465152, + 0.12659463911112132, + -0.0015327737019946277, + -0.1270973954018421, + -0.9918890576505248 + ], + [ + 0.9955750486053534, + -0.09393191034130885, + -0.0026681105825137174, + -0.09280226041799322, + -0.987270926272884, + 0.1291660117739668, + -0.014766958243293495, + -0.12834685175692423, + -0.9916193940158325 + ], + [ + 0.995383489488591, + -0.09259467658388358, + -0.025257369654071354, + -0.08838929887290571, + -0.9869304186665377, + 0.1347430167223853, + -0.037403752462454226, + -0.13188849297425026, + -0.9905586225573471 + ], + [ + 0.99140113957806, + -0.11665114818876253, + -0.05929831422196955, + -0.10746467701521657, + -0.9843443269071761, + 0.13970536596592764, + -0.07466675054761157, + -0.13213158483837978, + -0.9884159653965323 + ], + [ + 0.9863124141274422, + -0.133468481284065, + -0.09681934848893611, + -0.11660260153538653, + -0.9797500619694264, + 0.16276869903665445, + -0.11658325374287998, + -0.14925140057845457, + -0.9819024210032751 + ], + [ + 0.9773871474752391, + -0.18796964101529162, + -0.09685957880766101, + -0.1724628467975175, + -0.9736479252489693, + 0.14921891345561217, + -0.12235575354151147, + -0.12913996947095763, + -0.9840487477052796 + ], + [ + 0.9773999201152196, + -0.20366140518567377, + -0.056669464410378345, + -0.19563633918322754, + -0.972988316981084, + 0.12255675342184459, + -0.08009880741776046, + -0.10870035444337096, + -0.9908422750337906 + ], + [ + 0.9791460956982271, + -0.20110934376575776, + -0.028774209442219596, + -0.1972230208239459, + -0.9749450775359193, + 0.10288428376364236, + -0.04874426464719569, + -0.09506380824786345, + -0.9942770584829048 + ], + [ + 0.9794656944628359, + -0.20018915556057976, + -0.023900949068513103, + -0.197405965732948, + -0.9763601328407719, + 0.08804416898461591, + -0.04096142164861724, + -0.0815180531851163, + -0.9958297891414134 + ], + [ + 0.9837469923823358, + -0.1795597873839794, + 0.0003711244107883621, + -0.1787580699915521, + -0.9791553308586892, + 0.09643853204972518, + -0.016953093865236524, + -0.09493745733708393, + -0.9953388728482202 + ], + [ + 0.9877180835448575, + -0.15608016837887412, + -0.007208916513322693, + -0.15448844956674362, + -0.982465992023956, + 0.10437381600213455, + -0.023373198089638246, + -0.1019782111786926, + -0.9945120100108678 + ], + [ + 0.9852069071108241, + -0.1617501014402791, + -0.05660613805218846, + -0.15350267990096159, + -0.9798078298847677, + 0.12811535333333474, + -0.07618580868079643, + -0.1175309371210904, + -0.9901425156890757 + ], + [ + 0.9853281899025832, + -0.1608462375947519, + -0.057068783366313346, + -0.15199339052625413, + -0.9790838968706405, + 0.13525062707778582, + -0.0776296813057492, + -0.12459217768468976, + -0.9891665288717336 + ], + [ + 0.9892380573958336, + -0.14482289194361173, + -0.02084216324679869, + -0.14077585691949443, + -0.9809056446189548, + 0.13418746015650812, + -0.03987761161728824, + -0.12980926902098083, + -0.9907367610863842 + ], + [ + 0.9899413213729978, + -0.14117316345489245, + 0.009290756611849037, + -0.14123561991664058, + -0.9822616828949419, + 0.12334701448822451, + -0.008287334013096961, + -0.12341849227945643, + -0.9923201075552286 + ], + [ + 0.9861349366012656, + -0.15788127352860346, + 0.05110176399503125, + -0.16251012980200633, + -0.9811252923058089, + 0.10480276002842628, + 0.03359083991436695, + -0.11165421741621384, + -0.9931792341803266 + ], + [ + 0.9820085549774363, + -0.16862028020454015, + 0.08500822933615998, + -0.1762251535650731, + -0.9800695614283064, + 0.09169705563807874, + 0.06785199482766308, + -0.10502788137189507, + -0.992151828568812 + ], + [ + 0.9774451841524384, + -0.1789728658058508, + 0.11211434021768302, + -0.18768598843429873, + -0.9795410247359909, + 0.07261783943773673, + 0.09682397287162786, + -0.09202224820338589, + -0.9910383565296292 + ], + [ + 0.9758877121025311, + -0.17616974747522707, + 0.12886967619188774, + -0.1852667970843221, + -0.9807118027490686, + 0.06229425211677682, + 0.11540964979326426, + -0.08466746732474435, + -0.9897030022746265 + ], + [ + 0.9774124202273851, + -0.16300031624959516, + 0.13452084480770196, + -0.17210715086964812, + -0.9833082760098428, + 0.05902510440552389, + 0.12265434931048327, + -0.08084386948360886, + -0.9891512419049674 + ], + [ + 0.9786674302821626, + -0.1410433664935489, + 0.1493881845162973, + -0.15274936131233116, + -0.9857850259991613, + 0.06996795791295067, + 0.1373961190266441, + -0.09129431134523101, + -0.9862999823544645 + ], + [ + 0.9799506165545218, + -0.13577168231221096, + 0.14581782948777117, + -0.1471641648491007, + -0.9866060486007036, + 0.07036485947383753, + 0.13431119722003582, + -0.09041324652183577, + -0.9868059318603138 + ], + [ + 0.9829677354295624, + -0.12715246844221265, + 0.1326901687146818, + -0.1373414071822652, + -0.9880004778061481, + 0.07065687318314505, + 0.1221137542526387, + -0.08767728111589641, + -0.9886358912149867 + ], + [ + 0.985811967242292, + -0.12664076067210608, + 0.11016752233881343, + -0.13528214442498512, + -0.9879767916657914, + 0.07483716008472935, + 0.09936552038639997, + -0.08867906667393549, + -0.9910915782571156 + ], + [ + 0.9891934399874036, + -0.13923604189379624, + 0.045931067085752016, + -0.14306668559830688, + -0.9851734360477932, + 0.09468486878958006, + 0.03206652082471744, + -0.10023285660667268, + -0.9944471392178994 + ], + [ + 0.9869401964637158, + -0.15818926501185626, + -0.03041718328791176, + -0.1535632571541672, + -0.9809522585184721, + 0.11895794450019484, + -0.04865567445185438, + -0.1127334153767951, + -0.9924332735257911 + ], + [ + 0.9843444538716045, + -0.1670431781341537, + -0.05623675640588373, + -0.15924039638215376, + -0.9796089449980798, + 0.12251045277772879, + -0.07555456499952772, + -0.11163732135173685, + -0.9908726538708906 + ], + [ + 0.9778505368930064, + -0.2055138892146081, + -0.03965310628367853, + -0.19980861926840707, + -0.9729983914014764, + 0.11554499554801922, + -0.062328510042449006, + -0.10506270351568545, + -0.9925104458724167 + ], + [ + 0.9687450966241073, + -0.24471886955228656, + -0.04056615155273612, + -0.2395978941594199, + -0.9654533128704249, + 0.10243412410858248, + -0.06423228846242376, + -0.0895129909709871, + -0.9939122886685261 + ], + [ + 0.963344576337661, + -0.26555954866168063, + -0.038017803137707015, + -0.2619593222829677, + -0.9617500068909802, + 0.0800889362786661, + -0.057832004200626314, + -0.06719412444406449, + -0.9960624523243182 + ], + [ + 0.9611861978838975, + -0.27501491328841615, + -0.022088242720110167, + -0.2739121669674596, + -0.9607903558788697, + 0.04305829580168971, + -0.03306384407004216, + -0.03533680120101772, + -0.9988283599779254 + ], + [ + 0.9621729154966043, + -0.27100817324312027, + 0.027889975263369757, + -0.27167074427680243, + -0.9621021942149979, + 0.023545160665725637, + 0.02045207541675598, + -0.030231406221238474, + -0.9993336653435798 + ], + [ + 0.9677562923710163, + -0.24406058773397127, + 0.062307207378057304, + -0.24578289373794154, + -0.9690854468162557, + 0.021544510083579813, + 0.055122842108398816, + -0.036163880929544125, + -0.9978244565022477 + ], + [ + 0.967758924301914, + -0.24454826019868117, + 0.06032257345140542, + -0.2465712160943784, + -0.9687016050218943, + 0.028632775306371067, + 0.051432478335594736, + -0.04258343412412757, + -0.9977681851564794 + ], + [ + 0.9672784603979757, + -0.2536604006496913, + -0.005364810561503664, + -0.2534339309255761, + -0.9669815510669911, + 0.026794076802295935, + -0.011984269094652368, + -0.024557708327836995, + -0.999626578406133 + ], + [ + 0.9673215759327352, + -0.25266828436811206, + -0.02115908338007863, + -0.25165760270568105, + -0.9669266392419006, + 0.04148885783910683, + -0.030942199912738194, + -0.03480822314969381, + -0.9989148952066547 + ], + [ + 0.9671147939824499, + -0.2504394110592898, + -0.04437427913284335, + -0.24824379455835346, + -0.9674263716887054, + 0.0496108236627545, + -0.05535335331805499, + -0.03696372207317587, + -0.9977823858572287 + ], + [ + 0.9653031645304162, + -0.254683652785008, + -0.05767180898541101, + -0.2521364360145775, + -0.966503654745802, + 0.047936447478661756, + -0.06794864370560379, + -0.03173204007140326, + -0.9971840649807215 + ], + [ + 0.9676388894555917, + -0.24537073629956016, + -0.05889126744230185, + -0.2420249974992106, + -0.9685009099258713, + 0.05856524616413833, + -0.0714064436774168, + -0.042416850903511716, + -0.9965449967566808 + ], + [ + 0.9727591683185505, + -0.22970289626237525, + -0.03124387781434841, + -0.22714573854923545, + -0.9713795933248787, + 0.06947301008963883, + -0.04630781695484923, + -0.0604835938141011, + -0.9970944393427367 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.003033846616744995, + -0.00017520785331726074, + -0.008953869342803955, + -0.00535004585981369, + 0.02371891215443611, + 0.0043123215436935425, + 1.0 + ], + [ + 0.003699958324432373, + -0.0017900802195072174, + -0.01812378317117691, + 0.025284841656684875, + -0.03504658490419388, + 0.0031469017267227173, + 1.0 + ], + [ + 0.0029526054859161377, + -0.0010108985006809235, + -0.012405581772327423, + 0.011939957737922668, + -0.029175564646720886, + 0.002584680914878845, + 1.0 + ], + [ + 0.002303004264831543, + -0.00017949379980564117, + -0.006244111806154251, + 0.007632166147232056, + -0.02499249577522278, + 0.0050687044858932495, + 1.0 + ], + [ + -0.0006839931011199951, + 0.001720242202281952, + -0.0074181705713272095, + 0.015267699956893921, + -0.01669338345527649, + -0.009298667311668396, + 1.0 + ], + [ + -0.001470118761062622, + 0.0009023118764162064, + -0.005224701017141342, + 0.017547056078910828, + -0.01995466649532318, + -0.0005841553211212158, + 1.0 + ], + [ + -0.004605323076248169, + -0.005766468122601509, + -0.008889291435480118, + 0.003466397523880005, + -0.030991151928901672, + 0.006599023938179016, + 1.0 + ], + [ + -0.007569700479507446, + -0.005520712584257126, + -0.008413586765527725, + 0.006836742162704468, + -0.0008361935615539551, + 0.0015417933464050293, + 1.0 + ], + [ + -0.0034618079662323, + -0.004534175619482994, + -0.0020003262907266617, + 0.004020199179649353, + -0.025212958455085754, + 0.003312811255455017, + 0.0 + ], + [ + -0.0027622878551483154, + -0.003767020534723997, + -0.0030781496316194534, + -0.0031537264585494995, + 0.006649836897850037, + 0.008631929755210876, + 0.0 + ], + [ + -0.0005496442317962646, + -0.0023289055097848177, + -0.0004970487207174301, + 0.00010317564010620117, + 0.0036680996417999268, + -0.0038312524557113647, + 0.0 + ], + [ + -0.0033381283283233643, + 0.00016934616724029183, + 0.004423297941684723, + -0.006361722946166992, + 0.05056208372116089, + 0.017654895782470703, + 0.0 + ], + [ + -0.003967583179473877, + 0.0011500621913000941, + 0.01335068978369236, + -0.0028221160173416138, + 0.07735266536474228, + -0.030505463480949402, + 0.0 + ], + [ + 0.0019061565399169922, + 0.010354215279221535, + 0.02542329579591751, + 0.011670172214508057, + 0.061669155955314636, + 0.0020185112953186035, + 0.0 + ], + [ + 0.007815152406692505, + 0.0005906568840146065, + 0.030782990157604218, + 0.0020090192556381226, + 0.04214472323656082, + 0.02251872420310974, + 0.0 + ], + [ + 0.010935872793197632, + -0.01514027826488018, + 0.028409801423549652, + 0.00035637617111206055, + 0.008206481114029884, + 0.018533997237682343, + 0.0 + ], + [ + 0.015255659818649292, + -0.01725105009973049, + 0.004108041524887085, + -0.004336044192314148, + 0.037115346640348434, + 0.02172715961933136, + 0.0 + ], + [ + 0.021104872226715088, + -0.01843067817389965, + -0.008194118738174438, + -0.021645501255989075, + -0.0010909363627433777, + 0.015015922486782074, + 0.0 + ], + [ + 0.013047069311141968, + -0.015469912439584732, + -0.007771514356136322, + -0.010003142058849335, + -0.013298120349645615, + 0.0001888573169708252, + 0.0 + ], + [ + 0.0033817291259765625, + -0.011321987956762314, + -0.010692819952964783, + -0.0027519091963768005, + -0.007927291095256805, + 0.004420101642608643, + 0.0 + ], + [ + 0.0028149187564849854, + -0.0075781866908073425, + -0.0052003562450408936, + -0.0023109540343284607, + -0.016115978360176086, + 0.002943269908428192, + 0.0 + ], + [ + 0.012549400329589844, + -0.0008561834692955017, + -0.01322580873966217, + 0.010079286992549896, + -0.02281000092625618, + -0.01510949432849884, + 1.0 + ], + [ + 0.006465882062911987, + -0.0014718249440193176, + 0.003460146486759186, + -0.0026974529027938843, + -0.020957324653863907, + -0.028624892234802246, + 1.0 + ], + [ + 0.001917123794555664, + -5.667656660079956e-05, + 0.003104381263256073, + 0.00472027063369751, + 0.012773909606039524, + 0.0052133724093437195, + 1.0 + ], + [ + 0.0012865662574768066, + -0.0005019232630729675, + 0.012036316096782684, + 0.0012737363576889038, + 0.013234720565378666, + 0.008801810443401337, + 1.0 + ], + [ + -0.0017803311347961426, + 0.000418342649936676, + 0.008396878838539124, + 0.003651067614555359, + 0.02264498546719551, + 0.004379212856292725, + 1.0 + ], + [ + -0.003590881824493408, + 0.0009374618530273438, + 0.00938243418931961, + 0.0005252212285995483, + 0.03732382506132126, + -0.019408248364925385, + 1.0 + ], + [ + -0.0023804306983947754, + 0.015117686241865158, + 0.005955539643764496, + 0.017955318093299866, + 0.042112670838832855, + -0.009699389338493347, + 1.0 + ], + [ + 0.005355715751647949, + 0.024907749146223068, + 0.0015570074319839478, + -0.020359963178634644, + 0.005814149975776672, + -0.056980520486831665, + 1.0 + ], + [ + 0.008268892765045166, + 0.02867562137544155, + -0.011295624077320099, + -0.02121957391500473, + -0.042478419840335846, + -0.022894278168678284, + 1.0 + ], + [ + 0.0006683170795440674, + 0.020777782425284386, + -0.020730450749397278, + -0.013946816325187683, + -0.03142111748456955, + -0.001214548945426941, + 1.0 + ], + [ + -0.0064210593700408936, + 0.002893424592912197, + -0.02250073105096817, + -0.013643920421600342, + -0.007790703326463699, + -0.00011633336544036865, + 1.0 + ], + [ + -0.007305920124053955, + -0.0021446160972118378, + -0.001148506999015808, + 0.013417050242424011, + -0.02401897870004177, + 0.019130095839500427, + 1.0 + ], + [ + -0.006589442491531372, + -0.00871439278125763, + 0.004645362496376038, + 0.00708945095539093, + 0.006421420723199844, + 0.024597764015197754, + 1.0 + ], + [ + -0.007066875696182251, + -0.009050596505403519, + 0.005174383521080017, + 0.015964388847351074, + 0.05288437753915787, + 0.0005875825881958008, + 1.0 + ], + [ + 0.000756382942199707, + -0.008994841948151588, + 0.004468284547328949, + 0.0071486905217170715, + 0.0014481619000434875, + 0.001514539122581482, + 1.0 + ], + [ + 0.003712385892868042, + -0.01061323657631874, + -0.0027688145637512207, + 0.004983946681022644, + -0.03781967610120773, + 0.011692047119140625, + 1.0 + ], + [ + 0.001659095287322998, + -0.003014069050550461, + -0.007748842239379883, + -0.006542585790157318, + -0.03160075843334198, + -0.0003561079502105713, + 1.0 + ], + [ + 0.004016131162643433, + 0.0034558232873678207, + -0.00788523256778717, + -0.011787287890911102, + -0.041884589940309525, + -0.021612733602523804, + 1.0 + ], + [ + 0.00010627508163452148, + 0.003907185047864914, + -0.011920422315597534, + -0.006485067307949066, + -0.03430700674653053, + -0.014236748218536377, + 1.0 + ], + [ + -0.0024872124195098877, + 0.0028979619964957237, + -0.012896507978439331, + -0.012877009809017181, + -0.029071733355522156, + -0.012144029140472412, + 1.0 + ], + [ + -0.0007190704345703125, + 0.0007167812436819077, + -0.0048241280019283295, + -0.00724831223487854, + -0.018691495060920715, + 0.0020961016416549683, + 0.0 + ], + [ + 0.00045037269592285156, + 3.5721808671951294e-05, + -0.0014061778783798218, + -0.0037912875413894653, + -0.0072965919971466064, + 0.013314023613929749, + 0.0 + ], + [ + 0.0008397102355957031, + -0.00284659955650568, + -0.0006411038339138031, + 0.01075012981891632, + -0.014868132770061493, + 0.019467979669570923, + 0.0 + ], + [ + -0.0006795525550842285, + -0.0035790614783763885, + 0.00024202466011047363, + -0.0009323954582214355, + 0.003113791346549988, + 0.005768567323684692, + 0.0 + ], + [ + -0.001922309398651123, + -0.0025824960321187973, + 0.00035528093576431274, + -0.0029133260250091553, + 0.012299031019210815, + 0.010238707065582275, + 0.0 + ], + [ + -0.003965646028518677, + 0.0007029250264167786, + 0.0011711493134498596, + 0.0007848218083381653, + 0.022889532148838043, + 0.002445131540298462, + 0.0 + ], + [ + -0.01322290301322937, + 0.00034574978053569794, + 0.008462030440568924, + 0.011214770376682281, + 0.06745775043964386, + -0.00725632905960083, + 0.0 + ], + [ + -0.016719192266464233, + 0.005894923582673073, + 0.025878634303808212, + 0.012654826045036316, + 0.08074691146612167, + -0.010723918676376343, + 0.0 + ], + [ + -0.00021654367446899414, + 0.016629228368401527, + 0.018434695899486542, + -0.0009155645966529846, + 0.02695174142718315, + -0.006025984883308411, + 0.0 + ], + [ + 0.008019477128982544, + 0.03292006254196167, + 0.012514874339103699, + -0.006729781627655029, + -0.013257697224617004, + -0.04117630422115326, + 0.0 + ], + [ + 0.011394083499908447, + 0.03755565732717514, + -0.00040108710527420044, + -0.015643827617168427, + 0.0019076019525527954, + -0.04090249538421631, + 0.0 + ], + [ + 0.008961856365203857, + 0.025808773934841156, + -0.009378619492053986, + -0.022461242973804474, + -0.006412249058485031, + -0.023044586181640625, + 0.0 + ], + [ + 0.00777098536491394, + 0.01929960399866104, + -0.021638095378875732, + -0.03199419379234314, + -0.02479441836476326, + -0.012107282876968384, + 0.0 + ], + [ + 0.004981368780136108, + 0.004533588886260986, + -0.01757693663239479, + -0.005121162161231041, + -0.05352337285876274, + 0.00242653489112854, + 0.0 + ], + [ + -0.00034168362617492676, + -0.0021937191486358643, + -0.01257195696234703, + 0.005984531715512276, + -0.03469729423522949, + 0.026474297046661377, + 1.0 + ], + [ + 0.002050638198852539, + -0.008929140865802765, + -0.0013548582792282104, + 0.006425928324460983, + 0.0036956146359443665, + -0.0007644295692443848, + 1.0 + ], + [ + -0.007439166307449341, + -0.00896693766117096, + 0.0007277354598045349, + -0.018090859055519104, + 0.0634397342801094, + -0.006769418716430664, + 1.0 + ], + [ + -0.0017088055610656738, + -0.002194702625274658, + 0.02299303561449051, + 0.010269999504089355, + 0.01896258443593979, + 0.0017300844192504883, + 1.0 + ], + [ + 0.00011897087097167969, + -0.003097750246524811, + 0.017738379538059235, + 0.002197001129388809, + 0.024434519931674004, + 0.003256767988204956, + 1.0 + ], + [ + 0.0024136900901794434, + -0.0027750805020332336, + 0.012155063450336456, + -0.005218029022216797, + 0.01261937990784645, + -0.004230618476867676, + 1.0 + ], + [ + 0.0010668039321899414, + -0.012293040752410889, + 0.0011638551950454712, + 0.010727319866418839, + 0.0034662261605262756, + 0.010400235652923584, + 1.0 + ], + [ + -0.0025815367698669434, + -0.023086685687303543, + 0.010315150022506714, + 0.018047373741865158, + -0.025142882019281387, + 0.01569448411464691, + 1.0 + ], + [ + -0.003359079360961914, + -0.027381153777241707, + 0.001273922622203827, + -0.014943443238735199, + 0.028579045087099075, + 0.028966590762138367, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9650423526763916 + ], + [ + 0.7081608176231384 + ], + [ + 0.4784920811653137 + ], + [ + 0.41932523250579834 + ], + [ + 0.431998074054718 + ], + [ + 0.4485226273536682 + ], + [ + 0.4485226273536682 + ], + [ + 0.4485226273536682 + ], + [ + 0.4485226273536682 + ], + [ + 0.4485226273536682 + ], + [ + 0.4485226273536682 + ], + [ + 0.4485226273536682 + ], + [ + 0.4485226273536682 + ], + [ + 0.4229295253753662 + ], + [ + 0.45408597588539124 + ], + [ + 0.7710858583450317 + ], + [ + 1.0054124593734741 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 0.9522681832313538 + ], + [ + 0.6631406545639038 + ], + [ + 0.36275482177734375 + ], + [ + 0.1795559972524643 + ], + [ + 0.103162482380867 + ], + [ + 0.09700111299753189 + ], + [ + 0.10996698588132858 + ], + [ + 0.11119577288627625 + ], + [ + 0.11119577288627625 + ], + [ + 0.11119577288627625 + ], + [ + 0.11119577288627625 + ], + [ + 0.11119577288627625 + ], + [ + 0.11119577288627625 + ], + [ + 0.09400739520788193 + ], + [ + 0.09851961582899094 + ], + [ + 0.26948168873786926 + ], + [ + 0.5482020378112793 + ], + [ + 0.8544629216194153 + ], + [ + 1.0086473226547241 + ], + [ + 1.002137303352356 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.29469114542007446, + 0.021798910573124886, + 0.09704729914665222 + ], + [ + 0.29839110374450684, + 0.020008830353617668, + 0.07892351597547531 + ], + [ + 0.301343709230423, + 0.018997931852936745, + 0.06651793420314789 + ], + [ + 0.3036467134952545, + 0.018818438053131104, + 0.06027382239699364 + ], + [ + 0.3029627203941345, + 0.020538680255413055, + 0.05285565182566643 + ], + [ + 0.3014926016330719, + 0.021440992131829262, + 0.047630950808525085 + ], + [ + 0.29688727855682373, + 0.015674524009227753, + 0.03874165937304497 + ], + [ + 0.2893175780773163, + 0.010153811424970627, + 0.030328072607517242 + ], + [ + 0.285855770111084, + 0.005619635805487633, + 0.02832774631679058 + ], + [ + 0.28309348225593567, + 0.0018526153871789575, + 0.025249596685171127 + ], + [ + 0.2825438380241394, + -0.0004762901517096907, + 0.024752547964453697 + ], + [ + 0.27920570969581604, + -0.00030694398446939886, + 0.02917584590613842 + ], + [ + 0.27523812651634216, + 0.0008431181777268648, + 0.04252653568983078 + ], + [ + 0.27714428305625916, + 0.011197333224117756, + 0.06794983148574829 + ], + [ + 0.28495943546295166, + 0.011787990108132362, + 0.09873282164335251 + ], + [ + 0.2958953082561493, + -0.003352288156747818, + 0.12714262306690216 + ], + [ + 0.3111509680747986, + -0.02060333825647831, + 0.13125066459178925 + ], + [ + 0.33225584030151367, + -0.03903401643037796, + 0.12305654585361481 + ], + [ + 0.34530290961265564, + -0.05450392886996269, + 0.11528503149747849 + ], + [ + 0.3486846387386322, + -0.065825916826725, + 0.1045922115445137 + ], + [ + 0.3514995574951172, + -0.07340410351753235, + 0.09939185529947281 + ], + [ + 0.36404895782470703, + -0.07426028698682785, + 0.08616604655981064 + ], + [ + 0.370514839887619, + -0.07573211193084717, + 0.08962619304656982 + ], + [ + 0.3724319636821747, + -0.07578878849744797, + 0.0927305743098259 + ], + [ + 0.3737185299396515, + -0.07629071176052094, + 0.10476689040660858 + ], + [ + 0.37193819880485535, + -0.07587236911058426, + 0.1131637692451477 + ], + [ + 0.36834731698036194, + -0.07493490725755692, + 0.12254620343446732 + ], + [ + 0.36596688628196716, + -0.05981722101569176, + 0.1285017430782318 + ], + [ + 0.3713226020336151, + -0.03490947186946869, + 0.13005875051021576 + ], + [ + 0.3795914947986603, + -0.006233850959688425, + 0.11876312643289566 + ], + [ + 0.38025981187820435, + 0.014543930999934673, + 0.09803267568349838 + ], + [ + 0.37383875250816345, + 0.01743735559284687, + 0.07553194463253021 + ], + [ + 0.3665328323841095, + 0.015292739495635033, + 0.0743834376335144 + ], + [ + 0.3599433898925781, + 0.006578346714377403, + 0.07902880012989044 + ], + [ + 0.3528765141963959, + -0.0024722495581954718, + 0.08420318365097046 + ], + [ + 0.3536328971385956, + -0.011467091739177704, + 0.08867146819829941 + ], + [ + 0.3573452830314636, + -0.022080328315496445, + 0.08590265363454819 + ], + [ + 0.3590043783187866, + -0.025094397366046906, + 0.0781538113951683 + ], + [ + 0.36302050948143005, + -0.021638574078679085, + 0.07026857882738113 + ], + [ + 0.3631267845630646, + -0.01773138903081417, + 0.0583481565117836 + ], + [ + 0.3606395721435547, + -0.014833427034318447, + 0.04545164853334427 + ], + [ + 0.3599205017089844, + -0.01411664579063654, + 0.04062752053141594 + ], + [ + 0.3603708744049072, + -0.014080923981964588, + 0.03922134265303612 + ], + [ + 0.36121058464050293, + -0.016927523538470268, + 0.038580238819122314 + ], + [ + 0.3605310320854187, + -0.020506585016846657, + 0.03882226347923279 + ], + [ + 0.3586087226867676, + -0.023089081048965454, + 0.0391775444149971 + ], + [ + 0.3546430766582489, + -0.022386156022548676, + 0.04034869372844696 + ], + [ + 0.34142017364501953, + -0.022040406242012978, + 0.048810724169015884 + ], + [ + 0.3247009813785553, + -0.016145482659339905, + 0.0746893584728241 + ], + [ + 0.3244844377040863, + 0.00048374556354247034, + 0.09312405437231064 + ], + [ + 0.33250391483306885, + 0.03340380638837814, + 0.10563892871141434 + ], + [ + 0.3438979983329773, + 0.07095946371555328, + 0.10523784160614014 + ], + [ + 0.35285985469818115, + 0.09676823765039444, + 0.09585922211408615 + ], + [ + 0.3606308400630951, + 0.11606784164905548, + 0.07422112673521042 + ], + [ + 0.3656122088432312, + 0.12060143053531647, + 0.05664419010281563 + ], + [ + 0.3652705252170563, + 0.1184077113866806, + 0.0440722331404686 + ], + [ + 0.3673211634159088, + 0.10947857052087784, + 0.04271737486124039 + ], + [ + 0.3598819971084595, + 0.10051163285970688, + 0.04344511032104492 + ], + [ + 0.3581731915473938, + 0.09831693023443222, + 0.06643814593553543 + ], + [ + 0.3582921624183655, + 0.09521917998790741, + 0.08417652547359467 + ], + [ + 0.3607058525085449, + 0.09244409948587418, + 0.09633158892393112 + ], + [ + 0.36177265644073486, + 0.08015105873346329, + 0.09749544411897659 + ], + [ + 0.3591911196708679, + 0.057064373046159744, + 0.1078105941414833 + ], + [ + 0.355832040309906, + 0.029683219268918037, + 0.10908451676368713 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.987470115892934, + -0.15192328191925758, + 0.04268590668214485, + -0.1542092067965628, + -0.9864132660643593, + 0.056642643577238264, + 0.03350060831641617, + -0.06251547762854329, + -0.9974815909575999 + ], + [ + 0.9861834886859023, + -0.14465980759986463, + 0.08071967980903276, + -0.15083072234350292, + -0.9855999676395428, + 0.07643819062660409, + 0.06849977985833063, + -0.08755708911391513, + -0.9938015578098366 + ], + [ + 0.984174140809432, + -0.13827529488871426, + 0.1108205909813484, + -0.14792114811012136, + -0.9854157733391462, + 0.08411353991002825, + 0.09757353382859386, + -0.09917507992359513, + -0.9902745624413205 + ], + [ + 0.9821906045733122, + -0.12979605919315657, + 0.13584770629582985, + -0.14253595810513614, + -0.9858116067980841, + 0.0886508688577301, + 0.12241371220154354, + -0.1064352334525846, + -0.9867555037317661 + ], + [ + 0.9786667026501692, + -0.13485229164110862, + 0.15500433723927468, + -0.15132933996156106, + -0.983422802141012, + 0.09989506041801309, + 0.13896372185086184, + -0.12122067343593494, + -0.9828502593686868 + ], + [ + 0.9756433358594621, + -0.12995916650185513, + 0.1767220875701836, + -0.15144544949700184, + -0.9818644352926243, + 0.11404607198034758, + 0.15869580025845548, + -0.13803204609668965, + -0.9776312173977924 + ], + [ + 0.9712884593447145, + -0.11854257363785028, + 0.2062677555486685, + -0.14421208494651375, + -0.9829373578020891, + 0.11417979327546102, + 0.18921311608646457, + -0.14064781858373188, + -0.9718109835911958 + ], + [ + 0.9713527716305501, + -0.11549338472756686, + 0.2076898435885068, + -0.14269134267176542, + -0.9823310955202482, + 0.12109830511001206, + 0.19003413843880004, + -0.14726471694930524, + -0.9706699384289512 + ], + [ + 0.9667690506323587, + -0.10764116058212857, + 0.2318857116942315, + -0.13874773881078198, + -0.9827508348897531, + 0.12226962622985381, + 0.21472463229518607, + -0.15038010863151263, + -0.9650280592882632 + ], + [ + 0.9693243684349361, + -0.10085336464897703, + 0.22414028552938178, + -0.13058534571035427, + -0.9838994686379539, + 0.12202173207940983, + 0.2082252055922135, + -0.14754807505668274, + -0.9668877025296929 + ], + [ + 0.9695669872526373, + -0.1051356736037293, + 0.2211025720468536, + -0.1344020752820958, + -0.9834189546318227, + 0.1217507364688971, + 0.2046361145783164, + -0.1477621392872446, + -0.9676210057680368 + ], + [ + 0.9808146169246711, + -0.09629168083169694, + 0.1695010307624057, + -0.11835356977013835, + -0.985039169658811, + 0.12526079498608372, + 0.15490358210698807, + -0.14291867072040415, + -0.9775372800103006 + ], + [ + 0.9856625009676976, + -0.13755298647818115, + 0.09771698980748825, + -0.14956671304863817, + -0.9803439815126772, + 0.12866808563003443, + 0.07809758340646514, + -0.14143851605133892, + -0.9868616486839811 + ], + [ + 0.9888482731221893, + -0.14377204413838124, + 0.038841885478636075, + -0.14800879117711147, + -0.9776503186261348, + 0.14930925029785408, + 0.016507285590136714, + -0.15339313483493444, + -0.9880273557487956 + ], + [ + 0.9917394309797543, + -0.1281472424568264, + -0.005584379165529806, + -0.12568136359349436, + -0.9795127944151575, + 0.15734954852902905, + -0.02563388158732354, + -0.15534789933475363, + -0.9875271815433975 + ], + [ + 0.99365573051431, + -0.11124522798016132, + -0.016516309143228255, + -0.10725374687793565, + -0.9815263109075154, + 0.15843842582191656, + -0.033836710784537885, + -0.15566181371140828, + -0.9872307110069856 + ], + [ + 0.9938146142747424, + -0.09540054375812482, + -0.05684407361017907, + -0.08547424383723104, + -0.9839064902802898, + 0.15691453732773125, + -0.07089898514364584, + -0.1510852561800009, + -0.985974938459708 + ], + [ + 0.9950625616566754, + -0.07917486017067507, + -0.05984847455206581, + -0.07054755328037482, + -0.9883846264001819, + 0.1346063632296987, + -0.06981075214755884, + -0.1297195891634219, + -0.989090130914198 + ], + [ + 0.9959138964843913, + -0.07679523078850171, + -0.047518452388704766, + -0.07041888237690284, + -0.9898088940779896, + 0.12377210594029225, + -0.05653929424802509, + -0.11992016399358268, + -0.9911722668001195 + ], + [ + 0.9966313413666428, + -0.07135971304376752, + -0.04041980653142546, + -0.06604372965372908, + -0.9905363867743762, + 0.1203158021599361, + -0.04862299023252124, + -0.11724102451904321, + -0.9919124694198443 + ], + [ + 0.9974739694212464, + -0.06650013297278567, + -0.02496823264918789, + -0.06315140727349197, + -0.991134340486657, + 0.11689576069069704, + -0.032520456429756546, + -0.11502369939573753, + -0.9928302818160408 + ], + [ + 0.9968862127950596, + -0.07885332395789814, + 0.00017899696594793867, + -0.07825265089480789, + -0.9890075348455852, + 0.12546162220613066, + -0.009716036592066438, + -0.12508496839928168, + -0.992098457469566 + ], + [ + 0.9942222685587826, + -0.10458640333069541, + 0.02416122803537336, + -0.10675075130406403, + -0.9869540780502587, + 0.12052354506892779, + 0.011240898444789846, + -0.12240642163838097, + -0.9924163995742115 + ], + [ + 0.9948269718903641, + -0.10094256455019326, + 0.011397133915097994, + -0.10157237126417343, + -0.9867405184465152, + 0.12659463911112132, + -0.0015327737019946277, + -0.1270973954018421, + -0.9918890576505248 + ], + [ + 0.9955750486053534, + -0.09393191034130885, + -0.0026681105825137174, + -0.09280226041799322, + -0.987270926272884, + 0.1291660117739668, + -0.014766958243293495, + -0.12834685175692423, + -0.9916193940158325 + ], + [ + 0.995383489488591, + -0.09259467658388358, + -0.025257369654071354, + -0.08838929887290571, + -0.9869304186665377, + 0.1347430167223853, + -0.037403752462454226, + -0.13188849297425026, + -0.9905586225573471 + ], + [ + 0.99140113957806, + -0.11665114818876253, + -0.05929831422196955, + -0.10746467701521657, + -0.9843443269071761, + 0.13970536596592764, + -0.07466675054761157, + -0.13213158483837978, + -0.9884159653965323 + ], + [ + 0.9863124141274422, + -0.133468481284065, + -0.09681934848893611, + -0.11660260153538653, + -0.9797500619694264, + 0.16276869903665445, + -0.11658325374287998, + -0.14925140057845457, + -0.9819024210032751 + ], + [ + 0.9773871474752391, + -0.18796964101529162, + -0.09685957880766101, + -0.1724628467975175, + -0.9736479252489693, + 0.14921891345561217, + -0.12235575354151147, + -0.12913996947095763, + -0.9840487477052796 + ], + [ + 0.9773999201152196, + -0.20366140518567377, + -0.056669464410378345, + -0.19563633918322754, + -0.972988316981084, + 0.12255675342184459, + -0.08009880741776046, + -0.10870035444337096, + -0.9908422750337906 + ], + [ + 0.9791460956982271, + -0.20110934376575776, + -0.028774209442219596, + -0.1972230208239459, + -0.9749450775359193, + 0.10288428376364236, + -0.04874426464719569, + -0.09506380824786345, + -0.9942770584829048 + ], + [ + 0.9794656944628359, + -0.20018915556057976, + -0.023900949068513103, + -0.197405965732948, + -0.9763601328407719, + 0.08804416898461591, + -0.04096142164861724, + -0.0815180531851163, + -0.9958297891414134 + ], + [ + 0.9837469923823358, + -0.1795597873839794, + 0.0003711244107883621, + -0.1787580699915521, + -0.9791553308586892, + 0.09643853204972518, + -0.016953093865236524, + -0.09493745733708393, + -0.9953388728482202 + ], + [ + 0.9877180835448575, + -0.15608016837887412, + -0.007208916513322693, + -0.15448844956674362, + -0.982465992023956, + 0.10437381600213455, + -0.023373198089638246, + -0.1019782111786926, + -0.9945120100108678 + ], + [ + 0.9852069071108241, + -0.1617501014402791, + -0.05660613805218846, + -0.15350267990096159, + -0.9798078298847677, + 0.12811535333333474, + -0.07618580868079643, + -0.1175309371210904, + -0.9901425156890757 + ], + [ + 0.9853281899025832, + -0.1608462375947519, + -0.057068783366313346, + -0.15199339052625413, + -0.9790838968706405, + 0.13525062707778582, + -0.0776296813057492, + -0.12459217768468976, + -0.9891665288717336 + ], + [ + 0.9892380573958336, + -0.14482289194361173, + -0.02084216324679869, + -0.14077585691949443, + -0.9809056446189548, + 0.13418746015650812, + -0.03987761161728824, + -0.12980926902098083, + -0.9907367610863842 + ], + [ + 0.9899413213729978, + -0.14117316345489245, + 0.009290756611849037, + -0.14123561991664058, + -0.9822616828949419, + 0.12334701448822451, + -0.008287334013096961, + -0.12341849227945643, + -0.9923201075552286 + ], + [ + 0.9861349366012656, + -0.15788127352860346, + 0.05110176399503125, + -0.16251012980200633, + -0.9811252923058089, + 0.10480276002842628, + 0.03359083991436695, + -0.11165421741621384, + -0.9931792341803266 + ], + [ + 0.9820085549774363, + -0.16862028020454015, + 0.08500822933615998, + -0.1762251535650731, + -0.9800695614283064, + 0.09169705563807874, + 0.06785199482766308, + -0.10502788137189507, + -0.992151828568812 + ], + [ + 0.9774451841524384, + -0.1789728658058508, + 0.11211434021768302, + -0.18768598843429873, + -0.9795410247359909, + 0.07261783943773673, + 0.09682397287162786, + -0.09202224820338589, + -0.9910383565296292 + ], + [ + 0.9758877121025311, + -0.17616974747522707, + 0.12886967619188774, + -0.1852667970843221, + -0.9807118027490686, + 0.06229425211677682, + 0.11540964979326426, + -0.08466746732474435, + -0.9897030022746265 + ], + [ + 0.9774124202273851, + -0.16300031624959516, + 0.13452084480770196, + -0.17210715086964812, + -0.9833082760098428, + 0.05902510440552389, + 0.12265434931048327, + -0.08084386948360886, + -0.9891512419049674 + ], + [ + 0.9786674302821626, + -0.1410433664935489, + 0.1493881845162973, + -0.15274936131233116, + -0.9857850259991613, + 0.06996795791295067, + 0.1373961190266441, + -0.09129431134523101, + -0.9862999823544645 + ], + [ + 0.9799506165545218, + -0.13577168231221096, + 0.14581782948777117, + -0.1471641648491007, + -0.9866060486007036, + 0.07036485947383753, + 0.13431119722003582, + -0.09041324652183577, + -0.9868059318603138 + ], + [ + 0.9829677354295624, + -0.12715246844221265, + 0.1326901687146818, + -0.1373414071822652, + -0.9880004778061481, + 0.07065687318314505, + 0.1221137542526387, + -0.08767728111589641, + -0.9886358912149867 + ], + [ + 0.985811967242292, + -0.12664076067210608, + 0.11016752233881343, + -0.13528214442498512, + -0.9879767916657914, + 0.07483716008472935, + 0.09936552038639997, + -0.08867906667393549, + -0.9910915782571156 + ], + [ + 0.9891934399874036, + -0.13923604189379624, + 0.045931067085752016, + -0.14306668559830688, + -0.9851734360477932, + 0.09468486878958006, + 0.03206652082471744, + -0.10023285660667268, + -0.9944471392178994 + ], + [ + 0.9869401964637158, + -0.15818926501185626, + -0.03041718328791176, + -0.1535632571541672, + -0.9809522585184721, + 0.11895794450019484, + -0.04865567445185438, + -0.1127334153767951, + -0.9924332735257911 + ], + [ + 0.9843444538716045, + -0.1670431781341537, + -0.05623675640588373, + -0.15924039638215376, + -0.9796089449980798, + 0.12251045277772879, + -0.07555456499952772, + -0.11163732135173685, + -0.9908726538708906 + ], + [ + 0.9778505368930064, + -0.2055138892146081, + -0.03965310628367853, + -0.19980861926840707, + -0.9729983914014764, + 0.11554499554801922, + -0.062328510042449006, + -0.10506270351568545, + -0.9925104458724167 + ], + [ + 0.9687450966241073, + -0.24471886955228656, + -0.04056615155273612, + -0.2395978941594199, + -0.9654533128704249, + 0.10243412410858248, + -0.06423228846242376, + -0.0895129909709871, + -0.9939122886685261 + ], + [ + 0.963344576337661, + -0.26555954866168063, + -0.038017803137707015, + -0.2619593222829677, + -0.9617500068909802, + 0.0800889362786661, + -0.057832004200626314, + -0.06719412444406449, + -0.9960624523243182 + ], + [ + 0.9611861978838975, + -0.27501491328841615, + -0.022088242720110167, + -0.2739121669674596, + -0.9607903558788697, + 0.04305829580168971, + -0.03306384407004216, + -0.03533680120101772, + -0.9988283599779254 + ], + [ + 0.9621729154966043, + -0.27100817324312027, + 0.027889975263369757, + -0.27167074427680243, + -0.9621021942149979, + 0.023545160665725637, + 0.02045207541675598, + -0.030231406221238474, + -0.9993336653435798 + ], + [ + 0.9677562923710163, + -0.24406058773397127, + 0.062307207378057304, + -0.24578289373794154, + -0.9690854468162557, + 0.021544510083579813, + 0.055122842108398816, + -0.036163880929544125, + -0.9978244565022477 + ], + [ + 0.967758924301914, + -0.24454826019868117, + 0.06032257345140542, + -0.2465712160943784, + -0.9687016050218943, + 0.028632775306371067, + 0.051432478335594736, + -0.04258343412412757, + -0.9977681851564794 + ], + [ + 0.9672784603979757, + -0.2536604006496913, + -0.005364810561503664, + -0.2534339309255761, + -0.9669815510669911, + 0.026794076802295935, + -0.011984269094652368, + -0.024557708327836995, + -0.999626578406133 + ], + [ + 0.9673215759327352, + -0.25266828436811206, + -0.02115908338007863, + -0.25165760270568105, + -0.9669266392419006, + 0.04148885783910683, + -0.030942199912738194, + -0.03480822314969381, + -0.9989148952066547 + ], + [ + 0.9671147939824499, + -0.2504394110592898, + -0.04437427913284335, + -0.24824379455835346, + -0.9674263716887054, + 0.0496108236627545, + -0.05535335331805499, + -0.03696372207317587, + -0.9977823858572287 + ], + [ + 0.9653031645304162, + -0.254683652785008, + -0.05767180898541101, + -0.2521364360145775, + -0.966503654745802, + 0.047936447478661756, + -0.06794864370560379, + -0.03173204007140326, + -0.9971840649807215 + ], + [ + 0.9676388894555917, + -0.24537073629956016, + -0.05889126744230185, + -0.2420249974992106, + -0.9685009099258713, + 0.05856524616413833, + -0.0714064436774168, + -0.042416850903511716, + -0.9965449967566808 + ], + [ + 0.9727591683185505, + -0.22970289626237525, + -0.03124387781434841, + -0.22714573854923545, + -0.9713795933248787, + 0.06947301008963883, + -0.04630781695484923, + -0.0604835938141011, + -0.9970944393427367 + ], + [ + 0.9772332990926768, + -0.2022291382454274, + -0.06417518826583157, + -0.19853221488592845, + -0.9782807739448338, + 0.05959603159929813, + -0.07483340695792645, + -0.045498384305476536, + -0.9961575468913844 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006675.json b/json/chunk-0006/episode_0006675.json new file mode 100644 index 0000000000000000000000000000000000000000..4d98a4d289cb8bc679fd864060f5298b8ad64f16 --- /dev/null +++ b/json/chunk-0006/episode_0006675.json @@ -0,0 +1,1702 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 27, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the purple towel to the middle of the other object." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006675.mp4", + "start": 0, + "end": 27, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.4007880687713623, + 0.16170644760131836, + 0.11044919490814209, + -0.0678124874830246, + -0.2023080438375473, + 0.7094488143920898, + 0.0, + 1.0008161067962646 + ], + [ + 0.39743635058403015, + 0.16059473156929016, + 0.09238183498382568, + -0.05218754708766937, + -0.15731358528137207, + 0.7138534188270569, + 0.0, + 1.0008161067962646 + ], + [ + 0.3823334872722626, + 0.13257154822349548, + 0.0751720517873764, + -0.006489966064691544, + -0.09654758125543594, + 0.7430644631385803, + 0.0, + 1.0008161067962646 + ], + [ + 0.37620505690574646, + 0.09786475449800491, + 0.09088622033596039, + -0.025828976184129715, + -0.10971896350383759, + 0.7748696208000183, + 0.0, + 1.0008161067962646 + ], + [ + 0.3588079810142517, + 0.06796713918447495, + 0.08998806774616241, + -0.018825076520442963, + -0.08259756863117218, + 0.7847099304199219, + 0.0, + 1.0008161067962646 + ], + [ + 0.3238252103328705, + 0.015144366770982742, + 0.08180581778287888, + -0.013935655355453491, + -0.04696320742368698, + 0.7522886395454407, + 0.0, + 1.0008161067962646 + ], + [ + 0.2900831699371338, + -0.003561216639354825, + 0.07199276238679886, + -0.017254354432225227, + -0.038251519203186035, + 0.8152396082878113, + 0.0, + 1.0008161067962646 + ], + [ + 0.2576657235622406, + -0.039256755262613297, + 0.05886811763048172, + -0.007904314436018467, + -0.020080357789993286, + 0.7621532082557678, + 0.0, + 1.0008161067962646 + ], + [ + 0.23424270749092102, + -0.045339275151491165, + 0.05924725905060768, + -0.012193857692182064, + -0.02594807930290699, + 0.7761692404747009, + 0.0, + 1.0008161067962646 + ], + [ + 0.21862444281578064, + -0.06362982839345932, + 0.056536395102739334, + -0.013722453266382217, + -0.03456483408808708, + 0.7402487397193909, + 0.0, + 1.0008161067962646 + ], + [ + 0.21663391590118408, + -0.07415125519037247, + 0.05022957921028137, + -0.026229744777083397, + -0.045015424489974976, + 0.7158581614494324, + 0.0, + 1.0008161067962646 + ], + [ + 0.21907921135425568, + -0.07530011981725693, + 0.032226648181676865, + 0.007804439403116703, + -0.04962597414851189, + 0.7183091044425964, + 0.0, + 1.0008161067962646 + ], + [ + 0.23426266014575958, + -0.07846380025148392, + 0.025145556777715683, + -0.02320129983127117, + -0.04702886566519737, + 0.7123334407806396, + 0.0, + 1.0008161067962646 + ], + [ + 0.25736674666404724, + -0.07045713812112808, + 0.018158776685595512, + -0.0118213826790452, + -0.06664157658815384, + 0.7348766326904297, + 0.0, + 1.0008161067962646 + ], + [ + 0.28061410784721375, + -0.055911142379045486, + 0.01936418004333973, + -0.006945952773094177, + -0.09774581342935562, + 0.7817002534866333, + 0.0, + 1.0008161067962646 + ], + [ + 0.302020788192749, + -0.03222588449716568, + 0.02153865061700344, + -0.0045263213105499744, + -0.12343651801347733, + 0.8513709902763367, + 0.0, + 1.0008161067962646 + ], + [ + 0.32163679599761963, + -0.006565881427377462, + 0.02566472440958023, + -0.0037540188059210777, + -0.1530674546957016, + 0.9205383658409119, + 0.0, + 1.0001531839370728 + ], + [ + 0.3365384042263031, + 0.014643533155322075, + 0.03171154856681824, + -0.005183081142604351, + -0.1604677438735962, + 0.97878497838974, + 0.0, + 0.9994885921478271 + ], + [ + 0.3544023334980011, + 0.03256899490952492, + 0.03134521096944809, + 0.007715951651334763, + -0.1669800728559494, + 1.0226343870162964, + 0.0, + 1.0001531839370728 + ], + [ + 0.3762264549732208, + 0.04322303459048271, + 0.0268383901566267, + 0.015769528225064278, + -0.1910647302865982, + 1.027882695198059, + 0.0, + 1.0001531839370728 + ], + [ + 0.3907666802406311, + 0.05459889397025108, + 0.025653263553977013, + 0.011589198373258114, + -0.22491444647312164, + 1.049175500869751, + 0.0, + 1.0001531839370728 + ], + [ + 0.3936131000518799, + 0.05860741436481476, + 0.025090768933296204, + 0.01782548800110817, + -0.23656970262527466, + 1.0514670610427856, + 0.0, + 1.0001531839370728 + ], + [ + 0.391341894865036, + 0.05605202913284302, + 0.025153353810310364, + 0.015700263902544975, + -0.2198479324579239, + 1.0478150844573975, + 0.0, + 1.0001531839370728 + ], + [ + 0.3819688856601715, + 0.05192442983388901, + 0.0326378270983696, + 0.010573810897767544, + -0.19097833335399628, + 1.0549349784851074, + 0.0, + 0.9988223910331726 + ], + [ + 0.3807830512523651, + 0.04973828047513962, + 0.0478476956486702, + -0.004886293318122625, + -0.19055259227752686, + 1.0471066236495972, + 0.0, + 0.9988223910331726 + ], + [ + 0.3813301920890808, + 0.0473596528172493, + 0.05617712810635567, + -0.0015823876019567251, + -0.17247897386550903, + 1.0241414308547974, + 0.0, + 0.9988223910331726 + ], + [ + 0.38004961609840393, + 0.044672057032585144, + 0.08515465259552002, + -0.04989912733435631, + -0.18498815596103668, + 1.0108133554458618, + 0.0, + 0.9988223910331726 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.4007880687713623, + 0.16170644760131836, + 0.11044919490814209 + ], + [ + 0.39743635058403015, + 0.16059473156929016, + 0.09238183498382568 + ], + [ + 0.3823334872722626, + 0.13257154822349548, + 0.0751720517873764 + ], + [ + 0.37620505690574646, + 0.09786475449800491, + 0.09088622033596039 + ], + [ + 0.3588079810142517, + 0.06796713918447495, + 0.08998806774616241 + ], + [ + 0.3238252103328705, + 0.015144366770982742, + 0.08180581778287888 + ], + [ + 0.2900831699371338, + -0.003561216639354825, + 0.07199276238679886 + ], + [ + 0.2576657235622406, + -0.039256755262613297, + 0.05886811763048172 + ], + [ + 0.23424270749092102, + -0.045339275151491165, + 0.05924725905060768 + ], + [ + 0.21862444281578064, + -0.06362982839345932, + 0.056536395102739334 + ], + [ + 0.21663391590118408, + -0.07415125519037247, + 0.05022957921028137 + ], + [ + 0.21907921135425568, + -0.07530011981725693, + 0.032226648181676865 + ], + [ + 0.23426266014575958, + -0.07846380025148392, + 0.025145556777715683 + ], + [ + 0.25736674666404724, + -0.07045713812112808, + 0.018158776685595512 + ], + [ + 0.28061410784721375, + -0.055911142379045486, + 0.01936418004333973 + ], + [ + 0.302020788192749, + -0.03222588449716568, + 0.02153865061700344 + ], + [ + 0.32163679599761963, + -0.006565881427377462, + 0.02566472440958023 + ], + [ + 0.3365384042263031, + 0.014643533155322075, + 0.03171154856681824 + ], + [ + 0.3544023334980011, + 0.03256899490952492, + 0.03134521096944809 + ], + [ + 0.3762264549732208, + 0.04322303459048271, + 0.0268383901566267 + ], + [ + 0.3907666802406311, + 0.05459889397025108, + 0.025653263553977013 + ], + [ + 0.3936131000518799, + 0.05860741436481476, + 0.025090768933296204 + ], + [ + 0.391341894865036, + 0.05605202913284302, + 0.025153353810310364 + ], + [ + 0.3819688856601715, + 0.05192442983388901, + 0.0326378270983696 + ], + [ + 0.3807830512523651, + 0.04973828047513962, + 0.0478476956486702 + ], + [ + 0.3813301920890808, + 0.0473596528172493, + 0.05617712810635567 + ], + [ + 0.38004961609840393, + 0.044672057032585144, + 0.08515465259552002 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.7432472529796428, + 0.6395883463841978, + 0.19624033252046588, + 0.6381303315014104, + -0.7658463496895592, + 0.07917732431118268, + 0.20093083624997868, + 0.06637857965266705, + -0.9773539191138385 + ], + [ + 0.7465110806824483, + 0.6476828200853141, + 0.1524079098493826, + 0.6466661558978656, + -0.7601662201784257, + 0.06300952718377051, + 0.1566655330141262, + 0.05151972695948207, + -0.9863070660293476 + ], + [ + 0.7329692825069333, + 0.6760728030000712, + 0.07537636197707248, + 0.6733970021725052, + -0.7368065128425858, + 0.060437075523488676, + 0.09639765747337922, + 0.006459696306761381, + -0.9953219398552761 + ], + [ + 0.710215830197055, + 0.6973689731672217, + 0.09628078625147983, + 0.6954160284393487, + -0.7162524169546317, + 0.058129360879781586, + 0.10949895856651483, + 0.025670809693963657, + -0.9936553666148568 + ], + [ + 0.7051809124343369, + 0.7053958308449372, + 0.0716700953317119, + 0.7042109223422371, + -0.7085653054830429, + 0.044968708227138374, + 0.0825036822946191, + 0.018759789239293983, + -0.9964141772955288 + ], + [ + 0.7293219134289521, + 0.6827675461240789, + 0.0437952571865534, + 0.682558147513563, + -0.7305030568177897, + 0.02190112423412427, + 0.046945946099590144, + 0.013919839782457241, + -0.9988004386288811 + ], + [ + 0.6851924194101887, + 0.7273291402421262, + 0.03877718578573876, + 0.7273574658673061, + -0.6860722074987677, + 0.016001341970550594, + 0.03824219175077244, + 0.01724087736796931, + -0.9991197560441291 + ], + [ + 0.7232051101029703, + 0.6903441974799236, + 0.019981434551865265, + 0.6903413663867501, + -0.7234379291334206, + 0.008146198280308313, + 0.020079008347648166, + 0.00790263860667109, + -0.9997671637570555 + ], + [ + 0.7133621877572711, + 0.7002730869756794, + 0.027055364268706385, + 0.7003150986215515, + -0.7137709863448203, + 0.009473209330991182, + 0.02594516758177297, + 0.012189450762642651, + -0.9995890483439975 + ], + [ + 0.7378598233712045, + 0.6740579688608209, + 0.03476687604372903, + 0.6740687123838064, + -0.7385511394489493, + 0.013175181361044369, + 0.03455795190477496, + 0.013713826376460046, + -0.9993086004464607 + ], + [ + 0.7537659809562332, + 0.6551489214914479, + 0.05115404795008767, + 0.6556003553166758, + -0.7550453243464852, + 0.00973305148239657, + 0.045000222907622456, + 0.02620016891363758, + -0.998643345287576 + ], + [ + 0.7519926731230311, + 0.658383947817407, + 0.03221174980723211, + 0.6573022921662752, + -0.7526418929982608, + 0.03852113208298598, + 0.04960560736689362, + -0.007794752103829747, + -0.9987384670460036 + ], + [ + 0.7560019959364004, + 0.6526002465691488, + 0.05073362118029474, + 0.652878930594, + -0.7573479411219748, + 0.01316047357586645, + 0.04701153184713563, + 0.023173568050528642, + -0.9986255061919828 + ], + [ + 0.7402666300399218, + 0.6698647541501989, + 0.057328244318408404, + 0.6690073148202343, + -0.7423894478257994, + 0.035876461279291415, + 0.06659226055899742, + 0.011794867705837967, + -0.9977105551859439 + ], + [ + 0.7063290527109871, + 0.7039890581879037, + 0.07415305285764187, + 0.7011243929415044, + -0.7101771750420233, + 0.06381979059616774, + 0.09759023987472729, + 0.006912741933568719, + -0.9952026723638523 + ], + [ + 0.6539388091950721, + 0.7518095939680965, + 0.08453619488749568, + 0.7464614438844238, + -0.6593649653637264, + 0.08962787091565214, + 0.12312329845529622, + 0.004491866918943883, + -0.992381215314493 + ], + [ + 0.5983135233228266, + 0.7955755378154004, + 0.09529161263596186, + 0.7866216970144007, + -0.6058430478700711, + 0.11908193453957461, + 0.15247043515124567, + 0.0037101182244681508, + -0.9883010682112767 + ], + [ + 0.5508619883152637, + 0.8293466840854015, + 0.09346201060272585, + 0.8191589800720301, + -0.5587109264524801, + 0.1296945104079708, + 0.15977995868289063, + 0.00511646940390071, + -0.9871393957005937 + ], + [ + 0.5138712054930519, + 0.8541266987548831, + 0.08002478765484533, + 0.8416128680511051, + -0.5200093194769, + 0.14587010656047644, + 0.16620518793320227, + -0.0076085564502569175, + -0.9860618364853354 + ], + [ + 0.5072314755269068, + 0.8576476796129548, + 0.08459720970168824, + 0.8406262934758919, + -0.5140046378627425, + 0.17072394961625836, + 0.18990435737965775, + -0.01548192204170308, + -0.9816805209120296 + ], + [ + 0.4857358323687132, + 0.8682423304629542, + 0.10107401617296019, + 0.845175401070101, + -0.49601172591068565, + 0.19912536047700385, + 0.2230229642415042, + -0.011297050560270042, + -0.9747477284249354 + ], + [ + 0.4824748854248558, + 0.8700876329454179, + 0.10082408407574212, + 0.8439721776315474, + -0.4925923754406982, + 0.21228215902791803, + 0.2343692563416464, + -0.017328088559625435, + -0.9719932042091312 + ], + [ + 0.4874432916343594, + 0.8679372971750791, + 0.0953094203795177, + 0.8454818860834373, + -0.4964374003746136, + 0.19674930194053875, + 0.2180812182317737, + -0.015321738860664832, + -0.9758103435467527 + ], + [ + 0.4843158888251736, + 0.8708095881510822, + 0.08443210891375744, + 0.8540530809769211, + -0.491510822096363, + 0.17032453327687663, + 0.18981953193839282, + -0.01038137497154984, + -0.9817641123754675 + ], + [ + 0.49102717983149713, + 0.8655067917330831, + 0.09894595560523112, + 0.8503054598991925, + -0.5008742100387495, + 0.16157243138506464, + 0.18940151407090028, + 0.0047978309645447526, + -0.9818880013961299 + ], + [ + 0.512119428547518, + 0.8541259480018469, + 0.09056796262536865, + 0.8415928515381951, + -0.5200638756496391, + 0.1457910747751261, + 0.17162506560515356, + 0.001558908022722641, + -0.985161106957539 + ], + [ + 0.5221091454840964, + 0.8413363910629509, + 0.13983961268194323, + 0.8328084989127821, + -0.53828374426469, + 0.1291534544602834, + 0.18393489157988846, + 0.049027418181616274, + -0.9817149626678507 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0033517181873321533, + -0.0011117160320281982, + -0.018067359924316406, + 0.015624940395355225, + 0.04499445855617523, + 0.004404604434967041, + 1.0 + ], + [ + -0.015102863311767578, + -0.028023183345794678, + -0.01720978319644928, + 0.04569758102297783, + 0.06076600402593613, + 0.029211044311523438, + 1.0 + ], + [ + -0.006128430366516113, + -0.03470679372549057, + 0.015714168548583984, + -0.01933901011943817, + -0.013171382248401642, + 0.03180515766143799, + 1.0 + ], + [ + -0.01739707589149475, + -0.029897615313529968, + -0.0008981525897979736, + 0.007003899663686752, + 0.027121394872665405, + 0.009840309619903564, + 1.0 + ], + [ + -0.034982770681381226, + -0.0528227724134922, + -0.008182249963283539, + 0.0048894211649894714, + 0.0356343612074852, + -0.0324212908744812, + 1.0 + ], + [ + -0.033742040395736694, + -0.0187055841088295, + -0.009813055396080017, + -0.003318699076771736, + 0.008711688220500946, + 0.0629509687423706, + 1.0 + ], + [ + -0.03241744637489319, + -0.03569553792476654, + -0.013124644756317139, + 0.00935003999620676, + 0.01817116141319275, + -0.05308640003204346, + 1.0 + ], + [ + -0.02342301607131958, + -0.006082519888877869, + 0.0003791414201259613, + -0.004289543256163597, + -0.005867721512913704, + 0.014016032218933105, + 1.0 + ], + [ + -0.01561826467514038, + -0.018290553241968155, + -0.002710863947868347, + -0.0015285955742001534, + -0.008616754785180092, + -0.03592050075531006, + 1.0 + ], + [ + -0.0019905269145965576, + -0.010521426796913147, + -0.006306815892457962, + -0.01250729151070118, + -0.010450590401887894, + -0.024390578269958496, + 1.0 + ], + [ + 0.0024452954530715942, + -0.0011488646268844604, + -0.018002931028604507, + 0.034034185111522675, + -0.004610549658536911, + 0.0024509429931640625, + 1.0 + ], + [ + 0.015183448791503906, + -0.0031636804342269897, + -0.007081091403961182, + -0.03100574016571045, + 0.002597108483314514, + -0.005975663661956787, + 1.0 + ], + [ + 0.02310408651828766, + 0.008006662130355835, + -0.006986780092120171, + 0.011379917152225971, + -0.019612710922956467, + 0.02254319190979004, + 1.0 + ], + [ + 0.023247361183166504, + 0.014545995742082596, + 0.001205403357744217, + 0.004875429905951023, + -0.031104236841201782, + 0.04682362079620361, + 1.0 + ], + [ + 0.02140668034553528, + 0.023685257881879807, + 0.0021744705736637115, + 0.002419631462544203, + -0.025690704584121704, + 0.06967073678970337, + 1.0 + ], + [ + 0.019616007804870605, + 0.02566000260412693, + 0.00412607379257679, + 0.0007723025046288967, + -0.029630936682224274, + 0.0691673755645752, + 1.0 + ], + [ + 0.014901608228683472, + 0.021209415048360825, + 0.006046824157238007, + -0.0014290623366832733, + -0.007400289177894592, + 0.058246612548828125, + 1.0 + ], + [ + 0.017863929271697998, + 0.017925461754202843, + -0.0003663375973701477, + 0.012899032793939114, + -0.0065123289823532104, + 0.043849408626556396, + 1.0 + ], + [ + 0.021824121475219727, + 0.010654039680957794, + -0.004506820812821388, + 0.008053576573729515, + -0.024084657430648804, + 0.005248308181762695, + 1.0 + ], + [ + 0.014540225267410278, + 0.011375859379768372, + -0.0011851266026496887, + -0.004180329851806164, + -0.03384971618652344, + 0.021292805671691895, + 1.0 + ], + [ + 0.0028464198112487793, + 0.004008520394563675, + -0.000562494620680809, + 0.006236289627850056, + -0.011655256152153015, + 0.002291560173034668, + 1.0 + ], + [ + -0.002271205186843872, + -0.0025553852319717407, + 6.258487701416016e-05, + -0.0021252240985631943, + 0.01672177016735077, + -0.0036519765853881836, + 1.0 + ], + [ + -0.009373009204864502, + -0.00412759929895401, + 0.007484473288059235, + -0.0051264530047774315, + 0.028869599103927612, + 0.007119894027709961, + 1.0 + ], + [ + -0.0011858344078063965, + -0.0021861493587493896, + 0.015209868550300598, + -0.015460103750228882, + 0.0004257410764694214, + -0.007828354835510254, + 1.0 + ], + [ + 0.0005471408367156982, + -0.00237862765789032, + 0.00832943245768547, + 0.0033039057161659002, + 0.018073618412017822, + -0.022965192794799805, + 1.0 + ], + [ + -0.0012805759906768799, + -0.002687595784664154, + 0.028977524489164352, + -0.04831673949956894, + -0.012509182095527649, + -0.013328075408935547, + 1.0 + ], + [ + 0.006528615951538086, + 0.002077355980873108, + 0.013311468064785004, + 0.024317260831594467, + -0.02610139548778534, + -0.15972113609313965, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.39743635058403015, + 0.16059473156929016, + 0.09238183498382568 + ], + [ + 0.3823334872722626, + 0.13257154822349548, + 0.0751720517873764 + ], + [ + 0.37620505690574646, + 0.09786475449800491, + 0.09088622033596039 + ], + [ + 0.3588079810142517, + 0.06796713918447495, + 0.08998806774616241 + ], + [ + 0.3238252103328705, + 0.015144366770982742, + 0.08180581778287888 + ], + [ + 0.2900831699371338, + -0.003561216639354825, + 0.07199276238679886 + ], + [ + 0.2576657235622406, + -0.039256755262613297, + 0.05886811763048172 + ], + [ + 0.23424270749092102, + -0.045339275151491165, + 0.05924725905060768 + ], + [ + 0.21862444281578064, + -0.06362982839345932, + 0.056536395102739334 + ], + [ + 0.21663391590118408, + -0.07415125519037247, + 0.05022957921028137 + ], + [ + 0.21907921135425568, + -0.07530011981725693, + 0.032226648181676865 + ], + [ + 0.23426266014575958, + -0.07846380025148392, + 0.025145556777715683 + ], + [ + 0.25736674666404724, + -0.07045713812112808, + 0.018158776685595512 + ], + [ + 0.28061410784721375, + -0.055911142379045486, + 0.01936418004333973 + ], + [ + 0.302020788192749, + -0.03222588449716568, + 0.02153865061700344 + ], + [ + 0.32163679599761963, + -0.006565881427377462, + 0.02566472440958023 + ], + [ + 0.3365384042263031, + 0.014643533155322075, + 0.03171154856681824 + ], + [ + 0.3544023334980011, + 0.03256899490952492, + 0.03134521096944809 + ], + [ + 0.3762264549732208, + 0.04322303459048271, + 0.0268383901566267 + ], + [ + 0.3907666802406311, + 0.05459889397025108, + 0.025653263553977013 + ], + [ + 0.3936131000518799, + 0.05860741436481476, + 0.025090768933296204 + ], + [ + 0.391341894865036, + 0.05605202913284302, + 0.025153353810310364 + ], + [ + 0.3819688856601715, + 0.05192442983388901, + 0.0326378270983696 + ], + [ + 0.3807830512523651, + 0.04973828047513962, + 0.0478476956486702 + ], + [ + 0.3813301920890808, + 0.0473596528172493, + 0.05617712810635567 + ], + [ + 0.38004961609840393, + 0.044672057032585144, + 0.08515465259552002 + ], + [ + 0.386578232049942, + 0.04674941301345825, + 0.09846612066030502 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.7465110806824483, + 0.6476828200853141, + 0.1524079098493826, + 0.6466661558978656, + -0.7601662201784257, + 0.06300952718377051, + 0.1566655330141262, + 0.05151972695948207, + -0.9863070660293476 + ], + [ + 0.7329692825069333, + 0.6760728030000712, + 0.07537636197707248, + 0.6733970021725052, + -0.7368065128425858, + 0.060437075523488676, + 0.09639765747337922, + 0.006459696306761381, + -0.9953219398552761 + ], + [ + 0.710215830197055, + 0.6973689731672217, + 0.09628078625147983, + 0.6954160284393487, + -0.7162524169546317, + 0.058129360879781586, + 0.10949895856651483, + 0.025670809693963657, + -0.9936553666148568 + ], + [ + 0.7051809124343369, + 0.7053958308449372, + 0.0716700953317119, + 0.7042109223422371, + -0.7085653054830429, + 0.044968708227138374, + 0.0825036822946191, + 0.018759789239293983, + -0.9964141772955288 + ], + [ + 0.7293219134289521, + 0.6827675461240789, + 0.0437952571865534, + 0.682558147513563, + -0.7305030568177897, + 0.02190112423412427, + 0.046945946099590144, + 0.013919839782457241, + -0.9988004386288811 + ], + [ + 0.6851924194101887, + 0.7273291402421262, + 0.03877718578573876, + 0.7273574658673061, + -0.6860722074987677, + 0.016001341970550594, + 0.03824219175077244, + 0.01724087736796931, + -0.9991197560441291 + ], + [ + 0.7232051101029703, + 0.6903441974799236, + 0.019981434551865265, + 0.6903413663867501, + -0.7234379291334206, + 0.008146198280308313, + 0.020079008347648166, + 0.00790263860667109, + -0.9997671637570555 + ], + [ + 0.7133621877572711, + 0.7002730869756794, + 0.027055364268706385, + 0.7003150986215515, + -0.7137709863448203, + 0.009473209330991182, + 0.02594516758177297, + 0.012189450762642651, + -0.9995890483439975 + ], + [ + 0.7378598233712045, + 0.6740579688608209, + 0.03476687604372903, + 0.6740687123838064, + -0.7385511394489493, + 0.013175181361044369, + 0.03455795190477496, + 0.013713826376460046, + -0.9993086004464607 + ], + [ + 0.7537659809562332, + 0.6551489214914479, + 0.05115404795008767, + 0.6556003553166758, + -0.7550453243464852, + 0.00973305148239657, + 0.045000222907622456, + 0.02620016891363758, + -0.998643345287576 + ], + [ + 0.7519926731230311, + 0.658383947817407, + 0.03221174980723211, + 0.6573022921662752, + -0.7526418929982608, + 0.03852113208298598, + 0.04960560736689362, + -0.007794752103829747, + -0.9987384670460036 + ], + [ + 0.7560019959364004, + 0.6526002465691488, + 0.05073362118029474, + 0.652878930594, + -0.7573479411219748, + 0.01316047357586645, + 0.04701153184713563, + 0.023173568050528642, + -0.9986255061919828 + ], + [ + 0.7402666300399218, + 0.6698647541501989, + 0.057328244318408404, + 0.6690073148202343, + -0.7423894478257994, + 0.035876461279291415, + 0.06659226055899742, + 0.011794867705837967, + -0.9977105551859439 + ], + [ + 0.7063290527109871, + 0.7039890581879037, + 0.07415305285764187, + 0.7011243929415044, + -0.7101771750420233, + 0.06381979059616774, + 0.09759023987472729, + 0.006912741933568719, + -0.9952026723638523 + ], + [ + 0.6539388091950721, + 0.7518095939680965, + 0.08453619488749568, + 0.7464614438844238, + -0.6593649653637264, + 0.08962787091565214, + 0.12312329845529622, + 0.004491866918943883, + -0.992381215314493 + ], + [ + 0.5983135233228266, + 0.7955755378154004, + 0.09529161263596186, + 0.7866216970144007, + -0.6058430478700711, + 0.11908193453957461, + 0.15247043515124567, + 0.0037101182244681508, + -0.9883010682112767 + ], + [ + 0.5508619883152637, + 0.8293466840854015, + 0.09346201060272585, + 0.8191589800720301, + -0.5587109264524801, + 0.1296945104079708, + 0.15977995868289063, + 0.00511646940390071, + -0.9871393957005937 + ], + [ + 0.5138712054930519, + 0.8541266987548831, + 0.08002478765484533, + 0.8416128680511051, + -0.5200093194769, + 0.14587010656047644, + 0.16620518793320227, + -0.0076085564502569175, + -0.9860618364853354 + ], + [ + 0.5072314755269068, + 0.8576476796129548, + 0.08459720970168824, + 0.8406262934758919, + -0.5140046378627425, + 0.17072394961625836, + 0.18990435737965775, + -0.01548192204170308, + -0.9816805209120296 + ], + [ + 0.4857358323687132, + 0.8682423304629542, + 0.10107401617296019, + 0.845175401070101, + -0.49601172591068565, + 0.19912536047700385, + 0.2230229642415042, + -0.011297050560270042, + -0.9747477284249354 + ], + [ + 0.4824748854248558, + 0.8700876329454179, + 0.10082408407574212, + 0.8439721776315474, + -0.4925923754406982, + 0.21228215902791803, + 0.2343692563416464, + -0.017328088559625435, + -0.9719932042091312 + ], + [ + 0.4874432916343594, + 0.8679372971750791, + 0.0953094203795177, + 0.8454818860834373, + -0.4964374003746136, + 0.19674930194053875, + 0.2180812182317737, + -0.015321738860664832, + -0.9758103435467527 + ], + [ + 0.4843158888251736, + 0.8708095881510822, + 0.08443210891375744, + 0.8540530809769211, + -0.491510822096363, + 0.17032453327687663, + 0.18981953193839282, + -0.01038137497154984, + -0.9817641123754675 + ], + [ + 0.49102717983149713, + 0.8655067917330831, + 0.09894595560523112, + 0.8503054598991925, + -0.5008742100387495, + 0.16157243138506464, + 0.18940151407090028, + 0.0047978309645447526, + -0.9818880013961299 + ], + [ + 0.512119428547518, + 0.8541259480018469, + 0.09056796262536865, + 0.8415928515381951, + -0.5200638756496391, + 0.1457910747751261, + 0.17162506560515356, + 0.001558908022722641, + -0.985161106957539 + ], + [ + 0.5221091454840964, + 0.8413363910629509, + 0.13983961268194323, + 0.8328084989127821, + -0.53828374426469, + 0.1291534544602834, + 0.18393489157988846, + 0.049027418181616274, + -0.9817149626678507 + ], + [ + 0.6445309023632917, + 0.7482219926877193, + 0.1573015116175925, + 0.7353087966740571, + -0.6629768354837249, + 0.14065094790201782, + 0.20952539090170222, + 0.02501130285300228, + -0.9774832711085568 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006676.json b/json/chunk-0006/episode_0006676.json new file mode 100644 index 0000000000000000000000000000000000000000..130b4f8402578763a69edd33aa8ca15f01d92b54 --- /dev/null +++ b/json/chunk-0006/episode_0006676.json @@ -0,0 +1,5782 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 95, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nSweep into pile." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006676.mp4", + "start": 0, + "end": 95, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.35560548305511475, + -0.1578284204006195, + 0.10222825407981873, + -0.003659044625237584, + -0.22394885122776031, + -0.39053112268447876, + 0.0, + 1.0001531839370728 + ], + [ + 0.35541361570358276, + -0.1590774953365326, + 0.10145064443349838, + -0.0077321287244558334, + -0.22229927778244019, + -0.3911793828010559, + 0.0, + 1.0008161067962646 + ], + [ + 0.35478639602661133, + -0.16002236306667328, + 0.10367654263973236, + -0.0454605333507061, + -0.2500781714916229, + -0.393572062253952, + 0.0, + 1.0001531839370728 + ], + [ + 0.3543753921985626, + -0.1594952493906021, + 0.10632908344268799, + -0.07732930779457092, + -0.25584694743156433, + -0.36671850085258484, + 0.0, + 1.0001531839370728 + ], + [ + 0.34907081723213196, + -0.15769343078136444, + 0.10538219660520554, + -0.09963363409042358, + -0.22305116057395935, + -0.3491019606590271, + 0.0, + 0.9994885921478271 + ], + [ + 0.34736087918281555, + -0.15386970341205597, + 0.10485020279884338, + -0.08814814686775208, + -0.2011457234621048, + -0.3280639350414276, + 0.0, + 0.9994885921478271 + ], + [ + 0.3443037271499634, + -0.15078356862068176, + 0.10603292286396027, + -0.030025476589798927, + -0.17299675941467285, + -0.31899428367614746, + 0.0, + 0.9974852800369263 + ], + [ + 0.345878005027771, + -0.15388257801532745, + 0.12127912044525146, + 0.021738551557064056, + -0.16652818024158478, + -0.3201936185359955, + 0.0, + 0.9988223910331726 + ], + [ + 0.3449709117412567, + -0.14623476564884186, + 0.12756171822547913, + 0.06474734842777252, + -0.13664136826992035, + -0.3039461672306061, + 0.0, + 0.9988223910331726 + ], + [ + 0.34929588437080383, + -0.1471167355775833, + 0.1281650960445404, + 0.058547455817461014, + -0.1645725965499878, + -0.29018718004226685, + 0.0, + 0.9988223910331726 + ], + [ + 0.3504263460636139, + -0.1392267495393753, + 0.11853497475385666, + 0.0539211742579937, + -0.16770295798778534, + -0.26060667634010315, + 0.0, + 0.9988223910331726 + ], + [ + 0.34790050983428955, + -0.1347445845603943, + 0.10756649821996689, + 0.03756532073020935, + -0.16044305264949799, + -0.2407691329717636, + 0.0, + 0.9988223910331726 + ], + [ + 0.3486771285533905, + -0.13157032430171967, + 0.10569775104522705, + 0.02962353453040123, + -0.16032074391841888, + -0.23251982033252716, + 0.0, + 0.9988223910331726 + ], + [ + 0.3480755686759949, + -0.12849421799182892, + 0.101593978703022, + 0.017207803204655647, + -0.157851904630661, + -0.19495676457881927, + 0.0, + 0.9988223910331726 + ], + [ + 0.34902822971343994, + -0.12255830317735672, + 0.09611126780509949, + 0.019715728238224983, + -0.14469100534915924, + -0.17156152427196503, + 0.0, + 0.9988223910331726 + ], + [ + 0.3449019491672516, + -0.12019706517457962, + 0.09052151441574097, + 0.02229950577020645, + -0.12581677734851837, + -0.15123891830444336, + 0.0, + 0.9723638892173767 + ], + [ + 0.34235578775405884, + -0.1173829510807991, + 0.08570840954780579, + 0.022964119911193848, + -0.11583089828491211, + -0.15978091955184937, + 0.0, + 0.7021830081939697 + ], + [ + 0.34000086784362793, + -0.10589111596345901, + 0.08201608806848526, + 0.010527226142585278, + -0.09883332997560501, + -0.13291677832603455, + 0.0, + 0.4094836115837097 + ], + [ + 0.3304864168167114, + -0.090795136988163, + 0.08406984061002731, + -0.009282278828322887, + -0.08241715282201767, + -0.10905417799949646, + 0.0, + 0.37802740931510925 + ], + [ + 0.322386234998703, + -0.06346485763788223, + 0.08857784420251846, + -0.03419449180364609, + -0.08500847220420837, + -0.03645201027393341, + 0.0, + 0.37802740931510925 + ], + [ + 0.3168129622936249, + -0.030150264501571655, + 0.08790898323059082, + -0.04915553703904152, + -0.08618129044771194, + 0.03301120921969414, + 0.0, + 0.37802740931510925 + ], + [ + 0.3160993456840515, + 0.008411046117544174, + 0.08720643073320389, + -0.036504872143268585, + -0.14827091991901398, + 0.06926777958869934, + 0.0, + 0.37802740931510925 + ], + [ + 0.3180547058582306, + 0.05134565010666847, + 0.0853172019124031, + 0.005433760117739439, + -0.20720891654491425, + 0.09743719547986984, + 0.0, + 0.37802740931510925 + ], + [ + 0.30785468220710754, + 0.08628249168395996, + 0.08469970524311066, + 0.019175147637724876, + -0.19430221617221832, + 0.11856641620397568, + 0.0, + 0.37802740931510925 + ], + [ + 0.2870829403400421, + 0.1178460642695427, + 0.08568517863750458, + 0.01330750435590744, + -0.12608133256435394, + 0.17114712297916412, + 0.0, + 0.37802740931510925 + ], + [ + 0.27298492193222046, + 0.11308714747428894, + 0.0913894847035408, + -0.06327642500400543, + -0.06164262816309929, + 0.17032666504383087, + 0.0, + 0.37802740931510925 + ], + [ + 0.2872062027454376, + 0.07892848551273346, + 0.1181444525718689, + -0.24565036594867706, + -0.1404355764389038, + 0.1459062099456787, + 0.0, + 0.37802740931510925 + ], + [ + 0.32180288434028625, + 0.035174380987882614, + 0.14312735199928284, + -0.4272380471229553, + -0.21039532124996185, + 0.005553653463721275, + 0.0, + 0.37802740931510925 + ], + [ + 0.3293246626853943, + -0.014360993169248104, + 0.1479777842760086, + -0.5160775780677795, + -0.2099316567182541, + -0.08478564023971558, + 0.0, + 0.37802740931510925 + ], + [ + 0.3294590711593628, + -0.0586075522005558, + 0.13464468717575073, + -0.46100544929504395, + -0.1901470273733139, + -0.005940508097410202, + 0.0, + 0.37802740931510925 + ], + [ + 0.3174065947532654, + -0.11248805373907089, + 0.12490959465503693, + -0.40371689200401306, + -0.2543928027153015, + 0.07595895230770111, + 0.0, + 0.37802740931510925 + ], + [ + 0.3104828894138336, + -0.13640159368515015, + 0.1138535588979721, + -0.3956073224544525, + -0.27456504106521606, + 0.1999969482421875, + 0.0, + 0.37802740931510925 + ], + [ + 0.3045444190502167, + -0.15725477039813995, + 0.11312472075223923, + -0.40618401765823364, + -0.283847451210022, + 0.2244323492050171, + 0.0, + 0.37802740931510925 + ], + [ + 0.3038403391838074, + -0.15687614679336548, + 0.10973075032234192, + -0.40348824858665466, + -0.2889786660671234, + 0.2441341131925583, + 0.0, + 0.37802740931510925 + ], + [ + 0.29492422938346863, + -0.15420083701610565, + 0.09646102041006088, + -0.3837854266166687, + -0.27395114302635193, + 0.2464383989572525, + 0.0, + 0.37802740931510925 + ], + [ + 0.2888234853744507, + -0.15146461129188538, + 0.09111805260181427, + -0.38535264134407043, + -0.27323901653289795, + 0.23933714628219604, + 0.0, + 0.37802740931510925 + ], + [ + 0.28005659580230713, + -0.14053013920783997, + 0.09040459245443344, + -0.38569313287734985, + -0.27807483077049255, + 0.23589608073234558, + 0.0, + 0.37802740931510925 + ], + [ + 0.2738026976585388, + -0.122843898832798, + 0.09189669787883759, + -0.3883522152900696, + -0.2728331387042999, + 0.23279285430908203, + 0.0, + 0.37802740931510925 + ], + [ + 0.2718356251716614, + -0.10240542888641357, + 0.0910760760307312, + -0.377496600151062, + -0.25890085101127625, + 0.21839410066604614, + 0.0, + 0.37802740931510925 + ], + [ + 0.2691623270511627, + -0.0812075063586235, + 0.08318142592906952, + -0.32907751202583313, + -0.20981891453266144, + 0.1905605047941208, + 0.0, + 0.37802740931510925 + ], + [ + 0.27218395471572876, + -0.06909222900867462, + 0.07730142772197723, + -0.2714250683784485, + -0.17081041634082794, + 0.15490634739398956, + 0.0, + 0.37802740931510925 + ], + [ + 0.2734840512275696, + -0.05648317188024521, + 0.07699567824602127, + -0.21804790198802948, + -0.1478148251771927, + 0.10408435761928558, + 0.0, + 0.37802740931510925 + ], + [ + 0.27002400159835815, + -0.0339922159910202, + 0.07775615155696869, + -0.17289188504219055, + -0.091567762196064, + 0.09327667951583862, + 0.0, + 0.37802740931510925 + ], + [ + 0.2649449110031128, + -0.009425493888556957, + 0.07979906350374222, + -0.16489648818969727, + -0.052326735109090805, + 0.10435870289802551, + 0.0, + 0.37717074155807495 + ], + [ + 0.2633727490901947, + 0.01644524559378624, + 0.07991893589496613, + -0.16623453795909882, + -0.06184746325016022, + 0.09925815463066101, + 0.0, + 0.37802740931510925 + ], + [ + 0.26231202483177185, + 0.044423989951610565, + 0.08219268918037415, + -0.15776078402996063, + -0.08207441866397858, + 0.09667371213436127, + 0.0, + 0.37802740931510925 + ], + [ + 0.26132312417030334, + 0.06947585940361023, + 0.0799979567527771, + -0.13302014768123627, + -0.11276573687791824, + 0.07269158959388733, + 0.0, + 0.37717074155807495 + ], + [ + 0.2584558427333832, + 0.09338574856519699, + 0.08034567534923553, + -0.12353671342134476, + -0.10100485384464264, + 0.06025579571723938, + 0.0, + 0.37802740931510925 + ], + [ + 0.25451454520225525, + 0.11117382347583771, + 0.08821400254964828, + -0.11741379648447037, + -0.09995974600315094, + 0.03580715134739876, + 0.0, + 0.37717074155807495 + ], + [ + 0.2559642791748047, + 0.1055450439453125, + 0.09593941271305084, + -0.15057526528835297, + -0.11994151771068573, + 0.030792320147156715, + 0.0, + 0.37717074155807495 + ], + [ + 0.27181071043014526, + 0.06880832463502884, + 0.11356475949287415, + -0.2477935254573822, + -0.163962259888649, + 0.016986237838864326, + 0.0, + 0.37802740931510925 + ], + [ + 0.29703596234321594, + 0.021255942061543465, + 0.13637445867061615, + -0.34468337893486023, + -0.24160712957382202, + -0.05099255219101906, + 0.0, + 0.37717074155807495 + ], + [ + 0.31269434094429016, + -0.020521236583590508, + 0.1345680058002472, + -0.3775164783000946, + -0.25048378109931946, + -0.08568849414587021, + 0.0, + 0.37802740931510925 + ], + [ + 0.32698237895965576, + -0.07046958804130554, + 0.12210787087678909, + -0.3562515079975128, + -0.22726882994174957, + -0.12101160734891891, + 0.0, + 0.37802740931510925 + ], + [ + 0.34628114104270935, + -0.09331998229026794, + 0.104285828769207, + -0.336754709482193, + -0.1910635083913803, + -0.0829416960477829, + 0.0, + 0.37802740931510925 + ], + [ + 0.365658700466156, + -0.09176872670650482, + 0.09000223129987717, + -0.3114638924598694, + -0.18332451581954956, + -0.045176077634096146, + 0.0, + 0.37802740931510925 + ], + [ + 0.37727007269859314, + -0.07901733368635178, + 0.08390095829963684, + -0.3041084110736847, + -0.1841546893119812, + -0.011037403717637062, + 0.0, + 0.37802740931510925 + ], + [ + 0.38079017400741577, + -0.05360361933708191, + 0.08427919447422028, + -0.31168532371520996, + -0.1848868429660797, + 0.03347926586866379, + 0.0, + 0.37802740931510925 + ], + [ + 0.3815763592720032, + -0.01615753024816513, + 0.08470039814710617, + -0.3130151033401489, + -0.19003133475780487, + 0.08567841351032257, + 0.0, + 0.37717074155807495 + ], + [ + 0.37972941994667053, + 0.0031667512375861406, + 0.08456193655729294, + -0.3142624795436859, + -0.18293586373329163, + 0.11417437344789505, + 0.0, + 0.37802740931510925 + ], + [ + 0.37891432642936707, + 0.023322803899645805, + 0.08442316949367523, + -0.3105997145175934, + -0.18427042663097382, + 0.16010788083076477, + 0.0, + 0.37802740931510925 + ], + [ + 0.38027358055114746, + 0.032141588628292084, + 0.08396419137716293, + -0.2922128736972809, + -0.19075430929660797, + 0.22605305910110474, + 0.0, + 0.37717074155807495 + ], + [ + 0.38348791003227234, + 0.03970760852098465, + 0.08348976820707321, + -0.2777135372161865, + -0.18988996744155884, + 0.3503389060497284, + 0.0, + 0.37802740931510925 + ], + [ + 0.3869023025035858, + 0.05592972785234451, + 0.08727270364761353, + -0.26242390275001526, + -0.22225579619407654, + 0.5130910277366638, + 0.0, + 0.37802740931510925 + ], + [ + 0.38579702377319336, + 0.065789595246315, + 0.08753655850887299, + -0.2662293016910553, + -0.22020933032035828, + 0.5704770684242249, + 0.0, + 0.37802740931510925 + ], + [ + 0.3821444809436798, + 0.07310224324464798, + 0.08692386001348495, + -0.2717305123806, + -0.19346638023853302, + 0.6331948637962341, + 0.0, + 0.37802740931510925 + ], + [ + 0.3784301280975342, + 0.0865001454949379, + 0.09082705527544022, + -0.28533628582954407, + -0.18006499111652374, + 0.7251037359237671, + 0.0, + 0.37802740931510925 + ], + [ + 0.36559078097343445, + 0.0899387076497078, + 0.10112525522708893, + -0.3042587339878082, + -0.17640535533428192, + 0.7786428332328796, + 0.0, + 0.37802740931510925 + ], + [ + 0.342538982629776, + 0.0967247486114502, + 0.09991802275180817, + -0.3127240538597107, + -0.1332007199525833, + 0.848683774471283, + 0.0, + 0.37802740931510925 + ], + [ + 0.3221946656703949, + 0.097344771027565, + 0.10748627781867981, + -0.32789304852485657, + -0.13135306537151337, + 0.8539925813674927, + 0.0, + 0.37717074155807495 + ], + [ + 0.3285236358642578, + 0.08339305967092514, + 0.11894688010215759, + -0.4205862581729889, + -0.1572193205356598, + 0.7908117175102234, + 0.0, + 0.37802740931510925 + ], + [ + 0.34101948142051697, + 0.06259302794933319, + 0.11927511543035507, + -0.444416344165802, + -0.13828590512275696, + 0.8306924104690552, + 0.0, + 0.37802740931510925 + ], + [ + 0.36686551570892334, + 0.05312320962548256, + 0.11650575697422028, + -0.43126121163368225, + -0.14605991542339325, + 0.9219124913215637, + 0.0, + 0.37802740931510925 + ], + [ + 0.38562753796577454, + 0.04880426079034805, + 0.10458400100469589, + -0.38745006918907166, + -0.1673925369977951, + 1.0186811685562134, + 0.0, + 0.37717074155807495 + ], + [ + 0.3993682265281677, + 0.059281229972839355, + 0.09577478468418121, + -0.35111385583877563, + -0.1858413964509964, + 1.1218791007995605, + 0.0, + 0.37802740931510925 + ], + [ + 0.400659441947937, + 0.0632588192820549, + 0.09266341477632523, + -0.3390880525112152, + -0.1916113793849945, + 1.1444071531295776, + 0.0, + 0.37802740931510925 + ], + [ + 0.40190234780311584, + 0.07219892740249634, + 0.08836827427148819, + -0.3296726942062378, + -0.1899765282869339, + 1.1789727210998535, + 0.0, + 0.37802740931510925 + ], + [ + 0.40774041414260864, + 0.07942493259906769, + 0.09294893592596054, + -0.3395719826221466, + -0.18770326673984528, + 1.2169944047927856, + 0.0, + 0.37717074155807495 + ], + [ + 0.4042711555957794, + 0.08640559762716293, + 0.09213157743215561, + -0.3297596573829651, + -0.16968026757240295, + 1.2586948871612549, + 0.0, + 0.37802740931510925 + ], + [ + 0.39361056685447693, + 0.08954106271266937, + 0.08780058473348618, + -0.3087877035140991, + -0.1600152999162674, + 1.2595895528793335, + 0.0, + 0.37717074155807495 + ], + [ + 0.3662647604942322, + 0.0955120101571083, + 0.0878169909119606, + -0.28785452246665955, + -0.1521940380334854, + 1.2558834552764893, + 0.0, + 0.37802740931510925 + ], + [ + 0.34268641471862793, + 0.10125262290239334, + 0.09114041924476624, + -0.29155540466308594, + -0.14912979304790497, + 1.2334965467453003, + 0.0, + 0.37717074155807495 + ], + [ + 0.31303659081459045, + 0.10620725154876709, + 0.0959770530462265, + -0.28540492057800293, + -0.13512569665908813, + 1.2102177143096924, + 0.0, + 0.37802740931510925 + ], + [ + 0.29326701164245605, + 0.10670269280672073, + 0.09843134135007858, + -0.2628708481788635, + -0.128997340798378, + 1.2141101360321045, + 0.0, + 0.37717074155807495 + ], + [ + 0.29079797863960266, + 0.10368864983320236, + 0.10624299943447113, + -0.2793738842010498, + -0.12610164284706116, + 1.2377738952636719, + 0.0, + 0.37802740931510925 + ], + [ + 0.30473771691322327, + 0.07270827144384384, + 0.1105608120560646, + -0.36192744970321655, + -0.09380964189767838, + 1.0983723402023315, + 0.0, + 0.37802740931510925 + ], + [ + 0.3272867202758789, + 0.038987621665000916, + 0.12957236170768738, + -0.4292316436767578, + -0.11070573329925537, + 0.9334039688110352, + 0.0, + 0.37802740931510925 + ], + [ + 0.33358457684516907, + 0.03810957074165344, + 0.11700504273176193, + -0.3846670687198639, + -0.08869524300098419, + 0.9005086421966553, + 0.0, + 0.37802740931510925 + ], + [ + 0.32758793234825134, + 0.043169692158699036, + 0.10772056877613068, + -0.3317595422267914, + -0.07468599826097488, + 0.8549296855926514, + 0.0, + 0.37717074155807495 + ], + [ + 0.3186804950237274, + 0.0589355006814003, + 0.10588794201612473, + -0.2839486300945282, + -0.07591995596885681, + 0.8360737562179565, + 0.0, + 0.37717074155807495 + ], + [ + 0.3145779073238373, + 0.06644123047590256, + 0.10424819588661194, + -0.25236475467681885, + -0.08616379648447037, + 0.8020815253257751, + 0.0, + 0.37802740931510925 + ], + [ + 0.30884209275245667, + 0.0903673842549324, + 0.10343657433986664, + -0.21489760279655457, + -0.12103589624166489, + 0.801293671131134, + 0.0, + 0.37717074155807495 + ], + [ + 0.3089156746864319, + 0.10783380270004272, + 0.10436014086008072, + -0.20950885117053986, + -0.17004065215587616, + 0.7989487051963806, + 0.0, + 0.37802740931510925 + ], + [ + 0.30469775199890137, + 0.11802221834659576, + 0.10499588400125504, + -0.208550363779068, + -0.17832998931407928, + 0.7687765955924988, + 0.0, + 0.37802740931510925 + ], + [ + 0.2990154027938843, + 0.09827842563390732, + 0.11712247878313065, + -0.2648296356201172, + -0.1186574175953865, + 0.7295107245445251, + 0.0, + 0.37717074155807495 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9974852800369263 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9723638892173767 + ], + [ + 0.7021830081939697 + ], + [ + 0.4094836115837097 + ], + [ + 0.37802740931510925 + ], + [ + 0.37802740931510925 + ], + [ + 0.37802740931510925 + ], + [ + 0.37802740931510925 + ], + [ + 0.37802740931510925 + ], + [ + 0.37802740931510925 + ], + [ + 0.37802740931510925 + ], + [ + 0.37802740931510925 + ], + [ + 0.37802740931510925 + ], + [ + 0.37802740931510925 + ], + [ + 0.37802740931510925 + ], + [ + 0.37802740931510925 + ], + [ + 0.37802740931510925 + ], + [ + 0.37802740931510925 + ], + [ + 0.37802740931510925 + ], + [ + 0.37802740931510925 + ], + [ + 0.37802740931510925 + ], + [ + 0.37802740931510925 + ], + [ + 0.37802740931510925 + ], + [ + 0.37802740931510925 + ], + [ + 0.37802740931510925 + ], + [ + 0.37802740931510925 + ], + [ + 0.37802740931510925 + ], + [ + 0.37802740931510925 + ], + [ + 0.37802740931510925 + ], + [ + 0.37717074155807495 + ], + [ + 0.37802740931510925 + ], + [ + 0.37802740931510925 + ], + [ + 0.37717074155807495 + ], + [ + 0.37802740931510925 + ], + [ + 0.37717074155807495 + ], + [ + 0.37717074155807495 + ], + [ + 0.37802740931510925 + ], + [ + 0.37717074155807495 + ], + [ + 0.37802740931510925 + ], + [ + 0.37802740931510925 + ], + [ + 0.37802740931510925 + ], + [ + 0.37802740931510925 + ], + [ + 0.37802740931510925 + ], + [ + 0.37802740931510925 + ], + [ + 0.37717074155807495 + ], + [ + 0.37802740931510925 + ], + [ + 0.37802740931510925 + ], + [ + 0.37717074155807495 + ], + [ + 0.37802740931510925 + ], + [ + 0.37802740931510925 + ], + [ + 0.37802740931510925 + ], + [ + 0.37802740931510925 + ], + [ + 0.37802740931510925 + ], + [ + 0.37802740931510925 + ], + [ + 0.37802740931510925 + ], + [ + 0.37717074155807495 + ], + [ + 0.37802740931510925 + ], + [ + 0.37802740931510925 + ], + [ + 0.37802740931510925 + ], + [ + 0.37717074155807495 + ], + [ + 0.37802740931510925 + ], + [ + 0.37802740931510925 + ], + [ + 0.37802740931510925 + ], + [ + 0.37717074155807495 + ], + [ + 0.37802740931510925 + ], + [ + 0.37717074155807495 + ], + [ + 0.37802740931510925 + ], + [ + 0.37717074155807495 + ], + [ + 0.37802740931510925 + ], + [ + 0.37717074155807495 + ], + [ + 0.37802740931510925 + ], + [ + 0.37802740931510925 + ], + [ + 0.37802740931510925 + ], + [ + 0.37802740931510925 + ], + [ + 0.37717074155807495 + ], + [ + 0.37717074155807495 + ], + [ + 0.37802740931510925 + ], + [ + 0.37717074155807495 + ], + [ + 0.37802740931510925 + ], + [ + 0.37802740931510925 + ], + [ + 0.37717074155807495 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.35560548305511475, + -0.1578284204006195, + 0.10222825407981873 + ], + [ + 0.35541361570358276, + -0.1590774953365326, + 0.10145064443349838 + ], + [ + 0.35478639602661133, + -0.16002236306667328, + 0.10367654263973236 + ], + [ + 0.3543753921985626, + -0.1594952493906021, + 0.10632908344268799 + ], + [ + 0.34907081723213196, + -0.15769343078136444, + 0.10538219660520554 + ], + [ + 0.34736087918281555, + -0.15386970341205597, + 0.10485020279884338 + ], + [ + 0.3443037271499634, + -0.15078356862068176, + 0.10603292286396027 + ], + [ + 0.345878005027771, + -0.15388257801532745, + 0.12127912044525146 + ], + [ + 0.3449709117412567, + -0.14623476564884186, + 0.12756171822547913 + ], + [ + 0.34929588437080383, + -0.1471167355775833, + 0.1281650960445404 + ], + [ + 0.3504263460636139, + -0.1392267495393753, + 0.11853497475385666 + ], + [ + 0.34790050983428955, + -0.1347445845603943, + 0.10756649821996689 + ], + [ + 0.3486771285533905, + -0.13157032430171967, + 0.10569775104522705 + ], + [ + 0.3480755686759949, + -0.12849421799182892, + 0.101593978703022 + ], + [ + 0.34902822971343994, + -0.12255830317735672, + 0.09611126780509949 + ], + [ + 0.3449019491672516, + -0.12019706517457962, + 0.09052151441574097 + ], + [ + 0.34235578775405884, + -0.1173829510807991, + 0.08570840954780579 + ], + [ + 0.34000086784362793, + -0.10589111596345901, + 0.08201608806848526 + ], + [ + 0.3304864168167114, + -0.090795136988163, + 0.08406984061002731 + ], + [ + 0.322386234998703, + -0.06346485763788223, + 0.08857784420251846 + ], + [ + 0.3168129622936249, + -0.030150264501571655, + 0.08790898323059082 + ], + [ + 0.3160993456840515, + 0.008411046117544174, + 0.08720643073320389 + ], + [ + 0.3180547058582306, + 0.05134565010666847, + 0.0853172019124031 + ], + [ + 0.30785468220710754, + 0.08628249168395996, + 0.08469970524311066 + ], + [ + 0.2870829403400421, + 0.1178460642695427, + 0.08568517863750458 + ], + [ + 0.27298492193222046, + 0.11308714747428894, + 0.0913894847035408 + ], + [ + 0.2872062027454376, + 0.07892848551273346, + 0.1181444525718689 + ], + [ + 0.32180288434028625, + 0.035174380987882614, + 0.14312735199928284 + ], + [ + 0.3293246626853943, + -0.014360993169248104, + 0.1479777842760086 + ], + [ + 0.3294590711593628, + -0.0586075522005558, + 0.13464468717575073 + ], + [ + 0.3174065947532654, + -0.11248805373907089, + 0.12490959465503693 + ], + [ + 0.3104828894138336, + -0.13640159368515015, + 0.1138535588979721 + ], + [ + 0.3045444190502167, + -0.15725477039813995, + 0.11312472075223923 + ], + [ + 0.3038403391838074, + -0.15687614679336548, + 0.10973075032234192 + ], + [ + 0.29492422938346863, + -0.15420083701610565, + 0.09646102041006088 + ], + [ + 0.2888234853744507, + -0.15146461129188538, + 0.09111805260181427 + ], + [ + 0.28005659580230713, + -0.14053013920783997, + 0.09040459245443344 + ], + [ + 0.2738026976585388, + -0.122843898832798, + 0.09189669787883759 + ], + [ + 0.2718356251716614, + -0.10240542888641357, + 0.0910760760307312 + ], + [ + 0.2691623270511627, + -0.0812075063586235, + 0.08318142592906952 + ], + [ + 0.27218395471572876, + -0.06909222900867462, + 0.07730142772197723 + ], + [ + 0.2734840512275696, + -0.05648317188024521, + 0.07699567824602127 + ], + [ + 0.27002400159835815, + -0.0339922159910202, + 0.07775615155696869 + ], + [ + 0.2649449110031128, + -0.009425493888556957, + 0.07979906350374222 + ], + [ + 0.2633727490901947, + 0.01644524559378624, + 0.07991893589496613 + ], + [ + 0.26231202483177185, + 0.044423989951610565, + 0.08219268918037415 + ], + [ + 0.26132312417030334, + 0.06947585940361023, + 0.0799979567527771 + ], + [ + 0.2584558427333832, + 0.09338574856519699, + 0.08034567534923553 + ], + [ + 0.25451454520225525, + 0.11117382347583771, + 0.08821400254964828 + ], + [ + 0.2559642791748047, + 0.1055450439453125, + 0.09593941271305084 + ], + [ + 0.27181071043014526, + 0.06880832463502884, + 0.11356475949287415 + ], + [ + 0.29703596234321594, + 0.021255942061543465, + 0.13637445867061615 + ], + [ + 0.31269434094429016, + -0.020521236583590508, + 0.1345680058002472 + ], + [ + 0.32698237895965576, + -0.07046958804130554, + 0.12210787087678909 + ], + [ + 0.34628114104270935, + -0.09331998229026794, + 0.104285828769207 + ], + [ + 0.365658700466156, + -0.09176872670650482, + 0.09000223129987717 + ], + [ + 0.37727007269859314, + -0.07901733368635178, + 0.08390095829963684 + ], + [ + 0.38079017400741577, + -0.05360361933708191, + 0.08427919447422028 + ], + [ + 0.3815763592720032, + -0.01615753024816513, + 0.08470039814710617 + ], + [ + 0.37972941994667053, + 0.0031667512375861406, + 0.08456193655729294 + ], + [ + 0.37891432642936707, + 0.023322803899645805, + 0.08442316949367523 + ], + [ + 0.38027358055114746, + 0.032141588628292084, + 0.08396419137716293 + ], + [ + 0.38348791003227234, + 0.03970760852098465, + 0.08348976820707321 + ], + [ + 0.3869023025035858, + 0.05592972785234451, + 0.08727270364761353 + ], + [ + 0.38579702377319336, + 0.065789595246315, + 0.08753655850887299 + ], + [ + 0.3821444809436798, + 0.07310224324464798, + 0.08692386001348495 + ], + [ + 0.3784301280975342, + 0.0865001454949379, + 0.09082705527544022 + ], + [ + 0.36559078097343445, + 0.0899387076497078, + 0.10112525522708893 + ], + [ + 0.342538982629776, + 0.0967247486114502, + 0.09991802275180817 + ], + [ + 0.3221946656703949, + 0.097344771027565, + 0.10748627781867981 + ], + [ + 0.3285236358642578, + 0.08339305967092514, + 0.11894688010215759 + ], + [ + 0.34101948142051697, + 0.06259302794933319, + 0.11927511543035507 + ], + [ + 0.36686551570892334, + 0.05312320962548256, + 0.11650575697422028 + ], + [ + 0.38562753796577454, + 0.04880426079034805, + 0.10458400100469589 + ], + [ + 0.3993682265281677, + 0.059281229972839355, + 0.09577478468418121 + ], + [ + 0.400659441947937, + 0.0632588192820549, + 0.09266341477632523 + ], + [ + 0.40190234780311584, + 0.07219892740249634, + 0.08836827427148819 + ], + [ + 0.40774041414260864, + 0.07942493259906769, + 0.09294893592596054 + ], + [ + 0.4042711555957794, + 0.08640559762716293, + 0.09213157743215561 + ], + [ + 0.39361056685447693, + 0.08954106271266937, + 0.08780058473348618 + ], + [ + 0.3662647604942322, + 0.0955120101571083, + 0.0878169909119606 + ], + [ + 0.34268641471862793, + 0.10125262290239334, + 0.09114041924476624 + ], + [ + 0.31303659081459045, + 0.10620725154876709, + 0.0959770530462265 + ], + [ + 0.29326701164245605, + 0.10670269280672073, + 0.09843134135007858 + ], + [ + 0.29079797863960266, + 0.10368864983320236, + 0.10624299943447113 + ], + [ + 0.30473771691322327, + 0.07270827144384384, + 0.1105608120560646 + ], + [ + 0.3272867202758789, + 0.038987621665000916, + 0.12957236170768738 + ], + [ + 0.33358457684516907, + 0.03810957074165344, + 0.11700504273176193 + ], + [ + 0.32758793234825134, + 0.043169692158699036, + 0.10772056877613068 + ], + [ + 0.3186804950237274, + 0.0589355006814003, + 0.10588794201612473 + ], + [ + 0.3145779073238373, + 0.06644123047590256, + 0.10424819588661194 + ], + [ + 0.30884209275245667, + 0.0903673842549324, + 0.10343657433986664 + ], + [ + 0.3089156746864319, + 0.10783380270004272, + 0.10436014086008072 + ], + [ + 0.30469775199890137, + 0.11802221834659576, + 0.10499588400125504 + ], + [ + 0.2990154027938843, + 0.09827842563390732, + 0.11712247878313065 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9016152994107627, + -0.38142847445781936, + 0.20396610194152723, + -0.3711733035646947, + -0.9243914704556876, + -0.0879249001685115, + 0.22208158543497444, + 0.0035676633182439715, + -0.9750215593458105 + ], + [ + 0.901711933197297, + -0.38284350911774595, + 0.2008642254260418, + -0.37189687861017245, + -0.923782425104639, + -0.09120714197804111, + 0.2204729035723075, + 0.007541789854024816, + -0.9753639424318461 + ], + [ + 0.8948164605134252, + -0.393480432301502, + 0.21089488232304032, + -0.37156062784877286, + -0.9182779538434752, + -0.1367782852563459, + 0.24747969982778706, + 0.0440312262021371, + -0.9678920648978815 + ], + [ + 0.9031226035853939, + -0.3757324939400259, + 0.20783324058183708, + -0.34688287708020865, + -0.923709573996486, + -0.16258195624295793, + 0.2530648780089727, + 0.07473764717221595, + -0.9645581639348998 + ], + [ + 0.9164016212957145, + -0.3610336288411615, + 0.17280852795035542, + -0.33358038855291383, + -0.9274938273568609, + -0.16875818376543672, + 0.22120622247005942, + 0.09700473731062968, + -0.9703905853210978 + ], + [ + 0.927581517212393, + -0.3376103015104971, + 0.1600369121170042, + -0.3157145095281475, + -0.9373252626223532, + -0.14746423472604261, + 0.1997920854272154, + 0.08625912336632786, + -0.9760340599777839 + ], + [ + 0.9353776763987596, + -0.31837734702997567, + 0.15396255191770428, + -0.30893056535931696, + -0.9475026708578363, + -0.08246571714378807, + 0.17213514539927674, + 0.029572852676414272, + -0.9846293404641916 + ], + [ + 0.9360438009013934, + -0.3112560170789125, + 0.16413925376412639, + -0.3103961498663924, + -0.9500843035716866, + -0.03152849908929064, + 0.1657595636522751, + -0.021436136286071848, + -0.9859331920160374 + ], + [ + 0.9452692098118276, + -0.2902511777778658, + 0.14906500186256044, + -0.29649817697789094, + -0.9548013235310506, + 0.02105382701889659, + 0.13621656298156504, + -0.06409903573312237, + -0.9886032376983062 + ], + [ + 0.9452437141061215, + -0.27645573380825117, + 0.17345474391727106, + -0.28226550795558913, + -0.9592915283758028, + 0.009270739182478862, + 0.16383071739279537, + -0.057723399336470624, + -0.9847982053231028 + ], + [ + 0.9526783337423108, + -0.2486000087993082, + 0.17493435352428027, + -0.2540519277723899, + -0.9671475007966119, + 0.00912851017415501, + 0.16691797510485917, + -0.0531389436087239, + -0.984537781021654 + ], + [ + 0.9586819324011976, + -0.2324546277064236, + 0.1639932881107464, + -0.23538713998022337, + -0.9719003831139695, + -0.0015936231834076317, + 0.1597555846267573, + -0.03707413331135277, + -0.986460167376147 + ], + [ + 0.9606100794506715, + -0.2257281475903785, + 0.16209589335696148, + -0.22747525434757218, + -0.9737514378265747, + -0.007946445128876338, + 0.15963484556099414, + -0.029239369283471442, + -0.9867430138423189 + ], + [ + 0.9688588080416667, + -0.19104179432892104, + 0.15752981590691642, + -0.19131559254693914, + -0.98143480168333, + -0.013567390803544414, + 0.15719718231728683, + -0.016993023991884442, + -0.9874210262127887 + ], + [ + 0.9750232941083398, + -0.1678871467799106, + 0.14540798427948357, + -0.16893720701457923, + -0.9856131728634753, + -0.005185900510639921, + 0.14418667078559996, + -0.019508444942993544, + -0.989358188192563 + ], + [ + 0.9807709106965399, + -0.14785948088846004, + 0.12738129628354064, + -0.14947210890676801, + -0.9887609505387119, + 0.0031418702624764656, + 0.12548509628813828, + -0.02212140594939809, + -0.9918488463512869 + ], + [ + 0.9806466167593332, + -0.15643999720558632, + 0.11772315113345179, + -0.15803579431175208, + -0.9874240789541117, + 0.004286725775897556, + 0.11557205871112179, + -0.022808234827366457, + -0.9930372015535635 + ], + [ + 0.9863425671215562, + -0.13148884340028846, + 0.09919185624491915, + -0.131879022443984, + -0.9912622985980777, + -0.0026417451191265463, + 0.09867250743382096, + -0.010475659373504007, + -0.9950648204199627 + ], + [ + 0.9906852768984798, + -0.10959306041595432, + 0.08082105694215425, + -0.10846870922693769, + -0.9939334921393401, + -0.018186597327101463, + 0.08232388022453749, + 0.009250638483968364, + -0.9965626946822838 + ], + [ + 0.9957270530523916, + -0.03932346172497658, + 0.08355418108965848, + -0.03631233752082447, + -0.9986457248370109, + -0.037257622153520874, + 0.08490612441616249, + 0.034064374685661085, + -0.9958064914499711 + ], + [ + 0.9957458920085474, + 0.02873830959095231, + 0.08754557732950641, + 0.032882721376807124, + -0.9983875377635112, + -0.04627149309638123, + 0.08607464889825156, + 0.048953385994921356, + -0.9950852831876645 + ], + [ + 0.9866562481122431, + 0.0637876164535398, + 0.14980182925534666, + 0.06845300230455935, + -0.9973104810044033, + -0.026191429022827263, + 0.14772824556111105, + 0.03609632205560431, + -0.9883690712469175 + ], + [ + 0.9739671475564255, + 0.09839423016806774, + 0.2042218669742137, + 0.09520210135318326, + -0.9951333074835278, + 0.025421648940084675, + 0.20572932551957282, + -0.005317500026139692, + -0.9785944864011517 + ], + [ + 0.9742939832537644, + 0.12194322016043262, + 0.18942303252882833, + 0.11606292700682426, + -0.9923587636178111, + 0.04187458949694803, + 0.19308192864719856, + -0.01881316900029304, + -0.9810022596824354 + ], + [ + 0.9775682876986579, + 0.17194663372675126, + 0.12163304664420965, + 0.1689609276208561, + -0.9850178049086736, + 0.03452722042676043, + 0.12574755593415668, + -0.013201483361225798, + -0.9919744316330181 + ], + [ + 0.983657627088201, + 0.16532598440596602, + 0.07130912670485176, + 0.16918235572236884, + -0.9842174192668942, + -0.051897997300909215, + 0.06160359716315417, + 0.0631141069160739, + -0.9961032106788669 + ], + [ + 0.9796342858847691, + 0.1073460998545279, + 0.16968641891754405, + 0.14395773248555546, + -0.9646219533155719, + -0.2208634384393846, + 0.1399744161504372, + 0.2407930688945849, + -0.9604300395112971 + ], + [ + 0.9779333482497223, + -0.0814816070418337, + 0.19237233193722958, + 0.005431158764774624, + -0.9105802195457725, + -0.41329670490634784, + 0.20884651995079845, + 0.40522143512634323, + -0.8900442234061113 + ], + [ + 0.9745318746061621, + -0.17612177631115103, + 0.13881190613778244, + -0.08282486918393336, + -0.8579285670135535, + -0.507048927566892, + 0.20839305751695275, + 0.48263826393177306, + -0.8506659977733095 + ], + [ + 0.981959130330964, + -0.0893967211393237, + 0.16662680639439353, + -0.005833404784796457, + -0.8950904122060354, + -0.4458465266943845, + 0.18900327443796688, + 0.4368310660042024, + -0.8794636899982619 + ], + [ + 0.9650255872046902, + -0.02879071796615903, + 0.2605699725586894, + 0.0734436376969363, + -0.9244576880060533, + -0.3741443774378334, + 0.2516577996448436, + 0.3801961041955794, + -0.8900108281545905 + ], + [ + 0.9433570216098524, + 0.08092020189011417, + 0.3217599271280562, + 0.1912249381547868, + -0.9251269564554105, + -0.3279834408430509, + 0.2711282958436592, + 0.37093400405680294, + -0.8881989708546735 + ], + [ + 0.9359092101407186, + 0.09656993614514998, + 0.3387450336266166, + 0.21364753992148933, + -0.9202219172081707, + -0.3279426043917045, + 0.2800512079232504, + 0.37929654694267917, + -0.8818760969762636 + ], + [ + 0.930111965429408, + 0.11373473308853596, + 0.34922219610775357, + 0.23169354596740158, + -0.9194705486563849, + -0.3176350278394642, + 0.2849733891472928, + 0.37634866897971764, + -0.8815621627741855 + ], + [ + 0.9336235532477802, + 0.12796731142501497, + 0.3346213203423278, + 0.23485443945363596, + -0.9239510089392212, + -0.30192370782883854, + 0.2705373413965399, + 0.36047038753113775, + -0.8926761151858179 + ], + [ + 0.9354546877842559, + 0.12113210742170072, + 0.3320414727922372, + 0.22826428995486858, + -0.9242973109437542, + -0.3058919660820546, + 0.2698517019287819, + 0.3619412846494894, + -0.8922883869200682 + ], + [ + 0.9349548658581498, + 0.11613604886564097, + 0.335219058172483, + 0.22473636767026542, + -0.9250131957966842, + -0.3063399298955013, + 0.2745049432242421, + 0.36174992156997465, + -0.8909455821707479 + ], + [ + 0.9370349688982408, + 0.11423421791952827, + 0.3300242574693356, + 0.22216280613717165, + -0.9241078897765322, + -0.3109152547271067, + 0.26946085918205287, + 0.36465758117592706, + -0.8913000021652595 + ], + [ + 0.9437102624009333, + 0.10928166537216553, + 0.31219938861671026, + 0.2094412254129489, + -0.9279551335269245, + -0.30827527188950793, + 0.25601819024570105, + 0.3563099602516238, + -0.8986088684677012 + ], + [ + 0.9603638687111318, + 0.11315340405749197, + 0.25474996923334614, + 0.18525528164932276, + -0.9419597046322163, + -0.2799864201532256, + 0.20828278924390023, + 0.3160826189454119, + -0.9255863318488402 + ], + [ + 0.9736475735049109, + 0.10361206312789685, + 0.2031623562138913, + 0.15204227347798835, + -0.9588854633849648, + -0.23962849410002607, + 0.16998102742260365, + 0.26420296834703116, + -0.9493699183316132 + ], + [ + 0.9837423923702592, + 0.06974923842408418, + 0.16548700611498, + 0.10276356145066229, + -0.9743479539910951, + -0.20021417280338338, + 0.14727713974549858, + 0.2139652034622157, + -0.9656750674091973 + ], + [ + 0.9914816964731964, + 0.07609068532336671, + 0.10570834009506047, + 0.09275127195529251, + -0.9822742518719183, + -0.1628941240810692, + 0.09143985514701974, + 0.17131112548951336, + -0.9809644494956015 + ], + [ + 0.993198286012513, + 0.09421754402150462, + 0.0684121265592766, + 0.10402680223375455, + -0.9819630693484126, + -0.15788272499822187, + 0.05230285918404422, + 0.16392554661919134, + -0.9850851872233048 + ], + [ + 0.993175418330755, + 0.08755216933201422, + 0.07705326773595517, + 0.09890578536429202, + -0.9823741159833119, + -0.1586150745278627, + 0.06180804191206091, + 0.1651536069580836, + -0.9843292396671616 + ], + [ + 0.9919802378092015, + 0.0825046625690254, + 0.09575065770202987, + 0.0961982823528492, + -0.9842134955985435, + -0.1485586939699496, + 0.08198230460508862, + 0.15657833737802587, + -0.9842571442441104 + ], + [ + 0.9910245815192026, + 0.05710115803099298, + 0.120870743259934, + 0.07216630749657607, + -0.9896322289531914, + -0.12417759652790755, + 0.11252689850430847, + 0.13178584585856606, + -0.9848706452851274 + ], + [ + 0.9930977632703589, + 0.04735801766832111, + 0.10730354490853271, + 0.05991242273549578, + -0.9913262610981683, + -0.11697326899377394, + 0.1008331998370267, + 0.12259470714371618, + -0.9873212261422182 + ], + [ + 0.9943703754078804, + 0.02387029685261485, + 0.10323645402356342, + 0.03562079558817888, + -0.9928968251333449, + -0.11352115909287332, + 0.09979336367142082, + 0.11655944220993993, + -0.9881574677139527 + ], + [ + 0.9923449948876244, + 0.012498652287656347, + 0.12286250368795636, + 0.030566266031108208, + -0.9887688680352628, + -0.14629363959236522, + 0.1196541453623582, + 0.14892920900635173, + -0.9815818744263497 + ], + [ + 0.9864459475508341, + -0.023561946880039115, + 0.16238604379613347, + 0.016757617215763205, + -0.9699960970304579, + -0.24254227262670966, + 0.1632285968382609, + 0.24197604510550505, + -0.9564538769691466 + ], + [ + 0.9696926173801068, + -0.12871419865062478, + 0.2076749452010169, + -0.049490004141090116, + -0.9358383028464096, + -0.34893754515051384, + 0.23926338476380535, + 0.32808432756119194, + -0.9138455595559285 + ], + [ + 0.9652381060578468, + -0.17059096941816193, + 0.19802555331783125, + -0.08291282885101996, + -0.9183526061437802, + -0.38698055971954043, + 0.2478726718010337, + 0.3571095237345247, + -0.9005731100984076 + ], + [ + 0.9671604844586417, + -0.1911446179155948, + 0.16752412466157596, + -0.11761230340981824, + -0.9208707410369826, + -0.37170475432611244, + 0.2253174280617521, + 0.3397952520914617, + -0.913110750822559 + ], + [ + 0.9784276920028717, + -0.1407264957079755, + 0.15124584267902036, + -0.08133905710082173, + -0.9353888232603487, + -0.3441390810552758, + 0.18990315771962057, + 0.3244130125709719, + -0.9266568879378945 + ], + [ + 0.9822399013796054, + -0.09879693821420692, + 0.15951157054358622, + -0.044403957837590366, + -0.9483918478892323, + -0.3139764185183421, + 0.18229938196861994, + 0.3013172213079528, + -0.9359352902188878 + ], + [ + 0.9830315098109738, + -0.06535999992018315, + 0.1713975528681533, + -0.01085055626492512, + -0.9534509975734669, + -0.3013527180147924, + 0.18311558138918557, + 0.2943794585846556, + -0.9379815660320335 + ], + [ + 0.9824062313986838, + -0.024483711858854874, + 0.18514465793710708, + 0.032902533388872654, + -0.9531717754470447, + -0.3006343123925189, + 0.1838353061999515, + 0.3014367501562162, + -0.9355963156456042 + ], + [ + 0.9783961991511553, + 0.023464378949120086, + 0.20540277604527452, + 0.0840331580980788, + -0.952896896432977, + -0.29142054338783957, + 0.18888966574864913, + 0.30238539595842334, + -0.9342824875188613 + ], + [ + 0.9769116712096705, + 0.05247963613385887, + 0.2070977412855744, + 0.11202548166414547, + -0.9512391396262998, + -0.28739239847451326, + 0.18191722873946037, + 0.30395721250576535, + -0.9351556741278322 + ], + [ + 0.9704968124861859, + 0.09651221106861932, + 0.22095549341167942, + 0.15672567880199653, + -0.9489003695095118, + -0.27390719294820426, + 0.18322936052446903, + 0.3004554573632466, + -0.9360307257683563 + ], + [ + 0.9568815886597608, + 0.1614027244635913, + 0.2415093907484808, + 0.22006732157714223, + -0.9454876241880094, + -0.2400490084986319, + 0.18959957610141173, + 0.28284680136611695, + -0.9402391651591213 + ], + [ + 0.9223733232995206, + 0.28146161613943504, + 0.26458800257301013, + 0.33704683997636947, + -0.9210292165390912, + -0.195204021329816, + 0.18875084139505582, + 0.2692295320383055, + -0.9443985276095539 + ], + [ + 0.8498014190494259, + 0.42424608374317835, + 0.3128143356851756, + 0.4787984403697358, + -0.8694742331819765, + -0.12151794654338868, + 0.22043049172265194, + 0.25304113946390105, + -0.9420088004141574 + ], + [ + 0.8213192183304936, + 0.4726397622260725, + 0.31944701714661317, + 0.5269927623064853, + -0.8430273521678544, + -0.10762672518216185, + 0.21843390322376066, + 0.2567421637747449, + -0.9414722997851264 + ], + [ + 0.7911015230916336, + 0.5284125295921214, + 0.30812104558460995, + 0.5806839056390907, + -0.8070967143314809, + -0.1067759122979519, + 0.19226175359085185, + 0.26339151900808, + -0.9453360914620721 + ], + [ + 0.7363300420412722, + 0.5986680846378026, + 0.31530079864092225, + 0.6524902929375304, + -0.7516027823153673, + -0.09669371871065258, + 0.1790935141477617, + 0.27692920043199437, + -0.9440528222182814 + ], + [ + 0.7008197975852201, + 0.6326298020329622, + 0.3295923920425746, + 0.6914146511507471, + -0.7160948682249175, + -0.09567611967481045, + 0.17549185589850547, + 0.294936727590297, + -0.9392629744813883 + ], + [ + 0.6551164725587608, + 0.6870092048678509, + 0.3143895033378337, + 0.7437638462337695, + -0.6595742441527286, + -0.10852261278602951, + 0.13280718511329165, + 0.30492649749931566, + -0.9430705608304629 + ], + [ + 0.6513188597449144, + 0.6860316683002388, + 0.3242596074594793, + 0.7474149559567802, + -0.6537768462401004, + -0.11809622742692703, + 0.13097567160625212, + 0.31927478041577173, + -0.9385675191683079 + ], + [ + 0.6945947010861353, + 0.6040086712721299, + 0.3907834774541251, + 0.7021561613288448, + -0.6874263054175032, + -0.18553112873041822, + 0.15657243158041498, + 0.4032599653426038, + -0.9015910791599917 + ], + [ + 0.6679269809715851, + 0.6267061422260954, + 0.4013887883166002, + 0.7313495350545959, + -0.6526185600087923, + -0.19803250416907942, + 0.13784558631167662, + 0.4258267563553693, + -0.8942427902456104 + ], + [ + 0.5978630300619865, + 0.6870423259548565, + 0.41295597783739746, + 0.7882750621350992, + -0.5974412785878346, + -0.14726284343051, + 0.14554114092244075, + 0.4135659088777437, + -0.8987663852821378 + ], + [ + 0.517158261321604, + 0.7552891913605545, + 0.40259852230321885, + 0.8395164126915934, + -0.5392091324887406, + -0.06682592507536525, + 0.16661190104027385, + 0.37254764642211835, + -0.9129341299223545 + ], + [ + 0.42651747640433707, + 0.818371905053692, + 0.38516265050036613, + 0.8854047624042358, + -0.4647674971307447, + 0.0070413296132539605, + 0.1847735073910085, + 0.3380215949160861, + -0.922821842143331 + ], + [ + 0.40601678745668796, + 0.8324227647827765, + 0.37712426198104654, + 0.8938023171889234, + -0.44770992659889736, + 0.02594685746908948, + 0.19044103048204175, + 0.3265396795126257, + -0.9257991421538097 + ], + [ + 0.37500402129466087, + 0.8510988260788174, + 0.3674272339662544, + 0.9075863636196243, + -0.4178093754224244, + 0.04150082385725487, + 0.1888358456028431, + 0.3179089713367377, + -0.9291258845598247 + ], + [ + 0.3403811937824194, + 0.8629619565732197, + 0.37341304801329, + 0.9215855708551736, + -0.3849872474355738, + 0.049647305098307226, + 0.18660299705738703, + 0.3272330680406564, + -0.9263357062479565 + ], + [ + 0.30264949679865677, + 0.883622948328943, + 0.3572306919540734, + 0.9380229981750287, + -0.34255513099219687, + 0.05261974083601165, + 0.16886721701458218, + 0.31916526662120537, + -0.9325327852683598 + ], + [ + 0.30229581517547527, + 0.892112177606118, + 0.33578728786877216, + 0.9398032432931771, + -0.3378209177899753, + 0.05144794844466301, + 0.1593333110903708, + 0.30002148268150647, + -0.940531767622216 + ], + [ + 0.30615336350794514, + 0.8983707790507882, + 0.31496041237027206, + 0.9398326357863456, + -0.33791372049946283, + 0.05028850971246844, + 0.15160717240177707, + 0.28061407813203293, + -0.9477715992951293 + ], + [ + 0.32726704468039947, + 0.8896940431486289, + 0.3183406839409672, + 0.933177885614203, + -0.3572748860354722, + 0.039162349379800634, + 0.1485776405343774, + 0.28425194000074244, + -0.9471671021203447 + ], + [ + 0.3495995711602158, + 0.884460188774233, + 0.3090474305313694, + 0.9271634405811003, + -0.37403286210537146, + 0.021618800037952413, + 0.13471486293059887, + 0.2789795557719464, + -0.9508008798727932 + ], + [ + 0.34626979064743896, + 0.8931972255571894, + 0.2868727040725877, + 0.9292733793799608, + -0.36849979161194985, + 0.02566885189674785, + 0.12863987896731868, + 0.257694819192954, + -0.9576247499414292 + ], + [ + 0.32430520695083, + 0.8970798510657866, + 0.3001230973390171, + 0.9375545942132087, + -0.34700189494454325, + 0.02410534742752031, + 0.1257677049734335, + 0.27356429905359, + -0.9535958570951496 + ], + [ + 0.45304531077663224, + 0.8176872950394396, + 0.355158322321735, + 0.8865525827568244, + -0.4551007510095745, + -0.08311332286538536, + 0.09367211106038553, + 0.3525206291291419, + -0.9311040444804679 + ], + [ + 0.5914588451974024, + 0.7033858440992788, + 0.39423950684640885, + 0.7987306562211058, + -0.5780683594625871, + -0.16693205384477328, + 0.11047974135721084, + 0.4136246198051776, + -0.9037194811669523 + ], + [ + 0.618769568750968, + 0.7057283884972776, + 0.34506762012216885, + 0.7805626061502857, + -0.6018632023336825, + -0.168768194742135, + 0.08857899676342951, + 0.37377550394010706, + -0.9232798243147654 + ], + [ + 0.6544420751185771, + 0.6974316054628367, + 0.2920526083020337, + 0.7524213816891112, + -0.6388228754099095, + -0.16052226708486353, + 0.07461658456093855, + 0.3247991526382815, + -0.9428350204324799 + ], + [ + 0.6684502666989363, + 0.6980594360241923, + 0.2566851470726484, + 0.7398793595433415, + -0.6593037454176938, + -0.13378006054691144, + 0.07584704524142938, + 0.27934135937198235, + -0.9571915329088307 + ], + [ + 0.6926329060393903, + 0.6810976401605993, + 0.23741453628430628, + 0.7161381238166098, + -0.6886366191631003, + -0.11369166356440359, + 0.08605721984735179, + 0.24876818790849903, + -0.964732368896611 + ], + [ + 0.6906878563766579, + 0.6838209988485668, + 0.2352426972034732, + 0.7130021003297675, + -0.698267379259825, + -0.0636448897159484, + 0.12074058960911513, + 0.21168728964055317, + -0.9698506077873432 + ], + [ + 0.6874016241441245, + 0.6764060007978614, + 0.2644880511642506, + 0.7062880300280907, + -0.7074306444310035, + -0.0264405362837805, + 0.1692224150727633, + 0.2049800122074798, + -0.9640264357538971 + ], + [ + 0.7073631609561881, + 0.6537941321494423, + 0.26868306848223195, + 0.6842305611762238, + -0.7287219741729587, + -0.028157121833311982, + 0.17738629505838396, + 0.2037584774295874, + -0.9628170050435527 + ], + [ + 0.7402585821954922, + 0.6201692293654671, + 0.2596292711428385, + 0.6618184063848881, + -0.740162036877926, + -0.11898132683276862, + 0.11837917239145584, + 0.25990437878758726, + -0.958350711081779 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.00019186735153198242, + -0.001249074935913086, + -0.000777609646320343, + -0.004073084332048893, + 0.0016495734453201294, + -0.0006482601165771484, + 1.0 + ], + [ + -0.0006272196769714355, + -0.000944867730140686, + 0.0022258982062339783, + -0.037728406488895416, + -0.02777889370918274, + -0.002392679452896118, + 1.0 + ], + [ + -0.00041100382804870605, + 0.000527113676071167, + 0.0026525408029556274, + -0.03186877444386482, + -0.005768775939941406, + 0.026853561401367188, + 1.0 + ], + [ + -0.005304574966430664, + 0.001801818609237671, + -0.0009468868374824524, + -0.02230432629585266, + 0.03279578685760498, + 0.01761654019355774, + 1.0 + ], + [ + -0.0017099380493164062, + 0.0038237273693084717, + -0.0005319938063621521, + 0.011485487222671509, + 0.021905437111854553, + 0.021038025617599487, + 1.0 + ], + [ + -0.003057152032852173, + 0.0030861347913742065, + 0.0011827200651168823, + 0.0581226721405983, + 0.028148964047431946, + 0.009069651365280151, + 1.0 + ], + [ + 0.0015742778778076172, + -0.003099009394645691, + 0.015246197581291199, + 0.051764026284217834, + 0.006468579173088074, + -0.0011993348598480225, + 1.0 + ], + [ + -0.0009070932865142822, + 0.007647812366485596, + 0.006282597780227661, + 0.043008796870708466, + 0.02988681197166443, + 0.016247451305389404, + 1.0 + ], + [ + 0.004324972629547119, + -0.0008819699287414551, + 0.0006033778190612793, + -0.006199892610311508, + -0.027931228280067444, + 0.013758987188339233, + 1.0 + ], + [ + 0.0011304616928100586, + 0.007889986038208008, + -0.009630121290683746, + -0.004626281559467316, + -0.0031303614377975464, + 0.029580503702163696, + 1.0 + ], + [ + -0.002525836229324341, + 0.004482164978981018, + -0.01096847653388977, + -0.016355853527784348, + 0.0072599053382873535, + 0.01983754336833954, + 1.0 + ], + [ + 0.0007766187191009521, + 0.0031742602586746216, + -0.0018687471747398376, + -0.00794178619980812, + 0.00012230873107910156, + 0.00824931263923645, + 1.0 + ], + [ + -0.0006015598773956299, + 0.003076106309890747, + -0.004103772342205048, + -0.012415731325745583, + 0.0024688392877578735, + 0.037563055753707886, + 1.0 + ], + [ + 0.0009526610374450684, + 0.0059359148144721985, + -0.005482710897922516, + 0.002507925033569336, + 0.01316089928150177, + 0.023395240306854248, + 1.0 + ], + [ + -0.0041262805461883545, + 0.0023612380027770996, + -0.0055897533893585205, + 0.002583777531981468, + 0.01887422800064087, + 0.020322605967521667, + 0.0 + ], + [ + -0.002546161413192749, + 0.0028141140937805176, + -0.004813104867935181, + 0.0006646141409873962, + 0.009985879063606262, + -0.008542001247406006, + 0.0 + ], + [ + -0.002354919910430908, + 0.011491835117340088, + -0.003692321479320526, + -0.01243689376860857, + 0.0169975683093071, + 0.02686414122581482, + 0.0 + ], + [ + -0.009514451026916504, + 0.01509597897529602, + 0.0020537525415420532, + -0.019809504970908165, + 0.01641617715358734, + 0.023862600326538086, + 0.0 + ], + [ + -0.008100181818008423, + 0.02733027935028076, + 0.00450800359249115, + -0.024912212044000626, + -0.0025913193821907043, + 0.07260216772556305, + 0.0 + ], + [ + -0.005573272705078125, + 0.03331459313631058, + -0.0006688609719276428, + -0.014961045235395432, + -0.0011728182435035706, + 0.06946322321891785, + 0.0 + ], + [ + -0.0007136166095733643, + 0.03856131061911583, + -0.0007025524973869324, + 0.012650664895772934, + -0.06208962947130203, + 0.0362565703690052, + 0.0 + ], + [ + 0.001955360174179077, + 0.0429346039891243, + -0.0018892288208007812, + 0.04193863272666931, + -0.05893799662590027, + 0.0281694158911705, + 0.0 + ], + [ + -0.010200023651123047, + 0.03493684157729149, + -0.00061749666929245, + 0.01374138705432415, + 0.012906700372695923, + 0.021129220724105835, + 0.0 + ], + [ + -0.02077174186706543, + 0.03156357258558273, + 0.000985473394393921, + -0.005867643281817436, + 0.06822088360786438, + 0.052580706775188446, + 0.0 + ], + [ + -0.014098018407821655, + -0.004758916795253754, + 0.005704306066036224, + -0.07658392935991287, + 0.06443870067596436, + -0.000820457935333252, + 0.0 + ], + [ + 0.014221280813217163, + -0.03415866196155548, + 0.026754967868328094, + -0.18237394094467163, + -0.07879294455051422, + -0.02442045509815216, + 0.0 + ], + [ + 0.03459668159484863, + -0.043754104524850845, + 0.02498289942741394, + -0.18158768117427826, + -0.06995974481105804, + -0.14035256206989288, + 0.0 + ], + [ + 0.007521778345108032, + -0.04953537508845329, + 0.004850432276725769, + -0.08883953094482422, + 0.00046366453170776367, + -0.090339295566082, + 0.0 + ], + [ + 0.00013440847396850586, + -0.04424655809998512, + -0.013333097100257874, + 0.055072128772735596, + 0.019784629344940186, + 0.07884512841701508, + 0.0 + ], + [ + -0.012052476406097412, + -0.05388050153851509, + -0.009735092520713806, + 0.057288557291030884, + -0.06424577534198761, + 0.08189946413040161, + 0.0 + ], + [ + -0.006923705339431763, + -0.023913539946079254, + -0.01105603575706482, + 0.008109569549560547, + -0.02017223834991455, + 0.12403799593448639, + 0.0 + ], + [ + -0.005938470363616943, + -0.020853176712989807, + -0.0007288381457328796, + -0.010576695203781128, + -0.009282410144805908, + 0.02443540096282959, + 0.0 + ], + [ + -0.0007040798664093018, + 0.0003786236047744751, + -0.0033939704298973083, + 0.0026957690715789795, + -0.00513121485710144, + 0.0197017639875412, + 0.0 + ], + [ + -0.008916109800338745, + 0.0026753097772598267, + -0.013269729912281036, + 0.019702821969985962, + 0.015027523040771484, + 0.002304285764694214, + 0.0 + ], + [ + -0.006100744009017944, + 0.002736225724220276, + -0.0053429678082466125, + -0.0015672147274017334, + 0.0007121264934539795, + -0.0071012526750564575, + 0.0 + ], + [ + -0.008766889572143555, + 0.01093447208404541, + -0.0007134601473808289, + -0.00034049153327941895, + -0.0048358142375946045, + -0.003441065549850464, + 0.0 + ], + [ + -0.0062538981437683105, + 0.01768624037504196, + 0.0014921054244041443, + -0.0026590824127197266, + 0.005241692066192627, + -0.00310322642326355, + 0.0 + ], + [ + -0.0019670724868774414, + 0.02043846994638443, + -0.0008206218481063843, + 0.010855615139007568, + 0.013932287693023682, + -0.014398753643035889, + 0.0 + ], + [ + -0.0026732981204986572, + 0.02119792252779007, + -0.007894650101661682, + 0.04841908812522888, + 0.04908193647861481, + -0.027833595871925354, + 0.0 + ], + [ + 0.00302162766456604, + 0.012115277349948883, + -0.005879998207092285, + 0.057652443647384644, + 0.039008498191833496, + -0.035654157400131226, + 0.0 + ], + [ + 0.0013000965118408203, + 0.012609057128429413, + -0.00030574947595596313, + 0.053377166390419006, + 0.022995591163635254, + -0.05082198977470398, + 0.0 + ], + [ + -0.0034600496292114258, + 0.022490955889225006, + 0.0007604733109474182, + 0.04515601694583893, + 0.05624706298112869, + -0.01080767810344696, + 0.0 + ], + [ + -0.005079090595245361, + 0.02456672117114067, + 0.002042911946773529, + 0.007995396852493286, + 0.03924102708697319, + 0.01108202338218689, + 0.0 + ], + [ + -0.0015721619129180908, + 0.02587074041366577, + 0.00011987239122390747, + -0.0013380497694015503, + -0.009520728141069412, + -0.005100548267364502, + 0.0 + ], + [ + -0.0010607242584228516, + 0.027978744357824326, + 0.00227375328540802, + 0.008473753929138184, + -0.02022695541381836, + -0.0025844424962997437, + 0.0 + ], + [ + -0.0009889006614685059, + 0.025051869451999664, + -0.002194732427597046, + 0.024740636348724365, + -0.030691318213939667, + -0.023982122540473938, + 0.0 + ], + [ + -0.002867281436920166, + 0.02390988916158676, + 0.00034771859645843506, + 0.00948343425989151, + 0.011760883033275604, + -0.01243579387664795, + 0.0 + ], + [ + -0.00394129753112793, + 0.017788074910640717, + 0.00786832720041275, + 0.00612291693687439, + 0.0010451078414916992, + -0.024448644369840622, + 0.0 + ], + [ + 0.0014497339725494385, + -0.0056287795305252075, + 0.007725410163402557, + -0.0331614688038826, + -0.01998177170753479, + -0.0050148312002420425, + 0.0 + ], + [ + 0.015846431255340576, + -0.03673671931028366, + 0.017625346779823303, + -0.09721826016902924, + -0.04402074217796326, + -0.013806082308292389, + 0.0 + ], + [ + 0.02522525191307068, + -0.047552384436130524, + 0.022809699177742004, + -0.09688985347747803, + -0.07764486968517303, + -0.06797879189252853, + 0.0 + ], + [ + 0.01565837860107422, + -0.04177717864513397, + -0.0018064528703689575, + -0.032833099365234375, + -0.008876651525497437, + -0.03469594195485115, + 0.0 + ], + [ + 0.0142880380153656, + -0.049948349595069885, + -0.0124601349234581, + 0.021264970302581787, + 0.023214951157569885, + -0.035323113203048706, + 0.0 + ], + [ + 0.01929876208305359, + -0.022850394248962402, + -0.017822042107582092, + 0.019496798515319824, + 0.03620532155036926, + 0.03806991130113602, + 0.0 + ], + [ + 0.019377559423446655, + 0.0015512555837631226, + -0.014283597469329834, + 0.02529081702232361, + 0.0077389925718307495, + 0.03776561841368675, + 0.0 + ], + [ + 0.011611372232437134, + 0.012751393020153046, + -0.006101273000240326, + 0.007355481386184692, + -0.0008301734924316406, + 0.034138672053813934, + 0.0 + ], + [ + 0.003520101308822632, + 0.025413714349269867, + 0.00037823617458343506, + -0.0075769126415252686, + -0.0007321536540985107, + 0.0445166677236557, + 0.0 + ], + [ + 0.0007861852645874023, + 0.03744608908891678, + 0.0004212036728858948, + -0.0013297796249389648, + -0.005144491791725159, + 0.05219914764165878, + 0.0 + ], + [ + -0.0018469393253326416, + 0.019324282184243202, + -0.00013846158981323242, + -0.0012473762035369873, + 0.007095471024513245, + 0.02849595993757248, + 0.0 + ], + [ + -0.0008150935173034668, + 0.020156051963567734, + -0.0001387670636177063, + 0.0036627650260925293, + -0.00133456289768219, + 0.04593350738286972, + 0.0 + ], + [ + 0.0013592541217803955, + 0.008818784728646278, + -0.0004589781165122986, + 0.0183868408203125, + -0.006483882665634155, + 0.06594517827033997, + 0.0 + ], + [ + 0.003214329481124878, + 0.007566019892692566, + -0.0004744231700897217, + 0.01449933648109436, + 0.0008643418550491333, + 0.12428584694862366, + 0.0 + ], + [ + 0.0034143924713134766, + 0.016222119331359863, + 0.0037829354405403137, + 0.015289634466171265, + -0.0323658287525177, + 0.16275212168693542, + 0.0 + ], + [ + -0.001105278730392456, + 0.00985986739397049, + 0.00026385486125946045, + -0.003805398941040039, + 0.0020464658737182617, + 0.057386040687561035, + 0.0 + ], + [ + -0.00365254282951355, + 0.007312647998332977, + -0.000612698495388031, + -0.005501210689544678, + 0.026742950081825256, + 0.06271779537200928, + 0.0 + ], + [ + -0.00371435284614563, + 0.013397902250289917, + 0.0039031952619552612, + -0.013605773448944092, + 0.013401389122009277, + 0.09190887212753296, + 0.0 + ], + [ + -0.012839347124099731, + 0.0034385621547698975, + 0.010298199951648712, + -0.01892244815826416, + 0.0036596357822418213, + 0.05353909730911255, + 0.0 + ], + [ + -0.023051798343658447, + 0.006786040961742401, + -0.0012072324752807617, + -0.008465319871902466, + 0.04320463538169861, + 0.07004094123840332, + 0.0 + ], + [ + -0.020344316959381104, + 0.0006200224161148071, + 0.007568255066871643, + -0.015168994665145874, + 0.0018476545810699463, + 0.005308806896209717, + 0.0 + ], + [ + 0.006328970193862915, + -0.013951711356639862, + 0.011460602283477783, + -0.09269320964813232, + -0.025866255164146423, + -0.06318086385726929, + 0.0 + ], + [ + 0.012495845556259155, + -0.02080003172159195, + 0.00032823532819747925, + -0.02383008599281311, + 0.018933415412902832, + 0.03988069295883179, + 0.0 + ], + [ + 0.025846034288406372, + -0.009469818323850632, + -0.002769358456134796, + 0.013155132532119751, + -0.0077740103006362915, + 0.09122008085250854, + 0.0 + ], + [ + 0.018762022256851196, + -0.004318948835134506, + -0.011921755969524384, + 0.043811142444610596, + -0.021332621574401855, + 0.09676867723464966, + 0.0 + ], + [ + 0.013740688562393188, + 0.010476969182491302, + -0.008809216320514679, + 0.03633621335029602, + -0.018448859453201294, + 0.10319793224334717, + 0.0 + ], + [ + 0.0012912154197692871, + 0.003977589309215546, + -0.0031113699078559875, + 0.012025803327560425, + -0.005769982933998108, + 0.02252805233001709, + 0.0 + ], + [ + 0.001242905855178833, + 0.008940108120441437, + -0.004295140504837036, + 0.009415358304977417, + 0.001634851098060608, + 0.03456556797027588, + 0.0 + ], + [ + 0.005838066339492798, + 0.00722600519657135, + 0.004580661654472351, + -0.009899288415908813, + 0.002273261547088623, + 0.03802168369293213, + 0.0 + ], + [ + -0.0034692585468292236, + 0.006980665028095245, + -0.0008173584938049316, + 0.009812325239181519, + 0.018022999167442322, + 0.04170048236846924, + 0.0 + ], + [ + -0.01066058874130249, + 0.003135465085506439, + -0.004330992698669434, + 0.020971953868865967, + 0.009664967656135559, + 0.0008946657180786133, + 0.0 + ], + [ + -0.02734580636024475, + 0.005970947444438934, + 1.640617847442627e-05, + 0.020933181047439575, + 0.007821261882781982, + -0.0037060976028442383, + 0.0 + ], + [ + -0.023578345775604248, + 0.005740612745285034, + 0.0033234283328056335, + -0.0037008821964263916, + 0.0030642449855804443, + -0.022386908531188965, + 0.0 + ], + [ + -0.029649823904037476, + 0.004954628646373749, + 0.004836633801460266, + 0.006150484085083008, + 0.014004096388816833, + -0.02327883243560791, + 0.0 + ], + [ + -0.0197695791721344, + 0.0004954412579536438, + 0.0024542883038520813, + 0.022534072399139404, + 0.006128355860710144, + 0.0038924217224121094, + 0.0 + ], + [ + -0.0024690330028533936, + -0.0030140429735183716, + 0.007811658084392548, + -0.01650303602218628, + 0.0028956979513168335, + 0.023663759231567383, + 0.0 + ], + [ + 0.013939738273620605, + -0.03098037838935852, + 0.004317812621593475, + -0.08255356550216675, + 0.03229200094938278, + -0.13940155506134033, + 0.0 + ], + [ + 0.02254900336265564, + -0.033720649778842926, + 0.019011549651622772, + -0.06730419397354126, + -0.016896091401576996, + -0.1649683713912964, + 0.0 + ], + [ + 0.006297856569290161, + -0.0008780509233474731, + -0.012567318975925446, + 0.04456457495689392, + 0.02201049029827118, + -0.03289532661437988, + 0.0 + ], + [ + -0.005996644496917725, + 0.005060121417045593, + -0.009284473955631256, + 0.05290752649307251, + 0.014009244740009308, + -0.045578956604003906, + 0.0 + ], + [ + -0.008907437324523926, + 0.015765808522701263, + -0.001832626760005951, + 0.047810912132263184, + -0.0012339577078819275, + -0.018855929374694824, + 0.0 + ], + [ + -0.004102587699890137, + 0.007505729794502258, + -0.0016397461295127869, + 0.03158387541770935, + -0.010243840515613556, + -0.033992230892181396, + 0.0 + ], + [ + -0.005735814571380615, + 0.023926153779029846, + -0.0008116215467453003, + 0.03746715188026428, + -0.03487209975719452, + -0.0007878541946411133, + 0.0 + ], + [ + 7.358193397521973e-05, + 0.01746641844511032, + 0.0009235665202140808, + 0.0053887516260147095, + -0.04900475591421127, + -0.002344965934753418, + 0.0 + ], + [ + -0.004217922687530518, + 0.01018841564655304, + 0.0006357431411743164, + 0.0009584873914718628, + -0.008289337158203125, + -0.030172109603881836, + 0.0 + ], + [ + -0.00568234920501709, + -0.019743792712688446, + 0.01212659478187561, + -0.056279271841049194, + 0.05967257171869278, + -0.03926587104797363, + 0.0 + ], + [ + 0.017466753721237183, + -0.03611552342772484, + 0.026081226766109467, + -0.07192283868789673, + 0.014291323721408844, + -0.08543610572814941, + 0.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9974852800369263 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9723638892173767 + ], + [ + 0.7021830081939697 + ], + [ + 0.4094836115837097 + ], + [ + 0.37802740931510925 + ], + [ + 0.37802740931510925 + ], + [ + 0.37802740931510925 + ], + [ + 0.37802740931510925 + ], + [ + 0.37802740931510925 + ], + [ + 0.37802740931510925 + ], + [ + 0.37802740931510925 + ], + [ + 0.37802740931510925 + ], + [ + 0.37802740931510925 + ], + [ + 0.37802740931510925 + ], + [ + 0.37802740931510925 + ], + [ + 0.37802740931510925 + ], + [ + 0.37802740931510925 + ], + [ + 0.37802740931510925 + ], + [ + 0.37802740931510925 + ], + [ + 0.37802740931510925 + ], + [ + 0.37802740931510925 + ], + [ + 0.37802740931510925 + ], + [ + 0.37802740931510925 + ], + [ + 0.37802740931510925 + ], + [ + 0.37802740931510925 + ], + [ + 0.37802740931510925 + ], + [ + 0.37802740931510925 + ], + [ + 0.37802740931510925 + ], + [ + 0.37802740931510925 + ], + [ + 0.37717074155807495 + ], + [ + 0.37802740931510925 + ], + [ + 0.37802740931510925 + ], + [ + 0.37717074155807495 + ], + [ + 0.37802740931510925 + ], + [ + 0.37717074155807495 + ], + [ + 0.37717074155807495 + ], + [ + 0.37802740931510925 + ], + [ + 0.37717074155807495 + ], + [ + 0.37802740931510925 + ], + [ + 0.37802740931510925 + ], + [ + 0.37802740931510925 + ], + [ + 0.37802740931510925 + ], + [ + 0.37802740931510925 + ], + [ + 0.37802740931510925 + ], + [ + 0.37717074155807495 + ], + [ + 0.37802740931510925 + ], + [ + 0.37802740931510925 + ], + [ + 0.37717074155807495 + ], + [ + 0.37802740931510925 + ], + [ + 0.37802740931510925 + ], + [ + 0.37802740931510925 + ], + [ + 0.37802740931510925 + ], + [ + 0.37802740931510925 + ], + [ + 0.37802740931510925 + ], + [ + 0.37802740931510925 + ], + [ + 0.37717074155807495 + ], + [ + 0.37802740931510925 + ], + [ + 0.37802740931510925 + ], + [ + 0.37802740931510925 + ], + [ + 0.37717074155807495 + ], + [ + 0.37802740931510925 + ], + [ + 0.37802740931510925 + ], + [ + 0.37802740931510925 + ], + [ + 0.37717074155807495 + ], + [ + 0.37802740931510925 + ], + [ + 0.37717074155807495 + ], + [ + 0.37802740931510925 + ], + [ + 0.37717074155807495 + ], + [ + 0.37802740931510925 + ], + [ + 0.37717074155807495 + ], + [ + 0.37802740931510925 + ], + [ + 0.37802740931510925 + ], + [ + 0.37802740931510925 + ], + [ + 0.37802740931510925 + ], + [ + 0.37717074155807495 + ], + [ + 0.37717074155807495 + ], + [ + 0.37802740931510925 + ], + [ + 0.37717074155807495 + ], + [ + 0.37802740931510925 + ], + [ + 0.37802740931510925 + ], + [ + 0.37717074155807495 + ], + [ + 0.37802740931510925 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.35541361570358276, + -0.1590774953365326, + 0.10145064443349838 + ], + [ + 0.35478639602661133, + -0.16002236306667328, + 0.10367654263973236 + ], + [ + 0.3543753921985626, + -0.1594952493906021, + 0.10632908344268799 + ], + [ + 0.34907081723213196, + -0.15769343078136444, + 0.10538219660520554 + ], + [ + 0.34736087918281555, + -0.15386970341205597, + 0.10485020279884338 + ], + [ + 0.3443037271499634, + -0.15078356862068176, + 0.10603292286396027 + ], + [ + 0.345878005027771, + -0.15388257801532745, + 0.12127912044525146 + ], + [ + 0.3449709117412567, + -0.14623476564884186, + 0.12756171822547913 + ], + [ + 0.34929588437080383, + -0.1471167355775833, + 0.1281650960445404 + ], + [ + 0.3504263460636139, + -0.1392267495393753, + 0.11853497475385666 + ], + [ + 0.34790050983428955, + -0.1347445845603943, + 0.10756649821996689 + ], + [ + 0.3486771285533905, + -0.13157032430171967, + 0.10569775104522705 + ], + [ + 0.3480755686759949, + -0.12849421799182892, + 0.101593978703022 + ], + [ + 0.34902822971343994, + -0.12255830317735672, + 0.09611126780509949 + ], + [ + 0.3449019491672516, + -0.12019706517457962, + 0.09052151441574097 + ], + [ + 0.34235578775405884, + -0.1173829510807991, + 0.08570840954780579 + ], + [ + 0.34000086784362793, + -0.10589111596345901, + 0.08201608806848526 + ], + [ + 0.3304864168167114, + -0.090795136988163, + 0.08406984061002731 + ], + [ + 0.322386234998703, + -0.06346485763788223, + 0.08857784420251846 + ], + [ + 0.3168129622936249, + -0.030150264501571655, + 0.08790898323059082 + ], + [ + 0.3160993456840515, + 0.008411046117544174, + 0.08720643073320389 + ], + [ + 0.3180547058582306, + 0.05134565010666847, + 0.0853172019124031 + ], + [ + 0.30785468220710754, + 0.08628249168395996, + 0.08469970524311066 + ], + [ + 0.2870829403400421, + 0.1178460642695427, + 0.08568517863750458 + ], + [ + 0.27298492193222046, + 0.11308714747428894, + 0.0913894847035408 + ], + [ + 0.2872062027454376, + 0.07892848551273346, + 0.1181444525718689 + ], + [ + 0.32180288434028625, + 0.035174380987882614, + 0.14312735199928284 + ], + [ + 0.3293246626853943, + -0.014360993169248104, + 0.1479777842760086 + ], + [ + 0.3294590711593628, + -0.0586075522005558, + 0.13464468717575073 + ], + [ + 0.3174065947532654, + -0.11248805373907089, + 0.12490959465503693 + ], + [ + 0.3104828894138336, + -0.13640159368515015, + 0.1138535588979721 + ], + [ + 0.3045444190502167, + -0.15725477039813995, + 0.11312472075223923 + ], + [ + 0.3038403391838074, + -0.15687614679336548, + 0.10973075032234192 + ], + [ + 0.29492422938346863, + -0.15420083701610565, + 0.09646102041006088 + ], + [ + 0.2888234853744507, + -0.15146461129188538, + 0.09111805260181427 + ], + [ + 0.28005659580230713, + -0.14053013920783997, + 0.09040459245443344 + ], + [ + 0.2738026976585388, + -0.122843898832798, + 0.09189669787883759 + ], + [ + 0.2718356251716614, + -0.10240542888641357, + 0.0910760760307312 + ], + [ + 0.2691623270511627, + -0.0812075063586235, + 0.08318142592906952 + ], + [ + 0.27218395471572876, + -0.06909222900867462, + 0.07730142772197723 + ], + [ + 0.2734840512275696, + -0.05648317188024521, + 0.07699567824602127 + ], + [ + 0.27002400159835815, + -0.0339922159910202, + 0.07775615155696869 + ], + [ + 0.2649449110031128, + -0.009425493888556957, + 0.07979906350374222 + ], + [ + 0.2633727490901947, + 0.01644524559378624, + 0.07991893589496613 + ], + [ + 0.26231202483177185, + 0.044423989951610565, + 0.08219268918037415 + ], + [ + 0.26132312417030334, + 0.06947585940361023, + 0.0799979567527771 + ], + [ + 0.2584558427333832, + 0.09338574856519699, + 0.08034567534923553 + ], + [ + 0.25451454520225525, + 0.11117382347583771, + 0.08821400254964828 + ], + [ + 0.2559642791748047, + 0.1055450439453125, + 0.09593941271305084 + ], + [ + 0.27181071043014526, + 0.06880832463502884, + 0.11356475949287415 + ], + [ + 0.29703596234321594, + 0.021255942061543465, + 0.13637445867061615 + ], + [ + 0.31269434094429016, + -0.020521236583590508, + 0.1345680058002472 + ], + [ + 0.32698237895965576, + -0.07046958804130554, + 0.12210787087678909 + ], + [ + 0.34628114104270935, + -0.09331998229026794, + 0.104285828769207 + ], + [ + 0.365658700466156, + -0.09176872670650482, + 0.09000223129987717 + ], + [ + 0.37727007269859314, + -0.07901733368635178, + 0.08390095829963684 + ], + [ + 0.38079017400741577, + -0.05360361933708191, + 0.08427919447422028 + ], + [ + 0.3815763592720032, + -0.01615753024816513, + 0.08470039814710617 + ], + [ + 0.37972941994667053, + 0.0031667512375861406, + 0.08456193655729294 + ], + [ + 0.37891432642936707, + 0.023322803899645805, + 0.08442316949367523 + ], + [ + 0.38027358055114746, + 0.032141588628292084, + 0.08396419137716293 + ], + [ + 0.38348791003227234, + 0.03970760852098465, + 0.08348976820707321 + ], + [ + 0.3869023025035858, + 0.05592972785234451, + 0.08727270364761353 + ], + [ + 0.38579702377319336, + 0.065789595246315, + 0.08753655850887299 + ], + [ + 0.3821444809436798, + 0.07310224324464798, + 0.08692386001348495 + ], + [ + 0.3784301280975342, + 0.0865001454949379, + 0.09082705527544022 + ], + [ + 0.36559078097343445, + 0.0899387076497078, + 0.10112525522708893 + ], + [ + 0.342538982629776, + 0.0967247486114502, + 0.09991802275180817 + ], + [ + 0.3221946656703949, + 0.097344771027565, + 0.10748627781867981 + ], + [ + 0.3285236358642578, + 0.08339305967092514, + 0.11894688010215759 + ], + [ + 0.34101948142051697, + 0.06259302794933319, + 0.11927511543035507 + ], + [ + 0.36686551570892334, + 0.05312320962548256, + 0.11650575697422028 + ], + [ + 0.38562753796577454, + 0.04880426079034805, + 0.10458400100469589 + ], + [ + 0.3993682265281677, + 0.059281229972839355, + 0.09577478468418121 + ], + [ + 0.400659441947937, + 0.0632588192820549, + 0.09266341477632523 + ], + [ + 0.40190234780311584, + 0.07219892740249634, + 0.08836827427148819 + ], + [ + 0.40774041414260864, + 0.07942493259906769, + 0.09294893592596054 + ], + [ + 0.4042711555957794, + 0.08640559762716293, + 0.09213157743215561 + ], + [ + 0.39361056685447693, + 0.08954106271266937, + 0.08780058473348618 + ], + [ + 0.3662647604942322, + 0.0955120101571083, + 0.0878169909119606 + ], + [ + 0.34268641471862793, + 0.10125262290239334, + 0.09114041924476624 + ], + [ + 0.31303659081459045, + 0.10620725154876709, + 0.0959770530462265 + ], + [ + 0.29326701164245605, + 0.10670269280672073, + 0.09843134135007858 + ], + [ + 0.29079797863960266, + 0.10368864983320236, + 0.10624299943447113 + ], + [ + 0.30473771691322327, + 0.07270827144384384, + 0.1105608120560646 + ], + [ + 0.3272867202758789, + 0.038987621665000916, + 0.12957236170768738 + ], + [ + 0.33358457684516907, + 0.03810957074165344, + 0.11700504273176193 + ], + [ + 0.32758793234825134, + 0.043169692158699036, + 0.10772056877613068 + ], + [ + 0.3186804950237274, + 0.0589355006814003, + 0.10588794201612473 + ], + [ + 0.3145779073238373, + 0.06644123047590256, + 0.10424819588661194 + ], + [ + 0.30884209275245667, + 0.0903673842549324, + 0.10343657433986664 + ], + [ + 0.3089156746864319, + 0.10783380270004272, + 0.10436014086008072 + ], + [ + 0.30469775199890137, + 0.11802221834659576, + 0.10499588400125504 + ], + [ + 0.2990154027938843, + 0.09827842563390732, + 0.11712247878313065 + ], + [ + 0.31648215651512146, + 0.06216290220618248, + 0.1432037055492401 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.901711933197297, + -0.38284350911774595, + 0.2008642254260418, + -0.37189687861017245, + -0.923782425104639, + -0.09120714197804111, + 0.2204729035723075, + 0.007541789854024816, + -0.9753639424318461 + ], + [ + 0.8948164605134252, + -0.393480432301502, + 0.21089488232304032, + -0.37156062784877286, + -0.9182779538434752, + -0.1367782852563459, + 0.24747969982778706, + 0.0440312262021371, + -0.9678920648978815 + ], + [ + 0.9031226035853939, + -0.3757324939400259, + 0.20783324058183708, + -0.34688287708020865, + -0.923709573996486, + -0.16258195624295793, + 0.2530648780089727, + 0.07473764717221595, + -0.9645581639348998 + ], + [ + 0.9164016212957145, + -0.3610336288411615, + 0.17280852795035542, + -0.33358038855291383, + -0.9274938273568609, + -0.16875818376543672, + 0.22120622247005942, + 0.09700473731062968, + -0.9703905853210978 + ], + [ + 0.927581517212393, + -0.3376103015104971, + 0.1600369121170042, + -0.3157145095281475, + -0.9373252626223532, + -0.14746423472604261, + 0.1997920854272154, + 0.08625912336632786, + -0.9760340599777839 + ], + [ + 0.9353776763987596, + -0.31837734702997567, + 0.15396255191770428, + -0.30893056535931696, + -0.9475026708578363, + -0.08246571714378807, + 0.17213514539927674, + 0.029572852676414272, + -0.9846293404641916 + ], + [ + 0.9360438009013934, + -0.3112560170789125, + 0.16413925376412639, + -0.3103961498663924, + -0.9500843035716866, + -0.03152849908929064, + 0.1657595636522751, + -0.021436136286071848, + -0.9859331920160374 + ], + [ + 0.9452692098118276, + -0.2902511777778658, + 0.14906500186256044, + -0.29649817697789094, + -0.9548013235310506, + 0.02105382701889659, + 0.13621656298156504, + -0.06409903573312237, + -0.9886032376983062 + ], + [ + 0.9452437141061215, + -0.27645573380825117, + 0.17345474391727106, + -0.28226550795558913, + -0.9592915283758028, + 0.009270739182478862, + 0.16383071739279537, + -0.057723399336470624, + -0.9847982053231028 + ], + [ + 0.9526783337423108, + -0.2486000087993082, + 0.17493435352428027, + -0.2540519277723899, + -0.9671475007966119, + 0.00912851017415501, + 0.16691797510485917, + -0.0531389436087239, + -0.984537781021654 + ], + [ + 0.9586819324011976, + -0.2324546277064236, + 0.1639932881107464, + -0.23538713998022337, + -0.9719003831139695, + -0.0015936231834076317, + 0.1597555846267573, + -0.03707413331135277, + -0.986460167376147 + ], + [ + 0.9606100794506715, + -0.2257281475903785, + 0.16209589335696148, + -0.22747525434757218, + -0.9737514378265747, + -0.007946445128876338, + 0.15963484556099414, + -0.029239369283471442, + -0.9867430138423189 + ], + [ + 0.9688588080416667, + -0.19104179432892104, + 0.15752981590691642, + -0.19131559254693914, + -0.98143480168333, + -0.013567390803544414, + 0.15719718231728683, + -0.016993023991884442, + -0.9874210262127887 + ], + [ + 0.9750232941083398, + -0.1678871467799106, + 0.14540798427948357, + -0.16893720701457923, + -0.9856131728634753, + -0.005185900510639921, + 0.14418667078559996, + -0.019508444942993544, + -0.989358188192563 + ], + [ + 0.9807709106965399, + -0.14785948088846004, + 0.12738129628354064, + -0.14947210890676801, + -0.9887609505387119, + 0.0031418702624764656, + 0.12548509628813828, + -0.02212140594939809, + -0.9918488463512869 + ], + [ + 0.9806466167593332, + -0.15643999720558632, + 0.11772315113345179, + -0.15803579431175208, + -0.9874240789541117, + 0.004286725775897556, + 0.11557205871112179, + -0.022808234827366457, + -0.9930372015535635 + ], + [ + 0.9863425671215562, + -0.13148884340028846, + 0.09919185624491915, + -0.131879022443984, + -0.9912622985980777, + -0.0026417451191265463, + 0.09867250743382096, + -0.010475659373504007, + -0.9950648204199627 + ], + [ + 0.9906852768984798, + -0.10959306041595432, + 0.08082105694215425, + -0.10846870922693769, + -0.9939334921393401, + -0.018186597327101463, + 0.08232388022453749, + 0.009250638483968364, + -0.9965626946822838 + ], + [ + 0.9957270530523916, + -0.03932346172497658, + 0.08355418108965848, + -0.03631233752082447, + -0.9986457248370109, + -0.037257622153520874, + 0.08490612441616249, + 0.034064374685661085, + -0.9958064914499711 + ], + [ + 0.9957458920085474, + 0.02873830959095231, + 0.08754557732950641, + 0.032882721376807124, + -0.9983875377635112, + -0.04627149309638123, + 0.08607464889825156, + 0.048953385994921356, + -0.9950852831876645 + ], + [ + 0.9866562481122431, + 0.0637876164535398, + 0.14980182925534666, + 0.06845300230455935, + -0.9973104810044033, + -0.026191429022827263, + 0.14772824556111105, + 0.03609632205560431, + -0.9883690712469175 + ], + [ + 0.9739671475564255, + 0.09839423016806774, + 0.2042218669742137, + 0.09520210135318326, + -0.9951333074835278, + 0.025421648940084675, + 0.20572932551957282, + -0.005317500026139692, + -0.9785944864011517 + ], + [ + 0.9742939832537644, + 0.12194322016043262, + 0.18942303252882833, + 0.11606292700682426, + -0.9923587636178111, + 0.04187458949694803, + 0.19308192864719856, + -0.01881316900029304, + -0.9810022596824354 + ], + [ + 0.9775682876986579, + 0.17194663372675126, + 0.12163304664420965, + 0.1689609276208561, + -0.9850178049086736, + 0.03452722042676043, + 0.12574755593415668, + -0.013201483361225798, + -0.9919744316330181 + ], + [ + 0.983657627088201, + 0.16532598440596602, + 0.07130912670485176, + 0.16918235572236884, + -0.9842174192668942, + -0.051897997300909215, + 0.06160359716315417, + 0.0631141069160739, + -0.9961032106788669 + ], + [ + 0.9796342858847691, + 0.1073460998545279, + 0.16968641891754405, + 0.14395773248555546, + -0.9646219533155719, + -0.2208634384393846, + 0.1399744161504372, + 0.2407930688945849, + -0.9604300395112971 + ], + [ + 0.9779333482497223, + -0.0814816070418337, + 0.19237233193722958, + 0.005431158764774624, + -0.9105802195457725, + -0.41329670490634784, + 0.20884651995079845, + 0.40522143512634323, + -0.8900442234061113 + ], + [ + 0.9745318746061621, + -0.17612177631115103, + 0.13881190613778244, + -0.08282486918393336, + -0.8579285670135535, + -0.507048927566892, + 0.20839305751695275, + 0.48263826393177306, + -0.8506659977733095 + ], + [ + 0.981959130330964, + -0.0893967211393237, + 0.16662680639439353, + -0.005833404784796457, + -0.8950904122060354, + -0.4458465266943845, + 0.18900327443796688, + 0.4368310660042024, + -0.8794636899982619 + ], + [ + 0.9650255872046902, + -0.02879071796615903, + 0.2605699725586894, + 0.0734436376969363, + -0.9244576880060533, + -0.3741443774378334, + 0.2516577996448436, + 0.3801961041955794, + -0.8900108281545905 + ], + [ + 0.9433570216098524, + 0.08092020189011417, + 0.3217599271280562, + 0.1912249381547868, + -0.9251269564554105, + -0.3279834408430509, + 0.2711282958436592, + 0.37093400405680294, + -0.8881989708546735 + ], + [ + 0.9359092101407186, + 0.09656993614514998, + 0.3387450336266166, + 0.21364753992148933, + -0.9202219172081707, + -0.3279426043917045, + 0.2800512079232504, + 0.37929654694267917, + -0.8818760969762636 + ], + [ + 0.930111965429408, + 0.11373473308853596, + 0.34922219610775357, + 0.23169354596740158, + -0.9194705486563849, + -0.3176350278394642, + 0.2849733891472928, + 0.37634866897971764, + -0.8815621627741855 + ], + [ + 0.9336235532477802, + 0.12796731142501497, + 0.3346213203423278, + 0.23485443945363596, + -0.9239510089392212, + -0.30192370782883854, + 0.2705373413965399, + 0.36047038753113775, + -0.8926761151858179 + ], + [ + 0.9354546877842559, + 0.12113210742170072, + 0.3320414727922372, + 0.22826428995486858, + -0.9242973109437542, + -0.3058919660820546, + 0.2698517019287819, + 0.3619412846494894, + -0.8922883869200682 + ], + [ + 0.9349548658581498, + 0.11613604886564097, + 0.335219058172483, + 0.22473636767026542, + -0.9250131957966842, + -0.3063399298955013, + 0.2745049432242421, + 0.36174992156997465, + -0.8909455821707479 + ], + [ + 0.9370349688982408, + 0.11423421791952827, + 0.3300242574693356, + 0.22216280613717165, + -0.9241078897765322, + -0.3109152547271067, + 0.26946085918205287, + 0.36465758117592706, + -0.8913000021652595 + ], + [ + 0.9437102624009333, + 0.10928166537216553, + 0.31219938861671026, + 0.2094412254129489, + -0.9279551335269245, + -0.30827527188950793, + 0.25601819024570105, + 0.3563099602516238, + -0.8986088684677012 + ], + [ + 0.9603638687111318, + 0.11315340405749197, + 0.25474996923334614, + 0.18525528164932276, + -0.9419597046322163, + -0.2799864201532256, + 0.20828278924390023, + 0.3160826189454119, + -0.9255863318488402 + ], + [ + 0.9736475735049109, + 0.10361206312789685, + 0.2031623562138913, + 0.15204227347798835, + -0.9588854633849648, + -0.23962849410002607, + 0.16998102742260365, + 0.26420296834703116, + -0.9493699183316132 + ], + [ + 0.9837423923702592, + 0.06974923842408418, + 0.16548700611498, + 0.10276356145066229, + -0.9743479539910951, + -0.20021417280338338, + 0.14727713974549858, + 0.2139652034622157, + -0.9656750674091973 + ], + [ + 0.9914816964731964, + 0.07609068532336671, + 0.10570834009506047, + 0.09275127195529251, + -0.9822742518719183, + -0.1628941240810692, + 0.09143985514701974, + 0.17131112548951336, + -0.9809644494956015 + ], + [ + 0.993198286012513, + 0.09421754402150462, + 0.0684121265592766, + 0.10402680223375455, + -0.9819630693484126, + -0.15788272499822187, + 0.05230285918404422, + 0.16392554661919134, + -0.9850851872233048 + ], + [ + 0.993175418330755, + 0.08755216933201422, + 0.07705326773595517, + 0.09890578536429202, + -0.9823741159833119, + -0.1586150745278627, + 0.06180804191206091, + 0.1651536069580836, + -0.9843292396671616 + ], + [ + 0.9919802378092015, + 0.0825046625690254, + 0.09575065770202987, + 0.0961982823528492, + -0.9842134955985435, + -0.1485586939699496, + 0.08198230460508862, + 0.15657833737802587, + -0.9842571442441104 + ], + [ + 0.9910245815192026, + 0.05710115803099298, + 0.120870743259934, + 0.07216630749657607, + -0.9896322289531914, + -0.12417759652790755, + 0.11252689850430847, + 0.13178584585856606, + -0.9848706452851274 + ], + [ + 0.9930977632703589, + 0.04735801766832111, + 0.10730354490853271, + 0.05991242273549578, + -0.9913262610981683, + -0.11697326899377394, + 0.1008331998370267, + 0.12259470714371618, + -0.9873212261422182 + ], + [ + 0.9943703754078804, + 0.02387029685261485, + 0.10323645402356342, + 0.03562079558817888, + -0.9928968251333449, + -0.11352115909287332, + 0.09979336367142082, + 0.11655944220993993, + -0.9881574677139527 + ], + [ + 0.9923449948876244, + 0.012498652287656347, + 0.12286250368795636, + 0.030566266031108208, + -0.9887688680352628, + -0.14629363959236522, + 0.1196541453623582, + 0.14892920900635173, + -0.9815818744263497 + ], + [ + 0.9864459475508341, + -0.023561946880039115, + 0.16238604379613347, + 0.016757617215763205, + -0.9699960970304579, + -0.24254227262670966, + 0.1632285968382609, + 0.24197604510550505, + -0.9564538769691466 + ], + [ + 0.9696926173801068, + -0.12871419865062478, + 0.2076749452010169, + -0.049490004141090116, + -0.9358383028464096, + -0.34893754515051384, + 0.23926338476380535, + 0.32808432756119194, + -0.9138455595559285 + ], + [ + 0.9652381060578468, + -0.17059096941816193, + 0.19802555331783125, + -0.08291282885101996, + -0.9183526061437802, + -0.38698055971954043, + 0.2478726718010337, + 0.3571095237345247, + -0.9005731100984076 + ], + [ + 0.9671604844586417, + -0.1911446179155948, + 0.16752412466157596, + -0.11761230340981824, + -0.9208707410369826, + -0.37170475432611244, + 0.2253174280617521, + 0.3397952520914617, + -0.913110750822559 + ], + [ + 0.9784276920028717, + -0.1407264957079755, + 0.15124584267902036, + -0.08133905710082173, + -0.9353888232603487, + -0.3441390810552758, + 0.18990315771962057, + 0.3244130125709719, + -0.9266568879378945 + ], + [ + 0.9822399013796054, + -0.09879693821420692, + 0.15951157054358622, + -0.044403957837590366, + -0.9483918478892323, + -0.3139764185183421, + 0.18229938196861994, + 0.3013172213079528, + -0.9359352902188878 + ], + [ + 0.9830315098109738, + -0.06535999992018315, + 0.1713975528681533, + -0.01085055626492512, + -0.9534509975734669, + -0.3013527180147924, + 0.18311558138918557, + 0.2943794585846556, + -0.9379815660320335 + ], + [ + 0.9824062313986838, + -0.024483711858854874, + 0.18514465793710708, + 0.032902533388872654, + -0.9531717754470447, + -0.3006343123925189, + 0.1838353061999515, + 0.3014367501562162, + -0.9355963156456042 + ], + [ + 0.9783961991511553, + 0.023464378949120086, + 0.20540277604527452, + 0.0840331580980788, + -0.952896896432977, + -0.29142054338783957, + 0.18888966574864913, + 0.30238539595842334, + -0.9342824875188613 + ], + [ + 0.9769116712096705, + 0.05247963613385887, + 0.2070977412855744, + 0.11202548166414547, + -0.9512391396262998, + -0.28739239847451326, + 0.18191722873946037, + 0.30395721250576535, + -0.9351556741278322 + ], + [ + 0.9704968124861859, + 0.09651221106861932, + 0.22095549341167942, + 0.15672567880199653, + -0.9489003695095118, + -0.27390719294820426, + 0.18322936052446903, + 0.3004554573632466, + -0.9360307257683563 + ], + [ + 0.9568815886597608, + 0.1614027244635913, + 0.2415093907484808, + 0.22006732157714223, + -0.9454876241880094, + -0.2400490084986319, + 0.18959957610141173, + 0.28284680136611695, + -0.9402391651591213 + ], + [ + 0.9223733232995206, + 0.28146161613943504, + 0.26458800257301013, + 0.33704683997636947, + -0.9210292165390912, + -0.195204021329816, + 0.18875084139505582, + 0.2692295320383055, + -0.9443985276095539 + ], + [ + 0.8498014190494259, + 0.42424608374317835, + 0.3128143356851756, + 0.4787984403697358, + -0.8694742331819765, + -0.12151794654338868, + 0.22043049172265194, + 0.25304113946390105, + -0.9420088004141574 + ], + [ + 0.8213192183304936, + 0.4726397622260725, + 0.31944701714661317, + 0.5269927623064853, + -0.8430273521678544, + -0.10762672518216185, + 0.21843390322376066, + 0.2567421637747449, + -0.9414722997851264 + ], + [ + 0.7911015230916336, + 0.5284125295921214, + 0.30812104558460995, + 0.5806839056390907, + -0.8070967143314809, + -0.1067759122979519, + 0.19226175359085185, + 0.26339151900808, + -0.9453360914620721 + ], + [ + 0.7363300420412722, + 0.5986680846378026, + 0.31530079864092225, + 0.6524902929375304, + -0.7516027823153673, + -0.09669371871065258, + 0.1790935141477617, + 0.27692920043199437, + -0.9440528222182814 + ], + [ + 0.7008197975852201, + 0.6326298020329622, + 0.3295923920425746, + 0.6914146511507471, + -0.7160948682249175, + -0.09567611967481045, + 0.17549185589850547, + 0.294936727590297, + -0.9392629744813883 + ], + [ + 0.6551164725587608, + 0.6870092048678509, + 0.3143895033378337, + 0.7437638462337695, + -0.6595742441527286, + -0.10852261278602951, + 0.13280718511329165, + 0.30492649749931566, + -0.9430705608304629 + ], + [ + 0.6513188597449144, + 0.6860316683002388, + 0.3242596074594793, + 0.7474149559567802, + -0.6537768462401004, + -0.11809622742692703, + 0.13097567160625212, + 0.31927478041577173, + -0.9385675191683079 + ], + [ + 0.6945947010861353, + 0.6040086712721299, + 0.3907834774541251, + 0.7021561613288448, + -0.6874263054175032, + -0.18553112873041822, + 0.15657243158041498, + 0.4032599653426038, + -0.9015910791599917 + ], + [ + 0.6679269809715851, + 0.6267061422260954, + 0.4013887883166002, + 0.7313495350545959, + -0.6526185600087923, + -0.19803250416907942, + 0.13784558631167662, + 0.4258267563553693, + -0.8942427902456104 + ], + [ + 0.5978630300619865, + 0.6870423259548565, + 0.41295597783739746, + 0.7882750621350992, + -0.5974412785878346, + -0.14726284343051, + 0.14554114092244075, + 0.4135659088777437, + -0.8987663852821378 + ], + [ + 0.517158261321604, + 0.7552891913605545, + 0.40259852230321885, + 0.8395164126915934, + -0.5392091324887406, + -0.06682592507536525, + 0.16661190104027385, + 0.37254764642211835, + -0.9129341299223545 + ], + [ + 0.42651747640433707, + 0.818371905053692, + 0.38516265050036613, + 0.8854047624042358, + -0.4647674971307447, + 0.0070413296132539605, + 0.1847735073910085, + 0.3380215949160861, + -0.922821842143331 + ], + [ + 0.40601678745668796, + 0.8324227647827765, + 0.37712426198104654, + 0.8938023171889234, + -0.44770992659889736, + 0.02594685746908948, + 0.19044103048204175, + 0.3265396795126257, + -0.9257991421538097 + ], + [ + 0.37500402129466087, + 0.8510988260788174, + 0.3674272339662544, + 0.9075863636196243, + -0.4178093754224244, + 0.04150082385725487, + 0.1888358456028431, + 0.3179089713367377, + -0.9291258845598247 + ], + [ + 0.3403811937824194, + 0.8629619565732197, + 0.37341304801329, + 0.9215855708551736, + -0.3849872474355738, + 0.049647305098307226, + 0.18660299705738703, + 0.3272330680406564, + -0.9263357062479565 + ], + [ + 0.30264949679865677, + 0.883622948328943, + 0.3572306919540734, + 0.9380229981750287, + -0.34255513099219687, + 0.05261974083601165, + 0.16886721701458218, + 0.31916526662120537, + -0.9325327852683598 + ], + [ + 0.30229581517547527, + 0.892112177606118, + 0.33578728786877216, + 0.9398032432931771, + -0.3378209177899753, + 0.05144794844466301, + 0.1593333110903708, + 0.30002148268150647, + -0.940531767622216 + ], + [ + 0.30615336350794514, + 0.8983707790507882, + 0.31496041237027206, + 0.9398326357863456, + -0.33791372049946283, + 0.05028850971246844, + 0.15160717240177707, + 0.28061407813203293, + -0.9477715992951293 + ], + [ + 0.32726704468039947, + 0.8896940431486289, + 0.3183406839409672, + 0.933177885614203, + -0.3572748860354722, + 0.039162349379800634, + 0.1485776405343774, + 0.28425194000074244, + -0.9471671021203447 + ], + [ + 0.3495995711602158, + 0.884460188774233, + 0.3090474305313694, + 0.9271634405811003, + -0.37403286210537146, + 0.021618800037952413, + 0.13471486293059887, + 0.2789795557719464, + -0.9508008798727932 + ], + [ + 0.34626979064743896, + 0.8931972255571894, + 0.2868727040725877, + 0.9292733793799608, + -0.36849979161194985, + 0.02566885189674785, + 0.12863987896731868, + 0.257694819192954, + -0.9576247499414292 + ], + [ + 0.32430520695083, + 0.8970798510657866, + 0.3001230973390171, + 0.9375545942132087, + -0.34700189494454325, + 0.02410534742752031, + 0.1257677049734335, + 0.27356429905359, + -0.9535958570951496 + ], + [ + 0.45304531077663224, + 0.8176872950394396, + 0.355158322321735, + 0.8865525827568244, + -0.4551007510095745, + -0.08311332286538536, + 0.09367211106038553, + 0.3525206291291419, + -0.9311040444804679 + ], + [ + 0.5914588451974024, + 0.7033858440992788, + 0.39423950684640885, + 0.7987306562211058, + -0.5780683594625871, + -0.16693205384477328, + 0.11047974135721084, + 0.4136246198051776, + -0.9037194811669523 + ], + [ + 0.618769568750968, + 0.7057283884972776, + 0.34506762012216885, + 0.7805626061502857, + -0.6018632023336825, + -0.168768194742135, + 0.08857899676342951, + 0.37377550394010706, + -0.9232798243147654 + ], + [ + 0.6544420751185771, + 0.6974316054628367, + 0.2920526083020337, + 0.7524213816891112, + -0.6388228754099095, + -0.16052226708486353, + 0.07461658456093855, + 0.3247991526382815, + -0.9428350204324799 + ], + [ + 0.6684502666989363, + 0.6980594360241923, + 0.2566851470726484, + 0.7398793595433415, + -0.6593037454176938, + -0.13378006054691144, + 0.07584704524142938, + 0.27934135937198235, + -0.9571915329088307 + ], + [ + 0.6926329060393903, + 0.6810976401605993, + 0.23741453628430628, + 0.7161381238166098, + -0.6886366191631003, + -0.11369166356440359, + 0.08605721984735179, + 0.24876818790849903, + -0.964732368896611 + ], + [ + 0.6906878563766579, + 0.6838209988485668, + 0.2352426972034732, + 0.7130021003297675, + -0.698267379259825, + -0.0636448897159484, + 0.12074058960911513, + 0.21168728964055317, + -0.9698506077873432 + ], + [ + 0.6874016241441245, + 0.6764060007978614, + 0.2644880511642506, + 0.7062880300280907, + -0.7074306444310035, + -0.0264405362837805, + 0.1692224150727633, + 0.2049800122074798, + -0.9640264357538971 + ], + [ + 0.7073631609561881, + 0.6537941321494423, + 0.26868306848223195, + 0.6842305611762238, + -0.7287219741729587, + -0.028157121833311982, + 0.17738629505838396, + 0.2037584774295874, + -0.9628170050435527 + ], + [ + 0.7402585821954922, + 0.6201692293654671, + 0.2596292711428385, + 0.6618184063848881, + -0.740162036877926, + -0.11898132683276862, + 0.11837917239145584, + 0.25990437878758726, + -0.958350711081779 + ], + [ + 0.7953046761754264, + 0.5392064436617147, + 0.2770322782045195, + 0.5971914938935278, + -0.775410525492384, + -0.2051848838897292, + 0.10417673288559601, + 0.32862581771569793, + -0.9386971184870934 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006677.json b/json/chunk-0006/episode_0006677.json new file mode 100644 index 0000000000000000000000000000000000000000..2b35104ea53b7eed8f4186d3a0f2f1f323543735 --- /dev/null +++ b/json/chunk-0006/episode_0006677.json @@ -0,0 +1,1402 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 22, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the cloth near the cans." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006677.mp4", + "start": 0, + "end": 22, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.24235711991786957, + 0.06718883663415909, + 0.07523307204246521, + -0.07280021905899048, + -0.07577462494373322, + 1.834519863128662, + 0.0, + 1.0008161067962646 + ], + [ + 0.2402380406856537, + 0.06671298295259476, + 0.06884892284870148, + -0.0471404530107975, + -0.07657760381698608, + 1.8386746644973755, + 0.0, + 1.0008161067962646 + ], + [ + 0.2409444898366928, + 0.07240921258926392, + 0.04878589138388634, + -0.006423517130315304, + -0.1126769557595253, + 1.8457480669021606, + 0.0, + 1.0008161067962646 + ], + [ + 0.24890266358852386, + 0.08503303676843643, + 0.025640521198511124, + 0.02286287024617195, + -0.1384497880935669, + 1.8813755512237549, + 0.0, + 1.0008161067962646 + ], + [ + 0.25633761286735535, + 0.09031908959150314, + 0.013371714390814304, + 0.02534392848610878, + -0.15479280054569244, + 1.8939218521118164, + 0.0, + 1.0008161067962646 + ], + [ + 0.26113423705101013, + 0.0912875086069107, + 0.010678214021027088, + 0.018372533842921257, + -0.17734205722808838, + 1.8893669843673706, + 0.0, + 1.0008161067962646 + ], + [ + 0.26350530982017517, + 0.08498626947402954, + 0.00837008561939001, + 0.007650441024452448, + -0.1744878590106964, + 1.8759111166000366, + 0.0, + 1.0008161067962646 + ], + [ + 0.266813725233078, + 0.07352346926927567, + 0.006784346420317888, + 0.01001809723675251, + -0.16927853226661682, + 1.8484232425689697, + 0.0, + 1.0001531839370728 + ], + [ + 0.28071755170822144, + 0.051794104278087616, + 0.004675069358199835, + -0.00950393546372652, + -0.16650699079036713, + 1.811482548713684, + 0.0, + 1.0001531839370728 + ], + [ + 0.29899710416793823, + 0.02760840579867363, + 0.0030649956315755844, + -0.026310954242944717, + -0.16726195812225342, + 1.7761467695236206, + 0.0, + 1.0001531839370728 + ], + [ + 0.321218878030777, + 0.0034529652912169695, + 0.0012519644806161523, + -0.027287818491458893, + -0.17305321991443634, + 1.7244579792022705, + 0.0, + 1.0001531839370728 + ], + [ + 0.348794162273407, + -0.016929863020777702, + 0.00012274275650270283, + -0.016574667766690254, + -0.16535592079162598, + 1.7088688611984253, + 0.0, + 1.0001531839370728 + ], + [ + 0.378251314163208, + -0.03765091672539711, + 0.001291403896175325, + -0.02001219242811203, + -0.13761179149150848, + 1.7032424211502075, + 0.0, + 1.0001531839370728 + ], + [ + 0.4039881229400635, + -0.05470884591341019, + 0.0007096505723893642, + -0.020443417131900787, + -0.12700366973876953, + 1.6798510551452637, + 0.0, + 1.0001531839370728 + ], + [ + 0.41305169463157654, + -0.06453369557857513, + 0.0014894449850544333, + -0.01749320700764656, + -0.1172458678483963, + 1.6596637964248657, + 0.0, + 1.0001531839370728 + ], + [ + 0.4132382273674011, + -0.06541957706212997, + 0.0021519502624869347, + -0.01556527242064476, + -0.1163235679268837, + 1.6452409029006958, + 0.0, + 1.0001531839370728 + ], + [ + 0.4112796485424042, + -0.06514634191989899, + 0.003761435393244028, + -0.02214110642671585, + -0.11360255628824234, + 1.6398422718048096, + 0.0, + 1.0001531839370728 + ], + [ + 0.40599650144577026, + -0.06834608316421509, + 0.006988126784563065, + -0.01739964820444584, + -0.08729099482297897, + 1.6302567720413208, + 0.0, + 1.0008161067962646 + ], + [ + 0.39669328927993774, + -0.07325726747512817, + 0.011211270466446877, + 0.001628938945941627, + -0.05263621732592583, + 1.619773268699646, + 0.0, + 1.0008161067962646 + ], + [ + 0.389097660779953, + -0.07753464579582214, + 0.018691347911953926, + 0.008689267560839653, + -0.02883089892566204, + 1.5987441539764404, + 0.0, + 1.0001531839370728 + ], + [ + 0.38124632835388184, + -0.07651101797819138, + 0.04172082617878914, + -0.03001904860138893, + -0.019522540271282196, + 1.594878911972046, + 0.0, + 1.0001531839370728 + ], + [ + 0.37118634581565857, + -0.0738353356719017, + 0.056680768728256226, + -0.06118599697947502, + -0.012397261336445808, + 1.5871511697769165, + 0.0, + 1.0001531839370728 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.24235711991786957, + 0.06718883663415909, + 0.07523307204246521 + ], + [ + 0.2402380406856537, + 0.06671298295259476, + 0.06884892284870148 + ], + [ + 0.2409444898366928, + 0.07240921258926392, + 0.04878589138388634 + ], + [ + 0.24890266358852386, + 0.08503303676843643, + 0.025640521198511124 + ], + [ + 0.25633761286735535, + 0.09031908959150314, + 0.013371714390814304 + ], + [ + 0.26113423705101013, + 0.0912875086069107, + 0.010678214021027088 + ], + [ + 0.26350530982017517, + 0.08498626947402954, + 0.00837008561939001 + ], + [ + 0.266813725233078, + 0.07352346926927567, + 0.006784346420317888 + ], + [ + 0.28071755170822144, + 0.051794104278087616, + 0.004675069358199835 + ], + [ + 0.29899710416793823, + 0.02760840579867363, + 0.0030649956315755844 + ], + [ + 0.321218878030777, + 0.0034529652912169695, + 0.0012519644806161523 + ], + [ + 0.348794162273407, + -0.016929863020777702, + 0.00012274275650270283 + ], + [ + 0.378251314163208, + -0.03765091672539711, + 0.001291403896175325 + ], + [ + 0.4039881229400635, + -0.05470884591341019, + 0.0007096505723893642 + ], + [ + 0.41305169463157654, + -0.06453369557857513, + 0.0014894449850544333 + ], + [ + 0.4132382273674011, + -0.06541957706212997, + 0.0021519502624869347 + ], + [ + 0.4112796485424042, + -0.06514634191989899, + 0.003761435393244028 + ], + [ + 0.40599650144577026, + -0.06834608316421509, + 0.006988126784563065 + ], + [ + 0.39669328927993774, + -0.07325726747512817, + 0.011211270466446877 + ], + [ + 0.389097660779953, + -0.07753464579582214, + 0.018691347911953926 + ], + [ + 0.38124632835388184, + -0.07651101797819138, + 0.04172082617878914 + ], + [ + 0.37118634581565857, + -0.0738353356719017, + 0.056680768728256226 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + -0.2599291303983139, + 0.9643042022379275, + 0.05053961531958026, + 0.9626557195456257, + 0.2546707852754785, + 0.09185181954248653, + 0.07570213204706142, + 0.072527213330211, + -0.9944893114207332 + ], + [ + -0.26391034408692216, + 0.9642175600602466, + 0.025215613325619488, + 0.9615085306902261, + 0.2609155351444854, + 0.08616512595121914, + 0.07650278226211794, + 0.0469848953572485, + -0.9959617180968471 + ], + [ + -0.2697788146145451, + 0.9626145359101123, + -0.024344330751322127, + 0.9563351579026259, + 0.27079977084594253, + 0.1099570364694503, + 0.11243868081994708, + 0.0063827395641572054, + -0.9936381653756692 + ], + [ + -0.3026858551291154, + 0.9509436775995894, + -0.06393273917269879, + 0.9430456467347634, + 0.3085343679032917, + 0.12438429160118256, + 0.1380079029598229, + -0.02264212569270948, + -0.9901722844357681 + ], + [ + -0.3137353077844029, + 0.946702482688886, + -0.07296962326972152, + 0.9369098722333219, + 0.32113470172715614, + 0.13810284087718983, + 0.1541753805286888, + -0.025038223126042855, + -0.9877261965856348 + ], + [ + -0.30829710124882687, + 0.9485086848393172, + -0.07269231146386428, + 0.93478929057069, + 0.31623451230276384, + 0.16175510954210726, + 0.17641394388175957, + -0.018083362879231207, + -0.9841499440588621 + ], + [ + -0.29584122420102615, + 0.9533855882744597, + -0.059446531722215395, + 0.9393293842375117, + 0.3016606634960927, + 0.16328243018486138, + 0.17360379595854253, + -0.007534200001276317, + -0.9847867575567442 + ], + [ + -0.27015674655814825, + 0.9611977235115254, + -0.05580563238041447, + 0.9479624330255751, + 0.2756835610699435, + 0.1592664425672495, + 0.1684712374898121, + -0.009874739088010204, + -0.9856571065368499 + ], + [ + -0.2350724093738149, + 0.9715062353134234, + -0.030275354635888832, + 0.957743001287201, + 0.23682861685592338, + 0.16321933011593565, + 0.1657386672945516, + 0.009372352172722503, + -0.9861251711512978 + ], + [ + -0.20106454195273732, + 0.9795438357955177, + -0.008180692167557027, + 0.9653271010902158, + 0.1995518730527231, + 0.16829330902299933, + 0.16648314590401286, + 0.025940773237400558, + -0.9857030173504338 + ], + [ + -0.15077153166689217, + 0.988568441614124, + 0.0006176434584197615, + 0.973456874455745, + 0.14835790646053126, + 0.17427462570753205, + 0.1721907628581495, + 0.02687690151916028, + -0.9846968941512196 + ], + [ + -0.13575689507332894, + 0.9907225547638715, + -0.006235777593601291, + 0.9769727650853558, + 0.1349131856994374, + 0.16529564000875327, + 0.16460340738126716, + 0.016347837978669122, + -0.9862243489550944 + ], + [ + -0.1308107753870572, + 0.9914058554207758, + 0.0017236240997649532, + 0.9818710562961716, + 0.1293117579123041, + 0.13859183985166784, + 0.13717787668016124, + 0.019821682648809277, + -0.9903480857993783 + ], + [ + -0.10796209228634235, + 0.9941335150341294, + 0.006537653634254702, + 0.9860531390876858, + 0.10624209775690108, + 0.12810863967560362, + 0.12666251823043734, + 0.02027735066766017, + -0.9917385923344036 + ], + [ + -0.08814123472252516, + 0.996083087882211, + 0.007043065854315203, + 0.989215549557435, + 0.08669883457136146, + 0.11805044937546741, + 0.11697743053841972, + 0.01737222262714827, + -0.9929826215123918 + ], + [ + -0.07387320428070432, + 0.9972438377157687, + 0.006890415606250637, + 0.9904910388828273, + 0.07256537243079786, + 0.11688356863476258, + 0.11606141297657455, + 0.015459458654983174, + -0.9931217214198751 + ], + [ + -0.06854639200333518, + 0.997545900501286, + 0.014267744615156099, + 0.9911868005405412, + 0.06647049246318165, + 0.11458795777003444, + 0.11335836350940404, + 0.02199659120819252, + -0.9933106419432387 + ], + [ + -0.05919915521313618, + 0.9981717840786273, + 0.012188088092113497, + 0.9944320368731119, + 0.0579022713675435, + 0.08804686826272173, + 0.08718018159217573, + 0.01733252548734477, + -0.9960417659404577 + ], + [ + -0.04888955947618795, + 0.99879534845761, + -0.004202722173287144, + 0.9974175641843317, + 0.04904289759441477, + 0.052469008492044764, + 0.052611915293199446, + -0.0016266822016951024, + -0.9986137092360567 + ], + [ + -0.027932575980417707, + 0.9995647486887828, + -0.009491279040725045, + 0.9991940656098871, + 0.028193517858217165, + 0.02857174829728185, + 0.02882690495150369, + -0.00868554716233277, + -0.9995466826623995 + ], + [ + -0.02407566867475386, + 0.9992737305720251, + 0.029535970722680667, + 0.9995195250802645, + 0.023483655362881217, + 0.02022960489282262, + 0.019521300191989367, + 0.030008820694339154, + -0.9993589893123237 + ], + [ + -0.016352857157582834, + 0.998007630762665, + 0.060937287454203896, + 0.9997894277535301, + 0.015565565984629659, + 0.013372109326775114, + 0.012396943778721407, + 0.06114312794640721, + -0.9980520195309845 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0021190792322158813, + -0.00047585368156433105, + -0.006384149193763733, + 0.025659766048192978, + -0.0008029788732528687, + 0.004154801368713379, + 1.0 + ], + [ + 0.0007064491510391235, + 0.005696229636669159, + -0.02006303146481514, + 0.04071693494915962, + -0.036099351942539215, + 0.007073402404785156, + 1.0 + ], + [ + 0.007958173751831055, + 0.012623824179172516, + -0.023145370185375214, + 0.02928638830780983, + -0.025772832334041595, + 0.03562748432159424, + 1.0 + ], + [ + 0.007434949278831482, + 0.005286052823066711, + -0.01226880680769682, + 0.0024810582399368286, + -0.01634301245212555, + 0.012546300888061523, + 1.0 + ], + [ + 0.004796624183654785, + 0.0009684190154075623, + -0.002693500369787216, + -0.006971394643187523, + -0.022549256682395935, + -0.004554867744445801, + 1.0 + ], + [ + 0.002371072769165039, + -0.0063012391328811646, + -0.0023081284016370773, + -0.010722093284130096, + 0.0028541982173919678, + -0.013455867767333984, + 1.0 + ], + [ + 0.003308415412902832, + -0.011462800204753876, + -0.0015857391990721226, + 0.002367656212300062, + 0.00520932674407959, + -0.027487874031066895, + 1.0 + ], + [ + 0.013903826475143433, + -0.02172936499118805, + -0.0021092770621180534, + -0.019522033631801605, + 0.002771541476249695, + -0.036940693855285645, + 1.0 + ], + [ + 0.018279552459716797, + -0.024185698479413986, + -0.0016100737266242504, + -0.01680701971054077, + -0.0007549673318862915, + -0.03533577919006348, + 1.0 + ], + [ + 0.022221773862838745, + -0.02415543980896473, + -0.0018130311509594321, + -0.0009768642485141754, + -0.005791261792182922, + -0.0516887903213501, + 1.0 + ], + [ + 0.027575284242630005, + -0.020382829010486603, + -0.00112922175321728, + 0.010713150724768639, + 0.007697299122810364, + -0.015589118003845215, + 1.0 + ], + [ + 0.029457151889801025, + -0.020721053704619408, + 0.0011686611687764525, + -0.003437524661421776, + 0.027744129300117493, + -0.0056264400482177734, + 1.0 + ], + [ + 0.02573680877685547, + -0.017057929188013077, + -0.0005817533237859607, + -0.0004312247037887573, + 0.010608121752738953, + -0.023391366004943848, + 1.0 + ], + [ + 0.009063571691513062, + -0.009824849665164948, + 0.0007797944126650691, + 0.0029502101242542267, + 0.00975780189037323, + -0.02018725872039795, + 1.0 + ], + [ + 0.00018653273582458496, + -0.0008858814835548401, + 0.0006625052774325013, + 0.0019279345870018005, + 0.0009222999215126038, + -0.014422893524169922, + 1.0 + ], + [ + -0.0019585788249969482, + 0.00027323514223098755, + 0.0016094851307570934, + -0.006575834006071091, + 0.0027210116386413574, + -0.0053986310958862305, + 1.0 + ], + [ + -0.005283147096633911, + -0.003199741244316101, + 0.0032266913913190365, + 0.004741458222270012, + 0.026311561465263367, + -0.00958549976348877, + 1.0 + ], + [ + -0.00930321216583252, + -0.004911184310913086, + 0.004223143681883812, + 0.019028587266802788, + 0.034654777497053146, + -0.010483503341674805, + 1.0 + ], + [ + -0.007595628499984741, + -0.00427737832069397, + 0.0074800774455070496, + 0.007060328498482704, + 0.023805318400263786, + -0.021029114723205566, + 1.0 + ], + [ + -0.007851332426071167, + 0.0010236278176307678, + 0.023029478266835213, + -0.038708314299583435, + 0.009308358654379845, + -0.0038652420043945312, + 1.0 + ], + [ + -0.010059982538223267, + 0.002675682306289673, + 0.014959942549467087, + -0.03116694837808609, + 0.007125278934836388, + -0.0077277421951293945, + 1.0 + ], + [ + -0.008127093315124512, + 0.0028532296419143677, + 0.009260810911655426, + -0.013386067003011703, + 0.0026749521493911743, + -0.003067493438720703, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2402380406856537, + 0.06671298295259476, + 0.06884892284870148 + ], + [ + 0.2409444898366928, + 0.07240921258926392, + 0.04878589138388634 + ], + [ + 0.24890266358852386, + 0.08503303676843643, + 0.025640521198511124 + ], + [ + 0.25633761286735535, + 0.09031908959150314, + 0.013371714390814304 + ], + [ + 0.26113423705101013, + 0.0912875086069107, + 0.010678214021027088 + ], + [ + 0.26350530982017517, + 0.08498626947402954, + 0.00837008561939001 + ], + [ + 0.266813725233078, + 0.07352346926927567, + 0.006784346420317888 + ], + [ + 0.28071755170822144, + 0.051794104278087616, + 0.004675069358199835 + ], + [ + 0.29899710416793823, + 0.02760840579867363, + 0.0030649956315755844 + ], + [ + 0.321218878030777, + 0.0034529652912169695, + 0.0012519644806161523 + ], + [ + 0.348794162273407, + -0.016929863020777702, + 0.00012274275650270283 + ], + [ + 0.378251314163208, + -0.03765091672539711, + 0.001291403896175325 + ], + [ + 0.4039881229400635, + -0.05470884591341019, + 0.0007096505723893642 + ], + [ + 0.41305169463157654, + -0.06453369557857513, + 0.0014894449850544333 + ], + [ + 0.4132382273674011, + -0.06541957706212997, + 0.0021519502624869347 + ], + [ + 0.4112796485424042, + -0.06514634191989899, + 0.003761435393244028 + ], + [ + 0.40599650144577026, + -0.06834608316421509, + 0.006988126784563065 + ], + [ + 0.39669328927993774, + -0.07325726747512817, + 0.011211270466446877 + ], + [ + 0.389097660779953, + -0.07753464579582214, + 0.018691347911953926 + ], + [ + 0.38124632835388184, + -0.07651101797819138, + 0.04172082617878914 + ], + [ + 0.37118634581565857, + -0.0738353356719017, + 0.056680768728256226 + ], + [ + 0.36305925250053406, + -0.07098210602998734, + 0.06594157963991165 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + -0.26391034408692216, + 0.9642175600602466, + 0.025215613325619488, + 0.9615085306902261, + 0.2609155351444854, + 0.08616512595121914, + 0.07650278226211794, + 0.0469848953572485, + -0.9959617180968471 + ], + [ + -0.2697788146145451, + 0.9626145359101123, + -0.024344330751322127, + 0.9563351579026259, + 0.27079977084594253, + 0.1099570364694503, + 0.11243868081994708, + 0.0063827395641572054, + -0.9936381653756692 + ], + [ + -0.3026858551291154, + 0.9509436775995894, + -0.06393273917269879, + 0.9430456467347634, + 0.3085343679032917, + 0.12438429160118256, + 0.1380079029598229, + -0.02264212569270948, + -0.9901722844357681 + ], + [ + -0.3137353077844029, + 0.946702482688886, + -0.07296962326972152, + 0.9369098722333219, + 0.32113470172715614, + 0.13810284087718983, + 0.1541753805286888, + -0.025038223126042855, + -0.9877261965856348 + ], + [ + -0.30829710124882687, + 0.9485086848393172, + -0.07269231146386428, + 0.93478929057069, + 0.31623451230276384, + 0.16175510954210726, + 0.17641394388175957, + -0.018083362879231207, + -0.9841499440588621 + ], + [ + -0.29584122420102615, + 0.9533855882744597, + -0.059446531722215395, + 0.9393293842375117, + 0.3016606634960927, + 0.16328243018486138, + 0.17360379595854253, + -0.007534200001276317, + -0.9847867575567442 + ], + [ + -0.27015674655814825, + 0.9611977235115254, + -0.05580563238041447, + 0.9479624330255751, + 0.2756835610699435, + 0.1592664425672495, + 0.1684712374898121, + -0.009874739088010204, + -0.9856571065368499 + ], + [ + -0.2350724093738149, + 0.9715062353134234, + -0.030275354635888832, + 0.957743001287201, + 0.23682861685592338, + 0.16321933011593565, + 0.1657386672945516, + 0.009372352172722503, + -0.9861251711512978 + ], + [ + -0.20106454195273732, + 0.9795438357955177, + -0.008180692167557027, + 0.9653271010902158, + 0.1995518730527231, + 0.16829330902299933, + 0.16648314590401286, + 0.025940773237400558, + -0.9857030173504338 + ], + [ + -0.15077153166689217, + 0.988568441614124, + 0.0006176434584197615, + 0.973456874455745, + 0.14835790646053126, + 0.17427462570753205, + 0.1721907628581495, + 0.02687690151916028, + -0.9846968941512196 + ], + [ + -0.13575689507332894, + 0.9907225547638715, + -0.006235777593601291, + 0.9769727650853558, + 0.1349131856994374, + 0.16529564000875327, + 0.16460340738126716, + 0.016347837978669122, + -0.9862243489550944 + ], + [ + -0.1308107753870572, + 0.9914058554207758, + 0.0017236240997649532, + 0.9818710562961716, + 0.1293117579123041, + 0.13859183985166784, + 0.13717787668016124, + 0.019821682648809277, + -0.9903480857993783 + ], + [ + -0.10796209228634235, + 0.9941335150341294, + 0.006537653634254702, + 0.9860531390876858, + 0.10624209775690108, + 0.12810863967560362, + 0.12666251823043734, + 0.02027735066766017, + -0.9917385923344036 + ], + [ + -0.08814123472252516, + 0.996083087882211, + 0.007043065854315203, + 0.989215549557435, + 0.08669883457136146, + 0.11805044937546741, + 0.11697743053841972, + 0.01737222262714827, + -0.9929826215123918 + ], + [ + -0.07387320428070432, + 0.9972438377157687, + 0.006890415606250637, + 0.9904910388828273, + 0.07256537243079786, + 0.11688356863476258, + 0.11606141297657455, + 0.015459458654983174, + -0.9931217214198751 + ], + [ + -0.06854639200333518, + 0.997545900501286, + 0.014267744615156099, + 0.9911868005405412, + 0.06647049246318165, + 0.11458795777003444, + 0.11335836350940404, + 0.02199659120819252, + -0.9933106419432387 + ], + [ + -0.05919915521313618, + 0.9981717840786273, + 0.012188088092113497, + 0.9944320368731119, + 0.0579022713675435, + 0.08804686826272173, + 0.08718018159217573, + 0.01733252548734477, + -0.9960417659404577 + ], + [ + -0.04888955947618795, + 0.99879534845761, + -0.004202722173287144, + 0.9974175641843317, + 0.04904289759441477, + 0.052469008492044764, + 0.052611915293199446, + -0.0016266822016951024, + -0.9986137092360567 + ], + [ + -0.027932575980417707, + 0.9995647486887828, + -0.009491279040725045, + 0.9991940656098871, + 0.028193517858217165, + 0.02857174829728185, + 0.02882690495150369, + -0.00868554716233277, + -0.9995466826623995 + ], + [ + -0.02407566867475386, + 0.9992737305720251, + 0.029535970722680667, + 0.9995195250802645, + 0.023483655362881217, + 0.02022960489282262, + 0.019521300191989367, + 0.030008820694339154, + -0.9993589893123237 + ], + [ + -0.016352857157582834, + 0.998007630762665, + 0.060937287454203896, + 0.9997894277535301, + 0.015565565984629659, + 0.013372109326775114, + 0.012396943778721407, + 0.06114312794640721, + -0.9980520195309845 + ], + [ + -0.013286330599778073, + 0.9971423858661529, + 0.07436757175241343, + 0.9998644673661755, + 0.012525765803015954, + 0.010684198126344843, + 0.009722156023660451, + 0.0744994463080428, + -0.9971736619977722 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006678.json b/json/chunk-0006/episode_0006678.json new file mode 100644 index 0000000000000000000000000000000000000000..86167033f874f1ebff49a6c3837dafc513a87902 --- /dev/null +++ b/json/chunk-0006/episode_0006678.json @@ -0,0 +1,982 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 15, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut eggplant in pot or pan." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006678.mp4", + "start": 0, + "end": 15, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.4576214849948883, + -0.012050246819853783, + 0.050263259559869766, + 0.2259998917579651, + -0.710595965385437, + 0.1727876365184784, + 0.0, + 1.0014774799346924 + ], + [ + 0.4542490243911743, + -0.012422543950378895, + 0.03561580181121826, + 0.23156261444091797, + -0.6907951831817627, + 0.1613415628671646, + 0.0, + 1.0014774799346924 + ], + [ + 0.4579339623451233, + -0.0114670405164361, + 0.032982759177684784, + 0.21436971426010132, + -0.7182502746582031, + 0.1622154265642166, + 0.0, + 1.0014774799346924 + ], + [ + 0.46145468950271606, + -0.006692942697554827, + 0.02784143015742302, + 0.2040884792804718, + -0.7311370968818665, + 0.16253666579723358, + 0.0, + 1.0014774799346924 + ], + [ + 0.46843385696411133, + -0.009914815425872803, + 0.025702912360429764, + 0.1808275729417801, + -0.7600666880607605, + 0.16402393579483032, + 0.0, + 1.0014774799346924 + ], + [ + 0.47547850012779236, + -0.012576134875416756, + 0.02409399300813675, + 0.1607898771762848, + -0.7841437458992004, + 0.16275851428508759, + 0.0, + 0.8251956701278687 + ], + [ + 0.4766743779182434, + -0.013850090093910694, + 0.024264836683869362, + 0.1533590406179428, + -0.7837347984313965, + 0.16865235567092896, + 0.0, + 0.5998998284339905 + ], + [ + 0.4727729558944702, + -0.007842102088034153, + 0.026884716004133224, + 0.2556396424770355, + -0.7441909909248352, + 0.10862515866756439, + 0.0, + 0.5829154849052429 + ], + [ + 0.4571859538555145, + 0.01906592957675457, + 0.03681067004799843, + 0.43396613001823425, + -0.6408381462097168, + 0.029248207807540894, + 0.0, + 0.5749470591545105 + ], + [ + 0.44313111901283264, + 0.027634402737021446, + 0.07038044184446335, + 0.5136226415634155, + -0.5812190771102905, + -0.006010360550135374, + 0.0, + 0.5640211701393127 + ], + [ + 0.4333212077617645, + 0.031459417194128036, + 0.0819820761680603, + 0.5405831336975098, + -0.5602704882621765, + -0.008883411064743996, + 0.0, + 0.5640211701393127 + ], + [ + 0.4181794822216034, + 0.035643432289361954, + 0.07359691709280014, + 0.5677862167358398, + -0.5411480665206909, + -0.018974142149090767, + 0.0, + 0.5640211701393127 + ], + [ + 0.40765202045440674, + 0.03739761561155319, + 0.07420838624238968, + 0.5636245608329773, + -0.5631787776947021, + -0.010367070324718952, + 0.0, + 0.5640211701393127 + ], + [ + 0.3986620008945465, + 0.04278308525681496, + 0.062354348599910736, + 0.5620563626289368, + -0.569355845451355, + 0.0007838097517378628, + 0.0, + 0.5640211701393127 + ], + [ + 0.3903290033340454, + 0.05260908603668213, + 0.05065208300948143, + 0.553995668888092, + -0.578626811504364, + 0.013196839019656181, + 0.0, + 0.5640211701393127 + ] + ], + "left_gripper_pos": [ + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 0.8251956701278687 + ], + [ + 0.5998998284339905 + ], + [ + 0.5829154849052429 + ], + [ + 0.5749470591545105 + ], + [ + 0.5640211701393127 + ], + [ + 0.5640211701393127 + ], + [ + 0.5640211701393127 + ], + [ + 0.5640211701393127 + ], + [ + 0.5640211701393127 + ], + [ + 0.5640211701393127 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.4576214849948883, + -0.012050246819853783, + 0.050263259559869766 + ], + [ + 0.4542490243911743, + -0.012422543950378895, + 0.03561580181121826 + ], + [ + 0.4579339623451233, + -0.0114670405164361, + 0.032982759177684784 + ], + [ + 0.46145468950271606, + -0.006692942697554827, + 0.02784143015742302 + ], + [ + 0.46843385696411133, + -0.009914815425872803, + 0.025702912360429764 + ], + [ + 0.47547850012779236, + -0.012576134875416756, + 0.02409399300813675 + ], + [ + 0.4766743779182434, + -0.013850090093910694, + 0.024264836683869362 + ], + [ + 0.4727729558944702, + -0.007842102088034153, + 0.026884716004133224 + ], + [ + 0.4571859538555145, + 0.01906592957675457, + 0.03681067004799843 + ], + [ + 0.44313111901283264, + 0.027634402737021446, + 0.07038044184446335 + ], + [ + 0.4333212077617645, + 0.031459417194128036, + 0.0819820761680603 + ], + [ + 0.4181794822216034, + 0.035643432289361954, + 0.07359691709280014 + ], + [ + 0.40765202045440674, + 0.03739761561155319, + 0.07420838624238968 + ], + [ + 0.3986620008945465, + 0.04278308525681496, + 0.062354348599910736 + ], + [ + 0.3903290033340454, + 0.05260908603668213, + 0.05065208300948143 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.7466865329248411, + 0.3115453542673869, + 0.5877063159292141, + 0.13031769280815192, + -0.9349285351012746, + 0.33003929038001745, + 0.6522856126650663, + -0.16984736232215605, + -0.7386984181804952 + ], + [ + 0.7607297499471828, + 0.3006808633139972, + 0.5752227968205418, + 0.1238135299394522, + -0.9371782962803081, + 0.32613961854560325, + 0.6371502627710589, + -0.17688374548807073, + -0.7501677700573934 + ], + [ + 0.7430734100476164, + 0.29596228693741067, + 0.6002068243455626, + 0.12160649081724724, + -0.9416736808515281, + 0.31378741240312585, + 0.6580682097406939, + -0.1601780368911806, + -0.7357236083111414 + ], + [ + 0.7346042054886124, + 0.29200909268023695, + 0.6124437533933293, + 0.12046279334356585, + -0.9444404029433813, + 0.30581210032961215, + 0.6677165391828406, + -0.15087416969186007, + -0.7289661228215492 + ], + [ + 0.7150620835199368, + 0.2828708748266556, + 0.6392732474356557, + 0.11835056785052137, + -0.9502595553906661, + 0.28809706780561384, + 0.6889697814865219, + -0.13034893771541006, + -0.7129725062264871 + ], + [ + 0.698636425951826, + 0.27152072770783775, + 0.6619544083683294, + 0.11472384458154478, + -0.9557346211289214, + 0.27094238033203044, + 0.7062192179611714, + -0.11334826156833341, + -0.698860921630154 + ], + [ + 0.6982327819298397, + 0.27219078760095683, + 0.6621050954219334, + 0.11888794781834292, + -0.9561410798196804, + 0.2676936520442696, + 0.7059296268765463, + -0.10819616733704708, + -0.6999692502328326 + ], + [ + 0.7313003711269758, + 0.27516338566623477, + 0.6240872361923789, + 0.07975153997727279, + -0.9432301470276777, + 0.3224229855475548, + 0.6773768958717153, + -0.18601613082429225, + -0.7117292603317352 + ], + [ + 0.8012520982916304, + 0.27781264976576575, + 0.5299200002013359, + 0.023441872768188265, + -0.8995656201815443, + 0.4361561344157779, + 0.5978675050413594, + -0.3370487006613703, + -0.7272912895106762 + ], + [ + 0.8357788488433084, + 0.2645248465058739, + 0.481144802951459, + -0.005023392710943819, + -0.87257593432817, + 0.48845266337383497, + 0.5490432417868615, + -0.4106553840050866, + -0.727951697735371 + ], + [ + 0.8470779757144122, + 0.26585809914219904, + 0.46019384413534903, + -0.007525139811986825, + -0.8598043467498662, + 0.5105681713354697, + 0.5314153510488602, + -0.43595407605679315, + -0.7263207061891352 + ], + [ + 0.8569635695910555, + 0.2609688196923201, + 0.44441952650862904, + -0.01626210018282967, + -0.8481975805957908, + 0.5294302677115194, + 0.5151203592282102, + -0.46092964693090066, + -0.7226305252954344 + ], + [ + 0.8455168719416094, + 0.27644688285490926, + 0.4568132443590929, + -0.008765846914222747, + -0.8482357082487526, + 0.529546356025243, + 0.5338767453167, + -0.4517447334629825, + -0.7147743116526407 + ], + [ + 0.8422481481890016, + 0.28795873802689964, + 0.45573876515625966, + 0.0006601624471256617, + -0.8459355639840939, + 0.5332847136122091, + 0.5390896224726834, + -0.44885720087892966, + -0.7126777617979889 + ], + [ + 0.8371414990755944, + 0.29890266372580643, + 0.45809530465077236, + 0.011048262983246487, + -0.84655849703907, + 0.532181028387901, + 0.5468747995752954, + -0.4404496664870668, + -0.7119916045017048 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0033724606037139893, + -0.00037229713052511215, + -0.014647457748651505, + 0.005562722682952881, + 0.019800782203674316, + -0.011446073651313782, + 1.0 + ], + [ + 0.0036849379539489746, + 0.0009555034339427948, + -0.002633042633533478, + -0.01719290018081665, + -0.02745509147644043, + 0.000873863697052002, + 1.0 + ], + [ + 0.0035207271575927734, + 0.004774097818881273, + -0.0051413290202617645, + -0.010281234979629517, + -0.01288682222366333, + 0.0003212392330169678, + 1.0 + ], + [ + 0.006979167461395264, + -0.003221872728317976, + -0.0021385177969932556, + -0.02326090633869171, + -0.028929591178894043, + 0.0014872699975967407, + 1.0 + ], + [ + 0.00704464316368103, + -0.002661319449543953, + -0.0016089193522930145, + -0.0200376957654953, + -0.02407705783843994, + -0.0012654215097427368, + 0.0 + ], + [ + 0.0011958777904510498, + -0.0012739552184939384, + 0.0001708436757326126, + -0.00743083655834198, + 0.0004089474678039551, + 0.00589384138584137, + 0.0 + ], + [ + -0.0039014220237731934, + 0.006007988005876541, + 0.0026198793202638626, + 0.10228060185909271, + 0.03954380750656128, + -0.06002719700336456, + 0.0 + ], + [ + -0.015587002038955688, + 0.026908032596111298, + 0.009925954043865204, + 0.17832648754119873, + 0.10335284471511841, + -0.0793769508600235, + 0.0 + ], + [ + -0.014054834842681885, + 0.008568473160266876, + 0.03356977179646492, + 0.07965651154518127, + 0.05961906909942627, + -0.035258568823337555, + 0.0 + ], + [ + -0.009809911251068115, + 0.0038250144571065903, + 0.011601634323596954, + 0.02696049213409424, + 0.020948588848114014, + -0.0028730505146086216, + 0.0 + ], + [ + -0.015141725540161133, + 0.004184015095233917, + -0.008385159075260162, + 0.027203083038330078, + 0.019122421741485596, + -0.010090731084346771, + 0.0 + ], + [ + -0.010527461767196655, + 0.0017541833221912384, + 0.0006114691495895386, + -0.004161655902862549, + -0.02203071117401123, + 0.008607071824371815, + 0.0 + ], + [ + -0.00899001955986023, + 0.0053854696452617645, + -0.011854037642478943, + -0.0015681982040405273, + -0.006177067756652832, + 0.01115087978541851, + 0.0 + ], + [ + -0.008332997560501099, + 0.009826000779867172, + -0.011702265590429306, + -0.008060693740844727, + -0.009270966053009033, + 0.012413029558956623, + 1.0 + ], + [ + -0.0022414326667785645, + 0.007088430225849152, + -0.003800809383392334, + -0.0019612908363342285, + -0.0033097267150878906, + 0.003882387652993202, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 0.8251956701278687 + ], + [ + 0.5998998284339905 + ], + [ + 0.5829154849052429 + ], + [ + 0.5749470591545105 + ], + [ + 0.5640211701393127 + ], + [ + 0.5640211701393127 + ], + [ + 0.5640211701393127 + ], + [ + 0.5640211701393127 + ], + [ + 0.5640211701393127 + ], + [ + 0.5640211701393127 + ], + [ + 0.7816973924636841 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.4542490243911743, + -0.012422543950378895, + 0.03561580181121826 + ], + [ + 0.4579339623451233, + -0.0114670405164361, + 0.032982759177684784 + ], + [ + 0.46145468950271606, + -0.006692942697554827, + 0.02784143015742302 + ], + [ + 0.46843385696411133, + -0.009914815425872803, + 0.025702912360429764 + ], + [ + 0.47547850012779236, + -0.012576134875416756, + 0.02409399300813675 + ], + [ + 0.4766743779182434, + -0.013850090093910694, + 0.024264836683869362 + ], + [ + 0.4727729558944702, + -0.007842102088034153, + 0.026884716004133224 + ], + [ + 0.4571859538555145, + 0.01906592957675457, + 0.03681067004799843 + ], + [ + 0.44313111901283264, + 0.027634402737021446, + 0.07038044184446335 + ], + [ + 0.4333212077617645, + 0.031459417194128036, + 0.0819820761680603 + ], + [ + 0.4181794822216034, + 0.035643432289361954, + 0.07359691709280014 + ], + [ + 0.40765202045440674, + 0.03739761561155319, + 0.07420838624238968 + ], + [ + 0.3986620008945465, + 0.04278308525681496, + 0.062354348599910736 + ], + [ + 0.3903290033340454, + 0.05260908603668213, + 0.05065208300948143 + ], + [ + 0.38808757066726685, + 0.05969751626253128, + 0.046851273626089096 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.7607297499471828, + 0.3006808633139972, + 0.5752227968205418, + 0.1238135299394522, + -0.9371782962803081, + 0.32613961854560325, + 0.6371502627710589, + -0.17688374548807073, + -0.7501677700573934 + ], + [ + 0.7430734100476164, + 0.29596228693741067, + 0.6002068243455626, + 0.12160649081724724, + -0.9416736808515281, + 0.31378741240312585, + 0.6580682097406939, + -0.1601780368911806, + -0.7357236083111414 + ], + [ + 0.7346042054886124, + 0.29200909268023695, + 0.6124437533933293, + 0.12046279334356585, + -0.9444404029433813, + 0.30581210032961215, + 0.6677165391828406, + -0.15087416969186007, + -0.7289661228215492 + ], + [ + 0.7150620835199368, + 0.2828708748266556, + 0.6392732474356557, + 0.11835056785052137, + -0.9502595553906661, + 0.28809706780561384, + 0.6889697814865219, + -0.13034893771541006, + -0.7129725062264871 + ], + [ + 0.698636425951826, + 0.27152072770783775, + 0.6619544083683294, + 0.11472384458154478, + -0.9557346211289214, + 0.27094238033203044, + 0.7062192179611714, + -0.11334826156833341, + -0.698860921630154 + ], + [ + 0.6982327819298397, + 0.27219078760095683, + 0.6621050954219334, + 0.11888794781834292, + -0.9561410798196804, + 0.2676936520442696, + 0.7059296268765463, + -0.10819616733704708, + -0.6999692502328326 + ], + [ + 0.7313003711269758, + 0.27516338566623477, + 0.6240872361923789, + 0.07975153997727279, + -0.9432301470276777, + 0.3224229855475548, + 0.6773768958717153, + -0.18601613082429225, + -0.7117292603317352 + ], + [ + 0.8012520982916304, + 0.27781264976576575, + 0.5299200002013359, + 0.023441872768188265, + -0.8995656201815443, + 0.4361561344157779, + 0.5978675050413594, + -0.3370487006613703, + -0.7272912895106762 + ], + [ + 0.8357788488433084, + 0.2645248465058739, + 0.481144802951459, + -0.005023392710943819, + -0.87257593432817, + 0.48845266337383497, + 0.5490432417868615, + -0.4106553840050866, + -0.727951697735371 + ], + [ + 0.8470779757144122, + 0.26585809914219904, + 0.46019384413534903, + -0.007525139811986825, + -0.8598043467498662, + 0.5105681713354697, + 0.5314153510488602, + -0.43595407605679315, + -0.7263207061891352 + ], + [ + 0.8569635695910555, + 0.2609688196923201, + 0.44441952650862904, + -0.01626210018282967, + -0.8481975805957908, + 0.5294302677115194, + 0.5151203592282102, + -0.46092964693090066, + -0.7226305252954344 + ], + [ + 0.8455168719416094, + 0.27644688285490926, + 0.4568132443590929, + -0.008765846914222747, + -0.8482357082487526, + 0.529546356025243, + 0.5338767453167, + -0.4517447334629825, + -0.7147743116526407 + ], + [ + 0.8422481481890016, + 0.28795873802689964, + 0.45573876515625966, + 0.0006601624471256617, + -0.8459355639840939, + 0.5332847136122091, + 0.5390896224726834, + -0.44885720087892966, + -0.7126777617979889 + ], + [ + 0.8371414990755944, + 0.29890266372580643, + 0.45809530465077236, + 0.011048262983246487, + -0.84655849703907, + 0.532181028387901, + 0.5468747995752954, + -0.4404496664870668, + -0.7119916045017048 + ], + [ + 0.8352779727432288, + 0.3027434496403695, + 0.45897397742117274, + 0.014267289114131776, + -0.8464124888265837, + 0.5323366822037743, + 0.5496427500761707, + -0.4381007902962942, + -0.7113090360950484 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006679.json b/json/chunk-0006/episode_0006679.json new file mode 100644 index 0000000000000000000000000000000000000000..9dad2827fbf5fd7150f4c6ac58119172fa6c178f --- /dev/null +++ b/json/chunk-0006/episode_0006679.json @@ -0,0 +1,622 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 9, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPick up pot from sink." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006679.mp4", + "start": 0, + "end": 9, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.38134247064590454, + 0.03997713699936867, + 0.016360456123948097, + 0.11655744910240173, + -0.22879983484745026, + -0.4627549648284912, + 0.0, + 0.9981546401977539 + ], + [ + 0.3777101933956146, + 0.034886691719293594, + 0.001652977429330349, + 0.06203503906726837, + -0.2140425741672516, + -0.46774914860725403, + 0.0, + 0.9981546401977539 + ], + [ + 0.3784145414829254, + 0.04421820864081383, + -0.007764861453324556, + 0.010180870071053505, + -0.2361546754837036, + -0.4422331154346466, + 0.0, + 0.9981546401977539 + ], + [ + 0.37987905740737915, + 0.0428667850792408, + -0.01823544315993786, + -0.010016856715083122, + -0.2656055986881256, + -0.42916956543922424, + 0.0, + 0.8417698740959167 + ], + [ + 0.377787321805954, + 0.04720927029848099, + -0.02518337219953537, + -0.008141818456351757, + -0.27450114488601685, + -0.4021623432636261, + 0.0, + 0.5373842120170593 + ], + [ + 0.374821275472641, + 0.047452546656131744, + -0.026155991479754448, + -0.019053537398576736, + -0.2571510672569275, + -0.3787776529788971, + 0.0, + 0.2810206115245819 + ], + [ + 0.37400493025779724, + 0.0474749393761158, + -0.02125118486583233, + -0.0443323589861393, + -0.2133500576019287, + -0.36104074120521545, + 0.0, + 0.12264012545347214 + ], + [ + 0.3753967583179474, + 0.05039094015955925, + -0.01363939605653286, + -0.041259557008743286, + -0.1715843826532364, + -0.36626818776130676, + 0.0, + 0.0822562649846077 + ], + [ + 0.375933974981308, + 0.054404765367507935, + -0.002493184059858322, + -0.016141323372721672, + -0.13805192708969116, + -0.40269944071769714, + 0.0, + 0.0822562649846077 + ] + ], + "left_gripper_pos": [ + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.8417698740959167 + ], + [ + 0.5373842120170593 + ], + [ + 0.2810206115245819 + ], + [ + 0.12264012545347214 + ], + [ + 0.0822562649846077 + ], + [ + 0.0822562649846077 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.38134247064590454, + 0.03997713699936867, + 0.016360456123948097 + ], + [ + 0.3777101933956146, + 0.034886691719293594, + 0.001652977429330349 + ], + [ + 0.3784145414829254, + 0.04421820864081383, + -0.007764861453324556 + ], + [ + 0.37987905740737915, + 0.0428667850792408, + -0.01823544315993786 + ], + [ + 0.377787321805954, + 0.04720927029848099, + -0.02518337219953537 + ], + [ + 0.374821275472641, + 0.047452546656131744, + -0.026155991479754448 + ], + [ + 0.37400493025779724, + 0.0474749393761158, + -0.02125118486583233 + ], + [ + 0.3753967583179474, + 0.05039094015955925, + -0.01363939605653286 + ], + [ + 0.375933974981308, + 0.054404765367507935, + -0.002493184059858322 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.871506248227883, + -0.4197837047572524, + 0.2534926044681304, + -0.43478112646277295, + -0.9005293612962756, + 0.0034987876592775732, + 0.22680879914924432, + -0.11326301542691888, + -0.967330997107443 + ], + [ + 0.8722167976468647, + -0.4382570214521256, + 0.2171834272005102, + -0.44058940313541045, + -0.8968058772154046, + -0.04025166377544027, + 0.21241194822191845, + -0.06058053928300284, + -0.9753005498372024 + ], + [ + 0.8787131669297144, + -0.42578384975852823, + 0.21580380800430674, + -0.41608074869019596, + -0.9047707667468998, + -0.0909212307969568, + 0.2339657685084692, + -0.00989812734988587, + -0.9721944487813163 + ], + [ + 0.8774254369895871, + -0.4184858154281879, + 0.23450847491942978, + -0.40152418494204317, + -0.9081719008721931, + -0.11833058511143835, + 0.2624936788386724, + 0.009665441096611695, + -0.9648853029340574 + ], + [ + 0.8857643661060153, + -0.393426981845088, + 0.24624519831475655, + -0.37675493595211446, + -0.9193224640197678, + -0.11358664263169727, + 0.27106679245626364, + 0.007836906589183998, + -0.9625286369363695 + ], + [ + 0.8985665268958304, + -0.3742199807922227, + 0.22921082591848368, + -0.3576259406862335, + -0.9271568862454468, + -0.1117309036745624, + 0.2543263322793209, + 0.018425912827217887, + -0.9669429158155265 + ], + [ + 0.9143184962554346, + -0.36167967531223605, + 0.18223473837673176, + -0.34523890180796163, + -0.9312957609843793, + -0.11618221142222285, + 0.21173518385859486, + 0.04331302389075372, + -0.976366833663355 + ], + [ + 0.9199598311042052, + -0.36440452279155766, + 0.14451039036615793, + -0.35287463081667747, + -0.9303534595394686, + -0.09960891149358071, + 0.1707436794751589, + 0.04064214674447632, + -0.9844769229531409 + ], + [ + 0.9112534472142857, + -0.39389571085710523, + 0.12026356018535683, + -0.3881746855433697, + -0.919016095008313, + -0.06877376403089822, + 0.1376138381246133, + 0.01598705989378085, + -0.9903569283205755 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.003632277250289917, + -0.005090445280075073, + -0.014707478694617748, + -0.05452241003513336, + 0.01475726068019867, + -0.004994183778762817, + 1.0 + ], + [ + 0.000704348087310791, + 0.009331516921520233, + -0.009417839348316193, + -0.051854170858860016, + -0.022112101316452026, + 0.025516033172607422, + 1.0 + ], + [ + 0.0014645159244537354, + -0.0013514235615730286, + -0.01047058217227459, + -0.020197726786136627, + -0.029450923204421997, + 0.013063549995422363, + 0.0 + ], + [ + -0.002091735601425171, + 0.004342485219240189, + -0.006947929039597511, + 0.0018750382587313652, + -0.008895546197891235, + 0.027007222175598145, + 0.0 + ], + [ + -0.0029660463333129883, + 0.00024327635765075684, + -0.0009726192802190781, + -0.01091171894222498, + 0.017350077629089355, + 0.023384690284729004, + 0.0 + ], + [ + -0.00081634521484375, + 2.2392719984054565e-05, + 0.004904806613922119, + -0.02527882158756256, + 0.04380100965499878, + 0.01773691177368164, + 0.0 + ], + [ + 0.0013918280601501465, + 0.002916000783443451, + 0.007611788809299469, + 0.0030728019773960114, + 0.04176567494869232, + -0.005227446556091309, + 0.0 + ], + [ + 0.0005372166633605957, + 0.004013825207948685, + 0.011146211996674538, + 0.025118233636021614, + 0.03353245556354523, + -0.03643125295639038, + 0.0 + ], + [ + 0.010798037052154541, + 0.005357719957828522, + 0.040307238698005676, + 0.10512037575244904, + -0.01001708209514618, + -0.07108175754547119, + 0.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.8417698740959167 + ], + [ + 0.5373842120170593 + ], + [ + 0.2810206115245819 + ], + [ + 0.12264012545347214 + ], + [ + 0.0822562649846077 + ], + [ + 0.0822562649846077 + ], + [ + 0.08191495388746262 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3777101933956146, + 0.034886691719293594, + 0.001652977429330349 + ], + [ + 0.3784145414829254, + 0.04421820864081383, + -0.007764861453324556 + ], + [ + 0.37987905740737915, + 0.0428667850792408, + -0.01823544315993786 + ], + [ + 0.377787321805954, + 0.04720927029848099, + -0.02518337219953537 + ], + [ + 0.374821275472641, + 0.047452546656131744, + -0.026155991479754448 + ], + [ + 0.37400493025779724, + 0.0474749393761158, + -0.02125118486583233 + ], + [ + 0.3753967583179474, + 0.05039094015955925, + -0.01363939605653286 + ], + [ + 0.375933974981308, + 0.054404765367507935, + -0.002493184059858322 + ], + [ + 0.3867320120334625, + 0.059762485325336456, + 0.037814054638147354 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8722167976468647, + -0.4382570214521256, + 0.2171834272005102, + -0.44058940313541045, + -0.8968058772154046, + -0.04025166377544027, + 0.21241194822191845, + -0.06058053928300284, + -0.9753005498372024 + ], + [ + 0.8787131669297144, + -0.42578384975852823, + 0.21580380800430674, + -0.41608074869019596, + -0.9047707667468998, + -0.0909212307969568, + 0.2339657685084692, + -0.00989812734988587, + -0.9721944487813163 + ], + [ + 0.8774254369895871, + -0.4184858154281879, + 0.23450847491942978, + -0.40152418494204317, + -0.9081719008721931, + -0.11833058511143835, + 0.2624936788386724, + 0.009665441096611695, + -0.9648853029340574 + ], + [ + 0.8857643661060153, + -0.393426981845088, + 0.24624519831475655, + -0.37675493595211446, + -0.9193224640197678, + -0.11358664263169727, + 0.27106679245626364, + 0.007836906589183998, + -0.9625286369363695 + ], + [ + 0.8985665268958304, + -0.3742199807922227, + 0.22921082591848368, + -0.3576259406862335, + -0.9271568862454468, + -0.1117309036745624, + 0.2543263322793209, + 0.018425912827217887, + -0.9669429158155265 + ], + [ + 0.9143184962554346, + -0.36167967531223605, + 0.18223473837673176, + -0.34523890180796163, + -0.9312957609843793, + -0.11618221142222285, + 0.21173518385859486, + 0.04331302389075372, + -0.976366833663355 + ], + [ + 0.9199598311042052, + -0.36440452279155766, + 0.14451039036615793, + -0.35287463081667747, + -0.9303534595394686, + -0.09960891149358071, + 0.1707436794751589, + 0.04064214674447632, + -0.9844769229531409 + ], + [ + 0.9112534472142857, + -0.39389571085710523, + 0.12026356018535683, + -0.3881746855433697, + -0.919016095008313, + -0.06877376403089822, + 0.1376138381246133, + 0.01598705989378085, + -0.9903569283205755 + ], + [ + 0.8801125532532307, + -0.44278368129301054, + 0.17130237939587717, + -0.4512618102299267, + -0.8923105261279357, + 0.012029280497867681, + 0.14752854718355035, + -0.08788934259565484, + -0.9851450610057458 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006680.json b/json/chunk-0006/episode_0006680.json new file mode 100644 index 0000000000000000000000000000000000000000..beef5dbf949f9dd5918013dd0823a9ea4909a5d0 --- /dev/null +++ b/json/chunk-0006/episode_0006680.json @@ -0,0 +1,1642 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 26, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPlace the mushroom to the right of the blue cloth." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006680.mp4", + "start": 0, + "end": 26, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3667415380477905, + 0.0653347373008728, + 0.10056275874376297, + 0.01593572273850441, + -0.18906404078006744, + -0.177251398563385, + 0.0, + 0.9988223910331726 + ], + [ + 0.3654753565788269, + 0.06383135914802551, + 0.08395218104124069, + -0.006405478343367577, + -0.14498768746852875, + -0.1736897975206375, + 0.0, + 0.9988223910331726 + ], + [ + 0.37579891085624695, + 0.08067333698272705, + 0.07974465936422348, + -0.0340430922806263, + -0.13387857377529144, + -0.11404932290315628, + 0.0, + 0.9988223910331726 + ], + [ + 0.39352118968963623, + 0.11132627725601196, + 0.0829240158200264, + -0.025174561887979507, + -0.1425504982471466, + -0.04583923518657684, + 0.0, + 0.9988223910331726 + ], + [ + 0.4132385849952698, + 0.13902685046195984, + 0.0828811377286911, + -0.0014461248647421598, + -0.1553499549627304, + 0.007188641000539064, + 0.0, + 0.9988223910331726 + ], + [ + 0.42400217056274414, + 0.16361191868782043, + 0.08040405064821243, + 0.026503251865506172, + -0.14964158833026886, + 0.05632314085960388, + 0.0, + 0.9988223910331726 + ], + [ + 0.43054094910621643, + 0.1711461991071701, + 0.06769759207963943, + 0.03970707952976227, + -0.11293873190879822, + 0.062978595495224, + 0.0, + 0.9988223910331726 + ], + [ + 0.43003931641578674, + 0.17144840955734253, + 0.05338234081864357, + 0.03177892044186592, + -0.08332774043083191, + 0.07843802124261856, + 0.0, + 0.9981546401977539 + ], + [ + 0.42862552404403687, + 0.17089484632015228, + 0.039144039154052734, + 0.018959881737828255, + -0.042353712022304535, + 0.08397350460290909, + 0.0, + 0.9988223910331726 + ], + [ + 0.4315267503261566, + 0.16923636198043823, + 0.032200343906879425, + 0.01994568295776844, + -0.02617824822664261, + 0.08727982640266418, + 0.0, + 0.9507390260696411 + ], + [ + 0.4343007206916809, + 0.16679665446281433, + 0.03226465731859207, + -0.0015237467596307397, + -0.04349780082702637, + 0.09547863900661469, + 0.0, + 0.7329457402229309 + ], + [ + 0.43312370777130127, + 0.16988272964954376, + 0.034007538110017776, + 0.010695279575884342, + -0.04320706054568291, + 0.09831993281841278, + 0.0, + 0.5948979258537292 + ], + [ + 0.431497722864151, + 0.17245687544345856, + 0.056812651455402374, + 0.05213693529367447, + -0.09085314720869064, + 0.10430256277322769, + 0.0, + 0.5462315082550049 + ], + [ + 0.4330908954143524, + 0.15841519832611084, + 0.08720444142818451, + 0.05545475706458092, + -0.1446179449558258, + 0.10928255319595337, + 0.0, + 0.5315056443214417 + ], + [ + 0.4371086359024048, + 0.11640605330467224, + 0.09988369792699814, + 0.048247307538986206, + -0.1609930545091629, + 0.05821891129016876, + 0.0, + 0.529549777507782 + ], + [ + 0.4405694305896759, + 0.06376124918460846, + 0.10346528887748718, + 0.04604467749595642, + -0.17113350331783295, + -0.03576613962650299, + 0.0, + 0.529549777507782 + ], + [ + 0.44003936648368835, + 0.02951878309249878, + 0.0914333313703537, + 0.019015241414308548, + -0.16304711997509003, + -0.05786756053566933, + 0.0, + 0.5285724997520447 + ], + [ + 0.4384274184703827, + -0.005606635473668575, + 0.08239106088876724, + 0.017436612397432327, + -0.16015569865703583, + -0.10516614466905594, + 0.0, + 0.5285724997520447 + ], + [ + 0.4304361045360565, + -0.0284382663667202, + 0.06720023602247238, + 0.013228506781160831, + -0.14211374521255493, + -0.1315058171749115, + 0.0, + 0.5285724997520447 + ], + [ + 0.4277031123638153, + -0.04947621747851372, + 0.06039099395275116, + 0.026480045169591904, + -0.13869717717170715, + -0.16577821969985962, + 0.0, + 0.5285724997520447 + ], + [ + 0.4236297607421875, + -0.06736205518245697, + 0.048279039561748505, + 0.04442968592047691, + -0.11163295805454254, + -0.19202524423599243, + 0.0, + 0.5285724997520447 + ], + [ + 0.4211520552635193, + -0.07069383561611176, + 0.03952622041106224, + 0.06105051562190056, + -0.08627892285585403, + -0.19760432839393616, + 0.0, + 0.6009007096290588 + ], + [ + 0.42121657729148865, + -0.07006317377090454, + 0.03930460661649704, + 0.07386954128742218, + -0.08612020313739777, + -0.20701801776885986, + 0.0, + 0.9015869498252869 + ], + [ + 0.4211706519126892, + -0.06944244354963303, + 0.04556769132614136, + 0.07355997711420059, + -0.10472561419010162, + -0.20310358703136444, + 0.0, + 1.0156210660934448 + ], + [ + 0.4207009971141815, + -0.07031083852052689, + 0.07666801661252975, + 0.07135391235351562, + -0.17888586223125458, + -0.1971631944179535, + 0.0, + 1.0086473226547241 + ], + [ + 0.4167118966579437, + -0.0714842826128006, + 0.11094018816947937, + 0.05679050087928772, + -0.24974742531776428, + -0.18561267852783203, + 0.0, + 1.003452181816101 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9981546401977539 + ], + [ + 0.9988223910331726 + ], + [ + 0.9507390260696411 + ], + [ + 0.7329457402229309 + ], + [ + 0.5948979258537292 + ], + [ + 0.5462315082550049 + ], + [ + 0.5315056443214417 + ], + [ + 0.529549777507782 + ], + [ + 0.529549777507782 + ], + [ + 0.5285724997520447 + ], + [ + 0.5285724997520447 + ], + [ + 0.5285724997520447 + ], + [ + 0.5285724997520447 + ], + [ + 0.5285724997520447 + ], + [ + 0.6009007096290588 + ], + [ + 0.9015869498252869 + ], + [ + 1.0156210660934448 + ], + [ + 1.0086473226547241 + ], + [ + 1.003452181816101 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3667415380477905, + 0.0653347373008728, + 0.10056275874376297 + ], + [ + 0.3654753565788269, + 0.06383135914802551, + 0.08395218104124069 + ], + [ + 0.37579891085624695, + 0.08067333698272705, + 0.07974465936422348 + ], + [ + 0.39352118968963623, + 0.11132627725601196, + 0.0829240158200264 + ], + [ + 0.4132385849952698, + 0.13902685046195984, + 0.0828811377286911 + ], + [ + 0.42400217056274414, + 0.16361191868782043, + 0.08040405064821243 + ], + [ + 0.43054094910621643, + 0.1711461991071701, + 0.06769759207963943 + ], + [ + 0.43003931641578674, + 0.17144840955734253, + 0.05338234081864357 + ], + [ + 0.42862552404403687, + 0.17089484632015228, + 0.039144039154052734 + ], + [ + 0.4315267503261566, + 0.16923636198043823, + 0.032200343906879425 + ], + [ + 0.4343007206916809, + 0.16679665446281433, + 0.03226465731859207 + ], + [ + 0.43312370777130127, + 0.16988272964954376, + 0.034007538110017776 + ], + [ + 0.431497722864151, + 0.17245687544345856, + 0.056812651455402374 + ], + [ + 0.4330908954143524, + 0.15841519832611084, + 0.08720444142818451 + ], + [ + 0.4371086359024048, + 0.11640605330467224, + 0.09988369792699814 + ], + [ + 0.4405694305896759, + 0.06376124918460846, + 0.10346528887748718 + ], + [ + 0.44003936648368835, + 0.02951878309249878, + 0.0914333313703537 + ], + [ + 0.4384274184703827, + -0.005606635473668575, + 0.08239106088876724 + ], + [ + 0.4304361045360565, + -0.0284382663667202, + 0.06720023602247238 + ], + [ + 0.4277031123638153, + -0.04947621747851372, + 0.06039099395275116 + ], + [ + 0.4236297607421875, + -0.06736205518245697, + 0.048279039561748505 + ], + [ + 0.4211520552635193, + -0.07069383561611176, + 0.03952622041106224 + ], + [ + 0.42121657729148865, + -0.07006317377090454, + 0.03930460661649704 + ], + [ + 0.4211706519126892, + -0.06944244354963303, + 0.04556769132614136 + ], + [ + 0.4207009971141815, + -0.07031083852052689, + 0.07666801661252975 + ], + [ + 0.4167118966579437, + -0.0714842826128006, + 0.11094018816947937 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.966791819756501, + -0.17335441292371911, + 0.18778132167972827, + -0.1731827004708758, + -0.9847351373602516, + -0.01744882533870788, + 0.18793969647077707, + -0.01565109478466283, + -0.9820558607953589 + ], + [ + 0.9746193647738134, + -0.1737257861448335, + 0.14119647671329427, + -0.17100453857935796, + -0.9847736684693719, + -0.031277302867037775, + 0.14448024637696721, + 0.006338226702722579, + -0.9894873851086307 + ], + [ + 0.9846131973449651, + -0.1182499462438768, + 0.12866157867617356, + -0.11278389574615988, + -0.9924107546909994, + -0.04899680432395948, + 0.13347900387118677, + 0.033731946089149444, + -0.9904774158649932 + ], + [ + 0.9888170923300681, + -0.04938103455365969, + 0.140720543426749, + -0.04535839325818457, + -0.998469166983328, + -0.031653416002933074, + 0.1420682022021295, + 0.024916581026078414, + -0.9895432228624607 + ], + [ + 0.9879319171824538, + 0.006964824531366025, + 0.15473208533283828, + 0.00710201022183819, + -0.9999747246850319, + -0.00033382915357586774, + 0.15472584936916767, + 0.0014287093273837592, + -0.9879564111470949 + ], + [ + 0.987256567159674, + 0.06021807337425356, + 0.14730327300908577, + 0.05566426432680258, + -0.9978412369141497, + 0.03484760523473068, + 0.1490837357898309, + -0.02620399879279478, + -0.9884773088797816 + ], + [ + 0.9916593311966349, + 0.06735225828395938, + 0.10988832583442824, + 0.06253601269388631, + -0.9969492786201639, + 0.046705277807596896, + 0.1126987931035321, + -0.03944374681474286, + -0.992845996552447 + ], + [ + 0.9934662359205076, + 0.0809544765493808, + 0.08044383638635011, + 0.07808573286746452, + -0.9962147391723339, + 0.03819439459331062, + 0.08323134270507165, + -0.03166332551098034, + -0.9960270967243293 + ], + [ + 0.9955826722335992, + 0.08465967836793019, + 0.040594108031142086, + 0.08379963118409882, + -0.9962298676491659, + 0.02244265174024691, + 0.042341050549253405, + -0.018941743910305887, + -0.9989236436164786 + ], + [ + 0.9958522067109082, + 0.08767177864657617, + 0.024331905349998694, + 0.08713918888864249, + -0.9959498753696098, + 0.022149661647286708, + 0.026175258333873807, + -0.019937526933036322, + -0.9994585288399667 + ], + [ + 0.9945038043272227, + 0.09526757092460786, + 0.04343124576622164, + 0.09524346432297418, + -0.9954505374542478, + 0.002628685186102372, + 0.04348408539269833, + 0.0015223048886800314, + -0.9990529600103223 + ], + [ + 0.994241715234754, + 0.09861571642237484, + 0.04193270992383233, + 0.09806999044902241, + -0.9950682234083131, + 0.014883135971707087, + 0.04319361828306548, + -0.010685094174850257, + -0.9990095795847463 + ], + [ + 0.990463522123406, + 0.10867452806621665, + 0.08468682478686997, + 0.10368415081282954, + -0.9927217154867936, + 0.061263304442217385, + 0.09072821067958602, + -0.05189838678169565, + -0.9945224729669702 + ], + [ + 0.9836579125094181, + 0.11683758683973093, + 0.1369893771760505, + 0.10792663490655281, + -0.9916353680353392, + 0.07078939425623607, + 0.1441143734516497, + -0.0548477452853397, + -0.9880398636703647 + ], + [ + 0.9853962517162583, + 0.06583619157212052, + 0.1570344643154099, + 0.05743360091096089, + -0.9966942192893887, + 0.05746315968963668, + 0.16029849840204108, + -0.04760492741718299, + -0.9859199573472767 + ], + [ + 0.9847621670203885, + -0.02788701779395232, + 0.17165601837357178, + -0.035236167344463026, + -0.9985815658214267, + 0.03991577272834186, + 0.17029940374581828, + -0.04535604303935066, + -0.9843479783306466 + ], + [ + 0.9850855791689179, + -0.054743504505637725, + 0.16312434039063256, + -0.05706821418926124, + -0.998324165398248, + 0.009595817377405568, + 0.16232566230478268, + -0.01876191611571531, + -0.9865588527102581 + ], + [ + 0.9817483062866541, + -0.10219129262991217, + 0.16039701622509603, + -0.10362900917614118, + -0.994615838553082, + 0.000601794417308732, + 0.15947191464473395, + -0.017212594516141752, + -0.9870523973070354 + ], + [ + 0.9813714352855365, + -0.12925823390220897, + 0.14213519963080268, + -0.1298051908073395, + -0.9915245009945749, + -0.00545677257449745, + 0.1416358656734814, + -0.013094765975054318, + -0.9898322123769171 + ], + [ + 0.9768188435119901, + -0.16135174842105868, + 0.1406789260741134, + -0.1634352376680078, + -0.9865485207226389, + 0.003307468575063416, + 0.1382529205778318, + -0.026222691346248515, + -0.9900497464320969 + ], + [ + 0.9755096533268385, + -0.18580201931954535, + 0.11772224039208108, + -0.18965937747766573, + -0.9815953304834153, + 0.022359063216942802, + 0.11140124236711153, + -0.044138608835510955, + -0.992794815865358 + ], + [ + 0.9768923803022366, + -0.19079983996338667, + 0.09631561855367476, + -0.19559058709588317, + -0.9797451331695619, + 0.042939448879156454, + 0.08617191855191972, + -0.06078564880384172, + -0.9944242079477842 + ], + [ + 0.9750212667496596, + -0.19876948823971746, + 0.09911720300134577, + -0.20478075504176285, + -0.9772840921691778, + 0.054595288785676786, + 0.08601378814128974, + -0.07352886329861734, + -0.9935769394020769 + ], + [ + 0.9740791676077072, + -0.19363991012727924, + 0.11693314516669644, + -0.2006049784944496, + -0.9783462016482681, + 0.05095441417235397, + 0.10453429023970022, + -0.07309100441439839, + -0.991831783740457 + ], + [ + 0.9649779217718005, + -0.1829501148344161, + 0.18800762211955954, + -0.19276239857496968, + -0.9806158425345723, + 0.03514579727130422, + 0.17793332512096113, + -0.07015571860001898, + -0.9815385407405629 + ], + [ + 0.9523311519921667, + -0.17046341723451977, + 0.2529972338386384, + -0.17882307640207748, + -0.9838278985818676, + 0.010245648739010526, + 0.24715922861865675, + -0.05499899414277008, + -0.9674127487023902 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.001266181468963623, + -0.00150337815284729, + -0.016610577702522278, + -0.022341201081871986, + 0.044076353311538696, + 0.0035616010427474976, + 1.0 + ], + [ + 0.010323554277420044, + 0.016841977834701538, + -0.004207521677017212, + -0.02763761393725872, + 0.011109113693237305, + 0.05964047461748123, + 1.0 + ], + [ + 0.017722278833389282, + 0.030652940273284912, + 0.0031793564558029175, + 0.00886853039264679, + -0.008671924471855164, + 0.06821008771657944, + 1.0 + ], + [ + 0.019717395305633545, + 0.027700573205947876, + -4.287809133529663e-05, + 0.02372843772172928, + -0.012799456715583801, + 0.05302787572145462, + 1.0 + ], + [ + 0.010763585567474365, + 0.024585068225860596, + -0.002477087080478668, + 0.0279493760317564, + 0.005708366632461548, + 0.049134500324726105, + 1.0 + ], + [ + 0.00653877854347229, + 0.00753428041934967, + -0.012706458568572998, + 0.013203827664256096, + 0.03670285642147064, + 0.006655454635620117, + 1.0 + ], + [ + -0.0005016326904296875, + 0.0003022104501724243, + -0.014315251260995865, + -0.007928159087896347, + 0.02961099147796631, + 0.015459425747394562, + 1.0 + ], + [ + -0.001413792371749878, + -0.0005535632371902466, + -0.014238301664590836, + -0.012819038704037666, + 0.040974028408527374, + 0.005535483360290527, + 1.0 + ], + [ + 0.002901226282119751, + -0.0016584843397140503, + -0.006943695247173309, + 0.0009858012199401855, + 0.016175463795661926, + 0.0033063217997550964, + 0.0 + ], + [ + 0.002773970365524292, + -0.0024397075176239014, + 6.431341171264648e-05, + -0.02146942913532257, + -0.01731955260038376, + 0.0081988126039505, + 0.0 + ], + [ + -0.0011770129203796387, + 0.003086075186729431, + 0.001742880791425705, + 0.012219026684761047, + 0.0002907402813434601, + 0.0028412938117980957, + 0.0 + ], + [ + -0.0016259849071502686, + 0.002574145793914795, + 0.022805113345384598, + 0.0414416566491127, + -0.047646086663007736, + 0.005982629954814911, + 0.0 + ], + [ + 0.001593172550201416, + -0.014041677117347717, + 0.030391789972782135, + 0.0033178217709064484, + -0.05376479774713516, + 0.0049799904227256775, + 0.0 + ], + [ + 0.004017740488052368, + -0.0420091450214386, + 0.01267925649881363, + -0.007207449525594711, + -0.016375109553337097, + -0.05106364190578461, + 0.0 + ], + [ + 0.003460794687271118, + -0.05264480412006378, + 0.003581590950489044, + -0.002202630043029785, + -0.010140448808670044, + -0.09398505091667175, + 0.0 + ], + [ + -0.0005300641059875488, + -0.03424246609210968, + -0.012031957507133484, + -0.027029436081647873, + 0.00808638334274292, + -0.022101420909166336, + 0.0 + ], + [ + -0.001611948013305664, + -0.03512541949748993, + -0.009042270481586456, + -0.0015786290168762207, + 0.0028914213180541992, + -0.04729858413338661, + 0.0 + ], + [ + -0.007991313934326172, + -0.02283162996172905, + -0.01519082486629486, + -0.004208105616271496, + 0.018041953444480896, + -0.02633967250585556, + 0.0 + ], + [ + -0.002732992172241211, + -0.021037951111793518, + -0.006809242069721222, + 0.013251538388431072, + 0.0034165680408477783, + -0.03427240252494812, + 0.0 + ], + [ + -0.004073351621627808, + -0.017885837703943253, + -0.012111954391002655, + 0.01794964075088501, + 0.027064219117164612, + -0.026247024536132812, + 0.0 + ], + [ + -0.002477705478668213, + -0.003331780433654785, + -0.008752819150686264, + 0.016620829701423645, + 0.025354035198688507, + -0.005579084157943726, + 1.0 + ], + [ + 6.452202796936035e-05, + 0.0006306618452072144, + -0.0002216137945652008, + 0.012819025665521622, + 0.0001587197184562683, + -0.009413689374923706, + 1.0 + ], + [ + -4.5925378799438477e-05, + 0.0006207302212715149, + 0.006263084709644318, + -0.00030956417322158813, + -0.018605411052703857, + 0.003914430737495422, + 1.0 + ], + [ + -0.00046965479850769043, + -0.0008683949708938599, + 0.031100325286388397, + -0.002206064760684967, + -0.07416024804115295, + 0.00594039261341095, + 1.0 + ], + [ + -0.003989100456237793, + -0.0011734440922737122, + 0.034272171556949615, + -0.014563411474227905, + -0.0708615630865097, + 0.01155051589012146, + 1.0 + ], + [ + -0.011397391557693481, + 0.000726059079170227, + 0.02249273657798767, + -0.021396011114120483, + -0.012543022632598877, + -0.008620724081993103, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9981546401977539 + ], + [ + 0.9988223910331726 + ], + [ + 0.9507390260696411 + ], + [ + 0.7329457402229309 + ], + [ + 0.5948979258537292 + ], + [ + 0.5462315082550049 + ], + [ + 0.5315056443214417 + ], + [ + 0.529549777507782 + ], + [ + 0.529549777507782 + ], + [ + 0.5285724997520447 + ], + [ + 0.5285724997520447 + ], + [ + 0.5285724997520447 + ], + [ + 0.5285724997520447 + ], + [ + 0.5285724997520447 + ], + [ + 0.6009007096290588 + ], + [ + 0.9015869498252869 + ], + [ + 1.0156210660934448 + ], + [ + 1.0086473226547241 + ], + [ + 1.003452181816101 + ], + [ + 1.0014774799346924 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3654753565788269, + 0.06383135914802551, + 0.08395218104124069 + ], + [ + 0.37579891085624695, + 0.08067333698272705, + 0.07974465936422348 + ], + [ + 0.39352118968963623, + 0.11132627725601196, + 0.0829240158200264 + ], + [ + 0.4132385849952698, + 0.13902685046195984, + 0.0828811377286911 + ], + [ + 0.42400217056274414, + 0.16361191868782043, + 0.08040405064821243 + ], + [ + 0.43054094910621643, + 0.1711461991071701, + 0.06769759207963943 + ], + [ + 0.43003931641578674, + 0.17144840955734253, + 0.05338234081864357 + ], + [ + 0.42862552404403687, + 0.17089484632015228, + 0.039144039154052734 + ], + [ + 0.4315267503261566, + 0.16923636198043823, + 0.032200343906879425 + ], + [ + 0.4343007206916809, + 0.16679665446281433, + 0.03226465731859207 + ], + [ + 0.43312370777130127, + 0.16988272964954376, + 0.034007538110017776 + ], + [ + 0.431497722864151, + 0.17245687544345856, + 0.056812651455402374 + ], + [ + 0.4330908954143524, + 0.15841519832611084, + 0.08720444142818451 + ], + [ + 0.4371086359024048, + 0.11640605330467224, + 0.09988369792699814 + ], + [ + 0.4405694305896759, + 0.06376124918460846, + 0.10346528887748718 + ], + [ + 0.44003936648368835, + 0.02951878309249878, + 0.0914333313703537 + ], + [ + 0.4384274184703827, + -0.005606635473668575, + 0.08239106088876724 + ], + [ + 0.4304361045360565, + -0.0284382663667202, + 0.06720023602247238 + ], + [ + 0.4277031123638153, + -0.04947621747851372, + 0.06039099395275116 + ], + [ + 0.4236297607421875, + -0.06736205518245697, + 0.048279039561748505 + ], + [ + 0.4211520552635193, + -0.07069383561611176, + 0.03952622041106224 + ], + [ + 0.42121657729148865, + -0.07006317377090454, + 0.03930460661649704 + ], + [ + 0.4211706519126892, + -0.06944244354963303, + 0.04556769132614136 + ], + [ + 0.4207009971141815, + -0.07031083852052689, + 0.07666801661252975 + ], + [ + 0.4167118966579437, + -0.0714842826128006, + 0.11094018816947937 + ], + [ + 0.40531450510025024, + -0.07075822353363037, + 0.13343292474746704 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9746193647738134, + -0.1737257861448335, + 0.14119647671329427, + -0.17100453857935796, + -0.9847736684693719, + -0.031277302867037775, + 0.14448024637696721, + 0.006338226702722579, + -0.9894873851086307 + ], + [ + 0.9846131973449651, + -0.1182499462438768, + 0.12866157867617356, + -0.11278389574615988, + -0.9924107546909994, + -0.04899680432395948, + 0.13347900387118677, + 0.033731946089149444, + -0.9904774158649932 + ], + [ + 0.9888170923300681, + -0.04938103455365969, + 0.140720543426749, + -0.04535839325818457, + -0.998469166983328, + -0.031653416002933074, + 0.1420682022021295, + 0.024916581026078414, + -0.9895432228624607 + ], + [ + 0.9879319171824538, + 0.006964824531366025, + 0.15473208533283828, + 0.00710201022183819, + -0.9999747246850319, + -0.00033382915357586774, + 0.15472584936916767, + 0.0014287093273837592, + -0.9879564111470949 + ], + [ + 0.987256567159674, + 0.06021807337425356, + 0.14730327300908577, + 0.05566426432680258, + -0.9978412369141497, + 0.03484760523473068, + 0.1490837357898309, + -0.02620399879279478, + -0.9884773088797816 + ], + [ + 0.9916593311966349, + 0.06735225828395938, + 0.10988832583442824, + 0.06253601269388631, + -0.9969492786201639, + 0.046705277807596896, + 0.1126987931035321, + -0.03944374681474286, + -0.992845996552447 + ], + [ + 0.9934662359205076, + 0.0809544765493808, + 0.08044383638635011, + 0.07808573286746452, + -0.9962147391723339, + 0.03819439459331062, + 0.08323134270507165, + -0.03166332551098034, + -0.9960270967243293 + ], + [ + 0.9955826722335992, + 0.08465967836793019, + 0.040594108031142086, + 0.08379963118409882, + -0.9962298676491659, + 0.02244265174024691, + 0.042341050549253405, + -0.018941743910305887, + -0.9989236436164786 + ], + [ + 0.9958522067109082, + 0.08767177864657617, + 0.024331905349998694, + 0.08713918888864249, + -0.9959498753696098, + 0.022149661647286708, + 0.026175258333873807, + -0.019937526933036322, + -0.9994585288399667 + ], + [ + 0.9945038043272227, + 0.09526757092460786, + 0.04343124576622164, + 0.09524346432297418, + -0.9954505374542478, + 0.002628685186102372, + 0.04348408539269833, + 0.0015223048886800314, + -0.9990529600103223 + ], + [ + 0.994241715234754, + 0.09861571642237484, + 0.04193270992383233, + 0.09806999044902241, + -0.9950682234083131, + 0.014883135971707087, + 0.04319361828306548, + -0.010685094174850257, + -0.9990095795847463 + ], + [ + 0.990463522123406, + 0.10867452806621665, + 0.08468682478686997, + 0.10368415081282954, + -0.9927217154867936, + 0.061263304442217385, + 0.09072821067958602, + -0.05189838678169565, + -0.9945224729669702 + ], + [ + 0.9836579125094181, + 0.11683758683973093, + 0.1369893771760505, + 0.10792663490655281, + -0.9916353680353392, + 0.07078939425623607, + 0.1441143734516497, + -0.0548477452853397, + -0.9880398636703647 + ], + [ + 0.9853962517162583, + 0.06583619157212052, + 0.1570344643154099, + 0.05743360091096089, + -0.9966942192893887, + 0.05746315968963668, + 0.16029849840204108, + -0.04760492741718299, + -0.9859199573472767 + ], + [ + 0.9847621670203885, + -0.02788701779395232, + 0.17165601837357178, + -0.035236167344463026, + -0.9985815658214267, + 0.03991577272834186, + 0.17029940374581828, + -0.04535604303935066, + -0.9843479783306466 + ], + [ + 0.9850855791689179, + -0.054743504505637725, + 0.16312434039063256, + -0.05706821418926124, + -0.998324165398248, + 0.009595817377405568, + 0.16232566230478268, + -0.01876191611571531, + -0.9865588527102581 + ], + [ + 0.9817483062866541, + -0.10219129262991217, + 0.16039701622509603, + -0.10362900917614118, + -0.994615838553082, + 0.000601794417308732, + 0.15947191464473395, + -0.017212594516141752, + -0.9870523973070354 + ], + [ + 0.9813714352855365, + -0.12925823390220897, + 0.14213519963080268, + -0.1298051908073395, + -0.9915245009945749, + -0.00545677257449745, + 0.1416358656734814, + -0.013094765975054318, + -0.9898322123769171 + ], + [ + 0.9768188435119901, + -0.16135174842105868, + 0.1406789260741134, + -0.1634352376680078, + -0.9865485207226389, + 0.003307468575063416, + 0.1382529205778318, + -0.026222691346248515, + -0.9900497464320969 + ], + [ + 0.9755096533268385, + -0.18580201931954535, + 0.11772224039208108, + -0.18965937747766573, + -0.9815953304834153, + 0.022359063216942802, + 0.11140124236711153, + -0.044138608835510955, + -0.992794815865358 + ], + [ + 0.9768923803022366, + -0.19079983996338667, + 0.09631561855367476, + -0.19559058709588317, + -0.9797451331695619, + 0.042939448879156454, + 0.08617191855191972, + -0.06078564880384172, + -0.9944242079477842 + ], + [ + 0.9750212667496596, + -0.19876948823971746, + 0.09911720300134577, + -0.20478075504176285, + -0.9772840921691778, + 0.054595288785676786, + 0.08601378814128974, + -0.07352886329861734, + -0.9935769394020769 + ], + [ + 0.9740791676077072, + -0.19363991012727924, + 0.11693314516669644, + -0.2006049784944496, + -0.9783462016482681, + 0.05095441417235397, + 0.10453429023970022, + -0.07309100441439839, + -0.991831783740457 + ], + [ + 0.9649779217718005, + -0.1829501148344161, + 0.18800762211955954, + -0.19276239857496968, + -0.9806158425345723, + 0.03514579727130422, + 0.17793332512096113, + -0.07015571860001898, + -0.9815385407405629 + ], + [ + 0.9523311519921667, + -0.17046341723451977, + 0.2529972338386384, + -0.17882307640207748, + -0.9838278985818676, + 0.010245648739010526, + 0.24715922861865675, + -0.05499899414277008, + -0.9674127487023902 + ], + [ + 0.9476376618226751, + -0.18389042083796758, + 0.2610884429064002, + -0.18641304921578256, + -0.9823524106112681, + -0.015294327324362348, + 0.2592933415599553, + -0.034176812172373436, + -0.9651937155475095 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006681.json b/json/chunk-0006/episode_0006681.json new file mode 100644 index 0000000000000000000000000000000000000000..3b55119b7295fa04e525f90a68a79a8075660c24 --- /dev/null +++ b/json/chunk-0006/episode_0006681.json @@ -0,0 +1,1522 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 24, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPlaced the chicken on the orange cloth at the right upper side of the burner." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006681.mp4", + "start": 0, + "end": 24, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2701134979724884, + 0.10764723271131516, + 0.09719087928533554, + 0.06386605650186539, + -0.15557719767093658, + -0.10062846541404724, + 0.0, + 0.9994885921478271 + ], + [ + 0.26739630103111267, + 0.10614482313394547, + 0.0898740142583847, + 0.04625696688890457, + -0.13040997087955475, + -0.10757889598608017, + 0.0, + 0.9994885921478271 + ], + [ + 0.26029127836227417, + 0.1225733682513237, + 0.09286872297525406, + 0.005319329909980297, + -0.15252545475959778, + -0.17344214022159576, + 0.0, + 0.9994885921478271 + ], + [ + 0.27011314034461975, + 0.13673065602779388, + 0.09036558866500854, + -0.001514523639343679, + -0.1565311998128891, + -0.1973896324634552, + 0.0, + 0.9994885921478271 + ], + [ + 0.2793736457824707, + 0.1510811597108841, + 0.08318515866994858, + -0.003196063684299588, + -0.15872392058372498, + -0.17365005612373352, + 0.0, + 0.9994885921478271 + ], + [ + 0.28244805335998535, + 0.1543015092611313, + 0.06639021635055542, + -0.0004350707749836147, + -0.133651465177536, + -0.13919374346733093, + 0.0, + 0.9994885921478271 + ], + [ + 0.28667396306991577, + 0.15026335418224335, + 0.051599327474832535, + 0.008144672960042953, + -0.09906155616044998, + -0.11347334086894989, + 0.0, + 0.9994885921478271 + ], + [ + 0.2847011387348175, + 0.15345726907253265, + 0.039412688463926315, + 0.04032239317893982, + -0.08024358004331589, + -0.09646409004926682, + 0.0, + 0.9994885921478271 + ], + [ + 0.28663066029548645, + 0.15278415381908417, + 0.026366952806711197, + 0.05055120587348938, + -0.05866572633385658, + -0.09474774450063705, + 0.0, + 0.9994885921478271 + ], + [ + 0.2848760783672333, + 0.1549680531024933, + 0.01498384028673172, + 0.06146795302629471, + -0.026625879108905792, + -0.09726100414991379, + 0.0, + 0.9994885921478271 + ], + [ + 0.28543442487716675, + 0.15776579082012177, + 0.015192036516964436, + 0.07919483631849289, + -0.029063226655125618, + -0.08963064849376678, + 0.0, + 0.9461179971694946 + ], + [ + 0.2856409251689911, + 0.1559743583202362, + 0.014081308618187904, + 0.08447206020355225, + -0.027872443199157715, + -0.09671222418546677, + 0.0, + 0.6561112403869629 + ], + [ + 0.2818497121334076, + 0.1529572308063507, + 0.010332290083169937, + 0.08972536772489548, + -0.01250288262963295, + -0.10796932876110077, + 0.0, + 0.3669656813144684 + ], + [ + 0.2799891233444214, + 0.15126492083072662, + 0.010434366762638092, + 0.09141004085540771, + -0.011262146756052971, + -0.1149565801024437, + 0.0, + 0.300372838973999 + ], + [ + 0.27011585235595703, + 0.14394330978393555, + 0.013496397994458675, + 0.058396149426698685, + 0.00907848495990038, + -0.11681855469942093, + 0.0, + 0.300372838973999 + ], + [ + 0.26467210054397583, + 0.13390685617923737, + 0.057351551949977875, + 0.055875468999147415, + -0.06602770835161209, + -0.12875282764434814, + 0.0, + 0.300372838973999 + ], + [ + 0.2783810794353485, + 0.10496610403060913, + 0.08131103217601776, + -0.0066114915534853935, + -0.10568182170391083, + -0.15140871703624725, + 0.0, + 0.300372838973999 + ], + [ + 0.31021609902381897, + 0.0636129155755043, + 0.0898272693157196, + -0.013341874815523624, + -0.12748217582702637, + -0.21864616870880127, + 0.0, + 0.300372838973999 + ], + [ + 0.33889830112457275, + 0.044669464230537415, + 0.08821024745702744, + -0.006518207490444183, + -0.12654951214790344, + -0.212940514087677, + 0.0, + 0.300372838973999 + ], + [ + 0.36956700682640076, + 0.016979923471808434, + 0.08323244750499725, + -0.024270983412861824, + -0.13534073531627655, + -0.2679652273654938, + 0.0, + 0.300372838973999 + ], + [ + 0.38969483971595764, + 0.008747808635234833, + 0.07588914036750793, + -0.014148515649139881, + -0.14029616117477417, + -0.3062420189380646, + 0.0, + 0.300372838973999 + ], + [ + 0.40543317794799805, + 0.00223575159907341, + 0.07396669685840607, + -0.022243130952119827, + -0.14924496412277222, + -0.34705132246017456, + 0.0, + 0.300372838973999 + ], + [ + 0.4073152244091034, + 0.002516591688618064, + 0.07535851746797562, + -0.011249094270169735, + -0.1470644325017929, + -0.3635558485984802, + 0.0, + 0.3644362688064575 + ], + [ + 0.4093036949634552, + -0.0008790853316895664, + 0.07588375359773636, + -0.0013130400329828262, + -0.1543579250574112, + -0.351392537355423, + 0.0, + 0.6641445755958557 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9461179971694946 + ], + [ + 0.6561112403869629 + ], + [ + 0.3669656813144684 + ], + [ + 0.300372838973999 + ], + [ + 0.300372838973999 + ], + [ + 0.300372838973999 + ], + [ + 0.300372838973999 + ], + [ + 0.300372838973999 + ], + [ + 0.300372838973999 + ], + [ + 0.300372838973999 + ], + [ + 0.300372838973999 + ], + [ + 0.300372838973999 + ], + [ + 0.3644362688064575 + ], + [ + 0.6641445755958557 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2701134979724884, + 0.10764723271131516, + 0.09719087928533554 + ], + [ + 0.26739630103111267, + 0.10614482313394547, + 0.0898740142583847 + ], + [ + 0.26029127836227417, + 0.1225733682513237, + 0.09286872297525406 + ], + [ + 0.27011314034461975, + 0.13673065602779388, + 0.09036558866500854 + ], + [ + 0.2793736457824707, + 0.1510811597108841, + 0.08318515866994858 + ], + [ + 0.28244805335998535, + 0.1543015092611313, + 0.06639021635055542 + ], + [ + 0.28667396306991577, + 0.15026335418224335, + 0.051599327474832535 + ], + [ + 0.2847011387348175, + 0.15345726907253265, + 0.039412688463926315 + ], + [ + 0.28663066029548645, + 0.15278415381908417, + 0.026366952806711197 + ], + [ + 0.2848760783672333, + 0.1549680531024933, + 0.01498384028673172 + ], + [ + 0.28543442487716675, + 0.15776579082012177, + 0.015192036516964436 + ], + [ + 0.2856409251689911, + 0.1559743583202362, + 0.014081308618187904 + ], + [ + 0.2818497121334076, + 0.1529572308063507, + 0.010332290083169937 + ], + [ + 0.2799891233444214, + 0.15126492083072662, + 0.010434366762638092 + ], + [ + 0.27011585235595703, + 0.14394330978393555, + 0.013496397994458675 + ], + [ + 0.26467210054397583, + 0.13390685617923737, + 0.057351551949977875 + ], + [ + 0.2783810794353485, + 0.10496610403060913, + 0.08131103217601776 + ], + [ + 0.31021609902381897, + 0.0636129155755043, + 0.0898272693157196 + ], + [ + 0.33889830112457275, + 0.044669464230537415, + 0.08821024745702744 + ], + [ + 0.36956700682640076, + 0.016979923471808434, + 0.08323244750499725 + ], + [ + 0.38969483971595764, + 0.008747808635234833, + 0.07588914036750793 + ], + [ + 0.40543317794799805, + 0.00223575159907341, + 0.07396669685840607 + ], + [ + 0.4073152244091034, + 0.002516591688618064, + 0.07535851746797562 + ], + [ + 0.4093036949634552, + -0.0008790853316895664, + 0.07588375359773636 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.98292458385281, + -0.0904145991587611, + 0.1602637286373315, + -0.09924540809823956, + -0.9939062676568354, + 0.047965405073576384, + 0.15495035149748307, + -0.06305181497323403, + -0.9859081383168449 + ], + [ + 0.9857767220624999, + -0.10127828039279774, + 0.13411548814507235, + -0.10645978279018312, + -0.9938011302454761, + 0.03202543006864218, + 0.13004064321580477, + -0.04584782921243169, + -0.9904480842873733 + ], + [ + 0.9735612876901005, + -0.1717753578909229, + 0.15057106472572337, + -0.17057036930966502, + -0.9851221165846672, + -0.020980098410378997, + 0.15193474989204123, + -0.005257550493342511, + -0.9883765425879208 + ], + [ + 0.9685932307066782, + -0.19634161642841833, + 0.1525684210034165, + -0.1937126752729916, + -0.9805344112385286, + -0.032057258393269186, + 0.15589276079337488, + 0.001496006479987485, + -0.9877728529863694 + ], + [ + 0.9725795075606334, + -0.173275337548066, + 0.1551282014036113, + -0.17060678848669786, + -0.9848683657217825, + -0.03045695196109107, + 0.15805829682547748, + 0.0031558830949280376, + -0.9874247390087613 + ], + [ + 0.9814963657264666, + -0.13880210229244586, + 0.13190474011549308, + -0.137507366284188, + -0.9903200444673014, + -0.018919136974731132, + 0.13325392408227432, + 0.0004311907696980949, + -0.9910818360716717 + ], + [ + 0.9886977503355096, + -0.11242590864013632, + 0.09918252642447656, + -0.11267486046394562, + -0.9936270576326055, + -0.003105826749985673, + 0.0988996172941668, + -0.008104653404696814, + -0.9950644101224085 + ], + [ + 0.992148117201707, + -0.09302002285050258, + 0.08360256504438142, + -0.09600463485360027, + -0.9948531057526784, + 0.032409999396440514, + 0.08015749259885148, + -0.04018175360959711, + -0.9959719890926265 + ], + [ + 0.9938021651778935, + -0.09153582195732086, + 0.06307495371642007, + -0.09444329297684077, + -0.9945233643452495, + 0.04476317887613401, + 0.05863208080412548, + -0.050442750420687854, + -0.9970044172573032 + ], + [ + 0.9949211033287046, + -0.0952966540884064, + 0.032412125366091865, + -0.09707331367476518, + -0.9935530530348811, + 0.05855853974670974, + 0.026622733206665493, + -0.06140747938664272, + -0.9977576617355466 + ], + [ + 0.9955652512038112, + -0.08694043514703957, + 0.035933150876810906, + -0.08947288554761139, + -0.9930699495339786, + 0.07620156221735336, + 0.02905913534977054, + -0.07907867012680819, + -0.9964447453741222 + ], + [ + 0.9949404204920127, + -0.09387687691677277, + 0.035786752458550335, + -0.09652402673798227, + -0.9920050844662387, + 0.08129590798690638, + 0.027868834447492514, + -0.08433886632794728, + -0.9960473300466471 + ], + [ + 0.9940992672000438, + -0.10621243304688334, + 0.022035562588620924, + -0.1077512553228306, + -0.9902984972252427, + 0.08774140054603752, + 0.012502556886088298, + -0.08959802151659013, + -0.9958995333926122 + ], + [ + 0.9933367669318485, + -0.11320343573117862, + 0.021611330362554537, + -0.1146962809954608, + -0.9893702494944775, + 0.08939391780790122, + 0.011261908683383146, + -0.0912770045186213, + -0.9957618580056754 + ], + [ + 0.9931435403526434, + -0.11688059640264843, + -0.0021987360866653582, + -0.11654823735654125, + -0.9914297610870465, + 0.059021497778059914, + -0.009078360253973334, + -0.05836056044490502, + -0.9982542904288746 + ], + [ + 0.9895617976579626, + -0.12454278121748918, + 0.07250202936852476, + -0.12811761082781886, + -0.9906481982036701, + 0.046925741247142744, + 0.06597974243442722, + -0.055724707647818714, + -0.9962637354364817 + ], + [ + 0.9830442802191849, + -0.15151701670623732, + 0.10327892707027343, + -0.14998937756587985, + -0.9884327841815023, + -0.02244588542704444, + 0.10548521102858445, + 0.006574557296568978, + -0.9943991378971572 + ], + [ + 0.9682703457952726, + -0.2185447324546728, + 0.12120535206755097, + -0.21514804450925853, + -0.9757371992196935, + -0.040598485227292064, + 0.12713715584889257, + 0.013233214848404538, + -0.9917968671191851 + ], + [ + 0.9695976151723829, + -0.21213450781188475, + 0.12198120858327716, + -0.20964492442110566, + -0.9772190854432355, + -0.03304337618880609, + 0.12621200543726602, + 0.006466037495674022, + -0.9919822176040294 + ], + [ + 0.9554934079701684, + -0.26784949992194307, + 0.1236486664591208, + -0.26234862073348175, + -0.9631606319036536, + -0.05911681952029247, + 0.13492793826629695, + 0.024046674250716944, + -0.9905635814689973 + ], + [ + 0.9441050154490392, + -0.30333382684422716, + 0.12905157610818313, + -0.29851550856706177, + -0.9527813686593889, + -0.05564310092446699, + 0.1398363720529041, + 0.014009033784611196, + -0.9900755203637265 + ], + [ + 0.9299261111317345, + -0.34315219981755435, + 0.1322270607545308, + -0.3363454415545894, + -0.9390222730777376, + -0.07147667178434666, + 0.14869153231054347, + 0.02199405429410868, + -0.9886390088373261 + ], + [ + 0.9245493253164774, + -0.35711801864997494, + 0.1329483576896037, + -0.3517613843316324, + -0.9339929876765234, + -0.0626181081171838, + 0.14653488850761862, + 0.011127431266824493, + -0.9891429152167355 + ], + [ + 0.9277312740832642, + -0.34439482796642945, + 0.14389887267736362, + -0.34011313687380923, + -0.9388240086139803, + -0.05415288520322517, + 0.15374569006544586, + 0.001297428205969807, + -0.9881095989141839 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0027171969413757324, + -0.00150240957736969, + -0.007316865026950836, + -0.017609089612960815, + 0.025167226791381836, + -0.0069504305720329285, + 1.0 + ], + [ + -0.007105022668838501, + 0.016428545117378235, + 0.0029947087168693542, + -0.0409376360476017, + -0.02211548388004303, + -0.0658632442355156, + 1.0 + ], + [ + 0.009821861982345581, + 0.014157287776470184, + -0.002503134310245514, + -0.006833853665739298, + -0.004005745053291321, + -0.023947492241859436, + 1.0 + ], + [ + 0.009260505437850952, + 0.01435050368309021, + -0.007180429995059967, + -0.0016815400449559093, + -0.0021927207708358765, + 0.02373957633972168, + 1.0 + ], + [ + 0.0030744075775146484, + 0.0032203495502471924, + -0.016794942319393158, + 0.0027609928511083126, + 0.025072455406188965, + 0.03445631265640259, + 1.0 + ], + [ + 0.00422590970993042, + -0.0040381550788879395, + -0.014790888875722885, + 0.008579744026064873, + 0.03458990901708603, + 0.025720402598381042, + 1.0 + ], + [ + -0.0019728243350982666, + 0.0031939148902893066, + -0.01218663901090622, + 0.032177720218896866, + 0.018817976117134094, + 0.017009250819683075, + 1.0 + ], + [ + 0.0019295215606689453, + -0.0006731152534484863, + -0.013045735657215118, + 0.01022881269454956, + 0.021577853709459305, + 0.0017163455486297607, + 1.0 + ], + [ + -0.0017545819282531738, + 0.0021838992834091187, + -0.011383112519979477, + 0.010916747152805328, + 0.03203984722495079, + -0.0025132596492767334, + 1.0 + ], + [ + 0.0005583465099334717, + 0.002797737717628479, + 0.0002081962302327156, + 0.01772688329219818, + -0.0024373475462198257, + 0.007630355656147003, + 0.0 + ], + [ + 0.00020650029182434082, + -0.001791432499885559, + -0.0011107278987765312, + 0.005277223885059357, + 0.0011907834559679031, + -0.007081575691699982, + 0.0 + ], + [ + -0.003791213035583496, + -0.003017127513885498, + -0.0037490185350179672, + 0.005253307521343231, + 0.015369560569524765, + -0.011257104575634003, + 0.0 + ], + [ + -0.001860588788986206, + -0.0016923099756240845, + 0.00010207667946815491, + 0.0016846731305122375, + 0.001240735873579979, + -0.006987251341342926, + 0.0 + ], + [ + -0.009873270988464355, + -0.007321611046791077, + 0.0030620312318205833, + -0.03301389142870903, + 0.020340632647275925, + -0.0018619745969772339, + 0.0 + ], + [ + -0.005443751811981201, + -0.010036453604698181, + 0.043855153024196625, + -0.0025206804275512695, + -0.0751061961054802, + -0.011934272944927216, + 0.0 + ], + [ + 0.01370897889137268, + -0.028940752148628235, + 0.023959480226039886, + -0.06248696148395538, + -0.03965411335229874, + -0.02265588939189911, + 0.0 + ], + [ + 0.03183501958847046, + -0.04135318845510483, + 0.008516237139701843, + -0.006730383262038231, + -0.02180035412311554, + -0.06723745167255402, + 0.0 + ], + [ + 0.028682202100753784, + -0.01894345134496689, + -0.0016170218586921692, + 0.006823667325079441, + 0.0009326636791229248, + 0.005705654621124268, + 0.0 + ], + [ + 0.030668705701828003, + -0.02768954075872898, + -0.004977799952030182, + -0.01775277592241764, + -0.008791223168373108, + -0.05502471327781677, + 0.0 + ], + [ + 0.020127832889556885, + -0.0082321148365736, + -0.007343307137489319, + 0.010122467763721943, + -0.00495542585849762, + -0.0382767915725708, + 0.0 + ], + [ + 0.015738338232040405, + -0.006512057036161423, + -0.0019224435091018677, + -0.008094615302979946, + -0.008948802947998047, + -0.040809303522109985, + 0.0 + ], + [ + 0.0018820464611053467, + 0.0002808400895446539, + 0.0013918206095695496, + 0.010994036681950092, + 0.002180531620979309, + -0.016504526138305664, + 1.0 + ], + [ + 0.0019884705543518066, + -0.003395677078515291, + 0.0005252361297607422, + 0.009936054237186909, + -0.007293492555618286, + 0.012163311243057251, + 1.0 + ], + [ + 1.576542854309082e-05, + -0.0030396285001188517, + -0.00388895720243454, + -0.021744808182120323, + -0.015358611941337585, + 0.0436377227306366, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9461179971694946 + ], + [ + 0.6561112403869629 + ], + [ + 0.3669656813144684 + ], + [ + 0.300372838973999 + ], + [ + 0.300372838973999 + ], + [ + 0.300372838973999 + ], + [ + 0.300372838973999 + ], + [ + 0.300372838973999 + ], + [ + 0.300372838973999 + ], + [ + 0.300372838973999 + ], + [ + 0.300372838973999 + ], + [ + 0.300372838973999 + ], + [ + 0.3644362688064575 + ], + [ + 0.6641445755958557 + ], + [ + 0.9499720335006714 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.26739630103111267, + 0.10614482313394547, + 0.0898740142583847 + ], + [ + 0.26029127836227417, + 0.1225733682513237, + 0.09286872297525406 + ], + [ + 0.27011314034461975, + 0.13673065602779388, + 0.09036558866500854 + ], + [ + 0.2793736457824707, + 0.1510811597108841, + 0.08318515866994858 + ], + [ + 0.28244805335998535, + 0.1543015092611313, + 0.06639021635055542 + ], + [ + 0.28667396306991577, + 0.15026335418224335, + 0.051599327474832535 + ], + [ + 0.2847011387348175, + 0.15345726907253265, + 0.039412688463926315 + ], + [ + 0.28663066029548645, + 0.15278415381908417, + 0.026366952806711197 + ], + [ + 0.2848760783672333, + 0.1549680531024933, + 0.01498384028673172 + ], + [ + 0.28543442487716675, + 0.15776579082012177, + 0.015192036516964436 + ], + [ + 0.2856409251689911, + 0.1559743583202362, + 0.014081308618187904 + ], + [ + 0.2818497121334076, + 0.1529572308063507, + 0.010332290083169937 + ], + [ + 0.2799891233444214, + 0.15126492083072662, + 0.010434366762638092 + ], + [ + 0.27011585235595703, + 0.14394330978393555, + 0.013496397994458675 + ], + [ + 0.26467210054397583, + 0.13390685617923737, + 0.057351551949977875 + ], + [ + 0.2783810794353485, + 0.10496610403060913, + 0.08131103217601776 + ], + [ + 0.31021609902381897, + 0.0636129155755043, + 0.0898272693157196 + ], + [ + 0.33889830112457275, + 0.044669464230537415, + 0.08821024745702744 + ], + [ + 0.36956700682640076, + 0.016979923471808434, + 0.08323244750499725 + ], + [ + 0.38969483971595764, + 0.008747808635234833, + 0.07588914036750793 + ], + [ + 0.40543317794799805, + 0.00223575159907341, + 0.07396669685840607 + ], + [ + 0.4073152244091034, + 0.002516591688618064, + 0.07535851746797562 + ], + [ + 0.4093036949634552, + -0.0008790853316895664, + 0.07588375359773636 + ], + [ + 0.4093194603919983, + -0.003918713890016079, + 0.07199479639530182 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9857767220624999, + -0.10127828039279774, + 0.13411548814507235, + -0.10645978279018312, + -0.9938011302454761, + 0.03202543006864218, + 0.13004064321580477, + -0.04584782921243169, + -0.9904480842873733 + ], + [ + 0.9735612876901005, + -0.1717753578909229, + 0.15057106472572337, + -0.17057036930966502, + -0.9851221165846672, + -0.020980098410378997, + 0.15193474989204123, + -0.005257550493342511, + -0.9883765425879208 + ], + [ + 0.9685932307066782, + -0.19634161642841833, + 0.1525684210034165, + -0.1937126752729916, + -0.9805344112385286, + -0.032057258393269186, + 0.15589276079337488, + 0.001496006479987485, + -0.9877728529863694 + ], + [ + 0.9725795075606334, + -0.173275337548066, + 0.1551282014036113, + -0.17060678848669786, + -0.9848683657217825, + -0.03045695196109107, + 0.15805829682547748, + 0.0031558830949280376, + -0.9874247390087613 + ], + [ + 0.9814963657264666, + -0.13880210229244586, + 0.13190474011549308, + -0.137507366284188, + -0.9903200444673014, + -0.018919136974731132, + 0.13325392408227432, + 0.0004311907696980949, + -0.9910818360716717 + ], + [ + 0.9886977503355096, + -0.11242590864013632, + 0.09918252642447656, + -0.11267486046394562, + -0.9936270576326055, + -0.003105826749985673, + 0.0988996172941668, + -0.008104653404696814, + -0.9950644101224085 + ], + [ + 0.992148117201707, + -0.09302002285050258, + 0.08360256504438142, + -0.09600463485360027, + -0.9948531057526784, + 0.032409999396440514, + 0.08015749259885148, + -0.04018175360959711, + -0.9959719890926265 + ], + [ + 0.9938021651778935, + -0.09153582195732086, + 0.06307495371642007, + -0.09444329297684077, + -0.9945233643452495, + 0.04476317887613401, + 0.05863208080412548, + -0.050442750420687854, + -0.9970044172573032 + ], + [ + 0.9949211033287046, + -0.0952966540884064, + 0.032412125366091865, + -0.09707331367476518, + -0.9935530530348811, + 0.05855853974670974, + 0.026622733206665493, + -0.06140747938664272, + -0.9977576617355466 + ], + [ + 0.9955652512038112, + -0.08694043514703957, + 0.035933150876810906, + -0.08947288554761139, + -0.9930699495339786, + 0.07620156221735336, + 0.02905913534977054, + -0.07907867012680819, + -0.9964447453741222 + ], + [ + 0.9949404204920127, + -0.09387687691677277, + 0.035786752458550335, + -0.09652402673798227, + -0.9920050844662387, + 0.08129590798690638, + 0.027868834447492514, + -0.08433886632794728, + -0.9960473300466471 + ], + [ + 0.9940992672000438, + -0.10621243304688334, + 0.022035562588620924, + -0.1077512553228306, + -0.9902984972252427, + 0.08774140054603752, + 0.012502556886088298, + -0.08959802151659013, + -0.9958995333926122 + ], + [ + 0.9933367669318485, + -0.11320343573117862, + 0.021611330362554537, + -0.1146962809954608, + -0.9893702494944775, + 0.08939391780790122, + 0.011261908683383146, + -0.0912770045186213, + -0.9957618580056754 + ], + [ + 0.9931435403526434, + -0.11688059640264843, + -0.0021987360866653582, + -0.11654823735654125, + -0.9914297610870465, + 0.059021497778059914, + -0.009078360253973334, + -0.05836056044490502, + -0.9982542904288746 + ], + [ + 0.9895617976579626, + -0.12454278121748918, + 0.07250202936852476, + -0.12811761082781886, + -0.9906481982036701, + 0.046925741247142744, + 0.06597974243442722, + -0.055724707647818714, + -0.9962637354364817 + ], + [ + 0.9830442802191849, + -0.15151701670623732, + 0.10327892707027343, + -0.14998937756587985, + -0.9884327841815023, + -0.02244588542704444, + 0.10548521102858445, + 0.006574557296568978, + -0.9943991378971572 + ], + [ + 0.9682703457952726, + -0.2185447324546728, + 0.12120535206755097, + -0.21514804450925853, + -0.9757371992196935, + -0.040598485227292064, + 0.12713715584889257, + 0.013233214848404538, + -0.9917968671191851 + ], + [ + 0.9695976151723829, + -0.21213450781188475, + 0.12198120858327716, + -0.20964492442110566, + -0.9772190854432355, + -0.03304337618880609, + 0.12621200543726602, + 0.006466037495674022, + -0.9919822176040294 + ], + [ + 0.9554934079701684, + -0.26784949992194307, + 0.1236486664591208, + -0.26234862073348175, + -0.9631606319036536, + -0.05911681952029247, + 0.13492793826629695, + 0.024046674250716944, + -0.9905635814689973 + ], + [ + 0.9441050154490392, + -0.30333382684422716, + 0.12905157610818313, + -0.29851550856706177, + -0.9527813686593889, + -0.05564310092446699, + 0.1398363720529041, + 0.014009033784611196, + -0.9900755203637265 + ], + [ + 0.9299261111317345, + -0.34315219981755435, + 0.1322270607545308, + -0.3363454415545894, + -0.9390222730777376, + -0.07147667178434666, + 0.14869153231054347, + 0.02199405429410868, + -0.9886390088373261 + ], + [ + 0.9245493253164774, + -0.35711801864997494, + 0.1329483576896037, + -0.3517613843316324, + -0.9339929876765234, + -0.0626181081171838, + 0.14653488850761862, + 0.011127431266824493, + -0.9891429152167355 + ], + [ + 0.9277312740832642, + -0.34439482796642945, + 0.14389887267736362, + -0.34011313687380923, + -0.9388240086139803, + -0.05415288520322517, + 0.15374569006544586, + 0.001297428205969807, + -0.9881095989141839 + ], + [ + 0.9393237992425164, + -0.30655041108796377, + 0.1539403963825116, + -0.29856756092414816, + -0.9515831230422795, + -0.07312298889478293, + 0.16890296545771316, + 0.022724555064992793, + -0.9853706829699616 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006682.json b/json/chunk-0006/episode_0006682.json new file mode 100644 index 0000000000000000000000000000000000000000..d50c77e8dd2c678840ea6ab43a56c46ea4b9bb15 --- /dev/null +++ b/json/chunk-0006/episode_0006682.json @@ -0,0 +1,1522 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 24, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut detergent in sink." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006682.mp4", + "start": 0, + "end": 24, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.41159895062446594, + -0.08461874723434448, + 0.08943295478820801, + -0.0026678454596549273, + -0.04805894196033478, + 0.0043644290417432785, + 0.0, + 0.9961419701576233 + ], + [ + 0.3966100811958313, + -0.07704329490661621, + 0.06940369307994843, + 0.023638751357793808, + 0.027380701154470444, + -0.04815339669585228, + 0.0, + 0.9961419701576233 + ], + [ + 0.37240806221961975, + -0.04540479928255081, + 0.07737552374601364, + 0.031486060470342636, + 0.049484070390462875, + -0.15232343971729279, + 0.0, + 0.9961419701576233 + ], + [ + 0.3471582531929016, + -0.0034575595054775476, + 0.09990447759628296, + 0.026435470208525658, + 0.04217291995882988, + -0.2544398605823517, + 0.0, + 0.9961419701576233 + ], + [ + 0.3189001679420471, + 0.03329860046505928, + 0.11481410264968872, + 0.07025125622749329, + 0.07805121690034866, + -0.438377320766449, + 0.0, + 0.9961419701576233 + ], + [ + 0.2960757911205292, + 0.07625371217727661, + 0.12366829812526703, + 0.11015169322490692, + 0.11809197068214417, + -0.6071526408195496, + 0.0, + 0.9961419701576233 + ], + [ + 0.27615195512771606, + 0.12565918266773224, + 0.1309928447008133, + 0.12465150654315948, + 0.13276226818561554, + -0.7522478699684143, + 0.0, + 0.9954678416252136 + ], + [ + 0.2632170021533966, + 0.15286771953105927, + 0.13685879111289978, + 0.10229823738336563, + 0.14396189153194427, + -0.8620312809944153, + 0.0, + 0.9961419701576233 + ], + [ + 0.25754761695861816, + 0.1745409071445465, + 0.14345033466815948, + 0.08674576133489609, + 0.10518696904182434, + -0.9403204917907715, + 0.0, + 0.9961419701576233 + ], + [ + 0.2526387870311737, + 0.19673621654510498, + 0.13335798680782318, + 0.09637829661369324, + 0.06682920455932617, + -0.9767187237739563, + 0.0, + 0.9961419701576233 + ], + [ + 0.2450515180826187, + 0.22017870843410492, + 0.11234047263860703, + 0.095534548163414, + 0.023737968876957893, + -1.0141985416412354, + 0.0, + 0.9961419701576233 + ], + [ + 0.2389465570449829, + 0.23527252674102783, + 0.09012062102556229, + 0.0578024685382843, + -0.03234495595097542, + -1.0215950012207031, + 0.0, + 0.9961419701576233 + ], + [ + 0.23752333223819733, + 0.24061104655265808, + 0.07589825987815857, + 0.03059440851211548, + -0.06885130703449249, + -1.0223034620285034, + 0.0, + 0.9961419701576233 + ], + [ + 0.23412922024726868, + 0.24397440254688263, + 0.06086917594075203, + -0.012804372236132622, + -0.09834105521440506, + -1.0182331800460815, + 0.0, + 0.9961419701576233 + ], + [ + 0.23441104590892792, + 0.243874192237854, + 0.05738980323076248, + -0.026284845545887947, + -0.11474493145942688, + -1.0151170492172241, + 0.0, + 0.8233373761177063 + ], + [ + 0.23725566267967224, + 0.23735670745372772, + 0.058010924607515335, + -0.04755525290966034, + -0.11279819905757904, + -0.9929783344268799, + 0.0, + 0.5948979258537292 + ], + [ + 0.24103546142578125, + 0.2197570502758026, + 0.0683252215385437, + -0.09339125454425812, + -0.11729956418275833, + -0.9630433320999146, + 0.0, + 0.590900182723999 + ], + [ + 0.24498209357261658, + 0.1940842866897583, + 0.09653570502996445, + -0.06338314712047577, + -0.10025706887245178, + -0.8892409801483154, + 0.0, + 0.590900182723999 + ], + [ + 0.2571939527988434, + 0.1498526781797409, + 0.1124509945511818, + 0.011763462796807289, + -0.08976452797651291, + -0.8361935019493103, + 0.0, + 0.590900182723999 + ], + [ + 0.2717018127441406, + 0.12172722816467285, + 0.0932801142334938, + 0.07325311750173569, + -0.08780635893344879, + -0.8141140937805176, + 0.0, + 0.590900182723999 + ], + [ + 0.2875586450099945, + 0.10097937285900116, + 0.07049809396266937, + 0.10090693831443787, + -0.06607227772474289, + -0.8368114233016968, + 0.0, + 0.590900182723999 + ], + [ + 0.2965792417526245, + 0.08331599831581116, + 0.05056150630116463, + 0.11119445413351059, + -0.048519957810640335, + -0.8517470955848694, + 0.0, + 0.590900182723999 + ], + [ + 0.3020038306713104, + 0.0704798474907875, + 0.02890392765402794, + 0.1044350266456604, + -0.07171926647424698, + -0.8429319262504578, + 0.0, + 0.590900182723999 + ], + [ + 0.30634549260139465, + 0.0675637274980545, + 0.013661757111549377, + 0.10595899820327759, + -0.10900416225194931, + -0.8296988010406494, + 0.0, + 0.7797733545303345 + ] + ], + "left_gripper_pos": [ + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9954678416252136 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.8233373761177063 + ], + [ + 0.5948979258537292 + ], + [ + 0.590900182723999 + ], + [ + 0.590900182723999 + ], + [ + 0.590900182723999 + ], + [ + 0.590900182723999 + ], + [ + 0.590900182723999 + ], + [ + 0.590900182723999 + ], + [ + 0.590900182723999 + ], + [ + 0.7797733545303345 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.41159895062446594, + -0.08461874723434448, + 0.08943295478820801 + ], + [ + 0.3966100811958313, + -0.07704329490661621, + 0.06940369307994843 + ], + [ + 0.37240806221961975, + -0.04540479928255081, + 0.07737552374601364 + ], + [ + 0.3471582531929016, + -0.0034575595054775476, + 0.09990447759628296 + ], + [ + 0.3189001679420471, + 0.03329860046505928, + 0.11481410264968872 + ], + [ + 0.2960757911205292, + 0.07625371217727661, + 0.12366829812526703 + ], + [ + 0.27615195512771606, + 0.12565918266773224, + 0.1309928447008133 + ], + [ + 0.2632170021533966, + 0.15286771953105927, + 0.13685879111289978 + ], + [ + 0.25754761695861816, + 0.1745409071445465, + 0.14345033466815948 + ], + [ + 0.2526387870311737, + 0.19673621654510498, + 0.13335798680782318 + ], + [ + 0.2450515180826187, + 0.22017870843410492, + 0.11234047263860703 + ], + [ + 0.2389465570449829, + 0.23527252674102783, + 0.09012062102556229 + ], + [ + 0.23752333223819733, + 0.24061104655265808, + 0.07589825987815857 + ], + [ + 0.23412922024726868, + 0.24397440254688263, + 0.06086917594075203 + ], + [ + 0.23441104590892792, + 0.243874192237854, + 0.05738980323076248 + ], + [ + 0.23725566267967224, + 0.23735670745372772, + 0.058010924607515335 + ], + [ + 0.24103546142578125, + 0.2197570502758026, + 0.0683252215385437 + ], + [ + 0.24498209357261658, + 0.1940842866897583, + 0.09653570502996445 + ], + [ + 0.2571939527988434, + 0.1498526781797409, + 0.1124509945511818 + ], + [ + 0.2717018127441406, + 0.12172722816467285, + 0.0932801142334938 + ], + [ + 0.2875586450099945, + 0.10097937285900116, + 0.07049809396266937 + ], + [ + 0.2965792417526245, + 0.08331599831581116, + 0.05056150630116463 + ], + [ + 0.3020038306713104, + 0.0704798474907875, + 0.02890392765402794 + ], + [ + 0.30634549260139465, + 0.0675637274980545, + 0.013661757111549377 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9988358781954386, + 0.004236236546319282, + 0.0480514591814933, + 0.004359375994247787, + -0.9999874765933362, + -0.0024581491884809407, + 0.04804044411210062, + 0.002664761981056144, + -0.9988418367154515 + ], + [ + 0.9984664557036416, + -0.04876769592244899, + -0.026200165438853007, + -0.04811674730899709, + -0.9985306425380086, + 0.024926583019612248, + -0.027377280051346153, + -0.02362769026051961, + -0.9993458944679479 + ], + [ + 0.987211285539612, + -0.15319900552106114, + -0.04409016228802869, + -0.15154934013461901, + -0.9876950162019292, + 0.0386180330238675, + -0.04946387780985618, + -0.03144232302532442, + -0.998280874861771 + ], + [ + 0.966943917227928, + -0.25269392037850935, + -0.03413566374994657, + -0.2514795417674146, + -0.9671857904157184, + 0.036189596438383584, + -0.04216041992628854, + -0.026408889065265385, + -0.9987617681759637 + ], + [ + 0.9026850629344183, + -0.4283793776942897, + -0.0406298648944116, + -0.42317850304826676, + -0.9008850861201921, + 0.09657130093377543, + -0.07797199313159246, + -0.0699797854559933, + -0.9944964544505022 + ], + [ + 0.8155558656275685, + -0.5777103932650539, + -0.033456412748597085, + -0.5665576967269575, + -0.8089091688346982, + 0.15709338895893366, + -0.11781768254346389, + -0.10916344666917986, + -0.9870168871865329 + ], + [ + 0.7237294439041114, + -0.6899969352387992, + -0.01095086240027817, + -0.677268916766454, + -0.7132442769753726, + 0.18052538808675053, + -0.1323726044475959, + -0.12323486001510299, + -0.9835093608445311 + ], + [ + 0.644163447119062, + -0.7647334924468275, + -0.01536681247902534, + -0.7513129891700095, + -0.6363716301170366, + 0.17481401742025948, + -0.14346513757743573, + -0.10106351424853455, + -0.9844815490336137 + ], + [ + 0.5862708215605223, + -0.8100724355533864, + 0.008317027314774843, + -0.803282622376807, + -0.5799650161289897, + 0.13556403894079272, + -0.10499310631746345, + -0.08615816399567305, + -0.9907336768287957 + ], + [ + 0.5584951499502069, + -0.8284164868008261, + 0.04253577175358039, + -0.8268153782749266, + -0.5518218628986951, + 0.10894476524874414, + -0.0667794708738109, + -0.09601435321653995, + -0.9931373249688199 + ], + [ + 0.528151745942668, + -0.84638189388527, + 0.06850856122335786, + -0.8488182066403386, + -0.5239691773522578, + 0.07045532812127872, + -0.02373573958380642, + -0.0953624186353374, + -0.9951595971392869 + ], + [ + 0.5217331361384725, + -0.850541972278743, + 0.06612781598767624, + -0.8524955737544332, + -0.5227278811860919, + 0.0026189615878461324, + 0.032339316384452865, + -0.0577400694741948, + -0.9978077234582329 + ], + [ + 0.5201664009958267, + -0.8518147118839156, + 0.061956532288139084, + -0.8512895505346795, + -0.5229535348367964, + -0.042728228984638184, + 0.06879692162817197, + -0.030517159432392457, + -0.9971638213225877 + ], + [ + 0.522334697413371, + -0.8517720554710332, + 0.040630399908611475, + -0.8470694401333282, + -0.5237575802910146, + -0.09028488622084882, + 0.09818262305669134, + 0.012742158622186951, + -0.9950868353683285 + ], + [ + 0.5240515328054313, + -0.8508362067023781, + 0.038049183021262464, + -0.8439557304811424, + -0.5247819261286502, + -0.11109750220749742, + 0.11449330090585587, + 0.026108990271773568, + -0.9930808651236157 + ], + [ + 0.5427263947874418, + -0.8396320202011603, + 0.021590068409908306, + -0.8323331647550843, + -0.5410978686965726, + -0.12014407742711468, + 0.11255915444694749, + 0.04723523203018344, + -0.9925216721085959 + ], + [ + 0.5671003492271631, + -0.8235877521783459, + -0.010020397609341071, + -0.8152919695270513, + -0.5595763810584125, + -0.1489069447214343, + 0.11703075805586985, + 0.09261473005623909, + -0.9888004416693384 + ], + [ + 0.6268380848203359, + -0.7790283917282753, + 0.013739734350789061, + -0.7726940972167903, + -0.6238132017091185, + -0.11747732334262706, + 0.1000891979441478, + 0.0630226487437302, + -0.9929805124977134 + ], + [ + 0.6675937809237991, + -0.741338867374865, + 0.0688129885357325, + -0.7391092557728084, + -0.6710286305480173, + -0.058635185817200515, + 0.08964402770308719, + -0.01171583134927364, + -0.9959049591165632 + ], + [ + 0.683868028735142, + -0.7207616095153586, + 0.11325732436686228, + -0.7243164755299212, + -0.6893384263313611, + -0.013348305469820559, + 0.0876935718842839, + -0.07290566666475405, + -0.9934760194480508 + ], + [ + 0.668372217241962, + -0.7342790211805961, + 0.11879771998287524, + -0.7408909381969722, + -0.6713649208278578, + 0.018701892401977158, + 0.06602421462368442, + -0.10051597950510367, + -0.9927423336130357 + ], + [ + 0.657894417264409, + -0.7442405765118447, + 0.11524278721742501, + -0.7515468024310352, + -0.6586513468577486, + 0.03682128512369464, + 0.04850092254803239, + -0.11083486615587568, + -0.9926546695383037 + ], + [ + 0.6635664783417148, + -0.7375595137546379, + 0.12524173621918722, + -0.7446775736166141, + -0.6672291089537905, + 0.016143962252271583, + 0.07165779911249533, + -0.1039773044214578, + -0.9919948991762007 + ], + [ + 0.6710912373808721, + -0.725823211206378, + 0.15105368974199884, + -0.7333495954444025, + -0.6797997419947274, + -0.008407237681538449, + 0.1087884275653519, + -0.10513313872402037, + -0.9884898083287933 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.014988869428634644, + 0.0075754523277282715, + -0.020029261708259583, + 0.026306597515940666, + 0.07543964684009552, + -0.05251782387495041, + 1.0 + ], + [ + -0.024202018976211548, + 0.0316384956240654, + 0.007971830666065216, + 0.007847309112548828, + 0.02210336923599243, + -0.10417003929615021, + 1.0 + ], + [ + -0.02524980902671814, + 0.04194723814725876, + 0.022528953850269318, + -0.0050505902618169785, + -0.007311150431632996, + -0.1021164208650589, + 1.0 + ], + [ + -0.028258085250854492, + 0.036756161600351334, + 0.014909625053405762, + 0.04381578415632248, + 0.035878296941518784, + -0.1839374601840973, + 1.0 + ], + [ + -0.022824376821517944, + 0.04295511171221733, + 0.008854195475578308, + 0.039900436997413635, + 0.0400407537817955, + -0.16877532005310059, + 1.0 + ], + [ + -0.01992383599281311, + 0.04940547049045563, + 0.007324546575546265, + 0.014499813318252563, + 0.014670297503471375, + -0.14509522914886475, + 1.0 + ], + [ + -0.012934952974319458, + 0.027208536863327026, + 0.005865946412086487, + -0.022353269159793854, + 0.011199623346328735, + -0.10978341102600098, + 1.0 + ], + [ + -0.005669385194778442, + 0.021673187613487244, + 0.006591543555259705, + -0.015552476048469543, + -0.038774922490119934, + -0.0782892107963562, + 1.0 + ], + [ + -0.004908829927444458, + 0.02219530940055847, + -0.010092347860336304, + 0.00963253527879715, + -0.03835776448249817, + -0.036398231983184814, + 1.0 + ], + [ + -0.007587268948554993, + 0.02344249188899994, + -0.021017514169216156, + -0.0008437484502792358, + -0.04309123754501343, + -0.03747981786727905, + 1.0 + ], + [ + -0.006104961037635803, + 0.015093818306922913, + -0.02221985161304474, + -0.0377320796251297, + -0.05608292669057846, + -0.0073964595794677734, + 1.0 + ], + [ + -0.0014232248067855835, + 0.005338519811630249, + -0.014222361147403717, + -0.027208060026168823, + -0.036506351083517075, + -0.000708460807800293, + 1.0 + ], + [ + -0.00339411199092865, + 0.0033633559942245483, + -0.01502908393740654, + -0.04339878261089325, + -0.029489748179912567, + 0.004070281982421875, + 1.0 + ], + [ + 0.0002818256616592407, + -0.00010021030902862549, + -0.0034793727099895477, + -0.013480473309755325, + -0.01640387624502182, + 0.003116130828857422, + 0.0 + ], + [ + 0.0028446167707443237, + -0.006517484784126282, + 0.0006211213767528534, + -0.021270407363772392, + 0.0019467324018478394, + 0.02213871479034424, + 0.0 + ], + [ + 0.003779798746109009, + -0.01759965717792511, + 0.010314296931028366, + -0.04583600163459778, + -0.004501365125179291, + 0.029935002326965332, + 0.0 + ], + [ + 0.003946632146835327, + -0.02567276358604431, + 0.028210483491420746, + 0.03000810742378235, + 0.01704249531030655, + 0.07380235195159912, + 0.0 + ], + [ + 0.012211859226226807, + -0.044231608510017395, + 0.015915289521217346, + 0.07514660805463791, + 0.010492540895938873, + 0.05304747819900513, + 0.0 + ], + [ + 0.014507859945297241, + -0.028125450015068054, + -0.01917088031768799, + 0.06148965656757355, + 0.0019581690430641174, + 0.022079408168792725, + 0.0 + ], + [ + 0.015856832265853882, + -0.020747855305671692, + -0.022782020270824432, + 0.02765382081270218, + 0.021734081208705902, + -0.0226973295211792, + 0.0 + ], + [ + 0.009020596742630005, + -0.017663374543190002, + -0.019936587661504745, + 0.010287515819072723, + 0.017552319914102554, + -0.014935672283172607, + 0.0 + ], + [ + 0.005424588918685913, + -0.012836150825023651, + -0.021657578647136688, + -0.006759427487850189, + -0.023199308663606644, + 0.008815169334411621, + 0.0 + ], + [ + 0.0043416619300842285, + -0.0029161199927330017, + -0.015242170542478561, + 0.0015239715576171875, + -0.03728489577770233, + 0.01323312520980835, + 1.0 + ], + [ + 0.0002270042896270752, + -0.00047285109758377075, + -0.010638786479830742, + -0.018432028591632843, + -0.03308803588151932, + 0.004633724689483643, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9954678416252136 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.9961419701576233 + ], + [ + 0.8233373761177063 + ], + [ + 0.5948979258537292 + ], + [ + 0.590900182723999 + ], + [ + 0.590900182723999 + ], + [ + 0.590900182723999 + ], + [ + 0.590900182723999 + ], + [ + 0.590900182723999 + ], + [ + 0.590900182723999 + ], + [ + 0.590900182723999 + ], + [ + 0.7797733545303345 + ], + [ + 0.9247323274612427 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3966100811958313, + -0.07704329490661621, + 0.06940369307994843 + ], + [ + 0.37240806221961975, + -0.04540479928255081, + 0.07737552374601364 + ], + [ + 0.3471582531929016, + -0.0034575595054775476, + 0.09990447759628296 + ], + [ + 0.3189001679420471, + 0.03329860046505928, + 0.11481410264968872 + ], + [ + 0.2960757911205292, + 0.07625371217727661, + 0.12366829812526703 + ], + [ + 0.27615195512771606, + 0.12565918266773224, + 0.1309928447008133 + ], + [ + 0.2632170021533966, + 0.15286771953105927, + 0.13685879111289978 + ], + [ + 0.25754761695861816, + 0.1745409071445465, + 0.14345033466815948 + ], + [ + 0.2526387870311737, + 0.19673621654510498, + 0.13335798680782318 + ], + [ + 0.2450515180826187, + 0.22017870843410492, + 0.11234047263860703 + ], + [ + 0.2389465570449829, + 0.23527252674102783, + 0.09012062102556229 + ], + [ + 0.23752333223819733, + 0.24061104655265808, + 0.07589825987815857 + ], + [ + 0.23412922024726868, + 0.24397440254688263, + 0.06086917594075203 + ], + [ + 0.23441104590892792, + 0.243874192237854, + 0.05738980323076248 + ], + [ + 0.23725566267967224, + 0.23735670745372772, + 0.058010924607515335 + ], + [ + 0.24103546142578125, + 0.2197570502758026, + 0.0683252215385437 + ], + [ + 0.24498209357261658, + 0.1940842866897583, + 0.09653570502996445 + ], + [ + 0.2571939527988434, + 0.1498526781797409, + 0.1124509945511818 + ], + [ + 0.2717018127441406, + 0.12172722816467285, + 0.0932801142334938 + ], + [ + 0.2875586450099945, + 0.10097937285900116, + 0.07049809396266937 + ], + [ + 0.2965792417526245, + 0.08331599831581116, + 0.05056150630116463 + ], + [ + 0.3020038306713104, + 0.0704798474907875, + 0.02890392765402794 + ], + [ + 0.30634549260139465, + 0.0675637274980545, + 0.013661757111549377 + ], + [ + 0.30657249689102173, + 0.06709087640047073, + 0.003022971097379923 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9984664557036416, + -0.04876769592244899, + -0.026200165438853007, + -0.04811674730899709, + -0.9985306425380086, + 0.024926583019612248, + -0.027377280051346153, + -0.02362769026051961, + -0.9993458944679479 + ], + [ + 0.987211285539612, + -0.15319900552106114, + -0.04409016228802869, + -0.15154934013461901, + -0.9876950162019292, + 0.0386180330238675, + -0.04946387780985618, + -0.03144232302532442, + -0.998280874861771 + ], + [ + 0.966943917227928, + -0.25269392037850935, + -0.03413566374994657, + -0.2514795417674146, + -0.9671857904157184, + 0.036189596438383584, + -0.04216041992628854, + -0.026408889065265385, + -0.9987617681759637 + ], + [ + 0.9026850629344183, + -0.4283793776942897, + -0.0406298648944116, + -0.42317850304826676, + -0.9008850861201921, + 0.09657130093377543, + -0.07797199313159246, + -0.0699797854559933, + -0.9944964544505022 + ], + [ + 0.8155558656275685, + -0.5777103932650539, + -0.033456412748597085, + -0.5665576967269575, + -0.8089091688346982, + 0.15709338895893366, + -0.11781768254346389, + -0.10916344666917986, + -0.9870168871865329 + ], + [ + 0.7237294439041114, + -0.6899969352387992, + -0.01095086240027817, + -0.677268916766454, + -0.7132442769753726, + 0.18052538808675053, + -0.1323726044475959, + -0.12323486001510299, + -0.9835093608445311 + ], + [ + 0.644163447119062, + -0.7647334924468275, + -0.01536681247902534, + -0.7513129891700095, + -0.6363716301170366, + 0.17481401742025948, + -0.14346513757743573, + -0.10106351424853455, + -0.9844815490336137 + ], + [ + 0.5862708215605223, + -0.8100724355533864, + 0.008317027314774843, + -0.803282622376807, + -0.5799650161289897, + 0.13556403894079272, + -0.10499310631746345, + -0.08615816399567305, + -0.9907336768287957 + ], + [ + 0.5584951499502069, + -0.8284164868008261, + 0.04253577175358039, + -0.8268153782749266, + -0.5518218628986951, + 0.10894476524874414, + -0.0667794708738109, + -0.09601435321653995, + -0.9931373249688199 + ], + [ + 0.528151745942668, + -0.84638189388527, + 0.06850856122335786, + -0.8488182066403386, + -0.5239691773522578, + 0.07045532812127872, + -0.02373573958380642, + -0.0953624186353374, + -0.9951595971392869 + ], + [ + 0.5217331361384725, + -0.850541972278743, + 0.06612781598767624, + -0.8524955737544332, + -0.5227278811860919, + 0.0026189615878461324, + 0.032339316384452865, + -0.0577400694741948, + -0.9978077234582329 + ], + [ + 0.5201664009958267, + -0.8518147118839156, + 0.061956532288139084, + -0.8512895505346795, + -0.5229535348367964, + -0.042728228984638184, + 0.06879692162817197, + -0.030517159432392457, + -0.9971638213225877 + ], + [ + 0.522334697413371, + -0.8517720554710332, + 0.040630399908611475, + -0.8470694401333282, + -0.5237575802910146, + -0.09028488622084882, + 0.09818262305669134, + 0.012742158622186951, + -0.9950868353683285 + ], + [ + 0.5240515328054313, + -0.8508362067023781, + 0.038049183021262464, + -0.8439557304811424, + -0.5247819261286502, + -0.11109750220749742, + 0.11449330090585587, + 0.026108990271773568, + -0.9930808651236157 + ], + [ + 0.5427263947874418, + -0.8396320202011603, + 0.021590068409908306, + -0.8323331647550843, + -0.5410978686965726, + -0.12014407742711468, + 0.11255915444694749, + 0.04723523203018344, + -0.9925216721085959 + ], + [ + 0.5671003492271631, + -0.8235877521783459, + -0.010020397609341071, + -0.8152919695270513, + -0.5595763810584125, + -0.1489069447214343, + 0.11703075805586985, + 0.09261473005623909, + -0.9888004416693384 + ], + [ + 0.6268380848203359, + -0.7790283917282753, + 0.013739734350789061, + -0.7726940972167903, + -0.6238132017091185, + -0.11747732334262706, + 0.1000891979441478, + 0.0630226487437302, + -0.9929805124977134 + ], + [ + 0.6675937809237991, + -0.741338867374865, + 0.0688129885357325, + -0.7391092557728084, + -0.6710286305480173, + -0.058635185817200515, + 0.08964402770308719, + -0.01171583134927364, + -0.9959049591165632 + ], + [ + 0.683868028735142, + -0.7207616095153586, + 0.11325732436686228, + -0.7243164755299212, + -0.6893384263313611, + -0.013348305469820559, + 0.0876935718842839, + -0.07290566666475405, + -0.9934760194480508 + ], + [ + 0.668372217241962, + -0.7342790211805961, + 0.11879771998287524, + -0.7408909381969722, + -0.6713649208278578, + 0.018701892401977158, + 0.06602421462368442, + -0.10051597950510367, + -0.9927423336130357 + ], + [ + 0.657894417264409, + -0.7442405765118447, + 0.11524278721742501, + -0.7515468024310352, + -0.6586513468577486, + 0.03682128512369464, + 0.04850092254803239, + -0.11083486615587568, + -0.9926546695383037 + ], + [ + 0.6635664783417148, + -0.7375595137546379, + 0.12524173621918722, + -0.7446775736166141, + -0.6672291089537905, + 0.016143962252271583, + 0.07165779911249533, + -0.1039773044214578, + -0.9919948991762007 + ], + [ + 0.6710912373808721, + -0.725823211206378, + 0.15105368974199884, + -0.7333495954444025, + -0.6797997419947274, + -0.008407237681538449, + 0.1087884275653519, + -0.10513313872402037, + -0.9884898083287933 + ], + [ + 0.6716710639385791, + -0.7233804424079544, + 0.15993347807538325, + -0.7271886310463345, + -0.6850055145728642, + -0.04431861777767132, + 0.1416145357813767, + -0.08653427382510118, + -0.9861324164172818 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006685.json b/json/chunk-0006/episode_0006685.json new file mode 100644 index 0000000000000000000000000000000000000000..b42de46c5a5ccf155cf5b318e1c100dab886b587 --- /dev/null +++ b/json/chunk-0006/episode_0006685.json @@ -0,0 +1,1702 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 27, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove orange napkin to left corner of the table." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006685.mp4", + "start": 0, + "end": 27, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.34309104084968567, + -0.09453324228525162, + 0.10198728740215302, + -0.1726439744234085, + -0.5103399157524109, + 0.18232306838035583, + 0.0, + 0.9981546401977539 + ], + [ + 0.3415962755680084, + -0.09520736336708069, + 0.08876115083694458, + -0.16121028363704681, + -0.4718874990940094, + 0.17866717278957367, + 0.0, + 0.9981546401977539 + ], + [ + 0.3430272936820984, + -0.09779748320579529, + 0.07844320684671402, + -0.16721731424331665, + -0.4314509928226471, + 0.1678944230079651, + 0.0, + 0.9981546401977539 + ], + [ + 0.3519541323184967, + -0.09517168253660202, + 0.0685189887881279, + -0.1400851160287857, + -0.38537129759788513, + 0.1376417577266693, + 0.0, + 0.9981546401977539 + ], + [ + 0.3579086661338806, + -0.0930141806602478, + 0.053979888558387756, + -0.12176640331745148, + -0.3368784487247467, + 0.1024802103638649, + 0.0, + 0.9981546401977539 + ], + [ + 0.36218276619911194, + -0.09149851649999619, + 0.03958357498049736, + -0.09595184028148651, + -0.27328136563301086, + 0.03587229549884796, + 0.0, + 0.9981546401977539 + ], + [ + 0.3601188659667969, + -0.0895739272236824, + 0.038583770394325256, + -0.08256970345973969, + -0.2581280767917633, + 0.01112312637269497, + 0.0, + 0.9981546401977539 + ], + [ + 0.3604912757873535, + -0.08758863061666489, + 0.030627131462097168, + -0.0618114173412323, + -0.23774372041225433, + 0.0003552432172000408, + 0.0, + 0.9981546401977539 + ], + [ + 0.36134177446365356, + -0.08505208045244217, + 0.02961842156946659, + -0.04324546083807945, + -0.24204206466674805, + -0.008897319436073303, + 0.0, + 0.9981546401977539 + ], + [ + 0.3604762852191925, + -0.0813315212726593, + 0.027266277000308037, + -0.01848657988011837, + -0.24830062687397003, + -0.012119979597628117, + 0.0, + 0.9981546401977539 + ], + [ + 0.3575268089771271, + -0.07851633429527283, + 0.017667444422841072, + -0.00995188020169735, + -0.2387789785861969, + 0.0026461330708116293, + 0.0, + 0.9981546401977539 + ], + [ + 0.35931435227394104, + -0.07925549149513245, + 0.011756944470107555, + -0.008008340373635292, + -0.24083161354064941, + -0.0018656617030501366, + 0.0, + 1.002137303352356 + ], + [ + 0.35896599292755127, + -0.08014300465583801, + 0.010155758820474148, + -0.015450472943484783, + -0.2405579537153244, + 0.0038581741973757744, + 0.0, + 1.0008161067962646 + ], + [ + 0.35753658413887024, + -0.08032261580228806, + 0.008933426812291145, + -0.018238132819533348, + -0.24119699001312256, + 0.0010507204569876194, + 0.0, + 1.0008161067962646 + ], + [ + 0.35580146312713623, + -0.0681021586060524, + 0.008396854624152184, + -0.006620742846280336, + -0.2424871176481247, + 0.018836691975593567, + 0.0, + 0.9994885921478271 + ], + [ + 0.3546563386917114, + -0.04681878536939621, + 0.008408622816205025, + -0.0013568809954449534, + -0.2512813210487366, + 0.041688140481710434, + 0.0, + 1.0001531839370728 + ], + [ + 0.3547007739543915, + -0.012933454476296902, + 0.00840456411242485, + 0.0004422128840815276, + -0.24728240072727203, + 0.09017609804868698, + 0.0, + 1.0001531839370728 + ], + [ + 0.3530447781085968, + 0.025899209082126617, + 0.008716315031051636, + -0.011080765165388584, + -0.24696741998195648, + 0.15264461934566498, + 0.0, + 1.0001531839370728 + ], + [ + 0.3524828851222992, + 0.061998527497053146, + 0.011125881224870682, + -0.006347530521452427, + -0.25303682684898376, + 0.19333943724632263, + 0.0, + 1.0001531839370728 + ], + [ + 0.34239256381988525, + 0.10814470052719116, + 0.013070148415863514, + 0.007558078970760107, + -0.23619569838047028, + 0.2528647482395172, + 0.0, + 0.9994885921478271 + ], + [ + 0.3374584913253784, + 0.13939839601516724, + 0.015952689573168755, + 0.010564060881733894, + -0.2456524819135666, + 0.3011992871761322, + 0.0, + 0.9994885921478271 + ], + [ + 0.33946818113327026, + 0.14625166356563568, + 0.019951168447732925, + 0.01779365912079811, + -0.25567758083343506, + 0.3137744069099426, + 0.0, + 0.9994885921478271 + ], + [ + 0.34365248680114746, + 0.14542138576507568, + 0.023291433230042458, + 0.014418703503906727, + -0.2634945511817932, + 0.3322652280330658, + 0.0, + 0.9994885921478271 + ], + [ + 0.34755632281303406, + 0.13521912693977356, + 0.025533108040690422, + 0.006715971045196056, + -0.2562371790409088, + 0.317606121301651, + 0.0, + 0.9994885921478271 + ], + [ + 0.3532502353191376, + 0.1331009417772293, + 0.061599086970090866, + 0.0011593243107199669, + -0.3498627543449402, + 0.3378416895866394, + 0.0, + 0.9994885921478271 + ], + [ + 0.3486413359642029, + 0.11966094374656677, + 0.0983540415763855, + -0.004192526917904615, + -0.44023987650871277, + 0.34409865736961365, + 0.0, + 0.9994885921478271 + ], + [ + 0.3422977030277252, + 0.09507488459348679, + 0.1183488592505455, + 0.02026909589767456, + -0.5026669502258301, + 0.29956886172294617, + 0.0, + 0.9994885921478271 + ] + ], + "left_gripper_pos": [ + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 1.002137303352356 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.34309104084968567, + -0.09453324228525162, + 0.10198728740215302 + ], + [ + 0.3415962755680084, + -0.09520736336708069, + 0.08876115083694458 + ], + [ + 0.3430272936820984, + -0.09779748320579529, + 0.07844320684671402 + ], + [ + 0.3519541323184967, + -0.09517168253660202, + 0.0685189887881279 + ], + [ + 0.3579086661338806, + -0.0930141806602478, + 0.053979888558387756 + ], + [ + 0.36218276619911194, + -0.09149851649999619, + 0.03958357498049736 + ], + [ + 0.3601188659667969, + -0.0895739272236824, + 0.038583770394325256 + ], + [ + 0.3604912757873535, + -0.08758863061666489, + 0.030627131462097168 + ], + [ + 0.36134177446365356, + -0.08505208045244217, + 0.02961842156946659 + ], + [ + 0.3604762852191925, + -0.0813315212726593, + 0.027266277000308037 + ], + [ + 0.3575268089771271, + -0.07851633429527283, + 0.017667444422841072 + ], + [ + 0.35931435227394104, + -0.07925549149513245, + 0.011756944470107555 + ], + [ + 0.35896599292755127, + -0.08014300465583801, + 0.010155758820474148 + ], + [ + 0.35753658413887024, + -0.08032261580228806, + 0.008933426812291145 + ], + [ + 0.35580146312713623, + -0.0681021586060524, + 0.008396854624152184 + ], + [ + 0.3546563386917114, + -0.04681878536939621, + 0.008408622816205025 + ], + [ + 0.3547007739543915, + -0.012933454476296902, + 0.00840456411242485 + ], + [ + 0.3530447781085968, + 0.025899209082126617, + 0.008716315031051636 + ], + [ + 0.3524828851222992, + 0.061998527497053146, + 0.011125881224870682 + ], + [ + 0.34239256381988525, + 0.10814470052719116, + 0.013070148415863514 + ], + [ + 0.3374584913253784, + 0.13939839601516724, + 0.015952689573168755 + ], + [ + 0.33946818113327026, + 0.14625166356563568, + 0.019951168447732925 + ], + [ + 0.34365248680114746, + 0.14542138576507568, + 0.023291433230042458 + ], + [ + 0.34755632281303406, + 0.13521912693977356, + 0.025533108040690422 + ], + [ + 0.3532502353191376, + 0.1331009417772293, + 0.061599086970090866 + ], + [ + 0.3486413359642029, + 0.11966094374656677, + 0.0983540415763855 + ], + [ + 0.3422977030277252, + 0.09507488459348679, + 0.1183488592505455 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8581156517476117, + 0.09609629883229484, + 0.5043838117708637, + 0.15821124632392117, + -0.984020343320662, + -0.08168944526509085, + 0.4884738782805108, + 0.14989818305043268, + -0.8596067734468917 + ], + [ + 0.8765330225611396, + 0.10361118071894623, + 0.47005806406215195, + 0.15829564146023825, + -0.9842886188040643, + -0.07822023259668123, + 0.45456831197799524, + 0.14297075967768053, + -0.8791626764272142 + ], + [ + 0.8955872936003608, + 0.09615154761755884, + 0.4343711309840119, + 0.1517930743466986, + -0.9838178098224705, + -0.09519127930905785, + 0.41818926590953875, + 0.1511866295902708, + -0.8956898687108029 + ], + [ + 0.9178948800197148, + 0.08387350014040532, + 0.38785851184135567, + 0.12714460959233242, + -0.9880406099734129, + -0.08723532137259275, + 0.37590322888372074, + 0.12938697390990947, + -0.9175814805766459 + ], + [ + 0.9388394653771784, + 0.061604500688555566, + 0.3387998579474429, + 0.09655070084288499, + -0.9914953123741908, + -0.08726401152109375, + 0.33054261513009403, + 0.11463826165342708, + -0.9368028867099198 + ], + [ + 0.962270998252831, + 0.009859304636253112, + 0.271914177698755, + 0.03453368376677587, + -0.995687120039184, + -0.08610797682893447, + 0.26989247971552827, + 0.09224940704506208, + -0.9584613170560604 + ], + [ + 0.9668097079068758, + -0.009967412008241812, + 0.2553030344411899, + 0.010754390088227268, + -0.9967655860810801, + -0.07964112943869477, + 0.255271094702968, + 0.07974344551308686, + -0.9635754516937682 + ], + [ + 0.9718717642154673, + -0.014193398810374116, + 0.23508258410806357, + 0.00034525086674907536, + -0.9980953875769405, + -0.06168855728152325, + 0.2355104131934597, + 0.060034529463021825, + -0.9700158248964804 + ], + [ + 0.9708121186778896, + -0.0192505600619171, + 0.23906745107908273, + -0.0086378534642539, + -0.998933323323059, + -0.04536080954170656, + 0.2396856643933407, + 0.04197179400563457, + -0.9699428595501238 + ], + [ + 0.9692602605321852, + -0.016660227031044993, + 0.24547298056681185, + -0.011747989824110591, + -0.9997006354468652, + -0.02146215791168879, + 0.24575705908106268, + 0.017918602691273378, + -0.9691658225450478 + ], + [ + 0.9716240890206616, + 0.00029226291303503836, + 0.23653021840170677, + 0.0025710526352117837, + -0.9999532079275235, + -0.009325858877439207, + 0.23651642505990236, + 0.009669360777456046, + -0.971579376139201 + ], + [ + 0.9711382721527351, + -0.0037756488955043932, + 0.2384873179764872, + -0.0018118175848494116, + -0.9999626296154, + -0.008453205882608873, + 0.2385103219511463, + 0.007777136238514744, + -0.9711088211290679 + ], + [ + 0.9711979681681424, + 0.00017688698655904844, + 0.23827395018563288, + 0.003747069533693235, + -0.9998874032649963, + -0.014530666257676728, + 0.23824455103103856, + 0.01500498260499835, + -0.9710892772557228 + ], + [ + 0.9710522153632325, + -0.0033056646745774757, + 0.23884444230339008, + 0.0010203048029620754, + -0.999837715111641, + -0.017986172979315353, + 0.2388651377163843, + 0.017709207249113436, + -0.9708912554773271 + ], + [ + 0.9705715618074917, + 0.017245701195891267, + 0.24019456530244193, + 0.018284520178224257, + -0.9998306253998516, + -0.00209686298896314, + 0.24011772057142955, + 0.006426997962066581, + -0.9707225010087986 + ], + [ + 0.967753083602166, + 0.041338939411714695, + 0.2484855353271365, + 0.0403672139518845, + -0.9991443162976791, + 0.009006844497720112, + 0.2486452437032766, + 0.0013142672323052324, + -0.9685937308724335 + ], + [ + 0.9656416729366888, + 0.09016172495314037, + 0.24373555924712226, + 0.0873145994589889, + -0.9959270452785383, + 0.02248290915510761, + 0.24476993322168783, + -0.00042876127944656804, + -0.969581093026476 + ], + [ + 0.9583834526919994, + 0.1493658935624036, + 0.24329197982355855, + 0.1474389882162454, + -0.9887236161325667, + 0.02621746851835121, + 0.24446452167938798, + 0.010744335346851432, + -0.9695987092081045 + ], + [ + 0.950118013500992, + 0.1905738506048146, + 0.24689545942885044, + 0.18601888250869889, + -0.9816536262783053, + 0.04187043545114661, + 0.2503452331704045, + 0.0061453625041616305, + -0.9681371280704758 + ], + [ + 0.9413178609249768, + 0.2518838586067044, + 0.22466687890524492, + 0.24323247984116994, + -0.9677295729217127, + 0.06585920165834507, + 0.23400565261108783, + -0.007348160732961507, + -0.9722074670973793 + ], + [ + 0.9263117537176739, + 0.2991025277912362, + 0.22909433164829823, + 0.2877594721269214, + -0.9541659617141561, + 0.0822301873239703, + 0.24318927016980668, + -0.010246725086215616, + -0.9699247308421848 + ], + [ + 0.9202547138646018, + 0.3128821851837388, + 0.23502340267434735, + 0.29861737273235367, + -0.9496359331223263, + 0.09496978059001279, + 0.2529010207816615, + -0.01721431722541461, + -0.9673390000253563 + ], + [ + 0.9126793128873285, + 0.3297012061249534, + 0.24148206249588208, + 0.3149271424666363, + -0.9439826970978143, + 0.09857769787195869, + 0.2604560745410118, + -0.013920569661016104, + -0.9653853380774953 + ], + [ + 0.9189691558895882, + 0.3139032338606456, + 0.23866388561197627, + 0.302097081204259, + -0.9494327534500231, + 0.08552660524173059, + 0.25344238803216207, + -0.006496648992850004, + -0.9673286667417743 + ], + [ + 0.8863164681534151, + 0.33182625421810724, + 0.32300844461350564, + 0.31137214646275907, + -0.9433398914974138, + 0.11470499342583726, + 0.3427688794030611, + -0.0010890919278443018, + -0.9394191339288029 + ], + [ + 0.8516188234990744, + 0.33566341105815123, + 0.40258595844721085, + 0.3051819666279255, + -0.941974357123285, + 0.1398151557138424, + 0.4261564814797078, + 0.0037927561193457637, + -0.9046415136913931 + ], + [ + 0.8372737381212357, + 0.30437707388625274, + 0.4542326324086976, + 0.25860364815110987, + -0.9523860339383038, + 0.16150849984506976, + 0.4817642998556756, + -0.017760609553463327, + -0.8761208364905266 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.001494765281677246, + -0.000674121081829071, + -0.013226136565208435, + 0.011433690786361694, + 0.03845241665840149, + -0.0036558955907821655, + 1.0 + ], + [ + 0.0014310181140899658, + -0.0025901198387145996, + -0.01031794399023056, + -0.006007030606269836, + 0.040436506271362305, + -0.010772749781608582, + 1.0 + ], + [ + 0.008926838636398315, + 0.002625800669193268, + -0.00992421805858612, + 0.027132198214530945, + 0.04607969522476196, + -0.030252665281295776, + 1.0 + ], + [ + 0.005954533815383911, + 0.0021575018763542175, + -0.014539100229740143, + 0.01831871271133423, + 0.04849284887313843, + -0.03516154736280441, + 1.0 + ], + [ + 0.004274100065231323, + 0.0015156641602516174, + -0.014396313577890396, + 0.025814563035964966, + 0.06359708309173584, + -0.06660791486501694, + 1.0 + ], + [ + -0.0020639002323150635, + 0.0019245892763137817, + -0.0009998045861721039, + 0.013382136821746826, + 0.015153288841247559, + -0.024749169126152992, + 1.0 + ], + [ + 0.0003724098205566406, + 0.001985296607017517, + -0.007956638932228088, + 0.020758286118507385, + 0.020384356379508972, + -0.010767882689833641, + 1.0 + ], + [ + 0.0008504986763000488, + 0.0025365501642227173, + -0.001008709892630577, + 0.018565956503152847, + -0.004298344254493713, + -0.009252563118934631, + 1.0 + ], + [ + -0.0008654892444610596, + 0.0037205591797828674, + -0.002352144569158554, + 0.024758880957961082, + -0.006258562207221985, + -0.0032226601615548134, + 1.0 + ], + [ + -0.0029494762420654297, + 0.0028151869773864746, + -0.009598832577466965, + 0.00853469967842102, + 0.009521648287773132, + 0.01476611290127039, + 1.0 + ], + [ + 0.0017875432968139648, + -0.0007391571998596191, + -0.005910499952733517, + 0.0019435398280620575, + -0.0020526349544525146, + -0.0045117950066924095, + 1.0 + ], + [ + -0.0003483593463897705, + -0.0008875131607055664, + -0.0016011856496334076, + -0.007442132569849491, + 0.0002736598253250122, + 0.005723835900425911, + 1.0 + ], + [ + -0.0014294087886810303, + -0.00017961114645004272, + -0.0012223320081830025, + -0.002787659876048565, + -0.0006390362977981567, + -0.002807453740388155, + 1.0 + ], + [ + -0.0017351210117340088, + 0.012220457196235657, + -0.0005365721881389618, + 0.011617390438914299, + -0.0012901276350021362, + 0.017785971984267235, + 1.0 + ], + [ + -0.0011451244354248047, + 0.02128337323665619, + 1.1768192052841187e-05, + 0.005263861734420061, + -0.008794203400611877, + 0.022851448506116867, + 1.0 + ], + [ + 4.443526268005371e-05, + 0.03388532996177673, + -4.058703780174255e-06, + 0.0017990939086303115, + 0.003998920321464539, + 0.04848795756697655, + 1.0 + ], + [ + -0.0016559958457946777, + 0.038832664489746094, + 0.0003117509186267853, + -0.011522977612912655, + 0.00031498074531555176, + 0.062468521296978, + 1.0 + ], + [ + -0.0005618929862976074, + 0.03609931841492653, + 0.002409566193819046, + 0.004733234643936157, + -0.006069406867027283, + 0.040694817900657654, + 1.0 + ], + [ + -0.01009032130241394, + 0.046146173030138016, + 0.0019442671909928322, + 0.013905609026551247, + 0.01684112846851349, + 0.05952531099319458, + 1.0 + ], + [ + -0.004934072494506836, + 0.031253695487976074, + 0.0028825411573052406, + 0.0030059819109737873, + -0.009456783533096313, + 0.04833453893661499, + 1.0 + ], + [ + 0.0020096898078918457, + 0.006853267550468445, + 0.003998478874564171, + 0.007229598239064217, + -0.01002509891986847, + 0.012575119733810425, + 1.0 + ], + [ + 0.004184305667877197, + -0.0008302778005599976, + 0.003340264782309532, + -0.003374955616891384, + -0.007816970348358154, + 0.01849082112312317, + 1.0 + ], + [ + 0.0039038360118865967, + -0.010202258825302124, + 0.0022416748106479645, + -0.0077027324587106705, + 0.007257372140884399, + -0.014659106731414795, + 1.0 + ], + [ + 0.005693912506103516, + -0.0021181851625442505, + 0.03606598079204559, + -0.0055566467344760895, + -0.09362557530403137, + 0.020235568284988403, + 1.0 + ], + [ + -0.004608899354934692, + -0.013439998030662537, + 0.03675495460629463, + -0.005351851228624582, + -0.09037712216377258, + 0.006256967782974243, + 1.0 + ], + [ + -0.006343632936477661, + -0.024586059153079987, + 0.019994817674160004, + 0.024461623281240463, + -0.06242707371711731, + -0.04452979564666748, + 1.0 + ], + [ + -0.0005747675895690918, + 0.0028024688363075256, + 0.0006712079048156738, + -0.0020210780203342438, + -0.0032467246055603027, + 0.013284504413604736, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 1.002137303352356 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3415962755680084, + -0.09520736336708069, + 0.08876115083694458 + ], + [ + 0.3430272936820984, + -0.09779748320579529, + 0.07844320684671402 + ], + [ + 0.3519541323184967, + -0.09517168253660202, + 0.0685189887881279 + ], + [ + 0.3579086661338806, + -0.0930141806602478, + 0.053979888558387756 + ], + [ + 0.36218276619911194, + -0.09149851649999619, + 0.03958357498049736 + ], + [ + 0.3601188659667969, + -0.0895739272236824, + 0.038583770394325256 + ], + [ + 0.3604912757873535, + -0.08758863061666489, + 0.030627131462097168 + ], + [ + 0.36134177446365356, + -0.08505208045244217, + 0.02961842156946659 + ], + [ + 0.3604762852191925, + -0.0813315212726593, + 0.027266277000308037 + ], + [ + 0.3575268089771271, + -0.07851633429527283, + 0.017667444422841072 + ], + [ + 0.35931435227394104, + -0.07925549149513245, + 0.011756944470107555 + ], + [ + 0.35896599292755127, + -0.08014300465583801, + 0.010155758820474148 + ], + [ + 0.35753658413887024, + -0.08032261580228806, + 0.008933426812291145 + ], + [ + 0.35580146312713623, + -0.0681021586060524, + 0.008396854624152184 + ], + [ + 0.3546563386917114, + -0.04681878536939621, + 0.008408622816205025 + ], + [ + 0.3547007739543915, + -0.012933454476296902, + 0.00840456411242485 + ], + [ + 0.3530447781085968, + 0.025899209082126617, + 0.008716315031051636 + ], + [ + 0.3524828851222992, + 0.061998527497053146, + 0.011125881224870682 + ], + [ + 0.34239256381988525, + 0.10814470052719116, + 0.013070148415863514 + ], + [ + 0.3374584913253784, + 0.13939839601516724, + 0.015952689573168755 + ], + [ + 0.33946818113327026, + 0.14625166356563568, + 0.019951168447732925 + ], + [ + 0.34365248680114746, + 0.14542138576507568, + 0.023291433230042458 + ], + [ + 0.34755632281303406, + 0.13521912693977356, + 0.025533108040690422 + ], + [ + 0.3532502353191376, + 0.1331009417772293, + 0.061599086970090866 + ], + [ + 0.3486413359642029, + 0.11966094374656677, + 0.0983540415763855 + ], + [ + 0.3422977030277252, + 0.09507488459348679, + 0.1183488592505455 + ], + [ + 0.34172293543815613, + 0.09787735342979431, + 0.11902006715536118 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8765330225611396, + 0.10361118071894623, + 0.47005806406215195, + 0.15829564146023825, + -0.9842886188040643, + -0.07822023259668123, + 0.45456831197799524, + 0.14297075967768053, + -0.8791626764272142 + ], + [ + 0.8955872936003608, + 0.09615154761755884, + 0.4343711309840119, + 0.1517930743466986, + -0.9838178098224705, + -0.09519127930905785, + 0.41818926590953875, + 0.1511866295902708, + -0.8956898687108029 + ], + [ + 0.9178948800197148, + 0.08387350014040532, + 0.38785851184135567, + 0.12714460959233242, + -0.9880406099734129, + -0.08723532137259275, + 0.37590322888372074, + 0.12938697390990947, + -0.9175814805766459 + ], + [ + 0.9388394653771784, + 0.061604500688555566, + 0.3387998579474429, + 0.09655070084288499, + -0.9914953123741908, + -0.08726401152109375, + 0.33054261513009403, + 0.11463826165342708, + -0.9368028867099198 + ], + [ + 0.962270998252831, + 0.009859304636253112, + 0.271914177698755, + 0.03453368376677587, + -0.995687120039184, + -0.08610797682893447, + 0.26989247971552827, + 0.09224940704506208, + -0.9584613170560604 + ], + [ + 0.9668097079068758, + -0.009967412008241812, + 0.2553030344411899, + 0.010754390088227268, + -0.9967655860810801, + -0.07964112943869477, + 0.255271094702968, + 0.07974344551308686, + -0.9635754516937682 + ], + [ + 0.9718717642154673, + -0.014193398810374116, + 0.23508258410806357, + 0.00034525086674907536, + -0.9980953875769405, + -0.06168855728152325, + 0.2355104131934597, + 0.060034529463021825, + -0.9700158248964804 + ], + [ + 0.9708121186778896, + -0.0192505600619171, + 0.23906745107908273, + -0.0086378534642539, + -0.998933323323059, + -0.04536080954170656, + 0.2396856643933407, + 0.04197179400563457, + -0.9699428595501238 + ], + [ + 0.9692602605321852, + -0.016660227031044993, + 0.24547298056681185, + -0.011747989824110591, + -0.9997006354468652, + -0.02146215791168879, + 0.24575705908106268, + 0.017918602691273378, + -0.9691658225450478 + ], + [ + 0.9716240890206616, + 0.00029226291303503836, + 0.23653021840170677, + 0.0025710526352117837, + -0.9999532079275235, + -0.009325858877439207, + 0.23651642505990236, + 0.009669360777456046, + -0.971579376139201 + ], + [ + 0.9711382721527351, + -0.0037756488955043932, + 0.2384873179764872, + -0.0018118175848494116, + -0.9999626296154, + -0.008453205882608873, + 0.2385103219511463, + 0.007777136238514744, + -0.9711088211290679 + ], + [ + 0.9711979681681424, + 0.00017688698655904844, + 0.23827395018563288, + 0.003747069533693235, + -0.9998874032649963, + -0.014530666257676728, + 0.23824455103103856, + 0.01500498260499835, + -0.9710892772557228 + ], + [ + 0.9710522153632325, + -0.0033056646745774757, + 0.23884444230339008, + 0.0010203048029620754, + -0.999837715111641, + -0.017986172979315353, + 0.2388651377163843, + 0.017709207249113436, + -0.9708912554773271 + ], + [ + 0.9705715618074917, + 0.017245701195891267, + 0.24019456530244193, + 0.018284520178224257, + -0.9998306253998516, + -0.00209686298896314, + 0.24011772057142955, + 0.006426997962066581, + -0.9707225010087986 + ], + [ + 0.967753083602166, + 0.041338939411714695, + 0.2484855353271365, + 0.0403672139518845, + -0.9991443162976791, + 0.009006844497720112, + 0.2486452437032766, + 0.0013142672323052324, + -0.9685937308724335 + ], + [ + 0.9656416729366888, + 0.09016172495314037, + 0.24373555924712226, + 0.0873145994589889, + -0.9959270452785383, + 0.02248290915510761, + 0.24476993322168783, + -0.00042876127944656804, + -0.969581093026476 + ], + [ + 0.9583834526919994, + 0.1493658935624036, + 0.24329197982355855, + 0.1474389882162454, + -0.9887236161325667, + 0.02621746851835121, + 0.24446452167938798, + 0.010744335346851432, + -0.9695987092081045 + ], + [ + 0.950118013500992, + 0.1905738506048146, + 0.24689545942885044, + 0.18601888250869889, + -0.9816536262783053, + 0.04187043545114661, + 0.2503452331704045, + 0.0061453625041616305, + -0.9681371280704758 + ], + [ + 0.9413178609249768, + 0.2518838586067044, + 0.22466687890524492, + 0.24323247984116994, + -0.9677295729217127, + 0.06585920165834507, + 0.23400565261108783, + -0.007348160732961507, + -0.9722074670973793 + ], + [ + 0.9263117537176739, + 0.2991025277912362, + 0.22909433164829823, + 0.2877594721269214, + -0.9541659617141561, + 0.0822301873239703, + 0.24318927016980668, + -0.010246725086215616, + -0.9699247308421848 + ], + [ + 0.9202547138646018, + 0.3128821851837388, + 0.23502340267434735, + 0.29861737273235367, + -0.9496359331223263, + 0.09496978059001279, + 0.2529010207816615, + -0.01721431722541461, + -0.9673390000253563 + ], + [ + 0.9126793128873285, + 0.3297012061249534, + 0.24148206249588208, + 0.3149271424666363, + -0.9439826970978143, + 0.09857769787195869, + 0.2604560745410118, + -0.013920569661016104, + -0.9653853380774953 + ], + [ + 0.9189691558895882, + 0.3139032338606456, + 0.23866388561197627, + 0.302097081204259, + -0.9494327534500231, + 0.08552660524173059, + 0.25344238803216207, + -0.006496648992850004, + -0.9673286667417743 + ], + [ + 0.8863164681534151, + 0.33182625421810724, + 0.32300844461350564, + 0.31137214646275907, + -0.9433398914974138, + 0.11470499342583726, + 0.3427688794030611, + -0.0010890919278443018, + -0.9394191339288029 + ], + [ + 0.8516188234990744, + 0.33566341105815123, + 0.40258595844721085, + 0.3051819666279255, + -0.941974357123285, + 0.1398151557138424, + 0.4261564814797078, + 0.0037927561193457637, + -0.9046415136913931 + ], + [ + 0.8372737381212357, + 0.30437707388625274, + 0.4542326324086976, + 0.25860364815110987, + -0.9523860339383038, + 0.16150849984506976, + 0.4817642998556756, + -0.017760609553463327, + -0.8761208364905266 + ], + [ + 0.8322719161955464, + 0.31613690204670775, + 0.45539094926942014, + 0.26922044069687734, + -0.9485793050478383, + 0.16648620467155614, + 0.48460686316144186, + -0.01596124053043735, + -0.8745864319651644 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006686.json b/json/chunk-0006/episode_0006686.json new file mode 100644 index 0000000000000000000000000000000000000000..2bf017431febc1fe0878995999d27fbb7154a337 --- /dev/null +++ b/json/chunk-0006/episode_0006686.json @@ -0,0 +1,2002 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 32, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut the blue rectangular block on top of the green rectangular block." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006686.mp4", + "start": 0, + "end": 32, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2787037491798401, + 0.08913588523864746, + 0.12826374173164368, + 0.004531461279839277, + -0.44637227058410645, + 0.7015485763549805, + 0.0, + 0.9872581958770752 + ], + [ + 0.2759307324886322, + 0.08784893900156021, + 0.12012577056884766, + 0.01683001033961773, + -0.4196833670139313, + 0.6978560090065002, + 0.0, + 0.9879508018493652 + ], + [ + 0.2747068405151367, + 0.09670764207839966, + 0.0981963649392128, + 0.0697411596775055, + -0.4050806760787964, + 0.6785354614257812, + 0.0, + 0.9879508018493652 + ], + [ + 0.27385470271110535, + 0.11093951761722565, + 0.0742867961525917, + 0.0803648829460144, + -0.35896921157836914, + 0.7152993083000183, + 0.0, + 0.9879508018493652 + ], + [ + 0.26904475688934326, + 0.12542155385017395, + 0.06886052340269089, + 0.10151337087154388, + -0.35977497696876526, + 0.758404552936554, + 0.0, + 0.9872581958770752 + ], + [ + 0.25529298186302185, + 0.1336626261472702, + 0.056166213005781174, + 0.10550718754529953, + -0.28303900361061096, + 0.8489556908607483, + 0.0, + 0.9879508018493652 + ], + [ + 0.24459901452064514, + 0.13562555611133575, + 0.051448047161102295, + 0.1360635608434677, + -0.2527486979961395, + 0.8532043695449829, + 0.0, + 0.9872581958770752 + ], + [ + 0.2352188527584076, + 0.13699042797088623, + 0.05038417503237724, + 0.1576838344335556, + -0.24504613876342773, + 0.8535034656524658, + 0.0, + 0.9872581958770752 + ], + [ + 0.2283811867237091, + 0.13786248862743378, + 0.05472974479198456, + 0.15780580043792725, + -0.25135016441345215, + 0.8519108295440674, + 0.0, + 0.9879508018493652 + ], + [ + 0.22434493899345398, + 0.13951243460178375, + 0.05578962713479996, + 0.16746889054775238, + -0.24221926927566528, + 0.8590608239173889, + 0.0, + 0.9879508018493652 + ], + [ + 0.21814264357089996, + 0.14280898869037628, + 0.055190734565258026, + 0.19122321903705597, + -0.22314783930778503, + 0.8902765512466431, + 0.0, + 0.9872581958770752 + ], + [ + 0.21519242227077484, + 0.14695055782794952, + 0.04963323473930359, + 0.22773128747940063, + -0.21322974562644958, + 0.9213971495628357, + 0.0, + 0.9872581958770752 + ], + [ + 0.21013416349887848, + 0.1484573632478714, + 0.04475295543670654, + 0.26057884097099304, + -0.19883306324481964, + 0.9501875638961792, + 0.0, + 0.9879508018493652 + ], + [ + 0.2046370655298233, + 0.1446690857410431, + 0.037048909813165665, + 0.27423354983329773, + -0.16037695109844208, + 0.9782542586326599, + 0.0, + 0.941448450088501 + ], + [ + 0.20011934638023376, + 0.1423245519399643, + 0.035607725381851196, + 0.28555819392204285, + -0.14259491860866547, + 1.0249924659729004, + 0.0, + 0.6821943521499634 + ], + [ + 0.20219647884368896, + 0.13960568606853485, + 0.03570186346769333, + 0.2653628885746002, + -0.13467130064964294, + 1.0495073795318604, + 0.0, + 0.562038779258728 + ], + [ + 0.20943184196949005, + 0.13501708209514618, + 0.04638531431555748, + 0.21055664122104645, + -0.13354898989200592, + 1.0471383333206177, + 0.0, + 0.562038779258728 + ], + [ + 0.23089098930358887, + 0.12246464192867279, + 0.07785505801439285, + 0.12668050825595856, + -0.1757192611694336, + 1.0291167497634888, + 0.0, + 0.562038779258728 + ], + [ + 0.2527432441711426, + 0.10515353828668594, + 0.09857980161905289, + 0.0773962065577507, + -0.18352414667606354, + 1.0006238222122192, + 0.0, + 0.562038779258728 + ], + [ + 0.27453023195266724, + 0.09372832626104355, + 0.11228900402784348, + 0.029765157029032707, + -0.18975511193275452, + 0.9936853647232056, + 0.0, + 0.562038779258728 + ], + [ + 0.2907673716545105, + 0.08679851144552231, + 0.10652294009923935, + 0.03502780944108963, + -0.18305255472660065, + 0.9898599982261658, + 0.0, + 0.562038779258728 + ], + [ + 0.30423232913017273, + 0.0846157819032669, + 0.09838605672121048, + 0.04943638667464256, + -0.16797055304050446, + 1.0050373077392578, + 0.0, + 0.562038779258728 + ], + [ + 0.3089536726474762, + 0.08258056640625, + 0.0936029702425003, + 0.06468409299850464, + -0.16006052494049072, + 1.020012378692627, + 0.0, + 0.562038779258728 + ], + [ + 0.31172916293144226, + 0.07498237490653992, + 0.08732035756111145, + 0.08789468556642532, + -0.16981299221515656, + 1.0188417434692383, + 0.0, + 0.562038779258728 + ], + [ + 0.3133271038532257, + 0.07171672582626343, + 0.08455150574445724, + 0.09650009870529175, + -0.18201018869876862, + 1.0198184251785278, + 0.0, + 0.562038779258728 + ], + [ + 0.3095135986804962, + 0.06785763055086136, + 0.07883739471435547, + 0.11207472532987595, + -0.18169575929641724, + 1.0104122161865234, + 0.0, + 0.562038779258728 + ], + [ + 0.3088076114654541, + 0.06567691266536713, + 0.07674334943294525, + 0.11598523706197739, + -0.188958540558815, + 1.0069383382797241, + 0.0, + 0.562038779258728 + ], + [ + 0.30944257974624634, + 0.06705871969461441, + 0.07717479765415192, + 0.11670886725187302, + -0.20261314511299133, + 1.0189871788024902, + 0.0, + 0.6119219660758972 + ], + [ + 0.31156131625175476, + 0.06659043580293655, + 0.07186080515384674, + 0.12618616223335266, + -0.20990906655788422, + 1.007696509361267, + 0.0, + 0.931966245174408 + ], + [ + 0.31346362829208374, + 0.06819508969783783, + 0.07216666638851166, + 0.11923034489154816, + -0.22286321222782135, + 1.0091686248779297, + 0.0, + 1.002137303352356 + ], + [ + 0.3134123980998993, + 0.06717979162931442, + 0.07190822064876556, + 0.11473309993743896, + -0.21771349012851715, + 1.0153775215148926, + 0.0, + 0.9994885921478271 + ], + [ + 0.31591182947158813, + 0.06573758274316788, + 0.0898883119225502, + 0.045672621577978134, + -0.20301152765750885, + 1.0490224361419678, + 0.0, + 0.9994885921478271 + ] + ], + "left_gripper_pos": [ + [ + 0.9872581958770752 + ], + [ + 0.9879508018493652 + ], + [ + 0.9879508018493652 + ], + [ + 0.9879508018493652 + ], + [ + 0.9872581958770752 + ], + [ + 0.9879508018493652 + ], + [ + 0.9872581958770752 + ], + [ + 0.9872581958770752 + ], + [ + 0.9879508018493652 + ], + [ + 0.9879508018493652 + ], + [ + 0.9872581958770752 + ], + [ + 0.9872581958770752 + ], + [ + 0.9879508018493652 + ], + [ + 0.941448450088501 + ], + [ + 0.6821943521499634 + ], + [ + 0.562038779258728 + ], + [ + 0.562038779258728 + ], + [ + 0.562038779258728 + ], + [ + 0.562038779258728 + ], + [ + 0.562038779258728 + ], + [ + 0.562038779258728 + ], + [ + 0.562038779258728 + ], + [ + 0.562038779258728 + ], + [ + 0.562038779258728 + ], + [ + 0.562038779258728 + ], + [ + 0.562038779258728 + ], + [ + 0.562038779258728 + ], + [ + 0.6119219660758972 + ], + [ + 0.931966245174408 + ], + [ + 1.002137303352356 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2787037491798401, + 0.08913588523864746, + 0.12826374173164368 + ], + [ + 0.2759307324886322, + 0.08784893900156021, + 0.12012577056884766 + ], + [ + 0.2747068405151367, + 0.09670764207839966, + 0.0981963649392128 + ], + [ + 0.27385470271110535, + 0.11093951761722565, + 0.0742867961525917 + ], + [ + 0.26904475688934326, + 0.12542155385017395, + 0.06886052340269089 + ], + [ + 0.25529298186302185, + 0.1336626261472702, + 0.056166213005781174 + ], + [ + 0.24459901452064514, + 0.13562555611133575, + 0.051448047161102295 + ], + [ + 0.2352188527584076, + 0.13699042797088623, + 0.05038417503237724 + ], + [ + 0.2283811867237091, + 0.13786248862743378, + 0.05472974479198456 + ], + [ + 0.22434493899345398, + 0.13951243460178375, + 0.05578962713479996 + ], + [ + 0.21814264357089996, + 0.14280898869037628, + 0.055190734565258026 + ], + [ + 0.21519242227077484, + 0.14695055782794952, + 0.04963323473930359 + ], + [ + 0.21013416349887848, + 0.1484573632478714, + 0.04475295543670654 + ], + [ + 0.2046370655298233, + 0.1446690857410431, + 0.037048909813165665 + ], + [ + 0.20011934638023376, + 0.1423245519399643, + 0.035607725381851196 + ], + [ + 0.20219647884368896, + 0.13960568606853485, + 0.03570186346769333 + ], + [ + 0.20943184196949005, + 0.13501708209514618, + 0.04638531431555748 + ], + [ + 0.23089098930358887, + 0.12246464192867279, + 0.07785505801439285 + ], + [ + 0.2527432441711426, + 0.10515353828668594, + 0.09857980161905289 + ], + [ + 0.27453023195266724, + 0.09372832626104355, + 0.11228900402784348 + ], + [ + 0.2907673716545105, + 0.08679851144552231, + 0.10652294009923935 + ], + [ + 0.30423232913017273, + 0.0846157819032669, + 0.09838605672121048 + ], + [ + 0.3089536726474762, + 0.08258056640625, + 0.0936029702425003 + ], + [ + 0.31172916293144226, + 0.07498237490653992, + 0.08732035756111145 + ], + [ + 0.3133271038532257, + 0.07171672582626343, + 0.08455150574445724 + ], + [ + 0.3095135986804962, + 0.06785763055086136, + 0.07883739471435547 + ], + [ + 0.3088076114654541, + 0.06567691266536713, + 0.07674334943294525 + ], + [ + 0.30944257974624634, + 0.06705871969461441, + 0.07717479765415192 + ], + [ + 0.31156131625175476, + 0.06659043580293655, + 0.07186080515384674 + ], + [ + 0.31346362829208374, + 0.06819508969783783, + 0.07216666638851166 + ], + [ + 0.3134123980998993, + 0.06717979162931442, + 0.07190822064876556 + ], + [ + 0.31591182947158813, + 0.06573758274316788, + 0.0898883119225502 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.6890015704325874, + 0.6468889411303407, + 0.3268203386949704, + 0.582164334706589, + -0.7625732689979053, + 0.2820756933971501, + 0.4316961006739153, + -0.004087450686557914, + -0.9020098499516631 + ], + [ + 0.6997273839795097, + 0.6477396962223004, + 0.3013550630851152, + 0.5868123317307409, + -0.7617066939965692, + 0.2746892783665715, + 0.4074713185463766, + -0.01536874291081941, + -0.9130886738446702 + ], + [ + 0.7154898277778285, + 0.6475069248773971, + 0.26231486534748594, + 0.5768579423790049, + -0.7593635539150485, + 0.3010015071386979, + 0.39409290866585456, + -0.06404510302375732, + -0.9168364107723703 + ], + [ + 0.7067794246748409, + 0.6750166675135656, + 0.21169634724099773, + 0.6140395721927334, + -0.7339640729126874, + 0.29026219777088436, + 0.3513093346862072, + -0.07516141465073393, + -0.9332376509282267 + ], + [ + 0.679457063272482, + 0.7101232281130435, + 0.18456191390274687, + 0.6437307685704122, + -0.6976591515636819, + 0.3144557295315038, + 0.3520636260179132, + -0.09485098383123994, + -0.9311576096995422 + ], + [ + 0.6344761855570312, + 0.7658506952074974, + 0.10446378612319393, + 0.7207256300400137, + -0.6350174724633146, + 0.2780420397524959, + 0.27927501886925854, + -0.10112132473665587, + -0.9548716885105971 + ], + [ + 0.6366804677009686, + 0.7687331167896163, + 0.06072377787159136, + 0.7294551687355881, + -0.6259398021529454, + 0.2758523534169441, + 0.2500662689228814, + -0.1313345317563288, + -0.959279991407793 + ], + [ + 0.6377095182475815, + 0.7692809876159766, + 0.0391577888679287, + 0.7310754295329002, + -0.620483090088183, + 0.28377711544080736, + 0.24260108546691034, + -0.152340070261266, + -0.9580904009137496 + ], + [ + 0.6378532014166769, + 0.7689290547510446, + 0.04349025410550782, + 0.7288934572970045, + -0.6209501934886433, + 0.2883317275570563, + 0.2487119244268683, + -0.1522135538185806, + -0.9565424259706425 + ], + [ + 0.6340822417537006, + 0.7727493861417106, + 0.028250609023714734, + 0.7351244755341965, + -0.6137363153021537, + 0.28795788016636703, + 0.23985769982048483, + -0.16182126404445357, + -0.9572262858592431 + ], + [ + 0.613596577762286, + 0.7895427829387998, + -0.011019694535980423, + 0.7579744891336875, + -0.585037161173545, + 0.2884548385250714, + 0.22130050515291738, + -0.18534754909427564, + -0.9574300875070768 + ], + [ + 0.591012892670576, + 0.804774692238093, + -0.055149391929927696, + 0.7784097589571046, + -0.5510436554863833, + 0.3007143776219325, + 0.21161759817534176, + -0.22065489906477617, + -0.9521183790166078 + ], + [ + 0.5700730494367965, + 0.8156551744753731, + -0.09860707204547217, + 0.797496324270655, + -0.5204979915777548, + 0.3050925327475554, + 0.19752552007430949, + -0.2525638080071502, + -0.9472038808009083 + ], + [ + 0.5513047539702391, + 0.8226783545740972, + -0.13879262647947127, + 0.8188785417953219, + -0.5017298891293209, + 0.2787562593762629, + 0.15969033169538188, + -0.2673339545765471, + -0.9502797244461673 + ], + [ + 0.5138366977586515, + 0.8408792448832886, + -0.16998218601075255, + 0.8460354476291992, + -0.4638681534979804, + 0.2627743471597524, + 0.1421121718620338, + -0.2788340576308495, + -0.9497661285357419 + ], + [ + 0.4934891810230898, + 0.8543601127510084, + -0.16290250444128918, + 0.8593261585165443, + -0.45003184716004263, + 0.24296067548251282, + 0.1342645951185904, + -0.25988484811893925, + -0.9562598413694036 + ], + [ + 0.495598616610643, + 0.8607861727542262, + -0.11588432166927612, + 0.8582846029802812, + -0.4649073585766956, + 0.21727560430987408, + 0.1331523619790429, + -0.20714321793476892, + -0.9692069622959953 + ], + [ + 0.5076365293679842, + 0.8613651746947272, + -0.01884648174991585, + 0.8436494482367439, + -0.4925196102494125, + 0.21372889839608594, + 0.17481636805821493, + -0.12439642013695196, + -0.976711199954237 + ], + [ + 0.5307126082192044, + 0.8469043043793555, + 0.033124412461034536, + 0.8276711062382384, + -0.5262831750028719, + 0.19490140996736474, + 0.18249566399106462, + -0.07602051652426448, + -0.9802633389512453 + ], + [ + 0.5358117178110697, + 0.8407339229332942, + 0.07792479634586401, + 0.8229999387276161, + -0.5406591148208041, + 0.17423783290527023, + 0.18861840819678988, + -0.029226569938642935, + -0.9816154561226769 + ], + [ + 0.5396377706664328, + 0.8389349491648816, + 0.07056364177024813, + 0.8219826262575418, + -0.543141182765047, + 0.17129570255946344, + 0.1820319713701878, + -0.03443554347332428, + -0.9826894497982462 + ], + [ + 0.5285123031111654, + 0.847579236319016, + 0.047793133617758894, + 0.8323010199773342, + -0.5284275962861623, + 0.1674493583980471, + 0.1671818100297417, + -0.04872077220346508, + -0.9847215488406239 + ], + [ + 0.5166656854504281, + 0.8557241084840691, + 0.028157053062862897, + 0.8412224651776966, + -0.5134824069410076, + 0.16935342288371144, + 0.159377958194974, + -0.06381275672790823, + -0.9851530837998664 + ], + [ + 0.5168104759283505, + 0.8559929726805644, + 0.013526370252286604, + 0.8392535948364315, + -0.5096964816345373, + 0.18937502518415714, + 0.16899803408572, + -0.08651894203504754, + -0.9818116607294383 + ], + [ + 0.5148730564809385, + 0.8571792151332988, + 0.012228199108534343, + 0.8379392758144005, + -0.5062257905664274, + 0.20394415660428544, + 0.18100692185000547, + -0.0947588629567561, + -0.9789061508303686 + ], + [ + 0.5227622197782906, + 0.8524782479287969, + 0.000705960850763257, + 0.8331074426439453, + -0.5110587150612896, + 0.2115442714213003, + 0.1806976773058786, + -0.10999921167059404, + -0.9773681613640319 + ], + [ + 0.5249379197000135, + 0.8511383885979353, + 0.0019036585650908516, + 0.8301552802520586, + -0.5124876569534066, + 0.21954182321378668, + 0.18783607515769785, + -0.11366549575538604, + -0.97560123203286 + ], + [ + 0.5135051352936596, + 0.8580681710093632, + 0.005611588695455291, + 0.8341577078388507, + -0.5007083429474494, + 0.23124029440357993, + 0.20122970575955057, + -0.11406212869952057, + -0.9728804840865393 + ], + [ + 0.5220927776383314, + 0.8528796645144174, + 0.003925480310314491, + 0.8270433321206117, + -0.50739072980141, + 0.24197928445722047, + 0.2083709632667845, + -0.12308909443718977, + -0.9702734751078713 + ], + [ + 0.5193935114806221, + 0.8543816708649833, + 0.016196935567850138, + 0.8254569924004199, + -0.5065318337010745, + 0.24909085720812973, + 0.22102292625219405, + -0.11600630128310772, + -0.9683446721769738 + ], + [ + 0.5148517097259254, + 0.857132274186402, + 0.015873926431041394, + 0.829622040359701, + -0.5028217391030974, + 0.2426882132175836, + 0.2159976554078727, + -0.11177908227116251, + -0.9699744582332663 + ], + [ + 0.48818316212275026, + 0.8706204502328898, + 0.06080486704296671, + 0.8491328558309112, + -0.4899185963399558, + 0.197365554514278, + 0.20161992304401255, + -0.04471913009627709, + -0.9784424387950263 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0027730166912078857, + -0.0012869462370872498, + -0.00813797116279602, + 0.012298548594117165, + 0.02668890357017517, + -0.0036925673484802246, + 1.0 + ], + [ + -0.0012238919734954834, + 0.008858703076839447, + -0.021929405629634857, + 0.052911147475242615, + 0.014602690935134888, + -0.019320547580718994, + 1.0 + ], + [ + -0.0008521378040313721, + 0.014231875538825989, + -0.023909568786621094, + 0.010623723268508911, + 0.046111464500427246, + 0.03676384687423706, + 1.0 + ], + [ + -0.004809945821762085, + 0.014482036232948303, + -0.005426272749900818, + 0.02114848792552948, + -0.0008057653903961182, + 0.043105244636535645, + 1.0 + ], + [ + -0.013751775026321411, + 0.008241072297096252, + -0.012694310396909714, + 0.003993816673755646, + 0.0767359733581543, + 0.09055113792419434, + 1.0 + ], + [ + -0.010693967342376709, + 0.0019629299640655518, + -0.004718165844678879, + 0.030556373298168182, + 0.030290305614471436, + 0.004248678684234619, + 1.0 + ], + [ + -0.009380161762237549, + 0.001364871859550476, + -0.0010638721287250519, + 0.02162027359008789, + 0.007702559232711792, + 0.00029909610748291016, + 1.0 + ], + [ + -0.006837666034698486, + 0.0008720606565475464, + 0.004345569759607315, + 0.00012196600437164307, + -0.006304025650024414, + -0.0015926361083984375, + 1.0 + ], + [ + -0.004036247730255127, + 0.0016499459743499756, + 0.0010598823428153992, + 0.009663090109825134, + 0.009130895137786865, + 0.007149994373321533, + 1.0 + ], + [ + -0.006202295422554016, + 0.0032965540885925293, + -0.0005988925695419312, + 0.02375432848930359, + 0.01907142996788025, + 0.03121572732925415, + 1.0 + ], + [ + -0.002950221300125122, + 0.004141569137573242, + -0.005557499825954437, + 0.036508068442344666, + 0.00991809368133545, + 0.031120598316192627, + 1.0 + ], + [ + -0.005058258771896362, + 0.001506805419921875, + -0.004880279302597046, + 0.03284755349159241, + 0.014396682381629944, + 0.028790414333343506, + 1.0 + ], + [ + -0.005497097969055176, + -0.003788277506828308, + -0.007704045623540878, + 0.013654708862304688, + 0.038456112146377563, + 0.028066694736480713, + 0.0 + ], + [ + -0.004517719149589539, + -0.0023445338010787964, + -0.0014411844313144684, + 0.011324644088745117, + 0.01778203248977661, + 0.04673820734024048, + 0.0 + ], + [ + 0.0020771324634552, + -0.0027188658714294434, + 9.413808584213257e-05, + -0.020195305347442627, + 0.007923617959022522, + 0.02451491355895996, + 0.0 + ], + [ + 0.007235363125801086, + -0.004588603973388672, + 0.010683450847864151, + -0.05480624735355377, + 0.001122310757637024, + -0.0023690462112426758, + 0.0 + ], + [ + 0.021459147334098816, + -0.012552440166473389, + 0.03146974369883537, + -0.08387613296508789, + -0.04217027127742767, + -0.018021583557128906, + 0.0 + ], + [ + 0.02185225486755371, + -0.017311103641986847, + 0.020724743604660034, + -0.049284301698207855, + -0.007804885506629944, + -0.02849292755126953, + 0.0 + ], + [ + 0.021786987781524658, + -0.011425212025642395, + 0.013709202408790588, + -0.047631047666072845, + -0.006230965256690979, + -0.006938457489013672, + 0.0 + ], + [ + 0.01623713970184326, + -0.00692981481552124, + -0.005766063928604126, + 0.005262652412056923, + 0.00670255720615387, + -0.003825366497039795, + 0.0 + ], + [ + 0.013464957475662231, + -0.0021827295422554016, + -0.00813688337802887, + 0.014408577233552933, + 0.015082001686096191, + 0.015177309513092041, + 0.0 + ], + [ + 0.004721343517303467, + -0.0020352154970169067, + -0.0047830864787101746, + 0.015247706323862076, + 0.007910028100013733, + 0.01497507095336914, + 0.0 + ], + [ + 0.0027754902839660645, + -0.007598191499710083, + -0.006282612681388855, + 0.023210592567920685, + -0.009752467274665833, + -0.0011706352233886719, + 0.0 + ], + [ + 0.0015979409217834473, + -0.0032656490802764893, + -0.0027688518166542053, + 0.008605413138866425, + -0.01219719648361206, + 0.0009766817092895508, + 0.0 + ], + [ + -0.003813505172729492, + -0.003859095275402069, + -0.005714111030101776, + 0.015574626624584198, + 0.0003144294023513794, + -0.009406208992004395, + 0.0 + ], + [ + -0.0007059872150421143, + -0.002180717885494232, + -0.0020940452814102173, + 0.00391051173210144, + -0.007262781262397766, + -0.0034738779067993164, + 0.0 + ], + [ + 0.0006349682807922363, + 0.001381807029247284, + 0.00043144822120666504, + 0.0007236301898956299, + -0.01365460455417633, + 0.012048840522766113, + 1.0 + ], + [ + 0.002118736505508423, + -0.00046828389167785645, + -0.005313992500305176, + 0.009477294981479645, + -0.007295921444892883, + -0.011290669441223145, + 1.0 + ], + [ + 0.0019023120403289795, + 0.0016046538949012756, + 0.000305861234664917, + -0.006955817341804504, + -0.012954145669937134, + 0.0014721155166625977, + 1.0 + ], + [ + -5.123019218444824e-05, + -0.001015298068523407, + -0.00025844573974609375, + -0.004497244954109192, + 0.005149722099304199, + 0.006208896636962891, + 1.0 + ], + [ + 0.0024994313716888428, + -0.0014422088861465454, + 0.017980091273784637, + -0.06906047463417053, + 0.0147019624710083, + 0.033644914627075195, + 1.0 + ], + [ + 0.0023686587810516357, + 0.01155514270067215, + 0.025304079055786133, + -0.07874568551778793, + 0.016998395323753357, + 0.030466914176940918, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9879508018493652 + ], + [ + 0.9879508018493652 + ], + [ + 0.9879508018493652 + ], + [ + 0.9872581958770752 + ], + [ + 0.9879508018493652 + ], + [ + 0.9872581958770752 + ], + [ + 0.9872581958770752 + ], + [ + 0.9879508018493652 + ], + [ + 0.9879508018493652 + ], + [ + 0.9872581958770752 + ], + [ + 0.9872581958770752 + ], + [ + 0.9879508018493652 + ], + [ + 0.941448450088501 + ], + [ + 0.6821943521499634 + ], + [ + 0.562038779258728 + ], + [ + 0.562038779258728 + ], + [ + 0.562038779258728 + ], + [ + 0.562038779258728 + ], + [ + 0.562038779258728 + ], + [ + 0.562038779258728 + ], + [ + 0.562038779258728 + ], + [ + 0.562038779258728 + ], + [ + 0.562038779258728 + ], + [ + 0.562038779258728 + ], + [ + 0.562038779258728 + ], + [ + 0.562038779258728 + ], + [ + 0.6119219660758972 + ], + [ + 0.931966245174408 + ], + [ + 1.002137303352356 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2759307324886322, + 0.08784893900156021, + 0.12012577056884766 + ], + [ + 0.2747068405151367, + 0.09670764207839966, + 0.0981963649392128 + ], + [ + 0.27385470271110535, + 0.11093951761722565, + 0.0742867961525917 + ], + [ + 0.26904475688934326, + 0.12542155385017395, + 0.06886052340269089 + ], + [ + 0.25529298186302185, + 0.1336626261472702, + 0.056166213005781174 + ], + [ + 0.24459901452064514, + 0.13562555611133575, + 0.051448047161102295 + ], + [ + 0.2352188527584076, + 0.13699042797088623, + 0.05038417503237724 + ], + [ + 0.2283811867237091, + 0.13786248862743378, + 0.05472974479198456 + ], + [ + 0.22434493899345398, + 0.13951243460178375, + 0.05578962713479996 + ], + [ + 0.21814264357089996, + 0.14280898869037628, + 0.055190734565258026 + ], + [ + 0.21519242227077484, + 0.14695055782794952, + 0.04963323473930359 + ], + [ + 0.21013416349887848, + 0.1484573632478714, + 0.04475295543670654 + ], + [ + 0.2046370655298233, + 0.1446690857410431, + 0.037048909813165665 + ], + [ + 0.20011934638023376, + 0.1423245519399643, + 0.035607725381851196 + ], + [ + 0.20219647884368896, + 0.13960568606853485, + 0.03570186346769333 + ], + [ + 0.20943184196949005, + 0.13501708209514618, + 0.04638531431555748 + ], + [ + 0.23089098930358887, + 0.12246464192867279, + 0.07785505801439285 + ], + [ + 0.2527432441711426, + 0.10515353828668594, + 0.09857980161905289 + ], + [ + 0.27453023195266724, + 0.09372832626104355, + 0.11228900402784348 + ], + [ + 0.2907673716545105, + 0.08679851144552231, + 0.10652294009923935 + ], + [ + 0.30423232913017273, + 0.0846157819032669, + 0.09838605672121048 + ], + [ + 0.3089536726474762, + 0.08258056640625, + 0.0936029702425003 + ], + [ + 0.31172916293144226, + 0.07498237490653992, + 0.08732035756111145 + ], + [ + 0.3133271038532257, + 0.07171672582626343, + 0.08455150574445724 + ], + [ + 0.3095135986804962, + 0.06785763055086136, + 0.07883739471435547 + ], + [ + 0.3088076114654541, + 0.06567691266536713, + 0.07674334943294525 + ], + [ + 0.30944257974624634, + 0.06705871969461441, + 0.07717479765415192 + ], + [ + 0.31156131625175476, + 0.06659043580293655, + 0.07186080515384674 + ], + [ + 0.31346362829208374, + 0.06819508969783783, + 0.07216666638851166 + ], + [ + 0.3134123980998993, + 0.06717979162931442, + 0.07190822064876556 + ], + [ + 0.31591182947158813, + 0.06573758274316788, + 0.0898883119225502 + ], + [ + 0.31828048825263977, + 0.07729272544384003, + 0.11519239097833633 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.6997273839795097, + 0.6477396962223004, + 0.3013550630851152, + 0.5868123317307409, + -0.7617066939965692, + 0.2746892783665715, + 0.4074713185463766, + -0.01536874291081941, + -0.9130886738446702 + ], + [ + 0.7154898277778285, + 0.6475069248773971, + 0.26231486534748594, + 0.5768579423790049, + -0.7593635539150485, + 0.3010015071386979, + 0.39409290866585456, + -0.06404510302375732, + -0.9168364107723703 + ], + [ + 0.7067794246748409, + 0.6750166675135656, + 0.21169634724099773, + 0.6140395721927334, + -0.7339640729126874, + 0.29026219777088436, + 0.3513093346862072, + -0.07516141465073393, + -0.9332376509282267 + ], + [ + 0.679457063272482, + 0.7101232281130435, + 0.18456191390274687, + 0.6437307685704122, + -0.6976591515636819, + 0.3144557295315038, + 0.3520636260179132, + -0.09485098383123994, + -0.9311576096995422 + ], + [ + 0.6344761855570312, + 0.7658506952074974, + 0.10446378612319393, + 0.7207256300400137, + -0.6350174724633146, + 0.2780420397524959, + 0.27927501886925854, + -0.10112132473665587, + -0.9548716885105971 + ], + [ + 0.6366804677009686, + 0.7687331167896163, + 0.06072377787159136, + 0.7294551687355881, + -0.6259398021529454, + 0.2758523534169441, + 0.2500662689228814, + -0.1313345317563288, + -0.959279991407793 + ], + [ + 0.6377095182475815, + 0.7692809876159766, + 0.0391577888679287, + 0.7310754295329002, + -0.620483090088183, + 0.28377711544080736, + 0.24260108546691034, + -0.152340070261266, + -0.9580904009137496 + ], + [ + 0.6378532014166769, + 0.7689290547510446, + 0.04349025410550782, + 0.7288934572970045, + -0.6209501934886433, + 0.2883317275570563, + 0.2487119244268683, + -0.1522135538185806, + -0.9565424259706425 + ], + [ + 0.6340822417537006, + 0.7727493861417106, + 0.028250609023714734, + 0.7351244755341965, + -0.6137363153021537, + 0.28795788016636703, + 0.23985769982048483, + -0.16182126404445357, + -0.9572262858592431 + ], + [ + 0.613596577762286, + 0.7895427829387998, + -0.011019694535980423, + 0.7579744891336875, + -0.585037161173545, + 0.2884548385250714, + 0.22130050515291738, + -0.18534754909427564, + -0.9574300875070768 + ], + [ + 0.591012892670576, + 0.804774692238093, + -0.055149391929927696, + 0.7784097589571046, + -0.5510436554863833, + 0.3007143776219325, + 0.21161759817534176, + -0.22065489906477617, + -0.9521183790166078 + ], + [ + 0.5700730494367965, + 0.8156551744753731, + -0.09860707204547217, + 0.797496324270655, + -0.5204979915777548, + 0.3050925327475554, + 0.19752552007430949, + -0.2525638080071502, + -0.9472038808009083 + ], + [ + 0.5513047539702391, + 0.8226783545740972, + -0.13879262647947127, + 0.8188785417953219, + -0.5017298891293209, + 0.2787562593762629, + 0.15969033169538188, + -0.2673339545765471, + -0.9502797244461673 + ], + [ + 0.5138366977586515, + 0.8408792448832886, + -0.16998218601075255, + 0.8460354476291992, + -0.4638681534979804, + 0.2627743471597524, + 0.1421121718620338, + -0.2788340576308495, + -0.9497661285357419 + ], + [ + 0.4934891810230898, + 0.8543601127510084, + -0.16290250444128918, + 0.8593261585165443, + -0.45003184716004263, + 0.24296067548251282, + 0.1342645951185904, + -0.25988484811893925, + -0.9562598413694036 + ], + [ + 0.495598616610643, + 0.8607861727542262, + -0.11588432166927612, + 0.8582846029802812, + -0.4649073585766956, + 0.21727560430987408, + 0.1331523619790429, + -0.20714321793476892, + -0.9692069622959953 + ], + [ + 0.5076365293679842, + 0.8613651746947272, + -0.01884648174991585, + 0.8436494482367439, + -0.4925196102494125, + 0.21372889839608594, + 0.17481636805821493, + -0.12439642013695196, + -0.976711199954237 + ], + [ + 0.5307126082192044, + 0.8469043043793555, + 0.033124412461034536, + 0.8276711062382384, + -0.5262831750028719, + 0.19490140996736474, + 0.18249566399106462, + -0.07602051652426448, + -0.9802633389512453 + ], + [ + 0.5358117178110697, + 0.8407339229332942, + 0.07792479634586401, + 0.8229999387276161, + -0.5406591148208041, + 0.17423783290527023, + 0.18861840819678988, + -0.029226569938642935, + -0.9816154561226769 + ], + [ + 0.5396377706664328, + 0.8389349491648816, + 0.07056364177024813, + 0.8219826262575418, + -0.543141182765047, + 0.17129570255946344, + 0.1820319713701878, + -0.03443554347332428, + -0.9826894497982462 + ], + [ + 0.5285123031111654, + 0.847579236319016, + 0.047793133617758894, + 0.8323010199773342, + -0.5284275962861623, + 0.1674493583980471, + 0.1671818100297417, + -0.04872077220346508, + -0.9847215488406239 + ], + [ + 0.5166656854504281, + 0.8557241084840691, + 0.028157053062862897, + 0.8412224651776966, + -0.5134824069410076, + 0.16935342288371144, + 0.159377958194974, + -0.06381275672790823, + -0.9851530837998664 + ], + [ + 0.5168104759283505, + 0.8559929726805644, + 0.013526370252286604, + 0.8392535948364315, + -0.5096964816345373, + 0.18937502518415714, + 0.16899803408572, + -0.08651894203504754, + -0.9818116607294383 + ], + [ + 0.5148730564809385, + 0.8571792151332988, + 0.012228199108534343, + 0.8379392758144005, + -0.5062257905664274, + 0.20394415660428544, + 0.18100692185000547, + -0.0947588629567561, + -0.9789061508303686 + ], + [ + 0.5227622197782906, + 0.8524782479287969, + 0.000705960850763257, + 0.8331074426439453, + -0.5110587150612896, + 0.2115442714213003, + 0.1806976773058786, + -0.10999921167059404, + -0.9773681613640319 + ], + [ + 0.5249379197000135, + 0.8511383885979353, + 0.0019036585650908516, + 0.8301552802520586, + -0.5124876569534066, + 0.21954182321378668, + 0.18783607515769785, + -0.11366549575538604, + -0.97560123203286 + ], + [ + 0.5135051352936596, + 0.8580681710093632, + 0.005611588695455291, + 0.8341577078388507, + -0.5007083429474494, + 0.23124029440357993, + 0.20122970575955057, + -0.11406212869952057, + -0.9728804840865393 + ], + [ + 0.5220927776383314, + 0.8528796645144174, + 0.003925480310314491, + 0.8270433321206117, + -0.50739072980141, + 0.24197928445722047, + 0.2083709632667845, + -0.12308909443718977, + -0.9702734751078713 + ], + [ + 0.5193935114806221, + 0.8543816708649833, + 0.016196935567850138, + 0.8254569924004199, + -0.5065318337010745, + 0.24909085720812973, + 0.22102292625219405, + -0.11600630128310772, + -0.9683446721769738 + ], + [ + 0.5148517097259254, + 0.857132274186402, + 0.015873926431041394, + 0.829622040359701, + -0.5028217391030974, + 0.2426882132175836, + 0.2159976554078727, + -0.11177908227116251, + -0.9699744582332663 + ], + [ + 0.48818316212275026, + 0.8706204502328898, + 0.06080486704296671, + 0.8491328558309112, + -0.4899185963399558, + 0.197365554514278, + 0.20161992304401255, + -0.04471913009627709, + -0.9784424387950263 + ], + [ + 0.46364020143883755, + 0.8783496698469173, + 0.1163598774903368, + 0.8665068467137982, + -0.4769128095750539, + 0.14737725964794984, + 0.1849422834504457, + 0.03249660817747627, + -0.9822119538312977 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006689.json b/json/chunk-0006/episode_0006689.json new file mode 100644 index 0000000000000000000000000000000000000000..2f659802542c7ff7f5f6920008f878ca860de147 --- /dev/null +++ b/json/chunk-0006/episode_0006689.json @@ -0,0 +1,2482 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 40, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the metal bowl to the left side of the knife." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006689.mp4", + "start": 0, + "end": 40, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.30830609798431396, + 0.11422104388475418, + 0.16275948286056519, + 0.009525595232844353, + -0.4460600018501282, + 0.7613759636878967, + 0.0, + 0.9974852800369263 + ], + [ + 0.3075445592403412, + 0.11319123208522797, + 0.1531948298215866, + 0.024814840406179428, + -0.41666075587272644, + 0.7536094784736633, + 0.0, + 0.9974852800369263 + ], + [ + 0.31255146861076355, + 0.08363877981901169, + 0.1465936303138733, + 0.01908216066658497, + -0.3886801600456238, + 0.6637986302375793, + 0.0, + 0.9974852800369263 + ], + [ + 0.3089200258255005, + 0.054812777787446976, + 0.1364283561706543, + 0.029816018417477608, + -0.3643597364425659, + 0.5714821219444275, + 0.0, + 0.9974852800369263 + ], + [ + 0.30159568786621094, + 0.032174788415431976, + 0.13228416442871094, + 0.013363329693675041, + -0.37154513597488403, + 0.5079759359359741, + 0.0, + 0.9974852800369263 + ], + [ + 0.28576114773750305, + 0.011224087327718735, + 0.10997753590345383, + 0.023166446015238762, + -0.3234235942363739, + 0.4441235661506653, + 0.0, + 0.9974852800369263 + ], + [ + 0.2701011300086975, + -0.008785774931311607, + 0.08726474642753601, + 0.021079836413264275, + -0.302759051322937, + 0.4081508219242096, + 0.0, + 0.9974852800369263 + ], + [ + 0.25109270215034485, + -0.02034146338701248, + 0.06965168565511703, + -0.0026177812833338976, + -0.25249356031417847, + 0.42386049032211304, + 0.0, + 0.9974852800369263 + ], + [ + 0.23425999283790588, + -0.02946186438202858, + 0.052779242396354675, + -0.05176075920462608, + -0.19404476881027222, + 0.44669803977012634, + 0.0, + 0.9974852800369263 + ], + [ + 0.22468149662017822, + -0.03791456297039986, + 0.04088364541530609, + -0.06630784273147583, + -0.19996275007724762, + 0.42191585898399353, + 0.0, + 0.9974852800369263 + ], + [ + 0.23024997115135193, + -0.04565509036183357, + 0.03367152437567711, + -0.08320879936218262, + -0.2412879467010498, + 0.42586812376976013, + 0.0, + 0.9974852800369263 + ], + [ + 0.2321629673242569, + -0.04959214851260185, + 0.026844635605812073, + -0.07157692313194275, + -0.2332591712474823, + 0.4261806905269623, + 0.0, + 0.9974852800369263 + ], + [ + 0.23681645095348358, + -0.05369915813207626, + 0.022251980379223824, + -0.0570468045771122, + -0.23081061244010925, + 0.4240487813949585, + 0.0, + 0.9974852800369263 + ], + [ + 0.24358446896076202, + -0.05416879802942276, + 0.0182613804936409, + -0.04785403609275818, + -0.23514851927757263, + 0.42273852229118347, + 0.0, + 0.9499720335006714 + ], + [ + 0.2441260665655136, + -0.04831521585583687, + 0.019101900979876518, + -0.005588442087173462, + -0.25055068731307983, + 0.404854416847229, + 0.0, + 0.657115638256073 + ], + [ + 0.2436581254005432, + -0.04759570211172104, + 0.020801428705453873, + 0.03718714788556099, + -0.275053471326828, + 0.38098078966140747, + 0.0, + 0.35940393805503845 + ], + [ + 0.24404790997505188, + -0.04684422165155411, + 0.024466922506690025, + 0.04297863692045212, + -0.2895081341266632, + 0.3825213313102722, + 0.0, + 0.20083679258823395 + ], + [ + 0.24470500648021698, + -0.04683773219585419, + 0.029097165912389755, + 0.036913152784109116, + -0.304536908864975, + 0.39632922410964966, + 0.0, + 0.13900397717952728 + ], + [ + 0.24671991169452667, + -0.04688530042767525, + 0.03402303159236908, + 0.03117421828210354, + -0.31672295928001404, + 0.3981268107891083, + 0.0, + 0.10121192038059235 + ], + [ + 0.24933083355426788, + -0.04827985540032387, + 0.03862287104129791, + 0.030394023284316063, + -0.31230777502059937, + 0.40042823553085327, + 0.0, + 0.08501782268285751 + ], + [ + 0.26236987113952637, + -0.042942341417074203, + 0.05029948055744171, + 0.01962485909461975, + -0.3273129165172577, + 0.42040830850601196, + 0.0, + 0.08294149488210678 + ], + [ + 0.2751258611679077, + -0.027253899723291397, + 0.07040933519601822, + -0.0030941369477659464, + -0.37323281168937683, + 0.4551558494567871, + 0.0, + 0.07175325602293015 + ], + [ + 0.27938681840896606, + 0.006239353679120541, + 0.08668375015258789, + -0.036626141518354416, + -0.3878200948238373, + 0.5492411255836487, + 0.0, + 0.06956923007965088 + ], + [ + 0.28068357706069946, + 0.04397488385438919, + 0.09962762892246246, + -0.030620869249105453, + -0.401353120803833, + 0.6277418732643127, + 0.0, + 0.06956923007965088 + ], + [ + 0.2736557424068451, + 0.08596090972423553, + 0.10188094526529312, + -0.04972149804234505, + -0.4078817665576935, + 0.7389516234397888, + 0.0, + 0.06956923007965088 + ], + [ + 0.262988418340683, + 0.12155885994434357, + 0.10216730833053589, + -0.038089703768491745, + -0.4244120419025421, + 0.8183712959289551, + 0.0, + 0.06956923007965088 + ], + [ + 0.2565288245677948, + 0.14604665338993073, + 0.09081681817770004, + -0.022804787382483482, + -0.4062565267086029, + 0.882099449634552, + 0.0, + 0.06956923007965088 + ], + [ + 0.2564774751663208, + 0.15524925291538239, + 0.07745423167943954, + -0.005826285108923912, + -0.38555052876472473, + 0.8979226350784302, + 0.0, + 0.06956923007965088 + ], + [ + 0.2593494653701782, + 0.1661011129617691, + 0.062431808561086655, + 0.057021480053663254, + -0.3730270266532898, + 0.8940240144729614, + 0.0, + 0.06956923007965088 + ], + [ + 0.2604028880596161, + 0.1771547794342041, + 0.045337505638599396, + 0.04947281628847122, + -0.36121049523353577, + 0.9244312644004822, + 0.0, + 0.06956923007965088 + ], + [ + 0.2617461383342743, + 0.18282833695411682, + 0.03711938485503197, + 0.0356600284576416, + -0.3447783887386322, + 0.9564589262008667, + 0.0, + 0.06926051527261734 + ], + [ + 0.2609230875968933, + 0.18120798468589783, + 0.03719291090965271, + 0.03563529625535011, + -0.32966795563697815, + 0.9650385975837708, + 0.0, + 0.103162482380867 + ], + [ + 0.2551129460334778, + 0.17907601594924927, + 0.0353793241083622, + 0.06701085716485977, + -0.3022444248199463, + 0.9659632444381714, + 0.0, + 0.29134905338287354 + ], + [ + 0.2598018944263458, + 0.17187346518039703, + 0.03550164774060249, + 0.07452944666147232, + -0.3031320571899414, + 0.9306492805480957, + 0.0, + 0.566997230052948 + ], + [ + 0.2568955421447754, + 0.16968271136283875, + 0.03336013853549957, + 0.09035079181194305, + -0.2994466722011566, + 0.9167308807373047, + 0.0, + 0.8792814016342163 + ], + [ + 0.2592337429523468, + 0.1650422066450119, + 0.03358898684382439, + 0.10196927189826965, + -0.3007297217845917, + 0.8970915079116821, + 0.0, + 1.0086473226547241 + ], + [ + 0.2587602734565735, + 0.16336819529533386, + 0.039075784385204315, + 0.09813385456800461, + -0.29823341965675354, + 0.8918810486793518, + 0.0, + 1.0041072368621826 + ], + [ + 0.2660459876060486, + 0.1652173399925232, + 0.0674126073718071, + 0.0343228317797184, + -0.33946189284324646, + 0.9096184372901917, + 0.0, + 1.0001531839370728 + ], + [ + 0.27165138721466064, + 0.16658462584018707, + 0.09878024458885193, + -0.014106676913797855, + -0.33033138513565063, + 0.9180943369865417, + 0.0, + 1.0001531839370728 + ], + [ + 0.2741670608520508, + 0.16167421638965607, + 0.12269306182861328, + -0.02262081205844879, + -0.3414081633090973, + 0.9007700681686401, + 0.0, + 1.0001531839370728 + ] + ], + "left_gripper_pos": [ + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9499720335006714 + ], + [ + 0.657115638256073 + ], + [ + 0.35940393805503845 + ], + [ + 0.20083679258823395 + ], + [ + 0.13900397717952728 + ], + [ + 0.10121192038059235 + ], + [ + 0.08501782268285751 + ], + [ + 0.08294149488210678 + ], + [ + 0.07175325602293015 + ], + [ + 0.06956923007965088 + ], + [ + 0.06956923007965088 + ], + [ + 0.06956923007965088 + ], + [ + 0.06956923007965088 + ], + [ + 0.06956923007965088 + ], + [ + 0.06956923007965088 + ], + [ + 0.06956923007965088 + ], + [ + 0.06956923007965088 + ], + [ + 0.06926051527261734 + ], + [ + 0.103162482380867 + ], + [ + 0.29134905338287354 + ], + [ + 0.566997230052948 + ], + [ + 0.8792814016342163 + ], + [ + 1.0086473226547241 + ], + [ + 1.0041072368621826 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.30830609798431396, + 0.11422104388475418, + 0.16275948286056519 + ], + [ + 0.3075445592403412, + 0.11319123208522797, + 0.1531948298215866 + ], + [ + 0.31255146861076355, + 0.08363877981901169, + 0.1465936303138733 + ], + [ + 0.3089200258255005, + 0.054812777787446976, + 0.1364283561706543 + ], + [ + 0.30159568786621094, + 0.032174788415431976, + 0.13228416442871094 + ], + [ + 0.28576114773750305, + 0.011224087327718735, + 0.10997753590345383 + ], + [ + 0.2701011300086975, + -0.008785774931311607, + 0.08726474642753601 + ], + [ + 0.25109270215034485, + -0.02034146338701248, + 0.06965168565511703 + ], + [ + 0.23425999283790588, + -0.02946186438202858, + 0.052779242396354675 + ], + [ + 0.22468149662017822, + -0.03791456297039986, + 0.04088364541530609 + ], + [ + 0.23024997115135193, + -0.04565509036183357, + 0.03367152437567711 + ], + [ + 0.2321629673242569, + -0.04959214851260185, + 0.026844635605812073 + ], + [ + 0.23681645095348358, + -0.05369915813207626, + 0.022251980379223824 + ], + [ + 0.24358446896076202, + -0.05416879802942276, + 0.0182613804936409 + ], + [ + 0.2441260665655136, + -0.04831521585583687, + 0.019101900979876518 + ], + [ + 0.2436581254005432, + -0.04759570211172104, + 0.020801428705453873 + ], + [ + 0.24404790997505188, + -0.04684422165155411, + 0.024466922506690025 + ], + [ + 0.24470500648021698, + -0.04683773219585419, + 0.029097165912389755 + ], + [ + 0.24671991169452667, + -0.04688530042767525, + 0.03402303159236908 + ], + [ + 0.24933083355426788, + -0.04827985540032387, + 0.03862287104129791 + ], + [ + 0.26236987113952637, + -0.042942341417074203, + 0.05029948055744171 + ], + [ + 0.2751258611679077, + -0.027253899723291397, + 0.07040933519601822 + ], + [ + 0.27938681840896606, + 0.006239353679120541, + 0.08668375015258789 + ], + [ + 0.28068357706069946, + 0.04397488385438919, + 0.09962762892246246 + ], + [ + 0.2736557424068451, + 0.08596090972423553, + 0.10188094526529312 + ], + [ + 0.262988418340683, + 0.12155885994434357, + 0.10216730833053589 + ], + [ + 0.2565288245677948, + 0.14604665338993073, + 0.09081681817770004 + ], + [ + 0.2564774751663208, + 0.15524925291538239, + 0.07745423167943954 + ], + [ + 0.2593494653701782, + 0.1661011129617691, + 0.062431808561086655 + ], + [ + 0.2604028880596161, + 0.1771547794342041, + 0.045337505638599396 + ], + [ + 0.2617461383342743, + 0.18282833695411682, + 0.03711938485503197 + ], + [ + 0.2609230875968933, + 0.18120798468589783, + 0.03719291090965271 + ], + [ + 0.2551129460334778, + 0.17907601594924927, + 0.0353793241083622 + ], + [ + 0.2598018944263458, + 0.17187346518039703, + 0.03550164774060249 + ], + [ + 0.2568955421447754, + 0.16968271136283875, + 0.03336013853549957 + ], + [ + 0.2592337429523468, + 0.1650422066450119, + 0.03358898684382439 + ], + [ + 0.2587602734565735, + 0.16336819529533386, + 0.039075784385204315 + ], + [ + 0.2660459876060486, + 0.1652173399925232, + 0.0674126073718071 + ], + [ + 0.27165138721466064, + 0.16658462584018707, + 0.09878024458885193 + ], + [ + 0.2741670608520508, + 0.16167421638965607, + 0.12269306182861328 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.6530578155569104, + 0.6928615954370525, + 0.30570950117465867, + 0.6224123221340283, + -0.7210193913171109, + 0.30452247634686935, + 0.43141440726494396, + -0.00859342266651264, + -0.9021129432011892 + ], + [ + 0.6668353442740186, + 0.6913873514491775, + 0.2780542283135478, + 0.6257324673355582, + -0.7221279092580568, + 0.2949409466193903, + 0.4047091584695182, + -0.022689489343725194, + -0.9141639262868643 + ], + [ + 0.7289061909249797, + 0.6216967530228829, + 0.2866860863593514, + 0.5701574437305018, + -0.7830589703814246, + 0.24847361683664226, + 0.37896735240642637, + -0.017657751442000144, + -0.9252415628494408 + ], + [ + 0.7858837946503625, + 0.5495741964184698, + 0.28346933509101224, + 0.5053716743266429, + -0.8349804354981087, + 0.21773181467960723, + 0.3563511359519329, + -0.027854532241314178, + -0.933936824918787 + ], + [ + 0.8141139723941856, + 0.4906052204106527, + 0.31068465951568114, + 0.4532207976407683, + -0.8712929970339535, + 0.1882536106040397, + 0.3630555722453872, + -0.012451145545955417, + -0.9316842922557879 + ], + [ + 0.8561703069107581, + 0.43619911525186295, + 0.27695259055988325, + 0.4073896713049072, + -0.8995820931399446, + 0.1574347909962585, + 0.31781450765881974, + -0.021963368490464347, + -0.9478984909609964 + ], + [ + 0.8761099510564025, + 0.4025928968647917, + 0.2652363343397031, + 0.37886014400871926, + -0.9151579982660717, + 0.1376620117945719, + 0.2981549009183651, + -0.0201195825913836, + -0.954305431952846 + ], + [ + 0.8826063394287731, + 0.4106848674942741, + 0.22878808800143483, + 0.39824163813552066, + -0.911773828603646, + 0.10035976847615116, + 0.2498192291543602, + 0.002534775070930098, + -0.9682891756392104 + ], + [ + 0.884952258493979, + 0.42241374601180615, + 0.19602583341661686, + 0.42388247637505605, + -0.9049803169460175, + 0.036527690351783125, + 0.19282931936963318, + 0.05076665362774057, + -0.9799181600883234 + ], + [ + 0.8941274226323049, + 0.39660203132186644, + 0.20794946705457273, + 0.4013491667158232, + -0.9156908635555145, + 0.020714458174679394, + 0.19863282325292042, + 0.06493898022240152, + -0.9779202065476756 + ], + [ + 0.8842989615588496, + 0.39359601496932417, + 0.25119220446942137, + 0.4011441016832129, + -0.9157340555770593, + 0.02268367565363294, + 0.2389534604702518, + 0.08070512038686661, + -0.9676713942618295 + ], + [ + 0.8858919139486573, + 0.39728544072878397, + 0.2394990509069311, + 0.4022006400928196, + -0.9150535695656385, + 0.030192878864220243, + 0.23114965262641238, + 0.06957904433174643, + -0.9704270166687292 + ], + [ + 0.8872605512337141, + 0.39889658301035164, + 0.23162519355007924, + 0.4005427623828855, + -0.9153146100592464, + 0.042007857774195655, + 0.22876671463989975, + 0.05550387981713895, + -0.9718976847374992 + ], + [ + 0.8868712448611388, + 0.3996257614519683, + 0.23185910769773177, + 0.3989689926886409, + -0.9154972438669849, + 0.05185112674730722, + 0.23298742007126705, + 0.04651932131801411, + -0.9713664678341775 + ], + [ + 0.89045993583512, + 0.3926052330478975, + 0.2300917939777949, + 0.3815862995140108, + -0.9196911549250821, + 0.09252067647705586, + 0.24793748949224592, + 0.0054139205733458665, + -0.9687609048512991 + ], + [ + 0.8934062099872709, + 0.38094769068958323, + 0.23812643892363933, + 0.35785423536520544, + -0.9239039845706547, + 0.13543180396661414, + 0.27159839872017705, + -0.035781059972293534, + -0.9617453018132683 + ], + [ + 0.8891185866513487, + 0.3842953840943572, + 0.24856628217616025, + 0.35772729234768835, + -0.922291429794979, + 0.1463205482368239, + 0.2854808630726402, + -0.04117737595456606, + -0.9574993997537528 + ], + [ + 0.8800369824969774, + 0.3959799086839393, + 0.26217326590686946, + 0.3682716828490241, + -0.9175840043499545, + 0.14971827734999726, + 0.2998514249576993, + -0.035206631190189644, + -0.9533360457210645 + ], + [ + 0.8759401308887417, + 0.3964524805189062, + 0.27487145684668657, + 0.3684089740175546, + -0.9175773288130736, + 0.14942112806292412, + 0.31145419400282015, + -0.02961885106938289, + -0.9497994570957508 + ], + [ + 0.87634775984846, + 0.39823135877447474, + 0.27097304053580945, + 0.3709563369241948, + -0.9168290231899658, + 0.14770219474441304, + 0.3072555937723009, + -0.028919320966592138, + -0.9511875067359022 + ], + [ + 0.8644550109498514, + 0.41381426173973807, + 0.28543876895840165, + 0.38646530758632186, + -0.9101716730313542, + 0.1491042978707036, + 0.3214997668364658, + -0.018581775805919215, + -0.9467273195234184 + ], + [ + 0.836355062609224, + 0.4385868515889183, + 0.3288643836921866, + 0.40933719620506226, + -0.8986841896956187, + 0.1575112281524978, + 0.3646275758234695, + 0.002881111669127398, + -0.9311489838606122 + ], + [ + 0.7895793003318488, + 0.509878878149764, + 0.3414499349893133, + 0.4832711421518822, + -0.8595780466691489, + 0.16605596902148828, + 0.3781712993481703, + 0.03389854423405754, + -0.9251147804722007 + ], + [ + 0.7450389111781137, + 0.5773629144778876, + 0.33401958897066236, + 0.54064630916527, + -0.8160010885917907, + 0.2045575513223204, + 0.39066429222095794, + 0.028183122655446424, + -0.9201016913259566 + ], + [ + 0.6785354389773399, + 0.6581083731902861, + 0.32631737187692567, + 0.6182604091708455, + -0.7515396512568211, + 0.23009176221819536, + 0.3966657591773297, + 0.04562369697439009, + -0.9168286392618098 + ], + [ + 0.6227795726750209, + 0.7187876571400953, + 0.3090144135825565, + 0.6652658641057778, + -0.6943630700091611, + 0.274374301025161, + 0.4117850579055912, + 0.03470203092768229, + -0.9106200278574941 + ], + [ + 0.5838035200474823, + 0.7661472776469131, + 0.268685315814602, + 0.7092330312486801, + -0.6423235789092314, + 0.2905321451458424, + 0.3951733257267973, + 0.020946811964110246, + -0.9183677224851505 + ], + [ + 0.5774850929788959, + 0.7806550800230633, + 0.2389322360447427, + 0.7246260016114091, + -0.6249387983059609, + 0.29046283094496544, + 0.37606930900542523, + 0.005398555926008575, + -0.9265758093205843 + ], + [ + 0.5832097493600077, + 0.7913386146082733, + 0.18343823287770747, + 0.7259840398508233, + -0.6090703071148033, + 0.31934391316096455, + 0.3644359506598045, + -0.053071254186596, + -0.9297149454783151 + ], + [ + 0.5634228357607312, + 0.80782777220824, + 0.17311556426967423, + 0.746765217368608, + -0.5876003481949423, + 0.31155664160726504, + 0.3534068735491025, + -0.04626144453272257, + -0.9343251363834724 + ], + [ + 0.5424952674356576, + 0.8235819437163732, + 0.16556469066281915, + 0.7690662638775811, + -0.5662039283445182, + 0.29656397841378923, + 0.33798811602672224, + -0.03355433670326938, + -0.9405520399813668 + ], + [ + 0.5387236928808958, + 0.8281161221551747, + 0.1549208538430041, + 0.7778022842327523, + -0.5595421148806546, + 0.2862450494195431, + 0.32372888250985976, + -0.0337091960977938, + -0.9455492058731568 + ], + [ + 0.5428494779380316, + 0.8320844949366971, + 0.11379735316934182, + 0.7853093663376044, + -0.5509527485804883, + 0.2823831935049167, + 0.2976636414559837, + -0.06392544186430578, + -0.952528159393525 + ], + [ + 0.5700796044176337, + 0.8130581742762535, + 0.11809170110384427, + 0.76544135947361, + -0.5778287766275771, + 0.2832197558580074, + 0.2985109207955816, + -0.07106553414731391, + -0.9517567546501212 + ], + [ + 0.5813431541476656, + 0.8065737606421759, + 0.10713965544643655, + 0.7583008137931173, + -0.5848129003996088, + 0.2880516400350691, + 0.2949915472116774, + -0.08621276106084806, + -0.9516025151836902 + ], + [ + 0.5958860150171565, + 0.7962680374348104, + 0.1042931908932156, + 0.7464416878153656, + -0.59708010823023, + 0.2938029119105616, + 0.2962172577658526, + -0.09722426094083927, + -0.9501593441555928 + ], + [ + 0.6002296790261369, + 0.792587727479819, + 0.10737330517664638, + 0.743899891370086, + -0.6025231111087519, + 0.2891000729840881, + 0.29383206774577053, + -0.09365145395671759, + -0.9512581779601361 + ], + [ + 0.5790057349639705, + 0.7958210898772946, + 0.17726012463424307, + 0.7442290313216229, + -0.6046666561161339, + 0.2837276580092466, + 0.33297974085056786, + -0.03235781030675708, + -0.9423786204574256 + ], + [ + 0.5744995709086815, + 0.791587815385786, + 0.20818014688845687, + 0.7514939083081567, + -0.6109097151441858, + 0.24909079814032015, + 0.32435651496689977, + 0.01334355556845769, + -0.9458407903676596 + ], + [ + 0.5851646324478685, + 0.7789018700309285, + 0.22559749509795854, + 0.7385673485513515, + -0.6267835473521344, + 0.2483156386990178, + 0.3348143135918436, + 0.021313414343957268, + -0.9420430530411151 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0007615387439727783, + -0.0010298117995262146, + -0.009564653038978577, + 0.015289245173335075, + 0.029399245977401733, + -0.0077664852142333984, + 1.0 + ], + [ + 0.005006909370422363, + -0.029552452266216278, + -0.006601199507713318, + -0.0057326797395944595, + 0.02798059582710266, + -0.08981084823608398, + 1.0 + ], + [ + -0.0036314427852630615, + -0.028826002031564713, + -0.010165274143218994, + 0.01073385775089264, + 0.02432042360305786, + -0.09231650829315186, + 1.0 + ], + [ + -0.007324337959289551, + -0.022637989372015, + -0.004144191741943359, + -0.016452688723802567, + -0.007185399532318115, + -0.06350618600845337, + 1.0 + ], + [ + -0.015834540128707886, + -0.02095070108771324, + -0.02230662852525711, + 0.00980311632156372, + 0.04812154173851013, + -0.06385236978530884, + 1.0 + ], + [ + -0.015660017728805542, + -0.020009862259030342, + -0.022712789475917816, + -0.0020866096019744873, + 0.02066454291343689, + -0.03597274422645569, + 1.0 + ], + [ + -0.01900842785835266, + -0.011555688455700874, + -0.017613060772418976, + -0.023697618395090103, + 0.050265491008758545, + 0.015709668397903442, + 1.0 + ], + [ + -0.016832709312438965, + -0.009120400995016098, + -0.01687244325876236, + -0.049142979085445404, + 0.05844879150390625, + 0.022837549448013306, + 1.0 + ], + [ + -0.009578496217727661, + -0.008452698588371277, + -0.011895596981048584, + -0.014547083526849747, + -0.005917981266975403, + -0.024782180786132812, + 1.0 + ], + [ + 0.005568474531173706, + -0.007740527391433716, + -0.0072121210396289825, + -0.016900956630706787, + -0.041325196623802185, + 0.0039522647857666016, + 1.0 + ], + [ + 0.0019129961729049683, + -0.00393705815076828, + -0.006826888769865036, + 0.011631876230239868, + 0.008028775453567505, + 0.00031256675720214844, + 1.0 + ], + [ + 0.004653483629226685, + -0.004107009619474411, + -0.004592655226588249, + 0.014530118554830551, + 0.002448558807373047, + -0.002131909132003784, + 1.0 + ], + [ + 0.006768018007278442, + -0.0004696398973464966, + -0.003990599885582924, + 0.00919276848435402, + -0.004337906837463379, + -0.0013102591037750244, + 0.0 + ], + [ + 0.0005415976047515869, + 0.005853582173585892, + 0.0008405204862356186, + 0.04226559400558472, + -0.015402168035507202, + -0.017884105443954468, + 0.0 + ], + [ + -0.00046794116497039795, + 0.0007195137441158295, + 0.0016995277255773544, + 0.04277558997273445, + -0.02450278401374817, + -0.023873627185821533, + 0.0 + ], + [ + 0.000389784574508667, + 0.0007514804601669312, + 0.0036654938012361526, + 0.0057914890348911285, + -0.014454662799835205, + 0.001540541648864746, + 0.0 + ], + [ + 0.0006570965051651001, + 6.489455699920654e-06, + 0.00463024340569973, + -0.006065484136343002, + -0.015028774738311768, + 0.013807892799377441, + 0.0 + ], + [ + 0.0020149052143096924, + -4.756823182106018e-05, + 0.004925865679979324, + -0.005738934502005577, + -0.012186050415039062, + 0.0017975866794586182, + 0.0 + ], + [ + 0.002610921859741211, + -0.0013945549726486206, + 0.004599839448928833, + -0.0007801949977874756, + 0.004415184259414673, + 0.002301424741744995, + 0.0 + ], + [ + 0.013039037585258484, + 0.005337513983249664, + 0.011676609516143799, + -0.010769164189696312, + -0.015005141496658325, + 0.01998007297515869, + 0.0 + ], + [ + 0.012755990028381348, + 0.015688441693782806, + 0.020109854638576508, + -0.022718995809555054, + -0.04591989517211914, + 0.034747540950775146, + 0.0 + ], + [ + 0.00426095724105835, + 0.03349325433373451, + 0.01627441495656967, + -0.03353200480341911, + -0.01458728313446045, + 0.09408527612686157, + 0.0 + ], + [ + 0.0012967586517333984, + 0.037735529243946075, + 0.012943878769874573, + 0.006005272269248962, + -0.013533025979995728, + 0.07850074768066406, + 0.0 + ], + [ + -0.00702783465385437, + 0.041986025869846344, + 0.002253316342830658, + -0.019100628793239594, + -0.006528645753860474, + 0.11120975017547607, + 0.0 + ], + [ + -0.01066732406616211, + 0.03559795022010803, + 0.00028636306524276733, + 0.011631794273853302, + -0.016530275344848633, + 0.07941967248916626, + 0.0 + ], + [ + -0.006459593772888184, + 0.024487793445587158, + -0.011350490152835846, + 0.015284916386008263, + 0.01815551519393921, + 0.06372815370559692, + 0.0 + ], + [ + -5.1349401473999023e-05, + 0.00920259952545166, + -0.013362586498260498, + 0.01697850227355957, + 0.020705997943878174, + 0.015823185443878174, + 0.0 + ], + [ + 0.002871990203857422, + 0.010851860046386719, + -0.01502242311835289, + 0.06284776329994202, + 0.012523502111434937, + -0.00389862060546875, + 0.0 + ], + [ + 0.0010534226894378662, + 0.011053666472434998, + -0.01709430292248726, + -0.007548663765192032, + 0.011816531419754028, + 0.030407249927520752, + 0.0 + ], + [ + 0.0013432502746582031, + 0.00567355751991272, + -0.008218120783567429, + -0.01381278783082962, + 0.016432106494903564, + 0.03202766180038452, + 0.0 + ], + [ + -0.0008230507373809814, + -0.0016203522682189941, + 7.35260546207428e-05, + -2.4732202291488647e-05, + 0.015110433101654053, + 0.008579671382904053, + 1.0 + ], + [ + -0.005810141563415527, + -0.0021319687366485596, + -0.001813586801290512, + 0.03137556090950966, + 0.02742353081703186, + 0.0009246468544006348, + 1.0 + ], + [ + 0.004688948392868042, + -0.007202550768852234, + 0.0001223236322402954, + 0.007518589496612549, + -0.0008876323699951172, + -0.035313963890075684, + 1.0 + ], + [ + -0.0029063522815704346, + -0.0021907538175582886, + -0.0021415092051029205, + 0.015821345150470734, + 0.00368538498878479, + -0.013918399810791016, + 1.0 + ], + [ + 0.002338200807571411, + -0.004640504717826843, + 0.00022884830832481384, + 0.011618480086326599, + -0.0012830495834350586, + -0.01963937282562256, + 1.0 + ], + [ + -0.00047346949577331543, + -0.0016740113496780396, + 0.005486797541379929, + -0.003835417330265045, + 0.0024963021278381348, + -0.005210459232330322, + 1.0 + ], + [ + 0.007285714149475098, + 0.001849144697189331, + 0.028336822986602783, + -0.06381101906299591, + -0.04122847318649292, + 0.017737388610839844, + 1.0 + ], + [ + 0.0056053996086120605, + 0.0013672858476638794, + 0.03136763721704483, + -0.04842950776219368, + 0.009130507707595825, + 0.008475899696350098, + 1.0 + ], + [ + 0.0025156736373901367, + -0.004910409450531006, + 0.023912817239761353, + -0.008514135144650936, + -0.011076778173446655, + -0.01732426881790161, + 1.0 + ], + [ + 0.004040807485580444, + -0.013355717062950134, + 0.00984261929988861, + -0.06622041761875153, + 0.019891470670700073, + -0.0558660626411438, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9499720335006714 + ], + [ + 0.657115638256073 + ], + [ + 0.35940393805503845 + ], + [ + 0.20083679258823395 + ], + [ + 0.13900397717952728 + ], + [ + 0.10121192038059235 + ], + [ + 0.08501782268285751 + ], + [ + 0.08294149488210678 + ], + [ + 0.07175325602293015 + ], + [ + 0.06956923007965088 + ], + [ + 0.06956923007965088 + ], + [ + 0.06956923007965088 + ], + [ + 0.06956923007965088 + ], + [ + 0.06956923007965088 + ], + [ + 0.06956923007965088 + ], + [ + 0.06956923007965088 + ], + [ + 0.06956923007965088 + ], + [ + 0.06926051527261734 + ], + [ + 0.103162482380867 + ], + [ + 0.29134905338287354 + ], + [ + 0.566997230052948 + ], + [ + 0.8792814016342163 + ], + [ + 1.0086473226547241 + ], + [ + 1.0041072368621826 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3075445592403412, + 0.11319123208522797, + 0.1531948298215866 + ], + [ + 0.31255146861076355, + 0.08363877981901169, + 0.1465936303138733 + ], + [ + 0.3089200258255005, + 0.054812777787446976, + 0.1364283561706543 + ], + [ + 0.30159568786621094, + 0.032174788415431976, + 0.13228416442871094 + ], + [ + 0.28576114773750305, + 0.011224087327718735, + 0.10997753590345383 + ], + [ + 0.2701011300086975, + -0.008785774931311607, + 0.08726474642753601 + ], + [ + 0.25109270215034485, + -0.02034146338701248, + 0.06965168565511703 + ], + [ + 0.23425999283790588, + -0.02946186438202858, + 0.052779242396354675 + ], + [ + 0.22468149662017822, + -0.03791456297039986, + 0.04088364541530609 + ], + [ + 0.23024997115135193, + -0.04565509036183357, + 0.03367152437567711 + ], + [ + 0.2321629673242569, + -0.04959214851260185, + 0.026844635605812073 + ], + [ + 0.23681645095348358, + -0.05369915813207626, + 0.022251980379223824 + ], + [ + 0.24358446896076202, + -0.05416879802942276, + 0.0182613804936409 + ], + [ + 0.2441260665655136, + -0.04831521585583687, + 0.019101900979876518 + ], + [ + 0.2436581254005432, + -0.04759570211172104, + 0.020801428705453873 + ], + [ + 0.24404790997505188, + -0.04684422165155411, + 0.024466922506690025 + ], + [ + 0.24470500648021698, + -0.04683773219585419, + 0.029097165912389755 + ], + [ + 0.24671991169452667, + -0.04688530042767525, + 0.03402303159236908 + ], + [ + 0.24933083355426788, + -0.04827985540032387, + 0.03862287104129791 + ], + [ + 0.26236987113952637, + -0.042942341417074203, + 0.05029948055744171 + ], + [ + 0.2751258611679077, + -0.027253899723291397, + 0.07040933519601822 + ], + [ + 0.27938681840896606, + 0.006239353679120541, + 0.08668375015258789 + ], + [ + 0.28068357706069946, + 0.04397488385438919, + 0.09962762892246246 + ], + [ + 0.2736557424068451, + 0.08596090972423553, + 0.10188094526529312 + ], + [ + 0.262988418340683, + 0.12155885994434357, + 0.10216730833053589 + ], + [ + 0.2565288245677948, + 0.14604665338993073, + 0.09081681817770004 + ], + [ + 0.2564774751663208, + 0.15524925291538239, + 0.07745423167943954 + ], + [ + 0.2593494653701782, + 0.1661011129617691, + 0.062431808561086655 + ], + [ + 0.2604028880596161, + 0.1771547794342041, + 0.045337505638599396 + ], + [ + 0.2617461383342743, + 0.18282833695411682, + 0.03711938485503197 + ], + [ + 0.2609230875968933, + 0.18120798468589783, + 0.03719291090965271 + ], + [ + 0.2551129460334778, + 0.17907601594924927, + 0.0353793241083622 + ], + [ + 0.2598018944263458, + 0.17187346518039703, + 0.03550164774060249 + ], + [ + 0.2568955421447754, + 0.16968271136283875, + 0.03336013853549957 + ], + [ + 0.2592337429523468, + 0.1650422066450119, + 0.03358898684382439 + ], + [ + 0.2587602734565735, + 0.16336819529533386, + 0.039075784385204315 + ], + [ + 0.2660459876060486, + 0.1652173399925232, + 0.0674126073718071 + ], + [ + 0.27165138721466064, + 0.16658462584018707, + 0.09878024458885193 + ], + [ + 0.2741670608520508, + 0.16167421638965607, + 0.12269306182861328 + ], + [ + 0.2782078683376312, + 0.14831849932670593, + 0.1325356811285019 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.6668353442740186, + 0.6913873514491775, + 0.2780542283135478, + 0.6257324673355582, + -0.7221279092580568, + 0.2949409466193903, + 0.4047091584695182, + -0.022689489343725194, + -0.9141639262868643 + ], + [ + 0.7289061909249797, + 0.6216967530228829, + 0.2866860863593514, + 0.5701574437305018, + -0.7830589703814246, + 0.24847361683664226, + 0.37896735240642637, + -0.017657751442000144, + -0.9252415628494408 + ], + [ + 0.7858837946503625, + 0.5495741964184698, + 0.28346933509101224, + 0.5053716743266429, + -0.8349804354981087, + 0.21773181467960723, + 0.3563511359519329, + -0.027854532241314178, + -0.933936824918787 + ], + [ + 0.8141139723941856, + 0.4906052204106527, + 0.31068465951568114, + 0.4532207976407683, + -0.8712929970339535, + 0.1882536106040397, + 0.3630555722453872, + -0.012451145545955417, + -0.9316842922557879 + ], + [ + 0.8561703069107581, + 0.43619911525186295, + 0.27695259055988325, + 0.4073896713049072, + -0.8995820931399446, + 0.1574347909962585, + 0.31781450765881974, + -0.021963368490464347, + -0.9478984909609964 + ], + [ + 0.8761099510564025, + 0.4025928968647917, + 0.2652363343397031, + 0.37886014400871926, + -0.9151579982660717, + 0.1376620117945719, + 0.2981549009183651, + -0.0201195825913836, + -0.954305431952846 + ], + [ + 0.8826063394287731, + 0.4106848674942741, + 0.22878808800143483, + 0.39824163813552066, + -0.911773828603646, + 0.10035976847615116, + 0.2498192291543602, + 0.002534775070930098, + -0.9682891756392104 + ], + [ + 0.884952258493979, + 0.42241374601180615, + 0.19602583341661686, + 0.42388247637505605, + -0.9049803169460175, + 0.036527690351783125, + 0.19282931936963318, + 0.05076665362774057, + -0.9799181600883234 + ], + [ + 0.8941274226323049, + 0.39660203132186644, + 0.20794946705457273, + 0.4013491667158232, + -0.9156908635555145, + 0.020714458174679394, + 0.19863282325292042, + 0.06493898022240152, + -0.9779202065476756 + ], + [ + 0.8842989615588496, + 0.39359601496932417, + 0.25119220446942137, + 0.4011441016832129, + -0.9157340555770593, + 0.02268367565363294, + 0.2389534604702518, + 0.08070512038686661, + -0.9676713942618295 + ], + [ + 0.8858919139486573, + 0.39728544072878397, + 0.2394990509069311, + 0.4022006400928196, + -0.9150535695656385, + 0.030192878864220243, + 0.23114965262641238, + 0.06957904433174643, + -0.9704270166687292 + ], + [ + 0.8872605512337141, + 0.39889658301035164, + 0.23162519355007924, + 0.4005427623828855, + -0.9153146100592464, + 0.042007857774195655, + 0.22876671463989975, + 0.05550387981713895, + -0.9718976847374992 + ], + [ + 0.8868712448611388, + 0.3996257614519683, + 0.23185910769773177, + 0.3989689926886409, + -0.9154972438669849, + 0.05185112674730722, + 0.23298742007126705, + 0.04651932131801411, + -0.9713664678341775 + ], + [ + 0.89045993583512, + 0.3926052330478975, + 0.2300917939777949, + 0.3815862995140108, + -0.9196911549250821, + 0.09252067647705586, + 0.24793748949224592, + 0.0054139205733458665, + -0.9687609048512991 + ], + [ + 0.8934062099872709, + 0.38094769068958323, + 0.23812643892363933, + 0.35785423536520544, + -0.9239039845706547, + 0.13543180396661414, + 0.27159839872017705, + -0.035781059972293534, + -0.9617453018132683 + ], + [ + 0.8891185866513487, + 0.3842953840943572, + 0.24856628217616025, + 0.35772729234768835, + -0.922291429794979, + 0.1463205482368239, + 0.2854808630726402, + -0.04117737595456606, + -0.9574993997537528 + ], + [ + 0.8800369824969774, + 0.3959799086839393, + 0.26217326590686946, + 0.3682716828490241, + -0.9175840043499545, + 0.14971827734999726, + 0.2998514249576993, + -0.035206631190189644, + -0.9533360457210645 + ], + [ + 0.8759401308887417, + 0.3964524805189062, + 0.27487145684668657, + 0.3684089740175546, + -0.9175773288130736, + 0.14942112806292412, + 0.31145419400282015, + -0.02961885106938289, + -0.9497994570957508 + ], + [ + 0.87634775984846, + 0.39823135877447474, + 0.27097304053580945, + 0.3709563369241948, + -0.9168290231899658, + 0.14770219474441304, + 0.3072555937723009, + -0.028919320966592138, + -0.9511875067359022 + ], + [ + 0.8644550109498514, + 0.41381426173973807, + 0.28543876895840165, + 0.38646530758632186, + -0.9101716730313542, + 0.1491042978707036, + 0.3214997668364658, + -0.018581775805919215, + -0.9467273195234184 + ], + [ + 0.836355062609224, + 0.4385868515889183, + 0.3288643836921866, + 0.40933719620506226, + -0.8986841896956187, + 0.1575112281524978, + 0.3646275758234695, + 0.002881111669127398, + -0.9311489838606122 + ], + [ + 0.7895793003318488, + 0.509878878149764, + 0.3414499349893133, + 0.4832711421518822, + -0.8595780466691489, + 0.16605596902148828, + 0.3781712993481703, + 0.03389854423405754, + -0.9251147804722007 + ], + [ + 0.7450389111781137, + 0.5773629144778876, + 0.33401958897066236, + 0.54064630916527, + -0.8160010885917907, + 0.2045575513223204, + 0.39066429222095794, + 0.028183122655446424, + -0.9201016913259566 + ], + [ + 0.6785354389773399, + 0.6581083731902861, + 0.32631737187692567, + 0.6182604091708455, + -0.7515396512568211, + 0.23009176221819536, + 0.3966657591773297, + 0.04562369697439009, + -0.9168286392618098 + ], + [ + 0.6227795726750209, + 0.7187876571400953, + 0.3090144135825565, + 0.6652658641057778, + -0.6943630700091611, + 0.274374301025161, + 0.4117850579055912, + 0.03470203092768229, + -0.9106200278574941 + ], + [ + 0.5838035200474823, + 0.7661472776469131, + 0.268685315814602, + 0.7092330312486801, + -0.6423235789092314, + 0.2905321451458424, + 0.3951733257267973, + 0.020946811964110246, + -0.9183677224851505 + ], + [ + 0.5774850929788959, + 0.7806550800230633, + 0.2389322360447427, + 0.7246260016114091, + -0.6249387983059609, + 0.29046283094496544, + 0.37606930900542523, + 0.005398555926008575, + -0.9265758093205843 + ], + [ + 0.5832097493600077, + 0.7913386146082733, + 0.18343823287770747, + 0.7259840398508233, + -0.6090703071148033, + 0.31934391316096455, + 0.3644359506598045, + -0.053071254186596, + -0.9297149454783151 + ], + [ + 0.5634228357607312, + 0.80782777220824, + 0.17311556426967423, + 0.746765217368608, + -0.5876003481949423, + 0.31155664160726504, + 0.3534068735491025, + -0.04626144453272257, + -0.9343251363834724 + ], + [ + 0.5424952674356576, + 0.8235819437163732, + 0.16556469066281915, + 0.7690662638775811, + -0.5662039283445182, + 0.29656397841378923, + 0.33798811602672224, + -0.03355433670326938, + -0.9405520399813668 + ], + [ + 0.5387236928808958, + 0.8281161221551747, + 0.1549208538430041, + 0.7778022842327523, + -0.5595421148806546, + 0.2862450494195431, + 0.32372888250985976, + -0.0337091960977938, + -0.9455492058731568 + ], + [ + 0.5428494779380316, + 0.8320844949366971, + 0.11379735316934182, + 0.7853093663376044, + -0.5509527485804883, + 0.2823831935049167, + 0.2976636414559837, + -0.06392544186430578, + -0.952528159393525 + ], + [ + 0.5700796044176337, + 0.8130581742762535, + 0.11809170110384427, + 0.76544135947361, + -0.5778287766275771, + 0.2832197558580074, + 0.2985109207955816, + -0.07106553414731391, + -0.9517567546501212 + ], + [ + 0.5813431541476656, + 0.8065737606421759, + 0.10713965544643655, + 0.7583008137931173, + -0.5848129003996088, + 0.2880516400350691, + 0.2949915472116774, + -0.08621276106084806, + -0.9516025151836902 + ], + [ + 0.5958860150171565, + 0.7962680374348104, + 0.1042931908932156, + 0.7464416878153656, + -0.59708010823023, + 0.2938029119105616, + 0.2962172577658526, + -0.09722426094083927, + -0.9501593441555928 + ], + [ + 0.6002296790261369, + 0.792587727479819, + 0.10737330517664638, + 0.743899891370086, + -0.6025231111087519, + 0.2891000729840881, + 0.29383206774577053, + -0.09365145395671759, + -0.9512581779601361 + ], + [ + 0.5790057349639705, + 0.7958210898772946, + 0.17726012463424307, + 0.7442290313216229, + -0.6046666561161339, + 0.2837276580092466, + 0.33297974085056786, + -0.03235781030675708, + -0.9423786204574256 + ], + [ + 0.5744995709086815, + 0.791587815385786, + 0.20818014688845687, + 0.7514939083081567, + -0.6109097151441858, + 0.24909079814032015, + 0.32435651496689977, + 0.01334355556845769, + -0.9458407903676596 + ], + [ + 0.5851646324478685, + 0.7789018700309285, + 0.22559749509795854, + 0.7385673485513515, + -0.6267835473521344, + 0.2483156386990178, + 0.3348143135918436, + 0.021313414343957268, + -0.9420430530411151 + ], + [ + 0.629787969078826, + 0.7263464700915064, + 0.2752960577072913, + 0.7095825443881368, + -0.682154588440901, + 0.17651552387448258, + 0.31600589662730333, + 0.0841779237961677, + -0.9450155292068703 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006691.json b/json/chunk-0006/episode_0006691.json new file mode 100644 index 0000000000000000000000000000000000000000..b1b6b4eeeee4d699488bc14afd9c09cf8fe9b138 --- /dev/null +++ b/json/chunk-0006/episode_0006691.json @@ -0,0 +1,2782 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 45, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the blue block to the right side of the table." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006691.mp4", + "start": 0, + "end": 45, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2853030562400818, + -0.1070789098739624, + 0.12377208471298218, + 0.021234747022390366, + -0.07491882145404816, + 0.13571935892105103, + 0.0, + 1.0001531839370728 + ], + [ + 0.28297141194343567, + -0.10686616599559784, + 0.11453510075807571, + 0.03690400719642639, + -0.0449836291372776, + 0.13382788002490997, + 0.0, + 1.0001531839370728 + ], + [ + 0.28921228647232056, + -0.1054472029209137, + 0.1255226880311966, + 0.03570505604147911, + -0.046675145626068115, + 0.12915781140327454, + 0.0, + 1.0001531839370728 + ], + [ + 0.2949245870113373, + -0.10047487914562225, + 0.13544531166553497, + 0.03920457139611244, + -0.06028415635228157, + 0.1358562558889389, + 0.0, + 1.0001531839370728 + ], + [ + 0.2951861023902893, + -0.0928749069571495, + 0.16204561293125153, + 0.035373177379369736, + -0.11372258514165878, + 0.14258387684822083, + 0.0, + 1.0001531839370728 + ], + [ + 0.29498863220214844, + -0.07471134513616562, + 0.18292154371738434, + 0.004123922903090715, + -0.16415439546108246, + 0.1795046031475067, + 0.0, + 1.0001531839370728 + ], + [ + 0.2978680431842804, + -0.06070467829704285, + 0.1958010196685791, + -0.010735565796494484, + -0.17207016050815582, + 0.21341392397880554, + 0.0, + 1.0001531839370728 + ], + [ + 0.29808953404426575, + -0.042368024587631226, + 0.1983419805765152, + -0.02626720443367958, + -0.1566416472196579, + 0.2642683982849121, + 0.0, + 1.0001531839370728 + ], + [ + 0.29947876930236816, + -0.021652866154909134, + 0.1953834593296051, + -0.016338428482413292, + -0.11979866772890091, + 0.3137182593345642, + 0.0, + 1.0001531839370728 + ], + [ + 0.30095183849334717, + -0.0020812659058719873, + 0.19330994784832, + 0.0008709875983186066, + -0.09081151336431503, + 0.34366434812545776, + 0.0, + 1.0001531839370728 + ], + [ + 0.2988029718399048, + 0.01233840174973011, + 0.19464267790317535, + -0.0022710715420544147, + -0.07562406361103058, + 0.3664945960044861, + 0.0, + 1.0001531839370728 + ], + [ + 0.29600003361701965, + 0.02441948652267456, + 0.1884777992963791, + -0.0016868658130988479, + -0.030085207894444466, + 0.3906203508377075, + 0.0, + 1.0001531839370728 + ], + [ + 0.29200834035873413, + 0.02556212991476059, + 0.18496578931808472, + -0.004731881897896528, + -0.004961390048265457, + 0.3883439600467682, + 0.0, + 1.0001531839370728 + ], + [ + 0.29048073291778564, + 0.020992904901504517, + 0.180207759141922, + -0.012936342507600784, + 0.015184052288532257, + 0.3787217438220978, + 0.0, + 1.0001531839370728 + ], + [ + 0.2913898825645447, + 0.015014171600341797, + 0.17588360607624054, + -0.030155161395668983, + 0.021750323474407196, + 0.3607097268104553, + 0.0, + 1.0001531839370728 + ], + [ + 0.2891314625740051, + 0.010212368331849575, + 0.17107196152210236, + -0.041536662727594376, + 0.037491582334041595, + 0.34565478563308716, + 0.0, + 1.0001531839370728 + ], + [ + 0.2872558534145355, + 0.008448624983429909, + 0.16737982630729675, + -0.046513475477695465, + 0.04816445708274841, + 0.33915799856185913, + 0.0, + 1.0001531839370728 + ], + [ + 0.28347986936569214, + 0.0064867278560996056, + 0.16120460629463196, + -0.05502118542790413, + 0.06918872147798538, + 0.3352011740207672, + 0.0, + 1.0001531839370728 + ], + [ + 0.2791244387626648, + 0.00777838472276926, + 0.154721200466156, + -0.05908609926700592, + 0.09028543531894684, + 0.3387175500392914, + 0.0, + 0.9694526195526123 + ], + [ + 0.27889496088027954, + 0.0076766894198954105, + 0.1521521657705307, + -0.06551460176706314, + 0.09007162600755692, + 0.33888357877731323, + 0.0, + 0.6971942782402039 + ], + [ + 0.2789894640445709, + 0.007881221361458302, + 0.15140505135059357, + -0.06728222221136093, + 0.08897475898265839, + 0.3409759998321533, + 0.0, + 0.5699762105941772 + ], + [ + 0.2787246108055115, + 0.008098025806248188, + 0.15140141546726227, + -0.06476419419050217, + 0.09056749939918518, + 0.3483697474002838, + 0.0, + 0.5689827799797058 + ], + [ + 0.27676546573638916, + 0.009671133942902088, + 0.15346451103687286, + -0.05048130452632904, + 0.0890158861875534, + 0.35522013902664185, + 0.0, + 0.5689827799797058 + ], + [ + 0.27609267830848694, + 0.003507033921778202, + 0.1752263754606247, + -0.016503149643540382, + 0.032864805310964584, + 0.3461157977581024, + 0.0, + 0.5689827799797058 + ], + [ + 0.2778603434562683, + -0.021120933815836906, + 0.19919340312480927, + -0.001983392983675003, + -0.04021189734339714, + 0.27558237314224243, + 0.0, + 0.5689827799797058 + ], + [ + 0.28124746680259705, + -0.05291564017534256, + 0.20001639425754547, + -0.008007524535059929, + -0.04135262221097946, + 0.1839197725057602, + 0.0, + 0.5689827799797058 + ], + [ + 0.28483837842941284, + -0.09946852922439575, + 0.16668394207954407, + -0.022363342344760895, + 0.03970319405198097, + 0.048280566930770874, + 0.0, + 0.5689827799797058 + ], + [ + 0.2861989736557007, + -0.12995125353336334, + 0.14635826647281647, + -0.04593603312969208, + 0.04117968678474426, + -0.0435667410492897, + 0.0, + 0.5689827799797058 + ], + [ + 0.28538280725479126, + -0.1384638547897339, + 0.11728926002979279, + -0.05807596445083618, + 0.041293732821941376, + -0.0502961203455925, + 0.0, + 0.5689827799797058 + ], + [ + 0.2818340063095093, + -0.13470204174518585, + 0.09484004229307175, + -0.055140141397714615, + 0.05436687916517258, + -0.02483236975967884, + 0.0, + 0.5689827799797058 + ], + [ + 0.2748219668865204, + -0.12506069242954254, + 0.07105767726898193, + -0.04857068881392479, + 0.052074555307626724, + 0.022672459483146667, + 0.0, + 0.5689827799797058 + ], + [ + 0.27443721890449524, + -0.1153843030333519, + 0.05525533854961395, + -0.023968642577528954, + 0.006460647098720074, + 0.07263068854808807, + 0.0, + 0.5689827799797058 + ], + [ + 0.273011714220047, + -0.11810587346553802, + 0.03714460879564285, + -0.031043192371726036, + 0.036231879144907, + 0.06180792301893234, + 0.0, + 0.5689827799797058 + ], + [ + 0.269865483045578, + -0.12083826214075089, + 0.026860542595386505, + -0.041209038347005844, + 0.07214302569627762, + 0.03648310899734497, + 0.0, + 0.5689827799797058 + ], + [ + 0.2735251188278198, + -0.1249811053276062, + 0.027911128476262093, + -0.04838848486542702, + 0.05944036319851875, + 0.0188926812261343, + 0.0, + 0.5689827799797058 + ], + [ + 0.2713107466697693, + -0.12622469663619995, + 0.017989154905080795, + -0.04597744345664978, + 0.08946789056062698, + 0.016333479434251785, + 0.0, + 0.5689827799797058 + ], + [ + 0.2719273865222931, + -0.1250370442867279, + 0.017130175605416298, + -0.05122783035039902, + 0.09287960082292557, + 0.022486792877316475, + 0.0, + 0.5689827799797058 + ], + [ + 0.27125486731529236, + -0.1257443130016327, + 0.010344678536057472, + -0.05082188546657562, + 0.10873129218816757, + 0.02042601816356182, + 0.0, + 0.5689827799797058 + ], + [ + 0.27267947793006897, + -0.12586237490177155, + 0.011001737788319588, + -0.051814399659633636, + 0.10731519013643265, + 0.020072607323527336, + 0.0, + 0.6370214223861694 + ], + [ + 0.2720082700252533, + -0.12411288917064667, + 0.012236829847097397, + -0.037700098007917404, + 0.11732230335474014, + 0.024190200492739677, + 0.0, + 0.9024295806884766 + ], + [ + 0.2744942009449005, + -0.1220211312174797, + 0.02593952789902687, + -0.022901149466633797, + 0.08027640730142593, + 0.04130803421139717, + 0.0, + 0.9994885921478271 + ], + [ + 0.2792956829071045, + -0.12084662169218063, + 0.058233849704265594, + -0.007197452709078789, + 6.93023539497517e-05, + 0.04700479283928871, + 0.0, + 0.9994885921478271 + ], + [ + 0.2767978608608246, + -0.1130484938621521, + 0.09972133487462997, + -0.0043645151890814304, + -0.08060961961746216, + 0.06383349001407623, + 0.0, + 0.9994885921478271 + ], + [ + 0.276776522397995, + -0.10919196903705597, + 0.12143956869840622, + -0.0014935770304873586, + -0.10206065326929092, + 0.054494425654411316, + 0.0, + 0.9994885921478271 + ], + [ + 0.27708378434181213, + -0.1033930554986, + 0.13277432322502136, + 0.024127420037984848, + -0.07347439229488373, + 0.03575096279382706, + 0.0, + 0.9994885921478271 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9694526195526123 + ], + [ + 0.6971942782402039 + ], + [ + 0.5699762105941772 + ], + [ + 0.5689827799797058 + ], + [ + 0.5689827799797058 + ], + [ + 0.5689827799797058 + ], + [ + 0.5689827799797058 + ], + [ + 0.5689827799797058 + ], + [ + 0.5689827799797058 + ], + [ + 0.5689827799797058 + ], + [ + 0.5689827799797058 + ], + [ + 0.5689827799797058 + ], + [ + 0.5689827799797058 + ], + [ + 0.5689827799797058 + ], + [ + 0.5689827799797058 + ], + [ + 0.5689827799797058 + ], + [ + 0.5689827799797058 + ], + [ + 0.5689827799797058 + ], + [ + 0.5689827799797058 + ], + [ + 0.5689827799797058 + ], + [ + 0.6370214223861694 + ], + [ + 0.9024295806884766 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2853030562400818, + -0.1070789098739624, + 0.12377208471298218 + ], + [ + 0.28297141194343567, + -0.10686616599559784, + 0.11453510075807571 + ], + [ + 0.28921228647232056, + -0.1054472029209137, + 0.1255226880311966 + ], + [ + 0.2949245870113373, + -0.10047487914562225, + 0.13544531166553497 + ], + [ + 0.2951861023902893, + -0.0928749069571495, + 0.16204561293125153 + ], + [ + 0.29498863220214844, + -0.07471134513616562, + 0.18292154371738434 + ], + [ + 0.2978680431842804, + -0.06070467829704285, + 0.1958010196685791 + ], + [ + 0.29808953404426575, + -0.042368024587631226, + 0.1983419805765152 + ], + [ + 0.29947876930236816, + -0.021652866154909134, + 0.1953834593296051 + ], + [ + 0.30095183849334717, + -0.0020812659058719873, + 0.19330994784832 + ], + [ + 0.2988029718399048, + 0.01233840174973011, + 0.19464267790317535 + ], + [ + 0.29600003361701965, + 0.02441948652267456, + 0.1884777992963791 + ], + [ + 0.29200834035873413, + 0.02556212991476059, + 0.18496578931808472 + ], + [ + 0.29048073291778564, + 0.020992904901504517, + 0.180207759141922 + ], + [ + 0.2913898825645447, + 0.015014171600341797, + 0.17588360607624054 + ], + [ + 0.2891314625740051, + 0.010212368331849575, + 0.17107196152210236 + ], + [ + 0.2872558534145355, + 0.008448624983429909, + 0.16737982630729675 + ], + [ + 0.28347986936569214, + 0.0064867278560996056, + 0.16120460629463196 + ], + [ + 0.2791244387626648, + 0.00777838472276926, + 0.154721200466156 + ], + [ + 0.27889496088027954, + 0.0076766894198954105, + 0.1521521657705307 + ], + [ + 0.2789894640445709, + 0.007881221361458302, + 0.15140505135059357 + ], + [ + 0.2787246108055115, + 0.008098025806248188, + 0.15140141546726227 + ], + [ + 0.27676546573638916, + 0.009671133942902088, + 0.15346451103687286 + ], + [ + 0.27609267830848694, + 0.003507033921778202, + 0.1752263754606247 + ], + [ + 0.2778603434562683, + -0.021120933815836906, + 0.19919340312480927 + ], + [ + 0.28124746680259705, + -0.05291564017534256, + 0.20001639425754547 + ], + [ + 0.28483837842941284, + -0.09946852922439575, + 0.16668394207954407 + ], + [ + 0.2861989736557007, + -0.12995125353336334, + 0.14635826647281647 + ], + [ + 0.28538280725479126, + -0.1384638547897339, + 0.11728926002979279 + ], + [ + 0.2818340063095093, + -0.13470204174518585, + 0.09484004229307175 + ], + [ + 0.2748219668865204, + -0.12506069242954254, + 0.07105767726898193 + ], + [ + 0.27443721890449524, + -0.1153843030333519, + 0.05525533854961395 + ], + [ + 0.273011714220047, + -0.11810587346553802, + 0.03714460879564285 + ], + [ + 0.269865483045578, + -0.12083826214075089, + 0.026860542595386505 + ], + [ + 0.2735251188278198, + -0.1249811053276062, + 0.027911128476262093 + ], + [ + 0.2713107466697693, + -0.12622469663619995, + 0.017989154905080795 + ], + [ + 0.2719273865222931, + -0.1250370442867279, + 0.017130175605416298 + ], + [ + 0.27125486731529236, + -0.1257443130016327, + 0.010344678536057472 + ], + [ + 0.27267947793006897, + -0.12586237490177155, + 0.011001737788319588 + ], + [ + 0.2720082700252533, + -0.12411288917064667, + 0.012236829847097397 + ], + [ + 0.2744942009449005, + -0.1220211312174797, + 0.02593952789902687 + ], + [ + 0.2792956829071045, + -0.12084662169218063, + 0.058233849704265594 + ], + [ + 0.2767978608608246, + -0.1130484938621521, + 0.09972133487462997 + ], + [ + 0.276776522397995, + -0.10919196903705597, + 0.12143956869840622 + ], + [ + 0.27708378434181213, + -0.1033930554986, + 0.13277432322502136 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9880249486028533, + 0.13684724632306547, + 0.07127083633663334, + 0.13492355080060167, + -0.9903658466739272, + 0.031162881464850765, + 0.0748487566876457, + -0.021173590050558876, + -0.9969700811492209 + ], + [ + 0.9900558588842703, + 0.13498221953708647, + 0.03961308745567626, + 0.1332937879925253, + -0.9901622420373373, + 0.04256172607163319, + 0.04496845974161206, + -0.03685830778040158, + -0.9983082203287879 + ], + [ + 0.9905907028942517, + 0.13036863018406966, + 0.04164228143848249, + 0.1286587413096946, + -0.9908241443611653, + 0.0414058357670712, + 0.04665819996611088, + -0.03565859244128779, + -0.9982742494730736 + ], + [ + 0.9889859227990359, + 0.1376742752964057, + 0.05433818571639464, + 0.13519269686559426, + -0.9897045816322314, + 0.046986974901324745, + 0.060247649079009126, + -0.03912333086253888, + -0.9974164555303233 + ], + [ + 0.9834582313746351, + 0.14598484965207864, + 0.10723027004318612, + 0.14118334670317506, + -0.9886626268763775, + 0.05112213641458574, + 0.11347761785993608, + -0.03513735746979908, + -0.9929190280958834 + ], + [ + 0.9707051582000055, + 0.1792037337515026, + 0.16005473330527561, + 0.17614199745795253, + -0.9838035725370265, + 0.033234430864783705, + 0.16341815252726657, + -0.004068473043295882, + -0.9865485061321977 + ], + [ + 0.962880995039572, + 0.2099889645076549, + 0.16960195805652273, + 0.2086698638756548, + -0.9776465442953243, + 0.02577057115250481, + 0.1712223037507653, + 0.01057682430663719, + -0.9851756460072829 + ], + [ + 0.9534656557541491, + 0.2571580089793643, + 0.15739441449771854, + 0.2580051626142283, + -0.9660210860070917, + 0.01538172467848915, + 0.1560018569175254, + 0.02594262529984968, + -0.987416022166359 + ], + [ + 0.9443752355095674, + 0.3066990968184936, + 0.11870584891642748, + 0.3063857369684807, + -0.9516683014554277, + 0.021335983390097055, + 0.11951232044659828, + 0.016220604663877626, + -0.9927002051202609 + ], + [ + 0.9376467361846542, + 0.33701366732096083, + 0.08509045869627438, + 0.33555105688206455, + -0.9414993551026056, + 0.03137598710331694, + 0.09068674846743122, + -0.0008673985558824062, + -0.9958790896851637 + ], + [ + 0.9309208971713059, + 0.3581839199521858, + 0.07134817935628805, + 0.3573208337324483, + -0.9336483016487651, + 0.02495336869291541, + 0.07555200189617041, + 0.00226457856182591, + -0.997139291520206 + ], + [ + 0.9242545933604327, + 0.3807146485232783, + 0.02845703870640609, + 0.38058980538857445, + -0.9246910367582125, + 0.009893764364953941, + 0.030080669647270804, + 0.0016861016632717784, + -0.9995460521530526 + ], + [ + 0.9255260072989164, + 0.37863024055324856, + 0.006383631561659984, + 0.37865154776401844, + -0.925535926342438, + -0.002500884915060781, + 0.004961369693864344, + 0.004731806001328085, + -0.9999764971351709 + ], + [ + 0.9290309012833248, + 0.36988465345860855, + -0.00932349701014413, + 0.3696904742279029, + -0.9289876436699485, + -0.01763267347014852, + -0.015183468834272294, + 0.012934490494864032, + -0.999801060826501 + ], + [ + 0.9354252620089695, + 0.35339145305125247, + -0.009698458938134806, + 0.35285489541734333, + -0.9349897607641008, + -0.035882726294203, + -0.02174860858689591, + 0.03014345993102603, + -0.9993089461462455 + ], + [ + 0.9401926411349203, + 0.3399849774112981, + -0.021166310268494092, + 0.3385747144640825, + -0.9395149468453077, + -0.051757389615624955, + -0.03748279980615152, + 0.041495539385549965, + -0.9984353559093319 + ], + [ + 0.941941505874146, + 0.33444444664830736, + -0.029884973107794158, + 0.3323073545346337, + -0.9412704074473559, + -0.05984849359910192, + -0.04814583713821309, + 0.0464427838312475, + -0.9977600143302319 + ], + [ + 0.9420847271478882, + 0.3320516381126629, + -0.04709645954194658, + 0.3281720913332029, + -0.9416644236807986, + -0.07464041561983308, + -0.06913353270794874, + 0.05486185196114522, + -0.9960977521582469 + ], + [ + 0.9393400278914469, + 0.3367196863726044, + -0.06526993802686483, + 0.3309244277434492, + -0.9397665105740983, + -0.08560332193351944, + -0.09016282561880216, + 0.058811209922242015, + -0.994189069776929 + ], + [ + 0.9393032317723129, + 0.33727509502210595, + -0.0628883857315315, + 0.3310867816075046, + -0.9391454428167793, + -0.09158264181197166, + -0.08994988508537982, + 0.06520235819588706, + -0.9938096752692751 + ], + [ + 0.9387008213436652, + 0.3392805166103855, + -0.06106962466986797, + 0.33308426651462286, + -0.9382986461048914, + -0.0930081830708653, + -0.08885741054714748, + 0.06696552670081694, + -0.9937907117821831 + ], + [ + 0.9360782319109036, + 0.3461520846291307, + -0.06273976449958785, + 0.33996687210781307, + -0.935961781836747, + -0.09164097778947623, + -0.09044373727233118, + 0.0644536829660536, + -0.9938136913628857 + ], + [ + 0.9338578285503172, + 0.3515594588421349, + -0.06569248780425052, + 0.3464197381486933, + -0.9348154209125216, + -0.07818883452984648, + -0.08889837499233122, + 0.050260080807437796, + -0.9947718347445069 + ], + [ + 0.9401895319545905, + 0.33971041361185167, + -0.025307684340399237, + 0.33906332356595953, + -0.9403854527244837, + -0.026669512867201567, + -0.0328588894427983, + 0.01649348925585721, + -0.999323900543139 + ], + [ + 0.9614890064260729, + 0.2720301204261456, + 0.03922376961409918, + 0.27188741273805006, + -0.9622866964143015, + 0.00903043180912335, + 0.04020106113540309, + 0.001981788330458356, + -0.9991896452618997 + ], + [ + 0.982293901740159, + 0.18255331722237925, + 0.04210673313379673, + 0.18272828397111043, + -0.9831634029377084, + -0.0003120271122123725, + 0.04134083745001586, + 0.008000593418671978, + -0.9991130695090926 + ], + [ + 0.9980475698535066, + 0.0491362987773938, + -0.03855739166449104, + 0.04822377840767646, + -0.9985421254224192, + -0.024250586651986733, + -0.03969276389466464, + 0.022343855963930834, + -0.998962079658215 + ], + [ + 0.9982041605726717, + -0.04161837933705048, + -0.04308554649490828, + -0.04351603769271577, + -0.9980795804332118, + -0.04408520824255912, + -0.041168049248582014, + 0.045880950552718854, + -0.9980982567349995 + ], + [ + 0.9978840297289391, + -0.04779704285678577, + -0.044078406346878825, + -0.05023205973785188, + -0.997172079842067, + -0.05589797275339603, + -0.041281998333739404, + 0.05799384344560299, + -0.9974630372780638 + ], + [ + 0.9982146332884291, + -0.02179820115614989, + -0.05560921070473014, + -0.02479313128279256, + -0.9982466890717585, + -0.0537480083209239, + -0.05434010057076874, + 0.055030774877589325, + -0.997004898326147 + ], + [ + 0.9983877659136742, + 0.025170291836666463, + -0.05087558631366559, + 0.022639785559044917, + -0.9985066778384687, + -0.04971774755381279, + -0.05205102288853367, + 0.04848577854217912, + -0.9974667013466744 + ], + [ + 0.9973427359476226, + 0.07270043342231446, + -0.004702555977224235, + 0.07256533381936116, + -0.9970658379136415, + -0.02437185247889999, + -0.006460602154287621, + 0.02396584748712645, + -0.9996919019248022 + ], + [ + 0.9974354488145275, + 0.06286099667499634, + -0.03422017745698571, + 0.06172803834529353, + -0.9975401690830968, + -0.033215363127744105, + -0.03622395243762703, + 0.031017836202611393, + -0.9988622122730962 + ], + [ + 0.9967351165018642, + 0.039411599868434385, + -0.07046866912199766, + 0.036380138192986716, + -0.9983778443545701, + -0.04379686572097345, + -0.07208046251984203, + 0.04109021413587685, + -0.9965520564552528 + ], + [ + 0.9980557954629644, + 0.021742346176670896, + -0.05841146741456786, + 0.018858193749398622, + -0.9985969699077271, + -0.049481918107690315, + -0.05940536736103448, + 0.048284180368313515, + -0.9970655145249285 + ], + [ + 0.995867562424793, + 0.0204215174847187, + -0.0884915800159678, + 0.016267428997899024, + -0.9987429045513826, + -0.047412881815666795, + -0.0893485806484883, + 0.04577742054648123, + -0.994947867430355 + ], + [ + 0.9954380621801509, + 0.02720330480859214, + -0.09144968327182189, + 0.02238798319190863, + -0.9983288728823541, + -0.053275132829932834, + -0.09274611890329713, + 0.05098472101462356, + -0.994383585771324 + ], + [ + 0.9938872026002246, + 0.025909750099606353, + -0.10731688290886901, + 0.020303981888842, + -0.998387917264708, + -0.053002971419496586, + -0.10851717295874203, + 0.05050001494667447, + -0.992811045296852 + ], + [ + 0.9940469600122873, + 0.025590527426319933, + -0.1059045145230965, + 0.01995579448828934, + -0.9983454148818118, + -0.053927718761358746, + -0.10710932525541907, + 0.051493276167921286, + -0.9929129040116375 + ], + [ + 0.9928350717928822, + 0.028581240703854364, + -0.11602427719167668, + 0.02402156515848794, + -0.998890360942852, + -0.04050939672218894, + -0.11705334094061223, + 0.03743206506843447, + -0.9924199493557924 + ], + [ + 0.9959292708837919, + 0.04312017992565464, + -0.07915514815890264, + 0.041163296105034504, + -0.9988091164326152, + -0.026190303260328052, + -0.08019021418257909, + 0.022825402828381133, + -0.996518203815201 + ], + [ + 0.9988954757143211, + 0.04698676682023188, + 0.00026896327093542, + 0.0469874855109709, + -0.9988695817337979, + -0.007192697150844877, + -6.93023538942773e-05, + 0.007197390549958298, + -0.9999740960477201 + ], + [ + 0.9947227514562614, + 0.06343881660273973, + 0.08063599868128841, + 0.06358300915936713, + -0.9979762478066126, + 0.0007808713558390538, + 0.08052234895682457, + 0.0043503289391134715, + -0.9967433099633008 + ], + [ + 0.9933196016343196, + 0.05431545241310824, + 0.10181355822382304, + 0.05418402753294724, + -0.9985227208303535, + 0.0040579731217134365, + 0.10188356182105751, + 0.0014858043973237872, + -0.9947952212470402 + ], + [ + 0.9966646973672507, + 0.03750279380849673, + 0.07247773091373697, + 0.03564691095242837, + -0.9990068355038979, + 0.026732758107565327, + 0.07340830171987583, + -0.024059989049152464, + -0.997011704126666 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.002331644296646118, + 0.000212743878364563, + -0.009236983954906464, + 0.015669260174036026, + 0.029935192316770554, + -0.0018914788961410522, + 1.0 + ], + [ + 0.006240874528884888, + 0.001418963074684143, + 0.01098758727312088, + -0.0011989511549472809, + -0.001691516488790512, + -0.004670068621635437, + 1.0 + ], + [ + 0.005712300539016724, + 0.004972323775291443, + 0.009922623634338379, + 0.0034995153546333313, + -0.013609010726213455, + 0.006698444485664368, + 1.0 + ], + [ + 0.00026151537895202637, + 0.007599972188472748, + 0.026600301265716553, + -0.0038313940167427063, + -0.05343842878937721, + 0.006727620959281921, + 1.0 + ], + [ + -0.00019747018814086914, + 0.018163561820983887, + 0.020875930786132812, + -0.031249254941940308, + -0.050431810319423676, + 0.03692072629928589, + 1.0 + ], + [ + 0.002879410982131958, + 0.014006666839122772, + 0.012879475951194763, + -0.014859488233923912, + -0.007915765047073364, + 0.03390932083129883, + 1.0 + ], + [ + 0.00022149085998535156, + 0.01833665370941162, + 0.002540960907936096, + -0.015531638637185097, + 0.015428513288497925, + 0.05085447430610657, + 1.0 + ], + [ + 0.001389235258102417, + 0.02071515843272209, + -0.002958521246910095, + 0.009928775951266289, + 0.03684297949075699, + 0.0494498610496521, + 1.0 + ], + [ + 0.001473069190979004, + 0.01957160048186779, + -0.002073511481285095, + 0.01720941625535488, + 0.028987154364585876, + 0.029946088790893555, + 1.0 + ], + [ + -0.002148866653442383, + 0.014419667422771454, + 0.0013327300548553467, + -0.0031420590821653605, + 0.015187449753284454, + 0.02283024787902832, + 1.0 + ], + [ + -0.002802938222885132, + 0.01208108477294445, + -0.006164878606796265, + 0.0005842057289555669, + 0.04553885757923126, + 0.024125754833221436, + 1.0 + ], + [ + -0.0039916932582855225, + 0.001142643392086029, + -0.0035120099782943726, + -0.0030450159683823586, + 0.02512381784617901, + -0.002276390790939331, + 1.0 + ], + [ + -0.0015276074409484863, + -0.004569225013256073, + -0.00475803017616272, + -0.008204460144042969, + 0.020145442336797714, + -0.00962221622467041, + 1.0 + ], + [ + 0.0009091496467590332, + -0.00597873330116272, + -0.0043241530656814575, + -0.0172188188880682, + 0.006566271185874939, + -0.018012017011642456, + 1.0 + ], + [ + -0.0022584199905395508, + -0.004801803268492222, + -0.004811644554138184, + -0.011381501331925392, + 0.0157412588596344, + -0.015054941177368164, + 1.0 + ], + [ + -0.0018756091594696045, + -0.0017637433484196663, + -0.003692135214805603, + -0.0049768127501010895, + 0.010672874748706818, + -0.006496787071228027, + 1.0 + ], + [ + -0.003775984048843384, + -0.001961897127330303, + -0.006175220012664795, + -0.008507709950208664, + 0.02102426439523697, + -0.003956824541091919, + 1.0 + ], + [ + -0.004355430603027344, + 0.0012916568666696548, + -0.006483405828475952, + -0.004064913839101791, + 0.021096713840961456, + 0.00351637601852417, + 0.0 + ], + [ + -0.0002294778823852539, + -0.00010169530287384987, + -0.002569034695625305, + -0.0064285025000572205, + -0.0002138093113899231, + 0.00016602873802185059, + 0.0 + ], + [ + 9.450316429138184e-05, + 0.000204531941562891, + -0.0007471144199371338, + -0.0017676204442977905, + -0.001096867024898529, + 0.002092421054840088, + 0.0 + ], + [ + -0.00026485323905944824, + 0.00021680444478988647, + -3.635883331298828e-06, + 0.0025180280208587646, + 0.0015927404165267944, + 0.007393747568130493, + 0.0 + ], + [ + -0.0019591450691223145, + 0.0015731081366539001, + 0.0020630955696105957, + 0.014282889664173126, + -0.001551613211631775, + 0.006850391626358032, + 0.0 + ], + [ + -0.0006727874279022217, + -0.006164100021123886, + 0.02176186442375183, + 0.03397815674543381, + -0.05615108087658882, + -0.009104341268539429, + 0.0 + ], + [ + 0.001767665147781372, + -0.024627968668937683, + 0.02396702766418457, + 0.01451975665986538, + -0.07307670265436172, + -0.07053342461585999, + 0.0 + ], + [ + 0.0033871233463287354, + -0.031794704496860504, + 0.0008229911327362061, + -0.006024131551384926, + -0.0011407248675823212, + -0.09166260063648224, + 0.0 + ], + [ + 0.003590911626815796, + -0.04655288904905319, + -0.033332452178001404, + -0.014355817809700966, + 0.08105581998825073, + -0.13563920557498932, + 0.0 + ], + [ + 0.0013605952262878418, + -0.03048272430896759, + -0.0203256756067276, + -0.023572690784931183, + 0.0014764927327632904, + -0.09184730798006058, + 0.0 + ], + [ + -0.0008161664009094238, + -0.008512601256370544, + -0.02906900644302368, + -0.012139931321144104, + 0.00011404603719711304, + -0.006729379296302795, + 0.0 + ], + [ + -0.0035488009452819824, + 0.0037618130445480347, + -0.02244921773672104, + 0.0029358230531215668, + 0.013073146343231201, + 0.025463750585913658, + 0.0 + ], + [ + -0.007012039422988892, + 0.00964134931564331, + -0.023782365024089813, + 0.0065694525837898254, + -0.0022923238575458527, + 0.04750482738018036, + 0.0 + ], + [ + -0.0003847479820251465, + 0.009676389396190643, + -0.01580233871936798, + 0.024602046236395836, + -0.045613907277584076, + 0.049958229064941406, + 0.0 + ], + [ + -0.0014255046844482422, + -0.0027215704321861267, + -0.0181107297539711, + -0.0070745497941970825, + 0.02977123111486435, + -0.010822765529155731, + 0.0 + ], + [ + -0.003146231174468994, + -0.00273238867521286, + -0.010284066200256348, + -0.010165845975279808, + 0.03591114655137062, + -0.025324814021587372, + 0.0 + ], + [ + 0.0036596357822418213, + -0.004142843186855316, + 0.0010505858808755875, + -0.007179446518421173, + -0.012702662497758865, + -0.01759042777121067, + 0.0 + ], + [ + -0.002214372158050537, + -0.00124359130859375, + -0.009921973571181297, + 0.002411041408777237, + 0.03002752736210823, + -0.002559201791882515, + 0.0 + ], + [ + 0.0006166398525238037, + 0.001187652349472046, + -0.0008589792996644974, + -0.005250386893749237, + 0.003411710262298584, + 0.00615331344306469, + 0.0 + ], + [ + -0.0006725192070007324, + -0.0007072687149047852, + -0.006785497069358826, + 0.0004059448838233948, + 0.015851691365242004, + -0.002060774713754654, + 0.0 + ], + [ + 0.0014246106147766113, + -0.00011806190013885498, + 0.0006570592522621155, + -0.000992514193058014, + -0.0014161020517349243, + -0.00035341084003448486, + 1.0 + ], + [ + -0.0006712079048156738, + 0.001749485731124878, + 0.0012350920587778091, + 0.014114301651716232, + 0.010007113218307495, + 0.004117593169212341, + 1.0 + ], + [ + 0.002485930919647217, + 0.0020917579531669617, + 0.013702698051929474, + 0.014798948541283607, + -0.03704589605331421, + 0.017117833718657494, + 1.0 + ], + [ + 0.0048014819622039795, + 0.0011745095252990723, + 0.032294321805238724, + 0.015703696757555008, + -0.08020710200071335, + 0.0056967586278915405, + 1.0 + ], + [ + -0.0024978220462799072, + 0.007798127830028534, + 0.04148748517036438, + 0.0028329375199973583, + -0.08067892491817474, + 0.01682869717478752, + 1.0 + ], + [ + -2.1338462829589844e-05, + 0.0038565248250961304, + 0.021718233823776245, + 0.0028709382750093937, + -0.021451033651828766, + -0.009339064359664917, + 1.0 + ], + [ + 0.00030726194381713867, + 0.005798913538455963, + 0.011334754526615143, + 0.025620996952056885, + 0.028586260974407196, + -0.01874346286058426, + 1.0 + ], + [ + 0.0004620552062988281, + 0.005964994430541992, + 0.001419365406036377, + 0.005251035094261169, + 0.03303532302379608, + -0.009149312973022461, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9694526195526123 + ], + [ + 0.6971942782402039 + ], + [ + 0.5699762105941772 + ], + [ + 0.5689827799797058 + ], + [ + 0.5689827799797058 + ], + [ + 0.5689827799797058 + ], + [ + 0.5689827799797058 + ], + [ + 0.5689827799797058 + ], + [ + 0.5689827799797058 + ], + [ + 0.5689827799797058 + ], + [ + 0.5689827799797058 + ], + [ + 0.5689827799797058 + ], + [ + 0.5689827799797058 + ], + [ + 0.5689827799797058 + ], + [ + 0.5689827799797058 + ], + [ + 0.5689827799797058 + ], + [ + 0.5689827799797058 + ], + [ + 0.5689827799797058 + ], + [ + 0.5689827799797058 + ], + [ + 0.5689827799797058 + ], + [ + 0.6370214223861694 + ], + [ + 0.9024295806884766 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.28297141194343567, + -0.10686616599559784, + 0.11453510075807571 + ], + [ + 0.28921228647232056, + -0.1054472029209137, + 0.1255226880311966 + ], + [ + 0.2949245870113373, + -0.10047487914562225, + 0.13544531166553497 + ], + [ + 0.2951861023902893, + -0.0928749069571495, + 0.16204561293125153 + ], + [ + 0.29498863220214844, + -0.07471134513616562, + 0.18292154371738434 + ], + [ + 0.2978680431842804, + -0.06070467829704285, + 0.1958010196685791 + ], + [ + 0.29808953404426575, + -0.042368024587631226, + 0.1983419805765152 + ], + [ + 0.29947876930236816, + -0.021652866154909134, + 0.1953834593296051 + ], + [ + 0.30095183849334717, + -0.0020812659058719873, + 0.19330994784832 + ], + [ + 0.2988029718399048, + 0.01233840174973011, + 0.19464267790317535 + ], + [ + 0.29600003361701965, + 0.02441948652267456, + 0.1884777992963791 + ], + [ + 0.29200834035873413, + 0.02556212991476059, + 0.18496578931808472 + ], + [ + 0.29048073291778564, + 0.020992904901504517, + 0.180207759141922 + ], + [ + 0.2913898825645447, + 0.015014171600341797, + 0.17588360607624054 + ], + [ + 0.2891314625740051, + 0.010212368331849575, + 0.17107196152210236 + ], + [ + 0.2872558534145355, + 0.008448624983429909, + 0.16737982630729675 + ], + [ + 0.28347986936569214, + 0.0064867278560996056, + 0.16120460629463196 + ], + [ + 0.2791244387626648, + 0.00777838472276926, + 0.154721200466156 + ], + [ + 0.27889496088027954, + 0.0076766894198954105, + 0.1521521657705307 + ], + [ + 0.2789894640445709, + 0.007881221361458302, + 0.15140505135059357 + ], + [ + 0.2787246108055115, + 0.008098025806248188, + 0.15140141546726227 + ], + [ + 0.27676546573638916, + 0.009671133942902088, + 0.15346451103687286 + ], + [ + 0.27609267830848694, + 0.003507033921778202, + 0.1752263754606247 + ], + [ + 0.2778603434562683, + -0.021120933815836906, + 0.19919340312480927 + ], + [ + 0.28124746680259705, + -0.05291564017534256, + 0.20001639425754547 + ], + [ + 0.28483837842941284, + -0.09946852922439575, + 0.16668394207954407 + ], + [ + 0.2861989736557007, + -0.12995125353336334, + 0.14635826647281647 + ], + [ + 0.28538280725479126, + -0.1384638547897339, + 0.11728926002979279 + ], + [ + 0.2818340063095093, + -0.13470204174518585, + 0.09484004229307175 + ], + [ + 0.2748219668865204, + -0.12506069242954254, + 0.07105767726898193 + ], + [ + 0.27443721890449524, + -0.1153843030333519, + 0.05525533854961395 + ], + [ + 0.273011714220047, + -0.11810587346553802, + 0.03714460879564285 + ], + [ + 0.269865483045578, + -0.12083826214075089, + 0.026860542595386505 + ], + [ + 0.2735251188278198, + -0.1249811053276062, + 0.027911128476262093 + ], + [ + 0.2713107466697693, + -0.12622469663619995, + 0.017989154905080795 + ], + [ + 0.2719273865222931, + -0.1250370442867279, + 0.017130175605416298 + ], + [ + 0.27125486731529236, + -0.1257443130016327, + 0.010344678536057472 + ], + [ + 0.27267947793006897, + -0.12586237490177155, + 0.011001737788319588 + ], + [ + 0.2720082700252533, + -0.12411288917064667, + 0.012236829847097397 + ], + [ + 0.2744942009449005, + -0.1220211312174797, + 0.02593952789902687 + ], + [ + 0.2792956829071045, + -0.12084662169218063, + 0.058233849704265594 + ], + [ + 0.2767978608608246, + -0.1130484938621521, + 0.09972133487462997 + ], + [ + 0.276776522397995, + -0.10919196903705597, + 0.12143956869840622 + ], + [ + 0.27708378434181213, + -0.1033930554986, + 0.13277432322502136 + ], + [ + 0.27754583954811096, + -0.09742806106805801, + 0.13419368863105774 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9900558588842703, + 0.13498221953708647, + 0.03961308745567626, + 0.1332937879925253, + -0.9901622420373373, + 0.04256172607163319, + 0.04496845974161206, + -0.03685830778040158, + -0.9983082203287879 + ], + [ + 0.9905907028942517, + 0.13036863018406966, + 0.04164228143848249, + 0.1286587413096946, + -0.9908241443611653, + 0.0414058357670712, + 0.04665819996611088, + -0.03565859244128779, + -0.9982742494730736 + ], + [ + 0.9889859227990359, + 0.1376742752964057, + 0.05433818571639464, + 0.13519269686559426, + -0.9897045816322314, + 0.046986974901324745, + 0.060247649079009126, + -0.03912333086253888, + -0.9974164555303233 + ], + [ + 0.9834582313746351, + 0.14598484965207864, + 0.10723027004318612, + 0.14118334670317506, + -0.9886626268763775, + 0.05112213641458574, + 0.11347761785993608, + -0.03513735746979908, + -0.9929190280958834 + ], + [ + 0.9707051582000055, + 0.1792037337515026, + 0.16005473330527561, + 0.17614199745795253, + -0.9838035725370265, + 0.033234430864783705, + 0.16341815252726657, + -0.004068473043295882, + -0.9865485061321977 + ], + [ + 0.962880995039572, + 0.2099889645076549, + 0.16960195805652273, + 0.2086698638756548, + -0.9776465442953243, + 0.02577057115250481, + 0.1712223037507653, + 0.01057682430663719, + -0.9851756460072829 + ], + [ + 0.9534656557541491, + 0.2571580089793643, + 0.15739441449771854, + 0.2580051626142283, + -0.9660210860070917, + 0.01538172467848915, + 0.1560018569175254, + 0.02594262529984968, + -0.987416022166359 + ], + [ + 0.9443752355095674, + 0.3066990968184936, + 0.11870584891642748, + 0.3063857369684807, + -0.9516683014554277, + 0.021335983390097055, + 0.11951232044659828, + 0.016220604663877626, + -0.9927002051202609 + ], + [ + 0.9376467361846542, + 0.33701366732096083, + 0.08509045869627438, + 0.33555105688206455, + -0.9414993551026056, + 0.03137598710331694, + 0.09068674846743122, + -0.0008673985558824062, + -0.9958790896851637 + ], + [ + 0.9309208971713059, + 0.3581839199521858, + 0.07134817935628805, + 0.3573208337324483, + -0.9336483016487651, + 0.02495336869291541, + 0.07555200189617041, + 0.00226457856182591, + -0.997139291520206 + ], + [ + 0.9242545933604327, + 0.3807146485232783, + 0.02845703870640609, + 0.38058980538857445, + -0.9246910367582125, + 0.009893764364953941, + 0.030080669647270804, + 0.0016861016632717784, + -0.9995460521530526 + ], + [ + 0.9255260072989164, + 0.37863024055324856, + 0.006383631561659984, + 0.37865154776401844, + -0.925535926342438, + -0.002500884915060781, + 0.004961369693864344, + 0.004731806001328085, + -0.9999764971351709 + ], + [ + 0.9290309012833248, + 0.36988465345860855, + -0.00932349701014413, + 0.3696904742279029, + -0.9289876436699485, + -0.01763267347014852, + -0.015183468834272294, + 0.012934490494864032, + -0.999801060826501 + ], + [ + 0.9354252620089695, + 0.35339145305125247, + -0.009698458938134806, + 0.35285489541734333, + -0.9349897607641008, + -0.035882726294203, + -0.02174860858689591, + 0.03014345993102603, + -0.9993089461462455 + ], + [ + 0.9401926411349203, + 0.3399849774112981, + -0.021166310268494092, + 0.3385747144640825, + -0.9395149468453077, + -0.051757389615624955, + -0.03748279980615152, + 0.041495539385549965, + -0.9984353559093319 + ], + [ + 0.941941505874146, + 0.33444444664830736, + -0.029884973107794158, + 0.3323073545346337, + -0.9412704074473559, + -0.05984849359910192, + -0.04814583713821309, + 0.0464427838312475, + -0.9977600143302319 + ], + [ + 0.9420847271478882, + 0.3320516381126629, + -0.04709645954194658, + 0.3281720913332029, + -0.9416644236807986, + -0.07464041561983308, + -0.06913353270794874, + 0.05486185196114522, + -0.9960977521582469 + ], + [ + 0.9393400278914469, + 0.3367196863726044, + -0.06526993802686483, + 0.3309244277434492, + -0.9397665105740983, + -0.08560332193351944, + -0.09016282561880216, + 0.058811209922242015, + -0.994189069776929 + ], + [ + 0.9393032317723129, + 0.33727509502210595, + -0.0628883857315315, + 0.3310867816075046, + -0.9391454428167793, + -0.09158264181197166, + -0.08994988508537982, + 0.06520235819588706, + -0.9938096752692751 + ], + [ + 0.9387008213436652, + 0.3392805166103855, + -0.06106962466986797, + 0.33308426651462286, + -0.9382986461048914, + -0.0930081830708653, + -0.08885741054714748, + 0.06696552670081694, + -0.9937907117821831 + ], + [ + 0.9360782319109036, + 0.3461520846291307, + -0.06273976449958785, + 0.33996687210781307, + -0.935961781836747, + -0.09164097778947623, + -0.09044373727233118, + 0.0644536829660536, + -0.9938136913628857 + ], + [ + 0.9338578285503172, + 0.3515594588421349, + -0.06569248780425052, + 0.3464197381486933, + -0.9348154209125216, + -0.07818883452984648, + -0.08889837499233122, + 0.050260080807437796, + -0.9947718347445069 + ], + [ + 0.9401895319545905, + 0.33971041361185167, + -0.025307684340399237, + 0.33906332356595953, + -0.9403854527244837, + -0.026669512867201567, + -0.0328588894427983, + 0.01649348925585721, + -0.999323900543139 + ], + [ + 0.9614890064260729, + 0.2720301204261456, + 0.03922376961409918, + 0.27188741273805006, + -0.9622866964143015, + 0.00903043180912335, + 0.04020106113540309, + 0.001981788330458356, + -0.9991896452618997 + ], + [ + 0.982293901740159, + 0.18255331722237925, + 0.04210673313379673, + 0.18272828397111043, + -0.9831634029377084, + -0.0003120271122123725, + 0.04134083745001586, + 0.008000593418671978, + -0.9991130695090926 + ], + [ + 0.9980475698535066, + 0.0491362987773938, + -0.03855739166449104, + 0.04822377840767646, + -0.9985421254224192, + -0.024250586651986733, + -0.03969276389466464, + 0.022343855963930834, + -0.998962079658215 + ], + [ + 0.9982041605726717, + -0.04161837933705048, + -0.04308554649490828, + -0.04351603769271577, + -0.9980795804332118, + -0.04408520824255912, + -0.041168049248582014, + 0.045880950552718854, + -0.9980982567349995 + ], + [ + 0.9978840297289391, + -0.04779704285678577, + -0.044078406346878825, + -0.05023205973785188, + -0.997172079842067, + -0.05589797275339603, + -0.041281998333739404, + 0.05799384344560299, + -0.9974630372780638 + ], + [ + 0.9982146332884291, + -0.02179820115614989, + -0.05560921070473014, + -0.02479313128279256, + -0.9982466890717585, + -0.0537480083209239, + -0.05434010057076874, + 0.055030774877589325, + -0.997004898326147 + ], + [ + 0.9983877659136742, + 0.025170291836666463, + -0.05087558631366559, + 0.022639785559044917, + -0.9985066778384687, + -0.04971774755381279, + -0.05205102288853367, + 0.04848577854217912, + -0.9974667013466744 + ], + [ + 0.9973427359476226, + 0.07270043342231446, + -0.004702555977224235, + 0.07256533381936116, + -0.9970658379136415, + -0.02437185247889999, + -0.006460602154287621, + 0.02396584748712645, + -0.9996919019248022 + ], + [ + 0.9974354488145275, + 0.06286099667499634, + -0.03422017745698571, + 0.06172803834529353, + -0.9975401690830968, + -0.033215363127744105, + -0.03622395243762703, + 0.031017836202611393, + -0.9988622122730962 + ], + [ + 0.9967351165018642, + 0.039411599868434385, + -0.07046866912199766, + 0.036380138192986716, + -0.9983778443545701, + -0.04379686572097345, + -0.07208046251984203, + 0.04109021413587685, + -0.9965520564552528 + ], + [ + 0.9980557954629644, + 0.021742346176670896, + -0.05841146741456786, + 0.018858193749398622, + -0.9985969699077271, + -0.049481918107690315, + -0.05940536736103448, + 0.048284180368313515, + -0.9970655145249285 + ], + [ + 0.995867562424793, + 0.0204215174847187, + -0.0884915800159678, + 0.016267428997899024, + -0.9987429045513826, + -0.047412881815666795, + -0.0893485806484883, + 0.04577742054648123, + -0.994947867430355 + ], + [ + 0.9954380621801509, + 0.02720330480859214, + -0.09144968327182189, + 0.02238798319190863, + -0.9983288728823541, + -0.053275132829932834, + -0.09274611890329713, + 0.05098472101462356, + -0.994383585771324 + ], + [ + 0.9938872026002246, + 0.025909750099606353, + -0.10731688290886901, + 0.020303981888842, + -0.998387917264708, + -0.053002971419496586, + -0.10851717295874203, + 0.05050001494667447, + -0.992811045296852 + ], + [ + 0.9940469600122873, + 0.025590527426319933, + -0.1059045145230965, + 0.01995579448828934, + -0.9983454148818118, + -0.053927718761358746, + -0.10710932525541907, + 0.051493276167921286, + -0.9929129040116375 + ], + [ + 0.9928350717928822, + 0.028581240703854364, + -0.11602427719167668, + 0.02402156515848794, + -0.998890360942852, + -0.04050939672218894, + -0.11705334094061223, + 0.03743206506843447, + -0.9924199493557924 + ], + [ + 0.9959292708837919, + 0.04312017992565464, + -0.07915514815890264, + 0.041163296105034504, + -0.9988091164326152, + -0.026190303260328052, + -0.08019021418257909, + 0.022825402828381133, + -0.996518203815201 + ], + [ + 0.9988954757143211, + 0.04698676682023188, + 0.00026896327093542, + 0.0469874855109709, + -0.9988695817337979, + -0.007192697150844877, + -6.93023538942773e-05, + 0.007197390549958298, + -0.9999740960477201 + ], + [ + 0.9947227514562614, + 0.06343881660273973, + 0.08063599868128841, + 0.06358300915936713, + -0.9979762478066126, + 0.0007808713558390538, + 0.08052234895682457, + 0.0043503289391134715, + -0.9967433099633008 + ], + [ + 0.9933196016343196, + 0.05431545241310824, + 0.10181355822382304, + 0.05418402753294724, + -0.9985227208303535, + 0.0040579731217134365, + 0.10188356182105751, + 0.0014858043973237872, + -0.9947952212470402 + ], + [ + 0.9966646973672507, + 0.03750279380849673, + 0.07247773091373697, + 0.03564691095242837, + -0.9990068355038979, + 0.026732758107565327, + 0.07340830171987583, + -0.024059989049152464, + -0.997011704126666 + ], + [ + 0.9988289384889192, + 0.02777415742627584, + 0.03961499484234638, + 0.026576766944986632, + -0.9991832470036425, + 0.03043869849401726, + 0.04042804838043199, + -0.029350214420311643, + -0.9987512892695714 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006692.json b/json/chunk-0006/episode_0006692.json new file mode 100644 index 0000000000000000000000000000000000000000..c31e7344f091db614ce2f55ab3d3ad2a57438e1c --- /dev/null +++ b/json/chunk-0006/episode_0006692.json @@ -0,0 +1,2422 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 39, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the croissant from the pot to left of the green cloth." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006692.mp4", + "start": 0, + "end": 39, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2856179177761078, + -0.06866148114204407, + 0.11436466872692108, + -0.09376883506774902, + -0.27218207716941833, + 0.46275463700294495, + 0.0, + 0.9994885921478271 + ], + [ + 0.2831233739852905, + -0.06811388581991196, + 0.10436850041151047, + -0.07199985533952713, + -0.2463318407535553, + 0.46202731132507324, + 0.0, + 0.9994885921478271 + ], + [ + 0.28243154287338257, + -0.07553467899560928, + 0.09514936059713364, + -0.059174224734306335, + -0.24627861380577087, + 0.4364435374736786, + 0.0, + 1.0001531839370728 + ], + [ + 0.2821129262447357, + -0.07766060531139374, + 0.08447567373514175, + -0.04629620537161827, + -0.24456371366977692, + 0.4291711747646332, + 0.0, + 0.9994885921478271 + ], + [ + 0.2809850871562958, + -0.08432966470718384, + 0.07390224188566208, + -0.048826269805431366, + -0.23459020256996155, + 0.4262649118900299, + 0.0, + 0.9994885921478271 + ], + [ + 0.2818695902824402, + -0.09480313211679459, + 0.06198997423052788, + -0.07075710594654083, + -0.2120072990655899, + 0.437969446182251, + 0.0, + 0.9994885921478271 + ], + [ + 0.282851904630661, + -0.10494665801525116, + 0.04917093738913536, + -0.06461526453495026, + -0.19127845764160156, + 0.42909032106399536, + 0.0, + 0.9994885921478271 + ], + [ + 0.2847801744937897, + -0.10820602625608444, + 0.04330820590257645, + -0.07848434895277023, + -0.18718430399894714, + 0.4344944357872009, + 0.0, + 1.0001531839370728 + ], + [ + 0.28601181507110596, + -0.1091027557849884, + 0.03593523055315018, + -0.07604482769966125, + -0.18268850445747375, + 0.43187254667282104, + 0.0, + 0.9994885921478271 + ], + [ + 0.2890738546848297, + -0.10480785369873047, + 0.030933985486626625, + -0.06495299190282822, + -0.1750914305448532, + 0.4360795319080353, + 0.0, + 0.9994885921478271 + ], + [ + 0.28979867696762085, + -0.1027272418141365, + 0.03091851994395256, + -0.06521593779325485, + -0.17443226277828217, + 0.4417751133441925, + 0.0, + 1.0001531839370728 + ], + [ + 0.2907073199748993, + -0.10267020016908646, + 0.030985958874225616, + -0.07491766661405563, + -0.1730189025402069, + 0.45344406366348267, + 0.0, + 1.0001531839370728 + ], + [ + 0.29140499234199524, + -0.10301420092582703, + 0.02487870305776596, + -0.08154412358999252, + -0.16225773096084595, + 0.45954108238220215, + 0.0, + 0.9994885921478271 + ], + [ + 0.2904398441314697, + -0.10274157673120499, + 0.017497390508651733, + -0.06902612000703812, + -0.15057002007961273, + 0.45549851655960083, + 0.0, + 1.0001531839370728 + ], + [ + 0.2904774844646454, + -0.10144487023353577, + 0.016614122316241264, + -0.061754077672958374, + -0.1531694382429123, + 0.4612573981285095, + 0.0, + 0.9375205039978027 + ], + [ + 0.2913970649242401, + -0.10214748978614807, + 0.01671970821917057, + -0.05883612111210823, + -0.16473163664340973, + 0.46988290548324585, + 0.0, + 0.6681591272354126 + ], + [ + 0.29086560010910034, + -0.1024133712053299, + 0.016696613281965256, + -0.05484998598694801, + -0.16520583629608154, + 0.4678490459918976, + 0.0, + 0.6360166668891907 + ], + [ + 0.28876152634620667, + -0.10234464704990387, + 0.017002886161208153, + -0.049289897084236145, + -0.15569716691970825, + 0.45920392870903015, + 0.0, + 0.6360166668891907 + ], + [ + 0.29131776094436646, + -0.10491186380386353, + 0.03167835995554924, + -0.08388675004243851, + -0.17846180498600006, + 0.46073102951049805, + 0.0, + 0.6360166668891907 + ], + [ + 0.29223424196243286, + -0.10603691637516022, + 0.048246778547763824, + -0.11145814508199692, + -0.20397552847862244, + 0.4523899257183075, + 0.0, + 0.6360166668891907 + ], + [ + 0.29171791672706604, + -0.10091900825500488, + 0.06996556371450424, + -0.13769309222698212, + -0.2323332279920578, + 0.4533097445964813, + 0.0, + 0.6360166668891907 + ], + [ + 0.2921578288078308, + -0.0801982581615448, + 0.0916726216673851, + -0.15841367840766907, + -0.2550751864910126, + 0.5035656690597534, + 0.0, + 0.6360166668891907 + ], + [ + 0.2973189353942871, + -0.04860279709100723, + 0.0985516682267189, + -0.16454245150089264, + -0.2516723573207855, + 0.5886561274528503, + 0.0, + 0.6360166668891907 + ], + [ + 0.3093026280403137, + -0.016391534358263016, + 0.10988152027130127, + -0.15799225866794586, + -0.2869921326637268, + 0.6528254151344299, + 0.0, + 0.6360166668891907 + ], + [ + 0.3212496042251587, + 0.016095450147986412, + 0.10717396438121796, + -0.1381569355726242, + -0.3018592298030853, + 0.7295681834220886, + 0.0, + 0.6360166668891907 + ], + [ + 0.33280402421951294, + 0.040339045226573944, + 0.09616031497716904, + -0.11587652564048767, + -0.2978094816207886, + 0.7923263907432556, + 0.0, + 0.6360166668891907 + ], + [ + 0.3452584743499756, + 0.06077159568667412, + 0.08622508496046066, + -0.06323638558387756, + -0.3119997978210449, + 0.8133072853088379, + 0.0, + 0.6360166668891907 + ], + [ + 0.35842645168304443, + 0.08042042702436447, + 0.07915651798248291, + -0.04049288108944893, + -0.32462257146835327, + 0.8427711725234985, + 0.0, + 0.6360166668891907 + ], + [ + 0.3722486197948456, + 0.09783127903938293, + 0.06336294859647751, + -0.02033895067870617, + -0.31337690353393555, + 0.8595390319824219, + 0.0, + 0.6360166668891907 + ], + [ + 0.3788203299045563, + 0.11345061659812927, + 0.046406347304582596, + -0.004169822670519352, + -0.29257073998451233, + 0.8857053518295288, + 0.0, + 0.6360166668891907 + ], + [ + 0.3834179937839508, + 0.11843420565128326, + 0.03207947686314583, + -0.009874300099909306, + -0.27373355627059937, + 0.9067426919937134, + 0.0, + 0.6360166668891907 + ], + [ + 0.39070823788642883, + 0.12202081829309464, + 0.02362551912665367, + -0.008887200616300106, + -0.2680676281452179, + 0.9037129282951355, + 0.0, + 0.6360166668891907 + ], + [ + 0.391336590051651, + 0.11927763372659683, + 0.021035194396972656, + -0.03288286551833153, + -0.2529498338699341, + 0.9343804121017456, + 0.0, + 0.7200843095779419 + ], + [ + 0.38734036684036255, + 0.11854951828718185, + 0.019507402554154396, + -0.04363409802317619, + -0.21875421702861786, + 0.9832615852355957, + 0.0, + 0.9802480936050415 + ], + [ + 0.38091519474983215, + 0.12036192417144775, + 0.015656203031539917, + -0.02466675266623497, + -0.2031700313091278, + 0.9781327843666077, + 0.0, + 1.0054124593734741 + ], + [ + 0.3801998794078827, + 0.11919013410806656, + 0.01655464433133602, + -0.02495250292122364, + -0.19536712765693665, + 0.9736272692680359, + 0.0, + 1.0008161067962646 + ], + [ + 0.3830282986164093, + 0.11606619507074356, + 0.031287554651498795, + -0.05726270377635956, + -0.204930379986763, + 0.9653367400169373, + 0.0, + 1.0008161067962646 + ], + [ + 0.38103151321411133, + 0.1141747534275055, + 0.06063148006796837, + -0.10016617178916931, + -0.23316118121147156, + 0.9650861024856567, + 0.0, + 1.0008161067962646 + ], + [ + 0.37185561656951904, + 0.11350736767053604, + 0.09798423200845718, + -0.15895912051200867, + -0.2779928743839264, + 0.9628605842590332, + 0.0, + 1.0008161067962646 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9375205039978027 + ], + [ + 0.6681591272354126 + ], + [ + 0.6360166668891907 + ], + [ + 0.6360166668891907 + ], + [ + 0.6360166668891907 + ], + [ + 0.6360166668891907 + ], + [ + 0.6360166668891907 + ], + [ + 0.6360166668891907 + ], + [ + 0.6360166668891907 + ], + [ + 0.6360166668891907 + ], + [ + 0.6360166668891907 + ], + [ + 0.6360166668891907 + ], + [ + 0.6360166668891907 + ], + [ + 0.6360166668891907 + ], + [ + 0.6360166668891907 + ], + [ + 0.6360166668891907 + ], + [ + 0.6360166668891907 + ], + [ + 0.6360166668891907 + ], + [ + 0.7200843095779419 + ], + [ + 0.9802480936050415 + ], + [ + 1.0054124593734741 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2856179177761078, + -0.06866148114204407, + 0.11436466872692108 + ], + [ + 0.2831233739852905, + -0.06811388581991196, + 0.10436850041151047 + ], + [ + 0.28243154287338257, + -0.07553467899560928, + 0.09514936059713364 + ], + [ + 0.2821129262447357, + -0.07766060531139374, + 0.08447567373514175 + ], + [ + 0.2809850871562958, + -0.08432966470718384, + 0.07390224188566208 + ], + [ + 0.2818695902824402, + -0.09480313211679459, + 0.06198997423052788 + ], + [ + 0.282851904630661, + -0.10494665801525116, + 0.04917093738913536 + ], + [ + 0.2847801744937897, + -0.10820602625608444, + 0.04330820590257645 + ], + [ + 0.28601181507110596, + -0.1091027557849884, + 0.03593523055315018 + ], + [ + 0.2890738546848297, + -0.10480785369873047, + 0.030933985486626625 + ], + [ + 0.28979867696762085, + -0.1027272418141365, + 0.03091851994395256 + ], + [ + 0.2907073199748993, + -0.10267020016908646, + 0.030985958874225616 + ], + [ + 0.29140499234199524, + -0.10301420092582703, + 0.02487870305776596 + ], + [ + 0.2904398441314697, + -0.10274157673120499, + 0.017497390508651733 + ], + [ + 0.2904774844646454, + -0.10144487023353577, + 0.016614122316241264 + ], + [ + 0.2913970649242401, + -0.10214748978614807, + 0.01671970821917057 + ], + [ + 0.29086560010910034, + -0.1024133712053299, + 0.016696613281965256 + ], + [ + 0.28876152634620667, + -0.10234464704990387, + 0.017002886161208153 + ], + [ + 0.29131776094436646, + -0.10491186380386353, + 0.03167835995554924 + ], + [ + 0.29223424196243286, + -0.10603691637516022, + 0.048246778547763824 + ], + [ + 0.29171791672706604, + -0.10091900825500488, + 0.06996556371450424 + ], + [ + 0.2921578288078308, + -0.0801982581615448, + 0.0916726216673851 + ], + [ + 0.2973189353942871, + -0.04860279709100723, + 0.0985516682267189 + ], + [ + 0.3093026280403137, + -0.016391534358263016, + 0.10988152027130127 + ], + [ + 0.3212496042251587, + 0.016095450147986412, + 0.10717396438121796 + ], + [ + 0.33280402421951294, + 0.040339045226573944, + 0.09616031497716904 + ], + [ + 0.3452584743499756, + 0.06077159568667412, + 0.08622508496046066 + ], + [ + 0.35842645168304443, + 0.08042042702436447, + 0.07915651798248291 + ], + [ + 0.3722486197948456, + 0.09783127903938293, + 0.06336294859647751 + ], + [ + 0.3788203299045563, + 0.11345061659812927, + 0.046406347304582596 + ], + [ + 0.3834179937839508, + 0.11843420565128326, + 0.03207947686314583 + ], + [ + 0.39070823788642883, + 0.12202081829309464, + 0.02362551912665367 + ], + [ + 0.391336590051651, + 0.11927763372659683, + 0.021035194396972656 + ], + [ + 0.38734036684036255, + 0.11854951828718185, + 0.019507402554154396 + ], + [ + 0.38091519474983215, + 0.12036192417144775, + 0.015656203031539917 + ], + [ + 0.3801998794078827, + 0.11919013410806656, + 0.01655464433133602 + ], + [ + 0.3830282986164093, + 0.11606619507074356, + 0.031287554651498795 + ], + [ + 0.38103151321411133, + 0.1141747534275055, + 0.06063148006796837 + ], + [ + 0.37185561656951904, + 0.11350736767053604, + 0.09798423200845718 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8618845658614785, + 0.4219296377334591, + 0.2813012192150653, + 0.42998066354635384, + -0.9021319864155951, + 0.035700252969541435, + 0.26883382247404713, + 0.09018458786269393, + -0.9589552210640642 + ], + [ + 0.8681290978942312, + 0.42890624028348284, + 0.24978251827386794, + 0.4323076862804521, + -0.9006509460988728, + 0.04402201351650204, + 0.24384817770938977, + 0.06976611166671204, + -0.9673007577226006 + ], + [ + 0.878915622321812, + 0.40891266724952857, + 0.24555602090264098, + 0.4099641052063374, + -0.9107693490223839, + 0.049281084847131104, + 0.2437965571558159, + 0.057355239030269636, + -0.9681289249241299 + ], + [ + 0.8822526360256375, + 0.40548183466693993, + 0.23919608688468644, + 0.40373490708405174, + -0.9129995864030683, + 0.05856517761996816, + 0.242133044063891, + 0.04490252757873107, + -0.9692034626379517 + ], + [ + 0.8855771160351248, + 0.40265036762707296, + 0.2315725653109503, + 0.40214768126036027, + -0.9141221346988362, + 0.05155545859129481, + 0.2324444320946987, + 0.047470035848164845, + -0.9714505554503261 + ], + [ + 0.8853384332780458, + 0.40956787967838926, + 0.22006819510443623, + 0.41460602344983655, + -0.9096577615744897, + 0.024992041261229957, + 0.21042267910063625, + 0.06911518460539547, + -0.9751642873778107 + ], + [ + 0.8927599514123805, + 0.40401267538305885, + 0.1993826153002991, + 0.4084559504914044, + -0.9125541773885827, + 0.02021410000001059, + 0.19011419111241368, + 0.06339267671009124, + -0.9797132044007585 + ], + [ + 0.8912381515912963, + 0.40642133298496336, + 0.20128650536698964, + 0.41359872597876296, + -0.9104325479514511, + 0.0069763528704385805, + 0.18609312458248892, + 0.07703425033940603, + -0.9795075667179769 + ], + [ + 0.8930702969138106, + 0.40482767153957105, + 0.19631607454848785, + 0.4116066151412285, + -0.9113360388347401, + 0.006827788293858848, + 0.18167399137537246, + 0.07470730002385498, + -0.9805168943883051 + ], + [ + 0.8925560672742867, + 0.4112498646474799, + 0.1849789598827062, + 0.4159310808410811, + -0.9092790713943658, + 0.014591309556350948, + 0.1741981709497216, + 0.06391493684287468, + -0.9826341527171455 + ], + [ + 0.8902762421465853, + 0.4164116501182693, + 0.18441678425548674, + 0.42105693453018067, + -0.9069080243769919, + 0.015129216921858247, + 0.17354904365452967, + 0.06418078346671645, + -0.9827316808163847 + ], + [ + 0.885522065104833, + 0.4252519968653853, + 0.18711336503434073, + 0.43152364250236397, + -0.9020668557334339, + 0.007920463918743383, + 0.17215695795977587, + 0.07373009527457922, + -0.9823063956204487 + ], + [ + 0.8844838770470095, + 0.4302695597886977, + 0.180433858139572, + 0.43771102049106764, + -0.899114306195846, + -0.0015896334894840436, + 0.16154669227365528, + 0.08038389336927519, + -0.9835858355538871 + ], + [ + 0.8878811536123205, + 0.4295714977809105, + 0.16472821663066708, + 0.4349327980239688, + -0.9004545081958931, + 0.0038909989377487533, + 0.15000172753370658, + 0.06819095954712184, + -0.9863313209935829 + ], + [ + 0.8850095587125751, + 0.43579417467477183, + 0.16383381307565076, + 0.4398637313209674, + -0.8979773804671646, + 0.0125108767768169, + 0.15257122551703067, + 0.06099230680063953, + -0.9864086169815062 + ], + [ + 0.8795508991288544, + 0.44340066363169095, + 0.1725864054107375, + 0.4466523040839512, + -0.8944445981067347, + 0.021692859981546207, + 0.16398760653818006, + 0.05800614112882751, + -0.9847554785291733 + ], + [ + 0.8803880018766589, + 0.44224230215421007, + 0.17128547030314273, + 0.44482738002341443, + -0.895263942461577, + 0.025121212344536528, + 0.16445536821012952, + 0.05407605305029957, + -0.9849011180587482 + ], + [ + 0.8855624024228019, + 0.4358475868645133, + 0.16067393204728586, + 0.437873128615196, + -0.8987033587846035, + 0.02448256820703896, + 0.1550688706733087, + 0.04867395539354493, + -0.9867038519304826 + ], + [ + 0.8815016917584733, + 0.4297167535730734, + 0.1956994612296319, + 0.43754180429892264, + -0.8991908836311671, + 0.003595036222954394, + 0.1775160187639216, + 0.08245766485427292, + -0.9806573288305083 + ], + [ + 0.88075944898405, + 0.414139752316177, + 0.22967598606908873, + 0.4280544422105304, + -0.9036726937660199, + -0.012043963031196335, + 0.20256403315777544, + 0.10892166034889808, + -0.9731926244982002 + ], + [ + 0.8748479874259433, + 0.4053866936288876, + 0.2651464265748552, + 0.4261766549331186, + -0.9043343095803348, + -0.023514151183420325, + 0.23024868661252804, + 0.13357052498398617, + -0.9639213957417422 + ], + [ + 0.8475282314904851, + 0.44164676199762887, + 0.2943535874481922, + 0.4669383700038019, + -0.8841079085365937, + -0.017937800345711144, + 0.2523181631290212, + 0.1526477765316604, + -0.9555282313334007 + ], + [ + 0.8054872176102139, + 0.5138195422607249, + 0.2952622906121516, + 0.5377521729339668, + -0.8431029424228279, + 0.00017024325671950724, + 0.24902398031384976, + 0.158640809594973, + -0.9554162185977891 + ], + [ + 0.7618806766336532, + 0.5644890169158016, + 0.3176318377519461, + 0.5825890191287436, + -0.8115301155430161, + 0.044820825040903456, + 0.28306866545567216, + 0.15090070029052438, + -0.9471542162124255 + ], + [ + 0.7117565173240324, + 0.6296751693590358, + 0.3113066673546101, + 0.6364101011475481, + -0.7656495940383643, + 0.09361026816677485, + 0.29729588494315207, + 0.13149098920290106, + -0.945687726765189 + ], + [ + 0.6712814925570747, + 0.6833920530056541, + 0.28697815184968956, + 0.6806481181229265, + -0.7216362277388588, + 0.12633009978049137, + 0.29342681718967845, + 0.11052808106335417, + -0.9495705588582598 + ], + [ + 0.6539271971841283, + 0.7117828223348536, + 0.256406775674787, + 0.6914862576456394, + -0.6998199721605376, + 0.1791612738636698, + 0.30696249977829315, + 0.06014333208473577, + -0.9498193530011939 + ], + [ + 0.6306438417581669, + 0.7372865808842828, + 0.2422743125064305, + 0.7075016221309072, + -0.6744897573052882, + 0.2109621339776119, + 0.3189510927001734, + 0.03836749846180765, + -0.9469942637245212 + ], + [ + 0.6209947125695887, + 0.7532923923909699, + 0.21660133546795915, + 0.7206479234078339, + -0.6574011427511979, + 0.22020514979762973, + 0.30827282956594027, + 0.019347068907426032, + -0.9511012319811707 + ], + [ + 0.6058554086028304, + 0.7735937952635906, + 0.1857198529946961, + 0.7414554606060816, + -0.6336692346478763, + 0.22069685316786564, + 0.2884146733509257, + 0.003992616992500045, + -0.9574972768658041 + ], + [ + 0.5933677376628004, + 0.7858169052517309, + 0.17437465217606135, + 0.7581804368620596, + -0.6183861396486249, + 0.20678734838023327, + 0.2703278621610927, + 0.00950650887884752, + -0.962721389202686 + ], + [ + 0.596600184821673, + 0.7841421157915422, + 0.1708489441369458, + 0.7575703643007199, + -0.620522121181032, + 0.20258193467895197, + 0.26486857609769465, + 0.008569677179224564, + -0.9642464405062763 + ], + [ + 0.5754047236806208, + 0.7989063099330289, + 0.17509457991388494, + 0.7786390891442032, + -0.6006126136964862, + 0.18161953949220627, + 0.2502610093936212, + 0.031830743281719726, + -0.9676550165009321 + ], + [ + 0.5411008243340107, + 0.8262703073057073, + 0.15648411155764794, + 0.8124745860314727, + -0.5616620528126184, + 0.15627151206570847, + 0.21701369762768777, + 0.0425807197596256, + -0.9752394256523426 + ], + [ + 0.547083503034163, + 0.8264237046885522, + 0.13312963996314991, + 0.8123954836410493, + -0.5625302675553022, + 0.15353591190267551, + 0.20177516910535603, + 0.024156953719561586, + -0.9791339145997836 + ], + [ + 0.5516067322516505, + 0.8239498676301852, + 0.12975603479937467, + 0.8111996305053805, + -0.566133885571885, + 0.1464499336811531, + 0.1941266916284062, + 0.02447527812876423, + -0.9806710908138007 + ], + [ + 0.5572308601263358, + 0.814264403462998, + 0.16268758334892278, + 0.8050353574052092, + -0.5777834267408472, + 0.13447819567153618, + 0.20349899717279143, + 0.05603385616440198, + -0.9774703909137177 + ], + [ + 0.553940074096078, + 0.8048224029935012, + 0.2130992584459134, + 0.7998526725126194, + -0.5854869733420012, + 0.1320632663583757, + 0.23105431522664147, + 0.0972928758264925, + -0.9680640473277369 + ], + [ + 0.549245857712798, + 0.7856690090825754, + 0.28469842983855204, + 0.7893157065747999, + -0.599629274087269, + 0.1320054885673288, + 0.27442613421403067, + 0.15221347451779332, + -0.9494847839937004 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0024945437908172607, + 0.0005475953221321106, + -0.009996168315410614, + 0.021768979728221893, + 0.025850236415863037, + -0.0007273256778717041, + 1.0 + ], + [ + -0.000691831111907959, + -0.007420793175697327, + -0.009219139814376831, + 0.012825630605220795, + 5.322694778442383e-05, + -0.025583773851394653, + 1.0 + ], + [ + -0.0003186166286468506, + -0.0021259263157844543, + -0.010673686861991882, + 0.012878019362688065, + 0.0017149001359939575, + -0.00727236270904541, + 1.0 + ], + [ + -0.0011278390884399414, + -0.0066690593957901, + -0.010573431849479675, + -0.002530064433813095, + 0.009973511099815369, + -0.0029062628746032715, + 1.0 + ], + [ + 0.0008845031261444092, + -0.010473467409610748, + -0.011912267655134201, + -0.021930836141109467, + 0.022582903504371643, + 0.01170453429222107, + 1.0 + ], + [ + 0.0009823143482208252, + -0.010143525898456573, + -0.012819036841392517, + 0.006141841411590576, + 0.020728841423988342, + -0.008879125118255615, + 1.0 + ], + [ + 0.0019282698631286621, + -0.0032593682408332825, + -0.005862731486558914, + -0.013869084417819977, + 0.004094153642654419, + 0.005404114723205566, + 1.0 + ], + [ + 0.0012316405773162842, + -0.0008967295289039612, + -0.0073729753494262695, + 0.0024395212531089783, + 0.004495799541473389, + -0.002621889114379883, + 1.0 + ], + [ + 0.003062039613723755, + 0.004294902086257935, + -0.005001245066523552, + 0.011091835796833038, + 0.007597073912620544, + 0.004206985235214233, + 1.0 + ], + [ + 0.0007248222827911377, + 0.0020806118845939636, + -1.5465542674064636e-05, + -0.00026294589042663574, + 0.0006591677665710449, + 0.0056955814361572266, + 1.0 + ], + [ + 0.0009086430072784424, + 5.704164505004883e-05, + 6.743893027305603e-05, + -0.009701728820800781, + 0.0014133602380752563, + 0.011668950319290161, + 1.0 + ], + [ + 0.0006976723670959473, + -0.00034400075674057007, + -0.006107255816459656, + -0.00662645697593689, + 0.010761171579360962, + 0.006097018718719482, + 1.0 + ], + [ + -0.0009651482105255127, + 0.0002726241946220398, + -0.007381312549114227, + 0.012518003582954407, + 0.011687710881233215, + -0.004042565822601318, + 1.0 + ], + [ + 3.764033317565918e-05, + 0.00129670649766922, + -0.0008832681924104691, + 0.007272042334079742, + -0.0025994181632995605, + 0.005758881568908691, + 0.0 + ], + [ + 0.0009195804595947266, + -0.0007026195526123047, + 0.00010558590292930603, + 0.0029179565608501434, + -0.011562198400497437, + 0.008625507354736328, + 0.0 + ], + [ + -0.0005314648151397705, + -0.00026588141918182373, + -2.3094937205314636e-05, + 0.003986135125160217, + -0.00047419965267181396, + -0.0020338594913482666, + 0.0 + ], + [ + -0.0021040737628936768, + 6.872415542602539e-05, + 0.00030627287924289703, + 0.005560088902711868, + 0.009508669376373291, + -0.008645117282867432, + 0.0 + ], + [ + 0.00255623459815979, + -0.0025672167539596558, + 0.014675473794341087, + -0.03459685295820236, + -0.02276463806629181, + 0.0015271008014678955, + 0.0 + ], + [ + 0.0009164810180664062, + -0.001125052571296692, + 0.016568418592214584, + -0.02757139503955841, + -0.025513723492622375, + -0.008341103792190552, + 0.0 + ], + [ + -0.0005163252353668213, + 0.0051179081201553345, + 0.021718785166740417, + -0.0262349471449852, + -0.028357699513435364, + 0.0009198188781738281, + 0.0 + ], + [ + 0.0004399120807647705, + 0.020720750093460083, + 0.02170705795288086, + -0.02072058618068695, + -0.022741958498954773, + 0.050255924463272095, + 0.0 + ], + [ + 0.005161106586456299, + 0.03159546107053757, + 0.006879046559333801, + -0.006128773093223572, + 0.0034028291702270508, + 0.08509045839309692, + 0.0 + ], + [ + 0.011983692646026611, + 0.03221126273274422, + 0.011329852044582367, + 0.006550192832946777, + -0.035319775342941284, + 0.06416928768157959, + 0.0 + ], + [ + 0.01194697618484497, + 0.03248698264360428, + -0.002707555890083313, + 0.019835323095321655, + -0.01486709713935852, + 0.07674276828765869, + 0.0 + ], + [ + 0.011554419994354248, + 0.024243595078587532, + -0.01101364940404892, + 0.022280409932136536, + 0.004049748182296753, + 0.06275820732116699, + 0.0 + ], + [ + 0.012454450130462646, + 0.020432550460100174, + -0.009935230016708374, + 0.05264014005661011, + -0.014190316200256348, + 0.020980894565582275, + 0.0 + ], + [ + 0.013167977333068848, + 0.019648831337690353, + -0.007068566977977753, + 0.022743504494428635, + -0.01262277364730835, + 0.029463887214660645, + 0.0 + ], + [ + 0.013822168111801147, + 0.017410852015018463, + -0.0157935693860054, + 0.02015393041074276, + 0.011245667934417725, + 0.01676785945892334, + 0.0 + ], + [ + 0.006571710109710693, + 0.015619337558746338, + -0.016956601291894913, + 0.016169127076864243, + 0.020806163549423218, + 0.026166319847106934, + 0.0 + ], + [ + 0.004597663879394531, + 0.004983589053153992, + -0.014326870441436768, + -0.005704477429389954, + 0.018837183713912964, + 0.02103734016418457, + 0.0 + ], + [ + 0.007290244102478027, + 0.003586612641811371, + -0.008453957736492157, + 0.0009870994836091995, + 0.00566592812538147, + -0.003029763698577881, + 0.0 + ], + [ + 0.000628352165222168, + -0.0027431845664978027, + -0.002590324729681015, + -0.023995663970708847, + 0.015117794275283813, + 0.030667483806610107, + 1.0 + ], + [ + -0.003996223211288452, + -0.000728115439414978, + -0.0015277918428182602, + -0.010751232504844666, + 0.03419561684131622, + 0.0488811731338501, + 1.0 + ], + [ + -0.0064251720905303955, + 0.0018124058842658997, + -0.003851199522614479, + 0.018967345356941223, + 0.015584185719490051, + -0.005128800868988037, + 1.0 + ], + [ + -0.0007153153419494629, + -0.001171790063381195, + 0.0008984412997961044, + -0.00028575025498867035, + 0.007802903652191162, + -0.004505515098571777, + 1.0 + ], + [ + 0.0028284192085266113, + -0.003123939037322998, + 0.014732910320162773, + -0.03231020271778107, + -0.009563252329826355, + -0.008290529251098633, + 1.0 + ], + [ + -0.0019967854022979736, + -0.0018914416432380676, + 0.029343925416469574, + -0.04290346801280975, + -0.028230801224708557, + -0.0002506375312805176, + 1.0 + ], + [ + -0.009175896644592285, + -0.0006673857569694519, + 0.037352751940488815, + -0.058792948722839355, + -0.044831693172454834, + -0.002225518226623535, + 1.0 + ], + [ + -0.010766267776489258, + -0.004938438534736633, + 0.019901588559150696, + -0.01839648187160492, + -0.027495205402374268, + -0.048106372356414795, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9375205039978027 + ], + [ + 0.6681591272354126 + ], + [ + 0.6360166668891907 + ], + [ + 0.6360166668891907 + ], + [ + 0.6360166668891907 + ], + [ + 0.6360166668891907 + ], + [ + 0.6360166668891907 + ], + [ + 0.6360166668891907 + ], + [ + 0.6360166668891907 + ], + [ + 0.6360166668891907 + ], + [ + 0.6360166668891907 + ], + [ + 0.6360166668891907 + ], + [ + 0.6360166668891907 + ], + [ + 0.6360166668891907 + ], + [ + 0.6360166668891907 + ], + [ + 0.6360166668891907 + ], + [ + 0.6360166668891907 + ], + [ + 0.6360166668891907 + ], + [ + 0.7200843095779419 + ], + [ + 0.9802480936050415 + ], + [ + 1.0054124593734741 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2831233739852905, + -0.06811388581991196, + 0.10436850041151047 + ], + [ + 0.28243154287338257, + -0.07553467899560928, + 0.09514936059713364 + ], + [ + 0.2821129262447357, + -0.07766060531139374, + 0.08447567373514175 + ], + [ + 0.2809850871562958, + -0.08432966470718384, + 0.07390224188566208 + ], + [ + 0.2818695902824402, + -0.09480313211679459, + 0.06198997423052788 + ], + [ + 0.282851904630661, + -0.10494665801525116, + 0.04917093738913536 + ], + [ + 0.2847801744937897, + -0.10820602625608444, + 0.04330820590257645 + ], + [ + 0.28601181507110596, + -0.1091027557849884, + 0.03593523055315018 + ], + [ + 0.2890738546848297, + -0.10480785369873047, + 0.030933985486626625 + ], + [ + 0.28979867696762085, + -0.1027272418141365, + 0.03091851994395256 + ], + [ + 0.2907073199748993, + -0.10267020016908646, + 0.030985958874225616 + ], + [ + 0.29140499234199524, + -0.10301420092582703, + 0.02487870305776596 + ], + [ + 0.2904398441314697, + -0.10274157673120499, + 0.017497390508651733 + ], + [ + 0.2904774844646454, + -0.10144487023353577, + 0.016614122316241264 + ], + [ + 0.2913970649242401, + -0.10214748978614807, + 0.01671970821917057 + ], + [ + 0.29086560010910034, + -0.1024133712053299, + 0.016696613281965256 + ], + [ + 0.28876152634620667, + -0.10234464704990387, + 0.017002886161208153 + ], + [ + 0.29131776094436646, + -0.10491186380386353, + 0.03167835995554924 + ], + [ + 0.29223424196243286, + -0.10603691637516022, + 0.048246778547763824 + ], + [ + 0.29171791672706604, + -0.10091900825500488, + 0.06996556371450424 + ], + [ + 0.2921578288078308, + -0.0801982581615448, + 0.0916726216673851 + ], + [ + 0.2973189353942871, + -0.04860279709100723, + 0.0985516682267189 + ], + [ + 0.3093026280403137, + -0.016391534358263016, + 0.10988152027130127 + ], + [ + 0.3212496042251587, + 0.016095450147986412, + 0.10717396438121796 + ], + [ + 0.33280402421951294, + 0.040339045226573944, + 0.09616031497716904 + ], + [ + 0.3452584743499756, + 0.06077159568667412, + 0.08622508496046066 + ], + [ + 0.35842645168304443, + 0.08042042702436447, + 0.07915651798248291 + ], + [ + 0.3722486197948456, + 0.09783127903938293, + 0.06336294859647751 + ], + [ + 0.3788203299045563, + 0.11345061659812927, + 0.046406347304582596 + ], + [ + 0.3834179937839508, + 0.11843420565128326, + 0.03207947686314583 + ], + [ + 0.39070823788642883, + 0.12202081829309464, + 0.02362551912665367 + ], + [ + 0.391336590051651, + 0.11927763372659683, + 0.021035194396972656 + ], + [ + 0.38734036684036255, + 0.11854951828718185, + 0.019507402554154396 + ], + [ + 0.38091519474983215, + 0.12036192417144775, + 0.015656203031539917 + ], + [ + 0.3801998794078827, + 0.11919013410806656, + 0.01655464433133602 + ], + [ + 0.3830282986164093, + 0.11606619507074356, + 0.031287554651498795 + ], + [ + 0.38103151321411133, + 0.1141747534275055, + 0.06063148006796837 + ], + [ + 0.37185561656951904, + 0.11350736767053604, + 0.09798423200845718 + ], + [ + 0.3610893487930298, + 0.10856892913579941, + 0.11788582056760788 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8681290978942312, + 0.42890624028348284, + 0.24978251827386794, + 0.4323076862804521, + -0.9006509460988728, + 0.04402201351650204, + 0.24384817770938977, + 0.06976611166671204, + -0.9673007577226006 + ], + [ + 0.878915622321812, + 0.40891266724952857, + 0.24555602090264098, + 0.4099641052063374, + -0.9107693490223839, + 0.049281084847131104, + 0.2437965571558159, + 0.057355239030269636, + -0.9681289249241299 + ], + [ + 0.8822526360256375, + 0.40548183466693993, + 0.23919608688468644, + 0.40373490708405174, + -0.9129995864030683, + 0.05856517761996816, + 0.242133044063891, + 0.04490252757873107, + -0.9692034626379517 + ], + [ + 0.8855771160351248, + 0.40265036762707296, + 0.2315725653109503, + 0.40214768126036027, + -0.9141221346988362, + 0.05155545859129481, + 0.2324444320946987, + 0.047470035848164845, + -0.9714505554503261 + ], + [ + 0.8853384332780458, + 0.40956787967838926, + 0.22006819510443623, + 0.41460602344983655, + -0.9096577615744897, + 0.024992041261229957, + 0.21042267910063625, + 0.06911518460539547, + -0.9751642873778107 + ], + [ + 0.8927599514123805, + 0.40401267538305885, + 0.1993826153002991, + 0.4084559504914044, + -0.9125541773885827, + 0.02021410000001059, + 0.19011419111241368, + 0.06339267671009124, + -0.9797132044007585 + ], + [ + 0.8912381515912963, + 0.40642133298496336, + 0.20128650536698964, + 0.41359872597876296, + -0.9104325479514511, + 0.0069763528704385805, + 0.18609312458248892, + 0.07703425033940603, + -0.9795075667179769 + ], + [ + 0.8930702969138106, + 0.40482767153957105, + 0.19631607454848785, + 0.4116066151412285, + -0.9113360388347401, + 0.006827788293858848, + 0.18167399137537246, + 0.07470730002385498, + -0.9805168943883051 + ], + [ + 0.8925560672742867, + 0.4112498646474799, + 0.1849789598827062, + 0.4159310808410811, + -0.9092790713943658, + 0.014591309556350948, + 0.1741981709497216, + 0.06391493684287468, + -0.9826341527171455 + ], + [ + 0.8902762421465853, + 0.4164116501182693, + 0.18441678425548674, + 0.42105693453018067, + -0.9069080243769919, + 0.015129216921858247, + 0.17354904365452967, + 0.06418078346671645, + -0.9827316808163847 + ], + [ + 0.885522065104833, + 0.4252519968653853, + 0.18711336503434073, + 0.43152364250236397, + -0.9020668557334339, + 0.007920463918743383, + 0.17215695795977587, + 0.07373009527457922, + -0.9823063956204487 + ], + [ + 0.8844838770470095, + 0.4302695597886977, + 0.180433858139572, + 0.43771102049106764, + -0.899114306195846, + -0.0015896334894840436, + 0.16154669227365528, + 0.08038389336927519, + -0.9835858355538871 + ], + [ + 0.8878811536123205, + 0.4295714977809105, + 0.16472821663066708, + 0.4349327980239688, + -0.9004545081958931, + 0.0038909989377487533, + 0.15000172753370658, + 0.06819095954712184, + -0.9863313209935829 + ], + [ + 0.8850095587125751, + 0.43579417467477183, + 0.16383381307565076, + 0.4398637313209674, + -0.8979773804671646, + 0.0125108767768169, + 0.15257122551703067, + 0.06099230680063953, + -0.9864086169815062 + ], + [ + 0.8795508991288544, + 0.44340066363169095, + 0.1725864054107375, + 0.4466523040839512, + -0.8944445981067347, + 0.021692859981546207, + 0.16398760653818006, + 0.05800614112882751, + -0.9847554785291733 + ], + [ + 0.8803880018766589, + 0.44224230215421007, + 0.17128547030314273, + 0.44482738002341443, + -0.895263942461577, + 0.025121212344536528, + 0.16445536821012952, + 0.05407605305029957, + -0.9849011180587482 + ], + [ + 0.8855624024228019, + 0.4358475868645133, + 0.16067393204728586, + 0.437873128615196, + -0.8987033587846035, + 0.02448256820703896, + 0.1550688706733087, + 0.04867395539354493, + -0.9867038519304826 + ], + [ + 0.8815016917584733, + 0.4297167535730734, + 0.1956994612296319, + 0.43754180429892264, + -0.8991908836311671, + 0.003595036222954394, + 0.1775160187639216, + 0.08245766485427292, + -0.9806573288305083 + ], + [ + 0.88075944898405, + 0.414139752316177, + 0.22967598606908873, + 0.4280544422105304, + -0.9036726937660199, + -0.012043963031196335, + 0.20256403315777544, + 0.10892166034889808, + -0.9731926244982002 + ], + [ + 0.8748479874259433, + 0.4053866936288876, + 0.2651464265748552, + 0.4261766549331186, + -0.9043343095803348, + -0.023514151183420325, + 0.23024868661252804, + 0.13357052498398617, + -0.9639213957417422 + ], + [ + 0.8475282314904851, + 0.44164676199762887, + 0.2943535874481922, + 0.4669383700038019, + -0.8841079085365937, + -0.017937800345711144, + 0.2523181631290212, + 0.1526477765316604, + -0.9555282313334007 + ], + [ + 0.8054872176102139, + 0.5138195422607249, + 0.2952622906121516, + 0.5377521729339668, + -0.8431029424228279, + 0.00017024325671950724, + 0.24902398031384976, + 0.158640809594973, + -0.9554162185977891 + ], + [ + 0.7618806766336532, + 0.5644890169158016, + 0.3176318377519461, + 0.5825890191287436, + -0.8115301155430161, + 0.044820825040903456, + 0.28306866545567216, + 0.15090070029052438, + -0.9471542162124255 + ], + [ + 0.7117565173240324, + 0.6296751693590358, + 0.3113066673546101, + 0.6364101011475481, + -0.7656495940383643, + 0.09361026816677485, + 0.29729588494315207, + 0.13149098920290106, + -0.945687726765189 + ], + [ + 0.6712814925570747, + 0.6833920530056541, + 0.28697815184968956, + 0.6806481181229265, + -0.7216362277388588, + 0.12633009978049137, + 0.29342681718967845, + 0.11052808106335417, + -0.9495705588582598 + ], + [ + 0.6539271971841283, + 0.7117828223348536, + 0.256406775674787, + 0.6914862576456394, + -0.6998199721605376, + 0.1791612738636698, + 0.30696249977829315, + 0.06014333208473577, + -0.9498193530011939 + ], + [ + 0.6306438417581669, + 0.7372865808842828, + 0.2422743125064305, + 0.7075016221309072, + -0.6744897573052882, + 0.2109621339776119, + 0.3189510927001734, + 0.03836749846180765, + -0.9469942637245212 + ], + [ + 0.6209947125695887, + 0.7532923923909699, + 0.21660133546795915, + 0.7206479234078339, + -0.6574011427511979, + 0.22020514979762973, + 0.30827282956594027, + 0.019347068907426032, + -0.9511012319811707 + ], + [ + 0.6058554086028304, + 0.7735937952635906, + 0.1857198529946961, + 0.7414554606060816, + -0.6336692346478763, + 0.22069685316786564, + 0.2884146733509257, + 0.003992616992500045, + -0.9574972768658041 + ], + [ + 0.5933677376628004, + 0.7858169052517309, + 0.17437465217606135, + 0.7581804368620596, + -0.6183861396486249, + 0.20678734838023327, + 0.2703278621610927, + 0.00950650887884752, + -0.962721389202686 + ], + [ + 0.596600184821673, + 0.7841421157915422, + 0.1708489441369458, + 0.7575703643007199, + -0.620522121181032, + 0.20258193467895197, + 0.26486857609769465, + 0.008569677179224564, + -0.9642464405062763 + ], + [ + 0.5754047236806208, + 0.7989063099330289, + 0.17509457991388494, + 0.7786390891442032, + -0.6006126136964862, + 0.18161953949220627, + 0.2502610093936212, + 0.031830743281719726, + -0.9676550165009321 + ], + [ + 0.5411008243340107, + 0.8262703073057073, + 0.15648411155764794, + 0.8124745860314727, + -0.5616620528126184, + 0.15627151206570847, + 0.21701369762768777, + 0.0425807197596256, + -0.9752394256523426 + ], + [ + 0.547083503034163, + 0.8264237046885522, + 0.13312963996314991, + 0.8123954836410493, + -0.5625302675553022, + 0.15353591190267551, + 0.20177516910535603, + 0.024156953719561586, + -0.9791339145997836 + ], + [ + 0.5516067322516505, + 0.8239498676301852, + 0.12975603479937467, + 0.8111996305053805, + -0.566133885571885, + 0.1464499336811531, + 0.1941266916284062, + 0.02447527812876423, + -0.9806710908138007 + ], + [ + 0.5572308601263358, + 0.814264403462998, + 0.16268758334892278, + 0.8050353574052092, + -0.5777834267408472, + 0.13447819567153618, + 0.20349899717279143, + 0.05603385616440198, + -0.9774703909137177 + ], + [ + 0.553940074096078, + 0.8048224029935012, + 0.2130992584459134, + 0.7998526725126194, + -0.5854869733420012, + 0.1320632663583757, + 0.23105431522664147, + 0.0972928758264925, + -0.9680640473277369 + ], + [ + 0.549245857712798, + 0.7856690090825754, + 0.28469842983855204, + 0.7893157065747999, + -0.599629274087269, + 0.1320054885673288, + 0.27442613421403067, + 0.15221347451779332, + -0.9494847839937004 + ], + [ + 0.5817432031924608, + 0.7476155771434934, + 0.32038382348641803, + 0.7557241918986988, + -0.6424639637136736, + 0.126968504395279, + 0.30075869283934886, + 0.16825874165022298, + -0.9387402220741634 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006694.json b/json/chunk-0006/episode_0006694.json new file mode 100644 index 0000000000000000000000000000000000000000..784a78ba375382f18fc6384f0c7c0eba216e89df --- /dev/null +++ b/json/chunk-0006/episode_0006694.json @@ -0,0 +1,2362 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 38, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the cloth to the bottom." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006694.mp4", + "start": 0, + "end": 38, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.42424431443214417, + 0.16972503066062927, + 0.011708219535648823, + 0.1727311760187149, + -0.1457769274711609, + -0.47610557079315186, + 0.0, + 0.9865638017654419 + ], + [ + 0.42367228865623474, + 0.1694972813129425, + 0.008906375616788864, + 0.16783827543258667, + -0.14200524985790253, + -0.47390782833099365, + 0.0, + 0.9865638017654419 + ], + [ + 0.4174819886684418, + 0.170395165681839, + 0.01042669452726841, + 0.17566652595996857, + -0.14476971328258514, + -0.47192803025245667, + 0.0, + 0.9865638017654419 + ], + [ + 0.4129481315612793, + 0.17386718094348907, + 0.011203899048268795, + 0.16723190248012543, + -0.16395194828510284, + -0.4589492380619049, + 0.0, + 0.9872581958770752 + ], + [ + 0.40845203399658203, + 0.17500148713588715, + 0.01450676191598177, + 0.1816418319940567, + -0.1662842482328415, + -0.466734379529953, + 0.0, + 0.9872581958770752 + ], + [ + 0.40586593747138977, + 0.17861776053905487, + 0.0372876338660717, + 0.25311410427093506, + -0.21417605876922607, + -0.5003784894943237, + 0.0, + 0.9886419177055359 + ], + [ + 0.4136001467704773, + 0.18735744059085846, + 0.08014436811208725, + 0.39921003580093384, + -0.32807067036628723, + -0.5881616473197937, + 0.0, + 0.9907060265541077 + ], + [ + 0.41852325201034546, + 0.18942421674728394, + 0.0917573869228363, + 0.42701107263565063, + -0.36172622442245483, + -0.6450139284133911, + 0.0, + 0.9913908839225769 + ], + [ + 0.38865622878074646, + 0.19134575128555298, + 0.08989424258470535, + 0.3384445011615753, + -0.27513083815574646, + -0.4793540835380554, + 0.0, + 0.9913908839225769 + ], + [ + 0.3360903561115265, + 0.1721571534872055, + 0.06109333038330078, + 0.2205805778503418, + -0.21435688436031342, + -0.23652957379817963, + 0.0, + 0.9913908839225769 + ], + [ + 0.287890762090683, + 0.1525413542985916, + 0.043943244963884354, + 0.18540625274181366, + -0.1676347255706787, + -0.08613234758377075, + 0.0, + 0.9913908839225769 + ], + [ + 0.24162906408309937, + 0.13438892364501953, + 0.02793244458734989, + 0.15376222133636475, + -0.10437934845685959, + 0.004932863172143698, + 0.0, + 0.9913908839225769 + ], + [ + 0.1958262026309967, + 0.12978769838809967, + 0.021487649530172348, + 0.10965783894062042, + -0.08822686970233917, + 0.0773373395204544, + 0.0, + 0.9913908839225769 + ], + [ + 0.17283476889133453, + 0.1170760840177536, + 0.01839882880449295, + 0.0932982861995697, + -0.0863523855805397, + 0.11131413280963898, + 0.0, + 0.993436336517334 + ], + [ + 0.16158896684646606, + 0.11021817475557327, + 0.005908907391130924, + 0.05083383619785309, + -0.07814663648605347, + 0.15745027363300323, + 0.0, + 0.993436336517334 + ], + [ + 0.17448095977306366, + 0.1183038204908371, + -0.002666184213012457, + 0.008332867175340652, + -0.10410007834434509, + 0.15284401178359985, + 0.0, + 0.9492040276527405 + ], + [ + 0.19012346863746643, + 0.1264389306306839, + -0.006468384526669979, + -0.0008266550139524043, + -0.1275443583726883, + 0.13937941193580627, + 0.0, + 0.7141282558441162 + ], + [ + 0.19822649657726288, + 0.13170643150806427, + -0.006490367464721203, + 0.005137035623192787, + -0.1360975205898285, + 0.1199570894241333, + 0.0, + 0.4985305666923523 + ], + [ + 0.19770489633083344, + 0.13241706788539886, + -0.006720776669681072, + 0.012014640495181084, + -0.13011696934700012, + 0.10971935093402863, + 0.0, + 0.3315716087818146 + ], + [ + 0.19472499191761017, + 0.1264958530664444, + -0.006690540816634893, + 0.041588179767131805, + -0.12541574239730835, + 0.12347869575023651, + 0.0, + 0.18066829442977905 + ], + [ + 0.1907893568277359, + 0.11035938560962677, + -0.0045170108787715435, + 0.0856413021683693, + -0.15380753576755524, + 0.14050185680389404, + 0.0, + 0.08157449960708618 + ], + [ + 0.18724599480628967, + 0.07927405834197998, + -0.005124220158904791, + 0.07268117368221283, + -0.1746346652507782, + 0.16630961000919342, + 0.0, + 0.06443082541227341 + ], + [ + 0.18893106281757355, + 0.05849062651395798, + -0.009662737138569355, + 0.04197044298052788, + -0.21183915436267853, + 0.20486953854560852, + 0.0, + 0.06354815512895584 + ], + [ + 0.18836495280265808, + 0.03816791623830795, + -0.00995006412267685, + -0.000705636921338737, + -0.21241842210292816, + 0.2566932737827301, + 0.0, + 0.06325549632310867 + ], + [ + 0.1828710436820984, + 0.018163498491048813, + -0.008373575285077095, + -0.03501913323998451, + -0.18708427250385284, + 0.3051340878009796, + 0.0, + 0.06296365708112717 + ], + [ + 0.1618703007698059, + -0.011931479908525944, + -0.008204512298107147, + -0.051719918847084045, + -0.11819689720869064, + 0.37248682975769043, + 0.0, + 0.061516307294368744 + ], + [ + 0.15035086870193481, + -0.030764706432819366, + -0.008602423593401909, + -0.06885869055986404, + -0.09988251328468323, + 0.42930760979652405, + 0.0, + 0.05812275409698486 + ], + [ + 0.14109738171100616, + -0.04023556038737297, + -0.00794112216681242, + -0.07195557653903961, + -0.09246694296598434, + 0.4584720730781555, + 0.0, + 0.05784503370523453 + ], + [ + 0.14132539927959442, + -0.03948820009827614, + -0.007869044318795204, + -0.05691584572196007, + -0.10675717145204544, + 0.4613553583621979, + 0.0, + 0.05784503370523453 + ], + [ + 0.1395135223865509, + -0.035172801464796066, + -0.006153212860226631, + 0.0016159797087311745, + -0.15501640737056732, + 0.38941439986228943, + 0.0, + 0.08055824041366577 + ], + [ + 0.14004696905612946, + -0.020302843302488327, + -0.005434094462543726, + 0.08453936129808426, + -0.16883118450641632, + 0.29125964641571045, + 0.0, + 0.22810569405555725 + ], + [ + 0.1306149959564209, + -0.0035906180273741484, + -0.00023256478016264737, + 0.17080941796302795, + -0.1208823025226593, + 0.233202263712883, + 0.0, + 0.48990920186042786 + ], + [ + 0.12142577767372131, + 0.005191985052078962, + 0.009029464796185493, + 0.21693837642669678, + -0.043090883642435074, + 0.23223677277565002, + 0.0, + 0.7979477047920227 + ], + [ + 0.13177825510501862, + 0.0020625453907996416, + 0.024996722117066383, + 0.21034494042396545, + -0.05237056687474251, + 0.2512696385383606, + 0.0, + 1.00800359249115 + ], + [ + 0.14427705109119415, + 0.0005689689423888922, + 0.03915325924754143, + 0.20835049450397491, + -0.085206538438797, + 0.24101240932941437, + 0.0, + 1.0086473226547241 + ], + [ + 0.16311395168304443, + 0.002990482607856393, + 0.04681474342942238, + 0.20855404436588287, + -0.20372416079044342, + 0.1328604519367218, + 0.0, + 1.0014774799346924 + ], + [ + 0.17757582664489746, + 0.009726948104798794, + 0.051944147795438766, + 0.21660049259662628, + -0.28247711062431335, + 0.06177642568945885, + 0.0, + 1.0008161067962646 + ], + [ + 0.18808148801326752, + 0.013427786529064178, + 0.06390666216611862, + 0.26858943700790405, + -0.30130743980407715, + -0.013220632448792458, + 0.0, + 1.0008161067962646 + ] + ], + "left_gripper_pos": [ + [ + 0.9865638017654419 + ], + [ + 0.9865638017654419 + ], + [ + 0.9865638017654419 + ], + [ + 0.9872581958770752 + ], + [ + 0.9872581958770752 + ], + [ + 0.9886419177055359 + ], + [ + 0.9907060265541077 + ], + [ + 0.9913908839225769 + ], + [ + 0.9913908839225769 + ], + [ + 0.9913908839225769 + ], + [ + 0.9913908839225769 + ], + [ + 0.9913908839225769 + ], + [ + 0.9913908839225769 + ], + [ + 0.993436336517334 + ], + [ + 0.993436336517334 + ], + [ + 0.9492040276527405 + ], + [ + 0.7141282558441162 + ], + [ + 0.4985305666923523 + ], + [ + 0.3315716087818146 + ], + [ + 0.18066829442977905 + ], + [ + 0.08157449960708618 + ], + [ + 0.06443082541227341 + ], + [ + 0.06354815512895584 + ], + [ + 0.06325549632310867 + ], + [ + 0.06296365708112717 + ], + [ + 0.061516307294368744 + ], + [ + 0.05812275409698486 + ], + [ + 0.05784503370523453 + ], + [ + 0.05784503370523453 + ], + [ + 0.08055824041366577 + ], + [ + 0.22810569405555725 + ], + [ + 0.48990920186042786 + ], + [ + 0.7979477047920227 + ], + [ + 1.00800359249115 + ], + [ + 1.0086473226547241 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.42424431443214417, + 0.16972503066062927, + 0.011708219535648823 + ], + [ + 0.42367228865623474, + 0.1694972813129425, + 0.008906375616788864 + ], + [ + 0.4174819886684418, + 0.170395165681839, + 0.01042669452726841 + ], + [ + 0.4129481315612793, + 0.17386718094348907, + 0.011203899048268795 + ], + [ + 0.40845203399658203, + 0.17500148713588715, + 0.01450676191598177 + ], + [ + 0.40586593747138977, + 0.17861776053905487, + 0.0372876338660717 + ], + [ + 0.4136001467704773, + 0.18735744059085846, + 0.08014436811208725 + ], + [ + 0.41852325201034546, + 0.18942421674728394, + 0.0917573869228363 + ], + [ + 0.38865622878074646, + 0.19134575128555298, + 0.08989424258470535 + ], + [ + 0.3360903561115265, + 0.1721571534872055, + 0.06109333038330078 + ], + [ + 0.287890762090683, + 0.1525413542985916, + 0.043943244963884354 + ], + [ + 0.24162906408309937, + 0.13438892364501953, + 0.02793244458734989 + ], + [ + 0.1958262026309967, + 0.12978769838809967, + 0.021487649530172348 + ], + [ + 0.17283476889133453, + 0.1170760840177536, + 0.01839882880449295 + ], + [ + 0.16158896684646606, + 0.11021817475557327, + 0.005908907391130924 + ], + [ + 0.17448095977306366, + 0.1183038204908371, + -0.002666184213012457 + ], + [ + 0.19012346863746643, + 0.1264389306306839, + -0.006468384526669979 + ], + [ + 0.19822649657726288, + 0.13170643150806427, + -0.006490367464721203 + ], + [ + 0.19770489633083344, + 0.13241706788539886, + -0.006720776669681072 + ], + [ + 0.19472499191761017, + 0.1264958530664444, + -0.006690540816634893 + ], + [ + 0.1907893568277359, + 0.11035938560962677, + -0.0045170108787715435 + ], + [ + 0.18724599480628967, + 0.07927405834197998, + -0.005124220158904791 + ], + [ + 0.18893106281757355, + 0.05849062651395798, + -0.009662737138569355 + ], + [ + 0.18836495280265808, + 0.03816791623830795, + -0.00995006412267685 + ], + [ + 0.1828710436820984, + 0.018163498491048813, + -0.008373575285077095 + ], + [ + 0.1618703007698059, + -0.011931479908525944, + -0.008204512298107147 + ], + [ + 0.15035086870193481, + -0.030764706432819366, + -0.008602423593401909 + ], + [ + 0.14109738171100616, + -0.04023556038737297, + -0.00794112216681242 + ], + [ + 0.14132539927959442, + -0.03948820009827614, + -0.007869044318795204 + ], + [ + 0.1395135223865509, + -0.035172801464796066, + -0.006153212860226631 + ], + [ + 0.14004696905612946, + -0.020302843302488327, + -0.005434094462543726 + ], + [ + 0.1306149959564209, + -0.0035906180273741484, + -0.00023256478016264737 + ], + [ + 0.12142577767372131, + 0.005191985052078962, + 0.009029464796185493 + ], + [ + 0.13177825510501862, + 0.0020625453907996416, + 0.024996722117066383 + ], + [ + 0.14427705109119415, + 0.0005689689423888922, + 0.03915325924754143 + ], + [ + 0.16311395168304443, + 0.002990482607856393, + 0.04681474342942238 + ], + [ + 0.17757582664489746, + 0.009726948104798794, + 0.051944147795438766 + ], + [ + 0.18808148801326752, + 0.013427786529064178, + 0.06390666216611862 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8793595076901553, + -0.42931114363968903, + 0.20595824378186456, + -0.4534600881335116, + -0.8870032488475773, + 0.08717330442165559, + 0.14526116034534348, + -0.17005051743709865, + -0.974670209257726 + ], + [ + 0.8808352063104844, + -0.4289172090670651, + 0.2003980216720863, + -0.45177321015659133, + -0.8880781660788473, + 0.08495962287369148, + 0.14152846324600138, + -0.1653698845018376, + -0.9760238190695318 + ], + [ + 0.8813760464037799, + -0.42515173129362294, + 0.2059666725557248, + -0.4498488665778294, + -0.8884475533666656, + 0.09108755214313405, + 0.14426455581425526, + -0.17293626078651333, + -0.9743104164694611 + ], + [ + 0.8844961364412973, + -0.412469212707389, + 0.21802690932305727, + -0.4370655910081148, + -0.8960471489304068, + 0.07793058482018957, + 0.1632184235224238, + -0.16422136116302316, + -0.9728263415227913 + ], + [ + 0.8807243951629145, + -0.41586752310978725, + 0.2266687957956483, + -0.4437657039468573, + -0.8918047630257236, + 0.08806965791453522, + 0.16551900122182023, + -0.17815293392802614, + -0.9699819546606873 + ], + [ + 0.8573540494127817, + -0.41777171728856394, + 0.3006839307134152, + -0.4687960842432081, + -0.8749797017737965, + 0.12099897884723333, + 0.21254238484062563, + -0.24469841380279217, + -0.9460171356421918 + ], + [ + 0.787590004750157, + -0.40700785627068536, + 0.462651693341318, + -0.5252409553221948, + -0.8360322778063649, + 0.1586567657496182, + 0.32221719890452155, + -0.36796010028241133, + -0.8722278609000528 + ], + [ + 0.74738005164948, + -0.4301075455773997, + 0.5063897289971488, + -0.5623036893324405, + -0.8154548000658495, + 0.13728812771937596, + 0.3538892755644723, + -0.3873512208409191, + -0.8513057102789235 + ], + [ + 0.8539216173822402, + -0.3550083581053347, + 0.38050878707679464, + -0.44386003466264123, + -0.8785600882684885, + 0.1764098663083919, + 0.2716728565694004, + -0.3195328417815924, + -0.9077954736758727 + ], + [ + 0.9499076829298327, + -0.18340631099240443, + 0.25305635538163057, + -0.22896722224163937, + -0.9595084833515652, + 0.16406547935299165, + 0.21271907542537036, + -0.21378867010329766, + -0.9534385137415203 + ], + [ + 0.9823270397899171, + -0.053907319404160756, + 0.17924170221306404, + -0.08481999150219015, + -0.9818638813232905, + 0.16955496924104574, + 0.16685069954647277, + -0.1817617106747771, + -0.9690838583907131 + ], + [ + 0.9945453196045072, + 0.020831869870297053, + 0.10220391602318889, + 0.004905995772928658, + -0.9881111238056465, + 0.1536630671860287, + 0.10418991533850118, + -0.1523234722859513, + -0.9828234944955816 + ], + [ + 0.9931331176595402, + 0.08641025899261243, + 0.07886620156107148, + 0.07695976809241317, + -0.990277502592743, + 0.11587778887190384, + 0.08811245486878623, + -0.10901254514737826, + -0.9901274969909112 + ], + [ + 0.9901079860587109, + 0.11858639998248735, + 0.07498961049343796, + 0.11067048986154174, + -0.9885962176750686, + 0.10212522250822861, + 0.0862451077834007, + -0.09281586145558496, + -0.9919410250844996 + ], + [ + 0.9846161479948597, + 0.16051565811240778, + 0.06903451751482871, + 0.15632199330851101, + -0.9857325218829497, + 0.06240857080829553, + 0.07806712186201313, + -0.05065687320611905, + -0.9956602862830077 + ], + [ + 0.9829916646151183, + 0.15310009699629912, + 0.10142853443150188, + 0.15142539440029018, + -0.9881759332088181, + 0.024055663732222655, + 0.10391216111656576, + -0.00828766110582549, + -0.9945519480879215 + ], + [ + 0.9822584143192331, + 0.13882439427155815, + 0.12608011363494345, + 0.13780008796617374, + -0.9903166742275948, + 0.01685290785918421, + 0.12719883354646008, + 0.0008199401992499654, + -0.9918768998431656 + ], + [ + 0.983633241577012, + 0.1203599960003633, + 0.13408623131213532, + 0.11856302259915037, + -0.9927172650049341, + 0.02133638754045382, + 0.13567776434203316, + -0.005089511166664359, + -0.9907399462720939 + ], + [ + 0.9855844223668255, + 0.11104093049790656, + 0.12764504746370128, + 0.10857371546152211, + -0.9937444325224088, + 0.026148635558987908, + 0.1297501240798324, + -0.011912790809689341, + -0.9914751589003092 + ], + [ + 0.9845917369126851, + 0.12821971233626192, + 0.11890675746848119, + 0.12219778511418321, + -0.9908875679671071, + 0.056652704802328535, + 0.12508722123562369, + -0.041249642624368504, + -0.9912878764853892 + ], + [ + 0.9784570909985091, + 0.15250203871366888, + 0.13915764176972079, + 0.13838685990900965, + -0.9846818439792521, + 0.10606952032579427, + 0.15320182139667743, + -0.08452688522472938, + -0.9845732108862936 + ], + [ + 0.9712023442929916, + 0.17754999237218816, + 0.1588773320786624, + 0.1630261020795592, + -0.9815100275412345, + 0.10030232238961531, + 0.17374837115939473, + -0.07151269848524178, + -0.9821901228758189 + ], + [ + 0.9572008847401247, + 0.21189782622039596, + 0.19714405265133636, + 0.19889171720862361, + -0.9764305687957842, + 0.08381783310815091, + 0.21025829609917154, + -0.04102018483883059, + -0.976784926868377 + ], + [ + 0.9454951329926489, + 0.2537396106586403, + 0.20409596632470395, + 0.24817725553211786, + -0.9672723164603758, + 0.05284236601368392, + 0.21082457950570882, + 0.0006897769058862684, + -0.9775236676848601 + ], + [ + 0.9371634396657033, + 0.29402564762896827, + 0.1878126883102242, + 0.29517894070371214, + -0.9551782487154378, + 0.022447853927349572, + 0.1859948394955678, + 0.03440104238646025, + -0.9819483122668641 + ], + [ + 0.9249265178843799, + 0.3577680621053988, + 0.12850272468560098, + 0.3613936458900021, + -0.9323983116395714, + -0.005293501866278867, + 0.11792187763348913, + 0.051336168429520296, + -0.9916950280133345 + ], + [ + 0.9047223439711162, + 0.4090166016253097, + 0.11909198089834853, + 0.4141667498954263, + -0.9099551977273701, + -0.021152810924387068, + 0.09971651618698536, + 0.06846135934836647, + -0.9926578759450333 + ], + [ + 0.892898921727397, + 0.4354804686322601, + 0.11440400787506982, + 0.44068778125318875, + -0.8973472868454324, + -0.023709201700671107, + 0.09233523180343234, + 0.07158636903048345, + -0.9931513463399413 + ], + [ + 0.8903520468938388, + 0.43901368381060957, + 0.12058282638497549, + 0.4426278020047978, + -0.8966982817591289, + -0.0035805561896098403, + 0.10655450006617541, + 0.05656126693474537, + -0.9926968125255483 + ], + [ + 0.9140382851967997, + 0.3798770488149854, + 0.14222320829636415, + 0.37509437835148707, + -0.9250356093936697, + 0.060110969737591585, + 0.1543963099416732, + -0.001596601797386167, + -0.988007707631421 + ], + [ + 0.9442635808552703, + 0.2997241973757831, + 0.1361311697511802, + 0.2830761721431874, + -0.9503877200365582, + 0.12896147629611204, + 0.16803026702098214, + -0.08323813495721026, + -0.9822612902144227 + ], + [ + 0.9658315168962114, + 0.24767401953193569, + 0.07633518860170443, + 0.2294079046861956, + -0.9540359088410025, + 0.1928406023362603, + 0.12058811814375761, + -0.1687396358026668, + -0.9782563268753903 + ], + [ + 0.9722506776071191, + 0.23378335369366596, + -0.008600199313972302, + 0.22994117643509185, + -0.9482102738453155, + 0.2191445457998846, + 0.043077549514146225, + -0.2150409730956732, + -0.9756545006394027 + ], + [ + 0.9672695560881934, + 0.25374038410437605, + -0.0023288064567684175, + 0.24829304480349304, + -0.9445310938108288, + 0.2149687808188203, + 0.05234663090553168, + -0.20851098364134948, + -0.9766181443807794 + ], + [ + 0.9675738006461075, + 0.25061849154233495, + 0.03148510759535997, + 0.23781997194847473, + -0.9458936711014272, + 0.22074153191615736, + 0.08510347375797, + -0.20609593559143718, + -0.9748240169830742 + ], + [ + 0.9706891851276827, + 0.1711193111008974, + 0.1687622210226864, + 0.12973043315089605, + -0.9641602738870295, + 0.2314410961185792, + 0.20231787017126457, + -0.2027637729636209, + -0.9580993329414862 + ], + [ + 0.9585359707524703, + 0.12008355708946701, + 0.25843516032142433, + 0.05929036917201082, + -0.9710724423567443, + 0.2313070768886123, + 0.27873543889693364, + -0.20639343742485722, + -0.9379276646367167 + ], + [ + 0.9548658435797882, + 0.06600096395006658, + 0.28961197061295885, + -0.012624665899036613, + -0.9651030696006307, + 0.261565828919562, + 0.29676899867674356, + -0.25341653025227434, + -0.9207107165767655 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0005720257759094238, + -0.00022774934768676758, + -0.0028018439188599586, + -0.004892900586128235, + 0.003771677613258362, + 0.002197742462158203, + 1.0 + ], + [ + -0.006190299987792969, + 0.0008978843688964844, + 0.0015203189104795456, + 0.007828250527381897, + -0.002764463424682617, + 0.0019797980785369873, + 1.0 + ], + [ + -0.004533857107162476, + 0.0034720152616500854, + 0.0007772045210003853, + -0.00843462347984314, + -0.0191822350025177, + 0.012978792190551758, + 1.0 + ], + [ + -0.004496097564697266, + 0.0011343061923980713, + 0.0033028628677129745, + 0.014409929513931274, + -0.0023322999477386475, + -0.007785141468048096, + 1.0 + ], + [ + -0.0025860965251922607, + 0.0036162734031677246, + 0.022780872881412506, + 0.07147227227687836, + -0.04789181053638458, + -0.03364410996437073, + 1.0 + ], + [ + 0.007734209299087524, + 0.008739680051803589, + 0.04285673424601555, + 0.14609593152999878, + -0.11389461159706116, + -0.08778315782546997, + 1.0 + ], + [ + 0.004923105239868164, + 0.002066776156425476, + 0.011613018810749054, + 0.027801036834716797, + -0.0336555540561676, + -0.05685228109359741, + 1.0 + ], + [ + -0.029867023229599, + 0.001921534538269043, + -0.001863144338130951, + -0.08856657147407532, + 0.08659538626670837, + 0.1656598448753357, + 1.0 + ], + [ + -0.05256587266921997, + -0.019188597798347473, + -0.02880091220140457, + -0.11786392331123352, + 0.060773953795433044, + 0.2428245097398758, + 1.0 + ], + [ + -0.048199594020843506, + -0.01961579918861389, + -0.017150085419416428, + -0.03517432510852814, + 0.046722158789634705, + 0.15039722621440887, + 1.0 + ], + [ + -0.04626169800758362, + -0.018152430653572083, + -0.016010800376534462, + -0.031644031405448914, + 0.06325537711381912, + 0.09106521308422089, + 1.0 + ], + [ + -0.04580286145210266, + -0.004601225256919861, + -0.006444795057177544, + -0.044104382395744324, + 0.016152478754520416, + 0.07240447402000427, + 1.0 + ], + [ + -0.02299143373966217, + -0.01271161437034607, + -0.0030888207256793976, + -0.01635955274105072, + 0.001874484121799469, + 0.03397679328918457, + 1.0 + ], + [ + -0.01124580204486847, + -0.006857909262180328, + -0.012489921413362026, + -0.042464450001716614, + 0.008205749094486237, + 0.04613614082336426, + 1.0 + ], + [ + 0.012891992926597595, + 0.008085645735263824, + -0.008575091138482094, + -0.042500969022512436, + -0.025953441858291626, + -0.004606261849403381, + 0.0 + ], + [ + 0.01564250886440277, + 0.008135110139846802, + -0.003802200313657522, + -0.009159522131085396, + -0.0234442800283432, + -0.013464599847793579, + 0.0 + ], + [ + 0.008103027939796448, + 0.005267500877380371, + -2.1982938051223755e-05, + 0.0059636905789375305, + -0.008553162217140198, + -0.019422322511672974, + 0.0 + ], + [ + -0.0005216002464294434, + 0.0007106363773345947, + -0.00023040920495986938, + 0.0068776048719882965, + 0.005980551242828369, + -0.010237738490104675, + 0.0 + ], + [ + -0.0029799044132232666, + -0.005921214818954468, + 3.0235853046178818e-05, + 0.029573539271950722, + 0.0047012269496917725, + 0.013759344816207886, + 0.0 + ], + [ + -0.003935635089874268, + -0.016136467456817627, + 0.00217352993786335, + 0.04405312240123749, + -0.028391793370246887, + 0.017023161053657532, + 0.0 + ], + [ + -0.003543362021446228, + -0.03108532726764679, + -0.0006072092801332474, + -0.012960128486156464, + -0.02082712948322296, + 0.025807753205299377, + 0.0 + ], + [ + 0.0016850680112838745, + -0.020783431828022003, + -0.004538516979664564, + -0.030710730701684952, + -0.03720448911190033, + 0.0385599285364151, + 0.0 + ], + [ + -0.0005661100149154663, + -0.020322710275650024, + -0.00028732698410749435, + -0.04267608001828194, + -0.0005792677402496338, + 0.05182373523712158, + 0.0 + ], + [ + -0.005493909120559692, + -0.02000441774725914, + 0.0015764888375997543, + -0.034313496202230453, + 0.025334149599075317, + 0.04844081401824951, + 0.0 + ], + [ + -0.02100074291229248, + -0.030094977468252182, + 0.00016906298696994781, + -0.016700785607099533, + 0.0688873752951622, + 0.06735274195671082, + 0.0 + ], + [ + -0.011519432067871094, + -0.018833227455615997, + -0.00039791129529476166, + -0.01713877171278, + 0.018314383924007416, + 0.05682078003883362, + 0.0 + ], + [ + -0.00925348699092865, + -0.009470853954553604, + 0.000661301426589489, + -0.0030968859791755676, + 0.007415570318698883, + 0.02916446328163147, + 0.0 + ], + [ + 0.00022801756858825684, + 0.0007473602890968323, + 7.207784801721573e-05, + 0.015039730817079544, + -0.014290228486061096, + 0.0028832852840423584, + 0.0 + ], + [ + -0.001811876893043518, + 0.004315398633480072, + 0.001715831458568573, + 0.05853182449936867, + -0.04825923591852188, + -0.07194095849990845, + 1.0 + ], + [ + 0.0005334466695785522, + 0.01486995816230774, + 0.0007191183976829052, + 0.08292338252067566, + -0.013814777135848999, + -0.09815475344657898, + 1.0 + ], + [ + -0.009431973099708557, + 0.01671222597360611, + 0.005201529711484909, + 0.0862700566649437, + 0.04794888198375702, + -0.058057382702827454, + 1.0 + ], + [ + -0.009189218282699585, + 0.008782602846622467, + 0.009262030012905598, + 0.04612895846366882, + 0.07779142260551453, + -0.0009654909372329712, + 1.0 + ], + [ + 0.010352477431297302, + -0.0031294396612793207, + 0.01596725732088089, + -0.006593436002731323, + -0.009279683232307434, + 0.01903286576271057, + 1.0 + ], + [ + 0.012498795986175537, + -0.0014935764484107494, + 0.014156537130475044, + -0.0019944459199905396, + -0.03283597156405449, + -0.010257229208946228, + 1.0 + ], + [ + 0.01883690059185028, + 0.0024215136654675007, + 0.007661484181880951, + 0.00020354986190795898, + -0.11851762235164642, + -0.10815195739269257, + 1.0 + ], + [ + 0.014461874961853027, + 0.006736465729773045, + 0.005129404366016388, + 0.008046448230743408, + -0.07875294983386993, + -0.07108402252197266, + 1.0 + ], + [ + 0.010505661368370056, + 0.0037008384242653847, + 0.011962514370679855, + 0.05198894441127777, + -0.018830329179763794, + -0.07499706000089645, + 1.0 + ], + [ + 0.008888393640518188, + 0.00037170015275478363, + 0.002765379846096039, + 0.01486349105834961, + 0.04645264148712158, + -0.03522630035877228, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9865638017654419 + ], + [ + 0.9865638017654419 + ], + [ + 0.9872581958770752 + ], + [ + 0.9872581958770752 + ], + [ + 0.9886419177055359 + ], + [ + 0.9907060265541077 + ], + [ + 0.9913908839225769 + ], + [ + 0.9913908839225769 + ], + [ + 0.9913908839225769 + ], + [ + 0.9913908839225769 + ], + [ + 0.9913908839225769 + ], + [ + 0.9913908839225769 + ], + [ + 0.993436336517334 + ], + [ + 0.993436336517334 + ], + [ + 0.9492040276527405 + ], + [ + 0.7141282558441162 + ], + [ + 0.4985305666923523 + ], + [ + 0.3315716087818146 + ], + [ + 0.18066829442977905 + ], + [ + 0.08157449960708618 + ], + [ + 0.06443082541227341 + ], + [ + 0.06354815512895584 + ], + [ + 0.06325549632310867 + ], + [ + 0.06296365708112717 + ], + [ + 0.061516307294368744 + ], + [ + 0.05812275409698486 + ], + [ + 0.05784503370523453 + ], + [ + 0.05784503370523453 + ], + [ + 0.08055824041366577 + ], + [ + 0.22810569405555725 + ], + [ + 0.48990920186042786 + ], + [ + 0.7979477047920227 + ], + [ + 1.00800359249115 + ], + [ + 1.0086473226547241 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.42367228865623474, + 0.1694972813129425, + 0.008906375616788864 + ], + [ + 0.4174819886684418, + 0.170395165681839, + 0.01042669452726841 + ], + [ + 0.4129481315612793, + 0.17386718094348907, + 0.011203899048268795 + ], + [ + 0.40845203399658203, + 0.17500148713588715, + 0.01450676191598177 + ], + [ + 0.40586593747138977, + 0.17861776053905487, + 0.0372876338660717 + ], + [ + 0.4136001467704773, + 0.18735744059085846, + 0.08014436811208725 + ], + [ + 0.41852325201034546, + 0.18942421674728394, + 0.0917573869228363 + ], + [ + 0.38865622878074646, + 0.19134575128555298, + 0.08989424258470535 + ], + [ + 0.3360903561115265, + 0.1721571534872055, + 0.06109333038330078 + ], + [ + 0.287890762090683, + 0.1525413542985916, + 0.043943244963884354 + ], + [ + 0.24162906408309937, + 0.13438892364501953, + 0.02793244458734989 + ], + [ + 0.1958262026309967, + 0.12978769838809967, + 0.021487649530172348 + ], + [ + 0.17283476889133453, + 0.1170760840177536, + 0.01839882880449295 + ], + [ + 0.16158896684646606, + 0.11021817475557327, + 0.005908907391130924 + ], + [ + 0.17448095977306366, + 0.1183038204908371, + -0.002666184213012457 + ], + [ + 0.19012346863746643, + 0.1264389306306839, + -0.006468384526669979 + ], + [ + 0.19822649657726288, + 0.13170643150806427, + -0.006490367464721203 + ], + [ + 0.19770489633083344, + 0.13241706788539886, + -0.006720776669681072 + ], + [ + 0.19472499191761017, + 0.1264958530664444, + -0.006690540816634893 + ], + [ + 0.1907893568277359, + 0.11035938560962677, + -0.0045170108787715435 + ], + [ + 0.18724599480628967, + 0.07927405834197998, + -0.005124220158904791 + ], + [ + 0.18893106281757355, + 0.05849062651395798, + -0.009662737138569355 + ], + [ + 0.18836495280265808, + 0.03816791623830795, + -0.00995006412267685 + ], + [ + 0.1828710436820984, + 0.018163498491048813, + -0.008373575285077095 + ], + [ + 0.1618703007698059, + -0.011931479908525944, + -0.008204512298107147 + ], + [ + 0.15035086870193481, + -0.030764706432819366, + -0.008602423593401909 + ], + [ + 0.14109738171100616, + -0.04023556038737297, + -0.00794112216681242 + ], + [ + 0.14132539927959442, + -0.03948820009827614, + -0.007869044318795204 + ], + [ + 0.1395135223865509, + -0.035172801464796066, + -0.006153212860226631 + ], + [ + 0.14004696905612946, + -0.020302843302488327, + -0.005434094462543726 + ], + [ + 0.1306149959564209, + -0.0035906180273741484, + -0.00023256478016264737 + ], + [ + 0.12142577767372131, + 0.005191985052078962, + 0.009029464796185493 + ], + [ + 0.13177825510501862, + 0.0020625453907996416, + 0.024996722117066383 + ], + [ + 0.14427705109119415, + 0.0005689689423888922, + 0.03915325924754143 + ], + [ + 0.16311395168304443, + 0.002990482607856393, + 0.04681474342942238 + ], + [ + 0.17757582664489746, + 0.009726948104798794, + 0.051944147795438766 + ], + [ + 0.18808148801326752, + 0.013427786529064178, + 0.06390666216611862 + ], + [ + 0.1969698816537857, + 0.013799486681818962, + 0.06667204201221466 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8808352063104844, + -0.4289172090670651, + 0.2003980216720863, + -0.45177321015659133, + -0.8880781660788473, + 0.08495962287369148, + 0.14152846324600138, + -0.1653698845018376, + -0.9760238190695318 + ], + [ + 0.8813760464037799, + -0.42515173129362294, + 0.2059666725557248, + -0.4498488665778294, + -0.8884475533666656, + 0.09108755214313405, + 0.14426455581425526, + -0.17293626078651333, + -0.9743104164694611 + ], + [ + 0.8844961364412973, + -0.412469212707389, + 0.21802690932305727, + -0.4370655910081148, + -0.8960471489304068, + 0.07793058482018957, + 0.1632184235224238, + -0.16422136116302316, + -0.9728263415227913 + ], + [ + 0.8807243951629145, + -0.41586752310978725, + 0.2266687957956483, + -0.4437657039468573, + -0.8918047630257236, + 0.08806965791453522, + 0.16551900122182023, + -0.17815293392802614, + -0.9699819546606873 + ], + [ + 0.8573540494127817, + -0.41777171728856394, + 0.3006839307134152, + -0.4687960842432081, + -0.8749797017737965, + 0.12099897884723333, + 0.21254238484062563, + -0.24469841380279217, + -0.9460171356421918 + ], + [ + 0.787590004750157, + -0.40700785627068536, + 0.462651693341318, + -0.5252409553221948, + -0.8360322778063649, + 0.1586567657496182, + 0.32221719890452155, + -0.36796010028241133, + -0.8722278609000528 + ], + [ + 0.74738005164948, + -0.4301075455773997, + 0.5063897289971488, + -0.5623036893324405, + -0.8154548000658495, + 0.13728812771937596, + 0.3538892755644723, + -0.3873512208409191, + -0.8513057102789235 + ], + [ + 0.8539216173822402, + -0.3550083581053347, + 0.38050878707679464, + -0.44386003466264123, + -0.8785600882684885, + 0.1764098663083919, + 0.2716728565694004, + -0.3195328417815924, + -0.9077954736758727 + ], + [ + 0.9499076829298327, + -0.18340631099240443, + 0.25305635538163057, + -0.22896722224163937, + -0.9595084833515652, + 0.16406547935299165, + 0.21271907542537036, + -0.21378867010329766, + -0.9534385137415203 + ], + [ + 0.9823270397899171, + -0.053907319404160756, + 0.17924170221306404, + -0.08481999150219015, + -0.9818638813232905, + 0.16955496924104574, + 0.16685069954647277, + -0.1817617106747771, + -0.9690838583907131 + ], + [ + 0.9945453196045072, + 0.020831869870297053, + 0.10220391602318889, + 0.004905995772928658, + -0.9881111238056465, + 0.1536630671860287, + 0.10418991533850118, + -0.1523234722859513, + -0.9828234944955816 + ], + [ + 0.9931331176595402, + 0.08641025899261243, + 0.07886620156107148, + 0.07695976809241317, + -0.990277502592743, + 0.11587778887190384, + 0.08811245486878623, + -0.10901254514737826, + -0.9901274969909112 + ], + [ + 0.9901079860587109, + 0.11858639998248735, + 0.07498961049343796, + 0.11067048986154174, + -0.9885962176750686, + 0.10212522250822861, + 0.0862451077834007, + -0.09281586145558496, + -0.9919410250844996 + ], + [ + 0.9846161479948597, + 0.16051565811240778, + 0.06903451751482871, + 0.15632199330851101, + -0.9857325218829497, + 0.06240857080829553, + 0.07806712186201313, + -0.05065687320611905, + -0.9956602862830077 + ], + [ + 0.9829916646151183, + 0.15310009699629912, + 0.10142853443150188, + 0.15142539440029018, + -0.9881759332088181, + 0.024055663732222655, + 0.10391216111656576, + -0.00828766110582549, + -0.9945519480879215 + ], + [ + 0.9822584143192331, + 0.13882439427155815, + 0.12608011363494345, + 0.13780008796617374, + -0.9903166742275948, + 0.01685290785918421, + 0.12719883354646008, + 0.0008199401992499654, + -0.9918768998431656 + ], + [ + 0.983633241577012, + 0.1203599960003633, + 0.13408623131213532, + 0.11856302259915037, + -0.9927172650049341, + 0.02133638754045382, + 0.13567776434203316, + -0.005089511166664359, + -0.9907399462720939 + ], + [ + 0.9855844223668255, + 0.11104093049790656, + 0.12764504746370128, + 0.10857371546152211, + -0.9937444325224088, + 0.026148635558987908, + 0.1297501240798324, + -0.011912790809689341, + -0.9914751589003092 + ], + [ + 0.9845917369126851, + 0.12821971233626192, + 0.11890675746848119, + 0.12219778511418321, + -0.9908875679671071, + 0.056652704802328535, + 0.12508722123562369, + -0.041249642624368504, + -0.9912878764853892 + ], + [ + 0.9784570909985091, + 0.15250203871366888, + 0.13915764176972079, + 0.13838685990900965, + -0.9846818439792521, + 0.10606952032579427, + 0.15320182139667743, + -0.08452688522472938, + -0.9845732108862936 + ], + [ + 0.9712023442929916, + 0.17754999237218816, + 0.1588773320786624, + 0.1630261020795592, + -0.9815100275412345, + 0.10030232238961531, + 0.17374837115939473, + -0.07151269848524178, + -0.9821901228758189 + ], + [ + 0.9572008847401247, + 0.21189782622039596, + 0.19714405265133636, + 0.19889171720862361, + -0.9764305687957842, + 0.08381783310815091, + 0.21025829609917154, + -0.04102018483883059, + -0.976784926868377 + ], + [ + 0.9454951329926489, + 0.2537396106586403, + 0.20409596632470395, + 0.24817725553211786, + -0.9672723164603758, + 0.05284236601368392, + 0.21082457950570882, + 0.0006897769058862684, + -0.9775236676848601 + ], + [ + 0.9371634396657033, + 0.29402564762896827, + 0.1878126883102242, + 0.29517894070371214, + -0.9551782487154378, + 0.022447853927349572, + 0.1859948394955678, + 0.03440104238646025, + -0.9819483122668641 + ], + [ + 0.9249265178843799, + 0.3577680621053988, + 0.12850272468560098, + 0.3613936458900021, + -0.9323983116395714, + -0.005293501866278867, + 0.11792187763348913, + 0.051336168429520296, + -0.9916950280133345 + ], + [ + 0.9047223439711162, + 0.4090166016253097, + 0.11909198089834853, + 0.4141667498954263, + -0.9099551977273701, + -0.021152810924387068, + 0.09971651618698536, + 0.06846135934836647, + -0.9926578759450333 + ], + [ + 0.892898921727397, + 0.4354804686322601, + 0.11440400787506982, + 0.44068778125318875, + -0.8973472868454324, + -0.023709201700671107, + 0.09233523180343234, + 0.07158636903048345, + -0.9931513463399413 + ], + [ + 0.8903520468938388, + 0.43901368381060957, + 0.12058282638497549, + 0.4426278020047978, + -0.8966982817591289, + -0.0035805561896098403, + 0.10655450006617541, + 0.05656126693474537, + -0.9926968125255483 + ], + [ + 0.9140382851967997, + 0.3798770488149854, + 0.14222320829636415, + 0.37509437835148707, + -0.9250356093936697, + 0.060110969737591585, + 0.1543963099416732, + -0.001596601797386167, + -0.988007707631421 + ], + [ + 0.9442635808552703, + 0.2997241973757831, + 0.1361311697511802, + 0.2830761721431874, + -0.9503877200365582, + 0.12896147629611204, + 0.16803026702098214, + -0.08323813495721026, + -0.9822612902144227 + ], + [ + 0.9658315168962114, + 0.24767401953193569, + 0.07633518860170443, + 0.2294079046861956, + -0.9540359088410025, + 0.1928406023362603, + 0.12058811814375761, + -0.1687396358026668, + -0.9782563268753903 + ], + [ + 0.9722506776071191, + 0.23378335369366596, + -0.008600199313972302, + 0.22994117643509185, + -0.9482102738453155, + 0.2191445457998846, + 0.043077549514146225, + -0.2150409730956732, + -0.9756545006394027 + ], + [ + 0.9672695560881934, + 0.25374038410437605, + -0.0023288064567684175, + 0.24829304480349304, + -0.9445310938108288, + 0.2149687808188203, + 0.05234663090553168, + -0.20851098364134948, + -0.9766181443807794 + ], + [ + 0.9675738006461075, + 0.25061849154233495, + 0.03148510759535997, + 0.23781997194847473, + -0.9458936711014272, + 0.22074153191615736, + 0.08510347375797, + -0.20609593559143718, + -0.9748240169830742 + ], + [ + 0.9706891851276827, + 0.1711193111008974, + 0.1687622210226864, + 0.12973043315089605, + -0.9641602738870295, + 0.2314410961185792, + 0.20231787017126457, + -0.2027637729636209, + -0.9580993329414862 + ], + [ + 0.9585359707524703, + 0.12008355708946701, + 0.25843516032142433, + 0.05929036917201082, + -0.9710724423567443, + 0.2313070768886123, + 0.27873543889693364, + -0.20639343742485722, + -0.9379276646367167 + ], + [ + 0.9548658435797882, + 0.06600096395006658, + 0.28961197061295885, + -0.012624665899036613, + -0.9651030696006307, + 0.261565828919562, + 0.29676899867674356, + -0.25341653025227434, + -0.9207107165767655 + ], + [ + 0.9665644871690019, + 0.023928578169524227, + 0.25530474983930457, + -0.04686375702973244, + -0.962383474550579, + 0.26762256292961106, + 0.25210489963660593, + -0.27063900505791916, + -0.9290843064654989 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006695.json b/json/chunk-0006/episode_0006695.json new file mode 100644 index 0000000000000000000000000000000000000000..cb0a200046ef9663a0c2dc61f30a5ea7ce90d01d --- /dev/null +++ b/json/chunk-0006/episode_0006695.json @@ -0,0 +1,2242 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 36, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nOpen the lid of the silver pot and move the silver pot left of the mat." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006695.mp4", + "start": 0, + "end": 36, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3868354856967926, + -0.040043968707323074, + 0.04395127296447754, + 0.043287243694067, + -0.10408379137516022, + -0.3131718039512634, + 0.0, + 1.0008161067962646 + ], + [ + 0.38051700592041016, + -0.04037005826830864, + 0.027855858206748962, + 0.029159123077988625, + -0.06774921715259552, + -0.3115389347076416, + 0.0, + 1.0001531839370728 + ], + [ + 0.3476400077342987, + -0.04065634310245514, + 0.015842147171497345, + -0.005012235604226589, + -0.021680263802409172, + -0.34087124466896057, + 0.0, + 1.0001531839370728 + ], + [ + 0.32218584418296814, + -0.04393657669425011, + 0.02975485660135746, + 0.018506091088056564, + -0.04298039525747299, + -0.3674783408641815, + 0.0, + 1.0008161067962646 + ], + [ + 0.29491978883743286, + -0.0513056181371212, + 0.02977946773171425, + 0.02437407895922661, + -0.046516302973032, + -0.3991255760192871, + 0.0, + 1.0001531839370728 + ], + [ + 0.2755773961544037, + -0.06866582483053207, + 0.019090494140982628, + 0.03532327711582184, + -0.0368112213909626, + -0.4676086902618408, + 0.0, + 1.0001531839370728 + ], + [ + 0.26957985758781433, + -0.08602043986320496, + 0.014839938841760159, + 0.04269642010331154, + -0.05674693360924721, + -0.5064280033111572, + 0.0, + 1.0001531839370728 + ], + [ + 0.2587880790233612, + -0.09791626781225204, + 0.010811658576130867, + 0.05867193639278412, + -0.05713220313191414, + -0.5512756109237671, + 0.0, + 1.0001531839370728 + ], + [ + 0.25521278381347656, + -0.0992451012134552, + 0.024885816499590874, + 0.11221601814031601, + -0.09982740879058838, + -0.5548051595687866, + 0.0, + 1.0001531839370728 + ], + [ + 0.2562190592288971, + -0.09192129969596863, + 0.03948793187737465, + 0.16232433915138245, + -0.13309721648693085, + -0.5094499588012695, + 0.0, + 1.0001531839370728 + ], + [ + 0.25410962104797363, + -0.09115330874919891, + 0.04195898398756981, + 0.1593005657196045, + -0.13320624828338623, + -0.4967055022716522, + 0.0, + 1.0001531839370728 + ], + [ + 0.249794602394104, + -0.09552433341741562, + 0.03342689573764801, + 0.12388741225004196, + -0.1051425039768219, + -0.503554105758667, + 0.0, + 1.0001531839370728 + ], + [ + 0.24522452056407928, + -0.1042880192399025, + 0.027380138635635376, + 0.09749707579612732, + -0.09073083102703094, + -0.5354183912277222, + 0.0, + 1.0001531839370728 + ], + [ + 0.24266096949577332, + -0.10775938630104065, + 0.02608102560043335, + 0.10116118937730789, + -0.09302759170532227, + -0.5482200980186462, + 0.0, + 1.0001531839370728 + ], + [ + 0.2435644268989563, + -0.10673902928829193, + 0.02667994052171707, + 0.11161055415868759, + -0.09581427276134491, + -0.5426616072654724, + 0.0, + 1.0001531839370728 + ], + [ + 0.2451421022415161, + -0.110108382999897, + 0.016492657363414764, + 0.10771036148071289, + -0.06761609017848969, + -0.5416853427886963, + 0.0, + 1.0008161067962646 + ], + [ + 0.24527299404144287, + -0.10846105962991714, + -0.000709302315954119, + 0.09579753130674362, + -0.007431241683661938, + -0.54599928855896, + 0.0, + 1.0001531839370728 + ], + [ + 0.2467883974313736, + -0.10844834893941879, + -0.0003687483840622008, + 0.10074182599782944, + -0.013612162321805954, + -0.5476823449134827, + 0.0, + 0.9484345316886902 + ], + [ + 0.24658815562725067, + -0.1096339002251625, + -0.0004709188360720873, + 0.09383489936590195, + -0.01544672530144453, + -0.5581450462341309, + 0.0, + 0.6601285338401794 + ], + [ + 0.24810312688350677, + -0.10796880722045898, + -0.0003245768020860851, + 0.102521151304245, + -0.019555767998099327, + -0.5475714802742004, + 0.0, + 0.3519224226474762 + ], + [ + 0.2538478374481201, + -0.10221496969461441, + 0.0027962811291217804, + 0.10761374235153198, + -0.0248450618237257, + -0.5440537929534912, + 0.0, + 0.14865680038928986 + ], + [ + 0.26440200209617615, + -0.0907098650932312, + 0.018702158704400063, + 0.10240063816308975, + -0.06999246776103973, + -0.5318581461906433, + 0.0, + 0.07954961806535721 + ], + [ + 0.2741888165473938, + -0.07472433149814606, + 0.03845503181219101, + 0.10448067635297775, + -0.1250920444726944, + -0.5561140179634094, + 0.0, + 0.07788556814193726 + ], + [ + 0.28112372756004333, + -0.05279182270169258, + 0.04993271455168724, + 0.141732320189476, + -0.14523126184940338, + -0.5438612699508667, + 0.0, + 0.07788556814193726 + ], + [ + 0.2834661900997162, + -0.018624061718583107, + 0.04828818887472153, + 0.18067201972007751, + -0.1311006098985672, + -0.46050626039505005, + 0.0, + 0.07788556814193726 + ], + [ + 0.2755633592605591, + 0.0069876317866146564, + 0.03965333104133606, + 0.21350082755088806, + -0.10141865909099579, + -0.3975152373313904, + 0.0, + 0.07788556814193726 + ], + [ + 0.267058789730072, + 0.0276060588657856, + 0.02993491291999817, + 0.23167818784713745, + -0.06840036064386368, + -0.33164674043655396, + 0.0, + 0.07788556814193726 + ], + [ + 0.2648952603340149, + 0.03783068433403969, + 0.03006552718579769, + 0.2523673474788666, + -0.05791795998811722, + -0.2998787462711334, + 0.0, + 0.07788556814193726 + ], + [ + 0.258518785238266, + 0.049818627536296844, + 0.027320947498083115, + 0.2747843265533447, + -0.0422491580247879, + -0.26537299156188965, + 0.0, + 0.07788556814193726 + ], + [ + 0.25496137142181396, + 0.056773554533720016, + 0.02223488874733448, + 0.28860583901405334, + -0.010938665829598904, + -0.24554197490215302, + 0.0, + 0.07788556814193726 + ], + [ + 0.25122013688087463, + 0.057884834706783295, + 0.011156085878610611, + 0.2824987769126892, + 0.028343260288238525, + -0.23919591307640076, + 0.0, + 0.07788556814193726 + ], + [ + 0.2522405982017517, + 0.05716799572110176, + 0.007510770577937365, + 0.27291685342788696, + 0.042466968297958374, + -0.24045780301094055, + 0.0, + 0.10753463208675385 + ], + [ + 0.2510245442390442, + 0.05401007831096649, + 0.006199104245752096, + 0.2527461051940918, + 0.04739603027701378, + -0.23609529435634613, + 0.0, + 0.289117693901062 + ], + [ + 0.2522498071193695, + 0.04842974990606308, + 0.016164015978574753, + 0.22135327756404877, + 0.012088820338249207, + -0.2146056443452835, + 0.0, + 0.5789291858673096 + ], + [ + 0.2525455057621002, + 0.04987687990069389, + 0.03576873242855072, + 0.1764540821313858, + -0.03356239199638367, + -0.15539158880710602, + 0.0, + 0.8792814016342163 + ], + [ + 0.2510509490966797, + 0.04887235909700394, + 0.04654145613312721, + 0.1199110820889473, + -0.04228516295552254, + -0.10068187117576599, + 0.0, + 1.0149952173233032 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 0.9484345316886902 + ], + [ + 0.6601285338401794 + ], + [ + 0.3519224226474762 + ], + [ + 0.14865680038928986 + ], + [ + 0.07954961806535721 + ], + [ + 0.07788556814193726 + ], + [ + 0.07788556814193726 + ], + [ + 0.07788556814193726 + ], + [ + 0.07788556814193726 + ], + [ + 0.07788556814193726 + ], + [ + 0.07788556814193726 + ], + [ + 0.07788556814193726 + ], + [ + 0.07788556814193726 + ], + [ + 0.07788556814193726 + ], + [ + 0.10753463208675385 + ], + [ + 0.289117693901062 + ], + [ + 0.5789291858673096 + ], + [ + 0.8792814016342163 + ], + [ + 1.0149952173233032 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3868354856967926, + -0.040043968707323074, + 0.04395127296447754 + ], + [ + 0.38051700592041016, + -0.04037005826830864, + 0.027855858206748962 + ], + [ + 0.3476400077342987, + -0.04065634310245514, + 0.015842147171497345 + ], + [ + 0.32218584418296814, + -0.04393657669425011, + 0.02975485660135746 + ], + [ + 0.29491978883743286, + -0.0513056181371212, + 0.02977946773171425 + ], + [ + 0.2755773961544037, + -0.06866582483053207, + 0.019090494140982628 + ], + [ + 0.26957985758781433, + -0.08602043986320496, + 0.014839938841760159 + ], + [ + 0.2587880790233612, + -0.09791626781225204, + 0.010811658576130867 + ], + [ + 0.25521278381347656, + -0.0992451012134552, + 0.024885816499590874 + ], + [ + 0.2562190592288971, + -0.09192129969596863, + 0.03948793187737465 + ], + [ + 0.25410962104797363, + -0.09115330874919891, + 0.04195898398756981 + ], + [ + 0.249794602394104, + -0.09552433341741562, + 0.03342689573764801 + ], + [ + 0.24522452056407928, + -0.1042880192399025, + 0.027380138635635376 + ], + [ + 0.24266096949577332, + -0.10775938630104065, + 0.02608102560043335 + ], + [ + 0.2435644268989563, + -0.10673902928829193, + 0.02667994052171707 + ], + [ + 0.2451421022415161, + -0.110108382999897, + 0.016492657363414764 + ], + [ + 0.24527299404144287, + -0.10846105962991714, + -0.000709302315954119 + ], + [ + 0.2467883974313736, + -0.10844834893941879, + -0.0003687483840622008 + ], + [ + 0.24658815562725067, + -0.1096339002251625, + -0.0004709188360720873 + ], + [ + 0.24810312688350677, + -0.10796880722045898, + -0.0003245768020860851 + ], + [ + 0.2538478374481201, + -0.10221496969461441, + 0.0027962811291217804 + ], + [ + 0.26440200209617615, + -0.0907098650932312, + 0.018702158704400063 + ], + [ + 0.2741888165473938, + -0.07472433149814606, + 0.03845503181219101 + ], + [ + 0.28112372756004333, + -0.05279182270169258, + 0.04993271455168724 + ], + [ + 0.2834661900997162, + -0.018624061718583107, + 0.04828818887472153 + ], + [ + 0.2755633592605591, + 0.0069876317866146564, + 0.03965333104133606 + ], + [ + 0.267058789730072, + 0.0276060588657856, + 0.02993491291999817 + ], + [ + 0.2648952603340149, + 0.03783068433403969, + 0.03006552718579769 + ], + [ + 0.258518785238266, + 0.049818627536296844, + 0.027320947498083115 + ], + [ + 0.25496137142181396, + 0.056773554533720016, + 0.02223488874733448 + ], + [ + 0.25122013688087463, + 0.057884834706783295, + 0.011156085878610611 + ], + [ + 0.2522405982017517, + 0.05716799572110176, + 0.007510770577937365 + ], + [ + 0.2510245442390442, + 0.05401007831096649, + 0.006199104245752096 + ], + [ + 0.2522498071193695, + 0.04842974990606308, + 0.016164015978574753 + ], + [ + 0.2525455057621002, + 0.04987687990069389, + 0.03576873242855072 + ], + [ + 0.2510509490966797, + 0.04887235909700394, + 0.04654145613312721 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9462125904005977, + -0.3035118344947879, + 0.11208166705130335, + -0.30641044822986796, + -0.9518551174550134, + 0.00919089714196637, + 0.10389596230346093, + -0.043039536432346134, + -0.9936564936237908 + ], + [ + 0.9496793076762649, + -0.30451484313642224, + 0.07334795757981709, + -0.3058206572765159, + -0.9520633342170539, + 0.007009509431221734, + 0.06769740138653992, + -0.029088106660742567, + -0.9972817775816437 + ], + [ + 0.9422422726533891, + -0.3344065419924545, + 0.018755380498018743, + -0.33422977040616225, + -0.9424155952570794, + -0.011971064718281146, + 0.021678565432721623, + 0.005011036708501011, + -0.9997524340114835 + ], + [ + 0.9323743935910022, + -0.35845973090618954, + 0.04673982771120279, + -0.35893148795089824, + -0.9333621040111257, + 0.0018356887749349793, + 0.042967163429355054, + -0.018487945115302457, + -0.9989054103128325 + ], + [ + 0.9204044898462201, + -0.3874531676245755, + 0.052303135361105195, + -0.3881924378537931, + -0.9215678754797709, + 0.004391136166268295, + 0.04649952971857311, + -0.02434530306618381, + -0.9986215999839817 + ], + [ + 0.8920439987051636, + -0.44931159450537916, + 0.048750337610482634, + -0.45044761106171494, + -0.8926777499706295, + 0.014946049517121592, + 0.03680290834833994, + -0.035292006891192496, + -0.9986991640062065 + ], + [ + 0.873075070580362, + -0.482497644563632, + 0.0702562746069186, + -0.4842759149152557, + -0.8748599926435023, + 0.00984030003623158, + 0.056716482296487535, + -0.042614742312467785, + -0.9974804380906696 + ], + [ + 0.8504671927051788, + -0.5200207490474134, + 0.07927152510415805, + -0.5229197026093735, + -0.8521450485982515, + 0.0200947946595028, + 0.057101127441551686, + -0.05854260593491219, + -0.9966505027015503 + ], + [ + 0.845771252297203, + -0.5139782791254597, + 0.1431688421928899, + -0.5241550697014028, + -0.8505358377522595, + 0.04301455108890592, + 0.09966168618852059, + -0.11142314520014929, + -0.9887630813393913 + ], + [ + 0.8652916471810373, + -0.46256275510646244, + 0.1931477747918554, + -0.4833837554639641, + -0.8719960338534255, + 0.07722086439201135, + 0.13270459778124133, + -0.16018306568490215, + -0.9781262061694823 + ], + [ + 0.871368948061301, + -0.45197625245941536, + 0.1908759376330196, + -0.47231022909790715, + -0.8780652487643027, + 0.07697055542196389, + 0.13281266447151793, + -0.1572224097424601, + -0.9785917994908551 + ], + [ + 0.8710361872531436, + -0.46748435465633825, + 0.15084541307926455, + -0.4798767462922106, + -0.875418090364805, + 0.057978232381124685, + 0.10494888690933465, + -0.12288834449851352, + -0.9868557067387849 + ], + [ + 0.8565176454168099, + -0.5001923649795906, + 0.12722075736988908, + -0.5081023555138192, + -0.8604706790508223, + 0.0377121573915553, + 0.09060639828926376, + -0.09694229474249579, + -0.9911572388269716 + ], + [ + 0.8497632157021044, + -0.5104981380127671, + 0.1315071417266606, + -0.5189154847412003, + -0.8539794686181699, + 0.03802350423662845, + 0.0928934708977086, + -0.10055206742839981, + -0.9905857281429259 + ], + [ + 0.8524094747152705, + -0.5040793131250035, + 0.13893211829904897, + -0.5140484133622617, + -0.8565117082541829, + 0.04628090689736436, + 0.095667738216065, + -0.11086811851441289, + -0.9892198664410741 + ], + [ + 0.8548830035384971, + -0.5063693943956313, + 0.1129826830996651, + -0.5144026418049161, + -0.8556202816354327, + 0.05747917673580309, + 0.06756457921959423, + -0.10725656191349885, + -0.9919329904592218 + ], + [ + 0.8545852175711826, + -0.5162839918728498, + 0.05599058532155414, + -0.5192580125259371, + -0.8510594674307552, + 0.07790314065616002, + 0.007431173287503725, + -0.09564843246135704, + -0.9953874396591795 + ], + [ + 0.8536545466694676, + -0.516901160725677, + 0.06393046997319252, + -0.5206617284105244, + -0.8501178951403391, + 0.07880944696370337, + 0.013611741957256104, + -0.1005621917154112, + -0.9948376581524655 + ], + [ + 0.8481377851876708, + -0.5260561342895083, + 0.06266770231412336, + -0.5295504838923994, + -0.8452738385163918, + 0.07133318252462063, + 0.015446111040591782, + -0.09368607952168846, + -0.9954819617439474 + ], + [ + 0.8536281114031369, + -0.5161730832458427, + 0.06988845079692313, + -0.5205157712387203, + -0.8503502450244025, + 0.07725148981539899, + 0.019554521576190177, + -0.10232208422143753, + -0.9945591042097535 + ], + [ + 0.8553533758159538, + -0.5123314911350622, + 0.07672708564500404, + -0.5174489852952776, + -0.8520489895021014, + 0.07911426613029954, + 0.024842505854674374, + -0.10737300722142468, + -0.9939083897538489 + ], + [ + 0.859755970551894, + -0.4983177198358435, + 0.11179946868378464, + -0.5058939812081129, + -0.8609769256287587, + 0.052820576599051414, + 0.06993533354303978, + -0.10197148440841967, + -0.9923259875110433 + ], + [ + 0.8426765169647759, + -0.5139599120787816, + 0.16044156734489046, + -0.5237649455965793, + -0.8515503338305056, + 0.02307185985929497, + 0.12476605916805378, + -0.10347578329795656, + -0.9867756547212483 + ], + [ + 0.8467084820297254, + -0.49476198025674334, + 0.19569192459410292, + -0.5119965850749071, + -0.8577147555111162, + 0.046742860953727185, + 0.14472126081039913, + -0.1397711739627738, + -0.9795508029696655 + ], + [ + 0.8881401889809198, + -0.4161251179494394, + 0.19505612250965249, + -0.4405881046784016, + -0.8916854415664368, + 0.10382290361168865, + 0.1307253867189893, + -0.17814870055667892, + -0.9752814536107701 + ], + [ + 0.9172879642388242, + -0.35855950786737756, + 0.17325665926739353, + -0.38513927796931235, + -0.9093959868092384, + 0.1570562820791586, + 0.10124488741596017, + -0.210793781912929, + -0.9722733433962767 + ], + [ + 0.9432964785347675, + -0.30206314276280416, + 0.13765758739773554, + -0.3248390927203066, + -0.9253555176255843, + 0.19543983688218552, + 0.06834703669183789, + -0.22907427569272165, + -0.9710065184082443 + ], + [ + 0.953770369432843, + -0.27223832687987254, + 0.12731211949215912, + -0.2949090393552581, + -0.9293796896157182, + 0.22199561039883228, + 0.05788558454828793, + -0.2492783302002782, + -0.9667003533639905 + ], + [ + 0.9641336182696142, + -0.24137058777059742, + 0.11039295938427525, + -0.2620351819517973, + -0.9317974739106212, + 0.2511792806607939, + 0.04223659008289378, + -0.27109722789630614, + -0.9616248559002143 + ], + [ + 0.9699476909035121, + -0.23000871785008845, + 0.07935657895791234, + -0.24306753644435905, + -0.9306446227344207, + 0.2735301791436873, + 0.010938447687636084, + -0.2845989738007955, + -0.9585842552815682 + ], + [ + 0.9711385863495344, + -0.23520527419805717, + 0.039602084445700035, + -0.2368263515633802, + -0.9311475935362118, + 0.2772678096297869, + -0.028339465559637334, + -0.2786442858576832, + -0.959976164626318 + ], + [ + 0.9703534053894305, + -0.2404470999970097, + 0.024483887603148034, + -0.23793257265050322, + -0.9325575213821589, + 0.27152266974504613, + -0.042454204986651055, + -0.26929846159343795, + -0.9621205636833458 + ], + [ + 0.9711668977687203, + -0.23799555521026136, + 0.013891449832138296, + -0.23364536068241534, + -0.9385982089462501, + 0.25385674620634935, + -0.04737828732513884, + -0.24978294149731337, + -0.9671420681715204 + ], + [ + 0.9769890602702478, + -0.21035927597096166, + 0.03523281318929103, + -0.2129465746469636, + -0.9526561709197695, + 0.21702528966599424, + -0.01208852589788523, + -0.21953404068949386, + -0.9755299444507894 + ], + [ + 0.9873946228585363, + -0.14654435448535622, + 0.059804773375702384, + -0.1546798224763478, + -0.9735220689462171, + 0.16831201321760297, + 0.03355609138046905, + -0.17544096854254793, + -0.9839179108483178 + ], + [ + 0.9940465028964054, + -0.09475890854492194, + 0.0537801016250671, + -0.1004220120737836, + -0.9882997704877668, + 0.11479975237290822, + 0.042272562856778474, + -0.1195169983943845, + -0.9919318109246811 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.006318479776382446, + -0.0003260895609855652, + -0.016095414757728577, + -0.014128120616078377, + 0.0363345742225647, + 0.0016328692436218262, + 1.0 + ], + [ + -0.03287699818611145, + -0.00028628483414649963, + -0.012013711035251617, + -0.03417135775089264, + 0.0460689514875412, + -0.02933230996131897, + 1.0 + ], + [ + -0.025454163551330566, + -0.0032802335917949677, + 0.013912709429860115, + 0.023518327623605728, + -0.02130013145506382, + -0.026607096195220947, + 1.0 + ], + [ + -0.02726605534553528, + -0.007369041442871094, + 2.4611130356788635e-05, + 0.005867987871170044, + -0.0035359077155590057, + -0.03164723515510559, + 1.0 + ], + [ + -0.019342392683029175, + -0.017360206693410873, + -0.01068897359073162, + 0.01094919815659523, + 0.009705081582069397, + -0.06848311424255371, + 1.0 + ], + [ + -0.0059975385665893555, + -0.017354615032672882, + -0.004250555299222469, + 0.0073731429874897, + -0.019935712218284607, + -0.038819313049316406, + 1.0 + ], + [ + -0.010791778564453125, + -0.011895827949047089, + -0.0040282802656292915, + 0.01597551628947258, + -0.00038526952266693115, + -0.04484760761260986, + 1.0 + ], + [ + -0.0035752952098846436, + -0.0013288334012031555, + 0.014074157923460007, + 0.05354408174753189, + -0.04269520565867424, + -0.0035295486450195312, + 1.0 + ], + [ + 0.0010062754154205322, + 0.007323801517486572, + 0.014602115377783775, + 0.05010832101106644, + -0.03326980769634247, + 0.04535520076751709, + 1.0 + ], + [ + -0.002109438180923462, + 0.0007679909467697144, + 0.00247105211019516, + -0.003023773431777954, + -0.0001090317964553833, + 0.01274445652961731, + 1.0 + ], + [ + -0.004315018653869629, + -0.004371024668216705, + -0.008532088249921799, + -0.03541315346956253, + 0.02806374430656433, + -0.0068486034870147705, + 1.0 + ], + [ + -0.004570081830024719, + -0.008763685822486877, + -0.006046757102012634, + -0.026390336453914642, + 0.014411672949790955, + -0.031864285469055176, + 1.0 + ], + [ + -0.0025635510683059692, + -0.003471367061138153, + -0.0012991130352020264, + 0.0036641135811805725, + -0.002296760678291321, + -0.012801706790924072, + 1.0 + ], + [ + 0.0009034574031829834, + 0.0010203570127487183, + 0.0005989149212837219, + 0.0104493647813797, + -0.002786681056022644, + 0.005558490753173828, + 1.0 + ], + [ + 0.0015776753425598145, + -0.003369353711605072, + -0.010187283158302307, + -0.003900192677974701, + 0.028198182582855225, + 0.000976264476776123, + 1.0 + ], + [ + 0.0001308917999267578, + 0.0016473233699798584, + -0.01720196008682251, + -0.011912830173969269, + 0.06018484756350517, + -0.004313945770263672, + 1.0 + ], + [ + 0.001515403389930725, + 1.271069049835205e-05, + 0.0003405539318919182, + 0.004944294691085815, + -0.006180920638144016, + -0.001683056354522705, + 0.0 + ], + [ + -0.0002002418041229248, + -0.0011855512857437134, + -0.0001021704520098865, + -0.00690692663192749, + -0.0018345629796385765, + -0.010462701320648193, + 0.0 + ], + [ + 0.0015149712562561035, + 0.0016650930047035217, + 0.0001463420339860022, + 0.008686251938343048, + -0.004109042696654797, + 0.01057356595993042, + 0.0 + ], + [ + 0.005744710564613342, + 0.005753837525844574, + 0.0031208579894155264, + 0.005092591047286987, + -0.005289293825626373, + 0.0035176873207092285, + 0.0 + ], + [ + 0.01055416464805603, + 0.01150510460138321, + 0.015905877575278282, + -0.00521310418844223, + -0.045147404074668884, + 0.0121956467628479, + 0.0 + ], + [ + 0.009786814451217651, + 0.015985533595085144, + 0.019752873107790947, + 0.0020800381898880005, + -0.05509957671165466, + -0.024255871772766113, + 0.0 + ], + [ + 0.006934911012649536, + 0.021932508796453476, + 0.011477682739496231, + 0.03725164383649826, + -0.020139217376708984, + 0.012252748012542725, + 0.0 + ], + [ + 0.0023424625396728516, + 0.034167759120464325, + -0.0016445256769657135, + 0.0389396995306015, + 0.014130651950836182, + 0.08335500955581665, + 0.0 + ], + [ + -0.007902830839157104, + 0.025611693039536476, + -0.008634857833385468, + 0.03282880783081055, + 0.02968195080757141, + 0.06299102306365967, + 0.0 + ], + [ + -0.00850456953048706, + 0.02061842754483223, + -0.00971841812133789, + 0.01817736029624939, + 0.03301829844713211, + 0.06586849689483643, + 0.0 + ], + [ + -0.002163529396057129, + 0.01022462546825409, + 0.0001306142657995224, + 0.020689159631729126, + 0.01048240065574646, + 0.03176799416542053, + 0.0 + ], + [ + -0.006376475095748901, + 0.011987943202257156, + -0.0027445796877145767, + 0.02241697907447815, + 0.015668801963329315, + 0.034505754709243774, + 0.0 + ], + [ + -0.0035574138164520264, + 0.006954926997423172, + -0.005086058750748634, + 0.013821512460708618, + 0.031310491263866425, + 0.019831016659736633, + 0.0 + ], + [ + -0.003741234540939331, + 0.0011112801730632782, + -0.01107880286872387, + -0.006107062101364136, + 0.039281927049160004, + 0.006346061825752258, + 0.0 + ], + [ + 0.0010204613208770752, + -0.0007168389856815338, + -0.0036453153006732464, + -0.009581923484802246, + 0.014123708009719849, + -0.001261889934539795, + 1.0 + ], + [ + -0.0012160539627075195, + -0.003157917410135269, + -0.0013116663321852684, + -0.020170748233795166, + 0.004929061979055405, + 0.004362508654594421, + 1.0 + ], + [ + 0.0012252628803253174, + -0.005580328404903412, + 0.00996491126716137, + -0.03139282763004303, + -0.03530720993876457, + 0.021489650011062622, + 1.0 + ], + [ + 0.0002956986427307129, + 0.0014471299946308136, + 0.019604716449975967, + -0.044899195432662964, + -0.045651212334632874, + 0.05921405553817749, + 1.0 + ], + [ + -0.0014945566654205322, + -0.0010045208036899567, + 0.010772723704576492, + -0.05654300004243851, + -0.00872277095913887, + 0.05470971763134003, + 1.0 + ], + [ + 0.0050598978996276855, + -0.002074752002954483, + 0.004564523696899414, + -0.006899476051330566, + -0.002879992127418518, + -0.00030369311571121216, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 0.9484345316886902 + ], + [ + 0.6601285338401794 + ], + [ + 0.3519224226474762 + ], + [ + 0.14865680038928986 + ], + [ + 0.07954961806535721 + ], + [ + 0.07788556814193726 + ], + [ + 0.07788556814193726 + ], + [ + 0.07788556814193726 + ], + [ + 0.07788556814193726 + ], + [ + 0.07788556814193726 + ], + [ + 0.07788556814193726 + ], + [ + 0.07788556814193726 + ], + [ + 0.07788556814193726 + ], + [ + 0.07788556814193726 + ], + [ + 0.10753463208675385 + ], + [ + 0.289117693901062 + ], + [ + 0.5789291858673096 + ], + [ + 0.8792814016342163 + ], + [ + 1.0149952173233032 + ], + [ + 1.0092895030975342 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.38051700592041016, + -0.04037005826830864, + 0.027855858206748962 + ], + [ + 0.3476400077342987, + -0.04065634310245514, + 0.015842147171497345 + ], + [ + 0.32218584418296814, + -0.04393657669425011, + 0.02975485660135746 + ], + [ + 0.29491978883743286, + -0.0513056181371212, + 0.02977946773171425 + ], + [ + 0.2755773961544037, + -0.06866582483053207, + 0.019090494140982628 + ], + [ + 0.26957985758781433, + -0.08602043986320496, + 0.014839938841760159 + ], + [ + 0.2587880790233612, + -0.09791626781225204, + 0.010811658576130867 + ], + [ + 0.25521278381347656, + -0.0992451012134552, + 0.024885816499590874 + ], + [ + 0.2562190592288971, + -0.09192129969596863, + 0.03948793187737465 + ], + [ + 0.25410962104797363, + -0.09115330874919891, + 0.04195898398756981 + ], + [ + 0.249794602394104, + -0.09552433341741562, + 0.03342689573764801 + ], + [ + 0.24522452056407928, + -0.1042880192399025, + 0.027380138635635376 + ], + [ + 0.24266096949577332, + -0.10775938630104065, + 0.02608102560043335 + ], + [ + 0.2435644268989563, + -0.10673902928829193, + 0.02667994052171707 + ], + [ + 0.2451421022415161, + -0.110108382999897, + 0.016492657363414764 + ], + [ + 0.24527299404144287, + -0.10846105962991714, + -0.000709302315954119 + ], + [ + 0.2467883974313736, + -0.10844834893941879, + -0.0003687483840622008 + ], + [ + 0.24658815562725067, + -0.1096339002251625, + -0.0004709188360720873 + ], + [ + 0.24810312688350677, + -0.10796880722045898, + -0.0003245768020860851 + ], + [ + 0.2538478374481201, + -0.10221496969461441, + 0.0027962811291217804 + ], + [ + 0.26440200209617615, + -0.0907098650932312, + 0.018702158704400063 + ], + [ + 0.2741888165473938, + -0.07472433149814606, + 0.03845503181219101 + ], + [ + 0.28112372756004333, + -0.05279182270169258, + 0.04993271455168724 + ], + [ + 0.2834661900997162, + -0.018624061718583107, + 0.04828818887472153 + ], + [ + 0.2755633592605591, + 0.0069876317866146564, + 0.03965333104133606 + ], + [ + 0.267058789730072, + 0.0276060588657856, + 0.02993491291999817 + ], + [ + 0.2648952603340149, + 0.03783068433403969, + 0.03006552718579769 + ], + [ + 0.258518785238266, + 0.049818627536296844, + 0.027320947498083115 + ], + [ + 0.25496137142181396, + 0.056773554533720016, + 0.02223488874733448 + ], + [ + 0.25122013688087463, + 0.057884834706783295, + 0.011156085878610611 + ], + [ + 0.2522405982017517, + 0.05716799572110176, + 0.007510770577937365 + ], + [ + 0.2510245442390442, + 0.05401007831096649, + 0.006199104245752096 + ], + [ + 0.2522498071193695, + 0.04842974990606308, + 0.016164015978574753 + ], + [ + 0.2525455057621002, + 0.04987687990069389, + 0.03576873242855072 + ], + [ + 0.2510509490966797, + 0.04887235909700394, + 0.04654145613312721 + ], + [ + 0.2561108469963074, + 0.046797607094049454, + 0.05110597983002663 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9496793076762649, + -0.30451484313642224, + 0.07334795757981709, + -0.3058206572765159, + -0.9520633342170539, + 0.007009509431221734, + 0.06769740138653992, + -0.029088106660742567, + -0.9972817775816437 + ], + [ + 0.9422422726533891, + -0.3344065419924545, + 0.018755380498018743, + -0.33422977040616225, + -0.9424155952570794, + -0.011971064718281146, + 0.021678565432721623, + 0.005011036708501011, + -0.9997524340114835 + ], + [ + 0.9323743935910022, + -0.35845973090618954, + 0.04673982771120279, + -0.35893148795089824, + -0.9333621040111257, + 0.0018356887749349793, + 0.042967163429355054, + -0.018487945115302457, + -0.9989054103128325 + ], + [ + 0.9204044898462201, + -0.3874531676245755, + 0.052303135361105195, + -0.3881924378537931, + -0.9215678754797709, + 0.004391136166268295, + 0.04649952971857311, + -0.02434530306618381, + -0.9986215999839817 + ], + [ + 0.8920439987051636, + -0.44931159450537916, + 0.048750337610482634, + -0.45044761106171494, + -0.8926777499706295, + 0.014946049517121592, + 0.03680290834833994, + -0.035292006891192496, + -0.9986991640062065 + ], + [ + 0.873075070580362, + -0.482497644563632, + 0.0702562746069186, + -0.4842759149152557, + -0.8748599926435023, + 0.00984030003623158, + 0.056716482296487535, + -0.042614742312467785, + -0.9974804380906696 + ], + [ + 0.8504671927051788, + -0.5200207490474134, + 0.07927152510415805, + -0.5229197026093735, + -0.8521450485982515, + 0.0200947946595028, + 0.057101127441551686, + -0.05854260593491219, + -0.9966505027015503 + ], + [ + 0.845771252297203, + -0.5139782791254597, + 0.1431688421928899, + -0.5241550697014028, + -0.8505358377522595, + 0.04301455108890592, + 0.09966168618852059, + -0.11142314520014929, + -0.9887630813393913 + ], + [ + 0.8652916471810373, + -0.46256275510646244, + 0.1931477747918554, + -0.4833837554639641, + -0.8719960338534255, + 0.07722086439201135, + 0.13270459778124133, + -0.16018306568490215, + -0.9781262061694823 + ], + [ + 0.871368948061301, + -0.45197625245941536, + 0.1908759376330196, + -0.47231022909790715, + -0.8780652487643027, + 0.07697055542196389, + 0.13281266447151793, + -0.1572224097424601, + -0.9785917994908551 + ], + [ + 0.8710361872531436, + -0.46748435465633825, + 0.15084541307926455, + -0.4798767462922106, + -0.875418090364805, + 0.057978232381124685, + 0.10494888690933465, + -0.12288834449851352, + -0.9868557067387849 + ], + [ + 0.8565176454168099, + -0.5001923649795906, + 0.12722075736988908, + -0.5081023555138192, + -0.8604706790508223, + 0.0377121573915553, + 0.09060639828926376, + -0.09694229474249579, + -0.9911572388269716 + ], + [ + 0.8497632157021044, + -0.5104981380127671, + 0.1315071417266606, + -0.5189154847412003, + -0.8539794686181699, + 0.03802350423662845, + 0.0928934708977086, + -0.10055206742839981, + -0.9905857281429259 + ], + [ + 0.8524094747152705, + -0.5040793131250035, + 0.13893211829904897, + -0.5140484133622617, + -0.8565117082541829, + 0.04628090689736436, + 0.095667738216065, + -0.11086811851441289, + -0.9892198664410741 + ], + [ + 0.8548830035384971, + -0.5063693943956313, + 0.1129826830996651, + -0.5144026418049161, + -0.8556202816354327, + 0.05747917673580309, + 0.06756457921959423, + -0.10725656191349885, + -0.9919329904592218 + ], + [ + 0.8545852175711826, + -0.5162839918728498, + 0.05599058532155414, + -0.5192580125259371, + -0.8510594674307552, + 0.07790314065616002, + 0.007431173287503725, + -0.09564843246135704, + -0.9953874396591795 + ], + [ + 0.8536545466694676, + -0.516901160725677, + 0.06393046997319252, + -0.5206617284105244, + -0.8501178951403391, + 0.07880944696370337, + 0.013611741957256104, + -0.1005621917154112, + -0.9948376581524655 + ], + [ + 0.8481377851876708, + -0.5260561342895083, + 0.06266770231412336, + -0.5295504838923994, + -0.8452738385163918, + 0.07133318252462063, + 0.015446111040591782, + -0.09368607952168846, + -0.9954819617439474 + ], + [ + 0.8536281114031369, + -0.5161730832458427, + 0.06988845079692313, + -0.5205157712387203, + -0.8503502450244025, + 0.07725148981539899, + 0.019554521576190177, + -0.10232208422143753, + -0.9945591042097535 + ], + [ + 0.8553533758159538, + -0.5123314911350622, + 0.07672708564500404, + -0.5174489852952776, + -0.8520489895021014, + 0.07911426613029954, + 0.024842505854674374, + -0.10737300722142468, + -0.9939083897538489 + ], + [ + 0.859755970551894, + -0.4983177198358435, + 0.11179946868378464, + -0.5058939812081129, + -0.8609769256287587, + 0.052820576599051414, + 0.06993533354303978, + -0.10197148440841967, + -0.9923259875110433 + ], + [ + 0.8426765169647759, + -0.5139599120787816, + 0.16044156734489046, + -0.5237649455965793, + -0.8515503338305056, + 0.02307185985929497, + 0.12476605916805378, + -0.10347578329795656, + -0.9867756547212483 + ], + [ + 0.8467084820297254, + -0.49476198025674334, + 0.19569192459410292, + -0.5119965850749071, + -0.8577147555111162, + 0.046742860953727185, + 0.14472126081039913, + -0.1397711739627738, + -0.9795508029696655 + ], + [ + 0.8881401889809198, + -0.4161251179494394, + 0.19505612250965249, + -0.4405881046784016, + -0.8916854415664368, + 0.10382290361168865, + 0.1307253867189893, + -0.17814870055667892, + -0.9752814536107701 + ], + [ + 0.9172879642388242, + -0.35855950786737756, + 0.17325665926739353, + -0.38513927796931235, + -0.9093959868092384, + 0.1570562820791586, + 0.10124488741596017, + -0.210793781912929, + -0.9722733433962767 + ], + [ + 0.9432964785347675, + -0.30206314276280416, + 0.13765758739773554, + -0.3248390927203066, + -0.9253555176255843, + 0.19543983688218552, + 0.06834703669183789, + -0.22907427569272165, + -0.9710065184082443 + ], + [ + 0.953770369432843, + -0.27223832687987254, + 0.12731211949215912, + -0.2949090393552581, + -0.9293796896157182, + 0.22199561039883228, + 0.05788558454828793, + -0.2492783302002782, + -0.9667003533639905 + ], + [ + 0.9641336182696142, + -0.24137058777059742, + 0.11039295938427525, + -0.2620351819517973, + -0.9317974739106212, + 0.2511792806607939, + 0.04223659008289378, + -0.27109722789630614, + -0.9616248559002143 + ], + [ + 0.9699476909035121, + -0.23000871785008845, + 0.07935657895791234, + -0.24306753644435905, + -0.9306446227344207, + 0.2735301791436873, + 0.010938447687636084, + -0.2845989738007955, + -0.9585842552815682 + ], + [ + 0.9711385863495344, + -0.23520527419805717, + 0.039602084445700035, + -0.2368263515633802, + -0.9311475935362118, + 0.2772678096297869, + -0.028339465559637334, + -0.2786442858576832, + -0.959976164626318 + ], + [ + 0.9703534053894305, + -0.2404470999970097, + 0.024483887603148034, + -0.23793257265050322, + -0.9325575213821589, + 0.27152266974504613, + -0.042454204986651055, + -0.26929846159343795, + -0.9621205636833458 + ], + [ + 0.9711668977687203, + -0.23799555521026136, + 0.013891449832138296, + -0.23364536068241534, + -0.9385982089462501, + 0.25385674620634935, + -0.04737828732513884, + -0.24978294149731337, + -0.9671420681715204 + ], + [ + 0.9769890602702478, + -0.21035927597096166, + 0.03523281318929103, + -0.2129465746469636, + -0.9526561709197695, + 0.21702528966599424, + -0.01208852589788523, + -0.21953404068949386, + -0.9755299444507894 + ], + [ + 0.9873946228585363, + -0.14654435448535622, + 0.059804773375702384, + -0.1546798224763478, + -0.9735220689462171, + 0.16831201321760297, + 0.03355609138046905, + -0.17544096854254793, + -0.9839179108483178 + ], + [ + 0.9940465028964054, + -0.09475890854492194, + 0.0537801016250671, + -0.1004220120737836, + -0.9882997704877668, + 0.11479975237290822, + 0.042272562856778474, + -0.1195169983943845, + -0.9919318109246811 + ], + [ + 0.9938907129982394, + -0.09510525701957559, + 0.05600214909350976, + -0.10071120124923422, + -0.9890720753819979, + 0.10767396919629005, + 0.045149801315038735, + -0.11265620172359728, + -0.992607714887621 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006696.json b/json/chunk-0006/episode_0006696.json new file mode 100644 index 0000000000000000000000000000000000000000..35596a475a0fb8d3cecd179c55982f3b79635263 --- /dev/null +++ b/json/chunk-0006/episode_0006696.json @@ -0,0 +1,2242 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 36, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nFold the cloth from bottom right to top left." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006696.mp4", + "start": 0, + "end": 36, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.35912802815437317, + 0.18512177467346191, + 0.11164335161447525, + 0.0957450419664383, + -0.11809653788805008, + -0.22562623023986816, + 0.0, + 0.9988223910331726 + ], + [ + 0.356446236371994, + 0.18399064242839813, + 0.09550786018371582, + 0.07313374429941177, + -0.08890341967344284, + -0.22517408430576324, + 0.0, + 0.9988223910331726 + ], + [ + 0.3383461534976959, + 0.15995623171329498, + 0.07202939689159393, + 0.10288959741592407, + -0.05141793191432953, + -0.36511000990867615, + 0.0, + 0.9988223910331726 + ], + [ + 0.34597697854042053, + 0.14243432879447937, + 0.07724941521883011, + 0.14598426222801208, + -0.03887839987874031, + -0.46117672324180603, + 0.0, + 0.9988223910331726 + ], + [ + 0.3313792049884796, + 0.1211559921503067, + 0.06907517462968826, + 0.12182887643575668, + -0.016926972195506096, + -0.5707371830940247, + 0.0, + 0.9988223910331726 + ], + [ + 0.307152658700943, + 0.0839751586318016, + 0.06841304153203964, + 0.11725346744060516, + -0.012716209515929222, + -0.7056869268417358, + 0.0, + 0.9988223910331726 + ], + [ + 0.28018057346343994, + 0.05794272944331169, + 0.06708993762731552, + 0.12451047450304031, + -0.008040374144911766, + -0.8025747537612915, + 0.0, + 0.9988223910331726 + ], + [ + 0.2609718441963196, + 0.028506269678473473, + 0.0664566233754158, + 0.13544894754886627, + 0.00249614124186337, + -0.8856785297393799, + 0.0, + 0.9988223910331726 + ], + [ + 0.2501552402973175, + 0.007102565374225378, + 0.0630280002951622, + 0.1335604041814804, + 0.011168081313371658, + -0.9363449811935425, + 0.0, + 0.9988223910331726 + ], + [ + 0.2417498677968979, + -0.015620090067386627, + 0.05185443162918091, + 0.14745774865150452, + 0.03395215794444084, + -1.001061201095581, + 0.0, + 0.9988223910331726 + ], + [ + 0.24095578491687775, + -0.03130839020013809, + 0.035639166831970215, + 0.15311884880065918, + 0.0518447570502758, + -1.056493878364563, + 0.0, + 0.9988223910331726 + ], + [ + 0.24191752076148987, + -0.04487498849630356, + 0.029666006565093994, + 0.17365632951259613, + 0.049195706844329834, + -1.0798667669296265, + 0.0, + 0.9988223910331726 + ], + [ + 0.23749853670597076, + -0.0564376600086689, + 0.03046712838113308, + 0.17803320288658142, + 0.04066798835992813, + -1.0763717889785767, + 0.0, + 0.9988223910331726 + ], + [ + 0.23590664565563202, + -0.061803337186574936, + 0.03801796957850456, + 0.18870112299919128, + 0.025094665586948395, + -1.0748833417892456, + 0.0, + 0.9988223910331726 + ], + [ + 0.2359432876110077, + -0.06582363694906235, + 0.038497522473335266, + 0.1941445916891098, + 0.015115121379494667, + -1.0696266889572144, + 0.0, + 0.9988223910331726 + ], + [ + 0.23377040028572083, + -0.06961780786514282, + 0.02331307902932167, + 0.20944446325302124, + 0.04255347698926926, + -1.0804105997085571, + 0.0, + 0.9988223910331726 + ], + [ + 0.23610587418079376, + -0.06869775801897049, + 0.015692096203565598, + 0.2291199266910553, + 0.05061604827642441, + -1.0783425569534302, + 0.0, + 0.9709111452102661 + ], + [ + 0.23818878829479218, + -0.06779132783412933, + 0.013914182782173157, + 0.23402857780456543, + 0.04952157661318779, + -1.0702967643737793, + 0.0, + 0.6681591272354126 + ], + [ + 0.23841823637485504, + -0.06388299912214279, + 0.012278938665986061, + 0.22090348601341248, + 0.040027912706136703, + -1.057329773902893, + 0.0, + 0.39886748790740967 + ], + [ + 0.22946174442768097, + -0.06255723536014557, + 0.011903110891580582, + 0.2008492797613144, + 0.038419634103775024, + -1.0745692253112793, + 0.0, + 0.1920294612646103 + ], + [ + 0.21365129947662354, + -0.06227966398000717, + 0.015425784513354301, + 0.1880592405796051, + 0.03461635112762451, + -1.0945661067962646, + 0.0, + 0.08363015204668045 + ], + [ + 0.20136621594429016, + -0.06952881813049316, + 0.025943079963326454, + 0.1645890772342682, + 0.01731434278190136, + -1.11310613155365, + 0.0, + 0.061804234981536865 + ], + [ + 0.20186878740787506, + -0.06605628877878189, + 0.038983043283224106, + 0.13480162620544434, + 0.005339857656508684, + -1.0932434797286987, + 0.0, + 0.059241458773612976 + ], + [ + 0.2357398420572281, + -0.037024013698101044, + 0.04943905398249626, + 0.10245534777641296, + 0.012253173626959324, + -0.98219233751297, + 0.0, + 0.059241458773612976 + ], + [ + 0.2696961462497711, + -0.001987002557143569, + 0.050574228167533875, + 0.07050882279872894, + 0.042617492377758026, + -0.8900805115699768, + 0.0, + 0.059241458773612976 + ], + [ + 0.2972080409526825, + 0.029403066262602806, + 0.05494000017642975, + 0.03638875111937523, + 0.05716165900230408, + -0.825928270816803, + 0.0, + 0.059241458773612976 + ], + [ + 0.31415802240371704, + 0.04922594130039215, + 0.06301067769527435, + 0.020919984206557274, + 0.05881642922759056, + -0.7942838668823242, + 0.0, + 0.059241458773612976 + ], + [ + 0.3282147943973541, + 0.07640087604522705, + 0.07036842405796051, + 0.014264711178839207, + 0.05774328485131264, + -0.7698113918304443, + 0.0, + 0.059241458773612976 + ], + [ + 0.3430076241493225, + 0.09048344194889069, + 0.07018636167049408, + 0.0147626381367445, + 0.064437136054039, + -0.7733184099197388, + 0.0, + 0.059241458773612976 + ], + [ + 0.3590867519378662, + 0.10926324874162674, + 0.06735320389270782, + -0.0033069972414523363, + 0.07641983777284622, + -0.7614038586616516, + 0.0, + 0.059241458773612976 + ], + [ + 0.3755541443824768, + 0.11920567601919174, + 0.06249880790710449, + 0.002162031829357147, + 0.08901144564151764, + -0.7603797912597656, + 0.0, + 0.059241458773612976 + ], + [ + 0.38475140929222107, + 0.12425368279218674, + 0.055270716547966, + 0.008033443242311478, + 0.10245395451784134, + -0.7673537135124207, + 0.0, + 0.08363015204668045 + ], + [ + 0.392751544713974, + 0.12724000215530396, + 0.05267318710684776, + 0.009255485609173775, + 0.10141802579164505, + -0.7812203168869019, + 0.0, + 0.22108687460422516 + ], + [ + 0.39600422978401184, + 0.12818700075149536, + 0.0511750802397728, + 0.021660378202795982, + 0.0850277915596962, + -0.7888098359107971, + 0.0, + 0.4775448143482208 + ], + [ + 0.39672377705574036, + 0.13204993307590485, + 0.05106474086642265, + 0.02796354703605175, + 0.07432335615158081, + -0.7964898943901062, + 0.0, + 0.8139979243278503 + ], + [ + 0.39506295323371887, + 0.1302046924829483, + 0.04640995338559151, + 0.02271883189678192, + 0.0631878674030304, + -0.8067232370376587, + 0.0, + 1.0008161067962646 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9709111452102661 + ], + [ + 0.6681591272354126 + ], + [ + 0.39886748790740967 + ], + [ + 0.1920294612646103 + ], + [ + 0.08363015204668045 + ], + [ + 0.061804234981536865 + ], + [ + 0.059241458773612976 + ], + [ + 0.059241458773612976 + ], + [ + 0.059241458773612976 + ], + [ + 0.059241458773612976 + ], + [ + 0.059241458773612976 + ], + [ + 0.059241458773612976 + ], + [ + 0.059241458773612976 + ], + [ + 0.059241458773612976 + ], + [ + 0.059241458773612976 + ], + [ + 0.08363015204668045 + ], + [ + 0.22108687460422516 + ], + [ + 0.4775448143482208 + ], + [ + 0.8139979243278503 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.35912802815437317, + 0.18512177467346191, + 0.11164335161447525 + ], + [ + 0.356446236371994, + 0.18399064242839813, + 0.09550786018371582 + ], + [ + 0.3383461534976959, + 0.15995623171329498, + 0.07202939689159393 + ], + [ + 0.34597697854042053, + 0.14243432879447937, + 0.07724941521883011 + ], + [ + 0.3313792049884796, + 0.1211559921503067, + 0.06907517462968826 + ], + [ + 0.307152658700943, + 0.0839751586318016, + 0.06841304153203964 + ], + [ + 0.28018057346343994, + 0.05794272944331169, + 0.06708993762731552 + ], + [ + 0.2609718441963196, + 0.028506269678473473, + 0.0664566233754158 + ], + [ + 0.2501552402973175, + 0.007102565374225378, + 0.0630280002951622 + ], + [ + 0.2417498677968979, + -0.015620090067386627, + 0.05185443162918091 + ], + [ + 0.24095578491687775, + -0.03130839020013809, + 0.035639166831970215 + ], + [ + 0.24191752076148987, + -0.04487498849630356, + 0.029666006565093994 + ], + [ + 0.23749853670597076, + -0.0564376600086689, + 0.03046712838113308 + ], + [ + 0.23590664565563202, + -0.061803337186574936, + 0.03801796957850456 + ], + [ + 0.2359432876110077, + -0.06582363694906235, + 0.038497522473335266 + ], + [ + 0.23377040028572083, + -0.06961780786514282, + 0.02331307902932167 + ], + [ + 0.23610587418079376, + -0.06869775801897049, + 0.015692096203565598 + ], + [ + 0.23818878829479218, + -0.06779132783412933, + 0.013914182782173157 + ], + [ + 0.23841823637485504, + -0.06388299912214279, + 0.012278938665986061 + ], + [ + 0.22946174442768097, + -0.06255723536014557, + 0.011903110891580582 + ], + [ + 0.21365129947662354, + -0.06227966398000717, + 0.015425784513354301 + ], + [ + 0.20136621594429016, + -0.06952881813049316, + 0.025943079963326454 + ], + [ + 0.20186878740787506, + -0.06605628877878189, + 0.038983043283224106 + ], + [ + 0.2357398420572281, + -0.037024013698101044, + 0.04943905398249626 + ], + [ + 0.2696961462497711, + -0.001987002557143569, + 0.050574228167533875 + ], + [ + 0.2972080409526825, + 0.029403066262602806, + 0.05494000017642975 + ], + [ + 0.31415802240371704, + 0.04922594130039215, + 0.06301067769527435 + ], + [ + 0.3282147943973541, + 0.07640087604522705, + 0.07036842405796051 + ], + [ + 0.3430076241493225, + 0.09048344194889069, + 0.07018636167049408 + ], + [ + 0.3590867519378662, + 0.10926324874162674, + 0.06735320389270782 + ], + [ + 0.3755541443824768, + 0.11920567601919174, + 0.06249880790710449 + ], + [ + 0.38475140929222107, + 0.12425368279218674, + 0.055270716547966 + ], + [ + 0.392751544713974, + 0.12724000215530396, + 0.05267318710684776 + ], + [ + 0.39600422978401184, + 0.12818700075149536, + 0.0511750802397728 + ], + [ + 0.39672377705574036, + 0.13204993307590485, + 0.05106474086642265 + ], + [ + 0.39506295323371887, + 0.1302046924829483, + 0.04640995338559151 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9678654457780277, + -0.2117139496151719, + 0.1356970243124161, + -0.22215851059303263, + -0.9727100998808675, + 0.06693771553345901, + 0.11782221793866132, + -0.094932950697307, + -0.9884865501522605 + ], + [ + 0.9709056454628577, + -0.21635550358104272, + 0.10262808425838141, + -0.22239426946968605, + -0.9735981552515742, + 0.05145309512338919, + 0.0887863532047391, + -0.0727799983575521, + -0.9933881695106291 + ], + [ + 0.9328499915467936, + -0.35023303209100193, + 0.08442580472515882, + -0.3565801713878995, + -0.9310293886220076, + 0.0776843542491495, + 0.05139527842247446, + -0.10257241712309569, + -0.9933969119145691 + ], + [ + 0.894852748643775, + -0.4352054211506579, + 0.09917055836164028, + -0.4446659304335911, + -0.8885199871563387, + 0.11315671758816809, + 0.03886860630778681, + -0.14535636836677712, + -0.9886155762574814 + ], + [ + 0.8413823869769089, + -0.5345172351778897, + 0.07979350965350573, + -0.5401751418394898, + -0.8363770485169661, + 0.09318931726724819, + 0.016926163881004506, + -0.12151032059801889, + -0.9924458408217752 + ], + [ + 0.7611046800600844, + -0.6429713674328646, + 0.08548383854360003, + -0.6485044122608875, + -0.7569045834487385, + 0.08085467724536463, + 0.012715866812647782, + -0.11697551972871659, + -0.9930533895593928 + ], + [ + 0.6948349264213483, + -0.7128865101177243, + 0.09485382816318588, + -0.7191243138719078, + -0.6901962836191384, + 0.08055626156040077, + 0.008040287513354567, + -0.12418499817007483, + -0.9922265064017395 + ], + [ + 0.6327622601224271, + -0.7674654277321867, + 0.10299873494664746, + -0.7743421023401732, + -0.6267076163349403, + 0.08736058705834185, + -0.0024961386497375226, + -0.13503473946962372, + -0.9908377205315774 + ], + [ + 0.592698754565485, + -0.7991056951665014, + 0.10068899785470588, + -0.8053467982687599, + -0.5862591025597302, + 0.08784531395650363, + -0.011167849156392934, + -0.13315537021961116, + -0.9910322530205049 + ], + [ + 0.5390981601206037, + -0.8355961076369314, + 0.10560453899615138, + -0.8415585942766328, + -0.5293556204770586, + 0.10752562238130037, + -0.033945635267551684, + -0.14683927257841484, + -0.9885777267746448 + ], + [ + 0.49126668230759124, + -0.8643379456208387, + 0.1075962946129674, + -0.8694662589133977, + -0.47929079075844555, + 0.11961923969531206, + -0.051821534767244895, + -0.152316294775353, + -0.9869722766523258 + ], + [ + 0.4708754802042371, + -0.872636745334959, + 0.12954301537960067, + -0.8808280288597383, + -0.45686180469214865, + 0.12417437331632221, + -0.04917586519317646, + -0.1725757865537438, + -0.9837679259753591 + ], + [ + 0.4741328329006873, + -0.8697453582550991, + 0.13689802248125435, + -0.8795141176047843, + -0.4606869811792126, + 0.11925779767319755, + -0.04065677925569631, + -0.1769477809007305, + -0.9833801447735564 + ], + [ + 0.4756850326272461, + -0.8661614534591187, + 0.1532582339582535, + -0.8792577208498993, + -0.4632483367563813, + 0.11093619255358919, + -0.025092031808056206, + -0.18752417186601114, + -0.9819394456409775 + ], + [ + 0.48039678159570487, + -0.8619456636798837, + 0.16207592386265532, + -0.8769210242300511, + -0.4688680467774339, + 0.10569896865358569, + -0.015114545835262866, + -0.19290522951583938, + -0.9811009748897586 + ], + [ + 0.47053984476088595, + -0.8670388794531843, + 0.16381647050577097, + -0.8813526812925796, + -0.45287142549171444, + 0.13462883476983342, + -0.04254063552395438, + -0.2077283165330844, + -0.97726109143849 + ], + [ + 0.4721840005717267, + -0.8635801764234372, + 0.17683763313430975, + -0.8800468580905019, + -0.45030832128495546, + 0.15079769012342836, + -0.05059443812432124, + -0.22682966003146604, + -0.972619405605756 + ], + [ + 0.4792756004020008, + -0.8589351297360349, + 0.18034783548643601, + -0.8762673772239312, + -0.45671157505868426, + 0.1535253100322831, + -0.049501338086909416, + -0.23161385993233807, + -0.9715475476860868 + ], + [ + 0.4908062667533692, + -0.8541873811827367, + 0.17167739031042598, + -0.8703492576287608, + -0.47162597734939743, + 0.1416372381624631, + -0.04001722455000131, + -0.21893573330409866, + -0.9749183383350172 + ], + [ + 0.475759761233154, + -0.8653556831002877, + 0.15751886019587247, + -0.8787361989943162, + -0.4598014455885372, + 0.12808326671237294, + -0.03841018313408096, + -0.199354388867479, + -0.9791743897135383 + ], + [ + 0.4581574862218655, + -0.8760263643831115, + 0.15056402865415483, + -0.8881969965111284, + -0.44459909983372936, + 0.11592124833544701, + -0.034609438127076404, + -0.1868407057703048, + -0.9817803916659685 + ], + [ + 0.44181098545786474, + -0.8862057520078637, + 0.13943607222281856, + -0.8969410775624518, + -0.4333607976976885, + 0.08772184676539203, + -0.01731347769392968, + -0.16382241643621243, + -0.9863379032375983 + ], + [ + 0.45960063016315866, + -0.8803951066009718, + 0.1169261178124496, + -0.8881096480417562, + -0.4548002793123437, + 0.06646772895595263, + -0.005339832279690315, + -0.1343918234509734, + -0.9909138832314073 + ], + [ + 0.555158800612827, + -0.8280508314029732, + 0.07829768013787339, + -0.8316541188210865, + -0.5512467424833171, + 0.06692126380646066, + -0.012252867013474021, + -0.10226851673108764, + -0.9946813649282737 + ], + [ + 0.6287780195792746, + -0.7770804898509063, + 0.02800204255123963, + -0.7764168022138394, + -0.6254531640304852, + 0.07736464854370745, + -0.04260459287449826, + -0.07038644682984829, + -0.9966095508114838 + ], + [ + 0.6767676528027031, + -0.736099593654635, + -0.011955431460270699, + -0.7339765977635809, + -0.6758980332231499, + 0.06663484539245204, + -0.05713053522695451, + -0.03632130100311561, + -0.997705800844178 + ], + [ + 0.6995840003793026, + -0.7140675570015537, + -0.026263100561893193, + -0.7121283882225001, + -0.6997652850445454, + 0.05658360658485491, + -0.05878252377123114, + -0.02088228637765502, + -0.998052375887521 + ], + [ + 0.7168452072581151, + -0.6965201081471709, + -0.03150694808646758, + -0.6948398132387662, + -0.717395949549849, + 0.05040521310129408, + -0.057711201420403764, + -0.01424045350836197, + -0.9982317500032193 + ], + [ + 0.7141115426204778, + -0.699117833510013, + -0.03576254415539451, + -0.6970640600265996, + -0.7148546976814636, + 0.055537891767474035, + -0.0643925532607146, + -0.014731465338120184, + -0.9978159063742956 + ], + [ + 0.7217554849670071, + -0.6897518028003227, + -0.05754537734471129, + -0.6879246964362407, + -0.7240383816386038, + 0.05027955794612389, + -0.07634547762078978, + 0.0032973395118380475, + -0.9970759728320591 + ], + [ + 0.721705792120782, + -0.689334327970895, + -0.06292005960127961, + -0.6864682184284712, + -0.7244401609823284, + 0.0628318250852096, + -0.08889395202686651, + -0.002153470875611997, + -0.9960387682496261 + ], + [ + 0.7159760880025622, + -0.6948019587090666, + -0.06803293013381351, + -0.69059257521387, + -0.7191567133768957, + 0.07678226790358045, + -0.10227480856996526, + -0.007991231381114648, + -0.9947240842329046 + ], + [ + 0.7064062386281713, + -0.7047816331607986, + -0.0653687661379406, + -0.7005282480932795, + -0.7093645508881313, + 0.07785953741604501, + -0.10124425737077603, + -0.009207795744766913, + -0.9948189869755014 + ], + [ + 0.7021444297765297, + -0.7106448297392828, + -0.04446488163279249, + -0.7069518233840159, + -0.7032198878298193, + 0.07550436261986543, + -0.08492537399274583, + -0.021580438490508645, + -0.9961535853103928 + ], + [ + 0.6972900634287313, + -0.7160783610367171, + -0.031911569978997106, + -0.7129325143855264, + -0.6974627840511823, + 0.07261470095996148, + -0.07425494849157602, + -0.027882713615113817, + -0.9968494153612022 + ], + [ + 0.6904872909166717, + -0.7228301085830263, + -0.02727517568057085, + -0.7205830316968814, + -0.690653773840745, + 0.06129811669267003, + -0.06314582736085327, + -0.022671541751444948, + -0.9977467643052148 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0026817917823791504, + -0.0011311322450637817, + -0.01613549143075943, + -0.02261129766702652, + 0.02919311821460724, + 0.00045214593410491943, + 1.0 + ], + [ + -0.018100082874298096, + -0.02403441071510315, + -0.023478463292121887, + 0.0297558531165123, + 0.03748548775911331, + -0.1399359256029129, + 1.0 + ], + [ + 0.007630825042724609, + -0.017521902918815613, + 0.0052200183272361755, + 0.04309466481208801, + 0.012539532035589218, + -0.09606671333312988, + 1.0 + ], + [ + -0.014597773551940918, + -0.02127833664417267, + -0.008174240589141846, + -0.0241553857922554, + 0.021951427683234215, + -0.10956045985221863, + 1.0 + ], + [ + -0.02422654628753662, + -0.037180833518505096, + -0.0006621330976486206, + -0.00457540899515152, + 0.004210762679576874, + -0.13494974374771118, + 1.0 + ], + [ + -0.026972085237503052, + -0.026032429188489914, + -0.001323103904724121, + 0.00725700706243515, + 0.004675835371017456, + -0.09688782691955566, + 1.0 + ], + [ + -0.01920872926712036, + -0.02943645976483822, + -0.0006333142518997192, + 0.010938473045825958, + 0.010536515153944492, + -0.08310377597808838, + 1.0 + ], + [ + -0.010816603899002075, + -0.021403703838586807, + -0.003428623080253601, + -0.0018885433673858643, + 0.008671940304338932, + -0.0506664514541626, + 1.0 + ], + [ + -0.008405372500419617, + -0.022722655907273293, + -0.011173568665981293, + 0.013897344470024109, + 0.022784076631069183, + -0.06471621990203857, + 1.0 + ], + [ + -0.0007940828800201416, + -0.015688300132751465, + -0.016215264797210693, + 0.005661100149154663, + 0.01789259910583496, + -0.055432677268981934, + 1.0 + ], + [ + 0.0009617358446121216, + -0.013566598296165466, + -0.005973160266876221, + 0.02053748071193695, + -0.0026490502059459686, + -0.023372888565063477, + 1.0 + ], + [ + -0.004418984055519104, + -0.011562671512365341, + 0.0008011218160390854, + 0.0043768733739852905, + -0.008527718484401703, + 0.0034949779510498047, + 1.0 + ], + [ + -0.0015918910503387451, + -0.005365677177906036, + 0.007550841197371483, + 0.010667920112609863, + -0.015573322772979736, + 0.0014884471893310547, + 1.0 + ], + [ + 3.664195537567139e-05, + -0.0040202997624874115, + 0.00047955289483070374, + 0.005443468689918518, + -0.009979544207453728, + 0.00525665283203125, + 1.0 + ], + [ + -0.0021728873252868652, + -0.003794170916080475, + -0.015184443444013596, + 0.015299871563911438, + 0.02743835560977459, + -0.010783910751342773, + 1.0 + ], + [ + 0.002335473895072937, + 0.0009200498461723328, + -0.007620982825756073, + 0.019675463438034058, + 0.008062571287155151, + 0.002068042755126953, + 0.0 + ], + [ + 0.002082914113998413, + 0.000906430184841156, + -0.0017779134213924408, + 0.004908651113510132, + -0.001094471663236618, + 0.008045792579650879, + 0.0 + ], + [ + 0.0002294480800628662, + 0.003908328711986542, + -0.0016352441161870956, + -0.013125091791152954, + -0.009493663907051086, + 0.01296699047088623, + 0.0 + ], + [ + -0.008956491947174072, + 0.001325763761997223, + -0.00037582777440547943, + -0.020054206252098083, + -0.001608278602361679, + -0.01723945140838623, + 0.0 + ], + [ + -0.015810444951057434, + 0.0002775713801383972, + 0.00352267362177372, + -0.01279003918170929, + -0.0038032829761505127, + -0.01999688148498535, + 0.0 + ], + [ + -0.012285083532333374, + -0.007249154150485992, + 0.010517295449972153, + -0.023470163345336914, + -0.017302008345723152, + -0.018540024757385254, + 0.0 + ], + [ + 0.0005025714635848999, + 0.003472529351711273, + 0.013039963319897652, + -0.029787451028823853, + -0.011974485591053963, + 0.019862651824951172, + 0.0 + ], + [ + 0.03387105464935303, + 0.029032275080680847, + 0.010456010699272156, + -0.03234627842903137, + 0.00691331597045064, + 0.11105114221572876, + 0.0 + ], + [ + 0.03395630419254303, + 0.03503701090812683, + 0.001135174185037613, + -0.03194652497768402, + 0.030364319682121277, + 0.09211182594299316, + 0.0 + ], + [ + 0.027511894702911377, + 0.03139006718993187, + 0.004365772008895874, + -0.034120071679353714, + 0.014544166624546051, + 0.06415224075317383, + 0.0 + ], + [ + 0.016949981451034546, + 0.019822875037789345, + 0.008070677518844604, + -0.015468766912817955, + 0.0016547702252864838, + 0.03164440393447876, + 0.0 + ], + [ + 0.014056771993637085, + 0.0271749347448349, + 0.007357746362686157, + -0.006655273027718067, + -0.0010731443762779236, + 0.024472475051879883, + 0.0 + ], + [ + 0.014792829751968384, + 0.014082565903663635, + -0.00018206238746643066, + 0.0004979269579052925, + 0.006693851202726364, + -0.0035070180892944336, + 0.0 + ], + [ + 0.0160791277885437, + 0.018779806792736053, + -0.002833157777786255, + -0.018069636076688766, + 0.01198270171880722, + 0.011914551258087158, + 0.0 + ], + [ + 0.016467392444610596, + 0.009942427277565002, + -0.0048543959856033325, + 0.00546902883797884, + 0.012591607868671417, + 0.0010240674018859863, + 0.0 + ], + [ + 0.009197264909744263, + 0.005048006772994995, + -0.007228091359138489, + 0.0058714114129543304, + 0.0134425088763237, + -0.006973922252655029, + 1.0 + ], + [ + 0.00800013542175293, + 0.002986319363117218, + -0.0025975294411182404, + 0.001222042366862297, + -0.001035928726196289, + -0.013866603374481201, + 1.0 + ], + [ + 0.003252685070037842, + 0.0009469985961914062, + -0.0014981068670749664, + 0.012404892593622208, + -0.016390234231948853, + -0.007589519023895264, + 1.0 + ], + [ + 0.0007195472717285156, + 0.003862932324409485, + -0.00011033937335014343, + 0.006303168833255768, + -0.010704435408115387, + -0.007680058479309082, + 1.0 + ], + [ + -0.0016608238220214844, + -0.001845240592956543, + -0.004654787480831146, + -0.005244715139269829, + -0.011135488748550415, + -0.01023334264755249, + 1.0 + ], + [ + -0.0024733245372772217, + 0.0011530518531799316, + 0.018591906875371933, + 0.019202377647161484, + -0.05514990910887718, + 0.014123618602752686, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9709111452102661 + ], + [ + 0.6681591272354126 + ], + [ + 0.39886748790740967 + ], + [ + 0.1920294612646103 + ], + [ + 0.08363015204668045 + ], + [ + 0.061804234981536865 + ], + [ + 0.059241458773612976 + ], + [ + 0.059241458773612976 + ], + [ + 0.059241458773612976 + ], + [ + 0.059241458773612976 + ], + [ + 0.059241458773612976 + ], + [ + 0.059241458773612976 + ], + [ + 0.059241458773612976 + ], + [ + 0.059241458773612976 + ], + [ + 0.059241458773612976 + ], + [ + 0.08363015204668045 + ], + [ + 0.22108687460422516 + ], + [ + 0.4775448143482208 + ], + [ + 0.8139979243278503 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.356446236371994, + 0.18399064242839813, + 0.09550786018371582 + ], + [ + 0.3383461534976959, + 0.15995623171329498, + 0.07202939689159393 + ], + [ + 0.34597697854042053, + 0.14243432879447937, + 0.07724941521883011 + ], + [ + 0.3313792049884796, + 0.1211559921503067, + 0.06907517462968826 + ], + [ + 0.307152658700943, + 0.0839751586318016, + 0.06841304153203964 + ], + [ + 0.28018057346343994, + 0.05794272944331169, + 0.06708993762731552 + ], + [ + 0.2609718441963196, + 0.028506269678473473, + 0.0664566233754158 + ], + [ + 0.2501552402973175, + 0.007102565374225378, + 0.0630280002951622 + ], + [ + 0.2417498677968979, + -0.015620090067386627, + 0.05185443162918091 + ], + [ + 0.24095578491687775, + -0.03130839020013809, + 0.035639166831970215 + ], + [ + 0.24191752076148987, + -0.04487498849630356, + 0.029666006565093994 + ], + [ + 0.23749853670597076, + -0.0564376600086689, + 0.03046712838113308 + ], + [ + 0.23590664565563202, + -0.061803337186574936, + 0.03801796957850456 + ], + [ + 0.2359432876110077, + -0.06582363694906235, + 0.038497522473335266 + ], + [ + 0.23377040028572083, + -0.06961780786514282, + 0.02331307902932167 + ], + [ + 0.23610587418079376, + -0.06869775801897049, + 0.015692096203565598 + ], + [ + 0.23818878829479218, + -0.06779132783412933, + 0.013914182782173157 + ], + [ + 0.23841823637485504, + -0.06388299912214279, + 0.012278938665986061 + ], + [ + 0.22946174442768097, + -0.06255723536014557, + 0.011903110891580582 + ], + [ + 0.21365129947662354, + -0.06227966398000717, + 0.015425784513354301 + ], + [ + 0.20136621594429016, + -0.06952881813049316, + 0.025943079963326454 + ], + [ + 0.20186878740787506, + -0.06605628877878189, + 0.038983043283224106 + ], + [ + 0.2357398420572281, + -0.037024013698101044, + 0.04943905398249626 + ], + [ + 0.2696961462497711, + -0.001987002557143569, + 0.050574228167533875 + ], + [ + 0.2972080409526825, + 0.029403066262602806, + 0.05494000017642975 + ], + [ + 0.31415802240371704, + 0.04922594130039215, + 0.06301067769527435 + ], + [ + 0.3282147943973541, + 0.07640087604522705, + 0.07036842405796051 + ], + [ + 0.3430076241493225, + 0.09048344194889069, + 0.07018636167049408 + ], + [ + 0.3590867519378662, + 0.10926324874162674, + 0.06735320389270782 + ], + [ + 0.3755541443824768, + 0.11920567601919174, + 0.06249880790710449 + ], + [ + 0.38475140929222107, + 0.12425368279218674, + 0.055270716547966 + ], + [ + 0.392751544713974, + 0.12724000215530396, + 0.05267318710684776 + ], + [ + 0.39600422978401184, + 0.12818700075149536, + 0.0511750802397728 + ], + [ + 0.39672377705574036, + 0.13204993307590485, + 0.05106474086642265 + ], + [ + 0.39506295323371887, + 0.1302046924829483, + 0.04640995338559151 + ], + [ + 0.39258962869644165, + 0.13135774433612823, + 0.06500186026096344 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9709056454628577, + -0.21635550358104272, + 0.10262808425838141, + -0.22239426946968605, + -0.9735981552515742, + 0.05145309512338919, + 0.0887863532047391, + -0.0727799983575521, + -0.9933881695106291 + ], + [ + 0.9328499915467936, + -0.35023303209100193, + 0.08442580472515882, + -0.3565801713878995, + -0.9310293886220076, + 0.0776843542491495, + 0.05139527842247446, + -0.10257241712309569, + -0.9933969119145691 + ], + [ + 0.894852748643775, + -0.4352054211506579, + 0.09917055836164028, + -0.4446659304335911, + -0.8885199871563387, + 0.11315671758816809, + 0.03886860630778681, + -0.14535636836677712, + -0.9886155762574814 + ], + [ + 0.8413823869769089, + -0.5345172351778897, + 0.07979350965350573, + -0.5401751418394898, + -0.8363770485169661, + 0.09318931726724819, + 0.016926163881004506, + -0.12151032059801889, + -0.9924458408217752 + ], + [ + 0.7611046800600844, + -0.6429713674328646, + 0.08548383854360003, + -0.6485044122608875, + -0.7569045834487385, + 0.08085467724536463, + 0.012715866812647782, + -0.11697551972871659, + -0.9930533895593928 + ], + [ + 0.6948349264213483, + -0.7128865101177243, + 0.09485382816318588, + -0.7191243138719078, + -0.6901962836191384, + 0.08055626156040077, + 0.008040287513354567, + -0.12418499817007483, + -0.9922265064017395 + ], + [ + 0.6327622601224271, + -0.7674654277321867, + 0.10299873494664746, + -0.7743421023401732, + -0.6267076163349403, + 0.08736058705834185, + -0.0024961386497375226, + -0.13503473946962372, + -0.9908377205315774 + ], + [ + 0.592698754565485, + -0.7991056951665014, + 0.10068899785470588, + -0.8053467982687599, + -0.5862591025597302, + 0.08784531395650363, + -0.011167849156392934, + -0.13315537021961116, + -0.9910322530205049 + ], + [ + 0.5390981601206037, + -0.8355961076369314, + 0.10560453899615138, + -0.8415585942766328, + -0.5293556204770586, + 0.10752562238130037, + -0.033945635267551684, + -0.14683927257841484, + -0.9885777267746448 + ], + [ + 0.49126668230759124, + -0.8643379456208387, + 0.1075962946129674, + -0.8694662589133977, + -0.47929079075844555, + 0.11961923969531206, + -0.051821534767244895, + -0.152316294775353, + -0.9869722766523258 + ], + [ + 0.4708754802042371, + -0.872636745334959, + 0.12954301537960067, + -0.8808280288597383, + -0.45686180469214865, + 0.12417437331632221, + -0.04917586519317646, + -0.1725757865537438, + -0.9837679259753591 + ], + [ + 0.4741328329006873, + -0.8697453582550991, + 0.13689802248125435, + -0.8795141176047843, + -0.4606869811792126, + 0.11925779767319755, + -0.04065677925569631, + -0.1769477809007305, + -0.9833801447735564 + ], + [ + 0.4756850326272461, + -0.8661614534591187, + 0.1532582339582535, + -0.8792577208498993, + -0.4632483367563813, + 0.11093619255358919, + -0.025092031808056206, + -0.18752417186601114, + -0.9819394456409775 + ], + [ + 0.48039678159570487, + -0.8619456636798837, + 0.16207592386265532, + -0.8769210242300511, + -0.4688680467774339, + 0.10569896865358569, + -0.015114545835262866, + -0.19290522951583938, + -0.9811009748897586 + ], + [ + 0.47053984476088595, + -0.8670388794531843, + 0.16381647050577097, + -0.8813526812925796, + -0.45287142549171444, + 0.13462883476983342, + -0.04254063552395438, + -0.2077283165330844, + -0.97726109143849 + ], + [ + 0.4721840005717267, + -0.8635801764234372, + 0.17683763313430975, + -0.8800468580905019, + -0.45030832128495546, + 0.15079769012342836, + -0.05059443812432124, + -0.22682966003146604, + -0.972619405605756 + ], + [ + 0.4792756004020008, + -0.8589351297360349, + 0.18034783548643601, + -0.8762673772239312, + -0.45671157505868426, + 0.1535253100322831, + -0.049501338086909416, + -0.23161385993233807, + -0.9715475476860868 + ], + [ + 0.4908062667533692, + -0.8541873811827367, + 0.17167739031042598, + -0.8703492576287608, + -0.47162597734939743, + 0.1416372381624631, + -0.04001722455000131, + -0.21893573330409866, + -0.9749183383350172 + ], + [ + 0.475759761233154, + -0.8653556831002877, + 0.15751886019587247, + -0.8787361989943162, + -0.4598014455885372, + 0.12808326671237294, + -0.03841018313408096, + -0.199354388867479, + -0.9791743897135383 + ], + [ + 0.4581574862218655, + -0.8760263643831115, + 0.15056402865415483, + -0.8881969965111284, + -0.44459909983372936, + 0.11592124833544701, + -0.034609438127076404, + -0.1868407057703048, + -0.9817803916659685 + ], + [ + 0.44181098545786474, + -0.8862057520078637, + 0.13943607222281856, + -0.8969410775624518, + -0.4333607976976885, + 0.08772184676539203, + -0.01731347769392968, + -0.16382241643621243, + -0.9863379032375983 + ], + [ + 0.45960063016315866, + -0.8803951066009718, + 0.1169261178124496, + -0.8881096480417562, + -0.4548002793123437, + 0.06646772895595263, + -0.005339832279690315, + -0.1343918234509734, + -0.9909138832314073 + ], + [ + 0.555158800612827, + -0.8280508314029732, + 0.07829768013787339, + -0.8316541188210865, + -0.5512467424833171, + 0.06692126380646066, + -0.012252867013474021, + -0.10226851673108764, + -0.9946813649282737 + ], + [ + 0.6287780195792746, + -0.7770804898509063, + 0.02800204255123963, + -0.7764168022138394, + -0.6254531640304852, + 0.07736464854370745, + -0.04260459287449826, + -0.07038644682984829, + -0.9966095508114838 + ], + [ + 0.6767676528027031, + -0.736099593654635, + -0.011955431460270699, + -0.7339765977635809, + -0.6758980332231499, + 0.06663484539245204, + -0.05713053522695451, + -0.03632130100311561, + -0.997705800844178 + ], + [ + 0.6995840003793026, + -0.7140675570015537, + -0.026263100561893193, + -0.7121283882225001, + -0.6997652850445454, + 0.05658360658485491, + -0.05878252377123114, + -0.02088228637765502, + -0.998052375887521 + ], + [ + 0.7168452072581151, + -0.6965201081471709, + -0.03150694808646758, + -0.6948398132387662, + -0.717395949549849, + 0.05040521310129408, + -0.057711201420403764, + -0.01424045350836197, + -0.9982317500032193 + ], + [ + 0.7141115426204778, + -0.699117833510013, + -0.03576254415539451, + -0.6970640600265996, + -0.7148546976814636, + 0.055537891767474035, + -0.0643925532607146, + -0.014731465338120184, + -0.9978159063742956 + ], + [ + 0.7217554849670071, + -0.6897518028003227, + -0.05754537734471129, + -0.6879246964362407, + -0.7240383816386038, + 0.05027955794612389, + -0.07634547762078978, + 0.0032973395118380475, + -0.9970759728320591 + ], + [ + 0.721705792120782, + -0.689334327970895, + -0.06292005960127961, + -0.6864682184284712, + -0.7244401609823284, + 0.0628318250852096, + -0.08889395202686651, + -0.002153470875611997, + -0.9960387682496261 + ], + [ + 0.7159760880025622, + -0.6948019587090666, + -0.06803293013381351, + -0.69059257521387, + -0.7191567133768957, + 0.07678226790358045, + -0.10227480856996526, + -0.007991231381114648, + -0.9947240842329046 + ], + [ + 0.7064062386281713, + -0.7047816331607986, + -0.0653687661379406, + -0.7005282480932795, + -0.7093645508881313, + 0.07785953741604501, + -0.10124425737077603, + -0.009207795744766913, + -0.9948189869755014 + ], + [ + 0.7021444297765297, + -0.7106448297392828, + -0.04446488163279249, + -0.7069518233840159, + -0.7032198878298193, + 0.07550436261986543, + -0.08492537399274583, + -0.021580438490508645, + -0.9961535853103928 + ], + [ + 0.6972900634287313, + -0.7160783610367171, + -0.031911569978997106, + -0.7129325143855264, + -0.6974627840511823, + 0.07261470095996148, + -0.07425494849157602, + -0.027882713615113817, + -0.9968494153612022 + ], + [ + 0.6904872909166717, + -0.7228301085830263, + -0.02727517568057085, + -0.7205830316968814, + -0.690653773840745, + 0.06129811669267003, + -0.06314582736085327, + -0.022671541751444948, + -0.9977467643052148 + ], + [ + 0.7019736145346637, + -0.7117913757177947, + 0.024209129495067042, + -0.7121575928929076, + -0.7011396382656713, + 0.035139301894936456, + -0.008037871740661628, + -0.041907578150652935, + -0.9990891589399956 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006697.json b/json/chunk-0006/episode_0006697.json new file mode 100644 index 0000000000000000000000000000000000000000..8633d43a4e09507d8644259fee89b7e0a5b7f02b --- /dev/null +++ b/json/chunk-0006/episode_0006697.json @@ -0,0 +1,2482 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 40, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nUnfold the cloth from left to right." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006697.mp4", + "start": 0, + "end": 40, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.24923117458820343, + 0.14578568935394287, + 0.15221598744392395, + -0.1445123255252838, + -0.11774279922246933, + 0.6444298624992371, + 0.0, + 0.9994885921478271 + ], + [ + 0.24892757833003998, + 0.14502495527267456, + 0.142794668674469, + -0.14605340361595154, + -0.08412820100784302, + 0.6438158750534058, + 0.0, + 0.9994885921478271 + ], + [ + 0.2558605968952179, + 0.14691244065761566, + 0.12489430606365204, + -0.16232836246490479, + -0.05491654574871063, + 0.6319661140441895, + 0.0, + 0.9994885921478271 + ], + [ + 0.2603892385959625, + 0.15555883944034576, + 0.1186659038066864, + -0.15570537745952606, + -0.08803480118513107, + 0.6498290300369263, + 0.0, + 0.9994885921478271 + ], + [ + 0.25890499353408813, + 0.15875189006328583, + 0.0962405800819397, + -0.13701260089874268, + -0.15682680904865265, + 0.6404500603675842, + 0.0, + 0.9994885921478271 + ], + [ + 0.25748226046562195, + 0.1580633968114853, + 0.07385262846946716, + -0.12193506211042404, + -0.23732106387615204, + 0.5985440015792847, + 0.0, + 0.9994885921478271 + ], + [ + 0.2598133087158203, + 0.157527893781662, + 0.06662767380475998, + -0.11760759353637695, + -0.296314537525177, + 0.5474949479103088, + 0.0, + 0.9994885921478271 + ], + [ + 0.25780215859413147, + 0.15545929968357086, + 0.06014347821474075, + -0.11851296573877335, + -0.316496878862381, + 0.5274478197097778, + 0.0, + 0.9994885921478271 + ], + [ + 0.25620055198669434, + 0.15919440984725952, + 0.05042656883597374, + -0.0951048880815506, + -0.31612130999565125, + 0.533798336982727, + 0.0, + 0.9994885921478271 + ], + [ + 0.2570750415325165, + 0.16397802531719208, + 0.041807156056165695, + -0.08382968604564667, + -0.3167337477207184, + 0.5755966305732727, + 0.0, + 0.9994885921478271 + ], + [ + 0.2595495879650116, + 0.1674921065568924, + 0.0316941924393177, + -0.08499576896429062, + -0.31959474086761475, + 0.6167275309562683, + 0.0, + 0.9994885921478271 + ], + [ + 0.2603645920753479, + 0.1704234778881073, + 0.02160203829407692, + -0.07713176310062408, + -0.3110395073890686, + 0.6307002305984497, + 0.0, + 0.9994885921478271 + ], + [ + 0.2655823826789856, + 0.17311789095401764, + 0.017499053850769997, + -0.05454406887292862, + -0.32339948415756226, + 0.6240883469581604, + 0.0, + 0.9994885921478271 + ], + [ + 0.26907414197921753, + 0.17576773464679718, + 0.014957058243453503, + -0.04326573759317398, + -0.320663720369339, + 0.6260197758674622, + 0.0, + 0.9994885921478271 + ], + [ + 0.2730633616447449, + 0.17148491740226746, + 0.014153624884784222, + -0.027004549279808998, + -0.31845584511756897, + 0.6094961762428284, + 0.0, + 0.9994885921478271 + ], + [ + 0.2776784896850586, + 0.170761376619339, + 0.015997717157006264, + -0.01634763926267624, + -0.32481178641319275, + 0.6060564517974854, + 0.0, + 0.9994885921478271 + ], + [ + 0.2794998288154602, + 0.17069344222545624, + 0.012945685535669327, + -0.00849255919456482, + -0.3146533668041229, + 0.6053489446640015, + 0.0, + 0.9994885921478271 + ], + [ + 0.2803240716457367, + 0.17224718630313873, + 0.009069425985217094, + 0.0036346791312098503, + -0.3081342279911041, + 0.6034387350082397, + 0.0, + 0.9994885921478271 + ], + [ + 0.2807859182357788, + 0.17163671553134918, + 0.004564457107335329, + 0.008854172192513943, + -0.3040911555290222, + 0.5981221199035645, + 0.0, + 0.9730880856513977 + ], + [ + 0.28305038809776306, + 0.17252478003501892, + 0.0056616393849253654, + 0.007814551703631878, + -0.31602421402931213, + 0.5912018418312073, + 0.0, + 0.704176664352417 + ], + [ + 0.2838769555091858, + 0.17488528788089752, + 0.0031406013295054436, + 0.013238713145256042, + -0.32610657811164856, + 0.5957780480384827, + 0.0, + 0.400628000497818 + ], + [ + 0.284028023481369, + 0.17417320609092712, + 0.0030535596888512373, + 0.011771397665143013, + -0.3244432210922241, + 0.5956102013587952, + 0.0, + 0.17351533472537994 + ], + [ + 0.28097981214523315, + 0.1696995198726654, + 0.0026653320528566837, + -0.011446340940892696, + -0.27755314111709595, + 0.60709547996521, + 0.0, + 0.06472665071487427 + ], + [ + 0.28159022331237793, + 0.17066824436187744, + 0.02444092184305191, + -0.056373268365859985, + -0.25073328614234924, + 0.6382399797439575, + 0.0, + 0.04910881817340851 + ], + [ + 0.2868087887763977, + 0.1685299426317215, + 0.039136555045843124, + -0.08853723108768463, + -0.19799330830574036, + 0.6580208539962769, + 0.0, + 0.04910881817340851 + ], + [ + 0.3007100820541382, + 0.1661115437746048, + 0.05826319009065628, + -0.11209343373775482, + -0.1738058626651764, + 0.6703625917434692, + 0.0, + 0.04910881817340851 + ], + [ + 0.31428277492523193, + 0.15035833418369293, + 0.07237599045038223, + -0.1572350263595581, + -0.1408388614654541, + 0.6711326837539673, + 0.0, + 0.04910881817340851 + ], + [ + 0.321046382188797, + 0.12383659183979034, + 0.07434762269258499, + -0.15972428023815155, + -0.09734626859426498, + 0.6342169642448425, + 0.0, + 0.04910881817340851 + ], + [ + 0.3342091143131256, + 0.09352720528841019, + 0.08288858085870743, + -0.15965142846107483, + -0.08179064095020294, + 0.6066040992736816, + 0.0, + 0.04910881817340851 + ], + [ + 0.34357863664627075, + 0.06787262111902237, + 0.08599545806646347, + -0.13901865482330322, + -0.08963415026664734, + 0.6048129200935364, + 0.0, + 0.04910881817340851 + ], + [ + 0.35909169912338257, + 0.04297538101673126, + 0.09980738908052444, + -0.14776702225208282, + -0.12068483233451843, + 0.5996719002723694, + 0.0, + 0.04910881817340851 + ], + [ + 0.37671515345573425, + 0.03518836200237274, + 0.11943025887012482, + -0.19961601495742798, + -0.1241840273141861, + 0.6312330365180969, + 0.0, + 0.04910881817340851 + ], + [ + 0.3874761164188385, + 0.03150255233049393, + 0.12683828175067902, + -0.2236972153186798, + -0.09550248831510544, + 0.6391263008117676, + 0.0, + 0.04910881817340851 + ], + [ + 0.3987598717212677, + 0.027738025411963463, + 0.13629627227783203, + -0.2504030466079712, + -0.07357709109783173, + 0.6367720365524292, + 0.0, + 0.04910881817340851 + ], + [ + 0.4065682888031006, + 0.024832958355545998, + 0.13359349966049194, + -0.25687703490257263, + -0.06039727106690407, + 0.6432490944862366, + 0.0, + 0.06772904843091965 + ], + [ + 0.41069599986076355, + 0.012657398357987404, + 0.1280897706747055, + -0.27162009477615356, + -0.07823368161916733, + 0.5943343639373779, + 0.0, + 0.20989185571670532 + ], + [ + 0.406316876411438, + 0.009094693697988987, + 0.11234231293201447, + -0.28342118859291077, + -0.0612446554005146, + 0.6054911613464355, + 0.0, + 0.4448287785053253 + ], + [ + 0.4012395143508911, + 0.00439520413056016, + 0.09972134977579117, + -0.3092809319496155, + -0.033325936645269394, + 0.6136124134063721, + 0.0, + 0.7545521855354309 + ], + [ + 0.39276641607284546, + 0.015749577432870865, + 0.10096605122089386, + -0.34929296374320984, + -0.05631905421614647, + 0.6276832222938538, + 0.0, + 0.9879508018493652 + ], + [ + 0.37059542536735535, + 0.0561615452170372, + 0.11335180699825287, + -0.36732029914855957, + -0.10740582644939423, + 0.6703788638114929, + 0.0, + 0.9994885921478271 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9730880856513977 + ], + [ + 0.704176664352417 + ], + [ + 0.400628000497818 + ], + [ + 0.17351533472537994 + ], + [ + 0.06472665071487427 + ], + [ + 0.04910881817340851 + ], + [ + 0.04910881817340851 + ], + [ + 0.04910881817340851 + ], + [ + 0.04910881817340851 + ], + [ + 0.04910881817340851 + ], + [ + 0.04910881817340851 + ], + [ + 0.04910881817340851 + ], + [ + 0.04910881817340851 + ], + [ + 0.04910881817340851 + ], + [ + 0.04910881817340851 + ], + [ + 0.04910881817340851 + ], + [ + 0.06772904843091965 + ], + [ + 0.20989185571670532 + ], + [ + 0.4448287785053253 + ], + [ + 0.7545521855354309 + ], + [ + 0.9879508018493652 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.24923117458820343, + 0.14578568935394287, + 0.15221598744392395 + ], + [ + 0.24892757833003998, + 0.14502495527267456, + 0.142794668674469 + ], + [ + 0.2558605968952179, + 0.14691244065761566, + 0.12489430606365204 + ], + [ + 0.2603892385959625, + 0.15555883944034576, + 0.1186659038066864 + ], + [ + 0.25890499353408813, + 0.15875189006328583, + 0.0962405800819397 + ], + [ + 0.25748226046562195, + 0.1580633968114853, + 0.07385262846946716 + ], + [ + 0.2598133087158203, + 0.157527893781662, + 0.06662767380475998 + ], + [ + 0.25780215859413147, + 0.15545929968357086, + 0.06014347821474075 + ], + [ + 0.25620055198669434, + 0.15919440984725952, + 0.05042656883597374 + ], + [ + 0.2570750415325165, + 0.16397802531719208, + 0.041807156056165695 + ], + [ + 0.2595495879650116, + 0.1674921065568924, + 0.0316941924393177 + ], + [ + 0.2603645920753479, + 0.1704234778881073, + 0.02160203829407692 + ], + [ + 0.2655823826789856, + 0.17311789095401764, + 0.017499053850769997 + ], + [ + 0.26907414197921753, + 0.17576773464679718, + 0.014957058243453503 + ], + [ + 0.2730633616447449, + 0.17148491740226746, + 0.014153624884784222 + ], + [ + 0.2776784896850586, + 0.170761376619339, + 0.015997717157006264 + ], + [ + 0.2794998288154602, + 0.17069344222545624, + 0.012945685535669327 + ], + [ + 0.2803240716457367, + 0.17224718630313873, + 0.009069425985217094 + ], + [ + 0.2807859182357788, + 0.17163671553134918, + 0.004564457107335329 + ], + [ + 0.28305038809776306, + 0.17252478003501892, + 0.0056616393849253654 + ], + [ + 0.2838769555091858, + 0.17488528788089752, + 0.0031406013295054436 + ], + [ + 0.284028023481369, + 0.17417320609092712, + 0.0030535596888512373 + ], + [ + 0.28097981214523315, + 0.1696995198726654, + 0.0026653320528566837 + ], + [ + 0.28159022331237793, + 0.17066824436187744, + 0.02444092184305191 + ], + [ + 0.2868087887763977, + 0.1685299426317215, + 0.039136555045843124 + ], + [ + 0.3007100820541382, + 0.1661115437746048, + 0.05826319009065628 + ], + [ + 0.31428277492523193, + 0.15035833418369293, + 0.07237599045038223 + ], + [ + 0.321046382188797, + 0.12383659183979034, + 0.07434762269258499 + ], + [ + 0.3342091143131256, + 0.09352720528841019, + 0.08288858085870743 + ], + [ + 0.34357863664627075, + 0.06787262111902237, + 0.08599545806646347 + ], + [ + 0.35909169912338257, + 0.04297538101673126, + 0.09980738908052444 + ], + [ + 0.37671515345573425, + 0.03518836200237274, + 0.11943025887012482 + ], + [ + 0.3874761164188385, + 0.03150255233049393, + 0.12683828175067902 + ], + [ + 0.3987598717212677, + 0.027738025411963463, + 0.13629627227783203 + ], + [ + 0.4065682888031006, + 0.024832958355545998, + 0.13359349966049194 + ], + [ + 0.41069599986076355, + 0.012657398357987404, + 0.1280897706747055 + ], + [ + 0.406316876411438, + 0.009094693697988987, + 0.11234231293201447 + ], + [ + 0.4012395143508911, + 0.00439520413056016, + 0.09972134977579117 + ], + [ + 0.39276641607284546, + 0.015749577432870865, + 0.10096605122089386 + ], + [ + 0.37059542536735535, + 0.0561615452170372, + 0.11335180699825287 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.7939073202110938, + 0.5809566088292545, + 0.1794452160768087, + 0.5965833941343003, + -0.8012719663489362, + -0.04529337464251911, + 0.11747093580302337, + 0.14301277775402488, + -0.9827247451044673 + ], + [ + 0.7969824163445604, + 0.5840799934445436, + 0.15384924210215623, + 0.59812887853857, + -0.7986361903579435, + -0.0664987226098614, + 0.08402899913588462, + 0.14501998727200563, + -0.9858541122274882 + ], + [ + 0.8056512406865518, + 0.575808637867906, + 0.1391779110955697, + 0.5898417430988682, + -0.8015006219828787, + -0.09840462925669342, + 0.054888946777183985, + 0.16137275333142537, + -0.9853659411629399 + ], + [ + 0.7931039718399384, + 0.5868749772926622, + 0.16298420438634872, + 0.6027071962733863, + -0.794804876368421, + -0.07091716337567816, + 0.08792113177153624, + 0.15447643680741693, + -0.9840766764126138 + ], + [ + 0.7919867701393377, + 0.5748514585901062, + 0.20567633913770236, + 0.5902230765360549, + -0.807059844905136, + -0.01706243435187399, + 0.15618474909085753, + 0.13490814392958284, + -0.9784713163158647 + ], + [ + 0.8030007380461652, + 0.5356320147573991, + 0.26132003265008913, + 0.5476476799938818, + -0.8361348291472209, + 0.030993000568950997, + 0.23509962419075286, + 0.11822390728561386, + -0.9647545151236607 + ], + [ + 0.8166204954838199, + 0.48770015412694817, + 0.30867381816459843, + 0.4978639507276455, + -0.8657681854865661, + 0.0507635259330903, + 0.2919973508811701, + 0.11222303089762789, + -0.9498123701102913 + ], + [ + 0.8211762436232107, + 0.468000736919365, + 0.3265652877324908, + 0.47833005712029303, + -0.8765556643778233, + 0.05339029595769283, + 0.3112393506036317, + 0.11236315005411755, + -0.9436655070234079 + ], + [ + 0.8182226343675779, + 0.48109276747602925, + 0.31474032104392996, + 0.48359471197553183, + -0.8720112318976458, + 0.07571371073757047, + 0.3108824137159953, + 0.09025608304488608, + -0.9461532456824906 + ], + [ + 0.7971405660025407, + 0.5205467028272113, + 0.3059379809844924, + 0.5172589458120562, + -0.850117812391793, + 0.09870606886910314, + 0.31146444582094596, + 0.0795665459217048, + -0.9469208328891808 + ], + [ + 0.7744669442251356, + 0.5545224172528314, + 0.3044763390916565, + 0.5490817046601517, + -0.8282568338843985, + 0.11180294598664955, + 0.3141818484732726, + 0.08059470136348076, + -0.9459356533094885 + ], + [ + 0.7688621411321307, + 0.5689114030448895, + 0.29187467073936235, + 0.5614137216888325, + -0.8191205265246355, + 0.11771234483051628, + 0.306048429228464, + 0.07335787968241354, + -0.9491854299636562 + ], + [ + 0.7694286892667412, + 0.5694294631673569, + 0.2893606376309675, + 0.5540649428510644, + -0.8204133944191165, + 0.14118746885311625, + 0.31779164752508987, + 0.05169089605180746, + -0.9467505056923128 + ], + [ + 0.7690587760761294, + 0.5743279680293862, + 0.2805280450855531, + 0.5560573296675144, + -0.8175955517919913, + 0.14945822096151995, + 0.31519651816496824, + 0.041047519159938525, + -0.9481383106422265 + ], + [ + 0.7787101499757595, + 0.5653138798586615, + 0.2720858679973594, + 0.5436714352717719, + -0.8244771802484117, + 0.15703104699122195, + 0.3131004196647799, + 0.025643644217905284, + -0.9493737571246447 + ], + [ + 0.7789242418186375, + 0.5652668895083249, + 0.2715701919078086, + 0.5398451638038958, + -0.8247625943802237, + 0.16832665275810466, + 0.3191304194601412, + 0.015492144357250659, + -0.9475841750675286 + ], + [ + 0.7819315296565814, + 0.5668672647441859, + 0.2593156128935621, + 0.5411108547337782, + -0.8237695614160985, + 0.16912348321155332, + 0.3094868750338189, + 0.008075509010189885, + -0.9508694233889465 + ], + [ + 0.7846083481001558, + 0.5683811359931593, + 0.2476542435305128, + 0.5407496757765414, + -0.8227580984342926, + 0.17509682923557535, + 0.30328126918606446, + -0.003463482050290387, + -0.9528947875043589 + ], + [ + 0.7884790796464313, + 0.565260409616677, + 0.24244877867273926, + 0.5372566611890529, + -0.824869264505536, + 0.17591468523715437, + 0.29942615277879064, + -0.00844782777300361, + -0.9540820788789661 + ], + [ + 0.7891551863992158, + 0.5593587096810585, + 0.2536768134519989, + 0.5297580470353686, + -0.8288924335050728, + 0.1797046056151888, + 0.3107901275466952, + -0.00742748826856543, + -0.9504495405004567 + ], + [ + 0.7840890718421303, + 0.564614072000178, + 0.25771161618585214, + 0.5315783727661096, + -0.8252597666433249, + 0.19071117210887134, + 0.3203572396951271, + -0.012540624353770222, + -0.9472137940907196 + ], + [ + 0.7846183113258209, + 0.564081390005441, + 0.25726696441973834, + 0.5317449698633273, + -0.8256438134244455, + 0.18857248043919006, + 0.31878110445455604, + -0.01115700692251527, + -0.9477626963746065 + ], + [ + 0.7898759730754802, + 0.5678711493005466, + 0.23155626735232068, + 0.5486512212119026, + -0.8230438511760694, + 0.1469035619171701, + 0.27400325658785696, + 0.011008034944541778, + -0.9616657623862402 + ], + [ + 0.7780318254741951, + 0.5836087170496843, + 0.23252385669628217, + 0.5771531266771216, + -0.8101985648934424, + 0.10233549634134183, + 0.24811438272722947, + 0.05458159789002022, + -0.967191864241867 + ], + [ + 0.775746591676225, + 0.5953955794053487, + 0.20909645986311912, + 0.5996044146146497, + -0.7987416546029753, + 0.049862963978529726, + 0.19670224065155714, + 0.08669413605700234, + -0.9766229340415811 + ], + [ + 0.7717905866557542, + 0.6022132495907713, + 0.2041531101082965, + 0.611909939408489, + -0.7906965231476908, + 0.019111105024365825, + 0.17293211501241162, + 0.11017354627802728, + -0.9787524065348996 + ], + [ + 0.7753638126170662, + 0.5969884119680974, + 0.205950950616248, + 0.6157159872540009, + -0.7871265519913819, + -0.03640898501729158, + 0.1403737194910715, + 0.15503750232110794, + -0.9778847538182985 + ], + [ + 0.8017221934635725, + 0.5725524554693161, + 0.17153778080649026, + 0.5897415739954613, + -0.8044420473135616, + -0.07125916372875847, + 0.09719259441600728, + 0.15829301390150802, + -0.9825970289699959 + ], + [ + 0.8188421260389521, + 0.5521599885674535, + 0.1568978000138885, + 0.5681749446953008, + -0.8185446111219303, + -0.08462831573261706, + 0.08169947885085008, + 0.15844262882329735, + -0.9839822805960797 + ], + [ + 0.819306165238806, + 0.5529188075292355, + 0.15171750025007016, + 0.5663255426237053, + -0.8217254088835974, + -0.06358248317775968, + 0.08951417414939164, + 0.1380150161233643, + -0.9863767373325566 + ], + [ + 0.8195163379428874, + 0.5435886878109539, + 0.18139545288855424, + 0.5602666484131587, + -0.8265282173196491, + -0.05433588731481348, + 0.12039208661936386, + 0.1461589698183707, + -0.9819079900994121 + ], + [ + 0.8010834913865911, + 0.5585935188081943, + 0.21503144089492732, + 0.5855960043868831, + -0.8057645089237314, + -0.08843571566406488, + 0.12386508577475253, + 0.1967659444730646, + -0.9725947787345127 + ], + [ + 0.7989597764113398, + 0.5646537909737547, + 0.20695258397929922, + 0.5937762591353476, + -0.7952372381536409, + -0.12258665971875377, + 0.09535737917945337, + 0.22082534137353071, + -0.9706405817001931 + ], + [ + 0.8018439676533102, + 0.561413433946669, + 0.204600116623148, + 0.5929944562426288, + -0.789775075576113, + -0.15688500522437893, + 0.0735107230511686, + 0.24712402995854849, + -0.9661914341441558 + ], + [ + 0.7986922188773441, + 0.5678473121615915, + 0.19909839169526422, + 0.598704720668787, + -0.7830947939317332, + -0.1682712131231186, + 0.060360557930609224, + 0.25359805556800397, + -0.9654245849668597 + ], + [ + 0.8259872167808864, + 0.5220554246620569, + 0.21261056252097277, + 0.5582446466073375, + -0.809886990176206, + -0.18012767049394418, + 0.07815390104667763, + 0.2674718615560252, + -0.960390946972607 + ], + [ + 0.820681085759069, + 0.5323856849904612, + 0.207480210850463, + 0.5680988779140262, + -0.7991613105785312, + -0.196481206702392, + 0.06120637540436066, + 0.2791176850212848, + -0.9583042823228011 + ], + [ + 0.817119276465369, + 0.5402117365336099, + 0.20121473042511945, + 0.5755048923093824, + -0.7846214018432326, + -0.2305718428115771, + 0.03331976825666874, + 0.3042047591358525, + -0.9520237694314254 + ], + [ + 0.8081069687350825, + 0.5362165814616985, + 0.24379274978416826, + 0.5863400406848694, + -0.7718283999985365, + -0.24593958129053725, + 0.05628928647142478, + 0.34169094035579683, + -0.93812516089662 + ], + [ + 0.7790709532766986, + 0.5496732653895378, + 0.30150912270864827, + 0.6177027844232328, + -0.7552331950714748, + -0.21923980290521347, + 0.10719943972018245, + 0.35704638687169843, + -0.9279149517846689 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.00030359625816345215, + -0.0007607340812683105, + -0.009421318769454956, + -0.0015410780906677246, + 0.03361459821462631, + -0.0006139874458312988, + 1.0 + ], + [ + 0.0069330185651779175, + 0.001887485384941101, + -0.017900362610816956, + -0.016274958848953247, + 0.029211655259132385, + -0.011849761009216309, + 1.0 + ], + [ + 0.004528641700744629, + 0.008646398782730103, + -0.006228402256965637, + 0.006622985005378723, + -0.03311825543642044, + 0.017862915992736816, + 1.0 + ], + [ + -0.0014842450618743896, + 0.0031930506229400635, + -0.022425323724746704, + 0.018692776560783386, + -0.06879200786352158, + -0.009378969669342041, + 1.0 + ], + [ + -0.0014227330684661865, + -0.0006884932518005371, + -0.022387951612472534, + 0.015077538788318634, + -0.08049425482749939, + -0.04190605878829956, + 1.0 + ], + [ + 0.0023310482501983643, + -0.0005355030298233032, + -0.007224954664707184, + 0.004327468574047089, + -0.05899347364902496, + -0.05104905366897583, + 1.0 + ], + [ + -0.0020111501216888428, + -0.0020685940980911255, + -0.006484195590019226, + -0.0009053722023963928, + -0.02018234133720398, + -0.020047128200531006, + 1.0 + ], + [ + -0.0016016066074371338, + 0.0037351101636886597, + -0.009716909378767014, + 0.023408077657222748, + 0.00037556886672973633, + 0.006350517272949219, + 1.0 + ], + [ + 0.0008744895458221436, + 0.004783615469932556, + -0.008619412779808044, + 0.01127520203590393, + -0.0006124377250671387, + 0.041798293590545654, + 1.0 + ], + [ + 0.002474546432495117, + 0.0035140812397003174, + -0.010112963616847992, + -0.0011660829186439514, + -0.0028609931468963623, + 0.041130900382995605, + 1.0 + ], + [ + 0.0008150041103363037, + 0.002931371331214905, + -0.010092154145240784, + 0.007864005863666534, + 0.008555233478546143, + 0.013972699642181396, + 1.0 + ], + [ + 0.005217790603637695, + 0.0026944130659103394, + -0.004102984443306923, + 0.022587694227695465, + -0.012359976768493652, + -0.006611883640289307, + 1.0 + ], + [ + 0.0034917593002319336, + 0.002649843692779541, + -0.002541995607316494, + 0.011278331279754639, + 0.0027357637882232666, + 0.0019314289093017578, + 1.0 + ], + [ + 0.003989219665527344, + -0.004282817244529724, + -0.000803433358669281, + 0.016261188313364983, + 0.0022078752517700195, + -0.01652359962463379, + 1.0 + ], + [ + 0.004615128040313721, + -0.0007235407829284668, + 0.001844092272222042, + 0.010656910017132759, + -0.006355941295623779, + -0.0034397244453430176, + 1.0 + ], + [ + 0.0018213391304016113, + -6.793439388275146e-05, + -0.003052031621336937, + 0.00785508006811142, + 0.010158419609069824, + -0.0007075071334838867, + 1.0 + ], + [ + 0.0008242428302764893, + 0.0015537440776824951, + -0.0038762595504522324, + 0.01212723832577467, + 0.006519138813018799, + -0.0019102096557617188, + 1.0 + ], + [ + 0.00046184659004211426, + -0.0006104707717895508, + -0.004504968877881765, + 0.005219493061304092, + 0.004043072462081909, + -0.005316615104675293, + 0.0 + ], + [ + 0.002264469861984253, + 0.0008880645036697388, + 0.0010971822775900364, + -0.0010396204888820648, + -0.011933058500289917, + -0.006920278072357178, + 0.0 + ], + [ + 0.0008265674114227295, + 0.002360507845878601, + -0.002521038055419922, + 0.005424161441624165, + -0.010082364082336426, + 0.004576206207275391, + 0.0 + ], + [ + 0.00015106797218322754, + -0.000712081789970398, + -8.704164065420628e-05, + -0.0014673154801130295, + 0.0016633570194244385, + -0.0001678466796875, + 0.0 + ], + [ + -0.0030482113361358643, + -0.004473686218261719, + -0.00038822763599455357, + -0.023217737674713135, + 0.046890079975128174, + 0.011485278606414795, + 0.0 + ], + [ + 0.0006104111671447754, + 0.0009687244892120361, + 0.021775590255856514, + -0.044926926493644714, + 0.026819854974746704, + 0.03114449977874756, + 0.0 + ], + [ + 0.005218565464019775, + -0.002138301730155945, + 0.014695633202791214, + -0.032163962721824646, + 0.05273997783660889, + 0.019780874252319336, + 0.0 + ], + [ + 0.013901293277740479, + -0.0024183988571166992, + 0.019126635044813156, + -0.02355620265007019, + 0.024187445640563965, + 0.012341737747192383, + 0.0 + ], + [ + 0.01357269287109375, + -0.015753209590911865, + 0.014112800359725952, + -0.045141592621803284, + 0.03296700119972229, + 0.0007700920104980469, + 0.0 + ], + [ + 0.0067636072635650635, + -0.026521742343902588, + 0.001971632242202759, + -0.002489253878593445, + 0.04349259287118912, + -0.036915719509124756, + 0.0 + ], + [ + 0.013162732124328613, + -0.030309386551380157, + 0.008540958166122437, + 7.285177707672119e-05, + 0.015555627644062042, + -0.02761286497116089, + 0.0 + ], + [ + 0.009369522333145142, + -0.025654584169387817, + 0.0031068772077560425, + 0.020632773637771606, + -0.007843509316444397, + -0.0017911791801452637, + 0.0 + ], + [ + 0.015513062477111816, + -0.024897240102291107, + 0.013811931014060974, + -0.008748367428779602, + -0.031050682067871094, + -0.005141019821166992, + 0.0 + ], + [ + 0.017623454332351685, + -0.0077870190143585205, + 0.019622869789600372, + -0.051848992705345154, + -0.0034991949796676636, + 0.03156113624572754, + 0.0 + ], + [ + 0.010760962963104248, + -0.0036858096718788147, + 0.007408022880554199, + -0.02408120036125183, + 0.028681538999080658, + 0.007893264293670654, + 0.0 + ], + [ + 0.0112837553024292, + -0.003764526918530464, + 0.009457990527153015, + -0.026705831289291382, + 0.021925397217273712, + -0.002354264259338379, + 0.0 + ], + [ + 0.007808417081832886, + -0.002905067056417465, + -0.002702772617340088, + -0.00647398829460144, + 0.013179820030927658, + 0.006477057933807373, + 1.0 + ], + [ + 0.004127711057662964, + -0.012175559997558594, + -0.005503728985786438, + -0.014743059873580933, + -0.01783641055226326, + -0.04891473054885864, + 1.0 + ], + [ + -0.0043791234493255615, + -0.003562704659998417, + -0.01574745774269104, + -0.011801093816757202, + 0.016989026218652725, + 0.011156797409057617, + 1.0 + ], + [ + -0.005077362060546875, + -0.004699489567428827, + -0.012620963156223297, + -0.025859743356704712, + 0.02791871875524521, + 0.008121252059936523, + 1.0 + ], + [ + -0.008473098278045654, + 0.011354373767971992, + 0.0012447014451026917, + -0.04001203179359436, + -0.022993117570877075, + 0.01407080888748169, + 1.0 + ], + [ + -0.022170990705490112, + 0.040411967784166336, + 0.012385755777359009, + -0.01802733540534973, + -0.05108677223324776, + 0.04269564151763916, + 1.0 + ], + [ + -0.03265935182571411, + 0.042324766516685486, + 0.00398215651512146, + 0.13530202209949493, + -0.1334916204214096, + 0.12068992853164673, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9730880856513977 + ], + [ + 0.704176664352417 + ], + [ + 0.400628000497818 + ], + [ + 0.17351533472537994 + ], + [ + 0.06472665071487427 + ], + [ + 0.04910881817340851 + ], + [ + 0.04910881817340851 + ], + [ + 0.04910881817340851 + ], + [ + 0.04910881817340851 + ], + [ + 0.04910881817340851 + ], + [ + 0.04910881817340851 + ], + [ + 0.04910881817340851 + ], + [ + 0.04910881817340851 + ], + [ + 0.04910881817340851 + ], + [ + 0.04910881817340851 + ], + [ + 0.04910881817340851 + ], + [ + 0.06772904843091965 + ], + [ + 0.20989185571670532 + ], + [ + 0.4448287785053253 + ], + [ + 0.7545521855354309 + ], + [ + 0.9879508018493652 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.24892757833003998, + 0.14502495527267456, + 0.142794668674469 + ], + [ + 0.2558605968952179, + 0.14691244065761566, + 0.12489430606365204 + ], + [ + 0.2603892385959625, + 0.15555883944034576, + 0.1186659038066864 + ], + [ + 0.25890499353408813, + 0.15875189006328583, + 0.0962405800819397 + ], + [ + 0.25748226046562195, + 0.1580633968114853, + 0.07385262846946716 + ], + [ + 0.2598133087158203, + 0.157527893781662, + 0.06662767380475998 + ], + [ + 0.25780215859413147, + 0.15545929968357086, + 0.06014347821474075 + ], + [ + 0.25620055198669434, + 0.15919440984725952, + 0.05042656883597374 + ], + [ + 0.2570750415325165, + 0.16397802531719208, + 0.041807156056165695 + ], + [ + 0.2595495879650116, + 0.1674921065568924, + 0.0316941924393177 + ], + [ + 0.2603645920753479, + 0.1704234778881073, + 0.02160203829407692 + ], + [ + 0.2655823826789856, + 0.17311789095401764, + 0.017499053850769997 + ], + [ + 0.26907414197921753, + 0.17576773464679718, + 0.014957058243453503 + ], + [ + 0.2730633616447449, + 0.17148491740226746, + 0.014153624884784222 + ], + [ + 0.2776784896850586, + 0.170761376619339, + 0.015997717157006264 + ], + [ + 0.2794998288154602, + 0.17069344222545624, + 0.012945685535669327 + ], + [ + 0.2803240716457367, + 0.17224718630313873, + 0.009069425985217094 + ], + [ + 0.2807859182357788, + 0.17163671553134918, + 0.004564457107335329 + ], + [ + 0.28305038809776306, + 0.17252478003501892, + 0.0056616393849253654 + ], + [ + 0.2838769555091858, + 0.17488528788089752, + 0.0031406013295054436 + ], + [ + 0.284028023481369, + 0.17417320609092712, + 0.0030535596888512373 + ], + [ + 0.28097981214523315, + 0.1696995198726654, + 0.0026653320528566837 + ], + [ + 0.28159022331237793, + 0.17066824436187744, + 0.02444092184305191 + ], + [ + 0.2868087887763977, + 0.1685299426317215, + 0.039136555045843124 + ], + [ + 0.3007100820541382, + 0.1661115437746048, + 0.05826319009065628 + ], + [ + 0.31428277492523193, + 0.15035833418369293, + 0.07237599045038223 + ], + [ + 0.321046382188797, + 0.12383659183979034, + 0.07434762269258499 + ], + [ + 0.3342091143131256, + 0.09352720528841019, + 0.08288858085870743 + ], + [ + 0.34357863664627075, + 0.06787262111902237, + 0.08599545806646347 + ], + [ + 0.35909169912338257, + 0.04297538101673126, + 0.09980738908052444 + ], + [ + 0.37671515345573425, + 0.03518836200237274, + 0.11943025887012482 + ], + [ + 0.3874761164188385, + 0.03150255233049393, + 0.12683828175067902 + ], + [ + 0.3987598717212677, + 0.027738025411963463, + 0.13629627227783203 + ], + [ + 0.4065682888031006, + 0.024832958355545998, + 0.13359349966049194 + ], + [ + 0.41069599986076355, + 0.012657398357987404, + 0.1280897706747055 + ], + [ + 0.406316876411438, + 0.009094693697988987, + 0.11234231293201447 + ], + [ + 0.4012395143508911, + 0.00439520413056016, + 0.09972134977579117 + ], + [ + 0.39276641607284546, + 0.015749577432870865, + 0.10096605122089386 + ], + [ + 0.37059542536735535, + 0.0561615452170372, + 0.11335180699825287 + ], + [ + 0.33793607354164124, + 0.09848631173372269, + 0.11733396351337433 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.7969824163445604, + 0.5840799934445436, + 0.15384924210215623, + 0.59812887853857, + -0.7986361903579435, + -0.0664987226098614, + 0.08402899913588462, + 0.14501998727200563, + -0.9858541122274882 + ], + [ + 0.8056512406865518, + 0.575808637867906, + 0.1391779110955697, + 0.5898417430988682, + -0.8015006219828787, + -0.09840462925669342, + 0.054888946777183985, + 0.16137275333142537, + -0.9853659411629399 + ], + [ + 0.7931039718399384, + 0.5868749772926622, + 0.16298420438634872, + 0.6027071962733863, + -0.794804876368421, + -0.07091716337567816, + 0.08792113177153624, + 0.15447643680741693, + -0.9840766764126138 + ], + [ + 0.7919867701393377, + 0.5748514585901062, + 0.20567633913770236, + 0.5902230765360549, + -0.807059844905136, + -0.01706243435187399, + 0.15618474909085753, + 0.13490814392958284, + -0.9784713163158647 + ], + [ + 0.8030007380461652, + 0.5356320147573991, + 0.26132003265008913, + 0.5476476799938818, + -0.8361348291472209, + 0.030993000568950997, + 0.23509962419075286, + 0.11822390728561386, + -0.9647545151236607 + ], + [ + 0.8166204954838199, + 0.48770015412694817, + 0.30867381816459843, + 0.4978639507276455, + -0.8657681854865661, + 0.0507635259330903, + 0.2919973508811701, + 0.11222303089762789, + -0.9498123701102913 + ], + [ + 0.8211762436232107, + 0.468000736919365, + 0.3265652877324908, + 0.47833005712029303, + -0.8765556643778233, + 0.05339029595769283, + 0.3112393506036317, + 0.11236315005411755, + -0.9436655070234079 + ], + [ + 0.8182226343675779, + 0.48109276747602925, + 0.31474032104392996, + 0.48359471197553183, + -0.8720112318976458, + 0.07571371073757047, + 0.3108824137159953, + 0.09025608304488608, + -0.9461532456824906 + ], + [ + 0.7971405660025407, + 0.5205467028272113, + 0.3059379809844924, + 0.5172589458120562, + -0.850117812391793, + 0.09870606886910314, + 0.31146444582094596, + 0.0795665459217048, + -0.9469208328891808 + ], + [ + 0.7744669442251356, + 0.5545224172528314, + 0.3044763390916565, + 0.5490817046601517, + -0.8282568338843985, + 0.11180294598664955, + 0.3141818484732726, + 0.08059470136348076, + -0.9459356533094885 + ], + [ + 0.7688621411321307, + 0.5689114030448895, + 0.29187467073936235, + 0.5614137216888325, + -0.8191205265246355, + 0.11771234483051628, + 0.306048429228464, + 0.07335787968241354, + -0.9491854299636562 + ], + [ + 0.7694286892667412, + 0.5694294631673569, + 0.2893606376309675, + 0.5540649428510644, + -0.8204133944191165, + 0.14118746885311625, + 0.31779164752508987, + 0.05169089605180746, + -0.9467505056923128 + ], + [ + 0.7690587760761294, + 0.5743279680293862, + 0.2805280450855531, + 0.5560573296675144, + -0.8175955517919913, + 0.14945822096151995, + 0.31519651816496824, + 0.041047519159938525, + -0.9481383106422265 + ], + [ + 0.7787101499757595, + 0.5653138798586615, + 0.2720858679973594, + 0.5436714352717719, + -0.8244771802484117, + 0.15703104699122195, + 0.3131004196647799, + 0.025643644217905284, + -0.9493737571246447 + ], + [ + 0.7789242418186375, + 0.5652668895083249, + 0.2715701919078086, + 0.5398451638038958, + -0.8247625943802237, + 0.16832665275810466, + 0.3191304194601412, + 0.015492144357250659, + -0.9475841750675286 + ], + [ + 0.7819315296565814, + 0.5668672647441859, + 0.2593156128935621, + 0.5411108547337782, + -0.8237695614160985, + 0.16912348321155332, + 0.3094868750338189, + 0.008075509010189885, + -0.9508694233889465 + ], + [ + 0.7846083481001558, + 0.5683811359931593, + 0.2476542435305128, + 0.5407496757765414, + -0.8227580984342926, + 0.17509682923557535, + 0.30328126918606446, + -0.003463482050290387, + -0.9528947875043589 + ], + [ + 0.7884790796464313, + 0.565260409616677, + 0.24244877867273926, + 0.5372566611890529, + -0.824869264505536, + 0.17591468523715437, + 0.29942615277879064, + -0.00844782777300361, + -0.9540820788789661 + ], + [ + 0.7891551863992158, + 0.5593587096810585, + 0.2536768134519989, + 0.5297580470353686, + -0.8288924335050728, + 0.1797046056151888, + 0.3107901275466952, + -0.00742748826856543, + -0.9504495405004567 + ], + [ + 0.7840890718421303, + 0.564614072000178, + 0.25771161618585214, + 0.5315783727661096, + -0.8252597666433249, + 0.19071117210887134, + 0.3203572396951271, + -0.012540624353770222, + -0.9472137940907196 + ], + [ + 0.7846183113258209, + 0.564081390005441, + 0.25726696441973834, + 0.5317449698633273, + -0.8256438134244455, + 0.18857248043919006, + 0.31878110445455604, + -0.01115700692251527, + -0.9477626963746065 + ], + [ + 0.7898759730754802, + 0.5678711493005466, + 0.23155626735232068, + 0.5486512212119026, + -0.8230438511760694, + 0.1469035619171701, + 0.27400325658785696, + 0.011008034944541778, + -0.9616657623862402 + ], + [ + 0.7780318254741951, + 0.5836087170496843, + 0.23252385669628217, + 0.5771531266771216, + -0.8101985648934424, + 0.10233549634134183, + 0.24811438272722947, + 0.05458159789002022, + -0.967191864241867 + ], + [ + 0.775746591676225, + 0.5953955794053487, + 0.20909645986311912, + 0.5996044146146497, + -0.7987416546029753, + 0.049862963978529726, + 0.19670224065155714, + 0.08669413605700234, + -0.9766229340415811 + ], + [ + 0.7717905866557542, + 0.6022132495907713, + 0.2041531101082965, + 0.611909939408489, + -0.7906965231476908, + 0.019111105024365825, + 0.17293211501241162, + 0.11017354627802728, + -0.9787524065348996 + ], + [ + 0.7753638126170662, + 0.5969884119680974, + 0.205950950616248, + 0.6157159872540009, + -0.7871265519913819, + -0.03640898501729158, + 0.1403737194910715, + 0.15503750232110794, + -0.9778847538182985 + ], + [ + 0.8017221934635725, + 0.5725524554693161, + 0.17153778080649026, + 0.5897415739954613, + -0.8044420473135616, + -0.07125916372875847, + 0.09719259441600728, + 0.15829301390150802, + -0.9825970289699959 + ], + [ + 0.8188421260389521, + 0.5521599885674535, + 0.1568978000138885, + 0.5681749446953008, + -0.8185446111219303, + -0.08462831573261706, + 0.08169947885085008, + 0.15844262882329735, + -0.9839822805960797 + ], + [ + 0.819306165238806, + 0.5529188075292355, + 0.15171750025007016, + 0.5663255426237053, + -0.8217254088835974, + -0.06358248317775968, + 0.08951417414939164, + 0.1380150161233643, + -0.9863767373325566 + ], + [ + 0.8195163379428874, + 0.5435886878109539, + 0.18139545288855424, + 0.5602666484131587, + -0.8265282173196491, + -0.05433588731481348, + 0.12039208661936386, + 0.1461589698183707, + -0.9819079900994121 + ], + [ + 0.8010834913865911, + 0.5585935188081943, + 0.21503144089492732, + 0.5855960043868831, + -0.8057645089237314, + -0.08843571566406488, + 0.12386508577475253, + 0.1967659444730646, + -0.9725947787345127 + ], + [ + 0.7989597764113398, + 0.5646537909737547, + 0.20695258397929922, + 0.5937762591353476, + -0.7952372381536409, + -0.12258665971875377, + 0.09535737917945337, + 0.22082534137353071, + -0.9706405817001931 + ], + [ + 0.8018439676533102, + 0.561413433946669, + 0.204600116623148, + 0.5929944562426288, + -0.789775075576113, + -0.15688500522437893, + 0.0735107230511686, + 0.24712402995854849, + -0.9661914341441558 + ], + [ + 0.7986922188773441, + 0.5678473121615915, + 0.19909839169526422, + 0.598704720668787, + -0.7830947939317332, + -0.1682712131231186, + 0.060360557930609224, + 0.25359805556800397, + -0.9654245849668597 + ], + [ + 0.8259872167808864, + 0.5220554246620569, + 0.21261056252097277, + 0.5582446466073375, + -0.809886990176206, + -0.18012767049394418, + 0.07815390104667763, + 0.2674718615560252, + -0.960390946972607 + ], + [ + 0.820681085759069, + 0.5323856849904612, + 0.207480210850463, + 0.5680988779140262, + -0.7991613105785312, + -0.196481206702392, + 0.06120637540436066, + 0.2791176850212848, + -0.9583042823228011 + ], + [ + 0.817119276465369, + 0.5402117365336099, + 0.20121473042511945, + 0.5755048923093824, + -0.7846214018432326, + -0.2305718428115771, + 0.03331976825666874, + 0.3042047591358525, + -0.9520237694314254 + ], + [ + 0.8081069687350825, + 0.5362165814616985, + 0.24379274978416826, + 0.5863400406848694, + -0.7718283999985365, + -0.24593958129053725, + 0.05628928647142478, + 0.34169094035579683, + -0.93812516089662 + ], + [ + 0.7790709532766986, + 0.5496732653895378, + 0.30150912270864827, + 0.6177027844232328, + -0.7552331950714748, + -0.21923980290521347, + 0.10719943972018245, + 0.35704638687169843, + -0.9279149517846689 + ], + [ + 0.6827835727255875, + 0.653480488562449, + 0.3267565514022108, + 0.6905714429057852, + -0.7232560220929771, + 0.00343638607629293, + 0.23857425481200745, + 0.2233024352183073, + -0.945102294657287 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006699.json b/json/chunk-0006/episode_0006699.json new file mode 100644 index 0000000000000000000000000000000000000000..dee13e57ab691b61c72feda82552e7faf7a7b6a2 --- /dev/null +++ b/json/chunk-0006/episode_0006699.json @@ -0,0 +1,1582 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 25, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut the blue spatula on the bottom left burner." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006699.mp4", + "start": 0, + "end": 25, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.34774935245513916, + -0.010979543440043926, + 0.04743253067135811, + -0.014524092897772789, + -0.23173078894615173, + 0.2489907443523407, + 0.0, + 0.9994885921478271 + ], + [ + 0.3419191539287567, + -0.010619329288601875, + 0.034223925322294235, + -0.0007524738321080804, + -0.1893429160118103, + 0.24631497263908386, + 0.0, + 0.9994885921478271 + ], + [ + 0.36013659834861755, + 0.0023162306752055883, + 0.01779574528336525, + 0.022733168676495552, + -0.1678728610277176, + 0.24952088296413422, + 0.0, + 0.9994885921478271 + ], + [ + 0.380204975605011, + 0.027302267029881477, + 0.005652146879583597, + 0.02689584344625473, + -0.19588391482830048, + 0.28349569439888, + 0.0, + 0.9994885921478271 + ], + [ + 0.40096402168273926, + 0.05177850276231766, + -0.0069076730869710445, + 0.05427788197994232, + -0.2407105267047882, + 0.28942325711250305, + 0.0, + 0.9994885921478271 + ], + [ + 0.4188568890094757, + 0.07089058309793472, + -0.01013179775327444, + 0.049951620399951935, + -0.28833723068237305, + 0.32353517413139343, + 0.0, + 0.9994885921478271 + ], + [ + 0.4325745701789856, + 0.07593987137079239, + -0.027177024632692337, + -0.00687214732170105, + -0.29425597190856934, + 0.3729338049888611, + 0.0, + 0.9994885921478271 + ], + [ + 0.4413141906261444, + 0.07432713359594345, + -0.036091018468141556, + -0.02417045459151268, + -0.2846773564815521, + 0.3744538724422455, + 0.0, + 0.9994885921478271 + ], + [ + 0.44183841347694397, + 0.06588391959667206, + -0.0502193346619606, + -0.015203999355435371, + -0.2545969784259796, + 0.34132668375968933, + 0.0, + 0.9994885921478271 + ], + [ + 0.44922664761543274, + 0.05730308219790459, + -0.058912552893161774, + -0.021027926355600357, + -0.2431277334690094, + 0.30895960330963135, + 0.0, + 0.9545519351959229 + ], + [ + 0.44698718190193176, + 0.0580407977104187, + -0.06162041798233986, + 0.0014374894089996815, + -0.25164273381233215, + 0.3031967878341675, + 0.0, + 0.6781873106956482 + ], + [ + 0.44530215859413147, + 0.05598912388086319, + -0.06087176874279976, + 0.01590031199157238, + -0.24493832886219025, + 0.28311073780059814, + 0.0, + 0.4112652540206909 + ], + [ + 0.44242554903030396, + 0.058527663350105286, + -0.05352966487407684, + 0.046011652797460556, + -0.2612711489200592, + 0.24013489484786987, + 0.0, + 0.24658186733722687 + ], + [ + 0.44027942419052124, + 0.0641346126794815, + -0.022044124081730843, + 0.07302779704332352, + -0.3155805170536041, + 0.24957221746444702, + 0.0, + 0.196108877658844 + ], + [ + 0.4179098308086395, + 0.09153269231319427, + 0.00697654252871871, + 0.09733361005783081, + -0.3489238917827606, + 0.30030959844589233, + 0.0, + 0.18743279576301575 + ], + [ + 0.39047542214393616, + 0.13521873950958252, + 0.004278890788555145, + 0.10508760064840317, + -0.3285532295703888, + 0.39452144503593445, + 0.0, + 0.18686315417289734 + ], + [ + 0.3757614493370056, + 0.159286230802536, + -0.004006320610642433, + 0.10405711829662323, + -0.32454100251197815, + 0.3941466808319092, + 0.0, + 0.18743279576301575 + ], + [ + 0.3642280399799347, + 0.18463021516799927, + -0.006451969500631094, + 0.10823933780193329, + -0.33852618932724, + 0.4114973545074463, + 0.0, + 0.1862945258617401 + ], + [ + 0.3625294864177704, + 0.19932416081428528, + -0.008433115668594837, + 0.11259724199771881, + -0.32867804169654846, + 0.38030463457107544, + 0.0, + 0.18572701513767242 + ], + [ + 0.35689565539360046, + 0.208345428109169, + -0.023774536326527596, + 0.09712563455104828, + -0.2891618311405182, + 0.35892677307128906, + 0.0, + 0.23004336655139923 + ], + [ + 0.35857126116752625, + 0.20966337621212006, + -0.02345212921500206, + 0.0785248726606369, + -0.28769928216934204, + 0.34289371967315674, + 0.0, + 0.4937349259853363 + ], + [ + 0.3612215220928192, + 0.20331710577011108, + -0.023624729365110397, + 0.05984116718173027, + -0.28855597972869873, + 0.3076615333557129, + 0.0, + 0.7836189270019531 + ], + [ + 0.36673226952552795, + 0.18545837700366974, + 0.0231635645031929, + 0.07246793806552887, + -0.3455997407436371, + 0.2592894732952118, + 0.0, + 0.9961419701576233 + ], + [ + 0.35974419116973877, + 0.14796818792819977, + 0.04482895880937576, + 0.07002987712621689, + -0.3432871997356415, + 0.21672049164772034, + 0.0, + 0.9994885921478271 + ], + [ + 0.33645734190940857, + 0.13362497091293335, + 0.035153139382600784, + 0.059004273265600204, + -0.2783079147338867, + 0.25897347927093506, + 0.0, + 0.9994885921478271 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9545519351959229 + ], + [ + 0.6781873106956482 + ], + [ + 0.4112652540206909 + ], + [ + 0.24658186733722687 + ], + [ + 0.196108877658844 + ], + [ + 0.18743279576301575 + ], + [ + 0.18686315417289734 + ], + [ + 0.18743279576301575 + ], + [ + 0.1862945258617401 + ], + [ + 0.18572701513767242 + ], + [ + 0.23004336655139923 + ], + [ + 0.4937349259853363 + ], + [ + 0.7836189270019531 + ], + [ + 0.9961419701576233 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.34774935245513916, + -0.010979543440043926, + 0.04743253067135811 + ], + [ + 0.3419191539287567, + -0.010619329288601875, + 0.034223925322294235 + ], + [ + 0.36013659834861755, + 0.0023162306752055883, + 0.01779574528336525 + ], + [ + 0.380204975605011, + 0.027302267029881477, + 0.005652146879583597 + ], + [ + 0.40096402168273926, + 0.05177850276231766, + -0.0069076730869710445 + ], + [ + 0.4188568890094757, + 0.07089058309793472, + -0.01013179775327444 + ], + [ + 0.4325745701789856, + 0.07593987137079239, + -0.027177024632692337 + ], + [ + 0.4413141906261444, + 0.07432713359594345, + -0.036091018468141556 + ], + [ + 0.44183841347694397, + 0.06588391959667206, + -0.0502193346619606 + ], + [ + 0.44922664761543274, + 0.05730308219790459, + -0.058912552893161774 + ], + [ + 0.44698718190193176, + 0.0580407977104187, + -0.06162041798233986 + ], + [ + 0.44530215859413147, + 0.05598912388086319, + -0.06087176874279976 + ], + [ + 0.44242554903030396, + 0.058527663350105286, + -0.05352966487407684 + ], + [ + 0.44027942419052124, + 0.0641346126794815, + -0.022044124081730843 + ], + [ + 0.4179098308086395, + 0.09153269231319427, + 0.00697654252871871 + ], + [ + 0.39047542214393616, + 0.13521873950958252, + 0.004278890788555145 + ], + [ + 0.3757614493370056, + 0.159286230802536, + -0.004006320610642433 + ], + [ + 0.3642280399799347, + 0.18463021516799927, + -0.006451969500631094 + ], + [ + 0.3625294864177704, + 0.19932416081428528, + -0.008433115668594837 + ], + [ + 0.35689565539360046, + 0.208345428109169, + -0.023774536326527596 + ], + [ + 0.35857126116752625, + 0.20966337621212006, + -0.02345212921500206 + ], + [ + 0.3612215220928192, + 0.20331710577011108, + -0.023624729365110397 + ], + [ + 0.36673226952552795, + 0.18545837700366974, + 0.0231635645031929 + ], + [ + 0.35974419116973877, + 0.14796818792819977, + 0.04482895880937576 + ], + [ + 0.33645734190940857, + 0.13362497091293335, + 0.035153139382600784 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9432562767673196, + 0.2431673032531807, + 0.2261354880765706, + 0.23983907504978563, + -0.9698813607265769, + 0.0425131061488822, + 0.2296623922594129, + 0.01413537207640807, + -0.9731677023195665 + ], + [ + 0.952485068125087, + 0.24369439854440364, + 0.18271626943660393, + 0.2394740855679264, + -0.9698517896870558, + 0.04516268794281819, + 0.18821359499290627, + 0.0007390256397863566, + -0.9821278412207598 + ], + [ + 0.9554086088400567, + 0.25055633528401433, + 0.15625592149852088, + 0.2434683315638103, + -0.967842569913582, + 0.06327662592622729, + 0.16708549212855636, + -0.022411664644058894, + -0.9856876562116623 + ], + [ + 0.941722888972673, + 0.28463761820663036, + 0.17927472405952635, + 0.2743642718626239, + -0.9582722010024992, + 0.0802411061184856, + 0.19463362173646923, + -0.026378307138298307, + -0.9805212584142492 + ], + [ + 0.9307766000798048, + 0.2973744089029183, + 0.2126578982157001, + 0.2771711168399405, + -0.9533061048467355, + 0.11993182418209528, + 0.23839272793770191, + -0.05268710840029956, + -0.9697386121398054 + ], + [ + 0.9089772791096045, + 0.3309853703533457, + 0.2533949302463627, + 0.3047959220144059, + -0.9424209173426528, + 0.13763088490023345, + 0.28435849202351704, + -0.04786960587984517, + -0.9575221923522295 + ], + [ + 0.891235086632043, + 0.3624844371144016, + 0.2725895324582923, + 0.34868875518588727, + -0.9319666193736194, + 0.09926919149577004, + 0.29002788204393604, + 0.006576718266959471, + -0.9569955979072975 + ], + [ + 0.8932486930253707, + 0.35934023062409276, + 0.27015064512877, + 0.3510431328476276, + -0.9329183096528231, + 0.08020066330799208, + 0.2808478080544509, + 0.023195391127179405, + -0.9594719811132929 + ], + [ + 0.9119358804827218, + 0.3310906785093005, + 0.24238793800941, + 0.32394723010929116, + -0.9434842237861991, + 0.06996936165973587, + 0.2518553989747302, + 0.014713329698065727, + -0.9676530245581186 + ], + [ + 0.9246327531470159, + 0.2991782414019577, + 0.23568337166503936, + 0.2951249620798787, + -0.9539789798451261, + 0.05315414161664372, + 0.2407395450795721, + 0.020407985821339035, + -0.9703751777274583 + ], + [ + 0.9243281881917115, + 0.2989139927803182, + 0.23720840085114192, + 0.28916906147415206, + -0.9542790402488054, + 0.07571503964191625, + 0.2489952899160669, + -0.0013922147631669005, + -0.9685036950562796 + ], + [ + 0.9315316059086125, + 0.2830107070554609, + 0.22837207991628575, + 0.27100612018276143, + -0.9589927042395376, + 0.08299804840371902, + 0.24249649485468647, + -0.015425073980616988, + -0.9700296475241796 + ], + [ + 0.9383421195234958, + 0.24912204670523463, + 0.2396920369422997, + 0.2297621517097021, + -0.9674522137398665, + 0.10604512139443181, + 0.2583087694405316, + -0.04443444581883335, + -0.9650399782676838 + ], + [ + 0.9211645285927015, + 0.2682749232924267, + 0.28192991468630885, + 0.23479221582325507, + -0.9608422312194467, + 0.14715577492589982, + 0.31036837250498456, + -0.06935973066325044, + -0.9480826446628633 + ], + [ + 0.8976830019409544, + 0.3261533995142756, + 0.29629240289207165, + 0.2779904375811193, + -0.940895254143379, + 0.19348756379654974, + 0.3418867424158682, + -0.09132404237520042, + -0.9352932025009689 + ], + [ + 0.8737998358194177, + 0.41349261349520733, + 0.25592519513885603, + 0.3638067442987996, + -0.9050782526563782, + 0.22017722264390777, + 0.322673983650164, + -0.09928350896991983, + -0.9412886300821621 + ], + [ + 0.8751244528445754, + 0.4125249037921563, + 0.252943463613422, + 0.3639734916049932, + -0.9056110428954117, + 0.2176968911003428, + 0.3188737829335492, + -0.09844715708011487, + -0.9426704980110976 + ], + [ + 0.8645058029944057, + 0.43052240867245345, + 0.2593842173684957, + 0.37728120482453736, + -0.8968096002068011, + 0.23106586390694583, + 0.33209728856939424, + -0.10189699018021449, + -0.9377251166077776 + ], + [ + 0.87884612641509, + 0.40253016422002835, + 0.25612292552247073, + 0.3513327984036653, + -0.9092085779765942, + 0.2233943296049151, + 0.32279211708318034, + -0.10634485707723226, + -0.9404764858954113 + ], + [ + 0.8974032538488391, + 0.3755036962726765, + 0.23165572314767785, + 0.3366860164672106, + -0.922148485956139, + 0.190485422445503, + 0.2851489545780543, + -0.09294699529494246, + -0.9539658954955804 + ], + [ + 0.9030775880125501, + 0.35614026018712974, + 0.2400312169349602, + 0.32239511680330213, + -0.9314000506841758, + 0.1689832365854661, + 0.2837468214638176, + -0.07522008148997161, + -0.9559443920280206 + ], + [ + 0.9136414764648226, + 0.3185083586651764, + 0.2526097344592931, + 0.29031050588710633, + -0.9461846383268419, + 0.14301902099327998, + 0.28456820387167575, + -0.05733284969996882, + -0.9569398527026292 + ], + [ + 0.9094213420003824, + 0.2794288208275445, + 0.3080135659433712, + 0.2412339022870903, + -0.9577466957420201, + 0.15661248731370386, + 0.3387610176829176, + -0.06812342391696496, + -0.9384029901978486 + ], + [ + 0.9196260730582946, + 0.23750171091306194, + 0.3128591105669588, + 0.20248182531066933, + -0.9691498582732048, + 0.14053349290431255, + 0.33658430767081193, + -0.06588998044008834, + -0.9393452583088738 + ], + [ + 0.9294581694369164, + 0.27130328310485985, + 0.25000407965371424, + 0.24623454586798132, + -0.960822318718938, + 0.1272360808605508, + 0.2747290659689386, + -0.05670097378430006, + -0.959848394218455 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.005830198526382446, + 0.00036021415144205093, + -0.013208605349063873, + 0.013771618716418743, + 0.04238787293434143, + -0.002675771713256836, + 1.0 + ], + [ + 0.01821744441986084, + 0.012935560196638107, + -0.016428180038928986, + 0.023485641926527023, + 0.021470054984092712, + 0.003205910325050354, + 1.0 + ], + [ + 0.020068377256393433, + 0.024986036121845245, + -0.01214359886944294, + 0.004162674769759178, + -0.028011053800582886, + 0.03397481143474579, + 1.0 + ], + [ + 0.02075904607772827, + 0.02447623573243618, + -0.012559819966554642, + 0.02738203853368759, + -0.04482661187648773, + 0.005927562713623047, + 1.0 + ], + [ + 0.01789286732673645, + 0.019112080335617065, + -0.0032241246663033962, + -0.004326261579990387, + -0.04762670397758484, + 0.03411191701889038, + 1.0 + ], + [ + 0.013717681169509888, + 0.005049288272857666, + -0.01704522594809532, + -0.056823767721652985, + -0.005918741226196289, + 0.04939863085746765, + 1.0 + ], + [ + 0.008739620447158813, + -0.001612737774848938, + -0.008913993835449219, + -0.01729830726981163, + 0.009578615427017212, + 0.0015200674533843994, + 1.0 + ], + [ + 0.0005242228507995605, + -0.008443213999271393, + -0.014128316193819046, + 0.008966455236077309, + 0.03008037805557251, + -0.03312718868255615, + 1.0 + ], + [ + 0.0073882341384887695, + -0.008580837398767471, + -0.008693218231201172, + -0.005823927000164986, + 0.011469244956970215, + -0.03236708045005798, + 0.0 + ], + [ + -0.0022394657135009766, + 0.0007377155125141144, + -0.0027078650891780853, + 0.02246541529893875, + -0.008515000343322754, + -0.005762815475463867, + 0.0 + ], + [ + -0.001685023307800293, + -0.0020516738295555115, + 0.0007486492395401001, + 0.014462823048233986, + 0.006704404950141907, + -0.020086050033569336, + 0.0 + ], + [ + -0.0028766095638275146, + 0.002538539469242096, + 0.007342103868722916, + 0.030111340805888176, + -0.016332820057868958, + -0.04297584295272827, + 0.0 + ], + [ + -0.002146124839782715, + 0.005606949329376221, + 0.03148554265499115, + 0.02701614424586296, + -0.05430936813354492, + 0.009437322616577148, + 0.0 + ], + [ + -0.022369593381881714, + 0.02739807963371277, + 0.02902066707611084, + 0.024305813014507294, + -0.033343374729156494, + 0.05073738098144531, + 0.0 + ], + [ + -0.02743440866470337, + 0.043686047196388245, + -0.0026976517401635647, + 0.007753990590572357, + 0.020370662212371826, + 0.09421184659004211, + 0.0 + ], + [ + -0.014713972806930542, + 0.02406749129295349, + -0.008285211399197578, + -0.0010304823517799377, + 0.0040122270584106445, + -0.00037476420402526855, + 0.0 + ], + [ + -0.011533409357070923, + 0.025343984365463257, + -0.002445648889988661, + 0.004182219505310059, + -0.01398518681526184, + 0.01735067367553711, + 0.0 + ], + [ + -0.0016985535621643066, + 0.01469394564628601, + -0.001981146167963743, + 0.0043579041957855225, + 0.009848147630691528, + -0.03119271993637085, + 0.0 + ], + [ + -0.005633831024169922, + 0.009021267294883728, + -0.015341420657932758, + -0.015471607446670532, + 0.03951621055603027, + -0.021377861499786377, + 1.0 + ], + [ + 0.0016756057739257812, + 0.0013179481029510498, + 0.0003224071115255356, + -0.018600761890411377, + 0.0014625489711761475, + -0.016033053398132324, + 1.0 + ], + [ + 0.0026502609252929688, + -0.006346270442008972, + -0.0001726001501083374, + -0.01868370547890663, + -0.0008566975593566895, + -0.03523218631744385, + 1.0 + ], + [ + 0.00551074743270874, + -0.017858728766441345, + 0.0467882938683033, + 0.0126267708837986, + -0.057043761014938354, + -0.0483720600605011, + 1.0 + ], + [ + -0.006988078355789185, + -0.03749018907546997, + 0.02166539430618286, + -0.002438060939311981, + 0.0023125410079956055, + -0.042568981647491455, + 1.0 + ], + [ + -0.0232868492603302, + -0.014343217015266418, + -0.009675819426774979, + -0.011025603860616684, + 0.06497928500175476, + 0.04225298762321472, + 1.0 + ], + [ + -0.01633840799331665, + -0.012253828346729279, + -0.0034913234412670135, + 0.011767406016588211, + 0.035185590386390686, + 0.008738934993743896, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9545519351959229 + ], + [ + 0.6781873106956482 + ], + [ + 0.4112652540206909 + ], + [ + 0.24658186733722687 + ], + [ + 0.196108877658844 + ], + [ + 0.18743279576301575 + ], + [ + 0.18686315417289734 + ], + [ + 0.18743279576301575 + ], + [ + 0.1862945258617401 + ], + [ + 0.18572701513767242 + ], + [ + 0.23004336655139923 + ], + [ + 0.4937349259853363 + ], + [ + 0.7836189270019531 + ], + [ + 0.9961419701576233 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3419191539287567, + -0.010619329288601875, + 0.034223925322294235 + ], + [ + 0.36013659834861755, + 0.0023162306752055883, + 0.01779574528336525 + ], + [ + 0.380204975605011, + 0.027302267029881477, + 0.005652146879583597 + ], + [ + 0.40096402168273926, + 0.05177850276231766, + -0.0069076730869710445 + ], + [ + 0.4188568890094757, + 0.07089058309793472, + -0.01013179775327444 + ], + [ + 0.4325745701789856, + 0.07593987137079239, + -0.027177024632692337 + ], + [ + 0.4413141906261444, + 0.07432713359594345, + -0.036091018468141556 + ], + [ + 0.44183841347694397, + 0.06588391959667206, + -0.0502193346619606 + ], + [ + 0.44922664761543274, + 0.05730308219790459, + -0.058912552893161774 + ], + [ + 0.44698718190193176, + 0.0580407977104187, + -0.06162041798233986 + ], + [ + 0.44530215859413147, + 0.05598912388086319, + -0.06087176874279976 + ], + [ + 0.44242554903030396, + 0.058527663350105286, + -0.05352966487407684 + ], + [ + 0.44027942419052124, + 0.0641346126794815, + -0.022044124081730843 + ], + [ + 0.4179098308086395, + 0.09153269231319427, + 0.00697654252871871 + ], + [ + 0.39047542214393616, + 0.13521873950958252, + 0.004278890788555145 + ], + [ + 0.3757614493370056, + 0.159286230802536, + -0.004006320610642433 + ], + [ + 0.3642280399799347, + 0.18463021516799927, + -0.006451969500631094 + ], + [ + 0.3625294864177704, + 0.19932416081428528, + -0.008433115668594837 + ], + [ + 0.35689565539360046, + 0.208345428109169, + -0.023774536326527596 + ], + [ + 0.35857126116752625, + 0.20966337621212006, + -0.02345212921500206 + ], + [ + 0.3612215220928192, + 0.20331710577011108, + -0.023624729365110397 + ], + [ + 0.36673226952552795, + 0.18545837700366974, + 0.0231635645031929 + ], + [ + 0.35974419116973877, + 0.14796818792819977, + 0.04482895880937576 + ], + [ + 0.33645734190940857, + 0.13362497091293335, + 0.035153139382600784 + ], + [ + 0.3201189339160919, + 0.12137114256620407, + 0.03166181594133377 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.952485068125087, + 0.24369439854440364, + 0.18271626943660393, + 0.2394740855679264, + -0.9698517896870558, + 0.04516268794281819, + 0.18821359499290627, + 0.0007390256397863566, + -0.9821278412207598 + ], + [ + 0.9554086088400567, + 0.25055633528401433, + 0.15625592149852088, + 0.2434683315638103, + -0.967842569913582, + 0.06327662592622729, + 0.16708549212855636, + -0.022411664644058894, + -0.9856876562116623 + ], + [ + 0.941722888972673, + 0.28463761820663036, + 0.17927472405952635, + 0.2743642718626239, + -0.9582722010024992, + 0.0802411061184856, + 0.19463362173646923, + -0.026378307138298307, + -0.9805212584142492 + ], + [ + 0.9307766000798048, + 0.2973744089029183, + 0.2126578982157001, + 0.2771711168399405, + -0.9533061048467355, + 0.11993182418209528, + 0.23839272793770191, + -0.05268710840029956, + -0.9697386121398054 + ], + [ + 0.9089772791096045, + 0.3309853703533457, + 0.2533949302463627, + 0.3047959220144059, + -0.9424209173426528, + 0.13763088490023345, + 0.28435849202351704, + -0.04786960587984517, + -0.9575221923522295 + ], + [ + 0.891235086632043, + 0.3624844371144016, + 0.2725895324582923, + 0.34868875518588727, + -0.9319666193736194, + 0.09926919149577004, + 0.29002788204393604, + 0.006576718266959471, + -0.9569955979072975 + ], + [ + 0.8932486930253707, + 0.35934023062409276, + 0.27015064512877, + 0.3510431328476276, + -0.9329183096528231, + 0.08020066330799208, + 0.2808478080544509, + 0.023195391127179405, + -0.9594719811132929 + ], + [ + 0.9119358804827218, + 0.3310906785093005, + 0.24238793800941, + 0.32394723010929116, + -0.9434842237861991, + 0.06996936165973587, + 0.2518553989747302, + 0.014713329698065727, + -0.9676530245581186 + ], + [ + 0.9246327531470159, + 0.2991782414019577, + 0.23568337166503936, + 0.2951249620798787, + -0.9539789798451261, + 0.05315414161664372, + 0.2407395450795721, + 0.020407985821339035, + -0.9703751777274583 + ], + [ + 0.9243281881917115, + 0.2989139927803182, + 0.23720840085114192, + 0.28916906147415206, + -0.9542790402488054, + 0.07571503964191625, + 0.2489952899160669, + -0.0013922147631669005, + -0.9685036950562796 + ], + [ + 0.9315316059086125, + 0.2830107070554609, + 0.22837207991628575, + 0.27100612018276143, + -0.9589927042395376, + 0.08299804840371902, + 0.24249649485468647, + -0.015425073980616988, + -0.9700296475241796 + ], + [ + 0.9383421195234958, + 0.24912204670523463, + 0.2396920369422997, + 0.2297621517097021, + -0.9674522137398665, + 0.10604512139443181, + 0.2583087694405316, + -0.04443444581883335, + -0.9650399782676838 + ], + [ + 0.9211645285927015, + 0.2682749232924267, + 0.28192991468630885, + 0.23479221582325507, + -0.9608422312194467, + 0.14715577492589982, + 0.31036837250498456, + -0.06935973066325044, + -0.9480826446628633 + ], + [ + 0.8976830019409544, + 0.3261533995142756, + 0.29629240289207165, + 0.2779904375811193, + -0.940895254143379, + 0.19348756379654974, + 0.3418867424158682, + -0.09132404237520042, + -0.9352932025009689 + ], + [ + 0.8737998358194177, + 0.41349261349520733, + 0.25592519513885603, + 0.3638067442987996, + -0.9050782526563782, + 0.22017722264390777, + 0.322673983650164, + -0.09928350896991983, + -0.9412886300821621 + ], + [ + 0.8751244528445754, + 0.4125249037921563, + 0.252943463613422, + 0.3639734916049932, + -0.9056110428954117, + 0.2176968911003428, + 0.3188737829335492, + -0.09844715708011487, + -0.9426704980110976 + ], + [ + 0.8645058029944057, + 0.43052240867245345, + 0.2593842173684957, + 0.37728120482453736, + -0.8968096002068011, + 0.23106586390694583, + 0.33209728856939424, + -0.10189699018021449, + -0.9377251166077776 + ], + [ + 0.87884612641509, + 0.40253016422002835, + 0.25612292552247073, + 0.3513327984036653, + -0.9092085779765942, + 0.2233943296049151, + 0.32279211708318034, + -0.10634485707723226, + -0.9404764858954113 + ], + [ + 0.8974032538488391, + 0.3755036962726765, + 0.23165572314767785, + 0.3366860164672106, + -0.922148485956139, + 0.190485422445503, + 0.2851489545780543, + -0.09294699529494246, + -0.9539658954955804 + ], + [ + 0.9030775880125501, + 0.35614026018712974, + 0.2400312169349602, + 0.32239511680330213, + -0.9314000506841758, + 0.1689832365854661, + 0.2837468214638176, + -0.07522008148997161, + -0.9559443920280206 + ], + [ + 0.9136414764648226, + 0.3185083586651764, + 0.2526097344592931, + 0.29031050588710633, + -0.9461846383268419, + 0.14301902099327998, + 0.28456820387167575, + -0.05733284969996882, + -0.9569398527026292 + ], + [ + 0.9094213420003824, + 0.2794288208275445, + 0.3080135659433712, + 0.2412339022870903, + -0.9577466957420201, + 0.15661248731370386, + 0.3387610176829176, + -0.06812342391696496, + -0.9384029901978486 + ], + [ + 0.9196260730582946, + 0.23750171091306194, + 0.3128591105669588, + 0.20248182531066933, + -0.9691498582732048, + 0.14053349290431255, + 0.33658430767081193, + -0.06588998044008834, + -0.9393452583088738 + ], + [ + 0.9294581694369164, + 0.27130328310485985, + 0.25000407965371424, + 0.24623454586798132, + -0.960822318718938, + 0.1272360808605508, + 0.2747290659689386, + -0.05670097378430006, + -0.959848394218455 + ], + [ + 0.9360171911047525, + 0.28028042144029197, + 0.2128725048324035, + 0.25674660104637104, + -0.9574614311808887, + 0.13171480802165003, + 0.24073429503812888, + -0.06863303255937978, + -0.968161404949711 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006701.json b/json/chunk-0006/episode_0006701.json new file mode 100644 index 0000000000000000000000000000000000000000..17f931f0f7e90442b2c0ecfe4c4874e50fd06af4 --- /dev/null +++ b/json/chunk-0006/episode_0006701.json @@ -0,0 +1,2182 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 35, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut knife in pot cardboard fence." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006701.mp4", + "start": 0, + "end": 35, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2423255890607834, + 0.0036559230647981167, + 0.09621193259954453, + 0.1559838056564331, + -0.0827406719326973, + 0.3132217526435852, + 0.0, + 0.9954678416252136 + ], + [ + 0.24022184312343597, + 0.003593757748603821, + 0.09032605588436127, + 0.16212999820709229, + -0.05862711742520332, + 0.3164474368095398, + 0.0, + 0.9954678416252136 + ], + [ + 0.25937071442604065, + 0.01066561695188284, + 0.08747562766075134, + 0.1250242292881012, + -0.058362796902656555, + 0.3656855523586273, + 0.0, + 0.9954678416252136 + ], + [ + 0.28014734387397766, + 0.022245226427912712, + 0.09604372829198837, + 0.025774098932743073, + -0.030482573434710503, + 0.39719706773757935, + 0.0, + 0.9954678416252136 + ], + [ + 0.29373055696487427, + 0.03911614418029785, + 0.09373556077480316, + 0.009091216139495373, + -0.020862748846411705, + 0.4452497661113739, + 0.0, + 0.9954678416252136 + ], + [ + 0.30575913190841675, + 0.05397428199648857, + 0.10224561393260956, + -0.02782311663031578, + -0.03979014605283737, + 0.47209492325782776, + 0.0, + 0.9954678416252136 + ], + [ + 0.31714192032814026, + 0.06230001524090767, + 0.09551294147968292, + -0.01267196238040924, + 0.007138044573366642, + 0.5042600631713867, + 0.0, + 0.9954678416252136 + ], + [ + 0.326004296541214, + 0.06595011055469513, + 0.08491487056016922, + 0.0003187424154020846, + 0.009620864875614643, + 0.5319676399230957, + 0.0, + 0.9954678416252136 + ], + [ + 0.3372374475002289, + 0.07040993124246597, + 0.0745941698551178, + 0.011851441115140915, + -0.007949070073664188, + 0.5703202486038208, + 0.0, + 0.9954678416252136 + ], + [ + 0.34434372186660767, + 0.07280382513999939, + 0.06731338798999786, + 0.007166347466409206, + -0.02488674595952034, + 0.6084585189819336, + 0.0, + 0.9954678416252136 + ], + [ + 0.350217342376709, + 0.07506433129310608, + 0.0591343529522419, + -0.0062257833778858185, + -0.08092264831066132, + 0.6530801057815552, + 0.0, + 0.9954678416252136 + ], + [ + 0.35276147723197937, + 0.07486149668693542, + 0.044544193893671036, + -0.009506412781774998, + -0.0817212164402008, + 0.6732774376869202, + 0.0, + 0.9954678416252136 + ], + [ + 0.3517933785915375, + 0.07527924329042435, + 0.02902158536016941, + 0.009606770239770412, + -0.05817785859107971, + 0.6942632794380188, + 0.0, + 0.9954678416252136 + ], + [ + 0.3551275432109833, + 0.07584645599126816, + 0.018850507214665413, + 0.01294639054685831, + -0.0703064501285553, + 0.7123915553092957, + 0.0, + 0.9954678416252136 + ], + [ + 0.35738512873649597, + 0.0767025351524353, + 0.01153528317809105, + 0.034302979707717896, + -0.09408342093229294, + 0.7092992067337036, + 0.0, + 0.9954678416252136 + ], + [ + 0.354783296585083, + 0.07750429958105087, + 0.003559283446520567, + 0.07024705410003662, + -0.0834319218993187, + 0.6999238133430481, + 0.0, + 0.9954678416252136 + ], + [ + 0.35608431696891785, + 0.07751975208520889, + 0.002735653892159462, + 0.09114083647727966, + -0.08775047212839127, + 0.68288254737854, + 0.0, + 0.9445669651031494 + ], + [ + 0.35847029089927673, + 0.07582124322652817, + 0.0017896599601954222, + 0.0897713229060173, + -0.10717999935150146, + 0.6701169610023499, + 0.0, + 0.680191159248352 + ], + [ + 0.3584238290786743, + 0.07376270741224289, + 0.0013918618205934763, + 0.07378126680850983, + -0.09516782313585281, + 0.6692634224891663, + 0.0, + 0.4202251136302948 + ], + [ + 0.3556983470916748, + 0.07410041987895966, + 0.002492843195796013, + 0.07254624366760254, + -0.07869924604892731, + 0.6702656745910645, + 0.0, + 0.4077054560184479 + ], + [ + 0.34784868359565735, + 0.07350575923919678, + 0.003028854262083769, + 0.06276115775108337, + -0.020481104031205177, + 0.705203652381897, + 0.0, + 0.4292689263820648 + ], + [ + 0.34701284766197205, + 0.07560905814170837, + 0.008470333181321621, + 0.058963414281606674, + -0.020232032984495163, + 0.6934829354286194, + 0.0, + 0.4292689263820648 + ], + [ + 0.3480149507522583, + 0.07798407226800919, + 0.01994713768362999, + 0.08362598717212677, + 0.009766959585249424, + 0.628808319568634, + 0.0, + 0.4292689263820648 + ], + [ + 0.34942495822906494, + 0.07509536296129227, + 0.040248122066259384, + 0.07849273830652237, + 0.05057602375745773, + 0.5982120633125305, + 0.0, + 0.4292689263820648 + ], + [ + 0.3493981957435608, + 0.06999696046113968, + 0.049960773438215256, + 0.06165754422545433, + 0.07531917840242386, + 0.5888540744781494, + 0.0, + 0.4292689263820648 + ], + [ + 0.3464052379131317, + 0.05166090279817581, + 0.06276261061429977, + 0.047371841967105865, + 0.13834811747074127, + 0.565788209438324, + 0.0, + 0.4292689263820648 + ], + [ + 0.34525611996650696, + 0.0255275946110487, + 0.07463894784450531, + 0.03445911407470703, + 0.1728648841381073, + 0.561370849609375, + 0.0, + 0.4292689263820648 + ], + [ + 0.341839462518692, + 0.00419346708804369, + 0.07278462499380112, + 0.05697773024439812, + 0.18946799635887146, + 0.5846482515335083, + 0.0, + 0.4292689263820648 + ], + [ + 0.3396950960159302, + -0.010840555652976036, + 0.07383862137794495, + 0.05849649757146835, + 0.2046326845884323, + 0.5745536088943481, + 0.0, + 0.4292689263820648 + ], + [ + 0.3399914503097534, + -0.017831167206168175, + 0.07074534147977829, + 0.05733313784003258, + 0.19921597838401794, + 0.570961058139801, + 0.0, + 0.4292689263820648 + ], + [ + 0.3403494656085968, + -0.01496952585875988, + 0.06249178573489189, + 0.07164288312196732, + 0.1777203530073166, + 0.5819836258888245, + 0.0, + 0.4737623631954193 + ], + [ + 0.34222427010536194, + -0.009360904805362225, + 0.05937068164348602, + 0.08671659231185913, + 0.16018755733966827, + 0.5874484181404114, + 0.0, + 0.7623518109321594 + ], + [ + 0.34216204285621643, + -0.00794724840670824, + 0.05882596969604492, + 0.09454948455095291, + 0.1567087024450302, + 0.5847938656806946, + 0.0, + 0.9816622138023376 + ], + [ + 0.3413950502872467, + -0.009843162260949612, + 0.05922277271747589, + 0.07260657101869583, + 0.17444109916687012, + 0.5756710171699524, + 0.0, + 0.9879508018493652 + ], + [ + 0.3395872116088867, + -0.01323231216520071, + 0.08328491449356079, + 0.0021619240287691355, + 0.16050086915493011, + 0.5628347396850586, + 0.0, + 0.9879508018493652 + ] + ], + "left_gripper_pos": [ + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9445669651031494 + ], + [ + 0.680191159248352 + ], + [ + 0.4202251136302948 + ], + [ + 0.4077054560184479 + ], + [ + 0.4292689263820648 + ], + [ + 0.4292689263820648 + ], + [ + 0.4292689263820648 + ], + [ + 0.4292689263820648 + ], + [ + 0.4292689263820648 + ], + [ + 0.4292689263820648 + ], + [ + 0.4292689263820648 + ], + [ + 0.4292689263820648 + ], + [ + 0.4292689263820648 + ], + [ + 0.4292689263820648 + ], + [ + 0.4737623631954193 + ], + [ + 0.7623518109321594 + ], + [ + 0.9816622138023376 + ], + [ + 0.9879508018493652 + ], + [ + 0.9879508018493652 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2423255890607834, + 0.0036559230647981167, + 0.09621193259954453 + ], + [ + 0.24022184312343597, + 0.003593757748603821, + 0.09032605588436127 + ], + [ + 0.25937071442604065, + 0.01066561695188284, + 0.08747562766075134 + ], + [ + 0.28014734387397766, + 0.022245226427912712, + 0.09604372829198837 + ], + [ + 0.29373055696487427, + 0.03911614418029785, + 0.09373556077480316 + ], + [ + 0.30575913190841675, + 0.05397428199648857, + 0.10224561393260956 + ], + [ + 0.31714192032814026, + 0.06230001524090767, + 0.09551294147968292 + ], + [ + 0.326004296541214, + 0.06595011055469513, + 0.08491487056016922 + ], + [ + 0.3372374475002289, + 0.07040993124246597, + 0.0745941698551178 + ], + [ + 0.34434372186660767, + 0.07280382513999939, + 0.06731338798999786 + ], + [ + 0.350217342376709, + 0.07506433129310608, + 0.0591343529522419 + ], + [ + 0.35276147723197937, + 0.07486149668693542, + 0.044544193893671036 + ], + [ + 0.3517933785915375, + 0.07527924329042435, + 0.02902158536016941 + ], + [ + 0.3551275432109833, + 0.07584645599126816, + 0.018850507214665413 + ], + [ + 0.35738512873649597, + 0.0767025351524353, + 0.01153528317809105 + ], + [ + 0.354783296585083, + 0.07750429958105087, + 0.003559283446520567 + ], + [ + 0.35608431696891785, + 0.07751975208520889, + 0.002735653892159462 + ], + [ + 0.35847029089927673, + 0.07582124322652817, + 0.0017896599601954222 + ], + [ + 0.3584238290786743, + 0.07376270741224289, + 0.0013918618205934763 + ], + [ + 0.3556983470916748, + 0.07410041987895966, + 0.002492843195796013 + ], + [ + 0.34784868359565735, + 0.07350575923919678, + 0.003028854262083769 + ], + [ + 0.34701284766197205, + 0.07560905814170837, + 0.008470333181321621 + ], + [ + 0.3480149507522583, + 0.07798407226800919, + 0.01994713768362999 + ], + [ + 0.34942495822906494, + 0.07509536296129227, + 0.040248122066259384 + ], + [ + 0.3493981957435608, + 0.06999696046113968, + 0.049960773438215256 + ], + [ + 0.3464052379131317, + 0.05166090279817581, + 0.06276261061429977 + ], + [ + 0.34525611996650696, + 0.0255275946110487, + 0.07463894784450531 + ], + [ + 0.341839462518692, + 0.00419346708804369, + 0.07278462499380112 + ], + [ + 0.3396950960159302, + -0.010840555652976036, + 0.07383862137794495 + ], + [ + 0.3399914503097534, + -0.017831167206168175, + 0.07074534147977829 + ], + [ + 0.3403494656085968, + -0.01496952585875988, + 0.06249178573489189 + ], + [ + 0.34222427010536194, + -0.009360904805362225, + 0.05937068164348602 + ], + [ + 0.34216204285621643, + -0.00794724840670824, + 0.05882596969604492 + ], + [ + 0.3413950502872467, + -0.009843162260949612, + 0.05922277271747589 + ], + [ + 0.3395872116088867, + -0.01323231216520071, + 0.08328491449356079 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.948091197421435, + 0.31659892199975387, + 0.029802750889530077, + 0.30707111714463103, + -0.9358395772999621, + 0.17294974580662584, + 0.0826462968773431, + -0.15482056758590554, + -0.984479650101941 + ], + [ + 0.9487141738412349, + 0.31609987018734137, + 0.004721061351975031, + 0.31065771135686077, + -0.9349404836766498, + 0.17140034526508294, + 0.05859353827224088, + -0.16114330283948566, + -0.9851901507946176 + ], + [ + 0.9322887891130135, + 0.36159118477483204, + 0.00945667950838609, + 0.35698076042250365, + -0.9239886020789662, + 0.13714882396990874, + 0.05832966982901665, + -0.12448645838520449, + -0.990505311089419 + ], + [ + 0.9217204963490093, + 0.38743096730591703, + 0.01812656014077285, + 0.38665543716287715, + -0.9215387704371385, + 0.03555091410345164, + 0.0304778529840925, + -0.02575927315760473, + -0.9992034629262809 + ], + [ + 0.9023067213985856, + 0.4308366714872864, + 0.014911171003364532, + 0.4305895834487962, + -0.902384147985493, + 0.017188952553547396, + 0.02086123544586034, + -0.009089112511794693, + -0.9997410649210227 + ], + [ + 0.8899126257968691, + 0.453591447879239, + 0.04806575556606967, + 0.4543931096685718, + -0.8907761205850053, + -0.0066936448407039426, + 0.03977964722124636, + 0.02779750719657837, + -0.9988217449878679 + ], + [ + 0.8755099169305021, + 0.4832001338213488, + -0.00012661507266963686, + 0.48314742526620863, + -0.8754182250905086, + -0.014542923984451556, + -0.007137983957626852, + 0.012671300423193555, + -0.9998942380725105 + ], + [ + 0.8617708086078602, + 0.507227386599289, + -0.00845291162911805, + 0.5072065804445097, + -0.8618122050054376, + -0.004605220673535774, + -0.009620716456756905, + -0.00031872765855403854, + -0.99995366904049 + ], + [ + 0.8417015222845856, + 0.5399430175003769, + 0.0002919527336507459, + 0.5398845811834782, + -0.8416181418235443, + 0.014266827041241898, + 0.00794898635999957, + -0.011850789259451794, + -0.999898181021336 + ], + [ + 0.8202760234047177, + 0.5717349531882487, + 0.016321419367634322, + 0.5714263059723359, + -0.8204071059215339, + 0.02010366623935927, + 0.02488417710420479, + -0.007164067021204677, + -0.9996646707139161 + ], + [ + 0.7916169541092937, + 0.6072240850704389, + 0.06798167751014046, + 0.6056470958051894, + -0.7945063900919999, + 0.0441722927378526, + 0.08083435723418632, + 0.006205369718818587, + -0.9967082321708739 + ], + [ + 0.779173158951163, + 0.6229167357483386, + 0.06974187188984621, + 0.6214705823610313, + -0.7822307673175606, + 0.043466560959210546, + 0.08163028622947502, + 0.009474544126999784, + -0.9966176445275686 + ], + [ + 0.7672250456108365, + 0.6402191815178813, + 0.038537371524588124, + 0.6387369435712209, + -0.768132426362846, + 0.044583545027532125, + 0.058145045401520545, + -0.009590369466357093, + -0.9982620790697971 + ], + [ + 0.7549311505114994, + 0.6542790565722578, + 0.04469758515065285, + 0.652030750883815, + -0.7561429385686954, + 0.05571136647566856, + 0.07024854368079088, + -0.01291404598157081, + -0.9974459231091747 + ], + [ + 0.755462553964745, + 0.6533638775554801, + 0.048907801655072414, + 0.648421719354178, + -0.7562736221227042, + 0.08717500990063859, + 0.09394468280235901, + -0.034144574782423213, + -0.9949917309134239 + ], + [ + 0.7622306494519206, + 0.6470447475855438, + 0.01837203467401606, + 0.6419187548053301, + -0.7592369664057058, + 0.10723591316455391, + 0.08333516223826447, + -0.06994514611480296, + -0.9940638446647685 + ], + [ + 0.7727721604496662, + 0.6346004314954712, + 0.010270364147253921, + 0.6286038390547477, + -0.7675039002754657, + 0.12567806724954442, + 0.08763790024634444, + -0.09066452121811483, + -0.9920179146732694 + ], + [ + 0.7792516581985466, + 0.626093196799802, + 0.02782376890034704, + 0.6175137420059678, + -0.7746367015116866, + 0.13643591574391717, + 0.1069749112110058, + -0.08913635393092206, + -0.9902580869547589 + ], + [ + 0.7807299639357599, + 0.6242141861858754, + 0.02858973901896132, + 0.6176010997580459, + -0.7777994023153372, + 0.1166060518822093, + 0.09502423370130084, + -0.07338078442078258, + -0.9927666671918791 + ], + [ + 0.7812310936146978, + 0.6240258856698349, + 0.01642170464846882, + 0.6192714939841903, + -0.7780555476374222, + 0.10551010155060932, + 0.07861803297063762, + -0.07225827845035591, + -0.9942826288773321 + ], + [ + 0.7613198568625645, + 0.6478908515617511, + -0.02509023733153057, + 0.6480529751296663, + -0.7591477461827959, + 0.06100853129824223, + 0.020479672173927026, + -0.0627068092647809, + -0.9978218473753108 + ], + [ + 0.7688669346719935, + 0.6390254690164892, + -0.02213790225717964, + 0.6390886929512334, + -0.7669258205686945, + 0.05822738433863001, + 0.02023065273233937, + -0.058917193528633595, + -0.9980578565377525 + ], + [ + 0.8086904332460667, + 0.585466194499949, + -0.05700103748210909, + 0.5881533751582294, + -0.8063826522337272, + 0.06182738443831036, + -0.009766804301914293, + -0.08352456689051153, + -0.9964578547331946 + ], + [ + 0.82528719887067, + 0.558156253644598, + -0.08580580340298057, + 0.5624458066929315, + -0.8260319868032646, + 0.036412515861849085, + -0.05055446482499017, + -0.07831189753338375, + -0.9956462689082807 + ], + [ + 0.8292200353617489, + 0.5504973124328202, + -0.09667906680818629, + 0.5538337961614764, + -0.8325727415687539, + 0.009526606219260318, + -0.07524798458449179, + -0.06144378732573932, + -0.9952700145262297 + ], + [ + 0.8361004390799018, + 0.5299671598430177, + -0.14167168121512821, + 0.5309591874317589, + -0.8467201682545163, + -0.03387178697456046, + -0.13790720449708907, + -0.04690166477822473, + -0.9893340370111751 + ], + [ + 0.8339095429175296, + 0.5270146335655571, + -0.1638610699307134, + 0.5244130744432381, + -0.8491782690160147, + -0.062347371908970314, + -0.17200523708325685, + -0.0339388190532052, + -0.9845112264353343 + ], + [ + 0.8189831581226301, + 0.5420666698536497, + -0.1882294136028096, + 0.5420294942757716, + -0.8384723041174399, + -0.05628696619238445, + -0.1883364384462931, + -0.05592781652957522, + -0.9805108185489847 + ], + [ + 0.8219207516619564, + 0.5325579630422331, + -0.2020601246850858, + 0.5321212089303003, + -0.8444555731117245, + -0.061170287289703786, + -0.20320752199168343, + -0.057243349315503934, + -0.9774609465166079 + ], + [ + 0.8247411477728328, + 0.5300115951459718, + -0.19720483812820833, + 0.5297520951142514, + -0.8461281329812994, + -0.05856535067462378, + -0.19790087643164084, + -0.05616842162997749, + -0.9786114405213059 + ], + [ + 0.8222161731413838, + 0.5377006494730688, + -0.18665094744195035, + 0.5410241870071552, + -0.8401870175772068, + -0.03712956460780128, + -0.1767862938634793, + -0.07045414857166432, + -0.98172441104979 + ], + [ + 0.8217012195133542, + 0.540658028533306, + -0.1802664750660672, + 0.5471432922312411, + -0.8368863678256003, + -0.015982024716298657, + -0.15950336553384975, + -0.08549914344689379, + -0.9834879627393629 + ], + [ + 0.8236084421411757, + 0.5372761553620031, + -0.1816685633597903, + 0.5452631337821103, + -0.8382353076994886, + -0.007048678177916566, + -0.15606809081903295, + -0.09325181931398477, + -0.9833345561011948 + ], + [ + 0.8260968931422856, + 0.532402316629869, + -0.18469352015653306, + 0.536135833500011, + -0.8434712997501002, + -0.03338464519992526, + -0.17355774594615875, + -0.07144186269285818, + -0.982228979961935 + ], + [ + 0.8348758679142236, + 0.5332923538029053, + -0.1363141612226274, + 0.5267278229029424, + -0.8459283130615438, + -0.08344513012020033, + -0.15981265830464786, + -0.00213413593931764, + -0.9871450550498615 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.002103745937347412, + -6.216531619429588e-05, + -0.005885876715183258, + 0.00614619255065918, + 0.024113554507493973, + 0.00322568416595459, + 1.0 + ], + [ + 0.019148871302604675, + 0.007071859203279018, + -0.0028504282236099243, + -0.03710576891899109, + 0.0002643205225467682, + 0.049238115549087524, + 1.0 + ], + [ + 0.02077662944793701, + 0.011579609476029873, + 0.00856810063123703, + -0.09925013035535812, + 0.027880223467946053, + 0.031511515378952026, + 1.0 + ], + [ + 0.013583213090896606, + 0.01687091775238514, + -0.002308167517185211, + -0.016682881861925125, + 0.009619824588298798, + 0.048052698373794556, + 1.0 + ], + [ + 0.01202857494354248, + 0.01485813781619072, + 0.008510053157806396, + -0.03691433370113373, + -0.018927397206425667, + 0.026845157146453857, + 1.0 + ], + [ + 0.01138278841972351, + 0.008325733244419098, + -0.006732672452926636, + 0.01515115424990654, + 0.04692818969488144, + 0.03216513991355896, + 1.0 + ], + [ + 0.00886237621307373, + 0.0036500953137874603, + -0.010598070919513702, + 0.012990704737603664, + 0.002482820302248001, + 0.027707576751708984, + 1.0 + ], + [ + 0.011233150959014893, + 0.0044598206877708435, + -0.010320700705051422, + 0.011532698757946491, + -0.01756993494927883, + 0.0383526086807251, + 1.0 + ], + [ + 0.007106274366378784, + 0.0023938938975334167, + -0.007280781865119934, + -0.0046850936487317085, + -0.016937676817178726, + 0.03813827037811279, + 1.0 + ], + [ + 0.005873620510101318, + 0.0022605061531066895, + -0.008179035037755966, + -0.013392130844295025, + -0.056035902351140976, + 0.04462158679962158, + 1.0 + ], + [ + 0.0025441348552703857, + -0.0002028346061706543, + -0.014590159058570862, + -0.0032806294038891792, + -0.0007985681295394897, + 0.02019733190536499, + 1.0 + ], + [ + -0.0009680986404418945, + 0.0004177466034889221, + -0.015522608533501625, + 0.01911318302154541, + 0.023543357849121094, + 0.020985841751098633, + 1.0 + ], + [ + 0.0033341646194458008, + 0.000567212700843811, + -0.010171078145503998, + 0.0033396203070878983, + -0.012128591537475586, + 0.018128275871276855, + 1.0 + ], + [ + 0.0022575855255126953, + 0.0008560791611671448, + -0.007315224036574364, + 0.02135659009218216, + -0.02377697080373764, + -0.003092348575592041, + 1.0 + ], + [ + -0.002601832151412964, + 0.0008017644286155701, + -0.007975999265909195, + 0.035944074392318726, + 0.010651499032974243, + -0.009375393390655518, + 1.0 + ], + [ + 0.0013010203838348389, + 1.545250415802002e-05, + -0.000823629554361105, + 0.020893782377243042, + -0.004318550229072571, + -0.017041265964508057, + 0.0 + ], + [ + 0.0023859739303588867, + -0.001698508858680725, + -0.0009459939319640398, + -0.0013695135712623596, + -0.0194295272231102, + -0.012765586376190186, + 0.0 + ], + [ + -4.646182060241699e-05, + -0.0020585358142852783, + -0.0003977981396019459, + -0.015990056097507477, + 0.012012176215648651, + -0.0008535385131835938, + 0.0 + ], + [ + -0.0027254819869995117, + 0.00033771246671676636, + 0.0011009813752025366, + -0.0012350231409072876, + 0.016468577086925507, + 0.0010022521018981934, + 0.0 + ], + [ + -0.007849663496017456, + -0.0005946606397628784, + 0.000536011066287756, + -0.009785085916519165, + 0.05821814388036728, + 0.03493797779083252, + 0.0 + ], + [ + -0.0008358359336853027, + 0.0021032989025115967, + 0.005441478919237852, + -0.0037977434694767, + 0.00024907104671001434, + -0.011720716953277588, + 0.0 + ], + [ + 0.0010021030902862549, + 0.0023750141263008118, + 0.011476804502308369, + 0.024662572890520096, + 0.029998991638422012, + -0.06467461585998535, + 0.0 + ], + [ + 0.0014100074768066406, + -0.002888709306716919, + 0.020300984382629395, + -0.005133248865604401, + 0.040809065103530884, + -0.030596256256103516, + 0.0 + ], + [ + -2.676248550415039e-05, + -0.005098402500152588, + 0.009712651371955872, + -0.01683519408106804, + 0.024743154644966125, + -0.009357988834381104, + 0.0 + ], + [ + -0.002992957830429077, + -0.018336057662963867, + 0.012801837176084518, + -0.014285702258348465, + 0.06302893906831741, + -0.02306586503982544, + 0.0 + ], + [ + -0.0011491179466247559, + -0.026133308187127113, + 0.011876337230205536, + -0.012912727892398834, + 0.03451676666736603, + -0.004417359828948975, + 0.0 + ], + [ + -0.0034166574478149414, + -0.021334126591682434, + -0.0018543228507041931, + 0.022518616169691086, + 0.01660311222076416, + 0.0232774019241333, + 0.0 + ], + [ + -0.002144366502761841, + -0.015034022741019726, + 0.0010539963841438293, + 0.0015187673270702362, + 0.015164688229560852, + -0.010094642639160156, + 0.0 + ], + [ + 0.0002963542938232422, + -0.006990611553192139, + -0.0030932798981666565, + -0.0011633597314357758, + -0.005416706204414368, + -0.003592550754547119, + 0.0 + ], + [ + 0.0003580152988433838, + 0.0028616413474082947, + -0.008253555744886398, + 0.014309745281934738, + -0.021495625376701355, + 0.011022567749023438, + 1.0 + ], + [ + 0.0018748044967651367, + 0.0056086210533976555, + -0.0031211040914058685, + 0.015073709189891815, + -0.017532795667648315, + 0.005464792251586914, + 1.0 + ], + [ + -6.222724914550781e-05, + 0.001413656398653984, + -0.0005447119474411011, + 0.00783289223909378, + -0.0034788548946380615, + -0.002654552459716797, + 1.0 + ], + [ + -0.0007669925689697266, + -0.0018959138542413712, + 0.00039680302143096924, + -0.02194291353225708, + 0.017732396721839905, + -0.009122848510742188, + 1.0 + ], + [ + -0.0018078386783599854, + -0.0033891499042510986, + 0.0240621417760849, + -0.07044464349746704, + -0.013940230011940002, + -0.012836277484893799, + 1.0 + ], + [ + -0.011037707328796387, + 0.0019161850214004517, + 0.024004988372325897, + -0.0686347484588623, + -0.05206079035997391, + -0.053556203842163086, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9445669651031494 + ], + [ + 0.680191159248352 + ], + [ + 0.4202251136302948 + ], + [ + 0.4077054560184479 + ], + [ + 0.4292689263820648 + ], + [ + 0.4292689263820648 + ], + [ + 0.4292689263820648 + ], + [ + 0.4292689263820648 + ], + [ + 0.4292689263820648 + ], + [ + 0.4292689263820648 + ], + [ + 0.4292689263820648 + ], + [ + 0.4292689263820648 + ], + [ + 0.4292689263820648 + ], + [ + 0.4292689263820648 + ], + [ + 0.4737623631954193 + ], + [ + 0.7623518109321594 + ], + [ + 0.9816622138023376 + ], + [ + 0.9879508018493652 + ], + [ + 0.9879508018493652 + ], + [ + 0.9879508018493652 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.24022184312343597, + 0.003593757748603821, + 0.09032605588436127 + ], + [ + 0.25937071442604065, + 0.01066561695188284, + 0.08747562766075134 + ], + [ + 0.28014734387397766, + 0.022245226427912712, + 0.09604372829198837 + ], + [ + 0.29373055696487427, + 0.03911614418029785, + 0.09373556077480316 + ], + [ + 0.30575913190841675, + 0.05397428199648857, + 0.10224561393260956 + ], + [ + 0.31714192032814026, + 0.06230001524090767, + 0.09551294147968292 + ], + [ + 0.326004296541214, + 0.06595011055469513, + 0.08491487056016922 + ], + [ + 0.3372374475002289, + 0.07040993124246597, + 0.0745941698551178 + ], + [ + 0.34434372186660767, + 0.07280382513999939, + 0.06731338798999786 + ], + [ + 0.350217342376709, + 0.07506433129310608, + 0.0591343529522419 + ], + [ + 0.35276147723197937, + 0.07486149668693542, + 0.044544193893671036 + ], + [ + 0.3517933785915375, + 0.07527924329042435, + 0.02902158536016941 + ], + [ + 0.3551275432109833, + 0.07584645599126816, + 0.018850507214665413 + ], + [ + 0.35738512873649597, + 0.0767025351524353, + 0.01153528317809105 + ], + [ + 0.354783296585083, + 0.07750429958105087, + 0.003559283446520567 + ], + [ + 0.35608431696891785, + 0.07751975208520889, + 0.002735653892159462 + ], + [ + 0.35847029089927673, + 0.07582124322652817, + 0.0017896599601954222 + ], + [ + 0.3584238290786743, + 0.07376270741224289, + 0.0013918618205934763 + ], + [ + 0.3556983470916748, + 0.07410041987895966, + 0.002492843195796013 + ], + [ + 0.34784868359565735, + 0.07350575923919678, + 0.003028854262083769 + ], + [ + 0.34701284766197205, + 0.07560905814170837, + 0.008470333181321621 + ], + [ + 0.3480149507522583, + 0.07798407226800919, + 0.01994713768362999 + ], + [ + 0.34942495822906494, + 0.07509536296129227, + 0.040248122066259384 + ], + [ + 0.3493981957435608, + 0.06999696046113968, + 0.049960773438215256 + ], + [ + 0.3464052379131317, + 0.05166090279817581, + 0.06276261061429977 + ], + [ + 0.34525611996650696, + 0.0255275946110487, + 0.07463894784450531 + ], + [ + 0.341839462518692, + 0.00419346708804369, + 0.07278462499380112 + ], + [ + 0.3396950960159302, + -0.010840555652976036, + 0.07383862137794495 + ], + [ + 0.3399914503097534, + -0.017831167206168175, + 0.07074534147977829 + ], + [ + 0.3403494656085968, + -0.01496952585875988, + 0.06249178573489189 + ], + [ + 0.34222427010536194, + -0.009360904805362225, + 0.05937068164348602 + ], + [ + 0.34216204285621643, + -0.00794724840670824, + 0.05882596969604492 + ], + [ + 0.3413950502872467, + -0.009843162260949612, + 0.05922277271747589 + ], + [ + 0.3395872116088867, + -0.01323231216520071, + 0.08328491449356079 + ], + [ + 0.32854950428009033, + -0.011316127143800259, + 0.10728990286588669 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9487141738412349, + 0.31609987018734137, + 0.004721061351975031, + 0.31065771135686077, + -0.9349404836766498, + 0.17140034526508294, + 0.05859353827224088, + -0.16114330283948566, + -0.9851901507946176 + ], + [ + 0.9322887891130135, + 0.36159118477483204, + 0.00945667950838609, + 0.35698076042250365, + -0.9239886020789662, + 0.13714882396990874, + 0.05832966982901665, + -0.12448645838520449, + -0.990505311089419 + ], + [ + 0.9217204963490093, + 0.38743096730591703, + 0.01812656014077285, + 0.38665543716287715, + -0.9215387704371385, + 0.03555091410345164, + 0.0304778529840925, + -0.02575927315760473, + -0.9992034629262809 + ], + [ + 0.9023067213985856, + 0.4308366714872864, + 0.014911171003364532, + 0.4305895834487962, + -0.902384147985493, + 0.017188952553547396, + 0.02086123544586034, + -0.009089112511794693, + -0.9997410649210227 + ], + [ + 0.8899126257968691, + 0.453591447879239, + 0.04806575556606967, + 0.4543931096685718, + -0.8907761205850053, + -0.0066936448407039426, + 0.03977964722124636, + 0.02779750719657837, + -0.9988217449878679 + ], + [ + 0.8755099169305021, + 0.4832001338213488, + -0.00012661507266963686, + 0.48314742526620863, + -0.8754182250905086, + -0.014542923984451556, + -0.007137983957626852, + 0.012671300423193555, + -0.9998942380725105 + ], + [ + 0.8617708086078602, + 0.507227386599289, + -0.00845291162911805, + 0.5072065804445097, + -0.8618122050054376, + -0.004605220673535774, + -0.009620716456756905, + -0.00031872765855403854, + -0.99995366904049 + ], + [ + 0.8417015222845856, + 0.5399430175003769, + 0.0002919527336507459, + 0.5398845811834782, + -0.8416181418235443, + 0.014266827041241898, + 0.00794898635999957, + -0.011850789259451794, + -0.999898181021336 + ], + [ + 0.8202760234047177, + 0.5717349531882487, + 0.016321419367634322, + 0.5714263059723359, + -0.8204071059215339, + 0.02010366623935927, + 0.02488417710420479, + -0.007164067021204677, + -0.9996646707139161 + ], + [ + 0.7916169541092937, + 0.6072240850704389, + 0.06798167751014046, + 0.6056470958051894, + -0.7945063900919999, + 0.0441722927378526, + 0.08083435723418632, + 0.006205369718818587, + -0.9967082321708739 + ], + [ + 0.779173158951163, + 0.6229167357483386, + 0.06974187188984621, + 0.6214705823610313, + -0.7822307673175606, + 0.043466560959210546, + 0.08163028622947502, + 0.009474544126999784, + -0.9966176445275686 + ], + [ + 0.7672250456108365, + 0.6402191815178813, + 0.038537371524588124, + 0.6387369435712209, + -0.768132426362846, + 0.044583545027532125, + 0.058145045401520545, + -0.009590369466357093, + -0.9982620790697971 + ], + [ + 0.7549311505114994, + 0.6542790565722578, + 0.04469758515065285, + 0.652030750883815, + -0.7561429385686954, + 0.05571136647566856, + 0.07024854368079088, + -0.01291404598157081, + -0.9974459231091747 + ], + [ + 0.755462553964745, + 0.6533638775554801, + 0.048907801655072414, + 0.648421719354178, + -0.7562736221227042, + 0.08717500990063859, + 0.09394468280235901, + -0.034144574782423213, + -0.9949917309134239 + ], + [ + 0.7622306494519206, + 0.6470447475855438, + 0.01837203467401606, + 0.6419187548053301, + -0.7592369664057058, + 0.10723591316455391, + 0.08333516223826447, + -0.06994514611480296, + -0.9940638446647685 + ], + [ + 0.7727721604496662, + 0.6346004314954712, + 0.010270364147253921, + 0.6286038390547477, + -0.7675039002754657, + 0.12567806724954442, + 0.08763790024634444, + -0.09066452121811483, + -0.9920179146732694 + ], + [ + 0.7792516581985466, + 0.626093196799802, + 0.02782376890034704, + 0.6175137420059678, + -0.7746367015116866, + 0.13643591574391717, + 0.1069749112110058, + -0.08913635393092206, + -0.9902580869547589 + ], + [ + 0.7807299639357599, + 0.6242141861858754, + 0.02858973901896132, + 0.6176010997580459, + -0.7777994023153372, + 0.1166060518822093, + 0.09502423370130084, + -0.07338078442078258, + -0.9927666671918791 + ], + [ + 0.7812310936146978, + 0.6240258856698349, + 0.01642170464846882, + 0.6192714939841903, + -0.7780555476374222, + 0.10551010155060932, + 0.07861803297063762, + -0.07225827845035591, + -0.9942826288773321 + ], + [ + 0.7613198568625645, + 0.6478908515617511, + -0.02509023733153057, + 0.6480529751296663, + -0.7591477461827959, + 0.06100853129824223, + 0.020479672173927026, + -0.0627068092647809, + -0.9978218473753108 + ], + [ + 0.7688669346719935, + 0.6390254690164892, + -0.02213790225717964, + 0.6390886929512334, + -0.7669258205686945, + 0.05822738433863001, + 0.02023065273233937, + -0.058917193528633595, + -0.9980578565377525 + ], + [ + 0.8086904332460667, + 0.585466194499949, + -0.05700103748210909, + 0.5881533751582294, + -0.8063826522337272, + 0.06182738443831036, + -0.009766804301914293, + -0.08352456689051153, + -0.9964578547331946 + ], + [ + 0.82528719887067, + 0.558156253644598, + -0.08580580340298057, + 0.5624458066929315, + -0.8260319868032646, + 0.036412515861849085, + -0.05055446482499017, + -0.07831189753338375, + -0.9956462689082807 + ], + [ + 0.8292200353617489, + 0.5504973124328202, + -0.09667906680818629, + 0.5538337961614764, + -0.8325727415687539, + 0.009526606219260318, + -0.07524798458449179, + -0.06144378732573932, + -0.9952700145262297 + ], + [ + 0.8361004390799018, + 0.5299671598430177, + -0.14167168121512821, + 0.5309591874317589, + -0.8467201682545163, + -0.03387178697456046, + -0.13790720449708907, + -0.04690166477822473, + -0.9893340370111751 + ], + [ + 0.8339095429175296, + 0.5270146335655571, + -0.1638610699307134, + 0.5244130744432381, + -0.8491782690160147, + -0.062347371908970314, + -0.17200523708325685, + -0.0339388190532052, + -0.9845112264353343 + ], + [ + 0.8189831581226301, + 0.5420666698536497, + -0.1882294136028096, + 0.5420294942757716, + -0.8384723041174399, + -0.05628696619238445, + -0.1883364384462931, + -0.05592781652957522, + -0.9805108185489847 + ], + [ + 0.8219207516619564, + 0.5325579630422331, + -0.2020601246850858, + 0.5321212089303003, + -0.8444555731117245, + -0.061170287289703786, + -0.20320752199168343, + -0.057243349315503934, + -0.9774609465166079 + ], + [ + 0.8247411477728328, + 0.5300115951459718, + -0.19720483812820833, + 0.5297520951142514, + -0.8461281329812994, + -0.05856535067462378, + -0.19790087643164084, + -0.05616842162997749, + -0.9786114405213059 + ], + [ + 0.8222161731413838, + 0.5377006494730688, + -0.18665094744195035, + 0.5410241870071552, + -0.8401870175772068, + -0.03712956460780128, + -0.1767862938634793, + -0.07045414857166432, + -0.98172441104979 + ], + [ + 0.8217012195133542, + 0.540658028533306, + -0.1802664750660672, + 0.5471432922312411, + -0.8368863678256003, + -0.015982024716298657, + -0.15950336553384975, + -0.08549914344689379, + -0.9834879627393629 + ], + [ + 0.8236084421411757, + 0.5372761553620031, + -0.1816685633597903, + 0.5452631337821103, + -0.8382353076994886, + -0.007048678177916566, + -0.15606809081903295, + -0.09325181931398477, + -0.9833345561011948 + ], + [ + 0.8260968931422856, + 0.532402316629869, + -0.18469352015653306, + 0.536135833500011, + -0.8434712997501002, + -0.03338464519992526, + -0.17355774594615875, + -0.07144186269285818, + -0.982228979961935 + ], + [ + 0.8348758679142236, + 0.5332923538029053, + -0.1363141612226274, + 0.5267278229029424, + -0.8459283130615438, + -0.08344513012020033, + -0.15981265830464786, + -0.00213413593931764, + -0.9871450550498615 + ], + [ + 0.8679680311745682, + 0.49274732018356304, + -0.061899719796307304, + 0.484683677553122, + -0.8676633143799253, + -0.11064404906195624, + -0.10822767470719026, + 0.06603371359510646, + -0.991930601955759 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006702.json b/json/chunk-0006/episode_0006702.json new file mode 100644 index 0000000000000000000000000000000000000000..22fff0756e47ac4c0a002380478c5d87fe80e3f6 --- /dev/null +++ b/json/chunk-0006/episode_0006702.json @@ -0,0 +1,2002 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 32, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the towel to the front left table corner." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006702.mp4", + "start": 0, + "end": 32, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2838249206542969, + 0.0346665121614933, + 0.11586537212133408, + -0.04027894139289856, + -0.11375225335359573, + -0.10474048554897308, + 0.0, + 0.9994885921478271 + ], + [ + 0.2817038893699646, + 0.033666569739580154, + 0.10928282886743546, + -0.05042022839188576, + -0.09139559417963028, + -0.10657306015491486, + 0.0, + 0.9994885921478271 + ], + [ + 0.2702834904193878, + 0.055127277970314026, + 0.11135335266590118, + -0.06159312278032303, + -0.11002382636070251, + -0.09601454436779022, + 0.0, + 0.9994885921478271 + ], + [ + 0.2646673619747162, + 0.09427131712436676, + 0.11342036724090576, + -0.032074928283691406, + -0.15504662692546844, + -0.04539201781153679, + 0.0, + 0.9994885921478271 + ], + [ + 0.26606252789497375, + 0.11934895813465118, + 0.09396368265151978, + 0.008578128181397915, + -0.13459421694278717, + -0.025425061583518982, + 0.0, + 0.9994885921478271 + ], + [ + 0.2741343080997467, + 0.14224199950695038, + 0.07397247850894928, + 0.03207257762551308, + -0.13557910919189453, + 0.023955339565873146, + 0.0, + 0.9994885921478271 + ], + [ + 0.2897937297821045, + 0.15214042365550995, + 0.053559888154268265, + 0.028812000527977943, + -0.11901667714118958, + 0.05259054899215698, + 0.0, + 0.9994885921478271 + ], + [ + 0.30454182624816895, + 0.16240373253822327, + 0.046978939324617386, + 0.037070564925670624, + -0.114930659532547, + 0.05556471645832062, + 0.0, + 0.9994885921478271 + ], + [ + 0.30850735306739807, + 0.16653114557266235, + 0.039548568427562714, + 0.02480551414191723, + -0.11768926680088043, + 0.06192594766616821, + 0.0, + 0.9994885921478271 + ], + [ + 0.30882781744003296, + 0.1692802459001541, + 0.030011728405952454, + 0.01889972575008869, + -0.11762559413909912, + 0.06264142692089081, + 0.0, + 0.9994885921478271 + ], + [ + 0.30484455823898315, + 0.16757212579250336, + 0.01821824163198471, + 0.013982782140374184, + -0.10109702497720718, + 0.06535565108060837, + 0.0, + 0.9994885921478271 + ], + [ + 0.2998228073120117, + 0.1657666712999344, + 0.010214450769126415, + 0.023104770109057426, + -0.10525277256965637, + 0.05907381698489189, + 0.0, + 0.9994885921478271 + ], + [ + 0.29709193110466003, + 0.1637476086616516, + 0.003988432697951794, + 0.054392434656620026, + -0.11349453032016754, + 0.040517061948776245, + 0.0, + 1.0008161067962646 + ], + [ + 0.2950810194015503, + 0.16411542892456055, + 0.0016068322584033012, + 0.09016384184360504, + -0.10447598248720169, + 0.015211593359708786, + 0.0, + 1.0008161067962646 + ], + [ + 0.2900126576423645, + 0.1617583930492401, + 0.0033520518336445093, + 0.10363241285085678, + -0.12049784511327744, + 0.01710427924990654, + 0.0, + 1.0001531839370728 + ], + [ + 0.2776288688182831, + 0.15098007023334503, + 0.003799539292231202, + 0.08783795684576035, + -0.11811956763267517, + 0.025499992072582245, + 0.0, + 0.9988223910331726 + ], + [ + 0.25964632630348206, + 0.13597173988819122, + 0.0034204646944999695, + 0.06302294880151749, + -0.10089584439992905, + 0.023211633786559105, + 0.0, + 0.9974852800369263 + ], + [ + 0.24423401057720184, + 0.11516948789358139, + 0.003515795338898897, + 0.03436147794127464, + -0.08902820944786072, + 0.00040311459451913834, + 0.0, + 0.9981546401977539 + ], + [ + 0.23860877752304077, + 0.08156969398260117, + 0.004167964216321707, + -0.009318862110376358, + -0.08807585388422012, + -0.034739602357149124, + 0.0, + 0.9981546401977539 + ], + [ + 0.24347101151943207, + 0.04592183977365494, + 0.0042069037444889545, + -0.023750334978103638, + -0.09206739068031311, + -0.044697102159261703, + 0.0, + 0.9994885921478271 + ], + [ + 0.2523426413536072, + 0.009522839449346066, + 0.004344806540757418, + -0.057170748710632324, + -0.11634863168001175, + -0.027427982538938522, + 0.0, + 1.002137303352356 + ], + [ + 0.25703516602516174, + -0.026273198425769806, + 0.0028905358631163836, + -0.06972131878137589, + -0.1336071789264679, + -0.03379664942622185, + 0.0, + 1.0027955770492554 + ], + [ + 0.25855913758277893, + -0.05757594481110573, + 0.0021612937562167645, + -0.07500825822353363, + -0.14791421592235565, + -0.06001776456832886, + 0.0, + 1.0027955770492554 + ], + [ + 0.2546585500240326, + -0.07805808633565903, + 0.002575278514996171, + -0.0794467031955719, + -0.1528639942407608, + -0.10326623171567917, + 0.0, + 1.0027955770492554 + ], + [ + 0.2527790069580078, + -0.07914787530899048, + 0.0038769152015447617, + -0.08055118471384048, + -0.14490768313407898, + -0.10595827549695969, + 0.0, + 1.002137303352356 + ], + [ + 0.24665704369544983, + -0.07523943483829498, + 0.010366220027208328, + -0.09617118537425995, + -0.10131998360157013, + -0.07606612145900726, + 0.0, + 1.0014774799346924 + ], + [ + 0.2560586929321289, + -0.06587864458560944, + 0.03326284512877464, + -0.12277407944202423, + -0.11379840224981308, + -0.027948666363954544, + 0.0, + 1.0014774799346924 + ], + [ + 0.2612321376800537, + -0.06244105100631714, + 0.05658392235636711, + -0.14586898684501648, + -0.14451079070568085, + -0.023707401007413864, + 0.0, + 1.0014774799346924 + ], + [ + 0.26139113306999207, + -0.05980699509382248, + 0.07503222674131393, + -0.15509821474552155, + -0.15641003847122192, + -0.03258892148733139, + 0.0, + 1.0014774799346924 + ], + [ + 0.26063573360443115, + -0.05057468265295029, + 0.09339326620101929, + -0.1259283572435379, + -0.16590018570423126, + -0.034931231290102005, + 0.0, + 1.0014774799346924 + ], + [ + 0.26010286808013916, + -0.0409298799932003, + 0.09947621077299118, + -0.07461883872747421, + -0.14920540153980255, + -0.05684627965092659, + 0.0, + 1.0014774799346924 + ], + [ + 0.2614344656467438, + -0.02578752115368843, + 0.10312429815530777, + -0.023813996464014053, + -0.14229653775691986, + -0.06308700889348984, + 0.0, + 1.0014774799346924 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 0.9988223910331726 + ], + [ + 0.9974852800369263 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9994885921478271 + ], + [ + 1.002137303352356 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.002137303352356 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2838249206542969, + 0.0346665121614933, + 0.11586537212133408 + ], + [ + 0.2817038893699646, + 0.033666569739580154, + 0.10928282886743546 + ], + [ + 0.2702834904193878, + 0.055127277970314026, + 0.11135335266590118 + ], + [ + 0.2646673619747162, + 0.09427131712436676, + 0.11342036724090576 + ], + [ + 0.26606252789497375, + 0.11934895813465118, + 0.09396368265151978 + ], + [ + 0.2741343080997467, + 0.14224199950695038, + 0.07397247850894928 + ], + [ + 0.2897937297821045, + 0.15214042365550995, + 0.053559888154268265 + ], + [ + 0.30454182624816895, + 0.16240373253822327, + 0.046978939324617386 + ], + [ + 0.30850735306739807, + 0.16653114557266235, + 0.039548568427562714 + ], + [ + 0.30882781744003296, + 0.1692802459001541, + 0.030011728405952454 + ], + [ + 0.30484455823898315, + 0.16757212579250336, + 0.01821824163198471 + ], + [ + 0.2998228073120117, + 0.1657666712999344, + 0.010214450769126415 + ], + [ + 0.29709193110466003, + 0.1637476086616516, + 0.003988432697951794 + ], + [ + 0.2950810194015503, + 0.16411542892456055, + 0.0016068322584033012 + ], + [ + 0.2900126576423645, + 0.1617583930492401, + 0.0033520518336445093 + ], + [ + 0.2776288688182831, + 0.15098007023334503, + 0.003799539292231202 + ], + [ + 0.25964632630348206, + 0.13597173988819122, + 0.0034204646944999695 + ], + [ + 0.24423401057720184, + 0.11516948789358139, + 0.003515795338898897 + ], + [ + 0.23860877752304077, + 0.08156969398260117, + 0.004167964216321707 + ], + [ + 0.24347101151943207, + 0.04592183977365494, + 0.0042069037444889545 + ], + [ + 0.2523426413536072, + 0.009522839449346066, + 0.004344806540757418 + ], + [ + 0.25703516602516174, + -0.026273198425769806, + 0.0028905358631163836 + ], + [ + 0.25855913758277893, + -0.05757594481110573, + 0.0021612937562167645 + ], + [ + 0.2546585500240326, + -0.07805808633565903, + 0.002575278514996171 + ], + [ + 0.2527790069580078, + -0.07914787530899048, + 0.0038769152015447617 + ], + [ + 0.24665704369544983, + -0.07523943483829498, + 0.010366220027208328 + ], + [ + 0.2560586929321289, + -0.06587864458560944, + 0.03326284512877464 + ], + [ + 0.2612321376800537, + -0.06244105100631714, + 0.05658392235636711 + ], + [ + 0.26139113306999207, + -0.05980699509382248, + 0.07503222674131393 + ], + [ + 0.26063573360443115, + -0.05057468265295029, + 0.09339326620101929 + ], + [ + 0.26010286808013916, + -0.0409298799932003, + 0.09947621077299118 + ], + [ + 0.2614344656467438, + -0.02578752115368843, + 0.10312429815530777 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9880923319916423, + -0.10900994244628744, + 0.10858349739797021, + -0.10387339882927675, + -0.9932352228499246, + -0.051904808119425244, + 0.1135070943816813, + 0.040007805964804535, + -0.9927313407901003 + ], + [ + 0.9901764730331498, + -0.11080998221334784, + 0.08527426395759691, + -0.10592747577922015, + -0.9925735541130387, + -0.05980894206098047, + 0.09126840705674175, + 0.050188519775826466, + -0.994560802744627 + ], + [ + 0.9893754750864099, + -0.10241294243656035, + 0.10318797662047048, + -0.09528742724576858, + -0.9928586769701583, + -0.07177711176934705, + 0.10980198316252464, + 0.061181997242266924, + -0.9920686910224634 + ], + [ + 0.9869866466971884, + -0.05030034970780853, + 0.15273255730430232, + -0.044832110898017793, + -0.9982314122568594, + -0.039040100103663954, + 0.15442616706331755, + 0.0316847345412335, + -0.9874961450675057 + ], + [ + 0.9906355876828637, + -0.024270689551440183, + 0.13435797722846474, + -0.025192399463424067, + -0.9996692833690307, + 0.005164000166885041, + 0.13418820896599784, + -0.008500442173553687, + -0.9909194049252197 + ], + [ + 0.9905389400979089, + 0.02827380511902996, + 0.1342877510936962, + 0.02373323667519083, + -0.9990951309495019, + 0.03529380667932022, + 0.13516412847583034, + -0.031772806880868545, + -0.9903136609762991 + ], + [ + 0.9915530878130057, + 0.05596030953136674, + 0.11700819546359686, + 0.052194449326108255, + -0.9980231671632722, + 0.03500710306402397, + 0.11873589814389743, + -0.028604222809657028, + -0.9925137706497665 + ], + [ + 0.9918695984915609, + 0.05974161152985329, + 0.11236387070587275, + 0.05516974240824082, + -0.9975346643753822, + 0.04336926206545603, + 0.11467780565915248, + -0.036817566748903276, + -0.9927202363545794 + ], + [ + 0.9911790684535483, + 0.06477406454663612, + 0.11562168837058209, + 0.06145828375916426, + -0.9975959175791017, + 0.03201975307349941, + 0.11741777385444602, + -0.024631398490910898, + -0.9927770951182585 + ], + [ + 0.9911423022622797, + 0.06480277459629215, + 0.1159203910916873, + 0.06216790392327788, + -0.9977215854630546, + 0.02620667134289512, + 0.11735454140344835, + -0.01876801283329117, + -0.992912721897688 + ], + [ + 0.9927700271429786, + 0.0667109024828725, + 0.09978641539032317, + 0.0649756693674408, + -0.9976753687558262, + 0.020543148935332607, + 0.1009249007766788, + -0.01391093339236866, + -0.9947967884625335 + ], + [ + 0.9927313412049723, + 0.061446610489865904, + 0.10348332352936607, + 0.058712742389216054, + -0.9978459147780648, + 0.02926336005766036, + 0.10505854591852248, + -0.022974864962245618, + -0.9942006123059128 + ], + [ + 0.9927509823796836, + 0.04659798212700693, + 0.11078860521671405, + 0.040245378167737364, + -0.9974522122871814, + 0.05890155973778762, + 0.11325103319753682, + -0.05401585197976145, + -0.9920970170374426 + ], + [ + 0.9944322837810878, + 0.024538226721812634, + 0.1024807708952205, + 0.015128066383377397, + -0.9956799368951541, + 0.09161116128486652, + 0.1042860229437765, + -0.08955076043122481, + -0.9905074894844356 + ], + [ + 0.9926037007168317, + 0.029444865088758, + 0.11777475639182865, + 0.016979426726988545, + -0.9942767944641299, + 0.10547679867229892, + 0.12020645736096115, + -0.10269691285544416, + -0.9874227826512249 + ], + [ + 0.992709149301721, + 0.03573353480096805, + 0.11511585200692719, + 0.025319563687510708, + -0.995557283123341, + 0.09068966707814825, + 0.11784508724307029, + -0.08711377910927341, + -0.9892035811206777 + ], + [ + 0.9946463229090498, + 0.029505532049100055, + 0.09903593237813076, + 0.02309151342490701, + -0.9975986320995512, + 0.06529740608057301, + 0.10072474537696037, + -0.06266093529148319, + -0.9929391385463375 + ], + [ + 0.9960395249169663, + 0.00345737653464717, + 0.08884430961340192, + 0.0004015180909610191, + -0.999408389984895, + 0.03439053374146546, + 0.08891064945442126, + -0.03421865829190143, + -0.9954516461578108 + ], + [ + 0.9955228081117758, + -0.03555030670714993, + 0.08758147191199613, + -0.03459798568855619, + -0.9993247764937168, + -0.012368123223729766, + 0.08796202541744168, + 0.009282606250965997, + -0.9960805767133755 + ], + [ + 0.9947702714026467, + -0.04685077689097249, + 0.09075853589727455, + -0.04449298221183606, + -0.9986219501456324, + -0.027831191516559408, + 0.09193737905445094, + 0.02364752401513712, + -0.9954839591578318 + ], + [ + 0.9928655493349895, + -0.03401036886508666, + 0.1142860260635133, + -0.027239129906658412, + -0.9978087783407078, + -0.06029653114526695, + 0.11608630731338422, + 0.05675329660808, + -0.9916163736942112 + ], + [ + 0.9905218671338929, + -0.04298287805139504, + 0.13045651736883626, + -0.03348907182034447, + -0.9966872131653545, + -0.07411532352550962, + 0.13321003264843975, + 0.06904398096212336, + -0.9886799360231315 + ], + [ + 0.987299757726252, + -0.07083721000994488, + 0.14220154032812507, + -0.05932677582362015, + -0.9947302974679826, + -0.08361799429329263, + 0.14737544593336552, + 0.07411966660250276, + -0.9862995249713323 + ], + [ + 0.983073933241128, + -0.11477784448435355, + 0.14279946847710562, + -0.10188074750471521, + -0.9902896410089941, + -0.09458720948499545, + 0.15226935039494582, + 0.07843770347099348, + -0.9852215850277023 + ], + [ + 0.9839696922845597, + -0.11697113179433356, + 0.13461574570674253, + -0.10465167207604466, + -0.9899385263315245, + -0.0952351910601247, + 0.1444010810109043, + 0.07962077876611788, + -0.9863107316619646 + ], + [ + 0.9919947169468339, + -0.085325962321786, + 0.09309114728819312, + -0.07560306138929236, + -0.9917627705748183, + -0.10339624756405436, + 0.10114671847439144, + 0.09553055561243995, + -0.990274332842289 + ], + [ + 0.993143933964793, + -0.041635607593587795, + 0.1092318754267623, + -0.02776427798945193, + -0.9916965125254884, + -0.1255673998795399, + 0.1135529449052704, + 0.12167375733943873, + -0.9860533583322173 + ], + [ + 0.9892983963190458, + -0.04437948330756762, + 0.13899332538621076, + -0.023458088763687074, + -0.9886057520095907, + -0.14868888716076314, + 0.14400833695352053, + 0.14383715985413678, + -0.9790671429135881 + ], + [ + 0.987268376519015, + -0.0562426392286096, + 0.14878816571928044, + -0.03218540645557279, + -0.9866877045198601, + -0.15940976557481662, + 0.15577307962801906, + 0.15259141287087186, + -0.9759357603763033 + ], + [ + 0.9856684403747147, + -0.05537584592485775, + 0.15934629376733078, + -0.03444462307794849, + -0.9907519356633613, + -0.13124088509424764, + 0.16514022402278655, + 0.12387137549656041, + -0.978460315364039 + ], + [ + 0.9872921413302315, + -0.06772164609461649, + 0.14376371697268323, + -0.056184418178525986, + -0.994976856141694, + -0.08285147491946855, + 0.14865240940363791, + 0.07372132929231758, + -0.9861377321580728 + ], + [ + 0.9879237000685874, + -0.06639748211886977, + 0.13999334702430155, + -0.062407967188583234, + -0.9975148012080736, + -0.0327027063437673, + 0.14181681308709793, + 0.023571078445678496, + -0.9896122451681403 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0021210312843322754, + -0.000999942421913147, + -0.006582543253898621, + -0.010141286998987198, + 0.022356659173965454, + -0.0018325746059417725, + 1.0 + ], + [ + -0.011420398950576782, + 0.02146070823073387, + 0.0020705237984657288, + -0.011172894388437271, + -0.018628232181072235, + 0.010558515787124634, + 1.0 + ], + [ + -0.005616128444671631, + 0.039144039154052734, + 0.0020670145750045776, + 0.029518194496631622, + -0.04502280056476593, + 0.05062252655625343, + 1.0 + ], + [ + 0.0013951659202575684, + 0.025077641010284424, + -0.019456684589385986, + 0.040653057396411896, + 0.020452409982681274, + 0.019966956228017807, + 1.0 + ], + [ + 0.00807178020477295, + 0.022893041372299194, + -0.019991204142570496, + 0.023494448512792587, + -0.0009848922491073608, + 0.04938039928674698, + 1.0 + ], + [ + 0.015659421682357788, + 0.00989842414855957, + -0.020412590354681015, + -0.0032605770975351334, + 0.016562432050704956, + 0.028635209426283836, + 1.0 + ], + [ + 0.014748096466064453, + 0.010263308882713318, + -0.006580948829650879, + 0.00825856439769268, + 0.004086017608642578, + 0.0029741674661636353, + 1.0 + ], + [ + 0.003965526819229126, + 0.004127413034439087, + -0.007430370897054672, + -0.012265050783753395, + -0.002758607268333435, + 0.006361231207847595, + 1.0 + ], + [ + 0.0003204643726348877, + 0.0027491003274917603, + -0.00953684002161026, + -0.005905788391828537, + 6.367266178131104e-05, + 0.0007154792547225952, + 1.0 + ], + [ + -0.003983259201049805, + -0.0017081201076507568, + -0.011793486773967743, + -0.004916943609714508, + 0.016528569161891937, + 0.00271422415971756, + 1.0 + ], + [ + -0.0050217509269714355, + -0.0018054544925689697, + -0.008003790862858295, + 0.009121987968683243, + -0.004155747592449188, + -0.0062818340957164764, + 1.0 + ], + [ + -0.0027308762073516846, + -0.002019062638282776, + -0.006226018071174622, + 0.03128766268491745, + -0.00824175775051117, + -0.018556755036115646, + 1.0 + ], + [ + -0.002010911703109741, + 0.00036782026290893555, + -0.0023816004395484924, + 0.035771407186985016, + 0.00901854783296585, + -0.02530546858906746, + 1.0 + ], + [ + -0.005068361759185791, + -0.0023570358753204346, + 0.001745219575241208, + 0.01346857100725174, + -0.016021862626075745, + 0.001892685890197754, + 1.0 + ], + [ + -0.012383788824081421, + -0.01077832281589508, + 0.0004474874585866928, + -0.015794456005096436, + 0.0023782774806022644, + 0.008395712822675705, + 1.0 + ], + [ + -0.017982542514801025, + -0.015008330345153809, + -0.00037907459773123264, + -0.02481500804424286, + 0.017223723232746124, + -0.00228835828602314, + 1.0 + ], + [ + -0.015412315726280212, + -0.020802251994609833, + 9.533064439892769e-05, + -0.028661470860242844, + 0.011867634952068329, + -0.022808518260717392, + 1.0 + ], + [ + -0.005625233054161072, + -0.033599793910980225, + 0.0006521688774228096, + -0.043680340051651, + 0.0009523555636405945, + -0.03514271602034569, + 1.0 + ], + [ + 0.004862233996391296, + -0.03564785420894623, + 3.893952816724777e-05, + -0.01443147286772728, + -0.003991536796092987, + -0.00995749980211258, + 1.0 + ], + [ + 0.00887162983417511, + -0.0363989993929863, + 0.00013790279626846313, + -0.033420413732528687, + -0.02428124099969864, + 0.01726911962032318, + 1.0 + ], + [ + 0.004692524671554565, + -0.035796038806438446, + -0.0014542706776410341, + -0.01255057007074356, + -0.017258547246456146, + -0.006368666887283325, + 1.0 + ], + [ + 0.0015239715576171875, + -0.03130274638533592, + -0.0007292421068996191, + -0.005286939442157745, + -0.014307036995887756, + -0.02622111514210701, + 1.0 + ], + [ + -0.003900587558746338, + -0.0204821415245533, + 0.00041398475877940655, + -0.004438444972038269, + -0.004949778318405151, + -0.04324846714735031, + 1.0 + ], + [ + -0.0018795430660247803, + -0.0010897889733314514, + 0.0013016366865485907, + -0.0011044815182685852, + 0.007956311106681824, + -0.0026920437812805176, + 1.0 + ], + [ + -0.006121963262557983, + 0.003908440470695496, + 0.006489304825663567, + -0.015620000660419464, + 0.04358769953250885, + 0.029892154037952423, + 1.0 + ], + [ + 0.009401649236679077, + 0.009360790252685547, + 0.022896625101566315, + -0.026602894067764282, + -0.01247841864824295, + 0.04811745509505272, + 1.0 + ], + [ + 0.005173444747924805, + 0.0034375935792922974, + 0.023321077227592468, + -0.02309490740299225, + -0.030712388455867767, + 0.00424126535654068, + 1.0 + ], + [ + 0.0001589953899383545, + 0.0026340559124946594, + 0.018448304384946823, + -0.009229227900505066, + -0.011899247765541077, + -0.008881520479917526, + 1.0 + ], + [ + -0.0007553994655609131, + 0.009232312440872192, + 0.018361039459705353, + 0.029169857501983643, + -0.009490147233009338, + -0.0023423098027706146, + 1.0 + ], + [ + -0.0005328655242919922, + 0.009644802659749985, + 0.006082944571971893, + 0.05130951851606369, + 0.01669478416442871, + -0.021915048360824585, + 1.0 + ], + [ + 0.0013315975666046143, + 0.015142358839511871, + 0.0036480873823165894, + 0.05080484226346016, + 0.00690886378288269, + -0.006240729242563248, + 1.0 + ], + [ + -4.07099723815918e-05, + 0.012979414314031601, + 3.498047590255737e-05, + -0.026235520839691162, + 0.005310773849487305, + 0.0247422493994236, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 0.9988223910331726 + ], + [ + 0.9974852800369263 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9994885921478271 + ], + [ + 1.002137303352356 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.0027955770492554 + ], + [ + 1.002137303352356 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2817038893699646, + 0.033666569739580154, + 0.10928282886743546 + ], + [ + 0.2702834904193878, + 0.055127277970314026, + 0.11135335266590118 + ], + [ + 0.2646673619747162, + 0.09427131712436676, + 0.11342036724090576 + ], + [ + 0.26606252789497375, + 0.11934895813465118, + 0.09396368265151978 + ], + [ + 0.2741343080997467, + 0.14224199950695038, + 0.07397247850894928 + ], + [ + 0.2897937297821045, + 0.15214042365550995, + 0.053559888154268265 + ], + [ + 0.30454182624816895, + 0.16240373253822327, + 0.046978939324617386 + ], + [ + 0.30850735306739807, + 0.16653114557266235, + 0.039548568427562714 + ], + [ + 0.30882781744003296, + 0.1692802459001541, + 0.030011728405952454 + ], + [ + 0.30484455823898315, + 0.16757212579250336, + 0.01821824163198471 + ], + [ + 0.2998228073120117, + 0.1657666712999344, + 0.010214450769126415 + ], + [ + 0.29709193110466003, + 0.1637476086616516, + 0.003988432697951794 + ], + [ + 0.2950810194015503, + 0.16411542892456055, + 0.0016068322584033012 + ], + [ + 0.2900126576423645, + 0.1617583930492401, + 0.0033520518336445093 + ], + [ + 0.2776288688182831, + 0.15098007023334503, + 0.003799539292231202 + ], + [ + 0.25964632630348206, + 0.13597173988819122, + 0.0034204646944999695 + ], + [ + 0.24423401057720184, + 0.11516948789358139, + 0.003515795338898897 + ], + [ + 0.23860877752304077, + 0.08156969398260117, + 0.004167964216321707 + ], + [ + 0.24347101151943207, + 0.04592183977365494, + 0.0042069037444889545 + ], + [ + 0.2523426413536072, + 0.009522839449346066, + 0.004344806540757418 + ], + [ + 0.25703516602516174, + -0.026273198425769806, + 0.0028905358631163836 + ], + [ + 0.25855913758277893, + -0.05757594481110573, + 0.0021612937562167645 + ], + [ + 0.2546585500240326, + -0.07805808633565903, + 0.002575278514996171 + ], + [ + 0.2527790069580078, + -0.07914787530899048, + 0.0038769152015447617 + ], + [ + 0.24665704369544983, + -0.07523943483829498, + 0.010366220027208328 + ], + [ + 0.2560586929321289, + -0.06587864458560944, + 0.03326284512877464 + ], + [ + 0.2612321376800537, + -0.06244105100631714, + 0.05658392235636711 + ], + [ + 0.26139113306999207, + -0.05980699509382248, + 0.07503222674131393 + ], + [ + 0.26063573360443115, + -0.05057468265295029, + 0.09339326620101929 + ], + [ + 0.26010286808013916, + -0.0409298799932003, + 0.09947621077299118 + ], + [ + 0.2614344656467438, + -0.02578752115368843, + 0.10312429815530777 + ], + [ + 0.2613937556743622, + -0.01280810683965683, + 0.10315927863121033 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9901764730331498, + -0.11080998221334784, + 0.08527426395759691, + -0.10592747577922015, + -0.9925735541130387, + -0.05980894206098047, + 0.09126840705674175, + 0.050188519775826466, + -0.994560802744627 + ], + [ + 0.9893754750864099, + -0.10241294243656035, + 0.10318797662047048, + -0.09528742724576858, + -0.9928586769701583, + -0.07177711176934705, + 0.10980198316252464, + 0.061181997242266924, + -0.9920686910224634 + ], + [ + 0.9869866466971884, + -0.05030034970780853, + 0.15273255730430232, + -0.044832110898017793, + -0.9982314122568594, + -0.039040100103663954, + 0.15442616706331755, + 0.0316847345412335, + -0.9874961450675057 + ], + [ + 0.9906355876828637, + -0.024270689551440183, + 0.13435797722846474, + -0.025192399463424067, + -0.9996692833690307, + 0.005164000166885041, + 0.13418820896599784, + -0.008500442173553687, + -0.9909194049252197 + ], + [ + 0.9905389400979089, + 0.02827380511902996, + 0.1342877510936962, + 0.02373323667519083, + -0.9990951309495019, + 0.03529380667932022, + 0.13516412847583034, + -0.031772806880868545, + -0.9903136609762991 + ], + [ + 0.9915530878130057, + 0.05596030953136674, + 0.11700819546359686, + 0.052194449326108255, + -0.9980231671632722, + 0.03500710306402397, + 0.11873589814389743, + -0.028604222809657028, + -0.9925137706497665 + ], + [ + 0.9918695984915609, + 0.05974161152985329, + 0.11236387070587275, + 0.05516974240824082, + -0.9975346643753822, + 0.04336926206545603, + 0.11467780565915248, + -0.036817566748903276, + -0.9927202363545794 + ], + [ + 0.9911790684535483, + 0.06477406454663612, + 0.11562168837058209, + 0.06145828375916426, + -0.9975959175791017, + 0.03201975307349941, + 0.11741777385444602, + -0.024631398490910898, + -0.9927770951182585 + ], + [ + 0.9911423022622797, + 0.06480277459629215, + 0.1159203910916873, + 0.06216790392327788, + -0.9977215854630546, + 0.02620667134289512, + 0.11735454140344835, + -0.01876801283329117, + -0.992912721897688 + ], + [ + 0.9927700271429786, + 0.0667109024828725, + 0.09978641539032317, + 0.0649756693674408, + -0.9976753687558262, + 0.020543148935332607, + 0.1009249007766788, + -0.01391093339236866, + -0.9947967884625335 + ], + [ + 0.9927313412049723, + 0.061446610489865904, + 0.10348332352936607, + 0.058712742389216054, + -0.9978459147780648, + 0.02926336005766036, + 0.10505854591852248, + -0.022974864962245618, + -0.9942006123059128 + ], + [ + 0.9927509823796836, + 0.04659798212700693, + 0.11078860521671405, + 0.040245378167737364, + -0.9974522122871814, + 0.05890155973778762, + 0.11325103319753682, + -0.05401585197976145, + -0.9920970170374426 + ], + [ + 0.9944322837810878, + 0.024538226721812634, + 0.1024807708952205, + 0.015128066383377397, + -0.9956799368951541, + 0.09161116128486652, + 0.1042860229437765, + -0.08955076043122481, + -0.9905074894844356 + ], + [ + 0.9926037007168317, + 0.029444865088758, + 0.11777475639182865, + 0.016979426726988545, + -0.9942767944641299, + 0.10547679867229892, + 0.12020645736096115, + -0.10269691285544416, + -0.9874227826512249 + ], + [ + 0.992709149301721, + 0.03573353480096805, + 0.11511585200692719, + 0.025319563687510708, + -0.995557283123341, + 0.09068966707814825, + 0.11784508724307029, + -0.08711377910927341, + -0.9892035811206777 + ], + [ + 0.9946463229090498, + 0.029505532049100055, + 0.09903593237813076, + 0.02309151342490701, + -0.9975986320995512, + 0.06529740608057301, + 0.10072474537696037, + -0.06266093529148319, + -0.9929391385463375 + ], + [ + 0.9960395249169663, + 0.00345737653464717, + 0.08884430961340192, + 0.0004015180909610191, + -0.999408389984895, + 0.03439053374146546, + 0.08891064945442126, + -0.03421865829190143, + -0.9954516461578108 + ], + [ + 0.9955228081117758, + -0.03555030670714993, + 0.08758147191199613, + -0.03459798568855619, + -0.9993247764937168, + -0.012368123223729766, + 0.08796202541744168, + 0.009282606250965997, + -0.9960805767133755 + ], + [ + 0.9947702714026467, + -0.04685077689097249, + 0.09075853589727455, + -0.04449298221183606, + -0.9986219501456324, + -0.027831191516559408, + 0.09193737905445094, + 0.02364752401513712, + -0.9954839591578318 + ], + [ + 0.9928655493349895, + -0.03401036886508666, + 0.1142860260635133, + -0.027239129906658412, + -0.9978087783407078, + -0.06029653114526695, + 0.11608630731338422, + 0.05675329660808, + -0.9916163736942112 + ], + [ + 0.9905218671338929, + -0.04298287805139504, + 0.13045651736883626, + -0.03348907182034447, + -0.9966872131653545, + -0.07411532352550962, + 0.13321003264843975, + 0.06904398096212336, + -0.9886799360231315 + ], + [ + 0.987299757726252, + -0.07083721000994488, + 0.14220154032812507, + -0.05932677582362015, + -0.9947302974679826, + -0.08361799429329263, + 0.14737544593336552, + 0.07411966660250276, + -0.9862995249713323 + ], + [ + 0.983073933241128, + -0.11477784448435355, + 0.14279946847710562, + -0.10188074750471521, + -0.9902896410089941, + -0.09458720948499545, + 0.15226935039494582, + 0.07843770347099348, + -0.9852215850277023 + ], + [ + 0.9839696922845597, + -0.11697113179433356, + 0.13461574570674253, + -0.10465167207604466, + -0.9899385263315245, + -0.0952351910601247, + 0.1444010810109043, + 0.07962077876611788, + -0.9863107316619646 + ], + [ + 0.9919947169468339, + -0.085325962321786, + 0.09309114728819312, + -0.07560306138929236, + -0.9917627705748183, + -0.10339624756405436, + 0.10114671847439144, + 0.09553055561243995, + -0.990274332842289 + ], + [ + 0.993143933964793, + -0.041635607593587795, + 0.1092318754267623, + -0.02776427798945193, + -0.9916965125254884, + -0.1255673998795399, + 0.1135529449052704, + 0.12167375733943873, + -0.9860533583322173 + ], + [ + 0.9892983963190458, + -0.04437948330756762, + 0.13899332538621076, + -0.023458088763687074, + -0.9886057520095907, + -0.14868888716076314, + 0.14400833695352053, + 0.14383715985413678, + -0.9790671429135881 + ], + [ + 0.987268376519015, + -0.0562426392286096, + 0.14878816571928044, + -0.03218540645557279, + -0.9866877045198601, + -0.15940976557481662, + 0.15577307962801906, + 0.15259141287087186, + -0.9759357603763033 + ], + [ + 0.9856684403747147, + -0.05537584592485775, + 0.15934629376733078, + -0.03444462307794849, + -0.9907519356633613, + -0.13124088509424764, + 0.16514022402278655, + 0.12387137549656041, + -0.978460315364039 + ], + [ + 0.9872921413302315, + -0.06772164609461649, + 0.14376371697268323, + -0.056184418178525986, + -0.994976856141694, + -0.08285147491946855, + 0.14865240940363791, + 0.07372132929231758, + -0.9861377321580728 + ], + [ + 0.9879237000685874, + -0.06639748211886977, + 0.13999334702430155, + -0.062407967188583234, + -0.9975148012080736, + -0.0327027063437673, + 0.14181681308709793, + 0.023571078445678496, + -0.9896122451681403 + ], + [ + 0.9899039289456939, + -0.04511413361470139, + 0.13436862135957933, + -0.03797624231921001, + -0.997751735203512, + -0.05522028538222182, + 0.1365577404513994, + 0.049559962132514276, + -0.9893916280605131 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006704.json b/json/chunk-0006/episode_0006704.json new file mode 100644 index 0000000000000000000000000000000000000000..a2077c452127b8fc370ea5d6692055cde799791a --- /dev/null +++ b/json/chunk-0006/episode_0006704.json @@ -0,0 +1,2002 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 32, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nTopple metal pot cardboard fence." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006704.mp4", + "start": 0, + "end": 32, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.19728808104991913, + 0.125787615776062, + 0.09278551489114761, + 0.05429931730031967, + -0.09851430356502533, + 0.2317853718996048, + 0.0, + 0.9865638017654419 + ], + [ + 0.19387593865394592, + 0.12305144220590591, + 0.08901733160018921, + 0.044290605932474136, + -0.07450438290834427, + 0.23969145119190216, + 0.0, + 0.9865638017654419 + ], + [ + 0.1994120180606842, + 0.10610224306583405, + 0.1060483455657959, + 0.018192628398537636, + -0.0761423259973526, + 0.22154906392097473, + 0.0, + 0.9865638017654419 + ], + [ + 0.21185287833213806, + 0.08602893352508545, + 0.12181752920150757, + 0.005338073242455721, + -0.06752463430166245, + 0.2275945544242859, + 0.0, + 0.9865638017654419 + ], + [ + 0.2186507284641266, + 0.06543547660112381, + 0.12927542626857758, + -0.013937672600150108, + -0.05217112973332405, + 0.21256552636623383, + 0.0, + 0.9865638017654419 + ], + [ + 0.22579240798950195, + 0.03872961923480034, + 0.14695851504802704, + -0.060140304267406464, + -0.04083831608295441, + 0.20459826290607452, + 0.0, + 0.9865638017654419 + ], + [ + 0.2312420904636383, + 0.014143330976366997, + 0.15672126412391663, + -0.0942661464214325, + -0.034564364701509476, + 0.1759566217660904, + 0.0, + 0.9865638017654419 + ], + [ + 0.23585695028305054, + -0.0026470550801604986, + 0.15141704678535461, + -0.1185380220413208, + -0.047435469925403595, + 0.13568733632564545, + 0.0, + 0.9865638017654419 + ], + [ + 0.24964414536952972, + -0.01914818026125431, + 0.13651783764362335, + -0.14809587597846985, + -0.07195308804512024, + 0.13450099527835846, + 0.0, + 0.9865638017654419 + ], + [ + 0.2681480944156647, + -0.03370816260576248, + 0.11702753603458405, + -0.13310718536376953, + -0.04660889506340027, + 0.17185674607753754, + 0.0, + 0.9865638017654419 + ], + [ + 0.2775251567363739, + -0.04510372132062912, + 0.10063926875591278, + -0.08936558663845062, + -0.06319467723369598, + 0.16114018857479095, + 0.0, + 0.9865638017654419 + ], + [ + 0.2831258773803711, + -0.04991357773542404, + 0.07954353839159012, + -0.03190312907099724, + -0.0718754231929779, + 0.15013112127780914, + 0.0, + 0.9865638017654419 + ], + [ + 0.28330177068710327, + -0.04983469098806381, + 0.06837371736764908, + -0.0006415838142856956, + -0.07750975340604782, + 0.13108280301094055, + 0.0, + 0.9865638017654419 + ], + [ + 0.284917414188385, + -0.048793040215969086, + 0.05971154943108559, + 0.0350007601082325, + -0.08354373276233673, + 0.08543433994054794, + 0.0, + 0.9375205039978027 + ], + [ + 0.28519102931022644, + -0.047418344765901566, + 0.055718276649713516, + 0.050432417541742325, + -0.07989751547574997, + 0.050539176911115646, + 0.0, + 0.6631406545639038 + ], + [ + 0.28357115387916565, + -0.04133674502372742, + 0.051654208451509476, + 0.0812605693936348, + -0.10096493363380432, + 0.05757300928235054, + 0.0, + 0.3788849711418152 + ], + [ + 0.2831139862537384, + -0.03199893981218338, + 0.05230112746357918, + 0.08040378242731094, + -0.08878757804632187, + 0.059886958450078964, + 0.0, + 0.17027510702610016 + ], + [ + 0.2829357385635376, + -0.016691839322447777, + 0.060047049075365067, + 0.06151305511593819, + -0.09044210612773895, + 0.06583952903747559, + 0.0, + 0.06742517650127411 + ], + [ + 0.2760217487812042, + -0.0002205366181442514, + 0.06613310426473618, + -0.0005830242880620062, + -0.021506348624825478, + 0.08507657796144485, + 0.0, + 0.05377154052257538 + ], + [ + 0.2663915157318115, + 0.012332593090832233, + 0.0753549113869667, + -0.07376428693532944, + 0.03822138160467148, + 0.10872237384319305, + 0.0, + 0.056468017399311066 + ], + [ + 0.26153355836868286, + 0.02338864840567112, + 0.09356135874986649, + -0.2102927267551422, + 0.12946166098117828, + 0.10482259094715118, + 0.0, + 0.05868057906627655 + ], + [ + 0.25549474358558655, + 0.03295738995075226, + 0.09515488892793655, + -0.34841710329055786, + 0.30740001797676086, + 0.10222268849611282, + 0.0, + 0.05952305346727371 + ], + [ + 0.253603458404541, + 0.04216812923550606, + 0.08809030055999756, + -0.47868460416793823, + 0.48208239674568176, + 0.06682143360376358, + 0.0, + 0.05980546772480011 + ], + [ + 0.2565072774887085, + 0.04812755435705185, + 0.08023035526275635, + -0.6399857401847839, + 0.6005948185920715, + -0.012918627820909023, + 0.0, + 0.05980546772480011 + ], + [ + 0.2583882808685303, + 0.05278398096561432, + 0.07731170207262039, + -0.6527279615402222, + 0.5494977235794067, + -0.021898163482546806, + 0.0, + 0.05980546772480011 + ], + [ + 0.25650665163993835, + 0.05801377817988396, + 0.07928315550088882, + -0.5199311971664429, + 0.44122713804244995, + 0.019377892836928368, + 0.0, + 0.07429859787225723 + ], + [ + 0.26178473234176636, + 0.06711814552545547, + 0.08271009474992752, + -0.34902775287628174, + 0.27401822805404663, + 0.04379953816533089, + 0.0, + 0.21050429344177246 + ], + [ + 0.26501476764678955, + 0.07786577194929123, + 0.08963833749294281, + -0.19966821372509003, + 0.11827674508094788, + 0.03259425237774849, + 0.0, + 0.438394159078598 + ], + [ + 0.2706235945224762, + 0.08402780443429947, + 0.09307993203401566, + -0.2088896930217743, + 0.10332613438367844, + 0.044765129685401917, + 0.0, + 0.7280064821243286 + ], + [ + 0.272320419549942, + 0.09190680831670761, + 0.09610900282859802, + -0.1172339990735054, + -0.024939799681305885, + 0.08117521554231644, + 0.0, + 0.9672539830207825 + ], + [ + 0.27324041724205017, + 0.09688297659158707, + 0.11216482520103455, + -0.03652748838067055, + -0.15608233213424683, + 0.08396755158901215, + 0.0, + 0.9879508018493652 + ], + [ + 0.2732054591178894, + 0.10102703422307968, + 0.11984564363956451, + -0.0041972566395998, + -0.18606087565422058, + 0.09661984443664551, + 0.0, + 0.9872581958770752 + ] + ], + "left_gripper_pos": [ + [ + 0.9865638017654419 + ], + [ + 0.9865638017654419 + ], + [ + 0.9865638017654419 + ], + [ + 0.9865638017654419 + ], + [ + 0.9865638017654419 + ], + [ + 0.9865638017654419 + ], + [ + 0.9865638017654419 + ], + [ + 0.9865638017654419 + ], + [ + 0.9865638017654419 + ], + [ + 0.9865638017654419 + ], + [ + 0.9865638017654419 + ], + [ + 0.9865638017654419 + ], + [ + 0.9865638017654419 + ], + [ + 0.9375205039978027 + ], + [ + 0.6631406545639038 + ], + [ + 0.3788849711418152 + ], + [ + 0.17027510702610016 + ], + [ + 0.06742517650127411 + ], + [ + 0.05377154052257538 + ], + [ + 0.056468017399311066 + ], + [ + 0.05868057906627655 + ], + [ + 0.05952305346727371 + ], + [ + 0.05980546772480011 + ], + [ + 0.05980546772480011 + ], + [ + 0.05980546772480011 + ], + [ + 0.07429859787225723 + ], + [ + 0.21050429344177246 + ], + [ + 0.438394159078598 + ], + [ + 0.7280064821243286 + ], + [ + 0.9672539830207825 + ], + [ + 0.9879508018493652 + ], + [ + 0.9872581958770752 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.19728808104991913, + 0.125787615776062, + 0.09278551489114761 + ], + [ + 0.19387593865394592, + 0.12305144220590591, + 0.08901733160018921 + ], + [ + 0.1994120180606842, + 0.10610224306583405, + 0.1060483455657959 + ], + [ + 0.21185287833213806, + 0.08602893352508545, + 0.12181752920150757 + ], + [ + 0.2186507284641266, + 0.06543547660112381, + 0.12927542626857758 + ], + [ + 0.22579240798950195, + 0.03872961923480034, + 0.14695851504802704 + ], + [ + 0.2312420904636383, + 0.014143330976366997, + 0.15672126412391663 + ], + [ + 0.23585695028305054, + -0.0026470550801604986, + 0.15141704678535461 + ], + [ + 0.24964414536952972, + -0.01914818026125431, + 0.13651783764362335 + ], + [ + 0.2681480944156647, + -0.03370816260576248, + 0.11702753603458405 + ], + [ + 0.2775251567363739, + -0.04510372132062912, + 0.10063926875591278 + ], + [ + 0.2831258773803711, + -0.04991357773542404, + 0.07954353839159012 + ], + [ + 0.28330177068710327, + -0.04983469098806381, + 0.06837371736764908 + ], + [ + 0.284917414188385, + -0.048793040215969086, + 0.05971154943108559 + ], + [ + 0.28519102931022644, + -0.047418344765901566, + 0.055718276649713516 + ], + [ + 0.28357115387916565, + -0.04133674502372742, + 0.051654208451509476 + ], + [ + 0.2831139862537384, + -0.03199893981218338, + 0.05230112746357918 + ], + [ + 0.2829357385635376, + -0.016691839322447777, + 0.060047049075365067 + ], + [ + 0.2760217487812042, + -0.0002205366181442514, + 0.06613310426473618 + ], + [ + 0.2663915157318115, + 0.012332593090832233, + 0.0753549113869667 + ], + [ + 0.26153355836868286, + 0.02338864840567112, + 0.09356135874986649 + ], + [ + 0.25549474358558655, + 0.03295738995075226, + 0.09515488892793655 + ], + [ + 0.253603458404541, + 0.04216812923550606, + 0.08809030055999756 + ], + [ + 0.2565072774887085, + 0.04812755435705185, + 0.08023035526275635 + ], + [ + 0.2583882808685303, + 0.05278398096561432, + 0.07731170207262039 + ], + [ + 0.25650665163993835, + 0.05801377817988396, + 0.07928315550088882 + ], + [ + 0.26178473234176636, + 0.06711814552545547, + 0.08271009474992752 + ], + [ + 0.26501476764678955, + 0.07786577194929123, + 0.08963833749294281 + ], + [ + 0.2706235945224762, + 0.08402780443429947, + 0.09307993203401566 + ], + [ + 0.272320419549942, + 0.09190680831670761, + 0.09610900282859802 + ], + [ + 0.27324041724205017, + 0.09688297659158707, + 0.11216482520103455 + ], + [ + 0.2732054591178894, + 0.10102703422307968, + 0.11984564363956451 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9685388704204924, + 0.2345721883657145, + 0.08311645402636386, + 0.22860171476608568, + -0.9705971683826716, + 0.07538164719310077, + 0.09835503286869512, + -0.05400949150713859, + -0.9936846895955167 + ], + [ + 0.9687164134909997, + 0.24037159058650875, + 0.06172526769521966, + 0.23674431440601812, + -0.9696762267706042, + 0.06066419728594859, + 0.07443547426838329, + -0.044153297440121836, + -0.996247884060792 + ], + [ + 0.9727316185516881, + 0.22105471683134748, + 0.0701997894329193, + 0.21910440449067603, + -0.9750927093840062, + 0.034459658137370994, + 0.07606877284799357, + -0.0181389159756321, + -0.9969375715282425 + ], + [ + 0.971991812013269, + 0.22598243763699916, + 0.06452794169041681, + 0.2251205606820218, + -0.9741168168402676, + 0.020424502618098733, + 0.06747333204588443, + -0.0053258828962321, + -0.9977068629783006 + ], + [ + 0.9761629058281137, + 0.2102374514508106, + 0.05390913923150186, + 0.2106813305885246, + -0.9775512754292155, + -0.0026231370842835786, + 0.05214746615763991, + 0.013918258302754588, + -0.9985423996301588 + ], + [ + 0.9783263080109442, + 0.20040381862874923, + 0.0521147247204774, + 0.20300441851629908, + -0.9778710718641217, + -0.05057047433210031, + 0.04082696555629682, + 0.06005394483570341, + -0.9973598561167056 + ], + [ + 0.9839714669456644, + 0.17107033373131383, + 0.05034970857765586, + 0.17494551328749527, + -0.980757719785617, + -0.08665080762169863, + 0.03455748279856022, + 0.09407037789854314, + -0.994965599598626 + ], + [ + 0.9896940763452332, + 0.12876600505522037, + 0.06264943087749837, + 0.13511920152063914, + -0.9846142333076792, + -0.11080439047418549, + 0.04741768264667093, + 0.11812758996123564, + -0.9918656339758776 + ], + [ + 0.9884042316351942, + 0.12211591341472049, + 0.0902484270030795, + 0.1337488559560006, + -0.9815435382864351, + -0.13668769505191955, + 0.0718910176315698, + 0.14717332006526876, + -0.9864946504897345 + ], + [ + 0.9841989394966514, + 0.16340697039323715, + 0.06819537756014671, + 0.1708263183192913, + -0.9776109983559487, + -0.12286213762979228, + 0.04659202145371457, + 0.13257035083452703, + -0.9900779189621731 + ], + [ + 0.9850747294700488, + 0.1542403400574208, + 0.07640480913189682, + 0.1601234632774933, + -0.9840105248239093, + -0.0779984842403754, + 0.06315262359974952, + 0.08906853841141682, + -0.9940213989636856 + ], + [ + 0.9861985913746522, + 0.14722674923326137, + 0.075740495647031, + 0.14918160711473424, + -0.9885909503857063, + -0.020803387083611614, + 0.07181355352102148, + 0.03181535990197003, + -0.9969105257770083 + ], + [ + 0.9884443244264068, + 0.13065845269613663, + 0.07685171597482776, + 0.1303152986819338, + -0.9914272336270283, + 0.009484901269712008, + 0.07743216669228978, + 0.0006396574936871693, + -0.9969974174488258 + ], + [ + 0.9928776785512321, + 0.08818763188422403, + 0.08010528707500356, + 0.08503283548787156, + -0.9954933025964232, + 0.041982155430118566, + 0.08344658365450744, + -0.034871565326475625, + -0.9959019236893122 + ], + [ + 0.9955371319296025, + 0.05447173050762315, + 0.07706263377854718, + 0.050356508206637396, + -0.9972500917335657, + 0.054373491874533386, + 0.07981253680103435, + -0.05025022500347601, + -0.9955425022853037 + ], + [ + 0.9932589393038435, + 0.06551930199061078, + 0.09562374474819244, + 0.057248172692627726, + -0.9945780009234776, + 0.0868173185626842, + 0.10079348300539767, + -0.08075779309591528, + -0.9916243505672491 + ], + [ + 0.9942753451333318, + 0.06676684502717062, + 0.08341898144374764, + 0.059615412516178974, + -0.9945562122442765, + 0.08546311061998667, + 0.0886709684762738, + -0.08000080681740683, + -0.9928430541923754 + ], + [ + 0.9937551161408129, + 0.0712077935628717, + 0.08590820263436294, + 0.06552307362247824, + -0.9955808315644006, + 0.06727209410000397, + 0.09031885720613725, + -0.061223018199399, + -0.9940292983989624 + ], + [ + 0.996152754088516, + 0.08496147719202411, + 0.0214764502470243, + 0.08495433358857289, + -0.9963840663284724, + 0.001246423386706628, + 0.021504690799572488, + 0.0005828894291559485, + -0.999768577478572 + ], + [ + 0.9933695065379651, + 0.11101273839418593, + -0.029886374734039607, + 0.10842905844141132, + -0.9910866733548737, + -0.07739732026290526, + -0.038212076180553396, + 0.07364358636428396, + -0.9965522863459687 + ], + [ + 0.9861886112994701, + 0.1291269851954627, + -0.10372195831912048, + 0.10375513677604245, + -0.9697821975364596, + -0.22081069026190753, + -0.12910032740395097, + 0.2069993020173887, + -0.9697857466618627 + ], + [ + 0.9481480104616893, + 0.19867855910357718, + -0.24807696469053078, + 0.09726125139618812, + -0.9244660927435473, + -0.36864982346981606, + -0.3025815579879051, + 0.3254063206515901, + -0.8958544118580913 + ], + [ + 0.8840540176273053, + 0.27234145980820457, + -0.3798402600917336, + 0.05916183764945926, + -0.8713615068099148, + -0.4870615992006488, + -0.4636252483234264, + 0.40811671580503844, + -0.7864428621314776 + ], + [ + 0.8249307675581171, + 0.3270986058479957, + -0.46097259223111425, + -0.01065756645447491, + -0.8063971105644964, + -0.5912783746683958, + -0.5651332984466975, + 0.4926765694911104, + -0.6617357122456267 + ], + [ + 0.8525824878747286, + 0.29972581249128477, + -0.4280975808104705, + -0.018672975545200032, + -0.8011849217664567, + -0.5981254392837383, + -0.5222589600510713, + 0.5179451307431278, + -0.6774794610804505 + ], + [ + 0.9040585308269086, + 0.2289431490864936, + -0.36091994586812615, + 0.017520942437487058, + -0.8635793393465364, + -0.5039084651302278, + -0.42704939926804, + 0.44923908906077986, + -0.7847375685187035 + ], + [ + 0.9617680652294607, + 0.13359838453123163, + -0.23906831733926004, + 0.04215195529110728, + -0.9347524444386985, + -0.35279041976932196, + -0.2706019241799963, + 0.3292253624290253, + -0.9046464830880406 + ], + [ + 0.9924860215302078, + 0.05533343745180681, + -0.10913160755210814, + 0.03236080055835347, + -0.9788491183756542, + -0.20200787618909122, + -0.11800116802118034, + 0.19695840717007163, + -0.9732847015085904 + ], + [ + 0.9936701544267075, + 0.06514499534003702, + -0.09151914435651853, + 0.044511509754868374, + -0.9763245893180152, + -0.21168141579352365, + -0.10314237587405567, + 0.20626784983403237, + -0.9730443075337831 + ], + [ + 0.9963971443201739, + 0.07762232470243682, + 0.03416877958593713, + 0.0810608791615764, + -0.990102176906989, + -0.11457230535166057, + 0.0249372143623781, + 0.11692926918368773, + -0.9928271155382562 + ], + [ + 0.9843634860354765, + 0.07815606030291883, + 0.1578611972525567, + 0.08284939463766688, + -0.9962882080363338, + -0.02336202765007421, + 0.15544936528740227, + 0.036075431607635884, + -0.9871849158420455 + ], + [ + 0.9781569852927025, + 0.09569591062716792, + 0.1845296854501443, + 0.09480457220988217, + -0.9954020688626498, + 0.013668006147861587, + 0.18498920295842497, + 0.004124802200570637, + -0.9827318967020522 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0034121423959732056, + -0.0027361735701560974, + -0.0037681832909584045, + -0.010008711367845535, + 0.02400992065668106, + 0.007906079292297363, + 1.0 + ], + [ + 0.005536079406738281, + -0.01694919914007187, + 0.01703101396560669, + -0.0260979775339365, + -0.0016379430890083313, + -0.01814238727092743, + 1.0 + ], + [ + 0.012440860271453857, + -0.020073309540748596, + 0.01576918363571167, + -0.012854555621743202, + 0.008617691695690155, + 0.006045490503311157, + 1.0 + ], + [ + 0.006797850131988525, + -0.02059345692396164, + 0.007457897067070007, + -0.019275745376944542, + 0.015353504568338394, + -0.015029028058052063, + 1.0 + ], + [ + 0.007141679525375366, + -0.02670585736632347, + 0.017683088779449463, + -0.046202629804611206, + 0.011332813650369644, + -0.007967263460159302, + 1.0 + ], + [ + 0.0054496824741363525, + -0.024586288258433342, + 0.009762749075889587, + -0.03412584215402603, + 0.006273951381444931, + -0.02864164113998413, + 1.0 + ], + [ + 0.0046148598194122314, + -0.01679038628935814, + -0.005304217338562012, + -0.024271875619888306, + -0.01287110522389412, + -0.040269285440444946, + 1.0 + ], + [ + 0.013787195086479187, + -0.01650112494826317, + -0.014899209141731262, + -0.029557853937149048, + -0.024517618119716644, + -0.0011863410472869873, + 1.0 + ], + [ + 0.01850394904613495, + -0.014559982344508171, + -0.019490301609039307, + 0.014988690614700317, + 0.02534419298171997, + 0.03735575079917908, + 1.0 + ], + [ + 0.009377062320709229, + -0.011395558714866638, + -0.016388267278671265, + 0.04374159872531891, + -0.016585782170295715, + -0.010716557502746582, + 1.0 + ], + [ + 0.005600720643997192, + -0.004809856414794922, + -0.021095730364322662, + 0.057462457567453384, + -0.008680745959281921, + -0.011009067296981812, + 1.0 + ], + [ + 0.00017589330673217773, + 7.888674736022949e-05, + -0.01116982102394104, + 0.031261544674634933, + -0.005634330213069916, + -0.01904831826686859, + 1.0 + ], + [ + 0.0016156435012817383, + 0.0010416507720947266, + -0.008662167936563492, + 0.0356423445045948, + -0.00603397935628891, + -0.04564846307039261, + 0.0 + ], + [ + 0.00027361512184143066, + 0.0013746954500675201, + -0.00399327278137207, + 0.015431657433509827, + 0.0036462172865867615, + -0.0348951630294323, + 0.0 + ], + [ + -0.001619875431060791, + 0.0060815997421741486, + -0.0040640681982040405, + 0.03082815185189247, + -0.021067418158054352, + 0.007033832371234894, + 0.0 + ], + [ + -0.0004571676254272461, + 0.009337805211544037, + 0.0006469190120697021, + -0.0008567869663238525, + 0.012177355587482452, + 0.002313949167728424, + 0.0 + ], + [ + -0.00017824769020080566, + 0.015307100489735603, + 0.007745921611785889, + -0.018890727311372757, + -0.0016545280814170837, + 0.005952570587396622, + 0.0 + ], + [ + -0.006913989782333374, + 0.01647130213677883, + 0.006086055189371109, + -0.06209607794880867, + 0.06893575936555862, + 0.01923704892396927, + 0.0 + ], + [ + -0.0096302330493927, + 0.012553129345178604, + 0.00922180712223053, + -0.07318126410245895, + 0.05972772836685181, + 0.0236457958817482, + 0.0 + ], + [ + -0.004857957363128662, + 0.011056055314838886, + 0.01820644736289978, + -0.13652843236923218, + 0.0912402793765068, + -0.00389978289604187, + 0.0 + ], + [ + -0.0060388147830963135, + 0.009568741545081139, + 0.0015935301780700684, + -0.13812437653541565, + 0.17793835699558258, + -0.0025999024510383606, + 0.0 + ], + [ + -0.0018912851810455322, + 0.0092107392847538, + -0.007064588367938995, + -0.13026750087738037, + 0.1746823787689209, + -0.03540125489234924, + 0.0 + ], + [ + 0.0029038190841674805, + 0.005959425121545792, + -0.007859945297241211, + -0.1613011360168457, + 0.11851242184638977, + -0.07974006235599518, + 0.0 + ], + [ + 0.0018810033798217773, + 0.0046564266085624695, + -0.002918653190135956, + -0.012742221355438232, + -0.051097095012664795, + -0.008979535661637783, + 0.0 + ], + [ + -0.001881629228591919, + 0.005229797214269638, + 0.0019714534282684326, + 0.1327967643737793, + -0.10827058553695679, + 0.041276056319475174, + 1.0 + ], + [ + 0.005278080701828003, + 0.009104367345571518, + 0.0034269392490386963, + 0.17090344429016113, + -0.16720890998840332, + 0.02442164532840252, + 1.0 + ], + [ + 0.0032300353050231934, + 0.010747626423835754, + 0.006928242743015289, + 0.1493595391511917, + -0.15574148297309875, + -0.011205285787582397, + 1.0 + ], + [ + 0.0056088268756866455, + 0.00616203248500824, + 0.0034415945410728455, + -0.009221479296684265, + -0.01495061069726944, + 0.012170877307653427, + 1.0 + ], + [ + 0.0016968250274658203, + 0.007879003882408142, + 0.003029070794582367, + 0.09165569394826889, + -0.12826593220233917, + 0.03641008585691452, + 1.0 + ], + [ + 0.0009199976921081543, + 0.004976168274879456, + 0.016055822372436523, + 0.08070650696754456, + -0.1311425268650055, + 0.0027923360466957092, + 1.0 + ], + [ + -3.49581241607666e-05, + 0.004144057631492615, + 0.007680818438529968, + 0.0323302298784256, + -0.029978543519973755, + 0.012652292847633362, + 1.0 + ], + [ + -0.003712892532348633, + -0.0014150291681289673, + 0.023042157292366028, + 0.00862145610153675, + -0.05596335232257843, + 0.033657968044281006, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9865638017654419 + ], + [ + 0.9865638017654419 + ], + [ + 0.9865638017654419 + ], + [ + 0.9865638017654419 + ], + [ + 0.9865638017654419 + ], + [ + 0.9865638017654419 + ], + [ + 0.9865638017654419 + ], + [ + 0.9865638017654419 + ], + [ + 0.9865638017654419 + ], + [ + 0.9865638017654419 + ], + [ + 0.9865638017654419 + ], + [ + 0.9865638017654419 + ], + [ + 0.9375205039978027 + ], + [ + 0.6631406545639038 + ], + [ + 0.3788849711418152 + ], + [ + 0.17027510702610016 + ], + [ + 0.06742517650127411 + ], + [ + 0.05377154052257538 + ], + [ + 0.056468017399311066 + ], + [ + 0.05868057906627655 + ], + [ + 0.05952305346727371 + ], + [ + 0.05980546772480011 + ], + [ + 0.05980546772480011 + ], + [ + 0.05980546772480011 + ], + [ + 0.07429859787225723 + ], + [ + 0.21050429344177246 + ], + [ + 0.438394159078598 + ], + [ + 0.7280064821243286 + ], + [ + 0.9672539830207825 + ], + [ + 0.9879508018493652 + ], + [ + 0.9872581958770752 + ], + [ + 0.9872581958770752 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.19387593865394592, + 0.12305144220590591, + 0.08901733160018921 + ], + [ + 0.1994120180606842, + 0.10610224306583405, + 0.1060483455657959 + ], + [ + 0.21185287833213806, + 0.08602893352508545, + 0.12181752920150757 + ], + [ + 0.2186507284641266, + 0.06543547660112381, + 0.12927542626857758 + ], + [ + 0.22579240798950195, + 0.03872961923480034, + 0.14695851504802704 + ], + [ + 0.2312420904636383, + 0.014143330976366997, + 0.15672126412391663 + ], + [ + 0.23585695028305054, + -0.0026470550801604986, + 0.15141704678535461 + ], + [ + 0.24964414536952972, + -0.01914818026125431, + 0.13651783764362335 + ], + [ + 0.2681480944156647, + -0.03370816260576248, + 0.11702753603458405 + ], + [ + 0.2775251567363739, + -0.04510372132062912, + 0.10063926875591278 + ], + [ + 0.2831258773803711, + -0.04991357773542404, + 0.07954353839159012 + ], + [ + 0.28330177068710327, + -0.04983469098806381, + 0.06837371736764908 + ], + [ + 0.284917414188385, + -0.048793040215969086, + 0.05971154943108559 + ], + [ + 0.28519102931022644, + -0.047418344765901566, + 0.055718276649713516 + ], + [ + 0.28357115387916565, + -0.04133674502372742, + 0.051654208451509476 + ], + [ + 0.2831139862537384, + -0.03199893981218338, + 0.05230112746357918 + ], + [ + 0.2829357385635376, + -0.016691839322447777, + 0.060047049075365067 + ], + [ + 0.2760217487812042, + -0.0002205366181442514, + 0.06613310426473618 + ], + [ + 0.2663915157318115, + 0.012332593090832233, + 0.0753549113869667 + ], + [ + 0.26153355836868286, + 0.02338864840567112, + 0.09356135874986649 + ], + [ + 0.25549474358558655, + 0.03295738995075226, + 0.09515488892793655 + ], + [ + 0.253603458404541, + 0.04216812923550606, + 0.08809030055999756 + ], + [ + 0.2565072774887085, + 0.04812755435705185, + 0.08023035526275635 + ], + [ + 0.2583882808685303, + 0.05278398096561432, + 0.07731170207262039 + ], + [ + 0.25650665163993835, + 0.05801377817988396, + 0.07928315550088882 + ], + [ + 0.26178473234176636, + 0.06711814552545547, + 0.08271009474992752 + ], + [ + 0.26501476764678955, + 0.07786577194929123, + 0.08963833749294281 + ], + [ + 0.2706235945224762, + 0.08402780443429947, + 0.09307993203401566 + ], + [ + 0.272320419549942, + 0.09190680831670761, + 0.09610900282859802 + ], + [ + 0.27324041724205017, + 0.09688297659158707, + 0.11216482520103455 + ], + [ + 0.2732054591178894, + 0.10102703422307968, + 0.11984564363956451 + ], + [ + 0.26949256658554077, + 0.09961200505495071, + 0.14288780093193054 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9687164134909997, + 0.24037159058650875, + 0.06172526769521966, + 0.23674431440601812, + -0.9696762267706042, + 0.06066419728594859, + 0.07443547426838329, + -0.044153297440121836, + -0.996247884060792 + ], + [ + 0.9727316185516881, + 0.22105471683134748, + 0.0701997894329193, + 0.21910440449067603, + -0.9750927093840062, + 0.034459658137370994, + 0.07606877284799357, + -0.0181389159756321, + -0.9969375715282425 + ], + [ + 0.971991812013269, + 0.22598243763699916, + 0.06452794169041681, + 0.2251205606820218, + -0.9741168168402676, + 0.020424502618098733, + 0.06747333204588443, + -0.0053258828962321, + -0.9977068629783006 + ], + [ + 0.9761629058281137, + 0.2102374514508106, + 0.05390913923150186, + 0.2106813305885246, + -0.9775512754292155, + -0.0026231370842835786, + 0.05214746615763991, + 0.013918258302754588, + -0.9985423996301588 + ], + [ + 0.9783263080109442, + 0.20040381862874923, + 0.0521147247204774, + 0.20300441851629908, + -0.9778710718641217, + -0.05057047433210031, + 0.04082696555629682, + 0.06005394483570341, + -0.9973598561167056 + ], + [ + 0.9839714669456644, + 0.17107033373131383, + 0.05034970857765586, + 0.17494551328749527, + -0.980757719785617, + -0.08665080762169863, + 0.03455748279856022, + 0.09407037789854314, + -0.994965599598626 + ], + [ + 0.9896940763452332, + 0.12876600505522037, + 0.06264943087749837, + 0.13511920152063914, + -0.9846142333076792, + -0.11080439047418549, + 0.04741768264667093, + 0.11812758996123564, + -0.9918656339758776 + ], + [ + 0.9884042316351942, + 0.12211591341472049, + 0.0902484270030795, + 0.1337488559560006, + -0.9815435382864351, + -0.13668769505191955, + 0.0718910176315698, + 0.14717332006526876, + -0.9864946504897345 + ], + [ + 0.9841989394966514, + 0.16340697039323715, + 0.06819537756014671, + 0.1708263183192913, + -0.9776109983559487, + -0.12286213762979228, + 0.04659202145371457, + 0.13257035083452703, + -0.9900779189621731 + ], + [ + 0.9850747294700488, + 0.1542403400574208, + 0.07640480913189682, + 0.1601234632774933, + -0.9840105248239093, + -0.0779984842403754, + 0.06315262359974952, + 0.08906853841141682, + -0.9940213989636856 + ], + [ + 0.9861985913746522, + 0.14722674923326137, + 0.075740495647031, + 0.14918160711473424, + -0.9885909503857063, + -0.020803387083611614, + 0.07181355352102148, + 0.03181535990197003, + -0.9969105257770083 + ], + [ + 0.9884443244264068, + 0.13065845269613663, + 0.07685171597482776, + 0.1303152986819338, + -0.9914272336270283, + 0.009484901269712008, + 0.07743216669228978, + 0.0006396574936871693, + -0.9969974174488258 + ], + [ + 0.9928776785512321, + 0.08818763188422403, + 0.08010528707500356, + 0.08503283548787156, + -0.9954933025964232, + 0.041982155430118566, + 0.08344658365450744, + -0.034871565326475625, + -0.9959019236893122 + ], + [ + 0.9955371319296025, + 0.05447173050762315, + 0.07706263377854718, + 0.050356508206637396, + -0.9972500917335657, + 0.054373491874533386, + 0.07981253680103435, + -0.05025022500347601, + -0.9955425022853037 + ], + [ + 0.9932589393038435, + 0.06551930199061078, + 0.09562374474819244, + 0.057248172692627726, + -0.9945780009234776, + 0.0868173185626842, + 0.10079348300539767, + -0.08075779309591528, + -0.9916243505672491 + ], + [ + 0.9942753451333318, + 0.06676684502717062, + 0.08341898144374764, + 0.059615412516178974, + -0.9945562122442765, + 0.08546311061998667, + 0.0886709684762738, + -0.08000080681740683, + -0.9928430541923754 + ], + [ + 0.9937551161408129, + 0.0712077935628717, + 0.08590820263436294, + 0.06552307362247824, + -0.9955808315644006, + 0.06727209410000397, + 0.09031885720613725, + -0.061223018199399, + -0.9940292983989624 + ], + [ + 0.996152754088516, + 0.08496147719202411, + 0.0214764502470243, + 0.08495433358857289, + -0.9963840663284724, + 0.001246423386706628, + 0.021504690799572488, + 0.0005828894291559485, + -0.999768577478572 + ], + [ + 0.9933695065379651, + 0.11101273839418593, + -0.029886374734039607, + 0.10842905844141132, + -0.9910866733548737, + -0.07739732026290526, + -0.038212076180553396, + 0.07364358636428396, + -0.9965522863459687 + ], + [ + 0.9861886112994701, + 0.1291269851954627, + -0.10372195831912048, + 0.10375513677604245, + -0.9697821975364596, + -0.22081069026190753, + -0.12910032740395097, + 0.2069993020173887, + -0.9697857466618627 + ], + [ + 0.9481480104616893, + 0.19867855910357718, + -0.24807696469053078, + 0.09726125139618812, + -0.9244660927435473, + -0.36864982346981606, + -0.3025815579879051, + 0.3254063206515901, + -0.8958544118580913 + ], + [ + 0.8840540176273053, + 0.27234145980820457, + -0.3798402600917336, + 0.05916183764945926, + -0.8713615068099148, + -0.4870615992006488, + -0.4636252483234264, + 0.40811671580503844, + -0.7864428621314776 + ], + [ + 0.8249307675581171, + 0.3270986058479957, + -0.46097259223111425, + -0.01065756645447491, + -0.8063971105644964, + -0.5912783746683958, + -0.5651332984466975, + 0.4926765694911104, + -0.6617357122456267 + ], + [ + 0.8525824878747286, + 0.29972581249128477, + -0.4280975808104705, + -0.018672975545200032, + -0.8011849217664567, + -0.5981254392837383, + -0.5222589600510713, + 0.5179451307431278, + -0.6774794610804505 + ], + [ + 0.9040585308269086, + 0.2289431490864936, + -0.36091994586812615, + 0.017520942437487058, + -0.8635793393465364, + -0.5039084651302278, + -0.42704939926804, + 0.44923908906077986, + -0.7847375685187035 + ], + [ + 0.9617680652294607, + 0.13359838453123163, + -0.23906831733926004, + 0.04215195529110728, + -0.9347524444386985, + -0.35279041976932196, + -0.2706019241799963, + 0.3292253624290253, + -0.9046464830880406 + ], + [ + 0.9924860215302078, + 0.05533343745180681, + -0.10913160755210814, + 0.03236080055835347, + -0.9788491183756542, + -0.20200787618909122, + -0.11800116802118034, + 0.19695840717007163, + -0.9732847015085904 + ], + [ + 0.9936701544267075, + 0.06514499534003702, + -0.09151914435651853, + 0.044511509754868374, + -0.9763245893180152, + -0.21168141579352365, + -0.10314237587405567, + 0.20626784983403237, + -0.9730443075337831 + ], + [ + 0.9963971443201739, + 0.07762232470243682, + 0.03416877958593713, + 0.0810608791615764, + -0.990102176906989, + -0.11457230535166057, + 0.0249372143623781, + 0.11692926918368773, + -0.9928271155382562 + ], + [ + 0.9843634860354765, + 0.07815606030291883, + 0.1578611972525567, + 0.08284939463766688, + -0.9962882080363338, + -0.02336202765007421, + 0.15544936528740227, + 0.036075431607635884, + -0.9871849158420455 + ], + [ + 0.9781569852927025, + 0.09569591062716792, + 0.1845296854501443, + 0.09480457220988217, + -0.9954020688626498, + 0.013668006147861587, + 0.18498920295842497, + 0.004124802200570637, + -0.9827318967020522 + ], + [ + 0.962627643183388, + 0.13095968614041334, + 0.23706029019049166, + 0.12612336714605268, + -0.9913783896714871, + 0.03552160964977286, + 0.2396683475950416, + -0.0042952413637959725, + -0.9708453193288253 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006705.json b/json/chunk-0006/episode_0006705.json new file mode 100644 index 0000000000000000000000000000000000000000..26796e895debae1ffd7959a8e12645675c46313b --- /dev/null +++ b/json/chunk-0006/episode_0006705.json @@ -0,0 +1,2782 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 45, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the yellow object to the left side of the table." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006705.mp4", + "start": 0, + "end": 45, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.19391249120235443, + -0.033607013523578644, + 0.12132910639047623, + 0.1794549822807312, + -0.0631343275308609, + 0.5979506373405457, + 0.0, + 0.9851709604263306 + ], + [ + 0.191990464925766, + -0.03343075141310692, + 0.11807297170162201, + 0.18880312144756317, + -0.050223853439092636, + 0.600598156452179, + 0.0, + 0.9851709604263306 + ], + [ + 0.18828807771205902, + -0.03585975989699364, + 0.11797229200601578, + 0.1795785278081894, + -0.00903026107698679, + 0.6051846742630005, + 0.0, + 0.9851709604263306 + ], + [ + 0.20287522673606873, + -0.04197268933057785, + 0.13981686532497406, + 0.1352621167898178, + 0.017873287200927734, + 0.6030706763267517, + 0.0, + 0.9851709604263306 + ], + [ + 0.226121723651886, + -0.04034482315182686, + 0.14771296083927155, + 0.13085180521011353, + 0.05874217301607132, + 0.6295238137245178, + 0.0, + 0.9851709604263306 + ], + [ + 0.2583450973033905, + -0.026496363803744316, + 0.14324899017810822, + 0.1374531239271164, + 0.08496470749378204, + 0.6872617602348328, + 0.0, + 0.9851709604263306 + ], + [ + 0.2861781418323517, + -0.0070186215452849865, + 0.12269588559865952, + 0.15657168626785278, + 0.08799265325069427, + 0.7450653314590454, + 0.0, + 0.9851709604263306 + ], + [ + 0.29715481400489807, + 0.007606153376400471, + 0.10375798493623734, + 0.17203566431999207, + 0.06295526772737503, + 0.754169225692749, + 0.0, + 0.9851709604263306 + ], + [ + 0.3000791668891907, + 0.016487931832671165, + 0.08623306453227997, + 0.14044146239757538, + 0.008812004700303078, + 0.7053390145301819, + 0.0, + 0.9851709604263306 + ], + [ + 0.29818329215049744, + 0.025541869923472404, + 0.07681180536746979, + 0.0987105444073677, + -0.0367962084710598, + 0.6882380247116089, + 0.0, + 0.9851709604263306 + ], + [ + 0.2940973937511444, + 0.028017673641443253, + 0.07493449747562408, + 0.08191131800413132, + -0.052337225526571274, + 0.6626831293106079, + 0.0, + 0.9858682155609131 + ], + [ + 0.29323768615722656, + 0.030775243416428566, + 0.07392800599336624, + 0.06655461341142654, + -0.045142050832509995, + 0.6531561613082886, + 0.0, + 0.9858682155609131 + ], + [ + 0.29151681065559387, + 0.032462626695632935, + 0.07959673553705215, + 0.07450029253959656, + -0.05400511249899864, + 0.6127824187278748, + 0.0, + 0.9851709604263306 + ], + [ + 0.2896070182323456, + 0.04067736491560936, + 0.083712138235569, + 0.13868999481201172, + -0.1179252564907074, + 0.4918360710144043, + 0.0, + 0.9865638017654419 + ], + [ + 0.29300978779792786, + 0.044057007879018784, + 0.0807550847530365, + 0.18132953345775604, + -0.153066024184227, + 0.419911652803421, + 0.0, + 0.9865638017654419 + ], + [ + 0.2933705151081085, + 0.04329198598861694, + 0.07484450191259384, + 0.19179324805736542, + -0.13335339725017548, + 0.39149942994117737, + 0.0, + 0.9865638017654419 + ], + [ + 0.2943354845046997, + 0.0421563982963562, + 0.07513248920440674, + 0.16942717134952545, + -0.11816158145666122, + 0.3699647784233093, + 0.0, + 0.9872581958770752 + ], + [ + 0.2974259853363037, + 0.036799512803554535, + 0.08394336700439453, + 0.15248845517635345, + -0.0941057950258255, + 0.377412348985672, + 0.0, + 0.9872581958770752 + ], + [ + 0.30658408999443054, + 0.031144537031650543, + 0.1086047813296318, + 0.11249059438705444, + -0.10745096951723099, + 0.39351147413253784, + 0.0, + 0.9872581958770752 + ], + [ + 0.3106783330440521, + 0.03073248639702797, + 0.11754918843507767, + 0.10546296834945679, + -0.12447689473628998, + 0.3942883014678955, + 0.0, + 0.9872581958770752 + ], + [ + 0.3145166039466858, + 0.031920257955789566, + 0.10486459732055664, + 0.11983273923397064, + -0.1080327183008194, + 0.3846323490142822, + 0.0, + 0.9872581958770752 + ], + [ + 0.32197505235671997, + 0.03578563779592514, + 0.09396515041589737, + 0.1425277143716812, + -0.10693410784006119, + 0.3749994933605194, + 0.0, + 0.9872581958770752 + ], + [ + 0.3271016478538513, + 0.03620002418756485, + 0.08543460071086884, + 0.14505979418754578, + -0.11583328992128372, + 0.3661684989929199, + 0.0, + 0.9872581958770752 + ], + [ + 0.3254952132701874, + 0.038019899278879166, + 0.07700854539871216, + 0.16349181532859802, + -0.13588090240955353, + 0.3295097351074219, + 0.0, + 0.9872581958770752 + ], + [ + 0.3227114975452423, + 0.03611207753419876, + 0.07158556580543518, + 0.1595297008752823, + -0.14419347047805786, + 0.3132112920284271, + 0.0, + 0.9872581958770752 + ], + [ + 0.31458374857902527, + 0.03245013579726219, + 0.07863867282867432, + 0.13602221012115479, + -0.14669108390808105, + 0.3047042191028595, + 0.0, + 0.9872581958770752 + ], + [ + 0.29959097504615784, + 0.02655542828142643, + 0.08923673629760742, + 0.1144828200340271, + -0.1552686244249344, + 0.29395025968551636, + 0.0, + 0.9872581958770752 + ], + [ + 0.2874419093132019, + 0.018814198672771454, + 0.10439471155405045, + 0.08133493363857269, + -0.17114968597888947, + 0.2713503837585449, + 0.0, + 0.9872581958770752 + ], + [ + 0.2896455228328705, + 0.020976291969418526, + 0.09588952362537384, + 0.09211499243974686, + -0.15622161328792572, + 0.2675483226776123, + 0.0, + 0.9872581958770752 + ], + [ + 0.3029865324497223, + 0.02876368537545204, + 0.08360554277896881, + 0.0979285016655922, + -0.1345769315958023, + 0.28526222705841064, + 0.0, + 0.9872581958770752 + ], + [ + 0.30732911825180054, + 0.03233174607157707, + 0.07333443313837051, + 0.10519452393054962, + -0.11103688925504684, + 0.29374730587005615, + 0.0, + 0.9872581958770752 + ], + [ + 0.3129935562610626, + 0.03536497801542282, + 0.0674867033958435, + 0.112478107213974, + -0.10668112337589264, + 0.29572030901908875, + 0.0, + 0.9872581958770752 + ], + [ + 0.3145681321620941, + 0.03703496605157852, + 0.06467344611883163, + 0.11623146384954453, + -0.1092771366238594, + 0.29523834586143494, + 0.0, + 0.9872581958770752 + ], + [ + 0.3169483244419098, + 0.04010990634560585, + 0.05354215204715729, + 0.12651927769184113, + -0.10514051467180252, + 0.3076797425746918, + 0.0, + 0.9872581958770752 + ], + [ + 0.3192582428455353, + 0.04337657615542412, + 0.046409785747528076, + 0.1449061632156372, + -0.1086558997631073, + 0.3287045359611511, + 0.0, + 0.9560673832893372 + ], + [ + 0.3194333612918854, + 0.04614606872200966, + 0.03819766268134117, + 0.15546533465385437, + -0.09931234270334244, + 0.3443737328052521, + 0.0, + 0.6921995282173157 + ], + [ + 0.3117377758026123, + 0.0467403344810009, + 0.0443405881524086, + 0.12534241378307343, + -0.1044604629278183, + 0.36297544836997986, + 0.0, + 0.6119219660758972 + ], + [ + 0.3009490966796875, + 0.04167933017015457, + 0.06625611335039139, + 0.09234670549631119, + -0.058303795754909515, + 0.37118208408355713, + 0.0, + 0.6079121828079224 + ], + [ + 0.3017059564590454, + 0.041040871292352676, + 0.1039520874619484, + 0.0315963514149189, + -0.05361313745379448, + 0.3784324824810028, + 0.0, + 0.608914315700531 + ], + [ + 0.30130648612976074, + 0.03695245459675789, + 0.12398160994052887, + -0.01805895008146763, + -0.019372178241610527, + 0.363447368144989, + 0.0, + 0.608914315700531 + ], + [ + 0.2992745339870453, + 0.04697135463356972, + 0.13787616789340973, + -0.03604193404316902, + -0.03283803537487984, + 0.39356890320777893, + 0.0, + 0.6079121828079224 + ], + [ + 0.3018501400947571, + 0.09061438590288162, + 0.12465669959783554, + -0.011399246752262115, + -0.009907487779855728, + 0.5304312109947205, + 0.0, + 0.6079121828079224 + ], + [ + 0.30228206515312195, + 0.1392187476158142, + 0.10147101432085037, + 0.046605177223682404, + -0.004393907729536295, + 0.659736692905426, + 0.0, + 0.6079121828079224 + ], + [ + 0.2764366567134857, + 0.18088379502296448, + 0.04645055904984474, + 0.1624082624912262, + 0.08457627147436142, + 0.7606397271156311, + 0.0, + 0.6019018292427063 + ], + [ + 0.2607113718986511, + 0.1928320974111557, + 0.0025839267764240503, + 0.3029966652393341, + 0.14900219440460205, + 0.7950544357299805, + 0.0, + 0.6009007096290588 + ] + ], + "left_gripper_pos": [ + [ + 0.9851709604263306 + ], + [ + 0.9851709604263306 + ], + [ + 0.9851709604263306 + ], + [ + 0.9851709604263306 + ], + [ + 0.9851709604263306 + ], + [ + 0.9851709604263306 + ], + [ + 0.9851709604263306 + ], + [ + 0.9851709604263306 + ], + [ + 0.9851709604263306 + ], + [ + 0.9851709604263306 + ], + [ + 0.9858682155609131 + ], + [ + 0.9858682155609131 + ], + [ + 0.9851709604263306 + ], + [ + 0.9865638017654419 + ], + [ + 0.9865638017654419 + ], + [ + 0.9865638017654419 + ], + [ + 0.9872581958770752 + ], + [ + 0.9872581958770752 + ], + [ + 0.9872581958770752 + ], + [ + 0.9872581958770752 + ], + [ + 0.9872581958770752 + ], + [ + 0.9872581958770752 + ], + [ + 0.9872581958770752 + ], + [ + 0.9872581958770752 + ], + [ + 0.9872581958770752 + ], + [ + 0.9872581958770752 + ], + [ + 0.9872581958770752 + ], + [ + 0.9872581958770752 + ], + [ + 0.9872581958770752 + ], + [ + 0.9872581958770752 + ], + [ + 0.9872581958770752 + ], + [ + 0.9872581958770752 + ], + [ + 0.9872581958770752 + ], + [ + 0.9872581958770752 + ], + [ + 0.9560673832893372 + ], + [ + 0.6921995282173157 + ], + [ + 0.6119219660758972 + ], + [ + 0.6079121828079224 + ], + [ + 0.608914315700531 + ], + [ + 0.608914315700531 + ], + [ + 0.6079121828079224 + ], + [ + 0.6079121828079224 + ], + [ + 0.6079121828079224 + ], + [ + 0.6019018292427063 + ], + [ + 0.6009007096290588 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.19391249120235443, + -0.033607013523578644, + 0.12132910639047623 + ], + [ + 0.191990464925766, + -0.03343075141310692, + 0.11807297170162201 + ], + [ + 0.18828807771205902, + -0.03585975989699364, + 0.11797229200601578 + ], + [ + 0.20287522673606873, + -0.04197268933057785, + 0.13981686532497406 + ], + [ + 0.226121723651886, + -0.04034482315182686, + 0.14771296083927155 + ], + [ + 0.2583450973033905, + -0.026496363803744316, + 0.14324899017810822 + ], + [ + 0.2861781418323517, + -0.0070186215452849865, + 0.12269588559865952 + ], + [ + 0.29715481400489807, + 0.007606153376400471, + 0.10375798493623734 + ], + [ + 0.3000791668891907, + 0.016487931832671165, + 0.08623306453227997 + ], + [ + 0.29818329215049744, + 0.025541869923472404, + 0.07681180536746979 + ], + [ + 0.2940973937511444, + 0.028017673641443253, + 0.07493449747562408 + ], + [ + 0.29323768615722656, + 0.030775243416428566, + 0.07392800599336624 + ], + [ + 0.29151681065559387, + 0.032462626695632935, + 0.07959673553705215 + ], + [ + 0.2896070182323456, + 0.04067736491560936, + 0.083712138235569 + ], + [ + 0.29300978779792786, + 0.044057007879018784, + 0.0807550847530365 + ], + [ + 0.2933705151081085, + 0.04329198598861694, + 0.07484450191259384 + ], + [ + 0.2943354845046997, + 0.0421563982963562, + 0.07513248920440674 + ], + [ + 0.2974259853363037, + 0.036799512803554535, + 0.08394336700439453 + ], + [ + 0.30658408999443054, + 0.031144537031650543, + 0.1086047813296318 + ], + [ + 0.3106783330440521, + 0.03073248639702797, + 0.11754918843507767 + ], + [ + 0.3145166039466858, + 0.031920257955789566, + 0.10486459732055664 + ], + [ + 0.32197505235671997, + 0.03578563779592514, + 0.09396515041589737 + ], + [ + 0.3271016478538513, + 0.03620002418756485, + 0.08543460071086884 + ], + [ + 0.3254952132701874, + 0.038019899278879166, + 0.07700854539871216 + ], + [ + 0.3227114975452423, + 0.03611207753419876, + 0.07158556580543518 + ], + [ + 0.31458374857902527, + 0.03245013579726219, + 0.07863867282867432 + ], + [ + 0.29959097504615784, + 0.02655542828142643, + 0.08923673629760742 + ], + [ + 0.2874419093132019, + 0.018814198672771454, + 0.10439471155405045 + ], + [ + 0.2896455228328705, + 0.020976291969418526, + 0.09588952362537384 + ], + [ + 0.3029865324497223, + 0.02876368537545204, + 0.08360554277896881 + ], + [ + 0.30732911825180054, + 0.03233174607157707, + 0.07333443313837051 + ], + [ + 0.3129935562610626, + 0.03536497801542282, + 0.0674867033958435 + ], + [ + 0.3145681321620941, + 0.03703496605157852, + 0.06467344611883163 + ], + [ + 0.3169483244419098, + 0.04010990634560585, + 0.05354215204715729 + ], + [ + 0.3192582428455353, + 0.04337657615542412, + 0.046409785747528076 + ], + [ + 0.3194333612918854, + 0.04614606872200966, + 0.03819766268134117 + ], + [ + 0.3117377758026123, + 0.0467403344810009, + 0.0443405881524086 + ], + [ + 0.3009490966796875, + 0.04167933017015457, + 0.06625611335039139 + ], + [ + 0.3017059564590454, + 0.041040871292352676, + 0.1039520874619484 + ], + [ + 0.30130648612976074, + 0.03695245459675789, + 0.12398160994052887 + ], + [ + 0.2992745339870453, + 0.04697135463356972, + 0.13787616789340973 + ], + [ + 0.3018501400947571, + 0.09061438590288162, + 0.12465669959783554 + ], + [ + 0.30228206515312195, + 0.1392187476158142, + 0.10147101432085037 + ], + [ + 0.2764366567134857, + 0.18088379502296448, + 0.04645055904984474 + ], + [ + 0.2607113718986511, + 0.1928320974111557, + 0.0025839267764240503 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8248444119852157, + 0.5632171210873307, + -0.04917489736504754, + 0.5618283063400478, + -0.8068788180462326, + 0.18247062005536177, + 0.06309239424714663, + -0.17813772060519292, + -0.9819808054568832 + ], + [ + 0.8239574396876859, + 0.5628666550454448, + -0.06538551996631513, + 0.5644234423811626, + -0.8050123233222608, + 0.18270560196637056, + 0.05020274169715804, + -0.18744676027407794, + -0.9809910278839661 + ], + [ + 0.8223635166814659, + 0.5610917493899811, + -0.0943095710825948, + 0.568890765466194, + -0.8082545203284879, + 0.1519471201959873, + 0.009030138347788166, + -0.17860761219795931, + -0.983878944518259 + ], + [ + 0.8234663448133205, + 0.5600086468910631, + -0.09106862449290676, + 0.5670835552015335, + -0.8174421025979496, + 0.10101806927590985, + -0.01787233559943486, + -0.1348284996114833, + -0.9907077547454332 + ], + [ + 0.8069137692549229, + 0.5775348789905582, + -0.12386941727550989, + 0.5877444114998703, + -0.8059078406277411, + 0.07119732554950697, + -0.0587083958006369, + -0.1302536600794489, + -0.9897410309259808 + ], + [ + 0.7701976969692901, + 0.6194509587071146, + -0.15190792388825047, + 0.6321343691648778, + -0.7730724701376979, + 0.052584172863331474, + -0.08486251766076784, + -0.13652642847461838, + -0.9869948771013156 + ], + [ + 0.7321998298602004, + 0.6596535964551938, + -0.1695303566811041, + 0.6753966720963726, + -0.7353433811540282, + 0.055762416681012755, + -0.08787914697946832, + -0.15532947072815986, + -0.9839461423520452 + ], + [ + 0.7273967580322587, + 0.6667266520997486, + -0.16238696925560414, + 0.6833270256565505, + -0.7254558059267855, + 0.08232891141324664, + -0.06291369017576172, + -0.17084918796113432, + -0.9832865414320942 + ], + [ + 0.7613622537265541, + 0.640969929430922, + -0.09739131463195899, + 0.6482668194373965, + -0.7546950392769673, + 0.10092337938881506, + -0.008811890656622821, + -0.13997480936245513, + -0.9901158534873584 + ], + [ + 0.7718435620454738, + 0.634885462458547, + -0.034321498914706, + 0.6347473243196041, + -0.7663037438789352, + 0.09937004773185476, + 0.03678790559489048, + -0.09848361120473134, + -0.9944584598292767 + ], + [ + 0.7872648539306916, + 0.616545823224904, + -0.009235671573418296, + 0.6143918657677242, + -0.7830677472133949, + 0.0965791828117903, + 0.0523133352400843, + -0.08170771773868006, + -0.9952824542902354 + ], + [ + 0.7933607267056135, + 0.6087339954960773, + -0.004656183901267812, + 0.6070768784987615, + -0.7905877241360969, + 0.08017926189175588, + 0.04512672061363249, + -0.06643773906966101, + -0.9967695851669888 + ], + [ + 0.8168582358175236, + 0.576837168830134, + 0.001226064075902613, + 0.5743073260234389, + -0.8134709522469744, + 0.09184827230932477, + 0.053978864872190405, + -0.07432288010051752, + -0.9957722589230299 + ], + [ + 0.875345365407496, + 0.48204758668919573, + 0.03742479694988788, + 0.4689653164941853, + -0.8653223493991047, + 0.17688630121047538, + 0.11765212783934922, + -0.13728567222232912, + -0.9835195071869888 + ], + [ + 0.9024489327098428, + 0.4261029618760786, + 0.0634207358148659, + 0.4029132926261329, + -0.8869445793350833, + 0.22581007907815073, + 0.15246902136510923, + -0.1782290073712626, + -0.9721047363609647 + ], + [ + 0.9161313165712793, + 0.3980051392309627, + 0.04790949742083389, + 0.3781870513823864, + -0.8977184597377694, + 0.22600026816962768, + 0.13295850843052917, + -0.18892717166090592, + -0.9729483844706974 + ], + [ + 0.9258389107893545, + 0.3749381572155865, + 0.04736760002534699, + 0.35906129242562485, + -0.9118029172273142, + 0.19922456780577832, + 0.1178868082103382, + -0.1674419851755806, + -0.9788083990498034 + ], + [ + 0.9255080578974441, + 0.37750882911127626, + 0.030363114299009335, + 0.3668856028600068, + -0.9135741662069298, + 0.17543431036534063, + 0.09396695792112714, + -0.1512260783805045, + -0.9840228066649181 + ], + [ + 0.9182418398661724, + 0.3921288283072651, + 0.05537964905592822, + 0.38122247940194726, + -0.9131150314217953, + 0.14453498050716124, + 0.10724432254351844, + -0.11160609930440646, + -0.9879487506344833 + ], + [ + 0.9161266251911012, + 0.3940835700111713, + 0.07355369782148613, + 0.38117892206772247, + -0.9131197571434103, + 0.14461997955209802, + 0.12415569252858855, + -0.1044530945525805, + -0.9867496719285682 + ], + [ + 0.9215325343302798, + 0.384475563336755, + 0.05437213778854959, + 0.3730309021533425, + -0.9154525691758145, + 0.15097860652444917, + 0.10782269802539494, + -0.11884921028886125, + -0.9870405923791782 + ], + [ + 0.9251927416945491, + 0.3766651486011068, + 0.046279115646581354, + 0.3641799096180828, + -0.915519657295915, + 0.17087056661501304, + 0.10673042746231537, + -0.1412342838480682, + -0.9842060215826942 + ], + [ + 0.9274490985113818, + 0.3698790984848103, + 0.05502383278624916, + 0.3556412796650524, + -0.9179179672816037, + 0.1759144267529318, + 0.11557443432104332, + -0.1435829302029756, + -0.9828664671692173 + ], + [ + 0.937479380106814, + 0.3401266296129896, + 0.07379896816793317, + 0.32059655010353, + -0.9264490011503567, + 0.19725643292227718, + 0.1354631460444436, + -0.16126414386221816, + -0.9775702593512792 + ], + [ + 0.9414760440949893, + 0.32591873846410696, + 0.08602228963015641, + 0.3049176964939834, + -0.9322357319911543, + 0.19483772315370415, + 0.14369431707639815, + -0.15720533043405852, + -0.9770560000957293 + ], + [ + 0.9436905978020343, + 0.31614739366453926, + 0.09746220343886086, + 0.2967889565709685, + -0.9391780788807165, + 0.17280292650138307, + 0.1461655598202081, + -0.1341467913483042, + -0.9801225777898394 + ], + [ + 0.9455928452246494, + 0.3047465590270851, + 0.1139460654042248, + 0.28624978792385375, + -0.9457232421923161, + 0.15384605321815353, + 0.15464549774727127, + -0.11285869013241968, + -0.9815027692717394 + ], + [ + 0.9493340336756937, + 0.28047758402920214, + 0.14176465484096668, + 0.2641165917949873, + -0.9565160739305503, + 0.12377166982426109, + 0.17031534999416986, + -0.08005826109545307, + -0.9821320463088125 + ], + [ + 0.9526774019503768, + 0.277049423305168, + 0.12509750141131595, + 0.2611483644194945, + -0.9565496538351815, + 0.1296699329405914, + 0.15558695181185103, + -0.09086460693839161, + -0.9836342428117417 + ], + [ + 0.9509114748665011, + 0.2926488622533479, + 0.1006181414509156, + 0.2788646414976887, + -0.9512987729901241, + 0.13139694147829178, + 0.1341710799299946, + -0.09688801747019647, + -0.9862103393197181 + ], + [ + 0.9512711208761359, + 0.29907712544549336, + 0.0750741474964613, + 0.28775797163222816, + -0.948505728059257, + 0.1324093410635526, + 0.11080886403697832, + -0.10435399788239583, + -0.9883479340681576 + ], + [ + 0.9511542087045418, + 0.30101995885632515, + 0.0685029607664737, + 0.28977218360415835, + -0.9470648106527289, + 0.13820392915032725, + 0.10647888463406573, + -0.111602996346187, + -0.9880318913545443 + ], + [ + 0.9510260918686555, + 0.30110507773263123, + 0.0698935243685588, + 0.28923232436998697, + -0.946597417320589, + 0.1424710218308481, + 0.10905977775773627, + -0.11527819258479675, + -0.9873281638795768 + ], + [ + 0.9477759741210874, + 0.313048058063777, + 0.061005050785334886, + 0.3011757780039175, + -0.9414108425619365, + 0.15178529655588874, + 0.10494690858981134, + -0.1254852136680739, + -0.9865290707972669 + ], + [ + 0.940879819495568, + 0.334254543487477, + 0.054946022822095014, + 0.3209134603058997, + -0.931486911853579, + 0.1713087389480663, + 0.10844222544969082, + -0.1435480170655845, + -0.9836840196608143 + ], + [ + 0.9366489539197844, + 0.3479864294853749, + 0.03992720895571352, + 0.3359437139863652, + -0.9247517291747698, + 0.17881851252406722, + 0.09914917122205438, + -0.1540768778314674, + -0.9830715933052314 + ], + [ + 0.9297486387418062, + 0.36445793706670526, + 0.05232476341886282, + 0.3531219523578468, + -0.9228822864950547, + 0.15360069022189501, + 0.10427058799460681, + -0.12433301002847745, + -0.9867466478770108 + ], + [ + 0.9303157653922315, + 0.3661792875488991, + 0.020622949179191084, + 0.3621009446805568, + -0.9259794294384881, + 0.10698131667829079, + 0.05827076903658597, + -0.09205881612834858, + -0.9940471275794382 + ], + [ + 0.9279097424529901, + 0.3708530141234794, + 0.038099235902522226, + 0.36893345510544495, + -0.928155649949699, + 0.04914463521494866, + 0.05358745715915502, + -0.03154570306685421, + -0.9980647539379565 + ], + [ + 0.9345014679760449, + 0.35511359724159647, + 0.024522222671488084, + 0.355431810624474, + -0.9346487924281786, + -0.009993138083474493, + 0.019370966595006624, + 0.018054580213357773, + -0.9996493374111215 + ], + [ + 0.9230484146360033, + 0.3821452191790065, + 0.044120921302593576, + 0.38328015239274377, + -0.9234002233641893, + -0.020696672987708914, + 0.03283213395068448, + 0.03601470463011083, + -0.9988117900939345 + ], + [ + 0.8625466639755094, + 0.5057750617741258, + 0.014312209895711336, + 0.505880516883438, + -0.8625900894649446, + -0.00482080850110525, + 0.009907325696934968, + 0.011398440430079818, + -0.9998859537233717 + ], + [ + 0.7901460146183024, + 0.6124050562828933, + -0.025086303473408032, + 0.6129029036331315, + -0.7891702088479358, + 0.03950205292110687, + 0.0043938935911081705, + -0.046587857925127554, + -0.9989045325720863 + ], + [ + 0.7218058327573812, + 0.6704184873626791, + -0.171858638420537, + 0.6869208350845823, + -0.7242791420679532, + 0.059661467397388854, + -0.0844754764657979, + -0.16111727457863417, + -0.9833133364844746 + ], + [ + 0.6924869677399182, + 0.6503635610443204, + -0.3122323461400563, + 0.7059914761845447, + -0.6999697598083068, + 0.10778854720548307, + -0.1484514569316875, + -0.2950755391753981, + -0.9438710669976103 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.00192202627658844, + 0.00017626211047172546, + -0.0032561346888542175, + 0.00934813916683197, + 0.012910474091768265, + 0.0026475191116333008, + 1.0 + ], + [ + -0.00370238721370697, + -0.0024290084838867188, + -0.00010067969560623169, + -0.00922459363937378, + 0.04119359329342842, + 0.004586517810821533, + 1.0 + ], + [ + 0.014587149024009705, + -0.006112929433584213, + 0.021844573318958282, + -0.04431641101837158, + 0.02690354734659195, + -0.0021139979362487793, + 1.0 + ], + [ + 0.02324649691581726, + 0.0016278661787509918, + 0.007896095514297485, + -0.004410311579704285, + 0.040868885815143585, + 0.026453137397766113, + 1.0 + ], + [ + 0.03222337365150452, + 0.013848459348082542, + -0.00446397066116333, + 0.006601318717002869, + 0.026222534477710724, + 0.05773794651031494, + 1.0 + ], + [ + 0.02783304452896118, + 0.019477741792798042, + -0.0205531045794487, + 0.01911856234073639, + 0.0030279457569122314, + 0.057803571224212646, + 1.0 + ], + [ + 0.010976672172546387, + 0.01462477445602417, + -0.01893790066242218, + 0.015463978052139282, + -0.025037385523319244, + 0.009103894233703613, + 1.0 + ], + [ + 0.0029243528842926025, + 0.008881778456270695, + -0.017524920403957367, + -0.03159420192241669, + -0.0541432648897171, + -0.04883021116256714, + 1.0 + ], + [ + -0.0018958747386932373, + 0.009053938090801239, + -0.00942125916481018, + -0.04173091799020767, + -0.045608215034008026, + -0.017100989818572998, + 1.0 + ], + [ + -0.004085898399353027, + 0.002475803717970848, + -0.0018773078918457031, + -0.01679922640323639, + -0.015541017055511475, + -0.025554895401000977, + 1.0 + ], + [ + -0.0008597075939178467, + 0.0027575697749853134, + -0.001006491482257843, + -0.015356704592704773, + 0.007195174694061279, + -0.009526968002319336, + 1.0 + ], + [ + -0.0017208755016326904, + 0.0016873832792043686, + 0.005668729543685913, + 0.007945679128170013, + -0.008863061666488647, + -0.04037374258041382, + 1.0 + ], + [ + -0.001909792423248291, + 0.008214738219976425, + 0.004115402698516846, + 0.06418970227241516, + -0.06392014026641846, + -0.12094634771347046, + 1.0 + ], + [ + 0.0034027695655822754, + 0.003379642963409424, + -0.0029570534825325012, + 0.042639538645744324, + -0.03514076769351959, + -0.07192441821098328, + 1.0 + ], + [ + 0.00036072731018066406, + -0.0007650218904018402, + -0.0059105828404426575, + 0.010463714599609375, + 0.019712626934051514, + -0.028412222862243652, + 1.0 + ], + [ + 0.0009649693965911865, + -0.0011355876922607422, + 0.00028798729181289673, + -0.022366076707839966, + 0.015191815793514252, + -0.021534651517868042, + 1.0 + ], + [ + 0.003090500831604004, + -0.005356885492801666, + 0.008810877799987793, + -0.016938716173171997, + 0.024055786430835724, + 0.007447570562362671, + 1.0 + ], + [ + 0.009158104658126831, + -0.005654975771903992, + 0.024661414325237274, + -0.03999786078929901, + -0.013345174491405487, + 0.016099125146865845, + 1.0 + ], + [ + 0.004094243049621582, + -0.00041205063462257385, + 0.008944407105445862, + -0.007027626037597656, + -0.01702592521905899, + 0.000776827335357666, + 1.0 + ], + [ + 0.003838270902633667, + 0.0011877715587615967, + -0.012684591114521027, + 0.014369770884513855, + 0.01644417643547058, + -0.009655952453613281, + 1.0 + ], + [ + 0.00745844841003418, + 0.0038653798401355743, + -0.010899446904659271, + 0.02269497513771057, + 0.0010986104607582092, + -0.009632855653762817, + 1.0 + ], + [ + 0.005126595497131348, + 0.00041438639163970947, + -0.008530549705028534, + 0.002532079815864563, + -0.008899182081222534, + -0.008830994367599487, + 1.0 + ], + [ + -0.0016064345836639404, + 0.0018198750913143158, + -0.008426055312156677, + 0.018432021141052246, + -0.020047612488269806, + -0.03665876388549805, + 1.0 + ], + [ + -0.0027837157249450684, + -0.0019078217446804047, + -0.0054229795932769775, + -0.003962114453315735, + -0.008312568068504333, + -0.01629844307899475, + 1.0 + ], + [ + -0.008127748966217041, + -0.003661941736936569, + 0.007053107023239136, + -0.023507490754127502, + -0.0024976134300231934, + -0.008507072925567627, + 1.0 + ], + [ + -0.014992773532867432, + -0.005894707515835762, + 0.010598063468933105, + -0.021539390087127686, + -0.008577540516853333, + -0.01075395941734314, + 1.0 + ], + [ + -0.012149065732955933, + -0.007741229608654976, + 0.015157975256443024, + -0.03314788639545441, + -0.015881061553955078, + -0.022599875926971436, + 1.0 + ], + [ + 0.002203613519668579, + 0.002162093296647072, + -0.008505187928676605, + 0.010780058801174164, + 0.014928072690963745, + -0.003802061080932617, + 1.0 + ], + [ + 0.013341009616851807, + 0.007787393406033516, + -0.01228398084640503, + 0.005813509225845337, + 0.021644681692123413, + 0.01771390438079834, + 1.0 + ], + [ + 0.004342585802078247, + 0.0035680606961250305, + -0.010271109640598297, + 0.007266022264957428, + 0.023540042340755463, + 0.008485078811645508, + 1.0 + ], + [ + 0.005664438009262085, + 0.003033231943845749, + -0.005847729742527008, + 0.0072835832834243774, + 0.004355765879154205, + 0.0019730031490325928, + 1.0 + ], + [ + 0.0015745759010314941, + 0.0016699880361557007, + -0.0028132572770118713, + 0.003753356635570526, + -0.0025960132479667664, + -0.0004819631576538086, + 1.0 + ], + [ + 0.002380192279815674, + 0.0030749402940273285, + -0.011131294071674347, + 0.0102878138422966, + 0.004136621952056885, + 0.012441396713256836, + 1.0 + ], + [ + 0.0023099184036254883, + 0.003266669809818268, + -0.007132366299629211, + 0.01838688552379608, + -0.003515385091304779, + 0.02102479338645935, + 0.0 + ], + [ + 0.00017511844635009766, + 0.0027694925665855408, + -0.008212123066186905, + 0.010559171438217163, + 0.009343557059764862, + 0.015669196844100952, + 0.0 + ], + [ + -0.007695585489273071, + 0.0005942657589912415, + 0.006142925471067429, + -0.030122920870780945, + -0.005148120224475861, + 0.018601715564727783, + 0.0 + ], + [ + -0.010788679122924805, + -0.005061004310846329, + 0.021915525197982788, + -0.03299570828676224, + 0.04615666717290878, + 0.00820663571357727, + 0.0 + ], + [ + 0.0007568597793579102, + -0.0006384588778018951, + 0.03769597411155701, + -0.06075035408139229, + 0.004690658301115036, + 0.007250398397445679, + 0.0 + ], + [ + -0.00039947032928466797, + -0.004088416695594788, + 0.020029522478580475, + -0.04965530335903168, + 0.0342409610748291, + -0.014985114336013794, + 0.0 + ], + [ + -0.002031952142715454, + 0.010018900036811829, + 0.01389455795288086, + -0.017982983961701393, + -0.01346585713326931, + 0.030121535062789917, + 0.0 + ], + [ + 0.002575606107711792, + 0.043643031269311905, + -0.013219468295574188, + 0.024642687290906906, + 0.02293054759502411, + 0.13686230778694153, + 0.0 + ], + [ + 0.00043192505836486816, + 0.04860436171293259, + -0.02318568527698517, + 0.05800442397594452, + 0.005513580050319433, + 0.12930548191070557, + 0.0 + ], + [ + -0.02584540843963623, + 0.04166504740715027, + -0.05502045527100563, + 0.11580308526754379, + 0.08897017687559128, + 0.10090303421020508, + 0.0 + ], + [ + -0.015725284814834595, + 0.011948302388191223, + -0.043866630643606186, + 0.1405884027481079, + 0.06442592293024063, + 0.034414708614349365, + 0.0 + ], + [ + -0.0013467967510223389, + 0.0032506734132766724, + -0.009523555636405945, + 0.05669936537742615, + -0.023610413074493408, + -0.007195830345153809, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9851709604263306 + ], + [ + 0.9851709604263306 + ], + [ + 0.9851709604263306 + ], + [ + 0.9851709604263306 + ], + [ + 0.9851709604263306 + ], + [ + 0.9851709604263306 + ], + [ + 0.9851709604263306 + ], + [ + 0.9851709604263306 + ], + [ + 0.9851709604263306 + ], + [ + 0.9858682155609131 + ], + [ + 0.9858682155609131 + ], + [ + 0.9851709604263306 + ], + [ + 0.9865638017654419 + ], + [ + 0.9865638017654419 + ], + [ + 0.9865638017654419 + ], + [ + 0.9872581958770752 + ], + [ + 0.9872581958770752 + ], + [ + 0.9872581958770752 + ], + [ + 0.9872581958770752 + ], + [ + 0.9872581958770752 + ], + [ + 0.9872581958770752 + ], + [ + 0.9872581958770752 + ], + [ + 0.9872581958770752 + ], + [ + 0.9872581958770752 + ], + [ + 0.9872581958770752 + ], + [ + 0.9872581958770752 + ], + [ + 0.9872581958770752 + ], + [ + 0.9872581958770752 + ], + [ + 0.9872581958770752 + ], + [ + 0.9872581958770752 + ], + [ + 0.9872581958770752 + ], + [ + 0.9872581958770752 + ], + [ + 0.9872581958770752 + ], + [ + 0.9560673832893372 + ], + [ + 0.6921995282173157 + ], + [ + 0.6119219660758972 + ], + [ + 0.6079121828079224 + ], + [ + 0.608914315700531 + ], + [ + 0.608914315700531 + ], + [ + 0.6079121828079224 + ], + [ + 0.6079121828079224 + ], + [ + 0.6079121828079224 + ], + [ + 0.6019018292427063 + ], + [ + 0.6009007096290588 + ], + [ + 0.6781873106956482 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.191990464925766, + -0.03343075141310692, + 0.11807297170162201 + ], + [ + 0.18828807771205902, + -0.03585975989699364, + 0.11797229200601578 + ], + [ + 0.20287522673606873, + -0.04197268933057785, + 0.13981686532497406 + ], + [ + 0.226121723651886, + -0.04034482315182686, + 0.14771296083927155 + ], + [ + 0.2583450973033905, + -0.026496363803744316, + 0.14324899017810822 + ], + [ + 0.2861781418323517, + -0.0070186215452849865, + 0.12269588559865952 + ], + [ + 0.29715481400489807, + 0.007606153376400471, + 0.10375798493623734 + ], + [ + 0.3000791668891907, + 0.016487931832671165, + 0.08623306453227997 + ], + [ + 0.29818329215049744, + 0.025541869923472404, + 0.07681180536746979 + ], + [ + 0.2940973937511444, + 0.028017673641443253, + 0.07493449747562408 + ], + [ + 0.29323768615722656, + 0.030775243416428566, + 0.07392800599336624 + ], + [ + 0.29151681065559387, + 0.032462626695632935, + 0.07959673553705215 + ], + [ + 0.2896070182323456, + 0.04067736491560936, + 0.083712138235569 + ], + [ + 0.29300978779792786, + 0.044057007879018784, + 0.0807550847530365 + ], + [ + 0.2933705151081085, + 0.04329198598861694, + 0.07484450191259384 + ], + [ + 0.2943354845046997, + 0.0421563982963562, + 0.07513248920440674 + ], + [ + 0.2974259853363037, + 0.036799512803554535, + 0.08394336700439453 + ], + [ + 0.30658408999443054, + 0.031144537031650543, + 0.1086047813296318 + ], + [ + 0.3106783330440521, + 0.03073248639702797, + 0.11754918843507767 + ], + [ + 0.3145166039466858, + 0.031920257955789566, + 0.10486459732055664 + ], + [ + 0.32197505235671997, + 0.03578563779592514, + 0.09396515041589737 + ], + [ + 0.3271016478538513, + 0.03620002418756485, + 0.08543460071086884 + ], + [ + 0.3254952132701874, + 0.038019899278879166, + 0.07700854539871216 + ], + [ + 0.3227114975452423, + 0.03611207753419876, + 0.07158556580543518 + ], + [ + 0.31458374857902527, + 0.03245013579726219, + 0.07863867282867432 + ], + [ + 0.29959097504615784, + 0.02655542828142643, + 0.08923673629760742 + ], + [ + 0.2874419093132019, + 0.018814198672771454, + 0.10439471155405045 + ], + [ + 0.2896455228328705, + 0.020976291969418526, + 0.09588952362537384 + ], + [ + 0.3029865324497223, + 0.02876368537545204, + 0.08360554277896881 + ], + [ + 0.30732911825180054, + 0.03233174607157707, + 0.07333443313837051 + ], + [ + 0.3129935562610626, + 0.03536497801542282, + 0.0674867033958435 + ], + [ + 0.3145681321620941, + 0.03703496605157852, + 0.06467344611883163 + ], + [ + 0.3169483244419098, + 0.04010990634560585, + 0.05354215204715729 + ], + [ + 0.3192582428455353, + 0.04337657615542412, + 0.046409785747528076 + ], + [ + 0.3194333612918854, + 0.04614606872200966, + 0.03819766268134117 + ], + [ + 0.3117377758026123, + 0.0467403344810009, + 0.0443405881524086 + ], + [ + 0.3009490966796875, + 0.04167933017015457, + 0.06625611335039139 + ], + [ + 0.3017059564590454, + 0.041040871292352676, + 0.1039520874619484 + ], + [ + 0.30130648612976074, + 0.03695245459675789, + 0.12398160994052887 + ], + [ + 0.2992745339870453, + 0.04697135463356972, + 0.13787616789340973 + ], + [ + 0.3018501400947571, + 0.09061438590288162, + 0.12465669959783554 + ], + [ + 0.30228206515312195, + 0.1392187476158142, + 0.10147101432085037 + ], + [ + 0.2764366567134857, + 0.18088379502296448, + 0.04645055904984474 + ], + [ + 0.2607113718986511, + 0.1928320974111557, + 0.0025839267764240503 + ], + [ + 0.2593645751476288, + 0.19608277082443237, + -0.006939628627151251 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8239574396876859, + 0.5628666550454448, + -0.06538551996631513, + 0.5644234423811626, + -0.8050123233222608, + 0.18270560196637056, + 0.05020274169715804, + -0.18744676027407794, + -0.9809910278839661 + ], + [ + 0.8223635166814659, + 0.5610917493899811, + -0.0943095710825948, + 0.568890765466194, + -0.8082545203284879, + 0.1519471201959873, + 0.009030138347788166, + -0.17860761219795931, + -0.983878944518259 + ], + [ + 0.8234663448133205, + 0.5600086468910631, + -0.09106862449290676, + 0.5670835552015335, + -0.8174421025979496, + 0.10101806927590985, + -0.01787233559943486, + -0.1348284996114833, + -0.9907077547454332 + ], + [ + 0.8069137692549229, + 0.5775348789905582, + -0.12386941727550989, + 0.5877444114998703, + -0.8059078406277411, + 0.07119732554950697, + -0.0587083958006369, + -0.1302536600794489, + -0.9897410309259808 + ], + [ + 0.7701976969692901, + 0.6194509587071146, + -0.15190792388825047, + 0.6321343691648778, + -0.7730724701376979, + 0.052584172863331474, + -0.08486251766076784, + -0.13652642847461838, + -0.9869948771013156 + ], + [ + 0.7321998298602004, + 0.6596535964551938, + -0.1695303566811041, + 0.6753966720963726, + -0.7353433811540282, + 0.055762416681012755, + -0.08787914697946832, + -0.15532947072815986, + -0.9839461423520452 + ], + [ + 0.7273967580322587, + 0.6667266520997486, + -0.16238696925560414, + 0.6833270256565505, + -0.7254558059267855, + 0.08232891141324664, + -0.06291369017576172, + -0.17084918796113432, + -0.9832865414320942 + ], + [ + 0.7613622537265541, + 0.640969929430922, + -0.09739131463195899, + 0.6482668194373965, + -0.7546950392769673, + 0.10092337938881506, + -0.008811890656622821, + -0.13997480936245513, + -0.9901158534873584 + ], + [ + 0.7718435620454738, + 0.634885462458547, + -0.034321498914706, + 0.6347473243196041, + -0.7663037438789352, + 0.09937004773185476, + 0.03678790559489048, + -0.09848361120473134, + -0.9944584598292767 + ], + [ + 0.7872648539306916, + 0.616545823224904, + -0.009235671573418296, + 0.6143918657677242, + -0.7830677472133949, + 0.0965791828117903, + 0.0523133352400843, + -0.08170771773868006, + -0.9952824542902354 + ], + [ + 0.7933607267056135, + 0.6087339954960773, + -0.004656183901267812, + 0.6070768784987615, + -0.7905877241360969, + 0.08017926189175588, + 0.04512672061363249, + -0.06643773906966101, + -0.9967695851669888 + ], + [ + 0.8168582358175236, + 0.576837168830134, + 0.001226064075902613, + 0.5743073260234389, + -0.8134709522469744, + 0.09184827230932477, + 0.053978864872190405, + -0.07432288010051752, + -0.9957722589230299 + ], + [ + 0.875345365407496, + 0.48204758668919573, + 0.03742479694988788, + 0.4689653164941853, + -0.8653223493991047, + 0.17688630121047538, + 0.11765212783934922, + -0.13728567222232912, + -0.9835195071869888 + ], + [ + 0.9024489327098428, + 0.4261029618760786, + 0.0634207358148659, + 0.4029132926261329, + -0.8869445793350833, + 0.22581007907815073, + 0.15246902136510923, + -0.1782290073712626, + -0.9721047363609647 + ], + [ + 0.9161313165712793, + 0.3980051392309627, + 0.04790949742083389, + 0.3781870513823864, + -0.8977184597377694, + 0.22600026816962768, + 0.13295850843052917, + -0.18892717166090592, + -0.9729483844706974 + ], + [ + 0.9258389107893545, + 0.3749381572155865, + 0.04736760002534699, + 0.35906129242562485, + -0.9118029172273142, + 0.19922456780577832, + 0.1178868082103382, + -0.1674419851755806, + -0.9788083990498034 + ], + [ + 0.9255080578974441, + 0.37750882911127626, + 0.030363114299009335, + 0.3668856028600068, + -0.9135741662069298, + 0.17543431036534063, + 0.09396695792112714, + -0.1512260783805045, + -0.9840228066649181 + ], + [ + 0.9182418398661724, + 0.3921288283072651, + 0.05537964905592822, + 0.38122247940194726, + -0.9131150314217953, + 0.14453498050716124, + 0.10724432254351844, + -0.11160609930440646, + -0.9879487506344833 + ], + [ + 0.9161266251911012, + 0.3940835700111713, + 0.07355369782148613, + 0.38117892206772247, + -0.9131197571434103, + 0.14461997955209802, + 0.12415569252858855, + -0.1044530945525805, + -0.9867496719285682 + ], + [ + 0.9215325343302798, + 0.384475563336755, + 0.05437213778854959, + 0.3730309021533425, + -0.9154525691758145, + 0.15097860652444917, + 0.10782269802539494, + -0.11884921028886125, + -0.9870405923791782 + ], + [ + 0.9251927416945491, + 0.3766651486011068, + 0.046279115646581354, + 0.3641799096180828, + -0.915519657295915, + 0.17087056661501304, + 0.10673042746231537, + -0.1412342838480682, + -0.9842060215826942 + ], + [ + 0.9274490985113818, + 0.3698790984848103, + 0.05502383278624916, + 0.3556412796650524, + -0.9179179672816037, + 0.1759144267529318, + 0.11557443432104332, + -0.1435829302029756, + -0.9828664671692173 + ], + [ + 0.937479380106814, + 0.3401266296129896, + 0.07379896816793317, + 0.32059655010353, + -0.9264490011503567, + 0.19725643292227718, + 0.1354631460444436, + -0.16126414386221816, + -0.9775702593512792 + ], + [ + 0.9414760440949893, + 0.32591873846410696, + 0.08602228963015641, + 0.3049176964939834, + -0.9322357319911543, + 0.19483772315370415, + 0.14369431707639815, + -0.15720533043405852, + -0.9770560000957293 + ], + [ + 0.9436905978020343, + 0.31614739366453926, + 0.09746220343886086, + 0.2967889565709685, + -0.9391780788807165, + 0.17280292650138307, + 0.1461655598202081, + -0.1341467913483042, + -0.9801225777898394 + ], + [ + 0.9455928452246494, + 0.3047465590270851, + 0.1139460654042248, + 0.28624978792385375, + -0.9457232421923161, + 0.15384605321815353, + 0.15464549774727127, + -0.11285869013241968, + -0.9815027692717394 + ], + [ + 0.9493340336756937, + 0.28047758402920214, + 0.14176465484096668, + 0.2641165917949873, + -0.9565160739305503, + 0.12377166982426109, + 0.17031534999416986, + -0.08005826109545307, + -0.9821320463088125 + ], + [ + 0.9526774019503768, + 0.277049423305168, + 0.12509750141131595, + 0.2611483644194945, + -0.9565496538351815, + 0.1296699329405914, + 0.15558695181185103, + -0.09086460693839161, + -0.9836342428117417 + ], + [ + 0.9509114748665011, + 0.2926488622533479, + 0.1006181414509156, + 0.2788646414976887, + -0.9512987729901241, + 0.13139694147829178, + 0.1341710799299946, + -0.09688801747019647, + -0.9862103393197181 + ], + [ + 0.9512711208761359, + 0.29907712544549336, + 0.0750741474964613, + 0.28775797163222816, + -0.948505728059257, + 0.1324093410635526, + 0.11080886403697832, + -0.10435399788239583, + -0.9883479340681576 + ], + [ + 0.9511542087045418, + 0.30101995885632515, + 0.0685029607664737, + 0.28977218360415835, + -0.9470648106527289, + 0.13820392915032725, + 0.10647888463406573, + -0.111602996346187, + -0.9880318913545443 + ], + [ + 0.9510260918686555, + 0.30110507773263123, + 0.0698935243685588, + 0.28923232436998697, + -0.946597417320589, + 0.1424710218308481, + 0.10905977775773627, + -0.11527819258479675, + -0.9873281638795768 + ], + [ + 0.9477759741210874, + 0.313048058063777, + 0.061005050785334886, + 0.3011757780039175, + -0.9414108425619365, + 0.15178529655588874, + 0.10494690858981134, + -0.1254852136680739, + -0.9865290707972669 + ], + [ + 0.940879819495568, + 0.334254543487477, + 0.054946022822095014, + 0.3209134603058997, + -0.931486911853579, + 0.1713087389480663, + 0.10844222544969082, + -0.1435480170655845, + -0.9836840196608143 + ], + [ + 0.9366489539197844, + 0.3479864294853749, + 0.03992720895571352, + 0.3359437139863652, + -0.9247517291747698, + 0.17881851252406722, + 0.09914917122205438, + -0.1540768778314674, + -0.9830715933052314 + ], + [ + 0.9297486387418062, + 0.36445793706670526, + 0.05232476341886282, + 0.3531219523578468, + -0.9228822864950547, + 0.15360069022189501, + 0.10427058799460681, + -0.12433301002847745, + -0.9867466478770108 + ], + [ + 0.9303157653922315, + 0.3661792875488991, + 0.020622949179191084, + 0.3621009446805568, + -0.9259794294384881, + 0.10698131667829079, + 0.05827076903658597, + -0.09205881612834858, + -0.9940471275794382 + ], + [ + 0.9279097424529901, + 0.3708530141234794, + 0.038099235902522226, + 0.36893345510544495, + -0.928155649949699, + 0.04914463521494866, + 0.05358745715915502, + -0.03154570306685421, + -0.9980647539379565 + ], + [ + 0.9345014679760449, + 0.35511359724159647, + 0.024522222671488084, + 0.355431810624474, + -0.9346487924281786, + -0.009993138083474493, + 0.019370966595006624, + 0.018054580213357773, + -0.9996493374111215 + ], + [ + 0.9230484146360033, + 0.3821452191790065, + 0.044120921302593576, + 0.38328015239274377, + -0.9234002233641893, + -0.020696672987708914, + 0.03283213395068448, + 0.03601470463011083, + -0.9988117900939345 + ], + [ + 0.8625466639755094, + 0.5057750617741258, + 0.014312209895711336, + 0.505880516883438, + -0.8625900894649446, + -0.00482080850110525, + 0.009907325696934968, + 0.011398440430079818, + -0.9998859537233717 + ], + [ + 0.7901460146183024, + 0.6124050562828933, + -0.025086303473408032, + 0.6129029036331315, + -0.7891702088479358, + 0.03950205292110687, + 0.0043938935911081705, + -0.046587857925127554, + -0.9989045325720863 + ], + [ + 0.7218058327573812, + 0.6704184873626791, + -0.171858638420537, + 0.6869208350845823, + -0.7242791420679532, + 0.059661467397388854, + -0.0844754764657979, + -0.16111727457863417, + -0.9833133364844746 + ], + [ + 0.6924869677399182, + 0.6503635610443204, + -0.3122323461400563, + 0.7059914761845447, + -0.6999697598083068, + 0.10778854720548307, + -0.1484514569316875, + -0.2950755391753981, + -0.9438710669976103 + ], + [ + 0.6998268487111808, + 0.6324302263142442, + -0.3320758808873237, + 0.7032791165071651, + -0.6914282967263203, + 0.16530394662875075, + -0.1250634483287561, + -0.34922617217249546, + -0.9286550568224281 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006706.json b/json/chunk-0006/episode_0006706.json new file mode 100644 index 0000000000000000000000000000000000000000..7a386477e6fbe0a6f172891d7d55d333649591e8 --- /dev/null +++ b/json/chunk-0006/episode_0006706.json @@ -0,0 +1,2182 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 35, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nClose microwave." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006706.mp4", + "start": 0, + "end": 35, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.219503715634346, + -0.13750937581062317, + 0.00014388764975592494, + -0.006486790254712105, + -0.16384434700012207, + 0.2373286634683609, + 0.0, + 0.9974852800369263 + ], + [ + 0.2159230262041092, + -0.13520188629627228, + -0.0038188870530575514, + 0.0077940188348293304, + -0.1463003009557724, + 0.23842845857143402, + 0.0, + 0.9974852800369263 + ], + [ + 0.21573685109615326, + -0.1296800822019577, + 0.0243043452501297, + -0.052746567875146866, + -0.15504789352416992, + 0.25560763478279114, + 0.0, + 0.9974852800369263 + ], + [ + 0.20740780234336853, + -0.1213303953409195, + 0.05979553982615471, + -0.09582769870758057, + -0.14477038383483887, + 0.2504420578479767, + 0.0, + 0.9974852800369263 + ], + [ + 0.1964069902896881, + -0.10327139496803284, + 0.10218941420316696, + -0.14696039259433746, + -0.15717321634292603, + 0.26856574416160583, + 0.0, + 0.9974852800369263 + ], + [ + 0.19430676102638245, + -0.07196512073278427, + 0.13160806894302368, + -0.1515231877565384, + -0.1513943374156952, + 0.25941386818885803, + 0.0, + 0.9974852800369263 + ], + [ + 0.18246135115623474, + -0.037569884210824966, + 0.16305245459079742, + -0.23150138556957245, + -0.21742412447929382, + 0.2518133521080017, + 0.0, + 0.9974852800369263 + ], + [ + 0.16971443593502045, + -0.009777161292731762, + 0.17330457270145416, + -0.2703874409198761, + -0.22523054480552673, + 0.2427445352077484, + 0.0, + 0.9974852800369263 + ], + [ + 0.16376347839832306, + 0.007137931417673826, + 0.17291969060897827, + -0.2517538070678711, + -0.20175707340240479, + 0.24742217361927032, + 0.0, + 0.9974852800369263 + ], + [ + 0.16350533068180084, + 0.0233314149081707, + 0.16426825523376465, + -0.19604149460792542, + -0.2242707908153534, + 0.26486822962760925, + 0.0, + 0.9974852800369263 + ], + [ + 0.15551051497459412, + 0.043158989399671555, + 0.15344834327697754, + -0.13769322633743286, + -0.21956278383731842, + 0.277140736579895, + 0.0, + 0.9974852800369263 + ], + [ + 0.1506270468235016, + 0.06132515147328377, + 0.14904852211475372, + -0.10850705206394196, + -0.21593832969665527, + 0.30254825949668884, + 0.0, + 0.9974852800369263 + ], + [ + 0.14550533890724182, + 0.06650254875421524, + 0.14125867187976837, + -0.08748488128185272, + -0.20776352286338806, + 0.29389631748199463, + 0.0, + 0.9974852800369263 + ], + [ + 0.1460370421409607, + 0.06355132162570953, + 0.133010134100914, + -0.059993501752614975, + -0.20168684422969818, + 0.28538382053375244, + 0.0, + 0.9968144297599792 + ], + [ + 0.15067864954471588, + 0.05122000351548195, + 0.11601094156503677, + -0.050201114267110825, + -0.15989163517951965, + 0.2965545952320099, + 0.0, + 0.9968144297599792 + ], + [ + 0.1568484604358673, + 0.03199690207839012, + 0.1066945269703865, + -0.063397116959095, + -0.1574093997478485, + 0.30633899569511414, + 0.0, + 0.9968144297599792 + ], + [ + 0.165488138794899, + 0.013103676028549671, + 0.10379336774349213, + -0.06584615260362625, + -0.12588094174861908, + 0.32890784740448, + 0.0, + 0.9974852800369263 + ], + [ + 0.17772339284420013, + -0.009250674396753311, + 0.10493475943803787, + -0.09087555855512619, + -0.09725321829319, + 0.3615384101867676, + 0.0, + 0.9974852800369263 + ], + [ + 0.19634826481342316, + -0.03365739807486534, + 0.1166485995054245, + -0.13443735241889954, + -0.11873172223567963, + 0.420345664024353, + 0.0, + 0.9974852800369263 + ], + [ + 0.2130119949579239, + -0.059359367936849594, + 0.12117472290992737, + -0.14855170249938965, + -0.11731567978858948, + 0.4447372555732727, + 0.0, + 0.9994885921478271 + ], + [ + 0.23095940053462982, + -0.08588625490665436, + 0.1351163685321808, + -0.19856587052345276, + -0.1379087120294571, + 0.42711642384529114, + 0.0, + 0.9981546401977539 + ], + [ + 0.22335509955883026, + -0.1001976951956749, + 0.1400180459022522, + -0.2287178635597229, + -0.12875650823116302, + 0.39003199338912964, + 0.0, + 0.9981546401977539 + ], + [ + 0.1880655437707901, + -0.10066769272089005, + 0.1408049315214157, + -0.24328604340553284, + -0.162273108959198, + 0.27026286721229553, + 0.0, + 0.9974852800369263 + ], + [ + 0.1639506071805954, + -0.0849650651216507, + 0.13041478395462036, + -0.20939435064792633, + -0.15656213462352753, + 0.20214742422103882, + 0.0, + 0.9974852800369263 + ], + [ + 0.1595797836780548, + -0.06143462657928467, + 0.10909057408571243, + -0.14175640046596527, + -0.13223737478256226, + 0.20880116522312164, + 0.0, + 0.9974852800369263 + ], + [ + 0.17170459032058716, + -0.04335644096136093, + 0.07584735006093979, + -0.08372651040554047, + -0.09815596789121628, + 0.2311648726463318, + 0.0, + 0.9974852800369263 + ], + [ + 0.188709557056427, + -0.03622768074274063, + 0.058874018490314484, + -0.060131367295980453, + -0.13122005760669708, + 0.26841628551483154, + 0.0, + 0.9974852800369263 + ], + [ + 0.20773562788963318, + -0.03962863236665726, + 0.05625974386930466, + -0.06646212190389633, + -0.13511313498020172, + 0.30820614099502563, + 0.0, + 0.9974852800369263 + ], + [ + 0.22686925530433655, + -0.0477500781416893, + 0.05676564201712608, + -0.09339308738708496, + -0.18221807479858398, + 0.32448849081993103, + 0.0, + 0.9974852800369263 + ], + [ + 0.24077530205249786, + -0.051554009318351746, + 0.0638614222407341, + -0.12307848036289215, + -0.2185414582490921, + 0.34389880299568176, + 0.0, + 0.9974852800369263 + ], + [ + 0.256967693567276, + -0.05792126804590225, + 0.0685664489865303, + -0.14320580661296844, + -0.2225932478904724, + 0.38550886511802673, + 0.0, + 0.9974852800369263 + ], + [ + 0.26538965106010437, + -0.06067311391234398, + 0.07014785706996918, + -0.152652770280838, + -0.27090561389923096, + 0.4001213312149048, + 0.0, + 0.9974852800369263 + ], + [ + 0.27393245697021484, + -0.0616457425057888, + 0.07252638787031174, + -0.16823473572731018, + -0.329064279794693, + 0.4121052026748657, + 0.0, + 0.9974852800369263 + ], + [ + 0.27707281708717346, + -0.06175669655203819, + 0.07380355894565582, + -0.17480409145355225, + -0.3503752648830414, + 0.41091886162757874, + 0.0, + 0.9974852800369263 + ], + [ + 0.27837073802948, + -0.06130577623844147, + 0.07150016725063324, + -0.16367049515247345, + -0.35762012004852295, + 0.40033408999443054, + 0.0, + 0.9974852800369263 + ] + ], + "left_gripper_pos": [ + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9994885921478271 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.219503715634346, + -0.13750937581062317, + 0.00014388764975592494 + ], + [ + 0.2159230262041092, + -0.13520188629627228, + -0.0038188870530575514 + ], + [ + 0.21573685109615326, + -0.1296800822019577, + 0.0243043452501297 + ], + [ + 0.20740780234336853, + -0.1213303953409195, + 0.05979553982615471 + ], + [ + 0.1964069902896881, + -0.10327139496803284, + 0.10218941420316696 + ], + [ + 0.19430676102638245, + -0.07196512073278427, + 0.13160806894302368 + ], + [ + 0.18246135115623474, + -0.037569884210824966, + 0.16305245459079742 + ], + [ + 0.16971443593502045, + -0.009777161292731762, + 0.17330457270145416 + ], + [ + 0.16376347839832306, + 0.007137931417673826, + 0.17291969060897827 + ], + [ + 0.16350533068180084, + 0.0233314149081707, + 0.16426825523376465 + ], + [ + 0.15551051497459412, + 0.043158989399671555, + 0.15344834327697754 + ], + [ + 0.1506270468235016, + 0.06132515147328377, + 0.14904852211475372 + ], + [ + 0.14550533890724182, + 0.06650254875421524, + 0.14125867187976837 + ], + [ + 0.1460370421409607, + 0.06355132162570953, + 0.133010134100914 + ], + [ + 0.15067864954471588, + 0.05122000351548195, + 0.11601094156503677 + ], + [ + 0.1568484604358673, + 0.03199690207839012, + 0.1066945269703865 + ], + [ + 0.165488138794899, + 0.013103676028549671, + 0.10379336774349213 + ], + [ + 0.17772339284420013, + -0.009250674396753311, + 0.10493475943803787 + ], + [ + 0.19634826481342316, + -0.03365739807486534, + 0.1166485995054245 + ], + [ + 0.2130119949579239, + -0.059359367936849594, + 0.12117472290992737 + ], + [ + 0.23095940053462982, + -0.08588625490665436, + 0.1351163685321808 + ], + [ + 0.22335509955883026, + -0.1001976951956749, + 0.1400180459022522 + ], + [ + 0.1880655437707901, + -0.10066769272089005, + 0.1408049315214157 + ], + [ + 0.1639506071805954, + -0.0849650651216507, + 0.13041478395462036 + ], + [ + 0.1595797836780548, + -0.06143462657928467, + 0.10909057408571243 + ], + [ + 0.17170459032058716, + -0.04335644096136093, + 0.07584735006093979 + ], + [ + 0.188709557056427, + -0.03622768074274063, + 0.058874018490314484 + ], + [ + 0.20773562788963318, + -0.03962863236665726, + 0.05625974386930466 + ], + [ + 0.22686925530433655, + -0.0477500781416893, + 0.05676564201712608 + ], + [ + 0.24077530205249786, + -0.051554009318351746, + 0.0638614222407341 + ], + [ + 0.256967693567276, + -0.05792126804590225, + 0.0685664489865303 + ], + [ + 0.26538965106010437, + -0.06067311391234398, + 0.07014785706996918 + ], + [ + 0.27393245697021484, + -0.0616457425057888, + 0.07252638787031174 + ], + [ + 0.27707281708717346, + -0.06175669655203819, + 0.07380355894565582 + ], + [ + 0.27837073802948, + -0.06130577623844147, + 0.07150016725063324 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9589524055100295, + 0.23407365486492182, + 0.16006188823297557, + 0.231958343726061, + -0.9721978017603542, + 0.0320431120242383, + 0.16311226423046993, + 0.006399871132516237, + -0.9865867579220272 + ], + [ + 0.9613297337464096, + 0.2372727122088001, + 0.139809881825774, + 0.23365281307482103, + -0.9714124795754235, + 0.04200187456947361, + 0.14577896267047494, + -0.007710678712471768, + -0.9892871370216602 + ], + [ + 0.9559037273060953, + 0.24460449955805585, + 0.1625321596431537, + 0.24980039340954396, + -0.9682227561649985, + -0.012019063885818158, + 0.1544274184681969, + 0.05208966538774625, + -0.9866300417000495 + ], + [ + 0.9586683682039453, + 0.23332237730388503, + 0.16283620007371902, + 0.24523969150715266, + -0.9677790709849508, + -0.05710659745583085, + 0.14426521935193293, + 0.09468018806893677, + -0.9849990905947931 + ], + [ + 0.9522680302141635, + 0.2403897081169257, + 0.18814459031153993, + 0.2620780981084189, + -0.9598415584765213, + -0.1000962192754433, + 0.15652689584832344, + 0.14462700595954736, + -0.9770273077162511 + ], + [ + 0.9554849630571554, + 0.2315718408387131, + 0.1828194954107359, + 0.25358000363876637, + -0.9613056840560481, + -0.10765019069233747, + 0.1508166672693359, + 0.14921750678825565, + -0.9772351142594433 + ], + [ + 0.9456610570719526, + 0.19458111077409385, + 0.2605059624413186, + 0.24329438094580297, + -0.9549583702706055, + -0.16988924406891784, + 0.2157151115192359, + 0.22403727899621892, + -0.9504074327793395 + ], + [ + 0.9461650761007615, + 0.1737305330826541, + 0.27311050994434016, + 0.23429654936229907, + -0.9497532175983678, + -0.2075426525282637, + 0.22333108991844472, + 0.26035845969809523, + -0.9393277898260413 + ], + [ + 0.9498806643844496, + 0.18878746989109108, + 0.24917065365061952, + 0.23993778700226487, + -0.9512091570181028, + -0.19398710775040157, + 0.20039107214896668, + 0.24405005801480673, + -0.948832433776353 + ], + [ + 0.940956883978336, + 0.21495843349946459, + 0.2615205811427404, + 0.25522616560820366, + -0.957980719002648, + -0.1308913534504979, + 0.22239547406076904, + 0.18991001523517825, + -0.9562815690112719 + ], + [ + 0.9387505274291307, + 0.24226243854445648, + 0.2450639878113936, + 0.2670380750113107, + -0.9609176517215826, + -0.07299269212827487, + 0.21780292409833024, + 0.13396334379364003, + -0.9667552476060548 + ], + [ + 0.9324109366615229, + 0.2740517212400225, + 0.23559605106911768, + 0.29103394595357474, + -0.955879916133027, + -0.039910252269418224, + 0.21426406020766303, + 0.10577920409465116, + -0.9710312417653867 + ], + [ + 0.9365392235465532, + 0.27132590610113966, + 0.22198318728501734, + 0.28345392870182534, + -0.9586829355883462, + -0.024101852941455382, + 0.20627203654960127, + 0.08549433718151508, + -0.9747525661661904 + ], + [ + 0.9401035721402018, + 0.2694942512939008, + 0.20875373570015895, + 0.27581925782768013, + -0.9612087204519475, + -0.0012380381727234435, + 0.2003222670114825, + 0.05874218455819679, + -0.9779674560498988 + ], + [ + 0.9441503340520222, + 0.28421830080564775, + 0.16673363246989262, + 0.28849944983044534, + -0.9574788507644771, + -0.0015224277541085948, + 0.1592112249716874, + 0.0495399619084074, + -0.9860008002112008 + ], + [ + 0.9416562920143402, + 0.2914951547864069, + 0.16826765121630446, + 0.2978417009294833, + -0.9545236489887751, + -0.013225910501190211, + 0.15676016361702186, + 0.06257138529073747, + -0.9856526126610542 + ], + [ + 0.9389072815146032, + 0.31449151842345213, + 0.13981488317975743, + 0.3204537833729926, + -0.9470131332306557, + -0.02180592145706239, + 0.1255487532426861, + 0.06527794672297765, + -0.9899375233977341 + ], + [ + 0.9309338833146065, + 0.3440118449656135, + 0.12254776791170784, + 0.3520421820732073, + -0.9346110640510417, + -0.05067998613372715, + 0.09709998423234616, + 0.0903216999216396, + -0.9911677878065569 + ], + [ + 0.9065204789334191, + 0.38989945236511653, + 0.16186116989477806, + 0.40520305885901947, + -0.9111891689295496, + -0.07446327629624115, + 0.11845295422917068, + 0.1330891260428836, + -0.9840000925627614 + ], + [ + 0.8965187768380954, + 0.40984402192621494, + 0.16817241292218255, + 0.4272635463858876, + -0.9002345397929348, + -0.08380713151967974, + 0.11704676290474364, + 0.14698860858973628, + -0.9821885787558179 + ], + [ + 0.9015226366575788, + 0.38142620406039185, + 0.2043795157300453, + 0.410314987725209, + -0.9035134347120558, + -0.12371371849106176, + 0.13747198420779827, + 0.1953906961728331, + -0.9710427021542702 + ], + [ + 0.9172409009272093, + 0.34339051161838974, + 0.20187145958926853, + 0.3770706852214638, + -0.9118796280076779, + -0.16215191140160723, + 0.12840104365953145, + 0.22485217489506176, + -0.9658957870454263 + ], + [ + 0.9510402119685235, + 0.22161608652578643, + 0.21542707678437426, + 0.2634772816428781, + -0.9457121543544584, + -0.19028463722625677, + 0.16156186826397193, + 0.23772848230543137, + -0.9578010917846204 + ], + [ + 0.9676559020359627, + 0.16463657010032048, + 0.19114616145915467, + 0.19831786195625065, + -0.9647468026364348, + -0.17301338801340574, + 0.15592331731998418, + 0.20532512410413403, + -0.9661933101235763 + ], + [ + 0.969739121005056, + 0.18698426484489702, + 0.15698064177711404, + 0.20547750495851655, + -0.9723287844973136, + -0.1111563304270124, + 0.13185231188099814, + 0.14004863276158663, + -0.9813263210131714 + ], + [ + 0.9687147755888779, + 0.2203314993118448, + 0.11421783558964993, + 0.22800875334725704, + -0.9718680122037261, + -0.05903029097173366, + 0.09799842831810857, + 0.08322618137444719, + -0.9917004138251672 + ], + [ + 0.9559029492179215, + 0.257143931700595, + 0.14186807275084728, + 0.262924798111845, + -0.9645348106147945, + -0.023305571225097507, + 0.13084380846767457, + 0.059578498653812095, + -0.9896111864180964 + ], + [ + 0.9441948212144393, + 0.2941555845839303, + 0.14821818933558115, + 0.3005850940805571, + -0.9534892814082445, + -0.02251202914379539, + 0.13470241574825084, + 0.06580791971848565, + -0.9886984256556242 + ], + [ + 0.9321220873274515, + 0.30141719834410496, + 0.20073885238962894, + 0.3135456165364232, + -0.9490712933602901, + -0.030867887362440793, + 0.1812113701374972, + 0.09171342683498723, + -0.9791583562790415 + ], + [ + 0.9190547042896442, + 0.3095513341503881, + 0.24395987794879223, + 0.3291407100746527, + -0.943299767416857, + -0.043034192949990745, + 0.21680600428638566, + 0.1198479049337883, + -0.9688300347266043 + ], + [ + 0.903746177862002, + 0.3429876944809505, + 0.2561294349239559, + 0.3667533661201952, + -0.9289693118058764, + -0.050079797947101906, + 0.220759630456587, + 0.139195758403619, + -0.9653443563843488 + ], + [ + 0.8874233963576551, + 0.34752238643764527, + 0.30283313313065313, + 0.37532351964053884, + -0.9261542049154468, + -0.03702221390023063, + 0.26760413151086065, + 0.14651477619039088, + -0.9523242353086461 + ], + [ + 0.8671167847302902, + 0.3453041882746888, + 0.3589895530498924, + 0.37904829663816675, + -0.9250167692804045, + -0.025814053648094068, + 0.32315765572659355, + 0.15845817779464905, + -0.9329845311875709 + ], + [ + 0.8610558243674165, + 0.3386375020699425, + 0.379351432730626, + 0.3751827568064776, + -0.9266292707096265, + -0.024415029372033048, + 0.3432502968943224, + 0.1633488195732539, + -0.9249304821585156 + ], + [ + 0.8626658892971764, + 0.3319907907254724, + 0.38156215524680637, + 0.3650690624506973, + -0.9308520937289636, + -0.015458306562299948, + 0.3500459156803307, + 0.15263189206021383, + -0.9242139159532486 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0035806894302368164, + 0.002307489514350891, + -0.003962774761021137, + 0.014280809089541435, + 0.01754404604434967, + 0.0010997951030731201, + 1.0 + ], + [ + -0.00018617510795593262, + 0.005521804094314575, + 0.02812323160469532, + -0.060540586709976196, + -0.008747592568397522, + 0.017179176211357117, + 1.0 + ], + [ + -0.008329048752784729, + 0.008349686861038208, + 0.03549119457602501, + -0.0430811308324337, + 0.010277509689331055, + -0.005165576934814453, + 1.0 + ], + [ + -0.01100081205368042, + 0.018059000372886658, + 0.04239387437701225, + -0.0511326938867569, + -0.012402832508087158, + 0.01812368631362915, + 1.0 + ], + [ + -0.002100229263305664, + 0.031306274235248566, + 0.02941865473985672, + -0.004562795162200928, + 0.005778878927230835, + -0.009151875972747803, + 1.0 + ], + [ + -0.011845409870147705, + 0.034395236521959305, + 0.03144438564777374, + -0.07997819781303406, + -0.06602978706359863, + -0.007600516080856323, + 1.0 + ], + [ + -0.012746915221214294, + 0.02779272198677063, + 0.010252118110656738, + -0.03888605535030365, + -0.00780642032623291, + -0.009068816900253296, + 1.0 + ], + [ + -0.005950957536697388, + 0.0169150922447443, + -0.0003848820924758911, + 0.018633633852005005, + 0.023473471403121948, + 0.004677638411521912, + 1.0 + ], + [ + -0.0002581477165222168, + 0.016193483024835587, + -0.008651435375213623, + 0.05571231245994568, + -0.02251371741294861, + 0.017446056008338928, + 1.0 + ], + [ + -0.007994815707206726, + 0.019827574491500854, + -0.01081991195678711, + 0.058348268270492554, + 0.004708006978034973, + 0.012272506952285767, + 1.0 + ], + [ + -0.004883468151092529, + 0.018166162073612213, + -0.004399821162223816, + 0.029186174273490906, + 0.003624454140663147, + 0.025407522916793823, + 1.0 + ], + [ + -0.005121707916259766, + 0.005177397280931473, + -0.0077898502349853516, + 0.021022170782089233, + 0.008174806833267212, + -0.008651942014694214, + 1.0 + ], + [ + 0.0005317032337188721, + -0.002951227128505707, + -0.00824853777885437, + 0.027491379529237747, + 0.00607667863368988, + -0.008512496948242188, + 1.0 + ], + [ + 0.004641607403755188, + -0.012331318110227585, + -0.016999192535877228, + 0.00979238748550415, + 0.04179520905017853, + 0.011170774698257446, + 1.0 + ], + [ + 0.006169810891151428, + -0.019223101437091827, + -0.009316414594650269, + -0.013196002691984177, + 0.0024822354316711426, + 0.009784400463104248, + 1.0 + ], + [ + 0.008639678359031677, + -0.018893226981163025, + -0.0029011592268943787, + -0.00244903564453125, + 0.03152845799922943, + 0.022568851709365845, + 1.0 + ], + [ + 0.012235254049301147, + -0.022354349493980408, + 0.0011413916945457458, + -0.02502940595149994, + 0.028627723455429077, + 0.0326305627822876, + 1.0 + ], + [ + 0.018624871969223022, + -0.02440672367811203, + 0.011713840067386627, + -0.043561793863773346, + -0.021478503942489624, + 0.05880725383758545, + 1.0 + ], + [ + 0.016663730144500732, + -0.025701969861984253, + 0.004526123404502869, + -0.014114350080490112, + 0.001416042447090149, + 0.024391591548919678, + 1.0 + ], + [ + 0.017947405576705933, + -0.026526886969804764, + 0.013941645622253418, + -0.05001416802406311, + -0.020593032240867615, + -0.017620831727981567, + 1.0 + ], + [ + -0.0076043009757995605, + -0.014311440289020538, + 0.004901677370071411, + -0.03015199303627014, + 0.009152203798294067, + -0.0370844304561615, + 1.0 + ], + [ + -0.03528955578804016, + -0.0004699975252151489, + 0.0007868856191635132, + -0.014568179845809937, + -0.03351660072803497, + -0.1197691261768341, + 1.0 + ], + [ + -0.024114936590194702, + 0.01570262759923935, + -0.010390147566795349, + 0.033891692757606506, + 0.005710974335670471, + -0.06811544299125671, + 1.0 + ], + [ + -0.004370823502540588, + 0.023530438542366028, + -0.02132420986890793, + 0.06763795018196106, + 0.02432475984096527, + 0.006653741002082825, + 1.0 + ], + [ + 0.012124806642532349, + 0.018078185617923737, + -0.033243224024772644, + 0.058029890060424805, + 0.03408140689134598, + 0.022363707423210144, + 1.0 + ], + [ + 0.017004966735839844, + 0.0071287602186203, + -0.016973331570625305, + 0.023595143109560013, + -0.033064089715480804, + 0.037251412868499756, + 1.0 + ], + [ + 0.019026070833206177, + -0.003400951623916626, + -0.0026142746210098267, + -0.006330754607915878, + -0.0038930773735046387, + 0.03978985548019409, + 1.0 + ], + [ + 0.01913362741470337, + -0.008121445775032043, + 0.0005058981478214264, + -0.02693096548318863, + -0.04710493981838226, + 0.016282349824905396, + 1.0 + ], + [ + 0.013906046748161316, + -0.003803931176662445, + 0.007095780223608017, + -0.02968539297580719, + -0.03632338345050812, + 0.019410312175750732, + 1.0 + ], + [ + 0.016192391514778137, + -0.006367258727550507, + 0.004705026745796204, + -0.020127326250076294, + -0.00405178964138031, + 0.04161006212234497, + 1.0 + ], + [ + 0.00842195749282837, + -0.0027518458664417267, + 0.0015814080834388733, + -0.009446963667869568, + -0.048312366008758545, + 0.014612466096878052, + 1.0 + ], + [ + 0.008542805910110474, + -0.0009726285934448242, + 0.00237853080034256, + -0.015581965446472168, + -0.058158665895462036, + 0.011983871459960938, + 1.0 + ], + [ + 0.003140360116958618, + -0.00011095404624938965, + 0.0012771710753440857, + -0.006569355726242065, + -0.02131098508834839, + -0.0011863410472869873, + 1.0 + ], + [ + 0.0012979209423065186, + 0.00045092031359672546, + -0.002303391695022583, + 0.011133596301078796, + -0.007244855165481567, + -0.010584771633148193, + 1.0 + ], + [ + -0.003994673490524292, + 0.0006644465029239655, + -0.0034781545400619507, + -0.0012173503637313843, + 0.008994638919830322, + 0.0039365291595458984, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9994885921478271 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2159230262041092, + -0.13520188629627228, + -0.0038188870530575514 + ], + [ + 0.21573685109615326, + -0.1296800822019577, + 0.0243043452501297 + ], + [ + 0.20740780234336853, + -0.1213303953409195, + 0.05979553982615471 + ], + [ + 0.1964069902896881, + -0.10327139496803284, + 0.10218941420316696 + ], + [ + 0.19430676102638245, + -0.07196512073278427, + 0.13160806894302368 + ], + [ + 0.18246135115623474, + -0.037569884210824966, + 0.16305245459079742 + ], + [ + 0.16971443593502045, + -0.009777161292731762, + 0.17330457270145416 + ], + [ + 0.16376347839832306, + 0.007137931417673826, + 0.17291969060897827 + ], + [ + 0.16350533068180084, + 0.0233314149081707, + 0.16426825523376465 + ], + [ + 0.15551051497459412, + 0.043158989399671555, + 0.15344834327697754 + ], + [ + 0.1506270468235016, + 0.06132515147328377, + 0.14904852211475372 + ], + [ + 0.14550533890724182, + 0.06650254875421524, + 0.14125867187976837 + ], + [ + 0.1460370421409607, + 0.06355132162570953, + 0.133010134100914 + ], + [ + 0.15067864954471588, + 0.05122000351548195, + 0.11601094156503677 + ], + [ + 0.1568484604358673, + 0.03199690207839012, + 0.1066945269703865 + ], + [ + 0.165488138794899, + 0.013103676028549671, + 0.10379336774349213 + ], + [ + 0.17772339284420013, + -0.009250674396753311, + 0.10493475943803787 + ], + [ + 0.19634826481342316, + -0.03365739807486534, + 0.1166485995054245 + ], + [ + 0.2130119949579239, + -0.059359367936849594, + 0.12117472290992737 + ], + [ + 0.23095940053462982, + -0.08588625490665436, + 0.1351163685321808 + ], + [ + 0.22335509955883026, + -0.1001976951956749, + 0.1400180459022522 + ], + [ + 0.1880655437707901, + -0.10066769272089005, + 0.1408049315214157 + ], + [ + 0.1639506071805954, + -0.0849650651216507, + 0.13041478395462036 + ], + [ + 0.1595797836780548, + -0.06143462657928467, + 0.10909057408571243 + ], + [ + 0.17170459032058716, + -0.04335644096136093, + 0.07584735006093979 + ], + [ + 0.188709557056427, + -0.03622768074274063, + 0.058874018490314484 + ], + [ + 0.20773562788963318, + -0.03962863236665726, + 0.05625974386930466 + ], + [ + 0.22686925530433655, + -0.0477500781416893, + 0.05676564201712608 + ], + [ + 0.24077530205249786, + -0.051554009318351746, + 0.0638614222407341 + ], + [ + 0.256967693567276, + -0.05792126804590225, + 0.0685664489865303 + ], + [ + 0.26538965106010437, + -0.06067311391234398, + 0.07014785706996918 + ], + [ + 0.27393245697021484, + -0.0616457425057888, + 0.07252638787031174 + ], + [ + 0.27707281708717346, + -0.06175669655203819, + 0.07380355894565582 + ], + [ + 0.27837073802948, + -0.06130577623844147, + 0.07150016725063324 + ], + [ + 0.2743760645389557, + -0.0606413297355175, + 0.06802201271057129 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9613297337464096, + 0.2372727122088001, + 0.139809881825774, + 0.23365281307482103, + -0.9714124795754235, + 0.04200187456947361, + 0.14577896267047494, + -0.007710678712471768, + -0.9892871370216602 + ], + [ + 0.9559037273060953, + 0.24460449955805585, + 0.1625321596431537, + 0.24980039340954396, + -0.9682227561649985, + -0.012019063885818158, + 0.1544274184681969, + 0.05208966538774625, + -0.9866300417000495 + ], + [ + 0.9586683682039453, + 0.23332237730388503, + 0.16283620007371902, + 0.24523969150715266, + -0.9677790709849508, + -0.05710659745583085, + 0.14426521935193293, + 0.09468018806893677, + -0.9849990905947931 + ], + [ + 0.9522680302141635, + 0.2403897081169257, + 0.18814459031153993, + 0.2620780981084189, + -0.9598415584765213, + -0.1000962192754433, + 0.15652689584832344, + 0.14462700595954736, + -0.9770273077162511 + ], + [ + 0.9554849630571554, + 0.2315718408387131, + 0.1828194954107359, + 0.25358000363876637, + -0.9613056840560481, + -0.10765019069233747, + 0.1508166672693359, + 0.14921750678825565, + -0.9772351142594433 + ], + [ + 0.9456610570719526, + 0.19458111077409385, + 0.2605059624413186, + 0.24329438094580297, + -0.9549583702706055, + -0.16988924406891784, + 0.2157151115192359, + 0.22403727899621892, + -0.9504074327793395 + ], + [ + 0.9461650761007615, + 0.1737305330826541, + 0.27311050994434016, + 0.23429654936229907, + -0.9497532175983678, + -0.2075426525282637, + 0.22333108991844472, + 0.26035845969809523, + -0.9393277898260413 + ], + [ + 0.9498806643844496, + 0.18878746989109108, + 0.24917065365061952, + 0.23993778700226487, + -0.9512091570181028, + -0.19398710775040157, + 0.20039107214896668, + 0.24405005801480673, + -0.948832433776353 + ], + [ + 0.940956883978336, + 0.21495843349946459, + 0.2615205811427404, + 0.25522616560820366, + -0.957980719002648, + -0.1308913534504979, + 0.22239547406076904, + 0.18991001523517825, + -0.9562815690112719 + ], + [ + 0.9387505274291307, + 0.24226243854445648, + 0.2450639878113936, + 0.2670380750113107, + -0.9609176517215826, + -0.07299269212827487, + 0.21780292409833024, + 0.13396334379364003, + -0.9667552476060548 + ], + [ + 0.9324109366615229, + 0.2740517212400225, + 0.23559605106911768, + 0.29103394595357474, + -0.955879916133027, + -0.039910252269418224, + 0.21426406020766303, + 0.10577920409465116, + -0.9710312417653867 + ], + [ + 0.9365392235465532, + 0.27132590610113966, + 0.22198318728501734, + 0.28345392870182534, + -0.9586829355883462, + -0.024101852941455382, + 0.20627203654960127, + 0.08549433718151508, + -0.9747525661661904 + ], + [ + 0.9401035721402018, + 0.2694942512939008, + 0.20875373570015895, + 0.27581925782768013, + -0.9612087204519475, + -0.0012380381727234435, + 0.2003222670114825, + 0.05874218455819679, + -0.9779674560498988 + ], + [ + 0.9441503340520222, + 0.28421830080564775, + 0.16673363246989262, + 0.28849944983044534, + -0.9574788507644771, + -0.0015224277541085948, + 0.1592112249716874, + 0.0495399619084074, + -0.9860008002112008 + ], + [ + 0.9416562920143402, + 0.2914951547864069, + 0.16826765121630446, + 0.2978417009294833, + -0.9545236489887751, + -0.013225910501190211, + 0.15676016361702186, + 0.06257138529073747, + -0.9856526126610542 + ], + [ + 0.9389072815146032, + 0.31449151842345213, + 0.13981488317975743, + 0.3204537833729926, + -0.9470131332306557, + -0.02180592145706239, + 0.1255487532426861, + 0.06527794672297765, + -0.9899375233977341 + ], + [ + 0.9309338833146065, + 0.3440118449656135, + 0.12254776791170784, + 0.3520421820732073, + -0.9346110640510417, + -0.05067998613372715, + 0.09709998423234616, + 0.0903216999216396, + -0.9911677878065569 + ], + [ + 0.9065204789334191, + 0.38989945236511653, + 0.16186116989477806, + 0.40520305885901947, + -0.9111891689295496, + -0.07446327629624115, + 0.11845295422917068, + 0.1330891260428836, + -0.9840000925627614 + ], + [ + 0.8965187768380954, + 0.40984402192621494, + 0.16817241292218255, + 0.4272635463858876, + -0.9002345397929348, + -0.08380713151967974, + 0.11704676290474364, + 0.14698860858973628, + -0.9821885787558179 + ], + [ + 0.9015226366575788, + 0.38142620406039185, + 0.2043795157300453, + 0.410314987725209, + -0.9035134347120558, + -0.12371371849106176, + 0.13747198420779827, + 0.1953906961728331, + -0.9710427021542702 + ], + [ + 0.9172409009272093, + 0.34339051161838974, + 0.20187145958926853, + 0.3770706852214638, + -0.9118796280076779, + -0.16215191140160723, + 0.12840104365953145, + 0.22485217489506176, + -0.9658957870454263 + ], + [ + 0.9510402119685235, + 0.22161608652578643, + 0.21542707678437426, + 0.2634772816428781, + -0.9457121543544584, + -0.19028463722625677, + 0.16156186826397193, + 0.23772848230543137, + -0.9578010917846204 + ], + [ + 0.9676559020359627, + 0.16463657010032048, + 0.19114616145915467, + 0.19831786195625065, + -0.9647468026364348, + -0.17301338801340574, + 0.15592331731998418, + 0.20532512410413403, + -0.9661933101235763 + ], + [ + 0.969739121005056, + 0.18698426484489702, + 0.15698064177711404, + 0.20547750495851655, + -0.9723287844973136, + -0.1111563304270124, + 0.13185231188099814, + 0.14004863276158663, + -0.9813263210131714 + ], + [ + 0.9687147755888779, + 0.2203314993118448, + 0.11421783558964993, + 0.22800875334725704, + -0.9718680122037261, + -0.05903029097173366, + 0.09799842831810857, + 0.08322618137444719, + -0.9917004138251672 + ], + [ + 0.9559029492179215, + 0.257143931700595, + 0.14186807275084728, + 0.262924798111845, + -0.9645348106147945, + -0.023305571225097507, + 0.13084380846767457, + 0.059578498653812095, + -0.9896111864180964 + ], + [ + 0.9441948212144393, + 0.2941555845839303, + 0.14821818933558115, + 0.3005850940805571, + -0.9534892814082445, + -0.02251202914379539, + 0.13470241574825084, + 0.06580791971848565, + -0.9886984256556242 + ], + [ + 0.9321220873274515, + 0.30141719834410496, + 0.20073885238962894, + 0.3135456165364232, + -0.9490712933602901, + -0.030867887362440793, + 0.1812113701374972, + 0.09171342683498723, + -0.9791583562790415 + ], + [ + 0.9190547042896442, + 0.3095513341503881, + 0.24395987794879223, + 0.3291407100746527, + -0.943299767416857, + -0.043034192949990745, + 0.21680600428638566, + 0.1198479049337883, + -0.9688300347266043 + ], + [ + 0.903746177862002, + 0.3429876944809505, + 0.2561294349239559, + 0.3667533661201952, + -0.9289693118058764, + -0.050079797947101906, + 0.220759630456587, + 0.139195758403619, + -0.9653443563843488 + ], + [ + 0.8874233963576551, + 0.34752238643764527, + 0.30283313313065313, + 0.37532351964053884, + -0.9261542049154468, + -0.03702221390023063, + 0.26760413151086065, + 0.14651477619039088, + -0.9523242353086461 + ], + [ + 0.8671167847302902, + 0.3453041882746888, + 0.3589895530498924, + 0.37904829663816675, + -0.9250167692804045, + -0.025814053648094068, + 0.32315765572659355, + 0.15845817779464905, + -0.9329845311875709 + ], + [ + 0.8610558243674165, + 0.3386375020699425, + 0.379351432730626, + 0.3751827568064776, + -0.9266292707096265, + -0.024415029372033048, + 0.3432502968943224, + 0.1633488195732539, + -0.9249304821585156 + ], + [ + 0.8626658892971764, + 0.3319907907254724, + 0.38156215524680637, + 0.3650690624506973, + -0.9308520937289636, + -0.015458306562299948, + 0.3500459156803307, + 0.15263189206021383, + -0.9242139159532486 + ], + [ + 0.8640819588478795, + 0.3364613454668409, + 0.3743743198995544, + 0.36968568442912053, + -0.9289754123650477, + -0.01836240587073558, + 0.34160629842229706, + 0.15426745031869837, + -0.9270958368207592 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006707.json b/json/chunk-0006/episode_0006707.json new file mode 100644 index 0000000000000000000000000000000000000000..f1051e0b16d181fb5b48dadbe95f43ba2ca62e2b --- /dev/null +++ b/json/chunk-0006/episode_0006707.json @@ -0,0 +1,2422 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 39, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPick up the blue spoon and place it on the right of the pot." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006707.mp4", + "start": 0, + "end": 39, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3233068585395813, + 0.1441047191619873, + 0.13343018293380737, + -0.3022688627243042, + -0.20971247553825378, + 1.159289002418518, + 0.0, + 1.0008161067962646 + ], + [ + 0.3224402666091919, + 0.1430440992116928, + 0.12345603108406067, + -0.2834547758102417, + -0.18435458838939667, + 1.1596465110778809, + 0.0, + 1.0008161067962646 + ], + [ + 0.32698848843574524, + 0.1152438148856163, + 0.11597375571727753, + -0.2713422179222107, + -0.16179047524929047, + 1.10889732837677, + 0.0, + 1.0008161067962646 + ], + [ + 0.32783955335617065, + 0.08072464168071747, + 0.11570089310407639, + -0.2758106589317322, + -0.14762933552265167, + 1.0675159692764282, + 0.0, + 1.0008161067962646 + ], + [ + 0.32307958602905273, + 0.042926229536533356, + 0.11709591746330261, + -0.29896077513694763, + -0.11541873961687088, + 1.0324020385742188, + 0.0, + 1.0008161067962646 + ], + [ + 0.31079423427581787, + 0.01504210289567709, + 0.10841137915849686, + -0.30003106594085693, + -0.09595644474029541, + 0.9399837255477905, + 0.0, + 1.0008161067962646 + ], + [ + 0.2983088493347168, + -0.011993218213319778, + 0.09258468449115753, + -0.2775256037712097, + -0.08012565970420837, + 0.8499819040298462, + 0.0, + 1.0008161067962646 + ], + [ + 0.2842799723148346, + -0.031551387161016464, + 0.07641410082578659, + -0.2698991298675537, + -0.05214826762676239, + 0.7949343919754028, + 0.0, + 1.0008161067962646 + ], + [ + 0.2780090570449829, + -0.046898238360881805, + 0.06614082306623459, + -0.2550661861896515, + -0.04537356644868851, + 0.7367907166481018, + 0.0, + 1.0008161067962646 + ], + [ + 0.274982750415802, + -0.05975097790360451, + 0.05429190397262573, + -0.24611252546310425, + -0.022881675511598587, + 0.6991615295410156, + 0.0, + 1.0008161067962646 + ], + [ + 0.2751258313655853, + -0.0698079764842987, + 0.04526356980204582, + -0.2424229383468628, + -0.014640701934695244, + 0.6826664209365845, + 0.0, + 1.0008161067962646 + ], + [ + 0.2794463336467743, + -0.08511801809072495, + 0.04391971603035927, + -0.23460979759693146, + -0.021442655473947525, + 0.6431689262390137, + 0.0, + 1.0008161067962646 + ], + [ + 0.282892644405365, + -0.0928465947508812, + 0.04025452956557274, + -0.22675912082195282, + -0.01949797011911869, + 0.6307320594787598, + 0.0, + 1.0008161067962646 + ], + [ + 0.2833837866783142, + -0.09371300041675568, + 0.03458061441779137, + -0.21190901100635529, + -0.011817208491265774, + 0.6296594738960266, + 0.0, + 0.9343546032905579 + ], + [ + 0.28682637214660645, + -0.09180174767971039, + 0.034893523901700974, + -0.20280975103378296, + -0.051425751298666, + 0.6425974369049072, + 0.0, + 0.6591242551803589 + ], + [ + 0.28594163060188293, + -0.08779942244291306, + 0.03212802857160568, + -0.188283771276474, + -0.065252386033535, + 0.6603128910064697, + 0.0, + 0.35856863856315613 + ], + [ + 0.28594163060188293, + -0.08779942244291306, + 0.03212802857160568, + -0.188283771276474, + -0.065252386033535, + 0.6603128910064697, + 0.0, + 0.2920950949192047 + ], + [ + 0.2857382297515869, + -0.08700720220804214, + 0.032443366944789886, + -0.18420837819576263, + -0.0673811063170433, + 0.6622927784919739, + 0.0, + 0.2920950949192047 + ], + [ + 0.2857687473297119, + -0.0794239193201065, + 0.03769640997052193, + -0.18031755089759827, + -0.06885727494955063, + 0.669451117515564, + 0.0, + 0.2920950949192047 + ], + [ + 0.292546808719635, + -0.07433386892080307, + 0.06394831836223602, + -0.2120056003332138, + -0.0930643081665039, + 0.673374354839325, + 0.0, + 0.2920950949192047 + ], + [ + 0.3019823133945465, + -0.059872645884752274, + 0.08317877352237701, + -0.23509368300437927, + -0.11064887046813965, + 0.7123662829399109, + 0.0, + 0.29134905338287354 + ], + [ + 0.31303390860557556, + -0.04074713587760925, + 0.0939081460237503, + -0.24000610411167145, + -0.150502011179924, + 0.7459805011749268, + 0.0, + 0.29134905338287354 + ], + [ + 0.3268487751483917, + -0.01963016204535961, + 0.09953583776950836, + -0.2573895752429962, + -0.164366215467453, + 0.789925217628479, + 0.0, + 0.29134905338287354 + ], + [ + 0.34546831250190735, + 0.007109321188181639, + 0.0950879231095314, + -0.24506023526191711, + -0.17249354720115662, + 0.8358200788497925, + 0.0, + 0.29134905338287354 + ], + [ + 0.35809606313705444, + 0.024349378421902657, + 0.08449956774711609, + -0.22813387215137482, + -0.16177582740783691, + 0.8677684664726257, + 0.0, + 0.29134905338287354 + ], + [ + 0.36786386370658875, + 0.0380658358335495, + 0.07200628519058228, + -0.20575927197933197, + -0.15306076407432556, + 0.8937164545059204, + 0.0, + 0.29134905338287354 + ], + [ + 0.3754163384437561, + 0.053174227476119995, + 0.05678736791014671, + -0.17045819759368896, + -0.15217094123363495, + 0.9118764996528625, + 0.0, + 0.29134905338287354 + ], + [ + 0.37560299038887024, + 0.054864831268787384, + 0.045065972954034805, + -0.15274913609027863, + -0.14523328840732574, + 0.9220670461654663, + 0.0, + 0.29134905338287354 + ], + [ + 0.37455570697784424, + 0.051923055201768875, + 0.030502527952194214, + -0.13623297214508057, + -0.1310332715511322, + 0.9255329966545105, + 0.0, + 0.29134905338287354 + ], + [ + 0.3746475577354431, + 0.05257370322942734, + 0.01857858896255493, + -0.12204433977603912, + -0.12345011532306671, + 0.9402982592582703, + 0.0, + 0.29134905338287354 + ], + [ + 0.3784770667552948, + 0.054979849606752396, + 0.018758824095129967, + -0.12716801464557648, + -0.14071115851402283, + 0.9567773342132568, + 0.0, + 0.3644362688064575 + ], + [ + 0.3776382803916931, + 0.05567105859518051, + 0.01577107422053814, + -0.10123878717422485, + -0.1174052506685257, + 0.9824712872505188, + 0.0, + 0.6581199765205383 + ], + [ + 0.3783033788204193, + 0.054288096725940704, + 0.014175940304994583, + -0.12133117020130157, + -0.12249505519866943, + 0.9853482842445374, + 0.0, + 0.9492040276527405 + ], + [ + 0.3738901913166046, + 0.05239158496260643, + 0.01676481030881405, + -0.2620392441749573, + -0.14801082015037537, + 0.9968191385269165, + 0.0, + 1.0060625076293945 + ], + [ + 0.37328407168388367, + 0.054811954498291016, + 0.026067489758133888, + -0.27209749817848206, + -0.20013956725597382, + 0.973605751991272, + 0.0, + 1.0008161067962646 + ], + [ + 0.36823776364326477, + 0.054435957223176956, + 0.029913511127233505, + -0.24965432286262512, + -0.18149080872535706, + 0.983816921710968, + 0.0, + 1.0008161067962646 + ], + [ + 0.3700745403766632, + 0.05329212546348572, + 0.042988892644643784, + -0.2761857807636261, + -0.1867487132549286, + 1.0016893148422241, + 0.0, + 1.0008161067962646 + ], + [ + 0.37300002574920654, + 0.05170417204499245, + 0.0696043074131012, + -0.31417495012283325, + -0.1979377120733261, + 1.016310214996338, + 0.0, + 1.0008161067962646 + ], + [ + 0.37221646308898926, + 0.04393867775797844, + 0.09450869262218475, + -0.3549658954143524, + -0.19901983439922333, + 1.0092618465423584, + 0.0, + 1.0008161067962646 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9343546032905579 + ], + [ + 0.6591242551803589 + ], + [ + 0.35856863856315613 + ], + [ + 0.2920950949192047 + ], + [ + 0.2920950949192047 + ], + [ + 0.2920950949192047 + ], + [ + 0.2920950949192047 + ], + [ + 0.29134905338287354 + ], + [ + 0.29134905338287354 + ], + [ + 0.29134905338287354 + ], + [ + 0.29134905338287354 + ], + [ + 0.29134905338287354 + ], + [ + 0.29134905338287354 + ], + [ + 0.29134905338287354 + ], + [ + 0.29134905338287354 + ], + [ + 0.29134905338287354 + ], + [ + 0.29134905338287354 + ], + [ + 0.3644362688064575 + ], + [ + 0.6581199765205383 + ], + [ + 0.9492040276527405 + ], + [ + 1.0060625076293945 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3233068585395813, + 0.1441047191619873, + 0.13343018293380737 + ], + [ + 0.3224402666091919, + 0.1430440992116928, + 0.12345603108406067 + ], + [ + 0.32698848843574524, + 0.1152438148856163, + 0.11597375571727753 + ], + [ + 0.32783955335617065, + 0.08072464168071747, + 0.11570089310407639 + ], + [ + 0.32307958602905273, + 0.042926229536533356, + 0.11709591746330261 + ], + [ + 0.31079423427581787, + 0.01504210289567709, + 0.10841137915849686 + ], + [ + 0.2983088493347168, + -0.011993218213319778, + 0.09258468449115753 + ], + [ + 0.2842799723148346, + -0.031551387161016464, + 0.07641410082578659 + ], + [ + 0.2780090570449829, + -0.046898238360881805, + 0.06614082306623459 + ], + [ + 0.274982750415802, + -0.05975097790360451, + 0.05429190397262573 + ], + [ + 0.2751258313655853, + -0.0698079764842987, + 0.04526356980204582 + ], + [ + 0.2794463336467743, + -0.08511801809072495, + 0.04391971603035927 + ], + [ + 0.282892644405365, + -0.0928465947508812, + 0.04025452956557274 + ], + [ + 0.2833837866783142, + -0.09371300041675568, + 0.03458061441779137 + ], + [ + 0.28682637214660645, + -0.09180174767971039, + 0.034893523901700974 + ], + [ + 0.28594163060188293, + -0.08779942244291306, + 0.03212802857160568 + ], + [ + 0.28594163060188293, + -0.08779942244291306, + 0.03212802857160568 + ], + [ + 0.2857382297515869, + -0.08700720220804214, + 0.032443366944789886 + ], + [ + 0.2857687473297119, + -0.0794239193201065, + 0.03769640997052193 + ], + [ + 0.292546808719635, + -0.07433386892080307, + 0.06394831836223602 + ], + [ + 0.3019823133945465, + -0.059872645884752274, + 0.08317877352237701 + ], + [ + 0.31303390860557556, + -0.04074713587760925, + 0.0939081460237503 + ], + [ + 0.3268487751483917, + -0.01963016204535961, + 0.09953583776950836 + ], + [ + 0.34546831250190735, + 0.007109321188181639, + 0.0950879231095314 + ], + [ + 0.35809606313705444, + 0.024349378421902657, + 0.08449956774711609 + ], + [ + 0.36786386370658875, + 0.0380658358335495, + 0.07200628519058228 + ], + [ + 0.3754163384437561, + 0.053174227476119995, + 0.05678736791014671 + ], + [ + 0.37560299038887024, + 0.054864831268787384, + 0.045065972954034805 + ], + [ + 0.37455570697784424, + 0.051923055201768875, + 0.030502527952194214 + ], + [ + 0.3746475577354431, + 0.05257370322942734, + 0.01857858896255493 + ], + [ + 0.3784770667552948, + 0.054979849606752396, + 0.018758824095129967 + ], + [ + 0.3776382803916931, + 0.05567105859518051, + 0.01577107422053814 + ], + [ + 0.3783033788204193, + 0.054288096725940704, + 0.014175940304994583 + ], + [ + 0.3738901913166046, + 0.05239158496260643, + 0.01676481030881405 + ], + [ + 0.37328407168388367, + 0.054811954498291016, + 0.026067489758133888 + ], + [ + 0.36823776364326477, + 0.054435957223176956, + 0.029913511127233505 + ], + [ + 0.3700745403766632, + 0.05329212546348572, + 0.042988892644643784 + ], + [ + 0.37300002574920654, + 0.05170417204499245, + 0.0696043074131012 + ], + [ + 0.37221646308898926, + 0.04393867775797844, + 0.09450869262218475 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.39122778905145444, + 0.8501789274569772, + 0.35233025470716284, + 0.8964387613457158, + -0.4386556704497259, + 0.06307733300687406, + 0.20817868342092405, + 0.2911648915827679, + -0.9337476327566916 + ], + [ + 0.3928911916873772, + 0.859592638170905, + 0.3267063021994768, + 0.9011288402134329, + -0.43071010988019953, + 0.04955415807558089, + 0.18331209679141697, + 0.2749350789720542, + -0.9438259254335857 + ], + [ + 0.4398289316698497, + 0.8432131197965015, + 0.30909892505346814, + 0.8835168104868606, + -0.4679940408225256, + 0.019483925213594197, + 0.16108555631490806, + 0.264524502376727, + -0.9508302851661076 + ], + [ + 0.4770555335705452, + 0.8235764787267597, + 0.30682210086262257, + 0.8664764682639106, + -0.49916367423592684, + -0.007359094250633441, + 0.1470936702738178, + 0.26936482697509045, + -0.9517384315840444 + ], + [ + 0.5093465365266995, + 0.8030592436911056, + 0.3092926718345013, + 0.8528210065985679, + -0.5191339177002318, + -0.056535884157002794, + 0.11516265207288622, + 0.2925676445123041, + -0.9492848555370832 + ], + [ + 0.5870879121663937, + 0.7547720817849218, + 0.292654895647006, + 0.8038335459758806, + -0.5863200400981662, + -0.10040139910940668, + 0.0958092571307515, + 0.2941902702968605, + -0.9509325271073199 + ], + [ + 0.657879244589044, + 0.7080490313139023, + 0.2566348939532462, + 0.7488581346019951, + -0.6512174613578207, + -0.12299313908952741, + 0.08003995114547052, + 0.27309776139346226, + -0.9586507283377563 + ], + [ + 0.6993795599766985, + 0.6782425304497441, + 0.2255111992250668, + 0.7128472862387367, + -0.684898841501287, + -0.15087187747311842, + 0.052124635143742604, + 0.2662717536640399, + -0.9624875976405144 + ], + [ + 0.7398664752456933, + 0.6416998272895085, + 0.20203695321432935, + 0.6712229515735562, + -0.7243564329586305, + -0.15737695928036244, + 0.0453579991666047, + 0.25204977621109736, + -0.9666506929721502 + ], + [ + 0.7651817186507536, + 0.6199167315921608, + 0.17378199945555925, + 0.6434076916991582, + -0.7459062093236597, + -0.17219311587508324, + 0.02287967886663067, + 0.24357169947369028, + -0.9696129885219456 + ], + [ + 0.7758101747201509, + 0.6096902999902907, + 0.16246941527080913, + 0.6307965107405402, + -0.7554227197893539, + -0.17729150138575506, + 0.014640178900850592, + 0.24002969092136267, + -0.9706551460935786 + ], + [ + 0.8000153116398873, + 0.579316180516189, + 0.15610337643327432, + 0.5995963509994149, + -0.7812671319171401, + -0.17351047361514663, + 0.021441012334324175, + 0.23241005051008531, + -0.9723815359271171 + ], + [ + 0.8074424954692772, + 0.5710990424236975, + 0.14792734788767908, + 0.589624027534293, + -0.7895066220127609, + -0.17036079347149996, + 0.019496734715993072, + 0.22477806285475388, + -0.9742149145823414 + ], + [ + 0.8081716482078576, + 0.5736884698215499, + 0.13319206668117703, + 0.5888284530461494, + -0.7916125581057041, + -0.16318888054221625, + 0.011816933454716322, + 0.21031190513889514, + -0.9775629200417613 + ], + [ + 0.7994835499951745, + 0.5787057463686541, + 0.16101463413930023, + 0.5984845661214301, + -0.7903391180241139, + -0.13107365347509628, + 0.051403087471058005, + 0.2011560032431672, + -0.9782095813053959 + ], + [ + 0.7881195154578267, + 0.5928845836945231, + 0.1653949810964434, + 0.6120586534026178, + -0.7833281522125397, + -0.10854128590662114, + 0.06520608981908967, + 0.1867749350653362, + -0.9802363436854628 + ], + [ + 0.7881195154578267, + 0.5928845836945231, + 0.1653949810964434, + 0.6120586534026178, + -0.7833281522125397, + -0.10854128590662114, + 0.06520608981908967, + 0.1867749350653362, + -0.9802363436854628 + ], + [ + 0.7867949215812735, + 0.5947975036744688, + 0.16483228141519543, + 0.6135310953054582, + -0.782826530864653, + -0.10374110886093948, + 0.06733013045585554, + 0.18275270776935962, + -0.9808507028777441 + ], + [ + 0.78230414639393, + 0.6008184982044842, + 0.16436956759136614, + 0.6190851208608255, + -0.7791057961770489, + -0.0986294656381342, + 0.068802875402134, + 0.17891699354347257, + -0.9814554874051922 + ], + [ + 0.7783389902974783, + 0.594378734939421, + 0.20224325856382724, + 0.620928680267673, + -0.7764143805004515, + -0.10783452032232267, + 0.09293002853624517, + 0.2095104512999606, + -0.9733803884362675 + ], + [ + 0.752189133448512, + 0.6161804778860542, + 0.23352328833349806, + 0.6496292932007257, + -0.7528113403918164, + -0.1060983844976058, + 0.11042322644037227, + 0.23150962064154085, + -0.9665453981127362 + ], + [ + 0.7261208330159783, + 0.6330632099015912, + 0.26828997023607787, + 0.6710202569527632, + -0.7375607602903893, + -0.07573598641933858, + 0.14993448775791776, + 0.23502148231375913, + -0.9603564714374626 + ], + [ + 0.6944114739454335, + 0.6575826726651169, + 0.29219468418082617, + 0.7007273863725364, + -0.7102962001244939, + -0.06678651118466586, + 0.16362712134742605, + 0.2511261370293959, + -0.9540240188067847 + ], + [ + 0.6606181756445874, + 0.6917582853902691, + 0.29164036175044866, + 0.7308375569079744, + -0.6814269073293022, + -0.039164210452992426, + 0.17163942268838145, + 0.23901431873747223, + -0.9557259356204901 + ], + [ + 0.6380886904246782, + 0.7195700288221841, + 0.2739740804765303, + 0.7529269048037125, + -0.6575694283725632, + -0.026524005965948727, + 0.1610710997504532, + 0.2232071246412658, + -0.9613712500041585 + ], + [ + 0.6191951252139056, + 0.7434488225648264, + 0.25274739392980744, + 0.7702935671955735, + -0.6375824636098462, + -0.011680001469086529, + 0.15246382275298706, + 0.2019218916417258, + -0.9674617989498981 + ], + [ + 0.6051880531998033, + 0.7634515666228404, + 0.22558618239015127, + 0.781517502913731, + -0.6237204816383988, + 0.014253189967525268, + 0.15158434254143294, + 0.1676736896650589, + -0.9741189459662445 + ], + [ + 0.5978136741107614, + 0.7742698285406168, + 0.207665701688737, + 0.7884630538679845, + -0.614686698856986, + 0.02205164242118901, + 0.14472326603336244, + 0.15055395996115178, + -0.9779512673996859 + ], + [ + 0.5962532175708231, + 0.7808669366396072, + 0.18635699020835478, + 0.7920924340038601, + -0.6100137895031319, + 0.021742874921901807, + 0.13065862593140015, + 0.13464770283634533, + -0.9822414772298175 + ], + [ + 0.5850605106179942, + 0.7928880866537129, + 0.17038979123769837, + 0.8015868819399912, + -0.5972706191678873, + 0.026949548800147827, + 0.12313679229675722, + 0.12081510469069359, + -0.9850081425356048 + ], + [ + 0.5704625413517802, + 0.8004910055854034, + 0.18381142209160553, + 0.8092608908216598, + -0.5860424968061224, + 0.040632530363982365, + 0.1402472798345922, + 0.125572058652058, + -0.9821213563429327 + ], + [ + 0.5511480012130042, + 0.821042033389329, + 0.1487476391974885, + 0.8261447236481211, + -0.56197491404093, + 0.040854517217302114, + 0.11713571764103296, + 0.10037019177328126, + -0.9880308943834271 + ], + [ + 0.5484323580685666, + 0.8191653052573127, + 0.16789922955762954, + 0.827219324289989, + -0.5608366611677543, + 0.034211533309977685, + 0.12218894444492785, + 0.12012677533713965, + -0.9852103428722898 + ], + [ + 0.5370394759843397, + 0.7903391973008044, + 0.2948771853575416, + 0.8305666180274601, + -0.5565214332067906, + -0.021047265852999153, + 0.1474709946155275, + 0.25621835920046754, + -0.9553033330600952 + ], + [ + 0.5510969397455077, + 0.7664511452660662, + 0.32991636049682577, + 0.8104124209403863, + -0.5858152749541041, + 0.007222992177001786, + 0.19880611406261622, + 0.26338774753352245, + -0.9439825334509845 + ], + [ + 0.5447519790347719, + 0.7821056543187279, + 0.30258226455027815, + 0.8189422692809278, + -0.5738086452469398, + 0.00878625203806814, + 0.18049609669658867, + 0.24301107818893086, + -0.9530827744507555 + ], + [ + 0.52951056126289, + 0.783175588315716, + 0.3259671200863535, + 0.8277360852662453, + -0.5611065211906847, + 0.003527750756326997, + 0.18566512504821758, + 0.267946766622812, + -0.9453745245124865 + ], + [ + 0.5162260202439078, + 0.776560639143939, + 0.3611983800565732, + 0.8335708525359051, + -0.5524001229880894, + -0.0037064707347270465, + 0.19664773028362176, + 0.30299781823488436, + -0.9324816310894276 + ], + [ + 0.5219748462696122, + 0.7570807034709723, + 0.392900837736078, + 0.8297310203894719, + -0.5574529275569664, + -0.028154348893428632, + 0.19770860796955722, + 0.3406978749421028, + -0.9191497507722421 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0008665919303894043, + -0.0010606199502944946, + -0.009974151849746704, + 0.0188140869140625, + 0.025357887148857117, + 0.00035750865936279297, + 1.0 + ], + [ + 0.004548221826553345, + -0.027800284326076508, + -0.007482275366783142, + 0.012112557888031006, + 0.0225641131401062, + -0.05074918270111084, + 1.0 + ], + [ + 0.000851064920425415, + -0.034519173204898834, + -0.00027286261320114136, + -0.004468441009521484, + 0.014161139726638794, + -0.0413813591003418, + 1.0 + ], + [ + -0.00475996732711792, + -0.03779841214418411, + 0.0013950243592262268, + -0.023150116205215454, + 0.03221059590578079, + -0.03511393070220947, + 1.0 + ], + [ + -0.012285351753234863, + -0.02788412570953369, + -0.008684538304805756, + -0.0010702908039093018, + 0.01946229487657547, + -0.09241831302642822, + 1.0 + ], + [ + -0.012485384941101074, + -0.027035322040319443, + -0.015826694667339325, + 0.022505462169647217, + 0.015830785036087036, + -0.09000182151794434, + 1.0 + ], + [ + -0.014028877019882202, + -0.019558168947696686, + -0.01617058366537094, + 0.007626473903656006, + 0.027977392077445984, + -0.05504751205444336, + 1.0 + ], + [ + -0.006270915269851685, + -0.015346851199865341, + -0.010273277759552002, + 0.014832943677902222, + 0.006774701178073883, + -0.058143675327301025, + 1.0 + ], + [ + -0.003026306629180908, + -0.012852739542722702, + -0.011848919093608856, + 0.008953660726547241, + 0.02249189093708992, + -0.03762918710708618, + 1.0 + ], + [ + 0.0001430809497833252, + -0.010056998580694199, + -0.00902833417057991, + 0.003689587116241455, + 0.008240973576903343, + -0.016495108604431152, + 1.0 + ], + [ + 0.004320502281188965, + -0.015310041606426239, + -0.001343853771686554, + 0.007813140749931335, + -0.006801953539252281, + -0.0394974946975708, + 1.0 + ], + [ + 0.0034463107585906982, + -0.00772857666015625, + -0.0036651864647865295, + 0.007850676774978638, + 0.0019446853548288345, + -0.012436866760253906, + 1.0 + ], + [ + 0.0004911422729492188, + -0.0008664056658744812, + -0.005673915147781372, + 0.014850109815597534, + 0.007680761627852917, + -0.0010725855827331543, + 0.0 + ], + [ + 0.0034425854682922363, + 0.001911252737045288, + 0.00031290948390960693, + 0.009099259972572327, + -0.03960854187607765, + 0.012937963008880615, + 0.0 + ], + [ + -0.0008847415447235107, + 0.004002325236797333, + -0.002765495330095291, + 0.01452597975730896, + -0.013826634734869003, + 0.0177154541015625, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + -0.0002034008502960205, + 0.0007922202348709106, + 0.0003153383731842041, + 0.004075393080711365, + -0.0021287202835083008, + 0.0019798874855041504, + 0.0 + ], + [ + 3.0517578125e-05, + 0.007583282887935638, + 0.00525304302573204, + 0.0038908272981643677, + -0.0014761686325073242, + 0.007158339023590088, + 0.0 + ], + [ + 0.006778061389923096, + 0.005090050399303436, + 0.026251908391714096, + -0.03168804943561554, + -0.024207033216953278, + 0.003923237323760986, + 0.0 + ], + [ + 0.009435504674911499, + 0.014461223036050797, + 0.01923045516014099, + -0.023088082671165466, + -0.017584562301635742, + 0.03899192810058594, + 0.0 + ], + [ + 0.011051595211029053, + 0.01912551000714302, + 0.010729372501373291, + -0.004912421107292175, + -0.03985314071178436, + 0.03361421823501587, + 0.0 + ], + [ + 0.013814866542816162, + 0.02111697383224964, + 0.005627691745758057, + -0.017383471131324768, + -0.013864204287528992, + 0.043944716453552246, + 0.0 + ], + [ + 0.018619537353515625, + 0.026739483699202538, + -0.004447914659976959, + 0.012329339981079102, + -0.008127331733703613, + 0.04589486122131348, + 0.0 + ], + [ + 0.012627750635147095, + 0.01724005676805973, + -0.010588355362415314, + 0.016926363110542297, + 0.010717719793319702, + 0.03194838762283325, + 0.0 + ], + [ + 0.009767800569534302, + 0.013716457411646843, + -0.012493282556533813, + 0.022374600172042847, + 0.008715063333511353, + 0.025947988033294678, + 0.0 + ], + [ + 0.007552474737167358, + 0.015108391642570496, + -0.015218917280435562, + 0.035301074385643005, + 0.0008898228406906128, + 0.01816004514694214, + 0.0 + ], + [ + 0.00018665194511413574, + 0.001690603792667389, + -0.011721394956111908, + 0.01770906150341034, + 0.006937652826309204, + 0.01019054651260376, + 0.0 + ], + [ + -0.001047283411026001, + -0.002941776067018509, + -0.014563445001840591, + 0.01651616394519806, + 0.014200016856193542, + 0.0034659504890441895, + 0.0 + ], + [ + 9.185075759887695e-05, + 0.0006506480276584625, + -0.011923938989639282, + 0.014188632369041443, + 0.007583156228065491, + 0.014765262603759766, + 0.0 + ], + [ + 0.0038295090198516846, + 0.002406146377325058, + 0.0001802351325750351, + -0.0051236748695373535, + -0.017261043190956116, + 0.016479074954986572, + 1.0 + ], + [ + -0.0008387863636016846, + 0.0006912089884281158, + -0.0029877498745918274, + 0.025929227471351624, + 0.02330590784549713, + 0.025693953037261963, + 1.0 + ], + [ + 0.0006650984287261963, + -0.0013829618692398071, + -0.0015951339155435562, + -0.02009238302707672, + -0.005089804530143738, + 0.0028769969940185547, + 1.0 + ], + [ + -0.004413187503814697, + -0.0018965117633342743, + 0.0025888700038194656, + -0.1407080739736557, + -0.025515764951705933, + 0.01147085428237915, + 1.0 + ], + [ + -0.0006061196327209473, + 0.0024203695356845856, + 0.00930267944931984, + -0.01005825400352478, + -0.05212874710559845, + -0.02321338653564453, + 1.0 + ], + [ + -0.0050463080406188965, + -0.00037599727511405945, + 0.003846021369099617, + 0.022443175315856934, + 0.01864875853061676, + 0.010211169719696045, + 1.0 + ], + [ + 0.0018367767333984375, + -0.0011438317596912384, + 0.013075381517410278, + -0.026531457901000977, + -0.005257904529571533, + 0.017872393131256104, + 1.0 + ], + [ + 0.002925485372543335, + -0.0015879534184932709, + 0.026615414768457413, + -0.03798916935920715, + -0.011188998818397522, + 0.01462090015411377, + 1.0 + ], + [ + -0.0007835626602172852, + -0.007765494287014008, + 0.024904385209083557, + -0.040790945291519165, + -0.0010821223258972168, + -0.007048368453979492, + 1.0 + ], + [ + -0.003343641757965088, + -0.00400933250784874, + 0.017646506428718567, + -0.09781813621520996, + 0.0008095204830169678, + -0.01300191879272461, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9343546032905579 + ], + [ + 0.6591242551803589 + ], + [ + 0.35856863856315613 + ], + [ + 0.2920950949192047 + ], + [ + 0.2920950949192047 + ], + [ + 0.2920950949192047 + ], + [ + 0.2920950949192047 + ], + [ + 0.29134905338287354 + ], + [ + 0.29134905338287354 + ], + [ + 0.29134905338287354 + ], + [ + 0.29134905338287354 + ], + [ + 0.29134905338287354 + ], + [ + 0.29134905338287354 + ], + [ + 0.29134905338287354 + ], + [ + 0.29134905338287354 + ], + [ + 0.29134905338287354 + ], + [ + 0.29134905338287354 + ], + [ + 0.3644362688064575 + ], + [ + 0.6581199765205383 + ], + [ + 0.9492040276527405 + ], + [ + 1.0060625076293945 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3224402666091919, + 0.1430440992116928, + 0.12345603108406067 + ], + [ + 0.32698848843574524, + 0.1152438148856163, + 0.11597375571727753 + ], + [ + 0.32783955335617065, + 0.08072464168071747, + 0.11570089310407639 + ], + [ + 0.32307958602905273, + 0.042926229536533356, + 0.11709591746330261 + ], + [ + 0.31079423427581787, + 0.01504210289567709, + 0.10841137915849686 + ], + [ + 0.2983088493347168, + -0.011993218213319778, + 0.09258468449115753 + ], + [ + 0.2842799723148346, + -0.031551387161016464, + 0.07641410082578659 + ], + [ + 0.2780090570449829, + -0.046898238360881805, + 0.06614082306623459 + ], + [ + 0.274982750415802, + -0.05975097790360451, + 0.05429190397262573 + ], + [ + 0.2751258313655853, + -0.0698079764842987, + 0.04526356980204582 + ], + [ + 0.2794463336467743, + -0.08511801809072495, + 0.04391971603035927 + ], + [ + 0.282892644405365, + -0.0928465947508812, + 0.04025452956557274 + ], + [ + 0.2833837866783142, + -0.09371300041675568, + 0.03458061441779137 + ], + [ + 0.28682637214660645, + -0.09180174767971039, + 0.034893523901700974 + ], + [ + 0.28594163060188293, + -0.08779942244291306, + 0.03212802857160568 + ], + [ + 0.28594163060188293, + -0.08779942244291306, + 0.03212802857160568 + ], + [ + 0.2857382297515869, + -0.08700720220804214, + 0.032443366944789886 + ], + [ + 0.2857687473297119, + -0.0794239193201065, + 0.03769640997052193 + ], + [ + 0.292546808719635, + -0.07433386892080307, + 0.06394831836223602 + ], + [ + 0.3019823133945465, + -0.059872645884752274, + 0.08317877352237701 + ], + [ + 0.31303390860557556, + -0.04074713587760925, + 0.0939081460237503 + ], + [ + 0.3268487751483917, + -0.01963016204535961, + 0.09953583776950836 + ], + [ + 0.34546831250190735, + 0.007109321188181639, + 0.0950879231095314 + ], + [ + 0.35809606313705444, + 0.024349378421902657, + 0.08449956774711609 + ], + [ + 0.36786386370658875, + 0.0380658358335495, + 0.07200628519058228 + ], + [ + 0.3754163384437561, + 0.053174227476119995, + 0.05678736791014671 + ], + [ + 0.37560299038887024, + 0.054864831268787384, + 0.045065972954034805 + ], + [ + 0.37455570697784424, + 0.051923055201768875, + 0.030502527952194214 + ], + [ + 0.3746475577354431, + 0.05257370322942734, + 0.01857858896255493 + ], + [ + 0.3784770667552948, + 0.054979849606752396, + 0.018758824095129967 + ], + [ + 0.3776382803916931, + 0.05567105859518051, + 0.01577107422053814 + ], + [ + 0.3783033788204193, + 0.054288096725940704, + 0.014175940304994583 + ], + [ + 0.3738901913166046, + 0.05239158496260643, + 0.01676481030881405 + ], + [ + 0.37328407168388367, + 0.054811954498291016, + 0.026067489758133888 + ], + [ + 0.36823776364326477, + 0.054435957223176956, + 0.029913511127233505 + ], + [ + 0.3700745403766632, + 0.05329212546348572, + 0.042988892644643784 + ], + [ + 0.37300002574920654, + 0.05170417204499245, + 0.0696043074131012 + ], + [ + 0.37221646308898926, + 0.04393867775797844, + 0.09450869262218475 + ], + [ + 0.36887282133102417, + 0.0399293452501297, + 0.11215519905090332 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.3928911916873772, + 0.859592638170905, + 0.3267063021994768, + 0.9011288402134329, + -0.43071010988019953, + 0.04955415807558089, + 0.18331209679141697, + 0.2749350789720542, + -0.9438259254335857 + ], + [ + 0.4398289316698497, + 0.8432131197965015, + 0.30909892505346814, + 0.8835168104868606, + -0.4679940408225256, + 0.019483925213594197, + 0.16108555631490806, + 0.264524502376727, + -0.9508302851661076 + ], + [ + 0.4770555335705452, + 0.8235764787267597, + 0.30682210086262257, + 0.8664764682639106, + -0.49916367423592684, + -0.007359094250633441, + 0.1470936702738178, + 0.26936482697509045, + -0.9517384315840444 + ], + [ + 0.5093465365266995, + 0.8030592436911056, + 0.3092926718345013, + 0.8528210065985679, + -0.5191339177002318, + -0.056535884157002794, + 0.11516265207288622, + 0.2925676445123041, + -0.9492848555370832 + ], + [ + 0.5870879121663937, + 0.7547720817849218, + 0.292654895647006, + 0.8038335459758806, + -0.5863200400981662, + -0.10040139910940668, + 0.0958092571307515, + 0.2941902702968605, + -0.9509325271073199 + ], + [ + 0.657879244589044, + 0.7080490313139023, + 0.2566348939532462, + 0.7488581346019951, + -0.6512174613578207, + -0.12299313908952741, + 0.08003995114547052, + 0.27309776139346226, + -0.9586507283377563 + ], + [ + 0.6993795599766985, + 0.6782425304497441, + 0.2255111992250668, + 0.7128472862387367, + -0.684898841501287, + -0.15087187747311842, + 0.052124635143742604, + 0.2662717536640399, + -0.9624875976405144 + ], + [ + 0.7398664752456933, + 0.6416998272895085, + 0.20203695321432935, + 0.6712229515735562, + -0.7243564329586305, + -0.15737695928036244, + 0.0453579991666047, + 0.25204977621109736, + -0.9666506929721502 + ], + [ + 0.7651817186507536, + 0.6199167315921608, + 0.17378199945555925, + 0.6434076916991582, + -0.7459062093236597, + -0.17219311587508324, + 0.02287967886663067, + 0.24357169947369028, + -0.9696129885219456 + ], + [ + 0.7758101747201509, + 0.6096902999902907, + 0.16246941527080913, + 0.6307965107405402, + -0.7554227197893539, + -0.17729150138575506, + 0.014640178900850592, + 0.24002969092136267, + -0.9706551460935786 + ], + [ + 0.8000153116398873, + 0.579316180516189, + 0.15610337643327432, + 0.5995963509994149, + -0.7812671319171401, + -0.17351047361514663, + 0.021441012334324175, + 0.23241005051008531, + -0.9723815359271171 + ], + [ + 0.8074424954692772, + 0.5710990424236975, + 0.14792734788767908, + 0.589624027534293, + -0.7895066220127609, + -0.17036079347149996, + 0.019496734715993072, + 0.22477806285475388, + -0.9742149145823414 + ], + [ + 0.8081716482078576, + 0.5736884698215499, + 0.13319206668117703, + 0.5888284530461494, + -0.7916125581057041, + -0.16318888054221625, + 0.011816933454716322, + 0.21031190513889514, + -0.9775629200417613 + ], + [ + 0.7994835499951745, + 0.5787057463686541, + 0.16101463413930023, + 0.5984845661214301, + -0.7903391180241139, + -0.13107365347509628, + 0.051403087471058005, + 0.2011560032431672, + -0.9782095813053959 + ], + [ + 0.7881195154578267, + 0.5928845836945231, + 0.1653949810964434, + 0.6120586534026178, + -0.7833281522125397, + -0.10854128590662114, + 0.06520608981908967, + 0.1867749350653362, + -0.9802363436854628 + ], + [ + 0.7881195154578267, + 0.5928845836945231, + 0.1653949810964434, + 0.6120586534026178, + -0.7833281522125397, + -0.10854128590662114, + 0.06520608981908967, + 0.1867749350653362, + -0.9802363436854628 + ], + [ + 0.7867949215812735, + 0.5947975036744688, + 0.16483228141519543, + 0.6135310953054582, + -0.782826530864653, + -0.10374110886093948, + 0.06733013045585554, + 0.18275270776935962, + -0.9808507028777441 + ], + [ + 0.78230414639393, + 0.6008184982044842, + 0.16436956759136614, + 0.6190851208608255, + -0.7791057961770489, + -0.0986294656381342, + 0.068802875402134, + 0.17891699354347257, + -0.9814554874051922 + ], + [ + 0.7783389902974783, + 0.594378734939421, + 0.20224325856382724, + 0.620928680267673, + -0.7764143805004515, + -0.10783452032232267, + 0.09293002853624517, + 0.2095104512999606, + -0.9733803884362675 + ], + [ + 0.752189133448512, + 0.6161804778860542, + 0.23352328833349806, + 0.6496292932007257, + -0.7528113403918164, + -0.1060983844976058, + 0.11042322644037227, + 0.23150962064154085, + -0.9665453981127362 + ], + [ + 0.7261208330159783, + 0.6330632099015912, + 0.26828997023607787, + 0.6710202569527632, + -0.7375607602903893, + -0.07573598641933858, + 0.14993448775791776, + 0.23502148231375913, + -0.9603564714374626 + ], + [ + 0.6944114739454335, + 0.6575826726651169, + 0.29219468418082617, + 0.7007273863725364, + -0.7102962001244939, + -0.06678651118466586, + 0.16362712134742605, + 0.2511261370293959, + -0.9540240188067847 + ], + [ + 0.6606181756445874, + 0.6917582853902691, + 0.29164036175044866, + 0.7308375569079744, + -0.6814269073293022, + -0.039164210452992426, + 0.17163942268838145, + 0.23901431873747223, + -0.9557259356204901 + ], + [ + 0.6380886904246782, + 0.7195700288221841, + 0.2739740804765303, + 0.7529269048037125, + -0.6575694283725632, + -0.026524005965948727, + 0.1610710997504532, + 0.2232071246412658, + -0.9613712500041585 + ], + [ + 0.6191951252139056, + 0.7434488225648264, + 0.25274739392980744, + 0.7702935671955735, + -0.6375824636098462, + -0.011680001469086529, + 0.15246382275298706, + 0.2019218916417258, + -0.9674617989498981 + ], + [ + 0.6051880531998033, + 0.7634515666228404, + 0.22558618239015127, + 0.781517502913731, + -0.6237204816383988, + 0.014253189967525268, + 0.15158434254143294, + 0.1676736896650589, + -0.9741189459662445 + ], + [ + 0.5978136741107614, + 0.7742698285406168, + 0.207665701688737, + 0.7884630538679845, + -0.614686698856986, + 0.02205164242118901, + 0.14472326603336244, + 0.15055395996115178, + -0.9779512673996859 + ], + [ + 0.5962532175708231, + 0.7808669366396072, + 0.18635699020835478, + 0.7920924340038601, + -0.6100137895031319, + 0.021742874921901807, + 0.13065862593140015, + 0.13464770283634533, + -0.9822414772298175 + ], + [ + 0.5850605106179942, + 0.7928880866537129, + 0.17038979123769837, + 0.8015868819399912, + -0.5972706191678873, + 0.026949548800147827, + 0.12313679229675722, + 0.12081510469069359, + -0.9850081425356048 + ], + [ + 0.5704625413517802, + 0.8004910055854034, + 0.18381142209160553, + 0.8092608908216598, + -0.5860424968061224, + 0.040632530363982365, + 0.1402472798345922, + 0.125572058652058, + -0.9821213563429327 + ], + [ + 0.5511480012130042, + 0.821042033389329, + 0.1487476391974885, + 0.8261447236481211, + -0.56197491404093, + 0.040854517217302114, + 0.11713571764103296, + 0.10037019177328126, + -0.9880308943834271 + ], + [ + 0.5484323580685666, + 0.8191653052573127, + 0.16789922955762954, + 0.827219324289989, + -0.5608366611677543, + 0.034211533309977685, + 0.12218894444492785, + 0.12012677533713965, + -0.9852103428722898 + ], + [ + 0.5370394759843397, + 0.7903391973008044, + 0.2948771853575416, + 0.8305666180274601, + -0.5565214332067906, + -0.021047265852999153, + 0.1474709946155275, + 0.25621835920046754, + -0.9553033330600952 + ], + [ + 0.5510969397455077, + 0.7664511452660662, + 0.32991636049682577, + 0.8104124209403863, + -0.5858152749541041, + 0.007222992177001786, + 0.19880611406261622, + 0.26338774753352245, + -0.9439825334509845 + ], + [ + 0.5447519790347719, + 0.7821056543187279, + 0.30258226455027815, + 0.8189422692809278, + -0.5738086452469398, + 0.00878625203806814, + 0.18049609669658867, + 0.24301107818893086, + -0.9530827744507555 + ], + [ + 0.52951056126289, + 0.783175588315716, + 0.3259671200863535, + 0.8277360852662453, + -0.5611065211906847, + 0.003527750756326997, + 0.18566512504821758, + 0.267946766622812, + -0.9453745245124865 + ], + [ + 0.5162260202439078, + 0.776560639143939, + 0.3611983800565732, + 0.8335708525359051, + -0.5524001229880894, + -0.0037064707347270465, + 0.19664773028362176, + 0.30299781823488436, + -0.9324816310894276 + ], + [ + 0.5219748462696122, + 0.7570807034709723, + 0.392900837736078, + 0.8297310203894719, + -0.5574529275569664, + -0.028154348893428632, + 0.19770860796955722, + 0.3406978749421028, + -0.9191497507722421 + ], + [ + 0.5328053218586565, + 0.7080408766431959, + 0.4634615474895706, + 0.8230084877855114, + -0.5609976564840979, + -0.0890991495602243, + 0.1969150020493582, + 0.42890528840489245, + -0.8816261881014066 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006708.json b/json/chunk-0006/episode_0006708.json new file mode 100644 index 0000000000000000000000000000000000000000..ad0fc1b9fe97182eed0ec755d402adac324ffb80 --- /dev/null +++ b/json/chunk-0006/episode_0006708.json @@ -0,0 +1,2482 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 40, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut the yellow figure on left of cloth." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006708.mp4", + "start": 0, + "end": 40, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.31451985239982605, + 0.10704800486564636, + 0.15925753116607666, + 0.11509852111339569, + -0.11560126394033432, + -0.8991348743438721, + 0.0, + 1.0001531839370728 + ], + [ + 0.3140977621078491, + 0.10562349855899811, + 0.14952392876148224, + 0.0863942876458168, + -0.11207360774278641, + -0.8886159062385559, + 0.0, + 1.0001531839370728 + ], + [ + 0.31170520186424255, + 0.06512800604104996, + 0.13383233547210693, + 0.05165599659085274, + -0.13848988711833954, + -0.9119266271591187, + 0.0, + 1.0001531839370728 + ], + [ + 0.3112180829048157, + 0.067766472697258, + 0.13578343391418457, + 0.058733247220516205, + -0.14033184945583344, + -0.9009303450584412, + 0.0, + 1.0001531839370728 + ], + [ + 0.31212118268013, + 0.06603983044624329, + 0.13512022793293, + 0.061958834528923035, + -0.14238472282886505, + -0.8991034626960754, + 0.0, + 1.0008161067962646 + ], + [ + 0.3099226951599121, + 0.02000972256064415, + 0.11303640156984329, + 0.06006249785423279, + -0.13290093839168549, + -0.9593300819396973, + 0.0, + 1.0008161067962646 + ], + [ + 0.30451369285583496, + -0.016786381602287292, + 0.1248420774936676, + 0.10927700251340866, + -0.22379502654075623, + -0.9635331034660339, + 0.0, + 1.0001531839370728 + ], + [ + 0.30659326910972595, + -0.0508505143225193, + 0.12383921444416046, + 0.1035270020365715, + -0.28846749663352966, + -0.9512407183647156, + 0.0, + 1.0001531839370728 + ], + [ + 0.31340348720550537, + -0.07331026345491409, + 0.10929568856954575, + 0.10166732221841812, + -0.2910846471786499, + -0.8928871154785156, + 0.0, + 1.0001531839370728 + ], + [ + 0.325605183839798, + -0.08332576602697372, + 0.09967570751905441, + 0.08105576038360596, + -0.3533983826637268, + -0.7896708846092224, + 0.0, + 1.0001531839370728 + ], + [ + 0.3308173418045044, + -0.09383093565702438, + 0.09009437263011932, + 0.05863112583756447, + -0.3740653097629547, + -0.7116932272911072, + 0.0, + 1.0001531839370728 + ], + [ + 0.3295677900314331, + -0.1075710654258728, + 0.08319857716560364, + 0.04543311893939972, + -0.3717081546783447, + -0.6860485076904297, + 0.0, + 1.0008161067962646 + ], + [ + 0.33000725507736206, + -0.11297391355037689, + 0.08321665227413177, + 0.03566199541091919, + -0.38261595368385315, + -0.6604077219963074, + 0.0, + 1.0001531839370728 + ], + [ + 0.3330595791339874, + -0.11873980611562729, + 0.08055464923381805, + 0.033433958888053894, + -0.38261690735816956, + -0.6572050452232361, + 0.0, + 1.0001531839370728 + ], + [ + 0.3387419581413269, + -0.12082228809595108, + 0.07138261944055557, + 0.04019681364297867, + -0.35949307680130005, + -0.6436828970909119, + 0.0, + 1.0001531839370728 + ], + [ + 0.3439258337020874, + -0.12085895240306854, + 0.05922698229551315, + 0.05212193354964256, + -0.3350129723548889, + -0.6347915530204773, + 0.0, + 0.9522681832313538 + ], + [ + 0.34535807371139526, + -0.12531769275665283, + 0.054930947721004486, + 0.06909241527318954, + -0.3295990824699402, + -0.6411800384521484, + 0.0, + 0.676182746887207 + ], + [ + 0.3446747362613678, + -0.1258234679698944, + 0.05435871705412865, + 0.0629459097981453, + -0.335109144449234, + -0.6412124037742615, + 0.0, + 0.4709327220916748 + ], + [ + 0.3334473669528961, + -0.11884135752916336, + 0.06471062451601028, + 0.06460827589035034, + -0.3580433428287506, + -0.656602144241333, + 0.0, + 0.4690495729446411 + ], + [ + 0.32852521538734436, + -0.10130277276039124, + 0.07707611471414566, + 0.08000852912664413, + -0.39260268211364746, + -0.6392995715141296, + 0.0, + 0.4690495729446411 + ], + [ + 0.32294154167175293, + -0.07323679327964783, + 0.09084950387477875, + 0.07804488390684128, + -0.4306027591228485, + -0.574807345867157, + 0.0, + 0.4690495729446411 + ], + [ + 0.31891608238220215, + -0.03939518332481384, + 0.103296659886837, + 0.06834744662046432, + -0.46880343556404114, + -0.477583110332489, + 0.0, + 0.4690495729446411 + ], + [ + 0.31816667318344116, + 0.0046822139993309975, + 0.11118216067552567, + 0.02317570149898529, + -0.4957771599292755, + -0.3256036043167114, + 0.0, + 0.4690495729446411 + ], + [ + 0.3259134888648987, + 0.04416735842823982, + 0.11763350665569305, + 0.004411983769387007, + -0.5205875039100647, + -0.18182815611362457, + 0.0, + 0.4690495729446411 + ], + [ + 0.3412141799926758, + 0.07136943936347961, + 0.1138300746679306, + 0.007470234297215939, + -0.508988082408905, + -0.1004645824432373, + 0.0, + 0.4690495729446411 + ], + [ + 0.35354742407798767, + 0.0935090109705925, + 0.11267068237066269, + 0.013883964158594608, + -0.5115339756011963, + -0.028211306780576706, + 0.0, + 0.4690495729446411 + ], + [ + 0.3570599853992462, + 0.11026229709386826, + 0.11899502575397491, + 0.04344967380166054, + -0.5333669781684875, + 0.00712153036147356, + 0.0, + 0.4690495729446411 + ], + [ + 0.3433358073234558, + 0.1336149424314499, + 0.11275505274534225, + 0.11568824201822281, + -0.5300551652908325, + -0.01802964136004448, + 0.0, + 0.4690495729446411 + ], + [ + 0.3222138583660126, + 0.1492396593093872, + 0.1097903698682785, + 0.1762688010931015, + -0.5151370763778687, + -0.07475867122411728, + 0.0, + 0.4690495729446411 + ], + [ + 0.3029828369617462, + 0.16665875911712646, + 0.1045767217874527, + 0.21670480072498322, + -0.4569520950317383, + -0.08600591123104095, + 0.0, + 0.4690495729446411 + ], + [ + 0.2866157293319702, + 0.18339549005031586, + 0.1046447679400444, + 0.2532863914966583, + -0.4220404028892517, + -0.0708509087562561, + 0.0, + 0.4690495729446411 + ], + [ + 0.27737098932266235, + 0.19077622890472412, + 0.10269476473331451, + 0.29807552695274353, + -0.37254399061203003, + -0.07739807665348053, + 0.0, + 0.4690495729446411 + ], + [ + 0.2715989947319031, + 0.19405552744865417, + 0.09799297153949738, + 0.3308013081550598, + -0.33892765641212463, + -0.0944514274597168, + 0.0, + 0.4690495729446411 + ], + [ + 0.27087950706481934, + 0.20436669886112213, + 0.09954765439033508, + 0.40432149171829224, + -0.3336036205291748, + -0.11015485972166061, + 0.0, + 0.4690495729446411 + ], + [ + 0.26412224769592285, + 0.22373516857624054, + 0.08821086585521698, + 0.42234423756599426, + -0.32169967889785767, + -0.103617362678051, + 0.0, + 0.4690495729446411 + ], + [ + 0.267889142036438, + 0.2452833503484726, + 0.08475437015295029, + 0.4634285867214203, + -0.2914265990257263, + -0.11896204948425293, + 0.0, + 0.5178548097610474 + ], + [ + 0.2678060829639435, + 0.25761109590530396, + 0.08693967759609222, + 0.45572033524513245, + -0.2639833390712738, + -0.16492018103599548, + 0.0, + 0.8362758755683899 + ], + [ + 0.2614842653274536, + 0.266510933637619, + 0.09440606087446213, + 0.35083070397377014, + -0.3305276930332184, + -0.20205825567245483, + 0.0, + 1.0047606229782104 + ], + [ + 0.2584528923034668, + 0.25287577509880066, + 0.09623195230960846, + 0.2302693873643875, + -0.40103018283843994, + -0.2357972115278244, + 0.0, + 1.0041072368621826 + ], + [ + 0.2637404501438141, + 0.23279953002929688, + 0.12385827302932739, + 0.14541365206241608, + -0.47413352131843567, + -0.3686847984790802, + 0.0, + 1.0001531839370728 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9522681832313538 + ], + [ + 0.676182746887207 + ], + [ + 0.4709327220916748 + ], + [ + 0.4690495729446411 + ], + [ + 0.4690495729446411 + ], + [ + 0.4690495729446411 + ], + [ + 0.4690495729446411 + ], + [ + 0.4690495729446411 + ], + [ + 0.4690495729446411 + ], + [ + 0.4690495729446411 + ], + [ + 0.4690495729446411 + ], + [ + 0.4690495729446411 + ], + [ + 0.4690495729446411 + ], + [ + 0.4690495729446411 + ], + [ + 0.4690495729446411 + ], + [ + 0.4690495729446411 + ], + [ + 0.4690495729446411 + ], + [ + 0.4690495729446411 + ], + [ + 0.4690495729446411 + ], + [ + 0.4690495729446411 + ], + [ + 0.5178548097610474 + ], + [ + 0.8362758755683899 + ], + [ + 1.0047606229782104 + ], + [ + 1.0041072368621826 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.31451985239982605, + 0.10704800486564636, + 0.15925753116607666 + ], + [ + 0.3140977621078491, + 0.10562349855899811, + 0.14952392876148224 + ], + [ + 0.31170520186424255, + 0.06512800604104996, + 0.13383233547210693 + ], + [ + 0.3112180829048157, + 0.067766472697258, + 0.13578343391418457 + ], + [ + 0.31212118268013, + 0.06603983044624329, + 0.13512022793293 + ], + [ + 0.3099226951599121, + 0.02000972256064415, + 0.11303640156984329 + ], + [ + 0.30451369285583496, + -0.016786381602287292, + 0.1248420774936676 + ], + [ + 0.30659326910972595, + -0.0508505143225193, + 0.12383921444416046 + ], + [ + 0.31340348720550537, + -0.07331026345491409, + 0.10929568856954575 + ], + [ + 0.325605183839798, + -0.08332576602697372, + 0.09967570751905441 + ], + [ + 0.3308173418045044, + -0.09383093565702438, + 0.09009437263011932 + ], + [ + 0.3295677900314331, + -0.1075710654258728, + 0.08319857716560364 + ], + [ + 0.33000725507736206, + -0.11297391355037689, + 0.08321665227413177 + ], + [ + 0.3330595791339874, + -0.11873980611562729, + 0.08055464923381805 + ], + [ + 0.3387419581413269, + -0.12082228809595108, + 0.07138261944055557 + ], + [ + 0.3439258337020874, + -0.12085895240306854, + 0.05922698229551315 + ], + [ + 0.34535807371139526, + -0.12531769275665283, + 0.054930947721004486 + ], + [ + 0.3446747362613678, + -0.1258234679698944, + 0.05435871705412865 + ], + [ + 0.3334473669528961, + -0.11884135752916336, + 0.06471062451601028 + ], + [ + 0.32852521538734436, + -0.10130277276039124, + 0.07707611471414566 + ], + [ + 0.32294154167175293, + -0.07323679327964783, + 0.09084950387477875 + ], + [ + 0.31891608238220215, + -0.03939518332481384, + 0.103296659886837 + ], + [ + 0.31816667318344116, + 0.0046822139993309975, + 0.11118216067552567 + ], + [ + 0.3259134888648987, + 0.04416735842823982, + 0.11763350665569305 + ], + [ + 0.3412141799926758, + 0.07136943936347961, + 0.1138300746679306 + ], + [ + 0.35354742407798767, + 0.0935090109705925, + 0.11267068237066269 + ], + [ + 0.3570599853992462, + 0.11026229709386826, + 0.11899502575397491 + ], + [ + 0.3433358073234558, + 0.1336149424314499, + 0.11275505274534225 + ], + [ + 0.3222138583660126, + 0.1492396593093872, + 0.1097903698682785 + ], + [ + 0.3029828369617462, + 0.16665875911712646, + 0.1045767217874527 + ], + [ + 0.2866157293319702, + 0.18339549005031586, + 0.1046447679400444 + ], + [ + 0.27737098932266235, + 0.19077622890472412, + 0.10269476473331451 + ], + [ + 0.2715989947319031, + 0.19405552744865417, + 0.09799297153949738 + ], + [ + 0.27087950706481934, + 0.20436669886112213, + 0.09954765439033508 + ], + [ + 0.26412224769592285, + 0.22373516857624054, + 0.08821086585521698 + ], + [ + 0.267889142036438, + 0.2452833503484726, + 0.08475437015295029 + ], + [ + 0.2678060829639435, + 0.25761109590530396, + 0.08693967759609222 + ], + [ + 0.2614842653274536, + 0.266510933637619, + 0.09440606087446213 + ], + [ + 0.2584528923034668, + 0.25287577509880066, + 0.09623195230960846 + ], + [ + 0.2637404501438141, + 0.23279953002929688, + 0.12385827302932739 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.6181340239572534, + -0.7693662947899436, + 0.16120121856737707, + -0.777564209117052, + -0.628539342442267, + -0.0182262366498417, + 0.11534396007848473, + -0.11407804102208378, + -0.9867532474889438 + ], + [ + 0.626531492604826, + -0.7672205171029868, + 0.13722597024832428, + -0.7713302119682618, + -0.635625978307009, + -0.032083014295007824, + 0.11183913840585806, + -0.08574551788567714, + -0.9900200570105395 + ], + [ + 0.6063618546866261, + -0.7852662418978064, + 0.12522871282853226, + -0.7831143954099288, + -0.6170427583433135, + -0.07739559469257443, + 0.13804761817118394, + -0.05113867139231582, + -0.9891044896296305 + ], + [ + 0.6147774484457944, + -0.7774555148194345, + 0.13270874635579558, + -0.7761988107035983, + -0.6262465197634964, + -0.07301166171529272, + 0.13987170959417886, + -0.058122447995218846, + -0.9884622834960599 + ], + [ + 0.6160144573915328, + -0.7757992939356368, + 0.13660762721598876, + -0.7748479934128245, + -0.6279957582321678, + -0.07233197596169876, + 0.14190410631385755, + -0.06129260290909279, + -0.9879809924486875 + ], + [ + 0.5690063168214001, + -0.8127644924829599, + 0.12508273732318562, + -0.8115866541832574, + -0.5795463568726834, + -0.0738452638103889, + 0.13251005308643607, + -0.05949705870475342, + -0.989394353044585 + ], + [ + 0.5563920844183442, + -0.8025031799162802, + 0.21544487606083498, + -0.8007335471781022, + -0.5870949354301129, + -0.11893411291923549, + 0.221931599417893, + -0.10633994083395883, + -0.9692461927514835 + ], + [ + 0.5566805615378665, + -0.7927062926498762, + 0.24844211800573368, + -0.7804972518144331, + -0.6014993252600234, + -0.17036021138122096, + 0.2844833779256768, + -0.09907217220302453, + -0.9535480650596335 + ], + [ + 0.600783019228467, + -0.7565960626806, + 0.25811269194470293, + -0.7461204276452976, + -0.6466143542655408, + -0.1587267598993817, + 0.28699141321148564, + -0.09722281004975822, + -0.9529867018741147 + ], + [ + 0.6605683824953462, + -0.6880605872023215, + 0.3003698393418982, + -0.6662374885833295, + -0.7216662562321156, + -0.18795058771416384, + 0.34608816919053886, + -0.0759634316939296, + -0.9351216691915667 + ], + [ + 0.7048924310460545, + -0.6357804982856989, + 0.3144993142338658, + -0.6079535973881978, + -0.7699402230210626, + -0.1938671617294321, + 0.3654026328267663, + -0.05454549453314189, + -0.9292500766475097 + ], + [ + 0.7209141897501509, + -0.620067106278463, + 0.3095149668890623, + -0.590222898467582, + -0.783406760476788, + -0.19470690219864173, + 0.363207462948396, + -0.04231585223906435, + -0.9307468546859945 + ], + [ + 0.7326368341780057, + -0.6025361821748765, + 0.31653343958538244, + -0.5690818359509402, + -0.7974058610178788, + -0.20072308488323434, + 0.37334854117344035, + -0.03307630548381954, + -0.9271013023500747 + ], + [ + 0.7344553769762852, + -0.6006844267151896, + 0.3158378044700584, + -0.5667323049018433, + -0.7988845738505752, + -0.20148928568097338, + 0.3733494258884924, + -0.03101059763095218, + -0.927172340518905 + ], + [ + 0.7487581106296468, + -0.5883522383584736, + 0.30529155799808083, + -0.5617812923854308, + -0.8077292841934011, + -0.1788160590723639, + 0.3517997602217443, + -0.03761711146526103, + -0.9353191335757723 + ], + [ + 0.7604313320892456, + -0.5784121928210357, + 0.29526856313013944, + -0.5600419326576302, + -0.8142594794924676, + -0.15275645230811907, + 0.32878142107193714, + -0.04920198423455448, + -0.9431235029969833 + ], + [ + 0.7582533848000377, + -0.5788073982700269, + 0.3000563282904862, + -0.5659448758282654, + -0.8128438476955182, + -0.13780884146989264, + 0.32366371740282357, + -0.06532132095592658, + -0.9439146799714249 + ], + [ + 0.7567943933788744, + -0.5804044702828186, + 0.3006541152654023, + -0.5648940542973018, + -0.8121586458201959, + -0.1459213536089298, + 0.32887224505856105, + -0.05940525982794715, + -0.9425041440412426 + ], + [ + 0.7418412251831141, + -0.5912342653463536, + 0.316407395771928, + -0.5717182604686089, + -0.8042297821451625, + -0.16233511067385348, + 0.3504423308699507, + -0.06046900851760146, + -0.9346302326285696 + ], + [ + 0.7414557257893434, + -0.5701854676273101, + 0.35373993158933026, + -0.5512394720230969, + -0.8181905886968079, + -0.16339891386318475, + 0.3825943689835172, + -0.07384235285117074, + -0.9209608329063228 + ], + [ + 0.7626812493181399, + -0.5147038325178738, + 0.3916596439894386, + -0.49404353307184184, + -0.8544357499363473, + -0.160812116025515, + 0.4174186140655603, + -0.07084852872236858, + -0.9059482251262831 + ], + [ + 0.7922899920178125, + -0.4311568686111799, + 0.43171787454055716, + -0.410043937897192, + -0.9002176310673857, + -0.14653390634657829, + 0.4518191425141019, + -0.0609259498475466, + -0.8900266799894236 + ], + [ + 0.8333832033886382, + -0.30935000836457244, + 0.4580120180022903, + -0.28136685941205414, + -0.9507297644641014, + -0.13017528715786073, + 0.47571538416819015, + -0.02038350526462781, + -0.8793630569786509 + ], + [ + 0.853225713832963, + -0.17866784047174772, + 0.48998335077366967, + -0.1568730996833249, + -0.9839020037590454, + -0.08560185508901882, + 0.49738989922391513, + -0.0038275031153334887, + -0.8675186674475228 + ], + [ + 0.8688349075780788, + -0.09667105836875861, + 0.4855724558164882, + -0.08758199354485185, + -0.9952950084851653, + -0.041439600519603825, + 0.4872938515726428, + -0.0065232322033550415, + -0.8732136907201583 + ], + [ + 0.8716476515513799, + -0.02141135394549351, + 0.4896651156322913, + -0.024596845009950123, + -0.9996974492984686, + 7.128599127316244e-05, + 0.48951544077845077, + -0.012106353222868536, + -0.8719105856973652 + ], + [ + 0.8610782276208897, + 0.029198596306986298, + 0.5076334582067746, + 0.0061322984109032225, + -0.9988736039113453, + 0.04705229351860361, + 0.5084355227887477, + -0.03740274565941436, + -0.8602873669790057 + ], + [ + 0.8626389541693394, + 0.04044174975240457, + 0.504200852465158, + -0.015554756454426147, + -0.9942062742237681, + 0.10635757540362115, + 0.5055809374385782, + -0.099590909078376, + -0.8570119990569974 + ], + [ + 0.8677945486572166, + 0.012617523109819125, + 0.496762940879642, + -0.0649962975381459, + -0.9882074186486018, + 0.13864190937158813, + 0.49265414098244453, + -0.1526004450794297, + -0.8567409185596364 + ], + [ + 0.8940844436824171, + 0.010625329042635884, + 0.44777238631679656, + -0.07708671165903885, + -0.9811505318893142, + 0.177204042445177, + 0.44121496625873763, + -0.19295267854075415, + -0.876412355796773 + ], + [ + 0.9099663099209375, + 0.03385554874762308, + 0.4132978546131957, + -0.06458003690281343, + -0.9729317797067402, + 0.22188549044565106, + 0.40962267227596694, + -0.22859911166860028, + -0.8831487487970661 + ], + [ + 0.9286160043587822, + 0.032664590300660545, + 0.3696015976551233, + -0.0720169551011065, + -0.9613069929622049, + 0.26589927314667133, + 0.36398609125445286, + -0.27353590225499264, + -0.8903326544336402 + ], + [ + 0.9389080787253936, + 0.018309454272478452, + 0.3436806418587391, + -0.08894586321730036, + -0.9517513314856341, + 0.29369718492326896, + 0.3324759436722004, + -0.30632363098456433, + -0.8919784638542083 + ], + [ + 0.9391417085041652, + 0.026968159914521915, + 0.34246980844842706, + -0.10387149219734113, + -0.9279584770588042, + 0.3579158811276785, + 0.327450094604621, + -0.3717065821390974, + -0.8686832865537907 + ], + [ + 0.9436110571927284, + 0.03456327705879121, + 0.3292469477802017, + -0.09812591896225269, + -0.920643345316945, + 0.3778718496414333, + 0.31617950087163316, + -0.3888717148399736, + -0.8653376870482318 + ], + [ + 0.9510653252319369, + 0.021365190286493974, + 0.3082503459616742, + -0.11367744011286493, + -0.9034460098930495, + 0.41335547270807216, + 0.28731896343759833, + -0.42816916733033183, + -0.8568074330891359 + ], + [ + 0.9522597751901427, + -0.03414009224695591, + 0.3033739848045451, + -0.1584863390252297, + -0.9046136169127057, + 0.3956719404234936, + 0.26092796112566957, + -0.42486310524389154, + -0.8668378977094386 + ], + [ + 0.9266280246089162, + -0.0791930007126326, + 0.3675445179124652, + -0.18982323974060597, + -0.9423664953458604, + 0.27552227877966723, + 0.32454220320900934, + -0.32507515606039356, + -0.8882558760000142 + ], + [ + 0.8951832230548159, + -0.14082002088973494, + 0.42286725916983237, + -0.21508278644609874, + -0.9674784950030523, + 0.13313435575091342, + 0.3903669967297101, + -0.2101311100795013, + -0.896358479873417 + ], + [ + 0.8299034843140919, + -0.29487358245449424, + 0.4736135313668549, + -0.3206339370335689, + -0.9467998035090166, + -0.027640739817188342, + 0.4565677224089365, + -0.1289174249112225, + -0.8802989335496074 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0004220902919769287, + -0.0014245063066482544, + -0.009733602404594421, + -0.028704233467578888, + 0.0035276561975479126, + 0.010518968105316162, + 1.0 + ], + [ + -0.0023925602436065674, + -0.04049549251794815, + -0.015691593289375305, + -0.034738291054964066, + -0.02641627937555313, + -0.023310720920562744, + 1.0 + ], + [ + -0.0004871189594268799, + 0.0026384666562080383, + 0.0019510984420776367, + 0.007077250629663467, + -0.0018419623374938965, + 0.01099628210067749, + 1.0 + ], + [ + 0.0009030997753143311, + -0.0017266422510147095, + -0.0006632059812545776, + 0.00322558730840683, + -0.002052873373031616, + 0.0018268823623657227, + 1.0 + ], + [ + -0.0021984875202178955, + -0.046030107885599136, + -0.0220838263630867, + -0.0018963366746902466, + 0.009483784437179565, + -0.060226619243621826, + 1.0 + ], + [ + -0.0054090023040771484, + -0.03679610416293144, + 0.01180567592382431, + 0.04921450465917587, + -0.09089408814907074, + -0.00420302152633667, + 1.0 + ], + [ + 0.002079576253890991, + -0.03406413272023201, + -0.0010028630495071411, + -0.005750000476837158, + -0.06467247009277344, + 0.01229238510131836, + 1.0 + ], + [ + 0.006810218095779419, + -0.02245974913239479, + -0.014543525874614716, + -0.0018596798181533813, + -0.0026171505451202393, + 0.05835360288619995, + 1.0 + ], + [ + 0.012201696634292603, + -0.010015502572059631, + -0.009619981050491333, + -0.020611561834812164, + -0.062313735485076904, + 0.10321623086929321, + 1.0 + ], + [ + 0.005212157964706421, + -0.01050516963005066, + -0.009581334888935089, + -0.02242463454604149, + -0.020666927099227905, + 0.07797765731811523, + 1.0 + ], + [ + -0.001249551773071289, + -0.01374012976884842, + -0.006895795464515686, + -0.01319800689816475, + 0.0023571550846099854, + 0.02564471960067749, + 1.0 + ], + [ + 0.0004394650459289551, + -0.005402848124504089, + 1.8075108528137207e-05, + -0.00977112352848053, + -0.010907799005508423, + 0.025640785694122314, + 1.0 + ], + [ + 0.003052324056625366, + -0.005765892565250397, + -0.0026620030403137207, + -0.0022280365228652954, + -9.5367431640625e-07, + 0.003202676773071289, + 1.0 + ], + [ + 0.0056823790073394775, + -0.0020824819803237915, + -0.009172029793262482, + 0.006762854754924774, + 0.023123830556869507, + 0.013522148132324219, + 1.0 + ], + [ + 0.005183875560760498, + -3.666430711746216e-05, + -0.01215563714504242, + 0.011925119906663895, + 0.024480104446411133, + 0.00889134407043457, + 0.0 + ], + [ + 0.0014322400093078613, + -0.0044587403535842896, + -0.004296034574508667, + 0.016970481723546982, + 0.0054138898849487305, + -0.006388485431671143, + 0.0 + ], + [ + -0.0006833374500274658, + -0.0005057752132415771, + -0.0005722306668758392, + -0.0061465054750442505, + -0.005510061979293823, + -3.236532211303711e-05, + 0.0 + ], + [ + -0.01122736930847168, + 0.006982110440731049, + 0.010351907461881638, + 0.0016623660922050476, + -0.0229341983795166, + -0.015389740467071533, + 0.0 + ], + [ + -0.004922151565551758, + 0.017538584768772125, + 0.012365490198135376, + 0.015400253236293793, + -0.03455933928489685, + 0.01730257272720337, + 0.0 + ], + [ + -0.005583673715591431, + 0.028065979480743408, + 0.013773389160633087, + -0.0019636452198028564, + -0.03800007700920105, + 0.06449222564697266, + 0.0 + ], + [ + -0.004025459289550781, + 0.033841609954833984, + 0.012447156012058258, + -0.009697437286376953, + -0.03820067644119263, + 0.09722423553466797, + 0.0 + ], + [ + -0.0007494091987609863, + 0.044077396392822266, + 0.00788550078868866, + -0.045171745121479034, + -0.026973724365234375, + 0.1519795060157776, + 0.0 + ], + [ + 0.0077468156814575195, + 0.0394851453602314, + 0.006451345980167389, + -0.018763717263936996, + -0.024810343980789185, + 0.14377544820308685, + 0.0 + ], + [ + 0.0153006911277771, + 0.027202080935239792, + -0.003803431987762451, + 0.003058250527828932, + 0.011599421501159668, + 0.08136357367038727, + 0.0 + ], + [ + 0.01233324408531189, + 0.022139571607112885, + -0.0011593922972679138, + 0.00641372986137867, + -0.0025458931922912598, + 0.0722532719373703, + 0.0 + ], + [ + 0.003512561321258545, + 0.016753286123275757, + 0.006324343383312225, + 0.029565710574388504, + -0.02183300256729126, + 0.03533283621072769, + 0.0 + ], + [ + -0.013724178075790405, + 0.023352645337581635, + -0.00623997300863266, + 0.07223856449127197, + 0.0033118128776550293, + -0.025151170790195465, + 0.0 + ], + [ + -0.021121948957443237, + 0.015624716877937317, + -0.0029646828770637512, + 0.06058055907487869, + 0.014918088912963867, + -0.0567290298640728, + 0.0 + ], + [ + -0.019231021404266357, + 0.017419099807739258, + -0.005213648080825806, + 0.040435999631881714, + 0.05818498134613037, + -0.011247240006923676, + 0.0 + ], + [ + -0.016367107629776, + 0.016736730933189392, + 6.804615259170532e-05, + 0.03658159077167511, + 0.03491169214248657, + 0.015155002474784851, + 0.0 + ], + [ + -0.009244740009307861, + 0.007380738854408264, + -0.001950003206729889, + 0.044789135456085205, + 0.04949641227722168, + -0.006547167897224426, + 0.0 + ], + [ + -0.005771994590759277, + 0.0032792985439300537, + -0.004701793193817139, + 0.032725781202316284, + 0.033616334199905396, + -0.017053350806236267, + 0.0 + ], + [ + -0.0007194876670837402, + 0.010311171412467957, + 0.0015546828508377075, + 0.07352018356323242, + 0.005324035882949829, + -0.015703432261943817, + 0.0 + ], + [ + -0.006757259368896484, + 0.019368469715118408, + -0.011336788535118103, + 0.018022745847702026, + 0.011903941631317139, + 0.006537497043609619, + 0.0 + ], + [ + 0.0037668943405151367, + 0.021548181772232056, + -0.003456495702266693, + 0.041084349155426025, + 0.030273079872131348, + -0.015344686806201935, + 1.0 + ], + [ + -8.305907249450684e-05, + 0.01232774555683136, + 0.0021853074431419373, + -0.007708251476287842, + 0.027443259954452515, + -0.045958131551742554, + 1.0 + ], + [ + -0.006321817636489868, + 0.008899837732315063, + 0.0074663832783699036, + -0.1048896312713623, + -0.06654435396194458, + -0.03713807463645935, + 1.0 + ], + [ + -0.0030313730239868164, + -0.01363515853881836, + 0.0018258914351463318, + -0.12056131660938263, + -0.07050248980522156, + -0.03373895585536957, + 1.0 + ], + [ + 0.00528755784034729, + -0.020076245069503784, + 0.027626320719718933, + -0.08485573530197144, + -0.07310333847999573, + -0.1328875869512558, + 1.0 + ], + [ + 0.010151684284210205, + -0.02365840971469879, + 0.03142751753330231, + -0.021779388189315796, + 0.021832138299942017, + -0.21022740006446838, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9522681832313538 + ], + [ + 0.676182746887207 + ], + [ + 0.4709327220916748 + ], + [ + 0.4690495729446411 + ], + [ + 0.4690495729446411 + ], + [ + 0.4690495729446411 + ], + [ + 0.4690495729446411 + ], + [ + 0.4690495729446411 + ], + [ + 0.4690495729446411 + ], + [ + 0.4690495729446411 + ], + [ + 0.4690495729446411 + ], + [ + 0.4690495729446411 + ], + [ + 0.4690495729446411 + ], + [ + 0.4690495729446411 + ], + [ + 0.4690495729446411 + ], + [ + 0.4690495729446411 + ], + [ + 0.4690495729446411 + ], + [ + 0.4690495729446411 + ], + [ + 0.4690495729446411 + ], + [ + 0.4690495729446411 + ], + [ + 0.5178548097610474 + ], + [ + 0.8362758755683899 + ], + [ + 1.0047606229782104 + ], + [ + 1.0041072368621826 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3140977621078491, + 0.10562349855899811, + 0.14952392876148224 + ], + [ + 0.31170520186424255, + 0.06512800604104996, + 0.13383233547210693 + ], + [ + 0.3112180829048157, + 0.067766472697258, + 0.13578343391418457 + ], + [ + 0.31212118268013, + 0.06603983044624329, + 0.13512022793293 + ], + [ + 0.3099226951599121, + 0.02000972256064415, + 0.11303640156984329 + ], + [ + 0.30451369285583496, + -0.016786381602287292, + 0.1248420774936676 + ], + [ + 0.30659326910972595, + -0.0508505143225193, + 0.12383921444416046 + ], + [ + 0.31340348720550537, + -0.07331026345491409, + 0.10929568856954575 + ], + [ + 0.325605183839798, + -0.08332576602697372, + 0.09967570751905441 + ], + [ + 0.3308173418045044, + -0.09383093565702438, + 0.09009437263011932 + ], + [ + 0.3295677900314331, + -0.1075710654258728, + 0.08319857716560364 + ], + [ + 0.33000725507736206, + -0.11297391355037689, + 0.08321665227413177 + ], + [ + 0.3330595791339874, + -0.11873980611562729, + 0.08055464923381805 + ], + [ + 0.3387419581413269, + -0.12082228809595108, + 0.07138261944055557 + ], + [ + 0.3439258337020874, + -0.12085895240306854, + 0.05922698229551315 + ], + [ + 0.34535807371139526, + -0.12531769275665283, + 0.054930947721004486 + ], + [ + 0.3446747362613678, + -0.1258234679698944, + 0.05435871705412865 + ], + [ + 0.3334473669528961, + -0.11884135752916336, + 0.06471062451601028 + ], + [ + 0.32852521538734436, + -0.10130277276039124, + 0.07707611471414566 + ], + [ + 0.32294154167175293, + -0.07323679327964783, + 0.09084950387477875 + ], + [ + 0.31891608238220215, + -0.03939518332481384, + 0.103296659886837 + ], + [ + 0.31816667318344116, + 0.0046822139993309975, + 0.11118216067552567 + ], + [ + 0.3259134888648987, + 0.04416735842823982, + 0.11763350665569305 + ], + [ + 0.3412141799926758, + 0.07136943936347961, + 0.1138300746679306 + ], + [ + 0.35354742407798767, + 0.0935090109705925, + 0.11267068237066269 + ], + [ + 0.3570599853992462, + 0.11026229709386826, + 0.11899502575397491 + ], + [ + 0.3433358073234558, + 0.1336149424314499, + 0.11275505274534225 + ], + [ + 0.3222138583660126, + 0.1492396593093872, + 0.1097903698682785 + ], + [ + 0.3029828369617462, + 0.16665875911712646, + 0.1045767217874527 + ], + [ + 0.2866157293319702, + 0.18339549005031586, + 0.1046447679400444 + ], + [ + 0.27737098932266235, + 0.19077622890472412, + 0.10269476473331451 + ], + [ + 0.2715989947319031, + 0.19405552744865417, + 0.09799297153949738 + ], + [ + 0.27087950706481934, + 0.20436669886112213, + 0.09954765439033508 + ], + [ + 0.26412224769592285, + 0.22373516857624054, + 0.08821086585521698 + ], + [ + 0.267889142036438, + 0.2452833503484726, + 0.08475437015295029 + ], + [ + 0.2678060829639435, + 0.25761109590530396, + 0.08693967759609222 + ], + [ + 0.2614842653274536, + 0.266510933637619, + 0.09440606087446213 + ], + [ + 0.2584528923034668, + 0.25287577509880066, + 0.09623195230960846 + ], + [ + 0.2637404501438141, + 0.23279953002929688, + 0.12385827302932739 + ], + [ + 0.2738921344280243, + 0.20914112031459808, + 0.1552857905626297 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.626531492604826, + -0.7672205171029868, + 0.13722597024832428, + -0.7713302119682618, + -0.635625978307009, + -0.032083014295007824, + 0.11183913840585806, + -0.08574551788567714, + -0.9900200570105395 + ], + [ + 0.6063618546866261, + -0.7852662418978064, + 0.12522871282853226, + -0.7831143954099288, + -0.6170427583433135, + -0.07739559469257443, + 0.13804761817118394, + -0.05113867139231582, + -0.9891044896296305 + ], + [ + 0.6147774484457944, + -0.7774555148194345, + 0.13270874635579558, + -0.7761988107035983, + -0.6262465197634964, + -0.07301166171529272, + 0.13987170959417886, + -0.058122447995218846, + -0.9884622834960599 + ], + [ + 0.6160144573915328, + -0.7757992939356368, + 0.13660762721598876, + -0.7748479934128245, + -0.6279957582321678, + -0.07233197596169876, + 0.14190410631385755, + -0.06129260290909279, + -0.9879809924486875 + ], + [ + 0.5690063168214001, + -0.8127644924829599, + 0.12508273732318562, + -0.8115866541832574, + -0.5795463568726834, + -0.0738452638103889, + 0.13251005308643607, + -0.05949705870475342, + -0.989394353044585 + ], + [ + 0.5563920844183442, + -0.8025031799162802, + 0.21544487606083498, + -0.8007335471781022, + -0.5870949354301129, + -0.11893411291923549, + 0.221931599417893, + -0.10633994083395883, + -0.9692461927514835 + ], + [ + 0.5566805615378665, + -0.7927062926498762, + 0.24844211800573368, + -0.7804972518144331, + -0.6014993252600234, + -0.17036021138122096, + 0.2844833779256768, + -0.09907217220302453, + -0.9535480650596335 + ], + [ + 0.600783019228467, + -0.7565960626806, + 0.25811269194470293, + -0.7461204276452976, + -0.6466143542655408, + -0.1587267598993817, + 0.28699141321148564, + -0.09722281004975822, + -0.9529867018741147 + ], + [ + 0.6605683824953462, + -0.6880605872023215, + 0.3003698393418982, + -0.6662374885833295, + -0.7216662562321156, + -0.18795058771416384, + 0.34608816919053886, + -0.0759634316939296, + -0.9351216691915667 + ], + [ + 0.7048924310460545, + -0.6357804982856989, + 0.3144993142338658, + -0.6079535973881978, + -0.7699402230210626, + -0.1938671617294321, + 0.3654026328267663, + -0.05454549453314189, + -0.9292500766475097 + ], + [ + 0.7209141897501509, + -0.620067106278463, + 0.3095149668890623, + -0.590222898467582, + -0.783406760476788, + -0.19470690219864173, + 0.363207462948396, + -0.04231585223906435, + -0.9307468546859945 + ], + [ + 0.7326368341780057, + -0.6025361821748765, + 0.31653343958538244, + -0.5690818359509402, + -0.7974058610178788, + -0.20072308488323434, + 0.37334854117344035, + -0.03307630548381954, + -0.9271013023500747 + ], + [ + 0.7344553769762852, + -0.6006844267151896, + 0.3158378044700584, + -0.5667323049018433, + -0.7988845738505752, + -0.20148928568097338, + 0.3733494258884924, + -0.03101059763095218, + -0.927172340518905 + ], + [ + 0.7487581106296468, + -0.5883522383584736, + 0.30529155799808083, + -0.5617812923854308, + -0.8077292841934011, + -0.1788160590723639, + 0.3517997602217443, + -0.03761711146526103, + -0.9353191335757723 + ], + [ + 0.7604313320892456, + -0.5784121928210357, + 0.29526856313013944, + -0.5600419326576302, + -0.8142594794924676, + -0.15275645230811907, + 0.32878142107193714, + -0.04920198423455448, + -0.9431235029969833 + ], + [ + 0.7582533848000377, + -0.5788073982700269, + 0.3000563282904862, + -0.5659448758282654, + -0.8128438476955182, + -0.13780884146989264, + 0.32366371740282357, + -0.06532132095592658, + -0.9439146799714249 + ], + [ + 0.7567943933788744, + -0.5804044702828186, + 0.3006541152654023, + -0.5648940542973018, + -0.8121586458201959, + -0.1459213536089298, + 0.32887224505856105, + -0.05940525982794715, + -0.9425041440412426 + ], + [ + 0.7418412251831141, + -0.5912342653463536, + 0.316407395771928, + -0.5717182604686089, + -0.8042297821451625, + -0.16233511067385348, + 0.3504423308699507, + -0.06046900851760146, + -0.9346302326285696 + ], + [ + 0.7414557257893434, + -0.5701854676273101, + 0.35373993158933026, + -0.5512394720230969, + -0.8181905886968079, + -0.16339891386318475, + 0.3825943689835172, + -0.07384235285117074, + -0.9209608329063228 + ], + [ + 0.7626812493181399, + -0.5147038325178738, + 0.3916596439894386, + -0.49404353307184184, + -0.8544357499363473, + -0.160812116025515, + 0.4174186140655603, + -0.07084852872236858, + -0.9059482251262831 + ], + [ + 0.7922899920178125, + -0.4311568686111799, + 0.43171787454055716, + -0.410043937897192, + -0.9002176310673857, + -0.14653390634657829, + 0.4518191425141019, + -0.0609259498475466, + -0.8900266799894236 + ], + [ + 0.8333832033886382, + -0.30935000836457244, + 0.4580120180022903, + -0.28136685941205414, + -0.9507297644641014, + -0.13017528715786073, + 0.47571538416819015, + -0.02038350526462781, + -0.8793630569786509 + ], + [ + 0.853225713832963, + -0.17866784047174772, + 0.48998335077366967, + -0.1568730996833249, + -0.9839020037590454, + -0.08560185508901882, + 0.49738989922391513, + -0.0038275031153334887, + -0.8675186674475228 + ], + [ + 0.8688349075780788, + -0.09667105836875861, + 0.4855724558164882, + -0.08758199354485185, + -0.9952950084851653, + -0.041439600519603825, + 0.4872938515726428, + -0.0065232322033550415, + -0.8732136907201583 + ], + [ + 0.8716476515513799, + -0.02141135394549351, + 0.4896651156322913, + -0.024596845009950123, + -0.9996974492984686, + 7.128599127316244e-05, + 0.48951544077845077, + -0.012106353222868536, + -0.8719105856973652 + ], + [ + 0.8610782276208897, + 0.029198596306986298, + 0.5076334582067746, + 0.0061322984109032225, + -0.9988736039113453, + 0.04705229351860361, + 0.5084355227887477, + -0.03740274565941436, + -0.8602873669790057 + ], + [ + 0.8626389541693394, + 0.04044174975240457, + 0.504200852465158, + -0.015554756454426147, + -0.9942062742237681, + 0.10635757540362115, + 0.5055809374385782, + -0.099590909078376, + -0.8570119990569974 + ], + [ + 0.8677945486572166, + 0.012617523109819125, + 0.496762940879642, + -0.0649962975381459, + -0.9882074186486018, + 0.13864190937158813, + 0.49265414098244453, + -0.1526004450794297, + -0.8567409185596364 + ], + [ + 0.8940844436824171, + 0.010625329042635884, + 0.44777238631679656, + -0.07708671165903885, + -0.9811505318893142, + 0.177204042445177, + 0.44121496625873763, + -0.19295267854075415, + -0.876412355796773 + ], + [ + 0.9099663099209375, + 0.03385554874762308, + 0.4132978546131957, + -0.06458003690281343, + -0.9729317797067402, + 0.22188549044565106, + 0.40962267227596694, + -0.22859911166860028, + -0.8831487487970661 + ], + [ + 0.9286160043587822, + 0.032664590300660545, + 0.3696015976551233, + -0.0720169551011065, + -0.9613069929622049, + 0.26589927314667133, + 0.36398609125445286, + -0.27353590225499264, + -0.8903326544336402 + ], + [ + 0.9389080787253936, + 0.018309454272478452, + 0.3436806418587391, + -0.08894586321730036, + -0.9517513314856341, + 0.29369718492326896, + 0.3324759436722004, + -0.30632363098456433, + -0.8919784638542083 + ], + [ + 0.9391417085041652, + 0.026968159914521915, + 0.34246980844842706, + -0.10387149219734113, + -0.9279584770588042, + 0.3579158811276785, + 0.327450094604621, + -0.3717065821390974, + -0.8686832865537907 + ], + [ + 0.9436110571927284, + 0.03456327705879121, + 0.3292469477802017, + -0.09812591896225269, + -0.920643345316945, + 0.3778718496414333, + 0.31617950087163316, + -0.3888717148399736, + -0.8653376870482318 + ], + [ + 0.9510653252319369, + 0.021365190286493974, + 0.3082503459616742, + -0.11367744011286493, + -0.9034460098930495, + 0.41335547270807216, + 0.28731896343759833, + -0.42816916733033183, + -0.8568074330891359 + ], + [ + 0.9522597751901427, + -0.03414009224695591, + 0.3033739848045451, + -0.1584863390252297, + -0.9046136169127057, + 0.3956719404234936, + 0.26092796112566957, + -0.42486310524389154, + -0.8668378977094386 + ], + [ + 0.9266280246089162, + -0.0791930007126326, + 0.3675445179124652, + -0.18982323974060597, + -0.9423664953458604, + 0.27552227877966723, + 0.32454220320900934, + -0.32507515606039356, + -0.8882558760000142 + ], + [ + 0.8951832230548159, + -0.14082002088973494, + 0.42286725916983237, + -0.21508278644609874, + -0.9674784950030523, + 0.13313435575091342, + 0.3903669967297101, + -0.2101311100795013, + -0.896358479873417 + ], + [ + 0.8299034843140919, + -0.29487358245449424, + 0.4736135313668549, + -0.3206339370335689, + -0.9467998035090166, + -0.027640739817188342, + 0.4565677224089365, + -0.1289174249112225, + -0.8802989335496074 + ], + [ + 0.7528868079754565, + -0.4978242074040845, + 0.43050262821383933, + -0.49209797536942, + -0.8601558220973617, + -0.13405798875609531, + 0.43703665408503867, + -0.11091898049705828, + -0.8925782558138236 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006709.json b/json/chunk-0006/episode_0006709.json new file mode 100644 index 0000000000000000000000000000000000000000..6851eaeba6ad5733c8e304a4c02d76ffec167d21 --- /dev/null +++ b/json/chunk-0006/episode_0006709.json @@ -0,0 +1,1702 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 27, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut the yellow duck in the drawer." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006709.mp4", + "start": 0, + "end": 27, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.20731821656227112, + 0.1985306441783905, + 0.07430190593004227, + 0.13383382558822632, + -0.13729096949100494, + 0.26419031620025635, + 0.0, + 1.0008161067962646 + ], + [ + 0.206717386841774, + 0.19550730288028717, + 0.06688803434371948, + 0.12294188886880875, + -0.11635437607765198, + 0.2726443409919739, + 0.0, + 1.0008161067962646 + ], + [ + 0.22605860233306885, + 0.16017068922519684, + 0.0722229927778244, + 0.1435939073562622, + -0.17413447797298431, + 0.31047213077545166, + 0.0, + 1.0008161067962646 + ], + [ + 0.25386348366737366, + 0.11792140454053879, + 0.08016680926084518, + 0.10964418947696686, + -0.22709479928016663, + 0.2708824574947357, + 0.0, + 1.0001531839370728 + ], + [ + 0.29195672273635864, + 0.07932819426059723, + 0.08295146375894547, + 0.050885312259197235, + -0.27781203389167786, + 0.26224207878112793, + 0.0, + 1.0008161067962646 + ], + [ + 0.32519257068634033, + 0.04712272062897682, + 0.06551941484212875, + 0.021907910704612732, + -0.2589816451072693, + 0.3095589280128479, + 0.0, + 1.0001531839370728 + ], + [ + 0.3455716669559479, + 0.028589854016900063, + 0.04750483110547066, + -0.010445968247950077, + -0.20695510506629944, + 0.3392493724822998, + 0.0, + 1.0008161067962646 + ], + [ + 0.3582706153392792, + 0.013267327100038528, + 0.038345299661159515, + -0.03138868138194084, + -0.18857981264591217, + 0.33945274353027344, + 0.0, + 1.0001531839370728 + ], + [ + 0.35966143012046814, + 0.008120953105390072, + 0.03828534111380577, + -0.0506175234913826, + -0.18873178958892822, + 0.3473093807697296, + 0.0, + 1.0001531839370728 + ], + [ + 0.3614206612110138, + 0.0016434546560049057, + 0.03862644359469414, + -0.054906316101551056, + -0.1987651139497757, + 0.3377143144607544, + 0.0, + 1.0001531839370728 + ], + [ + 0.3621502220630646, + -0.0010284199379384518, + 0.03878976032137871, + -0.054486021399497986, + -0.2040339857339859, + 0.33839744329452515, + 0.0, + 1.0001531839370728 + ], + [ + 0.36280593276023865, + -0.022371454164385796, + 0.033212706446647644, + -0.062352899461984634, + -0.20137685537338257, + 0.299895316362381, + 0.0, + 1.0001531839370728 + ], + [ + 0.363644540309906, + -0.023421984165906906, + 0.03393024951219559, + -0.06971501559019089, + -0.2018287628889084, + 0.3021587133407593, + 0.0, + 1.0001531839370728 + ], + [ + 0.3635004162788391, + -0.023742178454995155, + 0.034435171633958817, + -0.07116420567035675, + -0.20124980807304382, + 0.2997196912765503, + 0.0, + 0.9635607004165649 + ], + [ + 0.36153894662857056, + -0.02312280610203743, + 0.027110744267702103, + -0.06641792505979538, + -0.18676325678825378, + 0.3185918927192688, + 0.0, + 0.6811928749084473 + ], + [ + 0.35213181376457214, + -0.01522222999483347, + 0.013696473091840744, + -0.01821507327258587, + -0.15542179346084595, + 0.3177281320095062, + 0.0, + 0.36865687370300293 + ], + [ + 0.3442562222480774, + -0.008665798231959343, + 0.0085444375872612, + 0.011168276891112328, + -0.1416098028421402, + 0.3201131522655487, + 0.0, + 0.17135097086429596 + ], + [ + 0.33645299077033997, + 0.0011849788716062903, + 0.009687227196991444, + 0.019124465063214302, + -0.13469165563583374, + 0.3395752012729645, + 0.0, + 0.13712207973003387 + ], + [ + 0.3293943405151367, + 0.023375732824206352, + 0.0176309272646904, + 0.03350285068154335, + -0.14988252520561218, + 0.3651546835899353, + 0.0, + 0.13665413856506348 + ], + [ + 0.3211771845817566, + 0.048011329025030136, + 0.020059900358319283, + 0.06214519590139389, + -0.15506421029567719, + 0.38200077414512634, + 0.0, + 0.13665413856506348 + ], + [ + 0.31061622500419617, + 0.06774061918258667, + 0.019361598417162895, + 0.07301083952188492, + -0.14627721905708313, + 0.41820991039276123, + 0.0, + 0.13665413856506348 + ], + [ + 0.30435240268707275, + 0.07587450742721558, + 0.02607174590229988, + 0.07219953089952469, + -0.16069360077381134, + 0.42272934317588806, + 0.0, + 0.13665413856506348 + ], + [ + 0.29383209347724915, + 0.09712699800729752, + 0.026019291952252388, + 0.08054003119468689, + -0.14669151604175568, + 0.4659740924835205, + 0.0, + 0.13665413856506348 + ], + [ + 0.28968545794487, + 0.11527502536773682, + 0.031635768711566925, + 0.08446995913982391, + -0.1690286546945572, + 0.4900413155555725, + 0.0, + 0.13665413856506348 + ], + [ + 0.2898482382297516, + 0.11872301250696182, + 0.03273399919271469, + 0.0821894183754921, + -0.1669512838125229, + 0.4569389522075653, + 0.0, + 0.16760419309139252 + ], + [ + 0.2929883599281311, + 0.11936657875776291, + 0.03557247668504715, + 0.07324711978435516, + -0.171401709318161, + 0.4221004545688629, + 0.0, + 0.4085940718650818 + ], + [ + 0.2995261549949646, + 0.11425687372684479, + 0.05661850422620773, + 0.0512915663421154, + -0.23079074919223785, + 0.30349424481391907, + 0.0, + 0.7190925478935242 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9635607004165649 + ], + [ + 0.6811928749084473 + ], + [ + 0.36865687370300293 + ], + [ + 0.17135097086429596 + ], + [ + 0.13712207973003387 + ], + [ + 0.13665413856506348 + ], + [ + 0.13665413856506348 + ], + [ + 0.13665413856506348 + ], + [ + 0.13665413856506348 + ], + [ + 0.13665413856506348 + ], + [ + 0.13665413856506348 + ], + [ + 0.16760419309139252 + ], + [ + 0.4085940718650818 + ], + [ + 0.7190925478935242 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.20731821656227112, + 0.1985306441783905, + 0.07430190593004227 + ], + [ + 0.206717386841774, + 0.19550730288028717, + 0.06688803434371948 + ], + [ + 0.22605860233306885, + 0.16017068922519684, + 0.0722229927778244 + ], + [ + 0.25386348366737366, + 0.11792140454053879, + 0.08016680926084518 + ], + [ + 0.29195672273635864, + 0.07932819426059723, + 0.08295146375894547 + ], + [ + 0.32519257068634033, + 0.04712272062897682, + 0.06551941484212875 + ], + [ + 0.3455716669559479, + 0.028589854016900063, + 0.04750483110547066 + ], + [ + 0.3582706153392792, + 0.013267327100038528, + 0.038345299661159515 + ], + [ + 0.35966143012046814, + 0.008120953105390072, + 0.03828534111380577 + ], + [ + 0.3614206612110138, + 0.0016434546560049057, + 0.03862644359469414 + ], + [ + 0.3621502220630646, + -0.0010284199379384518, + 0.03878976032137871 + ], + [ + 0.36280593276023865, + -0.022371454164385796, + 0.033212706446647644 + ], + [ + 0.363644540309906, + -0.023421984165906906, + 0.03393024951219559 + ], + [ + 0.3635004162788391, + -0.023742178454995155, + 0.034435171633958817 + ], + [ + 0.36153894662857056, + -0.02312280610203743, + 0.027110744267702103 + ], + [ + 0.35213181376457214, + -0.01522222999483347, + 0.013696473091840744 + ], + [ + 0.3442562222480774, + -0.008665798231959343, + 0.0085444375872612 + ], + [ + 0.33645299077033997, + 0.0011849788716062903, + 0.009687227196991444 + ], + [ + 0.3293943405151367, + 0.023375732824206352, + 0.0176309272646904 + ], + [ + 0.3211771845817566, + 0.048011329025030136, + 0.020059900358319283 + ], + [ + 0.31061622500419617, + 0.06774061918258667, + 0.019361598417162895 + ], + [ + 0.30435240268707275, + 0.07587450742721558, + 0.02607174590229988 + ], + [ + 0.29383209347724915, + 0.09712699800729752, + 0.026019291952252388 + ], + [ + 0.28968545794487, + 0.11527502536773682, + 0.031635768711566925 + ], + [ + 0.2898482382297516, + 0.11872301250696182, + 0.03273399919271469 + ], + [ + 0.2929883599281311, + 0.11936657875776291, + 0.03557247668504715 + ], + [ + 0.2995261549949646, + 0.11425687372684479, + 0.05661850422620773 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9562211105192477, + 0.27642092533401874, + 0.09608673079474493, + 0.2586706518959613, + -0.9519034409025953, + 0.16422342416816813, + 0.13686008053868515, + -0.13217908773813078, + -0.9817321463208081 + ], + [ + 0.9565504181049994, + 0.2809573388456572, + 0.07793761204911183, + 0.2674582998721158, + -0.9519595295562613, + 0.14912783749702693, + 0.11609201287198316, + -0.12180323409412751, + -0.9857416582003334 + ], + [ + 0.9377893462867413, + 0.32597166238079317, + 0.11955591710906, + 0.3008879860701342, + -0.9348151097520545, + 0.18864551523402978, + 0.17325576997533143, + -0.14093681528953333, + -0.9747406076830383 + ], + [ + 0.9387959971708122, + 0.2897133647807193, + 0.18635515008578246, + 0.26071155081508823, + -0.9511568660846421, + 0.16531818826624664, + 0.22514786911639267, + -0.1066151132226402, + -0.9684738791856348 + ], + [ + 0.9287798247665017, + 0.27238353846547636, + 0.25134686208451656, + 0.24930653888929263, + -0.9609446979380103, + 0.1201313330146141, + 0.27425223203056753, + -0.048913142179304335, + -0.9604130453864104 + ], + [ + 0.9207044368316376, + 0.3099088828568944, + 0.2371915351038662, + 0.2944792519657549, + -0.950530419092259, + 0.0988629988518637, + 0.25609629079747775, + -0.02117561585139638, + -0.9664193102029199 + ], + [ + 0.922882058324769, + 0.33073711150569307, + 0.1972350615258571, + 0.32567820170967243, + -0.9436675557937324, + 0.05852566166594764, + 0.20548093671528697, + 0.010222877048748951, + -0.9786077239790489 + ], + [ + 0.9262201302485662, + 0.3272595310682776, + 0.1871295531104051, + 0.3270680218395377, + -0.9444315150212828, + 0.03279668465829978, + 0.18746407499118486, + 0.030827143227605325, + -0.9817876083084996 + ], + [ + 0.9235951159655725, + 0.33100744095532053, + 0.1934066591323851, + 0.3343251271222841, + -0.9423185420754169, + 0.01620106896255692, + 0.18761335543934285, + 0.04969747773349191, + -0.9809849079204633 + ], + [ + 0.9249377480620129, + 0.32060787411001074, + 0.20420762294447287, + 0.3248078531006218, + -0.9456830024138533, + 0.013546863462994118, + 0.1974589090776543, + 0.05379823421061017, + -0.9788338619100195 + ], + [ + 0.9237214324973199, + 0.32107442379036033, + 0.2089256555159936, + 0.32508973033523436, + -0.9455512604375581, + 0.015794971209532598, + 0.20262127819077683, + 0.05332943157988305, + -0.9778039626385765 + ], + [ + 0.9360614603078807, + 0.2829387316105913, + 0.2091282302341498, + 0.2894503781060365, + -0.9571928587072575, + -0.0005566453994620343, + 0.20001855199093468, + 0.061053299619415025, + -0.9778880679633184 + ], + [ + 0.9353175316478788, + 0.283527723865124, + 0.21164391035884225, + 0.29154138539829727, + -0.9565326466347823, + -0.0069940347368642325, + 0.20046130697010126, + 0.06824460214347328, + -0.9773218194055212 + ], + [ + 0.9361365520042944, + 0.2809254316357988, + 0.21149292626882668, + 0.28929347833406066, + -0.957197533938434, + -0.009064458922673758, + 0.19989407043454685, + 0.06966909560501428, + -0.9773374942785567 + ], + [ + 0.9331628888059933, + 0.3008357642075112, + 0.19673552279376527, + 0.30778267908144924, + -0.9514435614575805, + -0.004997181041455502, + 0.18567941569462948, + 0.06521497017248576, + -0.9804438598169213 + ], + [ + 0.9384972628906836, + 0.3096790297035349, + 0.15271472132237973, + 0.3086435344169619, + -0.9506708661915791, + 0.031049522333817817, + 0.15479682234884728, + 0.017994519622089478, + -0.9877824360932267 + ], + [ + 0.939698400381263, + 0.3161504939313779, + 0.13044455338511066, + 0.3115241043592098, + -0.9486446249500714, + 0.055010071409971294, + 0.1411369856702607, + -0.01105625344697534, + -0.9899283360605597 + ], + [ + 0.9343562306418421, + 0.33544699770145947, + 0.12022373307232675, + 0.3300697440572725, + -0.9418684651347276, + 0.0627515612771461, + 0.1342847657730974, + -0.018950095457012057, + -0.9907615735198023 + ], + [ + 0.9235963444004479, + 0.361565395832595, + 0.12743726749482615, + 0.3530902719761215, + -0.931758263280356, + 0.08458013150027056, + 0.14932197576364165, + -0.033121040822917155, + -0.988233749782332 + ], + [ + 0.9167871008984805, + 0.3809585473663812, + 0.11988326327997839, + 0.36830504305180284, + -0.9225538090639922, + 0.11509068009239105, + 0.15444353948537165, + -0.06136004049881459, + -0.9860943862233548 + ], + [ + 0.9040583377513988, + 0.41475933200138637, + 0.1032144295141974, + 0.401788095011554, + -0.9070648406509129, + 0.125696863771218, + 0.14575612731259002, + -0.07216696870935768, + -0.9866848939647035 + ], + [ + 0.9002232621875377, + 0.41970833629923315, + 0.11594391168732475, + 0.40496561219162114, + -0.9048615428069221, + 0.13125715710521335, + 0.16000290984445834, + -0.07120744897836856, + -0.9845448532450412 + ], + [ + 0.8837894592592952, + 0.4583425707820643, + 0.09401212427687558, + 0.44446787944128463, + -0.8852048861209819, + 0.13733394967198362, + 0.14616598731281488, + -0.07958892759943229, + -0.9860532981317197 + ], + [ + 0.869739244427276, + 0.48150693860939353, + 0.10818833011966161, + 0.4639547616795049, + -0.8724874160313082, + 0.15333521442227388, + 0.16822492626832974, + -0.08316716261855162, + -0.9822339829409256 + ], + [ + 0.8849296707792809, + 0.4519567952344889, + 0.11240343862997915, + 0.4350686717842143, + -0.8883587519287526, + 0.14674460366060602, + 0.16617679924223117, + -0.08095543905729269, + -0.9827672604847232 + ], + [ + 0.8988632163244492, + 0.4199655359897407, + 0.125195315086932, + 0.4036743086177272, + -0.9046707686511072, + 0.13644725321608642, + 0.17056368576243391, + -0.0721092846245522, + -0.9827045742083778 + ], + [ + 0.9289956067767206, + 0.3096552319646672, + 0.2026839902569051, + 0.2909326375713916, + -0.9495381282469074, + 0.11719873463955618, + 0.22874737809493328, + -0.04990972172100272, + -0.9722055629816289 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0006008297204971313, + -0.0030233412981033325, + -0.007413871586322784, + -0.010891936719417572, + 0.020936593413352966, + 0.00845402479171753, + 1.0 + ], + [ + 0.01934121549129486, + -0.03533661365509033, + 0.005334958434104919, + 0.02065201848745346, + -0.057780101895332336, + 0.03782778978347778, + 1.0 + ], + [ + 0.02780488133430481, + -0.04224928468465805, + 0.007943816483020782, + -0.03394971787929535, + -0.05296032130718231, + -0.03958967328071594, + 1.0 + ], + [ + 0.038093239068984985, + -0.03859321027994156, + 0.0027846544981002808, + -0.05875887721776962, + -0.05071723461151123, + -0.008640378713607788, + 1.0 + ], + [ + 0.03323584794998169, + -0.03220547363162041, + -0.01743204891681671, + -0.028977401554584503, + 0.01883038878440857, + 0.04731684923171997, + 1.0 + ], + [ + 0.020379096269607544, + -0.01853286661207676, + -0.018014583736658096, + -0.032353878021240234, + 0.05202654004096985, + 0.029690444469451904, + 1.0 + ], + [ + 0.012698948383331299, + -0.015322526916861534, + -0.009159531444311142, + -0.02094271406531334, + 0.018375292420387268, + 0.0002033710479736328, + 1.0 + ], + [ + 0.0013908147811889648, + -0.005146373994648457, + -5.995854735374451e-05, + -0.019228842109441757, + -0.00015197694301605225, + 0.007856637239456177, + 1.0 + ], + [ + 0.0017592310905456543, + -0.006477498449385166, + 0.0003411024808883667, + -0.004288792610168457, + -0.010033324360847473, + -0.00959506630897522, + 1.0 + ], + [ + 0.0007295608520507812, + -0.0026718745939433575, + 0.0001633167266845703, + 0.00042029470205307007, + -0.005268871784210205, + 0.000683128833770752, + 1.0 + ], + [ + 0.0006557106971740723, + -0.021343033760786057, + -0.005577053874731064, + -0.007866878062486649, + 0.0026571303606033325, + -0.038502126932144165, + 1.0 + ], + [ + 0.0008386075496673584, + -0.0010505300015211105, + 0.0007175430655479431, + -0.007362116128206253, + -0.00045190751552581787, + 0.002263396978378296, + 1.0 + ], + [ + -0.00014412403106689453, + -0.0003201942890882492, + 0.0005049221217632294, + -0.001449190080165863, + 0.000578954815864563, + -0.0024390220642089844, + 0.0 + ], + [ + -0.0019614696502685547, + 0.0006193723529577255, + -0.007324427366256714, + 0.004746280610561371, + 0.014486551284790039, + 0.018872201442718506, + 0.0 + ], + [ + -0.009407132863998413, + 0.00790057610720396, + -0.013414271175861359, + 0.04820284992456436, + 0.03134146332740784, + -0.0008637607097625732, + 0.0 + ], + [ + -0.007875591516494751, + 0.0065564317628741264, + -0.005152035504579544, + 0.029383350163698196, + 0.01381199061870575, + 0.0023850202560424805, + 0.0 + ], + [ + -0.007803231477737427, + 0.009850776754319668, + 0.0011427896097302437, + 0.007956188172101974, + 0.0069181472063064575, + 0.01946204900741577, + 0.0 + ], + [ + -0.007058650255203247, + 0.022190753370523453, + 0.007943700067698956, + 0.014378385618329048, + -0.015190869569778442, + 0.025579482316970825, + 0.0 + ], + [ + -0.008217155933380127, + 0.024635596200823784, + 0.0024289730936288834, + 0.02864234521985054, + -0.0051816850900650024, + 0.01684609055519104, + 0.0 + ], + [ + -0.010560959577560425, + 0.019729290157556534, + -0.0006983019411563873, + 0.010865643620491028, + 0.008786991238594055, + 0.03620913624763489, + 0.0 + ], + [ + -0.006263822317123413, + 0.008133888244628906, + 0.006710147485136986, + -0.0008113086223602295, + -0.01441638171672821, + 0.004519432783126831, + 0.0 + ], + [ + -0.010520309209823608, + 0.02125249058008194, + -5.245395004749298e-05, + 0.008340500295162201, + 0.014002084732055664, + 0.043244749307632446, + 0.0 + ], + [ + -0.00414663553237915, + 0.0181480273604393, + 0.005616476759314537, + 0.003929927945137024, + -0.022337138652801514, + 0.024067223072052002, + 0.0 + ], + [ + 0.0001627802848815918, + 0.003447987139225006, + 0.0010982304811477661, + -0.0022805407643318176, + 0.0020773708820343018, + -0.0331023633480072, + 1.0 + ], + [ + 0.0031401216983795166, + 0.0006435662508010864, + 0.0028384774923324585, + -0.008942298591136932, + -0.0044504255056381226, + -0.03483849763870239, + 1.0 + ], + [ + 0.006537795066833496, + -0.005109705030918121, + 0.021046027541160583, + -0.02195555344223976, + -0.05938903987407684, + -0.11860620975494385, + 1.0 + ], + [ + -0.002518564462661743, + 0.001453794538974762, + 0.027720563113689423, + 0.009032130241394043, + -0.06031771004199982, + -0.0747290551662445, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9635607004165649 + ], + [ + 0.6811928749084473 + ], + [ + 0.36865687370300293 + ], + [ + 0.17135097086429596 + ], + [ + 0.13712207973003387 + ], + [ + 0.13665413856506348 + ], + [ + 0.13665413856506348 + ], + [ + 0.13665413856506348 + ], + [ + 0.13665413856506348 + ], + [ + 0.13665413856506348 + ], + [ + 0.13665413856506348 + ], + [ + 0.16760419309139252 + ], + [ + 0.4085940718650818 + ], + [ + 0.7190925478935242 + ], + [ + 0.9709111452102661 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.206717386841774, + 0.19550730288028717, + 0.06688803434371948 + ], + [ + 0.22605860233306885, + 0.16017068922519684, + 0.0722229927778244 + ], + [ + 0.25386348366737366, + 0.11792140454053879, + 0.08016680926084518 + ], + [ + 0.29195672273635864, + 0.07932819426059723, + 0.08295146375894547 + ], + [ + 0.32519257068634033, + 0.04712272062897682, + 0.06551941484212875 + ], + [ + 0.3455716669559479, + 0.028589854016900063, + 0.04750483110547066 + ], + [ + 0.3582706153392792, + 0.013267327100038528, + 0.038345299661159515 + ], + [ + 0.35966143012046814, + 0.008120953105390072, + 0.03828534111380577 + ], + [ + 0.3614206612110138, + 0.0016434546560049057, + 0.03862644359469414 + ], + [ + 0.3621502220630646, + -0.0010284199379384518, + 0.03878976032137871 + ], + [ + 0.36280593276023865, + -0.022371454164385796, + 0.033212706446647644 + ], + [ + 0.363644540309906, + -0.023421984165906906, + 0.03393024951219559 + ], + [ + 0.3635004162788391, + -0.023742178454995155, + 0.034435171633958817 + ], + [ + 0.36153894662857056, + -0.02312280610203743, + 0.027110744267702103 + ], + [ + 0.35213181376457214, + -0.01522222999483347, + 0.013696473091840744 + ], + [ + 0.3442562222480774, + -0.008665798231959343, + 0.0085444375872612 + ], + [ + 0.33645299077033997, + 0.0011849788716062903, + 0.009687227196991444 + ], + [ + 0.3293943405151367, + 0.023375732824206352, + 0.0176309272646904 + ], + [ + 0.3211771845817566, + 0.048011329025030136, + 0.020059900358319283 + ], + [ + 0.31061622500419617, + 0.06774061918258667, + 0.019361598417162895 + ], + [ + 0.30435240268707275, + 0.07587450742721558, + 0.02607174590229988 + ], + [ + 0.29383209347724915, + 0.09712699800729752, + 0.026019291952252388 + ], + [ + 0.28968545794487, + 0.11527502536773682, + 0.031635768711566925 + ], + [ + 0.2898482382297516, + 0.11872301250696182, + 0.03273399919271469 + ], + [ + 0.2929883599281311, + 0.11936657875776291, + 0.03557247668504715 + ], + [ + 0.2995261549949646, + 0.11425687372684479, + 0.05661850422620773 + ], + [ + 0.29700759053230286, + 0.11571066826581955, + 0.08433906733989716 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9565504181049994, + 0.2809573388456572, + 0.07793761204911183, + 0.2674582998721158, + -0.9519595295562613, + 0.14912783749702693, + 0.11609201287198316, + -0.12180323409412751, + -0.9857416582003334 + ], + [ + 0.9377893462867413, + 0.32597166238079317, + 0.11955591710906, + 0.3008879860701342, + -0.9348151097520545, + 0.18864551523402978, + 0.17325576997533143, + -0.14093681528953333, + -0.9747406076830383 + ], + [ + 0.9387959971708122, + 0.2897133647807193, + 0.18635515008578246, + 0.26071155081508823, + -0.9511568660846421, + 0.16531818826624664, + 0.22514786911639267, + -0.1066151132226402, + -0.9684738791856348 + ], + [ + 0.9287798247665017, + 0.27238353846547636, + 0.25134686208451656, + 0.24930653888929263, + -0.9609446979380103, + 0.1201313330146141, + 0.27425223203056753, + -0.048913142179304335, + -0.9604130453864104 + ], + [ + 0.9207044368316376, + 0.3099088828568944, + 0.2371915351038662, + 0.2944792519657549, + -0.950530419092259, + 0.0988629988518637, + 0.25609629079747775, + -0.02117561585139638, + -0.9664193102029199 + ], + [ + 0.922882058324769, + 0.33073711150569307, + 0.1972350615258571, + 0.32567820170967243, + -0.9436675557937324, + 0.05852566166594764, + 0.20548093671528697, + 0.010222877048748951, + -0.9786077239790489 + ], + [ + 0.9262201302485662, + 0.3272595310682776, + 0.1871295531104051, + 0.3270680218395377, + -0.9444315150212828, + 0.03279668465829978, + 0.18746407499118486, + 0.030827143227605325, + -0.9817876083084996 + ], + [ + 0.9235951159655725, + 0.33100744095532053, + 0.1934066591323851, + 0.3343251271222841, + -0.9423185420754169, + 0.01620106896255692, + 0.18761335543934285, + 0.04969747773349191, + -0.9809849079204633 + ], + [ + 0.9249377480620129, + 0.32060787411001074, + 0.20420762294447287, + 0.3248078531006218, + -0.9456830024138533, + 0.013546863462994118, + 0.1974589090776543, + 0.05379823421061017, + -0.9788338619100195 + ], + [ + 0.9237214324973199, + 0.32107442379036033, + 0.2089256555159936, + 0.32508973033523436, + -0.9455512604375581, + 0.015794971209532598, + 0.20262127819077683, + 0.05332943157988305, + -0.9778039626385765 + ], + [ + 0.9360614603078807, + 0.2829387316105913, + 0.2091282302341498, + 0.2894503781060365, + -0.9571928587072575, + -0.0005566453994620343, + 0.20001855199093468, + 0.061053299619415025, + -0.9778880679633184 + ], + [ + 0.9353175316478788, + 0.283527723865124, + 0.21164391035884225, + 0.29154138539829727, + -0.9565326466347823, + -0.0069940347368642325, + 0.20046130697010126, + 0.06824460214347328, + -0.9773218194055212 + ], + [ + 0.9361365520042944, + 0.2809254316357988, + 0.21149292626882668, + 0.28929347833406066, + -0.957197533938434, + -0.009064458922673758, + 0.19989407043454685, + 0.06966909560501428, + -0.9773374942785567 + ], + [ + 0.9331628888059933, + 0.3008357642075112, + 0.19673552279376527, + 0.30778267908144924, + -0.9514435614575805, + -0.004997181041455502, + 0.18567941569462948, + 0.06521497017248576, + -0.9804438598169213 + ], + [ + 0.9384972628906836, + 0.3096790297035349, + 0.15271472132237973, + 0.3086435344169619, + -0.9506708661915791, + 0.031049522333817817, + 0.15479682234884728, + 0.017994519622089478, + -0.9877824360932267 + ], + [ + 0.939698400381263, + 0.3161504939313779, + 0.13044455338511066, + 0.3115241043592098, + -0.9486446249500714, + 0.055010071409971294, + 0.1411369856702607, + -0.01105625344697534, + -0.9899283360605597 + ], + [ + 0.9343562306418421, + 0.33544699770145947, + 0.12022373307232675, + 0.3300697440572725, + -0.9418684651347276, + 0.0627515612771461, + 0.1342847657730974, + -0.018950095457012057, + -0.9907615735198023 + ], + [ + 0.9235963444004479, + 0.361565395832595, + 0.12743726749482615, + 0.3530902719761215, + -0.931758263280356, + 0.08458013150027056, + 0.14932197576364165, + -0.033121040822917155, + -0.988233749782332 + ], + [ + 0.9167871008984805, + 0.3809585473663812, + 0.11988326327997839, + 0.36830504305180284, + -0.9225538090639922, + 0.11509068009239105, + 0.15444353948537165, + -0.06136004049881459, + -0.9860943862233548 + ], + [ + 0.9040583377513988, + 0.41475933200138637, + 0.1032144295141974, + 0.401788095011554, + -0.9070648406509129, + 0.125696863771218, + 0.14575612731259002, + -0.07216696870935768, + -0.9866848939647035 + ], + [ + 0.9002232621875377, + 0.41970833629923315, + 0.11594391168732475, + 0.40496561219162114, + -0.9048615428069221, + 0.13125715710521335, + 0.16000290984445834, + -0.07120744897836856, + -0.9845448532450412 + ], + [ + 0.8837894592592952, + 0.4583425707820643, + 0.09401212427687558, + 0.44446787944128463, + -0.8852048861209819, + 0.13733394967198362, + 0.14616598731281488, + -0.07958892759943229, + -0.9860532981317197 + ], + [ + 0.869739244427276, + 0.48150693860939353, + 0.10818833011966161, + 0.4639547616795049, + -0.8724874160313082, + 0.15333521442227388, + 0.16822492626832974, + -0.08316716261855162, + -0.9822339829409256 + ], + [ + 0.8849296707792809, + 0.4519567952344889, + 0.11240343862997915, + 0.4350686717842143, + -0.8883587519287526, + 0.14674460366060602, + 0.16617679924223117, + -0.08095543905729269, + -0.9827672604847232 + ], + [ + 0.8988632163244492, + 0.4199655359897407, + 0.125195315086932, + 0.4036743086177272, + -0.9046707686511072, + 0.13644725321608642, + 0.17056368576243391, + -0.0721092846245522, + -0.9827045742083778 + ], + [ + 0.9289956067767206, + 0.3096552319646672, + 0.2026839902569051, + 0.2909326375713916, + -0.9495381282469074, + 0.11719873463955618, + 0.22874737809493328, + -0.04990972172100272, + -0.9722055629816289 + ], + [ + 0.9329696209138982, + 0.24321503159376603, + 0.2653566182679828, + 0.21723379563861508, + -0.9682516794157764, + 0.12368574429160628, + 0.287014223487647, + -0.0577506165800123, + -0.9561839267632619 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006711.json b/json/chunk-0006/episode_0006711.json new file mode 100644 index 0000000000000000000000000000000000000000..af097b4a61e60b1367d68ac2211ebb180c61b654 --- /dev/null +++ b/json/chunk-0006/episode_0006711.json @@ -0,0 +1,1582 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 25, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMoved the silver lit to the lower middle part of the table." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006711.mp4", + "start": 0, + "end": 25, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.27574872970581055, + 0.17814970016479492, + 0.09336426109075546, + 0.06504586338996887, + -0.10254636406898499, + -0.044280633330345154, + 0.0, + 0.9988223910331726 + ], + [ + 0.2757844030857086, + 0.17721743881702423, + 0.08214765787124634, + 0.04225051403045654, + -0.06969109177589417, + -0.03692356124520302, + 0.0, + 0.9988223910331726 + ], + [ + 0.31803157925605774, + 0.1802128106355667, + 0.08108320832252502, + 0.037974998354911804, + -0.07908423244953156, + -0.007450609467923641, + 0.0, + 0.9988223910331726 + ], + [ + 0.3579287827014923, + 0.18575766682624817, + 0.07951670140028, + 0.04886162653565407, + -0.09055623412132263, + 0.022175297141075134, + 0.0, + 0.9994885921478271 + ], + [ + 0.3951292037963867, + 0.19438844919204712, + 0.07518094033002853, + 0.06100691482424736, + -0.10272088646888733, + 0.058910466730594635, + 0.0, + 0.9994885921478271 + ], + [ + 0.41406014561653137, + 0.1962401121854782, + 0.06972696632146835, + 0.07916474342346191, + -0.10515882074832916, + 0.07437917590141296, + 0.0, + 0.9994885921478271 + ], + [ + 0.4138246178627014, + 0.19861003756523132, + 0.06722299009561539, + 0.09992478042840958, + -0.09858438372612, + 0.08215396106243134, + 0.0, + 0.9994885921478271 + ], + [ + 0.4040660560131073, + 0.19769196212291718, + 0.04798154532909393, + 0.11023959517478943, + -0.06340796500444412, + 0.06905893981456757, + 0.0, + 0.9994885921478271 + ], + [ + 0.40187275409698486, + 0.19956988096237183, + 0.04547150433063507, + 0.12163865566253662, + -0.062507763504982, + 0.08276314288377762, + 0.0, + 0.9994885921478271 + ], + [ + 0.4021739959716797, + 0.20019860565662384, + 0.046021588146686554, + 0.1281827837228775, + -0.0609842948615551, + 0.08647969365119934, + 0.0, + 0.9499720335006714 + ], + [ + 0.40219417214393616, + 0.20002777874469757, + 0.047424618154764175, + 0.12606169283390045, + -0.058535005897283554, + 0.08800049126148224, + 0.0, + 0.6681591272354126 + ], + [ + 0.40314728021621704, + 0.19930388033390045, + 0.04946195334196091, + 0.11537697911262512, + -0.06202208250761032, + 0.09148473292589188, + 0.0, + 0.3661215305328369 + ], + [ + 0.402307391166687, + 0.19777464866638184, + 0.050002533942461014, + 0.10494910925626755, + -0.052456680685281754, + 0.09262356162071228, + 0.0, + 0.2824830114841461 + ], + [ + 0.4034024477005005, + 0.19504745304584503, + 0.05077595263719559, + 0.08345643430948257, + -0.05898352339863777, + 0.0885072872042656, + 0.0, + 0.2824830114841461 + ], + [ + 0.40259847044944763, + 0.19016067683696747, + 0.06986630707979202, + 0.06889151781797409, + -0.10176067799329758, + 0.10564707964658737, + 0.0, + 0.2824830114841461 + ], + [ + 0.38500308990478516, + 0.16339969635009766, + 0.10572634637355804, + 0.06310365349054337, + -0.17467769980430603, + 0.04558967053890228, + 0.0, + 0.2824830114841461 + ], + [ + 0.3513745069503784, + 0.12770915031433105, + 0.11485954374074936, + 0.06332235038280487, + -0.18490244448184967, + -0.04751703143119812, + 0.0, + 0.2824830114841461 + ], + [ + 0.31188198924064636, + 0.10586525499820709, + 0.11013997346162796, + 0.07007905095815659, + -0.17410822212696075, + -0.11495156586170197, + 0.0, + 0.2824830114841461 + ], + [ + 0.2930620610713959, + 0.08137871325016022, + 0.09716958552598953, + 0.07707519084215164, + -0.15198515355587006, + -0.20758259296417236, + 0.0, + 0.2824830114841461 + ], + [ + 0.2890608310699463, + 0.07105115056037903, + 0.08439803868532181, + 0.09434372186660767, + -0.1399518996477127, + -0.24343346059322357, + 0.0, + 0.2824830114841461 + ], + [ + 0.28566136956214905, + 0.060824546962976456, + 0.05679604411125183, + 0.1014695093035698, + -0.08921803534030914, + -0.28735053539276123, + 0.0, + 0.2824830114841461 + ], + [ + 0.28099143505096436, + 0.05436664819717407, + 0.04297403246164322, + 0.12698984146118164, + -0.06637915968894958, + -0.31242719292640686, + 0.0, + 0.347801148891449 + ], + [ + 0.2800687551498413, + 0.0564490370452404, + 0.04225616902112961, + 0.14704006910324097, + -0.06819111853837967, + -0.3181702196598053, + 0.0, + 0.648074209690094 + ], + [ + 0.27116385102272034, + 0.05563659965991974, + 0.06137802079319954, + 0.15347488224506378, + -0.08840194344520569, + -0.27623751759529114, + 0.0, + 0.9422301650047302 + ], + [ + 0.2646294832229614, + 0.06037640944123268, + 0.08460578322410583, + 0.15786141157150269, + -0.08491670340299606, + -0.19724109768867493, + 0.0, + 1.0067112445831299 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9499720335006714 + ], + [ + 0.6681591272354126 + ], + [ + 0.3661215305328369 + ], + [ + 0.2824830114841461 + ], + [ + 0.2824830114841461 + ], + [ + 0.2824830114841461 + ], + [ + 0.2824830114841461 + ], + [ + 0.2824830114841461 + ], + [ + 0.2824830114841461 + ], + [ + 0.2824830114841461 + ], + [ + 0.2824830114841461 + ], + [ + 0.2824830114841461 + ], + [ + 0.347801148891449 + ], + [ + 0.648074209690094 + ], + [ + 0.9422301650047302 + ], + [ + 1.0067112445831299 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.27574872970581055, + 0.17814970016479492, + 0.09336426109075546 + ], + [ + 0.2757844030857086, + 0.17721743881702423, + 0.08214765787124634 + ], + [ + 0.31803157925605774, + 0.1802128106355667, + 0.08108320832252502 + ], + [ + 0.3579287827014923, + 0.18575766682624817, + 0.07951670140028 + ], + [ + 0.3951292037963867, + 0.19438844919204712, + 0.07518094033002853 + ], + [ + 0.41406014561653137, + 0.1962401121854782, + 0.06972696632146835 + ], + [ + 0.4138246178627014, + 0.19861003756523132, + 0.06722299009561539 + ], + [ + 0.4040660560131073, + 0.19769196212291718, + 0.04798154532909393 + ], + [ + 0.40187275409698486, + 0.19956988096237183, + 0.04547150433063507 + ], + [ + 0.4021739959716797, + 0.20019860565662384, + 0.046021588146686554 + ], + [ + 0.40219417214393616, + 0.20002777874469757, + 0.047424618154764175 + ], + [ + 0.40314728021621704, + 0.19930388033390045, + 0.04946195334196091 + ], + [ + 0.402307391166687, + 0.19777464866638184, + 0.050002533942461014 + ], + [ + 0.4034024477005005, + 0.19504745304584503, + 0.05077595263719559 + ], + [ + 0.40259847044944763, + 0.19016067683696747, + 0.06986630707979202 + ], + [ + 0.38500308990478516, + 0.16339969635009766, + 0.10572634637355804 + ], + [ + 0.3513745069503784, + 0.12770915031433105, + 0.11485954374074936 + ], + [ + 0.31188198924064636, + 0.10586525499820709, + 0.11013997346162796 + ], + [ + 0.2930620610713959, + 0.08137871325016022, + 0.09716958552598953 + ], + [ + 0.2890608310699463, + 0.07105115056037903, + 0.08439803868532181 + ], + [ + 0.28566136956214905, + 0.060824546962976456, + 0.05679604411125183 + ], + [ + 0.28099143505096436, + 0.05436664819717407, + 0.04297403246164322 + ], + [ + 0.2800687551498413, + 0.0564490370452404, + 0.04225616902112961 + ], + [ + 0.27116385102272034, + 0.05563659965991974, + 0.06137802079319954 + ], + [ + 0.2646294832229614, + 0.06037640944123268, + 0.08460578322410583 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9937716498793664, + -0.037525236835369735, + 0.10492742490165088, + -0.04403362180592822, + -0.9972016493536486, + 0.06041449062117029, + 0.10236673310550973, + -0.06465854256641113, + -0.9926431004275873 + ], + [ + 0.9968926158714775, + -0.03394300645651621, + 0.07108434942809154, + -0.0368255624474783, + -0.9985351667003286, + 0.0396408730122495, + 0.06963469229736709, + -0.04213541474151303, + -0.9966823046754724 + ], + [ + 0.996846802690738, + -0.004445879179662174, + 0.07922553959155332, + -0.007427253659571108, + -0.9992736476969418, + 0.03737663603810081, + 0.07900182193044236, + -0.03784720830877907, + -0.9961557613922145 + ], + [ + 0.9956577309981596, + 0.026562851842597938, + 0.08921937909212756, + 0.022082625819163936, + -0.9984630012848577, + 0.05083298832613586, + 0.09043251815872082, + -0.04864205965234677, + -0.9947139838628238 + ], + [ + 0.993003271306204, + 0.065007812802911, + 0.09858238914613095, + 0.05856605190774333, + -0.9960400798049227, + 0.0668892890240494, + 0.10254033713186743, + -0.060647701496305564, + -0.9928783085374049 + ], + [ + 0.9917263220882646, + 0.0823557901284172, + 0.09847043165137231, + 0.07390011510642691, + -0.9934950692207536, + 0.08663902366316717, + 0.1049651135594124, + -0.07864522405317495, + -0.9913613133812946 + ], + [ + 0.9917881313585082, + 0.0914378278034057, + 0.08941714680637626, + 0.0816631285031938, + -0.9908500179166465, + 0.10745871503815736, + 0.0984247729967876, + -0.09927419423584248, + -0.9901803868080578 + ], + [ + 0.9956115575498679, + 0.07553981873762221, + 0.05523913701546856, + 0.06886538961754225, + -0.9910795709358526, + 0.11410014104474513, + 0.06336548418461452, + -0.10979535444951123, + -0.9919323543243036 + ], + [ + 0.9946307962286246, + 0.08961160477460318, + 0.051762336532780326, + 0.08250724110986589, + -0.9885869102278307, + 0.1260494985734953, + 0.062467066187319426, + -0.12110194554965437, + -0.9906725919424832 + ], + [ + 0.9944109423542308, + 0.09342513170918428, + 0.0491794925888043, + 0.08621137830879345, + -0.9874165336154771, + 0.13257521409710565, + 0.06094650093540059, + -0.12759441174250885, + -0.989952115062044 + ], + [ + 0.9944243978667104, + 0.09451637881643189, + 0.046762924019558845, + 0.0877364320513337, + -0.9875794683671955, + 0.13034228841964277, + 0.058501584750603054, + -0.12551273957250866, + -0.9903656480243404 + ], + [ + 0.9939034773727351, + 0.0978554199470783, + 0.05079561450918701, + 0.09118151613622674, + -0.9885455721447992, + 0.12026463698033053, + 0.061982326363924097, + -0.11489981975570117, + -0.9914414872490577 + ], + [ + 0.9943438637855238, + 0.09745140129128514, + 0.04223156329620173, + 0.09236395527922393, + -0.9897269609468043, + 0.10913039237618727, + 0.052432626457709575, + -0.10461246178810621, + -0.9931299273113154 + ], + [ + 0.9943535693983618, + 0.09297889090220657, + 0.05114591744541286, + 0.08823806282679761, + -0.9921845856612769, + 0.0882258026018163, + 0.05894932818371672, + -0.08321462505326875, + -0.99478656147132 + ], + [ + 0.9892802273034927, + 0.11215435712914082, + 0.09352022264354878, + 0.10490515049648855, + -0.9913282816693544, + 0.07914004903836185, + 0.10158514293763082, + -0.06848093267059356, + -0.9924670375357092 + ], + [ + 0.9837593851132385, + 0.05643133770764012, + 0.17039065797792194, + 0.044880363952379355, + -0.996473194670206, + 0.07090081265581885, + 0.17379075099994493, + -0.06210214511818274, + -0.9828225162452248 + ], + [ + 0.981844709188855, + -0.03578301032779276, + 0.18628081814758435, + -0.046689490770933866, + -0.9974219589842457, + 0.054493368289913635, + 0.18385064179763744, + -0.06220138188103509, + -0.9809841637879207 + ], + [ + 0.9783815314353429, + -0.10236724198335055, + 0.17969565023938455, + -0.11296449368077278, + -0.9923532848838212, + 0.049739130950754176, + 0.17322991114031006, + -0.06896307525779125, + -0.9824639902496725 + ], + [ + 0.9672519342212704, + -0.1940757146361283, + 0.16357968313237214, + -0.20371922845429194, + -0.9780294923093343, + 0.04423559800809366, + 0.15140069915029847, + -0.07611129457328758, + -0.9855378730090382 + ], + [ + 0.9610270882601042, + -0.22721080376982494, + 0.1574870987750295, + -0.23867958724235977, + -0.9693676161805598, + 0.05795238851191217, + 0.13949548474457, + -0.09328277092094206, + -0.9858191184924283 + ], + [ + 0.955183918316996, + -0.2732992863790255, + 0.11371535627744095, + -0.2822851780301458, + -0.9566233241918592, + 0.07202009356148736, + 0.08909972195848204, + -0.10089259475715706, + -0.9908995528660253 + ], + [ + 0.9494946536419903, + -0.29690018400281054, + 0.10153907348589675, + -0.3066923174376603, + -0.9465098695199113, + 0.10029401440822854, + 0.06633042386412522, + -0.12636988423076828, + -0.9897630662080232 + ], + [ + 0.9476019515031546, + -0.2999714848787634, + 0.10985285507005506, + -0.3121020922413951, + -0.9426830630710245, + 0.11807170117168007, + 0.06813828238190632, + -0.1461702803536363, + -0.9869100382584943 + ], + [ + 0.958331550116447, + -0.25654693877534784, + 0.12563561698979497, + -0.2716727310916782, + -0.9544609201541845, + 0.1232813006080675, + 0.08828684631697523, + -0.1522761311021066, + -0.9843868206472379 + ], + [ + 0.9770775629607987, + -0.18045309116224004, + 0.11294298494629434, + -0.19525855906706538, + -0.9710306669503996, + 0.1377444697725302, + 0.08481468663881234, + -0.1566401153340179, + -0.9840072881836321 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + 3.567337989807129e-05, + -0.0009322613477706909, + -0.011216603219509125, + -0.02279534935951233, + 0.03285527229309082, + 0.007357072085142136, + 1.0 + ], + [ + 0.04224717617034912, + 0.0029953718185424805, + -0.0010644495487213135, + -0.004275515675544739, + -0.00939314067363739, + 0.029472950845956802, + 1.0 + ], + [ + 0.03989720344543457, + 0.0055448561906814575, + -0.0015665069222450256, + 0.010886628180742264, + -0.011472001671791077, + 0.02962590754032135, + 1.0 + ], + [ + 0.03720042109489441, + 0.00863078236579895, + -0.004335761070251465, + 0.012145288288593292, + -0.012164652347564697, + 0.0367351695895195, + 1.0 + ], + [ + 0.018930941820144653, + 0.0018516629934310913, + -0.005453974008560181, + 0.018157828599214554, + -0.0024379342794418335, + 0.015468709170818329, + 1.0 + ], + [ + -0.00023552775382995605, + 0.002369925379753113, + -0.0025039762258529663, + 0.020760037004947662, + 0.0065744370222091675, + 0.007774785161018372, + 1.0 + ], + [ + -0.009758561849594116, + -0.000918075442314148, + -0.019241444766521454, + 0.010314814746379852, + 0.03517641872167587, + -0.01309502124786377, + 1.0 + ], + [ + -0.0021933019161224365, + 0.0018779188394546509, + -0.0025100409984588623, + 0.011399060487747192, + 0.0009002014994621277, + 0.013704203069210052, + 1.0 + ], + [ + 0.0003012418746948242, + 0.0006287246942520142, + 0.0005500838160514832, + 0.006544128060340881, + 0.0015234686434268951, + 0.0037165507674217224, + 0.0 + ], + [ + 2.0176172256469727e-05, + -0.00017082691192626953, + 0.0014030300080776215, + -0.0021210908889770508, + 0.0024492889642715454, + 0.001520797610282898, + 0.0 + ], + [ + 0.0009531080722808838, + -0.0007238984107971191, + 0.0020373351871967316, + -0.01068471372127533, + -0.003487076610326767, + 0.0034842416644096375, + 0.0 + ], + [ + -0.0008398890495300293, + -0.0015292316675186157, + 0.0005405806005001068, + -0.010427869856357574, + 0.009565401822328568, + 0.001138828694820404, + 0.0 + ], + [ + 0.0010950565338134766, + -0.002727195620536804, + 0.0007734186947345734, + -0.021492674946784973, + -0.006526842713356018, + -0.004116274416446686, + 0.0 + ], + [ + -0.0008039772510528564, + -0.0048867762088775635, + 0.019090354442596436, + -0.014564916491508484, + -0.042777154594659805, + 0.017139792442321777, + 0.0 + ], + [ + -0.017595380544662476, + -0.026760980486869812, + 0.03586003929376602, + -0.005787864327430725, + -0.07291702181100845, + -0.06005740910768509, + 0.0 + ], + [ + -0.03362858295440674, + -0.0356905460357666, + 0.009133197367191315, + 0.00021869689226150513, + -0.01022474467754364, + -0.0931067019701004, + 0.0 + ], + [ + -0.039492517709732056, + -0.021843895316123962, + -0.004719570279121399, + 0.006756700575351715, + 0.010794222354888916, + -0.06743453443050385, + 0.0 + ], + [ + -0.01881992816925049, + -0.024486541748046875, + -0.012970387935638428, + 0.006996139883995056, + 0.022123068571090698, + -0.0926310271024704, + 0.0 + ], + [ + -0.004001230001449585, + -0.010327562689781189, + -0.012771546840667725, + 0.017268531024456024, + 0.012033253908157349, + -0.03585086762905121, + 0.0 + ], + [ + -0.003399461507797241, + -0.010226603597402573, + -0.027601994574069977, + 0.007125787436962128, + 0.050733864307403564, + -0.04391707479953766, + 0.0 + ], + [ + -0.004669934511184692, + -0.006457898765802383, + -0.013822011649608612, + 0.025520332157611847, + 0.022838875651359558, + -0.02507665753364563, + 1.0 + ], + [ + -0.0009226799011230469, + 0.00208238884806633, + -0.0007178634405136108, + 0.020050227642059326, + -0.0018119588494300842, + -0.0057430267333984375, + 1.0 + ], + [ + -0.008904904127120972, + -0.0008124373853206635, + 0.01912185177206993, + 0.006434813141822815, + -0.02021082490682602, + 0.04193270206451416, + 1.0 + ], + [ + -0.006534367799758911, + 0.0047398097813129425, + 0.023227762430906296, + 0.004386529326438904, + 0.0034852400422096252, + 0.07899641990661621, + 1.0 + ], + [ + 0.00013947486877441406, + 0.0031532831490039825, + 0.005384758114814758, + -0.02059689164161682, + 0.032735999673604965, + 0.05582405626773834, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9499720335006714 + ], + [ + 0.6681591272354126 + ], + [ + 0.3661215305328369 + ], + [ + 0.2824830114841461 + ], + [ + 0.2824830114841461 + ], + [ + 0.2824830114841461 + ], + [ + 0.2824830114841461 + ], + [ + 0.2824830114841461 + ], + [ + 0.2824830114841461 + ], + [ + 0.2824830114841461 + ], + [ + 0.2824830114841461 + ], + [ + 0.2824830114841461 + ], + [ + 0.347801148891449 + ], + [ + 0.648074209690094 + ], + [ + 0.9422301650047302 + ], + [ + 1.0067112445831299 + ], + [ + 1.0014774799346924 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2757844030857086, + 0.17721743881702423, + 0.08214765787124634 + ], + [ + 0.31803157925605774, + 0.1802128106355667, + 0.08108320832252502 + ], + [ + 0.3579287827014923, + 0.18575766682624817, + 0.07951670140028 + ], + [ + 0.3951292037963867, + 0.19438844919204712, + 0.07518094033002853 + ], + [ + 0.41406014561653137, + 0.1962401121854782, + 0.06972696632146835 + ], + [ + 0.4138246178627014, + 0.19861003756523132, + 0.06722299009561539 + ], + [ + 0.4040660560131073, + 0.19769196212291718, + 0.04798154532909393 + ], + [ + 0.40187275409698486, + 0.19956988096237183, + 0.04547150433063507 + ], + [ + 0.4021739959716797, + 0.20019860565662384, + 0.046021588146686554 + ], + [ + 0.40219417214393616, + 0.20002777874469757, + 0.047424618154764175 + ], + [ + 0.40314728021621704, + 0.19930388033390045, + 0.04946195334196091 + ], + [ + 0.402307391166687, + 0.19777464866638184, + 0.050002533942461014 + ], + [ + 0.4034024477005005, + 0.19504745304584503, + 0.05077595263719559 + ], + [ + 0.40259847044944763, + 0.19016067683696747, + 0.06986630707979202 + ], + [ + 0.38500308990478516, + 0.16339969635009766, + 0.10572634637355804 + ], + [ + 0.3513745069503784, + 0.12770915031433105, + 0.11485954374074936 + ], + [ + 0.31188198924064636, + 0.10586525499820709, + 0.11013997346162796 + ], + [ + 0.2930620610713959, + 0.08137871325016022, + 0.09716958552598953 + ], + [ + 0.2890608310699463, + 0.07105115056037903, + 0.08439803868532181 + ], + [ + 0.28566136956214905, + 0.060824546962976456, + 0.05679604411125183 + ], + [ + 0.28099143505096436, + 0.05436664819717407, + 0.04297403246164322 + ], + [ + 0.2800687551498413, + 0.0564490370452404, + 0.04225616902112961 + ], + [ + 0.27116385102272034, + 0.05563659965991974, + 0.06137802079319954 + ], + [ + 0.2646294832229614, + 0.06037640944123268, + 0.08460578322410583 + ], + [ + 0.26476895809173584, + 0.06352969259023666, + 0.0899905413389206 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9968926158714775, + -0.03394300645651621, + 0.07108434942809154, + -0.0368255624474783, + -0.9985351667003286, + 0.0396408730122495, + 0.06963469229736709, + -0.04213541474151303, + -0.9966823046754724 + ], + [ + 0.996846802690738, + -0.004445879179662174, + 0.07922553959155332, + -0.007427253659571108, + -0.9992736476969418, + 0.03737663603810081, + 0.07900182193044236, + -0.03784720830877907, + -0.9961557613922145 + ], + [ + 0.9956577309981596, + 0.026562851842597938, + 0.08921937909212756, + 0.022082625819163936, + -0.9984630012848577, + 0.05083298832613586, + 0.09043251815872082, + -0.04864205965234677, + -0.9947139838628238 + ], + [ + 0.993003271306204, + 0.065007812802911, + 0.09858238914613095, + 0.05856605190774333, + -0.9960400798049227, + 0.0668892890240494, + 0.10254033713186743, + -0.060647701496305564, + -0.9928783085374049 + ], + [ + 0.9917263220882646, + 0.0823557901284172, + 0.09847043165137231, + 0.07390011510642691, + -0.9934950692207536, + 0.08663902366316717, + 0.1049651135594124, + -0.07864522405317495, + -0.9913613133812946 + ], + [ + 0.9917881313585082, + 0.0914378278034057, + 0.08941714680637626, + 0.0816631285031938, + -0.9908500179166465, + 0.10745871503815736, + 0.0984247729967876, + -0.09927419423584248, + -0.9901803868080578 + ], + [ + 0.9956115575498679, + 0.07553981873762221, + 0.05523913701546856, + 0.06886538961754225, + -0.9910795709358526, + 0.11410014104474513, + 0.06336548418461452, + -0.10979535444951123, + -0.9919323543243036 + ], + [ + 0.9946307962286246, + 0.08961160477460318, + 0.051762336532780326, + 0.08250724110986589, + -0.9885869102278307, + 0.1260494985734953, + 0.062467066187319426, + -0.12110194554965437, + -0.9906725919424832 + ], + [ + 0.9944109423542308, + 0.09342513170918428, + 0.0491794925888043, + 0.08621137830879345, + -0.9874165336154771, + 0.13257521409710565, + 0.06094650093540059, + -0.12759441174250885, + -0.989952115062044 + ], + [ + 0.9944243978667104, + 0.09451637881643189, + 0.046762924019558845, + 0.0877364320513337, + -0.9875794683671955, + 0.13034228841964277, + 0.058501584750603054, + -0.12551273957250866, + -0.9903656480243404 + ], + [ + 0.9939034773727351, + 0.0978554199470783, + 0.05079561450918701, + 0.09118151613622674, + -0.9885455721447992, + 0.12026463698033053, + 0.061982326363924097, + -0.11489981975570117, + -0.9914414872490577 + ], + [ + 0.9943438637855238, + 0.09745140129128514, + 0.04223156329620173, + 0.09236395527922393, + -0.9897269609468043, + 0.10913039237618727, + 0.052432626457709575, + -0.10461246178810621, + -0.9931299273113154 + ], + [ + 0.9943535693983618, + 0.09297889090220657, + 0.05114591744541286, + 0.08823806282679761, + -0.9921845856612769, + 0.0882258026018163, + 0.05894932818371672, + -0.08321462505326875, + -0.99478656147132 + ], + [ + 0.9892802273034927, + 0.11215435712914082, + 0.09352022264354878, + 0.10490515049648855, + -0.9913282816693544, + 0.07914004903836185, + 0.10158514293763082, + -0.06848093267059356, + -0.9924670375357092 + ], + [ + 0.9837593851132385, + 0.05643133770764012, + 0.17039065797792194, + 0.044880363952379355, + -0.996473194670206, + 0.07090081265581885, + 0.17379075099994493, + -0.06210214511818274, + -0.9828225162452248 + ], + [ + 0.981844709188855, + -0.03578301032779276, + 0.18628081814758435, + -0.046689490770933866, + -0.9974219589842457, + 0.054493368289913635, + 0.18385064179763744, + -0.06220138188103509, + -0.9809841637879207 + ], + [ + 0.9783815314353429, + -0.10236724198335055, + 0.17969565023938455, + -0.11296449368077278, + -0.9923532848838212, + 0.049739130950754176, + 0.17322991114031006, + -0.06896307525779125, + -0.9824639902496725 + ], + [ + 0.9672519342212704, + -0.1940757146361283, + 0.16357968313237214, + -0.20371922845429194, + -0.9780294923093343, + 0.04423559800809366, + 0.15140069915029847, + -0.07611129457328758, + -0.9855378730090382 + ], + [ + 0.9610270882601042, + -0.22721080376982494, + 0.1574870987750295, + -0.23867958724235977, + -0.9693676161805598, + 0.05795238851191217, + 0.13949548474457, + -0.09328277092094206, + -0.9858191184924283 + ], + [ + 0.955183918316996, + -0.2732992863790255, + 0.11371535627744095, + -0.2822851780301458, + -0.9566233241918592, + 0.07202009356148736, + 0.08909972195848204, + -0.10089259475715706, + -0.9908995528660253 + ], + [ + 0.9494946536419903, + -0.29690018400281054, + 0.10153907348589675, + -0.3066923174376603, + -0.9465098695199113, + 0.10029401440822854, + 0.06633042386412522, + -0.12636988423076828, + -0.9897630662080232 + ], + [ + 0.9476019515031546, + -0.2999714848787634, + 0.10985285507005506, + -0.3121020922413951, + -0.9426830630710245, + 0.11807170117168007, + 0.06813828238190632, + -0.1461702803536363, + -0.9869100382584943 + ], + [ + 0.958331550116447, + -0.25654693877534784, + 0.12563561698979497, + -0.2716727310916782, + -0.9544609201541845, + 0.1232813006080675, + 0.08828684631697523, + -0.1522761311021066, + -0.9843868206472379 + ], + [ + 0.9770775629607987, + -0.18045309116224004, + 0.11294298494629434, + -0.19525855906706538, + -0.9710306669503996, + 0.1377444697725302, + 0.08481468663881234, + -0.1566401153340179, + -0.9840072881836321 + ], + [ + 0.9886697472268273, + -0.13255480972570535, + 0.07043687483856098, + -0.14075430877928494, + -0.9817110808988532, + 0.12818571761499356, + 0.052157027124892466, + -0.13664763466297983, + -0.9892457068203561 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006712.json b/json/chunk-0006/episode_0006712.json new file mode 100644 index 0000000000000000000000000000000000000000..07ef2a3f8bbb3e554dbbee0dba2250bbd2923d7f --- /dev/null +++ b/json/chunk-0006/episode_0006712.json @@ -0,0 +1,922 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 14, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut green squash in pot or pan." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006712.mp4", + "start": 0, + "end": 14, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.34803295135498047, + -0.076076939702034, + 0.03572181612253189, + 0.010976794175803661, + -0.19577807188034058, + 0.7246726751327515, + 0.0, + 0.9994885921478271 + ], + [ + 0.3450351655483246, + -0.07437433302402496, + 0.015504742972552776, + 0.015605962835252285, + -0.200393944978714, + 0.7093639969825745, + 0.0, + 0.9994885921478271 + ], + [ + 0.3487060070037842, + -0.06654863059520721, + -0.005986553616821766, + -0.021439800038933754, + -0.23594991862773895, + 0.7092064619064331, + 0.0, + 0.9994885921478271 + ], + [ + 0.35223108530044556, + -0.0640970915555954, + -0.024291502311825752, + -0.05482933297753334, + -0.2544460594654083, + 0.7234816551208496, + 0.0, + 1.0001531839370728 + ], + [ + 0.35499435663223267, + -0.06551886349916458, + -0.041636738926172256, + -0.08900665491819382, + -0.26874634623527527, + 0.7407159805297852, + 0.0, + 0.9994885921478271 + ], + [ + 0.35783815383911133, + -0.06474913656711578, + -0.0625079870223999, + -0.13396747410297394, + -0.3009698987007141, + 0.7733752727508545, + 0.0, + 0.9994885921478271 + ], + [ + 0.3616197407245636, + -0.07086344808340073, + -0.06591988354921341, + -0.16952770948410034, + -0.3154427409172058, + 0.7777655720710754, + 0.0, + 0.8562611937522888 + ], + [ + 0.35715609788894653, + -0.07003771513700485, + -0.06229637935757637, + -0.09901982545852661, + -0.2561773359775543, + 0.7610899806022644, + 0.0, + 0.842682421207428 + ], + [ + 0.34608760476112366, + -0.07379890978336334, + -0.026677168905735016, + 0.01977067068219185, + -0.15052691102027893, + 0.785942554473877, + 0.0, + 0.842682421207428 + ], + [ + 0.33516019582748413, + -0.08481476455926895, + 0.02467121183872223, + 0.10503444820642471, + -0.1219726949930191, + 0.7876481413841248, + 0.0, + 0.8417698740959167 + ], + [ + 0.3216971158981323, + -0.07476106286048889, + 0.060961998999118805, + 0.17600072920322418, + -0.13927067816257477, + 0.7727444767951965, + 0.0, + 0.842682421207428 + ], + [ + 0.3074885904788971, + -0.054129716008901596, + 0.09194530546665192, + 0.26893842220306396, + -0.1597381830215454, + 0.6900837421417236, + 0.0, + 0.842682421207428 + ], + [ + 0.30719849467277527, + -0.018762681633234024, + 0.1138717383146286, + 0.3394070863723755, + -0.17178913950920105, + 0.5863728523254395, + 0.0, + 0.8417698740959167 + ], + [ + 0.3173708915710449, + 0.019504500553011894, + 0.11751335859298706, + 0.35680145025253296, + -0.17735134065151215, + 0.5074859857559204, + 0.0, + 0.842682421207428 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.8562611937522888 + ], + [ + 0.842682421207428 + ], + [ + 0.842682421207428 + ], + [ + 0.8417698740959167 + ], + [ + 0.842682421207428 + ], + [ + 0.842682421207428 + ], + [ + 0.8417698740959167 + ], + [ + 0.842682421207428 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.34803295135498047, + -0.076076939702034, + 0.03572181612253189 + ], + [ + 0.3450351655483246, + -0.07437433302402496, + 0.015504742972552776 + ], + [ + 0.3487060070037842, + -0.06654863059520721, + -0.005986553616821766 + ], + [ + 0.35223108530044556, + -0.0640970915555954, + -0.024291502311825752 + ], + [ + 0.35499435663223267, + -0.06551886349916458, + -0.041636738926172256 + ], + [ + 0.35783815383911133, + -0.06474913656711578, + -0.0625079870223999 + ], + [ + 0.3616197407245636, + -0.07086344808340073, + -0.06591988354921341 + ], + [ + 0.35715609788894653, + -0.07003771513700485, + -0.06229637935757637 + ], + [ + 0.34608760476112366, + -0.07379890978336334, + -0.026677168905735016 + ], + [ + 0.33516019582748413, + -0.08481476455926895, + 0.02467121183872223 + ], + [ + 0.3216971158981323, + -0.07476106286048889, + 0.060961998999118805 + ], + [ + 0.3074885904788971, + -0.054129716008901596, + 0.09194530546665192 + ], + [ + 0.30719849467277527, + -0.018762681633234024, + 0.1138717383146286 + ], + [ + 0.3173708915710449, + 0.019504500553011894, + 0.11751335859298706 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.7344134191190015, + 0.6644491815282406, + 0.13836262134113045, + 0.6502269496221694, + -0.7472558861436319, + 0.13716251167408822, + 0.19452980183762789, + -0.010766883957146575, + -0.980837514783599 + ], + [ + 0.7435918395334573, + 0.6536290092749615, + 0.14085557998702639, + 0.6383166305636307, + -0.7566605851935191, + 0.14148016808194303, + 0.19905540767621135, + -0.01529303922815009, + -0.9798689032855485 + ], + [ + 0.7378524226784559, + 0.6472789661600474, + 0.1913210451422266, + 0.6331879160904476, + -0.76196814944691, + 0.13593234400056536, + 0.23376668980966897, + 0.020844164536674488, + -0.9720692647852818 + ], + [ + 0.7253735080540767, + 0.6506645958837038, + 0.22465274865182078, + 0.6406837604811488, + -0.7575108035958175, + 0.1253064303671289, + 0.25170934203770745, + 0.05303740283153671, + -0.9663485090958795 + ], + [ + 0.7114952511516592, + 0.654727196399361, + 0.25516035327548475, + 0.650593612097066, + -0.7509913927924434, + 0.1128710762337217, + 0.2655229923888513, + 0.08569846116879112, + -0.9602881412712392 + ], + [ + 0.6833922355223733, + 0.6639623554089185, + 0.30352766435297857, + 0.6671539835966336, + -0.7368050105226589, + 0.10965372150477827, + 0.29644664713718055, + 0.12756318853237342, + -0.9464919536544293 + ], + [ + 0.6773286397414233, + 0.654337165275902, + 0.33625702658045675, + 0.6670672163257187, + -0.7389974378937509, + 0.0943616219123456, + 0.31023739730968913, + 0.160392209677305, + -0.937031000760029 + ], + [ + 0.7004546349765219, + 0.6681948967634891, + 0.25075662359973283, + 0.6672028179868973, + -0.7378144181073051, + 0.10232440619579646, + 0.2533844983621749, + 0.09563192130355548, + -0.9626270470008309 + ], + [ + 0.6987302658405798, + 0.7094484980739402, + 0.09197197496511238, + 0.6994914453382091, + -0.7044861878948745, + 0.120045528713113, + 0.14995910608234492, + -0.019545834491730363, + -0.9884989766595644 + ], + [ + 0.7002724358757018, + 0.71378991931772, + 0.011066464345679379, + 0.7034307424563164, + -0.692585694681109, + 0.15971927275830294, + 0.12167048171215003, + -0.10406251295970481, + -0.9871004443705031 + ], + [ + 0.7090647994294825, + 0.7047219663593234, + -0.024373353086439564, + 0.691343525541462, + -0.6879680448232817, + 0.22078065810648534, + 0.13882089144624252, + -0.1733981529102302, + -0.9750188924658797 + ], + [ + 0.7613746234513855, + 0.6463114455906239, + -0.05089398847427121, + 0.628497164353054, + -0.7165660368415535, + 0.302530046847185, + 0.15905972829233506, + -0.2623254279397019, + -0.9517801073209196 + ], + [ + 0.8206925564601236, + 0.569181890179217, + -0.04995701815521381, + 0.5451984859686777, + -0.7539429141324464, + 0.3665087899722676, + 0.17094542599440352, + -0.32802752646917915, + -0.9290724423908523 + ], + [ + 0.8602603300910818, + 0.5092286366031002, + -0.02526578981411358, + 0.4783587155222734, + -0.7889788082901028, + 0.3855974317251222, + 0.1764230816969934, + -0.343800284660262, + -0.9223211265671296 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.002997785806655884, + 0.0017026066780090332, + -0.02021707221865654, + 0.004629168659448624, + -0.004615873098373413, + -0.015308678150177002, + 1.0 + ], + [ + 0.0036708414554595947, + 0.007825702428817749, + -0.021491296589374542, + -0.037045761942863464, + -0.03555597364902496, + -0.00015753507614135742, + 1.0 + ], + [ + 0.003525078296661377, + 0.0024515390396118164, + -0.018304947763681412, + -0.03338953107595444, + -0.018496140837669373, + 0.014275193214416504, + 1.0 + ], + [ + 0.0027632713317871094, + -0.0014217719435691833, + -0.017345236614346504, + -0.03417732194066048, + -0.014300286769866943, + 0.017234325408935547, + 1.0 + ], + [ + 0.002843797206878662, + 0.0007697269320487976, + -0.020871248096227646, + -0.04496081918478012, + -0.03222355246543884, + 0.032659292221069336, + 1.0 + ], + [ + 0.0037815868854522705, + -0.006114311516284943, + -0.003411896526813507, + -0.035560235381126404, + -0.0144728422164917, + 0.004390299320220947, + 0.0 + ], + [ + -0.004463642835617065, + 0.000825732946395874, + 0.003623504191637039, + 0.07050788402557373, + 0.05926540493965149, + -0.016675591468811035, + 0.0 + ], + [ + -0.011068493127822876, + -0.00376119464635849, + 0.035619210451841354, + 0.11879049241542816, + 0.10565042495727539, + 0.02485257387161255, + 0.0 + ], + [ + -0.010927408933639526, + -0.011015854775905609, + 0.051348380744457245, + 0.08526377379894257, + 0.028554216027259827, + 0.0017055869102478027, + 0.0 + ], + [ + -0.013463079929351807, + 0.01005370169878006, + 0.036290787160396576, + 0.07096628099679947, + -0.017297983169555664, + -0.014903664588928223, + 0.0 + ], + [ + -0.01420852541923523, + 0.020631346851587296, + 0.03098330646753311, + 0.09293769299983978, + -0.020467504858970642, + -0.0826607346534729, + 0.0 + ], + [ + -0.00029009580612182617, + 0.03536703437566757, + 0.021926432847976685, + 0.07046866416931152, + -0.01205095648765564, + -0.10371088981628418, + 0.0 + ], + [ + 0.010172396898269653, + 0.03826718032360077, + 0.0036416202783584595, + 0.01739436388015747, + -0.005562201142311096, + -0.07888686656951904, + 0.0 + ], + [ + 0.012168794870376587, + 0.023978320881724358, + -0.007088877260684967, + -0.037957340478897095, + -0.033391714096069336, + -0.0812523365020752, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.8562611937522888 + ], + [ + 0.842682421207428 + ], + [ + 0.842682421207428 + ], + [ + 0.8417698740959167 + ], + [ + 0.842682421207428 + ], + [ + 0.842682421207428 + ], + [ + 0.8417698740959167 + ], + [ + 0.842682421207428 + ], + [ + 0.842682421207428 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3450351655483246, + -0.07437433302402496, + 0.015504742972552776 + ], + [ + 0.3487060070037842, + -0.06654863059520721, + -0.005986553616821766 + ], + [ + 0.35223108530044556, + -0.0640970915555954, + -0.024291502311825752 + ], + [ + 0.35499435663223267, + -0.06551886349916458, + -0.041636738926172256 + ], + [ + 0.35783815383911133, + -0.06474913656711578, + -0.0625079870223999 + ], + [ + 0.3616197407245636, + -0.07086344808340073, + -0.06591988354921341 + ], + [ + 0.35715609788894653, + -0.07003771513700485, + -0.06229637935757637 + ], + [ + 0.34608760476112366, + -0.07379890978336334, + -0.026677168905735016 + ], + [ + 0.33516019582748413, + -0.08481476455926895, + 0.02467121183872223 + ], + [ + 0.3216971158981323, + -0.07476106286048889, + 0.060961998999118805 + ], + [ + 0.3074885904788971, + -0.054129716008901596, + 0.09194530546665192 + ], + [ + 0.30719849467277527, + -0.018762681633234024, + 0.1138717383146286 + ], + [ + 0.3173708915710449, + 0.019504500553011894, + 0.11751335859298706 + ], + [ + 0.3295396864414215, + 0.04348282143473625, + 0.1104244813323021 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.7435918395334573, + 0.6536290092749615, + 0.14085557998702639, + 0.6383166305636307, + -0.7566605851935191, + 0.14148016808194303, + 0.19905540767621135, + -0.01529303922815009, + -0.9798689032855485 + ], + [ + 0.7378524226784559, + 0.6472789661600474, + 0.1913210451422266, + 0.6331879160904476, + -0.76196814944691, + 0.13593234400056536, + 0.23376668980966897, + 0.020844164536674488, + -0.9720692647852818 + ], + [ + 0.7253735080540767, + 0.6506645958837038, + 0.22465274865182078, + 0.6406837604811488, + -0.7575108035958175, + 0.1253064303671289, + 0.25170934203770745, + 0.05303740283153671, + -0.9663485090958795 + ], + [ + 0.7114952511516592, + 0.654727196399361, + 0.25516035327548475, + 0.650593612097066, + -0.7509913927924434, + 0.1128710762337217, + 0.2655229923888513, + 0.08569846116879112, + -0.9602881412712392 + ], + [ + 0.6833922355223733, + 0.6639623554089185, + 0.30352766435297857, + 0.6671539835966336, + -0.7368050105226589, + 0.10965372150477827, + 0.29644664713718055, + 0.12756318853237342, + -0.9464919536544293 + ], + [ + 0.6773286397414233, + 0.654337165275902, + 0.33625702658045675, + 0.6670672163257187, + -0.7389974378937509, + 0.0943616219123456, + 0.31023739730968913, + 0.160392209677305, + -0.937031000760029 + ], + [ + 0.7004546349765219, + 0.6681948967634891, + 0.25075662359973283, + 0.6672028179868973, + -0.7378144181073051, + 0.10232440619579646, + 0.2533844983621749, + 0.09563192130355548, + -0.9626270470008309 + ], + [ + 0.6987302658405798, + 0.7094484980739402, + 0.09197197496511238, + 0.6994914453382091, + -0.7044861878948745, + 0.120045528713113, + 0.14995910608234492, + -0.019545834491730363, + -0.9884989766595644 + ], + [ + 0.7002724358757018, + 0.71378991931772, + 0.011066464345679379, + 0.7034307424563164, + -0.692585694681109, + 0.15971927275830294, + 0.12167048171215003, + -0.10406251295970481, + -0.9871004443705031 + ], + [ + 0.7090647994294825, + 0.7047219663593234, + -0.024373353086439564, + 0.691343525541462, + -0.6879680448232817, + 0.22078065810648534, + 0.13882089144624252, + -0.1733981529102302, + -0.9750188924658797 + ], + [ + 0.7613746234513855, + 0.6463114455906239, + -0.05089398847427121, + 0.628497164353054, + -0.7165660368415535, + 0.302530046847185, + 0.15905972829233506, + -0.2623254279397019, + -0.9517801073209196 + ], + [ + 0.8206925564601236, + 0.569181890179217, + -0.04995701815521381, + 0.5451984859686777, + -0.7539429141324464, + 0.3665087899722676, + 0.17094542599440352, + -0.32802752646917915, + -0.9290724423908523 + ], + [ + 0.8602603300910818, + 0.5092286366031002, + -0.02526578981411358, + 0.4783587155222734, + -0.7889788082901028, + 0.3855974317251222, + 0.1764230816969934, + -0.343800284660262, + -0.9223211265671296 + ], + [ + 0.8903845987917246, + 0.4523127373853538, + 0.051268448713293405, + 0.40429722237189225, + -0.8375262235304299, + 0.36755078680534625, + 0.20918657274517494, + -0.3065338684351606, + -0.9285892338840157 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006713.json b/json/chunk-0006/episode_0006713.json new file mode 100644 index 0000000000000000000000000000000000000000..26619d7201c2d58d4637c121dd6030e7f5f72c55 --- /dev/null +++ b/json/chunk-0006/episode_0006713.json @@ -0,0 +1,1882 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 30, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nGrabs drawer by the handle and closes it." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006713.mp4", + "start": 0, + "end": 30, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2984025180339813, + -0.17132291197776794, + 0.07142049074172974, + -0.1166224479675293, + -0.18351998925209045, + -0.773075520992279, + 0.0, + 0.9988223910331726 + ], + [ + 0.29320427775382996, + -0.16867190599441528, + 0.06059080362319946, + -0.12555469572544098, + -0.1490134596824646, + -0.7891455292701721, + 0.0, + 0.9988223910331726 + ], + [ + 0.2705976366996765, + -0.1603008508682251, + 0.05808965116739273, + -0.09175658971071243, + -0.12547408044338226, + -0.9888399243354797, + 0.0, + 0.9988223910331726 + ], + [ + 0.2517441511154175, + -0.15552926063537598, + 0.055989645421504974, + -0.07460033893585205, + -0.10682465881109238, + -1.1054185628890991, + 0.0, + 0.9988223910331726 + ], + [ + 0.2389163374900818, + -0.15378296375274658, + 0.05047740042209625, + -0.05369338020682335, + -0.0910615473985672, + -1.2656384706497192, + 0.0, + 0.9988223910331726 + ], + [ + 0.2391315996646881, + -0.1513589471578598, + 0.04345906898379326, + -0.03757050260901451, + -0.11201372742652893, + -1.3611499071121216, + 0.0, + 0.9988223910331726 + ], + [ + 0.24718299508094788, + -0.1534484326839447, + 0.028320245444774628, + -0.04586011916399002, + -0.09116621315479279, + -1.36610746383667, + 0.0, + 0.9988223910331726 + ], + [ + 0.25954321026802063, + -0.1552448868751526, + 0.011380298063158989, + -0.044350821524858475, + -0.05617764592170715, + -1.349635362625122, + 0.0, + 0.9988223910331726 + ], + [ + 0.2644411325454712, + -0.15283656120300293, + -0.008683796972036362, + -0.03526663780212402, + -0.026353703811764717, + -1.3317897319793701, + 0.0, + 0.9988223910331726 + ], + [ + 0.2613718509674072, + -0.15114054083824158, + -0.024618664756417274, + -0.057090241461992264, + -0.0023333437275141478, + -1.3329192399978638, + 0.0, + 0.9988223910331726 + ], + [ + 0.25995492935180664, + -0.14554038643836975, + -0.030410878360271454, + -0.0740172490477562, + 0.0048092203214764595, + -1.3345528841018677, + 0.0, + 0.9994885921478271 + ], + [ + 0.25416308641433716, + -0.13828325271606445, + -0.03163936361670494, + -0.08580071479082108, + 0.01011695060878992, + -1.3487836122512817, + 0.0, + 0.9988223910331726 + ], + [ + 0.23991355299949646, + -0.116214320063591, + -0.03739525005221367, + -0.1365099847316742, + 0.04779086261987686, + -1.3302737474441528, + 0.0, + 1.0008161067962646 + ], + [ + 0.2381872683763504, + -0.10756268352270126, + -0.03728146106004715, + -0.15475091338157654, + 0.0403088815510273, + -1.3234039545059204, + 0.0, + 0.9981546401977539 + ], + [ + 0.2379036843776703, + -0.10211869329214096, + -0.03504723310470581, + -0.15910357236862183, + 0.03645305335521698, + -1.331451177597046, + 0.0, + 0.9981546401977539 + ], + [ + 0.23821832239627838, + -0.09407337009906769, + -0.03490976244211197, + -0.17084303498268127, + 0.04494219273328781, + -1.3236013650894165, + 0.0, + 0.9981546401977539 + ], + [ + 0.23757360875606537, + -0.08216597884893417, + -0.02605319581925869, + -0.1762915402650833, + 0.06219646334648132, + -1.3015861511230469, + 0.0, + 0.9981546401977539 + ], + [ + 0.23478452861309052, + -0.07022414356470108, + -0.025281783193349838, + -0.17963382601737976, + 0.11554010957479477, + -1.2771549224853516, + 0.0, + 0.9981546401977539 + ], + [ + 0.23339302837848663, + -0.0597253255546093, + -0.02642092853784561, + -0.19516289234161377, + 0.15884719789028168, + -1.263265609741211, + 0.0, + 0.9981546401977539 + ], + [ + 0.23436689376831055, + -0.0490744449198246, + -0.030490409582853317, + -0.20024508237838745, + 0.22446243464946747, + -1.2431553602218628, + 0.0, + 0.9981546401977539 + ], + [ + 0.2364148050546646, + -0.03465324267745018, + -0.029579246416687965, + -0.19234536588191986, + 0.2441885620355606, + -1.1942243576049805, + 0.0, + 0.9981546401977539 + ], + [ + 0.23176322877407074, + -0.015187954530119896, + -0.025645354762673378, + -0.1738158017396927, + 0.282558798789978, + -1.123081088066101, + 0.0, + 0.9981546401977539 + ], + [ + 0.22788669168949127, + -0.003158651292324066, + -0.012573440559208393, + -0.15480570495128632, + 0.29324498772621155, + -1.073840618133545, + 0.0, + 0.9981546401977539 + ], + [ + 0.22442638874053955, + 3.6028541217092425e-05, + -0.011707070283591747, + -0.16020818054676056, + 0.3112151622772217, + -1.0620677471160889, + 0.0, + 0.9981546401977539 + ], + [ + 0.2225312739610672, + -0.010689595714211464, + -0.012591223232448101, + -0.1955253779888153, + 0.2746143639087677, + -1.0691499710083008, + 0.0, + 1.0014774799346924 + ], + [ + 0.21350912749767303, + -0.0378422886133194, + -0.012042970396578312, + -0.20444275438785553, + 0.22342005372047424, + -1.0450618267059326, + 0.0, + 0.9988223910331726 + ], + [ + 0.20576409995555878, + -0.05883180350065231, + 0.004268716089427471, + -0.14815206825733185, + 0.16665127873420715, + -0.9724334478378296, + 0.0, + 0.9988223910331726 + ], + [ + 0.1884571611881256, + -0.0856582373380661, + 0.030216051265597343, + -0.08613263815641403, + 0.09136755764484406, + -0.881005048751831, + 0.0, + 0.9988223910331726 + ], + [ + 0.17734621465206146, + -0.09444404393434525, + 0.04590440168976784, + -0.01607459969818592, + 0.05443578213453293, + -0.7766319513320923, + 0.0, + 0.9988223910331726 + ], + [ + 0.16598725318908691, + -0.0983448326587677, + 0.05644147843122482, + 0.001988723175600171, + 0.003387398784980178, + -0.6813928484916687, + 0.0, + 0.9988223910331726 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 1.0008161067962646 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 1.0014774799346924 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2984025180339813, + -0.17132291197776794, + 0.07142049074172974 + ], + [ + 0.29320427775382996, + -0.16867190599441528, + 0.06059080362319946 + ], + [ + 0.2705976366996765, + -0.1603008508682251, + 0.05808965116739273 + ], + [ + 0.2517441511154175, + -0.15552926063537598, + 0.055989645421504974 + ], + [ + 0.2389163374900818, + -0.15378296375274658, + 0.05047740042209625 + ], + [ + 0.2391315996646881, + -0.1513589471578598, + 0.04345906898379326 + ], + [ + 0.24718299508094788, + -0.1534484326839447, + 0.028320245444774628 + ], + [ + 0.25954321026802063, + -0.1552448868751526, + 0.011380298063158989 + ], + [ + 0.2644411325454712, + -0.15283656120300293, + -0.008683796972036362 + ], + [ + 0.2613718509674072, + -0.15114054083824158, + -0.024618664756417274 + ], + [ + 0.25995492935180664, + -0.14554038643836975, + -0.030410878360271454 + ], + [ + 0.25416308641433716, + -0.13828325271606445, + -0.03163936361670494 + ], + [ + 0.23991355299949646, + -0.116214320063591, + -0.03739525005221367 + ], + [ + 0.2381872683763504, + -0.10756268352270126, + -0.03728146106004715 + ], + [ + 0.2379036843776703, + -0.10211869329214096, + -0.03504723310470581 + ], + [ + 0.23821832239627838, + -0.09407337009906769, + -0.03490976244211197 + ], + [ + 0.23757360875606537, + -0.08216597884893417, + -0.02605319581925869 + ], + [ + 0.23478452861309052, + -0.07022414356470108, + -0.025281783193349838 + ], + [ + 0.23339302837848663, + -0.0597253255546093, + -0.02642092853784561 + ], + [ + 0.23436689376831055, + -0.0490744449198246, + -0.030490409582853317 + ], + [ + 0.2364148050546646, + -0.03465324267745018, + -0.029579246416687965 + ], + [ + 0.23176322877407074, + -0.015187954530119896, + -0.025645354762673378 + ], + [ + 0.22788669168949127, + -0.003158651292324066, + -0.012573440559208393 + ], + [ + 0.22442638874053955, + 3.6028541217092425e-05, + -0.011707070283591747 + ], + [ + 0.2225312739610672, + -0.010689595714211464, + -0.012591223232448101 + ], + [ + 0.21350912749767303, + -0.0378422886133194, + -0.012042970396578312 + ], + [ + 0.20576409995555878, + -0.05883180350065231, + 0.004268716089427471 + ], + [ + 0.1884571611881256, + -0.0856582373380661, + 0.030216051265597343 + ], + [ + 0.17734621465206146, + -0.09444404393434525, + 0.04590440168976784 + ], + [ + 0.16598725318908691, + -0.0983448326587677, + 0.05644147843122482 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.7037467340574127, + -0.7087951538383667, + 0.048476429311273134, + -0.6866129614658715, + -0.6960754867569344, + -0.20986080597186796, + 0.1824915763825564, + 0.11440431211865426, + -0.9765287901122356 + ], + [ + 0.6966453138093435, + -0.7172613249939772, + 0.014882822829202239, + -0.7018861474109812, + -0.6857116775656311, + -0.19275718228563649, + 0.14846259737742556, + 0.1238373405641931, + -0.9811336148873588 + ], + [ + 0.5453381700636, + -0.8381775016291161, + -0.00804711342389526, + -0.828821442773192, + -0.5377678798734259, + -0.15446916642425673, + 0.12514510086714653, + 0.09090755270720624, + -0.9879648377294294 + ], + [ + 0.4462023404694157, + -0.8947327098513761, + -0.018890454775597504, + -0.8885579919961334, + -0.4404107543122518, + -0.128464245398915, + 0.10662160296776099, + 0.07410631152693192, + -0.9915342093808253 + ], + [ + 0.2991989319996547, + -0.9538912319867104, + -0.02390641397494657, + -0.9498477186228157, + -0.29535592979754094, + -0.10273356881011317, + 0.09093574939097508, + 0.0534452268430545, + -0.9944215892720732 + ], + [ + 0.2068098274410401, + -0.9782881177487335, + -0.01349273676639895, + -0.9719747984362874, + -0.20386051240378106, + -0.11707212600446962, + 0.1117796335588277, + 0.037326266276014576, + -0.9930317534537082 + ], + [ + 0.20241842705972818, + -0.9789431768171477, + -0.026401457342657003, + -0.9750582045433633, + -0.1989623062635339, + -0.09836411153956597, + 0.09103998099372561, + 0.045653666330825945, + -0.9948002134153449 + ], + [ + 0.21901640270368455, + -0.9752301296498357, + -0.030951729675449756, + -0.9741043096142458, + -0.2167179856598182, + -0.06445237530537157, + 0.05614810181734669, + 0.044266340651961014, + -0.9974406657779666 + ], + [ + 0.2366553726554249, + -0.9711894571246535, + -0.028022722266814997, + -0.9712362625328521, + -0.23568767767391197, + -0.033932888675965, + 0.0263506533987151, + 0.03524708445530307, + -0.9990311737392692 + ], + [ + 0.2356393846605122, + -0.9702884530253051, + -0.05490353652156617, + -0.9718377621361216, + -0.23512673060664718, + -0.015709380652459908, + 0.002333341610202478, + 0.057059078856821106, + -0.9983680769320205 + ], + [ + 0.23404936440419832, + -0.9694788496833613, + -0.07301818293149656, + -0.9722128196028894, + -0.2337569910866839, + -0.01264525673521609, + -0.004809201783075624, + 0.07394882781171508, + -0.9972504411849028 + ], + [ + 0.22018211412156252, + -0.9716770032008718, + -0.08581164298352942, + -0.9754063191426, + -0.22022905774573065, + -0.009037405662710891, + -0.010116778026822211, + 0.0856910939071332, + -0.9962703886131292 + ], + [ + 0.23793821482859373, + -0.9606297417304548, + -0.14344303826628044, + -0.9701047251091974, + -0.24230818393092396, + 0.013548664912306163, + -0.04777267257533759, + 0.13593102406359314, + -0.9895658282560248 + ], + [ + 0.2446776465916186, + -0.9564470478367607, + -0.1591913752146505, + -0.9687667021187175, + -0.2479724513778483, + 0.0008603625307689877, + -0.04029796675281109, + 0.15400879209319615, + -0.9872473681066887 + ], + [ + 0.236909001541104, + -0.957854332600996, + -0.162447537704631, + -0.9708480253766042, + -0.23968176804439595, + -0.002600324875961929, + -0.036444980602894333, + 0.15832791157787912, + -0.9867137557591066 + ], + [ + 0.24443808702482211, + -0.953617956165526, + -0.17567815826200708, + -0.9686235493847655, + -0.2485289867556258, + 0.0013275238156571084, + -0.04492706521579909, + 0.16984150382314472, + -0.9844467595508598 + ], + [ + 0.2654558702281893, + -0.9461410432926174, + -0.18533835857305003, + -0.9621173351049506, + -0.2723561657837954, + 0.0123431134685726, + -0.062156370968252564, + 0.17504069571590347, + -0.982597242206261 + ], + [ + 0.2875098832654112, + -0.935832432689932, + -0.20385221350368884, + -0.9508143076709118, + -0.30449827236786203, + 0.05685907538179101, + -0.11528321366527952, + 0.1774780551240948, + -0.9773491293270662 + ], + [ + 0.2988951453130337, + -0.9257050923793786, + -0.2318011519625957, + -0.9410848911413612, + -0.32619569264264997, + 0.08919415769451536, + -0.15818002330810527, + 0.1914848611359857, + -0.9686653850437619 + ], + [ + 0.31373741599126553, + -0.9136372142839082, + -0.25852635162138415, + -0.923052515911309, + -0.3572984844501242, + 0.14251963331221004, + -0.22258231438487217, + 0.19391965781009488, + -0.9554330325239385 + ], + [ + 0.35682552015605784, + -0.8957858938732625, + -0.26503430061604943, + -0.9023432163316892, + -0.4039318089862862, + 0.15038554993498632, + -0.24176903876539, + 0.18549050117659954, + -0.9524395024712661 + ], + [ + 0.41574022995635285, + -0.866981515888432, + -0.27477829663864584, + -0.865692137359164, + -0.469850170466959, + 0.1726787208277045, + -0.27881388866116696, + 0.1660839198115409, + -0.9458746994553096 + ], + [ + 0.4563996127789465, + -0.8472773768486724, + -0.27169917212914113, + -0.8415126808747352, + -0.5102288907667676, + 0.17754685847384086, + -0.28906020373313907, + 0.1476059812722603, + -0.9458629250110236 + ], + [ + 0.46366957537637465, + -0.8383876760497592, + -0.28655999287788947, + -0.8314099470776658, + -0.5234925764620013, + 0.18631431047959898, + -0.3062156507603835, + 0.1518605512865647, + -0.9397714340159181 + ], + [ + 0.462851438791014, + -0.8347510334335068, + -0.29826038588921067, + -0.843938532652358, + -0.517900479082179, + 0.13981003852025337, + -0.2711757708824176, + 0.18700215492914013, + -0.944189544179655 + ], + [ + 0.48937520058713097, + -0.8243677548089904, + -0.2844814895234656, + -0.8434574307805466, + -0.5303050960311653, + 0.08576752056843065, + -0.22156596198736142, + 0.1979755286760486, + -0.9548372712321478 + ], + [ + 0.5554865943124689, + -0.8034150556204652, + -0.21438025081965847, + -0.8148117275313626, + -0.5773516131022681, + 0.052411482764427045, + -0.16588095796833183, + 0.14556566645529445, + -0.975343090677806 + ], + [ + 0.6337217957729473, + -0.7635242997238669, + -0.12420680051224739, + -0.768161349589281, + -0.640071674498416, + 0.01537506103949346, + -0.09124048750135585, + 0.08566735221758807, + -0.99213722750663 + ], + [ + 0.7122216292313958, + -0.7001666869123436, + -0.05006956553803871, + -0.6998428554189952, + -0.7137989947451236, + 0.026664073579218187, + -0.05440890160592528, + 0.016050097789192936, + -0.9983897364190968 + ], + [ + 0.7766916952788658, + -0.629879441411247, + -0.0013783222763023234, + -0.6298718409789417, + -0.7766903722321928, + 0.0036782636687657687, + -0.0033873923068826403, + -0.001988710454939515, + -0.9999922852722845 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.005198240280151367, + 0.002651005983352661, + -0.010829687118530273, + -0.008932247757911682, + 0.034506529569625854, + -0.016070008277893066, + 1.0 + ], + [ + -0.022606641054153442, + 0.008371055126190186, + -0.002501152455806732, + 0.033798106014728546, + 0.023539379239082336, + -0.19969439506530762, + 1.0 + ], + [ + -0.018853485584259033, + 0.004771590232849121, + -0.0021000057458877563, + 0.017156250774860382, + 0.018649421632289886, + -0.11657863855361938, + 1.0 + ], + [ + -0.012827813625335693, + 0.0017462968826293945, + -0.005512244999408722, + 0.020906958729028702, + 0.015763111412525177, + -0.16021990776062012, + 1.0 + ], + [ + 0.00021526217460632324, + 0.00242401659488678, + -0.007018331438302994, + 0.016122877597808838, + -0.02095218002796173, + -0.09551143646240234, + 1.0 + ], + [ + 0.008051395416259766, + -0.0020894855260849, + -0.015138823539018631, + -0.00828961655497551, + 0.020847514271736145, + -0.00495755672454834, + 1.0 + ], + [ + 0.012360215187072754, + -0.0017964541912078857, + -0.01693994738161564, + 0.001509297639131546, + 0.03498856723308563, + 0.01647210121154785, + 1.0 + ], + [ + 0.0048979222774505615, + 0.002408325672149658, + -0.02006409503519535, + 0.009084183722734451, + 0.029823942109942436, + 0.017845630645751953, + 1.0 + ], + [ + -0.003069281578063965, + 0.0016960203647613525, + -0.015934867784380913, + -0.02182360365986824, + 0.0240203607827425, + -0.0011295080184936523, + 1.0 + ], + [ + -0.001416921615600586, + 0.005600154399871826, + -0.005792213603854179, + -0.01692700758576393, + 0.007142564281821251, + -0.0016336441040039062, + 1.0 + ], + [ + -0.005791842937469482, + 0.007257133722305298, + -0.001228485256433487, + -0.01178346574306488, + 0.005307730287313461, + -0.014230728149414062, + 1.0 + ], + [ + -0.014249533414840698, + 0.02206893265247345, + -0.005755886435508728, + -0.05070926994085312, + 0.037673912942409515, + 0.018509864807128906, + 1.0 + ], + [ + -0.0017262846231460571, + 0.00865163654088974, + 0.00011378899216651917, + -0.018240928649902344, + -0.007481981068849564, + 0.006869792938232422, + 1.0 + ], + [ + -0.00028358399868011475, + 0.005443990230560303, + 0.002234227955341339, + -0.004352658987045288, + -0.003855828195810318, + -0.008047223091125488, + 1.0 + ], + [ + 0.00031463801860809326, + 0.008045323193073273, + 0.00013747066259384155, + -0.011739462614059448, + 0.008489139378070831, + 0.007849812507629395, + 1.0 + ], + [ + -0.0006447136402130127, + 0.011907391250133514, + 0.008856566622853279, + -0.005448505282402039, + 0.017254270613193512, + 0.02201521396636963, + 1.0 + ], + [ + -0.0027890801429748535, + 0.011941835284233093, + 0.0007714126259088516, + -0.0033422857522964478, + 0.053343646228313446, + 0.024431228637695312, + 1.0 + ], + [ + -0.0013915002346038818, + 0.010498818010091782, + -0.0011391453444957733, + -0.015529066324234009, + 0.04330708831548691, + 0.013889312744140625, + 1.0 + ], + [ + 0.0009738653898239136, + 0.010650880634784698, + -0.004069481045007706, + -0.005082190036773682, + 0.06561523675918579, + 0.020110249519348145, + 1.0 + ], + [ + 0.002047911286354065, + 0.01442120224237442, + 0.0009111631661653519, + 0.00789971649646759, + 0.01972612738609314, + 0.048931002616882324, + 1.0 + ], + [ + -0.004651576280593872, + 0.019465288147330284, + 0.003933891654014587, + 0.018529564142227173, + 0.03837023675441742, + 0.0711432695388794, + 1.0 + ], + [ + -0.0038765370845794678, + 0.01202930323779583, + 0.013071914203464985, + 0.019010096788406372, + 0.01068618893623352, + 0.04924046993255615, + 1.0 + ], + [ + -0.003460302948951721, + 0.0031946797389537096, + 0.0008663702756166458, + -0.005402475595474243, + 0.017970174551010132, + 0.011772871017456055, + 1.0 + ], + [ + -0.001895114779472351, + -0.010725623928010464, + -0.0008841529488563538, + -0.03531719744205475, + -0.03660079836845398, + -0.007082223892211914, + 1.0 + ], + [ + -0.009022146463394165, + -0.027152692899107933, + 0.0005482528358697891, + -0.008917376399040222, + -0.05119431018829346, + 0.024088144302368164, + 1.0 + ], + [ + -0.007745027542114258, + -0.020989514887332916, + 0.016311686486005783, + 0.05629068613052368, + -0.05676877498626709, + 0.07262837886810303, + 1.0 + ], + [ + -0.017306938767433167, + -0.026826433837413788, + 0.025947336107492447, + 0.062019430100917816, + -0.0752837210893631, + 0.09142839908599854, + 1.0 + ], + [ + -0.011110946536064148, + -0.008785806596279144, + 0.015688350424170494, + 0.07005804032087326, + -0.03693177551031113, + 0.10437309741973877, + 1.0 + ], + [ + -0.011358961462974548, + -0.003900788724422455, + 0.010537076741456985, + 0.018063323572278023, + -0.05104838311672211, + 0.09523910284042358, + 1.0 + ], + [ + -0.004197984933853149, + 0.0008662641048431396, + 0.02627459168434143, + -0.0026973565109074116, + -0.08341974020004272, + 0.07334941625595093, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 1.0008161067962646 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 1.0014774799346924 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.29320427775382996, + -0.16867190599441528, + 0.06059080362319946 + ], + [ + 0.2705976366996765, + -0.1603008508682251, + 0.05808965116739273 + ], + [ + 0.2517441511154175, + -0.15552926063537598, + 0.055989645421504974 + ], + [ + 0.2389163374900818, + -0.15378296375274658, + 0.05047740042209625 + ], + [ + 0.2391315996646881, + -0.1513589471578598, + 0.04345906898379326 + ], + [ + 0.24718299508094788, + -0.1534484326839447, + 0.028320245444774628 + ], + [ + 0.25954321026802063, + -0.1552448868751526, + 0.011380298063158989 + ], + [ + 0.2644411325454712, + -0.15283656120300293, + -0.008683796972036362 + ], + [ + 0.2613718509674072, + -0.15114054083824158, + -0.024618664756417274 + ], + [ + 0.25995492935180664, + -0.14554038643836975, + -0.030410878360271454 + ], + [ + 0.25416308641433716, + -0.13828325271606445, + -0.03163936361670494 + ], + [ + 0.23991355299949646, + -0.116214320063591, + -0.03739525005221367 + ], + [ + 0.2381872683763504, + -0.10756268352270126, + -0.03728146106004715 + ], + [ + 0.2379036843776703, + -0.10211869329214096, + -0.03504723310470581 + ], + [ + 0.23821832239627838, + -0.09407337009906769, + -0.03490976244211197 + ], + [ + 0.23757360875606537, + -0.08216597884893417, + -0.02605319581925869 + ], + [ + 0.23478452861309052, + -0.07022414356470108, + -0.025281783193349838 + ], + [ + 0.23339302837848663, + -0.0597253255546093, + -0.02642092853784561 + ], + [ + 0.23436689376831055, + -0.0490744449198246, + -0.030490409582853317 + ], + [ + 0.2364148050546646, + -0.03465324267745018, + -0.029579246416687965 + ], + [ + 0.23176322877407074, + -0.015187954530119896, + -0.025645354762673378 + ], + [ + 0.22788669168949127, + -0.003158651292324066, + -0.012573440559208393 + ], + [ + 0.22442638874053955, + 3.6028541217092425e-05, + -0.011707070283591747 + ], + [ + 0.2225312739610672, + -0.010689595714211464, + -0.012591223232448101 + ], + [ + 0.21350912749767303, + -0.0378422886133194, + -0.012042970396578312 + ], + [ + 0.20576409995555878, + -0.05883180350065231, + 0.004268716089427471 + ], + [ + 0.1884571611881256, + -0.0856582373380661, + 0.030216051265597343 + ], + [ + 0.17734621465206146, + -0.09444404393434525, + 0.04590440168976784 + ], + [ + 0.16598725318908691, + -0.0983448326587677, + 0.05644147843122482 + ], + [ + 0.16178926825523376, + -0.09747856855392456, + 0.08271607011556625 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.6966453138093435, + -0.7172613249939772, + 0.014882822829202239, + -0.7018861474109812, + -0.6857116775656311, + -0.19275718228563649, + 0.14846259737742556, + 0.1238373405641931, + -0.9811336148873588 + ], + [ + 0.5453381700636, + -0.8381775016291161, + -0.00804711342389526, + -0.828821442773192, + -0.5377678798734259, + -0.15446916642425673, + 0.12514510086714653, + 0.09090755270720624, + -0.9879648377294294 + ], + [ + 0.4462023404694157, + -0.8947327098513761, + -0.018890454775597504, + -0.8885579919961334, + -0.4404107543122518, + -0.128464245398915, + 0.10662160296776099, + 0.07410631152693192, + -0.9915342093808253 + ], + [ + 0.2991989319996547, + -0.9538912319867104, + -0.02390641397494657, + -0.9498477186228157, + -0.29535592979754094, + -0.10273356881011317, + 0.09093574939097508, + 0.0534452268430545, + -0.9944215892720732 + ], + [ + 0.2068098274410401, + -0.9782881177487335, + -0.01349273676639895, + -0.9719747984362874, + -0.20386051240378106, + -0.11707212600446962, + 0.1117796335588277, + 0.037326266276014576, + -0.9930317534537082 + ], + [ + 0.20241842705972818, + -0.9789431768171477, + -0.026401457342657003, + -0.9750582045433633, + -0.1989623062635339, + -0.09836411153956597, + 0.09103998099372561, + 0.045653666330825945, + -0.9948002134153449 + ], + [ + 0.21901640270368455, + -0.9752301296498357, + -0.030951729675449756, + -0.9741043096142458, + -0.2167179856598182, + -0.06445237530537157, + 0.05614810181734669, + 0.044266340651961014, + -0.9974406657779666 + ], + [ + 0.2366553726554249, + -0.9711894571246535, + -0.028022722266814997, + -0.9712362625328521, + -0.23568767767391197, + -0.033932888675965, + 0.0263506533987151, + 0.03524708445530307, + -0.9990311737392692 + ], + [ + 0.2356393846605122, + -0.9702884530253051, + -0.05490353652156617, + -0.9718377621361216, + -0.23512673060664718, + -0.015709380652459908, + 0.002333341610202478, + 0.057059078856821106, + -0.9983680769320205 + ], + [ + 0.23404936440419832, + -0.9694788496833613, + -0.07301818293149656, + -0.9722128196028894, + -0.2337569910866839, + -0.01264525673521609, + -0.004809201783075624, + 0.07394882781171508, + -0.9972504411849028 + ], + [ + 0.22018211412156252, + -0.9716770032008718, + -0.08581164298352942, + -0.9754063191426, + -0.22022905774573065, + -0.009037405662710891, + -0.010116778026822211, + 0.0856910939071332, + -0.9962703886131292 + ], + [ + 0.23793821482859373, + -0.9606297417304548, + -0.14344303826628044, + -0.9701047251091974, + -0.24230818393092396, + 0.013548664912306163, + -0.04777267257533759, + 0.13593102406359314, + -0.9895658282560248 + ], + [ + 0.2446776465916186, + -0.9564470478367607, + -0.1591913752146505, + -0.9687667021187175, + -0.2479724513778483, + 0.0008603625307689877, + -0.04029796675281109, + 0.15400879209319615, + -0.9872473681066887 + ], + [ + 0.236909001541104, + -0.957854332600996, + -0.162447537704631, + -0.9708480253766042, + -0.23968176804439595, + -0.002600324875961929, + -0.036444980602894333, + 0.15832791157787912, + -0.9867137557591066 + ], + [ + 0.24443808702482211, + -0.953617956165526, + -0.17567815826200708, + -0.9686235493847655, + -0.2485289867556258, + 0.0013275238156571084, + -0.04492706521579909, + 0.16984150382314472, + -0.9844467595508598 + ], + [ + 0.2654558702281893, + -0.9461410432926174, + -0.18533835857305003, + -0.9621173351049506, + -0.2723561657837954, + 0.0123431134685726, + -0.062156370968252564, + 0.17504069571590347, + -0.982597242206261 + ], + [ + 0.2875098832654112, + -0.935832432689932, + -0.20385221350368884, + -0.9508143076709118, + -0.30449827236786203, + 0.05685907538179101, + -0.11528321366527952, + 0.1774780551240948, + -0.9773491293270662 + ], + [ + 0.2988951453130337, + -0.9257050923793786, + -0.2318011519625957, + -0.9410848911413612, + -0.32619569264264997, + 0.08919415769451536, + -0.15818002330810527, + 0.1914848611359857, + -0.9686653850437619 + ], + [ + 0.31373741599126553, + -0.9136372142839082, + -0.25852635162138415, + -0.923052515911309, + -0.3572984844501242, + 0.14251963331221004, + -0.22258231438487217, + 0.19391965781009488, + -0.9554330325239385 + ], + [ + 0.35682552015605784, + -0.8957858938732625, + -0.26503430061604943, + -0.9023432163316892, + -0.4039318089862862, + 0.15038554993498632, + -0.24176903876539, + 0.18549050117659954, + -0.9524395024712661 + ], + [ + 0.41574022995635285, + -0.866981515888432, + -0.27477829663864584, + -0.865692137359164, + -0.469850170466959, + 0.1726787208277045, + -0.27881388866116696, + 0.1660839198115409, + -0.9458746994553096 + ], + [ + 0.4563996127789465, + -0.8472773768486724, + -0.27169917212914113, + -0.8415126808747352, + -0.5102288907667676, + 0.17754685847384086, + -0.28906020373313907, + 0.1476059812722603, + -0.9458629250110236 + ], + [ + 0.46366957537637465, + -0.8383876760497592, + -0.28655999287788947, + -0.8314099470776658, + -0.5234925764620013, + 0.18631431047959898, + -0.3062156507603835, + 0.1518605512865647, + -0.9397714340159181 + ], + [ + 0.462851438791014, + -0.8347510334335068, + -0.29826038588921067, + -0.843938532652358, + -0.517900479082179, + 0.13981003852025337, + -0.2711757708824176, + 0.18700215492914013, + -0.944189544179655 + ], + [ + 0.48937520058713097, + -0.8243677548089904, + -0.2844814895234656, + -0.8434574307805466, + -0.5303050960311653, + 0.08576752056843065, + -0.22156596198736142, + 0.1979755286760486, + -0.9548372712321478 + ], + [ + 0.5554865943124689, + -0.8034150556204652, + -0.21438025081965847, + -0.8148117275313626, + -0.5773516131022681, + 0.052411482764427045, + -0.16588095796833183, + 0.14556566645529445, + -0.975343090677806 + ], + [ + 0.6337217957729473, + -0.7635242997238669, + -0.12420680051224739, + -0.768161349589281, + -0.640071674498416, + 0.01537506103949346, + -0.09124048750135585, + 0.08566735221758807, + -0.99213722750663 + ], + [ + 0.7122216292313958, + -0.7001666869123436, + -0.05006956553803871, + -0.6998428554189952, + -0.7137989947451236, + 0.026664073579218187, + -0.05440890160592528, + 0.016050097789192936, + -0.9983897364190968 + ], + [ + 0.7766916952788658, + -0.629879441411247, + -0.0013783222763023234, + -0.6298718409789417, + -0.7766903722321928, + 0.0036782636687657687, + -0.0033873923068826403, + -0.001988710454939515, + -0.9999922852722845 + ], + [ + 0.8181401256455663, + -0.571309023263899, + 0.06521299522262479, + -0.5694341251845801, + -0.8207347324109648, + -0.046252309018829804, + 0.07994693167300619, + 0.0007063650268014261, + -0.9967988709687226 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006714.json b/json/chunk-0006/episode_0006714.json new file mode 100644 index 0000000000000000000000000000000000000000..97fe2183f1318b80316f5cd6219f4aaca89971d6 --- /dev/null +++ b/json/chunk-0006/episode_0006714.json @@ -0,0 +1,2182 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 35, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nClose microwave." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006714.mp4", + "start": 0, + "end": 35, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.26817309856414795, + 0.059410516172647476, + 0.09025043249130249, + -0.020846985280513763, + -0.09652702510356903, + 0.3323814868927002, + 0.0, + 0.9988223910331726 + ], + [ + 0.2637350559234619, + 0.057758040726184845, + 0.08428672701120377, + -0.02133326418697834, + -0.06408922374248505, + 0.3329333961009979, + 0.0, + 0.9988223910331726 + ], + [ + 0.2588962912559509, + 0.04927369952201843, + 0.10294515639543533, + -0.06920284777879715, + -0.05803093686699867, + 0.3385397791862488, + 0.0, + 0.9981546401977539 + ], + [ + 0.2552400231361389, + 0.04290501028299332, + 0.14035171270370483, + -0.1261567920446396, + -0.09033498913049698, + 0.36146122217178345, + 0.0, + 0.9988223910331726 + ], + [ + 0.24318960309028625, + 0.04880605638027191, + 0.17575500905513763, + -0.18915395438671112, + -0.13910792768001556, + 0.3597666919231415, + 0.0, + 0.9988223910331726 + ], + [ + 0.2267318218946457, + 0.07108531892299652, + 0.19673943519592285, + -0.18553000688552856, + -0.15377503633499146, + 0.36301711201667786, + 0.0, + 0.9988223910331726 + ], + [ + 0.22193953394889832, + 0.09782806038856506, + 0.19476255774497986, + -0.12720626592636108, + -0.18458326160907745, + 0.40085887908935547, + 0.0, + 0.9988223910331726 + ], + [ + 0.21731379628181458, + 0.12354930490255356, + 0.18090581893920898, + -0.08848424255847931, + -0.19684551656246185, + 0.40735262632369995, + 0.0, + 0.9988223910331726 + ], + [ + 0.21117542684078217, + 0.13794364035129547, + 0.17324203252792358, + -0.05496620386838913, + -0.2169603705406189, + 0.39395955204963684, + 0.0, + 0.9988223910331726 + ], + [ + 0.20877857506275177, + 0.1442270129919052, + 0.1683225780725479, + -0.031816333532333374, + -0.1966046392917633, + 0.39610156416893005, + 0.0, + 0.9988223910331726 + ], + [ + 0.2110721617937088, + 0.14877188205718994, + 0.16110791265964508, + -0.005927515681833029, + -0.18062984943389893, + 0.42487096786499023, + 0.0, + 0.9988223910331726 + ], + [ + 0.21713019907474518, + 0.14789406955242157, + 0.1475185751914978, + 0.005965028889477253, + -0.16205772757530212, + 0.45850491523742676, + 0.0, + 0.9988223910331726 + ], + [ + 0.22104611992835999, + 0.14283889532089233, + 0.13559339940547943, + -6.698582001263276e-05, + -0.14047665894031525, + 0.4739203155040741, + 0.0, + 0.9988223910331726 + ], + [ + 0.22514036297798157, + 0.13088645040988922, + 0.12578101456165314, + -0.04873407632112503, + -0.14917109906673431, + 0.48782017827033997, + 0.0, + 0.9988223910331726 + ], + [ + 0.22737912833690643, + 0.11551510542631149, + 0.11493946611881256, + -0.06659409403800964, + -0.13837523758411407, + 0.48511579632759094, + 0.0, + 0.9988223910331726 + ], + [ + 0.23498430848121643, + 0.09079140424728394, + 0.11719906330108643, + -0.11261845380067825, + -0.11144818365573883, + 0.5086260437965393, + 0.0, + 0.9988223910331726 + ], + [ + 0.25124165415763855, + 0.057319607585668564, + 0.13044071197509766, + -0.13765054941177368, + -0.09766065329313278, + 0.5415579080581665, + 0.0, + 0.9994885921478271 + ], + [ + 0.2652323246002197, + 0.030202068388462067, + 0.13851529359817505, + -0.1665772646665573, + -0.10268283635377884, + 0.548378586769104, + 0.0, + 0.9988223910331726 + ], + [ + 0.27279630303382874, + -0.0026293958071619272, + 0.14462880790233612, + -0.20668576657772064, + -0.08954901248216629, + 0.5169475078582764, + 0.0, + 0.9988223910331726 + ], + [ + 0.26328355073928833, + -0.0281026903539896, + 0.14166796207427979, + -0.20074334740638733, + -0.07171759009361267, + 0.41631096601486206, + 0.0, + 0.9981546401977539 + ], + [ + 0.2294539511203766, + -0.025877906009554863, + 0.12621954083442688, + -0.1616830676794052, + -0.058538779616355896, + 0.3032674491405487, + 0.0, + 0.9988223910331726 + ], + [ + 0.209800586104393, + -0.004598172381520271, + 0.11475961655378342, + -0.13728667795658112, + -0.04656481370329857, + 0.28224825859069824, + 0.0, + 0.9988223910331726 + ], + [ + 0.20894083380699158, + 0.028641829267144203, + 0.1061779037117958, + -0.0891496017575264, + -0.06601009517908096, + 0.32450705766677856, + 0.0, + 0.9988223910331726 + ], + [ + 0.21766777336597443, + 0.05313554033637047, + 0.10011278092861176, + -0.06642594188451767, + -0.07759173959493637, + 0.3807464838027954, + 0.0, + 0.9981546401977539 + ], + [ + 0.23563136160373688, + 0.07903391867876053, + 0.09853462874889374, + -0.05969531834125519, + -0.1276848167181015, + 0.47628822922706604, + 0.0, + 0.9988223910331726 + ], + [ + 0.2460179626941681, + 0.09154932200908661, + 0.09504307061433792, + -0.04714645445346832, + -0.16023606061935425, + 0.5367899537086487, + 0.0, + 0.9981546401977539 + ], + [ + 0.2530222237110138, + 0.09020861238241196, + 0.09160159528255463, + -0.042263053357601166, + -0.16531363129615784, + 0.542454183101654, + 0.0, + 0.9981546401977539 + ], + [ + 0.26237455010414124, + 0.0855441614985466, + 0.09487097710371017, + -0.05220282822847366, + -0.1802622526884079, + 0.5406712293624878, + 0.0, + 0.9988223910331726 + ], + [ + 0.26928067207336426, + 0.08092616498470306, + 0.09694875776767731, + -0.06654757261276245, + -0.18588270246982574, + 0.5554085969924927, + 0.0, + 0.9988223910331726 + ], + [ + 0.2717326581478119, + 0.07941635698080063, + 0.0963033139705658, + -0.06957035511732101, + -0.18314936757087708, + 0.5663466453552246, + 0.0, + 0.9988223910331726 + ], + [ + 0.277962863445282, + 0.07873878628015518, + 0.09670202434062958, + -0.07468962669372559, + -0.18925105035305023, + 0.5800498723983765, + 0.0, + 0.9988223910331726 + ], + [ + 0.28327232599258423, + 0.07894153147935867, + 0.09586773812770844, + -0.07223709672689438, + -0.18804360926151276, + 0.5925222635269165, + 0.0, + 0.9988223910331726 + ], + [ + 0.28807541728019714, + 0.07831848412752151, + 0.09691369533538818, + -0.07347261905670166, + -0.18577994406223297, + 0.6061734557151794, + 0.0, + 0.9988223910331726 + ], + [ + 0.2883079946041107, + 0.0789090245962143, + 0.09684229642152786, + -0.06800872832536697, + -0.1876254379749298, + 0.6062753200531006, + 0.0, + 0.9988223910331726 + ], + [ + 0.28396111726760864, + 0.08511096984148026, + 0.09233609586954117, + -0.05459790304303169, + -0.19031453132629395, + 0.5833858251571655, + 0.0, + 0.9988223910331726 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9981546401977539 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9981546401977539 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9981546401977539 + ], + [ + 0.9988223910331726 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.26817309856414795, + 0.059410516172647476, + 0.09025043249130249 + ], + [ + 0.2637350559234619, + 0.057758040726184845, + 0.08428672701120377 + ], + [ + 0.2588962912559509, + 0.04927369952201843, + 0.10294515639543533 + ], + [ + 0.2552400231361389, + 0.04290501028299332, + 0.14035171270370483 + ], + [ + 0.24318960309028625, + 0.04880605638027191, + 0.17575500905513763 + ], + [ + 0.2267318218946457, + 0.07108531892299652, + 0.19673943519592285 + ], + [ + 0.22193953394889832, + 0.09782806038856506, + 0.19476255774497986 + ], + [ + 0.21731379628181458, + 0.12354930490255356, + 0.18090581893920898 + ], + [ + 0.21117542684078217, + 0.13794364035129547, + 0.17324203252792358 + ], + [ + 0.20877857506275177, + 0.1442270129919052, + 0.1683225780725479 + ], + [ + 0.2110721617937088, + 0.14877188205718994, + 0.16110791265964508 + ], + [ + 0.21713019907474518, + 0.14789406955242157, + 0.1475185751914978 + ], + [ + 0.22104611992835999, + 0.14283889532089233, + 0.13559339940547943 + ], + [ + 0.22514036297798157, + 0.13088645040988922, + 0.12578101456165314 + ], + [ + 0.22737912833690643, + 0.11551510542631149, + 0.11493946611881256 + ], + [ + 0.23498430848121643, + 0.09079140424728394, + 0.11719906330108643 + ], + [ + 0.25124165415763855, + 0.057319607585668564, + 0.13044071197509766 + ], + [ + 0.2652323246002197, + 0.030202068388462067, + 0.13851529359817505 + ], + [ + 0.27279630303382874, + -0.0026293958071619272, + 0.14462880790233612 + ], + [ + 0.26328355073928833, + -0.0281026903539896, + 0.14166796207427979 + ], + [ + 0.2294539511203766, + -0.025877906009554863, + 0.12621954083442688 + ], + [ + 0.209800586104393, + -0.004598172381520271, + 0.11475961655378342 + ], + [ + 0.20894083380699158, + 0.028641829267144203, + 0.1061779037117958 + ], + [ + 0.21766777336597443, + 0.05313554033637047, + 0.10011278092861176 + ], + [ + 0.23563136160373688, + 0.07903391867876053, + 0.09853462874889374 + ], + [ + 0.2460179626941681, + 0.09154932200908661, + 0.09504307061433792 + ], + [ + 0.2530222237110138, + 0.09020861238241196, + 0.09160159528255463 + ], + [ + 0.26237455010414124, + 0.0855441614985466, + 0.09487097710371017 + ], + [ + 0.26928067207336426, + 0.08092616498470306, + 0.09694875776767731 + ], + [ + 0.2717326581478119, + 0.07941635698080063, + 0.0963033139705658 + ], + [ + 0.277962863445282, + 0.07873878628015518, + 0.09670202434062958 + ], + [ + 0.28327232599258423, + 0.07894153147935867, + 0.09586773812770844 + ], + [ + 0.28807541728019714, + 0.07831848412752151, + 0.09691369533538818 + ], + [ + 0.2883079946041107, + 0.0789090245962143, + 0.09684229642152786 + ], + [ + 0.28396111726760864, + 0.08511096984148026, + 0.09233609586954117 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9408676242611435, + 0.3243251237231535, + 0.09788425685038919, + 0.3247761529257055, + -0.9457180956694174, + 0.011736013556116972, + 0.09637719703317045, + 0.020748437179020685, + -0.9951286038732168 + ], + [ + 0.9431474521631655, + 0.3254512093344056, + 0.06748624912456104, + 0.32614578865263705, + -0.9453191723973375, + 0.0007660562396437712, + 0.06404535910024083, + 0.021287851953304578, + -0.9977199102638653 + ], + [ + 0.9416528470382615, + 0.32753236205931846, + 0.07754010232505223, + 0.33155105874374613, + -0.9423148313801828, + -0.046007108220776444, + 0.05799837162056413, + 0.06903122746106104, + -0.9959271451891356 + ], + [ + 0.9315671218115403, + 0.34021370086972097, + 0.12820817173757215, + 0.3521994613744966, + -0.9319614777788432, + -0.08604268326702366, + 0.09021217748883613, + 0.1253093838337851, + -0.9880077536922066 + ], + [ + 0.9269375089359334, + 0.32137372582373264, + 0.1936640980610982, + 0.34865504151780985, + -0.9284633225805378, + -0.12804499461877647, + 0.1386597149566543, + 0.18621167249364504, + -0.9726760490909904 + ], + [ + 0.9237986301369181, + 0.32258893502428054, + 0.20623401745845513, + 0.35090615876820874, + -0.9288199322725825, + -0.11898907996827286, + 0.1531697055415808, + 0.18229073594962486, + -0.9712410251277742 + ], + [ + 0.905085652143894, + 0.3656181535521199, + 0.21712514381434705, + 0.383580724468754, + -0.9223725786583067, + -0.045767389648657654, + 0.1835368902953523, + 0.12470842767176865, + -0.9750702630930488 + ], + [ + 0.9004414879998267, + 0.37876136838291097, + 0.21388069690685663, + 0.3885291031831446, + -0.9214279543099304, + -0.0039573976193930036, + 0.19557674367971062, + 0.08666228035842019, + -0.9768517730417032 + ], + [ + 0.9017485874560832, + 0.3723476771785361, + 0.21956022481475837, + 0.37484883288208126, + -0.9265413234365503, + 0.03177307746170199, + 0.21526225286357117, + 0.05365056629891707, + -0.9750814218453274 + ], + [ + 0.9047992057584237, + 0.379896594613416, + 0.1923979590849535, + 0.37839196800357283, + -0.92450270593076, + 0.04598114045003131, + 0.19534051246300327, + 0.031198143018971586, + -0.9802391341212913 + ], + [ + 0.8962691328680195, + 0.4112257916041418, + 0.16611739760650043, + 0.4054969819362199, + -0.9115148639661417, + 0.06865020327285207, + 0.1796492112663625, + 0.005831045217962565, + -0.9837134541130566 + ], + [ + 0.8849658990015155, + 0.44346310396628685, + 0.14204165947012232, + 0.4368086044244883, + -0.8962732956963175, + 0.07676211645331742, + 0.16134931268887026, + -0.005886836353086525, + -0.986879802434208 + ], + [ + 0.8810210312478882, + 0.4563696788879944, + 0.12461403889841716, + 0.45188241382938565, + -0.8897902628105877, + 0.06384020895323639, + 0.14001509408144236, + 6.632596738471302e-05, + -0.9901493670301621 + ], + [ + 0.8735466199830771, + 0.46174953826863274, + 0.15395995136672805, + 0.46349632981556055, + -0.8857012192367654, + 0.026542465786204332, + 0.148618487960435, + 0.04817379112350539, + -0.9877205226607081 + ], + [ + 0.8761652320230542, + 0.4571574247349533, + 0.1527794986367391, + 0.461853526334486, + -0.8869403125334618, + 0.005310575811094259, + 0.13793406543123457, + 0.06590880830928933, + -0.9882460334253113 + ], + [ + 0.8679958216750768, + 0.47297624574363384, + 0.1512505355919978, + 0.4839565015605233, + -0.8739681346853889, + -0.044337389998075426, + 0.11121761619414328, + 0.11168334932656646, + -0.9875006183953976 + ], + [ + 0.8528234932024534, + 0.49913096599315226, + 0.153493870329429, + 0.5130153698136323, + -0.8556979497845837, + -0.06779564196496818, + 0.09750548588129268, + 0.13656243085564473, + -0.9858211717658788 + ], + [ + 0.8488759735459858, + 0.4995847246684121, + 0.17269824670314946, + 0.518558407115835, + -0.8504185294052016, + -0.08880035615796944, + 0.10250248751051297, + 0.16493461650690927, + -0.9809637161138407 + ], + [ + 0.86584858840987, + 0.4677554835192883, + 0.177513463112724, + 0.4922485229342859, + -0.8598996828137488, + -0.13514409778391395, + 0.08942937782210883, + 0.20439506631631554, + -0.9747948723951617 + ], + [ + 0.9122359248117403, + 0.3832008913912073, + 0.14485404488606096, + 0.4033497451843917, + -0.9019987477580034, + -0.15397156264284598, + 0.07165612704127293, + 0.19888523293592655, + -0.9773996437371292 + ], + [ + 0.9527310558468923, + 0.2857568204628914, + 0.10318224064151901, + 0.29812859475654363, + -0.9447313510798862, + -0.13638920512731628, + 0.05850535200606922, + 0.16070380781335403, + -0.9852671769327009 + ], + [ + 0.9593906357816554, + 0.26977679006732147, + 0.08240201159828214, + 0.27821375378476965, + -0.9531692121734944, + -0.11859831436216843, + 0.04654798792062481, + 0.1367074851847276, + -0.9895172299232635 + ], + [ + 0.9457438043846107, + 0.31200922180044777, + 0.09065816002766926, + 0.3181472126382495, + -0.9459165478791708, + -0.06343686261839555, + 0.0659621676314228, + 0.08883766070666065, + -0.9938595788548463 + ], + [ + 0.9255942243014477, + 0.366017353984672, + 0.09647086877322784, + 0.37049551447213197, + -0.9282520397706666, + -0.03288197709426208, + 0.07751390646737062, + 0.06617739223977204, + -0.994792514578046 + ], + [ + 0.8814682198540937, + 0.45091555702395736, + 0.14031727556159795, + 0.45475133096158993, + -0.8906029274464057, + 0.005258575144916303, + 0.1273381497270854, + 0.0591742009465825, + -0.9900926267609591 + ], + [ + 0.848346023335867, + 0.5043499152874522, + 0.16105957791997394, + 0.5048291038176127, + -0.8622450718565641, + 0.04100014631406114, + 0.1595512476570657, + 0.04652525130086095, + -0.9860926935955184 + ], + [ + 0.8447682324139655, + 0.5098237453069654, + 0.16262343688829903, + 0.5092014161242795, + -0.8592688681725238, + 0.04869219656719271, + 0.16456169457444372, + 0.041674463532098506, + -0.9854860160185426 + ], + [ + 0.8434712756922909, + 0.5059897316732805, + 0.18036240884181334, + 0.5063715727534567, + -0.8610105969318524, + 0.04741921844828767, + 0.17928758291976224, + 0.051333647953922354, + -0.9824565228031887 + ], + [ + 0.8350479601734099, + 0.5156808743897283, + 0.19175020208300414, + 0.5182071515414839, + -0.8542846308233604, + 0.040732267678792164, + 0.1848141020092599, + 0.06535292899052479, + -0.9805981553984643 + ], + [ + 0.8297531341028133, + 0.5245710290802961, + 0.19061734416416073, + 0.527578839509476, + -0.8486184603867514, + 0.038823662792869654, + 0.18212716587152358, + 0.06835162134477192, + -0.9808964019258852 + ], + [ + 0.8215011041780869, + 0.5347959447642178, + 0.19781110509253844, + 0.5382801625190382, + -0.8417969961511151, + 0.04040153350352871, + 0.18812337035217427, + 0.07328788941364536, + -0.9794072098941438 + ], + [ + 0.8149115748879492, + 0.5458065299964352, + 0.19497270815909762, + 0.5486105649682098, + -0.8349060664819852, + 0.04425277569644951, + 0.18693735078604196, + 0.07090198844058762, + -0.97980984630502 + ], + [ + 0.8076923904423697, + 0.5570464173604734, + 0.19321566015039315, + 0.5599232700856671, + -0.8273419004911943, + 0.04462411128742317, + 0.18471311279404107, + 0.07214338914606387, + -0.9801410089188474 + ], + [ + 0.8073538421371509, + 0.5580767836467128, + 0.19165092522844848, + 0.5598103477227386, + -0.8270990962810184, + 0.050194217930642784, + 0.18652653475826605, + 0.06676367639414842, + -0.9801787915198995 + ], + [ + 0.81953342050315, + 0.5414164561070061, + 0.18770507114869645, + 0.5409071385130859, + -0.8390451810498231, + 0.058503432913417794, + 0.1891677567240046, + 0.05358549443272674, + -0.9804815931991828 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.004438042640686035, + -0.0016524754464626312, + -0.005963705480098724, + -0.0004862789064645767, + 0.032437801361083984, + 0.0005519092082977295, + 1.0 + ], + [ + -0.004838764667510986, + -0.008484341204166412, + 0.018658429384231567, + -0.04786958545446396, + 0.006058286875486374, + 0.0056063830852508545, + 1.0 + ], + [ + -0.0036562681198120117, + -0.006368689239025116, + 0.0374065563082695, + -0.05695394426584244, + -0.032304052263498306, + 0.022921442985534668, + 1.0 + ], + [ + -0.012050420045852661, + 0.005901046097278595, + 0.0354032963514328, + -0.06299716234207153, + -0.048772938549518585, + -0.0016945302486419678, + 1.0 + ], + [ + -0.016457781195640564, + 0.02227926254272461, + 0.020984426140785217, + 0.003623947501182556, + -0.014667108654975891, + 0.003250420093536377, + 1.0 + ], + [ + -0.0047922879457473755, + 0.026742741465568542, + -0.001976877450942993, + 0.05832374095916748, + -0.030808225274086, + 0.03784176707267761, + 1.0 + ], + [ + -0.00462573766708374, + 0.025721244513988495, + -0.013856738805770874, + 0.038722023367881775, + -0.0122622549533844, + 0.006493747234344482, + 1.0 + ], + [ + -0.00613836944103241, + 0.014394335448741913, + -0.0076637864112854, + 0.03351803869009018, + -0.020114853978157043, + -0.01339307427406311, + 1.0 + ], + [ + -0.0023968517780303955, + 0.006283372640609741, + -0.004919454455375671, + 0.023149870336055756, + 0.02035573124885559, + 0.002142012119293213, + 1.0 + ], + [ + 0.0022935867309570312, + 0.004544869065284729, + -0.007214665412902832, + 0.025888817384839058, + 0.01597478985786438, + 0.02876940369606018, + 1.0 + ], + [ + 0.006058037281036377, + -0.0008778125047683716, + -0.013589337468147278, + 0.011892544105648994, + 0.018572121858596802, + 0.03363394737243652, + 1.0 + ], + [ + 0.003915920853614807, + -0.005055174231529236, + -0.011925175786018372, + -0.0060320147313177586, + 0.021581068634986877, + 0.015415400266647339, + 1.0 + ], + [ + 0.004094243049621582, + -0.011952444911003113, + -0.009812384843826294, + -0.04866709187626839, + -0.008694440126419067, + 0.01389986276626587, + 1.0 + ], + [ + 0.0022387653589248657, + -0.015371344983577728, + -0.010841548442840576, + -0.017860017716884613, + 0.01079586148262024, + -0.0027043819427490234, + 1.0 + ], + [ + 0.0076051801443099976, + -0.024723701179027557, + 0.0022595971822738647, + -0.04602435976266861, + 0.026927053928375244, + 0.023510247468948364, + 1.0 + ], + [ + 0.01625734567642212, + -0.03347179666161537, + 0.01324164867401123, + -0.02503209561109543, + 0.013787530362606049, + 0.0329318642616272, + 1.0 + ], + [ + 0.013990670442581177, + -0.027117539197206497, + 0.008074581623077393, + -0.02892671525478363, + -0.005022183060646057, + 0.0068206787109375, + 1.0 + ], + [ + 0.007563978433609009, + -0.03283146396279335, + 0.006113514304161072, + -0.04010850191116333, + 0.013133823871612549, + -0.03143107891082764, + 1.0 + ], + [ + -0.009512752294540405, + -0.025473294779658318, + -0.0029608458280563354, + 0.005942419171333313, + 0.01783142238855362, + -0.1006365418434143, + 1.0 + ], + [ + -0.03382959961891174, + 0.002224784344434738, + -0.015448421239852905, + 0.03906027972698212, + 0.013178810477256775, + -0.11304351687431335, + 1.0 + ], + [ + -0.01965336501598358, + 0.02127973362803459, + -0.011459924280643463, + 0.024396389722824097, + 0.011973965913057327, + -0.021019190549850464, + 1.0 + ], + [ + -0.0008597522974014282, + 0.033240001648664474, + -0.00858171284198761, + 0.04813707619905472, + -0.019445281475782394, + 0.04225879907608032, + 1.0 + ], + [ + 0.008726939558982849, + 0.024493711069226265, + -0.0060651227831840515, + 0.022723659873008728, + -0.011581644415855408, + 0.056239426136016846, + 1.0 + ], + [ + 0.01796358823776245, + 0.02589837834239006, + -0.0015781521797180176, + 0.006730623543262482, + -0.05009307712316513, + 0.09554174542427063, + 1.0 + ], + [ + 0.010386601090431213, + 0.01251540333032608, + -0.0034915581345558167, + 0.012548863887786865, + -0.03255124390125275, + 0.06050172448158264, + 1.0 + ], + [ + 0.007004261016845703, + -0.001340709626674652, + -0.0034414753317832947, + 0.004883401095867157, + -0.005077570676803589, + 0.005664229393005371, + 1.0 + ], + [ + 0.009352326393127441, + -0.0046644508838653564, + 0.003269381821155548, + -0.009939774870872498, + -0.014948621392250061, + -0.0017829537391662598, + 1.0 + ], + [ + 0.0069061219692230225, + -0.004617996513843536, + 0.0020777806639671326, + -0.014344744384288788, + -0.005620449781417847, + 0.014737367630004883, + 1.0 + ], + [ + 0.002451986074447632, + -0.0015098080039024353, + -0.0006454437971115112, + -0.0030227825045585632, + 0.0027333348989486694, + 0.010938048362731934, + 1.0 + ], + [ + 0.006230205297470093, + -0.0006775707006454468, + 0.00039871037006378174, + -0.0051192715764045715, + -0.006101682782173157, + 0.013703227043151855, + 1.0 + ], + [ + 0.005309462547302246, + 0.0002027451992034912, + -0.0008342862129211426, + 0.0024525299668312073, + 0.0012074410915374756, + 0.012472391128540039, + 1.0 + ], + [ + 0.004803091287612915, + -0.0006230473518371582, + 0.0010459572076797485, + -0.0012355223298072815, + 0.002263665199279785, + 0.01365119218826294, + 1.0 + ], + [ + 0.00023257732391357422, + 0.0005905404686927795, + -7.139891386032104e-05, + 0.005463890731334686, + -0.0018454939126968384, + 0.00010186433792114258, + 1.0 + ], + [ + -0.004346877336502075, + 0.006201945245265961, + -0.004506200551986694, + 0.013410825282335281, + -0.0026890933513641357, + -0.02288949489593506, + 1.0 + ], + [ + -0.029322534799575806, + 0.010290294885635376, + -0.010021403431892395, + 0.042147137224674225, + 0.014874890446662903, + -0.06329983472824097, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9981546401977539 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9981546401977539 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9981546401977539 + ], + [ + 0.9988223910331726 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2637350559234619, + 0.057758040726184845, + 0.08428672701120377 + ], + [ + 0.2588962912559509, + 0.04927369952201843, + 0.10294515639543533 + ], + [ + 0.2552400231361389, + 0.04290501028299332, + 0.14035171270370483 + ], + [ + 0.24318960309028625, + 0.04880605638027191, + 0.17575500905513763 + ], + [ + 0.2267318218946457, + 0.07108531892299652, + 0.19673943519592285 + ], + [ + 0.22193953394889832, + 0.09782806038856506, + 0.19476255774497986 + ], + [ + 0.21731379628181458, + 0.12354930490255356, + 0.18090581893920898 + ], + [ + 0.21117542684078217, + 0.13794364035129547, + 0.17324203252792358 + ], + [ + 0.20877857506275177, + 0.1442270129919052, + 0.1683225780725479 + ], + [ + 0.2110721617937088, + 0.14877188205718994, + 0.16110791265964508 + ], + [ + 0.21713019907474518, + 0.14789406955242157, + 0.1475185751914978 + ], + [ + 0.22104611992835999, + 0.14283889532089233, + 0.13559339940547943 + ], + [ + 0.22514036297798157, + 0.13088645040988922, + 0.12578101456165314 + ], + [ + 0.22737912833690643, + 0.11551510542631149, + 0.11493946611881256 + ], + [ + 0.23498430848121643, + 0.09079140424728394, + 0.11719906330108643 + ], + [ + 0.25124165415763855, + 0.057319607585668564, + 0.13044071197509766 + ], + [ + 0.2652323246002197, + 0.030202068388462067, + 0.13851529359817505 + ], + [ + 0.27279630303382874, + -0.0026293958071619272, + 0.14462880790233612 + ], + [ + 0.26328355073928833, + -0.0281026903539896, + 0.14166796207427979 + ], + [ + 0.2294539511203766, + -0.025877906009554863, + 0.12621954083442688 + ], + [ + 0.209800586104393, + -0.004598172381520271, + 0.11475961655378342 + ], + [ + 0.20894083380699158, + 0.028641829267144203, + 0.1061779037117958 + ], + [ + 0.21766777336597443, + 0.05313554033637047, + 0.10011278092861176 + ], + [ + 0.23563136160373688, + 0.07903391867876053, + 0.09853462874889374 + ], + [ + 0.2460179626941681, + 0.09154932200908661, + 0.09504307061433792 + ], + [ + 0.2530222237110138, + 0.09020861238241196, + 0.09160159528255463 + ], + [ + 0.26237455010414124, + 0.0855441614985466, + 0.09487097710371017 + ], + [ + 0.26928067207336426, + 0.08092616498470306, + 0.09694875776767731 + ], + [ + 0.2717326581478119, + 0.07941635698080063, + 0.0963033139705658 + ], + [ + 0.277962863445282, + 0.07873878628015518, + 0.09670202434062958 + ], + [ + 0.28327232599258423, + 0.07894153147935867, + 0.09586773812770844 + ], + [ + 0.28807541728019714, + 0.07831848412752151, + 0.09691369533538818 + ], + [ + 0.2883079946041107, + 0.0789090245962143, + 0.09684229642152786 + ], + [ + 0.28396111726760864, + 0.08511096984148026, + 0.09233609586954117 + ], + [ + 0.25463858246803284, + 0.09540126472711563, + 0.08231469243764877 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9431474521631655, + 0.3254512093344056, + 0.06748624912456104, + 0.32614578865263705, + -0.9453191723973375, + 0.0007660562396437712, + 0.06404535910024083, + 0.021287851953304578, + -0.9977199102638653 + ], + [ + 0.9416528470382615, + 0.32753236205931846, + 0.07754010232505223, + 0.33155105874374613, + -0.9423148313801828, + -0.046007108220776444, + 0.05799837162056413, + 0.06903122746106104, + -0.9959271451891356 + ], + [ + 0.9315671218115403, + 0.34021370086972097, + 0.12820817173757215, + 0.3521994613744966, + -0.9319614777788432, + -0.08604268326702366, + 0.09021217748883613, + 0.1253093838337851, + -0.9880077536922066 + ], + [ + 0.9269375089359334, + 0.32137372582373264, + 0.1936640980610982, + 0.34865504151780985, + -0.9284633225805378, + -0.12804499461877647, + 0.1386597149566543, + 0.18621167249364504, + -0.9726760490909904 + ], + [ + 0.9237986301369181, + 0.32258893502428054, + 0.20623401745845513, + 0.35090615876820874, + -0.9288199322725825, + -0.11898907996827286, + 0.1531697055415808, + 0.18229073594962486, + -0.9712410251277742 + ], + [ + 0.905085652143894, + 0.3656181535521199, + 0.21712514381434705, + 0.383580724468754, + -0.9223725786583067, + -0.045767389648657654, + 0.1835368902953523, + 0.12470842767176865, + -0.9750702630930488 + ], + [ + 0.9004414879998267, + 0.37876136838291097, + 0.21388069690685663, + 0.3885291031831446, + -0.9214279543099304, + -0.0039573976193930036, + 0.19557674367971062, + 0.08666228035842019, + -0.9768517730417032 + ], + [ + 0.9017485874560832, + 0.3723476771785361, + 0.21956022481475837, + 0.37484883288208126, + -0.9265413234365503, + 0.03177307746170199, + 0.21526225286357117, + 0.05365056629891707, + -0.9750814218453274 + ], + [ + 0.9047992057584237, + 0.379896594613416, + 0.1923979590849535, + 0.37839196800357283, + -0.92450270593076, + 0.04598114045003131, + 0.19534051246300327, + 0.031198143018971586, + -0.9802391341212913 + ], + [ + 0.8962691328680195, + 0.4112257916041418, + 0.16611739760650043, + 0.4054969819362199, + -0.9115148639661417, + 0.06865020327285207, + 0.1796492112663625, + 0.005831045217962565, + -0.9837134541130566 + ], + [ + 0.8849658990015155, + 0.44346310396628685, + 0.14204165947012232, + 0.4368086044244883, + -0.8962732956963175, + 0.07676211645331742, + 0.16134931268887026, + -0.005886836353086525, + -0.986879802434208 + ], + [ + 0.8810210312478882, + 0.4563696788879944, + 0.12461403889841716, + 0.45188241382938565, + -0.8897902628105877, + 0.06384020895323639, + 0.14001509408144236, + 6.632596738471302e-05, + -0.9901493670301621 + ], + [ + 0.8735466199830771, + 0.46174953826863274, + 0.15395995136672805, + 0.46349632981556055, + -0.8857012192367654, + 0.026542465786204332, + 0.148618487960435, + 0.04817379112350539, + -0.9877205226607081 + ], + [ + 0.8761652320230542, + 0.4571574247349533, + 0.1527794986367391, + 0.461853526334486, + -0.8869403125334618, + 0.005310575811094259, + 0.13793406543123457, + 0.06590880830928933, + -0.9882460334253113 + ], + [ + 0.8679958216750768, + 0.47297624574363384, + 0.1512505355919978, + 0.4839565015605233, + -0.8739681346853889, + -0.044337389998075426, + 0.11121761619414328, + 0.11168334932656646, + -0.9875006183953976 + ], + [ + 0.8528234932024534, + 0.49913096599315226, + 0.153493870329429, + 0.5130153698136323, + -0.8556979497845837, + -0.06779564196496818, + 0.09750548588129268, + 0.13656243085564473, + -0.9858211717658788 + ], + [ + 0.8488759735459858, + 0.4995847246684121, + 0.17269824670314946, + 0.518558407115835, + -0.8504185294052016, + -0.08880035615796944, + 0.10250248751051297, + 0.16493461650690927, + -0.9809637161138407 + ], + [ + 0.86584858840987, + 0.4677554835192883, + 0.177513463112724, + 0.4922485229342859, + -0.8598996828137488, + -0.13514409778391395, + 0.08942937782210883, + 0.20439506631631554, + -0.9747948723951617 + ], + [ + 0.9122359248117403, + 0.3832008913912073, + 0.14485404488606096, + 0.4033497451843917, + -0.9019987477580034, + -0.15397156264284598, + 0.07165612704127293, + 0.19888523293592655, + -0.9773996437371292 + ], + [ + 0.9527310558468923, + 0.2857568204628914, + 0.10318224064151901, + 0.29812859475654363, + -0.9447313510798862, + -0.13638920512731628, + 0.05850535200606922, + 0.16070380781335403, + -0.9852671769327009 + ], + [ + 0.9593906357816554, + 0.26977679006732147, + 0.08240201159828214, + 0.27821375378476965, + -0.9531692121734944, + -0.11859831436216843, + 0.04654798792062481, + 0.1367074851847276, + -0.9895172299232635 + ], + [ + 0.9457438043846107, + 0.31200922180044777, + 0.09065816002766926, + 0.3181472126382495, + -0.9459165478791708, + -0.06343686261839555, + 0.0659621676314228, + 0.08883766070666065, + -0.9938595788548463 + ], + [ + 0.9255942243014477, + 0.366017353984672, + 0.09647086877322784, + 0.37049551447213197, + -0.9282520397706666, + -0.03288197709426208, + 0.07751390646737062, + 0.06617739223977204, + -0.994792514578046 + ], + [ + 0.8814682198540937, + 0.45091555702395736, + 0.14031727556159795, + 0.45475133096158993, + -0.8906029274464057, + 0.005258575144916303, + 0.1273381497270854, + 0.0591742009465825, + -0.9900926267609591 + ], + [ + 0.848346023335867, + 0.5043499152874522, + 0.16105957791997394, + 0.5048291038176127, + -0.8622450718565641, + 0.04100014631406114, + 0.1595512476570657, + 0.04652525130086095, + -0.9860926935955184 + ], + [ + 0.8447682324139655, + 0.5098237453069654, + 0.16262343688829903, + 0.5092014161242795, + -0.8592688681725238, + 0.04869219656719271, + 0.16456169457444372, + 0.041674463532098506, + -0.9854860160185426 + ], + [ + 0.8434712756922909, + 0.5059897316732805, + 0.18036240884181334, + 0.5063715727534567, + -0.8610105969318524, + 0.04741921844828767, + 0.17928758291976224, + 0.051333647953922354, + -0.9824565228031887 + ], + [ + 0.8350479601734099, + 0.5156808743897283, + 0.19175020208300414, + 0.5182071515414839, + -0.8542846308233604, + 0.040732267678792164, + 0.1848141020092599, + 0.06535292899052479, + -0.9805981553984643 + ], + [ + 0.8297531341028133, + 0.5245710290802961, + 0.19061734416416073, + 0.527578839509476, + -0.8486184603867514, + 0.038823662792869654, + 0.18212716587152358, + 0.06835162134477192, + -0.9808964019258852 + ], + [ + 0.8215011041780869, + 0.5347959447642178, + 0.19781110509253844, + 0.5382801625190382, + -0.8417969961511151, + 0.04040153350352871, + 0.18812337035217427, + 0.07328788941364536, + -0.9794072098941438 + ], + [ + 0.8149115748879492, + 0.5458065299964352, + 0.19497270815909762, + 0.5486105649682098, + -0.8349060664819852, + 0.04425277569644951, + 0.18693735078604196, + 0.07090198844058762, + -0.97980984630502 + ], + [ + 0.8076923904423697, + 0.5570464173604734, + 0.19321566015039315, + 0.5599232700856671, + -0.8273419004911943, + 0.04462411128742317, + 0.18471311279404107, + 0.07214338914606387, + -0.9801410089188474 + ], + [ + 0.8073538421371509, + 0.5580767836467128, + 0.19165092522844848, + 0.5598103477227386, + -0.8270990962810184, + 0.050194217930642784, + 0.18652653475826605, + 0.06676367639414842, + -0.9801787915198995 + ], + [ + 0.81953342050315, + 0.5414164561070061, + 0.18770507114869645, + 0.5409071385130859, + -0.8390451810498231, + 0.058503432913417794, + 0.1891677567240046, + 0.05358549443272674, + -0.9804815931991828 + ], + [ + 0.8544559931153686, + 0.49503046467870054, + 0.15763817706767153, + 0.4893264542336228, + -0.868789127421559, + 0.07592807953080336, + 0.17454104679524252, + 0.012259327635540433, + -0.984573578697674 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006716.json b/json/chunk-0006/episode_0006716.json new file mode 100644 index 0000000000000000000000000000000000000000..1429cfb9e60d059f200f0f32560eadcd99b439c5 --- /dev/null +++ b/json/chunk-0006/episode_0006716.json @@ -0,0 +1,2782 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 45, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nTake the yellow capsicum and place it on the blue towel." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006716.mp4", + "start": 0, + "end": 45, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.32997021079063416, + -0.0482645183801651, + 0.09878427535295486, + -0.027811849489808083, + -0.17803296446800232, + 0.14812898635864258, + 0.0, + 1.0001531839370728 + ], + [ + 0.3285638093948364, + -0.048044826835393906, + 0.0884685218334198, + -0.01848403550684452, + -0.1487654447555542, + 0.14656639099121094, + 0.0, + 1.0001531839370728 + ], + [ + 0.32813000679016113, + -0.04797571524977684, + 0.08757748454809189, + -0.01755414344370365, + -0.14583860337734222, + 0.1464299112558365, + 0.0, + 1.0001531839370728 + ], + [ + 0.32813000679016113, + -0.04797571524977684, + 0.08757748454809189, + -0.017779400572180748, + -0.1458115130662918, + 0.14798010885715485, + 0.0, + 1.0001531839370728 + ], + [ + 0.32292723655700684, + -0.037445321679115295, + 0.08945640921592712, + 0.004321908578276634, + -0.15749497711658478, + 0.15388059616088867, + 0.0, + 1.0001531839370728 + ], + [ + 0.3167404234409332, + -0.008603072725236416, + 0.10065316408872604, + -0.01438832376152277, + -0.19232256710529327, + 0.22707471251487732, + 0.0, + 1.0001531839370728 + ], + [ + 0.31616196036338806, + 0.011568941175937653, + 0.09871502220630646, + -0.0350031740963459, + -0.19190724194049835, + 0.2587062418460846, + 0.0, + 1.0001531839370728 + ], + [ + 0.3195214569568634, + 0.03824206069111824, + 0.09356531500816345, + -0.04764341190457344, + -0.1854124665260315, + 0.277882844209671, + 0.0, + 1.0001531839370728 + ], + [ + 0.33231785893440247, + 0.05487426742911339, + 0.0849873274564743, + -0.064390167593956, + -0.18841178715229034, + 0.2634887993335724, + 0.0, + 1.0001531839370728 + ], + [ + 0.34745076298713684, + 0.0729997530579567, + 0.07866187393665314, + -0.07417162507772446, + -0.20538084208965302, + 0.24909713864326477, + 0.0, + 1.0001531839370728 + ], + [ + 0.3639611005783081, + 0.08531796187162399, + 0.07098522782325745, + -0.08800692856311798, + -0.21338549256324768, + 0.22681201994419098, + 0.0, + 1.0001531839370728 + ], + [ + 0.37401583790779114, + 0.09485600143671036, + 0.06753723323345184, + -0.10991547256708145, + -0.2269577831029892, + 0.20497149229049683, + 0.0, + 1.0001531839370728 + ], + [ + 0.3795152008533478, + 0.10168461501598358, + 0.06118279695510864, + -0.11899726837873459, + -0.21866285800933838, + 0.17279250919818878, + 0.0, + 1.0001531839370728 + ], + [ + 0.3763887584209442, + 0.10323434323072433, + 0.057967983186244965, + -0.11854346096515656, + -0.20152872800827026, + 0.124620221555233, + 0.0, + 1.0001531839370728 + ], + [ + 0.37348467111587524, + 0.0990757942199707, + 0.05739877372980118, + -0.12693025171756744, + -0.1888754665851593, + 0.05997315049171448, + 0.0, + 1.0001531839370728 + ], + [ + 0.36729422211647034, + 0.09708919376134872, + 0.053095053881406784, + -0.14347867667675018, + -0.1688232421875, + 0.037816062569618225, + 0.0, + 1.0001531839370728 + ], + [ + 0.35734522342681885, + 0.10306049138307571, + 0.046567581593990326, + -0.14470304548740387, + -0.1502906084060669, + 0.0425991490483284, + 0.0, + 1.0008161067962646 + ], + [ + 0.3563895523548126, + 0.10297583043575287, + 0.04492790997028351, + -0.1415988802909851, + -0.14918550848960876, + 0.02545139752328396, + 0.0, + 1.0008161067962646 + ], + [ + 0.3622366487979889, + 0.10877908766269684, + 0.052566010504961014, + -0.10861626267433167, + -0.16336333751678467, + 0.013604949228465557, + 0.0, + 1.0008161067962646 + ], + [ + 0.3614884614944458, + 0.10999646782875061, + 0.04902183637022972, + -0.08260148763656616, + -0.15227796137332916, + -0.001376813161186874, + 0.0, + 1.0014774799346924 + ], + [ + 0.36105313897132874, + 0.10607480257749557, + 0.04204145818948746, + -0.071274533867836, + -0.13891857862472534, + 0.0060903518460690975, + 0.0, + 1.0014774799346924 + ], + [ + 0.3547614514827728, + 0.10320994257926941, + 0.02543500065803528, + -0.05203165113925934, + -0.09822641313076019, + 0.04146302118897438, + 0.0, + 1.0014774799346924 + ], + [ + 0.3503306806087494, + 0.09457757323980331, + 0.01727314293384552, + -0.01931316778063774, + -0.07975783944129944, + 0.11486554890871048, + 0.0, + 1.0014774799346924 + ], + [ + 0.3496909439563751, + 0.09060676395893097, + 0.015327705070376396, + -0.00974529143422842, + -0.07583439350128174, + 0.1252743899822235, + 0.0, + 0.9590815901756287 + ], + [ + 0.34822264313697815, + 0.08913223445415497, + 0.012995983473956585, + -0.0019255293300375342, + -0.08384454995393753, + 0.12727682292461395, + 0.0, + 0.8007952570915222 + ], + [ + 0.34658023715019226, + 0.08701787889003754, + 0.013762442395091057, + -0.012700725346803665, + -0.08673037588596344, + 0.13652367889881134, + 0.0, + 0.7988975048065186 + ], + [ + 0.34483373165130615, + 0.08435218036174774, + 0.025565793737769127, + -0.026018572971224785, + -0.09307865798473358, + 0.14213457703590393, + 0.0, + 0.7988975048065186 + ], + [ + 0.34482496976852417, + 0.08487933874130249, + 0.05348396301269531, + -0.049952395260334015, + -0.13942788541316986, + 0.16577021777629852, + 0.0, + 0.7988975048065186 + ], + [ + 0.3389350473880768, + 0.08563562482595444, + 0.07090406119823456, + -0.06488373875617981, + -0.14006558060646057, + 0.19569654762744904, + 0.0, + 0.7988975048065186 + ], + [ + 0.3313862979412079, + 0.08214247226715088, + 0.09557639062404633, + -0.07751120626926422, + -0.14934001863002777, + 0.21225681900978088, + 0.0, + 0.7988975048065186 + ], + [ + 0.32291242480278015, + 0.04314657300710678, + 0.11862282454967499, + -0.08474892377853394, + -0.17495667934417725, + 0.14823780953884125, + 0.0, + 0.7988975048065186 + ], + [ + 0.31056004762649536, + 0.006510357838124037, + 0.12137853354215622, + -0.08119618892669678, + -0.1696179062128067, + 0.08930507302284241, + 0.0, + 0.7988975048065186 + ], + [ + 0.29262006282806396, + -0.03283459320664406, + 0.11234442889690399, + -0.058865826576948166, + -0.14363627135753632, + 0.024465398862957954, + 0.0, + 0.7988975048065186 + ], + [ + 0.2756119668483734, + -0.042811788618564606, + 0.09827791154384613, + -0.021439986303448677, + -0.10060480237007141, + 0.020134782418608665, + 0.0, + 0.7988975048065186 + ], + [ + 0.2595111131668091, + -0.05764823779463768, + 0.08937898278236389, + -0.010755922645330429, + -0.0916486531496048, + -0.03560689836740494, + 0.0, + 0.7988975048065186 + ], + [ + 0.24776490032672882, + -0.06079092249274254, + 0.08085335046052933, + -0.0007486391114071012, + -0.07825756818056107, + -0.0450839027762413, + 0.0, + 0.7988975048065186 + ], + [ + 0.2361586093902588, + -0.06054764240980148, + 0.0685429498553276, + 0.008210377767682076, + -0.05530589073896408, + -0.04952295869588852, + 0.0, + 0.7988975048065186 + ], + [ + 0.23201879858970642, + -0.06292925775051117, + 0.060953106731176376, + 0.014371948316693306, + -0.06366582214832306, + -0.0502825565636158, + 0.0, + 0.7988975048065186 + ], + [ + 0.23119089007377625, + -0.06815432757139206, + 0.041432954370975494, + 0.04543137550354004, + -0.05556546151638031, + -0.05575346574187279, + 0.0, + 0.7988975048065186 + ], + [ + 0.23756681382656097, + -0.073820561170578, + 0.030434831976890564, + 0.08949200063943863, + -0.09711059182882309, + -0.029556987807154655, + 0.0, + 0.7988975048065186 + ], + [ + 0.25116652250289917, + -0.07760130614042282, + 0.02158721350133419, + 0.09646947681903839, + -0.11122830957174301, + -0.022906478494405746, + 0.0, + 0.7988975048065186 + ], + [ + 0.2591913342475891, + -0.08083230257034302, + 0.015623095445334911, + 0.08785346150398254, + -0.11779038608074188, + -0.01695803366601467, + 0.0, + 0.7988975048065186 + ], + [ + 0.26009297370910645, + -0.08044257014989853, + 0.016016600653529167, + 0.077666275203228, + -0.11723081767559052, + 0.0017728020902723074, + 0.0, + 0.8651953339576721 + ], + [ + 0.2585602104663849, + -0.07831369340419769, + 0.016589658334851265, + 0.06895330548286438, + -0.09284553676843643, + 0.013561141677200794, + 0.0, + 1.0092895030975342 + ], + [ + 0.2584606111049652, + -0.07759225368499756, + 0.02497231960296631, + 0.04848149046301842, + -0.10054858773946762, + 0.019578788429498672, + 0.0, + 1.0060625076293945 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 0.9590815901756287 + ], + [ + 0.8007952570915222 + ], + [ + 0.7988975048065186 + ], + [ + 0.7988975048065186 + ], + [ + 0.7988975048065186 + ], + [ + 0.7988975048065186 + ], + [ + 0.7988975048065186 + ], + [ + 0.7988975048065186 + ], + [ + 0.7988975048065186 + ], + [ + 0.7988975048065186 + ], + [ + 0.7988975048065186 + ], + [ + 0.7988975048065186 + ], + [ + 0.7988975048065186 + ], + [ + 0.7988975048065186 + ], + [ + 0.7988975048065186 + ], + [ + 0.7988975048065186 + ], + [ + 0.7988975048065186 + ], + [ + 0.7988975048065186 + ], + [ + 0.7988975048065186 + ], + [ + 0.8651953339576721 + ], + [ + 1.0092895030975342 + ], + [ + 1.0060625076293945 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.32997021079063416, + -0.0482645183801651, + 0.09878427535295486 + ], + [ + 0.3285638093948364, + -0.048044826835393906, + 0.0884685218334198 + ], + [ + 0.32813000679016113, + -0.04797571524977684, + 0.08757748454809189 + ], + [ + 0.32813000679016113, + -0.04797571524977684, + 0.08757748454809189 + ], + [ + 0.32292723655700684, + -0.037445321679115295, + 0.08945640921592712 + ], + [ + 0.3167404234409332, + -0.008603072725236416, + 0.10065316408872604 + ], + [ + 0.31616196036338806, + 0.011568941175937653, + 0.09871502220630646 + ], + [ + 0.3195214569568634, + 0.03824206069111824, + 0.09356531500816345 + ], + [ + 0.33231785893440247, + 0.05487426742911339, + 0.0849873274564743 + ], + [ + 0.34745076298713684, + 0.0729997530579567, + 0.07866187393665314 + ], + [ + 0.3639611005783081, + 0.08531796187162399, + 0.07098522782325745 + ], + [ + 0.37401583790779114, + 0.09485600143671036, + 0.06753723323345184 + ], + [ + 0.3795152008533478, + 0.10168461501598358, + 0.06118279695510864 + ], + [ + 0.3763887584209442, + 0.10323434323072433, + 0.057967983186244965 + ], + [ + 0.37348467111587524, + 0.0990757942199707, + 0.05739877372980118 + ], + [ + 0.36729422211647034, + 0.09708919376134872, + 0.053095053881406784 + ], + [ + 0.35734522342681885, + 0.10306049138307571, + 0.046567581593990326 + ], + [ + 0.3563895523548126, + 0.10297583043575287, + 0.04492790997028351 + ], + [ + 0.3622366487979889, + 0.10877908766269684, + 0.052566010504961014 + ], + [ + 0.3614884614944458, + 0.10999646782875061, + 0.04902183637022972 + ], + [ + 0.36105313897132874, + 0.10607480257749557, + 0.04204145818948746 + ], + [ + 0.3547614514827728, + 0.10320994257926941, + 0.02543500065803528 + ], + [ + 0.3503306806087494, + 0.09457757323980331, + 0.01727314293384552 + ], + [ + 0.3496909439563751, + 0.09060676395893097, + 0.015327705070376396 + ], + [ + 0.34822264313697815, + 0.08913223445415497, + 0.012995983473956585 + ], + [ + 0.34658023715019226, + 0.08701787889003754, + 0.013762442395091057 + ], + [ + 0.34483373165130615, + 0.08435218036174774, + 0.025565793737769127 + ], + [ + 0.34482496976852417, + 0.08487933874130249, + 0.05348396301269531 + ], + [ + 0.3389350473880768, + 0.08563562482595444, + 0.07090406119823456 + ], + [ + 0.3313862979412079, + 0.08214247226715088, + 0.09557639062404633 + ], + [ + 0.32291242480278015, + 0.04314657300710678, + 0.11862282454967499 + ], + [ + 0.31056004762649536, + 0.006510357838124037, + 0.12137853354215622 + ], + [ + 0.29262006282806396, + -0.03283459320664406, + 0.11234442889690399 + ], + [ + 0.2756119668483734, + -0.042811788618564606, + 0.09827791154384613 + ], + [ + 0.2595111131668091, + -0.05764823779463768, + 0.08937898278236389 + ], + [ + 0.24776490032672882, + -0.06079092249274254, + 0.08085335046052933 + ], + [ + 0.2361586093902588, + -0.06054764240980148, + 0.0685429498553276 + ], + [ + 0.23201879858970642, + -0.06292925775051117, + 0.060953106731176376 + ], + [ + 0.23119089007377625, + -0.06815432757139206, + 0.041432954370975494 + ], + [ + 0.23756681382656097, + -0.073820561170578, + 0.030434831976890564 + ], + [ + 0.25116652250289917, + -0.07760130614042282, + 0.02158721350133419 + ], + [ + 0.2591913342475891, + -0.08083230257034302, + 0.015623095445334911 + ], + [ + 0.26009297370910645, + -0.08044257014989853, + 0.016016600653529167 + ], + [ + 0.2585602104663849, + -0.07831369340419769, + 0.016589658334851265 + ], + [ + 0.2584606111049652, + -0.07759225368499756, + 0.02497231960296631 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9734159875152918, + 0.14266004635191099, + 0.1791910333261692, + 0.14525508610985244, + -0.9893932807783785, + -0.0013769204102911554, + 0.17709397281909128, + 0.027368725316819668, + -0.9838133347671619 + ], + [ + 0.9783515969253168, + 0.14330713089573383, + 0.14930244146736263, + 0.14442914163592485, + -0.9895094493866722, + 0.0033574723817968045, + 0.14821732638255283, + 0.018278834998915548, + -0.9887858758857198 + ], + [ + 0.9787962744015446, + 0.1433611305542292, + 0.14630597890677235, + 0.14435829278037013, + -0.9895180528469197, + 0.0038348918598724753, + 0.14532218180027648, + 0.017366903473366516, + -0.9892319516375083 + ], + [ + 0.9785752079715114, + 0.1448624187381534, + 0.14630598750852714, + 0.1458760267489351, + -0.989295445462444, + 0.0038348933764514688, + 0.14529537901618678, + 0.017589804563913698, + -0.9892319503594423 + ], + [ + 0.975953253319218, + 0.15394244381903985, + 0.1543274807889252, + 0.1513769894689679, + -0.9880705970305159, + 0.028310816715027106, + 0.156844682392953, + -0.004268404242997324, + -0.987614057377816 + ], + [ + 0.9563653724743655, + 0.22242551471298552, + 0.18945227561745184, + 0.22097759622653942, + -0.9748473951107398, + 0.029007899126701892, + 0.19113915427747394, + 0.014122558212585252, + -0.9814613477114743 + ], + [ + 0.9489749324507376, + 0.24922063719884074, + 0.19322435554122644, + 0.2511335977679416, + -0.9678372309654725, + 0.014933533714997392, + 0.1907314700101905, + 0.03435357843501962, + -0.9810409461365317 + ], + [ + 0.9451561741544982, + 0.2655660218186101, + 0.19014335253452846, + 0.269618557226714, + -0.9629556561878513, + 0.004715698761635325, + 0.18435194616986716, + 0.04680910457659765, + -0.9817450115341153 + ], + [ + 0.9484009157896327, + 0.24827484231076483, + 0.19721892811023764, + 0.2558413139070309, + -0.9666253068045461, + -0.013443896136965294, + 0.1872990256987748, + 0.06320695310313805, + -0.9802672880657131 + ], + [ + 0.9487674542264709, + 0.23120499558938337, + 0.2153707682466091, + 0.24134785889736174, + -0.9701965238130943, + -0.021677550291653223, + 0.2039400127642454, + 0.07254622798947713, + -0.9762917166493928 + ], + [ + 0.9522886913681713, + 0.20586561421371072, + 0.225312221543146, + 0.21977214025357336, + -0.9748028286355617, + -0.038205387741413216, + 0.211769815272762, + 0.08589990784930843, + -0.9735372366637143 + ], + [ + 0.9539590556024905, + 0.1781448657732973, + 0.24130173441692934, + 0.1983195756368028, + -0.9781824017050547, + -0.06187515586864772, + 0.2250143687706251, + 0.10688122282770199, + -0.9684755743195655 + ], + [ + 0.9616514533910103, + 0.14534900166461318, + 0.23259438924027792, + 0.16783991485247596, + -0.9825697043613655, + -0.07991582480042672, + 0.2169245149199861, + 0.11588979155352358, + -0.9692849483203635 + ], + [ + 0.9721636148033312, + 0.09993616987879576, + 0.21192137221733043, + 0.12178233339935284, + -0.9882238218423786, + -0.09264308509031557, + 0.20016735329301005, + 0.11587251569375309, + -0.9728857028358839 + ], + [ + 0.9804501148666781, + 0.035729969731772095, + 0.19349661888747424, + 0.058871281544319747, + -0.9915963527503578, + -0.11519915547224015, + 0.18775447922019659, + 0.1243384191437006, + -0.9743142270631165 + ], + [ + 0.9850783932378264, + 0.013410734958549697, + 0.171582957673117, + 0.03726955368071327, + -0.9899252993550827, + -0.136597518517692, + 0.1680224376219544, + 0.140954084313376, + -0.9756538354206142 + ], + [ + 0.9878306280483237, + 0.020570572977520702, + 0.15416712300951513, + 0.042106217115877115, + -0.9895704908529721, + -0.13775815806404543, + 0.14972547134621111, + 0.142573122152755, + -0.9783941884893689 + ], + [ + 0.9885721940943235, + 0.004224774161113396, + 0.1506889788498909, + 0.0251659780794126, + -0.9902048000405804, + -0.13733582025058397, + 0.14863273734558552, + 0.13955860869140882, + -0.9789952523527764 + ], + [ + 0.9865945459875866, + -0.004104392893938944, + 0.16313906885390728, + 0.013423396917084359, + -0.994254903205991, + -0.1061932194918845, + 0.1626376778079241, + 0.10695953164546547, + -0.9808713699295276 + ], + [ + 0.9884271616789572, + -0.013887692871294332, + 0.15105918721479092, + -0.001360880384975804, + -0.9965722602102967, + -0.08271564654839199, + 0.15169012512308913, + 0.08155281825941592, + -0.9850579900564678 + ], + [ + 0.9903479546072121, + -0.0037861527369709965, + 0.138551773185202, + 0.0060316420697750376, + -0.9975026041988079, + -0.07037168401096214, + 0.13847219251262494, + 0.0705281480265072, + -0.9878518270655259 + ], + [ + 0.9943243384787273, + 0.03629906219726789, + 0.10000743968545568, + 0.041251333343196625, + -0.9979997702184984, + -0.047903926156764136, + 0.09806853423116742, + 0.051757479917622674, + -0.9938328460391753 + ], + [ + 0.9902521811864233, + 0.11306324086739095, + 0.08134691893423973, + 0.11424877257564178, + -0.9934012879632049, + -0.010054801738734112, + 0.07967330557025179, + 0.019250574994225618, + -0.9966351286914893 + ], + [ + 0.9893118932323101, + 0.12420852205537676, + 0.07638207222851047, + 0.12458787394356906, + -0.9922085569321989, + -0.0002030190750486405, + 0.07576172896208051, + 0.009717129171852891, + -0.9970786016284442 + ], + [ + 0.9884267528287964, + 0.12677327977501157, + 0.08331320319977915, + 0.12648756265808786, + -0.9919298633875023, + 0.008720241560128534, + 0.08374634789134001, + 0.001918763960817505, + -0.9964852570709338 + ], + [ + 0.9869713611079347, + 0.13499910069516644, + 0.08753727871168425, + 0.13558840768694277, + -0.9907649334445863, + -0.0007939505424062031, + 0.08662168350748077, + 0.012652646681256416, + -0.9961609280022425 + ], + [ + 0.9856308343132717, + 0.13921491967509184, + 0.09566119689184975, + 0.14104330018861563, + -0.9899233503150195, + -0.012591583418729436, + 0.09294431624810402, + 0.02590302377994689, + -0.9953343093836501 + ], + [ + 0.9767202528206766, + 0.15796201079549982, + 0.14513976324686448, + 0.16341070766804666, + -0.9862063629483103, + -0.02634293642883686, + 0.138976574822312, + 0.04944707095175543, + -0.9890604121209939 + ], + [ + 0.9713062339516696, + 0.18516151191473718, + 0.14926290360324926, + 0.19254555652548178, + -0.9806085646011606, + -0.036510980446210844, + 0.13960805330967388, + 0.06420325175798908, + -0.9881232382222287 + ], + [ + 0.9666772484433065, + 0.19877163476349605, + 0.16132245521168206, + 0.2083217788856235, + -0.9770499505785922, + -0.044445815509448136, + 0.14878552948458137, + 0.07657173948538609, + -0.9859004183629171 + ], + [ + 0.973934384644219, + 0.13259279560729087, + 0.18404066116141132, + 0.14544079079252498, + -0.9876593777547124, + -0.058102753005507136, + 0.1740654784307653, + 0.08335528829184845, + -0.9811998293581442 + ], + [ + 0.9817214781193152, + 0.07525581220351399, + 0.17481276306041404, + 0.08790652910295757, + -0.9939545612327484, + -0.06577820570436456, + 0.16880575091002648, + 0.07994306057566385, + -0.982402018282484 + ], + [ + 0.9894058530131781, + 0.016001748095288773, + 0.14429137909507936, + 0.02421103957632942, + -0.9981751742301812, + -0.055318596449840725, + 0.1431428782227687, + 0.05822598739774056, + -0.9879877786722158 + ], + [ + 0.9947419308528519, + 0.017976067298305254, + 0.10082337034450901, + 0.020031619416245115, + -0.999610871557202, + -0.019412359161448206, + 0.10043517922870417, + 0.02132994301767239, + -0.9947149382130341 + ], + [ + 0.9951720025436717, + -0.03658105906610749, + 0.09107420859288384, + -0.03544997138217509, + -0.9992732907899687, + -0.014006778458639181, + 0.09152040691682445, + 0.010710575679597543, + -0.9957455993808811 + ], + [ + 0.9959264417972938, + -0.045127086508326995, + 0.07806451557686887, + -0.04493069641982742, + -0.9989809753084651, + -0.004271239981198831, + 0.07817771452409274, + 0.0007463477859925077, + -0.9969391595863669 + ], + [ + 0.9972468824420418, + -0.0490477607024196, + 0.055614500174921935, + -0.04942702975991476, + -0.998762791836789, + 0.005463915399723401, + 0.05527770064628873, + -0.008197732153529876, + -0.9984373655862436 + ], + [ + 0.9967126752444158, + -0.0493429832202802, + 0.06425817468651304, + -0.050159541981246995, + -0.9986789110469009, + 0.011155849515264868, + 0.0636228210263487, + -0.014342337225810221, + -0.9978709505780544 + ], + [ + 0.9969052131025017, + -0.05314875808173566, + 0.05792413662217406, + -0.05563858249456095, + -0.9975565051801996, + 0.04225360470613142, + 0.05553687267978892, + -0.045345655657793874, + -0.997426401939468 + ], + [ + 0.9948537528016812, + -0.020772816434466698, + 0.09916905078597395, + -0.0294134460881047, + -0.9958193202018958, + 0.08647965484352974, + 0.09695803074337518, + -0.08895151269098142, + -0.9913055879315685 + ], + [ + 0.9935597856731269, + -0.012109359762111234, + 0.11266017796596182, + -0.022762937291704255, + -0.995334186919199, + 0.09376409246481944, + 0.1109991035054985, + -0.09572470817949268, + -0.9891996660254828 + ], + [ + 0.9929279420689413, + -0.006582201490672601, + 0.11853597125882792, + -0.016839719727418233, + -0.9961749843273432, + 0.08574278068688802, + 0.11751819305213765, + -0.08713251530831624, + -0.9892408195570009 + ], + [ + 0.9931347731211477, + 0.010842353410482768, + 0.11647216744840178, + 0.0017606332461670522, + -0.9969678359228906, + 0.07779482184439117, + 0.1169624836782241, + -0.07705567797216674, + -0.9901425149462428 + ], + [ + 0.9956013936537359, + 0.019915661932961806, + 0.09154906533935972, + 0.013502319276216368, + -0.9974453077230027, + 0.07014659988571953, + 0.09271220161824167, + -0.06860192789664213, + -0.9933268460884171 + ], + [ + 0.9947585578329802, + 0.0244182310833389, + 0.09929331099731992, + 0.019478656316851358, + -0.9985383320941429, + 0.05041608162816103, + 0.10037924868288176, + -0.04821772837254023, + -0.9937801855060566 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0014064013957977295, + 0.00021969154477119446, + -0.010315753519535065, + 0.009327813982963562, + 0.02926751971244812, + -0.0015625953674316406, + 1.0 + ], + [ + -0.00043380260467529297, + 6.911158561706543e-05, + -0.0008910372853279114, + 0.0009298920631408691, + 0.002926841378211975, + -0.00013647973537445068, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + -0.00022525712847709656, + 2.709031105041504e-05, + 0.0015501976013183594, + 1.0 + ], + [ + -0.005202770233154297, + 0.010530393570661545, + 0.0018789246678352356, + 0.022101309150457382, + -0.011683464050292969, + 0.005900487303733826, + 1.0 + ], + [ + -0.006186813116073608, + 0.028842248022556305, + 0.01119675487279892, + -0.01871023327112198, + -0.034827589988708496, + 0.07319411635398865, + 1.0 + ], + [ + -0.000578463077545166, + 0.020172014832496643, + -0.0019381418824195862, + -0.020614851266145706, + 0.0004153251647949219, + 0.031631529331207275, + 1.0 + ], + [ + 0.003359496593475342, + 0.026673119515180588, + -0.005149707198143005, + -0.012640237808227539, + 0.006494775414466858, + 0.019176602363586426, + 1.0 + ], + [ + 0.012796401977539062, + 0.016632206737995148, + -0.008577987551689148, + -0.016746755689382553, + -0.00299932062625885, + -0.014394044876098633, + 1.0 + ], + [ + 0.015132904052734375, + 0.018125485628843307, + -0.006325453519821167, + -0.009781457483768463, + -0.01696905493736267, + -0.014391660690307617, + 1.0 + ], + [ + 0.016510337591171265, + 0.012318208813667297, + -0.007676646113395691, + -0.013835303485393524, + -0.008004650473594666, + -0.02228511869907379, + 1.0 + ], + [ + 0.010054737329483032, + 0.009538039565086365, + -0.003447994589805603, + -0.02190854400396347, + -0.013572290539741516, + -0.021840527653694153, + 1.0 + ], + [ + 0.005499362945556641, + 0.006828613579273224, + -0.006354436278343201, + -0.009081795811653137, + 0.008294925093650818, + -0.032178983092308044, + 1.0 + ], + [ + -0.0031264424324035645, + 0.0015497282147407532, + -0.003214813768863678, + 0.00045380741357803345, + 0.017134130001068115, + -0.04817228764295578, + 1.0 + ], + [ + -0.0029040873050689697, + -0.004158549010753632, + -0.0005692094564437866, + -0.008386790752410889, + 0.012653261423110962, + -0.06464707106351852, + 1.0 + ], + [ + -0.006190448999404907, + -0.0019866004586219788, + -0.004303719848394394, + -0.01654842495918274, + 0.020052224397659302, + -0.022157087922096252, + 1.0 + ], + [ + -0.00994899868965149, + 0.00597129762172699, + -0.006527472287416458, + -0.0012243688106536865, + 0.018532633781433105, + 0.0047830864787101746, + 1.0 + ], + [ + -0.0009556710720062256, + -8.466094732284546e-05, + -0.0016396716237068176, + 0.003104165196418762, + 0.0011050999164581299, + -0.01714775152504444, + 1.0 + ], + [ + 0.0058470964431762695, + 0.00580325722694397, + 0.0076381005346775055, + 0.03298261761665344, + -0.014177829027175903, + -0.011846448294818401, + 1.0 + ], + [ + -0.0007481873035430908, + 0.001217380166053772, + -0.0035441741347312927, + 0.026014775037765503, + 0.011085376143455505, + -0.014981762506067753, + 1.0 + ], + [ + -0.00043532252311706543, + -0.003921665251255035, + -0.006980378180742264, + 0.011326953768730164, + 0.01335938274860382, + 0.007467165123671293, + 1.0 + ], + [ + -0.006291687488555908, + -0.0028648599982261658, + -0.01660645753145218, + 0.01924288272857666, + 0.04069216549396515, + 0.035372670739889145, + 1.0 + ], + [ + -0.0044307708740234375, + -0.008632369339466095, + -0.008161857724189758, + 0.0327184833586216, + 0.018468573689460754, + 0.0734025239944458, + 1.0 + ], + [ + -0.0006397366523742676, + -0.003970809280872345, + -0.0019454378634691238, + 0.00956787634640932, + 0.0039234459400177, + 0.010408841073513031, + 0.0 + ], + [ + -0.0014683008193969727, + -0.001474529504776001, + -0.0023317215964198112, + 0.007819762453436852, + -0.008010156452655792, + 0.002002432942390442, + 0.0 + ], + [ + -0.0016424059867858887, + -0.0021143555641174316, + 0.0007664589211344719, + -0.010775196366012096, + -0.0028858259320259094, + 0.009246855974197388, + 0.0 + ], + [ + -0.0017465054988861084, + -0.002665698528289795, + 0.01180335134267807, + -0.01331784762442112, + -0.006348282098770142, + 0.00561089813709259, + 0.0 + ], + [ + -8.761882781982422e-06, + 0.0005271583795547485, + 0.027918169274926186, + -0.02393382228910923, + -0.04634922742843628, + 0.023635640740394592, + 0.0 + ], + [ + -0.005889922380447388, + 0.000756286084651947, + 0.017420098185539246, + -0.014931343495845795, + -0.0006376951932907104, + 0.029926329851150513, + 0.0 + ], + [ + -0.0075487494468688965, + -0.0034931525588035583, + 0.024672329425811768, + -0.012627467513084412, + -0.0092744380235672, + 0.016560271382331848, + 0.0 + ], + [ + -0.008473873138427734, + -0.0389958992600441, + 0.023046433925628662, + -0.007237717509269714, + -0.025616660714149475, + -0.06401900947093964, + 0.0 + ], + [ + -0.01235237717628479, + -0.03663621470332146, + 0.0027557089924812317, + 0.003552734851837158, + 0.005338773131370544, + -0.05893273651599884, + 0.0 + ], + [ + -0.017939984798431396, + -0.03934495151042938, + -0.009034104645252228, + 0.02233036234974861, + 0.025981634855270386, + -0.0648396760225296, + 0.0 + ], + [ + -0.017008095979690552, + -0.009977195411920547, + -0.014066517353057861, + 0.03742583841085434, + 0.043031468987464905, + -0.004330616444349289, + 0.0 + ], + [ + -0.01610085368156433, + -0.014836449176073074, + -0.008898928761482239, + 0.010684063658118248, + 0.008956149220466614, + -0.05574168264865875, + 0.0 + ], + [ + -0.011746212840080261, + -0.0031426846981048584, + -0.008525632321834564, + 0.01000728365033865, + 0.013391084969043732, + -0.009477004408836365, + 0.0 + ], + [ + -0.011606290936470032, + 0.0002432800829410553, + -0.012310400605201721, + 0.008959016762673855, + 0.022951677441596985, + -0.004439055919647217, + 0.0 + ], + [ + -0.004139810800552368, + -0.0023816153407096863, + -0.00758984312415123, + 0.0061615705490112305, + -0.008359931409358978, + -0.0007595978677272797, + 0.0 + ], + [ + -0.0008279085159301758, + -0.00522506982088089, + -0.019520152360200882, + 0.031059427186846733, + 0.008100360631942749, + -0.0054709091782569885, + 0.0 + ], + [ + 0.006375923752784729, + -0.005666233599185944, + -0.01099812239408493, + 0.04406062513589859, + -0.04154513031244278, + 0.026196477934718132, + 0.0 + ], + [ + 0.013599708676338196, + -0.003780744969844818, + -0.008847618475556374, + 0.006977476179599762, + -0.014117717742919922, + 0.006650509312748909, + 0.0 + ], + [ + 0.008024811744689941, + -0.0032309964299201965, + -0.005964118055999279, + -0.008616015315055847, + -0.006562076508998871, + 0.005948444828391075, + 0.0 + ], + [ + 0.000901639461517334, + 0.0003897324204444885, + 0.00039350520819425583, + -0.010187186300754547, + 0.0005595684051513672, + 0.018730835989117622, + 1.0 + ], + [ + -0.0015327632427215576, + 0.002128876745700836, + 0.0005730576813220978, + -0.008712969720363617, + 0.024385280907154083, + 0.011788339354097843, + 1.0 + ], + [ + -9.959936141967773e-05, + 0.0007214397192001343, + 0.008382661268115044, + -0.020471815019845963, + -0.007703050971031189, + 0.006017646752297878, + 1.0 + ], + [ + 0.0009719729423522949, + 0.0063447728753089905, + 0.029220934957265854, + -0.021230651065707207, + -0.05193483084440231, + 0.024312570691108704, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 0.9590815901756287 + ], + [ + 0.8007952570915222 + ], + [ + 0.7988975048065186 + ], + [ + 0.7988975048065186 + ], + [ + 0.7988975048065186 + ], + [ + 0.7988975048065186 + ], + [ + 0.7988975048065186 + ], + [ + 0.7988975048065186 + ], + [ + 0.7988975048065186 + ], + [ + 0.7988975048065186 + ], + [ + 0.7988975048065186 + ], + [ + 0.7988975048065186 + ], + [ + 0.7988975048065186 + ], + [ + 0.7988975048065186 + ], + [ + 0.7988975048065186 + ], + [ + 0.7988975048065186 + ], + [ + 0.7988975048065186 + ], + [ + 0.7988975048065186 + ], + [ + 0.7988975048065186 + ], + [ + 0.8651953339576721 + ], + [ + 1.0092895030975342 + ], + [ + 1.0060625076293945 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3285638093948364, + -0.048044826835393906, + 0.0884685218334198 + ], + [ + 0.32813000679016113, + -0.04797571524977684, + 0.08757748454809189 + ], + [ + 0.32813000679016113, + -0.04797571524977684, + 0.08757748454809189 + ], + [ + 0.32292723655700684, + -0.037445321679115295, + 0.08945640921592712 + ], + [ + 0.3167404234409332, + -0.008603072725236416, + 0.10065316408872604 + ], + [ + 0.31616196036338806, + 0.011568941175937653, + 0.09871502220630646 + ], + [ + 0.3195214569568634, + 0.03824206069111824, + 0.09356531500816345 + ], + [ + 0.33231785893440247, + 0.05487426742911339, + 0.0849873274564743 + ], + [ + 0.34745076298713684, + 0.0729997530579567, + 0.07866187393665314 + ], + [ + 0.3639611005783081, + 0.08531796187162399, + 0.07098522782325745 + ], + [ + 0.37401583790779114, + 0.09485600143671036, + 0.06753723323345184 + ], + [ + 0.3795152008533478, + 0.10168461501598358, + 0.06118279695510864 + ], + [ + 0.3763887584209442, + 0.10323434323072433, + 0.057967983186244965 + ], + [ + 0.37348467111587524, + 0.0990757942199707, + 0.05739877372980118 + ], + [ + 0.36729422211647034, + 0.09708919376134872, + 0.053095053881406784 + ], + [ + 0.35734522342681885, + 0.10306049138307571, + 0.046567581593990326 + ], + [ + 0.3563895523548126, + 0.10297583043575287, + 0.04492790997028351 + ], + [ + 0.3622366487979889, + 0.10877908766269684, + 0.052566010504961014 + ], + [ + 0.3614884614944458, + 0.10999646782875061, + 0.04902183637022972 + ], + [ + 0.36105313897132874, + 0.10607480257749557, + 0.04204145818948746 + ], + [ + 0.3547614514827728, + 0.10320994257926941, + 0.02543500065803528 + ], + [ + 0.3503306806087494, + 0.09457757323980331, + 0.01727314293384552 + ], + [ + 0.3496909439563751, + 0.09060676395893097, + 0.015327705070376396 + ], + [ + 0.34822264313697815, + 0.08913223445415497, + 0.012995983473956585 + ], + [ + 0.34658023715019226, + 0.08701787889003754, + 0.013762442395091057 + ], + [ + 0.34483373165130615, + 0.08435218036174774, + 0.025565793737769127 + ], + [ + 0.34482496976852417, + 0.08487933874130249, + 0.05348396301269531 + ], + [ + 0.3389350473880768, + 0.08563562482595444, + 0.07090406119823456 + ], + [ + 0.3313862979412079, + 0.08214247226715088, + 0.09557639062404633 + ], + [ + 0.32291242480278015, + 0.04314657300710678, + 0.11862282454967499 + ], + [ + 0.31056004762649536, + 0.006510357838124037, + 0.12137853354215622 + ], + [ + 0.29262006282806396, + -0.03283459320664406, + 0.11234442889690399 + ], + [ + 0.2756119668483734, + -0.042811788618564606, + 0.09827791154384613 + ], + [ + 0.2595111131668091, + -0.05764823779463768, + 0.08937898278236389 + ], + [ + 0.24776490032672882, + -0.06079092249274254, + 0.08085335046052933 + ], + [ + 0.2361586093902588, + -0.06054764240980148, + 0.0685429498553276 + ], + [ + 0.23201879858970642, + -0.06292925775051117, + 0.060953106731176376 + ], + [ + 0.23119089007377625, + -0.06815432757139206, + 0.041432954370975494 + ], + [ + 0.23756681382656097, + -0.073820561170578, + 0.030434831976890564 + ], + [ + 0.25116652250289917, + -0.07760130614042282, + 0.02158721350133419 + ], + [ + 0.2591913342475891, + -0.08083230257034302, + 0.015623095445334911 + ], + [ + 0.26009297370910645, + -0.08044257014989853, + 0.016016600653529167 + ], + [ + 0.2585602104663849, + -0.07831369340419769, + 0.016589658334851265 + ], + [ + 0.2584606111049652, + -0.07759225368499756, + 0.02497231960296631 + ], + [ + 0.2594325840473175, + -0.07124748080968857, + 0.05419325456023216 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9783515969253168, + 0.14330713089573383, + 0.14930244146736263, + 0.14442914163592485, + -0.9895094493866722, + 0.0033574723817968045, + 0.14821732638255283, + 0.018278834998915548, + -0.9887858758857198 + ], + [ + 0.9787962744015446, + 0.1433611305542292, + 0.14630597890677235, + 0.14435829278037013, + -0.9895180528469197, + 0.0038348918598724753, + 0.14532218180027648, + 0.017366903473366516, + -0.9892319516375083 + ], + [ + 0.9785752079715114, + 0.1448624187381534, + 0.14630598750852714, + 0.1458760267489351, + -0.989295445462444, + 0.0038348933764514688, + 0.14529537901618678, + 0.017589804563913698, + -0.9892319503594423 + ], + [ + 0.975953253319218, + 0.15394244381903985, + 0.1543274807889252, + 0.1513769894689679, + -0.9880705970305159, + 0.028310816715027106, + 0.156844682392953, + -0.004268404242997324, + -0.987614057377816 + ], + [ + 0.9563653724743655, + 0.22242551471298552, + 0.18945227561745184, + 0.22097759622653942, + -0.9748473951107398, + 0.029007899126701892, + 0.19113915427747394, + 0.014122558212585252, + -0.9814613477114743 + ], + [ + 0.9489749324507376, + 0.24922063719884074, + 0.19322435554122644, + 0.2511335977679416, + -0.9678372309654725, + 0.014933533714997392, + 0.1907314700101905, + 0.03435357843501962, + -0.9810409461365317 + ], + [ + 0.9451561741544982, + 0.2655660218186101, + 0.19014335253452846, + 0.269618557226714, + -0.9629556561878513, + 0.004715698761635325, + 0.18435194616986716, + 0.04680910457659765, + -0.9817450115341153 + ], + [ + 0.9484009157896327, + 0.24827484231076483, + 0.19721892811023764, + 0.2558413139070309, + -0.9666253068045461, + -0.013443896136965294, + 0.1872990256987748, + 0.06320695310313805, + -0.9802672880657131 + ], + [ + 0.9487674542264709, + 0.23120499558938337, + 0.2153707682466091, + 0.24134785889736174, + -0.9701965238130943, + -0.021677550291653223, + 0.2039400127642454, + 0.07254622798947713, + -0.9762917166493928 + ], + [ + 0.9522886913681713, + 0.20586561421371072, + 0.225312221543146, + 0.21977214025357336, + -0.9748028286355617, + -0.038205387741413216, + 0.211769815272762, + 0.08589990784930843, + -0.9735372366637143 + ], + [ + 0.9539590556024905, + 0.1781448657732973, + 0.24130173441692934, + 0.1983195756368028, + -0.9781824017050547, + -0.06187515586864772, + 0.2250143687706251, + 0.10688122282770199, + -0.9684755743195655 + ], + [ + 0.9616514533910103, + 0.14534900166461318, + 0.23259438924027792, + 0.16783991485247596, + -0.9825697043613655, + -0.07991582480042672, + 0.2169245149199861, + 0.11588979155352358, + -0.9692849483203635 + ], + [ + 0.9721636148033312, + 0.09993616987879576, + 0.21192137221733043, + 0.12178233339935284, + -0.9882238218423786, + -0.09264308509031557, + 0.20016735329301005, + 0.11587251569375309, + -0.9728857028358839 + ], + [ + 0.9804501148666781, + 0.035729969731772095, + 0.19349661888747424, + 0.058871281544319747, + -0.9915963527503578, + -0.11519915547224015, + 0.18775447922019659, + 0.1243384191437006, + -0.9743142270631165 + ], + [ + 0.9850783932378264, + 0.013410734958549697, + 0.171582957673117, + 0.03726955368071327, + -0.9899252993550827, + -0.136597518517692, + 0.1680224376219544, + 0.140954084313376, + -0.9756538354206142 + ], + [ + 0.9878306280483237, + 0.020570572977520702, + 0.15416712300951513, + 0.042106217115877115, + -0.9895704908529721, + -0.13775815806404543, + 0.14972547134621111, + 0.142573122152755, + -0.9783941884893689 + ], + [ + 0.9885721940943235, + 0.004224774161113396, + 0.1506889788498909, + 0.0251659780794126, + -0.9902048000405804, + -0.13733582025058397, + 0.14863273734558552, + 0.13955860869140882, + -0.9789952523527764 + ], + [ + 0.9865945459875866, + -0.004104392893938944, + 0.16313906885390728, + 0.013423396917084359, + -0.994254903205991, + -0.1061932194918845, + 0.1626376778079241, + 0.10695953164546547, + -0.9808713699295276 + ], + [ + 0.9884271616789572, + -0.013887692871294332, + 0.15105918721479092, + -0.001360880384975804, + -0.9965722602102967, + -0.08271564654839199, + 0.15169012512308913, + 0.08155281825941592, + -0.9850579900564678 + ], + [ + 0.9903479546072121, + -0.0037861527369709965, + 0.138551773185202, + 0.0060316420697750376, + -0.9975026041988079, + -0.07037168401096214, + 0.13847219251262494, + 0.0705281480265072, + -0.9878518270655259 + ], + [ + 0.9943243384787273, + 0.03629906219726789, + 0.10000743968545568, + 0.041251333343196625, + -0.9979997702184984, + -0.047903926156764136, + 0.09806853423116742, + 0.051757479917622674, + -0.9938328460391753 + ], + [ + 0.9902521811864233, + 0.11306324086739095, + 0.08134691893423973, + 0.11424877257564178, + -0.9934012879632049, + -0.010054801738734112, + 0.07967330557025179, + 0.019250574994225618, + -0.9966351286914893 + ], + [ + 0.9893118932323101, + 0.12420852205537676, + 0.07638207222851047, + 0.12458787394356906, + -0.9922085569321989, + -0.0002030190750486405, + 0.07576172896208051, + 0.009717129171852891, + -0.9970786016284442 + ], + [ + 0.9884267528287964, + 0.12677327977501157, + 0.08331320319977915, + 0.12648756265808786, + -0.9919298633875023, + 0.008720241560128534, + 0.08374634789134001, + 0.001918763960817505, + -0.9964852570709338 + ], + [ + 0.9869713611079347, + 0.13499910069516644, + 0.08753727871168425, + 0.13558840768694277, + -0.9907649334445863, + -0.0007939505424062031, + 0.08662168350748077, + 0.012652646681256416, + -0.9961609280022425 + ], + [ + 0.9856308343132717, + 0.13921491967509184, + 0.09566119689184975, + 0.14104330018861563, + -0.9899233503150195, + -0.012591583418729436, + 0.09294431624810402, + 0.02590302377994689, + -0.9953343093836501 + ], + [ + 0.9767202528206766, + 0.15796201079549982, + 0.14513976324686448, + 0.16341070766804666, + -0.9862063629483103, + -0.02634293642883686, + 0.138976574822312, + 0.04944707095175543, + -0.9890604121209939 + ], + [ + 0.9713062339516696, + 0.18516151191473718, + 0.14926290360324926, + 0.19254555652548178, + -0.9806085646011606, + -0.036510980446210844, + 0.13960805330967388, + 0.06420325175798908, + -0.9881232382222287 + ], + [ + 0.9666772484433065, + 0.19877163476349605, + 0.16132245521168206, + 0.2083217788856235, + -0.9770499505785922, + -0.044445815509448136, + 0.14878552948458137, + 0.07657173948538609, + -0.9859004183629171 + ], + [ + 0.973934384644219, + 0.13259279560729087, + 0.18404066116141132, + 0.14544079079252498, + -0.9876593777547124, + -0.058102753005507136, + 0.1740654784307653, + 0.08335528829184845, + -0.9811998293581442 + ], + [ + 0.9817214781193152, + 0.07525581220351399, + 0.17481276306041404, + 0.08790652910295757, + -0.9939545612327484, + -0.06577820570436456, + 0.16880575091002648, + 0.07994306057566385, + -0.982402018282484 + ], + [ + 0.9894058530131781, + 0.016001748095288773, + 0.14429137909507936, + 0.02421103957632942, + -0.9981751742301812, + -0.055318596449840725, + 0.1431428782227687, + 0.05822598739774056, + -0.9879877786722158 + ], + [ + 0.9947419308528519, + 0.017976067298305254, + 0.10082337034450901, + 0.020031619416245115, + -0.999610871557202, + -0.019412359161448206, + 0.10043517922870417, + 0.02132994301767239, + -0.9947149382130341 + ], + [ + 0.9951720025436717, + -0.03658105906610749, + 0.09107420859288384, + -0.03544997138217509, + -0.9992732907899687, + -0.014006778458639181, + 0.09152040691682445, + 0.010710575679597543, + -0.9957455993808811 + ], + [ + 0.9959264417972938, + -0.045127086508326995, + 0.07806451557686887, + -0.04493069641982742, + -0.9989809753084651, + -0.004271239981198831, + 0.07817771452409274, + 0.0007463477859925077, + -0.9969391595863669 + ], + [ + 0.9972468824420418, + -0.0490477607024196, + 0.055614500174921935, + -0.04942702975991476, + -0.998762791836789, + 0.005463915399723401, + 0.05527770064628873, + -0.008197732153529876, + -0.9984373655862436 + ], + [ + 0.9967126752444158, + -0.0493429832202802, + 0.06425817468651304, + -0.050159541981246995, + -0.9986789110469009, + 0.011155849515264868, + 0.0636228210263487, + -0.014342337225810221, + -0.9978709505780544 + ], + [ + 0.9969052131025017, + -0.05314875808173566, + 0.05792413662217406, + -0.05563858249456095, + -0.9975565051801996, + 0.04225360470613142, + 0.05553687267978892, + -0.045345655657793874, + -0.997426401939468 + ], + [ + 0.9948537528016812, + -0.020772816434466698, + 0.09916905078597395, + -0.0294134460881047, + -0.9958193202018958, + 0.08647965484352974, + 0.09695803074337518, + -0.08895151269098142, + -0.9913055879315685 + ], + [ + 0.9935597856731269, + -0.012109359762111234, + 0.11266017796596182, + -0.022762937291704255, + -0.995334186919199, + 0.09376409246481944, + 0.1109991035054985, + -0.09572470817949268, + -0.9891996660254828 + ], + [ + 0.9929279420689413, + -0.006582201490672601, + 0.11853597125882792, + -0.016839719727418233, + -0.9961749843273432, + 0.08574278068688802, + 0.11751819305213765, + -0.08713251530831624, + -0.9892408195570009 + ], + [ + 0.9931347731211477, + 0.010842353410482768, + 0.11647216744840178, + 0.0017606332461670522, + -0.9969678359228906, + 0.07779482184439117, + 0.1169624836782241, + -0.07705567797216674, + -0.9901425149462428 + ], + [ + 0.9956013936537359, + 0.019915661932961806, + 0.09154906533935972, + 0.013502319276216368, + -0.9974453077230027, + 0.07014659988571953, + 0.09271220161824167, + -0.06860192789664213, + -0.9933268460884171 + ], + [ + 0.9947585578329802, + 0.0244182310833389, + 0.09929331099731992, + 0.019478656316851358, + -0.9985383320941429, + 0.05041608162816103, + 0.10037924868288176, + -0.04821772837254023, + -0.9937801855060566 + ], + [ + 0.9874450153462166, + 0.04799569633866408, + 0.15049503247907234, + 0.043368156239551835, + -0.9984844102778869, + 0.033883409751715575, + 0.1518932015999798, + -0.026931311980436093, + -0.9880299386874472 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006717.json b/json/chunk-0006/episode_0006717.json new file mode 100644 index 0000000000000000000000000000000000000000..c2ad97d361276fb1e46075b18aa77759352fd761 --- /dev/null +++ b/json/chunk-0006/episode_0006717.json @@ -0,0 +1,2782 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 45, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the red handled spoon closer to the pot in between the fork." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006717.mp4", + "start": 0, + "end": 45, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3847366273403168, + 0.062025368213653564, + 0.09218566864728928, + 0.05609164014458656, + -0.2395952343940735, + 0.3516559302806854, + 0.0, + 1.0008161067962646 + ], + [ + 0.3807215690612793, + 0.0610029399394989, + 0.07845599949359894, + 0.0608551986515522, + -0.19740433990955353, + 0.36037054657936096, + 0.0, + 1.0008161067962646 + ], + [ + 0.37112486362457275, + 0.058116283267736435, + 0.07274160534143448, + 0.038370415568351746, + -0.15541139245033264, + 0.5137924551963806, + 0.0, + 1.0008161067962646 + ], + [ + 0.3543969690799713, + 0.049603816121816635, + 0.06979995965957642, + 0.04398217052221298, + -0.11659582704305649, + 0.7036480903625488, + 0.0, + 1.0008161067962646 + ], + [ + 0.3334590196609497, + 0.02883269265294075, + 0.07113093137741089, + 0.036360859870910645, + -0.112338587641716, + 0.9439826607704163, + 0.0, + 1.0008161067962646 + ], + [ + 0.31409379839897156, + 0.0045287832617759705, + 0.07396895438432693, + 0.050747234374284744, + -0.10885491222143173, + 1.132846474647522, + 0.0, + 1.0008161067962646 + ], + [ + 0.29023805260658264, + -0.016880478709936142, + 0.0735628679394722, + 0.03723897784948349, + -0.113847516477108, + 1.2654656171798706, + 0.0, + 1.0008161067962646 + ], + [ + 0.2642937898635864, + -0.033731259405612946, + 0.06906688958406448, + 0.055678028613328934, + -0.12573574483394623, + 1.4310733079910278, + 0.0, + 1.0008161067962646 + ], + [ + 0.2534259557723999, + -0.04795284569263458, + 0.06678152829408646, + 0.08131633698940277, + -0.14282546937465668, + 1.4886854887008667, + 0.0, + 1.0008161067962646 + ], + [ + 0.24222533404827118, + -0.05879804119467735, + 0.051865216344594955, + 0.0713479295372963, + -0.11437245458364487, + 1.5154975652694702, + 0.0, + 1.0008161067962646 + ], + [ + 0.24800735712051392, + -0.0659877210855484, + 0.042565640062093735, + 0.012250342406332493, + -0.1140894815325737, + 1.5401378870010376, + 0.0, + 1.0008161067962646 + ], + [ + 0.2520906329154968, + -0.07106189429759979, + 0.02978668175637722, + -0.006707808002829552, + -0.12725035846233368, + 1.5805120468139648, + 0.0, + 1.0008161067962646 + ], + [ + 0.2517857849597931, + -0.07310040295124054, + 0.023400938138365746, + 0.018313169479370117, + -0.12697824835777283, + 1.597737431526184, + 0.0, + 1.0008161067962646 + ], + [ + 0.2539597451686859, + -0.07052987068891525, + 0.018404919654130936, + 0.023741066455841064, + -0.11223023384809494, + 1.62022066116333, + 0.0, + 1.0008161067962646 + ], + [ + 0.25402897596359253, + -0.0683334544301033, + 0.013489541597664356, + 0.03170831501483917, + -0.1171543225646019, + 1.6419810056686401, + 0.0, + 1.0008161067962646 + ], + [ + 0.2541496455669403, + -0.06911768764257431, + 0.009248045273125172, + 0.03578393906354904, + -0.11453894525766373, + 1.6482702493667603, + 0.0, + 0.9994885921478271 + ], + [ + 0.25627028942108154, + -0.07112184166908264, + 0.008052971214056015, + 0.026354610919952393, + -0.09629715234041214, + 1.6495146751403809, + 0.0, + 0.9468915462493896 + ], + [ + 0.25715363025665283, + -0.07141505926847458, + 0.005288368556648493, + 0.0036962716840207577, + -0.08151400089263916, + 1.6629858016967773, + 0.0, + 0.657115638256073 + ], + [ + 0.25268736481666565, + -0.06975943595170975, + 0.004300129134207964, + -0.06207931414246559, + -0.04822332412004471, + 1.6860185861587524, + 0.0, + 0.44944798946380615 + ], + [ + 0.2507098317146301, + -0.06683336198329926, + 0.0034857613500207663, + -0.07689157873392105, + -0.06134450435638428, + 1.7011018991470337, + 0.0, + 0.4068177044391632 + ], + [ + 0.2374815046787262, + -0.059755802154541016, + 0.006861794274300337, + -0.027037564665079117, + -0.08757079392671585, + 1.6999660730361938, + 0.0, + 0.38577979803085327 + ], + [ + 0.23407965898513794, + -0.037095293402671814, + 0.02316204272210598, + 0.034271739423274994, + -0.07423170655965805, + 1.6254355907440186, + 0.0, + 0.3754602372646332 + ], + [ + 0.2324444055557251, + -0.033165812492370605, + 0.037272557616233826, + 0.04449904337525368, + -0.03143056109547615, + 1.5689259767532349, + 0.0, + 0.3754602372646332 + ], + [ + 0.23872177302837372, + -0.02444341778755188, + 0.048194520175457, + 0.02440560795366764, + -0.021555304527282715, + 1.5295475721359253, + 0.0, + 0.3754602372646332 + ], + [ + 0.2536417543888092, + -0.013279258273541927, + 0.05314572528004646, + 0.031274668872356415, + 0.014747203327715397, + 1.3048127889633179, + 0.0, + 0.3754602372646332 + ], + [ + 0.2651459872722626, + -0.0041922214441001415, + 0.04874573275446892, + -0.019255729392170906, + 0.03722318634390831, + 1.0448046922683716, + 0.0, + 0.3754602372646332 + ], + [ + 0.27616584300994873, + 0.003371925326064229, + 0.04371213912963867, + -0.016171105206012726, + 0.02574448101222515, + 0.7950544953346252, + 0.0, + 0.3754602372646332 + ], + [ + 0.2804017961025238, + 0.0068223075941205025, + 0.04377725347876549, + -0.011231820099055767, + -0.0024050797801464796, + 0.5526061058044434, + 0.0, + 0.3754602372646332 + ], + [ + 0.288665771484375, + 0.011873651295900345, + 0.04619539901614189, + -0.04160678759217262, + 0.021297715604305267, + 0.28913888335227966, + 0.0, + 0.3754602372646332 + ], + [ + 0.2921510636806488, + 0.019846715033054352, + 0.04566813260316849, + -0.03775092214345932, + 0.041175104677677155, + 0.050704848021268845, + 0.0, + 0.3754602372646332 + ], + [ + 0.2993418872356415, + 0.03438359126448631, + 0.0402851477265358, + -0.03472849354147911, + 0.044086307287216187, + -0.0857914462685585, + 0.0, + 0.3754602372646332 + ], + [ + 0.3062773644924164, + 0.03973758593201637, + 0.037079695612192154, + -0.005970003083348274, + -0.009907742030918598, + -0.16696003079414368, + 0.0, + 0.3754602372646332 + ], + [ + 0.3051173985004425, + 0.043301310390233994, + 0.029863135889172554, + -0.0008067591697908938, + -0.04133359715342522, + -0.20825858414173126, + 0.0, + 0.3754602372646332 + ], + [ + 0.30419379472732544, + 0.044849902391433716, + 0.026081640273332596, + 0.004981714766472578, + -0.05524145066738129, + -0.1844485104084015, + 0.0, + 0.3754602372646332 + ], + [ + 0.2998979687690735, + 0.04507449269294739, + 0.020531704649329185, + 0.00793233048170805, + -0.05732348933815956, + -0.17392101883888245, + 0.0, + 0.3754602372646332 + ], + [ + 0.29840803146362305, + 0.045626863837242126, + 0.016645213589072227, + 0.01913045160472393, + -0.06800442934036255, + -0.16617782413959503, + 0.0, + 0.3754602372646332 + ], + [ + 0.29648342728614807, + 0.04892530292272568, + 0.013667814433574677, + 0.03800604119896889, + -0.07152716815471649, + -0.16591031849384308, + 0.0, + 0.3754602372646332 + ], + [ + 0.2970009744167328, + 0.05189977213740349, + 0.013045748695731163, + 0.05777757614850998, + -0.07711697369813919, + -0.1545974761247635, + 0.0, + 0.443907231092453 + ], + [ + 0.2944759726524353, + 0.05357740446925163, + 0.01140233688056469, + 0.06936367601156235, + -0.06881453841924667, + -0.1617722362279892, + 0.0, + 0.7388594746589661 + ], + [ + 0.28983232378959656, + 0.05576471611857414, + 0.012573682703077793, + 0.07829513400793076, + -0.040283460170030594, + -0.14846011996269226, + 0.0, + 0.9865638017654419 + ], + [ + 0.29088497161865234, + 0.05432110279798508, + 0.024415021762251854, + 0.07368510961532593, + -0.058602191507816315, + -0.1505143642425537, + 0.0, + 1.0027955770492554 + ], + [ + 0.2930062413215637, + 0.05518583580851555, + 0.03976332023739815, + 0.08027172088623047, + -0.06630803644657135, + -0.12622584402561188, + 0.0, + 1.0001531839370728 + ], + [ + 0.2978377640247345, + 0.0521383173763752, + 0.05974098667502403, + 0.07570941746234894, + -0.09574239701032639, + -0.10327525436878204, + 0.0, + 1.0001531839370728 + ], + [ + 0.30566516518592834, + 0.049264222383499146, + 0.07323741912841797, + 0.04344289377331734, + -0.099033884704113, + -0.011117551475763321, + 0.0, + 1.0001531839370728 + ], + [ + 0.3081003427505493, + 0.03540223464369774, + 0.07544206082820892, + -0.0059501007199287415, + -0.09954016655683517, + 0.1621730923652649, + 0.0, + 1.0001531839370728 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9994885921478271 + ], + [ + 0.9468915462493896 + ], + [ + 0.657115638256073 + ], + [ + 0.44944798946380615 + ], + [ + 0.4068177044391632 + ], + [ + 0.38577979803085327 + ], + [ + 0.3754602372646332 + ], + [ + 0.3754602372646332 + ], + [ + 0.3754602372646332 + ], + [ + 0.3754602372646332 + ], + [ + 0.3754602372646332 + ], + [ + 0.3754602372646332 + ], + [ + 0.3754602372646332 + ], + [ + 0.3754602372646332 + ], + [ + 0.3754602372646332 + ], + [ + 0.3754602372646332 + ], + [ + 0.3754602372646332 + ], + [ + 0.3754602372646332 + ], + [ + 0.3754602372646332 + ], + [ + 0.3754602372646332 + ], + [ + 0.3754602372646332 + ], + [ + 0.3754602372646332 + ], + [ + 0.443907231092453 + ], + [ + 0.7388594746589661 + ], + [ + 0.9865638017654419 + ], + [ + 1.0027955770492554 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3847366273403168, + 0.062025368213653564, + 0.09218566864728928 + ], + [ + 0.3807215690612793, + 0.0610029399394989, + 0.07845599949359894 + ], + [ + 0.37112486362457275, + 0.058116283267736435, + 0.07274160534143448 + ], + [ + 0.3543969690799713, + 0.049603816121816635, + 0.06979995965957642 + ], + [ + 0.3334590196609497, + 0.02883269265294075, + 0.07113093137741089 + ], + [ + 0.31409379839897156, + 0.0045287832617759705, + 0.07396895438432693 + ], + [ + 0.29023805260658264, + -0.016880478709936142, + 0.0735628679394722 + ], + [ + 0.2642937898635864, + -0.033731259405612946, + 0.06906688958406448 + ], + [ + 0.2534259557723999, + -0.04795284569263458, + 0.06678152829408646 + ], + [ + 0.24222533404827118, + -0.05879804119467735, + 0.051865216344594955 + ], + [ + 0.24800735712051392, + -0.0659877210855484, + 0.042565640062093735 + ], + [ + 0.2520906329154968, + -0.07106189429759979, + 0.02978668175637722 + ], + [ + 0.2517857849597931, + -0.07310040295124054, + 0.023400938138365746 + ], + [ + 0.2539597451686859, + -0.07052987068891525, + 0.018404919654130936 + ], + [ + 0.25402897596359253, + -0.0683334544301033, + 0.013489541597664356 + ], + [ + 0.2541496455669403, + -0.06911768764257431, + 0.009248045273125172 + ], + [ + 0.25627028942108154, + -0.07112184166908264, + 0.008052971214056015 + ], + [ + 0.25715363025665283, + -0.07141505926847458, + 0.005288368556648493 + ], + [ + 0.25268736481666565, + -0.06975943595170975, + 0.004300129134207964 + ], + [ + 0.2507098317146301, + -0.06683336198329926, + 0.0034857613500207663 + ], + [ + 0.2374815046787262, + -0.059755802154541016, + 0.006861794274300337 + ], + [ + 0.23407965898513794, + -0.037095293402671814, + 0.02316204272210598 + ], + [ + 0.2324444055557251, + -0.033165812492370605, + 0.037272557616233826 + ], + [ + 0.23872177302837372, + -0.02444341778755188, + 0.048194520175457 + ], + [ + 0.2536417543888092, + -0.013279258273541927, + 0.05314572528004646 + ], + [ + 0.2651459872722626, + -0.0041922214441001415, + 0.04874573275446892 + ], + [ + 0.27616584300994873, + 0.003371925326064229, + 0.04371213912963867 + ], + [ + 0.2804017961025238, + 0.0068223075941205025, + 0.04377725347876549 + ], + [ + 0.288665771484375, + 0.011873651295900345, + 0.04619539901614189 + ], + [ + 0.2921510636806488, + 0.019846715033054352, + 0.04566813260316849 + ], + [ + 0.2993418872356415, + 0.03438359126448631, + 0.0402851477265358 + ], + [ + 0.3062773644924164, + 0.03973758593201637, + 0.037079695612192154 + ], + [ + 0.3051173985004425, + 0.043301310390233994, + 0.029863135889172554 + ], + [ + 0.30419379472732544, + 0.044849902391433716, + 0.026081640273332596 + ], + [ + 0.2998979687690735, + 0.04507449269294739, + 0.020531704649329185 + ], + [ + 0.29840803146362305, + 0.045626863837242126, + 0.016645213589072227 + ], + [ + 0.29648342728614807, + 0.04892530292272568, + 0.013667814433574677 + ], + [ + 0.2970009744167328, + 0.05189977213740349, + 0.013045748695731163 + ], + [ + 0.2944759726524353, + 0.05357740446925163, + 0.01140233688056469 + ], + [ + 0.28983232378959656, + 0.05576471611857414, + 0.012573682703077793 + ], + [ + 0.29088497161865234, + 0.05432110279798508, + 0.024415021762251854 + ], + [ + 0.2930062413215637, + 0.05518583580851555, + 0.03976332023739815 + ], + [ + 0.2978377640247345, + 0.0521383173763752, + 0.05974098667502403 + ], + [ + 0.30566516518592834, + 0.049264222383499146, + 0.07323741912841797 + ], + [ + 0.3081003427505493, + 0.03540223464369774, + 0.07544206082820892 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9119858488321578, + 0.3564010773821262, + 0.20312578263418046, + 0.3346132691719336, + -0.9327444972947952, + 0.13424478708818, + 0.23730944276189198, + -0.05446076392357541, + -0.9699063117481508 + ], + [ + 0.9175926662665062, + 0.36312993795689935, + 0.1617416055730346, + 0.3457727336491397, + -0.9298280140961187, + 0.1259407831755445, + 0.19612474468747124, + -0.0596365019219507, + -0.9787637979409474 + ], + [ + 0.8603908618517037, + 0.4962929372930465, + 0.11584854438068048, + 0.4855601814426957, + -0.8673275108517485, + 0.10942714067838134, + 0.15478654670034725, + -0.03789867164888476, + -0.987220753250169 + ], + [ + 0.7573099601193509, + 0.6502779433052455, + 0.06016827033185418, + 0.6426107142960786, + -0.758440224481759, + 0.10871934400070127, + 0.11633182787144214, + -0.04366946689346071, + -0.9922499097935611 + ], + [ + 0.5828697905649749, + 0.811755688349667, + 0.036269955592753186, + 0.8047955314907085, + -0.582878872895394, + 0.11205521864144982, + 0.11210245197733253, + -0.03612370363284014, + -0.9930398372152632 + ], + [ + 0.4215736096420268, + 0.9067941806298975, + 7.502762552825948e-05, + 0.9002627552848074, + -0.41854702389649684, + 0.11977211793398373, + 0.10864006213362912, + -0.05042521951501952, + -0.9928014071990747 + ], + [ + 0.2986625757240989, + 0.9543577708881077, + -0.001382391887002718, + 0.9475733798658681, + -0.29636638252984754, + 0.11946404093176895, + 0.11360174132213904, + -0.036989355923757614, + -0.9928375657260977 + ], + [ + 0.13816940390317461, + 0.9896920022723052, + -0.03766903852339381, + 0.9824372122782761, + -0.13214235443735606, + 0.13174035864017494, + 0.1254047038827936, + -0.0552099520194294, + -0.9905682820694803 + ], + [ + 0.08118346906894885, + 0.9942858663304599, + -0.0693171000938267, + 0.9864828740976621, + -0.07022469069123, + 0.14805415201654012, + 0.1423403788878852, + -0.08039968179543774, + -0.9865470630969642 + ], + [ + 0.054909477368885296, + 0.9963807748109202, + -0.06488683134709423, + 0.9919479974108786, + -0.04700684747144512, + 0.11759900817330103, + 0.11412326549667116, + -0.07082166249098278, + -0.9909390356598078 + ], + [ + 0.030454353323470074, + 0.9994978162517157, + -0.008754865601503882, + 0.9930319734454695, + -0.02925742217225219, + 0.11415560854741566, + 0.11384213665706314, + -0.012170396702069985, + -0.9934243047990463 + ], + [ + -0.009637012845539361, + 0.9999385770670486, + 0.005474493267983001, + 0.991867776697642, + 0.00886412591357083, + 0.12696354130483614, + 0.12690721623411091, + 0.006653522744730377, + -0.9918922769649908 + ], + [ + -0.026720971553435557, + 0.9994070209519745, + -0.021716264668204102, + 0.9915891203184624, + 0.029251487992414615, + 0.12607682941876022, + 0.12663730155565556, + -0.01816471640650138, + -0.9917827569244047 + ], + [ + -0.04909340277530844, + 0.9983660571180747, + -0.02924130295404495, + 0.9924953435360911, + 0.05204567164561008, + 0.11065369908924644, + 0.11199478051729692, + -0.023589490402851597, + -0.9934287619549858 + ], + [ + -0.07063703637548957, + 0.9967024839537092, + -0.03993203692017607, + 0.9906300783387997, + 0.0747850922020119, + 0.1142770225145929, + 0.11688651326201818, + -0.0314856866662159, + -0.9926460570377567 + ], + [ + -0.07688930963278229, + 0.9960456793246346, + -0.04450886162239859, + 0.9904676343509013, + 0.08142345706185816, + 0.1111039420696913, + 0.11428866683763406, + -0.03554188147556954, + -0.9928116011075079 + ], + [ + -0.07827275142549206, + 0.9963578834676283, + -0.033828160402113644, + 0.9922846683974187, + 0.08113558258270881, + 0.09374515508755193, + 0.09614839181030463, + -0.02622947370559387, + -0.9950213572890884 + ], + [ + -0.09175327052973026, + 0.9957190505503926, + -0.011176301629904392, + 0.9924472321373623, + 0.09235800229543989, + 0.0807371713331815, + 0.08142376047558911, + -0.0036839900949923177, + -0.9966727644753786 + ], + [ + -0.11483382495321465, + 0.9917995476720771, + 0.05609679031885749, + 0.9922144454358643, + 0.11177525562407614, + 0.05492528105137785, + 0.04820463582493775, + 0.06196732580671718, + -0.9969134183154269 + ], + [ + -0.1296927207828525, + 0.9892044924160232, + 0.06822221309733596, + 0.9896571972261502, + 0.12488385487843151, + 0.07058792226141179, + 0.06130603685136844, + 0.07667134389496567, + -0.9951698723689932 + ], + [ + -0.12831726332175264, + 0.9916112921663484, + 0.015547513685518738, + 0.9878692315545404, + 0.1264190800188254, + 0.09018091569193662, + 0.0874589119613224, + 0.0269306787025361, + -0.9958040355728445 + ], + [ + -0.054461684225682816, + 0.9977825233930675, + -0.038261742807462425, + 0.9957578483569753, + 0.05711743564375088, + 0.0721381035304419, + 0.07416355160581767, + -0.03417066807723222, + -0.9966604903658853 + ], + [ + 0.0018694251869132983, + 0.9990109481952929, + -0.04442556285982497, + 0.9995043523358262, + -0.00047056173377074684, + 0.031477424186152535, + 0.031425386413070626, + -0.04446238812295664, + -0.9985166704322932 + ], + [ + 0.041227478831246556, + 0.9988735317408232, + -0.023493883817586936, + 0.998917281756703, + -0.04069924803542513, + 0.022535203951833664, + 0.021553635355060413, + -0.024397516204853774, + -0.9994699605320889 + ], + [ + 0.26282976360421584, + 0.9642414105000188, + -0.03404434814599758, + 0.9647295222616319, + -0.2631747116502311, + -0.006001668489746743, + -0.014746668796549916, + -0.03126617061220591, + -0.9994023025462033 + ], + [ + 0.5017230573136849, + 0.8650259283221611, + -0.002029061406663337, + 0.8642274283836886, + -0.5013580751160123, + -0.04184534078345063, + -0.0372145910782985, + 0.01924120179069264, + -0.9991220397751841 + ], + [ + 0.7000138216994464, + 0.7140999029969836, + -0.006479040780418494, + 0.7136651998936433, + -0.6998571425344068, + -0.029697853530869598, + -0.02574163729256019, + 0.016165042012737992, + -0.9995379230055379 + ], + [ + 0.8511569885732769, + 0.5248511191391059, + 0.007942514796869566, + 0.5249057023935582, + -0.8511199416006066, + -0.008297505920784652, + 0.0024050774614863962, + 0.011231551460426049, + -0.9999340317511931 + ], + [ + 0.9582723846672468, + 0.2857292367184438, + -0.008534639327092097, + 0.28506229612515926, + -0.9574076779851408, + -0.045935013475049025, + -0.0212961055594691, + 0.04158535101927639, + -0.9989079709706012 + ], + [ + 0.9978682990356715, + 0.052198606375884915, + -0.03916839634285573, + 0.05064016620014265, + -0.9979244780459373, + -0.03977825642188752, + -0.041163471025625835, + 0.03770996697371841, + -0.9984405475760505 + ], + [ + 0.9953541001769364, + -0.08410995898612976, + -0.046858617780653276, + -0.08560298850710261, + -0.9958525357611853, + -0.030819723825344838, + -0.04407202763221412, + 0.034687776195213765, + -0.9984259684939172 + ], + [ + 0.9860461223784729, + -0.16624078855703356, + 0.008777514586353122, + -0.16617726800678628, + -0.9860671190162575, + -0.007533418399306595, + 0.009907579935519193, + 0.00596967460704103, + -0.9999330991845943 + ], + [ + 0.9775567907079488, + -0.20678897523180906, + 0.040262149263959386, + -0.20657983303759253, + -0.9783852359749203, + -0.009332877823017009, + 0.041321828649461746, + 0.0008060700200545352, + -0.9991455633330845 + ], + [ + 0.9815379996715968, + -0.18313176021585065, + 0.055189796166723044, + -0.18312465751499457, + -0.9830757940155845, + -0.0052290563817847325, + 0.05521335898762369, + -0.004974094980206533, + -0.9984621892532695 + ], + [ + 0.9832960633649556, + -0.17259249180156974, + 0.05779864656466243, + -0.17276130061839676, + -0.9849614803412416, + -0.002101250254064377, + 0.057292100499297775, + -0.007919218251527995, + -0.998326049546271 + ], + [ + 0.9839446420969801, + -0.16410180956290274, + 0.07016792277691077, + -0.1650317044293139, + -0.9862587673803533, + 0.007627601100057274, + 0.06795202588445244, + -0.019085069126592445, + -0.9975060312171711 + ], + [ + 0.9837465585889466, + -0.1623527504250425, + 0.07670914478618593, + -0.16472793229766375, + -0.9860046625238849, + 0.025681000800127685, + 0.07146619330383064, + -0.03789973496719612, + -0.9967227263908833 + ], + [ + 0.9851369976954537, + -0.14932976111889615, + 0.08488650196445022, + -0.15352474667334046, + -0.9871098613697409, + 0.045213645567430086, + 0.07704056029439194, + -0.057573813759242684, + -0.9953642589719313 + ], + [ + 0.9846074997462617, + -0.1559768208088358, + 0.07886255647506626, + -0.16068634300139423, + -0.9853376753458802, + 0.057354727065991803, + 0.0687602400828631, + -0.06914403021479477, + -0.9952342098568567 + ], + [ + 0.9881976774146114, + -0.14434695224238198, + 0.05127677574403181, + -0.1477953679229051, + -0.9864361445738834, + 0.07141611791988031, + 0.04027256600840507, + -0.07815171179538319, + -0.9961277179009479 + ], + [ + 0.9869968723696491, + -0.14527683241792635, + 0.06878819589976326, + -0.14968930010233353, + -0.9866577709581857, + 0.06402777868001984, + 0.05856865516130611, + -0.07349207420149347, + -0.9955745214006624 + ], + [ + 0.9898640012058206, + -0.12021476418245051, + 0.07561527351905144, + -0.12561426456904973, + -0.9895185282221892, + 0.07123298984156977, + 0.06625945708787485, + -0.08000932931571302, + -0.9945894588064312 + ], + [ + 0.990116447815369, + -0.09560435752693087, + 0.10261201970207207, + -0.10261962707897686, + -0.9925679402670512, + 0.06540715627662845, + 0.09559619188883711, + -0.07529070842996734, + -0.9925687267491689 + ], + [ + 0.9950386549645683, + -0.006813160302983302, + 0.09925550852717774, + -0.011062849259906771, + -0.9990425019572563, + 0.04232839058171484, + 0.09887208146163093, + -0.043216433560295996, + -0.9941612803654009 + ], + [ + 0.9819936569637335, + 0.16087677219606764, + 0.09903091361170135, + 0.16066391679915207, + -0.9869567419671195, + 0.01017326517910655, + 0.0993758699169413, + 0.005920612588561747, + -0.9950323526523285 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.004015058279037476, + -0.001022428274154663, + -0.013729669153690338, + 0.004763558506965637, + 0.04219089448451996, + 0.008714616298675537, + 1.0 + ], + [ + -0.009596705436706543, + -0.0028866566717624664, + -0.005714394152164459, + -0.022484783083200455, + 0.041992947459220886, + 0.15342190861701965, + 1.0 + ], + [ + -0.01672789454460144, + -0.0085124671459198, + -0.0029416456818580627, + 0.005611754953861237, + 0.038815565407276154, + 0.1898556351661682, + 1.0 + ], + [ + -0.020937949419021606, + -0.020771123468875885, + 0.0013309717178344727, + -0.007621310651302338, + 0.004257239401340485, + 0.24033457040786743, + 1.0 + ], + [ + -0.01936522126197815, + -0.02430390939116478, + 0.002838023006916046, + 0.0143863745033741, + 0.0034836754202842712, + 0.1888638138771057, + 1.0 + ], + [ + -0.023855745792388916, + -0.021409261971712112, + -0.00040608644485473633, + -0.013508256524801254, + -0.0049926042556762695, + 0.13261914253234863, + 1.0 + ], + [ + -0.025944262742996216, + -0.016850780695676804, + -0.004495978355407715, + 0.018439050763845444, + -0.011888228356838226, + 0.16560769081115723, + 1.0 + ], + [ + -0.010867834091186523, + -0.014221586287021637, + -0.0022853612899780273, + 0.025638308376073837, + -0.01708972454071045, + 0.05761218070983887, + 1.0 + ], + [ + -0.011200621724128723, + -0.01084519550204277, + -0.0149163119494915, + -0.009968407452106476, + 0.02845301479101181, + 0.026812076568603516, + 1.0 + ], + [ + 0.005782023072242737, + -0.007189679890871048, + -0.00929957628250122, + -0.05909758806228638, + 0.000282973051071167, + 0.024640321731567383, + 1.0 + ], + [ + 0.00408327579498291, + -0.005074173212051392, + -0.012778958305716515, + -0.01895815134048462, + -0.01316087692975998, + 0.040374159812927246, + 1.0 + ], + [ + -0.00030484795570373535, + -0.002038508653640747, + -0.006385743618011475, + 0.02502097748219967, + 0.00027211010456085205, + 0.01722538471221924, + 1.0 + ], + [ + 0.0021739602088928223, + 0.002570532262325287, + -0.00499601848423481, + 0.005427896976470947, + 0.014748014509677887, + 0.022483229637145996, + 1.0 + ], + [ + 6.923079490661621e-05, + 0.0021964162588119507, + -0.0049153780564665794, + 0.007967248558998108, + -0.004924088716506958, + 0.02176034450531006, + 1.0 + ], + [ + 0.00012066960334777832, + -0.0007842332124710083, + -0.004241496324539185, + 0.004075624048709869, + 0.0026153773069381714, + 0.006289243698120117, + 1.0 + ], + [ + 0.0021206438541412354, + -0.0020041540265083313, + -0.0011950740590691566, + -0.00942932814359665, + 0.018241792917251587, + 0.0012444257736206055, + 0.0 + ], + [ + 0.0008833408355712891, + -0.00029321759939193726, + -0.002764602657407522, + -0.022658338770270348, + 0.01478315144777298, + 0.013471126556396484, + 0.0 + ], + [ + -0.004466265439987183, + 0.0016556233167648315, + -0.0009882394224405289, + -0.06577558815479279, + 0.03329067677259445, + 0.023032784461975098, + 0.0 + ], + [ + -0.0019775331020355225, + 0.002926073968410492, + -0.0008143677841871977, + -0.01481226459145546, + -0.013121180236339569, + 0.01508331298828125, + 0.0 + ], + [ + -0.01322832703590393, + 0.00707755982875824, + 0.0033760329242795706, + 0.049854014068841934, + -0.026226289570331573, + -0.0011358261108398438, + 0.0 + ], + [ + -0.003401845693588257, + 0.0226605087518692, + 0.016300247982144356, + 0.06130930408835411, + 0.0133390873670578, + -0.07453048229217529, + 0.0 + ], + [ + -0.0016352534294128418, + 0.0039294809103012085, + 0.014110514894127846, + 0.010227303951978683, + 0.0428011454641819, + -0.05650961399078369, + 0.0 + ], + [ + 0.006277367472648621, + 0.008722394704818726, + 0.010921962559223175, + -0.020093435421586037, + 0.009875256568193436, + -0.03937840461730957, + 0.0 + ], + [ + 0.014919981360435486, + 0.011164159514009953, + 0.004951205104589462, + 0.006869060918688774, + 0.03630250692367554, + -0.22473478317260742, + 0.0 + ], + [ + 0.01150423288345337, + 0.009087037295103073, + -0.004399992525577545, + -0.05053039640188217, + 0.022475983947515488, + -0.2600080966949463, + 0.0 + ], + [ + 0.011019855737686157, + 0.007564147002995014, + -0.005033593624830246, + 0.0030846241861581802, + -0.011478705331683159, + -0.24975019693374634, + 0.0 + ], + [ + 0.004235953092575073, + 0.0034503822680562735, + 6.51143491268158e-05, + 0.004939285106956959, + -0.0281495600938797, + -0.24244838953018188, + 0.0 + ], + [ + 0.008263975381851196, + 0.005051343701779842, + 0.002418145537376404, + -0.03037496656179428, + 0.023702794685959816, + -0.2634672224521637, + 0.0 + ], + [ + 0.0034852921962738037, + 0.007973063737154007, + -0.0005272664129734039, + 0.0038558654487133026, + 0.019877389073371887, + -0.23843403160572052, + 0.0 + ], + [ + 0.007190823554992676, + 0.014536876231431961, + -0.00538298487663269, + 0.0030224286019802094, + 0.002911202609539032, + -0.13649629056453705, + 0.0 + ], + [ + 0.006935477256774902, + 0.00535399466753006, + -0.003205452114343643, + 0.028758490458130836, + -0.05399404838681221, + -0.08116858452558517, + 0.0 + ], + [ + -0.001159965991973877, + 0.003563724458217621, + -0.0072165597230196, + 0.005163243971765041, + -0.03142585605382919, + -0.041298553347587585, + 0.0 + ], + [ + -0.0009236037731170654, + 0.0015485920011997223, + -0.003781495615839958, + 0.005788473878055811, + -0.01390785351395607, + 0.023810073733329773, + 0.0 + ], + [ + -0.004295825958251953, + 0.00022459030151367188, + -0.00554993562400341, + 0.0029506157152354717, + -0.0020820386707782745, + 0.010527491569519043, + 0.0 + ], + [ + -0.0014899373054504395, + 0.0005523711442947388, + -0.003886491060256958, + 0.01119812112301588, + -0.010680940002202988, + 0.0077431946992874146, + 0.0 + ], + [ + -0.0019246041774749756, + 0.003298439085483551, + -0.002977399155497551, + 0.018875589594244957, + -0.003522738814353943, + 0.0002675056457519531, + 0.0 + ], + [ + 0.0005175471305847168, + 0.0029744692146778107, + -0.0006220657378435135, + 0.019771534949541092, + -0.005589805543422699, + 0.01131284236907959, + 1.0 + ], + [ + -0.0025250017642974854, + 0.0016776323318481445, + -0.0016434118151664734, + 0.011586099863052368, + 0.008302435278892517, + -0.007174760103225708, + 1.0 + ], + [ + -0.004643648862838745, + 0.0021873116493225098, + 0.0011713458225131035, + 0.008931457996368408, + 0.02853107824921608, + 0.013312116265296936, + 1.0 + ], + [ + 0.0010526478290557861, + -0.0014436133205890656, + 0.01184133905917406, + -0.004610024392604828, + -0.01831873133778572, + -0.00205424427986145, + 1.0 + ], + [ + 0.002121269702911377, + 0.0008647330105304718, + 0.015348298475146294, + 0.006586611270904541, + -0.007705844938755035, + 0.024288520216941833, + 1.0 + ], + [ + 0.004831522703170776, + -0.0030475184321403503, + 0.019977666437625885, + -0.004562303423881531, + -0.029434360563755035, + 0.022950589656829834, + 1.0 + ], + [ + 0.007827401161193848, + -0.002874094992876053, + 0.013496432453393936, + -0.0322665236890316, + -0.003291487693786621, + 0.09215770661830902, + 1.0 + ], + [ + 0.0024351775646209717, + -0.013861987739801407, + 0.0022046416997909546, + -0.04939299449324608, + -0.000506281852722168, + 0.17329064011573792, + 1.0 + ], + [ + 0.0013632476329803467, + -0.01732673868536949, + 0.0013428851962089539, + 0.02913057617843151, + 0.002684086561203003, + -0.016804948449134827, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9994885921478271 + ], + [ + 0.9468915462493896 + ], + [ + 0.657115638256073 + ], + [ + 0.44944798946380615 + ], + [ + 0.4068177044391632 + ], + [ + 0.38577979803085327 + ], + [ + 0.3754602372646332 + ], + [ + 0.3754602372646332 + ], + [ + 0.3754602372646332 + ], + [ + 0.3754602372646332 + ], + [ + 0.3754602372646332 + ], + [ + 0.3754602372646332 + ], + [ + 0.3754602372646332 + ], + [ + 0.3754602372646332 + ], + [ + 0.3754602372646332 + ], + [ + 0.3754602372646332 + ], + [ + 0.3754602372646332 + ], + [ + 0.3754602372646332 + ], + [ + 0.3754602372646332 + ], + [ + 0.3754602372646332 + ], + [ + 0.3754602372646332 + ], + [ + 0.3754602372646332 + ], + [ + 0.443907231092453 + ], + [ + 0.7388594746589661 + ], + [ + 0.9865638017654419 + ], + [ + 1.0027955770492554 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3807215690612793, + 0.0610029399394989, + 0.07845599949359894 + ], + [ + 0.37112486362457275, + 0.058116283267736435, + 0.07274160534143448 + ], + [ + 0.3543969690799713, + 0.049603816121816635, + 0.06979995965957642 + ], + [ + 0.3334590196609497, + 0.02883269265294075, + 0.07113093137741089 + ], + [ + 0.31409379839897156, + 0.0045287832617759705, + 0.07396895438432693 + ], + [ + 0.29023805260658264, + -0.016880478709936142, + 0.0735628679394722 + ], + [ + 0.2642937898635864, + -0.033731259405612946, + 0.06906688958406448 + ], + [ + 0.2534259557723999, + -0.04795284569263458, + 0.06678152829408646 + ], + [ + 0.24222533404827118, + -0.05879804119467735, + 0.051865216344594955 + ], + [ + 0.24800735712051392, + -0.0659877210855484, + 0.042565640062093735 + ], + [ + 0.2520906329154968, + -0.07106189429759979, + 0.02978668175637722 + ], + [ + 0.2517857849597931, + -0.07310040295124054, + 0.023400938138365746 + ], + [ + 0.2539597451686859, + -0.07052987068891525, + 0.018404919654130936 + ], + [ + 0.25402897596359253, + -0.0683334544301033, + 0.013489541597664356 + ], + [ + 0.2541496455669403, + -0.06911768764257431, + 0.009248045273125172 + ], + [ + 0.25627028942108154, + -0.07112184166908264, + 0.008052971214056015 + ], + [ + 0.25715363025665283, + -0.07141505926847458, + 0.005288368556648493 + ], + [ + 0.25268736481666565, + -0.06975943595170975, + 0.004300129134207964 + ], + [ + 0.2507098317146301, + -0.06683336198329926, + 0.0034857613500207663 + ], + [ + 0.2374815046787262, + -0.059755802154541016, + 0.006861794274300337 + ], + [ + 0.23407965898513794, + -0.037095293402671814, + 0.02316204272210598 + ], + [ + 0.2324444055557251, + -0.033165812492370605, + 0.037272557616233826 + ], + [ + 0.23872177302837372, + -0.02444341778755188, + 0.048194520175457 + ], + [ + 0.2536417543888092, + -0.013279258273541927, + 0.05314572528004646 + ], + [ + 0.2651459872722626, + -0.0041922214441001415, + 0.04874573275446892 + ], + [ + 0.27616584300994873, + 0.003371925326064229, + 0.04371213912963867 + ], + [ + 0.2804017961025238, + 0.0068223075941205025, + 0.04377725347876549 + ], + [ + 0.288665771484375, + 0.011873651295900345, + 0.04619539901614189 + ], + [ + 0.2921510636806488, + 0.019846715033054352, + 0.04566813260316849 + ], + [ + 0.2993418872356415, + 0.03438359126448631, + 0.0402851477265358 + ], + [ + 0.3062773644924164, + 0.03973758593201637, + 0.037079695612192154 + ], + [ + 0.3051173985004425, + 0.043301310390233994, + 0.029863135889172554 + ], + [ + 0.30419379472732544, + 0.044849902391433716, + 0.026081640273332596 + ], + [ + 0.2998979687690735, + 0.04507449269294739, + 0.020531704649329185 + ], + [ + 0.29840803146362305, + 0.045626863837242126, + 0.016645213589072227 + ], + [ + 0.29648342728614807, + 0.04892530292272568, + 0.013667814433574677 + ], + [ + 0.2970009744167328, + 0.05189977213740349, + 0.013045748695731163 + ], + [ + 0.2944759726524353, + 0.05357740446925163, + 0.01140233688056469 + ], + [ + 0.28983232378959656, + 0.05576471611857414, + 0.012573682703077793 + ], + [ + 0.29088497161865234, + 0.05432110279798508, + 0.024415021762251854 + ], + [ + 0.2930062413215637, + 0.05518583580851555, + 0.03976332023739815 + ], + [ + 0.2978377640247345, + 0.0521383173763752, + 0.05974098667502403 + ], + [ + 0.30566516518592834, + 0.049264222383499146, + 0.07323741912841797 + ], + [ + 0.3081003427505493, + 0.03540223464369774, + 0.07544206082820892 + ], + [ + 0.30946359038352966, + 0.018075495958328247, + 0.07678494602441788 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9175926662665062, + 0.36312993795689935, + 0.1617416055730346, + 0.3457727336491397, + -0.9298280140961187, + 0.1259407831755445, + 0.19612474468747124, + -0.0596365019219507, + -0.9787637979409474 + ], + [ + 0.8603908618517037, + 0.4962929372930465, + 0.11584854438068048, + 0.4855601814426957, + -0.8673275108517485, + 0.10942714067838134, + 0.15478654670034725, + -0.03789867164888476, + -0.987220753250169 + ], + [ + 0.7573099601193509, + 0.6502779433052455, + 0.06016827033185418, + 0.6426107142960786, + -0.758440224481759, + 0.10871934400070127, + 0.11633182787144214, + -0.04366946689346071, + -0.9922499097935611 + ], + [ + 0.5828697905649749, + 0.811755688349667, + 0.036269955592753186, + 0.8047955314907085, + -0.582878872895394, + 0.11205521864144982, + 0.11210245197733253, + -0.03612370363284014, + -0.9930398372152632 + ], + [ + 0.4215736096420268, + 0.9067941806298975, + 7.502762552825948e-05, + 0.9002627552848074, + -0.41854702389649684, + 0.11977211793398373, + 0.10864006213362912, + -0.05042521951501952, + -0.9928014071990747 + ], + [ + 0.2986625757240989, + 0.9543577708881077, + -0.001382391887002718, + 0.9475733798658681, + -0.29636638252984754, + 0.11946404093176895, + 0.11360174132213904, + -0.036989355923757614, + -0.9928375657260977 + ], + [ + 0.13816940390317461, + 0.9896920022723052, + -0.03766903852339381, + 0.9824372122782761, + -0.13214235443735606, + 0.13174035864017494, + 0.1254047038827936, + -0.0552099520194294, + -0.9905682820694803 + ], + [ + 0.08118346906894885, + 0.9942858663304599, + -0.0693171000938267, + 0.9864828740976621, + -0.07022469069123, + 0.14805415201654012, + 0.1423403788878852, + -0.08039968179543774, + -0.9865470630969642 + ], + [ + 0.054909477368885296, + 0.9963807748109202, + -0.06488683134709423, + 0.9919479974108786, + -0.04700684747144512, + 0.11759900817330103, + 0.11412326549667116, + -0.07082166249098278, + -0.9909390356598078 + ], + [ + 0.030454353323470074, + 0.9994978162517157, + -0.008754865601503882, + 0.9930319734454695, + -0.02925742217225219, + 0.11415560854741566, + 0.11384213665706314, + -0.012170396702069985, + -0.9934243047990463 + ], + [ + -0.009637012845539361, + 0.9999385770670486, + 0.005474493267983001, + 0.991867776697642, + 0.00886412591357083, + 0.12696354130483614, + 0.12690721623411091, + 0.006653522744730377, + -0.9918922769649908 + ], + [ + -0.026720971553435557, + 0.9994070209519745, + -0.021716264668204102, + 0.9915891203184624, + 0.029251487992414615, + 0.12607682941876022, + 0.12663730155565556, + -0.01816471640650138, + -0.9917827569244047 + ], + [ + -0.04909340277530844, + 0.9983660571180747, + -0.02924130295404495, + 0.9924953435360911, + 0.05204567164561008, + 0.11065369908924644, + 0.11199478051729692, + -0.023589490402851597, + -0.9934287619549858 + ], + [ + -0.07063703637548957, + 0.9967024839537092, + -0.03993203692017607, + 0.9906300783387997, + 0.0747850922020119, + 0.1142770225145929, + 0.11688651326201818, + -0.0314856866662159, + -0.9926460570377567 + ], + [ + -0.07688930963278229, + 0.9960456793246346, + -0.04450886162239859, + 0.9904676343509013, + 0.08142345706185816, + 0.1111039420696913, + 0.11428866683763406, + -0.03554188147556954, + -0.9928116011075079 + ], + [ + -0.07827275142549206, + 0.9963578834676283, + -0.033828160402113644, + 0.9922846683974187, + 0.08113558258270881, + 0.09374515508755193, + 0.09614839181030463, + -0.02622947370559387, + -0.9950213572890884 + ], + [ + -0.09175327052973026, + 0.9957190505503926, + -0.011176301629904392, + 0.9924472321373623, + 0.09235800229543989, + 0.0807371713331815, + 0.08142376047558911, + -0.0036839900949923177, + -0.9966727644753786 + ], + [ + -0.11483382495321465, + 0.9917995476720771, + 0.05609679031885749, + 0.9922144454358643, + 0.11177525562407614, + 0.05492528105137785, + 0.04820463582493775, + 0.06196732580671718, + -0.9969134183154269 + ], + [ + -0.1296927207828525, + 0.9892044924160232, + 0.06822221309733596, + 0.9896571972261502, + 0.12488385487843151, + 0.07058792226141179, + 0.06130603685136844, + 0.07667134389496567, + -0.9951698723689932 + ], + [ + -0.12831726332175264, + 0.9916112921663484, + 0.015547513685518738, + 0.9878692315545404, + 0.1264190800188254, + 0.09018091569193662, + 0.0874589119613224, + 0.0269306787025361, + -0.9958040355728445 + ], + [ + -0.054461684225682816, + 0.9977825233930675, + -0.038261742807462425, + 0.9957578483569753, + 0.05711743564375088, + 0.0721381035304419, + 0.07416355160581767, + -0.03417066807723222, + -0.9966604903658853 + ], + [ + 0.0018694251869132983, + 0.9990109481952929, + -0.04442556285982497, + 0.9995043523358262, + -0.00047056173377074684, + 0.031477424186152535, + 0.031425386413070626, + -0.04446238812295664, + -0.9985166704322932 + ], + [ + 0.041227478831246556, + 0.9988735317408232, + -0.023493883817586936, + 0.998917281756703, + -0.04069924803542513, + 0.022535203951833664, + 0.021553635355060413, + -0.024397516204853774, + -0.9994699605320889 + ], + [ + 0.26282976360421584, + 0.9642414105000188, + -0.03404434814599758, + 0.9647295222616319, + -0.2631747116502311, + -0.006001668489746743, + -0.014746668796549916, + -0.03126617061220591, + -0.9994023025462033 + ], + [ + 0.5017230573136849, + 0.8650259283221611, + -0.002029061406663337, + 0.8642274283836886, + -0.5013580751160123, + -0.04184534078345063, + -0.0372145910782985, + 0.01924120179069264, + -0.9991220397751841 + ], + [ + 0.7000138216994464, + 0.7140999029969836, + -0.006479040780418494, + 0.7136651998936433, + -0.6998571425344068, + -0.029697853530869598, + -0.02574163729256019, + 0.016165042012737992, + -0.9995379230055379 + ], + [ + 0.8511569885732769, + 0.5248511191391059, + 0.007942514796869566, + 0.5249057023935582, + -0.8511199416006066, + -0.008297505920784652, + 0.0024050774614863962, + 0.011231551460426049, + -0.9999340317511931 + ], + [ + 0.9582723846672468, + 0.2857292367184438, + -0.008534639327092097, + 0.28506229612515926, + -0.9574076779851408, + -0.045935013475049025, + -0.0212961055594691, + 0.04158535101927639, + -0.9989079709706012 + ], + [ + 0.9978682990356715, + 0.052198606375884915, + -0.03916839634285573, + 0.05064016620014265, + -0.9979244780459373, + -0.03977825642188752, + -0.041163471025625835, + 0.03770996697371841, + -0.9984405475760505 + ], + [ + 0.9953541001769364, + -0.08410995898612976, + -0.046858617780653276, + -0.08560298850710261, + -0.9958525357611853, + -0.030819723825344838, + -0.04407202763221412, + 0.034687776195213765, + -0.9984259684939172 + ], + [ + 0.9860461223784729, + -0.16624078855703356, + 0.008777514586353122, + -0.16617726800678628, + -0.9860671190162575, + -0.007533418399306595, + 0.009907579935519193, + 0.00596967460704103, + -0.9999330991845943 + ], + [ + 0.9775567907079488, + -0.20678897523180906, + 0.040262149263959386, + -0.20657983303759253, + -0.9783852359749203, + -0.009332877823017009, + 0.041321828649461746, + 0.0008060700200545352, + -0.9991455633330845 + ], + [ + 0.9815379996715968, + -0.18313176021585065, + 0.055189796166723044, + -0.18312465751499457, + -0.9830757940155845, + -0.0052290563817847325, + 0.05521335898762369, + -0.004974094980206533, + -0.9984621892532695 + ], + [ + 0.9832960633649556, + -0.17259249180156974, + 0.05779864656466243, + -0.17276130061839676, + -0.9849614803412416, + -0.002101250254064377, + 0.057292100499297775, + -0.007919218251527995, + -0.998326049546271 + ], + [ + 0.9839446420969801, + -0.16410180956290274, + 0.07016792277691077, + -0.1650317044293139, + -0.9862587673803533, + 0.007627601100057274, + 0.06795202588445244, + -0.019085069126592445, + -0.9975060312171711 + ], + [ + 0.9837465585889466, + -0.1623527504250425, + 0.07670914478618593, + -0.16472793229766375, + -0.9860046625238849, + 0.025681000800127685, + 0.07146619330383064, + -0.03789973496719612, + -0.9967227263908833 + ], + [ + 0.9851369976954537, + -0.14932976111889615, + 0.08488650196445022, + -0.15352474667334046, + -0.9871098613697409, + 0.045213645567430086, + 0.07704056029439194, + -0.057573813759242684, + -0.9953642589719313 + ], + [ + 0.9846074997462617, + -0.1559768208088358, + 0.07886255647506626, + -0.16068634300139423, + -0.9853376753458802, + 0.057354727065991803, + 0.0687602400828631, + -0.06914403021479477, + -0.9952342098568567 + ], + [ + 0.9881976774146114, + -0.14434695224238198, + 0.05127677574403181, + -0.1477953679229051, + -0.9864361445738834, + 0.07141611791988031, + 0.04027256600840507, + -0.07815171179538319, + -0.9961277179009479 + ], + [ + 0.9869968723696491, + -0.14527683241792635, + 0.06878819589976326, + -0.14968930010233353, + -0.9866577709581857, + 0.06402777868001984, + 0.05856865516130611, + -0.07349207420149347, + -0.9955745214006624 + ], + [ + 0.9898640012058206, + -0.12021476418245051, + 0.07561527351905144, + -0.12561426456904973, + -0.9895185282221892, + 0.07123298984156977, + 0.06625945708787485, + -0.08000932931571302, + -0.9945894588064312 + ], + [ + 0.990116447815369, + -0.09560435752693087, + 0.10261201970207207, + -0.10261962707897686, + -0.9925679402670512, + 0.06540715627662845, + 0.09559619188883711, + -0.07529070842996734, + -0.9925687267491689 + ], + [ + 0.9950386549645683, + -0.006813160302983302, + 0.09925550852717774, + -0.011062849259906771, + -0.9990425019572563, + 0.04232839058171484, + 0.09887208146163093, + -0.043216433560295996, + -0.9941612803654009 + ], + [ + 0.9819936569637335, + 0.16087677219606764, + 0.09903091361170135, + 0.16066391679915207, + -0.9869567419671195, + 0.01017326517910655, + 0.0993758699169413, + 0.005920612588561747, + -0.9950323526523285 + ], + [ + 0.9848151946593994, + 0.1470356030276775, + 0.09230148325057688, + 0.14417777388229208, + -0.9888621326458769, + 0.03693849127123376, + 0.0967047149125416, + -0.023069765090602757, + -0.995045719578929 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006718.json b/json/chunk-0006/episode_0006718.json new file mode 100644 index 0000000000000000000000000000000000000000..19516b0c9389a7c8a2b16864355153b4ccf38b60 --- /dev/null +++ b/json/chunk-0006/episode_0006718.json @@ -0,0 +1,3382 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 55, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMoved orange pot to the bottom right." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006718.mp4", + "start": 0, + "end": 55, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2684387266635895, + 0.09274161607027054, + 0.10741953551769257, + 0.05709127336740494, + -0.11267779022455215, + -0.059387486428022385, + 0.0, + 0.9994885921478271 + ], + [ + 0.26457297801971436, + 0.09008930623531342, + 0.09906544536352158, + 0.040233612060546875, + -0.06672936677932739, + -0.04974668100476265, + 0.0, + 0.9994885921478271 + ], + [ + 0.2641066908836365, + 0.0798858106136322, + 0.11695260554552078, + 0.056609634310007095, + 0.04138196259737015, + -0.004970294423401356, + 0.0, + 0.9994885921478271 + ], + [ + 0.23856844007968903, + 0.08098334819078445, + 0.12169083207845688, + 0.07853046804666519, + 0.212579607963562, + -0.014301653020083904, + 0.0, + 0.9994885921478271 + ], + [ + 0.23695479333400726, + 0.08361094444990158, + 0.1214749738574028, + 0.07753871381282806, + 0.21925313770771027, + -0.008210081607103348, + 0.0, + 0.9994885921478271 + ], + [ + 0.23716123402118683, + 0.08311687409877777, + 0.12150517851114273, + 0.07896389067173004, + 0.21962986886501312, + -0.011493448168039322, + 0.0, + 0.9994885921478271 + ], + [ + 0.23727203905582428, + 0.08274875581264496, + 0.12188930809497833, + 0.07937480509281158, + 0.21814925968647003, + -0.01293820608407259, + 0.0, + 0.9994885921478271 + ], + [ + 0.2382069081068039, + 0.0825161412358284, + 0.12184356153011322, + 0.08298930525779724, + 0.21546870470046997, + -0.026390613988041878, + 0.0, + 0.9994885921478271 + ], + [ + 0.2485695481300354, + 0.08426792174577713, + 0.12202582508325577, + 0.128292977809906, + 0.1885729283094406, + -0.16592295467853546, + 0.0, + 0.9994885921478271 + ], + [ + 0.2705201804637909, + 0.07738930732011795, + 0.12088669836521149, + 0.07721829414367676, + 0.1413687765598297, + -0.26458442211151123, + 0.0, + 0.9994885921478271 + ], + [ + 0.29369500279426575, + 0.07032401114702225, + 0.11368532478809357, + 0.005181246902793646, + 0.08328482508659363, + -0.3318307399749756, + 0.0, + 0.9994885921478271 + ], + [ + 0.30915388464927673, + 0.06572002917528152, + 0.10425497591495514, + -0.04650995135307312, + 0.06685148924589157, + -0.3422389030456543, + 0.0, + 0.9994885921478271 + ], + [ + 0.3176466226577759, + 0.06496987491846085, + 0.10032646358013153, + -0.05896925926208496, + 0.011366643011569977, + -0.3767653703689575, + 0.0, + 0.9994885921478271 + ], + [ + 0.31975358724594116, + 0.062434758991003036, + 0.09316924959421158, + -0.05056128650903702, + 0.028893793001770973, + -0.3807772994041443, + 0.0, + 0.9994885921478271 + ], + [ + 0.3225829303264618, + 0.058066897094249725, + 0.08143927156925201, + -0.026197684928774834, + 0.012437926605343819, + -0.37686687707901, + 0.0, + 0.9994885921478271 + ], + [ + 0.32702431082725525, + 0.057475745677948, + 0.06928294152021408, + -0.01697835512459278, + 0.010904370807111263, + -0.39794573187828064, + 0.0, + 0.9994885921478271 + ], + [ + 0.3282761871814728, + 0.056806713342666626, + 0.06686457991600037, + -0.00018429133342579007, + 0.010706265456974506, + -0.38627180457115173, + 0.0, + 0.9994885921478271 + ], + [ + 0.3283305764198303, + 0.05412068963050842, + 0.06160256639122963, + 0.008126937784254551, + 0.020871656015515327, + -0.3850468695163727, + 0.0, + 0.9994885921478271 + ], + [ + 0.32805517315864563, + 0.05604378506541252, + 0.06164852902293205, + 0.018628189340233803, + 0.027101978659629822, + -0.38825491070747375, + 0.0, + 0.9994885921478271 + ], + [ + 0.32688918709754944, + 0.060625236481428146, + 0.06139293313026428, + 0.029703650623559952, + 0.03516443073749542, + -0.37830567359924316, + 0.0, + 0.9468915462493896 + ], + [ + 0.32473835349082947, + 0.06340853869915009, + 0.059770163148641586, + 0.03316183015704155, + 0.04244781658053398, + -0.37277621030807495, + 0.0, + 0.6811928749084473 + ], + [ + 0.3237065374851227, + 0.06395087391138077, + 0.05639118701219559, + 0.03521081432700157, + 0.035690732300281525, + -0.3546103537082672, + 0.0, + 0.3875128924846649 + ], + [ + 0.3225073218345642, + 0.06654468923807144, + 0.056231770664453506, + 0.003944976255297661, + 0.02205415815114975, + -0.34871622920036316, + 0.0, + 0.16973881423473358 + ], + [ + 0.32047104835510254, + 0.06659743189811707, + 0.05663243681192398, + -0.033461347222328186, + 0.015143251046538353, + -0.34356826543807983, + 0.0, + 0.06443082541227341 + ], + [ + 0.318643718957901, + 0.06734571605920792, + 0.05770563706755638, + -0.03755088523030281, + 0.028868628665804863, + -0.3447153866291046, + 0.0, + 0.05403778702020645 + ], + [ + 0.3180607259273529, + 0.06883969902992249, + 0.05770283564925194, + -0.032561831176280975, + 0.033880241215229034, + -0.3421972692012787, + 0.0, + 0.05403778702020645 + ], + [ + 0.3166763186454773, + 0.06873621791601181, + 0.06158740445971489, + -0.03181201592087746, + 0.05968073755502701, + -0.34047040343284607, + 0.0, + 0.05403778702020645 + ], + [ + 0.31766846776008606, + 0.07019496709108353, + 0.06788616627454758, + -0.022485196590423584, + 0.0793519988656044, + -0.3310202360153198, + 0.0, + 0.05377154052257538 + ], + [ + 0.31889694929122925, + 0.07198061048984528, + 0.07578329741954803, + -0.009609414264559746, + 0.10237063467502594, + -0.3292289674282074, + 0.0, + 0.05377154052257538 + ], + [ + 0.32280129194259644, + 0.07434932887554169, + 0.08733920753002167, + 0.013210111297667027, + 0.11873238533735275, + -0.31437185406684875, + 0.0, + 0.05377154052257538 + ], + [ + 0.32364505529403687, + 0.0738656148314476, + 0.09345518797636032, + 0.028218872845172882, + 0.13607142865657806, + -0.2967831790447235, + 0.0, + 0.05377154052257538 + ], + [ + 0.32383543252944946, + 0.06830966472625732, + 0.09848535060882568, + 0.05303812026977539, + 0.15294574201107025, + -0.2654062807559967, + 0.0, + 0.05377154052257538 + ], + [ + 0.3219968378543854, + 0.05744092911481857, + 0.10729839652776718, + 0.06890181452035904, + 0.18062807619571686, + -0.23917964100837708, + 0.0, + 0.05377154052257538 + ], + [ + 0.32305237650871277, + 0.041103098541498184, + 0.12746623158454895, + 0.10546610504388809, + 0.18619033694267273, + -0.16524598002433777, + 0.0, + 0.05377154052257538 + ], + [ + 0.32540929317474365, + 0.013066169805824757, + 0.13976524770259857, + 0.13022425770759583, + 0.18704502284526825, + -0.09759431332349777, + 0.0, + 0.05377154052257538 + ], + [ + 0.32339248061180115, + -0.011888723820447922, + 0.14262615144252777, + 0.14498615264892578, + 0.18384572863578796, + -0.0315442755818367, + 0.0, + 0.05377154052257538 + ], + [ + 0.33574438095092773, + -0.033722102642059326, + 0.12967216968536377, + 0.13144756853580475, + 0.10893592983484268, + 0.05127832293510437, + 0.0, + 0.05377154052257538 + ], + [ + 0.3380580246448517, + -0.05776289850473404, + 0.10938503593206406, + 0.13754504919052124, + 0.0417233444750309, + 0.08192116022109985, + 0.0, + 0.05350611358880997 + ], + [ + 0.3420524299144745, + -0.07403285801410675, + 0.09212341904640198, + 0.1541234701871872, + -0.0010645182337611914, + 0.1146458238363266, + 0.0, + 0.05324139446020126 + ], + [ + 0.3433592617511749, + -0.08072409778833389, + 0.0833173468708992, + 0.1640537530183792, + -0.041948411613702774, + 0.13934679329395294, + 0.0, + 0.05324139446020126 + ], + [ + 0.3437332808971405, + -0.08033439517021179, + 0.0787285789847374, + 0.17023035883903503, + -0.05278705060482025, + 0.14406652748584747, + 0.0, + 0.05324139446020126 + ], + [ + 0.34143418073654175, + -0.07974166423082352, + 0.07485496997833252, + 0.1714378148317337, + -0.04831261187791824, + 0.14340317249298096, + 0.0, + 0.05324139446020126 + ], + [ + 0.3434946835041046, + -0.0736115574836731, + 0.07303332537412643, + 0.1758841872215271, + 0.06427273154258728, + 0.17782647907733917, + 0.0, + 0.06296365708112717 + ], + [ + 0.35397571325302124, + -0.059719763696193695, + 0.08512133359909058, + 0.16712015867233276, + 0.09444984048604965, + 0.19738610088825226, + 0.0, + 0.1920294612646103 + ], + [ + 0.3558598756790161, + -0.043827708810567856, + 0.08263951539993286, + 0.14810191094875336, + 0.10523812472820282, + 0.19650974869728088, + 0.0, + 0.4238326847553253 + ], + [ + 0.3469632565975189, + -0.031693123281002045, + 0.07391095906496048, + 0.14436940848827362, + 0.13670934736728668, + 0.19281251728534698, + 0.0, + 0.7190925478935242 + ], + [ + 0.331936240196228, + -0.019561706110835075, + 0.08457600325345993, + 0.13804581761360168, + 0.11777707189321518, + 0.18484649062156677, + 0.0, + 0.9701826572418213 + ], + [ + 0.31653523445129395, + -0.010749105364084244, + 0.08910733461380005, + 0.12194984406232834, + 0.10382355004549026, + 0.1521863341331482, + 0.0, + 0.9974852800369263 + ], + [ + 0.3069450855255127, + -0.0017401471268385649, + 0.09454090893268585, + 0.11356310546398163, + 0.10077726095914841, + 0.13200464844703674, + 0.0, + 0.9974852800369263 + ], + [ + 0.30104705691337585, + 0.01237433310598135, + 0.09999968856573105, + 0.07312098890542984, + 0.10212346166372299, + 0.09906423836946487, + 0.0, + 0.9974852800369263 + ], + [ + 0.2975902259349823, + 0.031255047768354416, + 0.10545475035905838, + 0.041424550116062164, + 0.0763581171631813, + 0.04645766690373421, + 0.0, + 0.9968144297599792 + ], + [ + 0.2949294447898865, + 0.05410383641719818, + 0.10910139977931976, + 0.030167831107974052, + 0.08585235476493835, + -0.012884720228612423, + 0.0, + 0.9974852800369263 + ], + [ + 0.2974332571029663, + 0.08394987136125565, + 0.11854413151741028, + 0.030132589861750603, + 0.05489853024482727, + -0.06799588352441788, + 0.0, + 0.9974852800369263 + ], + [ + 0.29888132214546204, + 0.10778868198394775, + 0.1195591539144516, + 0.04841144010424614, + 0.047529663890600204, + -0.10045157372951508, + 0.0, + 0.9974852800369263 + ], + [ + 0.29839473962783813, + 0.10916714370250702, + 0.11907200515270233, + 0.04749127849936485, + 0.04922569543123245, + -0.10201580822467804, + 0.0, + 0.9974852800369263 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9468915462493896 + ], + [ + 0.6811928749084473 + ], + [ + 0.3875128924846649 + ], + [ + 0.16973881423473358 + ], + [ + 0.06443082541227341 + ], + [ + 0.05403778702020645 + ], + [ + 0.05403778702020645 + ], + [ + 0.05403778702020645 + ], + [ + 0.05377154052257538 + ], + [ + 0.05377154052257538 + ], + [ + 0.05377154052257538 + ], + [ + 0.05377154052257538 + ], + [ + 0.05377154052257538 + ], + [ + 0.05377154052257538 + ], + [ + 0.05377154052257538 + ], + [ + 0.05377154052257538 + ], + [ + 0.05377154052257538 + ], + [ + 0.05377154052257538 + ], + [ + 0.05350611358880997 + ], + [ + 0.05324139446020126 + ], + [ + 0.05324139446020126 + ], + [ + 0.05324139446020126 + ], + [ + 0.05324139446020126 + ], + [ + 0.06296365708112717 + ], + [ + 0.1920294612646103 + ], + [ + 0.4238326847553253 + ], + [ + 0.7190925478935242 + ], + [ + 0.9701826572418213 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9968144297599792 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2684387266635895, + 0.09274161607027054, + 0.10741953551769257 + ], + [ + 0.26457297801971436, + 0.09008930623531342, + 0.09906544536352158 + ], + [ + 0.2641066908836365, + 0.0798858106136322, + 0.11695260554552078 + ], + [ + 0.23856844007968903, + 0.08098334819078445, + 0.12169083207845688 + ], + [ + 0.23695479333400726, + 0.08361094444990158, + 0.1214749738574028 + ], + [ + 0.23716123402118683, + 0.08311687409877777, + 0.12150517851114273 + ], + [ + 0.23727203905582428, + 0.08274875581264496, + 0.12188930809497833 + ], + [ + 0.2382069081068039, + 0.0825161412358284, + 0.12184356153011322 + ], + [ + 0.2485695481300354, + 0.08426792174577713, + 0.12202582508325577 + ], + [ + 0.2705201804637909, + 0.07738930732011795, + 0.12088669836521149 + ], + [ + 0.29369500279426575, + 0.07032401114702225, + 0.11368532478809357 + ], + [ + 0.30915388464927673, + 0.06572002917528152, + 0.10425497591495514 + ], + [ + 0.3176466226577759, + 0.06496987491846085, + 0.10032646358013153 + ], + [ + 0.31975358724594116, + 0.062434758991003036, + 0.09316924959421158 + ], + [ + 0.3225829303264618, + 0.058066897094249725, + 0.08143927156925201 + ], + [ + 0.32702431082725525, + 0.057475745677948, + 0.06928294152021408 + ], + [ + 0.3282761871814728, + 0.056806713342666626, + 0.06686457991600037 + ], + [ + 0.3283305764198303, + 0.05412068963050842, + 0.06160256639122963 + ], + [ + 0.32805517315864563, + 0.05604378506541252, + 0.06164852902293205 + ], + [ + 0.32688918709754944, + 0.060625236481428146, + 0.06139293313026428 + ], + [ + 0.32473835349082947, + 0.06340853869915009, + 0.059770163148641586 + ], + [ + 0.3237065374851227, + 0.06395087391138077, + 0.05639118701219559 + ], + [ + 0.3225073218345642, + 0.06654468923807144, + 0.056231770664453506 + ], + [ + 0.32047104835510254, + 0.06659743189811707, + 0.05663243681192398 + ], + [ + 0.318643718957901, + 0.06734571605920792, + 0.05770563706755638 + ], + [ + 0.3180607259273529, + 0.06883969902992249, + 0.05770283564925194 + ], + [ + 0.3166763186454773, + 0.06873621791601181, + 0.06158740445971489 + ], + [ + 0.31766846776008606, + 0.07019496709108353, + 0.06788616627454758 + ], + [ + 0.31889694929122925, + 0.07198061048984528, + 0.07578329741954803 + ], + [ + 0.32280129194259644, + 0.07434932887554169, + 0.08733920753002167 + ], + [ + 0.32364505529403687, + 0.0738656148314476, + 0.09345518797636032 + ], + [ + 0.32383543252944946, + 0.06830966472625732, + 0.09848535060882568 + ], + [ + 0.3219968378543854, + 0.05744092911481857, + 0.10729839652776718 + ], + [ + 0.32305237650871277, + 0.041103098541498184, + 0.12746623158454895 + ], + [ + 0.32540929317474365, + 0.013066169805824757, + 0.13976524770259857 + ], + [ + 0.32339248061180115, + -0.011888723820447922, + 0.14262615144252777 + ], + [ + 0.33574438095092773, + -0.033722102642059326, + 0.12967216968536377 + ], + [ + 0.3380580246448517, + -0.05776289850473404, + 0.10938503593206406 + ], + [ + 0.3420524299144745, + -0.07403285801410675, + 0.09212341904640198 + ], + [ + 0.3433592617511749, + -0.08072409778833389, + 0.0833173468708992 + ], + [ + 0.3437332808971405, + -0.08033439517021179, + 0.0787285789847374 + ], + [ + 0.34143418073654175, + -0.07974166423082352, + 0.07485496997833252 + ], + [ + 0.3434946835041046, + -0.0736115574836731, + 0.07303332537412643 + ], + [ + 0.35397571325302124, + -0.059719763696193695, + 0.08512133359909058 + ], + [ + 0.3558598756790161, + -0.043827708810567856, + 0.08263951539993286 + ], + [ + 0.3469632565975189, + -0.031693123281002045, + 0.07391095906496048 + ], + [ + 0.331936240196228, + -0.019561706110835075, + 0.08457600325345993 + ], + [ + 0.31653523445129395, + -0.010749105364084244, + 0.08910733461380005 + ], + [ + 0.3069450855255127, + -0.0017401471268385649, + 0.09454090893268585 + ], + [ + 0.30104705691337585, + 0.01237433310598135, + 0.09999968856573105 + ], + [ + 0.2975902259349823, + 0.031255047768354416, + 0.10545475035905838 + ], + [ + 0.2949294447898865, + 0.05410383641719818, + 0.10910139977931976 + ], + [ + 0.2974332571029663, + 0.08394987136125565, + 0.11854413151741028 + ], + [ + 0.29888132214546204, + 0.10778868198394775, + 0.1195591539144516 + ], + [ + 0.29839473962783813, + 0.10916714370250702, + 0.11907200515270233 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9919068323119914, + -0.05285136526664507, + 0.11544509172001452, + -0.058976203720268634, + -0.9969914855534104, + 0.050296969379368506, + 0.11243950999331273, + -0.05669842081976732, + -0.99203963916217 + ], + [ + 0.9965400641377453, + -0.04700719400697934, + 0.06854359401088231, + -0.04961549578935661, + -0.9980879955230164, + 0.03685994805237057, + 0.06667985562307999, + -0.040133239396257625, + -0.9969669603099431 + ], + [ + 0.9991315474547876, + -0.007302981741060554, + -0.04102215667528286, + -0.0049660188518492075, + -0.9983741364991336, + 0.05678399621700197, + -0.041370152735574914, + -0.056530965207567015, + -0.9975433626842175 + ], + [ + 0.9773899515512539, + -0.030806899245545534, + -0.209188473787425, + -0.013979245057648448, + -0.9965794096671622, + 0.08144974484348297, + -0.21098213979921526, + -0.07668386522812393, + -0.9744773581255847 + ], + [ + 0.9760272689149553, + -0.025032584205691183, + -0.21620393165342372, + -0.008013443579255862, + -0.9968234579835055, + 0.07923874264403966, + -0.21750070127798538, + -0.07560663556719904, + -0.973127474487178 + ], + [ + 0.9759136937285244, + -0.02864211043699184, + -0.21626856429648558, + -0.011217107383899517, + -0.9966206079822048, + 0.08137284711203568, + -0.21786839811015737, + -0.07698696808483776, + -0.9729369804103544 + ], + [ + 0.9762179503564264, + -0.030056183642085954, + -0.21469778579848317, + -0.012631213842393121, + -0.9965460198325307, + 0.08207607929725624, + -0.21642311761631636, + -0.07741224826095006, + -0.973225758999637 + ], + [ + 0.976536129866421, + -0.04401375748294559, + -0.21080791308142288, + -0.025777372668271112, + -0.9957436782452918, + 0.08848759400536177, + -0.21380531827771115, + -0.08097725845426676, + -0.9735142369217809 + ], + [ + 0.9687825480988554, + -0.1874594873250869, + -0.1622322875105474, + -0.16223480025743062, + -0.9741997563110255, + 0.15689074029072142, + -0.18745731269950744, + -0.12567328839238112, + -0.9742001747588249 + ], + [ + 0.9555724765043271, + -0.27121980980050586, + -0.11541688316344768, + -0.2588993859740134, + -0.9594827405191938, + 0.11119342870896871, + -0.14089836794536095, + -0.07637201986038551, + -0.9870739407424242 + ], + [ + 0.9421704316980062, + -0.3261775746707722, + -0.07696146708506517, + -0.32464525012009054, + -0.9452944147088264, + 0.03199892333753423, + -0.08318857618962215, + -0.005163264683355935, + -0.9965204471004863 + ], + [ + 0.9399014729263776, + -0.332308374816039, + -0.07846250835876159, + -0.3348473581994747, + -0.9420292850658923, + -0.02140263500310786, + -0.06680170579901715, + 0.04638933180556225, + -0.9966872939879262 + ], + [ + 0.9297994970523386, + -0.3666522510458046, + -0.03223386548744008, + -0.36789088093078975, + -0.9284897580719236, + -0.050626760547244305, + -0.011366398250352114, + 0.058931281664195846, + -0.9981973297060203 + ], + [ + 0.9279885377992778, + -0.36981176280646405, + -0.04556900046230651, + -0.37148708556128757, + -0.9277322490681633, + -0.03619695153058789, + -0.02888977283293695, + 0.050518651297344806, + -0.9983051872532559 + ], + [ + 0.9297502932447802, + -0.3675798192950912, + -0.021200675890944713, + -0.36798056765325504, + -0.929623053120584, + -0.019780822438703702, + -0.012437605912432991, + 0.026192662211990216, + -0.9995795368080597 + ], + [ + 0.9218042132609514, + -0.38729890233728737, + -0.016629872599937486, + -0.38750237654033526, + -0.9217978941584087, + -0.0114258698012363, + -0.010904154710477421, + 0.016976530076989474, + -0.999796427697456 + ], + [ + 0.9262669566301163, + -0.37673570512322524, + -0.009986668137503346, + -0.3767159477837953, + -0.9263207730186687, + 0.0038626622235029724, + -0.010706060925437244, + 0.00018428077036758612, + -0.9999426715067512 + ], + [ + 0.9265789717838419, + -0.37574736114025714, + -0.016288942388366572, + -0.3755207667708567, + -0.9266865185700488, + 0.01537042694105709, + -0.020870140675764832, + -0.008125078255357614, + -0.9997491787100993 + ], + [ + 0.9252312107563606, + -0.3789753060449097, + -0.018025649793728504, + -0.378434762166439, + -0.9252194349986791, + 0.02749777963319675, + -0.02709866096968376, + -0.018620271450549054, + -0.9994593278692026 + ], + [ + 0.9287172699318962, + -0.3701538638975004, + -0.02168754416701572, + -0.36911814495073236, + -0.9284961819384382, + 0.040578752985677445, + -0.03515718416448608, + -0.02968092261863322, + -0.9989409468202467 + ], + [ + 0.9304809254831894, + -0.36531246827401515, + -0.02742349057822945, + -0.36387430810817106, + -0.9302953703845005, + 0.04632506600065545, + -0.04243507052836592, + -0.033125886625295524, + -0.9985499188445919 + ], + [ + 0.937184631767897, + -0.34818778217825613, + -0.02121872568884467, + -0.3470038593353942, + -0.936764408563987, + 0.04539564355866679, + -0.03568315547163888, + -0.03518111978818768, + -0.9987437114825986 + ], + [ + 0.9395835944248399, + -0.3417706868845802, + -0.019376962459065557, + -0.3416084923533175, + -0.9397751020312249, + 0.011242577742401848, + -0.022052370389397526, + -0.003944006673778413, + -0.9997490373946682 + ], + [ + 0.9414507396344622, + -0.33618340665272256, + -0.025519050395615937, + -0.33681033879299555, + -0.9412022788939136, + -0.0264020053604129, + -0.015142672283035298, + 0.033451267483816695, + -0.9993256287016032 + ], + [ + 0.9407795118598231, + -0.3366707087034853, + -0.03983395493653337, + -0.3377880161214692, + -0.9408743815353523, + -0.02558621377207502, + -0.028864618991334554, + 0.03752641831511743, + -0.998878672161401 + ], + [ + 0.9414790227247158, + -0.3343410393636239, + -0.04281727649635521, + -0.335365201175842, + -0.9418903266206582, + -0.019307885920435613, + -0.033873759897606326, + 0.03253739411325385, + -0.9988963341482027 + ], + [ + 0.9409195182369551, + -0.33197335616895635, + -0.06681430232110365, + -0.3333360114682547, + -0.9427542770153695, + -0.01007356082345308, + -0.059645315483884555, + 0.031750023041684984, + -0.9977145746042205 + ], + [ + 0.9427353640821494, + -0.3232404215290896, + -0.08225365158212164, + -0.32398533732924883, + -0.9460514295443423, + 0.004493757087180276, + -0.07926874859961794, + 0.022412553330716546, + -0.9966012958794744 + ], + [ + 0.9413377889600953, + -0.32236932662516127, + -0.09980573293633517, + -0.32162085983655997, + -0.9465657101090329, + 0.0239453328181953, + -0.10219192528625158, + 0.009558958992608616, + -0.9947187726735969 + ], + [ + 0.9442954333919896, + -0.31068024444536346, + -0.10855376633910171, + -0.30704214062937774, + -0.9504239776186637, + 0.04918726100574994, + -0.11845361266236032, + -0.01311672515865046, + -0.9928729491573172 + ], + [ + 0.9474428418689949, + -0.2959892152755405, + -0.1214184740135258, + -0.2897423333214844, + -0.9547821428302811, + 0.06663662666911697, + -0.135651913634218, + -0.02795432297493845, + -0.99036211264082 + ], + [ + 0.9537213278466322, + -0.26972628336703297, + -0.13290357734637212, + -0.25923939189917644, + -0.9615105603727391, + 0.09106250589263362, + -0.15235014439836056, + -0.05239441146446566, + -0.986936806056543 + ], + [ + 0.9557268377697308, + -0.24835972652727312, + -0.15780892815670608, + -0.233051494763032, + -0.9662972977873239, + 0.10934593306397769, + -0.17964746687717806, + -0.06772723623634377, + -0.981396866265834 + ], + [ + 0.9693299545432337, + -0.1828028431457539, + -0.16426368972795402, + -0.1616519322842389, + -0.9776916474292816, + 0.13411821403444546, + -0.18511642826606312, + -0.10345125946476626, + -0.9772562329814884 + ], + [ + 0.9778824728772425, + -0.12064714636681825, + -0.17085120811113064, + -0.09573992472738721, + -0.9844616104096687, + 0.1472046345832773, + -0.18595627457196373, + -0.1275915502811432, + -0.9742385027518524 + ], + [ + 0.9826588241504313, + -0.057607415773401255, + -0.17624704527226026, + -0.03100754603076067, + -0.98818262427026, + 0.15011206873363706, + -0.18281183607316548, + -0.14204396058351934, + -0.9728326402076082 + ], + [ + 0.9927656934834161, + 0.03658247079596926, + -0.11435908653383818, + 0.05095202654054987, + -0.9908004877112937, + 0.12537258289783154, + -0.10872059985946976, + -0.130292426416598, + -0.9854966843093245 + ], + [ + 0.9957789641343089, + 0.07535680684471306, + -0.05239853289713079, + 0.08175834544975429, + -0.9877015863498539, + 0.1332709618457861, + -0.04171123993507906, + -0.13699243768964378, + -0.9896935103752715 + ], + [ + 0.9934347996691992, + 0.11320120738451435, + -0.01651621787535794, + 0.11439477963428295, + -0.981640952418795, + 0.15262658656585648, + 0.0010645180327093573, + -0.1535139315534887, + -0.9881459100863338 + ], + [ + 0.9894357568876208, + 0.14381392619399352, + 0.018287635847471916, + 0.13877408136409636, + -0.9760591232624753, + 0.1674823639600274, + 0.0419361101411698, + -0.16317518968506364, + -0.9857054428872102 + ], + [ + 0.9882618716668228, + 0.1503393849874869, + 0.02713931338800843, + 0.14336871164951742, + -0.9740525789673022, + 0.17511991870459803, + 0.05276253907409942, + -0.16917341022965665, + -0.9841729887279586 + ], + [ + 0.9885805235084587, + 0.14897147506738975, + 0.02271669333305938, + 0.14274542209463623, + -0.9740489057003165, + 0.17564872266839943, + 0.04829381959181048, + -0.17040020223069635, + -0.9841907732086151 + ], + [ + 0.9821982725867334, + 0.1631003206819591, + -0.09319248210600894, + 0.1765255067078957, + -0.9710339995722185, + 0.16103327965455283, + -0.06422848907733511, + -0.1746174592308079, + -0.982539283755423 + ], + [ + 0.9762120044187983, + 0.17799154382176155, + -0.12381087495280142, + 0.19523279759196008, + -0.9699974301728603, + 0.14487629275510813, + -0.09430947552101555, + -0.1656019196325725, + -0.9816729226381656 + ], + [ + 0.9753280671255738, + 0.17790798079468326, + -0.1307054392389636, + 0.1941672576063914, + -0.9730440575581416, + 0.12443608047668821, + -0.10504397912638799, + -0.14674471854327908, + -0.9835810846234022 + ], + [ + 0.9723119008637232, + 0.17038297267413516, + -0.15993501824646725, + 0.18983219911743143, + -0.9750158721181947, + 0.11535937454682875, + -0.13628390813670102, + -0.1425261089776907, + -0.9803637103864393 + ], + [ + 0.9761547879880101, + 0.1661530149389211, + -0.13969611846715552, + 0.1825223593209836, + -0.9765852387675155, + 0.11387212024589946, + -0.11750497111179864, + -0.13665448052699006, + -0.9836249969962708 + ], + [ + 0.9831194060640156, + 0.1380121634675029, + -0.12012025705665216, + 0.15078322044551307, + -0.9830124096734316, + 0.10464713498282235, + -0.10363712584019655, + -0.12099274839035809, + -0.9872284948199836 + ], + [ + 0.9862704400762415, + 0.11947230212002204, + -0.11400433350517412, + 0.13095380104454346, + -0.9864152831466856, + 0.09917656561219576, + -0.10060676430440908, + -0.11274421581964292, + -0.988517587489171 + ], + [ + 0.9899126238248785, + 0.09122676541347872, + -0.1084005279707525, + 0.09838699849069142, + -0.9931747024080314, + 0.0626419110876267, + -0.10194604318038272, + -0.0726752211480059, + -0.9921317032082743 + ], + [ + 0.9960103158026575, + 0.043245401000767555, + -0.07805950363007003, + 0.04630563432422173, + -0.9982108010459472, + 0.03782836112019001, + -0.07628393700197678, + -0.041292032736241706, + -0.9962307609123436 + ], + [ + 0.9962342484828904, + -0.015464692985030453, + -0.08531216455235868, + -0.01283690995927342, + -0.9994286922012753, + 0.03126504353979833, + -0.08574692934693046, + -0.0300521625798665, + -0.9958636109587724 + ], + [ + 0.9961861059409163, + -0.06956199045431198, + -0.05267230595206267, + -0.06784113981922908, + -0.9971239462583099, + 0.03378484196030748, + -0.05487095842338914, + -0.03008264087957289, + -0.9980401858840201 + ], + [ + 0.9938353527639273, + -0.10245285696153972, + -0.04236394336010792, + -0.10016947272284488, + -0.9935627113123372, + 0.05290761215651919, + -0.04751177044719959, + -0.04833788152262883, + -0.9977003963509672 + ], + [ + 0.9935958567713261, + -0.10404795064893224, + -0.04406015629354996, + -0.10171558844833062, + -0.9934413693394238, + 0.052232028025154545, + -0.04920581747582823, + -0.04741592191203349, + -0.9976625270479831 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.003865748643875122, + -0.002652309834957123, + -0.00835409015417099, + -0.016857661306858063, + 0.04594842344522476, + 0.009640805423259735, + 1.0 + ], + [ + -0.00046628713607788086, + -0.010203495621681213, + 0.017887160181999207, + 0.01637602224946022, + 0.10811132937669754, + 0.04477638751268387, + 1.0 + ], + [ + -0.02553825080394745, + 0.0010975375771522522, + 0.004738226532936096, + 0.021920833736658096, + 0.17119765281677246, + -0.009331358596682549, + 1.0 + ], + [ + -0.0016136467456817627, + 0.0026275962591171265, + -0.00021585822105407715, + -0.0009917542338371277, + 0.006673529744148254, + 0.0060915714129805565, + 1.0 + ], + [ + 0.00020644068717956543, + -0.0004940703511238098, + 3.02046537399292e-05, + 0.0014251768589019775, + 0.00037673115730285645, + -0.003283366560935974, + 1.0 + ], + [ + 0.00011080503463745117, + -0.0003681182861328125, + 0.0003841295838356018, + 0.00041091442108154297, + -0.0014806091785430908, + -0.001444757916033268, + 1.0 + ], + [ + 0.0009348690509796143, + -0.00023261457681655884, + -4.5746564865112305e-05, + 0.0036145001649856567, + -0.002680554986000061, + -0.013452407903969288, + 1.0 + ], + [ + 0.010362640023231506, + 0.0017517805099487305, + 0.0001822635531425476, + 0.045303672552108765, + -0.026895776391029358, + -0.13953234255313873, + 1.0 + ], + [ + 0.021950632333755493, + -0.00687861442565918, + -0.001139126718044281, + -0.05107468366622925, + -0.0472041517496109, + -0.09866146743297577, + 1.0 + ], + [ + 0.023174822330474854, + -0.007065296173095703, + -0.00720137357711792, + -0.07203704863786697, + -0.058083951473236084, + -0.06724631786346436, + 1.0 + ], + [ + 0.015458881855010986, + -0.004603981971740723, + -0.009430348873138428, + -0.051691196858882904, + -0.016433335840702057, + -0.010408163070678711, + 1.0 + ], + [ + 0.008492738008499146, + -0.0007501542568206787, + -0.003928512334823608, + -0.01245930790901184, + -0.055484846234321594, + -0.03452646732330322, + 1.0 + ], + [ + 0.002106964588165283, + -0.0025351159274578094, + -0.007157213985919952, + 0.008407972753047943, + 0.017527149990200996, + -0.004011929035186768, + 1.0 + ], + [ + 0.00282934308052063, + -0.004367861896753311, + -0.011729978024959564, + 0.024363601580262184, + -0.016455866396427155, + 0.003910422325134277, + 1.0 + ], + [ + 0.004441380500793457, + -0.0005911514163017273, + -0.012156330049037933, + 0.009219329804182053, + -0.0015335557982325554, + -0.02107885479927063, + 1.0 + ], + [ + 0.0012518763542175293, + -0.0006690323352813721, + -0.0024183616042137146, + 0.01679406315088272, + -0.0001981053501367569, + 0.011673927307128906, + 1.0 + ], + [ + 5.4389238357543945e-05, + -0.002686023712158203, + -0.005262013524770737, + 0.008311228826642036, + 0.010165390558540821, + 0.0012249350547790527, + 1.0 + ], + [ + -0.0002754032611846924, + 0.0019230954349040985, + 4.5962631702423096e-05, + 0.010501251555979252, + 0.006230322644114494, + -0.0032080411911010742, + 1.0 + ], + [ + -0.0011659860610961914, + 0.004581451416015625, + -0.0002555958926677704, + 0.011075461283326149, + 0.0080624520778656, + 0.00994923710823059, + 0.0 + ], + [ + -0.0021508336067199707, + 0.002783302217721939, + -0.001622769981622696, + 0.003458179533481598, + 0.007283385843038559, + 0.005529463291168213, + 0.0 + ], + [ + -0.0010318160057067871, + 0.0005423352122306824, + -0.003378976136445999, + 0.002048984169960022, + -0.006757084280252457, + 0.01816585659980774, + 0.0 + ], + [ + -0.0011992156505584717, + 0.002593815326690674, + -0.0001594163477420807, + -0.03126583993434906, + -0.013636574149131775, + 0.005894124507904053, + 0.0 + ], + [ + -0.00203627347946167, + 5.274266004562378e-05, + 0.00040066614747047424, + -0.037406325340270996, + -0.006910907104611397, + 0.005147963762283325, + 0.0 + ], + [ + -0.001827329397201538, + 0.0007482841610908508, + 0.0010732002556324005, + -0.004089538007974625, + 0.01372537761926651, + -0.0011471211910247803, + 0.0 + ], + [ + -0.0005829930305480957, + 0.001493982970714569, + -2.8014183044433594e-06, + 0.004989054054021835, + 0.0050116125494241714, + 0.0025181174278259277, + 0.0 + ], + [ + -0.0013844072818756104, + -0.00010348111391067505, + 0.0038845688104629517, + 0.0007498152554035187, + 0.025800496339797974, + 0.0017268657684326172, + 0.0 + ], + [ + 0.0009921491146087646, + 0.0014587491750717163, + 0.006298761814832687, + 0.009326819330453873, + 0.019671261310577393, + 0.009450167417526245, + 0.0 + ], + [ + 0.0012284815311431885, + 0.0017856433987617493, + 0.007897131145000458, + 0.012875782325863838, + 0.02301863580942154, + 0.0017912685871124268, + 0.0 + ], + [ + 0.0039043426513671875, + 0.002368718385696411, + 0.011555910110473633, + 0.022819526493549347, + 0.016361750662326813, + 0.014857113361358643, + 0.0 + ], + [ + 0.0008437633514404297, + -0.0004837140440940857, + 0.0061159804463386536, + 0.015008761547505856, + 0.01733904331922531, + 0.017588675022125244, + 0.0 + ], + [ + 0.00019037723541259766, + -0.005555950105190277, + 0.0050301626324653625, + 0.02481924742460251, + 0.016874313354492188, + 0.03137689828872681, + 0.0 + ], + [ + -0.001838594675064087, + -0.010868735611438751, + 0.008813045918941498, + 0.01586369425058365, + 0.027682334184646606, + 0.02622663974761963, + 0.0 + ], + [ + 0.0010555386543273926, + -0.01633783057332039, + 0.02016783505678177, + 0.03656429052352905, + 0.005562260746955872, + 0.0739336609840393, + 0.0 + ], + [ + 0.002356916666030884, + -0.028036929666996002, + 0.012299016118049622, + 0.024758152663707733, + 0.00085468590259552, + 0.06765166670084, + 0.0 + ], + [ + -0.002016812562942505, + -0.024954892694950104, + 0.0028609037399291992, + 0.014761894941329956, + -0.0031992942094802856, + 0.06605003774166107, + 0.0 + ], + [ + 0.012351900339126587, + -0.021833378821611404, + -0.012953981757164001, + -0.013538584113121033, + -0.07490979880094528, + 0.08282259851694107, + 0.0 + ], + [ + 0.00231364369392395, + -0.024040795862674713, + -0.020287133753299713, + 0.006097480654716492, + -0.06721258163452148, + 0.030642837285995483, + 0.0 + ], + [ + 0.003994405269622803, + -0.01626995950937271, + -0.01726161688566208, + 0.016578420996665955, + -0.042787861078977585, + 0.032724663615226746, + 0.0 + ], + [ + 0.0013068318367004395, + -0.006691239774227142, + -0.008806072175502777, + 0.009930282831192017, + -0.04088389500975609, + 0.024700969457626343, + 0.0 + ], + [ + 0.00037401914596557617, + 0.00038970261812210083, + -0.004588767886161804, + 0.006176605820655823, + -0.010838638991117477, + 0.004719734191894531, + 0.0 + ], + [ + -0.002299100160598755, + 0.0005927309393882751, + -0.0038736090064048767, + 0.0012074559926986694, + 0.004474438726902008, + -0.0006633549928665161, + 0.0 + ], + [ + 0.002060502767562866, + 0.006130106747150421, + -0.0018216446042060852, + 0.004446372389793396, + 0.11258534342050552, + 0.034423306584358215, + 1.0 + ], + [ + 0.010481029748916626, + 0.0138917937874794, + 0.012088008224964142, + -0.008764028549194336, + 0.030177108943462372, + 0.019559621810913086, + 1.0 + ], + [ + 0.001884162425994873, + 0.01589205488562584, + -0.002481818199157715, + -0.019018247723579407, + 0.010788284242153168, + -0.0008763521909713745, + 1.0 + ], + [ + -0.008896619081497192, + 0.012134585529565811, + -0.008728556334972382, + -0.0037325024604797363, + 0.03147122263908386, + -0.003697231411933899, + 1.0 + ], + [ + -0.015027016401290894, + 0.01213141717016697, + 0.01066504418849945, + -0.006323590874671936, + -0.018932275474071503, + -0.007966026663780212, + 1.0 + ], + [ + -0.015401005744934082, + 0.008812600746750832, + 0.004531331360340118, + -0.016095973551273346, + -0.013953521847724915, + -0.03266015648841858, + 1.0 + ], + [ + -0.00959014892578125, + 0.009008958004415035, + 0.005433574318885803, + -0.00838673859834671, + -0.003046289086341858, + -0.02018168568611145, + 1.0 + ], + [ + -0.005898028612136841, + 0.014114480465650558, + 0.0054587796330451965, + -0.04044211655855179, + 0.001346200704574585, + -0.03294041007757187, + 1.0 + ], + [ + -0.0034568309783935547, + 0.01888071373105049, + 0.0054550617933273315, + -0.031696438789367676, + -0.025765344500541687, + -0.05260657146573067, + 1.0 + ], + [ + -0.002660781145095825, + 0.022848788648843765, + 0.003646649420261383, + -0.011256719008088112, + 0.00949423760175705, + -0.059342388063669205, + 1.0 + ], + [ + 0.002503812313079834, + 0.029846034944057465, + 0.009442731738090515, + -3.524124622344971e-05, + -0.030953824520111084, + -0.05511116236448288, + 1.0 + ], + [ + 0.0014480650424957275, + 0.023838810622692108, + 0.0010150223970413208, + 0.018278850242495537, + -0.007368866354227066, + -0.0324556902050972, + 1.0 + ], + [ + -0.00048658251762390137, + 0.0013784617185592651, + -0.0004871487617492676, + -0.0009201616048812866, + 0.001696031540632248, + -0.0015642344951629639, + 1.0 + ], + [ + 0.0001544654369354248, + -0.0004620105028152466, + 0.0004871487617492676, + 0.0006277337670326233, + -0.001399993896484375, + -0.0015035346150398254, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9468915462493896 + ], + [ + 0.6811928749084473 + ], + [ + 0.3875128924846649 + ], + [ + 0.16973881423473358 + ], + [ + 0.06443082541227341 + ], + [ + 0.05403778702020645 + ], + [ + 0.05403778702020645 + ], + [ + 0.05403778702020645 + ], + [ + 0.05377154052257538 + ], + [ + 0.05377154052257538 + ], + [ + 0.05377154052257538 + ], + [ + 0.05377154052257538 + ], + [ + 0.05377154052257538 + ], + [ + 0.05377154052257538 + ], + [ + 0.05377154052257538 + ], + [ + 0.05377154052257538 + ], + [ + 0.05377154052257538 + ], + [ + 0.05377154052257538 + ], + [ + 0.05350611358880997 + ], + [ + 0.05324139446020126 + ], + [ + 0.05324139446020126 + ], + [ + 0.05324139446020126 + ], + [ + 0.05324139446020126 + ], + [ + 0.06296365708112717 + ], + [ + 0.1920294612646103 + ], + [ + 0.4238326847553253 + ], + [ + 0.7190925478935242 + ], + [ + 0.9701826572418213 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9968144297599792 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9968144297599792 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.26457297801971436, + 0.09008930623531342, + 0.09906544536352158 + ], + [ + 0.2641066908836365, + 0.0798858106136322, + 0.11695260554552078 + ], + [ + 0.23856844007968903, + 0.08098334819078445, + 0.12169083207845688 + ], + [ + 0.23695479333400726, + 0.08361094444990158, + 0.1214749738574028 + ], + [ + 0.23716123402118683, + 0.08311687409877777, + 0.12150517851114273 + ], + [ + 0.23727203905582428, + 0.08274875581264496, + 0.12188930809497833 + ], + [ + 0.2382069081068039, + 0.0825161412358284, + 0.12184356153011322 + ], + [ + 0.2485695481300354, + 0.08426792174577713, + 0.12202582508325577 + ], + [ + 0.2705201804637909, + 0.07738930732011795, + 0.12088669836521149 + ], + [ + 0.29369500279426575, + 0.07032401114702225, + 0.11368532478809357 + ], + [ + 0.30915388464927673, + 0.06572002917528152, + 0.10425497591495514 + ], + [ + 0.3176466226577759, + 0.06496987491846085, + 0.10032646358013153 + ], + [ + 0.31975358724594116, + 0.062434758991003036, + 0.09316924959421158 + ], + [ + 0.3225829303264618, + 0.058066897094249725, + 0.08143927156925201 + ], + [ + 0.32702431082725525, + 0.057475745677948, + 0.06928294152021408 + ], + [ + 0.3282761871814728, + 0.056806713342666626, + 0.06686457991600037 + ], + [ + 0.3283305764198303, + 0.05412068963050842, + 0.06160256639122963 + ], + [ + 0.32805517315864563, + 0.05604378506541252, + 0.06164852902293205 + ], + [ + 0.32688918709754944, + 0.060625236481428146, + 0.06139293313026428 + ], + [ + 0.32473835349082947, + 0.06340853869915009, + 0.059770163148641586 + ], + [ + 0.3237065374851227, + 0.06395087391138077, + 0.05639118701219559 + ], + [ + 0.3225073218345642, + 0.06654468923807144, + 0.056231770664453506 + ], + [ + 0.32047104835510254, + 0.06659743189811707, + 0.05663243681192398 + ], + [ + 0.318643718957901, + 0.06734571605920792, + 0.05770563706755638 + ], + [ + 0.3180607259273529, + 0.06883969902992249, + 0.05770283564925194 + ], + [ + 0.3166763186454773, + 0.06873621791601181, + 0.06158740445971489 + ], + [ + 0.31766846776008606, + 0.07019496709108353, + 0.06788616627454758 + ], + [ + 0.31889694929122925, + 0.07198061048984528, + 0.07578329741954803 + ], + [ + 0.32280129194259644, + 0.07434932887554169, + 0.08733920753002167 + ], + [ + 0.32364505529403687, + 0.0738656148314476, + 0.09345518797636032 + ], + [ + 0.32383543252944946, + 0.06830966472625732, + 0.09848535060882568 + ], + [ + 0.3219968378543854, + 0.05744092911481857, + 0.10729839652776718 + ], + [ + 0.32305237650871277, + 0.041103098541498184, + 0.12746623158454895 + ], + [ + 0.32540929317474365, + 0.013066169805824757, + 0.13976524770259857 + ], + [ + 0.32339248061180115, + -0.011888723820447922, + 0.14262615144252777 + ], + [ + 0.33574438095092773, + -0.033722102642059326, + 0.12967216968536377 + ], + [ + 0.3380580246448517, + -0.05776289850473404, + 0.10938503593206406 + ], + [ + 0.3420524299144745, + -0.07403285801410675, + 0.09212341904640198 + ], + [ + 0.3433592617511749, + -0.08072409778833389, + 0.0833173468708992 + ], + [ + 0.3437332808971405, + -0.08033439517021179, + 0.0787285789847374 + ], + [ + 0.34143418073654175, + -0.07974166423082352, + 0.07485496997833252 + ], + [ + 0.3434946835041046, + -0.0736115574836731, + 0.07303332537412643 + ], + [ + 0.35397571325302124, + -0.059719763696193695, + 0.08512133359909058 + ], + [ + 0.3558598756790161, + -0.043827708810567856, + 0.08263951539993286 + ], + [ + 0.3469632565975189, + -0.031693123281002045, + 0.07391095906496048 + ], + [ + 0.331936240196228, + -0.019561706110835075, + 0.08457600325345993 + ], + [ + 0.31653523445129395, + -0.010749105364084244, + 0.08910733461380005 + ], + [ + 0.3069450855255127, + -0.0017401471268385649, + 0.09454090893268585 + ], + [ + 0.30104705691337585, + 0.01237433310598135, + 0.09999968856573105 + ], + [ + 0.2975902259349823, + 0.031255047768354416, + 0.10545475035905838 + ], + [ + 0.2949294447898865, + 0.05410383641719818, + 0.10910139977931976 + ], + [ + 0.2974332571029663, + 0.08394987136125565, + 0.11854413151741028 + ], + [ + 0.29888132214546204, + 0.10778868198394775, + 0.1195591539144516 + ], + [ + 0.29839473962783813, + 0.10916714370250702, + 0.11907200515270233 + ], + [ + 0.29854920506477356, + 0.10870513319969177, + 0.1195591539144516 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9965400641377453, + -0.04700719400697934, + 0.06854359401088231, + -0.04961549578935661, + -0.9980879955230164, + 0.03685994805237057, + 0.06667985562307999, + -0.040133239396257625, + -0.9969669603099431 + ], + [ + 0.9991315474547876, + -0.007302981741060554, + -0.04102215667528286, + -0.0049660188518492075, + -0.9983741364991336, + 0.05678399621700197, + -0.041370152735574914, + -0.056530965207567015, + -0.9975433626842175 + ], + [ + 0.9773899515512539, + -0.030806899245545534, + -0.209188473787425, + -0.013979245057648448, + -0.9965794096671622, + 0.08144974484348297, + -0.21098213979921526, + -0.07668386522812393, + -0.9744773581255847 + ], + [ + 0.9760272689149553, + -0.025032584205691183, + -0.21620393165342372, + -0.008013443579255862, + -0.9968234579835055, + 0.07923874264403966, + -0.21750070127798538, + -0.07560663556719904, + -0.973127474487178 + ], + [ + 0.9759136937285244, + -0.02864211043699184, + -0.21626856429648558, + -0.011217107383899517, + -0.9966206079822048, + 0.08137284711203568, + -0.21786839811015737, + -0.07698696808483776, + -0.9729369804103544 + ], + [ + 0.9762179503564264, + -0.030056183642085954, + -0.21469778579848317, + -0.012631213842393121, + -0.9965460198325307, + 0.08207607929725624, + -0.21642311761631636, + -0.07741224826095006, + -0.973225758999637 + ], + [ + 0.976536129866421, + -0.04401375748294559, + -0.21080791308142288, + -0.025777372668271112, + -0.9957436782452918, + 0.08848759400536177, + -0.21380531827771115, + -0.08097725845426676, + -0.9735142369217809 + ], + [ + 0.9687825480988554, + -0.1874594873250869, + -0.1622322875105474, + -0.16223480025743062, + -0.9741997563110255, + 0.15689074029072142, + -0.18745731269950744, + -0.12567328839238112, + -0.9742001747588249 + ], + [ + 0.9555724765043271, + -0.27121980980050586, + -0.11541688316344768, + -0.2588993859740134, + -0.9594827405191938, + 0.11119342870896871, + -0.14089836794536095, + -0.07637201986038551, + -0.9870739407424242 + ], + [ + 0.9421704316980062, + -0.3261775746707722, + -0.07696146708506517, + -0.32464525012009054, + -0.9452944147088264, + 0.03199892333753423, + -0.08318857618962215, + -0.005163264683355935, + -0.9965204471004863 + ], + [ + 0.9399014729263776, + -0.332308374816039, + -0.07846250835876159, + -0.3348473581994747, + -0.9420292850658923, + -0.02140263500310786, + -0.06680170579901715, + 0.04638933180556225, + -0.9966872939879262 + ], + [ + 0.9297994970523386, + -0.3666522510458046, + -0.03223386548744008, + -0.36789088093078975, + -0.9284897580719236, + -0.050626760547244305, + -0.011366398250352114, + 0.058931281664195846, + -0.9981973297060203 + ], + [ + 0.9279885377992778, + -0.36981176280646405, + -0.04556900046230651, + -0.37148708556128757, + -0.9277322490681633, + -0.03619695153058789, + -0.02888977283293695, + 0.050518651297344806, + -0.9983051872532559 + ], + [ + 0.9297502932447802, + -0.3675798192950912, + -0.021200675890944713, + -0.36798056765325504, + -0.929623053120584, + -0.019780822438703702, + -0.012437605912432991, + 0.026192662211990216, + -0.9995795368080597 + ], + [ + 0.9218042132609514, + -0.38729890233728737, + -0.016629872599937486, + -0.38750237654033526, + -0.9217978941584087, + -0.0114258698012363, + -0.010904154710477421, + 0.016976530076989474, + -0.999796427697456 + ], + [ + 0.9262669566301163, + -0.37673570512322524, + -0.009986668137503346, + -0.3767159477837953, + -0.9263207730186687, + 0.0038626622235029724, + -0.010706060925437244, + 0.00018428077036758612, + -0.9999426715067512 + ], + [ + 0.9265789717838419, + -0.37574736114025714, + -0.016288942388366572, + -0.3755207667708567, + -0.9266865185700488, + 0.01537042694105709, + -0.020870140675764832, + -0.008125078255357614, + -0.9997491787100993 + ], + [ + 0.9252312107563606, + -0.3789753060449097, + -0.018025649793728504, + -0.378434762166439, + -0.9252194349986791, + 0.02749777963319675, + -0.02709866096968376, + -0.018620271450549054, + -0.9994593278692026 + ], + [ + 0.9287172699318962, + -0.3701538638975004, + -0.02168754416701572, + -0.36911814495073236, + -0.9284961819384382, + 0.040578752985677445, + -0.03515718416448608, + -0.02968092261863322, + -0.9989409468202467 + ], + [ + 0.9304809254831894, + -0.36531246827401515, + -0.02742349057822945, + -0.36387430810817106, + -0.9302953703845005, + 0.04632506600065545, + -0.04243507052836592, + -0.033125886625295524, + -0.9985499188445919 + ], + [ + 0.937184631767897, + -0.34818778217825613, + -0.02121872568884467, + -0.3470038593353942, + -0.936764408563987, + 0.04539564355866679, + -0.03568315547163888, + -0.03518111978818768, + -0.9987437114825986 + ], + [ + 0.9395835944248399, + -0.3417706868845802, + -0.019376962459065557, + -0.3416084923533175, + -0.9397751020312249, + 0.011242577742401848, + -0.022052370389397526, + -0.003944006673778413, + -0.9997490373946682 + ], + [ + 0.9414507396344622, + -0.33618340665272256, + -0.025519050395615937, + -0.33681033879299555, + -0.9412022788939136, + -0.0264020053604129, + -0.015142672283035298, + 0.033451267483816695, + -0.9993256287016032 + ], + [ + 0.9407795118598231, + -0.3366707087034853, + -0.03983395493653337, + -0.3377880161214692, + -0.9408743815353523, + -0.02558621377207502, + -0.028864618991334554, + 0.03752641831511743, + -0.998878672161401 + ], + [ + 0.9414790227247158, + -0.3343410393636239, + -0.04281727649635521, + -0.335365201175842, + -0.9418903266206582, + -0.019307885920435613, + -0.033873759897606326, + 0.03253739411325385, + -0.9988963341482027 + ], + [ + 0.9409195182369551, + -0.33197335616895635, + -0.06681430232110365, + -0.3333360114682547, + -0.9427542770153695, + -0.01007356082345308, + -0.059645315483884555, + 0.031750023041684984, + -0.9977145746042205 + ], + [ + 0.9427353640821494, + -0.3232404215290896, + -0.08225365158212164, + -0.32398533732924883, + -0.9460514295443423, + 0.004493757087180276, + -0.07926874859961794, + 0.022412553330716546, + -0.9966012958794744 + ], + [ + 0.9413377889600953, + -0.32236932662516127, + -0.09980573293633517, + -0.32162085983655997, + -0.9465657101090329, + 0.0239453328181953, + -0.10219192528625158, + 0.009558958992608616, + -0.9947187726735969 + ], + [ + 0.9442954333919896, + -0.31068024444536346, + -0.10855376633910171, + -0.30704214062937774, + -0.9504239776186637, + 0.04918726100574994, + -0.11845361266236032, + -0.01311672515865046, + -0.9928729491573172 + ], + [ + 0.9474428418689949, + -0.2959892152755405, + -0.1214184740135258, + -0.2897423333214844, + -0.9547821428302811, + 0.06663662666911697, + -0.135651913634218, + -0.02795432297493845, + -0.99036211264082 + ], + [ + 0.9537213278466322, + -0.26972628336703297, + -0.13290357734637212, + -0.25923939189917644, + -0.9615105603727391, + 0.09106250589263362, + -0.15235014439836056, + -0.05239441146446566, + -0.986936806056543 + ], + [ + 0.9557268377697308, + -0.24835972652727312, + -0.15780892815670608, + -0.233051494763032, + -0.9662972977873239, + 0.10934593306397769, + -0.17964746687717806, + -0.06772723623634377, + -0.981396866265834 + ], + [ + 0.9693299545432337, + -0.1828028431457539, + -0.16426368972795402, + -0.1616519322842389, + -0.9776916474292816, + 0.13411821403444546, + -0.18511642826606312, + -0.10345125946476626, + -0.9772562329814884 + ], + [ + 0.9778824728772425, + -0.12064714636681825, + -0.17085120811113064, + -0.09573992472738721, + -0.9844616104096687, + 0.1472046345832773, + -0.18595627457196373, + -0.1275915502811432, + -0.9742385027518524 + ], + [ + 0.9826588241504313, + -0.057607415773401255, + -0.17624704527226026, + -0.03100754603076067, + -0.98818262427026, + 0.15011206873363706, + -0.18281183607316548, + -0.14204396058351934, + -0.9728326402076082 + ], + [ + 0.9927656934834161, + 0.03658247079596926, + -0.11435908653383818, + 0.05095202654054987, + -0.9908004877112937, + 0.12537258289783154, + -0.10872059985946976, + -0.130292426416598, + -0.9854966843093245 + ], + [ + 0.9957789641343089, + 0.07535680684471306, + -0.05239853289713079, + 0.08175834544975429, + -0.9877015863498539, + 0.1332709618457861, + -0.04171123993507906, + -0.13699243768964378, + -0.9896935103752715 + ], + [ + 0.9934347996691992, + 0.11320120738451435, + -0.01651621787535794, + 0.11439477963428295, + -0.981640952418795, + 0.15262658656585648, + 0.0010645180327093573, + -0.1535139315534887, + -0.9881459100863338 + ], + [ + 0.9894357568876208, + 0.14381392619399352, + 0.018287635847471916, + 0.13877408136409636, + -0.9760591232624753, + 0.1674823639600274, + 0.0419361101411698, + -0.16317518968506364, + -0.9857054428872102 + ], + [ + 0.9882618716668228, + 0.1503393849874869, + 0.02713931338800843, + 0.14336871164951742, + -0.9740525789673022, + 0.17511991870459803, + 0.05276253907409942, + -0.16917341022965665, + -0.9841729887279586 + ], + [ + 0.9885805235084587, + 0.14897147506738975, + 0.02271669333305938, + 0.14274542209463623, + -0.9740489057003165, + 0.17564872266839943, + 0.04829381959181048, + -0.17040020223069635, + -0.9841907732086151 + ], + [ + 0.9821982725867334, + 0.1631003206819591, + -0.09319248210600894, + 0.1765255067078957, + -0.9710339995722185, + 0.16103327965455283, + -0.06422848907733511, + -0.1746174592308079, + -0.982539283755423 + ], + [ + 0.9762120044187983, + 0.17799154382176155, + -0.12381087495280142, + 0.19523279759196008, + -0.9699974301728603, + 0.14487629275510813, + -0.09430947552101555, + -0.1656019196325725, + -0.9816729226381656 + ], + [ + 0.9753280671255738, + 0.17790798079468326, + -0.1307054392389636, + 0.1941672576063914, + -0.9730440575581416, + 0.12443608047668821, + -0.10504397912638799, + -0.14674471854327908, + -0.9835810846234022 + ], + [ + 0.9723119008637232, + 0.17038297267413516, + -0.15993501824646725, + 0.18983219911743143, + -0.9750158721181947, + 0.11535937454682875, + -0.13628390813670102, + -0.1425261089776907, + -0.9803637103864393 + ], + [ + 0.9761547879880101, + 0.1661530149389211, + -0.13969611846715552, + 0.1825223593209836, + -0.9765852387675155, + 0.11387212024589946, + -0.11750497111179864, + -0.13665448052699006, + -0.9836249969962708 + ], + [ + 0.9831194060640156, + 0.1380121634675029, + -0.12012025705665216, + 0.15078322044551307, + -0.9830124096734316, + 0.10464713498282235, + -0.10363712584019655, + -0.12099274839035809, + -0.9872284948199836 + ], + [ + 0.9862704400762415, + 0.11947230212002204, + -0.11400433350517412, + 0.13095380104454346, + -0.9864152831466856, + 0.09917656561219576, + -0.10060676430440908, + -0.11274421581964292, + -0.988517587489171 + ], + [ + 0.9899126238248785, + 0.09122676541347872, + -0.1084005279707525, + 0.09838699849069142, + -0.9931747024080314, + 0.0626419110876267, + -0.10194604318038272, + -0.0726752211480059, + -0.9921317032082743 + ], + [ + 0.9960103158026575, + 0.043245401000767555, + -0.07805950363007003, + 0.04630563432422173, + -0.9982108010459472, + 0.03782836112019001, + -0.07628393700197678, + -0.041292032736241706, + -0.9962307609123436 + ], + [ + 0.9962342484828904, + -0.015464692985030453, + -0.08531216455235868, + -0.01283690995927342, + -0.9994286922012753, + 0.03126504353979833, + -0.08574692934693046, + -0.0300521625798665, + -0.9958636109587724 + ], + [ + 0.9961861059409163, + -0.06956199045431198, + -0.05267230595206267, + -0.06784113981922908, + -0.9971239462583099, + 0.03378484196030748, + -0.05487095842338914, + -0.03008264087957289, + -0.9980401858840201 + ], + [ + 0.9938353527639273, + -0.10245285696153972, + -0.04236394336010792, + -0.10016947272284488, + -0.9935627113123372, + 0.05290761215651919, + -0.04751177044719959, + -0.04833788152262883, + -0.9977003963509672 + ], + [ + 0.9935958567713261, + -0.10404795064893224, + -0.04406015629354996, + -0.10171558844833062, + -0.9934413693394238, + 0.052232028025154545, + -0.04920581747582823, + -0.04741592191203349, + -0.9976625270479831 + ], + [ + 0.9935093463286366, + -0.1055021929063926, + -0.04252606317997771, + -0.10321639602744012, + -0.9932577321443328, + 0.05277739219214656, + -0.04780747168332345, + -0.04804544543907711, + -0.9977003963233697 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006719.json b/json/chunk-0006/episode_0006719.json new file mode 100644 index 0000000000000000000000000000000000000000..98fdd2fe1d1546d45c4c7e94f47e85cc5d8e2e53 --- /dev/null +++ b/json/chunk-0006/episode_0006719.json @@ -0,0 +1,1162 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 18, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove cloth from edge of table to the middle of table." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006719.mp4", + "start": 0, + "end": 18, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.21427319943904877, + 0.1837870329618454, + 0.0923502966761589, + 0.04529622569680214, + -0.05379583686590195, + 0.5700967311859131, + 0.0, + 1.0008161067962646 + ], + [ + 0.21414829790592194, + 0.18312455713748932, + 0.08464968949556351, + 0.03948329761624336, + -0.02998245693743229, + 0.5777403712272644, + 0.0, + 1.0001531839370728 + ], + [ + 0.23157471418380737, + 0.18461354076862335, + 0.06916026771068573, + 0.022124776616692543, + -0.03853647783398628, + 0.5918886661529541, + 0.0, + 1.0008161067962646 + ], + [ + 0.2536235451698303, + 0.1889515221118927, + 0.05112551525235176, + 0.023709658533334732, + -0.034774474799633026, + 0.5993530750274658, + 0.0, + 1.0001531839370728 + ], + [ + 0.2776017189025879, + 0.19199949502944946, + 0.03264470770955086, + 0.08900243043899536, + -0.026969878003001213, + 0.5919771194458008, + 0.0, + 1.0001531839370728 + ], + [ + 0.2957717776298523, + 0.19067826867103577, + 0.019032053649425507, + 0.05455798655748367, + -0.02619354799389839, + 0.58474200963974, + 0.0, + 1.0001531839370728 + ], + [ + 0.30939486622810364, + 0.18446069955825806, + 0.0022490904666483402, + 0.0425226092338562, + -0.02117926813662052, + 0.5656891465187073, + 0.0, + 1.0008161067962646 + ], + [ + 0.31836217641830444, + 0.17469248175621033, + 0.00039868432213552296, + 0.03748171031475067, + -0.0362657755613327, + 0.5340233445167542, + 0.0, + 1.0001531839370728 + ], + [ + 0.32230862975120544, + 0.15969900786876678, + -0.0015617869794368744, + 0.03935312107205391, + -0.031088268384337425, + 0.5103306770324707, + 0.0, + 1.0001531839370728 + ], + [ + 0.3286580443382263, + 0.1392168402671814, + -0.0019031630363315344, + 0.03946101665496826, + -0.034732621163129807, + 0.4628155827522278, + 0.0, + 1.0001531839370728 + ], + [ + 0.3379535377025604, + 0.10193053632974625, + -0.0012219754280522466, + 0.03812021762132645, + -0.031916648149490356, + 0.36550161242485046, + 0.0, + 1.0001531839370728 + ], + [ + 0.34322357177734375, + 0.06973248720169067, + 5.119440902490169e-05, + 0.0365883968770504, + -0.0333712175488472, + 0.2758195102214813, + 0.0, + 1.0001531839370728 + ], + [ + 0.3411530554294586, + 0.048925258219242096, + 0.0008302631322294474, + 0.03710462152957916, + -0.02601994015276432, + 0.22517430782318115, + 0.0, + 1.0001531839370728 + ], + [ + 0.3377440273761749, + 0.04820578545331955, + 0.004889803938567638, + 0.04178396239876747, + -0.02803066186606884, + 0.21822191774845123, + 0.0, + 1.0001531839370728 + ], + [ + 0.33939889073371887, + 0.05078236013650894, + 0.014863992109894753, + 0.0445401668548584, + -0.0514955148100853, + 0.2207322120666504, + 0.0, + 1.0001531839370728 + ], + [ + 0.3400578200817108, + 0.058441247791051865, + 0.0326431468129158, + 0.04286573827266693, + -0.08619280904531479, + 0.23096877336502075, + 0.0, + 1.0001531839370728 + ], + [ + 0.3396047353744507, + 0.05922195315361023, + 0.0637427344918251, + 0.0363953523337841, + -0.14859288930892944, + 0.23324283957481384, + 0.0, + 1.0001531839370728 + ], + [ + 0.33024677634239197, + 0.06633786857128143, + 0.09705778956413269, + 0.03561745211482048, + -0.18264390528202057, + 0.2864202558994293, + 0.0, + 1.0001531839370728 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.21427319943904877, + 0.1837870329618454, + 0.0923502966761589 + ], + [ + 0.21414829790592194, + 0.18312455713748932, + 0.08464968949556351 + ], + [ + 0.23157471418380737, + 0.18461354076862335, + 0.06916026771068573 + ], + [ + 0.2536235451698303, + 0.1889515221118927, + 0.05112551525235176 + ], + [ + 0.2776017189025879, + 0.19199949502944946, + 0.03264470770955086 + ], + [ + 0.2957717776298523, + 0.19067826867103577, + 0.019032053649425507 + ], + [ + 0.30939486622810364, + 0.18446069955825806, + 0.0022490904666483402 + ], + [ + 0.31836217641830444, + 0.17469248175621033, + 0.00039868432213552296 + ], + [ + 0.32230862975120544, + 0.15969900786876678, + -0.0015617869794368744 + ], + [ + 0.3286580443382263, + 0.1392168402671814, + -0.0019031630363315344 + ], + [ + 0.3379535377025604, + 0.10193053632974625, + -0.0012219754280522466 + ], + [ + 0.34322357177734375, + 0.06973248720169067, + 5.119440902490169e-05 + ], + [ + 0.3411530554294586, + 0.048925258219242096, + 0.0008302631322294474 + ], + [ + 0.3377440273761749, + 0.04820578545331955, + 0.004889803938567638 + ], + [ + 0.33939889073371887, + 0.05078236013650894, + 0.014863992109894753 + ], + [ + 0.3400578200817108, + 0.058441247791051865, + 0.0326431468129158 + ], + [ + 0.3396047353744507, + 0.05922195315361023, + 0.0637427344918251 + ], + [ + 0.33024677634239197, + 0.06633786857128143, + 0.09705778956413269 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8406309138913559, + 0.5412095841499625, + 0.020781064323288558, + 0.5389327093423573, + -0.839671226589552, + 0.06711010384810841, + 0.053769893166067624, + -0.04521523263041147, + -0.9975291380842405 + ], + [ + 0.8373223485321948, + 0.5466980751779944, + 0.0035354271602903997, + 0.5458869903755208, + -0.8363997214105309, + 0.04942569941986286, + 0.02997796502909926, + -0.03945529902386311, + -0.9987715459461447 + ], + [ + 0.8292722766430957, + 0.558500189111899, + 0.019622180132433123, + 0.5575151711445205, + -0.8292097680053604, + 0.039849649787568955, + 0.038526940377774474, + -0.02210654668800531, + -0.999013000645466 + ], + [ + 0.8252015286821691, + 0.5646304580831522, + 0.015325888731869129, + 0.5637673813944203, + -0.8250036864220056, + 0.03918235656235934, + 0.034767466636067855, + -0.023693104374720633, + -0.9991145380129343 + ], + [ + 0.8295372800270138, + 0.5577832341883862, + -0.02730869282349845, + 0.5577998772557993, + -0.8252169839354769, + 0.08874810622120671, + 0.026966608589131313, + -0.08885264814725205, + -0.9956796718515557 + ], + [ + 0.8335684820034567, + 0.5523538739460856, + -0.008293596759242973, + 0.551794926355395, + -0.8318254720429925, + 0.05990612079660303, + 0.02619055285589432, + -0.05451221878812791, + -0.9981695612188833 + ], + [ + 0.8440300849052289, + 0.5362732351818765, + -0.004922702757266133, + 0.535877524665075, + -0.8429737510528894, + 0.04722852522209093, + 0.021177684805108517, + -0.042500261921375855, + -0.9988719804874449 + ], + [ + 0.8602001773789669, + 0.5098126220873482, + 0.01211384322239618, + 0.5086659265651539, + -0.859470020160412, + 0.05069772773088431, + 0.0362578265869255, + -0.03744829509983208, + -0.9986405735825621 + ], + [ + 0.872161397677278, + 0.4891547182824163, + 0.007884033464361298, + 0.48822978943509243, + -0.8713100987820636, + 0.04950135824961037, + 0.03108326092581886, + -0.039323953799699496, + -0.9987429386722977 + ], + [ + 0.8942593064750767, + 0.44734751720467586, + 0.013434717471063859, + 0.4461999807589349, + -0.8934907452689266, + 0.05079237432434651, + 0.034725638272625245, + -0.03942698276042218, + -0.9986188677753732 + ], + [ + 0.9334689420272253, + 0.35829399197674683, + 0.016160123265000322, + 0.3572357872502929, + -0.9328314141010364, + 0.04699090522563575, + 0.03191122965723131, + -0.03809157622924165, + -0.998764589501518 + ], + [ + 0.9616666160798369, + 0.27332766234796213, + 0.022120319006605455, + 0.27218393540423313, + -0.9612259698458605, + 0.044277987778908824, + 0.03336502398350494, + -0.036559867194552696, + -0.9987743245024359 + ], + [ + 0.9744252488843149, + 0.22406335758014628, + 0.017060074051790705, + 0.22320069406378967, + -0.9738687909705559, + 0.04196460583623253, + 0.026017004173879227, + -0.037083551117163716, + -0.9989734359483025 + ], + [ + 0.9759004198378759, + 0.21744806486969523, + 0.018295071595435697, + 0.21640900701752483, + -0.975178356003008, + 0.04684352319114644, + 0.028026991310987792, + -0.04175539567164233, + -0.9987346868364783 + ], + [ + 0.974443958857412, + 0.22096323185814915, + 0.04042550201415919, + 0.21865389583861972, + -0.9742679240210589, + 0.05470362015708661, + 0.05147275862909445, + -0.04446641868307571, + -0.9976839643537492 + ], + [ + 0.9698313584161322, + 0.23230144686429274, + 0.07391328715106465, + 0.22807085600704366, + -0.9717063858281445, + 0.061403455774243935, + 0.08608612474106334, + -0.042693530254142166, + -0.9953725139873537 + ], + [ + 0.9622007468265734, + 0.23622184926110978, + 0.13553213913329173, + 0.2285867558177041, + -0.9710325540530068, + 0.06959794561646027, + 0.14804667463716212, + -0.03598634325624044, + -0.9883254348785739 + ], + [ + 0.9433058958464152, + 0.28854529256049444, + 0.16405974827047215, + 0.27782095171356713, + -0.956825679261647, + 0.08544084675642875, + 0.18163013420233948, + -0.03501761908905848, + -0.9827432323363889 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.00012490153312683105, + -0.0006624758243560791, + -0.007700607180595398, + -0.005812928080558777, + 0.023813379928469658, + 0.007643640041351318, + 1.0 + ], + [ + 0.017426416277885437, + 0.0014889836311340332, + -0.015489421784877777, + -0.01735852099955082, + -0.008554020896553993, + 0.014148294925689697, + 1.0 + ], + [ + 0.02204883098602295, + 0.004337981343269348, + -0.01803475245833397, + 0.001584881916642189, + 0.0037620030343532562, + 0.007464408874511719, + 1.0 + ], + [ + 0.02397817373275757, + 0.0030479729175567627, + -0.018480807542800903, + 0.06529277563095093, + 0.007804596796631813, + -0.007375955581665039, + 1.0 + ], + [ + 0.018170058727264404, + -0.0013212263584136963, + -0.013612654060125351, + -0.03444444388151169, + 0.0007763300091028214, + -0.007235109806060791, + 1.0 + ], + [ + 0.013623088598251343, + -0.00621756911277771, + -0.016782963648438454, + -0.012035377323627472, + 0.00501427985727787, + -0.019052863121032715, + 1.0 + ], + [ + 0.008967310190200806, + -0.00976821780204773, + -0.0018504061736166477, + -0.00504089891910553, + -0.015086507424712181, + -0.031665802001953125, + 1.0 + ], + [ + 0.003946453332901001, + -0.014993473887443542, + -0.001960471272468567, + 0.001871410757303238, + 0.005177507176995277, + -0.023692667484283447, + 1.0 + ], + [ + 0.006349414587020874, + -0.020482167601585388, + -0.00034137605689466, + 0.00010789558291435242, + -0.0036443527787923813, + -0.04751509428024292, + 1.0 + ], + [ + 0.009295493364334106, + -0.03728630393743515, + 0.0006811876082792878, + -0.0013407990336418152, + 0.00281597301363945, + -0.09731397032737732, + 1.0 + ], + [ + 0.005270034074783325, + -0.03219804912805557, + 0.001273169880732894, + -0.0015318207442760468, + -0.001454569399356842, + -0.08968210220336914, + 1.0 + ], + [ + -0.002070516347885132, + -0.020807228982448578, + 0.0007790687377564609, + 0.0005162246525287628, + 0.007351277396082878, + -0.05064520239830017, + 1.0 + ], + [ + -0.0034090280532836914, + -0.0007194727659225464, + 0.004059541039168835, + 0.004679340869188309, + -0.0020107217133045197, + -0.006952390074729919, + 1.0 + ], + [ + 0.0016548633575439453, + 0.002576574683189392, + 0.009974188171327114, + 0.002756204456090927, + -0.023464852944016457, + 0.0025102943181991577, + 1.0 + ], + [ + 0.0006589293479919434, + 0.007658887654542923, + 0.01777915470302105, + -0.0016744285821914673, + -0.03469729423522949, + 0.010236561298370361, + 1.0 + ], + [ + -0.00045308470726013184, + 0.0007807053625583649, + 0.031099587678909302, + -0.006470385938882828, + -0.062400080263614655, + 0.002274066209793091, + 1.0 + ], + [ + -0.009357959032058716, + 0.007115915417671204, + 0.03331505507230759, + -0.000777900218963623, + -0.034051015973091125, + 0.05317741632461548, + 1.0 + ], + [ + -0.014605522155761719, + 0.008265405893325806, + 0.010825075209140778, + 0.003312569111585617, + -0.0005178004503250122, + 0.05311611294746399, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.21414829790592194, + 0.18312455713748932, + 0.08464968949556351 + ], + [ + 0.23157471418380737, + 0.18461354076862335, + 0.06916026771068573 + ], + [ + 0.2536235451698303, + 0.1889515221118927, + 0.05112551525235176 + ], + [ + 0.2776017189025879, + 0.19199949502944946, + 0.03264470770955086 + ], + [ + 0.2957717776298523, + 0.19067826867103577, + 0.019032053649425507 + ], + [ + 0.30939486622810364, + 0.18446069955825806, + 0.0022490904666483402 + ], + [ + 0.31836217641830444, + 0.17469248175621033, + 0.00039868432213552296 + ], + [ + 0.32230862975120544, + 0.15969900786876678, + -0.0015617869794368744 + ], + [ + 0.3286580443382263, + 0.1392168402671814, + -0.0019031630363315344 + ], + [ + 0.3379535377025604, + 0.10193053632974625, + -0.0012219754280522466 + ], + [ + 0.34322357177734375, + 0.06973248720169067, + 5.119440902490169e-05 + ], + [ + 0.3411530554294586, + 0.048925258219242096, + 0.0008302631322294474 + ], + [ + 0.3377440273761749, + 0.04820578545331955, + 0.004889803938567638 + ], + [ + 0.33939889073371887, + 0.05078236013650894, + 0.014863992109894753 + ], + [ + 0.3400578200817108, + 0.058441247791051865, + 0.0326431468129158 + ], + [ + 0.3396047353744507, + 0.05922195315361023, + 0.0637427344918251 + ], + [ + 0.33024677634239197, + 0.06633786857128143, + 0.09705778956413269 + ], + [ + 0.31564125418663025, + 0.07460327446460724, + 0.10788286477327347 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8373223485321948, + 0.5466980751779944, + 0.0035354271602903997, + 0.5458869903755208, + -0.8363997214105309, + 0.04942569941986286, + 0.02997796502909926, + -0.03945529902386311, + -0.9987715459461447 + ], + [ + 0.8292722766430957, + 0.558500189111899, + 0.019622180132433123, + 0.5575151711445205, + -0.8292097680053604, + 0.039849649787568955, + 0.038526940377774474, + -0.02210654668800531, + -0.999013000645466 + ], + [ + 0.8252015286821691, + 0.5646304580831522, + 0.015325888731869129, + 0.5637673813944203, + -0.8250036864220056, + 0.03918235656235934, + 0.034767466636067855, + -0.023693104374720633, + -0.9991145380129343 + ], + [ + 0.8295372800270138, + 0.5577832341883862, + -0.02730869282349845, + 0.5577998772557993, + -0.8252169839354769, + 0.08874810622120671, + 0.026966608589131313, + -0.08885264814725205, + -0.9956796718515557 + ], + [ + 0.8335684820034567, + 0.5523538739460856, + -0.008293596759242973, + 0.551794926355395, + -0.8318254720429925, + 0.05990612079660303, + 0.02619055285589432, + -0.05451221878812791, + -0.9981695612188833 + ], + [ + 0.8440300849052289, + 0.5362732351818765, + -0.004922702757266133, + 0.535877524665075, + -0.8429737510528894, + 0.04722852522209093, + 0.021177684805108517, + -0.042500261921375855, + -0.9988719804874449 + ], + [ + 0.8602001773789669, + 0.5098126220873482, + 0.01211384322239618, + 0.5086659265651539, + -0.859470020160412, + 0.05069772773088431, + 0.0362578265869255, + -0.03744829509983208, + -0.9986405735825621 + ], + [ + 0.872161397677278, + 0.4891547182824163, + 0.007884033464361298, + 0.48822978943509243, + -0.8713100987820636, + 0.04950135824961037, + 0.03108326092581886, + -0.039323953799699496, + -0.9987429386722977 + ], + [ + 0.8942593064750767, + 0.44734751720467586, + 0.013434717471063859, + 0.4461999807589349, + -0.8934907452689266, + 0.05079237432434651, + 0.034725638272625245, + -0.03942698276042218, + -0.9986188677753732 + ], + [ + 0.9334689420272253, + 0.35829399197674683, + 0.016160123265000322, + 0.3572357872502929, + -0.9328314141010364, + 0.04699090522563575, + 0.03191122965723131, + -0.03809157622924165, + -0.998764589501518 + ], + [ + 0.9616666160798369, + 0.27332766234796213, + 0.022120319006605455, + 0.27218393540423313, + -0.9612259698458605, + 0.044277987778908824, + 0.03336502398350494, + -0.036559867194552696, + -0.9987743245024359 + ], + [ + 0.9744252488843149, + 0.22406335758014628, + 0.017060074051790705, + 0.22320069406378967, + -0.9738687909705559, + 0.04196460583623253, + 0.026017004173879227, + -0.037083551117163716, + -0.9989734359483025 + ], + [ + 0.9759004198378759, + 0.21744806486969523, + 0.018295071595435697, + 0.21640900701752483, + -0.975178356003008, + 0.04684352319114644, + 0.028026991310987792, + -0.04175539567164233, + -0.9987346868364783 + ], + [ + 0.974443958857412, + 0.22096323185814915, + 0.04042550201415919, + 0.21865389583861972, + -0.9742679240210589, + 0.05470362015708661, + 0.05147275862909445, + -0.04446641868307571, + -0.9976839643537492 + ], + [ + 0.9698313584161322, + 0.23230144686429274, + 0.07391328715106465, + 0.22807085600704366, + -0.9717063858281445, + 0.061403455774243935, + 0.08608612474106334, + -0.042693530254142166, + -0.9953725139873537 + ], + [ + 0.9622007468265734, + 0.23622184926110978, + 0.13553213913329173, + 0.2285867558177041, + -0.9710325540530068, + 0.06959794561646027, + 0.14804667463716212, + -0.03598634325624044, + -0.9883254348785739 + ], + [ + 0.9433058958464152, + 0.28854529256049444, + 0.16405974827047215, + 0.27782095171356713, + -0.956825679261647, + 0.08544084675642875, + 0.18163013420233948, + -0.03501761908905848, + -0.9827432323363889 + ], + [ + 0.9271368898186382, + 0.3394818063251492, + 0.15864832401143095, + 0.32747895166587765, + -0.9398338015510146, + 0.09731372810649994, + 0.1821392976631893, + -0.03826916038250506, + -0.9825277337614333 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006723.json b/json/chunk-0006/episode_0006723.json new file mode 100644 index 0000000000000000000000000000000000000000..6877f2e6bb8c4e01adcef5311467414e80aa707a --- /dev/null +++ b/json/chunk-0006/episode_0006723.json @@ -0,0 +1,1342 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 21, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut pepper in pan." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006723.mp4", + "start": 0, + "end": 21, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.27849310636520386, + -0.14539411664009094, + 0.06047039106488228, + 0.13712391257286072, + -0.07804280519485474, + 0.07518237084150314, + 0.0, + 1.0008161067962646 + ], + [ + 0.2765369415283203, + -0.13239964842796326, + 0.05387643724679947, + 0.21539820730686188, + -0.0438925102353096, + 0.044075313955545425, + 0.0, + 1.0008161067962646 + ], + [ + 0.2824205458164215, + -0.09737733751535416, + 0.05387945845723152, + 0.3021123707294464, + -0.013766705058515072, + -0.01567668840289116, + 0.0, + 1.0001531839370728 + ], + [ + 0.2871440649032593, + -0.05354764685034752, + 0.056126371026039124, + 0.35757479071617126, + -0.017522446811199188, + -0.07189470529556274, + 0.0, + 1.0008161067962646 + ], + [ + 0.2884018123149872, + -0.02124149724841118, + 0.051886286586523056, + 0.3984566926956177, + -0.012467109598219395, + -0.098281130194664, + 0.0, + 1.0008161067962646 + ], + [ + 0.28636255860328674, + 0.00972543191164732, + 0.037509236484766006, + 0.42162755131721497, + -0.025634702295064926, + -0.11002688109874725, + 0.0, + 1.0008161067962646 + ], + [ + 0.28443264961242676, + 0.03607359901070595, + 0.00770294014364481, + 0.3854275643825531, + -0.060798123478889465, + -0.1662462204694748, + 0.0, + 1.0008161067962646 + ], + [ + 0.28421854972839355, + 0.06063692644238472, + -0.021161256358027458, + 0.32006511092185974, + -0.09948468953371048, + -0.20160932838916779, + 0.0, + 1.0008161067962646 + ], + [ + 0.2832258343696594, + 0.07604590058326721, + -0.04898526147007942, + 0.24156726896762848, + -0.1279991716146469, + -0.23982298374176025, + 0.0, + 1.0008161067962646 + ], + [ + 0.28754860162734985, + 0.08231524378061295, + -0.06733619421720505, + 0.20057442784309387, + -0.16701167821884155, + -0.25864967703819275, + 0.0, + 0.9974852800369263 + ], + [ + 0.2982253432273865, + 0.07891435921192169, + -0.0717289000749588, + 0.1754465103149414, + -0.215680330991745, + -0.25703123211860657, + 0.0, + 0.8102405071258545 + ], + [ + 0.29614049196243286, + 0.07467864453792572, + -0.06889203190803528, + 0.1277301013469696, + -0.19559621810913086, + -0.23500466346740723, + 0.0, + 0.6009007096290588 + ], + [ + 0.28253209590911865, + 0.054207149893045425, + -0.05557291954755783, + 0.08243145793676376, + -0.11790825426578522, + -0.23210112750530243, + 0.0, + 0.5998998284339905 + ], + [ + 0.2897621691226959, + 0.022955050691962242, + -0.014937682077288628, + 0.10618823766708374, + -0.12111426889896393, + -0.2184242308139801, + 0.0, + 0.5998998284339905 + ], + [ + 0.30773940682411194, + -0.004705510102212429, + 0.01968720555305481, + 0.1481638103723526, + -0.13572941720485687, + -0.21786817908287048, + 0.0, + 0.5998998284339905 + ], + [ + 0.3360420763492584, + -0.025362646207213402, + 0.04779604449868202, + 0.16653303802013397, + -0.16993527114391327, + -0.23916684091091156, + 0.0, + 0.5998998284339905 + ], + [ + 0.3690377473831177, + -0.044998932629823685, + 0.06502505391836166, + 0.19043046236038208, + -0.18801917135715485, + -0.28435277938842773, + 0.0, + 0.5998998284339905 + ], + [ + 0.395979642868042, + -0.07278545200824738, + 0.07767380774021149, + 0.20803526043891907, + -0.21296285092830658, + -0.3390715420246124, + 0.0, + 0.5998998284339905 + ], + [ + 0.42159488797187805, + -0.0785064846277237, + 0.08133559674024582, + 0.22295142710208893, + -0.2304074466228485, + -0.3685658574104309, + 0.0, + 0.5998998284339905 + ], + [ + 0.4405685067176819, + -0.08553639054298401, + 0.0783858373761177, + 0.24139249324798584, + -0.2582128345966339, + -0.4659993052482605, + 0.0, + 0.5998998284339905 + ], + [ + 0.45424479246139526, + -0.0785067081451416, + 0.0757361426949501, + 0.2663941979408264, + -0.3072323501110077, + -0.5241692662239075, + 0.0, + 0.8344376683235168 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9974852800369263 + ], + [ + 0.8102405071258545 + ], + [ + 0.6009007096290588 + ], + [ + 0.5998998284339905 + ], + [ + 0.5998998284339905 + ], + [ + 0.5998998284339905 + ], + [ + 0.5998998284339905 + ], + [ + 0.5998998284339905 + ], + [ + 0.5998998284339905 + ], + [ + 0.5998998284339905 + ], + [ + 0.5998998284339905 + ], + [ + 0.8344376683235168 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.27849310636520386, + -0.14539411664009094, + 0.06047039106488228 + ], + [ + 0.2765369415283203, + -0.13239964842796326, + 0.05387643724679947 + ], + [ + 0.2824205458164215, + -0.09737733751535416, + 0.05387945845723152 + ], + [ + 0.2871440649032593, + -0.05354764685034752, + 0.056126371026039124 + ], + [ + 0.2884018123149872, + -0.02124149724841118, + 0.051886286586523056 + ], + [ + 0.28636255860328674, + 0.00972543191164732, + 0.037509236484766006 + ], + [ + 0.28443264961242676, + 0.03607359901070595, + 0.00770294014364481 + ], + [ + 0.28421854972839355, + 0.06063692644238472, + -0.021161256358027458 + ], + [ + 0.2832258343696594, + 0.07604590058326721, + -0.04898526147007942 + ], + [ + 0.28754860162734985, + 0.08231524378061295, + -0.06733619421720505 + ], + [ + 0.2982253432273865, + 0.07891435921192169, + -0.0717289000749588 + ], + [ + 0.29614049196243286, + 0.07467864453792572, + -0.06889203190803528 + ], + [ + 0.28253209590911865, + 0.054207149893045425, + -0.05557291954755783 + ], + [ + 0.2897621691226959, + 0.022955050691962242, + -0.014937682077288628 + ], + [ + 0.30773940682411194, + -0.004705510102212429, + 0.01968720555305481 + ], + [ + 0.3360420763492584, + -0.025362646207213402, + 0.04779604449868202 + ], + [ + 0.3690377473831177, + -0.044998932629823685, + 0.06502505391836166 + ], + [ + 0.395979642868042, + -0.07278545200824738, + 0.07767380774021149 + ], + [ + 0.42159488797187805, + -0.0785064846277237, + 0.08133559674024582 + ], + [ + 0.4405685067176819, + -0.08553639054298401, + 0.0783858373761177 + ], + [ + 0.45424479246139526, + -0.0785067081451416, + 0.0757361426949501 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9941399404863821, + 0.08503360828002149, + 0.06674626725602321, + 0.07488294003467405, + -0.9870144120109615, + 0.14210944998281835, + 0.07796360703235854, + -0.13627852342000044, + -0.9875980154055436 + ], + [ + 0.9980666543398229, + 0.05241216355490288, + 0.033405367928029714, + 0.044018608835912486, + -0.9755294201328367, + 0.2154175306966511, + 0.043878418055621066, + -0.21353059632470894, + -0.9759504950878147 + ], + [ + 0.9997823752931598, + -0.010870600588673509, + 0.017805395137669832, + -0.015674560841708145, + -0.9546570070726326, + 0.29729498312205493, + 0.013766270213337196, + -0.29750937613790407, + -0.9546196420116487 + ], + [ + 0.9972635711232537, + -0.06117248720779637, + 0.041512606751521595, + -0.07182175847671557, + -0.9347690184828225, + 0.3479202740484844, + 0.017521550154219315, + -0.34994972337961944, + -0.936604605149217 + ], + [ + 0.9950969575803575, + -0.08562239373326885, + 0.04950606736251137, + -0.098115361922187, + -0.9176878539672433, + 0.384996595356211, + 0.012466786642703353, + -0.3879662464343785, + -0.9215892636410348 + ], + [ + 0.9936265823475449, + -0.08976242312588036, + 0.06818300555789676, + -0.10976894288187004, + -0.9080586128540533, + 0.4042033334847321, + 0.025631894797976094, + -0.4091115532665182, + -0.9121243023584683 + ], + [ + 0.9843907316888095, + -0.13081304774344482, + 0.11774053637231907, + -0.1651757481874525, + -0.9176422635990517, + 0.36145490488790427, + 0.060760674583857616, + -0.37526073948240296, + -0.9249256823265504 + ], + [ + 0.9749012113956367, + -0.159460632213324, + 0.1553703150329777, + -0.19925619954137133, + -0.9362466579770431, + 0.28937719739320594, + 0.09932066735402527, + -0.3130726787839276, + -0.9445215205782271 + ], + [ + 0.9634334530882707, + -0.20097074799514597, + 0.17721946823270396, + -0.23558750916130855, + -0.9504287555904353, + 0.2029376901267651, + 0.12764993927762436, + -0.23726765265642114, + -0.9630210558473427 + ], + [ + 0.9532850096237193, + -0.2186297069974053, + 0.20844361742431466, + -0.2522165045388561, + -0.9558265860647477, + 0.15093830597303887, + 0.16623635362009886, + -0.19646014504229148, + -0.9663171767825796 + ], + [ + 0.9447410778001663, + -0.21417980345485432, + 0.24817596118282767, + -0.24832063949765093, + -0.9617980528847927, + 0.11524480667908382, + 0.21401204619473665, + -0.17050371626173338, + -0.9618353948698709 + ], + [ + 0.9539693416586877, + -0.206874062656639, + 0.21713041559216678, + -0.22840757683737561, + -0.970355393549509, + 0.07899613315002313, + 0.19435141887459534, + -0.12495412121780872, + -0.9729408993212881 + ], + [ + 0.9664282858345257, + -0.2198156196859233, + 0.13303180702761994, + -0.22842573800531188, + -0.9721087082163347, + 0.0531633485278874, + 0.11763524368006804, + -0.081766452485494, + -0.9896848976781794 + ], + [ + 0.9690887950444944, + -0.20296987056970953, + 0.14025027258485195, + -0.21510421732867882, + -0.9735160946649105, + 0.07743764663132259, + 0.12081838852851179, + -0.1052123807795282, + -0.9870832142854407 + ], + [ + 0.9673807683616374, + -0.19427750284855683, + 0.16257521610312345, + -0.2141607479985852, + -0.9699808838406162, + 0.11520529067913413, + 0.13531305561820253, + -0.1462646125031831, + -0.9799474680351795 + ], + [ + 0.9575414057566597, + -0.20638007539404016, + 0.20130007635843286, + -0.23348098704967493, + -0.9647358907205341, + 0.12153719530237514, + 0.16911855293807984, + -0.16337663736289978, + -0.97196038469483 + ], + [ + 0.9429275312292141, + -0.24150643685708892, + 0.22926471993434172, + -0.27559222199894484, + -0.9524173513243065, + 0.13019261142659588, + 0.18691334362121798, + -0.18594577126943546, + -0.9646178373445885 + ], + [ + 0.9217591195358766, + -0.2842723268967351, + 0.26372214490474943, + -0.32509760661595266, + -0.93724966308606, + 0.12599450471209783, + 0.21135674042959973, + -0.20187202184994163, + -0.9563346773327797 + ], + [ + 0.9081930969954637, + -0.30425621516757184, + 0.28742556271440506, + -0.35075705757623143, + -0.9279486991216002, + 0.12601864290252487, + 0.22837422168505012, + -0.2152658062267068, + -0.9494766176896161 + ], + [ + 0.8637557990093963, + -0.38175379140089843, + 0.32892242615650047, + -0.43442000741292824, + -0.8948983513820594, + 0.10215771068804945, + 0.25535304352404053, + -0.2311297978295122, + -0.9388151254204941 + ], + [ + 0.8252010633002111, + -0.41391482058817064, + 0.3843406385300196, + -0.4770579555409601, + -0.8750485355912131, + 0.08188875023318255, + 0.30242174555292817, + -0.250927443013186, + -0.9195523400870578 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.001956164836883545, + 0.012994468212127686, + -0.0065939538180828094, + 0.07827429473400116, + 0.034150294959545135, + -0.031107056885957718, + 1.0 + ], + [ + 0.005883604288101196, + 0.0350223109126091, + 3.0212104320526123e-06, + 0.08671416342258453, + 0.030125804245471954, + -0.059752002358436584, + 1.0 + ], + [ + 0.0047235190868377686, + 0.04382969066500664, + 0.002246912568807602, + 0.055462419986724854, + -0.0037557417526841164, + -0.056218016892671585, + 1.0 + ], + [ + 0.0012577474117279053, + 0.03230614960193634, + -0.0042400844395160675, + 0.04088190197944641, + 0.0050553372129797935, + -0.026386424899101257, + 1.0 + ], + [ + -0.0020392537117004395, + 0.030966930091381073, + -0.01437705010175705, + 0.02317085862159729, + -0.013167592696845531, + -0.011745750904083252, + 1.0 + ], + [ + -0.0019299089908599854, + 0.026348166167736053, + -0.02980629727244377, + -0.036199986934661865, + -0.03516342118382454, + -0.05621933937072754, + 1.0 + ], + [ + -0.00021409988403320312, + 0.024563327431678772, + -0.028864197432994843, + -0.06536245346069336, + -0.038686566054821014, + -0.03536310791969299, + 1.0 + ], + [ + -0.0009927153587341309, + 0.015408974140882492, + -0.027824005112051964, + -0.07849784195423126, + -0.028514482080936432, + -0.03821365535259247, + 1.0 + ], + [ + 0.00432276725769043, + 0.006269343197345734, + -0.018350932747125626, + -0.04099284112453461, + -0.03901250660419464, + -0.018826693296432495, + 1.0 + ], + [ + 0.010676741600036621, + -0.0034008845686912537, + -0.004392705857753754, + -0.025127917528152466, + -0.04866865277290344, + 0.0016184449195861816, + 0.0 + ], + [ + -0.0020848512649536133, + -0.004235714673995972, + 0.002836868166923523, + -0.0477164089679718, + 0.020084112882614136, + 0.02202656865119934, + 0.0 + ], + [ + -0.013608396053314209, + -0.020471494644880295, + 0.013319112360477448, + -0.04529864341020584, + 0.07768796384334564, + 0.0029035359621047974, + 0.0 + ], + [ + 0.0072300732135772705, + -0.03125210106372833, + 0.040635235607624054, + 0.023756779730319977, + -0.003206014633178711, + 0.013676896691322327, + 0.0 + ], + [ + 0.017977237701416016, + -0.027660559862852097, + 0.034624889492988586, + 0.04197557270526886, + -0.014615148305892944, + 0.0005560517311096191, + 0.0 + ], + [ + 0.028302669525146484, + -0.020657137036323547, + 0.028108838945627213, + 0.018369227647781372, + -0.034205853939056396, + -0.021298661828041077, + 0.0 + ], + [ + 0.03299567103385925, + -0.019636286422610283, + 0.01722900941967964, + 0.023897424340248108, + -0.018083900213241577, + -0.045185938477516174, + 0.0 + ], + [ + 0.026941895484924316, + -0.02778651937842369, + 0.012648753821849823, + 0.017604798078536987, + -0.024943679571151733, + -0.05471876263618469, + 0.0 + ], + [ + 0.02561524510383606, + -0.005721032619476318, + 0.0036617890000343323, + 0.01491616666316986, + -0.01744459569454193, + -0.02949431538581848, + 0.0 + ], + [ + 0.018973618745803833, + -0.007029905915260315, + -0.002949759364128113, + 0.01844106614589691, + -0.0278053879737854, + -0.09743344783782959, + 0.0 + ], + [ + 0.013676285743713379, + 0.007029682397842407, + -0.0026496946811676025, + 0.025001704692840576, + -0.04901951551437378, + -0.05816996097564697, + 1.0 + ], + [ + 0.005103647708892822, + 0.00016929954290390015, + 0.0016007199883460999, + 0.012819141149520874, + -0.02986237406730652, + -0.019592583179473877, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9974852800369263 + ], + [ + 0.8102405071258545 + ], + [ + 0.6009007096290588 + ], + [ + 0.5998998284339905 + ], + [ + 0.5998998284339905 + ], + [ + 0.5998998284339905 + ], + [ + 0.5998998284339905 + ], + [ + 0.5998998284339905 + ], + [ + 0.5998998284339905 + ], + [ + 0.5998998284339905 + ], + [ + 0.5998998284339905 + ], + [ + 0.8344376683235168 + ], + [ + 1.0124757289886475 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2765369415283203, + -0.13239964842796326, + 0.05387643724679947 + ], + [ + 0.2824205458164215, + -0.09737733751535416, + 0.05387945845723152 + ], + [ + 0.2871440649032593, + -0.05354764685034752, + 0.056126371026039124 + ], + [ + 0.2884018123149872, + -0.02124149724841118, + 0.051886286586523056 + ], + [ + 0.28636255860328674, + 0.00972543191164732, + 0.037509236484766006 + ], + [ + 0.28443264961242676, + 0.03607359901070595, + 0.00770294014364481 + ], + [ + 0.28421854972839355, + 0.06063692644238472, + -0.021161256358027458 + ], + [ + 0.2832258343696594, + 0.07604590058326721, + -0.04898526147007942 + ], + [ + 0.28754860162734985, + 0.08231524378061295, + -0.06733619421720505 + ], + [ + 0.2982253432273865, + 0.07891435921192169, + -0.0717289000749588 + ], + [ + 0.29614049196243286, + 0.07467864453792572, + -0.06889203190803528 + ], + [ + 0.28253209590911865, + 0.054207149893045425, + -0.05557291954755783 + ], + [ + 0.2897621691226959, + 0.022955050691962242, + -0.014937682077288628 + ], + [ + 0.30773940682411194, + -0.004705510102212429, + 0.01968720555305481 + ], + [ + 0.3360420763492584, + -0.025362646207213402, + 0.04779604449868202 + ], + [ + 0.3690377473831177, + -0.044998932629823685, + 0.06502505391836166 + ], + [ + 0.395979642868042, + -0.07278545200824738, + 0.07767380774021149 + ], + [ + 0.42159488797187805, + -0.0785064846277237, + 0.08133559674024582 + ], + [ + 0.4405685067176819, + -0.08553639054298401, + 0.0783858373761177 + ], + [ + 0.45424479246139526, + -0.0785067081451416, + 0.0757361426949501 + ], + [ + 0.4593484401702881, + -0.0783374086022377, + 0.0773368626832962 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9980666543398229, + 0.05241216355490288, + 0.033405367928029714, + 0.044018608835912486, + -0.9755294201328367, + 0.2154175306966511, + 0.043878418055621066, + -0.21353059632470894, + -0.9759504950878147 + ], + [ + 0.9997823752931598, + -0.010870600588673509, + 0.017805395137669832, + -0.015674560841708145, + -0.9546570070726326, + 0.29729498312205493, + 0.013766270213337196, + -0.29750937613790407, + -0.9546196420116487 + ], + [ + 0.9972635711232537, + -0.06117248720779637, + 0.041512606751521595, + -0.07182175847671557, + -0.9347690184828225, + 0.3479202740484844, + 0.017521550154219315, + -0.34994972337961944, + -0.936604605149217 + ], + [ + 0.9950969575803575, + -0.08562239373326885, + 0.04950606736251137, + -0.098115361922187, + -0.9176878539672433, + 0.384996595356211, + 0.012466786642703353, + -0.3879662464343785, + -0.9215892636410348 + ], + [ + 0.9936265823475449, + -0.08976242312588036, + 0.06818300555789676, + -0.10976894288187004, + -0.9080586128540533, + 0.4042033334847321, + 0.025631894797976094, + -0.4091115532665182, + -0.9121243023584683 + ], + [ + 0.9843907316888095, + -0.13081304774344482, + 0.11774053637231907, + -0.1651757481874525, + -0.9176422635990517, + 0.36145490488790427, + 0.060760674583857616, + -0.37526073948240296, + -0.9249256823265504 + ], + [ + 0.9749012113956367, + -0.159460632213324, + 0.1553703150329777, + -0.19925619954137133, + -0.9362466579770431, + 0.28937719739320594, + 0.09932066735402527, + -0.3130726787839276, + -0.9445215205782271 + ], + [ + 0.9634334530882707, + -0.20097074799514597, + 0.17721946823270396, + -0.23558750916130855, + -0.9504287555904353, + 0.2029376901267651, + 0.12764993927762436, + -0.23726765265642114, + -0.9630210558473427 + ], + [ + 0.9532850096237193, + -0.2186297069974053, + 0.20844361742431466, + -0.2522165045388561, + -0.9558265860647477, + 0.15093830597303887, + 0.16623635362009886, + -0.19646014504229148, + -0.9663171767825796 + ], + [ + 0.9447410778001663, + -0.21417980345485432, + 0.24817596118282767, + -0.24832063949765093, + -0.9617980528847927, + 0.11524480667908382, + 0.21401204619473665, + -0.17050371626173338, + -0.9618353948698709 + ], + [ + 0.9539693416586877, + -0.206874062656639, + 0.21713041559216678, + -0.22840757683737561, + -0.970355393549509, + 0.07899613315002313, + 0.19435141887459534, + -0.12495412121780872, + -0.9729408993212881 + ], + [ + 0.9664282858345257, + -0.2198156196859233, + 0.13303180702761994, + -0.22842573800531188, + -0.9721087082163347, + 0.0531633485278874, + 0.11763524368006804, + -0.081766452485494, + -0.9896848976781794 + ], + [ + 0.9690887950444944, + -0.20296987056970953, + 0.14025027258485195, + -0.21510421732867882, + -0.9735160946649105, + 0.07743764663132259, + 0.12081838852851179, + -0.1052123807795282, + -0.9870832142854407 + ], + [ + 0.9673807683616374, + -0.19427750284855683, + 0.16257521610312345, + -0.2141607479985852, + -0.9699808838406162, + 0.11520529067913413, + 0.13531305561820253, + -0.1462646125031831, + -0.9799474680351795 + ], + [ + 0.9575414057566597, + -0.20638007539404016, + 0.20130007635843286, + -0.23348098704967493, + -0.9647358907205341, + 0.12153719530237514, + 0.16911855293807984, + -0.16337663736289978, + -0.97196038469483 + ], + [ + 0.9429275312292141, + -0.24150643685708892, + 0.22926471993434172, + -0.27559222199894484, + -0.9524173513243065, + 0.13019261142659588, + 0.18691334362121798, + -0.18594577126943546, + -0.9646178373445885 + ], + [ + 0.9217591195358766, + -0.2842723268967351, + 0.26372214490474943, + -0.32509760661595266, + -0.93724966308606, + 0.12599450471209783, + 0.21135674042959973, + -0.20187202184994163, + -0.9563346773327797 + ], + [ + 0.9081930969954637, + -0.30425621516757184, + 0.28742556271440506, + -0.35075705757623143, + -0.9279486991216002, + 0.12601864290252487, + 0.22837422168505012, + -0.2152658062267068, + -0.9494766176896161 + ], + [ + 0.8637557990093963, + -0.38175379140089843, + 0.32892242615650047, + -0.43442000741292824, + -0.8948983513820594, + 0.10215771068804945, + 0.25535304352404053, + -0.2311297978295122, + -0.9388151254204941 + ], + [ + 0.8252010633002111, + -0.41391482058817064, + 0.3843406385300196, + -0.4770579555409601, + -0.8750485355912131, + 0.08188875023318255, + 0.30242174555292817, + -0.250927443013186, + -0.9195523400870578 + ], + [ + 0.8076054840735065, + -0.41931650034438545, + 0.41466499084602515, + -0.48824172822124007, + -0.8697859242307657, + 0.07136148004048973, + 0.3307467262391782, + -0.2600886743958096, + -0.9071716951785348 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006725.json b/json/chunk-0006/episode_0006725.json new file mode 100644 index 0000000000000000000000000000000000000000..3ab3565bb59ad682fd2c8009b9fc51173fa059f2 --- /dev/null +++ b/json/chunk-0006/episode_0006725.json @@ -0,0 +1,1342 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 21, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the spoon to the left of the mushroom." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006725.mp4", + "start": 0, + "end": 21, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.37636706233024597, + 0.11903129518032074, + 0.0778733491897583, + 0.12537695467472076, + -0.03793483227491379, + -0.021740438416600227, + 0.0, + 1.0008161067962646 + ], + [ + 0.37130486965179443, + 0.11656051874160767, + 0.060435112565755844, + 0.10912346839904785, + 0.006894399411976337, + -0.022428452968597412, + 0.0, + 1.0008161067962646 + ], + [ + 0.357464462518692, + 0.09301164001226425, + 0.06874551624059677, + 0.09270143508911133, + -0.010498827323317528, + -0.07713761925697327, + 0.0, + 1.0008161067962646 + ], + [ + 0.344516396522522, + 0.0706145167350769, + 0.08761324733495712, + 0.10510601103305817, + -0.06784859299659729, + -0.1278035044670105, + 0.0, + 1.0008161067962646 + ], + [ + 0.3430156409740448, + 0.05713130161166191, + 0.06719806790351868, + 0.09167066961526871, + -0.02996264025568962, + -0.09526944160461426, + 0.0, + 1.0008161067962646 + ], + [ + 0.34765833616256714, + 0.05161106213927269, + 0.02402014471590519, + 0.069647416472435, + 0.047442734241485596, + -0.013908272609114647, + 0.0, + 1.0008161067962646 + ], + [ + 0.36135220527648926, + 0.04769659787416458, + 0.01534136850386858, + 0.0430888906121254, + 0.0232087429612875, + 0.058358870446681976, + 0.0, + 1.0008161067962646 + ], + [ + 0.37096908688545227, + 0.04266507923603058, + 0.010367084294557571, + 0.03470490127801895, + 0.0065774437971413136, + 0.07580716907978058, + 0.0, + 0.9499720335006714 + ], + [ + 0.3678133487701416, + 0.04212893545627594, + 0.009878127835690975, + 0.048182688653469086, + -0.013296961784362793, + 0.06636712700128555, + 0.0, + 0.680191159248352 + ], + [ + 0.3624403774738312, + 0.040151506662368774, + 0.021224379539489746, + 0.03337274119257927, + -0.02733718417584896, + 0.03026706539094448, + 0.0, + 0.4202251136302948 + ], + [ + 0.36169296503067017, + 0.05777929723262787, + 0.06334705650806427, + -0.013310868293046951, + -0.11272495239973068, + 0.01286370400339365, + 0.0, + 0.4050447642803192 + ], + [ + 0.3467335104942322, + 0.10232433676719666, + 0.09183906018733978, + -0.06769826263189316, + -0.1505633145570755, + 0.013237541541457176, + 0.0, + 0.40415963530540466 + ], + [ + 0.3362422287464142, + 0.14524905383586884, + 0.10258743911981583, + -0.027026258409023285, + -0.1546810120344162, + 0.013098128139972687, + 0.0, + 0.40415963530540466 + ], + [ + 0.32760196924209595, + 0.19338995218276978, + 0.09558191150426865, + 0.05088532343506813, + -0.1207742691040039, + 0.04366426542401314, + 0.0, + 0.40415963530540466 + ], + [ + 0.3230592906475067, + 0.2094251811504364, + 0.0729917585849762, + 0.08505701273679733, + -0.062077704817056656, + 0.014759393408894539, + 0.0, + 0.40415963530540466 + ], + [ + 0.32677990198135376, + 0.21272531151771545, + 0.0635858029127121, + 0.13040177524089813, + -0.044303834438323975, + -0.04656633362174034, + 0.0, + 0.40415963530540466 + ], + [ + 0.3293270170688629, + 0.21387943625450134, + 0.03786753863096237, + 0.11936888843774796, + -0.017198195680975914, + -0.09769953787326813, + 0.0, + 0.40415963530540466 + ], + [ + 0.33247077465057373, + 0.22238673269748688, + 0.01528493408113718, + 0.11736039817333221, + 0.05289865657687187, + -0.10948310792446136, + 0.0, + 0.40415963530540466 + ], + [ + 0.3376826345920563, + 0.22383655607700348, + 0.01189674437046051, + 0.11350385844707489, + 0.08858633041381836, + -0.11568059027194977, + 0.0, + 0.48228755593299866 + ], + [ + 0.336839884519577, + 0.2213021069765091, + 0.011384119279682636, + 0.10220631957054138, + 0.07207832485437393, + -0.13882099092006683, + 0.0, + 0.775918185710907 + ], + [ + 0.32632914185523987, + 0.20960959792137146, + 0.022127583622932434, + 0.0649673119187355, + 0.006622123531997204, + -0.1671220362186432, + 0.0, + 0.9907060265541077 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9499720335006714 + ], + [ + 0.680191159248352 + ], + [ + 0.4202251136302948 + ], + [ + 0.4050447642803192 + ], + [ + 0.40415963530540466 + ], + [ + 0.40415963530540466 + ], + [ + 0.40415963530540466 + ], + [ + 0.40415963530540466 + ], + [ + 0.40415963530540466 + ], + [ + 0.40415963530540466 + ], + [ + 0.40415963530540466 + ], + [ + 0.48228755593299866 + ], + [ + 0.775918185710907 + ], + [ + 0.9907060265541077 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.37636706233024597, + 0.11903129518032074, + 0.0778733491897583 + ], + [ + 0.37130486965179443, + 0.11656051874160767, + 0.060435112565755844 + ], + [ + 0.357464462518692, + 0.09301164001226425, + 0.06874551624059677 + ], + [ + 0.344516396522522, + 0.0706145167350769, + 0.08761324733495712 + ], + [ + 0.3430156409740448, + 0.05713130161166191, + 0.06719806790351868 + ], + [ + 0.34765833616256714, + 0.05161106213927269, + 0.02402014471590519 + ], + [ + 0.36135220527648926, + 0.04769659787416458, + 0.01534136850386858 + ], + [ + 0.37096908688545227, + 0.04266507923603058, + 0.010367084294557571 + ], + [ + 0.3678133487701416, + 0.04212893545627594, + 0.009878127835690975 + ], + [ + 0.3624403774738312, + 0.040151506662368774, + 0.021224379539489746 + ], + [ + 0.36169296503067017, + 0.05777929723262787, + 0.06334705650806427 + ], + [ + 0.3467335104942322, + 0.10232433676719666, + 0.09183906018733978 + ], + [ + 0.3362422287464142, + 0.14524905383586884, + 0.10258743911981583 + ], + [ + 0.32760196924209595, + 0.19338995218276978, + 0.09558191150426865 + ], + [ + 0.3230592906475067, + 0.2094251811504364, + 0.0729917585849762 + ], + [ + 0.32677990198135376, + 0.21272531151771545, + 0.0635858029127121 + ], + [ + 0.3293270170688629, + 0.21387943625450134, + 0.03786753863096237 + ], + [ + 0.33247077465057373, + 0.22238673269748688, + 0.01528493408113718 + ], + [ + 0.3376826345920563, + 0.22383655607700348, + 0.01189674437046051 + ], + [ + 0.336839884519577, + 0.2213021069765091, + 0.011384119279682636 + ], + [ + 0.32632914185523987, + 0.20960959792137146, + 0.022127583622932434 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9990444165225508, + -0.016826645398447113, + 0.040337548509438395, + -0.021723086168761545, + -0.9920192382396122, + 0.12420120164396288, + 0.03792573456666248, + -0.12495877306989968, + -0.9914368077141602 + ], + [ + 0.9997247324919751, + -0.023043831774925663, + -0.004409201852740933, + -0.02242603963505851, + -0.9937850902084652, + 0.10903333080136518, + -0.006894344793819958, + -0.10890443653259527, + -0.9940283153478991 + ], + [ + 0.9969714204665113, + -0.07576131165766933, + 0.017555922900733135, + -0.07705689746959976, + -0.9928203262851413, + 0.09148789137052801, + 0.010498634451517084, + -0.09256361796610718, + -0.9956514225890898 + ], + [ + 0.9895621744579963, + -0.1196977959849129, + 0.08024425536022019, + -0.12716261572011286, + -0.9872772536772533, + 0.09546357176807989, + 0.06779654891792768, + -0.1046712090684664, + -0.9921933107751556 + ], + [ + 0.9950184872120179, + -0.09199597460544828, + 0.03840508771896205, + -0.0950826951690919, + -0.9915463999597641, + 0.088289398039703, + 0.029958157247884934, + -0.09150124252284926, + -0.9953542240986802 + ], + [ + 0.998778194920788, + -0.017174141607770487, + -0.04633752486709946, + -0.01389217519022357, + -0.9974332142096017, + 0.07024237083119513, + -0.047424938790228834, + -0.06951281933240257, + -0.9964531314262624 + ], + [ + 0.9980287520521467, + 0.05727367507888398, + -0.025658063453676643, + 0.05831004230428087, + -0.997429306616236, + 0.04164993720916777, + -0.02320665946894229, + -0.04306395762134579, + -0.9988027565592115 + ], + [ + 0.9971064431501131, + 0.07546141220468575, + -0.009182390571369367, + 0.07573294451895765, + -0.9965448713699275, + 0.034100446636128545, + -0.006577396370840934, + -0.03469718453087328, + -0.9993762270749749 + ], + [ + 0.9977103017858385, + 0.06688045784632553, + 0.010057736757179631, + 0.0663125549045372, + -0.9965980328169151, + 0.04893879899923503, + 0.013296569950313737, + -0.04815978969763742, + -0.9987511381139125 + ], + [ + 0.9991685209243962, + 0.031157209773558115, + 0.02629629390010945, + 0.03025113716460658, + -0.9989578237547778, + 0.034177990862050006, + 0.027333779358197023, + -0.03335407978410901, + -0.9990697522534414 + ], + [ + 0.9935710562469107, + 0.01136508648988467, + 0.1126383194009732, + 0.012781708998934266, + -0.9998479423427818, + -0.011862550652023334, + 0.11248637296786122, + 0.013225997201825556, + -0.9935652413880794 + ], + [ + 0.9886001166223868, + 0.0030610692767508293, + 0.1505338475861358, + 0.01308739956655008, + -0.9977562462064643, + -0.06565967657985154, + 0.1499950978758589, + 0.06688126053587935, + -0.9864220027971513 + ], + [ + 0.9879759707884919, + 0.008930035936391564, + 0.1543493945654212, + 0.01294137595136359, + -0.9996035947474387, + -0.025003482887072204, + 0.1540649276539693, + 0.026700333821385074, + -0.9876998988765788 + ], + [ + 0.9917694591727112, + 0.04971611371310362, + 0.11799003300929045, + 0.04333242714641867, + -0.9974862300457349, + 0.05606711716101771, + 0.12048087238175204, + -0.05049285995477697, + -0.9914306987801613 + ], + [ + 0.99796508990402, + 0.019975320940380882, + 0.060553000637371845, + 0.014730429009818675, + -0.9961985235383336, + 0.08585753409707433, + 0.062037841629504376, + -0.08479085005690395, + -0.994465594152246 + ], + [ + 0.9979357935324793, + -0.04040147654383195, + 0.04991866063686748, + -0.04650382928586474, + -0.9907029988263986, + 0.12784741678317904, + 0.0442893423799868, + -0.1299049221910353, + -0.9905368066569203 + ], + [ + 0.995084015140938, + -0.09481186932859909, + 0.028609653010946944, + -0.09752975974894973, + -0.9883488862428216, + 0.11685215028353999, + 0.017197347885714177, + -0.1190679994666557, + -0.9927371569195478 + ], + [ + 0.992622276074181, + -0.11466691572990377, + -0.03940197302552144, + -0.10911167811492196, + -0.9864985985272208, + 0.12212762505991503, + -0.0528739892599228, + -0.11692738576065348, + -0.9917319838136316 + ], + [ + 0.9894214626494501, + -0.12463327793954745, + -0.074240927248159, + -0.11497016045845532, + -0.9857682559924481, + 0.12264912426007875, + -0.08847051176962842, + -0.11281618459977592, + -0.9896693776406186 + ], + [ + 0.987808291458955, + -0.14493041781884541, + -0.05683267823880722, + -0.1380162496820282, + -0.9841947743331912, + 0.11096017753657156, + -0.0720159298256223, + -0.10176355028247744, + -0.9921985112291075 + ], + [ + 0.9860459645786059, + -0.16641817378114734, + 0.004283360082339163, + -0.16634152776497171, + -0.9839158295058913, + 0.06511633119693917, + -0.006622075132635807, + -0.06492019626496963, + -0.9978684864439081 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.005062192678451538, + -0.0024707764387130737, + -0.017438236624002457, + -0.016253486275672913, + 0.04482923075556755, + -0.0006880145519971848, + 1.0 + ], + [ + -0.013840407133102417, + -0.023548878729343414, + 0.008310403674840927, + -0.016422033309936523, + -0.01739322766661644, + -0.054709166288375854, + 1.0 + ], + [ + -0.012948065996170044, + -0.022397123277187347, + 0.01886773109436035, + 0.012404575943946838, + -0.05734976381063461, + -0.05066588521003723, + 1.0 + ], + [ + -0.0015007555484771729, + -0.013483215123414993, + -0.020415179431438446, + -0.01343534141778946, + 0.03788595274090767, + 0.03253406286239624, + 1.0 + ], + [ + 0.004642695188522339, + -0.005520239472389221, + -0.043177925050258636, + -0.02202325314283371, + 0.07740537822246552, + 0.08136116713285446, + 1.0 + ], + [ + 0.01369386911392212, + -0.0039144642651081085, + -0.00867877621203661, + -0.0265585258603096, + -0.024233991280198097, + 0.07226714491844177, + 1.0 + ], + [ + 0.009616881608963013, + -0.005031518638134003, + -0.0049742842093110085, + -0.008383989334106445, + -0.016631299629807472, + 0.017448298633098602, + 0.0 + ], + [ + -0.003155738115310669, + -0.0005361437797546387, + -0.0004889564588665962, + 0.013477787375450134, + -0.01987440511584282, + -0.009440042078495026, + 0.0 + ], + [ + -0.005372971296310425, + -0.0019774287939071655, + 0.011346251703798771, + -0.014809947460889816, + -0.014040222391486168, + -0.03610005974769592, + 0.0 + ], + [ + -0.0007474124431610107, + 0.017627790570259094, + 0.042122676968574524, + -0.04668360948562622, + -0.08538776636123657, + -0.017403360456228256, + 0.0 + ], + [ + -0.014959454536437988, + 0.04454503953456879, + 0.028492003679275513, + -0.05438739433884621, + -0.03783836215734482, + 0.00037383753806352615, + 0.0 + ], + [ + -0.010491281747817993, + 0.04292471706867218, + 0.010748378932476044, + 0.04067200422286987, + -0.004117697477340698, + -0.00013941340148448944, + 0.0 + ], + [ + -0.008640259504318237, + 0.04814089834690094, + -0.00700552761554718, + 0.07791158556938171, + 0.03390674293041229, + 0.03056613728404045, + 0.0 + ], + [ + -0.004542678594589233, + 0.016035228967666626, + -0.02259015291929245, + 0.0341716893017292, + 0.05869656428694725, + -0.0289048720151186, + 0.0 + ], + [ + 0.003720611333847046, + 0.0033001303672790527, + -0.009405955672264099, + 0.0453447625041008, + 0.01777387037873268, + -0.06132572889328003, + 0.0 + ], + [ + 0.0025471150875091553, + 0.0011541247367858887, + -0.025718264281749725, + -0.011032886803150177, + 0.02710563875734806, + -0.051133204251527786, + 0.0 + ], + [ + 0.0031437575817108154, + 0.008507296442985535, + -0.022582605481147766, + -0.002008490264415741, + 0.07009685039520264, + -0.011783570051193237, + 0.0 + ], + [ + 0.005211859941482544, + 0.0014498233795166016, + -0.00338818971067667, + -0.0038565397262573242, + 0.03568767383694649, + -0.006197482347488403, + 1.0 + ], + [ + -0.000842750072479248, + -0.0025344491004943848, + -0.000512625090777874, + -0.011297538876533508, + -0.016508005559444427, + -0.023140400648117065, + 1.0 + ], + [ + -0.010510742664337158, + -0.011692509055137634, + 0.010743464343249798, + -0.03723900765180588, + -0.06545620411634445, + -0.028301045298576355, + 1.0 + ], + [ + -0.0018916428089141846, + -0.0012137293815612793, + 0.04424262046813965, + 0.0374944806098938, + -0.07269050925970078, + 0.010505154728889465, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9499720335006714 + ], + [ + 0.680191159248352 + ], + [ + 0.4202251136302948 + ], + [ + 0.4050447642803192 + ], + [ + 0.40415963530540466 + ], + [ + 0.40415963530540466 + ], + [ + 0.40415963530540466 + ], + [ + 0.40415963530540466 + ], + [ + 0.40415963530540466 + ], + [ + 0.40415963530540466 + ], + [ + 0.40415963530540466 + ], + [ + 0.48228755593299866 + ], + [ + 0.775918185710907 + ], + [ + 0.9907060265541077 + ], + [ + 1.0047606229782104 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.37130486965179443, + 0.11656051874160767, + 0.060435112565755844 + ], + [ + 0.357464462518692, + 0.09301164001226425, + 0.06874551624059677 + ], + [ + 0.344516396522522, + 0.0706145167350769, + 0.08761324733495712 + ], + [ + 0.3430156409740448, + 0.05713130161166191, + 0.06719806790351868 + ], + [ + 0.34765833616256714, + 0.05161106213927269, + 0.02402014471590519 + ], + [ + 0.36135220527648926, + 0.04769659787416458, + 0.01534136850386858 + ], + [ + 0.37096908688545227, + 0.04266507923603058, + 0.010367084294557571 + ], + [ + 0.3678133487701416, + 0.04212893545627594, + 0.009878127835690975 + ], + [ + 0.3624403774738312, + 0.040151506662368774, + 0.021224379539489746 + ], + [ + 0.36169296503067017, + 0.05777929723262787, + 0.06334705650806427 + ], + [ + 0.3467335104942322, + 0.10232433676719666, + 0.09183906018733978 + ], + [ + 0.3362422287464142, + 0.14524905383586884, + 0.10258743911981583 + ], + [ + 0.32760196924209595, + 0.19338995218276978, + 0.09558191150426865 + ], + [ + 0.3230592906475067, + 0.2094251811504364, + 0.0729917585849762 + ], + [ + 0.32677990198135376, + 0.21272531151771545, + 0.0635858029127121 + ], + [ + 0.3293270170688629, + 0.21387943625450134, + 0.03786753863096237 + ], + [ + 0.33247077465057373, + 0.22238673269748688, + 0.01528493408113718 + ], + [ + 0.3376826345920563, + 0.22383655607700348, + 0.01189674437046051 + ], + [ + 0.336839884519577, + 0.2213021069765091, + 0.011384119279682636 + ], + [ + 0.32632914185523987, + 0.20960959792137146, + 0.022127583622932434 + ], + [ + 0.3244374990463257, + 0.20839586853981018, + 0.06637020409107208 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9997247324919751, + -0.023043831774925663, + -0.004409201852740933, + -0.02242603963505851, + -0.9937850902084652, + 0.10903333080136518, + -0.006894344793819958, + -0.10890443653259527, + -0.9940283153478991 + ], + [ + 0.9969714204665113, + -0.07576131165766933, + 0.017555922900733135, + -0.07705689746959976, + -0.9928203262851413, + 0.09148789137052801, + 0.010498634451517084, + -0.09256361796610718, + -0.9956514225890898 + ], + [ + 0.9895621744579963, + -0.1196977959849129, + 0.08024425536022019, + -0.12716261572011286, + -0.9872772536772533, + 0.09546357176807989, + 0.06779654891792768, + -0.1046712090684664, + -0.9921933107751556 + ], + [ + 0.9950184872120179, + -0.09199597460544828, + 0.03840508771896205, + -0.0950826951690919, + -0.9915463999597641, + 0.088289398039703, + 0.029958157247884934, + -0.09150124252284926, + -0.9953542240986802 + ], + [ + 0.998778194920788, + -0.017174141607770487, + -0.04633752486709946, + -0.01389217519022357, + -0.9974332142096017, + 0.07024237083119513, + -0.047424938790228834, + -0.06951281933240257, + -0.9964531314262624 + ], + [ + 0.9980287520521467, + 0.05727367507888398, + -0.025658063453676643, + 0.05831004230428087, + -0.997429306616236, + 0.04164993720916777, + -0.02320665946894229, + -0.04306395762134579, + -0.9988027565592115 + ], + [ + 0.9971064431501131, + 0.07546141220468575, + -0.009182390571369367, + 0.07573294451895765, + -0.9965448713699275, + 0.034100446636128545, + -0.006577396370840934, + -0.03469718453087328, + -0.9993762270749749 + ], + [ + 0.9977103017858385, + 0.06688045784632553, + 0.010057736757179631, + 0.0663125549045372, + -0.9965980328169151, + 0.04893879899923503, + 0.013296569950313737, + -0.04815978969763742, + -0.9987511381139125 + ], + [ + 0.9991685209243962, + 0.031157209773558115, + 0.02629629390010945, + 0.03025113716460658, + -0.9989578237547778, + 0.034177990862050006, + 0.027333779358197023, + -0.03335407978410901, + -0.9990697522534414 + ], + [ + 0.9935710562469107, + 0.01136508648988467, + 0.1126383194009732, + 0.012781708998934266, + -0.9998479423427818, + -0.011862550652023334, + 0.11248637296786122, + 0.013225997201825556, + -0.9935652413880794 + ], + [ + 0.9886001166223868, + 0.0030610692767508293, + 0.1505338475861358, + 0.01308739956655008, + -0.9977562462064643, + -0.06565967657985154, + 0.1499950978758589, + 0.06688126053587935, + -0.9864220027971513 + ], + [ + 0.9879759707884919, + 0.008930035936391564, + 0.1543493945654212, + 0.01294137595136359, + -0.9996035947474387, + -0.025003482887072204, + 0.1540649276539693, + 0.026700333821385074, + -0.9876998988765788 + ], + [ + 0.9917694591727112, + 0.04971611371310362, + 0.11799003300929045, + 0.04333242714641867, + -0.9974862300457349, + 0.05606711716101771, + 0.12048087238175204, + -0.05049285995477697, + -0.9914306987801613 + ], + [ + 0.99796508990402, + 0.019975320940380882, + 0.060553000637371845, + 0.014730429009818675, + -0.9961985235383336, + 0.08585753409707433, + 0.062037841629504376, + -0.08479085005690395, + -0.994465594152246 + ], + [ + 0.9979357935324793, + -0.04040147654383195, + 0.04991866063686748, + -0.04650382928586474, + -0.9907029988263986, + 0.12784741678317904, + 0.0442893423799868, + -0.1299049221910353, + -0.9905368066569203 + ], + [ + 0.995084015140938, + -0.09481186932859909, + 0.028609653010946944, + -0.09752975974894973, + -0.9883488862428216, + 0.11685215028353999, + 0.017197347885714177, + -0.1190679994666557, + -0.9927371569195478 + ], + [ + 0.992622276074181, + -0.11466691572990377, + -0.03940197302552144, + -0.10911167811492196, + -0.9864985985272208, + 0.12212762505991503, + -0.0528739892599228, + -0.11692738576065348, + -0.9917319838136316 + ], + [ + 0.9894214626494501, + -0.12463327793954745, + -0.074240927248159, + -0.11497016045845532, + -0.9857682559924481, + 0.12264912426007875, + -0.08847051176962842, + -0.11281618459977592, + -0.9896693776406186 + ], + [ + 0.987808291458955, + -0.14493041781884541, + -0.05683267823880722, + -0.1380162496820282, + -0.9841947743331912, + 0.11096017753657156, + -0.0720159298256223, + -0.10176355028247744, + -0.9921985112291075 + ], + [ + 0.9860459645786059, + -0.16641817378114734, + 0.004283360082339163, + -0.16634152776497171, + -0.9839158295058913, + 0.06511633119693917, + -0.006622075132635807, + -0.06492019626496963, + -0.9978684864439081 + ], + [ + 0.9856056057918015, + -0.14848926984214098, + 0.08082404700041002, + -0.15563709500848724, + -0.9836334707323618, + 0.09078705806626652, + 0.06602033390627285, + -0.10205945324543128, + -0.9925851013964235 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006726.json b/json/chunk-0006/episode_0006726.json new file mode 100644 index 0000000000000000000000000000000000000000..5eda3b384e6a2e3e38a5b302541f216bbddee648 --- /dev/null +++ b/json/chunk-0006/episode_0006726.json @@ -0,0 +1,2182 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 35, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nOpen oven." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006726.mp4", + "start": 0, + "end": 35, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.209099680185318, + 0.06625707447528839, + 0.12140446156263351, + 0.20274093747138977, + -0.1355658918619156, + 0.2516152262687683, + 0.0, + 0.9907060265541077 + ], + [ + 0.20634756982326508, + 0.06426337361335754, + 0.116960309445858, + 0.19061647355556488, + -0.11802578717470169, + 0.2704204022884369, + 0.0, + 0.9913908839225769 + ], + [ + 0.22456088662147522, + 0.0604526661336422, + 0.1333981305360794, + 0.06062730401754379, + -0.16584306955337524, + 0.4903937578201294, + 0.0, + 0.9913908839225769 + ], + [ + 0.24280095100402832, + 0.06285731494426727, + 0.14110545814037323, + -0.04852163791656494, + -0.12438292801380157, + 0.7628860473632812, + 0.0, + 0.9913908839225769 + ], + [ + 0.25298333168029785, + 0.06729228049516678, + 0.14456909894943237, + -0.1183023750782013, + -0.11274544149637222, + 0.9951283931732178, + 0.0, + 0.9913908839225769 + ], + [ + 0.2633172571659088, + 0.06976085156202316, + 0.14802759885787964, + -0.27135711908340454, + -0.040688805282115936, + 1.1526587009429932, + 0.0, + 0.9907060265541077 + ], + [ + 0.2735901176929474, + 0.07205766439437866, + 0.14390084147453308, + -0.3093816936016083, + -0.04154950752854347, + 1.2266737222671509, + 0.0, + 0.9907060265541077 + ], + [ + 0.2853267788887024, + 0.06965062767267227, + 0.1451452672481537, + -0.36902666091918945, + -0.03358211740851402, + 1.3046457767486572, + 0.0, + 0.9913908839225769 + ], + [ + 0.2950519025325775, + 0.06883977353572845, + 0.13907578587532043, + -0.3882112205028534, + -0.02031877264380455, + 1.3919564485549927, + 0.0, + 0.9907060265541077 + ], + [ + 0.3040270209312439, + 0.06303442269563675, + 0.1404014378786087, + -0.42015230655670166, + -0.041480813175439835, + 1.4298028945922852, + 0.0, + 0.9913908839225769 + ], + [ + 0.3121073842048645, + 0.05715154856443405, + 0.13880179822444916, + -0.45774033665657043, + -0.03972192108631134, + 1.4357491731643677, + 0.0, + 0.9913908839225769 + ], + [ + 0.3143695294857025, + 0.05445960909128189, + 0.13905315101146698, + -0.47648975253105164, + -0.0348864421248436, + 1.4417294263839722, + 0.0, + 0.9913908839225769 + ], + [ + 0.31292301416397095, + 0.051941197365522385, + 0.12477121502161026, + -0.45191940665245056, + -0.0681593269109726, + 1.4329607486724854, + 0.0, + 0.9913908839225769 + ], + [ + 0.30772870779037476, + 0.051264818757772446, + 0.12070897966623306, + -0.43859541416168213, + -0.05758780986070633, + 1.4330753087997437, + 0.0, + 0.993436336517334 + ], + [ + 0.28650984168052673, + 0.04898757115006447, + 0.1177772507071495, + -0.4013438820838928, + -0.05466107651591301, + 1.386399269104004, + 0.0, + 0.9927561283111572 + ], + [ + 0.27337953448295593, + 0.04742737114429474, + 0.12534329295158386, + -0.4197070300579071, + -0.08738122880458832, + 1.3595861196517944, + 0.0, + 0.9920742511749268 + ], + [ + 0.26550328731536865, + 0.048285093158483505, + 0.1339171826839447, + -0.4045259356498718, + -0.08700702339410782, + 1.3503714799880981, + 0.0, + 0.9920742511749268 + ], + [ + 0.26291757822036743, + 0.05143352970480919, + 0.1537468284368515, + -0.41638022661209106, + -0.11274862289428711, + 1.3250579833984375, + 0.0, + 0.9920742511749268 + ], + [ + 0.251104474067688, + 0.05205852538347244, + 0.16168420016765594, + -0.40952810645103455, + -0.10076112300157547, + 1.2637006044387817, + 0.0, + 0.9920742511749268 + ], + [ + 0.22905944287776947, + 0.051844559609889984, + 0.15429779887199402, + -0.3035728931427002, + -0.07371442019939423, + 1.031509518623352, + 0.0, + 0.9920742511749268 + ], + [ + 0.19822144508361816, + 0.05866663530468941, + 0.12607352435588837, + -0.18907739222049713, + -0.09907674789428711, + 0.8967787623405457, + 0.0, + 0.9920742511749268 + ], + [ + 0.1811155080795288, + 0.08463720232248306, + 0.09840820729732513, + -0.0788240134716034, + -0.11433936655521393, + 0.8414532542228699, + 0.0, + 0.9920742511749268 + ], + [ + 0.17421522736549377, + 0.12145274132490158, + 0.08229376375675201, + -0.025797458365559578, + -0.13934294879436493, + 0.8691009879112244, + 0.0, + 0.9920742511749268 + ], + [ + 0.17892606556415558, + 0.16471098363399506, + 0.0705438032746315, + 0.002334246411919594, + -0.1496211439371109, + 0.9597936272621155, + 0.0, + 0.9920742511749268 + ], + [ + 0.1852407604455948, + 0.1999727338552475, + 0.07733887434005737, + 0.00011209431249881163, + -0.18574492633342743, + 1.0410183668136597, + 0.0, + 0.9920742511749268 + ], + [ + 0.18788959085941315, + 0.21967294812202454, + 0.08035372942686081, + -0.016589857637882233, + -0.17909187078475952, + 1.1225694417953491, + 0.0, + 0.9920742511749268 + ], + [ + 0.20657308399677277, + 0.23463323712348938, + 0.07460886985063553, + 0.004409062676131725, + -0.11201725155115128, + 1.2153046131134033, + 0.0, + 0.9920742511749268 + ], + [ + 0.22325566411018372, + 0.22349317371845245, + 0.07562007009983063, + -0.02037660777568817, + -0.0950336679816246, + 1.2506519556045532, + 0.0, + 0.9920742511749268 + ], + [ + 0.23886935412883759, + 0.20561911165714264, + 0.07518571615219116, + -0.05021416023373604, + -0.07551183551549911, + 1.244523525238037, + 0.0, + 0.9920742511749268 + ], + [ + 0.24260708689689636, + 0.17866888642311096, + 0.07095235586166382, + -0.04923052340745926, + -0.06277591735124588, + 1.1174378395080566, + 0.0, + 0.9920742511749268 + ], + [ + 0.23049992322921753, + 0.15795397758483887, + 0.07241847366094589, + -0.05093052238225937, + -0.0822976753115654, + 0.9866957664489746, + 0.0, + 0.9907060265541077 + ], + [ + 0.20986400544643402, + 0.1480313390493393, + 0.07630240172147751, + -0.015775978565216064, + -0.09400799125432968, + 0.8416701555252075, + 0.0, + 0.9907060265541077 + ], + [ + 0.1911940574645996, + 0.14479756355285645, + 0.08111689984798431, + 0.04935949295759201, + -0.07710570842027664, + 0.7127824425697327, + 0.0, + 0.9907060265541077 + ], + [ + 0.17677676677703857, + 0.14088517427444458, + 0.0844743400812149, + 0.10098669677972794, + -0.056044336408376694, + 0.621773898601532, + 0.0, + 0.9907060265541077 + ], + [ + 0.17289389669895172, + 0.14185501635074615, + 0.09434006363153458, + 0.14679089188575745, + -0.12529557943344116, + 0.5550327897071838, + 0.0, + 0.9907060265541077 + ] + ], + "left_gripper_pos": [ + [ + 0.9907060265541077 + ], + [ + 0.9913908839225769 + ], + [ + 0.9913908839225769 + ], + [ + 0.9913908839225769 + ], + [ + 0.9913908839225769 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9913908839225769 + ], + [ + 0.9907060265541077 + ], + [ + 0.9913908839225769 + ], + [ + 0.9913908839225769 + ], + [ + 0.9913908839225769 + ], + [ + 0.9913908839225769 + ], + [ + 0.993436336517334 + ], + [ + 0.9927561283111572 + ], + [ + 0.9920742511749268 + ], + [ + 0.9920742511749268 + ], + [ + 0.9920742511749268 + ], + [ + 0.9920742511749268 + ], + [ + 0.9920742511749268 + ], + [ + 0.9920742511749268 + ], + [ + 0.9920742511749268 + ], + [ + 0.9920742511749268 + ], + [ + 0.9920742511749268 + ], + [ + 0.9920742511749268 + ], + [ + 0.9920742511749268 + ], + [ + 0.9920742511749268 + ], + [ + 0.9920742511749268 + ], + [ + 0.9920742511749268 + ], + [ + 0.9920742511749268 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.209099680185318, + 0.06625707447528839, + 0.12140446156263351 + ], + [ + 0.20634756982326508, + 0.06426337361335754, + 0.116960309445858 + ], + [ + 0.22456088662147522, + 0.0604526661336422, + 0.1333981305360794 + ], + [ + 0.24280095100402832, + 0.06285731494426727, + 0.14110545814037323 + ], + [ + 0.25298333168029785, + 0.06729228049516678, + 0.14456909894943237 + ], + [ + 0.2633172571659088, + 0.06976085156202316, + 0.14802759885787964 + ], + [ + 0.2735901176929474, + 0.07205766439437866, + 0.14390084147453308 + ], + [ + 0.2853267788887024, + 0.06965062767267227, + 0.1451452672481537 + ], + [ + 0.2950519025325775, + 0.06883977353572845, + 0.13907578587532043 + ], + [ + 0.3040270209312439, + 0.06303442269563675, + 0.1404014378786087 + ], + [ + 0.3121073842048645, + 0.05715154856443405, + 0.13880179822444916 + ], + [ + 0.3143695294857025, + 0.05445960909128189, + 0.13905315101146698 + ], + [ + 0.31292301416397095, + 0.051941197365522385, + 0.12477121502161026 + ], + [ + 0.30772870779037476, + 0.051264818757772446, + 0.12070897966623306 + ], + [ + 0.28650984168052673, + 0.04898757115006447, + 0.1177772507071495 + ], + [ + 0.27337953448295593, + 0.04742737114429474, + 0.12534329295158386 + ], + [ + 0.26550328731536865, + 0.048285093158483505, + 0.1339171826839447 + ], + [ + 0.26291757822036743, + 0.05143352970480919, + 0.1537468284368515 + ], + [ + 0.251104474067688, + 0.05205852538347244, + 0.16168420016765594 + ], + [ + 0.22905944287776947, + 0.051844559609889984, + 0.15429779887199402 + ], + [ + 0.19822144508361816, + 0.05866663530468941, + 0.12607352435588837 + ], + [ + 0.1811155080795288, + 0.08463720232248306, + 0.09840820729732513 + ], + [ + 0.17421522736549377, + 0.12145274132490158, + 0.08229376375675201 + ], + [ + 0.17892606556415558, + 0.16471098363399506, + 0.0705438032746315 + ], + [ + 0.1852407604455948, + 0.1999727338552475, + 0.07733887434005737 + ], + [ + 0.18788959085941315, + 0.21967294812202454, + 0.08035372942686081 + ], + [ + 0.20657308399677277, + 0.23463323712348938, + 0.07460886985063553 + ], + [ + 0.22325566411018372, + 0.22349317371845245, + 0.07562007009983063 + ], + [ + 0.23886935412883759, + 0.20561911165714264, + 0.07518571615219116 + ], + [ + 0.24260708689689636, + 0.17866888642311096, + 0.07095235586166382 + ], + [ + 0.23049992322921753, + 0.15795397758483887, + 0.07241847366094589 + ], + [ + 0.20986400544643402, + 0.1480313390493393, + 0.07630240172147751 + ], + [ + 0.1911940574645996, + 0.14479756355285645, + 0.08111689984798431 + ], + [ + 0.17677676677703857, + 0.14088517427444458, + 0.0844743400812149 + ], + [ + 0.17289389669895172, + 0.14185501635074615, + 0.09434006363153458 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9596254598682222, + 0.27022577642720835, + 0.0780833306603634, + 0.2466843635229913, + -0.9418995731502537, + 0.22797372412764294, + 0.13515103242654092, + -0.19950745312815354, + -0.9705312846994464 + ], + [ + 0.9569545402205332, + 0.28379712408194296, + 0.060804607671839456, + 0.2652781256173082, + -0.940244766613395, + 0.21346497353216995, + 0.11775195973008565, + -0.18814614324758458, + -0.9750566674613244 + ], + [ + 0.870043998412581, + 0.478931616846404, + 0.11682442899983836, + 0.46451130179344285, + -0.8758158407618968, + 0.13105671892998527, + 0.1650838918017445, + -0.05975884416068762, + -0.9844674647809184 + ], + [ + 0.7172603340113757, + 0.6858475927903683, + 0.12308815019142502, + 0.6856720215836866, + -0.7261520403547269, + 0.05056770813481022, + 0.12406245230217788, + 0.0481278895477871, + -0.9911065604547504 + ], + [ + 0.540938808575506, + 0.8257369089178817, + 0.1598241615890848, + 0.8335031137501081, + -0.5517287383493001, + 0.029461137933961948, + 0.1125067320020735, + 0.11727726348372657, + -0.9867057711009813 + ], + [ + 0.405723148486745, + 0.8759799606943538, + 0.2608597999767716, + 0.9130903905705045, + -0.4011645621682956, + -0.07302693138920546, + 0.04067757895704527, + 0.267817293172488, + -0.96261063366657 + ], + [ + 0.3370796816914622, + 0.8924106732920605, + 0.299967462210811, + 0.9405593653925866, + -0.3332586230540866, + -0.06547343226370267, + 0.0415375536482106, + 0.3042069696021214, + -0.9516999271211575 + ], + [ + 0.26287118446807456, + 0.8966542989924269, + 0.3562440293882142, + 0.9642465481656977, + -0.2569973460042597, + -0.06466033171352747, + 0.0335758056774238, + 0.3605044136278585, + -0.9321530094506725 + ], + [ + 0.17785135522216017, + 0.9094571003473227, + 0.37584129373111747, + 0.9838475998529942, + -0.17221914669865696, + -0.04883099194045337, + 0.020317374563244117, + 0.3784552128564562, + -0.9253965939815376 + ], + [ + 0.1404058761815264, + 0.9015897198303522, + 0.40917253943773524, + 0.9892252113312938, + -0.14505200056498718, + -0.019834273333100838, + 0.04146891848427062, + 0.40754864032201366, + -0.9122414343645123 + ], + [ + 0.13453083217316375, + 0.8865228997146717, + 0.44269470685370305, + 0.9901133540437093, + -0.13816620345962483, + -0.024200131525875634, + 0.03971147616385204, + 0.44157360485319275, + -0.8963457760026785 + ], + [ + 0.12863054481703723, + 0.8791602617627923, + 0.4588370267069241, + 0.9910790143898516, + -0.1302368366564834, + -0.02829759024639547, + 0.03487936605089892, + 0.45838368264467144, + -0.8880697209729631 + ], + [ + 0.13708050972318503, + 0.8869919069080039, + 0.4409697165721642, + 0.9882157809463514, + -0.1530656673122442, + 0.0006868615948660561, + 0.06810656460742157, + 0.435679077498519, + -0.8975217196744683 + ], + [ + 0.13705848796057601, + 0.8934211145978199, + 0.42780098511895703, + 0.9888894172174938, + -0.1485025779689652, + -0.006686168694929523, + 0.057555984860015064, + 0.4239642630309315, + -0.9038482241391157 + ], + [ + 0.18307999910721195, + 0.9010176244572539, + 0.39325431255653176, + 0.9815787564794449, + -0.1897651735356447, + -0.02218836950416289, + 0.054633860884710256, + 0.390072325768432, + -0.9191619671823005 + ], + [ + 0.2088435122566789, + 0.8854596481856033, + 0.41514527435985815, + 0.9740473920611149, + -0.22621975260897348, + -0.007503435778063422, + 0.08727007165824421, + 0.405938215698599, + -0.9097241887672343 + ], + [ + 0.21781713962689497, + 0.8895686450868632, + 0.40152623745289673, + 0.9721134476222308, + -0.23437101887083045, + -0.00810373157680186, + 0.08689728785628312, + 0.39209418663348106, + -0.9158116674139126 + ], + [ + 0.24172791945555083, + 0.8760136504329857, + 0.4173340355288142, + 0.963799323971375, + -0.2666249523070169, + 0.0014134778391037273, + 0.11250989320060434, + 0.40188458425567386, + -0.9087520590731186 + ], + [ + 0.3007582573471838, + 0.862285373800239, + 0.4074412899641703, + 0.9483807147230539, + -0.31547367574744994, + -0.03240956420228863, + 0.10059070821340607, + 0.3961569058347649, + -0.9126561320566199 + ], + [ + 0.5121295839764499, + 0.8075337000112169, + 0.2925963303978749, + 0.8557448851501791, + -0.5089340747880104, + -0.09320299919519008, + 0.07364767990517516, + 0.29811982635488343, + -0.9516830293636211 + ], + [ + 0.6210692328561193, + 0.7557924585879578, + 0.20748678883505303, + 0.7774888316180646, + -0.627532578663299, + -0.041400234605224684, + 0.0989147345378272, + 0.1870310729738797, + -0.977361372795933 + ], + [ + 0.6620287530456943, + 0.7373106039510273, + 0.13450280087096564, + 0.7407437561213714, + -0.6710092498756375, + 0.032330702877247, + 0.11409039358318308, + 0.07822825501508927, + -0.9903856431760957 + ], + [ + 0.6392567688913425, + 0.7611821297492212, + 0.10932771275866146, + 0.7563462616015055, + -0.6480349062157313, + 0.08939291295955884, + 0.13889246195538335, + 0.025544582134144227, + -0.9899779585099682 + ], + [ + 0.567279562234301, + 0.8192705760073858, + 0.08360395660365763, + 0.8099221970807314, + -0.573402472668003, + 0.12343273072463792, + 0.14906351984030436, + -0.002308165233780461, + -0.9888249286026687 + ], + [ + 0.4966493429780715, + 0.8629297537537869, + 0.09322912745424008, + 0.8480761810130727, + -0.5053238842067961, + 0.15941945693182746, + 0.1846786975201313, + -0.00011016617254014371, + -0.982798945128495 + ], + [ + 0.4264369063189843, + 0.8998122617724759, + 0.09213825748838136, + 0.8868027488018592, + -0.4359718203583504, + 0.1533279379985687, + 0.17813604252525808, + 0.016323768478131398, + -0.9838704614613205 + ], + [ + 0.34587000841210597, + 0.9376378880120283, + 0.03477252141207951, + 0.9315999505566125, + -0.34758595219729954, + 0.10632750330001298, + 0.11178313559713474, + -0.004381415232591689, + -0.9937229663224217 + ], + [ + 0.31328356207324287, + 0.9483844927799165, + 0.04919617453909211, + 0.9449069624478383, + -0.31647344797242977, + 0.08363844239368148, + 0.09489068474987383, + 0.02028325868843695, + -0.9952810393877087 + ], + [ + 0.3196013389492074, + 0.9448359227701675, + 0.07169423397261562, + 0.9445442161941469, + -0.32369750355211957, + 0.055282455158128976, + 0.07544009408834843, + 0.05005002734436646, + -0.9958934616547945 + ], + [ + 0.43712448539921034, + 0.8965398547888238, + 0.07168314334423455, + 0.8972104226001248, + -0.44023190776903665, + 0.03477534988665963, + 0.06273469408693007, + 0.04911370640940242, + -0.9968210481327879 + ], + [ + 0.5495828816684314, + 0.8308189449339326, + 0.08774130678243795, + 0.8313850045386141, + -0.5542253316531167, + 0.04041356186135064, + 0.08220480767784409, + 0.05073620495129461, + -0.9953231671682262 + ], + [ + 0.6632765404777359, + 0.7446774956254224, + 0.07429440329483268, + 0.7424639597929225, + -0.667239656715059, + 0.05948536723752994, + 0.09386958645109665, + 0.015705668270377296, + -0.9954606133462442 + ], + [ + 0.7542974261170912, + 0.6560202014889536, + 0.025940088502621, + 0.6519983707841033, + -0.7531384720701761, + 0.08763884060549303, + 0.07702932849250296, + -0.04919285645490508, + -0.9958145135645496 + ], + [ + 0.8115702510789984, + 0.5841006345716163, + -0.013422974953656783, + 0.5815634506246384, + -0.8054158227925339, + 0.11440850183875874, + 0.05601500210778386, + -0.10065684819455022, + -0.993343102080245 + ], + [ + 0.8432207341300603, + 0.5368383497348164, + 0.027988922579500815, + 0.5228401210881508, + -0.8311109676448577, + 0.18945386573241546, + 0.12496800115905735, + -0.14511769607607217, + -0.9814906280611562 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0027521103620529175, + -0.001993700861930847, + -0.004444152116775513, + -0.01212446391582489, + 0.017540104687213898, + 0.01880517601966858, + 1.0 + ], + [ + 0.018213316798210144, + -0.0038107074797153473, + 0.016437821090221405, + -0.12998917698860168, + -0.04781728237867355, + 0.2199733555316925, + 1.0 + ], + [ + 0.0182400643825531, + 0.0024046488106250763, + 0.007707327604293823, + -0.10914894193410873, + 0.04146014153957367, + 0.27249228954315186, + 1.0 + ], + [ + 0.010182380676269531, + 0.004434965550899506, + 0.003463640809059143, + -0.06978073716163635, + 0.011637486517429352, + 0.23224234580993652, + 1.0 + ], + [ + 0.010333925485610962, + 0.0024685710668563843, + 0.0034584999084472656, + -0.15305474400520325, + 0.07205663621425629, + 0.1575303077697754, + 1.0 + ], + [ + 0.010272860527038574, + 0.0022968128323554993, + -0.004126757383346558, + -0.038024574518203735, + -0.000860702246427536, + 0.07401502132415771, + 1.0 + ], + [ + 0.011736661195755005, + -0.0024070367217063904, + 0.0012444257736206055, + -0.05964496731758118, + 0.00796739012002945, + 0.07797205448150635, + 1.0 + ], + [ + 0.009725123643875122, + -0.0008108541369438171, + -0.006069481372833252, + -0.01918455958366394, + 0.013263344764709473, + 0.08731067180633545, + 1.0 + ], + [ + 0.008975118398666382, + -0.005805350840091705, + 0.001325652003288269, + -0.03194108605384827, + -0.021162040531635284, + 0.03784644603729248, + 1.0 + ], + [ + 0.008080363273620605, + -0.005882874131202698, + -0.001599639654159546, + -0.037588030099868774, + 0.0017588920891284943, + 0.0059462785720825195, + 1.0 + ], + [ + 0.0022621452808380127, + -0.0026919394731521606, + 0.00025135278701782227, + -0.0187494158744812, + 0.004835478961467743, + 0.005980253219604492, + 1.0 + ], + [ + -0.0014465153217315674, + -0.0025184117257595062, + -0.01428193598985672, + 0.024570345878601074, + -0.033272884786129, + -0.008768677711486816, + 1.0 + ], + [ + -0.005194306373596191, + -0.000676378607749939, + -0.004062235355377197, + 0.013323992490768433, + 0.010571517050266266, + 0.00011456012725830078, + 1.0 + ], + [ + -0.021218866109848022, + -0.0022772476077079773, + -0.002931728959083557, + 0.03725153207778931, + 0.0029267333447933197, + -0.046676039695739746, + 1.0 + ], + [ + -0.0131303071975708, + -0.0015602000057697296, + 0.007566042244434357, + -0.018363147974014282, + -0.03272015228867531, + -0.026813149452209473, + 1.0 + ], + [ + -0.00787624716758728, + 0.0008577220141887665, + 0.00857388973236084, + 0.015181094408035278, + 0.00037420541048049927, + -0.009214639663696289, + 1.0 + ], + [ + -0.0025857090950012207, + 0.0031484365463256836, + 0.0198296457529068, + -0.011854290962219238, + -0.02574159950017929, + -0.025313496589660645, + 1.0 + ], + [ + -0.011813104152679443, + 0.0006249956786632538, + 0.007937371730804443, + 0.0068521201610565186, + 0.01198749989271164, + -0.06135737895965576, + 1.0 + ], + [ + -0.022045031189918518, + -0.0002139657735824585, + -0.007386401295661926, + 0.10595521330833435, + 0.027046702802181244, + -0.2321910858154297, + 1.0 + ], + [ + -0.030837997794151306, + 0.006822075694799423, + -0.028224274516105652, + 0.11449550092220306, + -0.025362327694892883, + -0.1347307562828064, + 1.0 + ], + [ + -0.017105937004089355, + 0.025970567017793655, + -0.027665317058563232, + 0.11025337874889374, + -0.015262618660926819, + -0.05532550811767578, + 1.0 + ], + [ + -0.006900280714035034, + 0.03681553900241852, + -0.01611444354057312, + 0.053026556968688965, + -0.025003582239151, + 0.027647733688354492, + 1.0 + ], + [ + 0.004710838198661804, + 0.043258242309093475, + -0.011749960482120514, + 0.028131704777479172, + -0.010278195142745972, + 0.09069263935089111, + 1.0 + ], + [ + 0.006314694881439209, + 0.03526175022125244, + 0.006795071065425873, + -0.002222152194008231, + -0.03612378239631653, + 0.08122473955154419, + 1.0 + ], + [ + 0.0026488304138183594, + 0.01970021426677704, + 0.0030148550868034363, + -0.01670195162296295, + 0.006653055548667908, + 0.08155107498168945, + 1.0 + ], + [ + 0.01868349313735962, + 0.014960289001464844, + -0.005744859576225281, + 0.020998921245336533, + 0.06707461923360825, + 0.0927351713180542, + 1.0 + ], + [ + 0.01668258011341095, + -0.011140063405036926, + 0.0010112002491950989, + -0.02478567138314247, + 0.016983583569526672, + 0.0353473424911499, + 1.0 + ], + [ + 0.01561369001865387, + -0.017874062061309814, + -0.00043435394763946533, + -0.029837552458047867, + 0.01952183246612549, + -0.006128430366516113, + 1.0 + ], + [ + 0.003737732768058777, + -0.026950225234031677, + -0.004233360290527344, + 0.0009836368262767792, + 0.012735918164253235, + -0.12708568572998047, + 1.0 + ], + [ + -0.012107163667678833, + -0.020714908838272095, + 0.001466117799282074, + -0.0016999989748001099, + -0.01952175796031952, + -0.13074207305908203, + 1.0 + ], + [ + -0.02063591778278351, + -0.009922638535499573, + 0.003883928060531616, + 0.035154543817043304, + -0.011710315942764282, + -0.1450256109237671, + 1.0 + ], + [ + -0.01866994798183441, + -0.003233775496482849, + 0.004814498126506805, + 0.06513547152280807, + 0.01690228283405304, + -0.12888771295547485, + 1.0 + ], + [ + -0.014417290687561035, + -0.003912389278411865, + 0.003357440233230591, + 0.051627203822135925, + 0.021061372011899948, + -0.09100854396820068, + 1.0 + ], + [ + -0.003882870078086853, + 0.0009698420763015747, + 0.009865723550319672, + 0.04580419510602951, + -0.06925123929977417, + -0.06674110889434814, + 1.0 + ], + [ + 8.922815322875977e-05, + -0.001256495714187622, + 8.136779069900513e-05, + 0.006888493895530701, + 0.00419829785823822, + -0.001298666000366211, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9913908839225769 + ], + [ + 0.9913908839225769 + ], + [ + 0.9913908839225769 + ], + [ + 0.9913908839225769 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9913908839225769 + ], + [ + 0.9907060265541077 + ], + [ + 0.9913908839225769 + ], + [ + 0.9913908839225769 + ], + [ + 0.9913908839225769 + ], + [ + 0.9913908839225769 + ], + [ + 0.993436336517334 + ], + [ + 0.9927561283111572 + ], + [ + 0.9920742511749268 + ], + [ + 0.9920742511749268 + ], + [ + 0.9920742511749268 + ], + [ + 0.9920742511749268 + ], + [ + 0.9920742511749268 + ], + [ + 0.9920742511749268 + ], + [ + 0.9920742511749268 + ], + [ + 0.9920742511749268 + ], + [ + 0.9920742511749268 + ], + [ + 0.9920742511749268 + ], + [ + 0.9920742511749268 + ], + [ + 0.9920742511749268 + ], + [ + 0.9920742511749268 + ], + [ + 0.9920742511749268 + ], + [ + 0.9920742511749268 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.20634756982326508, + 0.06426337361335754, + 0.116960309445858 + ], + [ + 0.22456088662147522, + 0.0604526661336422, + 0.1333981305360794 + ], + [ + 0.24280095100402832, + 0.06285731494426727, + 0.14110545814037323 + ], + [ + 0.25298333168029785, + 0.06729228049516678, + 0.14456909894943237 + ], + [ + 0.2633172571659088, + 0.06976085156202316, + 0.14802759885787964 + ], + [ + 0.2735901176929474, + 0.07205766439437866, + 0.14390084147453308 + ], + [ + 0.2853267788887024, + 0.06965062767267227, + 0.1451452672481537 + ], + [ + 0.2950519025325775, + 0.06883977353572845, + 0.13907578587532043 + ], + [ + 0.3040270209312439, + 0.06303442269563675, + 0.1404014378786087 + ], + [ + 0.3121073842048645, + 0.05715154856443405, + 0.13880179822444916 + ], + [ + 0.3143695294857025, + 0.05445960909128189, + 0.13905315101146698 + ], + [ + 0.31292301416397095, + 0.051941197365522385, + 0.12477121502161026 + ], + [ + 0.30772870779037476, + 0.051264818757772446, + 0.12070897966623306 + ], + [ + 0.28650984168052673, + 0.04898757115006447, + 0.1177772507071495 + ], + [ + 0.27337953448295593, + 0.04742737114429474, + 0.12534329295158386 + ], + [ + 0.26550328731536865, + 0.048285093158483505, + 0.1339171826839447 + ], + [ + 0.26291757822036743, + 0.05143352970480919, + 0.1537468284368515 + ], + [ + 0.251104474067688, + 0.05205852538347244, + 0.16168420016765594 + ], + [ + 0.22905944287776947, + 0.051844559609889984, + 0.15429779887199402 + ], + [ + 0.19822144508361816, + 0.05866663530468941, + 0.12607352435588837 + ], + [ + 0.1811155080795288, + 0.08463720232248306, + 0.09840820729732513 + ], + [ + 0.17421522736549377, + 0.12145274132490158, + 0.08229376375675201 + ], + [ + 0.17892606556415558, + 0.16471098363399506, + 0.0705438032746315 + ], + [ + 0.1852407604455948, + 0.1999727338552475, + 0.07733887434005737 + ], + [ + 0.18788959085941315, + 0.21967294812202454, + 0.08035372942686081 + ], + [ + 0.20657308399677277, + 0.23463323712348938, + 0.07460886985063553 + ], + [ + 0.22325566411018372, + 0.22349317371845245, + 0.07562007009983063 + ], + [ + 0.23886935412883759, + 0.20561911165714264, + 0.07518571615219116 + ], + [ + 0.24260708689689636, + 0.17866888642311096, + 0.07095235586166382 + ], + [ + 0.23049992322921753, + 0.15795397758483887, + 0.07241847366094589 + ], + [ + 0.20986400544643402, + 0.1480313390493393, + 0.07630240172147751 + ], + [ + 0.1911940574645996, + 0.14479756355285645, + 0.08111689984798431 + ], + [ + 0.17677676677703857, + 0.14088517427444458, + 0.0844743400812149 + ], + [ + 0.17289389669895172, + 0.14185501635074615, + 0.09434006363153458 + ], + [ + 0.17298312485218048, + 0.14059852063655853, + 0.09442143142223358 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9569545402205332, + 0.28379712408194296, + 0.060804607671839456, + 0.2652781256173082, + -0.940244766613395, + 0.21346497353216995, + 0.11775195973008565, + -0.18814614324758458, + -0.9750566674613244 + ], + [ + 0.870043998412581, + 0.478931616846404, + 0.11682442899983836, + 0.46451130179344285, + -0.8758158407618968, + 0.13105671892998527, + 0.1650838918017445, + -0.05975884416068762, + -0.9844674647809184 + ], + [ + 0.7172603340113757, + 0.6858475927903683, + 0.12308815019142502, + 0.6856720215836866, + -0.7261520403547269, + 0.05056770813481022, + 0.12406245230217788, + 0.0481278895477871, + -0.9911065604547504 + ], + [ + 0.540938808575506, + 0.8257369089178817, + 0.1598241615890848, + 0.8335031137501081, + -0.5517287383493001, + 0.029461137933961948, + 0.1125067320020735, + 0.11727726348372657, + -0.9867057711009813 + ], + [ + 0.405723148486745, + 0.8759799606943538, + 0.2608597999767716, + 0.9130903905705045, + -0.4011645621682956, + -0.07302693138920546, + 0.04067757895704527, + 0.267817293172488, + -0.96261063366657 + ], + [ + 0.3370796816914622, + 0.8924106732920605, + 0.299967462210811, + 0.9405593653925866, + -0.3332586230540866, + -0.06547343226370267, + 0.0415375536482106, + 0.3042069696021214, + -0.9516999271211575 + ], + [ + 0.26287118446807456, + 0.8966542989924269, + 0.3562440293882142, + 0.9642465481656977, + -0.2569973460042597, + -0.06466033171352747, + 0.0335758056774238, + 0.3605044136278585, + -0.9321530094506725 + ], + [ + 0.17785135522216017, + 0.9094571003473227, + 0.37584129373111747, + 0.9838475998529942, + -0.17221914669865696, + -0.04883099194045337, + 0.020317374563244117, + 0.3784552128564562, + -0.9253965939815376 + ], + [ + 0.1404058761815264, + 0.9015897198303522, + 0.40917253943773524, + 0.9892252113312938, + -0.14505200056498718, + -0.019834273333100838, + 0.04146891848427062, + 0.40754864032201366, + -0.9122414343645123 + ], + [ + 0.13453083217316375, + 0.8865228997146717, + 0.44269470685370305, + 0.9901133540437093, + -0.13816620345962483, + -0.024200131525875634, + 0.03971147616385204, + 0.44157360485319275, + -0.8963457760026785 + ], + [ + 0.12863054481703723, + 0.8791602617627923, + 0.4588370267069241, + 0.9910790143898516, + -0.1302368366564834, + -0.02829759024639547, + 0.03487936605089892, + 0.45838368264467144, + -0.8880697209729631 + ], + [ + 0.13708050972318503, + 0.8869919069080039, + 0.4409697165721642, + 0.9882157809463514, + -0.1530656673122442, + 0.0006868615948660561, + 0.06810656460742157, + 0.435679077498519, + -0.8975217196744683 + ], + [ + 0.13705848796057601, + 0.8934211145978199, + 0.42780098511895703, + 0.9888894172174938, + -0.1485025779689652, + -0.006686168694929523, + 0.057555984860015064, + 0.4239642630309315, + -0.9038482241391157 + ], + [ + 0.18307999910721195, + 0.9010176244572539, + 0.39325431255653176, + 0.9815787564794449, + -0.1897651735356447, + -0.02218836950416289, + 0.054633860884710256, + 0.390072325768432, + -0.9191619671823005 + ], + [ + 0.2088435122566789, + 0.8854596481856033, + 0.41514527435985815, + 0.9740473920611149, + -0.22621975260897348, + -0.007503435778063422, + 0.08727007165824421, + 0.405938215698599, + -0.9097241887672343 + ], + [ + 0.21781713962689497, + 0.8895686450868632, + 0.40152623745289673, + 0.9721134476222308, + -0.23437101887083045, + -0.00810373157680186, + 0.08689728785628312, + 0.39209418663348106, + -0.9158116674139126 + ], + [ + 0.24172791945555083, + 0.8760136504329857, + 0.4173340355288142, + 0.963799323971375, + -0.2666249523070169, + 0.0014134778391037273, + 0.11250989320060434, + 0.40188458425567386, + -0.9087520590731186 + ], + [ + 0.3007582573471838, + 0.862285373800239, + 0.4074412899641703, + 0.9483807147230539, + -0.31547367574744994, + -0.03240956420228863, + 0.10059070821340607, + 0.3961569058347649, + -0.9126561320566199 + ], + [ + 0.5121295839764499, + 0.8075337000112169, + 0.2925963303978749, + 0.8557448851501791, + -0.5089340747880104, + -0.09320299919519008, + 0.07364767990517516, + 0.29811982635488343, + -0.9516830293636211 + ], + [ + 0.6210692328561193, + 0.7557924585879578, + 0.20748678883505303, + 0.7774888316180646, + -0.627532578663299, + -0.041400234605224684, + 0.0989147345378272, + 0.1870310729738797, + -0.977361372795933 + ], + [ + 0.6620287530456943, + 0.7373106039510273, + 0.13450280087096564, + 0.7407437561213714, + -0.6710092498756375, + 0.032330702877247, + 0.11409039358318308, + 0.07822825501508927, + -0.9903856431760957 + ], + [ + 0.6392567688913425, + 0.7611821297492212, + 0.10932771275866146, + 0.7563462616015055, + -0.6480349062157313, + 0.08939291295955884, + 0.13889246195538335, + 0.025544582134144227, + -0.9899779585099682 + ], + [ + 0.567279562234301, + 0.8192705760073858, + 0.08360395660365763, + 0.8099221970807314, + -0.573402472668003, + 0.12343273072463792, + 0.14906351984030436, + -0.002308165233780461, + -0.9888249286026687 + ], + [ + 0.4966493429780715, + 0.8629297537537869, + 0.09322912745424008, + 0.8480761810130727, + -0.5053238842067961, + 0.15941945693182746, + 0.1846786975201313, + -0.00011016617254014371, + -0.982798945128495 + ], + [ + 0.4264369063189843, + 0.8998122617724759, + 0.09213825748838136, + 0.8868027488018592, + -0.4359718203583504, + 0.1533279379985687, + 0.17813604252525808, + 0.016323768478131398, + -0.9838704614613205 + ], + [ + 0.34587000841210597, + 0.9376378880120283, + 0.03477252141207951, + 0.9315999505566125, + -0.34758595219729954, + 0.10632750330001298, + 0.11178313559713474, + -0.004381415232591689, + -0.9937229663224217 + ], + [ + 0.31328356207324287, + 0.9483844927799165, + 0.04919617453909211, + 0.9449069624478383, + -0.31647344797242977, + 0.08363844239368148, + 0.09489068474987383, + 0.02028325868843695, + -0.9952810393877087 + ], + [ + 0.3196013389492074, + 0.9448359227701675, + 0.07169423397261562, + 0.9445442161941469, + -0.32369750355211957, + 0.055282455158128976, + 0.07544009408834843, + 0.05005002734436646, + -0.9958934616547945 + ], + [ + 0.43712448539921034, + 0.8965398547888238, + 0.07168314334423455, + 0.8972104226001248, + -0.44023190776903665, + 0.03477534988665963, + 0.06273469408693007, + 0.04911370640940242, + -0.9968210481327879 + ], + [ + 0.5495828816684314, + 0.8308189449339326, + 0.08774130678243795, + 0.8313850045386141, + -0.5542253316531167, + 0.04041356186135064, + 0.08220480767784409, + 0.05073620495129461, + -0.9953231671682262 + ], + [ + 0.6632765404777359, + 0.7446774956254224, + 0.07429440329483268, + 0.7424639597929225, + -0.667239656715059, + 0.05948536723752994, + 0.09386958645109665, + 0.015705668270377296, + -0.9954606133462442 + ], + [ + 0.7542974261170912, + 0.6560202014889536, + 0.025940088502621, + 0.6519983707841033, + -0.7531384720701761, + 0.08763884060549303, + 0.07702932849250296, + -0.04919285645490508, + -0.9958145135645496 + ], + [ + 0.8115702510789984, + 0.5841006345716163, + -0.013422974953656783, + 0.5815634506246384, + -0.8054158227925339, + 0.11440850183875874, + 0.05601500210778386, + -0.10065684819455022, + -0.993343102080245 + ], + [ + 0.8432207341300603, + 0.5368383497348164, + 0.027988922579500815, + 0.5228401210881508, + -0.8311109676448577, + 0.18945386573241546, + 0.12496800115905735, + -0.14511769607607217, + -0.9814906280611562 + ], + [ + 0.8443378314440244, + 0.535397867346344, + 0.0210416262058985, + 0.5220159171892029, + -0.830818304772998, + 0.19297752888675146, + 0.12080152562578592, + -0.15195416445464183, + -0.9809775345599787 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006727.json b/json/chunk-0006/episode_0006727.json new file mode 100644 index 0000000000000000000000000000000000000000..b5adf659fa0133007eefe55591960e94d73c8fc5 --- /dev/null +++ b/json/chunk-0006/episode_0006727.json @@ -0,0 +1,1582 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 25, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut lid on pot or pan." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006727.mp4", + "start": 0, + "end": 25, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.22592587769031525, + 0.12145863473415375, + 0.08687931299209595, + 0.12851464748382568, + -0.06380622833967209, + 0.07687217742204666, + 0.0, + 0.9650423526763916 + ], + [ + 0.22952944040298462, + 0.10674723237752914, + 0.08338917046785355, + 0.127700075507164, + -0.040559668093919754, + 0.09512132406234741, + 0.0, + 0.9650423526763916 + ], + [ + 0.24837593734264374, + 0.06349924206733704, + 0.09038683027029037, + 0.173967644572258, + -0.06408493220806122, + 0.11551322042942047, + 0.0, + 0.9650423526763916 + ], + [ + 0.2681931257247925, + 0.017981957644224167, + 0.10071972012519836, + 0.1994854360818863, + -0.14177212119102478, + 0.11427842825651169, + 0.0, + 0.9650423526763916 + ], + [ + 0.2940674424171448, + -0.01234251819550991, + 0.09697984158992767, + 0.19432713091373444, + -0.17363429069519043, + 0.1077711284160614, + 0.0, + 0.9657809734344482 + ], + [ + 0.316375732421875, + -0.03261495754122734, + 0.08811892569065094, + 0.15895617008209229, + -0.19980932772159576, + 0.09150483459234238, + 0.0, + 0.9657809734344482 + ], + [ + 0.3244909346103668, + -0.034267205744981766, + 0.07732175290584564, + 0.11958038806915283, + -0.20895539224147797, + 0.091202512383461, + 0.0, + 0.9650423526763916 + ], + [ + 0.32541608810424805, + -0.03146360069513321, + 0.06411389261484146, + 0.08939669281244278, + -0.2061188817024231, + 0.1009761169552803, + 0.0, + 0.9650423526763916 + ], + [ + 0.3210981488227844, + -0.029293812811374664, + 0.05443378537893295, + 0.06235077232122421, + -0.16036126017570496, + 0.10328575223684311, + 0.0, + 0.9650423526763916 + ], + [ + 0.3192293345928192, + -0.02426857128739357, + 0.05068046599626541, + 0.04842247813940048, + -0.12717343866825104, + 0.11613743752241135, + 0.0, + 0.9650423526763916 + ], + [ + 0.319693386554718, + -0.02148318663239479, + 0.05044719576835632, + 0.044010333716869354, + -0.12437020987272263, + 0.10977565497159958, + 0.0, + 0.9650423526763916 + ], + [ + 0.3229948878288269, + -0.012500607408583164, + 0.04417897015810013, + 0.04109112173318863, + -0.13012650609016418, + 0.1206691637635231, + 0.0, + 0.9650423526763916 + ], + [ + 0.32421496510505676, + -0.011604076251387596, + 0.04054536297917366, + 0.03783274069428444, + -0.14965830743312836, + 0.11963444203138351, + 0.0, + 0.9650423526763916 + ], + [ + 0.3237133026123047, + -0.010994002223014832, + 0.03474220633506775, + 0.03666243329644203, + -0.16330526769161224, + 0.1155165508389473, + 0.0, + 0.9650423526763916 + ], + [ + 0.32186195254325867, + -0.008883407339453697, + 0.02998211793601513, + 0.05489068105816841, + -0.17692674696445465, + 0.10284457355737686, + 0.0, + 0.7931879758834839 + ], + [ + 0.3206274211406708, + -0.010773638263344765, + 0.027229592204093933, + 0.07241262495517731, + -0.19247904419898987, + 0.08053111284971237, + 0.0, + 0.5344430208206177 + ], + [ + 0.32084256410598755, + -0.011749088764190674, + 0.02752523124217987, + 0.07167364656925201, + -0.19285637140274048, + 0.08229736238718033, + 0.0, + 0.3437051773071289 + ], + [ + 0.3188161551952362, + -0.012360593304038048, + 0.03239109739661217, + 0.09139776974916458, + -0.1499202847480774, + 0.08325444906949997, + 0.0, + 0.3188876807689667 + ], + [ + 0.30842429399490356, + -0.0037502332124859095, + 0.05645618960261345, + 0.16243939101696014, + -0.06278562545776367, + 0.07655447721481323, + 0.0, + 0.3188876807689667 + ], + [ + 0.3015062212944031, + 0.03266822546720505, + 0.10539062321186066, + 0.22457732260227203, + -0.0770149976015091, + 0.0017424901016056538, + 0.0, + 0.3181038796901703 + ], + [ + 0.29879897832870483, + 0.07913501560688019, + 0.11248565465211868, + 0.250871479511261, + -0.078181691467762, + -0.07487859576940536, + 0.0, + 0.3188876807689667 + ], + [ + 0.30294540524482727, + 0.11852408945560455, + 0.11739599704742432, + 0.25951099395751953, + -0.1143530085682869, + -0.14140638709068298, + 0.0, + 0.3181038796901703 + ], + [ + 0.3095223307609558, + 0.1439698338508606, + 0.10842268168926239, + 0.25268471240997314, + -0.15682268142700195, + -0.1749153435230255, + 0.0, + 0.3181038796901703 + ], + [ + 0.31487736105918884, + 0.14908213913440704, + 0.0953349843621254, + 0.24583135545253754, + -0.18077963590621948, + -0.20575901865959167, + 0.0, + 0.3181038796901703 + ], + [ + 0.31682834029197693, + 0.15539610385894775, + 0.07955320924520493, + 0.22396782040596008, + -0.1852959841489792, + -0.22123780846595764, + 0.0, + 0.3181038796901703 + ] + ], + "left_gripper_pos": [ + [ + 0.9650423526763916 + ], + [ + 0.9650423526763916 + ], + [ + 0.9650423526763916 + ], + [ + 0.9650423526763916 + ], + [ + 0.9657809734344482 + ], + [ + 0.9657809734344482 + ], + [ + 0.9650423526763916 + ], + [ + 0.9650423526763916 + ], + [ + 0.9650423526763916 + ], + [ + 0.9650423526763916 + ], + [ + 0.9650423526763916 + ], + [ + 0.9650423526763916 + ], + [ + 0.9650423526763916 + ], + [ + 0.9650423526763916 + ], + [ + 0.7931879758834839 + ], + [ + 0.5344430208206177 + ], + [ + 0.3437051773071289 + ], + [ + 0.3188876807689667 + ], + [ + 0.3188876807689667 + ], + [ + 0.3181038796901703 + ], + [ + 0.3188876807689667 + ], + [ + 0.3181038796901703 + ], + [ + 0.3181038796901703 + ], + [ + 0.3181038796901703 + ], + [ + 0.3181038796901703 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.22592587769031525, + 0.12145863473415375, + 0.08687931299209595 + ], + [ + 0.22952944040298462, + 0.10674723237752914, + 0.08338917046785355 + ], + [ + 0.24837593734264374, + 0.06349924206733704, + 0.09038683027029037 + ], + [ + 0.2681931257247925, + 0.017981957644224167, + 0.10071972012519836 + ], + [ + 0.2940674424171448, + -0.01234251819550991, + 0.09697984158992767 + ], + [ + 0.316375732421875, + -0.03261495754122734, + 0.08811892569065094 + ], + [ + 0.3244909346103668, + -0.034267205744981766, + 0.07732175290584564 + ], + [ + 0.32541608810424805, + -0.03146360069513321, + 0.06411389261484146 + ], + [ + 0.3210981488227844, + -0.029293812811374664, + 0.05443378537893295 + ], + [ + 0.3192293345928192, + -0.02426857128739357, + 0.05068046599626541 + ], + [ + 0.319693386554718, + -0.02148318663239479, + 0.05044719576835632 + ], + [ + 0.3229948878288269, + -0.012500607408583164, + 0.04417897015810013 + ], + [ + 0.32421496510505676, + -0.011604076251387596, + 0.04054536297917366 + ], + [ + 0.3237133026123047, + -0.010994002223014832, + 0.03474220633506775 + ], + [ + 0.32186195254325867, + -0.008883407339453697, + 0.02998211793601513 + ], + [ + 0.3206274211406708, + -0.010773638263344765, + 0.027229592204093933 + ], + [ + 0.32084256410598755, + -0.011749088764190674, + 0.02752523124217987 + ], + [ + 0.3188161551952362, + -0.012360593304038048, + 0.03239109739661217 + ], + [ + 0.30842429399490356, + -0.0037502332124859095, + 0.05645618960261345 + ], + [ + 0.3015062212944031, + 0.03266822546720505, + 0.10539062321186066 + ], + [ + 0.29879897832870483, + 0.07913501560688019, + 0.11248565465211868 + ], + [ + 0.30294540524482727, + 0.11852408945560455, + 0.11739599704742432 + ], + [ + 0.3095223307609558, + 0.1439698338508606, + 0.10842268168926239 + ], + [ + 0.31487736105918884, + 0.14908213913440704, + 0.0953349843621254 + ], + [ + 0.31682834029197693, + 0.15539610385894775, + 0.07955320924520493 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9950178716014295, + 0.08431097619302581, + 0.053208030288106445, + 0.07664021401824121, + -0.9881969193591427, + 0.1326390823412848, + 0.0637629421294156, + -0.1279003825736224, + -0.989735206683344 + ], + [ + 0.9946606642890744, + 0.09934522573537745, + 0.0279408131521604, + 0.09489983216881885, + -0.9868831409576243, + 0.13059742703416377, + 0.040548548313682646, + -0.12724854504944494, + -0.9910416858096597 + ], + [ + 0.9912967064718222, + 0.12452788433298637, + 0.042704165624306574, + 0.1150199125140827, + -0.9770644962718043, + 0.17920767240935348, + 0.06404107637579648, + -0.17273614603977872, + -0.9828840035263335 + ], + [ + 0.9835099188557962, + 0.13958610733968543, + 0.1149954701282567, + 0.11288580904416902, + -0.9705824882900758, + 0.212665059521042, + 0.14129767736487522, + -0.1961768387511603, + -0.9703347949593959 + ], + [ + 0.9792489498403172, + 0.1387061738696929, + 0.14775686639566557, + 0.1059452534243745, + -0.9718968699762894, + 0.210219117606217, + 0.17276312544487352, + -0.1902027114967659, + -0.9664242500195227 + ], + [ + 0.9760040297877507, + 0.12151108008591056, + 0.18069640631298275, + 0.0895591906745314, + -0.9803913166103498, + 0.1755335229542991, + 0.19848245565740577, + -0.15513840185904956, + -0.9677483097711025 + ], + [ + 0.97418247496558, + 0.11506934330872005, + 0.19423581466979004, + 0.08909505419448512, + -0.9864785819162768, + 0.13755754700681888, + 0.20743812761404026, + -0.11670070115878202, + -0.9712622558099484 + ], + [ + 0.9738466679240818, + 0.11858079125849072, + 0.19380728396444213, + 0.09867083829857867, + -0.9890914782401348, + 0.10937144664948574, + 0.20466248567487738, + -0.08738789170849597, + -0.9749239064358435 + ], + [ + 0.9819088063711222, + 0.11279824044055918, + 0.15209093636489762, + 0.10177937299525684, + -0.9917121376481114, + 0.07840915299954092, + 0.15967484211211835, + -0.06151091768886914, + -0.9852514155288197 + ], + [ + 0.9852423762152136, + 0.12183842754936006, + 0.12022003860462982, + 0.11494076018089885, + -0.9913880074712083, + 0.06275699396325836, + 0.1268309179925638, + -0.04801266723029132, + -0.9907616777139681 + ], + [ + 0.9863031836573832, + 0.11487408740702311, + 0.1183637357880934, + 0.10870910259636245, + -0.9924203098527998, + 0.05730846014652782, + 0.12404983240618872, + -0.04365630119554609, + -0.9913151700876569 + ], + [ + 0.9843352714130592, + 0.12556662442691813, + 0.1237622570988785, + 0.11935880695785744, + -0.9912486602887158, + 0.05638766423096068, + 0.1297595802003711, + -0.04073225142139735, + -0.9907085015484464 + ], + [ + 0.9817543094352883, + 0.12486308386493548, + 0.14341438628317027, + 0.11801519384803537, + -0.9914687998287317, + 0.05533563939438263, + 0.14910026802876958, + -0.03740092584298689, + -0.9881145079492744 + ], + [ + 0.9801193524415285, + 0.12110189929457922, + 0.15716356116111788, + 0.11372631502667775, + -0.9919810032666965, + 0.05513632585193849, + 0.1625803808583671, + -0.036166547322683235, + -0.9860322513055566 + ], + [ + 0.9791878903043136, + 0.11211391766585037, + 0.1691790322321384, + 0.10106071912938945, + -0.9922266623283587, + 0.07261529875843398, + 0.17600513211392063, + -0.05400666653609434, + -0.9829066453327198 + ], + [ + 0.9783519997143435, + 0.09402833489919961, + 0.18435302246241891, + 0.07895853802517495, + -0.9930336276691467, + 0.08746292695297482, + 0.1912927440544261, + -0.07101328435115763, + -0.9789607752702808 + ], + [ + 0.978139007957218, + 0.09567241936613485, + 0.18463712867432733, + 0.08068048847205003, + -0.9929284237615255, + 0.08708503927979926, + 0.19166308954094705, + -0.07028466019753672, + -0.9789409209183851 + ], + [ + 0.9853581887852881, + 0.09639610671309128, + 0.14063083020566428, + 0.08222551765416473, + -0.9912433139445583, + 0.10332307006043775, + 0.14935931186330734, + -0.0902467903626927, + -0.984655936248267 + ], + [ + 0.9951065377953043, + 0.08559059740770496, + 0.049368290151016334, + 0.07632903006378745, + -0.9831693302702867, + 0.16598779227821978, + 0.06274438306784279, + -0.1614073035871307, + -0.9848912755945033 + ], + [ + 0.9970342969985099, + 0.018832559380151943, + 0.07461866600174917, + 0.0017373241518110292, + -0.9748569864394923, + 0.22282467927701247, + 0.07693888687444782, + -0.22203421064625375, + -0.9719985684090364 + ], + [ + 0.9941518348653742, + -0.05313249397098251, + 0.09401631410682915, + -0.07458013089925096, + -0.9674325118491065, + 0.24189282563230247, + 0.07810206981163206, + -0.24748994545587583, + -0.9657374351185664 + ], + [ + 0.9835527711477595, + -0.10722872623390739, + 0.1453476750340944, + -0.14001512689268644, + -0.9609951493959744, + 0.23850385128679502, + 0.11410394650838279, + -0.25493199702599606, + -0.9602030859581475 + ], + [ + 0.9726570261641626, + -0.13004851618022228, + 0.1924206145214429, + -0.1718892291820836, + -0.9602654858625758, + 0.21987334889044718, + 0.1561806721226298, + -0.24693638877337143, + -0.9563629110096699 + ], + [ + 0.9629537557417538, + -0.15533489676825915, + 0.22043396777458052, + -0.20098074968502153, + -0.9584154637418274, + 0.20259944994146584, + 0.17979655880716194, + -0.2393968853317271, + -0.9541290943758977 + ], + [ + 0.9589255676984811, + -0.17403491811556726, + 0.22399464924558754, + -0.21568104763628326, + -0.9602383967328428, + 0.17726789650259628, + 0.18423745901597022, + -0.2182981189026778, + -0.9583331831773808 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + 0.0036035627126693726, + -0.014711402356624603, + -0.003490142524242401, + -0.0008145719766616821, + 0.023246560245752335, + 0.01824914664030075, + 1.0 + ], + [ + 0.01884649693965912, + -0.04324799031019211, + 0.006997659802436829, + 0.046267569065093994, + -0.023525264114141464, + 0.02039189636707306, + 1.0 + ], + [ + 0.019817188382148743, + -0.04551728442311287, + 0.01033288985490799, + 0.025517791509628296, + -0.07768718898296356, + -0.001234792172908783, + 1.0 + ], + [ + 0.025874316692352295, + -0.030324475839734077, + -0.003739878535270691, + -0.0051583051681518555, + -0.03186216950416565, + -0.006507299840450287, + 1.0 + ], + [ + 0.022308290004730225, + -0.02027243934571743, + -0.008860915899276733, + -0.03537096083164215, + -0.026175037026405334, + -0.016266293823719025, + 1.0 + ], + [ + 0.008115202188491821, + -0.001652248203754425, + -0.010797172784805298, + -0.03937578201293945, + -0.009146064519882202, + -0.0003023222088813782, + 1.0 + ], + [ + 0.0009251534938812256, + 0.0028036050498485565, + -0.013207860291004181, + -0.030183695256710052, + 0.0028365105390548706, + 0.009773604571819305, + 1.0 + ], + [ + -0.004317939281463623, + 0.002169787883758545, + -0.009680107235908508, + -0.027045920491218567, + 0.04575762152671814, + 0.002309635281562805, + 1.0 + ], + [ + -0.00186881422996521, + 0.005025241523981094, + -0.0037533193826675415, + -0.01392829418182373, + 0.03318782150745392, + 0.012851685285568237, + 1.0 + ], + [ + 0.0004640519618988037, + 0.0027853846549987793, + -0.00023327022790908813, + -0.004412144422531128, + 0.002803228795528412, + -0.006361782550811768, + 1.0 + ], + [ + 0.0033015012741088867, + 0.008982579223811626, + -0.006268225610256195, + -0.002919211983680725, + -0.005756296217441559, + 0.010893508791923523, + 1.0 + ], + [ + 0.0012200772762298584, + 0.0008965311571955681, + -0.003633607178926468, + -0.00325838103890419, + -0.019531801342964172, + -0.0010347217321395874, + 1.0 + ], + [ + -0.0005016624927520752, + 0.0006100740283727646, + -0.005803156644105911, + -0.0011703073978424072, + -0.013646960258483887, + -0.004117891192436218, + 1.0 + ], + [ + -0.0018513500690460205, + 0.0021105948835611343, + -0.00476008839905262, + 0.01822824776172638, + -0.013621479272842407, + -0.012671977281570435, + 0.0 + ], + [ + -0.0012345314025878906, + -0.0018902309238910675, + -0.002752525731921196, + 0.017521943897008896, + -0.015552297234535217, + -0.02231346070766449, + 0.0 + ], + [ + 0.00021514296531677246, + -0.0009754505008459091, + 0.0002956390380859375, + -0.000738978385925293, + -0.00037732720375061035, + 0.0017662495374679565, + 0.0 + ], + [ + -0.0020264089107513428, + -0.000611504539847374, + 0.004865866154432297, + 0.019724123179912567, + 0.042936086654663086, + 0.0009570866823196411, + 0.0 + ], + [ + -0.010391861200332642, + 0.008610360324382782, + 0.024065092206001282, + 0.07104162126779556, + 0.08713465929031372, + -0.006699971854686737, + 0.0 + ], + [ + -0.006918072700500488, + 0.03641846030950546, + 0.04893443360924721, + 0.06213793158531189, + -0.014229372143745422, + -0.07481198757886887, + 0.0 + ], + [ + -0.002707242965698242, + 0.04646679013967514, + 0.007095031440258026, + 0.026294156908988953, + -0.0011666938662528992, + -0.07662108540534973, + 0.0 + ], + [ + 0.0041464269161224365, + 0.039389073848724365, + 0.0049103423953056335, + 0.008639514446258545, + -0.0361713171005249, + -0.06652779132127762, + 0.0 + ], + [ + 0.00657692551612854, + 0.025445744395256042, + -0.008973315358161926, + -0.006826281547546387, + -0.04246967285871506, + -0.03350895643234253, + 0.0 + ], + [ + 0.005355030298233032, + 0.005112305283546448, + -0.013087697327136993, + -0.006853356957435608, + -0.02395695447921753, + -0.030843675136566162, + 0.0 + ], + [ + 0.001950979232788086, + 0.0063139647245407104, + -0.01578177511692047, + -0.021863535046577454, + -0.004516348242759705, + -0.015478789806365967, + 0.0 + ], + [ + 0.00026851892471313477, + 0.001663297414779663, + -0.007492877542972565, + -0.027749568223953247, + -0.02114012837409973, + -0.005434900522232056, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9650423526763916 + ], + [ + 0.9650423526763916 + ], + [ + 0.9650423526763916 + ], + [ + 0.9657809734344482 + ], + [ + 0.9657809734344482 + ], + [ + 0.9650423526763916 + ], + [ + 0.9650423526763916 + ], + [ + 0.9650423526763916 + ], + [ + 0.9650423526763916 + ], + [ + 0.9650423526763916 + ], + [ + 0.9650423526763916 + ], + [ + 0.9650423526763916 + ], + [ + 0.9650423526763916 + ], + [ + 0.7931879758834839 + ], + [ + 0.5344430208206177 + ], + [ + 0.3437051773071289 + ], + [ + 0.3188876807689667 + ], + [ + 0.3188876807689667 + ], + [ + 0.3181038796901703 + ], + [ + 0.3188876807689667 + ], + [ + 0.3181038796901703 + ], + [ + 0.3181038796901703 + ], + [ + 0.3181038796901703 + ], + [ + 0.3181038796901703 + ], + [ + 0.5462315082550049 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.22952944040298462, + 0.10674723237752914, + 0.08338917046785355 + ], + [ + 0.24837593734264374, + 0.06349924206733704, + 0.09038683027029037 + ], + [ + 0.2681931257247925, + 0.017981957644224167, + 0.10071972012519836 + ], + [ + 0.2940674424171448, + -0.01234251819550991, + 0.09697984158992767 + ], + [ + 0.316375732421875, + -0.03261495754122734, + 0.08811892569065094 + ], + [ + 0.3244909346103668, + -0.034267205744981766, + 0.07732175290584564 + ], + [ + 0.32541608810424805, + -0.03146360069513321, + 0.06411389261484146 + ], + [ + 0.3210981488227844, + -0.029293812811374664, + 0.05443378537893295 + ], + [ + 0.3192293345928192, + -0.02426857128739357, + 0.05068046599626541 + ], + [ + 0.319693386554718, + -0.02148318663239479, + 0.05044719576835632 + ], + [ + 0.3229948878288269, + -0.012500607408583164, + 0.04417897015810013 + ], + [ + 0.32421496510505676, + -0.011604076251387596, + 0.04054536297917366 + ], + [ + 0.3237133026123047, + -0.010994002223014832, + 0.03474220633506775 + ], + [ + 0.32186195254325867, + -0.008883407339453697, + 0.02998211793601513 + ], + [ + 0.3206274211406708, + -0.010773638263344765, + 0.027229592204093933 + ], + [ + 0.32084256410598755, + -0.011749088764190674, + 0.02752523124217987 + ], + [ + 0.3188161551952362, + -0.012360593304038048, + 0.03239109739661217 + ], + [ + 0.30842429399490356, + -0.0037502332124859095, + 0.05645618960261345 + ], + [ + 0.3015062212944031, + 0.03266822546720505, + 0.10539062321186066 + ], + [ + 0.29879897832870483, + 0.07913501560688019, + 0.11248565465211868 + ], + [ + 0.30294540524482727, + 0.11852408945560455, + 0.11739599704742432 + ], + [ + 0.3095223307609558, + 0.1439698338508606, + 0.10842268168926239 + ], + [ + 0.31487736105918884, + 0.14908213913440704, + 0.0953349843621254 + ], + [ + 0.31682834029197693, + 0.15539610385894775, + 0.07955320924520493 + ], + [ + 0.31709685921669006, + 0.15705940127372742, + 0.07206033170223236 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9946606642890744, + 0.09934522573537745, + 0.0279408131521604, + 0.09489983216881885, + -0.9868831409576243, + 0.13059742703416377, + 0.040548548313682646, + -0.12724854504944494, + -0.9910416858096597 + ], + [ + 0.9912967064718222, + 0.12452788433298637, + 0.042704165624306574, + 0.1150199125140827, + -0.9770644962718043, + 0.17920767240935348, + 0.06404107637579648, + -0.17273614603977872, + -0.9828840035263335 + ], + [ + 0.9835099188557962, + 0.13958610733968543, + 0.1149954701282567, + 0.11288580904416902, + -0.9705824882900758, + 0.212665059521042, + 0.14129767736487522, + -0.1961768387511603, + -0.9703347949593959 + ], + [ + 0.9792489498403172, + 0.1387061738696929, + 0.14775686639566557, + 0.1059452534243745, + -0.9718968699762894, + 0.210219117606217, + 0.17276312544487352, + -0.1902027114967659, + -0.9664242500195227 + ], + [ + 0.9760040297877507, + 0.12151108008591056, + 0.18069640631298275, + 0.0895591906745314, + -0.9803913166103498, + 0.1755335229542991, + 0.19848245565740577, + -0.15513840185904956, + -0.9677483097711025 + ], + [ + 0.97418247496558, + 0.11506934330872005, + 0.19423581466979004, + 0.08909505419448512, + -0.9864785819162768, + 0.13755754700681888, + 0.20743812761404026, + -0.11670070115878202, + -0.9712622558099484 + ], + [ + 0.9738466679240818, + 0.11858079125849072, + 0.19380728396444213, + 0.09867083829857867, + -0.9890914782401348, + 0.10937144664948574, + 0.20466248567487738, + -0.08738789170849597, + -0.9749239064358435 + ], + [ + 0.9819088063711222, + 0.11279824044055918, + 0.15209093636489762, + 0.10177937299525684, + -0.9917121376481114, + 0.07840915299954092, + 0.15967484211211835, + -0.06151091768886914, + -0.9852514155288197 + ], + [ + 0.9852423762152136, + 0.12183842754936006, + 0.12022003860462982, + 0.11494076018089885, + -0.9913880074712083, + 0.06275699396325836, + 0.1268309179925638, + -0.04801266723029132, + -0.9907616777139681 + ], + [ + 0.9863031836573832, + 0.11487408740702311, + 0.1183637357880934, + 0.10870910259636245, + -0.9924203098527998, + 0.05730846014652782, + 0.12404983240618872, + -0.04365630119554609, + -0.9913151700876569 + ], + [ + 0.9843352714130592, + 0.12556662442691813, + 0.1237622570988785, + 0.11935880695785744, + -0.9912486602887158, + 0.05638766423096068, + 0.1297595802003711, + -0.04073225142139735, + -0.9907085015484464 + ], + [ + 0.9817543094352883, + 0.12486308386493548, + 0.14341438628317027, + 0.11801519384803537, + -0.9914687998287317, + 0.05533563939438263, + 0.14910026802876958, + -0.03740092584298689, + -0.9881145079492744 + ], + [ + 0.9801193524415285, + 0.12110189929457922, + 0.15716356116111788, + 0.11372631502667775, + -0.9919810032666965, + 0.05513632585193849, + 0.1625803808583671, + -0.036166547322683235, + -0.9860322513055566 + ], + [ + 0.9791878903043136, + 0.11211391766585037, + 0.1691790322321384, + 0.10106071912938945, + -0.9922266623283587, + 0.07261529875843398, + 0.17600513211392063, + -0.05400666653609434, + -0.9829066453327198 + ], + [ + 0.9783519997143435, + 0.09402833489919961, + 0.18435302246241891, + 0.07895853802517495, + -0.9930336276691467, + 0.08746292695297482, + 0.1912927440544261, + -0.07101328435115763, + -0.9789607752702808 + ], + [ + 0.978139007957218, + 0.09567241936613485, + 0.18463712867432733, + 0.08068048847205003, + -0.9929284237615255, + 0.08708503927979926, + 0.19166308954094705, + -0.07028466019753672, + -0.9789409209183851 + ], + [ + 0.9853581887852881, + 0.09639610671309128, + 0.14063083020566428, + 0.08222551765416473, + -0.9912433139445583, + 0.10332307006043775, + 0.14935931186330734, + -0.0902467903626927, + -0.984655936248267 + ], + [ + 0.9951065377953043, + 0.08559059740770496, + 0.049368290151016334, + 0.07632903006378745, + -0.9831693302702867, + 0.16598779227821978, + 0.06274438306784279, + -0.1614073035871307, + -0.9848912755945033 + ], + [ + 0.9970342969985099, + 0.018832559380151943, + 0.07461866600174917, + 0.0017373241518110292, + -0.9748569864394923, + 0.22282467927701247, + 0.07693888687444782, + -0.22203421064625375, + -0.9719985684090364 + ], + [ + 0.9941518348653742, + -0.05313249397098251, + 0.09401631410682915, + -0.07458013089925096, + -0.9674325118491065, + 0.24189282563230247, + 0.07810206981163206, + -0.24748994545587583, + -0.9657374351185664 + ], + [ + 0.9835527711477595, + -0.10722872623390739, + 0.1453476750340944, + -0.14001512689268644, + -0.9609951493959744, + 0.23850385128679502, + 0.11410394650838279, + -0.25493199702599606, + -0.9602030859581475 + ], + [ + 0.9726570261641626, + -0.13004851618022228, + 0.1924206145214429, + -0.1718892291820836, + -0.9602654858625758, + 0.21987334889044718, + 0.1561806721226298, + -0.24693638877337143, + -0.9563629110096699 + ], + [ + 0.9629537557417538, + -0.15533489676825915, + 0.22043396777458052, + -0.20098074968502153, + -0.9584154637418274, + 0.20259944994146584, + 0.17979655880716194, + -0.2393968853317271, + -0.9541290943758977 + ], + [ + 0.9589255676984811, + -0.17403491811556726, + 0.22399464924558754, + -0.21568104763628326, + -0.9602383967328428, + 0.17726789650259628, + 0.18423745901597022, + -0.2182981189026778, + -0.9583331831773808 + ], + [ + 0.9537303147221994, + -0.18148448890046837, + 0.23971205031960902, + -0.2199649054764728, + -0.9647021935860141, + 0.14479336327697967, + 0.20497299124182528, + -0.1908220584179638, + -0.9599859451484226 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006728.json b/json/chunk-0006/episode_0006728.json new file mode 100644 index 0000000000000000000000000000000000000000..46d3927faf850d33290da30f73b4a7da00dce9ce --- /dev/null +++ b/json/chunk-0006/episode_0006728.json @@ -0,0 +1,2302 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 37, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut a pink doll n the drawer." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006728.mp4", + "start": 0, + "end": 37, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2684532105922699, + -0.075868621468544, + 0.09871706366539001, + -0.07637034356594086, + -0.16647885739803314, + -0.29640886187553406, + 0.0, + 0.9988223910331726 + ], + [ + 0.26538482308387756, + -0.07516475021839142, + 0.09139593690633774, + -0.07834552973508835, + -0.1389363408088684, + -0.2961083650588989, + 0.0, + 0.9988223910331726 + ], + [ + 0.2645060122013092, + -0.07014529407024384, + 0.08954998850822449, + -0.04949565604329109, + -0.12017638981342316, + -0.29954418540000916, + 0.0, + 0.9988223910331726 + ], + [ + 0.25535812973976135, + -0.058533936738967896, + 0.09216136485338211, + -0.03252018243074417, + -0.13093967735767365, + -0.2791540026664734, + 0.0, + 0.9988223910331726 + ], + [ + 0.24251578748226166, + -0.04255137965083122, + 0.09678106755018234, + 0.0030613315757364035, + -0.1679074615240097, + -0.27132174372673035, + 0.0, + 0.9988223910331726 + ], + [ + 0.22981147468090057, + -0.026459109038114548, + 0.08658859878778458, + -0.006396515294909477, + -0.14516136050224304, + -0.27744388580322266, + 0.0, + 0.9988223910331726 + ], + [ + 0.22342176735401154, + -0.015844715759158134, + 0.07806048542261124, + -0.017826996743679047, + -0.13283327221870422, + -0.27039656043052673, + 0.0, + 0.9988223910331726 + ], + [ + 0.21559429168701172, + -0.009863009676337242, + 0.06379524618387222, + -0.044407378882169724, + -0.10935023427009583, + -0.29166653752326965, + 0.0, + 0.9988223910331726 + ], + [ + 0.20723342895507812, + -0.0034223771654069424, + 0.04432830214500427, + -0.06633375585079193, + -0.07703196257352829, + -0.28113898634910583, + 0.0, + 0.9988223910331726 + ], + [ + 0.20315439999103546, + -0.0021450689528137445, + 0.0325096994638443, + -0.06556663662195206, + -0.054231300950050354, + -0.3050404191017151, + 0.0, + 0.9988223910331726 + ], + [ + 0.1966906040906906, + -0.004785222001373768, + 0.021973256021738052, + -0.0666571855545044, + -0.03835416957736015, + -0.3227265477180481, + 0.0, + 0.9988223910331726 + ], + [ + 0.19220975041389465, + -0.009032901376485825, + 0.012220947071909904, + -0.0627257227897644, + -0.026860568672418594, + -0.35340937972068787, + 0.0, + 0.9981546401977539 + ], + [ + 0.1921098381280899, + -0.010113735683262348, + 0.0067288619466125965, + -0.07035065442323685, + -0.020826013758778572, + -0.35874423384666443, + 0.0, + 0.9553104043006897 + ], + [ + 0.19409193098545074, + -0.010987837798893452, + 0.00721764424815774, + -0.08001509308815002, + -0.03765745460987091, + -0.34933555126190186, + 0.0, + 0.6951970458030701 + ], + [ + 0.19543787837028503, + -0.01147054135799408, + 0.007508867420256138, + -0.08088900148868561, + -0.044496119022369385, + -0.3440444767475128, + 0.0, + 0.4356481730937958 + ], + [ + 0.19563157856464386, + -0.011147046461701393, + 0.007593275047838688, + -0.08540870994329453, + -0.04791385680437088, + -0.34724152088165283, + 0.0, + 0.29885798692703247 + ], + [ + 0.19431628286838531, + -0.0071783107705414295, + 0.015475641004741192, + -0.08694957196712494, + -0.06117947772145271, + -0.34199243783950806, + 0.0, + 0.25270670652389526 + ], + [ + 0.1907237023115158, + -0.007341149728745222, + 0.036287497729063034, + -0.1153043583035469, + -0.09140145778656006, + -0.3392111361026764, + 0.0, + 0.2372342199087143 + ], + [ + 0.19713100790977478, + -0.0025271917693316936, + 0.06544281542301178, + -0.14301395416259766, + -0.141869455575943, + -0.3032975196838379, + 0.0, + 0.2372342199087143 + ], + [ + 0.21185944974422455, + 0.002553581492975354, + 0.09183790534734726, + -0.16880019009113312, + -0.16831259429454803, + -0.26461437344551086, + 0.0, + 0.2372342199087143 + ], + [ + 0.23871849477291107, + 0.007609653286635876, + 0.11947847902774811, + -0.1993316262960434, + -0.22042079269886017, + -0.18312372267246246, + 0.0, + 0.2365749180316925 + ], + [ + 0.2664598524570465, + 0.017399024218320847, + 0.12869714200496674, + -0.1897101104259491, + -0.223195880651474, + -0.08226137608289719, + 0.0, + 0.2365749180316925 + ], + [ + 0.2896832525730133, + 0.028027934953570366, + 0.1275620460510254, + -0.13735975325107574, + -0.2281290590763092, + -0.01316421665251255, + 0.0, + 0.2365749180316925 + ], + [ + 0.30557018518447876, + 0.04171428084373474, + 0.1272180825471878, + -0.09384841471910477, + -0.2564722001552582, + 0.009809606708586216, + 0.0, + 0.2365749180316925 + ], + [ + 0.3171756863594055, + 0.05430633947253227, + 0.11884073168039322, + -0.04624440521001816, + -0.2604944407939911, + 0.03428658843040466, + 0.0, + 0.2365749180316925 + ], + [ + 0.32351839542388916, + 0.06367537379264832, + 0.10750092566013336, + -0.013234189711511135, + -0.250732421875, + 0.05008730664849281, + 0.0, + 0.2365749180316925 + ], + [ + 0.3306911289691925, + 0.07437550276517868, + 0.09405869245529175, + -0.0010025507071986794, + -0.22261424362659454, + 0.08150271326303482, + 0.0, + 0.2365749180316925 + ], + [ + 0.3350147008895874, + 0.08254128694534302, + 0.08205386251211166, + 0.008131866343319416, + -0.20060744881629944, + 0.10142908990383148, + 0.0, + 0.2365749180316925 + ], + [ + 0.3361218273639679, + 0.08384352177381516, + 0.07836594432592392, + 0.0160434078425169, + -0.20101022720336914, + 0.09366823732852936, + 0.0, + 0.2365749180316925 + ], + [ + 0.3333013951778412, + 0.08298225700855255, + 0.07649420946836472, + 0.022323986515402794, + -0.1986747831106186, + 0.07158038020133972, + 0.0, + 0.29134905338287354 + ], + [ + 0.3319046199321747, + 0.08005006611347198, + 0.07507485151290894, + 0.03221755474805832, + -0.1906275451183319, + 0.05692335590720177, + 0.0, + 0.5869058966636658 + ], + [ + 0.32857245206832886, + 0.07798130065202713, + 0.0767296850681305, + 0.03028317354619503, + -0.18940865993499756, + 0.05644017830491066, + 0.0, + 0.8870869278907776 + ], + [ + 0.3260327875614166, + 0.07488410919904709, + 0.0764508992433548, + 0.014518574811518192, + -0.17966288328170776, + 0.06492441892623901, + 0.0, + 0.9954678416252136 + ], + [ + 0.32455605268478394, + 0.07127184420824051, + 0.07961469143629074, + -0.0008476226357743144, + -0.17607757449150085, + 0.06751982867717743, + 0.0, + 0.9954678416252136 + ], + [ + 0.3233691453933716, + 0.06616301089525223, + 0.09376484900712967, + -0.02367929182946682, + -0.19083163142204285, + 0.0731179490685463, + 0.0, + 0.9954678416252136 + ], + [ + 0.3251325786113739, + 0.0599541962146759, + 0.11693522334098816, + -0.05461359769105911, + -0.23308727145195007, + 0.06873485445976257, + 0.0, + 0.9954678416252136 + ], + [ + 0.3238881826400757, + 0.052638404071331024, + 0.1462077796459198, + -0.08669961243867874, + -0.28887492418289185, + 0.045882515609264374, + 0.0, + 0.9954678416252136 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9981546401977539 + ], + [ + 0.9553104043006897 + ], + [ + 0.6951970458030701 + ], + [ + 0.4356481730937958 + ], + [ + 0.29885798692703247 + ], + [ + 0.25270670652389526 + ], + [ + 0.2372342199087143 + ], + [ + 0.2372342199087143 + ], + [ + 0.2372342199087143 + ], + [ + 0.2365749180316925 + ], + [ + 0.2365749180316925 + ], + [ + 0.2365749180316925 + ], + [ + 0.2365749180316925 + ], + [ + 0.2365749180316925 + ], + [ + 0.2365749180316925 + ], + [ + 0.2365749180316925 + ], + [ + 0.2365749180316925 + ], + [ + 0.2365749180316925 + ], + [ + 0.29134905338287354 + ], + [ + 0.5869058966636658 + ], + [ + 0.8870869278907776 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2684532105922699, + -0.075868621468544, + 0.09871706366539001 + ], + [ + 0.26538482308387756, + -0.07516475021839142, + 0.09139593690633774 + ], + [ + 0.2645060122013092, + -0.07014529407024384, + 0.08954998850822449 + ], + [ + 0.25535812973976135, + -0.058533936738967896, + 0.09216136485338211 + ], + [ + 0.24251578748226166, + -0.04255137965083122, + 0.09678106755018234 + ], + [ + 0.22981147468090057, + -0.026459109038114548, + 0.08658859878778458 + ], + [ + 0.22342176735401154, + -0.015844715759158134, + 0.07806048542261124 + ], + [ + 0.21559429168701172, + -0.009863009676337242, + 0.06379524618387222 + ], + [ + 0.20723342895507812, + -0.0034223771654069424, + 0.04432830214500427 + ], + [ + 0.20315439999103546, + -0.0021450689528137445, + 0.0325096994638443 + ], + [ + 0.1966906040906906, + -0.004785222001373768, + 0.021973256021738052 + ], + [ + 0.19220975041389465, + -0.009032901376485825, + 0.012220947071909904 + ], + [ + 0.1921098381280899, + -0.010113735683262348, + 0.0067288619466125965 + ], + [ + 0.19409193098545074, + -0.010987837798893452, + 0.00721764424815774 + ], + [ + 0.19543787837028503, + -0.01147054135799408, + 0.007508867420256138 + ], + [ + 0.19563157856464386, + -0.011147046461701393, + 0.007593275047838688 + ], + [ + 0.19431628286838531, + -0.0071783107705414295, + 0.015475641004741192 + ], + [ + 0.1907237023115158, + -0.007341149728745222, + 0.036287497729063034 + ], + [ + 0.19713100790977478, + -0.0025271917693316936, + 0.06544281542301178 + ], + [ + 0.21185944974422455, + 0.002553581492975354, + 0.09183790534734726 + ], + [ + 0.23871849477291107, + 0.007609653286635876, + 0.11947847902774811 + ], + [ + 0.2664598524570465, + 0.017399024218320847, + 0.12869714200496674 + ], + [ + 0.2896832525730133, + 0.028027934953570366, + 0.1275620460510254 + ], + [ + 0.30557018518447876, + 0.04171428084373474, + 0.1272180825471878 + ], + [ + 0.3171756863594055, + 0.05430633947253227, + 0.11884073168039322 + ], + [ + 0.32351839542388916, + 0.06367537379264832, + 0.10750092566013336 + ], + [ + 0.3306911289691925, + 0.07437550276517868, + 0.09405869245529175 + ], + [ + 0.3350147008895874, + 0.08254128694534302, + 0.08205386251211166 + ], + [ + 0.3361218273639679, + 0.08384352177381516, + 0.07836594432592392 + ], + [ + 0.3333013951778412, + 0.08298225700855255, + 0.07649420946836472 + ], + [ + 0.3319046199321747, + 0.08005006611347198, + 0.07507485151290894 + ], + [ + 0.32857245206832886, + 0.07798130065202713, + 0.0767296850681305 + ], + [ + 0.3260327875614166, + 0.07488410919904709, + 0.0764508992433548 + ], + [ + 0.32455605268478394, + 0.07127184420824051, + 0.07961469143629074 + ], + [ + 0.3233691453933716, + 0.06616301089525223, + 0.09376484900712967 + ], + [ + 0.3251325786113739, + 0.0599541962146759, + 0.11693522334098816 + ], + [ + 0.3238881826400757, + 0.052638404071331024, + 0.1462077796459198 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9431688654220086, + -0.3033279431383721, + 0.1357374311308603, + -0.2880492689113543, + -0.9499109999469102, + -0.12122999158415804, + 0.16571092292964518, + 0.07524128581640041, + -0.9832998723332061 + ], + [ + 0.9472625425145573, + -0.3012723176830647, + 0.1092184331820006, + -0.28898833090356235, + -0.9503825544327197, + -0.11514662318762109, + 0.13848978355976216, + 0.07751123033350305, + -0.9873259791080943 + ], + [ + 0.9485797612483714, + -0.30039069828030035, + 0.09980914255045145, + -0.2929564224135523, + -0.9525506762124455, + -0.08260595507507418, + 0.11988732675572955, + 0.04911860781706304, + -0.9915716773130818 + ], + [ + 0.9530599131660019, + -0.27947774759344474, + 0.11648600995874035, + -0.27318375690349844, + -0.9596108698145356, + -0.06721319437343162, + 0.13056583350977854, + 0.03223611536592532, + -0.9909154333170977 + ], + [ + 0.9498686066344116, + -0.26751091378570413, + 0.1618256504264354, + -0.2642360069690226, + -0.9635501030181383, + -0.041839354617414254, + 0.16711960612527768, + -0.0030182742209198844, + -0.9859320094556517 + ], + [ + 0.9516434720881738, + -0.2747824574283044, + 0.1373655820124796, + -0.27101747811618326, + -0.9614855913384436, + -0.0457709974122012, + 0.1446520949986876, + 0.006329197281302004, + -0.9894623351468539 + ], + [ + 0.9551757592206521, + -0.2693463167259187, + 0.12284881221823842, + -0.2647605053030099, + -0.9628812842373908, + -0.05255004564268182, + 0.13244298331337073, + 0.017669016145053153, + -0.991033128628665 + ], + [ + 0.952045467732392, + -0.29190538006186517, + 0.09165520422294225, + -0.28583131057753897, + -0.9554286999989795, + -0.07386786250993405, + 0.10913243909918659, + 0.04412763656936661, + -0.9930472609231971 + ], + [ + 0.9578909800858961, + -0.28174066705042555, + 0.05538110508163229, + -0.27662732127934453, + -0.957211836457598, + -0.0849872064918433, + 0.07695580154800465, + 0.06608855177301237, + -0.9948417501958039 + ], + [ + 0.9524325276289834, + -0.3030739201153496, + 0.0319136218593257, + -0.29989019391795246, + -0.9507186676279692, + -0.07873935874485927, + 0.0542047221754543, + 0.06542334422523424, + -0.9963842803478326 + ], + [ + 0.9476767462767846, + -0.3188714059403059, + 0.015159519778008673, + -0.316920279285901, + -0.9454580614917917, + -0.07530332354903241, + 0.03834476683452026, + 0.06655884940288834, + -0.9970454344825868 + ], + [ + 0.937859756686934, + -0.346997340352584, + 0.0034529082463614635, + -0.3459736408124755, + -0.9357704425947385, + -0.06808758057830552, + 0.026857338849650962, + 0.06266198651718655, + -0.9976733728007553 + ], + [ + 0.9361354113368274, + -0.3516008364387986, + -0.005229097127211193, + -0.3510225512608721, + -0.9335084035500997, + -0.07311107308508291, + 0.020824508338421956, + 0.07027739549016551, + -0.9973100959759614 + ], + [ + 0.9389342061547377, + -0.34400594468216067, + 0.007903577411958528, + -0.34203090915703177, + -0.9355641091891471, + -0.08794688612072694, + 0.037648555002641526, + 0.07987307193574071, + -0.9960938101834391 + ], + [ + 0.9404663921912093, + -0.3395779454603166, + 0.014483926118309823, + -0.336963450362182, + -0.9371077655135936, + -0.09102015674636588, + 0.0444814374640002, + 0.08072084471231647, + -0.9957437154961443 + ], + [ + 0.9392358623271235, + -0.3429066841326143, + 0.015843007788940548, + -0.3399147150549841, + -0.9354970718459448, + -0.09645317546225457, + 0.047895525967609334, + 0.08520700995128838, + -0.9952114268071118 + ], + [ + 0.9403258075954083, + -0.33909992293692903, + 0.02825982721482643, + -0.33473738151539745, + -0.9367487594377233, + -0.10223818811041964, + 0.06114131979486762, + 0.08667758623805306, + -0.9943584540082547 + ], + [ + 0.9390810989910872, + -0.34043644513658705, + 0.0472198723045265, + -0.33135434432078975, + -0.9332614952782962, + -0.13866246763511242, + 0.09127424618933731, + 0.1145687926692196, + -0.9892133256931418 + ], + [ + 0.9447687685892314, + -0.3148523388269984, + 0.09099438792340879, + -0.2956682277402269, + -0.9385947992458306, + -0.17782042046298224, + 0.14139403453943936, + 0.14109503025921016, + -0.9798468857085845 + ], + [ + 0.9515541283114334, + -0.284983450442832, + 0.11545204141619442, + -0.2578412617731709, + -0.944114699678295, + -0.2053419527972371, + 0.1675190276377222, + 0.16562568286670243, + -0.9718567325250421 + ], + [ + 0.9594897282956625, + -0.22106616958153388, + 0.17466885801900703, + -0.1776960903002698, + -0.9559259759014828, + -0.23372981857006567, + 0.21864025426968817, + 0.19322338694719635, + -0.9564837489207749 + ], + [ + 0.9718973509776072, + -0.1222936949857967, + 0.20114619392230942, + -0.08013044089650018, + -0.9753082995516008, + -0.20579803999916513, + 0.22134735508797676, + 0.1838966367079246, + -0.9576990004187491 + ], + [ + 0.9740068209851933, + -0.04400422562314372, + 0.22220337711570703, + -0.012822777535615266, + -0.9900874964225039, + -0.13986538458135575, + 0.22615545328510162, + 0.13338057412954066, + -0.9649162312834645 + ], + [ + 0.9672443514030057, + -0.014004144903551511, + 0.25346054644559485, + 0.00948859103757754, + -0.995784752710948, + -0.09122879429499177, + 0.2536697288189918, + 0.0906455194365207, + -0.9630342976690824 + ], + [ + 0.9656948497165511, + 0.022343833230630397, + 0.2587164670976501, + 0.033123362490965064, + -0.9987519683047611, + -0.03738112711860604, + 0.2575583430763209, + 0.044668321257094856, + -0.9652297348237118 + ], + [ + 0.9675160655697238, + 0.04678261423613119, + 0.24844325281583948, + 0.04850083928605, + -0.9988228244950781, + -0.0007961508796497626, + 0.24811354548478512, + 0.012819995043203133, + -0.9686461254111646 + ], + [ + 0.9720860152971651, + 0.08119186094047195, + 0.2201287363810179, + 0.07940354344935655, + -0.9966980112362318, + 0.016975031234945058, + 0.22078010814239304, + 0.0009778112109594516, + -0.975323119655158 + ], + [ + 0.9749092633598738, + 0.10286396433736805, + 0.1974105697674493, + 0.09922466274905134, + -0.9946635132872709, + 0.02826590945574365, + 0.19926463438715192, + -0.007968699757422704, + -0.979913315200243 + ], + [ + 0.9755699771626193, + 0.09670832775655287, + 0.1972580011088471, + 0.0916481092460067, + -0.9951886204140689, + 0.03464439160924338, + 0.19965931916782345, + -0.015719705495769877, + -0.9797392750770828 + ], + [ + 0.9778185885312928, + 0.07589589384006928, + 0.19521941814503924, + 0.07011241343712474, + -0.9968755921069861, + 0.036377236609834246, + 0.19737035594205232, + -0.02188303360055707, + -0.9800847287024448 + ], + [ + 0.9802951674441955, + 0.06295657897493755, + 0.18723742641183855, + 0.05586203974982471, + -0.9975149665633685, + 0.04293394923682789, + 0.18947510971245063, + -0.03162847839928379, + -0.9813759840925396 + ], + [ + 0.9805518966785894, + 0.06207606537239256, + 0.18618415622147635, + 0.055401363280798005, + -0.99762832297746, + 0.0408462744911905, + 0.18827816354173874, + -0.029737035848636274, + -0.9816654429245674 + ], + [ + 0.9818310527506414, + 0.06746086111674689, + 0.1773606948338727, + 0.06383452714242639, + -0.9976196613201194, + 0.026079963420854495, + 0.17869789310193326, + -0.014284381852823332, + -0.9838002944886796 + ], + [ + 0.9822949858411066, + 0.06732037413452381, + 0.17482713753250148, + 0.06642536264610306, + -0.9977310613627012, + 0.010972711123133144, + 0.17516915250338497, + 0.0008345168936399194, + -0.9845379990598638 + ], + [ + 0.9792234119616089, + 0.06855337363986304, + 0.19084534164830524, + 0.07172667568583137, + -0.9973765585917089, + -0.00976137115465156, + 0.18967549515244342, + 0.02324726509404121, + -0.9815715823129368 + ], + [ + 0.9706604719973162, + 0.05599960725716101, + 0.23384245142614912, + 0.06682347482796908, + -0.9970172203498923, + -0.03861716636018431, + 0.23098240477114912, + 0.05311032209296124, + -0.9715072940402038 + ], + [ + 0.9575561758899109, + 0.021052572124740945, + 0.2874768846742681, + 0.0439659429624152, + -0.9963268885233595, + -0.07348283517112404, + 0.28487394734253163, + 0.08300313495461188, + -0.9549645614959703 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.003068387508392334, + 0.0007038712501525879, + -0.007321126759052277, + -0.0019751861691474915, + 0.027542516589164734, + 0.00030049681663513184, + 1.0 + ], + [ + -0.0008788108825683594, + 0.005019456148147583, + -0.0018459483981132507, + 0.028849873691797256, + 0.01875995099544525, + -0.0034358203411102295, + 1.0 + ], + [ + -0.009147882461547852, + 0.01161135733127594, + 0.0026113763451576233, + 0.01697547361254692, + -0.010763287544250488, + 0.020390182733535767, + 1.0 + ], + [ + -0.012842342257499695, + 0.015982557088136673, + 0.004619702696800232, + 0.03558151423931122, + -0.03696778416633606, + 0.007832258939743042, + 1.0 + ], + [ + -0.012704312801361084, + 0.016092270612716675, + -0.010192468762397766, + -0.009457847103476524, + 0.022746101021766663, + -0.00612214207649231, + 1.0 + ], + [ + -0.006389707326889038, + 0.010614393278956413, + -0.00852811336517334, + -0.01143048144876957, + 0.012328088283538818, + 0.007047325372695923, + 1.0 + ], + [ + -0.007827475666999817, + 0.005981706082820892, + -0.014265239238739014, + -0.026580382138490677, + 0.0234830379486084, + -0.02126997709274292, + 1.0 + ], + [ + -0.008360862731933594, + 0.0064406325109303, + -0.01946694403886795, + -0.021926376968622208, + 0.032318271696567535, + 0.010527551174163818, + 1.0 + ], + [ + -0.004079028964042664, + 0.0012773082125931978, + -0.011818602681159973, + 0.0007671192288398743, + 0.022800661623477936, + -0.023901432752609253, + 1.0 + ], + [ + -0.006463795900344849, + -0.0026401530485600233, + -0.010536443442106247, + -0.0010905489325523376, + 0.0158771313726902, + -0.017686128616333008, + 1.0 + ], + [ + -0.0044808536767959595, + -0.004247679375112057, + -0.009752308949828148, + 0.00393146276473999, + 0.011493600904941559, + -0.03068283200263977, + 1.0 + ], + [ + -9.991228580474854e-05, + -0.0010808343067765236, + -0.005492085125297308, + -0.007624931633472443, + 0.006034554913640022, + -0.0053348541259765625, + 0.0 + ], + [ + 0.00198209285736084, + -0.0008741021156311035, + 0.0004887823015451431, + -0.009664438664913177, + -0.01683144085109234, + 0.009408682584762573, + 0.0 + ], + [ + 0.0013459473848342896, + -0.0004827035591006279, + 0.0002912231720983982, + -0.0008739084005355835, + -0.006838664412498474, + 0.005291074514389038, + 0.0 + ], + [ + 0.00019370019435882568, + 0.00032349489629268646, + 8.440762758255005e-05, + -0.004519708454608917, + -0.0034177377820014954, + -0.0031970441341400146, + 0.0 + ], + [ + -0.001315295696258545, + 0.003968735691159964, + 0.007882365956902504, + -0.0015408620238304138, + -0.013265620917081833, + 0.005249083042144775, + 0.0 + ], + [ + -0.003592580556869507, + -0.00016283895820379257, + 0.020811855792999268, + -0.028354786336421967, + -0.030221980065107346, + 0.002781301736831665, + 0.0 + ], + [ + 0.006407305598258972, + 0.0048139579594135284, + 0.029155317693948746, + -0.02770959585905075, + -0.050467997789382935, + 0.0359136164188385, + 0.0 + ], + [ + 0.014728441834449768, + 0.0050807734951376915, + 0.02639508992433548, + -0.02578623592853546, + -0.02644313871860504, + 0.038683146238327026, + 0.0 + ], + [ + 0.026859045028686523, + 0.005056072026491165, + 0.02764057368040085, + -0.03053143620491028, + -0.052108198404312134, + 0.0814906507730484, + 0.0 + ], + [ + 0.027741357684135437, + 0.00978937093168497, + 0.009218662977218628, + 0.0096215158700943, + -0.0027750879526138306, + 0.10086234658956528, + 0.0 + ], + [ + 0.023223400115966797, + 0.01062891073524952, + -0.0011350959539413452, + 0.05235035717487335, + -0.004933178424835205, + 0.06909716129302979, + 0.0 + ], + [ + 0.015886932611465454, + 0.013686345890164375, + -0.00034396350383758545, + 0.04351133853197098, + -0.028343141078948975, + 0.02297382429242134, + 0.0 + ], + [ + 0.011605501174926758, + 0.012592058628797531, + -0.008377350866794586, + 0.04760400950908661, + -0.00402224063873291, + 0.02447698265314102, + 0.0 + ], + [ + 0.006342709064483643, + 0.009369034320116043, + -0.011339806020259857, + 0.03301021456718445, + 0.009762018918991089, + 0.01580071821808815, + 0.0 + ], + [ + 0.007172733545303345, + 0.010700128972530365, + -0.013442233204841614, + 0.01223163865506649, + 0.028118178248405457, + 0.03141540661454201, + 0.0 + ], + [ + 0.0043235719203948975, + 0.008165784180164337, + -0.012004829943180084, + 0.009134417399764061, + 0.022006794810295105, + 0.01992637664079666, + 0.0 + ], + [ + 0.0011071264743804932, + 0.0013022348284721375, + -0.003687918186187744, + 0.007911541499197483, + -0.00040277838706970215, + -0.007760852575302124, + 0.0 + ], + [ + -0.002820432186126709, + -0.0008612647652626038, + -0.001871734857559204, + 0.006280578672885895, + 0.0023354440927505493, + -0.022087857127189636, + 1.0 + ], + [ + -0.001396775245666504, + -0.0029321908950805664, + -0.00141935795545578, + 0.009893568232655525, + 0.008047237992286682, + -0.014657024294137955, + 1.0 + ], + [ + -0.003332167863845825, + -0.0020687654614448547, + 0.0016548335552215576, + -0.0019343812018632889, + 0.0012188851833343506, + -0.0004831776022911072, + 1.0 + ], + [ + -0.0025396645069122314, + -0.0030971914529800415, + -0.0002787858247756958, + -0.015764597803354263, + 0.009745776653289795, + 0.008484240621328354, + 1.0 + ], + [ + -0.0014767348766326904, + -0.0036122649908065796, + 0.0031637921929359436, + -0.015366197563707829, + 0.003585308790206909, + 0.0025954097509384155, + 1.0 + ], + [ + -0.0011869072914123535, + -0.005108833312988281, + 0.014150157570838928, + -0.022831669077277184, + -0.014754056930541992, + 0.005598120391368866, + 1.0 + ], + [ + 0.0017634332180023193, + -0.0062088146805763245, + 0.02317037433385849, + -0.030934305861592293, + -0.04225564002990723, + -0.004383094608783722, + 1.0 + ], + [ + -0.0012443959712982178, + -0.007315792143344879, + 0.02927255630493164, + -0.03208601474761963, + -0.05578765273094177, + -0.0228523388504982, + 1.0 + ], + [ + -0.0030829012393951416, + 0.004421763122081757, + 0.007982879877090454, + 0.04748373106122017, + -0.018963128328323364, + -0.012191947549581528, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9981546401977539 + ], + [ + 0.9553104043006897 + ], + [ + 0.6951970458030701 + ], + [ + 0.4356481730937958 + ], + [ + 0.29885798692703247 + ], + [ + 0.25270670652389526 + ], + [ + 0.2372342199087143 + ], + [ + 0.2372342199087143 + ], + [ + 0.2372342199087143 + ], + [ + 0.2365749180316925 + ], + [ + 0.2365749180316925 + ], + [ + 0.2365749180316925 + ], + [ + 0.2365749180316925 + ], + [ + 0.2365749180316925 + ], + [ + 0.2365749180316925 + ], + [ + 0.2365749180316925 + ], + [ + 0.2365749180316925 + ], + [ + 0.2365749180316925 + ], + [ + 0.29134905338287354 + ], + [ + 0.5869058966636658 + ], + [ + 0.8870869278907776 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ], + [ + 0.9954678416252136 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.26538482308387756, + -0.07516475021839142, + 0.09139593690633774 + ], + [ + 0.2645060122013092, + -0.07014529407024384, + 0.08954998850822449 + ], + [ + 0.25535812973976135, + -0.058533936738967896, + 0.09216136485338211 + ], + [ + 0.24251578748226166, + -0.04255137965083122, + 0.09678106755018234 + ], + [ + 0.22981147468090057, + -0.026459109038114548, + 0.08658859878778458 + ], + [ + 0.22342176735401154, + -0.015844715759158134, + 0.07806048542261124 + ], + [ + 0.21559429168701172, + -0.009863009676337242, + 0.06379524618387222 + ], + [ + 0.20723342895507812, + -0.0034223771654069424, + 0.04432830214500427 + ], + [ + 0.20315439999103546, + -0.0021450689528137445, + 0.0325096994638443 + ], + [ + 0.1966906040906906, + -0.004785222001373768, + 0.021973256021738052 + ], + [ + 0.19220975041389465, + -0.009032901376485825, + 0.012220947071909904 + ], + [ + 0.1921098381280899, + -0.010113735683262348, + 0.0067288619466125965 + ], + [ + 0.19409193098545074, + -0.010987837798893452, + 0.00721764424815774 + ], + [ + 0.19543787837028503, + -0.01147054135799408, + 0.007508867420256138 + ], + [ + 0.19563157856464386, + -0.011147046461701393, + 0.007593275047838688 + ], + [ + 0.19431628286838531, + -0.0071783107705414295, + 0.015475641004741192 + ], + [ + 0.1907237023115158, + -0.007341149728745222, + 0.036287497729063034 + ], + [ + 0.19713100790977478, + -0.0025271917693316936, + 0.06544281542301178 + ], + [ + 0.21185944974422455, + 0.002553581492975354, + 0.09183790534734726 + ], + [ + 0.23871849477291107, + 0.007609653286635876, + 0.11947847902774811 + ], + [ + 0.2664598524570465, + 0.017399024218320847, + 0.12869714200496674 + ], + [ + 0.2896832525730133, + 0.028027934953570366, + 0.1275620460510254 + ], + [ + 0.30557018518447876, + 0.04171428084373474, + 0.1272180825471878 + ], + [ + 0.3171756863594055, + 0.05430633947253227, + 0.11884073168039322 + ], + [ + 0.32351839542388916, + 0.06367537379264832, + 0.10750092566013336 + ], + [ + 0.3306911289691925, + 0.07437550276517868, + 0.09405869245529175 + ], + [ + 0.3350147008895874, + 0.08254128694534302, + 0.08205386251211166 + ], + [ + 0.3361218273639679, + 0.08384352177381516, + 0.07836594432592392 + ], + [ + 0.3333013951778412, + 0.08298225700855255, + 0.07649420946836472 + ], + [ + 0.3319046199321747, + 0.08005006611347198, + 0.07507485151290894 + ], + [ + 0.32857245206832886, + 0.07798130065202713, + 0.0767296850681305 + ], + [ + 0.3260327875614166, + 0.07488410919904709, + 0.0764508992433548 + ], + [ + 0.32455605268478394, + 0.07127184420824051, + 0.07961469143629074 + ], + [ + 0.3233691453933716, + 0.06616301089525223, + 0.09376484900712967 + ], + [ + 0.3251325786113739, + 0.0599541962146759, + 0.11693522334098816 + ], + [ + 0.3238881826400757, + 0.052638404071331024, + 0.1462077796459198 + ], + [ + 0.32080528140068054, + 0.05706016719341278, + 0.15419065952301025 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9472625425145573, + -0.3012723176830647, + 0.1092184331820006, + -0.28898833090356235, + -0.9503825544327197, + -0.11514662318762109, + 0.13848978355976216, + 0.07751123033350305, + -0.9873259791080943 + ], + [ + 0.9485797612483714, + -0.30039069828030035, + 0.09980914255045145, + -0.2929564224135523, + -0.9525506762124455, + -0.08260595507507418, + 0.11988732675572955, + 0.04911860781706304, + -0.9915716773130818 + ], + [ + 0.9530599131660019, + -0.27947774759344474, + 0.11648600995874035, + -0.27318375690349844, + -0.9596108698145356, + -0.06721319437343162, + 0.13056583350977854, + 0.03223611536592532, + -0.9909154333170977 + ], + [ + 0.9498686066344116, + -0.26751091378570413, + 0.1618256504264354, + -0.2642360069690226, + -0.9635501030181383, + -0.041839354617414254, + 0.16711960612527768, + -0.0030182742209198844, + -0.9859320094556517 + ], + [ + 0.9516434720881738, + -0.2747824574283044, + 0.1373655820124796, + -0.27101747811618326, + -0.9614855913384436, + -0.0457709974122012, + 0.1446520949986876, + 0.006329197281302004, + -0.9894623351468539 + ], + [ + 0.9551757592206521, + -0.2693463167259187, + 0.12284881221823842, + -0.2647605053030099, + -0.9628812842373908, + -0.05255004564268182, + 0.13244298331337073, + 0.017669016145053153, + -0.991033128628665 + ], + [ + 0.952045467732392, + -0.29190538006186517, + 0.09165520422294225, + -0.28583131057753897, + -0.9554286999989795, + -0.07386786250993405, + 0.10913243909918659, + 0.04412763656936661, + -0.9930472609231971 + ], + [ + 0.9578909800858961, + -0.28174066705042555, + 0.05538110508163229, + -0.27662732127934453, + -0.957211836457598, + -0.0849872064918433, + 0.07695580154800465, + 0.06608855177301237, + -0.9948417501958039 + ], + [ + 0.9524325276289834, + -0.3030739201153496, + 0.0319136218593257, + -0.29989019391795246, + -0.9507186676279692, + -0.07873935874485927, + 0.0542047221754543, + 0.06542334422523424, + -0.9963842803478326 + ], + [ + 0.9476767462767846, + -0.3188714059403059, + 0.015159519778008673, + -0.316920279285901, + -0.9454580614917917, + -0.07530332354903241, + 0.03834476683452026, + 0.06655884940288834, + -0.9970454344825868 + ], + [ + 0.937859756686934, + -0.346997340352584, + 0.0034529082463614635, + -0.3459736408124755, + -0.9357704425947385, + -0.06808758057830552, + 0.026857338849650962, + 0.06266198651718655, + -0.9976733728007553 + ], + [ + 0.9361354113368274, + -0.3516008364387986, + -0.005229097127211193, + -0.3510225512608721, + -0.9335084035500997, + -0.07311107308508291, + 0.020824508338421956, + 0.07027739549016551, + -0.9973100959759614 + ], + [ + 0.9389342061547377, + -0.34400594468216067, + 0.007903577411958528, + -0.34203090915703177, + -0.9355641091891471, + -0.08794688612072694, + 0.037648555002641526, + 0.07987307193574071, + -0.9960938101834391 + ], + [ + 0.9404663921912093, + -0.3395779454603166, + 0.014483926118309823, + -0.336963450362182, + -0.9371077655135936, + -0.09102015674636588, + 0.0444814374640002, + 0.08072084471231647, + -0.9957437154961443 + ], + [ + 0.9392358623271235, + -0.3429066841326143, + 0.015843007788940548, + -0.3399147150549841, + -0.9354970718459448, + -0.09645317546225457, + 0.047895525967609334, + 0.08520700995128838, + -0.9952114268071118 + ], + [ + 0.9403258075954083, + -0.33909992293692903, + 0.02825982721482643, + -0.33473738151539745, + -0.9367487594377233, + -0.10223818811041964, + 0.06114131979486762, + 0.08667758623805306, + -0.9943584540082547 + ], + [ + 0.9390810989910872, + -0.34043644513658705, + 0.0472198723045265, + -0.33135434432078975, + -0.9332614952782962, + -0.13866246763511242, + 0.09127424618933731, + 0.1145687926692196, + -0.9892133256931418 + ], + [ + 0.9447687685892314, + -0.3148523388269984, + 0.09099438792340879, + -0.2956682277402269, + -0.9385947992458306, + -0.17782042046298224, + 0.14139403453943936, + 0.14109503025921016, + -0.9798468857085845 + ], + [ + 0.9515541283114334, + -0.284983450442832, + 0.11545204141619442, + -0.2578412617731709, + -0.944114699678295, + -0.2053419527972371, + 0.1675190276377222, + 0.16562568286670243, + -0.9718567325250421 + ], + [ + 0.9594897282956625, + -0.22106616958153388, + 0.17466885801900703, + -0.1776960903002698, + -0.9559259759014828, + -0.23372981857006567, + 0.21864025426968817, + 0.19322338694719635, + -0.9564837489207749 + ], + [ + 0.9718973509776072, + -0.1222936949857967, + 0.20114619392230942, + -0.08013044089650018, + -0.9753082995516008, + -0.20579803999916513, + 0.22134735508797676, + 0.1838966367079246, + -0.9576990004187491 + ], + [ + 0.9740068209851933, + -0.04400422562314372, + 0.22220337711570703, + -0.012822777535615266, + -0.9900874964225039, + -0.13986538458135575, + 0.22615545328510162, + 0.13338057412954066, + -0.9649162312834645 + ], + [ + 0.9672443514030057, + -0.014004144903551511, + 0.25346054644559485, + 0.00948859103757754, + -0.995784752710948, + -0.09122879429499177, + 0.2536697288189918, + 0.0906455194365207, + -0.9630342976690824 + ], + [ + 0.9656948497165511, + 0.022343833230630397, + 0.2587164670976501, + 0.033123362490965064, + -0.9987519683047611, + -0.03738112711860604, + 0.2575583430763209, + 0.044668321257094856, + -0.9652297348237118 + ], + [ + 0.9675160655697238, + 0.04678261423613119, + 0.24844325281583948, + 0.04850083928605, + -0.9988228244950781, + -0.0007961508796497626, + 0.24811354548478512, + 0.012819995043203133, + -0.9686461254111646 + ], + [ + 0.9720860152971651, + 0.08119186094047195, + 0.2201287363810179, + 0.07940354344935655, + -0.9966980112362318, + 0.016975031234945058, + 0.22078010814239304, + 0.0009778112109594516, + -0.975323119655158 + ], + [ + 0.9749092633598738, + 0.10286396433736805, + 0.1974105697674493, + 0.09922466274905134, + -0.9946635132872709, + 0.02826590945574365, + 0.19926463438715192, + -0.007968699757422704, + -0.979913315200243 + ], + [ + 0.9755699771626193, + 0.09670832775655287, + 0.1972580011088471, + 0.0916481092460067, + -0.9951886204140689, + 0.03464439160924338, + 0.19965931916782345, + -0.015719705495769877, + -0.9797392750770828 + ], + [ + 0.9778185885312928, + 0.07589589384006928, + 0.19521941814503924, + 0.07011241343712474, + -0.9968755921069861, + 0.036377236609834246, + 0.19737035594205232, + -0.02188303360055707, + -0.9800847287024448 + ], + [ + 0.9802951674441955, + 0.06295657897493755, + 0.18723742641183855, + 0.05586203974982471, + -0.9975149665633685, + 0.04293394923682789, + 0.18947510971245063, + -0.03162847839928379, + -0.9813759840925396 + ], + [ + 0.9805518966785894, + 0.06207606537239256, + 0.18618415622147635, + 0.055401363280798005, + -0.99762832297746, + 0.0408462744911905, + 0.18827816354173874, + -0.029737035848636274, + -0.9816654429245674 + ], + [ + 0.9818310527506414, + 0.06746086111674689, + 0.1773606948338727, + 0.06383452714242639, + -0.9976196613201194, + 0.026079963420854495, + 0.17869789310193326, + -0.014284381852823332, + -0.9838002944886796 + ], + [ + 0.9822949858411066, + 0.06732037413452381, + 0.17482713753250148, + 0.06642536264610306, + -0.9977310613627012, + 0.010972711123133144, + 0.17516915250338497, + 0.0008345168936399194, + -0.9845379990598638 + ], + [ + 0.9792234119616089, + 0.06855337363986304, + 0.19084534164830524, + 0.07172667568583137, + -0.9973765585917089, + -0.00976137115465156, + 0.18967549515244342, + 0.02324726509404121, + -0.9815715823129368 + ], + [ + 0.9706604719973162, + 0.05599960725716101, + 0.23384245142614912, + 0.06682347482796908, + -0.9970172203498923, + -0.03861716636018431, + 0.23098240477114912, + 0.05311032209296124, + -0.9715072940402038 + ], + [ + 0.9575561758899109, + 0.021052572124740945, + 0.2874768846742681, + 0.0439659429624152, + -0.9963268885233595, + -0.07348283517112404, + 0.28487394734253163, + 0.08300313495461188, + -0.9549645614959703 + ], + [ + 0.9524500674443102, + 0.02178570966330397, + 0.3039148760422823, + 0.03210073009788296, + -0.999064264275865, + -0.028985150924360402, + 0.30299902995308825, + 0.03736279836135543, + -0.95225816307664 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006730.json b/json/chunk-0006/episode_0006730.json new file mode 100644 index 0000000000000000000000000000000000000000..d79bebb2f6238e60ea0a19c80df7e245e1becd34 --- /dev/null +++ b/json/chunk-0006/episode_0006730.json @@ -0,0 +1,1282 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 20, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut big spoon from basket to tray." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006730.mp4", + "start": 0, + "end": 20, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.37972569465637207, + 0.03756934031844139, + 0.10354778170585632, + 0.17774774134159088, + -0.16943873465061188, + 0.03220943361520767, + 0.0, + 0.9893313646316528 + ], + [ + 0.38300174474716187, + 0.03649387136101723, + 0.08548417687416077, + 0.1968250721693039, + -0.1649995893239975, + -1.17130521175568e-05, + 0.0, + 0.9893313646316528 + ], + [ + 0.39232105016708374, + 0.04098617285490036, + 0.07819970697164536, + 0.21874792873859406, + -0.20925550162792206, + -0.03470776975154877, + 0.0, + 0.9893313646316528 + ], + [ + 0.3985358774662018, + 0.042627330869436264, + 0.06958107650279999, + 0.23687483370304108, + -0.22825147211551666, + -0.06503436714410782, + 0.0, + 0.9893313646316528 + ], + [ + 0.4020913243293762, + 0.05130311846733093, + 0.06233403831720352, + 0.3151440918445587, + -0.26900503039360046, + -0.12755143642425537, + 0.0, + 0.9893313646316528 + ], + [ + 0.4045916497707367, + 0.05349528044462204, + 0.04868144169449806, + 0.3437376022338867, + -0.2972845733165741, + -0.1576385200023651, + 0.0, + 0.8261235952377319 + ], + [ + 0.4060351550579071, + 0.05962056294083595, + 0.045063529163599014, + 0.34872809052467346, + -0.3100329339504242, + -0.14304839074611664, + 0.0, + 0.561048150062561 + ], + [ + 0.4044409394264221, + 0.061432939022779465, + 0.04680794104933739, + 0.3801388442516327, + -0.29897063970565796, + -0.1398697942495346, + 0.0, + 0.35690104961395264 + ], + [ + 0.39341437816619873, + 0.058727920055389404, + 0.05206432193517685, + 0.4230008125305176, + -0.22701750695705414, + -0.11582905054092407, + 0.0, + 0.3080119788646698 + ], + [ + 0.37873443961143494, + 0.050923559814691544, + 0.08642582595348358, + 0.49673253297805786, + -0.17899145185947418, + -0.0989108607172966, + 0.0, + 0.19377118349075317 + ], + [ + 0.3738396465778351, + 0.03350459784269333, + 0.13110589981079102, + 0.5196868181228638, + -0.220675528049469, + -0.1777220219373703, + 0.0, + 0.14137907326221466 + ], + [ + 0.3759012222290039, + 0.02404835633933544, + 0.15919458866119385, + 0.5309683084487915, + -0.2295960932970047, + -0.23074281215667725, + 0.0, + 0.12795238196849823 + ], + [ + 0.38111743330955505, + -0.033782508224248886, + 0.185511976480484, + 0.5372518301010132, + -0.25587767362594604, + -0.3306654989719391, + 0.0, + 0.08157449960708618 + ], + [ + 0.38497811555862427, + -0.043785784393548965, + 0.19473080337047577, + 0.48596179485321045, + -0.3082611858844757, + -0.28324586153030396, + 0.0, + 0.06956923007965088 + ], + [ + 0.38442400097846985, + -0.06038382276892662, + 0.1874942183494568, + 0.36180514097213745, + -0.34036120772361755, + -0.2224932312965393, + 0.0, + 0.06956923007965088 + ], + [ + 0.38484400510787964, + -0.06270517408847809, + 0.16072069108486176, + 0.24050137400627136, + -0.3579857349395752, + -0.16443344950675964, + 0.0, + 0.06956923007965088 + ], + [ + 0.37740951776504517, + -0.06570635735988617, + 0.13790102303028107, + 0.13268038630485535, + -0.32077959179878235, + -0.1435338407754898, + 0.0, + 0.06956923007965088 + ], + [ + 0.3797633945941925, + -0.06323286890983582, + 0.11699755489826202, + 0.07586807757616043, + -0.2133222222328186, + -0.17865782976150513, + 0.0, + 0.06956923007965088 + ], + [ + 0.38134458661079407, + -0.06374334543943405, + 0.10382692515850067, + 0.05968138203024864, + -0.1233430802822113, + -0.21646155416965485, + 0.0, + 0.06926051527261734 + ], + [ + 0.3816341161727905, + -0.06274668872356415, + 0.10259666293859482, + 0.08546615391969681, + -0.0881316289305687, + -0.24030950665473938, + 0.0, + 0.06926051527261734 + ] + ], + "left_gripper_pos": [ + [ + 0.9893313646316528 + ], + [ + 0.9893313646316528 + ], + [ + 0.9893313646316528 + ], + [ + 0.9893313646316528 + ], + [ + 0.9893313646316528 + ], + [ + 0.8261235952377319 + ], + [ + 0.561048150062561 + ], + [ + 0.35690104961395264 + ], + [ + 0.3080119788646698 + ], + [ + 0.19377118349075317 + ], + [ + 0.14137907326221466 + ], + [ + 0.12795238196849823 + ], + [ + 0.08157449960708618 + ], + [ + 0.06956923007965088 + ], + [ + 0.06956923007965088 + ], + [ + 0.06956923007965088 + ], + [ + 0.06956923007965088 + ], + [ + 0.06956923007965088 + ], + [ + 0.06926051527261734 + ], + [ + 0.06926051527261734 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.37972569465637207, + 0.03756934031844139, + 0.10354778170585632 + ], + [ + 0.38300174474716187, + 0.03649387136101723, + 0.08548417687416077 + ], + [ + 0.39232105016708374, + 0.04098617285490036, + 0.07819970697164536 + ], + [ + 0.3985358774662018, + 0.042627330869436264, + 0.06958107650279999 + ], + [ + 0.4020913243293762, + 0.05130311846733093, + 0.06233403831720352 + ], + [ + 0.4045916497707367, + 0.05349528044462204, + 0.04868144169449806 + ], + [ + 0.4060351550579071, + 0.05962056294083595, + 0.045063529163599014 + ], + [ + 0.4044409394264221, + 0.061432939022779465, + 0.04680794104933739 + ], + [ + 0.39341437816619873, + 0.058727920055389404, + 0.05206432193517685 + ], + [ + 0.37873443961143494, + 0.050923559814691544, + 0.08642582595348358 + ], + [ + 0.3738396465778351, + 0.03350459784269333, + 0.13110589981079102 + ], + [ + 0.3759012222290039, + 0.02404835633933544, + 0.15919458866119385 + ], + [ + 0.38111743330955505, + -0.033782508224248886, + 0.185511976480484 + ], + [ + 0.38497811555862427, + -0.043785784393548965, + 0.19473080337047577 + ], + [ + 0.38442400097846985, + -0.06038382276892662, + 0.1874942183494568 + ], + [ + 0.38484400510787964, + -0.06270517408847809, + 0.16072069108486176 + ], + [ + 0.37740951776504517, + -0.06570635735988617, + 0.13790102303028107 + ], + [ + 0.3797633945941925, + -0.06323286890983582, + 0.11699755489826202 + ], + [ + 0.38134458661079407, + -0.06374334543943405, + 0.10382692515850067 + ], + [ + 0.3816341161727905, + -0.06274668872356415, + 0.10259666293859482 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9851683166001416, + 0.06149687694915183, + 0.1601921411703582, + 0.03174269137910184, + -0.9827737249537614, + 0.18206649083376034, + 0.1686291478696794, + -0.17428120858546262, + -0.9701496125973231 + ], + [ + 0.986418422733089, + 0.03210907671701865, + 0.16108290562671557, + -1.1553970395716123e-05, + -0.9806927741184495, + 0.19555480730057573, + 0.16425192589212012, + -0.19290072572242994, + -0.9673730484443367 + ], + [ + 0.9775967252042996, + 0.011178320825102823, + 0.21018964773118512, + -0.03394383305472103, + -0.9771463104951079, + 0.20984018700751983, + 0.20773169971716363, + -0.2122737219472272, + -0.954875598129562 + ], + [ + 0.9720043716451918, + -0.010187100558840811, + 0.23474182517148426, + -0.06330296031310975, + -0.9734719550017283, + 0.21987516467466187, + 0.22627469305742628, + -0.22857947372263523, + -0.9468638695580535 + ], + [ + 0.9562043082652627, + -0.039233316873669606, + 0.29005873147009403, + -0.12263099846132486, + -0.9535069875325887, + 0.27529268595969963, + 0.265772382070313, + -0.2988062442011838, + -0.9165587102608613 + ], + [ + 0.9442800740591915, + -0.050308852390019324, + 0.32527551568780466, + -0.15010030399563445, + -0.9453251495013607, + 0.28953455831842967, + 0.2929249741404548, + -0.32222566795869834, + -0.9002030762185745 + ], + [ + 0.942596503506024, + -0.030794727951278668, + 0.33251092660035225, + -0.135764219305227, + -0.9450709007235173, + 0.297336626338031, + 0.3050900003845756, + -0.32541155071085964, + -0.8950013487862983 + ], + [ + 0.9463075478790793, + -0.02124147074419746, + 0.32256910073301726, + -0.13322979360115753, + -0.934780685477553, + 0.329294537086647, + 0.29453666482133767, + -0.35458972063321237, + -0.8874200150420225 + ], + [ + 0.9678132432136515, + -0.013611118523242309, + 0.25130114148729965, + -0.11260492312043632, + -0.9164288822369824, + 0.3840289508499533, + 0.22507256063170863, + -0.39996605012728453, + -0.8884646876473282 + ], + [ + 0.9792141469206413, + -0.0023852799710060227, + 0.20281510030059624, + -0.09717201050820565, + -0.8832257718634607, + 0.4587699165049813, + 0.17803722881541983, + -0.4689419434809113, + -0.8650989531840111 + ], + [ + 0.9603807372874864, + -0.046457623673685236, + 0.2747917914526165, + -0.17250079482715558, + -0.873520454621487, + 0.45519829870274164, + 0.21888881933790869, + -0.48456548015770284, + -0.8469261952545756 + ], + [ + 0.9479506660764476, + -0.0850253147484898, + 0.3068553902689991, + -0.2226992385755036, + -0.8658187880408343, + 0.44806570434858306, + 0.22758423456625998, + -0.49308064464894696, + -0.8396885696789427 + ], + [ + 0.9150318242138827, + -0.15642115855441205, + 0.3718187486293689, + -0.31410170668086046, + -0.8546310890188626, + 0.4134559463142402, + 0.253094603925064, + -0.4951142523084229, + -0.8311467972777653 + ], + [ + 0.9148942032264805, + -0.11105768122474978, + 0.3881169776543735, + -0.2662999710812446, + -0.8885960095481501, + 0.37347216391216165, + 0.3034022450554904, + -0.44504305775518627, + -0.8425459954442857 + ], + [ + 0.9193985156568786, + -0.09112630804010766, + 0.3826256204057801, + -0.20800361164079542, + -0.9382795650742065, + 0.27634390767401273, + 0.3338276006448746, + -0.333657689477011, + -0.8816074405882409 + ], + [ + 0.9239708783618868, + -0.07664902282604857, + 0.3747035404676273, + -0.15331602053681584, + -0.9717798228918164, + 0.17927122933450373, + 0.3503883756432533, + -0.22308945093876908, + -0.9096477796894359 + ], + [ + 0.9392311399655952, + -0.10050088200650188, + 0.32824447967154585, + -0.13574493985792396, + -0.9869845322956593, + 0.0862255432693086, + 0.31530648109719744, + -0.125543242450695, + -0.9406490935801026 + ], + [ + 0.9617768522626358, + -0.1614066658680123, + 0.22120844166791623, + -0.17368079301044212, + -0.9841038804727581, + 0.03707471615162199, + 0.21170797951669187, + -0.07407726136832551, + -0.9745215701856622 + ], + [ + 0.9692437031132426, + -0.2072256902241632, + 0.13275600659272324, + -0.21314343186107176, + -0.9765007543308636, + 0.03187717436879425, + 0.12303057111877798, + -0.05919282137534079, + -0.9906360020046787 + ], + [ + 0.967494804134882, + -0.22983706833192832, + 0.10549277696880947, + -0.23707954119945154, + -0.9695074404198185, + 0.06203719944734475, + 0.08801758413330842, + -0.08503084729200683, + -0.9924830778870436 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + 0.003276050090789795, + -0.0010754689574241638, + -0.018063604831695557, + 0.019077330827713013, + 0.00443914532661438, + -0.032221145927906036, + 1.0 + ], + [ + 0.009319305419921875, + 0.004492301493883133, + -0.007284469902515411, + 0.02192285656929016, + -0.04425591230392456, + -0.0346960574388504, + 1.0 + ], + [ + 0.006214827299118042, + 0.001641158014535904, + -0.008618630468845367, + 0.01812690496444702, + -0.018995970487594604, + -0.03032659739255905, + 1.0 + ], + [ + 0.0035554468631744385, + 0.008675787597894669, + -0.007247038185596466, + 0.07826925814151764, + -0.0407535582780838, + -0.06251706928014755, + 1.0 + ], + [ + 0.0025003254413604736, + 0.002192161977291107, + -0.01365259662270546, + 0.028593510389328003, + -0.028279542922973633, + -0.03008708357810974, + 0.0 + ], + [ + 0.0014435052871704102, + 0.006125282496213913, + -0.003617912530899048, + 0.004990488290786743, + -0.012748360633850098, + 0.014590129256248474, + 0.0 + ], + [ + -0.0015942156314849854, + 0.001812376081943512, + 0.0017444118857383728, + 0.03141075372695923, + 0.011062294244766235, + 0.0031785964965820312, + 0.0 + ], + [ + -0.011026561260223389, + -0.0027050189673900604, + 0.005256380885839462, + 0.04286196827888489, + 0.07195313274860382, + 0.024040743708610535, + 0.0 + ], + [ + -0.014679938554763794, + -0.007804360240697861, + 0.03436150401830673, + 0.07373172044754028, + 0.048026055097579956, + 0.016918189823627472, + 0.0 + ], + [ + -0.0048947930335998535, + -0.017418961971998215, + 0.044680073857307434, + 0.022954285144805908, + -0.04168407618999481, + -0.0788111612200737, + 0.0 + ], + [ + 0.0020615756511688232, + -0.009456241503357887, + 0.028088688850402832, + 0.011281490325927734, + -0.008920565247535706, + -0.053020790219306946, + 0.0 + ], + [ + 0.0052162110805511475, + -0.05783086270093918, + 0.02631738781929016, + 0.00628352165222168, + -0.026281580328941345, + -0.09992268681526184, + 0.0 + ], + [ + 0.003860682249069214, + -0.01000327616930008, + 0.00921882688999176, + -0.051290035247802734, + -0.05238351225852966, + 0.04741963744163513, + 0.0 + ], + [ + -0.0005541145801544189, + -0.016598038375377655, + -0.007236585021018982, + -0.124156653881073, + -0.032100021839141846, + 0.06075263023376465, + 0.0 + ], + [ + 0.00042000412940979004, + -0.002321351319551468, + -0.026773527264595032, + -0.12130376696586609, + -0.01762452721595764, + 0.05805978178977966, + 0.0 + ], + [ + -0.007434487342834473, + -0.003001183271408081, + -0.02281966805458069, + -0.10782098770141602, + 0.03720614314079285, + 0.020899608731269836, + 0.0 + ], + [ + 0.002353876829147339, + 0.002473488450050354, + -0.020903468132019043, + -0.056812308728694916, + 0.10745736956596375, + -0.03512398898601532, + 0.0 + ], + [ + 0.0015811920166015625, + -0.0005104765295982361, + -0.013170629739761353, + -0.01618669554591179, + 0.0899791419506073, + -0.03780372440814972, + 0.0 + ], + [ + 0.00028952956199645996, + 0.0009966567158699036, + -0.0012302622199058533, + 0.025784771889448166, + 0.03521145135164261, + -0.023847952485084534, + 0.0 + ], + [ + -0.009133458137512207, + -0.00941380113363266, + -0.019013069570064545, + 0.0416160449385643, + 0.004627138376235962, + -0.016179680824279785, + 0.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9893313646316528 + ], + [ + 0.9893313646316528 + ], + [ + 0.9893313646316528 + ], + [ + 0.9893313646316528 + ], + [ + 0.8261235952377319 + ], + [ + 0.561048150062561 + ], + [ + 0.35690104961395264 + ], + [ + 0.3080119788646698 + ], + [ + 0.19377118349075317 + ], + [ + 0.14137907326221466 + ], + [ + 0.12795238196849823 + ], + [ + 0.08157449960708618 + ], + [ + 0.06956923007965088 + ], + [ + 0.06956923007965088 + ], + [ + 0.06956923007965088 + ], + [ + 0.06956923007965088 + ], + [ + 0.06956923007965088 + ], + [ + 0.06926051527261734 + ], + [ + 0.06926051527261734 + ], + [ + 0.06956923007965088 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.38300174474716187, + 0.03649387136101723, + 0.08548417687416077 + ], + [ + 0.39232105016708374, + 0.04098617285490036, + 0.07819970697164536 + ], + [ + 0.3985358774662018, + 0.042627330869436264, + 0.06958107650279999 + ], + [ + 0.4020913243293762, + 0.05130311846733093, + 0.06233403831720352 + ], + [ + 0.4045916497707367, + 0.05349528044462204, + 0.04868144169449806 + ], + [ + 0.4060351550579071, + 0.05962056294083595, + 0.045063529163599014 + ], + [ + 0.4044409394264221, + 0.061432939022779465, + 0.04680794104933739 + ], + [ + 0.39341437816619873, + 0.058727920055389404, + 0.05206432193517685 + ], + [ + 0.37873443961143494, + 0.050923559814691544, + 0.08642582595348358 + ], + [ + 0.3738396465778351, + 0.03350459784269333, + 0.13110589981079102 + ], + [ + 0.3759012222290039, + 0.02404835633933544, + 0.15919458866119385 + ], + [ + 0.38111743330955505, + -0.033782508224248886, + 0.185511976480484 + ], + [ + 0.38497811555862427, + -0.043785784393548965, + 0.19473080337047577 + ], + [ + 0.38442400097846985, + -0.06038382276892662, + 0.1874942183494568 + ], + [ + 0.38484400510787964, + -0.06270517408847809, + 0.16072069108486176 + ], + [ + 0.37740951776504517, + -0.06570635735988617, + 0.13790102303028107 + ], + [ + 0.3797633945941925, + -0.06323286890983582, + 0.11699755489826202 + ], + [ + 0.38134458661079407, + -0.06374334543943405, + 0.10382692515850067 + ], + [ + 0.3816341161727905, + -0.06274668872356415, + 0.10259666293859482 + ], + [ + 0.3725006580352783, + -0.07216048985719681, + 0.08358359336853027 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.986418422733089, + 0.03210907671701865, + 0.16108290562671557, + -1.1553970395716123e-05, + -0.9806927741184495, + 0.19555480730057573, + 0.16425192589212012, + -0.19290072572242994, + -0.9673730484443367 + ], + [ + 0.9775967252042996, + 0.011178320825102823, + 0.21018964773118512, + -0.03394383305472103, + -0.9771463104951079, + 0.20984018700751983, + 0.20773169971716363, + -0.2122737219472272, + -0.954875598129562 + ], + [ + 0.9720043716451918, + -0.010187100558840811, + 0.23474182517148426, + -0.06330296031310975, + -0.9734719550017283, + 0.21987516467466187, + 0.22627469305742628, + -0.22857947372263523, + -0.9468638695580535 + ], + [ + 0.9562043082652627, + -0.039233316873669606, + 0.29005873147009403, + -0.12263099846132486, + -0.9535069875325887, + 0.27529268595969963, + 0.265772382070313, + -0.2988062442011838, + -0.9165587102608613 + ], + [ + 0.9442800740591915, + -0.050308852390019324, + 0.32527551568780466, + -0.15010030399563445, + -0.9453251495013607, + 0.28953455831842967, + 0.2929249741404548, + -0.32222566795869834, + -0.9002030762185745 + ], + [ + 0.942596503506024, + -0.030794727951278668, + 0.33251092660035225, + -0.135764219305227, + -0.9450709007235173, + 0.297336626338031, + 0.3050900003845756, + -0.32541155071085964, + -0.8950013487862983 + ], + [ + 0.9463075478790793, + -0.02124147074419746, + 0.32256910073301726, + -0.13322979360115753, + -0.934780685477553, + 0.329294537086647, + 0.29453666482133767, + -0.35458972063321237, + -0.8874200150420225 + ], + [ + 0.9678132432136515, + -0.013611118523242309, + 0.25130114148729965, + -0.11260492312043632, + -0.9164288822369824, + 0.3840289508499533, + 0.22507256063170863, + -0.39996605012728453, + -0.8884646876473282 + ], + [ + 0.9792141469206413, + -0.0023852799710060227, + 0.20281510030059624, + -0.09717201050820565, + -0.8832257718634607, + 0.4587699165049813, + 0.17803722881541983, + -0.4689419434809113, + -0.8650989531840111 + ], + [ + 0.9603807372874864, + -0.046457623673685236, + 0.2747917914526165, + -0.17250079482715558, + -0.873520454621487, + 0.45519829870274164, + 0.21888881933790869, + -0.48456548015770284, + -0.8469261952545756 + ], + [ + 0.9479506660764476, + -0.0850253147484898, + 0.3068553902689991, + -0.2226992385755036, + -0.8658187880408343, + 0.44806570434858306, + 0.22758423456625998, + -0.49308064464894696, + -0.8396885696789427 + ], + [ + 0.9150318242138827, + -0.15642115855441205, + 0.3718187486293689, + -0.31410170668086046, + -0.8546310890188626, + 0.4134559463142402, + 0.253094603925064, + -0.4951142523084229, + -0.8311467972777653 + ], + [ + 0.9148942032264805, + -0.11105768122474978, + 0.3881169776543735, + -0.2662999710812446, + -0.8885960095481501, + 0.37347216391216165, + 0.3034022450554904, + -0.44504305775518627, + -0.8425459954442857 + ], + [ + 0.9193985156568786, + -0.09112630804010766, + 0.3826256204057801, + -0.20800361164079542, + -0.9382795650742065, + 0.27634390767401273, + 0.3338276006448746, + -0.333657689477011, + -0.8816074405882409 + ], + [ + 0.9239708783618868, + -0.07664902282604857, + 0.3747035404676273, + -0.15331602053681584, + -0.9717798228918164, + 0.17927122933450373, + 0.3503883756432533, + -0.22308945093876908, + -0.9096477796894359 + ], + [ + 0.9392311399655952, + -0.10050088200650188, + 0.32824447967154585, + -0.13574493985792396, + -0.9869845322956593, + 0.0862255432693086, + 0.31530648109719744, + -0.125543242450695, + -0.9406490935801026 + ], + [ + 0.9617768522626358, + -0.1614066658680123, + 0.22120844166791623, + -0.17368079301044212, + -0.9841038804727581, + 0.03707471615162199, + 0.21170797951669187, + -0.07407726136832551, + -0.9745215701856622 + ], + [ + 0.9692437031132426, + -0.2072256902241632, + 0.13275600659272324, + -0.21314343186107176, + -0.9765007543308636, + 0.03187717436879425, + 0.12303057111877798, + -0.05919282137534079, + -0.9906360020046787 + ], + [ + 0.967494804134882, + -0.22983706833192832, + 0.10549277696880947, + -0.23707954119945154, + -0.9695074404198185, + 0.06203719944734475, + 0.08801758413330842, + -0.08503084729200683, + -0.9924830778870436 + ], + [ + 0.963916096714968, + -0.2414151331055539, + 0.11218062221884753, + -0.25280219751000577, + -0.9621680461160776, + 0.10160560992032514, + 0.0834074782492081, + -0.1262987907337079, + -0.9884795435573316 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006732.json b/json/chunk-0006/episode_0006732.json new file mode 100644 index 0000000000000000000000000000000000000000..ca07e85ebd48bdb51f89c6756220511f74fe1c76 --- /dev/null +++ b/json/chunk-0006/episode_0006732.json @@ -0,0 +1,1282 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 20, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nLever vertical to front." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006732.mp4", + "start": 0, + "end": 20, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.38792166113853455, + -0.05347871780395508, + 0.08290671557188034, + 0.20565152168273926, + -0.05711625516414642, + 0.1420769840478897, + 0.0, + 1.0054124593734741 + ], + [ + 0.3873033821582794, + -0.049169328063726425, + 0.067306749522686, + 0.24405360221862793, + -0.06450147181749344, + 0.15199071168899536, + 0.0, + 1.0054124593734741 + ], + [ + 0.38925397396087646, + -0.052880316972732544, + 0.06451786309480667, + 0.2680123746395111, + -0.11790723353624344, + 0.1412883996963501, + 0.0, + 1.0054124593734741 + ], + [ + 0.3975635766983032, + -0.054623063653707504, + 0.06837024539709091, + 0.23557564616203308, + -0.1883763074874878, + 0.15954062342643738, + 0.0, + 1.0054124593734741 + ], + [ + 0.4077654480934143, + -0.05340835824608803, + 0.07357951998710632, + 0.21610026061534882, + -0.2340279370546341, + 0.16350418329238892, + 0.0, + 1.0054124593734741 + ], + [ + 0.4194113612174988, + -0.05369194224476814, + 0.08634544163942337, + 0.21482647955417633, + -0.27459999918937683, + 0.1510867476463318, + 0.0, + 1.0054124593734741 + ], + [ + 0.4252578616142273, + -0.053874485194683075, + 0.08794309198856354, + 0.22505946457386017, + -0.2807862460613251, + 0.12973187863826752, + 0.0, + 1.0054124593734741 + ], + [ + 0.42892986536026, + -0.05363146588206291, + 0.08771783113479614, + 0.22585788369178772, + -0.28662168979644775, + 0.13209280371665955, + 0.0, + 0.8399420380592346 + ], + [ + 0.4305759370326996, + -0.0546506866812706, + 0.0851912871003151, + 0.2258170247077942, + -0.28835898637771606, + 0.12954452633857727, + 0.0, + 0.5422952175140381 + ], + [ + 0.43024787306785583, + -0.05589630827307701, + 0.08495538681745529, + 0.2107425481081009, + -0.28327232599258423, + 0.14699095487594604, + 0.0, + 0.413944274187088 + ], + [ + 0.42120450735092163, + -0.05556923896074295, + 0.08171775192022324, + 0.20942333340644836, + -0.24280206859111786, + 0.17709758877754211, + 0.0, + 0.413944274187088 + ], + [ + 0.40704891085624695, + -0.05761634185910225, + 0.07946474850177765, + 0.20342165231704712, + -0.18231937289237976, + 0.21258941292762756, + 0.0, + 0.413944274187088 + ], + [ + 0.3921777606010437, + -0.05606473982334137, + 0.07227868586778641, + 0.17743206024169922, + -0.10613489151000977, + 0.24280688166618347, + 0.0, + 0.413944274187088 + ], + [ + 0.38557493686676025, + -0.05582572892308235, + 0.0657132938504219, + 0.13896845281124115, + -0.06256304681301117, + 0.24627509713172913, + 0.0, + 0.413944274187088 + ], + [ + 0.3821326494216919, + -0.055733878165483475, + 0.058326516300439835, + 0.10258705168962479, + -0.04202546551823616, + 0.24354811012744904, + 0.0, + 0.413944274187088 + ], + [ + 0.37985700368881226, + -0.05670566484332085, + 0.04780018702149391, + 0.07501361519098282, + -0.04550078883767128, + 0.23432891070842743, + 0.0, + 0.413944274187088 + ], + [ + 0.38004371523857117, + -0.05603133514523506, + 0.04277000203728676, + 0.06498268991708755, + -0.051840148866176605, + 0.2303372174501419, + 0.0, + 0.413944274187088 + ], + [ + 0.38027337193489075, + -0.05567925050854683, + 0.042126696556806564, + 0.06589390337467194, + -0.05582578480243683, + 0.23147350549697876, + 0.0, + 0.413944274187088 + ], + [ + 0.37958475947380066, + -0.05297131836414337, + 0.040391705930233, + 0.08108430355787277, + -0.060280539095401764, + 0.2495136559009552, + 0.0, + 0.6159340739250183 + ], + [ + 0.3718110918998718, + -0.052582237869501114, + 0.042437296360731125, + 0.1337517350912094, + -0.0294701736420393, + 0.27105408906936646, + 0.0, + 0.9263488054275513 + ] + ], + "left_gripper_pos": [ + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 0.8399420380592346 + ], + [ + 0.5422952175140381 + ], + [ + 0.413944274187088 + ], + [ + 0.413944274187088 + ], + [ + 0.413944274187088 + ], + [ + 0.413944274187088 + ], + [ + 0.413944274187088 + ], + [ + 0.413944274187088 + ], + [ + 0.413944274187088 + ], + [ + 0.413944274187088 + ], + [ + 0.413944274187088 + ], + [ + 0.6159340739250183 + ], + [ + 0.9263488054275513 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.38792166113853455, + -0.05347871780395508, + 0.08290671557188034 + ], + [ + 0.3873033821582794, + -0.049169328063726425, + 0.067306749522686 + ], + [ + 0.38925397396087646, + -0.052880316972732544, + 0.06451786309480667 + ], + [ + 0.3975635766983032, + -0.054623063653707504, + 0.06837024539709091 + ], + [ + 0.4077654480934143, + -0.05340835824608803, + 0.07357951998710632 + ], + [ + 0.4194113612174988, + -0.05369194224476814, + 0.08634544163942337 + ], + [ + 0.4252578616142273, + -0.053874485194683075, + 0.08794309198856354 + ], + [ + 0.42892986536026, + -0.05363146588206291, + 0.08771783113479614 + ], + [ + 0.4305759370326996, + -0.0546506866812706, + 0.0851912871003151 + ], + [ + 0.43024787306785583, + -0.05589630827307701, + 0.08495538681745529 + ], + [ + 0.42120450735092163, + -0.05556923896074295, + 0.08171775192022324 + ], + [ + 0.40704891085624695, + -0.05761634185910225, + 0.07946474850177765 + ], + [ + 0.3921777606010437, + -0.05606473982334137, + 0.07227868586778641 + ], + [ + 0.38557493686676025, + -0.05582572892308235, + 0.0657132938504219 + ], + [ + 0.3821326494216919, + -0.055733878165483475, + 0.058326516300439835 + ], + [ + 0.37985700368881226, + -0.05670566484332085, + 0.04780018702149391 + ], + [ + 0.38004371523857117, + -0.05603133514523506, + 0.04277000203728676 + ], + [ + 0.38027337193489075, + -0.05567925050854683, + 0.042126696556806564 + ], + [ + 0.37958475947380066, + -0.05297131836414337, + 0.040391705930233 + ], + [ + 0.3718110918998718, + -0.052582237869501114, + 0.042437296360731125 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9883097726329709, + 0.15015533962768712, + 0.026403925834221034, + 0.14136857017260002, + -0.967413862395167, + 0.21006033945754582, + 0.05708520548723435, + -0.2038720010863646, + -0.9773318200526991 + ], + [ + 0.9864161050954685, + 0.16231513940090053, + 0.02524010953921711, + 0.151091344210315, + -0.9568215197418003, + 0.24832234104830692, + 0.06445675537137713, + -0.24113559438676363, + -0.9683485693730003 + ], + [ + 0.9831615627606967, + 0.16663237481775142, + 0.07501328664004284, + 0.13984108635670797, + -0.9503035920578756, + 0.278150235463633, + 0.11763423003752166, + -0.2629766806857505, + -0.957604016981437 + ], + [ + 0.9698346172855714, + 0.19762976307631863, + 0.14270000652048806, + 0.1560542992836818, + -0.9530876195150113, + 0.2593666231462485, + 0.18726417380168645, + -0.22927378017036132, + -0.9551783409064323 + ], + [ + 0.9597667282029714, + 0.20805144875032058, + 0.18858001513271777, + 0.15833939112899262, + -0.9556203104142217, + 0.24843200184502423, + 0.23189753049884604, + -0.20857712481650276, + -0.9501153184491962 + ], + [ + 0.9515686443465003, + 0.2042000321499564, + 0.22982485062873417, + 0.1448734448227837, + -0.9571828627819731, + 0.2506245243021642, + 0.27116194438332064, + -0.20519092101373052, + -0.9404083612196319 + ], + [ + 0.9527635680241883, + 0.187427375179378, + 0.23898234763092194, + 0.12430194009030263, + -0.9585890737681558, + 0.25623429774738604, + 0.2771111891201886, + -0.214424734314113, + -0.9366063325531796 + ], + [ + 0.9508482580825486, + 0.1911239056665452, + 0.24363752335005626, + 0.12633585925938645, + -0.9577733257125605, + 0.25828183679595956, + 0.2827133544185279, + -0.21480667875154097, + -0.9348429012391102 + ], + [ + 0.9506786326578766, + 0.18904252909000954, + 0.24591270728248976, + 0.12384879073564123, + -0.9582195913257553, + 0.257830742606118, + 0.2843793495334532, + -0.21465818641448503, + -0.9343715794929631 + ], + [ + 0.9497920108471526, + 0.20105866643312448, + 0.23973015826769825, + 0.14062509437898885, + -0.9587674504462604, + 0.24696064219967886, + 0.279499050019535, + -0.20084916882305218, + -0.9389035586370233 + ], + [ + 0.9554860442877114, + 0.2215253517703864, + 0.19486646118413425, + 0.17100580723881514, + -0.9540461892256168, + 0.246074953448496, + 0.2404234453251644, + -0.20179788737022214, + -0.9494599410143076 + ], + [ + 0.9612867789027689, + 0.24244544545299337, + 0.1309501228935632, + 0.20749470723235033, + -0.9496047283877183, + 0.2349400057339102, + 0.181310990227567, + -0.19867326393550835, + -0.9631486173067538 + ], + [ + 0.965204981519439, + 0.25480290010571377, + 0.058777765760337206, + 0.23907522281130728, + -0.9509321478734621, + 0.19639523410329432, + 0.10593574225814066, + -0.17550935085767264, + -0.9787615063301862 + ], + [ + 0.9679298552188111, + 0.24984220149851644, + 0.02628059600667973, + 0.24331618257380022, + -0.958366136675355, + 0.14943755676424983, + 0.0625222414329871, + -0.1382505783869636, + -0.9884218466332407 + ], + [ + 0.9696315843986458, + 0.24405519088377747, + 0.01586361684025371, + 0.2409346182880464, + -0.9643486603925362, + 0.10946310295946249, + 0.04201309613638135, + -0.10231678748770137, + -0.993864263745926 + ], + [ + 0.9716636841246897, + 0.23485296391879337, + 0.02671647977921826, + 0.23194997632710881, + -0.9691435442832779, + 0.08342660880019111, + 0.045485090250422675, + -0.0748657192084896, + -0.9961557261052645 + ], + [ + 0.9722815419320296, + 0.23109994548943924, + 0.035516452709316956, + 0.22799914187587556, + -0.9707663610998913, + 0.07502708484767262, + 0.05181693277432867, + -0.06484972900216096, + -0.9965488036851016 + ], + [ + 0.9718131063954064, + 0.23249012471238573, + 0.039084883898122556, + 0.22905458783066845, + -0.9703742136153228, + 0.07686274353785573, + 0.055796792307739075, + -0.06574364959190303, + -0.9962753085902029 + ], + [ + 0.9672725556816356, + 0.25084978983699885, + 0.03818620122309473, + 0.2464841959705836, + -0.9646439365061011, + 0.09331461246100882, + 0.060244038392625245, + -0.08084836857195597, + -0.9949041145444123 + ], + [ + 0.9630708416660678, + 0.26914173307629713, + -0.007568450918060953, + 0.2676309290695375, + -0.9538317803097378, + 0.1363034140310963, + 0.02946590806318438, + -0.13329539522370426, + -0.9906382275453379 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.000618278980255127, + 0.004309389740228653, + -0.015599966049194336, + 0.03840208053588867, + -0.007385216653347015, + 0.009913727641105652, + 1.0 + ], + [ + 0.001950591802597046, + -0.0037109889090061188, + -0.0027888864278793335, + 0.02395877242088318, + -0.05340576171875, + -0.010702311992645264, + 1.0 + ], + [ + 0.008309602737426758, + -0.0017427466809749603, + 0.0038523823022842407, + -0.03243672847747803, + -0.07046907395124435, + 0.01825222373008728, + 1.0 + ], + [ + 0.010201871395111084, + 0.0012147054076194763, + 0.005209274590015411, + -0.019475385546684265, + -0.0456516295671463, + 0.003963559865951538, + 1.0 + ], + [ + 0.011645913124084473, + -0.00028358399868011475, + 0.012765921652317047, + -0.0012737810611724854, + -0.04057206213474274, + -0.012417435646057129, + 1.0 + ], + [ + 0.005846500396728516, + -0.00018254294991493225, + 0.0015976503491401672, + 0.010232985019683838, + -0.006186246871948242, + -0.02135486900806427, + 1.0 + ], + [ + 0.003672003746032715, + 0.00024301931262016296, + -0.00022526085376739502, + 0.0007984191179275513, + -0.005835443735122681, + 0.002360925078392029, + 0.0 + ], + [ + 0.0016460716724395752, + -0.0010192207992076874, + -0.0025265440344810486, + -4.0858983993530273e-05, + -0.0017372965812683105, + -0.0025482773780822754, + 0.0 + ], + [ + -0.00032806396484375, + -0.0012456215918064117, + -0.00023590028285980225, + -0.015074476599693298, + 0.005086660385131836, + 0.017446428537368774, + 0.0 + ], + [ + -0.009043365716934204, + 0.00032706931233406067, + -0.0032376348972320557, + -0.0013192147016525269, + 0.04047025740146637, + 0.03010663390159607, + 0.0 + ], + [ + -0.014155596494674683, + -0.0020471028983592987, + -0.002253003418445587, + -0.006001681089401245, + 0.0604826956987381, + 0.03549182415008545, + 0.0 + ], + [ + -0.014871150255203247, + 0.0015516020357608795, + -0.0071860626339912415, + -0.0259895920753479, + 0.07618448138237, + 0.030217468738555908, + 0.0 + ], + [ + -0.006602823734283447, + 0.00023901090025901794, + -0.006565392017364502, + -0.03846360743045807, + 0.043571844696998596, + 0.0034682154655456543, + 0.0 + ], + [ + -0.0034422874450683594, + 9.185075759887695e-05, + -0.007386777549982071, + -0.036381401121616364, + 0.02053758129477501, + -0.0027269870042800903, + 0.0 + ], + [ + -0.0022756457328796387, + -0.0009717866778373718, + -0.010526329278945923, + -0.027573436498641968, + -0.0034753233194351196, + -0.009219199419021606, + 0.0 + ], + [ + 0.00018671154975891113, + 0.0006743296980857849, + -0.005030184984207153, + -0.010030925273895264, + -0.006339360028505325, + -0.0039916932582855225, + 0.0 + ], + [ + 0.00022965669631958008, + 0.0003520846366882324, + -0.0006433054804801941, + 0.0009112134575843811, + -0.003985635936260223, + 0.001136288046836853, + 0.0 + ], + [ + -0.0006886124610900879, + 0.0027079321444034576, + -0.0017349906265735626, + 0.015190400183200836, + -0.004454754292964935, + 0.01804015040397644, + 1.0 + ], + [ + -0.007773667573928833, + 0.0003890804946422577, + 0.002045590430498123, + 0.05266743153333664, + 0.030810365453362465, + 0.021540433168411255, + 1.0 + ], + [ + -0.010020792484283447, + -0.0026930049061775208, + 0.008778449147939682, + 0.05928851664066315, + 0.028573986142873764, + 0.025862932205200195, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 0.8399420380592346 + ], + [ + 0.5422952175140381 + ], + [ + 0.413944274187088 + ], + [ + 0.413944274187088 + ], + [ + 0.413944274187088 + ], + [ + 0.413944274187088 + ], + [ + 0.413944274187088 + ], + [ + 0.413944274187088 + ], + [ + 0.413944274187088 + ], + [ + 0.413944274187088 + ], + [ + 0.413944274187088 + ], + [ + 0.6159340739250183 + ], + [ + 0.9263488054275513 + ], + [ + 1.0112061500549316 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3873033821582794, + -0.049169328063726425, + 0.067306749522686 + ], + [ + 0.38925397396087646, + -0.052880316972732544, + 0.06451786309480667 + ], + [ + 0.3975635766983032, + -0.054623063653707504, + 0.06837024539709091 + ], + [ + 0.4077654480934143, + -0.05340835824608803, + 0.07357951998710632 + ], + [ + 0.4194113612174988, + -0.05369194224476814, + 0.08634544163942337 + ], + [ + 0.4252578616142273, + -0.053874485194683075, + 0.08794309198856354 + ], + [ + 0.42892986536026, + -0.05363146588206291, + 0.08771783113479614 + ], + [ + 0.4305759370326996, + -0.0546506866812706, + 0.0851912871003151 + ], + [ + 0.43024787306785583, + -0.05589630827307701, + 0.08495538681745529 + ], + [ + 0.42120450735092163, + -0.05556923896074295, + 0.08171775192022324 + ], + [ + 0.40704891085624695, + -0.05761634185910225, + 0.07946474850177765 + ], + [ + 0.3921777606010437, + -0.05606473982334137, + 0.07227868586778641 + ], + [ + 0.38557493686676025, + -0.05582572892308235, + 0.0657132938504219 + ], + [ + 0.3821326494216919, + -0.055733878165483475, + 0.058326516300439835 + ], + [ + 0.37985700368881226, + -0.05670566484332085, + 0.04780018702149391 + ], + [ + 0.38004371523857117, + -0.05603133514523506, + 0.04277000203728676 + ], + [ + 0.38027337193489075, + -0.05567925050854683, + 0.042126696556806564 + ], + [ + 0.37958475947380066, + -0.05297131836414337, + 0.040391705930233 + ], + [ + 0.3718110918998718, + -0.052582237869501114, + 0.042437296360731125 + ], + [ + 0.3617902994155884, + -0.055275242775678635, + 0.05121574550867081 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9864161050954685, + 0.16231513940090053, + 0.02524010953921711, + 0.151091344210315, + -0.9568215197418003, + 0.24832234104830692, + 0.06445675537137713, + -0.24113559438676363, + -0.9683485693730003 + ], + [ + 0.9831615627606967, + 0.16663237481775142, + 0.07501328664004284, + 0.13984108635670797, + -0.9503035920578756, + 0.278150235463633, + 0.11763423003752166, + -0.2629766806857505, + -0.957604016981437 + ], + [ + 0.9698346172855714, + 0.19762976307631863, + 0.14270000652048806, + 0.1560542992836818, + -0.9530876195150113, + 0.2593666231462485, + 0.18726417380168645, + -0.22927378017036132, + -0.9551783409064323 + ], + [ + 0.9597667282029714, + 0.20805144875032058, + 0.18858001513271777, + 0.15833939112899262, + -0.9556203104142217, + 0.24843200184502423, + 0.23189753049884604, + -0.20857712481650276, + -0.9501153184491962 + ], + [ + 0.9515686443465003, + 0.2042000321499564, + 0.22982485062873417, + 0.1448734448227837, + -0.9571828627819731, + 0.2506245243021642, + 0.27116194438332064, + -0.20519092101373052, + -0.9404083612196319 + ], + [ + 0.9527635680241883, + 0.187427375179378, + 0.23898234763092194, + 0.12430194009030263, + -0.9585890737681558, + 0.25623429774738604, + 0.2771111891201886, + -0.214424734314113, + -0.9366063325531796 + ], + [ + 0.9508482580825486, + 0.1911239056665452, + 0.24363752335005626, + 0.12633585925938645, + -0.9577733257125605, + 0.25828183679595956, + 0.2827133544185279, + -0.21480667875154097, + -0.9348429012391102 + ], + [ + 0.9506786326578766, + 0.18904252909000954, + 0.24591270728248976, + 0.12384879073564123, + -0.9582195913257553, + 0.257830742606118, + 0.2843793495334532, + -0.21465818641448503, + -0.9343715794929631 + ], + [ + 0.9497920108471526, + 0.20105866643312448, + 0.23973015826769825, + 0.14062509437898885, + -0.9587674504462604, + 0.24696064219967886, + 0.279499050019535, + -0.20084916882305218, + -0.9389035586370233 + ], + [ + 0.9554860442877114, + 0.2215253517703864, + 0.19486646118413425, + 0.17100580723881514, + -0.9540461892256168, + 0.246074953448496, + 0.2404234453251644, + -0.20179788737022214, + -0.9494599410143076 + ], + [ + 0.9612867789027689, + 0.24244544545299337, + 0.1309501228935632, + 0.20749470723235033, + -0.9496047283877183, + 0.2349400057339102, + 0.181310990227567, + -0.19867326393550835, + -0.9631486173067538 + ], + [ + 0.965204981519439, + 0.25480290010571377, + 0.058777765760337206, + 0.23907522281130728, + -0.9509321478734621, + 0.19639523410329432, + 0.10593574225814066, + -0.17550935085767264, + -0.9787615063301862 + ], + [ + 0.9679298552188111, + 0.24984220149851644, + 0.02628059600667973, + 0.24331618257380022, + -0.958366136675355, + 0.14943755676424983, + 0.0625222414329871, + -0.1382505783869636, + -0.9884218466332407 + ], + [ + 0.9696315843986458, + 0.24405519088377747, + 0.01586361684025371, + 0.2409346182880464, + -0.9643486603925362, + 0.10946310295946249, + 0.04201309613638135, + -0.10231678748770137, + -0.993864263745926 + ], + [ + 0.9716636841246897, + 0.23485296391879337, + 0.02671647977921826, + 0.23194997632710881, + -0.9691435442832779, + 0.08342660880019111, + 0.045485090250422675, + -0.0748657192084896, + -0.9961557261052645 + ], + [ + 0.9722815419320296, + 0.23109994548943924, + 0.035516452709316956, + 0.22799914187587556, + -0.9707663610998913, + 0.07502708484767262, + 0.05181693277432867, + -0.06484972900216096, + -0.9965488036851016 + ], + [ + 0.9718131063954064, + 0.23249012471238573, + 0.039084883898122556, + 0.22905458783066845, + -0.9703742136153228, + 0.07686274353785573, + 0.055796792307739075, + -0.06574364959190303, + -0.9962753085902029 + ], + [ + 0.9672725556816356, + 0.25084978983699885, + 0.03818620122309473, + 0.2464841959705836, + -0.9646439365061011, + 0.09331461246100882, + 0.060244038392625245, + -0.08084836857195597, + -0.9949041145444123 + ], + [ + 0.9630708416660678, + 0.26914173307629713, + -0.007568450918060953, + 0.2676309290695375, + -0.9538317803097378, + 0.1363034140310963, + 0.02946590806318438, + -0.13329539522370426, + -0.9906382275453379 + ], + [ + 0.956242646071329, + 0.2873035280812547, + -0.05528729136579414, + 0.29257340734221127, + -0.9384310106271959, + 0.1837063951238166, + 0.000896186738919065, + -0.1918434805910355, + -0.9814251249097129 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006734.json b/json/chunk-0006/episode_0006734.json new file mode 100644 index 0000000000000000000000000000000000000000..fa4dc6169af6ee4b98fc2266fd6db7468d6c9f79 --- /dev/null +++ b/json/chunk-0006/episode_0006734.json @@ -0,0 +1,1522 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 24, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPlace the knife on top of the orange towel." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006734.mp4", + "start": 0, + "end": 24, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.41956087946891785, + -0.02967330440878868, + 0.11624910682439804, + 0.06703370064496994, + -0.043421074748039246, + -0.13989485800266266, + 0.0, + 0.9988223910331726 + ], + [ + 0.41577786207199097, + -0.03148309886455536, + 0.09790629893541336, + 0.05125400051474571, + 0.003731940407305956, + -0.1423974484205246, + 0.0, + 0.9988223910331726 + ], + [ + 0.40683457255363464, + -0.01947014406323433, + 0.0863691046833992, + -0.03938703611493111, + -0.009834558703005314, + -0.11994483321905136, + 0.0, + 0.9988223910331726 + ], + [ + 0.38311567902565, + 0.004363697953522205, + 0.1092294305562973, + -0.07543860375881195, + -0.07794863730669022, + -0.12151950597763062, + 0.0, + 0.9988223910331726 + ], + [ + 0.34350448846817017, + 0.012187550775706768, + 0.12290874868631363, + -0.04431217908859253, + -0.08438817411661148, + -0.2659013271331787, + 0.0, + 0.9988223910331726 + ], + [ + 0.3049905300140381, + 0.029319459572434425, + 0.10932132601737976, + -0.08091835677623749, + -0.06990154087543488, + -0.3962039053440094, + 0.0, + 0.9988223910331726 + ], + [ + 0.2787907123565674, + 0.02979843132197857, + 0.09191303700208664, + -0.08813290297985077, + -0.06630856543779373, + -0.4615950584411621, + 0.0, + 0.9988223910331726 + ], + [ + 0.2617223262786865, + 0.029272476211190224, + 0.0689200684428215, + -0.0922209620475769, + -0.0702182725071907, + -0.49778857827186584, + 0.0, + 0.9988223910331726 + ], + [ + 0.2553451955318451, + 0.017761215567588806, + 0.05088227614760399, + -0.047567207366228104, + -0.07739461958408356, + -0.5712962746620178, + 0.0, + 0.9988223910331726 + ], + [ + 0.25670164823532104, + 0.008787820115685463, + 0.030097324401140213, + 0.01897268556058407, + -0.06446444243192673, + -0.6425886154174805, + 0.0, + 0.9988223910331726 + ], + [ + 0.26474928855895996, + 0.006493812892585993, + 0.0163714736700058, + 0.0666593536734581, + -0.022954337298870087, + -0.6616907715797424, + 0.0, + 1.002137303352356 + ], + [ + 0.2672657370567322, + 0.008711918257176876, + 0.007114267908036709, + 0.07770053297281265, + 0.03525223955512047, + -0.6499465107917786, + 0.0, + 0.9994885921478271 + ], + [ + 0.26847705245018005, + 0.010225892066955566, + 0.007484777364879847, + 0.08576560020446777, + 0.04024643823504448, + -0.6348574757575989, + 0.0, + 0.9484345316886902 + ], + [ + 0.27223286032676697, + 0.010400080122053623, + 0.007122439797967672, + 0.0872776061296463, + 0.04055524617433548, + -0.6293660998344421, + 0.0, + 0.676182746887207 + ], + [ + 0.26849082112312317, + 0.008190021850168705, + 0.008876414969563484, + 0.06245149299502373, + 0.023267265409231186, + -0.6069585680961609, + 0.0, + 0.400628000497818 + ], + [ + 0.26442739367485046, + 0.002407877240329981, + 0.02909594215452671, + 0.03991154953837395, + -0.03254126384854317, + -0.5876375436782837, + 0.0, + 0.3331759572029114 + ], + [ + 0.2636663317680359, + -0.018478555604815483, + 0.07303198426961899, + 0.006650768686085939, + -0.10551375150680542, + -0.5722710490226746, + 0.0, + 0.3331759572029114 + ], + [ + 0.27696284651756287, + -0.033970072865486145, + 0.10870257019996643, + -0.05702666938304901, + -0.12200059741735458, + -0.45291876792907715, + 0.0, + 0.33237314224243164 + ], + [ + 0.31871941685676575, + -0.04074219986796379, + 0.10803747177124023, + -0.1460738629102707, + -0.08274990320205688, + -0.2319127470254898, + 0.0, + 0.29885798692703247 + ], + [ + 0.3569176495075226, + -0.03292074799537659, + 0.0924629420042038, + -0.1376739740371704, + -0.05976417288184166, + -0.11749151349067688, + 0.0, + 0.288376122713089 + ], + [ + 0.3720678985118866, + -0.02646857313811779, + 0.0789487212896347, + -0.10175909101963043, + -0.06208227574825287, + -0.09657350182533264, + 0.0, + 0.288376122713089 + ], + [ + 0.37802639603614807, + -0.02082482911646366, + 0.06851662695407867, + -0.05721836909651756, + -0.06371360272169113, + -0.10430268198251724, + 0.0, + 0.34288913011550903 + ], + [ + 0.3816048502922058, + -0.023412609472870827, + 0.0639018788933754, + -0.030790427699685097, + -0.06929805874824524, + -0.13452459871768951, + 0.0, + 0.641040563583374 + ], + [ + 0.38332319259643555, + -0.026306986808776855, + 0.060706790536642075, + -0.048476409167051315, + -0.06554584205150604, + -0.14221669733524323, + 0.0, + 0.9398812651634216 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 1.002137303352356 + ], + [ + 0.9994885921478271 + ], + [ + 0.9484345316886902 + ], + [ + 0.676182746887207 + ], + [ + 0.400628000497818 + ], + [ + 0.3331759572029114 + ], + [ + 0.3331759572029114 + ], + [ + 0.33237314224243164 + ], + [ + 0.29885798692703247 + ], + [ + 0.288376122713089 + ], + [ + 0.288376122713089 + ], + [ + 0.34288913011550903 + ], + [ + 0.641040563583374 + ], + [ + 0.9398812651634216 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.41956087946891785, + -0.02967330440878868, + 0.11624910682439804 + ], + [ + 0.41577786207199097, + -0.03148309886455536, + 0.09790629893541336 + ], + [ + 0.40683457255363464, + -0.01947014406323433, + 0.0863691046833992 + ], + [ + 0.38311567902565, + 0.004363697953522205, + 0.1092294305562973 + ], + [ + 0.34350448846817017, + 0.012187550775706768, + 0.12290874868631363 + ], + [ + 0.3049905300140381, + 0.029319459572434425, + 0.10932132601737976 + ], + [ + 0.2787907123565674, + 0.02979843132197857, + 0.09191303700208664 + ], + [ + 0.2617223262786865, + 0.029272476211190224, + 0.0689200684428215 + ], + [ + 0.2553451955318451, + 0.017761215567588806, + 0.05088227614760399 + ], + [ + 0.25670164823532104, + 0.008787820115685463, + 0.030097324401140213 + ], + [ + 0.26474928855895996, + 0.006493812892585993, + 0.0163714736700058 + ], + [ + 0.2672657370567322, + 0.008711918257176876, + 0.007114267908036709 + ], + [ + 0.26847705245018005, + 0.010225892066955566, + 0.007484777364879847 + ], + [ + 0.27223286032676697, + 0.010400080122053623, + 0.007122439797967672 + ], + [ + 0.26849082112312317, + 0.008190021850168705, + 0.008876414969563484 + ], + [ + 0.26442739367485046, + 0.002407877240329981, + 0.02909594215452671 + ], + [ + 0.2636663317680359, + -0.018478555604815483, + 0.07303198426961899 + ], + [ + 0.27696284651756287, + -0.033970072865486145, + 0.10870257019996643 + ], + [ + 0.31871941685676575, + -0.04074219986796379, + 0.10803747177124023 + ], + [ + 0.3569176495075226, + -0.03292074799537659, + 0.0924629420042038 + ], + [ + 0.3720678985118866, + -0.02646857313811779, + 0.0789487212896347 + ], + [ + 0.37802639603614807, + -0.02082482911646366, + 0.06851662695407867 + ], + [ + 0.3816048502922058, + -0.023412609472870827, + 0.0639018788933754 + ], + [ + 0.38332319259643555, + -0.026306986808776855, + 0.060706790536642075 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9892973238752446, + -0.13624665517079193, + 0.05222694637876697, + -0.13930757280681527, + -0.9884121167307314, + 0.06029002951192592, + 0.04340743175947123, + -0.06692037398764555, + -0.9968136528024686 + ], + [ + 0.9898717101539302, + -0.14191959583560318, + 0.0035813062969176196, + -0.1419157148535242, + -0.9885515625532458, + 0.051241955965292886, + -0.0037319317446204508, + -0.05123120622623336, + -0.9986798466946544 + ], + [ + 0.9927672270446017, + -0.1199490998959305, + 0.005044436571885023, + -0.11965165055028532, + -0.9919989046527676, + -0.04026978629569777, + 0.009834400173070733, + 0.039374948912536324, + -0.9991761095879798 + ], + [ + 0.9896115213481943, + -0.1267014124540382, + 0.0679395974161194, + -0.12085256586824474, + -0.9890909966662281, + -0.0842238543220943, + 0.07786972542634431, + 0.07513822193770282, + -0.994128036756869 + ], + [ + 0.9614225357863443, + -0.26612362120410327, + 0.06960550207684936, + -0.2618439083050774, + -0.9629277620296288, + -0.06486827264643849, + 0.08428804995773452, + 0.04414004247647944, + -0.9954632998179777 + ], + [ + 0.9202796893609969, + -0.38986454383459546, + 0.03302924174530762, + -0.38497665013532034, + -0.9173352756051436, + -0.10143456502111299, + 0.06984462900047751, + 0.08063268314447948, + -0.9942937685657633 + ], + [ + 0.8933756217334241, + -0.4488699615027243, + 0.019893620911245843, + -0.4443980343017626, + -0.8892707421538957, + -0.10820320816772852, + 0.06625998491659142, + 0.08782542234229351, + -0.9939297307099987 + ], + [ + 0.8764754018132189, + -0.48113166528322415, + 0.017412371410804203, + -0.4763070044849217, + -0.8718219103898514, + -0.11427245531093952, + 0.0701605836275401, + 0.09186336171717979, + -0.9932968414724076 + ], + [ + 0.8386826483672439, + -0.5432038926757592, + 0.039254888989880166, + -0.539104292676174, + -0.8382613635193201, + -0.08175847386572258, + 0.07731737803254633, + 0.047406934225197234, + -0.99587881072023 + ], + [ + 0.798884336209447, + -0.5981835180496611, + 0.06293088345893523, + -0.5980250047847688, + -0.8011354771570754, + -0.023410273225278857, + 0.06441980294419149, + -0.018932141295580778, + -0.9977432851262872 + ], + [ + 0.7887466207060678, + -0.6118808319416392, + 0.05899674420818607, + -0.6142898007123291, + -0.7881416706662512, + 0.038480484667137216, + 0.022952321572463835, + -0.066592450486659, + -0.9975162336887637 + ], + [ + 0.7956215446792373, + -0.605496013633741, + 0.018998292446252323, + -0.6047678496315275, + -0.7920586022563416, + 0.08306033134889931, + -0.03524493856262034, + -0.07757414559877146, + -0.9963634107294075 + ], + [ + 0.8045042322020692, + -0.5936579463679681, + 0.018525201297840427, + -0.5925825165724734, + -0.8001527363760443, + 0.09274459295593818, + -0.04023557408057131, + -0.08559112795199642, + -0.9955175826645714 + ], + [ + 0.8077360962986331, + -0.5892489073942192, + 0.01865807790112502, + -0.5881484270626945, + -0.8032435224481452, + 0.09424049760466337, + -0.040544130030423856, + -0.08709517081799135, + -0.9953746052317495 + ], + [ + 0.8211642363332875, + -0.5704526464116969, + 0.016524986204532813, + -0.5702175278021059, + -0.8189571206016404, + 0.0645074073508192, + -0.023265166116386148, + -0.062394012675588355, + -0.9977803962936009 + ], + [ + 0.8318121262558974, + -0.5528744827571404, + 0.04917715861725858, + -0.5541029024362831, + -0.8323096812360933, + 0.015184466811818424, + 0.032535520978300224, + -0.03987982994819325, + -0.9986746412310534 + ], + [ + 0.8359979427021624, + -0.540941834915157, + 0.09213778289265945, + -0.5385309113216826, + -0.841034000373518, + -0.051441887278317874, + 0.10531807702759202, + -0.006613732254952948, + -0.9944165933837136 + ], + [ + 0.8924902848324932, + -0.4431174544351262, + 0.08430903305428986, + -0.4343393204002469, + -0.8946767663650514, + -0.10441665806195424, + 0.12169817678941242, + 0.05657212477456836, + -0.9909536560629987 + ], + [ + 0.9698983379110658, + -0.23910056229204343, + 0.046131716085363136, + -0.22905301352604238, + -0.9600986530156459, + -0.160453399690318, + 0.08265549656248238, + 0.14505687708333911, + -0.9859647921192918 + ], + [ + 0.991332770210012, + -0.1242528347141292, + 0.04266815877498173, + -0.11701210537375384, + -0.9827480620378127, + -0.14322853681066852, + 0.05972860205751755, + 0.1369944510789645, + -0.9887694445470228 + ], + [ + 0.9934228935593712, + -0.1021977811434241, + 0.05163882339371708, + -0.09623769889375108, + -0.9895838086693349, + -0.10706162212076485, + 0.062042403755515584, + 0.10138786489937805, + -0.9929104899170839 + ], + [ + 0.9925474067549619, + -0.10756462805192309, + 0.05726688516107553, + -0.10390241658470155, + -0.9925586825130556, + -0.06349448476684137, + 0.06367050472439736, + 0.0570711184400565, + -0.9963377711740842 + ], + [ + 0.9885867387593497, + -0.13616806260891468, + 0.06445555580776653, + -0.13379731384154359, + -0.9902095999725116, + -0.03978978425508374, + 0.06924260796605584, + 0.030711672823428487, + -0.9971270001331053 + ], + [ + 0.987778558273178, + -0.14471313847408415, + 0.05789324113177769, + -0.14143341716659916, + -0.9882914849388869, + -0.05724097575922633, + 0.06549891849748624, + 0.04835336958548129, + -0.996680411829885 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.00378301739692688, + -0.0018097944557666779, + -0.01834280788898468, + -0.015779700130224228, + 0.047153014689683914, + -0.0025025904178619385, + 1.0 + ], + [ + -0.008943289518356323, + 0.01201295480132103, + -0.01153719425201416, + -0.09064103662967682, + -0.013566499575972557, + 0.022452615201473236, + 1.0 + ], + [ + -0.02371889352798462, + 0.02383384108543396, + 0.022860325872898102, + -0.036051567643880844, + -0.06811407953500748, + -0.0015746727585792542, + 1.0 + ], + [ + -0.03961119055747986, + 0.007823852822184563, + 0.013679318130016327, + 0.03112642467021942, + -0.006439536809921265, + -0.1443818211555481, + 1.0 + ], + [ + -0.03851395845413208, + 0.017131909728050232, + -0.013587422668933868, + -0.03660617768764496, + 0.014486633241176605, + -0.1303025782108307, + 1.0 + ], + [ + -0.026199817657470703, + 0.0004789717495441437, + -0.01740828901529312, + -0.007214546203613281, + 0.003592975437641144, + -0.06539115309715271, + 1.0 + ], + [ + -0.01706838607788086, + -0.0005259551107883453, + -0.022992968559265137, + -0.004088059067726135, + -0.003909707069396973, + -0.036193519830703735, + 1.0 + ], + [ + -0.006377130746841431, + -0.011511260643601418, + -0.018037792295217514, + 0.0446537546813488, + -0.007176347076892853, + -0.07350769639015198, + 1.0 + ], + [ + 0.0013564527034759521, + -0.008973395451903343, + -0.020784951746463776, + 0.06653989106416702, + 0.01293017715215683, + -0.07129234075546265, + 1.0 + ], + [ + 0.008047640323638916, + -0.00229400722309947, + -0.013725850731134415, + 0.04768666625022888, + 0.04151010513305664, + -0.019102156162261963, + 1.0 + ], + [ + 0.002516448497772217, + 0.0022181053645908833, + -0.00925720576196909, + 0.011041179299354553, + 0.058206576853990555, + 0.011744260787963867, + 1.0 + ], + [ + 0.001211315393447876, + 0.0015139738097786903, + 0.00037050945684313774, + 0.00806506723165512, + 0.004994198679924011, + 0.015089035034179688, + 0.0 + ], + [ + 0.003755807876586914, + 0.0001741880550980568, + -0.0003623375669121742, + 0.0015120059251785278, + 0.00030880793929100037, + 0.005491375923156738, + 0.0 + ], + [ + -0.003742039203643799, + -0.002210058271884918, + 0.0017539751715958118, + -0.024826113134622574, + -0.017287980765104294, + 0.02240753173828125, + 0.0 + ], + [ + -0.004063427448272705, + -0.005782144609838724, + 0.020219527184963226, + -0.02253994345664978, + -0.05580852925777435, + 0.019321024417877197, + 0.0 + ], + [ + -0.0007610619068145752, + -0.020886432379484177, + 0.04393604397773743, + -0.033260781317949295, + -0.07297249138355255, + 0.01536649465560913, + 0.0 + ], + [ + 0.013296514749526978, + -0.015491517260670662, + 0.03567058593034744, + -0.06367743760347366, + -0.016486845910549164, + 0.11935228109359741, + 0.0 + ], + [ + 0.04175657033920288, + -0.006772127002477646, + -0.0006650984287261963, + -0.08904719352722168, + 0.0392506942152977, + 0.22100602090358734, + 0.0 + ], + [ + 0.038198232650756836, + 0.007821451872587204, + -0.015574529767036438, + 0.00839988887310028, + 0.022985730320215225, + 0.11442123353481293, + 0.0 + ], + [ + 0.015150249004364014, + 0.006452174857258797, + -0.013514220714569092, + 0.03591488301753998, + -0.002318102866411209, + 0.02091801166534424, + 0.0 + ], + [ + 0.005958497524261475, + 0.005643744021654129, + -0.01043209433555603, + 0.04454072192311287, + -0.001631326973438263, + -0.007729180157184601, + 1.0 + ], + [ + 0.0035784542560577393, + -0.0025877803564071655, + -0.004614748060703278, + 0.026427941396832466, + -0.005584456026554108, + -0.03022191673517227, + 1.0 + ], + [ + 0.0017183423042297363, + -0.0028943773359060287, + -0.003195088356733322, + -0.01768598146736622, + 0.0037522166967391968, + -0.007692098617553711, + 1.0 + ], + [ + 9.045004844665527e-05, + 0.0006441734731197357, + 0.0005542486906051636, + 0.004452351480722427, + -0.0011853277683258057, + -0.0036784708499908447, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 1.002137303352356 + ], + [ + 0.9994885921478271 + ], + [ + 0.9484345316886902 + ], + [ + 0.676182746887207 + ], + [ + 0.400628000497818 + ], + [ + 0.3331759572029114 + ], + [ + 0.3331759572029114 + ], + [ + 0.33237314224243164 + ], + [ + 0.29885798692703247 + ], + [ + 0.288376122713089 + ], + [ + 0.288376122713089 + ], + [ + 0.34288913011550903 + ], + [ + 0.641040563583374 + ], + [ + 0.9398812651634216 + ], + [ + 1.0092895030975342 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.41577786207199097, + -0.03148309886455536, + 0.09790629893541336 + ], + [ + 0.40683457255363464, + -0.01947014406323433, + 0.0863691046833992 + ], + [ + 0.38311567902565, + 0.004363697953522205, + 0.1092294305562973 + ], + [ + 0.34350448846817017, + 0.012187550775706768, + 0.12290874868631363 + ], + [ + 0.3049905300140381, + 0.029319459572434425, + 0.10932132601737976 + ], + [ + 0.2787907123565674, + 0.02979843132197857, + 0.09191303700208664 + ], + [ + 0.2617223262786865, + 0.029272476211190224, + 0.0689200684428215 + ], + [ + 0.2553451955318451, + 0.017761215567588806, + 0.05088227614760399 + ], + [ + 0.25670164823532104, + 0.008787820115685463, + 0.030097324401140213 + ], + [ + 0.26474928855895996, + 0.006493812892585993, + 0.0163714736700058 + ], + [ + 0.2672657370567322, + 0.008711918257176876, + 0.007114267908036709 + ], + [ + 0.26847705245018005, + 0.010225892066955566, + 0.007484777364879847 + ], + [ + 0.27223286032676697, + 0.010400080122053623, + 0.007122439797967672 + ], + [ + 0.26849082112312317, + 0.008190021850168705, + 0.008876414969563484 + ], + [ + 0.26442739367485046, + 0.002407877240329981, + 0.02909594215452671 + ], + [ + 0.2636663317680359, + -0.018478555604815483, + 0.07303198426961899 + ], + [ + 0.27696284651756287, + -0.033970072865486145, + 0.10870257019996643 + ], + [ + 0.31871941685676575, + -0.04074219986796379, + 0.10803747177124023 + ], + [ + 0.3569176495075226, + -0.03292074799537659, + 0.0924629420042038 + ], + [ + 0.3720678985118866, + -0.02646857313811779, + 0.0789487212896347 + ], + [ + 0.37802639603614807, + -0.02082482911646366, + 0.06851662695407867 + ], + [ + 0.3816048502922058, + -0.023412609472870827, + 0.0639018788933754 + ], + [ + 0.38332319259643555, + -0.026306986808776855, + 0.060706790536642075 + ], + [ + 0.3834136426448822, + -0.02566281333565712, + 0.06126103922724724 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9898717101539302, + -0.14191959583560318, + 0.0035813062969176196, + -0.1419157148535242, + -0.9885515625532458, + 0.051241955965292886, + -0.0037319317446204508, + -0.05123120622623336, + -0.9986798466946544 + ], + [ + 0.9927672270446017, + -0.1199490998959305, + 0.005044436571885023, + -0.11965165055028532, + -0.9919989046527676, + -0.04026978629569777, + 0.009834400173070733, + 0.039374948912536324, + -0.9991761095879798 + ], + [ + 0.9896115213481943, + -0.1267014124540382, + 0.0679395974161194, + -0.12085256586824474, + -0.9890909966662281, + -0.0842238543220943, + 0.07786972542634431, + 0.07513822193770282, + -0.994128036756869 + ], + [ + 0.9614225357863443, + -0.26612362120410327, + 0.06960550207684936, + -0.2618439083050774, + -0.9629277620296288, + -0.06486827264643849, + 0.08428804995773452, + 0.04414004247647944, + -0.9954632998179777 + ], + [ + 0.9202796893609969, + -0.38986454383459546, + 0.03302924174530762, + -0.38497665013532034, + -0.9173352756051436, + -0.10143456502111299, + 0.06984462900047751, + 0.08063268314447948, + -0.9942937685657633 + ], + [ + 0.8933756217334241, + -0.4488699615027243, + 0.019893620911245843, + -0.4443980343017626, + -0.8892707421538957, + -0.10820320816772852, + 0.06625998491659142, + 0.08782542234229351, + -0.9939297307099987 + ], + [ + 0.8764754018132189, + -0.48113166528322415, + 0.017412371410804203, + -0.4763070044849217, + -0.8718219103898514, + -0.11427245531093952, + 0.0701605836275401, + 0.09186336171717979, + -0.9932968414724076 + ], + [ + 0.8386826483672439, + -0.5432038926757592, + 0.039254888989880166, + -0.539104292676174, + -0.8382613635193201, + -0.08175847386572258, + 0.07731737803254633, + 0.047406934225197234, + -0.99587881072023 + ], + [ + 0.798884336209447, + -0.5981835180496611, + 0.06293088345893523, + -0.5980250047847688, + -0.8011354771570754, + -0.023410273225278857, + 0.06441980294419149, + -0.018932141295580778, + -0.9977432851262872 + ], + [ + 0.7887466207060678, + -0.6118808319416392, + 0.05899674420818607, + -0.6142898007123291, + -0.7881416706662512, + 0.038480484667137216, + 0.022952321572463835, + -0.066592450486659, + -0.9975162336887637 + ], + [ + 0.7956215446792373, + -0.605496013633741, + 0.018998292446252323, + -0.6047678496315275, + -0.7920586022563416, + 0.08306033134889931, + -0.03524493856262034, + -0.07757414559877146, + -0.9963634107294075 + ], + [ + 0.8045042322020692, + -0.5936579463679681, + 0.018525201297840427, + -0.5925825165724734, + -0.8001527363760443, + 0.09274459295593818, + -0.04023557408057131, + -0.08559112795199642, + -0.9955175826645714 + ], + [ + 0.8077360962986331, + -0.5892489073942192, + 0.01865807790112502, + -0.5881484270626945, + -0.8032435224481452, + 0.09424049760466337, + -0.040544130030423856, + -0.08709517081799135, + -0.9953746052317495 + ], + [ + 0.8211642363332875, + -0.5704526464116969, + 0.016524986204532813, + -0.5702175278021059, + -0.8189571206016404, + 0.0645074073508192, + -0.023265166116386148, + -0.062394012675588355, + -0.9977803962936009 + ], + [ + 0.8318121262558974, + -0.5528744827571404, + 0.04917715861725858, + -0.5541029024362831, + -0.8323096812360933, + 0.015184466811818424, + 0.032535520978300224, + -0.03987982994819325, + -0.9986746412310534 + ], + [ + 0.8359979427021624, + -0.540941834915157, + 0.09213778289265945, + -0.5385309113216826, + -0.841034000373518, + -0.051441887278317874, + 0.10531807702759202, + -0.006613732254952948, + -0.9944165933837136 + ], + [ + 0.8924902848324932, + -0.4431174544351262, + 0.08430903305428986, + -0.4343393204002469, + -0.8946767663650514, + -0.10441665806195424, + 0.12169817678941242, + 0.05657212477456836, + -0.9909536560629987 + ], + [ + 0.9698983379110658, + -0.23910056229204343, + 0.046131716085363136, + -0.22905301352604238, + -0.9600986530156459, + -0.160453399690318, + 0.08265549656248238, + 0.14505687708333911, + -0.9859647921192918 + ], + [ + 0.991332770210012, + -0.1242528347141292, + 0.04266815877498173, + -0.11701210537375384, + -0.9827480620378127, + -0.14322853681066852, + 0.05972860205751755, + 0.1369944510789645, + -0.9887694445470228 + ], + [ + 0.9934228935593712, + -0.1021977811434241, + 0.05163882339371708, + -0.09623769889375108, + -0.9895838086693349, + -0.10706162212076485, + 0.062042403755515584, + 0.10138786489937805, + -0.9929104899170839 + ], + [ + 0.9925474067549619, + -0.10756462805192309, + 0.05726688516107553, + -0.10390241658470155, + -0.9925586825130556, + -0.06349448476684137, + 0.06367050472439736, + 0.0570711184400565, + -0.9963377711740842 + ], + [ + 0.9885867387593497, + -0.13616806260891468, + 0.06445555580776653, + -0.13379731384154359, + -0.9902095999725116, + -0.03978978425508374, + 0.06924260796605584, + 0.030711672823428487, + -0.9971270001331053 + ], + [ + 0.987778558273178, + -0.14471313847408415, + 0.05789324113177769, + -0.14143341716659916, + -0.9882914849388869, + -0.05724097575922633, + 0.06549891849748624, + 0.04835336958548129, + -0.996680411829885 + ], + [ + 0.9871741114588949, + -0.14814076030245824, + 0.05951124937649378, + -0.1450545779987333, + -0.9879909217306585, + -0.0532269478686649, + 0.06668165465066848, + 0.0439118858034335, + -0.9968075557590018 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006735.json b/json/chunk-0006/episode_0006735.json new file mode 100644 index 0000000000000000000000000000000000000000..d5956e8c2d75961054bd1ff5497c3247d495f1ba --- /dev/null +++ b/json/chunk-0006/episode_0006735.json @@ -0,0 +1,1942 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 31, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nOpen low fridge." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006735.mp4", + "start": 0, + "end": 31, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.23346804082393646, + 0.1782829910516739, + -0.007984631694853306, + 0.25255125761032104, + -0.1508893072605133, + 0.3895343840122223, + 0.0, + 1.0054124593734741 + ], + [ + 0.22982974350452423, + 0.17256011068820953, + -0.01548519916832447, + 0.2452498972415924, + -0.128018319606781, + 0.38661715388298035, + 0.0, + 1.0054124593734741 + ], + [ + 0.23051327466964722, + 0.1264474242925644, + -0.028917470946907997, + 0.19681645929813385, + -0.13383625447750092, + 0.3165128827095032, + 0.0, + 1.0054124593734741 + ], + [ + 0.24097907543182373, + 0.0905066728591919, + -0.021130139008164406, + 0.16464751958847046, + -0.16975916922092438, + 0.2753576934337616, + 0.0, + 1.0054124593734741 + ], + [ + 0.25092437863349915, + 0.043022703379392624, + -0.01752941869199276, + 0.11588577181100845, + -0.21030940115451813, + 0.20196743309497833, + 0.0, + 1.0054124593734741 + ], + [ + 0.26066887378692627, + 0.008517056703567505, + -0.015261285938322544, + 0.09625912457704544, + -0.2356921285390854, + 0.1324438899755478, + 0.0, + 1.0054124593734741 + ], + [ + 0.27096378803253174, + 0.0058135781437158585, + -0.018119236454367638, + 0.07982781529426575, + -0.27015745639801025, + 0.14442461729049683, + 0.0, + 1.0054124593734741 + ], + [ + 0.2873751223087311, + -0.015334991738200188, + -0.032145753502845764, + 0.08093249052762985, + -0.286499559879303, + 0.1438407301902771, + 0.0, + 1.0054124593734741 + ], + [ + 0.30018216371536255, + -0.02583061344921589, + -0.03811153024435043, + 0.07150719314813614, + -0.2944544553756714, + 0.12541678547859192, + 0.0, + 1.0054124593734741 + ], + [ + 0.304215669631958, + -0.027873264625668526, + -0.043616317212581635, + 0.052778907120227814, + -0.29347291588783264, + 0.11341432482004166, + 0.0, + 1.0054124593734741 + ], + [ + 0.30926790833473206, + -0.02751300111413002, + -0.04214130714535713, + 0.05214851722121239, + -0.3208217918872833, + 0.11646153032779694, + 0.0, + 0.9507390260696411 + ], + [ + 0.310214102268219, + -0.028836572542786598, + -0.044845499098300934, + 0.04456847161054611, + -0.3135972321033478, + 0.10480307787656784, + 0.0, + 0.672171950340271 + ], + [ + 0.3108891248703003, + -0.027656417340040207, + -0.045136842876672745, + 0.04151679947972298, + -0.3234051764011383, + 0.09058887511491776, + 0.0, + 0.3737536668777466 + ], + [ + 0.31077373027801514, + -0.02843257039785385, + -0.04555179178714752, + 0.037567805498838425, + -0.33044934272766113, + 0.08180031180381775, + 0.0, + 0.23134081065654755 + ], + [ + 0.30101636052131653, + -0.026863178238272667, + -0.04772092029452324, + 0.04730396717786789, + -0.3275662362575531, + 0.04725027456879616, + 0.0, + 0.24793511629104614 + ], + [ + 0.2722190022468567, + -0.017617275938391685, + -0.046695612370967865, + 0.05691526457667351, + -0.29959940910339355, + -0.0050191208720207214, + 0.0, + 0.2589220404624939 + ], + [ + 0.2486715465784073, + -0.007714241277426481, + -0.045874420553445816, + 0.07765446603298187, + -0.275391161441803, + -0.039521608501672745, + 0.0, + 0.3188876807689667 + ], + [ + 0.2345011681318283, + 0.006631712429225445, + -0.028347287327051163, + 0.090249203145504, + -0.2524091601371765, + -0.042570292949676514, + 0.0, + 0.5938982367515564 + ], + [ + 0.22911903262138367, + 0.013734303414821625, + 0.014443177729845047, + 0.034755926579236984, + -0.22878839075565338, + -0.018552279099822044, + 0.0, + 0.8818928003311157 + ], + [ + 0.23179461061954498, + 0.009947521612048149, + 0.04553842544555664, + -0.019654596224427223, + -0.232547327876091, + 0.03756089136004448, + 0.0, + 1.0099300146102905 + ], + [ + 0.24529848992824554, + -0.005782977677881718, + 0.06490436941385269, + -0.06632982194423676, + -0.24397067725658417, + 0.06514383852481842, + 0.0, + 1.0054124593734741 + ], + [ + 0.2634998559951782, + -0.022844942286610603, + 0.05232493579387665, + -0.0656072124838829, + -0.21931691467761993, + 0.07582517713308334, + 0.0, + 1.0054124593734741 + ], + [ + 0.2801976203918457, + -0.044705748558044434, + 0.01537476759403944, + -0.026602350175380707, + -0.1964826136827469, + 0.025125935673713684, + 0.0, + 1.0054124593734741 + ], + [ + 0.290720671415329, + -0.05655285343527794, + -0.016823530197143555, + 0.003834967501461506, + -0.16778165102005005, + -0.014150052331387997, + 0.0, + 1.0054124593734741 + ], + [ + 0.28820204734802246, + -0.050052937120199203, + -0.0416426956653595, + 0.03351942449808121, + -0.13540230691432953, + -0.008123143576085567, + 0.0, + 1.0054124593734741 + ], + [ + 0.2766701877117157, + -0.03232056275010109, + -0.057880666106939316, + 0.04817226156592369, + -0.11812560260295868, + -0.003763402346521616, + 0.0, + 1.0054124593734741 + ], + [ + 0.26009464263916016, + -0.01183172594755888, + -0.06547243893146515, + 0.06351206451654434, + -0.09604835510253906, + -0.003367221914231777, + 0.0, + 1.0054124593734741 + ], + [ + 0.24027808010578156, + 0.013750366866588593, + -0.0730532705783844, + 0.08587738871574402, + -0.08777881413698196, + -0.014193492010235786, + 0.0, + 1.0054124593734741 + ], + [ + 0.2254035472869873, + 0.035820502787828445, + -0.07620707154273987, + 0.09178642183542252, + -0.07439126074314117, + -0.006762122269719839, + 0.0, + 1.0054124593734741 + ], + [ + 0.2171211987733841, + 0.06458495557308197, + -0.066984161734581, + 0.10526357591152191, + -0.11686120182275772, + -0.010669684037566185, + 0.0, + 1.0054124593734741 + ], + [ + 0.2080049067735672, + 0.09074775129556656, + -0.06653998792171478, + 0.12836675345897675, + -0.1263812631368637, + -0.017711682245135307, + 0.0, + 1.0054124593734741 + ] + ], + "left_gripper_pos": [ + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 0.9507390260696411 + ], + [ + 0.672171950340271 + ], + [ + 0.3737536668777466 + ], + [ + 0.23134081065654755 + ], + [ + 0.24793511629104614 + ], + [ + 0.2589220404624939 + ], + [ + 0.3188876807689667 + ], + [ + 0.5938982367515564 + ], + [ + 0.8818928003311157 + ], + [ + 1.0099300146102905 + ], + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.23346804082393646, + 0.1782829910516739, + -0.007984631694853306 + ], + [ + 0.22982974350452423, + 0.17256011068820953, + -0.01548519916832447 + ], + [ + 0.23051327466964722, + 0.1264474242925644, + -0.028917470946907997 + ], + [ + 0.24097907543182373, + 0.0905066728591919, + -0.021130139008164406 + ], + [ + 0.25092437863349915, + 0.043022703379392624, + -0.01752941869199276 + ], + [ + 0.26066887378692627, + 0.008517056703567505, + -0.015261285938322544 + ], + [ + 0.27096378803253174, + 0.0058135781437158585, + -0.018119236454367638 + ], + [ + 0.2873751223087311, + -0.015334991738200188, + -0.032145753502845764 + ], + [ + 0.30018216371536255, + -0.02583061344921589, + -0.03811153024435043 + ], + [ + 0.304215669631958, + -0.027873264625668526, + -0.043616317212581635 + ], + [ + 0.30926790833473206, + -0.02751300111413002, + -0.04214130714535713 + ], + [ + 0.310214102268219, + -0.028836572542786598, + -0.044845499098300934 + ], + [ + 0.3108891248703003, + -0.027656417340040207, + -0.045136842876672745 + ], + [ + 0.31077373027801514, + -0.02843257039785385, + -0.04555179178714752 + ], + [ + 0.30101636052131653, + -0.026863178238272667, + -0.04772092029452324 + ], + [ + 0.2722190022468567, + -0.017617275938391685, + -0.046695612370967865 + ], + [ + 0.2486715465784073, + -0.007714241277426481, + -0.045874420553445816 + ], + [ + 0.2345011681318283, + 0.006631712429225445, + -0.028347287327051163 + ], + [ + 0.22911903262138367, + 0.013734303414821625, + 0.014443177729845047 + ], + [ + 0.23179461061954498, + 0.009947521612048149, + 0.04553842544555664 + ], + [ + 0.24529848992824554, + -0.005782977677881718, + 0.06490436941385269 + ], + [ + 0.2634998559951782, + -0.022844942286610603, + 0.05232493579387665 + ], + [ + 0.2801976203918457, + -0.044705748558044434, + 0.01537476759403944 + ], + [ + 0.290720671415329, + -0.05655285343527794, + -0.016823530197143555 + ], + [ + 0.28820204734802246, + -0.050052937120199203, + -0.0416426956653595 + ], + [ + 0.2766701877117157, + -0.03232056275010109, + -0.057880666106939316 + ], + [ + 0.26009464263916016, + -0.01183172594755888, + -0.06547243893146515 + ], + [ + 0.24027808010578156, + 0.013750366866588593, + -0.0730532705783844 + ], + [ + 0.2254035472869873, + 0.035820502787828445, + -0.07620707154273987 + ], + [ + 0.2171211987733841, + 0.06458495557308197, + -0.066984161734581 + ], + [ + 0.2080049067735672, + 0.09074775129556656, + -0.06653998792171478 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9145749607105783, + 0.4024578366011612, + 0.0397533772094557, + 0.37544283470710915, + -0.8814765581338413, + 0.2864293199510256, + 0.15031739456341886, + -0.24703596341186784, + -0.9572762995461842 + ], + [ + 0.9186107241580448, + 0.3944845126240653, + 0.02315829789916904, + 0.37397189950684057, + -0.8867872363405965, + 0.2715758012832752, + 0.12766893060207915, + -0.24081189082593313, + -0.9621383878609984 + ], + [ + 0.9418280791445195, + 0.3300427406917064, + 0.06349534354305938, + 0.3084710999671501, + -0.9238579635997314, + 0.2265657599427001, + 0.1334370631421442, + -0.193799516021232, + -0.9719240185168463 + ], + [ + 0.948495004888539, + 0.2948618628878773, + 0.11581756134447513, + 0.2679828683694274, + -0.9417847624840885, + 0.20304345203252255, + 0.1689449850157878, + -0.16154857773152875, + -0.9722960706857432 + ], + [ + 0.9580880425262603, + 0.22289955266701553, + 0.1799530277295825, + 0.19617727689084022, + -0.9682607880785745, + 0.1548726002272615, + 0.20876249375760514, + -0.11307889144443764, + -0.9714069103675368 + ], + [ + 0.9638372019811696, + 0.15369248135161995, + 0.21770730179094178, + 0.12840603433366143, + -0.9836895289191684, + 0.12596349090703712, + 0.23351603461820947, + -0.09345336735916268, + -0.9678516052088878 + ], + [ + 0.953695389268844, + 0.1645252425185763, + 0.2517867134333176, + 0.13870281145134666, + -0.9833745045227458, + 0.11720116872342318, + 0.2668831852755811, + -0.07685068918915283, + -0.9606598445799178 + ], + [ + 0.9493326576134131, + 0.16548634002323118, + 0.2671736821888888, + 0.1375023281573798, + -0.9831584019115448, + 0.12038549124390917, + 0.28259620475150415, + -0.07754887501732448, + -0.9560991355730811 + ], + [ + 0.9494442777089096, + 0.14534070751863923, + 0.2782654169381976, + 0.11970453407137935, + -0.9870164379463313, + 0.10709517144339668, + 0.2902178286194037, + -0.06837126561442251, + -0.9545150506878983 + ], + [ + 0.9510951770779041, + 0.12817642163571835, + 0.28104940682344987, + 0.10833270377254708, + -0.9904648740665889, + 0.08510792286024917, + 0.2892783943409532, + -0.050498892828646405, + -0.9559120631054936 + ], + [ + 0.942548238647363, + 0.13236653343245322, + 0.30672775982918304, + 0.11026960110687062, + -0.9899658001244401, + 0.08836475346940553, + 0.3153465282740328, + -0.049465295016328625, + -0.9476865260699143 + ], + [ + 0.9460108180766599, + 0.11817607694251583, + 0.30182436435848753, + 0.09950943927795813, + -0.9920878386646398, + 0.07654797102673375, + 0.3084824202065894, + -0.042380835435369635, + -0.95028546301166 + ], + [ + 0.9442709634141045, + 0.10352311365870168, + 0.3124664983504734, + 0.08577520647080455, + -0.9938482227276234, + 0.07005943288405309, + 0.31779704468086184, + -0.039353209774449435, + -0.9473417352109842 + ], + [ + 0.9427337710308121, + 0.0937974020136895, + 0.3200860576993426, + 0.07728837971331023, + -0.9949572284999026, + 0.06392667531699063, + 0.32446809291410417, + -0.035526902922645584, + -0.9452292292610346 + ], + [ + 0.9457714429171005, + 0.06237676451785057, + 0.3187875734886645, + 0.044721246691351524, + -0.997047945083968, + 0.06241318208686649, + 0.32173962742701956, + -0.044772027563219526, + -0.9457690403534054 + ], + [ + 0.9554427604941242, + 0.01177757629277838, + 0.2949413842037691, + -0.004795522970209236, + -0.998452452604662, + 0.055404899126136144, + 0.29513748385931887, + -0.054350607948788494, + -0.9539076879010816 + ], + [ + 0.9615674524953075, + -0.018313873377255076, + 0.27395736227304923, + -0.03802249097266697, + -0.9970413682602675, + 0.06680419266728334, + 0.2719233798001164, + -0.07465327869300799, + -0.9594188675956222 + ], + [ + 0.9674363038413801, + -0.019896604860681868, + 0.2523313756248848, + -0.041208943231589565, + -0.9959858969756453, + 0.07946015368318195, + 0.249737504206846, + -0.08727094671560036, + -0.9643728329084651 + ], + [ + 0.973774295651119, + -0.010660391840297538, + 0.22726631333081174, + -0.018067805462331166, + -0.9993702905898834, + 0.030538118672697567, + 0.22679765328358834, + -0.03384343853841866, + -0.9733537106997403 + ], + [ + 0.9723961614293423, + 0.03301875340986696, + 0.23098802384699296, + 0.036541252578333405, + -0.9992717461235435, + -0.010987004105338717, + 0.23045702874394403, + 0.019124312339602864, + -0.9728945567635017 + ], + [ + 0.9683281836852906, + 0.04897785526843589, + 0.24482993765887806, + 0.0631699987173888, + -0.996726801237883, + -0.05045032166540375, + 0.24155761205722964, + 0.06431837519248879, + -0.9682525841276165 + ], + [ + 0.9732417668578585, + 0.06136708919242151, + 0.22143744852089284, + 0.07393798480881708, + -0.9960619421007575, + -0.048926290487612135, + 0.21756295099534942, + 0.06398974810480547, + -0.9739464433384818 + ], + [ + 0.9804497439074907, + 0.01992332137501849, + 0.1957584249454508, + 0.024639902575649, + -0.9994611085483094, + -0.021687962109132385, + 0.19522083616458177, + 0.02608742541479261, + -0.9804122966193505 + ], + [ + 0.9858589424916702, + -0.013509119214004732, + 0.1670318808110225, + -0.013950886740746593, + -0.9999015986253181, + 0.001471674447755763, + 0.16699556361877604, + -0.0037811062660449684, + -0.9859503968086083 + ], + [ + 0.9908144138321773, + -0.0035947360365928428, + 0.135180898115179, + -0.008048704774092433, + -0.9994420505927611, + 0.03241613577211875, + 0.13498894656177848, + -0.033206405703781854, + -0.990290522486395 + ], + [ + 0.9930242476822325, + 0.0019158897198472066, + 0.11789475341047889, + -0.003737167427309943, + -0.998854224689904, + 0.04771028608959615, + 0.11785108015948134, + -0.047818063383121674, + -0.9918793050162562 + ], + [ + 0.9953852587734362, + 0.002726299187093745, + 0.09592056040954786, + -0.0033516957238350522, + -0.9979986244916706, + 0.06314674693527723, + 0.09590074427403622, + -0.06317683757102417, + -0.9933839813698478 + ], + [ + 0.9960495748491497, + -0.0066221805100505765, + 0.08855162995744544, + -0.014138371111370819, + -0.9963211693799486, + 0.08452357013099107, + 0.0876661331709412, + -0.08544164190056108, + -0.9924789040197232 + ], + [ + 0.9972114461747665, + 7.847477599611831e-05, + 0.07462791340872525, + -0.006743368511203012, + -0.9958138809076958, + 0.09115504140021748, + 0.07432266544704096, + -0.09140409418216876, + -0.9930364711165368 + ], + [ + 0.9931229647847484, + 0.0016394731970632015, + 0.11706446491052336, + -0.010596710365212786, + -0.9945390055840251, + 0.10382618215736357, + 0.11659539676413833, + -0.10435266407511772, + -0.9876821527970617 + ], + [ + 0.9918689153636444, + -0.001431967043838479, + 0.12725566472944408, + -0.01756950430226996, + -0.9919025120948161, + 0.1257804397295763, + 0.12604510007897904, + -0.1269935272774893, + -0.9838624277690969 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0036382973194122314, + -0.0057228803634643555, + -0.007500567473471165, + -0.007301360368728638, + 0.0228709876537323, + -0.0029172301292419434, + 1.0 + ], + [ + 0.0006835311651229858, + -0.04611268639564514, + -0.013432271778583527, + -0.04843343794345856, + -0.00581793487071991, + -0.07010427117347717, + 1.0 + ], + [ + 0.010465800762176514, + -0.0359407514333725, + 0.007787331938743591, + -0.03216893970966339, + -0.03592291474342346, + -0.04115518927574158, + 1.0 + ], + [ + 0.009945303201675415, + -0.04748396947979927, + 0.003600720316171646, + -0.048761747777462006, + -0.04055023193359375, + -0.07339026033878326, + 1.0 + ], + [ + 0.009744495153427124, + -0.03450564667582512, + 0.0022681327536702156, + -0.019626647233963013, + -0.02538272738456726, + -0.06952354311943054, + 1.0 + ], + [ + 0.010294914245605469, + -0.0027034785598516464, + -0.0028579505160450935, + -0.016431309282779694, + -0.034465327858924866, + 0.011980727314949036, + 1.0 + ], + [ + 0.01641133427619934, + -0.021148569881916046, + -0.014026517048478127, + 0.0011046752333641052, + -0.016342103481292725, + -0.0005838871002197266, + 1.0 + ], + [ + 0.01280704140663147, + -0.010495621711015701, + -0.005965776741504669, + -0.009425297379493713, + -0.007954895496368408, + -0.01842394471168518, + 1.0 + ], + [ + 0.004033505916595459, + -0.0020426511764526367, + -0.005504786968231201, + -0.018728286027908325, + 0.0009815394878387451, + -0.012002460658550262, + 1.0 + ], + [ + 0.005052238702774048, + 0.00036026351153850555, + 0.0014750100672245026, + -0.0006303898990154266, + -0.027348875999450684, + 0.0030472055077552795, + 0.0 + ], + [ + 0.0009461939334869385, + -0.001323571428656578, + -0.002704191952943802, + -0.007580045610666275, + 0.007224559783935547, + -0.011658452451229095, + 0.0 + ], + [ + 0.0006750226020812988, + 0.0011801552027463913, + -0.0002913437783718109, + -0.0030516721308231354, + -0.009807944297790527, + -0.014214202761650085, + 0.0 + ], + [ + -0.00011539459228515625, + -0.0007761530578136444, + -0.0004149489104747772, + -0.003948993980884552, + -0.007044166326522827, + -0.008788563311100006, + 0.0 + ], + [ + -0.009757369756698608, + 0.0015693921595811844, + -0.002169128507375717, + 0.009736161679029465, + 0.0028831064701080322, + -0.03455003723502159, + 0.0 + ], + [ + -0.02879735827445984, + 0.009245902299880981, + 0.0010253079235553741, + 0.009611297398805618, + 0.027966827154159546, + -0.05226939544081688, + 0.0 + ], + [ + -0.023547455668449402, + 0.009903034195303917, + 0.000821191817522049, + 0.020739201456308365, + 0.024208247661590576, + -0.03450248762965202, + 1.0 + ], + [ + -0.01417037844657898, + 0.014345953240990639, + 0.017527133226394653, + 0.012594737112522125, + 0.022982001304626465, + -0.003048684448003769, + 1.0 + ], + [ + -0.005382135510444641, + 0.00710259098559618, + 0.04279046505689621, + -0.055493276566267014, + 0.023620769381523132, + 0.02401801384985447, + 1.0 + ], + [ + 0.002675577998161316, + -0.0037867818027734756, + 0.031095247715711594, + -0.05441052466630936, + -0.003758937120437622, + 0.056113168597221375, + 1.0 + ], + [ + 0.013503879308700562, + -0.01573050022125244, + 0.01936594396829605, + -0.04667522758245468, + -0.011423349380493164, + 0.02758294716477394, + 1.0 + ], + [ + 0.018201366066932678, + -0.01706196367740631, + -0.012579433619976044, + 0.0007226094603538513, + 0.024653762578964233, + 0.010681338608264923, + 1.0 + ], + [ + 0.01669776439666748, + -0.02186080627143383, + -0.03695016726851463, + 0.0390048623085022, + 0.022834300994873047, + -0.05069924145936966, + 1.0 + ], + [ + 0.010523051023483276, + -0.011847104877233505, + -0.03219829872250557, + 0.030437316745519638, + 0.02870096266269684, + -0.039275988936424255, + 1.0 + ], + [ + -0.0025186240673065186, + 0.006499916315078735, + -0.024819165468215942, + 0.029684457927942276, + 0.03237934410572052, + 0.006026908755302429, + 1.0 + ], + [ + -0.011531859636306763, + 0.017732374370098114, + -0.01623797044157982, + 0.014652837067842484, + 0.01727670431137085, + 0.0043597412295639515, + 1.0 + ], + [ + -0.016575545072555542, + 0.020488835871219635, + -0.007591772824525833, + 0.015339802950620651, + 0.022077247500419617, + 0.0003961804322898388, + 1.0 + ], + [ + -0.0198165625333786, + 0.025582093745470047, + -0.0075808316469192505, + 0.022365324199199677, + 0.008269540965557098, + -0.01082627009600401, + 1.0 + ], + [ + -0.01487453281879425, + 0.022070135921239853, + -0.0031538009643554688, + 0.005909033119678497, + 0.01338755339384079, + 0.007431369740515947, + 1.0 + ], + [ + -0.00828234851360321, + 0.028764452785253525, + 0.009222909808158875, + 0.013477154076099396, + -0.04246994107961655, + -0.003907561767846346, + 1.0 + ], + [ + -0.009116291999816895, + 0.02616279572248459, + 0.00044417381286621094, + 0.023103177547454834, + -0.009520061314105988, + -0.007041998207569122, + 1.0 + ], + [ + -0.006327763199806213, + 0.01722244918346405, + 7.9326331615448e-05, + 0.020016729831695557, + -0.013410434126853943, + 0.0018487218767404556, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 0.9507390260696411 + ], + [ + 0.672171950340271 + ], + [ + 0.3737536668777466 + ], + [ + 0.23134081065654755 + ], + [ + 0.24793511629104614 + ], + [ + 0.2589220404624939 + ], + [ + 0.3188876807689667 + ], + [ + 0.5938982367515564 + ], + [ + 0.8818928003311157 + ], + [ + 1.0099300146102905 + ], + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ], + [ + 1.0054124593734741 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.22982974350452423, + 0.17256011068820953, + -0.01548519916832447 + ], + [ + 0.23051327466964722, + 0.1264474242925644, + -0.028917470946907997 + ], + [ + 0.24097907543182373, + 0.0905066728591919, + -0.021130139008164406 + ], + [ + 0.25092437863349915, + 0.043022703379392624, + -0.01752941869199276 + ], + [ + 0.26066887378692627, + 0.008517056703567505, + -0.015261285938322544 + ], + [ + 0.27096378803253174, + 0.0058135781437158585, + -0.018119236454367638 + ], + [ + 0.2873751223087311, + -0.015334991738200188, + -0.032145753502845764 + ], + [ + 0.30018216371536255, + -0.02583061344921589, + -0.03811153024435043 + ], + [ + 0.304215669631958, + -0.027873264625668526, + -0.043616317212581635 + ], + [ + 0.30926790833473206, + -0.02751300111413002, + -0.04214130714535713 + ], + [ + 0.310214102268219, + -0.028836572542786598, + -0.044845499098300934 + ], + [ + 0.3108891248703003, + -0.027656417340040207, + -0.045136842876672745 + ], + [ + 0.31077373027801514, + -0.02843257039785385, + -0.04555179178714752 + ], + [ + 0.30101636052131653, + -0.026863178238272667, + -0.04772092029452324 + ], + [ + 0.2722190022468567, + -0.017617275938391685, + -0.046695612370967865 + ], + [ + 0.2486715465784073, + -0.007714241277426481, + -0.045874420553445816 + ], + [ + 0.2345011681318283, + 0.006631712429225445, + -0.028347287327051163 + ], + [ + 0.22911903262138367, + 0.013734303414821625, + 0.014443177729845047 + ], + [ + 0.23179461061954498, + 0.009947521612048149, + 0.04553842544555664 + ], + [ + 0.24529848992824554, + -0.005782977677881718, + 0.06490436941385269 + ], + [ + 0.2634998559951782, + -0.022844942286610603, + 0.05232493579387665 + ], + [ + 0.2801976203918457, + -0.044705748558044434, + 0.01537476759403944 + ], + [ + 0.290720671415329, + -0.05655285343527794, + -0.016823530197143555 + ], + [ + 0.28820204734802246, + -0.050052937120199203, + -0.0416426956653595 + ], + [ + 0.2766701877117157, + -0.03232056275010109, + -0.057880666106939316 + ], + [ + 0.26009464263916016, + -0.01183172594755888, + -0.06547243893146515 + ], + [ + 0.24027808010578156, + 0.013750366866588593, + -0.0730532705783844 + ], + [ + 0.2254035472869873, + 0.035820502787828445, + -0.07620707154273987 + ], + [ + 0.2171211987733841, + 0.06458495557308197, + -0.066984161734581 + ], + [ + 0.2080049067735672, + 0.09074775129556656, + -0.06653998792171478 + ], + [ + 0.201677143573761, + 0.10797020047903061, + -0.06646066159009933 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9186107241580448, + 0.3944845126240653, + 0.02315829789916904, + 0.37397189950684057, + -0.8867872363405965, + 0.2715758012832752, + 0.12766893060207915, + -0.24081189082593313, + -0.9621383878609984 + ], + [ + 0.9418280791445195, + 0.3300427406917064, + 0.06349534354305938, + 0.3084710999671501, + -0.9238579635997314, + 0.2265657599427001, + 0.1334370631421442, + -0.193799516021232, + -0.9719240185168463 + ], + [ + 0.948495004888539, + 0.2948618628878773, + 0.11581756134447513, + 0.2679828683694274, + -0.9417847624840885, + 0.20304345203252255, + 0.1689449850157878, + -0.16154857773152875, + -0.9722960706857432 + ], + [ + 0.9580880425262603, + 0.22289955266701553, + 0.1799530277295825, + 0.19617727689084022, + -0.9682607880785745, + 0.1548726002272615, + 0.20876249375760514, + -0.11307889144443764, + -0.9714069103675368 + ], + [ + 0.9638372019811696, + 0.15369248135161995, + 0.21770730179094178, + 0.12840603433366143, + -0.9836895289191684, + 0.12596349090703712, + 0.23351603461820947, + -0.09345336735916268, + -0.9678516052088878 + ], + [ + 0.953695389268844, + 0.1645252425185763, + 0.2517867134333176, + 0.13870281145134666, + -0.9833745045227458, + 0.11720116872342318, + 0.2668831852755811, + -0.07685068918915283, + -0.9606598445799178 + ], + [ + 0.9493326576134131, + 0.16548634002323118, + 0.2671736821888888, + 0.1375023281573798, + -0.9831584019115448, + 0.12038549124390917, + 0.28259620475150415, + -0.07754887501732448, + -0.9560991355730811 + ], + [ + 0.9494442777089096, + 0.14534070751863923, + 0.2782654169381976, + 0.11970453407137935, + -0.9870164379463313, + 0.10709517144339668, + 0.2902178286194037, + -0.06837126561442251, + -0.9545150506878983 + ], + [ + 0.9510951770779041, + 0.12817642163571835, + 0.28104940682344987, + 0.10833270377254708, + -0.9904648740665889, + 0.08510792286024917, + 0.2892783943409532, + -0.050498892828646405, + -0.9559120631054936 + ], + [ + 0.942548238647363, + 0.13236653343245322, + 0.30672775982918304, + 0.11026960110687062, + -0.9899658001244401, + 0.08836475346940553, + 0.3153465282740328, + -0.049465295016328625, + -0.9476865260699143 + ], + [ + 0.9460108180766599, + 0.11817607694251583, + 0.30182436435848753, + 0.09950943927795813, + -0.9920878386646398, + 0.07654797102673375, + 0.3084824202065894, + -0.042380835435369635, + -0.95028546301166 + ], + [ + 0.9442709634141045, + 0.10352311365870168, + 0.3124664983504734, + 0.08577520647080455, + -0.9938482227276234, + 0.07005943288405309, + 0.31779704468086184, + -0.039353209774449435, + -0.9473417352109842 + ], + [ + 0.9427337710308121, + 0.0937974020136895, + 0.3200860576993426, + 0.07728837971331023, + -0.9949572284999026, + 0.06392667531699063, + 0.32446809291410417, + -0.035526902922645584, + -0.9452292292610346 + ], + [ + 0.9457714429171005, + 0.06237676451785057, + 0.3187875734886645, + 0.044721246691351524, + -0.997047945083968, + 0.06241318208686649, + 0.32173962742701956, + -0.044772027563219526, + -0.9457690403534054 + ], + [ + 0.9554427604941242, + 0.01177757629277838, + 0.2949413842037691, + -0.004795522970209236, + -0.998452452604662, + 0.055404899126136144, + 0.29513748385931887, + -0.054350607948788494, + -0.9539076879010816 + ], + [ + 0.9615674524953075, + -0.018313873377255076, + 0.27395736227304923, + -0.03802249097266697, + -0.9970413682602675, + 0.06680419266728334, + 0.2719233798001164, + -0.07465327869300799, + -0.9594188675956222 + ], + [ + 0.9674363038413801, + -0.019896604860681868, + 0.2523313756248848, + -0.041208943231589565, + -0.9959858969756453, + 0.07946015368318195, + 0.249737504206846, + -0.08727094671560036, + -0.9643728329084651 + ], + [ + 0.973774295651119, + -0.010660391840297538, + 0.22726631333081174, + -0.018067805462331166, + -0.9993702905898834, + 0.030538118672697567, + 0.22679765328358834, + -0.03384343853841866, + -0.9733537106997403 + ], + [ + 0.9723961614293423, + 0.03301875340986696, + 0.23098802384699296, + 0.036541252578333405, + -0.9992717461235435, + -0.010987004105338717, + 0.23045702874394403, + 0.019124312339602864, + -0.9728945567635017 + ], + [ + 0.9683281836852906, + 0.04897785526843589, + 0.24482993765887806, + 0.0631699987173888, + -0.996726801237883, + -0.05045032166540375, + 0.24155761205722964, + 0.06431837519248879, + -0.9682525841276165 + ], + [ + 0.9732417668578585, + 0.06136708919242151, + 0.22143744852089284, + 0.07393798480881708, + -0.9960619421007575, + -0.048926290487612135, + 0.21756295099534942, + 0.06398974810480547, + -0.9739464433384818 + ], + [ + 0.9804497439074907, + 0.01992332137501849, + 0.1957584249454508, + 0.024639902575649, + -0.9994611085483094, + -0.021687962109132385, + 0.19522083616458177, + 0.02608742541479261, + -0.9804122966193505 + ], + [ + 0.9858589424916702, + -0.013509119214004732, + 0.1670318808110225, + -0.013950886740746593, + -0.9999015986253181, + 0.001471674447755763, + 0.16699556361877604, + -0.0037811062660449684, + -0.9859503968086083 + ], + [ + 0.9908144138321773, + -0.0035947360365928428, + 0.135180898115179, + -0.008048704774092433, + -0.9994420505927611, + 0.03241613577211875, + 0.13498894656177848, + -0.033206405703781854, + -0.990290522486395 + ], + [ + 0.9930242476822325, + 0.0019158897198472066, + 0.11789475341047889, + -0.003737167427309943, + -0.998854224689904, + 0.04771028608959615, + 0.11785108015948134, + -0.047818063383121674, + -0.9918793050162562 + ], + [ + 0.9953852587734362, + 0.002726299187093745, + 0.09592056040954786, + -0.0033516957238350522, + -0.9979986244916706, + 0.06314674693527723, + 0.09590074427403622, + -0.06317683757102417, + -0.9933839813698478 + ], + [ + 0.9960495748491497, + -0.0066221805100505765, + 0.08855162995744544, + -0.014138371111370819, + -0.9963211693799486, + 0.08452357013099107, + 0.0876661331709412, + -0.08544164190056108, + -0.9924789040197232 + ], + [ + 0.9972114461747665, + 7.847477599611831e-05, + 0.07462791340872525, + -0.006743368511203012, + -0.9958138809076958, + 0.09115504140021748, + 0.07432266544704096, + -0.09140409418216876, + -0.9930364711165368 + ], + [ + 0.9931229647847484, + 0.0016394731970632015, + 0.11706446491052336, + -0.010596710365212786, + -0.9945390055840251, + 0.10382618215736357, + 0.11659539676413833, + -0.10435266407511772, + -0.9876821527970617 + ], + [ + 0.9918689153636444, + -0.001431967043838479, + 0.12725566472944408, + -0.01756950430226996, + -0.9919025120948161, + 0.1257804397295763, + 0.12604510007897904, + -0.1269935272774893, + -0.9838624277690969 + ], + [ + 0.9901204551361881, + 0.004908918262084131, + 0.1401334608236155, + -0.015707559077948446, + -0.9892136789336019, + 0.14563505758731835, + 0.13933684691681653, + -0.14639740411682492, + -0.9793635908890704 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006736.json b/json/chunk-0006/episode_0006736.json new file mode 100644 index 0000000000000000000000000000000000000000..45914ed5aa3779a373b520db76c18075e8612651 --- /dev/null +++ b/json/chunk-0006/episode_0006736.json @@ -0,0 +1,3382 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 55, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nGet the chicken wings and put it in the pot on the bottom left of the burner." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006736.mp4", + "start": 0, + "end": 55, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.29254183173179626, + 0.05055604502558708, + 0.02833562344312668, + 0.26622095704078674, + -0.1871868520975113, + 0.03942253068089485, + 0.0, + 0.9994885921478271 + ], + [ + 0.29061010479927063, + 0.04972775653004646, + 0.022518344223499298, + 0.2668067216873169, + -0.1676245480775833, + 0.022807050496339798, + 0.0, + 0.9994885921478271 + ], + [ + 0.29264113306999207, + 0.04263030365109444, + 0.01932142861187458, + 0.2671252191066742, + -0.16317512094974518, + -0.13272957503795624, + 0.0, + 0.9994885921478271 + ], + [ + 0.2987106740474701, + 0.028712594881653786, + 0.0225778017193079, + 0.20471908152103424, + -0.14485841989517212, + -0.2728000283241272, + 0.0, + 0.9994885921478271 + ], + [ + 0.3074420094490051, + 0.009158900938928127, + 0.031084058806300163, + 0.11330943554639816, + -0.1569521576166153, + -0.36765745282173157, + 0.0, + 0.9994885921478271 + ], + [ + 0.3241637647151947, + -0.012171688489615917, + 0.04646480455994606, + 0.07370415329933167, + -0.2060476541519165, + -0.45465368032455444, + 0.0, + 0.9994885921478271 + ], + [ + 0.3372531831264496, + -0.03818346932530403, + 0.05427392199635506, + 0.13081008195877075, + -0.20878614485263824, + -0.515830934047699, + 0.0, + 0.9994885921478271 + ], + [ + 0.3457092046737671, + -0.04638669267296791, + 0.052407607436180115, + 0.15387748181819916, + -0.2322249710559845, + -0.5412575602531433, + 0.0, + 0.9994885921478271 + ], + [ + 0.35628193616867065, + -0.05207992345094681, + 0.04237622395157814, + 0.16120122373104095, + -0.28412947058677673, + -0.5640428066253662, + 0.0, + 0.9994885921478271 + ], + [ + 0.3709838092327118, + -0.05981455370783806, + 0.03798127919435501, + 0.15716522932052612, + -0.3613849878311157, + -0.5828920602798462, + 0.0, + 0.9994885921478271 + ], + [ + 0.38232889771461487, + -0.060096703469753265, + 0.03632589802145958, + 0.16139614582061768, + -0.3968833386898041, + -0.5818788409233093, + 0.0, + 0.9994885921478271 + ], + [ + 0.39213013648986816, + -0.06221972778439522, + 0.03813404217362404, + 0.165791317820549, + -0.40542322397232056, + -0.5932260751724243, + 0.0, + 0.9994885921478271 + ], + [ + 0.40076395869255066, + -0.06234702095389366, + 0.03517642617225647, + 0.18082916736602783, + -0.4055562913417816, + -0.6082128882408142, + 0.0, + 0.9994885921478271 + ], + [ + 0.4106869399547577, + -0.06323668360710144, + 0.024331998080015182, + 0.19462917745113373, + -0.39925843477249146, + -0.6346353888511658, + 0.0, + 0.9994885921478271 + ], + [ + 0.4217056334018707, + -0.05937127396464348, + 0.01504225842654705, + 0.19927509129047394, + -0.40598708391189575, + -0.6378365159034729, + 0.0, + 0.9994885921478271 + ], + [ + 0.43040791153907776, + -0.059143904596567154, + 0.008619800209999084, + 0.18684761226177216, + -0.42222869396209717, + -0.6325939893722534, + 0.0, + 0.9994885921478271 + ], + [ + 0.4318937361240387, + -0.05962289497256279, + 0.007400662638247013, + 0.18045563995838165, + -0.42585083842277527, + -0.6282341480255127, + 0.0, + 0.9994885921478271 + ], + [ + 0.4313706159591675, + -0.06382855027914047, + 0.0024615281727164984, + 0.15115031599998474, + -0.4285087287425995, + -0.6184337139129639, + 0.0, + 0.9994885921478271 + ], + [ + 0.43567192554473877, + -0.06335335969924927, + -0.006516789551824331, + 0.1462688446044922, + -0.45134082436561584, + -0.612694263458252, + 0.0, + 0.9994885921478271 + ], + [ + 0.4387096166610718, + -0.05981815606355667, + -0.007591177709400654, + 0.15660360455513, + -0.45194703340530396, + -0.6184676289558411, + 0.0, + 0.9994885921478271 + ], + [ + 0.4384244382381439, + -0.06302957981824875, + -0.013386295177042484, + 0.12865427136421204, + -0.44522807002067566, + -0.6061903238296509, + 0.0, + 1.0001531839370728 + ], + [ + 0.43817317485809326, + -0.06303912401199341, + -0.013903452083468437, + 0.11237359791994095, + -0.450151652097702, + -0.5931986570358276, + 0.0, + 1.0001531839370728 + ], + [ + 0.437298059463501, + -0.0608409158885479, + -0.019443847239017487, + 0.09121527522802353, + -0.4490470886230469, + -0.5779929757118225, + 0.0, + 1.0001531839370728 + ], + [ + 0.43810975551605225, + -0.059382352977991104, + -0.02076139487326145, + 0.08859139680862427, + -0.45536258816719055, + -0.5775949954986572, + 0.0, + 0.9560673832893372 + ], + [ + 0.44313347339630127, + -0.05795465037226677, + -0.02274557575583458, + 0.053100984543561935, + -0.4521123766899109, + -0.5646728277206421, + 0.0, + 0.6991904973983765 + ], + [ + 0.4450817108154297, + -0.05726043879985809, + -0.022276487201452255, + 0.056418973952531815, + -0.4584193229675293, + -0.5704876184463501, + 0.0, + 0.5640211701393127 + ], + [ + 0.4494682252407074, + -0.05605117976665497, + -0.021694982424378395, + 0.016526104882359505, + -0.45652973651885986, + -0.5448713302612305, + 0.0, + 0.5551114082336426 + ], + [ + 0.4483555257320404, + -0.05429871380329132, + -0.02187294140458107, + -0.00724387401714921, + -0.44987237453460693, + -0.5090051293373108, + 0.0, + 0.5541232228279114 + ], + [ + 0.44656315445899963, + -0.04972513020038605, + -0.020358072593808174, + 0.01865682750940323, + -0.4718416929244995, + -0.4588926434516907, + 0.0, + 0.5541232228279114 + ], + [ + 0.44002872705459595, + -0.05018863081932068, + -0.017708435654640198, + 0.006090743001550436, + -0.49365681409835815, + -0.4108295142650604, + 0.0, + 0.5541232228279114 + ], + [ + 0.43709245324134827, + -0.051229123026132584, + -0.009859999641776085, + 0.013534516096115112, + -0.5241304636001587, + -0.37054547667503357, + 0.0, + 0.5541232228279114 + ], + [ + 0.4382613003253937, + -0.05381282791495323, + 0.005899107549339533, + 0.024855831637978554, + -0.6010254621505737, + -0.315389484167099, + 0.0, + 0.5531353950500488 + ], + [ + 0.44056782126426697, + -0.055636417120695114, + 0.01844475418329239, + 0.05411569029092789, + -0.6837776303291321, + -0.2842286229133606, + 0.0, + 0.5413121581077576 + ], + [ + 0.43793123960494995, + -0.05339372903108597, + 0.025922264903783798, + 0.08173157274723053, + -0.7564495205879211, + -0.2591800391674042, + 0.0, + 0.5413121581077576 + ], + [ + 0.4361395537853241, + -0.05087695270776749, + 0.03810910880565643, + 0.09000768512487411, + -0.7799059152603149, + -0.24692584574222565, + 0.0, + 0.5413121581077576 + ], + [ + 0.4278377294540405, + -0.042430903762578964, + 0.04136412590742111, + 0.11152216792106628, + -0.7698776125907898, + -0.2559157907962799, + 0.0, + 0.5413121581077576 + ], + [ + 0.4159085154533386, + -0.028739582747220993, + 0.05380185320973396, + -0.03801855444908142, + -0.7886427640914917, + 0.038652051240205765, + 0.0, + 0.5413121581077576 + ], + [ + 0.3964485228061676, + -0.012875759042799473, + 0.05353085324168205, + 0.1664278507232666, + -0.7550575137138367, + -0.1936890035867691, + 0.0, + 0.5413121581077576 + ], + [ + 0.3788300156593323, + 0.003600388066843152, + 0.05552015081048012, + 0.1898522824048996, + -0.7344075441360474, + -0.17315663397312164, + 0.0, + 0.5413121581077576 + ], + [ + 0.3608320355415344, + 0.027938565239310265, + 0.05646028742194176, + 0.26025840640068054, + -0.6457298994064331, + -0.21797820925712585, + 0.0, + 0.5413121581077576 + ], + [ + 0.3436550199985504, + 0.05068768933415413, + 0.05709758773446083, + 0.30764585733413696, + -0.5189229249954224, + -0.2685067355632782, + 0.0, + 0.5413121581077576 + ], + [ + 0.3354608714580536, + 0.07109145075082779, + 0.06282360106706619, + 0.30847662687301636, + -0.3818414509296417, + -0.28306737542152405, + 0.0, + 0.5413121581077576 + ], + [ + 0.31899330019950867, + 0.0892731174826622, + 0.05843337997794151, + 0.30393412709236145, + -0.2776166498661041, + -0.27861109375953674, + 0.0, + 0.5413121581077576 + ], + [ + 0.3006085157394409, + 0.11839503794908524, + 0.05512015148997307, + 0.2870751917362213, + -0.20738087594509125, + -0.26464104652404785, + 0.0, + 0.5413121581077576 + ], + [ + 0.2910222113132477, + 0.1380060762166977, + 0.049962639808654785, + 0.28158050775527954, + -0.2155401110649109, + -0.2583601772785187, + 0.0, + 0.5413121581077576 + ], + [ + 0.28017643094062805, + 0.15158092975616455, + 0.03659769892692566, + 0.2592422664165497, + -0.19836214184761047, + -0.24494773149490356, + 0.0, + 0.5413121581077576 + ], + [ + 0.2758758068084717, + 0.1519734263420105, + 0.023557038977742195, + 0.20233654975891113, + -0.19067487120628357, + -0.2228609323501587, + 0.0, + 0.5413121581077576 + ], + [ + 0.2698831558227539, + 0.14752382040023804, + 0.016142502427101135, + 0.17431640625, + -0.189564511179924, + -0.19930343329906464, + 0.0, + 0.5413121581077576 + ], + [ + 0.27063632011413574, + 0.14545631408691406, + 0.006522385869175196, + 0.1537451297044754, + -0.18811729550361633, + -0.19345587491989136, + 0.0, + 0.6189444065093994 + ], + [ + 0.26943087577819824, + 0.1478891521692276, + 0.005826080217957497, + 0.16633856296539307, + -0.18890079855918884, + -0.16226282715797424, + 0.0, + 0.8417698740959167 + ], + [ + 0.26732394099235535, + 0.14947828650474548, + 0.006227019242942333, + 0.18215051293373108, + -0.18091745674610138, + -0.13000419735908508, + 0.0, + 1.0008161067962646 + ], + [ + 0.26630544662475586, + 0.1460334062576294, + 0.017753584310412407, + 0.20691879093647003, + -0.17749188840389252, + -0.11159052699804306, + 0.0, + 1.0008161067962646 + ], + [ + 0.261825293302536, + 0.14660295844078064, + 0.025792201980948448, + 0.2163868397474289, + -0.15483109652996063, + -0.11773660033941269, + 0.0, + 1.0008161067962646 + ], + [ + 0.26587486267089844, + 0.14814139902591705, + 0.04414083808660507, + 0.2390109747648239, + -0.1542840600013733, + -0.1332818567752838, + 0.0, + 1.0001531839370728 + ], + [ + 0.26978522539138794, + 0.13878709077835083, + 0.04545200243592262, + 0.2073078155517578, + -0.1666702777147293, + -0.14446869492530823, + 0.0, + 1.0008161067962646 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9560673832893372 + ], + [ + 0.6991904973983765 + ], + [ + 0.5640211701393127 + ], + [ + 0.5551114082336426 + ], + [ + 0.5541232228279114 + ], + [ + 0.5541232228279114 + ], + [ + 0.5541232228279114 + ], + [ + 0.5541232228279114 + ], + [ + 0.5531353950500488 + ], + [ + 0.5413121581077576 + ], + [ + 0.5413121581077576 + ], + [ + 0.5413121581077576 + ], + [ + 0.5413121581077576 + ], + [ + 0.5413121581077576 + ], + [ + 0.5413121581077576 + ], + [ + 0.5413121581077576 + ], + [ + 0.5413121581077576 + ], + [ + 0.5413121581077576 + ], + [ + 0.5413121581077576 + ], + [ + 0.5413121581077576 + ], + [ + 0.5413121581077576 + ], + [ + 0.5413121581077576 + ], + [ + 0.5413121581077576 + ], + [ + 0.5413121581077576 + ], + [ + 0.5413121581077576 + ], + [ + 0.6189444065093994 + ], + [ + 0.8417698740959167 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.29254183173179626, + 0.05055604502558708, + 0.02833562344312668 + ], + [ + 0.29061010479927063, + 0.04972775653004646, + 0.022518344223499298 + ], + [ + 0.29264113306999207, + 0.04263030365109444, + 0.01932142861187458 + ], + [ + 0.2987106740474701, + 0.028712594881653786, + 0.0225778017193079 + ], + [ + 0.3074420094490051, + 0.009158900938928127, + 0.031084058806300163 + ], + [ + 0.3241637647151947, + -0.012171688489615917, + 0.04646480455994606 + ], + [ + 0.3372531831264496, + -0.03818346932530403, + 0.05427392199635506 + ], + [ + 0.3457092046737671, + -0.04638669267296791, + 0.052407607436180115 + ], + [ + 0.35628193616867065, + -0.05207992345094681, + 0.04237622395157814 + ], + [ + 0.3709838092327118, + -0.05981455370783806, + 0.03798127919435501 + ], + [ + 0.38232889771461487, + -0.060096703469753265, + 0.03632589802145958 + ], + [ + 0.39213013648986816, + -0.06221972778439522, + 0.03813404217362404 + ], + [ + 0.40076395869255066, + -0.06234702095389366, + 0.03517642617225647 + ], + [ + 0.4106869399547577, + -0.06323668360710144, + 0.024331998080015182 + ], + [ + 0.4217056334018707, + -0.05937127396464348, + 0.01504225842654705 + ], + [ + 0.43040791153907776, + -0.059143904596567154, + 0.008619800209999084 + ], + [ + 0.4318937361240387, + -0.05962289497256279, + 0.007400662638247013 + ], + [ + 0.4313706159591675, + -0.06382855027914047, + 0.0024615281727164984 + ], + [ + 0.43567192554473877, + -0.06335335969924927, + -0.006516789551824331 + ], + [ + 0.4387096166610718, + -0.05981815606355667, + -0.007591177709400654 + ], + [ + 0.4384244382381439, + -0.06302957981824875, + -0.013386295177042484 + ], + [ + 0.43817317485809326, + -0.06303912401199341, + -0.013903452083468437 + ], + [ + 0.437298059463501, + -0.0608409158885479, + -0.019443847239017487 + ], + [ + 0.43810975551605225, + -0.059382352977991104, + -0.02076139487326145 + ], + [ + 0.44313347339630127, + -0.05795465037226677, + -0.02274557575583458 + ], + [ + 0.4450817108154297, + -0.05726043879985809, + -0.022276487201452255 + ], + [ + 0.4494682252407074, + -0.05605117976665497, + -0.021694982424378395 + ], + [ + 0.4483555257320404, + -0.05429871380329132, + -0.02187294140458107 + ], + [ + 0.44656315445899963, + -0.04972513020038605, + -0.020358072593808174 + ], + [ + 0.44002872705459595, + -0.05018863081932068, + -0.017708435654640198 + ], + [ + 0.43709245324134827, + -0.051229123026132584, + -0.009859999641776085 + ], + [ + 0.4382613003253937, + -0.05381282791495323, + 0.005899107549339533 + ], + [ + 0.44056782126426697, + -0.055636417120695114, + 0.01844475418329239 + ], + [ + 0.43793123960494995, + -0.05339372903108597, + 0.025922264903783798 + ], + [ + 0.4361395537853241, + -0.05087695270776749, + 0.03810910880565643 + ], + [ + 0.4278377294540405, + -0.042430903762578964, + 0.04136412590742111 + ], + [ + 0.4159085154533386, + -0.028739582747220993, + 0.05380185320973396 + ], + [ + 0.3964485228061676, + -0.012875759042799473, + 0.05353085324168205 + ], + [ + 0.3788300156593323, + 0.003600388066843152, + 0.05552015081048012 + ], + [ + 0.3608320355415344, + 0.027938565239310265, + 0.05646028742194176 + ], + [ + 0.3436550199985504, + 0.05068768933415413, + 0.05709758773446083 + ], + [ + 0.3354608714580536, + 0.07109145075082779, + 0.06282360106706619 + ], + [ + 0.31899330019950867, + 0.0892731174826622, + 0.05843337997794151 + ], + [ + 0.3006085157394409, + 0.11839503794908524, + 0.05512015148997307 + ], + [ + 0.2910222113132477, + 0.1380060762166977, + 0.049962639808654785 + ], + [ + 0.28017643094062805, + 0.15158092975616455, + 0.03659769892692566 + ], + [ + 0.2758758068084717, + 0.1519734263420105, + 0.023557038977742195 + ], + [ + 0.2698831558227539, + 0.14752382040023804, + 0.016142502427101135 + ], + [ + 0.27063632011413574, + 0.14545631408691406, + 0.006522385869175196 + ], + [ + 0.26943087577819824, + 0.1478891521692276, + 0.005826080217957497 + ], + [ + 0.26732394099235535, + 0.14947828650474548, + 0.006227019242942333 + ], + [ + 0.26630544662475586, + 0.1460334062576294, + 0.017753584310412407 + ], + [ + 0.261825293302536, + 0.14660295844078064, + 0.025792201980948448 + ], + [ + 0.26587486267089844, + 0.14814139902591705, + 0.04414083808660507 + ], + [ + 0.26978522539138794, + 0.13878709077835083, + 0.04545200243592262 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9817682417490367, + 0.08694527979375488, + 0.16903146989418957, + 0.03872385142021109, + -0.962092801118061, + 0.2699590809141048, + 0.18609562817054584, + -0.25849170268770416, + -0.9479190138495066 + ], + [ + 0.9857274460194276, + 0.06597469534063069, + 0.15488299370404593, + 0.022485434458360615, + -0.9633637125929492, + 0.2672541159577314, + 0.16684066471108097, + -0.2599571057575475, + -0.9510975216900336 + ], + [ + 0.9780376448939201, + -0.08514297369764598, + 0.19024468244940873, + -0.13058225172071072, + -0.9617248604441464, + 0.2409015739658756, + 0.16245196430300046, + -0.2604533870649588, + -0.9517212787683627 + ], + [ + 0.9529339296130093, + -0.2355422975961448, + 0.1908841319634437, + -0.2666070694602722, + -0.9508171808489186, + 0.15769387786569355, + 0.1443523339129432, + -0.2011629057397109, + -0.9688631941859709 + ], + [ + 0.9217015948578859, + -0.3406332375877241, + 0.18556715088327103, + -0.35501240075496177, + -0.9335401275861412, + 0.04968928955670081, + 0.15630855813623268, + -0.1116773371680947, + -0.9813744479129339 + ], + [ + 0.8794091960625824, + -0.42442372865017547, + 0.21564777865594917, + -0.42986191534560086, + -0.9025901621464697, + -0.023446384195040387, + 0.20459276530702272, + -0.07207980129753558, + -0.9761896857829085 + ], + [ + 0.8509921091493848, + -0.4655254802887408, + 0.24310174283089575, + -0.48254586991831433, + -0.8757871177550074, + 0.01209990905563079, + 0.20727255870051658, + -0.12760466910075988, + -0.9699253243592658 + ], + [ + 0.8340551247780771, + -0.4788943080790491, + 0.2738837171518508, + -0.5013841773217794, + -0.8651083952154619, + 0.014190534136902397, + 0.23014333699411912, + -0.14915664992623334, + -0.9616581191982909 + ], + [ + 0.8112172799270578, + -0.4896526253876154, + 0.319635466115325, + -0.5131726216896455, + -0.8581976065648013, + -0.012277150916336618, + 0.28032193117186077, + -0.15406873315978864, + -0.9474610495247899 + ], + [ + 0.780948064762684, + -0.4974542219862848, + 0.3777028159432215, + -0.5148866904754151, + -0.8550459998263178, + -0.061547007663141126, + 0.3535701007080393, + -0.14640913635778602, + -0.9238790768689777 + ], + [ + 0.7704936021571337, + -0.49055786864788015, + 0.40705354259921844, + -0.5068746765342399, + -0.8587130583709099, + -0.07543172854699727, + 0.38654582047052877, + -0.14820546849198024, + -0.9102842785557917 + ], + [ + 0.7619276019119926, + -0.497404290182837, + 0.414795493650001, + -0.5137206310438982, + -0.8541603294582244, + -0.08063029715731171, + 0.3944077112386356, + -0.151654553797522, + -0.9063351773091318 + ], + [ + 0.7541002126818104, + -0.503854839171776, + 0.4212637775508739, + -0.5250513858052163, + -0.8478328231984977, + -0.07416566706560938, + 0.39452998808363143, + -0.1652567848847623, + -0.9039005938444122 + ], + [ + 0.7419516403373536, + -0.5211464465522758, + 0.42179870157060234, + -0.5462533304977119, + -0.8346581139103627, + -0.07037848963819382, + 0.3887352084914198, + -0.17819150970102865, + -0.9039539388429039 + ], + [ + 0.7380810886682687, + -0.520866853677411, + 0.4288753050601747, + -0.5470556822400412, + -0.8340395611044833, + -0.07147091045680118, + 0.3949257994600335, + -0.18186734520753142, + -0.9005319992471218 + ], + [ + 0.7356683351448672, + -0.5195540737162689, + 0.43457526983252237, + -0.5393149563310224, + -0.8374669240938304, + -0.08825264260341656, + 0.40979443449471975, + -0.16944826801607862, + -0.8963011803648953 + ], + [ + 0.7368068992078064, + -0.5181882059073838, + 0.4342770734660817, + -0.535226559988326, + -0.8395032208840809, + -0.0936315737789192, + 0.41309577916367113, + -0.16344823456905602, + -0.8958998559288971 + ], + [ + 0.7411196568884397, + -0.5221713043060131, + 0.4219938188325964, + -0.5273415254497372, + -0.8417711761716902, + -0.1154651570945684, + 0.41551482489786734, + -0.1369613665450451, + -0.8992157774217534 + ], + [ + 0.7361794161470874, + -0.5169252584786325, + 0.4368388082441081, + -0.5174876146275299, + -0.8459238387024645, + -0.12891635979190524, + 0.43617248417162074, + -0.1311531023715638, + -0.89025413663171 + ], + [ + 0.7329639497023775, + -0.5171964915420936, + 0.44189550526480736, + -0.5215758010909747, + -0.84428800226957, + -0.12303029277363418, + 0.4367179091278467, + -0.14030523283259014, + -0.8885898432273431 + ], + [ + 0.7417068609069513, + -0.5196229687418944, + 0.42410246738190127, + -0.5141981002177777, + -0.8465129501596628, + -0.1378990171988641, + 0.43066372753690874, + -0.1157920358567225, + -0.8950536063366097 + ], + [ + 0.746557156221169, + -0.5150346876413174, + 0.4211789204378248, + -0.5033275167990263, + -0.8512021414819197, + -0.14871558482391725, + 0.43510208380090165, + -0.10096625606015334, + -0.8947021805099777 + ], + [ + 0.754526063861846, + -0.510953648411224, + 0.41184558772482754, + -0.4921801289305283, + -0.8556826446429199, + -0.1598935031288856, + 0.4341072904698537, + -0.08205839891295505, + -0.8971160903298772 + ], + [ + 0.7524099896546002, + -0.511271034430733, + 0.4153084839250128, + -0.4903730588381014, + -0.8557382958389336, + -0.16506432746187627, + 0.4397879837304884, + -0.07946004270578914, + -0.8945795833683361 + ], + [ + 0.7598871766674847, + -0.5147975063141086, + 0.39693199194458273, + -0.4813720105965869, + -0.8559813701587334, + -0.18861834840591957, + 0.43686664572901235, + -0.04774328679461383, + -0.8982583773144166 + ], + [ + 0.7547412667089535, + -0.5181810801033563, + 0.4023108108782107, + -0.4842848047345337, + -0.8537747602644342, + -0.1911462441133554, + 0.4425311833416928, + -0.0505670540799735, + -0.8953262672410959 + ], + [ + 0.7676116187047879, + -0.512007219238342, + 0.3855139560083864, + -0.46522694519348895, + -0.8588530671408406, + -0.21432521673546828, + 0.4408359017767837, + -0.014832953535671406, + -0.8974651476208192 + ], + [ + 0.7863456659854997, + -0.4900466044422398, + 0.37618455452138444, + -0.43882278889834314, + -0.8716718275975603, + -0.21822645329155135, + 0.43485061058862695, + 0.006523070393643748, + -0.9004789814445079 + ], + [ + 0.7985806623485712, + -0.43527621082611195, + 0.41569645898393104, + -0.39455502417503047, + -0.9001435920000858, + -0.18457477259751348, + 0.4545275114018491, + -0.016617282270120284, + -0.8905776817935629 + ], + [ + 0.8073306212486897, + -0.3967166224330972, + 0.43684458275166915, + -0.3516875677713239, + -0.9179254622406419, + -0.18365375151462102, + 0.473849261547694, + -0.005363511497061879, + -0.8805896377286787 + ], + [ + 0.8070003046570008, + -0.3557771946183341, + 0.47135241176111137, + -0.3135122193914234, + -0.9344973478839945, + -0.16859654530874804, + 0.5004603846217723, + -0.01171727729844857, + -0.865680142337191 + ], + [ + 0.7840755902573069, + -0.29672993025010724, + 0.5451392640935179, + -0.2558284480274991, + -0.9547414231192551, + -0.15172547630526845, + 0.5654885268000552, + -0.02049788950077326, + -0.8245014024145242 + ], + [ + 0.7440897724297175, + -0.24720794888075706, + 0.6206598428895334, + -0.21737704973259772, + -0.9680548234864338, + -0.12496830387822824, + 0.6317259127303889, + -0.041929568741145756, + -0.7740570279056567 + ], + [ + 0.7029866986759034, + -0.20127051729666842, + 0.6821289323521517, + -0.1863925264095316, + -0.9777344956782329, + -0.09640063308663432, + 0.6863435929499356, + -0.059375372234313904, + -0.7248496655090695 + ], + [ + 0.6894145508710048, + -0.182142918683741, + 0.7010930995386413, + -0.17378065121523484, + -0.9811930587404264, + -0.08402658354839485, + 0.7032125299726535, + -0.06390726604209096, + -0.7081016869323824 + ], + [ + 0.6946120912666245, + -0.1766179352183768, + 0.6973665805194595, + -0.1817473551990488, + -0.981030602790292, + -0.0674303734756608, + 0.6960473701870853, + -0.07990657887879798, + -0.7135355612073788 + ], + [ + 0.7042823641068345, + 0.011670878701348435, + 0.709824021993076, + 0.027235522494393677, + -0.9995729693082895, + -0.010587981047739227, + 0.7093973343074711, + 0.026789356441473552, + -0.7042994764011303 + ], + [ + 0.7146148093274858, + -0.07841135704383143, + 0.6951095837178376, + -0.14017027945685237, + -0.9895947642528149, + 0.03247299370866963, + 0.6853305531251532, + -0.12063938681027922, + -0.7181700155974287 + ], + [ + 0.7311284997121544, + -0.044621985970275335, + 0.6807789621284743, + -0.12788040080237717, + -0.9891358069054524, + 0.07250488664995486, + 0.6701475359943343, + -0.14006867553299696, + -0.7288916559648316 + ], + [ + 0.7797617663796509, + -0.05778119186542171, + 0.6234043002411019, + -0.17271527115404345, + -0.9769457693729385, + 0.12548465569344472, + 0.6017815407626524, + -0.20551957953180142, + -0.7717646530040098 + ], + [ + 0.8372391042671399, + -0.1080374495113225, + 0.5360583846830916, + -0.23036730879152445, + -0.9587411076603495, + 0.16657248128774502, + 0.4959451434645846, + -0.26295132246348213, + -0.8275838426942602 + ], + [ + 0.8910494235885291, + -0.15748749554214048, + 0.4257095412019959, + -0.25918692106579605, + -0.9464773069845257, + 0.19236124170880256, + 0.3726299299183875, + -0.2817417187978803, + -0.8841767579041158 + ], + [ + 0.9246261770723336, + -0.18355730484276966, + 0.3337261579670669, + -0.2644904031867764, + -0.9399296973775539, + 0.21581703039805727, + 0.2740643342259215, + -0.28781744183874275, + -0.9176327483687055 + ], + [ + 0.9445059248622139, + -0.19458871785627732, + 0.264657871190759, + -0.2559584629982892, + -0.940936286390754, + 0.22163973058260683, + 0.2058976034822351, + -0.2770814606505228, + -0.9385265265532164 + ], + [ + 0.9444392426199717, + -0.18797553835074904, + 0.2696288448611544, + -0.24958359357975934, + -0.9439189919041777, + 0.21615958581199812, + 0.21387507291694347, + -0.2714445315425366, + -0.9383897481752586 + ], + [ + 0.9511259959349849, + -0.18539313470043808, + 0.24695895501606696, + -0.23775024060374664, + -0.9499826018112587, + 0.2025040230434238, + 0.19706385500528284, + -0.2513213915723374, + -0.9476304106499539 + ], + [ + 0.9575938810242131, + -0.1793676940629779, + 0.22547990897531248, + -0.21701504644450734, + -0.9637911349711933, + 0.15495521213443392, + 0.18952157830092478, + -0.19731669589132356, + -0.9618459818915175 + ], + [ + 0.9626457192870764, + -0.16295254052162167, + 0.21623988687523976, + -0.19443994574663193, + -0.971820358221575, + 0.13326026731226548, + 0.18843122521576428, + -0.17032809775148333, + -0.9672031908963323 + ], + [ + 0.9640328576821747, + -0.1618792737763301, + 0.2107978890567642, + -0.1888597558085573, + -0.9752760479780368, + 0.1147546202829068, + 0.18700973756751818, + -0.15043846237578332, + -0.9707706356771089 + ], + [ + 0.9693091512410665, + -0.12863921608485535, + 0.2095035116779607, + -0.15867791604923076, + -0.9782659834945568, + 0.1334802775532811, + 0.18777936062996056, + -0.16262723518064734, + -0.9686543728796675 + ], + [ + 0.97537810342925, + -0.09517487676561828, + 0.19894546535020283, + -0.12752248127290983, + -0.9793827718522652, + 0.15667610848171604, + 0.17993213198525645, + -0.1781884649230232, + -0.9674054469805393 + ], + [ + 0.9781675742490521, + -0.07293551040970667, + 0.1945985817240208, + -0.10960958237470736, + -0.9766209006782679, + 0.18492527087991714, + 0.17656142313474674, + -0.20221777290743773, + -0.96329332821368 + ], + [ + 0.9811974563027711, + -0.08184476277653147, + 0.17479412619142798, + -0.11605961821655833, + -0.9738073192801737, + 0.19552357897652273, + 0.15421321851384295, + -0.21213377789125215, + -0.964996136527596 + ], + [ + 0.979358264747023, + -0.0930518524090139, + 0.1794400792324601, + -0.13130913784679965, + -0.9677903786360533, + 0.21480152079865542, + 0.1536727028122777, + -0.23392976677356844, + -0.9600320643747445 + ], + [ + 0.9758695268964532, + -0.10709338065854149, + 0.19028839768629496, + -0.14197168064147067, + -0.9733101272257187, + 0.18030928466302462, + 0.16589969370293928, + -0.20297389994523954, + -0.9650279206169586 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0019317269325256348, + -0.0008282884955406189, + -0.00581727921962738, + 0.0005857646465301514, + 0.01956230401992798, + -0.016615480184555054, + 1.0 + ], + [ + 0.0020310282707214355, + -0.007097452878952026, + -0.0031969156116247177, + 0.0003184974193572998, + 0.004449427127838135, + -0.15553662180900574, + 1.0 + ], + [ + 0.006069540977478027, + -0.013917708769440651, + 0.003256373107433319, + -0.062406137585639954, + 0.01831670105457306, + -0.14007045328617096, + 1.0 + ], + [ + 0.008731335401535034, + -0.019553694874048233, + 0.008506257086992264, + -0.09140964597463608, + -0.012093737721443176, + -0.09485742449760437, + 1.0 + ], + [ + 0.016721755266189575, + -0.021330589428544044, + 0.015380745753645897, + -0.0396052822470665, + -0.04909549653530121, + -0.08699622750282288, + 1.0 + ], + [ + 0.013089418411254883, + -0.02601177990436554, + 0.007809117436408997, + 0.05710592865943909, + -0.0027384907007217407, + -0.06117725372314453, + 1.0 + ], + [ + 0.008456021547317505, + -0.00820322334766388, + -0.001866314560174942, + 0.023067399859428406, + -0.023438826203346252, + -0.025426626205444336, + 1.0 + ], + [ + 0.010572731494903564, + -0.005693230777978897, + -0.010031383484601974, + 0.007323741912841797, + -0.051904499530792236, + -0.0227852463722229, + 1.0 + ], + [ + 0.014701873064041138, + -0.007734630256891251, + -0.004394944757223129, + -0.0040359944105148315, + -0.07725551724433899, + -0.01884925365447998, + 1.0 + ], + [ + 0.011345088481903076, + -0.0002821497619152069, + -0.0016553811728954315, + 0.004230916500091553, + -0.035498350858688354, + 0.0010132193565368652, + 1.0 + ], + [ + 0.009801238775253296, + -0.0021230243146419525, + 0.0018081441521644592, + 0.0043951719999313354, + -0.00853988528251648, + -0.01134723424911499, + 1.0 + ], + [ + 0.008633822202682495, + -0.0001272931694984436, + -0.002957616001367569, + 0.01503784954547882, + -0.00013306736946105957, + -0.014986813068389893, + 1.0 + ], + [ + 0.009922981262207031, + -0.0008896626532077789, + -0.010844428092241287, + 0.013800010085105896, + 0.006297856569290161, + -0.026422500610351562, + 1.0 + ], + [ + 0.011018693447113037, + 0.003865409642457962, + -0.009289739653468132, + 0.00464591383934021, + -0.006728649139404297, + -0.003201127052307129, + 1.0 + ], + [ + 0.008702278137207031, + 0.00022736936807632446, + -0.006422458216547966, + -0.012427479028701782, + -0.016241610050201416, + 0.005242526531219482, + 1.0 + ], + [ + 0.0014858245849609375, + -0.000478990375995636, + -0.0012191375717520714, + -0.006391972303390503, + -0.0036221444606781006, + 0.004359841346740723, + 1.0 + ], + [ + -0.0005231201648712158, + -0.0042056553065776825, + -0.004939134232699871, + -0.02930532395839691, + -0.0026578903198242188, + 0.009800434112548828, + 1.0 + ], + [ + 0.004301309585571289, + 0.00047519057989120483, + -0.008978317491710186, + -0.004881471395492554, + -0.022832095623016357, + 0.005739450454711914, + 1.0 + ], + [ + 0.003037691116333008, + 0.0035352036356925964, + -0.0010743881575763226, + 0.010334759950637817, + -0.0006062090396881104, + -0.005773365497589111, + 1.0 + ], + [ + -0.00028517842292785645, + -0.0032114237546920776, + -0.0057951174676418304, + -0.02794933319091797, + 0.006718963384628296, + 0.012277305126190186, + 1.0 + ], + [ + -0.0002512633800506592, + -9.544193744659424e-06, + -0.0005171569064259529, + -0.016280673444271088, + -0.004923582077026367, + 0.012991666793823242, + 1.0 + ], + [ + -0.0008751153945922852, + 0.002198208123445511, + -0.005540395155549049, + -0.02115832269191742, + 0.0011045634746551514, + 0.015205681324005127, + 1.0 + ], + [ + 0.0008116960525512695, + 0.0014585629105567932, + -0.0013175476342439651, + -0.0026238784193992615, + -0.006315499544143677, + 0.0003979802131652832, + 0.0 + ], + [ + 0.0050237178802490234, + 0.0014277026057243347, + -0.0019841808825731277, + -0.03549041226506233, + 0.003250211477279663, + 0.012922167778015137, + 0.0 + ], + [ + 0.001948237419128418, + 0.0006942115724086761, + 0.0004690885543823242, + 0.003317989408969879, + -0.006306946277618408, + -0.005814790725708008, + 0.0 + ], + [ + 0.00438651442527771, + 0.001209259033203125, + 0.0005815047770738602, + -0.03989286720752716, + 0.0018895864486694336, + 0.02561628818511963, + 0.0 + ], + [ + -0.0011126995086669922, + 0.0017524659633636475, + -0.00017795898020267487, + -0.023769978433847427, + 0.00665736198425293, + 0.03586620092391968, + 0.0 + ], + [ + -0.0017923712730407715, + 0.0045735836029052734, + 0.0015148688107728958, + 0.02590070106089115, + -0.021969318389892578, + 0.05011248588562012, + 0.0 + ], + [ + -0.0065344274044036865, + -0.00046350061893463135, + 0.0026496369391679764, + -0.012566084042191505, + -0.021815121173858643, + 0.04806312918663025, + 0.0 + ], + [ + -0.0029362738132476807, + -0.001040492206811905, + 0.007848436012864113, + 0.007443773094564676, + -0.030473649501800537, + 0.040284037590026855, + 0.0 + ], + [ + 0.0011688470840454102, + -0.002583704888820648, + 0.01575910672545433, + 0.011321315541863441, + -0.07689499855041504, + 0.05515599250793457, + 0.0 + ], + [ + 0.002306520938873291, + -0.0018235892057418823, + 0.012545647099614143, + 0.029259858652949333, + -0.08275216817855835, + 0.031160861253738403, + 0.0 + ], + [ + -0.0026365816593170166, + 0.002242688089609146, + 0.007477510720491409, + 0.027615882456302643, + -0.07267189025878906, + 0.02504858374595642, + 0.0 + ], + [ + -0.0017916858196258545, + 0.0025167763233184814, + 0.012186843901872635, + 0.008276112377643585, + -0.0234563946723938, + 0.012254193425178528, + 0.0 + ], + [ + -0.00830182433128357, + 0.008446048945188522, + 0.003255017101764679, + 0.02151448279619217, + 0.010028302669525146, + -0.00898994505405426, + 0.0 + ], + [ + -0.011929214000701904, + 0.013691321015357971, + 0.012437727302312851, + -0.1495407223701477, + -0.018765151500701904, + 0.29456785321235657, + 0.0 + ], + [ + -0.01945999264717102, + 0.015863824635744095, + -0.0002709999680519104, + 0.20444640517234802, + 0.03358525037765503, + -0.23234105110168457, + 0.0 + ], + [ + -0.017618507146835327, + 0.01647614687681198, + 0.001989297568798065, + 0.023424431681632996, + 0.020649969577789307, + 0.02053236961364746, + 0.0 + ], + [ + -0.01799798011779785, + 0.02433817647397518, + 0.0009401366114616394, + 0.07040612399578094, + 0.08867764472961426, + -0.04482157528400421, + 0.0 + ], + [ + -0.01717701554298401, + 0.022749124094843864, + 0.0006373003125190735, + 0.04738745093345642, + 0.12680697441101074, + -0.050528526306152344, + 0.0 + ], + [ + -0.008194148540496826, + 0.02040376141667366, + 0.005726013332605362, + 0.0008307695388793945, + 0.13708147406578064, + -0.01456063985824585, + 0.0 + ], + [ + -0.016467571258544922, + 0.01818166673183441, + -0.0043902210891246796, + -0.004542499780654907, + 0.1042248010635376, + 0.004456281661987305, + 0.0 + ], + [ + -0.01838478446006775, + 0.029121920466423035, + -0.003313228487968445, + -0.016858935356140137, + 0.07023577392101288, + 0.013970047235488892, + 0.0 + ], + [ + -0.009586304426193237, + 0.019611038267612457, + -0.005157511681318283, + -0.0054946839809417725, + -0.008159235119819641, + 0.006280869245529175, + 0.0 + ], + [ + -0.010845780372619629, + 0.013574853539466858, + -0.013364940881729126, + -0.02233824133872986, + 0.017177969217300415, + 0.013412445783615112, + 0.0 + ], + [ + -0.004300624132156372, + 0.00039249658584594727, + -0.013040659949183464, + -0.05690571665763855, + 0.007687270641326904, + 0.022086799144744873, + 0.0 + ], + [ + -0.0059926509857177734, + -0.004449605941772461, + -0.00741453655064106, + -0.028020143508911133, + 0.001110360026359558, + 0.023557499051094055, + 0.0 + ], + [ + 0.0007531642913818359, + -0.0020675063133239746, + -0.009620117023587227, + -0.020571276545524597, + 0.0014472156763076782, + 0.005847558379173279, + 1.0 + ], + [ + -0.0012054443359375, + 0.0024328380823135376, + -0.000696305651217699, + 0.012593433260917664, + -0.0007835030555725098, + 0.031193047761917114, + 1.0 + ], + [ + -0.0021069347858428955, + 0.0015891343355178833, + 0.0004009390249848366, + 0.015811949968338013, + 0.007983341813087463, + 0.03225862979888916, + 1.0 + ], + [ + -0.0010184943675994873, + -0.003444880247116089, + 0.011526565067470074, + 0.024768278002738953, + 0.0034255683422088623, + 0.018413670361042023, + 1.0 + ], + [ + -0.004480153322219849, + 0.0005695521831512451, + 0.008038617670536041, + 0.009468048810958862, + 0.022660791873931885, + -0.006146073341369629, + 1.0 + ], + [ + 0.004049569368362427, + 0.0015384405851364136, + 0.018348636105656624, + 0.02262413501739502, + 0.0005470365285873413, + -0.015545256435871124, + 1.0 + ], + [ + 0.003910362720489502, + -0.009354308247566223, + 0.0013111643493175507, + -0.0317031592130661, + -0.012386217713356018, + -0.011186838150024414, + 1.0 + ], + [ + 0.019970327615737915, + -0.028135910630226135, + 0.005592994391918182, + -0.01653537154197693, + -0.040884315967559814, + -0.04862383008003235, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9560673832893372 + ], + [ + 0.6991904973983765 + ], + [ + 0.5640211701393127 + ], + [ + 0.5551114082336426 + ], + [ + 0.5541232228279114 + ], + [ + 0.5541232228279114 + ], + [ + 0.5541232228279114 + ], + [ + 0.5541232228279114 + ], + [ + 0.5531353950500488 + ], + [ + 0.5413121581077576 + ], + [ + 0.5413121581077576 + ], + [ + 0.5413121581077576 + ], + [ + 0.5413121581077576 + ], + [ + 0.5413121581077576 + ], + [ + 0.5413121581077576 + ], + [ + 0.5413121581077576 + ], + [ + 0.5413121581077576 + ], + [ + 0.5413121581077576 + ], + [ + 0.5413121581077576 + ], + [ + 0.5413121581077576 + ], + [ + 0.5413121581077576 + ], + [ + 0.5413121581077576 + ], + [ + 0.5413121581077576 + ], + [ + 0.5413121581077576 + ], + [ + 0.5413121581077576 + ], + [ + 0.6189444065093994 + ], + [ + 0.8417698740959167 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.29061010479927063, + 0.04972775653004646, + 0.022518344223499298 + ], + [ + 0.29264113306999207, + 0.04263030365109444, + 0.01932142861187458 + ], + [ + 0.2987106740474701, + 0.028712594881653786, + 0.0225778017193079 + ], + [ + 0.3074420094490051, + 0.009158900938928127, + 0.031084058806300163 + ], + [ + 0.3241637647151947, + -0.012171688489615917, + 0.04646480455994606 + ], + [ + 0.3372531831264496, + -0.03818346932530403, + 0.05427392199635506 + ], + [ + 0.3457092046737671, + -0.04638669267296791, + 0.052407607436180115 + ], + [ + 0.35628193616867065, + -0.05207992345094681, + 0.04237622395157814 + ], + [ + 0.3709838092327118, + -0.05981455370783806, + 0.03798127919435501 + ], + [ + 0.38232889771461487, + -0.060096703469753265, + 0.03632589802145958 + ], + [ + 0.39213013648986816, + -0.06221972778439522, + 0.03813404217362404 + ], + [ + 0.40076395869255066, + -0.06234702095389366, + 0.03517642617225647 + ], + [ + 0.4106869399547577, + -0.06323668360710144, + 0.024331998080015182 + ], + [ + 0.4217056334018707, + -0.05937127396464348, + 0.01504225842654705 + ], + [ + 0.43040791153907776, + -0.059143904596567154, + 0.008619800209999084 + ], + [ + 0.4318937361240387, + -0.05962289497256279, + 0.007400662638247013 + ], + [ + 0.4313706159591675, + -0.06382855027914047, + 0.0024615281727164984 + ], + [ + 0.43567192554473877, + -0.06335335969924927, + -0.006516789551824331 + ], + [ + 0.4387096166610718, + -0.05981815606355667, + -0.007591177709400654 + ], + [ + 0.4384244382381439, + -0.06302957981824875, + -0.013386295177042484 + ], + [ + 0.43817317485809326, + -0.06303912401199341, + -0.013903452083468437 + ], + [ + 0.437298059463501, + -0.0608409158885479, + -0.019443847239017487 + ], + [ + 0.43810975551605225, + -0.059382352977991104, + -0.02076139487326145 + ], + [ + 0.44313347339630127, + -0.05795465037226677, + -0.02274557575583458 + ], + [ + 0.4450817108154297, + -0.05726043879985809, + -0.022276487201452255 + ], + [ + 0.4494682252407074, + -0.05605117976665497, + -0.021694982424378395 + ], + [ + 0.4483555257320404, + -0.05429871380329132, + -0.02187294140458107 + ], + [ + 0.44656315445899963, + -0.04972513020038605, + -0.020358072593808174 + ], + [ + 0.44002872705459595, + -0.05018863081932068, + -0.017708435654640198 + ], + [ + 0.43709245324134827, + -0.051229123026132584, + -0.009859999641776085 + ], + [ + 0.4382613003253937, + -0.05381282791495323, + 0.005899107549339533 + ], + [ + 0.44056782126426697, + -0.055636417120695114, + 0.01844475418329239 + ], + [ + 0.43793123960494995, + -0.05339372903108597, + 0.025922264903783798 + ], + [ + 0.4361395537853241, + -0.05087695270776749, + 0.03810910880565643 + ], + [ + 0.4278377294540405, + -0.042430903762578964, + 0.04136412590742111 + ], + [ + 0.4159085154533386, + -0.028739582747220993, + 0.05380185320973396 + ], + [ + 0.3964485228061676, + -0.012875759042799473, + 0.05353085324168205 + ], + [ + 0.3788300156593323, + 0.003600388066843152, + 0.05552015081048012 + ], + [ + 0.3608320355415344, + 0.027938565239310265, + 0.05646028742194176 + ], + [ + 0.3436550199985504, + 0.05068768933415413, + 0.05709758773446083 + ], + [ + 0.3354608714580536, + 0.07109145075082779, + 0.06282360106706619 + ], + [ + 0.31899330019950867, + 0.0892731174826622, + 0.05843337997794151 + ], + [ + 0.3006085157394409, + 0.11839503794908524, + 0.05512015148997307 + ], + [ + 0.2910222113132477, + 0.1380060762166977, + 0.049962639808654785 + ], + [ + 0.28017643094062805, + 0.15158092975616455, + 0.03659769892692566 + ], + [ + 0.2758758068084717, + 0.1519734263420105, + 0.023557038977742195 + ], + [ + 0.2698831558227539, + 0.14752382040023804, + 0.016142502427101135 + ], + [ + 0.27063632011413574, + 0.14545631408691406, + 0.006522385869175196 + ], + [ + 0.26943087577819824, + 0.1478891521692276, + 0.005826080217957497 + ], + [ + 0.26732394099235535, + 0.14947828650474548, + 0.006227019242942333 + ], + [ + 0.26630544662475586, + 0.1460334062576294, + 0.017753584310412407 + ], + [ + 0.261825293302536, + 0.14660295844078064, + 0.025792201980948448 + ], + [ + 0.26587486267089844, + 0.14814139902591705, + 0.04414083808660507 + ], + [ + 0.26978522539138794, + 0.13878709077835083, + 0.04545200243592262 + ], + [ + 0.28975555300712585, + 0.1106511801481247, + 0.051044996827840805 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9857274460194276, + 0.06597469534063069, + 0.15488299370404593, + 0.022485434458360615, + -0.9633637125929492, + 0.2672541159577314, + 0.16684066471108097, + -0.2599571057575475, + -0.9510975216900336 + ], + [ + 0.9780376448939201, + -0.08514297369764598, + 0.19024468244940873, + -0.13058225172071072, + -0.9617248604441464, + 0.2409015739658756, + 0.16245196430300046, + -0.2604533870649588, + -0.9517212787683627 + ], + [ + 0.9529339296130093, + -0.2355422975961448, + 0.1908841319634437, + -0.2666070694602722, + -0.9508171808489186, + 0.15769387786569355, + 0.1443523339129432, + -0.2011629057397109, + -0.9688631941859709 + ], + [ + 0.9217015948578859, + -0.3406332375877241, + 0.18556715088327103, + -0.35501240075496177, + -0.9335401275861412, + 0.04968928955670081, + 0.15630855813623268, + -0.1116773371680947, + -0.9813744479129339 + ], + [ + 0.8794091960625824, + -0.42442372865017547, + 0.21564777865594917, + -0.42986191534560086, + -0.9025901621464697, + -0.023446384195040387, + 0.20459276530702272, + -0.07207980129753558, + -0.9761896857829085 + ], + [ + 0.8509921091493848, + -0.4655254802887408, + 0.24310174283089575, + -0.48254586991831433, + -0.8757871177550074, + 0.01209990905563079, + 0.20727255870051658, + -0.12760466910075988, + -0.9699253243592658 + ], + [ + 0.8340551247780771, + -0.4788943080790491, + 0.2738837171518508, + -0.5013841773217794, + -0.8651083952154619, + 0.014190534136902397, + 0.23014333699411912, + -0.14915664992623334, + -0.9616581191982909 + ], + [ + 0.8112172799270578, + -0.4896526253876154, + 0.319635466115325, + -0.5131726216896455, + -0.8581976065648013, + -0.012277150916336618, + 0.28032193117186077, + -0.15406873315978864, + -0.9474610495247899 + ], + [ + 0.780948064762684, + -0.4974542219862848, + 0.3777028159432215, + -0.5148866904754151, + -0.8550459998263178, + -0.061547007663141126, + 0.3535701007080393, + -0.14640913635778602, + -0.9238790768689777 + ], + [ + 0.7704936021571337, + -0.49055786864788015, + 0.40705354259921844, + -0.5068746765342399, + -0.8587130583709099, + -0.07543172854699727, + 0.38654582047052877, + -0.14820546849198024, + -0.9102842785557917 + ], + [ + 0.7619276019119926, + -0.497404290182837, + 0.414795493650001, + -0.5137206310438982, + -0.8541603294582244, + -0.08063029715731171, + 0.3944077112386356, + -0.151654553797522, + -0.9063351773091318 + ], + [ + 0.7541002126818104, + -0.503854839171776, + 0.4212637775508739, + -0.5250513858052163, + -0.8478328231984977, + -0.07416566706560938, + 0.39452998808363143, + -0.1652567848847623, + -0.9039005938444122 + ], + [ + 0.7419516403373536, + -0.5211464465522758, + 0.42179870157060234, + -0.5462533304977119, + -0.8346581139103627, + -0.07037848963819382, + 0.3887352084914198, + -0.17819150970102865, + -0.9039539388429039 + ], + [ + 0.7380810886682687, + -0.520866853677411, + 0.4288753050601747, + -0.5470556822400412, + -0.8340395611044833, + -0.07147091045680118, + 0.3949257994600335, + -0.18186734520753142, + -0.9005319992471218 + ], + [ + 0.7356683351448672, + -0.5195540737162689, + 0.43457526983252237, + -0.5393149563310224, + -0.8374669240938304, + -0.08825264260341656, + 0.40979443449471975, + -0.16944826801607862, + -0.8963011803648953 + ], + [ + 0.7368068992078064, + -0.5181882059073838, + 0.4342770734660817, + -0.535226559988326, + -0.8395032208840809, + -0.0936315737789192, + 0.41309577916367113, + -0.16344823456905602, + -0.8958998559288971 + ], + [ + 0.7411196568884397, + -0.5221713043060131, + 0.4219938188325964, + -0.5273415254497372, + -0.8417711761716902, + -0.1154651570945684, + 0.41551482489786734, + -0.1369613665450451, + -0.8992157774217534 + ], + [ + 0.7361794161470874, + -0.5169252584786325, + 0.4368388082441081, + -0.5174876146275299, + -0.8459238387024645, + -0.12891635979190524, + 0.43617248417162074, + -0.1311531023715638, + -0.89025413663171 + ], + [ + 0.7329639497023775, + -0.5171964915420936, + 0.44189550526480736, + -0.5215758010909747, + -0.84428800226957, + -0.12303029277363418, + 0.4367179091278467, + -0.14030523283259014, + -0.8885898432273431 + ], + [ + 0.7417068609069513, + -0.5196229687418944, + 0.42410246738190127, + -0.5141981002177777, + -0.8465129501596628, + -0.1378990171988641, + 0.43066372753690874, + -0.1157920358567225, + -0.8950536063366097 + ], + [ + 0.746557156221169, + -0.5150346876413174, + 0.4211789204378248, + -0.5033275167990263, + -0.8512021414819197, + -0.14871558482391725, + 0.43510208380090165, + -0.10096625606015334, + -0.8947021805099777 + ], + [ + 0.754526063861846, + -0.510953648411224, + 0.41184558772482754, + -0.4921801289305283, + -0.8556826446429199, + -0.1598935031288856, + 0.4341072904698537, + -0.08205839891295505, + -0.8971160903298772 + ], + [ + 0.7524099896546002, + -0.511271034430733, + 0.4153084839250128, + -0.4903730588381014, + -0.8557382958389336, + -0.16506432746187627, + 0.4397879837304884, + -0.07946004270578914, + -0.8945795833683361 + ], + [ + 0.7598871766674847, + -0.5147975063141086, + 0.39693199194458273, + -0.4813720105965869, + -0.8559813701587334, + -0.18861834840591957, + 0.43686664572901235, + -0.04774328679461383, + -0.8982583773144166 + ], + [ + 0.7547412667089535, + -0.5181810801033563, + 0.4023108108782107, + -0.4842848047345337, + -0.8537747602644342, + -0.1911462441133554, + 0.4425311833416928, + -0.0505670540799735, + -0.8953262672410959 + ], + [ + 0.7676116187047879, + -0.512007219238342, + 0.3855139560083864, + -0.46522694519348895, + -0.8588530671408406, + -0.21432521673546828, + 0.4408359017767837, + -0.014832953535671406, + -0.8974651476208192 + ], + [ + 0.7863456659854997, + -0.4900466044422398, + 0.37618455452138444, + -0.43882278889834314, + -0.8716718275975603, + -0.21822645329155135, + 0.43485061058862695, + 0.006523070393643748, + -0.9004789814445079 + ], + [ + 0.7985806623485712, + -0.43527621082611195, + 0.41569645898393104, + -0.39455502417503047, + -0.9001435920000858, + -0.18457477259751348, + 0.4545275114018491, + -0.016617282270120284, + -0.8905776817935629 + ], + [ + 0.8073306212486897, + -0.3967166224330972, + 0.43684458275166915, + -0.3516875677713239, + -0.9179254622406419, + -0.18365375151462102, + 0.473849261547694, + -0.005363511497061879, + -0.8805896377286787 + ], + [ + 0.8070003046570008, + -0.3557771946183341, + 0.47135241176111137, + -0.3135122193914234, + -0.9344973478839945, + -0.16859654530874804, + 0.5004603846217723, + -0.01171727729844857, + -0.865680142337191 + ], + [ + 0.7840755902573069, + -0.29672993025010724, + 0.5451392640935179, + -0.2558284480274991, + -0.9547414231192551, + -0.15172547630526845, + 0.5654885268000552, + -0.02049788950077326, + -0.8245014024145242 + ], + [ + 0.7440897724297175, + -0.24720794888075706, + 0.6206598428895334, + -0.21737704973259772, + -0.9680548234864338, + -0.12496830387822824, + 0.6317259127303889, + -0.041929568741145756, + -0.7740570279056567 + ], + [ + 0.7029866986759034, + -0.20127051729666842, + 0.6821289323521517, + -0.1863925264095316, + -0.9777344956782329, + -0.09640063308663432, + 0.6863435929499356, + -0.059375372234313904, + -0.7248496655090695 + ], + [ + 0.6894145508710048, + -0.182142918683741, + 0.7010930995386413, + -0.17378065121523484, + -0.9811930587404264, + -0.08402658354839485, + 0.7032125299726535, + -0.06390726604209096, + -0.7081016869323824 + ], + [ + 0.6946120912666245, + -0.1766179352183768, + 0.6973665805194595, + -0.1817473551990488, + -0.981030602790292, + -0.0674303734756608, + 0.6960473701870853, + -0.07990657887879798, + -0.7135355612073788 + ], + [ + 0.7042823641068345, + 0.011670878701348435, + 0.709824021993076, + 0.027235522494393677, + -0.9995729693082895, + -0.010587981047739227, + 0.7093973343074711, + 0.026789356441473552, + -0.7042994764011303 + ], + [ + 0.7146148093274858, + -0.07841135704383143, + 0.6951095837178376, + -0.14017027945685237, + -0.9895947642528149, + 0.03247299370866963, + 0.6853305531251532, + -0.12063938681027922, + -0.7181700155974287 + ], + [ + 0.7311284997121544, + -0.044621985970275335, + 0.6807789621284743, + -0.12788040080237717, + -0.9891358069054524, + 0.07250488664995486, + 0.6701475359943343, + -0.14006867553299696, + -0.7288916559648316 + ], + [ + 0.7797617663796509, + -0.05778119186542171, + 0.6234043002411019, + -0.17271527115404345, + -0.9769457693729385, + 0.12548465569344472, + 0.6017815407626524, + -0.20551957953180142, + -0.7717646530040098 + ], + [ + 0.8372391042671399, + -0.1080374495113225, + 0.5360583846830916, + -0.23036730879152445, + -0.9587411076603495, + 0.16657248128774502, + 0.4959451434645846, + -0.26295132246348213, + -0.8275838426942602 + ], + [ + 0.8910494235885291, + -0.15748749554214048, + 0.4257095412019959, + -0.25918692106579605, + -0.9464773069845257, + 0.19236124170880256, + 0.3726299299183875, + -0.2817417187978803, + -0.8841767579041158 + ], + [ + 0.9246261770723336, + -0.18355730484276966, + 0.3337261579670669, + -0.2644904031867764, + -0.9399296973775539, + 0.21581703039805727, + 0.2740643342259215, + -0.28781744183874275, + -0.9176327483687055 + ], + [ + 0.9445059248622139, + -0.19458871785627732, + 0.264657871190759, + -0.2559584629982892, + -0.940936286390754, + 0.22163973058260683, + 0.2058976034822351, + -0.2770814606505228, + -0.9385265265532164 + ], + [ + 0.9444392426199717, + -0.18797553835074904, + 0.2696288448611544, + -0.24958359357975934, + -0.9439189919041777, + 0.21615958581199812, + 0.21387507291694347, + -0.2714445315425366, + -0.9383897481752586 + ], + [ + 0.9511259959349849, + -0.18539313470043808, + 0.24695895501606696, + -0.23775024060374664, + -0.9499826018112587, + 0.2025040230434238, + 0.19706385500528284, + -0.2513213915723374, + -0.9476304106499539 + ], + [ + 0.9575938810242131, + -0.1793676940629779, + 0.22547990897531248, + -0.21701504644450734, + -0.9637911349711933, + 0.15495521213443392, + 0.18952157830092478, + -0.19731669589132356, + -0.9618459818915175 + ], + [ + 0.9626457192870764, + -0.16295254052162167, + 0.21623988687523976, + -0.19443994574663193, + -0.971820358221575, + 0.13326026731226548, + 0.18843122521576428, + -0.17032809775148333, + -0.9672031908963323 + ], + [ + 0.9640328576821747, + -0.1618792737763301, + 0.2107978890567642, + -0.1888597558085573, + -0.9752760479780368, + 0.1147546202829068, + 0.18700973756751818, + -0.15043846237578332, + -0.9707706356771089 + ], + [ + 0.9693091512410665, + -0.12863921608485535, + 0.2095035116779607, + -0.15867791604923076, + -0.9782659834945568, + 0.1334802775532811, + 0.18777936062996056, + -0.16262723518064734, + -0.9686543728796675 + ], + [ + 0.97537810342925, + -0.09517487676561828, + 0.19894546535020283, + -0.12752248127290983, + -0.9793827718522652, + 0.15667610848171604, + 0.17993213198525645, + -0.1781884649230232, + -0.9674054469805393 + ], + [ + 0.9781675742490521, + -0.07293551040970667, + 0.1945985817240208, + -0.10960958237470736, + -0.9766209006782679, + 0.18492527087991714, + 0.17656142313474674, + -0.20221777290743773, + -0.96329332821368 + ], + [ + 0.9811974563027711, + -0.08184476277653147, + 0.17479412619142798, + -0.11605961821655833, + -0.9738073192801737, + 0.19552357897652273, + 0.15421321851384295, + -0.21213377789125215, + -0.964996136527596 + ], + [ + 0.979358264747023, + -0.0930518524090139, + 0.1794400792324601, + -0.13130913784679965, + -0.9677903786360533, + 0.21480152079865542, + 0.1536727028122777, + -0.23392976677356844, + -0.9600320643747445 + ], + [ + 0.9758695268964532, + -0.10709338065854149, + 0.19028839768629496, + -0.14197168064147067, + -0.9733101272257187, + 0.18030928466302462, + 0.16589969370293928, + -0.20297389994523954, + -0.9650279206169586 + ], + [ + 0.9603521136941894, + -0.1500656876192022, + 0.23495554286391906, + -0.18777636597831993, + -0.9711088070977717, + 0.14726751562078805, + 0.20606759595598462, + -0.18554776791036592, + -0.9607851850025593 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006739.json b/json/chunk-0006/episode_0006739.json new file mode 100644 index 0000000000000000000000000000000000000000..3d7fac4acc15186b562a44e05d524f93078365a8 --- /dev/null +++ b/json/chunk-0006/episode_0006739.json @@ -0,0 +1,1222 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 19, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nOpen white1fbox flap." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006739.mp4", + "start": 0, + "end": 19, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2328820526599884, + 0.11241639405488968, + 0.1030949205160141, + 0.24853026866912842, + -0.201417475938797, + 0.0007786951609887183, + 0.0, + 1.0014774799346924 + ], + [ + 0.22689618170261383, + 0.10849323123693466, + 0.09462684392929077, + 0.20348860323429108, + -0.1573447585105896, + 0.01229217741638422, + 0.0, + 1.0014774799346924 + ], + [ + 0.22414712607860565, + 0.1055813878774643, + 0.09267176687717438, + 0.0907278060913086, + -0.12397605180740356, + 0.019844604656100273, + 0.0, + 1.0014774799346924 + ], + [ + 0.22446686029434204, + 0.107882060110569, + 0.08902057260274887, + 0.02120298147201538, + -0.1445537507534027, + 0.01218165922909975, + 0.0, + 1.0014774799346924 + ], + [ + 0.2243339866399765, + 0.11391200870275497, + 0.08419851958751678, + -0.0539487823843956, + -0.15191203355789185, + 0.014056484214961529, + 0.0, + 1.0014774799346924 + ], + [ + 0.22672061622142792, + 0.1167040765285492, + 0.07845623791217804, + -0.08532479405403137, + -0.16935352981090546, + 0.02633204683661461, + 0.0, + 1.0014774799346924 + ], + [ + 0.22620899975299835, + 0.11347074061632156, + 0.07098333537578583, + -0.146048903465271, + -0.1528840959072113, + 0.04975832998752594, + 0.0, + 1.0014774799346924 + ], + [ + 0.2266518622636795, + 0.11081278324127197, + 0.07051420211791992, + -0.19175291061401367, + -0.15208351612091064, + 0.0759226456284523, + 0.0, + 1.0014774799346924 + ], + [ + 0.22786486148834229, + 0.10382361710071564, + 0.07169143110513687, + -0.23887304961681366, + -0.15097935497760773, + 0.09603094309568405, + 0.0, + 1.0014774799346924 + ], + [ + 0.22815711796283722, + 0.09958228468894958, + 0.07521496713161469, + -0.2616392970085144, + -0.14469552040100098, + 0.10341933369636536, + 0.0, + 1.0014774799346924 + ], + [ + 0.22766855359077454, + 0.0906817838549614, + 0.0889459177851677, + -0.23446756601333618, + -0.13940806686878204, + 0.05834619328379631, + 0.0, + 1.0014774799346924 + ], + [ + 0.2276337891817093, + 0.07715171575546265, + 0.10950072854757309, + -0.16810151934623718, + -0.12699651718139648, + 0.036487627774477005, + 0.0, + 1.002137303352356 + ], + [ + 0.22807596623897552, + 0.06100323796272278, + 0.12364032119512558, + -0.10517284274101257, + -0.10976023226976395, + 0.002539169043302536, + 0.0, + 1.0014774799346924 + ], + [ + 0.22831964492797852, + 0.04365495592355728, + 0.13686084747314453, + -0.01326172985136509, + -0.12366494536399841, + -0.023596767336130142, + 0.0, + 1.002137303352356 + ], + [ + 0.2333112210035324, + 0.02162347547709942, + 0.14919525384902954, + 0.08234850317239761, + -0.14043286442756653, + -0.07737956941127777, + 0.0, + 1.002137303352356 + ], + [ + 0.24488800764083862, + -0.014086841605603695, + 0.16459010541439056, + 0.13824321329593658, + -0.16896255314350128, + -0.12891510128974915, + 0.0, + 1.002137303352356 + ], + [ + 0.2529866397380829, + -0.0365850105881691, + 0.1658969670534134, + 0.14542599022388458, + -0.1978382021188736, + -0.15622036159038544, + 0.0, + 1.002137303352356 + ], + [ + 0.263378769159317, + -0.06206933781504631, + 0.155021071434021, + 0.12530721724033356, + -0.23432408273220062, + -0.18855208158493042, + 0.0, + 1.002137303352356 + ], + [ + 0.267563134431839, + -0.08523190766572952, + 0.1395263671875, + 0.11323749274015427, + -0.24305665493011475, + -0.12047351151704788, + 0.0, + 1.002137303352356 + ] + ], + "left_gripper_pos": [ + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.002137303352356 + ], + [ + 1.0014774799346924 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2328820526599884, + 0.11241639405488968, + 0.1030949205160141 + ], + [ + 0.22689618170261383, + 0.10849323123693466, + 0.09462684392929077 + ], + [ + 0.22414712607860565, + 0.1055813878774643, + 0.09267176687717438 + ], + [ + 0.22446686029434204, + 0.107882060110569, + 0.08902057260274887 + ], + [ + 0.2243339866399765, + 0.11391200870275497, + 0.08419851958751678 + ], + [ + 0.22672061622142792, + 0.1167040765285492, + 0.07845623791217804 + ], + [ + 0.22620899975299835, + 0.11347074061632156, + 0.07098333537578583 + ], + [ + 0.2266518622636795, + 0.11081278324127197, + 0.07051420211791992 + ], + [ + 0.22786486148834229, + 0.10382361710071564, + 0.07169143110513687 + ], + [ + 0.22815711796283722, + 0.09958228468894958, + 0.07521496713161469 + ], + [ + 0.22766855359077454, + 0.0906817838549614, + 0.0889459177851677 + ], + [ + 0.2276337891817093, + 0.07715171575546265, + 0.10950072854757309 + ], + [ + 0.22807596623897552, + 0.06100323796272278, + 0.12364032119512558 + ], + [ + 0.22831964492797852, + 0.04365495592355728, + 0.13686084747314453 + ], + [ + 0.2333112210035324, + 0.02162347547709942, + 0.14919525384902954 + ], + [ + 0.24488800764083862, + -0.014086841605603695, + 0.16459010541439056 + ], + [ + 0.2529866397380829, + -0.0365850105881691, + 0.1658969670534134 + ], + [ + 0.263378769159317, + -0.06206933781504631, + 0.155021071434021 + ], + [ + 0.267563134431839, + -0.08523190766572952, + 0.1395263671875 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9797836872920992, + 0.04996503836349406, + 0.19371995523856697, + 0.0007629529703196657, + -0.9692363787778194, + 0.24613057501339455, + 0.20005835153540305, + -0.2410069231266889, + -0.9496801140310053 + ], + [ + 0.987572216458862, + 0.04370218144939446, + 0.15096766744933968, + 0.01214002434531464, + -0.9789043095927222, + 0.20395826158724364, + 0.15669632123130836, + -0.1995907613026203, + -0.9672692442723559 + ], + [ + 0.9921294210528798, + 0.03096337949224445, + 0.12132798939938355, + 0.0196910010231133, + -0.995468644879045, + 0.0930292509987352, + 0.12365870919585656, + -0.08990798737096266, + -0.9882434302574025 + ], + [ + 0.9894968653282756, + 0.015232471928540402, + 0.14374952279733974, + 0.01205430988527557, + -0.9996638435683841, + 0.022954160304297415, + 0.14405084907318808, + -0.020980268373685405, + -0.989347856529877 + ], + [ + 0.9883858869482609, + 0.005876353111252065, + 0.15185126590058973, + 0.01389414572066228, + -0.9985611678167625, + -0.051793308864335905, + 0.15132842164045962, + 0.053301619136151696, + -0.9870454124310958 + ], + [ + 0.9853522234442575, + 0.011874561870699445, + 0.1701175785562342, + 0.02595233942465917, + -0.9963948208110315, + -0.08077027385950507, + 0.16854516258808752, + 0.08400211807645742, + -0.9821080247746802 + ], + [ + 0.9871127184762526, + 0.02707302461577432, + 0.15771979064333122, + 0.04915765675206202, + -0.9892316126603343, + -0.13785623415747558, + 0.15228921762576955, + 0.1438327773895365, + -0.9778139528270923 + ], + [ + 0.9856100860944754, + 0.045670232349948006, + 0.16274823521606194, + 0.07497423738563908, + -0.9810337020776546, + -0.17875049403079574, + 0.15149792710556373, + 0.18838021463230542, + -0.9703408024080014 + ], + [ + 0.9840692351536569, + 0.05773745613913592, + 0.1681491200770272, + 0.09479266685294763, + -0.9705408704896649, + -0.22150568620256705, + 0.1504064185299392, + 0.23391623472462397, + -0.9605524995528624 + ], + [ + 0.9842626757450182, + 0.06262386772470964, + 0.16524296150352513, + 0.10215625613908187, + -0.9646564419968583, + -0.24290337224009145, + 0.14419113865596495, + 0.25596132540905514, + -0.955872750646202 + ], + [ + 0.988613275361593, + 0.024489282486687414, + 0.1484724446559386, + 0.05774736549118871, + -0.9728656140670475, + -0.22404851872925646, + 0.13895694857635074, + 0.23007123246776018, + -0.9632020527558669 + ], + [ + 0.9912865352418387, + 0.014788590854869835, + 0.13089042221934305, + 0.03618575413941187, + -0.9860209943424469, + -0.16264436637428928, + 0.12665542327746043, + 0.16596353905740643, + -0.9779644714701797 + ], + [ + 0.9939791863908228, + -0.00897423077588967, + 0.1092009166803061, + 0.002523886603924474, + -0.9945004257587685, + -0.10470211632072556, + 0.10953997908639845, + 0.10434733512461776, + -0.9884900741201917 + ], + [ + 0.9920869657385414, + -0.025227833623281036, + 0.12299190551565066, + -0.023414391238058725, + -0.9995951025484495, + -0.016167784143364, + 0.12334998457497191, + 0.01316006731864789, + -0.9922759666209413 + ], + [ + 0.9871926525706115, + -0.06556142876816945, + 0.14543852917461852, + -0.07654136970822945, + -0.9945191285687824, + 0.0712258494788085, + 0.1399717308380098, + -0.08144569950995564, + -0.9868001381219734 + ], + [ + 0.9775798705193816, + -0.10435114591346337, + 0.18288913336187115, + -0.12672762020951214, + -0.9852198104573765, + 0.11524771302878345, + 0.16815976638703703, + -0.135840949013463, + -0.9763552271278004 + ], + [ + 0.9685537050514197, + -0.1258073888187032, + 0.21465372428585366, + -0.15255082466139255, + -0.9818267286704714, + 0.11289163283153358, + 0.19655016236649797, + -0.1420872119047325, + -0.9701439366850895 + ], + [ + 0.9554325120081897, + -0.15746305640532524, + 0.24970803123891297, + -0.18231446826091077, + -0.9800140657063999, + 0.0795855871395916, + 0.23218559313717538, + -0.12156404437622798, + -0.9650450940004993 + ], + [ + 0.9635717490288752, + -0.09241497745370468, + 0.2509760076494674, + -0.11664976540928594, + -0.989662068126994, + 0.08343754035540449, + 0.24067055636989093, + -0.10967434911059398, + -0.9643905953729406 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.005985870957374573, + -0.003923162817955017, + -0.008468076586723328, + -0.04504166543483734, + 0.0440727174282074, + 0.011513481847941875, + 1.0 + ], + [ + -0.0027490556240081787, + -0.0029118433594703674, + -0.001955077052116394, + -0.11276079714298248, + 0.033368706703186035, + 0.007552427239716053, + 1.0 + ], + [ + 0.00031973421573638916, + 0.002300672233104706, + -0.0036511942744255066, + -0.06952482461929321, + -0.020577698945999146, + -0.007662945427000523, + 1.0 + ], + [ + -0.00013287365436553955, + 0.006029948592185974, + -0.004822053015232086, + -0.07515176385641098, + -0.007358282804489136, + 0.0018748249858617783, + 1.0 + ], + [ + 0.002386629581451416, + 0.00279206782579422, + -0.005742281675338745, + -0.03137601166963577, + -0.01744149625301361, + 0.01227556262165308, + 1.0 + ], + [ + -0.0005116164684295654, + -0.0032333359122276306, + -0.007472902536392212, + -0.060724109411239624, + 0.016469433903694153, + 0.02342628315091133, + 1.0 + ], + [ + 0.00044286251068115234, + -0.002657957375049591, + -0.00046913325786590576, + -0.045704007148742676, + 0.0008005797863006592, + 0.02616431564092636, + 1.0 + ], + [ + 0.0012129992246627808, + -0.0069891661405563354, + 0.0011772289872169495, + -0.04712013900279999, + 0.0011041611433029175, + 0.02010829746723175, + 1.0 + ], + [ + 0.0002922564744949341, + -0.004241332411766052, + 0.0035235360264778137, + -0.022766247391700745, + 0.0062838345766067505, + 0.007388390600681305, + 1.0 + ], + [ + -0.0004885643720626831, + -0.00890050083398819, + 0.013730950653553009, + 0.027171730995178223, + 0.005287453532218933, + -0.045073140412569046, + 1.0 + ], + [ + -3.476440906524658e-05, + -0.013530068099498749, + 0.020554810762405396, + 0.066366046667099, + 0.012411549687385559, + -0.021858565509319305, + 1.0 + ], + [ + 0.00044217705726623535, + -0.016148477792739868, + 0.01413959264755249, + 0.06292867660522461, + 0.017236284911632538, + -0.03394845873117447, + 1.0 + ], + [ + 0.00024367868900299072, + -0.017348282039165497, + 0.013220526278018951, + 0.09191111475229263, + -0.013904713094234467, + -0.026135936379432678, + 1.0 + ], + [ + 0.004991576075553894, + -0.022031480446457863, + 0.01233440637588501, + 0.09561023116111755, + -0.016767919063568115, + -0.05378280207514763, + 1.0 + ], + [ + 0.011576786637306213, + -0.03571031615138054, + 0.015394851565361023, + 0.05589471012353897, + -0.028529688715934753, + -0.051535531878471375, + 1.0 + ], + [ + 0.008098632097244263, + -0.02249816805124283, + 0.0013068616390228271, + 0.007182776927947998, + -0.028875648975372314, + -0.02730526030063629, + 1.0 + ], + [ + 0.01039212942123413, + -0.025484327226877213, + -0.010875895619392395, + -0.020118772983551025, + -0.036485880613327026, + -0.03233171999454498, + 1.0 + ], + [ + 0.004184365272521973, + -0.023162569850683212, + -0.015494704246520996, + -0.01206972450017929, + -0.008732572197914124, + 0.06807857006788254, + 1.0 + ], + [ + 0.0030451416969299316, + -0.013050593435764313, + -0.014834500849246979, + -0.04257752001285553, + -0.033982813358306885, + 0.048764780163764954, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.002137303352356 + ], + [ + 1.0014774799346924 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.22689618170261383, + 0.10849323123693466, + 0.09462684392929077 + ], + [ + 0.22414712607860565, + 0.1055813878774643, + 0.09267176687717438 + ], + [ + 0.22446686029434204, + 0.107882060110569, + 0.08902057260274887 + ], + [ + 0.2243339866399765, + 0.11391200870275497, + 0.08419851958751678 + ], + [ + 0.22672061622142792, + 0.1167040765285492, + 0.07845623791217804 + ], + [ + 0.22620899975299835, + 0.11347074061632156, + 0.07098333537578583 + ], + [ + 0.2266518622636795, + 0.11081278324127197, + 0.07051420211791992 + ], + [ + 0.22786486148834229, + 0.10382361710071564, + 0.07169143110513687 + ], + [ + 0.22815711796283722, + 0.09958228468894958, + 0.07521496713161469 + ], + [ + 0.22766855359077454, + 0.0906817838549614, + 0.0889459177851677 + ], + [ + 0.2276337891817093, + 0.07715171575546265, + 0.10950072854757309 + ], + [ + 0.22807596623897552, + 0.06100323796272278, + 0.12364032119512558 + ], + [ + 0.22831964492797852, + 0.04365495592355728, + 0.13686084747314453 + ], + [ + 0.2333112210035324, + 0.02162347547709942, + 0.14919525384902954 + ], + [ + 0.24488800764083862, + -0.014086841605603695, + 0.16459010541439056 + ], + [ + 0.2529866397380829, + -0.0365850105881691, + 0.1658969670534134 + ], + [ + 0.263378769159317, + -0.06206933781504631, + 0.155021071434021 + ], + [ + 0.267563134431839, + -0.08523190766572952, + 0.1395263671875 + ], + [ + 0.2706082761287689, + -0.09828250110149384, + 0.12469186633825302 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.987572216458862, + 0.04370218144939446, + 0.15096766744933968, + 0.01214002434531464, + -0.9789043095927222, + 0.20395826158724364, + 0.15669632123130836, + -0.1995907613026203, + -0.9672692442723559 + ], + [ + 0.9921294210528798, + 0.03096337949224445, + 0.12132798939938355, + 0.0196910010231133, + -0.995468644879045, + 0.0930292509987352, + 0.12365870919585656, + -0.08990798737096266, + -0.9882434302574025 + ], + [ + 0.9894968653282756, + 0.015232471928540402, + 0.14374952279733974, + 0.01205430988527557, + -0.9996638435683841, + 0.022954160304297415, + 0.14405084907318808, + -0.020980268373685405, + -0.989347856529877 + ], + [ + 0.9883858869482609, + 0.005876353111252065, + 0.15185126590058973, + 0.01389414572066228, + -0.9985611678167625, + -0.051793308864335905, + 0.15132842164045962, + 0.053301619136151696, + -0.9870454124310958 + ], + [ + 0.9853522234442575, + 0.011874561870699445, + 0.1701175785562342, + 0.02595233942465917, + -0.9963948208110315, + -0.08077027385950507, + 0.16854516258808752, + 0.08400211807645742, + -0.9821080247746802 + ], + [ + 0.9871127184762526, + 0.02707302461577432, + 0.15771979064333122, + 0.04915765675206202, + -0.9892316126603343, + -0.13785623415747558, + 0.15228921762576955, + 0.1438327773895365, + -0.9778139528270923 + ], + [ + 0.9856100860944754, + 0.045670232349948006, + 0.16274823521606194, + 0.07497423738563908, + -0.9810337020776546, + -0.17875049403079574, + 0.15149792710556373, + 0.18838021463230542, + -0.9703408024080014 + ], + [ + 0.9840692351536569, + 0.05773745613913592, + 0.1681491200770272, + 0.09479266685294763, + -0.9705408704896649, + -0.22150568620256705, + 0.1504064185299392, + 0.23391623472462397, + -0.9605524995528624 + ], + [ + 0.9842626757450182, + 0.06262386772470964, + 0.16524296150352513, + 0.10215625613908187, + -0.9646564419968583, + -0.24290337224009145, + 0.14419113865596495, + 0.25596132540905514, + -0.955872750646202 + ], + [ + 0.988613275361593, + 0.024489282486687414, + 0.1484724446559386, + 0.05774736549118871, + -0.9728656140670475, + -0.22404851872925646, + 0.13895694857635074, + 0.23007123246776018, + -0.9632020527558669 + ], + [ + 0.9912865352418387, + 0.014788590854869835, + 0.13089042221934305, + 0.03618575413941187, + -0.9860209943424469, + -0.16264436637428928, + 0.12665542327746043, + 0.16596353905740643, + -0.9779644714701797 + ], + [ + 0.9939791863908228, + -0.00897423077588967, + 0.1092009166803061, + 0.002523886603924474, + -0.9945004257587685, + -0.10470211632072556, + 0.10953997908639845, + 0.10434733512461776, + -0.9884900741201917 + ], + [ + 0.9920869657385414, + -0.025227833623281036, + 0.12299190551565066, + -0.023414391238058725, + -0.9995951025484495, + -0.016167784143364, + 0.12334998457497191, + 0.01316006731864789, + -0.9922759666209413 + ], + [ + 0.9871926525706115, + -0.06556142876816945, + 0.14543852917461852, + -0.07654136970822945, + -0.9945191285687824, + 0.0712258494788085, + 0.1399717308380098, + -0.08144569950995564, + -0.9868001381219734 + ], + [ + 0.9775798705193816, + -0.10435114591346337, + 0.18288913336187115, + -0.12672762020951214, + -0.9852198104573765, + 0.11524771302878345, + 0.16815976638703703, + -0.135840949013463, + -0.9763552271278004 + ], + [ + 0.9685537050514197, + -0.1258073888187032, + 0.21465372428585366, + -0.15255082466139255, + -0.9818267286704714, + 0.11289163283153358, + 0.19655016236649797, + -0.1420872119047325, + -0.9701439366850895 + ], + [ + 0.9554325120081897, + -0.15746305640532524, + 0.24970803123891297, + -0.18231446826091077, + -0.9800140657063999, + 0.0795855871395916, + 0.23218559313717538, + -0.12156404437622798, + -0.9650450940004993 + ], + [ + 0.9635717490288752, + -0.09241497745370468, + 0.2509760076494674, + -0.11664976540928594, + -0.989662068126994, + 0.08343754035540449, + 0.24067055636989093, + -0.10967434911059398, + -0.9643905953729406 + ], + [ + 0.959397410063539, + -0.05220805529703528, + 0.2771839254456786, + -0.06891533580426104, + -0.9963245807171769, + 0.0508724517762583, + 0.27350920652577626, + -0.0679091217793567, + -0.9594691579851834 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006741.json b/json/chunk-0006/episode_0006741.json new file mode 100644 index 0000000000000000000000000000000000000000..c85b78e7e3343a14b9ce8115469e5dd2082cc7e8 --- /dev/null +++ b/json/chunk-0006/episode_0006741.json @@ -0,0 +1,2782 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 45, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nTake the red cube and place it on top of the cylinder." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006741.mp4", + "start": 0, + "end": 45, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.27877724170684814, + -0.06389294564723969, + 0.08285000920295715, + -0.06738900393247604, + 0.1058877557516098, + -0.17325378954410553, + 0.0, + 0.9988223910331726 + ], + [ + 0.27602407336235046, + -0.06292345374822617, + 0.07528427243232727, + -0.06694778054952621, + 0.1335001289844513, + -0.1715671271085739, + 0.0, + 0.9988223910331726 + ], + [ + 0.2655904293060303, + -0.06583722680807114, + 0.05501003563404083, + -0.06529267132282257, + 0.1691041886806488, + -0.2094775140285492, + 0.0, + 0.9988223910331726 + ], + [ + 0.26000380516052246, + -0.08177654445171356, + 0.050245776772499084, + -0.06567095965147018, + 0.15671780705451965, + -0.27106744050979614, + 0.0, + 0.9988223910331726 + ], + [ + 0.25432467460632324, + -0.09058918803930283, + 0.045440975576639175, + -0.0662187933921814, + 0.1519865095615387, + -0.30846527218818665, + 0.0, + 0.9988223910331726 + ], + [ + 0.2487170398235321, + -0.09298332035541534, + 0.03342354670166969, + -0.09184400737285614, + 0.15952500700950623, + -0.3117884695529938, + 0.0, + 0.9988223910331726 + ], + [ + 0.25144556164741516, + -0.08887775242328644, + 0.02801857329905033, + -0.10477662086486816, + 0.14827576279640198, + -0.29792213439941406, + 0.0, + 0.9988223910331726 + ], + [ + 0.2565326988697052, + -0.0772276297211647, + 0.026805395260453224, + -0.10231472551822662, + 0.1425648033618927, + -0.26745185256004333, + 0.0, + 0.9988223910331726 + ], + [ + 0.25681009888648987, + -0.07180235534906387, + 0.02140657976269722, + -0.1038627028465271, + 0.15866687893867493, + -0.2550196647644043, + 0.0, + 0.9988223910331726 + ], + [ + 0.2573181986808777, + -0.07062774896621704, + 0.020171700045466423, + -0.10978849977254868, + 0.1590525358915329, + -0.2529713213443756, + 0.0, + 0.9988223910331726 + ], + [ + 0.25238245725631714, + -0.07063356041908264, + 0.006901865359395742, + -0.12094799429178238, + 0.20755310356616974, + -0.2647330164909363, + 0.0, + 0.9988223910331726 + ], + [ + 0.2509336471557617, + -0.07033966481685638, + -0.003864105325192213, + -0.14730499684810638, + 0.22414222359657288, + -0.2618669867515564, + 0.0, + 0.9988223910331726 + ], + [ + 0.25205710530281067, + -0.06467882543802261, + -0.010551312007009983, + -0.1611563265323639, + 0.23158782720565796, + -0.24067485332489014, + 0.0, + 0.9643021821975708 + ], + [ + 0.25357505679130554, + -0.06305445730686188, + -0.011407515965402126, + -0.16516372561454773, + 0.22890275716781616, + -0.23447556793689728, + 0.0, + 0.6892001032829285 + ], + [ + 0.2505674362182617, + -0.06598949432373047, + -0.009321914054453373, + -0.15514227747917175, + 0.22938670217990875, + -0.2356468290090561, + 0.0, + 0.6029031276702881 + ], + [ + 0.25579124689102173, + -0.07626688480377197, + 0.013665102422237396, + -0.10007266700267792, + 0.19273045659065247, + -0.2575666308403015, + 0.0, + 0.6009007096290588 + ], + [ + 0.2653878331184387, + -0.08713562041521072, + 0.05859224125742912, + -0.06437705457210541, + 0.10336374491453171, + -0.2528238594532013, + 0.0, + 0.6009007096290588 + ], + [ + 0.2691935896873474, + -0.08060159534215927, + 0.09713014960289001, + -0.06961553543806076, + 0.005030542146414518, + -0.2075234353542328, + 0.0, + 0.6009007096290588 + ], + [ + 0.27319127321243286, + -0.04486491158604622, + 0.11390946060419083, + -0.08447269350290298, + -0.025741975754499435, + -0.07534310221672058, + 0.0, + 0.6009007096290588 + ], + [ + 0.26754745841026306, + -0.017341509461402893, + 0.13055537641048431, + -0.10269037634134293, + -0.05236026272177696, + 0.012719452381134033, + 0.0, + 0.6009007096290588 + ], + [ + 0.2613302767276764, + 0.007083872798830271, + 0.13938380777835846, + -0.11460182815790176, + -0.05025327205657959, + 0.09260068833827972, + 0.0, + 0.6009007096290588 + ], + [ + 0.25865986943244934, + 0.02020764723420143, + 0.14930711686611176, + -0.11418772488832474, + -0.059456679970026016, + 0.11644182354211807, + 0.0, + 0.6009007096290588 + ], + [ + 0.2506651282310486, + 0.03079731948673725, + 0.155775249004364, + -0.09851297736167908, + -0.048238471150398254, + 0.1305830329656601, + 0.0, + 0.6009007096290588 + ], + [ + 0.24764205515384674, + 0.04296547919511795, + 0.15885673463344574, + -0.0827532634139061, + -0.03745909407734871, + 0.15492621064186096, + 0.0, + 0.6009007096290588 + ], + [ + 0.24203303456306458, + 0.05613331124186516, + 0.16290481388568878, + -0.04571856930851936, + -0.013469485566020012, + 0.1700100600719452, + 0.0, + 0.6009007096290588 + ], + [ + 0.24063046276569366, + 0.062012508511543274, + 0.15640509128570557, + -0.04453784227371216, + 0.019918687641620636, + 0.17648154497146606, + 0.0, + 0.6009007096290588 + ], + [ + 0.24216970801353455, + 0.06320183724164963, + 0.14680421352386475, + -0.04437390714883804, + 0.05659739673137665, + 0.166340172290802, + 0.0, + 0.6009007096290588 + ], + [ + 0.2413276582956314, + 0.061321921646595, + 0.14126771688461304, + -0.05475127696990967, + 0.07669281959533691, + 0.15846017003059387, + 0.0, + 0.6009007096290588 + ], + [ + 0.24129712581634521, + 0.059846386313438416, + 0.13721780478954315, + -0.0644751787185669, + 0.07814669609069824, + 0.15170927345752716, + 0.0, + 0.6009007096290588 + ], + [ + 0.24194453656673431, + 0.05970016494393349, + 0.13191251456737518, + -0.07116728276014328, + 0.09077933430671692, + 0.1468048095703125, + 0.0, + 0.6009007096290588 + ], + [ + 0.23937733471393585, + 0.057476986199617386, + 0.12931017577648163, + -0.08253713697195053, + 0.10267981886863708, + 0.14080749452114105, + 0.0, + 0.6731748580932617 + ], + [ + 0.23976561427116394, + 0.05762533098459244, + 0.12182343751192093, + -0.09058833867311478, + 0.13618600368499756, + 0.15179432928562164, + 0.0, + 0.9537920951843262 + ], + [ + 0.2382899820804596, + 0.06199117377400398, + 0.12200102210044861, + -0.09781518578529358, + 0.13945089280605316, + 0.19186140596866608, + 0.0, + 1.0027955770492554 + ], + [ + 0.2384105771780014, + 0.061432719230651855, + 0.13092847168445587, + -0.11207825690507889, + 0.1301393210887909, + 0.2017209827899933, + 0.0, + 1.0001531839370728 + ], + [ + 0.25153860449790955, + 0.05967332422733307, + 0.1666504591703415, + -0.09735772758722305, + 0.04288342222571373, + 0.19780495762825012, + 0.0, + 1.0001531839370728 + ], + [ + 0.25772666931152344, + 0.04166407883167267, + 0.19461123645305634, + -0.07930203527212143, + -0.008136733435094357, + 0.14714361727237701, + 0.0, + 1.0001531839370728 + ], + [ + 0.26011791825294495, + 0.016649462282657623, + 0.19683368504047394, + -0.06872302293777466, + -0.009558279067277908, + 0.08015154302120209, + 0.0, + 1.0001531839370728 + ], + [ + 0.2637295126914978, + -0.02232835255563259, + 0.1841973513364792, + -0.07160890102386475, + 0.01499332394450903, + -0.022125551477074623, + 0.0, + 1.0001531839370728 + ], + [ + 0.26495376229286194, + -0.049216609448194504, + 0.16171197593212128, + -0.10461325943470001, + 0.04204600676894188, + -0.0786159411072731, + 0.0, + 1.0001531839370728 + ], + [ + 0.26705679297447205, + -0.06538835912942886, + 0.1348264366388321, + -0.12335573136806488, + 0.09138210862874985, + -0.09692784398794174, + 0.0, + 1.0001531839370728 + ], + [ + 0.2730569541454315, + -0.076833575963974, + 0.11819646507501602, + -0.13077154755592346, + 0.10222337394952774, + -0.1027892604470253, + 0.0, + 1.0001531839370728 + ], + [ + 0.27771231532096863, + -0.08752107620239258, + 0.0996733158826828, + -0.09481760859489441, + 0.11797404289245605, + -0.07863456755876541, + 0.0, + 1.0001531839370728 + ], + [ + 0.2838766872882843, + -0.09577683359384537, + 0.09228828549385071, + -0.05293552950024605, + 0.062228862196207047, + -0.03187151253223419, + 0.0, + 1.0001531839370728 + ], + [ + 0.28965863585472107, + -0.10241159796714783, + 0.08294854313135147, + -0.03354307636618614, + 0.03541000559926033, + 0.01357328612357378, + 0.0, + 1.0001531839370728 + ], + [ + 0.2959687113761902, + -0.10615609586238861, + 0.08141431212425232, + -0.044982947409152985, + -0.0066206385381519794, + 0.10861149430274963, + 0.0, + 1.0001531839370728 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9643021821975708 + ], + [ + 0.6892001032829285 + ], + [ + 0.6029031276702881 + ], + [ + 0.6009007096290588 + ], + [ + 0.6009007096290588 + ], + [ + 0.6009007096290588 + ], + [ + 0.6009007096290588 + ], + [ + 0.6009007096290588 + ], + [ + 0.6009007096290588 + ], + [ + 0.6009007096290588 + ], + [ + 0.6009007096290588 + ], + [ + 0.6009007096290588 + ], + [ + 0.6009007096290588 + ], + [ + 0.6009007096290588 + ], + [ + 0.6009007096290588 + ], + [ + 0.6009007096290588 + ], + [ + 0.6009007096290588 + ], + [ + 0.6009007096290588 + ], + [ + 0.6731748580932617 + ], + [ + 0.9537920951843262 + ], + [ + 1.0027955770492554 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.27877724170684814, + -0.06389294564723969, + 0.08285000920295715 + ], + [ + 0.27602407336235046, + -0.06292345374822617, + 0.07528427243232727 + ], + [ + 0.2655904293060303, + -0.06583722680807114, + 0.05501003563404083 + ], + [ + 0.26000380516052246, + -0.08177654445171356, + 0.050245776772499084 + ], + [ + 0.25432467460632324, + -0.09058918803930283, + 0.045440975576639175 + ], + [ + 0.2487170398235321, + -0.09298332035541534, + 0.03342354670166969 + ], + [ + 0.25144556164741516, + -0.08887775242328644, + 0.02801857329905033 + ], + [ + 0.2565326988697052, + -0.0772276297211647, + 0.026805395260453224 + ], + [ + 0.25681009888648987, + -0.07180235534906387, + 0.02140657976269722 + ], + [ + 0.2573181986808777, + -0.07062774896621704, + 0.020171700045466423 + ], + [ + 0.25238245725631714, + -0.07063356041908264, + 0.006901865359395742 + ], + [ + 0.2509336471557617, + -0.07033966481685638, + -0.003864105325192213 + ], + [ + 0.25205710530281067, + -0.06467882543802261, + -0.010551312007009983 + ], + [ + 0.25357505679130554, + -0.06305445730686188, + -0.011407515965402126 + ], + [ + 0.2505674362182617, + -0.06598949432373047, + -0.009321914054453373 + ], + [ + 0.25579124689102173, + -0.07626688480377197, + 0.013665102422237396 + ], + [ + 0.2653878331184387, + -0.08713562041521072, + 0.05859224125742912 + ], + [ + 0.2691935896873474, + -0.08060159534215927, + 0.09713014960289001 + ], + [ + 0.27319127321243286, + -0.04486491158604622, + 0.11390946060419083 + ], + [ + 0.26754745841026306, + -0.017341509461402893, + 0.13055537641048431 + ], + [ + 0.2613302767276764, + 0.007083872798830271, + 0.13938380777835846 + ], + [ + 0.25865986943244934, + 0.02020764723420143, + 0.14930711686611176 + ], + [ + 0.2506651282310486, + 0.03079731948673725, + 0.155775249004364 + ], + [ + 0.24764205515384674, + 0.04296547919511795, + 0.15885673463344574 + ], + [ + 0.24203303456306458, + 0.05613331124186516, + 0.16290481388568878 + ], + [ + 0.24063046276569366, + 0.062012508511543274, + 0.15640509128570557 + ], + [ + 0.24216970801353455, + 0.06320183724164963, + 0.14680421352386475 + ], + [ + 0.2413276582956314, + 0.061321921646595, + 0.14126771688461304 + ], + [ + 0.24129712581634521, + 0.059846386313438416, + 0.13721780478954315 + ], + [ + 0.24194453656673431, + 0.05970016494393349, + 0.13191251456737518 + ], + [ + 0.23937733471393585, + 0.057476986199617386, + 0.12931017577648163 + ], + [ + 0.23976561427116394, + 0.05762533098459244, + 0.12182343751192093 + ], + [ + 0.2382899820804596, + 0.06199117377400398, + 0.12200102210044861 + ], + [ + 0.2384105771780014, + 0.061432719230651855, + 0.13092847168445587 + ], + [ + 0.25153860449790955, + 0.05967332422733307, + 0.1666504591703415 + ], + [ + 0.25772666931152344, + 0.04166407883167267, + 0.19461123645305634 + ], + [ + 0.26011791825294495, + 0.016649462282657623, + 0.19683368504047394 + ], + [ + 0.2637295126914978, + -0.02232835255563259, + 0.1841973513364792 + ], + [ + 0.26495376229286194, + -0.049216609448194504, + 0.16171197593212128 + ], + [ + 0.26705679297447205, + -0.06538835912942886, + 0.1348264366388321 + ], + [ + 0.2730569541454315, + -0.076833575963974, + 0.11819646507501602 + ], + [ + 0.27771231532096863, + -0.08752107620239258, + 0.0996733158826828 + ], + [ + 0.2838766872882843, + -0.09577683359384537, + 0.09228828549385071 + ], + [ + 0.28965863585472107, + -0.10241159796714783, + 0.08294854313135147 + ], + [ + 0.2959687113761902, + -0.10615609586238861, + 0.08141431212425232 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.979512044855445, + -0.16498664324916656, + -0.11547970182017794, + -0.17142280820046396, + -0.9840201476450074, + -0.048151530166391246, + -0.10568999390562905, + 0.06696085855236766, + -0.9921420607000583 + ], + [ + 0.9765511465912001, + -0.16157059316909794, + -0.14227719955916313, + -0.16920756577416762, + -0.9846313613827257, + -0.043242130687338586, + -0.1331039359906116, + 0.0663025309063385, + -0.9888818516987866 + ], + [ + 0.9641874424302825, + -0.19676490035940028, + -0.17783742532522928, + -0.20498266618545755, + -0.9783389372331269, + -0.028896893553765547, + -0.16829938331215744, + 0.06431561148050802, + -0.9836355116081548 + ], + [ + 0.9516779934370171, + -0.2573145064731724, + -0.16762530109193047, + -0.2644786205015857, + -0.9641512703095612, + -0.021526431614124215, + -0.15607708385689056, + 0.06481953963834564, + -0.9856157320050254 + ], + [ + 0.9418169987547493, + -0.29338584727623396, + -0.16402891658059288, + -0.3000969231505686, + -0.9537539454753096, + -0.01718278806952642, + -0.15140203952443487, + 0.06540761506343748, + -0.9863058685415772 + ], + [ + 0.9397014807563369, + -0.2916020264176162, + -0.17868795497595233, + -0.3028663712423792, + -0.9522441280792865, + -0.03876959774092489, + -0.15884926261969698, + 0.09055042091376295, + -0.9831416647856601 + ], + [ + 0.945459117652752, + -0.2771547144107918, + -0.17114999598934322, + -0.29031363579434427, + -0.9552413105537826, + -0.0568509585087275, + -0.14773303530066867, + 0.10343743467122836, + -0.9836033994397777 + ], + [ + 0.954662963247388, + -0.24889685780834572, + -0.16330640151827627, + -0.26159363324501417, + -0.9632388696656592, + -0.06115268604808956, + -0.14208236220372097, + 0.10110011937854137, + -0.9846783069674355 + ], + [ + 0.9555033819017181, + -0.23505378019582973, + -0.17822179325219994, + -0.2490956925250572, + -0.9665760866661346, + -0.06067952414648006, + -0.15800197194921806, + 0.10237377154736299, + -0.9821176038333326 + ], + [ + 0.9559525442708907, + -0.23197355960795701, + -0.17984159903877767, + -0.2471227030718955, + -0.9666872581264422, + -0.06667919167492484, + -0.15838277282725738, + 0.10818508501080551, + -0.9814330770117514 + ], + [ + 0.9444481404995743, + -0.23574373903027285, + -0.22900349214569427, + -0.256036045803101, + -0.9646169242652349, + -0.0629264067827688, + -0.20606613782086763, + 0.11806387647839085, + -0.971389555180869 + ], + [ + 0.9417462509368646, + -0.22456964042026595, + -0.2503646849055847, + -0.25240838036804497, + -0.9638933971416733, + -0.08485003516006828, + -0.2222701247724052, + 0.14310134712223, + -0.9644262522792827 + ], + [ + 0.9452499915305282, + -0.19950182839876907, + -0.2582662850181645, + -0.23199467980017197, + -0.9673717540537708, + -0.10183495472256007, + -0.2295232494889164, + 0.1561758941849807, + -0.9606915051251207 + ], + [ + 0.9472660289594654, + -0.19288509367720147, + -0.2558953126114319, + -0.22627275318678802, + -0.9680677889315257, + -0.10791384155194411, + -0.226909038040877, + 0.16012525306885356, + -0.9606623713797682 + ], + [ + 0.9468934672122925, + -0.1965039300497158, + -0.2545171256039557, + -0.22735642901718453, + -0.96888803980334, + -0.09780092285145096, + -0.22738033321999793, + 0.1504731597364059, + -0.9621101871738522 + ], + [ + 0.9491083556407052, + -0.23494913003785745, + -0.20974326102988533, + -0.25001189230099397, + -0.9670490865080793, + -0.048063686832842185, + -0.19153950757238797, + 0.09805595636341163, + -0.9765744449147662 + ], + [ + 0.9630423205779143, + -0.24319407531963777, + -0.11578484574991672, + -0.24880398025462674, + -0.9678646700220216, + -0.03653162920837997, + -0.10317978574004198, + 0.06398923544307744, + -0.9926022917372543 + ], + [ + 0.9785317976352966, + -0.2051956348959462, + -0.019242464402568524, + -0.20603449923694214, + -0.9762460627219294, + -0.06703290344385268, + -0.005030520928994396, + 0.06955843902489434, + -0.997565194571063 + ], + [ + 0.9968326844069728, + -0.07716895208804961, + 0.019223738752419, + -0.07524690251000893, + -0.9934440041220994, + -0.0860634320515967, + 0.025739132864923076, + 0.08434431520548907, + -0.996104178051613 + ], + [ + 0.9985487343129614, + 0.007287541148288874, + 0.05336025623996753, + 0.012701678061803097, + -0.9947197481448019, + -0.10183953075872092, + 0.05233634087703598, + 0.10236949933820204, + -0.9933687095076272 + ], + [ + 0.9944585978454019, + 0.08614235821397746, + 0.060262685740780836, + 0.0923516701009527, + -0.9897152651994273, + -0.10924679794296964, + 0.05023212319743335, + 0.1142067771743955, + -0.9921862455439079 + ], + [ + 0.991473245348643, + 0.10869763226864139, + 0.07187230688534181, + 0.11597357732800827, + -0.9875466569841415, + -0.10630959336386805, + 0.059421655308263065, + 0.11373840608447836, + -0.9917321421945485 + ], + [ + 0.9903327984944102, + 0.12487868716861664, + 0.06038428369428884, + 0.13006076451539042, + -0.9872964867755359, + -0.09126798307377972, + 0.04821976524104752, + 0.09823930319239017, + -0.9939939102169447 + ], + [ + 0.9873298119025764, + 0.15072061470892315, + 0.04963001944576854, + 0.15419894612072657, + -0.985119482269749, + -0.07590975344340732, + 0.037450334360059935, + 0.08260085928333898, + -0.9958787930777387 + ], + [ + 0.9854936605150302, + 0.16840877530039722, + 0.020993558214519432, + 0.1691769163181882, + -0.9846573676363801, + -0.042767269546498364, + 0.013469078281562047, + 0.045698498456890425, + -0.9988644708713141 + ], + [ + 0.9842722199265356, + 0.17626577200525473, + -0.011771775578947204, + 0.17553203534405326, + -0.9833355764158209, + -0.04732492707801435, + -0.019917370530860314, + 0.04451428730595257, + -0.9988101804531128 + ], + [ + 0.9846182388748085, + 0.16788581760644547, + -0.04838673290981796, + 0.16530903544789763, + -0.9848110971919101, + -0.05310391366888195, + -0.05656718549085206, + 0.04428831780821736, + -0.9974160107153694 + ], + [ + 0.9845688098644285, + 0.16170168893254921, + -0.0669090609596618, + 0.15733401678294945, + -0.9853301149404861, + -0.0661102999109138, + -0.07661765987737566, + 0.05456306798311003, + -0.9955664748308799 + ], + [ + 0.9854973570782246, + 0.15578611543419388, + -0.0672729175059211, + 0.15066676607031929, + -0.9857001038396419, + -0.07546410333682514, + -0.07806718128475065, + 0.06423388146798671, + -0.9948766374168261 + ], + [ + 0.9851701893177428, + 0.1522846518433479, + -0.07905114099488177, + 0.1456757464116644, + -0.9857964805810379, + -0.08356958646208339, + -0.0906547019577408, + 0.07081443134693306, + -0.9933614857271059 + ], + [ + 0.9848881774090297, + 0.14823167879275237, + -0.089569232452901, + 0.13960348629711813, + -0.9855464754856939, + -0.0959635934686529, + -0.10249948591875904, + 0.08200923155358066, + -0.9913467311321409 + ], + [ + 0.9793488207979788, + 0.16273277872910955, + -0.11997470537038477, + 0.14981200075530318, + -0.9825909957250366, + -0.10986946595744282, + -0.13576542870444228, + 0.08962688127555996, + -0.9866786561599046 + ], + [ + 0.9721215855950286, + 0.2031004737357491, + -0.11717431624943252, + 0.18883538080464926, + -0.9743701204279481, + -0.12224592988557657, + -0.13899935890704979, + 0.09671125056341938, + -0.9855587817263306 + ], + [ + 0.9714385074941495, + 0.21331856111664388, + -0.10393467968230735, + 0.1986614701568471, + -0.9706682377522184, + -0.13541341327255169, + -0.12977228684376077, + 0.11089798781820791, + -0.9853226831171671 + ], + [ + 0.9795988780642039, + 0.1996728573519263, + -0.02273297455834665, + 0.19633689721842412, + -0.9750382032671344, + -0.10369341811436508, + -0.04287027975177106, + 0.09711463435814327, + -0.9943494792614361 + ], + [ + 0.9891611508875447, + 0.14551483712437785, + 0.019637967091667534, + 0.146608364716745, + -0.9861796017274475, + -0.0771737036287275, + 0.008136643651378122, + 0.07921631974131702, + -0.9968242421393712 + ], + [ + 0.9967440509927943, + 0.07922251661131352, + 0.015002988777053528, + 0.08006209398942471, + -0.9944892157319617, + -0.06768501236504838, + 0.009558133526100378, + 0.06866580411382643, + -0.997593930128336 + ], + [ + 0.9996428697057849, + -0.02099461172261747, + -0.016533581735359834, + -0.022121259637534495, + -0.9972167774157039, + -0.07119935893452402, + -0.01499276220154507, + 0.07153967514082608, + -0.9973250683514945 + ], + [ + 0.9960302847882117, + -0.07372993564949856, + -0.04987552880757468, + -0.0784655761348397, + -0.9918059755535079, + -0.10081696394051196, + -0.04203361924153192, + 0.10433026140806712, + -0.993654050164333 + ], + [ + 0.9911533177331096, + -0.08486517776577279, + -0.10204411962202295, + -0.09637234964807473, + -0.9888297959692456, + -0.11370138445388309, + -0.09125497778181296, + 0.12252973600805755, + -0.9882605895328604 + ], + [ + 0.9895291261896895, + -0.0884958348785414, + -0.11402015449655936, + -0.1020727081002768, + -0.9875938526509607, + -0.119329562418991, + -0.10204543440715522, + 0.12971842357653796, + -0.9862858915656618 + ], + [ + 0.9899805040733972, + -0.06709176770217423, + -0.12424691650572259, + -0.0780075389621887, + -0.9933073042030992, + -0.08517877248372645, + -0.11770057527321232, + 0.09401752030004469, + -0.9885885293978409 + ], + [ + 0.9975575384291723, + -0.028532696443025255, + -0.06375611936764045, + -0.03180443722853977, + -0.9981969537381227, + -0.050905002902547125, + -0.06218870713969311, + 0.05280839688555819, + -0.9966663623914831 + ], + [ + 0.9992810733673159, + 0.014752414671261984, + -0.034924241884854254, + 0.013564360942844132, + -0.9993293050146952, + -0.03401394200997721, + -0.03540260614809196, + 0.03351576345860232, + -0.9988109676398781 + ], + [ + 0.9940857803494719, + 0.10799247137285822, + 0.011449342066849553, + 0.1083957060623918, + -0.9931342374716824, + -0.04398587578729511, + 0.0066205901713435236, + 0.04496679317365421, + -0.9989665436326989 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0027531683444976807, + 0.0009694918990135193, + -0.007565736770629883, + 0.0004412233829498291, + 0.02761237323284149, + 0.0016866624355316162, + 1.0 + ], + [ + -0.01043364405632019, + -0.0029137730598449707, + -0.020274236798286438, + 0.0016551092267036438, + 0.03560405969619751, + -0.03791038691997528, + 1.0 + ], + [ + -0.0055866241455078125, + -0.015939317643642426, + -0.004764258861541748, + -0.0003782883286476135, + -0.01238638162612915, + -0.06158992648124695, + 1.0 + ], + [ + -0.005679130554199219, + -0.008812643587589264, + -0.004804801195859909, + -0.0005478337407112122, + -0.004731297492980957, + -0.0373978316783905, + 1.0 + ], + [ + -0.005607634782791138, + -0.0023941323161125183, + -0.012017428874969482, + -0.025625213980674744, + 0.007538497447967529, + -0.003323197364807129, + 1.0 + ], + [ + 0.0027285218238830566, + 0.004105567932128906, + -0.005404973402619362, + -0.012932613492012024, + -0.011249244213104248, + 0.013866335153579712, + 1.0 + ], + [ + 0.005087137222290039, + 0.011650122702121735, + -0.001213178038597107, + 0.0024618953466415405, + -0.005710959434509277, + 0.030470281839370728, + 1.0 + ], + [ + 0.00027740001678466797, + 0.00542527437210083, + -0.005398815497756004, + -0.001547977328300476, + 0.016102075576782227, + 0.012432187795639038, + 1.0 + ], + [ + 0.0005080997943878174, + 0.0011746063828468323, + -0.0012348797172307968, + -0.005925796926021576, + 0.0003856569528579712, + 0.0020483434200286865, + 1.0 + ], + [ + -0.004935741424560547, + -5.811452865600586e-06, + -0.013269834220409393, + -0.011159494519233704, + 0.04850056767463684, + -0.011761695146560669, + 1.0 + ], + [ + -0.00144881010055542, + 0.0002938956022262573, + -0.010765970684587955, + -0.026357002556324005, + 0.016589120030403137, + 0.002866029739379883, + 1.0 + ], + [ + 0.0011234581470489502, + 0.005660839378833771, + -0.00668720668181777, + -0.013851329684257507, + 0.007445603609085083, + 0.02119213342666626, + 0.0 + ], + [ + 0.001517951488494873, + 0.001624368131160736, + -0.0008562039583921432, + -0.004007399082183838, + -0.002685070037841797, + 0.006199285387992859, + 0.0 + ], + [ + -0.0030076205730438232, + -0.0029350370168685913, + 0.0020856019109487534, + 0.010021448135375977, + 0.00048394501209259033, + -0.0011712610721588135, + 0.0 + ], + [ + 0.00522381067276001, + -0.010277390480041504, + 0.022987015545368195, + 0.055069610476493835, + -0.03665624558925629, + -0.021919801831245422, + 0.0 + ], + [ + 0.009596586227416992, + -0.010868735611438751, + 0.04492713883519173, + 0.03569561243057251, + -0.08936671167612076, + 0.00474277138710022, + 0.0 + ], + [ + 0.0038057565689086914, + 0.006534025073051453, + 0.03853790834546089, + -0.005238480865955353, + -0.0983332023024559, + 0.045300424098968506, + 0.0 + ], + [ + 0.003997683525085449, + 0.03573668375611305, + 0.016779311001300812, + -0.014857158064842224, + -0.03077251836657524, + 0.1321803331375122, + 0.0 + ], + [ + -0.0056438148021698, + 0.027523402124643326, + 0.016645915806293488, + -0.01821768283843994, + -0.026618286967277527, + 0.08806255459785461, + 0.0 + ], + [ + -0.00621718168258667, + 0.024425381794571877, + 0.008828431367874146, + -0.011911451816558838, + 0.0021069906651973724, + 0.07988123595714569, + 0.0 + ], + [ + -0.0026704072952270508, + 0.013123774901032448, + 0.009923309087753296, + 0.00041410326957702637, + -0.009203407913446426, + 0.02384113520383835, + 0.0 + ], + [ + -0.007994741201400757, + 0.01058967225253582, + 0.006468132138252258, + 0.01567474752664566, + 0.011218208819627762, + 0.014141209423542023, + 0.0 + ], + [ + -0.0030230730772018433, + 0.0121681597083807, + 0.003081485629081726, + 0.01575971394777298, + 0.010779377073049545, + 0.024343177676200867, + 0.0 + ], + [ + -0.0056090205907821655, + 0.013167832046747208, + 0.004048079252243042, + 0.037034694105386734, + 0.023989608511328697, + 0.015083849430084229, + 0.0 + ], + [ + -0.0014025717973709106, + 0.005879197269678116, + -0.006499722599983215, + 0.0011807270348072052, + 0.0333881750702858, + 0.006471484899520874, + 0.0 + ], + [ + 0.0015392452478408813, + 0.0011893287301063538, + -0.00960087776184082, + 0.000163935124874115, + 0.03667870908975601, + -0.010141372680664062, + 0.0 + ], + [ + -0.0008420497179031372, + -0.0018799155950546265, + -0.005536496639251709, + -0.010377369821071625, + 0.020095422863960266, + -0.00788000226020813, + 0.0 + ], + [ + -3.053247928619385e-05, + -0.0014755353331565857, + -0.004049912095069885, + -0.009723901748657227, + 0.0014538764953613281, + -0.006750896573066711, + 0.0 + ], + [ + 0.0006474107503890991, + -0.0001462213695049286, + -0.005305290222167969, + -0.0066921040415763855, + 0.012632638216018677, + -0.004904463887214661, + 0.0 + ], + [ + -0.002567201852798462, + -0.002223178744316101, + -0.0026023387908935547, + -0.011369854211807251, + 0.011900484561920166, + -0.005997315049171448, + 1.0 + ], + [ + 0.0003882795572280884, + 0.00014834478497505188, + -0.0074867382645606995, + -0.008051201701164246, + 0.033506184816360474, + 0.01098683476448059, + 1.0 + ], + [ + -0.0014756321907043457, + 0.004365842789411545, + 0.00017758458852767944, + -0.0072268471121788025, + 0.003264889121055603, + 0.040067076683044434, + 1.0 + ], + [ + 0.00012059509754180908, + -0.0005584545433521271, + 0.008927449584007263, + -0.014263071119785309, + -0.009311571717262268, + 0.00985957682132721, + 1.0 + ], + [ + 0.013128027319908142, + -0.0017593950033187866, + 0.03572198748588562, + 0.014720529317855835, + -0.08725589513778687, + -0.003916025161743164, + 1.0 + ], + [ + 0.006188064813613892, + -0.0180092453956604, + 0.027960777282714844, + 0.018055692315101624, + -0.05102015659213066, + -0.05066134035587311, + 1.0 + ], + [ + 0.002391248941421509, + -0.025014616549015045, + 0.0022224485874176025, + 0.010579012334346771, + -0.0014215456321835518, + -0.06699207425117493, + 1.0 + ], + [ + 0.0036115944385528564, + -0.038977816700935364, + -0.012636333703994751, + -0.002885878086090088, + 0.024551603943109512, + -0.10227709263563156, + 1.0 + ], + [ + 0.0012242496013641357, + -0.026888256892561913, + -0.02248537540435791, + -0.033004358410835266, + 0.027052681893110275, + -0.05649039149284363, + 1.0 + ], + [ + 0.0021030306816101074, + -0.01617174968123436, + -0.026885539293289185, + -0.018742471933364868, + 0.04933610185980797, + -0.01831190288066864, + 1.0 + ], + [ + 0.006000161170959473, + -0.011445216834545135, + -0.01662997156381607, + -0.0074158161878585815, + 0.010841265320777893, + -0.005861416459083557, + 1.0 + ], + [ + 0.004655361175537109, + -0.010687500238418579, + -0.01852314919233322, + 0.03595393896102905, + 0.015750668942928314, + 0.024154692888259888, + 1.0 + ], + [ + 0.006164371967315674, + -0.00825575739145279, + -0.007385030388832092, + 0.04188207909464836, + -0.05574518069624901, + 0.04676305502653122, + 1.0 + ], + [ + 0.005781948566436768, + -0.00663476437330246, + -0.009339742362499237, + 0.019392453134059906, + -0.026818856596946716, + 0.0454447977244854, + 1.0 + ], + [ + 0.006310075521469116, + -0.0037444978952407837, + -0.0015342310070991516, + -0.011439871042966843, + -0.04203064367175102, + 0.09503820538520813, + 1.0 + ], + [ + 0.001815706491470337, + 0.0006643608212471008, + -0.0050135329365730286, + -0.006306800991296768, + -0.02310417778789997, + 0.07342442870140076, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9643021821975708 + ], + [ + 0.6892001032829285 + ], + [ + 0.6029031276702881 + ], + [ + 0.6009007096290588 + ], + [ + 0.6009007096290588 + ], + [ + 0.6009007096290588 + ], + [ + 0.6009007096290588 + ], + [ + 0.6009007096290588 + ], + [ + 0.6009007096290588 + ], + [ + 0.6009007096290588 + ], + [ + 0.6009007096290588 + ], + [ + 0.6009007096290588 + ], + [ + 0.6009007096290588 + ], + [ + 0.6009007096290588 + ], + [ + 0.6009007096290588 + ], + [ + 0.6009007096290588 + ], + [ + 0.6009007096290588 + ], + [ + 0.6009007096290588 + ], + [ + 0.6731748580932617 + ], + [ + 0.9537920951843262 + ], + [ + 1.0027955770492554 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.27602407336235046, + -0.06292345374822617, + 0.07528427243232727 + ], + [ + 0.2655904293060303, + -0.06583722680807114, + 0.05501003563404083 + ], + [ + 0.26000380516052246, + -0.08177654445171356, + 0.050245776772499084 + ], + [ + 0.25432467460632324, + -0.09058918803930283, + 0.045440975576639175 + ], + [ + 0.2487170398235321, + -0.09298332035541534, + 0.03342354670166969 + ], + [ + 0.25144556164741516, + -0.08887775242328644, + 0.02801857329905033 + ], + [ + 0.2565326988697052, + -0.0772276297211647, + 0.026805395260453224 + ], + [ + 0.25681009888648987, + -0.07180235534906387, + 0.02140657976269722 + ], + [ + 0.2573181986808777, + -0.07062774896621704, + 0.020171700045466423 + ], + [ + 0.25238245725631714, + -0.07063356041908264, + 0.006901865359395742 + ], + [ + 0.2509336471557617, + -0.07033966481685638, + -0.003864105325192213 + ], + [ + 0.25205710530281067, + -0.06467882543802261, + -0.010551312007009983 + ], + [ + 0.25357505679130554, + -0.06305445730686188, + -0.011407515965402126 + ], + [ + 0.2505674362182617, + -0.06598949432373047, + -0.009321914054453373 + ], + [ + 0.25579124689102173, + -0.07626688480377197, + 0.013665102422237396 + ], + [ + 0.2653878331184387, + -0.08713562041521072, + 0.05859224125742912 + ], + [ + 0.2691935896873474, + -0.08060159534215927, + 0.09713014960289001 + ], + [ + 0.27319127321243286, + -0.04486491158604622, + 0.11390946060419083 + ], + [ + 0.26754745841026306, + -0.017341509461402893, + 0.13055537641048431 + ], + [ + 0.2613302767276764, + 0.007083872798830271, + 0.13938380777835846 + ], + [ + 0.25865986943244934, + 0.02020764723420143, + 0.14930711686611176 + ], + [ + 0.2506651282310486, + 0.03079731948673725, + 0.155775249004364 + ], + [ + 0.24764205515384674, + 0.04296547919511795, + 0.15885673463344574 + ], + [ + 0.24203303456306458, + 0.05613331124186516, + 0.16290481388568878 + ], + [ + 0.24063046276569366, + 0.062012508511543274, + 0.15640509128570557 + ], + [ + 0.24216970801353455, + 0.06320183724164963, + 0.14680421352386475 + ], + [ + 0.2413276582956314, + 0.061321921646595, + 0.14126771688461304 + ], + [ + 0.24129712581634521, + 0.059846386313438416, + 0.13721780478954315 + ], + [ + 0.24194453656673431, + 0.05970016494393349, + 0.13191251456737518 + ], + [ + 0.23937733471393585, + 0.057476986199617386, + 0.12931017577648163 + ], + [ + 0.23976561427116394, + 0.05762533098459244, + 0.12182343751192093 + ], + [ + 0.2382899820804596, + 0.06199117377400398, + 0.12200102210044861 + ], + [ + 0.2384105771780014, + 0.061432719230651855, + 0.13092847168445587 + ], + [ + 0.25153860449790955, + 0.05967332422733307, + 0.1666504591703415 + ], + [ + 0.25772666931152344, + 0.04166407883167267, + 0.19461123645305634 + ], + [ + 0.26011791825294495, + 0.016649462282657623, + 0.19683368504047394 + ], + [ + 0.2637295126914978, + -0.02232835255563259, + 0.1841973513364792 + ], + [ + 0.26495376229286194, + -0.049216609448194504, + 0.16171197593212128 + ], + [ + 0.26705679297447205, + -0.06538835912942886, + 0.1348264366388321 + ], + [ + 0.2730569541454315, + -0.076833575963974, + 0.11819646507501602 + ], + [ + 0.27771231532096863, + -0.08752107620239258, + 0.0996733158826828 + ], + [ + 0.2838766872882843, + -0.09577683359384537, + 0.09228828549385071 + ], + [ + 0.28965863585472107, + -0.10241159796714783, + 0.08294854313135147 + ], + [ + 0.2959687113761902, + -0.10615609586238861, + 0.08141431212425232 + ], + [ + 0.2977844178676605, + -0.10549173504114151, + 0.07640077918767929 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9765511465912001, + -0.16157059316909794, + -0.14227719955916313, + -0.16920756577416762, + -0.9846313613827257, + -0.043242130687338586, + -0.1331039359906116, + 0.0663025309063385, + -0.9888818516987866 + ], + [ + 0.9641874424302825, + -0.19676490035940028, + -0.17783742532522928, + -0.20498266618545755, + -0.9783389372331269, + -0.028896893553765547, + -0.16829938331215744, + 0.06431561148050802, + -0.9836355116081548 + ], + [ + 0.9516779934370171, + -0.2573145064731724, + -0.16762530109193047, + -0.2644786205015857, + -0.9641512703095612, + -0.021526431614124215, + -0.15607708385689056, + 0.06481953963834564, + -0.9856157320050254 + ], + [ + 0.9418169987547493, + -0.29338584727623396, + -0.16402891658059288, + -0.3000969231505686, + -0.9537539454753096, + -0.01718278806952642, + -0.15140203952443487, + 0.06540761506343748, + -0.9863058685415772 + ], + [ + 0.9397014807563369, + -0.2916020264176162, + -0.17868795497595233, + -0.3028663712423792, + -0.9522441280792865, + -0.03876959774092489, + -0.15884926261969698, + 0.09055042091376295, + -0.9831416647856601 + ], + [ + 0.945459117652752, + -0.2771547144107918, + -0.17114999598934322, + -0.29031363579434427, + -0.9552413105537826, + -0.0568509585087275, + -0.14773303530066867, + 0.10343743467122836, + -0.9836033994397777 + ], + [ + 0.954662963247388, + -0.24889685780834572, + -0.16330640151827627, + -0.26159363324501417, + -0.9632388696656592, + -0.06115268604808956, + -0.14208236220372097, + 0.10110011937854137, + -0.9846783069674355 + ], + [ + 0.9555033819017181, + -0.23505378019582973, + -0.17822179325219994, + -0.2490956925250572, + -0.9665760866661346, + -0.06067952414648006, + -0.15800197194921806, + 0.10237377154736299, + -0.9821176038333326 + ], + [ + 0.9559525442708907, + -0.23197355960795701, + -0.17984159903877767, + -0.2471227030718955, + -0.9666872581264422, + -0.06667919167492484, + -0.15838277282725738, + 0.10818508501080551, + -0.9814330770117514 + ], + [ + 0.9444481404995743, + -0.23574373903027285, + -0.22900349214569427, + -0.256036045803101, + -0.9646169242652349, + -0.0629264067827688, + -0.20606613782086763, + 0.11806387647839085, + -0.971389555180869 + ], + [ + 0.9417462509368646, + -0.22456964042026595, + -0.2503646849055847, + -0.25240838036804497, + -0.9638933971416733, + -0.08485003516006828, + -0.2222701247724052, + 0.14310134712223, + -0.9644262522792827 + ], + [ + 0.9452499915305282, + -0.19950182839876907, + -0.2582662850181645, + -0.23199467980017197, + -0.9673717540537708, + -0.10183495472256007, + -0.2295232494889164, + 0.1561758941849807, + -0.9606915051251207 + ], + [ + 0.9472660289594654, + -0.19288509367720147, + -0.2558953126114319, + -0.22627275318678802, + -0.9680677889315257, + -0.10791384155194411, + -0.226909038040877, + 0.16012525306885356, + -0.9606623713797682 + ], + [ + 0.9468934672122925, + -0.1965039300497158, + -0.2545171256039557, + -0.22735642901718453, + -0.96888803980334, + -0.09780092285145096, + -0.22738033321999793, + 0.1504731597364059, + -0.9621101871738522 + ], + [ + 0.9491083556407052, + -0.23494913003785745, + -0.20974326102988533, + -0.25001189230099397, + -0.9670490865080793, + -0.048063686832842185, + -0.19153950757238797, + 0.09805595636341163, + -0.9765744449147662 + ], + [ + 0.9630423205779143, + -0.24319407531963777, + -0.11578484574991672, + -0.24880398025462674, + -0.9678646700220216, + -0.03653162920837997, + -0.10317978574004198, + 0.06398923544307744, + -0.9926022917372543 + ], + [ + 0.9785317976352966, + -0.2051956348959462, + -0.019242464402568524, + -0.20603449923694214, + -0.9762460627219294, + -0.06703290344385268, + -0.005030520928994396, + 0.06955843902489434, + -0.997565194571063 + ], + [ + 0.9968326844069728, + -0.07716895208804961, + 0.019223738752419, + -0.07524690251000893, + -0.9934440041220994, + -0.0860634320515967, + 0.025739132864923076, + 0.08434431520548907, + -0.996104178051613 + ], + [ + 0.9985487343129614, + 0.007287541148288874, + 0.05336025623996753, + 0.012701678061803097, + -0.9947197481448019, + -0.10183953075872092, + 0.05233634087703598, + 0.10236949933820204, + -0.9933687095076272 + ], + [ + 0.9944585978454019, + 0.08614235821397746, + 0.060262685740780836, + 0.0923516701009527, + -0.9897152651994273, + -0.10924679794296964, + 0.05023212319743335, + 0.1142067771743955, + -0.9921862455439079 + ], + [ + 0.991473245348643, + 0.10869763226864139, + 0.07187230688534181, + 0.11597357732800827, + -0.9875466569841415, + -0.10630959336386805, + 0.059421655308263065, + 0.11373840608447836, + -0.9917321421945485 + ], + [ + 0.9903327984944102, + 0.12487868716861664, + 0.06038428369428884, + 0.13006076451539042, + -0.9872964867755359, + -0.09126798307377972, + 0.04821976524104752, + 0.09823930319239017, + -0.9939939102169447 + ], + [ + 0.9873298119025764, + 0.15072061470892315, + 0.04963001944576854, + 0.15419894612072657, + -0.985119482269749, + -0.07590975344340732, + 0.037450334360059935, + 0.08260085928333898, + -0.9958787930777387 + ], + [ + 0.9854936605150302, + 0.16840877530039722, + 0.020993558214519432, + 0.1691769163181882, + -0.9846573676363801, + -0.042767269546498364, + 0.013469078281562047, + 0.045698498456890425, + -0.9988644708713141 + ], + [ + 0.9842722199265356, + 0.17626577200525473, + -0.011771775578947204, + 0.17553203534405326, + -0.9833355764158209, + -0.04732492707801435, + -0.019917370530860314, + 0.04451428730595257, + -0.9988101804531128 + ], + [ + 0.9846182388748085, + 0.16788581760644547, + -0.04838673290981796, + 0.16530903544789763, + -0.9848110971919101, + -0.05310391366888195, + -0.05656718549085206, + 0.04428831780821736, + -0.9974160107153694 + ], + [ + 0.9845688098644285, + 0.16170168893254921, + -0.0669090609596618, + 0.15733401678294945, + -0.9853301149404861, + -0.0661102999109138, + -0.07661765987737566, + 0.05456306798311003, + -0.9955664748308799 + ], + [ + 0.9854973570782246, + 0.15578611543419388, + -0.0672729175059211, + 0.15066676607031929, + -0.9857001038396419, + -0.07546410333682514, + -0.07806718128475065, + 0.06423388146798671, + -0.9948766374168261 + ], + [ + 0.9851701893177428, + 0.1522846518433479, + -0.07905114099488177, + 0.1456757464116644, + -0.9857964805810379, + -0.08356958646208339, + -0.0906547019577408, + 0.07081443134693306, + -0.9933614857271059 + ], + [ + 0.9848881774090297, + 0.14823167879275237, + -0.089569232452901, + 0.13960348629711813, + -0.9855464754856939, + -0.0959635934686529, + -0.10249948591875904, + 0.08200923155358066, + -0.9913467311321409 + ], + [ + 0.9793488207979788, + 0.16273277872910955, + -0.11997470537038477, + 0.14981200075530318, + -0.9825909957250366, + -0.10986946595744282, + -0.13576542870444228, + 0.08962688127555996, + -0.9866786561599046 + ], + [ + 0.9721215855950286, + 0.2031004737357491, + -0.11717431624943252, + 0.18883538080464926, + -0.9743701204279481, + -0.12224592988557657, + -0.13899935890704979, + 0.09671125056341938, + -0.9855587817263306 + ], + [ + 0.9714385074941495, + 0.21331856111664388, + -0.10393467968230735, + 0.1986614701568471, + -0.9706682377522184, + -0.13541341327255169, + -0.12977228684376077, + 0.11089798781820791, + -0.9853226831171671 + ], + [ + 0.9795988780642039, + 0.1996728573519263, + -0.02273297455834665, + 0.19633689721842412, + -0.9750382032671344, + -0.10369341811436508, + -0.04287027975177106, + 0.09711463435814327, + -0.9943494792614361 + ], + [ + 0.9891611508875447, + 0.14551483712437785, + 0.019637967091667534, + 0.146608364716745, + -0.9861796017274475, + -0.0771737036287275, + 0.008136643651378122, + 0.07921631974131702, + -0.9968242421393712 + ], + [ + 0.9967440509927943, + 0.07922251661131352, + 0.015002988777053528, + 0.08006209398942471, + -0.9944892157319617, + -0.06768501236504838, + 0.009558133526100378, + 0.06866580411382643, + -0.997593930128336 + ], + [ + 0.9996428697057849, + -0.02099461172261747, + -0.016533581735359834, + -0.022121259637534495, + -0.9972167774157039, + -0.07119935893452402, + -0.01499276220154507, + 0.07153967514082608, + -0.9973250683514945 + ], + [ + 0.9960302847882117, + -0.07372993564949856, + -0.04987552880757468, + -0.0784655761348397, + -0.9918059755535079, + -0.10081696394051196, + -0.04203361924153192, + 0.10433026140806712, + -0.993654050164333 + ], + [ + 0.9911533177331096, + -0.08486517776577279, + -0.10204411962202295, + -0.09637234964807473, + -0.9888297959692456, + -0.11370138445388309, + -0.09125497778181296, + 0.12252973600805755, + -0.9882605895328604 + ], + [ + 0.9895291261896895, + -0.0884958348785414, + -0.11402015449655936, + -0.1020727081002768, + -0.9875938526509607, + -0.119329562418991, + -0.10204543440715522, + 0.12971842357653796, + -0.9862858915656618 + ], + [ + 0.9899805040733972, + -0.06709176770217423, + -0.12424691650572259, + -0.0780075389621887, + -0.9933073042030992, + -0.08517877248372645, + -0.11770057527321232, + 0.09401752030004469, + -0.9885885293978409 + ], + [ + 0.9975575384291723, + -0.028532696443025255, + -0.06375611936764045, + -0.03180443722853977, + -0.9981969537381227, + -0.050905002902547125, + -0.06218870713969311, + 0.05280839688555819, + -0.9966663623914831 + ], + [ + 0.9992810733673159, + 0.014752414671261984, + -0.034924241884854254, + 0.013564360942844132, + -0.9993293050146952, + -0.03401394200997721, + -0.03540260614809196, + 0.03351576345860232, + -0.9988109676398781 + ], + [ + 0.9940857803494719, + 0.10799247137285822, + 0.011449342066849553, + 0.1083957060623918, + -0.9931342374716824, + -0.04398587578729511, + 0.0066205901713435236, + 0.04496679317365421, + -0.9989665436326989 + ], + [ + 0.983042712754772, + 0.17929565807800563, + 0.03847196244168205, + 0.18095226005771964, + -0.982459697018046, + -0.04504690128313893, + 0.02972043875420924, + 0.051244616591251374, + -0.9982438002766024 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006743.json b/json/chunk-0006/episode_0006743.json new file mode 100644 index 0000000000000000000000000000000000000000..adff425aa003c5117e6b6454ea5fc8b0c04f1227 --- /dev/null +++ b/json/chunk-0006/episode_0006743.json @@ -0,0 +1,802 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 12, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPick up pot from sink." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006743.mp4", + "start": 0, + "end": 12, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.380697637796402, + -0.09834004193544388, + 0.0032105990685522556, + 0.07324149459600449, + -0.15388841927051544, + 0.19305144250392914, + 0.0, + 1.0014774799346924 + ], + [ + 0.3734724819660187, + -0.09569792449474335, + -0.014264157973229885, + 0.0943564772605896, + -0.11934906989336014, + 0.1947704255580902, + 0.0, + 1.0014774799346924 + ], + [ + 0.37563827633857727, + -0.0962945818901062, + -0.017023073509335518, + 0.07898510247468948, + -0.1426459103822708, + 0.18539908528327942, + 0.0, + 1.0014774799346924 + ], + [ + 0.37606608867645264, + -0.09437490999698639, + -0.02154240570962429, + 0.06580352783203125, + -0.1595674455165863, + 0.16828510165214539, + 0.0, + 1.0014774799346924 + ], + [ + 0.37881946563720703, + -0.09230120480060577, + -0.0246531143784523, + 0.05353832617402077, + -0.1770060956478119, + 0.16373077034950256, + 0.0, + 1.0014774799346924 + ], + [ + 0.37783804535865784, + -0.09022076427936554, + -0.032987650483846664, + 0.060950733721256256, + -0.16945280134677887, + 0.16626739501953125, + 0.0, + 0.8298270106315613 + ], + [ + 0.377814382314682, + -0.09000915288925171, + -0.03346388787031174, + 0.06500281393527985, + -0.17126666009426117, + 0.16949643194675446, + 0.0, + 0.5033408999443054 + ], + [ + 0.3736831247806549, + -0.08853127807378769, + -0.03333251178264618, + 0.09283129125833511, + -0.15167395770549774, + 0.16498561203479767, + 0.0, + 0.20503154397010803 + ], + [ + 0.3695746064186096, + -0.0871601402759552, + -0.03259401023387909, + 0.12863761186599731, + -0.13077636063098907, + 0.15941569209098816, + 0.0, + 0.07270156592130661 + ], + [ + 0.3693985044956207, + -0.08531487733125687, + -0.0206767451018095, + 0.17283181846141815, + -0.10986318439245224, + 0.1285531371831894, + 0.0, + 0.05350611358880997 + ], + [ + 0.37428018450737, + -0.08796807378530502, + 0.004723832942545414, + 0.17904844880104065, + -0.13594186305999756, + 0.10650589317083359, + 0.0, + 0.05350611358880997 + ], + [ + 0.3734540045261383, + -0.09055551141500473, + 0.01234674546867609, + 0.1722286343574524, + -0.13661104440689087, + 0.09722603857517242, + 0.0, + 0.05350611358880997 + ] + ], + "left_gripper_pos": [ + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 0.8298270106315613 + ], + [ + 0.5033408999443054 + ], + [ + 0.20503154397010803 + ], + [ + 0.07270156592130661 + ], + [ + 0.05350611358880997 + ], + [ + 0.05350611358880997 + ], + [ + 0.05350611358880997 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.380697637796402, + -0.09834004193544388, + 0.0032105990685522556 + ], + [ + 0.3734724819660187, + -0.09569792449474335, + -0.014264157973229885 + ], + [ + 0.37563827633857727, + -0.0962945818901062, + -0.017023073509335518 + ], + [ + 0.37606608867645264, + -0.09437490999698639, + -0.02154240570962429 + ], + [ + 0.37881946563720703, + -0.09230120480060577, + -0.0246531143784523 + ], + [ + 0.37783804535865784, + -0.09022076427936554, + -0.032987650483846664 + ], + [ + 0.377814382314682, + -0.09000915288925171, + -0.03346388787031174 + ], + [ + 0.3736831247806549, + -0.08853127807378769, + -0.03333251178264618 + ], + [ + 0.3695746064186096, + -0.0871601402759552, + -0.03259401023387909 + ], + [ + 0.3693985044956207, + -0.08531487733125687, + -0.0206767451018095 + ], + [ + 0.37428018450737, + -0.08796807378530502, + 0.004723832942545414 + ], + [ + 0.3734540045261383, + -0.09055551141500473, + 0.01234674546867609 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9698254271822454, + 0.20234837056803553, + 0.13599182960470702, + 0.18958730453778425, + -0.976640269749781, + 0.10114562502239985, + 0.15328174956227547, + -0.07231127458104611, + -0.9855332489670716 + ], + [ + 0.9741129813280514, + 0.20368625297156814, + 0.09806023637834954, + 0.19216452123348302, + -0.9745568219700741, + 0.11537676339148847, + 0.11906593294171805, + -0.09354630458757629, + -0.9884697226069834 + ], + [ + 0.9728801314802749, + 0.19478891089396505, + 0.12474586150917072, + 0.18246652262255048, + -0.977730749739073, + 0.10367520984644184, + 0.1421626459128998, + -0.0781016082255188, + -0.986757275574713 + ], + [ + 0.9733490151135252, + 0.17742988553344277, + 0.14529394514954608, + 0.16536412359626054, + -0.981989785906605, + 0.09138253116619247, + 0.15889116213550258, + -0.06492069080569665, + -0.9851593284847584 + ], + [ + 0.9712102792353033, + 0.172063335582102, + 0.16475679669150278, + 0.16045337501195553, + -0.9836764615707996, + 0.0814575558117483, + 0.1760832415505717, + -0.052676631440443156, + -0.9829648338293343 + ], + [ + 0.9720841064822424, + 0.17532594306798394, + 0.1559272381976366, + 0.16313192224232897, + -0.9826779458121228, + 0.08793196665598653, + 0.16864301310799445, + -0.06004055714089303, + -0.983846871026212 + ], + [ + 0.9712491714331722, + 0.1792417889041224, + 0.15667618868490238, + 0.1662180881668029, + -0.9817206949525763, + 0.0927147467666509, + 0.17043061390651046, + -0.06400670443228029, + -0.9832886390227283 + ], + [ + 0.9750961545096266, + 0.17734681065456687, + 0.1331750660266076, + 0.16235260897704273, + -0.9798731321791441, + 0.11614764393555621, + 0.15109308329266946, + -0.09163380153680456, + -0.984263240498713 + ], + [ + 0.9788894311574494, + 0.17394625475033182, + 0.10732279360218586, + 0.15738583487236174, + -0.9765070330877946, + 0.14718598204857072, + 0.13040391309226274, + -0.1271877147699618, + -0.9832690906673616 + ], + [ + 0.9857692745281608, + 0.14498929660743315, + 0.08507080148620585, + 0.12742645334574, + -0.9745558146165204, + 0.18440027978518989, + 0.1096423111027382, + -0.17093585950996978, + -0.9791626502015067 + ], + [ + 0.9851600102893477, + 0.12860429482451943, + 0.11366921078014378, + 0.10532389569485584, + -0.9758720434527999, + 0.19126063840455076, + 0.13552354453139054, + -0.17645024839864998, + -0.9749352177030551 + ], + [ + 0.9860044858243134, + 0.11886597262872876, + 0.1169018155776777, + 0.09616852520975204, + -0.9782867890553052, + 0.18359349966390937, + 0.13618652170208456, + -0.16978173903835153, + -0.9760263277165224 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.007225155830383301, + 0.002642117440700531, + -0.017474757507443428, + 0.021114982664585114, + 0.034539349377155304, + 0.0017189830541610718, + 1.0 + ], + [ + 0.0021657943725585938, + -0.000596657395362854, + -0.0027589155361056328, + -0.015371374785900116, + -0.023296840488910675, + -0.009371340274810791, + 1.0 + ], + [ + 0.0004278123378753662, + 0.001919671893119812, + -0.004519332200288773, + -0.013181574642658234, + -0.01692153513431549, + -0.017113983631134033, + 1.0 + ], + [ + 0.0027533769607543945, + 0.0020737051963806152, + -0.0031107086688280106, + -0.012265201658010483, + -0.017438650131225586, + -0.004554331302642822, + 1.0 + ], + [ + -0.0009814202785491943, + 0.0020804405212402344, + -0.008334536105394363, + 0.007412407547235489, + 0.00755329430103302, + 0.0025366246700286865, + 0.0 + ], + [ + -2.3663043975830078e-05, + 0.00021161139011383057, + -0.00047623738646507263, + 0.00405208021402359, + -0.0018138587474822998, + 0.0032290369272232056, + 0.0 + ], + [ + -0.0041312575340271, + 0.0014778748154640198, + 0.00013137608766555786, + 0.027828477323055267, + 0.019592702388763428, + -0.004510819911956787, + 0.0 + ], + [ + -0.004108518362045288, + 0.001371137797832489, + 0.0007385015487670898, + 0.0358063206076622, + 0.020897597074508667, + -0.005569919943809509, + 0.0 + ], + [ + -0.0001761019229888916, + 0.0018452629446983337, + 0.011917265132069588, + 0.04419420659542084, + 0.020913176238536835, + -0.030862554907798767, + 0.0 + ], + [ + 0.004881680011749268, + -0.0026531964540481567, + 0.02540057897567749, + 0.0062166303396224976, + -0.02607867866754532, + -0.022047244012355804, + 0.0 + ], + [ + -0.0008261799812316895, + -0.002587437629699707, + 0.007622912526130676, + -0.006819814443588257, + -0.0006691813468933105, + -0.009279854595661163, + 0.0 + ], + [ + 0.0013333559036254883, + -0.0011572539806365967, + 0.0031943051144480705, + -0.026010364294052124, + 0.01756182312965393, + 0.010419704020023346, + 0.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 0.8298270106315613 + ], + [ + 0.5033408999443054 + ], + [ + 0.20503154397010803 + ], + [ + 0.07270156592130661 + ], + [ + 0.05350611358880997 + ], + [ + 0.05350611358880997 + ], + [ + 0.05350611358880997 + ], + [ + 0.05350611358880997 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3734724819660187, + -0.09569792449474335, + -0.014264157973229885 + ], + [ + 0.37563827633857727, + -0.0962945818901062, + -0.017023073509335518 + ], + [ + 0.37606608867645264, + -0.09437490999698639, + -0.02154240570962429 + ], + [ + 0.37881946563720703, + -0.09230120480060577, + -0.0246531143784523 + ], + [ + 0.37783804535865784, + -0.09022076427936554, + -0.032987650483846664 + ], + [ + 0.377814382314682, + -0.09000915288925171, + -0.03346388787031174 + ], + [ + 0.3736831247806549, + -0.08853127807378769, + -0.03333251178264618 + ], + [ + 0.3695746064186096, + -0.0871601402759552, + -0.03259401023387909 + ], + [ + 0.3693985044956207, + -0.08531487733125687, + -0.0206767451018095 + ], + [ + 0.37428018450737, + -0.08796807378530502, + 0.004723832942545414 + ], + [ + 0.3734540045261383, + -0.09055551141500473, + 0.01234674546867609 + ], + [ + 0.3747873604297638, + -0.09171276539564133, + 0.01554105058312416 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9741129813280514, + 0.20368625297156814, + 0.09806023637834954, + 0.19216452123348302, + -0.9745568219700741, + 0.11537676339148847, + 0.11906593294171805, + -0.09354630458757629, + -0.9884697226069834 + ], + [ + 0.9728801314802749, + 0.19478891089396505, + 0.12474586150917072, + 0.18246652262255048, + -0.977730749739073, + 0.10367520984644184, + 0.1421626459128998, + -0.0781016082255188, + -0.986757275574713 + ], + [ + 0.9733490151135252, + 0.17742988553344277, + 0.14529394514954608, + 0.16536412359626054, + -0.981989785906605, + 0.09138253116619247, + 0.15889116213550258, + -0.06492069080569665, + -0.9851593284847584 + ], + [ + 0.9712102792353033, + 0.172063335582102, + 0.16475679669150278, + 0.16045337501195553, + -0.9836764615707996, + 0.0814575558117483, + 0.1760832415505717, + -0.052676631440443156, + -0.9829648338293343 + ], + [ + 0.9720841064822424, + 0.17532594306798394, + 0.1559272381976366, + 0.16313192224232897, + -0.9826779458121228, + 0.08793196665598653, + 0.16864301310799445, + -0.06004055714089303, + -0.983846871026212 + ], + [ + 0.9712491714331722, + 0.1792417889041224, + 0.15667618868490238, + 0.1662180881668029, + -0.9817206949525763, + 0.0927147467666509, + 0.17043061390651046, + -0.06400670443228029, + -0.9832886390227283 + ], + [ + 0.9750961545096266, + 0.17734681065456687, + 0.1331750660266076, + 0.16235260897704273, + -0.9798731321791441, + 0.11614764393555621, + 0.15109308329266946, + -0.09163380153680456, + -0.984263240498713 + ], + [ + 0.9788894311574494, + 0.17394625475033182, + 0.10732279360218586, + 0.15738583487236174, + -0.9765070330877946, + 0.14718598204857072, + 0.13040391309226274, + -0.1271877147699618, + -0.9832690906673616 + ], + [ + 0.9857692745281608, + 0.14498929660743315, + 0.08507080148620585, + 0.12742645334574, + -0.9745558146165204, + 0.18440027978518989, + 0.1096423111027382, + -0.17093585950996978, + -0.9791626502015067 + ], + [ + 0.9851600102893477, + 0.12860429482451943, + 0.11366921078014378, + 0.10532389569485584, + -0.9758720434527999, + 0.19126063840455076, + 0.13552354453139054, + -0.17645024839864998, + -0.9749352177030551 + ], + [ + 0.9860044858243134, + 0.11886597262872876, + 0.1169018155776777, + 0.09616852520975204, + -0.9782867890553052, + 0.18359349966390937, + 0.13618652170208456, + -0.16978173903835153, + -0.9760263277165224 + ], + [ + 0.9871747654120795, + 0.12349562217476882, + 0.10116725674481813, + 0.10667752506014645, + -0.9817435601297652, + 0.15747853120592453, + 0.1187682119956642, + -0.14466655953398583, + -0.9823266759952883 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006744.json b/json/chunk-0006/episode_0006744.json new file mode 100644 index 0000000000000000000000000000000000000000..a11769f7e4e499d8964ffb7b94c3c483b215c0db --- /dev/null +++ b/json/chunk-0006/episode_0006744.json @@ -0,0 +1,1582 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 25, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut the yellow brush to the bottom right burner." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006744.mp4", + "start": 0, + "end": 25, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3004632294178009, + 0.031523704528808594, + 0.06810026615858078, + -0.02708050049841404, + -0.08609244972467422, + -0.105911985039711, + 0.0, + 1.0008161067962646 + ], + [ + 0.2959470748901367, + 0.029984567314386368, + 0.05804261565208435, + -0.03946778178215027, + -0.05821199342608452, + -0.11432971060276031, + 0.0, + 1.0008161067962646 + ], + [ + 0.2770564556121826, + 0.027770482003688812, + 0.05575624853372574, + -0.0496949665248394, + -0.0634038969874382, + -0.18028680980205536, + 0.0, + 1.0008161067962646 + ], + [ + 0.27449262142181396, + 0.040122561156749725, + 0.06135370209813118, + 0.00848768837749958, + -0.04694206267595291, + -0.10954373329877853, + 0.0, + 1.0008161067962646 + ], + [ + 0.3034239113330841, + 0.0807182788848877, + 0.06385814398527145, + 0.04210343956947327, + -0.06895226240158081, + 0.06215041130781174, + 0.0, + 1.0008161067962646 + ], + [ + 0.342648446559906, + 0.10423363745212555, + 0.05270028114318848, + 0.031042203307151794, + -0.057602331042289734, + 0.19838641583919525, + 0.0, + 1.0008161067962646 + ], + [ + 0.3704178035259247, + 0.11645463854074478, + 0.04688001051545143, + 0.03312397748231888, + -0.05651171877980232, + 0.27511581778526306, + 0.0, + 1.0008161067962646 + ], + [ + 0.38084685802459717, + 0.12772521376609802, + 0.04595879092812538, + 0.017024092376232147, + -0.04997847229242325, + 0.3601383566856384, + 0.0, + 1.0008161067962646 + ], + [ + 0.3834429979324341, + 0.1409345120191574, + 0.048937514424324036, + 0.01891423389315605, + -0.05504048988223076, + 0.40375572443008423, + 0.0, + 1.0008161067962646 + ], + [ + 0.3795415461063385, + 0.15159326791763306, + 0.04932829365134239, + 0.02685341238975525, + -0.055829260498285294, + 0.43514305353164673, + 0.0, + 1.0008161067962646 + ], + [ + 0.3757799565792084, + 0.15793177485466003, + 0.04196532443165779, + 0.050077468156814575, + -0.03954780101776123, + 0.44755837321281433, + 0.0, + 1.0008161067962646 + ], + [ + 0.3738166093826294, + 0.16025134921073914, + 0.03470589593052864, + 0.07290731370449066, + -0.026067115366458893, + 0.46131542325019836, + 0.0, + 1.0008161067962646 + ], + [ + 0.37183094024658203, + 0.16135628521442413, + 0.02002805285155773, + 0.09407267719507217, + -0.0027727410197257996, + 0.4770267903804779, + 0.0, + 0.9453431367874146 + ], + [ + 0.3734687864780426, + 0.15914934873580933, + 0.01917457766830921, + 0.07701294124126434, + -0.004215569701045752, + 0.46794000267982483, + 0.0, + 0.7220669984817505 + ], + [ + 0.3734522759914398, + 0.15746399760246277, + 0.018590951338410378, + 0.06692255288362503, + -0.0058741578832268715, + 0.46612486243247986, + 0.0, + 0.4503740966320038 + ], + [ + 0.3700210452079773, + 0.1526026725769043, + 0.024172883480787277, + 0.045961908996105194, + -0.008595628663897514, + 0.44717347621917725, + 0.0, + 0.33882394433021545 + ], + [ + 0.3648111820220947, + 0.14246900379657745, + 0.05920631065964699, + -0.00114359927829355, + -0.08593937009572983, + 0.4159408211708069, + 0.0, + 0.3380139172077179 + ], + [ + 0.336891770362854, + 0.12273181974887848, + 0.08455345034599304, + -0.01629943773150444, + -0.14452499151229858, + 0.3441165089607239, + 0.0, + 0.3380139172077179 + ], + [ + 0.3028581440448761, + 0.09120922535657883, + 0.07453817874193192, + -0.0056332070380449295, + -0.11614024639129639, + 0.2088588923215866, + 0.0, + 0.3380139172077179 + ], + [ + 0.2764655649662018, + 0.051446545869112015, + 0.05747493728995323, + 0.019841428846120834, + -0.07648073136806488, + 0.05998002737760544, + 0.0, + 0.33882394433021545 + ], + [ + 0.2687773108482361, + 0.027675118297338486, + 0.05534909665584564, + 0.020406661555171013, + -0.08449146896600723, + 0.005538620986044407, + 0.0, + 0.33882394433021545 + ], + [ + 0.2707861363887787, + 0.008347696624696255, + 0.055405113846063614, + 0.011932742781937122, + -0.09010933339595795, + -0.016426218673586845, + 0.0, + 0.3380139172077179 + ], + [ + 0.2695445418357849, + 0.004600796848535538, + 0.05099097639322281, + 0.008313610218465328, + -0.06750400364398956, + 0.009879560209810734, + 0.0, + 0.4077054560184479 + ], + [ + 0.272026389837265, + 0.0048166317865252495, + 0.051594704389572144, + 0.01995849609375, + -0.0691656544804573, + 0.004558301065117121, + 0.0, + 0.7151217460632324 + ], + [ + 0.26936274766921997, + 0.003983564209192991, + 0.05263368785381317, + 0.010847129859030247, + -0.05500950291752815, + -0.01549156941473484, + 0.0, + 0.973810613155365 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9453431367874146 + ], + [ + 0.7220669984817505 + ], + [ + 0.4503740966320038 + ], + [ + 0.33882394433021545 + ], + [ + 0.3380139172077179 + ], + [ + 0.3380139172077179 + ], + [ + 0.3380139172077179 + ], + [ + 0.33882394433021545 + ], + [ + 0.33882394433021545 + ], + [ + 0.3380139172077179 + ], + [ + 0.4077054560184479 + ], + [ + 0.7151217460632324 + ], + [ + 0.973810613155365 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3004632294178009, + 0.031523704528808594, + 0.06810026615858078 + ], + [ + 0.2959470748901367, + 0.029984567314386368, + 0.05804261565208435 + ], + [ + 0.2770564556121826, + 0.027770482003688812, + 0.05575624853372574 + ], + [ + 0.27449262142181396, + 0.040122561156749725, + 0.06135370209813118 + ], + [ + 0.3034239113330841, + 0.0807182788848877, + 0.06385814398527145 + ], + [ + 0.342648446559906, + 0.10423363745212555, + 0.05270028114318848 + ], + [ + 0.3704178035259247, + 0.11645463854074478, + 0.04688001051545143 + ], + [ + 0.38084685802459717, + 0.12772521376609802, + 0.04595879092812538 + ], + [ + 0.3834429979324341, + 0.1409345120191574, + 0.048937514424324036 + ], + [ + 0.3795415461063385, + 0.15159326791763306, + 0.04932829365134239 + ], + [ + 0.3757799565792084, + 0.15793177485466003, + 0.04196532443165779 + ], + [ + 0.3738166093826294, + 0.16025134921073914, + 0.03470589593052864 + ], + [ + 0.37183094024658203, + 0.16135628521442413, + 0.02002805285155773 + ], + [ + 0.3734687864780426, + 0.15914934873580933, + 0.01917457766830921 + ], + [ + 0.3734522759914398, + 0.15746399760246277, + 0.018590951338410378 + ], + [ + 0.3700210452079773, + 0.1526026725769043, + 0.024172883480787277 + ], + [ + 0.3648111820220947, + 0.14246900379657745, + 0.05920631065964699 + ], + [ + 0.336891770362854, + 0.12273181974887848, + 0.08455345034599304 + ], + [ + 0.3028581440448761, + 0.09120922535657883, + 0.07453817874193192 + ], + [ + 0.2764655649662018, + 0.051446545869112015, + 0.05747493728995323 + ], + [ + 0.2687773108482361, + 0.027675118297338486, + 0.05534909665584564 + ], + [ + 0.2707861363887787, + 0.008347696624696255, + 0.055405113846063614 + ], + [ + 0.2695445418357849, + 0.004600796848535538, + 0.05099097639322281 + ], + [ + 0.272026389837265, + 0.0048166317865252495, + 0.051594704389572144 + ], + [ + 0.26936274766921997, + 0.003983564209192991, + 0.05263368785381317 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9907136533739366, + -0.10799054370430926, + 0.08261052892285982, + -0.10532255773344774, + -0.9937858365984066, + -0.036012078652714795, + 0.08598613755107014, + 0.02697690580575208, + -0.9959310371216451 + ], + [ + 0.9917886932212696, + -0.1162725779530767, + 0.05325293996195668, + -0.11388756608700672, + -0.9924359224991081, + -0.045831888725229974, + 0.058179122451475135, + 0.039390701307413734, + -0.9975287275869733 + ], + [ + 0.9818155180819478, + -0.1821868095471664, + 0.0533503034714977, + -0.1789514413431804, + -0.9820133988121167, + -0.060216826507820065, + 0.0633614243422183, + 0.04957470101270553, + -0.9967585860803136 + ], + [ + 0.9929111091153496, + -0.10892495119621791, + 0.047569784550997, + -0.10920435076696126, + -0.9940138200792896, + 0.0033068512129541855, + 0.04692482465490111, + -0.00847823674354963, + -0.9988624431486187 + ], + [ + 0.9956976071340958, + 0.06494973601671562, + 0.06608938597682887, + 0.06196281708671807, + -0.9970046585835756, + 0.046285203481517524, + 0.06889763744943095, + -0.04199098181760597, + -0.9967396214658469 + ], + [ + 0.9787598470333159, + 0.19874448246093684, + 0.05029704292157611, + 0.19676077211124443, + -0.9795613888564731, + 0.04176941488415688, + 0.057570481963480635, + -0.030985741122526767, + -0.9978604729387675 + ], + [ + 0.9608574121511823, + 0.2733095932590117, + 0.045331002048554295, + 0.27122473586765317, + -0.9613576694161653, + 0.04720777592982043, + 0.056481644519739374, + -0.033065052356104956, + -0.9978559646286799 + ], + [ + 0.9346795155180296, + 0.35314853727965, + 0.04074694943459591, + 0.3519636836855006, + -0.9354127656529568, + 0.03353391149298882, + 0.04995766845555078, + -0.017002013725744072, + -0.9986066106789776 + ], + [ + 0.9181993736235555, + 0.3937613656049632, + 0.04314970723219899, + 0.3922798907867556, + -0.919018696181798, + 0.039001581412028266, + 0.055012703638715216, + -0.018884465182324967, + -0.9983070566780224 + ], + [ + 0.9053968952869558, + 0.42274677497493457, + 0.03926354865564024, + 0.42088334809039735, + -0.9058512441626615, + 0.04786157905017485, + 0.0558002625886222, + -0.02680835125946343, + -0.9980819821025678 + ], + [ + 0.9008015417401587, + 0.4340073432180708, + 0.013935868517798747, + 0.43242729915941913, + -0.8995198083792011, + 0.06221531383137191, + 0.03953749284216028, + -0.050017400634555134, + -0.9979654534569415 + ], + [ + 0.8951635273172662, + 0.44564402702271744, + -0.00914661357473946, + 0.444975188912482, + -0.8922437676088677, + 0.07679935166024521, + 0.026064163389817548, + -0.0728179946311934, + -0.997004613351754 + ], + [ + 0.8883605516293865, + 0.4573411745045036, + -0.04067653391788652, + 0.4591381515793167, + -0.8843164162817777, + 0.08471501436511675, + 0.002772737466878804, + -0.09393362548839831, + -0.9955746008861138 + ], + [ + 0.8924914100421151, + 0.450001240842845, + -0.030951029723365206, + 0.45104468966877553, + -0.8897076551336601, + 0.07056186164041936, + 0.004215557215222383, + -0.07693615298715883, + -0.9970271096820292 + ], + [ + 0.8933011740402819, + 0.44877281993235674, + -0.02481871366961442, + 0.44942018993843247, + -0.8911403729809934, + 0.062372498098112183, + 0.005874124101266689, + -0.06687145679029455, + -0.9977443073918218 + ], + [ + 0.90163963442955, + 0.4323180991406891, + -0.012125624978906032, + 0.4324026903399866, + -0.9005499470732481, + 0.04514095937296881, + 0.008595522816525066, + -0.04594403096977547, + -0.9989070342157769 + ], + [ + 0.911360736424219, + 0.40396065855716595, + 0.0789771767181253, + 0.40255955723029674, + -0.914775649082637, + 0.0336350223426079, + 0.08583362387114209, + 0.0011393785591432316, + -0.9963088330581268 + ], + [ + 0.9315595191531695, + 0.33511053820543957, + 0.14105952452343057, + 0.3338478898144326, + -0.9420407577343035, + 0.0332384902459431, + 0.14402238972314735, + 0.016128792609486436, + -0.98944298133212 + ], + [ + 0.9716778531165844, + 0.20670185304421979, + 0.11452726186734313, + 0.20594691310846913, + -0.9783879789578943, + 0.018515712564726113, + 0.11587932837153439, + 0.005595228214527769, + -0.9932475394771383 + ], + [ + 0.99528376828645, + 0.06144545329062174, + 0.07506448464776175, + 0.059768839732725114, + -0.9979143869136683, + 0.024383645907069637, + 0.07640619335189955, + -0.019782129830419062, + -0.9968805148847302 + ], + [ + 0.9964174353651581, + 0.007259431651331643, + 0.08425909536910718, + 0.005518834951009547, + -0.999766918819684, + 0.020872242202949167, + 0.08439097677538855, + -0.020332454005719553, + -0.9962252528183578 + ], + [ + 0.9958085403681314, + -0.015350683966308093, + 0.09016489023815581, + -0.016358840185263797, + -0.9998115451898334, + 0.010452868166737255, + 0.0899874395551132, + -0.011884048421506971, + -0.9958719948444331 + ], + [ + 0.9976737784864887, + 0.010439800114388864, + 0.06736499309036335, + 0.009856898862930554, + -0.9999111013051895, + 0.008979478350633762, + 0.06745274838951378, + -0.008294580171120681, + -0.9976879906436111 + ], + [ + 0.9975986453377956, + 0.005936613591459112, + 0.06900506821430329, + 0.004547386463009557, + -0.9997841618438662, + 0.02027192646281789, + 0.06911052088178025, + -0.019909453664617764, + -0.9974103215619063 + ], + [ + 0.9983675483385931, + -0.01489372739013621, + 0.055139961088265195, + -0.015467517539563387, + -0.9998304240945394, + 0.00999394597227993, + 0.05498176357257371, + -0.010830509653837056, + -0.9984286182472375 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.004516154527664185, + -0.001539137214422226, + -0.01005765050649643, + -0.012387281283736229, + 0.027880456298589706, + -0.008417725563049316, + 1.0 + ], + [ + -0.0188906192779541, + -0.0022140853106975555, + -0.002286367118358612, + -0.010227184742689133, + -0.0051919035613536835, + -0.06595709919929504, + 1.0 + ], + [ + -0.0025638341903686523, + 0.012352079153060913, + 0.005597453564405441, + 0.05818265676498413, + 0.01646183431148529, + 0.07074307650327682, + 1.0 + ], + [ + 0.02893128991127014, + 0.04059571772813797, + 0.002504441887140274, + 0.033615753054618835, + -0.0220101997256279, + 0.17169414460659027, + 1.0 + ], + [ + 0.0392245352268219, + 0.023515358567237854, + -0.011157862842082977, + -0.011061236262321472, + 0.011349931359291077, + 0.1362360119819641, + 1.0 + ], + [ + 0.027769356966018677, + 0.012221001088619232, + -0.005820270627737045, + 0.0020817741751670837, + 0.0010906122624874115, + 0.07672940194606781, + 1.0 + ], + [ + 0.010429054498672485, + 0.011270575225353241, + -0.0009212195873260498, + -0.01609988510608673, + 0.006533246487379074, + 0.08502253890037537, + 1.0 + ], + [ + 0.002596139907836914, + 0.013209298253059387, + 0.002978723496198654, + 0.0018901415169239044, + -0.00506201758980751, + 0.0436173677444458, + 1.0 + ], + [ + -0.003901451826095581, + 0.010658755898475647, + 0.0003907792270183563, + 0.007939178496599197, + -0.0007887706160545349, + 0.0313873291015625, + 1.0 + ], + [ + -0.003761589527130127, + 0.0063385069370269775, + -0.007362969219684601, + 0.023224055767059326, + 0.016281459480524063, + 0.012415319681167603, + 1.0 + ], + [ + -0.0019633471965789795, + 0.0023195743560791016, + -0.00725942850112915, + 0.022829845547676086, + 0.013480685651302338, + 0.013757050037384033, + 1.0 + ], + [ + -0.0019856691360473633, + 0.0011049360036849976, + -0.014677843078970909, + 0.021165363490581512, + 0.023294374346733093, + 0.01571136713027954, + 0.0 + ], + [ + 0.0016378462314605713, + -0.002206936478614807, + -0.0008534751832485199, + -0.01705973595380783, + -0.001442828681319952, + -0.009086787700653076, + 0.0 + ], + [ + -1.6510486602783203e-05, + -0.0016853511333465576, + -0.0005836263298988342, + -0.010090388357639313, + -0.00165858818218112, + -0.0018151402473449707, + 0.0 + ], + [ + -0.0034312307834625244, + -0.004861325025558472, + 0.0055819321423769, + -0.020960643887519836, + -0.002721470780670643, + -0.018951386213302612, + 0.0 + ], + [ + -0.005209863185882568, + -0.010133668780326843, + 0.03503342717885971, + -0.04710550978779793, + -0.07734373956918716, + -0.03123265504837036, + 0.0 + ], + [ + -0.027919411659240723, + -0.019737184047698975, + 0.025347139686346054, + -0.015155838802456856, + -0.058585621416568756, + -0.07182431221008301, + 0.0 + ], + [ + -0.034033626317977905, + -0.03152259439229965, + -0.010015271604061127, + 0.01066623069345951, + 0.028384745121002197, + -0.13525761663913727, + 0.0 + ], + [ + -0.026392579078674316, + -0.03976267948746681, + -0.017063241451978683, + 0.025474635884165764, + 0.039659515023231506, + -0.14887887239456177, + 0.0 + ], + [ + -0.007688254117965698, + -0.02377142757177353, + -0.0021258406341075897, + 0.0005652327090501785, + -0.008010737597942352, + -0.054441407322883606, + 0.0 + ], + [ + 0.0020088255405426025, + -0.019327420741319656, + 5.60171902179718e-05, + -0.00847391877323389, + -0.005617864429950714, + -0.021964840590953827, + 0.0 + ], + [ + -0.0012415945529937744, + -0.003746899776160717, + -0.004414137452840805, + -0.003619132563471794, + 0.022605329751968384, + 0.026305779814720154, + 1.0 + ], + [ + 0.0024818480014801025, + 0.00021583493798971176, + 0.0006037279963493347, + 0.011644885875284672, + -0.001661650836467743, + -0.005321259144693613, + 1.0 + ], + [ + -0.002663642168045044, + -0.0008330675773322582, + 0.0010389834642410278, + -0.009111366234719753, + 0.014156151562929153, + -0.020049870014190674, + 1.0 + ], + [ + 0.0018900632858276367, + 0.00197340315207839, + 0.01358698308467865, + -0.0164786484092474, + -0.02976081147789955, + -0.004739515483379364, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9453431367874146 + ], + [ + 0.7220669984817505 + ], + [ + 0.4503740966320038 + ], + [ + 0.33882394433021545 + ], + [ + 0.3380139172077179 + ], + [ + 0.3380139172077179 + ], + [ + 0.3380139172077179 + ], + [ + 0.33882394433021545 + ], + [ + 0.33882394433021545 + ], + [ + 0.3380139172077179 + ], + [ + 0.4077054560184479 + ], + [ + 0.7151217460632324 + ], + [ + 0.973810613155365 + ], + [ + 1.0027955770492554 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2959470748901367, + 0.029984567314386368, + 0.05804261565208435 + ], + [ + 0.2770564556121826, + 0.027770482003688812, + 0.05575624853372574 + ], + [ + 0.27449262142181396, + 0.040122561156749725, + 0.06135370209813118 + ], + [ + 0.3034239113330841, + 0.0807182788848877, + 0.06385814398527145 + ], + [ + 0.342648446559906, + 0.10423363745212555, + 0.05270028114318848 + ], + [ + 0.3704178035259247, + 0.11645463854074478, + 0.04688001051545143 + ], + [ + 0.38084685802459717, + 0.12772521376609802, + 0.04595879092812538 + ], + [ + 0.3834429979324341, + 0.1409345120191574, + 0.048937514424324036 + ], + [ + 0.3795415461063385, + 0.15159326791763306, + 0.04932829365134239 + ], + [ + 0.3757799565792084, + 0.15793177485466003, + 0.04196532443165779 + ], + [ + 0.3738166093826294, + 0.16025134921073914, + 0.03470589593052864 + ], + [ + 0.37183094024658203, + 0.16135628521442413, + 0.02002805285155773 + ], + [ + 0.3734687864780426, + 0.15914934873580933, + 0.01917457766830921 + ], + [ + 0.3734522759914398, + 0.15746399760246277, + 0.018590951338410378 + ], + [ + 0.3700210452079773, + 0.1526026725769043, + 0.024172883480787277 + ], + [ + 0.3648111820220947, + 0.14246900379657745, + 0.05920631065964699 + ], + [ + 0.336891770362854, + 0.12273181974887848, + 0.08455345034599304 + ], + [ + 0.3028581440448761, + 0.09120922535657883, + 0.07453817874193192 + ], + [ + 0.2764655649662018, + 0.051446545869112015, + 0.05747493728995323 + ], + [ + 0.2687773108482361, + 0.027675118297338486, + 0.05534909665584564 + ], + [ + 0.2707861363887787, + 0.008347696624696255, + 0.055405113846063614 + ], + [ + 0.2695445418357849, + 0.004600796848535538, + 0.05099097639322281 + ], + [ + 0.272026389837265, + 0.0048166317865252495, + 0.051594704389572144 + ], + [ + 0.26936274766921997, + 0.003983564209192991, + 0.05263368785381317 + ], + [ + 0.2712528109550476, + 0.005956967361271381, + 0.06622067093849182 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9917886932212696, + -0.1162725779530767, + 0.05325293996195668, + -0.11388756608700672, + -0.9924359224991081, + -0.045831888725229974, + 0.058179122451475135, + 0.039390701307413734, + -0.9975287275869733 + ], + [ + 0.9818155180819478, + -0.1821868095471664, + 0.0533503034714977, + -0.1789514413431804, + -0.9820133988121167, + -0.060216826507820065, + 0.0633614243422183, + 0.04957470101270553, + -0.9967585860803136 + ], + [ + 0.9929111091153496, + -0.10892495119621791, + 0.047569784550997, + -0.10920435076696126, + -0.9940138200792896, + 0.0033068512129541855, + 0.04692482465490111, + -0.00847823674354963, + -0.9988624431486187 + ], + [ + 0.9956976071340958, + 0.06494973601671562, + 0.06608938597682887, + 0.06196281708671807, + -0.9970046585835756, + 0.046285203481517524, + 0.06889763744943095, + -0.04199098181760597, + -0.9967396214658469 + ], + [ + 0.9787598470333159, + 0.19874448246093684, + 0.05029704292157611, + 0.19676077211124443, + -0.9795613888564731, + 0.04176941488415688, + 0.057570481963480635, + -0.030985741122526767, + -0.9978604729387675 + ], + [ + 0.9608574121511823, + 0.2733095932590117, + 0.045331002048554295, + 0.27122473586765317, + -0.9613576694161653, + 0.04720777592982043, + 0.056481644519739374, + -0.033065052356104956, + -0.9978559646286799 + ], + [ + 0.9346795155180296, + 0.35314853727965, + 0.04074694943459591, + 0.3519636836855006, + -0.9354127656529568, + 0.03353391149298882, + 0.04995766845555078, + -0.017002013725744072, + -0.9986066106789776 + ], + [ + 0.9181993736235555, + 0.3937613656049632, + 0.04314970723219899, + 0.3922798907867556, + -0.919018696181798, + 0.039001581412028266, + 0.055012703638715216, + -0.018884465182324967, + -0.9983070566780224 + ], + [ + 0.9053968952869558, + 0.42274677497493457, + 0.03926354865564024, + 0.42088334809039735, + -0.9058512441626615, + 0.04786157905017485, + 0.0558002625886222, + -0.02680835125946343, + -0.9980819821025678 + ], + [ + 0.9008015417401587, + 0.4340073432180708, + 0.013935868517798747, + 0.43242729915941913, + -0.8995198083792011, + 0.06221531383137191, + 0.03953749284216028, + -0.050017400634555134, + -0.9979654534569415 + ], + [ + 0.8951635273172662, + 0.44564402702271744, + -0.00914661357473946, + 0.444975188912482, + -0.8922437676088677, + 0.07679935166024521, + 0.026064163389817548, + -0.0728179946311934, + -0.997004613351754 + ], + [ + 0.8883605516293865, + 0.4573411745045036, + -0.04067653391788652, + 0.4591381515793167, + -0.8843164162817777, + 0.08471501436511675, + 0.002772737466878804, + -0.09393362548839831, + -0.9955746008861138 + ], + [ + 0.8924914100421151, + 0.450001240842845, + -0.030951029723365206, + 0.45104468966877553, + -0.8897076551336601, + 0.07056186164041936, + 0.004215557215222383, + -0.07693615298715883, + -0.9970271096820292 + ], + [ + 0.8933011740402819, + 0.44877281993235674, + -0.02481871366961442, + 0.44942018993843247, + -0.8911403729809934, + 0.062372498098112183, + 0.005874124101266689, + -0.06687145679029455, + -0.9977443073918218 + ], + [ + 0.90163963442955, + 0.4323180991406891, + -0.012125624978906032, + 0.4324026903399866, + -0.9005499470732481, + 0.04514095937296881, + 0.008595522816525066, + -0.04594403096977547, + -0.9989070342157769 + ], + [ + 0.911360736424219, + 0.40396065855716595, + 0.0789771767181253, + 0.40255955723029674, + -0.914775649082637, + 0.0336350223426079, + 0.08583362387114209, + 0.0011393785591432316, + -0.9963088330581268 + ], + [ + 0.9315595191531695, + 0.33511053820543957, + 0.14105952452343057, + 0.3338478898144326, + -0.9420407577343035, + 0.0332384902459431, + 0.14402238972314735, + 0.016128792609486436, + -0.98944298133212 + ], + [ + 0.9716778531165844, + 0.20670185304421979, + 0.11452726186734313, + 0.20594691310846913, + -0.9783879789578943, + 0.018515712564726113, + 0.11587932837153439, + 0.005595228214527769, + -0.9932475394771383 + ], + [ + 0.99528376828645, + 0.06144545329062174, + 0.07506448464776175, + 0.059768839732725114, + -0.9979143869136683, + 0.024383645907069637, + 0.07640619335189955, + -0.019782129830419062, + -0.9968805148847302 + ], + [ + 0.9964174353651581, + 0.007259431651331643, + 0.08425909536910718, + 0.005518834951009547, + -0.999766918819684, + 0.020872242202949167, + 0.08439097677538855, + -0.020332454005719553, + -0.9962252528183578 + ], + [ + 0.9958085403681314, + -0.015350683966308093, + 0.09016489023815581, + -0.016358840185263797, + -0.9998115451898334, + 0.010452868166737255, + 0.0899874395551132, + -0.011884048421506971, + -0.9958719948444331 + ], + [ + 0.9976737784864887, + 0.010439800114388864, + 0.06736499309036335, + 0.009856898862930554, + -0.9999111013051895, + 0.008979478350633762, + 0.06745274838951378, + -0.008294580171120681, + -0.9976879906436111 + ], + [ + 0.9975986453377956, + 0.005936613591459112, + 0.06900506821430329, + 0.004547386463009557, + -0.9997841618438662, + 0.02027192646281789, + 0.06911052088178025, + -0.019909453664617764, + -0.9974103215619063 + ], + [ + 0.9983675483385931, + -0.01489372739013621, + 0.055139961088265195, + -0.015467517539563387, + -0.9998304240945394, + 0.00999394597227993, + 0.05498176357257371, + -0.010830509653837056, + -0.9984286182472375 + ], + [ + 0.9962052414142488, + -0.02070609797747026, + 0.08453623179043183, + -0.02015706296380437, + -0.9997698591151214, + -0.0073431340450480975, + 0.08466882420024176, + 0.005611266477161834, + -0.9963933479791356 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006745.json b/json/chunk-0006/episode_0006745.json new file mode 100644 index 0000000000000000000000000000000000000000..8c6d06d3ddc2f405dd512c3bdb79549eb7abdcb7 --- /dev/null +++ b/json/chunk-0006/episode_0006745.json @@ -0,0 +1,2542 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 41, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nFold the cloth from the bottom to the top." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006745.mp4", + "start": 0, + "end": 41, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.332280695438385, + -0.04233095422387123, + 0.07557757198810577, + 0.058215219527482986, + -0.03149847313761711, + -0.5684060454368591, + 0.0, + 0.9981546401977539 + ], + [ + 0.3265189826488495, + -0.042506176978349686, + 0.06577932089567184, + 0.04374773055315018, + 0.00047901750076562166, + -0.5666534900665283, + 0.0, + 0.9981546401977539 + ], + [ + 0.3062967360019684, + -0.0356379896402359, + 0.05609286203980446, + 0.03392137587070465, + 0.04560631513595581, + -0.5482467412948608, + 0.0, + 0.9981546401977539 + ], + [ + 0.29593533277511597, + -0.02397351711988449, + 0.06600899249315262, + 0.08021204173564911, + 0.041200101375579834, + -0.5437979698181152, + 0.0, + 0.9981546401977539 + ], + [ + 0.2782609760761261, + -0.014223054982721806, + 0.06067788228392601, + 0.11482473462820053, + 0.07836318016052246, + -0.5576541423797607, + 0.0, + 0.9981546401977539 + ], + [ + 0.26934486627578735, + -0.006670806556940079, + 0.05110388994216919, + 0.15303850173950195, + 0.10000927746295929, + -0.5400921106338501, + 0.0, + 0.9981546401977539 + ], + [ + 0.2663753032684326, + -0.00349800824187696, + 0.03756522387266159, + 0.20210570096969604, + 0.1324864774942398, + -0.543627142906189, + 0.0, + 0.9981546401977539 + ], + [ + 0.26398807764053345, + 0.0008120056590996683, + 0.016048982739448547, + 0.21523049473762512, + 0.18215225636959076, + -0.5423431396484375, + 0.0, + 0.9981546401977539 + ], + [ + 0.2597214877605438, + 0.004054015036672354, + 0.0036348088178783655, + 0.21901124715805054, + 0.2146715521812439, + -0.550777018070221, + 0.0, + 0.9981546401977539 + ], + [ + 0.24839170277118683, + 0.008302279748022556, + -0.0027955793775618076, + 0.22264543175697327, + 0.2443591058254242, + -0.560575008392334, + 0.0, + 0.9981546401977539 + ], + [ + 0.23410670459270477, + 0.011737064458429813, + -0.006608891300857067, + 0.21123483777046204, + 0.2731547951698303, + -0.5716103315353394, + 0.0, + 0.9981546401977539 + ], + [ + 0.23249615728855133, + 0.016141945496201515, + -0.007121521979570389, + 0.21321113407611847, + 0.26586711406707764, + -0.5567740797996521, + 0.0, + 0.9560673832893372 + ], + [ + 0.23334476351737976, + 0.01637863740324974, + -0.008879955857992172, + 0.2133442610502243, + 0.2644573450088501, + -0.5580635666847229, + 0.0, + 0.6611326336860657 + ], + [ + 0.23478876054286957, + 0.016406415030360222, + -0.010005075484514236, + 0.21946531534194946, + 0.25879257917404175, + -0.5457537174224854, + 0.0, + 0.3831871449947357 + ], + [ + 0.2374650090932846, + 0.016864802688360214, + -0.011304715648293495, + 0.22745366394519806, + 0.2582366168498993, + -0.534023642539978, + 0.0, + 0.16443414986133575 + ], + [ + 0.23776750266551971, + 0.017321793362498283, + -0.01126676332205534, + 0.21988505125045776, + 0.2543117105960846, + -0.5255609750747681, + 0.0, + 0.057568058371543884 + ], + [ + 0.23872162401676178, + 0.023152947425842285, + -0.007600508630275726, + 0.18578195571899414, + 0.23179619014263153, + -0.517645001411438, + 0.0, + 0.04860575497150421 + ], + [ + 0.23623763024806976, + 0.030345939099788666, + 0.000679414311889559, + 0.15201884508132935, + 0.21621665358543396, + -0.5091029405593872, + 0.0, + 0.04860575497150421 + ], + [ + 0.23877768218517303, + 0.04117363691329956, + 0.019521644338965416, + 0.1273874044418335, + 0.1838565319776535, + -0.4701051414012909, + 0.0, + 0.04860575497150421 + ], + [ + 0.24771995842456818, + 0.04647643119096756, + 0.030938103795051575, + 0.10825267434120178, + 0.1660630851984024, + -0.4396505057811737, + 0.0, + 0.04860575497150421 + ], + [ + 0.26493334770202637, + 0.04514244198799133, + 0.045554451644420624, + 0.09393613785505295, + 0.12421847879886627, + -0.4386615753173828, + 0.0, + 0.04860575497150421 + ], + [ + 0.284636914730072, + 0.04215756431221962, + 0.0638633668422699, + 0.08719687908887863, + 0.07712159305810928, + -0.4328633248806, + 0.0, + 0.04860575497150421 + ], + [ + 0.3080695569515228, + 0.044080041348934174, + 0.0787355899810791, + 0.09898298978805542, + 0.04940774664282799, + -0.4177936017513275, + 0.0, + 0.04860575497150421 + ], + [ + 0.3344065248966217, + 0.04585648328065872, + 0.08162062615156174, + 0.09839121997356415, + 0.05075674504041672, + -0.4012642204761505, + 0.0, + 0.04860575497150421 + ], + [ + 0.36682191491127014, + 0.04568440467119217, + 0.07645592093467712, + 0.07259242981672287, + 0.05988990142941475, + -0.40809348225593567, + 0.0, + 0.04860575497150421 + ], + [ + 0.3884454369544983, + 0.048407964408397675, + 0.07211507856845856, + 0.07689285278320312, + 0.0638679787516594, + -0.4071683883666992, + 0.0, + 0.04860575497150421 + ], + [ + 0.40943822264671326, + 0.04835202917456627, + 0.05351945757865906, + 0.06366439908742905, + 0.08041083067655563, + -0.4176333248615265, + 0.0, + 0.04860575497150421 + ], + [ + 0.41234907507896423, + 0.048753928393125534, + 0.040376853197813034, + 0.05832552909851074, + 0.09098771959543228, + -0.4307031035423279, + 0.0, + 0.04860575497150421 + ], + [ + 0.4057880938053131, + 0.0384855717420578, + 0.01618986949324608, + 0.008289164863526821, + 0.02862575091421604, + -0.4752572774887085, + 0.0, + 0.04860575497150421 + ], + [ + 0.4000813961029053, + 0.04287370294332504, + 0.01506764441728592, + 0.011916924268007278, + -0.1086701899766922, + -0.4808007776737213, + 0.0, + 0.04860575497150421 + ], + [ + 0.4003232717514038, + 0.050694458186626434, + 0.010839778929948807, + -0.011168035678565502, + -0.18360228836536407, + -0.45843705534935, + 0.0, + 0.06354815512895584 + ], + [ + 0.397932231426239, + 0.0494970828294754, + 0.010290076024830341, + -0.024371836334466934, + -0.17429012060165405, + -0.45542195439338684, + 0.0, + 0.20382753014564514 + ], + [ + 0.3962980806827545, + 0.05001503974199295, + 0.01000750157982111, + -0.026897205039858818, + -0.1632993519306183, + -0.4497307240962982, + 0.0, + 0.43382158875465393 + ], + [ + 0.39393195509910583, + 0.0503142885863781, + 0.009976603090763092, + -0.032551784068346024, + -0.14779357612133026, + -0.448991596698761, + 0.0, + 0.7061693072319031 + ], + [ + 0.39170610904693604, + 0.048278260976076126, + 0.01844905875623226, + -0.042995184659957886, + -0.14428240060806274, + -0.4505389332771301, + 0.0, + 0.9643021821975708 + ], + [ + 0.39418825507164, + 0.04478445649147034, + 0.046320702880620956, + -0.04307086020708084, + -0.1925044059753418, + -0.4529309570789337, + 0.0, + 1.0118417739868164 + ], + [ + 0.39153221249580383, + 0.03932611271739006, + 0.06682413816452026, + -0.06052439659833908, + -0.220655158162117, + -0.4595121443271637, + 0.0, + 1.003452181816101 + ], + [ + 0.3862347900867462, + 0.036701276898384094, + 0.08766183257102966, + -0.062113113701343536, + -0.23624388873577118, + -0.48562151193618774, + 0.0, + 0.9974852800369263 + ], + [ + 0.3778137266635895, + 0.03622591122984886, + 0.108881875872612, + -0.04114146903157234, + -0.24881896376609802, + -0.5018797516822815, + 0.0, + 1.0008161067962646 + ], + [ + 0.3696326017379761, + 0.04142351448535919, + 0.11748131364583969, + -0.04424178600311279, + -0.25363394618034363, + -0.4828898310661316, + 0.0, + 1.0008161067962646 + ], + [ + 0.3652784526348114, + 0.04924079775810242, + 0.11419167369604111, + -0.024599500000476837, + -0.22299765050411224, + -0.4834459722042084, + 0.0, + 1.0008161067962646 + ] + ], + "left_gripper_pos": [ + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9560673832893372 + ], + [ + 0.6611326336860657 + ], + [ + 0.3831871449947357 + ], + [ + 0.16443414986133575 + ], + [ + 0.057568058371543884 + ], + [ + 0.04860575497150421 + ], + [ + 0.04860575497150421 + ], + [ + 0.04860575497150421 + ], + [ + 0.04860575497150421 + ], + [ + 0.04860575497150421 + ], + [ + 0.04860575497150421 + ], + [ + 0.04860575497150421 + ], + [ + 0.04860575497150421 + ], + [ + 0.04860575497150421 + ], + [ + 0.04860575497150421 + ], + [ + 0.04860575497150421 + ], + [ + 0.04860575497150421 + ], + [ + 0.04860575497150421 + ], + [ + 0.04860575497150421 + ], + [ + 0.06354815512895584 + ], + [ + 0.20382753014564514 + ], + [ + 0.43382158875465393 + ], + [ + 0.7061693072319031 + ], + [ + 0.9643021821975708 + ], + [ + 1.0118417739868164 + ], + [ + 1.003452181816101 + ], + [ + 0.9974852800369263 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.332280695438385, + -0.04233095422387123, + 0.07557757198810577 + ], + [ + 0.3265189826488495, + -0.042506176978349686, + 0.06577932089567184 + ], + [ + 0.3062967360019684, + -0.0356379896402359, + 0.05609286203980446 + ], + [ + 0.29593533277511597, + -0.02397351711988449, + 0.06600899249315262 + ], + [ + 0.2782609760761261, + -0.014223054982721806, + 0.06067788228392601 + ], + [ + 0.26934486627578735, + -0.006670806556940079, + 0.05110388994216919 + ], + [ + 0.2663753032684326, + -0.00349800824187696, + 0.03756522387266159 + ], + [ + 0.26398807764053345, + 0.0008120056590996683, + 0.016048982739448547 + ], + [ + 0.2597214877605438, + 0.004054015036672354, + 0.0036348088178783655 + ], + [ + 0.24839170277118683, + 0.008302279748022556, + -0.0027955793775618076 + ], + [ + 0.23410670459270477, + 0.011737064458429813, + -0.006608891300857067 + ], + [ + 0.23249615728855133, + 0.016141945496201515, + -0.007121521979570389 + ], + [ + 0.23334476351737976, + 0.01637863740324974, + -0.008879955857992172 + ], + [ + 0.23478876054286957, + 0.016406415030360222, + -0.010005075484514236 + ], + [ + 0.2374650090932846, + 0.016864802688360214, + -0.011304715648293495 + ], + [ + 0.23776750266551971, + 0.017321793362498283, + -0.01126676332205534 + ], + [ + 0.23872162401676178, + 0.023152947425842285, + -0.007600508630275726 + ], + [ + 0.23623763024806976, + 0.030345939099788666, + 0.000679414311889559 + ], + [ + 0.23877768218517303, + 0.04117363691329956, + 0.019521644338965416 + ], + [ + 0.24771995842456818, + 0.04647643119096756, + 0.030938103795051575 + ], + [ + 0.26493334770202637, + 0.04514244198799133, + 0.045554451644420624 + ], + [ + 0.284636914730072, + 0.04215756431221962, + 0.0638633668422699 + ], + [ + 0.3080695569515228, + 0.044080041348934174, + 0.0787355899810791 + ], + [ + 0.3344065248966217, + 0.04585648328065872, + 0.08162062615156174 + ], + [ + 0.36682191491127014, + 0.04568440467119217, + 0.07645592093467712 + ], + [ + 0.3884454369544983, + 0.048407964408397675, + 0.07211507856845856 + ], + [ + 0.40943822264671326, + 0.04835202917456627, + 0.05351945757865906 + ], + [ + 0.41234907507896423, + 0.048753928393125534, + 0.040376853197813034 + ], + [ + 0.4057880938053131, + 0.0384855717420578, + 0.01618986949324608 + ], + [ + 0.4000813961029053, + 0.04287370294332504, + 0.01506764441728592 + ], + [ + 0.4003232717514038, + 0.050694458186626434, + 0.010839778929948807 + ], + [ + 0.397932231426239, + 0.0494970828294754, + 0.010290076024830341 + ], + [ + 0.3962980806827545, + 0.05001503974199295, + 0.01000750157982111 + ], + [ + 0.39393195509910583, + 0.0503142885863781, + 0.009976603090763092 + ], + [ + 0.39170610904693604, + 0.048278260976076126, + 0.01844905875623226 + ], + [ + 0.39418825507164, + 0.04478445649147034, + 0.046320702880620956 + ], + [ + 0.39153221249580383, + 0.03932611271739006, + 0.06682413816452026 + ], + [ + 0.3862347900867462, + 0.036701276898384094, + 0.08766183257102966 + ], + [ + 0.3778137266635895, + 0.03622591122984886, + 0.108881875872612 + ], + [ + 0.3696326017379761, + 0.04142351448535919, + 0.11748131364583969 + ], + [ + 0.3652784526348114, + 0.04924079775810242, + 0.11419167369604111 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8423420150251923, + -0.5358333018553755, + 0.05781524319817601, + -0.5380224010140789, + -0.8423187312942645, + 0.032109981592423675, + 0.03149326484097328, + -0.05815348255767956, + -0.9978107770194053 + ], + [ + 0.843702044731753, + -0.5363156669785747, + 0.02307303770173099, + -0.5368115407270138, + -0.842883658941435, + 0.037155177725157404, + -0.00047901748244657226, + -0.04373377233700568, + -0.9990431060266751 + ], + [ + 0.8525522211732578, + -0.5222114869508285, + -0.021210211435743025, + -0.5206498015335927, + -0.8521427903525269, + 0.05269202039435947, + -0.04559050707740298, + -0.03387960665081262, + -0.9983855357113359 + ], + [ + 0.855023634209694, + -0.5185504874621413, + 0.006322728495106809, + -0.5169507682708084, + -0.8512908427279342, + 0.08980982280232136, + -0.04118844652409288, + -0.08005806043328265, + -0.9959388629994276 + ], + [ + 0.8458949728957508, + -0.5333226302458552, + -0.005354147676371816, + -0.527573185725624, + -0.8381649841892607, + 0.13836904633021546, + -0.07828300283595424, + -0.11422097594863954, + -0.9903662656413166 + ], + [ + 0.8533757917260932, + -0.5212588507026371, + -0.006242488288299403, + -0.5116455841544726, + -0.8398109050360953, + 0.18148399377819294, + -0.09984264775681934, + -0.15168010530923434, + -0.9833740851488244 + ], + [ + 0.8483380575900888, + -0.5294096332557939, + -0.006926778489392549, + -0.512710768346104, + -0.824702969870065, + 0.23873139615359107, + -0.1320992356761504, + -0.1989734949772477, + -0.9710609353847556 + ], + [ + 0.8423317554053982, + -0.5373717133840021, + -0.04133830536442294, + -0.5076052681878129, + -0.8167711674667839, + 0.27426584129804643, + -0.18114664099463418, + -0.21003928596738417, + -0.9607650039456436 + ], + [ + 0.8325589614591754, + -0.55028680451038, + -0.06348234774939092, + -0.5113367508501615, + -0.8075411171804855, + 0.29395930210301857, + -0.21302653103315466, + -0.2122775938356395, + -0.9537074605094228 + ], + [ + 0.8217888477673982, + -0.5637953244972395, + -0.08244951036958803, + -0.5158786464699526, + -0.7976411600831012, + 0.3124704815780439, + -0.24193451965658375, + -0.2142508152057713, + -0.946342578764266 + ], + [ + 0.8098493561798129, + -0.5765329216557105, + -0.10841499223941818, + -0.5209297855558921, + -0.7917377238852297, + 0.31903531951451464, + -0.269770604061738, + -0.20189394944912673, + -0.9415214571957449 + ], + [ + 0.8191359323287025, + -0.5636840700364286, + -0.10619130640101229, + -0.5098831788169441, + -0.800360528204467, + 0.3153445240555076, + -0.2627460148651456, + -0.20416486984648696, + -0.9430170929485061 + ], + [ + 0.8187911635765728, + -0.5644853792764413, + -0.10458148513027618, + -0.511134661091029, + -0.799743532908357, + 0.3148835337114639, + -0.26138551734991167, + -0.2043686330002523, + -0.9433509809001775 + ], + [ + 0.8262733129547474, + -0.5542333261802348, + -0.10048797166815249, + -0.5017775202401158, + -0.8053153589080072, + 0.3157316786268802, + -0.25591352539572065, + -0.21045805486619135, + -0.9435124136234101 + ], + [ + 0.8322245608202132, + -0.5454595496039706, + -0.09937887156451537, + -0.492123317832384, + -0.8092842381928295, + 0.32073924277876853, + -0.25537603727297753, + -0.21802041546260076, + -0.9419395830032122 + ], + [ + 0.8372199980405971, + -0.5370869319916026, + -0.10295776981243339, + -0.48556206850205197, + -0.8166844839795939, + 0.3118588322606765, + -0.2515793165443276, + -0.21110206325574327, + -0.9445336237404452 + ], + [ + 0.8457461587366989, + -0.5231944584498469, + -0.10479023632710165, + -0.4816008506182776, + -0.8330357299082102, + 0.27223536394092324, + -0.22972604481396924, + -0.17977494637370056, + -0.9565076648885064 + ], + [ + 0.8528509973097991, + -0.5101411780199295, + -0.11136047268272527, + -0.47604571091124287, + -0.8472775186861422, + 0.23558711223677642, + -0.21453591193711785, + -0.14790802823881033, + -0.9654519965652444 + ], + [ + 0.8764949277912957, + -0.4700163763187125, + -0.10412131169150093, + -0.4453454733645055, + -0.873775775709303, + 0.1954054838978456, + -0.1828224573455812, + -0.1249019606564806, + -0.975179701036835 + ], + [ + 0.8924519218390924, + -0.4392927246481849, + -0.1027203449998289, + -0.4197680129700627, + -0.8920021975491699, + 0.16771074758230736, + -0.16530088473107213, + -0.10655506388072367, + -0.9804701096252242 + ], + [ + 0.8983452618012013, + -0.43337681582112225, + -0.0718354098483209, + -0.42145552674936676, + -0.8963936193478212, + 0.1373088422678132, + -0.12389927187738012, + -0.09307531735781778, + -0.9879200148427992 + ], + [ + 0.9050701411714547, + -0.4239688323491038, + -0.033143155498850545, + -0.4182249179180169, + -0.901505076277948, + 0.11124978866298928, + -0.07704516592461527, + -0.08682756844245536, + -0.9932396567626666 + ], + [ + 0.9128710481864918, + -0.4082195412106414, + -0.0048224015458506984, + -0.40524968805985584, + -0.9075323409387428, + 0.11026214435442129, + -0.04938764734511587, + -0.09870084256995547, + -0.9938908410714405 + ], + [ + 0.9193823967196136, + -0.3932813464253471, + -0.008111174758614347, + -0.39007944450460513, + -0.914169015058464, + 0.11015007436228089, + -0.0507349541940995, + -0.09810603682191743, + -0.993881869218882 + ], + [ + 0.9162334787685545, + -0.39979953916356814, + -0.02601039923321949, + -0.3961485812405239, + -0.91373889216453, + 0.09026371655907854, + -0.05985410566362964, + -0.07239865627576379, + -0.9955781840742951 + ], + [ + 0.9163736709897854, + -0.3993426636759297, + -0.028013069894567873, + -0.395203390413492, + -0.9135910503060459, + 0.09573752141337688, + -0.06382456676222423, + -0.07666048375081602, + -0.9950123591738472 + ], + [ + 0.9110979273880371, + -0.4094477412679126, + -0.04746697672937761, + -0.4042877551593139, + -0.910126903284921, + 0.09066659222250717, + -0.08032420393297032, + -0.06341582679114316, + -0.9947494434152402 + ], + [ + 0.904913673135127, + -0.42161270032101417, + -0.058085928598200824, + -0.4157827555786472, + -0.9049158928846736, + 0.09084011761419715, + -0.09086222722627646, + -0.058051337045385606, + -0.9941700548350487 + ], + [ + 0.8888107442275295, + -0.45776246274291904, + -0.021656145761492083, + -0.45737976685645615, + -0.8890359246452945, + 0.020466400768580053, + -0.02862184159063016, + -0.008285673999379836, + -0.9995559703139875 + ], + [ + 0.8813948362399376, + -0.4613105674463264, + 0.10166465960166421, + -0.459761182726472, + -0.8871596386180223, + -0.03959078762914629, + 0.10845643137928512, + -0.011846348360943778, + -0.9940306164917567 + ], + [ + 0.8816731285207337, + -0.44434789095619315, + 0.1587685304058873, + -0.43510892807921836, + -0.8957870222424387, + -0.09080656081902097, + 0.18257249286301508, + 0.01098009948989611, + -0.9831310809169734 + ], + [ + 0.8844695692305936, + -0.44350583470013766, + 0.14496949917821442, + -0.43317765427058325, + -0.8959500900325196, + -0.09813539632240276, + 0.17340905670028653, + 0.024000224116748993, + -0.9845574073138968 + ], + [ + 0.8885833272800447, + -0.43850331988462704, + 0.13466443082746613, + -0.4289396090214988, + -0.898337726044849, + -0.09486907703279196, + 0.16257454380193945, + 0.026536171817549165, + -0.9863393682160623 + ], + [ + 0.8910641695675316, + -0.43814493741197735, + 0.11846374775930033, + -0.42932537793260594, + -0.8983277455521474, + -0.09320397756652318, + 0.14725612237170219, + 0.03219123159263032, + -0.9885744074335525 + ], + [ + 0.8908587505112804, + -0.44061168214243873, + 0.11059851806009874, + -0.4309261305835478, + -0.8966895178363087, + -0.10124514103293265, + 0.14378232373198918, + 0.04253532840002379, + -0.988694790731766 + ], + [ + 0.8825590919305607, + -0.4446040485735425, + 0.15302512618102596, + -0.4295195116231727, + -0.8947296502349252, + -0.12235947909941237, + 0.19131763741405314, + 0.04226219329972518, + -0.9806179014436772 + ], + [ + 0.8745382734487527, + -0.4545643703206339, + 0.16897941149228887, + -0.43275766185880216, + -0.8887563040338012, + -0.15110604932523386, + 0.21886894337885707, + 0.05902088846487273, + -0.9739676177106915 + ], + [ + 0.8598203088687135, + -0.47870669443370645, + 0.17762020482271718, + -0.45379341279946056, + -0.8758983358144985, + -0.16393182673663556, + 0.23405250470082228, + 0.06034903496946637, + -0.9703491222346345 + ], + [ + 0.8496815260156997, + -0.48954680240707715, + 0.1959214960147008, + -0.4662591335366756, + -0.8710653542993285, + -0.15442658104424323, + 0.24625946629776638, + 0.03986322606603607, + -0.9683838074164333 + ], + [ + 0.8573219170343227, + -0.47371487781746163, + 0.20147790227958157, + -0.44948485105555963, + -0.879637035364109, + -0.15557009573630126, + 0.2509232935463636, + 0.04281238781273461, + -0.967059770751331 + ], + [ + 0.8634749341739533, + -0.46950867944795827, + 0.18431667850827088, + -0.45332320662926573, + -0.8826019358913929, + -0.124546750628531, + 0.22115403768560715, + 0.02398796956392575, + -0.9749438286032447 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0057617127895355225, + -0.0001752227544784546, + -0.00979825109243393, + -0.01446748897433281, + 0.031977489590644836, + 0.0017525553703308105, + 1.0 + ], + [ + -0.020222246646881104, + 0.006868187338113785, + -0.009686458855867386, + -0.009826354682445526, + 0.045127298682928085, + 0.01840674877166748, + 1.0 + ], + [ + -0.010361403226852417, + 0.01166447252035141, + 0.00991613045334816, + 0.04629066586494446, + -0.0044062137603759766, + 0.0044487714767456055, + 1.0 + ], + [ + -0.017674356698989868, + 0.009750462137162685, + -0.005331110209226608, + 0.03461269289255142, + 0.03716307878494263, + -0.013856172561645508, + 1.0 + ], + [ + -0.008916109800338745, + 0.007552248425781727, + -0.00957399234175682, + 0.03821376711130142, + 0.02164609730243683, + 0.017562031745910645, + 1.0 + ], + [ + -0.0029695630073547363, + 0.003172798315063119, + -0.013538666069507599, + 0.04906719923019409, + 0.03247720003128052, + -0.003535032272338867, + 1.0 + ], + [ + -0.00238722562789917, + 0.004310013726353645, + -0.021516241133213043, + 0.013124793767929077, + 0.04966577887535095, + 0.0012840032577514648, + 1.0 + ], + [ + -0.004266589879989624, + 0.0032420093193650246, + -0.012414174154400826, + 0.003780752420425415, + 0.03251929581165314, + -0.008433878421783447, + 1.0 + ], + [ + -0.011329784989356995, + 0.0042482647113502026, + -0.006430388428270817, + 0.0036341845989227295, + 0.029687553644180298, + -0.009797990322113037, + 1.0 + ], + [ + -0.014284998178482056, + 0.003434784710407257, + -0.0038133119232952595, + -0.01141059398651123, + 0.028795689344406128, + -0.011035323143005371, + 1.0 + ], + [ + -0.0016105473041534424, + 0.004404881037771702, + -0.0005126306787133217, + 0.001976296305656433, + -0.0072876811027526855, + 0.014836251735687256, + 0.0 + ], + [ + 0.0008486062288284302, + 0.0002366919070482254, + -0.0017584338784217834, + 0.00013312697410583496, + -0.001409769058227539, + -0.0012894868850708008, + 0.0 + ], + [ + 0.0014439970254898071, + 2.7777627110481262e-05, + -0.0011251196265220642, + 0.006121054291725159, + -0.00566476583480835, + 0.012309849262237549, + 0.0 + ], + [ + 0.002676248550415039, + 0.00045838765799999237, + -0.0012996401637792587, + 0.007988348603248596, + -0.0005559623241424561, + 0.011730074882507324, + 0.0 + ], + [ + 0.0003024935722351074, + 0.00045699067413806915, + 3.7952326238155365e-05, + -0.007568612694740295, + -0.003924906253814697, + 0.008462667465209961, + 0.0 + ], + [ + 0.0009541213512420654, + 0.005831154063344002, + 0.0036662546917796135, + -0.03410309553146362, + -0.022515520453453064, + 0.007915973663330078, + 0.0 + ], + [ + -0.0024839937686920166, + 0.007192991673946381, + 0.008279923349618912, + -0.033763110637664795, + -0.01557953655719757, + 0.008542060852050781, + 0.0 + ], + [ + 0.0025400519371032715, + 0.010827697813510895, + 0.01884222961962223, + -0.02463144063949585, + -0.03236012160778046, + 0.038997799158096313, + 0.0 + ], + [ + 0.008942276239395142, + 0.005302794277667999, + 0.011416459456086159, + -0.019134730100631714, + -0.0177934467792511, + 0.030454635620117188, + 0.0 + ], + [ + 0.01721338927745819, + -0.0013339892029762268, + 0.014616347849369049, + -0.014316536486148834, + -0.04184460639953613, + 0.0009889304637908936, + 0.0 + ], + [ + 0.019703567028045654, + -0.0029848776757717133, + 0.018308915197849274, + -0.006739258766174316, + -0.04709688574075699, + 0.005798250436782837, + 0.0 + ], + [ + 0.023432642221450806, + 0.0019224770367145538, + 0.014872223138809204, + 0.011786110699176788, + -0.027713846415281296, + 0.015069723129272461, + 0.0 + ], + [ + 0.026336967945098877, + 0.0017764419317245483, + 0.0028850361704826355, + -0.000591769814491272, + 0.0013489983975887299, + 0.016529381275177002, + 0.0 + ], + [ + 0.03241539001464844, + -0.00017207860946655273, + -0.005164705216884613, + -0.025798790156841278, + 0.009133156388998032, + -0.006829261779785156, + 0.0 + ], + [ + 0.02162352204322815, + 0.0027235597372055054, + -0.004340842366218567, + 0.004300422966480255, + 0.003978077322244644, + 0.0009250938892364502, + 0.0 + ], + [ + 0.020992785692214966, + -5.593523383140564e-05, + -0.0185956209897995, + -0.013228453695774078, + 0.01654285192489624, + -0.01046493649482727, + 0.0 + ], + [ + 0.0029108524322509766, + 0.00040189921855926514, + -0.013142604380846024, + -0.0053388699889183044, + 0.010576888918876648, + -0.013069778680801392, + 0.0 + ], + [ + -0.006560981273651123, + -0.010268356651067734, + -0.024186983704566956, + -0.050036363303661346, + -0.06236197054386139, + -0.044554173946380615, + 0.0 + ], + [ + -0.005706697702407837, + 0.004388131201267242, + -0.0011222250759601593, + 0.0036277594044804573, + -0.1372959464788437, + -0.005543500185012817, + 0.0 + ], + [ + 0.00024187564849853516, + 0.007820755243301392, + -0.004227865487337112, + -0.023084960877895355, + -0.07493209838867188, + 0.022363722324371338, + 1.0 + ], + [ + -0.002391040325164795, + -0.0011973753571510315, + -0.0005497029051184654, + -0.013203800655901432, + 0.009312167763710022, + 0.0030151009559631348, + 1.0 + ], + [ + -0.001634150743484497, + 0.0005179569125175476, + -0.00028257444500923157, + -0.002525368705391884, + 0.010990768671035767, + 0.005691230297088623, + 1.0 + ], + [ + -0.0023661255836486816, + 0.0002992488443851471, + -3.089848905801773e-05, + -0.0056545790284872055, + 0.015505775809288025, + 0.0007391273975372314, + 1.0 + ], + [ + -0.0022258460521698, + -0.0020360276103019714, + 0.00847245566546917, + -0.010443400591611862, + 0.003511175513267517, + -0.0015473365783691406, + 1.0 + ], + [ + 0.0024821460247039795, + -0.003493804484605789, + 0.027871644124388695, + -7.567554712295532e-05, + -0.04822200536727905, + -0.002392023801803589, + 1.0 + ], + [ + -0.0026560425758361816, + -0.0054583437740802765, + 0.020503435283899307, + -0.01745353639125824, + -0.028150752186775208, + -0.0065811872482299805, + 1.0 + ], + [ + -0.005297422409057617, + -0.002624835819005966, + 0.0208376944065094, + -0.0015887171030044556, + -0.015588730573654175, + -0.026109367609024048, + 1.0 + ], + [ + -0.008421063423156738, + -0.00047536566853523254, + 0.021220043301582336, + 0.020971644669771194, + -0.012575075030326843, + -0.01625823974609375, + 1.0 + ], + [ + -0.008181124925613403, + 0.00519760325551033, + 0.008599437773227692, + -0.003100316971540451, + -0.0048149824142456055, + 0.018989920616149902, + 1.0 + ], + [ + -0.004354149103164673, + 0.007817283272743225, + -0.003289639949798584, + 0.019642286002635956, + 0.030636295676231384, + -0.0005561411380767822, + 1.0 + ], + [ + -7.596611976623535e-05, + 0.0005602724850177765, + 0.0, + 0.0, + 0.0, + 0.0015339851379394531, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9560673832893372 + ], + [ + 0.6611326336860657 + ], + [ + 0.3831871449947357 + ], + [ + 0.16443414986133575 + ], + [ + 0.057568058371543884 + ], + [ + 0.04860575497150421 + ], + [ + 0.04860575497150421 + ], + [ + 0.04860575497150421 + ], + [ + 0.04860575497150421 + ], + [ + 0.04860575497150421 + ], + [ + 0.04860575497150421 + ], + [ + 0.04860575497150421 + ], + [ + 0.04860575497150421 + ], + [ + 0.04860575497150421 + ], + [ + 0.04860575497150421 + ], + [ + 0.04860575497150421 + ], + [ + 0.04860575497150421 + ], + [ + 0.04860575497150421 + ], + [ + 0.04860575497150421 + ], + [ + 0.06354815512895584 + ], + [ + 0.20382753014564514 + ], + [ + 0.43382158875465393 + ], + [ + 0.7061693072319031 + ], + [ + 0.9643021821975708 + ], + [ + 1.0118417739868164 + ], + [ + 1.003452181816101 + ], + [ + 0.9974852800369263 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3265189826488495, + -0.042506176978349686, + 0.06577932089567184 + ], + [ + 0.3062967360019684, + -0.0356379896402359, + 0.05609286203980446 + ], + [ + 0.29593533277511597, + -0.02397351711988449, + 0.06600899249315262 + ], + [ + 0.2782609760761261, + -0.014223054982721806, + 0.06067788228392601 + ], + [ + 0.26934486627578735, + -0.006670806556940079, + 0.05110388994216919 + ], + [ + 0.2663753032684326, + -0.00349800824187696, + 0.03756522387266159 + ], + [ + 0.26398807764053345, + 0.0008120056590996683, + 0.016048982739448547 + ], + [ + 0.2597214877605438, + 0.004054015036672354, + 0.0036348088178783655 + ], + [ + 0.24839170277118683, + 0.008302279748022556, + -0.0027955793775618076 + ], + [ + 0.23410670459270477, + 0.011737064458429813, + -0.006608891300857067 + ], + [ + 0.23249615728855133, + 0.016141945496201515, + -0.007121521979570389 + ], + [ + 0.23334476351737976, + 0.01637863740324974, + -0.008879955857992172 + ], + [ + 0.23478876054286957, + 0.016406415030360222, + -0.010005075484514236 + ], + [ + 0.2374650090932846, + 0.016864802688360214, + -0.011304715648293495 + ], + [ + 0.23776750266551971, + 0.017321793362498283, + -0.01126676332205534 + ], + [ + 0.23872162401676178, + 0.023152947425842285, + -0.007600508630275726 + ], + [ + 0.23623763024806976, + 0.030345939099788666, + 0.000679414311889559 + ], + [ + 0.23877768218517303, + 0.04117363691329956, + 0.019521644338965416 + ], + [ + 0.24771995842456818, + 0.04647643119096756, + 0.030938103795051575 + ], + [ + 0.26493334770202637, + 0.04514244198799133, + 0.045554451644420624 + ], + [ + 0.284636914730072, + 0.04215756431221962, + 0.0638633668422699 + ], + [ + 0.3080695569515228, + 0.044080041348934174, + 0.0787355899810791 + ], + [ + 0.3344065248966217, + 0.04585648328065872, + 0.08162062615156174 + ], + [ + 0.36682191491127014, + 0.04568440467119217, + 0.07645592093467712 + ], + [ + 0.3884454369544983, + 0.048407964408397675, + 0.07211507856845856 + ], + [ + 0.40943822264671326, + 0.04835202917456627, + 0.05351945757865906 + ], + [ + 0.41234907507896423, + 0.048753928393125534, + 0.040376853197813034 + ], + [ + 0.4057880938053131, + 0.0384855717420578, + 0.01618986949324608 + ], + [ + 0.4000813961029053, + 0.04287370294332504, + 0.01506764441728592 + ], + [ + 0.4003232717514038, + 0.050694458186626434, + 0.010839778929948807 + ], + [ + 0.397932231426239, + 0.0494970828294754, + 0.010290076024830341 + ], + [ + 0.3962980806827545, + 0.05001503974199295, + 0.01000750157982111 + ], + [ + 0.39393195509910583, + 0.0503142885863781, + 0.009976603090763092 + ], + [ + 0.39170610904693604, + 0.048278260976076126, + 0.01844905875623226 + ], + [ + 0.39418825507164, + 0.04478445649147034, + 0.046320702880620956 + ], + [ + 0.39153221249580383, + 0.03932611271739006, + 0.06682413816452026 + ], + [ + 0.3862347900867462, + 0.036701276898384094, + 0.08766183257102966 + ], + [ + 0.3778137266635895, + 0.03622591122984886, + 0.108881875872612 + ], + [ + 0.3696326017379761, + 0.04142351448535919, + 0.11748131364583969 + ], + [ + 0.3652784526348114, + 0.04924079775810242, + 0.11419167369604111 + ], + [ + 0.36520248651504517, + 0.049801070243120193, + 0.11419167369604111 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.843702044731753, + -0.5363156669785747, + 0.02307303770173099, + -0.5368115407270138, + -0.842883658941435, + 0.037155177725157404, + -0.00047901748244657226, + -0.04373377233700568, + -0.9990431060266751 + ], + [ + 0.8525522211732578, + -0.5222114869508285, + -0.021210211435743025, + -0.5206498015335927, + -0.8521427903525269, + 0.05269202039435947, + -0.04559050707740298, + -0.03387960665081262, + -0.9983855357113359 + ], + [ + 0.855023634209694, + -0.5185504874621413, + 0.006322728495106809, + -0.5169507682708084, + -0.8512908427279342, + 0.08980982280232136, + -0.04118844652409288, + -0.08005806043328265, + -0.9959388629994276 + ], + [ + 0.8458949728957508, + -0.5333226302458552, + -0.005354147676371816, + -0.527573185725624, + -0.8381649841892607, + 0.13836904633021546, + -0.07828300283595424, + -0.11422097594863954, + -0.9903662656413166 + ], + [ + 0.8533757917260932, + -0.5212588507026371, + -0.006242488288299403, + -0.5116455841544726, + -0.8398109050360953, + 0.18148399377819294, + -0.09984264775681934, + -0.15168010530923434, + -0.9833740851488244 + ], + [ + 0.8483380575900888, + -0.5294096332557939, + -0.006926778489392549, + -0.512710768346104, + -0.824702969870065, + 0.23873139615359107, + -0.1320992356761504, + -0.1989734949772477, + -0.9710609353847556 + ], + [ + 0.8423317554053982, + -0.5373717133840021, + -0.04133830536442294, + -0.5076052681878129, + -0.8167711674667839, + 0.27426584129804643, + -0.18114664099463418, + -0.21003928596738417, + -0.9607650039456436 + ], + [ + 0.8325589614591754, + -0.55028680451038, + -0.06348234774939092, + -0.5113367508501615, + -0.8075411171804855, + 0.29395930210301857, + -0.21302653103315466, + -0.2122775938356395, + -0.9537074605094228 + ], + [ + 0.8217888477673982, + -0.5637953244972395, + -0.08244951036958803, + -0.5158786464699526, + -0.7976411600831012, + 0.3124704815780439, + -0.24193451965658375, + -0.2142508152057713, + -0.946342578764266 + ], + [ + 0.8098493561798129, + -0.5765329216557105, + -0.10841499223941818, + -0.5209297855558921, + -0.7917377238852297, + 0.31903531951451464, + -0.269770604061738, + -0.20189394944912673, + -0.9415214571957449 + ], + [ + 0.8191359323287025, + -0.5636840700364286, + -0.10619130640101229, + -0.5098831788169441, + -0.800360528204467, + 0.3153445240555076, + -0.2627460148651456, + -0.20416486984648696, + -0.9430170929485061 + ], + [ + 0.8187911635765728, + -0.5644853792764413, + -0.10458148513027618, + -0.511134661091029, + -0.799743532908357, + 0.3148835337114639, + -0.26138551734991167, + -0.2043686330002523, + -0.9433509809001775 + ], + [ + 0.8262733129547474, + -0.5542333261802348, + -0.10048797166815249, + -0.5017775202401158, + -0.8053153589080072, + 0.3157316786268802, + -0.25591352539572065, + -0.21045805486619135, + -0.9435124136234101 + ], + [ + 0.8322245608202132, + -0.5454595496039706, + -0.09937887156451537, + -0.492123317832384, + -0.8092842381928295, + 0.32073924277876853, + -0.25537603727297753, + -0.21802041546260076, + -0.9419395830032122 + ], + [ + 0.8372199980405971, + -0.5370869319916026, + -0.10295776981243339, + -0.48556206850205197, + -0.8166844839795939, + 0.3118588322606765, + -0.2515793165443276, + -0.21110206325574327, + -0.9445336237404452 + ], + [ + 0.8457461587366989, + -0.5231944584498469, + -0.10479023632710165, + -0.4816008506182776, + -0.8330357299082102, + 0.27223536394092324, + -0.22972604481396924, + -0.17977494637370056, + -0.9565076648885064 + ], + [ + 0.8528509973097991, + -0.5101411780199295, + -0.11136047268272527, + -0.47604571091124287, + -0.8472775186861422, + 0.23558711223677642, + -0.21453591193711785, + -0.14790802823881033, + -0.9654519965652444 + ], + [ + 0.8764949277912957, + -0.4700163763187125, + -0.10412131169150093, + -0.4453454733645055, + -0.873775775709303, + 0.1954054838978456, + -0.1828224573455812, + -0.1249019606564806, + -0.975179701036835 + ], + [ + 0.8924519218390924, + -0.4392927246481849, + -0.1027203449998289, + -0.4197680129700627, + -0.8920021975491699, + 0.16771074758230736, + -0.16530088473107213, + -0.10655506388072367, + -0.9804701096252242 + ], + [ + 0.8983452618012013, + -0.43337681582112225, + -0.0718354098483209, + -0.42145552674936676, + -0.8963936193478212, + 0.1373088422678132, + -0.12389927187738012, + -0.09307531735781778, + -0.9879200148427992 + ], + [ + 0.9050701411714547, + -0.4239688323491038, + -0.033143155498850545, + -0.4182249179180169, + -0.901505076277948, + 0.11124978866298928, + -0.07704516592461527, + -0.08682756844245536, + -0.9932396567626666 + ], + [ + 0.9128710481864918, + -0.4082195412106414, + -0.0048224015458506984, + -0.40524968805985584, + -0.9075323409387428, + 0.11026214435442129, + -0.04938764734511587, + -0.09870084256995547, + -0.9938908410714405 + ], + [ + 0.9193823967196136, + -0.3932813464253471, + -0.008111174758614347, + -0.39007944450460513, + -0.914169015058464, + 0.11015007436228089, + -0.0507349541940995, + -0.09810603682191743, + -0.993881869218882 + ], + [ + 0.9162334787685545, + -0.39979953916356814, + -0.02601039923321949, + -0.3961485812405239, + -0.91373889216453, + 0.09026371655907854, + -0.05985410566362964, + -0.07239865627576379, + -0.9955781840742951 + ], + [ + 0.9163736709897854, + -0.3993426636759297, + -0.028013069894567873, + -0.395203390413492, + -0.9135910503060459, + 0.09573752141337688, + -0.06382456676222423, + -0.07666048375081602, + -0.9950123591738472 + ], + [ + 0.9110979273880371, + -0.4094477412679126, + -0.04746697672937761, + -0.4042877551593139, + -0.910126903284921, + 0.09066659222250717, + -0.08032420393297032, + -0.06341582679114316, + -0.9947494434152402 + ], + [ + 0.904913673135127, + -0.42161270032101417, + -0.058085928598200824, + -0.4157827555786472, + -0.9049158928846736, + 0.09084011761419715, + -0.09086222722627646, + -0.058051337045385606, + -0.9941700548350487 + ], + [ + 0.8888107442275295, + -0.45776246274291904, + -0.021656145761492083, + -0.45737976685645615, + -0.8890359246452945, + 0.020466400768580053, + -0.02862184159063016, + -0.008285673999379836, + -0.9995559703139875 + ], + [ + 0.8813948362399376, + -0.4613105674463264, + 0.10166465960166421, + -0.459761182726472, + -0.8871596386180223, + -0.03959078762914629, + 0.10845643137928512, + -0.011846348360943778, + -0.9940306164917567 + ], + [ + 0.8816731285207337, + -0.44434789095619315, + 0.1587685304058873, + -0.43510892807921836, + -0.8957870222424387, + -0.09080656081902097, + 0.18257249286301508, + 0.01098009948989611, + -0.9831310809169734 + ], + [ + 0.8844695692305936, + -0.44350583470013766, + 0.14496949917821442, + -0.43317765427058325, + -0.8959500900325196, + -0.09813539632240276, + 0.17340905670028653, + 0.024000224116748993, + -0.9845574073138968 + ], + [ + 0.8885833272800447, + -0.43850331988462704, + 0.13466443082746613, + -0.4289396090214988, + -0.898337726044849, + -0.09486907703279196, + 0.16257454380193945, + 0.026536171817549165, + -0.9863393682160623 + ], + [ + 0.8910641695675316, + -0.43814493741197735, + 0.11846374775930033, + -0.42932537793260594, + -0.8983277455521474, + -0.09320397756652318, + 0.14725612237170219, + 0.03219123159263032, + -0.9885744074335525 + ], + [ + 0.8908587505112804, + -0.44061168214243873, + 0.11059851806009874, + -0.4309261305835478, + -0.8966895178363087, + -0.10124514103293265, + 0.14378232373198918, + 0.04253532840002379, + -0.988694790731766 + ], + [ + 0.8825590919305607, + -0.4446040485735425, + 0.15302512618102596, + -0.4295195116231727, + -0.8947296502349252, + -0.12235947909941237, + 0.19131763741405314, + 0.04226219329972518, + -0.9806179014436772 + ], + [ + 0.8745382734487527, + -0.4545643703206339, + 0.16897941149228887, + -0.43275766185880216, + -0.8887563040338012, + -0.15110604932523386, + 0.21886894337885707, + 0.05902088846487273, + -0.9739676177106915 + ], + [ + 0.8598203088687135, + -0.47870669443370645, + 0.17762020482271718, + -0.45379341279946056, + -0.8758983358144985, + -0.16393182673663556, + 0.23405250470082228, + 0.06034903496946637, + -0.9703491222346345 + ], + [ + 0.8496815260156997, + -0.48954680240707715, + 0.1959214960147008, + -0.4662591335366756, + -0.8710653542993285, + -0.15442658104424323, + 0.24625946629776638, + 0.03986322606603607, + -0.9683838074164333 + ], + [ + 0.8573219170343227, + -0.47371487781746163, + 0.20147790227958157, + -0.44948485105555963, + -0.879637035364109, + -0.15557009573630126, + 0.2509232935463636, + 0.04281238781273461, + -0.967059770751331 + ], + [ + 0.8634749341739533, + -0.46950867944795827, + 0.18431667850827088, + -0.45332320662926573, + -0.8826019358913929, + -0.124546750628531, + 0.22115403768560715, + 0.02398796956392575, + -0.9749438286032447 + ], + [ + 0.8641693090371575, + -0.4681542293237922, + 0.1845075144390813, + -0.4519981160730591, + -0.8833211165156454, + -0.1242638651578124, + 0.22115403768560715, + 0.023987969563925744, + -0.9749438286032448 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006746.json b/json/chunk-0006/episode_0006746.json new file mode 100644 index 0000000000000000000000000000000000000000..350e918a2420891933bb22f25b4df7230bd6aaec --- /dev/null +++ b/json/chunk-0006/episode_0006746.json @@ -0,0 +1,2182 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 35, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nOpen microwave." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006746.mp4", + "start": 0, + "end": 35, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.17214509844779968, + 0.09997941553592682, + 0.05598003789782524, + 0.03372840955853462, + -0.02114288881421089, + 0.17613177001476288, + 0.0, + 0.9941151142120361 + ], + [ + 0.17118953168392181, + 0.09858918935060501, + 0.05291052907705307, + 0.023735208436846733, + -0.006654627155512571, + 0.17698495090007782, + 0.0, + 0.9941151142120361 + ], + [ + 0.19909976422786713, + 0.10564965009689331, + 0.0615844689309597, + 0.007624175399541855, + -0.049731895327568054, + 0.12622149288654327, + 0.0, + 0.9941151142120361 + ], + [ + 0.22722694277763367, + 0.1059938445687294, + 0.06943123042583466, + -0.007741464767605066, + -0.09109377861022949, + 0.12157253921031952, + 0.0, + 0.9941151142120361 + ], + [ + 0.25058209896087646, + 0.10384930670261383, + 0.07270915806293488, + -0.016805877909064293, + -0.097206711769104, + 0.1238880455493927, + 0.0, + 0.9941151142120361 + ], + [ + 0.27701863646507263, + 0.10879600048065186, + 0.07731571793556213, + -0.03887564316391945, + -0.11243398487567902, + 0.12223160266876221, + 0.0, + 0.9941151142120361 + ], + [ + 0.2901741564273834, + 0.1127367913722992, + 0.08056135475635529, + -0.03871050104498863, + -0.13844911754131317, + 0.11925828456878662, + 0.0, + 0.9941151142120361 + ], + [ + 0.2860819399356842, + 0.11178748309612274, + 0.07467842102050781, + -0.03556360304355621, + -0.13113892078399658, + 0.11668601632118225, + 0.0, + 0.9941151142120361 + ], + [ + 0.27833107113838196, + 0.11211954057216644, + 0.07168416678905487, + -0.03767140582203865, + -0.11389583349227905, + 0.10842088609933853, + 0.0, + 0.9941151142120361 + ], + [ + 0.2865918278694153, + 0.12414731085300446, + 0.0837545394897461, + -0.025247259065508842, + -0.14351511001586914, + 0.13057160377502441, + 0.0, + 0.9941151142120361 + ], + [ + 0.29403936862945557, + 0.13541598618030548, + 0.08310134708881378, + -0.02030525729060173, + -0.1552501618862152, + 0.1455843299627304, + 0.0, + 0.9941151142120361 + ], + [ + 0.3070392608642578, + 0.15192630887031555, + 0.09292621910572052, + -0.007885994389653206, + -0.20029252767562866, + 0.18305598199367523, + 0.0, + 0.9941151142120361 + ], + [ + 0.3130212426185608, + 0.15796247124671936, + 0.08491086214780807, + 0.009089146740734577, + -0.19638527929782867, + 0.17483031749725342, + 0.0, + 0.9941151142120361 + ], + [ + 0.3148862421512604, + 0.15605604648590088, + 0.08469337970018387, + -0.002707807347178459, + -0.18905547261238098, + 0.11627737432718277, + 0.0, + 0.9468915462493896 + ], + [ + 0.3160894811153412, + 0.15238052606582642, + 0.08452114462852478, + -0.018462838605046272, + -0.19882379472255707, + 0.027978643774986267, + 0.0, + 0.7011857628822327 + ], + [ + 0.31584492325782776, + 0.1490822285413742, + 0.08235511928796768, + -0.02427421510219574, + -0.22657041251659393, + -0.0056653921492397785, + 0.0, + 0.4411471486091614 + ], + [ + 0.3155367076396942, + 0.144327774643898, + 0.07546234875917435, + -0.008580104447901249, + -0.23128308355808258, + -0.022570908069610596, + 0.0, + 0.24121350049972534 + ], + [ + 0.312847375869751, + 0.14112578332424164, + 0.07428618520498276, + -0.004591086413711309, + -0.24965152144432068, + -0.017317157238721848, + 0.0, + 0.22171935439109802 + ], + [ + 0.29168060421943665, + 0.1355983018875122, + 0.07384852319955826, + -0.003906151745468378, + -0.23890358209609985, + -0.01717676967382431, + 0.0, + 0.24523308873176575 + ], + [ + 0.2630860507488251, + 0.13305234909057617, + 0.07380351424217224, + -0.023295415565371513, + -0.23058563470840454, + -0.033500924706459045, + 0.0, + 0.24658186733722687 + ], + [ + 0.24076896905899048, + 0.13214051723480225, + 0.07840079069137573, + -0.03293877840042114, + -0.22477079927921295, + -0.07171494513750076, + 0.0, + 0.2965938150882721 + ], + [ + 0.2238130271434784, + 0.12913590669631958, + 0.0851229801774025, + -0.011028222739696503, + -0.16694511473178864, + -0.07937674969434738, + 0.0, + 0.562038779258728 + ], + [ + 0.20461170375347137, + 0.12291718274354935, + 0.11063950508832932, + -0.15404760837554932, + -0.021550608798861504, + -0.056664470583200455, + 0.0, + 0.8481387495994568 + ], + [ + 0.20975203812122345, + 0.12056619673967361, + 0.14376914501190186, + -0.2318931519985199, + 0.009551513940095901, + 0.07892557233572006, + 0.0, + 0.9947922229766846 + ], + [ + 0.2433806210756302, + 0.12437111139297485, + 0.1673167496919632, + -0.21933628618717194, + -0.052432913333177567, + 0.2379181981086731, + 0.0, + 0.9941151142120361 + ], + [ + 0.2705357074737549, + 0.13226884603500366, + 0.17625416815280914, + -0.23913460969924927, + -0.06702553480863571, + 0.3254840075969696, + 0.0, + 0.9941151142120361 + ], + [ + 0.2896699011325836, + 0.1409846693277359, + 0.1636885106563568, + -0.17579446732997894, + -0.09985682368278503, + 0.37652328610420227, + 0.0, + 0.9941151142120361 + ], + [ + 0.2976847290992737, + 0.14505168795585632, + 0.14827442169189453, + -0.10227833688259125, + -0.14032508432865143, + 0.3519427478313446, + 0.0, + 0.993436336517334 + ], + [ + 0.3088589012622833, + 0.15336622297763824, + 0.12804186344146729, + -0.09730441123247147, + -0.11573369801044464, + 0.40712907910346985, + 0.0, + 0.993436336517334 + ], + [ + 0.31413885951042175, + 0.16386514902114868, + 0.11797405779361725, + -0.06256213039159775, + -0.11910315603017807, + 0.44402003288269043, + 0.0, + 0.993436336517334 + ], + [ + 0.30352652072906494, + 0.1581641435623169, + 0.09618240594863892, + -0.0145935183390975, + -0.09318048506975174, + 0.3686124384403229, + 0.0, + 0.993436336517334 + ], + [ + 0.27907922863960266, + 0.14019152522087097, + 0.08605968952178955, + -0.008197588846087456, + -0.02692478522658348, + 0.25996723771095276, + 0.0, + 0.9941151142120361 + ], + [ + 0.25341710448265076, + 0.11257101595401764, + 0.08625771850347519, + -0.0029257109854370356, + 0.018225526437163353, + 0.1833634227514267, + 0.0, + 0.993436336517334 + ], + [ + 0.23113681375980377, + 0.06972779333591461, + 0.08336161822080612, + -0.0025528070982545614, + 0.08998575061559677, + 0.09886796027421951, + 0.0, + 0.9941151142120361 + ], + [ + 0.22110725939273834, + 0.03686675429344177, + 0.07762812823057175, + -0.016353478655219078, + 0.12630082666873932, + 0.06020480394363403, + 0.0, + 0.993436336517334 + ] + ], + "left_gripper_pos": [ + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9468915462493896 + ], + [ + 0.7011857628822327 + ], + [ + 0.4411471486091614 + ], + [ + 0.24121350049972534 + ], + [ + 0.22171935439109802 + ], + [ + 0.24523308873176575 + ], + [ + 0.24658186733722687 + ], + [ + 0.2965938150882721 + ], + [ + 0.562038779258728 + ], + [ + 0.8481387495994568 + ], + [ + 0.9947922229766846 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.993436336517334 + ], + [ + 0.993436336517334 + ], + [ + 0.993436336517334 + ], + [ + 0.993436336517334 + ], + [ + 0.9941151142120361 + ], + [ + 0.993436336517334 + ], + [ + 0.9941151142120361 + ], + [ + 0.993436336517334 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.17214509844779968, + 0.09997941553592682, + 0.05598003789782524 + ], + [ + 0.17118953168392181, + 0.09858918935060501, + 0.05291052907705307 + ], + [ + 0.19909976422786713, + 0.10564965009689331, + 0.0615844689309597 + ], + [ + 0.22722694277763367, + 0.1059938445687294, + 0.06943123042583466 + ], + [ + 0.25058209896087646, + 0.10384930670261383, + 0.07270915806293488 + ], + [ + 0.27701863646507263, + 0.10879600048065186, + 0.07731571793556213 + ], + [ + 0.2901741564273834, + 0.1127367913722992, + 0.08056135475635529 + ], + [ + 0.2860819399356842, + 0.11178748309612274, + 0.07467842102050781 + ], + [ + 0.27833107113838196, + 0.11211954057216644, + 0.07168416678905487 + ], + [ + 0.2865918278694153, + 0.12414731085300446, + 0.0837545394897461 + ], + [ + 0.29403936862945557, + 0.13541598618030548, + 0.08310134708881378 + ], + [ + 0.3070392608642578, + 0.15192630887031555, + 0.09292621910572052 + ], + [ + 0.3130212426185608, + 0.15796247124671936, + 0.08491086214780807 + ], + [ + 0.3148862421512604, + 0.15605604648590088, + 0.08469337970018387 + ], + [ + 0.3160894811153412, + 0.15238052606582642, + 0.08452114462852478 + ], + [ + 0.31584492325782776, + 0.1490822285413742, + 0.08235511928796768 + ], + [ + 0.3155367076396942, + 0.144327774643898, + 0.07546234875917435 + ], + [ + 0.312847375869751, + 0.14112578332424164, + 0.07428618520498276 + ], + [ + 0.29168060421943665, + 0.1355983018875122, + 0.07384852319955826 + ], + [ + 0.2630860507488251, + 0.13305234909057617, + 0.07380351424217224 + ], + [ + 0.24076896905899048, + 0.13214051723480225, + 0.07840079069137573 + ], + [ + 0.2238130271434784, + 0.12913590669631958, + 0.0851229801774025 + ], + [ + 0.20461170375347137, + 0.12291718274354935, + 0.11063950508832932 + ], + [ + 0.20975203812122345, + 0.12056619673967361, + 0.14376914501190186 + ], + [ + 0.2433806210756302, + 0.12437111139297485, + 0.1673167496919632 + ], + [ + 0.2705357074737549, + 0.13226884603500366, + 0.17625416815280914 + ], + [ + 0.2896699011325836, + 0.1409846693277359, + 0.1636885106563568 + ], + [ + 0.2976847290992737, + 0.14505168795585632, + 0.14827442169189453 + ], + [ + 0.3088589012622833, + 0.15336622297763824, + 0.12804186344146729 + ], + [ + 0.31413885951042175, + 0.16386514902114868, + 0.11797405779361725 + ], + [ + 0.30352652072906494, + 0.1581641435623169, + 0.09618240594863892 + ], + [ + 0.27907922863960266, + 0.14019152522087097, + 0.08605968952178955 + ], + [ + 0.25341710448265076, + 0.11257101595401764, + 0.08625771850347519 + ], + [ + 0.23113681375980377, + 0.06972779333591461, + 0.08336161822080612 + ], + [ + 0.22110725939273834, + 0.03686675429344177, + 0.07762812823057175 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9843088131998723, + 0.17582475009949763, + 0.014893539186764764, + 0.17518334713995878, + -0.9838439872376856, + 0.036902624040749885, + 0.021141313627567934, + -0.033714478028014014, + -0.9992078756842336 + ], + [ + 0.9843572070317442, + 0.1761683020940508, + 0.002370295754383542, + 0.17605852877885234, + -0.9840739301211958, + 0.0245335382700907, + 0.006654578039967092, + -0.023732454426865363, + -0.999696197450999 + ], + [ + 0.9908180977318357, + 0.12625893333743016, + 0.04835472013734602, + 0.12573095931095224, + -0.9919680934752134, + 0.013821266146714046, + 0.049711397866227476, + -0.007614675281651495, + -0.9987345961978793 + ], + [ + 0.9885035885185189, + 0.12057063555365863, + 0.09123254533442479, + 0.12077046946867714, + -0.9926748151760053, + 0.0033473899682240783, + 0.09096784701380137, + 0.00770929033510046, + -0.9958239892933908 + ], + [ + 0.987651015213846, + 0.12193543239032807, + 0.0983728746903498, + 0.12298801557506557, + -0.9923970977044125, + -0.004684921852759833, + 0.09705369736371183, + 0.016725752468656496, + -0.9951385979010112 + ], + [ + 0.9862720781367557, + 0.11750723104001692, + 0.11601482035116656, + 0.12115760631639153, + -0.9923207704274637, + -0.024906284546823913, + 0.11219724737928136, + 0.038620450949634906, + -0.9929351632654366 + ], + [ + 0.9833963409455774, + 0.11358360233499312, + 0.14152880235293547, + 0.11783733978257754, + -0.9927887675499881, + -0.022018727927411545, + 0.1380072388239671, + 0.03833051404797682, + -0.9896892308826052 + ], + [ + 0.9846719035700978, + 0.11172996922503009, + 0.13393153585550444, + 0.11542176446968214, + -0.9931131831256449, + -0.020100293250469553, + 0.13076336874807737, + 0.035250808203833854, + -0.990786718680984 + ], + [ + 0.9876871332701879, + 0.10387662260871175, + 0.11697766473957977, + 0.10750749805903764, + -0.9938860623320641, + -0.025152195990618582, + 0.11364974541812342, + 0.037418476418365106, + -0.9928159915054371 + ], + [ + 0.9812945151417914, + 0.1265795876972239, + 0.1450471734679356, + 0.12886235467014215, + -0.9916417475150763, + -0.0064139016294542835, + 0.14302296354607918, + 0.024985046800969236, + -0.9894039515460056 + ], + [ + 0.9775214167619473, + 0.14193437906992895, + 0.15590545792161814, + 0.14332582138575278, + -0.9896727953610307, + 0.002338171589741197, + 0.15462725728607823, + 0.020059665010101486, + -0.9877692145151457 + ], + [ + 0.9636344276071475, + 0.18048694535980206, + 0.1970612911886384, + 0.17839616721843746, + -0.9835470179608855, + 0.02846174594119385, + 0.19895601888863984, + 0.007728260796427149, + -0.9799779469626069 + ], + [ + 0.9658273895604118, + 0.17568032305407588, + 0.19056200478200244, + 0.17059760296802523, + -0.9844069072674289, + 0.042889378472293196, + 0.19512537363573304, + -0.008914315217172487, + -0.9807377955130129 + ], + [ + 0.9755498955025784, + 0.11550966129128419, + 0.1869757191008544, + 0.11394838750769894, + -0.9933027961833287, + 0.01911334818330676, + 0.1879312809760634, + 0.0026595568717055155, + -0.9821785786647673 + ], + [ + 0.9799159093275611, + 0.024325146032735195, + 0.1979219490537249, + 0.02742387437414484, + -0.9995402676250519, + -0.01292998493235165, + 0.19751643415435155, + 0.018098084609312278, + -0.9801325000082509 + ], + [ + 0.974426898035617, + -0.011115954611022287, + 0.22442962357445348, + -0.005520569562228619, + -0.9996584626119931, + -0.025543716251456173, + 0.2246369152574745, + 0.02365150484244086, + -0.974155461218739 + ], + [ + 0.9731251494664737, + -0.02453442428121406, + 0.22896616671692407, + -0.02196804892629312, + -0.999664100486361, + -0.013751037239651995, + 0.2292266308748285, + 0.00835154021625222, + -0.9733372506350464 + ], + [ + 0.9688532879299463, + -0.01845023790135049, + 0.24694715059849617, + -0.016779462058904973, + -0.9998198824931723, + -0.00886860892999016, + 0.2470662990380245, + 0.004448740577163688, + -0.9689883655580859 + ], + [ + 0.9714546850740766, + -0.018099997251726316, + 0.23653368670680786, + -0.01668809463271714, + -0.9998289786555131, + -0.007970002396678685, + 0.23663749141916696, + 0.0037951996207164496, + -0.9715906000547159 + ], + [ + 0.9729864638822354, + -0.03880621561738591, + 0.22757728078918749, + -0.03260814601712829, + -0.9989894095835552, + -0.030933288755411268, + 0.22854769724341867, + 0.02267679804022089, + -0.9732685718317292 + ], + [ + 0.9723394610761921, + -0.07893591849808125, + 0.21982969136339323, + -0.06985106096318854, + -0.9963625986465536, + -0.048809848397670115, + 0.22288293276152252, + 0.03210440451325789, + -0.9743164298596589 + ], + [ + 0.9829920955390058, + -0.08111536013750657, + 0.16476297659849687, + -0.07819100507103792, + -0.9966453931823553, + -0.02416871892280034, + 0.16617071593338922, + 0.010874676921684357, + -0.9860370350894707 + ], + [ + 0.9981631657162869, + -0.05926463884381503, + 0.012569693311796592, + -0.0566210010614868, + -0.9863848596933155, + -0.15439873965351394, + 0.02154894071725021, + 0.1534034261368065, + -0.9879286573449796 + ], + [ + 0.9968415201312257, + 0.07892151898053162, + 0.008853111558799885, + 0.07884006023764792, + -0.9700303038350487, + -0.22983788752815973, + -0.009551368707730719, + 0.22980992903590683, + -0.9731886599587566 + ], + [ + 0.9704951418955176, + 0.21895157316238273, + 0.10099202031307625, + 0.23535608685395948, + -0.9512351849068593, + -0.19939692920404833, + 0.05240889178365175, + 0.21728283780577456, + -0.9747007112222082 + ], + [ + 0.9453685879438782, + 0.29563690150974553, + 0.13739379678397076, + 0.3190494223007183, + -0.9256062350687199, + -0.20361867235469297, + 0.06697536157853845, + 0.23633010825459141, + -0.9693618420764236 + ], + [ + 0.9253160181676641, + 0.34580901994618474, + 0.15558402310712519, + 0.3658578687070497, + -0.9220268126296193, + -0.12654871274414564, + 0.09969095459205139, + 0.17401919007949757, + -0.979683129923447 + ], + [ + 0.9294778536408539, + 0.32951572715637273, + 0.16580200586180668, + 0.34133370518930767, + -0.9387219386464634, + -0.04787926070402901, + 0.1398650109674698, + 0.10109652546172154, + -0.9849960767671296 + ], + [ + 0.9121185494271423, + 0.3838000474711715, + 0.1440044282376496, + 0.39332576645986045, + -0.9183599922198423, + -0.04370087102947401, + 0.11547550922030705, + 0.09650102720229395, + -0.9886116317944136 + ], + [ + 0.8966346258839774, + 0.42202421031823173, + 0.13394742838581294, + 0.4265298768779607, + -0.9044566535062599, + -0.005515982118232503, + 0.11882176482602523, + 0.06207840070048438, + -0.9909730876114137 + ], + [ + 0.928781452485522, + 0.35901644535852106, + 0.09204458420252769, + 0.3587582902799904, + -0.9332181309679041, + 0.01991002732670661, + 0.09304570207302597, + 0.014529693558506437, + -0.9955558172854165 + ], + [ + 0.9660481289349164, + 0.2568269800818691, + 0.02812320898073792, + 0.25695572320190474, + -0.9664226570440798, + -0.0010021305538320748, + 0.026921532183982206, + 0.008194525848881801, + -0.9996039620024416 + ], + [ + 0.983072680731479, + 0.18238928216082625, + -0.017385458069365072, + 0.18230735411060892, + -0.9832220465568754, + -0.006199661418043083, + -0.01822451745896692, + 0.0029252209092362562, + -0.9998296405118322 + ], + [ + 0.9910903151167001, + 0.09893493287381766, + -0.08917323779662834, + 0.09830760162565244, + -0.9950906566109932, + -0.011410547231193242, + -0.08986435747554672, + 0.002542475714036788, + -0.9959507683980927 + ], + [ + 0.9902373170408708, + 0.062216542289785445, + -0.12473635318222667, + 0.059689177793593035, + -0.9979308255300923, + -0.023901244970782082, + -0.12596530472325582, + 0.016222494331385513, + -0.9919019975197376 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0009555667638778687, + -0.0013902261853218079, + -0.003069508820772171, + -0.009993201121687889, + 0.014488261193037033, + 0.0008531808853149414, + 1.0 + ], + [ + 0.027910232543945312, + 0.0070604607462882996, + 0.008673939853906631, + -0.016111033037304878, + -0.043077267706394196, + -0.050763458013534546, + 1.0 + ], + [ + 0.02812717854976654, + 0.0003441944718360901, + 0.007846761494874954, + -0.015365639701485634, + -0.04136188328266144, + -0.004648953676223755, + 1.0 + ], + [ + 0.023355156183242798, + -0.00214453786611557, + 0.0032779276371002197, + -0.009064413607120514, + -0.006112933158874512, + 0.002315506339073181, + 1.0 + ], + [ + 0.026436537504196167, + 0.004946693778038025, + 0.004606559872627258, + -0.022069765254855156, + -0.015227273106575012, + -0.0016564428806304932, + 1.0 + ], + [ + 0.013155519962310791, + 0.003940790891647339, + 0.003245636820793152, + 0.00016514211893081665, + -0.026015132665634155, + -0.002973318099975586, + 1.0 + ], + [ + -0.004092216491699219, + -0.0009493082761764526, + -0.005882933735847473, + 0.003146898001432419, + 0.007310196757316589, + -0.00257226824760437, + 1.0 + ], + [ + -0.007750868797302246, + 0.00033205747604370117, + -0.002994254231452942, + -0.002107802778482437, + 0.01724308729171753, + -0.00826513022184372, + 1.0 + ], + [ + 0.008260756731033325, + 0.012027770280838013, + 0.012070372700691223, + 0.012424146756529808, + -0.029619276523590088, + 0.022150717675685883, + 1.0 + ], + [ + 0.007447540760040283, + 0.011268675327301025, + -0.000653192400932312, + 0.004942001774907112, + -0.01173505187034607, + 0.015012726187705994, + 1.0 + ], + [ + 0.012999892234802246, + 0.01651032269001007, + 0.009824872016906738, + 0.012419262900948524, + -0.04504236578941345, + 0.037471652030944824, + 1.0 + ], + [ + 0.0059819817543029785, + 0.006036162376403809, + -0.008015356957912445, + 0.016975142061710358, + 0.003907248377799988, + -0.008225664496421814, + 1.0 + ], + [ + 0.001864999532699585, + -0.0019064247608184814, + -0.00021748244762420654, + -0.011796954087913036, + 0.007329806685447693, + -0.05855294317007065, + 0.0 + ], + [ + 0.0012032389640808105, + -0.003675520420074463, + -0.00017223507165908813, + -0.015755031257867813, + -0.009768322110176086, + -0.0882987305521965, + 0.0 + ], + [ + -0.00024455785751342773, + -0.0032982975244522095, + -0.0021660253405570984, + -0.0058113764971494675, + -0.027746617794036865, + -0.03364403545856476, + 0.0 + ], + [ + -0.0003082156181335449, + -0.004754453897476196, + -0.006892770528793335, + 0.015694111585617065, + -0.0047126710414886475, + -0.016905516386032104, + 0.0 + ], + [ + -0.0026893317699432373, + -0.003201991319656372, + -0.0011761635541915894, + 0.0039890180341899395, + -0.018368437886238098, + 0.005253750830888748, + 0.0 + ], + [ + -0.02116677165031433, + -0.005527481436729431, + -0.0004376620054244995, + 0.0006849346682429314, + 0.010747939348220825, + 0.00014038756489753723, + 0.0 + ], + [ + -0.028594553470611572, + -0.002545952796936035, + -4.5008957386016846e-05, + -0.019389264285564423, + 0.008317947387695312, + -0.016324155032634735, + 0.0 + ], + [ + -0.022317081689834595, + -0.0009118318557739258, + 0.004597276449203491, + -0.00964336283504963, + 0.005814835429191589, + -0.03821402043104172, + 1.0 + ], + [ + -0.016955941915512085, + -0.003004610538482666, + 0.006722189486026764, + 0.02191055566072464, + 0.057825684547424316, + -0.007661804556846619, + 1.0 + ], + [ + -0.01920132339000702, + -0.006218723952770233, + 0.02551652491092682, + -0.14301937818527222, + 0.14539450407028198, + 0.022712279111146927, + 1.0 + ], + [ + 0.005140334367752075, + -0.0023509860038757324, + 0.03312963992357254, + -0.07784554362297058, + 0.031102122738957405, + 0.13559004664421082, + 1.0 + ], + [ + 0.03362858295440674, + 0.003804914653301239, + 0.02354760468006134, + 0.012556865811347961, + -0.06198442727327347, + 0.15899261832237244, + 1.0 + ], + [ + 0.027155086398124695, + 0.007897734642028809, + 0.008937418460845947, + -0.01979832351207733, + -0.014592621475458145, + 0.08756580948829651, + 1.0 + ], + [ + 0.019134193658828735, + 0.008715823292732239, + -0.012565657496452332, + 0.06334014236927032, + -0.03283128887414932, + 0.051039278507232666, + 1.0 + ], + [ + 0.008014827966690063, + 0.004067018628120422, + -0.01541408896446228, + 0.0735161304473877, + -0.040468260645866394, + -0.024580538272857666, + 1.0 + ], + [ + 0.011174172163009644, + 0.008314535021781921, + -0.020232558250427246, + 0.0049739256501197815, + 0.024591386318206787, + 0.055186331272125244, + 1.0 + ], + [ + 0.005279958248138428, + 0.010498926043510437, + -0.010067805647850037, + 0.03474228084087372, + -0.003369458019733429, + 0.03689095377922058, + 1.0 + ], + [ + -0.010612338781356812, + -0.005701005458831787, + -0.021791651844978333, + 0.04796861112117767, + 0.02592267096042633, + -0.07540759444236755, + 1.0 + ], + [ + -0.02444729208946228, + -0.017972618341445923, + -0.010122716426849365, + 0.006395929493010044, + 0.06625570356845856, + -0.10864520072937012, + 1.0 + ], + [ + -0.025662124156951904, + -0.027620509266853333, + 0.00019802898168563843, + 0.005271878093481064, + 0.045150309801101685, + -0.07660381495952606, + 1.0 + ], + [ + -0.022280290722846985, + -0.04284322261810303, + -0.0028961002826690674, + 0.00037290388718247414, + 0.07176022231578827, + -0.08449546247720718, + 1.0 + ], + [ + -0.01002955436706543, + -0.03286103904247284, + -0.005733489990234375, + -0.013800671324133873, + 0.03631507605314255, + -0.03866315633058548, + 1.0 + ], + [ + 0.0012134313583374023, + -0.01953713782131672, + -0.0043939948081970215, + 0.027515027672052383, + -0.032621175050735474, + -0.003591574728488922, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9468915462493896 + ], + [ + 0.7011857628822327 + ], + [ + 0.4411471486091614 + ], + [ + 0.24121350049972534 + ], + [ + 0.22171935439109802 + ], + [ + 0.24523308873176575 + ], + [ + 0.24658186733722687 + ], + [ + 0.2965938150882721 + ], + [ + 0.562038779258728 + ], + [ + 0.8481387495994568 + ], + [ + 0.9947922229766846 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.9941151142120361 + ], + [ + 0.993436336517334 + ], + [ + 0.993436336517334 + ], + [ + 0.993436336517334 + ], + [ + 0.993436336517334 + ], + [ + 0.9941151142120361 + ], + [ + 0.993436336517334 + ], + [ + 0.9941151142120361 + ], + [ + 0.993436336517334 + ], + [ + 0.993436336517334 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.17118953168392181, + 0.09858918935060501, + 0.05291052907705307 + ], + [ + 0.19909976422786713, + 0.10564965009689331, + 0.0615844689309597 + ], + [ + 0.22722694277763367, + 0.1059938445687294, + 0.06943123042583466 + ], + [ + 0.25058209896087646, + 0.10384930670261383, + 0.07270915806293488 + ], + [ + 0.27701863646507263, + 0.10879600048065186, + 0.07731571793556213 + ], + [ + 0.2901741564273834, + 0.1127367913722992, + 0.08056135475635529 + ], + [ + 0.2860819399356842, + 0.11178748309612274, + 0.07467842102050781 + ], + [ + 0.27833107113838196, + 0.11211954057216644, + 0.07168416678905487 + ], + [ + 0.2865918278694153, + 0.12414731085300446, + 0.0837545394897461 + ], + [ + 0.29403936862945557, + 0.13541598618030548, + 0.08310134708881378 + ], + [ + 0.3070392608642578, + 0.15192630887031555, + 0.09292621910572052 + ], + [ + 0.3130212426185608, + 0.15796247124671936, + 0.08491086214780807 + ], + [ + 0.3148862421512604, + 0.15605604648590088, + 0.08469337970018387 + ], + [ + 0.3160894811153412, + 0.15238052606582642, + 0.08452114462852478 + ], + [ + 0.31584492325782776, + 0.1490822285413742, + 0.08235511928796768 + ], + [ + 0.3155367076396942, + 0.144327774643898, + 0.07546234875917435 + ], + [ + 0.312847375869751, + 0.14112578332424164, + 0.07428618520498276 + ], + [ + 0.29168060421943665, + 0.1355983018875122, + 0.07384852319955826 + ], + [ + 0.2630860507488251, + 0.13305234909057617, + 0.07380351424217224 + ], + [ + 0.24076896905899048, + 0.13214051723480225, + 0.07840079069137573 + ], + [ + 0.2238130271434784, + 0.12913590669631958, + 0.0851229801774025 + ], + [ + 0.20461170375347137, + 0.12291718274354935, + 0.11063950508832932 + ], + [ + 0.20975203812122345, + 0.12056619673967361, + 0.14376914501190186 + ], + [ + 0.2433806210756302, + 0.12437111139297485, + 0.1673167496919632 + ], + [ + 0.2705357074737549, + 0.13226884603500366, + 0.17625416815280914 + ], + [ + 0.2896699011325836, + 0.1409846693277359, + 0.1636885106563568 + ], + [ + 0.2976847290992737, + 0.14505168795585632, + 0.14827442169189453 + ], + [ + 0.3088589012622833, + 0.15336622297763824, + 0.12804186344146729 + ], + [ + 0.31413885951042175, + 0.16386514902114868, + 0.11797405779361725 + ], + [ + 0.30352652072906494, + 0.1581641435623169, + 0.09618240594863892 + ], + [ + 0.27907922863960266, + 0.14019152522087097, + 0.08605968952178955 + ], + [ + 0.25341710448265076, + 0.11257101595401764, + 0.08625771850347519 + ], + [ + 0.23113681375980377, + 0.06972779333591461, + 0.08336161822080612 + ], + [ + 0.22110725939273834, + 0.03686675429344177, + 0.07762812823057175 + ], + [ + 0.22232069075107574, + 0.017329616472125053, + 0.07323413342237473 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9843572070317442, + 0.1761683020940508, + 0.002370295754383542, + 0.17605852877885234, + -0.9840739301211958, + 0.0245335382700907, + 0.006654578039967092, + -0.023732454426865363, + -0.999696197450999 + ], + [ + 0.9908180977318357, + 0.12625893333743016, + 0.04835472013734602, + 0.12573095931095224, + -0.9919680934752134, + 0.013821266146714046, + 0.049711397866227476, + -0.007614675281651495, + -0.9987345961978793 + ], + [ + 0.9885035885185189, + 0.12057063555365863, + 0.09123254533442479, + 0.12077046946867714, + -0.9926748151760053, + 0.0033473899682240783, + 0.09096784701380137, + 0.00770929033510046, + -0.9958239892933908 + ], + [ + 0.987651015213846, + 0.12193543239032807, + 0.0983728746903498, + 0.12298801557506557, + -0.9923970977044125, + -0.004684921852759833, + 0.09705369736371183, + 0.016725752468656496, + -0.9951385979010112 + ], + [ + 0.9862720781367557, + 0.11750723104001692, + 0.11601482035116656, + 0.12115760631639153, + -0.9923207704274637, + -0.024906284546823913, + 0.11219724737928136, + 0.038620450949634906, + -0.9929351632654366 + ], + [ + 0.9833963409455774, + 0.11358360233499312, + 0.14152880235293547, + 0.11783733978257754, + -0.9927887675499881, + -0.022018727927411545, + 0.1380072388239671, + 0.03833051404797682, + -0.9896892308826052 + ], + [ + 0.9846719035700978, + 0.11172996922503009, + 0.13393153585550444, + 0.11542176446968214, + -0.9931131831256449, + -0.020100293250469553, + 0.13076336874807737, + 0.035250808203833854, + -0.990786718680984 + ], + [ + 0.9876871332701879, + 0.10387662260871175, + 0.11697766473957977, + 0.10750749805903764, + -0.9938860623320641, + -0.025152195990618582, + 0.11364974541812342, + 0.037418476418365106, + -0.9928159915054371 + ], + [ + 0.9812945151417914, + 0.1265795876972239, + 0.1450471734679356, + 0.12886235467014215, + -0.9916417475150763, + -0.0064139016294542835, + 0.14302296354607918, + 0.024985046800969236, + -0.9894039515460056 + ], + [ + 0.9775214167619473, + 0.14193437906992895, + 0.15590545792161814, + 0.14332582138575278, + -0.9896727953610307, + 0.002338171589741197, + 0.15462725728607823, + 0.020059665010101486, + -0.9877692145151457 + ], + [ + 0.9636344276071475, + 0.18048694535980206, + 0.1970612911886384, + 0.17839616721843746, + -0.9835470179608855, + 0.02846174594119385, + 0.19895601888863984, + 0.007728260796427149, + -0.9799779469626069 + ], + [ + 0.9658273895604118, + 0.17568032305407588, + 0.19056200478200244, + 0.17059760296802523, + -0.9844069072674289, + 0.042889378472293196, + 0.19512537363573304, + -0.008914315217172487, + -0.9807377955130129 + ], + [ + 0.9755498955025784, + 0.11550966129128419, + 0.1869757191008544, + 0.11394838750769894, + -0.9933027961833287, + 0.01911334818330676, + 0.1879312809760634, + 0.0026595568717055155, + -0.9821785786647673 + ], + [ + 0.9799159093275611, + 0.024325146032735195, + 0.1979219490537249, + 0.02742387437414484, + -0.9995402676250519, + -0.01292998493235165, + 0.19751643415435155, + 0.018098084609312278, + -0.9801325000082509 + ], + [ + 0.974426898035617, + -0.011115954611022287, + 0.22442962357445348, + -0.005520569562228619, + -0.9996584626119931, + -0.025543716251456173, + 0.2246369152574745, + 0.02365150484244086, + -0.974155461218739 + ], + [ + 0.9731251494664737, + -0.02453442428121406, + 0.22896616671692407, + -0.02196804892629312, + -0.999664100486361, + -0.013751037239651995, + 0.2292266308748285, + 0.00835154021625222, + -0.9733372506350464 + ], + [ + 0.9688532879299463, + -0.01845023790135049, + 0.24694715059849617, + -0.016779462058904973, + -0.9998198824931723, + -0.00886860892999016, + 0.2470662990380245, + 0.004448740577163688, + -0.9689883655580859 + ], + [ + 0.9714546850740766, + -0.018099997251726316, + 0.23653368670680786, + -0.01668809463271714, + -0.9998289786555131, + -0.007970002396678685, + 0.23663749141916696, + 0.0037951996207164496, + -0.9715906000547159 + ], + [ + 0.9729864638822354, + -0.03880621561738591, + 0.22757728078918749, + -0.03260814601712829, + -0.9989894095835552, + -0.030933288755411268, + 0.22854769724341867, + 0.02267679804022089, + -0.9732685718317292 + ], + [ + 0.9723394610761921, + -0.07893591849808125, + 0.21982969136339323, + -0.06985106096318854, + -0.9963625986465536, + -0.048809848397670115, + 0.22288293276152252, + 0.03210440451325789, + -0.9743164298596589 + ], + [ + 0.9829920955390058, + -0.08111536013750657, + 0.16476297659849687, + -0.07819100507103792, + -0.9966453931823553, + -0.02416871892280034, + 0.16617071593338922, + 0.010874676921684357, + -0.9860370350894707 + ], + [ + 0.9981631657162869, + -0.05926463884381503, + 0.012569693311796592, + -0.0566210010614868, + -0.9863848596933155, + -0.15439873965351394, + 0.02154894071725021, + 0.1534034261368065, + -0.9879286573449796 + ], + [ + 0.9968415201312257, + 0.07892151898053162, + 0.008853111558799885, + 0.07884006023764792, + -0.9700303038350487, + -0.22983788752815973, + -0.009551368707730719, + 0.22980992903590683, + -0.9731886599587566 + ], + [ + 0.9704951418955176, + 0.21895157316238273, + 0.10099202031307625, + 0.23535608685395948, + -0.9512351849068593, + -0.19939692920404833, + 0.05240889178365175, + 0.21728283780577456, + -0.9747007112222082 + ], + [ + 0.9453685879438782, + 0.29563690150974553, + 0.13739379678397076, + 0.3190494223007183, + -0.9256062350687199, + -0.20361867235469297, + 0.06697536157853845, + 0.23633010825459141, + -0.9693618420764236 + ], + [ + 0.9253160181676641, + 0.34580901994618474, + 0.15558402310712519, + 0.3658578687070497, + -0.9220268126296193, + -0.12654871274414564, + 0.09969095459205139, + 0.17401919007949757, + -0.979683129923447 + ], + [ + 0.9294778536408539, + 0.32951572715637273, + 0.16580200586180668, + 0.34133370518930767, + -0.9387219386464634, + -0.04787926070402901, + 0.1398650109674698, + 0.10109652546172154, + -0.9849960767671296 + ], + [ + 0.9121185494271423, + 0.3838000474711715, + 0.1440044282376496, + 0.39332576645986045, + -0.9183599922198423, + -0.04370087102947401, + 0.11547550922030705, + 0.09650102720229395, + -0.9886116317944136 + ], + [ + 0.8966346258839774, + 0.42202421031823173, + 0.13394742838581294, + 0.4265298768779607, + -0.9044566535062599, + -0.005515982118232503, + 0.11882176482602523, + 0.06207840070048438, + -0.9909730876114137 + ], + [ + 0.928781452485522, + 0.35901644535852106, + 0.09204458420252769, + 0.3587582902799904, + -0.9332181309679041, + 0.01991002732670661, + 0.09304570207302597, + 0.014529693558506437, + -0.9955558172854165 + ], + [ + 0.9660481289349164, + 0.2568269800818691, + 0.02812320898073792, + 0.25695572320190474, + -0.9664226570440798, + -0.0010021305538320748, + 0.026921532183982206, + 0.008194525848881801, + -0.9996039620024416 + ], + [ + 0.983072680731479, + 0.18238928216082625, + -0.017385458069365072, + 0.18230735411060892, + -0.9832220465568754, + -0.006199661418043083, + -0.01822451745896692, + 0.0029252209092362562, + -0.9998296405118322 + ], + [ + 0.9910903151167001, + 0.09893493287381766, + -0.08917323779662834, + 0.09830760162565244, + -0.9950906566109932, + -0.011410547231193242, + -0.08986435747554672, + 0.002542475714036788, + -0.9959507683980927 + ], + [ + 0.9902373170408708, + 0.062216542289785445, + -0.12473635318222667, + 0.059689177793593035, + -0.9979308255300923, + -0.023901244970782082, + -0.12596530472325582, + 0.016222494331385513, + -0.9919019975197376 + ], + [ + 0.9940201933888821, + 0.05553708112404444, + -0.0940185500598161, + 0.056334891442888835, + -0.9983947854820039, + 0.005850839979079361, + -0.09354269154373723, + -0.011112377898729422, + -0.9955532531794513 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006747.json b/json/chunk-0006/episode_0006747.json new file mode 100644 index 0000000000000000000000000000000000000000..2363cace107d5ddd7a9d14522630a951e74bfb78 --- /dev/null +++ b/json/chunk-0006/episode_0006747.json @@ -0,0 +1,1342 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 21, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut pear on plate." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006747.mp4", + "start": 0, + "end": 21, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.20202159881591797, + 0.03530699387192726, + 0.11780332028865814, + -0.02374451421201229, + -0.10224948078393936, + 0.04002056643366814, + 0.0, + 1.0001531839370728 + ], + [ + 0.19312840700149536, + 0.030856583267450333, + 0.11722398549318314, + -0.018196117132902145, + -0.04875081777572632, + 0.05442914739251137, + 0.0, + 1.0001531839370728 + ], + [ + 0.1766379177570343, + 0.0030010160990059376, + 0.16000474989414215, + 0.04460661858320236, + -0.03666730225086212, + 0.18582823872566223, + 0.0, + 1.0001531839370728 + ], + [ + 0.17437107861042023, + -0.05081085488200188, + 0.16499146819114685, + 0.026052720844745636, + -0.0922834575176239, + 0.44924822449684143, + 0.0, + 1.0001531839370728 + ], + [ + 0.19925051927566528, + -0.1008467823266983, + 0.13135239481925964, + -0.07524058222770691, + -0.13715305924415588, + 0.6329517960548401, + 0.0, + 1.0001531839370728 + ], + [ + 0.22038710117340088, + -0.14680960774421692, + 0.09538014978170395, + -0.11183532327413559, + -0.17941637337207794, + 0.6864818930625916, + 0.0, + 1.0001531839370728 + ], + [ + 0.23745708167552948, + -0.18255801498889923, + 0.07214132696390152, + -0.15472199022769928, + -0.19131159782409668, + 0.7009488940238953, + 0.0, + 1.0001531839370728 + ], + [ + 0.2587737441062927, + -0.1820719838142395, + 0.05045641213655472, + -0.21128380298614502, + -0.15584756433963776, + 0.7188782095909119, + 0.0, + 1.0001531839370728 + ], + [ + 0.27454429864883423, + -0.17501844465732574, + 0.031043358147144318, + -0.21950986981391907, + -0.16404694318771362, + 0.6507761478424072, + 0.0, + 1.0001531839370728 + ], + [ + 0.291830450296402, + -0.1561240255832672, + 0.023421796038746834, + -0.22242577373981476, + -0.18651531636714935, + 0.5860965847969055, + 0.0, + 1.0001531839370728 + ], + [ + 0.298086553812027, + -0.1528908908367157, + 0.011543347500264645, + -0.24187316000461578, + -0.17281046509742737, + 0.5653079748153687, + 0.0, + 1.0001531839370728 + ], + [ + 0.29353728890419006, + -0.14904913306236267, + -0.0065117888152599335, + -0.26830318570137024, + -0.15388843417167664, + 0.5807905197143555, + 0.0, + 0.9263488054275513 + ], + [ + 0.2905241549015045, + -0.14853379130363464, + -0.009970614686608315, + -0.2801703214645386, + -0.14871230721473694, + 0.5959710478782654, + 0.0, + 0.7778469324111938 + ], + [ + 0.2738618552684784, + -0.14517487585544586, + -0.0012092054821550846, + -0.18559733033180237, + -0.09919295459985733, + 0.5882384181022644, + 0.0, + 0.7091560959815979 + ], + [ + 0.2535286247730255, + -0.12885043025016785, + 0.054299503564834595, + -0.043642692267894745, + -0.19512006640434265, + 0.5826412439346313, + 0.0, + 0.7091560959815979 + ], + [ + 0.2422000914812088, + -0.08423591405153275, + 0.10400322824716568, + 0.08504356443881989, + -0.24753543734550476, + 0.5561354756355286, + 0.0, + 0.7091560959815979 + ], + [ + 0.2481975257396698, + -0.03655337169766426, + 0.15494219958782196, + 0.15086187422275543, + -0.22502651810646057, + 0.4778554141521454, + 0.0, + 0.7091560959815979 + ], + [ + 0.2670983672142029, + 0.01224253885447979, + 0.19590696692466736, + 0.1518520563840866, + -0.2148035317659378, + 0.3897756338119507, + 0.0, + 0.7091560959815979 + ], + [ + 0.27539363503456116, + 0.05669952929019928, + 0.20317375659942627, + 0.1730712652206421, + -0.24231015145778656, + 0.316582590341568, + 0.0, + 0.7091560959815979 + ], + [ + 0.27030032873153687, + 0.10943678766489029, + 0.1643029898405075, + 0.12002979964017868, + -0.24470829963684082, + 0.3125060200691223, + 0.0, + 0.7091560959815979 + ], + [ + 0.25658297538757324, + 0.15673741698265076, + 0.11813799291849136, + 0.06204986572265625, + -0.2289779931306839, + 0.351597398519516, + 0.0, + 0.7091560959815979 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9263488054275513 + ], + [ + 0.7778469324111938 + ], + [ + 0.7091560959815979 + ], + [ + 0.7091560959815979 + ], + [ + 0.7091560959815979 + ], + [ + 0.7091560959815979 + ], + [ + 0.7091560959815979 + ], + [ + 0.7091560959815979 + ], + [ + 0.7091560959815979 + ], + [ + 0.7091560959815979 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.20202159881591797, + 0.03530699387192726, + 0.11780332028865814 + ], + [ + 0.19312840700149536, + 0.030856583267450333, + 0.11722398549318314 + ], + [ + 0.1766379177570343, + 0.0030010160990059376, + 0.16000474989414215 + ], + [ + 0.17437107861042023, + -0.05081085488200188, + 0.16499146819114685 + ], + [ + 0.19925051927566528, + -0.1008467823266983, + 0.13135239481925964 + ], + [ + 0.22038710117340088, + -0.14680960774421692, + 0.09538014978170395 + ], + [ + 0.23745708167552948, + -0.18255801498889923, + 0.07214132696390152 + ], + [ + 0.2587737441062927, + -0.1820719838142395, + 0.05045641213655472 + ], + [ + 0.27454429864883423, + -0.17501844465732574, + 0.031043358147144318 + ], + [ + 0.291830450296402, + -0.1561240255832672, + 0.023421796038746834 + ], + [ + 0.298086553812027, + -0.1528908908367157, + 0.011543347500264645 + ], + [ + 0.29353728890419006, + -0.14904913306236267, + -0.0065117888152599335 + ], + [ + 0.2905241549015045, + -0.14853379130363464, + -0.009970614686608315 + ], + [ + 0.2738618552684784, + -0.14517487585544586, + -0.0012092054821550846 + ], + [ + 0.2535286247730255, + -0.12885043025016785, + 0.054299503564834595 + ], + [ + 0.2422000914812088, + -0.08423591405153275, + 0.10400322824716568 + ], + [ + 0.2481975257396698, + -0.03655337169766426, + 0.15494219958782196 + ], + [ + 0.2670983672142029, + 0.01224253885447979, + 0.19590696692466736 + ], + [ + 0.27539363503456116, + 0.05669952929019928, + 0.20317375659942627 + ], + [ + 0.27030032873153687, + 0.10943678766489029, + 0.1643029898405075 + ], + [ + 0.25658297538757324, + 0.15673741698265076, + 0.11813799291849136 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9939805407655973, + 0.03757713813756579, + 0.10291085107373818, + 0.039800915523620556, + -0.9990145822714811, + -0.019640558353053828, + 0.10207140492230152, + 0.023618278902756463, + -0.9944966592195567 + ], + [ + 0.9973327732647994, + 0.05350790843180855, + 0.0496411432905937, + 0.054337642118920094, + -0.9984020371524528, + -0.015517501692878292, + 0.0487315095282326, + 0.01817349567599784, + -0.9986465661253806 + ], + [ + 0.9821229640334627, + 0.18618334498317476, + 0.027753298344563554, + 0.1846363856552354, + -0.981503949666783, + 0.050590531531866954, + 0.036659086326549475, + -0.04456185408375387, + -0.9983337881441864 + ], + [ + 0.8969409640457925, + 0.4363034550416936, + 0.07166730171623456, + 0.4324405375065506, + -0.8994256317552749, + 0.06347215501832924, + 0.09215252865575915, + -0.0259389294363916, + -0.995406993848267 + ], + [ + 0.7987133380524621, + 0.5815671958164664, + 0.15439106310685483, + 0.5859724373024068, + -0.8100831761648879, + 0.020038722925476767, + 0.13672346667258725, + 0.07446371226831747, + -0.9878065849224993 + ], + [ + 0.7610647410973498, + 0.6144557472574165, + 0.20790525371128465, + 0.6236458526186127, + -0.7812718474109925, + 0.02607970388287019, + 0.17845534559106763, + 0.10981090613115095, + -0.9778012346712536 + ], + [ + 0.7502876848027743, + 0.6148449529207, + 0.24296928592156455, + 0.6331766043754256, + -0.7739999025998842, + 0.003396828958860329, + 0.1901467267793445, + 0.15129386849212378, + -0.9700280344669371 + ], + [ + 0.7434243500552801, + 0.6194001274629501, + 0.25231670147607266, + 0.6505595897891157, + -0.7572466985942521, + -0.05787622656603991, + 0.15521744708086774, + 0.2071736459277269, + -0.9659123275715612 + ], + [ + 0.7849322905499468, + 0.5629742396534301, + 0.2587301774796598, + 0.597670848325838, + -0.7980657871965654, + -0.07668478576484197, + 0.16331214380286369, + 0.21482784920249223, + -0.9629008977530056 + ], + [ + 0.8186569807203888, + 0.5054080461463002, + 0.2726966351247417, + 0.543520302273732, + -0.8352085506575366, + -0.08373982281333262, + 0.18543578115899878, + 0.2167703480624524, + -0.9584488443661641 + ], + [ + 0.8318463080068924, + 0.48530436750527095, + 0.2692793915909845, + 0.5276972211335148, + -0.8419057751102506, + -0.11282866942392894, + 0.1719516288473834, + 0.23595409874871154, + -0.9564299768516327 + ], + [ + 0.8261494102805869, + 0.4950827175781931, + 0.269017201398777, + 0.5422009338151297, + -0.8284132513707758, + -0.14053338508447577, + 0.1532817642873427, + 0.2619629510230239, + -0.9528274308752183 + ], + [ + 0.8184693064169911, + 0.505518877480432, + 0.27305431504412003, + 0.5551172792667658, + -0.818331411315789, + -0.14892450272998276, + 0.14816477554652838, + 0.2734673029172465, + -0.9504014065237982 + ], + [ + 0.8278300909330989, + 0.5301638520150508, + 0.18336747411212287, + 0.5521687479631637, + -0.827772662817239, + -0.09950925818861756, + 0.0990303706874254, + 0.18362654685262725, + -0.9779950291144073 + ], + [ + 0.819167408254215, + 0.542644073780796, + 0.185747587991484, + 0.5397903537427804, + -0.8388715559437622, + 0.07014903160226321, + 0.193884324431647, + 0.04280095581962241, + -0.9800902748831918 + ], + [ + 0.8234141880651455, + 0.5436756771289039, + 0.16249871689168796, + 0.5118169544332348, + -0.8352454148433184, + 0.20101866116831235, + 0.24501526492793277, + -0.08235201929303633, + -0.966015354365889 + ], + [ + 0.8655955437704341, + 0.48443073107480883, + 0.12677232109215697, + 0.4482815752242857, + -0.8624756634532431, + 0.23490287198185017, + 0.22313221174720554, + -0.1465011834123352, + -0.9637164621088434 + ], + [ + 0.9037363876171569, + 0.4054336746928476, + 0.13741934769800745, + 0.37124827719000425, + -0.9020980267044232, + 0.21998606069348825, + 0.2131554793575463, + -0.1477927117318023, + -0.9657753651749534 + ], + [ + 0.9225429109555834, + 0.34593712988519015, + 0.1710031567322535, + 0.3022259570077925, + -0.9232438056951121, + 0.23723479120131194, + 0.23994592798445766, + -0.1671776821600395, + -0.9562832081717604 + ], + [ + 0.9232170757121473, + 0.33283736565138833, + 0.1920664445960185, + 0.29828487570838724, + -0.9358006119316087, + 0.18789185089316385, + 0.24227332506312663, + -0.11617444957765431, + -0.9632274566415691 + ], + [ + 0.9143194192556531, + 0.35694925564582547, + 0.19133015566265624, + 0.3354087507937378, + -0.9321695621980489, + 0.13623831033333456, + 0.22698231090327156, + -0.06039152428436299, + -0.9720246366896375 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.008893191814422607, + -0.004450410604476929, + -0.0005793347954750061, + 0.005548397079110146, + 0.05349866300821304, + 0.014408580958843231, + 1.0 + ], + [ + -0.01649048924446106, + -0.027855567634105682, + 0.042780764400959015, + 0.06280273199081421, + 0.012083515524864197, + 0.13139909505844116, + 1.0 + ], + [ + -0.0022668391466140747, + -0.05381187051534653, + 0.0049867182970047, + -0.018553897738456726, + -0.05561615526676178, + 0.2634199857711792, + 1.0 + ], + [ + 0.024879440665245056, + -0.050035927444696426, + -0.03363907337188721, + -0.10129330307245255, + -0.04486960172653198, + 0.18370357155799866, + 1.0 + ], + [ + 0.021136581897735596, + -0.045962825417518616, + -0.035972245037555695, + -0.03659474104642868, + -0.04226331412792206, + 0.053530097007751465, + 1.0 + ], + [ + 0.0170699805021286, + -0.03574840724468231, + -0.02323882281780243, + -0.04288666695356369, + -0.011895224452018738, + 0.014467000961303711, + 1.0 + ], + [ + 0.021316662430763245, + 0.000486031174659729, + -0.021684914827346802, + -0.05656181275844574, + 0.03546403348445892, + 0.0179293155670166, + 1.0 + ], + [ + 0.015770554542541504, + 0.007053539156913757, + -0.0194130539894104, + -0.008226066827774048, + -0.008199378848075867, + -0.06810206174850464, + 1.0 + ], + [ + 0.01728615164756775, + 0.018894419074058533, + -0.007621562108397484, + -0.002915903925895691, + -0.02246837317943573, + -0.06467956304550171, + 1.0 + ], + [ + 0.006256103515625, + 0.0032331347465515137, + -0.01187844853848219, + -0.019447386264801025, + 0.013704851269721985, + -0.020788609981536865, + 1.0 + ], + [ + -0.004549264907836914, + 0.0038417577743530273, + -0.018055137246847153, + -0.026430025696754456, + 0.018922030925750732, + 0.015482544898986816, + 0.0 + ], + [ + -0.003013134002685547, + 0.0005153417587280273, + -0.003458825871348381, + -0.011867135763168335, + 0.005176126956939697, + 0.015180528163909912, + 0.0 + ], + [ + -0.016662299633026123, + 0.0033589154481887817, + 0.008761409670114517, + 0.0945729911327362, + 0.04951935261487961, + -0.0077326297760009766, + 0.0 + ], + [ + -0.02033323049545288, + 0.016324445605278015, + 0.05550871044397354, + 0.14195463061332703, + -0.09592711180448532, + -0.005597174167633057, + 0.0 + ], + [ + -0.011328533291816711, + 0.0446145161986351, + 0.049703724682331085, + 0.12868624925613403, + -0.05241537094116211, + -0.026505768299102783, + 0.0 + ], + [ + 0.0059974342584609985, + 0.047682542353868484, + 0.05093897134065628, + 0.06581830978393555, + 0.02250891923904419, + -0.07828006148338318, + 0.0 + ], + [ + 0.01890084147453308, + 0.0487959086894989, + 0.0409647673368454, + 0.0009901821613311768, + 0.010222986340522766, + -0.0880797803401947, + 0.0 + ], + [ + 0.008295267820358276, + 0.04445698857307434, + 0.007266789674758911, + 0.02121920883655548, + -0.027506619691848755, + -0.07319304347038269, + 0.0 + ], + [ + -0.005093306303024292, + 0.05273725837469101, + -0.03887076675891876, + -0.05304146558046341, + -0.0023981481790542603, + -0.004076570272445679, + 0.0 + ], + [ + -0.013717353343963623, + 0.04730062931776047, + -0.046164996922016144, + -0.05797993391752243, + 0.01573030650615692, + 0.03909137845039368, + 0.0 + ], + [ + -0.00954669713973999, + 0.030845999717712402, + -0.03597138822078705, + -0.03794458508491516, + 0.022907212376594543, + 0.02823004126548767, + 0.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9263488054275513 + ], + [ + 0.7778469324111938 + ], + [ + 0.7091560959815979 + ], + [ + 0.7091560959815979 + ], + [ + 0.7091560959815979 + ], + [ + 0.7091560959815979 + ], + [ + 0.7091560959815979 + ], + [ + 0.7091560959815979 + ], + [ + 0.7091560959815979 + ], + [ + 0.7091560959815979 + ], + [ + 0.7091560959815979 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.19312840700149536, + 0.030856583267450333, + 0.11722398549318314 + ], + [ + 0.1766379177570343, + 0.0030010160990059376, + 0.16000474989414215 + ], + [ + 0.17437107861042023, + -0.05081085488200188, + 0.16499146819114685 + ], + [ + 0.19925051927566528, + -0.1008467823266983, + 0.13135239481925964 + ], + [ + 0.22038710117340088, + -0.14680960774421692, + 0.09538014978170395 + ], + [ + 0.23745708167552948, + -0.18255801498889923, + 0.07214132696390152 + ], + [ + 0.2587737441062927, + -0.1820719838142395, + 0.05045641213655472 + ], + [ + 0.27454429864883423, + -0.17501844465732574, + 0.031043358147144318 + ], + [ + 0.291830450296402, + -0.1561240255832672, + 0.023421796038746834 + ], + [ + 0.298086553812027, + -0.1528908908367157, + 0.011543347500264645 + ], + [ + 0.29353728890419006, + -0.14904913306236267, + -0.0065117888152599335 + ], + [ + 0.2905241549015045, + -0.14853379130363464, + -0.009970614686608315 + ], + [ + 0.2738618552684784, + -0.14517487585544586, + -0.0012092054821550846 + ], + [ + 0.2535286247730255, + -0.12885043025016785, + 0.054299503564834595 + ], + [ + 0.2422000914812088, + -0.08423591405153275, + 0.10400322824716568 + ], + [ + 0.2481975257396698, + -0.03655337169766426, + 0.15494219958782196 + ], + [ + 0.2670983672142029, + 0.01224253885447979, + 0.19590696692466736 + ], + [ + 0.27539363503456116, + 0.05669952929019928, + 0.20317375659942627 + ], + [ + 0.27030032873153687, + 0.10943678766489029, + 0.1643029898405075 + ], + [ + 0.25658297538757324, + 0.15673741698265076, + 0.11813799291849136 + ], + [ + 0.24703627824783325, + 0.18758341670036316, + 0.08216660469770432 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9973327732647994, + 0.05350790843180855, + 0.0496411432905937, + 0.054337642118920094, + -0.9984020371524528, + -0.015517501692878292, + 0.0487315095282326, + 0.01817349567599784, + -0.9986465661253806 + ], + [ + 0.9821229640334627, + 0.18618334498317476, + 0.027753298344563554, + 0.1846363856552354, + -0.981503949666783, + 0.050590531531866954, + 0.036659086326549475, + -0.04456185408375387, + -0.9983337881441864 + ], + [ + 0.8969409640457925, + 0.4363034550416936, + 0.07166730171623456, + 0.4324405375065506, + -0.8994256317552749, + 0.06347215501832924, + 0.09215252865575915, + -0.0259389294363916, + -0.995406993848267 + ], + [ + 0.7987133380524621, + 0.5815671958164664, + 0.15439106310685483, + 0.5859724373024068, + -0.8100831761648879, + 0.020038722925476767, + 0.13672346667258725, + 0.07446371226831747, + -0.9878065849224993 + ], + [ + 0.7610647410973498, + 0.6144557472574165, + 0.20790525371128465, + 0.6236458526186127, + -0.7812718474109925, + 0.02607970388287019, + 0.17845534559106763, + 0.10981090613115095, + -0.9778012346712536 + ], + [ + 0.7502876848027743, + 0.6148449529207, + 0.24296928592156455, + 0.6331766043754256, + -0.7739999025998842, + 0.003396828958860329, + 0.1901467267793445, + 0.15129386849212378, + -0.9700280344669371 + ], + [ + 0.7434243500552801, + 0.6194001274629501, + 0.25231670147607266, + 0.6505595897891157, + -0.7572466985942521, + -0.05787622656603991, + 0.15521744708086774, + 0.2071736459277269, + -0.9659123275715612 + ], + [ + 0.7849322905499468, + 0.5629742396534301, + 0.2587301774796598, + 0.597670848325838, + -0.7980657871965654, + -0.07668478576484197, + 0.16331214380286369, + 0.21482784920249223, + -0.9629008977530056 + ], + [ + 0.8186569807203888, + 0.5054080461463002, + 0.2726966351247417, + 0.543520302273732, + -0.8352085506575366, + -0.08373982281333262, + 0.18543578115899878, + 0.2167703480624524, + -0.9584488443661641 + ], + [ + 0.8318463080068924, + 0.48530436750527095, + 0.2692793915909845, + 0.5276972211335148, + -0.8419057751102506, + -0.11282866942392894, + 0.1719516288473834, + 0.23595409874871154, + -0.9564299768516327 + ], + [ + 0.8261494102805869, + 0.4950827175781931, + 0.269017201398777, + 0.5422009338151297, + -0.8284132513707758, + -0.14053338508447577, + 0.1532817642873427, + 0.2619629510230239, + -0.9528274308752183 + ], + [ + 0.8184693064169911, + 0.505518877480432, + 0.27305431504412003, + 0.5551172792667658, + -0.818331411315789, + -0.14892450272998276, + 0.14816477554652838, + 0.2734673029172465, + -0.9504014065237982 + ], + [ + 0.8278300909330989, + 0.5301638520150508, + 0.18336747411212287, + 0.5521687479631637, + -0.827772662817239, + -0.09950925818861756, + 0.0990303706874254, + 0.18362654685262725, + -0.9779950291144073 + ], + [ + 0.819167408254215, + 0.542644073780796, + 0.185747587991484, + 0.5397903537427804, + -0.8388715559437622, + 0.07014903160226321, + 0.193884324431647, + 0.04280095581962241, + -0.9800902748831918 + ], + [ + 0.8234141880651455, + 0.5436756771289039, + 0.16249871689168796, + 0.5118169544332348, + -0.8352454148433184, + 0.20101866116831235, + 0.24501526492793277, + -0.08235201929303633, + -0.966015354365889 + ], + [ + 0.8655955437704341, + 0.48443073107480883, + 0.12677232109215697, + 0.4482815752242857, + -0.8624756634532431, + 0.23490287198185017, + 0.22313221174720554, + -0.1465011834123352, + -0.9637164621088434 + ], + [ + 0.9037363876171569, + 0.4054336746928476, + 0.13741934769800745, + 0.37124827719000425, + -0.9020980267044232, + 0.21998606069348825, + 0.2131554793575463, + -0.1477927117318023, + -0.9657753651749534 + ], + [ + 0.9225429109555834, + 0.34593712988519015, + 0.1710031567322535, + 0.3022259570077925, + -0.9232438056951121, + 0.23723479120131194, + 0.23994592798445766, + -0.1671776821600395, + -0.9562832081717604 + ], + [ + 0.9232170757121473, + 0.33283736565138833, + 0.1920664445960185, + 0.29828487570838724, + -0.9358006119316087, + 0.18789185089316385, + 0.24227332506312663, + -0.11617444957765431, + -0.9632274566415691 + ], + [ + 0.9143194192556531, + 0.35694925564582547, + 0.19133015566265624, + 0.3354087507937378, + -0.9321695621980489, + 0.13623831033333456, + 0.22698231090327156, + -0.06039152428436299, + -0.9720246366896375 + ], + [ + 0.9090790031471756, + 0.37523283586415973, + 0.1810405615498296, + 0.362915834637404, + -0.9266302876252557, + 0.09822630515789485, + 0.20461540266161168, + -0.023592985077688602, + -0.9785580759713498 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006748.json b/json/chunk-0006/episode_0006748.json new file mode 100644 index 0000000000000000000000000000000000000000..47461a7df1d63f9c07387b61bfb82091675caaf4 --- /dev/null +++ b/json/chunk-0006/episode_0006748.json @@ -0,0 +1,1162 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 18, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut carrot in pot or pan." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006748.mp4", + "start": 0, + "end": 18, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.22334101796150208, + -0.005694842431694269, + 0.11271142214536667, + -0.039128344506025314, + -0.17412298917770386, + 0.02936205267906189, + 0.0, + 1.0092895030975342 + ], + [ + 0.21956461668014526, + -0.009165006689727306, + 0.10205432772636414, + -0.06358698755502701, + -0.1639099270105362, + 0.0463772676885128, + 0.0, + 1.0092895030975342 + ], + [ + 0.21909980475902557, + -0.013761721551418304, + 0.08749531954526901, + -0.09880560636520386, + -0.1849052459001541, + 0.07343761622905731, + 0.0, + 1.0092895030975342 + ], + [ + 0.2187541127204895, + -0.017310235649347305, + 0.07187110930681229, + -0.12858352065086365, + -0.2009555697441101, + 0.1021861732006073, + 0.0, + 1.0092895030975342 + ], + [ + 0.21955189108848572, + -0.020547164604067802, + 0.060169897973537445, + -0.15945808589458466, + -0.20347978174686432, + 0.12277352809906006, + 0.0, + 1.0092895030975342 + ], + [ + 0.22056327760219574, + -0.024176400154829025, + 0.05088433623313904, + -0.19305752217769623, + -0.20098334550857544, + 0.13732078671455383, + 0.0, + 1.0092895030975342 + ], + [ + 0.22123318910598755, + -0.0255129337310791, + 0.04146502912044525, + -0.21310587227344513, + -0.19876666367053986, + 0.1481868177652359, + 0.0, + 1.0092895030975342 + ], + [ + 0.22347460687160492, + -0.024360690265893936, + 0.034495871514081955, + -0.22034884989261627, + -0.1967640072107315, + 0.15542194247245789, + 0.0, + 1.0092895030975342 + ], + [ + 0.22161123156547546, + -0.018536673858761787, + 0.0248357392847538, + -0.20247110724449158, + -0.16514402627944946, + 0.15205955505371094, + 0.0, + 0.8074146509170532 + ], + [ + 0.22418485581874847, + -0.016676051542162895, + 0.02314591221511364, + -0.19491823017597198, + -0.15762419998645782, + 0.15514205396175385, + 0.0, + 0.6219554543495178 + ], + [ + 0.223880797624588, + -0.01702984794974327, + 0.022367872297763824, + -0.19985343515872955, + -0.1544799506664276, + 0.16170558333396912, + 0.0, + 0.6219554543495178 + ], + [ + 0.2174024134874344, + -0.016258489340543747, + 0.028050323948264122, + -0.1531352996826172, + -0.11636687815189362, + 0.1562805026769638, + 0.0, + 0.6219554543495178 + ], + [ + 0.2178124189376831, + -0.01904451474547386, + 0.05736635625362396, + -0.07106004655361176, + -0.1324688047170639, + 0.13995489478111267, + 0.0, + 0.6219554543495178 + ], + [ + 0.22027824819087982, + -0.02214338444173336, + 0.08587288111448288, + 0.01153379213064909, + -0.1269209086894989, + 0.11683489382266998, + 0.0, + 0.6219554543495178 + ], + [ + 0.23810972273349762, + -0.02744252234697342, + 0.11914249509572983, + 0.07457051426172256, + -0.168944850564003, + 0.07647110521793365, + 0.0, + 0.6219554543495178 + ], + [ + 0.2605326175689697, + -0.03456313908100128, + 0.13910669088363647, + 0.08584421873092651, + -0.20963223278522491, + 0.025799892842769623, + 0.0, + 0.6219554543495178 + ], + [ + 0.27974018454551697, + -0.04232553392648697, + 0.15051820874214172, + 0.09113328158855438, + -0.23793825507164001, + -0.02145201340317726, + 0.0, + 0.6219554543495178 + ], + [ + 0.2971833348274231, + -0.05301859602332115, + 0.15027156472206116, + 0.0698908269405365, + -0.27305498719215393, + -0.059335749596357346, + 0.0, + 0.6219554543495178 + ] + ], + "left_gripper_pos": [ + [ + 1.0092895030975342 + ], + [ + 1.0092895030975342 + ], + [ + 1.0092895030975342 + ], + [ + 1.0092895030975342 + ], + [ + 1.0092895030975342 + ], + [ + 1.0092895030975342 + ], + [ + 1.0092895030975342 + ], + [ + 1.0092895030975342 + ], + [ + 0.8074146509170532 + ], + [ + 0.6219554543495178 + ], + [ + 0.6219554543495178 + ], + [ + 0.6219554543495178 + ], + [ + 0.6219554543495178 + ], + [ + 0.6219554543495178 + ], + [ + 0.6219554543495178 + ], + [ + 0.6219554543495178 + ], + [ + 0.6219554543495178 + ], + [ + 0.6219554543495178 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.22334101796150208, + -0.005694842431694269, + 0.11271142214536667 + ], + [ + 0.21956461668014526, + -0.009165006689727306, + 0.10205432772636414 + ], + [ + 0.21909980475902557, + -0.013761721551418304, + 0.08749531954526901 + ], + [ + 0.2187541127204895, + -0.017310235649347305, + 0.07187110930681229 + ], + [ + 0.21955189108848572, + -0.020547164604067802, + 0.060169897973537445 + ], + [ + 0.22056327760219574, + -0.024176400154829025, + 0.05088433623313904 + ], + [ + 0.22123318910598755, + -0.0255129337310791, + 0.04146502912044525 + ], + [ + 0.22347460687160492, + -0.024360690265893936, + 0.034495871514081955 + ], + [ + 0.22161123156547546, + -0.018536673858761787, + 0.0248357392847538 + ], + [ + 0.22418485581874847, + -0.016676051542162895, + 0.02314591221511364 + ], + [ + 0.223880797624588, + -0.01702984794974327, + 0.022367872297763824 + ], + [ + 0.2174024134874344, + -0.016258489340543747, + 0.028050323948264122 + ], + [ + 0.2178124189376831, + -0.01904451474547386, + 0.05736635625362396 + ], + [ + 0.22027824819087982, + -0.02214338444173336, + 0.08587288111448288 + ], + [ + 0.23810972273349762, + -0.02744252234697342, + 0.11914249509572983 + ], + [ + 0.2605326175689697, + -0.03456313908100128, + 0.13910669088363647 + ], + [ + 0.27974018454551697, + -0.04232553392648697, + 0.15051820874214172 + ], + [ + 0.2971833348274231, + -0.05301859602332115, + 0.15027156472206116 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9844543385351181, + 0.022561244953388918, + 0.17418566406434435, + 0.02891390981015863, + -0.9990028390000254, + -0.034019310536510625, + 0.17324445491522508, + 0.038526846432620374, + -0.9841250128642621 + ], + [ + 0.9855359950857326, + 0.03590915894704028, + 0.16561803855284446, + 0.045739264143915985, + -0.9973866796556863, + -0.055926120560782056, + 0.16317696561080047, + 0.0626924520905208, + -0.9846029323259858 + ], + [ + 0.9803042913087195, + 0.05492644883886626, + 0.18970129588292273, + 0.07212090833118913, + -0.9937711945054861, + -0.08495520909645879, + 0.183853395462779, + 0.0969633858169682, + -0.9781595119343861 + ], + [ + 0.9747647972349841, + 0.07570447251203459, + 0.21000576876151533, + 0.09995563956420521, + -0.9891820628105964, + -0.10736720510977299, + 0.19960576191771406, + 0.12564903284724466, + -0.9717869418518655 + ], + [ + 0.9719974035300827, + 0.08906651442665633, + 0.21745850992468413, + 0.11993878296391214, + -0.9838112669790757, + -0.133154343925241, + 0.20207853887019595, + 0.1555073855895983, + -0.9669445264104735 + ], + [ + 0.9706465416202608, + 0.09640538570635478, + 0.22034357909282637, + 0.1341341309081372, + -0.9774265017896485, + -0.16323439749259094, + 0.19963297865369434, + 0.18799849788245498, + -0.9616669062766975 + ], + [ + 0.969567054380925, + 0.1030006508921353, + 0.22210491434205845, + 0.14473806106277773, + -0.9728330613423476, + -0.1806840569587261, + 0.19746042828598412, + 0.20733234353345117, + -0.9581350001884092 + ], + [ + 0.9688832251535026, + 0.10883947804500174, + 0.2223044399804892, + 0.15181005952829504, + -0.9706734424652361, + -0.18640486559825473, + 0.1954968077544052, + 0.21435259763198458, + -0.956992143147611 + ], + [ + 0.9750128823889195, + 0.11570331327458763, + 0.18963813559759982, + 0.1494133883038398, + -0.9732770251007431, + -0.17437738330016714, + 0.1643943994521012, + 0.19835467150619382, + -0.9662452616807251 + ], + [ + 0.975741488539529, + 0.1215561438523673, + 0.1820786957181074, + 0.15260485946363772, + -0.9739784810373002, + -0.16756394404631664, + 0.1569723045978109, + 0.19128518596069155, + -0.9689012711423368 + ], + [ + 0.9752011540508443, + 0.12764924188967727, + 0.18079928147780988, + 0.1590845122345342, + -0.9722274971341865, + -0.17165608577413055, + 0.15386626370001322, + 0.19616157845303445, + -0.96842439458835 + ], + [ + 0.9811324685887854, + 0.13632927211916768, + 0.13708905369989735, + 0.15459249762345462, + -0.9790098562875933, + -0.13281890291026976, + 0.1161044304039152, + 0.15150587729591025, + -0.9816138397482884 + ], + [ + 0.9815467843803147, + 0.12986025563663947, + 0.1403646112047147, + 0.13827628107478093, + -0.9890314560876962, + -0.05192734309763822, + 0.13208171775379154, + 0.0703782130707956, + -0.9887372385827135 + ], + [ + 0.9851937492742475, + 0.1180114817450662, + 0.12436465159877959, + 0.11563162553616485, + -0.9929463223560184, + 0.026209313144811786, + 0.12658042331583536, + -0.01144076465943425, + -0.9918903696161144 + ], + [ + 0.9828818488082819, + 0.08867451418016188, + 0.16149334914517802, + 0.07530891645080955, + -0.9933495308380673, + 0.08709349394068963, + 0.16814231587027426, + -0.07344072520546227, + -0.9830232049626687 + ], + [ + 0.9777820003167125, + 0.04353836517420158, + 0.20505309218494214, + 0.02523226956967889, + -0.9955257964518184, + 0.09105888848067396, + 0.20810019805135113, + -0.08386178722714317, + -0.9745057763882459 + ], + [ + 0.9716023890303078, + 8.405611694790004e-05, + 0.2366195058848013, + -0.020846025273145705, + -0.9960812227604099, + 0.08595138680927676, + 0.2356994714905184, + -0.08844314896415521, + -0.9677931434663063 + ], + [ + 0.9612568896364632, + -0.04035687206323472, + 0.2726839104232291, + -0.05710392969810688, + -0.9969198583923113, + 0.05375813571997297, + 0.2696744951593784, + -0.06724670118544904, + -0.9606006182801512 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0037764012813568115, + -0.003470164258033037, + -0.010657094419002533, + -0.024458643049001694, + 0.010213062167167664, + 0.017015215009450912, + 1.0 + ], + [ + -0.00046481192111968994, + -0.004596714861690998, + -0.014559008181095123, + -0.03521861881017685, + -0.02099531888961792, + 0.02706034854054451, + 1.0 + ], + [ + -0.0003456920385360718, + -0.003548514097929001, + -0.015624210238456726, + -0.02977791428565979, + -0.016050323843955994, + 0.028748556971549988, + 1.0 + ], + [ + 0.0007977783679962158, + -0.003236928954720497, + -0.011701211333274841, + -0.03087456524372101, + -0.0025242120027542114, + 0.02058735489845276, + 1.0 + ], + [ + 0.001011386513710022, + -0.003629235550761223, + -0.009285561740398407, + -0.03359943628311157, + 0.0024964362382888794, + 0.014547258615493774, + 1.0 + ], + [ + 0.0006699115037918091, + -0.0013365335762500763, + -0.009419307112693787, + -0.0200483500957489, + 0.0022166818380355835, + 0.010866031050682068, + 1.0 + ], + [ + 0.0022414177656173706, + 0.0011522434651851654, + -0.0069691576063632965, + -0.007242977619171143, + 0.0020026564598083496, + 0.007235124707221985, + 1.0 + ], + [ + -0.0018633753061294556, + 0.005824016407132149, + -0.009660132229328156, + 0.017877742648124695, + 0.03161998093128204, + -0.0033623874187469482, + 0.0 + ], + [ + 0.0025736242532730103, + 0.0018606223165988922, + -0.0016898270696401596, + 0.007552877068519592, + 0.007519826292991638, + 0.0030824989080429077, + 0.0 + ], + [ + -0.0003040581941604614, + -0.00035379640758037567, + -0.0007780399173498154, + -0.004935204982757568, + 0.0031442493200302124, + 0.006563529372215271, + 0.0 + ], + [ + -0.0064783841371536255, + 0.0007713586091995239, + 0.0056824516505002975, + 0.046718135476112366, + 0.038113072514534, + -0.00542508065700531, + 0.0 + ], + [ + 0.00041000545024871826, + -0.0027860254049301147, + 0.02931603230535984, + 0.08207525312900543, + -0.016101926565170288, + -0.016325607895851135, + 0.0 + ], + [ + 0.0024658292531967163, + -0.0030988696962594986, + 0.028506524860858917, + 0.08259383589029312, + 0.0055478960275650024, + -0.023120000958442688, + 0.0 + ], + [ + 0.017831474542617798, + -0.005299137905240059, + 0.03326961398124695, + 0.0630367249250412, + -0.04202394187450409, + -0.04036378860473633, + 0.0 + ], + [ + 0.022422894835472107, + -0.0071206167340278625, + 0.019964195787906647, + 0.011273704469203949, + -0.040687382221221924, + -0.05067121237516403, + 0.0 + ], + [ + 0.01920756697654724, + -0.007762394845485687, + 0.011411517858505249, + 0.005289062857627869, + -0.0283060222864151, + -0.047251906245946884, + 0.0 + ], + [ + 0.017443150281906128, + -0.010693062096834183, + -0.0002466440200805664, + -0.021242454648017883, + -0.035116732120513916, + -0.037883736193180084, + 0.0 + ], + [ + 0.012886494398117065, + -0.005122154951095581, + -0.013482198119163513, + -0.06706946343183517, + -0.010482072830200195, + -0.021668780595064163, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0092895030975342 + ], + [ + 1.0092895030975342 + ], + [ + 1.0092895030975342 + ], + [ + 1.0092895030975342 + ], + [ + 1.0092895030975342 + ], + [ + 1.0092895030975342 + ], + [ + 1.0092895030975342 + ], + [ + 0.8074146509170532 + ], + [ + 0.6219554543495178 + ], + [ + 0.6219554543495178 + ], + [ + 0.6219554543495178 + ], + [ + 0.6219554543495178 + ], + [ + 0.6219554543495178 + ], + [ + 0.6219554543495178 + ], + [ + 0.6219554543495178 + ], + [ + 0.6219554543495178 + ], + [ + 0.6219554543495178 + ], + [ + 0.8625253438949585 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.21956461668014526, + -0.009165006689727306, + 0.10205432772636414 + ], + [ + 0.21909980475902557, + -0.013761721551418304, + 0.08749531954526901 + ], + [ + 0.2187541127204895, + -0.017310235649347305, + 0.07187110930681229 + ], + [ + 0.21955189108848572, + -0.020547164604067802, + 0.060169897973537445 + ], + [ + 0.22056327760219574, + -0.024176400154829025, + 0.05088433623313904 + ], + [ + 0.22123318910598755, + -0.0255129337310791, + 0.04146502912044525 + ], + [ + 0.22347460687160492, + -0.024360690265893936, + 0.034495871514081955 + ], + [ + 0.22161123156547546, + -0.018536673858761787, + 0.0248357392847538 + ], + [ + 0.22418485581874847, + -0.016676051542162895, + 0.02314591221511364 + ], + [ + 0.223880797624588, + -0.01702984794974327, + 0.022367872297763824 + ], + [ + 0.2174024134874344, + -0.016258489340543747, + 0.028050323948264122 + ], + [ + 0.2178124189376831, + -0.01904451474547386, + 0.05736635625362396 + ], + [ + 0.22027824819087982, + -0.02214338444173336, + 0.08587288111448288 + ], + [ + 0.23810972273349762, + -0.02744252234697342, + 0.11914249509572983 + ], + [ + 0.2605326175689697, + -0.03456313908100128, + 0.13910669088363647 + ], + [ + 0.27974018454551697, + -0.04232553392648697, + 0.15051820874214172 + ], + [ + 0.2971833348274231, + -0.05301859602332115, + 0.15027156472206116 + ], + [ + 0.31006982922554016, + -0.05814075097441673, + 0.13678936660289764 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9855359950857326, + 0.03590915894704028, + 0.16561803855284446, + 0.045739264143915985, + -0.9973866796556863, + -0.055926120560782056, + 0.16317696561080047, + 0.0626924520905208, + -0.9846029323259858 + ], + [ + 0.9803042913087195, + 0.05492644883886626, + 0.18970129588292273, + 0.07212090833118913, + -0.9937711945054861, + -0.08495520909645879, + 0.183853395462779, + 0.0969633858169682, + -0.9781595119343861 + ], + [ + 0.9747647972349841, + 0.07570447251203459, + 0.21000576876151533, + 0.09995563956420521, + -0.9891820628105964, + -0.10736720510977299, + 0.19960576191771406, + 0.12564903284724466, + -0.9717869418518655 + ], + [ + 0.9719974035300827, + 0.08906651442665633, + 0.21745850992468413, + 0.11993878296391214, + -0.9838112669790757, + -0.133154343925241, + 0.20207853887019595, + 0.1555073855895983, + -0.9669445264104735 + ], + [ + 0.9706465416202608, + 0.09640538570635478, + 0.22034357909282637, + 0.1341341309081372, + -0.9774265017896485, + -0.16323439749259094, + 0.19963297865369434, + 0.18799849788245498, + -0.9616669062766975 + ], + [ + 0.969567054380925, + 0.1030006508921353, + 0.22210491434205845, + 0.14473806106277773, + -0.9728330613423476, + -0.1806840569587261, + 0.19746042828598412, + 0.20733234353345117, + -0.9581350001884092 + ], + [ + 0.9688832251535026, + 0.10883947804500174, + 0.2223044399804892, + 0.15181005952829504, + -0.9706734424652361, + -0.18640486559825473, + 0.1954968077544052, + 0.21435259763198458, + -0.956992143147611 + ], + [ + 0.9750128823889195, + 0.11570331327458763, + 0.18963813559759982, + 0.1494133883038398, + -0.9732770251007431, + -0.17437738330016714, + 0.1643943994521012, + 0.19835467150619382, + -0.9662452616807251 + ], + [ + 0.975741488539529, + 0.1215561438523673, + 0.1820786957181074, + 0.15260485946363772, + -0.9739784810373002, + -0.16756394404631664, + 0.1569723045978109, + 0.19128518596069155, + -0.9689012711423368 + ], + [ + 0.9752011540508443, + 0.12764924188967727, + 0.18079928147780988, + 0.1590845122345342, + -0.9722274971341865, + -0.17165608577413055, + 0.15386626370001322, + 0.19616157845303445, + -0.96842439458835 + ], + [ + 0.9811324685887854, + 0.13632927211916768, + 0.13708905369989735, + 0.15459249762345462, + -0.9790098562875933, + -0.13281890291026976, + 0.1161044304039152, + 0.15150587729591025, + -0.9816138397482884 + ], + [ + 0.9815467843803147, + 0.12986025563663947, + 0.1403646112047147, + 0.13827628107478093, + -0.9890314560876962, + -0.05192734309763822, + 0.13208171775379154, + 0.0703782130707956, + -0.9887372385827135 + ], + [ + 0.9851937492742475, + 0.1180114817450662, + 0.12436465159877959, + 0.11563162553616485, + -0.9929463223560184, + 0.026209313144811786, + 0.12658042331583536, + -0.01144076465943425, + -0.9918903696161144 + ], + [ + 0.9828818488082819, + 0.08867451418016188, + 0.16149334914517802, + 0.07530891645080955, + -0.9933495308380673, + 0.08709349394068963, + 0.16814231587027426, + -0.07344072520546227, + -0.9830232049626687 + ], + [ + 0.9777820003167125, + 0.04353836517420158, + 0.20505309218494214, + 0.02523226956967889, + -0.9955257964518184, + 0.09105888848067396, + 0.20810019805135113, + -0.08386178722714317, + -0.9745057763882459 + ], + [ + 0.9716023890303078, + 8.405611694790004e-05, + 0.2366195058848013, + -0.020846025273145705, + -0.9960812227604099, + 0.08595138680927676, + 0.2356994714905184, + -0.08844314896415521, + -0.9677931434663063 + ], + [ + 0.9612568896364632, + -0.04035687206323472, + 0.2726839104232291, + -0.05710392969810688, + -0.9969198583923113, + 0.05375813571997297, + 0.2696744951593784, + -0.06724670118544904, + -0.9606006182801512 + ], + [ + 0.9569237957522341, + -0.08012895260282596, + 0.27906307544695125, + -0.07768515331512174, + -0.9967808253855377, + -0.019824305741497475, + 0.279753223533783, + -0.002708707902379221, + -0.9600681209289041 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006749.json b/json/chunk-0006/episode_0006749.json new file mode 100644 index 0000000000000000000000000000000000000000..e5070e04c9fe9ade3f3310f829ba048a3405c8f5 --- /dev/null +++ b/json/chunk-0006/episode_0006749.json @@ -0,0 +1,1462 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 23, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the yellow cloth in the top right burner." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006749.mp4", + "start": 0, + "end": 23, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.24090281128883362, + -0.0034652543254196644, + 0.10324805229902267, + 0.09460283815860748, + -0.09711483120918274, + -0.24132180213928223, + 0.0, + 1.0047606229782104 + ], + [ + 0.2398870438337326, + -0.003607407910749316, + 0.09806974977254868, + 0.08980196714401245, + -0.07580316811800003, + -0.24481262266635895, + 0.0, + 1.0047606229782104 + ], + [ + 0.2543677091598511, + 0.040534261614084244, + 0.09061272442340851, + 0.0886901393532753, + -0.04131513833999634, + -0.1521170735359192, + 0.0, + 1.0047606229782104 + ], + [ + 0.2777478098869324, + 0.0777844488620758, + 0.09630152583122253, + 0.09789223968982697, + -0.06452727317810059, + -0.08730626851320267, + 0.0, + 1.0047606229782104 + ], + [ + 0.2938891053199768, + 0.11812812834978104, + 0.08717228472232819, + 0.09679915010929108, + -0.0642852857708931, + 0.01874668523669243, + 0.0, + 1.0041072368621826 + ], + [ + 0.31746774911880493, + 0.13253170251846313, + 0.0669364258646965, + 0.12114793062210083, + -0.03697021305561066, + 0.0638241246342659, + 0.0, + 1.003452181816101 + ], + [ + 0.34814685583114624, + 0.14017534255981445, + 0.04835418984293938, + 0.15434052050113678, + -0.014938432723283768, + 0.10582525283098221, + 0.0, + 1.002137303352356 + ], + [ + 0.38066279888153076, + 0.1388188600540161, + 0.023554649204015732, + 0.15070223808288574, + 0.004136401228606701, + 0.12386588752269745, + 0.0, + 1.002137303352356 + ], + [ + 0.3983970880508423, + 0.1327645629644394, + 0.016949845477938652, + 0.15145644545555115, + -0.0010058043990284204, + 0.11382044851779938, + 0.0, + 1.0014774799346924 + ], + [ + 0.40071460604667664, + 0.12297990918159485, + 0.01350174006074667, + 0.14928340911865234, + -0.005343194585293531, + 0.09655158966779709, + 0.0, + 1.0014774799346924 + ], + [ + 0.391864150762558, + 0.11244802922010422, + 0.012092920020222664, + 0.1538228988647461, + -0.014661178924143314, + 0.10306542366743088, + 0.0, + 1.0014774799346924 + ], + [ + 0.379318505525589, + 0.09178629517555237, + 0.012701930478215218, + 0.14820976555347443, + -0.008541911840438843, + 0.08643391728401184, + 0.0, + 1.0014774799346924 + ], + [ + 0.3793681859970093, + 0.05812741070985794, + 0.013270472176373005, + 0.11996064335107803, + -0.005378255154937506, + 0.046278081834316254, + 0.0, + 1.0014774799346924 + ], + [ + 0.39196500182151794, + 0.002554737962782383, + 0.01595262996852398, + 0.09228780120611191, + -0.018282147124409676, + -0.043037861585617065, + 0.0, + 1.0014774799346924 + ], + [ + 0.3986108899116516, + -0.04076771438121796, + 0.016713349148631096, + 0.0909339115023613, + -0.014887062832713127, + -0.101069375872612, + 0.0, + 1.0014774799346924 + ], + [ + 0.3919675946235657, + -0.06911663711071014, + 0.01793540082871914, + 0.10537557303905487, + -0.0009935720590874553, + -0.11771528422832489, + 0.0, + 1.0014774799346924 + ], + [ + 0.38672181963920593, + -0.08237756043672562, + 0.01789955049753189, + 0.12193790078163147, + 0.007968945428729057, + -0.11275415867567062, + 0.0, + 1.0014774799346924 + ], + [ + 0.38728198409080505, + -0.07551760226488113, + 0.027895713225007057, + 0.14025504887104034, + -0.005559869576245546, + -0.10120712965726852, + 0.0, + 1.0014774799346924 + ], + [ + 0.3910800516605377, + -0.07559476047754288, + 0.06709469854831696, + 0.12931595742702484, + -0.09549228101968765, + -0.10995006561279297, + 0.0, + 1.0014774799346924 + ], + [ + 0.38111528754234314, + -0.07678970694541931, + 0.08176803588867188, + 0.11241306364536285, + -0.1126350685954094, + -0.12214651703834534, + 0.0, + 1.0014774799346924 + ], + [ + 0.36848488450050354, + -0.08047354966402054, + 0.08126074820756912, + 0.0764407217502594, + -0.11129119247198105, + -0.1526011973619461, + 0.0, + 1.0014774799346924 + ], + [ + 0.368734747171402, + -0.08017341792583466, + 0.0806870236992836, + 0.07547084987163544, + -0.11079146713018417, + -0.15509021282196045, + 0.0, + 1.0014774799346924 + ], + [ + 0.368547260761261, + -0.08011433482170105, + 0.08124125748872757, + 0.07552511245012283, + -0.11080379784107208, + -0.15495873987674713, + 0.0, + 1.0014774799346924 + ] + ], + "left_gripper_pos": [ + [ + 1.0047606229782104 + ], + [ + 1.0047606229782104 + ], + [ + 1.0047606229782104 + ], + [ + 1.0047606229782104 + ], + [ + 1.0041072368621826 + ], + [ + 1.003452181816101 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.24090281128883362, + -0.0034652543254196644, + 0.10324805229902267 + ], + [ + 0.2398870438337326, + -0.003607407910749316, + 0.09806974977254868 + ], + [ + 0.2543677091598511, + 0.040534261614084244, + 0.09061272442340851 + ], + [ + 0.2777478098869324, + 0.0777844488620758, + 0.09630152583122253 + ], + [ + 0.2938891053199768, + 0.11812812834978104, + 0.08717228472232819 + ], + [ + 0.31746774911880493, + 0.13253170251846313, + 0.0669364258646965 + ], + [ + 0.34814685583114624, + 0.14017534255981445, + 0.04835418984293938 + ], + [ + 0.38066279888153076, + 0.1388188600540161, + 0.023554649204015732 + ], + [ + 0.3983970880508423, + 0.1327645629644394, + 0.016949845477938652 + ], + [ + 0.40071460604667664, + 0.12297990918159485, + 0.01350174006074667 + ], + [ + 0.391864150762558, + 0.11244802922010422, + 0.012092920020222664 + ], + [ + 0.379318505525589, + 0.09178629517555237, + 0.012701930478215218 + ], + [ + 0.3793681859970093, + 0.05812741070985794, + 0.013270472176373005 + ], + [ + 0.39196500182151794, + 0.002554737962782383, + 0.01595262996852398 + ], + [ + 0.3986108899116516, + -0.04076771438121796, + 0.016713349148631096 + ], + [ + 0.3919675946235657, + -0.06911663711071014, + 0.01793540082871914 + ], + [ + 0.38672181963920593, + -0.08237756043672562, + 0.01789955049753189 + ], + [ + 0.38728198409080505, + -0.07551760226488113, + 0.027895713225007057 + ], + [ + 0.3910800516605377, + -0.07559476047754288, + 0.06709469854831696 + ], + [ + 0.38111528754234314, + -0.07678970694541931, + 0.08176803588867188 + ], + [ + 0.36848488450050354, + -0.08047354966402054, + 0.08126074820756912 + ], + [ + 0.368734747171402, + -0.08017341792583466, + 0.0806870236992836 + ], + [ + 0.368547260761261, + -0.08011433482170105, + 0.08124125748872757 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9664475286120294, + -0.22902388457277081, + 0.11630664097504821, + -0.23786024570272948, + -0.9688699200336927, + 0.06865552831450077, + 0.09696225014889955, + -0.09401669186428659, + -0.9908376172193696 + ], + [ + 0.9673966985508785, + -0.23480878167097688, + 0.09491292684904375, + -0.24167851553982908, + -0.9679195336855196, + 0.06872606082462843, + 0.07573059328517782, + -0.0894237796125697, + -0.9931103991402351 + ], + [ + 0.9876089959431567, + -0.14731936327833456, + 0.054087672675173226, + -0.1514017882013, + -0.9851218457717271, + 0.08131695710462074, + 0.04130338559487927, + -0.08849832872191503, + -0.9952196120213012 + ], + [ + 0.9941179924426449, + -0.08049968280911309, + 0.07245148838662424, + -0.08701392935247172, + -0.9919713707896562, + 0.09176805344090584, + 0.06448250305662787, + -0.09753256174899784, + -0.9931411814028404 + ], + [ + 0.9977590615122506, + 0.0248655101783317, + 0.06211732104465011, + 0.018706866555455687, + -0.9950273409922185, + 0.09782966738996772, + 0.06424101737884623, + -0.09644841668750516, + -0.9932627017081654 + ], + [ + 0.997282002657357, + 0.06777112875952332, + 0.02890815252470986, + 0.06373721926718792, + -0.99036451312745, + 0.12294591501109602, + 0.036961791837222736, + -0.12076922308473027, + -0.9919922483062521 + ], + [ + 0.9942947795764793, + 0.10665578683940469, + -0.0015602694087751149, + 0.10561605528463389, + -0.9823427951083751, + 0.15442759392277697, + 0.014937877127411608, + -0.1537113399601097, + -0.988002876410081 + ], + [ + 0.9923299349306054, + 0.12153281930406176, + -0.022606947441578637, + 0.12354833274098728, + -0.9811678793435336, + 0.1484769410428267, + -0.0041363894331067404, + -0.15013116390849376, + -0.9886574350632974 + ], + [ + 0.9935289402852315, + 0.11242545879818355, + -0.016148096783294763, + 0.11357479110065208, + -0.9821386607106363, + 0.15001472582370315, + 0.001005804229442686, + -0.15087798829363916, + -0.9885518807863938 + ], + [ + 0.995328306778782, + 0.09612044532744173, + -0.00907864058860967, + 0.09640027110024733, + -0.9841956170019166, + 0.14854620562645052, + 0.005343169160870815, + -0.14872742673855147, + -0.9888637939974582 + ], + [ + 0.994586556256263, + 0.10390260895396314, + -0.0013527626796808155, + 0.10287199496273064, + -0.9827175807422721, + 0.153894474080274, + 0.01466065369264416, + -0.15320053639793835, + -0.988086363067869 + ], + [ + 0.9962305682246582, + 0.08663658268360186, + -0.004330990150254229, + 0.08632318605949041, + -0.9852359745957595, + 0.14784580450889392, + 0.008541807965108067, + -0.14766237470408936, + -0.9890009406534637 + ], + [ + 0.9989149133752203, + 0.04657203955821559, + -0.00020240544571233305, + 0.04626089587287618, + -0.9917206262303162, + 0.11979202403494478, + 0.005378229226739898, + -0.11967140276915735, + -0.9927989877158654 + ], + [ + 0.9989070551266358, + -0.04115831436793097, + 0.02215148700702767, + -0.043017386615140436, + -0.9948949420740318, + 0.0912883272073279, + 0.01828112871338872, + -0.09214145317879023, + -0.9955780998691489 + ], + [ + 0.9947865921350861, + -0.09913559567255592, + 0.0239117079881215, + -0.10088621234086642, + -0.9909226769597896, + 0.08884942569515021, + 0.014886512948816927, + -0.09079857904996046, + -0.9957580076377658 + ], + [ + 0.9930790626144199, + -0.11668838547384226, + 0.013334020112947279, + -0.11744355330009702, + -0.9875833428687373, + 0.10433672736125493, + 0.000993571895614151, + -0.10518061410601087, + -0.9944526390086006 + ], + [ + 0.993618431456749, + -0.11264308731924964, + 0.00582645248997395, + -0.11251182125638672, + -0.9861628522102953, + 0.12175351739488441, + -0.007968861085557258, + -0.12163208375935783, + -0.9925432652803382 + ], + [ + 0.9948675515428254, + -0.09926905773304964, + 0.019601251592091574, + -0.10103288106353384, + -0.9851920780878544, + 0.13852409976945262, + 0.00555984093170304, + -0.13979350288810954, + -0.9901650694298838 + ], + [ + 0.9894331647704584, + -0.09659113580098626, + 0.10813031460691555, + -0.10922875261164554, + -0.9870115119182556, + 0.11780218564926147, + 0.09534721839266755, + -0.128368328747844, + -0.9871324531790384 + ], + [ + 0.9862599704519049, + -0.10855960988398128, + 0.12452341862495299, + -0.12107093694361418, + -0.987820946656171, + 0.09773231591905288, + 0.11239705917773334, + -0.11146563797486628, + -0.9873916713437749 + ], + [ + 0.9822644326424467, + -0.1431829173158501, + 0.12105881444378587, + -0.15106920898633702, + -0.9867820295492243, + 0.058645718129768494, + 0.11106159760175867, + -0.07589386238449237, + -0.9909114204561924 + ], + [ + 0.9819400883291788, + -0.1457930686121936, + 0.12057381173673226, + -0.15352216378833344, + -0.9864729268522212, + 0.05746398709940333, + 0.11056494995174945, + -0.07493694504216518, + -0.9910397802862985 + ], + [ + 0.9819589167703114, + -0.14565591679255327, + 0.12058623337096659, + -0.15339285347711132, + -0.9864891084298106, + 0.057531482264119686, + 0.11057720505341904, + -0.07499061843109478, + -0.9910343530220816 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0010157674551010132, + -0.00014215358532965183, + -0.005178302526473999, + -0.004800871014595032, + 0.02131166309118271, + -0.003490820527076721, + 1.0 + ], + [ + 0.01448066532611847, + 0.04414166882634163, + -0.007457025349140167, + -0.001111827790737152, + 0.03448802977800369, + 0.09269554913043976, + 1.0 + ], + [ + 0.0233801007270813, + 0.03725018724799156, + 0.005688801407814026, + 0.009202100336551666, + -0.023212134838104248, + 0.06481080502271652, + 1.0 + ], + [ + 0.016141295433044434, + 0.04034367948770523, + -0.009129241108894348, + -0.0010930895805358887, + 0.00024198740720748901, + 0.1060529500246048, + 1.0 + ], + [ + 0.023578643798828125, + 0.014403574168682098, + -0.020235858857631683, + 0.024348780512809753, + 0.02731507271528244, + 0.04507743939757347, + 1.0 + ], + [ + 0.03067910671234131, + 0.007643640041351318, + -0.018582236021757126, + 0.03319258987903595, + 0.02203178033232689, + 0.04200112819671631, + 1.0 + ], + [ + 0.03251594305038452, + -0.0013564825057983398, + -0.024799540638923645, + -0.0036382824182510376, + 0.019074834883213043, + 0.01804063469171524, + 1.0 + ], + [ + 0.017734289169311523, + -0.006054297089576721, + -0.00660480372607708, + 0.0007542073726654053, + -0.005142205394804478, + -0.010045439004898071, + 1.0 + ], + [ + 0.0023175179958343506, + -0.009784653782844543, + -0.0034481054171919823, + -0.0021730363368988037, + -0.004337389953434467, + -0.01726885885000229, + 1.0 + ], + [ + -0.008850455284118652, + -0.010531879961490631, + -0.0014088200405240059, + 0.00453948974609375, + -0.00931798480451107, + 0.006513833999633789, + 1.0 + ], + [ + -0.012545645236968994, + -0.02066173404455185, + 0.0006090104579925537, + -0.0056131333112716675, + 0.006119267083704472, + -0.016631506383419037, + 1.0 + ], + [ + 4.9680471420288086e-05, + -0.03365888446569443, + 0.0005685416981577873, + -0.028249122202396393, + 0.003163656685501337, + -0.04015583544969559, + 1.0 + ], + [ + 0.012596815824508667, + -0.05557267367839813, + 0.0026821577921509743, + -0.027672842144966125, + -0.012903891503810883, + -0.08931594341993332, + 1.0 + ], + [ + 0.006645888090133667, + -0.043322451412677765, + 0.0007607191801071167, + -0.0013538897037506104, + 0.0033950842916965485, + -0.058031514286994934, + 1.0 + ], + [ + -0.0066432952880859375, + -0.028348922729492188, + 0.0012220516800880432, + 0.014441661536693573, + 0.01389349065721035, + -0.01664590835571289, + 1.0 + ], + [ + -0.005245774984359741, + -0.013260923326015472, + -3.585033118724823e-05, + 0.0165623277425766, + 0.008962517604231834, + 0.004961125552654266, + 1.0 + ], + [ + 0.0005601644515991211, + 0.006859958171844482, + 0.009996162727475166, + 0.018317148089408875, + -0.013528814539313316, + 0.0115470290184021, + 1.0 + ], + [ + 0.003798067569732666, + -7.715821266174316e-05, + 0.03919898718595505, + -0.010939091444015503, + -0.0899324119091034, + -0.008742935955524445, + 1.0 + ], + [ + -0.00996476411819458, + -0.0011949464678764343, + 0.01467333734035492, + -0.016902893781661987, + -0.01714278757572174, + -0.012196451425552368, + 1.0 + ], + [ + -0.0126304030418396, + -0.003683842718601227, + -0.0005072876811027527, + -0.035972341895103455, + 0.0013438761234283447, + -0.03045468032360077, + 1.0 + ], + [ + 0.0002498626708984375, + 0.00030013173818588257, + -0.0005737245082855225, + -0.0009698718786239624, + 0.000499725341796875, + -0.0024890154600143433, + 1.0 + ], + [ + -0.0001874864101409912, + 5.908310413360596e-05, + 0.0005542337894439697, + 5.426257848739624e-05, + -1.2330710887908936e-05, + 0.00013147294521331787, + 1.0 + ], + [ + -0.00016745924949645996, + -0.000553913414478302, + -0.0005781427025794983, + 0.00014650821685791016, + 0.0015270635485649109, + -0.0015500783920288086, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0047606229782104 + ], + [ + 1.0047606229782104 + ], + [ + 1.0047606229782104 + ], + [ + 1.0041072368621826 + ], + [ + 1.003452181816101 + ], + [ + 1.002137303352356 + ], + [ + 1.002137303352356 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2398870438337326, + -0.003607407910749316, + 0.09806974977254868 + ], + [ + 0.2543677091598511, + 0.040534261614084244, + 0.09061272442340851 + ], + [ + 0.2777478098869324, + 0.0777844488620758, + 0.09630152583122253 + ], + [ + 0.2938891053199768, + 0.11812812834978104, + 0.08717228472232819 + ], + [ + 0.31746774911880493, + 0.13253170251846313, + 0.0669364258646965 + ], + [ + 0.34814685583114624, + 0.14017534255981445, + 0.04835418984293938 + ], + [ + 0.38066279888153076, + 0.1388188600540161, + 0.023554649204015732 + ], + [ + 0.3983970880508423, + 0.1327645629644394, + 0.016949845477938652 + ], + [ + 0.40071460604667664, + 0.12297990918159485, + 0.01350174006074667 + ], + [ + 0.391864150762558, + 0.11244802922010422, + 0.012092920020222664 + ], + [ + 0.379318505525589, + 0.09178629517555237, + 0.012701930478215218 + ], + [ + 0.3793681859970093, + 0.05812741070985794, + 0.013270472176373005 + ], + [ + 0.39196500182151794, + 0.002554737962782383, + 0.01595262996852398 + ], + [ + 0.3986108899116516, + -0.04076771438121796, + 0.016713349148631096 + ], + [ + 0.3919675946235657, + -0.06911663711071014, + 0.01793540082871914 + ], + [ + 0.38672181963920593, + -0.08237756043672562, + 0.01789955049753189 + ], + [ + 0.38728198409080505, + -0.07551760226488113, + 0.027895713225007057 + ], + [ + 0.3910800516605377, + -0.07559476047754288, + 0.06709469854831696 + ], + [ + 0.38111528754234314, + -0.07678970694541931, + 0.08176803588867188 + ], + [ + 0.36848488450050354, + -0.08047354966402054, + 0.08126074820756912 + ], + [ + 0.368734747171402, + -0.08017341792583466, + 0.0806870236992836 + ], + [ + 0.368547260761261, + -0.08011433482170105, + 0.08124125748872757 + ], + [ + 0.3683798015117645, + -0.08066824823617935, + 0.08066311478614807 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9673966985508785, + -0.23480878167097688, + 0.09491292684904375, + -0.24167851553982908, + -0.9679195336855196, + 0.06872606082462843, + 0.07573059328517782, + -0.0894237796125697, + -0.9931103991402351 + ], + [ + 0.9876089959431567, + -0.14731936327833456, + 0.054087672675173226, + -0.1514017882013, + -0.9851218457717271, + 0.08131695710462074, + 0.04130338559487927, + -0.08849832872191503, + -0.9952196120213012 + ], + [ + 0.9941179924426449, + -0.08049968280911309, + 0.07245148838662424, + -0.08701392935247172, + -0.9919713707896562, + 0.09176805344090584, + 0.06448250305662787, + -0.09753256174899784, + -0.9931411814028404 + ], + [ + 0.9977590615122506, + 0.0248655101783317, + 0.06211732104465011, + 0.018706866555455687, + -0.9950273409922185, + 0.09782966738996772, + 0.06424101737884623, + -0.09644841668750516, + -0.9932627017081654 + ], + [ + 0.997282002657357, + 0.06777112875952332, + 0.02890815252470986, + 0.06373721926718792, + -0.99036451312745, + 0.12294591501109602, + 0.036961791837222736, + -0.12076922308473027, + -0.9919922483062521 + ], + [ + 0.9942947795764793, + 0.10665578683940469, + -0.0015602694087751149, + 0.10561605528463389, + -0.9823427951083751, + 0.15442759392277697, + 0.014937877127411608, + -0.1537113399601097, + -0.988002876410081 + ], + [ + 0.9923299349306054, + 0.12153281930406176, + -0.022606947441578637, + 0.12354833274098728, + -0.9811678793435336, + 0.1484769410428267, + -0.0041363894331067404, + -0.15013116390849376, + -0.9886574350632974 + ], + [ + 0.9935289402852315, + 0.11242545879818355, + -0.016148096783294763, + 0.11357479110065208, + -0.9821386607106363, + 0.15001472582370315, + 0.001005804229442686, + -0.15087798829363916, + -0.9885518807863938 + ], + [ + 0.995328306778782, + 0.09612044532744173, + -0.00907864058860967, + 0.09640027110024733, + -0.9841956170019166, + 0.14854620562645052, + 0.005343169160870815, + -0.14872742673855147, + -0.9888637939974582 + ], + [ + 0.994586556256263, + 0.10390260895396314, + -0.0013527626796808155, + 0.10287199496273064, + -0.9827175807422721, + 0.153894474080274, + 0.01466065369264416, + -0.15320053639793835, + -0.988086363067869 + ], + [ + 0.9962305682246582, + 0.08663658268360186, + -0.004330990150254229, + 0.08632318605949041, + -0.9852359745957595, + 0.14784580450889392, + 0.008541807965108067, + -0.14766237470408936, + -0.9890009406534637 + ], + [ + 0.9989149133752203, + 0.04657203955821559, + -0.00020240544571233305, + 0.04626089587287618, + -0.9917206262303162, + 0.11979202403494478, + 0.005378229226739898, + -0.11967140276915735, + -0.9927989877158654 + ], + [ + 0.9989070551266358, + -0.04115831436793097, + 0.02215148700702767, + -0.043017386615140436, + -0.9948949420740318, + 0.0912883272073279, + 0.01828112871338872, + -0.09214145317879023, + -0.9955780998691489 + ], + [ + 0.9947865921350861, + -0.09913559567255592, + 0.0239117079881215, + -0.10088621234086642, + -0.9909226769597896, + 0.08884942569515021, + 0.014886512948816927, + -0.09079857904996046, + -0.9957580076377658 + ], + [ + 0.9930790626144199, + -0.11668838547384226, + 0.013334020112947279, + -0.11744355330009702, + -0.9875833428687373, + 0.10433672736125493, + 0.000993571895614151, + -0.10518061410601087, + -0.9944526390086006 + ], + [ + 0.993618431456749, + -0.11264308731924964, + 0.00582645248997395, + -0.11251182125638672, + -0.9861628522102953, + 0.12175351739488441, + -0.007968861085557258, + -0.12163208375935783, + -0.9925432652803382 + ], + [ + 0.9948675515428254, + -0.09926905773304964, + 0.019601251592091574, + -0.10103288106353384, + -0.9851920780878544, + 0.13852409976945262, + 0.00555984093170304, + -0.13979350288810954, + -0.9901650694298838 + ], + [ + 0.9894331647704584, + -0.09659113580098626, + 0.10813031460691555, + -0.10922875261164554, + -0.9870115119182556, + 0.11780218564926147, + 0.09534721839266755, + -0.128368328747844, + -0.9871324531790384 + ], + [ + 0.9862599704519049, + -0.10855960988398128, + 0.12452341862495299, + -0.12107093694361418, + -0.987820946656171, + 0.09773231591905288, + 0.11239705917773334, + -0.11146563797486628, + -0.9873916713437749 + ], + [ + 0.9822644326424467, + -0.1431829173158501, + 0.12105881444378587, + -0.15106920898633702, + -0.9867820295492243, + 0.058645718129768494, + 0.11106159760175867, + -0.07589386238449237, + -0.9909114204561924 + ], + [ + 0.9819400883291788, + -0.1457930686121936, + 0.12057381173673226, + -0.15352216378833344, + -0.9864729268522212, + 0.05746398709940333, + 0.11056494995174945, + -0.07493694504216518, + -0.9910397802862985 + ], + [ + 0.9819589167703114, + -0.14565591679255327, + 0.12058623337096659, + -0.15339285347711132, + -0.9864891084298106, + 0.057531482264119686, + 0.11057720505341904, + -0.07499061843109478, + -0.9910343530220816 + ], + [ + 0.9818856160511475, + -0.14728053951266445, + 0.11920184425048333, + -0.15494092132170656, + -0.9862358475983054, + 0.05772489767883776, + 0.10905937782620406, + -0.07514849029029155, + -0.9911905752756383 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006750.json b/json/chunk-0006/episode_0006750.json new file mode 100644 index 0000000000000000000000000000000000000000..8239a95f2d6f1d65e591a98d5d5725eb0ec48e90 --- /dev/null +++ b/json/chunk-0006/episode_0006750.json @@ -0,0 +1,1942 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 31, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nUnfold the cloth from left to right." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006750.mp4", + "start": 0, + "end": 31, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.23207750916481018, + 0.03959013149142265, + 0.058567874133586884, + 0.04726201668381691, + -0.1510622352361679, + 0.03545251116156578, + 0.0, + 1.0008161067962646 + ], + [ + 0.2306182086467743, + 0.03937137499451637, + 0.05390891805291176, + 0.04478481784462929, + -0.1313169151544571, + 0.03731830418109894, + 0.0, + 1.0008161067962646 + ], + [ + 0.23212140798568726, + 0.057076092809438705, + 0.04964606836438179, + 0.04495048150420189, + -0.12983225286006927, + 0.11089950054883957, + 0.0, + 1.0008161067962646 + ], + [ + 0.239558607339859, + 0.06693664938211441, + 0.04511946067214012, + 0.04201991856098175, + -0.11975707113742828, + 0.15705831348896027, + 0.0, + 1.0008161067962646 + ], + [ + 0.24587927758693695, + 0.07553572952747345, + 0.039948076009750366, + 0.050040483474731445, + -0.11060654371976852, + 0.18873776495456696, + 0.0, + 1.0001531839370728 + ], + [ + 0.2500326931476593, + 0.0800977572798729, + 0.031828850507736206, + 0.06895839422941208, + -0.0983753576874733, + 0.19639649987220764, + 0.0, + 1.0001531839370728 + ], + [ + 0.25792229175567627, + 0.08113813400268555, + 0.02294369414448738, + 0.09119222313165665, + -0.09266068786382675, + 0.19548672437667847, + 0.0, + 1.0001531839370728 + ], + [ + 0.26371490955352783, + 0.08232434839010239, + 0.014741076156497002, + 0.09732094407081604, + -0.07513976097106934, + 0.20940648019313812, + 0.0, + 1.0001531839370728 + ], + [ + 0.2680148780345917, + 0.08469341695308685, + 0.009995175525546074, + 0.1012127548456192, + -0.066067636013031, + 0.22361618280410767, + 0.0, + 1.0001531839370728 + ], + [ + 0.26640647649765015, + 0.08698160201311111, + 0.010165621526539326, + 0.11449111998081207, + -0.060474541038274765, + 0.2321721613407135, + 0.0, + 0.9643021821975708 + ], + [ + 0.26449382305145264, + 0.09169486165046692, + 0.009782707318663597, + 0.12180055677890778, + -0.06191123649477959, + 0.2500116229057312, + 0.0, + 0.6981924772262573 + ], + [ + 0.2627503275871277, + 0.09299584478139877, + 0.009013395756483078, + 0.1245516985654831, + -0.05914679542183876, + 0.25396716594696045, + 0.0, + 0.39273425936698914 + ], + [ + 0.2631542682647705, + 0.09246718883514404, + 0.00900337379425764, + 0.1236722320318222, + -0.05991704389452934, + 0.24731741845607758, + 0.0, + 0.17514994740486145 + ], + [ + 0.2620752155780792, + 0.09212719649076462, + 0.008384480141103268, + 0.12069368362426758, + -0.056357622146606445, + 0.24779748916625977, + 0.0, + 0.07081232219934464 + ], + [ + 0.2628767192363739, + 0.09052649140357971, + 0.014768391847610474, + 0.10414135456085205, + -0.06861318647861481, + 0.2547036409378052, + 0.0, + 0.057568058371543884 + ], + [ + 0.26557767391204834, + 0.08631134778261185, + 0.03197044879198074, + 0.07334975153207779, + -0.09731722623109818, + 0.2649323642253876, + 0.0, + 0.056741900742053986 + ], + [ + 0.27976280450820923, + 0.06315234303474426, + 0.0597885325551033, + 0.02230515144765377, + -0.1616266816854477, + 0.22055616974830627, + 0.0, + 0.05619491636753082 + ], + [ + 0.28951388597488403, + 0.025250181555747986, + 0.07482116669416428, + -0.03751293197274208, + -0.20457972586154938, + 0.14490899443626404, + 0.0, + 0.05619491636753082 + ], + [ + 0.2918838858604431, + -0.011351073160767555, + 0.07828568667173386, + -0.06551346182823181, + -0.21310213208198547, + 0.06496092677116394, + 0.0, + 0.05592256039381027 + ], + [ + 0.29250046610832214, + -0.04819605499505997, + 0.07878665626049042, + -0.06273704767227173, + -0.23914915323257446, + -0.031549520790576935, + 0.0, + 0.05538023263216019 + ], + [ + 0.29139479994773865, + -0.07373375445604324, + 0.060419145971536636, + -0.05856933817267418, + -0.21848291158676147, + -0.09333203732967377, + 0.0, + 0.05538023263216019 + ], + [ + 0.2900145947933197, + -0.09604155272245407, + 0.03880702704191208, + -0.05240273475646973, + -0.20315316319465637, + -0.1475515067577362, + 0.0, + 0.05538023263216019 + ], + [ + 0.2863970994949341, + -0.11208724975585938, + 0.01773916929960251, + -0.08038154989480972, + -0.18972085416316986, + -0.16892047226428986, + 0.0, + 0.05511022359132767 + ], + [ + 0.2819461226463318, + -0.1222156211733818, + 0.002413469832390547, + -0.07489196956157684, + -0.16003002226352692, + -0.21286888420581818, + 0.0, + 0.07624256610870361 + ], + [ + 0.2780950367450714, + -0.12843838334083557, + 0.0012759474338963628, + -0.061155855655670166, + -0.14293359220027924, + -0.24107833206653595, + 0.0, + 0.228750541806221 + ], + [ + 0.2728649377822876, + -0.12675124406814575, + 0.0006737427902407944, + -0.05012110248208046, + -0.124095618724823, + -0.24376212060451508, + 0.0, + 0.4880000650882721 + ], + [ + 0.26920104026794434, + -0.1274861991405487, + 0.009085681289434433, + -0.04097061604261398, + -0.1393003910779953, + -0.2532775402069092, + 0.0, + 0.7960459589958191 + ], + [ + 0.2679019570350647, + -0.1251194030046463, + 0.014239251613616943, + -0.0345710851252079, + -0.15445971488952637, + -0.26290595531463623, + 0.0, + 1.0027955770492554 + ], + [ + 0.2677091360092163, + -0.12133359909057617, + 0.0225827619433403, + -0.02435801364481449, + -0.17635594308376312, + -0.2644074857234955, + 0.0, + 1.0073583126068115 + ], + [ + 0.26762357354164124, + -0.11698731780052185, + 0.0425250381231308, + -0.023449154570698738, + -0.21393802762031555, + -0.25116026401519775, + 0.0, + 1.0008161067962646 + ], + [ + 0.26419809460639954, + -0.11018828302621841, + 0.07432478666305542, + -0.00845973752439022, + -0.28578639030456543, + -0.2452542632818222, + 0.0, + 1.0008161067962646 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9643021821975708 + ], + [ + 0.6981924772262573 + ], + [ + 0.39273425936698914 + ], + [ + 0.17514994740486145 + ], + [ + 0.07081232219934464 + ], + [ + 0.057568058371543884 + ], + [ + 0.056741900742053986 + ], + [ + 0.05619491636753082 + ], + [ + 0.05619491636753082 + ], + [ + 0.05592256039381027 + ], + [ + 0.05538023263216019 + ], + [ + 0.05538023263216019 + ], + [ + 0.05538023263216019 + ], + [ + 0.05511022359132767 + ], + [ + 0.07624256610870361 + ], + [ + 0.228750541806221 + ], + [ + 0.4880000650882721 + ], + [ + 0.7960459589958191 + ], + [ + 1.0027955770492554 + ], + [ + 1.0073583126068115 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.23207750916481018, + 0.03959013149142265, + 0.058567874133586884 + ], + [ + 0.2306182086467743, + 0.03937137499451637, + 0.05390891805291176 + ], + [ + 0.23212140798568726, + 0.057076092809438705, + 0.04964606836438179 + ], + [ + 0.239558607339859, + 0.06693664938211441, + 0.04511946067214012 + ], + [ + 0.24587927758693695, + 0.07553572952747345, + 0.039948076009750366 + ], + [ + 0.2500326931476593, + 0.0800977572798729, + 0.031828850507736206 + ], + [ + 0.25792229175567627, + 0.08113813400268555, + 0.02294369414448738 + ], + [ + 0.26371490955352783, + 0.08232434839010239, + 0.014741076156497002 + ], + [ + 0.2680148780345917, + 0.08469341695308685, + 0.009995175525546074 + ], + [ + 0.26640647649765015, + 0.08698160201311111, + 0.010165621526539326 + ], + [ + 0.26449382305145264, + 0.09169486165046692, + 0.009782707318663597 + ], + [ + 0.2627503275871277, + 0.09299584478139877, + 0.009013395756483078 + ], + [ + 0.2631542682647705, + 0.09246718883514404, + 0.00900337379425764 + ], + [ + 0.2620752155780792, + 0.09212719649076462, + 0.008384480141103268 + ], + [ + 0.2628767192363739, + 0.09052649140357971, + 0.014768391847610474 + ], + [ + 0.26557767391204834, + 0.08631134778261185, + 0.03197044879198074 + ], + [ + 0.27976280450820923, + 0.06315234303474426, + 0.0597885325551033 + ], + [ + 0.28951388597488403, + 0.025250181555747986, + 0.07482116669416428 + ], + [ + 0.2918838858604431, + -0.011351073160767555, + 0.07828568667173386 + ], + [ + 0.29250046610832214, + -0.04819605499505997, + 0.07878665626049042 + ], + [ + 0.29139479994773865, + -0.07373375445604324, + 0.060419145971536636 + ], + [ + 0.2900145947933197, + -0.09604155272245407, + 0.03880702704191208 + ], + [ + 0.2863970994949341, + -0.11208724975585938, + 0.01773916929960251 + ], + [ + 0.2819461226463318, + -0.1222156211733818, + 0.002413469832390547 + ], + [ + 0.2780950367450714, + -0.12843838334083557, + 0.0012759474338963628 + ], + [ + 0.2728649377822876, + -0.12675124406814575, + 0.0006737427902407944 + ], + [ + 0.26920104026794434, + -0.1274861991405487, + 0.009085681289434433 + ], + [ + 0.2679019570350647, + -0.1251194030046463, + 0.014239251613616943 + ], + [ + 0.2677091360092163, + -0.12133359909057617, + 0.0225827619433403 + ], + [ + 0.26762357354164124, + -0.11698731780052185, + 0.0425250381231308 + ], + [ + 0.26419809460639954, + -0.11018828302621841, + 0.07432478666305542 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9879905632909405, + 0.042510773655202214, + 0.14855127387971637, + 0.03504142866623977, + -0.9980036807967096, + 0.05254285292262192, + 0.1504883554467892, + -0.04670639398899914, + -0.9875078569993585 + ], + [ + 0.9907000641433852, + 0.04313030849838711, + 0.12904712083237538, + 0.036988418652596826, + -0.9980830636860866, + 0.049619097821047724, + 0.13093983271667933, + -0.04438439446278875, + -0.9903962771215867 + ], + [ + 0.9854922779505211, + 0.11634247238776874, + 0.12356941052944431, + 0.10974086066869346, + -0.9922091963101298, + 0.05897333513801632, + 0.12946780912484573, + -0.04455715291967888, + -0.990582024127283 + ], + [ + 0.9806175195952106, + 0.1612322548997205, + 0.11132582918122953, + 0.15529312667465342, + -0.9860348434937597, + 0.060160886162415106, + 0.11947102188625826, + -0.04170668287203583, + -0.9919613034454846 + ], + [ + 0.9762396811501951, + 0.19280754462416555, + 0.09890063540628019, + 0.18647274548887943, + -0.979976415037082, + 0.06981504967346619, + 0.11038115843569113, + -0.04971394881790592, + -0.9926452151475499 + ], + [ + 0.9760341103239787, + 0.20131000605669166, + 0.0826540800295725, + 0.19419290303951434, + -0.9771245330831159, + 0.08669926906375514, + 0.09821675973664576, + -0.06857060819737842, + -0.9927998488105628 + ], + [ + 0.9767450209503148, + 0.2017025691234538, + 0.07269964001126364, + 0.19341071844359936, + -0.9752405235144852, + 0.10722973135433732, + 0.09252814728448697, + -0.09067521659301929, + -0.9915727643778389 + ], + [ + 0.975394444407268, + 0.21403062723971905, + 0.05288259092375733, + 0.2072928167000196, + -0.9720095654302666, + 0.11057618575731461, + 0.07506907461804166, + -0.09689321604445018, + -0.9924597416119982 + ], + [ + 0.9729745590044222, + 0.22712687408101948, + 0.041640012011707694, + 0.22127341048001456, + -0.9686324332610659, + 0.11308973007877413, + 0.06601958303937865, + -0.10081960278106505, + -0.9927118526291379 + ], + [ + 0.9713899145851173, + 0.23530476016565338, + 0.03214504138592825, + 0.2296713300629325, + -0.9652089411701207, + 0.12499111981408229, + 0.06043768683067058, + -0.1140323187900654, + -0.9916369881574199 + ], + [ + 0.9670532234180234, + 0.25286590796426855, + 0.029443091994836256, + 0.2469412008348271, + -0.9598714423802108, + 0.1329167312011056, + 0.06187169310002691, + -0.12126684086072098, + -0.9906897833835758 + ], + [ + 0.9662307366227117, + 0.2564075148614943, + 0.02556071063340382, + 0.25080649465943233, + -0.9585802216006728, + 0.13498170614069657, + 0.05911231548653942, + -0.12401268111994755, + -0.990518343635928 + ], + [ + 0.9678327284373311, + 0.250096172421693, + 0.02741740880481996, + 0.2443645876936895, + -0.9603590299418456, + 0.13415096678910313, + 0.05988119944394024, + -0.12313585241178429, + -0.9905815482856416 + ], + [ + 0.9679158059808786, + 0.25005983522037295, + 0.02467937077695724, + 0.24487991392601005, + -0.9607391440147484, + 0.13043820342751927, + 0.05632779321060344, + -0.12020971660963571, + -0.9911492338415315 + ], + [ + 0.9654609582635141, + 0.2574905934423386, + 0.0397961349581715, + 0.25136577287267037, + -0.9606992855607621, + 0.11778001083021686, + 0.06855936330671264, + -0.1037086158993224, + -0.9922419748686429 + ], + [ + 0.960543711881372, + 0.26801203307995736, + 0.07433254798204789, + 0.2606050556031362, + -0.9606506691279113, + 0.09610045212267415, + 0.09716368951023788, + -0.07293724719540715, + -0.9925922503285596 + ], + [ + 0.9630584598067234, + 0.2222201252779352, + 0.15210726122102403, + 0.21592105388848395, + -0.9747479984738275, + 0.0569599680385614, + 0.16092389966188508, + -0.02201261894292269, + -0.9867213097551332 + ], + [ + 0.9688840684178973, + 0.13676146624827906, + 0.2063006624216321, + 0.1413910766459205, + -0.9899231248513752, + -0.007795532656347347, + 0.20315566792706233, + 0.03672204016812755, + -0.9784575955834774 + ], + [ + 0.9753180321056506, + 0.05095947201631382, + 0.21484382341919872, + 0.06344683527879116, + -0.9966488646798882, + -0.05162886426599065, + 0.21149287303043396, + 0.06398572297089934, + -0.9752828266268325 + ], + [ + 0.9710563899293969, + -0.04632599800886876, + 0.2343147231519395, + -0.03064653267389394, + -0.9970675417683232, + -0.07012208772663399, + 0.2368760807096312, + 0.06091156754308732, + -0.9696285388369553 + ], + [ + 0.971978590782561, + -0.10566915232718148, + 0.20998011645582548, + -0.09098107039309931, + -0.9927580562437606, + -0.07844671180640204, + 0.21674884980196096, + 0.05714430863669369, + -0.974553469082103 + ], + [ + 0.968792737976662, + -0.1572679128956004, + 0.1915918432949179, + -0.1439933291444261, + -0.9862225658749684, + -0.08143077870742878, + 0.20175864790780967, + 0.051301599706589165, + -0.9780907901938127 + ], + [ + 0.9680791326239467, + -0.18250234704912183, + 0.17180129888807194, + -0.1651017241036602, + -0.9800382116244675, + -0.11075434282191454, + 0.18858476522790912, + 0.07885427748370535, + -0.9788859939985132 + ], + [ + 0.9649397461877571, + -0.22232631212551185, + 0.1395073373116137, + -0.20856545833999712, + -0.9721701669540562, + -0.1067034023447683, + 0.15934784534010432, + 0.07386594222774157, + -0.9844552233414551 + ], + [ + 0.9611783654007158, + -0.246757878629381, + 0.12347752516120115, + -0.2363152304299667, + -0.9671871414049056, + -0.09329600938860227, + 0.14244739994973282, + 0.06049448599115534, + -0.9879520005608704 + ], + [ + 0.9629741923073956, + -0.24707006406696602, + 0.1078753372734695, + -0.2394992081674167, + -0.9677214563320403, + -0.07845579801248434, + 0.12377735752996137, + 0.04971485086511532, + -0.9910638724957942 + ], + [ + 0.9587187606872848, + -0.2558737437066336, + 0.12404420658696247, + -0.24815101749714544, + -0.9658588504869501, + -0.07441608328284337, + 0.13885031660521507, + 0.04056239906094851, + -0.9894823299892991 + ], + [ + 0.9541427067447763, + -0.2648673153951816, + 0.1394883522058434, + -0.25679373185859633, + -0.9636798731695112, + -0.07333540295198646, + 0.1538462688656678, + 0.03415270535908242, + -0.9875043889891166 + ], + [ + 0.9502760960003248, + -0.26538439483349774, + 0.16293085757228334, + -0.2572839313698825, + -0.9638444823871535, + -0.06934545717419206, + 0.17544321026827767, + 0.0239778387411855, + -0.9841975123012975 + ], + [ + 0.9465424088084394, + -0.2532815033593235, + 0.19976473258099972, + -0.24286214812508009, + -0.9671212430465769, + -0.07546176684994672, + 0.21230978624450872, + 0.022912470492835648, + -0.976933760989314 + ], + [ + 0.9307296020613891, + -0.24510780643832186, + 0.2714121792949646, + -0.232954960350593, + -0.9694618535002856, + -0.07665312163143828, + 0.28191203290158, + 0.008116515926465298, + -0.9594059244524777 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0014593005180358887, + -0.00021875649690628052, + -0.004658956080675125, + -0.002477198839187622, + 0.019745320081710815, + 0.0018657930195331573, + 1.0 + ], + [ + 0.0015031993389129639, + 0.017704717814922333, + -0.004262849688529968, + 0.00016566365957260132, + 0.0014846622943878174, + 0.07358119636774063, + 1.0 + ], + [ + 0.007437199354171753, + 0.009860556572675705, + -0.004526607692241669, + -0.0029305629432201385, + 0.010075181722640991, + 0.0461588129401207, + 1.0 + ], + [ + 0.006320670247077942, + 0.00859908014535904, + -0.005171384662389755, + 0.008020564913749695, + 0.00915052741765976, + 0.03167945146560669, + 1.0 + ], + [ + 0.004153415560722351, + 0.004562027752399445, + -0.00811922550201416, + 0.018917910754680634, + 0.012231186032295227, + 0.007658734917640686, + 1.0 + ], + [ + 0.007889598608016968, + 0.0010403767228126526, + -0.008885156363248825, + 0.022233828902244568, + 0.005714669823646545, + -0.0009097754955291748, + 1.0 + ], + [ + 0.0057926177978515625, + 0.0011862143874168396, + -0.00820261798799038, + 0.006128720939159393, + 0.017520926892757416, + 0.013919755816459656, + 1.0 + ], + [ + 0.004299968481063843, + 0.0023690685629844666, + -0.004745900630950928, + 0.0038918107748031616, + 0.00907212495803833, + 0.014209702610969543, + 1.0 + ], + [ + -0.0016084015369415283, + 0.0022881850600242615, + 0.0001704460009932518, + 0.013278365135192871, + 0.005593094974756241, + 0.008555978536605835, + 0.0 + ], + [ + -0.0019126534461975098, + 0.0047132596373558044, + -0.0003829142078757286, + 0.007309436798095703, + -0.0014366954565048218, + 0.0178394615650177, + 0.0 + ], + [ + -0.0017434954643249512, + 0.0013009831309318542, + -0.0007693115621805191, + 0.0027511417865753174, + 0.0027644410729408264, + 0.003955543041229248, + 0.0 + ], + [ + 0.00040394067764282227, + -0.0005286559462547302, + -1.0021962225437164e-05, + -0.0008794665336608887, + -0.0007702484726905823, + -0.0066497474908828735, + 0.0 + ], + [ + -0.0010790526866912842, + -0.00033999234437942505, + -0.0006188936531543732, + -0.0029785484075546265, + 0.0035594217479228973, + 0.00048007071018218994, + 0.0 + ], + [ + 0.0008015036582946777, + -0.001600705087184906, + 0.006383911706507206, + -0.016552329063415527, + -0.012255564332008362, + 0.00690615177154541, + 0.0 + ], + [ + 0.0027009546756744385, + -0.004215143620967865, + 0.01720205694437027, + -0.03079160302877426, + -0.028704039752483368, + 0.010228723287582397, + 0.0 + ], + [ + 0.014185130596160889, + -0.023159004747867584, + 0.02781808376312256, + -0.05104459822177887, + -0.06430945545434952, + -0.0443761944770813, + 0.0 + ], + [ + 0.009751081466674805, + -0.03790216147899628, + 0.015032634139060974, + -0.0598180815577507, + -0.042953044176101685, + -0.07564717531204224, + 0.0 + ], + [ + 0.002369999885559082, + -0.03660125285387039, + 0.00346451997756958, + -0.02800052985548973, + -0.008522406220436096, + -0.0799480676651001, + 0.0 + ], + [ + 0.0006165802478790283, + -0.03684498369693756, + 0.0005009695887565613, + 0.002776414155960083, + -0.02604702115058899, + -0.09651044756174088, + 0.0 + ], + [ + -0.001105666160583496, + -0.025537699460983276, + -0.01836751028895378, + 0.0041677094995975494, + 0.02066624164581299, + -0.06178251653909683, + 0.0 + ], + [ + -0.0013802051544189453, + -0.022307798266410828, + -0.021612118929624557, + 0.0061666034162044525, + 0.015329748392105103, + -0.05421946942806244, + 0.0 + ], + [ + -0.00361749529838562, + -0.016045697033405304, + -0.02106785774230957, + -0.027978815138339996, + 0.013432309031486511, + -0.02136896550655365, + 0.0 + ], + [ + -0.004450976848602295, + -0.01012837141752243, + -0.015325699001550674, + 0.00548958033323288, + 0.029690831899642944, + -0.04394841194152832, + 1.0 + ], + [ + -0.003851085901260376, + -0.006222762167453766, + -0.001137522398494184, + 0.013736113905906677, + 0.01709643006324768, + -0.028209447860717773, + 1.0 + ], + [ + -0.0052300989627838135, + 0.0016871392726898193, + -0.0006022046436555684, + 0.011034753173589706, + 0.018837973475456238, + -0.002683788537979126, + 1.0 + ], + [ + -0.0036638975143432617, + -0.0007349550724029541, + 0.008411938324570656, + 0.009150486439466476, + -0.015204772353172302, + -0.009515419602394104, + 1.0 + ], + [ + -0.0012990832328796387, + 0.002366796135902405, + 0.00515357032418251, + 0.006399530917406082, + -0.015159323811531067, + -0.00962841510772705, + 1.0 + ], + [ + -0.00019282102584838867, + 0.0037858039140701294, + 0.008343510329723358, + 0.01021307148039341, + -0.021896228194236755, + -0.001501530408859253, + 1.0 + ], + [ + -8.556246757507324e-05, + 0.004346281290054321, + 0.019942276179790497, + 0.0009088590741157532, + -0.03758208453655243, + 0.01324722170829773, + 1.0 + ], + [ + -0.0034254789352416992, + 0.006799034774303436, + 0.03179974853992462, + 0.014989417046308517, + -0.07184836268424988, + 0.005906000733375549, + 1.0 + ], + [ + -0.00467151403427124, + 0.0057048797607421875, + 0.028178997337818146, + 0.05604543536901474, + -0.056289106607437134, + -0.03168158233165741, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9643021821975708 + ], + [ + 0.6981924772262573 + ], + [ + 0.39273425936698914 + ], + [ + 0.17514994740486145 + ], + [ + 0.07081232219934464 + ], + [ + 0.057568058371543884 + ], + [ + 0.056741900742053986 + ], + [ + 0.05619491636753082 + ], + [ + 0.05619491636753082 + ], + [ + 0.05592256039381027 + ], + [ + 0.05538023263216019 + ], + [ + 0.05538023263216019 + ], + [ + 0.05538023263216019 + ], + [ + 0.05511022359132767 + ], + [ + 0.07624256610870361 + ], + [ + 0.228750541806221 + ], + [ + 0.4880000650882721 + ], + [ + 0.7960459589958191 + ], + [ + 1.0027955770492554 + ], + [ + 1.0073583126068115 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2306182086467743, + 0.03937137499451637, + 0.05390891805291176 + ], + [ + 0.23212140798568726, + 0.057076092809438705, + 0.04964606836438179 + ], + [ + 0.239558607339859, + 0.06693664938211441, + 0.04511946067214012 + ], + [ + 0.24587927758693695, + 0.07553572952747345, + 0.039948076009750366 + ], + [ + 0.2500326931476593, + 0.0800977572798729, + 0.031828850507736206 + ], + [ + 0.25792229175567627, + 0.08113813400268555, + 0.02294369414448738 + ], + [ + 0.26371490955352783, + 0.08232434839010239, + 0.014741076156497002 + ], + [ + 0.2680148780345917, + 0.08469341695308685, + 0.009995175525546074 + ], + [ + 0.26640647649765015, + 0.08698160201311111, + 0.010165621526539326 + ], + [ + 0.26449382305145264, + 0.09169486165046692, + 0.009782707318663597 + ], + [ + 0.2627503275871277, + 0.09299584478139877, + 0.009013395756483078 + ], + [ + 0.2631542682647705, + 0.09246718883514404, + 0.00900337379425764 + ], + [ + 0.2620752155780792, + 0.09212719649076462, + 0.008384480141103268 + ], + [ + 0.2628767192363739, + 0.09052649140357971, + 0.014768391847610474 + ], + [ + 0.26557767391204834, + 0.08631134778261185, + 0.03197044879198074 + ], + [ + 0.27976280450820923, + 0.06315234303474426, + 0.0597885325551033 + ], + [ + 0.28951388597488403, + 0.025250181555747986, + 0.07482116669416428 + ], + [ + 0.2918838858604431, + -0.011351073160767555, + 0.07828568667173386 + ], + [ + 0.29250046610832214, + -0.04819605499505997, + 0.07878665626049042 + ], + [ + 0.29139479994773865, + -0.07373375445604324, + 0.060419145971536636 + ], + [ + 0.2900145947933197, + -0.09604155272245407, + 0.03880702704191208 + ], + [ + 0.2863970994949341, + -0.11208724975585938, + 0.01773916929960251 + ], + [ + 0.2819461226463318, + -0.1222156211733818, + 0.002413469832390547 + ], + [ + 0.2780950367450714, + -0.12843838334083557, + 0.0012759474338963628 + ], + [ + 0.2728649377822876, + -0.12675124406814575, + 0.0006737427902407944 + ], + [ + 0.26920104026794434, + -0.1274861991405487, + 0.009085681289434433 + ], + [ + 0.2679019570350647, + -0.1251194030046463, + 0.014239251613616943 + ], + [ + 0.2677091360092163, + -0.12133359909057617, + 0.0225827619433403 + ], + [ + 0.26762357354164124, + -0.11698731780052185, + 0.0425250381231308 + ], + [ + 0.26419809460639954, + -0.11018828302621841, + 0.07432478666305542 + ], + [ + 0.2595265805721283, + -0.10448340326547623, + 0.10250378400087357 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9907000641433852, + 0.04313030849838711, + 0.12904712083237538, + 0.036988418652596826, + -0.9980830636860866, + 0.049619097821047724, + 0.13093983271667933, + -0.04438439446278875, + -0.9903962771215867 + ], + [ + 0.9854922779505211, + 0.11634247238776874, + 0.12356941052944431, + 0.10974086066869346, + -0.9922091963101298, + 0.05897333513801632, + 0.12946780912484573, + -0.04455715291967888, + -0.990582024127283 + ], + [ + 0.9806175195952106, + 0.1612322548997205, + 0.11132582918122953, + 0.15529312667465342, + -0.9860348434937597, + 0.060160886162415106, + 0.11947102188625826, + -0.04170668287203583, + -0.9919613034454846 + ], + [ + 0.9762396811501951, + 0.19280754462416555, + 0.09890063540628019, + 0.18647274548887943, + -0.979976415037082, + 0.06981504967346619, + 0.11038115843569113, + -0.04971394881790592, + -0.9926452151475499 + ], + [ + 0.9760341103239787, + 0.20131000605669166, + 0.0826540800295725, + 0.19419290303951434, + -0.9771245330831159, + 0.08669926906375514, + 0.09821675973664576, + -0.06857060819737842, + -0.9927998488105628 + ], + [ + 0.9767450209503148, + 0.2017025691234538, + 0.07269964001126364, + 0.19341071844359936, + -0.9752405235144852, + 0.10722973135433732, + 0.09252814728448697, + -0.09067521659301929, + -0.9915727643778389 + ], + [ + 0.975394444407268, + 0.21403062723971905, + 0.05288259092375733, + 0.2072928167000196, + -0.9720095654302666, + 0.11057618575731461, + 0.07506907461804166, + -0.09689321604445018, + -0.9924597416119982 + ], + [ + 0.9729745590044222, + 0.22712687408101948, + 0.041640012011707694, + 0.22127341048001456, + -0.9686324332610659, + 0.11308973007877413, + 0.06601958303937865, + -0.10081960278106505, + -0.9927118526291379 + ], + [ + 0.9713899145851173, + 0.23530476016565338, + 0.03214504138592825, + 0.2296713300629325, + -0.9652089411701207, + 0.12499111981408229, + 0.06043768683067058, + -0.1140323187900654, + -0.9916369881574199 + ], + [ + 0.9670532234180234, + 0.25286590796426855, + 0.029443091994836256, + 0.2469412008348271, + -0.9598714423802108, + 0.1329167312011056, + 0.06187169310002691, + -0.12126684086072098, + -0.9906897833835758 + ], + [ + 0.9662307366227117, + 0.2564075148614943, + 0.02556071063340382, + 0.25080649465943233, + -0.9585802216006728, + 0.13498170614069657, + 0.05911231548653942, + -0.12401268111994755, + -0.990518343635928 + ], + [ + 0.9678327284373311, + 0.250096172421693, + 0.02741740880481996, + 0.2443645876936895, + -0.9603590299418456, + 0.13415096678910313, + 0.05988119944394024, + -0.12313585241178429, + -0.9905815482856416 + ], + [ + 0.9679158059808786, + 0.25005983522037295, + 0.02467937077695724, + 0.24487991392601005, + -0.9607391440147484, + 0.13043820342751927, + 0.05632779321060344, + -0.12020971660963571, + -0.9911492338415315 + ], + [ + 0.9654609582635141, + 0.2574905934423386, + 0.0397961349581715, + 0.25136577287267037, + -0.9606992855607621, + 0.11778001083021686, + 0.06855936330671264, + -0.1037086158993224, + -0.9922419748686429 + ], + [ + 0.960543711881372, + 0.26801203307995736, + 0.07433254798204789, + 0.2606050556031362, + -0.9606506691279113, + 0.09610045212267415, + 0.09716368951023788, + -0.07293724719540715, + -0.9925922503285596 + ], + [ + 0.9630584598067234, + 0.2222201252779352, + 0.15210726122102403, + 0.21592105388848395, + -0.9747479984738275, + 0.0569599680385614, + 0.16092389966188508, + -0.02201261894292269, + -0.9867213097551332 + ], + [ + 0.9688840684178973, + 0.13676146624827906, + 0.2063006624216321, + 0.1413910766459205, + -0.9899231248513752, + -0.007795532656347347, + 0.20315566792706233, + 0.03672204016812755, + -0.9784575955834774 + ], + [ + 0.9753180321056506, + 0.05095947201631382, + 0.21484382341919872, + 0.06344683527879116, + -0.9966488646798882, + -0.05162886426599065, + 0.21149287303043396, + 0.06398572297089934, + -0.9752828266268325 + ], + [ + 0.9710563899293969, + -0.04632599800886876, + 0.2343147231519395, + -0.03064653267389394, + -0.9970675417683232, + -0.07012208772663399, + 0.2368760807096312, + 0.06091156754308732, + -0.9696285388369553 + ], + [ + 0.971978590782561, + -0.10566915232718148, + 0.20998011645582548, + -0.09098107039309931, + -0.9927580562437606, + -0.07844671180640204, + 0.21674884980196096, + 0.05714430863669369, + -0.974553469082103 + ], + [ + 0.968792737976662, + -0.1572679128956004, + 0.1915918432949179, + -0.1439933291444261, + -0.9862225658749684, + -0.08143077870742878, + 0.20175864790780967, + 0.051301599706589165, + -0.9780907901938127 + ], + [ + 0.9680791326239467, + -0.18250234704912183, + 0.17180129888807194, + -0.1651017241036602, + -0.9800382116244675, + -0.11075434282191454, + 0.18858476522790912, + 0.07885427748370535, + -0.9788859939985132 + ], + [ + 0.9649397461877571, + -0.22232631212551185, + 0.1395073373116137, + -0.20856545833999712, + -0.9721701669540562, + -0.1067034023447683, + 0.15934784534010432, + 0.07386594222774157, + -0.9844552233414551 + ], + [ + 0.9611783654007158, + -0.246757878629381, + 0.12347752516120115, + -0.2363152304299667, + -0.9671871414049056, + -0.09329600938860227, + 0.14244739994973282, + 0.06049448599115534, + -0.9879520005608704 + ], + [ + 0.9629741923073956, + -0.24707006406696602, + 0.1078753372734695, + -0.2394992081674167, + -0.9677214563320403, + -0.07845579801248434, + 0.12377735752996137, + 0.04971485086511532, + -0.9910638724957942 + ], + [ + 0.9587187606872848, + -0.2558737437066336, + 0.12404420658696247, + -0.24815101749714544, + -0.9658588504869501, + -0.07441608328284337, + 0.13885031660521507, + 0.04056239906094851, + -0.9894823299892991 + ], + [ + 0.9541427067447763, + -0.2648673153951816, + 0.1394883522058434, + -0.25679373185859633, + -0.9636798731695112, + -0.07333540295198646, + 0.1538462688656678, + 0.03415270535908242, + -0.9875043889891166 + ], + [ + 0.9502760960003248, + -0.26538439483349774, + 0.16293085757228334, + -0.2572839313698825, + -0.9638444823871535, + -0.06934545717419206, + 0.17544321026827767, + 0.0239778387411855, + -0.9841975123012975 + ], + [ + 0.9465424088084394, + -0.2532815033593235, + 0.19976473258099972, + -0.24286214812508009, + -0.9671212430465769, + -0.07546176684994672, + 0.21230978624450872, + 0.022912470492835648, + -0.976933760989314 + ], + [ + 0.9307296020613891, + -0.24510780643832186, + 0.2714121792949646, + -0.232954960350593, + -0.9694618535002856, + -0.07665312163143828, + 0.28191203290158, + 0.008116515926465298, + -0.9594059244524777 + ], + [ + 0.9061658332800727, + -0.2577517402419299, + 0.3353021368826752, + -0.257568317547189, + -0.9651714630439521, + -0.045854211600545765, + 0.33544305685427744, + -0.04481168740243858, + -0.9409940851463436 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006751.json b/json/chunk-0006/episode_0006751.json new file mode 100644 index 0000000000000000000000000000000000000000..deec60605bce466102a2efe456c7b28151d16e21 --- /dev/null +++ b/json/chunk-0006/episode_0006751.json @@ -0,0 +1,1822 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 29, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nTake the cheese from the pot and place it on the right side of the ladle." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006751.mp4", + "start": 0, + "end": 29, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3660619258880615, + 0.15934129059314728, + 0.08570855855941772, + 0.043552808463573456, + -0.09482403844594955, + -0.03373197466135025, + 0.0, + 1.0008161067962646 + ], + [ + 0.36017510294914246, + 0.1552899181842804, + 0.06428632140159607, + 0.02235759235918522, + -0.0437266007065773, + -0.03790682554244995, + 0.0, + 1.0008161067962646 + ], + [ + 0.344669371843338, + 0.11731179058551788, + 0.0627795085310936, + 0.02854800596833229, + -0.027003029361367226, + -0.13760893046855927, + 0.0, + 1.0001531839370728 + ], + [ + 0.330337256193161, + 0.06739034503698349, + 0.08282927423715591, + 0.0409044474363327, + -0.08592778444290161, + -0.27030396461486816, + 0.0, + 1.0001531839370728 + ], + [ + 0.31640559434890747, + 0.0467267781496048, + 0.08727019280195236, + 0.050035033375024796, + -0.1036505177617073, + -0.31477993726730347, + 0.0, + 0.9994885921478271 + ], + [ + 0.3081510066986084, + 0.022457942366600037, + 0.08127818256616592, + 0.04530452564358711, + -0.09570051729679108, + -0.35884010791778564, + 0.0, + 0.9994885921478271 + ], + [ + 0.30017411708831787, + -0.003025979036465287, + 0.07043498754501343, + 0.03593894839286804, + -0.08309114724397659, + -0.405771404504776, + 0.0, + 0.9994885921478271 + ], + [ + 0.2948089838027954, + -0.032788507640361786, + 0.06661385297775269, + 0.04462349787354469, + -0.0966738909482956, + -0.44726088643074036, + 0.0, + 0.9994885921478271 + ], + [ + 0.2944220304489136, + -0.05606260895729065, + 0.06653013825416565, + 0.0478973388671875, + -0.11583242565393448, + -0.4653855860233307, + 0.0, + 0.9994885921478271 + ], + [ + 0.2931259572505951, + -0.07159018516540527, + 0.055542051792144775, + 0.029200367629528046, + -0.0909343808889389, + -0.46793997287750244, + 0.0, + 0.9994885921478271 + ], + [ + 0.2962177097797394, + -0.07875684648752213, + 0.04352978616952896, + 0.01689457893371582, + -0.06394842267036438, + -0.4491458535194397, + 0.0, + 0.9994885921478271 + ], + [ + 0.29703259468078613, + -0.0802411437034607, + 0.025794263929128647, + 0.002320790896192193, + -0.015163186006247997, + -0.4157263934612274, + 0.0, + 0.9994885921478271 + ], + [ + 0.2951870560646057, + -0.07974258065223694, + 0.012377992272377014, + -0.0028521674685180187, + 0.022832367569208145, + -0.38812971115112305, + 0.0, + 0.9994885921478271 + ], + [ + 0.2967756986618042, + -0.07997944205999374, + 0.007825814187526703, + -0.0016972055891528726, + 0.02604816108942032, + -0.37378594279289246, + 0.0, + 0.9530308246612549 + ], + [ + 0.30016016960144043, + -0.07936719059944153, + 0.0066321007907390594, + -0.0045187934301793575, + -0.0005548655753955245, + -0.37631234526634216, + 0.0, + 0.6921995282173157 + ], + [ + 0.29547080397605896, + -0.0766092985868454, + 0.006539368070662022, + -0.0011166734620928764, + -0.0001527712884126231, + -0.3885904550552368, + 0.0, + 0.672171950340271 + ], + [ + 0.29253119230270386, + -0.07566434890031815, + 0.02545512467622757, + 0.00720996456220746, + -0.04078540578484535, + -0.4281277060508728, + 0.0, + 0.672171950340271 + ], + [ + 0.29854026436805725, + -0.06384269148111343, + 0.059856269508600235, + -0.015712523832917213, + -0.0938822478055954, + -0.4191523790359497, + 0.0, + 0.672171950340271 + ], + [ + 0.3246033489704132, + -0.04116473346948624, + 0.0918586328625679, + -0.047630324959754944, + -0.1590910106897354, + -0.340654581785202, + 0.0, + 0.672171950340271 + ], + [ + 0.35911932587623596, + -0.014153724536299706, + 0.09891003370285034, + -0.03152263164520264, + -0.18518228828907013, + -0.2708745300769806, + 0.0, + 0.672171950340271 + ], + [ + 0.3914288282394409, + 0.01531447283923626, + 0.09119052439928055, + 0.009986919350922108, + -0.18547551333904266, + -0.21618935465812683, + 0.0, + 0.672171950340271 + ], + [ + 0.40742528438568115, + 0.04222044721245766, + 0.08145656436681747, + 0.041655320674180984, + -0.17318807542324066, + -0.16918013989925385, + 0.0, + 0.672171950340271 + ], + [ + 0.4131569266319275, + 0.06640952080488205, + 0.0660715103149414, + 0.0850793644785881, + -0.13925516605377197, + -0.13314257562160492, + 0.0, + 0.6711689233779907 + ], + [ + 0.40925243496894836, + 0.08295351266860962, + 0.04404264688491821, + 0.11428104341030121, + -0.08622179925441742, + -0.10962220281362534, + 0.0, + 0.6711689233779907 + ], + [ + 0.41152524948120117, + 0.09125807881355286, + 0.019283996894955635, + 0.11638927459716797, + -0.032090675085783005, + -0.09767821431159973, + 0.0, + 0.6711689233779907 + ], + [ + 0.4182136356830597, + 0.09437089413404465, + 0.011432965286076069, + 0.12456616759300232, + -0.017681648954749107, + -0.09653584659099579, + 0.0, + 0.6711689233779907 + ], + [ + 0.41846922039985657, + 0.09355150163173676, + 0.011991501785814762, + 0.11976412683725357, + -0.01993032731115818, + -0.09991549700498581, + 0.0, + 0.7525970935821533 + ], + [ + 0.4175422787666321, + 0.0931318998336792, + 0.015334835276007652, + 0.08608986437320709, + -0.02715459279716015, + -0.09661172330379486, + 0.0, + 0.9851709604263306 + ], + [ + 0.42046311497688293, + 0.0957128256559372, + 0.054695647209882736, + 0.07492488622665405, + -0.10088326781988144, + -0.061614133417606354, + 0.0, + 1.002137303352356 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9530308246612549 + ], + [ + 0.6921995282173157 + ], + [ + 0.672171950340271 + ], + [ + 0.672171950340271 + ], + [ + 0.672171950340271 + ], + [ + 0.672171950340271 + ], + [ + 0.672171950340271 + ], + [ + 0.672171950340271 + ], + [ + 0.672171950340271 + ], + [ + 0.6711689233779907 + ], + [ + 0.6711689233779907 + ], + [ + 0.6711689233779907 + ], + [ + 0.6711689233779907 + ], + [ + 0.7525970935821533 + ], + [ + 0.9851709604263306 + ], + [ + 1.002137303352356 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3660619258880615, + 0.15934129059314728, + 0.08570855855941772 + ], + [ + 0.36017510294914246, + 0.1552899181842804, + 0.06428632140159607 + ], + [ + 0.344669371843338, + 0.11731179058551788, + 0.0627795085310936 + ], + [ + 0.330337256193161, + 0.06739034503698349, + 0.08282927423715591 + ], + [ + 0.31640559434890747, + 0.0467267781496048, + 0.08727019280195236 + ], + [ + 0.3081510066986084, + 0.022457942366600037, + 0.08127818256616592 + ], + [ + 0.30017411708831787, + -0.003025979036465287, + 0.07043498754501343 + ], + [ + 0.2948089838027954, + -0.032788507640361786, + 0.06661385297775269 + ], + [ + 0.2944220304489136, + -0.05606260895729065, + 0.06653013825416565 + ], + [ + 0.2931259572505951, + -0.07159018516540527, + 0.055542051792144775 + ], + [ + 0.2962177097797394, + -0.07875684648752213, + 0.04352978616952896 + ], + [ + 0.29703259468078613, + -0.0802411437034607, + 0.025794263929128647 + ], + [ + 0.2951870560646057, + -0.07974258065223694, + 0.012377992272377014 + ], + [ + 0.2967756986618042, + -0.07997944205999374, + 0.007825814187526703 + ], + [ + 0.30016016960144043, + -0.07936719059944153, + 0.0066321007907390594 + ], + [ + 0.29547080397605896, + -0.0766092985868454, + 0.006539368070662022 + ], + [ + 0.29253119230270386, + -0.07566434890031815, + 0.02545512467622757 + ], + [ + 0.29854026436805725, + -0.06384269148111343, + 0.059856269508600235 + ], + [ + 0.3246033489704132, + -0.04116473346948624, + 0.0918586328625679 + ], + [ + 0.35911932587623596, + -0.014153724536299706, + 0.09891003370285034 + ], + [ + 0.3914288282394409, + 0.01531447283923626, + 0.09119052439928055 + ], + [ + 0.40742528438568115, + 0.04222044721245766, + 0.08145656436681747 + ], + [ + 0.4131569266319275, + 0.06640952080488205, + 0.0660715103149414 + ], + [ + 0.40925243496894836, + 0.08295351266860962, + 0.04404264688491821 + ], + [ + 0.41152524948120117, + 0.09125807881355286, + 0.019283996894955635 + ], + [ + 0.4182136356830597, + 0.09437089413404465, + 0.011432965286076069 + ], + [ + 0.41846922039985657, + 0.09355150163173676, + 0.011991501785814762 + ], + [ + 0.4175422787666321, + 0.0931318998336792, + 0.015334835276007652 + ], + [ + 0.42046311497688293, + 0.0957128256559372, + 0.054695647209882736 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9949412550502809, + -0.029573578635408743, + 0.09600678333152757, + -0.03357406821197298, + -0.99862242576542, + 0.04032409579997393, + 0.09468199904242289, + -0.043343444776378644, + -0.9945635549587806 + ], + [ + 0.9983264534922327, + -0.036911749973670346, + 0.04451758047673256, + -0.03786152319805183, + -0.9990689160589785, + 0.020683472287344302, + 0.043712667714799744, + -0.02233436094047026, + -0.9987944628413978 + ], + [ + 0.9901857091501122, + -0.13635574959346008, + 0.03064915900469118, + -0.13712503421871924, + -0.9902489264020379, + 0.02457211326130352, + 0.02699974787668035, + -0.028533722372253947, + -0.9992281222534615 + ], + [ + 0.9601342211919119, + -0.2634189244011714, + 0.09355611986145292, + -0.2660391845466579, + -0.9638208060534887, + 0.01651078750854848, + 0.08582208096958423, + -0.04074216594307567, + -0.9954770948305727 + ], + [ + 0.9457613330243893, + -0.30429930412099154, + 0.11374284358767693, + -0.30794559554478435, + -0.9512766659152363, + 0.015563260254845914, + 0.10346502375440002, + -0.049745737472392984, + -0.9933883180623926 + ], + [ + 0.9320204501037055, + -0.3467761864963513, + 0.10528132345071758, + -0.3495814888897549, + -0.9368638685377733, + 0.008881129098291276, + 0.09555450389232861, + -0.04508179574380425, + -0.9944028200273798 + ], + [ + 0.9156282452746538, + -0.391732776663518, + 0.090389978110127, + -0.39336579938960425, + -0.9193820058993418, + 0.00027404211460852965, + 0.08299556810960781, + -0.0358072466966293, + -0.9959064096380597 + ], + [ + 0.897425153877641, + -0.4281846994645804, + 0.10623538173376877, + -0.43047802575302796, + -0.9025998380710138, + -0.0014837984886880637, + 0.09652337816025693, + -0.04440039930683777, + -0.9943399026539795 + ], + [ + 0.887660184724718, + -0.44330769109969886, + 0.12465026059472804, + -0.4457601877925164, + -0.8951069824142701, + -0.009019146988499895, + 0.11557357584526011, + -0.04755818588922088, + -0.9921597489927044 + ], + [ + 0.888811829789661, + -0.44849012064792315, + 0.09418143610694367, + -0.449185080945005, + -0.8933147383912422, + -0.014884261131009355, + 0.09080910902758745, + -0.02907558863029475, + -0.9954437783538646 + ], + [ + 0.8989770222069492, + -0.4331617795309164, + 0.06489365375394049, + -0.4333087630580035, + -0.9011584980650358, + -0.012525063764790595, + 0.06390484645994837, + -0.016859244312210708, + -0.9978135780195375 + ], + [ + 0.9147180374905634, + -0.40382127897319703, + 0.014808326639541836, + -0.40380813179085345, + -0.914834952232378, + -0.004000359179279106, + 0.015162604954055366, + -0.0023205220175345712, + -0.9998823483733339 + ], + [ + 0.9253772440860994, + -0.37839609217035136, + -0.022211563605974437, + -0.3783592600994164, + -0.9256393827150446, + 0.006000288654137395, + -0.02283038380398982, + 0.0028514201931208604, + -0.9997352864524912 + ], + [ + 0.9306358012590604, + -0.36510089220551334, + -0.024866522186364627, + -0.3650187011126915, + -0.9309664118327211, + 0.00793018772238075, + -0.02604521554739704, + 0.0016966290245041694, + -0.999659326069158 + ], + [ + 0.9300260015809731, + -0.36749194046198197, + -0.0011445867351677218, + -0.367493304030879, + -0.9300157280103888, + -0.004406489052974154, + 0.0005548655469239103, + 0.004518777356004585, + -0.9999896363340128 + ], + [ + 0.9254440227266068, + -0.3788842586328218, + -0.00028170880772478336, + -0.3788843325614415, + -0.9254433918944924, + -0.001091301190125308, + 0.00015277128781836653, + 0.0011166732169873826, + -0.9999993648507282 + ], + [ + 0.9089881085292286, + -0.4148899865168014, + 0.04008637724393689, + -0.4148229638983659, + -0.9098430649416908, + -0.010368500377820722, + 0.040774099315985884, + -0.007203906273558058, + -0.9991424205584365 + ], + [ + 0.9094117460881612, + -0.40828151301076226, + 0.07922425266623975, + -0.4051941065932409, + -0.9127220346199126, + -0.052499747631699345, + 0.09374439748052579, + 0.015642686883317315, + -0.9954734020997665 + ], + [ + 0.9306335338809071, + -0.3408345626300051, + 0.13324048383711148, + -0.3298849615009576, + -0.9389471559435065, + -0.09774533503503881, + 0.15842076187118334, + 0.04701105468305693, + -0.9862519064345276 + ], + [ + 0.947063380425705, + -0.2730328175497141, + 0.1688905977178739, + -0.262999385973419, + -0.961505803442854, + -0.07961101006341027, + 0.18412570823825974, + 0.030978548813273596, + -0.9824143998736902 + ], + [ + 0.9599698773643249, + -0.21269972605484544, + 0.18225438565180235, + -0.21083012974738635, + -0.9770683103749892, + -0.029802235682299533, + 0.1844139120126853, + -0.009815467240879894, + -0.9827996569286235 + ], + [ + 0.9709771107851166, + -0.1611545264046836, + 0.17672766888823682, + -0.16585543806651828, + -0.9860763423455781, + 0.012059051792344011, + 0.17232360254808815, + -0.04102030821007137, + -0.9841859124775156 + ], + [ + 0.9815549458182018, + -0.12057853987674841, + 0.14836004873623573, + -0.13146449450489175, + -0.9891303724412448, + 0.06586496032654653, + 0.13880552951665917, + -0.08415415637647174, + -0.9867376059217385 + ], + [ + 0.990305001921569, + -0.0989281862671573, + 0.09751521486933275, + -0.10899637006774127, + -0.9885880054934181, + 0.10398820465130508, + 0.08611500729360418, + -0.11360884365416428, + -0.9897864598803049 + ], + [ + 0.9947208676661298, + -0.09315497964508382, + 0.0430412034783685, + -0.09747275238447056, + -0.9888633008136914, + 0.1124652606205433, + 0.032085167478727444, + -0.11606688619574085, + -0.9927230328529137 + ], + [ + 0.9951884441806519, + -0.09345264502794097, + 0.0294374541456219, + -0.0963709107541341, + -0.9878435043537006, + 0.12197482718421612, + 0.01768072763527151, + -0.12422485276096054, + -0.9920965567054476 + ], + [ + 0.994814986058999, + -0.09666561237293549, + 0.03160542511972821, + -0.09972952500112713, + -0.9881226796164113, + 0.116908476470837, + 0.019929007890081306, + -0.11945429842516374, + -0.992639665353077 + ], + [ + 0.9949697722239231, + -0.09378058587033737, + 0.03521866088439863, + -0.09642593879235921, + -0.9918757376791654, + 0.08297324467214227, + 0.027151255747868912, + -0.08595186279090915, + -0.99592925782612 + ], + [ + 0.9930276951240996, + -0.05387791468939908, + 0.10484830482769095, + -0.0612620836339646, + -0.9957664193887631, + 0.06852879049353881, + 0.10071223274927277, + -0.07447421249267457, + -0.9921243056433264 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.005886822938919067, + -0.004051372408866882, + -0.021422237157821655, + -0.021195216104388237, + 0.05109743773937225, + -0.004174850881099701, + 1.0 + ], + [ + -0.015505731105804443, + -0.03797812759876251, + -0.001506812870502472, + 0.006190413609147072, + 0.016723571345210075, + -0.09970210492610931, + 1.0 + ], + [ + -0.014332115650177002, + -0.04992144554853439, + 0.020049765706062317, + 0.012356441468000412, + -0.058924756944179535, + -0.1326950341463089, + 1.0 + ], + [ + -0.01393166184425354, + -0.020663566887378693, + 0.004440918564796448, + 0.009130585938692093, + -0.017722733318805695, + -0.0444759726524353, + 1.0 + ], + [ + -0.008254587650299072, + -0.02426883578300476, + -0.005992010235786438, + -0.004730507731437683, + 0.00795000046491623, + -0.04406017065048218, + 1.0 + ], + [ + -0.007976889610290527, + -0.02548392117023468, + -0.010843195021152496, + -0.00936557725071907, + 0.012609370052814484, + -0.046931296586990356, + 1.0 + ], + [ + -0.005365133285522461, + -0.029762528836727142, + -0.003821134567260742, + 0.008684549480676651, + -0.013582743704319, + -0.041489481925964355, + 1.0 + ], + [ + -0.00038695335388183594, + -0.023274101316928864, + -8.371472358703613e-05, + 0.003273840993642807, + -0.019158534705638885, + -0.018124699592590332, + 1.0 + ], + [ + -0.0012960731983184814, + -0.015527576208114624, + -0.010988086462020874, + -0.018696971237659454, + 0.024898044764995575, + -0.002554386854171753, + 1.0 + ], + [ + 0.003091752529144287, + -0.007166661322116852, + -0.012012265622615814, + -0.012305788695812225, + 0.026985958218574524, + 0.018794119358062744, + 1.0 + ], + [ + 0.0008148849010467529, + -0.0014842972159385681, + -0.017735522240400314, + -0.014573788270354271, + 0.04878523573279381, + 0.03341946005821228, + 1.0 + ], + [ + -0.00184553861618042, + 0.0004985630512237549, + -0.013416271656751633, + -0.005172958597540855, + 0.03799555450677872, + 0.02759668231010437, + 1.0 + ], + [ + 0.0015886425971984863, + -0.00023686140775680542, + -0.004552178084850311, + 0.0011549618793651462, + 0.0032157935202121735, + 0.01434376835823059, + 0.0 + ], + [ + 0.0033844709396362305, + 0.0006122514605522156, + -0.0011937133967876434, + -0.002821587957441807, + -0.026603026315569878, + -0.002526402473449707, + 0.0 + ], + [ + -0.00468936562538147, + 0.0027578920125961304, + -9.273272007703781e-05, + 0.003402119968086481, + 0.00040209427243098617, + -0.012278109788894653, + 0.0 + ], + [ + -0.0029396116733551025, + 0.0009449496865272522, + 0.018915757536888123, + 0.008326638489961624, + -0.04063263535499573, + -0.039537250995635986, + 0.0 + ], + [ + 0.0060090720653533936, + 0.011821657419204712, + 0.034401144832372665, + -0.022922487929463387, + -0.053096842020750046, + 0.008975327014923096, + 0.0 + ], + [ + 0.026063084602355957, + 0.022677958011627197, + 0.03200236335396767, + -0.03191780298948288, + -0.06520876288414001, + 0.07849779725074768, + 0.0 + ], + [ + 0.034515976905822754, + 0.02701100893318653, + 0.00705140084028244, + 0.016107693314552307, + -0.026091277599334717, + 0.06978005170822144, + 0.0 + ], + [ + 0.032309502363204956, + 0.029468197375535965, + -0.007719509303569794, + 0.04150955006480217, + -0.0002932250499725342, + 0.05468517541885376, + 0.0 + ], + [ + 0.015996456146240234, + 0.026905974373221397, + -0.009733960032463074, + 0.03166840225458145, + 0.012287437915802002, + 0.047009214758872986, + 0.0 + ], + [ + 0.005731642246246338, + 0.024189073592424393, + -0.015385054051876068, + 0.04342404380440712, + 0.03393290936946869, + 0.036037564277648926, + 0.0 + ], + [ + -0.003904491662979126, + 0.01654399186372757, + -0.022028863430023193, + 0.029201678931713104, + 0.05303336679935455, + 0.023520372807979584, + 0.0 + ], + [ + 0.0022728145122528076, + 0.008304566144943237, + -0.024758649989962578, + 0.0021082311868667603, + 0.054131124168634415, + 0.011943988502025604, + 0.0 + ], + [ + 0.0066883862018585205, + 0.0031128153204917908, + -0.007851031608879566, + 0.00817689299583435, + 0.014409026131033897, + 0.0011423677206039429, + 0.0 + ], + [ + 0.000255584716796875, + -0.0008193925023078918, + 0.0005585364997386932, + -0.004802040755748749, + -0.002248678356409073, + -0.0033796504139900208, + 1.0 + ], + [ + -0.0009269416332244873, + -0.00041960179805755615, + 0.00334333349019289, + -0.03367426246404648, + -0.007224265486001968, + 0.0033037737011909485, + 1.0 + ], + [ + 0.0029208362102508545, + 0.0025809258222579956, + 0.03936081379652023, + -0.01116497814655304, + -0.07372867316007614, + 0.03499758988618851, + 1.0 + ], + [ + 0.002407580614089966, + 0.0003723353147506714, + 0.02340918406844139, + -0.044676728546619415, + -0.03239450603723526, + 0.02170807495713234, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9530308246612549 + ], + [ + 0.6921995282173157 + ], + [ + 0.672171950340271 + ], + [ + 0.672171950340271 + ], + [ + 0.672171950340271 + ], + [ + 0.672171950340271 + ], + [ + 0.672171950340271 + ], + [ + 0.672171950340271 + ], + [ + 0.672171950340271 + ], + [ + 0.6711689233779907 + ], + [ + 0.6711689233779907 + ], + [ + 0.6711689233779907 + ], + [ + 0.6711689233779907 + ], + [ + 0.7525970935821533 + ], + [ + 0.9851709604263306 + ], + [ + 1.002137303352356 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.36017510294914246, + 0.1552899181842804, + 0.06428632140159607 + ], + [ + 0.344669371843338, + 0.11731179058551788, + 0.0627795085310936 + ], + [ + 0.330337256193161, + 0.06739034503698349, + 0.08282927423715591 + ], + [ + 0.31640559434890747, + 0.0467267781496048, + 0.08727019280195236 + ], + [ + 0.3081510066986084, + 0.022457942366600037, + 0.08127818256616592 + ], + [ + 0.30017411708831787, + -0.003025979036465287, + 0.07043498754501343 + ], + [ + 0.2948089838027954, + -0.032788507640361786, + 0.06661385297775269 + ], + [ + 0.2944220304489136, + -0.05606260895729065, + 0.06653013825416565 + ], + [ + 0.2931259572505951, + -0.07159018516540527, + 0.055542051792144775 + ], + [ + 0.2962177097797394, + -0.07875684648752213, + 0.04352978616952896 + ], + [ + 0.29703259468078613, + -0.0802411437034607, + 0.025794263929128647 + ], + [ + 0.2951870560646057, + -0.07974258065223694, + 0.012377992272377014 + ], + [ + 0.2967756986618042, + -0.07997944205999374, + 0.007825814187526703 + ], + [ + 0.30016016960144043, + -0.07936719059944153, + 0.0066321007907390594 + ], + [ + 0.29547080397605896, + -0.0766092985868454, + 0.006539368070662022 + ], + [ + 0.29253119230270386, + -0.07566434890031815, + 0.02545512467622757 + ], + [ + 0.29854026436805725, + -0.06384269148111343, + 0.059856269508600235 + ], + [ + 0.3246033489704132, + -0.04116473346948624, + 0.0918586328625679 + ], + [ + 0.35911932587623596, + -0.014153724536299706, + 0.09891003370285034 + ], + [ + 0.3914288282394409, + 0.01531447283923626, + 0.09119052439928055 + ], + [ + 0.40742528438568115, + 0.04222044721245766, + 0.08145656436681747 + ], + [ + 0.4131569266319275, + 0.06640952080488205, + 0.0660715103149414 + ], + [ + 0.40925243496894836, + 0.08295351266860962, + 0.04404264688491821 + ], + [ + 0.41152524948120117, + 0.09125807881355286, + 0.019283996894955635 + ], + [ + 0.4182136356830597, + 0.09437089413404465, + 0.011432965286076069 + ], + [ + 0.41846922039985657, + 0.09355150163173676, + 0.011991501785814762 + ], + [ + 0.4175422787666321, + 0.0931318998336792, + 0.015334835276007652 + ], + [ + 0.42046311497688293, + 0.0957128256559372, + 0.054695647209882736 + ], + [ + 0.4228706955909729, + 0.09608516097068787, + 0.07810483127832413 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9983264534922327, + -0.036911749973670346, + 0.04451758047673256, + -0.03786152319805183, + -0.9990689160589785, + 0.020683472287344302, + 0.043712667714799744, + -0.02233436094047026, + -0.9987944628413978 + ], + [ + 0.9901857091501122, + -0.13635574959346008, + 0.03064915900469118, + -0.13712503421871924, + -0.9902489264020379, + 0.02457211326130352, + 0.02699974787668035, + -0.028533722372253947, + -0.9992281222534615 + ], + [ + 0.9601342211919119, + -0.2634189244011714, + 0.09355611986145292, + -0.2660391845466579, + -0.9638208060534887, + 0.01651078750854848, + 0.08582208096958423, + -0.04074216594307567, + -0.9954770948305727 + ], + [ + 0.9457613330243893, + -0.30429930412099154, + 0.11374284358767693, + -0.30794559554478435, + -0.9512766659152363, + 0.015563260254845914, + 0.10346502375440002, + -0.049745737472392984, + -0.9933883180623926 + ], + [ + 0.9320204501037055, + -0.3467761864963513, + 0.10528132345071758, + -0.3495814888897549, + -0.9368638685377733, + 0.008881129098291276, + 0.09555450389232861, + -0.04508179574380425, + -0.9944028200273798 + ], + [ + 0.9156282452746538, + -0.391732776663518, + 0.090389978110127, + -0.39336579938960425, + -0.9193820058993418, + 0.00027404211460852965, + 0.08299556810960781, + -0.0358072466966293, + -0.9959064096380597 + ], + [ + 0.897425153877641, + -0.4281846994645804, + 0.10623538173376877, + -0.43047802575302796, + -0.9025998380710138, + -0.0014837984886880637, + 0.09652337816025693, + -0.04440039930683777, + -0.9943399026539795 + ], + [ + 0.887660184724718, + -0.44330769109969886, + 0.12465026059472804, + -0.4457601877925164, + -0.8951069824142701, + -0.009019146988499895, + 0.11557357584526011, + -0.04755818588922088, + -0.9921597489927044 + ], + [ + 0.888811829789661, + -0.44849012064792315, + 0.09418143610694367, + -0.449185080945005, + -0.8933147383912422, + -0.014884261131009355, + 0.09080910902758745, + -0.02907558863029475, + -0.9954437783538646 + ], + [ + 0.8989770222069492, + -0.4331617795309164, + 0.06489365375394049, + -0.4333087630580035, + -0.9011584980650358, + -0.012525063764790595, + 0.06390484645994837, + -0.016859244312210708, + -0.9978135780195375 + ], + [ + 0.9147180374905634, + -0.40382127897319703, + 0.014808326639541836, + -0.40380813179085345, + -0.914834952232378, + -0.004000359179279106, + 0.015162604954055366, + -0.0023205220175345712, + -0.9998823483733339 + ], + [ + 0.9253772440860994, + -0.37839609217035136, + -0.022211563605974437, + -0.3783592600994164, + -0.9256393827150446, + 0.006000288654137395, + -0.02283038380398982, + 0.0028514201931208604, + -0.9997352864524912 + ], + [ + 0.9306358012590604, + -0.36510089220551334, + -0.024866522186364627, + -0.3650187011126915, + -0.9309664118327211, + 0.00793018772238075, + -0.02604521554739704, + 0.0016966290245041694, + -0.999659326069158 + ], + [ + 0.9300260015809731, + -0.36749194046198197, + -0.0011445867351677218, + -0.367493304030879, + -0.9300157280103888, + -0.004406489052974154, + 0.0005548655469239103, + 0.004518777356004585, + -0.9999896363340128 + ], + [ + 0.9254440227266068, + -0.3788842586328218, + -0.00028170880772478336, + -0.3788843325614415, + -0.9254433918944924, + -0.001091301190125308, + 0.00015277128781836653, + 0.0011166732169873826, + -0.9999993648507282 + ], + [ + 0.9089881085292286, + -0.4148899865168014, + 0.04008637724393689, + -0.4148229638983659, + -0.9098430649416908, + -0.010368500377820722, + 0.040774099315985884, + -0.007203906273558058, + -0.9991424205584365 + ], + [ + 0.9094117460881612, + -0.40828151301076226, + 0.07922425266623975, + -0.4051941065932409, + -0.9127220346199126, + -0.052499747631699345, + 0.09374439748052579, + 0.015642686883317315, + -0.9954734020997665 + ], + [ + 0.9306335338809071, + -0.3408345626300051, + 0.13324048383711148, + -0.3298849615009576, + -0.9389471559435065, + -0.09774533503503881, + 0.15842076187118334, + 0.04701105468305693, + -0.9862519064345276 + ], + [ + 0.947063380425705, + -0.2730328175497141, + 0.1688905977178739, + -0.262999385973419, + -0.961505803442854, + -0.07961101006341027, + 0.18412570823825974, + 0.030978548813273596, + -0.9824143998736902 + ], + [ + 0.9599698773643249, + -0.21269972605484544, + 0.18225438565180235, + -0.21083012974738635, + -0.9770683103749892, + -0.029802235682299533, + 0.1844139120126853, + -0.009815467240879894, + -0.9827996569286235 + ], + [ + 0.9709771107851166, + -0.1611545264046836, + 0.17672766888823682, + -0.16585543806651828, + -0.9860763423455781, + 0.012059051792344011, + 0.17232360254808815, + -0.04102030821007137, + -0.9841859124775156 + ], + [ + 0.9815549458182018, + -0.12057853987674841, + 0.14836004873623573, + -0.13146449450489175, + -0.9891303724412448, + 0.06586496032654653, + 0.13880552951665917, + -0.08415415637647174, + -0.9867376059217385 + ], + [ + 0.990305001921569, + -0.0989281862671573, + 0.09751521486933275, + -0.10899637006774127, + -0.9885880054934181, + 0.10398820465130508, + 0.08611500729360418, + -0.11360884365416428, + -0.9897864598803049 + ], + [ + 0.9947208676661298, + -0.09315497964508382, + 0.0430412034783685, + -0.09747275238447056, + -0.9888633008136914, + 0.1124652606205433, + 0.032085167478727444, + -0.11606688619574085, + -0.9927230328529137 + ], + [ + 0.9951884441806519, + -0.09345264502794097, + 0.0294374541456219, + -0.0963709107541341, + -0.9878435043537006, + 0.12197482718421612, + 0.01768072763527151, + -0.12422485276096054, + -0.9920965567054476 + ], + [ + 0.994814986058999, + -0.09666561237293549, + 0.03160542511972821, + -0.09972952500112713, + -0.9881226796164113, + 0.116908476470837, + 0.019929007890081306, + -0.11945429842516374, + -0.992639665353077 + ], + [ + 0.9949697722239231, + -0.09378058587033737, + 0.03521866088439863, + -0.09642593879235921, + -0.9918757376791654, + 0.08297324467214227, + 0.027151255747868912, + -0.08595186279090915, + -0.99592925782612 + ], + [ + 0.9930276951240996, + -0.05387791468939908, + 0.10484830482769095, + -0.0612620836339646, + -0.9957664193887631, + 0.06852879049353881, + 0.10071223274927277, + -0.07447421249267457, + -0.9921243056433264 + ], + [ + 0.9903425758689448, + -0.03586154729679269, + 0.13392360451669055, + -0.039541660903297714, + -0.9989071171023666, + 0.024920442517083835, + 0.13288355607174146, + -0.02997533699090911, + -0.990678272547657 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006752.json b/json/chunk-0006/episode_0006752.json new file mode 100644 index 0000000000000000000000000000000000000000..8331c3226c347a7f06ae495b8b692ac47d42ffed --- /dev/null +++ b/json/chunk-0006/episode_0006752.json @@ -0,0 +1,1822 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 29, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut blueberries on plate sink." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006752.mp4", + "start": 0, + "end": 29, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3089766502380371, + 0.0307743139564991, + 0.0912705734372139, + 0.04203686863183975, + -0.36551931500434875, + 0.46975046396255493, + 0.0, + 0.9774019718170166 + ], + [ + 0.30362266302108765, + 0.030125143006443977, + 0.08265557140111923, + 0.053723420947790146, + -0.33276572823524475, + 0.46785813570022583, + 0.0, + 0.9774019718170166 + ], + [ + 0.28528574109077454, + 0.022224675863981247, + 0.08939351886510849, + 0.04590452089905739, + -0.2883244752883911, + 0.43664035201072693, + 0.0, + 0.9774019718170166 + ], + [ + 0.27713191509246826, + 0.02087933011353016, + 0.10302401334047318, + 0.04591856524348259, + -0.28274908661842346, + 0.38765355944633484, + 0.0, + 0.9774019718170166 + ], + [ + 0.2603183686733246, + 0.01834813505411148, + 0.10645635426044464, + 0.04928451031446457, + -0.2182626575231552, + 0.30146896839141846, + 0.0, + 0.9774019718170166 + ], + [ + 0.23491868376731873, + 0.004076858051121235, + 0.10399641841650009, + 0.04277290031313896, + -0.14469878375530243, + 0.22153575718402863, + 0.0, + 0.9774019718170166 + ], + [ + 0.2204328179359436, + -0.011643476784229279, + 0.09342066198587418, + 0.03369783237576485, + -0.1223086416721344, + 0.17322859168052673, + 0.0, + 0.9774019718170166 + ], + [ + 0.21313251554965973, + -0.022287642583251, + 0.08692208677530289, + 0.007617410738021135, + -0.12631653249263763, + 0.15652567148208618, + 0.0, + 0.9774019718170166 + ], + [ + 0.2095945030450821, + -0.0283989105373621, + 0.08017129451036453, + 0.010868933983147144, + -0.13958878815174103, + 0.15580150485038757, + 0.0, + 0.9774019718170166 + ], + [ + 0.2108205258846283, + -0.02642536535859108, + 0.07569053769111633, + 0.056253351271152496, + -0.18413777649402618, + 0.1563519686460495, + 0.0, + 0.9774019718170166 + ], + [ + 0.21395576000213623, + -0.026623239740729332, + 0.06737849116325378, + 0.059838175773620605, + -0.19422045350074768, + 0.1663939654827118, + 0.0, + 0.9774019718170166 + ], + [ + 0.2130116969347, + -0.028910214081406593, + 0.05704270675778389, + 0.05862772464752197, + -0.1763753592967987, + 0.17788517475128174, + 0.0, + 0.9774019718170166 + ], + [ + 0.2110362946987152, + -0.02886452153325081, + 0.04849952831864357, + 0.042295485734939575, + -0.12343068420886993, + 0.18389073014259338, + 0.0, + 0.9774019718170166 + ], + [ + 0.21388763189315796, + -0.027443820610642433, + 0.043201692402362823, + 0.053417786955833435, + -0.12812161445617676, + 0.1872185319662094, + 0.0, + 0.9499720335006714 + ], + [ + 0.21443985402584076, + -0.027101468294858932, + 0.04326305165886879, + 0.053273238241672516, + -0.13117793202400208, + 0.18591023981571198, + 0.0, + 0.8713903427124023 + ], + [ + 0.21375742554664612, + -0.02682555466890335, + 0.043587397783994675, + 0.04672301188111305, + -0.12108580023050308, + 0.19633525609970093, + 0.0, + 0.8939508199691772 + ], + [ + 0.2113838493824005, + -0.02395094372332096, + 0.05105259642004967, + 0.0473310649394989, + -0.11463931947946548, + 0.21314990520477295, + 0.0, + 0.8948037624359131 + ], + [ + 0.22343705594539642, + -0.01913447678089142, + 0.07616177946329117, + 0.01227724552154541, + -0.13223804533481598, + 0.2774313688278198, + 0.0, + 0.8948037624359131 + ], + [ + 0.24538256227970123, + -0.01175486110150814, + 0.09128770977258682, + -0.019607197493314743, + -0.1888798028230667, + 0.37097832560539246, + 0.0, + 0.8948037624359131 + ], + [ + 0.2698890268802643, + -0.002095751231536269, + 0.08322819322347641, + -0.00108007260132581, + -0.2141069769859314, + 0.448647141456604, + 0.0, + 0.8948037624359131 + ], + [ + 0.2999986410140991, + 0.015574819408357143, + 0.06436339765787125, + 0.012435573153197765, + -0.25263532996177673, + 0.5293055772781372, + 0.0, + 0.8948037624359131 + ], + [ + 0.31602999567985535, + 0.02832665853202343, + 0.04810057580471039, + 0.04021753743290901, + -0.27762290835380554, + 0.5557476282119751, + 0.0, + 0.8948037624359131 + ], + [ + 0.32514533400535583, + 0.036576349288225174, + 0.03460793197154999, + 0.06100339815020561, + -0.28527987003326416, + 0.5536062717437744, + 0.0, + 0.8948037624359131 + ], + [ + 0.32808539271354675, + 0.03976401314139366, + 0.016089078038930893, + 0.0926944687962532, + -0.2737663984298706, + 0.5306956768035889, + 0.0, + 0.8948037624359131 + ], + [ + 0.3307325839996338, + 0.03965314105153084, + 0.014316696673631668, + 0.08837436884641647, + -0.28704148530960083, + 0.5275295376777649, + 0.0, + 0.8948037624359131 + ], + [ + 0.3253607451915741, + 0.038850199431180954, + 0.009326176717877388, + 0.10278144478797913, + -0.2506648004055023, + 0.5289629101753235, + 0.0, + 0.9311676621437073 + ], + [ + 0.32547566294670105, + 0.03702443838119507, + 0.012762360274791718, + 0.1035570427775383, + -0.22236745059490204, + 0.5376961827278137, + 0.0, + 0.9844722747802734 + ], + [ + 0.32620322704315186, + 0.03631611913442612, + 0.016198839992284775, + 0.10722854733467102, + -0.20708128809928894, + 0.5354487299919128, + 0.0, + 0.9837720394134521 + ], + [ + 0.3242895305156708, + 0.03556030988693237, + 0.0203766580671072, + 0.10364238172769547, + -0.20162078738212585, + 0.5448243618011475, + 0.0, + 0.9837720394134521 + ] + ], + "left_gripper_pos": [ + [ + 0.9774019718170166 + ], + [ + 0.9774019718170166 + ], + [ + 0.9774019718170166 + ], + [ + 0.9774019718170166 + ], + [ + 0.9774019718170166 + ], + [ + 0.9774019718170166 + ], + [ + 0.9774019718170166 + ], + [ + 0.9774019718170166 + ], + [ + 0.9774019718170166 + ], + [ + 0.9774019718170166 + ], + [ + 0.9774019718170166 + ], + [ + 0.9774019718170166 + ], + [ + 0.9774019718170166 + ], + [ + 0.9499720335006714 + ], + [ + 0.8713903427124023 + ], + [ + 0.8939508199691772 + ], + [ + 0.8948037624359131 + ], + [ + 0.8948037624359131 + ], + [ + 0.8948037624359131 + ], + [ + 0.8948037624359131 + ], + [ + 0.8948037624359131 + ], + [ + 0.8948037624359131 + ], + [ + 0.8948037624359131 + ], + [ + 0.8948037624359131 + ], + [ + 0.8948037624359131 + ], + [ + 0.9311676621437073 + ], + [ + 0.9844722747802734 + ], + [ + 0.9837720394134521 + ], + [ + 0.9837720394134521 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3089766502380371, + 0.0307743139564991, + 0.0912705734372139 + ], + [ + 0.30362266302108765, + 0.030125143006443977, + 0.08265557140111923 + ], + [ + 0.28528574109077454, + 0.022224675863981247, + 0.08939351886510849 + ], + [ + 0.27713191509246826, + 0.02087933011353016, + 0.10302401334047318 + ], + [ + 0.2603183686733246, + 0.01834813505411148, + 0.10645635426044464 + ], + [ + 0.23491868376731873, + 0.004076858051121235, + 0.10399641841650009 + ], + [ + 0.2204328179359436, + -0.011643476784229279, + 0.09342066198587418 + ], + [ + 0.21313251554965973, + -0.022287642583251, + 0.08692208677530289 + ], + [ + 0.2095945030450821, + -0.0283989105373621, + 0.08017129451036453 + ], + [ + 0.2108205258846283, + -0.02642536535859108, + 0.07569053769111633 + ], + [ + 0.21395576000213623, + -0.026623239740729332, + 0.06737849116325378 + ], + [ + 0.2130116969347, + -0.028910214081406593, + 0.05704270675778389 + ], + [ + 0.2110362946987152, + -0.02886452153325081, + 0.04849952831864357 + ], + [ + 0.21388763189315796, + -0.027443820610642433, + 0.043201692402362823 + ], + [ + 0.21443985402584076, + -0.027101468294858932, + 0.04326305165886879 + ], + [ + 0.21375742554664612, + -0.02682555466890335, + 0.043587397783994675 + ], + [ + 0.2113838493824005, + -0.02395094372332096, + 0.05105259642004967 + ], + [ + 0.22343705594539642, + -0.01913447678089142, + 0.07616177946329117 + ], + [ + 0.24538256227970123, + -0.01175486110150814, + 0.09128770977258682 + ], + [ + 0.2698890268802643, + -0.002095751231536269, + 0.08322819322347641 + ], + [ + 0.2999986410140991, + 0.015574819408357143, + 0.06436339765787125 + ], + [ + 0.31602999567985535, + 0.02832665853202343, + 0.04810057580471039 + ], + [ + 0.32514533400535583, + 0.036576349288225174, + 0.03460793197154999 + ], + [ + 0.32808539271354675, + 0.03976401314139366, + 0.016089078038930893 + ], + [ + 0.3307325839996338, + 0.03965314105153084, + 0.014316696673631668 + ], + [ + 0.3253607451915741, + 0.038850199431180954, + 0.009326176717877388 + ], + [ + 0.32547566294670105, + 0.03702443838119507, + 0.012762360274791718 + ], + [ + 0.32620322704315186, + 0.03631611913442612, + 0.016198839992284775 + ], + [ + 0.3242895305156708, + 0.03556030988693237, + 0.0203766580671072 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8327752609670701, + 0.4656578418661712, + 0.29941299074984673, + 0.42276003782748295, + -0.8840940826285676, + 0.199127103823805, + 0.3574343508077157, + -0.03924827855704109, + -0.9331132072224546 + ], + [ + 0.8435739655126504, + 0.4659807461969933, + 0.26691741959444076, + 0.42623623928690507, + -0.883338096161701, + 0.19502942390310607, + 0.32665828173768635, + -0.05075186738549159, + -0.9437789015066333 + ], + [ + 0.86877204680557, + 0.4342759098321066, + 0.23799068223095796, + 0.4054409122277661, + -0.8997049206362386, + 0.16170566618042959, + 0.28434626317428124, + -0.04399420328220202, + -0.9577117064630603 + ], + [ + 0.8890370674644531, + 0.3894750228890596, + 0.24067052004716544, + 0.36300685334379507, + -0.9199816210318023, + 0.14785074023871103, + 0.27899662560619437, + -0.04407974034933594, + -0.9592798649982669 + ], + [ + 0.9322464248979385, + 0.3067490681952374, + 0.19188958394442798, + 0.28987877681659435, + -0.950574461337743, + 0.11125865451179351, + 0.21653382649444677, + -0.048095765029918414, + -0.9750896878594602 + ], + [ + 0.9653659363653441, + 0.2255421862081568, + 0.13114622047892815, + 0.21743181268933726, + -0.9733140977710862, + 0.07336943444436035, + 0.144194367906973, + -0.042312992336886825, + -0.9886443217575303 + ], + [ + 0.9776748342736247, + 0.17631462842619752, + 0.1143025381650479, + 0.17107589123383873, + -0.9837656904859752, + 0.05420429559730451, + 0.12200392561958043, + -0.033439767128137815, + -0.9919661406055287 + ], + [ + 0.9799049185732948, + 0.15683068453293306, + 0.12324969348763555, + 0.15464529434270066, + -0.9875965945018381, + 0.027162464284954335, + 0.12598088542919497, + -0.007556647226355165, + -0.9920038878901496 + ], + [ + 0.9782785862540881, + 0.1566566926036666, + 0.13575598822587107, + 0.15366263380035816, + -0.9875944706334526, + 0.03232578765888485, + 0.1391359143076997, + -0.01076300314552596, + -0.9902148025115811 + ], + [ + 0.9711026140343308, + 0.1656383320872726, + 0.17182449173222072, + 0.15308326450130214, + -0.9846363880114345, + 0.08400415188203661, + 0.18309895451726085, + -0.05527319736673736, + -0.9815394268736961 + ], + [ + 0.9676465356615461, + 0.17671333590800115, + 0.18009047430243239, + 0.16251315121690996, + -0.9825117192468831, + 0.0908856271589995, + 0.193001703888227, + -0.05867809177879654, + -0.9794423024565772 + ], + [ + 0.9689510619539593, + 0.18676333037012438, + 0.1620286948887595, + 0.17420336374675094, + -0.9807098882744085, + 0.08866398987252218, + 0.17546232529409875, + -0.05768512347093755, + -0.9827946880872581 + ], + [ + 0.9756600631464044, + 0.1878105387062854, + 0.11320177883765506, + 0.18146492815411136, + -0.9813085446871411, + 0.0640626254069304, + 0.12311750903578944, + -0.041961192486157484, + -0.9915045825884832 + ], + [ + 0.9744726131376839, + 0.19256407419794597, + 0.11542185050024933, + 0.18460119400303865, + -0.9798545148907679, + 0.07620714415873593, + 0.12777137949191295, + -0.052954763491737326, + -0.9903889476393947 + ], + [ + 0.9743249587552252, + 0.19142386953958643, + 0.11852331803118124, + 0.1832531030860168, + -0.9800867607672469, + 0.07647379667645196, + 0.13080204492275663, + -0.05279056297537471, + -0.990002010858952 + ], + [ + 0.9736068026983942, + 0.20039665967865444, + 0.10922899124796297, + 0.19364797605828254, + -0.9786171646664974, + 0.06934627883770197, + 0.12079012835468321, + -0.04636403573615046, + -0.9915947363123283 + ], + [ + 0.9709540861365656, + 0.21659228466172453, + 0.10166584893523209, + 0.21015104210410118, + -0.9751299994099973, + 0.07041323563946697, + 0.11438838278980626, + -0.04700283476210015, + -0.9923235517748532 + ], + [ + 0.9533652504492252, + 0.27542235447887475, + 0.12343915865397015, + 0.2714949204003203, + -0.9612462867666363, + 0.04791747462229257, + 0.13185297657888, + -0.012169750641134208, + -0.9911945771323725 + ], + [ + 0.9153981459045023, + 0.35902692816062065, + 0.18206015305428042, + 0.3560798936353, + -0.9331285136897816, + 0.04978238933370364, + 0.1877587383406505, + 0.01925725304002624, + -0.9820263817138923 + ], + [ + 0.8804609745401906, + 0.43353992900499433, + 0.1919156123666913, + 0.4238430101826874, + -0.9011337392789329, + 0.09118709696248814, + 0.2124748809412914, + 0.0010554105894690635, + -0.9771659588204408 + ], + [ + 0.8357587522750243, + 0.5075779544423071, + 0.20945626789346258, + 0.4889059782198102, + -0.8615217037383393, + 0.1369353805585687, + 0.24995650112894705, + -0.01204052124921106, + -0.9681822005136338 + ], + [ + 0.8169783495267233, + 0.5365130569776484, + 0.2114240196786773, + 0.507377392054073, + -0.8430056878887298, + 0.17863256203631317, + 0.27407035307927546, + -0.038667167982000886, + -0.960931991185252 + ], + [ + 0.8162538930921323, + 0.539374860702058, + 0.20689210147942594, + 0.5045086489028255, + -0.8400311493807493, + 0.19954621332488987, + 0.28142602081929646, + -0.058501518892183024, + -0.9577979782256403 + ], + [ + 0.8303368654401659, + 0.5255434964455428, + 0.18532329382674395, + 0.4872847634647544, + -0.8460866374282713, + 0.21608091368841303, + 0.2703594814059574, + -0.08911473115660982, + -0.9586262647689072 + ], + [ + 0.8287011778680953, + 0.5230264178290897, + 0.19924287704433008, + 0.48280398588651013, + -0.8481026061033591, + 0.21822529810447983, + 0.2831159992160988, + -0.08464830638330023, + -0.9553428678826826 + ], + [ + 0.8363498427369788, + 0.5239467613552423, + 0.16124122245624292, + 0.4888671715757672, + -0.8459317992738653, + 0.21309218552727385, + 0.24804803790665272, + -0.09939407549061205, + -0.9636352985689276 + ], + [ + 0.8377433259127308, + 0.5289955271131318, + 0.1354616262377485, + 0.49954828962148307, + -0.8426136021829436, + 0.20113135944584729, + 0.22053939835078562, + -0.1008268303111012, + -0.9701527323388258 + ], + [ + 0.8416651690596342, + 0.5262212335876933, + 0.12120625608137593, + 0.499326109274923, + -0.8438728858776838, + 0.19634660444437965, + 0.20560442550729657, + -0.1047366497550705, + -0.9730144163422753 + ], + [ + 0.8378944218320334, + 0.5332052702811111, + 0.11672650773157475, + 0.5077694871231634, + -0.8398916834458883, + 0.19170839320465669, + 0.20025754869527831, + -0.10136123432002428, + -0.9744859231244334 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.005353987216949463, + -0.0006491709500551224, + -0.008615002036094666, + 0.011686552315950394, + 0.032753586769104004, + -0.0018923282623291016, + 1.0 + ], + [ + -0.01833692193031311, + -0.00790046714246273, + 0.006737947463989258, + -0.007818900048732758, + 0.04444125294685364, + -0.0312177836894989, + 1.0 + ], + [ + -0.008153825998306274, + -0.001345345750451088, + 0.013630494475364685, + 1.4044344425201416e-05, + 0.005575388669967651, + -0.04898679256439209, + 1.0 + ], + [ + -0.016813546419143677, + -0.0025311950594186783, + 0.003432340919971466, + 0.0033659450709819794, + 0.06448642909526825, + -0.08618459105491638, + 1.0 + ], + [ + -0.02539968490600586, + -0.014271277002990246, + -0.0024599358439445496, + -0.006511610001325607, + 0.07356387376785278, + -0.07993321120738983, + 1.0 + ], + [ + -0.014485865831375122, + -0.01572033390402794, + -0.010575756430625916, + -0.009075067937374115, + 0.02239014208316803, + -0.04830716550350189, + 1.0 + ], + [ + -0.0073003023862838745, + -0.010644165799021721, + -0.006498575210571289, + -0.026080422103405, + -0.004007890820503235, + -0.016702920198440552, + 1.0 + ], + [ + -0.0035380125045776367, + -0.006111267954111099, + -0.0067507922649383545, + 0.003251523245126009, + -0.013272255659103394, + -0.0007241666316986084, + 1.0 + ], + [ + 0.0012260228395462036, + 0.001973545178771019, + -0.0044807568192481995, + 0.04538441821932793, + -0.044548988342285156, + 0.0005504637956619263, + 1.0 + ], + [ + 0.0031352341175079346, + -0.00019787438213825226, + -0.008312046527862549, + 0.003584824502468109, + -0.010082677006721497, + 0.010041996836662292, + 1.0 + ], + [ + -0.0009440630674362183, + -0.0022869743406772614, + -0.010335784405469894, + -0.0012104511260986328, + 0.017845094203948975, + 0.011491209268569946, + 1.0 + ], + [ + -0.0019754022359848022, + 4.569254815578461e-05, + -0.00854317843914032, + -0.016332238912582397, + 0.05294467508792877, + 0.0060055553913116455, + 1.0 + ], + [ + 0.002851337194442749, + 0.0014207009226083755, + -0.0052978359162807465, + 0.01112230122089386, + -0.004690930247306824, + 0.003327801823616028, + 0.0 + ], + [ + 0.0005522221326828003, + 0.00034235231578350067, + 6.135925650596619e-05, + -0.0001445487141609192, + -0.0030563175678253174, + -0.0013082921504974365, + 0.0 + ], + [ + -0.0006824284791946411, + 0.00027591362595558167, + 0.000324346125125885, + -0.0065502263605594635, + 0.010092131793498993, + 0.010425016283988953, + 0.0 + ], + [ + -0.0023735761642456055, + 0.00287461094558239, + 0.007465198636054993, + 0.000608053058385849, + 0.006446480751037598, + 0.01681464910507202, + 0.0 + ], + [ + 0.01205320656299591, + 0.0048164669424295425, + 0.0251091830432415, + -0.03505381941795349, + -0.017598725855350494, + 0.06428146362304688, + 0.0 + ], + [ + 0.02194550633430481, + 0.007379615679383278, + 0.015125930309295654, + -0.03188444301486015, + -0.05664175748825073, + 0.09354695677757263, + 0.0 + ], + [ + 0.02450646460056305, + 0.009659109637141228, + -0.008059516549110413, + 0.01852712407708168, + -0.025227174162864685, + 0.07766881585121155, + 0.0 + ], + [ + 0.03010961413383484, + 0.01767056994140148, + -0.018864795565605164, + 0.013515645638108253, + -0.03852835297584534, + 0.0806584358215332, + 0.0 + ], + [ + 0.016031354665756226, + 0.012751839123666286, + -0.016262821853160858, + 0.027781963348388672, + -0.02498757839202881, + 0.02644205093383789, + 0.0 + ], + [ + 0.009115338325500488, + 0.008249690756201744, + -0.0134926438331604, + 0.0207858607172966, + -0.007656961679458618, + -0.0021413564682006836, + 0.0 + ], + [ + 0.002940058708190918, + 0.0031876638531684875, + -0.018518853932619095, + 0.03169107064604759, + 0.011513471603393555, + -0.022910594940185547, + 0.0 + ], + [ + 0.002647191286087036, + -0.00011087208986282349, + -0.0017723813652992249, + -0.004320099949836731, + -0.013275086879730225, + -0.0031661391258239746, + 0.0 + ], + [ + -0.005371838808059692, + -0.000802941620349884, + -0.00499051995575428, + 0.014407075941562653, + 0.03637668490409851, + 0.0014333724975585938, + 1.0 + ], + [ + 0.00011491775512695312, + -0.0018257610499858856, + 0.0034361835569143295, + 0.0007755979895591736, + 0.02829734981060028, + 0.008733272552490234, + 1.0 + ], + [ + 0.0007275640964508057, + -0.0007083192467689514, + 0.0034364797174930573, + 0.003671504557132721, + 0.015286162495613098, + -0.002247452735900879, + 1.0 + ], + [ + -0.001913696527481079, + -0.0007558092474937439, + 0.004177818074822426, + -0.0035861656069755554, + 0.005460500717163086, + 0.00937563180923462, + 1.0 + ], + [ + 0.003966271877288818, + -0.003849908709526062, + 0.028816020116209984, + -0.045360367745161057, + -0.055768609046936035, + 0.005950450897216797, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9774019718170166 + ], + [ + 0.9774019718170166 + ], + [ + 0.9774019718170166 + ], + [ + 0.9774019718170166 + ], + [ + 0.9774019718170166 + ], + [ + 0.9774019718170166 + ], + [ + 0.9774019718170166 + ], + [ + 0.9774019718170166 + ], + [ + 0.9774019718170166 + ], + [ + 0.9774019718170166 + ], + [ + 0.9774019718170166 + ], + [ + 0.9774019718170166 + ], + [ + 0.9499720335006714 + ], + [ + 0.8713903427124023 + ], + [ + 0.8939508199691772 + ], + [ + 0.8948037624359131 + ], + [ + 0.8948037624359131 + ], + [ + 0.8948037624359131 + ], + [ + 0.8948037624359131 + ], + [ + 0.8948037624359131 + ], + [ + 0.8948037624359131 + ], + [ + 0.8948037624359131 + ], + [ + 0.8948037624359131 + ], + [ + 0.8948037624359131 + ], + [ + 0.9311676621437073 + ], + [ + 0.9844722747802734 + ], + [ + 0.9837720394134521 + ], + [ + 0.9837720394134521 + ], + [ + 0.9837720394134521 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.30362266302108765, + 0.030125143006443977, + 0.08265557140111923 + ], + [ + 0.28528574109077454, + 0.022224675863981247, + 0.08939351886510849 + ], + [ + 0.27713191509246826, + 0.02087933011353016, + 0.10302401334047318 + ], + [ + 0.2603183686733246, + 0.01834813505411148, + 0.10645635426044464 + ], + [ + 0.23491868376731873, + 0.004076858051121235, + 0.10399641841650009 + ], + [ + 0.2204328179359436, + -0.011643476784229279, + 0.09342066198587418 + ], + [ + 0.21313251554965973, + -0.022287642583251, + 0.08692208677530289 + ], + [ + 0.2095945030450821, + -0.0283989105373621, + 0.08017129451036453 + ], + [ + 0.2108205258846283, + -0.02642536535859108, + 0.07569053769111633 + ], + [ + 0.21395576000213623, + -0.026623239740729332, + 0.06737849116325378 + ], + [ + 0.2130116969347, + -0.028910214081406593, + 0.05704270675778389 + ], + [ + 0.2110362946987152, + -0.02886452153325081, + 0.04849952831864357 + ], + [ + 0.21388763189315796, + -0.027443820610642433, + 0.043201692402362823 + ], + [ + 0.21443985402584076, + -0.027101468294858932, + 0.04326305165886879 + ], + [ + 0.21375742554664612, + -0.02682555466890335, + 0.043587397783994675 + ], + [ + 0.2113838493824005, + -0.02395094372332096, + 0.05105259642004967 + ], + [ + 0.22343705594539642, + -0.01913447678089142, + 0.07616177946329117 + ], + [ + 0.24538256227970123, + -0.01175486110150814, + 0.09128770977258682 + ], + [ + 0.2698890268802643, + -0.002095751231536269, + 0.08322819322347641 + ], + [ + 0.2999986410140991, + 0.015574819408357143, + 0.06436339765787125 + ], + [ + 0.31602999567985535, + 0.02832665853202343, + 0.04810057580471039 + ], + [ + 0.32514533400535583, + 0.036576349288225174, + 0.03460793197154999 + ], + [ + 0.32808539271354675, + 0.03976401314139366, + 0.016089078038930893 + ], + [ + 0.3307325839996338, + 0.03965314105153084, + 0.014316696673631668 + ], + [ + 0.3253607451915741, + 0.038850199431180954, + 0.009326176717877388 + ], + [ + 0.32547566294670105, + 0.03702443838119507, + 0.012762360274791718 + ], + [ + 0.32620322704315186, + 0.03631611913442612, + 0.016198839992284775 + ], + [ + 0.3242895305156708, + 0.03556030988693237, + 0.0203766580671072 + ], + [ + 0.3282558023929596, + 0.03171040117740631, + 0.049192678183317184 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8435739655126504, + 0.4659807461969933, + 0.26691741959444076, + 0.42623623928690507, + -0.883338096161701, + 0.19502942390310607, + 0.32665828173768635, + -0.05075186738549159, + -0.9437789015066333 + ], + [ + 0.86877204680557, + 0.4342759098321066, + 0.23799068223095796, + 0.4054409122277661, + -0.8997049206362386, + 0.16170566618042959, + 0.28434626317428124, + -0.04399420328220202, + -0.9577117064630603 + ], + [ + 0.8890370674644531, + 0.3894750228890596, + 0.24067052004716544, + 0.36300685334379507, + -0.9199816210318023, + 0.14785074023871103, + 0.27899662560619437, + -0.04407974034933594, + -0.9592798649982669 + ], + [ + 0.9322464248979385, + 0.3067490681952374, + 0.19188958394442798, + 0.28987877681659435, + -0.950574461337743, + 0.11125865451179351, + 0.21653382649444677, + -0.048095765029918414, + -0.9750896878594602 + ], + [ + 0.9653659363653441, + 0.2255421862081568, + 0.13114622047892815, + 0.21743181268933726, + -0.9733140977710862, + 0.07336943444436035, + 0.144194367906973, + -0.042312992336886825, + -0.9886443217575303 + ], + [ + 0.9776748342736247, + 0.17631462842619752, + 0.1143025381650479, + 0.17107589123383873, + -0.9837656904859752, + 0.05420429559730451, + 0.12200392561958043, + -0.033439767128137815, + -0.9919661406055287 + ], + [ + 0.9799049185732948, + 0.15683068453293306, + 0.12324969348763555, + 0.15464529434270066, + -0.9875965945018381, + 0.027162464284954335, + 0.12598088542919497, + -0.007556647226355165, + -0.9920038878901496 + ], + [ + 0.9782785862540881, + 0.1566566926036666, + 0.13575598822587107, + 0.15366263380035816, + -0.9875944706334526, + 0.03232578765888485, + 0.1391359143076997, + -0.01076300314552596, + -0.9902148025115811 + ], + [ + 0.9711026140343308, + 0.1656383320872726, + 0.17182449173222072, + 0.15308326450130214, + -0.9846363880114345, + 0.08400415188203661, + 0.18309895451726085, + -0.05527319736673736, + -0.9815394268736961 + ], + [ + 0.9676465356615461, + 0.17671333590800115, + 0.18009047430243239, + 0.16251315121690996, + -0.9825117192468831, + 0.0908856271589995, + 0.193001703888227, + -0.05867809177879654, + -0.9794423024565772 + ], + [ + 0.9689510619539593, + 0.18676333037012438, + 0.1620286948887595, + 0.17420336374675094, + -0.9807098882744085, + 0.08866398987252218, + 0.17546232529409875, + -0.05768512347093755, + -0.9827946880872581 + ], + [ + 0.9756600631464044, + 0.1878105387062854, + 0.11320177883765506, + 0.18146492815411136, + -0.9813085446871411, + 0.0640626254069304, + 0.12311750903578944, + -0.041961192486157484, + -0.9915045825884832 + ], + [ + 0.9744726131376839, + 0.19256407419794597, + 0.11542185050024933, + 0.18460119400303865, + -0.9798545148907679, + 0.07620714415873593, + 0.12777137949191295, + -0.052954763491737326, + -0.9903889476393947 + ], + [ + 0.9743249587552252, + 0.19142386953958643, + 0.11852331803118124, + 0.1832531030860168, + -0.9800867607672469, + 0.07647379667645196, + 0.13080204492275663, + -0.05279056297537471, + -0.990002010858952 + ], + [ + 0.9736068026983942, + 0.20039665967865444, + 0.10922899124796297, + 0.19364797605828254, + -0.9786171646664974, + 0.06934627883770197, + 0.12079012835468321, + -0.04636403573615046, + -0.9915947363123283 + ], + [ + 0.9709540861365656, + 0.21659228466172453, + 0.10166584893523209, + 0.21015104210410118, + -0.9751299994099973, + 0.07041323563946697, + 0.11438838278980626, + -0.04700283476210015, + -0.9923235517748532 + ], + [ + 0.9533652504492252, + 0.27542235447887475, + 0.12343915865397015, + 0.2714949204003203, + -0.9612462867666363, + 0.04791747462229257, + 0.13185297657888, + -0.012169750641134208, + -0.9911945771323725 + ], + [ + 0.9153981459045023, + 0.35902692816062065, + 0.18206015305428042, + 0.3560798936353, + -0.9331285136897816, + 0.04978238933370364, + 0.1877587383406505, + 0.01925725304002624, + -0.9820263817138923 + ], + [ + 0.8804609745401906, + 0.43353992900499433, + 0.1919156123666913, + 0.4238430101826874, + -0.9011337392789329, + 0.09118709696248814, + 0.2124748809412914, + 0.0010554105894690635, + -0.9771659588204408 + ], + [ + 0.8357587522750243, + 0.5075779544423071, + 0.20945626789346258, + 0.4889059782198102, + -0.8615217037383393, + 0.1369353805585687, + 0.24995650112894705, + -0.01204052124921106, + -0.9681822005136338 + ], + [ + 0.8169783495267233, + 0.5365130569776484, + 0.2114240196786773, + 0.507377392054073, + -0.8430056878887298, + 0.17863256203631317, + 0.27407035307927546, + -0.038667167982000886, + -0.960931991185252 + ], + [ + 0.8162538930921323, + 0.539374860702058, + 0.20689210147942594, + 0.5045086489028255, + -0.8400311493807493, + 0.19954621332488987, + 0.28142602081929646, + -0.058501518892183024, + -0.9577979782256403 + ], + [ + 0.8303368654401659, + 0.5255434964455428, + 0.18532329382674395, + 0.4872847634647544, + -0.8460866374282713, + 0.21608091368841303, + 0.2703594814059574, + -0.08911473115660982, + -0.9586262647689072 + ], + [ + 0.8287011778680953, + 0.5230264178290897, + 0.19924287704433008, + 0.48280398588651013, + -0.8481026061033591, + 0.21822529810447983, + 0.2831159992160988, + -0.08464830638330023, + -0.9553428678826826 + ], + [ + 0.8363498427369788, + 0.5239467613552423, + 0.16124122245624292, + 0.4888671715757672, + -0.8459317992738653, + 0.21309218552727385, + 0.24804803790665272, + -0.09939407549061205, + -0.9636352985689276 + ], + [ + 0.8377433259127308, + 0.5289955271131318, + 0.1354616262377485, + 0.49954828962148307, + -0.8426136021829436, + 0.20113135944584729, + 0.22053939835078562, + -0.1008268303111012, + -0.9701527323388258 + ], + [ + 0.8416651690596342, + 0.5262212335876933, + 0.12120625608137593, + 0.499326109274923, + -0.8438728858776838, + 0.19634660444437965, + 0.20560442550729657, + -0.1047366497550705, + -0.9730144163422753 + ], + [ + 0.8378944218320334, + 0.5332052702811111, + 0.11672650773157475, + 0.5077694871231634, + -0.8398916834458883, + 0.19170839320465669, + 0.20025754869527831, + -0.10136123432002428, + -0.9744859231244334 + ], + [ + 0.8240486144773761, + 0.5350939759159272, + 0.18605998472643637, + 0.5061074071708482, + -0.8429124203559972, + 0.18263062179272094, + 0.2545568175962254, + -0.05633017440128907, + -0.9654158368636815 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006753.json b/json/chunk-0006/episode_0006753.json new file mode 100644 index 0000000000000000000000000000000000000000..f3eeea00922c9afc502a6ab885bc16344f701ea6 --- /dev/null +++ b/json/chunk-0006/episode_0006753.json @@ -0,0 +1,1102 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 17, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut pear in bowl." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006753.mp4", + "start": 0, + "end": 17, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.22596225142478943, + -0.06898529082536697, + 0.0693136528134346, + 0.0850033313035965, + -0.11515036970376968, + -0.08629033714532852, + 0.0, + 1.0014774799346924 + ], + [ + 0.22194451093673706, + -0.06950443238019943, + 0.06258754432201385, + 0.07961957156658173, + -0.09162193536758423, + -0.06123553216457367, + 0.0, + 1.0014774799346924 + ], + [ + 0.21926778554916382, + -0.07115940004587173, + 0.05568993464112282, + 0.05378830060362816, + -0.10418307036161423, + -0.028612233698368073, + 0.0, + 1.0014774799346924 + ], + [ + 0.2201339602470398, + -0.06848633289337158, + 0.04959654062986374, + 0.03662942349910736, + -0.12662987411022186, + -0.014243848621845245, + 0.0, + 1.0014774799346924 + ], + [ + 0.2208544760942459, + -0.06586990505456924, + 0.04319893568754196, + 0.031196339055895805, + -0.14095942676067352, + -0.021650368347764015, + 0.0, + 1.0014774799346924 + ], + [ + 0.2211749255657196, + -0.06275731325149536, + 0.0343499518930912, + 0.03606024384498596, + -0.15731021761894226, + -0.025576062500476837, + 0.0, + 1.0014774799346924 + ], + [ + 0.2214619368314743, + -0.06086006760597229, + 0.02440084144473076, + 0.02125450409948826, + -0.18919304013252258, + -0.020558005198836327, + 0.0, + 1.0014774799346924 + ], + [ + 0.22093559801578522, + -0.0602591335773468, + 0.019294338300824165, + 0.01636226288974285, + -0.19727371633052826, + -0.004381390288472176, + 0.0, + 0.8261235952377319 + ], + [ + 0.22070147097110748, + -0.06087157875299454, + 0.019084220752120018, + 0.021430952474474907, + -0.19353953003883362, + -0.004628436639904976, + 0.0, + 0.7418107390403748 + ], + [ + 0.21562892198562622, + -0.05035345256328583, + 0.020183105021715164, + 0.07171011716127396, + -0.13990503549575806, + -0.0550055205821991, + 0.0, + 0.7418107390403748 + ], + [ + 0.21259117126464844, + -0.03312263637781143, + 0.02231873944401741, + 0.12161555141210556, + -0.09049296379089355, + -0.10123320668935776, + 0.0, + 0.7408273816108704 + ], + [ + 0.2234015315771103, + -0.007842626422643661, + 0.026698382571339607, + 0.14927247166633606, + -0.11502746492624283, + -0.13691771030426025, + 0.0, + 0.7319586873054504 + ], + [ + 0.2317785769701004, + 0.011689156293869019, + 0.021649884060025215, + 0.17333117127418518, + -0.13505354523658752, + -0.1691017597913742, + 0.0, + 0.729983389377594 + ], + [ + 0.2414306253194809, + 0.026373054832220078, + 0.015097085386514664, + 0.20825111865997314, + -0.16176585853099823, + -0.20479705929756165, + 0.0, + 0.729983389377594 + ], + [ + 0.2522956132888794, + 0.03874983265995979, + 0.006097084376960993, + 0.26126372814178467, + -0.19368262588977814, + -0.25495532155036926, + 0.0, + 0.729983389377594 + ], + [ + 0.2626878321170807, + 0.048473894596099854, + -0.0031992068979889154, + 0.3077811002731323, + -0.22488100826740265, + -0.31534746289253235, + 0.0, + 0.729983389377594 + ], + [ + 0.2736688554286957, + 0.054890796542167664, + -0.008535499684512615, + 0.3148247301578522, + -0.24501092731952667, + -0.3547862768173218, + 0.0, + 0.729983389377594 + ] + ], + "left_gripper_pos": [ + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 0.8261235952377319 + ], + [ + 0.7418107390403748 + ], + [ + 0.7418107390403748 + ], + [ + 0.7408273816108704 + ], + [ + 0.7319586873054504 + ], + [ + 0.729983389377594 + ], + [ + 0.729983389377594 + ], + [ + 0.729983389377594 + ], + [ + 0.729983389377594 + ], + [ + 0.729983389377594 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.22596225142478943, + -0.06898529082536697, + 0.0693136528134346 + ], + [ + 0.22194451093673706, + -0.06950443238019943, + 0.06258754432201385 + ], + [ + 0.21926778554916382, + -0.07115940004587173, + 0.05568993464112282 + ], + [ + 0.2201339602470398, + -0.06848633289337158, + 0.04959654062986374 + ], + [ + 0.2208544760942459, + -0.06586990505456924, + 0.04319893568754196 + ], + [ + 0.2211749255657196, + -0.06275731325149536, + 0.0343499518930912 + ], + [ + 0.2214619368314743, + -0.06086006760597229, + 0.02440084144473076 + ], + [ + 0.22093559801578522, + -0.0602591335773468, + 0.019294338300824165 + ], + [ + 0.22070147097110748, + -0.06087157875299454, + 0.019084220752120018 + ], + [ + 0.21562892198562622, + -0.05035345256328583, + 0.020183105021715164 + ], + [ + 0.21259117126464844, + -0.03312263637781143, + 0.02231873944401741 + ], + [ + 0.2234015315771103, + -0.007842626422643661, + 0.026698382571339607 + ], + [ + 0.2317785769701004, + 0.011689156293869019, + 0.021649884060025215 + ], + [ + 0.2414306253194809, + 0.026373054832220078, + 0.015097085386514664 + ], + [ + 0.2522956132888794, + 0.03874983265995979, + 0.006097084376960993 + ], + [ + 0.2626878321170807, + 0.048473894596099854, + -0.0031992068979889154 + ], + [ + 0.2736688554286957, + 0.054890796542167664, + -0.008535499684512615 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9896814573543848, + -0.07615362000591241, + 0.12137231615527748, + -0.08561254314531441, + -0.9935228240721024, + 0.07471874265528505, + 0.11489606357527317, + -0.08433874677626016, + -0.9897908215209501 + ], + [ + 0.9939391979812416, + -0.05374003480333349, + 0.09590036170808984, + -0.06094058625130601, + -0.9954089970527625, + 0.07380496957360247, + 0.0914938012313025, + -0.07920187652921967, + -0.9926509694200157 + ], + [ + 0.9941707682346964, + -0.0229782422536705, + 0.10533984986967425, + -0.028453211281813464, + -0.9983049972271703, + 0.050769550707215075, + 0.10399470349679525, + -0.05347086023425873, + -0.9931394508076005 + ], + [ + 0.9918925156519129, + -0.009609323278317055, + 0.1267158170863142, + -0.014129322408010054, + -0.9992937188042619, + 0.034819905322085995, + 0.1262917243607432, + -0.03632801211849228, + -0.9913277338466369 + ], + [ + 0.9898496234809399, + -0.017257011284796946, + 0.14106707077187686, + -0.02143395803533476, + -0.9993740555882269, + 0.028143959566462845, + 0.14049308999940469, + -0.030881913455218055, + -0.98959991869632 + ], + [ + 0.9873292315780916, + -0.01991044309849063, + 0.1574311364598406, + -0.025257501647290206, + -0.9991675020260589, + 0.032036877275145245, + 0.15666220693566243, + -0.03560726261069998, + -0.9870101700425484 + ], + [ + 0.9819487790893555, + -0.016555801645246587, + 0.1884210728045232, + -0.02018975246129763, + -0.9996450345877255, + 0.0173832885167547, + 0.18806639556410842, + -0.020873673754000753, + -0.9819344787731694 + ], + [ + 0.9805951517798497, + -0.0011740148428951386, + 0.1960402254513122, + -0.004296397567014084, + -0.9998705943952653, + 0.015502755613251025, + 0.19599665628218968, + -0.01604419374124772, + -0.9804733013057488 + ], + [ + 0.9813191021674846, + -0.0005058260164783014, + 0.19238649604700056, + -0.004542005721550372, + -0.9997787335755974, + 0.020539086493793077, + 0.1923335381706137, + -0.02102921848322384, + -0.9811042666632113 + ], + [ + 0.988731598643489, + -0.04486026021089605, + 0.1428194065864357, + -0.05444061268238996, + -0.9964706977981407, + 0.0638934121835187, + 0.13944907864398723, + -0.07094861156849873, + -0.9876842860863211 + ], + [ + 0.9908095468770817, + -0.08940681111947603, + 0.10150302430311392, + -0.10064687795113526, + -0.9886399988889116, + 0.11162955950653135, + 0.09036950689210096, + -0.12081959577146116, + -0.9885524657304231 + ], + [ + 0.9840948815334336, + -0.11806319086753027, + 0.1327341218446645, + -0.1355883458194716, + -0.981954771481354, + 0.13183560688577653, + 0.1147739718648636, + -0.14773594595486486, + -0.9823446572640301 + ], + [ + 0.9767603419605856, + -0.14288519127080357, + 0.15975937058133943, + -0.1667644974055012, + -0.9748738500886326, + 0.14768405065699142, + 0.13464336886059575, + -0.17089411496266366, + -0.9760462922899699 + ], + [ + 0.9663195194067445, + -0.16637108814933657, + 0.1963345294173286, + -0.20071336928208114, + -0.9647198055849078, + 0.1703814546940264, + 0.16106126103117757, + -0.20404989032151752, + -0.9656204805485556 + ], + [ + 0.9495810642225728, + -0.1955342941140461, + 0.2450757888801915, + -0.24748651890354528, + -0.9473744437524435, + 0.20305685481104477, + 0.19247396039706666, + -0.2534718981466591, + -0.9480009342922603 + ], + [ + 0.9267509470657787, + -0.23134984012768714, + 0.29598975250095405, + -0.30233752304601014, + -0.9269656077754121, + 0.2220963398166757, + 0.22299036811280826, + -0.29531680188308723, + -0.9290119925245637 + ], + [ + 0.9097154198603526, + -0.25988301439302036, + 0.32384977026130374, + -0.3370150462346592, + -0.9177251443125163, + 0.210241333015231, + 0.24256692577462519, + -0.30040202783364817, + -0.92245320108593 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.004017740488052368, + -0.0005191415548324585, + -0.006726108491420746, + -0.0053837597370147705, + 0.023528434336185455, + 0.025054804980754852, + 1.0 + ], + [ + -0.002676725387573242, + -0.0016549676656723022, + -0.006897609680891037, + -0.025831270962953568, + -0.012561134994029999, + 0.0326232984662056, + 1.0 + ], + [ + 0.0008661746978759766, + 0.0026730671525001526, + -0.006093394011259079, + -0.017158877104520798, + -0.022446803748607635, + 0.014368385076522827, + 1.0 + ], + [ + 0.0007205158472061157, + 0.0026164278388023376, + -0.006397604942321777, + -0.0054330844432115555, + -0.01432955265045166, + -0.00740651972591877, + 1.0 + ], + [ + 0.00032044947147369385, + 0.003112591803073883, + -0.00884898379445076, + 0.0048639047890901566, + -0.016350790858268738, + -0.003925694152712822, + 1.0 + ], + [ + 0.0002870112657546997, + 0.0018972456455230713, + -0.009949110448360443, + -0.014805739745497704, + -0.03188282251358032, + 0.0050180573016405106, + 1.0 + ], + [ + -0.0005263388156890869, + 0.0006009340286254883, + -0.005106503143906593, + -0.004892241209745407, + -0.008080676198005676, + 0.01617661491036415, + 0.0 + ], + [ + -0.00023412704467773438, + -0.0006124451756477356, + -0.00021011754870414734, + 0.005068689584732056, + 0.003734186291694641, + -0.0002470463514328003, + 0.0 + ], + [ + -0.005072548985481262, + 0.01051812618970871, + 0.0010988842695951462, + 0.0502791628241539, + 0.05363449454307556, + -0.05037708580493927, + 0.0 + ], + [ + -0.003037750720977783, + 0.017230816185474396, + 0.002135634422302246, + 0.049905434250831604, + 0.0494120717048645, + -0.04622768610715866, + 0.0 + ], + [ + 0.010810360312461853, + 0.02528000995516777, + 0.004379643127322197, + 0.0276569202542305, + -0.024534501135349274, + -0.035684503614902496, + 0.0 + ], + [ + 0.008377045392990112, + 0.01953178271651268, + -0.005048498511314392, + 0.02405869960784912, + -0.020026080310344696, + -0.03218404948711395, + 0.0 + ], + [ + 0.009652048349380493, + 0.014683898538351059, + -0.0065527986735105515, + 0.034919947385787964, + -0.026712313294410706, + -0.03569529950618744, + 0.0 + ], + [ + 0.010864987969398499, + 0.012376777827739716, + -0.009000001475214958, + 0.05301260948181152, + -0.03191676735877991, + -0.05015826225280762, + 0.0 + ], + [ + 0.010392218828201294, + 0.00972406193614006, + -0.009296291507780552, + 0.046517372131347656, + -0.03119838237762451, + -0.060392141342163086, + 0.0 + ], + [ + 0.01098102331161499, + 0.00641690194606781, + -0.005336293019354343, + 0.007043629884719849, + -0.020129919052124023, + -0.03943881392478943, + 1.0 + ], + [ + 0.008046388626098633, + 0.006144870072603226, + -0.0019471123814582825, + -0.0007967352867126465, + -0.031873419880867004, + -0.03276059031486511, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 0.8261235952377319 + ], + [ + 0.7418107390403748 + ], + [ + 0.7418107390403748 + ], + [ + 0.7408273816108704 + ], + [ + 0.7319586873054504 + ], + [ + 0.729983389377594 + ], + [ + 0.729983389377594 + ], + [ + 0.729983389377594 + ], + [ + 0.729983389377594 + ], + [ + 0.729983389377594 + ], + [ + 0.9107924103736877 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.22194451093673706, + -0.06950443238019943, + 0.06258754432201385 + ], + [ + 0.21926778554916382, + -0.07115940004587173, + 0.05568993464112282 + ], + [ + 0.2201339602470398, + -0.06848633289337158, + 0.04959654062986374 + ], + [ + 0.2208544760942459, + -0.06586990505456924, + 0.04319893568754196 + ], + [ + 0.2211749255657196, + -0.06275731325149536, + 0.0343499518930912 + ], + [ + 0.2214619368314743, + -0.06086006760597229, + 0.02440084144473076 + ], + [ + 0.22093559801578522, + -0.0602591335773468, + 0.019294338300824165 + ], + [ + 0.22070147097110748, + -0.06087157875299454, + 0.019084220752120018 + ], + [ + 0.21562892198562622, + -0.05035345256328583, + 0.020183105021715164 + ], + [ + 0.21259117126464844, + -0.03312263637781143, + 0.02231873944401741 + ], + [ + 0.2234015315771103, + -0.007842626422643661, + 0.026698382571339607 + ], + [ + 0.2317785769701004, + 0.011689156293869019, + 0.021649884060025215 + ], + [ + 0.2414306253194809, + 0.026373054832220078, + 0.015097085386514664 + ], + [ + 0.2522956132888794, + 0.03874983265995979, + 0.006097084376960993 + ], + [ + 0.2626878321170807, + 0.048473894596099854, + -0.0031992068979889154 + ], + [ + 0.2736688554286957, + 0.054890796542167664, + -0.008535499684512615 + ], + [ + 0.2817152440547943, + 0.06103566661477089, + -0.010482612065970898 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9939391979812416, + -0.05374003480333349, + 0.09590036170808984, + -0.06094058625130601, + -0.9954089970527625, + 0.07380496957360247, + 0.0914938012313025, + -0.07920187652921967, + -0.9926509694200157 + ], + [ + 0.9941707682346964, + -0.0229782422536705, + 0.10533984986967425, + -0.028453211281813464, + -0.9983049972271703, + 0.050769550707215075, + 0.10399470349679525, + -0.05347086023425873, + -0.9931394508076005 + ], + [ + 0.9918925156519129, + -0.009609323278317055, + 0.1267158170863142, + -0.014129322408010054, + -0.9992937188042619, + 0.034819905322085995, + 0.1262917243607432, + -0.03632801211849228, + -0.9913277338466369 + ], + [ + 0.9898496234809399, + -0.017257011284796946, + 0.14106707077187686, + -0.02143395803533476, + -0.9993740555882269, + 0.028143959566462845, + 0.14049308999940469, + -0.030881913455218055, + -0.98959991869632 + ], + [ + 0.9873292315780916, + -0.01991044309849063, + 0.1574311364598406, + -0.025257501647290206, + -0.9991675020260589, + 0.032036877275145245, + 0.15666220693566243, + -0.03560726261069998, + -0.9870101700425484 + ], + [ + 0.9819487790893555, + -0.016555801645246587, + 0.1884210728045232, + -0.02018975246129763, + -0.9996450345877255, + 0.0173832885167547, + 0.18806639556410842, + -0.020873673754000753, + -0.9819344787731694 + ], + [ + 0.9805951517798497, + -0.0011740148428951386, + 0.1960402254513122, + -0.004296397567014084, + -0.9998705943952653, + 0.015502755613251025, + 0.19599665628218968, + -0.01604419374124772, + -0.9804733013057488 + ], + [ + 0.9813191021674846, + -0.0005058260164783014, + 0.19238649604700056, + -0.004542005721550372, + -0.9997787335755974, + 0.020539086493793077, + 0.1923335381706137, + -0.02102921848322384, + -0.9811042666632113 + ], + [ + 0.988731598643489, + -0.04486026021089605, + 0.1428194065864357, + -0.05444061268238996, + -0.9964706977981407, + 0.0638934121835187, + 0.13944907864398723, + -0.07094861156849873, + -0.9876842860863211 + ], + [ + 0.9908095468770817, + -0.08940681111947603, + 0.10150302430311392, + -0.10064687795113526, + -0.9886399988889116, + 0.11162955950653135, + 0.09036950689210096, + -0.12081959577146116, + -0.9885524657304231 + ], + [ + 0.9840948815334336, + -0.11806319086753027, + 0.1327341218446645, + -0.1355883458194716, + -0.981954771481354, + 0.13183560688577653, + 0.1147739718648636, + -0.14773594595486486, + -0.9823446572640301 + ], + [ + 0.9767603419605856, + -0.14288519127080357, + 0.15975937058133943, + -0.1667644974055012, + -0.9748738500886326, + 0.14768405065699142, + 0.13464336886059575, + -0.17089411496266366, + -0.9760462922899699 + ], + [ + 0.9663195194067445, + -0.16637108814933657, + 0.1963345294173286, + -0.20071336928208114, + -0.9647198055849078, + 0.1703814546940264, + 0.16106126103117757, + -0.20404989032151752, + -0.9656204805485556 + ], + [ + 0.9495810642225728, + -0.1955342941140461, + 0.2450757888801915, + -0.24748651890354528, + -0.9473744437524435, + 0.20305685481104477, + 0.19247396039706666, + -0.2534718981466591, + -0.9480009342922603 + ], + [ + 0.9267509470657787, + -0.23134984012768714, + 0.29598975250095405, + -0.30233752304601014, + -0.9269656077754121, + 0.2220963398166757, + 0.22299036811280826, + -0.29531680188308723, + -0.9290119925245637 + ], + [ + 0.9097154198603526, + -0.25988301439302036, + 0.32384977026130374, + -0.3370150462346592, + -0.9177251443125163, + 0.210241333015231, + 0.24256692577462519, + -0.30040202783364817, + -0.92245320108593 + ], + [ + 0.8905753908596837, + -0.2812603476721509, + 0.35744662541764577, + -0.3635241191856867, + -0.912473650285573, + 0.18772866671020927, + 0.2733599970101563, + -0.29712700039185763, + -0.914871497901615 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006755.json b/json/chunk-0006/episode_0006755.json new file mode 100644 index 0000000000000000000000000000000000000000..8c985010069224095275ca56fcc0f38356f8bd66 --- /dev/null +++ b/json/chunk-0006/episode_0006755.json @@ -0,0 +1,1642 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 26, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the cloth to the bottom-left corner of the table." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006755.mp4", + "start": 0, + "end": 26, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2829759418964386, + -0.04801618307828903, + 0.11593113094568253, + -0.007658788934350014, + -0.4606858491897583, + 0.29061874747276306, + 0.0, + 0.9994885921478271 + ], + [ + 0.2805313467979431, + -0.048309337347745895, + 0.10745382308959961, + 0.0031134197488427162, + -0.4329575002193451, + 0.28680312633514404, + 0.0, + 1.0001531839370728 + ], + [ + 0.28274476528167725, + -0.051133714616298676, + 0.09207925945520401, + -0.013443750329315662, + -0.39054742455482483, + 0.28652283549308777, + 0.0, + 1.0001531839370728 + ], + [ + 0.28307971358299255, + -0.051564108580350876, + 0.07774924486875534, + -0.0013790478697046638, + -0.3500661551952362, + 0.2751544713973999, + 0.0, + 1.0001531839370728 + ], + [ + 0.28059786558151245, + -0.051638465374708176, + 0.056144654750823975, + 0.014026281423866749, + -0.2769365608692169, + 0.27316218614578247, + 0.0, + 1.0001531839370728 + ], + [ + 0.28368234634399414, + -0.055450230836868286, + 0.039760831743478775, + 0.01576376147568226, + -0.23395903408527374, + 0.2567363977432251, + 0.0, + 1.0001531839370728 + ], + [ + 0.28385254740715027, + -0.05913851782679558, + 0.02043021284043789, + 0.012576594017446041, + -0.1979951560497284, + 0.24495165050029755, + 0.0, + 1.0001531839370728 + ], + [ + 0.28625139594078064, + -0.06141018867492676, + 0.011760811321437359, + 0.00958266481757164, + -0.18547731637954712, + 0.23673906922340393, + 0.0, + 1.0001531839370728 + ], + [ + 0.29077574610710144, + -0.06086866557598114, + 0.010164954699575901, + 0.02298855409026146, + -0.18630148470401764, + 0.22758209705352783, + 0.0, + 1.0014774799346924 + ], + [ + 0.2902427315711975, + -0.05406762287020683, + 0.009115951135754585, + 0.019881026819348335, + -0.18193157017230988, + 0.2501102089881897, + 0.0, + 1.002137303352356 + ], + [ + 0.28850486874580383, + -0.03878926485776901, + 0.01062425971031189, + 0.028678901493549347, + -0.1817573457956314, + 0.2903689444065094, + 0.0, + 0.9994885921478271 + ], + [ + 0.28617966175079346, + -0.012780791148543358, + 0.012397446669638157, + 0.0397130623459816, + -0.18217208981513977, + 0.3518141210079193, + 0.0, + 0.9994885921478271 + ], + [ + 0.2865373492240906, + 0.002610526978969574, + 0.014317343011498451, + 0.04393281042575836, + -0.18712244927883148, + 0.3835168480873108, + 0.0, + 0.9994885921478271 + ], + [ + 0.2856571078300476, + 0.021107429638504982, + 0.01458083838224411, + 0.04071129113435745, + -0.18309466540813446, + 0.4299154281616211, + 0.0, + 0.9994885921478271 + ], + [ + 0.2853263020515442, + 0.04805730655789375, + 0.016304384917020798, + 0.04168367758393288, + -0.18679583072662354, + 0.477212518453598, + 0.0, + 0.9994885921478271 + ], + [ + 0.2838852107524872, + 0.07203947752714157, + 0.018461115658283234, + 0.043997872620821, + -0.19493308663368225, + 0.5245797038078308, + 0.0, + 0.9994885921478271 + ], + [ + 0.2784530222415924, + 0.09210855513811111, + 0.017877858132123947, + 0.04683174192905426, + -0.1929791122674942, + 0.5725365877151489, + 0.0, + 0.9994885921478271 + ], + [ + 0.2775515913963318, + 0.11477777361869812, + 0.01831074059009552, + 0.05177829787135124, + -0.19806233048439026, + 0.6292004585266113, + 0.0, + 0.9994885921478271 + ], + [ + 0.2717917859554291, + 0.13824449479579926, + 0.015806645154953003, + 0.06067311391234398, + -0.19483695924282074, + 0.6902022957801819, + 0.0, + 0.9994885921478271 + ], + [ + 0.26663938164711, + 0.15928269922733307, + 0.01746799796819687, + 0.06905453652143478, + -0.1961348056793213, + 0.7418808937072754, + 0.0, + 0.9994885921478271 + ], + [ + 0.2697632610797882, + 0.16844704747200012, + 0.021881259977817535, + 0.07291145622730255, + -0.21523573994636536, + 0.7733036875724792, + 0.0, + 0.9994885921478271 + ], + [ + 0.26864421367645264, + 0.16861557960510254, + 0.018182290717959404, + 0.07555077970027924, + -0.20956704020500183, + 0.8077925443649292, + 0.0, + 0.9994885921478271 + ], + [ + 0.27055835723876953, + 0.16495558619499207, + 0.018097899854183197, + 0.06888694316148758, + -0.2092687040567398, + 0.8231838345527649, + 0.0, + 0.9994885921478271 + ], + [ + 0.27136144042015076, + 0.15353649854660034, + 0.020315539091825485, + 0.05430053174495697, + -0.19288580119609833, + 0.8223013877868652, + 0.0, + 0.9994885921478271 + ], + [ + 0.27123287320137024, + 0.1423049420118332, + 0.048676058650016785, + 0.025779612362384796, + -0.23683680593967438, + 0.8251314759254456, + 0.0, + 0.9988223910331726 + ], + [ + 0.2624613344669342, + 0.14350421726703644, + 0.07686782628297806, + 0.0021115276031196117, + -0.2759774327278137, + 0.8512485027313232, + 0.0, + 0.9988223910331726 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0014774799346924 + ], + [ + 1.002137303352356 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2829759418964386, + -0.04801618307828903, + 0.11593113094568253 + ], + [ + 0.2805313467979431, + -0.048309337347745895, + 0.10745382308959961 + ], + [ + 0.28274476528167725, + -0.051133714616298676, + 0.09207925945520401 + ], + [ + 0.28307971358299255, + -0.051564108580350876, + 0.07774924486875534 + ], + [ + 0.28059786558151245, + -0.051638465374708176, + 0.056144654750823975 + ], + [ + 0.28368234634399414, + -0.055450230836868286, + 0.039760831743478775 + ], + [ + 0.28385254740715027, + -0.05913851782679558, + 0.02043021284043789 + ], + [ + 0.28625139594078064, + -0.06141018867492676, + 0.011760811321437359 + ], + [ + 0.29077574610710144, + -0.06086866557598114, + 0.010164954699575901 + ], + [ + 0.2902427315711975, + -0.05406762287020683, + 0.009115951135754585 + ], + [ + 0.28850486874580383, + -0.03878926485776901, + 0.01062425971031189 + ], + [ + 0.28617966175079346, + -0.012780791148543358, + 0.012397446669638157 + ], + [ + 0.2865373492240906, + 0.002610526978969574, + 0.014317343011498451 + ], + [ + 0.2856571078300476, + 0.021107429638504982, + 0.01458083838224411 + ], + [ + 0.2853263020515442, + 0.04805730655789375, + 0.016304384917020798 + ], + [ + 0.2838852107524872, + 0.07203947752714157, + 0.018461115658283234 + ], + [ + 0.2784530222415924, + 0.09210855513811111, + 0.017877858132123947 + ], + [ + 0.2775515913963318, + 0.11477777361869812, + 0.01831074059009552 + ], + [ + 0.2717917859554291, + 0.13824449479579926, + 0.015806645154953003 + ], + [ + 0.26663938164711, + 0.15928269922733307, + 0.01746799796819687 + ], + [ + 0.2697632610797882, + 0.16844704747200012, + 0.021881259977817535 + ], + [ + 0.26864421367645264, + 0.16861557960510254, + 0.018182290717959404 + ], + [ + 0.27055835723876953, + 0.16495558619499207, + 0.018097899854183197 + ], + [ + 0.27136144042015076, + 0.15353649854660034, + 0.020315539091825485 + ], + [ + 0.27123287320137024, + 0.1423049420118332, + 0.048676058650016785 + ], + [ + 0.2624613344669342, + 0.14350421726703644, + 0.07686782628297806 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8581861975411167, + 0.28327467323088595, + 0.42810268611146807, + 0.2566721277138092, + -0.9590142835822932, + 0.12004591929760328, + 0.44456255938257483, + 0.006860276311889603, + -0.895721534520712 + ], + [ + 0.8706509975529484, + 0.28413891266729047, + 0.4015369457077464, + 0.2567850488975723, + -0.9587789584992834, + 0.12167311700495187, + 0.41955724177128345, + -0.0028261364579924564, + -0.9077244812331512 + ], + [ + 0.8870029493801674, + 0.27768382338964187, + 0.3689410007285637, + 0.26133758131760404, + -0.9605920896364737, + 0.09468635550541254, + 0.38069467606199664, + 0.012431072179939232, + -0.9246172354344842 + ], + [ + 0.9040147217408895, + 0.27124017563839253, + 0.33043327616236795, + 0.25521726983865567, + -0.9625108254129612, + 0.09185344924913028, + 0.3429599510902761, + 0.0012954082421086852, + -0.9393491331052801 + ], + [ + 0.9262328905778312, + 0.2734438024098253, + 0.25946313675644167, + 0.25949852243602894, + -0.9617933608464454, + 0.08725851182100866, + 0.2734102215816982, + -0.013491403016578772, + -0.9618029074500093 + ], + [ + 0.9408729820612731, + 0.2574283200386413, + 0.22020147971621434, + 0.24700738543321374, + -0.966175728770366, + 0.07410676538954043, + 0.2318305052588534, + -0.015333661569745097, + -0.9726353353926072 + ], + [ + 0.9511951609598649, + 0.24489019662115516, + 0.18776729578227536, + 0.237771490252166, + -0.9694724075063864, + 0.05989966199432967, + 0.19670405229633842, + -0.012330558893367052, + -0.9803853697029431 + ], + [ + 0.9554346739899647, + 0.2362410108007382, + 0.17701629459893034, + 0.23051125609211168, + -0.9716488475985072, + 0.052564986210687475, + 0.18441568412834822, + -0.009418162046724469, + -0.982803212078153 + ], + [ + 0.9573569776053256, + 0.22971092270718116, + 0.17521560837839656, + 0.2217184579101635, + -0.9729967314560577, + 0.06417387317099908, + 0.1852256538720683, + -0.022588770768765972, + -0.982436361594389 + ], + [ + 0.9528947171139187, + 0.2509467417608497, + 0.17034491743517927, + 0.24342583559262151, + -0.9678034236486636, + 0.06403433250967283, + 0.18092960139904868, + -0.019551623296768676, + -0.983301689901956 + ], + [ + 0.9423554310302978, + 0.2911542705056874, + 0.1649103767929801, + 0.281589589269123, + -0.956260321665575, + 0.07920543177899972, + 0.18075824966774895, + -0.02820262353668855, + -0.9831231190459818 + ], + [ + 0.9232151621001105, + 0.3510818814404094, + 0.15625388632840204, + 0.33889908809233094, + -0.9355303042128205, + 0.0996516833257438, + 0.18116614628195143, + -0.03904564538754725, + -0.9826770909192992 + ], + [ + 0.9111661729290771, + 0.3813998538593827, + 0.15591778854839186, + 0.3676522406725067, + -0.923402433827594, + 0.11027137039939824, + 0.18603234997780552, + -0.04315201822994603, + -0.9815955725676527 + ], + [ + 0.8938070010618953, + 0.4231846330821682, + 0.14840421549218805, + 0.4098271949931344, + -0.9051592050662091, + 0.11282058202281992, + 0.182073378330827, + -0.04001974271555415, + -0.9824702057040612 + ], + [ + 0.8728264724257131, + 0.46578022683105974, + 0.14568022970222147, + 0.4513149857563527, + -0.8839525710647629, + 0.12224007419720476, + 0.18571142308600355, + -0.04094670195756339, + -0.9817508008319471 + ], + [ + 0.849141847055154, + 0.5077386462057633, + 0.1454633655904463, + 0.491363499920218, + -0.8604298275066837, + 0.13499045478467017, + 0.19370088932659815, + -0.04315065568397419, + -0.9801112112347903 + ], + [ + 0.8249269031331654, + 0.5487183755389159, + 0.13566041734072098, + 0.5317091997665965, + -0.8347437598706438, + 0.14313693527733085, + 0.19178355344161002, + -0.04594561679806359, + -0.9803611930948485 + ], + [ + 0.7926919059670828, + 0.5959434473807843, + 0.12841709285831013, + 0.5769931916412723, + -0.8014215628706212, + 0.15748757209897202, + 0.19676991389409978, + -0.05074333542365251, + -0.9791356978969724 + ], + [ + 0.7565271128231305, + 0.6445741797170733, + 0.11041220224939072, + 0.624646475305776, + -0.7622238720191749, + 0.16979855656679416, + 0.19360658163287928, + -0.0594886187951814, + -0.9792740146569154 + ], + [ + 0.7230647840836151, + 0.6839781953128241, + 0.09670132550656493, + 0.6627210704828732, + -0.7263564456425848, + 0.18222814440010268, + 0.19487970842586214, + -0.06767674792779463, + -0.9784895283209566 + ], + [ + 0.6990950800175224, + 0.7077811099472222, + 0.10154786800899336, + 0.6823859760586568, + -0.7028380321999557, + 0.20091809319164966, + 0.21357773473320696, + -0.07116600940879177, + -0.9743305139074008 + ], + [ + 0.6759751570446176, + 0.7315534531350829, + 0.0888095280059575, + 0.7069500901141677, + -0.6777750667221025, + 0.20209534635270526, + 0.20803643225664836, + -0.07382752966194796, + -0.9753308867855768 + ], + [ + 0.6650568153702628, + 0.7412970862238402, + 0.0904326394926558, + 0.7173155565233271, + -0.6677912835915132, + 0.19877925930244497, + 0.20774461412800482, + -0.06733076202779595, + -0.9758630763511665 + ], + [ + 0.6679162916537933, + 0.7387142022488089, + 0.09049394863387186, + 0.7191258683868935, + -0.6719106464581031, + 0.1771837142432946, + 0.19169197364584759, + -0.05326734996373472, + -0.9800085594869057 + ], + [ + 0.6595211720286343, + 0.7384961974142917, + 0.14019696876397864, + 0.7141296082477112, + -0.6737918841709302, + 0.18979831255666743, + 0.23462891183728235, + -0.025057199165493677, + -0.9717620133036862 + ], + [ + 0.6341059575621965, + 0.7524813243931254, + 0.1779929521742293, + 0.7236436898468601, + -0.6586104531068856, + 0.20633002981428553, + 0.2724875129780281, + -0.002031624451129088, + -0.9621571741525073 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0024445950984954834, + -0.0002931542694568634, + -0.008477307856082916, + 0.01077220868319273, + 0.027728348970413208, + -0.0038156211376190186, + 1.0 + ], + [ + 0.002213418483734131, + -0.00282437726855278, + -0.0153745636343956, + -0.01655717007815838, + 0.042410075664520264, + -0.0002802908420562744, + 1.0 + ], + [ + 0.0003349483013153076, + -0.0004303939640522003, + -0.01433001458644867, + 0.012064702808856964, + 0.04048126935958862, + -0.011368364095687866, + 1.0 + ], + [ + -0.0024818480014801025, + -7.43567943572998e-05, + -0.021604590117931366, + 0.015405328944325447, + 0.07312959432601929, + -0.0019922852516174316, + 1.0 + ], + [ + 0.0030844807624816895, + -0.0038117654621601105, + -0.0163838230073452, + 0.0017374800518155098, + 0.042977526783943176, + -0.016425788402557373, + 1.0 + ], + [ + 0.00017020106315612793, + -0.003688286989927292, + -0.019330618903040886, + -0.0031871674582362175, + 0.03596387803554535, + -0.011784747242927551, + 1.0 + ], + [ + 0.002398848533630371, + -0.00227167084813118, + -0.00866940151900053, + -0.002993929199874401, + 0.012517839670181274, + -0.008212581276893616, + 1.0 + ], + [ + 0.004524350166320801, + 0.0005415230989456177, + -0.0015958566218614578, + 0.01340588927268982, + -0.00082416832447052, + -0.009156972169876099, + 1.0 + ], + [ + -0.0005330145359039307, + 0.006801042705774307, + -0.0010490035638213158, + -0.003107527270913124, + 0.004369914531707764, + 0.022528111934661865, + 1.0 + ], + [ + -0.0017378628253936768, + 0.01527835801243782, + 0.0015083085745573044, + 0.008797874674201012, + 0.0001742243766784668, + 0.0402587354183197, + 1.0 + ], + [ + -0.002325206995010376, + 0.026008473709225655, + 0.0017731869593262672, + 0.011034160852432251, + -0.0004147440195083618, + 0.06144517660140991, + 1.0 + ], + [ + 0.00035768747329711914, + 0.015391318127512932, + 0.0019198963418602943, + 0.004219748079776764, + -0.004950359463691711, + 0.03170272707939148, + 1.0 + ], + [ + -0.0008802413940429688, + 0.018496902659535408, + 0.0002634953707456589, + -0.0032215192914009094, + 0.0040277838706970215, + 0.0463985800743103, + 1.0 + ], + [ + -0.00033080577850341797, + 0.02694987691938877, + 0.0017235465347766876, + 0.0009723864495754242, + -0.0037011653184890747, + 0.04729709029197693, + 1.0 + ], + [ + -0.0014410912990570068, + 0.023982170969247818, + 0.002156730741262436, + 0.0023141950368881226, + -0.008137255907058716, + 0.04736718535423279, + 1.0 + ], + [ + -0.005432188510894775, + 0.020069077610969543, + -0.0005832575261592865, + 0.002833869308233261, + 0.0019539743661880493, + 0.047956883907318115, + 1.0 + ], + [ + -0.0009014308452606201, + 0.022669218480587006, + 0.0004328824579715729, + 0.004946555942296982, + -0.005083218216896057, + 0.0566638708114624, + 1.0 + ], + [ + -0.00575980544090271, + 0.023466721177101135, + -0.002504095435142517, + 0.008894816040992737, + 0.003225371241569519, + 0.06100183725357056, + 1.0 + ], + [ + -0.005152404308319092, + 0.021038204431533813, + 0.001661352813243866, + 0.008381422609090805, + -0.0012978464365005493, + 0.051678597927093506, + 1.0 + ], + [ + 0.0031238794326782227, + 0.009164348244667053, + 0.0044132620096206665, + 0.0038569197058677673, + -0.019100934267044067, + 0.03142279386520386, + 1.0 + ], + [ + -0.0011190474033355713, + 0.000168532133102417, + -0.0036989692598581314, + 0.0026393234729766846, + 0.005668699741363525, + 0.03448885679244995, + 1.0 + ], + [ + 0.0019141435623168945, + -0.0036599934101104736, + -8.439086377620697e-05, + -0.0066638365387916565, + 0.0002983361482620239, + 0.015391290187835693, + 1.0 + ], + [ + 0.0008030831813812256, + -0.011419087648391724, + 0.002217639237642288, + -0.014586411416530609, + 0.01638290286064148, + -0.0008824467658996582, + 1.0 + ], + [ + -0.00012856721878051758, + -0.011231556534767151, + 0.0283605195581913, + -0.028520919382572174, + -0.04395100474357605, + 0.0028300881385803223, + 1.0 + ], + [ + -0.008771538734436035, + 0.001199275255203247, + 0.028191767632961273, + -0.023668084293603897, + -0.03914062678813934, + 0.026117026805877686, + 1.0 + ], + [ + -0.009787380695343018, + 0.006786152720451355, + 0.02170005440711975, + 0.012805547565221786, + -0.06605479121208191, + 0.007380545139312744, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0014774799346924 + ], + [ + 1.002137303352356 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2805313467979431, + -0.048309337347745895, + 0.10745382308959961 + ], + [ + 0.28274476528167725, + -0.051133714616298676, + 0.09207925945520401 + ], + [ + 0.28307971358299255, + -0.051564108580350876, + 0.07774924486875534 + ], + [ + 0.28059786558151245, + -0.051638465374708176, + 0.056144654750823975 + ], + [ + 0.28368234634399414, + -0.055450230836868286, + 0.039760831743478775 + ], + [ + 0.28385254740715027, + -0.05913851782679558, + 0.02043021284043789 + ], + [ + 0.28625139594078064, + -0.06141018867492676, + 0.011760811321437359 + ], + [ + 0.29077574610710144, + -0.06086866557598114, + 0.010164954699575901 + ], + [ + 0.2902427315711975, + -0.05406762287020683, + 0.009115951135754585 + ], + [ + 0.28850486874580383, + -0.03878926485776901, + 0.01062425971031189 + ], + [ + 0.28617966175079346, + -0.012780791148543358, + 0.012397446669638157 + ], + [ + 0.2865373492240906, + 0.002610526978969574, + 0.014317343011498451 + ], + [ + 0.2856571078300476, + 0.021107429638504982, + 0.01458083838224411 + ], + [ + 0.2853263020515442, + 0.04805730655789375, + 0.016304384917020798 + ], + [ + 0.2838852107524872, + 0.07203947752714157, + 0.018461115658283234 + ], + [ + 0.2784530222415924, + 0.09210855513811111, + 0.017877858132123947 + ], + [ + 0.2775515913963318, + 0.11477777361869812, + 0.01831074059009552 + ], + [ + 0.2717917859554291, + 0.13824449479579926, + 0.015806645154953003 + ], + [ + 0.26663938164711, + 0.15928269922733307, + 0.01746799796819687 + ], + [ + 0.2697632610797882, + 0.16844704747200012, + 0.021881259977817535 + ], + [ + 0.26864421367645264, + 0.16861557960510254, + 0.018182290717959404 + ], + [ + 0.27055835723876953, + 0.16495558619499207, + 0.018097899854183197 + ], + [ + 0.27136144042015076, + 0.15353649854660034, + 0.020315539091825485 + ], + [ + 0.27123287320137024, + 0.1423049420118332, + 0.048676058650016785 + ], + [ + 0.2624613344669342, + 0.14350421726703644, + 0.07686782628297806 + ], + [ + 0.2526739537715912, + 0.1502903699874878, + 0.09856788069009781 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8706509975529484, + 0.28413891266729047, + 0.4015369457077464, + 0.2567850488975723, + -0.9587789584992834, + 0.12167311700495187, + 0.41955724177128345, + -0.0028261364579924564, + -0.9077244812331512 + ], + [ + 0.8870029493801674, + 0.27768382338964187, + 0.3689410007285637, + 0.26133758131760404, + -0.9605920896364737, + 0.09468635550541254, + 0.38069467606199664, + 0.012431072179939232, + -0.9246172354344842 + ], + [ + 0.9040147217408895, + 0.27124017563839253, + 0.33043327616236795, + 0.25521726983865567, + -0.9625108254129612, + 0.09185344924913028, + 0.3429599510902761, + 0.0012954082421086852, + -0.9393491331052801 + ], + [ + 0.9262328905778312, + 0.2734438024098253, + 0.25946313675644167, + 0.25949852243602894, + -0.9617933608464454, + 0.08725851182100866, + 0.2734102215816982, + -0.013491403016578772, + -0.9618029074500093 + ], + [ + 0.9408729820612731, + 0.2574283200386413, + 0.22020147971621434, + 0.24700738543321374, + -0.966175728770366, + 0.07410676538954043, + 0.2318305052588534, + -0.015333661569745097, + -0.9726353353926072 + ], + [ + 0.9511951609598649, + 0.24489019662115516, + 0.18776729578227536, + 0.237771490252166, + -0.9694724075063864, + 0.05989966199432967, + 0.19670405229633842, + -0.012330558893367052, + -0.9803853697029431 + ], + [ + 0.9554346739899647, + 0.2362410108007382, + 0.17701629459893034, + 0.23051125609211168, + -0.9716488475985072, + 0.052564986210687475, + 0.18441568412834822, + -0.009418162046724469, + -0.982803212078153 + ], + [ + 0.9573569776053256, + 0.22971092270718116, + 0.17521560837839656, + 0.2217184579101635, + -0.9729967314560577, + 0.06417387317099908, + 0.1852256538720683, + -0.022588770768765972, + -0.982436361594389 + ], + [ + 0.9528947171139187, + 0.2509467417608497, + 0.17034491743517927, + 0.24342583559262151, + -0.9678034236486636, + 0.06403433250967283, + 0.18092960139904868, + -0.019551623296768676, + -0.983301689901956 + ], + [ + 0.9423554310302978, + 0.2911542705056874, + 0.1649103767929801, + 0.281589589269123, + -0.956260321665575, + 0.07920543177899972, + 0.18075824966774895, + -0.02820262353668855, + -0.9831231190459818 + ], + [ + 0.9232151621001105, + 0.3510818814404094, + 0.15625388632840204, + 0.33889908809233094, + -0.9355303042128205, + 0.0996516833257438, + 0.18116614628195143, + -0.03904564538754725, + -0.9826770909192992 + ], + [ + 0.9111661729290771, + 0.3813998538593827, + 0.15591778854839186, + 0.3676522406725067, + -0.923402433827594, + 0.11027137039939824, + 0.18603234997780552, + -0.04315201822994603, + -0.9815955725676527 + ], + [ + 0.8938070010618953, + 0.4231846330821682, + 0.14840421549218805, + 0.4098271949931344, + -0.9051592050662091, + 0.11282058202281992, + 0.182073378330827, + -0.04001974271555415, + -0.9824702057040612 + ], + [ + 0.8728264724257131, + 0.46578022683105974, + 0.14568022970222147, + 0.4513149857563527, + -0.8839525710647629, + 0.12224007419720476, + 0.18571142308600355, + -0.04094670195756339, + -0.9817508008319471 + ], + [ + 0.849141847055154, + 0.5077386462057633, + 0.1454633655904463, + 0.491363499920218, + -0.8604298275066837, + 0.13499045478467017, + 0.19370088932659815, + -0.04315065568397419, + -0.9801112112347903 + ], + [ + 0.8249269031331654, + 0.5487183755389159, + 0.13566041734072098, + 0.5317091997665965, + -0.8347437598706438, + 0.14313693527733085, + 0.19178355344161002, + -0.04594561679806359, + -0.9803611930948485 + ], + [ + 0.7926919059670828, + 0.5959434473807843, + 0.12841709285831013, + 0.5769931916412723, + -0.8014215628706212, + 0.15748757209897202, + 0.19676991389409978, + -0.05074333542365251, + -0.9791356978969724 + ], + [ + 0.7565271128231305, + 0.6445741797170733, + 0.11041220224939072, + 0.624646475305776, + -0.7622238720191749, + 0.16979855656679416, + 0.19360658163287928, + -0.0594886187951814, + -0.9792740146569154 + ], + [ + 0.7230647840836151, + 0.6839781953128241, + 0.09670132550656493, + 0.6627210704828732, + -0.7263564456425848, + 0.18222814440010268, + 0.19487970842586214, + -0.06767674792779463, + -0.9784895283209566 + ], + [ + 0.6990950800175224, + 0.7077811099472222, + 0.10154786800899336, + 0.6823859760586568, + -0.7028380321999557, + 0.20091809319164966, + 0.21357773473320696, + -0.07116600940879177, + -0.9743305139074008 + ], + [ + 0.6759751570446176, + 0.7315534531350829, + 0.0888095280059575, + 0.7069500901141677, + -0.6777750667221025, + 0.20209534635270526, + 0.20803643225664836, + -0.07382752966194796, + -0.9753308867855768 + ], + [ + 0.6650568153702628, + 0.7412970862238402, + 0.0904326394926558, + 0.7173155565233271, + -0.6677912835915132, + 0.19877925930244497, + 0.20774461412800482, + -0.06733076202779595, + -0.9758630763511665 + ], + [ + 0.6679162916537933, + 0.7387142022488089, + 0.09049394863387186, + 0.7191258683868935, + -0.6719106464581031, + 0.1771837142432946, + 0.19169197364584759, + -0.05326734996373472, + -0.9800085594869057 + ], + [ + 0.6595211720286343, + 0.7384961974142917, + 0.14019696876397864, + 0.7141296082477112, + -0.6737918841709302, + 0.18979831255666743, + 0.23462891183728235, + -0.025057199165493677, + -0.9717620133036862 + ], + [ + 0.6341059575621965, + 0.7524813243931254, + 0.1779929521742293, + 0.7236436898468601, + -0.6586104531068856, + 0.20633002981428553, + 0.2724875129780281, + -0.002031624451129088, + -0.9621571741525073 + ], + [ + 0.6156232328820677, + 0.7601325372893836, + 0.20786187935702793, + 0.7131012119420573, + -0.6496160816051872, + 0.26360122922075285, + 0.33540229078317385, + -0.01405248283851647, + -0.9419701858676168 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006756.json b/json/chunk-0006/episode_0006756.json new file mode 100644 index 0000000000000000000000000000000000000000..8abef3b4f1d9d002ed5a55c7856a841f1222b7bd --- /dev/null +++ b/json/chunk-0006/episode_0006756.json @@ -0,0 +1,2242 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 36, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nTake the red object out of the pot and put it on the left burner." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006756.mp4", + "start": 0, + "end": 36, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.32366207242012024, + 0.15126219391822815, + 0.05342138186097145, + -0.02490551397204399, + -0.40315836668014526, + 1.1450971364974976, + 0.0, + 1.0008161067962646 + ], + [ + 0.3210805058479309, + 0.14886173605918884, + 0.04039802402257919, + -0.002877953927963972, + -0.36667847633361816, + 1.1353673934936523, + 0.0, + 1.0008161067962646 + ], + [ + 0.31221330165863037, + 0.16881324350833893, + 0.03778063505887985, + -0.07250045984983444, + -0.28668808937072754, + 1.1780622005462646, + 0.0, + 1.0008161067962646 + ], + [ + 0.3008641004562378, + 0.18442635238170624, + 0.034393060952425, + -0.12310177087783813, + -0.2820158302783966, + 1.180407166481018, + 0.0, + 1.0008161067962646 + ], + [ + 0.2850275933742523, + 0.19412973523139954, + 0.025110406801104546, + -0.16445954144001007, + -0.23889049887657166, + 1.1565016508102417, + 0.0, + 1.0008161067962646 + ], + [ + 0.2669413089752197, + 0.19743841886520386, + 0.00811071041971445, + -0.16241203248500824, + -0.27910375595092773, + 1.1142994165420532, + 0.0, + 1.0008161067962646 + ], + [ + 0.2622387409210205, + 0.19981098175048828, + 0.003777541918680072, + -0.15687690675258636, + -0.31863412261009216, + 1.06843900680542, + 0.0, + 1.0008161067962646 + ], + [ + 0.2598746418952942, + 0.20361456274986267, + -0.005963919684290886, + -0.11998037993907928, + -0.32987529039382935, + 1.053990125656128, + 0.0, + 1.0008161067962646 + ], + [ + 0.26199427247047424, + 0.20327702164649963, + -0.015967315062880516, + -0.12397852540016174, + -0.3317457437515259, + 1.0575119256973267, + 0.0, + 1.0008161067962646 + ], + [ + 0.26553308963775635, + 0.19861319661140442, + -0.028901686891913414, + -0.09831219911575317, + -0.3001047372817993, + 1.0405768156051636, + 0.0, + 1.0008161067962646 + ], + [ + 0.2693420350551605, + 0.19546279311180115, + -0.037765536457300186, + -0.05781666561961174, + -0.2978421449661255, + 1.030491828918457, + 0.0, + 0.9484345316886902 + ], + [ + 0.2743942439556122, + 0.19582237303256989, + -0.036560721695423126, + -0.06303080916404724, + -0.29968905448913574, + 1.0569852590560913, + 0.0, + 0.6581199765205383 + ], + [ + 0.27376675605773926, + 0.1969536691904068, + -0.04008308798074722, + -0.05173516646027565, + -0.2843984067440033, + 1.0742135047912598, + 0.0, + 0.35109609365463257 + ], + [ + 0.2739580571651459, + 0.19791744649410248, + -0.03923841938376427, + -0.04933421313762665, + -0.28866952657699585, + 1.075488567352295, + 0.0, + 0.16390947997570038 + ], + [ + 0.2738276422023773, + 0.19770927727222443, + -0.03521723672747612, + -0.059470318257808685, + -0.28079119324684143, + 1.0879145860671997, + 0.0, + 0.09549706429243088 + ], + [ + 0.2727644443511963, + 0.19671960175037384, + -0.03137964382767677, + -0.06887592375278473, + -0.2623906433582306, + 1.1029675006866455, + 0.0, + 0.0846695825457573 + ], + [ + 0.2716011703014374, + 0.19827772676944733, + -0.021572766825556755, + -0.08189569413661957, + -0.2611861526966095, + 1.1086719036102295, + 0.0, + 0.08157449960708618 + ], + [ + 0.27276182174682617, + 0.19688446819782257, + -0.006664738524705172, + -0.10306248068809509, + -0.25182607769966125, + 1.0990804433822632, + 0.0, + 0.06833917647600174 + ], + [ + 0.274380087852478, + 0.1904037594795227, + 0.0005506647867150605, + -0.1351269781589508, + -0.20937751233577728, + 1.0984798669815063, + 0.0, + 0.0650232583284378 + ], + [ + 0.2841608226299286, + 0.17932920157909393, + 0.029068294912576675, + -0.18932613730430603, + -0.2443023920059204, + 1.0943306684494019, + 0.0, + 0.06472665071487427 + ], + [ + 0.2885827124118805, + 0.1546424776315689, + 0.0390256866812706, + -0.2215200662612915, + -0.18113353848457336, + 1.0549497604370117, + 0.0, + 0.06384159624576569 + ], + [ + 0.29485762119293213, + 0.13335968554019928, + 0.040089476853609085, + -0.2227625548839569, + -0.1527290791273117, + 1.0096404552459717, + 0.0, + 0.06384159624576569 + ], + [ + 0.30772751569747925, + 0.098173126578331, + 0.040439672768116, + -0.24766425788402557, + -0.126592755317688, + 0.939140796661377, + 0.0, + 0.06354815512895584 + ], + [ + 0.322613924741745, + 0.06906183063983917, + 0.04053935408592224, + -0.2650768458843231, + -0.11258170753717422, + 0.8983270525932312, + 0.0, + 0.06354815512895584 + ], + [ + 0.33868393301963806, + 0.04826336354017258, + 0.03273129090666771, + -0.2682500183582306, + -0.089605413377285, + 0.9069361090660095, + 0.0, + 0.06354815512895584 + ], + [ + 0.3527620732784271, + 0.030011529102921486, + 0.024092184379696846, + -0.2893768548965454, + -0.05925469100475311, + 0.9498472213745117, + 0.0, + 0.06354815512895584 + ], + [ + 0.3620375692844391, + 0.014082534238696098, + 0.006344826892018318, + -0.284542053937912, + -0.029594523832201958, + 0.9764372110366821, + 0.0, + 0.06354815512895584 + ], + [ + 0.3682040572166443, + 0.008153355680406094, + -0.013018114492297173, + -0.28259068727493286, + 0.013102279044687748, + 0.968414306640625, + 0.0, + 0.06354815512895584 + ], + [ + 0.37257376313209534, + 0.006718120537698269, + -0.02748747542500496, + -0.2800881862640381, + -0.0014506587758660316, + 0.9628234505653381, + 0.0, + 0.06354815512895584 + ], + [ + 0.37596526741981506, + 0.008840505965054035, + -0.03191089257597923, + -0.2822585701942444, + -0.045594535768032074, + 0.9622323513031006, + 0.0, + 0.09034547209739685 + ], + [ + 0.36942654848098755, + 0.012851808220148087, + -0.037000250071287155, + -0.2506512701511383, + -0.05777490884065628, + 0.9615494012832642, + 0.0, + 0.25545796751976013 + ], + [ + 0.3634084165096283, + 0.01136619970202446, + -0.0399993360042572, + -0.2407737374305725, + -0.04550999402999878, + 0.9462553858757019, + 0.0, + 0.5334634184837341 + ], + [ + 0.3581867218017578, + 0.01004151813685894, + -0.034083858132362366, + -0.2450595200061798, + -0.041622865945100784, + 0.9315224885940552, + 0.0, + 0.8417698740959167 + ], + [ + 0.3585384786128998, + 0.012143309228122234, + -0.021899906918406487, + -0.2572985887527466, + -0.04447251558303833, + 0.9176816940307617, + 0.0, + 1.0099300146102905 + ], + [ + 0.36071595549583435, + 0.013986587524414062, + -0.0036794671323150396, + -0.2886083126068115, + -0.04845888912677765, + 0.9185503125190735, + 0.0, + 1.0067112445831299 + ], + [ + 0.35998567938804626, + 0.013957588002085686, + 0.025305746123194695, + -0.30591195821762085, + -0.06849540024995804, + 0.911472737789154, + 0.0, + 1.0008161067962646 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9484345316886902 + ], + [ + 0.6581199765205383 + ], + [ + 0.35109609365463257 + ], + [ + 0.16390947997570038 + ], + [ + 0.09549706429243088 + ], + [ + 0.0846695825457573 + ], + [ + 0.08157449960708618 + ], + [ + 0.06833917647600174 + ], + [ + 0.0650232583284378 + ], + [ + 0.06472665071487427 + ], + [ + 0.06384159624576569 + ], + [ + 0.06384159624576569 + ], + [ + 0.06354815512895584 + ], + [ + 0.06354815512895584 + ], + [ + 0.06354815512895584 + ], + [ + 0.06354815512895584 + ], + [ + 0.06354815512895584 + ], + [ + 0.06354815512895584 + ], + [ + 0.06354815512895584 + ], + [ + 0.09034547209739685 + ], + [ + 0.25545796751976013 + ], + [ + 0.5334634184837341 + ], + [ + 0.8417698740959167 + ], + [ + 1.0099300146102905 + ], + [ + 1.0067112445831299 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.32366207242012024, + 0.15126219391822815, + 0.05342138186097145 + ], + [ + 0.3210805058479309, + 0.14886173605918884, + 0.04039802402257919 + ], + [ + 0.31221330165863037, + 0.16881324350833893, + 0.03778063505887985 + ], + [ + 0.3008641004562378, + 0.18442635238170624, + 0.034393060952425 + ], + [ + 0.2850275933742523, + 0.19412973523139954, + 0.025110406801104546 + ], + [ + 0.2669413089752197, + 0.19743841886520386, + 0.00811071041971445 + ], + [ + 0.2622387409210205, + 0.19981098175048828, + 0.003777541918680072 + ], + [ + 0.2598746418952942, + 0.20361456274986267, + -0.005963919684290886 + ], + [ + 0.26199427247047424, + 0.20327702164649963, + -0.015967315062880516 + ], + [ + 0.26553308963775635, + 0.19861319661140442, + -0.028901686891913414 + ], + [ + 0.2693420350551605, + 0.19546279311180115, + -0.037765536457300186 + ], + [ + 0.2743942439556122, + 0.19582237303256989, + -0.036560721695423126 + ], + [ + 0.27376675605773926, + 0.1969536691904068, + -0.04008308798074722 + ], + [ + 0.2739580571651459, + 0.19791744649410248, + -0.03923841938376427 + ], + [ + 0.2738276422023773, + 0.19770927727222443, + -0.03521723672747612 + ], + [ + 0.2727644443511963, + 0.19671960175037384, + -0.03137964382767677 + ], + [ + 0.2716011703014374, + 0.19827772676944733, + -0.021572766825556755 + ], + [ + 0.27276182174682617, + 0.19688446819782257, + -0.006664738524705172 + ], + [ + 0.274380087852478, + 0.1904037594795227, + 0.0005506647867150605 + ], + [ + 0.2841608226299286, + 0.17932920157909393, + 0.029068294912576675 + ], + [ + 0.2885827124118805, + 0.1546424776315689, + 0.0390256866812706 + ], + [ + 0.29485762119293213, + 0.13335968554019928, + 0.040089476853609085 + ], + [ + 0.30772751569747925, + 0.098173126578331, + 0.040439672768116 + ], + [ + 0.322613924741745, + 0.06906183063983917, + 0.04053935408592224 + ], + [ + 0.33868393301963806, + 0.04826336354017258, + 0.03273129090666771 + ], + [ + 0.3527620732784271, + 0.030011529102921486, + 0.024092184379696846 + ], + [ + 0.3620375692844391, + 0.014082534238696098, + 0.006344826892018318 + ], + [ + 0.3682040572166443, + 0.008153355680406094, + -0.013018114492297173 + ], + [ + 0.37257376313209534, + 0.006718120537698269, + -0.02748747542500496 + ], + [ + 0.37596526741981506, + 0.008840505965054035, + -0.03191089257597923 + ], + [ + 0.36942654848098755, + 0.012851808220148087, + -0.037000250071287155 + ], + [ + 0.3634084165096283, + 0.01136619970202446, + -0.0399993360042572 + ], + [ + 0.3581867218017578, + 0.01004151813685894, + -0.034083858132362366 + ], + [ + 0.3585384786128998, + 0.012143309228122234, + -0.021899906918406487 + ], + [ + 0.36071595549583435, + 0.013986587524414062, + -0.0036794671323150396 + ], + [ + 0.35998567938804626, + 0.013957588002085686, + 0.025305746123194695 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.37984939874272045, + 0.906433152162788, + 0.1846439138856878, + 0.8377321652048149, + -0.4217276826134057, + 0.34691581269636435, + 0.3923254435491613, + 0.022906382904292366, + -0.919541213848621 + ], + [ + 0.39375952672518594, + 0.9062502373860601, + 0.15383088880607632, + 0.846415509145996, + -0.42273311821855525, + 0.32384795296302493, + 0.35851669555305543, + 0.0026866333815351306, + -0.9335194486516021 + ], + [ + 0.36709551845511956, + 0.9135997547480607, + 0.17486099752217527, + 0.8861591411248196, + -0.4006344328714887, + 0.23283905986466769, + 0.2827770445617689, + 0.06948049598285727, + -0.9566658788453194 + ], + [ + 0.36551529542371036, + 0.9047589119130306, + 0.21865470524383054, + 0.8882296454860914, + -0.40926931606523836, + 0.20867851783819105, + 0.2782924104084945, + 0.11794040122638502, + -0.9532278825483386 + ], + [ + 0.3911125624647561, + 0.8874543821274977, + 0.24383536069436995, + 0.8894041134836329, + -0.43257546830932214, + 0.14777952204335884, + 0.2366247797688255, + 0.15906974526814302, + -0.9584912778631232 + ], + [ + 0.4237484333109563, + 0.8661531992739506, + 0.26498283086647334, + 0.8628674361840025, + -0.474991080498464, + 0.17275202175415508, + 0.2754941974702124, + 0.15544165733290957, + -0.9486521165979878 + ], + [ + 0.45725661089580566, + 0.8421212604993022, + 0.2859163765983827, + 0.8323331478828817, + -0.5184767200692104, + 0.19596790982619194, + 0.31326972839304895, + 0.14837005547394, + -0.938002347497705 + ], + [ + 0.46746513218544306, + 0.8439943279697926, + 0.26296373237704174, + 0.8225259358911057, + -0.524261816482855, + 0.22045551153136983, + 0.32392504530725463, + 0.11323922523982326, + -0.9392813438420768 + ], + [ + 0.4642671395725361, + 0.8446730005406848, + 0.26642737335103395, + 0.823637898914648, + -0.5223577045194885, + 0.22082354947014737, + 0.3256940812857966, + 0.1169185643374343, + -0.9382182127462 + ], + [ + 0.483119716639188, + 0.8438561390625025, + 0.233456968114034, + 0.8241383371000542, + -0.5283129488847981, + 0.20416030310176836, + 0.2956202643873181, + 0.09376696970242333, + -0.9506925973606805 + ], + [ + 0.49174923752849564, + 0.8473963951479743, + 0.20025492972798872, + 0.8197957456771735, + -0.528079403325857, + 0.22151090075347146, + 0.29345804258829006, + 0.055240322892116625, + -0.9543746035844752 + ], + [ + 0.4695928177602701, + 0.8600084742848632, + 0.19966975150530775, + 0.8320612274313254, + -0.5067184669846185, + 0.2256335724625973, + 0.2952231347869707, + 0.06018155344438693, + -0.9535310594372762 + ], + [ + 0.4572862378888699, + 0.8711267408253907, + 0.1789622810996138, + 0.843898168291294, + -0.48854332789247545, + 0.22172347265534298, + 0.2805800744743705, + 0.0496348485509782, + -0.9585464013897704 + ], + [ + 0.45563608580576065, + 0.87207941397209, + 0.1785308181735063, + 0.843418479771674, + -0.48707564913234, + 0.22672137085406854, + 0.2846770543813533, + 0.047273753271827784, + -0.9574571358344719 + ], + [ + 0.4461484189493661, + 0.8764470251287558, + 0.18108616847218256, + 0.8509749365569487, + -0.47809971445294985, + 0.21739898893947462, + 0.277115942559931, + 0.05710757553041912, + -0.9591378833077959 + ], + [ + 0.4355146549766085, + 0.88238306352018, + 0.17812106701158933, + 0.8619998588946173, + -0.4658137107527532, + 0.1999345646465604, + 0.25939010884431374, + 0.06646590169020354, + -0.9634827737672547 + ], + [ + 0.4307293873502675, + 0.8826891609564226, + 0.18796818880573807, + 0.8647492055875826, + -0.46326466023411256, + 0.1938934398421378, + 0.25822665685112306, + 0.07902973939105877, + -0.9628464540015055 + ], + [ + 0.4400827401728314, + 0.8744142226760175, + 0.2042717527801341, + 0.8626934971705861, + -0.4748395486613656, + 0.17403256294916347, + 0.24917285514589282, + 0.09963518559709066, + -0.9633201534533974 + ], + [ + 0.4450144573409862, + 0.8696600462576067, + 0.2136668825548902, + 0.8710683525915042, + -0.4757383916829213, + 0.12211841708960494, + 0.2078510473176186, + 0.13177399827797978, + -0.9692438060193134 + ], + [ + 0.44502259513923126, + 0.8518651106364249, + 0.27618965059526596, + 0.8622350039302397, + -0.49089697722985526, + 0.1247836357220381, + 0.24187949026935532, + 0.18260884706657082, + -0.9529681637704663 + ], + [ + 0.4852015734402445, + 0.8290959623076489, + 0.27781165997175916, + 0.8556443924723595, + -0.5156478981706962, + 0.04449627785275709, + 0.18014468285718999, + 0.21611832499188158, + -0.9596044825035914 + ], + [ + 0.5259705284815438, + 0.807834401749274, + 0.26600485431517773, + 0.8367853001226426, + -0.5474719208755631, + 0.008053406203649749, + 0.15213600713672387, + 0.21835309753519552, + -0.963938047868887 + ], + [ + 0.5857565306413615, + 0.7641505362016108, + 0.2701170946715271, + 0.8005928967701039, + -0.5974430291534443, + -0.04596564540186983, + 0.1262549026859929, + 0.2431785042694926, + -0.961729647358863 + ], + [ + 0.6189760894581375, + 0.7366285615202024, + 0.2724829591585301, + 0.777333530882621, + -0.6241869136957123, + -0.07837906950569515, + 0.11234403608856557, + 0.260324910686048, + -0.958962855605801 + ], + [ + 0.6136898512499542, + 0.7448374043167092, + 0.26191984957913383, + 0.784459751900122, + -0.6128060123034382, + -0.09535034836620951, + 0.08948555258592389, + 0.26398112132405505, + -0.9603677959317911 + ], + [ + 0.5807862567396929, + 0.7696782272185676, + 0.26510894086767184, + 0.8118992012377049, + -0.5713610873917533, + -0.11985906241953645, + 0.05922002205228055, + 0.2848542335304084, + -0.9567398050817846 + ], + [ + 0.5597326856462094, + 0.7905420585850708, + 0.2484805308819183, + 0.8281447581460072, + -0.5443433520605375, + -0.13366590673312506, + 0.029590204030600586, + 0.2805950261062656, + -0.959370028273685 + ], + [ + 0.5665582017874654, + 0.7933758683081379, + 0.2226354319816632, + 0.8239175590400177, + -0.5411227372225278, + -0.16836282002371566, + -0.013101904170484693, + 0.27882057823465484, + -0.9602538337648021 + ], + [ + 0.5712041552115001, + 0.7885925421505646, + 0.2277007148289763, + 0.8208067425769046, + -0.549274675252457, + -0.15675976035513503, + 0.0014506582670690549, + 0.2764401085060168, + -0.9610300525996959 + ], + [ + 0.5710957060770935, + 0.780745351079161, + 0.25354761144326393, + 0.8196171502381339, + -0.5594831294503867, + -0.12331404987236003, + 0.04557873995435906, + 0.27823609512189496, + -0.9594306925648635 + ], + [ + 0.5712952391600242, + 0.7862567221265115, + 0.23541902349632682, + 0.8187108903129552, + -0.5661132097822564, + -0.09606410252013392, + 0.057742772673804385, + 0.24762108274721728, + -0.9671347225609455 + ], + [ + 0.5841195065093833, + 0.7814873785194867, + 0.2192758065313511, + 0.8103916781806466, + -0.5766583022069521, + -0.10358827361893057, + 0.045494285913611696, + 0.23820722010580514, + -0.9701482310650649 + ], + [ + 0.5960961024490354, + 0.772528918925461, + 0.21878872472988214, + 0.8018341311770719, + -0.5868895982964734, + -0.11235045834759681, + 0.0416108486404692, + 0.24240393733448967, + -0.9692826566281671 + ], + [ + 0.6070621546825713, + 0.7611762666398091, + 0.2282240816750863, + 0.7934097549625948, + -0.5966441202998354, + -0.12048549473621818, + 0.04445785737470469, + 0.2542173967609576, + -0.9661247404459388 + ], + [ + 0.6062603665261976, + 0.753485258244389, + 0.25437832766945123, + 0.7937896078830975, + -0.5928257972996318, + -0.1358515089090064, + 0.048439925643196796, + 0.2842842585590031, + -0.9575155528445682 + ], + [ + 0.6111459122938843, + 0.741083680020021, + 0.278020958012988, + 0.7885533504727825, + -0.6004337900395568, + -0.13290175783970282, + 0.06844185374919015, + 0.30045672398320045, + -0.9513366752462863 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.002581566572189331, + -0.0024004578590393066, + -0.013023357838392258, + 0.02202755957841873, + 0.0364798903465271, + -0.009729743003845215, + 1.0 + ], + [ + -0.008867204189300537, + 0.019951507449150085, + -0.002617388963699341, + -0.06962250918149948, + 0.07999038696289062, + 0.042694807052612305, + 1.0 + ], + [ + -0.011349201202392578, + 0.01561310887336731, + -0.0033875741064548492, + -0.05060131102800369, + 0.004672259092330933, + 0.002344965934753418, + 1.0 + ], + [ + -0.015836507081985474, + 0.009703382849693298, + -0.009282654151320457, + -0.041357770562171936, + 0.04312533140182495, + -0.023905515670776367, + 1.0 + ], + [ + -0.018086284399032593, + 0.0033086836338043213, + -0.01699969545006752, + 0.002047508955001831, + -0.04021325707435608, + -0.04220223426818848, + 1.0 + ], + [ + -0.004702568054199219, + 0.002372562885284424, + -0.004333168268203735, + 0.005535125732421875, + -0.03953036665916443, + -0.0458604097366333, + 1.0 + ], + [ + -0.0023640990257263184, + 0.0038035809993743896, + -0.009741461835801601, + 0.03689652681350708, + -0.011241167783737183, + -0.014448881149291992, + 1.0 + ], + [ + 0.0021196305751800537, + -0.0003375411033630371, + -0.01000339537858963, + -0.0039981454610824585, + -0.0018704533576965332, + 0.0035218000411987305, + 1.0 + ], + [ + 0.0035388171672821045, + -0.004663825035095215, + -0.012934371829032898, + 0.02566632628440857, + 0.03164100646972656, + -0.016935110092163086, + 1.0 + ], + [ + 0.003808945417404175, + -0.0031504034996032715, + -0.008863849565386772, + 0.040495533496141434, + 0.002262592315673828, + -0.010084986686706543, + 0.0 + ], + [ + 0.00505220890045166, + 0.0003595799207687378, + 0.00120481476187706, + -0.005214143544435501, + -0.001846909523010254, + 0.026493430137634277, + 0.0 + ], + [ + -0.0006274878978729248, + 0.001131296157836914, + -0.0035223662853240967, + 0.011295642703771591, + 0.015290647745132446, + 0.017228245735168457, + 0.0 + ], + [ + 0.0001913011074066162, + 0.0009637773036956787, + 0.0008446685969829559, + 0.002400953322649002, + -0.004271119832992554, + 0.0012750625610351562, + 0.0 + ], + [ + -0.0001304149627685547, + -0.00020816922187805176, + 0.004021182656288147, + -0.010136105120182037, + 0.007878333330154419, + 0.012426018714904785, + 0.0 + ], + [ + -0.0010631978511810303, + -0.000989675521850586, + 0.003837592899799347, + -0.009405605494976044, + 0.01840054988861084, + 0.0150529146194458, + 0.0 + ], + [ + -0.0011632740497589111, + 0.0015581250190734863, + 0.009806877002120018, + -0.013019770383834839, + 0.0012044906616210938, + 0.005704402923583984, + 0.0 + ], + [ + 0.001160651445388794, + -0.0013932585716247559, + 0.01490802876651287, + -0.021166786551475525, + 0.009360074996948242, + -0.009591460227966309, + 0.0 + ], + [ + 0.0016182661056518555, + -0.006480708718299866, + 0.007215403486043215, + -0.03206449747085571, + 0.04244856536388397, + -0.0006005764007568359, + 0.0 + ], + [ + 0.009780734777450562, + -0.011074557900428772, + 0.028517629951238632, + -0.054199159145355225, + -0.03492487967014313, + -0.004149198532104492, + 0.0 + ], + [ + 0.004421889781951904, + -0.024686723947525024, + 0.009957391768693924, + -0.032193928956985474, + 0.06316885352134705, + -0.03938090801239014, + 0.0 + ], + [ + 0.006274908781051636, + -0.02128279209136963, + 0.0010637901723384857, + -0.0012424886226654053, + 0.028404459357261658, + -0.04530930519104004, + 0.0 + ], + [ + 0.01286989450454712, + -0.035186558961868286, + 0.00035019591450691223, + -0.024901703000068665, + 0.026136323809623718, + -0.07049965858459473, + 0.0 + ], + [ + 0.014886409044265747, + -0.02911129593849182, + 9.96813178062439e-05, + -0.017412588000297546, + 0.014011047780513763, + -0.04081374406814575, + 0.0 + ], + [ + 0.016070008277893066, + -0.020798467099666595, + -0.007808063179254532, + -0.0031731724739074707, + 0.02297629415988922, + 0.00860905647277832, + 0.0 + ], + [ + 0.014078140258789062, + -0.01825183443725109, + -0.008639106526970863, + -0.02112683653831482, + 0.03035072237253189, + 0.0429111123085022, + 0.0 + ], + [ + 0.009275496006011963, + -0.015928994864225388, + -0.017747357487678528, + 0.004834800958633423, + 0.029660167172551155, + 0.02658998966217041, + 0.0 + ], + [ + 0.0061664879322052, + -0.005929178558290005, + -0.01936294138431549, + 0.001951366662979126, + 0.04269680380821228, + -0.008022904396057129, + 0.0 + ], + [ + 0.00436970591545105, + -0.0014352351427078247, + -0.014469360932707787, + 0.0025025010108947754, + -0.01455293782055378, + -0.005590856075286865, + 0.0 + ], + [ + 0.0033915042877197266, + 0.0021223854273557663, + -0.004423417150974274, + -0.002170383930206299, + -0.04414387792348862, + -0.0005910992622375488, + 1.0 + ], + [ + -0.006538718938827515, + 0.004011302255094051, + -0.005089357495307922, + 0.03160730004310608, + -0.012180373072624207, + -0.0006829500198364258, + 1.0 + ], + [ + -0.006018131971359253, + -0.0014856085181236267, + -0.002999085932970047, + 0.009877532720565796, + 0.012264914810657501, + -0.015294015407562256, + 1.0 + ], + [ + -0.005221694707870483, + -0.0013246815651655197, + 0.005915477871894836, + -0.0042857825756073, + 0.003887128084897995, + -0.014732897281646729, + 1.0 + ], + [ + 0.0003517568111419678, + 0.0021017910912632942, + 0.01218395121395588, + -0.012239068746566772, + -0.0028496496379375458, + -0.013840794563293457, + 1.0 + ], + [ + 0.0021774768829345703, + 0.0018432782962918282, + 0.018220439553260803, + -0.03130972385406494, + -0.003986373543739319, + 0.0008686184883117676, + 1.0 + ], + [ + -0.0007302761077880859, + -2.899952232837677e-05, + 0.028985213488340378, + -0.017303645610809326, + -0.02003651112318039, + -0.007077574729919434, + 1.0 + ], + [ + -0.002759277820587158, + 0.011514756828546524, + 0.026784798130393028, + -0.01764965057373047, + -0.06303360313177109, + 0.03358882665634155, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9484345316886902 + ], + [ + 0.6581199765205383 + ], + [ + 0.35109609365463257 + ], + [ + 0.16390947997570038 + ], + [ + 0.09549706429243088 + ], + [ + 0.0846695825457573 + ], + [ + 0.08157449960708618 + ], + [ + 0.06833917647600174 + ], + [ + 0.0650232583284378 + ], + [ + 0.06472665071487427 + ], + [ + 0.06384159624576569 + ], + [ + 0.06384159624576569 + ], + [ + 0.06354815512895584 + ], + [ + 0.06354815512895584 + ], + [ + 0.06354815512895584 + ], + [ + 0.06354815512895584 + ], + [ + 0.06354815512895584 + ], + [ + 0.06354815512895584 + ], + [ + 0.06354815512895584 + ], + [ + 0.09034547209739685 + ], + [ + 0.25545796751976013 + ], + [ + 0.5334634184837341 + ], + [ + 0.8417698740959167 + ], + [ + 1.0099300146102905 + ], + [ + 1.0067112445831299 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3210805058479309, + 0.14886173605918884, + 0.04039802402257919 + ], + [ + 0.31221330165863037, + 0.16881324350833893, + 0.03778063505887985 + ], + [ + 0.3008641004562378, + 0.18442635238170624, + 0.034393060952425 + ], + [ + 0.2850275933742523, + 0.19412973523139954, + 0.025110406801104546 + ], + [ + 0.2669413089752197, + 0.19743841886520386, + 0.00811071041971445 + ], + [ + 0.2622387409210205, + 0.19981098175048828, + 0.003777541918680072 + ], + [ + 0.2598746418952942, + 0.20361456274986267, + -0.005963919684290886 + ], + [ + 0.26199427247047424, + 0.20327702164649963, + -0.015967315062880516 + ], + [ + 0.26553308963775635, + 0.19861319661140442, + -0.028901686891913414 + ], + [ + 0.2693420350551605, + 0.19546279311180115, + -0.037765536457300186 + ], + [ + 0.2743942439556122, + 0.19582237303256989, + -0.036560721695423126 + ], + [ + 0.27376675605773926, + 0.1969536691904068, + -0.04008308798074722 + ], + [ + 0.2739580571651459, + 0.19791744649410248, + -0.03923841938376427 + ], + [ + 0.2738276422023773, + 0.19770927727222443, + -0.03521723672747612 + ], + [ + 0.2727644443511963, + 0.19671960175037384, + -0.03137964382767677 + ], + [ + 0.2716011703014374, + 0.19827772676944733, + -0.021572766825556755 + ], + [ + 0.27276182174682617, + 0.19688446819782257, + -0.006664738524705172 + ], + [ + 0.274380087852478, + 0.1904037594795227, + 0.0005506647867150605 + ], + [ + 0.2841608226299286, + 0.17932920157909393, + 0.029068294912576675 + ], + [ + 0.2885827124118805, + 0.1546424776315689, + 0.0390256866812706 + ], + [ + 0.29485762119293213, + 0.13335968554019928, + 0.040089476853609085 + ], + [ + 0.30772751569747925, + 0.098173126578331, + 0.040439672768116 + ], + [ + 0.322613924741745, + 0.06906183063983917, + 0.04053935408592224 + ], + [ + 0.33868393301963806, + 0.04826336354017258, + 0.03273129090666771 + ], + [ + 0.3527620732784271, + 0.030011529102921486, + 0.024092184379696846 + ], + [ + 0.3620375692844391, + 0.014082534238696098, + 0.006344826892018318 + ], + [ + 0.3682040572166443, + 0.008153355680406094, + -0.013018114492297173 + ], + [ + 0.37257376313209534, + 0.006718120537698269, + -0.02748747542500496 + ], + [ + 0.37596526741981506, + 0.008840505965054035, + -0.03191089257597923 + ], + [ + 0.36942654848098755, + 0.012851808220148087, + -0.037000250071287155 + ], + [ + 0.3634084165096283, + 0.01136619970202446, + -0.0399993360042572 + ], + [ + 0.3581867218017578, + 0.01004151813685894, + -0.034083858132362366 + ], + [ + 0.3585384786128998, + 0.012143309228122234, + -0.021899906918406487 + ], + [ + 0.36071595549583435, + 0.013986587524414062, + -0.0036794671323150396 + ], + [ + 0.35998567938804626, + 0.013957588002085686, + 0.025305746123194695 + ], + [ + 0.3572264015674591, + 0.02547234483063221, + 0.05209054425358772 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.39375952672518594, + 0.9062502373860601, + 0.15383088880607632, + 0.846415509145996, + -0.42273311821855525, + 0.32384795296302493, + 0.35851669555305543, + 0.0026866333815351306, + -0.9335194486516021 + ], + [ + 0.36709551845511956, + 0.9135997547480607, + 0.17486099752217527, + 0.8861591411248196, + -0.4006344328714887, + 0.23283905986466769, + 0.2827770445617689, + 0.06948049598285727, + -0.9566658788453194 + ], + [ + 0.36551529542371036, + 0.9047589119130306, + 0.21865470524383054, + 0.8882296454860914, + -0.40926931606523836, + 0.20867851783819105, + 0.2782924104084945, + 0.11794040122638502, + -0.9532278825483386 + ], + [ + 0.3911125624647561, + 0.8874543821274977, + 0.24383536069436995, + 0.8894041134836329, + -0.43257546830932214, + 0.14777952204335884, + 0.2366247797688255, + 0.15906974526814302, + -0.9584912778631232 + ], + [ + 0.4237484333109563, + 0.8661531992739506, + 0.26498283086647334, + 0.8628674361840025, + -0.474991080498464, + 0.17275202175415508, + 0.2754941974702124, + 0.15544165733290957, + -0.9486521165979878 + ], + [ + 0.45725661089580566, + 0.8421212604993022, + 0.2859163765983827, + 0.8323331478828817, + -0.5184767200692104, + 0.19596790982619194, + 0.31326972839304895, + 0.14837005547394, + -0.938002347497705 + ], + [ + 0.46746513218544306, + 0.8439943279697926, + 0.26296373237704174, + 0.8225259358911057, + -0.524261816482855, + 0.22045551153136983, + 0.32392504530725463, + 0.11323922523982326, + -0.9392813438420768 + ], + [ + 0.4642671395725361, + 0.8446730005406848, + 0.26642737335103395, + 0.823637898914648, + -0.5223577045194885, + 0.22082354947014737, + 0.3256940812857966, + 0.1169185643374343, + -0.9382182127462 + ], + [ + 0.483119716639188, + 0.8438561390625025, + 0.233456968114034, + 0.8241383371000542, + -0.5283129488847981, + 0.20416030310176836, + 0.2956202643873181, + 0.09376696970242333, + -0.9506925973606805 + ], + [ + 0.49174923752849564, + 0.8473963951479743, + 0.20025492972798872, + 0.8197957456771735, + -0.528079403325857, + 0.22151090075347146, + 0.29345804258829006, + 0.055240322892116625, + -0.9543746035844752 + ], + [ + 0.4695928177602701, + 0.8600084742848632, + 0.19966975150530775, + 0.8320612274313254, + -0.5067184669846185, + 0.2256335724625973, + 0.2952231347869707, + 0.06018155344438693, + -0.9535310594372762 + ], + [ + 0.4572862378888699, + 0.8711267408253907, + 0.1789622810996138, + 0.843898168291294, + -0.48854332789247545, + 0.22172347265534298, + 0.2805800744743705, + 0.0496348485509782, + -0.9585464013897704 + ], + [ + 0.45563608580576065, + 0.87207941397209, + 0.1785308181735063, + 0.843418479771674, + -0.48707564913234, + 0.22672137085406854, + 0.2846770543813533, + 0.047273753271827784, + -0.9574571358344719 + ], + [ + 0.4461484189493661, + 0.8764470251287558, + 0.18108616847218256, + 0.8509749365569487, + -0.47809971445294985, + 0.21739898893947462, + 0.277115942559931, + 0.05710757553041912, + -0.9591378833077959 + ], + [ + 0.4355146549766085, + 0.88238306352018, + 0.17812106701158933, + 0.8619998588946173, + -0.4658137107527532, + 0.1999345646465604, + 0.25939010884431374, + 0.06646590169020354, + -0.9634827737672547 + ], + [ + 0.4307293873502675, + 0.8826891609564226, + 0.18796818880573807, + 0.8647492055875826, + -0.46326466023411256, + 0.1938934398421378, + 0.25822665685112306, + 0.07902973939105877, + -0.9628464540015055 + ], + [ + 0.4400827401728314, + 0.8744142226760175, + 0.2042717527801341, + 0.8626934971705861, + -0.4748395486613656, + 0.17403256294916347, + 0.24917285514589282, + 0.09963518559709066, + -0.9633201534533974 + ], + [ + 0.4450144573409862, + 0.8696600462576067, + 0.2136668825548902, + 0.8710683525915042, + -0.4757383916829213, + 0.12211841708960494, + 0.2078510473176186, + 0.13177399827797978, + -0.9692438060193134 + ], + [ + 0.44502259513923126, + 0.8518651106364249, + 0.27618965059526596, + 0.8622350039302397, + -0.49089697722985526, + 0.1247836357220381, + 0.24187949026935532, + 0.18260884706657082, + -0.9529681637704663 + ], + [ + 0.4852015734402445, + 0.8290959623076489, + 0.27781165997175916, + 0.8556443924723595, + -0.5156478981706962, + 0.04449627785275709, + 0.18014468285718999, + 0.21611832499188158, + -0.9596044825035914 + ], + [ + 0.5259705284815438, + 0.807834401749274, + 0.26600485431517773, + 0.8367853001226426, + -0.5474719208755631, + 0.008053406203649749, + 0.15213600713672387, + 0.21835309753519552, + -0.963938047868887 + ], + [ + 0.5857565306413615, + 0.7641505362016108, + 0.2701170946715271, + 0.8005928967701039, + -0.5974430291534443, + -0.04596564540186983, + 0.1262549026859929, + 0.2431785042694926, + -0.961729647358863 + ], + [ + 0.6189760894581375, + 0.7366285615202024, + 0.2724829591585301, + 0.777333530882621, + -0.6241869136957123, + -0.07837906950569515, + 0.11234403608856557, + 0.260324910686048, + -0.958962855605801 + ], + [ + 0.6136898512499542, + 0.7448374043167092, + 0.26191984957913383, + 0.784459751900122, + -0.6128060123034382, + -0.09535034836620951, + 0.08948555258592389, + 0.26398112132405505, + -0.9603677959317911 + ], + [ + 0.5807862567396929, + 0.7696782272185676, + 0.26510894086767184, + 0.8118992012377049, + -0.5713610873917533, + -0.11985906241953645, + 0.05922002205228055, + 0.2848542335304084, + -0.9567398050817846 + ], + [ + 0.5597326856462094, + 0.7905420585850708, + 0.2484805308819183, + 0.8281447581460072, + -0.5443433520605375, + -0.13366590673312506, + 0.029590204030600586, + 0.2805950261062656, + -0.959370028273685 + ], + [ + 0.5665582017874654, + 0.7933758683081379, + 0.2226354319816632, + 0.8239175590400177, + -0.5411227372225278, + -0.16836282002371566, + -0.013101904170484693, + 0.27882057823465484, + -0.9602538337648021 + ], + [ + 0.5712041552115001, + 0.7885925421505646, + 0.2277007148289763, + 0.8208067425769046, + -0.549274675252457, + -0.15675976035513503, + 0.0014506582670690549, + 0.2764401085060168, + -0.9610300525996959 + ], + [ + 0.5710957060770935, + 0.780745351079161, + 0.25354761144326393, + 0.8196171502381339, + -0.5594831294503867, + -0.12331404987236003, + 0.04557873995435906, + 0.27823609512189496, + -0.9594306925648635 + ], + [ + 0.5712952391600242, + 0.7862567221265115, + 0.23541902349632682, + 0.8187108903129552, + -0.5661132097822564, + -0.09606410252013392, + 0.057742772673804385, + 0.24762108274721728, + -0.9671347225609455 + ], + [ + 0.5841195065093833, + 0.7814873785194867, + 0.2192758065313511, + 0.8103916781806466, + -0.5766583022069521, + -0.10358827361893057, + 0.045494285913611696, + 0.23820722010580514, + -0.9701482310650649 + ], + [ + 0.5960961024490354, + 0.772528918925461, + 0.21878872472988214, + 0.8018341311770719, + -0.5868895982964734, + -0.11235045834759681, + 0.0416108486404692, + 0.24240393733448967, + -0.9692826566281671 + ], + [ + 0.6070621546825713, + 0.7611762666398091, + 0.2282240816750863, + 0.7934097549625948, + -0.5966441202998354, + -0.12048549473621818, + 0.04445785737470469, + 0.2542173967609576, + -0.9661247404459388 + ], + [ + 0.6062603665261976, + 0.753485258244389, + 0.25437832766945123, + 0.7937896078830975, + -0.5928257972996318, + -0.1358515089090064, + 0.048439925643196796, + 0.2842842585590031, + -0.9575155528445682 + ], + [ + 0.6111459122938843, + 0.741083680020021, + 0.278020958012988, + 0.7885533504727825, + -0.6004337900395568, + -0.13290175783970282, + 0.06844185374919015, + 0.30045672398320045, + -0.9513366752462863 + ], + [ + 0.5806340708718669, + 0.7440510995033826, + 0.3305329591289974, + 0.8035320336583299, + -0.5890988689073489, + -0.0854329768707075, + 0.13115009198499436, + 0.3151991179871699, + -0.9399197675293556 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006757.json b/json/chunk-0006/episode_0006757.json new file mode 100644 index 0000000000000000000000000000000000000000..c6c56c5f747482f0cf28f125fe8b63cf19f8522b --- /dev/null +++ b/json/chunk-0006/episode_0006757.json @@ -0,0 +1,2482 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 40, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the strawberry to the red pot." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006757.mp4", + "start": 0, + "end": 40, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.31102240085601807, + 0.033717021346092224, + 0.1180264949798584, + 0.03398485481739044, + -0.17981387674808502, + 0.26740893721580505, + 0.0, + 0.9974852800369263 + ], + [ + 0.307861328125, + 0.03264904394745827, + 0.10951948910951614, + 0.03435305133461952, + -0.14861838519573212, + 0.26966041326522827, + 0.0, + 0.9974852800369263 + ], + [ + 0.303557813167572, + 0.0404495894908905, + 0.10840906202793121, + 0.011214123107492924, + -0.1211027204990387, + 0.3034960627555847, + 0.0, + 0.9974852800369263 + ], + [ + 0.29917657375335693, + 0.04992973059415817, + 0.11131332069635391, + 0.007379218004643917, + -0.11184916645288467, + 0.31883201003074646, + 0.0, + 0.9974852800369263 + ], + [ + 0.29191502928733826, + 0.06590169668197632, + 0.1334976702928543, + -0.003221228253096342, + -0.1647198349237442, + 0.3182315528392792, + 0.0, + 0.9974852800369263 + ], + [ + 0.27231496572494507, + 0.09826522320508957, + 0.13433736562728882, + 0.03159177675843239, + -0.1646677702665329, + 0.33646437525749207, + 0.0, + 0.9974852800369263 + ], + [ + 0.2533056437969208, + 0.139132559299469, + 0.13638675212860107, + 0.038822922855615616, + -0.1555725634098053, + 0.3436726927757263, + 0.0, + 0.9974852800369263 + ], + [ + 0.23620206117630005, + 0.16927750408649445, + 0.13655473291873932, + 0.055820416659116745, + -0.15877968072891235, + 0.37942060828208923, + 0.0, + 0.9974852800369263 + ], + [ + 0.22292189300060272, + 0.19373750686645508, + 0.13622885942459106, + 0.10527325421571732, + -0.17842188477516174, + 0.4091767370700836, + 0.0, + 0.9974852800369263 + ], + [ + 0.22338807582855225, + 0.21554434299468994, + 0.12250985205173492, + 0.12141416221857071, + -0.2151409238576889, + 0.470116525888443, + 0.0, + 0.9974852800369263 + ], + [ + 0.21911393105983734, + 0.2317698746919632, + 0.10917074233293533, + 0.12284044176340103, + -0.2438506782054901, + 0.503649115562439, + 0.0, + 0.9981546401977539 + ], + [ + 0.2128767967224121, + 0.24390415847301483, + 0.10199528932571411, + 0.12969499826431274, + -0.27214810252189636, + 0.5396285653114319, + 0.0, + 0.9981546401977539 + ], + [ + 0.20798970758914948, + 0.24722133576869965, + 0.09035415202379227, + 0.11451112478971481, + -0.2681487798690796, + 0.5938268303871155, + 0.0, + 0.9974852800369263 + ], + [ + 0.2059369534254074, + 0.24496790766716003, + 0.08377058804035187, + 0.08915809541940689, + -0.2806563079357147, + 0.663081169128418, + 0.0, + 0.9974852800369263 + ], + [ + 0.20497317612171173, + 0.23983334004878998, + 0.07555591315031052, + 0.05337405577301979, + -0.2899733781814575, + 0.7056912779808044, + 0.0, + 0.9974852800369263 + ], + [ + 0.20008490979671478, + 0.2383480817079544, + 0.06651398539543152, + 0.0988876074552536, + -0.29830875992774963, + 0.7019936442375183, + 0.0, + 0.9974852800369263 + ], + [ + 0.19654637575149536, + 0.23980824649333954, + 0.054240718483924866, + 0.12349485605955124, + -0.2900380492210388, + 0.7016546726226807, + 0.0, + 0.9974852800369263 + ], + [ + 0.20056523382663727, + 0.24205750226974487, + 0.05169478431344032, + 0.12694160640239716, + -0.31194186210632324, + 0.7184481024742126, + 0.0, + 0.9672539830207825 + ], + [ + 0.20316779613494873, + 0.24123090505599976, + 0.04681625962257385, + 0.13470295071601868, + -0.3046746850013733, + 0.7236590385437012, + 0.0, + 0.7594308853149414 + ], + [ + 0.2048463076353073, + 0.23975656926631927, + 0.04718255624175072, + 0.13220587372779846, + -0.304857075214386, + 0.7111260890960693, + 0.0, + 0.7525970935821533 + ], + [ + 0.21409015357494354, + 0.23524107038974762, + 0.04771051183342934, + 0.14235933125019073, + -0.2965966463088989, + 0.6777321696281433, + 0.0, + 0.7525970935821533 + ], + [ + 0.22625769674777985, + 0.22334951162338257, + 0.05993640422821045, + 0.11467613279819489, + -0.2709067463874817, + 0.6876662373542786, + 0.0, + 0.7525970935821533 + ], + [ + 0.23653817176818848, + 0.2126474827528, + 0.08182893693447113, + 0.07403097301721573, + -0.2826031446456909, + 0.7271448969841003, + 0.0, + 0.7525970935821533 + ], + [ + 0.24092590808868408, + 0.19330504536628723, + 0.10784519463777542, + 0.05314389988780022, + -0.3073806166648865, + 0.7079437375068665, + 0.0, + 0.7525970935821533 + ], + [ + 0.24205681681632996, + 0.16830331087112427, + 0.12297779321670532, + 0.021309861913323402, + -0.2809617817401886, + 0.6895655393600464, + 0.0, + 0.7525970935821533 + ], + [ + 0.24543021619319916, + 0.1364939957857132, + 0.12211211770772934, + 0.014733205549418926, + -0.2650402784347534, + 0.6010487675666809, + 0.0, + 0.7525970935821533 + ], + [ + 0.2474776804447174, + 0.0980755090713501, + 0.11905146390199661, + -0.027518555521965027, + -0.23930296301841736, + 0.50190669298172, + 0.0, + 0.7525970935821533 + ], + [ + 0.24388498067855835, + 0.06412024796009064, + 0.12696316838264465, + -0.0522957444190979, + -0.22656971216201782, + 0.4189162254333496, + 0.0, + 0.7525970935821533 + ], + [ + 0.2387761026620865, + 0.026852911338210106, + 0.12282539159059525, + -0.05572621524333954, + -0.16838330030441284, + 0.29297876358032227, + 0.0, + 0.7525970935821533 + ], + [ + 0.2314881831407547, + -0.0019163356628268957, + 0.11574265360832214, + -0.05151273310184479, + -0.17265662550926208, + 0.2130395919084549, + 0.0, + 0.7525970935821533 + ], + [ + 0.2294105887413025, + -0.028496773913502693, + 0.10949365794658661, + -0.05716298520565033, + -0.1895555704832077, + 0.16571591794490814, + 0.0, + 0.7525970935821533 + ], + [ + 0.22483736276626587, + -0.04332754760980606, + 0.10174916684627533, + -0.06605608016252518, + -0.19643037021160126, + 0.1262274533510208, + 0.0, + 0.7525970935821533 + ], + [ + 0.21575422585010529, + -0.05486854538321495, + 0.09490793198347092, + -0.07194431871175766, + -0.17207494378089905, + 0.07517534494400024, + 0.0, + 0.7525970935821533 + ], + [ + 0.21030503511428833, + -0.06530863046646118, + 0.08789083361625671, + -0.04915463551878929, + -0.14545850455760956, + -0.0022659210953861475, + 0.0, + 0.7525970935821533 + ], + [ + 0.20845142006874084, + -0.07008200883865356, + 0.08320200443267822, + -0.043924447149038315, + -0.12629295885562897, + -0.03812267258763313, + 0.0, + 0.7525970935821533 + ], + [ + 0.2078791707754135, + -0.07420874387025833, + 0.08151467144489288, + -0.06238235905766487, + -0.13351868093013763, + -0.028538880869746208, + 0.0, + 0.7969971895217896 + ], + [ + 0.20855942368507385, + -0.0725923553109169, + 0.08159896731376648, + -0.07722124457359314, + -0.1297425478696823, + -0.018534507602453232, + 0.0, + 1.0008161067962646 + ], + [ + 0.2122642993927002, + -0.06729605048894882, + 0.08918758481740952, + -0.09802526980638504, + -0.11107267439365387, + -0.0056097377091646194, + 0.0, + 0.9994885921478271 + ], + [ + 0.21626360714435577, + -0.05759814754128456, + 0.10399968922138214, + -0.1372445970773697, + -0.10260951519012451, + 0.03587104380130768, + 0.0, + 0.9994885921478271 + ], + [ + 0.23393245041370392, + -0.033093277364969254, + 0.12004105746746063, + -0.1339421272277832, + -0.15015824139118195, + 0.11343549937009811, + 0.0, + 0.9994885921478271 + ] + ], + "left_gripper_pos": [ + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9672539830207825 + ], + [ + 0.7594308853149414 + ], + [ + 0.7525970935821533 + ], + [ + 0.7525970935821533 + ], + [ + 0.7525970935821533 + ], + [ + 0.7525970935821533 + ], + [ + 0.7525970935821533 + ], + [ + 0.7525970935821533 + ], + [ + 0.7525970935821533 + ], + [ + 0.7525970935821533 + ], + [ + 0.7525970935821533 + ], + [ + 0.7525970935821533 + ], + [ + 0.7525970935821533 + ], + [ + 0.7525970935821533 + ], + [ + 0.7525970935821533 + ], + [ + 0.7525970935821533 + ], + [ + 0.7525970935821533 + ], + [ + 0.7525970935821533 + ], + [ + 0.7969971895217896 + ], + [ + 1.0008161067962646 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.31102240085601807, + 0.033717021346092224, + 0.1180264949798584 + ], + [ + 0.307861328125, + 0.03264904394745827, + 0.10951948910951614 + ], + [ + 0.303557813167572, + 0.0404495894908905, + 0.10840906202793121 + ], + [ + 0.29917657375335693, + 0.04992973059415817, + 0.11131332069635391 + ], + [ + 0.29191502928733826, + 0.06590169668197632, + 0.1334976702928543 + ], + [ + 0.27231496572494507, + 0.09826522320508957, + 0.13433736562728882 + ], + [ + 0.2533056437969208, + 0.139132559299469, + 0.13638675212860107 + ], + [ + 0.23620206117630005, + 0.16927750408649445, + 0.13655473291873932 + ], + [ + 0.22292189300060272, + 0.19373750686645508, + 0.13622885942459106 + ], + [ + 0.22338807582855225, + 0.21554434299468994, + 0.12250985205173492 + ], + [ + 0.21911393105983734, + 0.2317698746919632, + 0.10917074233293533 + ], + [ + 0.2128767967224121, + 0.24390415847301483, + 0.10199528932571411 + ], + [ + 0.20798970758914948, + 0.24722133576869965, + 0.09035415202379227 + ], + [ + 0.2059369534254074, + 0.24496790766716003, + 0.08377058804035187 + ], + [ + 0.20497317612171173, + 0.23983334004878998, + 0.07555591315031052 + ], + [ + 0.20008490979671478, + 0.2383480817079544, + 0.06651398539543152 + ], + [ + 0.19654637575149536, + 0.23980824649333954, + 0.054240718483924866 + ], + [ + 0.20056523382663727, + 0.24205750226974487, + 0.05169478431344032 + ], + [ + 0.20316779613494873, + 0.24123090505599976, + 0.04681625962257385 + ], + [ + 0.2048463076353073, + 0.23975656926631927, + 0.04718255624175072 + ], + [ + 0.21409015357494354, + 0.23524107038974762, + 0.04771051183342934 + ], + [ + 0.22625769674777985, + 0.22334951162338257, + 0.05993640422821045 + ], + [ + 0.23653817176818848, + 0.2126474827528, + 0.08182893693447113 + ], + [ + 0.24092590808868408, + 0.19330504536628723, + 0.10784519463777542 + ], + [ + 0.24205681681632996, + 0.16830331087112427, + 0.12297779321670532 + ], + [ + 0.24543021619319916, + 0.1364939957857132, + 0.12211211770772934 + ], + [ + 0.2474776804447174, + 0.0980755090713501, + 0.11905146390199661 + ], + [ + 0.24388498067855835, + 0.06412024796009064, + 0.12696316838264465 + ], + [ + 0.2387761026620865, + 0.026852911338210106, + 0.12282539159059525 + ], + [ + 0.2314881831407547, + -0.0019163356628268957, + 0.11574265360832214 + ], + [ + 0.2294105887413025, + -0.028496773913502693, + 0.10949365794658661 + ], + [ + 0.22483736276626587, + -0.04332754760980606, + 0.10174916684627533 + ], + [ + 0.21575422585010529, + -0.05486854538321495, + 0.09490793198347092 + ], + [ + 0.21030503511428833, + -0.06530863046646118, + 0.08789083361625671 + ], + [ + 0.20845142006874084, + -0.07008200883865356, + 0.08320200443267822 + ], + [ + 0.2078791707754135, + -0.07420874387025833, + 0.08151467144489288 + ], + [ + 0.20855942368507385, + -0.0725923553109169, + 0.08159896731376648 + ], + [ + 0.2122642993927002, + -0.06729605048894882, + 0.08918758481740952 + ], + [ + 0.21626360714435577, + -0.05759814754128456, + 0.10399968922138214 + ], + [ + 0.23393245041370392, + -0.033093277364969254, + 0.12004105746746063 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9489088068302858, + 0.2699416974245346, + 0.16341222815776246, + 0.25997311815268304, + -0.962296151370366, + 0.08000059309625866, + 0.17884645413844452, + -0.03343048084223481, + -0.9833088776131143 + ], + [ + 0.9532363893729381, + 0.27114888696988815, + 0.1334865801128904, + 0.2634674581594554, + -0.961937876205679, + 0.07252875851621392, + 0.14807188952073222, + -0.03396768193295574, + -0.9883930959480958 + ], + [ + 0.9473082430042948, + 0.30013232013625024, + 0.11192713319721487, + 0.2966694788423162, + -0.9538326238799304, + 0.046803268537095044, + 0.12080692471685622, + -0.011131757810801463, + -0.9926136060464299 + ], + [ + 0.9436684972530479, + 0.31423123737882486, + 0.10367495718613579, + 0.31149897749954947, + -0.9493181531789938, + 0.041993226377116076, + 0.11161610237286396, + -0.007333041674309315, + -0.9937243441673819 + ], + [ + 0.9369341848974786, + 0.3123840914762474, + 0.15674984071142503, + 0.30865225774729493, + -0.9499505682484228, + 0.04824626070480642, + 0.16397596457406508, + 0.00317762128930113, + -0.9864592164732139 + ], + [ + 0.9311592213486034, + 0.33487452658880923, + 0.1442274451669423, + 0.3256857819459733, + -0.9417473932877185, + 0.08390839453849086, + 0.16392460442441942, + -0.031159247065806982, + -0.985980641486733 + ], + [ + 0.9301527127288625, + 0.34235565154525704, + 0.13269716974435136, + 0.3328779631767528, + -0.9387876826186657, + 0.08871273073675667, + 0.1549457732060966, + -0.03834442356455985, + -0.9871785616326293 + ], + [ + 0.9171949837675543, + 0.3779994450695268, + 0.12597532011773677, + 0.3657232949469423, + -0.9241653272891351, + 0.1102946932980828, + 0.15811335580775066, + -0.05508963027372789, + -0.9858830049004376 + ], + [ + 0.9028841717159325, + 0.4127611531484719, + 0.12011828718549829, + 0.39153822535165167, + -0.9049499653398817, + 0.1666234626930601, + 0.17747673242798157, + -0.10341078610517412, + -0.9786767692981151 + ], + [ + 0.8709627947997193, + 0.4727068703584399, + 0.1340597806599387, + 0.44254708203716603, + -0.8732397537277002, + 0.20397159775315518, + 0.213485105464179, + -0.11832390808925383, + -0.969754382572945 + ], + [ + 0.849916297004502, + 0.5048986198443393, + 0.15073046064228957, + 0.4683465084704368, + -0.8549494620238114, + 0.22296404505827105, + 0.24144116486155887, + -0.11890669057911374, + -0.9631029866249075 + ], + [ + 0.8263252020407569, + 0.5393264746196814, + 0.1622147164920857, + 0.4949066881485652, + -0.8328318160232667, + 0.24790832225886605, + 0.2688010983945573, + -0.12457174637008606, + -0.9551061980262644 + ], + [ + 0.799186497728247, + 0.5809627802854834, + 0.15421799431914232, + 0.5395406563698878, + -0.8064385442637119, + 0.24197676427660408, + 0.2649468285766196, + -0.11017768489483519, + -0.9579478356248867 + ], + [ + 0.7572640792219982, + 0.6325399024737819, + 0.16261729950567289, + 0.5914640168794172, + -0.7697878952539315, + 0.23999356878338743, + 0.27698633731092887, + -0.08555622770424462, + -0.9570573132493664 + ], + [ + 0.7293859588417064, + 0.6592472256010964, + 0.18272716979645343, + 0.6214837381646721, + -0.7501864361700941, + 0.22578368892211614, + 0.28592671480893506, + -0.05112148788592462, + -0.9568868831972248 + ], + [ + 0.7298337996498397, + 0.6647419747753945, + 0.1595641935409891, + 0.6172220149999929, + -0.7410891423277727, + 0.2642420619871765, + 0.29390408144159225, + -0.09436625506819132, + -0.9511652857502627 + ], + [ + 0.7318745696172796, + 0.6674730994956786, + 0.1372562413777745, + 0.6185225025900407, + -0.7352190812078454, + 0.27727750795483724, + 0.2859886853308625, + -0.11803628288591451, + -0.9509352805450019 + ], + [ + 0.7164961787046324, + 0.6821719182257041, + 0.14585849267671275, + 0.6264511935629576, + -0.7211957882901006, + 0.29569500678260724, + 0.30690736059144147, + -0.12049111559315784, + -0.9440814387953569 + ], + [ + 0.7148746182481196, + 0.6863232773116407, + 0.13384557969845023, + 0.6316364181457322, + -0.7159245459241349, + 0.29746845179842374, + 0.29998285860467955, + -0.1281109033748891, + -0.945303063033139 + ], + [ + 0.7226930698420809, + 0.6769687238657813, + 0.13938462508384677, + 0.6225918373536701, + -0.72519107538791, + 0.29407024371450424, + 0.3001568437714027, + -0.12574279734943938, + -0.9455657661167347 + ], + [ + 0.7449831577661825, + 0.6529873142814608, + 0.13640990445056297, + 0.5996499025537125, + -0.7451156961543053, + 0.2919290902116609, + 0.29226715349496624, + -0.13568406955855059, + -0.9466624235998702 + ], + [ + 0.7445469483597864, + 0.654228063780421, + 0.13279865304381244, + 0.6115858782493329, + -0.748218015411401, + 0.2571624290984526, + 0.267605222695899, + -0.11025172096591439, + -0.9572000850448836 + ], + [ + 0.7174409488988579, + 0.6783271735503165, + 0.15858981829343669, + 0.6383710134358471, + -0.7313187150795559, + 0.24011536014856844, + 0.27885647571465105, + -0.07102944880559192, + -0.9577023981145594 + ], + [ + 0.7240929648156349, + 0.6615647111402173, + 0.19499105435497432, + 0.6197942959933619, + -0.7481769977160438, + 0.2368252747126028, + 0.30256306608473627, + -0.050629172050981136, + -0.9517837348782735 + ], + [ + 0.7412704784277095, + 0.640616022066325, + 0.20032271484650013, + 0.6112560549527079, + -0.7675884179481883, + 0.1928057465830557, + 0.2772798461756762, + -0.02047273561874552, + -0.960571056195781 + ], + [ + 0.7959445663720891, + 0.5686292173715455, + 0.20768500286291908, + 0.5457613205685001, + -0.8224710663034868, + 0.1602682940101765, + 0.26194814035238717, + -0.014218236354385003, + -0.9649772088090459 + ], + [ + 0.8516848485009075, + 0.4751983721595951, + 0.22095118449752038, + 0.46738830358308364, + -0.8794725469853495, + 0.08986775157324, + 0.23702551024671065, + 0.026730996913196893, + -0.9711356039690405 + ], + [ + 0.8901829498929832, + 0.3954877067443105, + 0.2261941412458607, + 0.39637466951395034, + -0.9170577951190463, + 0.043498526171578296, + 0.22463623280213005, + 0.05093598163890715, + -0.973110522339034 + ], + [ + 0.9438475011963388, + 0.2794205202726256, + 0.17628405298268657, + 0.28472075916218237, + -0.9585974667500327, + -0.00499860405820091, + 0.16758873407105251, + 0.054909649343219694, + -0.9843266463026726 + ], + [ + 0.9628607280403639, + 0.20250529051815297, + 0.17858002606601517, + 0.20828814509918425, + -0.977966585967901, + -0.014050101118105885, + 0.17180007860510818, + 0.05072439297267445, + -0.9838250702989999 + ], + [ + 0.9686339682224846, + 0.15407159645204752, + 0.19496199314810056, + 0.16200375905980305, + -0.9864652945872899, + -0.025318069146449382, + 0.18842244467168948, + 0.056108517548840386, + -0.9804839705994257 + ], + [ + 0.9729663955366061, + 0.11283768700876273, + 0.20150446532773686, + 0.12347154052024994, + -0.9915021729901453, + -0.0409660791067005, + 0.1951695976274504, + 0.0647386850834388, + -0.9786305384646479 + ], + [ + 0.9824489767878511, + 0.06263684758826321, + 0.17570040788998917, + 0.07399538410382256, + -0.9955204949694312, + -0.05885258895873658, + 0.17122701638418994, + 0.0708206849728448, + -0.9826829292503991 + ], + [ + 0.9894370113396654, + -0.009385068301061075, + 0.14465932767787554, + -0.002241990033641707, + -0.9987734523737305, + -0.0494627568393476, + 0.14494610747419057, + 0.04861595752881759, + -0.9882444609516597 + ], + [ + 0.991314844299598, + -0.043603493804655474, + 0.12407100708582539, + -0.03780988986743419, + -0.9980987971586602, + -0.04867446290045618, + 0.1259574995761509, + 0.04356060649787557, + -0.9910787969995428 + ], + [ + 0.9906960332262724, + -0.0367752221172432, + 0.1310303506366219, + -0.02828103448387642, + -0.9974116225634361, + -0.06610777763543213, + 0.13312232283974937, + 0.061787039204038365, + -0.9891717792922261 + ], + [ + 0.9914249199650361, + -0.028457371050166234, + 0.12754138977302776, + -0.018377677179941126, + -0.9966636938818688, + -0.07952196098700595, + 0.12937885860445708, + 0.07649613931867533, + -0.9886402033174385 + ], + [ + 0.99382213219154, + -0.016430769746595502, + 0.10976155689400487, + -0.005575139972931967, + -0.9951228551463139, + -0.0984856384440434, + 0.1108444287302872, + 0.09726527114537328, + -0.9890667215352429 + ], + [ + 0.9941003476491741, + 0.02152132242951725, + 0.10630772071997427, + 0.03567471969138475, + -0.9904620686870289, + -0.13308720775173088, + 0.1024295522724395, + 0.13609453763136864, + -0.9853864539601564 + ], + [ + 0.9823928273514597, + 0.09232976707551704, + 0.1624178157721181, + 0.11191867530227406, + -0.9869350730249693, + -0.11590242340772045, + 0.14959459511288864, + 0.13203929621510077, + -0.9798913620233785 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0031610727310180664, + -0.001067977398633957, + -0.008507005870342255, + 0.0003681965172290802, + 0.031195491552352905, + 0.0022514760494232178, + 1.0 + ], + [ + -0.0043035149574279785, + 0.007800545543432236, + -0.0011104270815849304, + -0.023138929158449173, + 0.02751566469669342, + 0.033835649490356445, + 1.0 + ], + [ + -0.004381239414215088, + 0.00948014110326767, + 0.002904258668422699, + -0.0038349051028490067, + 0.009253554046154022, + 0.015335947275161743, + 1.0 + ], + [ + -0.007261544466018677, + 0.015971966087818146, + 0.022184349596500397, + -0.010600445792078972, + -0.05287066847085953, + -0.0006004571914672852, + 1.0 + ], + [ + -0.01960006356239319, + 0.03236352652311325, + 0.0008396953344345093, + 0.03481300547719002, + 5.206465721130371e-05, + 0.01823282241821289, + 1.0 + ], + [ + -0.019009321928024292, + 0.040867336094379425, + 0.002049386501312256, + 0.0072311460971832275, + 0.0090952068567276, + 0.007208317518234253, + 1.0 + ], + [ + -0.017103582620620728, + 0.03014494478702545, + 0.00016798079013824463, + 0.01699749380350113, + -0.0032071173191070557, + 0.035747915506362915, + 1.0 + ], + [ + -0.013280168175697327, + 0.024460002779960632, + -0.0003258734941482544, + 0.04945283755660057, + -0.01964220404624939, + 0.029756128787994385, + 1.0 + ], + [ + 0.0004661828279495239, + 0.021806836128234863, + -0.01371900737285614, + 0.016140908002853394, + -0.03671903908252716, + 0.060939788818359375, + 1.0 + ], + [ + -0.004274144768714905, + 0.016225531697273254, + -0.013339109718799591, + 0.0014262795448303223, + -0.02870975434780121, + 0.03353258967399597, + 1.0 + ], + [ + -0.006237134337425232, + 0.012134283781051636, + -0.007175453007221222, + 0.006854556500911713, + -0.02829742431640625, + 0.03597944974899292, + 1.0 + ], + [ + -0.004887089133262634, + 0.0033171772956848145, + -0.011641137301921844, + -0.015183873474597931, + 0.0039993226528167725, + 0.054198265075683594, + 1.0 + ], + [ + -0.0020527541637420654, + -0.002253428101539612, + -0.006583563983440399, + -0.025353029370307922, + -0.012507528066635132, + 0.06925433874130249, + 1.0 + ], + [ + -0.0009637773036956787, + -0.005134567618370056, + -0.008214674890041351, + -0.0357840396463871, + -0.009317070245742798, + 0.042610108852386475, + 1.0 + ], + [ + -0.004888266324996948, + -0.0014852583408355713, + -0.009041927754878998, + 0.04551355168223381, + -0.008335381746292114, + -0.003697633743286133, + 1.0 + ], + [ + -0.0035385340452194214, + 0.0014601647853851318, + -0.012273266911506653, + 0.024607248604297638, + 0.008270710706710815, + -0.0003389716148376465, + 1.0 + ], + [ + 0.004018858075141907, + 0.0022492557764053345, + -0.002545934170484543, + 0.0034467503428459167, + -0.021903812885284424, + 0.016793429851531982, + 0.0 + ], + [ + 0.0026025623083114624, + -0.0008265972137451172, + -0.00487852469086647, + 0.007761344313621521, + 0.007267177104949951, + 0.005210936069488525, + 0.0 + ], + [ + 0.0016785115003585815, + -0.001474335789680481, + 0.0003662966191768646, + -0.002497076988220215, + -0.0001823902130126953, + -0.012532949447631836, + 0.0 + ], + [ + 0.00924384593963623, + -0.004515498876571655, + 0.0005279555916786194, + 0.010153457522392273, + 0.00826042890548706, + -0.033393919467926025, + 0.0 + ], + [ + 0.012167543172836304, + -0.011891558766365051, + 0.012225892394781113, + -0.02768319845199585, + 0.025689899921417236, + 0.009934067726135254, + 0.0 + ], + [ + 0.01028047502040863, + -0.01070202887058258, + 0.02189253270626068, + -0.040645159780979156, + -0.011696398258209229, + 0.03947865962982178, + 0.0 + ], + [ + 0.0043877363204956055, + -0.019342437386512756, + 0.02601625770330429, + -0.020887073129415512, + -0.024777472019195557, + -0.019201159477233887, + 0.0 + ], + [ + 0.001130908727645874, + -0.025001734495162964, + 0.015132598578929901, + -0.031834036111831665, + 0.026418834924697876, + -0.01837819814682007, + 0.0 + ], + [ + 0.0033733993768692017, + -0.03180931508541107, + -0.0008656755089759827, + -0.006576656363904476, + 0.01592150330543518, + -0.08851677179336548, + 0.0 + ], + [ + 0.0020474642515182495, + -0.0384184867143631, + -0.003060653805732727, + -0.04225176200270653, + 0.02573731541633606, + -0.09914207458496094, + 0.0 + ], + [ + -0.0035926997661590576, + -0.03395526111125946, + 0.00791170448064804, + -0.024777188897132874, + 0.012733250856399536, + -0.08299046754837036, + 0.0 + ], + [ + -0.005108878016471863, + -0.03726733475923538, + -0.004137776792049408, + -0.003430470824241638, + 0.05818641185760498, + -0.12593746185302734, + 0.0 + ], + [ + -0.007287919521331787, + -0.028769247233867645, + -0.007082737982273102, + 0.004213482141494751, + -0.004273325204849243, + -0.07993917167186737, + 0.0 + ], + [ + -0.0020775943994522095, + -0.026580438017845154, + -0.006248995661735535, + -0.005650252103805542, + -0.016898944973945618, + -0.04732367396354675, + 0.0 + ], + [ + -0.004573225975036621, + -0.014830773696303368, + -0.007744491100311279, + -0.008893094956874847, + -0.006874799728393555, + -0.03948846459388733, + 0.0 + ], + [ + -0.009083136916160583, + -0.01154099777340889, + -0.006841234862804413, + -0.005888238549232483, + 0.02435542643070221, + -0.05105210840702057, + 0.0 + ], + [ + -0.005449190735816956, + -0.010440085083246231, + -0.007017098367214203, + 0.02278968319296837, + 0.02661643922328949, + -0.0774412676692009, + 0.0 + ], + [ + -0.0018536150455474854, + -0.004773378372192383, + -0.004688829183578491, + 0.0052301883697509766, + 0.01916554570198059, + -0.03585674986243248, + 0.0 + ], + [ + -0.0005722492933273315, + -0.004126735031604767, + -0.0016873329877853394, + -0.018457911908626556, + -0.007225722074508667, + 0.009583791717886925, + 1.0 + ], + [ + 0.0006802529096603394, + 0.0016163885593414307, + 8.429586887359619e-05, + -0.014838885515928268, + 0.0037761330604553223, + 0.010004373267292976, + 1.0 + ], + [ + 0.0037048757076263428, + 0.005296304821968079, + 0.007588617503643036, + -0.0208040252327919, + 0.018669873476028442, + 0.012924769893288612, + 1.0 + ], + [ + 0.003999307751655579, + 0.00969790294766426, + 0.014812104403972626, + -0.03921932727098465, + 0.008463159203529358, + 0.04148077964782715, + 1.0 + ], + [ + 0.017668843269348145, + 0.024504870176315308, + 0.01604136824607849, + 0.003302469849586487, + -0.047548726201057434, + 0.07756445556879044, + 1.0 + ], + [ + 0.012751057744026184, + 0.03149145096540451, + 0.003091670572757721, + 0.03111743927001953, + -0.06088399887084961, + 0.11432542651891708, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9672539830207825 + ], + [ + 0.7594308853149414 + ], + [ + 0.7525970935821533 + ], + [ + 0.7525970935821533 + ], + [ + 0.7525970935821533 + ], + [ + 0.7525970935821533 + ], + [ + 0.7525970935821533 + ], + [ + 0.7525970935821533 + ], + [ + 0.7525970935821533 + ], + [ + 0.7525970935821533 + ], + [ + 0.7525970935821533 + ], + [ + 0.7525970935821533 + ], + [ + 0.7525970935821533 + ], + [ + 0.7525970935821533 + ], + [ + 0.7525970935821533 + ], + [ + 0.7525970935821533 + ], + [ + 0.7525970935821533 + ], + [ + 0.7525970935821533 + ], + [ + 0.7969971895217896 + ], + [ + 1.0008161067962646 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.307861328125, + 0.03264904394745827, + 0.10951948910951614 + ], + [ + 0.303557813167572, + 0.0404495894908905, + 0.10840906202793121 + ], + [ + 0.29917657375335693, + 0.04992973059415817, + 0.11131332069635391 + ], + [ + 0.29191502928733826, + 0.06590169668197632, + 0.1334976702928543 + ], + [ + 0.27231496572494507, + 0.09826522320508957, + 0.13433736562728882 + ], + [ + 0.2533056437969208, + 0.139132559299469, + 0.13638675212860107 + ], + [ + 0.23620206117630005, + 0.16927750408649445, + 0.13655473291873932 + ], + [ + 0.22292189300060272, + 0.19373750686645508, + 0.13622885942459106 + ], + [ + 0.22338807582855225, + 0.21554434299468994, + 0.12250985205173492 + ], + [ + 0.21911393105983734, + 0.2317698746919632, + 0.10917074233293533 + ], + [ + 0.2128767967224121, + 0.24390415847301483, + 0.10199528932571411 + ], + [ + 0.20798970758914948, + 0.24722133576869965, + 0.09035415202379227 + ], + [ + 0.2059369534254074, + 0.24496790766716003, + 0.08377058804035187 + ], + [ + 0.20497317612171173, + 0.23983334004878998, + 0.07555591315031052 + ], + [ + 0.20008490979671478, + 0.2383480817079544, + 0.06651398539543152 + ], + [ + 0.19654637575149536, + 0.23980824649333954, + 0.054240718483924866 + ], + [ + 0.20056523382663727, + 0.24205750226974487, + 0.05169478431344032 + ], + [ + 0.20316779613494873, + 0.24123090505599976, + 0.04681625962257385 + ], + [ + 0.2048463076353073, + 0.23975656926631927, + 0.04718255624175072 + ], + [ + 0.21409015357494354, + 0.23524107038974762, + 0.04771051183342934 + ], + [ + 0.22625769674777985, + 0.22334951162338257, + 0.05993640422821045 + ], + [ + 0.23653817176818848, + 0.2126474827528, + 0.08182893693447113 + ], + [ + 0.24092590808868408, + 0.19330504536628723, + 0.10784519463777542 + ], + [ + 0.24205681681632996, + 0.16830331087112427, + 0.12297779321670532 + ], + [ + 0.24543021619319916, + 0.1364939957857132, + 0.12211211770772934 + ], + [ + 0.2474776804447174, + 0.0980755090713501, + 0.11905146390199661 + ], + [ + 0.24388498067855835, + 0.06412024796009064, + 0.12696316838264465 + ], + [ + 0.2387761026620865, + 0.026852911338210106, + 0.12282539159059525 + ], + [ + 0.2314881831407547, + -0.0019163356628268957, + 0.11574265360832214 + ], + [ + 0.2294105887413025, + -0.028496773913502693, + 0.10949365794658661 + ], + [ + 0.22483736276626587, + -0.04332754760980606, + 0.10174916684627533 + ], + [ + 0.21575422585010529, + -0.05486854538321495, + 0.09490793198347092 + ], + [ + 0.21030503511428833, + -0.06530863046646118, + 0.08789083361625671 + ], + [ + 0.20845142006874084, + -0.07008200883865356, + 0.08320200443267822 + ], + [ + 0.2078791707754135, + -0.07420874387025833, + 0.08151467144489288 + ], + [ + 0.20855942368507385, + -0.0725923553109169, + 0.08159896731376648 + ], + [ + 0.2122642993927002, + -0.06729605048894882, + 0.08918758481740952 + ], + [ + 0.21626360714435577, + -0.05759814754128456, + 0.10399968922138214 + ], + [ + 0.23393245041370392, + -0.033093277364969254, + 0.12004105746746063 + ], + [ + 0.2466835081577301, + -0.0016018274473026395, + 0.12313272804021835 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9532363893729381, + 0.27114888696988815, + 0.1334865801128904, + 0.2634674581594554, + -0.961937876205679, + 0.07252875851621392, + 0.14807188952073222, + -0.03396768193295574, + -0.9883930959480958 + ], + [ + 0.9473082430042948, + 0.30013232013625024, + 0.11192713319721487, + 0.2966694788423162, + -0.9538326238799304, + 0.046803268537095044, + 0.12080692471685622, + -0.011131757810801463, + -0.9926136060464299 + ], + [ + 0.9436684972530479, + 0.31423123737882486, + 0.10367495718613579, + 0.31149897749954947, + -0.9493181531789938, + 0.041993226377116076, + 0.11161610237286396, + -0.007333041674309315, + -0.9937243441673819 + ], + [ + 0.9369341848974786, + 0.3123840914762474, + 0.15674984071142503, + 0.30865225774729493, + -0.9499505682484228, + 0.04824626070480642, + 0.16397596457406508, + 0.00317762128930113, + -0.9864592164732139 + ], + [ + 0.9311592213486034, + 0.33487452658880923, + 0.1442274451669423, + 0.3256857819459733, + -0.9417473932877185, + 0.08390839453849086, + 0.16392460442441942, + -0.031159247065806982, + -0.985980641486733 + ], + [ + 0.9301527127288625, + 0.34235565154525704, + 0.13269716974435136, + 0.3328779631767528, + -0.9387876826186657, + 0.08871273073675667, + 0.1549457732060966, + -0.03834442356455985, + -0.9871785616326293 + ], + [ + 0.9171949837675543, + 0.3779994450695268, + 0.12597532011773677, + 0.3657232949469423, + -0.9241653272891351, + 0.1102946932980828, + 0.15811335580775066, + -0.05508963027372789, + -0.9858830049004376 + ], + [ + 0.9028841717159325, + 0.4127611531484719, + 0.12011828718549829, + 0.39153822535165167, + -0.9049499653398817, + 0.1666234626930601, + 0.17747673242798157, + -0.10341078610517412, + -0.9786767692981151 + ], + [ + 0.8709627947997193, + 0.4727068703584399, + 0.1340597806599387, + 0.44254708203716603, + -0.8732397537277002, + 0.20397159775315518, + 0.213485105464179, + -0.11832390808925383, + -0.969754382572945 + ], + [ + 0.849916297004502, + 0.5048986198443393, + 0.15073046064228957, + 0.4683465084704368, + -0.8549494620238114, + 0.22296404505827105, + 0.24144116486155887, + -0.11890669057911374, + -0.9631029866249075 + ], + [ + 0.8263252020407569, + 0.5393264746196814, + 0.1622147164920857, + 0.4949066881485652, + -0.8328318160232667, + 0.24790832225886605, + 0.2688010983945573, + -0.12457174637008606, + -0.9551061980262644 + ], + [ + 0.799186497728247, + 0.5809627802854834, + 0.15421799431914232, + 0.5395406563698878, + -0.8064385442637119, + 0.24197676427660408, + 0.2649468285766196, + -0.11017768489483519, + -0.9579478356248867 + ], + [ + 0.7572640792219982, + 0.6325399024737819, + 0.16261729950567289, + 0.5914640168794172, + -0.7697878952539315, + 0.23999356878338743, + 0.27698633731092887, + -0.08555622770424462, + -0.9570573132493664 + ], + [ + 0.7293859588417064, + 0.6592472256010964, + 0.18272716979645343, + 0.6214837381646721, + -0.7501864361700941, + 0.22578368892211614, + 0.28592671480893506, + -0.05112148788592462, + -0.9568868831972248 + ], + [ + 0.7298337996498397, + 0.6647419747753945, + 0.1595641935409891, + 0.6172220149999929, + -0.7410891423277727, + 0.2642420619871765, + 0.29390408144159225, + -0.09436625506819132, + -0.9511652857502627 + ], + [ + 0.7318745696172796, + 0.6674730994956786, + 0.1372562413777745, + 0.6185225025900407, + -0.7352190812078454, + 0.27727750795483724, + 0.2859886853308625, + -0.11803628288591451, + -0.9509352805450019 + ], + [ + 0.7164961787046324, + 0.6821719182257041, + 0.14585849267671275, + 0.6264511935629576, + -0.7211957882901006, + 0.29569500678260724, + 0.30690736059144147, + -0.12049111559315784, + -0.9440814387953569 + ], + [ + 0.7148746182481196, + 0.6863232773116407, + 0.13384557969845023, + 0.6316364181457322, + -0.7159245459241349, + 0.29746845179842374, + 0.29998285860467955, + -0.1281109033748891, + -0.945303063033139 + ], + [ + 0.7226930698420809, + 0.6769687238657813, + 0.13938462508384677, + 0.6225918373536701, + -0.72519107538791, + 0.29407024371450424, + 0.3001568437714027, + -0.12574279734943938, + -0.9455657661167347 + ], + [ + 0.7449831577661825, + 0.6529873142814608, + 0.13640990445056297, + 0.5996499025537125, + -0.7451156961543053, + 0.2919290902116609, + 0.29226715349496624, + -0.13568406955855059, + -0.9466624235998702 + ], + [ + 0.7445469483597864, + 0.654228063780421, + 0.13279865304381244, + 0.6115858782493329, + -0.748218015411401, + 0.2571624290984526, + 0.267605222695899, + -0.11025172096591439, + -0.9572000850448836 + ], + [ + 0.7174409488988579, + 0.6783271735503165, + 0.15858981829343669, + 0.6383710134358471, + -0.7313187150795559, + 0.24011536014856844, + 0.27885647571465105, + -0.07102944880559192, + -0.9577023981145594 + ], + [ + 0.7240929648156349, + 0.6615647111402173, + 0.19499105435497432, + 0.6197942959933619, + -0.7481769977160438, + 0.2368252747126028, + 0.30256306608473627, + -0.050629172050981136, + -0.9517837348782735 + ], + [ + 0.7412704784277095, + 0.640616022066325, + 0.20032271484650013, + 0.6112560549527079, + -0.7675884179481883, + 0.1928057465830557, + 0.2772798461756762, + -0.02047273561874552, + -0.960571056195781 + ], + [ + 0.7959445663720891, + 0.5686292173715455, + 0.20768500286291908, + 0.5457613205685001, + -0.8224710663034868, + 0.1602682940101765, + 0.26194814035238717, + -0.014218236354385003, + -0.9649772088090459 + ], + [ + 0.8516848485009075, + 0.4751983721595951, + 0.22095118449752038, + 0.46738830358308364, + -0.8794725469853495, + 0.08986775157324, + 0.23702551024671065, + 0.026730996913196893, + -0.9711356039690405 + ], + [ + 0.8901829498929832, + 0.3954877067443105, + 0.2261941412458607, + 0.39637466951395034, + -0.9170577951190463, + 0.043498526171578296, + 0.22463623280213005, + 0.05093598163890715, + -0.973110522339034 + ], + [ + 0.9438475011963388, + 0.2794205202726256, + 0.17628405298268657, + 0.28472075916218237, + -0.9585974667500327, + -0.00499860405820091, + 0.16758873407105251, + 0.054909649343219694, + -0.9843266463026726 + ], + [ + 0.9628607280403639, + 0.20250529051815297, + 0.17858002606601517, + 0.20828814509918425, + -0.977966585967901, + -0.014050101118105885, + 0.17180007860510818, + 0.05072439297267445, + -0.9838250702989999 + ], + [ + 0.9686339682224846, + 0.15407159645204752, + 0.19496199314810056, + 0.16200375905980305, + -0.9864652945872899, + -0.025318069146449382, + 0.18842244467168948, + 0.056108517548840386, + -0.9804839705994257 + ], + [ + 0.9729663955366061, + 0.11283768700876273, + 0.20150446532773686, + 0.12347154052024994, + -0.9915021729901453, + -0.0409660791067005, + 0.1951695976274504, + 0.0647386850834388, + -0.9786305384646479 + ], + [ + 0.9824489767878511, + 0.06263684758826321, + 0.17570040788998917, + 0.07399538410382256, + -0.9955204949694312, + -0.05885258895873658, + 0.17122701638418994, + 0.0708206849728448, + -0.9826829292503991 + ], + [ + 0.9894370113396654, + -0.009385068301061075, + 0.14465932767787554, + -0.002241990033641707, + -0.9987734523737305, + -0.0494627568393476, + 0.14494610747419057, + 0.04861595752881759, + -0.9882444609516597 + ], + [ + 0.991314844299598, + -0.043603493804655474, + 0.12407100708582539, + -0.03780988986743419, + -0.9980987971586602, + -0.04867446290045618, + 0.1259574995761509, + 0.04356060649787557, + -0.9910787969995428 + ], + [ + 0.9906960332262724, + -0.0367752221172432, + 0.1310303506366219, + -0.02828103448387642, + -0.9974116225634361, + -0.06610777763543213, + 0.13312232283974937, + 0.061787039204038365, + -0.9891717792922261 + ], + [ + 0.9914249199650361, + -0.028457371050166234, + 0.12754138977302776, + -0.018377677179941126, + -0.9966636938818688, + -0.07952196098700595, + 0.12937885860445708, + 0.07649613931867533, + -0.9886402033174385 + ], + [ + 0.99382213219154, + -0.016430769746595502, + 0.10976155689400487, + -0.005575139972931967, + -0.9951228551463139, + -0.0984856384440434, + 0.1108444287302872, + 0.09726527114537328, + -0.9890667215352429 + ], + [ + 0.9941003476491741, + 0.02152132242951725, + 0.10630772071997427, + 0.03567471969138475, + -0.9904620686870289, + -0.13308720775173088, + 0.1024295522724395, + 0.13609453763136864, + -0.9853864539601564 + ], + [ + 0.9823928273514597, + 0.09232976707551704, + 0.1624178157721181, + 0.11191867530227406, + -0.9869350730249693, + -0.11590242340772045, + 0.14959459511288864, + 0.13203929621510077, + -0.9798913620233785 + ], + [ + 0.9525605199551341, + 0.20365783211799493, + 0.22616795360926553, + 0.2207871148171836, + -0.9738840297169757, + -0.052942861586132095, + 0.20947912963707885, + 0.10036624970189506, + -0.9726485028864582 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006758.json b/json/chunk-0006/episode_0006758.json new file mode 100644 index 0000000000000000000000000000000000000000..928e3cae2fa20d06d4b39578b364fe371fbb8eae --- /dev/null +++ b/json/chunk-0006/episode_0006758.json @@ -0,0 +1,2182 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 35, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nTake the pot off the cloth and place it to the left of the red knife." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006758.mp4", + "start": 0, + "end": 35, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.28393542766571045, + 0.06848755478858948, + 0.09102565795183182, + -0.023237967863678932, + -0.062383271753787994, + -0.11254415661096573, + 0.0, + 1.0014774799346924 + ], + [ + 0.28231316804885864, + 0.06759391725063324, + 0.08327340334653854, + -0.033313874155282974, + -0.03667072951793671, + -0.11357924342155457, + 0.0, + 1.0014774799346924 + ], + [ + 0.28510865569114685, + 0.05412223935127258, + 0.08341865986585617, + -0.03785870969295502, + -0.04000082239508629, + -0.15345141291618347, + 0.0, + 1.0014774799346924 + ], + [ + 0.2922343909740448, + 0.03864371031522751, + 0.08627509325742722, + -0.0336887426674366, + -0.059148453176021576, + -0.19636499881744385, + 0.0, + 1.0014774799346924 + ], + [ + 0.30986613035202026, + 0.01594240963459015, + 0.08820970356464386, + -0.020759662613272667, + -0.08510356396436691, + -0.24551813304424286, + 0.0, + 1.0014774799346924 + ], + [ + 0.3311721086502075, + -0.010132642462849617, + 0.08210117369890213, + 0.0063543315045535564, + -0.08870144188404083, + -0.2738361656665802, + 0.0, + 1.0014774799346924 + ], + [ + 0.3481256067752838, + -0.027725577354431152, + 0.07575905323028564, + 0.039357710629701614, + -0.0973777025938034, + -0.27292880415916443, + 0.0, + 1.0014774799346924 + ], + [ + 0.3631089925765991, + -0.03489550203084946, + 0.068025603890419, + 0.055156271904706955, + -0.11790236085653305, + -0.2600162923336029, + 0.0, + 1.0014774799346924 + ], + [ + 0.37612152099609375, + -0.03954664617776871, + 0.054359424859285355, + 0.06774160265922546, + -0.10355319827795029, + -0.25681906938552856, + 0.0, + 1.0014774799346924 + ], + [ + 0.3788606524467468, + -0.03964865580201149, + 0.03724754974246025, + 0.06405463814735413, + -0.062195178121328354, + -0.25831714272499084, + 0.0, + 1.0014774799346924 + ], + [ + 0.3771779239177704, + -0.039380982518196106, + 0.02724664844572544, + 0.06051959469914436, + -0.029496926814317703, + -0.26986420154571533, + 0.0, + 0.9453431367874146 + ], + [ + 0.3778485357761383, + -0.04053148999810219, + 0.02664664201438427, + 0.05494152754545212, + -0.03415905311703682, + -0.2814551293849945, + 0.0, + 0.6551066637039185 + ], + [ + 0.3753761649131775, + -0.04266595095396042, + 0.024545984342694283, + 0.04259287193417549, + -0.029297297820448875, + -0.28949087858200073, + 0.0, + 0.3502708673477173 + ], + [ + 0.37042081356048584, + -0.04607340693473816, + 0.027965122833848, + 0.02520468458533287, + -0.03654708340764046, + -0.2872665822505951, + 0.0, + 0.15718480944633484 + ], + [ + 0.3690762519836426, + -0.04988333582878113, + 0.03745488077402115, + 0.01479879580438137, + -0.061352431774139404, + -0.29205894470214844, + 0.0, + 0.08022117614746094 + ], + [ + 0.3660098612308502, + -0.06338023394346237, + 0.04987239092588425, + -0.06643904745578766, + -0.10300479829311371, + -0.2958992123603821, + 0.0, + 0.06895258277654648 + ], + [ + 0.35869473218917847, + -0.07402786612510681, + 0.07378644496202469, + -0.1272735744714737, + -0.17068231105804443, + -0.3370862305164337, + 0.0, + 0.06772904843091965 + ], + [ + 0.33385196328163147, + -0.05361248552799225, + 0.10317768156528473, + -0.16708476841449738, + -0.24466906487941742, + -0.4126414358615875, + 0.0, + 0.06772904843091965 + ], + [ + 0.30527031421661377, + -0.015719182789325714, + 0.1114511713385582, + -0.17474575340747833, + -0.26133832335472107, + -0.45714086294174194, + 0.0, + 0.06742517650127411 + ], + [ + 0.2892436683177948, + 0.026413002982735634, + 0.10039646923542023, + -0.1458417773246765, + -0.23777525126934052, + -0.47609275579452515, + 0.0, + 0.06742517650127411 + ], + [ + 0.28849461674690247, + 0.0443841889500618, + 0.08592244982719421, + -0.1220225989818573, + -0.19481220841407776, + -0.4958212673664093, + 0.0, + 0.06772904843091965 + ], + [ + 0.29009607434272766, + 0.06610909849405289, + 0.06878278404474258, + -0.07269468158483505, + -0.15435244143009186, + -0.49377042055130005, + 0.0, + 0.06772904843091965 + ], + [ + 0.2848849594593048, + 0.06932897865772247, + 0.05607451871037483, + -0.04339776188135147, + -0.11583352833986282, + -0.5287304520606995, + 0.0, + 0.06742517650127411 + ], + [ + 0.28197354078292847, + 0.0707223117351532, + 0.041286736726760864, + -0.05222037807106972, + -0.08477124571800232, + -0.5418350696563721, + 0.0, + 0.06772904843091965 + ], + [ + 0.2762548327445984, + 0.07310526072978973, + 0.03333829343318939, + -0.058107513934373856, + -0.060855329036712646, + -0.5599623918533325, + 0.0, + 0.06742517650127411 + ], + [ + 0.27312809228897095, + 0.07425451278686523, + 0.028963156044483185, + -0.05749652907252312, + -0.048621051013469696, + -0.5900099873542786, + 0.0, + 0.06742517650127411 + ], + [ + 0.27166661620140076, + 0.07768361270427704, + 0.027243254706263542, + -0.061742447316646576, + -0.04742555692791939, + -0.6025418639183044, + 0.0, + 0.09437843412160873 + ], + [ + 0.2698248326778412, + 0.07929788529872894, + 0.024110447615385056, + -0.06498749554157257, + -0.03245853632688522, + -0.6206844449043274, + 0.0, + 0.2645227313041687 + ], + [ + 0.269755482673645, + 0.07947354018688202, + 0.024098733440041542, + -0.06440325826406479, + -0.03132342919707298, + -0.6186485886573792, + 0.0, + 0.5472165942192078 + ], + [ + 0.26877471804618835, + 0.07709739357233047, + 0.025568319484591484, + -0.0740714743733406, + -0.038917217403650284, + -0.6056251525878906, + 0.0, + 0.8553624749183655 + ], + [ + 0.2625291049480438, + 0.07471663504838943, + 0.058386530727148056, + -0.07845259457826614, + -0.13699759542942047, + -0.47028568387031555, + 0.0, + 1.0086473226547241 + ], + [ + 0.2565115988254547, + 0.07152938097715378, + 0.08332362025976181, + -0.11868410557508469, + -0.20234458148479462, + -0.2790759801864624, + 0.0, + 1.0054124593734741 + ], + [ + 0.25571486353874207, + 0.06400221586227417, + 0.0903213769197464, + -0.10993358492851257, + -0.2003667652606964, + -0.2013145089149475, + 0.0, + 1.0001531839370728 + ], + [ + 0.2581084370613098, + 0.05510222911834717, + 0.08837532997131348, + -0.0870053619146347, + -0.19222824275493622, + -0.23084016144275665, + 0.0, + 1.0001531839370728 + ], + [ + 0.25753965973854065, + 0.04985944554209709, + 0.08637337386608124, + -0.033536866307258606, + -0.1489139050245285, + -0.24178539216518402, + 0.0, + 1.0001531839370728 + ] + ], + "left_gripper_pos": [ + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 0.9453431367874146 + ], + [ + 0.6551066637039185 + ], + [ + 0.3502708673477173 + ], + [ + 0.15718480944633484 + ], + [ + 0.08022117614746094 + ], + [ + 0.06895258277654648 + ], + [ + 0.06772904843091965 + ], + [ + 0.06772904843091965 + ], + [ + 0.06742517650127411 + ], + [ + 0.06742517650127411 + ], + [ + 0.06772904843091965 + ], + [ + 0.06772904843091965 + ], + [ + 0.06742517650127411 + ], + [ + 0.06772904843091965 + ], + [ + 0.06742517650127411 + ], + [ + 0.06742517650127411 + ], + [ + 0.09437843412160873 + ], + [ + 0.2645227313041687 + ], + [ + 0.5472165942192078 + ], + [ + 0.8553624749183655 + ], + [ + 1.0086473226547241 + ], + [ + 1.0054124593734741 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.28393542766571045, + 0.06848755478858948, + 0.09102565795183182 + ], + [ + 0.28231316804885864, + 0.06759391725063324, + 0.08327340334653854 + ], + [ + 0.28510865569114685, + 0.05412223935127258, + 0.08341865986585617 + ], + [ + 0.2922343909740448, + 0.03864371031522751, + 0.08627509325742722 + ], + [ + 0.30986613035202026, + 0.01594240963459015, + 0.08820970356464386 + ], + [ + 0.3311721086502075, + -0.010132642462849617, + 0.08210117369890213 + ], + [ + 0.3481256067752838, + -0.027725577354431152, + 0.07575905323028564 + ], + [ + 0.3631089925765991, + -0.03489550203084946, + 0.068025603890419 + ], + [ + 0.37612152099609375, + -0.03954664617776871, + 0.054359424859285355 + ], + [ + 0.3788606524467468, + -0.03964865580201149, + 0.03724754974246025 + ], + [ + 0.3771779239177704, + -0.039380982518196106, + 0.02724664844572544 + ], + [ + 0.3778485357761383, + -0.04053148999810219, + 0.02664664201438427 + ], + [ + 0.3753761649131775, + -0.04266595095396042, + 0.024545984342694283 + ], + [ + 0.37042081356048584, + -0.04607340693473816, + 0.027965122833848 + ], + [ + 0.3690762519836426, + -0.04988333582878113, + 0.03745488077402115 + ], + [ + 0.3660098612308502, + -0.06338023394346237, + 0.04987239092588425 + ], + [ + 0.35869473218917847, + -0.07402786612510681, + 0.07378644496202469 + ], + [ + 0.33385196328163147, + -0.05361248552799225, + 0.10317768156528473 + ], + [ + 0.30527031421661377, + -0.015719182789325714, + 0.1114511713385582 + ], + [ + 0.2892436683177948, + 0.026413002982735634, + 0.10039646923542023 + ], + [ + 0.28849461674690247, + 0.0443841889500618, + 0.08592244982719421 + ], + [ + 0.29009607434272766, + 0.06610909849405289, + 0.06878278404474258 + ], + [ + 0.2848849594593048, + 0.06932897865772247, + 0.05607451871037483 + ], + [ + 0.28197354078292847, + 0.0707223117351532, + 0.041286736726760864 + ], + [ + 0.2762548327445984, + 0.07310526072978973, + 0.03333829343318939 + ], + [ + 0.27312809228897095, + 0.07425451278686523, + 0.028963156044483185 + ], + [ + 0.27166661620140076, + 0.07768361270427704, + 0.027243254706263542 + ], + [ + 0.2698248326778412, + 0.07929788529872894, + 0.024110447615385056 + ], + [ + 0.269755482673645, + 0.07947354018688202, + 0.024098733440041542 + ], + [ + 0.26877471804618835, + 0.07709739357233047, + 0.025568319484591484 + ], + [ + 0.2625291049480438, + 0.07471663504838943, + 0.058386530727148056 + ], + [ + 0.2565115988254547, + 0.07152938097715378, + 0.08332362025976181 + ], + [ + 0.25571486353874207, + 0.06400221586227417, + 0.0903213769197464 + ], + [ + 0.2581084370613098, + 0.05510222911834717, + 0.08837532997131348 + ], + [ + 0.25753965973854065, + 0.04985944554209709, + 0.08637337386608124 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.991740689100886, + -0.11371582679765493, + 0.05932214019592544, + -0.11208826316806672, + -0.9932426205074012, + -0.030088503910234914, + 0.06234281708156528, + 0.023190677939977245, + -0.99778533042685 + ], + [ + 0.9928888446366628, + -0.11448559250805143, + 0.03263114009888357, + -0.11325900609666786, + -0.9928671293744359, + -0.037245952072165266, + 0.03666251128970191, + 0.03328531982492402, + -0.9987732213821539 + ], + [ + 0.9874588903937199, + -0.15423619570946928, + 0.033706612340515474, + -0.15272762425830955, + -0.9873099258570378, + -0.043513022103541736, + 0.03999015592387857, + 0.03781938969947798, + -0.9984840916068433 + ], + [ + 0.9790671119644568, + -0.19694761199455868, + 0.05137342113601351, + -0.1947642903101271, + -0.9798372826711802, + -0.04456198724866159, + 0.05911397034178954, + 0.0336234682505851, + -0.9976848204183681 + ], + [ + 0.9665009271364624, + -0.24471812864752615, + 0.07738859964885954, + -0.2421792921238515, + -0.9693736375383519, + -0.04079143674907787, + 0.08500087241169245, + 0.02068304515579518, + -0.9961661825881938 + ], + [ + 0.9589556686452351, + -0.2698792676645339, + 0.08700118653228409, + -0.2693634960473103, + -0.9628733669341278, + -0.017837775817276295, + 0.08858517127793511, + -0.006329307528600207, + -0.9960484964578119 + ], + [ + 0.958423451173516, + -0.26566031710655696, + 0.10415893699289844, + -0.2682759875326916, + -0.963270990328821, + 0.011704430968288777, + 0.09722387954615916, + -0.03916114280477474, + -0.9944917908862888 + ], + [ + 0.9596767185121692, + -0.2504385935738982, + 0.12767578781602437, + -0.2553114221388836, + -0.9665833806494215, + 0.023079124284864, + 0.11762939118747252, + -0.05474558521984432, + -0.9915474003938497 + ], + [ + 0.9620216892904229, + -0.24665516026518355, + 0.11694229880311452, + -0.2526445708317099, + -0.966761749325796, + 0.03927392098820047, + 0.1033682260854922, + -0.06732720070731368, + -0.9923618583363908 + ], + [ + 0.9649518937183856, + -0.25108341347528285, + 0.0763214405452419, + -0.25495997296959017, + -0.9658548340838349, + 0.04604184683777366, + 0.06215508822812954, + -0.06388707971481664, + -0.9960196715190245 + ], + [ + 0.9633878504008472, + -0.26439324300130684, + 0.044497896077086006, + -0.2664845836425003, + -0.9625181780353077, + 0.050445253815152594, + 0.029492649608309045, + -0.060456347944974495, + -0.9977350417882686 + ], + [ + 0.9600918780586453, + -0.2755330636729652, + 0.04801162889147434, + -0.27759178400054424, + -0.959723664755327, + 0.043281506027393474, + 0.03415241047449087, + -0.054881856123803224, + -0.9979086104083817 + ], + [ + 0.9579780571826363, + -0.28401002744300724, + 0.04020380912803698, + -0.2853418228136983, + -0.9578761945653931, + 0.03245365985951335, + 0.02929310686727107, + -0.04256172220133079, + -0.9986643148192085 + ], + [ + 0.958381515259313, + -0.28235876678965227, + 0.042171056736702586, + -0.2831426786734908, + -0.9589782235171203, + 0.013819925236733525, + 0.03653894802623345, + -0.025185186856072822, + -0.9990148205307874 + ], + [ + 0.9558512892902818, + -0.2870241444870977, + 0.0629718448479596, + -0.28738286722853545, + -0.9578094671573893, + -0.0034802653898445097, + 0.06131394935585016, + -0.014770413167121892, + -0.9980092356833481 + ], + [ + 0.9514703628458784, + -0.2974865012800773, + 0.0787777264337535, + -0.290054531188017, + -0.9524393553533254, + -0.09342185671159527, + 0.10282274827698598, + 0.06603829139431698, + -0.9925051266902791 + ], + [ + 0.9300092336833974, + -0.34840995871781366, + 0.11701848541948934, + -0.32593278029356343, + -0.9289585753772561, + -0.17551007937769947, + 0.1698547850186375, + 0.12508583412725055, + -0.9774982793370852 + ], + [ + 0.8887820646855489, + -0.4323499816443642, + 0.1521181608665142, + -0.3890867779694642, + -0.887151589935171, + -0.24814015331025935, + 0.24223525899966253, + 0.16135535270828832, + -0.9567060831048113 + ], + [ + 0.8668497544516071, + -0.4749701885656928, + 0.15157448063924928, + -0.42639717774501945, + -0.8638255766083301, + -0.2683110508502543, + 0.2583736635539122, + 0.16795443778345265, + -0.9513329368893803 + ], + [ + 0.8637857224879603, + -0.4838679368038624, + 0.14052062254034356, + -0.445415127807841, + -0.8636689579219217, + -0.23596884337129412, + 0.2355410570280201, + 0.1412365068076771, + -0.9615470137226196 + ], + [ + 0.8629402174464184, + -0.49294206136996294, + 0.1110959281245725, + -0.46675483351368235, + -0.8618280394457862, + -0.19847507605905396, + 0.19358229904912053, + 0.11941756385626157, + -0.9737891655473955 + ], + [ + 0.8700835080116097, + -0.4825300293522431, + 0.10059552604134533, + -0.46831465700340424, + -0.8729342710301091, + -0.13662774424294755, + 0.15374027163367235, + 0.07176718772848711, + -0.9855015979913727 + ], + [ + 0.8576620302892972, + -0.5082920357381745, + 0.0778141902559084, + -0.5010572194774506, + -0.8601059027844266, + -0.09570527051794035, + 0.11557467114193383, + 0.04309341481628835, + -0.992363568955403 + ], + [ + 0.853687182944159, + -0.5187925269157365, + 0.045524803055598154, + -0.5138572046229295, + -0.8533166796639777, + -0.08832563311040376, + 0.08466975217853813, + 0.052009212872620864, + -0.9950507900817905 + ], + [ + 0.8457066844395026, + -0.5332504290417248, + 0.020595723370628732, + -0.5301711065475021, + -0.8439690575757798, + -0.081454451301613, + 0.060817774347144415, + 0.05796731649357359, + -0.9964642434839261 + ], + [ + 0.829953147898931, + -0.557770657593555, + 0.008346605316438157, + -0.555711820952492, + -0.8280081426205365, + -0.07474548687215013, + 0.04860189653008026, + 0.057396944881609624, + -0.9971677122590447 + ], + [ + 0.8229713309598645, + -0.5680687168556398, + 0.00401513986503621, + -0.5661013078398642, + -0.8206699712127382, + -0.07765376753048261, + 0.04740778079750178, + 0.06163384848985223, + -0.9969723020426322 + ], + [ + 0.813052093214724, + -0.5820788173672756, + -0.01142558932700664, + -0.5812857361750104, + -0.810537636277769, + -0.07166333160496444, + 0.03245283714302413, + 0.06490755387133962, + -0.997363435670171 + ], + [ + 0.814263307201047, + -0.5803744808877384, + -0.011862903535883965, + -0.5796502653990604, + -0.8118050729406964, + -0.07055560481315204, + 0.0313183072469168, + 0.06432717529970589, + -0.9974373053726979 + ], + [ + 0.82152386160572, + -0.5700823784598914, + -0.010228713601370693, + -0.5688451102611045, + -0.8182529044530258, + -0.08293024108381249, + 0.03890739447017229, + 0.07394772561546793, + -0.9965028592692756 + ], + [ + 0.8830865306606606, + -0.4612884757617529, + 0.08585523568843795, + -0.44889526802258806, + -0.8838468808432286, + -0.13155884451691077, + 0.13656946112746932, + 0.07763783454666015, + -0.987583489601896 + ], + [ + 0.9416978162746086, + -0.29640461328840645, + 0.15921535115994243, + -0.269847432849369, + -0.9479929493139427, + -0.16879493782592464, + 0.2009666285935027, + 0.1159899705681603, + -0.9727069141932521 + ], + [ + 0.9602022622132751, + -0.22014531562220346, + 0.17189431535134955, + -0.19595704538696979, + -0.969523625658554, + -0.14705364889420802, + 0.19902877179874737, + 0.10751734417986875, + -0.974077804231669 + ], + [ + 0.9555440612279432, + -0.2440908026847103, + 0.16539415677932193, + -0.22458129008005354, + -0.9659940092993335, + -0.1281359361919145, + 0.1910465681397809, + 0.0852950997568638, + -0.9778680661313566 + ], + [ + 0.9601667556393002, + -0.2441318597285511, + 0.13593909088477718, + -0.23678657430359182, + -0.9691749497708807, + -0.06805905499035825, + 0.14836414524631697, + 0.03315949037741798, + -0.9883767139118768 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0016222596168518066, + -0.0008936375379562378, + -0.007752254605293274, + -0.010075906291604042, + 0.025712542235851288, + -0.0010350868105888367, + 1.0 + ], + [ + 0.002795487642288208, + -0.013471677899360657, + 0.00014525651931762695, + -0.004544835537672043, + -0.003330092877149582, + -0.039872169494628906, + 1.0 + ], + [ + 0.007125735282897949, + -0.015478529036045074, + 0.002856433391571045, + 0.004169967025518417, + -0.019147630780935287, + -0.042913585901260376, + 1.0 + ], + [ + 0.017631739377975464, + -0.02270130068063736, + 0.0019346103072166443, + 0.012929080054163933, + -0.025955110788345337, + -0.04915313422679901, + 1.0 + ], + [ + 0.021305978298187256, + -0.026075052097439766, + -0.00610852986574173, + 0.02711399458348751, + -0.0035978779196739197, + -0.02831803262233734, + 1.0 + ], + [ + 0.016953498125076294, + -0.017592934891581535, + -0.006342120468616486, + 0.03300337865948677, + -0.008676260709762573, + 0.0009073615074157715, + 1.0 + ], + [ + 0.014983385801315308, + -0.0071699246764183044, + -0.007733449339866638, + 0.01579856127500534, + -0.020524658262729645, + 0.012912511825561523, + 1.0 + ], + [ + 0.013012528419494629, + -0.0046511441469192505, + -0.013666179031133652, + 0.012585330754518509, + 0.014349162578582764, + 0.003197222948074341, + 1.0 + ], + [ + 0.002739131450653076, + -0.00010200962424278259, + -0.017111875116825104, + -0.003686964511871338, + 0.04135802015662193, + -0.0014980733394622803, + 1.0 + ], + [ + -0.0016827285289764404, + 0.0002676732838153839, + -0.01000090129673481, + -0.0035350434482097626, + 0.03269825130701065, + -0.011547058820724487, + 0.0 + ], + [ + 0.0006706118583679199, + -0.0011505074799060822, + -0.0006000064313411713, + -0.0055780671536922455, + -0.004662126302719116, + -0.011590927839279175, + 0.0 + ], + [ + -0.0024723708629608154, + -0.0021344609558582306, + -0.002100657671689987, + -0.012348655611276627, + 0.004861755296587944, + -0.008035749197006226, + 0.0 + ], + [ + -0.00495535135269165, + -0.0034074559807777405, + 0.003419138491153717, + -0.01738818734884262, + -0.007249785587191582, + 0.0022242963314056396, + 0.0 + ], + [ + -0.0013445615768432617, + -0.0038099288940429688, + 0.009489757940173149, + -0.0104058887809515, + -0.024805348366498947, + -0.004792362451553345, + 0.0 + ], + [ + -0.0030663907527923584, + -0.013496898114681244, + 0.012417510151863098, + -0.08123784512281418, + -0.041652366518974304, + -0.0038402676582336426, + 0.0 + ], + [ + -0.007315129041671753, + -0.01064763218164444, + 0.023914054036140442, + -0.060834527015686035, + -0.06767751276493073, + -0.041187018156051636, + 0.0 + ], + [ + -0.024842768907546997, + 0.020415380597114563, + 0.02939123660326004, + -0.03981119394302368, + -0.07398675382137299, + -0.07555520534515381, + 0.0 + ], + [ + -0.0285816490650177, + 0.037893302738666534, + 0.008273489773273468, + -0.007660984992980957, + -0.01666925847530365, + -0.04449942708015442, + 0.0 + ], + [ + -0.01602664589881897, + 0.0421321839094162, + -0.01105470210313797, + 0.02890397608280182, + 0.023563072085380554, + -0.018951892852783203, + 0.0 + ], + [ + -0.000749051570892334, + 0.017971185967326164, + -0.014474019408226013, + 0.023819178342819214, + 0.042963042855262756, + -0.019728511571884155, + 0.0 + ], + [ + 0.0016014575958251953, + 0.02172490954399109, + -0.01713966578245163, + 0.04932791739702225, + 0.0404597669839859, + 0.002050846815109253, + 0.0 + ], + [ + -0.0052111148834228516, + 0.003219880163669586, + -0.012708265334367752, + 0.02929691970348358, + 0.038518913090229034, + -0.034960031509399414, + 0.0 + ], + [ + -0.0029114186763763428, + 0.001393333077430725, + -0.014787781983613968, + -0.008822616189718246, + 0.031062282621860504, + -0.013104617595672607, + 0.0 + ], + [ + -0.005718708038330078, + 0.0023829489946365356, + -0.007948443293571472, + -0.005887135863304138, + 0.023915916681289673, + -0.01812732219696045, + 0.0 + ], + [ + -0.0031267404556274414, + 0.0011492520570755005, + -0.004375137388706207, + 0.0006109848618507385, + 0.01223427802324295, + -0.030047595500946045, + 0.0 + ], + [ + -0.0014614760875701904, + 0.003429099917411804, + -0.0017199013382196426, + -0.004245918244123459, + 0.0011954940855503082, + -0.012531876564025879, + 1.0 + ], + [ + -0.0018417835235595703, + 0.0016142725944519043, + -0.0031328070908784866, + -0.003245048224925995, + 0.014967020601034164, + -0.01814258098602295, + 1.0 + ], + [ + -6.935000419616699e-05, + 0.00017565488815307617, + -1.1714175343513489e-05, + 0.000584237277507782, + 0.0011351071298122406, + 0.002035856246948242, + 1.0 + ], + [ + -0.000980764627456665, + -0.002376146614551544, + 0.001469586044549942, + -0.009668216109275818, + -0.007593788206577301, + 0.013023436069488525, + 1.0 + ], + [ + -0.006245613098144531, + -0.00238075852394104, + 0.03281821310520172, + -0.004381120204925537, + -0.09808038175106049, + 0.13533946871757507, + 1.0 + ], + [ + -0.006017506122589111, + -0.0031872540712356567, + 0.024937089532613754, + -0.04023151099681854, + -0.06534698605537415, + 0.19120970368385315, + 1.0 + ], + [ + -0.0007967352867126465, + -0.007527165114879608, + 0.006997756659984589, + 0.008750520646572113, + 0.0019778162240982056, + 0.07776147127151489, + 1.0 + ], + [ + 0.002393573522567749, + -0.008899986743927002, + -0.0019460469484329224, + 0.02292822301387787, + 0.008138522505760193, + -0.029525652527809143, + 1.0 + ], + [ + -0.000568777322769165, + -0.005242783576250076, + -0.0020019561052322388, + 0.0534684956073761, + 0.043314337730407715, + -0.010945230722427368, + 1.0 + ], + [ + -0.0025108754634857178, + -0.004822228103876114, + -0.003917910158634186, + 0.08666358888149261, + 0.05428488552570343, + 0.03291426599025726, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 0.9453431367874146 + ], + [ + 0.6551066637039185 + ], + [ + 0.3502708673477173 + ], + [ + 0.15718480944633484 + ], + [ + 0.08022117614746094 + ], + [ + 0.06895258277654648 + ], + [ + 0.06772904843091965 + ], + [ + 0.06772904843091965 + ], + [ + 0.06742517650127411 + ], + [ + 0.06742517650127411 + ], + [ + 0.06772904843091965 + ], + [ + 0.06772904843091965 + ], + [ + 0.06742517650127411 + ], + [ + 0.06772904843091965 + ], + [ + 0.06742517650127411 + ], + [ + 0.06742517650127411 + ], + [ + 0.09437843412160873 + ], + [ + 0.2645227313041687 + ], + [ + 0.5472165942192078 + ], + [ + 0.8553624749183655 + ], + [ + 1.0086473226547241 + ], + [ + 1.0054124593734741 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.28231316804885864, + 0.06759391725063324, + 0.08327340334653854 + ], + [ + 0.28510865569114685, + 0.05412223935127258, + 0.08341865986585617 + ], + [ + 0.2922343909740448, + 0.03864371031522751, + 0.08627509325742722 + ], + [ + 0.30986613035202026, + 0.01594240963459015, + 0.08820970356464386 + ], + [ + 0.3311721086502075, + -0.010132642462849617, + 0.08210117369890213 + ], + [ + 0.3481256067752838, + -0.027725577354431152, + 0.07575905323028564 + ], + [ + 0.3631089925765991, + -0.03489550203084946, + 0.068025603890419 + ], + [ + 0.37612152099609375, + -0.03954664617776871, + 0.054359424859285355 + ], + [ + 0.3788606524467468, + -0.03964865580201149, + 0.03724754974246025 + ], + [ + 0.3771779239177704, + -0.039380982518196106, + 0.02724664844572544 + ], + [ + 0.3778485357761383, + -0.04053148999810219, + 0.02664664201438427 + ], + [ + 0.3753761649131775, + -0.04266595095396042, + 0.024545984342694283 + ], + [ + 0.37042081356048584, + -0.04607340693473816, + 0.027965122833848 + ], + [ + 0.3690762519836426, + -0.04988333582878113, + 0.03745488077402115 + ], + [ + 0.3660098612308502, + -0.06338023394346237, + 0.04987239092588425 + ], + [ + 0.35869473218917847, + -0.07402786612510681, + 0.07378644496202469 + ], + [ + 0.33385196328163147, + -0.05361248552799225, + 0.10317768156528473 + ], + [ + 0.30527031421661377, + -0.015719182789325714, + 0.1114511713385582 + ], + [ + 0.2892436683177948, + 0.026413002982735634, + 0.10039646923542023 + ], + [ + 0.28849461674690247, + 0.0443841889500618, + 0.08592244982719421 + ], + [ + 0.29009607434272766, + 0.06610909849405289, + 0.06878278404474258 + ], + [ + 0.2848849594593048, + 0.06932897865772247, + 0.05607451871037483 + ], + [ + 0.28197354078292847, + 0.0707223117351532, + 0.041286736726760864 + ], + [ + 0.2762548327445984, + 0.07310526072978973, + 0.03333829343318939 + ], + [ + 0.27312809228897095, + 0.07425451278686523, + 0.028963156044483185 + ], + [ + 0.27166661620140076, + 0.07768361270427704, + 0.027243254706263542 + ], + [ + 0.2698248326778412, + 0.07929788529872894, + 0.024110447615385056 + ], + [ + 0.269755482673645, + 0.07947354018688202, + 0.024098733440041542 + ], + [ + 0.26877471804618835, + 0.07709739357233047, + 0.025568319484591484 + ], + [ + 0.2625291049480438, + 0.07471663504838943, + 0.058386530727148056 + ], + [ + 0.2565115988254547, + 0.07152938097715378, + 0.08332362025976181 + ], + [ + 0.25571486353874207, + 0.06400221586227417, + 0.0903213769197464 + ], + [ + 0.2581084370613098, + 0.05510222911834717, + 0.08837532997131348 + ], + [ + 0.25753965973854065, + 0.04985944554209709, + 0.08637337386608124 + ], + [ + 0.25502878427505493, + 0.04503721743822098, + 0.08245546370744705 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9928888446366628, + -0.11448559250805143, + 0.03263114009888357, + -0.11325900609666786, + -0.9928671293744359, + -0.037245952072165266, + 0.03666251128970191, + 0.03328531982492402, + -0.9987732213821539 + ], + [ + 0.9874588903937199, + -0.15423619570946928, + 0.033706612340515474, + -0.15272762425830955, + -0.9873099258570378, + -0.043513022103541736, + 0.03999015592387857, + 0.03781938969947798, + -0.9984840916068433 + ], + [ + 0.9790671119644568, + -0.19694761199455868, + 0.05137342113601351, + -0.1947642903101271, + -0.9798372826711802, + -0.04456198724866159, + 0.05911397034178954, + 0.0336234682505851, + -0.9976848204183681 + ], + [ + 0.9665009271364624, + -0.24471812864752615, + 0.07738859964885954, + -0.2421792921238515, + -0.9693736375383519, + -0.04079143674907787, + 0.08500087241169245, + 0.02068304515579518, + -0.9961661825881938 + ], + [ + 0.9589556686452351, + -0.2698792676645339, + 0.08700118653228409, + -0.2693634960473103, + -0.9628733669341278, + -0.017837775817276295, + 0.08858517127793511, + -0.006329307528600207, + -0.9960484964578119 + ], + [ + 0.958423451173516, + -0.26566031710655696, + 0.10415893699289844, + -0.2682759875326916, + -0.963270990328821, + 0.011704430968288777, + 0.09722387954615916, + -0.03916114280477474, + -0.9944917908862888 + ], + [ + 0.9596767185121692, + -0.2504385935738982, + 0.12767578781602437, + -0.2553114221388836, + -0.9665833806494215, + 0.023079124284864, + 0.11762939118747252, + -0.05474558521984432, + -0.9915474003938497 + ], + [ + 0.9620216892904229, + -0.24665516026518355, + 0.11694229880311452, + -0.2526445708317099, + -0.966761749325796, + 0.03927392098820047, + 0.1033682260854922, + -0.06732720070731368, + -0.9923618583363908 + ], + [ + 0.9649518937183856, + -0.25108341347528285, + 0.0763214405452419, + -0.25495997296959017, + -0.9658548340838349, + 0.04604184683777366, + 0.06215508822812954, + -0.06388707971481664, + -0.9960196715190245 + ], + [ + 0.9633878504008472, + -0.26439324300130684, + 0.044497896077086006, + -0.2664845836425003, + -0.9625181780353077, + 0.050445253815152594, + 0.029492649608309045, + -0.060456347944974495, + -0.9977350417882686 + ], + [ + 0.9600918780586453, + -0.2755330636729652, + 0.04801162889147434, + -0.27759178400054424, + -0.959723664755327, + 0.043281506027393474, + 0.03415241047449087, + -0.054881856123803224, + -0.9979086104083817 + ], + [ + 0.9579780571826363, + -0.28401002744300724, + 0.04020380912803698, + -0.2853418228136983, + -0.9578761945653931, + 0.03245365985951335, + 0.02929310686727107, + -0.04256172220133079, + -0.9986643148192085 + ], + [ + 0.958381515259313, + -0.28235876678965227, + 0.042171056736702586, + -0.2831426786734908, + -0.9589782235171203, + 0.013819925236733525, + 0.03653894802623345, + -0.025185186856072822, + -0.9990148205307874 + ], + [ + 0.9558512892902818, + -0.2870241444870977, + 0.0629718448479596, + -0.28738286722853545, + -0.9578094671573893, + -0.0034802653898445097, + 0.06131394935585016, + -0.014770413167121892, + -0.9980092356833481 + ], + [ + 0.9514703628458784, + -0.2974865012800773, + 0.0787777264337535, + -0.290054531188017, + -0.9524393553533254, + -0.09342185671159527, + 0.10282274827698598, + 0.06603829139431698, + -0.9925051266902791 + ], + [ + 0.9300092336833974, + -0.34840995871781366, + 0.11701848541948934, + -0.32593278029356343, + -0.9289585753772561, + -0.17551007937769947, + 0.1698547850186375, + 0.12508583412725055, + -0.9774982793370852 + ], + [ + 0.8887820646855489, + -0.4323499816443642, + 0.1521181608665142, + -0.3890867779694642, + -0.887151589935171, + -0.24814015331025935, + 0.24223525899966253, + 0.16135535270828832, + -0.9567060831048113 + ], + [ + 0.8668497544516071, + -0.4749701885656928, + 0.15157448063924928, + -0.42639717774501945, + -0.8638255766083301, + -0.2683110508502543, + 0.2583736635539122, + 0.16795443778345265, + -0.9513329368893803 + ], + [ + 0.8637857224879603, + -0.4838679368038624, + 0.14052062254034356, + -0.445415127807841, + -0.8636689579219217, + -0.23596884337129412, + 0.2355410570280201, + 0.1412365068076771, + -0.9615470137226196 + ], + [ + 0.8629402174464184, + -0.49294206136996294, + 0.1110959281245725, + -0.46675483351368235, + -0.8618280394457862, + -0.19847507605905396, + 0.19358229904912053, + 0.11941756385626157, + -0.9737891655473955 + ], + [ + 0.8700835080116097, + -0.4825300293522431, + 0.10059552604134533, + -0.46831465700340424, + -0.8729342710301091, + -0.13662774424294755, + 0.15374027163367235, + 0.07176718772848711, + -0.9855015979913727 + ], + [ + 0.8576620302892972, + -0.5082920357381745, + 0.0778141902559084, + -0.5010572194774506, + -0.8601059027844266, + -0.09570527051794035, + 0.11557467114193383, + 0.04309341481628835, + -0.992363568955403 + ], + [ + 0.853687182944159, + -0.5187925269157365, + 0.045524803055598154, + -0.5138572046229295, + -0.8533166796639777, + -0.08832563311040376, + 0.08466975217853813, + 0.052009212872620864, + -0.9950507900817905 + ], + [ + 0.8457066844395026, + -0.5332504290417248, + 0.020595723370628732, + -0.5301711065475021, + -0.8439690575757798, + -0.081454451301613, + 0.060817774347144415, + 0.05796731649357359, + -0.9964642434839261 + ], + [ + 0.829953147898931, + -0.557770657593555, + 0.008346605316438157, + -0.555711820952492, + -0.8280081426205365, + -0.07474548687215013, + 0.04860189653008026, + 0.057396944881609624, + -0.9971677122590447 + ], + [ + 0.8229713309598645, + -0.5680687168556398, + 0.00401513986503621, + -0.5661013078398642, + -0.8206699712127382, + -0.07765376753048261, + 0.04740778079750178, + 0.06163384848985223, + -0.9969723020426322 + ], + [ + 0.813052093214724, + -0.5820788173672756, + -0.01142558932700664, + -0.5812857361750104, + -0.810537636277769, + -0.07166333160496444, + 0.03245283714302413, + 0.06490755387133962, + -0.997363435670171 + ], + [ + 0.814263307201047, + -0.5803744808877384, + -0.011862903535883965, + -0.5796502653990604, + -0.8118050729406964, + -0.07055560481315204, + 0.0313183072469168, + 0.06432717529970589, + -0.9974373053726979 + ], + [ + 0.82152386160572, + -0.5700823784598914, + -0.010228713601370693, + -0.5688451102611045, + -0.8182529044530258, + -0.08293024108381249, + 0.03890739447017229, + 0.07394772561546793, + -0.9965028592692756 + ], + [ + 0.8830865306606606, + -0.4612884757617529, + 0.08585523568843795, + -0.44889526802258806, + -0.8838468808432286, + -0.13155884451691077, + 0.13656946112746932, + 0.07763783454666015, + -0.987583489601896 + ], + [ + 0.9416978162746086, + -0.29640461328840645, + 0.15921535115994243, + -0.269847432849369, + -0.9479929493139427, + -0.16879493782592464, + 0.2009666285935027, + 0.1159899705681603, + -0.9727069141932521 + ], + [ + 0.9602022622132751, + -0.22014531562220346, + 0.17189431535134955, + -0.19595704538696979, + -0.969523625658554, + -0.14705364889420802, + 0.19902877179874737, + 0.10751734417986875, + -0.974077804231669 + ], + [ + 0.9555440612279432, + -0.2440908026847103, + 0.16539415677932193, + -0.22458129008005354, + -0.9659940092993335, + -0.1281359361919145, + 0.1910465681397809, + 0.0852950997568638, + -0.9778680661313566 + ], + [ + 0.9601667556393002, + -0.2441318597285511, + 0.13593909088477718, + -0.23678657430359182, + -0.9691749497708807, + -0.06805905499035825, + 0.14836414524631697, + 0.03315949037741798, + -0.9883767139118768 + ], + [ + 0.973888870149247, + -0.20215471977947536, + 0.10331475146514565, + -0.2064279873692233, + -0.977925789628668, + 0.03238264982729999, + 0.09448785440528745, + -0.05286415846324943, + -0.9941214342925402 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006759.json b/json/chunk-0006/episode_0006759.json new file mode 100644 index 0000000000000000000000000000000000000000..6dae9cfa2fc4287c631b89adc2ee12e4f30bfdd5 --- /dev/null +++ b/json/chunk-0006/episode_0006759.json @@ -0,0 +1,2542 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 41, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut the ball in the cup." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006759.mp4", + "start": 0, + "end": 41, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.33565381169319153, + 0.05234729126095772, + 0.10760972648859024, + -0.021931227296590805, + -0.0692315474152565, + 0.23447050154209137, + 0.0, + 1.0008161067962646 + ], + [ + 0.33440572023391724, + 0.05168355628848076, + 0.09732457250356674, + -0.02228562720119953, + -0.03383281081914902, + 0.23545844852924347, + 0.0, + 1.0008161067962646 + ], + [ + 0.333682656288147, + 0.06424121558666229, + 0.10278372466564178, + -0.03477071598172188, + -0.023779485374689102, + 0.27959567308425903, + 0.0, + 1.0008161067962646 + ], + [ + 0.33350861072540283, + 0.0843827873468399, + 0.11089688539505005, + -0.04729289561510086, + -0.032218869775533676, + 0.34273290634155273, + 0.0, + 1.0008161067962646 + ], + [ + 0.3292663097381592, + 0.08902787417173386, + 0.10700106620788574, + -0.028782224282622337, + 0.007827945053577423, + 0.34067264199256897, + 0.0, + 1.0008161067962646 + ], + [ + 0.33556196093559265, + 0.09672705084085464, + 0.09981221705675125, + -0.00809919461607933, + 0.03281879797577858, + 0.3528344929218292, + 0.0, + 1.0008161067962646 + ], + [ + 0.3485378324985504, + 0.10238689929246902, + 0.08786790072917938, + 0.007847301661968231, + 0.05792851746082306, + 0.342489093542099, + 0.0, + 1.0008161067962646 + ], + [ + 0.36101776361465454, + 0.10632136464118958, + 0.08885304629802704, + 0.017852233722805977, + 0.07578670233488083, + 0.33782240748405457, + 0.0, + 1.0008161067962646 + ], + [ + 0.36717015504837036, + 0.10936339199542999, + 0.08932991325855255, + 0.027629997581243515, + 0.09496653825044632, + 0.3480607867240906, + 0.0, + 0.9723638892173767 + ], + [ + 0.36876994371414185, + 0.1086941808462143, + 0.08980315923690796, + 0.01581335812807083, + 0.10210016369819641, + 0.3330615758895874, + 0.0, + 0.6621366739273071 + ], + [ + 0.36737194657325745, + 0.10998839884996414, + 0.08990006148815155, + 0.011834847740828991, + 0.10843703150749207, + 0.34150734543800354, + 0.0, + 0.5236935019493103 + ], + [ + 0.3624083995819092, + 0.11191154271364212, + 0.08851604163646698, + 0.034830402582883835, + 0.1059172973036766, + 0.32966020703315735, + 0.0, + 0.5236935019493103 + ], + [ + 0.34573522210121155, + 0.09463086724281311, + 0.09692305326461792, + 0.02905333787202835, + 0.06399968266487122, + 0.26615750789642334, + 0.0, + 0.5236935019493103 + ], + [ + 0.34287476539611816, + 0.05970533564686775, + 0.11896295845508575, + 0.014947454445064068, + -0.007365562487393618, + 0.1431497186422348, + 0.0, + 0.5236935019493103 + ], + [ + 0.3427963852882385, + 0.027309054508805275, + 0.12149731069803238, + 0.04591299220919609, + 0.0039788708090782166, + 0.032454922795295715, + 0.0, + 0.5236935019493103 + ], + [ + 0.34191030263900757, + 0.002339738653972745, + 0.1196461021900177, + 0.04402977228164673, + 0.013749572448432446, + -0.052982147783041, + 0.0, + 0.5236935019493103 + ], + [ + 0.33876174688339233, + -0.01839669607579708, + 0.11475400626659393, + 0.056451596319675446, + 0.03285843878984451, + -0.12701526284217834, + 0.0, + 0.5236935019493103 + ], + [ + 0.32385432720184326, + -0.04100987687706947, + 0.09980343282222748, + 0.02437218651175499, + 0.07784062623977661, + -0.18746373057365417, + 0.0, + 0.5236935019493103 + ], + [ + 0.3153522312641144, + -0.04626190662384033, + 0.09952958673238754, + -0.006552540697157383, + 0.07955128699541092, + -0.18950232863426208, + 0.0, + 0.5236935019493103 + ], + [ + 0.3061647117137909, + -0.05718974024057388, + 0.10854196548461914, + -0.018235743045806885, + 0.06230141967535019, + -0.20863129198551178, + 0.0, + 0.5236935019493103 + ], + [ + 0.304053395986557, + -0.059729281812906265, + 0.10826706886291504, + -0.01168527640402317, + 0.0718773603439331, + -0.2073226124048233, + 0.0, + 0.5236935019493103 + ], + [ + 0.3011515438556671, + -0.0639820471405983, + 0.10666869580745697, + -0.011914229951798916, + 0.07799423485994339, + -0.22419366240501404, + 0.0, + 0.5236935019493103 + ], + [ + 0.30209648609161377, + -0.06466444581747055, + 0.10041185468435287, + -0.008429089561104774, + 0.09040485322475433, + -0.2188158631324768, + 0.0, + 0.5236935019493103 + ], + [ + 0.30085864663124084, + -0.063680499792099, + 0.09663688391447067, + -0.008048387244343758, + 0.09494306892156601, + -0.2284366488456726, + 0.0, + 0.5236935019493103 + ], + [ + 0.3014301061630249, + -0.061625491827726364, + 0.09246095269918442, + -0.009669125080108643, + 0.10411287844181061, + -0.22031033039093018, + 0.0, + 0.5236935019493103 + ], + [ + 0.300126314163208, + -0.05682624131441116, + 0.09085515886545181, + -0.009163071401417255, + 0.1132921501994133, + -0.2131621390581131, + 0.0, + 0.5236935019493103 + ], + [ + 0.30019378662109375, + -0.05612551048398018, + 0.08991697430610657, + -0.007120170164853334, + 0.11644591391086578, + -0.2059095799922943, + 0.0, + 0.5236935019493103 + ], + [ + 0.3000967800617218, + -0.05610760301351547, + 0.08851179480552673, + -0.006668632384389639, + 0.12107858061790466, + -0.20128664374351501, + 0.0, + 0.5236935019493103 + ], + [ + 0.30069923400878906, + -0.055504683405160904, + 0.08845290541648865, + -0.0037364482413977385, + 0.11809265613555908, + -0.18782751262187958, + 0.0, + 0.5236935019493103 + ], + [ + 0.30128487944602966, + -0.05632525309920311, + 0.08836939185857773, + -0.0038874782621860504, + 0.11352996528148651, + -0.17807742953300476, + 0.0, + 0.5236935019493103 + ], + [ + 0.3017604351043701, + -0.056412357836961746, + 0.08831502497196198, + -0.00389554793946445, + 0.11046203225851059, + -0.17806541919708252, + 0.0, + 0.5236935019493103 + ], + [ + 0.30104929208755493, + -0.060104887932538986, + 0.0883176252245903, + -0.006379045080393553, + 0.11049599945545197, + -0.18478892743587494, + 0.0, + 0.5236935019493103 + ], + [ + 0.3014773726463318, + -0.06283850967884064, + 0.08821187913417816, + -0.004358809441328049, + 0.1043773740530014, + -0.1882564127445221, + 0.0, + 0.5236935019493103 + ], + [ + 0.30257648229599, + -0.06694243848323822, + 0.08802112936973572, + -0.00294488575309515, + 0.09216950088739395, + -0.1835280805826187, + 0.0, + 0.6059080362319946 + ], + [ + 0.30223318934440613, + -0.06461174786090851, + 0.08557350188493729, + -0.01585647463798523, + 0.09100928902626038, + -0.16816914081573486, + 0.0, + 0.8922415375709534 + ], + [ + 0.3010743260383606, + -0.045703619718551636, + 0.09003525227308273, + -0.04322846978902817, + 0.08340804278850555, + -0.07053374499082565, + 0.0, + 1.0105689764022827 + ], + [ + 0.3004731833934784, + -0.03191819787025452, + 0.09597140550613403, + -0.09514524787664413, + 0.09793896973133087, + -0.008436680771410465, + 0.0, + 1.0060625076293945 + ], + [ + 0.30437996983528137, + -0.0007422486087307334, + 0.12905600666999817, + -0.15770776569843292, + 0.022468628361821175, + 0.10773709416389465, + 0.0, + 1.0008161067962646 + ], + [ + 0.30194592475891113, + 0.01800251193344593, + 0.15576501190662384, + -0.20866888761520386, + -0.033046796917915344, + 0.14523251354694366, + 0.0, + 1.0008161067962646 + ], + [ + 0.3013756573200226, + 0.03740166127681732, + 0.1648806929588318, + -0.13885962963104248, + -0.045200396329164505, + 0.17242029309272766, + 0.0, + 1.0008161067962646 + ], + [ + 0.30614617466926575, + 0.06021163985133171, + 0.15043282508850098, + -0.004998986609280109, + -0.11824178695678711, + 0.17876996099948883, + 0.0, + 1.0008161067962646 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9723638892173767 + ], + [ + 0.6621366739273071 + ], + [ + 0.5236935019493103 + ], + [ + 0.5236935019493103 + ], + [ + 0.5236935019493103 + ], + [ + 0.5236935019493103 + ], + [ + 0.5236935019493103 + ], + [ + 0.5236935019493103 + ], + [ + 0.5236935019493103 + ], + [ + 0.5236935019493103 + ], + [ + 0.5236935019493103 + ], + [ + 0.5236935019493103 + ], + [ + 0.5236935019493103 + ], + [ + 0.5236935019493103 + ], + [ + 0.5236935019493103 + ], + [ + 0.5236935019493103 + ], + [ + 0.5236935019493103 + ], + [ + 0.5236935019493103 + ], + [ + 0.5236935019493103 + ], + [ + 0.5236935019493103 + ], + [ + 0.5236935019493103 + ], + [ + 0.5236935019493103 + ], + [ + 0.5236935019493103 + ], + [ + 0.5236935019493103 + ], + [ + 0.5236935019493103 + ], + [ + 0.6059080362319946 + ], + [ + 0.8922415375709534 + ], + [ + 1.0105689764022827 + ], + [ + 1.0060625076293945 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.33565381169319153, + 0.05234729126095772, + 0.10760972648859024 + ], + [ + 0.33440572023391724, + 0.05168355628848076, + 0.09732457250356674 + ], + [ + 0.333682656288147, + 0.06424121558666229, + 0.10278372466564178 + ], + [ + 0.33350861072540283, + 0.0843827873468399, + 0.11089688539505005 + ], + [ + 0.3292663097381592, + 0.08902787417173386, + 0.10700106620788574 + ], + [ + 0.33556196093559265, + 0.09672705084085464, + 0.09981221705675125 + ], + [ + 0.3485378324985504, + 0.10238689929246902, + 0.08786790072917938 + ], + [ + 0.36101776361465454, + 0.10632136464118958, + 0.08885304629802704 + ], + [ + 0.36717015504837036, + 0.10936339199542999, + 0.08932991325855255 + ], + [ + 0.36876994371414185, + 0.1086941808462143, + 0.08980315923690796 + ], + [ + 0.36737194657325745, + 0.10998839884996414, + 0.08990006148815155 + ], + [ + 0.3624083995819092, + 0.11191154271364212, + 0.08851604163646698 + ], + [ + 0.34573522210121155, + 0.09463086724281311, + 0.09692305326461792 + ], + [ + 0.34287476539611816, + 0.05970533564686775, + 0.11896295845508575 + ], + [ + 0.3427963852882385, + 0.027309054508805275, + 0.12149731069803238 + ], + [ + 0.34191030263900757, + 0.002339738653972745, + 0.1196461021900177 + ], + [ + 0.33876174688339233, + -0.01839669607579708, + 0.11475400626659393 + ], + [ + 0.32385432720184326, + -0.04100987687706947, + 0.09980343282222748 + ], + [ + 0.3153522312641144, + -0.04626190662384033, + 0.09952958673238754 + ], + [ + 0.3061647117137909, + -0.05718974024057388, + 0.10854196548461914 + ], + [ + 0.304053395986557, + -0.059729281812906265, + 0.10826706886291504 + ], + [ + 0.3011515438556671, + -0.0639820471405983, + 0.10666869580745697 + ], + [ + 0.30209648609161377, + -0.06466444581747055, + 0.10041185468435287 + ], + [ + 0.30085864663124084, + -0.063680499792099, + 0.09663688391447067 + ], + [ + 0.3014301061630249, + -0.061625491827726364, + 0.09246095269918442 + ], + [ + 0.300126314163208, + -0.05682624131441116, + 0.09085515886545181 + ], + [ + 0.30019378662109375, + -0.05612551048398018, + 0.08991697430610657 + ], + [ + 0.3000967800617218, + -0.05610760301351547, + 0.08851179480552673 + ], + [ + 0.30069923400878906, + -0.055504683405160904, + 0.08845290541648865 + ], + [ + 0.30128487944602966, + -0.05632525309920311, + 0.08836939185857773 + ], + [ + 0.3017604351043701, + -0.056412357836961746, + 0.08831502497196198 + ], + [ + 0.30104929208755493, + -0.060104887932538986, + 0.0883176252245903 + ], + [ + 0.3014773726463318, + -0.06283850967884064, + 0.08821187913417816 + ], + [ + 0.30257648229599, + -0.06694243848323822, + 0.08802112936973572 + ], + [ + 0.30223318934440613, + -0.06461174786090851, + 0.08557350188493729 + ], + [ + 0.3010743260383606, + -0.045703619718551636, + 0.09003525227308273 + ], + [ + 0.3004731833934784, + -0.03191819787025452, + 0.09597140550613403 + ], + [ + 0.30437996983528137, + -0.0007422486087307334, + 0.12905600666999817 + ], + [ + 0.30194592475891113, + 0.01800251193344593, + 0.15576501190662384 + ], + [ + 0.3013756573200226, + 0.03740166127681732, + 0.1648806929588318 + ], + [ + 0.30614617466926575, + 0.06021163985133171, + 0.15043282508850098 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9703074966244495, + 0.23079664817475248, + 0.07236207007606478, + 0.23177145549875777, + -0.9727560366576149, + -0.00526170715224448, + 0.06917625611711824, + 0.021876936199297946, + -0.9973645498272687 + ], + [ + 0.9718510081613317, + 0.2324978993276669, + 0.03808339197110851, + 0.2331553034553785, + -0.9723418781612825, + -0.013779566191281989, + 0.03382635668282036, + 0.02227103010665713, + -0.9991795528390054 + ], + [ + 0.960895357923557, + 0.27500575323431486, + 0.03243372949548625, + 0.2758890243764487, + -0.9608142397945197, + -0.026855964638981825, + 0.023777244364529396, + 0.03475388174155618, + -0.999113011803131 + ], + [ + 0.9413509583466739, + 0.3342522318916682, + 0.04619327543309253, + 0.3358878931830248, + -0.9412984721595533, + -0.03371215690459763, + 0.03221329590197155, + 0.04725073317452103, + -0.9983634968194715 + ], + [ + 0.9425012574178427, + 0.3341950927501633, + 0.0022404793003091127, + 0.3341109161545393, + -0.9420644898452073, + -0.02973874037452986, + -0.007827865108684582, + 0.02877736878866872, + -0.9995551948609147 + ], + [ + 0.9378916832058682, + 0.3457971218616355, + -0.027991803898155695, + 0.3453729921591074, + -0.9382743871698307, + -0.01893860259216661, + -0.03281290691677263, + 0.008094744794497163, + -0.9994287309490274 + ], + [ + 0.9403416978086937, + 0.3353943836089012, + -0.05716728790023697, + 0.335269339712919, + -0.94204524040742, + -0.012051343252493346, + -0.05789612431524823, + -0.007834058292565853, + -0.9982918743132901 + ], + [ + 0.9407704319678506, + 0.3301053533733804, + -0.07733983455671403, + 0.33048200869784655, + -0.9437762521333815, + -0.008247898890325508, + -0.07571417477633013, + -0.017800044474783294, + -0.9969706726652673 + ], + [ + 0.9358001586865674, + 0.3384827720377184, + -0.09852652452947537, + 0.3395386561355444, + -0.9405705997319095, + -0.0063598671074837285, + -0.09482385771452194, + -0.027501999084035063, + -0.9951141020277614 + ], + [ + 0.9401243181877716, + 0.3253739017447286, + -0.10147950736670451, + 0.3252352927064973, + -0.9454545891313062, + -0.01837455492445594, + -0.10192286657122802, + -0.01573035136176339, + -0.994667927157571 + ], + [ + 0.9367165696605217, + 0.33367748805105524, + -0.10593111956060244, + 0.3329406768015767, + -0.9426138749853809, + -0.025091600505999553, + -0.10822464531858167, + -0.011765060687583602, + -0.9940568441958862 + ], + [ + 0.9408501631816346, + 0.3200419449028071, + -0.11123903965748715, + 0.32190741721465227, + -0.9467703208975343, + -0.001254675165726877, + -0.10571936995311314, + -0.03462821061516588, + -0.9937928867959904 + ], + [ + 0.9628134990587873, + 0.26112273694892774, + -0.06931870078467413, + 0.2624877061695893, + -0.9648702031751187, + 0.011211384153263487, + -0.0639560015948578, + -0.028989778769521083, + -0.9975315647070484 + ], + [ + 0.9897447153823578, + 0.1427543474835991, + 0.005156999828105927, + 0.1426574493078014, + -0.9896452893029556, + 0.01584466842382881, + 0.0073654958887588535, + -0.014946492397911921, + -0.9998611662802549 + ], + [ + 0.9994654736926963, + 0.03223250895411084, + -0.005461891866093461, + 0.03244896865638054, + -0.9984260496757124, + 0.04574371828009624, + -0.003978860310562075, + -0.045896499817249053, + -0.9989382763590321 + ], + [ + 0.9985023830609769, + -0.05351036635349107, + -0.01138559239851941, + -0.052952357757983556, + -0.9975969318867683, + 0.04468119624603973, + -0.01374913922471409, + -0.044011386967712875, + -0.998936413886168 + ], + [ + 0.9914089586450804, + -0.12831089115269395, + -0.025388815054639555, + -0.1266056405935893, + -0.9901294622659622, + 0.06012204024152194, + -0.03285252635892804, + -0.05639116211356009, + -0.9978681016784322 + ], + [ + 0.9795050723190972, + -0.188174156460053, + -0.07183522911293376, + -0.18580333189793977, + -0.9818351145475495, + 0.03843084304337359, + -0.07776204187638229, + -0.024295980777648548, + -0.9966758601276886 + ], + [ + 0.9789921832623323, + -0.18785472431577913, + -0.07927740954076512, + -0.1877744289539964, + -0.9821751058318143, + 0.008533774971521399, + -0.07946740805042113, + 0.006531771314630096, + -0.9968160647889062 + ], + [ + 0.9764172840556647, + -0.20597593295466052, + -0.06467768116450201, + -0.20671922947306623, + -0.978387805790145, + -0.0049458717338535406, + -0.06226112401347714, + 0.018199355060087456, + -0.9978939502331777 + ], + [ + 0.9760587645743891, + -0.2050053403711288, + -0.0726780470075729, + -0.20530909408855205, + -0.9786914606487951, + 0.003346750314286307, + -0.07181548567026076, + 0.011654839014148752, + -0.9973498386952789 + ], + [ + 0.9720097605960547, + -0.22139945157915453, + -0.07860857552742163, + -0.2216444209519337, + -0.975110866712355, + 0.0057051100219052, + -0.07791518444361627, + 0.011877729578065488, + -0.9968892333520248 + ], + [ + 0.9721688185518198, + -0.2163233242761701, + -0.08995558687299973, + -0.21618740175922554, + -0.9762856910774579, + 0.011369112454612855, + -0.09028175649683631, + 0.008394567976816352, + -0.9958808842790028 + ], + [ + 0.9696349044741424, + -0.22570456684154566, + -0.09415731799648282, + -0.2254351754757331, + -0.9741628485582478, + 0.013628138064525978, + -0.09480049411076909, + 0.008012053154504437, + -0.9954640492356333 + ], + [ + 0.9705457058736715, + -0.21754168812421987, + -0.10352123810233975, + -0.21734914228327185, + -0.9760036550031632, + 0.013274628777944063, + -0.10392489191191263, + 0.00961661835214523, + -0.9945386556049827 + ], + [ + 0.9711012467231946, + -0.2105302158883077, + -0.11242507198432027, + -0.21019533007834804, + -0.9775449563562894, + 0.014959328716047458, + -0.11304995279039866, + 0.009104202348530464, + -0.9935475940656722 + ], + [ + 0.9722463102432628, + -0.20364266694869074, + -0.115181493376261, + -0.20307298859529335, + -0.9790197406333162, + 0.016784181637779352, + -0.11618293128225372, + 0.007071891423002614, + -0.9932026554688446 + ], + [ + 0.97263690028171, + -0.19913652777704874, + -0.11967499118566201, + -0.19846646164380108, + -0.9799493977026912, + 0.017613674935211567, + -0.12078296160045597, + 0.006619761856317589, + -0.9926568666664172 + ], + [ + 0.9755698692368094, + -0.18629127705868628, + -0.11644307763503148, + -0.18542454941233213, + -0.9824875535629195, + 0.0183287634384499, + -0.1178183632228346, + 0.0037104158517399363, + -0.9930282302642252 + ], + [ + 0.9778502676391836, + -0.17670296411284964, + -0.11218251446508952, + -0.17599739168209577, + -0.984256645398884, + 0.016241124013887033, + -0.11328624011359902, + 0.003862442474454131, + -0.9935548849153003 + ], + [ + 0.9781898380788653, + -0.17670192614704092, + -0.10918365250882936, + -0.1760463799819231, + -0.9842567949945397, + 0.015691832344791986, + -0.1102375288842391, + 0.003871795836870852, + -0.9938977293577513 + ], + [ + 0.9769804067084086, + -0.1830438751420012, + -0.10956379274592312, + -0.18261853063387629, + -0.9830843010187713, + 0.013990330930946437, + -0.11027128899671082, + 0.006340099639033758, + -0.9938813037579339 + ], + [ + 0.9769858155462555, + -0.18669851051971154, + -0.10316192316518194, + -0.18612787793902097, + -0.9824076920036705, + 0.015216430131212565, + -0.10418795168029102, + 0.004335073441398318, + -0.9945481777485307 + ], + [ + 0.9790326220539737, + -0.18223224830036444, + -0.09103039400944692, + -0.18172489390591373, + -0.9832511422913663, + 0.0139015868737097, + -0.0920390563239608, + 0.002932381645901155, + -0.9957510799637012 + ], + [ + 0.9818127584642007, + -0.16593585241081532, + -0.09224424210547225, + -0.16668490946606002, + -0.9860101230460854, + -0.0004221456320093629, + -0.09088370741342061, + 0.01579019111155269, + -0.9957363213177735 + ], + [ + 0.9940457359150743, + -0.06681808759515007, + -0.08607216785456823, + -0.07023027250920338, + -0.9968353768117316, + -0.03724164818983865, + -0.08331136616537474, + 0.04306477338544268, + -0.9955926082293496 + ], + [ + 0.9951723934815762, + 0.000890753511955313, + -0.09813823826792278, + -0.008396151003179883, + -0.9955200485109467, + -0.09417716103755706, + -0.09778247235820153, + 0.09454649422872903, + -0.9907065905345407 + ], + [ + 0.9939510252703175, + 0.10970239923431574, + -0.005171360200142812, + 0.1075016513925775, + -0.9814843927257677, + -0.15853006586638366, + -0.02246673790191976, + 0.15701519174260178, + -0.9873406075160084 + ], + [ + 0.9889320350653366, + 0.13481051243011716, + 0.061964148988439494, + 0.14464348146808942, + -0.96899876249194, + -0.2002989304960958, + 0.03304078222928096, + 0.20704473919280966, + -0.977773380023336 + ], + [ + 0.9841661901156734, + 0.1637543378900822, + 0.06783381940729184, + 0.1713920226037211, + -0.9767626370201143, + -0.12868381992044683, + 0.045185006595173244, + 0.13827244028978883, + -0.9893629503045386 + ], + [ + 0.9771920202688469, + 0.17723673819665253, + 0.11697390374053802, + 0.17657766347721376, + -0.9841557278869313, + 0.016057148821391552, + 0.11796645406138669, + 0.004964060913779574, + -0.9930051731060755 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.001248091459274292, + -0.0006637349724769592, + -0.010285153985023499, + -0.0003543999046087265, + 0.03539873659610748, + 0.0009879469871520996, + 1.0 + ], + [ + -0.0007230639457702637, + 0.012557659298181534, + 0.005459152162075043, + -0.012485088780522346, + 0.010053325444459915, + 0.044137224555015564, + 1.0 + ], + [ + -0.00017404556274414062, + 0.020141571760177612, + 0.008113160729408264, + -0.012522179633378983, + -0.008439384400844574, + 0.0631372332572937, + 1.0 + ], + [ + -0.004242300987243652, + 0.004645086824893951, + -0.0038958191871643066, + 0.018510671332478523, + 0.0400468148291111, + -0.0020602643489837646, + 1.0 + ], + [ + 0.006295651197433472, + 0.007699176669120789, + -0.007188849151134491, + 0.020683029666543007, + 0.024990852922201157, + 0.012161850929260254, + 1.0 + ], + [ + 0.012975871562957764, + 0.00565984845161438, + -0.011944316327571869, + 0.01594649627804756, + 0.02510971948504448, + -0.010345399379730225, + 1.0 + ], + [ + 0.012479931116104126, + 0.0039344653487205505, + 0.0009851455688476562, + 0.010004932060837746, + 0.01785818487405777, + -0.004666686058044434, + 1.0 + ], + [ + 0.00615239143371582, + 0.0030420273542404175, + 0.0004768669605255127, + 0.009777763858437538, + 0.01917983591556549, + 0.01023837924003601, + 0.0 + ], + [ + 0.0015997886657714844, + -0.0006692111492156982, + 0.0004732459783554077, + -0.011816639453172684, + 0.0071336254477500916, + -0.014999210834503174, + 0.0 + ], + [ + -0.0013979971408843994, + 0.0012942180037498474, + 9.690225124359131e-05, + -0.00397851038724184, + 0.006336867809295654, + 0.008445769548416138, + 0.0 + ], + [ + -0.004963546991348267, + 0.0019231438636779785, + -0.0013840198516845703, + 0.02299555391073227, + -0.00251973420381546, + -0.011847138404846191, + 0.0 + ], + [ + -0.016673177480697632, + -0.01728067547082901, + 0.00840701162815094, + -0.005777064710855484, + -0.04191761463880539, + -0.06350269913673401, + 0.0 + ], + [ + -0.002860456705093384, + -0.03492553159594536, + 0.022039905190467834, + -0.014105883426964283, + -0.07136524468660355, + -0.12300778925418854, + 0.0 + ], + [ + -7.838010787963867e-05, + -0.03239627927541733, + 0.0025343522429466248, + 0.030965536832809448, + 0.011344432830810547, + -0.11069479584693909, + 0.0 + ], + [ + -0.000886082649230957, + -0.0249693151563406, + -0.001851208508014679, + -0.0018832199275493622, + 0.009770701639354229, + -0.08543707430362701, + 0.0 + ], + [ + -0.0031485557556152344, + -0.020736435428261757, + -0.004892095923423767, + 0.012421824038028717, + 0.019108865410089493, + -0.07403311133384705, + 0.0 + ], + [ + -0.014907419681549072, + -0.022613180801272392, + -0.014950573444366455, + -0.032079409807920456, + 0.0449821874499321, + -0.06044846773147583, + 0.0 + ], + [ + -0.008502095937728882, + -0.005252029746770859, + -0.0002738460898399353, + -0.030924726277589798, + 0.0017106607556343079, + -0.00203859806060791, + 0.0 + ], + [ + -0.009187519550323486, + -0.010927833616733551, + 0.009012378752231598, + -0.011683202348649502, + -0.01724986732006073, + -0.019128963351249695, + 0.0 + ], + [ + -0.0021113157272338867, + -0.002539541572332382, + -0.00027489662170410156, + 0.006550466641783714, + 0.009575940668582916, + 0.0013086795806884766, + 0.0 + ], + [ + -0.0029018521308898926, + -0.004252765327692032, + -0.0015983730554580688, + -0.0002289535477757454, + 0.006116874516010284, + -0.016871050000190735, + 0.0 + ], + [ + 0.0009449422359466553, + -0.0006823986768722534, + -0.0062568411231040955, + 0.0034851403906941414, + 0.012410618364810944, + 0.0053777992725372314, + 0.0 + ], + [ + -0.0012378394603729248, + 0.0009839460253715515, + -0.003774970769882202, + 0.00038070231676101685, + 0.004538215696811676, + -0.0096207857131958, + 0.0 + ], + [ + 0.0005714595317840576, + 0.002055007964372635, + -0.004175931215286255, + -0.001620737835764885, + 0.009169809520244598, + 0.008126318454742432, + 0.0 + ], + [ + -0.0013037919998168945, + 0.004799250513315201, + -0.001605793833732605, + 0.0005060536786913872, + 0.009179271757602692, + 0.007148191332817078, + 0.0 + ], + [ + 6.747245788574219e-05, + 0.0007007308304309845, + -0.0009381845593452454, + 0.002042901236563921, + 0.003153763711452484, + 0.007252559065818787, + 0.0 + ], + [ + -9.700655937194824e-05, + 1.790747046470642e-05, + -0.001405179500579834, + 0.0004515377804636955, + 0.004632666707038879, + 0.004622936248779297, + 0.0 + ], + [ + 0.0006024539470672607, + 0.0006029196083545685, + -5.888938903808594e-05, + 0.0029321841429919004, + -0.002985924482345581, + 0.013459131121635437, + 0.0 + ], + [ + 0.0005856454372406006, + -0.0008205696940422058, + -8.351355791091919e-05, + -0.00015103002078831196, + -0.004562690854072571, + 0.009750083088874817, + 0.0 + ], + [ + 0.0004755556583404541, + -8.710473775863647e-05, + -5.4366886615753174e-05, + -8.069677278399467e-06, + -0.0030679330229759216, + 1.2010335922241211e-05, + 0.0 + ], + [ + -0.0007111430168151855, + -0.00369253009557724, + 2.600252628326416e-06, + -0.002483497140929103, + 3.396719694137573e-05, + -0.006723508238792419, + 0.0 + ], + [ + 0.00042808055877685547, + -0.002733621746301651, + -0.00010574609041213989, + 0.002020235639065504, + -0.0061186254024505615, + -0.0034674853086471558, + 0.0 + ], + [ + 0.0010991096496582031, + -0.004103928804397583, + -0.00019074976444244385, + 0.0014139236882328987, + -0.012207873165607452, + 0.004728332161903381, + 1.0 + ], + [ + -0.0003432929515838623, + 0.002330690622329712, + -0.0024476274847984314, + -0.01291158888489008, + -0.0011602118611335754, + 0.01535893976688385, + 1.0 + ], + [ + -0.0011588633060455322, + 0.018908128142356873, + 0.004461750388145447, + -0.027371995151042938, + -0.007601246237754822, + 0.09763539582490921, + 1.0 + ], + [ + -0.0006011426448822021, + 0.01378542184829712, + 0.0059361532330513, + -0.05191677808761597, + 0.014530926942825317, + 0.06209706515073776, + 1.0 + ], + [ + 0.0039067864418029785, + 0.031175948679447174, + 0.033084601163864136, + -0.06256251782178879, + -0.07547034323215485, + 0.11617377400398254, + 1.0 + ], + [ + -0.0024340450763702393, + 0.018744761124253273, + 0.02670900523662567, + -0.050961121916770935, + -0.05551542341709137, + 0.03749541938304901, + 1.0 + ], + [ + -0.0005702674388885498, + 0.01939914934337139, + 0.009115681052207947, + 0.06980925798416138, + -0.01215359941124916, + 0.027187779545783997, + 1.0 + ], + [ + 0.004770517349243164, + 0.02280997857451439, + -0.01444786787033081, + 0.13386064767837524, + -0.0730413943529129, + 0.006349667906761169, + 1.0 + ], + [ + -0.000996321439743042, + 0.023227673023939133, + -0.008909836411476135, + 0.010130581445991993, + -0.03967548906803131, + 0.05552308261394501, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9723638892173767 + ], + [ + 0.6621366739273071 + ], + [ + 0.5236935019493103 + ], + [ + 0.5236935019493103 + ], + [ + 0.5236935019493103 + ], + [ + 0.5236935019493103 + ], + [ + 0.5236935019493103 + ], + [ + 0.5236935019493103 + ], + [ + 0.5236935019493103 + ], + [ + 0.5236935019493103 + ], + [ + 0.5236935019493103 + ], + [ + 0.5236935019493103 + ], + [ + 0.5236935019493103 + ], + [ + 0.5236935019493103 + ], + [ + 0.5236935019493103 + ], + [ + 0.5236935019493103 + ], + [ + 0.5236935019493103 + ], + [ + 0.5236935019493103 + ], + [ + 0.5236935019493103 + ], + [ + 0.5236935019493103 + ], + [ + 0.5236935019493103 + ], + [ + 0.5236935019493103 + ], + [ + 0.5236935019493103 + ], + [ + 0.5236935019493103 + ], + [ + 0.5236935019493103 + ], + [ + 0.6059080362319946 + ], + [ + 0.8922415375709534 + ], + [ + 1.0105689764022827 + ], + [ + 1.0060625076293945 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.33440572023391724, + 0.05168355628848076, + 0.09732457250356674 + ], + [ + 0.333682656288147, + 0.06424121558666229, + 0.10278372466564178 + ], + [ + 0.33350861072540283, + 0.0843827873468399, + 0.11089688539505005 + ], + [ + 0.3292663097381592, + 0.08902787417173386, + 0.10700106620788574 + ], + [ + 0.33556196093559265, + 0.09672705084085464, + 0.09981221705675125 + ], + [ + 0.3485378324985504, + 0.10238689929246902, + 0.08786790072917938 + ], + [ + 0.36101776361465454, + 0.10632136464118958, + 0.08885304629802704 + ], + [ + 0.36717015504837036, + 0.10936339199542999, + 0.08932991325855255 + ], + [ + 0.36876994371414185, + 0.1086941808462143, + 0.08980315923690796 + ], + [ + 0.36737194657325745, + 0.10998839884996414, + 0.08990006148815155 + ], + [ + 0.3624083995819092, + 0.11191154271364212, + 0.08851604163646698 + ], + [ + 0.34573522210121155, + 0.09463086724281311, + 0.09692305326461792 + ], + [ + 0.34287476539611816, + 0.05970533564686775, + 0.11896295845508575 + ], + [ + 0.3427963852882385, + 0.027309054508805275, + 0.12149731069803238 + ], + [ + 0.34191030263900757, + 0.002339738653972745, + 0.1196461021900177 + ], + [ + 0.33876174688339233, + -0.01839669607579708, + 0.11475400626659393 + ], + [ + 0.32385432720184326, + -0.04100987687706947, + 0.09980343282222748 + ], + [ + 0.3153522312641144, + -0.04626190662384033, + 0.09952958673238754 + ], + [ + 0.3061647117137909, + -0.05718974024057388, + 0.10854196548461914 + ], + [ + 0.304053395986557, + -0.059729281812906265, + 0.10826706886291504 + ], + [ + 0.3011515438556671, + -0.0639820471405983, + 0.10666869580745697 + ], + [ + 0.30209648609161377, + -0.06466444581747055, + 0.10041185468435287 + ], + [ + 0.30085864663124084, + -0.063680499792099, + 0.09663688391447067 + ], + [ + 0.3014301061630249, + -0.061625491827726364, + 0.09246095269918442 + ], + [ + 0.300126314163208, + -0.05682624131441116, + 0.09085515886545181 + ], + [ + 0.30019378662109375, + -0.05612551048398018, + 0.08991697430610657 + ], + [ + 0.3000967800617218, + -0.05610760301351547, + 0.08851179480552673 + ], + [ + 0.30069923400878906, + -0.055504683405160904, + 0.08845290541648865 + ], + [ + 0.30128487944602966, + -0.05632525309920311, + 0.08836939185857773 + ], + [ + 0.3017604351043701, + -0.056412357836961746, + 0.08831502497196198 + ], + [ + 0.30104929208755493, + -0.060104887932538986, + 0.0883176252245903 + ], + [ + 0.3014773726463318, + -0.06283850967884064, + 0.08821187913417816 + ], + [ + 0.30257648229599, + -0.06694243848323822, + 0.08802112936973572 + ], + [ + 0.30223318934440613, + -0.06461174786090851, + 0.08557350188493729 + ], + [ + 0.3010743260383606, + -0.045703619718551636, + 0.09003525227308273 + ], + [ + 0.3004731833934784, + -0.03191819787025452, + 0.09597140550613403 + ], + [ + 0.30437996983528137, + -0.0007422486087307334, + 0.12905600666999817 + ], + [ + 0.30194592475891113, + 0.01800251193344593, + 0.15576501190662384 + ], + [ + 0.3013756573200226, + 0.03740166127681732, + 0.1648806929588318 + ], + [ + 0.30614617466926575, + 0.06021163985133171, + 0.15043282508850098 + ], + [ + 0.3051498532295227, + 0.08343931287527084, + 0.14152298867702484 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9718510081613317, + 0.2324978993276669, + 0.03808339197110851, + 0.2331553034553785, + -0.9723418781612825, + -0.013779566191281989, + 0.03382635668282036, + 0.02227103010665713, + -0.9991795528390054 + ], + [ + 0.960895357923557, + 0.27500575323431486, + 0.03243372949548625, + 0.2758890243764487, + -0.9608142397945197, + -0.026855964638981825, + 0.023777244364529396, + 0.03475388174155618, + -0.999113011803131 + ], + [ + 0.9413509583466739, + 0.3342522318916682, + 0.04619327543309253, + 0.3358878931830248, + -0.9412984721595533, + -0.03371215690459763, + 0.03221329590197155, + 0.04725073317452103, + -0.9983634968194715 + ], + [ + 0.9425012574178427, + 0.3341950927501633, + 0.0022404793003091127, + 0.3341109161545393, + -0.9420644898452073, + -0.02973874037452986, + -0.007827865108684582, + 0.02877736878866872, + -0.9995551948609147 + ], + [ + 0.9378916832058682, + 0.3457971218616355, + -0.027991803898155695, + 0.3453729921591074, + -0.9382743871698307, + -0.01893860259216661, + -0.03281290691677263, + 0.008094744794497163, + -0.9994287309490274 + ], + [ + 0.9403416978086937, + 0.3353943836089012, + -0.05716728790023697, + 0.335269339712919, + -0.94204524040742, + -0.012051343252493346, + -0.05789612431524823, + -0.007834058292565853, + -0.9982918743132901 + ], + [ + 0.9407704319678506, + 0.3301053533733804, + -0.07733983455671403, + 0.33048200869784655, + -0.9437762521333815, + -0.008247898890325508, + -0.07571417477633013, + -0.017800044474783294, + -0.9969706726652673 + ], + [ + 0.9358001586865674, + 0.3384827720377184, + -0.09852652452947537, + 0.3395386561355444, + -0.9405705997319095, + -0.0063598671074837285, + -0.09482385771452194, + -0.027501999084035063, + -0.9951141020277614 + ], + [ + 0.9401243181877716, + 0.3253739017447286, + -0.10147950736670451, + 0.3252352927064973, + -0.9454545891313062, + -0.01837455492445594, + -0.10192286657122802, + -0.01573035136176339, + -0.994667927157571 + ], + [ + 0.9367165696605217, + 0.33367748805105524, + -0.10593111956060244, + 0.3329406768015767, + -0.9426138749853809, + -0.025091600505999553, + -0.10822464531858167, + -0.011765060687583602, + -0.9940568441958862 + ], + [ + 0.9408501631816346, + 0.3200419449028071, + -0.11123903965748715, + 0.32190741721465227, + -0.9467703208975343, + -0.001254675165726877, + -0.10571936995311314, + -0.03462821061516588, + -0.9937928867959904 + ], + [ + 0.9628134990587873, + 0.26112273694892774, + -0.06931870078467413, + 0.2624877061695893, + -0.9648702031751187, + 0.011211384153263487, + -0.0639560015948578, + -0.028989778769521083, + -0.9975315647070484 + ], + [ + 0.9897447153823578, + 0.1427543474835991, + 0.005156999828105927, + 0.1426574493078014, + -0.9896452893029556, + 0.01584466842382881, + 0.0073654958887588535, + -0.014946492397911921, + -0.9998611662802549 + ], + [ + 0.9994654736926963, + 0.03223250895411084, + -0.005461891866093461, + 0.03244896865638054, + -0.9984260496757124, + 0.04574371828009624, + -0.003978860310562075, + -0.045896499817249053, + -0.9989382763590321 + ], + [ + 0.9985023830609769, + -0.05351036635349107, + -0.01138559239851941, + -0.052952357757983556, + -0.9975969318867683, + 0.04468119624603973, + -0.01374913922471409, + -0.044011386967712875, + -0.998936413886168 + ], + [ + 0.9914089586450804, + -0.12831089115269395, + -0.025388815054639555, + -0.1266056405935893, + -0.9901294622659622, + 0.06012204024152194, + -0.03285252635892804, + -0.05639116211356009, + -0.9978681016784322 + ], + [ + 0.9795050723190972, + -0.188174156460053, + -0.07183522911293376, + -0.18580333189793977, + -0.9818351145475495, + 0.03843084304337359, + -0.07776204187638229, + -0.024295980777648548, + -0.9966758601276886 + ], + [ + 0.9789921832623323, + -0.18785472431577913, + -0.07927740954076512, + -0.1877744289539964, + -0.9821751058318143, + 0.008533774971521399, + -0.07946740805042113, + 0.006531771314630096, + -0.9968160647889062 + ], + [ + 0.9764172840556647, + -0.20597593295466052, + -0.06467768116450201, + -0.20671922947306623, + -0.978387805790145, + -0.0049458717338535406, + -0.06226112401347714, + 0.018199355060087456, + -0.9978939502331777 + ], + [ + 0.9760587645743891, + -0.2050053403711288, + -0.0726780470075729, + -0.20530909408855205, + -0.9786914606487951, + 0.003346750314286307, + -0.07181548567026076, + 0.011654839014148752, + -0.9973498386952789 + ], + [ + 0.9720097605960547, + -0.22139945157915453, + -0.07860857552742163, + -0.2216444209519337, + -0.975110866712355, + 0.0057051100219052, + -0.07791518444361627, + 0.011877729578065488, + -0.9968892333520248 + ], + [ + 0.9721688185518198, + -0.2163233242761701, + -0.08995558687299973, + -0.21618740175922554, + -0.9762856910774579, + 0.011369112454612855, + -0.09028175649683631, + 0.008394567976816352, + -0.9958808842790028 + ], + [ + 0.9696349044741424, + -0.22570456684154566, + -0.09415731799648282, + -0.2254351754757331, + -0.9741628485582478, + 0.013628138064525978, + -0.09480049411076909, + 0.008012053154504437, + -0.9954640492356333 + ], + [ + 0.9705457058736715, + -0.21754168812421987, + -0.10352123810233975, + -0.21734914228327185, + -0.9760036550031632, + 0.013274628777944063, + -0.10392489191191263, + 0.00961661835214523, + -0.9945386556049827 + ], + [ + 0.9711012467231946, + -0.2105302158883077, + -0.11242507198432027, + -0.21019533007834804, + -0.9775449563562894, + 0.014959328716047458, + -0.11304995279039866, + 0.009104202348530464, + -0.9935475940656722 + ], + [ + 0.9722463102432628, + -0.20364266694869074, + -0.115181493376261, + -0.20307298859529335, + -0.9790197406333162, + 0.016784181637779352, + -0.11618293128225372, + 0.007071891423002614, + -0.9932026554688446 + ], + [ + 0.97263690028171, + -0.19913652777704874, + -0.11967499118566201, + -0.19846646164380108, + -0.9799493977026912, + 0.017613674935211567, + -0.12078296160045597, + 0.006619761856317589, + -0.9926568666664172 + ], + [ + 0.9755698692368094, + -0.18629127705868628, + -0.11644307763503148, + -0.18542454941233213, + -0.9824875535629195, + 0.0183287634384499, + -0.1178183632228346, + 0.0037104158517399363, + -0.9930282302642252 + ], + [ + 0.9778502676391836, + -0.17670296411284964, + -0.11218251446508952, + -0.17599739168209577, + -0.984256645398884, + 0.016241124013887033, + -0.11328624011359902, + 0.003862442474454131, + -0.9935548849153003 + ], + [ + 0.9781898380788653, + -0.17670192614704092, + -0.10918365250882936, + -0.1760463799819231, + -0.9842567949945397, + 0.015691832344791986, + -0.1102375288842391, + 0.003871795836870852, + -0.9938977293577513 + ], + [ + 0.9769804067084086, + -0.1830438751420012, + -0.10956379274592312, + -0.18261853063387629, + -0.9830843010187713, + 0.013990330930946437, + -0.11027128899671082, + 0.006340099639033758, + -0.9938813037579339 + ], + [ + 0.9769858155462555, + -0.18669851051971154, + -0.10316192316518194, + -0.18612787793902097, + -0.9824076920036705, + 0.015216430131212565, + -0.10418795168029102, + 0.004335073441398318, + -0.9945481777485307 + ], + [ + 0.9790326220539737, + -0.18223224830036444, + -0.09103039400944692, + -0.18172489390591373, + -0.9832511422913663, + 0.0139015868737097, + -0.0920390563239608, + 0.002932381645901155, + -0.9957510799637012 + ], + [ + 0.9818127584642007, + -0.16593585241081532, + -0.09224424210547225, + -0.16668490946606002, + -0.9860101230460854, + -0.0004221456320093629, + -0.09088370741342061, + 0.01579019111155269, + -0.9957363213177735 + ], + [ + 0.9940457359150743, + -0.06681808759515007, + -0.08607216785456823, + -0.07023027250920338, + -0.9968353768117316, + -0.03724164818983865, + -0.08331136616537474, + 0.04306477338544268, + -0.9955926082293496 + ], + [ + 0.9951723934815762, + 0.000890753511955313, + -0.09813823826792278, + -0.008396151003179883, + -0.9955200485109467, + -0.09417716103755706, + -0.09778247235820153, + 0.09454649422872903, + -0.9907065905345407 + ], + [ + 0.9939510252703175, + 0.10970239923431574, + -0.005171360200142812, + 0.1075016513925775, + -0.9814843927257677, + -0.15853006586638366, + -0.02246673790191976, + 0.15701519174260178, + -0.9873406075160084 + ], + [ + 0.9889320350653366, + 0.13481051243011716, + 0.061964148988439494, + 0.14464348146808942, + -0.96899876249194, + -0.2002989304960958, + 0.03304078222928096, + 0.20704473919280966, + -0.977773380023336 + ], + [ + 0.9841661901156734, + 0.1637543378900822, + 0.06783381940729184, + 0.1713920226037211, + -0.9767626370201143, + -0.12868381992044683, + 0.045185006595173244, + 0.13827244028978883, + -0.9893629503045386 + ], + [ + 0.9771920202688469, + 0.17723673819665253, + 0.11697390374053802, + 0.17657766347721376, + -0.9841557278869313, + 0.016057148821391552, + 0.11796645406138669, + 0.004964060913779574, + -0.9930051731060755 + ], + [ + 0.9605756259345467, + 0.23293729717284747, + 0.1517718104466787, + 0.22926668269719877, + -0.9724785518459406, + 0.04150005306797232, + 0.15726174062840587, + -0.005067719944026328, + -0.9875439550466061 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006761.json b/json/chunk-0006/episode_0006761.json new file mode 100644 index 0000000000000000000000000000000000000000..d77f8f7075bb8c1dbef7a4a6d377fb873847fe53 --- /dev/null +++ b/json/chunk-0006/episode_0006761.json @@ -0,0 +1,1642 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 26, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nFold the cloth from top left to bottom right." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006761.mp4", + "start": 0, + "end": 26, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.28052082657814026, + 0.019036537036299706, + 0.08357452601194382, + -0.18079902231693268, + -0.0984053909778595, + -0.11978570371866226, + 0.0, + 1.0008161067962646 + ], + [ + 0.27898451685905457, + 0.019367044791579247, + 0.07592688500881195, + -0.18813732266426086, + -0.07084131985902786, + -0.12170600146055222, + 0.0, + 1.0008161067962646 + ], + [ + 0.29542049765586853, + 0.030246030539274216, + 0.06758224964141846, + -0.15518257021903992, + -0.06627494841814041, + -0.18550655245780945, + 0.0, + 1.0008161067962646 + ], + [ + 0.3206443190574646, + 0.050891656428575516, + 0.05777575075626373, + -0.11476019024848938, + -0.0893440768122673, + -0.2503528594970703, + 0.0, + 1.0008161067962646 + ], + [ + 0.3505592942237854, + 0.07878413796424866, + 0.04027218371629715, + -0.10039722174406052, + -0.11776382476091385, + -0.3189674913883209, + 0.0, + 1.0008161067962646 + ], + [ + 0.3723697066307068, + 0.10456877946853638, + 0.03410768508911133, + -0.07812631875276566, + -0.14412730932235718, + -0.3574717938899994, + 0.0, + 1.0008161067962646 + ], + [ + 0.3815038502216339, + 0.12311121821403503, + 0.03798678517341614, + -0.047375936061143875, + -0.13592220842838287, + -0.37473201751708984, + 0.0, + 1.0008161067962646 + ], + [ + 0.3841037452220917, + 0.13337573409080505, + 0.03431565687060356, + -0.04199602082371712, + -0.1341622918844223, + -0.3763432502746582, + 0.0, + 1.0008161067962646 + ], + [ + 0.3830883800983429, + 0.14330042898654938, + 0.020488765090703964, + -0.061704475432634354, + -0.14677028357982635, + -0.34086066484451294, + 0.0, + 1.0008161067962646 + ], + [ + 0.386670857667923, + 0.14909394085407257, + 0.012334759347140789, + -0.07234413176774979, + -0.14015492796897888, + -0.3396238684654236, + 0.0, + 1.0008161067962646 + ], + [ + 0.3964998126029968, + 0.15449577569961548, + 0.01085692085325718, + -0.07067148387432098, + -0.15124206244945526, + -0.34290239214897156, + 0.0, + 0.9650423526763916 + ], + [ + 0.39766260981559753, + 0.1582169234752655, + 0.009932919405400753, + -0.0740932822227478, + -0.15041637420654297, + -0.3450891673564911, + 0.0, + 0.6902000904083252 + ], + [ + 0.39677417278289795, + 0.15775878727436066, + 0.009120339527726173, + -0.08767914026975632, + -0.14255310595035553, + -0.3525623679161072, + 0.0, + 0.3849146366119385 + ], + [ + 0.3975426256656647, + 0.15671807527542114, + 0.009234041906893253, + -0.08809847384691238, + -0.14728431403636932, + -0.3608464002609253, + 0.0, + 0.17027510702610016 + ], + [ + 0.39700189232826233, + 0.15605831146240234, + 0.010599554516375065, + -0.07245279103517532, + -0.13031284511089325, + -0.3797088861465454, + 0.0, + 0.07175325602293015 + ], + [ + 0.39696434140205383, + 0.15418179333209991, + 0.02550792507827282, + -0.026665955781936646, + -0.09031642973423004, + -0.4251163601875305, + 0.0, + 0.05784503370523453 + ], + [ + 0.39943429827690125, + 0.14680442214012146, + 0.07851434499025345, + 0.09027431905269623, + -0.10558154433965683, + -0.4534962475299835, + 0.0, + 0.057568058371543884 + ], + [ + 0.3807116150856018, + 0.12185799330472946, + 0.09643658250570297, + 0.11608957499265671, + -0.1270083487033844, + -0.45662620663642883, + 0.0, + 0.057568058371543884 + ], + [ + 0.34987083077430725, + 0.09030071645975113, + 0.11082763224840164, + 0.10555616021156311, + -0.16868148744106293, + -0.445799857378006, + 0.0, + 0.057568058371543884 + ], + [ + 0.31811344623565674, + 0.06095000356435776, + 0.10441127419471741, + 0.07069242745637894, + -0.1956927478313446, + -0.4461957514286041, + 0.0, + 0.057568058371543884 + ], + [ + 0.2937595546245575, + 0.037655867636203766, + 0.08267886936664581, + 0.041159432381391525, + -0.23331166803836823, + -0.47131994366645813, + 0.0, + 0.05729193985462189 + ], + [ + 0.2828334867954254, + 0.0264585018157959, + 0.054663289338350296, + 0.004628839902579784, + -0.2604210078716278, + -0.48058804869651794, + 0.0, + 0.05701649188995361 + ], + [ + 0.27304956316947937, + 0.012110348790884018, + 0.05126085877418518, + -0.03345285356044769, + -0.19718004763126373, + -0.45525920391082764, + 0.0, + 0.07689721137285233 + ], + [ + 0.2549046576023102, + -0.006386203225702047, + 0.06161477416753769, + -0.11604736000299454, + -0.0955888107419014, + -0.40317797660827637, + 0.0, + 0.22617807984352112 + ], + [ + 0.24279221892356873, + -0.017987675964832306, + 0.07080249488353729, + -0.19214561581611633, + -0.03868779540061951, + -0.34721067547798157, + 0.0, + 0.4860933721065521 + ], + [ + 0.2373736947774887, + -0.022151976823806763, + 0.07539211213588715, + -0.21164298057556152, + -0.053894296288490295, + -0.3050406575202942, + 0.0, + 0.7998467683792114 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9650423526763916 + ], + [ + 0.6902000904083252 + ], + [ + 0.3849146366119385 + ], + [ + 0.17027510702610016 + ], + [ + 0.07175325602293015 + ], + [ + 0.05784503370523453 + ], + [ + 0.057568058371543884 + ], + [ + 0.057568058371543884 + ], + [ + 0.057568058371543884 + ], + [ + 0.057568058371543884 + ], + [ + 0.05729193985462189 + ], + [ + 0.05701649188995361 + ], + [ + 0.07689721137285233 + ], + [ + 0.22617807984352112 + ], + [ + 0.4860933721065521 + ], + [ + 0.7998467683792114 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.28052082657814026, + 0.019036537036299706, + 0.08357452601194382 + ], + [ + 0.27898451685905457, + 0.019367044791579247, + 0.07592688500881195 + ], + [ + 0.29542049765586853, + 0.030246030539274216, + 0.06758224964141846 + ], + [ + 0.3206443190574646, + 0.050891656428575516, + 0.05777575075626373 + ], + [ + 0.3505592942237854, + 0.07878413796424866, + 0.04027218371629715 + ], + [ + 0.3723697066307068, + 0.10456877946853638, + 0.03410768508911133 + ], + [ + 0.3815038502216339, + 0.12311121821403503, + 0.03798678517341614 + ], + [ + 0.3841037452220917, + 0.13337573409080505, + 0.03431565687060356 + ], + [ + 0.3830883800983429, + 0.14330042898654938, + 0.020488765090703964 + ], + [ + 0.386670857667923, + 0.14909394085407257, + 0.012334759347140789 + ], + [ + 0.3964998126029968, + 0.15449577569961548, + 0.01085692085325718 + ], + [ + 0.39766260981559753, + 0.1582169234752655, + 0.009932919405400753 + ], + [ + 0.39677417278289795, + 0.15775878727436066, + 0.009120339527726173 + ], + [ + 0.3975426256656647, + 0.15671807527542114, + 0.009234041906893253 + ], + [ + 0.39700189232826233, + 0.15605831146240234, + 0.010599554516375065 + ], + [ + 0.39696434140205383, + 0.15418179333209991, + 0.02550792507827282 + ], + [ + 0.39943429827690125, + 0.14680442214012146, + 0.07851434499025345 + ], + [ + 0.3807116150856018, + 0.12185799330472946, + 0.09643658250570297 + ], + [ + 0.34987083077430725, + 0.09030071645975113, + 0.11082763224840164 + ], + [ + 0.31811344623565674, + 0.06095000356435776, + 0.10441127419471741 + ], + [ + 0.2937595546245575, + 0.037655867636203766, + 0.08267886936664581 + ], + [ + 0.2828334867954254, + 0.0264585018157959, + 0.054663289338350296 + ], + [ + 0.27304956316947937, + 0.012110348790884018, + 0.05126085877418518 + ], + [ + 0.2549046576023102, + -0.006386203225702047, + 0.06161477416753769 + ], + [ + 0.24279221892356873, + -0.017987675964832306, + 0.07080249488353729 + ], + [ + 0.2373736947774887, + -0.022151976823806763, + 0.07539211213588715 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9880310295112571, + -0.13509133869293913, + 0.07446485703386935, + -0.11892132241219298, + -0.9745402850738496, + -0.19007617379333652, + 0.0982466477731441, + 0.1789456984068883, + -0.9789412818055077 + ], + [ + 0.9901133181374687, + -0.13240388397998815, + 0.04631229592479294, + -0.12110125565556018, + -0.9734805926157575, + -0.19408766493293797, + 0.07078208195199129, + 0.18656030474752014, + -0.9798903763008667 + ], + [ + 0.9806852315807754, + -0.19228838186372096, + 0.035800206138974326, + -0.1840394929744172, + -0.9691444744106941, + -0.16397698846161077, + 0.06622644173651995, + 0.1542211591171964, + -0.9858143296257506 + ], + [ + 0.9649608768466769, + -0.2560147607772404, + 0.05750607289203989, + -0.24675769264607794, + -0.9599211650222167, + -0.13289845018800495, + 0.08922526141892755, + 0.11405173916500473, + -0.9894599807562514 + ], + [ + 0.9429829125842036, + -0.32318927224890553, + 0.07957336789048947, + -0.31141435388882815, + -0.9410853245399503, + -0.13183137762892502, + 0.11749181574142104, + 0.09953444749813692, + -0.9880731587261262 + ], + [ + 0.9270715222212899, + -0.3593407941514207, + 0.10682970722100901, + -0.3462790036505526, + -0.9300045911381031, + -0.12321652524247732, + 0.14362884221868813, + 0.07723764704259022, + -0.986612944148942 + ], + [ + 0.9220225704947985, + -0.37158437936543426, + 0.10862517438314662, + -0.36264724759068684, + -0.9272127206173785, + -0.09361380528649645, + 0.13550407120475394, + 0.04692142087494851, + -0.9896651084836793 + ], + [ + 0.9216574237776218, + -0.37242078255165173, + 0.10885933087802908, + -0.36421945037631237, + -0.927130879723142, + -0.08816191826049, + 0.13376017779284616, + 0.0416064007985276, + -0.9901399508399902 + ], + [ + 0.932334417949372, + -0.34216149358073905, + 0.11695317617578246, + -0.3307041764948337, + -0.9376589077682922, + -0.10691361153589034, + 0.146243908440248, + 0.061002335966512236, + -0.9873659069720552 + ], + [ + 0.9336344965745212, + -0.34178174259456384, + 0.10729336994923513, + -0.32986589347015116, + -0.9370499713499651, + -0.1145680737298492, + 0.13969652512206235, + 0.07157228249855246, + -0.9876043181592353 + ], + [ + 0.9310320562839068, + -0.345402222242389, + 0.11779904516497423, + -0.3323838545194457, + -0.9358548726038981, + -0.11703260519333039, + 0.15066613231432024, + 0.06980660637476463, + -0.9861170084122283 + ], + [ + 0.9304197339617774, + -0.3477912064780591, + 0.11558717641257187, + -0.33446098519212003, + -0.9347109441356002, + -0.12021356120442894, + 0.1498498182808756, + 0.07318966873589847, + -0.9859960975336148 + ], + [ + 0.9289714170808812, + -0.3556527394422389, + 0.10258282104704926, + -0.34180110990946183, + -0.9305901072795794, + -0.1310498130408487, + 0.1420707834545865, + 0.0866786084372166, + -0.9860541117646577 + ], + [ + 0.9254688421946581, + -0.3637773959775003, + 0.10570443842482687, + -0.3492436932563419, + -0.9274111505118472, + -0.1339305813731958, + 0.14675239298747125, + 0.08703197160883486, + -0.9853370849969719 + ], + [ + 0.9208977827807295, + -0.3784142732274051, + 0.09354096154792965, + -0.3675074717141101, + -0.9228493343567027, + -0.11527083027242235, + 0.12994434156145107, + 0.07177564973698111, + -0.9889199786640956 + ], + [ + 0.907277772054789, + -0.4144709286136074, + 0.07113995831790126, + -0.410745836184281, + -0.9096750671543364, + -0.06147463098733939, + 0.09019369375169492, + 0.026554124574682317, + -0.9955701763690483 + ], + [ + 0.8939151642565195, + -0.4277867188306032, + 0.13384394758220028, + -0.4356714095082132, + -0.8994228412628336, + 0.0350567475932826, + 0.1053854925944133, + -0.08964973958042914, + -0.9903821596453536 + ], + [ + 0.8903157055348219, + -0.4247861748208101, + 0.16399588457987838, + -0.4373709811819226, + -0.897973055569004, + 0.04848727969301977, + 0.12666715950867044, + -0.11489602757785383, + -0.9852686605940708 + ], + [ + 0.8894601906555503, + -0.4128203783730296, + 0.1960609712281903, + -0.4250599598385732, + -0.9048709433226786, + 0.023078268400308972, + 0.1678826964908032, + -0.10386486956750499, + -0.9803200952182417 + ], + [ + 0.8848771895789712, + -0.4180692771261358, + 0.20545179212178102, + -0.42330021357457787, + -0.9057690730741011, + -0.01998287892672748, + 0.19444610705935458, + -0.06928539374005023, + -0.9784632060858232 + ], + [ + 0.8668298570884172, + -0.44520199613604583, + 0.22450207459298446, + -0.4417603677489538, + -0.8945348204851468, + -0.06822926370638184, + 0.2312007273915523, + -0.04003295612474898, + -0.9720820881373808 + ], + [ + 0.8568243853529706, + -0.46123888606163693, + 0.2304575072526916, + -0.4467126797616991, + -0.887264720654285, + -0.11493083669057319, + 0.25748738688453415, + -0.004472747130548058, + -0.9662713077228777 + ], + [ + 0.8807436181956665, + -0.445334101042044, + 0.1611465713463394, + -0.4311751233380357, + -0.8947635418111689, + -0.11613017377048293, + 0.19590480346851122, + 0.032798516652547155, + -0.9800742651877749 + ], + [ + 0.9156196877344165, + -0.3998696118560063, + 0.041771772134504184, + -0.39055238113785545, + -0.9092963078133256, + -0.14369781551786193, + 0.09544330788840764, + 0.11525848390110398, + -0.9887396304731282 + ], + [ + 0.9396218843316156, + -0.34095949741110554, + -0.029280293889753166, + -0.3400216398586676, + -0.9205071260315145, + -0.19248874084741668, + 0.03867814515881692, + 0.19082256693160726, + -0.980862247737523 + ], + [ + 0.9524498259763643, + -0.30442418366130986, + -0.012854781201492218, + -0.29989589020298857, + -0.9291533943453929, + -0.21618608839560308, + 0.0538682098918294, + 0.20976149832268923, + -0.9762675503080444 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0015363097190856934, + 0.000330507755279541, + -0.0076476410031318665, + -0.007338300347328186, + 0.027564071118831635, + -0.0019202977418899536, + 1.0 + ], + [ + 0.016435980796813965, + 0.01087898574769497, + -0.008344635367393494, + 0.03295475244522095, + 0.004566371440887451, + -0.06380055099725723, + 1.0 + ], + [ + 0.02522382140159607, + 0.0206456258893013, + -0.009806498885154724, + 0.04042237997055054, + -0.023069128394126892, + -0.06484630703926086, + 1.0 + ], + [ + 0.0299149751663208, + 0.02789248153567314, + -0.017503567039966583, + 0.014362968504428864, + -0.028419747948646545, + -0.06861463189125061, + 1.0 + ], + [ + 0.021810412406921387, + 0.02578464150428772, + -0.0061644986271858215, + 0.02227090299129486, + -0.02636348456144333, + -0.03850430250167847, + 1.0 + ], + [ + 0.009134143590927124, + 0.018542438745498657, + 0.0038791000843048096, + 0.03075038269162178, + 0.008205100893974304, + -0.017260223627090454, + 1.0 + ], + [ + 0.0025998950004577637, + 0.01026451587677002, + -0.0036711283028125763, + 0.005379915237426758, + 0.0017599165439605713, + -0.0016112327575683594, + 1.0 + ], + [ + -0.0010153651237487793, + 0.009924694895744324, + -0.013826891779899597, + -0.019708454608917236, + -0.012607991695404053, + 0.035482585430145264, + 1.0 + ], + [ + 0.003582477569580078, + 0.005793511867523193, + -0.008154005743563175, + -0.010639656335115433, + 0.006615355610847473, + 0.0012367963790893555, + 1.0 + ], + [ + 0.009828954935073853, + 0.005401834845542908, + -0.0014778384938836098, + 0.0016726478934288025, + -0.01108713448047638, + -0.0032785236835479736, + 0.0 + ], + [ + 0.001162797212600708, + 0.0037211477756500244, + -0.0009240014478564262, + -0.003421798348426819, + 0.0008256882429122925, + -0.0021867752075195312, + 0.0 + ], + [ + -0.000888437032699585, + -0.0004581362009048462, + -0.0008125798776745796, + -0.013585858047008514, + 0.007863268256187439, + -0.007473200559616089, + 0.0 + ], + [ + 0.0007684528827667236, + -0.0010407119989395142, + 0.00011370237916707993, + -0.0004193335771560669, + -0.004731208086013794, + -0.008284032344818115, + 0.0 + ], + [ + -0.0005407333374023438, + -0.0006597638130187988, + 0.0013655126094818115, + 0.01564568281173706, + 0.016971468925476074, + -0.018862485885620117, + 0.0 + ], + [ + -3.7550926208496094e-05, + -0.0018765181303024292, + 0.014908370561897755, + 0.04578683525323868, + 0.03999641537666321, + -0.04540747404098511, + 0.0 + ], + [ + 0.002469956874847412, + -0.007377371191978455, + 0.05300641804933548, + 0.11694027483463287, + -0.015265114605426788, + -0.028379887342453003, + 0.0 + ], + [ + -0.01872268319129944, + -0.024946428835392, + 0.017922237515449524, + 0.02581525593996048, + -0.02142680436372757, + -0.0031299591064453125, + 0.0 + ], + [ + -0.030840784311294556, + -0.03155727684497833, + 0.01439104974269867, + -0.010533414781093597, + -0.04167313873767853, + 0.010826349258422852, + 0.0 + ], + [ + -0.03175738453865051, + -0.02935071289539337, + -0.006416358053684235, + -0.034863732755184174, + -0.027011260390281677, + -0.00039589405059814453, + 0.0 + ], + [ + -0.024353891611099243, + -0.02329413592815399, + -0.021732404828071594, + -0.02953299507498741, + -0.03761892020702362, + -0.025124192237854004, + 0.0 + ], + [ + -0.01092606782913208, + -0.011197365820407867, + -0.028015580028295517, + -0.036530591547489166, + -0.027109339833259583, + -0.009268105030059814, + 0.0 + ], + [ + -0.009783923625946045, + -0.01434815302491188, + -0.0034024305641651154, + -0.03808169439435005, + 0.06324096024036407, + 0.025328844785690308, + 1.0 + ], + [ + -0.01814490556716919, + -0.018496552482247353, + 0.010353915393352509, + -0.08259450644254684, + 0.10159123688936234, + 0.05208122730255127, + 1.0 + ], + [ + -0.012112438678741455, + -0.011601472273468971, + 0.009187720715999603, + -0.0760982558131218, + 0.05690101534128189, + 0.0559673011302948, + 1.0 + ], + [ + -0.005418524146080017, + -0.004164300858974457, + 0.0045896172523498535, + -0.01949736475944519, + -0.015206500887870789, + 0.04217001795768738, + 1.0 + ], + [ + 0.001554638147354126, + 0.0026753339916467667, + -0.0037470534443855286, + 0.028579726815223694, + -0.03530658781528473, + -0.0013424456119537354, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9650423526763916 + ], + [ + 0.6902000904083252 + ], + [ + 0.3849146366119385 + ], + [ + 0.17027510702610016 + ], + [ + 0.07175325602293015 + ], + [ + 0.05784503370523453 + ], + [ + 0.057568058371543884 + ], + [ + 0.057568058371543884 + ], + [ + 0.057568058371543884 + ], + [ + 0.057568058371543884 + ], + [ + 0.05729193985462189 + ], + [ + 0.05701649188995361 + ], + [ + 0.07689721137285233 + ], + [ + 0.22617807984352112 + ], + [ + 0.4860933721065521 + ], + [ + 0.7998467683792114 + ], + [ + 1.0054124593734741 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.27898451685905457, + 0.019367044791579247, + 0.07592688500881195 + ], + [ + 0.29542049765586853, + 0.030246030539274216, + 0.06758224964141846 + ], + [ + 0.3206443190574646, + 0.050891656428575516, + 0.05777575075626373 + ], + [ + 0.3505592942237854, + 0.07878413796424866, + 0.04027218371629715 + ], + [ + 0.3723697066307068, + 0.10456877946853638, + 0.03410768508911133 + ], + [ + 0.3815038502216339, + 0.12311121821403503, + 0.03798678517341614 + ], + [ + 0.3841037452220917, + 0.13337573409080505, + 0.03431565687060356 + ], + [ + 0.3830883800983429, + 0.14330042898654938, + 0.020488765090703964 + ], + [ + 0.386670857667923, + 0.14909394085407257, + 0.012334759347140789 + ], + [ + 0.3964998126029968, + 0.15449577569961548, + 0.01085692085325718 + ], + [ + 0.39766260981559753, + 0.1582169234752655, + 0.009932919405400753 + ], + [ + 0.39677417278289795, + 0.15775878727436066, + 0.009120339527726173 + ], + [ + 0.3975426256656647, + 0.15671807527542114, + 0.009234041906893253 + ], + [ + 0.39700189232826233, + 0.15605831146240234, + 0.010599554516375065 + ], + [ + 0.39696434140205383, + 0.15418179333209991, + 0.02550792507827282 + ], + [ + 0.39943429827690125, + 0.14680442214012146, + 0.07851434499025345 + ], + [ + 0.3807116150856018, + 0.12185799330472946, + 0.09643658250570297 + ], + [ + 0.34987083077430725, + 0.09030071645975113, + 0.11082763224840164 + ], + [ + 0.31811344623565674, + 0.06095000356435776, + 0.10441127419471741 + ], + [ + 0.2937595546245575, + 0.037655867636203766, + 0.08267886936664581 + ], + [ + 0.2828334867954254, + 0.0264585018157959, + 0.054663289338350296 + ], + [ + 0.27304956316947937, + 0.012110348790884018, + 0.05126085877418518 + ], + [ + 0.2549046576023102, + -0.006386203225702047, + 0.06161477416753769 + ], + [ + 0.24279221892356873, + -0.017987675964832306, + 0.07080249488353729 + ], + [ + 0.2373736947774887, + -0.022151976823806763, + 0.07539211213588715 + ], + [ + 0.23892833292484283, + -0.019476642832159996, + 0.07164505869150162 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9901133181374687, + -0.13240388397998815, + 0.04631229592479294, + -0.12110125565556018, + -0.9734805926157575, + -0.19408766493293797, + 0.07078208195199129, + 0.18656030474752014, + -0.9798903763008667 + ], + [ + 0.9806852315807754, + -0.19228838186372096, + 0.035800206138974326, + -0.1840394929744172, + -0.9691444744106941, + -0.16397698846161077, + 0.06622644173651995, + 0.1542211591171964, + -0.9858143296257506 + ], + [ + 0.9649608768466769, + -0.2560147607772404, + 0.05750607289203989, + -0.24675769264607794, + -0.9599211650222167, + -0.13289845018800495, + 0.08922526141892755, + 0.11405173916500473, + -0.9894599807562514 + ], + [ + 0.9429829125842036, + -0.32318927224890553, + 0.07957336789048947, + -0.31141435388882815, + -0.9410853245399503, + -0.13183137762892502, + 0.11749181574142104, + 0.09953444749813692, + -0.9880731587261262 + ], + [ + 0.9270715222212899, + -0.3593407941514207, + 0.10682970722100901, + -0.3462790036505526, + -0.9300045911381031, + -0.12321652524247732, + 0.14362884221868813, + 0.07723764704259022, + -0.986612944148942 + ], + [ + 0.9220225704947985, + -0.37158437936543426, + 0.10862517438314662, + -0.36264724759068684, + -0.9272127206173785, + -0.09361380528649645, + 0.13550407120475394, + 0.04692142087494851, + -0.9896651084836793 + ], + [ + 0.9216574237776218, + -0.37242078255165173, + 0.10885933087802908, + -0.36421945037631237, + -0.927130879723142, + -0.08816191826049, + 0.13376017779284616, + 0.0416064007985276, + -0.9901399508399902 + ], + [ + 0.932334417949372, + -0.34216149358073905, + 0.11695317617578246, + -0.3307041764948337, + -0.9376589077682922, + -0.10691361153589034, + 0.146243908440248, + 0.061002335966512236, + -0.9873659069720552 + ], + [ + 0.9336344965745212, + -0.34178174259456384, + 0.10729336994923513, + -0.32986589347015116, + -0.9370499713499651, + -0.1145680737298492, + 0.13969652512206235, + 0.07157228249855246, + -0.9876043181592353 + ], + [ + 0.9310320562839068, + -0.345402222242389, + 0.11779904516497423, + -0.3323838545194457, + -0.9358548726038981, + -0.11703260519333039, + 0.15066613231432024, + 0.06980660637476463, + -0.9861170084122283 + ], + [ + 0.9304197339617774, + -0.3477912064780591, + 0.11558717641257187, + -0.33446098519212003, + -0.9347109441356002, + -0.12021356120442894, + 0.1498498182808756, + 0.07318966873589847, + -0.9859960975336148 + ], + [ + 0.9289714170808812, + -0.3556527394422389, + 0.10258282104704926, + -0.34180110990946183, + -0.9305901072795794, + -0.1310498130408487, + 0.1420707834545865, + 0.0866786084372166, + -0.9860541117646577 + ], + [ + 0.9254688421946581, + -0.3637773959775003, + 0.10570443842482687, + -0.3492436932563419, + -0.9274111505118472, + -0.1339305813731958, + 0.14675239298747125, + 0.08703197160883486, + -0.9853370849969719 + ], + [ + 0.9208977827807295, + -0.3784142732274051, + 0.09354096154792965, + -0.3675074717141101, + -0.9228493343567027, + -0.11527083027242235, + 0.12994434156145107, + 0.07177564973698111, + -0.9889199786640956 + ], + [ + 0.907277772054789, + -0.4144709286136074, + 0.07113995831790126, + -0.410745836184281, + -0.9096750671543364, + -0.06147463098733939, + 0.09019369375169492, + 0.026554124574682317, + -0.9955701763690483 + ], + [ + 0.8939151642565195, + -0.4277867188306032, + 0.13384394758220028, + -0.4356714095082132, + -0.8994228412628336, + 0.0350567475932826, + 0.1053854925944133, + -0.08964973958042914, + -0.9903821596453536 + ], + [ + 0.8903157055348219, + -0.4247861748208101, + 0.16399588457987838, + -0.4373709811819226, + -0.897973055569004, + 0.04848727969301977, + 0.12666715950867044, + -0.11489602757785383, + -0.9852686605940708 + ], + [ + 0.8894601906555503, + -0.4128203783730296, + 0.1960609712281903, + -0.4250599598385732, + -0.9048709433226786, + 0.023078268400308972, + 0.1678826964908032, + -0.10386486956750499, + -0.9803200952182417 + ], + [ + 0.8848771895789712, + -0.4180692771261358, + 0.20545179212178102, + -0.42330021357457787, + -0.9057690730741011, + -0.01998287892672748, + 0.19444610705935458, + -0.06928539374005023, + -0.9784632060858232 + ], + [ + 0.8668298570884172, + -0.44520199613604583, + 0.22450207459298446, + -0.4417603677489538, + -0.8945348204851468, + -0.06822926370638184, + 0.2312007273915523, + -0.04003295612474898, + -0.9720820881373808 + ], + [ + 0.8568243853529706, + -0.46123888606163693, + 0.2304575072526916, + -0.4467126797616991, + -0.887264720654285, + -0.11493083669057319, + 0.25748738688453415, + -0.004472747130548058, + -0.9662713077228777 + ], + [ + 0.8807436181956665, + -0.445334101042044, + 0.1611465713463394, + -0.4311751233380357, + -0.8947635418111689, + -0.11613017377048293, + 0.19590480346851122, + 0.032798516652547155, + -0.9800742651877749 + ], + [ + 0.9156196877344165, + -0.3998696118560063, + 0.041771772134504184, + -0.39055238113785545, + -0.9092963078133256, + -0.14369781551786193, + 0.09544330788840764, + 0.11525848390110398, + -0.9887396304731282 + ], + [ + 0.9396218843316156, + -0.34095949741110554, + -0.029280293889753166, + -0.3400216398586676, + -0.9205071260315145, + -0.19248874084741668, + 0.03867814515881692, + 0.19082256693160726, + -0.980862247737523 + ], + [ + 0.9524498259763643, + -0.30442418366130986, + -0.012854781201492218, + -0.29989589020298857, + -0.9291533943453929, + -0.21618608839560308, + 0.0538682098918294, + 0.20976149832268923, + -0.9762675503080444 + ], + [ + 0.9496400907276015, + -0.31203403701395105, + 0.02860870195673477, + -0.30041301823516164, + -0.9326083188633008, + -0.19998435454257055, + 0.0890826389242792, + 0.18131873408929464, + -0.979381335390124 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006762.json b/json/chunk-0006/episode_0006762.json new file mode 100644 index 0000000000000000000000000000000000000000..f4d6ce438d62efdfa705af02aa3efa1f9ea78214 --- /dev/null +++ b/json/chunk-0006/episode_0006762.json @@ -0,0 +1,2602 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 42, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove pot to space above yellow cloth." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006762.mp4", + "start": 0, + "end": 42, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.30970484018325806, + -0.0021961855236440897, + 0.11546654254198074, + -0.22866038978099823, + -0.1834896057844162, + 1.5322911739349365, + 0.0, + 1.0008161067962646 + ], + [ + 0.3079853951931, + -0.0029994179494678974, + 0.10610492527484894, + -0.19349828362464905, + -0.1823432296514511, + 1.5097299814224243, + 0.0, + 1.0008161067962646 + ], + [ + 0.3060557246208191, + 0.002272883662953973, + 0.1033644899725914, + -0.14544269442558289, + -0.1695564240217209, + 1.297027826309204, + 0.0, + 1.0008161067962646 + ], + [ + 0.3032921850681305, + 0.002998281503096223, + 0.10096491128206253, + -0.1121629998087883, + -0.1564614325761795, + 1.1073287725448608, + 0.0, + 1.0008161067962646 + ], + [ + 0.3031511902809143, + 0.012974957004189491, + 0.10525448620319366, + -0.0652131661772728, + -0.13577520847320557, + 0.9215019941329956, + 0.0, + 1.0008161067962646 + ], + [ + 0.3117905557155609, + 0.02979050762951374, + 0.09959162026643753, + 0.014618460088968277, + -0.09274021536111832, + 0.745867133140564, + 0.0, + 1.0008161067962646 + ], + [ + 0.3278217911720276, + 0.05350204557180405, + 0.09526292234659195, + 0.05070238187909126, + -0.09408760070800781, + 0.5985754132270813, + 0.0, + 1.0008161067962646 + ], + [ + 0.33695101737976074, + 0.07639855146408081, + 0.09350225329399109, + 0.07211020588874817, + -0.1490747034549713, + 0.5723280906677246, + 0.0, + 1.0008161067962646 + ], + [ + 0.349094420671463, + 0.08682197332382202, + 0.08346819132566452, + 0.07680608332157135, + -0.22728192806243896, + 0.5635465383529663, + 0.0, + 1.0008161067962646 + ], + [ + 0.3605678677558899, + 0.09239277988672256, + 0.07116959244012833, + 0.07794036716222763, + -0.2853715717792511, + 0.5624197125434875, + 0.0, + 1.0008161067962646 + ], + [ + 0.3700712323188782, + 0.08984993398189545, + 0.04889899864792824, + 0.057154733687639236, + -0.27140137553215027, + 0.5386354923248291, + 0.0, + 1.0008161067962646 + ], + [ + 0.3826518952846527, + 0.092905692756176, + 0.035955555737018585, + 0.03131343796849251, + -0.23252715170383453, + 0.5583128929138184, + 0.0, + 1.0008161067962646 + ], + [ + 0.3981146514415741, + 0.08720803260803223, + 0.02687874063849449, + 0.0040276008658111095, + -0.20261390507221222, + 0.5988739728927612, + 0.0, + 1.0008161067962646 + ], + [ + 0.410910964012146, + 0.0756998285651207, + 0.022844592109322548, + -0.0005075489170849323, + -0.20817773044109344, + 0.5908151268959045, + 0.0, + 0.9499720335006714 + ], + [ + 0.41196516156196594, + 0.07497604191303253, + 0.02389185130596161, + 0.014016346074640751, + -0.21897755563259125, + 0.5876914858818054, + 0.0, + 0.641040563583374 + ], + [ + 0.4069075584411621, + 0.07459366321563721, + 0.019118841737508774, + 0.02182501181960106, + -0.20499423146247864, + 0.5931481122970581, + 0.0, + 0.36191558837890625 + ], + [ + 0.4022371768951416, + 0.07209228724241257, + 0.01617014966905117, + 0.024287501350045204, + -0.19079193472862244, + 0.5917653441429138, + 0.0, + 0.15820781886577606 + ], + [ + 0.39777353405952454, + 0.06880779564380646, + 0.02152729406952858, + 0.014078155159950256, + -0.18683969974517822, + 0.5782698392868042, + 0.0, + 0.08962377160787582 + ], + [ + 0.39313292503356934, + 0.06486545503139496, + 0.029789550229907036, + -0.01769185997545719, + -0.1869400590658188, + 0.5828091502189636, + 0.0, + 0.08397578448057175 + ], + [ + 0.3892550468444824, + 0.06622973084449768, + 0.03690113499760628, + -0.03368877246975899, + -0.18548333644866943, + 0.5948882102966309, + 0.0, + 0.08363015204668045 + ], + [ + 0.3878438174724579, + 0.06384224444627762, + 0.05651687830686569, + -0.0639842227101326, + -0.21275539696216583, + 0.5896850824356079, + 0.0, + 0.08363015204668045 + ], + [ + 0.38836920261383057, + 0.051129329949617386, + 0.0774645209312439, + -0.09047915786504745, + -0.24427327513694763, + 0.5602366924285889, + 0.0, + 0.08363015204668045 + ], + [ + 0.3857783079147339, + 0.02432236447930336, + 0.09182251244783401, + -0.12808869779109955, + -0.2591249942779541, + 0.5176458954811096, + 0.0, + 0.08363015204668045 + ], + [ + 0.386881560087204, + -0.0020630760118365288, + 0.0948292687535286, + -0.14338482916355133, + -0.26557445526123047, + 0.45900723338127136, + 0.0, + 0.08363015204668045 + ], + [ + 0.38577333092689514, + -0.029334859922528267, + 0.0948292687535286, + -0.14462198317050934, + -0.26491403579711914, + 0.3931634724140167, + 0.0, + 0.0832853764295578 + ], + [ + 0.38568487763404846, + -0.048097070306539536, + 0.09043191373348236, + -0.13343262672424316, + -0.2651919722557068, + 0.32793647050857544, + 0.0, + 0.0832853764295578 + ], + [ + 0.3860625922679901, + -0.06413927674293518, + 0.08055543899536133, + -0.12956602871418, + -0.23680715262889862, + 0.2746933698654175, + 0.0, + 0.0832853764295578 + ], + [ + 0.3846985399723053, + -0.07350361347198486, + 0.067849300801754, + -0.12362267822027206, + -0.20702801644802094, + 0.22412101924419403, + 0.0, + 0.0832853764295578 + ], + [ + 0.383406400680542, + -0.07722948491573334, + 0.052460458129644394, + -0.12445341795682907, + -0.17410604655742645, + 0.16892023384571075, + 0.0, + 0.0832853764295578 + ], + [ + 0.38689255714416504, + -0.08246199786663055, + 0.041857559233903885, + -0.1283881962299347, + -0.14522141218185425, + 0.10134445875883102, + 0.0, + 0.08363015204668045 + ], + [ + 0.3901401162147522, + -0.08660351485013962, + 0.03813366964459419, + -0.13642391562461853, + -0.11921203881502151, + 0.051287777721881866, + 0.0, + 0.0832853764295578 + ], + [ + 0.3902530372142792, + -0.08870930224657059, + 0.03748878091573715, + -0.14731550216674805, + -0.10106799006462097, + 0.035472285002470016, + 0.0, + 0.12885156273841858 + ], + [ + 0.3849804401397705, + -0.08503919839859009, + 0.031112102791666985, + -0.14344215393066406, + -0.07816863805055618, + 0.06703002750873566, + 0.0, + 0.32124534249305725 + ], + [ + 0.38264504075050354, + -0.07776276767253876, + 0.027742212638258934, + -0.13242477178573608, + -0.06637020409107208, + 0.09005697071552277, + 0.0, + 0.5978984832763672 + ], + [ + 0.3832051753997803, + -0.07623334228992462, + 0.027542147785425186, + -0.1197400912642479, + -0.07120483368635178, + 0.09318388998508453, + 0.0, + 0.9263488054275513 + ], + [ + 0.3807060122489929, + -0.07563428580760956, + 0.025463074445724487, + -0.12048948556184769, + -0.060712218284606934, + 0.10391842573881149, + 0.0, + 1.0073583126068115 + ], + [ + 0.37678131461143494, + -0.08081421256065369, + 0.02938375063240528, + -0.17258711159229279, + -0.017517492175102234, + 0.09222093224525452, + 0.0, + 1.002137303352356 + ], + [ + 0.3787742555141449, + -0.07777629047632217, + 0.04611727222800255, + -0.22147822380065918, + -0.038083516061306, + 0.06568286567926407, + 0.0, + 1.0001531839370728 + ], + [ + 0.37818294763565063, + -0.07592872530221939, + 0.07439689338207245, + -0.21726641058921814, + -0.0788409635424614, + 0.06470558047294617, + 0.0, + 1.0001531839370728 + ], + [ + 0.3725983798503876, + -0.07258761674165726, + 0.09965062141418457, + -0.20885393023490906, + -0.12431202828884125, + 0.0694107785820961, + 0.0, + 1.0001531839370728 + ], + [ + 0.3630468249320984, + -0.06668677181005478, + 0.11496971547603607, + -0.19091512262821198, + -0.15926013886928558, + 0.06814438849687576, + 0.0, + 1.0001531839370728 + ], + [ + 0.35746750235557556, + -0.06202927976846695, + 0.12431459873914719, + -0.17627118527889252, + -0.17459434270858765, + 0.10893888026475906, + 0.0, + 1.0001531839370728 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9499720335006714 + ], + [ + 0.641040563583374 + ], + [ + 0.36191558837890625 + ], + [ + 0.15820781886577606 + ], + [ + 0.08962377160787582 + ], + [ + 0.08397578448057175 + ], + [ + 0.08363015204668045 + ], + [ + 0.08363015204668045 + ], + [ + 0.08363015204668045 + ], + [ + 0.08363015204668045 + ], + [ + 0.08363015204668045 + ], + [ + 0.0832853764295578 + ], + [ + 0.0832853764295578 + ], + [ + 0.0832853764295578 + ], + [ + 0.0832853764295578 + ], + [ + 0.0832853764295578 + ], + [ + 0.08363015204668045 + ], + [ + 0.0832853764295578 + ], + [ + 0.12885156273841858 + ], + [ + 0.32124534249305725 + ], + [ + 0.5978984832763672 + ], + [ + 0.9263488054275513 + ], + [ + 1.0073583126068115 + ], + [ + 1.002137303352356 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.30970484018325806, + -0.0021961855236440897, + 0.11546654254198074 + ], + [ + 0.3079853951931, + -0.0029994179494678974, + 0.10610492527484894 + ], + [ + 0.3060557246208191, + 0.002272883662953973, + 0.1033644899725914 + ], + [ + 0.3032921850681305, + 0.002998281503096223, + 0.10096491128206253 + ], + [ + 0.3031511902809143, + 0.012974957004189491, + 0.10525448620319366 + ], + [ + 0.3117905557155609, + 0.02979050762951374, + 0.09959162026643753 + ], + [ + 0.3278217911720276, + 0.05350204557180405, + 0.09526292234659195 + ], + [ + 0.33695101737976074, + 0.07639855146408081, + 0.09350225329399109 + ], + [ + 0.349094420671463, + 0.08682197332382202, + 0.08346819132566452 + ], + [ + 0.3605678677558899, + 0.09239277988672256, + 0.07116959244012833 + ], + [ + 0.3700712323188782, + 0.08984993398189545, + 0.04889899864792824 + ], + [ + 0.3826518952846527, + 0.092905692756176, + 0.035955555737018585 + ], + [ + 0.3981146514415741, + 0.08720803260803223, + 0.02687874063849449 + ], + [ + 0.410910964012146, + 0.0756998285651207, + 0.022844592109322548 + ], + [ + 0.41196516156196594, + 0.07497604191303253, + 0.02389185130596161 + ], + [ + 0.4069075584411621, + 0.07459366321563721, + 0.019118841737508774 + ], + [ + 0.4022371768951416, + 0.07209228724241257, + 0.01617014966905117 + ], + [ + 0.39777353405952454, + 0.06880779564380646, + 0.02152729406952858 + ], + [ + 0.39313292503356934, + 0.06486545503139496, + 0.029789550229907036 + ], + [ + 0.3892550468444824, + 0.06622973084449768, + 0.03690113499760628 + ], + [ + 0.3878438174724579, + 0.06384224444627762, + 0.05651687830686569 + ], + [ + 0.38836920261383057, + 0.051129329949617386, + 0.0774645209312439 + ], + [ + 0.3857783079147339, + 0.02432236447930336, + 0.09182251244783401 + ], + [ + 0.386881560087204, + -0.0020630760118365288, + 0.0948292687535286 + ], + [ + 0.38577333092689514, + -0.029334859922528267, + 0.0948292687535286 + ], + [ + 0.38568487763404846, + -0.048097070306539536, + 0.09043191373348236 + ], + [ + 0.3860625922679901, + -0.06413927674293518, + 0.08055543899536133 + ], + [ + 0.3846985399723053, + -0.07350361347198486, + 0.067849300801754 + ], + [ + 0.383406400680542, + -0.07722948491573334, + 0.052460458129644394 + ], + [ + 0.38689255714416504, + -0.08246199786663055, + 0.041857559233903885 + ], + [ + 0.3901401162147522, + -0.08660351485013962, + 0.03813366964459419 + ], + [ + 0.3902530372142792, + -0.08870930224657059, + 0.03748878091573715 + ], + [ + 0.3849804401397705, + -0.08503919839859009, + 0.031112102791666985 + ], + [ + 0.38264504075050354, + -0.07776276767253876, + 0.027742212638258934 + ], + [ + 0.3832051753997803, + -0.07623334228992462, + 0.027542147785425186 + ], + [ + 0.3807060122489929, + -0.07563428580760956, + 0.025463074445724487 + ], + [ + 0.37678131461143494, + -0.08081421256065369, + 0.02938375063240528 + ], + [ + 0.3787742555141449, + -0.07777629047632217, + 0.04611727222800255 + ], + [ + 0.37818294763565063, + -0.07592872530221939, + 0.07439689338207245 + ], + [ + 0.3725983798503876, + -0.07258761674165726, + 0.09965062141418457 + ], + [ + 0.3630468249320984, + -0.06668677181005478, + 0.11496971547603607 + ], + [ + 0.35746750235557556, + -0.06202927976846695, + 0.12431459873914719 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.03784941085924848, + 0.9716568375848468, + 0.23334612075674724, + 0.9824841724010579, + -0.07882211500700415, + 0.16885474576460915, + 0.18246170304756007, + 0.22286781768671152, + -0.9576208345480723 + ], + [ + 0.06001663847389227, + 0.9773803409360337, + 0.20279465539815655, + 0.9815884166977104, + -0.0946938204448613, + 0.16588327394417632, + 0.18133445152859506, + 0.18910512822586098, + -0.9650684261582204 + ], + [ + 0.2664844441885071, + 0.9459818725977485, + 0.1846735977935122, + 0.9489526411351554, + -0.2910525184321498, + 0.12156198582170415, + 0.16874515071004423, + 0.1428521201479368, + -0.9752529650716701 + ], + [ + 0.44159173284125003, + 0.8810898373280719, + 0.16934414676467058, + 0.8835811623481405, + -0.45984455892675863, + 0.08847209259966662, + 0.15582384615254258, + 0.1105607533560034, + -0.9815779382135593 + ], + [ + 0.5990599429913538, + 0.7894842477451063, + 0.13357322810181332, + 0.7891801323670926, + -0.6103652176848803, + 0.0681837203263832, + 0.13535842559757283, + 0.06456720222242734, + -0.9886906356474274 + ], + [ + 0.7313433741009155, + 0.6795307798437932, + 0.05809292903249472, + 0.6756927933415776, + -0.7335026023621914, + 0.07357432537338507, + 0.09260733332163432, + -0.014555121874409653, + -0.9955963189176006 + ], + [ + 0.8224851673247917, + 0.5666756040278497, + 0.0489582406789887, + 0.5609739425539427, + -0.8223946140591585, + 0.09473824223603695, + 0.09394884409185526, + -0.05045650172336637, + -0.9942976194920939 + ], + [ + 0.8313187582467887, + 0.549178622205288, + 0.08551001754016183, + 0.5355837866162619, + -0.8326622796691892, + 0.14079607782141967, + 0.14852316216941927, + -0.071248641592738, + -0.9863389383829404 + ], + [ + 0.8236251800225015, + 0.547228953666412, + 0.14893634580607248, + 0.5204496792200627, + -0.8336377049791195, + 0.18487917199317092, + 0.2253301893502863, + -0.07475726791630763, + -0.9714101382325869 + ], + [ + 0.8117539562717996, + 0.5501587940433303, + 0.1959102238625367, + 0.5116692034885773, + -0.8317110905017652, + 0.21552560900674683, + 0.28151401506576157, + -0.07471253759010277, + -0.9566440801303279 + ], + [ + 0.8269883432598777, + 0.5252730610389631, + 0.20044573195516244, + 0.49418866814770573, + -0.8491522924525708, + 0.18632751943000966, + 0.26808177928885774, + -0.0550326772863326, + -0.9618230419593923 + ], + [ + 0.8253239393852518, + 0.5356154027858145, + 0.17876390960201827, + 0.5154987893088975, + -0.8439123058159108, + 0.14856991052542712, + 0.23043739561683535, + -0.030465724856994315, + -0.9726101204029638 + ], + [ + 0.8090747737823123, + 0.564377620927685, + 0.16393874290449614, + 0.5521814161598091, + -0.8255073206111954, + 0.11676192557967147, + 0.2012304501730486, + -0.003945201304296361, + -0.9795359826518987 + ], + [ + 0.8125559891760601, + 0.5569509712378092, + 0.17192550739019422, + 0.5450112387519196, + -0.8305452239554133, + 0.11470562583827604, + 0.20667731875610548, + 0.0004965904887026251, + -0.9784090347649462 + ], + [ + 0.8123494055179764, + 0.5569207073091519, + 0.17299644252083418, + 0.5412012825628877, + -0.8304529793108065, + 0.1320947421591433, + 0.2172317083366876, + -0.013681188693938078, + -0.9760241851353096 + ], + [ + 0.8118237319667705, + 0.5625245880791119, + 0.15655132072892358, + 0.5472704441007152, + -0.8265044265027754, + 0.13185406321052023, + 0.20356151215136614, + -0.021366346850675497, + -0.9788289891461661 + ], + [ + 0.8148971140100848, + 0.5614847721224552, + 0.14379688540656654, + 0.5477049244493424, + -0.8271434537781114, + 0.12590878684967677, + 0.18963651893022831, + -0.023844444774658247, + -0.9815647880509025 + ], + [ + 0.8228354424878543, + 0.5487115607714249, + 0.14784267875550627, + 0.5370633944126407, + -0.8358972902897079, + 0.113307680535329, + 0.18575452879482984, + -0.01383268455907008, + -0.9824988101112897 + ], + [ + 0.8203735068603583, + 0.547540242623894, + 0.16488478386135205, + 0.5407826914680434, + -0.836598783077264, + 0.08750175290941178, + 0.1858531405444002, + 0.017382717307945855, + -0.9824237636014183 + ], + [ + 0.8140050354983775, + 0.5549535343457557, + 0.17152952195012847, + 0.55080348155221, + -0.8312223869755467, + 0.07539806430299857, + 0.18442160093993779, + 0.03310465386964567, + -0.982289547434422 + ], + [ + 0.8123765213337175, + 0.5437402266807562, + 0.2106916075093819, + 0.5435608421946453, + -0.8369232068927233, + 0.06404027324307214, + 0.21115396851202053, + 0.06249889321867562, + -0.9754526589886692 + ], + [ + 0.821980918673227, + 0.5107010895969686, + 0.2520550860855367, + 0.5156116252281153, + -0.8552764305011546, + 0.051447831429765736, + 0.24185123788548152, + 0.0876733968411919, + -0.9663443248757595 + ], + [ + 0.8399749814354371, + 0.46233916057602226, + 0.28405022647481976, + 0.4783155116768098, + -0.8780641450075779, + 0.014752238523801434, + 0.256234856824533, + 0.12347411813805585, + -0.95869590606101 + ], + [ + 0.8650634466595747, + 0.4048891519321469, + 0.296192518307137, + 0.4275255285498595, + -0.9039096523996868, + -0.013010101338586301, + 0.26246362736886064, + 0.13788442604712053, + -0.9550396480576268 + ], + [ + 0.8914783950326285, + 0.3442579708128206, + 0.29453814816062024, + 0.3697475596158971, + -0.9285150501460712, + -0.033860652833742726, + 0.2618263037743476, + 0.13909080193915688, + -0.9550396512542214 + ], + [ + 0.9136141408643778, + 0.28621700182175464, + 0.2887715870386326, + 0.3108305916399409, + -0.9495244980262192, + -0.04227967536323593, + 0.26209453430662977, + 0.12838635253103048, + -0.9564640085075699 + ], + [ + 0.9356467037856807, + 0.23980338695326958, + 0.2589586478585556, + 0.26368171201703233, + -0.9626627024825976, + -0.061257456661773235, + 0.23460008619512007, + 0.12559799701684204, + -0.9639439520545787 + ], + [ + 0.9541700342438948, + 0.19584100513638236, + 0.2262870885803605, + 0.21750356577875612, + -0.9731823366426192, + -0.07488884109356969, + 0.2055522917034271, + 0.12067493672665866, + -0.9711775404227004 + ], + [ + 0.9708638391371959, + 0.14562064743875536, + 0.19031035940090787, + 0.16557640559419806, + -0.9817576898793455, + -0.09346813506899754, + 0.17322776846190283, + 0.12225573770702325, + -0.977264383281935 + ], + [ + 0.9843969423814695, + 0.08190520186412108, + 0.15573759256393827, + 0.10010613021207397, + -0.9885553475311251, + -0.11285870618423557, + 0.14471151482856143, + 0.12668805300901068, + -0.9813300742873465 + ], + [ + 0.9915970589194109, + 0.03463564414001552, + 0.12464206712575483, + 0.050901448379285674, + -0.9902351646608372, + -0.12978197572088362, + 0.11892987553708227, + 0.13503588717126763, + -0.9836772813685407 + ], + [ + 0.9942711114014976, + 0.020280187697258242, + 0.10494603860744303, + 0.03528386850560696, + -0.989071648028871, + -0.1431514012810637, + 0.10089601407245968, + 0.14603420507681433, + -0.9841209302173555 + ], + [ + 0.9947075734976413, + 0.05515412639678754, + 0.08668832428788734, + 0.0667753136920843, + -0.9882548828558841, + -0.1374530610529522, + 0.07808905626115911, + 0.14251424087757006, + -0.9867075506143305 + ], + [ + 0.9937548394578142, + 0.08042639919474281, + 0.07734929454585884, + 0.0897372792402649, + -0.9880152967587397, + -0.12559058119657895, + 0.06632148798639007, + 0.13174736309811913, + -0.9890622288551736 + ], + [ + 0.9931385224377627, + 0.08392117685593796, + 0.0814439152131814, + 0.09281330644427473, + -0.9893230836547167, + -0.11236336722795207, + 0.07114467933035223, + 0.11915146756560258, + -0.9903238674191107 + ], + [ + 0.9927728563257627, + 0.09572575728201535, + 0.0723784162272903, + 0.10354037313379305, + -0.9881508843121184, + -0.11330146055763356, + 0.06067492788706963, + 0.11997670284668925, + -0.990920856526865 + ], + [ + 0.995597887342628, + 0.08772678512538315, + 0.03299784675491725, + 0.09207614008912243, + -0.9812345889070049, + -0.16941270896479377, + 0.01751659627851404, + 0.17170524949478527, + -0.9849926274600991 + ], + [ + 0.997120130081166, + 0.05568659335257754, + 0.05148251652457729, + 0.0655880555551959, + -0.9740190856044612, + -0.21676030043976682, + 0.038074310964313504, + 0.21951269712486818, + -0.974866412717947 + ], + [ + 0.9948074855694787, + 0.04619837806041514, + 0.09068504021898165, + 0.06445958098450597, + -0.9755446438541672, + -0.2101371225337115, + 0.07875931103198709, + 0.21489150218664563, + -0.9734570423052749 + ], + [ + 0.9898938257567601, + 0.04220143738475992, + 0.13538556943524466, + 0.0688198580670033, + -0.9776965541242031, + -0.1984270021677919, + 0.12399210000755202, + 0.20573887998217438, + -0.9707200793222512 + ], + [ + 0.985053327651511, + 0.03683113678905275, + 0.16826588794378627, + 0.06722995317602189, + -0.9816013300930873, + -0.17871475080538746, + 0.15858775198178027, + 0.18735606774884, + -0.9694058122370927 + ], + [ + 0.9789592348618744, + 0.07675786323184142, + 0.18906889461446338, + 0.1070706182934984, + -0.9819801863332392, + -0.15572667191969586, + 0.1737086617785685, + 0.1726937870365305, + -0.9695370837374299 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.001719444990158081, + -0.0008032324258238077, + -0.009361617267131805, + 0.03516210615634918, + 0.0011463761329650879, + -0.022561192512512207, + 1.0 + ], + [ + -0.0019296705722808838, + 0.005272301845252514, + -0.002740435302257538, + 0.04805558919906616, + 0.012786805629730225, + -0.21270215511322021, + 1.0 + ], + [ + -0.0027635395526885986, + 0.0007253978401422501, + -0.0023995786905288696, + 0.033279694616794586, + 0.013094991445541382, + -0.18969905376434326, + 1.0 + ], + [ + -0.00014099478721618652, + 0.009976675733923912, + 0.004289574921131134, + 0.0469498336315155, + 0.020686224102973938, + -0.18582677841186523, + 1.0 + ], + [ + 0.008639365434646606, + 0.01681555062532425, + -0.005662865936756134, + 0.07983162999153137, + 0.04303499311208725, + -0.17563486099243164, + 1.0 + ], + [ + 0.016031235456466675, + 0.023711537942290306, + -0.004328697919845581, + 0.036083921790122986, + -0.0013473853468894958, + -0.14729171991348267, + 1.0 + ], + [ + 0.009129226207733154, + 0.022896505892276764, + -0.0017606690526008606, + 0.021407824009656906, + -0.0549871027469635, + -0.02624732255935669, + 1.0 + ], + [ + 0.01214340329170227, + 0.010423421859741211, + -0.010034061968326569, + 0.004695877432823181, + -0.07820722460746765, + -0.0087815523147583, + 1.0 + ], + [ + 0.01147344708442688, + 0.005570806562900543, + -0.012298598885536194, + 0.0011342838406562805, + -0.058089643716812134, + -0.0011268258094787598, + 1.0 + ], + [ + 0.009503364562988281, + -0.002542845904827118, + -0.02227059379220009, + -0.020785633474588394, + 0.01397019624710083, + -0.023784220218658447, + 1.0 + ], + [ + 0.012580662965774536, + 0.003055758774280548, + -0.012943442910909653, + -0.02584129571914673, + 0.038874223828315735, + 0.019677400588989258, + 1.0 + ], + [ + 0.015462756156921387, + -0.005697660148143768, + -0.009076815098524094, + -0.02728583663702011, + 0.029913246631622314, + 0.04056107997894287, + 1.0 + ], + [ + 0.0127963125705719, + -0.01150820404291153, + -0.004034148529171944, + -0.004535149782896042, + -0.005563825368881226, + -0.00805884599685669, + 0.0 + ], + [ + 0.0010541975498199463, + -0.0007237866520881653, + 0.001047259196639061, + 0.01452389545738697, + -0.010799825191497803, + -0.003123641014099121, + 0.0 + ], + [ + -0.005057603120803833, + -0.0003823786973953247, + -0.004773009568452835, + 0.007808665744960308, + 0.01398332417011261, + 0.0054566264152526855, + 0.0 + ], + [ + -0.004670381546020508, + -0.00250137597322464, + -0.0029486920684576035, + 0.002462489530444145, + 0.014202296733856201, + -0.0013827681541442871, + 0.0 + ], + [ + -0.004463642835617065, + -0.0032844915986061096, + 0.005357144400477409, + -0.010209346190094948, + 0.003952234983444214, + -0.01349550485610962, + 0.0 + ], + [ + -0.0046406090259552, + -0.003942340612411499, + 0.008262256160378456, + -0.0317700132727623, + -0.00010035932064056396, + 0.004539310932159424, + 0.0 + ], + [ + -0.003877878189086914, + 0.0013642758131027222, + 0.007111584767699242, + -0.015996912494301796, + 0.001456722617149353, + 0.012079060077667236, + 0.0 + ], + [ + -0.0014112293720245361, + -0.0023874863982200623, + 0.019615743309259415, + -0.03029545024037361, + -0.0272720605134964, + -0.005203127861022949, + 0.0 + ], + [ + 0.0005253851413726807, + -0.012712914496660233, + 0.020947642624378204, + -0.026494935154914856, + -0.0315178781747818, + -0.029448390007019043, + 0.0 + ], + [ + -0.0025908946990966797, + -0.026806965470314026, + 0.014357991516590118, + -0.037609539926052094, + -0.01485171914100647, + -0.04259079694747925, + 0.0 + ], + [ + 0.0011032521724700928, + -0.026385441422462463, + 0.00300675630569458, + -0.015296131372451782, + -0.006449460983276367, + -0.05863866209983826, + 0.0 + ], + [ + -0.0011082291603088379, + -0.027271784842014313, + 0.0, + -0.0012371540069580078, + 0.0006604194641113281, + -0.06584376096725464, + 0.0 + ], + [ + -8.845329284667969e-05, + -0.01876221038401127, + -0.004397355020046234, + 0.011189356446266174, + -0.0002779364585876465, + -0.06522700190544128, + 0.0 + ], + [ + 0.0003777146339416504, + -0.016042206436395645, + -0.009876474738121033, + 0.0038665980100631714, + 0.028384819626808167, + -0.05324310064315796, + 0.0 + ], + [ + -0.0013640522956848145, + -0.009364336729049683, + -0.01270613819360733, + 0.0059433504939079285, + 0.029779136180877686, + -0.05057235062122345, + 0.0 + ], + [ + -0.0012921392917633057, + -0.003725871443748474, + -0.015388842672109604, + -0.0008307397365570068, + 0.03292196989059448, + -0.055200785398483276, + 0.0 + ], + [ + 0.003486156463623047, + -0.005232512950897217, + -0.010602898895740509, + -0.003934778273105621, + 0.028884634375572205, + -0.06757577508687973, + 0.0 + ], + [ + 0.003247559070587158, + -0.004141516983509064, + -0.0037238895893096924, + -0.008035719394683838, + 0.026009373366832733, + -0.05005668103694916, + 0.0 + ], + [ + 0.00011292099952697754, + -0.0021057873964309692, + -0.0006448887288570404, + -0.010891586542129517, + 0.018144048750400543, + -0.01581549271941185, + 1.0 + ], + [ + -0.005272597074508667, + 0.0036701038479804993, + -0.0063766781240701675, + 0.0038733482360839844, + 0.02289935201406479, + 0.03155774250626564, + 1.0 + ], + [ + -0.0023353993892669678, + 0.007276430726051331, + -0.0033698901534080505, + 0.011017382144927979, + 0.0117984339594841, + 0.02302694320678711, + 1.0 + ], + [ + 0.0005601346492767334, + 0.0015294253826141357, + -0.00020006485283374786, + 0.01268468052148819, + -0.004834629595279694, + 0.0031269192695617676, + 1.0 + ], + [ + -0.0024991631507873535, + 0.0005990564823150635, + -0.002079073339700699, + -0.0007493942975997925, + 0.010492615401744843, + 0.01073453575372696, + 1.0 + ], + [ + -0.003924697637557983, + -0.005179926753044128, + 0.003920676186680794, + -0.0520976260304451, + 0.0431947261095047, + -0.011697493493556976, + 1.0 + ], + [ + 0.001992940902709961, + 0.0030379220843315125, + 0.016733521595597267, + -0.048891112208366394, + -0.020566023886203766, + -0.026538066565990448, + 1.0 + ], + [ + -0.0005913078784942627, + 0.0018475651741027832, + 0.0282796211540699, + 0.00421181321144104, + -0.040757447481155396, + -0.0009772852063179016, + 1.0 + ], + [ + -0.0055845677852630615, + 0.003341108560562134, + 0.02525372803211212, + 0.008412480354309082, + -0.04547106474637985, + 0.004705198109149933, + 1.0 + ], + [ + -0.009551554918289185, + 0.005900844931602478, + 0.015319094061851501, + 0.017938807606697083, + -0.034948110580444336, + -0.001266390085220337, + 1.0 + ], + [ + -0.005579322576522827, + 0.00465749204158783, + 0.009344883263111115, + 0.014643937349319458, + -0.015334203839302063, + 0.0407944917678833, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + -0.0005319118499755859, + 0.0005387961864471436, + 0.0030667483806610107, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9499720335006714 + ], + [ + 0.641040563583374 + ], + [ + 0.36191558837890625 + ], + [ + 0.15820781886577606 + ], + [ + 0.08962377160787582 + ], + [ + 0.08397578448057175 + ], + [ + 0.08363015204668045 + ], + [ + 0.08363015204668045 + ], + [ + 0.08363015204668045 + ], + [ + 0.08363015204668045 + ], + [ + 0.08363015204668045 + ], + [ + 0.0832853764295578 + ], + [ + 0.0832853764295578 + ], + [ + 0.0832853764295578 + ], + [ + 0.0832853764295578 + ], + [ + 0.0832853764295578 + ], + [ + 0.08363015204668045 + ], + [ + 0.0832853764295578 + ], + [ + 0.12885156273841858 + ], + [ + 0.32124534249305725 + ], + [ + 0.5978984832763672 + ], + [ + 0.9263488054275513 + ], + [ + 1.0073583126068115 + ], + [ + 1.002137303352356 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3079853951931, + -0.0029994179494678974, + 0.10610492527484894 + ], + [ + 0.3060557246208191, + 0.002272883662953973, + 0.1033644899725914 + ], + [ + 0.3032921850681305, + 0.002998281503096223, + 0.10096491128206253 + ], + [ + 0.3031511902809143, + 0.012974957004189491, + 0.10525448620319366 + ], + [ + 0.3117905557155609, + 0.02979050762951374, + 0.09959162026643753 + ], + [ + 0.3278217911720276, + 0.05350204557180405, + 0.09526292234659195 + ], + [ + 0.33695101737976074, + 0.07639855146408081, + 0.09350225329399109 + ], + [ + 0.349094420671463, + 0.08682197332382202, + 0.08346819132566452 + ], + [ + 0.3605678677558899, + 0.09239277988672256, + 0.07116959244012833 + ], + [ + 0.3700712323188782, + 0.08984993398189545, + 0.04889899864792824 + ], + [ + 0.3826518952846527, + 0.092905692756176, + 0.035955555737018585 + ], + [ + 0.3981146514415741, + 0.08720803260803223, + 0.02687874063849449 + ], + [ + 0.410910964012146, + 0.0756998285651207, + 0.022844592109322548 + ], + [ + 0.41196516156196594, + 0.07497604191303253, + 0.02389185130596161 + ], + [ + 0.4069075584411621, + 0.07459366321563721, + 0.019118841737508774 + ], + [ + 0.4022371768951416, + 0.07209228724241257, + 0.01617014966905117 + ], + [ + 0.39777353405952454, + 0.06880779564380646, + 0.02152729406952858 + ], + [ + 0.39313292503356934, + 0.06486545503139496, + 0.029789550229907036 + ], + [ + 0.3892550468444824, + 0.06622973084449768, + 0.03690113499760628 + ], + [ + 0.3878438174724579, + 0.06384224444627762, + 0.05651687830686569 + ], + [ + 0.38836920261383057, + 0.051129329949617386, + 0.0774645209312439 + ], + [ + 0.3857783079147339, + 0.02432236447930336, + 0.09182251244783401 + ], + [ + 0.386881560087204, + -0.0020630760118365288, + 0.0948292687535286 + ], + [ + 0.38577333092689514, + -0.029334859922528267, + 0.0948292687535286 + ], + [ + 0.38568487763404846, + -0.048097070306539536, + 0.09043191373348236 + ], + [ + 0.3860625922679901, + -0.06413927674293518, + 0.08055543899536133 + ], + [ + 0.3846985399723053, + -0.07350361347198486, + 0.067849300801754 + ], + [ + 0.383406400680542, + -0.07722948491573334, + 0.052460458129644394 + ], + [ + 0.38689255714416504, + -0.08246199786663055, + 0.041857559233903885 + ], + [ + 0.3901401162147522, + -0.08660351485013962, + 0.03813366964459419 + ], + [ + 0.3902530372142792, + -0.08870930224657059, + 0.03748878091573715 + ], + [ + 0.3849804401397705, + -0.08503919839859009, + 0.031112102791666985 + ], + [ + 0.38264504075050354, + -0.07776276767253876, + 0.027742212638258934 + ], + [ + 0.3832051753997803, + -0.07623334228992462, + 0.027542147785425186 + ], + [ + 0.3807060122489929, + -0.07563428580760956, + 0.025463074445724487 + ], + [ + 0.37678131461143494, + -0.08081421256065369, + 0.02938375063240528 + ], + [ + 0.3787742555141449, + -0.07777629047632217, + 0.04611727222800255 + ], + [ + 0.37818294763565063, + -0.07592872530221939, + 0.07439689338207245 + ], + [ + 0.3725983798503876, + -0.07258761674165726, + 0.09965062141418457 + ], + [ + 0.3630468249320984, + -0.06668677181005478, + 0.11496971547603607 + ], + [ + 0.35746750235557556, + -0.06202927976846695, + 0.12431459873914719 + ], + [ + 0.35746750235557556, + -0.06202927976846695, + 0.12431459873914719 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.06001663847389227, + 0.9773803409360337, + 0.20279465539815655, + 0.9815884166977104, + -0.0946938204448613, + 0.16588327394417632, + 0.18133445152859506, + 0.18910512822586098, + -0.9650684261582204 + ], + [ + 0.2664844441885071, + 0.9459818725977485, + 0.1846735977935122, + 0.9489526411351554, + -0.2910525184321498, + 0.12156198582170415, + 0.16874515071004423, + 0.1428521201479368, + -0.9752529650716701 + ], + [ + 0.44159173284125003, + 0.8810898373280719, + 0.16934414676467058, + 0.8835811623481405, + -0.45984455892675863, + 0.08847209259966662, + 0.15582384615254258, + 0.1105607533560034, + -0.9815779382135593 + ], + [ + 0.5990599429913538, + 0.7894842477451063, + 0.13357322810181332, + 0.7891801323670926, + -0.6103652176848803, + 0.0681837203263832, + 0.13535842559757283, + 0.06456720222242734, + -0.9886906356474274 + ], + [ + 0.7313433741009155, + 0.6795307798437932, + 0.05809292903249472, + 0.6756927933415776, + -0.7335026023621914, + 0.07357432537338507, + 0.09260733332163432, + -0.014555121874409653, + -0.9955963189176006 + ], + [ + 0.8224851673247917, + 0.5666756040278497, + 0.0489582406789887, + 0.5609739425539427, + -0.8223946140591585, + 0.09473824223603695, + 0.09394884409185526, + -0.05045650172336637, + -0.9942976194920939 + ], + [ + 0.8313187582467887, + 0.549178622205288, + 0.08551001754016183, + 0.5355837866162619, + -0.8326622796691892, + 0.14079607782141967, + 0.14852316216941927, + -0.071248641592738, + -0.9863389383829404 + ], + [ + 0.8236251800225015, + 0.547228953666412, + 0.14893634580607248, + 0.5204496792200627, + -0.8336377049791195, + 0.18487917199317092, + 0.2253301893502863, + -0.07475726791630763, + -0.9714101382325869 + ], + [ + 0.8117539562717996, + 0.5501587940433303, + 0.1959102238625367, + 0.5116692034885773, + -0.8317110905017652, + 0.21552560900674683, + 0.28151401506576157, + -0.07471253759010277, + -0.9566440801303279 + ], + [ + 0.8269883432598777, + 0.5252730610389631, + 0.20044573195516244, + 0.49418866814770573, + -0.8491522924525708, + 0.18632751943000966, + 0.26808177928885774, + -0.0550326772863326, + -0.9618230419593923 + ], + [ + 0.8253239393852518, + 0.5356154027858145, + 0.17876390960201827, + 0.5154987893088975, + -0.8439123058159108, + 0.14856991052542712, + 0.23043739561683535, + -0.030465724856994315, + -0.9726101204029638 + ], + [ + 0.8090747737823123, + 0.564377620927685, + 0.16393874290449614, + 0.5521814161598091, + -0.8255073206111954, + 0.11676192557967147, + 0.2012304501730486, + -0.003945201304296361, + -0.9795359826518987 + ], + [ + 0.8125559891760601, + 0.5569509712378092, + 0.17192550739019422, + 0.5450112387519196, + -0.8305452239554133, + 0.11470562583827604, + 0.20667731875610548, + 0.0004965904887026251, + -0.9784090347649462 + ], + [ + 0.8123494055179764, + 0.5569207073091519, + 0.17299644252083418, + 0.5412012825628877, + -0.8304529793108065, + 0.1320947421591433, + 0.2172317083366876, + -0.013681188693938078, + -0.9760241851353096 + ], + [ + 0.8118237319667705, + 0.5625245880791119, + 0.15655132072892358, + 0.5472704441007152, + -0.8265044265027754, + 0.13185406321052023, + 0.20356151215136614, + -0.021366346850675497, + -0.9788289891461661 + ], + [ + 0.8148971140100848, + 0.5614847721224552, + 0.14379688540656654, + 0.5477049244493424, + -0.8271434537781114, + 0.12590878684967677, + 0.18963651893022831, + -0.023844444774658247, + -0.9815647880509025 + ], + [ + 0.8228354424878543, + 0.5487115607714249, + 0.14784267875550627, + 0.5370633944126407, + -0.8358972902897079, + 0.113307680535329, + 0.18575452879482984, + -0.01383268455907008, + -0.9824988101112897 + ], + [ + 0.8203735068603583, + 0.547540242623894, + 0.16488478386135205, + 0.5407826914680434, + -0.836598783077264, + 0.08750175290941178, + 0.1858531405444002, + 0.017382717307945855, + -0.9824237636014183 + ], + [ + 0.8140050354983775, + 0.5549535343457557, + 0.17152952195012847, + 0.55080348155221, + -0.8312223869755467, + 0.07539806430299857, + 0.18442160093993779, + 0.03310465386964567, + -0.982289547434422 + ], + [ + 0.8123765213337175, + 0.5437402266807562, + 0.2106916075093819, + 0.5435608421946453, + -0.8369232068927233, + 0.06404027324307214, + 0.21115396851202053, + 0.06249889321867562, + -0.9754526589886692 + ], + [ + 0.821980918673227, + 0.5107010895969686, + 0.2520550860855367, + 0.5156116252281153, + -0.8552764305011546, + 0.051447831429765736, + 0.24185123788548152, + 0.0876733968411919, + -0.9663443248757595 + ], + [ + 0.8399749814354371, + 0.46233916057602226, + 0.28405022647481976, + 0.4783155116768098, + -0.8780641450075779, + 0.014752238523801434, + 0.256234856824533, + 0.12347411813805585, + -0.95869590606101 + ], + [ + 0.8650634466595747, + 0.4048891519321469, + 0.296192518307137, + 0.4275255285498595, + -0.9039096523996868, + -0.013010101338586301, + 0.26246362736886064, + 0.13788442604712053, + -0.9550396480576268 + ], + [ + 0.8914783950326285, + 0.3442579708128206, + 0.29453814816062024, + 0.3697475596158971, + -0.9285150501460712, + -0.033860652833742726, + 0.2618263037743476, + 0.13909080193915688, + -0.9550396512542214 + ], + [ + 0.9136141408643778, + 0.28621700182175464, + 0.2887715870386326, + 0.3108305916399409, + -0.9495244980262192, + -0.04227967536323593, + 0.26209453430662977, + 0.12838635253103048, + -0.9564640085075699 + ], + [ + 0.9356467037856807, + 0.23980338695326958, + 0.2589586478585556, + 0.26368171201703233, + -0.9626627024825976, + -0.061257456661773235, + 0.23460008619512007, + 0.12559799701684204, + -0.9639439520545787 + ], + [ + 0.9541700342438948, + 0.19584100513638236, + 0.2262870885803605, + 0.21750356577875612, + -0.9731823366426192, + -0.07488884109356969, + 0.2055522917034271, + 0.12067493672665866, + -0.9711775404227004 + ], + [ + 0.9708638391371959, + 0.14562064743875536, + 0.19031035940090787, + 0.16557640559419806, + -0.9817576898793455, + -0.09346813506899754, + 0.17322776846190283, + 0.12225573770702325, + -0.977264383281935 + ], + [ + 0.9843969423814695, + 0.08190520186412108, + 0.15573759256393827, + 0.10010613021207397, + -0.9885553475311251, + -0.11285870618423557, + 0.14471151482856143, + 0.12668805300901068, + -0.9813300742873465 + ], + [ + 0.9915970589194109, + 0.03463564414001552, + 0.12464206712575483, + 0.050901448379285674, + -0.9902351646608372, + -0.12978197572088362, + 0.11892987553708227, + 0.13503588717126763, + -0.9836772813685407 + ], + [ + 0.9942711114014976, + 0.020280187697258242, + 0.10494603860744303, + 0.03528386850560696, + -0.989071648028871, + -0.1431514012810637, + 0.10089601407245968, + 0.14603420507681433, + -0.9841209302173555 + ], + [ + 0.9947075734976413, + 0.05515412639678754, + 0.08668832428788734, + 0.0667753136920843, + -0.9882548828558841, + -0.1374530610529522, + 0.07808905626115911, + 0.14251424087757006, + -0.9867075506143305 + ], + [ + 0.9937548394578142, + 0.08042639919474281, + 0.07734929454585884, + 0.0897372792402649, + -0.9880152967587397, + -0.12559058119657895, + 0.06632148798639007, + 0.13174736309811913, + -0.9890622288551736 + ], + [ + 0.9931385224377627, + 0.08392117685593796, + 0.0814439152131814, + 0.09281330644427473, + -0.9893230836547167, + -0.11236336722795207, + 0.07114467933035223, + 0.11915146756560258, + -0.9903238674191107 + ], + [ + 0.9927728563257627, + 0.09572575728201535, + 0.0723784162272903, + 0.10354037313379305, + -0.9881508843121184, + -0.11330146055763356, + 0.06067492788706963, + 0.11997670284668925, + -0.990920856526865 + ], + [ + 0.995597887342628, + 0.08772678512538315, + 0.03299784675491725, + 0.09207614008912243, + -0.9812345889070049, + -0.16941270896479377, + 0.01751659627851404, + 0.17170524949478527, + -0.9849926274600991 + ], + [ + 0.997120130081166, + 0.05568659335257754, + 0.05148251652457729, + 0.0655880555551959, + -0.9740190856044612, + -0.21676030043976682, + 0.038074310964313504, + 0.21951269712486818, + -0.974866412717947 + ], + [ + 0.9948074855694787, + 0.04619837806041514, + 0.09068504021898165, + 0.06445958098450597, + -0.9755446438541672, + -0.2101371225337115, + 0.07875931103198709, + 0.21489150218664563, + -0.9734570423052749 + ], + [ + 0.9898938257567601, + 0.04220143738475992, + 0.13538556943524466, + 0.0688198580670033, + -0.9776965541242031, + -0.1984270021677919, + 0.12399210000755202, + 0.20573887998217438, + -0.9707200793222512 + ], + [ + 0.985053327651511, + 0.03683113678905275, + 0.16826588794378627, + 0.06722995317602189, + -0.9816013300930873, + -0.17871475080538746, + 0.15858775198178027, + 0.18735606774884, + -0.9694058122370927 + ], + [ + 0.9789592348618744, + 0.07675786323184142, + 0.18906889461446338, + 0.1070706182934984, + -0.9819801863332392, + -0.15572667191969586, + 0.1737086617785685, + 0.1726937870365305, + -0.9695370837374299 + ], + [ + 0.9787191382531492, + 0.0797608951124309, + 0.1890688975687877, + 0.11008277686303763, + -0.9816470774495032, + -0.15572667585539648, + 0.17317803167589013, + 0.1732259072590265, + -0.969537082529158 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006763.json b/json/chunk-0006/episode_0006763.json new file mode 100644 index 0000000000000000000000000000000000000000..803161da3f17150261432b7a69f04761f201a532 --- /dev/null +++ b/json/chunk-0006/episode_0006763.json @@ -0,0 +1,2182 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 35, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the yellow brush next to the purple cloth." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006763.mp4", + "start": 0, + "end": 35, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.316589891910553, + 0.08231231570243835, + 0.1383165568113327, + 0.02506951428949833, + -0.2735658884048462, + -0.12982745468616486, + 0.0, + 0.9994885921478271 + ], + [ + 0.31648364663124084, + 0.08123226463794708, + 0.12702234089374542, + 0.007743563037365675, + -0.24151143431663513, + -0.11958130449056625, + 0.0, + 0.9994885921478271 + ], + [ + 0.3229789733886719, + 0.060470085591077805, + 0.11855607479810715, + 0.004550468642264605, + -0.2267339825630188, + -0.16263127326965332, + 0.0, + 1.0001531839370728 + ], + [ + 0.3322746455669403, + 0.033590834587812424, + 0.09764378517866135, + -0.010646880604326725, + -0.18901482224464417, + -0.18459726870059967, + 0.0, + 0.9994885921478271 + ], + [ + 0.35905036330223083, + -0.0027379386592656374, + 0.0778379887342453, + -0.04688827320933342, + -0.18874530494213104, + -0.17125684022903442, + 0.0, + 0.9994885921478271 + ], + [ + 0.3899881839752197, + -0.024472825229167938, + 0.06454348564147949, + -0.05870508402585983, + -0.2010098546743393, + -0.13349230587482452, + 0.0, + 1.0001531839370728 + ], + [ + 0.4159950315952301, + -0.03748025745153427, + 0.04918961599469185, + -0.05849571153521538, + -0.19617538154125214, + -0.1280517578125, + 0.0, + 0.9994885921478271 + ], + [ + 0.4280188977718353, + -0.0368114709854126, + 0.03966936096549034, + -0.021465415135025978, + -0.18003839254379272, + -0.13807199895381927, + 0.0, + 1.0001531839370728 + ], + [ + 0.43662700057029724, + -0.03329617530107498, + 0.045777782797813416, + -0.01460499782115221, + -0.20261311531066895, + -0.13287806510925293, + 0.0, + 1.0001531839370728 + ], + [ + 0.4372962713241577, + -0.022635990753769875, + 0.045760150998830795, + -0.011213135905563831, + -0.20227347314357758, + -0.10779077559709549, + 0.0, + 1.0001531839370728 + ], + [ + 0.4365942180156708, + -0.02221207320690155, + 0.04560594633221626, + -0.009601913392543793, + -0.19745789468288422, + -0.10488344728946686, + 0.0, + 1.0001531839370728 + ], + [ + 0.43378570675849915, + -0.0223089512437582, + 0.0340728722512722, + -0.013876615092158318, + -0.16533569991588593, + -0.09913579374551773, + 0.0, + 0.9994885921478271 + ], + [ + 0.43098485469818115, + -0.021173130720853806, + 0.028755728155374527, + -0.009648757986724377, + -0.1479775458574295, + -0.09085870534181595, + 0.0, + 0.9994885921478271 + ], + [ + 0.4278745651245117, + -0.02108360081911087, + 0.021880947053432465, + -0.0075497617945075035, + -0.12932291626930237, + -0.08550716936588287, + 0.0, + 0.9994885921478271 + ], + [ + 0.4246452748775482, + -0.020171720534563065, + 0.012571063823997974, + -0.00025174711481668055, + -0.09672292321920395, + -0.08360444009304047, + 0.0, + 0.9422301650047302 + ], + [ + 0.4245544672012329, + -0.019346026703715324, + 0.011607487685978413, + 0.003962316084653139, + -0.09349862486124039, + -0.07457849383354187, + 0.0, + 0.6651484370231628 + ], + [ + 0.4228897988796234, + -0.018647219985723495, + 0.011459611356258392, + 0.008280356414616108, + -0.08259382843971252, + -0.0831279382109642, + 0.0, + 0.36781078577041626 + ], + [ + 0.42190641164779663, + -0.02254488319158554, + 0.012059691362082958, + -0.01536426693201065, + -0.07929489761590958, + -0.10012834519147873, + 0.0, + 0.3445223569869995 + ], + [ + 0.4187307357788086, + -0.03218000754714012, + 0.017681904137134552, + -0.07906288653612137, + -0.08525659143924713, + -0.1218218058347702, + 0.0, + 0.3445223569869995 + ], + [ + 0.4254429340362549, + -0.046154409646987915, + 0.07248150557279587, + -0.1551608294248581, + -0.22890979051589966, + -0.15874530375003815, + 0.0, + 0.3445223569869995 + ], + [ + 0.4199006259441376, + -0.02293805219233036, + 0.11311924457550049, + -0.1694563925266266, + -0.30699214339256287, + -0.160429909825325, + 0.0, + 0.3445223569869995 + ], + [ + 0.4029662609100342, + 0.031895242631435394, + 0.1280474066734314, + -0.1274390071630478, + -0.2933535575866699, + -0.12115472555160522, + 0.0, + 0.3445223569869995 + ], + [ + 0.38302281498908997, + 0.07142969965934753, + 0.11669790744781494, + -0.09390875697135925, + -0.2503402829170227, + -0.09462883323431015, + 0.0, + 0.3445223569869995 + ], + [ + 0.3665674328804016, + 0.12102259695529938, + 0.1120574101805687, + -0.07419818639755249, + -0.24162264168262482, + -0.049999576061964035, + 0.0, + 0.3445223569869995 + ], + [ + 0.35172754526138306, + 0.17142575979232788, + 0.1044498085975647, + -0.05111680552363396, + -0.24542558193206787, + -0.03342436999082565, + 0.0, + 0.3445223569869995 + ], + [ + 0.34667056798934937, + 0.19753296673297882, + 0.07767060399055481, + -0.046458445489406586, + -0.20340463519096375, + -0.04508640617132187, + 0.0, + 0.3445223569869995 + ], + [ + 0.3421788811683655, + 0.2018640637397766, + 0.05244371294975281, + -0.06423621624708176, + -0.1507059633731842, + -0.04384522885084152, + 0.0, + 0.3445223569869995 + ], + [ + 0.3383646607398987, + 0.1971368044614792, + 0.04158138856291771, + -0.05273030325770378, + -0.1141965240240097, + -0.06718167662620544, + 0.0, + 0.3445223569869995 + ], + [ + 0.33978593349456787, + 0.19195301830768585, + 0.03444073721766472, + -0.022046048194169998, + -0.0839550718665123, + -0.08653221279382706, + 0.0, + 0.43473443388938904 + ], + [ + 0.33746835589408875, + 0.19573523104190826, + 0.02766636572778225, + -0.0014556406531482935, + -0.05831126123666763, + -0.08658308535814285, + 0.0, + 0.7506401538848877 + ], + [ + 0.3367067575454712, + 0.19625699520111084, + 0.026966238394379616, + 0.002691645408049226, + -0.05513042211532593, + -0.08507922291755676, + 0.0, + 0.9830701947212219 + ], + [ + 0.33378854393959045, + 0.1904779076576233, + 0.03393031284213066, + -0.005637905094772577, + -0.07961228489875793, + -0.09742767363786697, + 0.0, + 1.002137303352356 + ], + [ + 0.33363163471221924, + 0.17888276278972626, + 0.09508465975522995, + 0.039618365466594696, + -0.2444787621498108, + -0.09121562540531158, + 0.0, + 0.9994885921478271 + ], + [ + 0.31844332814216614, + 0.16164466738700867, + 0.13540032505989075, + 0.0468919612467289, + -0.2850695848464966, + -0.054230351001024246, + 0.0, + 0.9994885921478271 + ], + [ + 0.3070414066314697, + 0.14523743093013763, + 0.1259058117866516, + 0.02085137367248535, + -0.23522399365901947, + -0.063824862241745, + 0.0, + 0.9994885921478271 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9422301650047302 + ], + [ + 0.6651484370231628 + ], + [ + 0.36781078577041626 + ], + [ + 0.3445223569869995 + ], + [ + 0.3445223569869995 + ], + [ + 0.3445223569869995 + ], + [ + 0.3445223569869995 + ], + [ + 0.3445223569869995 + ], + [ + 0.3445223569869995 + ], + [ + 0.3445223569869995 + ], + [ + 0.3445223569869995 + ], + [ + 0.3445223569869995 + ], + [ + 0.3445223569869995 + ], + [ + 0.3445223569869995 + ], + [ + 0.43473443388938904 + ], + [ + 0.7506401538848877 + ], + [ + 0.9830701947212219 + ], + [ + 1.002137303352356 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.316589891910553, + 0.08231231570243835, + 0.1383165568113327 + ], + [ + 0.31648364663124084, + 0.08123226463794708, + 0.12702234089374542 + ], + [ + 0.3229789733886719, + 0.060470085591077805, + 0.11855607479810715 + ], + [ + 0.3322746455669403, + 0.033590834587812424, + 0.09764378517866135 + ], + [ + 0.35905036330223083, + -0.0027379386592656374, + 0.0778379887342453 + ], + [ + 0.3899881839752197, + -0.024472825229167938, + 0.06454348564147949 + ], + [ + 0.4159950315952301, + -0.03748025745153427, + 0.04918961599469185 + ], + [ + 0.4280188977718353, + -0.0368114709854126, + 0.03966936096549034 + ], + [ + 0.43662700057029724, + -0.03329617530107498, + 0.045777782797813416 + ], + [ + 0.4372962713241577, + -0.022635990753769875, + 0.045760150998830795 + ], + [ + 0.4365942180156708, + -0.02221207320690155, + 0.04560594633221626 + ], + [ + 0.43378570675849915, + -0.0223089512437582, + 0.0340728722512722 + ], + [ + 0.43098485469818115, + -0.021173130720853806, + 0.028755728155374527 + ], + [ + 0.4278745651245117, + -0.02108360081911087, + 0.021880947053432465 + ], + [ + 0.4246452748775482, + -0.020171720534563065, + 0.012571063823997974 + ], + [ + 0.4245544672012329, + -0.019346026703715324, + 0.011607487685978413 + ], + [ + 0.4228897988796234, + -0.018647219985723495, + 0.011459611356258392 + ], + [ + 0.42190641164779663, + -0.02254488319158554, + 0.012059691362082958 + ], + [ + 0.4187307357788086, + -0.03218000754714012, + 0.017681904137134552 + ], + [ + 0.4254429340362549, + -0.046154409646987915, + 0.07248150557279587 + ], + [ + 0.4199006259441376, + -0.02293805219233036, + 0.11311924457550049 + ], + [ + 0.4029662609100342, + 0.031895242631435394, + 0.1280474066734314 + ], + [ + 0.38302281498908997, + 0.07142969965934753, + 0.11669790744781494 + ], + [ + 0.3665674328804016, + 0.12102259695529938, + 0.1120574101805687 + ], + [ + 0.35172754526138306, + 0.17142575979232788, + 0.1044498085975647 + ], + [ + 0.34667056798934937, + 0.19753296673297882, + 0.07767060399055481 + ], + [ + 0.3421788811683655, + 0.2018640637397766, + 0.05244371294975281 + ], + [ + 0.3383646607398987, + 0.1971368044614792, + 0.04158138856291771 + ], + [ + 0.33978593349456787, + 0.19195301830768585, + 0.03444073721766472 + ], + [ + 0.33746835589408875, + 0.19573523104190826, + 0.02766636572778225 + ], + [ + 0.3367067575454712, + 0.19625699520111084, + 0.026966238394379616 + ], + [ + 0.33378854393959045, + 0.1904779076576233, + 0.03393031284213066 + ], + [ + 0.33363163471221924, + 0.17888276278972626, + 0.09508465975522995 + ], + [ + 0.31844332814216614, + 0.16164466738700867, + 0.13540032505989075 + ], + [ + 0.3070414066314697, + 0.14523743093013763, + 0.1259058117866516 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9547108343870113, + -0.1227071325583531, + 0.27105383657746673, + -0.12464879123401519, + -0.9921494211297798, + -0.010109648645843768, + 0.2701664330518434, + -0.024134741994690498, + -0.9625110974325928 + ], + [ + 0.9640435239265152, + -0.11745414838080614, + 0.23837912451279536, + -0.11583424042902277, + -0.9930498433666859, + -0.020843160356157825, + 0.2391704679085162, + -0.0075187510625592665, + -0.9709484824968219 + ], + [ + 0.9615481603401403, + -0.16090421333719593, + 0.22256452879295552, + -0.15777122049162004, + -0.986960067015853, + -0.03190717945303089, + 0.22479630186254573, + -0.004433987641102324, + -0.9743956908887283 + ], + [ + 0.965502660560304, + -0.18550668864741213, + 0.18273445465496324, + -0.18028158879839393, + -0.982587359149245, + -0.04495142245179625, + 0.1878913547540214, + 0.010457060159774614, + -0.9821341500536033 + ], + [ + 0.9678715743428935, + -0.17889925325368414, + 0.17669089609904143, + -0.1673943338352101, + -0.9827896503339363, + -0.07812579725266755, + 0.1876266307827178, + 0.0460386835364877, + -0.9811608874386261 + ], + [ + 0.971147711450768, + -0.14447694871357164, + 0.18973279588503417, + -0.13041635087615555, + -0.9878366795877304, + -0.08467744614261422, + 0.19965895413951146, + 0.057490049152038834, + -0.9781774871056953 + ], + [ + 0.9727888538778243, + -0.13878582959248323, + 0.18552719281925897, + -0.1252526721653107, + -0.9886609644425128, + -0.08283275622028372, + 0.1949195061724647, + 0.05734100532713001, + -0.9791416624889148 + ], + [ + 0.9744738354167798, + -0.1414088941609805, + 0.17436819876422116, + -0.13540912023812443, + -0.9897260244893544, + -0.045899527283345065, + 0.1790673455559318, + 0.021116844003448796, + -0.9836101690481276 + ], + [ + 0.970909103659996, + -0.13538619914924033, + 0.1974995936959501, + -0.12977723104974637, + -0.9906896199872189, + -0.04113328519144177, + 0.20122967656686197, + 0.014305730652503372, + -0.9794396169949908 + ], + [ + 0.9739268988442358, + -0.10981496330188147, + 0.19851213953473076, + -0.10538881798103446, + -0.9938913517407095, + -0.032759395287244315, + 0.20089697049037444, + 0.010984296519666875, + -0.9795507911679505 + ], + [ + 0.9751800012847919, + -0.10655972828422165, + 0.1940850056088463, + -0.10265694379928454, + -0.9942617253675023, + -0.030086099099544295, + 0.19617725908979253, + 0.009415188645476828, + -0.9805232466590409 + ], + [ + 0.9815201865649349, + -0.10123653643556994, + 0.16238622803693903, + -0.0976238050212337, + -0.9947682299367745, + -0.030095870175701325, + 0.16458346228801785, + 0.013686942645676695, + -0.9862681945304241 + ], + [ + 0.9849915528414503, + -0.09214622680364581, + 0.1459476403263812, + -0.08974214284733242, + -0.9956997544221043, + -0.02298579650413196, + 0.14743808404939562, + 0.009543161405501328, + -0.9890252471207351 + ], + [ + 0.9880264373096664, + -0.08637064782769374, + 0.12784314753240467, + -0.08468984718570302, + -0.9962349428355434, + -0.01853559972387611, + 0.1289627425298871, + 0.007486645930320718, + -0.9916211782590587 + ], + [ + 0.9918494931458063, + -0.08353130330455998, + 0.09621384679269718, + -0.08311676564884067, + -0.9965051222059499, + -0.008315328338707993, + 0.09657218136959886, + 0.00025057044204641107, + -0.9953259521382786 + ], + [ + 0.9928646409298716, + -0.07413989219119073, + 0.09339743667293841, + -0.07418393635068384, + -0.9972400480164909, + -0.0030050323766076556, + 0.09336245700877101, + -0.003944999105879089, + -0.9956243712381391 + ], + [ + 0.9931497019646682, + -0.08234862326896791, + 0.08289978126144737, + -0.08274918088182043, + -0.9965694196416853, + 0.0014017483446276025, + 0.08249995485379366, + -0.008252034945363229, + -0.9965569032264951 + ], + [ + 0.9918648886598056, + -0.10116020992846188, + 0.0772700108133838, + -0.09964702264832949, + -0.994752256017884, + -0.02320387951729368, + 0.07921182690226403, + 0.015315386856338122, + -0.9967401493891204 + ], + [ + 0.988983671890512, + -0.12781671500020564, + 0.07466045874836597, + -0.12107933167194711, + -0.9886709225096763, + -0.08871077964791141, + 0.08515334506544575, + 0.0786936741448884, + -0.9932553616637281 + ], + [ + 0.9616687521386551, + -0.19080678534149836, + 0.19694156957769327, + -0.1539558084880443, + -0.9700207151891552, + -0.18803569112461754, + 0.22691588792518397, + 0.1505077498721023, + -0.9622144236268557 + ], + [ + 0.9410059043043967, + -0.2077638809156166, + 0.2670993407912981, + -0.1522741376637059, + -0.9648781352491251, + -0.21406254020016072, + 0.3021927779796189, + 0.16076179242920927, + -0.9395930880077334 + ], + [ + 0.9502624231005204, + -0.1563601915687348, + 0.26935630257284926, + -0.11569541492143434, + -0.9801781292422973, + -0.16082725490795313, + 0.2891641371423589, + 0.12166480776156739, + -0.9495166014046601 + ], + [ + 0.9644936720186424, + -0.11719758745243666, + 0.23667843613503062, + -0.09154231620163933, + -0.9889445918366899, + -0.11665589835667084, + 0.24773364926960242, + 0.09084778352987652, + -0.9645593394121869 + ], + [ + 0.969737574747552, + -0.06755680684640576, + 0.23461695158588491, + -0.04852691277819815, + -0.9951157872612257, + -0.08596341477447256, + 0.23927844628999329, + 0.07197671701451991, + -0.968279493405111 + ], + [ + 0.9694922045505986, + -0.0457819628545454, + 0.24080879799709384, + -0.03241673891672843, + -0.9977211416049283, + -0.0591749831648726, + 0.24296917572734364, + 0.04956344894923391, + -0.9687669710382532 + ], + [ + 0.9783892323485941, + -0.05439442715083889, + 0.1994887373243436, + -0.044141968740432164, + -0.9974830441464738, + -0.0554893074024411, + 0.20200494206837513, + 0.045484315265990054, + -0.9783277469461532 + ], + [ + 0.9877151787904723, + -0.05336906690911223, + 0.14686888126542097, + -0.043334370336651, + -0.9965560725902224, + -0.07069742945169788, + 0.15013613134229747, + 0.06346445367922518, + -0.9866262743231432 + ], + [ + 0.9912455127207336, + -0.07303005099654153, + 0.10999520517937539, + -0.06669390395577088, + -0.9959542017219607, + -0.0602258353824249, + 0.11394848259695586, + 0.052362579422857686, + -0.992105792539302 + ], + [ + 0.9927494445558678, + -0.08824489985543982, + 0.08161726522935892, + -0.08611986368753677, + -0.9958565686370048, + -0.029207255622034238, + 0.08385648104026433, + 0.021966619039673813, + -0.9962356941183697 + ], + [ + 0.9945607725331544, + -0.08655936838931173, + 0.057933975198483374, + -0.08632797112416761, + -0.996245634395613, + -0.006489788075707283, + 0.05827822183148649, + 0.0014531661041089728, + -0.998299322432122 + ], + [ + 0.9948691440579635, + -0.0848285318645015, + 0.055131718484811666, + -0.08484751472230788, + -0.9963919395709228, + -0.002000500822896608, + 0.05510249946075963, + -0.0026875527544437906, + -0.9984770861734229 + ], + [ + 0.9921053134970024, + -0.09771831159407501, + 0.07860139000181592, + -0.09696551079783675, + -0.995198245063721, + -0.013347012317521155, + 0.07952821289786981, + 0.00562001790857662, + -0.9968167729086314 + ], + [ + 0.966229983121636, + -0.0814704246391792, + 0.2444630639296556, + -0.08838052547686581, + -0.995934580866672, + 0.017412448143771596, + 0.2420506195678832, + -0.03843020352585039, + -0.9695022522014921 + ], + [ + 0.9582313112707532, + -0.040981247415315926, + 0.2830429145211341, + -0.05201622239057529, + -0.9981468159363877, + 0.03157920905066769, + 0.28122422852333967, + -0.044983010085322434, + -0.9585872219548499 + ], + [ + 0.9704821166108124, + -0.058918281168568405, + 0.2338655542886538, + -0.062025132411600715, + -0.9980568781529595, + 0.005945664041315974, + 0.23306081671512513, + -0.020275702594739268, + -0.9722507657988081 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.00010624527931213379, + -0.001080051064491272, + -0.01129421591758728, + -0.017325950786471367, + 0.03205445408821106, + 0.010246150195598602, + 1.0 + ], + [ + 0.00649532675743103, + -0.020762179046869278, + -0.008466266095638275, + -0.0031930943951010704, + 0.014777451753616333, + -0.04304996877908707, + 1.0 + ], + [ + 0.009295672178268433, + -0.02687925100326538, + -0.0209122896194458, + -0.015197349712252617, + 0.037719160318374634, + -0.02196599543094635, + 1.0 + ], + [ + 0.026775717735290527, + -0.03632877394556999, + -0.019805796444416046, + -0.03624139353632927, + 0.00026951730251312256, + 0.013340428471565247, + 1.0 + ], + [ + 0.03093782067298889, + -0.02173488587141037, + -0.013294503092765808, + -0.011816810816526413, + -0.012264549732208252, + 0.0377645343542099, + 1.0 + ], + [ + 0.026006847620010376, + -0.013007432222366333, + -0.015353869646787643, + 0.00020937249064445496, + 0.004834473133087158, + 0.005440548062324524, + 1.0 + ], + [ + 0.012023866176605225, + 0.0006687864661216736, + -0.009520255029201508, + 0.03703029453754425, + 0.01613698899745941, + -0.010020241141319275, + 1.0 + ], + [ + 0.008608102798461914, + 0.003515295684337616, + 0.006108421832323074, + 0.006860417313873768, + -0.02257472276687622, + 0.005193933844566345, + 1.0 + ], + [ + 0.0006692707538604736, + 0.010660184547305107, + -1.763179898262024e-05, + 0.003391861915588379, + 0.00033964216709136963, + 0.02508728951215744, + 1.0 + ], + [ + -0.0007020533084869385, + 0.0004239175468683243, + -0.00015420466661453247, + 0.0016112225130200386, + 0.004815578460693359, + 0.0029073283076286316, + 1.0 + ], + [ + -0.002808511257171631, + -9.68780368566513e-05, + -0.011533074080944061, + -0.004274701699614525, + 0.03212219476699829, + 0.005747653543949127, + 1.0 + ], + [ + -0.002800852060317993, + 0.001135820522904396, + -0.0053171440958976746, + 0.004227857105433941, + 0.01735815405845642, + 0.008277088403701782, + 1.0 + ], + [ + -0.0031102895736694336, + 8.952990174293518e-05, + -0.006874781101942062, + 0.002098996192216873, + 0.018654629588127136, + 0.005351535975933075, + 1.0 + ], + [ + -0.003229290246963501, + 0.0009118802845478058, + -0.00930988322943449, + 0.007298014592379332, + 0.03259999305009842, + 0.0019027292728424072, + 0.0 + ], + [ + -9.080767631530762e-05, + 0.0008256938308477402, + -0.0009635761380195618, + 0.004214063286781311, + 0.003224298357963562, + 0.009025946259498596, + 0.0 + ], + [ + -0.001664668321609497, + 0.0006988067179918289, + -0.0001478763297200203, + 0.004318040329962969, + 0.010904796421527863, + -0.008549444377422333, + 0.0 + ], + [ + -0.0009833872318267822, + -0.0038976632058620453, + 0.0006000800058245659, + -0.023644622415304184, + 0.003298930823802948, + -0.017000406980514526, + 0.0 + ], + [ + -0.003175675868988037, + -0.00963512435555458, + 0.005622212775051594, + -0.06369861960411072, + -0.005961693823337555, + -0.021693460643291473, + 0.0 + ], + [ + 0.006712198257446289, + -0.013974402099847794, + 0.054799601435661316, + -0.07609794288873672, + -0.14365319907665253, + -0.036923497915267944, + 0.0 + ], + [ + -0.00554230809211731, + 0.023216357454657555, + 0.04063773900270462, + -0.014295563101768494, + -0.07808235287666321, + -0.0016846060752868652, + 0.0 + ], + [ + -0.016934365034103394, + 0.054833292961120605, + 0.014928162097930908, + 0.042017385363578796, + 0.013638585805892944, + 0.03927518427371979, + 0.0 + ], + [ + -0.019943445920944214, + 0.03953445702791214, + -0.011349499225616455, + 0.03353025019168854, + 0.04301327466964722, + 0.026525892317295074, + 0.0 + ], + [ + -0.016455382108688354, + 0.04959289729595184, + -0.004640497267246246, + 0.019710570573806763, + 0.008717641234397888, + 0.044629257172346115, + 0.0 + ], + [ + -0.014839887619018555, + 0.0504031628370285, + -0.007607601583003998, + 0.023081380873918533, + -0.003802940249443054, + 0.016575206071138382, + 0.0 + ], + [ + -0.005056977272033691, + 0.02610720694065094, + -0.026779204607009888, + 0.004658360034227371, + 0.042020946741104126, + -0.011662036180496216, + 0.0 + ], + [ + -0.004491686820983887, + 0.0043310970067977905, + -0.025226891040802002, + -0.01777777075767517, + 0.05269867181777954, + 0.0012411773204803467, + 0.0 + ], + [ + -0.003814220428466797, + -0.004727259278297424, + -0.010862324386835098, + 0.011505912989377975, + 0.0365094393491745, + -0.023336447775363922, + 0.0 + ], + [ + 0.0014212727546691895, + -0.005183786153793335, + -0.007140651345252991, + 0.030684255063533783, + 0.030241452157497406, + -0.019350536167621613, + 1.0 + ], + [ + -0.002317577600479126, + 0.003782212734222412, + -0.006774371489882469, + 0.02059040777385235, + 0.025643810629844666, + -5.08725643157959e-05, + 1.0 + ], + [ + -0.0007615983486175537, + 0.0005217641592025757, + -0.0007001273334026337, + 0.004147286061197519, + 0.0031808391213417053, + 0.00150386244058609, + 1.0 + ], + [ + -0.0029182136058807373, + -0.005779087543487549, + 0.006964074447751045, + -0.008329550735652447, + -0.024481862783432007, + -0.012348450720310211, + 1.0 + ], + [ + -0.00015690922737121582, + -0.011595144867897034, + 0.06115434691309929, + 0.045256271958351135, + -0.16486647725105286, + 0.006212048232555389, + 1.0 + ], + [ + -0.0151883065700531, + -0.01723809540271759, + 0.0403156653046608, + 0.007273595780134201, + -0.04059082269668579, + 0.03698527440428734, + 1.0 + ], + [ + -0.011401921510696411, + -0.016407236456871033, + -0.009494513273239136, + -0.026040587574243546, + 0.04984559118747711, + -0.009594511240720749, + 1.0 + ], + [ + -0.004059135913848877, + -0.006079748272895813, + -0.005649000406265259, + 0.00323370099067688, + 0.03794294595718384, + -0.015445418655872345, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9422301650047302 + ], + [ + 0.6651484370231628 + ], + [ + 0.36781078577041626 + ], + [ + 0.3445223569869995 + ], + [ + 0.3445223569869995 + ], + [ + 0.3445223569869995 + ], + [ + 0.3445223569869995 + ], + [ + 0.3445223569869995 + ], + [ + 0.3445223569869995 + ], + [ + 0.3445223569869995 + ], + [ + 0.3445223569869995 + ], + [ + 0.3445223569869995 + ], + [ + 0.3445223569869995 + ], + [ + 0.3445223569869995 + ], + [ + 0.43473443388938904 + ], + [ + 0.7506401538848877 + ], + [ + 0.9830701947212219 + ], + [ + 1.002137303352356 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.31648364663124084, + 0.08123226463794708, + 0.12702234089374542 + ], + [ + 0.3229789733886719, + 0.060470085591077805, + 0.11855607479810715 + ], + [ + 0.3322746455669403, + 0.033590834587812424, + 0.09764378517866135 + ], + [ + 0.35905036330223083, + -0.0027379386592656374, + 0.0778379887342453 + ], + [ + 0.3899881839752197, + -0.024472825229167938, + 0.06454348564147949 + ], + [ + 0.4159950315952301, + -0.03748025745153427, + 0.04918961599469185 + ], + [ + 0.4280188977718353, + -0.0368114709854126, + 0.03966936096549034 + ], + [ + 0.43662700057029724, + -0.03329617530107498, + 0.045777782797813416 + ], + [ + 0.4372962713241577, + -0.022635990753769875, + 0.045760150998830795 + ], + [ + 0.4365942180156708, + -0.02221207320690155, + 0.04560594633221626 + ], + [ + 0.43378570675849915, + -0.0223089512437582, + 0.0340728722512722 + ], + [ + 0.43098485469818115, + -0.021173130720853806, + 0.028755728155374527 + ], + [ + 0.4278745651245117, + -0.02108360081911087, + 0.021880947053432465 + ], + [ + 0.4246452748775482, + -0.020171720534563065, + 0.012571063823997974 + ], + [ + 0.4245544672012329, + -0.019346026703715324, + 0.011607487685978413 + ], + [ + 0.4228897988796234, + -0.018647219985723495, + 0.011459611356258392 + ], + [ + 0.42190641164779663, + -0.02254488319158554, + 0.012059691362082958 + ], + [ + 0.4187307357788086, + -0.03218000754714012, + 0.017681904137134552 + ], + [ + 0.4254429340362549, + -0.046154409646987915, + 0.07248150557279587 + ], + [ + 0.4199006259441376, + -0.02293805219233036, + 0.11311924457550049 + ], + [ + 0.4029662609100342, + 0.031895242631435394, + 0.1280474066734314 + ], + [ + 0.38302281498908997, + 0.07142969965934753, + 0.11669790744781494 + ], + [ + 0.3665674328804016, + 0.12102259695529938, + 0.1120574101805687 + ], + [ + 0.35172754526138306, + 0.17142575979232788, + 0.1044498085975647 + ], + [ + 0.34667056798934937, + 0.19753296673297882, + 0.07767060399055481 + ], + [ + 0.3421788811683655, + 0.2018640637397766, + 0.05244371294975281 + ], + [ + 0.3383646607398987, + 0.1971368044614792, + 0.04158138856291771 + ], + [ + 0.33978593349456787, + 0.19195301830768585, + 0.03444073721766472 + ], + [ + 0.33746835589408875, + 0.19573523104190826, + 0.02766636572778225 + ], + [ + 0.3367067575454712, + 0.19625699520111084, + 0.026966238394379616 + ], + [ + 0.33378854393959045, + 0.1904779076576233, + 0.03393031284213066 + ], + [ + 0.33363163471221924, + 0.17888276278972626, + 0.09508465975522995 + ], + [ + 0.31844332814216614, + 0.16164466738700867, + 0.13540032505989075 + ], + [ + 0.3070414066314697, + 0.14523743093013763, + 0.1259058117866516 + ], + [ + 0.30298227071762085, + 0.13915768265724182, + 0.12025681138038635 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9640435239265152, + -0.11745414838080614, + 0.23837912451279536, + -0.11583424042902277, + -0.9930498433666859, + -0.020843160356157825, + 0.2391704679085162, + -0.0075187510625592665, + -0.9709484824968219 + ], + [ + 0.9615481603401403, + -0.16090421333719593, + 0.22256452879295552, + -0.15777122049162004, + -0.986960067015853, + -0.03190717945303089, + 0.22479630186254573, + -0.004433987641102324, + -0.9743956908887283 + ], + [ + 0.965502660560304, + -0.18550668864741213, + 0.18273445465496324, + -0.18028158879839393, + -0.982587359149245, + -0.04495142245179625, + 0.1878913547540214, + 0.010457060159774614, + -0.9821341500536033 + ], + [ + 0.9678715743428935, + -0.17889925325368414, + 0.17669089609904143, + -0.1673943338352101, + -0.9827896503339363, + -0.07812579725266755, + 0.1876266307827178, + 0.0460386835364877, + -0.9811608874386261 + ], + [ + 0.971147711450768, + -0.14447694871357164, + 0.18973279588503417, + -0.13041635087615555, + -0.9878366795877304, + -0.08467744614261422, + 0.19965895413951146, + 0.057490049152038834, + -0.9781774871056953 + ], + [ + 0.9727888538778243, + -0.13878582959248323, + 0.18552719281925897, + -0.1252526721653107, + -0.9886609644425128, + -0.08283275622028372, + 0.1949195061724647, + 0.05734100532713001, + -0.9791416624889148 + ], + [ + 0.9744738354167798, + -0.1414088941609805, + 0.17436819876422116, + -0.13540912023812443, + -0.9897260244893544, + -0.045899527283345065, + 0.1790673455559318, + 0.021116844003448796, + -0.9836101690481276 + ], + [ + 0.970909103659996, + -0.13538619914924033, + 0.1974995936959501, + -0.12977723104974637, + -0.9906896199872189, + -0.04113328519144177, + 0.20122967656686197, + 0.014305730652503372, + -0.9794396169949908 + ], + [ + 0.9739268988442358, + -0.10981496330188147, + 0.19851213953473076, + -0.10538881798103446, + -0.9938913517407095, + -0.032759395287244315, + 0.20089697049037444, + 0.010984296519666875, + -0.9795507911679505 + ], + [ + 0.9751800012847919, + -0.10655972828422165, + 0.1940850056088463, + -0.10265694379928454, + -0.9942617253675023, + -0.030086099099544295, + 0.19617725908979253, + 0.009415188645476828, + -0.9805232466590409 + ], + [ + 0.9815201865649349, + -0.10123653643556994, + 0.16238622803693903, + -0.0976238050212337, + -0.9947682299367745, + -0.030095870175701325, + 0.16458346228801785, + 0.013686942645676695, + -0.9862681945304241 + ], + [ + 0.9849915528414503, + -0.09214622680364581, + 0.1459476403263812, + -0.08974214284733242, + -0.9956997544221043, + -0.02298579650413196, + 0.14743808404939562, + 0.009543161405501328, + -0.9890252471207351 + ], + [ + 0.9880264373096664, + -0.08637064782769374, + 0.12784314753240467, + -0.08468984718570302, + -0.9962349428355434, + -0.01853559972387611, + 0.1289627425298871, + 0.007486645930320718, + -0.9916211782590587 + ], + [ + 0.9918494931458063, + -0.08353130330455998, + 0.09621384679269718, + -0.08311676564884067, + -0.9965051222059499, + -0.008315328338707993, + 0.09657218136959886, + 0.00025057044204641107, + -0.9953259521382786 + ], + [ + 0.9928646409298716, + -0.07413989219119073, + 0.09339743667293841, + -0.07418393635068384, + -0.9972400480164909, + -0.0030050323766076556, + 0.09336245700877101, + -0.003944999105879089, + -0.9956243712381391 + ], + [ + 0.9931497019646682, + -0.08234862326896791, + 0.08289978126144737, + -0.08274918088182043, + -0.9965694196416853, + 0.0014017483446276025, + 0.08249995485379366, + -0.008252034945363229, + -0.9965569032264951 + ], + [ + 0.9918648886598056, + -0.10116020992846188, + 0.0772700108133838, + -0.09964702264832949, + -0.994752256017884, + -0.02320387951729368, + 0.07921182690226403, + 0.015315386856338122, + -0.9967401493891204 + ], + [ + 0.988983671890512, + -0.12781671500020564, + 0.07466045874836597, + -0.12107933167194711, + -0.9886709225096763, + -0.08871077964791141, + 0.08515334506544575, + 0.0786936741448884, + -0.9932553616637281 + ], + [ + 0.9616687521386551, + -0.19080678534149836, + 0.19694156957769327, + -0.1539558084880443, + -0.9700207151891552, + -0.18803569112461754, + 0.22691588792518397, + 0.1505077498721023, + -0.9622144236268557 + ], + [ + 0.9410059043043967, + -0.2077638809156166, + 0.2670993407912981, + -0.1522741376637059, + -0.9648781352491251, + -0.21406254020016072, + 0.3021927779796189, + 0.16076179242920927, + -0.9395930880077334 + ], + [ + 0.9502624231005204, + -0.1563601915687348, + 0.26935630257284926, + -0.11569541492143434, + -0.9801781292422973, + -0.16082725490795313, + 0.2891641371423589, + 0.12166480776156739, + -0.9495166014046601 + ], + [ + 0.9644936720186424, + -0.11719758745243666, + 0.23667843613503062, + -0.09154231620163933, + -0.9889445918366899, + -0.11665589835667084, + 0.24773364926960242, + 0.09084778352987652, + -0.9645593394121869 + ], + [ + 0.969737574747552, + -0.06755680684640576, + 0.23461695158588491, + -0.04852691277819815, + -0.9951157872612257, + -0.08596341477447256, + 0.23927844628999329, + 0.07197671701451991, + -0.968279493405111 + ], + [ + 0.9694922045505986, + -0.0457819628545454, + 0.24080879799709384, + -0.03241673891672843, + -0.9977211416049283, + -0.0591749831648726, + 0.24296917572734364, + 0.04956344894923391, + -0.9687669710382532 + ], + [ + 0.9783892323485941, + -0.05439442715083889, + 0.1994887373243436, + -0.044141968740432164, + -0.9974830441464738, + -0.0554893074024411, + 0.20200494206837513, + 0.045484315265990054, + -0.9783277469461532 + ], + [ + 0.9877151787904723, + -0.05336906690911223, + 0.14686888126542097, + -0.043334370336651, + -0.9965560725902224, + -0.07069742945169788, + 0.15013613134229747, + 0.06346445367922518, + -0.9866262743231432 + ], + [ + 0.9912455127207336, + -0.07303005099654153, + 0.10999520517937539, + -0.06669390395577088, + -0.9959542017219607, + -0.0602258353824249, + 0.11394848259695586, + 0.052362579422857686, + -0.992105792539302 + ], + [ + 0.9927494445558678, + -0.08824489985543982, + 0.08161726522935892, + -0.08611986368753677, + -0.9958565686370048, + -0.029207255622034238, + 0.08385648104026433, + 0.021966619039673813, + -0.9962356941183697 + ], + [ + 0.9945607725331544, + -0.08655936838931173, + 0.057933975198483374, + -0.08632797112416761, + -0.996245634395613, + -0.006489788075707283, + 0.05827822183148649, + 0.0014531661041089728, + -0.998299322432122 + ], + [ + 0.9948691440579635, + -0.0848285318645015, + 0.055131718484811666, + -0.08484751472230788, + -0.9963919395709228, + -0.002000500822896608, + 0.05510249946075963, + -0.0026875527544437906, + -0.9984770861734229 + ], + [ + 0.9921053134970024, + -0.09771831159407501, + 0.07860139000181592, + -0.09696551079783675, + -0.995198245063721, + -0.013347012317521155, + 0.07952821289786981, + 0.00562001790857662, + -0.9968167729086314 + ], + [ + 0.966229983121636, + -0.0814704246391792, + 0.2444630639296556, + -0.08838052547686581, + -0.995934580866672, + 0.017412448143771596, + 0.2420506195678832, + -0.03843020352585039, + -0.9695022522014921 + ], + [ + 0.9582313112707532, + -0.040981247415315926, + 0.2830429145211341, + -0.05201622239057529, + -0.9981468159363877, + 0.03157920905066769, + 0.28122422852333967, + -0.044983010085322434, + -0.9585872219548499 + ], + [ + 0.9704821166108124, + -0.058918281168568405, + 0.2338655542886538, + -0.062025132411600715, + -0.9980568781529595, + 0.005945664041315974, + 0.23306081671512513, + -0.020275702594739268, + -0.9722507657988081 + ], + [ + 0.9775237940350263, + -0.07445883278542077, + 0.19723872417859528, + -0.0776513017467836, + -0.9969444241747026, + 0.008490609165451742, + 0.19600384545308597, + -0.023615616172423682, + -0.980318721253654 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006764.json b/json/chunk-0006/episode_0006764.json new file mode 100644 index 0000000000000000000000000000000000000000..48d4dbc1eceed2e30ac033de6d0cdbafdfaec066 --- /dev/null +++ b/json/chunk-0006/episode_0006764.json @@ -0,0 +1,1702 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 27, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the purple cloth on the left burner." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006764.mp4", + "start": 0, + "end": 27, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.19176219403743744, + 0.08653157949447632, + 0.07769914716482162, + -0.122308149933815, + -0.20663368701934814, + 1.2096205949783325, + 0.0, + 0.9994885921478271 + ], + [ + 0.18213890492916107, + 0.08313249796628952, + 0.06849296391010284, + -0.09211733192205429, + -0.17994441092014313, + 1.205480933189392, + 0.0, + 0.9994885921478271 + ], + [ + 0.18091201782226562, + 0.08534282445907593, + 0.06245701014995575, + -0.05903714522719383, + -0.17605622112751007, + 1.1814624071121216, + 0.0, + 0.9994885921478271 + ], + [ + 0.1806776076555252, + 0.08726376295089722, + 0.05232076719403267, + -0.02696104720234871, + -0.15819334983825684, + 1.1720067262649536, + 0.0, + 0.9994885921478271 + ], + [ + 0.1850046068429947, + 0.09200193732976913, + 0.045726045966148376, + 0.007315082475543022, + -0.14864592254161835, + 1.177230715751648, + 0.0, + 0.9994885921478271 + ], + [ + 0.18527068197727203, + 0.09704481065273285, + 0.03540332615375519, + 0.045374929904937744, + -0.12878860533237457, + 1.200462818145752, + 0.0, + 0.9994885921478271 + ], + [ + 0.19397753477096558, + 0.10121788829565048, + 0.032241545617580414, + 0.050659678876399994, + -0.1258462518453598, + 1.2016360759735107, + 0.0, + 0.9994885921478271 + ], + [ + 0.19555675983428955, + 0.10169714689254761, + 0.02484492026269436, + 0.06924869120121002, + -0.1034618616104126, + 1.2195161581039429, + 0.0, + 0.9994885921478271 + ], + [ + 0.20129302144050598, + 0.10167955607175827, + 0.013732056133449078, + 0.07194723188877106, + -0.08200182765722275, + 1.22105073928833, + 0.0, + 0.9994885921478271 + ], + [ + 0.2061190903186798, + 0.1031111478805542, + 0.00934431329369545, + 0.07006119936704636, + -0.07625030726194382, + 1.2184381484985352, + 0.0, + 0.9994885921478271 + ], + [ + 0.209742471575737, + 0.10461200773715973, + 0.008648109622299671, + 0.0686928778886795, + -0.07750128954648972, + 1.2215948104858398, + 0.0, + 0.9994885921478271 + ], + [ + 0.21419379115104675, + 0.10347317904233932, + 0.00887486431747675, + 0.06534652411937714, + -0.0818558856844902, + 1.2160584926605225, + 0.0, + 0.9994885921478271 + ], + [ + 0.22574283182621002, + 0.1058662086725235, + 0.011232324875891209, + 0.04835657775402069, + -0.09563078731298447, + 1.2140916585922241, + 0.0, + 0.9994885921478271 + ], + [ + 0.24603793025016785, + 0.10485539585351944, + 0.014617100358009338, + 0.004460765048861504, + -0.11186852306127548, + 1.2034204006195068, + 0.0, + 0.9994885921478271 + ], + [ + 0.2642047703266144, + 0.09705904126167297, + 0.014676505699753761, + -0.010647797025740147, + -0.1197419986128807, + 1.1589508056640625, + 0.0, + 0.9994885921478271 + ], + [ + 0.2787325978279114, + 0.10002303868532181, + 0.015488137491047382, + -0.03223710507154465, + -0.12473956495523453, + 1.1663572788238525, + 0.0, + 0.9994885921478271 + ], + [ + 0.2925707995891571, + 0.10403403639793396, + 0.013958528637886047, + -0.044700443744659424, + -0.13320040702819824, + 1.1638619899749756, + 0.0, + 0.9994885921478271 + ], + [ + 0.3051699995994568, + 0.10786151885986328, + 0.012909200973808765, + -0.055283885449171066, + -0.14169974625110626, + 1.1619200706481934, + 0.0, + 0.9994885921478271 + ], + [ + 0.3151005208492279, + 0.11028721928596497, + 0.01165470015257597, + -0.061543602496385574, + -0.1411665976047516, + 1.1640775203704834, + 0.0, + 0.9994885921478271 + ], + [ + 0.3251892328262329, + 0.111906498670578, + 0.011463568545877934, + -0.06860914081335068, + -0.13931141793727875, + 1.162451148033142, + 0.0, + 0.9994885921478271 + ], + [ + 0.3282387852668762, + 0.10826645791530609, + 0.011472027748823166, + -0.07071631401777267, + -0.13938799500465393, + 1.153082013130188, + 0.0, + 0.9994885921478271 + ], + [ + 0.3286736309528351, + 0.10769127309322357, + 0.011755666695535183, + -0.07100840657949448, + -0.13878440856933594, + 1.1496479511260986, + 0.0, + 0.9994885921478271 + ], + [ + 0.331321656703949, + 0.1003386452794075, + 0.012827829457819462, + -0.07257916778326035, + -0.14167888462543488, + 1.1258738040924072, + 0.0, + 0.9994885921478271 + ], + [ + 0.33704644441604614, + 0.08976969122886658, + 0.02520742639899254, + -0.09857632219791412, + -0.16234925389289856, + 1.0869864225387573, + 0.0, + 0.9994885921478271 + ], + [ + 0.3391677737236023, + 0.08924895524978638, + 0.04202932491898537, + -0.12477382272481918, + -0.1892760694026947, + 1.0895956754684448, + 0.0, + 0.9994885921478271 + ], + [ + 0.3390263020992279, + 0.0883311778306961, + 0.05415087938308716, + -0.13343605399131775, + -0.21120662987232208, + 1.0867414474487305, + 0.0, + 0.9994885921478271 + ], + [ + 0.3370177149772644, + 0.08347906172275543, + 0.06767940521240234, + -0.15237559378147125, + -0.22666406631469727, + 1.0900059938430786, + 0.0, + 0.9994885921478271 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.19176219403743744, + 0.08653157949447632, + 0.07769914716482162 + ], + [ + 0.18213890492916107, + 0.08313249796628952, + 0.06849296391010284 + ], + [ + 0.18091201782226562, + 0.08534282445907593, + 0.06245701014995575 + ], + [ + 0.1806776076555252, + 0.08726376295089722, + 0.05232076719403267 + ], + [ + 0.1850046068429947, + 0.09200193732976913, + 0.045726045966148376 + ], + [ + 0.18527068197727203, + 0.09704481065273285, + 0.03540332615375519 + ], + [ + 0.19397753477096558, + 0.10121788829565048, + 0.032241545617580414 + ], + [ + 0.19555675983428955, + 0.10169714689254761, + 0.02484492026269436 + ], + [ + 0.20129302144050598, + 0.10167955607175827, + 0.013732056133449078 + ], + [ + 0.2061190903186798, + 0.1031111478805542, + 0.00934431329369545 + ], + [ + 0.209742471575737, + 0.10461200773715973, + 0.008648109622299671 + ], + [ + 0.21419379115104675, + 0.10347317904233932, + 0.00887486431747675 + ], + [ + 0.22574283182621002, + 0.1058662086725235, + 0.011232324875891209 + ], + [ + 0.24603793025016785, + 0.10485539585351944, + 0.014617100358009338 + ], + [ + 0.2642047703266144, + 0.09705904126167297, + 0.014676505699753761 + ], + [ + 0.2787325978279114, + 0.10002303868532181, + 0.015488137491047382 + ], + [ + 0.2925707995891571, + 0.10403403639793396, + 0.013958528637886047 + ], + [ + 0.3051699995994568, + 0.10786151885986328, + 0.012909200973808765 + ], + [ + 0.3151005208492279, + 0.11028721928596497, + 0.01165470015257597 + ], + [ + 0.3251892328262329, + 0.111906498670578, + 0.011463568545877934 + ], + [ + 0.3282387852668762, + 0.10826645791530609, + 0.011472027748823166 + ], + [ + 0.3286736309528351, + 0.10769127309322357, + 0.011755666695535183 + ], + [ + 0.331321656703949, + 0.1003386452794075, + 0.012827829457819462 + ], + [ + 0.33704644441604614, + 0.08976969122886658, + 0.02520742639899254 + ], + [ + 0.3391677737236023, + 0.08924895524978638, + 0.04202932491898537 + ], + [ + 0.3390263020992279, + 0.0883311778306961, + 0.05415087938308716 + ], + [ + 0.3370177149772644, + 0.08347906172275543, + 0.06767940521240234 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.3458570605686083, + 0.919648330764525, + 0.18609094920727395, + 0.9155815941819695, + -0.37415058466980056, + 0.14738278185205111, + 0.20516636676133068, + 0.119408072228257, + -0.9714157061920947 + ], + [ + 0.3514757060686691, + 0.9241696702026044, + 0.14958358439728572, + 0.9189302582845366, + -0.3711062320427277, + 0.13359395550759065, + 0.17897488218363353, + 0.09050185200678776, + -0.9796822986717153 + ], + [ + 0.37370487429244115, + 0.9196276952063287, + 0.12095275581633781, + 0.910861021093569, + -0.3884718286170351, + 0.13936225681050765, + 0.17514812925764212, + 0.0580907960044689, + -0.9828268373610458 + ], + [ + 0.3834546592870528, + 0.9195477242536537, + 0.08599131985832639, + 0.91002496972151, + -0.3920756253321127, + 0.13465236167181643, + 0.1575343732472857, + 0.02662117278332278, + -0.987154615247898 + ], + [ + 0.379254997598792, + 0.9239383159978054, + 0.050036337070969356, + 0.9133631788545848, + -0.38247307407982556, + 0.1395781183301153, + 0.14809912325529712, + -0.0072343510467517, + -0.9889460621570545 + ], + [ + 0.3589289509615145, + 0.93335565383506, + 0.004151098143193845, + 0.9244863464538298, + -0.3561231385429942, + 0.13601950380271538, + 0.12843287500525805, + -0.044983704254041815, + -0.990697462886359 + ], + [ + 0.357978850849604, + 0.9337275631570454, + -0.0019950301257810957, + 0.9252552584901717, + -0.35444185081852364, + 0.13518017985128278, + 0.12551433774944884, + -0.05023755755553027, + -0.9908190242572921 + ], + [ + 0.34226003891294954, + 0.9391415814894067, + -0.02951534653163359, + 0.9339121205458293, + -0.33656564869524663, + 0.12054756412279913, + 0.10327737826309696, + -0.06882335385553343, + -0.9922686778807328 + ], + [ + 0.34150738336688724, + 0.9390470698634109, + -0.039538685952425934, + 0.936303084438498, + -0.3362406754433507, + 0.10138413213296477, + 0.08190995773931921, + -0.07164362329155305, + -0.9940613411982187 + ], + [ + 0.3441092866827932, + 0.9380992924631217, + -0.039478048316111326, + 0.9358343596414564, + -0.3392603853368867, + 0.09548006208382981, + 0.07617644080110353, + -0.06980049012189801, + -0.9946481998403347 + ], + [ + 0.3411205923758742, + 0.9392483908595795, + -0.03806838221968368, + 0.9368256549445553, + -0.33634715361682155, + 0.09606396041996068, + 0.07742372824165855, + -0.06843283219006432, + -0.9946469292083542 + ], + [ + 0.34618151276748715, + 0.9375906970946782, + -0.03289445150065801, + 0.934597734798921, + -0.3415963970494155, + 0.09919161069154779, + 0.08176450529869073, + -0.06508138170301163, + -0.9945244991597175 + ], + [ + 0.34759274565555537, + 0.9375689213094017, + -0.011991703897172856, + 0.9327710760045965, + -0.34445505425224704, + 0.10624893114431297, + 0.09548509274677285, + -0.04811687224671421, + -0.9942672496207112 + ], + [ + 0.35692262281050546, + 0.9334426122803419, + 0.03593231004709781, + 0.9274393741014906, + -0.3586993717137872, + 0.10578737211203228, + 0.11163533800864699, + -0.004432867174356397, + -0.9937393526455061 + ], + [ + 0.39743485270422546, + 0.9158225211447794, + 0.05757297647325942, + 0.9098218442254334, + -0.40144408856919206, + 0.10519912320490793, + 0.11945605730226222, + 0.010571353596892132, + -0.9927832073806082 + ], + [ + 0.3904456473907591, + 0.9172676272264617, + 0.07856396423264175, + 0.9121802312204377, + -0.39698527702182757, + 0.10163619236537477, + 0.12441632611614778, + 0.031981086132894875, + -0.9917145697858434 + ], + [ + 0.3922898898645671, + 0.9150723160101293, + 0.09354837669304686, + 0.9102038102937098, + -0.4008504411426675, + 0.10415348079896955, + 0.13280687496081783, + 0.04428973140116346, + -0.9901518841347294 + ], + [ + 0.39359368893806457, + 0.9130638277324024, + 0.10676354487735715, + 0.9083717394284048, + -0.40413134776768767, + 0.10741804671137029, + 0.14122602818156413, + 0.0547019217041379, + -0.9884649253898359 + ], + [ + 0.3916627387668225, + 0.913261679004111, + 0.11204197750960826, + 0.9092878063210319, + -0.4027966673146263, + 0.10464478045328282, + 0.14069820303599218, + 0.0608929426355965, + -0.9881781545853059 + ], + [ + 0.39324403296340216, + 0.9118397702070525, + 0.11792948743816317, + 0.9088876099368061, + -0.40489384392278027, + 0.09992140739999224, + 0.13886123664305533, + 0.06789115275339265, + -0.987981957495063 + ], + [ + 0.40173782459077656, + 0.9077516510064628, + 0.12080422338689621, + 0.9051536943968453, + -0.41363129184051384, + 0.09800991750884085, + 0.13893707141296943, + 0.06997209804906772, + -0.9878260958700165 + ], + [ + 0.4048780127619265, + 0.9063077807059203, + 0.12116105568152963, + 0.9038451355457464, + -0.41673590672369776, + 0.09692860773512023, + 0.13833931376237418, + 0.0702665687157621, + -0.9878890846591375 + ], + [ + 0.4260755993869586, + 0.8958606229621342, + 0.12606874248972672, + 0.8935998128384632, + -0.43849754922334416, + 0.09591284491758387, + 0.14120537561335128, + 0.07178888180643225, + -0.9873739911233609 + ], + [ + 0.45903852151578134, + 0.8735320312759812, + 0.16194266299979193, + 0.8735886400319847, + -0.47697902606144743, + 0.09661209398693854, + 0.16163701238167433, + 0.09712259794883824, + -0.9820594061440455 + ], + [ + 0.45457774685856817, + 0.8687110021159493, + 0.19672383400007995, + 0.8706086513136048, + -0.48000164458473255, + 0.10788418537421754, + 0.18814794263795162, + 0.12222772189096714, + -0.9745053800171914 + ], + [ + 0.4550308408744392, + 0.8642675491357572, + 0.2144493818223141, + 0.8654467396247185, + -0.4859215282715425, + 0.12199266057920587, + 0.20963986912332694, + 0.13008409538879204, + -0.9690868141713798 + ], + [ + 0.450650503672255, + 0.8605810271202532, + 0.23730659346211466, + 0.8639510235645986, + -0.4873650147790164, + 0.1267437227287087, + 0.22472817451673824, + 0.1479041518352328, + -0.9631311486232159 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.009623289108276367, + -0.003399081528186798, + -0.00920618325471878, + 0.03019081801176071, + 0.026689276099205017, + -0.00413966178894043, + 1.0 + ], + [ + -0.0012268871068954468, + 0.0022103264927864075, + -0.006035953760147095, + 0.03308018669486046, + 0.0038881897926330566, + -0.024018526077270508, + 1.0 + ], + [ + -0.00023441016674041748, + 0.001920938491821289, + -0.01013624295592308, + 0.03207609802484512, + 0.017862871289253235, + -0.009455680847167969, + 1.0 + ], + [ + 0.004326999187469482, + 0.004738174378871918, + -0.006594721227884293, + 0.03427612781524658, + 0.009547427296638489, + 0.005223989486694336, + 1.0 + ], + [ + 0.00026607513427734375, + 0.005042873322963715, + -0.010322719812393188, + 0.03805984556674957, + 0.019857317209243774, + 0.023232102394104004, + 1.0 + ], + [ + 0.008706852793693542, + 0.004173077642917633, + -0.003161780536174774, + 0.00528474897146225, + 0.0029423534870147705, + 0.001173257827758789, + 1.0 + ], + [ + 0.0015792250633239746, + 0.00047925859689712524, + -0.007396625354886055, + 0.018589012324810028, + 0.022384390234947205, + 0.01788008213043213, + 1.0 + ], + [ + 0.005736261606216431, + -1.7590820789337158e-05, + -0.011112864129245281, + 0.002698540687561035, + 0.02146003395318985, + 0.001534581184387207, + 1.0 + ], + [ + 0.004826068878173828, + 0.001431591808795929, + -0.004387742839753628, + -0.001886032521724701, + 0.005751520395278931, + -0.002612590789794922, + 1.0 + ], + [ + 0.00362338125705719, + 0.0015008598566055298, + -0.0006962036713957787, + -0.0013683214783668518, + -0.0012509822845458984, + 0.0031566619873046875, + 1.0 + ], + [ + 0.004451319575309753, + -0.001138828694820404, + 0.00022675469517707825, + -0.003346353769302368, + -0.004354596138000488, + -0.005536317825317383, + 1.0 + ], + [ + 0.011549040675163269, + 0.0023930296301841736, + 0.0023574605584144592, + -0.016989946365356445, + -0.013774901628494263, + -0.00196683406829834, + 1.0 + ], + [ + 0.020295098423957825, + -0.0010108128190040588, + 0.0033847754821181297, + -0.04389581084251404, + -0.016237735748291016, + -0.010671257972717285, + 1.0 + ], + [ + 0.018166840076446533, + -0.007796354591846466, + 5.940534174442291e-05, + -0.01510856207460165, + -0.007873475551605225, + -0.044469594955444336, + 1.0 + ], + [ + 0.014527827501296997, + 0.0029639974236488342, + 0.0008116317912936211, + -0.021589308977127075, + -0.004997566342353821, + 0.007406473159790039, + 1.0 + ], + [ + 0.013838201761245728, + 0.004010997712612152, + -0.001529608853161335, + -0.012463338673114777, + -0.008460842072963715, + -0.002495288848876953, + 1.0 + ], + [ + 0.012599200010299683, + 0.0038274824619293213, + -0.001049327664077282, + -0.010583441704511642, + -0.00849933922290802, + -0.0019419193267822266, + 1.0 + ], + [ + 0.009930521249771118, + 0.0024257004261016846, + -0.0012545008212327957, + -0.006259717047214508, + 0.0005331486463546753, + 0.002157449722290039, + 1.0 + ], + [ + 0.010088711977005005, + 0.0016192793846130371, + -0.0001911316066980362, + -0.007065538316965103, + 0.0018551796674728394, + -0.0016263723373413086, + 1.0 + ], + [ + 0.0030495524406433105, + -0.0036400407552719116, + 8.459202945232391e-06, + -0.002107173204421997, + -7.65770673751831e-05, + -0.009369134902954102, + 1.0 + ], + [ + 0.0004348456859588623, + -0.0005751848220825195, + 0.00028363894671201706, + -0.00029209256172180176, + 0.0006035864353179932, + -0.0034340620040893555, + 1.0 + ], + [ + 0.0026480257511138916, + -0.0073526278138160706, + 0.0010721627622842789, + -0.0015707612037658691, + -0.002894476056098938, + -0.023774147033691406, + 1.0 + ], + [ + 0.005724787712097168, + -0.010568954050540924, + 0.012379596941173077, + -0.025997154414653778, + -0.020670369267463684, + -0.0388873815536499, + 1.0 + ], + [ + 0.0021213293075561523, + -0.0005207359790802002, + 0.01682189851999283, + -0.02619750052690506, + -0.026926815509796143, + 0.0026092529296875, + 1.0 + ], + [ + -0.00014147162437438965, + -0.000917777419090271, + 0.012121554464101791, + -0.008662231266498566, + -0.02193056046962738, + -0.0028542280197143555, + 1.0 + ], + [ + -0.002008587121963501, + -0.004852116107940674, + 0.013528525829315186, + -0.018939539790153503, + -0.015457436442375183, + 0.0032645463943481445, + 1.0 + ], + [ + -0.00010588765144348145, + -3.3527612686157227e-06, + 0.0010027512907981873, + -0.001167193055152893, + -0.001046016812324524, + 0.00040411949157714844, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.18213890492916107, + 0.08313249796628952, + 0.06849296391010284 + ], + [ + 0.18091201782226562, + 0.08534282445907593, + 0.06245701014995575 + ], + [ + 0.1806776076555252, + 0.08726376295089722, + 0.05232076719403267 + ], + [ + 0.1850046068429947, + 0.09200193732976913, + 0.045726045966148376 + ], + [ + 0.18527068197727203, + 0.09704481065273285, + 0.03540332615375519 + ], + [ + 0.19397753477096558, + 0.10121788829565048, + 0.032241545617580414 + ], + [ + 0.19555675983428955, + 0.10169714689254761, + 0.02484492026269436 + ], + [ + 0.20129302144050598, + 0.10167955607175827, + 0.013732056133449078 + ], + [ + 0.2061190903186798, + 0.1031111478805542, + 0.00934431329369545 + ], + [ + 0.209742471575737, + 0.10461200773715973, + 0.008648109622299671 + ], + [ + 0.21419379115104675, + 0.10347317904233932, + 0.00887486431747675 + ], + [ + 0.22574283182621002, + 0.1058662086725235, + 0.011232324875891209 + ], + [ + 0.24603793025016785, + 0.10485539585351944, + 0.014617100358009338 + ], + [ + 0.2642047703266144, + 0.09705904126167297, + 0.014676505699753761 + ], + [ + 0.2787325978279114, + 0.10002303868532181, + 0.015488137491047382 + ], + [ + 0.2925707995891571, + 0.10403403639793396, + 0.013958528637886047 + ], + [ + 0.3051699995994568, + 0.10786151885986328, + 0.012909200973808765 + ], + [ + 0.3151005208492279, + 0.11028721928596497, + 0.01165470015257597 + ], + [ + 0.3251892328262329, + 0.111906498670578, + 0.011463568545877934 + ], + [ + 0.3282387852668762, + 0.10826645791530609, + 0.011472027748823166 + ], + [ + 0.3286736309528351, + 0.10769127309322357, + 0.011755666695535183 + ], + [ + 0.331321656703949, + 0.1003386452794075, + 0.012827829457819462 + ], + [ + 0.33704644441604614, + 0.08976969122886658, + 0.02520742639899254 + ], + [ + 0.3391677737236023, + 0.08924895524978638, + 0.04202932491898537 + ], + [ + 0.3390263020992279, + 0.0883311778306961, + 0.05415087938308716 + ], + [ + 0.3370177149772644, + 0.08347906172275543, + 0.06767940521240234 + ], + [ + 0.3369118273258209, + 0.08347570896148682, + 0.06868215650320053 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.3514757060686691, + 0.9241696702026044, + 0.14958358439728572, + 0.9189302582845366, + -0.3711062320427277, + 0.13359395550759065, + 0.17897488218363353, + 0.09050185200678776, + -0.9796822986717153 + ], + [ + 0.37370487429244115, + 0.9196276952063287, + 0.12095275581633781, + 0.910861021093569, + -0.3884718286170351, + 0.13936225681050765, + 0.17514812925764212, + 0.0580907960044689, + -0.9828268373610458 + ], + [ + 0.3834546592870528, + 0.9195477242536537, + 0.08599131985832639, + 0.91002496972151, + -0.3920756253321127, + 0.13465236167181643, + 0.1575343732472857, + 0.02662117278332278, + -0.987154615247898 + ], + [ + 0.379254997598792, + 0.9239383159978054, + 0.050036337070969356, + 0.9133631788545848, + -0.38247307407982556, + 0.1395781183301153, + 0.14809912325529712, + -0.0072343510467517, + -0.9889460621570545 + ], + [ + 0.3589289509615145, + 0.93335565383506, + 0.004151098143193845, + 0.9244863464538298, + -0.3561231385429942, + 0.13601950380271538, + 0.12843287500525805, + -0.044983704254041815, + -0.990697462886359 + ], + [ + 0.357978850849604, + 0.9337275631570454, + -0.0019950301257810957, + 0.9252552584901717, + -0.35444185081852364, + 0.13518017985128278, + 0.12551433774944884, + -0.05023755755553027, + -0.9908190242572921 + ], + [ + 0.34226003891294954, + 0.9391415814894067, + -0.02951534653163359, + 0.9339121205458293, + -0.33656564869524663, + 0.12054756412279913, + 0.10327737826309696, + -0.06882335385553343, + -0.9922686778807328 + ], + [ + 0.34150738336688724, + 0.9390470698634109, + -0.039538685952425934, + 0.936303084438498, + -0.3362406754433507, + 0.10138413213296477, + 0.08190995773931921, + -0.07164362329155305, + -0.9940613411982187 + ], + [ + 0.3441092866827932, + 0.9380992924631217, + -0.039478048316111326, + 0.9358343596414564, + -0.3392603853368867, + 0.09548006208382981, + 0.07617644080110353, + -0.06980049012189801, + -0.9946481998403347 + ], + [ + 0.3411205923758742, + 0.9392483908595795, + -0.03806838221968368, + 0.9368256549445553, + -0.33634715361682155, + 0.09606396041996068, + 0.07742372824165855, + -0.06843283219006432, + -0.9946469292083542 + ], + [ + 0.34618151276748715, + 0.9375906970946782, + -0.03289445150065801, + 0.934597734798921, + -0.3415963970494155, + 0.09919161069154779, + 0.08176450529869073, + -0.06508138170301163, + -0.9945244991597175 + ], + [ + 0.34759274565555537, + 0.9375689213094017, + -0.011991703897172856, + 0.9327710760045965, + -0.34445505425224704, + 0.10624893114431297, + 0.09548509274677285, + -0.04811687224671421, + -0.9942672496207112 + ], + [ + 0.35692262281050546, + 0.9334426122803419, + 0.03593231004709781, + 0.9274393741014906, + -0.3586993717137872, + 0.10578737211203228, + 0.11163533800864699, + -0.004432867174356397, + -0.9937393526455061 + ], + [ + 0.39743485270422546, + 0.9158225211447794, + 0.05757297647325942, + 0.9098218442254334, + -0.40144408856919206, + 0.10519912320490793, + 0.11945605730226222, + 0.010571353596892132, + -0.9927832073806082 + ], + [ + 0.3904456473907591, + 0.9172676272264617, + 0.07856396423264175, + 0.9121802312204377, + -0.39698527702182757, + 0.10163619236537477, + 0.12441632611614778, + 0.031981086132894875, + -0.9917145697858434 + ], + [ + 0.3922898898645671, + 0.9150723160101293, + 0.09354837669304686, + 0.9102038102937098, + -0.4008504411426675, + 0.10415348079896955, + 0.13280687496081783, + 0.04428973140116346, + -0.9901518841347294 + ], + [ + 0.39359368893806457, + 0.9130638277324024, + 0.10676354487735715, + 0.9083717394284048, + -0.40413134776768767, + 0.10741804671137029, + 0.14122602818156413, + 0.0547019217041379, + -0.9884649253898359 + ], + [ + 0.3916627387668225, + 0.913261679004111, + 0.11204197750960826, + 0.9092878063210319, + -0.4027966673146263, + 0.10464478045328282, + 0.14069820303599218, + 0.0608929426355965, + -0.9881781545853059 + ], + [ + 0.39324403296340216, + 0.9118397702070525, + 0.11792948743816317, + 0.9088876099368061, + -0.40489384392278027, + 0.09992140739999224, + 0.13886123664305533, + 0.06789115275339265, + -0.987981957495063 + ], + [ + 0.40173782459077656, + 0.9077516510064628, + 0.12080422338689621, + 0.9051536943968453, + -0.41363129184051384, + 0.09800991750884085, + 0.13893707141296943, + 0.06997209804906772, + -0.9878260958700165 + ], + [ + 0.4048780127619265, + 0.9063077807059203, + 0.12116105568152963, + 0.9038451355457464, + -0.41673590672369776, + 0.09692860773512023, + 0.13833931376237418, + 0.0702665687157621, + -0.9878890846591375 + ], + [ + 0.4260755993869586, + 0.8958606229621342, + 0.12606874248972672, + 0.8935998128384632, + -0.43849754922334416, + 0.09591284491758387, + 0.14120537561335128, + 0.07178888180643225, + -0.9873739911233609 + ], + [ + 0.45903852151578134, + 0.8735320312759812, + 0.16194266299979193, + 0.8735886400319847, + -0.47697902606144743, + 0.09661209398693854, + 0.16163701238167433, + 0.09712259794883824, + -0.9820594061440455 + ], + [ + 0.45457774685856817, + 0.8687110021159493, + 0.19672383400007995, + 0.8706086513136048, + -0.48000164458473255, + 0.10788418537421754, + 0.18814794263795162, + 0.12222772189096714, + -0.9745053800171914 + ], + [ + 0.4550308408744392, + 0.8642675491357572, + 0.2144493818223141, + 0.8654467396247185, + -0.4859215282715425, + 0.12199266057920587, + 0.20963986912332694, + 0.13008409538879204, + -0.9690868141713798 + ], + [ + 0.450650503672255, + 0.8605810271202532, + 0.23730659346211466, + 0.8639510235645986, + -0.4873650147790164, + 0.1267437227287087, + 0.22472817451673824, + 0.1479041518352328, + -0.9631311486232159 + ], + [ + 0.45019245041015876, + 0.8604283718609582, + 0.2387253117924398, + 0.863924133488539, + -0.4873031375560045, + 0.12716423909319338, + 0.22574731265238532, + 0.14899217773015686, + -0.962725029177829 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006765.json b/json/chunk-0006/episode_0006765.json new file mode 100644 index 0000000000000000000000000000000000000000..d4ac5194204bbdb3bcf8ce1bb3467022248f71d2 --- /dev/null +++ b/json/chunk-0006/episode_0006765.json @@ -0,0 +1,1762 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 28, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the mint green cloth to the left side of the burner." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006765.mp4", + "start": 0, + "end": 28, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.31126868724823, + 0.1792088747024536, + 0.06842190772294998, + -0.17812474071979523, + -0.23752593994140625, + 0.9821099042892456, + 0.0, + 0.9968144297599792 + ], + [ + 0.3073083460330963, + 0.1767769753932953, + 0.056525491178035736, + -0.16240696609020233, + -0.20405639708042145, + 0.978667140007019, + 0.0, + 0.9968144297599792 + ], + [ + 0.30588144063949585, + 0.16306987404823303, + 0.051520757377147675, + -0.1297750025987625, + -0.17998377978801727, + 0.9158751964569092, + 0.0, + 0.9968144297599792 + ], + [ + 0.30524036288261414, + 0.1514805555343628, + 0.06778846681118011, + -0.17642468214035034, + -0.2017582356929779, + 0.9006404280662537, + 0.0, + 0.9968144297599792 + ], + [ + 0.29970669746398926, + 0.13566872477531433, + 0.08600414544343948, + -0.20684336125850677, + -0.1698547601699829, + 0.8523784875869751, + 0.0, + 0.9968144297599792 + ], + [ + 0.28363290429115295, + 0.10954491049051285, + 0.09134569764137268, + -0.19328941404819489, + -0.13527774810791016, + 0.7782915830612183, + 0.0, + 0.9968144297599792 + ], + [ + 0.26548466086387634, + 0.07736579328775406, + 0.09955158084630966, + -0.19474969804286957, + -0.10418502986431122, + 0.7148173451423645, + 0.0, + 0.9968144297599792 + ], + [ + 0.24795113503932953, + 0.044272053986787796, + 0.09942475706338882, + -0.18603254854679108, + -0.07533392310142517, + 0.6557635068893433, + 0.0, + 0.9968144297599792 + ], + [ + 0.2365390509366989, + 0.015877477824687958, + 0.09282896667718887, + -0.1629057377576828, + -0.060093268752098083, + 0.5837428569793701, + 0.0, + 0.9968144297599792 + ], + [ + 0.22750911116600037, + -0.019078049808740616, + 0.08563632518053055, + -0.13977240025997162, + -0.024289749562740326, + 0.5311137437820435, + 0.0, + 0.9968144297599792 + ], + [ + 0.2307848185300827, + -0.037095967680215836, + 0.07753777503967285, + -0.1191784143447876, + -0.018679222092032433, + 0.4973631501197815, + 0.0, + 0.9968144297599792 + ], + [ + 0.2345104068517685, + -0.05080024152994156, + 0.07313646376132965, + -0.15825988352298737, + -0.0023945923894643784, + 0.43395981192588806, + 0.0, + 0.9968144297599792 + ], + [ + 0.25195568799972534, + -0.059474311769008636, + 0.06394411623477936, + -0.16802482306957245, + -0.055899910628795624, + 0.47559553384780884, + 0.0, + 0.9968144297599792 + ], + [ + 0.26852384209632874, + -0.060389284044504166, + 0.05791907012462616, + -0.1876419186592102, + -0.0797591432929039, + 0.5247445106506348, + 0.0, + 0.9968144297599792 + ], + [ + 0.2867317795753479, + -0.05530932545661926, + 0.05683465301990509, + -0.17853766679763794, + -0.08474146574735641, + 0.6363725066184998, + 0.0, + 0.9968144297599792 + ], + [ + 0.30033767223358154, + -0.041995856910943985, + 0.05694976821541786, + -0.1715153604745865, + -0.1425449252128601, + 0.77357417345047, + 0.0, + 0.9968144297599792 + ], + [ + 0.3092513382434845, + -0.02538054995238781, + 0.0579976923763752, + -0.17439918220043182, + -0.1480153352022171, + 0.9170143008232117, + 0.0, + 0.9968144297599792 + ], + [ + 0.3166210651397705, + -0.0035108078736811876, + 0.060267798602581024, + -0.18761253356933594, + -0.1450089067220688, + 1.010528564453125, + 0.0, + 0.9968144297599792 + ], + [ + 0.32420435547828674, + 0.018769733607769012, + 0.05119094252586365, + -0.18615801632404327, + -0.15501737594604492, + 1.0080748796463013, + 0.0, + 0.9968144297599792 + ], + [ + 0.33225131034851074, + 0.03743403032422066, + 0.04632093757390976, + -0.1903931349515915, + -0.22549545764923096, + 0.9897233843803406, + 0.0, + 0.9968144297599792 + ], + [ + 0.3324735760688782, + 0.050864964723587036, + 0.04017776995897293, + -0.16353416442871094, + -0.20393109321594238, + 0.9800112843513489, + 0.0, + 0.9968144297599792 + ], + [ + 0.32712358236312866, + 0.043312326073646545, + 0.03927738219499588, + -0.15350374579429626, + -0.14655427634716034, + 0.9160912036895752, + 0.0, + 0.9968144297599792 + ], + [ + 0.331126868724823, + 0.029484806582331657, + 0.05023667961359024, + -0.17498934268951416, + -0.12200009077787399, + 0.8900846242904663, + 0.0, + 0.9968144297599792 + ], + [ + 0.3331677317619324, + 0.001525017200037837, + 0.06973434239625931, + -0.21974673867225647, + -0.1736164391040802, + 0.8354619145393372, + 0.0, + 0.9968144297599792 + ], + [ + 0.3226061463356018, + -0.022801293060183525, + 0.07260040938854218, + -0.2117229551076889, + -0.15713919699192047, + 0.6909781694412231, + 0.0, + 0.9968144297599792 + ], + [ + 0.3009219467639923, + -0.019624875858426094, + 0.07065261900424957, + -0.1097462847828865, + -0.2123824954032898, + 0.5308657288551331, + 0.0, + 0.9968144297599792 + ], + [ + 0.28309890627861023, + 0.002268607961013913, + 0.07020818442106247, + -0.11937367916107178, + -0.26517707109451294, + 0.47117379307746887, + 0.0, + 0.9968144297599792 + ], + [ + 0.2696305513381958, + 0.04132940247654915, + 0.07682597637176514, + -0.1557503193616867, + -0.2912021279335022, + 0.45233631134033203, + 0.0, + 0.9968144297599792 + ] + ], + "left_gripper_pos": [ + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.31126868724823, + 0.1792088747024536, + 0.06842190772294998 + ], + [ + 0.3073083460330963, + 0.1767769753932953, + 0.056525491178035736 + ], + [ + 0.30588144063949585, + 0.16306987404823303, + 0.051520757377147675 + ], + [ + 0.30524036288261414, + 0.1514805555343628, + 0.06778846681118011 + ], + [ + 0.29970669746398926, + 0.13566872477531433, + 0.08600414544343948 + ], + [ + 0.28363290429115295, + 0.10954491049051285, + 0.09134569764137268 + ], + [ + 0.26548466086387634, + 0.07736579328775406, + 0.09955158084630966 + ], + [ + 0.24795113503932953, + 0.044272053986787796, + 0.09942475706338882 + ], + [ + 0.2365390509366989, + 0.015877477824687958, + 0.09282896667718887 + ], + [ + 0.22750911116600037, + -0.019078049808740616, + 0.08563632518053055 + ], + [ + 0.2307848185300827, + -0.037095967680215836, + 0.07753777503967285 + ], + [ + 0.2345104068517685, + -0.05080024152994156, + 0.07313646376132965 + ], + [ + 0.25195568799972534, + -0.059474311769008636, + 0.06394411623477936 + ], + [ + 0.26852384209632874, + -0.060389284044504166, + 0.05791907012462616 + ], + [ + 0.2867317795753479, + -0.05530932545661926, + 0.05683465301990509 + ], + [ + 0.30033767223358154, + -0.041995856910943985, + 0.05694976821541786 + ], + [ + 0.3092513382434845, + -0.02538054995238781, + 0.0579976923763752 + ], + [ + 0.3166210651397705, + -0.0035108078736811876, + 0.060267798602581024 + ], + [ + 0.32420435547828674, + 0.018769733607769012, + 0.05119094252586365 + ], + [ + 0.33225131034851074, + 0.03743403032422066, + 0.04632093757390976 + ], + [ + 0.3324735760688782, + 0.050864964723587036, + 0.04017776995897293 + ], + [ + 0.32712358236312866, + 0.043312326073646545, + 0.03927738219499588 + ], + [ + 0.331126868724823, + 0.029484806582331657, + 0.05023667961359024 + ], + [ + 0.3331677317619324, + 0.001525017200037837, + 0.06973434239625931 + ], + [ + 0.3226061463356018, + -0.022801293060183525, + 0.07260040938854218 + ], + [ + 0.3009219467639923, + -0.019624875858426094, + 0.07065261900424957 + ], + [ + 0.28309890627861023, + 0.002268607961013913, + 0.07020818442106247 + ], + [ + 0.2696305513381958, + 0.04132940247654915, + 0.07682597637176514 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.5396788005863388, + 0.7953619748617565, + 0.27594586632471463, + 0.8083200412450317, + -0.581156789034525, + 0.09420985872354791, + 0.23529875290642954, + 0.17220951048965655, + -0.9565450231837453 + ], + [ + 0.546549282643195, + 0.8005476647913247, + 0.245779002437893, + 0.8125389868561216, + -0.5779724222902538, + 0.0756853612712781, + 0.20264322461172066, + 0.1583392417219857, + -0.9663666012698651 + ], + [ + 0.5992577093782225, + 0.7723163143123724, + 0.21075509103630002, + 0.7802847706486666, + -0.6223479512877882, + 0.0619572773905599, + 0.1790136152490191, + 0.12732061174392018, + -0.9755734659064024 + ], + [ + 0.6085094662614174, + 0.7497144651126426, + 0.2600854672431906, + 0.7678275791448803, + -0.6390314163287178, + 0.045603263583049336, + 0.20039221086348916, + 0.17195077710140402, + -0.964508108871805 + ], + [ + 0.6487225106865714, + 0.713950611679879, + 0.26350261518709395, + 0.7420140514933247, + -0.6703001043195854, + -0.010626266306395696, + 0.16903920111906817, + 0.2024161412315712, + -0.9646001525263966 + ], + [ + 0.7056080574448351, + 0.6705417363093675, + 0.2291092515289258, + 0.6956497387009282, + -0.717040494743955, + -0.04386764117973978, + 0.13486552678225916, + 0.19033315203758572, + -0.9724117342572439 + ], + [ + 0.75111794909665, + 0.6278893273775947, + 0.2039039457934898, + 0.6519252432907658, + -0.754128413157378, + -0.07927050920115955, + 0.10399665237457696, + 0.19247163176439, + -0.9757762895565945 + ], + [ + 0.7903346307852603, + 0.5882102630696128, + 0.17140553608650758, + 0.6080351135058183, + -0.7873955585254806, + -0.10149647855129287, + 0.07526268747189976, + 0.18443676649172544, + -0.9799584721000089 + ], + [ + 0.8328994706491342, + 0.5357262419773844, + 0.1388375505732558, + 0.5501559921283267, + -0.8287266866961722, + -0.10266675743823402, + 0.06005710713719775, + 0.16189339830386443, + -0.9849790208263005 + ], + [ + 0.8619891550422902, + 0.49863696873228736, + 0.09130098577208504, + 0.5063445671444411, + -0.8555484734442109, + -0.1079443787818011, + 0.024287361173811833, + 0.13927664197831682, + -0.9899556258168629 + ], + [ + 0.878690367011873, + 0.47177381123667633, + 0.07302540620743297, + 0.4770265885261123, + -0.8736692895929148, + -0.09564311925774016, + 0.018678135872693975, + 0.11887574796160938, + -0.9927334404495946 + ], + [ + 0.9073052963979398, + 0.4148698858423286, + 0.06841108791285186, + 0.4204656526596375, + -0.8961279687338272, + -0.1419975302126419, + 0.002394590101003881, + 0.15759962396578953, + -0.9875001896020528 + ], + [ + 0.8876315599053093, + 0.4431131958966837, + 0.1255424608739784, + 0.4571527833095664, + -0.8807782621196734, + -0.12345438708188727, + 0.05587080250348848, + 0.16697409559472104, + -0.9843770135613392 + ], + [ + 0.8627006315772586, + 0.4793349521119865, + 0.16120057059451964, + 0.4993992166094898, + -0.8577066604508511, + -0.12222809443035723, + 0.07967460527688244, + 0.18594969293345984, + -0.979323577257244 + ], + [ + 0.8013707953702381, + 0.572746462368747, + 0.17252923859959896, + 0.5921493944404868, + -0.8004055107017527, + -0.09332798670297934, + 0.08464007910816762, + 0.17695340709450033, + -0.9805730715893698 + ], + [ + 0.7081619711317109, + 0.6710984456007817, + 0.219393479746013, + 0.6916103064416838, + -0.7218618923180109, + -0.024302107783083546, + 0.14206268569364014, + 0.1689446203087711, + -0.9753337421632837 + ], + [ + 0.6015427256787296, + 0.7661849618088863, + 0.22606847078024878, + 0.7851097616208229, + -0.6192797906642798, + 0.009757206695590714, + 0.1474754603000089, + 0.1716191864935887, + -0.9740625459571779 + ], + [ + 0.5258356594814675, + 0.8179256222997018, + 0.2334406468534041, + 0.8382220767797921, + -0.5449189298424, + 0.02114497335978098, + 0.14450124295888406, + 0.18455632279891998, + -0.9721411186130737 + ], + [ + 0.5270928285561811, + 0.8159477146484584, + 0.23749205680317492, + 0.8356641873728723, + -0.5484428990065442, + 0.02959311527593493, + 0.15439726690288758, + 0.18286528781935552, + -0.9709386028393676 + ], + [ + 0.5350243077451744, + 0.7975432730505543, + 0.2787000497552993, + 0.8147127182585201, + -0.5743705095881612, + 0.07963481916379056, + 0.2235893039248756, + 0.18445391111940546, + -0.957070832197463 + ], + [ + 0.5454707589413268, + 0.8010575115576288, + 0.24651270619802218, + 0.8132939754921722, + -0.5769645759021726, + 0.075264783146995, + 0.2025205188816951, + 0.15943256044837753, + -0.9662125532721895 + ], + [ + 0.6023977643299299, + 0.7703040472836284, + 0.20916167973308156, + 0.7847242243762107, + -0.6194766526813458, + 0.021367462644643606, + 0.1460302201856077, + 0.15126252517123118, + -0.9776475966683322 + ], + [ + 0.6246684696542008, + 0.7519229272413825, + 0.21071595693878797, + 0.7713488051351276, + -0.636200300951969, + -0.016437697078202668, + 0.12169767391568981, + 0.17280361268611932, + -0.9774091198705566 + ], + [ + 0.6607501848196994, + 0.698512183413239, + 0.2747542954787117, + 0.7304575079306789, + -0.6826289722293851, + -0.02120177777348478, + 0.1727455422534426, + 0.21470541655096534, + -0.9612806883190992 + ], + [ + 0.761128174993503, + 0.5977178714894249, + 0.2518278128666708, + 0.629439234255079, + -0.7743733328405172, + -0.0644375027902965, + 0.15649329573959206, + 0.2075555045948457, + -0.9656244409194186 + ], + [ + 0.8429929392480234, + 0.48332481341547157, + 0.23613561593897303, + 0.49490474625195385, + -0.8688694735411695, + 0.011624546682794154, + 0.21078946016171618, + 0.10706522631177177, + -0.97165057546401 + ], + [ + 0.8598909015098435, + 0.422891718003684, + 0.28591997542053876, + 0.43806578314814676, + -0.8988627368339396, + 0.012006246965688167, + 0.26208015402809454, + 0.11492769542322173, + -0.9581782807438904 + ], + [ + 0.8615619831225138, + 0.39172063428078097, + 0.3229022977878351, + 0.4186672559042173, + -0.9080064724305419, + -0.015555541066643058, + 0.28710394994084243, + 0.14859068174992004, + -0.9463044601107299 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.003960341215133667, + -0.002431899309158325, + -0.011896416544914246, + 0.015717774629592896, + 0.0334695428609848, + -0.0034427642822265625, + 1.0 + ], + [ + -0.0014269053936004639, + -0.013707101345062256, + -0.0050047338008880615, + 0.03263196349143982, + 0.024072617292404175, + -0.06279194355010986, + 1.0 + ], + [ + -0.0006410777568817139, + -0.01158931851387024, + 0.01626770943403244, + -0.04664967954158783, + -0.021774455904960632, + -0.015234768390655518, + 1.0 + ], + [ + -0.005533665418624878, + -0.015811830759048462, + 0.01821567863225937, + -0.030418679118156433, + 0.031903475522994995, + -0.048261940479278564, + 1.0 + ], + [ + -0.016073793172836304, + -0.026123814284801483, + 0.005341552197933197, + 0.01355394721031189, + 0.034577012062072754, + -0.07408690452575684, + 1.0 + ], + [ + -0.01814824342727661, + -0.03217911720275879, + 0.008205883204936981, + -0.0014602839946746826, + 0.031092718243598938, + -0.06347423791885376, + 1.0 + ], + [ + -0.017533525824546814, + -0.03309373930096626, + -0.0001268237829208374, + 0.008717149496078491, + 0.028851106762886047, + -0.05905383825302124, + 1.0 + ], + [ + -0.011412084102630615, + -0.028394576162099838, + -0.006595790386199951, + 0.023126810789108276, + 0.015240654349327087, + -0.07202064990997314, + 1.0 + ], + [ + -0.009029939770698547, + -0.034955527633428574, + -0.007192641496658325, + 0.02313333749771118, + 0.03580351918935776, + -0.05262911319732666, + 1.0 + ], + [ + 0.0032757073640823364, + -0.01801791787147522, + -0.008098550140857697, + 0.02059398591518402, + 0.005610527470707893, + -0.03375059366226196, + 1.0 + ], + [ + 0.003725588321685791, + -0.013704273849725723, + -0.004401311278343201, + -0.03908146917819977, + 0.016284629702568054, + -0.06340333819389343, + 1.0 + ], + [ + 0.017445281147956848, + -0.008674070239067078, + -0.009192347526550293, + -0.009764939546585083, + -0.053505316376686096, + 0.041635721921920776, + 1.0 + ], + [ + 0.016568154096603394, + -0.0009149722754955292, + -0.006025046110153198, + -0.019617095589637756, + -0.023859232664108276, + 0.04914897680282593, + 1.0 + ], + [ + 0.018207937479019165, + 0.005079958587884903, + -0.0010844171047210693, + 0.009104251861572266, + -0.004982322454452515, + 0.11162799596786499, + 1.0 + ], + [ + 0.013605892658233643, + 0.013313468545675278, + 0.0001151151955127716, + 0.007022306323051453, + -0.05780345946550369, + 0.13720166683197021, + 1.0 + ], + [ + 0.008913666009902954, + 0.016615306958556175, + 0.0010479241609573364, + -0.002883821725845337, + -0.005470409989356995, + 0.1434401273727417, + 1.0 + ], + [ + 0.007369726896286011, + 0.02186974138021469, + 0.002270106226205826, + -0.013213351368904114, + 0.0030064284801483154, + 0.09351426362991333, + 1.0 + ], + [ + 0.007583290338516235, + 0.02228054217994213, + -0.009076856076717377, + 0.0014545172452926636, + -0.010008469223976135, + -0.0024536848068237305, + 1.0 + ], + [ + 0.008046954870223999, + 0.018664296716451645, + -0.004870004951953888, + -0.004235118627548218, + -0.07047808170318604, + -0.018351495265960693, + 1.0 + ], + [ + 0.00022226572036743164, + 0.013430934399366379, + -0.006143167614936829, + 0.026858970522880554, + 0.021564364433288574, + -0.0097121000289917, + 1.0 + ], + [ + -0.005349993705749512, + -0.007552638649940491, + -0.0009003877639770508, + 0.010030418634414673, + 0.05737681686878204, + -0.06392008066177368, + 1.0 + ], + [ + 0.004003286361694336, + -0.013827519491314888, + 0.01095929741859436, + -0.021485596895217896, + 0.024554185569286346, + -0.026006579399108887, + 1.0 + ], + [ + 0.002040863037109375, + -0.02795979008078575, + 0.019497662782669067, + -0.04475739598274231, + -0.05161634832620621, + -0.05462270975112915, + 1.0 + ], + [ + -0.010561585426330566, + -0.02432630956172943, + 0.0028660669922828674, + 0.008023783564567566, + 0.01647724211215973, + -0.144483745098114, + 1.0 + ], + [ + -0.021684199571609497, + 0.003176417201757431, + -0.0019477903842926025, + 0.1019766703248024, + -0.055243298411369324, + -0.1601124405860901, + 1.0 + ], + [ + -0.01782304048538208, + 0.021893484517931938, + -0.00044443458318710327, + -0.009627394378185272, + -0.052794575691223145, + -0.059691935777664185, + 1.0 + ], + [ + -0.013468354940414429, + 0.039060793817043304, + 0.006617791950702667, + -0.03637664020061493, + -0.026025056838989258, + -0.01883748173713684, + 1.0 + ], + [ + -0.013534516096115112, + 0.04015110060572624, + 0.0027719587087631226, + 0.010732769966125488, + -0.11399239301681519, + -0.07709038257598877, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ], + [ + 0.9968144297599792 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3073083460330963, + 0.1767769753932953, + 0.056525491178035736 + ], + [ + 0.30588144063949585, + 0.16306987404823303, + 0.051520757377147675 + ], + [ + 0.30524036288261414, + 0.1514805555343628, + 0.06778846681118011 + ], + [ + 0.29970669746398926, + 0.13566872477531433, + 0.08600414544343948 + ], + [ + 0.28363290429115295, + 0.10954491049051285, + 0.09134569764137268 + ], + [ + 0.26548466086387634, + 0.07736579328775406, + 0.09955158084630966 + ], + [ + 0.24795113503932953, + 0.044272053986787796, + 0.09942475706338882 + ], + [ + 0.2365390509366989, + 0.015877477824687958, + 0.09282896667718887 + ], + [ + 0.22750911116600037, + -0.019078049808740616, + 0.08563632518053055 + ], + [ + 0.2307848185300827, + -0.037095967680215836, + 0.07753777503967285 + ], + [ + 0.2345104068517685, + -0.05080024152994156, + 0.07313646376132965 + ], + [ + 0.25195568799972534, + -0.059474311769008636, + 0.06394411623477936 + ], + [ + 0.26852384209632874, + -0.060389284044504166, + 0.05791907012462616 + ], + [ + 0.2867317795753479, + -0.05530932545661926, + 0.05683465301990509 + ], + [ + 0.30033767223358154, + -0.041995856910943985, + 0.05694976821541786 + ], + [ + 0.3092513382434845, + -0.02538054995238781, + 0.0579976923763752 + ], + [ + 0.3166210651397705, + -0.0035108078736811876, + 0.060267798602581024 + ], + [ + 0.32420435547828674, + 0.018769733607769012, + 0.05119094252586365 + ], + [ + 0.33225131034851074, + 0.03743403032422066, + 0.04632093757390976 + ], + [ + 0.3324735760688782, + 0.050864964723587036, + 0.04017776995897293 + ], + [ + 0.32712358236312866, + 0.043312326073646545, + 0.03927738219499588 + ], + [ + 0.331126868724823, + 0.029484806582331657, + 0.05023667961359024 + ], + [ + 0.3331677317619324, + 0.001525017200037837, + 0.06973434239625931 + ], + [ + 0.3226061463356018, + -0.022801293060183525, + 0.07260040938854218 + ], + [ + 0.3009219467639923, + -0.019624875858426094, + 0.07065261900424957 + ], + [ + 0.28309890627861023, + 0.002268607961013913, + 0.07020818442106247 + ], + [ + 0.2696305513381958, + 0.04132940247654915, + 0.07682597637176514 + ], + [ + 0.2560960352420807, + 0.08148050308227539, + 0.07959793508052826 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.546549282643195, + 0.8005476647913247, + 0.245779002437893, + 0.8125389868561216, + -0.5779724222902538, + 0.0756853612712781, + 0.20264322461172066, + 0.1583392417219857, + -0.9663666012698651 + ], + [ + 0.5992577093782225, + 0.7723163143123724, + 0.21075509103630002, + 0.7802847706486666, + -0.6223479512877882, + 0.0619572773905599, + 0.1790136152490191, + 0.12732061174392018, + -0.9755734659064024 + ], + [ + 0.6085094662614174, + 0.7497144651126426, + 0.2600854672431906, + 0.7678275791448803, + -0.6390314163287178, + 0.045603263583049336, + 0.20039221086348916, + 0.17195077710140402, + -0.964508108871805 + ], + [ + 0.6487225106865714, + 0.713950611679879, + 0.26350261518709395, + 0.7420140514933247, + -0.6703001043195854, + -0.010626266306395696, + 0.16903920111906817, + 0.2024161412315712, + -0.9646001525263966 + ], + [ + 0.7056080574448351, + 0.6705417363093675, + 0.2291092515289258, + 0.6956497387009282, + -0.717040494743955, + -0.04386764117973978, + 0.13486552678225916, + 0.19033315203758572, + -0.9724117342572439 + ], + [ + 0.75111794909665, + 0.6278893273775947, + 0.2039039457934898, + 0.6519252432907658, + -0.754128413157378, + -0.07927050920115955, + 0.10399665237457696, + 0.19247163176439, + -0.9757762895565945 + ], + [ + 0.7903346307852603, + 0.5882102630696128, + 0.17140553608650758, + 0.6080351135058183, + -0.7873955585254806, + -0.10149647855129287, + 0.07526268747189976, + 0.18443676649172544, + -0.9799584721000089 + ], + [ + 0.8328994706491342, + 0.5357262419773844, + 0.1388375505732558, + 0.5501559921283267, + -0.8287266866961722, + -0.10266675743823402, + 0.06005710713719775, + 0.16189339830386443, + -0.9849790208263005 + ], + [ + 0.8619891550422902, + 0.49863696873228736, + 0.09130098577208504, + 0.5063445671444411, + -0.8555484734442109, + -0.1079443787818011, + 0.024287361173811833, + 0.13927664197831682, + -0.9899556258168629 + ], + [ + 0.878690367011873, + 0.47177381123667633, + 0.07302540620743297, + 0.4770265885261123, + -0.8736692895929148, + -0.09564311925774016, + 0.018678135872693975, + 0.11887574796160938, + -0.9927334404495946 + ], + [ + 0.9073052963979398, + 0.4148698858423286, + 0.06841108791285186, + 0.4204656526596375, + -0.8961279687338272, + -0.1419975302126419, + 0.002394590101003881, + 0.15759962396578953, + -0.9875001896020528 + ], + [ + 0.8876315599053093, + 0.4431131958966837, + 0.1255424608739784, + 0.4571527833095664, + -0.8807782621196734, + -0.12345438708188727, + 0.05587080250348848, + 0.16697409559472104, + -0.9843770135613392 + ], + [ + 0.8627006315772586, + 0.4793349521119865, + 0.16120057059451964, + 0.4993992166094898, + -0.8577066604508511, + -0.12222809443035723, + 0.07967460527688244, + 0.18594969293345984, + -0.979323577257244 + ], + [ + 0.8013707953702381, + 0.572746462368747, + 0.17252923859959896, + 0.5921493944404868, + -0.8004055107017527, + -0.09332798670297934, + 0.08464007910816762, + 0.17695340709450033, + -0.9805730715893698 + ], + [ + 0.7081619711317109, + 0.6710984456007817, + 0.219393479746013, + 0.6916103064416838, + -0.7218618923180109, + -0.024302107783083546, + 0.14206268569364014, + 0.1689446203087711, + -0.9753337421632837 + ], + [ + 0.6015427256787296, + 0.7661849618088863, + 0.22606847078024878, + 0.7851097616208229, + -0.6192797906642798, + 0.009757206695590714, + 0.1474754603000089, + 0.1716191864935887, + -0.9740625459571779 + ], + [ + 0.5258356594814675, + 0.8179256222997018, + 0.2334406468534041, + 0.8382220767797921, + -0.5449189298424, + 0.02114497335978098, + 0.14450124295888406, + 0.18455632279891998, + -0.9721411186130737 + ], + [ + 0.5270928285561811, + 0.8159477146484584, + 0.23749205680317492, + 0.8356641873728723, + -0.5484428990065442, + 0.02959311527593493, + 0.15439726690288758, + 0.18286528781935552, + -0.9709386028393676 + ], + [ + 0.5350243077451744, + 0.7975432730505543, + 0.2787000497552993, + 0.8147127182585201, + -0.5743705095881612, + 0.07963481916379056, + 0.2235893039248756, + 0.18445391111940546, + -0.957070832197463 + ], + [ + 0.5454707589413268, + 0.8010575115576288, + 0.24651270619802218, + 0.8132939754921722, + -0.5769645759021726, + 0.075264783146995, + 0.2025205188816951, + 0.15943256044837753, + -0.9662125532721895 + ], + [ + 0.6023977643299299, + 0.7703040472836284, + 0.20916167973308156, + 0.7847242243762107, + -0.6194766526813458, + 0.021367462644643606, + 0.1460302201856077, + 0.15126252517123118, + -0.9776475966683322 + ], + [ + 0.6246684696542008, + 0.7519229272413825, + 0.21071595693878797, + 0.7713488051351276, + -0.636200300951969, + -0.016437697078202668, + 0.12169767391568981, + 0.17280361268611932, + -0.9774091198705566 + ], + [ + 0.6607501848196994, + 0.698512183413239, + 0.2747542954787117, + 0.7304575079306789, + -0.6826289722293851, + -0.02120177777348478, + 0.1727455422534426, + 0.21470541655096534, + -0.9612806883190992 + ], + [ + 0.761128174993503, + 0.5977178714894249, + 0.2518278128666708, + 0.629439234255079, + -0.7743733328405172, + -0.0644375027902965, + 0.15649329573959206, + 0.2075555045948457, + -0.9656244409194186 + ], + [ + 0.8429929392480234, + 0.48332481341547157, + 0.23613561593897303, + 0.49490474625195385, + -0.8688694735411695, + 0.011624546682794154, + 0.21078946016171618, + 0.10706522631177177, + -0.97165057546401 + ], + [ + 0.8598909015098435, + 0.422891718003684, + 0.28591997542053876, + 0.43806578314814676, + -0.8988627368339396, + 0.012006246965688167, + 0.26208015402809454, + 0.11492769542322173, + -0.9581782807438904 + ], + [ + 0.8615619831225138, + 0.39172063428078097, + 0.3229022977878351, + 0.4186672559042173, + -0.9080064724305419, + -0.015555541066643058, + 0.28710394994084243, + 0.14859068174992004, + -0.9463044601107299 + ], + [ + 0.8550776421384509, + 0.30965271649242454, + 0.4158814988476997, + 0.3368241785789675, + -0.9415291666985096, + 0.008502998330813624, + 0.3941975375868689, + 0.13280822047174695, + -0.909379061742449 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006766.json b/json/chunk-0006/episode_0006766.json new file mode 100644 index 0000000000000000000000000000000000000000..2540539e63cef0759cadbf1a35e8a314678f5e0a --- /dev/null +++ b/json/chunk-0006/episode_0006766.json @@ -0,0 +1,5782 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 95, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nSweep into pile." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006766.mp4", + "start": 0, + "end": 95, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.28251558542251587, + 0.17493772506713867, + 0.07756263762712479, + -0.06654965877532959, + -0.08564864099025726, + 0.7271276116371155, + 0.0, + 0.9994885921478271 + ], + [ + 0.2815612256526947, + 0.17421337962150574, + 0.06727218627929688, + -0.06688562035560608, + -0.057135943323373795, + 0.7402473092079163, + 0.0, + 0.9994885921478271 + ], + [ + 0.2795872092247009, + 0.17925384640693665, + 0.06380198895931244, + -0.1007118672132492, + -0.06760051101446152, + 0.8173301219940186, + 0.0, + 0.9994885921478271 + ], + [ + 0.27153879404067993, + 0.18118740618228912, + 0.05362191051244736, + -0.1136419028043747, + -0.0972793772816658, + 0.9002594351768494, + 0.0, + 0.9994885921478271 + ], + [ + 0.2677706480026245, + 0.18156082928180695, + 0.051732104271650314, + -0.1330140084028244, + -0.1276334971189499, + 0.9754773378372192, + 0.0, + 0.9994885921478271 + ], + [ + 0.2643108665943146, + 0.18199025094509125, + 0.047210466116666794, + -0.11922140419483185, + -0.13491971790790558, + 0.9913312196731567, + 0.0, + 0.9994885921478271 + ], + [ + 0.26302850246429443, + 0.18288026750087738, + 0.04425593465566635, + -0.10848904401063919, + -0.15002837777137756, + 1.0057382583618164, + 0.0, + 0.9994885921478271 + ], + [ + 0.25986993312835693, + 0.18403764069080353, + 0.04487593472003937, + -0.07822950184345245, + -0.14247514307498932, + 1.010013222694397, + 0.0, + 0.9994885921478271 + ], + [ + 0.2554160952568054, + 0.18525710701942444, + 0.044126175343990326, + -0.05329310521483421, + -0.1340935379266739, + 1.0283596515655518, + 0.0, + 0.9994885921478271 + ], + [ + 0.2510765790939331, + 0.18673492968082428, + 0.05022847279906273, + -0.060755498707294464, + -0.19392848014831543, + 1.0652079582214355, + 0.0, + 0.9994885921478271 + ], + [ + 0.25316452980041504, + 0.18793168663978577, + 0.048125166445970535, + -0.10216780751943588, + -0.20829208195209503, + 1.1139594316482544, + 0.0, + 0.9994885921478271 + ], + [ + 0.2506301999092102, + 0.19160360097885132, + 0.041807226836681366, + -0.10379386693239212, + -0.22024956345558167, + 1.1589670181274414, + 0.0, + 0.9994885921478271 + ], + [ + 0.249263733625412, + 0.1918325126171112, + 0.03840865194797516, + -0.0988616943359375, + -0.2102213203907013, + 1.2004460096359253, + 0.0, + 0.9994885921478271 + ], + [ + 0.24356281757354736, + 0.19269722700119019, + 0.03492727503180504, + -0.06482058018445969, + -0.16589196026325226, + 1.2357655763626099, + 0.0, + 0.9994885921478271 + ], + [ + 0.2406967729330063, + 0.19554930925369263, + 0.03382176160812378, + -0.04991042613983154, + -0.16725435853004456, + 1.2421183586120605, + 0.0, + 0.9994885921478271 + ], + [ + 0.23740650713443756, + 0.19622750580310822, + 0.02655613049864769, + -0.02527512051165104, + -0.15616513788700104, + 1.2525807619094849, + 0.0, + 0.9994885921478271 + ], + [ + 0.23543725907802582, + 0.19784942269325256, + 0.015581646002829075, + -0.0009902360616251826, + -0.14705920219421387, + 1.257611870765686, + 0.0, + 0.9530308246612549 + ], + [ + 0.23379094898700714, + 0.19802220165729523, + 0.00859706662595272, + 0.0068260193802416325, + -0.13135583698749542, + 1.2419028282165527, + 0.0, + 0.6621366739273071 + ], + [ + 0.23241344094276428, + 0.1940893828868866, + 0.008499972522258759, + 0.00490547064691782, + -0.10217175632715225, + 1.2139710187911987, + 0.0, + 0.39886748790740967 + ], + [ + 0.2264992594718933, + 0.18413183093070984, + 0.03008211776614189, + 0.0048933676443994045, + -0.05804241821169853, + 1.088225245475769, + 0.0, + 0.39099013805389404 + ], + [ + 0.2059112787246704, + 0.17344753444194794, + 0.05161885917186737, + -0.017974240705370903, + -0.011460265144705772, + 0.949842631816864, + 0.0, + 0.39099013805389404 + ], + [ + 0.2007950395345688, + 0.1548973023891449, + 0.08403583616018295, + -0.07046671956777573, + 0.019306886941194534, + 0.8843352794647217, + 0.0, + 0.39099013805389404 + ], + [ + 0.21823778748512268, + 0.11736345291137695, + 0.10230173170566559, + -0.09130706638097763, + 0.034814395010471344, + 0.7828426957130432, + 0.0, + 0.39099013805389404 + ], + [ + 0.24775835871696472, + 0.07213667780160904, + 0.11466633528470993, + -0.1056135818362236, + 0.0014087175950407982, + 0.7333400249481201, + 0.0, + 0.39099013805389404 + ], + [ + 0.2779534161090851, + 0.039770495146512985, + 0.12228710949420929, + -0.11650152504444122, + -0.0285586379468441, + 0.7300885319709778, + 0.0, + 0.39099013805389404 + ], + [ + 0.30461403727531433, + 0.006781153380870819, + 0.11076737195253372, + -0.09234395623207092, + -0.05889250338077545, + 0.7024129629135132, + 0.0, + 0.39099013805389404 + ], + [ + 0.33332666754722595, + -0.020948925986886024, + 0.09205827116966248, + -0.05678962171077728, + -0.0727958008646965, + 0.6705843806266785, + 0.0, + 0.39099013805389404 + ], + [ + 0.3673376441001892, + -0.0415666438639164, + 0.07295403629541397, + -0.031229788437485695, + -0.08735150843858719, + 0.63435959815979, + 0.0, + 0.39099013805389404 + ], + [ + 0.3975212872028351, + -0.054370734840631485, + 0.062333449721336365, + -0.02456565946340561, + -0.10685471445322037, + 0.6039755940437317, + 0.0, + 0.39099013805389404 + ], + [ + 0.41891297698020935, + -0.06210578978061676, + 0.05390625074505806, + -0.031096138060092926, + -0.12068824470043182, + 0.6016423106193542, + 0.0, + 0.39099013805389404 + ], + [ + 0.4274154305458069, + -0.06396669894456863, + 0.040238264948129654, + -0.010850314982235432, + -0.11351941525936127, + 0.6025100946426392, + 0.0, + 0.39099013805389404 + ], + [ + 0.43077871203422546, + -0.06860443949699402, + 0.03195347264409065, + -0.011273522861301899, + -0.12525953352451324, + 0.5981486439704895, + 0.0, + 0.39099013805389404 + ], + [ + 0.4345506727695465, + -0.07324888557195663, + 0.029746757820248604, + -0.03814946115016937, + -0.14409779012203217, + 0.6126284003257751, + 0.0, + 0.39099013805389404 + ], + [ + 0.42975518107414246, + -0.07352927327156067, + 0.022076524794101715, + -0.038045939058065414, + -0.13168402016162872, + 0.6229536533355713, + 0.0, + 0.39099013805389404 + ], + [ + 0.42494577169418335, + -0.07405482977628708, + 0.016114529222249985, + -0.039427321404218674, + -0.11059633642435074, + 0.6140009760856628, + 0.0, + 0.39099013805389404 + ], + [ + 0.4226585328578949, + -0.06819311529397964, + 0.010922358371317387, + -0.032075896859169006, + -0.11110829561948776, + 0.61557936668396, + 0.0, + 0.39099013805389404 + ], + [ + 0.41973990201950073, + -0.056892987340688705, + 0.009104232303798199, + -0.03637879341840744, + -0.11900723725557327, + 0.6279953718185425, + 0.0, + 0.39099013805389404 + ], + [ + 0.41305387020111084, + -0.0468648262321949, + 0.007994530722498894, + -0.0217372365295887, + -0.12374576181173325, + 0.6252680420875549, + 0.0, + 0.39099013805389404 + ], + [ + 0.40926846861839294, + -0.03363579139113426, + 0.007136918604373932, + -0.01756281591951847, + -0.12812766432762146, + 0.6340535283088684, + 0.0, + 0.39099013805389404 + ], + [ + 0.40268266201019287, + -0.013935771770775318, + 0.007564830128103495, + -0.004813999868929386, + -0.13327474892139435, + 0.6484907269477844, + 0.0, + 0.39099013805389404 + ], + [ + 0.3960188031196594, + 0.0009323289850726724, + 0.006729471031576395, + 0.000367864704458043, + -0.13030444085597992, + 0.6542286276817322, + 0.0, + 0.39099013805389404 + ], + [ + 0.3889879882335663, + 0.016357919201254845, + 0.00680482666939497, + 0.0027218752074986696, + -0.13523028790950775, + 0.6631851196289062, + 0.0, + 0.39099013805389404 + ], + [ + 0.38301753997802734, + 0.02979593724012375, + 0.006494274362921715, + 0.00802336260676384, + -0.13862958550453186, + 0.6698752045631409, + 0.0, + 0.39099013805389404 + ], + [ + 0.37880417704582214, + 0.04451018199324608, + 0.00668531097471714, + 0.010031454265117645, + -0.1396138221025467, + 0.67137610912323, + 0.0, + 0.39099013805389404 + ], + [ + 0.3697874844074249, + 0.065003402531147, + 0.00619405647739768, + 0.010357611812651157, + -0.14294375479221344, + 0.7037742733955383, + 0.0, + 0.39099013805389404 + ], + [ + 0.36492669582366943, + 0.07483427971601486, + 0.0066489181481301785, + 0.012218436226248741, + -0.1496860831975937, + 0.6958165168762207, + 0.0, + 0.39099013805389404 + ], + [ + 0.3538721799850464, + 0.09648513048887253, + 0.008307307958602905, + 0.013421835377812386, + -0.15322257578372955, + 0.7184637188911438, + 0.0, + 0.39099013805389404 + ], + [ + 0.3445962071418762, + 0.10740507394075394, + 0.007465952541679144, + 0.017178436741232872, + -0.1496216207742691, + 0.7159219980239868, + 0.0, + 0.39099013805389404 + ], + [ + 0.33330297470092773, + 0.12443384528160095, + 0.00830821879208088, + 0.02010478265583515, + -0.15253977477550507, + 0.7314282059669495, + 0.0, + 0.39099013805389404 + ], + [ + 0.325925350189209, + 0.1413346379995346, + 0.008741089142858982, + 0.01774701289832592, + -0.1659468412399292, + 0.7568364143371582, + 0.0, + 0.39099013805389404 + ], + [ + 0.3222777545452118, + 0.1422475278377533, + 0.009678492322564125, + 0.004926905035972595, + -0.14272087812423706, + 0.7734112739562988, + 0.0, + 0.39099013805389404 + ], + [ + 0.32239922881126404, + 0.13089527189731598, + 0.015088953077793121, + -0.016801584511995316, + -0.06955385953187943, + 0.7793130874633789, + 0.0, + 0.39099013805389404 + ], + [ + 0.3399096429347992, + 0.11497287452220917, + 0.04751898720860481, + -0.09141352772712708, + -0.082955501973629, + 0.7957091927528381, + 0.0, + 0.39099013805389404 + ], + [ + 0.3438996374607086, + 0.09040727466344833, + 0.06928729265928268, + -0.1449868083000183, + -0.039202746003866196, + 0.774742841720581, + 0.0, + 0.39099013805389404 + ], + [ + 0.34574827551841736, + 0.055643077939748764, + 0.08957405388355255, + -0.17472590506076813, + -0.03988479822874069, + 0.7070642113685608, + 0.0, + 0.39099013805389404 + ], + [ + 0.33569443225860596, + 0.013912124559283257, + 0.08044394850730896, + -0.16345557570457458, + -0.016724757850170135, + 0.6227920651435852, + 0.0, + 0.39099013805389404 + ], + [ + 0.3228667080402374, + -0.019274510443210602, + 0.072965107858181, + -0.1401795893907547, + -0.04385124146938324, + 0.5365784168243408, + 0.0, + 0.39099013805389404 + ], + [ + 0.31468749046325684, + -0.04139506444334984, + 0.05794554203748703, + -0.10617061704397202, + -0.08823730051517487, + 0.42474600672721863, + 0.0, + 0.39099013805389404 + ], + [ + 0.3129771053791046, + -0.04927496239542961, + 0.038087133318185806, + -0.07837933301925659, + -0.09003539383411407, + 0.32177427411079407, + 0.0, + 0.39099013805389404 + ], + [ + 0.31485193967819214, + -0.04686642065644264, + 0.028831183910369873, + -0.045193981379270554, + -0.08140000700950623, + 0.22254127264022827, + 0.0, + 0.39099013805389404 + ], + [ + 0.32255813479423523, + -0.039822135120630264, + 0.026733584702014923, + -0.04266755282878876, + -0.07717292010784149, + 0.1735074520111084, + 0.0, + 0.39099013805389404 + ], + [ + 0.32646435499191284, + -0.018614282831549644, + 0.02695329859852791, + -0.05187083035707474, + -0.08868131786584854, + 0.2017260491847992, + 0.0, + 0.39099013805389404 + ], + [ + 0.3218787610530853, + -0.006059580948203802, + 0.02014601230621338, + -0.04940743371844292, + -0.09345590323209763, + 0.20541176199913025, + 0.0, + 0.39099013805389404 + ], + [ + 0.31527748703956604, + 0.0013649706961587071, + 0.01296316459774971, + -0.06263802200555801, + -0.08827999979257584, + 0.2324649542570114, + 0.0, + 0.39099013805389404 + ], + [ + 0.3070816099643707, + -0.0014336957829073071, + 0.013756614178419113, + -0.07288683205842972, + -0.06825758516788483, + 0.20527242124080658, + 0.0, + 0.39099013805389404 + ], + [ + 0.3071032762527466, + -0.005033306311815977, + 0.03724813461303711, + -0.10111052542924881, + -0.10203466564416885, + 0.2206408977508545, + 0.0, + 0.39099013805389404 + ], + [ + 0.3066015839576721, + -0.012677215971052647, + 0.052301786839962006, + -0.11130394786596298, + -0.12536488473415375, + 0.22914887964725494, + 0.0, + 0.39099013805389404 + ], + [ + 0.3065142333507538, + -0.01983669400215149, + 0.052775539457798004, + -0.11160396784543991, + -0.12707214057445526, + 0.21964645385742188, + 0.0, + 0.39099013805389404 + ], + [ + 0.3093290627002716, + -0.02555755153298378, + 0.03906187787652016, + -0.08881495893001556, + -0.1127568781375885, + 0.211243137717247, + 0.0, + 0.39099013805389404 + ], + [ + 0.31231045722961426, + -0.02494281344115734, + 0.026586636900901794, + -0.06546274572610855, + -0.11390727013349533, + 0.22624549269676208, + 0.0, + 0.39099013805389404 + ], + [ + 0.31539270281791687, + -0.023710232228040695, + 0.013204610906541348, + -0.045205265283584595, + -0.11780979484319687, + 0.22586439549922943, + 0.0, + 0.39099013805389404 + ], + [ + 0.3182172477245331, + -0.022339073941111565, + 0.009356152266263962, + -0.03882593289017677, + -0.13252374529838562, + 0.22234025597572327, + 0.0, + 0.39099013805389404 + ], + [ + 0.32010066509246826, + -0.015592670068144798, + 0.008176209405064583, + -0.025963345542550087, + -0.14413154125213623, + 0.21449357271194458, + 0.0, + 0.39099013805389404 + ], + [ + 0.321075439453125, + 0.012555837631225586, + 0.006911101285368204, + -0.01283937692642212, + -0.16207899153232574, + 0.23330096900463104, + 0.0, + 0.39099013805389404 + ], + [ + 0.31553760170936584, + 0.03318838030099869, + 0.006042663007974625, + 0.0003401486319489777, + -0.15029123425483704, + 0.22266319394111633, + 0.0, + 0.39099013805389404 + ], + [ + 0.30322128534317017, + 0.05673618242144585, + 0.006233961787074804, + 0.00788620300590992, + -0.14474977552890778, + 0.21814626455307007, + 0.0, + 0.39099013805389404 + ], + [ + 0.29475703835487366, + 0.07655192911624908, + 0.006017159204930067, + 0.023682575672864914, + -0.15884852409362793, + 0.20100778341293335, + 0.0, + 0.39099013805389404 + ], + [ + 0.28924673795700073, + 0.09866710752248764, + 0.00563371367752552, + 0.04740467667579651, + -0.18795070052146912, + 0.19520635902881622, + 0.0, + 0.39099013805389404 + ], + [ + 0.2873786985874176, + 0.11757060885429382, + 0.007266960572451353, + 0.06055550277233124, + -0.21129196882247925, + 0.20707666873931885, + 0.0, + 0.39099013805389404 + ], + [ + 0.2892654240131378, + 0.13508661091327667, + 0.008776896633207798, + 0.06354065239429474, + -0.21831421554088593, + 0.2465086579322815, + 0.0, + 0.39099013805389404 + ], + [ + 0.2824863791465759, + 0.12745314836502075, + 0.01002480462193489, + 0.02865559235215187, + -0.16319818794727325, + 0.254194974899292, + 0.0, + 0.39099013805389404 + ], + [ + 0.2857820391654968, + 0.11022476106882095, + 0.03801054134964943, + -0.05187245085835457, + -0.13835787773132324, + 0.30255982279777527, + 0.0, + 0.39099013805389404 + ], + [ + 0.2963206171989441, + 0.08620033413171768, + 0.07386703044176102, + -0.14174894988536835, + -0.11615312099456787, + 0.3286421000957489, + 0.0, + 0.39099013805389404 + ], + [ + 0.30944177508354187, + 0.06347820162773132, + 0.09220735728740692, + -0.1634535938501358, + -0.09116003662347794, + 0.3512674570083618, + 0.0, + 0.39099013805389404 + ], + [ + 0.3283146321773529, + 0.044474612921476364, + 0.06492939591407776, + -0.017951976507902145, + -0.04421685263514519, + 0.43988415598869324, + 0.0, + 0.39099013805389404 + ], + [ + 0.3410099744796753, + 0.05122771114110947, + 0.03313979506492615, + 0.12999695539474487, + -0.04451644793152809, + 0.6220533847808838, + 0.0, + 0.39099013805389404 + ], + [ + 0.35256442427635193, + 0.06357091665267944, + 0.027141347527503967, + 0.11151047050952911, + -0.04872986674308777, + 0.7418369650840759, + 0.0, + 0.39099013805389404 + ], + [ + 0.3665153980255127, + 0.08339903503656387, + 0.03211592137813568, + 0.053937919437885284, + -0.04829329997301102, + 0.8602738976478577, + 0.0, + 0.39099013805389404 + ], + [ + 0.378657728433609, + 0.09923995286226273, + 0.03756793960928917, + 0.0014232026878744364, + -0.004956453572958708, + 0.9076476693153381, + 0.0, + 0.39099013805389404 + ], + [ + 0.38864755630493164, + 0.1034717857837677, + 0.04307203367352486, + -0.03606245294213295, + 0.012343869544565678, + 0.8977287411689758, + 0.0, + 0.39099013805389404 + ], + [ + 0.3939630091190338, + 0.10113933682441711, + 0.04025103151798248, + -0.05870901420712471, + 0.012687020935118198, + 0.8635882139205933, + 0.0, + 0.39099013805389404 + ], + [ + 0.40081360936164856, + 0.09813056886196136, + 0.040587205439805984, + -0.0868176743388176, + -0.017746977508068085, + 0.7973243594169617, + 0.0, + 0.39099013805389404 + ], + [ + 0.4071924388408661, + 0.09184696525335312, + 0.04113189876079559, + -0.11505232751369476, + -0.03878015652298927, + 0.7532495856285095, + 0.0, + 0.39099013805389404 + ], + [ + 0.41030654311180115, + 0.09277515113353729, + 0.027710674330592155, + -0.11608903855085373, + -0.05022881180047989, + 0.754478931427002, + 0.0, + 0.39099013805389404 + ], + [ + 0.41181352734565735, + 0.09367348253726959, + 0.0233310554176569, + -0.12313997745513916, + -0.06894552707672119, + 0.7573190331459045, + 0.0, + 0.39099013805389404 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9530308246612549 + ], + [ + 0.6621366739273071 + ], + [ + 0.39886748790740967 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.28251558542251587, + 0.17493772506713867, + 0.07756263762712479 + ], + [ + 0.2815612256526947, + 0.17421337962150574, + 0.06727218627929688 + ], + [ + 0.2795872092247009, + 0.17925384640693665, + 0.06380198895931244 + ], + [ + 0.27153879404067993, + 0.18118740618228912, + 0.05362191051244736 + ], + [ + 0.2677706480026245, + 0.18156082928180695, + 0.051732104271650314 + ], + [ + 0.2643108665943146, + 0.18199025094509125, + 0.047210466116666794 + ], + [ + 0.26302850246429443, + 0.18288026750087738, + 0.04425593465566635 + ], + [ + 0.25986993312835693, + 0.18403764069080353, + 0.04487593472003937 + ], + [ + 0.2554160952568054, + 0.18525710701942444, + 0.044126175343990326 + ], + [ + 0.2510765790939331, + 0.18673492968082428, + 0.05022847279906273 + ], + [ + 0.25316452980041504, + 0.18793168663978577, + 0.048125166445970535 + ], + [ + 0.2506301999092102, + 0.19160360097885132, + 0.041807226836681366 + ], + [ + 0.249263733625412, + 0.1918325126171112, + 0.03840865194797516 + ], + [ + 0.24356281757354736, + 0.19269722700119019, + 0.03492727503180504 + ], + [ + 0.2406967729330063, + 0.19554930925369263, + 0.03382176160812378 + ], + [ + 0.23740650713443756, + 0.19622750580310822, + 0.02655613049864769 + ], + [ + 0.23543725907802582, + 0.19784942269325256, + 0.015581646002829075 + ], + [ + 0.23379094898700714, + 0.19802220165729523, + 0.00859706662595272 + ], + [ + 0.23241344094276428, + 0.1940893828868866, + 0.008499972522258759 + ], + [ + 0.2264992594718933, + 0.18413183093070984, + 0.03008211776614189 + ], + [ + 0.2059112787246704, + 0.17344753444194794, + 0.05161885917186737 + ], + [ + 0.2007950395345688, + 0.1548973023891449, + 0.08403583616018295 + ], + [ + 0.21823778748512268, + 0.11736345291137695, + 0.10230173170566559 + ], + [ + 0.24775835871696472, + 0.07213667780160904, + 0.11466633528470993 + ], + [ + 0.2779534161090851, + 0.039770495146512985, + 0.12228710949420929 + ], + [ + 0.30461403727531433, + 0.006781153380870819, + 0.11076737195253372 + ], + [ + 0.33332666754722595, + -0.020948925986886024, + 0.09205827116966248 + ], + [ + 0.3673376441001892, + -0.0415666438639164, + 0.07295403629541397 + ], + [ + 0.3975212872028351, + -0.054370734840631485, + 0.062333449721336365 + ], + [ + 0.41891297698020935, + -0.06210578978061676, + 0.05390625074505806 + ], + [ + 0.4274154305458069, + -0.06396669894456863, + 0.040238264948129654 + ], + [ + 0.43077871203422546, + -0.06860443949699402, + 0.03195347264409065 + ], + [ + 0.4345506727695465, + -0.07324888557195663, + 0.029746757820248604 + ], + [ + 0.42975518107414246, + -0.07352927327156067, + 0.022076524794101715 + ], + [ + 0.42494577169418335, + -0.07405482977628708, + 0.016114529222249985 + ], + [ + 0.4226585328578949, + -0.06819311529397964, + 0.010922358371317387 + ], + [ + 0.41973990201950073, + -0.056892987340688705, + 0.009104232303798199 + ], + [ + 0.41305387020111084, + -0.0468648262321949, + 0.007994530722498894 + ], + [ + 0.40926846861839294, + -0.03363579139113426, + 0.007136918604373932 + ], + [ + 0.40268266201019287, + -0.013935771770775318, + 0.007564830128103495 + ], + [ + 0.3960188031196594, + 0.0009323289850726724, + 0.006729471031576395 + ], + [ + 0.3889879882335663, + 0.016357919201254845, + 0.00680482666939497 + ], + [ + 0.38301753997802734, + 0.02979593724012375, + 0.006494274362921715 + ], + [ + 0.37880417704582214, + 0.04451018199324608, + 0.00668531097471714 + ], + [ + 0.3697874844074249, + 0.065003402531147, + 0.00619405647739768 + ], + [ + 0.36492669582366943, + 0.07483427971601486, + 0.0066489181481301785 + ], + [ + 0.3538721799850464, + 0.09648513048887253, + 0.008307307958602905 + ], + [ + 0.3445962071418762, + 0.10740507394075394, + 0.007465952541679144 + ], + [ + 0.33330297470092773, + 0.12443384528160095, + 0.00830821879208088 + ], + [ + 0.325925350189209, + 0.1413346379995346, + 0.008741089142858982 + ], + [ + 0.3222777545452118, + 0.1422475278377533, + 0.009678492322564125 + ], + [ + 0.32239922881126404, + 0.13089527189731598, + 0.015088953077793121 + ], + [ + 0.3399096429347992, + 0.11497287452220917, + 0.04751898720860481 + ], + [ + 0.3438996374607086, + 0.09040727466344833, + 0.06928729265928268 + ], + [ + 0.34574827551841736, + 0.055643077939748764, + 0.08957405388355255 + ], + [ + 0.33569443225860596, + 0.013912124559283257, + 0.08044394850730896 + ], + [ + 0.3228667080402374, + -0.019274510443210602, + 0.072965107858181 + ], + [ + 0.31468749046325684, + -0.04139506444334984, + 0.05794554203748703 + ], + [ + 0.3129771053791046, + -0.04927496239542961, + 0.038087133318185806 + ], + [ + 0.31485193967819214, + -0.04686642065644264, + 0.028831183910369873 + ], + [ + 0.32255813479423523, + -0.039822135120630264, + 0.026733584702014923 + ], + [ + 0.32646435499191284, + -0.018614282831549644, + 0.02695329859852791 + ], + [ + 0.3218787610530853, + -0.006059580948203802, + 0.02014601230621338 + ], + [ + 0.31527748703956604, + 0.0013649706961587071, + 0.01296316459774971 + ], + [ + 0.3070816099643707, + -0.0014336957829073071, + 0.013756614178419113 + ], + [ + 0.3071032762527466, + -0.005033306311815977, + 0.03724813461303711 + ], + [ + 0.3066015839576721, + -0.012677215971052647, + 0.052301786839962006 + ], + [ + 0.3065142333507538, + -0.01983669400215149, + 0.052775539457798004 + ], + [ + 0.3093290627002716, + -0.02555755153298378, + 0.03906187787652016 + ], + [ + 0.31231045722961426, + -0.02494281344115734, + 0.026586636900901794 + ], + [ + 0.31539270281791687, + -0.023710232228040695, + 0.013204610906541348 + ], + [ + 0.3182172477245331, + -0.022339073941111565, + 0.009356152266263962 + ], + [ + 0.32010066509246826, + -0.015592670068144798, + 0.008176209405064583 + ], + [ + 0.321075439453125, + 0.012555837631225586, + 0.006911101285368204 + ], + [ + 0.31553760170936584, + 0.03318838030099869, + 0.006042663007974625 + ], + [ + 0.30322128534317017, + 0.05673618242144585, + 0.006233961787074804 + ], + [ + 0.29475703835487366, + 0.07655192911624908, + 0.006017159204930067 + ], + [ + 0.28924673795700073, + 0.09866710752248764, + 0.00563371367752552 + ], + [ + 0.2873786985874176, + 0.11757060885429382, + 0.007266960572451353 + ], + [ + 0.2892654240131378, + 0.13508661091327667, + 0.008776896633207798 + ], + [ + 0.2824863791465759, + 0.12745314836502075, + 0.01002480462193489 + ], + [ + 0.2857820391654968, + 0.11022476106882095, + 0.03801054134964943 + ], + [ + 0.2963206171989441, + 0.08620033413171768, + 0.07386703044176102 + ], + [ + 0.30944177508354187, + 0.06347820162773132, + 0.09220735728740692 + ], + [ + 0.3283146321773529, + 0.044474612921476364, + 0.06492939591407776 + ], + [ + 0.3410099744796753, + 0.05122771114110947, + 0.03313979506492615 + ], + [ + 0.35256442427635193, + 0.06357091665267944, + 0.027141347527503967 + ], + [ + 0.3665153980255127, + 0.08339903503656387, + 0.03211592137813568 + ], + [ + 0.378657728433609, + 0.09923995286226273, + 0.03756793960928917 + ], + [ + 0.38864755630493164, + 0.1034717857837677, + 0.04307203367352486 + ], + [ + 0.3939630091190338, + 0.10113933682441711, + 0.04025103151798248 + ], + [ + 0.40081360936164856, + 0.09813056886196136, + 0.040587205439805984 + ], + [ + 0.4071924388408661, + 0.09184696525335312, + 0.04113189876079559 + ], + [ + 0.41030654311180115, + 0.09277515113353729, + 0.027710674330592155 + ], + [ + 0.41181352734565735, + 0.09367348253726959, + 0.0233310554176569 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.7443483103142425, + 0.6590050424908029, + 0.10797197277083931, + 0.6622898331858786, + -0.7492145172289234, + 0.007055780045620592, + 0.08554396408252879, + 0.06625678188024277, + -0.994128899622137 + ], + [ + 0.7370970073503658, + 0.6701445615483111, + 0.0871450995888864, + 0.6733699106321588, + -0.7392251446761209, + -0.010915536349940583, + 0.05710486153011392, + 0.06672669709936435, + -0.9961358254193232 + ], + [ + 0.6826081669401615, + 0.7209796492524003, + 0.11930815475263404, + 0.7276559751762619, + -0.6856572291608655, + -0.01977235164889874, + 0.06754903564726866, + 0.10031206040815932, + -0.9926603741057632 + ], + [ + 0.6184687707254352, + 0.7715903448341211, + 0.14881101906824873, + 0.7797838905482376, + -0.6260276842198595, + 0.005140294911166264, + 0.09712601957674898, + 0.11286132353061176, + -0.9888522933037548 + ], + [ + 0.5562115114046402, + 0.8111894668068321, + 0.18055581830174533, + 0.8212348696597945, + -0.5697964483705462, + 0.030088141836471023, + 0.12728724773450745, + 0.13154336306313066, + -0.9831044197836847 + ], + [ + 0.5426001387487156, + 0.8220555340009377, + 0.17265511416783394, + 0.8291513403226112, + -0.5570764103417739, + 0.04662539953652815, + 0.1345107589417738, + 0.11785827106807849, + -0.9838781853815803 + ], + [ + 0.5294498949045381, + 0.830926436011022, + 0.171008966792956, + 0.8350704559342212, + -0.5459847984638548, + 0.06751246901273278, + 0.14946619153301874, + 0.10706006624509662, + -0.9829537119336852 + ], + [ + 0.5264605980892738, + 0.8383471247857051, + 0.14146850187594837, + 0.8382583450851662, + -0.5396201030153572, + 0.07831405567823324, + 0.141993610963882, + 0.07735788767305085, + -0.9868401956042331 + ], + [ + 0.5115902354819578, + 0.8515611235366057, + 0.11453856922708805, + 0.8487649079906395, + -0.5215907411689963, + 0.08684025385970537, + 0.13369204136056803, + 0.052789692250009235, + -0.9896159287668086 + ], + [ + 0.4752435302569998, + 0.8676082490251122, + 0.14628572443148044, + 0.8584896237354993, + -0.49366603658656205, + 0.1388863213545377, + 0.19271521187323246, + 0.059579950860117935, + -0.979444269250763 + ], + [ + 0.43157718553615776, + 0.8834691718721326, + 0.1822727496809586, + 0.8780543033891772, + -0.45773904976642754, + 0.13962665439906174, + 0.20678919997049142, + 0.09978569371656712, + -0.9732836390821884 + ], + [ + 0.39061662235020594, + 0.902397653264943, + 0.1819261655882415, + 0.8942528337576982, + -0.41887504708818674, + 0.15765647542424602, + 0.2184731646222097, + 0.10110474919009996, + -0.9705912146888429 + ], + [ + 0.3539737775520649, + 0.9201940812528638, + 0.16716882972826816, + 0.9116779829173586, + -0.37937479390685686, + 0.1578544304473778, + 0.20867635292303113, + 0.09652781244453489, + -0.9732094127963492 + ], + [ + 0.32428429017837807, + 0.9388998686747468, + 0.1153548254129343, + 0.9314349600973312, + -0.33820943930904607, + 0.1343253150777755, + 0.1651321115107188, + 0.06388592775254769, + -0.9842001696724136 + ], + [ + 0.31828766700878236, + 0.9426103802963236, + 0.10088920649765584, + 0.9332624594399367, + -0.33025091688704195, + 0.14126398583994643, + 0.16647565236462333, + 0.049193524501587725, + -0.9848176756724489 + ], + [ + 0.3090648653801827, + 0.9482620753349054, + 0.07264946984712178, + 0.9382371587400831, + -0.31650559363267433, + 0.13976853422199312, + 0.1555311639089273, + 0.024964888959631136, + -0.9875154739913536 + ], + [ + 0.3047643110751143, + 0.9513121270799255, + 0.046086349015497484, + 0.9410886023205111, + -0.30822763886005605, + 0.13909696339310088, + 0.1465297146565766, + 0.0009795475599110037, + -0.9892057840556938 + ], + [ + 0.32021349314938885, + 0.946667045914812, + 0.03584442751656008, + 0.9382472874838078, + -0.3221423748827362, + 0.12615988995789423, + 0.13097841934587423, + -0.006767162169937363, + -0.9913621231325223 + ], + [ + 0.3474796745011574, + 0.9371739586322541, + 0.031029777152280273, + 0.9321239628975899, + -0.3488282645362866, + 0.09728185674983326, + 0.10199408610631472, + -0.004879869071287693, + -0.994773036062591 + ], + [ + 0.46327671426583655, + 0.8859258438864923, + 0.022585064822947115, + 0.884313035763203, + -0.4638011803090148, + 0.053655567495205406, + 0.05800983363463698, + -0.00488510777475849, + -0.9983040593545187 + ], + [ + 0.5817728815405979, + 0.8130727402687521, + 0.021284579765904893, + 0.8132705468517367, + -0.5818846302479793, + -0.0011378508904081562, + 0.011460014285585796, + 0.017972092617003176, + -0.9997728101721607 + ], + [ + 0.633685675346383, + 0.7724357543093181, + 0.04225482606038281, + 0.7733496979315282, + -0.6311794578661877, + -0.05952089277690067, + -0.01930568750426683, + 0.07039529410649627, + -0.9973323382893224 + ], + [ + 0.7084818870236604, + 0.7046094056101809, + 0.03973664914233575, + 0.704870103822213, + -0.7037199872681417, + -0.08908600483235159, + -0.03480736268458583, + 0.09112499681752843, + -0.9952309694025552 + ], + [ + 0.742942151596637, + 0.6657355415239661, + 0.06952084674938605, + 0.6693541475908027, + -0.7387038600003442, + -0.07925674938818832, + -0.0014087171291109618, + 0.10541724703474219, + -0.9944270810590722 + ], + [ + 0.7448115243132776, + 0.6599415426442525, + 0.09865573243586037, + 0.6666636476941068, + -0.7422781593963205, + -0.06769575264666397, + 0.028554756054283155, + 0.11619076716992088, + -0.9928163634485209 + ], + [ + 0.7619622095144586, + 0.6391659553116907, + 0.10430950504310735, + 0.6449412936287408, + -0.763539877440094, + -0.03252050631912848, + 0.05885846620776542, + 0.09205290396972736, + -0.9940130501288247 + ], + [ + 0.7813836932027414, + 0.6172078479901674, + 0.09216287960014188, + 0.6197980714474262, + -0.7847610582834452, + 0.0006572913340822835, + 0.07273152429926863, + 0.05660877830507392, + -0.9957437278697323 + ], + [ + 0.8023804444759443, + 0.5901787387357408, + 0.08873938622097963, + 0.5904021711095843, + -0.8066731024282685, + 0.026528893076062723, + 0.08724046464614402, + 0.0311056612699723, + -0.9957015311654805 + ], + [ + 0.8183898190366767, + 0.565591614513685, + 0.1017065862612552, + 0.5646800548697932, + -0.8243237459767423, + 0.040333577216979485, + 0.1066514872346484, + 0.02442309175091928, + -0.9939964652150244 + ], + [ + 0.8184104538743705, + 0.5626375932345749, + 0.1168043991823579, + 0.5618801106907605, + -0.8261272857687281, + 0.04247880552149294, + 0.12039547416446074, + 0.030864970234864866, + -0.9922460800694126 + ], + [ + 0.8186126490314192, + 0.565666367413445, + 0.09947306983822327, + 0.563064768472348, + -0.824563731093392, + 0.0552514241492964, + 0.11327575800207093, + 0.010780266352078835, + -0.9935051024058379 + ], + [ + 0.819905098854662, + 0.5619138630591372, + 0.10958302502707497, + 0.5587016778614027, + -0.8271201286084819, + 0.06103054977256943, + 0.12493223774102817, + 0.011184961003321944, + -0.9921022289161403 + ], + [ + 0.8096601559681538, + 0.5701205718950701, + 0.1393304178550516, + 0.5690602590081304, + -0.820693520550666, + 0.051308546498156075, + 0.1435996290218912, + 0.037744917912110355, + -0.9889158041595774 + ], + [ + 0.8051272095021613, + 0.5789581067382465, + 0.12875436754272906, + 0.5783852496101736, + -0.8144849042022659, + 0.04566009045110614, + 0.1313037682347325, + 0.037707445799086, + -0.9906247871816397 + ], + [ + 0.8123558025917691, + 0.5721386221246607, + 0.11285143804479386, + 0.5726222920675665, + -0.81922073682282, + 0.03132243583699873, + 0.11037101350793938, + 0.03917628661283655, + -0.9931180483429247 + ], + [ + 0.811404729808102, + 0.5742313884485997, + 0.10899851817999272, + 0.5738710897579986, + -0.8180723971742913, + 0.03780906401215714, + 0.11087983037959522, + 0.03187264504087786, + -0.9933226050549188 + ], + [ + 0.8034833736155985, + 0.5836407569665258, + 0.11737944935480396, + 0.5833682204038313, + -0.8112085308605025, + 0.040277026727550486, + 0.11872652503195386, + 0.03611351916783574, + -0.9922700368282572 + ], + [ + 0.8046062338710256, + 0.5830010997590097, + 0.11277644299972199, + 0.5808388745866252, + -0.8121850048888853, + 0.054605124325322524, + 0.1234301834432208, + 0.02156931879838432, + -0.9921188206569546 + ], + [ + 0.7990288884032853, + 0.5905160553851986, + 0.11332971291464103, + 0.5875591686928777, + -0.8068379038856945, + 0.061537144378602866, + 0.12777737977413853, + 0.017417955839981437, + -0.991649916065348 + ], + [ + 0.7899285665924474, + 0.6034673843750796, + 0.10881165230204545, + 0.598628112434607, + -0.7973734073670028, + 0.07642010355211012, + 0.1328805579615802, + 0.004771291170699486, + -0.9911205739446556 + ], + [ + 0.7867904416386219, + 0.6085852150100356, + 0.10288263710311185, + 0.6033882950686132, + -0.7934884391290686, + 0.07936411243569823, + 0.1299360085591907, + -0.0003647460797307489, + -0.9915223147463716 + ], + [ + 0.780840858672542, + 0.6159168533969273, + 0.1045656881063563, + 0.6100094470387241, + -0.7878065471763686, + 0.0851429312953157, + 0.1348185000325912, + -0.002697022001549469, + -0.9908666399275363 + ], + [ + 0.7763786612737562, + 0.6217372926793482, + 0.10333882721670784, + 0.6149315489476929, + -0.7831855432468245, + 0.09208471620180779, + 0.13818597768066515, + -0.007946303601725158, + -0.9903744200207858 + ], + [ + 0.7753479685382559, + 0.623125714354901, + 0.10271256881849367, + 0.6160112222567528, + -0.7820586078530757, + 0.09441667192106756, + 0.13916070471703193, + -0.00993367971113162, + -0.9902199857961136 + ], + [ + 0.7546294634832587, + 0.6481900286847144, + 0.10190220584795508, + 0.6404999962894042, + -0.7614096056040891, + 0.10007580750160971, + 0.1424574588999925, + -0.010251790455096263, + -0.9897478331354014 + ], + [ + 0.7589479877980643, + 0.6423629955128539, + 0.10661957518684226, + 0.6338445164153855, + -0.7663053041394314, + 0.1049633738878451, + 0.14912773326050197, + -0.012081508329958059, + -0.9887441308695885 + ], + [ + 0.7439981056290952, + 0.6597117157716059, + 0.10605315126860826, + 0.6505173422629416, + -0.7514016990187523, + 0.1105562034753915, + 0.15262374073347024, + -0.013264191849371311, + -0.988195352639905 + ], + [ + 0.7460589590763165, + 0.6581484094222599, + 0.10117658205786768, + 0.6489807054641595, + -0.7526965909197865, + 0.11077854464188258, + 0.1490639913500409, + -0.016985676103144796, + -0.9886816541688805 + ], + [ + 0.7355795793070381, + 0.6700715995167692, + 0.09963299668041256, + 0.6601774103888363, + -0.7420304810767806, + 0.11643260696751334, + 0.15194890364451683, + -0.019869994313030888, + -0.9881886024475436 + ], + [ + 0.7170244384750367, + 0.6886479636681707, + 0.10788853861852107, + 0.6771923368879337, + -0.7248845783217535, + 0.12630473851583296, + 0.165186238802806, + -0.017502292620551106, + -0.9861070815399344 + ], + [ + 0.708256728062387, + 0.6990731283517034, + 0.09833192955965224, + 0.6914774653851509, + -0.7150335503449026, + 0.10288798154153322, + 0.142236851831335, + -0.004876791745210073, + -0.9898206377336172 + ], + [ + 0.7096763799749694, + 0.7018610842832761, + 0.06124095095871129, + 0.7010916434677338, + -0.7121166442520289, + 0.03688349819284547, + 0.06949779252131133, + 0.01676017147685789, + -0.9974413032789105 + ], + [ + 0.6973719009535618, + 0.7060842550039584, + 0.12295306663894459, + 0.7119034959310936, + -0.7022599638697873, + -0.004935142013410769, + 0.08286039006366688, + 0.09097234734308143, + -0.9924002155266729 + ], + [ + 0.7140518994110157, + 0.6881462533476577, + 0.1287812833881627, + 0.6989948617837114, + -0.7110643487909077, + -0.07611619458783246, + 0.03919270528416309, + 0.14436836870361797, + -0.9887475441033292 + ], + [ + 0.759667612016662, + 0.6344438893130719, + 0.14277979747220773, + 0.6490879489633306, + -0.7531993571972739, + -0.10665628358512248, + 0.03987422429940075, + 0.17369997015231697, + -0.9839910399010782 + ], + [ + 0.8121394003554356, + 0.573319810132267, + 0.10832354176362088, + 0.5832237160342721, + -0.803013808141715, + -0.12255170740922301, + 0.016723978159762454, + 0.1627059287292338, + -0.9865328627627512 + ], + [ + 0.8586366046976679, + 0.5009196944940056, + 0.10873196743043279, + 0.5107068453955858, + -0.8541633524013463, + -0.0978952781322086, + 0.04383718899918082, + 0.13958662931142535, + -0.989239037734624 + ], + [ + 0.9075987311138893, + 0.4012602713673713, + 0.12351007206961516, + 0.4104861842386269, + -0.9098612491163339, + -0.06044501555692178, + 0.08812284510653308, + 0.10555899762051565, + -0.9905007128678313 + ], + [ + 0.9448332342476374, + 0.30860051333238375, + 0.10979928338627111, + 0.3149693129174777, + -0.9479897347273282, + -0.045932502347492, + 0.0899137997275249, + 0.0779819595970733, + -0.9928918987462629 + ], + [ + 0.9721102200202656, + 0.21690068769736823, + 0.08919535755048809, + 0.2199781364632072, + -0.9751545930695379, + -0.026136929688820903, + 0.08131014457203513, + 0.04502900500557973, + -0.9956711550998564 + ], + [ + 0.9820536435563061, + 0.16924193265754497, + 0.08323346327122762, + 0.1721243605327827, + -0.984656573119596, + -0.02871650263445285, + 0.07709634030850245, + 0.04252765268284759, + -0.9961162347177778 + ], + [ + 0.975872277179156, + 0.19559242052477624, + 0.09704073199655712, + 0.19957333746393055, + -0.9793245221221355, + -0.03307511668549355, + 0.08856512635725543, + 0.051643832192334635, + -0.9947306836474953 + ], + [ + 0.9747049952559187, + 0.19920944668880267, + 0.1013201291605037, + 0.2030801920443214, + -0.9787224983381919, + -0.029337805744292796, + 0.09331992189453231, + 0.0491718170966805, + -0.994421200790193 + ], + [ + 0.9693120810919306, + 0.22455463078540594, + 0.10004652538724333, + 0.22947974973488255, + -0.9724645406615852, + -0.040641870250610806, + 0.08816537818693894, + 0.06235330743979697, + -0.9941523681712335 + ], + [ + 0.9767257362798146, + 0.19843013575460067, + 0.08143904047239785, + 0.2033592127085736, + -0.9774185700397601, + -0.057427950929663095, + 0.06820459438485967, + 0.07265273680902473, + -0.9950224686603591 + ], + [ + 0.9706824506090524, + 0.20770516637089642, + 0.12097166586619694, + 0.21771675892523712, + -0.9730240094882725, + -0.07631310400223817, + 0.10185770939253815, + 0.10041334982065117, + -0.9897182256658209 + ], + [ + 0.9662173311463236, + 0.21221783507226094, + 0.14624520323661408, + 0.22536609533395568, + -0.970988662586875, + -0.07994460708314581, + 0.12503676285957785, + 0.11020257531017509, + -0.9860127789884892 + ], + [ + 0.9681054488973171, + 0.20275389259310406, + 0.14718253583108318, + 0.21612782347045018, + -0.9729780332162834, + -0.08125583548582008, + 0.12673043729605757, + 0.11047445821055996, + -0.9857660931203879 + ], + [ + 0.9715618516959506, + 0.19909082995975877, + 0.12818115990686665, + 0.20834405774153716, + -0.9760097678426954, + -0.06322726215358607, + 0.11251809602426768, + 0.08813497887661684, + -0.9897332486915307 + ], + [ + 0.9682002025337758, + 0.21659404036914232, + 0.1252013957195621, + 0.2228665976600413, + -0.9740960176432761, + -0.03830702362423907, + 0.11366110795251522, + 0.06499207711776166, + -0.9913915384200765 + ], + [ + 0.9678453947014817, + 0.21854350822006108, + 0.12455531690779557, + 0.22239657311864924, + -0.9747947592573613, + -0.017746593742591736, + 0.11753746730389673, + 0.04487663466940663, + -0.9920539458318455 + ], + [ + 0.966831479997399, + 0.21534392189287635, + 0.13734585756342946, + 0.21857932214376416, + -0.975779998985267, + -0.008744913463551293, + 0.13213617679201886, + 0.03847582207188287, + -0.9904845490459108 + ], + [ + 0.9669529446255607, + 0.20913756840656944, + 0.14582002729716137, + 0.2106455684217351, + -0.9775486879880009, + 0.005196837232629727, + 0.14363303026895147, + 0.02569124547245242, + -0.9892974843401922 + ], + [ + 0.9601575363594572, + 0.22915555459674633, + 0.15995385950202967, + 0.22816032147812118, + -0.9733073429113047, + 0.024812979223302986, + 0.16137029799544222, + 0.01267075500486433, + -0.9868125854955786 + ], + [ + 0.9643186019730516, + 0.22087750932666653, + 0.1459546496771759, + 0.21833857153532368, + -0.9753014983923363, + 0.03339544001173964, + 0.14972609014013935, + -0.000336314304942506, + -0.9887274573025849 + ], + [ + 0.9660901933804481, + 0.21752403671511225, + 0.13911517424526693, + 0.21415687767133837, + -0.9760237684206691, + 0.038915745193682696, + 0.14424482659767002, + -0.007803648446638608, + -0.9895112596988118 + ], + [ + 0.9675294316147534, + 0.20327130991571854, + 0.1502250762169215, + 0.19714325985984552, + -0.9788432182811084, + 0.05477672057466838, + 0.1581813328147964, + -0.023382228085231414, + -0.9871331912962427 + ], + [ + 0.9637313346643627, + 0.20243697746088446, + 0.17389992737936244, + 0.19055303022992254, + -0.9781881945640365, + 0.08268856441942188, + 0.18684607904968298, + -0.046552402430508594, + -0.9812855937858802 + ], + [ + 0.956872022859286, + 0.2176440428495919, + 0.1924240174231456, + 0.20102752226270607, + -0.9742328634110915, + 0.10226564986711231, + 0.20972331096493604, + -0.059172615810952484, + -0.9759686134174572 + ], + [ + 0.9467517710981592, + 0.2568641170061566, + 0.19411828692100713, + 0.23822759101190805, + -0.9644573482804565, + 0.11432251846636957, + 0.2165841610163634, + -0.0619907149698875, + -0.9742938224449339 + ], + [ + 0.9550057250978062, + 0.25586867913348466, + 0.14998427940587225, + 0.24812502658277824, + -0.966298075869358, + 0.06857112916141476, + 0.16247472484576933, + -0.028270967610991345, + -0.9863076174179277 + ], + [ + 0.9454547605089211, + 0.29073788023777947, + 0.14692440514040161, + 0.2951173197027155, + -0.9554236135932581, + -0.008454951205385582, + 0.13791687149331472, + 0.05135371051095364, + -0.9891115877262046 + ], + [ + 0.9401039143169558, + 0.3040245839048947, + 0.1541871676482623, + 0.32058329289126924, + -0.942273083349887, + -0.0966839630615512, + 0.11589211623284974, + 0.14032280205209835, + -0.9832998162408652 + ], + [ + 0.9350386950191564, + 0.3255927784226985, + 0.14032812068812253, + 0.3426594236152203, + -0.9315196172166739, + -0.12188405206665089, + 0.09103383011033742, + 0.16205105794004732, + -0.982574321054623 + ], + [ + 0.9039166419705084, + 0.42504809611278893, + 0.04763213578723459, + 0.42541843890167386, + -0.9049930976296393, + 0.0025778062714861168, + 0.0442024457606478, + 0.01793346685958564, + -0.9988616193223031 + ], + [ + 0.8118785325629516, + 0.5824766608410266, + -0.03967603733888444, + 0.5821278579013247, + -0.802464946603423, + 0.13106168977996974, + 0.04450174624263594, + -0.12950269899988037, + -0.9905799541344974 + ], + [ + 0.7363535317450649, + 0.675443133781411, + -0.03949745959066589, + 0.6748412816015986, + -0.7289875334797306, + 0.11474502463048387, + 0.04871058337652437, + -0.1111474203870036, + -0.992609454925971 + ], + [ + 0.6514694409889241, + 0.7586163184564609, + -0.00942596568760442, + 0.757137462545892, + -0.6493085366842369, + 0.07170276841616852, + 0.04827453021155571, + -0.05384891420019705, + -0.9973815038250475 + ], + [ + 0.6155936620333612, + 0.7880613680672434, + 0.0019296176669116962, + 0.7880481438551227, + -0.6155950411636049, + 0.004782077087985852, + 0.004956433279253675, + -0.0014231847259592281, + -0.9999867040688011 + ], + [ + 0.6233400090575963, + 0.7816821030972864, + 0.02050177566649341, + 0.7818534835450764, + -0.6226342031380965, + -0.03212132237341296, + -0.012343556072092221, + 0.03605189010289275, + -0.9992736851551252 + ], + [ + 0.6496616841711454, + 0.7593527118097906, + 0.036375200164781324, + 0.7601175858086769, + -0.6480287208501778, + -0.04774968793270458, + -0.012686680586318036, + 0.058670572013568456, + -0.9981967802569296 + ], + [ + 0.6985135855637462, + 0.7117196525511048, + 0.07439023427449132, + 0.7153767179859948, + -0.6970933318347949, + -0.04792742508262891, + 0.017746045938898357, + 0.0866949991867998, + -0.9960768318606429 + ], + [ + 0.7289215096132982, + 0.676243961116994, + 0.10661865632180928, + 0.6834985633032286, + -0.7276916791918817, + -0.0573980313017969, + 0.03877043700415519, + 0.11471235804261445, + -0.9926418931955321 + ], + [ + 0.727709579243558, + 0.6760618070723906, + 0.1156684974190338, + 0.6840452877988997, + -0.7277073721225297, + -0.05023967355230371, + 0.050207693805669265, + 0.11568238230834993, + -0.9920165189683993 + ], + [ + 0.7249539308327463, + 0.6756247998230215, + 0.13406314942687225, + 0.685343592345942, + -0.7269908985580857, + -0.0422894058135878, + 0.06889091812792901, + 0.1225371914065651, + -0.9900700369780321 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.000954359769821167, + -0.0007243454456329346, + -0.010290451347827911, + -0.00033596158027648926, + 0.02851269766688347, + 0.013119697570800781, + 1.0 + ], + [ + -0.0019740164279937744, + 0.005040466785430908, + -0.003470197319984436, + -0.03382624685764313, + -0.010464567691087723, + 0.0770828127861023, + 1.0 + ], + [ + -0.008048415184020996, + 0.001933559775352478, + -0.010180078446865082, + -0.012930035591125488, + -0.029678866267204285, + 0.08292931318283081, + 1.0 + ], + [ + -0.00376814603805542, + 0.00037342309951782227, + -0.0018898062407970428, + -0.019372105598449707, + -0.030354119837284088, + 0.07521790266036987, + 1.0 + ], + [ + -0.0034597814083099365, + 0.00042942166328430176, + -0.0045216381549835205, + 0.013792604207992554, + -0.0072862207889556885, + 0.0158538818359375, + 1.0 + ], + [ + -0.0012823641300201416, + 0.0008900165557861328, + -0.0029545314610004425, + 0.010732360184192657, + -0.015108659863471985, + 0.014407038688659668, + 1.0 + ], + [ + -0.0031585693359375, + 0.0011573731899261475, + 0.0006200000643730164, + 0.030259542167186737, + 0.007553234696388245, + 0.004274964332580566, + 1.0 + ], + [ + -0.004453837871551514, + 0.0012194663286209106, + -0.0007497593760490417, + 0.02493639662861824, + 0.00838160514831543, + 0.018346428871154785, + 1.0 + ], + [ + -0.0043395161628723145, + 0.0014778226613998413, + 0.006102297455072403, + -0.007462393492460251, + -0.05983494222164154, + 0.03684830665588379, + 1.0 + ], + [ + 0.0020879507064819336, + 0.0011967569589614868, + -0.0021033063530921936, + -0.04141230881214142, + -0.014363601803779602, + 0.04875147342681885, + 1.0 + ], + [ + -0.002534329891204834, + 0.0036719143390655518, + -0.006317939609289169, + -0.0016260594129562378, + -0.011957481503486633, + 0.04500758647918701, + 1.0 + ], + [ + -0.0013664662837982178, + 0.0002289116382598877, + -0.0033985748887062073, + 0.00493217259645462, + 0.010028243064880371, + 0.04147899150848389, + 1.0 + ], + [ + -0.005700916051864624, + 0.0008647143840789795, + -0.0034813769161701202, + 0.034041114151477814, + 0.044329360127449036, + 0.03531956672668457, + 1.0 + ], + [ + -0.0028660446405410767, + 0.0028520822525024414, + -0.0011055134236812592, + 0.014910154044628143, + -0.0013623982667922974, + 0.006352782249450684, + 1.0 + ], + [ + -0.0032902657985687256, + 0.0006781965494155884, + -0.0072656311094760895, + 0.024635305628180504, + 0.011089220643043518, + 0.010462403297424316, + 1.0 + ], + [ + -0.001969248056411743, + 0.0016219168901443481, + -0.010974484495818615, + 0.024284884333610535, + 0.00910593569278717, + 0.005031108856201172, + 0.0 + ], + [ + -0.0016463100910186768, + 0.00017277896404266357, + -0.006984579376876354, + 0.00781625509262085, + 0.015703365206718445, + -0.0157090425491333, + 0.0 + ], + [ + -0.0013775080442428589, + -0.00393281877040863, + -9.70941036939621e-05, + -0.0019205487333238125, + 0.02918408066034317, + -0.027931809425354004, + 0.0 + ], + [ + -0.005914181470870972, + -0.009957551956176758, + 0.021582145243883133, + -1.2103002518415451e-05, + 0.04412933811545372, + -0.1257457733154297, + 0.0 + ], + [ + -0.0205879807472229, + -0.010684296488761902, + 0.02153674140572548, + -0.022867608815431595, + 0.04658215492963791, + -0.13838261365890503, + 0.0 + ], + [ + -0.0051162391901016235, + -0.01855023205280304, + 0.03241697698831558, + -0.052492476999759674, + 0.030767152085900307, + -0.06550735235214233, + 0.0 + ], + [ + 0.017442747950553894, + -0.037533849477767944, + 0.018265895545482635, + -0.020840346813201904, + 0.01550750806927681, + -0.10149258375167847, + 0.0 + ], + [ + 0.02952057123184204, + -0.045226775109767914, + 0.012364603579044342, + -0.014306515455245972, + -0.03340567648410797, + -0.049502670764923096, + 0.0 + ], + [ + 0.03019505739212036, + -0.032366182655096054, + 0.007620774209499359, + -0.01088794320821762, + -0.029967356473207474, + -0.003251492977142334, + 0.0 + ], + [ + 0.026660621166229248, + -0.032989341765642166, + -0.011519737541675568, + 0.0241575688123703, + -0.03033386543393135, + -0.0276755690574646, + 0.0 + ], + [ + 0.02871263027191162, + -0.027730079367756844, + -0.018709100782871246, + 0.03555433452129364, + -0.013903297483921051, + -0.03182858228683472, + 0.0 + ], + [ + 0.03401097655296326, + -0.020617717877030373, + -0.019104234874248505, + 0.025559833273291588, + -0.014555707573890686, + -0.03622478246688843, + 0.0 + ], + [ + 0.030183643102645874, + -0.012804090976715088, + -0.010620586574077606, + 0.006664128974080086, + -0.01950320601463318, + -0.03038400411605835, + 0.0 + ], + [ + 0.021391689777374268, + -0.007735054939985275, + -0.008427198976278305, + -0.006530478596687317, + -0.013833530247211456, + -0.0023332834243774414, + 0.0 + ], + [ + 0.008502453565597534, + -0.0018609091639518738, + -0.013667985796928406, + 0.02024582400918007, + 0.007168829441070557, + 0.0008677840232849121, + 0.0 + ], + [ + 0.003363281488418579, + -0.0046377405524253845, + -0.008284792304039001, + -0.0004232078790664673, + -0.011740118265151978, + -0.004361450672149658, + 0.0 + ], + [ + 0.003771960735321045, + -0.004644446074962616, + -0.0022067148238420486, + -0.026875939220190048, + -0.01883825659751892, + 0.014479756355285645, + 0.0 + ], + [ + -0.004795491695404053, + -0.0002803876996040344, + -0.007670233026146889, + 0.00010352209210395813, + 0.012413769960403442, + 0.010325253009796143, + 0.0 + ], + [ + -0.0048094093799591064, + -0.0005255565047264099, + -0.00596199557185173, + -0.0013813823461532593, + 0.021087683737277985, + -0.008952677249908447, + 0.0 + ], + [ + -0.002287238836288452, + 0.005861714482307434, + -0.005192170850932598, + 0.007351424545049667, + -0.0005119591951370239, + 0.0015783905982971191, + 0.0 + ], + [ + -0.002918630838394165, + 0.01130012795329094, + -0.001818126067519188, + -0.004302896559238434, + -0.00789894163608551, + 0.01241600513458252, + 0.0 + ], + [ + -0.006686031818389893, + 0.010028161108493805, + -0.001109701581299305, + 0.01464155688881874, + -0.004738524556159973, + -0.002727329730987549, + 0.0 + ], + [ + -0.0037854015827178955, + 0.013229034841060638, + -0.0008576121181249619, + 0.004174420610070229, + -0.004381902515888214, + 0.008785486221313477, + 0.0 + ], + [ + -0.006585806608200073, + 0.01970002055168152, + 0.00042791152372956276, + 0.012748816050589085, + -0.005147084593772888, + 0.014437198638916016, + 0.0 + ], + [ + -0.006663858890533447, + 0.014868101105093956, + -0.0008353590965270996, + 0.005181864369660616, + 0.0029703080654144287, + 0.005737900733947754, + 0.0 + ], + [ + -0.00703081488609314, + 0.015425589866936207, + 7.53556378185749e-05, + 0.002354010473936796, + -0.004925847053527832, + 0.008956491947174072, + 0.0 + ], + [ + -0.00597044825553894, + 0.013438018038868904, + -0.00031055230647325516, + 0.005301487632095814, + -0.003399297595024109, + 0.006690084934234619, + 0.0 + ], + [ + -0.0042133629322052, + 0.01471424475312233, + 0.00019103661179542542, + 0.0020080916583538055, + -0.0009842365980148315, + 0.0015009045600891113, + 0.0 + ], + [ + -0.009016692638397217, + 0.020493220537900925, + -0.0004912544973194599, + 0.0003261575475335121, + -0.003329932689666748, + 0.03239816427230835, + 0.0 + ], + [ + -0.004860788583755493, + 0.009830877184867859, + 0.00045486167073249817, + 0.0018608244135975838, + -0.006742328405380249, + -0.007957756519317627, + 0.0 + ], + [ + -0.011054515838623047, + 0.021650850772857666, + 0.0016583898104727268, + 0.0012033991515636444, + -0.0035364925861358643, + 0.022647202014923096, + 0.0 + ], + [ + -0.009275972843170166, + 0.010919943451881409, + -0.0008413554169237614, + 0.0037566013634204865, + 0.0036009550094604492, + -0.0025417208671569824, + 0.0 + ], + [ + -0.011293232440948486, + 0.017028771340847015, + 0.0008422662504017353, + 0.0029263459146022797, + -0.002918154001235962, + 0.015506207942962646, + 0.0 + ], + [ + -0.00737762451171875, + 0.016900792717933655, + 0.0004328703507781029, + -0.0023577697575092316, + -0.013407066464424133, + 0.02540820837020874, + 0.0 + ], + [ + -0.0036475956439971924, + 0.000912889838218689, + 0.000937403179705143, + -0.012820107862353325, + 0.02322596311569214, + 0.016574859619140625, + 0.0 + ], + [ + 0.0001214742660522461, + -0.011352255940437317, + 0.005410460755228996, + -0.02172848954796791, + 0.07316701859235764, + 0.005901813507080078, + 0.0 + ], + [ + 0.017510414123535156, + -0.01592239737510681, + 0.03243003413081169, + -0.07461194694042206, + -0.013401642441749573, + 0.01639610528945923, + 0.0 + ], + [ + 0.003989994525909424, + -0.024565599858760834, + 0.02176830545067787, + -0.053573280572891235, + 0.0437527559697628, + -0.02096635103225708, + 0.0 + ], + [ + 0.0018486380577087402, + -0.03476419672369957, + 0.020286761224269867, + -0.029739096760749817, + -0.0006820522248744965, + -0.06767863035202026, + 0.0 + ], + [ + -0.010053843259811401, + -0.04173095524311066, + -0.009130105376243591, + 0.011270329356193542, + 0.023160040378570557, + -0.08427214622497559, + 0.0 + ], + [ + -0.01282772421836853, + -0.03318663686513901, + -0.00747884064912796, + 0.023275986313819885, + -0.027126483619213104, + -0.08621364831924438, + 0.0 + ], + [ + -0.00817921757698059, + -0.022120554000139236, + -0.01501956582069397, + 0.034008972346782684, + -0.044386059045791626, + -0.11183241009712219, + 0.0 + ], + [ + -0.0017103850841522217, + -0.007879897952079773, + -0.019858408719301224, + 0.027791284024715424, + -0.001798093318939209, + -0.10297173261642456, + 0.0 + ], + [ + 0.0018748342990875244, + 0.002408541738986969, + -0.009255949407815933, + 0.03318535163998604, + 0.008635386824607849, + -0.0992330014705658, + 0.0 + ], + [ + 0.007706195116043091, + 0.007044285535812378, + -0.00209759920835495, + 0.0025264285504817963, + 0.004227086901664734, + -0.04903382062911987, + 0.0 + ], + [ + 0.0039062201976776123, + 0.02120785228908062, + 0.00021971389651298523, + -0.00920327752828598, + -0.01150839775800705, + 0.028218597173690796, + 0.0 + ], + [ + -0.004585593938827515, + 0.012554701417684555, + -0.006807286292314529, + 0.0024633966386318207, + -0.0047745853662490845, + 0.0036857128143310547, + 0.0 + ], + [ + -0.006601274013519287, + 0.007424551527947187, + -0.007182847708463669, + -0.013230588287115097, + 0.0051759034395217896, + 0.027053192257881165, + 0.0 + ], + [ + -0.008195877075195312, + -0.0027986664790660143, + 0.0007934495806694031, + -0.010248810052871704, + 0.02002241462469101, + -0.027192533016204834, + 0.0 + ], + [ + 2.1666288375854492e-05, + -0.0035996106453239918, + 0.023491520434617996, + -0.028223693370819092, + -0.03377708047628403, + 0.015368476510047913, + 0.0 + ], + [ + -0.0005016922950744629, + -0.0076439096592366695, + 0.015053652226924896, + -0.010193422436714172, + -0.023330219089984894, + 0.008507981896400452, + 0.0 + ], + [ + -8.735060691833496e-05, + -0.007159478031098843, + 0.00047375261783599854, + -0.0003000199794769287, + -0.0017072558403015137, + -0.009502425789833069, + 0.0 + ], + [ + 0.0028148293495178223, + -0.005720857530832291, + -0.013713661581277847, + 0.022789008915424347, + 0.01431526243686676, + -0.008403316140174866, + 0.0 + ], + [ + 0.0029813945293426514, + 0.0006147380918264389, + -0.012475240975618362, + 0.023352213203907013, + -0.0011503919959068298, + 0.015002354979515076, + 0.0 + ], + [ + 0.0030822455883026123, + 0.0012325812131166458, + -0.013382025994360447, + 0.020257480442523956, + -0.003902524709701538, + -0.0003810971975326538, + 0.0 + ], + [ + 0.002824544906616211, + 0.0013711582869291306, + -0.0038484586402773857, + 0.006379332393407822, + -0.014713950455188751, + -0.0035241395235061646, + 0.0 + ], + [ + 0.0018834173679351807, + 0.006746403872966766, + -0.001179942861199379, + 0.012862587347626686, + -0.01160779595375061, + -0.007846683263778687, + 0.0 + ], + [ + 0.0009747743606567383, + 0.028148507699370384, + -0.0012651081196963787, + 0.013123968616127968, + -0.017947450280189514, + 0.018807396292686462, + 0.0 + ], + [ + -0.005537837743759155, + 0.020632542669773102, + -0.0008684382773935795, + 0.01317952573299408, + 0.011787757277488708, + -0.01063777506351471, + 0.0 + ], + [ + -0.012316316366195679, + 0.02354780212044716, + 0.00019129877910017967, + 0.007546054199337959, + 0.00554145872592926, + -0.004516929388046265, + 0.0 + ], + [ + -0.008464246988296509, + 0.019815746694803238, + -0.00021680258214473724, + 0.015796372666954994, + -0.014098748564720154, + -0.01713848114013672, + 0.0 + ], + [ + -0.005510300397872925, + 0.022115178406238556, + -0.00038344552740454674, + 0.023722101002931595, + -0.029102176427841187, + -0.0058014243841171265, + 0.0 + ], + [ + -0.0018680393695831299, + 0.018903501331806183, + 0.0016332468949258327, + 0.013150826096534729, + -0.023341268301010132, + 0.011870309710502625, + 0.0 + ], + [ + 0.0018867254257202148, + 0.01751600205898285, + 0.001509936060756445, + 0.002985149621963501, + -0.007022246718406677, + 0.039431989192962646, + 0.0 + ], + [ + -0.00677904486656189, + -0.00763346254825592, + 0.0012479079887270927, + -0.03488506004214287, + 0.05511602759361267, + 0.007686316967010498, + 0.0 + ], + [ + 0.0032956600189208984, + -0.0172283872961998, + 0.02798573672771454, + -0.08052804321050644, + 0.024840310215950012, + 0.048364847898483276, + 0.0 + ], + [ + 0.010538578033447266, + -0.02402442693710327, + 0.03585648909211159, + -0.08987650275230408, + 0.02220475673675537, + 0.026082277297973633, + 0.0 + ], + [ + 0.013121157884597778, + -0.02272213250398636, + 0.018340326845645905, + -0.021704643964767456, + 0.024993084371089935, + 0.022625356912612915, + 0.0 + ], + [ + 0.018872857093811035, + -0.01900358870625496, + -0.027277961373329163, + 0.14550161361694336, + 0.04694318398833275, + 0.08861669898033142, + 0.0 + ], + [ + 0.012695342302322388, + 0.006753098219633102, + -0.03178960084915161, + 0.14794893562793732, + -0.00029959529638290405, + 0.18216922879219055, + 0.0 + ], + [ + 0.011554449796676636, + 0.012343205511569977, + -0.00599844753742218, + -0.01848648488521576, + -0.004213418811559677, + 0.11978358030319214, + 0.0 + ], + [ + 0.013950973749160767, + 0.01982811838388443, + 0.004974573850631714, + -0.05757255107164383, + 0.0004365667700767517, + 0.11843693256378174, + 0.0 + ], + [ + 0.012142330408096313, + 0.015840917825698853, + 0.005452018231153488, + -0.05251471698284149, + 0.04333684593439102, + 0.04737377166748047, + 0.0 + ], + [ + 0.009989827871322632, + 0.004231832921504974, + 0.005504094064235687, + -0.03748565539717674, + 0.017300322651863098, + -0.009918928146362305, + 0.0 + ], + [ + 0.005315452814102173, + -0.002332448959350586, + -0.0028210021555423737, + -0.02264656126499176, + 0.00034315139055252075, + -0.03414052724838257, + 0.0 + ], + [ + 0.006850600242614746, + -0.0030087679624557495, + 0.0003361739218235016, + -0.028108660131692886, + -0.03043399751186371, + -0.06626385450363159, + 0.0 + ], + [ + 0.006378829479217529, + -0.006283603608608246, + 0.0005446933209896088, + -0.028234653174877167, + -0.02103317901492119, + -0.04407477378845215, + 0.0 + ], + [ + 0.0031141042709350586, + 0.0009281858801841736, + -0.013421224430203438, + -0.001036711037158966, + -0.011448655277490616, + 0.0012293457984924316, + 0.0 + ], + [ + 0.0015069842338562012, + 0.0008983314037322998, + -0.004379618912935257, + -0.007050938904285431, + -0.018716715276241302, + 0.002840101718902588, + 0.0 + ], + [ + -0.0030091702938079834, + 0.0020617619156837463, + -0.008111066184937954, + 0.010210730135440826, + -0.019526876509189606, + -0.007352948188781738, + 0.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9530308246612549 + ], + [ + 0.6621366739273071 + ], + [ + 0.39886748790740967 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ], + [ + 0.39099013805389404 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2815612256526947, + 0.17421337962150574, + 0.06727218627929688 + ], + [ + 0.2795872092247009, + 0.17925384640693665, + 0.06380198895931244 + ], + [ + 0.27153879404067993, + 0.18118740618228912, + 0.05362191051244736 + ], + [ + 0.2677706480026245, + 0.18156082928180695, + 0.051732104271650314 + ], + [ + 0.2643108665943146, + 0.18199025094509125, + 0.047210466116666794 + ], + [ + 0.26302850246429443, + 0.18288026750087738, + 0.04425593465566635 + ], + [ + 0.25986993312835693, + 0.18403764069080353, + 0.04487593472003937 + ], + [ + 0.2554160952568054, + 0.18525710701942444, + 0.044126175343990326 + ], + [ + 0.2510765790939331, + 0.18673492968082428, + 0.05022847279906273 + ], + [ + 0.25316452980041504, + 0.18793168663978577, + 0.048125166445970535 + ], + [ + 0.2506301999092102, + 0.19160360097885132, + 0.041807226836681366 + ], + [ + 0.249263733625412, + 0.1918325126171112, + 0.03840865194797516 + ], + [ + 0.24356281757354736, + 0.19269722700119019, + 0.03492727503180504 + ], + [ + 0.2406967729330063, + 0.19554930925369263, + 0.03382176160812378 + ], + [ + 0.23740650713443756, + 0.19622750580310822, + 0.02655613049864769 + ], + [ + 0.23543725907802582, + 0.19784942269325256, + 0.015581646002829075 + ], + [ + 0.23379094898700714, + 0.19802220165729523, + 0.00859706662595272 + ], + [ + 0.23241344094276428, + 0.1940893828868866, + 0.008499972522258759 + ], + [ + 0.2264992594718933, + 0.18413183093070984, + 0.03008211776614189 + ], + [ + 0.2059112787246704, + 0.17344753444194794, + 0.05161885917186737 + ], + [ + 0.2007950395345688, + 0.1548973023891449, + 0.08403583616018295 + ], + [ + 0.21823778748512268, + 0.11736345291137695, + 0.10230173170566559 + ], + [ + 0.24775835871696472, + 0.07213667780160904, + 0.11466633528470993 + ], + [ + 0.2779534161090851, + 0.039770495146512985, + 0.12228710949420929 + ], + [ + 0.30461403727531433, + 0.006781153380870819, + 0.11076737195253372 + ], + [ + 0.33332666754722595, + -0.020948925986886024, + 0.09205827116966248 + ], + [ + 0.3673376441001892, + -0.0415666438639164, + 0.07295403629541397 + ], + [ + 0.3975212872028351, + -0.054370734840631485, + 0.062333449721336365 + ], + [ + 0.41891297698020935, + -0.06210578978061676, + 0.05390625074505806 + ], + [ + 0.4274154305458069, + -0.06396669894456863, + 0.040238264948129654 + ], + [ + 0.43077871203422546, + -0.06860443949699402, + 0.03195347264409065 + ], + [ + 0.4345506727695465, + -0.07324888557195663, + 0.029746757820248604 + ], + [ + 0.42975518107414246, + -0.07352927327156067, + 0.022076524794101715 + ], + [ + 0.42494577169418335, + -0.07405482977628708, + 0.016114529222249985 + ], + [ + 0.4226585328578949, + -0.06819311529397964, + 0.010922358371317387 + ], + [ + 0.41973990201950073, + -0.056892987340688705, + 0.009104232303798199 + ], + [ + 0.41305387020111084, + -0.0468648262321949, + 0.007994530722498894 + ], + [ + 0.40926846861839294, + -0.03363579139113426, + 0.007136918604373932 + ], + [ + 0.40268266201019287, + -0.013935771770775318, + 0.007564830128103495 + ], + [ + 0.3960188031196594, + 0.0009323289850726724, + 0.006729471031576395 + ], + [ + 0.3889879882335663, + 0.016357919201254845, + 0.00680482666939497 + ], + [ + 0.38301753997802734, + 0.02979593724012375, + 0.006494274362921715 + ], + [ + 0.37880417704582214, + 0.04451018199324608, + 0.00668531097471714 + ], + [ + 0.3697874844074249, + 0.065003402531147, + 0.00619405647739768 + ], + [ + 0.36492669582366943, + 0.07483427971601486, + 0.0066489181481301785 + ], + [ + 0.3538721799850464, + 0.09648513048887253, + 0.008307307958602905 + ], + [ + 0.3445962071418762, + 0.10740507394075394, + 0.007465952541679144 + ], + [ + 0.33330297470092773, + 0.12443384528160095, + 0.00830821879208088 + ], + [ + 0.325925350189209, + 0.1413346379995346, + 0.008741089142858982 + ], + [ + 0.3222777545452118, + 0.1422475278377533, + 0.009678492322564125 + ], + [ + 0.32239922881126404, + 0.13089527189731598, + 0.015088953077793121 + ], + [ + 0.3399096429347992, + 0.11497287452220917, + 0.04751898720860481 + ], + [ + 0.3438996374607086, + 0.09040727466344833, + 0.06928729265928268 + ], + [ + 0.34574827551841736, + 0.055643077939748764, + 0.08957405388355255 + ], + [ + 0.33569443225860596, + 0.013912124559283257, + 0.08044394850730896 + ], + [ + 0.3228667080402374, + -0.019274510443210602, + 0.072965107858181 + ], + [ + 0.31468749046325684, + -0.04139506444334984, + 0.05794554203748703 + ], + [ + 0.3129771053791046, + -0.04927496239542961, + 0.038087133318185806 + ], + [ + 0.31485193967819214, + -0.04686642065644264, + 0.028831183910369873 + ], + [ + 0.32255813479423523, + -0.039822135120630264, + 0.026733584702014923 + ], + [ + 0.32646435499191284, + -0.018614282831549644, + 0.02695329859852791 + ], + [ + 0.3218787610530853, + -0.006059580948203802, + 0.02014601230621338 + ], + [ + 0.31527748703956604, + 0.0013649706961587071, + 0.01296316459774971 + ], + [ + 0.3070816099643707, + -0.0014336957829073071, + 0.013756614178419113 + ], + [ + 0.3071032762527466, + -0.005033306311815977, + 0.03724813461303711 + ], + [ + 0.3066015839576721, + -0.012677215971052647, + 0.052301786839962006 + ], + [ + 0.3065142333507538, + -0.01983669400215149, + 0.052775539457798004 + ], + [ + 0.3093290627002716, + -0.02555755153298378, + 0.03906187787652016 + ], + [ + 0.31231045722961426, + -0.02494281344115734, + 0.026586636900901794 + ], + [ + 0.31539270281791687, + -0.023710232228040695, + 0.013204610906541348 + ], + [ + 0.3182172477245331, + -0.022339073941111565, + 0.009356152266263962 + ], + [ + 0.32010066509246826, + -0.015592670068144798, + 0.008176209405064583 + ], + [ + 0.321075439453125, + 0.012555837631225586, + 0.006911101285368204 + ], + [ + 0.31553760170936584, + 0.03318838030099869, + 0.006042663007974625 + ], + [ + 0.30322128534317017, + 0.05673618242144585, + 0.006233961787074804 + ], + [ + 0.29475703835487366, + 0.07655192911624908, + 0.006017159204930067 + ], + [ + 0.28924673795700073, + 0.09866710752248764, + 0.00563371367752552 + ], + [ + 0.2873786985874176, + 0.11757060885429382, + 0.007266960572451353 + ], + [ + 0.2892654240131378, + 0.13508661091327667, + 0.008776896633207798 + ], + [ + 0.2824863791465759, + 0.12745314836502075, + 0.01002480462193489 + ], + [ + 0.2857820391654968, + 0.11022476106882095, + 0.03801054134964943 + ], + [ + 0.2963206171989441, + 0.08620033413171768, + 0.07386703044176102 + ], + [ + 0.30944177508354187, + 0.06347820162773132, + 0.09220735728740692 + ], + [ + 0.3283146321773529, + 0.044474612921476364, + 0.06492939591407776 + ], + [ + 0.3410099744796753, + 0.05122771114110947, + 0.03313979506492615 + ], + [ + 0.35256442427635193, + 0.06357091665267944, + 0.027141347527503967 + ], + [ + 0.3665153980255127, + 0.08339903503656387, + 0.03211592137813568 + ], + [ + 0.378657728433609, + 0.09923995286226273, + 0.03756793960928917 + ], + [ + 0.38864755630493164, + 0.1034717857837677, + 0.04307203367352486 + ], + [ + 0.3939630091190338, + 0.10113933682441711, + 0.04025103151798248 + ], + [ + 0.40081360936164856, + 0.09813056886196136, + 0.040587205439805984 + ], + [ + 0.4071924388408661, + 0.09184696525335312, + 0.04113189876079559 + ], + [ + 0.41030654311180115, + 0.09277515113353729, + 0.027710674330592155 + ], + [ + 0.41181352734565735, + 0.09367348253726959, + 0.0233310554176569 + ], + [ + 0.40880435705184937, + 0.09573524445295334, + 0.015219989232718945 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.7370970073503658, + 0.6701445615483111, + 0.0871450995888864, + 0.6733699106321588, + -0.7392251446761209, + -0.010915536349940583, + 0.05710486153011392, + 0.06672669709936435, + -0.9961358254193232 + ], + [ + 0.6826081669401615, + 0.7209796492524003, + 0.11930815475263404, + 0.7276559751762619, + -0.6856572291608655, + -0.01977235164889874, + 0.06754903564726866, + 0.10031206040815932, + -0.9926603741057632 + ], + [ + 0.6184687707254352, + 0.7715903448341211, + 0.14881101906824873, + 0.7797838905482376, + -0.6260276842198595, + 0.005140294911166264, + 0.09712601957674898, + 0.11286132353061176, + -0.9888522933037548 + ], + [ + 0.5562115114046402, + 0.8111894668068321, + 0.18055581830174533, + 0.8212348696597945, + -0.5697964483705462, + 0.030088141836471023, + 0.12728724773450745, + 0.13154336306313066, + -0.9831044197836847 + ], + [ + 0.5426001387487156, + 0.8220555340009377, + 0.17265511416783394, + 0.8291513403226112, + -0.5570764103417739, + 0.04662539953652815, + 0.1345107589417738, + 0.11785827106807849, + -0.9838781853815803 + ], + [ + 0.5294498949045381, + 0.830926436011022, + 0.171008966792956, + 0.8350704559342212, + -0.5459847984638548, + 0.06751246901273278, + 0.14946619153301874, + 0.10706006624509662, + -0.9829537119336852 + ], + [ + 0.5264605980892738, + 0.8383471247857051, + 0.14146850187594837, + 0.8382583450851662, + -0.5396201030153572, + 0.07831405567823324, + 0.141993610963882, + 0.07735788767305085, + -0.9868401956042331 + ], + [ + 0.5115902354819578, + 0.8515611235366057, + 0.11453856922708805, + 0.8487649079906395, + -0.5215907411689963, + 0.08684025385970537, + 0.13369204136056803, + 0.052789692250009235, + -0.9896159287668086 + ], + [ + 0.4752435302569998, + 0.8676082490251122, + 0.14628572443148044, + 0.8584896237354993, + -0.49366603658656205, + 0.1388863213545377, + 0.19271521187323246, + 0.059579950860117935, + -0.979444269250763 + ], + [ + 0.43157718553615776, + 0.8834691718721326, + 0.1822727496809586, + 0.8780543033891772, + -0.45773904976642754, + 0.13962665439906174, + 0.20678919997049142, + 0.09978569371656712, + -0.9732836390821884 + ], + [ + 0.39061662235020594, + 0.902397653264943, + 0.1819261655882415, + 0.8942528337576982, + -0.41887504708818674, + 0.15765647542424602, + 0.2184731646222097, + 0.10110474919009996, + -0.9705912146888429 + ], + [ + 0.3539737775520649, + 0.9201940812528638, + 0.16716882972826816, + 0.9116779829173586, + -0.37937479390685686, + 0.1578544304473778, + 0.20867635292303113, + 0.09652781244453489, + -0.9732094127963492 + ], + [ + 0.32428429017837807, + 0.9388998686747468, + 0.1153548254129343, + 0.9314349600973312, + -0.33820943930904607, + 0.1343253150777755, + 0.1651321115107188, + 0.06388592775254769, + -0.9842001696724136 + ], + [ + 0.31828766700878236, + 0.9426103802963236, + 0.10088920649765584, + 0.9332624594399367, + -0.33025091688704195, + 0.14126398583994643, + 0.16647565236462333, + 0.049193524501587725, + -0.9848176756724489 + ], + [ + 0.3090648653801827, + 0.9482620753349054, + 0.07264946984712178, + 0.9382371587400831, + -0.31650559363267433, + 0.13976853422199312, + 0.1555311639089273, + 0.024964888959631136, + -0.9875154739913536 + ], + [ + 0.3047643110751143, + 0.9513121270799255, + 0.046086349015497484, + 0.9410886023205111, + -0.30822763886005605, + 0.13909696339310088, + 0.1465297146565766, + 0.0009795475599110037, + -0.9892057840556938 + ], + [ + 0.32021349314938885, + 0.946667045914812, + 0.03584442751656008, + 0.9382472874838078, + -0.3221423748827362, + 0.12615988995789423, + 0.13097841934587423, + -0.006767162169937363, + -0.9913621231325223 + ], + [ + 0.3474796745011574, + 0.9371739586322541, + 0.031029777152280273, + 0.9321239628975899, + -0.3488282645362866, + 0.09728185674983326, + 0.10199408610631472, + -0.004879869071287693, + -0.994773036062591 + ], + [ + 0.46327671426583655, + 0.8859258438864923, + 0.022585064822947115, + 0.884313035763203, + -0.4638011803090148, + 0.053655567495205406, + 0.05800983363463698, + -0.00488510777475849, + -0.9983040593545187 + ], + [ + 0.5817728815405979, + 0.8130727402687521, + 0.021284579765904893, + 0.8132705468517367, + -0.5818846302479793, + -0.0011378508904081562, + 0.011460014285585796, + 0.017972092617003176, + -0.9997728101721607 + ], + [ + 0.633685675346383, + 0.7724357543093181, + 0.04225482606038281, + 0.7733496979315282, + -0.6311794578661877, + -0.05952089277690067, + -0.01930568750426683, + 0.07039529410649627, + -0.9973323382893224 + ], + [ + 0.7084818870236604, + 0.7046094056101809, + 0.03973664914233575, + 0.704870103822213, + -0.7037199872681417, + -0.08908600483235159, + -0.03480736268458583, + 0.09112499681752843, + -0.9952309694025552 + ], + [ + 0.742942151596637, + 0.6657355415239661, + 0.06952084674938605, + 0.6693541475908027, + -0.7387038600003442, + -0.07925674938818832, + -0.0014087171291109618, + 0.10541724703474219, + -0.9944270810590722 + ], + [ + 0.7448115243132776, + 0.6599415426442525, + 0.09865573243586037, + 0.6666636476941068, + -0.7422781593963205, + -0.06769575264666397, + 0.028554756054283155, + 0.11619076716992088, + -0.9928163634485209 + ], + [ + 0.7619622095144586, + 0.6391659553116907, + 0.10430950504310735, + 0.6449412936287408, + -0.763539877440094, + -0.03252050631912848, + 0.05885846620776542, + 0.09205290396972736, + -0.9940130501288247 + ], + [ + 0.7813836932027414, + 0.6172078479901674, + 0.09216287960014188, + 0.6197980714474262, + -0.7847610582834452, + 0.0006572913340822835, + 0.07273152429926863, + 0.05660877830507392, + -0.9957437278697323 + ], + [ + 0.8023804444759443, + 0.5901787387357408, + 0.08873938622097963, + 0.5904021711095843, + -0.8066731024282685, + 0.026528893076062723, + 0.08724046464614402, + 0.0311056612699723, + -0.9957015311654805 + ], + [ + 0.8183898190366767, + 0.565591614513685, + 0.1017065862612552, + 0.5646800548697932, + -0.8243237459767423, + 0.040333577216979485, + 0.1066514872346484, + 0.02442309175091928, + -0.9939964652150244 + ], + [ + 0.8184104538743705, + 0.5626375932345749, + 0.1168043991823579, + 0.5618801106907605, + -0.8261272857687281, + 0.04247880552149294, + 0.12039547416446074, + 0.030864970234864866, + -0.9922460800694126 + ], + [ + 0.8186126490314192, + 0.565666367413445, + 0.09947306983822327, + 0.563064768472348, + -0.824563731093392, + 0.0552514241492964, + 0.11327575800207093, + 0.010780266352078835, + -0.9935051024058379 + ], + [ + 0.819905098854662, + 0.5619138630591372, + 0.10958302502707497, + 0.5587016778614027, + -0.8271201286084819, + 0.06103054977256943, + 0.12493223774102817, + 0.011184961003321944, + -0.9921022289161403 + ], + [ + 0.8096601559681538, + 0.5701205718950701, + 0.1393304178550516, + 0.5690602590081304, + -0.820693520550666, + 0.051308546498156075, + 0.1435996290218912, + 0.037744917912110355, + -0.9889158041595774 + ], + [ + 0.8051272095021613, + 0.5789581067382465, + 0.12875436754272906, + 0.5783852496101736, + -0.8144849042022659, + 0.04566009045110614, + 0.1313037682347325, + 0.037707445799086, + -0.9906247871816397 + ], + [ + 0.8123558025917691, + 0.5721386221246607, + 0.11285143804479386, + 0.5726222920675665, + -0.81922073682282, + 0.03132243583699873, + 0.11037101350793938, + 0.03917628661283655, + -0.9931180483429247 + ], + [ + 0.811404729808102, + 0.5742313884485997, + 0.10899851817999272, + 0.5738710897579986, + -0.8180723971742913, + 0.03780906401215714, + 0.11087983037959522, + 0.03187264504087786, + -0.9933226050549188 + ], + [ + 0.8034833736155985, + 0.5836407569665258, + 0.11737944935480396, + 0.5833682204038313, + -0.8112085308605025, + 0.040277026727550486, + 0.11872652503195386, + 0.03611351916783574, + -0.9922700368282572 + ], + [ + 0.8046062338710256, + 0.5830010997590097, + 0.11277644299972199, + 0.5808388745866252, + -0.8121850048888853, + 0.054605124325322524, + 0.1234301834432208, + 0.02156931879838432, + -0.9921188206569546 + ], + [ + 0.7990288884032853, + 0.5905160553851986, + 0.11332971291464103, + 0.5875591686928777, + -0.8068379038856945, + 0.061537144378602866, + 0.12777737977413853, + 0.017417955839981437, + -0.991649916065348 + ], + [ + 0.7899285665924474, + 0.6034673843750796, + 0.10881165230204545, + 0.598628112434607, + -0.7973734073670028, + 0.07642010355211012, + 0.1328805579615802, + 0.004771291170699486, + -0.9911205739446556 + ], + [ + 0.7867904416386219, + 0.6085852150100356, + 0.10288263710311185, + 0.6033882950686132, + -0.7934884391290686, + 0.07936411243569823, + 0.1299360085591907, + -0.0003647460797307489, + -0.9915223147463716 + ], + [ + 0.780840858672542, + 0.6159168533969273, + 0.1045656881063563, + 0.6100094470387241, + -0.7878065471763686, + 0.0851429312953157, + 0.1348185000325912, + -0.002697022001549469, + -0.9908666399275363 + ], + [ + 0.7763786612737562, + 0.6217372926793482, + 0.10333882721670784, + 0.6149315489476929, + -0.7831855432468245, + 0.09208471620180779, + 0.13818597768066515, + -0.007946303601725158, + -0.9903744200207858 + ], + [ + 0.7753479685382559, + 0.623125714354901, + 0.10271256881849367, + 0.6160112222567528, + -0.7820586078530757, + 0.09441667192106756, + 0.13916070471703193, + -0.00993367971113162, + -0.9902199857961136 + ], + [ + 0.7546294634832587, + 0.6481900286847144, + 0.10190220584795508, + 0.6404999962894042, + -0.7614096056040891, + 0.10007580750160971, + 0.1424574588999925, + -0.010251790455096263, + -0.9897478331354014 + ], + [ + 0.7589479877980643, + 0.6423629955128539, + 0.10661957518684226, + 0.6338445164153855, + -0.7663053041394314, + 0.1049633738878451, + 0.14912773326050197, + -0.012081508329958059, + -0.9887441308695885 + ], + [ + 0.7439981056290952, + 0.6597117157716059, + 0.10605315126860826, + 0.6505173422629416, + -0.7514016990187523, + 0.1105562034753915, + 0.15262374073347024, + -0.013264191849371311, + -0.988195352639905 + ], + [ + 0.7460589590763165, + 0.6581484094222599, + 0.10117658205786768, + 0.6489807054641595, + -0.7526965909197865, + 0.11077854464188258, + 0.1490639913500409, + -0.016985676103144796, + -0.9886816541688805 + ], + [ + 0.7355795793070381, + 0.6700715995167692, + 0.09963299668041256, + 0.6601774103888363, + -0.7420304810767806, + 0.11643260696751334, + 0.15194890364451683, + -0.019869994313030888, + -0.9881886024475436 + ], + [ + 0.7170244384750367, + 0.6886479636681707, + 0.10788853861852107, + 0.6771923368879337, + -0.7248845783217535, + 0.12630473851583296, + 0.165186238802806, + -0.017502292620551106, + -0.9861070815399344 + ], + [ + 0.708256728062387, + 0.6990731283517034, + 0.09833192955965224, + 0.6914774653851509, + -0.7150335503449026, + 0.10288798154153322, + 0.142236851831335, + -0.004876791745210073, + -0.9898206377336172 + ], + [ + 0.7096763799749694, + 0.7018610842832761, + 0.06124095095871129, + 0.7010916434677338, + -0.7121166442520289, + 0.03688349819284547, + 0.06949779252131133, + 0.01676017147685789, + -0.9974413032789105 + ], + [ + 0.6973719009535618, + 0.7060842550039584, + 0.12295306663894459, + 0.7119034959310936, + -0.7022599638697873, + -0.004935142013410769, + 0.08286039006366688, + 0.09097234734308143, + -0.9924002155266729 + ], + [ + 0.7140518994110157, + 0.6881462533476577, + 0.1287812833881627, + 0.6989948617837114, + -0.7110643487909077, + -0.07611619458783246, + 0.03919270528416309, + 0.14436836870361797, + -0.9887475441033292 + ], + [ + 0.759667612016662, + 0.6344438893130719, + 0.14277979747220773, + 0.6490879489633306, + -0.7531993571972739, + -0.10665628358512248, + 0.03987422429940075, + 0.17369997015231697, + -0.9839910399010782 + ], + [ + 0.8121394003554356, + 0.573319810132267, + 0.10832354176362088, + 0.5832237160342721, + -0.803013808141715, + -0.12255170740922301, + 0.016723978159762454, + 0.1627059287292338, + -0.9865328627627512 + ], + [ + 0.8586366046976679, + 0.5009196944940056, + 0.10873196743043279, + 0.5107068453955858, + -0.8541633524013463, + -0.0978952781322086, + 0.04383718899918082, + 0.13958662931142535, + -0.989239037734624 + ], + [ + 0.9075987311138893, + 0.4012602713673713, + 0.12351007206961516, + 0.4104861842386269, + -0.9098612491163339, + -0.06044501555692178, + 0.08812284510653308, + 0.10555899762051565, + -0.9905007128678313 + ], + [ + 0.9448332342476374, + 0.30860051333238375, + 0.10979928338627111, + 0.3149693129174777, + -0.9479897347273282, + -0.045932502347492, + 0.0899137997275249, + 0.0779819595970733, + -0.9928918987462629 + ], + [ + 0.9721102200202656, + 0.21690068769736823, + 0.08919535755048809, + 0.2199781364632072, + -0.9751545930695379, + -0.026136929688820903, + 0.08131014457203513, + 0.04502900500557973, + -0.9956711550998564 + ], + [ + 0.9820536435563061, + 0.16924193265754497, + 0.08323346327122762, + 0.1721243605327827, + -0.984656573119596, + -0.02871650263445285, + 0.07709634030850245, + 0.04252765268284759, + -0.9961162347177778 + ], + [ + 0.975872277179156, + 0.19559242052477624, + 0.09704073199655712, + 0.19957333746393055, + -0.9793245221221355, + -0.03307511668549355, + 0.08856512635725543, + 0.051643832192334635, + -0.9947306836474953 + ], + [ + 0.9747049952559187, + 0.19920944668880267, + 0.1013201291605037, + 0.2030801920443214, + -0.9787224983381919, + -0.029337805744292796, + 0.09331992189453231, + 0.0491718170966805, + -0.994421200790193 + ], + [ + 0.9693120810919306, + 0.22455463078540594, + 0.10004652538724333, + 0.22947974973488255, + -0.9724645406615852, + -0.040641870250610806, + 0.08816537818693894, + 0.06235330743979697, + -0.9941523681712335 + ], + [ + 0.9767257362798146, + 0.19843013575460067, + 0.08143904047239785, + 0.2033592127085736, + -0.9774185700397601, + -0.057427950929663095, + 0.06820459438485967, + 0.07265273680902473, + -0.9950224686603591 + ], + [ + 0.9706824506090524, + 0.20770516637089642, + 0.12097166586619694, + 0.21771675892523712, + -0.9730240094882725, + -0.07631310400223817, + 0.10185770939253815, + 0.10041334982065117, + -0.9897182256658209 + ], + [ + 0.9662173311463236, + 0.21221783507226094, + 0.14624520323661408, + 0.22536609533395568, + -0.970988662586875, + -0.07994460708314581, + 0.12503676285957785, + 0.11020257531017509, + -0.9860127789884892 + ], + [ + 0.9681054488973171, + 0.20275389259310406, + 0.14718253583108318, + 0.21612782347045018, + -0.9729780332162834, + -0.08125583548582008, + 0.12673043729605757, + 0.11047445821055996, + -0.9857660931203879 + ], + [ + 0.9715618516959506, + 0.19909082995975877, + 0.12818115990686665, + 0.20834405774153716, + -0.9760097678426954, + -0.06322726215358607, + 0.11251809602426768, + 0.08813497887661684, + -0.9897332486915307 + ], + [ + 0.9682002025337758, + 0.21659404036914232, + 0.1252013957195621, + 0.2228665976600413, + -0.9740960176432761, + -0.03830702362423907, + 0.11366110795251522, + 0.06499207711776166, + -0.9913915384200765 + ], + [ + 0.9678453947014817, + 0.21854350822006108, + 0.12455531690779557, + 0.22239657311864924, + -0.9747947592573613, + -0.017746593742591736, + 0.11753746730389673, + 0.04487663466940663, + -0.9920539458318455 + ], + [ + 0.966831479997399, + 0.21534392189287635, + 0.13734585756342946, + 0.21857932214376416, + -0.975779998985267, + -0.008744913463551293, + 0.13213617679201886, + 0.03847582207188287, + -0.9904845490459108 + ], + [ + 0.9669529446255607, + 0.20913756840656944, + 0.14582002729716137, + 0.2106455684217351, + -0.9775486879880009, + 0.005196837232629727, + 0.14363303026895147, + 0.02569124547245242, + -0.9892974843401922 + ], + [ + 0.9601575363594572, + 0.22915555459674633, + 0.15995385950202967, + 0.22816032147812118, + -0.9733073429113047, + 0.024812979223302986, + 0.16137029799544222, + 0.01267075500486433, + -0.9868125854955786 + ], + [ + 0.9643186019730516, + 0.22087750932666653, + 0.1459546496771759, + 0.21833857153532368, + -0.9753014983923363, + 0.03339544001173964, + 0.14972609014013935, + -0.000336314304942506, + -0.9887274573025849 + ], + [ + 0.9660901933804481, + 0.21752403671511225, + 0.13911517424526693, + 0.21415687767133837, + -0.9760237684206691, + 0.038915745193682696, + 0.14424482659767002, + -0.007803648446638608, + -0.9895112596988118 + ], + [ + 0.9675294316147534, + 0.20327130991571854, + 0.1502250762169215, + 0.19714325985984552, + -0.9788432182811084, + 0.05477672057466838, + 0.1581813328147964, + -0.023382228085231414, + -0.9871331912962427 + ], + [ + 0.9637313346643627, + 0.20243697746088446, + 0.17389992737936244, + 0.19055303022992254, + -0.9781881945640365, + 0.08268856441942188, + 0.18684607904968298, + -0.046552402430508594, + -0.9812855937858802 + ], + [ + 0.956872022859286, + 0.2176440428495919, + 0.1924240174231456, + 0.20102752226270607, + -0.9742328634110915, + 0.10226564986711231, + 0.20972331096493604, + -0.059172615810952484, + -0.9759686134174572 + ], + [ + 0.9467517710981592, + 0.2568641170061566, + 0.19411828692100713, + 0.23822759101190805, + -0.9644573482804565, + 0.11432251846636957, + 0.2165841610163634, + -0.0619907149698875, + -0.9742938224449339 + ], + [ + 0.9550057250978062, + 0.25586867913348466, + 0.14998427940587225, + 0.24812502658277824, + -0.966298075869358, + 0.06857112916141476, + 0.16247472484576933, + -0.028270967610991345, + -0.9863076174179277 + ], + [ + 0.9454547605089211, + 0.29073788023777947, + 0.14692440514040161, + 0.2951173197027155, + -0.9554236135932581, + -0.008454951205385582, + 0.13791687149331472, + 0.05135371051095364, + -0.9891115877262046 + ], + [ + 0.9401039143169558, + 0.3040245839048947, + 0.1541871676482623, + 0.32058329289126924, + -0.942273083349887, + -0.0966839630615512, + 0.11589211623284974, + 0.14032280205209835, + -0.9832998162408652 + ], + [ + 0.9350386950191564, + 0.3255927784226985, + 0.14032812068812253, + 0.3426594236152203, + -0.9315196172166739, + -0.12188405206665089, + 0.09103383011033742, + 0.16205105794004732, + -0.982574321054623 + ], + [ + 0.9039166419705084, + 0.42504809611278893, + 0.04763213578723459, + 0.42541843890167386, + -0.9049930976296393, + 0.0025778062714861168, + 0.0442024457606478, + 0.01793346685958564, + -0.9988616193223031 + ], + [ + 0.8118785325629516, + 0.5824766608410266, + -0.03967603733888444, + 0.5821278579013247, + -0.802464946603423, + 0.13106168977996974, + 0.04450174624263594, + -0.12950269899988037, + -0.9905799541344974 + ], + [ + 0.7363535317450649, + 0.675443133781411, + -0.03949745959066589, + 0.6748412816015986, + -0.7289875334797306, + 0.11474502463048387, + 0.04871058337652437, + -0.1111474203870036, + -0.992609454925971 + ], + [ + 0.6514694409889241, + 0.7586163184564609, + -0.00942596568760442, + 0.757137462545892, + -0.6493085366842369, + 0.07170276841616852, + 0.04827453021155571, + -0.05384891420019705, + -0.9973815038250475 + ], + [ + 0.6155936620333612, + 0.7880613680672434, + 0.0019296176669116962, + 0.7880481438551227, + -0.6155950411636049, + 0.004782077087985852, + 0.004956433279253675, + -0.0014231847259592281, + -0.9999867040688011 + ], + [ + 0.6233400090575963, + 0.7816821030972864, + 0.02050177566649341, + 0.7818534835450764, + -0.6226342031380965, + -0.03212132237341296, + -0.012343556072092221, + 0.03605189010289275, + -0.9992736851551252 + ], + [ + 0.6496616841711454, + 0.7593527118097906, + 0.036375200164781324, + 0.7601175858086769, + -0.6480287208501778, + -0.04774968793270458, + -0.012686680586318036, + 0.058670572013568456, + -0.9981967802569296 + ], + [ + 0.6985135855637462, + 0.7117196525511048, + 0.07439023427449132, + 0.7153767179859948, + -0.6970933318347949, + -0.04792742508262891, + 0.017746045938898357, + 0.0866949991867998, + -0.9960768318606429 + ], + [ + 0.7289215096132982, + 0.676243961116994, + 0.10661865632180928, + 0.6834985633032286, + -0.7276916791918817, + -0.0573980313017969, + 0.03877043700415519, + 0.11471235804261445, + -0.9926418931955321 + ], + [ + 0.727709579243558, + 0.6760618070723906, + 0.1156684974190338, + 0.6840452877988997, + -0.7277073721225297, + -0.05023967355230371, + 0.050207693805669265, + 0.11568238230834993, + -0.9920165189683993 + ], + [ + 0.7249539308327463, + 0.6756247998230215, + 0.13406314942687225, + 0.685343592345942, + -0.7269908985580857, + -0.0422894058135878, + 0.06889091812792901, + 0.1225371914065651, + -0.9900700369780321 + ], + [ + 0.7288501648685868, + 0.6699866633999279, + 0.1410507285953026, + 0.6789480629816691, + -0.7338379363420878, + -0.02261439715370133, + 0.0883570310981156, + 0.11224862605581273, + -0.9897440482286868 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006767.json b/json/chunk-0006/episode_0006767.json new file mode 100644 index 0000000000000000000000000000000000000000..5fa9e1f1eb400efd491814951c993b909d6992e0 --- /dev/null +++ b/json/chunk-0006/episode_0006767.json @@ -0,0 +1,1942 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 31, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nTake the thing out of the drawer and put it on the left side of the table." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006767.mp4", + "start": 0, + "end": 31, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.23176395893096924, + 0.01714188978075981, + 0.15389227867126465, + -0.007718389388173819, + -0.35324764251708984, + -0.3496994376182556, + 0.0, + 1.0008161067962646 + ], + [ + 0.22904548048973083, + 0.015870943665504456, + 0.14737841486930847, + -0.021336952224373817, + -0.3323218822479248, + -0.3481897711753845, + 0.0, + 1.0008161067962646 + ], + [ + 0.23544487357139587, + 0.013587962836027145, + 0.1377580165863037, + -0.034112926572561264, + -0.3193827271461487, + -0.3512277901172638, + 0.0, + 1.0008161067962646 + ], + [ + 0.24551409482955933, + 0.008032185956835747, + 0.13123834133148193, + -0.051368508487939835, + -0.3492272198200226, + -0.37153956294059753, + 0.0, + 1.0008161067962646 + ], + [ + 0.26057592034339905, + -0.005717332009226084, + 0.1244424432516098, + -0.02733493596315384, + -0.4140751361846924, + -0.4017011523246765, + 0.0, + 1.0008161067962646 + ], + [ + 0.2733791172504425, + -0.016513725742697716, + 0.11156889796257019, + -0.03470172733068466, + -0.4286350607872009, + -0.3881395161151886, + 0.0, + 1.0008161067962646 + ], + [ + 0.28314658999443054, + -0.023209361359477043, + 0.10264064371585846, + -0.024165550246834755, + -0.4358712136745453, + -0.3398805260658264, + 0.0, + 1.0008161067962646 + ], + [ + 0.2896476686000824, + -0.023314526304602623, + 0.08866545557975769, + -0.026732468977570534, + -0.4186107814311981, + -0.3213261663913727, + 0.0, + 1.0008161067962646 + ], + [ + 0.2958323061466217, + -0.025454256683588028, + 0.07668456435203552, + -0.014656421728432178, + -0.39905473589897156, + -0.32372385263442993, + 0.0, + 1.0008161067962646 + ], + [ + 0.30249056220054626, + -0.02720322646200657, + 0.07085426151752472, + -0.0028971403371542692, + -0.40586140751838684, + -0.3134842813014984, + 0.0, + 1.0008161067962646 + ], + [ + 0.3130180835723877, + -0.029684660956263542, + 0.06596441566944122, + -0.005208807997405529, + -0.4344407618045807, + -0.29376256465911865, + 0.0, + 0.9687211513519287 + ], + [ + 0.31579458713531494, + -0.0322025865316391, + 0.065271757543087, + 0.0177606288343668, + -0.4465659558773041, + -0.31285637617111206, + 0.0, + 0.7329457402229309 + ], + [ + 0.31554755568504333, + -0.03318861499428749, + 0.06316076964139938, + 0.01408414077013731, + -0.44271042943000793, + -0.3041287064552307, + 0.0, + 0.6289845705032349 + ], + [ + 0.31368061900138855, + -0.033251069486141205, + 0.0636436939239502, + 0.0056777773424983025, + -0.43293747305870056, + -0.28618013858795166, + 0.0, + 0.5958979725837708 + ], + [ + 0.2968596816062927, + -0.02821481227874756, + 0.08228033781051636, + -0.004078769125044346, + -0.4346953332424164, + -0.27210620045661926, + 0.0, + 0.5958979725837708 + ], + [ + 0.28357499837875366, + -0.015392964705824852, + 0.09842699021100998, + -0.018158547580242157, + -0.4382665455341339, + -0.21863259375095367, + 0.0, + 0.5958979725837708 + ], + [ + 0.26701200008392334, + -0.00016900523041840643, + 0.11193235218524933, + 0.01318148709833622, + -0.39486634731292725, + -0.19902431964874268, + 0.0, + 0.5958979725837708 + ], + [ + 0.25951263308525085, + 0.011454842053353786, + 0.1262904703617096, + -0.007230969611555338, + -0.3999834656715393, + -0.14322665333747864, + 0.0, + 0.5958979725837708 + ], + [ + 0.2672099769115448, + 0.03325367346405983, + 0.14728063344955444, + -0.004438138101249933, + -0.4373968243598938, + -0.08794905245304108, + 0.0, + 0.5958979725837708 + ], + [ + 0.28767260909080505, + 0.07311350852251053, + 0.15292119979858398, + 0.04193199798464775, + -0.4426214098930359, + -0.029536405578255653, + 0.0, + 0.5958979725837708 + ], + [ + 0.30386626720428467, + 0.10691600292921066, + 0.14653943479061127, + 0.08463232964277267, + -0.424243301153183, + 0.019713586196303368, + 0.0, + 0.5958979725837708 + ], + [ + 0.31922489404678345, + 0.13155215978622437, + 0.11484934389591217, + 0.07261112332344055, + -0.3689897656440735, + 0.07659725099802017, + 0.0, + 0.5958979725837708 + ], + [ + 0.3308780789375305, + 0.143284872174263, + 0.07504941523075104, + 0.07372593879699707, + -0.2891465425491333, + 0.10768932104110718, + 0.0, + 0.5958979725837708 + ], + [ + 0.34397733211517334, + 0.1441679745912552, + 0.05235670879483223, + 0.049410708248615265, + -0.28524500131607056, + 0.11961960047483444, + 0.0, + 0.5958979725837708 + ], + [ + 0.35301172733306885, + 0.14630910754203796, + 0.029723798856139183, + 0.044408418238162994, + -0.2736513912677765, + 0.1235024482011795, + 0.0, + 0.5958979725837708 + ], + [ + 0.35549673438072205, + 0.14713788032531738, + 0.01692647859454155, + 0.03666651248931885, + -0.25811460614204407, + 0.1308368593454361, + 0.0, + 0.5958979725837708 + ], + [ + 0.3579370081424713, + 0.14602713286876678, + 0.014109507203102112, + 0.02862146496772766, + -0.2524002492427826, + 0.13264845311641693, + 0.0, + 0.6541022062301636 + ], + [ + 0.35666877031326294, + 0.14213493466377258, + 0.013598871417343616, + 0.0016272494103759527, + -0.240828737616539, + 0.14824216067790985, + 0.0, + 0.9468915462493896 + ], + [ + 0.3566494882106781, + 0.1365356594324112, + 0.01521382201462984, + -0.014591260813176632, + -0.23485325276851654, + 0.1417173594236374, + 0.0, + 1.0008161067962646 + ], + [ + 0.35970354080200195, + 0.1321626752614975, + 0.04427771270275116, + -0.026588866487145424, + -0.28947487473487854, + 0.12411326169967651, + 0.0, + 0.9994885921478271 + ], + [ + 0.35452771186828613, + 0.12795159220695496, + 0.07648997753858566, + -0.024904899299144745, + -0.3275389075279236, + 0.11113578081130981, + 0.0, + 0.9994885921478271 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9687211513519287 + ], + [ + 0.7329457402229309 + ], + [ + 0.6289845705032349 + ], + [ + 0.5958979725837708 + ], + [ + 0.5958979725837708 + ], + [ + 0.5958979725837708 + ], + [ + 0.5958979725837708 + ], + [ + 0.5958979725837708 + ], + [ + 0.5958979725837708 + ], + [ + 0.5958979725837708 + ], + [ + 0.5958979725837708 + ], + [ + 0.5958979725837708 + ], + [ + 0.5958979725837708 + ], + [ + 0.5958979725837708 + ], + [ + 0.5958979725837708 + ], + [ + 0.5958979725837708 + ], + [ + 0.6541022062301636 + ], + [ + 0.9468915462493896 + ], + [ + 1.0008161067962646 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.23176395893096924, + 0.01714188978075981, + 0.15389227867126465 + ], + [ + 0.22904548048973083, + 0.015870943665504456, + 0.14737841486930847 + ], + [ + 0.23544487357139587, + 0.013587962836027145, + 0.1377580165863037 + ], + [ + 0.24551409482955933, + 0.008032185956835747, + 0.13123834133148193 + ], + [ + 0.26057592034339905, + -0.005717332009226084, + 0.1244424432516098 + ], + [ + 0.2733791172504425, + -0.016513725742697716, + 0.11156889796257019 + ], + [ + 0.28314658999443054, + -0.023209361359477043, + 0.10264064371585846 + ], + [ + 0.2896476686000824, + -0.023314526304602623, + 0.08866545557975769 + ], + [ + 0.2958323061466217, + -0.025454256683588028, + 0.07668456435203552 + ], + [ + 0.30249056220054626, + -0.02720322646200657, + 0.07085426151752472 + ], + [ + 0.3130180835723877, + -0.029684660956263542, + 0.06596441566944122 + ], + [ + 0.31579458713531494, + -0.0322025865316391, + 0.065271757543087 + ], + [ + 0.31554755568504333, + -0.03318861499428749, + 0.06316076964139938 + ], + [ + 0.31368061900138855, + -0.033251069486141205, + 0.0636436939239502 + ], + [ + 0.2968596816062927, + -0.02821481227874756, + 0.08228033781051636 + ], + [ + 0.28357499837875366, + -0.015392964705824852, + 0.09842699021100998 + ], + [ + 0.26701200008392334, + -0.00016900523041840643, + 0.11193235218524933 + ], + [ + 0.25951263308525085, + 0.011454842053353786, + 0.1262904703617096 + ], + [ + 0.2672099769115448, + 0.03325367346405983, + 0.14728063344955444 + ], + [ + 0.28767260909080505, + 0.07311350852251053, + 0.15292119979858398 + ], + [ + 0.30386626720428467, + 0.10691600292921066, + 0.14653943479061127 + ], + [ + 0.31922489404678345, + 0.13155215978622437, + 0.11484934389591217 + ], + [ + 0.3308780789375305, + 0.143284872174263, + 0.07504941523075104 + ], + [ + 0.34397733211517334, + 0.1441679745912552, + 0.05235670879483223 + ], + [ + 0.35301172733306885, + 0.14630910754203796, + 0.029723798856139183 + ], + [ + 0.35549673438072205, + 0.14713788032531738, + 0.01692647859454155 + ], + [ + 0.3579370081424713, + 0.14602713286876678, + 0.014109507203102112 + ], + [ + 0.35666877031326294, + 0.14213493466377258, + 0.013598871417343616 + ], + [ + 0.3566494882106781, + 0.1365356594324112, + 0.01521382201462984 + ], + [ + 0.35970354080200195, + 0.1321626752614975, + 0.04427771270275116 + ], + [ + 0.35452771186828613, + 0.12795159220695496, + 0.07648997753858566 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8814670062895354, + -0.3451137642869426, + 0.32235447340258966, + -0.32146037006705175, + -0.9385329226597235, + -0.12577433585653205, + 0.34594674055310654, + 0.00724173898274582, + -0.9382262040239484 + ], + [ + 0.8885625002868283, + -0.3476618337238659, + 0.29931243284531306, + -0.32252900623953223, + -0.9374030617980406, + -0.13134131058353044, + 0.32623875186458273, + 0.020168021802315104, + -0.9450722341061668 + ], + [ + 0.8914676929964505, + -0.3539056981571004, + 0.2829065378451367, + -0.3266520443949045, + -0.9347203822701411, + -0.13998660243534294, + 0.3139805634688488, + 0.03238153456364817, + -0.9488770426051457 + ], + [ + 0.8755254966880237, + -0.3789418647525857, + 0.29976351977354054, + -0.3411357207888241, + -0.9241619629457822, + -0.17190429385587633, + 0.34217177652617436, + 0.048246547876828444, + -0.9383979677977197 + ], + [ + 0.8426133525357767, + -0.400959877093881, + 0.35949118916779893, + -0.357942071469385, + -0.9157538374937492, + -0.18240718896928698, + 0.4023434000957689, + 0.02502171209832335, + -0.9151468200912048 + ], + [ + 0.8418780383152439, + -0.3915866531005717, + 0.37135059137689425, + -0.3442285503879252, + -0.9195999717151649, + -0.18932141220499937, + 0.4156297314922312, + 0.03155606336284947, + -0.908986326170386 + ], + [ + 0.8546456291456863, + -0.34289523503909436, + 0.38987652708217513, + -0.3022047969267778, + -0.9391182420348402, + -0.1634906364041566, + 0.42220031892055554, + 0.021904001115672922, + -0.9062378856782062 + ], + [ + 0.8668913277240531, + -0.32602140504177746, + 0.3771067082026172, + -0.28855505783365387, + -0.9450468993542462, + -0.15369559726791743, + 0.4064915798825915, + 0.02442133238606123, + -0.9133280867295412 + ], + [ + 0.8735673205858708, + -0.3234637441755807, + 0.363663776871352, + -0.2931057131997345, + -0.9461441953313008, + -0.137478007443227, + 0.3885475225684717, + 0.013504363916877503, + -0.9213297210342795 + ], + [ + 0.8739866387848277, + -0.3094617570604338, + 0.3746742266858887, + -0.28332340879130635, + -0.9509081637261947, + -0.12450506090015555, + 0.3948103358024887, + 0.0026617805969346015, + -0.9187587897090185 + ], + [ + 0.8682462383767071, + -0.291650193352562, + 0.40135848597246815, + -0.2626575400464423, + -0.9565133767351016, + -0.12685888531579265, + 0.4209031791296548, + 0.004724917377806032, + -0.9070932636473071 + ], + [ + 0.8581540209140699, + -0.30043148554730376, + 0.4163082978765307, + -0.27759554776860645, + -0.9536688854059078, + -0.11600158993608997, + 0.4318708004114904, + -0.016018099153571018, + -0.901793231429159 + ], + [ + 0.8621263443179699, + -0.29367585129936363, + 0.41290756931367467, + -0.27059200773475905, + -0.9558203519815294, + -0.1148364928408083, + 0.428390163032492, + -0.012725922422323649, + -0.9035042441048606 + ], + [ + 0.8708188631533654, + -0.2800000816917869, + 0.4040723472707242, + -0.2562449660981363, + -0.9599861413279581, + -0.11298285625537421, + 0.4195390624550294, + -0.005153902487456015, + -0.9077226516747858 + ], + [ + 0.8736271702756473, + -0.27041300709352833, + 0.40453970503623193, + -0.2437655568917545, + -0.9627373057258122, + -0.11711205504583147, + 0.42113408865754265, + 0.003699426771872384, + -0.9069908453849694 + ], + [ + 0.883933443452536, + -0.22438131104807016, + 0.41026173937925475, + -0.19639593470792713, + -0.9743627177826191, + -0.10975395676451966, + 0.42437048009533135, + 0.016441455155113888, + -0.9053393696156378 + ], + [ + 0.9048269725116187, + -0.19272535057876705, + 0.3796644427119153, + -0.1824985909295122, + -0.9811773073188849, + -0.06312967536115188, + 0.384684824400704, + -0.012166792788290678, + -0.9229677973954702 + ], + [ + 0.9116362409876813, + -0.14552064083729332, + 0.3843736557155733, + -0.1314708317543964, + -0.9893327981311317, + -0.06273782702511052, + 0.3894031131304137, + 0.0066601525755027, + -0.921043352862401 + ], + [ + 0.9023562296582798, + -0.08970749659991563, + 0.42155165739286343, + -0.07956663148958375, + -0.995960040456118, + -0.04162630139766013, + 0.42358279704243745, + 0.004020307006210554, + -0.9058484703201088 + ], + [ + 0.9032378586572831, + -0.011559363346793012, + 0.42898455893799087, + -0.02668616050715833, + -0.9992154358926123, + 0.029263655125820034, + 0.42830972382797, + -0.037879991987242664, + -0.90283768567858 + ], + [ + 0.9111733934838596, + 0.054430735862164195, + 0.4084119758290771, + 0.017964822488443596, + -0.9955413061071059, + 0.09260007012695189, + 0.41163128180456116, + -0.07703767148649425, + -0.9080885887466447 + ], + [ + 0.9299574063410528, + 0.10240990347765633, + 0.3531167428218588, + 0.07137181828781183, + -0.992438285147754, + 0.09986147268730124, + 0.3606733784821292, + -0.06766433213061486, + -0.9302345146314474 + ], + [ + 0.9529351582640485, + 0.12807040902729583, + 0.27479547753894046, + 0.10301948707061004, + -0.9892489136408833, + 0.1037958194921211, + 0.28513430068650386, + -0.07060139652948602, + -0.9558838179298282 + ], + [ + 0.9527355885376748, + 0.13298772578011137, + 0.2731467794531076, + 0.1145125531215425, + -0.989983833928699, + 0.08257653260715378, + 0.2813925612224968, + -0.04739486630077491, + -0.9584215946737508 + ], + [ + 0.955457209116425, + 0.13497327061142342, + 0.2624571160550005, + 0.11860493986113971, + -0.9899269375518776, + 0.07731446533280092, + 0.27024875538656595, + -0.042741952805375065, + -0.9618413256262155 + ], + [ + 0.9586091541004331, + 0.1396535544814311, + 0.24812370784661883, + 0.12614201208074652, + -0.9895658712425028, + 0.06962455931844205, + 0.25525807031918324, + -0.035443916160159364, + -0.9662230831149495 + ], + [ + 0.9598092296320652, + 0.13928946885951138, + 0.24364869500560973, + 0.12806924445872547, + -0.9898639066052758, + 0.06138171571333711, + 0.24972887565692645, + -0.027710832989589644, + -0.9679192106772911 + ], + [ + 0.9604894090730113, + 0.14808346061053443, + 0.2356509786786077, + 0.14343728126540087, + -0.9889736049993955, + 0.036836869542481776, + 0.23850752902532787, + -0.001580287349767489, + -0.9711393624450223 + ], + [ + 0.9627985946353945, + 0.13786719747045084, + 0.23240374788232843, + 0.13736611981735414, + -0.9903490667112624, + 0.01841942427047248, + 0.23270026921865272, + 0.01419020527600211, + -0.9724449715946869 + ], + [ + 0.9510217762352365, + 0.11622061200687558, + 0.28644432351003724, + 0.11864424379689231, + -0.992896550033609, + 0.008943396738405494, + 0.28544898763218474, + 0.025479605101025933, + -0.958055147255969 + ], + [ + 0.9409957250645468, + 0.1029107564567774, + 0.32239172076178135, + 0.10501098695050852, + -0.9944110987313298, + 0.010920592457832912, + 0.32171375169539873, + 0.023578441963874507, + -0.9465433529662697 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0027184784412384033, + -0.0012709461152553558, + -0.006513863801956177, + -0.013618562370538712, + 0.02092576026916504, + 0.0015096664428710938, + 1.0 + ], + [ + 0.006399393081665039, + -0.00228298082947731, + -0.00962039828300476, + -0.012775974348187447, + 0.012939155101776123, + -0.0030380189418792725, + 1.0 + ], + [ + 0.010069221258163452, + -0.005555776879191399, + -0.006519675254821777, + -0.01725558191537857, + -0.0298444926738739, + -0.02031177282333374, + 1.0 + ], + [ + 0.015061825513839722, + -0.013749517500400543, + -0.006795898079872131, + 0.024033572524785995, + -0.0648479163646698, + -0.03016158938407898, + 1.0 + ], + [ + 0.012803196907043457, + -0.01079639419913292, + -0.012873545289039612, + -0.007366791367530823, + -0.014559924602508545, + 0.013561636209487915, + 1.0 + ], + [ + 0.009767472743988037, + -0.006695635616779327, + -0.008928254246711731, + 0.010536177083849907, + -0.00723615288734436, + 0.04825899004936218, + 1.0 + ], + [ + 0.0065010786056518555, + -0.00010516494512557983, + -0.013975188136100769, + -0.002566918730735779, + 0.017260432243347168, + 0.018554359674453735, + 1.0 + ], + [ + 0.006184637546539307, + -0.002139730378985405, + -0.011980891227722168, + 0.012076047249138355, + 0.019556045532226562, + -0.002397686243057251, + 1.0 + ], + [ + 0.0066582560539245605, + -0.001748969778418541, + -0.005830302834510803, + 0.011759281158447266, + -0.006806671619415283, + 0.010239571332931519, + 1.0 + ], + [ + 0.01052752137184143, + -0.0024814344942569733, + -0.004889845848083496, + -0.00231166766025126, + -0.028579354286193848, + 0.01972171664237976, + 0.0 + ], + [ + 0.002776503562927246, + -0.002517925575375557, + -0.0006926581263542175, + 0.022969435900449753, + -0.012125194072723389, + -0.019093811511993408, + 0.0 + ], + [ + -0.00024703145027160645, + -0.0009860284626483917, + -0.002110987901687622, + -0.0036764880642294884, + 0.0038555264472961426, + 0.008727669715881348, + 0.0 + ], + [ + -0.0018669366836547852, + -6.245449185371399e-05, + 0.00048292428255081177, + -0.008406363427639008, + 0.009772956371307373, + 0.017948567867279053, + 0.0 + ], + [ + -0.016820937395095825, + 0.005036257207393646, + 0.018636643886566162, + -0.009756546467542648, + -0.0017578601837158203, + 0.014073938131332397, + 0.0 + ], + [ + -0.013284683227539062, + 0.012821847572922707, + 0.016146652400493622, + -0.014079778455197811, + -0.0035712122917175293, + 0.05347360670566559, + 0.0 + ], + [ + -0.016562998294830322, + 0.01522395946085453, + 0.01350536197423935, + 0.03134003281593323, + 0.043400198221206665, + 0.019608274102211, + 0.0 + ], + [ + -0.007499366998672485, + 0.011623847298324108, + 0.014358118176460266, + -0.02041245624423027, + -0.0051171183586120605, + 0.05579766631126404, + 0.0 + ], + [ + 0.007697343826293945, + 0.02179883047938347, + 0.02099016308784485, + 0.0027928315103054047, + -0.03741335868835449, + 0.05527760088443756, + 0.0 + ], + [ + 0.020462632179260254, + 0.0398598350584507, + 0.005640566349029541, + 0.046370137482881546, + -0.00522458553314209, + 0.05841264873743057, + 0.0 + ], + [ + 0.016193658113479614, + 0.033802494406700134, + -0.006381765007972717, + 0.042700331658124924, + 0.018378108739852905, + 0.04924999177455902, + 0.0 + ], + [ + 0.01535862684249878, + 0.024636156857013702, + -0.0316900908946991, + -0.012021206319332123, + 0.0552535355091095, + 0.056883662939071655, + 0.0 + ], + [ + 0.01165318489074707, + 0.011732712388038635, + -0.03979992866516113, + 0.0011148154735565186, + 0.07984322309494019, + 0.031092070043087006, + 0.0 + ], + [ + 0.013099253177642822, + 0.0008831024169921875, + -0.022692706435918808, + -0.024315230548381805, + 0.003901541233062744, + 0.011930279433727264, + 0.0 + ], + [ + 0.009034395217895508, + 0.002141132950782776, + -0.022632909938693047, + -0.0050022900104522705, + 0.011593610048294067, + 0.0038828477263450623, + 0.0 + ], + [ + 0.0024850070476531982, + 0.0008287727832794189, + -0.012797320261597633, + -0.007741905748844147, + 0.015536785125732422, + 0.007334411144256592, + 0.0 + ], + [ + 0.0024402737617492676, + -0.0011107474565505981, + -0.002816971391439438, + -0.008045047521591187, + 0.005714356899261475, + 0.001811593770980835, + 1.0 + ], + [ + -0.001268237829208374, + -0.0038921982049942017, + -0.0005106357857584953, + -0.026994215324521065, + 0.011571511626243591, + 0.01559370756149292, + 1.0 + ], + [ + -1.9282102584838867e-05, + -0.005599275231361389, + 0.0016149505972862244, + -0.016218509525060654, + 0.005975484848022461, + -0.006524801254272461, + 1.0 + ], + [ + 0.0030540525913238525, + -0.004372984170913696, + 0.029063891619443893, + -0.011997605673968792, + -0.054621621966362, + -0.017604097723960876, + 1.0 + ], + [ + -0.00517582893371582, + -0.0042110830545425415, + 0.0322122648358345, + 0.001683967188000679, + -0.038064032793045044, + -0.0129774808883667, + 1.0 + ], + [ + -0.01031029224395752, + 0.0005355328321456909, + 0.03658659756183624, + 0.04541538655757904, + -0.027244776487350464, + -0.024637483060359955, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9687211513519287 + ], + [ + 0.7329457402229309 + ], + [ + 0.6289845705032349 + ], + [ + 0.5958979725837708 + ], + [ + 0.5958979725837708 + ], + [ + 0.5958979725837708 + ], + [ + 0.5958979725837708 + ], + [ + 0.5958979725837708 + ], + [ + 0.5958979725837708 + ], + [ + 0.5958979725837708 + ], + [ + 0.5958979725837708 + ], + [ + 0.5958979725837708 + ], + [ + 0.5958979725837708 + ], + [ + 0.5958979725837708 + ], + [ + 0.5958979725837708 + ], + [ + 0.5958979725837708 + ], + [ + 0.6541022062301636 + ], + [ + 0.9468915462493896 + ], + [ + 1.0008161067962646 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.22904548048973083, + 0.015870943665504456, + 0.14737841486930847 + ], + [ + 0.23544487357139587, + 0.013587962836027145, + 0.1377580165863037 + ], + [ + 0.24551409482955933, + 0.008032185956835747, + 0.13123834133148193 + ], + [ + 0.26057592034339905, + -0.005717332009226084, + 0.1244424432516098 + ], + [ + 0.2733791172504425, + -0.016513725742697716, + 0.11156889796257019 + ], + [ + 0.28314658999443054, + -0.023209361359477043, + 0.10264064371585846 + ], + [ + 0.2896476686000824, + -0.023314526304602623, + 0.08866545557975769 + ], + [ + 0.2958323061466217, + -0.025454256683588028, + 0.07668456435203552 + ], + [ + 0.30249056220054626, + -0.02720322646200657, + 0.07085426151752472 + ], + [ + 0.3130180835723877, + -0.029684660956263542, + 0.06596441566944122 + ], + [ + 0.31579458713531494, + -0.0322025865316391, + 0.065271757543087 + ], + [ + 0.31554755568504333, + -0.03318861499428749, + 0.06316076964139938 + ], + [ + 0.31368061900138855, + -0.033251069486141205, + 0.0636436939239502 + ], + [ + 0.2968596816062927, + -0.02821481227874756, + 0.08228033781051636 + ], + [ + 0.28357499837875366, + -0.015392964705824852, + 0.09842699021100998 + ], + [ + 0.26701200008392334, + -0.00016900523041840643, + 0.11193235218524933 + ], + [ + 0.25951263308525085, + 0.011454842053353786, + 0.1262904703617096 + ], + [ + 0.2672099769115448, + 0.03325367346405983, + 0.14728063344955444 + ], + [ + 0.28767260909080505, + 0.07311350852251053, + 0.15292119979858398 + ], + [ + 0.30386626720428467, + 0.10691600292921066, + 0.14653943479061127 + ], + [ + 0.31922489404678345, + 0.13155215978622437, + 0.11484934389591217 + ], + [ + 0.3308780789375305, + 0.143284872174263, + 0.07504941523075104 + ], + [ + 0.34397733211517334, + 0.1441679745912552, + 0.05235670879483223 + ], + [ + 0.35301172733306885, + 0.14630910754203796, + 0.029723798856139183 + ], + [ + 0.35549673438072205, + 0.14713788032531738, + 0.01692647859454155 + ], + [ + 0.3579370081424713, + 0.14602713286876678, + 0.014109507203102112 + ], + [ + 0.35666877031326294, + 0.14213493466377258, + 0.013598871417343616 + ], + [ + 0.3566494882106781, + 0.1365356594324112, + 0.01521382201462984 + ], + [ + 0.35970354080200195, + 0.1321626752614975, + 0.04427771270275116 + ], + [ + 0.35452771186828613, + 0.12795159220695496, + 0.07648997753858566 + ], + [ + 0.3442174196243286, + 0.12848712503910065, + 0.1130765751004219 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8885625002868283, + -0.3476618337238659, + 0.29931243284531306, + -0.32252900623953223, + -0.9374030617980406, + -0.13134131058353044, + 0.32623875186458273, + 0.020168021802315104, + -0.9450722341061668 + ], + [ + 0.8914676929964505, + -0.3539056981571004, + 0.2829065378451367, + -0.3266520443949045, + -0.9347203822701411, + -0.13998660243534294, + 0.3139805634688488, + 0.03238153456364817, + -0.9488770426051457 + ], + [ + 0.8755254966880237, + -0.3789418647525857, + 0.29976351977354054, + -0.3411357207888241, + -0.9241619629457822, + -0.17190429385587633, + 0.34217177652617436, + 0.048246547876828444, + -0.9383979677977197 + ], + [ + 0.8426133525357767, + -0.400959877093881, + 0.35949118916779893, + -0.357942071469385, + -0.9157538374937492, + -0.18240718896928698, + 0.4023434000957689, + 0.02502171209832335, + -0.9151468200912048 + ], + [ + 0.8418780383152439, + -0.3915866531005717, + 0.37135059137689425, + -0.3442285503879252, + -0.9195999717151649, + -0.18932141220499937, + 0.4156297314922312, + 0.03155606336284947, + -0.908986326170386 + ], + [ + 0.8546456291456863, + -0.34289523503909436, + 0.38987652708217513, + -0.3022047969267778, + -0.9391182420348402, + -0.1634906364041566, + 0.42220031892055554, + 0.021904001115672922, + -0.9062378856782062 + ], + [ + 0.8668913277240531, + -0.32602140504177746, + 0.3771067082026172, + -0.28855505783365387, + -0.9450468993542462, + -0.15369559726791743, + 0.4064915798825915, + 0.02442133238606123, + -0.9133280867295412 + ], + [ + 0.8735673205858708, + -0.3234637441755807, + 0.363663776871352, + -0.2931057131997345, + -0.9461441953313008, + -0.137478007443227, + 0.3885475225684717, + 0.013504363916877503, + -0.9213297210342795 + ], + [ + 0.8739866387848277, + -0.3094617570604338, + 0.3746742266858887, + -0.28332340879130635, + -0.9509081637261947, + -0.12450506090015555, + 0.3948103358024887, + 0.0026617805969346015, + -0.9187587897090185 + ], + [ + 0.8682462383767071, + -0.291650193352562, + 0.40135848597246815, + -0.2626575400464423, + -0.9565133767351016, + -0.12685888531579265, + 0.4209031791296548, + 0.004724917377806032, + -0.9070932636473071 + ], + [ + 0.8581540209140699, + -0.30043148554730376, + 0.4163082978765307, + -0.27759554776860645, + -0.9536688854059078, + -0.11600158993608997, + 0.4318708004114904, + -0.016018099153571018, + -0.901793231429159 + ], + [ + 0.8621263443179699, + -0.29367585129936363, + 0.41290756931367467, + -0.27059200773475905, + -0.9558203519815294, + -0.1148364928408083, + 0.428390163032492, + -0.012725922422323649, + -0.9035042441048606 + ], + [ + 0.8708188631533654, + -0.2800000816917869, + 0.4040723472707242, + -0.2562449660981363, + -0.9599861413279581, + -0.11298285625537421, + 0.4195390624550294, + -0.005153902487456015, + -0.9077226516747858 + ], + [ + 0.8736271702756473, + -0.27041300709352833, + 0.40453970503623193, + -0.2437655568917545, + -0.9627373057258122, + -0.11711205504583147, + 0.42113408865754265, + 0.003699426771872384, + -0.9069908453849694 + ], + [ + 0.883933443452536, + -0.22438131104807016, + 0.41026173937925475, + -0.19639593470792713, + -0.9743627177826191, + -0.10975395676451966, + 0.42437048009533135, + 0.016441455155113888, + -0.9053393696156378 + ], + [ + 0.9048269725116187, + -0.19272535057876705, + 0.3796644427119153, + -0.1824985909295122, + -0.9811773073188849, + -0.06312967536115188, + 0.384684824400704, + -0.012166792788290678, + -0.9229677973954702 + ], + [ + 0.9116362409876813, + -0.14552064083729332, + 0.3843736557155733, + -0.1314708317543964, + -0.9893327981311317, + -0.06273782702511052, + 0.3894031131304137, + 0.0066601525755027, + -0.921043352862401 + ], + [ + 0.9023562296582798, + -0.08970749659991563, + 0.42155165739286343, + -0.07956663148958375, + -0.995960040456118, + -0.04162630139766013, + 0.42358279704243745, + 0.004020307006210554, + -0.9058484703201088 + ], + [ + 0.9032378586572831, + -0.011559363346793012, + 0.42898455893799087, + -0.02668616050715833, + -0.9992154358926123, + 0.029263655125820034, + 0.42830972382797, + -0.037879991987242664, + -0.90283768567858 + ], + [ + 0.9111733934838596, + 0.054430735862164195, + 0.4084119758290771, + 0.017964822488443596, + -0.9955413061071059, + 0.09260007012695189, + 0.41163128180456116, + -0.07703767148649425, + -0.9080885887466447 + ], + [ + 0.9299574063410528, + 0.10240990347765633, + 0.3531167428218588, + 0.07137181828781183, + -0.992438285147754, + 0.09986147268730124, + 0.3606733784821292, + -0.06766433213061486, + -0.9302345146314474 + ], + [ + 0.9529351582640485, + 0.12807040902729583, + 0.27479547753894046, + 0.10301948707061004, + -0.9892489136408833, + 0.1037958194921211, + 0.28513430068650386, + -0.07060139652948602, + -0.9558838179298282 + ], + [ + 0.9527355885376748, + 0.13298772578011137, + 0.2731467794531076, + 0.1145125531215425, + -0.989983833928699, + 0.08257653260715378, + 0.2813925612224968, + -0.04739486630077491, + -0.9584215946737508 + ], + [ + 0.955457209116425, + 0.13497327061142342, + 0.2624571160550005, + 0.11860493986113971, + -0.9899269375518776, + 0.07731446533280092, + 0.27024875538656595, + -0.042741952805375065, + -0.9618413256262155 + ], + [ + 0.9586091541004331, + 0.1396535544814311, + 0.24812370784661883, + 0.12614201208074652, + -0.9895658712425028, + 0.06962455931844205, + 0.25525807031918324, + -0.035443916160159364, + -0.9662230831149495 + ], + [ + 0.9598092296320652, + 0.13928946885951138, + 0.24364869500560973, + 0.12806924445872547, + -0.9898639066052758, + 0.06138171571333711, + 0.24972887565692645, + -0.027710832989589644, + -0.9679192106772911 + ], + [ + 0.9604894090730113, + 0.14808346061053443, + 0.2356509786786077, + 0.14343728126540087, + -0.9889736049993955, + 0.036836869542481776, + 0.23850752902532787, + -0.001580287349767489, + -0.9711393624450223 + ], + [ + 0.9627985946353945, + 0.13786719747045084, + 0.23240374788232843, + 0.13736611981735414, + -0.9903490667112624, + 0.01841942427047248, + 0.23270026921865272, + 0.01419020527600211, + -0.9724449715946869 + ], + [ + 0.9510217762352365, + 0.11622061200687558, + 0.28644432351003724, + 0.11864424379689231, + -0.992896550033609, + 0.008943396738405494, + 0.28544898763218474, + 0.025479605101025933, + -0.958055147255969 + ], + [ + 0.9409957250645468, + 0.1029107564567774, + 0.32239172076178135, + 0.10501098695050852, + -0.9944110987313298, + 0.010920592457832912, + 0.32171375169539873, + 0.023578441963874507, + -0.9465433529662697 + ], + [ + 0.9342158470522965, + 0.09347025688749916, + 0.34424418977485316, + 0.08101021963644167, + -0.995436311203882, + 0.05043703650358257, + 0.34738752918148297, + -0.019231781357772232, + -0.937524422697879 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006768.json b/json/chunk-0006/episode_0006768.json new file mode 100644 index 0000000000000000000000000000000000000000..e60c6a5e675eb4d5416b0b576a5aec80a1bf0e48 --- /dev/null +++ b/json/chunk-0006/episode_0006768.json @@ -0,0 +1,1162 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 18, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nLever vertical to front." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006768.mp4", + "start": 0, + "end": 18, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.38057124614715576, + -0.06001269072294235, + 0.07593797892332077, + 0.24405033886432648, + -0.07911772280931473, + -0.008771462365984917, + 0.0, + 1.0008161067962646 + ], + [ + 0.38299989700317383, + -0.05864941328763962, + 0.06534034013748169, + 0.25185078382492065, + -0.09911828488111496, + -0.003451250959187746, + 0.0, + 1.0008161067962646 + ], + [ + 0.3907412588596344, + -0.05523621290922165, + 0.06471037119626999, + 0.276716023683548, + -0.15833120048046112, + -0.008189263753592968, + 0.0, + 1.0008161067962646 + ], + [ + 0.3947600722312927, + -0.05458463355898857, + 0.06941552460193634, + 0.3077729046344757, + -0.19516423344612122, + -0.01715865544974804, + 0.0, + 1.0008161067962646 + ], + [ + 0.39857739210128784, + -0.05566519498825073, + 0.07907319813966751, + 0.31391432881355286, + -0.23314140737056732, + -0.016858458518981934, + 0.0, + 1.0008161067962646 + ], + [ + 0.40745460987091064, + -0.05870324745774269, + 0.08780700713396072, + 0.30431920289993286, + -0.2681345045566559, + -0.03295169025659561, + 0.0, + 1.0008161067962646 + ], + [ + 0.41587913036346436, + -0.06423816829919815, + 0.09208256006240845, + 0.2760292887687683, + -0.29361727833747864, + -0.04562925919890404, + 0.0, + 1.0008161067962646 + ], + [ + 0.4260103702545166, + -0.06118817254900932, + 0.08706063032150269, + 0.2579443156719208, + -0.26599565148353577, + -0.05983234941959381, + 0.0, + 0.850854754447937 + ], + [ + 0.43350136280059814, + -0.06126505509018898, + 0.08652233332395554, + 0.2468080222606659, + -0.2460731863975525, + -0.07081831246614456, + 0.0, + 0.6269758939743042 + ], + [ + 0.43388110399246216, + -0.058276813477277756, + 0.08447214961051941, + 0.24405305087566376, + -0.24083366990089417, + -0.056377388536930084, + 0.0, + 0.42745357751846313 + ], + [ + 0.4265141189098358, + -0.05914358049631119, + 0.08190996199846268, + 0.23476271331310272, + -0.24410511553287506, + -0.015126684680581093, + 0.0, + 0.4229295253753662 + ], + [ + 0.41060253977775574, + -0.05852913856506348, + 0.07972007989883423, + 0.23183564841747284, + -0.21921730041503906, + 0.030034858733415604, + 0.0, + 0.4229295253753662 + ], + [ + 0.3993334174156189, + -0.059343814849853516, + 0.07418008148670197, + 0.2302655577659607, + -0.1732395440340042, + 0.0540655180811882, + 0.0, + 0.4229295253753662 + ], + [ + 0.39110425114631653, + -0.06265503913164139, + 0.06455276906490326, + 0.18698656558990479, + -0.1321759670972824, + 0.05664132907986641, + 0.0, + 0.4202251136302948 + ], + [ + 0.3869944214820862, + -0.062406837940216064, + 0.05301975458860397, + 0.11677322536706924, + -0.1122773066163063, + 0.06791482120752335, + 0.0, + 0.4202251136302948 + ], + [ + 0.38473230600357056, + -0.06207338348031044, + 0.04421317204833031, + 0.07460066676139832, + -0.10594827681779861, + 0.07818961888551712, + 0.0, + 0.4202251136302948 + ], + [ + 0.3838549554347992, + -0.062257200479507446, + 0.040059663355350494, + 0.07332243025302887, + -0.10468653589487076, + 0.06982298195362091, + 0.0, + 0.5779332518577576 + ], + [ + 0.3765094578266144, + -0.061952535063028336, + 0.0398804135620594, + 0.09899120032787323, + -0.06529910862445831, + 0.07853804528713226, + 0.0, + 0.806471049785614 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.850854754447937 + ], + [ + 0.6269758939743042 + ], + [ + 0.42745357751846313 + ], + [ + 0.4229295253753662 + ], + [ + 0.4229295253753662 + ], + [ + 0.4229295253753662 + ], + [ + 0.4202251136302948 + ], + [ + 0.4202251136302948 + ], + [ + 0.4202251136302948 + ], + [ + 0.5779332518577576 + ], + [ + 0.806471049785614 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.38057124614715576, + -0.06001269072294235, + 0.07593797892332077 + ], + [ + 0.38299989700317383, + -0.05864941328763962, + 0.06534034013748169 + ], + [ + 0.3907412588596344, + -0.05523621290922165, + 0.06471037119626999 + ], + [ + 0.3947600722312927, + -0.05458463355898857, + 0.06941552460193634 + ], + [ + 0.39857739210128784, + -0.05566519498825073, + 0.07907319813966751 + ], + [ + 0.40745460987091064, + -0.05870324745774269, + 0.08780700713396072 + ], + [ + 0.41587913036346436, + -0.06423816829919815, + 0.09208256006240845 + ], + [ + 0.4260103702545166, + -0.06118817254900932, + 0.08706063032150269 + ], + [ + 0.43350136280059814, + -0.06126505509018898, + 0.08652233332395554 + ], + [ + 0.43388110399246216, + -0.058276813477277756, + 0.08447214961051941 + ], + [ + 0.4265141189098358, + -0.05914358049631119, + 0.08190996199846268 + ], + [ + 0.41060253977775574, + -0.05852913856506348, + 0.07972007989883423 + ], + [ + 0.3993334174156189, + -0.059343814849853516, + 0.07418008148670197 + ], + [ + 0.39110425114631653, + -0.06265503913164139, + 0.06455276906490326 + ], + [ + 0.3869944214820862, + -0.062406837940216064, + 0.05301975458860397 + ], + [ + 0.38473230600357056, + -0.06207338348031044, + 0.04421317204833031 + ], + [ + 0.3838549554347992, + -0.062257200479507446, + 0.040059663355350494 + ], + [ + 0.3765094578266144, + -0.061952535063028336, + 0.0398804135620594 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9968334765519375, + 0.010585500374332028, + 0.07880968980526877, + -0.008743911573844673, + -0.9704974170118681, + 0.24095291569865032, + 0.07903520757084435, + -0.24087903760003096, + -0.967331755505378 + ], + [ + 0.9950858768010162, + 0.021317019506802513, + 0.0966937561091671, + -0.0034343047222814907, + -0.9685322096601571, + 0.24886455031178678, + 0.09895606773829992, + -0.24797367507491586, + -0.963699513918946 + ], + [ + 0.9874586663291658, + 0.03519619581486241, + 0.15390454863839065, + -0.008086740241641511, + -0.9622782945016829, + 0.2719468487833541, + 0.1576705011208156, + -0.26978085871887597, + -0.9499254188330875 + ], + [ + 0.9808714218419994, + 0.04238762440112814, + 0.18998563922381895, + -0.016832086698256716, + -0.9538782979089673, + 0.2997213266280421, + 0.19392765318808086, + -0.29718593855685704, + -0.9349184901653422 + ], + [ + 0.9728071656515441, + 0.055295943211455804, + 0.22491904570614868, + -0.016401583096864826, + -0.9521996455241699, + 0.30503577353412464, + 0.2310350764038348, + -0.300430014692275, + -0.9253996972892706 + ], + [ + 0.9637433455825831, + 0.04791052637895998, + 0.26249446719384495, + -0.0317684712587004, + -0.9561486701522416, + 0.29115371335427753, + 0.26493306339370837, + -0.2889365017234594, + -0.9199598740666 + ], + [ + 0.9562069501011798, + 0.03490800725698886, + 0.29060230489028366, + -0.04366132036337105, + -0.9647415973975868, + 0.2595521900406147, + 0.28941658156077793, + -0.26087368836296676, + -0.9209684907951927 + ], + [ + 0.9631047628210736, + 0.009118054319297138, + 0.26897226049686684, + -0.05769368319842331, + -0.9691959411448502, + 0.2394382312567243, + 0.2628700339528338, + -0.24612210131107481, + -0.9329111728861744 + ], + [ + 0.9674453960959669, + -0.0092508543400985, + 0.25291071006720106, + -0.06862761656993016, + -0.9714776855864066, + 0.22698316380650252, + 0.24359732309007054, + -0.23695047605281822, + -0.9404864784151309 + ], + [ + 0.9695965408702683, + 0.0028642059329650957, + 0.24469234613445426, + -0.054721308780992226, + -0.9720723825259002, + 0.22821231670467523, + 0.23851231896425248, + -0.23466375829001218, + -0.942361286475363 + ], + [ + 0.9702429819501883, + 0.04150197245901146, + 0.2385500833334974, + -0.014677679167414187, + -0.9733086802669955, + 0.2290300824153425, + 0.24168806695959474, + -0.22571619170748825, + -0.9437367636636836 + ], + [ + 0.9756277398075954, + 0.07917027568496099, + 0.20465234121771, + 0.029311655815595652, + -0.9713068291580887, + 0.2360166741232647, + 0.21746572178453963, + -0.22426571534415723, + -0.9499544982628918 + ], + [ + 0.9835922100828618, + 0.09189741117621686, + 0.15524570874398153, + 0.0532302980062149, + -0.9700571907005702, + 0.23697169059676215, + 0.17237430098039952, + -0.2248197335405132, + -0.9590324226908554 + ], + [ + 0.989687763860578, + 0.08008483916364025, + 0.11876257239039159, + 0.05611725570318169, + -0.9796061887194154, + 0.1929315128095071, + 0.13179144007481233, + -0.18427732784788026, + -0.9739983997749957 + ], + [ + 0.9914127121910795, + 0.08042411006155194, + 0.10311545289982213, + 0.06743532907268053, + -0.9900142645166058, + 0.12379108387320831, + 0.1120415570169718, + -0.11577442970903284, + -0.986936153419643 + ], + [ + 0.991354609815, + 0.08575036027235498, + 0.09931220122276391, + 0.07767198925765441, + -0.9935562661944731, + 0.0825409473561852, + 0.10575017580745785, + -0.0741135724335229, + -0.9916269856643843 + ], + [ + 0.9921020726218792, + 0.07721515052061942, + 0.09884987622374113, + 0.06938431704686393, + -0.9943489670292754, + 0.08034891608324626, + 0.10449542596358523, + -0.07285569502715877, + -0.9918531915837131 + ], + [ + 0.9947928129194433, + 0.08450225315075004, + 0.056979194240249706, + 0.07829011957075561, + -0.9915309710101495, + 0.10361945138470299, + 0.06525271290466271, + -0.09861897758604374, + -0.9929835752511041 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + 0.0024286508560180664, + 0.0013632774353027344, + -0.01059763878583908, + 0.007800444960594177, + -0.020000562071800232, + 0.005320211406797171, + 1.0 + ], + [ + 0.007741361856460571, + 0.0034132003784179688, + -0.0006299689412117004, + 0.02486523985862732, + -0.05921291559934616, + -0.004738012794405222, + 1.0 + ], + [ + 0.004018813371658325, + 0.000651579350233078, + 0.004705153405666351, + 0.031056880950927734, + -0.036833032965660095, + -0.008969391696155071, + 1.0 + ], + [ + 0.003817319869995117, + -0.0010805614292621613, + 0.00965767353773117, + 0.0061414241790771484, + -0.037977173924446106, + 0.00030019693076610565, + 1.0 + ], + [ + 0.008877217769622803, + -0.0030380524694919586, + 0.008733808994293213, + -0.009595125913619995, + -0.03499309718608856, + -0.016093231737613678, + 1.0 + ], + [ + 0.008424520492553711, + -0.00553492084145546, + 0.004275552928447723, + -0.02828991413116455, + -0.025482773780822754, + -0.012677568942308426, + 1.0 + ], + [ + 0.010131239891052246, + 0.0030499957501888275, + -0.005021929740905762, + -0.018084973096847534, + 0.02762162685394287, + -0.014203090220689774, + 0.0 + ], + [ + 0.007490992546081543, + -7.688254117965698e-05, + -0.0005382969975471497, + -0.011136293411254883, + 0.019922465085983276, + -0.01098596304655075, + 0.0 + ], + [ + 0.00037974119186401367, + 0.0029882416129112244, + -0.0020501837134361267, + -0.0027549713850021362, + 0.005239516496658325, + 0.014440923929214478, + 0.0 + ], + [ + -0.007366985082626343, + -0.000866767019033432, + -0.002562187612056732, + -0.009290337562561035, + -0.003271445631980896, + 0.04125070571899414, + 0.0 + ], + [ + -0.015911579132080078, + 0.0006144419312477112, + -0.0021898820996284485, + -0.002927064895629883, + 0.024887815117836, + 0.045161545276641846, + 0.0 + ], + [ + -0.01126912236213684, + -0.0008146762847900391, + -0.005539998412132263, + -0.001570090651512146, + 0.04597775638103485, + 0.0240306593477726, + 0.0 + ], + [ + -0.008229166269302368, + -0.0033112242817878723, + -0.009627312421798706, + -0.04327899217605591, + 0.0410635769367218, + 0.0025758109986782074, + 0.0 + ], + [ + -0.004109829664230347, + 0.0002482011914253235, + -0.011533014476299286, + -0.07021334022283554, + 0.019898660480976105, + 0.011273492127656937, + 0.0 + ], + [ + -0.002262115478515625, + 0.0003334544599056244, + -0.008806582540273666, + -0.04217255860567093, + 0.00632902979850769, + 0.010274797677993774, + 0.0 + ], + [ + -0.0008773505687713623, + -0.00018381699919700623, + -0.004153508692979813, + -0.0012782365083694458, + 0.0012617409229278564, + -0.00836663693189621, + 1.0 + ], + [ + -0.0073454976081848145, + 0.0003046654164791107, + -0.00017924979329109192, + 0.02566877007484436, + 0.039387427270412445, + 0.008715063333511353, + 1.0 + ], + [ + -0.010057628154754639, + -0.005804065614938736, + 0.0020940974354743958, + 0.039531439542770386, + 0.03659556806087494, + 0.009748637676239014, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.850854754447937 + ], + [ + 0.6269758939743042 + ], + [ + 0.42745357751846313 + ], + [ + 0.4229295253753662 + ], + [ + 0.4229295253753662 + ], + [ + 0.4229295253753662 + ], + [ + 0.4202251136302948 + ], + [ + 0.4202251136302948 + ], + [ + 0.4202251136302948 + ], + [ + 0.5779332518577576 + ], + [ + 0.806471049785614 + ], + [ + 1.0047606229782104 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.38299989700317383, + -0.05864941328763962, + 0.06534034013748169 + ], + [ + 0.3907412588596344, + -0.05523621290922165, + 0.06471037119626999 + ], + [ + 0.3947600722312927, + -0.05458463355898857, + 0.06941552460193634 + ], + [ + 0.39857739210128784, + -0.05566519498825073, + 0.07907319813966751 + ], + [ + 0.40745460987091064, + -0.05870324745774269, + 0.08780700713396072 + ], + [ + 0.41587913036346436, + -0.06423816829919815, + 0.09208256006240845 + ], + [ + 0.4260103702545166, + -0.06118817254900932, + 0.08706063032150269 + ], + [ + 0.43350136280059814, + -0.06126505509018898, + 0.08652233332395554 + ], + [ + 0.43388110399246216, + -0.058276813477277756, + 0.08447214961051941 + ], + [ + 0.4265141189098358, + -0.05914358049631119, + 0.08190996199846268 + ], + [ + 0.41060253977775574, + -0.05852913856506348, + 0.07972007989883423 + ], + [ + 0.3993334174156189, + -0.059343814849853516, + 0.07418008148670197 + ], + [ + 0.39110425114631653, + -0.06265503913164139, + 0.06455276906490326 + ], + [ + 0.3869944214820862, + -0.062406837940216064, + 0.05301975458860397 + ], + [ + 0.38473230600357056, + -0.06207338348031044, + 0.04421317204833031 + ], + [ + 0.3838549554347992, + -0.062257200479507446, + 0.040059663355350494 + ], + [ + 0.3765094578266144, + -0.061952535063028336, + 0.0398804135620594 + ], + [ + 0.36645182967185974, + -0.06775660067796707, + 0.0419745109975338 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9950858768010162, + 0.021317019506802513, + 0.0966937561091671, + -0.0034343047222814907, + -0.9685322096601571, + 0.24886455031178678, + 0.09895606773829992, + -0.24797367507491586, + -0.963699513918946 + ], + [ + 0.9874586663291658, + 0.03519619581486241, + 0.15390454863839065, + -0.008086740241641511, + -0.9622782945016829, + 0.2719468487833541, + 0.1576705011208156, + -0.26978085871887597, + -0.9499254188330875 + ], + [ + 0.9808714218419994, + 0.04238762440112814, + 0.18998563922381895, + -0.016832086698256716, + -0.9538782979089673, + 0.2997213266280421, + 0.19392765318808086, + -0.29718593855685704, + -0.9349184901653422 + ], + [ + 0.9728071656515441, + 0.055295943211455804, + 0.22491904570614868, + -0.016401583096864826, + -0.9521996455241699, + 0.30503577353412464, + 0.2310350764038348, + -0.300430014692275, + -0.9253996972892706 + ], + [ + 0.9637433455825831, + 0.04791052637895998, + 0.26249446719384495, + -0.0317684712587004, + -0.9561486701522416, + 0.29115371335427753, + 0.26493306339370837, + -0.2889365017234594, + -0.9199598740666 + ], + [ + 0.9562069501011798, + 0.03490800725698886, + 0.29060230489028366, + -0.04366132036337105, + -0.9647415973975868, + 0.2595521900406147, + 0.28941658156077793, + -0.26087368836296676, + -0.9209684907951927 + ], + [ + 0.9631047628210736, + 0.009118054319297138, + 0.26897226049686684, + -0.05769368319842331, + -0.9691959411448502, + 0.2394382312567243, + 0.2628700339528338, + -0.24612210131107481, + -0.9329111728861744 + ], + [ + 0.9674453960959669, + -0.0092508543400985, + 0.25291071006720106, + -0.06862761656993016, + -0.9714776855864066, + 0.22698316380650252, + 0.24359732309007054, + -0.23695047605281822, + -0.9404864784151309 + ], + [ + 0.9695965408702683, + 0.0028642059329650957, + 0.24469234613445426, + -0.054721308780992226, + -0.9720723825259002, + 0.22821231670467523, + 0.23851231896425248, + -0.23466375829001218, + -0.942361286475363 + ], + [ + 0.9702429819501883, + 0.04150197245901146, + 0.2385500833334974, + -0.014677679167414187, + -0.9733086802669955, + 0.2290300824153425, + 0.24168806695959474, + -0.22571619170748825, + -0.9437367636636836 + ], + [ + 0.9756277398075954, + 0.07917027568496099, + 0.20465234121771, + 0.029311655815595652, + -0.9713068291580887, + 0.2360166741232647, + 0.21746572178453963, + -0.22426571534415723, + -0.9499544982628918 + ], + [ + 0.9835922100828618, + 0.09189741117621686, + 0.15524570874398153, + 0.0532302980062149, + -0.9700571907005702, + 0.23697169059676215, + 0.17237430098039952, + -0.2248197335405132, + -0.9590324226908554 + ], + [ + 0.989687763860578, + 0.08008483916364025, + 0.11876257239039159, + 0.05611725570318169, + -0.9796061887194154, + 0.1929315128095071, + 0.13179144007481233, + -0.18427732784788026, + -0.9739983997749957 + ], + [ + 0.9914127121910795, + 0.08042411006155194, + 0.10311545289982213, + 0.06743532907268053, + -0.9900142645166058, + 0.12379108387320831, + 0.1120415570169718, + -0.11577442970903284, + -0.986936153419643 + ], + [ + 0.991354609815, + 0.08575036027235498, + 0.09931220122276391, + 0.07767198925765441, + -0.9935562661944731, + 0.0825409473561852, + 0.10575017580745785, + -0.0741135724335229, + -0.9916269856643843 + ], + [ + 0.9921020726218792, + 0.07721515052061942, + 0.09884987622374113, + 0.06938431704686393, + -0.9943489670292754, + 0.08034891608324626, + 0.10449542596358523, + -0.07285569502715877, + -0.9918531915837131 + ], + [ + 0.9947928129194433, + 0.08450225315075004, + 0.056979194240249706, + 0.07829011957075561, + -0.9915309710101495, + 0.10361945138470299, + 0.06525271290466271, + -0.09861897758604374, + -0.9929835752511041 + ], + [ + 0.9956949475755188, + 0.0912748497384458, + 0.01613918144793006, + 0.08813571565226042, + -0.9862142281021637, + 0.14004853414198012, + 0.028699599283769934, + -0.13802317955357216, + -0.990013098351165 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006770.json b/json/chunk-0006/episode_0006770.json new file mode 100644 index 0000000000000000000000000000000000000000..04569fcd1ba65809488328fb0c8338237bb6f9ae --- /dev/null +++ b/json/chunk-0006/episode_0006770.json @@ -0,0 +1,2602 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 42, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut the pot to the right corner of the table." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006770.mp4", + "start": 0, + "end": 42, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.31374645233154297, + 0.03791433200240135, + 0.12963393330574036, + -0.0523589551448822, + -0.1943797618150711, + 0.5429391264915466, + 0.0, + 0.9994885921478271 + ], + [ + 0.3114301562309265, + 0.03718707710504532, + 0.12062106281518936, + -0.039782728999853134, + -0.16798807680606842, + 0.539080798625946, + 0.0, + 0.9994885921478271 + ], + [ + 0.3112213909626007, + 0.04132245481014252, + 0.11669650673866272, + -0.034409843385219574, + -0.1764291524887085, + 0.529258668422699, + 0.0, + 0.9994885921478271 + ], + [ + 0.31020644307136536, + 0.049069732427597046, + 0.11408461630344391, + -0.026181774213910103, + -0.1656947284936905, + 0.4527694582939148, + 0.0, + 0.9994885921478271 + ], + [ + 0.3086525499820709, + 0.06042981147766113, + 0.11315379291772842, + -0.017294693738222122, + -0.16505497694015503, + 0.3495498299598694, + 0.0, + 0.9994885921478271 + ], + [ + 0.30133697390556335, + 0.07100024819374084, + 0.09983319044113159, + 0.0017791629070416093, + -0.17028354108333588, + 0.23457379639148712, + 0.0, + 0.9994885921478271 + ], + [ + 0.294900119304657, + 0.0715356171131134, + 0.09339248389005661, + 0.009622221812605858, + -0.14851056039333344, + 0.1572972983121872, + 0.0, + 0.9994885921478271 + ], + [ + 0.2918461263179779, + 0.06816352158784866, + 0.07680606842041016, + 0.006125868298113346, + -0.12410871684551239, + 0.17073234915733337, + 0.0, + 0.9994885921478271 + ], + [ + 0.29181742668151855, + 0.06299541145563126, + 0.06715955585241318, + 0.009748438373208046, + -0.1531689167022705, + 0.17658059298992157, + 0.0, + 0.9994885921478271 + ], + [ + 0.29349449276924133, + 0.05680570378899574, + 0.06636766344308853, + -0.021309562027454376, + -0.154078871011734, + 0.18518708646297455, + 0.0, + 0.9994885921478271 + ], + [ + 0.29214707016944885, + 0.05390854924917221, + 0.06310167908668518, + -0.018605884164571762, + -0.13649430871009827, + 0.2007785439491272, + 0.0, + 0.9994885921478271 + ], + [ + 0.29570910334587097, + 0.05406799912452698, + 0.058059025555849075, + 0.003003914374858141, + -0.1446620374917984, + 0.23261487483978271, + 0.0, + 0.9994885921478271 + ], + [ + 0.29914429783821106, + 0.05606142804026604, + 0.05659722536802292, + 0.04350811243057251, + -0.1660488098859787, + 0.22840453684329987, + 0.0, + 0.9994885921478271 + ], + [ + 0.2997688949108124, + 0.05737226456403732, + 0.05274854972958565, + 0.07300800830125809, + -0.17095892131328583, + 0.20856903493404388, + 0.0, + 1.0001531839370728 + ], + [ + 0.2991378903388977, + 0.055213045328855515, + 0.04816316068172455, + 0.07955557852983475, + -0.15638703107833862, + 0.21172791719436646, + 0.0, + 1.0001531839370728 + ], + [ + 0.29414239525794983, + 0.0588480606675148, + 0.039630044251680374, + 0.10025542974472046, + -0.1130179762840271, + 0.22606489062309265, + 0.0, + 0.9994885921478271 + ], + [ + 0.2962178587913513, + 0.06489260494709015, + 0.04218709468841553, + 0.10980644822120667, + -0.10484693944454193, + 0.2487628161907196, + 0.0, + 1.0001531839370728 + ], + [ + 0.29817482829093933, + 0.06862062960863113, + 0.03911158815026283, + 0.1252078115940094, + -0.11522085964679718, + 0.2446015328168869, + 0.0, + 0.9522681832313538 + ], + [ + 0.29727450013160706, + 0.07061872631311417, + 0.03708077222108841, + 0.09799839556217194, + -0.13086561858654022, + 0.24625784158706665, + 0.0, + 0.6821943521499634 + ], + [ + 0.29705554246902466, + 0.07040420174598694, + 0.039459194988012314, + 0.06464017182588577, + -0.15839695930480957, + 0.24845683574676514, + 0.0, + 0.38924968242645264 + ], + [ + 0.2958093583583832, + 0.07293690741062164, + 0.043011147528886795, + 0.04099887236952782, + -0.18276123702526093, + 0.26009058952331543, + 0.0, + 0.1718904674053192 + ], + [ + 0.29349732398986816, + 0.07252142578363419, + 0.04772469401359558, + 0.01865890994668007, + -0.17110112309455872, + 0.25654497742652893, + 0.0, + 0.07143880426883698 + ], + [ + 0.29027631878852844, + 0.07088303565979004, + 0.05105188488960266, + 0.004693131428211927, + -0.15029801428318024, + 0.22829025983810425, + 0.0, + 0.06238236278295517 + ], + [ + 0.28768420219421387, + 0.06682326644659042, + 0.06404932588338852, + -0.04551464691758156, + -0.16192086040973663, + 0.18228137493133545, + 0.0, + 0.0609428733587265 + ], + [ + 0.2859806716442108, + 0.06140286102890968, + 0.07718305289745331, + -0.0951356440782547, + -0.19831402599811554, + 0.13488532602787018, + 0.0, + 0.0609428733587265 + ], + [ + 0.27746573090553284, + 0.05409013852477074, + 0.09148195385932922, + -0.15310746431350708, + -0.23076674342155457, + 0.08554022759199142, + 0.0, + 0.0609428733587265 + ], + [ + 0.2696628272533417, + 0.039769332855939865, + 0.0893905833363533, + -0.15068645775318146, + -0.18417352437973022, + -0.014836099930107594, + 0.0, + 0.0609428733587265 + ], + [ + 0.26243719458580017, + 0.016436560079455376, + 0.08515315502882004, + -0.13730674982070923, + -0.19734793901443481, + -0.06438091397285461, + 0.0, + 0.0609428733587265 + ], + [ + 0.255911648273468, + -0.011103329248726368, + 0.07562678307294846, + -0.1146426573395729, + -0.1833808720111847, + -0.07444614917039871, + 0.0, + 0.0609428733587265 + ], + [ + 0.25753095746040344, + -0.03615284338593483, + 0.06648480147123337, + -0.12231576442718506, + -0.247240349650383, + -0.07715101540088654, + 0.0, + 0.0609428733587265 + ], + [ + 0.25998419523239136, + -0.0506715327501297, + 0.05403817445039749, + -0.11467083543539047, + -0.2067764699459076, + -0.036272864788770676, + 0.0, + 0.0609428733587265 + ], + [ + 0.2691788077354431, + -0.052154671400785446, + 0.04668985679745674, + -0.12421868741512299, + -0.1914038509130478, + 0.06705942749977112, + 0.0, + 0.0609428733587265 + ], + [ + 0.2756158113479614, + -0.05299115926027298, + 0.04519716277718544, + -0.12488826364278793, + -0.15150298178195953, + 0.12106233835220337, + 0.0, + 0.0609428733587265 + ], + [ + 0.2776169776916504, + -0.04967036470770836, + 0.047612085938453674, + -0.12276165932416916, + -0.14533701539039612, + 0.12043550610542297, + 0.0, + 0.0609428733587265 + ], + [ + 0.2782856822013855, + -0.04532000795006752, + 0.04717932268977165, + -0.1281375139951706, + -0.1480335295200348, + 0.12216932326555252, + 0.0, + 0.0867718756198883 + ], + [ + 0.2744917869567871, + -0.04283296689391136, + 0.04768107458949089, + -0.1086052730679512, + -0.11734925955533981, + 0.1291680932044983, + 0.0, + 0.24456030130386353 + ], + [ + 0.2743445038795471, + -0.03989000990986824, + 0.05010807886719704, + -0.09809111803770065, + -0.10469197481870651, + 0.13856227695941925, + 0.0, + 0.5004528760910034 + ], + [ + 0.2739507257938385, + -0.035435643047094345, + 0.05507010594010353, + -0.09744565933942795, + -0.10629976540803909, + 0.1536109745502472, + 0.0, + 0.7988975048065186 + ], + [ + 0.2752055823802948, + -0.02921890653669834, + 0.06893939524888992, + -0.11874248832464218, + -0.11010979115962982, + 0.17336219549179077, + 0.0, + 1.0008161067962646 + ], + [ + 0.2740446925163269, + -0.023168344050645828, + 0.08608996123075485, + -0.12551330029964447, + -0.15036766231060028, + 0.18410544097423553, + 0.0, + 0.9994885921478271 + ], + [ + 0.27548748254776, + -0.018365228548645973, + 0.10218418389558792, + -0.12213984876871109, + -0.1816386729478836, + 0.22813211381435394, + 0.0, + 0.9994885921478271 + ], + [ + 0.28847938776016235, + -0.0057431296445429325, + 0.12008591741323471, + -0.15570755302906036, + -0.21276098489761353, + 0.29820147156715393, + 0.0, + 0.9994885921478271 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9522681832313538 + ], + [ + 0.6821943521499634 + ], + [ + 0.38924968242645264 + ], + [ + 0.1718904674053192 + ], + [ + 0.07143880426883698 + ], + [ + 0.06238236278295517 + ], + [ + 0.0609428733587265 + ], + [ + 0.0609428733587265 + ], + [ + 0.0609428733587265 + ], + [ + 0.0609428733587265 + ], + [ + 0.0609428733587265 + ], + [ + 0.0609428733587265 + ], + [ + 0.0609428733587265 + ], + [ + 0.0609428733587265 + ], + [ + 0.0609428733587265 + ], + [ + 0.0609428733587265 + ], + [ + 0.0609428733587265 + ], + [ + 0.0867718756198883 + ], + [ + 0.24456030130386353 + ], + [ + 0.5004528760910034 + ], + [ + 0.7988975048065186 + ], + [ + 1.0008161067962646 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.31374645233154297, + 0.03791433200240135, + 0.12963393330574036 + ], + [ + 0.3114301562309265, + 0.03718707710504532, + 0.12062106281518936 + ], + [ + 0.3112213909626007, + 0.04132245481014252, + 0.11669650673866272 + ], + [ + 0.31020644307136536, + 0.049069732427597046, + 0.11408461630344391 + ], + [ + 0.3086525499820709, + 0.06042981147766113, + 0.11315379291772842 + ], + [ + 0.30133697390556335, + 0.07100024819374084, + 0.09983319044113159 + ], + [ + 0.294900119304657, + 0.0715356171131134, + 0.09339248389005661 + ], + [ + 0.2918461263179779, + 0.06816352158784866, + 0.07680606842041016 + ], + [ + 0.29181742668151855, + 0.06299541145563126, + 0.06715955585241318 + ], + [ + 0.29349449276924133, + 0.05680570378899574, + 0.06636766344308853 + ], + [ + 0.29214707016944885, + 0.05390854924917221, + 0.06310167908668518 + ], + [ + 0.29570910334587097, + 0.05406799912452698, + 0.058059025555849075 + ], + [ + 0.29914429783821106, + 0.05606142804026604, + 0.05659722536802292 + ], + [ + 0.2997688949108124, + 0.05737226456403732, + 0.05274854972958565 + ], + [ + 0.2991378903388977, + 0.055213045328855515, + 0.04816316068172455 + ], + [ + 0.29414239525794983, + 0.0588480606675148, + 0.039630044251680374 + ], + [ + 0.2962178587913513, + 0.06489260494709015, + 0.04218709468841553 + ], + [ + 0.29817482829093933, + 0.06862062960863113, + 0.03911158815026283 + ], + [ + 0.29727450013160706, + 0.07061872631311417, + 0.03708077222108841 + ], + [ + 0.29705554246902466, + 0.07040420174598694, + 0.039459194988012314 + ], + [ + 0.2958093583583832, + 0.07293690741062164, + 0.043011147528886795 + ], + [ + 0.29349732398986816, + 0.07252142578363419, + 0.04772469401359558 + ], + [ + 0.29027631878852844, + 0.07088303565979004, + 0.05105188488960266 + ], + [ + 0.28768420219421387, + 0.06682326644659042, + 0.06404932588338852 + ], + [ + 0.2859806716442108, + 0.06140286102890968, + 0.07718305289745331 + ], + [ + 0.27746573090553284, + 0.05409013852477074, + 0.09148195385932922 + ], + [ + 0.2696628272533417, + 0.039769332855939865, + 0.0893905833363533 + ], + [ + 0.26243719458580017, + 0.016436560079455376, + 0.08515315502882004 + ], + [ + 0.255911648273468, + -0.011103329248726368, + 0.07562678307294846 + ], + [ + 0.25753095746040344, + -0.03615284338593483, + 0.06648480147123337 + ], + [ + 0.25998419523239136, + -0.0506715327501297, + 0.05403817445039749 + ], + [ + 0.2691788077354431, + -0.052154671400785446, + 0.04668985679745674 + ], + [ + 0.2756158113479614, + -0.05299115926027298, + 0.04519716277718544 + ], + [ + 0.2776169776916504, + -0.04967036470770836, + 0.047612085938453674 + ], + [ + 0.2782856822013855, + -0.04532000795006752, + 0.04717932268977165 + ], + [ + 0.2744917869567871, + -0.04283296689391136, + 0.04768107458949089 + ], + [ + 0.2743445038795471, + -0.03989000990986824, + 0.05010807886719704 + ], + [ + 0.2739507257938385, + -0.035435643047094345, + 0.05507010594010353 + ], + [ + 0.2752055823802948, + -0.02921890653669834, + 0.06893939524888992 + ], + [ + 0.2740446925163269, + -0.023168344050645828, + 0.08608996123075485 + ], + [ + 0.27548748254776, + -0.018365228548645973, + 0.10218418389558792 + ], + [ + 0.28847938776016235, + -0.0057431296445429325, + 0.12008591741323471 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8400697360750957, + 0.5072914441799949, + 0.19219320797700878, + 0.5069248661914363, + -0.860243352348099, + 0.054850294235296075, + 0.19315801450499848, + 0.05134944403476157, + -0.9798230534284276 + ], + [ + 0.846100432750541, + 0.5072343911134162, + 0.16379050696285433, + 0.5061210556362522, + -0.8609155955359936, + 0.05163152529754364, + 0.16719908714162454, + 0.03921236838941457, + -0.985143063430028 + ], + [ + 0.849782179684973, + 0.4993825829184676, + 0.16878176135926354, + 0.49705596493778104, + -0.8657193115559545, + 0.05886799910694089, + 0.17551528369240926, + 0.03386900466153776, + -0.983893935195054 + ], + [ + 0.8869230599160095, + 0.4334248937698431, + 0.15971958943668438, + 0.4314661969329419, + -0.9008197248815119, + 0.04858748983659581, + 0.16493758423551189, + 0.02582023867042551, + -0.9859659773955468 + ], + [ + 0.926758172979664, + 0.33975402181386605, + 0.16027006419384107, + 0.337820429853, + -0.9403596131882533, + 0.04001443562481529, + 0.16430656100512, + 0.01705879672606509, + -0.9862618067556551 + ], + [ + 0.9585463463903173, + 0.23272135033937488, + 0.164407040354091, + 0.22906680577149705, + -0.9725418749756474, + 0.04111812146117125, + 0.16946179603502678, + -0.0017534295167817501, + -0.9855351973265657 + ], + [ + 0.9767827218738957, + 0.15804835082092997, + 0.14462445523288184, + 0.154925137776076, + -0.9873855181852005, + 0.032680883758045634, + 0.14796525245370099, + -0.009516158937684056, + -0.9889467765180213 + ], + [ + 0.9778808270044612, + 0.1706482010549859, + 0.12094742516386227, + 0.16859726037786277, + -0.9853132703515658, + 0.027068857792327643, + 0.12379035491568034, + -0.006078712511643753, + -0.9922897748561408 + ], + [ + 0.9729247213547855, + 0.17712019974130763, + 0.14847869012189013, + 0.17360779072867258, + -0.9841420719958349, + 0.03639666366652709, + 0.15257071008231693, + -0.009634156493651184, + -0.9882455977405785 + ], + [ + 0.9712576918557388, + 0.18087440278298336, + 0.15473508467364921, + 0.18194908934557105, + -0.9832807917701387, + 0.007308448686702414, + 0.15346994786400264, + 0.021055520743687613, + -0.9879289651330363 + ], + [ + 0.9707975535268056, + 0.1969170591798266, + 0.13702474911612875, + 0.19757739666955842, + -0.9802468779262558, + 0.008901159537307683, + 0.13607087267909077, + 0.018431769307294, + -0.9905276308556737 + ], + [ + 0.9629029410516254, + 0.23094309154852483, + 0.1395822860542841, + 0.22811487357254462, + -0.972962718973954, + 0.03615455630751001, + 0.14415800556719802, + -0.0029725330646782136, + -0.9895502177646507 + ], + [ + 0.9606316473035396, + 0.23321185460310181, + 0.15099360606154694, + 0.2233094490441311, + -0.9714793623989907, + 0.07975423750784104, + 0.16528680578465588, + -0.042896145577804454, + -0.9853122309847134 + ], + [ + 0.9640662229188288, + 0.21864926149044395, + 0.15089340037492396, + 0.20404165264930946, + -0.9731525027352653, + 0.10649511915683524, + 0.1701273693770705, + -0.0718798084984473, + -0.9827970143010534 + ], + [ + 0.9657382182304796, + 0.22158620612851196, + 0.1350897742339934, + 0.20758497386461702, + -0.9719758293813505, + 0.1103243659581236, + 0.1557503530482193, + -0.07850184935406511, + -0.9846721724377848 + ], + [ + 0.968338560326444, + 0.23401919975257976, + 0.08692207275526814, + 0.22271430308575055, + -0.9671323092701312, + 0.12269244298999077, + 0.11277753227455548, + -0.09944903475140351, + -0.9886309309854088 + ], + [ + 0.963895395014305, + 0.255837911150781, + 0.07384193042047693, + 0.24485303532323724, + -0.9605568287887246, + 0.13182401056084841, + 0.10465495001773692, + -0.1089841359343378, + -0.988518993015021 + ], + [ + 0.9638006824613988, + 0.25420368596463155, + 0.08042841866490144, + 0.2405640111518855, + -0.9591618044546928, + 0.14878706063946895, + 0.11496608641446052, + -0.12405288758111387, + -0.9855930600695858 + ], + [ + 0.96153873055744, + 0.2549891804472515, + 0.10209695143747413, + 0.24169195477080507, + -0.9620657710733765, + 0.12654821661349766, + 0.13049240835027165, + -0.09700499978778739, + -0.9866923336983608 + ], + [ + 0.9571588689509188, + 0.255270982399412, + 0.13668805775720597, + 0.24283004648996512, + -0.9647631857964205, + 0.10131911889482215, + 0.1577354370782912, + -0.06378652582466626, + -0.9854191042459751 + ], + [ + 0.9502724277579361, + 0.2641507180182326, + 0.1649445701243021, + 0.25288511523750706, + -0.9636388970564298, + 0.08630871665817186, + 0.18174551310651768, + -0.04030476709174757, + -0.9825192589539041 + ], + [ + 0.9531481983339373, + 0.256768807664151, + 0.15993214631055214, + 0.2500349808959388, + -0.9662979649608541, + 0.06124337711850843, + 0.17026749643175343, + -0.0183853834129868, + -0.985226348275167 + ], + [ + 0.9630737471064293, + 0.2269944633133574, + 0.1447842231027355, + 0.22376114075954748, + -0.9738849942934162, + 0.038457376094829514, + 0.14973279373726997, + -0.00464020637407575, + -0.9887156107619818 + ], + [ + 0.9705688431779026, + 0.17387233911550456, + 0.16662691962228363, + 0.1789024603889828, + -0.9837438996181749, + -0.015551515385806021, + 0.1612142373336686, + 0.04490378218512892, + -0.9858973678970819 + ], + [ + 0.971494925074204, + 0.11532352339851609, + 0.20711855422925948, + 0.13184095491258824, + -0.9889525872750229, + -0.06775501995996358, + 0.19701668244796852, + 0.09313036600910626, + -0.9759667831254331 + ], + [ + 0.9699318982420897, + 0.04968136150838154, + 0.23825170532688777, + 0.08317115240897963, + -0.9876686041221762, + -0.13263969179063406, + 0.2287240087517245, + 0.1484671369361773, + -0.9621033401202365 + ], + [ + 0.9829797505444625, + -0.04215593084596154, + 0.17881187744122817, + -0.014584655899580745, + -0.988151604315393, + -0.15278643493846483, + 0.18313409794966395, + 0.14757806199915158, + -0.9719478472555703 + ], + [ + 0.9785584908481688, + -0.0905124724990568, + 0.18501560018296248, + -0.06308767819492808, + -0.9868093858446194, + -0.1490878293789877, + 0.19606943884483258, + 0.13421895667554726, + -0.971360925104567 + ], + [ + 0.9805094024972283, + -0.09469126441111222, + 0.17214783198969946, + -0.07313030081298857, + -0.9891325685023682, + -0.1275488966275691, + 0.1823547935139923, + 0.11247366968376793, + -0.9767785843835524 + ], + [ + 0.966707271282869, + -0.1062694838941729, + 0.23277424351009157, + -0.0747307792661275, + -0.987274892043895, + -0.140369505840808, + 0.24472916107220777, + 0.11830082135209981, + -0.9623474182374636 + ], + [ + 0.9780540329835301, + -0.059502351098866584, + 0.19967418155174274, + -0.035492389083970406, + -0.9919271315597459, + -0.12174093803140261, + 0.20530611019101005, + 0.11198230167915359, + -0.9722702120444064 + ], + [ + 0.9795315429937911, + 0.042975533029280935, + 0.19664958642481653, + 0.06578546575286516, + -0.9916438785275465, + -0.1109715759756638, + 0.1902372959644896, + 0.12163684367695958, + -0.9741736238907445 + ], + [ + 0.9813100968793191, + 0.10116416785537226, + 0.163695769355323, + 0.11938349738468755, + -0.9872198752556842, + -0.1055675066123635, + 0.15092406804383898, + 0.12313703359380224, + -0.9808461635969309 + ], + [ + 0.9822899279108769, + 0.10163440766875793, + 0.15740693981735648, + 0.1188779043850317, + -0.9874158630816805, + -0.10429744571984034, + 0.1448259002177008, + 0.1211625375785787, + -0.9820107423616362 + ], + [ + 0.9816911546925416, + 0.10215925707072908, + 0.16076679692393142, + 0.12053280606700113, + -0.9867062223311309, + -0.1090076762188938, + 0.1474934556515597, + 0.12638954469332178, + -0.9809543126630189 + ], + [ + 0.9848491616007136, + 0.11546548248016406, + 0.12938257707278406, + 0.12792332202221893, + -0.9874613757876416, + -0.09249678378396718, + 0.11708011179176273, + 0.10764642903134884, + -0.9872712361553068 + ], + [ + 0.9849928724338798, + 0.12731927942682736, + 0.11652828987283992, + 0.13736308352616788, + -0.987068129613878, + -0.08263105218224064, + 0.10450083510976443, + 0.09739768265618341, + -0.9897440410907093 + ], + [ + 0.9826469773967667, + 0.142080647857395, + 0.11923928596490739, + 0.15214392606547872, + -0.9851162402670336, + -0.07998886749745775, + 0.10609968696645712, + 0.09674235197971269, + -0.9896382034658185 + ], + [ + 0.979045189023953, + 0.15845793672817785, + 0.12791247060744948, + 0.17145049159334694, + -0.980319798240832, + -0.09786634819719567, + 0.10988742776793214, + 0.11774623333637416, + -0.986945073321532 + ], + [ + 0.9720071705263523, + 0.16319121700820752, + 0.16902865773807274, + 0.18100144816488498, + -0.9787999061238386, + -0.09586041693096836, + 0.14980165622438513, + 0.12377144445850485, + -0.9809383738691673 + ], + [ + 0.9580657699588964, + 0.20303511486751477, + 0.20220465514869349, + 0.22243789680568407, + -0.9718112055074772, + -0.07813042246633314, + 0.1806415303791761, + 0.11983206157301535, + -0.976221754788035 + ], + [ + 0.9343132178458222, + 0.25894592893046703, + 0.24496084758369568, + 0.287176785081585, + -0.9539233706455749, + -0.08694651831091572, + 0.21115943045194596, + 0.15158234998350822, + -0.965626473386416 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.002316296100616455, + -0.0007272548973560333, + -0.009012870490550995, + 0.012576226145029068, + 0.026391685009002686, + -0.003858327865600586, + 1.0 + ], + [ + -0.00020876526832580566, + 0.0041353777050971985, + -0.003924556076526642, + 0.00537288561463356, + -0.008441075682640076, + -0.00982213020324707, + 1.0 + ], + [ + -0.0010149478912353516, + 0.007747277617454529, + -0.002611890435218811, + 0.008228069171309471, + 0.010734423995018005, + -0.07648921012878418, + 1.0 + ], + [ + -0.0015538930892944336, + 0.011360079050064087, + -0.0009308233857154846, + 0.00888708047568798, + 0.0006397515535354614, + -0.10321962833404541, + 1.0 + ], + [ + -0.007315576076507568, + 0.010570436716079712, + -0.013320602476596832, + 0.019073856994509697, + -0.005228564143180847, + -0.11497603356838226, + 1.0 + ], + [ + -0.006436854600906372, + 0.0005353689193725586, + -0.006440706551074982, + 0.007843058556318283, + 0.02177298069000244, + -0.07727649807929993, + 1.0 + ], + [ + -0.003053992986679077, + -0.00337209552526474, + -0.016586415469646454, + -0.0034963535144925117, + 0.024401843547821045, + 0.01343505084514618, + 1.0 + ], + [ + -2.8699636459350586e-05, + -0.005168110132217407, + -0.009646512567996979, + 0.0036225700750947, + -0.029060199856758118, + 0.005848243832588196, + 1.0 + ], + [ + 0.0016770660877227783, + -0.006189707666635513, + -0.000791892409324646, + -0.031058000400662422, + -0.000909954309463501, + 0.008606493473052979, + 1.0 + ], + [ + -0.0013474225997924805, + -0.002897154539823532, + -0.003265984356403351, + 0.002703677862882614, + 0.017584562301635742, + 0.015591457486152649, + 1.0 + ], + [ + 0.003562033176422119, + 0.00015944987535476685, + -0.005042653530836105, + 0.021609798073768616, + -0.008167728781700134, + 0.03183633089065552, + 1.0 + ], + [ + 0.003435194492340088, + 0.0019934289157390594, + -0.0014618001878261566, + 0.040504198521375656, + -0.021386772394180298, + -0.004210337996482849, + 1.0 + ], + [ + 0.0006245970726013184, + 0.001310836523771286, + -0.003848675638437271, + 0.029499895870685577, + -0.004910111427307129, + -0.01983550190925598, + 1.0 + ], + [ + -0.0006310045719146729, + -0.0021592192351818085, + -0.004585389047861099, + 0.00654757022857666, + 0.014571890234947205, + 0.003158882260322571, + 1.0 + ], + [ + -0.004995495080947876, + 0.0036350153386592865, + -0.008533116430044174, + 0.02069985121488571, + 0.04336905479431152, + 0.014336973428726196, + 1.0 + ], + [ + 0.0020754635334014893, + 0.006044544279575348, + 0.002557050436735153, + 0.009551018476486206, + 0.008171036839485168, + 0.022697925567626953, + 1.0 + ], + [ + 0.0019569694995880127, + 0.003728024661540985, + -0.0030755065381526947, + 0.015401363372802734, + -0.010373920202255249, + -0.004161283373832703, + 0.0 + ], + [ + -0.0009003281593322754, + 0.0019980967044830322, + -0.0020308159291744232, + -0.027209416031837463, + -0.015644758939743042, + 0.0016563087701797485, + 0.0 + ], + [ + -0.00021895766258239746, + -0.00021452456712722778, + 0.0023784227669239044, + -0.03335822373628616, + -0.027531340718269348, + 0.0021989941596984863, + 0.0 + ], + [ + -0.0012461841106414795, + 0.0025327056646347046, + 0.003551952540874481, + -0.023641299456357956, + -0.024364277720451355, + 0.011633753776550293, + 0.0 + ], + [ + -0.0023120343685150146, + -0.0004154816269874573, + 0.004713546484708786, + -0.022339962422847748, + 0.01166011393070221, + -0.003545612096786499, + 0.0 + ], + [ + -0.0032210052013397217, + -0.0016383901238441467, + 0.00332719087600708, + -0.013965778052806854, + 0.02080310881137848, + -0.028254717588424683, + 0.0 + ], + [ + -0.002592116594314575, + -0.0040597692131996155, + 0.012997440993785858, + -0.05020777881145477, + -0.011622846126556396, + -0.0460088849067688, + 0.0 + ], + [ + -0.0017035305500030518, + -0.00542040541768074, + 0.013133727014064789, + -0.04962099716067314, + -0.036393165588378906, + -0.04739604890346527, + 0.0 + ], + [ + -0.008514940738677979, + -0.0073127225041389465, + 0.014298900961875916, + -0.05797182023525238, + -0.032452717423439026, + -0.049345098435878754, + 0.0 + ], + [ + -0.007802903652191162, + -0.014320805668830872, + -0.0020913705229759216, + 0.0024210065603256226, + 0.04659321904182434, + -0.10037633031606674, + 0.0 + ], + [ + -0.007225632667541504, + -0.02333277277648449, + -0.004237428307533264, + 0.013379707932472229, + -0.01317441463470459, + -0.049544814974069595, + 0.0 + ], + [ + -0.006525546312332153, + -0.027539890259504318, + -0.009526371955871582, + 0.022664092481136322, + 0.013967067003250122, + -0.010065235197544098, + 0.0 + ], + [ + 0.0016193091869354248, + -0.025049515068531036, + -0.009141981601715088, + -0.007673107087612152, + -0.0638594776391983, + -0.0027048662304878235, + 0.0 + ], + [ + 0.002453237771987915, + -0.01451868936419487, + -0.012446627020835876, + 0.007644928991794586, + 0.0404638797044754, + 0.04087815061211586, + 0.0 + ], + [ + 0.009194612503051758, + -0.0014831386506557465, + -0.00734831765294075, + -0.009547851979732513, + 0.015372619032859802, + 0.10333229601383209, + 0.0 + ], + [ + 0.0064370036125183105, + -0.0008364878594875336, + -0.0014926940202713013, + -0.0006695762276649475, + 0.03990086913108826, + 0.05400291085243225, + 0.0 + ], + [ + 0.002001166343688965, + 0.003320794552564621, + 0.0024149231612682343, + 0.0021266043186187744, + 0.0061659663915634155, + -0.0006268322467803955, + 0.0 + ], + [ + 0.0006687045097351074, + 0.004350356757640839, + -0.0004327632486820221, + -0.005375854671001434, + -0.002696514129638672, + 0.0017338171601295471, + 1.0 + ], + [ + -0.0037938952445983887, + 0.0024870410561561584, + 0.0005017518997192383, + 0.01953224092721939, + 0.030684269964694977, + 0.00699876993894577, + 1.0 + ], + [ + -0.00014728307723999023, + 0.0029429569840431213, + 0.0024270042777061462, + 0.01051415503025055, + 0.0126572847366333, + 0.00939418375492096, + 1.0 + ], + [ + -0.00039377808570861816, + 0.004454366862773895, + 0.004962027072906494, + 0.0006454586982727051, + -0.0016077905893325806, + 0.015048697590827942, + 1.0 + ], + [ + 0.0012548565864562988, + 0.006216736510396004, + 0.013869289308786392, + -0.021296828985214233, + -0.0038100257515907288, + 0.01975122094154358, + 1.0 + ], + [ + -0.0011608898639678955, + 0.006050562486052513, + 0.01715056598186493, + -0.006770811975002289, + -0.04025787115097046, + 0.010743245482444763, + 1.0 + ], + [ + 0.0014427900314331055, + 0.004803115501999855, + 0.01609422266483307, + 0.00337345153093338, + -0.031271010637283325, + 0.04402667284011841, + 1.0 + ], + [ + 0.012991905212402344, + 0.012622099369764328, + 0.01790173351764679, + -0.033567704260349274, + -0.03112231194972992, + 0.07006935775279999, + 1.0 + ], + [ + 0.013137668371200562, + 0.017098773270845413, + -6.865710020065308e-05, + 0.009707286953926086, + 0.01574668288230896, + 0.05452030897140503, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9522681832313538 + ], + [ + 0.6821943521499634 + ], + [ + 0.38924968242645264 + ], + [ + 0.1718904674053192 + ], + [ + 0.07143880426883698 + ], + [ + 0.06238236278295517 + ], + [ + 0.0609428733587265 + ], + [ + 0.0609428733587265 + ], + [ + 0.0609428733587265 + ], + [ + 0.0609428733587265 + ], + [ + 0.0609428733587265 + ], + [ + 0.0609428733587265 + ], + [ + 0.0609428733587265 + ], + [ + 0.0609428733587265 + ], + [ + 0.0609428733587265 + ], + [ + 0.0609428733587265 + ], + [ + 0.0609428733587265 + ], + [ + 0.0867718756198883 + ], + [ + 0.24456030130386353 + ], + [ + 0.5004528760910034 + ], + [ + 0.7988975048065186 + ], + [ + 1.0008161067962646 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3114301562309265, + 0.03718707710504532, + 0.12062106281518936 + ], + [ + 0.3112213909626007, + 0.04132245481014252, + 0.11669650673866272 + ], + [ + 0.31020644307136536, + 0.049069732427597046, + 0.11408461630344391 + ], + [ + 0.3086525499820709, + 0.06042981147766113, + 0.11315379291772842 + ], + [ + 0.30133697390556335, + 0.07100024819374084, + 0.09983319044113159 + ], + [ + 0.294900119304657, + 0.0715356171131134, + 0.09339248389005661 + ], + [ + 0.2918461263179779, + 0.06816352158784866, + 0.07680606842041016 + ], + [ + 0.29181742668151855, + 0.06299541145563126, + 0.06715955585241318 + ], + [ + 0.29349449276924133, + 0.05680570378899574, + 0.06636766344308853 + ], + [ + 0.29214707016944885, + 0.05390854924917221, + 0.06310167908668518 + ], + [ + 0.29570910334587097, + 0.05406799912452698, + 0.058059025555849075 + ], + [ + 0.29914429783821106, + 0.05606142804026604, + 0.05659722536802292 + ], + [ + 0.2997688949108124, + 0.05737226456403732, + 0.05274854972958565 + ], + [ + 0.2991378903388977, + 0.055213045328855515, + 0.04816316068172455 + ], + [ + 0.29414239525794983, + 0.0588480606675148, + 0.039630044251680374 + ], + [ + 0.2962178587913513, + 0.06489260494709015, + 0.04218709468841553 + ], + [ + 0.29817482829093933, + 0.06862062960863113, + 0.03911158815026283 + ], + [ + 0.29727450013160706, + 0.07061872631311417, + 0.03708077222108841 + ], + [ + 0.29705554246902466, + 0.07040420174598694, + 0.039459194988012314 + ], + [ + 0.2958093583583832, + 0.07293690741062164, + 0.043011147528886795 + ], + [ + 0.29349732398986816, + 0.07252142578363419, + 0.04772469401359558 + ], + [ + 0.29027631878852844, + 0.07088303565979004, + 0.05105188488960266 + ], + [ + 0.28768420219421387, + 0.06682326644659042, + 0.06404932588338852 + ], + [ + 0.2859806716442108, + 0.06140286102890968, + 0.07718305289745331 + ], + [ + 0.27746573090553284, + 0.05409013852477074, + 0.09148195385932922 + ], + [ + 0.2696628272533417, + 0.039769332855939865, + 0.0893905833363533 + ], + [ + 0.26243719458580017, + 0.016436560079455376, + 0.08515315502882004 + ], + [ + 0.255911648273468, + -0.011103329248726368, + 0.07562678307294846 + ], + [ + 0.25753095746040344, + -0.03615284338593483, + 0.06648480147123337 + ], + [ + 0.25998419523239136, + -0.0506715327501297, + 0.05403817445039749 + ], + [ + 0.2691788077354431, + -0.052154671400785446, + 0.04668985679745674 + ], + [ + 0.2756158113479614, + -0.05299115926027298, + 0.04519716277718544 + ], + [ + 0.2776169776916504, + -0.04967036470770836, + 0.047612085938453674 + ], + [ + 0.2782856822013855, + -0.04532000795006752, + 0.04717932268977165 + ], + [ + 0.2744917869567871, + -0.04283296689391136, + 0.04768107458949089 + ], + [ + 0.2743445038795471, + -0.03989000990986824, + 0.05010807886719704 + ], + [ + 0.2739507257938385, + -0.035435643047094345, + 0.05507010594010353 + ], + [ + 0.2752055823802948, + -0.02921890653669834, + 0.06893939524888992 + ], + [ + 0.2740446925163269, + -0.023168344050645828, + 0.08608996123075485 + ], + [ + 0.27548748254776, + -0.018365228548645973, + 0.10218418389558792 + ], + [ + 0.28847938776016235, + -0.0057431296445429325, + 0.12008591741323471 + ], + [ + 0.3016170561313629, + 0.011355643160641193, + 0.12001726031303406 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.846100432750541, + 0.5072343911134162, + 0.16379050696285433, + 0.5061210556362522, + -0.8609155955359936, + 0.05163152529754364, + 0.16719908714162454, + 0.03921236838941457, + -0.985143063430028 + ], + [ + 0.849782179684973, + 0.4993825829184676, + 0.16878176135926354, + 0.49705596493778104, + -0.8657193115559545, + 0.05886799910694089, + 0.17551528369240926, + 0.03386900466153776, + -0.983893935195054 + ], + [ + 0.8869230599160095, + 0.4334248937698431, + 0.15971958943668438, + 0.4314661969329419, + -0.9008197248815119, + 0.04858748983659581, + 0.16493758423551189, + 0.02582023867042551, + -0.9859659773955468 + ], + [ + 0.926758172979664, + 0.33975402181386605, + 0.16027006419384107, + 0.337820429853, + -0.9403596131882533, + 0.04001443562481529, + 0.16430656100512, + 0.01705879672606509, + -0.9862618067556551 + ], + [ + 0.9585463463903173, + 0.23272135033937488, + 0.164407040354091, + 0.22906680577149705, + -0.9725418749756474, + 0.04111812146117125, + 0.16946179603502678, + -0.0017534295167817501, + -0.9855351973265657 + ], + [ + 0.9767827218738957, + 0.15804835082092997, + 0.14462445523288184, + 0.154925137776076, + -0.9873855181852005, + 0.032680883758045634, + 0.14796525245370099, + -0.009516158937684056, + -0.9889467765180213 + ], + [ + 0.9778808270044612, + 0.1706482010549859, + 0.12094742516386227, + 0.16859726037786277, + -0.9853132703515658, + 0.027068857792327643, + 0.12379035491568034, + -0.006078712511643753, + -0.9922897748561408 + ], + [ + 0.9729247213547855, + 0.17712019974130763, + 0.14847869012189013, + 0.17360779072867258, + -0.9841420719958349, + 0.03639666366652709, + 0.15257071008231693, + -0.009634156493651184, + -0.9882455977405785 + ], + [ + 0.9712576918557388, + 0.18087440278298336, + 0.15473508467364921, + 0.18194908934557105, + -0.9832807917701387, + 0.007308448686702414, + 0.15346994786400264, + 0.021055520743687613, + -0.9879289651330363 + ], + [ + 0.9707975535268056, + 0.1969170591798266, + 0.13702474911612875, + 0.19757739666955842, + -0.9802468779262558, + 0.008901159537307683, + 0.13607087267909077, + 0.018431769307294, + -0.9905276308556737 + ], + [ + 0.9629029410516254, + 0.23094309154852483, + 0.1395822860542841, + 0.22811487357254462, + -0.972962718973954, + 0.03615455630751001, + 0.14415800556719802, + -0.0029725330646782136, + -0.9895502177646507 + ], + [ + 0.9606316473035396, + 0.23321185460310181, + 0.15099360606154694, + 0.2233094490441311, + -0.9714793623989907, + 0.07975423750784104, + 0.16528680578465588, + -0.042896145577804454, + -0.9853122309847134 + ], + [ + 0.9640662229188288, + 0.21864926149044395, + 0.15089340037492396, + 0.20404165264930946, + -0.9731525027352653, + 0.10649511915683524, + 0.1701273693770705, + -0.0718798084984473, + -0.9827970143010534 + ], + [ + 0.9657382182304796, + 0.22158620612851196, + 0.1350897742339934, + 0.20758497386461702, + -0.9719758293813505, + 0.1103243659581236, + 0.1557503530482193, + -0.07850184935406511, + -0.9846721724377848 + ], + [ + 0.968338560326444, + 0.23401919975257976, + 0.08692207275526814, + 0.22271430308575055, + -0.9671323092701312, + 0.12269244298999077, + 0.11277753227455548, + -0.09944903475140351, + -0.9886309309854088 + ], + [ + 0.963895395014305, + 0.255837911150781, + 0.07384193042047693, + 0.24485303532323724, + -0.9605568287887246, + 0.13182401056084841, + 0.10465495001773692, + -0.1089841359343378, + -0.988518993015021 + ], + [ + 0.9638006824613988, + 0.25420368596463155, + 0.08042841866490144, + 0.2405640111518855, + -0.9591618044546928, + 0.14878706063946895, + 0.11496608641446052, + -0.12405288758111387, + -0.9855930600695858 + ], + [ + 0.96153873055744, + 0.2549891804472515, + 0.10209695143747413, + 0.24169195477080507, + -0.9620657710733765, + 0.12654821661349766, + 0.13049240835027165, + -0.09700499978778739, + -0.9866923336983608 + ], + [ + 0.9571588689509188, + 0.255270982399412, + 0.13668805775720597, + 0.24283004648996512, + -0.9647631857964205, + 0.10131911889482215, + 0.1577354370782912, + -0.06378652582466626, + -0.9854191042459751 + ], + [ + 0.9502724277579361, + 0.2641507180182326, + 0.1649445701243021, + 0.25288511523750706, + -0.9636388970564298, + 0.08630871665817186, + 0.18174551310651768, + -0.04030476709174757, + -0.9825192589539041 + ], + [ + 0.9531481983339373, + 0.256768807664151, + 0.15993214631055214, + 0.2500349808959388, + -0.9662979649608541, + 0.06124337711850843, + 0.17026749643175343, + -0.0183853834129868, + -0.985226348275167 + ], + [ + 0.9630737471064293, + 0.2269944633133574, + 0.1447842231027355, + 0.22376114075954748, + -0.9738849942934162, + 0.038457376094829514, + 0.14973279373726997, + -0.00464020637407575, + -0.9887156107619818 + ], + [ + 0.9705688431779026, + 0.17387233911550456, + 0.16662691962228363, + 0.1789024603889828, + -0.9837438996181749, + -0.015551515385806021, + 0.1612142373336686, + 0.04490378218512892, + -0.9858973678970819 + ], + [ + 0.971494925074204, + 0.11532352339851609, + 0.20711855422925948, + 0.13184095491258824, + -0.9889525872750229, + -0.06775501995996358, + 0.19701668244796852, + 0.09313036600910626, + -0.9759667831254331 + ], + [ + 0.9699318982420897, + 0.04968136150838154, + 0.23825170532688777, + 0.08317115240897963, + -0.9876686041221762, + -0.13263969179063406, + 0.2287240087517245, + 0.1484671369361773, + -0.9621033401202365 + ], + [ + 0.9829797505444625, + -0.04215593084596154, + 0.17881187744122817, + -0.014584655899580745, + -0.988151604315393, + -0.15278643493846483, + 0.18313409794966395, + 0.14757806199915158, + -0.9719478472555703 + ], + [ + 0.9785584908481688, + -0.0905124724990568, + 0.18501560018296248, + -0.06308767819492808, + -0.9868093858446194, + -0.1490878293789877, + 0.19606943884483258, + 0.13421895667554726, + -0.971360925104567 + ], + [ + 0.9805094024972283, + -0.09469126441111222, + 0.17214783198969946, + -0.07313030081298857, + -0.9891325685023682, + -0.1275488966275691, + 0.1823547935139923, + 0.11247366968376793, + -0.9767785843835524 + ], + [ + 0.966707271282869, + -0.1062694838941729, + 0.23277424351009157, + -0.0747307792661275, + -0.987274892043895, + -0.140369505840808, + 0.24472916107220777, + 0.11830082135209981, + -0.9623474182374636 + ], + [ + 0.9780540329835301, + -0.059502351098866584, + 0.19967418155174274, + -0.035492389083970406, + -0.9919271315597459, + -0.12174093803140261, + 0.20530611019101005, + 0.11198230167915359, + -0.9722702120444064 + ], + [ + 0.9795315429937911, + 0.042975533029280935, + 0.19664958642481653, + 0.06578546575286516, + -0.9916438785275465, + -0.1109715759756638, + 0.1902372959644896, + 0.12163684367695958, + -0.9741736238907445 + ], + [ + 0.9813100968793191, + 0.10116416785537226, + 0.163695769355323, + 0.11938349738468755, + -0.9872198752556842, + -0.1055675066123635, + 0.15092406804383898, + 0.12313703359380224, + -0.9808461635969309 + ], + [ + 0.9822899279108769, + 0.10163440766875793, + 0.15740693981735648, + 0.1188779043850317, + -0.9874158630816805, + -0.10429744571984034, + 0.1448259002177008, + 0.1211625375785787, + -0.9820107423616362 + ], + [ + 0.9816911546925416, + 0.10215925707072908, + 0.16076679692393142, + 0.12053280606700113, + -0.9867062223311309, + -0.1090076762188938, + 0.1474934556515597, + 0.12638954469332178, + -0.9809543126630189 + ], + [ + 0.9848491616007136, + 0.11546548248016406, + 0.12938257707278406, + 0.12792332202221893, + -0.9874613757876416, + -0.09249678378396718, + 0.11708011179176273, + 0.10764642903134884, + -0.9872712361553068 + ], + [ + 0.9849928724338798, + 0.12731927942682736, + 0.11652828987283992, + 0.13736308352616788, + -0.987068129613878, + -0.08263105218224064, + 0.10450083510976443, + 0.09739768265618341, + -0.9897440410907093 + ], + [ + 0.9826469773967667, + 0.142080647857395, + 0.11923928596490739, + 0.15214392606547872, + -0.9851162402670336, + -0.07998886749745775, + 0.10609968696645712, + 0.09674235197971269, + -0.9896382034658185 + ], + [ + 0.979045189023953, + 0.15845793672817785, + 0.12791247060744948, + 0.17145049159334694, + -0.980319798240832, + -0.09786634819719567, + 0.10988742776793214, + 0.11774623333637416, + -0.986945073321532 + ], + [ + 0.9720071705263523, + 0.16319121700820752, + 0.16902865773807274, + 0.18100144816488498, + -0.9787999061238386, + -0.09586041693096836, + 0.14980165622438513, + 0.12377144445850485, + -0.9809383738691673 + ], + [ + 0.9580657699588964, + 0.20303511486751477, + 0.20220465514869349, + 0.22243789680568407, + -0.9718112055074772, + -0.07813042246633314, + 0.1806415303791761, + 0.11983206157301535, + -0.976221754788035 + ], + [ + 0.9343132178458222, + 0.25894592893046703, + 0.24496084758369568, + 0.287176785081585, + -0.9539233706455749, + -0.08694651831091572, + 0.21115943045194596, + 0.15158234998350822, + -0.965626473386416 + ], + [ + 0.9202822507811644, + 0.3150541399832227, + 0.23199454255776358, + 0.3387706360856972, + -0.9382892834095956, + -0.06962525953129216, + 0.19574226682872098, + 0.14266782930338417, + -0.9702220650235771 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006771.json b/json/chunk-0006/episode_0006771.json new file mode 100644 index 0000000000000000000000000000000000000000..1b9c95a9a41667e6f3d498a06643d02ff8438509 --- /dev/null +++ b/json/chunk-0006/episode_0006771.json @@ -0,0 +1,1222 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 19, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nLever vertical to front." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006771.mp4", + "start": 0, + "end": 19, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.38066333532333374, + -0.05070153996348381, + 0.1007903590798378, + 0.26886406540870667, + -0.08088386058807373, + 0.03617595136165619, + 0.0, + 1.0073583126068115 + ], + [ + 0.38226479291915894, + -0.05157524719834328, + 0.08935459703207016, + 0.2711971700191498, + -0.060549598187208176, + 0.006346458103507757, + 0.0, + 1.0073583126068115 + ], + [ + 0.3874436020851135, + -0.052058007568120956, + 0.09106471389532089, + 0.27223849296569824, + -0.07970157265663147, + -0.036318015307188034, + 0.0, + 1.0073583126068115 + ], + [ + 0.3968478739261627, + -0.053028982132673264, + 0.09616512805223465, + 0.28002461791038513, + -0.11884341388940811, + -0.08281905949115753, + 0.0, + 1.0073583126068115 + ], + [ + 0.40032079815864563, + -0.05610997602343559, + 0.09677539020776749, + 0.26199814677238464, + -0.13270781934261322, + -0.10979900509119034, + 0.0, + 1.0073583126068115 + ], + [ + 0.40717318654060364, + -0.06215289607644081, + 0.0912533774971962, + 0.2296350598335266, + -0.12302318960428238, + -0.1299479752779007, + 0.0, + 1.0073583126068115 + ], + [ + 0.41376927495002747, + -0.06218453496694565, + 0.08991407603025436, + 0.22499880194664001, + -0.1219412237405777, + -0.14157186448574066, + 0.0, + 1.0073583126068115 + ], + [ + 0.4178491234779358, + -0.061849672347307205, + 0.08776193112134933, + 0.2305532842874527, + -0.12256336957216263, + -0.1541563719511032, + 0.0, + 0.850854754447937 + ], + [ + 0.41840440034866333, + -0.05900908261537552, + 0.08740159124135971, + 0.2443629652261734, + -0.1226256713271141, + -0.14423274993896484, + 0.0, + 0.5452468395233154 + ], + [ + 0.41602379083633423, + -0.057395871728658676, + 0.0866178572177887, + 0.24913938343524933, + -0.11666266620159149, + -0.11743444204330444, + 0.0, + 0.37717074155807495 + ], + [ + 0.40279337763786316, + -0.060749832540750504, + 0.0828218013048172, + 0.22152867913246155, + -0.07629096508026123, + -0.04712742567062378, + 0.0, + 0.37717074155807495 + ], + [ + 0.392484575510025, + -0.0617428794503212, + 0.07759734988212585, + 0.1931205838918686, + -0.027537161484360695, + -0.005026036407798529, + 0.0, + 0.3754602372646332 + ], + [ + 0.3860260546207428, + -0.060817789286375046, + 0.07135158777236938, + 0.15651504695415497, + -0.016302453354001045, + 0.013426127843558788, + 0.0, + 0.3754602372646332 + ], + [ + 0.38209912180900574, + -0.05921725556254387, + 0.06355615705251694, + 0.10993611812591553, + -0.019554419443011284, + 0.02271330915391445, + 0.0, + 0.3754602372646332 + ], + [ + 0.3764619827270508, + -0.05783491209149361, + 0.05132220685482025, + 0.07917682826519012, + -0.011443250812590122, + 0.035518303513526917, + 0.0, + 0.3754602372646332 + ], + [ + 0.3756130337715149, + -0.05635825917124748, + 0.04614594206213951, + 0.07156382501125336, + -0.01545837614685297, + 0.03614842891693115, + 0.0, + 0.3754602372646332 + ], + [ + 0.3753689229488373, + -0.05615806207060814, + 0.046115368604660034, + 0.06928770244121552, + -0.0131712406873703, + 0.03610215336084366, + 0.0, + 0.3754602372646332 + ], + [ + 0.3800322115421295, + -0.055163413286209106, + 0.04970366507768631, + 0.07832832634449005, + -0.02520293928682804, + 0.03903072327375412, + 0.0, + 0.570969820022583 + ], + [ + 0.37453848123550415, + -0.05240244418382645, + 0.05377212166786194, + 0.11808732897043228, + 0.009171400219202042, + 0.08474577218294144, + 0.0, + 0.8643063306808472 + ] + ], + "left_gripper_pos": [ + [ + 1.0073583126068115 + ], + [ + 1.0073583126068115 + ], + [ + 1.0073583126068115 + ], + [ + 1.0073583126068115 + ], + [ + 1.0073583126068115 + ], + [ + 1.0073583126068115 + ], + [ + 1.0073583126068115 + ], + [ + 0.850854754447937 + ], + [ + 0.5452468395233154 + ], + [ + 0.37717074155807495 + ], + [ + 0.37717074155807495 + ], + [ + 0.3754602372646332 + ], + [ + 0.3754602372646332 + ], + [ + 0.3754602372646332 + ], + [ + 0.3754602372646332 + ], + [ + 0.3754602372646332 + ], + [ + 0.3754602372646332 + ], + [ + 0.570969820022583 + ], + [ + 0.8643063306808472 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.38066333532333374, + -0.05070153996348381, + 0.1007903590798378 + ], + [ + 0.38226479291915894, + -0.05157524719834328, + 0.08935459703207016 + ], + [ + 0.3874436020851135, + -0.052058007568120956, + 0.09106471389532089 + ], + [ + 0.3968478739261627, + -0.053028982132673264, + 0.09616512805223465 + ], + [ + 0.40032079815864563, + -0.05610997602343559, + 0.09677539020776749 + ], + [ + 0.40717318654060364, + -0.06215289607644081, + 0.0912533774971962 + ], + [ + 0.41376927495002747, + -0.06218453496694565, + 0.08991407603025436 + ], + [ + 0.4178491234779358, + -0.061849672347307205, + 0.08776193112134933 + ], + [ + 0.41840440034866333, + -0.05900908261537552, + 0.08740159124135971 + ], + [ + 0.41602379083633423, + -0.057395871728658676, + 0.0866178572177887 + ], + [ + 0.40279337763786316, + -0.060749832540750504, + 0.0828218013048172 + ], + [ + 0.392484575510025, + -0.0617428794503212, + 0.07759734988212585 + ], + [ + 0.3860260546207428, + -0.060817789286375046, + 0.07135158777236938 + ], + [ + 0.38209912180900574, + -0.05921725556254387, + 0.06355615705251694 + ], + [ + 0.3764619827270508, + -0.05783491209149361, + 0.05132220685482025 + ], + [ + 0.3756130337715149, + -0.05635825917124748, + 0.04614594206213951 + ], + [ + 0.3753689229488373, + -0.05615806207060814, + 0.046115368604660034 + ], + [ + 0.3800322115421295, + -0.055163413286209106, + 0.04970366507768631 + ], + [ + 0.37453848123550415, + -0.05240244418382645, + 0.05377212166786194 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9960785441816841, + 0.056316903323616455, + 0.06823445039666667, + 0.03604981646400454, + -0.9626662424541679, + 0.2682799216715344, + 0.08079569638172762, + -0.26476803439843616, + -0.9609214033452371 + ], + [ + 0.9981473312781717, + 0.02232455537573829, + 0.056599640365812304, + 0.006334785269148912, + -0.9633286021962882, + 0.2682496499273373, + 0.060512606602735844, + -0.2673941256232471, + -0.9616852946906912 + ], + [ + 0.996168177356617, + -0.013578774386187206, + 0.08639779689415988, + -0.0361947661241703, + -0.9633135946717202, + 0.26592641317828, + 0.07961721752995449, + -0.2680345783790175, + -0.9601138283901394 + ], + [ + 0.9895430671363229, + -0.0468459054892709, + 0.13641839839746425, + -0.08214091349351449, + -0.9604653665806294, + 0.26600592085438324, + 0.11856385879723193, + -0.2744298466603582, + -0.9542698101947282 + ], + [ + 0.9852383246453884, + -0.07177347758869441, + 0.15541560914133942, + -0.10861502013527767, + -0.963813480446528, + 0.24344681618489833, + 0.13231863455674578, + -0.25673360283448604, + -0.957381656459253 + ], + [ + 0.9840745459573834, + -0.09848423607122268, + 0.1479802123401551, + -0.12860319594612107, + -0.9691590211610507, + 0.2102189565538697, + 0.12271310439889174, + -0.2259018524661138, + -0.9663901112186346 + ], + [ + 0.982644097503662, + -0.11067608791682848, + 0.14886699165577472, + -0.14005167584987266, + -0.9688711811896283, + 0.2041425050102429, + 0.12163924421360173, + -0.22144849925804716, + -0.9675559190266487 + ], + [ + 0.9807288833665966, + -0.12187735919524804, + 0.15269828632339189, + -0.15239470210790362, + -0.9662850337571336, + 0.207530933372396, + 0.12225674664390263, + -0.2268019904069782, + -0.9662371060187458 + ], + [ + 0.982185336491308, + -0.11017685230983185, + 0.15222688986034572, + -0.14265388032299067, + -0.9644701733838733, + 0.22236716277741048, + 0.1223185808054123, + -0.24012152312522717, + -0.9630056172846403 + ], + [ + 0.9863619395467892, + -0.08504461107356745, + 0.14091677806720482, + -0.116368295653969, + -0.9658127945512367, + 0.23165505746199722, + 0.11639821295916303, + -0.2448939770767677, + -0.9625374777178481 + ], + [ + 0.9959841934988929, + -0.029230849125153585, + 0.08462295054996873, + -0.04697295175033103, + -0.9752684737272843, + 0.21597441042288915, + 0.07621698041920198, + -0.21908208875459448, + -0.9727250435157425 + ], + [ + 0.999608250621029, + 0.0003516812401021473, + 0.02798609673876076, + -0.005024109765977556, + -0.9814242680810249, + 0.1917841608232644, + 0.027533681399793317, + -0.19184963471930225, + -0.9810380288483442 + ], + [ + 0.9997770008263763, + 0.0158024479534713, + 0.014008256754257063, + 0.013423940441739706, + -0.9876533608367748, + 0.15607894364980693, + 0.016301731246465296, + -0.15585609216999127, + -0.9876452460736429 + ], + [ + 0.999550931627706, + 0.024718969518954012, + 0.016938347856442396, + 0.022707014266711033, + -0.9936580077372904, + 0.11012790365139073, + 0.01955317327893879, + -0.1096938293865231, + -0.9937730813466643 + ], + [ + 0.9993038593822635, + 0.03630408927084923, + 0.0085912586928144, + 0.03550851095505082, + -0.9962062794311168, + 0.07944932014665722, + 0.011443001069111402, + -0.07908894944444013, + -0.9968018839279481 + ], + [ + 0.9992273164215569, + 0.03715260198721791, + 0.0128239729628801, + 0.03613623883931104, + -0.9967488458095528, + 0.07201326697124774, + 0.015457760495025686, + -0.07149421335257353, + -0.9973212296434758 + ], + [ + 0.9992617050238961, + 0.0369189600579093, + 0.010631804220299407, + 0.03609118068465765, + -0.9969176062970799, + 0.06966141637727417, + 0.013170859862730049, + -0.0692262713364158, + -0.9975140358949008 + ], + [ + 0.9989210626167042, + 0.040871548102533205, + 0.022050560455846874, + 0.03900842202171658, + -0.9960976936521858, + 0.07916898200793032, + 0.02520027127017287, + -0.07822340606556744, + -0.9966173012101542 + ], + [ + 0.9963693195922899, + 0.08297827086081212, + -0.01904692994019272, + 0.08464081020176172, + -0.989563466296509, + 0.11661937840524962, + -0.009171271644993522, + -0.11780811829490849, + -0.9929940256820411 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + 0.0016014575958251953, + -0.0008737072348594666, + -0.01143576204776764, + 0.0023331046104431152, + 0.020334262400865555, + -0.029829492792487144, + 1.0 + ], + [ + 0.00517880916595459, + -0.00048276036977767944, + 0.0017101168632507324, + 0.001041322946548462, + -0.019151974469423294, + -0.04266447201371193, + 1.0 + ], + [ + 0.009404271841049194, + -0.0009709745645523071, + 0.005100414156913757, + 0.00778612494468689, + -0.03914184123277664, + -0.0465010441839695, + 1.0 + ], + [ + 0.00347292423248291, + -0.003080993890762329, + 0.0006102621555328369, + -0.01802647113800049, + -0.013864405453205109, + -0.026979945600032806, + 1.0 + ], + [ + 0.006852388381958008, + -0.0060429200530052185, + -0.005522012710571289, + -0.03236308693885803, + 0.009684629738330841, + -0.020148970186710358, + 1.0 + ], + [ + 0.006596088409423828, + -3.1638890504837036e-05, + -0.0013393014669418335, + -0.004636257886886597, + 0.0010819658637046814, + -0.011623889207839966, + 1.0 + ], + [ + 0.004079848527908325, + 0.000334862619638443, + -0.0021521449089050293, + 0.005554482340812683, + -0.0006221458315849304, + -0.012584507465362549, + 0.0 + ], + [ + 0.0005552768707275391, + 0.0028405897319316864, + -0.000360339879989624, + 0.013809680938720703, + -6.230175495147705e-05, + 0.009923622012138367, + 0.0 + ], + [ + -0.0023806095123291016, + 0.0016132108867168427, + -0.0007837340235710144, + 0.004776418209075928, + 0.0059630051255226135, + 0.0267983078956604, + 0.0 + ], + [ + -0.01323041319847107, + -0.0033539608120918274, + -0.0037960559129714966, + -0.02761070430278778, + 0.04037170112133026, + 0.07030701637268066, + 0.0 + ], + [ + -0.010308802127838135, + -0.000993046909570694, + -0.005224451422691345, + -0.028408095240592957, + 0.048753805458545685, + 0.04210139065980911, + 0.0 + ], + [ + -0.0064585208892822266, + 0.0009250901639461517, + -0.00624576210975647, + -0.03660553693771362, + 0.01123470813035965, + 0.01845216378569603, + 0.0 + ], + [ + -0.0039269328117370605, + 0.0016005337238311768, + -0.0077954307198524475, + -0.04657892882823944, + -0.0032519660890102386, + 0.009287181310355663, + 0.0 + ], + [ + -0.005637139081954956, + 0.0013823434710502625, + -0.012233950197696686, + -0.030759289860725403, + 0.008111168630421162, + 0.012804994359612465, + 0.0 + ], + [ + -0.0008489489555358887, + 0.0014766529202461243, + -0.00517626479268074, + -0.007613003253936768, + -0.004015125334262848, + 0.0006301254034042358, + 0.0 + ], + [ + -0.0002441108226776123, + 0.00020019710063934326, + -3.057345747947693e-05, + -0.002276122570037842, + 0.00228713545948267, + -4.6275556087493896e-05, + 0.0 + ], + [ + 0.004663288593292236, + 0.0009946487843990326, + 0.0035882964730262756, + 0.009040623903274536, + -0.01203169859945774, + 0.0029285699129104614, + 1.0 + ], + [ + -0.005493730306625366, + 0.00276096910238266, + 0.004068456590175629, + 0.03975900262594223, + 0.03437434136867523, + 0.04571504890918732, + 1.0 + ], + [ + -0.010649293661117554, + -0.01099240779876709, + 0.0032120607793331146, + 0.034008271992206573, + 0.005315124988555908, + 0.029352903366088867, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0073583126068115 + ], + [ + 1.0073583126068115 + ], + [ + 1.0073583126068115 + ], + [ + 1.0073583126068115 + ], + [ + 1.0073583126068115 + ], + [ + 1.0073583126068115 + ], + [ + 0.850854754447937 + ], + [ + 0.5452468395233154 + ], + [ + 0.37717074155807495 + ], + [ + 0.37717074155807495 + ], + [ + 0.3754602372646332 + ], + [ + 0.3754602372646332 + ], + [ + 0.3754602372646332 + ], + [ + 0.3754602372646332 + ], + [ + 0.3754602372646332 + ], + [ + 0.3754602372646332 + ], + [ + 0.570969820022583 + ], + [ + 0.8643063306808472 + ], + [ + 1.0060625076293945 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.38226479291915894, + -0.05157524719834328, + 0.08935459703207016 + ], + [ + 0.3874436020851135, + -0.052058007568120956, + 0.09106471389532089 + ], + [ + 0.3968478739261627, + -0.053028982132673264, + 0.09616512805223465 + ], + [ + 0.40032079815864563, + -0.05610997602343559, + 0.09677539020776749 + ], + [ + 0.40717318654060364, + -0.06215289607644081, + 0.0912533774971962 + ], + [ + 0.41376927495002747, + -0.06218453496694565, + 0.08991407603025436 + ], + [ + 0.4178491234779358, + -0.061849672347307205, + 0.08776193112134933 + ], + [ + 0.41840440034866333, + -0.05900908261537552, + 0.08740159124135971 + ], + [ + 0.41602379083633423, + -0.057395871728658676, + 0.0866178572177887 + ], + [ + 0.40279337763786316, + -0.060749832540750504, + 0.0828218013048172 + ], + [ + 0.392484575510025, + -0.0617428794503212, + 0.07759734988212585 + ], + [ + 0.3860260546207428, + -0.060817789286375046, + 0.07135158777236938 + ], + [ + 0.38209912180900574, + -0.05921725556254387, + 0.06355615705251694 + ], + [ + 0.3764619827270508, + -0.05783491209149361, + 0.05132220685482025 + ], + [ + 0.3756130337715149, + -0.05635825917124748, + 0.04614594206213951 + ], + [ + 0.3753689229488373, + -0.05615806207060814, + 0.046115368604660034 + ], + [ + 0.3800322115421295, + -0.055163413286209106, + 0.04970366507768631 + ], + [ + 0.37453848123550415, + -0.05240244418382645, + 0.05377212166786194 + ], + [ + 0.3638891875743866, + -0.06339485198259354, + 0.05698418244719505 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9981473312781717, + 0.02232455537573829, + 0.056599640365812304, + 0.006334785269148912, + -0.9633286021962882, + 0.2682496499273373, + 0.060512606602735844, + -0.2673941256232471, + -0.9616852946906912 + ], + [ + 0.996168177356617, + -0.013578774386187206, + 0.08639779689415988, + -0.0361947661241703, + -0.9633135946717202, + 0.26592641317828, + 0.07961721752995449, + -0.2680345783790175, + -0.9601138283901394 + ], + [ + 0.9895430671363229, + -0.0468459054892709, + 0.13641839839746425, + -0.08214091349351449, + -0.9604653665806294, + 0.26600592085438324, + 0.11856385879723193, + -0.2744298466603582, + -0.9542698101947282 + ], + [ + 0.9852383246453884, + -0.07177347758869441, + 0.15541560914133942, + -0.10861502013527767, + -0.963813480446528, + 0.24344681618489833, + 0.13231863455674578, + -0.25673360283448604, + -0.957381656459253 + ], + [ + 0.9840745459573834, + -0.09848423607122268, + 0.1479802123401551, + -0.12860319594612107, + -0.9691590211610507, + 0.2102189565538697, + 0.12271310439889174, + -0.2259018524661138, + -0.9663901112186346 + ], + [ + 0.982644097503662, + -0.11067608791682848, + 0.14886699165577472, + -0.14005167584987266, + -0.9688711811896283, + 0.2041425050102429, + 0.12163924421360173, + -0.22144849925804716, + -0.9675559190266487 + ], + [ + 0.9807288833665966, + -0.12187735919524804, + 0.15269828632339189, + -0.15239470210790362, + -0.9662850337571336, + 0.207530933372396, + 0.12225674664390263, + -0.2268019904069782, + -0.9662371060187458 + ], + [ + 0.982185336491308, + -0.11017685230983185, + 0.15222688986034572, + -0.14265388032299067, + -0.9644701733838733, + 0.22236716277741048, + 0.1223185808054123, + -0.24012152312522717, + -0.9630056172846403 + ], + [ + 0.9863619395467892, + -0.08504461107356745, + 0.14091677806720482, + -0.116368295653969, + -0.9658127945512367, + 0.23165505746199722, + 0.11639821295916303, + -0.2448939770767677, + -0.9625374777178481 + ], + [ + 0.9959841934988929, + -0.029230849125153585, + 0.08462295054996873, + -0.04697295175033103, + -0.9752684737272843, + 0.21597441042288915, + 0.07621698041920198, + -0.21908208875459448, + -0.9727250435157425 + ], + [ + 0.999608250621029, + 0.0003516812401021473, + 0.02798609673876076, + -0.005024109765977556, + -0.9814242680810249, + 0.1917841608232644, + 0.027533681399793317, + -0.19184963471930225, + -0.9810380288483442 + ], + [ + 0.9997770008263763, + 0.0158024479534713, + 0.014008256754257063, + 0.013423940441739706, + -0.9876533608367748, + 0.15607894364980693, + 0.016301731246465296, + -0.15585609216999127, + -0.9876452460736429 + ], + [ + 0.999550931627706, + 0.024718969518954012, + 0.016938347856442396, + 0.022707014266711033, + -0.9936580077372904, + 0.11012790365139073, + 0.01955317327893879, + -0.1096938293865231, + -0.9937730813466643 + ], + [ + 0.9993038593822635, + 0.03630408927084923, + 0.0085912586928144, + 0.03550851095505082, + -0.9962062794311168, + 0.07944932014665722, + 0.011443001069111402, + -0.07908894944444013, + -0.9968018839279481 + ], + [ + 0.9992273164215569, + 0.03715260198721791, + 0.0128239729628801, + 0.03613623883931104, + -0.9967488458095528, + 0.07201326697124774, + 0.015457760495025686, + -0.07149421335257353, + -0.9973212296434758 + ], + [ + 0.9992617050238961, + 0.0369189600579093, + 0.010631804220299407, + 0.03609118068465765, + -0.9969176062970799, + 0.06966141637727417, + 0.013170859862730049, + -0.0692262713364158, + -0.9975140358949008 + ], + [ + 0.9989210626167042, + 0.040871548102533205, + 0.022050560455846874, + 0.03900842202171658, + -0.9960976936521858, + 0.07916898200793032, + 0.02520027127017287, + -0.07822340606556744, + -0.9966173012101542 + ], + [ + 0.9963693195922899, + 0.08297827086081212, + -0.01904692994019272, + 0.08464081020176172, + -0.989563466296509, + 0.11661937840524962, + -0.009171271644993522, + -0.11780811829490849, + -0.9929940256820411 + ], + [ + 0.9933935591764977, + 0.11035643875589293, + -0.03147527619841308, + 0.11383932472554514, + -0.9822784900487526, + 0.14889451344349164, + -0.014486018524129484, + -0.15149397483946048, + -0.9883520277991334 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006772.json b/json/chunk-0006/episode_0006772.json new file mode 100644 index 0000000000000000000000000000000000000000..2bacd512f60c823e50e2955239fbfa4e7e27a351 --- /dev/null +++ b/json/chunk-0006/episode_0006772.json @@ -0,0 +1,1882 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 30, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nTake sushi out of pot cardboard fence." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006772.mp4", + "start": 0, + "end": 30, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3233167231082916, + 0.016235416755080223, + 0.09366171807050705, + 0.18978546559810638, + -0.19634023308753967, + 0.3060045540332794, + 0.0, + 0.9907060265541077 + ], + [ + 0.31869590282440186, + 0.016493475064635277, + 0.08361545205116272, + 0.19120705127716064, + -0.16187238693237305, + 0.2905066907405853, + 0.0, + 0.9907060265541077 + ], + [ + 0.312548965215683, + 0.024273071438074112, + 0.0788903757929802, + 0.13794741034507751, + -0.11556535214185715, + 0.037036482244729996, + 0.0, + 0.9907060265541077 + ], + [ + 0.3021034896373749, + 0.04454783350229263, + 0.08853469043970108, + 0.08445198088884354, + -0.07154200971126556, + -0.2060222327709198, + 0.0, + 0.9907060265541077 + ], + [ + 0.28907811641693115, + 0.06275711953639984, + 0.09432320296764374, + 0.10401013493537903, + -0.0610712431371212, + -0.45323219895362854, + 0.0, + 0.9907060265541077 + ], + [ + 0.2743973433971405, + 0.07875288277864456, + 0.09086564928293228, + 0.08289580047130585, + 0.010702848434448242, + -0.7187939286231995, + 0.0, + 0.9907060265541077 + ], + [ + 0.25853025913238525, + 0.09413133561611176, + 0.0900813639163971, + -0.0013719579437747598, + 0.046682968735694885, + -0.952692985534668, + 0.0, + 0.9907060265541077 + ], + [ + 0.24590402841567993, + 0.1020694375038147, + 0.07502883672714233, + -0.0213935449719429, + 0.09749573469161987, + -1.19864022731781, + 0.0, + 0.9907060265541077 + ], + [ + 0.2403673529624939, + 0.11176548153162003, + 0.06383786350488663, + -0.07805164903402328, + 0.06065758690237999, + -1.448171854019165, + 0.0, + 0.9907060265541077 + ], + [ + 0.23414677381515503, + 0.11694946885108948, + 0.05699901282787323, + -0.0780663788318634, + 0.05544785037636757, + -1.5005391836166382, + 0.0, + 0.9907060265541077 + ], + [ + 0.23498494923114777, + 0.1181957870721817, + 0.04782258719205856, + -0.0714651346206665, + 0.056909333914518356, + -1.5733236074447632, + 0.0, + 0.9907060265541077 + ], + [ + 0.23439782857894897, + 0.1220078393816948, + 0.04627327620983124, + -0.062364447861909866, + 0.05522790923714638, + -1.5742019414901733, + 0.0, + 0.9907060265541077 + ], + [ + 0.23618917167186737, + 0.12291693687438965, + 0.03674854710698128, + -0.0601804293692112, + 0.05379730463027954, + -1.5753600597381592, + 0.0, + 0.9907060265541077 + ], + [ + 0.23057232797145844, + 0.12184172123670578, + 0.032222308218479156, + -0.07361578196287155, + 0.05682170018553734, + -1.5850553512573242, + 0.0, + 0.9907060265541077 + ], + [ + 0.2267766147851944, + 0.12195706367492676, + 0.020617447793483734, + -0.08970828354358673, + 0.07760361582040787, + -1.5979374647140503, + 0.0, + 0.9568231701850891 + ], + [ + 0.22184236347675323, + 0.1206502616405487, + 0.015389393083751202, + -0.09374502301216125, + 0.08984432369470596, + -1.6030874252319336, + 0.0, + 0.7081608176231384 + ], + [ + 0.22106370329856873, + 0.12148215621709824, + 0.015198452398180962, + -0.09666140377521515, + 0.10128334164619446, + -1.6114671230316162, + 0.0, + 0.6129248142242432 + ], + [ + 0.21953071653842926, + 0.1177828460931778, + 0.016240065917372704, + -0.1111157238483429, + 0.07118817418813705, + -1.5836114883422852, + 0.0, + 0.6440550088882446 + ], + [ + 0.2355143427848816, + 0.11881473660469055, + 0.04748569801449776, + -0.03696184605360031, + 0.061475712805986404, + -1.4984707832336426, + 0.0, + 0.6440550088882446 + ], + [ + 0.25728604197502136, + 0.12168203294277191, + 0.08375848829746246, + -0.024561993777751923, + 0.025355253368616104, + -1.3746397495269775, + 0.0, + 0.6440550088882446 + ], + [ + 0.2894614338874817, + 0.11377894133329391, + 0.10817911475896835, + -0.07378508895635605, + -0.030010465532541275, + -1.2269961833953857, + 0.0, + 0.6440550088882446 + ], + [ + 0.3102778494358063, + 0.09578273445367813, + 0.09359978139400482, + -0.061969127506017685, + -0.022121354937553406, + -1.1659064292907715, + 0.0, + 0.6450598835945129 + ], + [ + 0.31708842515945435, + 0.08100570738315582, + 0.07708773761987686, + -0.0564325749874115, + -0.010241596959531307, + -1.2155952453613281, + 0.0, + 0.6450598835945129 + ], + [ + 0.3253134489059448, + 0.06798648089170456, + 0.05155298486351967, + -0.05962975323200226, + -0.016128793358802795, + -1.2045339345932007, + 0.0, + 0.6440550088882446 + ], + [ + 0.32964950799942017, + 0.05642106384038925, + 0.035999469459056854, + -0.05778050422668457, + -0.021422773599624634, + -1.219133973121643, + 0.0, + 0.6450598835945129 + ], + [ + 0.33102381229400635, + 0.0503624826669693, + 0.0214557945728302, + -0.048227131366729736, + -0.010397728532552719, + -1.2486374378204346, + 0.0, + 0.6440550088882446 + ], + [ + 0.3285480737686157, + 0.05099719762802124, + 0.014227117411792278, + -0.02709377370774746, + 0.005463758949190378, + -1.263456106185913, + 0.0, + 0.6931989789009094 + ], + [ + 0.32668033242225647, + 0.05083011835813522, + 0.014351270161569118, + -0.035444654524326324, + 0.032776545733213425, + -1.2922347784042358, + 0.0, + 0.9499720335006714 + ], + [ + 0.32610204815864563, + 0.0520160011947155, + 0.014839733950793743, + -0.0385383777320385, + 0.02212526649236679, + -1.276197910308838, + 0.0, + 0.993436336517334 + ], + [ + 0.327197402715683, + 0.05759930983185768, + 0.04389316588640213, + 0.01616644859313965, + 0.01598639413714409, + -1.2724180221557617, + 0.0, + 0.9927561283111572 + ] + ], + "left_gripper_pos": [ + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9568231701850891 + ], + [ + 0.7081608176231384 + ], + [ + 0.6129248142242432 + ], + [ + 0.6440550088882446 + ], + [ + 0.6440550088882446 + ], + [ + 0.6440550088882446 + ], + [ + 0.6440550088882446 + ], + [ + 0.6450598835945129 + ], + [ + 0.6450598835945129 + ], + [ + 0.6440550088882446 + ], + [ + 0.6450598835945129 + ], + [ + 0.6440550088882446 + ], + [ + 0.6931989789009094 + ], + [ + 0.9499720335006714 + ], + [ + 0.993436336517334 + ], + [ + 0.9927561283111572 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3233167231082916, + 0.016235416755080223, + 0.09366171807050705 + ], + [ + 0.31869590282440186, + 0.016493475064635277, + 0.08361545205116272 + ], + [ + 0.312548965215683, + 0.024273071438074112, + 0.0788903757929802 + ], + [ + 0.3021034896373749, + 0.04454783350229263, + 0.08853469043970108 + ], + [ + 0.28907811641693115, + 0.06275711953639984, + 0.09432320296764374 + ], + [ + 0.2743973433971405, + 0.07875288277864456, + 0.09086564928293228 + ], + [ + 0.25853025913238525, + 0.09413133561611176, + 0.0900813639163971 + ], + [ + 0.24590402841567993, + 0.1020694375038147, + 0.07502883672714233 + ], + [ + 0.2403673529624939, + 0.11176548153162003, + 0.06383786350488663 + ], + [ + 0.23414677381515503, + 0.11694946885108948, + 0.05699901282787323 + ], + [ + 0.23498494923114777, + 0.1181957870721817, + 0.04782258719205856 + ], + [ + 0.23439782857894897, + 0.1220078393816948, + 0.04627327620983124 + ], + [ + 0.23618917167186737, + 0.12291693687438965, + 0.03674854710698128 + ], + [ + 0.23057232797145844, + 0.12184172123670578, + 0.032222308218479156 + ], + [ + 0.2267766147851944, + 0.12195706367492676, + 0.020617447793483734 + ], + [ + 0.22184236347675323, + 0.1206502616405487, + 0.015389393083751202 + ], + [ + 0.22106370329856873, + 0.12148215621709824, + 0.015198452398180962 + ], + [ + 0.21953071653842926, + 0.1177828460931778, + 0.016240065917372704 + ], + [ + 0.2355143427848816, + 0.11881473660469055, + 0.04748569801449776 + ], + [ + 0.25728604197502136, + 0.12168203294277191, + 0.08375848829746246 + ], + [ + 0.2894614338874817, + 0.11377894133329391, + 0.10817911475896835 + ], + [ + 0.3102778494358063, + 0.09578273445367813, + 0.09359978139400482 + ], + [ + 0.31708842515945435, + 0.08100570738315582, + 0.07708773761987686 + ], + [ + 0.3253134489059448, + 0.06798648089170456, + 0.05155298486351967 + ], + [ + 0.32964950799942017, + 0.05642106384038925, + 0.035999469459056854 + ], + [ + 0.33102381229400635, + 0.0503624826669693, + 0.0214557945728302 + ], + [ + 0.3285480737686157, + 0.05099719762802124, + 0.014227117411792278 + ], + [ + 0.32668033242225647, + 0.05083011835813522, + 0.014351270161569118 + ], + [ + 0.32610204815864563, + 0.0520160011947155, + 0.014839733950793743 + ], + [ + 0.327197402715683, + 0.05759930983185768, + 0.04389316588640213 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9352244459198127, + 0.3309342556155674, + 0.12584813949419196, + 0.2954633037380861, + -0.9253370927634572, + 0.2375977712442784, + 0.19508119309188873, + -0.18502373689946722, + -0.9631767983530344 + ], + [ + 0.945573874045054, + 0.31056289648557056, + 0.09716345017505876, + 0.2826931922897893, + -0.9318648244382326, + 0.22740384343214184, + 0.16116639772743127, + -0.18755968730298803, + -0.968941048744643 + ], + [ + 0.9926485554312535, + 0.052521467245108845, + 0.10904283964876664, + 0.0367810296618605, + -0.9892339581648667, + 0.14164509123328037, + 0.11530828789492546, + -0.1365930872771091, + -0.9838934532005227 + ], + [ + 0.9763484381758489, + -0.19793678380421167, + 0.08697561088503619, + -0.2040445891302591, + -0.9765972494092372, + 0.06799719180213058, + 0.07148099690298262, + -0.08413585480374434, + -0.9938871289126341 + ], + [ + 0.8973604603889028, + -0.4298104616461909, + 0.100035849524579, + -0.4370573669054017, + -0.8969525997347264, + 0.06675995703138592, + 0.06103328734660318, + -0.10362915076658534, + -0.9927416264804568 + ], + [ + 0.7525573419938382, + -0.6568832680685213, + 0.04649536689594301, + -0.6584397469931975, + -0.7494325649858586, + 0.06933923938327068, + -0.010702644098683208, + -0.08279615130146926, + -0.9965090319404841 + ], + [ + 0.5788591396963896, + -0.8149411493491425, + -0.02816060168842384, + -0.8140911370820694, + -0.5795420993587312, + 0.03723675060068506, + -0.04666601455426385, + 0.0013704628316426326, + -0.9989096079812468 + ], + [ + 0.36189794606699455, + -0.930575149455505, + -0.05531516833884123, + -0.9271216413521237, + -0.36548134469095583, + 0.08287851844376881, + -0.09734135179374731, + 0.021290324064100054, + -0.9950233079341462 + ], + [ + 0.12209243643111622, + -0.9888912526831233, + -0.08477928599083825, + -0.990665737989153, + -0.12663622446030776, + 0.05044464519495396, + -0.06062039706831415, + 0.07782902428555213, + -0.9951220078151413 + ], + [ + 0.07009147339785399, + -0.9941914612865002, + -0.0816732738533951, + -0.9959999351058073, + -0.07429689666164213, + 0.04963970603938967, + -0.05541944267263682, + 0.07786725532252317, + -0.9954222098800044 + ], + [ + -0.0025231865513772322, + -0.9974545327354607, + -0.07126070905562601, + -0.9983779124491445, + -0.0015405391792775447, + 0.05691371251926227, + -0.056878620441384385, + 0.0712887218606193, + -0.9958326870876273 + ], + [ + -0.0034004156720636725, + -0.9980618964314955, + -0.06213604481155815, + -0.998469536358015, + -4.1268909647840246e-05, + 0.05530445969257364, + -0.05519983820870845, + 0.06222900600559096, + -0.9965342586551094 + ], + [ + -0.004557114653012839, + -0.9981940686607059, + -0.05989853083861916, + -0.9985428752327475, + 0.0013214585734942497, + 0.05394793850700673, + -0.05377135880705022, + 0.0600570981468823, + -0.9967455973989646 + ], + [ + -0.014235529153550863, + -0.9972497561500939, + -0.0727342668093721, + -0.9982845874042283, + 0.010043399546430742, + 0.05768026245363741, + -0.05679112836428009, + 0.07343060658968632, + -0.9956820344643077 + ], + [ + -0.02705613053811784, + -0.9958005748741879, + -0.08745959570304594, + -0.9966231606577122, + 0.02008586286810643, + 0.07961679316246488, + -0.07752574695503046, + 0.08931838104824534, + -0.9929813620436105 + ], + [ + -0.032155270355860355, + -0.995361289051509, + -0.090674929534354, + -0.9954475032873001, + 0.023749287271650765, + 0.09230514369832969, + -0.08972350186780616, + 0.09323022906658089, + -0.9915935748081321 + ], + [ + -0.04045121360984305, + -0.9949056065548884, + -0.09233922981669386, + -0.994052520622925, + 0.030719604648577925, + 0.1044791468832128, + -0.10111026436865712, + 0.09601635244001111, + -0.9902310712674166 + ], + [ + -0.012782353324072793, + -0.993852463268549, + -0.10997223603499438, + -0.9973852867544788, + 0.004849236895821507, + 0.07210460919535404, + -0.07112806203732176, + 0.11060635676382329, + -0.9913158087281011 + ], + [ + 0.07212599790655749, + -0.9965403640435635, + -0.0412933803158035, + -0.9955015498261104, + -0.07447752077032277, + 0.05856418012504458, + -0.061436997971871826, + 0.03688362416884315, + -0.9974292423768095 + ], + [ + 0.19483841603895674, + -0.9804057068507316, + -0.02902828982127334, + -0.9805076442939832, + -0.19545298011282614, + 0.02007217093587814, + -0.025352536687565007, + 0.024551630078930048, + -0.9993770391318648 + ], + [ + 0.33691550375209844, + -0.9396644898271294, + -0.05931770300164123, + -0.9410566325330696, + -0.33406761714425615, + -0.053021142396955344, + 0.03000596102425765, + 0.07368496273650318, + -0.9968300600250433 + ], + [ + 0.39382118380995756, + -0.9179211082717943, + -0.048225658850909535, + -0.9189208892258355, + -0.3919023549892525, + -0.04468717375575902, + 0.022119550784840826, + 0.06191432098439387, + -0.9978363304320594 + ], + [ + 0.3477606623488065, + -0.9362849442240964, + -0.04932570265085244, + -0.9375274049763624, + -0.34668368950698153, + -0.029202471609687176, + 0.010241417919759885, + 0.0563996688740964, + -0.9983557435653311 + ], + [ + 0.35808165992411556, + -0.9323571787393363, + -0.04987600704963076, + -0.9335509677608671, + -0.356594335254689, + -0.03637403822803238, + 0.01612809408262378, + 0.05958667063606771, + -0.9980928379984351 + ], + [ + 0.3443798634910818, + -0.9376608066300323, + -0.04684785301143825, + -0.9385859814615007, + -0.34272272908471263, + -0.03996856730830045, + 0.021421135026308144, + 0.05773510785167152, + -0.9981020951263155 + ], + [ + 0.3165980049237927, + -0.9476099088957973, + -0.042440120649843, + -0.9485028172945532, + -0.31577152857195706, + -0.025114683506377848, + 0.010397541179046291, + 0.04820583269510852, + -0.9987833042415164 + ], + [ + 0.30252004760016016, + -0.9527469946750304, + -0.02747334958999891, + -0.9531273621270147, + -0.30255461172436227, + -0.0029897306097880997, + -0.0054637317646062285, + 0.027090054669893712, + -0.9996180653495548 + ], + [ + 0.2748252426336679, + -0.9605287573261048, + -0.04307658715490978, + -0.9609355694916644, + -0.2759167582189169, + 0.021743362658392083, + -0.03277067739727352, + 0.0354181998911961, + -0.9988351384584901 + ], + [ + 0.290284525111699, + -0.955960801815161, + -0.0432878721305433, + -0.9566846120520255, + -0.2909556676531777, + 0.009967573594372786, + -0.022123461382455842, + 0.03851940878840809, + -0.9990129166347403 + ], + [ + 0.29393299053177957, + -0.9557655443205434, + 0.010752737637470922, + -0.9556923427808327, + -0.2936851371431405, + 0.02002963233057585, + -0.015985713219248323, + -0.0161636787542404, + -0.999741562836117 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0046208202838897705, + 0.0002580583095550537, + -0.01004626601934433, + 0.0014215856790542603, + 0.034467846155166626, + -0.015497863292694092, + 1.0 + ], + [ + -0.006146937608718872, + 0.007779596373438835, + -0.004725076258182526, + -0.05325964093208313, + 0.0463070347905159, + -0.25347021222114563, + 1.0 + ], + [ + -0.010445475578308105, + 0.02027476206421852, + 0.009644314646720886, + -0.05349542945623398, + 0.04402334243059158, + -0.2430587112903595, + 1.0 + ], + [ + -0.013025373220443726, + 0.018209286034107208, + 0.0057885125279426575, + 0.019558154046535492, + 0.010470766574144363, + -0.24720996618270874, + 1.0 + ], + [ + -0.01468077301979065, + 0.01599576324224472, + -0.0034575536847114563, + -0.02111433446407318, + 0.07177409529685974, + -0.2655617296695709, + 1.0 + ], + [ + -0.01586708426475525, + 0.015378452837467194, + -0.0007842853665351868, + -0.084267757833004, + 0.03598012030124664, + -0.2338990569114685, + 1.0 + ], + [ + -0.012626230716705322, + 0.007938101887702942, + -0.01505252718925476, + -0.02002158761024475, + 0.05081276595592499, + -0.2459472417831421, + 1.0 + ], + [ + -0.005536675453186035, + 0.009696044027805328, + -0.011190973222255707, + -0.05665810406208038, + -0.03683814778923988, + -0.24953162670135498, + 1.0 + ], + [ + -0.006220579147338867, + 0.005183987319469452, + -0.006838850677013397, + -1.4729797840118408e-05, + -0.005209736526012421, + -0.052367329597473145, + 1.0 + ], + [ + 0.0008381754159927368, + 0.0012463182210922241, + -0.009176425635814667, + 0.006601244211196899, + 0.0014614835381507874, + -0.072784423828125, + 1.0 + ], + [ + -0.0005871206521987915, + 0.003812052309513092, + -0.0015493109822273254, + 0.009100686758756638, + -0.0016814246773719788, + -0.0008783340454101562, + 1.0 + ], + [ + 0.001791343092918396, + 0.0009090974926948547, + -0.00952472910284996, + 0.0021840184926986694, + -0.0014306046068668365, + -0.0011581182479858398, + 1.0 + ], + [ + -0.0056168437004089355, + -0.0010752156376838684, + -0.004526238888502121, + -0.013435352593660355, + 0.0030243955552577972, + -0.009695291519165039, + 1.0 + ], + [ + -0.003795713186264038, + 0.00011534243822097778, + -0.011604860424995422, + -0.01609250158071518, + 0.02078191563487053, + -0.012882113456726074, + 0.0 + ], + [ + -0.004934251308441162, + -0.0013068020343780518, + -0.0052280547097325325, + -0.004036739468574524, + 0.012240707874298096, + -0.005149960517883301, + 0.0 + ], + [ + -0.0007786601781845093, + 0.00083189457654953, + -0.00019094068557024002, + -0.002916380763053894, + 0.011439017951488495, + -0.008379697799682617, + 0.0 + ], + [ + -0.0015329867601394653, + -0.0036993101239204407, + 0.001041613519191742, + -0.014454320073127747, + -0.030095167458057404, + 0.027855634689331055, + 0.0 + ], + [ + 0.01598362624645233, + 0.0010318905115127563, + 0.031245632097125053, + 0.07415387779474258, + -0.00971246138215065, + 0.08514070510864258, + 0.0 + ], + [ + 0.02177169919013977, + 0.00286729633808136, + 0.036272790282964706, + 0.012399852275848389, + -0.0361204594373703, + 0.12383103370666504, + 0.0 + ], + [ + 0.03217539191246033, + -0.007903091609477997, + 0.02442062646150589, + -0.049223095178604126, + -0.05536571890115738, + 0.1476435661315918, + 0.0 + ], + [ + 0.020816415548324585, + -0.017996206879615784, + -0.014579333364963531, + 0.011815961450338364, + 0.00788911059498787, + 0.06108975410461426, + 0.0 + ], + [ + 0.006810575723648071, + -0.014777027070522308, + -0.01651204377412796, + 0.005536552518606186, + 0.011879757978022099, + -0.04968881607055664, + 0.0 + ], + [ + 0.008225023746490479, + -0.013019226491451263, + -0.025534752756357193, + -0.0031971782445907593, + -0.005887196399271488, + 0.011061310768127441, + 0.0 + ], + [ + 0.004336059093475342, + -0.011565417051315308, + -0.015553515404462814, + 0.001849249005317688, + -0.005293980240821838, + -0.014600038528442383, + 0.0 + ], + [ + 0.0013743042945861816, + -0.006058581173419952, + -0.014543674886226654, + 0.009553372859954834, + 0.011025045067071915, + -0.029503464698791504, + 0.0 + ], + [ + -0.002475738525390625, + 0.0006347149610519409, + -0.007228677161037922, + 0.021133357658982277, + 0.01586148701608181, + -0.014818668365478516, + 1.0 + ], + [ + -0.001867741346359253, + -0.00016707926988601685, + 0.0001241527497768402, + -0.008350880816578865, + 0.027312787249684334, + -0.028778672218322754, + 1.0 + ], + [ + -0.0005782842636108398, + 0.0011858828365802765, + 0.0004884637892246246, + -0.0030937232077121735, + -0.010651279240846634, + 0.01603686809539795, + 1.0 + ], + [ + 0.0010953545570373535, + 0.005583308637142181, + 0.029053431004285812, + 0.054704826325178146, + -0.006138872355222702, + 0.003779888153076172, + 1.0 + ], + [ + -0.0001437067985534668, + 0.00517895445227623, + 0.03992918133735657, + 0.061682142317295074, + -0.06819744408130646, + 0.05990719795227051, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9568231701850891 + ], + [ + 0.7081608176231384 + ], + [ + 0.6129248142242432 + ], + [ + 0.6440550088882446 + ], + [ + 0.6440550088882446 + ], + [ + 0.6440550088882446 + ], + [ + 0.6440550088882446 + ], + [ + 0.6450598835945129 + ], + [ + 0.6450598835945129 + ], + [ + 0.6440550088882446 + ], + [ + 0.6450598835945129 + ], + [ + 0.6440550088882446 + ], + [ + 0.6931989789009094 + ], + [ + 0.9499720335006714 + ], + [ + 0.993436336517334 + ], + [ + 0.9927561283111572 + ], + [ + 0.9927561283111572 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.31869590282440186, + 0.016493475064635277, + 0.08361545205116272 + ], + [ + 0.312548965215683, + 0.024273071438074112, + 0.0788903757929802 + ], + [ + 0.3021034896373749, + 0.04454783350229263, + 0.08853469043970108 + ], + [ + 0.28907811641693115, + 0.06275711953639984, + 0.09432320296764374 + ], + [ + 0.2743973433971405, + 0.07875288277864456, + 0.09086564928293228 + ], + [ + 0.25853025913238525, + 0.09413133561611176, + 0.0900813639163971 + ], + [ + 0.24590402841567993, + 0.1020694375038147, + 0.07502883672714233 + ], + [ + 0.2403673529624939, + 0.11176548153162003, + 0.06383786350488663 + ], + [ + 0.23414677381515503, + 0.11694946885108948, + 0.05699901282787323 + ], + [ + 0.23498494923114777, + 0.1181957870721817, + 0.04782258719205856 + ], + [ + 0.23439782857894897, + 0.1220078393816948, + 0.04627327620983124 + ], + [ + 0.23618917167186737, + 0.12291693687438965, + 0.03674854710698128 + ], + [ + 0.23057232797145844, + 0.12184172123670578, + 0.032222308218479156 + ], + [ + 0.2267766147851944, + 0.12195706367492676, + 0.020617447793483734 + ], + [ + 0.22184236347675323, + 0.1206502616405487, + 0.015389393083751202 + ], + [ + 0.22106370329856873, + 0.12148215621709824, + 0.015198452398180962 + ], + [ + 0.21953071653842926, + 0.1177828460931778, + 0.016240065917372704 + ], + [ + 0.2355143427848816, + 0.11881473660469055, + 0.04748569801449776 + ], + [ + 0.25728604197502136, + 0.12168203294277191, + 0.08375848829746246 + ], + [ + 0.2894614338874817, + 0.11377894133329391, + 0.10817911475896835 + ], + [ + 0.3102778494358063, + 0.09578273445367813, + 0.09359978139400482 + ], + [ + 0.31708842515945435, + 0.08100570738315582, + 0.07708773761987686 + ], + [ + 0.3253134489059448, + 0.06798648089170456, + 0.05155298486351967 + ], + [ + 0.32964950799942017, + 0.05642106384038925, + 0.035999469459056854 + ], + [ + 0.33102381229400635, + 0.0503624826669693, + 0.0214557945728302 + ], + [ + 0.3285480737686157, + 0.05099719762802124, + 0.014227117411792278 + ], + [ + 0.32668033242225647, + 0.05083011835813522, + 0.014351270161569118 + ], + [ + 0.32610204815864563, + 0.0520160011947155, + 0.014839733950793743 + ], + [ + 0.327197402715683, + 0.05759930983185768, + 0.04389316588640213 + ], + [ + 0.3270536959171295, + 0.06277826428413391, + 0.0838223472237587 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.945573874045054, + 0.31056289648557056, + 0.09716345017505876, + 0.2826931922897893, + -0.9318648244382326, + 0.22740384343214184, + 0.16116639772743127, + -0.18755968730298803, + -0.968941048744643 + ], + [ + 0.9926485554312535, + 0.052521467245108845, + 0.10904283964876664, + 0.0367810296618605, + -0.9892339581648667, + 0.14164509123328037, + 0.11530828789492546, + -0.1365930872771091, + -0.9838934532005227 + ], + [ + 0.9763484381758489, + -0.19793678380421167, + 0.08697561088503619, + -0.2040445891302591, + -0.9765972494092372, + 0.06799719180213058, + 0.07148099690298262, + -0.08413585480374434, + -0.9938871289126341 + ], + [ + 0.8973604603889028, + -0.4298104616461909, + 0.100035849524579, + -0.4370573669054017, + -0.8969525997347264, + 0.06675995703138592, + 0.06103328734660318, + -0.10362915076658534, + -0.9927416264804568 + ], + [ + 0.7525573419938382, + -0.6568832680685213, + 0.04649536689594301, + -0.6584397469931975, + -0.7494325649858586, + 0.06933923938327068, + -0.010702644098683208, + -0.08279615130146926, + -0.9965090319404841 + ], + [ + 0.5788591396963896, + -0.8149411493491425, + -0.02816060168842384, + -0.8140911370820694, + -0.5795420993587312, + 0.03723675060068506, + -0.04666601455426385, + 0.0013704628316426326, + -0.9989096079812468 + ], + [ + 0.36189794606699455, + -0.930575149455505, + -0.05531516833884123, + -0.9271216413521237, + -0.36548134469095583, + 0.08287851844376881, + -0.09734135179374731, + 0.021290324064100054, + -0.9950233079341462 + ], + [ + 0.12209243643111622, + -0.9888912526831233, + -0.08477928599083825, + -0.990665737989153, + -0.12663622446030776, + 0.05044464519495396, + -0.06062039706831415, + 0.07782902428555213, + -0.9951220078151413 + ], + [ + 0.07009147339785399, + -0.9941914612865002, + -0.0816732738533951, + -0.9959999351058073, + -0.07429689666164213, + 0.04963970603938967, + -0.05541944267263682, + 0.07786725532252317, + -0.9954222098800044 + ], + [ + -0.0025231865513772322, + -0.9974545327354607, + -0.07126070905562601, + -0.9983779124491445, + -0.0015405391792775447, + 0.05691371251926227, + -0.056878620441384385, + 0.0712887218606193, + -0.9958326870876273 + ], + [ + -0.0034004156720636725, + -0.9980618964314955, + -0.06213604481155815, + -0.998469536358015, + -4.1268909647840246e-05, + 0.05530445969257364, + -0.05519983820870845, + 0.06222900600559096, + -0.9965342586551094 + ], + [ + -0.004557114653012839, + -0.9981940686607059, + -0.05989853083861916, + -0.9985428752327475, + 0.0013214585734942497, + 0.05394793850700673, + -0.05377135880705022, + 0.0600570981468823, + -0.9967455973989646 + ], + [ + -0.014235529153550863, + -0.9972497561500939, + -0.0727342668093721, + -0.9982845874042283, + 0.010043399546430742, + 0.05768026245363741, + -0.05679112836428009, + 0.07343060658968632, + -0.9956820344643077 + ], + [ + -0.02705613053811784, + -0.9958005748741879, + -0.08745959570304594, + -0.9966231606577122, + 0.02008586286810643, + 0.07961679316246488, + -0.07752574695503046, + 0.08931838104824534, + -0.9929813620436105 + ], + [ + -0.032155270355860355, + -0.995361289051509, + -0.090674929534354, + -0.9954475032873001, + 0.023749287271650765, + 0.09230514369832969, + -0.08972350186780616, + 0.09323022906658089, + -0.9915935748081321 + ], + [ + -0.04045121360984305, + -0.9949056065548884, + -0.09233922981669386, + -0.994052520622925, + 0.030719604648577925, + 0.1044791468832128, + -0.10111026436865712, + 0.09601635244001111, + -0.9902310712674166 + ], + [ + -0.012782353324072793, + -0.993852463268549, + -0.10997223603499438, + -0.9973852867544788, + 0.004849236895821507, + 0.07210460919535404, + -0.07112806203732176, + 0.11060635676382329, + -0.9913158087281011 + ], + [ + 0.07212599790655749, + -0.9965403640435635, + -0.0412933803158035, + -0.9955015498261104, + -0.07447752077032277, + 0.05856418012504458, + -0.061436997971871826, + 0.03688362416884315, + -0.9974292423768095 + ], + [ + 0.19483841603895674, + -0.9804057068507316, + -0.02902828982127334, + -0.9805076442939832, + -0.19545298011282614, + 0.02007217093587814, + -0.025352536687565007, + 0.024551630078930048, + -0.9993770391318648 + ], + [ + 0.33691550375209844, + -0.9396644898271294, + -0.05931770300164123, + -0.9410566325330696, + -0.33406761714425615, + -0.053021142396955344, + 0.03000596102425765, + 0.07368496273650318, + -0.9968300600250433 + ], + [ + 0.39382118380995756, + -0.9179211082717943, + -0.048225658850909535, + -0.9189208892258355, + -0.3919023549892525, + -0.04468717375575902, + 0.022119550784840826, + 0.06191432098439387, + -0.9978363304320594 + ], + [ + 0.3477606623488065, + -0.9362849442240964, + -0.04932570265085244, + -0.9375274049763624, + -0.34668368950698153, + -0.029202471609687176, + 0.010241417919759885, + 0.0563996688740964, + -0.9983557435653311 + ], + [ + 0.35808165992411556, + -0.9323571787393363, + -0.04987600704963076, + -0.9335509677608671, + -0.356594335254689, + -0.03637403822803238, + 0.01612809408262378, + 0.05958667063606771, + -0.9980928379984351 + ], + [ + 0.3443798634910818, + -0.9376608066300323, + -0.04684785301143825, + -0.9385859814615007, + -0.34272272908471263, + -0.03996856730830045, + 0.021421135026308144, + 0.05773510785167152, + -0.9981020951263155 + ], + [ + 0.3165980049237927, + -0.9476099088957973, + -0.042440120649843, + -0.9485028172945532, + -0.31577152857195706, + -0.025114683506377848, + 0.010397541179046291, + 0.04820583269510852, + -0.9987833042415164 + ], + [ + 0.30252004760016016, + -0.9527469946750304, + -0.02747334958999891, + -0.9531273621270147, + -0.30255461172436227, + -0.0029897306097880997, + -0.0054637317646062285, + 0.027090054669893712, + -0.9996180653495548 + ], + [ + 0.2748252426336679, + -0.9605287573261048, + -0.04307658715490978, + -0.9609355694916644, + -0.2759167582189169, + 0.021743362658392083, + -0.03277067739727352, + 0.0354181998911961, + -0.9988351384584901 + ], + [ + 0.290284525111699, + -0.955960801815161, + -0.0432878721305433, + -0.9566846120520255, + -0.2909556676531777, + 0.009967573594372786, + -0.022123461382455842, + 0.03851940878840809, + -0.9990129166347403 + ], + [ + 0.29393299053177957, + -0.9557655443205434, + 0.010752737637470922, + -0.9556923427808327, + -0.2936851371431405, + 0.02002963233057585, + -0.015985713219248323, + -0.0161636787542404, + -0.999741562836117 + ], + [ + 0.3501912712083743, + -0.9322398434180296, + 0.0910766046435091, + -0.935223265086316, + -0.35340794625700106, + -0.021453856615963312, + 0.0521873357315019, + -0.07766400624701174, + -0.9956127681598459 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006773.json b/json/chunk-0006/episode_0006773.json new file mode 100644 index 0000000000000000000000000000000000000000..181ec3c34a2577093e35e7d46a584d83cc54bf3f --- /dev/null +++ b/json/chunk-0006/episode_0006773.json @@ -0,0 +1,2722 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 44, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut the red prism on top of the blue prism." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006773.mp4", + "start": 0, + "end": 44, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3899834454059601, + 0.027922706678509712, + 0.13206343352794647, + -0.22166837751865387, + -0.19823680818080902, + 1.2105556726455688, + 0.0, + 1.0008161067962646 + ], + [ + 0.3870331346988678, + 0.027823101729154587, + 0.11698828637599945, + -0.1810687780380249, + -0.18187215924263, + 1.2014083862304688, + 0.0, + 1.0001531839370728 + ], + [ + 0.3879252076148987, + 0.02174026519060135, + 0.1157245859503746, + -0.1778395026922226, + -0.19119209051132202, + 1.1843204498291016, + 0.0, + 1.0008161067962646 + ], + [ + 0.38893622159957886, + 0.007272981107234955, + 0.12408256530761719, + -0.19843125343322754, + -0.205081045627594, + 1.155071496963501, + 0.0, + 1.0008161067962646 + ], + [ + 0.38878223299980164, + 0.00310642016120255, + 0.14792150259017944, + -0.2649979889392853, + -0.23432312905788422, + 1.1806212663650513, + 0.0, + 1.0008161067962646 + ], + [ + 0.3724716305732727, + 0.00034930199035443366, + 0.16257110238075256, + -0.30263158679008484, + -0.2518990933895111, + 1.2292804718017578, + 0.0, + 1.0008161067962646 + ], + [ + 0.3356805741786957, + -0.010301227681338787, + 0.15476274490356445, + -0.29818421602249146, + -0.19223624467849731, + 1.3421196937561035, + 0.0, + 1.0008161067962646 + ], + [ + 0.30147886276245117, + -0.02197391726076603, + 0.12690074741840363, + -0.2630270719528198, + -0.09711743891239166, + 1.4638503789901733, + 0.0, + 1.0008161067962646 + ], + [ + 0.263522207736969, + -0.025310227647423744, + 0.09321630746126175, + -0.2555500566959381, + -0.01210156362503767, + 1.6157783269882202, + 0.0, + 1.0008161067962646 + ], + [ + 0.24636048078536987, + -0.02173250913619995, + 0.0705133005976677, + -0.25917792320251465, + -8.98393991519697e-05, + 1.741900086402893, + 0.0, + 1.0008161067962646 + ], + [ + 0.24032938480377197, + -0.016945363953709602, + 0.061304304748773575, + -0.2684609293937683, + -0.021668393164873123, + 1.742612600326538, + 0.0, + 1.0008161067962646 + ], + [ + 0.23938724398612976, + -0.0111784553155303, + 0.05858749896287918, + -0.26936477422714233, + -0.013183469884097576, + 1.7440687417984009, + 0.0, + 1.0008161067962646 + ], + [ + 0.2398979663848877, + 6.195575679157628e-06, + 0.05853918939828873, + -0.2680670917034149, + -0.01601475477218628, + 1.7471946477890015, + 0.0, + 1.0008161067962646 + ], + [ + 0.24062620103359222, + 0.00833507813513279, + 0.05854832008481026, + -0.2684651017189026, + -0.014440913684666157, + 1.7473154067993164, + 0.0, + 1.0008161067962646 + ], + [ + 0.23911824822425842, + 0.018145225942134857, + 0.045862600207328796, + -0.22882461547851562, + -0.017119308933615685, + 1.7601031064987183, + 0.0, + 0.9445669651031494 + ], + [ + 0.2359079122543335, + 0.021323196589946747, + 0.023987026885151863, + -0.10810535401105881, + -0.040444266051054, + 1.7394386529922485, + 0.0, + 0.6611326336860657 + ], + [ + 0.2404482513666153, + 0.022432010620832443, + 0.022441323846578598, + -0.08686526119709015, + -0.049567919224500656, + 1.7232707738876343, + 0.0, + 0.5829154849052429 + ], + [ + 0.2503325939178467, + 0.022135596722364426, + 0.035524338483810425, + -0.11933371424674988, + -0.03921672701835632, + 1.7010327577590942, + 0.0, + 0.5829154849052429 + ], + [ + 0.27528145909309387, + 0.03626371547579765, + 0.08342526853084564, + -0.2894226014614105, + -0.027212565764784813, + 1.7317380905151367, + 0.0, + 0.5829154849052429 + ], + [ + 0.2859141230583191, + 0.05101877823472023, + 0.11269574612379074, + -0.3951505124568939, + -0.029859790578484535, + 1.7861765623092651, + 0.0, + 0.5829154849052429 + ], + [ + 0.2854374051094055, + 0.06874746829271317, + 0.11998707801103592, + -0.42753735184669495, + -0.02558029815554619, + 1.852616548538208, + 0.0, + 0.5829154849052429 + ], + [ + 0.2868160903453827, + 0.0880873054265976, + 0.12590928375720978, + -0.4533529281616211, + -0.001416133134625852, + 1.9334582090377808, + 0.0, + 0.5829154849052429 + ], + [ + 0.28640851378440857, + 0.10975418984889984, + 0.12611497938632965, + -0.42763447761535645, + 0.010640718974173069, + 2.0138540267944336, + 0.0, + 0.5829154849052429 + ], + [ + 0.286679208278656, + 0.12497715651988983, + 0.1290769726037979, + -0.39518505334854126, + 0.04207081347703934, + 2.0823917388916016, + 0.0, + 0.5829154849052429 + ], + [ + 0.28677016496658325, + 0.135457843542099, + 0.12138714641332626, + -0.3431796431541443, + 0.0599636472761631, + 2.1086184978485107, + 0.0, + 0.5829154849052429 + ], + [ + 0.2846287190914154, + 0.15039058029651642, + 0.11552724242210388, + -0.32591062784194946, + 0.07890703529119492, + 2.1332757472991943, + 0.0, + 0.5829154849052429 + ], + [ + 0.28688403964042664, + 0.16507889330387115, + 0.10916747897863388, + -0.31059908866882324, + 0.07916565984487534, + 2.137162923812866, + 0.0, + 0.5829154849052429 + ], + [ + 0.2882866859436035, + 0.17672742903232574, + 0.10850771516561508, + -0.31212088465690613, + 0.0891854390501976, + 2.1461336612701416, + 0.0, + 0.5829154849052429 + ], + [ + 0.2897697687149048, + 0.18565376102924347, + 0.10393209010362625, + -0.29085874557495117, + 0.09404662996530533, + 2.1566362380981445, + 0.0, + 0.5829154849052429 + ], + [ + 0.2935423254966736, + 0.1881723254919052, + 0.09960837662220001, + -0.2758272886276245, + 0.09413477033376694, + 2.1540346145629883, + 0.0, + 0.5829154849052429 + ], + [ + 0.2952129542827606, + 0.1886710226535797, + 0.10055481642484665, + -0.2789226770401001, + 0.09411579370498657, + 2.152029514312744, + 0.0, + 0.5829154849052429 + ], + [ + 0.2981995642185211, + 0.18576078116893768, + 0.09795256704092026, + -0.2725769877433777, + 0.08871757239103317, + 2.136307954788208, + 0.0, + 0.5829154849052429 + ], + [ + 0.2991243898868561, + 0.1870361864566803, + 0.0971633717417717, + -0.2797662615776062, + 0.07674658298492432, + 2.1287426948547363, + 0.0, + 0.5829154849052429 + ], + [ + 0.30152931809425354, + 0.18443089723587036, + 0.0945434719324112, + -0.27645036578178406, + 0.06764565408229828, + 2.1254920959472656, + 0.0, + 0.5829154849052429 + ], + [ + 0.30493882298469543, + 0.17939519882202148, + 0.09451444447040558, + -0.2781602740287781, + 0.056770261377096176, + 2.111741542816162, + 0.0, + 0.5829154849052429 + ], + [ + 0.3102765679359436, + 0.17481613159179688, + 0.09264889359474182, + -0.27587905526161194, + 0.053140632808208466, + 2.0990548133850098, + 0.0, + 0.6500836610794067 + ], + [ + 0.31599536538124084, + 0.1732276976108551, + 0.09452787786722183, + -0.2788010835647583, + 0.03939872235059738, + 2.075131893157959, + 0.0, + 0.9437892436981201 + ], + [ + 0.3172978162765503, + 0.1725071370601654, + 0.09448154270648956, + -0.2816968560218811, + 0.03271597623825073, + 2.067357301712036, + 0.0, + 1.002137303352356 + ], + [ + 0.3184570074081421, + 0.1689053624868393, + 0.09482641518115997, + -0.27856290340423584, + 0.03188144415616989, + 2.057368516921997, + 0.0, + 0.9994885921478271 + ], + [ + 0.3215468227863312, + 0.16026532649993896, + 0.10299073904752731, + -0.2905217409133911, + 0.03638909384608269, + 2.0428013801574707, + 0.0, + 0.9994885921478271 + ], + [ + 0.33952510356903076, + 0.14182300865650177, + 0.1367839127779007, + -0.3638916015625, + 0.03687785938382149, + 1.952679991722107, + 0.0, + 0.9994885921478271 + ], + [ + 0.3532869815826416, + 0.11021018028259277, + 0.16168038547039032, + -0.38983941078186035, + 0.004181016236543655, + 1.781563639640808, + 0.0, + 0.9994885921478271 + ], + [ + 0.35745662450790405, + 0.06354256719350815, + 0.17101389169692993, + -0.3631308674812317, + -0.014204807579517365, + 1.5299021005630493, + 0.0, + 0.9994885921478271 + ], + [ + 0.3538426458835602, + 0.020823907107114792, + 0.167072132229805, + -0.3413425087928772, + 0.014354516752064228, + 1.2738877534866333, + 0.0, + 0.9994885921478271 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9445669651031494 + ], + [ + 0.6611326336860657 + ], + [ + 0.5829154849052429 + ], + [ + 0.5829154849052429 + ], + [ + 0.5829154849052429 + ], + [ + 0.5829154849052429 + ], + [ + 0.5829154849052429 + ], + [ + 0.5829154849052429 + ], + [ + 0.5829154849052429 + ], + [ + 0.5829154849052429 + ], + [ + 0.5829154849052429 + ], + [ + 0.5829154849052429 + ], + [ + 0.5829154849052429 + ], + [ + 0.5829154849052429 + ], + [ + 0.5829154849052429 + ], + [ + 0.5829154849052429 + ], + [ + 0.5829154849052429 + ], + [ + 0.5829154849052429 + ], + [ + 0.5829154849052429 + ], + [ + 0.5829154849052429 + ], + [ + 0.5829154849052429 + ], + [ + 0.6500836610794067 + ], + [ + 0.9437892436981201 + ], + [ + 1.002137303352356 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3899834454059601, + 0.027922706678509712, + 0.13206343352794647 + ], + [ + 0.3870331346988678, + 0.027823101729154587, + 0.11698828637599945 + ], + [ + 0.3879252076148987, + 0.02174026519060135, + 0.1157245859503746 + ], + [ + 0.38893622159957886, + 0.007272981107234955, + 0.12408256530761719 + ], + [ + 0.38878223299980164, + 0.00310642016120255, + 0.14792150259017944 + ], + [ + 0.3724716305732727, + 0.00034930199035443366, + 0.16257110238075256 + ], + [ + 0.3356805741786957, + -0.010301227681338787, + 0.15476274490356445 + ], + [ + 0.30147886276245117, + -0.02197391726076603, + 0.12690074741840363 + ], + [ + 0.263522207736969, + -0.025310227647423744, + 0.09321630746126175 + ], + [ + 0.24636048078536987, + -0.02173250913619995, + 0.0705133005976677 + ], + [ + 0.24032938480377197, + -0.016945363953709602, + 0.061304304748773575 + ], + [ + 0.23938724398612976, + -0.0111784553155303, + 0.05858749896287918 + ], + [ + 0.2398979663848877, + 6.195575679157628e-06, + 0.05853918939828873 + ], + [ + 0.24062620103359222, + 0.00833507813513279, + 0.05854832008481026 + ], + [ + 0.23911824822425842, + 0.018145225942134857, + 0.045862600207328796 + ], + [ + 0.2359079122543335, + 0.021323196589946747, + 0.023987026885151863 + ], + [ + 0.2404482513666153, + 0.022432010620832443, + 0.022441323846578598 + ], + [ + 0.2503325939178467, + 0.022135596722364426, + 0.035524338483810425 + ], + [ + 0.27528145909309387, + 0.03626371547579765, + 0.08342526853084564 + ], + [ + 0.2859141230583191, + 0.05101877823472023, + 0.11269574612379074 + ], + [ + 0.2854374051094055, + 0.06874746829271317, + 0.11998707801103592 + ], + [ + 0.2868160903453827, + 0.0880873054265976, + 0.12590928375720978 + ], + [ + 0.28640851378440857, + 0.10975418984889984, + 0.12611497938632965 + ], + [ + 0.286679208278656, + 0.12497715651988983, + 0.1290769726037979 + ], + [ + 0.28677016496658325, + 0.135457843542099, + 0.12138714641332626 + ], + [ + 0.2846287190914154, + 0.15039058029651642, + 0.11552724242210388 + ], + [ + 0.28688403964042664, + 0.16507889330387115, + 0.10916747897863388 + ], + [ + 0.2882866859436035, + 0.17672742903232574, + 0.10850771516561508 + ], + [ + 0.2897697687149048, + 0.18565376102924347, + 0.10393209010362625 + ], + [ + 0.2935423254966736, + 0.1881723254919052, + 0.09960837662220001 + ], + [ + 0.2952129542827606, + 0.1886710226535797, + 0.10055481642484665 + ], + [ + 0.2981995642185211, + 0.18576078116893768, + 0.09795256704092026 + ], + [ + 0.2991243898868561, + 0.1870361864566803, + 0.0971633717417717 + ], + [ + 0.30152931809425354, + 0.18443089723587036, + 0.0945434719324112 + ], + [ + 0.30493882298469543, + 0.17939519882202148, + 0.09451444447040558 + ], + [ + 0.3102765679359436, + 0.17481613159179688, + 0.09264889359474182 + ], + [ + 0.31599536538124084, + 0.1732276976108551, + 0.09452787786722183 + ], + [ + 0.3172978162765503, + 0.1725071370601654, + 0.09448154270648956 + ], + [ + 0.3184570074081421, + 0.1689053624868393, + 0.09482641518115997 + ], + [ + 0.3215468227863312, + 0.16026532649993896, + 0.10299073904752731 + ], + [ + 0.33952510356903076, + 0.14182300865650177, + 0.1367839127779007 + ], + [ + 0.3532869815826416, + 0.11021018028259277, + 0.16168038547039032 + ], + [ + 0.35745662450790405, + 0.06354256719350815, + 0.17101389169692993 + ], + [ + 0.3538426458835602, + 0.020823907107114792, + 0.167072132229805 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.34559587087957383, + 0.8976517182824097, + 0.27346825537094, + 0.917484466032811, + -0.3843941704649249, + 0.10229064620516046, + 0.19694097750208314, + 0.21555165129782458, + -0.9564265455346295 + ], + [ + 0.35508994056194515, + 0.9055432474720406, + 0.2321692509130026, + 0.9171677893024466, + -0.3855167531119707, + 0.10089637920196518, + 0.1808711706651372, + 0.17711086931014233, + -0.9674282193498537 + ], + [ + 0.37005836273641823, + 0.8989635183162257, + 0.23435315424665037, + 0.9093655128154152, + -0.4021191561118176, + 0.10655772327652462, + 0.19002939843823702, + 0.17368009967878428, + -0.9662939773716739 + ], + [ + 0.3953901769630889, + 0.8806595285189665, + 0.2609701185765302, + 0.8956532296611108, + -0.4326540847164693, + 0.10303268984053043, + 0.20364650784807964, + 0.19300061607908198, + -0.9598327260696918 + ], + [ + 0.36995600532802286, + 0.869429606176784, + 0.32745184993371845, + 0.8995681381733484, + -0.4233139179615999, + 0.1076219849442281, + 0.2321846655252402, + 0.25474985135085454, + -0.9387186981900648 + ], + [ + 0.3243461240509632, + 0.8745495631176864, + 0.36050333349884783, + 0.9125114991219042, + -0.38968859207143325, + 0.12436062551981364, + 0.24924356718561952, + 0.28862755041757254, + -0.9244305173221725 + ], + [ + 0.2225130728037557, + 0.9182637410515511, + 0.32753569927786585, + 0.9560262234948478, + -0.27135311213830154, + 0.11127150813679859, + 0.1910544226695885, + 0.2883733524493351, + -0.9382638313265208 + ], + [ + 0.10623920994085034, + 0.9573994642406692, + 0.268513493409221, + 0.989601459677485, + -0.1281383294134918, + 0.06534156058214942, + 0.0969648455644373, + 0.25877950924831605, + -0.961057222187038 + ], + [ + -0.0449635398378192, + 0.9666832805341986, + 0.25199546666734374, + 0.9989153314430269, + 0.040450671719320264, + 0.023063038948135384, + 0.012101268252553893, + 0.2527591309786756, + -0.96745355496457 + ], + [ + -0.17027009375877572, + 0.9524900532208562, + 0.25252879773742176, + 0.9853974259659195, + 0.1645605537537202, + 0.04372341532873293, + 8.983939903109417e-05, + 0.25628601730020106, + -0.9666009876186155 + ], + [ + -0.17093202476369684, + 0.9509661324803826, + 0.25777055259568826, + 0.9850445660608533, + 0.15918556068266232, + 0.06593299738470719, + 0.02166669758334984, + 0.26518554286659357, + -0.9639539315083382 + ], + [ + -0.17239169757061185, + 0.9501108076663695, + 0.2599433703026136, + 0.9849402564620694, + 0.16273397943365725, + 0.05839814327629647, + 0.013183087997717322, + 0.2660960448658435, + -0.963856369537287 + ], + [ + -0.17546242768361636, + 0.9500653463140856, + 0.2580480075576409, + 0.9843558736687836, + 0.1650416324940372, + 0.0616828462173149, + 0.01601407022394505, + 0.26483409387161577, + -0.9641610095197082 + ], + [ + -0.17558550463657563, + 0.9498693313453128, + 0.2586851057388639, + 0.9843582706867335, + 0.1655427138982456, + 0.06028602496289431, + 0.014440411771905123, + 0.2652241754531659, + -0.9640786333401679 + ], + [ + -0.18815053031126516, + 0.9572649822870282, + 0.21964319163271354, + 0.9819910059844023, + 0.17945933168571826, + 0.059059397530422164, + 0.01711847275111722, + 0.22679969567424602, + -0.9737909713756532 + ], + [ + -0.16770683511190526, + 0.980790900648023, + 0.09961740140551781, + 0.9850073961581011, + 0.16256361636665478, + 0.05773647155510088, + 0.040433240911236706, + 0.10780667808551996, + -0.9933493208280655 + ], + [ + -0.15169778411959095, + 0.9853244861567372, + 0.07825240745924376, + 0.9871842863750626, + 0.1470629812133783, + 0.0619650247380863, + 0.049547623831664014, + 0.08664950396046751, + -0.9950059780906044 + ], + [ + -0.12976872193089511, + 0.9850857951467519, + 0.11298696831278228, + 0.9907688506410158, + 0.12431691984032972, + 0.0540591161682611, + 0.039206675552800094, + 0.11895915114653721, + -0.9921247688424035 + ], + [ + -0.16018854065028126, + 0.9472675217557254, + 0.27753175254572215, + 0.9867113511471248, + 0.14591785054621959, + 0.07147510342340894, + 0.0272092072973297, + 0.2852932230508427, + -0.9580539838232047 + ], + [ + -0.2136236244287879, + 0.9040705380796178, + 0.3701640302113899, + 0.9764597303262198, + 0.1860222296701335, + 0.10918848437357567, + 0.029855353576111132, + 0.38477550889444967, + -0.9225272167355623 + ], + [ + -0.2780135396757723, + 0.8770406155498232, + 0.39180126395015064, + 0.9602365660690766, + 0.24288536167138436, + 0.13766785488860186, + 0.02557750849508522, + 0.41449542791416716, + -0.9096918881123628 + ], + [ + -0.3547638737018861, + 0.8407300002501833, + 0.4090423701713055, + 0.9349548590623603, + 0.3183473388465805, + 0.1565706976575843, + 0.0014161326612991965, + 0.4379817787632581, + -0.8989827340053079 + ], + [ + -0.4286796589993653, + 0.8201974054127347, + 0.3788270926351571, + 0.9033938948947621, + 0.39408559898622836, + 0.16904440641008178, + -0.010640518176252362, + 0.4146959812029575, + -0.9098978088483658 + ], + [ + -0.4891358188929583, + 0.7968312741378552, + 0.3546915155903194, + 0.8711929988973977, + 0.46595414902818366, + 0.15462693709564468, + -0.04205840401244748, + 0.3846383386497815, + -0.9221086915828643 + ], + [ + -0.511346143703016, + 0.798418093636964, + 0.3178893975475925, + 0.8572827945315238, + 0.4997142537047597, + 0.12390268295931597, + -0.059927719131268625, + 0.33587827020724614, + -0.9399970511029876 + ], + [ + -0.5316259235444132, + 0.7879462286744697, + 0.3106680191671316, + 0.8433033077301023, + 0.5265622624199457, + 0.1075719060287397, + -0.07882517736749801, + 0.31917538205956253, + -0.9444118100172795 + ], + [ + -0.5348890111715544, + 0.7905092201950585, + 0.2983101046134994, + 0.8412131868315638, + 0.5312910780187338, + 0.10044981193798284, + -0.07908299456015225, + 0.3046718943458553, + -0.9491685397057293 + ], + [ + -0.54195531395283, + 0.7835896816333269, + 0.30376248701258457, + 0.8356742557466296, + 0.5407758566315543, + 0.09596880309103238, + -0.0890672552659283, + 0.3058572930668646, + -0.9479020731685336 + ], + [ + -0.550456099598344, + 0.7833600307455828, + 0.28869559166232145, + 0.8295657657583428, + 0.552116299668184, + 0.08359564535600288, + -0.09390805448284269, + 0.28550771245448325, + -0.9537644486099573 + ], + [ + -0.5482914607780471, + 0.7890345632619535, + 0.277129810767253, + 0.8309881242734238, + 0.5512794542295065, + 0.07449631306953468, + -0.0939958049830516, + 0.2711372739452024, + -0.9579401689683716 + ], + [ + -0.5466251244800127, + 0.7892791338864598, + 0.2797131067695087, + 0.8320873230806407, + 0.5494603987328217, + 0.07565683705298677, + -0.09397691235460016, + 0.27410165821426286, + -0.957098020533157 + ], + [ + -0.5337404661504852, + 0.8003613210029187, + 0.2730254029132196, + 0.8409940162420232, + 0.5362037262664099, + 0.07221238524746908, + -0.08860123835802021, + 0.2681554022959076, + -0.9592927086040764 + ], + [ + -0.5278866680842288, + 0.8041515197966069, + 0.2732690960715065, + 0.8458470208989561, + 0.5268208666735458, + 0.08368148943281764, + -0.07667126512124355, + 0.27531819345285014, + -0.9582908793568718 + ], + [ + -0.5254801319626368, + 0.8080672369469579, + 0.2662667299634691, + 0.8481165437985294, + 0.522369694975072, + 0.08847728469436338, + -0.06759407553748362, + 0.27231827398204356, + -0.9598300884050643 + ], + [ + -0.5141169038110345, + 0.8162497430354824, + 0.26347706960998474, + 0.8558413447786589, + 0.5085086198238058, + 0.09462862216235184, + -0.056739772498772684, + 0.27414474381136217, + -0.9600131549397594 + ], + [ + -0.5033184808273181, + 0.8237343654737257, + 0.26102145887891803, + 0.8624669484620167, + 0.4974667414641863, + 0.09315365772540143, + -0.05311562546273327, + 0.27200833861226126, + -0.9608278691092904 + ], + [ + -0.48285084081934354, + 0.8364513163382256, + 0.25923784622640117, + 0.8748163288374599, + 0.47405683485346667, + 0.09983240019183597, + -0.03938853030265173, + 0.2749896593051513, + -0.9606400111154201 + ], + [ + -0.476149747469611, + 0.8402396030452434, + 0.25938162513755153, + 0.8787556342358892, + 0.46562201693082267, + 0.10480778906146515, + -0.032710140374286226, + 0.2778372668013497, + -0.9600710910620369 + ], + [ + -0.467361040211429, + 0.8457678323426899, + 0.25739159245561755, + 0.8834916954553703, + 0.45732129966980195, + 0.10148720574396802, + -0.03187604357329056, + 0.2748345004592234, + -0.9609630144825777 + ], + [ + -0.45437201772808455, + 0.8485966502127675, + 0.27097932532460767, + 0.8900688106677972, + 0.44490167714720696, + 0.0991968242839245, + -0.03638106351005373, + 0.2862625070093406, + -0.9574602839275398 + ], + [ + -0.37241572143736645, + 0.8623098116851451, + 0.3431156060248728, + 0.9273333652542703, + 0.36044337607936705, + 0.10066480182614937, + -0.03686950111509388, + 0.35567170440173856, + -0.9338834395016791 + ], + [ + -0.20920846550055122, + 0.9041687117740641, + 0.37243893272821793, + 0.9778621258480128, + 0.19506705300497468, + 0.0757265321004443, + -0.004181004055235443, + 0.38003655808459236, + -0.924962017449531 + ], + [ + 0.04087870449633302, + 0.9338015108809274, + 0.3554485473246427, + 0.9990631454173582, + -0.04325802940278889, + -0.0012547354152777912, + 0.014204329884805772, + 0.35516683568245033, + -0.9346950068572311 + ], + [ + 0.29253530516096476, + 0.9024817657981244, + 0.31614831588398556, + 0.9561469851624819, + -0.271091404585117, + -0.11087106531807543, + -0.014354023793966997, + 0.33471796002301324, + -0.9422090262988116 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.002950310707092285, + -9.960494935512543e-05, + -0.015075147151947021, + 0.04059959948062897, + 0.016364648938179016, + -0.009147286415100098, + 1.0 + ], + [ + 0.0008920729160308838, + -0.006082836538553238, + -0.0012637004256248474, + 0.003229275345802307, + -0.009319931268692017, + -0.017087936401367188, + 1.0 + ], + [ + 0.0010110139846801758, + -0.014467284083366394, + 0.008357979357242584, + -0.020591750741004944, + -0.013888955116271973, + -0.029248952865600586, + 1.0 + ], + [ + -0.00015398859977722168, + -0.0041665611788630486, + 0.023838937282562256, + -0.06656673550605774, + -0.029242083430290222, + 0.025549769401550293, + 1.0 + ], + [ + -0.01631060242652893, + -0.002757118083536625, + 0.01464959979057312, + -0.03763359785079956, + -0.017575964331626892, + 0.04865920543670654, + 1.0 + ], + [ + -0.036791056394577026, + -0.010650529526174068, + -0.00780835747718811, + 0.004447370767593384, + 0.059662848711013794, + 0.1128392219543457, + 1.0 + ], + [ + -0.03420171141624451, + -0.011672689579427242, + -0.027861997485160828, + 0.03515714406967163, + 0.09511880576610565, + 0.12173068523406982, + 1.0 + ], + [ + -0.03795665502548218, + -0.003336310386657715, + -0.033684439957141876, + 0.007477015256881714, + 0.08501587808132172, + 0.15192794799804688, + 1.0 + ], + [ + -0.01716172695159912, + 0.003577718511223793, + -0.022703006863594055, + -0.003627866506576538, + 0.012011724524199963, + 0.12612175941467285, + 1.0 + ], + [ + -0.0060310959815979, + 0.004787145182490349, + -0.00920899584889412, + -0.009283006191253662, + -0.021578554064035416, + 0.0007125139236450195, + 1.0 + ], + [ + -0.0009421408176422119, + 0.005766908638179302, + -0.002716805785894394, + -0.0009038448333740234, + 0.008484923280775547, + 0.001456141471862793, + 1.0 + ], + [ + 0.0005107223987579346, + 0.011184650473296642, + -4.83095645904541e-05, + 0.001297682523727417, + -0.002831284888088703, + 0.003125905990600586, + 1.0 + ], + [ + 0.0007282346487045288, + 0.008328882977366447, + 9.130686521530151e-06, + -0.0003980100154876709, + 0.0015738410875201225, + 0.0001207590103149414, + 1.0 + ], + [ + -0.0015079528093338013, + 0.009810147807002068, + -0.01268571987748146, + 0.03964048624038696, + -0.0026783952489495277, + 0.012787699699401855, + 0.0 + ], + [ + -0.0032103359699249268, + 0.0031779706478118896, + -0.021875573322176933, + 0.12071926146745682, + -0.023324957117438316, + -0.020664453506469727, + 0.0 + ], + [ + 0.004540339112281799, + 0.0011088140308856964, + -0.001545703038573265, + 0.02124009281396866, + -0.009123653173446655, + -0.016167879104614258, + 0.0 + ], + [ + 0.009884342551231384, + -0.0002964138984680176, + 0.013083014637231827, + -0.03246845304965973, + 0.010351192206144333, + -0.02223801612854004, + 0.0 + ], + [ + 0.024948865175247192, + 0.014128118753433228, + 0.04790093004703522, + -0.17008888721466064, + 0.01200416125357151, + 0.03070533275604248, + 0.0 + ], + [ + 0.01063266396522522, + 0.014755062758922577, + 0.0292704775929451, + -0.1057279109954834, + -0.0026472248136997223, + 0.05443847179412842, + 0.0 + ], + [ + -0.0004767179489135742, + 0.017728690057992935, + 0.007291331887245178, + -0.032386839389801025, + 0.004279492422938347, + 0.06643998622894287, + 0.0 + ], + [ + 0.0013786852359771729, + 0.01933983713388443, + 0.005922205746173859, + -0.025815576314926147, + 0.024164164438843727, + 0.08084166049957275, + 0.0 + ], + [ + -0.0004075765609741211, + 0.021666884422302246, + 0.00020569562911987305, + 0.02571845054626465, + 0.012056851759552956, + 0.08039581775665283, + 0.0 + ], + [ + 0.0002706944942474365, + 0.01522296667098999, + 0.0029619932174682617, + 0.032449424266815186, + 0.03143009543418884, + 0.06853771209716797, + 0.0 + ], + [ + 9.09566879272461e-05, + 0.010480687022209167, + -0.007689826190471649, + 0.05200541019439697, + 0.017892833799123764, + 0.02622675895690918, + 0.0 + ], + [ + -0.0021414458751678467, + 0.01493273675441742, + -0.005859903991222382, + 0.017269015312194824, + 0.018943388015031815, + 0.024657249450683594, + 0.0 + ], + [ + 0.0022553205490112305, + 0.014688313007354736, + -0.006359763443470001, + 0.01531153917312622, + 0.0002586245536804199, + 0.003887176513671875, + 0.0 + ], + [ + 0.0014026463031768799, + 0.01164853572845459, + -0.0006597638130187988, + -0.0015217959880828857, + 0.010019779205322266, + 0.00897073745727539, + 0.0 + ], + [ + 0.0014830827713012695, + 0.008926331996917725, + -0.004575625061988831, + 0.021262139081954956, + 0.004861190915107727, + 0.01050257682800293, + 0.0 + ], + [ + 0.003772556781768799, + 0.002518564462661743, + -0.004323713481426239, + 0.01503145694732666, + 8.814036846160889e-05, + -0.00260162353515625, + 0.0 + ], + [ + 0.0016706287860870361, + 0.0004986971616744995, + 0.000946439802646637, + -0.003095388412475586, + -1.897662878036499e-05, + -0.0020051002502441406, + 0.0 + ], + [ + 0.002986609935760498, + -0.002910241484642029, + -0.0026022493839263916, + 0.006345689296722412, + -0.0053982213139534, + -0.015721559524536133, + 0.0 + ], + [ + 0.0009248256683349609, + 0.0012754052877426147, + -0.0007891952991485596, + -0.007189273834228516, + -0.011970989406108856, + -0.00756525993347168, + 0.0 + ], + [ + 0.002404928207397461, + -0.0026052892208099365, + -0.002619899809360504, + 0.0033158957958221436, + -0.009100928902626038, + -0.003250598907470703, + 0.0 + ], + [ + 0.0034095048904418945, + -0.005035698413848877, + -2.9027462005615234e-05, + -0.0017099082469940186, + -0.010875392705202103, + -0.013750553131103516, + 0.0 + ], + [ + 0.005337744951248169, + -0.004579067230224609, + -0.0018655508756637573, + 0.0022812187671661377, + -0.0036296285688877106, + -0.012686729431152344, + 1.0 + ], + [ + 0.005718797445297241, + -0.0015884339809417725, + 0.001878984272480011, + -0.0029220283031463623, + -0.013741910457611084, + -0.02392292022705078, + 1.0 + ], + [ + 0.0013024508953094482, + -0.0007205605506896973, + -4.633516073226929e-05, + -0.0028957724571228027, + -0.006682746112346649, + -0.0077745914459228516, + 1.0 + ], + [ + 0.0011591911315917969, + -0.003601774573326111, + 0.00034487247467041016, + 0.0031339526176452637, + -0.0008345320820808411, + -0.009988784790039062, + 1.0 + ], + [ + 0.003089815378189087, + -0.00864003598690033, + 0.00816432386636734, + -0.011958837509155273, + 0.004507649689912796, + -0.014567136764526367, + 1.0 + ], + [ + 0.017978280782699585, + -0.018442317843437195, + 0.03379317373037338, + -0.07336986064910889, + 0.0004887655377388, + -0.09012138843536377, + 1.0 + ], + [ + 0.01376187801361084, + -0.031612828373909, + 0.024896472692489624, + -0.02594780921936035, + -0.03269684314727783, + -0.17111635208129883, + 1.0 + ], + [ + 0.004169642925262451, + -0.046667613089084625, + 0.009333506226539612, + 0.026708543300628662, + -0.01838582381606102, + -0.2516615390777588, + 1.0 + ], + [ + -0.003613978624343872, + -0.042718660086393356, + -0.003941759467124939, + 0.021788358688354492, + 0.028559323400259018, + -0.256014347076416, + 1.0 + ], + [ + -0.012894153594970703, + -0.016165612265467644, + 0.008525937795639038, + 0.1387304812669754, + 0.020398613065481186, + -0.24673593044281006, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9445669651031494 + ], + [ + 0.6611326336860657 + ], + [ + 0.5829154849052429 + ], + [ + 0.5829154849052429 + ], + [ + 0.5829154849052429 + ], + [ + 0.5829154849052429 + ], + [ + 0.5829154849052429 + ], + [ + 0.5829154849052429 + ], + [ + 0.5829154849052429 + ], + [ + 0.5829154849052429 + ], + [ + 0.5829154849052429 + ], + [ + 0.5829154849052429 + ], + [ + 0.5829154849052429 + ], + [ + 0.5829154849052429 + ], + [ + 0.5829154849052429 + ], + [ + 0.5829154849052429 + ], + [ + 0.5829154849052429 + ], + [ + 0.5829154849052429 + ], + [ + 0.5829154849052429 + ], + [ + 0.5829154849052429 + ], + [ + 0.5829154849052429 + ], + [ + 0.6500836610794067 + ], + [ + 0.9437892436981201 + ], + [ + 1.002137303352356 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3870331346988678, + 0.027823101729154587, + 0.11698828637599945 + ], + [ + 0.3879252076148987, + 0.02174026519060135, + 0.1157245859503746 + ], + [ + 0.38893622159957886, + 0.007272981107234955, + 0.12408256530761719 + ], + [ + 0.38878223299980164, + 0.00310642016120255, + 0.14792150259017944 + ], + [ + 0.3724716305732727, + 0.00034930199035443366, + 0.16257110238075256 + ], + [ + 0.3356805741786957, + -0.010301227681338787, + 0.15476274490356445 + ], + [ + 0.30147886276245117, + -0.02197391726076603, + 0.12690074741840363 + ], + [ + 0.263522207736969, + -0.025310227647423744, + 0.09321630746126175 + ], + [ + 0.24636048078536987, + -0.02173250913619995, + 0.0705133005976677 + ], + [ + 0.24032938480377197, + -0.016945363953709602, + 0.061304304748773575 + ], + [ + 0.23938724398612976, + -0.0111784553155303, + 0.05858749896287918 + ], + [ + 0.2398979663848877, + 6.195575679157628e-06, + 0.05853918939828873 + ], + [ + 0.24062620103359222, + 0.00833507813513279, + 0.05854832008481026 + ], + [ + 0.23911824822425842, + 0.018145225942134857, + 0.045862600207328796 + ], + [ + 0.2359079122543335, + 0.021323196589946747, + 0.023987026885151863 + ], + [ + 0.2404482513666153, + 0.022432010620832443, + 0.022441323846578598 + ], + [ + 0.2503325939178467, + 0.022135596722364426, + 0.035524338483810425 + ], + [ + 0.27528145909309387, + 0.03626371547579765, + 0.08342526853084564 + ], + [ + 0.2859141230583191, + 0.05101877823472023, + 0.11269574612379074 + ], + [ + 0.2854374051094055, + 0.06874746829271317, + 0.11998707801103592 + ], + [ + 0.2868160903453827, + 0.0880873054265976, + 0.12590928375720978 + ], + [ + 0.28640851378440857, + 0.10975418984889984, + 0.12611497938632965 + ], + [ + 0.286679208278656, + 0.12497715651988983, + 0.1290769726037979 + ], + [ + 0.28677016496658325, + 0.135457843542099, + 0.12138714641332626 + ], + [ + 0.2846287190914154, + 0.15039058029651642, + 0.11552724242210388 + ], + [ + 0.28688403964042664, + 0.16507889330387115, + 0.10916747897863388 + ], + [ + 0.2882866859436035, + 0.17672742903232574, + 0.10850771516561508 + ], + [ + 0.2897697687149048, + 0.18565376102924347, + 0.10393209010362625 + ], + [ + 0.2935423254966736, + 0.1881723254919052, + 0.09960837662220001 + ], + [ + 0.2952129542827606, + 0.1886710226535797, + 0.10055481642484665 + ], + [ + 0.2981995642185211, + 0.18576078116893768, + 0.09795256704092026 + ], + [ + 0.2991243898868561, + 0.1870361864566803, + 0.0971633717417717 + ], + [ + 0.30152931809425354, + 0.18443089723587036, + 0.0945434719324112 + ], + [ + 0.30493882298469543, + 0.17939519882202148, + 0.09451444447040558 + ], + [ + 0.3102765679359436, + 0.17481613159179688, + 0.09264889359474182 + ], + [ + 0.31599536538124084, + 0.1732276976108551, + 0.09452787786722183 + ], + [ + 0.3172978162765503, + 0.1725071370601654, + 0.09448154270648956 + ], + [ + 0.3184570074081421, + 0.1689053624868393, + 0.09482641518115997 + ], + [ + 0.3215468227863312, + 0.16026532649993896, + 0.10299073904752731 + ], + [ + 0.33952510356903076, + 0.14182300865650177, + 0.1367839127779007 + ], + [ + 0.3532869815826416, + 0.11021018028259277, + 0.16168038547039032 + ], + [ + 0.35745662450790405, + 0.06354256719350815, + 0.17101389169692993 + ], + [ + 0.3538426458835602, + 0.020823907107114792, + 0.167072132229805 + ], + [ + 0.3409484922885895, + 0.0046582953073084354, + 0.17559807002544403 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.35508994056194515, + 0.9055432474720406, + 0.2321692509130026, + 0.9171677893024466, + -0.3855167531119707, + 0.10089637920196518, + 0.1808711706651372, + 0.17711086931014233, + -0.9674282193498537 + ], + [ + 0.37005836273641823, + 0.8989635183162257, + 0.23435315424665037, + 0.9093655128154152, + -0.4021191561118176, + 0.10655772327652462, + 0.19002939843823702, + 0.17368009967878428, + -0.9662939773716739 + ], + [ + 0.3953901769630889, + 0.8806595285189665, + 0.2609701185765302, + 0.8956532296611108, + -0.4326540847164693, + 0.10303268984053043, + 0.20364650784807964, + 0.19300061607908198, + -0.9598327260696918 + ], + [ + 0.36995600532802286, + 0.869429606176784, + 0.32745184993371845, + 0.8995681381733484, + -0.4233139179615999, + 0.1076219849442281, + 0.2321846655252402, + 0.25474985135085454, + -0.9387186981900648 + ], + [ + 0.3243461240509632, + 0.8745495631176864, + 0.36050333349884783, + 0.9125114991219042, + -0.38968859207143325, + 0.12436062551981364, + 0.24924356718561952, + 0.28862755041757254, + -0.9244305173221725 + ], + [ + 0.2225130728037557, + 0.9182637410515511, + 0.32753569927786585, + 0.9560262234948478, + -0.27135311213830154, + 0.11127150813679859, + 0.1910544226695885, + 0.2883733524493351, + -0.9382638313265208 + ], + [ + 0.10623920994085034, + 0.9573994642406692, + 0.268513493409221, + 0.989601459677485, + -0.1281383294134918, + 0.06534156058214942, + 0.0969648455644373, + 0.25877950924831605, + -0.961057222187038 + ], + [ + -0.0449635398378192, + 0.9666832805341986, + 0.25199546666734374, + 0.9989153314430269, + 0.040450671719320264, + 0.023063038948135384, + 0.012101268252553893, + 0.2527591309786756, + -0.96745355496457 + ], + [ + -0.17027009375877572, + 0.9524900532208562, + 0.25252879773742176, + 0.9853974259659195, + 0.1645605537537202, + 0.04372341532873293, + 8.983939903109417e-05, + 0.25628601730020106, + -0.9666009876186155 + ], + [ + -0.17093202476369684, + 0.9509661324803826, + 0.25777055259568826, + 0.9850445660608533, + 0.15918556068266232, + 0.06593299738470719, + 0.02166669758334984, + 0.26518554286659357, + -0.9639539315083382 + ], + [ + -0.17239169757061185, + 0.9501108076663695, + 0.2599433703026136, + 0.9849402564620694, + 0.16273397943365725, + 0.05839814327629647, + 0.013183087997717322, + 0.2660960448658435, + -0.963856369537287 + ], + [ + -0.17546242768361636, + 0.9500653463140856, + 0.2580480075576409, + 0.9843558736687836, + 0.1650416324940372, + 0.0616828462173149, + 0.01601407022394505, + 0.26483409387161577, + -0.9641610095197082 + ], + [ + -0.17558550463657563, + 0.9498693313453128, + 0.2586851057388639, + 0.9843582706867335, + 0.1655427138982456, + 0.06028602496289431, + 0.014440411771905123, + 0.2652241754531659, + -0.9640786333401679 + ], + [ + -0.18815053031126516, + 0.9572649822870282, + 0.21964319163271354, + 0.9819910059844023, + 0.17945933168571826, + 0.059059397530422164, + 0.01711847275111722, + 0.22679969567424602, + -0.9737909713756532 + ], + [ + -0.16770683511190526, + 0.980790900648023, + 0.09961740140551781, + 0.9850073961581011, + 0.16256361636665478, + 0.05773647155510088, + 0.040433240911236706, + 0.10780667808551996, + -0.9933493208280655 + ], + [ + -0.15169778411959095, + 0.9853244861567372, + 0.07825240745924376, + 0.9871842863750626, + 0.1470629812133783, + 0.0619650247380863, + 0.049547623831664014, + 0.08664950396046751, + -0.9950059780906044 + ], + [ + -0.12976872193089511, + 0.9850857951467519, + 0.11298696831278228, + 0.9907688506410158, + 0.12431691984032972, + 0.0540591161682611, + 0.039206675552800094, + 0.11895915114653721, + -0.9921247688424035 + ], + [ + -0.16018854065028126, + 0.9472675217557254, + 0.27753175254572215, + 0.9867113511471248, + 0.14591785054621959, + 0.07147510342340894, + 0.0272092072973297, + 0.2852932230508427, + -0.9580539838232047 + ], + [ + -0.2136236244287879, + 0.9040705380796178, + 0.3701640302113899, + 0.9764597303262198, + 0.1860222296701335, + 0.10918848437357567, + 0.029855353576111132, + 0.38477550889444967, + -0.9225272167355623 + ], + [ + -0.2780135396757723, + 0.8770406155498232, + 0.39180126395015064, + 0.9602365660690766, + 0.24288536167138436, + 0.13766785488860186, + 0.02557750849508522, + 0.41449542791416716, + -0.9096918881123628 + ], + [ + -0.3547638737018861, + 0.8407300002501833, + 0.4090423701713055, + 0.9349548590623603, + 0.3183473388465805, + 0.1565706976575843, + 0.0014161326612991965, + 0.4379817787632581, + -0.8989827340053079 + ], + [ + -0.4286796589993653, + 0.8201974054127347, + 0.3788270926351571, + 0.9033938948947621, + 0.39408559898622836, + 0.16904440641008178, + -0.010640518176252362, + 0.4146959812029575, + -0.9098978088483658 + ], + [ + -0.4891358188929583, + 0.7968312741378552, + 0.3546915155903194, + 0.8711929988973977, + 0.46595414902818366, + 0.15462693709564468, + -0.04205840401244748, + 0.3846383386497815, + -0.9221086915828643 + ], + [ + -0.511346143703016, + 0.798418093636964, + 0.3178893975475925, + 0.8572827945315238, + 0.4997142537047597, + 0.12390268295931597, + -0.059927719131268625, + 0.33587827020724614, + -0.9399970511029876 + ], + [ + -0.5316259235444132, + 0.7879462286744697, + 0.3106680191671316, + 0.8433033077301023, + 0.5265622624199457, + 0.1075719060287397, + -0.07882517736749801, + 0.31917538205956253, + -0.9444118100172795 + ], + [ + -0.5348890111715544, + 0.7905092201950585, + 0.2983101046134994, + 0.8412131868315638, + 0.5312910780187338, + 0.10044981193798284, + -0.07908299456015225, + 0.3046718943458553, + -0.9491685397057293 + ], + [ + -0.54195531395283, + 0.7835896816333269, + 0.30376248701258457, + 0.8356742557466296, + 0.5407758566315543, + 0.09596880309103238, + -0.0890672552659283, + 0.3058572930668646, + -0.9479020731685336 + ], + [ + -0.550456099598344, + 0.7833600307455828, + 0.28869559166232145, + 0.8295657657583428, + 0.552116299668184, + 0.08359564535600288, + -0.09390805448284269, + 0.28550771245448325, + -0.9537644486099573 + ], + [ + -0.5482914607780471, + 0.7890345632619535, + 0.277129810767253, + 0.8309881242734238, + 0.5512794542295065, + 0.07449631306953468, + -0.0939958049830516, + 0.2711372739452024, + -0.9579401689683716 + ], + [ + -0.5466251244800127, + 0.7892791338864598, + 0.2797131067695087, + 0.8320873230806407, + 0.5494603987328217, + 0.07565683705298677, + -0.09397691235460016, + 0.27410165821426286, + -0.957098020533157 + ], + [ + -0.5337404661504852, + 0.8003613210029187, + 0.2730254029132196, + 0.8409940162420232, + 0.5362037262664099, + 0.07221238524746908, + -0.08860123835802021, + 0.2681554022959076, + -0.9592927086040764 + ], + [ + -0.5278866680842288, + 0.8041515197966069, + 0.2732690960715065, + 0.8458470208989561, + 0.5268208666735458, + 0.08368148943281764, + -0.07667126512124355, + 0.27531819345285014, + -0.9582908793568718 + ], + [ + -0.5254801319626368, + 0.8080672369469579, + 0.2662667299634691, + 0.8481165437985294, + 0.522369694975072, + 0.08847728469436338, + -0.06759407553748362, + 0.27231827398204356, + -0.9598300884050643 + ], + [ + -0.5141169038110345, + 0.8162497430354824, + 0.26347706960998474, + 0.8558413447786589, + 0.5085086198238058, + 0.09462862216235184, + -0.056739772498772684, + 0.27414474381136217, + -0.9600131549397594 + ], + [ + -0.5033184808273181, + 0.8237343654737257, + 0.26102145887891803, + 0.8624669484620167, + 0.4974667414641863, + 0.09315365772540143, + -0.05311562546273327, + 0.27200833861226126, + -0.9608278691092904 + ], + [ + -0.48285084081934354, + 0.8364513163382256, + 0.25923784622640117, + 0.8748163288374599, + 0.47405683485346667, + 0.09983240019183597, + -0.03938853030265173, + 0.2749896593051513, + -0.9606400111154201 + ], + [ + -0.476149747469611, + 0.8402396030452434, + 0.25938162513755153, + 0.8787556342358892, + 0.46562201693082267, + 0.10480778906146515, + -0.032710140374286226, + 0.2778372668013497, + -0.9600710910620369 + ], + [ + -0.467361040211429, + 0.8457678323426899, + 0.25739159245561755, + 0.8834916954553703, + 0.45732129966980195, + 0.10148720574396802, + -0.03187604357329056, + 0.2748345004592234, + -0.9609630144825777 + ], + [ + -0.45437201772808455, + 0.8485966502127675, + 0.27097932532460767, + 0.8900688106677972, + 0.44490167714720696, + 0.0991968242839245, + -0.03638106351005373, + 0.2862625070093406, + -0.9574602839275398 + ], + [ + -0.37241572143736645, + 0.8623098116851451, + 0.3431156060248728, + 0.9273333652542703, + 0.36044337607936705, + 0.10066480182614937, + -0.03686950111509388, + 0.35567170440173856, + -0.9338834395016791 + ], + [ + -0.20920846550055122, + 0.9041687117740641, + 0.37243893272821793, + 0.9778621258480128, + 0.19506705300497468, + 0.0757265321004443, + -0.004181004055235443, + 0.38003655808459236, + -0.924962017449531 + ], + [ + 0.04087870449633302, + 0.9338015108809274, + 0.3554485473246427, + 0.9990631454173582, + -0.04325802940278889, + -0.0012547354152777912, + 0.014204329884805772, + 0.35516683568245033, + -0.9346950068572311 + ], + [ + 0.29253530516096476, + 0.9024817657981244, + 0.31614831588398556, + 0.9561469851624819, + -0.271091404585117, + -0.11087106531807543, + -0.014354023793966997, + 0.33471796002301324, + -0.9422090262988116 + ], + [ + 0.5169461569768097, + 0.8419392655989726, + 0.1546122369981463, + 0.8553124440725617, + -0.5006937247823222, + -0.13321567842497256, + -0.03474613361986124, + 0.20110710332125864, + -0.9789528278687405 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006776.json b/json/chunk-0006/episode_0006776.json new file mode 100644 index 0000000000000000000000000000000000000000..cd7ed9f239e010a60aa603bdef8c0d1b04c9947d --- /dev/null +++ b/json/chunk-0006/episode_0006776.json @@ -0,0 +1,2902 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 47, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMoved the yellow knife below the right burner." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006776.mp4", + "start": 0, + "end": 47, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.35248324275016785, + 0.0759466141462326, + 0.09912165254354477, + -0.11379241198301315, + -0.13155627250671387, + 1.1424591541290283, + 0.0, + 1.0001531839370728 + ], + [ + 0.3507971465587616, + 0.07271329313516617, + 0.08547357469797134, + -0.0881740152835846, + -0.10685894638299942, + 1.1408286094665527, + 0.0, + 1.0001531839370728 + ], + [ + 0.35926002264022827, + 0.059126947075128555, + 0.06793753057718277, + -0.09074987471103668, + -0.096566341817379, + 1.1310746669769287, + 0.0, + 1.0001531839370728 + ], + [ + 0.3641963005065918, + 0.0361308753490448, + 0.05714728310704231, + -0.08531176298856735, + -0.0883750393986702, + 1.0745209455490112, + 0.0, + 1.0001531839370728 + ], + [ + 0.36886128783226013, + 0.016628848388791084, + 0.05534566938877106, + -0.1216747909784317, + -0.08601454645395279, + 1.0342681407928467, + 0.0, + 1.0001531839370728 + ], + [ + 0.3687305450439453, + -0.0024906827602535486, + 0.05815665423870087, + -0.11502504348754883, + -0.0649508386850357, + 1.0163180828094482, + 0.0, + 1.0001531839370728 + ], + [ + 0.37678149342536926, + -0.013655527494847775, + 0.07512275874614716, + -0.1215745285153389, + -0.038597289472818375, + 1.0201517343521118, + 0.0, + 1.0001531839370728 + ], + [ + 0.38053011894226074, + -0.02412555366754532, + 0.06284703314304352, + -0.07643349468708038, + -0.04259277880191803, + 1.0295429229736328, + 0.0, + 1.0001531839370728 + ], + [ + 0.3842739760875702, + -0.03484245017170906, + 0.05749829486012459, + -0.056691382080316544, + -0.0485355518758297, + 1.0210888385772705, + 0.0, + 1.0001531839370728 + ], + [ + 0.38648051023483276, + -0.03609282523393631, + 0.05306318402290344, + -0.05498947575688362, + -0.068265900015831, + 1.0275777578353882, + 0.0, + 1.0001531839370728 + ], + [ + 0.38823843002319336, + -0.037054870277643204, + 0.05295586958527565, + -0.06293302029371262, + -0.08219514787197113, + 1.0329827070236206, + 0.0, + 1.0001531839370728 + ], + [ + 0.3887094557285309, + -0.03525024652481079, + 0.05304762348532677, + -0.06228524446487427, + -0.08943146467208862, + 1.0457072257995605, + 0.0, + 1.0001531839370728 + ], + [ + 0.3877393901348114, + -0.028520531952381134, + 0.05310659110546112, + -0.04677616059780121, + -0.10213669389486313, + 1.0678911209106445, + 0.0, + 1.0001531839370728 + ], + [ + 0.38738295435905457, + -0.02397765778005123, + 0.04835610091686249, + -0.025053277611732483, + -0.09494657069444656, + 1.0801042318344116, + 0.0, + 1.0001531839370728 + ], + [ + 0.38722214102745056, + -0.020879674702882767, + 0.04361049085855484, + -0.028165917843580246, + -0.11847097426652908, + 1.066357135772705, + 0.0, + 0.9994885921478271 + ], + [ + 0.38414663076400757, + -0.02201067842543125, + 0.03631758317351341, + -0.02294994704425335, + -0.1389034390449524, + 1.0562902688980103, + 0.0, + 0.9994885921478271 + ], + [ + 0.3836590647697449, + -0.02134917862713337, + 0.032786909490823746, + -0.03447341173887253, + -0.14729946851730347, + 1.0654816627502441, + 0.0, + 0.9994885921478271 + ], + [ + 0.3838140368461609, + -0.017918134108185768, + 0.03190085291862488, + -0.03777609020471573, + -0.15114325284957886, + 1.0824631452560425, + 0.0, + 0.9468915462493896 + ], + [ + 0.3832167983055115, + -0.017816299572587013, + 0.03127416595816612, + -0.03364543989300728, + -0.14957329630851746, + 1.083764910697937, + 0.0, + 0.6831957101821899 + ], + [ + 0.38172653317451477, + -0.019714264199137688, + 0.03181255981326103, + -0.03116959147155285, + -0.13409435749053955, + 1.0886982679367065, + 0.0, + 0.38577979803085327 + ], + [ + 0.3810511827468872, + -0.020655794069170952, + 0.033249128609895706, + -0.02411603555083275, + -0.12457678467035294, + 1.0851802825927734, + 0.0, + 0.3331759572029114 + ], + [ + 0.386603981256485, + -0.021852385252714157, + 0.039405982941389084, + -0.039990153163671494, + -0.1210450679063797, + 1.1047712564468384, + 0.0, + 0.3331759572029114 + ], + [ + 0.3878769278526306, + -0.01848553866147995, + 0.04344773292541504, + -0.04445212334394455, + -0.10391635447740555, + 1.1440335512161255, + 0.0, + 0.3331759572029114 + ], + [ + 0.3913060128688812, + -0.016634419560432434, + 0.05899931490421295, + -0.1043984591960907, + -0.07424204051494598, + 1.1777547597885132, + 0.0, + 0.3331759572029114 + ], + [ + 0.3927091360092163, + -0.015893420204520226, + 0.08559519052505493, + -0.18377354741096497, + -0.06046755611896515, + 1.191019058227539, + 0.0, + 0.3331759572029114 + ], + [ + 0.3874705731868744, + -0.01538053061813116, + 0.09368067979812622, + -0.18887627124786377, + -0.029395386576652527, + 1.1976752281188965, + 0.0, + 0.3331759572029114 + ], + [ + 0.36913740634918213, + -0.01311572827398777, + 0.10679487884044647, + -0.21045032143592834, + -0.03292011842131615, + 1.2410951852798462, + 0.0, + 0.3331759572029114 + ], + [ + 0.3477969765663147, + -0.006009692791849375, + 0.10197807848453522, + -0.1870296150445938, + -0.07361727952957153, + 1.3955658674240112, + 0.0, + 0.3331759572029114 + ], + [ + 0.32629480957984924, + -0.003693687031045556, + 0.0981651023030281, + -0.19711962342262268, + -0.08478406071662903, + 1.5090276002883911, + 0.0, + 0.3331759572029114 + ], + [ + 0.3090761601924896, + -0.005548600107431412, + 0.08527158945798874, + -0.16620716452598572, + -0.10580912977457047, + 1.5928196907043457, + 0.0, + 0.3331759572029114 + ], + [ + 0.30010920763015747, + -0.015491796657443047, + 0.07565025985240936, + -0.13943809270858765, + -0.12424159795045853, + 1.627925992012024, + 0.0, + 0.3331759572029114 + ], + [ + 0.2919238209724426, + -0.024791911244392395, + 0.05886577442288399, + -0.134664848446846, + -0.1544140875339508, + 1.6334483623504639, + 0.0, + 0.3331759572029114 + ], + [ + 0.2830410897731781, + -0.030803972855210304, + 0.04192532226443291, + -0.1298452466726303, + -0.18769624829292297, + 1.5762107372283936, + 0.0, + 0.3331759572029114 + ], + [ + 0.28250768780708313, + -0.03595145791769028, + 0.028458163142204285, + -0.10653887689113617, + -0.21489466726779938, + 1.5231068134307861, + 0.0, + 0.3331759572029114 + ], + [ + 0.28224825859069824, + -0.04184384644031525, + 0.018612461164593697, + -0.10199430584907532, + -0.2509627640247345, + 1.516258955001831, + 0.0, + 0.3331759572029114 + ], + [ + 0.287389874458313, + -0.04360329732298851, + 0.015026948414742947, + -0.11054092645645142, + -0.2743507921695709, + 1.5073624849319458, + 0.0, + 0.3331759572029114 + ], + [ + 0.2845650017261505, + -0.045133087784051895, + 0.013729175552725792, + -0.094065822660923, + -0.28014227747917175, + 1.501238226890564, + 0.0, + 0.3901194632053375 + ], + [ + 0.28394803404808044, + -0.040479790419340134, + 0.0160051379352808, + -0.06827608495950699, + -0.2708558142185211, + 1.531191110610962, + 0.0, + 0.6871993541717529 + ], + [ + 0.28148794174194336, + -0.030503053218126297, + 0.02057676948606968, + -0.04804924502968788, + -0.28309592604637146, + 1.5316082239151, + 0.0, + 0.9522681832313538 + ], + [ + 0.2790532410144806, + -0.019717834889888763, + 0.026035992428660393, + -0.02426445111632347, + -0.2794771194458008, + 1.5486732721328735, + 0.0, + 0.9981546401977539 + ], + [ + 0.2808305323123932, + -0.013534384779632092, + 0.037572309374809265, + -0.015258601866662502, + -0.25512099266052246, + 1.5594136714935303, + 0.0, + 0.9974852800369263 + ], + [ + 0.2864606976509094, + -0.009736333973705769, + 0.05350916087627411, + -0.02898470126092434, + -0.22083896398544312, + 1.5578380823135376, + 0.0, + 0.9974852800369263 + ], + [ + 0.303130567073822, + -0.006662936415523291, + 0.06437808275222778, + -0.0749460980296135, + -0.192763090133667, + 1.507108211517334, + 0.0, + 0.9974852800369263 + ], + [ + 0.321111798286438, + -0.0002735209418460727, + 0.08031316101551056, + -0.09795448929071426, + -0.18248026072978973, + 1.353252649307251, + 0.0, + 0.9974852800369263 + ], + [ + 0.32461345195770264, + 0.008777047507464886, + 0.08984058350324631, + -0.07095401734113693, + -0.12244373559951782, + 1.1481400728225708, + 0.0, + 0.9981546401977539 + ], + [ + 0.3307827413082123, + 0.018011638894677162, + 0.1096724420785904, + -0.07449963688850403, + -0.07397071272134781, + 1.0338327884674072, + 0.0, + 0.9974852800369263 + ], + [ + 0.3336787521839142, + 0.02124083787202835, + 0.11345425993204117, + -0.042869776487350464, + -0.0348513163626194, + 0.9773738384246826, + 0.0, + 0.9974852800369263 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9468915462493896 + ], + [ + 0.6831957101821899 + ], + [ + 0.38577979803085327 + ], + [ + 0.3331759572029114 + ], + [ + 0.3331759572029114 + ], + [ + 0.3331759572029114 + ], + [ + 0.3331759572029114 + ], + [ + 0.3331759572029114 + ], + [ + 0.3331759572029114 + ], + [ + 0.3331759572029114 + ], + [ + 0.3331759572029114 + ], + [ + 0.3331759572029114 + ], + [ + 0.3331759572029114 + ], + [ + 0.3331759572029114 + ], + [ + 0.3331759572029114 + ], + [ + 0.3331759572029114 + ], + [ + 0.3331759572029114 + ], + [ + 0.3331759572029114 + ], + [ + 0.3331759572029114 + ], + [ + 0.3901194632053375 + ], + [ + 0.6871993541717529 + ], + [ + 0.9522681832313538 + ], + [ + 0.9981546401977539 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9981546401977539 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.35248324275016785, + 0.0759466141462326, + 0.09912165254354477 + ], + [ + 0.3507971465587616, + 0.07271329313516617, + 0.08547357469797134 + ], + [ + 0.35926002264022827, + 0.059126947075128555, + 0.06793753057718277 + ], + [ + 0.3641963005065918, + 0.0361308753490448, + 0.05714728310704231 + ], + [ + 0.36886128783226013, + 0.016628848388791084, + 0.05534566938877106 + ], + [ + 0.3687305450439453, + -0.0024906827602535486, + 0.05815665423870087 + ], + [ + 0.37678149342536926, + -0.013655527494847775, + 0.07512275874614716 + ], + [ + 0.38053011894226074, + -0.02412555366754532, + 0.06284703314304352 + ], + [ + 0.3842739760875702, + -0.03484245017170906, + 0.05749829486012459 + ], + [ + 0.38648051023483276, + -0.03609282523393631, + 0.05306318402290344 + ], + [ + 0.38823843002319336, + -0.037054870277643204, + 0.05295586958527565 + ], + [ + 0.3887094557285309, + -0.03525024652481079, + 0.05304762348532677 + ], + [ + 0.3877393901348114, + -0.028520531952381134, + 0.05310659110546112 + ], + [ + 0.38738295435905457, + -0.02397765778005123, + 0.04835610091686249 + ], + [ + 0.38722214102745056, + -0.020879674702882767, + 0.04361049085855484 + ], + [ + 0.38414663076400757, + -0.02201067842543125, + 0.03631758317351341 + ], + [ + 0.3836590647697449, + -0.02134917862713337, + 0.032786909490823746 + ], + [ + 0.3838140368461609, + -0.017918134108185768, + 0.03190085291862488 + ], + [ + 0.3832167983055115, + -0.017816299572587013, + 0.03127416595816612 + ], + [ + 0.38172653317451477, + -0.019714264199137688, + 0.03181255981326103 + ], + [ + 0.3810511827468872, + -0.020655794069170952, + 0.033249128609895706 + ], + [ + 0.386603981256485, + -0.021852385252714157, + 0.039405982941389084 + ], + [ + 0.3878769278526306, + -0.01848553866147995, + 0.04344773292541504 + ], + [ + 0.3913060128688812, + -0.016634419560432434, + 0.05899931490421295 + ], + [ + 0.3927091360092163, + -0.015893420204520226, + 0.08559519052505493 + ], + [ + 0.3874705731868744, + -0.01538053061813116, + 0.09368067979812622 + ], + [ + 0.36913740634918213, + -0.01311572827398777, + 0.10679487884044647 + ], + [ + 0.3477969765663147, + -0.006009692791849375, + 0.10197807848453522 + ], + [ + 0.32629480957984924, + -0.003693687031045556, + 0.0981651023030281 + ], + [ + 0.3090761601924896, + -0.005548600107431412, + 0.08527158945798874 + ], + [ + 0.30010920763015747, + -0.015491796657443047, + 0.07565025985240936 + ], + [ + 0.2919238209724426, + -0.024791911244392395, + 0.05886577442288399 + ], + [ + 0.2830410897731781, + -0.030803972855210304, + 0.04192532226443291 + ], + [ + 0.28250768780708313, + -0.03595145791769028, + 0.028458163142204285 + ], + [ + 0.28224825859069824, + -0.04184384644031525, + 0.018612461164593697 + ], + [ + 0.287389874458313, + -0.04360329732298851, + 0.015026948414742947 + ], + [ + 0.2845650017261505, + -0.045133087784051895, + 0.013729175552725792 + ], + [ + 0.28394803404808044, + -0.040479790419340134, + 0.0160051379352808 + ], + [ + 0.28148794174194336, + -0.030503053218126297, + 0.02057676948606968 + ], + [ + 0.2790532410144806, + -0.019717834889888763, + 0.026035992428660393 + ], + [ + 0.2808305323123932, + -0.013534384779632092, + 0.037572309374809265 + ], + [ + 0.2864606976509094, + -0.009736333973705769, + 0.05350916087627411 + ], + [ + 0.303130567073822, + -0.006662936415523291, + 0.06437808275222778 + ], + [ + 0.321111798286438, + -0.0002735209418460727, + 0.08031316101551056 + ], + [ + 0.32461345195770264, + 0.008777047507464886, + 0.08984058350324631 + ], + [ + 0.3307827413082123, + 0.018011638894677162, + 0.1096724420785904 + ], + [ + 0.3336787521839142, + 0.02124083787202835, + 0.11345425993204117 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.4117696365189719, + 0.8975879084399293, + 0.15742208569151542, + 0.9017972766537313, + -0.426221633702739, + 0.07139181174113479, + 0.13117712552479263, + 0.112565827790681, + -0.9849474585747462 + ], + [ + 0.4144638003717189, + 0.9015329866185012, + 0.1243303350761891, + 0.9037944018967167, + -0.4237593135096398, + 0.0598642072861184, + 0.10665569502651273, + 0.0875575139697577, + -0.9904333619511448 + ], + [ + 0.42370438074611233, + 0.8974271351193449, + 0.12287853713337454, + 0.9006544780995752, + -0.4318424818805628, + 0.04830716222691254, + 0.09641633064857294, + 0.09020314847454278, + -0.9912453193783789 + ], + [ + 0.47429535530053346, + 0.8725831386889997, + 0.11680146410038833, + 0.8759304081898249, + -0.4810350992536919, + 0.03675803714015603, + 0.08826004729631101, + 0.08487578784108184, + -0.9924748181639715 + ], + [ + 0.5092653685466865, + 0.8478042005264794, + 0.14790815382751854, + 0.8563109891580034, + -0.5163379939605186, + 0.011250148446554017, + 0.08590852254723964, + 0.12092606651373723, + -0.9889371123541 + ], + [ + 0.5253896291762944, + 0.8406351873491007, + 0.13152269516907705, + 0.8483826112078521, + -0.5293538145170344, + -0.005611065532626858, + 0.06490518125806423, + 0.11452956320010668, + -0.9912972796285937 + ], + [ + 0.5228469534537036, + 0.8434487483951119, + 0.12339072937178257, + 0.8515527301044676, + -0.5233626077054533, + -0.030814423690470917, + 0.038587706796449614, + 0.12118494001511732, + -0.9918796293894356 + ], + [ + 0.5147433801418867, + 0.8528861530193327, + 0.08731816871641863, + 0.8562862865707773, + -0.5164930493326114, + -0.002953882517949251, + 0.04257990172527769, + 0.07628984191217392, + -0.9961760948698185 + ], + [ + 0.521822600546458, + 0.8498713507114385, + 0.07361970387638712, + 0.8516732489376307, + -0.5239425283470608, + 0.011700599698739125, + 0.048516498255257445, + 0.05659429502347975, + -0.9972177471183729 + ], + [ + 0.5156899630052791, + 0.8528176187880399, + 0.08225552346384728, + 0.8540555390087072, + -0.5193220282679427, + 0.02989594026313396, + 0.06821288986812189, + 0.05483374910005587, + -0.9961627686354635 + ], + [ + 0.5105300376183608, + 0.8544854802832046, + 0.09598773189619796, + 0.855931211815233, + -0.5156800240330331, + 0.0381559098148233, + 0.08210262681486964, + 0.06267915760818388, + -0.9946509346859462 + ], + [ + 0.4992867838179772, + 0.860814624387247, + 0.09854384783305199, + 0.861821339085961, + -0.5051283500849768, + 0.04592743664205942, + 0.08931230038903802, + 0.06199622876814627, + -0.994072321623405 + ], + [ + 0.47946130603717957, + 0.8729298368446577, + 0.09005751473076286, + 0.8716198576391051, + -0.4856231206747064, + 0.0667008878152752, + 0.10195920646174338, + 0.04651542338320788, + -0.9937004758000134 + ], + [ + 0.4691139655456547, + 0.8806110004583684, + 0.06675592259673804, + 0.8780343345706555, + -0.4731832315529046, + 0.07178674454393497, + 0.09480398011210397, + 0.024937827669258856, + -0.9951835559865536 + ], + [ + 0.4799287599822229, + 0.8734896603462345, + 0.08175694839061652, + 0.8693092399864204, + -0.4860388705687349, + 0.08982016238295858, + 0.11819403798905571, + 0.02796479151520063, + -0.9925966652267946 + ], + [ + 0.4873651660962546, + 0.8687430861050499, + 0.088094524351089, + 0.8621512622420827, + -0.4947412839213017, + 0.1092074310579921, + 0.13845719876681864, + 0.02272690758938368, + -0.9901076162625303 + ], + [ + 0.47884068626459436, + 0.8720535336362109, + 0.10116437935484178, + 0.8655466090015346, + -0.48822154621923514, + 0.11166373383173087, + 0.14676738337790435, + 0.03409334656347515, + -0.9885833191474078 + ], + [ + 0.4638059904363713, + 0.8798181739385004, + 0.10394221492184448, + 0.8730481917534904, + -0.4738417068717984, + 0.11515594515603998, + 0.15056844991995133, + 0.03733654558663545, + -0.987894287994601 + ], + [ + 0.46277915326562746, + 0.8808799134641508, + 0.09942853392331116, + 0.8738590421054536, + -0.4721695854043829, + 0.11587172713648561, + 0.1490162066128646, + 0.03326350364052565, + -0.9882751183209404 + ], + [ + 0.4594769514347415, + 0.8836620190679516, + 0.08956766803365487, + 0.8780701293207287, + -0.467105519926132, + 0.10394845477070061, + 0.13369285356710253, + 0.030884774748873793, + -0.9905414436528117 + ], + [ + 0.46313609190410765, + 0.8827319101055098, + 0.07930532931189624, + 0.8775338755989486, + -0.46926738851123095, + 0.09860230857408321, + 0.12425480896963007, + 0.02392682514099541, + -0.9919618185628887 + ], + [ + 0.4460509775657171, + 0.8904780006981782, + 0.08993028235941239, + 0.8868246933698841, + -0.4532922623479614, + 0.08982253684280955, + 0.12074969416971251, + 0.03968696471188515, + -0.991889336665073 + ], + [ + 0.41169319457966647, + 0.9075032721476443, + 0.08334581320082768, + 0.9053998668378421, + -0.41771326074533954, + 0.07593887625922283, + 0.10372943009004948, + 0.04419776961357161, + -0.9936230484919213 + ], + [ + 0.3819447851702958, + 0.9157585737762256, + 0.12451672834021087, + 0.9212037885312704, + -0.38805474032981685, + 0.02823293295413927, + 0.07417385709838124, + 0.10392186037062516, + -0.9918157519722386 + ], + [ + 0.37003609908561463, + 0.9090143082582045, + 0.19174533307321712, + 0.9270498444511737, + -0.3747275182637372, + -0.012564750652332368, + 0.06043071467851359, + 0.1824068925171369, + -0.9813642821530065 + ], + [ + 0.3643660725813811, + 0.9126220976945638, + 0.1853598444949549, + 0.9307918807413826, + -0.36317945655964023, + -0.04155907938061479, + 0.029391153389065575, + 0.18767415680540173, + -0.9817915109481453 + ], + [ + 0.3235848619454549, + 0.9230383163765123, + 0.20806994886468988, + 0.9456265089133087, + -0.32312258448686737, + -0.03717930923182343, + 0.0329141726338249, + 0.20878712099969426, + -0.9774070776009811 + ], + [ + 0.17386288094039687, + 0.9651301021168471, + 0.195692576811257, + 0.9820193369046489, + -0.18476151214981612, + 0.03874539422263096, + 0.07355080269078722, + 0.18543750865463465, + -0.9798995916967734 + ], + [ + 0.06150772232631774, + 0.9777408395382646, + 0.20059823227844814, + 0.9945077529639955, + -0.07708711596948792, + 0.070794815106837, + 0.08468252115243802, + 0.19514206940205475, + -0.9771122982343179 + ], + [ + -0.021898426479558253, + 0.986364971705517, + 0.16310917052727195, + 0.9941662863594565, + 0.004249616997987038, + 0.1077744673919487, + 0.10561180797603634, + 0.16451772958482536, + -0.9807038608409205 + ], + [ + -0.056658474021776206, + 0.9896620689120577, + 0.13175282417553336, + 0.9906730552921363, + 0.03934897111508279, + 0.13045518767119846, + 0.1239222128581754, + 0.13791536473101784, + -0.9826609981735528 + ], + [ + -0.06186609786515196, + 0.9902950100979455, + 0.12445231580830333, + 0.9861631617359521, + 0.04143564236265873, + 0.1605157499342185, + 0.15380118455294867, + 0.13266077233720622, + -0.97915591971504 + ], + [ + -0.00531928959832817, + 0.9916982233888767, + 0.12847699749571762, + 0.9824223124097851, + -0.01879143315840537, + 0.18572367140260782, + 0.1865961018820591, + 0.12720658696466425, + -0.9741665047594387 + ], + [ + 0.04657494141368257, + 0.9921186251582347, + 0.11632458229646206, + 0.9758880825817392, + -0.07005124315317235, + 0.2067251160542222, + 0.21324451952453208, + 0.10389156340545394, + -0.9714593753451155 + ], + [ + 0.05280273764195431, + 0.9919457253572349, + 0.11513274444320196, + 0.9672335628083896, + -0.07947449596247114, + 0.24112867823736783, + 0.24833667847199667, + 0.0986280002687871, + -0.9636396690093636 + ], + [ + 0.06102055553243574, + 0.9900030169895104, + 0.12716335224497535, + 0.9606652518253478, + -0.09283131718543786, + 0.2617338733999815, + 0.27092206580094913, + 0.10619026745085158, + -0.9567261161695453 + ], + [ + 0.06679256339317796, + 0.9913665954323647, + 0.11283185248949082, + 0.958692190433927, + -0.09510210333931113, + 0.26807624650729145, + 0.2764923823116423, + 0.09026551612482422, + -0.956767526164194 + ], + [ + 0.03815132425854395, + 0.9961649917278634, + 0.07873871800547345, + 0.9627866764040012, + -0.057741793352077186, + 0.2640221601294545, + 0.2675561477452102, + 0.06573579357026164, + -0.9612973074171338 + ], + [ + 0.037618600274761216, + 0.9975533584216723, + 0.058924850572662696, + 0.9594580621545079, + -0.052538971958725866, + 0.276911327670496, + 0.27932967597461655, + 0.046118906396001094, + -0.9590870547519411 + ], + [ + 0.021262941340751518, + 0.99931294751399, + 0.030356552117144442, + 0.9609645977205387, + -0.028805867684536468, + 0.2751677014381302, + 0.27585309360843274, + 0.02332069719888588, + -0.960916862079553 + ], + [ + 0.011013992423839214, + 0.9997749870841501, + 0.018129180118663893, + 0.9675700838461938, + -0.015231384323441455, + 0.2521430898863996, + 0.2523624869443892, + 0.014764150245746177, + -0.9675201264318816 + ], + [ + 0.012643186964142739, + 0.9994137926318087, + 0.03181541954294137, + 0.9756321012097813, + -0.019300066471483246, + 0.21856237215765906, + 0.21904828899668782, + 0.0282768196850348, + -0.9753041928322277 + ], + [ + 0.062466276566725876, + 0.9942582127839821, + 0.08688251034294142, + 0.9794888006403584, + -0.07778142889929152, + 0.18588098003425974, + 0.1915715368002296, + 0.0734891531451171, + -0.978723500615987 + ], + [ + 0.21224831160420182, + 0.9679193910847576, + 0.13447195463470446, + 0.9602185065692624, + -0.2321262301574954, + 0.1552347670941176, + 0.18146920913218612, + 0.09617414223678755, + -0.9786825126168124 + ], + [ + 0.40711340913350996, + 0.9061560910081502, + 0.11462901392108303, + 0.9051745570910784, + -0.41704926074626697, + 0.08203008780905736, + 0.12213800922997199, + 0.0703637182063369, + -0.9900157846527085 + ], + [ + 0.5101304053014333, + 0.8540686785624098, + 0.10165462058192187, + 0.8569161427347661, + -0.514836881411895, + 0.02525291782436313, + 0.07390327399760505, + 0.07422720415544053, + -0.9944991846430551 + ], + [ + 0.5588620709573217, + 0.8274349288115592, + 0.05499658378393808, + 0.8285282512238474, + -0.5599258668771208, + 0.004894949014854787, + 0.034844261640144314, + 0.04283062204211978, + -0.9984745441152911 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.00168609619140625, + -0.0032333210110664368, + -0.013648077845573425, + 0.02561839669942856, + 0.024697326123714447, + -0.001630544662475586, + 1.0 + ], + [ + 0.008462876081466675, + -0.013586346060037613, + -0.017536044120788574, + -0.0025758594274520874, + 0.010292604565620422, + -0.009753942489624023, + 1.0 + ], + [ + 0.004936277866363525, + -0.022996071726083755, + -0.010790247470140457, + 0.00543811172246933, + 0.008191302418708801, + -0.05655372142791748, + 1.0 + ], + [ + 0.004664987325668335, + -0.019502026960253716, + -0.0018016137182712555, + -0.03636302798986435, + 0.0023604929447174072, + -0.04025280475616455, + 1.0 + ], + [ + -0.00013074278831481934, + -0.01911953091621399, + 0.0028109848499298096, + 0.0066497474908828735, + 0.021063707768917084, + -0.017950057983398438, + 1.0 + ], + [ + 0.00805094838142395, + -0.01116484496742487, + 0.01696610450744629, + -0.00654948502779007, + 0.02635354921221733, + 0.0038336515426635742, + 1.0 + ], + [ + 0.0037486255168914795, + -0.010470026172697544, + -0.012275725603103638, + 0.045141033828258514, + -0.003995489329099655, + 0.009391188621520996, + 1.0 + ], + [ + 0.0037438571453094482, + -0.010716896504163742, + -0.00534873828291893, + 0.01974211260676384, + -0.005942773073911667, + -0.008454084396362305, + 1.0 + ], + [ + 0.0022065341472625732, + -0.0012503750622272491, + -0.004435110837221146, + 0.0017019063234329224, + -0.019730348140001297, + 0.006488919258117676, + 1.0 + ], + [ + 0.0017579197883605957, + -0.0009620450437068939, + -0.00010731443762779236, + -0.007943544536828995, + -0.013929247856140137, + 0.005404949188232422, + 1.0 + ], + [ + 0.0004710257053375244, + 0.0018046237528324127, + 9.175390005111694e-05, + 0.0006477758288383484, + -0.007236316800117493, + 0.012724518775939941, + 1.0 + ], + [ + -0.0009700655937194824, + 0.006729714572429657, + 5.896762013435364e-05, + 0.015509083867073059, + -0.012705229222774506, + 0.022183895111083984, + 1.0 + ], + [ + -0.00035643577575683594, + 0.004542874172329903, + -0.004750490188598633, + 0.021722882986068726, + 0.007190123200416565, + 0.01221311092376709, + 1.0 + ], + [ + -0.0001608133316040039, + 0.0030979830771684647, + -0.004745610058307648, + -0.003112640231847763, + -0.02352440357208252, + -0.013747096061706543, + 1.0 + ], + [ + -0.003075510263442993, + -0.0011310037225484848, + -0.007292907685041428, + 0.005215970799326897, + -0.02043246477842331, + -0.010066866874694824, + 1.0 + ], + [ + -0.0004875659942626953, + 0.0006614997982978821, + -0.0035306736826896667, + -0.011523464694619179, + -0.008396029472351074, + 0.009191393852233887, + 1.0 + ], + [ + 0.00015497207641601562, + 0.0034310445189476013, + -0.0008860565721988678, + -0.0033026784658432007, + -0.0038437843322753906, + 0.01698148250579834, + 0.0 + ], + [ + -0.0005972385406494141, + 0.00010183453559875488, + -0.0006266869604587555, + 0.00413065031170845, + 0.0015699565410614014, + 0.0013017654418945312, + 0.0 + ], + [ + -0.001490265130996704, + -0.0018979646265506744, + 0.0005383938550949097, + 0.0024758484214544296, + 0.015478938817977905, + 0.004933357238769531, + 0.0 + ], + [ + -0.0006753504276275635, + -0.0009415298700332642, + 0.001436568796634674, + 0.0070535559207201, + 0.009517572820186615, + -0.0035179853439331055, + 0.0 + ], + [ + 0.005552798509597778, + -0.0011965911835432053, + 0.006156854331493378, + -0.015874117612838745, + 0.003531716763973236, + 0.01959097385406494, + 0.0 + ], + [ + 0.0012729465961456299, + 0.003366846591234207, + 0.004041749984025955, + -0.004461970180273056, + 0.01712871342897415, + 0.03926229476928711, + 0.0 + ], + [ + 0.0034290850162506104, + 0.0018511191010475159, + 0.015551581978797913, + -0.05994633585214615, + 0.029674313962459564, + 0.033721208572387695, + 0.0 + ], + [ + 0.001403123140335083, + 0.0007409993559122086, + 0.02659587562084198, + -0.07937508821487427, + 0.013774484395980835, + 0.013264298439025879, + 0.0 + ], + [ + -0.005238562822341919, + 0.0005128895863890648, + 0.008085489273071289, + -0.005102723836898804, + 0.031072169542312622, + 0.006656169891357422, + 0.0 + ], + [ + -0.01833316683769226, + 0.0022648023441433907, + 0.013114199042320251, + -0.021574050188064575, + -0.00352473184466362, + 0.04341995716094971, + 0.0 + ], + [ + -0.02134042978286743, + 0.007106035482138395, + -0.004816800355911255, + 0.023420706391334534, + -0.040697161108255386, + 0.15447068214416504, + 0.0 + ], + [ + -0.021502166986465454, + 0.0023160057608038187, + -0.0038129761815071106, + -0.01009000837802887, + -0.011166781187057495, + 0.11346173286437988, + 0.0 + ], + [ + -0.01721864938735962, + -0.0018549130763858557, + -0.012893512845039368, + 0.030912458896636963, + -0.021025069057941437, + 0.08379209041595459, + 0.0 + ], + [ + -0.008966952562332153, + -0.009943196550011635, + -0.009621329605579376, + 0.02676907181739807, + -0.01843246817588806, + 0.03510630130767822, + 0.0 + ], + [ + -0.008185386657714844, + -0.009300114586949348, + -0.016784485429525375, + 0.004773244261741638, + -0.03017248958349228, + 0.005522370338439941, + 0.0 + ], + [ + -0.008882731199264526, + -0.006012061610817909, + -0.01694045215845108, + 0.004819601774215698, + -0.03328216075897217, + -0.05723762512207031, + 0.0 + ], + [ + -0.0005334019660949707, + -0.005147485062479973, + -0.013467159122228622, + 0.02330636978149414, + -0.027198418974876404, + -0.05310392379760742, + 0.0 + ], + [ + -0.0002594292163848877, + -0.0058923885226249695, + -0.009845701977610588, + 0.004544571042060852, + -0.03606809675693512, + -0.006847858428955078, + 0.0 + ], + [ + 0.005141615867614746, + -0.0017594508826732635, + -0.00358551274985075, + -0.008546620607376099, + -0.023388028144836426, + -0.008896470069885254, + 0.0 + ], + [ + -0.0028248727321624756, + -0.001529790461063385, + -0.0012977728620171547, + 0.016475103795528412, + -0.00579148530960083, + -0.006124258041381836, + 1.0 + ], + [ + -0.0006169676780700684, + 0.0046532973647117615, + 0.002275962382555008, + 0.025789737701416016, + 0.009286463260650635, + 0.02995288372039795, + 1.0 + ], + [ + -0.002460092306137085, + 0.009976737201213837, + 0.004571631550788879, + 0.020226839929819107, + -0.012240111827850342, + 0.0004171133041381836, + 1.0 + ], + [ + -0.0024347007274627686, + 0.010785218328237534, + 0.0054592229425907135, + 0.02378479391336441, + 0.0036188066005706787, + 0.017065048217773438, + 1.0 + ], + [ + 0.0017772912979125977, + 0.006183450110256672, + 0.011536316946148872, + 0.009005849249660969, + 0.02435612678527832, + 0.010740399360656738, + 1.0 + ], + [ + 0.005630165338516235, + 0.003798050805926323, + 0.015936851501464844, + -0.013726099394261837, + 0.034282028675079346, + -0.0015755891799926758, + 1.0 + ], + [ + 0.016669869422912598, + 0.003073397558182478, + 0.010868921875953674, + -0.045961394906044006, + 0.028075873851776123, + -0.05072987079620361, + 1.0 + ], + [ + 0.017981231212615967, + 0.006389415357261896, + 0.015935078263282776, + -0.02300839126110077, + 0.010282829403877258, + -0.153855562210083, + 1.0 + ], + [ + 0.0035016536712646484, + 0.00905056856572628, + 0.009527422487735748, + 0.02700047194957733, + 0.06003652513027191, + -0.20511257648468018, + 1.0 + ], + [ + 0.0061692893505096436, + 0.009234591387212276, + 0.019831858575344086, + -0.003545619547367096, + 0.04847302287817001, + -0.11430728435516357, + 1.0 + ], + [ + 0.0028960108757019043, + 0.0032291989773511887, + 0.003781817853450775, + 0.031629860401153564, + 0.03911939635872841, + -0.05645895004272461, + 1.0 + ], + [ + 0.0014756619930267334, + 0.0008984599262475967, + 0.003720805048942566, + 0.0025891996920108795, + 0.001711469143629074, + -0.028706133365631104, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9468915462493896 + ], + [ + 0.6831957101821899 + ], + [ + 0.38577979803085327 + ], + [ + 0.3331759572029114 + ], + [ + 0.3331759572029114 + ], + [ + 0.3331759572029114 + ], + [ + 0.3331759572029114 + ], + [ + 0.3331759572029114 + ], + [ + 0.3331759572029114 + ], + [ + 0.3331759572029114 + ], + [ + 0.3331759572029114 + ], + [ + 0.3331759572029114 + ], + [ + 0.3331759572029114 + ], + [ + 0.3331759572029114 + ], + [ + 0.3331759572029114 + ], + [ + 0.3331759572029114 + ], + [ + 0.3331759572029114 + ], + [ + 0.3331759572029114 + ], + [ + 0.3331759572029114 + ], + [ + 0.3901194632053375 + ], + [ + 0.6871993541717529 + ], + [ + 0.9522681832313538 + ], + [ + 0.9981546401977539 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9981546401977539 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ], + [ + 0.9974852800369263 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3507971465587616, + 0.07271329313516617, + 0.08547357469797134 + ], + [ + 0.35926002264022827, + 0.059126947075128555, + 0.06793753057718277 + ], + [ + 0.3641963005065918, + 0.0361308753490448, + 0.05714728310704231 + ], + [ + 0.36886128783226013, + 0.016628848388791084, + 0.05534566938877106 + ], + [ + 0.3687305450439453, + -0.0024906827602535486, + 0.05815665423870087 + ], + [ + 0.37678149342536926, + -0.013655527494847775, + 0.07512275874614716 + ], + [ + 0.38053011894226074, + -0.02412555366754532, + 0.06284703314304352 + ], + [ + 0.3842739760875702, + -0.03484245017170906, + 0.05749829486012459 + ], + [ + 0.38648051023483276, + -0.03609282523393631, + 0.05306318402290344 + ], + [ + 0.38823843002319336, + -0.037054870277643204, + 0.05295586958527565 + ], + [ + 0.3887094557285309, + -0.03525024652481079, + 0.05304762348532677 + ], + [ + 0.3877393901348114, + -0.028520531952381134, + 0.05310659110546112 + ], + [ + 0.38738295435905457, + -0.02397765778005123, + 0.04835610091686249 + ], + [ + 0.38722214102745056, + -0.020879674702882767, + 0.04361049085855484 + ], + [ + 0.38414663076400757, + -0.02201067842543125, + 0.03631758317351341 + ], + [ + 0.3836590647697449, + -0.02134917862713337, + 0.032786909490823746 + ], + [ + 0.3838140368461609, + -0.017918134108185768, + 0.03190085291862488 + ], + [ + 0.3832167983055115, + -0.017816299572587013, + 0.03127416595816612 + ], + [ + 0.38172653317451477, + -0.019714264199137688, + 0.03181255981326103 + ], + [ + 0.3810511827468872, + -0.020655794069170952, + 0.033249128609895706 + ], + [ + 0.386603981256485, + -0.021852385252714157, + 0.039405982941389084 + ], + [ + 0.3878769278526306, + -0.01848553866147995, + 0.04344773292541504 + ], + [ + 0.3913060128688812, + -0.016634419560432434, + 0.05899931490421295 + ], + [ + 0.3927091360092163, + -0.015893420204520226, + 0.08559519052505493 + ], + [ + 0.3874705731868744, + -0.01538053061813116, + 0.09368067979812622 + ], + [ + 0.36913740634918213, + -0.01311572827398777, + 0.10679487884044647 + ], + [ + 0.3477969765663147, + -0.006009692791849375, + 0.10197807848453522 + ], + [ + 0.32629480957984924, + -0.003693687031045556, + 0.0981651023030281 + ], + [ + 0.3090761601924896, + -0.005548600107431412, + 0.08527158945798874 + ], + [ + 0.30010920763015747, + -0.015491796657443047, + 0.07565025985240936 + ], + [ + 0.2919238209724426, + -0.024791911244392395, + 0.05886577442288399 + ], + [ + 0.2830410897731781, + -0.030803972855210304, + 0.04192532226443291 + ], + [ + 0.28250768780708313, + -0.03595145791769028, + 0.028458163142204285 + ], + [ + 0.28224825859069824, + -0.04184384644031525, + 0.018612461164593697 + ], + [ + 0.287389874458313, + -0.04360329732298851, + 0.015026948414742947 + ], + [ + 0.2845650017261505, + -0.045133087784051895, + 0.013729175552725792 + ], + [ + 0.28394803404808044, + -0.040479790419340134, + 0.0160051379352808 + ], + [ + 0.28148794174194336, + -0.030503053218126297, + 0.02057676948606968 + ], + [ + 0.2790532410144806, + -0.019717834889888763, + 0.026035992428660393 + ], + [ + 0.2808305323123932, + -0.013534384779632092, + 0.037572309374809265 + ], + [ + 0.2864606976509094, + -0.009736333973705769, + 0.05350916087627411 + ], + [ + 0.303130567073822, + -0.006662936415523291, + 0.06437808275222778 + ], + [ + 0.321111798286438, + -0.0002735209418460727, + 0.08031316101551056 + ], + [ + 0.32461345195770264, + 0.008777047507464886, + 0.08984058350324631 + ], + [ + 0.3307827413082123, + 0.018011638894677162, + 0.1096724420785904 + ], + [ + 0.3336787521839142, + 0.02124083787202835, + 0.11345425993204117 + ], + [ + 0.3351544141769409, + 0.022139297798275948, + 0.11717506498098373 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.4144638003717189, + 0.9015329866185012, + 0.1243303350761891, + 0.9037944018967167, + -0.4237593135096398, + 0.0598642072861184, + 0.10665569502651273, + 0.0875575139697577, + -0.9904333619511448 + ], + [ + 0.42370438074611233, + 0.8974271351193449, + 0.12287853713337454, + 0.9006544780995752, + -0.4318424818805628, + 0.04830716222691254, + 0.09641633064857294, + 0.09020314847454278, + -0.9912453193783789 + ], + [ + 0.47429535530053346, + 0.8725831386889997, + 0.11680146410038833, + 0.8759304081898249, + -0.4810350992536919, + 0.03675803714015603, + 0.08826004729631101, + 0.08487578784108184, + -0.9924748181639715 + ], + [ + 0.5092653685466865, + 0.8478042005264794, + 0.14790815382751854, + 0.8563109891580034, + -0.5163379939605186, + 0.011250148446554017, + 0.08590852254723964, + 0.12092606651373723, + -0.9889371123541 + ], + [ + 0.5253896291762944, + 0.8406351873491007, + 0.13152269516907705, + 0.8483826112078521, + -0.5293538145170344, + -0.005611065532626858, + 0.06490518125806423, + 0.11452956320010668, + -0.9912972796285937 + ], + [ + 0.5228469534537036, + 0.8434487483951119, + 0.12339072937178257, + 0.8515527301044676, + -0.5233626077054533, + -0.030814423690470917, + 0.038587706796449614, + 0.12118494001511732, + -0.9918796293894356 + ], + [ + 0.5147433801418867, + 0.8528861530193327, + 0.08731816871641863, + 0.8562862865707773, + -0.5164930493326114, + -0.002953882517949251, + 0.04257990172527769, + 0.07628984191217392, + -0.9961760948698185 + ], + [ + 0.521822600546458, + 0.8498713507114385, + 0.07361970387638712, + 0.8516732489376307, + -0.5239425283470608, + 0.011700599698739125, + 0.048516498255257445, + 0.05659429502347975, + -0.9972177471183729 + ], + [ + 0.5156899630052791, + 0.8528176187880399, + 0.08225552346384728, + 0.8540555390087072, + -0.5193220282679427, + 0.02989594026313396, + 0.06821288986812189, + 0.05483374910005587, + -0.9961627686354635 + ], + [ + 0.5105300376183608, + 0.8544854802832046, + 0.09598773189619796, + 0.855931211815233, + -0.5156800240330331, + 0.0381559098148233, + 0.08210262681486964, + 0.06267915760818388, + -0.9946509346859462 + ], + [ + 0.4992867838179772, + 0.860814624387247, + 0.09854384783305199, + 0.861821339085961, + -0.5051283500849768, + 0.04592743664205942, + 0.08931230038903802, + 0.06199622876814627, + -0.994072321623405 + ], + [ + 0.47946130603717957, + 0.8729298368446577, + 0.09005751473076286, + 0.8716198576391051, + -0.4856231206747064, + 0.0667008878152752, + 0.10195920646174338, + 0.04651542338320788, + -0.9937004758000134 + ], + [ + 0.4691139655456547, + 0.8806110004583684, + 0.06675592259673804, + 0.8780343345706555, + -0.4731832315529046, + 0.07178674454393497, + 0.09480398011210397, + 0.024937827669258856, + -0.9951835559865536 + ], + [ + 0.4799287599822229, + 0.8734896603462345, + 0.08175694839061652, + 0.8693092399864204, + -0.4860388705687349, + 0.08982016238295858, + 0.11819403798905571, + 0.02796479151520063, + -0.9925966652267946 + ], + [ + 0.4873651660962546, + 0.8687430861050499, + 0.088094524351089, + 0.8621512622420827, + -0.4947412839213017, + 0.1092074310579921, + 0.13845719876681864, + 0.02272690758938368, + -0.9901076162625303 + ], + [ + 0.47884068626459436, + 0.8720535336362109, + 0.10116437935484178, + 0.8655466090015346, + -0.48822154621923514, + 0.11166373383173087, + 0.14676738337790435, + 0.03409334656347515, + -0.9885833191474078 + ], + [ + 0.4638059904363713, + 0.8798181739385004, + 0.10394221492184448, + 0.8730481917534904, + -0.4738417068717984, + 0.11515594515603998, + 0.15056844991995133, + 0.03733654558663545, + -0.987894287994601 + ], + [ + 0.46277915326562746, + 0.8808799134641508, + 0.09942853392331116, + 0.8738590421054536, + -0.4721695854043829, + 0.11587172713648561, + 0.1490162066128646, + 0.03326350364052565, + -0.9882751183209404 + ], + [ + 0.4594769514347415, + 0.8836620190679516, + 0.08956766803365487, + 0.8780701293207287, + -0.467105519926132, + 0.10394845477070061, + 0.13369285356710253, + 0.030884774748873793, + -0.9905414436528117 + ], + [ + 0.46313609190410765, + 0.8827319101055098, + 0.07930532931189624, + 0.8775338755989486, + -0.46926738851123095, + 0.09860230857408321, + 0.12425480896963007, + 0.02392682514099541, + -0.9919618185628887 + ], + [ + 0.4460509775657171, + 0.8904780006981782, + 0.08993028235941239, + 0.8868246933698841, + -0.4532922623479614, + 0.08982253684280955, + 0.12074969416971251, + 0.03968696471188515, + -0.991889336665073 + ], + [ + 0.41169319457966647, + 0.9075032721476443, + 0.08334581320082768, + 0.9053998668378421, + -0.41771326074533954, + 0.07593887625922283, + 0.10372943009004948, + 0.04419776961357161, + -0.9936230484919213 + ], + [ + 0.3819447851702958, + 0.9157585737762256, + 0.12451672834021087, + 0.9212037885312704, + -0.38805474032981685, + 0.02823293295413927, + 0.07417385709838124, + 0.10392186037062516, + -0.9918157519722386 + ], + [ + 0.37003609908561463, + 0.9090143082582045, + 0.19174533307321712, + 0.9270498444511737, + -0.3747275182637372, + -0.012564750652332368, + 0.06043071467851359, + 0.1824068925171369, + -0.9813642821530065 + ], + [ + 0.3643660725813811, + 0.9126220976945638, + 0.1853598444949549, + 0.9307918807413826, + -0.36317945655964023, + -0.04155907938061479, + 0.029391153389065575, + 0.18767415680540173, + -0.9817915109481453 + ], + [ + 0.3235848619454549, + 0.9230383163765123, + 0.20806994886468988, + 0.9456265089133087, + -0.32312258448686737, + -0.03717930923182343, + 0.0329141726338249, + 0.20878712099969426, + -0.9774070776009811 + ], + [ + 0.17386288094039687, + 0.9651301021168471, + 0.195692576811257, + 0.9820193369046489, + -0.18476151214981612, + 0.03874539422263096, + 0.07355080269078722, + 0.18543750865463465, + -0.9798995916967734 + ], + [ + 0.06150772232631774, + 0.9777408395382646, + 0.20059823227844814, + 0.9945077529639955, + -0.07708711596948792, + 0.070794815106837, + 0.08468252115243802, + 0.19514206940205475, + -0.9771122982343179 + ], + [ + -0.021898426479558253, + 0.986364971705517, + 0.16310917052727195, + 0.9941662863594565, + 0.004249616997987038, + 0.1077744673919487, + 0.10561180797603634, + 0.16451772958482536, + -0.9807038608409205 + ], + [ + -0.056658474021776206, + 0.9896620689120577, + 0.13175282417553336, + 0.9906730552921363, + 0.03934897111508279, + 0.13045518767119846, + 0.1239222128581754, + 0.13791536473101784, + -0.9826609981735528 + ], + [ + -0.06186609786515196, + 0.9902950100979455, + 0.12445231580830333, + 0.9861631617359521, + 0.04143564236265873, + 0.1605157499342185, + 0.15380118455294867, + 0.13266077233720622, + -0.97915591971504 + ], + [ + -0.00531928959832817, + 0.9916982233888767, + 0.12847699749571762, + 0.9824223124097851, + -0.01879143315840537, + 0.18572367140260782, + 0.1865961018820591, + 0.12720658696466425, + -0.9741665047594387 + ], + [ + 0.04657494141368257, + 0.9921186251582347, + 0.11632458229646206, + 0.9758880825817392, + -0.07005124315317235, + 0.2067251160542222, + 0.21324451952453208, + 0.10389156340545394, + -0.9714593753451155 + ], + [ + 0.05280273764195431, + 0.9919457253572349, + 0.11513274444320196, + 0.9672335628083896, + -0.07947449596247114, + 0.24112867823736783, + 0.24833667847199667, + 0.0986280002687871, + -0.9636396690093636 + ], + [ + 0.06102055553243574, + 0.9900030169895104, + 0.12716335224497535, + 0.9606652518253478, + -0.09283131718543786, + 0.2617338733999815, + 0.27092206580094913, + 0.10619026745085158, + -0.9567261161695453 + ], + [ + 0.06679256339317796, + 0.9913665954323647, + 0.11283185248949082, + 0.958692190433927, + -0.09510210333931113, + 0.26807624650729145, + 0.2764923823116423, + 0.09026551612482422, + -0.956767526164194 + ], + [ + 0.03815132425854395, + 0.9961649917278634, + 0.07873871800547345, + 0.9627866764040012, + -0.057741793352077186, + 0.2640221601294545, + 0.2675561477452102, + 0.06573579357026164, + -0.9612973074171338 + ], + [ + 0.037618600274761216, + 0.9975533584216723, + 0.058924850572662696, + 0.9594580621545079, + -0.052538971958725866, + 0.276911327670496, + 0.27932967597461655, + 0.046118906396001094, + -0.9590870547519411 + ], + [ + 0.021262941340751518, + 0.99931294751399, + 0.030356552117144442, + 0.9609645977205387, + -0.028805867684536468, + 0.2751677014381302, + 0.27585309360843274, + 0.02332069719888588, + -0.960916862079553 + ], + [ + 0.011013992423839214, + 0.9997749870841501, + 0.018129180118663893, + 0.9675700838461938, + -0.015231384323441455, + 0.2521430898863996, + 0.2523624869443892, + 0.014764150245746177, + -0.9675201264318816 + ], + [ + 0.012643186964142739, + 0.9994137926318087, + 0.03181541954294137, + 0.9756321012097813, + -0.019300066471483246, + 0.21856237215765906, + 0.21904828899668782, + 0.0282768196850348, + -0.9753041928322277 + ], + [ + 0.062466276566725876, + 0.9942582127839821, + 0.08688251034294142, + 0.9794888006403584, + -0.07778142889929152, + 0.18588098003425974, + 0.1915715368002296, + 0.0734891531451171, + -0.978723500615987 + ], + [ + 0.21224831160420182, + 0.9679193910847576, + 0.13447195463470446, + 0.9602185065692624, + -0.2321262301574954, + 0.1552347670941176, + 0.18146920913218612, + 0.09617414223678755, + -0.9786825126168124 + ], + [ + 0.40711340913350996, + 0.9061560910081502, + 0.11462901392108303, + 0.9051745570910784, + -0.41704926074626697, + 0.08203008780905736, + 0.12213800922997199, + 0.0703637182063369, + -0.9900157846527085 + ], + [ + 0.5101304053014333, + 0.8540686785624098, + 0.10165462058192187, + 0.8569161427347661, + -0.514836881411895, + 0.02525291782436313, + 0.07390327399760505, + 0.07422720415544053, + -0.9944991846430551 + ], + [ + 0.5588620709573217, + 0.8274349288115592, + 0.05499658378393808, + 0.8285282512238474, + -0.5599258668771208, + 0.004894949014854787, + 0.034844261640144314, + 0.04283062204211978, + -0.9984745441152911 + ], + [ + 0.5824463001639179, + 0.8112030572130372, + 0.052018337089765714, + 0.8121936098883266, + -0.5833778644772808, + 0.003436174398315922, + 0.033133781582117904, + 0.04024757391630757, + -0.9986402181526234 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006777.json b/json/chunk-0006/episode_0006777.json new file mode 100644 index 0000000000000000000000000000000000000000..76fb12163199c0152f6939fbcf8dc280dc771834 --- /dev/null +++ b/json/chunk-0006/episode_0006777.json @@ -0,0 +1,2782 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 45, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut red block on top of the pile." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006777.mp4", + "start": 0, + "end": 45, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.4076787829399109, + 0.028589993715286255, + -0.051210373640060425, + 0.33146369457244873, + 0.2988303005695343, + -0.2293967306613922, + 0.0, + 0.9553104043006897 + ], + [ + 0.4075862765312195, + 0.028676625341176987, + -0.05108388513326645, + 0.33152827620506287, + 0.3021617531776428, + -0.22927428781986237, + 0.0, + 0.9553104043006897 + ], + [ + 0.40388721227645874, + 0.030969642102718353, + -0.050151411443948746, + 0.32012879848480225, + 0.2987993061542511, + -0.24099226295948029, + 0.0, + 0.9553104043006897 + ], + [ + 0.3969058692455292, + 0.03249245509505272, + -0.04931894689798355, + 0.30835816264152527, + 0.2982003688812256, + -0.24585917592048645, + 0.0, + 0.9650423526763916 + ], + [ + 0.39187493920326233, + 0.0351177379488945, + -0.04784442484378815, + 0.2765689194202423, + 0.28859856724739075, + -0.2684626579284668, + 0.0, + 0.9709111452102661 + ], + [ + 0.3868984580039978, + 0.03823678940534592, + -0.04691370204091072, + 0.23653563857078552, + 0.2719278335571289, + -0.2808453142642975, + 0.0, + 0.9795387983322144 + ], + [ + 0.3800901770591736, + 0.039454519748687744, + -0.04628323018550873, + 0.18505306541919708, + 0.2295454442501068, + -0.3192349970340729, + 0.0, + 0.9865638017654419 + ], + [ + 0.3770367503166199, + 0.03883340209722519, + -0.03550034016370773, + 0.15286502242088318, + 0.15146128833293915, + -0.368790864944458, + 0.0, + 0.9900195002555847 + ], + [ + 0.3759368360042572, + 0.04107533022761345, + -0.03017144463956356, + 0.15594837069511414, + 0.07392309606075287, + -0.3932565450668335, + 0.0, + 0.9920742511749268 + ], + [ + 0.3813917338848114, + 0.03938531130552292, + -0.02429034560918808, + 0.16891586780548096, + 0.01789131574332714, + -0.40204596519470215, + 0.0, + 0.9920742511749268 + ], + [ + 0.3869328200817108, + 0.040438029915094376, + -0.01925228163599968, + 0.17879191040992737, + 0.0047440300695598125, + -0.3722565472126007, + 0.0, + 0.9927561283111572 + ], + [ + 0.39403095841407776, + 0.03913288936018944, + -0.02045387588441372, + 0.1855320930480957, + 0.008463365957140923, + -0.3530474901199341, + 0.0, + 0.9927561283111572 + ], + [ + 0.40101438760757446, + 0.03568471595644951, + -0.03228260949254036, + 0.18970543146133423, + 0.029078219085931778, + -0.3526591360569, + 0.0, + 0.9781157374382019 + ], + [ + 0.405274897813797, + 0.03514648973941803, + -0.04207620024681091, + 0.18493244051933289, + 0.05213574692606926, + -0.3401219844818115, + 0.0, + 0.8879486322402954 + ], + [ + 0.4024500548839569, + 0.03220769017934799, + -0.04262953996658325, + 0.16100426018238068, + 0.0630975067615509, + -0.34265103936195374, + 0.0, + 0.6209517121315002 + ], + [ + 0.39455628395080566, + 0.02687224932014942, + -0.035901110619306564, + 0.11268647015094757, + 0.09178859740495682, + -0.3004625737667084, + 0.0, + 0.6149309277534485 + ], + [ + 0.39027735590934753, + 0.030417369678616524, + -0.021223699674010277, + 0.08317114412784576, + 0.10730885714292526, + -0.23787705600261688, + 0.0, + 0.6139277815818787 + ], + [ + 0.39165666699409485, + 0.045384034514427185, + -0.007505332585424185, + 0.050180912017822266, + 0.12715551257133484, + -0.10462290793657303, + 0.0, + 0.6139277815818787 + ], + [ + 0.3890698552131653, + 0.05929064750671387, + 0.005952918902039528, + 0.08606087416410446, + 0.16690774261951447, + 0.06689097732305527, + 0.0, + 0.6139277815818787 + ], + [ + 0.383219450712204, + 0.07309803366661072, + 0.019374364987015724, + 0.11168163269758224, + 0.1634143590927124, + 0.23208819329738617, + 0.0, + 0.6139277815818787 + ], + [ + 0.3675708770751953, + 0.08873926848173141, + 0.04748479276895523, + 0.07836999744176865, + 0.1331671178340912, + 0.3716652989387512, + 0.0, + 0.6139277815818787 + ], + [ + 0.35394540429115295, + 0.1029144898056984, + 0.05971897765994072, + 0.055164434015750885, + 0.10939200222492218, + 0.5202176570892334, + 0.0, + 0.6139277815818787 + ], + [ + 0.34482714533805847, + 0.11099007725715637, + 0.0606376938521862, + 0.003704665694385767, + 0.10397107899188995, + 0.7065548896789551, + 0.0, + 0.6139277815818787 + ], + [ + 0.34543663263320923, + 0.12346474081277847, + 0.056033167988061905, + -0.07276250422000885, + 0.09745807945728302, + 0.8999537229537964, + 0.0, + 0.6139277815818787 + ], + [ + 0.3502463102340698, + 0.12389842420816422, + 0.05711428448557854, + -0.10124314576387405, + 0.09708049148321152, + 0.9933617115020752, + 0.0, + 0.6139277815818787 + ], + [ + 0.3606836795806885, + 0.12959137558937073, + 0.05526776239275932, + -0.13241179287433624, + 0.10377401858568192, + 1.0946356058120728, + 0.0, + 0.6139277815818787 + ], + [ + 0.3719744384288788, + 0.13512378931045532, + 0.05400436371564865, + -0.13910388946533203, + 0.13814912736415863, + 1.205091953277588, + 0.0, + 0.6139277815818787 + ], + [ + 0.38027265667915344, + 0.13793636858463287, + 0.04567684233188629, + -0.10575228184461594, + 0.1736135333776474, + 1.318851351737976, + 0.0, + 0.6139277815818787 + ], + [ + 0.3888325095176697, + 0.14178705215454102, + 0.03877424821257591, + -0.06813933700323105, + 0.19667892158031464, + 1.4135335683822632, + 0.0, + 0.6139277815818787 + ], + [ + 0.39369848370552063, + 0.14503642916679382, + 0.030068600550293922, + -0.03899812698364258, + 0.20363840460777283, + 1.4697926044464111, + 0.0, + 0.6139277815818787 + ], + [ + 0.39489293098449707, + 0.14904600381851196, + 0.02955971471965313, + -0.03327960520982742, + 0.17567992210388184, + 1.5148253440856934, + 0.0, + 0.6139277815818787 + ], + [ + 0.3927765190601349, + 0.14965075254440308, + 0.023260092362761497, + -0.013431858271360397, + 0.14079459011554718, + 1.5490522384643555, + 0.0, + 0.6139277815818787 + ], + [ + 0.39056408405303955, + 0.143019899725914, + 0.020263737067580223, + 0.004877462051808834, + 0.10387258231639862, + 1.5484983921051025, + 0.0, + 0.6139277815818787 + ], + [ + 0.3891714811325073, + 0.14092619717121124, + 0.019393615424633026, + 0.015995139256119728, + 0.08267972618341446, + 1.5509947538375854, + 0.0, + 0.6139277815818787 + ], + [ + 0.38799959421157837, + 0.1400105208158493, + 0.01778203435242176, + 0.024949895218014717, + 0.06727679073810577, + 1.5506573915481567, + 0.0, + 0.6139277815818787 + ], + [ + 0.38785111904144287, + 0.1354680061340332, + 0.023842770606279373, + 0.01707417145371437, + 0.044639166444540024, + 1.5539416074752808, + 0.0, + 0.6139277815818787 + ], + [ + 0.386820912361145, + 0.13601960241794586, + 0.022084452211856842, + 0.017690323293209076, + 0.04319718852639198, + 1.556670904159546, + 0.0, + 0.6139277815818787 + ], + [ + 0.38437318801879883, + 0.13470341265201569, + 0.019342906773090363, + 0.026880914345383644, + 0.04510137811303139, + 1.5565341711044312, + 0.0, + 0.6139277815818787 + ], + [ + 0.3835444450378418, + 0.13601204752922058, + 0.019685300067067146, + 0.031333401799201965, + 0.0413510724902153, + 1.5463411808013916, + 0.0, + 0.6139277815818787 + ], + [ + 0.3831867575645447, + 0.133047416806221, + 0.019462844356894493, + 0.032501474022865295, + 0.056697338819503784, + 1.5259974002838135, + 0.0, + 0.6139277815818787 + ], + [ + 0.3829033672809601, + 0.13784955441951752, + 0.022477509453892708, + 0.046665582805871964, + 0.023471472784876823, + 1.5065704584121704, + 0.0, + 0.6139277815818787 + ], + [ + 0.39182353019714355, + 0.13531647622585297, + 0.03271707892417908, + 0.0909774973988533, + -0.0480145588517189, + 1.4093676805496216, + 0.0, + 0.6139277815818787 + ], + [ + 0.3972742557525635, + 0.12794245779514313, + 0.020549746230244637, + 0.22169752418994904, + -0.04964619129896164, + 1.2624971866607666, + 0.0, + 0.6139277815818787 + ], + [ + 0.401583194732666, + 0.12901748716831207, + 0.012256099842488766, + 0.3250651955604553, + -0.008196612820029259, + 1.1437551975250244, + 0.0, + 0.6139277815818787 + ], + [ + 0.40171927213668823, + 0.1252560168504715, + 0.010436716489493847, + 0.37283554673194885, + -0.01132669672369957, + 1.0925735235214233, + 0.0, + 0.6139277815818787 + ] + ], + "left_gripper_pos": [ + [ + 0.9553104043006897 + ], + [ + 0.9553104043006897 + ], + [ + 0.9553104043006897 + ], + [ + 0.9650423526763916 + ], + [ + 0.9709111452102661 + ], + [ + 0.9795387983322144 + ], + [ + 0.9865638017654419 + ], + [ + 0.9900195002555847 + ], + [ + 0.9920742511749268 + ], + [ + 0.9920742511749268 + ], + [ + 0.9927561283111572 + ], + [ + 0.9927561283111572 + ], + [ + 0.9781157374382019 + ], + [ + 0.8879486322402954 + ], + [ + 0.6209517121315002 + ], + [ + 0.6149309277534485 + ], + [ + 0.6139277815818787 + ], + [ + 0.6139277815818787 + ], + [ + 0.6139277815818787 + ], + [ + 0.6139277815818787 + ], + [ + 0.6139277815818787 + ], + [ + 0.6139277815818787 + ], + [ + 0.6139277815818787 + ], + [ + 0.6139277815818787 + ], + [ + 0.6139277815818787 + ], + [ + 0.6139277815818787 + ], + [ + 0.6139277815818787 + ], + [ + 0.6139277815818787 + ], + [ + 0.6139277815818787 + ], + [ + 0.6139277815818787 + ], + [ + 0.6139277815818787 + ], + [ + 0.6139277815818787 + ], + [ + 0.6139277815818787 + ], + [ + 0.6139277815818787 + ], + [ + 0.6139277815818787 + ], + [ + 0.6139277815818787 + ], + [ + 0.6139277815818787 + ], + [ + 0.6139277815818787 + ], + [ + 0.6139277815818787 + ], + [ + 0.6139277815818787 + ], + [ + 0.6139277815818787 + ], + [ + 0.6139277815818787 + ], + [ + 0.6139277815818787 + ], + [ + 0.6139277815818787 + ], + [ + 0.6139277815818787 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.4076787829399109, + 0.028589993715286255, + -0.051210373640060425 + ], + [ + 0.4075862765312195, + 0.028676625341176987, + -0.05108388513326645 + ], + [ + 0.40388721227645874, + 0.030969642102718353, + -0.050151411443948746 + ], + [ + 0.3969058692455292, + 0.03249245509505272, + -0.04931894689798355 + ], + [ + 0.39187493920326233, + 0.0351177379488945, + -0.04784442484378815 + ], + [ + 0.3868984580039978, + 0.03823678940534592, + -0.04691370204091072 + ], + [ + 0.3800901770591736, + 0.039454519748687744, + -0.04628323018550873 + ], + [ + 0.3770367503166199, + 0.03883340209722519, + -0.03550034016370773 + ], + [ + 0.3759368360042572, + 0.04107533022761345, + -0.03017144463956356 + ], + [ + 0.3813917338848114, + 0.03938531130552292, + -0.02429034560918808 + ], + [ + 0.3869328200817108, + 0.040438029915094376, + -0.01925228163599968 + ], + [ + 0.39403095841407776, + 0.03913288936018944, + -0.02045387588441372 + ], + [ + 0.40101438760757446, + 0.03568471595644951, + -0.03228260949254036 + ], + [ + 0.405274897813797, + 0.03514648973941803, + -0.04207620024681091 + ], + [ + 0.4024500548839569, + 0.03220769017934799, + -0.04262953996658325 + ], + [ + 0.39455628395080566, + 0.02687224932014942, + -0.035901110619306564 + ], + [ + 0.39027735590934753, + 0.030417369678616524, + -0.021223699674010277 + ], + [ + 0.39165666699409485, + 0.045384034514427185, + -0.007505332585424185 + ], + [ + 0.3890698552131653, + 0.05929064750671387, + 0.005952918902039528 + ], + [ + 0.383219450712204, + 0.07309803366661072, + 0.019374364987015724 + ], + [ + 0.3675708770751953, + 0.08873926848173141, + 0.04748479276895523 + ], + [ + 0.35394540429115295, + 0.1029144898056984, + 0.05971897765994072 + ], + [ + 0.34482714533805847, + 0.11099007725715637, + 0.0606376938521862 + ], + [ + 0.34543663263320923, + 0.12346474081277847, + 0.056033167988061905 + ], + [ + 0.3502463102340698, + 0.12389842420816422, + 0.05711428448557854 + ], + [ + 0.3606836795806885, + 0.12959137558937073, + 0.05526776239275932 + ], + [ + 0.3719744384288788, + 0.13512378931045532, + 0.05400436371564865 + ], + [ + 0.38027265667915344, + 0.13793636858463287, + 0.04567684233188629 + ], + [ + 0.3888325095176697, + 0.14178705215454102, + 0.03877424821257591 + ], + [ + 0.39369848370552063, + 0.14503642916679382, + 0.030068600550293922 + ], + [ + 0.39489293098449707, + 0.14904600381851196, + 0.02955971471965313 + ], + [ + 0.3927765190601349, + 0.14965075254440308, + 0.023260092362761497 + ], + [ + 0.39056408405303955, + 0.143019899725914, + 0.020263737067580223 + ], + [ + 0.3891714811325073, + 0.14092619717121124, + 0.019393615424633026 + ], + [ + 0.38799959421157837, + 0.1400105208158493, + 0.01778203435242176 + ], + [ + 0.38785111904144287, + 0.1354680061340332, + 0.023842770606279373 + ], + [ + 0.386820912361145, + 0.13601960241794586, + 0.022084452211856842 + ], + [ + 0.38437318801879883, + 0.13470341265201569, + 0.019342906773090363 + ], + [ + 0.3835444450378418, + 0.13601204752922058, + 0.019685300067067146 + ], + [ + 0.3831867575645447, + 0.133047416806221, + 0.019462844356894493 + ], + [ + 0.3829033672809601, + 0.13784955441951752, + 0.022477509453892708 + ], + [ + 0.39182353019714355, + 0.13531647622585297, + 0.03271707892417908 + ], + [ + 0.3972742557525635, + 0.12794245779514313, + 0.020549746230244637 + ], + [ + 0.401583194732666, + 0.12901748716831207, + 0.012256099842488766 + ], + [ + 0.40171927213668823, + 0.1252560168504715, + 0.010436716489493847 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9306462333727168, + -0.30830946068346793, + -0.19708593243112088, + -0.21731251211132824, + -0.899011234841632, + 0.38020267188486234, + -0.2944025482040518, + -0.31100494542947965, + -0.9036609228739327 + ], + [ + 0.9297125494918821, + -0.3092207661888865, + -0.20004272812292603, + -0.21697445006401292, + -0.898789026126563, + 0.38092043071208964, + -0.29758471623509847, + -0.3107423438671059, + -0.9027084426276589 + ], + [ + 0.9280727313282364, + -0.3164997070251035, + -0.19623695069474226, + -0.2280911770620658, + -0.8996556493270915, + 0.37228232241175596, + -0.29437292727319264, + -0.3007451547188632, + -0.9071366664410268 + ], + [ + 0.9271224869960921, + -0.3183953208279747, + -0.19765706104521558, + -0.23264817760848347, + -0.9024777829564348, + 0.36250334719211885, + -0.2938004757682202, + -0.29010044974954685, + -0.910781537742986 + ], + [ + 0.9243048831030605, + -0.33010008266979396, + -0.19155787243867717, + -0.2542797335514314, + -0.9069253374840645, + 0.33589916542681153, + -0.28460903038528196, + -0.26176395407085873, + -0.9222132791129928 + ], + [ + 0.9255159981980873, + -0.32992457148173543, + -0.18592986369056227, + -0.2669833775591726, + -0.9166230444065149, + 0.29752658800522025, + -0.2685889297541767, + -0.22572543409089962, + -0.9364336683492219 + ], + [ + 0.9245709616203099, + -0.3482328182871592, + -0.1546041435288128, + -0.305608245446599, + -0.9201256206367178, + 0.2448927164350672, + -0.22753491433963863, + -0.1791723932855653, + -0.9571442504872377 + ], + [ + 0.9220852983119231, + -0.3777144036967048, + -0.08420529601547952, + -0.35636086709278963, + -0.9136046271426661, + 0.19578947282319614, + -0.1508828520471657, + -0.15052712215262964, + -0.9770240275727923 + ], + [ + 0.9211434621269259, + -0.38914359572214635, + -0.007872997476148731, + -0.3821518609646318, + -0.9080613784724381, + 0.17141904237279015, + -0.07385578746509616, + -0.15489284952887405, + -0.9851667512775368 + ], + [ + 0.9201150467369925, + -0.38850061514619655, + 0.04955373648079725, + -0.3912393586312491, + -0.9059879062644869, + 0.1616096468664528, + -0.01789036125935689, + -0.16808683985820416, + -0.9856098362133423 + ], + [ + 0.9314984881290653, + -0.3587063048139116, + 0.06033534204771286, + -0.36371425729657797, + -0.9163531650067944, + 0.16735834613555786, + -0.004744012274864345, + -0.17783887052267186, + -0.9840481850391047 + ], + [ + 0.9382897695415656, + -0.3412900300615132, + 0.0559769930797155, + -0.34574655677318217, + -0.9216802854513578, + 0.17596809338568106, + -0.008463264921045374, + -0.18446291440534732, + -0.9828030353819432 + ], + [ + 0.9380608557639596, + -0.34434316379391666, + 0.03833557658082156, + -0.34524849941098384, + -0.9197278630185486, + 0.18682647468118135, + -0.029074121445919122, + -0.18848990300737617, + -0.9816446668354177 + ], + [ + 0.9414330559952846, + -0.3369471822509829, + 0.013053637519963364, + -0.333148805842224, + -0.9234427527356026, + 0.19043464912140642, + -0.052112131459764795, + -0.18363027744142837, + -0.9816130841433933 + ], + [ + 0.9399929623953478, + -0.3411606221804869, + -0.004760306780187181, + -0.3353165907835126, + -0.9262896174143858, + 0.17190209020146732, + -0.06305564679345346, + -0.15999054516981356, + -0.9851025382485447 + ], + [ + 0.951178662655303, + -0.3039301912577352, + -0.053717693093674086, + -0.2947162017328225, + -0.9460909519828009, + 0.13436618254775354, + -0.09165976295762451, + -0.1119747713474534, + -0.9894746780166929 + ], + [ + 0.9662503184095819, + -0.24347251512200974, + -0.08415139068098927, + -0.23428457785011014, + -0.9663843947082064, + 0.10588644033137296, + -0.1071030286918976, + -0.08259743364425104, + -0.9908110845163199 + ], + [ + 0.9865027835874967, + -0.1106268341787113, + -0.12072266371198419, + -0.10358902620263968, + -0.9926158138874599, + 0.06311227828976446, + -0.12681313664013574, + -0.04975489503688817, + -0.9906779894574013 + ], + [ + 0.9838979202984273, + 0.05234568231472893, + -0.1708941543044557, + 0.06591222876610064, + -0.9950254472274779, + 0.0746989790348091, + -0.16613386328956192, + -0.08476018471406907, + -0.982453688758774 + ], + [ + 0.9602229701872098, + 0.2109319060704151, + -0.18297425645799087, + 0.22694593126485987, + -0.9712957667317637, + 0.07127466458203163, + -0.16268801986372117, + -0.10996483315340957, + -0.9805306439180596 + ], + [ + 0.9234747028778219, + 0.35236772200890704, + -0.1517611993592986, + 0.35995217707750765, + -0.9326391309270188, + 0.024873312623334583, + -0.13277388057099848, + -0.07759664908969426, + -0.9881041729940065 + ], + [ + 0.8625244052186665, + 0.49108972932797207, + -0.12199396768186924, + 0.49409786217773627, + -0.8693831620926483, + -0.006341928821645162, + -0.1091739574879308, + -0.054806890245362824, + -0.992510580189479 + ], + [ + 0.7564956587547486, + 0.6489203731268445, + -0.08134290151043133, + 0.6457114129751242, + -0.7608474043350966, + -0.06456003771850224, + -0.10378385924067074, + -0.0036846516067072163, + -0.9945930493943991 + ], + [ + 0.6186963317243673, + 0.7856229357265807, + -0.0033840761162132887, + 0.7795811727843807, + -0.6144604110770144, + -0.12120890338253226, + -0.0973038753130688, + 0.07235334186763681, + -0.9926212519232316 + ], + [ + 0.5433059681851625, + 0.8389230221835268, + 0.03204352953157724, + 0.8339206039901556, + -0.5348728211579665, + -0.1359687148840205, + -0.09692807217249941, + 0.10059437378390435, + -0.9901947893156916 + ], + [ + 0.4559044677656395, + 0.8872501522535996, + 0.07027292221968157, + 0.88398001749512, + -0.4422030655739501, + -0.15177541785917786, + -0.10358786097152631, + 0.13131495011218336, + -0.9859137583665107 + ], + [ + 0.35420010287950143, + 0.9316797580371045, + 0.08071626592002853, + 0.9249747087909118, + -0.3363212943421484, + -0.17694568395185417, + -0.1377101129812844, + 0.1373346840238987, + -0.9809052499333141 + ], + [ + 0.24554045097032856, + 0.9675646956949294, + 0.05940072880080222, + 0.9538709836090545, + -0.23023709114857588, + -0.19266818234502883, + -0.17274268020956085, + 0.1039684639889478, + -0.9794644071786357 + ], + [ + 0.15359594157272694, + 0.9874514996900177, + 0.036712702056956814, + 0.9686185545483041, + -0.14311104695204246, + -0.2032174304164002, + -0.19541336320001665, + 0.06677397696876916, + -0.9784451203223576 + ], + [ + 0.09874860646884104, + 0.9949420385985966, + 0.01841337963901163, + 0.9743460205668532, + -0.09291084946943978, + -0.20498147783739926, + -0.20223388669063125, + 0.038182638464824475, + -0.9785926329141585 + ], + [ + 0.05508070396419673, + 0.9982065124956891, + 0.023449402167258757, + 0.9830660682178614, + -0.05010443737511616, + -0.1762686894317817, + -0.17477763463751128, + 0.03276131509137538, + -0.9840627391909522 + ], + [ + 0.02152722985710126, + 0.9997144026752497, + 0.010377449510749398, + 0.9898707498310105, + -0.019856024717790965, + -0.1405760894014313, + -0.1403298863523813, + 0.01329854751749597, + -0.9900154906011585 + ], + [ + 0.02217591313362599, + 0.9997282438949316, + -0.007187992448931722, + 0.9943628433681401, + -0.022801418071839552, + -0.10355013791753656, + -0.10368589395630212, + -0.004851153746194187, + -0.9945982614612863 + ], + [ + 0.0197326407554429, + 0.9996499064153175, + -0.017626329528965937, + 0.9963886030336091, + -0.021118398340603584, + -0.08224211206103843, + -0.08258555947349056, + -0.015939819803707074, + -0.9964564955436218 + ], + [ + 0.02009201814009348, + 0.9994522762144786, + -0.026295596147559035, + 0.997535447411898, + -0.02180807532868162, + -0.06668912210550287, + -0.06722605122868872, + -0.024890870216927215, + -0.9974272417655543 + ], + [ + 0.01683713207318005, + 0.9996993823821778, + -0.017822902351849343, + 0.9988619419165536, + -0.017613243126703426, + -0.044323748231078756, + -0.04462434284381917, + -0.017056334050812284, + -0.9988582229198022 + ], + [ + 0.01411177639342115, + 0.9997329938203687, + -0.018297508955712225, + 0.9989674774636534, + -0.014886561320847036, + -0.04292282914656792, + -0.043183755475026495, + -0.017672898998267066, + -0.9989108227985468 + ], + [ + 0.014247169566976359, + 0.9995197814726651, + -0.027517714370307467, + 0.9988815058412803, + -0.015468205980826988, + -0.04468189669195921, + -0.045086089291332745, + -0.026850345408778495, + -0.9986222025890689 + ], + [ + 0.024431805481512026, + 0.9991786152927059, + -0.032329268823540945, + 0.9988464096453565, + -0.025735407216111894, + -0.04054058156960811, + -0.04133928905405499, + -0.03130149448783739, + -0.9986547349426295 + ], + [ + 0.04471198150531269, + 0.9983866326109011, + -0.03499957905080833, + 0.9973914444842892, + -0.046599879815797995, + -0.05512492785206857, + -0.05666696726851682, + -0.032443535951224414, + -0.997865858618066 + ], + [ + 0.06416404424323535, + 0.9967815646738154, + -0.04805713009297128, + 0.9976633533168986, + -0.06520440645037967, + -0.02040144181019816, + -0.023469317732591984, + -0.04663579854440482, + -0.9986362167572798 + ], + [ + 0.16054320618710488, + 0.9836176996890833, + -0.08198841262960156, + 0.9858611728639712, + -0.15575988158459048, + 0.06177869477441217, + 0.04799611220130599, + -0.09074734236941287, + -0.9947166898501547 + ], + [ + 0.3030645377745752, + 0.9328417142861265, + -0.1948286991980507, + 0.9516770281748965, + -0.28561441049400593, + 0.11285053195425968, + 0.04962579961754762, + -0.21961499176031432, + -0.9743236297075202 + ], + [ + 0.41416555623466206, + 0.8636124355058125, + -0.2874725261108462, + 0.9101646604168289, + -0.39010620882191466, + 0.13934646305848847, + 0.00819652103950086, + -0.3193598394887981, + -0.9475980740612222 + ], + [ + 0.46017256236919757, + 0.8287184574498748, + -0.31853874352183165, + 0.8877572439976246, + -0.42492248386276704, + 0.1769970577089881, + 0.011326454533937491, + -0.36423426663316116, + -0.931238482043077 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -9.250640869140625e-05, + 8.663162589073181e-05, + 0.00012648850679397583, + 6.458163261413574e-05, + 0.0033314526081085205, + 0.0001224428415298462, + 1.0 + ], + [ + -0.003699064254760742, + 0.0022930167615413666, + 0.0009324736893177032, + -0.01139947772026062, + -0.0033624470233917236, + -0.01171797513961792, + 1.0 + ], + [ + -0.006981343030929565, + 0.0015228129923343658, + 0.0008324645459651947, + -0.011770635843276978, + -0.0005989372730255127, + -0.0048669129610061646, + 1.0 + ], + [ + -0.005030930042266846, + 0.0026252828538417816, + 0.001474522054195404, + -0.03178924322128296, + -0.009601801633834839, + -0.022603482007980347, + 1.0 + ], + [ + -0.004976481199264526, + 0.003119051456451416, + 0.0009307228028774261, + -0.04003328084945679, + -0.01667073369026184, + -0.012382656335830688, + 1.0 + ], + [ + -0.006808280944824219, + 0.0012177303433418274, + 0.0006304718554019928, + -0.05148257315158844, + -0.042382389307022095, + -0.03838968276977539, + 1.0 + ], + [ + -0.003053426742553711, + -0.0006211176514625549, + 0.010782890021800995, + -0.032188042998313904, + -0.07808415591716766, + -0.04955586791038513, + 1.0 + ], + [ + -0.001099914312362671, + 0.00224192813038826, + 0.005328895524144173, + 0.003083348274230957, + -0.07753819227218628, + -0.02446568012237549, + 1.0 + ], + [ + 0.005454897880554199, + -0.0016900189220905304, + 0.005881099030375481, + 0.012967497110366821, + -0.05603177845478058, + -0.008789420127868652, + 1.0 + ], + [ + 0.005541086196899414, + 0.001052718609571457, + 0.0050380639731884, + 0.009876042604446411, + -0.013147285208106041, + 0.02978941798210144, + 1.0 + ], + [ + 0.007098138332366943, + -0.0013051405549049377, + -0.0012015942484140396, + 0.006740182638168335, + 0.00371933588758111, + 0.019209057092666626, + 1.0 + ], + [ + 0.006983429193496704, + -0.003448173403739929, + -0.01182873360812664, + 0.004173338413238525, + 0.020614853128790855, + 0.0003883540630340576, + 0.0 + ], + [ + 0.004260510206222534, + -0.0005382262170314789, + -0.009793590754270554, + -0.004772990942001343, + 0.02305752784013748, + 0.012537151575088501, + 0.0 + ], + [ + -0.002824842929840088, + -0.002938799560070038, + -0.0005533397197723389, + -0.02392818033695221, + 0.010961759835481644, + -0.002529054880142212, + 0.0 + ], + [ + -0.007893770933151245, + -0.00533544085919857, + 0.006728429347276688, + -0.048317790031433105, + 0.028691090643405914, + 0.04218846559524536, + 0.0 + ], + [ + -0.00427892804145813, + 0.003545120358467102, + 0.014677410945296288, + -0.029515326023101807, + 0.015520259737968445, + 0.06258551776409149, + 0.0 + ], + [ + 0.0013793110847473145, + 0.014966664835810661, + 0.013718366622924805, + -0.0329902321100235, + 0.019846655428409576, + 0.13325414061546326, + 0.0 + ], + [ + -0.0025868117809295654, + 0.013906612992286682, + 0.013458251953125, + 0.035879962146282196, + 0.039752230048179626, + 0.1715138852596283, + 0.0 + ], + [ + -0.005850404500961304, + 0.01380738615989685, + 0.013421446084976196, + 0.025620758533477783, + -0.003493383526802063, + 0.1651972234249115, + 0.0 + ], + [ + -0.015648573637008667, + 0.015641234815120697, + 0.028110427781939507, + -0.0333116352558136, + -0.030247241258621216, + 0.13957710564136505, + 0.0 + ], + [ + -0.013625472784042358, + 0.01417522132396698, + 0.012234184890985489, + -0.02320556342601776, + -0.023775115609169006, + 0.14855235815048218, + 0.0 + ], + [ + -0.009118258953094482, + 0.008075587451457977, + 0.0009187161922454834, + -0.051459766924381256, + -0.0054209232330322266, + 0.18633723258972168, + 0.0 + ], + [ + 0.0006094872951507568, + 0.0124746635556221, + -0.004604525864124298, + -0.07646717131137848, + -0.006512999534606934, + 0.1933988332748413, + 0.0 + ], + [ + 0.004809677600860596, + 0.0004336833953857422, + 0.001081116497516632, + -0.028480641543865204, + -0.0003775879740715027, + 0.09340798854827881, + 0.0 + ], + [ + 0.010437369346618652, + 0.0056929513812065125, + -0.0018465220928192139, + -0.03116864711046219, + 0.006693527102470398, + 0.10127389430999756, + 0.0 + ], + [ + 0.011290758848190308, + 0.005532413721084595, + -0.001263398677110672, + -0.006692096590995789, + 0.034375108778476715, + 0.11045634746551514, + 0.0 + ], + [ + 0.008298218250274658, + 0.0028125792741775513, + -0.00832752138376236, + 0.033351607620716095, + 0.03546440601348877, + 0.11375939846038818, + 0.0 + ], + [ + 0.008559852838516235, + 0.003850683569908142, + -0.006902594119310379, + 0.03761294484138489, + 0.023065388202667236, + 0.09468221664428711, + 0.0 + ], + [ + 0.004865974187850952, + 0.0032493770122528076, + -0.00870564766228199, + 0.02914121001958847, + 0.006959483027458191, + 0.05625903606414795, + 0.0 + ], + [ + 0.0011944472789764404, + 0.00400957465171814, + -0.0005088858306407928, + 0.005718521773815155, + -0.02795848250389099, + 0.04503273963928223, + 0.0 + ], + [ + -0.0021164119243621826, + 0.0006047487258911133, + -0.006299622356891632, + 0.019847746938467026, + -0.034885331988334656, + 0.03422689437866211, + 0.0 + ], + [ + -0.002212435007095337, + -0.006630852818489075, + -0.0029963552951812744, + 0.018309321254491806, + -0.03692200779914856, + -0.0005538463592529297, + 0.0 + ], + [ + -0.0013926029205322266, + -0.002093702554702759, + -0.000870121642947197, + 0.011117677204310894, + -0.02119285613298416, + 0.00249636173248291, + 0.0 + ], + [ + -0.001171886920928955, + -0.0009156763553619385, + -0.0016115810722112656, + 0.008954755961894989, + -0.015402935445308685, + -0.00033736228942871094, + 0.0 + ], + [ + -0.00014847517013549805, + -0.004542514681816101, + 0.006060736253857613, + -0.007875723764300346, + -0.02263762429356575, + 0.0032842159271240234, + 0.0 + ], + [ + -0.0010302066802978516, + 0.0005515962839126587, + -0.0017583183944225311, + 0.0006161518394947052, + -0.0014419779181480408, + 0.0027292966842651367, + 0.0 + ], + [ + -0.0024477243423461914, + -0.0013161897659301758, + -0.0027415454387664795, + 0.009190591052174568, + 0.0019041895866394043, + -0.0001367330551147461, + 0.0 + ], + [ + -0.0008287429809570312, + 0.001308634877204895, + 0.00034239329397678375, + 0.004452487453818321, + -0.003750305622816086, + -0.01019299030303955, + 0.0 + ], + [ + -0.00035768747329711914, + -0.0029646307229995728, + -0.0002224557101726532, + 0.00116807222366333, + 0.015346266329288483, + -0.020343780517578125, + 0.0 + ], + [ + -0.0002833902835845947, + 0.004802137613296509, + 0.0030146650969982147, + 0.014164108783006668, + -0.03322586417198181, + -0.019426941871643066, + 0.0 + ], + [ + 0.008920162916183472, + -0.0025330781936645508, + 0.01023956947028637, + 0.04431191459298134, + -0.07148603349924088, + -0.09720277786254883, + 0.0 + ], + [ + 0.005450725555419922, + -0.007374018430709839, + -0.01216733269393444, + 0.13072001934051514, + -0.0016316324472427368, + -0.14687049388885498, + 0.0 + ], + [ + 0.004308938980102539, + 0.0010750293731689453, + -0.00829364638775587, + 0.10336767137050629, + 0.04144957661628723, + -0.11874198913574219, + 0.0 + ], + [ + 0.0001360774040222168, + -0.003761470317840576, + -0.0018193833529949188, + 0.04777035117149353, + -0.003130083903670311, + -0.051181674003601074, + 0.0 + ], + [ + -0.013359546661376953, + -0.003520578145980835, + -0.024023061618208885, + 0.024926453828811646, + 0.027581192553043365, + -0.0466310977935791, + 0.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9553104043006897 + ], + [ + 0.9553104043006897 + ], + [ + 0.9650423526763916 + ], + [ + 0.9709111452102661 + ], + [ + 0.9795387983322144 + ], + [ + 0.9865638017654419 + ], + [ + 0.9900195002555847 + ], + [ + 0.9920742511749268 + ], + [ + 0.9920742511749268 + ], + [ + 0.9927561283111572 + ], + [ + 0.9927561283111572 + ], + [ + 0.9781157374382019 + ], + [ + 0.8879486322402954 + ], + [ + 0.6209517121315002 + ], + [ + 0.6149309277534485 + ], + [ + 0.6139277815818787 + ], + [ + 0.6139277815818787 + ], + [ + 0.6139277815818787 + ], + [ + 0.6139277815818787 + ], + [ + 0.6139277815818787 + ], + [ + 0.6139277815818787 + ], + [ + 0.6139277815818787 + ], + [ + 0.6139277815818787 + ], + [ + 0.6139277815818787 + ], + [ + 0.6139277815818787 + ], + [ + 0.6139277815818787 + ], + [ + 0.6139277815818787 + ], + [ + 0.6139277815818787 + ], + [ + 0.6139277815818787 + ], + [ + 0.6139277815818787 + ], + [ + 0.6139277815818787 + ], + [ + 0.6139277815818787 + ], + [ + 0.6139277815818787 + ], + [ + 0.6139277815818787 + ], + [ + 0.6139277815818787 + ], + [ + 0.6139277815818787 + ], + [ + 0.6139277815818787 + ], + [ + 0.6139277815818787 + ], + [ + 0.6139277815818787 + ], + [ + 0.6139277815818787 + ], + [ + 0.6139277815818787 + ], + [ + 0.6139277815818787 + ], + [ + 0.6139277815818787 + ], + [ + 0.6139277815818787 + ], + [ + 0.6139277815818787 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.4075862765312195, + 0.028676625341176987, + -0.05108388513326645 + ], + [ + 0.40388721227645874, + 0.030969642102718353, + -0.050151411443948746 + ], + [ + 0.3969058692455292, + 0.03249245509505272, + -0.04931894689798355 + ], + [ + 0.39187493920326233, + 0.0351177379488945, + -0.04784442484378815 + ], + [ + 0.3868984580039978, + 0.03823678940534592, + -0.04691370204091072 + ], + [ + 0.3800901770591736, + 0.039454519748687744, + -0.04628323018550873 + ], + [ + 0.3770367503166199, + 0.03883340209722519, + -0.03550034016370773 + ], + [ + 0.3759368360042572, + 0.04107533022761345, + -0.03017144463956356 + ], + [ + 0.3813917338848114, + 0.03938531130552292, + -0.02429034560918808 + ], + [ + 0.3869328200817108, + 0.040438029915094376, + -0.01925228163599968 + ], + [ + 0.39403095841407776, + 0.03913288936018944, + -0.02045387588441372 + ], + [ + 0.40101438760757446, + 0.03568471595644951, + -0.03228260949254036 + ], + [ + 0.405274897813797, + 0.03514648973941803, + -0.04207620024681091 + ], + [ + 0.4024500548839569, + 0.03220769017934799, + -0.04262953996658325 + ], + [ + 0.39455628395080566, + 0.02687224932014942, + -0.035901110619306564 + ], + [ + 0.39027735590934753, + 0.030417369678616524, + -0.021223699674010277 + ], + [ + 0.39165666699409485, + 0.045384034514427185, + -0.007505332585424185 + ], + [ + 0.3890698552131653, + 0.05929064750671387, + 0.005952918902039528 + ], + [ + 0.383219450712204, + 0.07309803366661072, + 0.019374364987015724 + ], + [ + 0.3675708770751953, + 0.08873926848173141, + 0.04748479276895523 + ], + [ + 0.35394540429115295, + 0.1029144898056984, + 0.05971897765994072 + ], + [ + 0.34482714533805847, + 0.11099007725715637, + 0.0606376938521862 + ], + [ + 0.34543663263320923, + 0.12346474081277847, + 0.056033167988061905 + ], + [ + 0.3502463102340698, + 0.12389842420816422, + 0.05711428448557854 + ], + [ + 0.3606836795806885, + 0.12959137558937073, + 0.05526776239275932 + ], + [ + 0.3719744384288788, + 0.13512378931045532, + 0.05400436371564865 + ], + [ + 0.38027265667915344, + 0.13793636858463287, + 0.04567684233188629 + ], + [ + 0.3888325095176697, + 0.14178705215454102, + 0.03877424821257591 + ], + [ + 0.39369848370552063, + 0.14503642916679382, + 0.030068600550293922 + ], + [ + 0.39489293098449707, + 0.14904600381851196, + 0.02955971471965313 + ], + [ + 0.3927765190601349, + 0.14965075254440308, + 0.023260092362761497 + ], + [ + 0.39056408405303955, + 0.143019899725914, + 0.020263737067580223 + ], + [ + 0.3891714811325073, + 0.14092619717121124, + 0.019393615424633026 + ], + [ + 0.38799959421157837, + 0.1400105208158493, + 0.01778203435242176 + ], + [ + 0.38785111904144287, + 0.1354680061340332, + 0.023842770606279373 + ], + [ + 0.386820912361145, + 0.13601960241794586, + 0.022084452211856842 + ], + [ + 0.38437318801879883, + 0.13470341265201569, + 0.019342906773090363 + ], + [ + 0.3835444450378418, + 0.13601204752922058, + 0.019685300067067146 + ], + [ + 0.3831867575645447, + 0.133047416806221, + 0.019462844356894493 + ], + [ + 0.3829033672809601, + 0.13784955441951752, + 0.022477509453892708 + ], + [ + 0.39182353019714355, + 0.13531647622585297, + 0.03271707892417908 + ], + [ + 0.3972742557525635, + 0.12794245779514313, + 0.020549746230244637 + ], + [ + 0.401583194732666, + 0.12901748716831207, + 0.012256099842488766 + ], + [ + 0.40171927213668823, + 0.1252560168504715, + 0.010436716489493847 + ], + [ + 0.3883597254753113, + 0.12173543870449066, + -0.013586345128715038 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9297125494918821, + -0.3092207661888865, + -0.20004272812292603, + -0.21697445006401292, + -0.898789026126563, + 0.38092043071208964, + -0.29758471623509847, + -0.3107423438671059, + -0.9027084426276589 + ], + [ + 0.9280727313282364, + -0.3164997070251035, + -0.19623695069474226, + -0.2280911770620658, + -0.8996556493270915, + 0.37228232241175596, + -0.29437292727319264, + -0.3007451547188632, + -0.9071366664410268 + ], + [ + 0.9271224869960921, + -0.3183953208279747, + -0.19765706104521558, + -0.23264817760848347, + -0.9024777829564348, + 0.36250334719211885, + -0.2938004757682202, + -0.29010044974954685, + -0.910781537742986 + ], + [ + 0.9243048831030605, + -0.33010008266979396, + -0.19155787243867717, + -0.2542797335514314, + -0.9069253374840645, + 0.33589916542681153, + -0.28460903038528196, + -0.26176395407085873, + -0.9222132791129928 + ], + [ + 0.9255159981980873, + -0.32992457148173543, + -0.18592986369056227, + -0.2669833775591726, + -0.9166230444065149, + 0.29752658800522025, + -0.2685889297541767, + -0.22572543409089962, + -0.9364336683492219 + ], + [ + 0.9245709616203099, + -0.3482328182871592, + -0.1546041435288128, + -0.305608245446599, + -0.9201256206367178, + 0.2448927164350672, + -0.22753491433963863, + -0.1791723932855653, + -0.9571442504872377 + ], + [ + 0.9220852983119231, + -0.3777144036967048, + -0.08420529601547952, + -0.35636086709278963, + -0.9136046271426661, + 0.19578947282319614, + -0.1508828520471657, + -0.15052712215262964, + -0.9770240275727923 + ], + [ + 0.9211434621269259, + -0.38914359572214635, + -0.007872997476148731, + -0.3821518609646318, + -0.9080613784724381, + 0.17141904237279015, + -0.07385578746509616, + -0.15489284952887405, + -0.9851667512775368 + ], + [ + 0.9201150467369925, + -0.38850061514619655, + 0.04955373648079725, + -0.3912393586312491, + -0.9059879062644869, + 0.1616096468664528, + -0.01789036125935689, + -0.16808683985820416, + -0.9856098362133423 + ], + [ + 0.9314984881290653, + -0.3587063048139116, + 0.06033534204771286, + -0.36371425729657797, + -0.9163531650067944, + 0.16735834613555786, + -0.004744012274864345, + -0.17783887052267186, + -0.9840481850391047 + ], + [ + 0.9382897695415656, + -0.3412900300615132, + 0.0559769930797155, + -0.34574655677318217, + -0.9216802854513578, + 0.17596809338568106, + -0.008463264921045374, + -0.18446291440534732, + -0.9828030353819432 + ], + [ + 0.9380608557639596, + -0.34434316379391666, + 0.03833557658082156, + -0.34524849941098384, + -0.9197278630185486, + 0.18682647468118135, + -0.029074121445919122, + -0.18848990300737617, + -0.9816446668354177 + ], + [ + 0.9414330559952846, + -0.3369471822509829, + 0.013053637519963364, + -0.333148805842224, + -0.9234427527356026, + 0.19043464912140642, + -0.052112131459764795, + -0.18363027744142837, + -0.9816130841433933 + ], + [ + 0.9399929623953478, + -0.3411606221804869, + -0.004760306780187181, + -0.3353165907835126, + -0.9262896174143858, + 0.17190209020146732, + -0.06305564679345346, + -0.15999054516981356, + -0.9851025382485447 + ], + [ + 0.951178662655303, + -0.3039301912577352, + -0.053717693093674086, + -0.2947162017328225, + -0.9460909519828009, + 0.13436618254775354, + -0.09165976295762451, + -0.1119747713474534, + -0.9894746780166929 + ], + [ + 0.9662503184095819, + -0.24347251512200974, + -0.08415139068098927, + -0.23428457785011014, + -0.9663843947082064, + 0.10588644033137296, + -0.1071030286918976, + -0.08259743364425104, + -0.9908110845163199 + ], + [ + 0.9865027835874967, + -0.1106268341787113, + -0.12072266371198419, + -0.10358902620263968, + -0.9926158138874599, + 0.06311227828976446, + -0.12681313664013574, + -0.04975489503688817, + -0.9906779894574013 + ], + [ + 0.9838979202984273, + 0.05234568231472893, + -0.1708941543044557, + 0.06591222876610064, + -0.9950254472274779, + 0.0746989790348091, + -0.16613386328956192, + -0.08476018471406907, + -0.982453688758774 + ], + [ + 0.9602229701872098, + 0.2109319060704151, + -0.18297425645799087, + 0.22694593126485987, + -0.9712957667317637, + 0.07127466458203163, + -0.16268801986372117, + -0.10996483315340957, + -0.9805306439180596 + ], + [ + 0.9234747028778219, + 0.35236772200890704, + -0.1517611993592986, + 0.35995217707750765, + -0.9326391309270188, + 0.024873312623334583, + -0.13277388057099848, + -0.07759664908969426, + -0.9881041729940065 + ], + [ + 0.8625244052186665, + 0.49108972932797207, + -0.12199396768186924, + 0.49409786217773627, + -0.8693831620926483, + -0.006341928821645162, + -0.1091739574879308, + -0.054806890245362824, + -0.992510580189479 + ], + [ + 0.7564956587547486, + 0.6489203731268445, + -0.08134290151043133, + 0.6457114129751242, + -0.7608474043350966, + -0.06456003771850224, + -0.10378385924067074, + -0.0036846516067072163, + -0.9945930493943991 + ], + [ + 0.6186963317243673, + 0.7856229357265807, + -0.0033840761162132887, + 0.7795811727843807, + -0.6144604110770144, + -0.12120890338253226, + -0.0973038753130688, + 0.07235334186763681, + -0.9926212519232316 + ], + [ + 0.5433059681851625, + 0.8389230221835268, + 0.03204352953157724, + 0.8339206039901556, + -0.5348728211579665, + -0.1359687148840205, + -0.09692807217249941, + 0.10059437378390435, + -0.9901947893156916 + ], + [ + 0.4559044677656395, + 0.8872501522535996, + 0.07027292221968157, + 0.88398001749512, + -0.4422030655739501, + -0.15177541785917786, + -0.10358786097152631, + 0.13131495011218336, + -0.9859137583665107 + ], + [ + 0.35420010287950143, + 0.9316797580371045, + 0.08071626592002853, + 0.9249747087909118, + -0.3363212943421484, + -0.17694568395185417, + -0.1377101129812844, + 0.1373346840238987, + -0.9809052499333141 + ], + [ + 0.24554045097032856, + 0.9675646956949294, + 0.05940072880080222, + 0.9538709836090545, + -0.23023709114857588, + -0.19266818234502883, + -0.17274268020956085, + 0.1039684639889478, + -0.9794644071786357 + ], + [ + 0.15359594157272694, + 0.9874514996900177, + 0.036712702056956814, + 0.9686185545483041, + -0.14311104695204246, + -0.2032174304164002, + -0.19541336320001665, + 0.06677397696876916, + -0.9784451203223576 + ], + [ + 0.09874860646884104, + 0.9949420385985966, + 0.01841337963901163, + 0.9743460205668532, + -0.09291084946943978, + -0.20498147783739926, + -0.20223388669063125, + 0.038182638464824475, + -0.9785926329141585 + ], + [ + 0.05508070396419673, + 0.9982065124956891, + 0.023449402167258757, + 0.9830660682178614, + -0.05010443737511616, + -0.1762686894317817, + -0.17477763463751128, + 0.03276131509137538, + -0.9840627391909522 + ], + [ + 0.02152722985710126, + 0.9997144026752497, + 0.010377449510749398, + 0.9898707498310105, + -0.019856024717790965, + -0.1405760894014313, + -0.1403298863523813, + 0.01329854751749597, + -0.9900154906011585 + ], + [ + 0.02217591313362599, + 0.9997282438949316, + -0.007187992448931722, + 0.9943628433681401, + -0.022801418071839552, + -0.10355013791753656, + -0.10368589395630212, + -0.004851153746194187, + -0.9945982614612863 + ], + [ + 0.0197326407554429, + 0.9996499064153175, + -0.017626329528965937, + 0.9963886030336091, + -0.021118398340603584, + -0.08224211206103843, + -0.08258555947349056, + -0.015939819803707074, + -0.9964564955436218 + ], + [ + 0.02009201814009348, + 0.9994522762144786, + -0.026295596147559035, + 0.997535447411898, + -0.02180807532868162, + -0.06668912210550287, + -0.06722605122868872, + -0.024890870216927215, + -0.9974272417655543 + ], + [ + 0.01683713207318005, + 0.9996993823821778, + -0.017822902351849343, + 0.9988619419165536, + -0.017613243126703426, + -0.044323748231078756, + -0.04462434284381917, + -0.017056334050812284, + -0.9988582229198022 + ], + [ + 0.01411177639342115, + 0.9997329938203687, + -0.018297508955712225, + 0.9989674774636534, + -0.014886561320847036, + -0.04292282914656792, + -0.043183755475026495, + -0.017672898998267066, + -0.9989108227985468 + ], + [ + 0.014247169566976359, + 0.9995197814726651, + -0.027517714370307467, + 0.9988815058412803, + -0.015468205980826988, + -0.04468189669195921, + -0.045086089291332745, + -0.026850345408778495, + -0.9986222025890689 + ], + [ + 0.024431805481512026, + 0.9991786152927059, + -0.032329268823540945, + 0.9988464096453565, + -0.025735407216111894, + -0.04054058156960811, + -0.04133928905405499, + -0.03130149448783739, + -0.9986547349426295 + ], + [ + 0.04471198150531269, + 0.9983866326109011, + -0.03499957905080833, + 0.9973914444842892, + -0.046599879815797995, + -0.05512492785206857, + -0.05666696726851682, + -0.032443535951224414, + -0.997865858618066 + ], + [ + 0.06416404424323535, + 0.9967815646738154, + -0.04805713009297128, + 0.9976633533168986, + -0.06520440645037967, + -0.02040144181019816, + -0.023469317732591984, + -0.04663579854440482, + -0.9986362167572798 + ], + [ + 0.16054320618710488, + 0.9836176996890833, + -0.08198841262960156, + 0.9858611728639712, + -0.15575988158459048, + 0.06177869477441217, + 0.04799611220130599, + -0.09074734236941287, + -0.9947166898501547 + ], + [ + 0.3030645377745752, + 0.9328417142861265, + -0.1948286991980507, + 0.9516770281748965, + -0.28561441049400593, + 0.11285053195425968, + 0.04962579961754762, + -0.21961499176031432, + -0.9743236297075202 + ], + [ + 0.41416555623466206, + 0.8636124355058125, + -0.2874725261108462, + 0.9101646604168289, + -0.39010620882191466, + 0.13934646305848847, + 0.00819652103950086, + -0.3193598394887981, + -0.9475980740612222 + ], + [ + 0.46017256236919757, + 0.8287184574498748, + -0.31853874352183165, + 0.8877572439976246, + -0.42492248386276704, + 0.1769970577089881, + 0.011326454533937491, + -0.36423426663316116, + -0.931238482043077 + ], + [ + 0.5010203821778928, + 0.7946809390044763, + -0.34272551965863524, + 0.8652828388888608, + -0.46741539030094353, + 0.18113106203589163, + -0.016253780075774216, + -0.3873048645353941, + -0.9218084163970668 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006778.json b/json/chunk-0006/episode_0006778.json new file mode 100644 index 0000000000000000000000000000000000000000..07b5dc918563e5b186ff956408c7290b4ed1fd9c --- /dev/null +++ b/json/chunk-0006/episode_0006778.json @@ -0,0 +1,1582 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 25, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nUnfold the cloth from bottom right to top left." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006778.mp4", + "start": 0, + "end": 25, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.26009348034858704, + 0.034140411764383316, + 0.058976199477910995, + 0.08292724192142487, + -0.3275611996650696, + -0.13404783606529236, + 0.0, + 1.0008161067962646 + ], + [ + 0.2584587335586548, + 0.034052249044179916, + 0.05389092117547989, + 0.07950859516859055, + -0.30937036871910095, + -0.13539175689220428, + 0.0, + 1.0008161067962646 + ], + [ + 0.25871047377586365, + 0.04907895624637604, + 0.0504789873957634, + 0.10166841745376587, + -0.29167234897613525, + -0.1382497102022171, + 0.0, + 1.0008161067962646 + ], + [ + 0.2627784013748169, + 0.06312958896160126, + 0.042737025767564774, + 0.09376618266105652, + -0.28194189071655273, + -0.13688716292381287, + 0.0, + 1.0008161067962646 + ], + [ + 0.26492395997047424, + 0.07353375852108002, + 0.037201181054115295, + 0.08898861706256866, + -0.2675175666809082, + -0.1474120169878006, + 0.0, + 1.0008161067962646 + ], + [ + 0.26796939969062805, + 0.07521165907382965, + 0.028298579156398773, + 0.07410562038421631, + -0.25276148319244385, + -0.16230058670043945, + 0.0, + 1.0008161067962646 + ], + [ + 0.27431994676589966, + 0.07812464982271194, + 0.024491654708981514, + 0.07827214151620865, + -0.2389831244945526, + -0.1783047914505005, + 0.0, + 1.0008161067962646 + ], + [ + 0.2745887339115143, + 0.07744961231946945, + 0.02226458117365837, + 0.07617231458425522, + -0.22924529016017914, + -0.1776273548603058, + 0.0, + 0.9468915462493896 + ], + [ + 0.2757629454135895, + 0.07693139463663101, + 0.018642058596014977, + 0.0788981169462204, + -0.22612908482551575, + -0.18558715283870697, + 0.0, + 0.6631406545639038 + ], + [ + 0.2784012258052826, + 0.07651148736476898, + 0.019023844972252846, + 0.07855910807847977, + -0.23201802372932434, + -0.19371850788593292, + 0.0, + 0.36275482177734375 + ], + [ + 0.27803969383239746, + 0.07611779123544693, + 0.01892201229929924, + 0.07466226071119308, + -0.23047830164432526, + -0.18928050994873047, + 0.0, + 0.1623418778181076 + ], + [ + 0.2784016728401184, + 0.07143952697515488, + 0.020062047988176346, + 0.08092626184225082, + -0.20708461105823517, + -0.20506009459495544, + 0.0, + 0.07081232219934464 + ], + [ + 0.2927495241165161, + 0.07656295597553253, + 0.03287433460354805, + 0.1358390897512436, + -0.20633745193481445, + -0.2617550790309906, + 0.0, + 0.0609428733587265 + ], + [ + 0.3261856734752655, + 0.08843731135129929, + 0.055522620677948, + 0.19619742035865784, + -0.2220546156167984, + -0.3760986328125, + 0.0, + 0.058401256799697876 + ], + [ + 0.357723593711853, + 0.11641664803028107, + 0.05706328898668289, + 0.2104739099740982, + -0.22705891728401184, + -0.4330657720565796, + 0.0, + 0.05812275409698486 + ], + [ + 0.38438722491264343, + 0.1408023238182068, + 0.04437578096985817, + 0.19429102540016174, + -0.23434855043888092, + -0.48257240653038025, + 0.0, + 0.05812275409698486 + ], + [ + 0.40775832533836365, + 0.156625896692276, + 0.03584005683660507, + 0.1797555387020111, + -0.23300355672836304, + -0.5239927172660828, + 0.0, + 0.05812275409698486 + ], + [ + 0.4192153811454773, + 0.16117145121097565, + 0.026925766840577126, + 0.15492123365402222, + -0.2144661396741867, + -0.5545135736465454, + 0.0, + 0.08157449960708618 + ], + [ + 0.4273914694786072, + 0.16460302472114563, + 0.024333423003554344, + 0.14051984250545502, + -0.18231292068958282, + -0.5934816002845764, + 0.0, + 0.23134081065654755 + ], + [ + 0.4402461051940918, + 0.16617503762245178, + 0.03937912732362747, + 0.17495672404766083, + -0.16418662667274475, + -0.636282205581665, + 0.0, + 0.4860933721065521 + ], + [ + 0.4495067000389099, + 0.15979623794555664, + 0.05376814305782318, + 0.2002396583557129, + -0.15226250886917114, + -0.6615090370178223, + 0.0, + 0.788411557674408 + ], + [ + 0.4468817412853241, + 0.15643934905529022, + 0.05894537642598152, + 0.20799492299556732, + -0.13236553966999054, + -0.6143995523452759, + 0.0, + 0.9961419701576233 + ], + [ + 0.42551448941230774, + 0.11763639003038406, + 0.08750433474779129, + 0.18531499803066254, + -0.10651395469903946, + -0.3630366921424866, + 0.0, + 1.0027955770492554 + ], + [ + 0.38958340883255005, + 0.06841425597667694, + 0.09368135780096054, + 0.2295413613319397, + -0.1644231528043747, + -0.14926795661449432, + 0.0, + 1.0008161067962646 + ], + [ + 0.3618680238723755, + 0.042980968952178955, + 0.0854732021689415, + 0.20771019160747528, + -0.2724270820617676, + -0.0784749984741211, + 0.0, + 1.0008161067962646 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9468915462493896 + ], + [ + 0.6631406545639038 + ], + [ + 0.36275482177734375 + ], + [ + 0.1623418778181076 + ], + [ + 0.07081232219934464 + ], + [ + 0.0609428733587265 + ], + [ + 0.058401256799697876 + ], + [ + 0.05812275409698486 + ], + [ + 0.05812275409698486 + ], + [ + 0.05812275409698486 + ], + [ + 0.08157449960708618 + ], + [ + 0.23134081065654755 + ], + [ + 0.4860933721065521 + ], + [ + 0.788411557674408 + ], + [ + 0.9961419701576233 + ], + [ + 1.0027955770492554 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.26009348034858704, + 0.034140411764383316, + 0.058976199477910995 + ], + [ + 0.2584587335586548, + 0.034052249044179916, + 0.05389092117547989 + ], + [ + 0.25871047377586365, + 0.04907895624637604, + 0.0504789873957634 + ], + [ + 0.2627784013748169, + 0.06312958896160126, + 0.042737025767564774 + ], + [ + 0.26492395997047424, + 0.07353375852108002, + 0.037201181054115295 + ], + [ + 0.26796939969062805, + 0.07521165907382965, + 0.028298579156398773 + ], + [ + 0.27431994676589966, + 0.07812464982271194, + 0.024491654708981514 + ], + [ + 0.2745887339115143, + 0.07744961231946945, + 0.02226458117365837 + ], + [ + 0.2757629454135895, + 0.07693139463663101, + 0.018642058596014977 + ], + [ + 0.2784012258052826, + 0.07651148736476898, + 0.019023844972252846 + ], + [ + 0.27803969383239746, + 0.07611779123544693, + 0.01892201229929924 + ], + [ + 0.2784016728401184, + 0.07143952697515488, + 0.020062047988176346 + ], + [ + 0.2927495241165161, + 0.07656295597553253, + 0.03287433460354805 + ], + [ + 0.3261856734752655, + 0.08843731135129929, + 0.055522620677948 + ], + [ + 0.357723593711853, + 0.11641664803028107, + 0.05706328898668289 + ], + [ + 0.38438722491264343, + 0.1408023238182068, + 0.04437578096985817 + ], + [ + 0.40775832533836365, + 0.156625896692276, + 0.03584005683660507 + ], + [ + 0.4192153811454773, + 0.16117145121097565, + 0.026925766840577126 + ], + [ + 0.4273914694786072, + 0.16460302472114563, + 0.024333423003554344 + ], + [ + 0.4402461051940918, + 0.16617503762245178, + 0.03937912732362747 + ], + [ + 0.4495067000389099, + 0.15979623794555664, + 0.05376814305782318 + ], + [ + 0.4468817412853241, + 0.15643934905529022, + 0.05894537642598152 + ], + [ + 0.42551448941230774, + 0.11763639003038406, + 0.08750433474779129 + ], + [ + 0.38958340883255005, + 0.06841425597667694, + 0.09368135780096054 + ], + [ + 0.3618680238723755, + 0.042980968952178955, + 0.0854732021689415 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9383358276281353, + -0.10677653489980729, + 0.3288231229463841, + -0.12654072596756624, + -0.991185056905341, + 0.03923808913743729, + 0.3217348586352183, + -0.07842802153788148, + -0.9435760309464362 + ], + [ + 0.9438084459900861, + -0.11059176659904665, + 0.31144032885655754, + -0.12857045062697672, + -0.9909822926327618, + 0.037732411980832034, + 0.30445895700956943, + -0.07565419253958822, + -0.9495162908806926 + ], + [ + 0.9486260264514489, + -0.10819172188541681, + 0.29732677856931056, + -0.13198924941097923, + -0.9893661633472143, + 0.061101823733336544, + 0.2875543426534566, + -0.09720671859023959, + -0.9528186364057205 + ], + [ + 0.951531888242521, + -0.11005474852510622, + 0.28718464092757096, + -0.13107220631084554, + -0.9898485596352163, + 0.05495366885745134, + 0.27822139096487414, + -0.08993209279874959, + -0.9562975877280082 + ], + [ + 0.9539703520591873, + -0.12306026466068559, + 0.2734899242270401, + -0.1416542464916864, + -0.9886910311183313, + 0.04923534743498119, + 0.264338120298497, + -0.0857100708657552, + -0.9606139400972924 + ], + [ + 0.9555012476492751, + -0.14287354258552937, + 0.2580785085390484, + -0.15645458001227208, + -0.9871415139967482, + 0.03276577081943077, + 0.25007864789674134, + -0.0716852995618267, + -0.9655681683303716 + ], + [ + 0.9561755481159555, + -0.15860265981152585, + 0.24611687769403628, + -0.1723207387386738, + -0.9844154418089368, + 0.035097021649610156, + 0.23671477390671997, + -0.07596995609334573, + -0.9686045021501115 + ], + [ + 0.9585155094603903, + -0.15916162521544866, + 0.23646478634812743, + -0.1720721022839409, + -0.9844671715637419, + 0.03486516497696783, + 0.22724262306942658, + -0.07410779427336409, + -0.9710143279522004 + ], + [ + 0.9578068262845447, + -0.1665819083530607, + 0.2342147547277515, + -0.17982595533873524, + -0.983031398443862, + 0.03622009746006241, + 0.22420684492057663, + -0.07680974861928473, + -0.9715099346933118 + ], + [ + 0.955000730885802, + -0.17420751659354175, + 0.24005279663002213, + -0.18735076271865006, + -0.9817425995591075, + 0.03288099633018851, + 0.2299419398811882, + -0.07637545006896304, + -0.9702028112257969 + ], + [ + 0.9561693759244284, + -0.17089222138052113, + 0.23777294466764007, + -0.18317703796535084, + -0.9826098492763423, + 0.030398303692225605, + 0.2284432036776977, + -0.07262047078307415, + -0.9708449772835596 + ], + [ + 0.9581308825959972, + -0.18668690396723517, + 0.21710184638308283, + -0.19927542442790516, + -0.9792290226316716, + 0.0374142547019132, + 0.20560767747069575, + -0.07911081546128623, + -0.9754316797409015 + ], + [ + 0.9454476842658327, + -0.22959275443569171, + 0.2311186782304862, + -0.2532870447125318, + -0.9642188001539314, + 0.07828012781354805, + 0.2048764244542714, + -0.13254913255221878, + -0.9697713019895402 + ], + [ + 0.9072678126453129, + -0.3203161111715345, + 0.27251184389258076, + -0.35827641421063555, + -0.9280295068716177, + 0.10197669045419612, + 0.22023425518787557, + -0.19015473514894904, + -0.9567330084941538 + ], + [ + 0.8843856509716822, + -0.36770499181588223, + 0.28749792929528334, + -0.4088840897983802, + -0.9073896682840952, + 0.09725117480539587, + 0.22511290825970837, + -0.2035608726768519, + -0.9528311233633663 + ], + [ + 0.8615913770862673, + -0.41561483053125703, + 0.29141827597641057, + -0.45137467490667815, + -0.8899426438358286, + 0.06529160386593097, + 0.23220939210867317, + -0.1877935124677355, + -0.9543649170477456 + ], + [ + 0.842431311566769, + -0.45653572838529516, + 0.2861548776442606, + -0.4868205369218173, + -0.872533009163154, + 0.04113286705112157, + 0.2309009530579015, + -0.17395768631595374, + -0.9573000957111377 + ], + [ + 0.8306796995909265, + -0.4923052102140738, + 0.2600131086764749, + -0.5144671060462985, + -0.8572658985398012, + 0.020464017129919243, + 0.212825828986696, + -0.1507672351567927, + -0.9653882158589371 + ], + [ + 0.8152596097750227, + -0.5326874175036559, + 0.22714727359747047, + -0.5499821764248675, + -0.8350285772390992, + 0.015712441217463215, + 0.18130464496102763, + -0.13773667059767367, + -0.9737336572637428 + ], + [ + 0.7934937927102536, + -0.5622547003062569, + 0.23288892827659002, + -0.5862181459623129, + -0.8089377635735038, + 0.044361920711424474, + 0.16344995036648297, + -0.17172462446667242, + -0.9714910020566196 + ], + [ + 0.7799369704513185, + -0.5782285974799566, + 0.23947862363806394, + -0.6072010059043473, + -0.7918326592387495, + 0.06563519019275445, + 0.15167485141567721, + -0.19660297255955406, + -0.9686805513835711 + ], + [ + 0.8099719495813048, + -0.5417739319311288, + 0.22455833890404758, + -0.5714253147086343, + -0.8152190809277653, + 0.09429188619084958, + 0.13197935672520422, + -0.20469210236639448, + -0.9698879278696209 + ], + [ + 0.9295248872466122, + -0.33072243377783905, + 0.16311393498176563, + -0.3531021116984132, + -0.9257732246867487, + 0.13514005759662814, + 0.10631266483017965, + -0.1832119216895056, + -0.9773080420458763 + ], + [ + 0.9755431212110525, + -0.10798474230118585, + 0.19145473117148104, + -0.14670855085719928, + -0.9684812901926376, + 0.20129727184486224, + 0.16368329103234136, + -0.22446221503172925, + -0.960637545726728 + ], + [ + 0.9601565956153868, + -0.021392675008609297, + 0.2786425404568486, + -0.07550334242912758, + -0.9798441675060012, + 0.1849449990848664, + 0.269069799825808, + -0.19861460384485163, + -0.9424190585728051 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.001634746789932251, + -8.816272020339966e-05, + -0.005085278302431107, + -0.00341864675283432, + 0.018190830945968628, + -0.0013439208269119263, + 1.0 + ], + [ + 0.0002517402172088623, + 0.015026707202196121, + -0.0034119337797164917, + 0.022159822285175323, + 0.017698019742965698, + -0.0028579533100128174, + 1.0 + ], + [ + 0.004067927598953247, + 0.01405063271522522, + -0.007741961628198624, + -0.00790223479270935, + 0.00973045825958252, + 0.0013625472784042358, + 1.0 + ], + [ + 0.0021455585956573486, + 0.01040416955947876, + -0.005535844713449478, + -0.004777565598487854, + 0.014424324035644531, + -0.010524854063987732, + 1.0 + ], + [ + 0.0030454397201538086, + 0.0016779005527496338, + -0.008902601897716522, + -0.014882996678352356, + 0.014756083488464355, + -0.014888569712638855, + 1.0 + ], + [ + 0.0063505470752716064, + 0.0029129907488822937, + -0.003806924447417259, + 0.00416652113199234, + 0.013778358697891235, + -0.016004204750061035, + 1.0 + ], + [ + 0.000268787145614624, + -0.0006750375032424927, + -0.002227073535323143, + -0.00209982693195343, + 0.009737834334373474, + 0.0006774365901947021, + 0.0 + ], + [ + 0.0011742115020751953, + -0.0005182176828384399, + -0.0036225225776433945, + 0.0027258023619651794, + 0.003116205334663391, + -0.007959797978401184, + 0.0 + ], + [ + 0.0026382803916931152, + -0.00041990727186203003, + 0.00038178637623786926, + -0.0003390088677406311, + -0.005888938903808594, + -0.008131355047225952, + 0.0 + ], + [ + -0.00036153197288513184, + -0.000393696129322052, + -0.00010183267295360565, + -0.003896847367286682, + 0.0015397220849990845, + 0.004437997937202454, + 0.0 + ], + [ + 0.00036197900772094727, + -0.004678264260292053, + 0.0011400356888771057, + 0.006264001131057739, + 0.023393690586090088, + -0.015779584646224976, + 0.0 + ], + [ + 0.014347851276397705, + 0.005123429000377655, + 0.012812286615371704, + 0.05491282790899277, + 0.0007471591234207153, + -0.056694984436035156, + 0.0 + ], + [ + 0.03343614935874939, + 0.011874355375766754, + 0.022648286074399948, + 0.060358330607414246, + -0.015717163681983948, + -0.1143435537815094, + 0.0 + ], + [ + 0.031537920236587524, + 0.02797933667898178, + 0.0015406683087348938, + 0.014276489615440369, + -0.00500430166721344, + -0.05696713924407959, + 0.0 + ], + [ + 0.026663631200790405, + 0.02438567578792572, + -0.012687508016824722, + -0.016182884573936462, + -0.00728963315486908, + -0.04950663447380066, + 0.0 + ], + [ + 0.023371100425720215, + 0.015823572874069214, + -0.008535724133253098, + -0.014535486698150635, + 0.0013449937105178833, + -0.041420310735702515, + 0.0 + ], + [ + 0.011457055807113647, + 0.004545554518699646, + -0.008914289996027946, + -0.02483430504798889, + 0.01853741705417633, + -0.030520856380462646, + 1.0 + ], + [ + 0.008176088333129883, + 0.003431573510169983, + -0.0025923438370227814, + -0.0144013911485672, + 0.03215321898460388, + -0.038968026638031006, + 1.0 + ], + [ + 0.01285463571548462, + 0.0015720129013061523, + 0.015045704320073128, + 0.03443688154220581, + 0.018126294016838074, + -0.04280060529708862, + 1.0 + ], + [ + 0.009260594844818115, + -0.006378799676895142, + 0.01438901573419571, + 0.025282934308052063, + 0.011924117803573608, + -0.025226831436157227, + 1.0 + ], + [ + -0.0026249587535858154, + -0.0033568888902664185, + 0.0051772333681583405, + 0.007755264639854431, + 0.019896969199180603, + 0.04710948467254639, + 1.0 + ], + [ + -0.021367251873016357, + -0.03880295902490616, + 0.02855895832180977, + -0.022679924964904785, + 0.02585158497095108, + 0.2513628602027893, + 1.0 + ], + [ + -0.03593108057975769, + -0.04922213405370712, + 0.0061770230531692505, + 0.04422636330127716, + -0.057909198105335236, + 0.21376873552799225, + 1.0 + ], + [ + -0.02771538496017456, + -0.025433287024497986, + -0.008208155632019043, + -0.021831169724464417, + -0.10800392925739288, + 0.07079295814037323, + 1.0 + ], + [ + -0.014053255319595337, + -0.02388712950050831, + -0.010241180658340454, + -0.03881046175956726, + -0.05736735463142395, + -0.006510399281978607, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9468915462493896 + ], + [ + 0.6631406545639038 + ], + [ + 0.36275482177734375 + ], + [ + 0.1623418778181076 + ], + [ + 0.07081232219934464 + ], + [ + 0.0609428733587265 + ], + [ + 0.058401256799697876 + ], + [ + 0.05812275409698486 + ], + [ + 0.05812275409698486 + ], + [ + 0.05812275409698486 + ], + [ + 0.08157449960708618 + ], + [ + 0.23134081065654755 + ], + [ + 0.4860933721065521 + ], + [ + 0.788411557674408 + ], + [ + 0.9961419701576233 + ], + [ + 1.0027955770492554 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2584587335586548, + 0.034052249044179916, + 0.05389092117547989 + ], + [ + 0.25871047377586365, + 0.04907895624637604, + 0.0504789873957634 + ], + [ + 0.2627784013748169, + 0.06312958896160126, + 0.042737025767564774 + ], + [ + 0.26492395997047424, + 0.07353375852108002, + 0.037201181054115295 + ], + [ + 0.26796939969062805, + 0.07521165907382965, + 0.028298579156398773 + ], + [ + 0.27431994676589966, + 0.07812464982271194, + 0.024491654708981514 + ], + [ + 0.2745887339115143, + 0.07744961231946945, + 0.02226458117365837 + ], + [ + 0.2757629454135895, + 0.07693139463663101, + 0.018642058596014977 + ], + [ + 0.2784012258052826, + 0.07651148736476898, + 0.019023844972252846 + ], + [ + 0.27803969383239746, + 0.07611779123544693, + 0.01892201229929924 + ], + [ + 0.2784016728401184, + 0.07143952697515488, + 0.020062047988176346 + ], + [ + 0.2927495241165161, + 0.07656295597553253, + 0.03287433460354805 + ], + [ + 0.3261856734752655, + 0.08843731135129929, + 0.055522620677948 + ], + [ + 0.357723593711853, + 0.11641664803028107, + 0.05706328898668289 + ], + [ + 0.38438722491264343, + 0.1408023238182068, + 0.04437578096985817 + ], + [ + 0.40775832533836365, + 0.156625896692276, + 0.03584005683660507 + ], + [ + 0.4192153811454773, + 0.16117145121097565, + 0.026925766840577126 + ], + [ + 0.4273914694786072, + 0.16460302472114563, + 0.024333423003554344 + ], + [ + 0.4402461051940918, + 0.16617503762245178, + 0.03937912732362747 + ], + [ + 0.4495067000389099, + 0.15979623794555664, + 0.05376814305782318 + ], + [ + 0.4468817412853241, + 0.15643934905529022, + 0.05894537642598152 + ], + [ + 0.42551448941230774, + 0.11763639003038406, + 0.08750433474779129 + ], + [ + 0.38958340883255005, + 0.06841425597667694, + 0.09368135780096054 + ], + [ + 0.3618680238723755, + 0.042980968952178955, + 0.0854732021689415 + ], + [ + 0.34781476855278015, + 0.019093839451670647, + 0.07523202151060104 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9438084459900861, + -0.11059176659904665, + 0.31144032885655754, + -0.12857045062697672, + -0.9909822926327618, + 0.037732411980832034, + 0.30445895700956943, + -0.07565419253958822, + -0.9495162908806926 + ], + [ + 0.9486260264514489, + -0.10819172188541681, + 0.29732677856931056, + -0.13198924941097923, + -0.9893661633472143, + 0.061101823733336544, + 0.2875543426534566, + -0.09720671859023959, + -0.9528186364057205 + ], + [ + 0.951531888242521, + -0.11005474852510622, + 0.28718464092757096, + -0.13107220631084554, + -0.9898485596352163, + 0.05495366885745134, + 0.27822139096487414, + -0.08993209279874959, + -0.9562975877280082 + ], + [ + 0.9539703520591873, + -0.12306026466068559, + 0.2734899242270401, + -0.1416542464916864, + -0.9886910311183313, + 0.04923534743498119, + 0.264338120298497, + -0.0857100708657552, + -0.9606139400972924 + ], + [ + 0.9555012476492751, + -0.14287354258552937, + 0.2580785085390484, + -0.15645458001227208, + -0.9871415139967482, + 0.03276577081943077, + 0.25007864789674134, + -0.0716852995618267, + -0.9655681683303716 + ], + [ + 0.9561755481159555, + -0.15860265981152585, + 0.24611687769403628, + -0.1723207387386738, + -0.9844154418089368, + 0.035097021649610156, + 0.23671477390671997, + -0.07596995609334573, + -0.9686045021501115 + ], + [ + 0.9585155094603903, + -0.15916162521544866, + 0.23646478634812743, + -0.1720721022839409, + -0.9844671715637419, + 0.03486516497696783, + 0.22724262306942658, + -0.07410779427336409, + -0.9710143279522004 + ], + [ + 0.9578068262845447, + -0.1665819083530607, + 0.2342147547277515, + -0.17982595533873524, + -0.983031398443862, + 0.03622009746006241, + 0.22420684492057663, + -0.07680974861928473, + -0.9715099346933118 + ], + [ + 0.955000730885802, + -0.17420751659354175, + 0.24005279663002213, + -0.18735076271865006, + -0.9817425995591075, + 0.03288099633018851, + 0.2299419398811882, + -0.07637545006896304, + -0.9702028112257969 + ], + [ + 0.9561693759244284, + -0.17089222138052113, + 0.23777294466764007, + -0.18317703796535084, + -0.9826098492763423, + 0.030398303692225605, + 0.2284432036776977, + -0.07262047078307415, + -0.9708449772835596 + ], + [ + 0.9581308825959972, + -0.18668690396723517, + 0.21710184638308283, + -0.19927542442790516, + -0.9792290226316716, + 0.0374142547019132, + 0.20560767747069575, + -0.07911081546128623, + -0.9754316797409015 + ], + [ + 0.9454476842658327, + -0.22959275443569171, + 0.2311186782304862, + -0.2532870447125318, + -0.9642188001539314, + 0.07828012781354805, + 0.2048764244542714, + -0.13254913255221878, + -0.9697713019895402 + ], + [ + 0.9072678126453129, + -0.3203161111715345, + 0.27251184389258076, + -0.35827641421063555, + -0.9280295068716177, + 0.10197669045419612, + 0.22023425518787557, + -0.19015473514894904, + -0.9567330084941538 + ], + [ + 0.8843856509716822, + -0.36770499181588223, + 0.28749792929528334, + -0.4088840897983802, + -0.9073896682840952, + 0.09725117480539587, + 0.22511290825970837, + -0.2035608726768519, + -0.9528311233633663 + ], + [ + 0.8615913770862673, + -0.41561483053125703, + 0.29141827597641057, + -0.45137467490667815, + -0.8899426438358286, + 0.06529160386593097, + 0.23220939210867317, + -0.1877935124677355, + -0.9543649170477456 + ], + [ + 0.842431311566769, + -0.45653572838529516, + 0.2861548776442606, + -0.4868205369218173, + -0.872533009163154, + 0.04113286705112157, + 0.2309009530579015, + -0.17395768631595374, + -0.9573000957111377 + ], + [ + 0.8306796995909265, + -0.4923052102140738, + 0.2600131086764749, + -0.5144671060462985, + -0.8572658985398012, + 0.020464017129919243, + 0.212825828986696, + -0.1507672351567927, + -0.9653882158589371 + ], + [ + 0.8152596097750227, + -0.5326874175036559, + 0.22714727359747047, + -0.5499821764248675, + -0.8350285772390992, + 0.015712441217463215, + 0.18130464496102763, + -0.13773667059767367, + -0.9737336572637428 + ], + [ + 0.7934937927102536, + -0.5622547003062569, + 0.23288892827659002, + -0.5862181459623129, + -0.8089377635735038, + 0.044361920711424474, + 0.16344995036648297, + -0.17172462446667242, + -0.9714910020566196 + ], + [ + 0.7799369704513185, + -0.5782285974799566, + 0.23947862363806394, + -0.6072010059043473, + -0.7918326592387495, + 0.06563519019275445, + 0.15167485141567721, + -0.19660297255955406, + -0.9686805513835711 + ], + [ + 0.8099719495813048, + -0.5417739319311288, + 0.22455833890404758, + -0.5714253147086343, + -0.8152190809277653, + 0.09429188619084958, + 0.13197935672520422, + -0.20469210236639448, + -0.9698879278696209 + ], + [ + 0.9295248872466122, + -0.33072243377783905, + 0.16311393498176563, + -0.3531021116984132, + -0.9257732246867487, + 0.13514005759662814, + 0.10631266483017965, + -0.1832119216895056, + -0.9773080420458763 + ], + [ + 0.9755431212110525, + -0.10798474230118585, + 0.19145473117148104, + -0.14670855085719928, + -0.9684812901926376, + 0.20129727184486224, + 0.16368329103234136, + -0.22446221503172925, + -0.960637545726728 + ], + [ + 0.9601565956153868, + -0.021392675008609297, + 0.2786425404568486, + -0.07550334242912758, + -0.9798441675060012, + 0.1849449990848664, + 0.269069799825808, + -0.19861460384485163, + -0.9424190585728051 + ], + [ + 0.942694346472598, + -0.029433504556914385, + 0.33235679312765576, + -0.08030869080714709, + -0.9868334752879209, + 0.1403930419643591, + 0.32384854995729606, + -0.15903886588083538, + -0.9326461042806613 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006779.json b/json/chunk-0006/episode_0006779.json new file mode 100644 index 0000000000000000000000000000000000000000..87937df22768f527b7bd150dc835f8d7eb4cea2c --- /dev/null +++ b/json/chunk-0006/episode_0006779.json @@ -0,0 +1,2302 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 37, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut the blue cloth in the washing machine." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006779.mp4", + "start": 0, + "end": 37, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2547229826450348, + -0.08532962203025818, + 0.010569281876087189, + 0.035128407180309296, + -0.35219916701316833, + -0.561090886592865, + 0.0, + 0.9988223910331726 + ], + [ + 0.251849502325058, + -0.08340106159448624, + 0.0038212977815419436, + 0.029985006898641586, + -0.3270505666732788, + -0.5516093373298645, + 0.0, + 0.9988223910331726 + ], + [ + 0.2447405904531479, + -0.0908038318157196, + -0.013548620045185089, + 0.06932713091373444, + -0.2896464765071869, + -0.5980517268180847, + 0.0, + 0.9988223910331726 + ], + [ + 0.24051877856254578, + -0.09241555631160736, + -0.027601061388850212, + 0.06746728718280792, + -0.27279046177864075, + -0.598721981048584, + 0.0, + 0.9988223910331726 + ], + [ + 0.23238953948020935, + -0.09707223623991013, + -0.04981936141848564, + 0.05733244866132736, + -0.21741406619548798, + -0.608201801776886, + 0.0, + 0.9988223910331726 + ], + [ + 0.23302355408668518, + -0.09714984893798828, + -0.06451857089996338, + 0.06458307057619095, + -0.17474737763404846, + -0.6046232581138611, + 0.0, + 0.9988223910331726 + ], + [ + 0.23421932756900787, + -0.09782717376947403, + -0.07852638512849808, + 0.04141218960285187, + -0.14599545300006866, + -0.5835557579994202, + 0.0, + 0.9994885921478271 + ], + [ + 0.23734524846076965, + -0.09662443399429321, + -0.08012915402650833, + 0.039961110800504684, + -0.1479596346616745, + -0.5635687708854675, + 0.0, + 0.9522681832313538 + ], + [ + 0.24016644060611725, + -0.09661692380905151, + -0.08112090080976486, + 0.02181522734463215, + -0.14411452412605286, + -0.5228568911552429, + 0.0, + 0.728995144367218 + ], + [ + 0.23800650238990784, + -0.0963207334280014, + -0.07964479923248291, + 0.036450132727622986, + -0.13792963325977325, + -0.5429675579071045, + 0.0, + 0.4737623631954193 + ], + [ + 0.22943881154060364, + -0.09542711824178696, + -0.07770150154829025, + 0.0501408651471138, + -0.12823602557182312, + -0.5408985614776611, + 0.0, + 0.24793511629104614 + ], + [ + 0.224631205201149, + -0.09286454319953918, + -0.07019129395484924, + 0.07042142003774643, + -0.12760291993618011, + -0.5445466637611389, + 0.0, + 0.12307736277580261 + ], + [ + 0.22738116979599, + -0.09709669649600983, + -0.06287935376167297, + 0.079987533390522, + -0.1514577716588974, + -0.5594181418418884, + 0.0, + 0.09662370383739471 + ], + [ + 0.23316413164138794, + -0.09795788675546646, + -0.0463024377822876, + 0.09433173388242722, + -0.20305436849594116, + -0.5480901002883911, + 0.0, + 0.09624730050563812 + ], + [ + 0.2454012930393219, + -0.09811843931674957, + -0.02438349463045597, + 0.12893997132778168, + -0.2587842345237732, + -0.5509406924247742, + 0.0, + 0.09624730050563812 + ], + [ + 0.2638932764530182, + -0.09208923578262329, + 0.003868892788887024, + 0.17224571108818054, + -0.2918991148471832, + -0.52056485414505, + 0.0, + 0.09624730050563812 + ], + [ + 0.28254827857017517, + -0.08194444328546524, + 0.02900172397494316, + 0.20702475309371948, + -0.34444859623908997, + -0.48387813568115234, + 0.0, + 0.09624730050563812 + ], + [ + 0.3042583167552948, + -0.061899520456790924, + 0.05378801003098488, + 0.22325873374938965, + -0.40123218297958374, + -0.4210222363471985, + 0.0, + 0.09624730050563812 + ], + [ + 0.3185797333717346, + -0.042297571897506714, + 0.07475794106721878, + 0.2536088228225708, + -0.442439466714859, + -0.3847671449184418, + 0.0, + 0.09624730050563812 + ], + [ + 0.3317006826400757, + -0.024004219099879265, + 0.0864519476890564, + 0.25983819365501404, + -0.4759919047355652, + -0.3457000255584717, + 0.0, + 0.09624730050563812 + ], + [ + 0.34946972131729126, + -0.013623997569084167, + 0.09203732013702393, + 0.25683340430259705, + -0.5019488334655762, + -0.32887279987335205, + 0.0, + 0.09624730050563812 + ], + [ + 0.3735867142677307, + -0.01423623412847519, + 0.07356857508420944, + 0.243479385972023, + -0.5132871866226196, + -0.32544732093811035, + 0.0, + 0.09624730050563812 + ], + [ + 0.39993274211883545, + -0.019118014723062515, + 0.05754765868186951, + 0.22655969858169556, + -0.49915316700935364, + -0.3354901671409607, + 0.0, + 0.09624730050563812 + ], + [ + 0.4148480296134949, + -0.02153441682457924, + 0.04409134387969971, + 0.19749191403388977, + -0.4911753237247467, + -0.3415399193763733, + 0.0, + 0.12527866661548615 + ], + [ + 0.42037907242774963, + -0.019897401332855225, + 0.04385500028729439, + 0.17269712686538696, + -0.4867061376571655, + -0.33559703826904297, + 0.0, + 0.24590691924095154 + ], + [ + 0.41470932960510254, + -0.019020862877368927, + 0.04040685296058655, + 0.1564408391714096, + -0.49273964762687683, + -0.30723533034324646, + 0.0, + 0.5033408999443054 + ], + [ + 0.41117289662361145, + -0.01489153690636158, + 0.04024266451597214, + 0.13783027231693268, + -0.4816192388534546, + -0.2905459702014923, + 0.0, + 0.7941413521766663 + ], + [ + 0.40954023599624634, + -0.0158873051404953, + 0.04604204744100571, + 0.13738474249839783, + -0.48101678490638733, + -0.31074458360671997, + 0.0, + 0.9920742511749268 + ], + [ + 0.4083140790462494, + -0.013979005627334118, + 0.048986274749040604, + 0.15844516456127167, + -0.48678579926490784, + -0.33258283138275146, + 0.0, + 0.9988223910331726 + ], + [ + 0.4064328074455261, + -0.011910023167729378, + 0.058073900640010834, + 0.17016910016536713, + -0.5112083554267883, + -0.3306724727153778, + 0.0, + 0.9988223910331726 + ], + [ + 0.40346431732177734, + -0.006209151353687048, + 0.06586240977048874, + 0.14001473784446716, + -0.5386652946472168, + -0.3189636766910553, + 0.0, + 0.9994885921478271 + ], + [ + 0.38330912590026855, + 0.0026530239265412092, + 0.09580664336681366, + 0.20457644760608673, + -0.5517439842224121, + -0.3517708480358124, + 0.0, + 0.9994885921478271 + ], + [ + 0.3521295189857483, + 0.010008394718170166, + 0.10839304327964783, + 0.1930418610572815, + -0.5388470888137817, + -0.32825276255607605, + 0.0, + 0.9994885921478271 + ], + [ + 0.3215062618255615, + 0.0025179137010127306, + 0.10395007580518723, + 0.13847438991069794, + -0.5046132206916809, + -0.3383300304412842, + 0.0, + 0.9994885921478271 + ], + [ + 0.29793235659599304, + -0.004479740280658007, + 0.09569187462329865, + 0.09315292537212372, + -0.46143975853919983, + -0.33736035227775574, + 0.0, + 0.9994885921478271 + ], + [ + 0.27879130840301514, + -0.01929570734500885, + 0.08155888319015503, + 0.06092854216694832, + -0.4033389687538147, + -0.35646021366119385, + 0.0, + 0.9994885921478271 + ], + [ + 0.26521748304367065, + -0.032307032495737076, + 0.08180545270442963, + 0.12151042371988297, + -0.3403173089027405, + -0.4082574248313904, + 0.0, + 0.9994885921478271 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9522681832313538 + ], + [ + 0.728995144367218 + ], + [ + 0.4737623631954193 + ], + [ + 0.24793511629104614 + ], + [ + 0.12307736277580261 + ], + [ + 0.09662370383739471 + ], + [ + 0.09624730050563812 + ], + [ + 0.09624730050563812 + ], + [ + 0.09624730050563812 + ], + [ + 0.09624730050563812 + ], + [ + 0.09624730050563812 + ], + [ + 0.09624730050563812 + ], + [ + 0.09624730050563812 + ], + [ + 0.09624730050563812 + ], + [ + 0.09624730050563812 + ], + [ + 0.09624730050563812 + ], + [ + 0.12527866661548615 + ], + [ + 0.24590691924095154 + ], + [ + 0.5033408999443054 + ], + [ + 0.7941413521766663 + ], + [ + 0.9920742511749268 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2547229826450348, + -0.08532962203025818, + 0.010569281876087189 + ], + [ + 0.251849502325058, + -0.08340106159448624, + 0.0038212977815419436 + ], + [ + 0.2447405904531479, + -0.0908038318157196, + -0.013548620045185089 + ], + [ + 0.24051877856254578, + -0.09241555631160736, + -0.027601061388850212 + ], + [ + 0.23238953948020935, + -0.09707223623991013, + -0.04981936141848564 + ], + [ + 0.23302355408668518, + -0.09714984893798828, + -0.06451857089996338 + ], + [ + 0.23421932756900787, + -0.09782717376947403, + -0.07852638512849808 + ], + [ + 0.23734524846076965, + -0.09662443399429321, + -0.08012915402650833 + ], + [ + 0.24016644060611725, + -0.09661692380905151, + -0.08112090080976486 + ], + [ + 0.23800650238990784, + -0.0963207334280014, + -0.07964479923248291 + ], + [ + 0.22943881154060364, + -0.09542711824178696, + -0.07770150154829025 + ], + [ + 0.224631205201149, + -0.09286454319953918, + -0.07019129395484924 + ], + [ + 0.22738116979599, + -0.09709669649600983, + -0.06287935376167297 + ], + [ + 0.23316413164138794, + -0.09795788675546646, + -0.0463024377822876 + ], + [ + 0.2454012930393219, + -0.09811843931674957, + -0.02438349463045597 + ], + [ + 0.2638932764530182, + -0.09208923578262329, + 0.003868892788887024 + ], + [ + 0.28254827857017517, + -0.08194444328546524, + 0.02900172397494316 + ], + [ + 0.3042583167552948, + -0.061899520456790924, + 0.05378801003098488 + ], + [ + 0.3185797333717346, + -0.042297571897506714, + 0.07475794106721878 + ], + [ + 0.3317006826400757, + -0.024004219099879265, + 0.0864519476890564 + ], + [ + 0.34946972131729126, + -0.013623997569084167, + 0.09203732013702393 + ], + [ + 0.3735867142677307, + -0.01423623412847519, + 0.07356857508420944 + ], + [ + 0.39993274211883545, + -0.019118014723062515, + 0.05754765868186951 + ], + [ + 0.4148480296134949, + -0.02153441682457924, + 0.04409134387969971 + ], + [ + 0.42037907242774963, + -0.019897401332855225, + 0.04385500028729439 + ], + [ + 0.41470932960510254, + -0.019020862877368927, + 0.04040685296058655 + ], + [ + 0.41117289662361145, + -0.01489153690636158, + 0.04024266451597214 + ], + [ + 0.40954023599624634, + -0.0158873051404953, + 0.04604204744100571 + ], + [ + 0.4083140790462494, + -0.013979005627334118, + 0.048986274749040604 + ], + [ + 0.4064328074455261, + -0.011910023167729378, + 0.058073900640010834 + ], + [ + 0.40346431732177734, + -0.006209151353687048, + 0.06586240977048874 + ], + [ + 0.38330912590026855, + 0.0026530239265412092, + 0.09580664336681366 + ], + [ + 0.3521295189857483, + 0.010008394718170166, + 0.10839304327964783 + ], + [ + 0.3215062618255615, + 0.0025179137010127306, + 0.10395007580518723 + ], + [ + 0.29793235659599304, + -0.004479740280658007, + 0.09569187462329865 + ], + [ + 0.27879130840301514, + -0.01929570734500885, + 0.08155888319015503 + ], + [ + 0.26521748304367065, + -0.032307032495737076, + 0.08180545270442963 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.7947031344364897, + -0.5215239669395445, + 0.3105795872630064, + -0.4994472795124437, + -0.8525995776523663, + -0.15370873486768896, + 0.3449628140893414, + -0.03296531654098639, + -0.9380372832680559 + ], + [ + 0.8065379445554179, + -0.5156201877978501, + 0.289192610430542, + -0.49628028802635993, + -0.8563467476908924, + -0.1427449594055923, + 0.32125133417434193, + -0.028391365844931314, + -0.9465682810218523 + ], + [ + 0.7920089348040183, + -0.5453300061154273, + 0.274475921750437, + -0.5395802136181339, + -0.8355884578139061, + -0.10317520167165564, + 0.2856134455210625, + -0.06638609491697728, + -0.9560428055998649 + ], + [ + 0.7955113396833039, + -0.5473011680760927, + 0.2600444959191019, + -0.5427473639253783, + -0.8344138073228677, + -0.09580656084532722, + 0.26941976057321454, + -0.06492325909488013, + -0.9608319119602404 + ], + [ + 0.8013568687467465, + -0.5603101365071066, + 0.2094748668451583, + -0.5579412126416725, + -0.8263908967204463, + -0.0760242662149143, + 0.21570529003329772, + -0.055952093302787706, + -0.9748541383749091 + ], + [ + 0.810186750294831, + -0.5580357332871765, + 0.17942561138629304, + -0.5597949176021181, + -0.827379504396536, + -0.04552807849427743, + 0.17385936809254676, + -0.06355529937925292, + -0.9827174792621095 + ], + [ + 0.8256308715154353, + -0.545496231654186, + 0.14410942110682912, + -0.5451330116545836, + -0.8371117883804827, + -0.04553958013457626, + 0.14547736457973898, + -0.04095991950080717, + -0.9885133390042955 + ], + [ + 0.8361176386970681, + -0.5288012660640623, + 0.1458647156398151, + -0.5283696898843327, + -0.8478253752072687, + -0.04491774667309285, + 0.1474203685763041, + -0.03951397428377602, + -0.9882843117064684 + ], + [ + 0.8574145799021677, + -0.49652433239191573, + 0.13529163135224473, + -0.49418076476519324, + -0.8677543275288183, + -0.052799609762733776, + 0.143616189572339, + -0.021587366624270132, + -0.9893979865023738 + ], + [ + 0.8480478559038117, + -0.5120459282764566, + 0.1364690493571703, + -0.5117720094736772, + -0.8581993059580092, + -0.03979147612826181, + 0.13749270677465913, + -0.03609596360666133, + -0.9898448550126855 + ], + [ + 0.850207521628201, + -0.5087647777047369, + 0.1352980825210809, + -0.5106786022454576, + -0.8594693033546008, + -0.022800916643468477, + 0.1278848520171852, + -0.049708324838061646, + -0.9905425518706079 + ], + [ + 0.8484079444907968, + -0.5090873147647845, + 0.1450312575636102, + -0.5138186803124498, + -0.8578807025301282, + -0.005573507727297269, + 0.12725691921020846, + -0.06979116113086936, + -0.9894113756881571 + ], + [ + 0.8378612826090555, + -0.5187784452985119, + 0.16987464730903074, + -0.5246178467356161, + -0.8512519544637213, + -0.012092349158894684, + 0.15087937563230586, + -0.07898756051020786, + -0.9853914852957946 + ], + [ + 0.8359858216035746, + -0.5025288841753706, + 0.22043689946842673, + -0.5103530059236316, + -0.8596239959081903, + -0.024215594222506777, + 0.2016618839109409, + -0.0922567408284759, + -0.9751005990918052 + ], + [ + 0.8236613213686979, + -0.49110714651718157, + 0.2835415283885629, + -0.5060577278647793, + -0.8621849750374813, + -0.02329473949102919, + 0.25590545861608277, + -0.12430140570150225, + -0.9586769825082497 + ], + [ + 0.8308407151389459, + -0.44722102430576016, + 0.3312054671745508, + -0.4763310364848895, + -0.8792324759627507, + 0.00768094353855929, + 0.28777152351933055, + -0.16414508409123424, + -0.9435273931476742 + ], + [ + 0.8332025053334895, + -0.39384076519659156, + 0.38815336759502733, + -0.4378896516650251, + -0.8985859323130706, + 0.028213032692945936, + 0.33767771331652924, + -0.1934755124516111, + -0.9211628455441019 + ], + [ + 0.84018767450874, + -0.3196299505511978, + 0.43808830880797817, + -0.37623537235962157, + -0.9253606204142893, + 0.04641838829492388, + 0.39055296207942464, + -0.20382447570672235, + -0.897732681210764 + ], + [ + 0.8376359329094125, + -0.2637701061710575, + 0.4783214138939288, + -0.33920147396365025, + -0.9375576537569752, + 0.07699354481125505, + 0.4281453070627601, + -0.22673988835717618, + -0.8748031887618551 + ], + [ + 0.8362535987988657, + -0.2167176076084022, + 0.5036997092002701, + -0.30118775002090303, + -0.9491487225646802, + 0.09166592437314036, + 0.45822031571427735, + -0.22836414124447574, + -0.8590017236655474 + ], + [ + 0.8296644588385648, + -0.1967151056032406, + 0.5224557904431889, + -0.2831361933262073, + -0.9548374567700783, + 0.09010730923511989, + 0.481134889369765, + -0.22268497564127415, + -0.8478918680202029 + ], + [ + 0.8254072678216222, + -0.19813506928692, + 0.5286258946986158, + -0.2785303299096302, + -0.9574114189459205, + 0.07605412672821499, + 0.4910434782661075, + -0.21001397379847425, + -0.8454409697085281 + ], + [ + 0.8290395570688106, + -0.2192884144606142, + 0.5143986820536193, + -0.2890618676587269, + -0.9555192819071417, + 0.05853322619938946, + 0.47868220092332575, + -0.19721940367775714, + -0.8555512008829108 + ], + [ + 0.8308475542018872, + -0.2412280559017329, + 0.5014991193637456, + -0.29534173974088707, + -0.9549214806517484, + 0.029970361304102758, + 0.4716625896163147, + -0.17301442377947207, + -0.8646388903586797 + ], + [ + 0.8345700849630744, + -0.24854527458420492, + 0.4916482683449507, + -0.29109023942006124, + -0.9566378653935133, + 0.010510328715768402, + 0.46771705741729996, + -0.15188561807229892, + -0.8707304480857997 + ], + [ + 0.8397840085273216, + -0.22848108731441494, + 0.4925030068551932, + -0.2664482179020181, + -0.963822376296364, + 0.007195424050687169, + 0.47304140008948736, + -0.13726915054029154, + -0.8702809972137302 + ], + [ + 0.8491013414371702, + -0.22278290916093743, + 0.4789516545074121, + -0.25388764597378977, + -0.9672336973828298, + 0.00019459966022979114, + 0.4632148261784002, + -0.12176514293068308, + -0.8778412583010579 + ], + [ + 0.8440658546713984, + -0.24255586840825655, + 0.4782462584051843, + -0.27107064029834343, + -0.9625101156608801, + -0.009746036051917921, + 0.46268081973006825, + -0.12141222323635997, + -0.8781716979627141 + ], + [ + 0.8354084785932324, + -0.2526314281408696, + 0.4881291175601443, + -0.28856118852523105, + -0.9574599898025706, + -0.0016758293968130306, + 0.46778746709531094, + -0.13945511623015405, + -0.8727698185580133 + ], + [ + 0.8249043565129626, + -0.24162716859423156, + 0.5110275080688605, + -0.28317020624228334, + -0.9590628188121222, + 0.0036254473998069414, + 0.4892314757889534, + -0.14769841220974875, + -0.8595567125722894 + ], + [ + 0.8150975103388469, + -0.2425331517525231, + 0.5261118882332929, + -0.26917753155140156, + -0.9627183928989654, + -0.026772233413133485, + 0.5129907456741374, + -0.1197955185932291, + -0.8499938403174883 + ], + [ + 0.7994623930286655, + -0.23740943247621585, + 0.5518121451220519, + -0.2934319594381875, + -0.9558793533062959, + 0.013868925805667162, + 0.5241732226212488, + -0.17300700359828886, + -0.8338531102015487 + ], + [ + 0.8124736743440565, + -0.22321279044813927, + 0.5385745804233836, + -0.27670725002005947, + -0.9607616018861527, + 0.019241676836768237, + 0.5131467882430961, + -0.1646608469597718, + -0.8423581062673322 + ], + [ + 0.8257375212922836, + -0.26578394359726354, + 0.49751024236287067, + -0.29054322235132424, + -0.9564305809059527, + -0.028725943911576082, + 0.4834689047661541, + -0.12082813924657072, + -0.8669823405874117 + ], + [ + 0.8449394884851055, + -0.29048158843824035, + 0.44910767926737205, + -0.29637916706548384, + -0.9532487985504529, + -0.05895860744359335, + 0.4452377456237263, + -0.08328970428879232, + -0.8915302434754455 + ], + [ + 0.8619378680206164, + -0.3259148447094538, + 0.3883846362436174, + -0.3209571423436582, + -0.9437388342740338, + -0.07964625202531765, + 0.3924915597190176, + -0.05600470231239761, + -0.918048935987746 + ], + [ + 0.8651763000242383, + -0.3569496593032168, + 0.35221713558497725, + -0.37424153878326155, + -0.9271092671767829, + -0.02028983400781701, + 0.333786219795703, + -0.11425999929216551, + -0.935698355259989 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0028734803199768066, + 0.0019285604357719421, + -0.006747984327375889, + -0.005143400281667709, + 0.025148600339889526, + 0.009481549263000488, + 1.0 + ], + [ + -0.007108911871910095, + -0.007402770221233368, + -0.017369918525218964, + 0.03934212401509285, + 0.03740409016609192, + -0.046442389488220215, + 1.0 + ], + [ + -0.004221811890602112, + -0.0016117244958877563, + -0.014052441343665123, + -0.0018598437309265137, + 0.016856014728546143, + -0.0006702542304992676, + 1.0 + ], + [ + -0.008129239082336426, + -0.004656679928302765, + -0.02221830002963543, + -0.01013483852148056, + 0.05537639558315277, + -0.009479820728302002, + 1.0 + ], + [ + 0.0006340146064758301, + -7.761269807815552e-05, + -0.014699209481477737, + 0.007250621914863586, + 0.042666688561439514, + 0.0035785436630249023, + 1.0 + ], + [ + 0.0011957734823226929, + -0.0006773248314857483, + -0.014007814228534698, + -0.02317088097333908, + 0.028751924633979797, + 0.021067500114440918, + 1.0 + ], + [ + 0.00312592089176178, + 0.0012027397751808167, + -0.001602768898010254, + -0.0014510788023471832, + -0.001964181661605835, + 0.019986987113952637, + 0.0 + ], + [ + 0.002821192145347595, + 7.510185241699219e-06, + -0.0009917467832565308, + -0.018145883455872536, + 0.003845110535621643, + 0.04071187973022461, + 0.0 + ], + [ + -0.0021599382162094116, + 0.00029619038105010986, + 0.001476101577281952, + 0.014634905382990837, + 0.006184890866279602, + -0.020110666751861572, + 0.0 + ], + [ + -0.0085676908493042, + 0.000893615186214447, + 0.0019432976841926575, + 0.013690732419490814, + 0.009693607687950134, + 0.0020689964294433594, + 0.0 + ], + [ + -0.004807606339454651, + 0.002562575042247772, + 0.0075102075934410095, + 0.02028055489063263, + 0.0006331056356430054, + -0.003648102283477783, + 0.0 + ], + [ + 0.0027499645948410034, + -0.004232153296470642, + 0.0073119401931762695, + 0.009566113352775574, + -0.023854851722717285, + -0.014871478080749512, + 0.0 + ], + [ + 0.005782961845397949, + -0.0008611902594566345, + 0.016576915979385376, + 0.014344200491905212, + -0.05159659683704376, + 0.011328041553497314, + 0.0 + ], + [ + 0.01223716139793396, + -0.00016055256128311157, + 0.021918943151831627, + 0.03460823744535446, + -0.05572986602783203, + -0.0028505921363830566, + 0.0 + ], + [ + 0.01849198341369629, + 0.006029203534126282, + 0.028252387419342995, + 0.043305739760398865, + -0.033114880323410034, + 0.03037583827972412, + 0.0 + ], + [ + 0.018655002117156982, + 0.01014479249715805, + 0.025132831186056137, + 0.03477904200553894, + -0.05254948139190674, + 0.036686718463897705, + 0.0 + ], + [ + 0.02171003818511963, + 0.020044922828674316, + 0.024786286056041718, + 0.016233980655670166, + -0.056783586740493774, + 0.06285589933395386, + 0.0 + ], + [ + 0.01432141661643982, + 0.01960194855928421, + 0.020969931036233902, + 0.030350089073181152, + -0.04120728373527527, + 0.036255091428756714, + 0.0 + ], + [ + 0.013120949268341064, + 0.01829335279762745, + 0.011694006621837616, + 0.006229370832443237, + -0.03355243802070618, + 0.03906711935997009, + 0.0 + ], + [ + 0.017769038677215576, + 0.010380221530795097, + 0.005585372447967529, + -0.003004789352416992, + -0.025956928730010986, + 0.01682722568511963, + 0.0 + ], + [ + 0.024116992950439453, + -0.0006122365593910217, + -0.018468745052814484, + -0.013354018330574036, + -0.011338353157043457, + 0.0034254789352416992, + 0.0 + ], + [ + 0.026346027851104736, + -0.004881780594587326, + -0.016020916402339935, + -0.016919687390327454, + 0.014134019613265991, + -0.010042846202850342, + 0.0 + ], + [ + 0.014915287494659424, + -0.0024164021015167236, + -0.0134563148021698, + -0.029067784547805786, + 0.007977843284606934, + -0.006049752235412598, + 1.0 + ], + [ + 0.005531042814254761, + 0.0016370154917240143, + -0.00023634359240531921, + -0.024794787168502808, + 0.004469186067581177, + 0.005942881107330322, + 1.0 + ], + [ + -0.005669742822647095, + 0.0008765384554862976, + -0.00344814732670784, + -0.016256287693977356, + -0.006033509969711304, + 0.02836170792579651, + 1.0 + ], + [ + -0.003536432981491089, + 0.004129325971007347, + -0.0001641884446144104, + -0.01861056685447693, + 0.011120408773422241, + 0.01668936014175415, + 1.0 + ], + [ + -0.0016326606273651123, + -0.0009957682341337204, + 0.005799382925033569, + -0.0004455298185348511, + 0.0006024539470672607, + -0.02019861340522766, + 1.0 + ], + [ + -0.0012261569499969482, + 0.0019082995131611824, + 0.002944227308034897, + 0.02106042206287384, + -0.005769014358520508, + -0.021838247776031494, + 1.0 + ], + [ + -0.0018812716007232666, + 0.00206898245960474, + 0.00908762589097023, + 0.011723935604095459, + -0.024422556161880493, + 0.0019103586673736572, + 1.0 + ], + [ + -0.0029684901237487793, + 0.00570087181404233, + 0.007788509130477905, + -0.030154362320899963, + -0.027456939220428467, + 0.01170879602432251, + 1.0 + ], + [ + -0.02015519142150879, + 0.008862175047397614, + 0.02994423359632492, + 0.06456170976161957, + -0.013078689575195312, + -0.03280717134475708, + 1.0 + ], + [ + -0.031179606914520264, + 0.007355370558798313, + 0.012586399912834167, + -0.011534586548805237, + 0.012896895408630371, + 0.023518085479736328, + 1.0 + ], + [ + -0.030623257160186768, + -0.007490481249988079, + -0.004442967474460602, + -0.05456747114658356, + 0.03423386812210083, + -0.01007726788520813, + 1.0 + ], + [ + -0.02357390522956848, + -0.006997654214501381, + -0.00825820118188858, + -0.04532146453857422, + 0.04317346215248108, + 0.0009696781635284424, + 1.0 + ], + [ + -0.019141048192977905, + -0.01481596753001213, + -0.014132991433143616, + -0.0322243832051754, + 0.05810078978538513, + -0.01909986138343811, + 1.0 + ], + [ + -0.013573825359344482, + -0.013011325150728226, + 0.00024656951427459717, + 0.06058188155293465, + 0.06302165985107422, + -0.05179721117019653, + 1.0 + ], + [ + 8.437037467956543e-05, + 0.0023846738040447235, + -5.367398262023926e-05, + 0.005121015012264252, + 0.002837836742401123, + 0.0032179653644561768, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9522681832313538 + ], + [ + 0.728995144367218 + ], + [ + 0.4737623631954193 + ], + [ + 0.24793511629104614 + ], + [ + 0.12307736277580261 + ], + [ + 0.09662370383739471 + ], + [ + 0.09624730050563812 + ], + [ + 0.09624730050563812 + ], + [ + 0.09624730050563812 + ], + [ + 0.09624730050563812 + ], + [ + 0.09624730050563812 + ], + [ + 0.09624730050563812 + ], + [ + 0.09624730050563812 + ], + [ + 0.09624730050563812 + ], + [ + 0.09624730050563812 + ], + [ + 0.09624730050563812 + ], + [ + 0.12527866661548615 + ], + [ + 0.24590691924095154 + ], + [ + 0.5033408999443054 + ], + [ + 0.7941413521766663 + ], + [ + 0.9920742511749268 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.251849502325058, + -0.08340106159448624, + 0.0038212977815419436 + ], + [ + 0.2447405904531479, + -0.0908038318157196, + -0.013548620045185089 + ], + [ + 0.24051877856254578, + -0.09241555631160736, + -0.027601061388850212 + ], + [ + 0.23238953948020935, + -0.09707223623991013, + -0.04981936141848564 + ], + [ + 0.23302355408668518, + -0.09714984893798828, + -0.06451857089996338 + ], + [ + 0.23421932756900787, + -0.09782717376947403, + -0.07852638512849808 + ], + [ + 0.23734524846076965, + -0.09662443399429321, + -0.08012915402650833 + ], + [ + 0.24016644060611725, + -0.09661692380905151, + -0.08112090080976486 + ], + [ + 0.23800650238990784, + -0.0963207334280014, + -0.07964479923248291 + ], + [ + 0.22943881154060364, + -0.09542711824178696, + -0.07770150154829025 + ], + [ + 0.224631205201149, + -0.09286454319953918, + -0.07019129395484924 + ], + [ + 0.22738116979599, + -0.09709669649600983, + -0.06287935376167297 + ], + [ + 0.23316413164138794, + -0.09795788675546646, + -0.0463024377822876 + ], + [ + 0.2454012930393219, + -0.09811843931674957, + -0.02438349463045597 + ], + [ + 0.2638932764530182, + -0.09208923578262329, + 0.003868892788887024 + ], + [ + 0.28254827857017517, + -0.08194444328546524, + 0.02900172397494316 + ], + [ + 0.3042583167552948, + -0.061899520456790924, + 0.05378801003098488 + ], + [ + 0.3185797333717346, + -0.042297571897506714, + 0.07475794106721878 + ], + [ + 0.3317006826400757, + -0.024004219099879265, + 0.0864519476890564 + ], + [ + 0.34946972131729126, + -0.013623997569084167, + 0.09203732013702393 + ], + [ + 0.3735867142677307, + -0.01423623412847519, + 0.07356857508420944 + ], + [ + 0.39993274211883545, + -0.019118014723062515, + 0.05754765868186951 + ], + [ + 0.4148480296134949, + -0.02153441682457924, + 0.04409134387969971 + ], + [ + 0.42037907242774963, + -0.019897401332855225, + 0.04385500028729439 + ], + [ + 0.41470932960510254, + -0.019020862877368927, + 0.04040685296058655 + ], + [ + 0.41117289662361145, + -0.01489153690636158, + 0.04024266451597214 + ], + [ + 0.40954023599624634, + -0.0158873051404953, + 0.04604204744100571 + ], + [ + 0.4083140790462494, + -0.013979005627334118, + 0.048986274749040604 + ], + [ + 0.4064328074455261, + -0.011910023167729378, + 0.058073900640010834 + ], + [ + 0.40346431732177734, + -0.006209151353687048, + 0.06586240977048874 + ], + [ + 0.38330912590026855, + 0.0026530239265412092, + 0.09580664336681366 + ], + [ + 0.3521295189857483, + 0.010008394718170166, + 0.10839304327964783 + ], + [ + 0.3215062618255615, + 0.0025179137010127306, + 0.10395007580518723 + ], + [ + 0.29793235659599304, + -0.004479740280658007, + 0.09569187462329865 + ], + [ + 0.27879130840301514, + -0.01929570734500885, + 0.08155888319015503 + ], + [ + 0.26521748304367065, + -0.032307032495737076, + 0.08180545270442963 + ], + [ + 0.2653018534183502, + -0.029922358691692352, + 0.08175177872180939 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.8065379445554179, + -0.5156201877978501, + 0.289192610430542, + -0.49628028802635993, + -0.8563467476908924, + -0.1427449594055923, + 0.32125133417434193, + -0.028391365844931314, + -0.9465682810218523 + ], + [ + 0.7920089348040183, + -0.5453300061154273, + 0.274475921750437, + -0.5395802136181339, + -0.8355884578139061, + -0.10317520167165564, + 0.2856134455210625, + -0.06638609491697728, + -0.9560428055998649 + ], + [ + 0.7955113396833039, + -0.5473011680760927, + 0.2600444959191019, + -0.5427473639253783, + -0.8344138073228677, + -0.09580656084532722, + 0.26941976057321454, + -0.06492325909488013, + -0.9608319119602404 + ], + [ + 0.8013568687467465, + -0.5603101365071066, + 0.2094748668451583, + -0.5579412126416725, + -0.8263908967204463, + -0.0760242662149143, + 0.21570529003329772, + -0.055952093302787706, + -0.9748541383749091 + ], + [ + 0.810186750294831, + -0.5580357332871765, + 0.17942561138629304, + -0.5597949176021181, + -0.827379504396536, + -0.04552807849427743, + 0.17385936809254676, + -0.06355529937925292, + -0.9827174792621095 + ], + [ + 0.8256308715154353, + -0.545496231654186, + 0.14410942110682912, + -0.5451330116545836, + -0.8371117883804827, + -0.04553958013457626, + 0.14547736457973898, + -0.04095991950080717, + -0.9885133390042955 + ], + [ + 0.8361176386970681, + -0.5288012660640623, + 0.1458647156398151, + -0.5283696898843327, + -0.8478253752072687, + -0.04491774667309285, + 0.1474203685763041, + -0.03951397428377602, + -0.9882843117064684 + ], + [ + 0.8574145799021677, + -0.49652433239191573, + 0.13529163135224473, + -0.49418076476519324, + -0.8677543275288183, + -0.052799609762733776, + 0.143616189572339, + -0.021587366624270132, + -0.9893979865023738 + ], + [ + 0.8480478559038117, + -0.5120459282764566, + 0.1364690493571703, + -0.5117720094736772, + -0.8581993059580092, + -0.03979147612826181, + 0.13749270677465913, + -0.03609596360666133, + -0.9898448550126855 + ], + [ + 0.850207521628201, + -0.5087647777047369, + 0.1352980825210809, + -0.5106786022454576, + -0.8594693033546008, + -0.022800916643468477, + 0.1278848520171852, + -0.049708324838061646, + -0.9905425518706079 + ], + [ + 0.8484079444907968, + -0.5090873147647845, + 0.1450312575636102, + -0.5138186803124498, + -0.8578807025301282, + -0.005573507727297269, + 0.12725691921020846, + -0.06979116113086936, + -0.9894113756881571 + ], + [ + 0.8378612826090555, + -0.5187784452985119, + 0.16987464730903074, + -0.5246178467356161, + -0.8512519544637213, + -0.012092349158894684, + 0.15087937563230586, + -0.07898756051020786, + -0.9853914852957946 + ], + [ + 0.8359858216035746, + -0.5025288841753706, + 0.22043689946842673, + -0.5103530059236316, + -0.8596239959081903, + -0.024215594222506777, + 0.2016618839109409, + -0.0922567408284759, + -0.9751005990918052 + ], + [ + 0.8236613213686979, + -0.49110714651718157, + 0.2835415283885629, + -0.5060577278647793, + -0.8621849750374813, + -0.02329473949102919, + 0.25590545861608277, + -0.12430140570150225, + -0.9586769825082497 + ], + [ + 0.8308407151389459, + -0.44722102430576016, + 0.3312054671745508, + -0.4763310364848895, + -0.8792324759627507, + 0.00768094353855929, + 0.28777152351933055, + -0.16414508409123424, + -0.9435273931476742 + ], + [ + 0.8332025053334895, + -0.39384076519659156, + 0.38815336759502733, + -0.4378896516650251, + -0.8985859323130706, + 0.028213032692945936, + 0.33767771331652924, + -0.1934755124516111, + -0.9211628455441019 + ], + [ + 0.84018767450874, + -0.3196299505511978, + 0.43808830880797817, + -0.37623537235962157, + -0.9253606204142893, + 0.04641838829492388, + 0.39055296207942464, + -0.20382447570672235, + -0.897732681210764 + ], + [ + 0.8376359329094125, + -0.2637701061710575, + 0.4783214138939288, + -0.33920147396365025, + -0.9375576537569752, + 0.07699354481125505, + 0.4281453070627601, + -0.22673988835717618, + -0.8748031887618551 + ], + [ + 0.8362535987988657, + -0.2167176076084022, + 0.5036997092002701, + -0.30118775002090303, + -0.9491487225646802, + 0.09166592437314036, + 0.45822031571427735, + -0.22836414124447574, + -0.8590017236655474 + ], + [ + 0.8296644588385648, + -0.1967151056032406, + 0.5224557904431889, + -0.2831361933262073, + -0.9548374567700783, + 0.09010730923511989, + 0.481134889369765, + -0.22268497564127415, + -0.8478918680202029 + ], + [ + 0.8254072678216222, + -0.19813506928692, + 0.5286258946986158, + -0.2785303299096302, + -0.9574114189459205, + 0.07605412672821499, + 0.4910434782661075, + -0.21001397379847425, + -0.8454409697085281 + ], + [ + 0.8290395570688106, + -0.2192884144606142, + 0.5143986820536193, + -0.2890618676587269, + -0.9555192819071417, + 0.05853322619938946, + 0.47868220092332575, + -0.19721940367775714, + -0.8555512008829108 + ], + [ + 0.8308475542018872, + -0.2412280559017329, + 0.5014991193637456, + -0.29534173974088707, + -0.9549214806517484, + 0.029970361304102758, + 0.4716625896163147, + -0.17301442377947207, + -0.8646388903586797 + ], + [ + 0.8345700849630744, + -0.24854527458420492, + 0.4916482683449507, + -0.29109023942006124, + -0.9566378653935133, + 0.010510328715768402, + 0.46771705741729996, + -0.15188561807229892, + -0.8707304480857997 + ], + [ + 0.8397840085273216, + -0.22848108731441494, + 0.4925030068551932, + -0.2664482179020181, + -0.963822376296364, + 0.007195424050687169, + 0.47304140008948736, + -0.13726915054029154, + -0.8702809972137302 + ], + [ + 0.8491013414371702, + -0.22278290916093743, + 0.4789516545074121, + -0.25388764597378977, + -0.9672336973828298, + 0.00019459966022979114, + 0.4632148261784002, + -0.12176514293068308, + -0.8778412583010579 + ], + [ + 0.8440658546713984, + -0.24255586840825655, + 0.4782462584051843, + -0.27107064029834343, + -0.9625101156608801, + -0.009746036051917921, + 0.46268081973006825, + -0.12141222323635997, + -0.8781716979627141 + ], + [ + 0.8354084785932324, + -0.2526314281408696, + 0.4881291175601443, + -0.28856118852523105, + -0.9574599898025706, + -0.0016758293968130306, + 0.46778746709531094, + -0.13945511623015405, + -0.8727698185580133 + ], + [ + 0.8249043565129626, + -0.24162716859423156, + 0.5110275080688605, + -0.28317020624228334, + -0.9590628188121222, + 0.0036254473998069414, + 0.4892314757889534, + -0.14769841220974875, + -0.8595567125722894 + ], + [ + 0.8150975103388469, + -0.2425331517525231, + 0.5261118882332929, + -0.26917753155140156, + -0.9627183928989654, + -0.026772233413133485, + 0.5129907456741374, + -0.1197955185932291, + -0.8499938403174883 + ], + [ + 0.7994623930286655, + -0.23740943247621585, + 0.5518121451220519, + -0.2934319594381875, + -0.9558793533062959, + 0.013868925805667162, + 0.5241732226212488, + -0.17300700359828886, + -0.8338531102015487 + ], + [ + 0.8124736743440565, + -0.22321279044813927, + 0.5385745804233836, + -0.27670725002005947, + -0.9607616018861527, + 0.019241676836768237, + 0.5131467882430961, + -0.1646608469597718, + -0.8423581062673322 + ], + [ + 0.8257375212922836, + -0.26578394359726354, + 0.49751024236287067, + -0.29054322235132424, + -0.9564305809059527, + -0.028725943911576082, + 0.4834689047661541, + -0.12082813924657072, + -0.8669823405874117 + ], + [ + 0.8449394884851055, + -0.29048158843824035, + 0.44910767926737205, + -0.29637916706548384, + -0.9532487985504529, + -0.05895860744359335, + 0.4452377456237263, + -0.08328970428879232, + -0.8915302434754455 + ], + [ + 0.8619378680206164, + -0.3259148447094538, + 0.3883846362436174, + -0.3209571423436582, + -0.9437388342740338, + -0.07964625202531765, + 0.3924915597190176, + -0.05600470231239761, + -0.918048935987746 + ], + [ + 0.8651763000242383, + -0.3569496593032168, + 0.35221713558497725, + -0.37424153878326155, + -0.9271092671767829, + -0.02028983400781701, + 0.333786219795703, + -0.11425999929216551, + -0.935698355259989 + ], + [ + 0.8672432122814463, + -0.35246640762703335, + 0.3516484640180487, + -0.3718272633642093, + -0.9282058480590833, + -0.013356266244779667, + 0.33110979594515455, + -0.11916935479984964, + -0.9360368411049569 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006780.json b/json/chunk-0006/episode_0006780.json new file mode 100644 index 0000000000000000000000000000000000000000..5cace4bc547378966afdc582ce45f35c28dcd2c9 --- /dev/null +++ b/json/chunk-0006/episode_0006780.json @@ -0,0 +1,1642 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 26, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMoved the green scarf to the right side of the table." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006780.mp4", + "start": 0, + "end": 26, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.21060700714588165, + 0.0596468560397625, + 0.034926436841487885, + -0.061204694211483, + -0.005097249988466501, + -0.015242026187479496, + 0.0, + 1.0001531839370728 + ], + [ + 0.2093486785888672, + 0.05827884376049042, + 0.030302343890070915, + -0.07349380105733871, + 0.013278384692966938, + -0.011559479869902134, + 0.0, + 0.9994885921478271 + ], + [ + 0.2219560593366623, + 0.05021810904145241, + 0.016775215044617653, + -0.08311426639556885, + -0.01592048443853855, + -0.0643400102853775, + 0.0, + 0.9994885921478271 + ], + [ + 0.23053418099880219, + 0.03980938717722893, + -0.003238585079088807, + -0.07678508013486862, + -0.04991278424859047, + -0.13265186548233032, + 0.0, + 0.9994885921478271 + ], + [ + 0.2326427698135376, + 0.029356064274907112, + -0.01580224372446537, + -0.04958365485072136, + -0.08486602455377579, + -0.16762378811836243, + 0.0, + 1.0001531839370728 + ], + [ + 0.23036721348762512, + 0.02524963952600956, + -0.0289898794144392, + -0.013336706906557083, + -0.0695028156042099, + -0.16785334050655365, + 0.0, + 0.9994885921478271 + ], + [ + 0.2276330292224884, + 0.027602970600128174, + -0.03943124786019325, + 0.029767608270049095, + -0.03691987693309784, + -0.15392854809761047, + 0.0, + 0.9406655430793762 + ], + [ + 0.22470541298389435, + 0.033797599375247955, + -0.04335444048047066, + 0.06535398960113525, + -0.0121997632086277, + -0.1506471186876297, + 0.0, + 0.6470694541931152 + ], + [ + 0.2225133627653122, + 0.034088585525751114, + -0.04302722588181496, + 0.06511848419904709, + 0.0010484022786840796, + -0.14017228782176971, + 0.0, + 0.35109609365463257 + ], + [ + 0.22370773553848267, + 0.036067817360162735, + -0.026399943977594376, + 0.08325730264186859, + -0.027220940217375755, + -0.11909160017967224, + 0.0, + 0.14474673569202423 + ], + [ + 0.22333210706710815, + 0.03726216033101082, + -0.013324697501957417, + 0.06569601595401764, + -0.04431157931685448, + -0.09565354138612747, + 0.0, + 0.06443082541227341 + ], + [ + 0.2225411832332611, + 0.03960280492901802, + 0.009955298155546188, + 0.05521409958600998, + -0.07650118321180344, + -0.07491663098335266, + 0.0, + 0.058401256799697876 + ], + [ + 0.22275379300117493, + 0.030026216059923172, + 0.03584235534071922, + -0.0017797315958887339, + -0.1056317612528801, + -0.05425407364964485, + 0.0, + 0.058401256799697876 + ], + [ + 0.221238911151886, + 0.009104402735829353, + 0.06366443634033203, + -0.0711941197514534, + -0.1525581181049347, + -0.05255164951086044, + 0.0, + 0.058401256799697876 + ], + [ + 0.2280093878507614, + -0.027260685339570045, + 0.06808049976825714, + -0.14275389909744263, + -0.2021353393793106, + -0.09443306177854538, + 0.0, + 0.058401256799697876 + ], + [ + 0.23280532658100128, + -0.05917244777083397, + 0.04280939698219299, + -0.17255738377571106, + -0.16290555894374847, + -0.1643592119216919, + 0.0, + 0.058401256799697876 + ], + [ + 0.23395031690597534, + -0.0784129872918129, + 0.012306800112128258, + -0.1741146743297577, + -0.13725882768630981, + -0.21337227523326874, + 0.0, + 0.058401256799697876 + ], + [ + 0.23357468843460083, + -0.0894017145037651, + -0.014159031212329865, + -0.17822736501693726, + -0.10174379497766495, + -0.22806574404239655, + 0.0, + 0.058401256799697876 + ], + [ + 0.23397551476955414, + -0.10205550491809845, + -0.031017286702990532, + -0.15125392377376556, + -0.07487756013870239, + -0.2585700750350952, + 0.0, + 0.058401256799697876 + ], + [ + 0.23197174072265625, + -0.10142882913351059, + -0.04173435643315315, + -0.10273828357458115, + -0.06357759237289429, + -0.2715340256690979, + 0.0, + 0.08363015204668045 + ], + [ + 0.2252635657787323, + -0.09948614239692688, + -0.041053902357816696, + -0.09048163145780563, + -0.0316074937582016, + -0.3004082143306732, + 0.0, + 0.24121350049972534 + ], + [ + 0.21722589433193207, + -0.0970822274684906, + -0.01991622895002365, + -0.101201631128788, + -0.07044997066259384, + -0.3241126239299774, + 0.0, + 0.5130034685134888 + ], + [ + 0.21536016464233398, + -0.09267770498991013, + -0.008824597112834454, + -0.08200728893280029, + -0.06629600375890732, + -0.3121403753757477, + 0.0, + 0.8242669105529785 + ], + [ + 0.21257010102272034, + -0.09187472611665726, + -0.007595515344291925, + -0.08212831616401672, + -0.038574546575546265, + -0.31419119238853455, + 0.0, + 1.0086473226547241 + ], + [ + 0.21146436035633087, + -0.08969833701848984, + -0.006685483735054731, + -0.07975272089242935, + -0.021762045100331306, + -0.3131895661354065, + 0.0, + 1.0054124593734741 + ], + [ + 0.21462604403495789, + -0.08756358176469803, + 0.01760994642972946, + -0.07525546103715897, + -0.0038002796936780214, + -0.32557758688926697, + 0.0, + 1.0001531839370728 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9406655430793762 + ], + [ + 0.6470694541931152 + ], + [ + 0.35109609365463257 + ], + [ + 0.14474673569202423 + ], + [ + 0.06443082541227341 + ], + [ + 0.058401256799697876 + ], + [ + 0.058401256799697876 + ], + [ + 0.058401256799697876 + ], + [ + 0.058401256799697876 + ], + [ + 0.058401256799697876 + ], + [ + 0.058401256799697876 + ], + [ + 0.058401256799697876 + ], + [ + 0.058401256799697876 + ], + [ + 0.08363015204668045 + ], + [ + 0.24121350049972534 + ], + [ + 0.5130034685134888 + ], + [ + 0.8242669105529785 + ], + [ + 1.0086473226547241 + ], + [ + 1.0054124593734741 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.21060700714588165, + 0.0596468560397625, + 0.034926436841487885 + ], + [ + 0.2093486785888672, + 0.05827884376049042, + 0.030302343890070915 + ], + [ + 0.2219560593366623, + 0.05021810904145241, + 0.016775215044617653 + ], + [ + 0.23053418099880219, + 0.03980938717722893, + -0.003238585079088807 + ], + [ + 0.2326427698135376, + 0.029356064274907112, + -0.01580224372446537 + ], + [ + 0.23036721348762512, + 0.02524963952600956, + -0.0289898794144392 + ], + [ + 0.2276330292224884, + 0.027602970600128174, + -0.03943124786019325 + ], + [ + 0.22470541298389435, + 0.033797599375247955, + -0.04335444048047066 + ], + [ + 0.2225133627653122, + 0.034088585525751114, + -0.04302722588181496 + ], + [ + 0.22370773553848267, + 0.036067817360162735, + -0.026399943977594376 + ], + [ + 0.22333210706710815, + 0.03726216033101082, + -0.013324697501957417 + ], + [ + 0.2225411832332611, + 0.03960280492901802, + 0.009955298155546188 + ], + [ + 0.22275379300117493, + 0.030026216059923172, + 0.03584235534071922 + ], + [ + 0.221238911151886, + 0.009104402735829353, + 0.06366443634033203 + ], + [ + 0.2280093878507614, + -0.027260685339570045, + 0.06808049976825714 + ], + [ + 0.23280532658100128, + -0.05917244777083397, + 0.04280939698219299 + ], + [ + 0.23395031690597534, + -0.0784129872918129, + 0.012306800112128258 + ], + [ + 0.23357468843460083, + -0.0894017145037651, + -0.014159031212329865 + ], + [ + 0.23397551476955414, + -0.10205550491809845, + -0.031017286702990532 + ], + [ + 0.23197174072265625, + -0.10142882913351059, + -0.04173435643315315 + ], + [ + 0.2252635657787323, + -0.09948614239692688, + -0.041053902357816696 + ], + [ + 0.21722589433193207, + -0.0970822274684906, + -0.01991622895002365 + ], + [ + 0.21536016464233398, + -0.09267770498991013, + -0.008824597112834454 + ], + [ + 0.21257010102272034, + -0.09187472611665726, + -0.007595515344291925 + ], + [ + 0.21146436035633087, + -0.08969833701848984, + -0.006685483735054731 + ], + [ + 0.21462604403495789, + -0.08756358176469803, + 0.01760994642972946 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9998708531260785, + -0.015524640934436448, + 0.004154827648022742, + -0.01524123802395845, + -0.9980068854185989, + -0.06123692775249652, + 0.005097227915739795, + 0.06116569447757669, + -0.9981146106969132 + ], + [ + 0.9998450393915121, + -0.010553111947132793, + -0.014090033087854182, + -0.011558203418901524, + -0.997245186212601, + -0.07326968342719914, + -0.013277994498900643, + 0.07342118498108002, + -0.9972126275063213 + ], + [ + 0.9978044294428162, + -0.06539258607449902, + 0.010494297060069947, + -0.06428748068724732, + -0.9944010595494912, + -0.083866874233727, + 0.015919811907888846, + 0.08300808667436092, + -0.9964217064754656 + ], + [ + 0.9899801920100447, + -0.13566703479870978, + 0.039162164095981056, + -0.13209845398257397, + -0.9877877975126658, + -0.08261516531781947, + 0.049892062326272496, + 0.07661411589258556, + -0.9958117590000777 + ], + [ + 0.9824354799478877, + -0.17077717862678227, + 0.0752042751433731, + -0.16623946518233174, + -0.9840712782248563, + -0.06299332971664746, + 0.08476419028962864, + 0.049384963634430804, + -0.9951764453660316 + ], + [ + 0.9835652561629935, + -0.1679645368507667, + 0.06623670605889662, + -0.1666628898383771, + -0.9857032590676675, + -0.02475007503220729, + 0.06944687192196794, + 0.013304113043955417, + -0.9974969336075011 + ], + [ + 0.9875029705690601, + -0.15216786418314568, + 0.04102224064117421, + -0.15321692144984092, + -0.9879070296537942, + 0.023754488882129554, + 0.03691149006360964, + -0.029742929757467895, + -0.9988758181229171 + ], + [ + 0.9886005933416072, + -0.14896987265258033, + 0.021836755402199242, + -0.15006678515249006, + -0.9866831027588161, + 0.06274085370977413, + 0.01219946058716807, + -0.06530261688561102, + -0.9977909307010525 + ], + [ + 0.9901913957537863, + -0.13948515017486163, + 0.008055597796835748, + -0.13971363794645403, + -0.9880837367727932, + 0.06458040335024558, + -0.001048402086625994, + -0.06507243660575153, + -0.9978799922071064 + ], + [ + 0.9925491298691883, + -0.11615133226536947, + 0.0368115852537848, + -0.11876627555174973, + -0.9897465405220186, + 0.0793495892633466, + 0.027217578648417295, + -0.0831303406565599, + -0.9961669287197007 + ], + [ + 0.9944515768680353, + -0.0924069576792611, + 0.0502694284544881, + -0.09541399267662662, + -0.9935590823019721, + 0.061127080551645785, + 0.044297079657493126, + -0.06558432852233831, + -0.9968633128900327 + ], + [ + 0.9942784766433416, + -0.0705266618362439, + 0.08022655953007339, + -0.0746276619542924, + -0.995991103742789, + 0.049319705356552154, + 0.0764265853942996, + -0.05502464207477735, + -0.9955557572579804 + ], + [ + 0.9929629612150017, + -0.05441474606524408, + 0.10518361595700411, + -0.053925205710061326, + -0.9985168517259575, + -0.007494598615687172, + 0.10543542973907345, + 0.0017698107067410504, + -0.9944245762881163 + ], + [ + 0.9870210765073981, + -0.06318949861462557, + 0.1476363159761486, + -0.051917387472690465, + -0.9955219228840201, + -0.07899801222381313, + 0.15196703395206304, + 0.07030781124551837, + -0.985881753695481 + ], + [ + 0.9752753414837037, + -0.12176862945780588, + 0.18441911282134657, + -0.09237298181774874, + -0.9827245711939325, + -0.16037346850959838, + 0.20076165102913165, + 0.139372945910133, + -0.969675173150467 + ], + [ + 0.9734620394532697, + -0.18866268369281586, + 0.12953011049676993, + -0.161453914673585, + -0.9673159787675802, + -0.19553115009505018, + 0.16218597713753075, + 0.16942900874036537, + -0.9721057143218538 + ], + [ + 0.9681304458365924, + -0.23172126773603702, + 0.09501943971127333, + -0.2097652790151444, + -0.957526141464828, + -0.19784391861054648, + 0.1368282411051866, + 0.17160694184758893, + -0.9756172866169289 + ], + [ + 0.9690680152973997, + -0.24005264405547924, + 0.05728795518721316, + -0.22492454860528585, + -0.954604047848177, + -0.19529480092051574, + 0.1015683472459169, + 0.1763684776649412, + -0.9790699826487809 + ], + [ + 0.9640477294634545, + -0.26367623008041274, + 0.0329669684220266, + -0.2549819535677528, + -0.9528368608249678, + -0.16457861345871502, + 0.07480761105081513, + 0.15025565661166304, + -0.9858128924826799 + ], + [ + 0.9614142405541389, + -0.2730725540799446, + 0.03337721180631405, + -0.2676676877992973, + -0.9565332028293865, + -0.1157507701621609, + 0.06353476975551031, + 0.10235043767962715, + -0.9927173419150602 + ], + [ + 0.9547386673137467, + -0.2974273320672406, + 0.0033255488771370897, + -0.29576236427139035, + -0.9504633228345181, + -0.09562476576161642, + 0.03160223119604471, + 0.09031308922703273, + -0.9954118971047622 + ], + [ + 0.9455822815374983, + -0.3235796196081552, + 0.034210796783769065, + -0.3176777552124084, + -0.9408187665119668, + -0.11807155636352881, + 0.07039170892615071, + 0.10077836252461331, + -0.9924156029412845 + ], + [ + 0.9495878252797911, + -0.3112286853329939, + 0.03767847537114176, + -0.30642166590802394, + -0.9468136149667258, + -0.09823309613257958, + 0.06624745083811781, + 0.08173545093493717, + -0.9944498938196505 + ], + [ + 0.9503391609147644, + -0.3110145157930457, + 0.011200455251404121, + -0.3088174565752054, + -0.9468632802079929, + -0.08989831538010461, + 0.0385649808277211, + 0.08197499350275646, + -0.995887966939043 + ], + [ + 0.9511304568667406, + -0.3087645885263602, + -0.003909334036935016, + -0.3080216586057222, + -0.9477976638749355, + -0.08247573087274988, + 0.021760327438821662, + 0.07964933913951748, + -0.9965854057351998 + ], + [ + 0.9474592980811273, + -0.319221487803206, + -0.020457766357194446, + -0.31985377350188104, + -0.9446930835902042, + -0.07244681769021394, + 0.003800270546331759, + 0.07518390480374995, + -0.9971624433372105 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0012583285570144653, + -0.0013680122792720795, + -0.004624092951416969, + -0.012289106845855713, + 0.018375635147094727, + 0.003682546317577362, + 1.0 + ], + [ + 0.012607380747795105, + -0.00806073471903801, + -0.013527128845453262, + -0.009620465338230133, + -0.029198870062828064, + -0.05278053134679794, + 1.0 + ], + [ + 0.008578121662139893, + -0.01040872186422348, + -0.020013799890875816, + 0.006329186260700226, + -0.03399229794740677, + -0.06831185519695282, + 1.0 + ], + [ + 0.0021085888147354126, + -0.010453322902321815, + -0.012563658878207207, + 0.027201425284147263, + -0.03495324030518532, + -0.034971922636032104, + 1.0 + ], + [ + -0.0022755563259124756, + -0.0041064247488975525, + -0.013187635689973831, + 0.036246947944164276, + 0.015363208949565887, + -0.00022955238819122314, + 1.0 + ], + [ + -0.0027341842651367188, + 0.002353331074118614, + -0.010441368445754051, + 0.04310431331396103, + 0.03258293867111206, + 0.013924792408943176, + 0.0 + ], + [ + -0.002927616238594055, + 0.0061946287751197815, + -0.003923192620277405, + 0.03558637946844101, + 0.02472011372447014, + 0.003281429409980774, + 0.0 + ], + [ + -0.0021920502185821533, + 0.00029098615050315857, + 0.0003272145986557007, + -0.00023550540208816528, + 0.013248165138065815, + 0.010474830865859985, + 0.0 + ], + [ + 0.0011943727731704712, + 0.001979231834411621, + 0.01662728190422058, + 0.018138818442821503, + -0.028269343078136444, + 0.021080687642097473, + 0.0 + ], + [ + -0.0003756284713745117, + 0.0011943429708480835, + 0.013075246475636959, + -0.017561286687850952, + -0.01709063909947872, + 0.02343805879354477, + 0.0 + ], + [ + -0.0007909238338470459, + 0.002340644598007202, + 0.02327999472618103, + -0.01048191636800766, + -0.03218960389494896, + 0.02073691040277481, + 0.0 + ], + [ + 0.00021260976791381836, + -0.009576588869094849, + 0.025887057185173035, + -0.05699383094906807, + -0.02913057804107666, + 0.02066255733370781, + 0.0 + ], + [ + -0.0015148818492889404, + -0.02092181332409382, + 0.027822080999612808, + -0.06941438466310501, + -0.046926356852054596, + 0.0017024241387844086, + 0.0 + ], + [ + 0.006770476698875427, + -0.0363650880753994, + 0.00441606342792511, + -0.07155977934598923, + -0.049577221274375916, + -0.041881412267684937, + 0.0 + ], + [ + 0.004795938730239868, + -0.031911760568618774, + -0.025271102786064148, + -0.029803484678268433, + 0.039229780435562134, + -0.06992615014314651, + 0.0 + ], + [ + 0.00114499032497406, + -0.019240539520978928, + -0.030502596870064735, + -0.0015572905540466309, + 0.02564673125743866, + -0.04901306331157684, + 0.0 + ], + [ + -0.0003756284713745117, + -0.01098872721195221, + -0.026465831324458122, + -0.004112690687179565, + 0.03551503270864487, + -0.014693468809127808, + 0.0 + ], + [ + 0.0004008263349533081, + -0.012653790414333344, + -0.016858255490660667, + 0.026973441243171692, + 0.026866234838962555, + -0.03050433099269867, + 0.0 + ], + [ + -0.002003774046897888, + 0.0006266757845878601, + -0.01071706973016262, + 0.04851564019918442, + 0.011299967765808105, + -0.012963950634002686, + 1.0 + ], + [ + -0.00670817494392395, + 0.0019426867365837097, + 0.0006804540753364563, + 0.012256652116775513, + 0.03197009861469269, + -0.028874188661575317, + 1.0 + ], + [ + -0.008037671446800232, + 0.0024039149284362793, + 0.021137673407793045, + -0.01071999967098236, + -0.03884247690439224, + -0.0237044095993042, + 1.0 + ], + [ + -0.0018657296895980835, + 0.004404522478580475, + 0.011091631837189198, + 0.0191943421959877, + 0.0041539669036865234, + 0.011972248554229736, + 1.0 + ], + [ + -0.0027900636196136475, + 0.0008029788732528687, + 0.0012290817685425282, + -0.00012102723121643066, + 0.027721457183361053, + -0.0020508170127868652, + 1.0 + ], + [ + -0.0011057406663894653, + 0.0021763890981674194, + 0.0009100316092371941, + 0.002375595271587372, + 0.016812501475214958, + 0.0010016262531280518, + 1.0 + ], + [ + 0.003161683678627014, + 0.002134755253791809, + 0.02429543063044548, + 0.004497259855270386, + 0.017961764708161354, + -0.012388020753860474, + 1.0 + ], + [ + -0.000863388180732727, + 0.006598114967346191, + 0.03974219784140587, + 0.037408653646707535, + -0.016344983130693436, + -0.0012710392475128174, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9406655430793762 + ], + [ + 0.6470694541931152 + ], + [ + 0.35109609365463257 + ], + [ + 0.14474673569202423 + ], + [ + 0.06443082541227341 + ], + [ + 0.058401256799697876 + ], + [ + 0.058401256799697876 + ], + [ + 0.058401256799697876 + ], + [ + 0.058401256799697876 + ], + [ + 0.058401256799697876 + ], + [ + 0.058401256799697876 + ], + [ + 0.058401256799697876 + ], + [ + 0.058401256799697876 + ], + [ + 0.08363015204668045 + ], + [ + 0.24121350049972534 + ], + [ + 0.5130034685134888 + ], + [ + 0.8242669105529785 + ], + [ + 1.0086473226547241 + ], + [ + 1.0054124593734741 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2093486785888672, + 0.05827884376049042, + 0.030302343890070915 + ], + [ + 0.2219560593366623, + 0.05021810904145241, + 0.016775215044617653 + ], + [ + 0.23053418099880219, + 0.03980938717722893, + -0.003238585079088807 + ], + [ + 0.2326427698135376, + 0.029356064274907112, + -0.01580224372446537 + ], + [ + 0.23036721348762512, + 0.02524963952600956, + -0.0289898794144392 + ], + [ + 0.2276330292224884, + 0.027602970600128174, + -0.03943124786019325 + ], + [ + 0.22470541298389435, + 0.033797599375247955, + -0.04335444048047066 + ], + [ + 0.2225133627653122, + 0.034088585525751114, + -0.04302722588181496 + ], + [ + 0.22370773553848267, + 0.036067817360162735, + -0.026399943977594376 + ], + [ + 0.22333210706710815, + 0.03726216033101082, + -0.013324697501957417 + ], + [ + 0.2225411832332611, + 0.03960280492901802, + 0.009955298155546188 + ], + [ + 0.22275379300117493, + 0.030026216059923172, + 0.03584235534071922 + ], + [ + 0.221238911151886, + 0.009104402735829353, + 0.06366443634033203 + ], + [ + 0.2280093878507614, + -0.027260685339570045, + 0.06808049976825714 + ], + [ + 0.23280532658100128, + -0.05917244777083397, + 0.04280939698219299 + ], + [ + 0.23395031690597534, + -0.0784129872918129, + 0.012306800112128258 + ], + [ + 0.23357468843460083, + -0.0894017145037651, + -0.014159031212329865 + ], + [ + 0.23397551476955414, + -0.10205550491809845, + -0.031017286702990532 + ], + [ + 0.23197174072265625, + -0.10142882913351059, + -0.04173435643315315 + ], + [ + 0.2252635657787323, + -0.09948614239692688, + -0.041053902357816696 + ], + [ + 0.21722589433193207, + -0.0970822274684906, + -0.01991622895002365 + ], + [ + 0.21536016464233398, + -0.09267770498991013, + -0.008824597112834454 + ], + [ + 0.21257010102272034, + -0.09187472611665726, + -0.007595515344291925 + ], + [ + 0.21146436035633087, + -0.08969833701848984, + -0.006685483735054731 + ], + [ + 0.21462604403495789, + -0.08756358176469803, + 0.01760994642972946 + ], + [ + 0.21376265585422516, + -0.08096546679735184, + 0.05735214427113533 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9998450393915121, + -0.010553111947132793, + -0.014090033087854182, + -0.011558203418901524, + -0.997245186212601, + -0.07326968342719914, + -0.013277994498900643, + 0.07342118498108002, + -0.9972126275063213 + ], + [ + 0.9978044294428162, + -0.06539258607449902, + 0.010494297060069947, + -0.06428748068724732, + -0.9944010595494912, + -0.083866874233727, + 0.015919811907888846, + 0.08300808667436092, + -0.9964217064754656 + ], + [ + 0.9899801920100447, + -0.13566703479870978, + 0.039162164095981056, + -0.13209845398257397, + -0.9877877975126658, + -0.08261516531781947, + 0.049892062326272496, + 0.07661411589258556, + -0.9958117590000777 + ], + [ + 0.9824354799478877, + -0.17077717862678227, + 0.0752042751433731, + -0.16623946518233174, + -0.9840712782248563, + -0.06299332971664746, + 0.08476419028962864, + 0.049384963634430804, + -0.9951764453660316 + ], + [ + 0.9835652561629935, + -0.1679645368507667, + 0.06623670605889662, + -0.1666628898383771, + -0.9857032590676675, + -0.02475007503220729, + 0.06944687192196794, + 0.013304113043955417, + -0.9974969336075011 + ], + [ + 0.9875029705690601, + -0.15216786418314568, + 0.04102224064117421, + -0.15321692144984092, + -0.9879070296537942, + 0.023754488882129554, + 0.03691149006360964, + -0.029742929757467895, + -0.9988758181229171 + ], + [ + 0.9886005933416072, + -0.14896987265258033, + 0.021836755402199242, + -0.15006678515249006, + -0.9866831027588161, + 0.06274085370977413, + 0.01219946058716807, + -0.06530261688561102, + -0.9977909307010525 + ], + [ + 0.9901913957537863, + -0.13948515017486163, + 0.008055597796835748, + -0.13971363794645403, + -0.9880837367727932, + 0.06458040335024558, + -0.001048402086625994, + -0.06507243660575153, + -0.9978799922071064 + ], + [ + 0.9925491298691883, + -0.11615133226536947, + 0.0368115852537848, + -0.11876627555174973, + -0.9897465405220186, + 0.0793495892633466, + 0.027217578648417295, + -0.0831303406565599, + -0.9961669287197007 + ], + [ + 0.9944515768680353, + -0.0924069576792611, + 0.0502694284544881, + -0.09541399267662662, + -0.9935590823019721, + 0.061127080551645785, + 0.044297079657493126, + -0.06558432852233831, + -0.9968633128900327 + ], + [ + 0.9942784766433416, + -0.0705266618362439, + 0.08022655953007339, + -0.0746276619542924, + -0.995991103742789, + 0.049319705356552154, + 0.0764265853942996, + -0.05502464207477735, + -0.9955557572579804 + ], + [ + 0.9929629612150017, + -0.05441474606524408, + 0.10518361595700411, + -0.053925205710061326, + -0.9985168517259575, + -0.007494598615687172, + 0.10543542973907345, + 0.0017698107067410504, + -0.9944245762881163 + ], + [ + 0.9870210765073981, + -0.06318949861462557, + 0.1476363159761486, + -0.051917387472690465, + -0.9955219228840201, + -0.07899801222381313, + 0.15196703395206304, + 0.07030781124551837, + -0.985881753695481 + ], + [ + 0.9752753414837037, + -0.12176862945780588, + 0.18441911282134657, + -0.09237298181774874, + -0.9827245711939325, + -0.16037346850959838, + 0.20076165102913165, + 0.139372945910133, + -0.969675173150467 + ], + [ + 0.9734620394532697, + -0.18866268369281586, + 0.12953011049676993, + -0.161453914673585, + -0.9673159787675802, + -0.19553115009505018, + 0.16218597713753075, + 0.16942900874036537, + -0.9721057143218538 + ], + [ + 0.9681304458365924, + -0.23172126773603702, + 0.09501943971127333, + -0.2097652790151444, + -0.957526141464828, + -0.19784391861054648, + 0.1368282411051866, + 0.17160694184758893, + -0.9756172866169289 + ], + [ + 0.9690680152973997, + -0.24005264405547924, + 0.05728795518721316, + -0.22492454860528585, + -0.954604047848177, + -0.19529480092051574, + 0.1015683472459169, + 0.1763684776649412, + -0.9790699826487809 + ], + [ + 0.9640477294634545, + -0.26367623008041274, + 0.0329669684220266, + -0.2549819535677528, + -0.9528368608249678, + -0.16457861345871502, + 0.07480761105081513, + 0.15025565661166304, + -0.9858128924826799 + ], + [ + 0.9614142405541389, + -0.2730725540799446, + 0.03337721180631405, + -0.2676676877992973, + -0.9565332028293865, + -0.1157507701621609, + 0.06353476975551031, + 0.10235043767962715, + -0.9927173419150602 + ], + [ + 0.9547386673137467, + -0.2974273320672406, + 0.0033255488771370897, + -0.29576236427139035, + -0.9504633228345181, + -0.09562476576161642, + 0.03160223119604471, + 0.09031308922703273, + -0.9954118971047622 + ], + [ + 0.9455822815374983, + -0.3235796196081552, + 0.034210796783769065, + -0.3176777552124084, + -0.9408187665119668, + -0.11807155636352881, + 0.07039170892615071, + 0.10077836252461331, + -0.9924156029412845 + ], + [ + 0.9495878252797911, + -0.3112286853329939, + 0.03767847537114176, + -0.30642166590802394, + -0.9468136149667258, + -0.09823309613257958, + 0.06624745083811781, + 0.08173545093493717, + -0.9944498938196505 + ], + [ + 0.9503391609147644, + -0.3110145157930457, + 0.011200455251404121, + -0.3088174565752054, + -0.9468632802079929, + -0.08989831538010461, + 0.0385649808277211, + 0.08197499350275646, + -0.995887966939043 + ], + [ + 0.9511304568667406, + -0.3087645885263602, + -0.003909334036935016, + -0.3080216586057222, + -0.9477976638749355, + -0.08247573087274988, + 0.021760327438821662, + 0.07964933913951748, + -0.9965854057351998 + ], + [ + 0.9474592980811273, + -0.319221487803206, + -0.020457766357194446, + -0.31985377350188104, + -0.9446930835902042, + -0.07244681769021394, + 0.003800270546331759, + 0.07518390480374995, + -0.9971624433372105 + ], + [ + 0.9468666582045283, + -0.32155202700723784, + 0.00691559889852325, + -0.32099494518603633, + -0.9461359193168831, + -0.042297368043527905, + 0.020143900952948685, + 0.0378300952408622, + -0.9990811314144937 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006782.json b/json/chunk-0006/episode_0006782.json new file mode 100644 index 0000000000000000000000000000000000000000..91b4ca242f9fba027bdd30c4d1b8ffc68b87626e --- /dev/null +++ b/json/chunk-0006/episode_0006782.json @@ -0,0 +1,2782 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 45, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPlace the hot dog in the pot." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006782.mp4", + "start": 0, + "end": 45, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2935829758644104, + 0.07138796895742416, + 0.11099433898925781, + 0.0008687765803188086, + -0.13867338001728058, + 0.02445993199944496, + 0.0, + 1.0008161067962646 + ], + [ + 0.29074639081954956, + 0.07088080048561096, + 0.1016329675912857, + -0.00438187550753355, + -0.10995648056268692, + 0.02466389909386635, + 0.0, + 1.0008161067962646 + ], + [ + 0.2713046371936798, + 0.06896276772022247, + 0.0786263719201088, + 0.02669370174407959, + -0.05816156044602394, + -0.006425388623028994, + 0.0, + 1.0001531839370728 + ], + [ + 0.2550428509712219, + 0.059784967452287674, + 0.07369747012853622, + 0.07680461555719376, + -0.052775878459215164, + -0.06055590882897377, + 0.0, + 1.0001531839370728 + ], + [ + 0.24119196832180023, + 0.053757570683956146, + 0.07171010971069336, + 0.09778262674808502, + -0.06671765446662903, + -0.07469458132982254, + 0.0, + 1.0008161067962646 + ], + [ + 0.2434421181678772, + 0.05163818225264549, + 0.058552972972393036, + 0.1186351329088211, + -0.05243446305394173, + -0.04796972870826721, + 0.0, + 1.0001531839370728 + ], + [ + 0.2449074238538742, + 0.05202358588576317, + 0.03477265313267708, + 0.11866088211536407, + 0.017493009567260742, + -0.01389333512634039, + 0.0, + 1.0008161067962646 + ], + [ + 0.2526099383831024, + 0.05104634165763855, + 0.03022870048880577, + 0.1351914405822754, + 0.02629832550883293, + -0.0029600514099001884, + 0.0, + 1.0008161067962646 + ], + [ + 0.25381240248680115, + 0.051441192626953125, + 0.027569562196731567, + 0.14750097692012787, + 0.04511328041553497, + -0.003132884157821536, + 0.0, + 1.0008161067962646 + ], + [ + 0.252239465713501, + 0.052131153643131256, + 0.02706208825111389, + 0.15180820226669312, + 0.05473306030035019, + -0.006165420636534691, + 0.0, + 1.0008161067962646 + ], + [ + 0.24650026857852936, + 0.052428293973207474, + 0.027328364551067352, + 0.15322114527225494, + 0.06831283122301102, + -0.013041359372437, + 0.0, + 0.9994885921478271 + ], + [ + 0.2416120320558548, + 0.05277281999588013, + 0.03068959154188633, + 0.15703479945659637, + 0.06583987921476364, + -0.004834051709622145, + 0.0, + 0.9981546401977539 + ], + [ + 0.23846396803855896, + 0.053004778921604156, + 0.031373560428619385, + 0.1658056527376175, + 0.06728794425725937, + 0.000765726319514215, + 0.0, + 0.9988223910331726 + ], + [ + 0.23759926855564117, + 0.0497354231774807, + 0.03058060072362423, + 0.1770743429660797, + 0.0699378177523613, + -0.0021489588543772697, + 0.0, + 0.9988223910331726 + ], + [ + 0.23499420285224915, + 0.04348454251885414, + 0.02892874926328659, + 0.19082432985305786, + 0.07696051150560379, + -0.013376698829233646, + 0.0, + 0.9988223910331726 + ], + [ + 0.23015739023685455, + 0.04058714210987091, + 0.02730402536690235, + 0.20981447398662567, + 0.07109322398900986, + 0.020628390833735466, + 0.0, + 0.9981546401977539 + ], + [ + 0.22080831229686737, + 0.0419035479426384, + 0.02821309119462967, + 0.18398761749267578, + 0.0124387601390481, + 0.07767784595489502, + 0.0, + 0.9981546401977539 + ], + [ + 0.21762678027153015, + 0.04856463521718979, + 0.023543590679764748, + 0.15595875680446625, + 0.00031873449916020036, + 0.13490623235702515, + 0.0, + 0.9994885921478271 + ], + [ + 0.21754510700702667, + 0.04962609335780144, + 0.019348910078406334, + 0.15204663574695587, + 0.007321647834032774, + 0.1399223804473877, + 0.0, + 0.927960216999054 + ], + [ + 0.21866530179977417, + 0.050255488604307175, + 0.018061438575387, + 0.15524151921272278, + 0.012092236429452896, + 0.13504913449287415, + 0.0, + 0.6541022062301636 + ], + [ + 0.21647901833057404, + 0.050869956612586975, + 0.015019007958471775, + 0.15900243818759918, + 0.03306777402758598, + 0.13705356419086456, + 0.0, + 0.4681091010570526 + ], + [ + 0.21664738655090332, + 0.050433166325092316, + 0.018012400716543198, + 0.16539520025253296, + 0.04523846134543419, + 0.13898062705993652, + 0.0, + 0.4652916491031647 + ], + [ + 0.22000333666801453, + 0.04480983689427376, + 0.042192280292510986, + 0.16724027693271637, + -0.012674996629357338, + 0.12098351120948792, + 0.0, + 0.4624805450439453 + ], + [ + 0.22699806094169617, + 0.043932508677244186, + 0.07695819437503815, + 0.1542922854423523, + -0.10629400610923767, + 0.12186110764741898, + 0.0, + 0.43017780780792236 + ], + [ + 0.22850263118743896, + 0.05253627896308899, + 0.11372630298137665, + 0.1247926652431488, + -0.2177352011203766, + 0.17252042889595032, + 0.0, + 0.21234850585460663 + ], + [ + 0.2253689020872116, + 0.06734102964401245, + 0.1271224021911621, + 0.10391010344028473, + -0.24931220710277557, + 0.2332448959350586, + 0.0, + 0.07112513482570648 + ], + [ + 0.22367803752422333, + 0.09459243714809418, + 0.1369931399822235, + 0.09419188648462296, + -0.2659052312374115, + 0.30734983086586, + 0.0, + 0.05192930996417999 + ], + [ + 0.22185714542865753, + 0.11134187877178192, + 0.12298783659934998, + 0.05024244636297226, + -0.2349618822336197, + 0.3659903109073639, + 0.0, + 0.051409780979156494 + ], + [ + 0.23268786072731018, + 0.10417849570512772, + 0.0991283729672432, + 0.053202491253614426, + -0.18211516737937927, + 0.33814525604248047, + 0.0, + 0.07270156592130661 + ], + [ + 0.246033176779747, + 0.07590261846780777, + 0.07718638330698013, + 0.0657745897769928, + -0.12256398051977158, + 0.23401693999767303, + 0.0, + 0.22810569405555725 + ], + [ + 0.2633468210697174, + 0.046379927545785904, + 0.06961578130722046, + 0.07774406671524048, + -0.11837302148342133, + 0.12030915915966034, + 0.0, + 0.49277758598327637 + ], + [ + 0.2683163285255432, + 0.03706831485033035, + 0.06412337720394135, + 0.0860675498843193, + -0.11051447689533234, + 0.10204576700925827, + 0.0, + 0.8111810088157654 + ], + [ + 0.2685011923313141, + 0.03708472475409508, + 0.05273129791021347, + 0.08632954210042953, + -0.08320420980453491, + 0.10425080358982086, + 0.0, + 1.0099300146102905 + ], + [ + 0.2670539319515228, + 0.039320480078458786, + 0.04385850951075554, + 0.09967454522848129, + -0.054341379553079605, + 0.09565625339746475, + 0.0, + 1.0067112445831299 + ], + [ + 0.26444095373153687, + 0.0455654002726078, + 0.03652479872107506, + 0.1046251729130745, + -0.027637843042612076, + 0.10678250342607498, + 0.0, + 1.0001531839370728 + ], + [ + 0.2627849876880646, + 0.045316606760025024, + 0.028336718678474426, + 0.10414572805166245, + -0.0013570216251537204, + 0.10478024184703827, + 0.0, + 1.0001531839370728 + ], + [ + 0.2623928189277649, + 0.04525107517838478, + 0.026294194161891937, + 0.10396941006183624, + 0.004952373914420605, + 0.10309576243162155, + 0.0, + 0.927960216999054 + ], + [ + 0.2618555724620819, + 0.044989075511693954, + 0.023827960714697838, + 0.10263484716415405, + 0.012787237763404846, + 0.10243888944387436, + 0.0, + 0.6249675154685974 + ], + [ + 0.2618621289730072, + 0.044790562242269516, + 0.02973863109946251, + 0.10120119154453278, + 0.014419171027839184, + 0.0896584689617157, + 0.0, + 0.4860933721065521 + ], + [ + 0.2662757635116577, + 0.05477610230445862, + 0.06962490826845169, + 0.09977175295352936, + -0.09269770979881287, + 0.10163570940494537, + 0.0, + 0.4860933721065521 + ], + [ + 0.25916826725006104, + 0.07758665084838867, + 0.09525848180055618, + 0.1004667654633522, + -0.15340584516525269, + 0.14529268443584442, + 0.0, + 0.4860933721065521 + ], + [ + 0.25280043482780457, + 0.11657045036554337, + 0.09982442110776901, + 0.10023928433656693, + -0.1674589067697525, + 0.22782686352729797, + 0.0, + 0.4860933721065521 + ], + [ + 0.2538808584213257, + 0.14992472529411316, + 0.07231839746236801, + 0.09732598066329956, + -0.08888597041368484, + 0.2540647089481354, + 0.0, + 0.4860933721065521 + ], + [ + 0.258554607629776, + 0.1777394413948059, + 0.04687776044011116, + 0.09161795675754547, + -0.025179272517561913, + 0.27574485540390015, + 0.0, + 0.48514097929000854 + ], + [ + 0.2598819136619568, + 0.19030709564685822, + 0.03364740312099457, + 0.08932153135538101, + 0.01766185089945793, + 0.2927027940750122, + 0.0, + 0.4841892421245575 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9994885921478271 + ], + [ + 0.9981546401977539 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9994885921478271 + ], + [ + 0.927960216999054 + ], + [ + 0.6541022062301636 + ], + [ + 0.4681091010570526 + ], + [ + 0.4652916491031647 + ], + [ + 0.4624805450439453 + ], + [ + 0.43017780780792236 + ], + [ + 0.21234850585460663 + ], + [ + 0.07112513482570648 + ], + [ + 0.05192930996417999 + ], + [ + 0.051409780979156494 + ], + [ + 0.07270156592130661 + ], + [ + 0.22810569405555725 + ], + [ + 0.49277758598327637 + ], + [ + 0.8111810088157654 + ], + [ + 1.0099300146102905 + ], + [ + 1.0067112445831299 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.927960216999054 + ], + [ + 0.6249675154685974 + ], + [ + 0.4860933721065521 + ], + [ + 0.4860933721065521 + ], + [ + 0.4860933721065521 + ], + [ + 0.4860933721065521 + ], + [ + 0.4860933721065521 + ], + [ + 0.48514097929000854 + ], + [ + 0.4841892421245575 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2935829758644104, + 0.07138796895742416, + 0.11099433898925781 + ], + [ + 0.29074639081954956, + 0.07088080048561096, + 0.1016329675912857 + ], + [ + 0.2713046371936798, + 0.06896276772022247, + 0.0786263719201088 + ], + [ + 0.2550428509712219, + 0.059784967452287674, + 0.07369747012853622 + ], + [ + 0.24119196832180023, + 0.053757570683956146, + 0.07171010971069336 + ], + [ + 0.2434421181678772, + 0.05163818225264549, + 0.058552972972393036 + ], + [ + 0.2449074238538742, + 0.05202358588576317, + 0.03477265313267708 + ], + [ + 0.2526099383831024, + 0.05104634165763855, + 0.03022870048880577 + ], + [ + 0.25381240248680115, + 0.051441192626953125, + 0.027569562196731567 + ], + [ + 0.252239465713501, + 0.052131153643131256, + 0.02706208825111389 + ], + [ + 0.24650026857852936, + 0.052428293973207474, + 0.027328364551067352 + ], + [ + 0.2416120320558548, + 0.05277281999588013, + 0.03068959154188633 + ], + [ + 0.23846396803855896, + 0.053004778921604156, + 0.031373560428619385 + ], + [ + 0.23759926855564117, + 0.0497354231774807, + 0.03058060072362423 + ], + [ + 0.23499420285224915, + 0.04348454251885414, + 0.02892874926328659 + ], + [ + 0.23015739023685455, + 0.04058714210987091, + 0.02730402536690235 + ], + [ + 0.22080831229686737, + 0.0419035479426384, + 0.02821309119462967 + ], + [ + 0.21762678027153015, + 0.04856463521718979, + 0.023543590679764748 + ], + [ + 0.21754510700702667, + 0.04962609335780144, + 0.019348910078406334 + ], + [ + 0.21866530179977417, + 0.050255488604307175, + 0.018061438575387 + ], + [ + 0.21647901833057404, + 0.050869956612586975, + 0.015019007958471775 + ], + [ + 0.21664738655090332, + 0.050433166325092316, + 0.018012400716543198 + ], + [ + 0.22000333666801453, + 0.04480983689427376, + 0.042192280292510986 + ], + [ + 0.22699806094169617, + 0.043932508677244186, + 0.07695819437503815 + ], + [ + 0.22850263118743896, + 0.05253627896308899, + 0.11372630298137665 + ], + [ + 0.2253689020872116, + 0.06734102964401245, + 0.1271224021911621 + ], + [ + 0.22367803752422333, + 0.09459243714809418, + 0.1369931399822235 + ], + [ + 0.22185714542865753, + 0.11134187877178192, + 0.12298783659934998 + ], + [ + 0.23268786072731018, + 0.10417849570512772, + 0.0991283729672432 + ], + [ + 0.246033176779747, + 0.07590261846780777, + 0.07718638330698013 + ], + [ + 0.2633468210697174, + 0.046379927545785904, + 0.06961578130722046 + ], + [ + 0.2683163285255432, + 0.03706831485033035, + 0.06412337720394135 + ], + [ + 0.2685011923313141, + 0.03708472475409508, + 0.05273129791021347 + ], + [ + 0.2670539319515228, + 0.039320480078458786, + 0.04385850951075554 + ], + [ + 0.26444095373153687, + 0.0455654002726078, + 0.03652479872107506 + ], + [ + 0.2627849876880646, + 0.045316606760025024, + 0.028336718678474426 + ], + [ + 0.2623928189277649, + 0.04525107517838478, + 0.026294194161891937 + ], + [ + 0.2618555724620819, + 0.044989075511693954, + 0.023827960714697838 + ], + [ + 0.2618621289730072, + 0.044790562242269516, + 0.02973863109946251 + ], + [ + 0.2662757635116577, + 0.05477610230445862, + 0.06962490826845169 + ], + [ + 0.25916826725006104, + 0.07758665084838867, + 0.09525848180055618 + ], + [ + 0.25280043482780457, + 0.11657045036554337, + 0.09982442110776901 + ], + [ + 0.2538808584213257, + 0.14992472529411316, + 0.07231839746236801 + ], + [ + 0.258554607629776, + 0.1777394413948059, + 0.04687776044011116 + ], + [ + 0.2598819136619568, + 0.19030709564685822, + 0.03364740312099457 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9901039878366804, + 0.024577538313395125, + 0.13816670322605396, + 0.024222707128094746, + -0.9996975563937343, + 0.004249258733396357, + 0.13822935190938795, + -0.0008604364301864869, + -0.9903998717285157 + ], + [ + 0.9936585726948517, + 0.02418046434860145, + 0.10980867931961007, + 0.0245124653478718, + -0.9996981222571838, + -0.0016743351011400988, + 0.10973504432313468, + 0.004355398873529268, + -0.9939513320822367 + ], + [ + 0.998288485352361, + -0.00487159946233618, + 0.05827836246470825, + -0.006414479751782487, + -0.9996330777584326, + 0.02631661643749251, + 0.0581287748228304, + -0.026645400538980346, + -0.9979534398796943 + ], + [ + 0.996777279775229, + -0.05630034591103036, + 0.05714302734536254, + -0.06043464378650621, + -0.9954693842417242, + 0.07340544167703358, + 0.05275138248702711, + -0.07662229497803233, + -0.9956637562741784 + ], + [ + 0.9949930627679792, + -0.06777820890615235, + 0.07345011532373656, + -0.07445911788437398, + -0.9929337687616107, + 0.09240330414408933, + 0.06666816937247587, + -0.0974096773957195, + -0.9930089173528024 + ], + [ + 0.9974768826236442, + -0.04141827960266223, + 0.05765756451821646, + -0.04788543072772099, + -0.9921263100869028, + 0.11572540929876741, + 0.05241043937458676, + -0.11819437781934598, + -0.9916063911131575 + ], + [ + 0.9997505051477404, + -0.015865756845505074, + -0.01572276109836784, + -0.013890762575955434, + -0.9928434533516214, + 0.11861249450156724, + -0.017492117421726742, + -0.11836450015331959, + -0.9928161314823397 + ], + [ + 0.999649839532847, + -0.006477102705150368, + -0.025656294792895756, + -0.0029590235591478798, + -0.9908607153804198, + 0.13485654190798074, + -0.026295294284899035, + -0.134733402897535, + -0.9905329210289383 + ], + [ + 0.9989776660551586, + -0.009726729472647523, + -0.044147632515852124, + -0.0031296915432774916, + -0.9891158207926637, + 0.14710573778238487, + -0.045097979487253435, + -0.14681717812102837, + -0.9881350557766616 + ], + [ + 0.998483542261199, + -0.014367235851816745, + -0.053143187404469945, + -0.006156149040252242, + -0.9884294540160631, + 0.15155631383252044, + -0.05470573701653734, + -0.15099932770540897, + -0.9870189893664619 + ], + [ + 0.9975827468225467, + -0.023305279247011968, + -0.06546393817363717, + -0.013010572713379593, + -0.9880646856729838, + 0.15348909382629705, + -0.06825971168744312, + -0.1522663484988287, + -0.98597949820226 + ], + [ + 0.9978216793189701, + -0.01506370482341023, + -0.06422601558608104, + -0.0048235591672685756, + -0.98763407414096, + 0.15670248521541896, + -0.0657923214215019, + -0.15605133896484807, + -0.985555351083463 + ], + [ + 0.9977367278021516, + -0.010342065874268926, + -0.06644143035868308, + 0.000763993421743255, + -0.9862939132316101, + 0.16499616067148076, + -0.06723717951183694, + -0.16467349026400652, + -0.9840537603685906 + ], + [ + 0.9975530441616886, + -0.014424861548063895, + -0.06840941055927131, + -0.0021437037468551735, + -0.9843345350142201, + 0.17629783808255994, + -0.06988081723902113, + -0.17571979554864614, + -0.9819568345066642 + ], + [ + 0.9969507993731825, + -0.02771475780139159, + -0.07294515631063409, + -0.013336706072865656, + -0.9815653159633744, + 0.1906611202339042, + -0.07688456217146991, + -0.18910690811742303, + -0.9789419499653542 + ], + [ + 0.9972617206931776, + 0.005383002033368283, + -0.07375692326277748, + 0.02057482302574451, + -0.9781666503275926, + 0.20680106586852115, + -0.07103335200834736, + -0.20775232243227965, + -0.9755989111445607 + ], + [ + 0.9969074656840494, + 0.07402125548609895, + -0.026388607384015342, + 0.07759375032278587, + -0.9803340463104143, + 0.18145073038016601, + -0.012438439381659111, + -0.18293717878253235, + -0.9830459164478721 + ], + [ + 0.9909138967302675, + 0.13281595127884413, + -0.021203121296931807, + 0.13449738910164458, + -0.9788939463583015, + 0.15387363032018014, + -0.00031873449376340623, + -0.15532728307984517, + -0.9878630135496298 + ], + [ + 0.9902002833118918, + 0.1367591546945877, + -0.028290149103024645, + 0.1394625159672794, + -0.9789573973127468, + 0.14897187951667054, + -0.007321582419522715, + -0.15145741267390947, + -0.9884366679646195 + ], + [ + 0.9908222724707552, + 0.13116724186435771, + -0.03265545953720119, + 0.1346291547951611, + -0.979230157874222, + 0.15160240297820798, + -0.012091941739408361, + -0.1546074143478362, + -0.9879019852058438 + ], + [ + 0.9900812895415296, + 0.12971579210646803, + -0.05397085674670562, + 0.13655021393983843, + -0.9788420607872413, + 0.15238851369696807, + -0.033061747878268745, + -0.15824674818769022, + -0.9868459289652339 + ], + [ + 0.9893445083521278, + 0.12926930026173306, + -0.06698426534141119, + 0.1383919112768507, + -0.9778741469958552, + 0.15687521005649435, + -0.045223032700461074, + -0.16447370807205275, + -0.985344242722513 + ], + [ + 0.9926106778662872, + 0.12109915332333974, + -0.007683570146734733, + 0.12067889313998463, + -0.978585676656551, + 0.16675334537318337, + 0.012674657247346476, + -0.16644839592801808, + -0.9859687036395485 + ], + [ + 0.9869820827489706, + 0.13629935371337223, + 0.08537478849064, + 0.12087365282411609, + -0.9788107726929112, + 0.16528469775893218, + 0.10609396017426968, + -0.15281347269669499, + -0.9825436958104801 + ], + [ + 0.9618949141934305, + 0.19681945716490323, + 0.18979008227546026, + 0.16761273470694255, + -0.972878467149537, + 0.15941599455772157, + 0.21601885383658823, + -0.12153019969571445, + -0.9687962971383853 + ], + [ + 0.9428410653686996, + 0.25478846542523587, + 0.21478725134576415, + 0.2239895904444759, + -0.961758443799475, + 0.15763679504775485, + 0.24673748970703874, + -0.10051633532250015, + -0.9638553197998149 + ], + [ + 0.9196406388949719, + 0.3247498840596573, + 0.22090406989480044, + 0.29190118055033965, + -0.9414363815727111, + 0.1687934840110793, + 0.26278279259906984, + -0.09074718868659021, + -0.9605780299690986 + ], + [ + 0.908112821022485, + 0.36834006272047715, + 0.19913990682346652, + 0.34804096039178767, + -0.9284073010888783, + 0.13010523884312636, + 0.2328059152688051, + -0.04884139105246525, + -0.971296002429699 + ], + [ + 0.9277708662284149, + 0.3403541493655067, + 0.15297147703888803, + 0.3262519390576112, + -0.9388418253569558, + 0.11016214967750028, + 0.1811101654765005, + -0.05229799202743467, + -0.9820712947596895 + ], + [ + 0.9654456749991388, + 0.2392020096118217, + 0.10342653055731524, + 0.2301473186044531, + -0.968775984756201, + 0.09222420017996123, + 0.12225735300847004, + -0.06523411651367074, + -0.9903522856428632 + ], + [ + 0.9858242530669045, + 0.1287623914153752, + 0.10756760024316665, + 0.11917925443800521, + -0.9886720391754913, + 0.09123543316155901, + 0.1180967712373256, + -0.0771222763510634, + -0.9900026803568509 + ], + [ + 0.9887290711946849, + 0.11092300874475582, + 0.10055302036988324, + 0.10124730146440279, + -0.9901497960043734, + 0.0967076285443593, + 0.11028965373357406, + -0.08543692178155918, + -0.9902205434527299 + ], + [ + 0.9911301131895609, + 0.11080141688773607, + 0.07337673162874939, + 0.10370206922856423, + -0.990121255702408, + 0.09437043946066954, + 0.08310824006415649, + -0.0859240654412717, + -0.9928293284404333 + ], + [ + 0.9939590468261256, + 0.10041650473680289, + 0.04429377844509755, + 0.09536945666405622, + -0.9899715050039375, + 0.10421653427283728, + 0.054314638617065744, + -0.09936269348544455, + -0.9935678009955913 + ], + [ + 0.9939244381718588, + 0.108866422378874, + 0.01619608851481545, + 0.1065389849117605, + -0.9885595011367698, + 0.1067687098647946, + 0.02763432464756111, + -0.1043945151367907, + -0.994151964898037 + ], + [ + 0.9945146552604198, + 0.10416222837830823, + -0.009530511608211476, + 0.10458852215079982, + -0.9891122661524316, + 0.10352857567412883, + 0.0013570212086594638, + -0.10395746787060235, + -0.9945808179164591 + ], + [ + 0.9946781394353533, + 0.10184626616248069, + -0.015580019197182837, + 0.1029119678295139, + -0.9893719509535689, + 0.10272424029305673, + -0.0049523536707855595, + -0.10378092664401152, + -0.9945878510508911 + ], + [ + 0.9946763965967924, + 0.1004184873653347, + -0.02312992538852359, + 0.10225146216863833, + -0.9896569444516187, + 0.10061695077401807, + -0.012786889285360939, + -0.10244637472328517, + -0.9946563405359964 + ], + [ + 0.9958798343409316, + 0.08762942830492475, + -0.023333213409873117, + 0.08952908727754745, + -0.9910178809650159, + 0.09933832160278852, + -0.014418671378733833, + -0.10101803256132938, + -0.9947801058591342 + ], + [ + 0.9905683344920923, + 0.11012872695560275, + 0.08152323718241584, + 0.10102521251317964, + -0.9889566504823951, + 0.10843730863180084, + 0.09256501033451585, + -0.09917866184709204, + -0.9907549201977202 + ], + [ + 0.97784368961195, + 0.15921648309586853, + 0.13591111138045942, + 0.14308177142361936, + -0.9822552321722967, + 0.12125289916709953, + 0.15280486043437158, + -0.09911997972523337, + -0.9832730568091967 + ], + [ + 0.9605324840630637, + 0.24097595235657338, + 0.13895300444928402, + 0.2227016175701484, + -0.9655021986146124, + 0.13494255815712414, + 0.16667734276523502, + -0.0986716517353993, + -0.981061959588959 + ], + [ + 0.9640777653984757, + 0.2584997927509936, + 0.061089437810279264, + 0.25034802121149985, + -0.9611502418406825, + 0.11625868090204981, + 0.088768972843945, + -0.09678878941949619, + -0.9913384889647633 + ], + [ + 0.9619176610292571, + 0.2733382455003637, + -0.0007854596016303606, + 0.2721774267049104, + -0.9575599816831238, + 0.09485952704556572, + 0.02517661200987923, + -0.09146083875516456, + -0.9954903581561729 + ], + [ + 0.9573181736515805, + 0.28588244061793905, + -0.04258103501246228, + 0.2884961106385711, + -0.9541051155259046, + 0.08033319783076562, + -0.017660932671274915, + -0.08918889321899987, + -0.9958581388850272 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.00283658504486084, + -0.0005071684718132019, + -0.009361371397972107, + -0.0052506523206830025, + 0.02871689945459366, + 0.00020396709442138672, + 1.0 + ], + [ + -0.01944175362586975, + -0.0019180327653884888, + -0.02300659567117691, + 0.031075578182935715, + 0.05179492011666298, + -0.031089287251234055, + 1.0 + ], + [ + -0.016261786222457886, + -0.0091778002679348, + -0.004928901791572571, + 0.050110913813114166, + 0.005385681986808777, + -0.054130520671606064, + 1.0 + ], + [ + -0.013850882649421692, + -0.006027396768331528, + -0.001987360417842865, + 0.020978011190891266, + -0.013941776007413864, + -0.01413867250084877, + 1.0 + ], + [ + 0.0022501498460769653, + -0.0021193884313106537, + -0.013157136738300323, + 0.020852506160736084, + 0.014283191412687302, + 0.02672485262155533, + 1.0 + ], + [ + 0.0014653056859970093, + 0.0003854036331176758, + -0.023780319839715958, + 2.574920654296875e-05, + 0.06992746889591217, + 0.03407639265060425, + 1.0 + ], + [ + 0.0077025145292282104, + -0.0009772442281246185, + -0.004543952643871307, + 0.016530558466911316, + 0.00880531594157219, + 0.0109332837164402, + 1.0 + ], + [ + 0.0012024641036987305, + 0.0003948509693145752, + -0.0026591382920742035, + 0.012309536337852478, + 0.01881495490670204, + -0.00017283274792134762, + 1.0 + ], + [ + -0.001572936773300171, + 0.0006899610161781311, + -0.0005074739456176758, + 0.004307225346565247, + 0.009619779884815216, + -0.003032536478713155, + 1.0 + ], + [ + -0.005739197134971619, + 0.00029714033007621765, + 0.0002662762999534607, + 0.0014129430055618286, + 0.013579770922660828, + -0.006875938735902309, + 1.0 + ], + [ + -0.0048882365226745605, + 0.0003445260226726532, + 0.0033612269908189774, + 0.0038136541843414307, + -0.0024729520082473755, + 0.008207308128476143, + 1.0 + ], + [ + -0.0031480640172958374, + 0.00023195892572402954, + 0.0006839688867330551, + 0.008770853281021118, + 0.0014480650424957275, + 0.0055997781455516815, + 1.0 + ], + [ + -0.0008646994829177856, + -0.003269355744123459, + -0.0007929597049951553, + 0.01126869022846222, + 0.0026498734951019287, + -0.0029146852903068066, + 1.0 + ], + [ + -0.002605065703392029, + -0.006250880658626556, + -0.0016518514603376389, + 0.01374998688697815, + 0.007022693753242493, + -0.011227739974856377, + 1.0 + ], + [ + -0.004836812615394592, + -0.0028974004089832306, + -0.0016247238963842392, + 0.01899014413356781, + -0.005867287516593933, + 0.03400509059429169, + 1.0 + ], + [ + -0.009349077939987183, + 0.0013164058327674866, + 0.0009090658277273178, + -0.02582685649394989, + -0.05865446478128433, + 0.057049453258514404, + 1.0 + ], + [ + -0.0031815320253372192, + 0.006661087274551392, + -0.004669500514864922, + -0.028028860688209534, + -0.012120025232434273, + 0.05722838640213013, + 1.0 + ], + [ + -8.1673264503479e-05, + 0.0010614581406116486, + -0.004194680601358414, + -0.003912121057510376, + 0.0070029133930802345, + 0.005016148090362549, + 0.0 + ], + [ + 0.0011201947927474976, + 0.0006293952465057373, + -0.0012874715030193329, + 0.0031948834657669067, + 0.004770588595420122, + -0.00487324595451355, + 0.0 + ], + [ + -0.0021862834692001343, + 0.0006144680082798004, + -0.003042430616915226, + 0.003760918974876404, + 0.020975537598133087, + 0.0020044296979904175, + 0.0 + ], + [ + 0.00016836822032928467, + -0.0004367902874946594, + 0.0029933927580714226, + 0.006392762064933777, + 0.012170687317848206, + 0.0019270628690719604, + 0.0 + ], + [ + 0.003355950117111206, + -0.005623329430818558, + 0.02417987957596779, + 0.0018450766801834106, + -0.057913459837436676, + -0.01799711585044861, + 0.0 + ], + [ + 0.006994724273681641, + -0.0008773282170295715, + 0.03476591408252716, + -0.012947991490364075, + -0.09361901134252548, + 0.0008775964379310608, + 0.0 + ], + [ + 0.0015045702457427979, + 0.008603770285844803, + 0.0367681086063385, + -0.02949962019920349, + -0.11144119501113892, + 0.05065932124853134, + 0.0 + ], + [ + -0.003133729100227356, + 0.014804750680923462, + 0.013396099209785461, + -0.020882561802864075, + -0.03157700598239899, + 0.060724467039108276, + 0.0 + ], + [ + -0.0016908645629882812, + 0.027251407504081726, + 0.009870737791061401, + -0.009718216955661774, + -0.016593024134635925, + 0.07410493493080139, + 0.0 + ], + [ + -0.001820892095565796, + 0.016749441623687744, + -0.014005303382873535, + -0.043949440121650696, + 0.03094334900379181, + 0.058640480041503906, + 0.0 + ], + [ + 0.010830715298652649, + -0.007163383066654205, + -0.02385946363210678, + 0.002960044890642166, + 0.05284671485424042, + -0.027845054864883423, + 1.0 + ], + [ + 0.013345316052436829, + -0.028275877237319946, + -0.02194198966026306, + 0.012572098523378372, + 0.0595511868596077, + -0.10412831604480743, + 1.0 + ], + [ + 0.017313644289970398, + -0.029522690922021866, + -0.007570601999759674, + 0.01196947693824768, + 0.00419095903635025, + -0.1137077808380127, + 1.0 + ], + [ + 0.004969507455825806, + -0.009311612695455551, + -0.005492404103279114, + 0.008323483169078827, + 0.00785854458808899, + -0.01826339215040207, + 1.0 + ], + [ + 0.00018486380577087402, + 1.640990376472473e-05, + -0.011392079293727875, + 0.0002619922161102295, + 0.027310267090797424, + 0.0022050365805625916, + 1.0 + ], + [ + -0.0014472603797912598, + 0.0022357553243637085, + -0.008872788399457932, + 0.013345003128051758, + 0.028862830251455307, + -0.00859455019235611, + 1.0 + ], + [ + -0.002612978219985962, + 0.006244920194149017, + -0.007333710789680481, + 0.004950627684593201, + 0.02670353651046753, + 0.01112625002861023, + 1.0 + ], + [ + -0.00165596604347229, + -0.00024879351258277893, + -0.008188080042600632, + -0.00047944486141204834, + 0.026280822232365608, + -0.0020022615790367126, + 1.0 + ], + [ + -0.0003921687602996826, + -6.553158164024353e-05, + -0.002042524516582489, + -0.0001763179898262024, + 0.006309395655989647, + -0.0016844794154167175, + 0.0 + ], + [ + -0.0005372464656829834, + -0.0002619996666908264, + -0.0024662334471940994, + -0.00133456289768219, + 0.007834863848984241, + -0.0006568729877471924, + 0.0 + ], + [ + 6.556510925292969e-06, + -0.00019851326942443848, + 0.005910670384764671, + -0.0014336556196212769, + 0.0016319332644343376, + -0.012780420482158661, + 0.0 + ], + [ + 0.004413634538650513, + 0.009985540062189102, + 0.03988627716898918, + -0.001429438591003418, + -0.10711687803268433, + 0.011977240443229675, + 0.0 + ], + [ + -0.00710749626159668, + 0.022810548543930054, + 0.025633573532104492, + 0.0006950125098228455, + -0.06070813536643982, + 0.04365697503089905, + 0.0 + ], + [ + -0.00636783242225647, + 0.038983799517154694, + 0.00456593930721283, + -0.00022748112678527832, + -0.014053061604499817, + 0.08253417909145355, + 0.0 + ], + [ + 0.0010804235935211182, + 0.033354274928569794, + -0.027506023645401, + -0.0029133036732673645, + 0.07857293635606766, + 0.026237845420837402, + 0.0 + ], + [ + 0.004673749208450317, + 0.02781471610069275, + -0.02544063702225685, + -0.005708023905754089, + 0.06370669603347778, + 0.02168014645576477, + 0.0 + ], + [ + 0.0013273060321807861, + 0.012567654252052307, + -0.013230357319116592, + -0.0022964254021644592, + 0.042841121554374695, + 0.01695793867111206, + 0.0 + ], + [ + -0.0005891323089599609, + 0.0003923177719116211, + -0.0036302022635936737, + 9.78708267211914e-05, + 0.0142035111784935, + 0.0162028968334198, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9994885921478271 + ], + [ + 0.9981546401977539 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9988223910331726 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9994885921478271 + ], + [ + 0.927960216999054 + ], + [ + 0.6541022062301636 + ], + [ + 0.4681091010570526 + ], + [ + 0.4652916491031647 + ], + [ + 0.4624805450439453 + ], + [ + 0.43017780780792236 + ], + [ + 0.21234850585460663 + ], + [ + 0.07112513482570648 + ], + [ + 0.05192930996417999 + ], + [ + 0.051409780979156494 + ], + [ + 0.07270156592130661 + ], + [ + 0.22810569405555725 + ], + [ + 0.49277758598327637 + ], + [ + 0.8111810088157654 + ], + [ + 1.0099300146102905 + ], + [ + 1.0067112445831299 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.927960216999054 + ], + [ + 0.6249675154685974 + ], + [ + 0.4860933721065521 + ], + [ + 0.4860933721065521 + ], + [ + 0.4860933721065521 + ], + [ + 0.4860933721065521 + ], + [ + 0.4860933721065521 + ], + [ + 0.48514097929000854 + ], + [ + 0.4841892421245575 + ], + [ + 0.5749470591545105 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.29074639081954956, + 0.07088080048561096, + 0.1016329675912857 + ], + [ + 0.2713046371936798, + 0.06896276772022247, + 0.0786263719201088 + ], + [ + 0.2550428509712219, + 0.059784967452287674, + 0.07369747012853622 + ], + [ + 0.24119196832180023, + 0.053757570683956146, + 0.07171010971069336 + ], + [ + 0.2434421181678772, + 0.05163818225264549, + 0.058552972972393036 + ], + [ + 0.2449074238538742, + 0.05202358588576317, + 0.03477265313267708 + ], + [ + 0.2526099383831024, + 0.05104634165763855, + 0.03022870048880577 + ], + [ + 0.25381240248680115, + 0.051441192626953125, + 0.027569562196731567 + ], + [ + 0.252239465713501, + 0.052131153643131256, + 0.02706208825111389 + ], + [ + 0.24650026857852936, + 0.052428293973207474, + 0.027328364551067352 + ], + [ + 0.2416120320558548, + 0.05277281999588013, + 0.03068959154188633 + ], + [ + 0.23846396803855896, + 0.053004778921604156, + 0.031373560428619385 + ], + [ + 0.23759926855564117, + 0.0497354231774807, + 0.03058060072362423 + ], + [ + 0.23499420285224915, + 0.04348454251885414, + 0.02892874926328659 + ], + [ + 0.23015739023685455, + 0.04058714210987091, + 0.02730402536690235 + ], + [ + 0.22080831229686737, + 0.0419035479426384, + 0.02821309119462967 + ], + [ + 0.21762678027153015, + 0.04856463521718979, + 0.023543590679764748 + ], + [ + 0.21754510700702667, + 0.04962609335780144, + 0.019348910078406334 + ], + [ + 0.21866530179977417, + 0.050255488604307175, + 0.018061438575387 + ], + [ + 0.21647901833057404, + 0.050869956612586975, + 0.015019007958471775 + ], + [ + 0.21664738655090332, + 0.050433166325092316, + 0.018012400716543198 + ], + [ + 0.22000333666801453, + 0.04480983689427376, + 0.042192280292510986 + ], + [ + 0.22699806094169617, + 0.043932508677244186, + 0.07695819437503815 + ], + [ + 0.22850263118743896, + 0.05253627896308899, + 0.11372630298137665 + ], + [ + 0.2253689020872116, + 0.06734102964401245, + 0.1271224021911621 + ], + [ + 0.22367803752422333, + 0.09459243714809418, + 0.1369931399822235 + ], + [ + 0.22185714542865753, + 0.11134187877178192, + 0.12298783659934998 + ], + [ + 0.23268786072731018, + 0.10417849570512772, + 0.0991283729672432 + ], + [ + 0.246033176779747, + 0.07590261846780777, + 0.07718638330698013 + ], + [ + 0.2633468210697174, + 0.046379927545785904, + 0.06961578130722046 + ], + [ + 0.2683163285255432, + 0.03706831485033035, + 0.06412337720394135 + ], + [ + 0.2685011923313141, + 0.03708472475409508, + 0.05273129791021347 + ], + [ + 0.2670539319515228, + 0.039320480078458786, + 0.04385850951075554 + ], + [ + 0.26444095373153687, + 0.0455654002726078, + 0.03652479872107506 + ], + [ + 0.2627849876880646, + 0.045316606760025024, + 0.028336718678474426 + ], + [ + 0.2623928189277649, + 0.04525107517838478, + 0.026294194161891937 + ], + [ + 0.2618555724620819, + 0.044989075511693954, + 0.023827960714697838 + ], + [ + 0.2618621289730072, + 0.044790562242269516, + 0.02973863109946251 + ], + [ + 0.2662757635116577, + 0.05477610230445862, + 0.06962490826845169 + ], + [ + 0.25916826725006104, + 0.07758665084838867, + 0.09525848180055618 + ], + [ + 0.25280043482780457, + 0.11657045036554337, + 0.09982442110776901 + ], + [ + 0.2538808584213257, + 0.14992472529411316, + 0.07231839746236801 + ], + [ + 0.258554607629776, + 0.1777394413948059, + 0.04687776044011116 + ], + [ + 0.2598819136619568, + 0.19030709564685822, + 0.03364740312099457 + ], + [ + 0.2592927813529968, + 0.19069941341876984, + 0.030017200857400894 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9936585726948517, + 0.02418046434860145, + 0.10980867931961007, + 0.0245124653478718, + -0.9996981222571838, + -0.0016743351011400988, + 0.10973504432313468, + 0.004355398873529268, + -0.9939513320822367 + ], + [ + 0.998288485352361, + -0.00487159946233618, + 0.05827836246470825, + -0.006414479751782487, + -0.9996330777584326, + 0.02631661643749251, + 0.0581287748228304, + -0.026645400538980346, + -0.9979534398796943 + ], + [ + 0.996777279775229, + -0.05630034591103036, + 0.05714302734536254, + -0.06043464378650621, + -0.9954693842417242, + 0.07340544167703358, + 0.05275138248702711, + -0.07662229497803233, + -0.9956637562741784 + ], + [ + 0.9949930627679792, + -0.06777820890615235, + 0.07345011532373656, + -0.07445911788437398, + -0.9929337687616107, + 0.09240330414408933, + 0.06666816937247587, + -0.0974096773957195, + -0.9930089173528024 + ], + [ + 0.9974768826236442, + -0.04141827960266223, + 0.05765756451821646, + -0.04788543072772099, + -0.9921263100869028, + 0.11572540929876741, + 0.05241043937458676, + -0.11819437781934598, + -0.9916063911131575 + ], + [ + 0.9997505051477404, + -0.015865756845505074, + -0.01572276109836784, + -0.013890762575955434, + -0.9928434533516214, + 0.11861249450156724, + -0.017492117421726742, + -0.11836450015331959, + -0.9928161314823397 + ], + [ + 0.999649839532847, + -0.006477102705150368, + -0.025656294792895756, + -0.0029590235591478798, + -0.9908607153804198, + 0.13485654190798074, + -0.026295294284899035, + -0.134733402897535, + -0.9905329210289383 + ], + [ + 0.9989776660551586, + -0.009726729472647523, + -0.044147632515852124, + -0.0031296915432774916, + -0.9891158207926637, + 0.14710573778238487, + -0.045097979487253435, + -0.14681717812102837, + -0.9881350557766616 + ], + [ + 0.998483542261199, + -0.014367235851816745, + -0.053143187404469945, + -0.006156149040252242, + -0.9884294540160631, + 0.15155631383252044, + -0.05470573701653734, + -0.15099932770540897, + -0.9870189893664619 + ], + [ + 0.9975827468225467, + -0.023305279247011968, + -0.06546393817363717, + -0.013010572713379593, + -0.9880646856729838, + 0.15348909382629705, + -0.06825971168744312, + -0.1522663484988287, + -0.98597949820226 + ], + [ + 0.9978216793189701, + -0.01506370482341023, + -0.06422601558608104, + -0.0048235591672685756, + -0.98763407414096, + 0.15670248521541896, + -0.0657923214215019, + -0.15605133896484807, + -0.985555351083463 + ], + [ + 0.9977367278021516, + -0.010342065874268926, + -0.06644143035868308, + 0.000763993421743255, + -0.9862939132316101, + 0.16499616067148076, + -0.06723717951183694, + -0.16467349026400652, + -0.9840537603685906 + ], + [ + 0.9975530441616886, + -0.014424861548063895, + -0.06840941055927131, + -0.0021437037468551735, + -0.9843345350142201, + 0.17629783808255994, + -0.06988081723902113, + -0.17571979554864614, + -0.9819568345066642 + ], + [ + 0.9969507993731825, + -0.02771475780139159, + -0.07294515631063409, + -0.013336706072865656, + -0.9815653159633744, + 0.1906611202339042, + -0.07688456217146991, + -0.18910690811742303, + -0.9789419499653542 + ], + [ + 0.9972617206931776, + 0.005383002033368283, + -0.07375692326277748, + 0.02057482302574451, + -0.9781666503275926, + 0.20680106586852115, + -0.07103335200834736, + -0.20775232243227965, + -0.9755989111445607 + ], + [ + 0.9969074656840494, + 0.07402125548609895, + -0.026388607384015342, + 0.07759375032278587, + -0.9803340463104143, + 0.18145073038016601, + -0.012438439381659111, + -0.18293717878253235, + -0.9830459164478721 + ], + [ + 0.9909138967302675, + 0.13281595127884413, + -0.021203121296931807, + 0.13449738910164458, + -0.9788939463583015, + 0.15387363032018014, + -0.00031873449376340623, + -0.15532728307984517, + -0.9878630135496298 + ], + [ + 0.9902002833118918, + 0.1367591546945877, + -0.028290149103024645, + 0.1394625159672794, + -0.9789573973127468, + 0.14897187951667054, + -0.007321582419522715, + -0.15145741267390947, + -0.9884366679646195 + ], + [ + 0.9908222724707552, + 0.13116724186435771, + -0.03265545953720119, + 0.1346291547951611, + -0.979230157874222, + 0.15160240297820798, + -0.012091941739408361, + -0.1546074143478362, + -0.9879019852058438 + ], + [ + 0.9900812895415296, + 0.12971579210646803, + -0.05397085674670562, + 0.13655021393983843, + -0.9788420607872413, + 0.15238851369696807, + -0.033061747878268745, + -0.15824674818769022, + -0.9868459289652339 + ], + [ + 0.9893445083521278, + 0.12926930026173306, + -0.06698426534141119, + 0.1383919112768507, + -0.9778741469958552, + 0.15687521005649435, + -0.045223032700461074, + -0.16447370807205275, + -0.985344242722513 + ], + [ + 0.9926106778662872, + 0.12109915332333974, + -0.007683570146734733, + 0.12067889313998463, + -0.978585676656551, + 0.16675334537318337, + 0.012674657247346476, + -0.16644839592801808, + -0.9859687036395485 + ], + [ + 0.9869820827489706, + 0.13629935371337223, + 0.08537478849064, + 0.12087365282411609, + -0.9788107726929112, + 0.16528469775893218, + 0.10609396017426968, + -0.15281347269669499, + -0.9825436958104801 + ], + [ + 0.9618949141934305, + 0.19681945716490323, + 0.18979008227546026, + 0.16761273470694255, + -0.972878467149537, + 0.15941599455772157, + 0.21601885383658823, + -0.12153019969571445, + -0.9687962971383853 + ], + [ + 0.9428410653686996, + 0.25478846542523587, + 0.21478725134576415, + 0.2239895904444759, + -0.961758443799475, + 0.15763679504775485, + 0.24673748970703874, + -0.10051633532250015, + -0.9638553197998149 + ], + [ + 0.9196406388949719, + 0.3247498840596573, + 0.22090406989480044, + 0.29190118055033965, + -0.9414363815727111, + 0.1687934840110793, + 0.26278279259906984, + -0.09074718868659021, + -0.9605780299690986 + ], + [ + 0.908112821022485, + 0.36834006272047715, + 0.19913990682346652, + 0.34804096039178767, + -0.9284073010888783, + 0.13010523884312636, + 0.2328059152688051, + -0.04884139105246525, + -0.971296002429699 + ], + [ + 0.9277708662284149, + 0.3403541493655067, + 0.15297147703888803, + 0.3262519390576112, + -0.9388418253569558, + 0.11016214967750028, + 0.1811101654765005, + -0.05229799202743467, + -0.9820712947596895 + ], + [ + 0.9654456749991388, + 0.2392020096118217, + 0.10342653055731524, + 0.2301473186044531, + -0.968775984756201, + 0.09222420017996123, + 0.12225735300847004, + -0.06523411651367074, + -0.9903522856428632 + ], + [ + 0.9858242530669045, + 0.1287623914153752, + 0.10756760024316665, + 0.11917925443800521, + -0.9886720391754913, + 0.09123543316155901, + 0.1180967712373256, + -0.0771222763510634, + -0.9900026803568509 + ], + [ + 0.9887290711946849, + 0.11092300874475582, + 0.10055302036988324, + 0.10124730146440279, + -0.9901497960043734, + 0.0967076285443593, + 0.11028965373357406, + -0.08543692178155918, + -0.9902205434527299 + ], + [ + 0.9911301131895609, + 0.11080141688773607, + 0.07337673162874939, + 0.10370206922856423, + -0.990121255702408, + 0.09437043946066954, + 0.08310824006415649, + -0.0859240654412717, + -0.9928293284404333 + ], + [ + 0.9939590468261256, + 0.10041650473680289, + 0.04429377844509755, + 0.09536945666405622, + -0.9899715050039375, + 0.10421653427283728, + 0.054314638617065744, + -0.09936269348544455, + -0.9935678009955913 + ], + [ + 0.9939244381718588, + 0.108866422378874, + 0.01619608851481545, + 0.1065389849117605, + -0.9885595011367698, + 0.1067687098647946, + 0.02763432464756111, + -0.1043945151367907, + -0.994151964898037 + ], + [ + 0.9945146552604198, + 0.10416222837830823, + -0.009530511608211476, + 0.10458852215079982, + -0.9891122661524316, + 0.10352857567412883, + 0.0013570212086594638, + -0.10395746787060235, + -0.9945808179164591 + ], + [ + 0.9946781394353533, + 0.10184626616248069, + -0.015580019197182837, + 0.1029119678295139, + -0.9893719509535689, + 0.10272424029305673, + -0.0049523536707855595, + -0.10378092664401152, + -0.9945878510508911 + ], + [ + 0.9946763965967924, + 0.1004184873653347, + -0.02312992538852359, + 0.10225146216863833, + -0.9896569444516187, + 0.10061695077401807, + -0.012786889285360939, + -0.10244637472328517, + -0.9946563405359964 + ], + [ + 0.9958798343409316, + 0.08762942830492475, + -0.023333213409873117, + 0.08952908727754745, + -0.9910178809650159, + 0.09933832160278852, + -0.014418671378733833, + -0.10101803256132938, + -0.9947801058591342 + ], + [ + 0.9905683344920923, + 0.11012872695560275, + 0.08152323718241584, + 0.10102521251317964, + -0.9889566504823951, + 0.10843730863180084, + 0.09256501033451585, + -0.09917866184709204, + -0.9907549201977202 + ], + [ + 0.97784368961195, + 0.15921648309586853, + 0.13591111138045942, + 0.14308177142361936, + -0.9822552321722967, + 0.12125289916709953, + 0.15280486043437158, + -0.09911997972523337, + -0.9832730568091967 + ], + [ + 0.9605324840630637, + 0.24097595235657338, + 0.13895300444928402, + 0.2227016175701484, + -0.9655021986146124, + 0.13494255815712414, + 0.16667734276523502, + -0.0986716517353993, + -0.981061959588959 + ], + [ + 0.9640777653984757, + 0.2584997927509936, + 0.061089437810279264, + 0.25034802121149985, + -0.9611502418406825, + 0.11625868090204981, + 0.088768972843945, + -0.09678878941949619, + -0.9913384889647633 + ], + [ + 0.9619176610292571, + 0.2733382455003637, + -0.0007854596016303606, + 0.2721774267049104, + -0.9575599816831238, + 0.09485952704556572, + 0.02517661200987923, + -0.09146083875516456, + -0.9954903581561729 + ], + [ + 0.9573181736515805, + 0.28588244061793905, + -0.04258103501246228, + 0.2884961106385711, + -0.9541051155259046, + 0.08033319783076562, + -0.017660932671274915, + -0.08918889321899987, + -0.9958581388850272 + ], + [ + 0.9521831994000128, + 0.30009124849651836, + -0.057379415787862376, + 0.3038619704954929, + -0.9497256425398107, + 0.07542616779964377, + -0.03185996966338356, + -0.08925495212112709, + -0.9954991189623945 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006786.json b/json/chunk-0006/episode_0006786.json new file mode 100644 index 0000000000000000000000000000000000000000..3926f7dc833cff16070aebadfffe9e0877bc025e --- /dev/null +++ b/json/chunk-0006/episode_0006786.json @@ -0,0 +1,2782 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 45, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nUnfold the cloth from bottom left to top right." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006786.mp4", + "start": 0, + "end": 45, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.1784752607345581, + -0.0014608583878725767, + 0.11181725561618805, + 0.24677227437496185, + -0.20572012662887573, + -0.16770808398723602, + 0.0, + 1.0001531839370728 + ], + [ + 0.1761803776025772, + -0.001362462411634624, + 0.10865966975688934, + 0.24951185286045074, + -0.1956769973039627, + -0.162908673286438, + 0.0, + 1.0001531839370728 + ], + [ + 0.17328569293022156, + -0.01595328003168106, + 0.09356140345335007, + 0.3052929937839508, + -0.17832832038402557, + -0.17921039462089539, + 0.0, + 1.0001531839370728 + ], + [ + 0.17308156192302704, + -0.03393840789794922, + 0.0754203274846077, + 0.38220664858818054, + -0.17511819303035736, + -0.18937210738658905, + 0.0, + 1.0001531839370728 + ], + [ + 0.17385132610797882, + -0.047791287302970886, + 0.05776001513004303, + 0.4441917836666107, + -0.1725986748933792, + -0.20101992785930634, + 0.0, + 1.0001531839370728 + ], + [ + 0.17909640073776245, + -0.05549950152635574, + 0.04310089349746704, + 0.47882339358329773, + -0.1713973879814148, + -0.1862124502658844, + 0.0, + 1.0001531839370728 + ], + [ + 0.1857740581035614, + -0.060661811381578445, + 0.030773727223277092, + 0.4921496510505676, + -0.16747881472110748, + -0.17593255639076233, + 0.0, + 1.0001531839370728 + ], + [ + 0.18663404881954193, + -0.06565970182418823, + 0.022028261795639992, + 0.4835524559020996, + -0.1609773188829422, + -0.18118152022361755, + 0.0, + 1.0001531839370728 + ], + [ + 0.18995755910873413, + -0.07021014392375946, + 0.013742510229349136, + 0.47882315516471863, + -0.15335874259471893, + -0.17555588483810425, + 0.0, + 1.0001531839370728 + ], + [ + 0.19249722361564636, + -0.07238049060106277, + 0.00718904472887516, + 0.47827857732772827, + -0.14515377581119537, + -0.17887365818023682, + 0.0, + 1.0001531839370728 + ], + [ + 0.20139865577220917, + -0.068152517080307, + 0.005295305047184229, + 0.48666298389434814, + -0.14791050553321838, + -0.15633267164230347, + 0.0, + 0.9994885921478271 + ], + [ + 0.20759616792201996, + -0.06225627288222313, + 0.0044548893347382545, + 0.49000826478004456, + -0.15035668015480042, + -0.1280289888381958, + 0.0, + 0.9994885921478271 + ], + [ + 0.21021944284439087, + -0.05471791326999664, + 0.0034513650462031364, + 0.48894211649894714, + -0.1423649787902832, + -0.11715275794267654, + 0.0, + 0.9701826572418213 + ], + [ + 0.2083752602338791, + -0.0488637275993824, + 0.0003819007542915642, + 0.4835529625415802, + -0.12427666783332825, + -0.11059223860502243, + 0.0, + 0.6881998181343079 + ], + [ + 0.20443621277809143, + -0.044552791863679886, + -5.315736780175939e-05, + 0.46465229988098145, + -0.11265452951192856, + -0.10453171283006668, + 0.0, + 0.37631502747535706 + ], + [ + 0.20053303241729736, + -0.041311562061309814, + 0.008431523106992245, + 0.4317404627799988, + -0.11429663747549057, + -0.09953898191452026, + 0.0, + 0.15667486190795898 + ], + [ + 0.200877845287323, + -0.03992023319005966, + 0.01984764076769352, + 0.38099271059036255, + -0.12189029902219772, + -0.10126515477895737, + 0.0, + 0.06772904843091965 + ], + [ + 0.19972875714302063, + -0.03694615885615349, + 0.02506565861403942, + 0.3450891375541687, + -0.10895489901304245, + -0.09669603407382965, + 0.0, + 0.06065736711025238 + ], + [ + 0.2007671743631363, + -0.0320008359849453, + 0.02411562390625477, + 0.32171952724456787, + -0.08868979662656784, + -0.10066206008195877, + 0.0, + 0.0600886270403862 + ], + [ + 0.19981850683689117, + -0.02795417420566082, + 0.022494664415717125, + 0.29907721281051636, + -0.06476376205682755, + -0.10529258102178574, + 0.0, + 0.06267260015010834 + ], + [ + 0.20178651809692383, + -0.025726234540343285, + 0.02266293577849865, + 0.29393431544303894, + -0.06050186976790428, + -0.11540961265563965, + 0.0, + 0.08123486489057541 + ], + [ + 0.20433871448040009, + -0.02298359014093876, + 0.022602876648306847, + 0.284076064825058, + -0.05978560820221901, + -0.11215564608573914, + 0.0, + 0.13294655084609985 + ], + [ + 0.2031640112400055, + -0.023487519472837448, + 0.02299237623810768, + 0.27121320366859436, + -0.04452534765005112, + -0.11453967541456223, + 0.0, + 0.3331759572029114 + ], + [ + 0.20292852818965912, + -0.023003632202744484, + 0.027825254946947098, + 0.26005426049232483, + -0.05073990300297737, + -0.11654585599899292, + 0.0, + 0.5168834924697876 + ], + [ + 0.20374324917793274, + -0.02251502312719822, + 0.02958071045577526, + 0.25506967306137085, + -0.04814324155449867, + -0.11816217005252838, + 0.0, + 0.5100988745689392 + ], + [ + 0.2036588191986084, + -0.02216464653611183, + 0.029272619634866714, + 0.25543123483657837, + -0.04624982178211212, + -0.11812787503004074, + 0.0, + 0.4860933721065521 + ], + [ + 0.2061518281698227, + -0.02292110025882721, + 0.03046765923500061, + 0.2441578209400177, + -0.05216531828045845, + -0.11069948971271515, + 0.0, + 0.39798861742019653 + ], + [ + 0.2048116773366928, + -0.024165237322449684, + 0.03158644214272499, + 0.2298121154308319, + -0.03994348645210266, + -0.11112608760595322, + 0.0, + 0.39448216557502747 + ], + [ + 0.20510241389274597, + -0.024311019107699394, + 0.03895213454961777, + 0.21117672324180603, + -0.050121184438467026, + -0.10619697719812393, + 0.0, + 0.4050447642803192 + ], + [ + 0.2041001319885254, + -0.024574285373091698, + 0.03969251736998558, + 0.20679470896720886, + -0.044097211211919785, + -0.11487530916929245, + 0.0, + 0.472818523645401 + ], + [ + 0.20347316563129425, + -0.02542353980243206, + 0.042576130479574203, + 0.19955702126026154, + -0.04871564358472824, + -0.11622562259435654, + 0.0, + 0.5403295159339905 + ], + [ + 0.20390787720680237, + -0.02564171329140663, + 0.04256550595164299, + 0.19828183948993683, + -0.05244164541363716, + -0.11227715760469437, + 0.0, + 0.5217453241348267 + ], + [ + 0.20420534908771515, + -0.025593135505914688, + 0.0425974503159523, + 0.1989620476961136, + -0.05373767018318176, + -0.11515318602323532, + 0.0, + 0.4059307873249054 + ], + [ + 0.20487554371356964, + -0.026188282296061516, + 0.04247291758656502, + 0.19410257041454315, + -0.05673197656869888, + -0.12202563881874084, + 0.0, + 0.17844799160957336 + ], + [ + 0.21121035516262054, + -0.02175544947385788, + 0.04708798602223396, + 0.16261930763721466, + -0.058419369161129, + -0.09425898641347885, + 0.0, + 0.06681985408067703 + ], + [ + 0.2172778844833374, + -0.015395049937069416, + 0.052452605217695236, + 0.11457344144582748, + -0.04847560450434685, + -0.08125828951597214, + 0.0, + 0.05430474132299423 + ], + [ + 0.22315578162670135, + -0.005800290498882532, + 0.05615764483809471, + 0.049745503813028336, + -0.013454347848892212, + -0.05683369189500809, + 0.0, + 0.05403778702020645 + ], + [ + 0.2290661782026291, + 0.007468557916581631, + 0.06038731336593628, + -0.015222776681184769, + 0.027879418805241585, + -0.045193206518888474, + 0.0, + 0.05403778702020645 + ], + [ + 0.23797565698623657, + 0.029010843485593796, + 0.061394382268190384, + -0.01435241661965847, + 0.04305049404501915, + 0.007144114933907986, + 0.0, + 0.05403778702020645 + ], + [ + 0.2543778717517853, + 0.05312677100300789, + 0.051493991166353226, + 0.05838591232895851, + 0.06640619784593582, + 0.08847444504499435, + 0.0, + 0.05403778702020645 + ], + [ + 0.2702080309391022, + 0.08189006894826889, + 0.04734719917178154, + 0.14315399527549744, + 0.04423769190907478, + 0.17752568423748016, + 0.0, + 0.05403778702020645 + ], + [ + 0.2881148159503937, + 0.11099213361740112, + 0.06092890724539757, + 0.16690532863140106, + 0.004770032130181789, + 0.25844812393188477, + 0.0, + 0.05403778702020645 + ], + [ + 0.30947622656822205, + 0.14103013277053833, + 0.07691605389118195, + 0.15773223340511322, + -0.010071668773889542, + 0.341279536485672, + 0.0, + 0.05403778702020645 + ], + [ + 0.33417895436286926, + 0.16963551938533783, + 0.09070312231779099, + 0.13843998312950134, + -0.020614635199308395, + 0.43543100357055664, + 0.0, + 0.05403778702020645 + ], + [ + 0.3623691201210022, + 0.20142896473407745, + 0.09391021728515625, + 0.1391778439283371, + -0.012066792696714401, + 0.5255089402198792, + 0.0, + 0.05403778702020645 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9701826572418213 + ], + [ + 0.6881998181343079 + ], + [ + 0.37631502747535706 + ], + [ + 0.15667486190795898 + ], + [ + 0.06772904843091965 + ], + [ + 0.06065736711025238 + ], + [ + 0.0600886270403862 + ], + [ + 0.06267260015010834 + ], + [ + 0.08123486489057541 + ], + [ + 0.13294655084609985 + ], + [ + 0.3331759572029114 + ], + [ + 0.5168834924697876 + ], + [ + 0.5100988745689392 + ], + [ + 0.4860933721065521 + ], + [ + 0.39798861742019653 + ], + [ + 0.39448216557502747 + ], + [ + 0.4050447642803192 + ], + [ + 0.472818523645401 + ], + [ + 0.5403295159339905 + ], + [ + 0.5217453241348267 + ], + [ + 0.4059307873249054 + ], + [ + 0.17844799160957336 + ], + [ + 0.06681985408067703 + ], + [ + 0.05430474132299423 + ], + [ + 0.05403778702020645 + ], + [ + 0.05403778702020645 + ], + [ + 0.05403778702020645 + ], + [ + 0.05403778702020645 + ], + [ + 0.05403778702020645 + ], + [ + 0.05403778702020645 + ], + [ + 0.05403778702020645 + ], + [ + 0.05403778702020645 + ], + [ + 0.05403778702020645 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.1784752607345581, + -0.0014608583878725767, + 0.11181725561618805 + ], + [ + 0.1761803776025772, + -0.001362462411634624, + 0.10865966975688934 + ], + [ + 0.17328569293022156, + -0.01595328003168106, + 0.09356140345335007 + ], + [ + 0.17308156192302704, + -0.03393840789794922, + 0.0754203274846077 + ], + [ + 0.17385132610797882, + -0.047791287302970886, + 0.05776001513004303 + ], + [ + 0.17909640073776245, + -0.05549950152635574, + 0.04310089349746704 + ], + [ + 0.1857740581035614, + -0.060661811381578445, + 0.030773727223277092 + ], + [ + 0.18663404881954193, + -0.06565970182418823, + 0.022028261795639992 + ], + [ + 0.18995755910873413, + -0.07021014392375946, + 0.013742510229349136 + ], + [ + 0.19249722361564636, + -0.07238049060106277, + 0.00718904472887516 + ], + [ + 0.20139865577220917, + -0.068152517080307, + 0.005295305047184229 + ], + [ + 0.20759616792201996, + -0.06225627288222313, + 0.0044548893347382545 + ], + [ + 0.21021944284439087, + -0.05471791326999664, + 0.0034513650462031364 + ], + [ + 0.2083752602338791, + -0.0488637275993824, + 0.0003819007542915642 + ], + [ + 0.20443621277809143, + -0.044552791863679886, + -5.315736780175939e-05 + ], + [ + 0.20053303241729736, + -0.041311562061309814, + 0.008431523106992245 + ], + [ + 0.200877845287323, + -0.03992023319005966, + 0.01984764076769352 + ], + [ + 0.19972875714302063, + -0.03694615885615349, + 0.02506565861403942 + ], + [ + 0.2007671743631363, + -0.0320008359849453, + 0.02411562390625477 + ], + [ + 0.19981850683689117, + -0.02795417420566082, + 0.022494664415717125 + ], + [ + 0.20178651809692383, + -0.025726234540343285, + 0.02266293577849865 + ], + [ + 0.20433871448040009, + -0.02298359014093876, + 0.022602876648306847 + ], + [ + 0.2031640112400055, + -0.023487519472837448, + 0.02299237623810768 + ], + [ + 0.20292852818965912, + -0.023003632202744484, + 0.027825254946947098 + ], + [ + 0.20374324917793274, + -0.02251502312719822, + 0.02958071045577526 + ], + [ + 0.2036588191986084, + -0.02216464653611183, + 0.029272619634866714 + ], + [ + 0.2061518281698227, + -0.02292110025882721, + 0.03046765923500061 + ], + [ + 0.2048116773366928, + -0.024165237322449684, + 0.03158644214272499 + ], + [ + 0.20510241389274597, + -0.024311019107699394, + 0.03895213454961777 + ], + [ + 0.2041001319885254, + -0.024574285373091698, + 0.03969251736998558 + ], + [ + 0.20347316563129425, + -0.02542353980243206, + 0.042576130479574203 + ], + [ + 0.20390787720680237, + -0.02564171329140663, + 0.04256550595164299 + ], + [ + 0.20420534908771515, + -0.025593135505914688, + 0.0425974503159523 + ], + [ + 0.20487554371356964, + -0.026188282296061516, + 0.04247291758656502 + ], + [ + 0.21121035516262054, + -0.02175544947385788, + 0.04708798602223396 + ], + [ + 0.2172778844833374, + -0.015395049937069416, + 0.052452605217695236 + ], + [ + 0.22315578162670135, + -0.005800290498882532, + 0.05615764483809471 + ], + [ + 0.2290661782026291, + 0.007468557916581631, + 0.06038731336593628 + ], + [ + 0.23797565698623657, + 0.029010843485593796, + 0.061394382268190384 + ], + [ + 0.2543778717517853, + 0.05312677100300789, + 0.051493991166353226 + ], + [ + 0.2702080309391022, + 0.08189006894826889, + 0.04734719917178154 + ], + [ + 0.2881148159503937, + 0.11099213361740112, + 0.06092890724539757 + ], + [ + 0.30947622656822205, + 0.14103013277053833, + 0.07691605389118195 + ], + [ + 0.33417895436286926, + 0.16963551938533783, + 0.09070312231779099 + ], + [ + 0.3623691201210022, + 0.20142896473407745, + 0.09391021728515625 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9651799024111928, + -0.11266769150223654, + 0.23607995949058838, + -0.1634033129861901, + -0.9644301151915874, + 0.20778332516513282, + 0.20427215494691928, + -0.23912453701596365, + -0.9492588385210029 + ], + [ + 0.9679286428896546, + -0.10979128500016785, + 0.2259646344271681, + -0.1590938774430153, + -0.9639896404541555, + 0.2131035223951386, + 0.19443065713497612, + -0.24221859308294322, + -0.9505403056846045 + ], + [ + 0.9683803231325866, + -0.11754698735335153, + 0.22005057494534816, + -0.17542586694478227, + -0.9479881313873134, + 0.2656017092480041, + 0.17738465259514088, + -0.295806031907635, + -0.9386338351619126 + ], + [ + 0.9671019957031926, + -0.11084079943060038, + 0.22897171678722147, + -0.18536327866475905, + -0.9234885118148275, + 0.33587114116679634, + 0.17422452419092158, + -0.36726459906669545, + -0.9136533967773701 + ], + [ + 0.9653044225833617, + -0.10797594014080886, + 0.23775737231831687, + -0.19670210309095554, + -0.8995119206080178, + 0.3901109935949893, + 0.17174298932008078, + -0.423343242576025, + -0.8895419296382937 + ], + [ + 0.9683132004591982, + -0.08709284991783643, + 0.23406063596780635, + -0.18242540235223598, + -0.886742998742086, + 0.4247444252235901, + 0.17055942774613647, + -0.4539842394567044, + -0.8745328992850001 + ], + [ + 0.9707879006075576, + -0.07670207090276915, + 0.22734916835827057, + -0.17257743622205846, + -0.8815013332062599, + 0.43951385423284167, + 0.1666969722010332, + -0.465910068441124, + -0.8689878753953907 + ], + [ + 0.9709142131423891, + -0.08623253817165283, + 0.22335966529024331, + -0.1778621979270405, + -0.8842849121489313, + 0.4317467228530156, + 0.1602829662398889, + -0.45891627069241164, + -0.8739022984448042 + ], + [ + 0.9730735735956804, + -0.08571403931070257, + 0.21396477241540338, + -0.17260567440352773, + -0.8861883896626798, + 0.42997374244338454, + 0.15275831084898592, + -0.4553276199530509, + -0.8771212327691393 + ], + [ + 0.9736961828429256, + -0.09244578822962156, + 0.2082534987838624, + -0.1760502373732752, + -0.8854683469486467, + 0.4300606009306649, + 0.14464459007487862, + -0.4554114434120371, + -0.8784522524141168 + ], + [ + 0.9770192409355662, + -0.06953787592452872, + 0.20148917254680043, + -0.15399663133684477, + -0.8838502427837973, + 0.4416942221355469, + 0.14737177605835317, + -0.4625724074595531, + -0.8742472919480387 + ], + [ + 0.9806255313894119, + -0.042735793309915004, + 0.19117326998669454, + -0.12623899566819513, + -0.8841084892255028, + 0.44990654057491103, + 0.1497907979814474, + -0.4653233620285692, + -0.8723742806791761 + ], + [ + 0.983098017525744, + -0.037004301648295185, + 0.17930133740849247, + -0.11570245887212796, + -0.8845682939286932, + 0.45183168811740587, + 0.14188456204920824, + -0.46494044246075555, + -0.8738988248169814 + ], + [ + 0.9862256134258697, + -0.04043424423407606, + 0.16038737891737706, + -0.10951574550510355, + -0.8863005306395274, + 0.44997518917664087, + 0.12395701234391135, + -0.46134200034390044, + -0.8785204709108719 + ], + [ + 0.9882373203493389, + -0.043178735904563524, + 0.1467058125448407, + -0.10368004826899471, + -0.8943538970904303, + 0.4351799103245675, + 0.1124163967564203, + -0.44527149417500733, + -0.8883106721274147 + ], + [ + 0.9885576286266927, + -0.04276856874821977, + 0.14465360144565628, + -0.09872629583462494, + -0.9084856389930664, + 0.4060873825350081, + 0.11404794340427228, + -0.41572189414389604, + -0.9023127912950516 + ], + [ + 0.9874956438925115, + -0.04886326441034615, + 0.149882402851297, + -0.10034212444008621, + -0.9281109204941153, + 0.35852695480593394, + 0.12158869748526852, + -0.36908332480719114, + -0.9214085347950198 + ], + [ + 0.9894265647822093, + -0.05424100320354734, + 0.13451017238391233, + -0.0959729310116302, + -0.9402006546068858, + 0.3268209381141617, + 0.10873945657540281, + -0.3362746535917577, + -0.935465171952131 + ], + [ + 0.9910273848897444, + -0.06747116673022016, + 0.11537921848694051, + -0.10009717667244705, + -0.9467051488712296, + 0.3061534195838874, + 0.08857357179655363, + -0.31495555680248877, + -0.9449644012440018 + ], + [ + 0.9923770264607656, + -0.08146974280988004, + 0.09246901296856852, + -0.10487780210756453, + -0.9523205554065611, + 0.28650690458560635, + 0.06471849795827947, + -0.29402081687634163, + -0.9536054085759965 + ], + [ + 0.9915301909679521, + -0.092813436303279, + 0.0908490310384965, + -0.11494289163084433, + -0.9527616932100873, + 0.281128596224197, + 0.06046496558004895, + -0.28918994103015544, + -0.9553602283664413 + ], + [ + 0.9919417435180946, + -0.09079403679280473, + 0.088363003282764, + -0.1117207011903662, + -0.9557642129711282, + 0.27209052561457026, + 0.05974999909469328, + -0.2797699270589086, + -0.9582059932611763 + ], + [ + 0.9924629043603368, + -0.09826543817786763, + 0.0732208107600343, + -0.11417612118921126, + -0.9584964385337693, + 0.2612439294381151, + 0.04451063714250365, + -0.2676349771195686, + -0.9624917257843708 + ], + [ + 0.9919379535412189, + -0.09941949068186093, + 0.07858028504032238, + -0.11613254162509415, + -0.961336812381505, + 0.2496893388510274, + 0.05071813383943383, + -0.25680206002430506, + -0.9651323084775055 + ], + [ + 0.9918763870960202, + -0.1020154350243806, + 0.07598739196822553, + -0.11775080105561078, + -0.9623297393671019, + 0.2450637092276377, + 0.0481246462024225, + -0.2520204827914441, + -0.966524544272653 + ], + [ + 0.9919691319022261, + -0.10242948757051991, + 0.07419866190966393, + -0.11772731236192628, + -0.9621882500780115, + 0.24562990725042294, + 0.04623333512933439, + -0.25239249491190235, + -0.9665197914346938 + ], + [ + 0.9925270906231642, + -0.09466949788873819, + 0.07699130177241405, + -0.11032325865056308, + -0.9657943460247912, + 0.23467010842300837, + 0.05214166261098403, + -0.24141037126859263, + -0.969021299902186 + ], + [ + 0.9930391327328949, + -0.0989415476101024, + 0.06390501559046392, + -0.11080905690293805, + -0.968712002828611, + 0.2220774830640471, + 0.0399328657797188, + -0.22761288569037239, + -0.9729325467360622 + ], + [ + 0.9931176696163871, + -0.09320036456630872, + 0.07092944621540212, + -0.10586436636569611, + -0.9733896236040642, + 0.2032372421430873, + 0.050100201892868096, + -0.2093473971766675, + -0.9765570321623046 + ], + [ + 0.992443367168668, + -0.10318905011746059, + 0.06639414807626139, + -0.11451139263230085, + -0.9732810574486732, + 0.1990254359849594, + 0.04408292095956607, + -0.20512436019997318, + -0.9777426516891978 + ], + [ + 0.9920750337673591, + -0.1040745544107102, + 0.0703961256015249, + -0.11582655236652448, + -0.9746612202563025, + 0.19136278503246207, + 0.048696377097052185, + -0.1979999819512811, + -0.9789916598239814 + ], + [ + 0.9923374466929807, + -0.09958564713958487, + 0.07313747859097854, + -0.11188738024268849, + -0.9753902677846898, + 0.1899869460077176, + 0.05241761186169964, + -0.19671432178339598, + -0.9790586650308627 + ], + [ + 0.9919432340566867, + -0.1020862308895462, + 0.07501347793515308, + -0.11473300230437293, + -0.9749999016365173, + 0.1902932736357403, + 0.053711810539081514, + -0.19736664680626323, + -0.9788572153981733 + ], + [ + 0.9909672415315944, + -0.10858160428122508, + 0.07870172439646485, + -0.12152720072206584, + -0.9752561863318943, + 0.18467948046826252, + 0.05670154932557302, + -0.19257571558502404, + -0.9796425511741488 + ], + [ + 0.9938625565514511, + -0.08346675449131809, + 0.07259834419392162, + -0.09395890952159887, + -0.9833157744938, + 0.1557620330926941, + 0.058386145672797075, + -0.1616273136766913, + -0.9851231747690898 + ], + [ + 0.995529525466013, + -0.07511529876831277, + 0.05725954781835022, + -0.08107354543072967, + -0.990615286726517, + 0.11003832939040781, + 0.04845662139177922, + -0.11418864039249957, + -0.9922766299014635 + ], + [ + 0.9982950381706915, + -0.056064915342317695, + 0.01624013643527265, + -0.056797959559815814, + -0.9971883464230098, + 0.0488814233424624, + 0.013453941936066461, + -0.04972048899399774, + -0.9986725511500648 + ], + [ + 0.9985907518000827, + -0.04474869209083088, + -0.02853182390779199, + -0.04516026776153659, + -0.9988823852598465, + -0.013947423894958684, + -0.02787580734349338, + 0.01521627332034213, + -0.9994955749732907 + ], + [ + 0.9990479751563465, + 0.007760969185854195, + -0.04292913571573237, + 0.007137434987120214, + -0.9998670767408554, + -0.014658986032480425, + -0.04303719737399474, + 0.01433862639837044, + -0.9989705718564482 + ], + [ + 0.993893228106924, + 0.0843515115804238, + -0.07114122305172772, + 0.0881643140003114, + -0.9947335185788253, + 0.05227122298783955, + -0.06635740245106449, + -0.05822413167997942, + -0.9960957010398449 + ], + [ + 0.9833207049652145, + 0.16857831273206975, + -0.06827696290201048, + 0.1764219205479598, + -0.9753295330086995, + 0.13269366221188514, + -0.04422326465655137, + -0.14252597839496142, + -0.988802633666434 + ], + [ + 0.9667767727027783, + 0.2512627483962348, + -0.047007478455783236, + 0.25557761781589267, + -0.9535554465532826, + 0.15941170477767122, + -0.004770014041281339, + -0.166129592839266, + -0.9860923918929229 + ], + [ + 0.9422793912679358, + 0.3320290225947117, + -0.04320042761974098, + 0.33467613256656736, + -0.9300996825027694, + 0.15134882523010426, + 0.010071498498904385, + -0.1570710309479367, + -0.9875359518290656 + ], + [ + 0.9064956809281508, + 0.420344783414689, + -0.03969689552932683, + 0.42171160461706464, + -0.8968137229956306, + 0.13373282610495035, + 0.020613175153495433, + -0.13796887077444137, + -0.9902220395988552 + ], + [ + 0.8650057626308076, + 0.49825064629113475, + -0.05925642653722221, + 0.5016168161022435, + -0.8558641087035761, + 0.12600475084885124, + 0.012066499862954928, + -0.1387188556163134, + -0.9902582888709175 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.002294883131980896, + 9.839597623795271e-05, + -0.003157585859298706, + 0.0027395784854888916, + 0.010043129324913025, + 0.004799410700798035, + 1.0 + ], + [ + -0.002894684672355652, + -0.014590817503631115, + -0.015098266303539276, + 0.05578114092350006, + 0.017348676919937134, + -0.016301721334457397, + 1.0 + ], + [ + -0.00020413100719451904, + -0.017985127866268158, + -0.01814107596874237, + 0.07691365480422974, + 0.003210127353668213, + -0.010161712765693665, + 1.0 + ], + [ + 0.0007697641849517822, + -0.013852879405021667, + -0.017660312354564667, + 0.061985135078430176, + 0.0025195181369781494, + -0.011647820472717285, + 1.0 + ], + [ + 0.00524507462978363, + -0.007708214223384857, + -0.014659121632575989, + 0.03463160991668701, + 0.0012012869119644165, + 0.014807477593421936, + 1.0 + ], + [ + 0.00667765736579895, + -0.005162309855222702, + -0.012327166274189949, + 0.013326257467269897, + 0.003918573260307312, + 0.01027989387512207, + 1.0 + ], + [ + 0.0008599907159805298, + -0.004997890442609787, + -0.0087454654276371, + -0.008597195148468018, + 0.006501495838165283, + -0.005248963832855225, + 1.0 + ], + [ + 0.0033235102891921997, + -0.004550442099571228, + -0.008285751566290855, + -0.0047293007373809814, + 0.007618576288223267, + 0.005625635385513306, + 1.0 + ], + [ + 0.0025396645069122314, + -0.002170346677303314, + -0.006553465500473976, + -0.0005445778369903564, + 0.00820496678352356, + -0.0033177733421325684, + 1.0 + ], + [ + 0.008901432156562805, + 0.004227973520755768, + -0.0018937396816909313, + 0.008384406566619873, + -0.0027567297220230103, + 0.02254098653793335, + 1.0 + ], + [ + 0.006197512149810791, + 0.0058962441980838776, + -0.0008404157124459743, + 0.003345280885696411, + -0.0024461746215820312, + 0.028303682804107666, + 1.0 + ], + [ + 0.0026232749223709106, + 0.007538359612226486, + -0.001003524288535118, + -0.0010661482810974121, + 0.007991701364517212, + 0.010876230895519257, + 0.0 + ], + [ + -0.0018441826105117798, + 0.0058541856706142426, + -0.003069464350119233, + -0.005389153957366943, + 0.018088310956954956, + 0.006560519337654114, + 0.0 + ], + [ + -0.003939047455787659, + 0.004310935735702515, + -0.000435058114817366, + -0.018900662660598755, + 0.011622138321399689, + 0.0060605257749557495, + 0.0 + ], + [ + -0.0039031803607940674, + 0.0032412298023700714, + 0.008484680205583572, + -0.032911837100982666, + -0.0016421079635620117, + 0.004992730915546417, + 0.0 + ], + [ + 0.00034481287002563477, + 0.0013913288712501526, + 0.011416117660701275, + -0.05074775218963623, + -0.007593661546707153, + -0.0017261728644371033, + 0.0 + ], + [ + -0.0011490881443023682, + 0.0029740743339061737, + 0.0052180178463459015, + -0.03590357303619385, + 0.012935400009155273, + 0.004569120705127716, + 0.0 + ], + [ + 0.0010384172201156616, + 0.004945322871208191, + -0.0009500347077846527, + -0.02336961030960083, + 0.02026510238647461, + -0.00396602600812912, + 0.0 + ], + [ + -0.0009486675262451172, + 0.004046661779284477, + -0.0016209594905376434, + -0.022642314434051514, + 0.023926034569740295, + -0.004630520939826965, + 0.0 + ], + [ + 0.001968011260032654, + 0.0022279396653175354, + 0.00016827136278152466, + -0.005142897367477417, + 0.0042618922889232635, + -0.010117031633853912, + 0.0 + ], + [ + 0.0025521963834762573, + 0.0027426443994045258, + -6.005913019180298e-05, + -0.009858250617980957, + 0.0007162615656852722, + 0.0032539665699005127, + 0.0 + ], + [ + -0.0011747032403945923, + -0.0005039293318986893, + 0.00038949958980083466, + -0.012862861156463623, + 0.015260260552167892, + -0.0023840293288230896, + 0.0 + ], + [ + -0.0002354830503463745, + 0.00048388727009296417, + 0.0048328787088394165, + -0.011158943176269531, + -0.006214555352926254, + -0.0020061805844306946, + 0.0 + ], + [ + 0.0008147209882736206, + 0.0004886090755462646, + 0.0017554555088281631, + -0.0049845874309539795, + 0.0025966614484786987, + -0.0016163140535354614, + 0.0 + ], + [ + -8.442997932434082e-05, + 0.00035037659108638763, + -0.00030809082090854645, + 0.00036156177520751953, + 0.001893419772386551, + 3.429502248764038e-05, + 0.0 + ], + [ + 0.0024930089712142944, + -0.0007564537227153778, + 0.0011950396001338959, + -0.011273413896560669, + -0.005915496498346329, + 0.007428385317325592, + 0.0 + ], + [ + -0.0013401508331298828, + -0.0012441370636224747, + 0.0011187829077243805, + -0.014345705509185791, + 0.01222183182835579, + -0.0004265978932380676, + 0.0 + ], + [ + 0.0002907365560531616, + -0.00014578178524971008, + 0.0073656924068927765, + -0.01863539218902588, + -0.010177697986364365, + 0.004929110407829285, + 0.0 + ], + [ + -0.001002281904220581, + -0.00026326626539230347, + 0.0007403828203678131, + -0.004382014274597168, + 0.006023973226547241, + -0.008678331971168518, + 0.0 + ], + [ + -0.0006269663572311401, + -0.0008492544293403625, + 0.002883613109588623, + -0.007237687706947327, + -0.004618432372808456, + -0.001350313425064087, + 0.0 + ], + [ + 0.0004347115755081177, + -0.00021817348897457123, + -1.0624527931213379e-05, + -0.001275181770324707, + -0.0037260018289089203, + 0.00394846498966217, + 0.0 + ], + [ + 0.00029747188091278076, + 4.857778549194336e-05, + 3.194436430931091e-05, + 0.0006802082061767578, + -0.0012960247695446014, + -0.0028760284185409546, + 0.0 + ], + [ + 0.0006701946258544922, + -0.0005951467901468277, + -0.00012453272938728333, + -0.004859477281570435, + -0.0029943063855171204, + -0.006872452795505524, + 0.0 + ], + [ + 0.006334811449050903, + 0.004432832822203636, + 0.004615068435668945, + -0.03148326277732849, + -0.0016873925924301147, + 0.027766652405261993, + 0.0 + ], + [ + 0.006067529320716858, + 0.006360399536788464, + 0.005364619195461273, + -0.048045866191387177, + 0.00994376465678215, + 0.013000696897506714, + 0.0 + ], + [ + 0.005877897143363953, + 0.009594758972525597, + 0.003705039620399475, + -0.06482793390750885, + 0.035021256655454636, + 0.02442459762096405, + 0.0 + ], + [ + 0.005910396575927734, + 0.01326884888112545, + 0.004229668527841568, + -0.0649682804942131, + 0.04133376479148865, + 0.011640485376119614, + 0.0 + ], + [ + 0.008909478783607483, + 0.02154228463768959, + 0.0010070689022541046, + 0.0008703600615262985, + 0.015171075239777565, + 0.052337322384119034, + 0.0 + ], + [ + 0.016402214765548706, + 0.024115927517414093, + -0.009900391101837158, + 0.07273832708597183, + 0.023355703800916672, + 0.0813303291797638, + 0.0 + ], + [ + 0.015830159187316895, + 0.028763297945261, + -0.004146791994571686, + 0.08476808667182922, + -0.022168505936861038, + 0.08905123919248581, + 0.0 + ], + [ + 0.017906785011291504, + 0.029102064669132233, + 0.013581708073616028, + 0.023751333355903625, + -0.03946765884757042, + 0.0809224396944046, + 0.0 + ], + [ + 0.02136141061782837, + 0.030037999153137207, + 0.015987146645784378, + -0.009173095226287842, + -0.014841700904071331, + 0.08283141255378723, + 0.0 + ], + [ + 0.024702727794647217, + 0.0286053866147995, + 0.01378706842660904, + -0.019292250275611877, + -0.010542966425418854, + 0.09415146708488464, + 0.0 + ], + [ + 0.028190165758132935, + 0.031793445348739624, + 0.003207094967365265, + 0.0007378607988357544, + 0.008547842502593994, + 0.09007793664932251, + 0.0 + ], + [ + 0.02573394775390625, + 0.02563115954399109, + 0.002489998936653137, + 0.01956424117088318, + -0.023377928882837296, + 0.07318973541259766, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9701826572418213 + ], + [ + 0.6881998181343079 + ], + [ + 0.37631502747535706 + ], + [ + 0.15667486190795898 + ], + [ + 0.06772904843091965 + ], + [ + 0.06065736711025238 + ], + [ + 0.0600886270403862 + ], + [ + 0.06267260015010834 + ], + [ + 0.08123486489057541 + ], + [ + 0.13294655084609985 + ], + [ + 0.3331759572029114 + ], + [ + 0.5168834924697876 + ], + [ + 0.5100988745689392 + ], + [ + 0.4860933721065521 + ], + [ + 0.39798861742019653 + ], + [ + 0.39448216557502747 + ], + [ + 0.4050447642803192 + ], + [ + 0.472818523645401 + ], + [ + 0.5403295159339905 + ], + [ + 0.5217453241348267 + ], + [ + 0.4059307873249054 + ], + [ + 0.17844799160957336 + ], + [ + 0.06681985408067703 + ], + [ + 0.05430474132299423 + ], + [ + 0.05403778702020645 + ], + [ + 0.05403778702020645 + ], + [ + 0.05403778702020645 + ], + [ + 0.05403778702020645 + ], + [ + 0.05403778702020645 + ], + [ + 0.05403778702020645 + ], + [ + 0.05403778702020645 + ], + [ + 0.05403778702020645 + ], + [ + 0.05403778702020645 + ], + [ + 0.07821663469076157 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.1761803776025772, + -0.001362462411634624, + 0.10865966975688934 + ], + [ + 0.17328569293022156, + -0.01595328003168106, + 0.09356140345335007 + ], + [ + 0.17308156192302704, + -0.03393840789794922, + 0.0754203274846077 + ], + [ + 0.17385132610797882, + -0.047791287302970886, + 0.05776001513004303 + ], + [ + 0.17909640073776245, + -0.05549950152635574, + 0.04310089349746704 + ], + [ + 0.1857740581035614, + -0.060661811381578445, + 0.030773727223277092 + ], + [ + 0.18663404881954193, + -0.06565970182418823, + 0.022028261795639992 + ], + [ + 0.18995755910873413, + -0.07021014392375946, + 0.013742510229349136 + ], + [ + 0.19249722361564636, + -0.07238049060106277, + 0.00718904472887516 + ], + [ + 0.20139865577220917, + -0.068152517080307, + 0.005295305047184229 + ], + [ + 0.20759616792201996, + -0.06225627288222313, + 0.0044548893347382545 + ], + [ + 0.21021944284439087, + -0.05471791326999664, + 0.0034513650462031364 + ], + [ + 0.2083752602338791, + -0.0488637275993824, + 0.0003819007542915642 + ], + [ + 0.20443621277809143, + -0.044552791863679886, + -5.315736780175939e-05 + ], + [ + 0.20053303241729736, + -0.041311562061309814, + 0.008431523106992245 + ], + [ + 0.200877845287323, + -0.03992023319005966, + 0.01984764076769352 + ], + [ + 0.19972875714302063, + -0.03694615885615349, + 0.02506565861403942 + ], + [ + 0.2007671743631363, + -0.0320008359849453, + 0.02411562390625477 + ], + [ + 0.19981850683689117, + -0.02795417420566082, + 0.022494664415717125 + ], + [ + 0.20178651809692383, + -0.025726234540343285, + 0.02266293577849865 + ], + [ + 0.20433871448040009, + -0.02298359014093876, + 0.022602876648306847 + ], + [ + 0.2031640112400055, + -0.023487519472837448, + 0.02299237623810768 + ], + [ + 0.20292852818965912, + -0.023003632202744484, + 0.027825254946947098 + ], + [ + 0.20374324917793274, + -0.02251502312719822, + 0.02958071045577526 + ], + [ + 0.2036588191986084, + -0.02216464653611183, + 0.029272619634866714 + ], + [ + 0.2061518281698227, + -0.02292110025882721, + 0.03046765923500061 + ], + [ + 0.2048116773366928, + -0.024165237322449684, + 0.03158644214272499 + ], + [ + 0.20510241389274597, + -0.024311019107699394, + 0.03895213454961777 + ], + [ + 0.2041001319885254, + -0.024574285373091698, + 0.03969251736998558 + ], + [ + 0.20347316563129425, + -0.02542353980243206, + 0.042576130479574203 + ], + [ + 0.20390787720680237, + -0.02564171329140663, + 0.04256550595164299 + ], + [ + 0.20420534908771515, + -0.025593135505914688, + 0.0425974503159523 + ], + [ + 0.20487554371356964, + -0.026188282296061516, + 0.04247291758656502 + ], + [ + 0.21121035516262054, + -0.02175544947385788, + 0.04708798602223396 + ], + [ + 0.2172778844833374, + -0.015395049937069416, + 0.052452605217695236 + ], + [ + 0.22315578162670135, + -0.005800290498882532, + 0.05615764483809471 + ], + [ + 0.2290661782026291, + 0.007468557916581631, + 0.06038731336593628 + ], + [ + 0.23797565698623657, + 0.029010843485593796, + 0.061394382268190384 + ], + [ + 0.2543778717517853, + 0.05312677100300789, + 0.051493991166353226 + ], + [ + 0.2702080309391022, + 0.08189006894826889, + 0.04734719917178154 + ], + [ + 0.2881148159503937, + 0.11099213361740112, + 0.06092890724539757 + ], + [ + 0.30947622656822205, + 0.14103013277053833, + 0.07691605389118195 + ], + [ + 0.33417895436286926, + 0.16963551938533783, + 0.09070312231779099 + ], + [ + 0.3623691201210022, + 0.20142896473407745, + 0.09391021728515625 + ], + [ + 0.38810306787490845, + 0.22706012427806854, + 0.09640021622180939 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9679286428896546, + -0.10979128500016785, + 0.2259646344271681, + -0.1590938774430153, + -0.9639896404541555, + 0.2131035223951386, + 0.19443065713497612, + -0.24221859308294322, + -0.9505403056846045 + ], + [ + 0.9683803231325866, + -0.11754698735335153, + 0.22005057494534816, + -0.17542586694478227, + -0.9479881313873134, + 0.2656017092480041, + 0.17738465259514088, + -0.295806031907635, + -0.9386338351619126 + ], + [ + 0.9671019957031926, + -0.11084079943060038, + 0.22897171678722147, + -0.18536327866475905, + -0.9234885118148275, + 0.33587114116679634, + 0.17422452419092158, + -0.36726459906669545, + -0.9136533967773701 + ], + [ + 0.9653044225833617, + -0.10797594014080886, + 0.23775737231831687, + -0.19670210309095554, + -0.8995119206080178, + 0.3901109935949893, + 0.17174298932008078, + -0.423343242576025, + -0.8895419296382937 + ], + [ + 0.9683132004591982, + -0.08709284991783643, + 0.23406063596780635, + -0.18242540235223598, + -0.886742998742086, + 0.4247444252235901, + 0.17055942774613647, + -0.4539842394567044, + -0.8745328992850001 + ], + [ + 0.9707879006075576, + -0.07670207090276915, + 0.22734916835827057, + -0.17257743622205846, + -0.8815013332062599, + 0.43951385423284167, + 0.1666969722010332, + -0.465910068441124, + -0.8689878753953907 + ], + [ + 0.9709142131423891, + -0.08623253817165283, + 0.22335966529024331, + -0.1778621979270405, + -0.8842849121489313, + 0.4317467228530156, + 0.1602829662398889, + -0.45891627069241164, + -0.8739022984448042 + ], + [ + 0.9730735735956804, + -0.08571403931070257, + 0.21396477241540338, + -0.17260567440352773, + -0.8861883896626798, + 0.42997374244338454, + 0.15275831084898592, + -0.4553276199530509, + -0.8771212327691393 + ], + [ + 0.9736961828429256, + -0.09244578822962156, + 0.2082534987838624, + -0.1760502373732752, + -0.8854683469486467, + 0.4300606009306649, + 0.14464459007487862, + -0.4554114434120371, + -0.8784522524141168 + ], + [ + 0.9770192409355662, + -0.06953787592452872, + 0.20148917254680043, + -0.15399663133684477, + -0.8838502427837973, + 0.4416942221355469, + 0.14737177605835317, + -0.4625724074595531, + -0.8742472919480387 + ], + [ + 0.9806255313894119, + -0.042735793309915004, + 0.19117326998669454, + -0.12623899566819513, + -0.8841084892255028, + 0.44990654057491103, + 0.1497907979814474, + -0.4653233620285692, + -0.8723742806791761 + ], + [ + 0.983098017525744, + -0.037004301648295185, + 0.17930133740849247, + -0.11570245887212796, + -0.8845682939286932, + 0.45183168811740587, + 0.14188456204920824, + -0.46494044246075555, + -0.8738988248169814 + ], + [ + 0.9862256134258697, + -0.04043424423407606, + 0.16038737891737706, + -0.10951574550510355, + -0.8863005306395274, + 0.44997518917664087, + 0.12395701234391135, + -0.46134200034390044, + -0.8785204709108719 + ], + [ + 0.9882373203493389, + -0.043178735904563524, + 0.1467058125448407, + -0.10368004826899471, + -0.8943538970904303, + 0.4351799103245675, + 0.1124163967564203, + -0.44527149417500733, + -0.8883106721274147 + ], + [ + 0.9885576286266927, + -0.04276856874821977, + 0.14465360144565628, + -0.09872629583462494, + -0.9084856389930664, + 0.4060873825350081, + 0.11404794340427228, + -0.41572189414389604, + -0.9023127912950516 + ], + [ + 0.9874956438925115, + -0.04886326441034615, + 0.149882402851297, + -0.10034212444008621, + -0.9281109204941153, + 0.35852695480593394, + 0.12158869748526852, + -0.36908332480719114, + -0.9214085347950198 + ], + [ + 0.9894265647822093, + -0.05424100320354734, + 0.13451017238391233, + -0.0959729310116302, + -0.9402006546068858, + 0.3268209381141617, + 0.10873945657540281, + -0.3362746535917577, + -0.935465171952131 + ], + [ + 0.9910273848897444, + -0.06747116673022016, + 0.11537921848694051, + -0.10009717667244705, + -0.9467051488712296, + 0.3061534195838874, + 0.08857357179655363, + -0.31495555680248877, + -0.9449644012440018 + ], + [ + 0.9923770264607656, + -0.08146974280988004, + 0.09246901296856852, + -0.10487780210756453, + -0.9523205554065611, + 0.28650690458560635, + 0.06471849795827947, + -0.29402081687634163, + -0.9536054085759965 + ], + [ + 0.9915301909679521, + -0.092813436303279, + 0.0908490310384965, + -0.11494289163084433, + -0.9527616932100873, + 0.281128596224197, + 0.06046496558004895, + -0.28918994103015544, + -0.9553602283664413 + ], + [ + 0.9919417435180946, + -0.09079403679280473, + 0.088363003282764, + -0.1117207011903662, + -0.9557642129711282, + 0.27209052561457026, + 0.05974999909469328, + -0.2797699270589086, + -0.9582059932611763 + ], + [ + 0.9924629043603368, + -0.09826543817786763, + 0.0732208107600343, + -0.11417612118921126, + -0.9584964385337693, + 0.2612439294381151, + 0.04451063714250365, + -0.2676349771195686, + -0.9624917257843708 + ], + [ + 0.9919379535412189, + -0.09941949068186093, + 0.07858028504032238, + -0.11613254162509415, + -0.961336812381505, + 0.2496893388510274, + 0.05071813383943383, + -0.25680206002430506, + -0.9651323084775055 + ], + [ + 0.9918763870960202, + -0.1020154350243806, + 0.07598739196822553, + -0.11775080105561078, + -0.9623297393671019, + 0.2450637092276377, + 0.0481246462024225, + -0.2520204827914441, + -0.966524544272653 + ], + [ + 0.9919691319022261, + -0.10242948757051991, + 0.07419866190966393, + -0.11772731236192628, + -0.9621882500780115, + 0.24562990725042294, + 0.04623333512933439, + -0.25239249491190235, + -0.9665197914346938 + ], + [ + 0.9925270906231642, + -0.09466949788873819, + 0.07699130177241405, + -0.11032325865056308, + -0.9657943460247912, + 0.23467010842300837, + 0.05214166261098403, + -0.24141037126859263, + -0.969021299902186 + ], + [ + 0.9930391327328949, + -0.0989415476101024, + 0.06390501559046392, + -0.11080905690293805, + -0.968712002828611, + 0.2220774830640471, + 0.0399328657797188, + -0.22761288569037239, + -0.9729325467360622 + ], + [ + 0.9931176696163871, + -0.09320036456630872, + 0.07092944621540212, + -0.10586436636569611, + -0.9733896236040642, + 0.2032372421430873, + 0.050100201892868096, + -0.2093473971766675, + -0.9765570321623046 + ], + [ + 0.992443367168668, + -0.10318905011746059, + 0.06639414807626139, + -0.11451139263230085, + -0.9732810574486732, + 0.1990254359849594, + 0.04408292095956607, + -0.20512436019997318, + -0.9777426516891978 + ], + [ + 0.9920750337673591, + -0.1040745544107102, + 0.0703961256015249, + -0.11582655236652448, + -0.9746612202563025, + 0.19136278503246207, + 0.048696377097052185, + -0.1979999819512811, + -0.9789916598239814 + ], + [ + 0.9923374466929807, + -0.09958564713958487, + 0.07313747859097854, + -0.11188738024268849, + -0.9753902677846898, + 0.1899869460077176, + 0.05241761186169964, + -0.19671432178339598, + -0.9790586650308627 + ], + [ + 0.9919432340566867, + -0.1020862308895462, + 0.07501347793515308, + -0.11473300230437293, + -0.9749999016365173, + 0.1902932736357403, + 0.053711810539081514, + -0.19736664680626323, + -0.9788572153981733 + ], + [ + 0.9909672415315944, + -0.10858160428122508, + 0.07870172439646485, + -0.12152720072206584, + -0.9752561863318943, + 0.18467948046826252, + 0.05670154932557302, + -0.19257571558502404, + -0.9796425511741488 + ], + [ + 0.9938625565514511, + -0.08346675449131809, + 0.07259834419392162, + -0.09395890952159887, + -0.9833157744938, + 0.1557620330926941, + 0.058386145672797075, + -0.1616273136766913, + -0.9851231747690898 + ], + [ + 0.995529525466013, + -0.07511529876831277, + 0.05725954781835022, + -0.08107354543072967, + -0.990615286726517, + 0.11003832939040781, + 0.04845662139177922, + -0.11418864039249957, + -0.9922766299014635 + ], + [ + 0.9982950381706915, + -0.056064915342317695, + 0.01624013643527265, + -0.056797959559815814, + -0.9971883464230098, + 0.0488814233424624, + 0.013453941936066461, + -0.04972048899399774, + -0.9986725511500648 + ], + [ + 0.9985907518000827, + -0.04474869209083088, + -0.02853182390779199, + -0.04516026776153659, + -0.9988823852598465, + -0.013947423894958684, + -0.02787580734349338, + 0.01521627332034213, + -0.9994955749732907 + ], + [ + 0.9990479751563465, + 0.007760969185854195, + -0.04292913571573237, + 0.007137434987120214, + -0.9998670767408554, + -0.014658986032480425, + -0.04303719737399474, + 0.01433862639837044, + -0.9989705718564482 + ], + [ + 0.993893228106924, + 0.0843515115804238, + -0.07114122305172772, + 0.0881643140003114, + -0.9947335185788253, + 0.05227122298783955, + -0.06635740245106449, + -0.05822413167997942, + -0.9960957010398449 + ], + [ + 0.9833207049652145, + 0.16857831273206975, + -0.06827696290201048, + 0.1764219205479598, + -0.9753295330086995, + 0.13269366221188514, + -0.04422326465655137, + -0.14252597839496142, + -0.988802633666434 + ], + [ + 0.9667767727027783, + 0.2512627483962348, + -0.047007478455783236, + 0.25557761781589267, + -0.9535554465532826, + 0.15941170477767122, + -0.004770014041281339, + -0.166129592839266, + -0.9860923918929229 + ], + [ + 0.9422793912679358, + 0.3320290225947117, + -0.04320042761974098, + 0.33467613256656736, + -0.9300996825027694, + 0.15134882523010426, + 0.010071498498904385, + -0.1570710309479367, + -0.9875359518290656 + ], + [ + 0.9064956809281508, + 0.420344783414689, + -0.03969689552932683, + 0.42171160461706464, + -0.8968137229956306, + 0.13373282610495035, + 0.020613175153495433, + -0.13796887077444137, + -0.9902220395988552 + ], + [ + 0.8650057626308076, + 0.49825064629113475, + -0.05925642653722221, + 0.5016168161022435, + -0.8558641087035761, + 0.12600475084885124, + 0.012066499862954928, + -0.1387188556163134, + -0.9902582888709175 + ], + [ + 0.8255508458406823, + 0.5611096491219475, + -0.06018108169499074, + 0.5632139901280996, + -0.8125264588521212, + 0.15030221219003115, + 0.03543730034467983, + -0.1579769455568668, + -0.9868067097546529 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006788.json b/json/chunk-0006/episode_0006788.json new file mode 100644 index 0000000000000000000000000000000000000000..6d8d212bce97c00923ad807f8765f82ae240daa1 --- /dev/null +++ b/json/chunk-0006/episode_0006788.json @@ -0,0 +1,1762 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 28, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nOpen cabinet." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006788.mp4", + "start": 0, + "end": 28, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.14662641286849976, + 0.007841136306524277, + 0.012728849425911903, + 0.14942878484725952, + -0.07099970430135727, + -0.012620335444808006, + 0.0, + 1.0008161067962646 + ], + [ + 0.1445101946592331, + 0.007114811800420284, + 0.010577799752354622, + 0.1453447788953781, + -0.05910301208496094, + -0.0020411082077771425, + 0.0, + 1.0008161067962646 + ], + [ + 0.1810852736234665, + -0.006250891834497452, + 0.010903640650212765, + 0.11019273847341537, + -0.09570734202861786, + 0.03425266966223717, + 0.0, + 1.0008161067962646 + ], + [ + 0.21692481637001038, + -0.022671598941087723, + 0.00617164047434926, + 0.08448774367570877, + -0.16244973242282867, + 0.06276045739650726, + 0.0, + 1.0008161067962646 + ], + [ + 0.2486075907945633, + -0.04065626859664917, + 0.003914648666977882, + 0.0642537772655487, + -0.2023554891347885, + 0.07177750766277313, + 0.0, + 1.0008161067962646 + ], + [ + 0.2671019434928894, + -0.05737103894352913, + -0.0028853104449808598, + 0.047138940542936325, + -0.23616456985473633, + 0.04303088039159775, + 0.0, + 1.0008161067962646 + ], + [ + 0.27855825424194336, + -0.06900724023580551, + -0.015448548831045628, + 0.058822888880968094, + -0.24085797369480133, + 0.011582908220589161, + 0.0, + 1.0008161067962646 + ], + [ + 0.28937533497810364, + -0.07753647118806839, + -0.02388281375169754, + 0.06683503836393356, + -0.2667892873287201, + -0.00966323260217905, + 0.0, + 1.0008161067962646 + ], + [ + 0.29252034425735474, + -0.07695013284683228, + -0.03799101710319519, + 0.08101293444633484, + -0.2823371887207031, + -0.011186647228896618, + 0.0, + 0.9665181636810303 + ], + [ + 0.29931169748306274, + -0.07722781598567963, + -0.04520488530397415, + 0.08825234323740005, + -0.29545825719833374, + -0.003099704161286354, + 0.0, + 0.704176664352417 + ], + [ + 0.30333542823791504, + -0.08010940998792648, + -0.0450935885310173, + 0.04043421149253845, + -0.3314611315727234, + 0.06463001668453217, + 0.0, + 0.4015096127986908 + ], + [ + 0.30092713236808777, + -0.07940733432769775, + -0.046734847128391266, + 0.01387777179479599, + -0.3193195164203644, + 0.07254316657781601, + 0.0, + 0.24456030130386353 + ], + [ + 0.2824415862560272, + -0.07669173926115036, + -0.04708144813776016, + 0.006181280594319105, + -0.2928357422351837, + 0.0472065694630146, + 0.0, + 0.2589220404624939 + ], + [ + 0.25501078367233276, + -0.06919977813959122, + -0.047971293330192566, + 0.011451377533376217, + -0.26589274406433105, + 0.004646677058190107, + 0.0, + 0.2759375274181366 + ], + [ + 0.22842223942279816, + -0.0564928762614727, + -0.047626130282878876, + 0.04272456839680672, + -0.24006818234920502, + -0.07829330861568451, + 0.0, + 0.28468459844589233 + ], + [ + 0.21054276823997498, + -0.04527333751320839, + -0.040383484214544296, + 0.06006753444671631, + -0.20368339121341705, + -0.08102207630872726, + 0.0, + 0.33237314224243164 + ], + [ + 0.219571053981781, + -0.05007361248135567, + 0.012286783196032047, + -0.011044325307011604, + -0.27791649103164673, + -0.10810782760381699, + 0.0, + 0.6029031276702881 + ], + [ + 0.23252901434898376, + -0.055387694388628006, + 0.05420678108930588, + -0.10421283543109894, + -0.2998007535934448, + -0.08671732991933823, + 0.0, + 0.8922415375709534 + ], + [ + 0.2544178366661072, + -0.06187903881072998, + 0.07894710451364517, + -0.1499270349740982, + -0.32970932126045227, + -0.04646087437868118, + 0.0, + 1.0014774799346924 + ], + [ + 0.28375962376594543, + -0.06763113290071487, + 0.06492981314659119, + -0.11665753275156021, + -0.2965644598007202, + -0.015038342215120792, + 0.0, + 0.9994885921478271 + ], + [ + 0.29519566893577576, + -0.06825650483369827, + 0.02947075478732586, + -0.03768236190080643, + -0.23949679732322693, + -0.06034889444708824, + 0.0, + 0.9994885921478271 + ], + [ + 0.2941041588783264, + -0.06620803475379944, + 0.008699622936546803, + 0.026731837540864944, + -0.22027908265590668, + -0.10989994555711746, + 0.0, + 0.9994885921478271 + ], + [ + 0.27802398800849915, + -0.05400007963180542, + -0.013281088322401047, + 0.060621652752161026, + -0.1778634637594223, + -0.1135464534163475, + 0.0, + 0.9994885921478271 + ], + [ + 0.25755390524864197, + -0.036409616470336914, + -0.02667139284312725, + 0.07730554044246674, + -0.14580343663692474, + -0.12707209587097168, + 0.0, + 0.9994885921478271 + ], + [ + 0.23108340799808502, + -0.010742943733930588, + -0.037697967141866684, + 0.09224329888820648, + -0.090360127389431, + -0.09728297591209412, + 0.0, + 0.9994885921478271 + ], + [ + 0.22387242317199707, + 0.019728470593690872, + -0.041455745697021484, + 0.09569071978330612, + -0.10114913433790207, + -0.012689512223005295, + 0.0, + 0.9994885921478271 + ], + [ + 0.22660347819328308, + 0.05486148223280907, + -0.04105035960674286, + 0.11112342029809952, + -0.14935153722763062, + 0.06539212912321091, + 0.0, + 0.9994885921478271 + ], + [ + 0.22243307530879974, + 0.07945773750543594, + -0.04213946312665939, + 0.13853132724761963, + -0.15487127006053925, + 0.0916864424943924, + 0.0, + 0.9994885921478271 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9665181636810303 + ], + [ + 0.704176664352417 + ], + [ + 0.4015096127986908 + ], + [ + 0.24456030130386353 + ], + [ + 0.2589220404624939 + ], + [ + 0.2759375274181366 + ], + [ + 0.28468459844589233 + ], + [ + 0.33237314224243164 + ], + [ + 0.6029031276702881 + ], + [ + 0.8922415375709534 + ], + [ + 1.0014774799346924 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.14662641286849976, + 0.007841136306524277, + 0.012728849425911903 + ], + [ + 0.1445101946592331, + 0.007114811800420284, + 0.010577799752354622 + ], + [ + 0.1810852736234665, + -0.006250891834497452, + 0.010903640650212765 + ], + [ + 0.21692481637001038, + -0.022671598941087723, + 0.00617164047434926 + ], + [ + 0.2486075907945633, + -0.04065626859664917, + 0.003914648666977882 + ], + [ + 0.2671019434928894, + -0.05737103894352913, + -0.0028853104449808598 + ], + [ + 0.27855825424194336, + -0.06900724023580551, + -0.015448548831045628 + ], + [ + 0.28937533497810364, + -0.07753647118806839, + -0.02388281375169754 + ], + [ + 0.29252034425735474, + -0.07695013284683228, + -0.03799101710319519 + ], + [ + 0.29931169748306274, + -0.07722781598567963, + -0.04520488530397415 + ], + [ + 0.30333542823791504, + -0.08010940998792648, + -0.0450935885310173 + ], + [ + 0.30092713236808777, + -0.07940733432769775, + -0.046734847128391266 + ], + [ + 0.2824415862560272, + -0.07669173926115036, + -0.04708144813776016 + ], + [ + 0.25501078367233276, + -0.06919977813959122, + -0.047971293330192566 + ], + [ + 0.22842223942279816, + -0.0564928762614727, + -0.047626130282878876 + ], + [ + 0.21054276823997498, + -0.04527333751320839, + -0.040383484214544296 + ], + [ + 0.219571053981781, + -0.05007361248135567, + 0.012286783196032047 + ], + [ + 0.23252901434898376, + -0.055387694388628006, + 0.05420678108930588 + ], + [ + 0.2544178366661072, + -0.06187903881072998, + 0.07894710451364517 + ], + [ + 0.28375962376594543, + -0.06763113290071487, + 0.06492981314659119 + ], + [ + 0.29519566893577576, + -0.06825650483369827, + 0.02947075478732586 + ], + [ + 0.2941041588783264, + -0.06620803475379944, + 0.008699622936546803 + ], + [ + 0.27802398800849915, + -0.05400007963180542, + -0.013281088322401047 + ], + [ + 0.25755390524864197, + -0.036409616470336914, + -0.02667139284312725 + ], + [ + 0.23108340799808502, + -0.010742943733930588, + -0.037697967141866684 + ], + [ + 0.22387242317199707, + 0.019728470593690872, + -0.041455745697021484 + ], + [ + 0.22660347819328308, + 0.05486148223280907, + -0.04105035960674286 + ], + [ + 0.22243307530879974, + 0.07945773750543594, + -0.04213946312665939 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9974011448776743, + -0.001919125127353794, + 0.07202272665936356, + -0.012588205348339238, + -0.9889108108703096, + 0.14797616439796657, + 0.07094006824645634, + -0.14849823265807421, + -0.9863649332851487 + ], + [ + 0.9982518459239638, + 0.006535514926758289, + 0.05874129002703931, + -0.0020375428656960776, + -0.9894714299334438, + 0.1447139860709262, + 0.05906860865526697, + -0.14458069162273327, + -0.9877283650282718 + ], + [ + 0.9948396663115844, + 0.04454096727342805, + 0.09115997239689584, + 0.034089247183843825, + -0.9929920269666552, + 0.11315810888792818, + 0.09556129739331816, + -0.10946660045420625, + -0.9893862248007625 + ], + [ + 0.9848911644148551, + 0.07611714894928281, + 0.15554926516503723, + 0.061893504904909996, + -0.9936152424316091, + 0.09432891422124953, + 0.16173616883102013, + -0.08327622495890807, + -0.9833140302306566 + ], + [ + 0.9770735349511777, + 0.08443933959740145, + 0.1954413089046543, + 0.07025259196713914, + -0.9944413803702338, + 0.07842776504046668, + 0.20097731369462687, + -0.06289943509840688, + -0.9775744372907839 + ], + [ + 0.9713425292125668, + 0.053984878219717494, + 0.23147208010154569, + 0.041823541660914135, + -0.9974902280862182, + 0.05713174455101344, + 0.23397538824814862, + -0.04581351106504222, + -0.971162519817369 + ], + [ + 0.9710685300206375, + 0.025584957208771304, + 0.2374264517028022, + 0.01124830070174676, + -0.998041040806658, + 0.061543127941999794, + 0.23853592126738649, + -0.0570919506602079, + -0.9694540336885143 + ], + [ + 0.9645772883691769, + 0.007964655321566394, + 0.2636801453048265, + -0.009321224834740708, + -0.9978909234091858, + 0.06424032802797967, + 0.2636356757533888, + -0.06442258333201846, + -0.962468680647263 + ], + [ + 0.9603468261850546, + 0.011394473079817289, + 0.27857519526965446, + -0.010743509317101016, + -0.9969100864351488, + 0.0778129588912916, + 0.27860105966030735, + -0.07772030331321277, + -0.9572570208721669 + ], + [ + 0.9566642123198307, + 0.02257606227556275, + 0.2903169066358492, + -0.002965385537192982, + -0.9961830535597562, + 0.08723835331421666, + 0.2911782810497622, + -0.08431871211356469, + -0.9529457295315489 + ], + [ + 0.9435937147103585, + 0.07765949646757968, + 0.32186938992005537, + 0.06106953115172921, + -0.9962469646276294, + 0.061339203085325936, + 0.3254249743397311, + -0.03822287376214488, + -0.9447950031606585 + ], + [ + 0.946952107479596, + 0.07681749756465195, + 0.3120589338696412, + 0.06881566123786964, + -0.9969581084027377, + 0.03659145881801521, + 0.3139205487194923, + -0.013175817164048352, + -0.9493578287103936 + ], + [ + 0.9563625387041, + 0.048970478180399, + 0.28804962563806963, + 0.045180160331851946, + -0.9987826932590257, + 0.01979607937535689, + 0.28866840436015356, + -0.005918100457946273, + -0.957410846194638 + ], + [ + 0.9648478819802143, + 0.007655344419699082, + 0.2626974692305006, + 0.004483368785600531, + -0.999909656716608, + 0.012671929971677588, + 0.26277074426698704, + -0.011048715160170437, + -0.964795036186797 + ], + [ + 0.9683462613230505, + -0.06801759996446335, + 0.24016478567172345, + -0.07597032485725524, + -0.9968211783282402, + 0.024001003674470674, + 0.23776885397956088, + -0.04148667896292838, + -0.9704353804071003 + ], + [ + 0.9761154747753584, + -0.06868429809362409, + 0.20610930861914623, + -0.07926041546305151, + -0.9959046887747857, + 0.04349295824638296, + 0.20227794354476897, + -0.05879045902000878, + -0.9775619241170943 + ], + [ + 0.9560151869727, + -0.11090307848468973, + 0.271542758069834, + -0.10375725445164964, + -0.9937744793419189, + -0.0405797530469835, + 0.2743526825569768, + 0.01062032915296341, + -0.9615704936105692 + ], + [ + 0.9518053655301091, + -0.11674485781310631, + 0.28361449949234463, + -0.08274553654828595, + -0.9881768016106056, + -0.12907278930886296, + 0.2953298534341421, + 0.09938433947474543, + -0.9502120977643553 + ], + [ + 0.9451155084600512, + -0.0942308933528404, + 0.31285334328759157, + -0.043942515755980266, + -0.9854689359160427, + -0.16407325087757987, + 0.3237680203128985, + 0.14132061096113144, + -0.935522716955734 + ], + [ + 0.9562379831656874, + -0.04894602237472884, + 0.2884669936836981, + -0.014381318166313783, + -0.9925794187470741, + -0.1207446693130565, + 0.29223637220410714, + 0.11131210344527973, + -0.949846049835219 + ], + [ + 0.969688982568205, + -0.06918984690370135, + 0.2343417209360762, + -0.058590804354424667, + -0.9969319638650435, + -0.051901609505767964, + 0.2372138164840762, + 0.03659814899185559, + -0.9707678305132639 + ], + [ + 0.9699493605083285, + -0.10383463543550087, + 0.22003773888463182, + -0.10702862645089528, + -0.9942525112974854, + 0.0026109191252245423, + 0.21850197063074625, + -0.0260827962960334, + -0.9754878659254866 + ], + [ + 0.977886064129323, + -0.10244447021520543, + 0.1823293067611113, + -0.11151515427484814, + -0.992949919865858, + 0.04018491017089591, + 0.17692714870453985, + -0.05962874441669924, + -0.9824159999158043 + ], + [ + 0.981412245757197, + -0.11522203259184415, + 0.15347275681116618, + -0.1253857196122838, + -0.9903966517858215, + 0.05824854889818473, + 0.1452873882865443, + -0.07640913123991447, + -0.9864345996912499 + ], + [ + 0.9912113326471083, + -0.08844398686372482, + 0.098375582435848, + -0.09673334162675173, + -0.9918477857030304, + 0.08294956668793899, + 0.09023721321974205, + -0.09173674936274978, + -0.9916862478459052 + ], + [ + 0.9948086870677919, + -0.002984099308633659, + 0.10171908024442944, + -0.012624314606074768, + -0.9954674156757819, + 0.09426160940970209, + 0.10097674393236944, + -0.09505640156820898, + -0.9903373050156803 + ], + [ + 0.9867542645500239, + 0.08140803961181897, + 0.14031661512059748, + 0.06461809368279117, + -0.9906297681649664, + 0.12032108873438159, + 0.14879691986443602, + -0.10966035524283795, + -0.982768580657151 + ], + [ + 0.9838814089468849, + 0.11189200994379309, + 0.13949032668766315, + 0.09046221570036411, + -0.984309613040479, + 0.15149644618499652, + 0.15425291134780467, + -0.13643593290200667, + -0.9785659280569121 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0021162182092666626, + -0.0007263245061039925, + -0.0021510496735572815, + -0.004084005951881409, + 0.011896692216396332, + 0.010579227469861507, + 1.0 + ], + [ + 0.0365750789642334, + -0.013365703634917736, + 0.00032584089785814285, + -0.03515204042196274, + -0.03660432994365692, + 0.03629377856850624, + 1.0 + ], + [ + 0.035839542746543884, + -0.01642070710659027, + -0.004732000175863504, + -0.025704994797706604, + -0.06674239039421082, + 0.028507787734270096, + 1.0 + ], + [ + 0.03168277442455292, + -0.017984669655561447, + -0.002256991807371378, + -0.020233966410160065, + -0.03990575671195984, + 0.00901705026626587, + 1.0 + ], + [ + 0.01849435269832611, + -0.01671477034687996, + -0.006799959111958742, + -0.01711483672261238, + -0.033809080719947815, + -0.028746627271175385, + 1.0 + ], + [ + 0.011456310749053955, + -0.011636201292276382, + -0.01256323792040348, + 0.011683948338031769, + -0.0046934038400650024, + -0.03144797310233116, + 1.0 + ], + [ + 0.010817080736160278, + -0.008529230952262878, + -0.008434264920651913, + 0.00801214948296547, + -0.025931313633918762, + -0.02124614082276821, + 1.0 + ], + [ + 0.0031450092792510986, + 0.0005863383412361145, + -0.01410820335149765, + 0.014177896082401276, + -0.015547901391983032, + -0.0015234146267175674, + 0.0 + ], + [ + 0.006791353225708008, + -0.0002776831388473511, + -0.007213868200778961, + 0.007239408791065216, + -0.013121068477630615, + 0.008086943067610264, + 0.0 + ], + [ + 0.004023730754852295, + -0.0028815940022468567, + 0.00011129677295684814, + -0.0478181317448616, + -0.03600287437438965, + 0.06772971898317337, + 0.0 + ], + [ + -0.0024082958698272705, + 0.0007020756602287292, + -0.0016412585973739624, + -0.026556439697742462, + 0.012141615152359009, + 0.007913149893283844, + 0.0 + ], + [ + -0.018485546112060547, + 0.002715595066547394, + -0.0003466010093688965, + -0.007696491200476885, + 0.026483774185180664, + -0.025336597114801407, + 0.0 + ], + [ + -0.027430802583694458, + 0.007491961121559143, + -0.0008898451924324036, + 0.005270096939057112, + 0.02694299817085266, + -0.04255989193916321, + 0.0 + ], + [ + -0.026588544249534607, + 0.012706901878118515, + 0.0003451630473136902, + 0.031273189932107925, + 0.025824561715126038, + -0.0829399824142456, + 0.0 + ], + [ + -0.01787947118282318, + 0.011219538748264313, + 0.0072426460683345795, + 0.01734296604990959, + 0.036384791135787964, + -0.002728767693042755, + 1.0 + ], + [ + 0.00902828574180603, + -0.004800274968147278, + 0.05267026647925377, + -0.07111185789108276, + -0.07423309981822968, + -0.02708575129508972, + 1.0 + ], + [ + 0.012957960367202759, + -0.005314081907272339, + 0.041919998824596405, + -0.09316851198673248, + -0.021884262561798096, + 0.02139049768447876, + 1.0 + ], + [ + 0.021888822317123413, + -0.0064913444221019745, + 0.024740323424339294, + -0.04571419954299927, + -0.029908567667007446, + 0.04025645554065704, + 1.0 + ], + [ + 0.029341787099838257, + -0.005752094089984894, + -0.014017291367053986, + 0.033269502222537994, + 0.033144861459732056, + 0.031422533094882965, + 1.0 + ], + [ + 0.011436045169830322, + -0.0006253719329833984, + -0.03545905649662018, + 0.07897517085075378, + 0.057067662477493286, + -0.045310553163290024, + 1.0 + ], + [ + -0.0010915100574493408, + 0.0020484700798988342, + -0.020771130919456482, + 0.06441420316696167, + 0.01921771466732025, + -0.04955105111002922, + 1.0 + ], + [ + -0.01608017086982727, + 0.012207955121994019, + -0.021980710327625275, + 0.03388981521129608, + 0.042415618896484375, + -0.0036465078592300415, + 1.0 + ], + [ + -0.020470082759857178, + 0.017590463161468506, + -0.013390304520726204, + 0.01668388769030571, + 0.03206002712249756, + -0.013525642454624176, + 1.0 + ], + [ + -0.026470497250556946, + 0.025666672736406326, + -0.011026574298739433, + 0.014937758445739746, + 0.055443309247493744, + 0.029789119958877563, + 1.0 + ], + [ + -0.007210984826087952, + 0.03047141432762146, + -0.0037577785551548004, + 0.00344742089509964, + -0.01078900694847107, + 0.08459345996379852, + 1.0 + ], + [ + 0.0027310550212860107, + 0.035133011639118195, + 0.0004053860902786255, + 0.015432700514793396, + -0.048202402889728546, + 0.0780816376209259, + 1.0 + ], + [ + -0.004170402884483337, + 0.024596255272626877, + -0.0010891035199165344, + 0.02740790694952011, + -0.00551973283290863, + 0.026294313371181488, + 1.0 + ], + [ + -0.005129411816596985, + 0.01005786657333374, + 0.0009340345859527588, + -0.007701188325881958, + 0.014529570937156677, + -0.01068851351737976, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9665181636810303 + ], + [ + 0.704176664352417 + ], + [ + 0.4015096127986908 + ], + [ + 0.24456030130386353 + ], + [ + 0.2589220404624939 + ], + [ + 0.2759375274181366 + ], + [ + 0.28468459844589233 + ], + [ + 0.33237314224243164 + ], + [ + 0.6029031276702881 + ], + [ + 0.8922415375709534 + ], + [ + 1.0014774799346924 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.1445101946592331, + 0.007114811800420284, + 0.010577799752354622 + ], + [ + 0.1810852736234665, + -0.006250891834497452, + 0.010903640650212765 + ], + [ + 0.21692481637001038, + -0.022671598941087723, + 0.00617164047434926 + ], + [ + 0.2486075907945633, + -0.04065626859664917, + 0.003914648666977882 + ], + [ + 0.2671019434928894, + -0.05737103894352913, + -0.0028853104449808598 + ], + [ + 0.27855825424194336, + -0.06900724023580551, + -0.015448548831045628 + ], + [ + 0.28937533497810364, + -0.07753647118806839, + -0.02388281375169754 + ], + [ + 0.29252034425735474, + -0.07695013284683228, + -0.03799101710319519 + ], + [ + 0.29931169748306274, + -0.07722781598567963, + -0.04520488530397415 + ], + [ + 0.30333542823791504, + -0.08010940998792648, + -0.0450935885310173 + ], + [ + 0.30092713236808777, + -0.07940733432769775, + -0.046734847128391266 + ], + [ + 0.2824415862560272, + -0.07669173926115036, + -0.04708144813776016 + ], + [ + 0.25501078367233276, + -0.06919977813959122, + -0.047971293330192566 + ], + [ + 0.22842223942279816, + -0.0564928762614727, + -0.047626130282878876 + ], + [ + 0.21054276823997498, + -0.04527333751320839, + -0.040383484214544296 + ], + [ + 0.219571053981781, + -0.05007361248135567, + 0.012286783196032047 + ], + [ + 0.23252901434898376, + -0.055387694388628006, + 0.05420678108930588 + ], + [ + 0.2544178366661072, + -0.06187903881072998, + 0.07894710451364517 + ], + [ + 0.28375962376594543, + -0.06763113290071487, + 0.06492981314659119 + ], + [ + 0.29519566893577576, + -0.06825650483369827, + 0.02947075478732586 + ], + [ + 0.2941041588783264, + -0.06620803475379944, + 0.008699622936546803 + ], + [ + 0.27802398800849915, + -0.05400007963180542, + -0.013281088322401047 + ], + [ + 0.25755390524864197, + -0.036409616470336914, + -0.02667139284312725 + ], + [ + 0.23108340799808502, + -0.010742943733930588, + -0.037697967141866684 + ], + [ + 0.22387242317199707, + 0.019728470593690872, + -0.041455745697021484 + ], + [ + 0.22660347819328308, + 0.05486148223280907, + -0.04105035960674286 + ], + [ + 0.22243307530879974, + 0.07945773750543594, + -0.04213946312665939 + ], + [ + 0.21730366349220276, + 0.08951560407876968, + -0.041205428540706635 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9982518459239638, + 0.006535514926758289, + 0.05874129002703931, + -0.0020375428656960776, + -0.9894714299334438, + 0.1447139860709262, + 0.05906860865526697, + -0.14458069162273327, + -0.9877283650282718 + ], + [ + 0.9948396663115844, + 0.04454096727342805, + 0.09115997239689584, + 0.034089247183843825, + -0.9929920269666552, + 0.11315810888792818, + 0.09556129739331816, + -0.10946660045420625, + -0.9893862248007625 + ], + [ + 0.9848911644148551, + 0.07611714894928281, + 0.15554926516503723, + 0.061893504904909996, + -0.9936152424316091, + 0.09432891422124953, + 0.16173616883102013, + -0.08327622495890807, + -0.9833140302306566 + ], + [ + 0.9770735349511777, + 0.08443933959740145, + 0.1954413089046543, + 0.07025259196713914, + -0.9944413803702338, + 0.07842776504046668, + 0.20097731369462687, + -0.06289943509840688, + -0.9775744372907839 + ], + [ + 0.9713425292125668, + 0.053984878219717494, + 0.23147208010154569, + 0.041823541660914135, + -0.9974902280862182, + 0.05713174455101344, + 0.23397538824814862, + -0.04581351106504222, + -0.971162519817369 + ], + [ + 0.9710685300206375, + 0.025584957208771304, + 0.2374264517028022, + 0.01124830070174676, + -0.998041040806658, + 0.061543127941999794, + 0.23853592126738649, + -0.0570919506602079, + -0.9694540336885143 + ], + [ + 0.9645772883691769, + 0.007964655321566394, + 0.2636801453048265, + -0.009321224834740708, + -0.9978909234091858, + 0.06424032802797967, + 0.2636356757533888, + -0.06442258333201846, + -0.962468680647263 + ], + [ + 0.9603468261850546, + 0.011394473079817289, + 0.27857519526965446, + -0.010743509317101016, + -0.9969100864351488, + 0.0778129588912916, + 0.27860105966030735, + -0.07772030331321277, + -0.9572570208721669 + ], + [ + 0.9566642123198307, + 0.02257606227556275, + 0.2903169066358492, + -0.002965385537192982, + -0.9961830535597562, + 0.08723835331421666, + 0.2911782810497622, + -0.08431871211356469, + -0.9529457295315489 + ], + [ + 0.9435937147103585, + 0.07765949646757968, + 0.32186938992005537, + 0.06106953115172921, + -0.9962469646276294, + 0.061339203085325936, + 0.3254249743397311, + -0.03822287376214488, + -0.9447950031606585 + ], + [ + 0.946952107479596, + 0.07681749756465195, + 0.3120589338696412, + 0.06881566123786964, + -0.9969581084027377, + 0.03659145881801521, + 0.3139205487194923, + -0.013175817164048352, + -0.9493578287103936 + ], + [ + 0.9563625387041, + 0.048970478180399, + 0.28804962563806963, + 0.045180160331851946, + -0.9987826932590257, + 0.01979607937535689, + 0.28866840436015356, + -0.005918100457946273, + -0.957410846194638 + ], + [ + 0.9648478819802143, + 0.007655344419699082, + 0.2626974692305006, + 0.004483368785600531, + -0.999909656716608, + 0.012671929971677588, + 0.26277074426698704, + -0.011048715160170437, + -0.964795036186797 + ], + [ + 0.9683462613230505, + -0.06801759996446335, + 0.24016478567172345, + -0.07597032485725524, + -0.9968211783282402, + 0.024001003674470674, + 0.23776885397956088, + -0.04148667896292838, + -0.9704353804071003 + ], + [ + 0.9761154747753584, + -0.06868429809362409, + 0.20610930861914623, + -0.07926041546305151, + -0.9959046887747857, + 0.04349295824638296, + 0.20227794354476897, + -0.05879045902000878, + -0.9775619241170943 + ], + [ + 0.9560151869727, + -0.11090307848468973, + 0.271542758069834, + -0.10375725445164964, + -0.9937744793419189, + -0.0405797530469835, + 0.2743526825569768, + 0.01062032915296341, + -0.9615704936105692 + ], + [ + 0.9518053655301091, + -0.11674485781310631, + 0.28361449949234463, + -0.08274553654828595, + -0.9881768016106056, + -0.12907278930886296, + 0.2953298534341421, + 0.09938433947474543, + -0.9502120977643553 + ], + [ + 0.9451155084600512, + -0.0942308933528404, + 0.31285334328759157, + -0.043942515755980266, + -0.9854689359160427, + -0.16407325087757987, + 0.3237680203128985, + 0.14132061096113144, + -0.935522716955734 + ], + [ + 0.9562379831656874, + -0.04894602237472884, + 0.2884669936836981, + -0.014381318166313783, + -0.9925794187470741, + -0.1207446693130565, + 0.29223637220410714, + 0.11131210344527973, + -0.949846049835219 + ], + [ + 0.969688982568205, + -0.06918984690370135, + 0.2343417209360762, + -0.058590804354424667, + -0.9969319638650435, + -0.051901609505767964, + 0.2372138164840762, + 0.03659814899185559, + -0.9707678305132639 + ], + [ + 0.9699493605083285, + -0.10383463543550087, + 0.22003773888463182, + -0.10702862645089528, + -0.9942525112974854, + 0.0026109191252245423, + 0.21850197063074625, + -0.0260827962960334, + -0.9754878659254866 + ], + [ + 0.977886064129323, + -0.10244447021520543, + 0.1823293067611113, + -0.11151515427484814, + -0.992949919865858, + 0.04018491017089591, + 0.17692714870453985, + -0.05962874441669924, + -0.9824159999158043 + ], + [ + 0.981412245757197, + -0.11522203259184415, + 0.15347275681116618, + -0.1253857196122838, + -0.9903966517858215, + 0.05824854889818473, + 0.1452873882865443, + -0.07640913123991447, + -0.9864345996912499 + ], + [ + 0.9912113326471083, + -0.08844398686372482, + 0.098375582435848, + -0.09673334162675173, + -0.9918477857030304, + 0.08294956668793899, + 0.09023721321974205, + -0.09173674936274978, + -0.9916862478459052 + ], + [ + 0.9948086870677919, + -0.002984099308633659, + 0.10171908024442944, + -0.012624314606074768, + -0.9954674156757819, + 0.09426160940970209, + 0.10097674393236944, + -0.09505640156820898, + -0.9903373050156803 + ], + [ + 0.9867542645500239, + 0.08140803961181897, + 0.14031661512059748, + 0.06461809368279117, + -0.9906297681649664, + 0.12032108873438159, + 0.14879691986443602, + -0.10966035524283795, + -0.982768580657151 + ], + [ + 0.9838814089468849, + 0.11189200994379309, + 0.13949032668766315, + 0.09046221570036411, + -0.984309613040479, + 0.15149644618499652, + 0.15425291134780467, + -0.13643593290200667, + -0.9785659280569121 + ], + [ + 0.9869219511902629, + 0.09840665443423881, + 0.12767612393029606, + 0.08011391094870839, + -0.9867269381677541, + 0.14125052483651657, + 0.13988146242910973, + -0.12917460995547564, + -0.9817062170586189 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006789.json b/json/chunk-0006/episode_0006789.json new file mode 100644 index 0000000000000000000000000000000000000000..004a7e29b6b55afffc9d46b3292e68549e04e0cc --- /dev/null +++ b/json/chunk-0006/episode_0006789.json @@ -0,0 +1,2122 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 34, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nFold the cloth from top right to bottom left." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006789.mp4", + "start": 0, + "end": 34, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.30481743812561035, + 0.1716245859861374, + 0.13496717810630798, + -0.18299336731433868, + -0.01715618371963501, + 0.3870757520198822, + 0.0, + 0.9981546401977539 + ], + [ + 0.3047201335430145, + 0.17095336318016052, + 0.12151175737380981, + -0.18992753326892853, + 0.01868247240781784, + 0.3926706612110138, + 0.0, + 0.9981546401977539 + ], + [ + 0.3222655951976776, + 0.14349202811717987, + 0.10727011412382126, + -0.18243570625782013, + 0.000369154178770259, + 0.3946007490158081, + 0.0, + 0.9981546401977539 + ], + [ + 0.3489583730697632, + 0.10485012084245682, + 0.09279516339302063, + -0.2048230916261673, + -0.03815364092588425, + 0.38590601086616516, + 0.0, + 0.9981546401977539 + ], + [ + 0.379549503326416, + 0.06658679991960526, + 0.08620062470436096, + -0.25544461607933044, + -0.11442077904939651, + 0.44090914726257324, + 0.0, + 0.9981546401977539 + ], + [ + 0.41181036829948425, + 0.023346833884716034, + 0.0810171365737915, + -0.3276200592517853, + -0.227044478058815, + 0.4997663199901581, + 0.0, + 0.9981546401977539 + ], + [ + 0.433169424533844, + -0.007440344430506229, + 0.06959794461727142, + -0.37167784571647644, + -0.32287076115608215, + 0.5236808061599731, + 0.0, + 0.9981546401977539 + ], + [ + 0.44833773374557495, + -0.036588456481695175, + 0.05918367952108383, + -0.36930006742477417, + -0.384307324886322, + 0.5174247026443481, + 0.0, + 0.9981546401977539 + ], + [ + 0.4626532793045044, + -0.058746274560689926, + 0.04887167736887932, + -0.34218209981918335, + -0.4331386387348175, + 0.488812655210495, + 0.0, + 0.9981546401977539 + ], + [ + 0.47537124156951904, + -0.06780152022838593, + 0.02800772152841091, + -0.30830496549606323, + -0.43237337470054626, + 0.4745164215564728, + 0.0, + 0.9981546401977539 + ], + [ + 0.4908180236816406, + -0.07987303286790848, + 0.020813509821891785, + -0.2999686300754547, + -0.4486438035964966, + 0.4726758897304535, + 0.0, + 0.9981546401977539 + ], + [ + 0.5052334666252136, + -0.09261961281299591, + 0.027429930865764618, + -0.3176175057888031, + -0.4802812337875366, + 0.4817885160446167, + 0.0, + 0.9981546401977539 + ], + [ + 0.5187488794326782, + -0.09454335272312164, + 0.02564828097820282, + -0.32237550616264343, + -0.4885437488555908, + 0.504492461681366, + 0.0, + 0.9981546401977539 + ], + [ + 0.5299358367919922, + -0.09529877454042435, + 0.026707250624895096, + -0.32343989610671997, + -0.5007083415985107, + 0.5261275768280029, + 0.0, + 0.9981546401977539 + ], + [ + 0.535252571105957, + -0.09799126535654068, + 0.0172639861702919, + -0.29693058133125305, + -0.5043132901191711, + 0.5378302335739136, + 0.0, + 0.9981546401977539 + ], + [ + 0.5395106673240662, + -0.09612986445426941, + 0.011182716116309166, + -0.2515145242214203, + -0.496227502822876, + 0.5722101330757141, + 0.0, + 0.9830701947212219 + ], + [ + 0.5388831496238708, + -0.09932182729244232, + 0.006121605169028044, + -0.16582968831062317, + -0.4999932646751404, + 0.60359787940979, + 0.0, + 0.9041115045547485 + ], + [ + 0.5368703603744507, + -0.09452017396688461, + 0.0029794175643473864, + -0.0836089476943016, + -0.47810041904449463, + 0.6103929877281189, + 0.0, + 0.6239634156227112 + ], + [ + 0.5285971760749817, + -0.09030663222074509, + 0.0018265190301463008, + -0.015022166073322296, + -0.47882094979286194, + 0.6394882798194885, + 0.0, + 0.33237314224243164 + ], + [ + 0.5138882398605347, + -0.08589236438274384, + 0.001961389323696494, + 0.04982792213559151, + -0.4239606559276581, + 0.693803608417511, + 0.0, + 0.14669357240200043 + ], + [ + 0.4961443841457367, + -0.08520256727933884, + 8.164891187334433e-05, + 0.06258538365364075, + -0.36843031644821167, + 0.6909434199333191, + 0.0, + 0.06296365708112717 + ], + [ + 0.4847026765346527, + -0.07905928045511246, + 0.011691686697304249, + 0.037378981709480286, + -0.3463658392429352, + 0.6371598243713379, + 0.0, + 0.0498691126704216 + ], + [ + 0.48015424609184265, + -0.07610052824020386, + 0.05074397474527359, + -0.05608029291033745, + -0.38011276721954346, + 0.601727306842804, + 0.0, + 0.0498691126704216 + ], + [ + 0.46764034032821655, + -0.06480314582586288, + 0.08348012715578079, + -0.13837802410125732, + -0.40260234475135803, + 0.5720806121826172, + 0.0, + 0.049614936113357544 + ], + [ + 0.44761592149734497, + -0.037850845605134964, + 0.11098220199346542, + -0.20572921633720398, + -0.4143034815788269, + 0.5772369503974915, + 0.0, + 0.049614936113357544 + ], + [ + 0.4220096170902252, + -0.006494838744401932, + 0.10946532338857651, + -0.2209111899137497, + -0.37251579761505127, + 0.5867331624031067, + 0.0, + 0.049614936113357544 + ], + [ + 0.3930053114891052, + 0.04552303999662399, + 0.09949425607919693, + -0.22127708792686462, + -0.3319370448589325, + 0.6371257305145264, + 0.0, + 0.049614936113357544 + ], + [ + 0.3677471876144409, + 0.07631294429302216, + 0.09154090285301208, + -0.21559782326221466, + -0.31271159648895264, + 0.6419335603713989, + 0.0, + 0.049614936113357544 + ], + [ + 0.337918221950531, + 0.119267039000988, + 0.09419070184230804, + -0.2419884353876114, + -0.30356714129447937, + 0.7237108945846558, + 0.0, + 0.049614936113357544 + ], + [ + 0.3220404088497162, + 0.13099417090415955, + 0.10080458968877792, + -0.27418625354766846, + -0.31301742792129517, + 0.7076046466827393, + 0.0, + 0.049614936113357544 + ], + [ + 0.30298763513565063, + 0.14930321276187897, + 0.10260696709156036, + -0.28800633549690247, + -0.3088811933994293, + 0.7540674209594727, + 0.0, + 0.06384159624576569 + ], + [ + 0.2910199463367462, + 0.15305104851722717, + 0.09891518205404282, + -0.2479090839624405, + -0.3161945044994354, + 0.7977774739265442, + 0.0, + 0.20024193823337555 + ], + [ + 0.28496649861335754, + 0.15770159661769867, + 0.10257876664400101, + -0.19730713963508606, + -0.27710768580436707, + 0.813460648059845, + 0.0, + 0.4448287785053253 + ], + [ + 0.28740447759628296, + 0.16338056325912476, + 0.10135969519615173, + -0.13604578375816345, + -0.21000324189662933, + 0.7821763753890991, + 0.0, + 0.7467206716537476 + ] + ], + "left_gripper_pos": [ + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9830701947212219 + ], + [ + 0.9041115045547485 + ], + [ + 0.6239634156227112 + ], + [ + 0.33237314224243164 + ], + [ + 0.14669357240200043 + ], + [ + 0.06296365708112717 + ], + [ + 0.0498691126704216 + ], + [ + 0.0498691126704216 + ], + [ + 0.049614936113357544 + ], + [ + 0.049614936113357544 + ], + [ + 0.049614936113357544 + ], + [ + 0.049614936113357544 + ], + [ + 0.049614936113357544 + ], + [ + 0.049614936113357544 + ], + [ + 0.049614936113357544 + ], + [ + 0.06384159624576569 + ], + [ + 0.20024193823337555 + ], + [ + 0.4448287785053253 + ], + [ + 0.7467206716537476 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.30481743812561035, + 0.1716245859861374, + 0.13496717810630798 + ], + [ + 0.3047201335430145, + 0.17095336318016052, + 0.12151175737380981 + ], + [ + 0.3222655951976776, + 0.14349202811717987, + 0.10727011412382126 + ], + [ + 0.3489583730697632, + 0.10485012084245682, + 0.09279516339302063 + ], + [ + 0.379549503326416, + 0.06658679991960526, + 0.08620062470436096 + ], + [ + 0.41181036829948425, + 0.023346833884716034, + 0.0810171365737915 + ], + [ + 0.433169424533844, + -0.007440344430506229, + 0.06959794461727142 + ], + [ + 0.44833773374557495, + -0.036588456481695175, + 0.05918367952108383 + ], + [ + 0.4626532793045044, + -0.058746274560689926, + 0.04887167736887932 + ], + [ + 0.47537124156951904, + -0.06780152022838593, + 0.02800772152841091 + ], + [ + 0.4908180236816406, + -0.07987303286790848, + 0.020813509821891785 + ], + [ + 0.5052334666252136, + -0.09261961281299591, + 0.027429930865764618 + ], + [ + 0.5187488794326782, + -0.09454335272312164, + 0.02564828097820282 + ], + [ + 0.5299358367919922, + -0.09529877454042435, + 0.026707250624895096 + ], + [ + 0.535252571105957, + -0.09799126535654068, + 0.0172639861702919 + ], + [ + 0.5395106673240662, + -0.09612986445426941, + 0.011182716116309166 + ], + [ + 0.5388831496238708, + -0.09932182729244232, + 0.006121605169028044 + ], + [ + 0.5368703603744507, + -0.09452017396688461, + 0.0029794175643473864 + ], + [ + 0.5285971760749817, + -0.09030663222074509, + 0.0018265190301463008 + ], + [ + 0.5138882398605347, + -0.08589236438274384, + 0.001961389323696494 + ], + [ + 0.4961443841457367, + -0.08520256727933884, + 8.164891187334433e-05 + ], + [ + 0.4847026765346527, + -0.07905928045511246, + 0.011691686697304249 + ], + [ + 0.48015424609184265, + -0.07610052824020386, + 0.05074397474527359 + ], + [ + 0.46764034032821655, + -0.06480314582586288, + 0.08348012715578079 + ], + [ + 0.44761592149734497, + -0.037850845605134964, + 0.11098220199346542 + ], + [ + 0.4220096170902252, + -0.006494838744401932, + 0.10946532338857651 + ], + [ + 0.3930053114891052, + 0.04552303999662399, + 0.09949425607919693 + ], + [ + 0.3677471876144409, + 0.07631294429302216, + 0.09154090285301208 + ], + [ + 0.337918221950531, + 0.119267039000988, + 0.09419070184230804 + ], + [ + 0.3220404088497162, + 0.13099417090415955, + 0.10080458968877792 + ], + [ + 0.30298763513565063, + 0.14930321276187897, + 0.10260696709156036 + ], + [ + 0.2910199463367462, + 0.15305104851722717, + 0.09891518205404282 + ], + [ + 0.28496649861335754, + 0.15770159661769867, + 0.10257876664400101 + ], + [ + 0.28740447759628296, + 0.16338056325912476, + 0.10135969519615173 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9258805928491327, + 0.36828859590234186, + 0.0843127387386971, + 0.3774265783195585, + -0.9117339535318314, + -0.1621430724860184, + 0.01715534212216136, + 0.18194699257063196, + -0.9831586780022712 + ], + [ + 0.9237291779371165, + 0.379034594465244, + 0.05529178986239007, + 0.38259039671544925, + -0.9059273739863889, + -0.18143919478227546, + -0.018681385621357936, + 0.18875478606036275, + -0.9818465443085149 + ], + [ + 0.9231500629426429, + 0.37812159089343383, + 0.0694119859189567, + 0.3844396246671163, + -0.9078044356096404, + -0.16762243785743386, + -0.0003691541703858617, + 0.18142538187277218, + -0.9834046443542543 + ], + [ + 0.9257835510240716, + 0.3613430317421134, + 0.11115768108717422, + 0.37612474334287554, + -0.9100122555437554, + -0.1743785313776396, + 0.038144384888419314, + 0.20324593027065635, + -0.9783844324854618 + ], + [ + 0.8984504847317336, + 0.3868245034659194, + 0.20773427739219574, + 0.4239712804593417, + -0.8873297344683079, + -0.18136784630707975, + 0.11417127410596355, + 0.2510233970106117, + -0.9612243100974266 + ], + [ + 0.8551693587701534, + 0.3901555992136555, + 0.34126818812024945, + 0.46692170673372035, + -0.8657229405777808, + -0.1802995006599571, + 0.22509883962720517, + 0.3135321332169856, + -0.9225118502430698 + ], + [ + 0.8212376408573443, + 0.3661356504025258, + 0.43762246599481464, + 0.47423159938531567, + -0.8644791708177305, + -0.16667379328117066, + 0.3172902888263503, + 0.34441319476264015, + -0.883575929895039 + ], + [ + 0.8057026252728088, + 0.34367912520599353, + 0.4824188413880063, + 0.45856348021038107, + -0.8774423294454737, + -0.14076396241454595, + 0.3749170764927183, + 0.3346335568871467, + -0.8645562840898269 + ], + [ + 0.8013585769379864, + 0.3180121706429115, + 0.5066484880969339, + 0.42621374880825286, + -0.8978381208067802, + -0.1105827705972546, + 0.4197216595492074, + 0.3045570031195034, + -0.8550314382267624 + ], + [ + 0.8076552038735257, + 0.3222620563885183, + 0.4938018212484209, + 0.414860811614776, + -0.9056690102546283, + -0.0874880040390208, + 0.4190269426210484, + 0.27551916607859755, + -0.8651621873851233 + ], + [ + 0.8022404612849774, + 0.3208266518422782, + 0.5034684714507354, + 0.4102150983819709, + -0.9089458648704244, + -0.07443781159078947, + 0.43374395135464, + 0.26624739285602317, + -0.8608010864657606 + ], + [ + 0.7859110506409318, + 0.31232016816879143, + 0.5336664998250161, + 0.41094206869128796, + -0.9087039366949557, + -0.07337418902321205, + 0.46202861021823194, + 0.27697160141448995, + -0.8425059616107778 + ], + [ + 0.773010903252185, + 0.3282908955649935, + 0.5428436527605117, + 0.42681804860384914, + -0.9021976068335519, + -0.06217581209613261, + 0.4693404913697973, + 0.2797580492370968, + -0.8375290663898244 + ], + [ + 0.7586028879921023, + 0.3442097466937557, + 0.55321000407717, + 0.4405411348166606, + -0.8965391161771045, + -0.046272256253885966, + 0.4800470465115797, + 0.2788140302161944, + -0.8317557151532609 + ], + [ + 0.7519044358115302, + 0.36843619443056036, + 0.546712438161481, + 0.44849900434297, + -0.8936644336740199, + -0.014578171677488039, + 0.48320633533751334, + 0.256161376127667, + -0.8371935181725136 + ], + [ + 0.7393044287822389, + 0.42483867409978576, + 0.5224376159620436, + 0.4761794219730822, + -0.8784163255268519, + 0.040471188977907316, + 0.47611145719500286, + 0.21885351273635123, + -0.8517165140412689 + ], + [ + 0.7225152951504009, + 0.49466734618276237, + 0.4829864023906182, + 0.4981249529623372, + -0.8569239909664874, + 0.13248699914458303, + 0.47941962778968317, + 0.14486369568173582, + -0.8655468388039038 + ], + [ + 0.7275413603171905, + 0.5397024807807648, + 0.42356203945455256, + 0.5089180774262004, + -0.8385841557448603, + 0.19436821808747282, + 0.460093424748313, + 0.07414746100014305, + -0.8847690063121563 + ], + [ + 0.7121622158607196, + 0.5911642016852257, + 0.3786157220008431, + 0.5296697472443599, + -0.8064410317362044, + 0.262874154656448, + 0.46073304326306547, + 0.013332253302277886, + -0.8874386254087875 + ], + [ + 0.7007532581791684, + 0.6544250698773544, + 0.28402939824479373, + 0.5828520991039063, + -0.7547627947364122, + 0.3010258365188122, + 0.41137367650525464, + -0.04539770476246993, + -0.9103355132481923 + ], + [ + 0.718930096757468, + 0.6533760295218145, + 0.23714822373909272, + 0.5945001200425692, + -0.7547816530828779, + 0.2772620843874056, + 0.360151528173446, + -0.05834740967504207, + -0.931067374865291 + ], + [ + 0.7560537840866158, + 0.6046966731691343, + 0.25044881518284295, + 0.5595845225821798, + -0.7956797997456082, + 0.23185947977872845, + 0.3394817191761326, + -0.03515095638769809, + -0.9399556226813304 + ], + [ + 0.7655186325554161, + 0.5480337151563188, + 0.33710572564471325, + 0.525662944869058, + -0.8348352109106167, + 0.16348895686074874, + 0.37102518998320794, + 0.052050145780668904, + -0.9271629256620088 + ], + [ + 0.7735516715963449, + 0.4907672489542089, + 0.40095550716309886, + 0.49809602326163077, + -0.8619987606195246, + 0.09411954261125696, + 0.39181393923831925, + 0.12690801410596864, + -0.9112497972423531 + ], + [ + 0.7670785251665837, + 0.46529307691556426, + 0.4416932066522028, + 0.499541861592633, + -0.8651785987363196, + 0.043862521646902214, + 0.40255243726106715, + 0.18699824828886782, + -0.8960932933529129 + ], + [ + 0.7756390690384543, + 0.47377650444965236, + 0.4170369988533736, + 0.515671673888244, + -0.856669669921053, + 0.014135111837229652, + 0.3639598320288336, + 0.20409042228586557, + -0.9087795883495186 + ], + [ + 0.7599313302744768, + 0.522893222896513, + 0.38611792332933953, + 0.562414342794299, + -0.8267577747576322, + 0.012715694910807332, + 0.32587494577908366, + 0.20749520314143582, + -0.922361783893269 + ], + [ + 0.7620962795833366, + 0.5321705723137105, + 0.3687868525429483, + 0.5697078019156658, + -0.8218024571116854, + 0.008587311664102523, + 0.30763985613320144, + 0.20355638886680477, + -0.929474322114306 + ], + [ + 0.7150903929905207, + 0.5891983539558303, + 0.3761529337229769, + 0.6318931024897172, + -0.7749530880895819, + 0.012602312737746826, + 0.2989261395036939, + 0.22867665153259614, + -0.926471884174181 + ], + [ + 0.7229955512928534, + 0.5623750372824398, + 0.4012626948176435, + 0.6184302950464323, + -0.7857308618053029, + -0.013076045865567182, + 0.30793084122823006, + 0.25760692973650823, + -0.9158696778320615 + ], + [ + 0.6944141035527744, + 0.5934726762239421, + 0.40691428503136645, + 0.6522095735224739, + -0.7580016364249842, + -0.007496091159955143, + 0.30399296865656106, + 0.27059878372350005, + -0.9134355879068501 + ], + [ + 0.6636815760372266, + 0.6406412985106659, + 0.386141803320116, + 0.6803202418448403, + -0.7315670791495963, + 0.04442946365539974, + 0.3109519804807828, + 0.2332130685598397, + -0.9213688352055232 + ], + [ + 0.6607797192743616, + 0.6757278476856766, + 0.32674460738898076, + 0.6989470503820941, + -0.7126292003727147, + 0.060271415599069234, + 0.2735748222294339, + 0.18855105048296214, + -0.9431889089699397 + ], + [ + 0.6937963188381687, + 0.678255990694182, + 0.24210633831864048, + 0.6893401309918968, + -0.7227541983416661, + 0.049361448353650264, + 0.20846307052012997, + 0.13264682381025722, + -0.9689932757054458 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -9.73045825958252e-05, + -0.0006712228059768677, + -0.013455420732498169, + -0.006934165954589844, + 0.03583865612745285, + 0.005594909191131592, + 1.0 + ], + [ + 0.017545461654663086, + -0.027461335062980652, + -0.014241643249988556, + 0.0074918270111083984, + -0.018313318490982056, + 0.0019300878047943115, + 1.0 + ], + [ + 0.02669277787208557, + -0.03864190727472305, + -0.014474950730800629, + -0.022387385368347168, + -0.03852279484272003, + -0.008694738149642944, + 1.0 + ], + [ + 0.030591130256652832, + -0.03826332092285156, + -0.006594538688659668, + -0.05062152445316315, + -0.07626713812351227, + 0.05500313639640808, + 1.0 + ], + [ + 0.03226086497306824, + -0.04323996603488922, + -0.005183488130569458, + -0.07217544317245483, + -0.11262369900941849, + 0.05885717272758484, + 1.0 + ], + [ + 0.02135905623435974, + -0.03078717738389969, + -0.01141919195652008, + -0.04405778646469116, + -0.09582628309726715, + 0.023914486169815063, + 1.0 + ], + [ + 0.015168309211730957, + -0.02914811298251152, + -0.010414265096187592, + 0.0023777782917022705, + -0.06143656373023987, + -0.006256103515625, + 1.0 + ], + [ + 0.014315545558929443, + -0.02215781807899475, + -0.010312002152204514, + 0.02711796760559082, + -0.04883131384849548, + -0.02861204743385315, + 1.0 + ], + [ + 0.012717962265014648, + -0.009055245667696, + -0.020863955840468407, + 0.03387713432312012, + 0.0007652640342712402, + -0.014296233654022217, + 1.0 + ], + [ + 0.015446782112121582, + -0.012071512639522552, + -0.007194211706519127, + 0.00833633542060852, + -0.016270428895950317, + -0.0018405318260192871, + 1.0 + ], + [ + 0.014415442943572998, + -0.012746579945087433, + 0.006616421043872833, + -0.01764887571334839, + -0.03163743019104004, + 0.009112626314163208, + 1.0 + ], + [ + 0.0135154128074646, + -0.0019237399101257324, + -0.001781649887561798, + -0.004758000373840332, + -0.0082625150680542, + 0.022703945636749268, + 1.0 + ], + [ + 0.011186957359313965, + -0.0007554218173027039, + 0.001058969646692276, + -0.001064389944076538, + -0.012164592742919922, + 0.021635115146636963, + 1.0 + ], + [ + 0.005316734313964844, + -0.002692490816116333, + -0.009443264454603195, + 0.02650931477546692, + -0.0036049485206604004, + 0.011702656745910645, + 1.0 + ], + [ + 0.004258096218109131, + 0.0018614009022712708, + -0.006081270053982735, + 0.045416057109832764, + 0.008085787296295166, + 0.03437989950180054, + 0.0 + ], + [ + -0.0006275177001953125, + -0.0031919628381729126, + -0.005061110947281122, + 0.08568483591079712, + -0.0037657618522644043, + 0.03138774633407593, + 0.0 + ], + [ + -0.002012789249420166, + 0.004801653325557709, + -0.0031421876046806574, + 0.08222074061632156, + 0.021892845630645752, + 0.006795108318328857, + 0.0 + ], + [ + -0.008273184299468994, + 0.004213541746139526, + -0.0011528985342010856, + 0.06858678162097931, + -0.0007205307483673096, + 0.02909529209136963, + 0.0 + ], + [ + -0.014708936214447021, + 0.004414267838001251, + 0.0001348702935501933, + 0.0648500919342041, + 0.05486029386520386, + 0.05431532859802246, + 0.0 + ], + [ + -0.017743855714797974, + 0.0006897971034049988, + -0.001879740389995277, + 0.01275746151804924, + 0.05553033947944641, + -0.0028601884841918945, + 0.0 + ], + [ + -0.011441707611083984, + 0.006143286824226379, + 0.01161003764718771, + -0.02520640194416046, + 0.02206447720527649, + -0.0537835955619812, + 0.0 + ], + [ + -0.004548430442810059, + 0.0029587522149086, + 0.039052288979291916, + -0.09345927834510803, + -0.033746927976608276, + -0.035432517528533936, + 0.0 + ], + [ + -0.012513905763626099, + 0.011297382414340973, + 0.0327361524105072, + -0.08229772746562958, + -0.022489577531814575, + -0.029646694660186768, + 0.0 + ], + [ + -0.020024418830871582, + 0.02695230022072792, + 0.02750207483768463, + -0.06735119223594666, + -0.011701136827468872, + 0.005156338214874268, + 0.0 + ], + [ + -0.02560630440711975, + 0.03135600686073303, + -0.001516878604888916, + -0.015181973576545715, + 0.041787683963775635, + 0.009496212005615234, + 0.0 + ], + [ + -0.029004305601119995, + 0.052017878741025925, + -0.009971067309379578, + -0.0003658980131149292, + 0.040578752756118774, + 0.05039256811141968, + 0.0 + ], + [ + -0.025258123874664307, + 0.030789904296398163, + -0.007953353226184845, + 0.005679264664649963, + 0.01922544836997986, + 0.004807829856872559, + 0.0 + ], + [ + -0.029828965663909912, + 0.04295409470796585, + 0.0026497989892959595, + -0.02639061212539673, + 0.009144455194473267, + 0.08177733421325684, + 0.0 + ], + [ + -0.01587781310081482, + 0.01172713190317154, + 0.006613887846469879, + -0.03219781816005707, + -0.009450286626815796, + -0.016106247901916504, + 0.0 + ], + [ + -0.019052773714065552, + 0.01830904185771942, + 0.0018023774027824402, + -0.013820081949234009, + 0.004136234521865845, + 0.0464627742767334, + 1.0 + ], + [ + -0.011967688798904419, + 0.0037478357553482056, + -0.0036917850375175476, + 0.040097251534461975, + -0.0073133111000061035, + 0.04371005296707153, + 1.0 + ], + [ + -0.006053447723388672, + 0.004650548100471497, + 0.003663584589958191, + 0.05060194432735443, + 0.03908681869506836, + 0.01568317413330078, + 1.0 + ], + [ + 0.002437978982925415, + 0.005678966641426086, + -0.0012190714478492737, + 0.06126135587692261, + 0.06710444390773773, + -0.03128427267074585, + 1.0 + ], + [ + 0.007995277643203735, + -0.008081823587417603, + 0.012437164783477783, + 0.1182296872138977, + -0.011071518063545227, + -0.09139937162399292, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9981546401977539 + ], + [ + 0.9830701947212219 + ], + [ + 0.9041115045547485 + ], + [ + 0.6239634156227112 + ], + [ + 0.33237314224243164 + ], + [ + 0.14669357240200043 + ], + [ + 0.06296365708112717 + ], + [ + 0.0498691126704216 + ], + [ + 0.0498691126704216 + ], + [ + 0.049614936113357544 + ], + [ + 0.049614936113357544 + ], + [ + 0.049614936113357544 + ], + [ + 0.049614936113357544 + ], + [ + 0.049614936113357544 + ], + [ + 0.049614936113357544 + ], + [ + 0.049614936113357544 + ], + [ + 0.06384159624576569 + ], + [ + 0.20024193823337555 + ], + [ + 0.4448287785053253 + ], + [ + 0.7467206716537476 + ], + [ + 0.9837720394134521 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.3047201335430145, + 0.17095336318016052, + 0.12151175737380981 + ], + [ + 0.3222655951976776, + 0.14349202811717987, + 0.10727011412382126 + ], + [ + 0.3489583730697632, + 0.10485012084245682, + 0.09279516339302063 + ], + [ + 0.379549503326416, + 0.06658679991960526, + 0.08620062470436096 + ], + [ + 0.41181036829948425, + 0.023346833884716034, + 0.0810171365737915 + ], + [ + 0.433169424533844, + -0.007440344430506229, + 0.06959794461727142 + ], + [ + 0.44833773374557495, + -0.036588456481695175, + 0.05918367952108383 + ], + [ + 0.4626532793045044, + -0.058746274560689926, + 0.04887167736887932 + ], + [ + 0.47537124156951904, + -0.06780152022838593, + 0.02800772152841091 + ], + [ + 0.4908180236816406, + -0.07987303286790848, + 0.020813509821891785 + ], + [ + 0.5052334666252136, + -0.09261961281299591, + 0.027429930865764618 + ], + [ + 0.5187488794326782, + -0.09454335272312164, + 0.02564828097820282 + ], + [ + 0.5299358367919922, + -0.09529877454042435, + 0.026707250624895096 + ], + [ + 0.535252571105957, + -0.09799126535654068, + 0.0172639861702919 + ], + [ + 0.5395106673240662, + -0.09612986445426941, + 0.011182716116309166 + ], + [ + 0.5388831496238708, + -0.09932182729244232, + 0.006121605169028044 + ], + [ + 0.5368703603744507, + -0.09452017396688461, + 0.0029794175643473864 + ], + [ + 0.5285971760749817, + -0.09030663222074509, + 0.0018265190301463008 + ], + [ + 0.5138882398605347, + -0.08589236438274384, + 0.001961389323696494 + ], + [ + 0.4961443841457367, + -0.08520256727933884, + 8.164891187334433e-05 + ], + [ + 0.4847026765346527, + -0.07905928045511246, + 0.011691686697304249 + ], + [ + 0.48015424609184265, + -0.07610052824020386, + 0.05074397474527359 + ], + [ + 0.46764034032821655, + -0.06480314582586288, + 0.08348012715578079 + ], + [ + 0.44761592149734497, + -0.037850845605134964, + 0.11098220199346542 + ], + [ + 0.4220096170902252, + -0.006494838744401932, + 0.10946532338857651 + ], + [ + 0.3930053114891052, + 0.04552303999662399, + 0.09949425607919693 + ], + [ + 0.3677471876144409, + 0.07631294429302216, + 0.09154090285301208 + ], + [ + 0.337918221950531, + 0.119267039000988, + 0.09419070184230804 + ], + [ + 0.3220404088497162, + 0.13099417090415955, + 0.10080458968877792 + ], + [ + 0.30298763513565063, + 0.14930321276187897, + 0.10260696709156036 + ], + [ + 0.2910199463367462, + 0.15305104851722717, + 0.09891518205404282 + ], + [ + 0.28496649861335754, + 0.15770159661769867, + 0.10257876664400101 + ], + [ + 0.28740447759628296, + 0.16338056325912476, + 0.10135969519615173 + ], + [ + 0.2953997552394867, + 0.15529873967170715, + 0.11379685997962952 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9237291779371165, + 0.379034594465244, + 0.05529178986239007, + 0.38259039671544925, + -0.9059273739863889, + -0.18143919478227546, + -0.018681385621357936, + 0.18875478606036275, + -0.9818465443085149 + ], + [ + 0.9231500629426429, + 0.37812159089343383, + 0.0694119859189567, + 0.3844396246671163, + -0.9078044356096404, + -0.16762243785743386, + -0.0003691541703858617, + 0.18142538187277218, + -0.9834046443542543 + ], + [ + 0.9257835510240716, + 0.3613430317421134, + 0.11115768108717422, + 0.37612474334287554, + -0.9100122555437554, + -0.1743785313776396, + 0.038144384888419314, + 0.20324593027065635, + -0.9783844324854618 + ], + [ + 0.8984504847317336, + 0.3868245034659194, + 0.20773427739219574, + 0.4239712804593417, + -0.8873297344683079, + -0.18136784630707975, + 0.11417127410596355, + 0.2510233970106117, + -0.9612243100974266 + ], + [ + 0.8551693587701534, + 0.3901555992136555, + 0.34126818812024945, + 0.46692170673372035, + -0.8657229405777808, + -0.1802995006599571, + 0.22509883962720517, + 0.3135321332169856, + -0.9225118502430698 + ], + [ + 0.8212376408573443, + 0.3661356504025258, + 0.43762246599481464, + 0.47423159938531567, + -0.8644791708177305, + -0.16667379328117066, + 0.3172902888263503, + 0.34441319476264015, + -0.883575929895039 + ], + [ + 0.8057026252728088, + 0.34367912520599353, + 0.4824188413880063, + 0.45856348021038107, + -0.8774423294454737, + -0.14076396241454595, + 0.3749170764927183, + 0.3346335568871467, + -0.8645562840898269 + ], + [ + 0.8013585769379864, + 0.3180121706429115, + 0.5066484880969339, + 0.42621374880825286, + -0.8978381208067802, + -0.1105827705972546, + 0.4197216595492074, + 0.3045570031195034, + -0.8550314382267624 + ], + [ + 0.8076552038735257, + 0.3222620563885183, + 0.4938018212484209, + 0.414860811614776, + -0.9056690102546283, + -0.0874880040390208, + 0.4190269426210484, + 0.27551916607859755, + -0.8651621873851233 + ], + [ + 0.8022404612849774, + 0.3208266518422782, + 0.5034684714507354, + 0.4102150983819709, + -0.9089458648704244, + -0.07443781159078947, + 0.43374395135464, + 0.26624739285602317, + -0.8608010864657606 + ], + [ + 0.7859110506409318, + 0.31232016816879143, + 0.5336664998250161, + 0.41094206869128796, + -0.9087039366949557, + -0.07337418902321205, + 0.46202861021823194, + 0.27697160141448995, + -0.8425059616107778 + ], + [ + 0.773010903252185, + 0.3282908955649935, + 0.5428436527605117, + 0.42681804860384914, + -0.9021976068335519, + -0.06217581209613261, + 0.4693404913697973, + 0.2797580492370968, + -0.8375290663898244 + ], + [ + 0.7586028879921023, + 0.3442097466937557, + 0.55321000407717, + 0.4405411348166606, + -0.8965391161771045, + -0.046272256253885966, + 0.4800470465115797, + 0.2788140302161944, + -0.8317557151532609 + ], + [ + 0.7519044358115302, + 0.36843619443056036, + 0.546712438161481, + 0.44849900434297, + -0.8936644336740199, + -0.014578171677488039, + 0.48320633533751334, + 0.256161376127667, + -0.8371935181725136 + ], + [ + 0.7393044287822389, + 0.42483867409978576, + 0.5224376159620436, + 0.4761794219730822, + -0.8784163255268519, + 0.040471188977907316, + 0.47611145719500286, + 0.21885351273635123, + -0.8517165140412689 + ], + [ + 0.7225152951504009, + 0.49466734618276237, + 0.4829864023906182, + 0.4981249529623372, + -0.8569239909664874, + 0.13248699914458303, + 0.47941962778968317, + 0.14486369568173582, + -0.8655468388039038 + ], + [ + 0.7275413603171905, + 0.5397024807807648, + 0.42356203945455256, + 0.5089180774262004, + -0.8385841557448603, + 0.19436821808747282, + 0.460093424748313, + 0.07414746100014305, + -0.8847690063121563 + ], + [ + 0.7121622158607196, + 0.5911642016852257, + 0.3786157220008431, + 0.5296697472443599, + -0.8064410317362044, + 0.262874154656448, + 0.46073304326306547, + 0.013332253302277886, + -0.8874386254087875 + ], + [ + 0.7007532581791684, + 0.6544250698773544, + 0.28402939824479373, + 0.5828520991039063, + -0.7547627947364122, + 0.3010258365188122, + 0.41137367650525464, + -0.04539770476246993, + -0.9103355132481923 + ], + [ + 0.718930096757468, + 0.6533760295218145, + 0.23714822373909272, + 0.5945001200425692, + -0.7547816530828779, + 0.2772620843874056, + 0.360151528173446, + -0.05834740967504207, + -0.931067374865291 + ], + [ + 0.7560537840866158, + 0.6046966731691343, + 0.25044881518284295, + 0.5595845225821798, + -0.7956797997456082, + 0.23185947977872845, + 0.3394817191761326, + -0.03515095638769809, + -0.9399556226813304 + ], + [ + 0.7655186325554161, + 0.5480337151563188, + 0.33710572564471325, + 0.525662944869058, + -0.8348352109106167, + 0.16348895686074874, + 0.37102518998320794, + 0.052050145780668904, + -0.9271629256620088 + ], + [ + 0.7735516715963449, + 0.4907672489542089, + 0.40095550716309886, + 0.49809602326163077, + -0.8619987606195246, + 0.09411954261125696, + 0.39181393923831925, + 0.12690801410596864, + -0.9112497972423531 + ], + [ + 0.7670785251665837, + 0.46529307691556426, + 0.4416932066522028, + 0.499541861592633, + -0.8651785987363196, + 0.043862521646902214, + 0.40255243726106715, + 0.18699824828886782, + -0.8960932933529129 + ], + [ + 0.7756390690384543, + 0.47377650444965236, + 0.4170369988533736, + 0.515671673888244, + -0.856669669921053, + 0.014135111837229652, + 0.3639598320288336, + 0.20409042228586557, + -0.9087795883495186 + ], + [ + 0.7599313302744768, + 0.522893222896513, + 0.38611792332933953, + 0.562414342794299, + -0.8267577747576322, + 0.012715694910807332, + 0.32587494577908366, + 0.20749520314143582, + -0.922361783893269 + ], + [ + 0.7620962795833366, + 0.5321705723137105, + 0.3687868525429483, + 0.5697078019156658, + -0.8218024571116854, + 0.008587311664102523, + 0.30763985613320144, + 0.20355638886680477, + -0.929474322114306 + ], + [ + 0.7150903929905207, + 0.5891983539558303, + 0.3761529337229769, + 0.6318931024897172, + -0.7749530880895819, + 0.012602312737746826, + 0.2989261395036939, + 0.22867665153259614, + -0.926471884174181 + ], + [ + 0.7229955512928534, + 0.5623750372824398, + 0.4012626948176435, + 0.6184302950464323, + -0.7857308618053029, + -0.013076045865567182, + 0.30793084122823006, + 0.25760692973650823, + -0.9158696778320615 + ], + [ + 0.6944141035527744, + 0.5934726762239421, + 0.40691428503136645, + 0.6522095735224739, + -0.7580016364249842, + -0.007496091159955143, + 0.30399296865656106, + 0.27059878372350005, + -0.9134355879068501 + ], + [ + 0.6636815760372266, + 0.6406412985106659, + 0.386141803320116, + 0.6803202418448403, + -0.7315670791495963, + 0.04442946365539974, + 0.3109519804807828, + 0.2332130685598397, + -0.9213688352055232 + ], + [ + 0.6607797192743616, + 0.6757278476856766, + 0.32674460738898076, + 0.6989470503820941, + -0.7126292003727147, + 0.060271415599069234, + 0.2735748222294339, + 0.18855105048296214, + -0.9431889089699397 + ], + [ + 0.6937963188381687, + 0.678255990694182, + 0.24210633831864048, + 0.6893401309918968, + -0.7227541983416661, + 0.049361448353650264, + 0.20846307052012997, + 0.13264682381025722, + -0.9689932757054458 + ], + [ + 0.7519929110151778, + 0.6340242137041858, + 0.180332909419517, + 0.6216298464331922, + -0.7731178288530619, + 0.1259569638129372, + 0.21927835234323698, + 0.017381574908981026, + -0.9755075012768066 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006790.json b/json/chunk-0006/episode_0006790.json new file mode 100644 index 0000000000000000000000000000000000000000..ef1170928ac887e8e5af390422f60779491c7d0b --- /dev/null +++ b/json/chunk-0006/episode_0006790.json @@ -0,0 +1,2182 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 35, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut the blue spoon under the eggplant." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006790.mp4", + "start": 0, + "end": 35, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.34576615691185, + 0.01783210225403309, + 0.11382263898849487, + 0.04579887166619301, + -0.17247207462787628, + -0.07732050865888596, + 0.0, + 1.0001531839370728 + ], + [ + 0.34296292066574097, + 0.01771676540374756, + 0.10221085697412491, + 0.04140644520521164, + -0.13749608397483826, + -0.07516993582248688, + 0.0, + 1.0001531839370728 + ], + [ + 0.3175911605358124, + 0.0181902926415205, + 0.09722328186035156, + 0.045689478516578674, + -0.11376671493053436, + -0.07928790897130966, + 0.0, + 1.0001531839370728 + ], + [ + 0.2976021468639374, + 0.030132997781038284, + 0.1081557646393776, + 0.044345442205667496, + -0.16854511201381683, + -0.06989937275648117, + 0.0, + 1.0001531839370728 + ], + [ + 0.2792118191719055, + 0.04352330416440964, + 0.10792947560548782, + 0.06008207052946091, + -0.15917852520942688, + -0.04921597242355347, + 0.0, + 1.0001531839370728 + ], + [ + 0.26917922496795654, + 0.06252167373895645, + 0.09822449833154678, + 0.06479261070489883, + -0.14465662837028503, + -0.011871054768562317, + 0.0, + 1.0001531839370728 + ], + [ + 0.2656075656414032, + 0.08171052485704422, + 0.07603421807289124, + 0.05355104058980942, + -0.10026512295007706, + 0.020722409710288048, + 0.0, + 1.0001531839370728 + ], + [ + 0.26101890206336975, + 0.0895933136343956, + 0.0550876185297966, + 0.04970555379986763, + -0.05744471400976181, + 0.017283784225583076, + 0.0, + 1.0001531839370728 + ], + [ + 0.2563569247722626, + 0.09251720458269119, + 0.04886605218052864, + 0.05337649583816528, + -0.060017138719558716, + -0.0017708144150674343, + 0.0, + 1.0001531839370728 + ], + [ + 0.25461456179618835, + 0.09266164153814316, + 0.04475891590118408, + 0.05460537225008011, + -0.0479971319437027, + -0.011920342221856117, + 0.0, + 1.0001531839370728 + ], + [ + 0.25201216340065, + 0.09234442561864853, + 0.03871992602944374, + 0.05859813839197159, + -0.034080855548381805, + -0.011191430501639843, + 0.0, + 1.0001531839370728 + ], + [ + 0.25339430570602417, + 0.09025819599628448, + 0.030613893643021584, + 0.05487304553389549, + -0.022490620613098145, + -0.01907206140458584, + 0.0, + 1.0001531839370728 + ], + [ + 0.2522295415401459, + 0.08926193416118622, + 0.02157612144947052, + 0.043272897601127625, + -0.00025323842419311404, + -0.02236907184123993, + 0.0, + 1.0001531839370728 + ], + [ + 0.2515859603881836, + 0.08805248141288757, + 0.016101820394396782, + 0.03441041335463524, + 0.01464784424751997, + -0.02396167442202568, + 0.0, + 1.0001531839370728 + ], + [ + 0.2534498870372772, + 0.0867386981844902, + 0.015685079619288445, + 0.03385306894779205, + 0.012769404798746109, + -0.027553843334317207, + 0.0, + 0.9461179971694946 + ], + [ + 0.2545771896839142, + 0.08491974323987961, + 0.015684768557548523, + 0.0347604975104332, + 0.00984084140509367, + -0.035324253141880035, + 0.0, + 0.651088297367096 + ], + [ + 0.2555833160877228, + 0.08263465762138367, + 0.015685172751545906, + 0.03521432355046272, + 0.008376565761864185, + -0.044579390436410904, + 0.0, + 0.4085940718650818 + ], + [ + 0.2568839490413666, + 0.0793767124414444, + 0.015139221213757992, + 0.03417373448610306, + 0.015641232952475548, + -0.04692757502198219, + 0.0, + 0.4059307873249054 + ], + [ + 0.25462183356285095, + 0.07174105942249298, + 0.015987403690814972, + 0.03742533549666405, + 0.045168329030275345, + -0.042898256331682205, + 0.0, + 0.4050447642803192 + ], + [ + 0.2604809105396271, + 0.051099102944135666, + 0.05670461431145668, + 0.11484828591346741, + -0.02726421318948269, + -0.03831591457128525, + 0.0, + 0.4050447642803192 + ], + [ + 0.26191213726997375, + 0.020629869773983955, + 0.08460976928472519, + 0.13371331989765167, + -0.07200673222541809, + -0.04341023787856102, + 0.0, + 0.4050447642803192 + ], + [ + 0.25853800773620605, + -0.02681824378669262, + 0.0883188247680664, + 0.07661337405443192, + -0.0683092325925827, + -0.10764174163341522, + 0.0, + 0.4050447642803192 + ], + [ + 0.24700139462947845, + -0.06753671914339066, + 0.07719986885786057, + 0.029606007039546967, + -0.05483463034033775, + -0.09667238593101501, + 0.0, + 0.4050447642803192 + ], + [ + 0.2349010556936264, + -0.07428422570228577, + 0.0541522316634655, + 0.02460806630551815, + -0.012159967795014381, + -0.04332635551691055, + 0.0, + 0.4050447642803192 + ], + [ + 0.2310643345117569, + -0.07609904557466507, + 0.03886350616812706, + 0.04002968966960907, + 0.0033529801294207573, + -0.0074602109380066395, + 0.0, + 0.4050447642803192 + ], + [ + 0.23279637098312378, + -0.07740931212902069, + 0.02169279381632805, + 0.029685206711292267, + -0.013596617616713047, + 0.02408687025308609, + 0.0, + 0.4050447642803192 + ], + [ + 0.23837235569953918, + -0.07780532538890839, + 0.011099151335656643, + 0.01684124954044819, + -0.019641829654574394, + 0.025553662329912186, + 0.0, + 0.4050447642803192 + ], + [ + 0.24956022202968597, + -0.08040411025285721, + 0.009817835874855518, + -0.015557222999632359, + -0.036854088306427, + 0.01444926206022501, + 0.0, + 0.4918208718299866 + ], + [ + 0.24981071054935455, + -0.0807078629732132, + 0.005622579716145992, + -0.018021466210484505, + -0.03457801043987274, + -0.005388849880546331, + 0.0, + 0.7874543070793152 + ], + [ + 0.25081542134284973, + -0.08139517158269882, + 0.01945747621357441, + -0.025575311854481697, + -0.07243702560663223, + -0.023713672533631325, + 0.0, + 1.0067112445831299 + ], + [ + 0.25341883301734924, + -0.07273918390274048, + 0.05935503914952278, + -0.022511528804898262, + -0.15903912484645844, + -0.040309321135282516, + 0.0, + 1.0067112445831299 + ], + [ + 0.261234849691391, + -0.041484151035547256, + 0.10708409547805786, + -0.010387002490460873, + -0.24938379228115082, + 0.02953486144542694, + 0.0, + 1.0008161067962646 + ], + [ + 0.2675815522670746, + -0.003130201483145356, + 0.12115700542926788, + -0.020069971680641174, + -0.23878231644630432, + 0.11398807913064957, + 0.0, + 1.0001531839370728 + ], + [ + 0.2800353169441223, + 0.014940401539206505, + 0.12238892167806625, + -0.01805720664560795, + -0.2205069661140442, + 0.08960243314504623, + 0.0, + 1.0001531839370728 + ], + [ + 0.2988874912261963, + 0.02369232289493084, + 0.12101779878139496, + -0.023975903168320656, + -0.16818949580192566, + 0.025523830205202103, + 0.0, + 1.0001531839370728 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9461179971694946 + ], + [ + 0.651088297367096 + ], + [ + 0.4085940718650818 + ], + [ + 0.4059307873249054 + ], + [ + 0.4050447642803192 + ], + [ + 0.4050447642803192 + ], + [ + 0.4050447642803192 + ], + [ + 0.4050447642803192 + ], + [ + 0.4050447642803192 + ], + [ + 0.4050447642803192 + ], + [ + 0.4050447642803192 + ], + [ + 0.4050447642803192 + ], + [ + 0.4050447642803192 + ], + [ + 0.4918208718299866 + ], + [ + 0.7874543070793152 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.34576615691185, + 0.01783210225403309, + 0.11382263898849487 + ], + [ + 0.34296292066574097, + 0.01771676540374756, + 0.10221085697412491 + ], + [ + 0.3175911605358124, + 0.0181902926415205, + 0.09722328186035156 + ], + [ + 0.2976021468639374, + 0.030132997781038284, + 0.1081557646393776 + ], + [ + 0.2792118191719055, + 0.04352330416440964, + 0.10792947560548782 + ], + [ + 0.26917922496795654, + 0.06252167373895645, + 0.09822449833154678 + ], + [ + 0.2656075656414032, + 0.08171052485704422, + 0.07603421807289124 + ], + [ + 0.26101890206336975, + 0.0895933136343956, + 0.0550876185297966 + ], + [ + 0.2563569247722626, + 0.09251720458269119, + 0.04886605218052864 + ], + [ + 0.25461456179618835, + 0.09266164153814316, + 0.04475891590118408 + ], + [ + 0.25201216340065, + 0.09234442561864853, + 0.03871992602944374 + ], + [ + 0.25339430570602417, + 0.09025819599628448, + 0.030613893643021584 + ], + [ + 0.2522295415401459, + 0.08926193416118622, + 0.02157612144947052 + ], + [ + 0.2515859603881836, + 0.08805248141288757, + 0.016101820394396782 + ], + [ + 0.2534498870372772, + 0.0867386981844902, + 0.015685079619288445 + ], + [ + 0.2545771896839142, + 0.08491974323987961, + 0.015684768557548523 + ], + [ + 0.2555833160877228, + 0.08263465762138367, + 0.015685172751545906 + ], + [ + 0.2568839490413666, + 0.0793767124414444, + 0.015139221213757992 + ], + [ + 0.25462183356285095, + 0.07174105942249298, + 0.015987403690814972 + ], + [ + 0.2604809105396271, + 0.051099102944135666, + 0.05670461431145668 + ], + [ + 0.26191213726997375, + 0.020629869773983955, + 0.08460976928472519 + ], + [ + 0.25853800773620605, + -0.02681824378669262, + 0.0883188247680664 + ], + [ + 0.24700139462947845, + -0.06753671914339066, + 0.07719986885786057 + ], + [ + 0.2349010556936264, + -0.07428422570228577, + 0.0541522316634655 + ], + [ + 0.2310643345117569, + -0.07609904557466507, + 0.03886350616812706 + ], + [ + 0.23279637098312378, + -0.07740931212902069, + 0.02169279381632805 + ], + [ + 0.23837235569953918, + -0.07780532538890839, + 0.011099151335656643 + ], + [ + 0.24956022202968597, + -0.08040411025285721, + 0.009817835874855518 + ], + [ + 0.24981071054935455, + -0.0807078629732132, + 0.005622579716145992 + ], + [ + 0.25081542134284973, + -0.08139517158269882, + 0.01945747621357441 + ], + [ + 0.25341883301734924, + -0.07273918390274048, + 0.05935503914952278 + ], + [ + 0.261234849691391, + -0.041484151035547256, + 0.10708409547805786 + ], + [ + 0.2675815522670746, + -0.003130201483145356, + 0.12115700542926788 + ], + [ + 0.2800353169441223, + 0.014940401539206505, + 0.12238892167806625 + ], + [ + 0.2988874912261963, + 0.02369232289493084, + 0.12101779878139496 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9822201103932559, + -0.06932879198186535, + 0.174462527040608, + -0.07609746760897436, + -0.9965737219635069, + 0.03240358182830221, + 0.171618268731976, + -0.045103606220984395, + -0.9841304967042233 + ], + [ + 0.9877650178466926, + -0.0693771361634193, + 0.13966775753940233, + -0.07439040060599582, + -0.9967474552430714, + 0.030993205128553886, + 0.13706326209456113, + -0.04100394425202947, + -0.9897132608689114 + ], + [ + 0.9904142132840089, + -0.07395356055277381, + 0.1166642919088107, + -0.0786928438960658, + -0.9962287278241174, + 0.03654802563051969, + 0.11352146248426503, + -0.04537832896336007, + -0.9924987077149904 + ], + [ + 0.9834225014522847, + -0.06235553102978156, + 0.17027028920902576, + -0.06885278900847869, + -0.9970967148493041, + 0.03251822077666352, + 0.16774825508208796, + -0.04370273431628579, + -0.9848606977284631 + ], + [ + 0.9861622725449206, + -0.03960115183837837, + 0.16098360469970766, + -0.048574160515843026, + -0.9974551729168908, + 0.052189356688091486, + 0.15850717062397887, + -0.05928681804928836, + -0.9855762527914173 + ], + [ + 0.9894857379195305, + -0.00251303200024822, + 0.14460864124943745, + -0.011746791186277514, + -0.9979421765340902, + 0.0630351107814477, + 0.144152652943568, + -0.06407103061890858, + -0.9874790710110077 + ], + [ + 0.9947640390332197, + 0.026047820818019506, + 0.09882316366595016, + 0.0206168591516842, + -0.9982410744713348, + 0.0555850911399316, + 0.10009721157472089, + -0.05325662652616327, + -0.9935513474229796 + ], + [ + 0.9982013915769797, + 0.02011372833316712, + 0.05647494830737252, + 0.017254415632487776, + -0.9985664560087452, + 0.050668709035417224, + 0.05741312563310074, + -0.0496031336376439, + -0.997117476598602 + ], + [ + 0.9981979470138428, + 0.0014317651350216104, + 0.059990071061362074, + -0.00176762516129327, + -0.998579914079798, + 0.053245006316763, + 0.05998111434975427, + -0.05325509595316777, + -0.9967778893396363 + ], + [ + 0.9987773941586955, + -0.009283885795102748, + 0.04855436522197399, + -0.011906332288844986, + -0.9984697703201628, + 0.05400330553057256, + 0.04797870537012181, + -0.054515385180187906, + -0.9973595723758119 + ], + [ + 0.9993567168130448, + -0.009176567888915067, + 0.034669051940188225, + -0.011184698200587609, + -0.998243436931331, + 0.05818026426276686, + 0.034074258419122025, + -0.058530600759805526, + -0.9977039208542196 + ], + [ + 0.999565276397251, + -0.017809019368957887, + 0.02349674551939233, + -0.01906608210671261, + -0.9983367818137717, + 0.05440730273429749, + 0.022488724596719443, + -0.054831641474950246, + -0.9982423294767535 + ], + [ + 0.9997497906877921, + -0.022335315681522788, + 0.0012205298531316716, + -0.022367205681925188, + -0.9988141762317125, + 0.043242912350439804, + 0.00025323842148643015, + -0.04325939241334866, + -0.9990638422234736 + ], + [ + 0.9996056858586061, + -0.024448974268184556, + -0.013810157724631157, + -0.02395681119940421, + -0.9991090492625119, + 0.03474447983371764, + -0.014647320447837592, + -0.03439993225274084, + -0.9993008058961551 + ], + [ + 0.9995389200799938, + -0.02796659683767111, + -0.011824411471145492, + -0.027548110803052618, + -0.999035766977293, + 0.034185346148234874, + -0.012769057776614854, + -0.033843843774179455, + -0.9993455585542403 + ], + [ + 0.9993277729603665, + -0.03563735768199032, + -0.008601216630247384, + -0.035315197247199545, + -0.9987603767126901, + 0.03507914982032854, + -0.009840682571140506, + -0.03475181500542888, + -0.9993475232972576 + ], + [ + 0.998971455156847, + -0.04483161570222634, + -0.006793969041672226, + -0.044563062831926736, + -0.9983740166448042, + 0.03554513074329269, + -0.008376467802663441, + -0.035205810913085285, + -0.9993449783058415 + ], + [ + 0.9987769164792796, + -0.04741676883727613, + -0.014011464633443061, + -0.046904614806288124, + -0.9982908123537567, + 0.03486274630533252, + -0.01564059519377836, + -0.034162903903335845, + -0.9992938845899516 + ], + [ + 0.9980610336557509, + -0.0445429864630206, + -0.04347522806115147, + -0.0428413610344443, + -0.9983079558705509, + 0.03931721035728013, + -0.045152972025442197, + -0.037378437668225004, + -0.9982805525075364 + ], + [ + 0.9988946622837047, + -0.03493249426433975, + 0.0314511447422092, + -0.038292303475838646, + -0.9928027208872197, + 0.11347447683707367, + 0.027260835563823037, + -0.11455338599711996, + -0.9930429842665205 + ], + [ + 0.996469000068867, + -0.03342696870146831, + 0.07702057949135273, + -0.04328414866794552, + -0.9905562483157027, + 0.13009535501627792, + 0.07194452290372018, + -0.13296975853986973, + -0.9885054521539095 + ], + [ + 0.9918935489464891, + -0.1019248679385944, + 0.07588483942157755, + -0.10718343828657428, + -0.9918570863691613, + 0.06878394272172905, + 0.0682561214500695, + -0.07635994705981713, + -0.9947413032389953 + ], + [ + 0.9938348391422873, + -0.09486477294835484, + 0.05738455681175045, + -0.09637680376235962, + -0.9950512787759722, + 0.024175696532967948, + 0.05480715467505637, + -0.029557189645831, + -0.99805939118705 + ], + [ + 0.9989876981566022, + -0.04300077314578546, + 0.013210315690332982, + -0.04330959943078945, + -0.998772040218809, + 0.024055982089744167, + 0.01215966812532825, + -0.02460376365563257, + -0.9996233277015195 + ], + [ + 0.9999665516792563, + -0.007588344487409358, + -0.003051647200785553, + -0.007460099803648184, + -0.9991701129761239, + 0.04004288009371711, + -0.0033529738467913245, + -0.04001877513393685, + -0.999193302220928 + ], + [ + 0.9996175195967112, + 0.02447735983881796, + 0.01287141680779343, + 0.024082315015036732, + -0.9992597605337264, + 0.02999955135658688, + 0.01359619869064372, + -0.029678103601830406, + -0.999467034747902 + ], + [ + 0.9994806913781105, + 0.025877906056408325, + 0.019201081752590995, + 0.025545952749138328, + -0.9995233076349396, + 0.017336718047213574, + 0.019640566704470865, + -0.016837205012872357, + -0.999665322328869 + ], + [ + 0.9992166470623808, + 0.013873876282557906, + 0.03706221512955714, + 0.01443894806250672, + -0.9997828946557892, + -0.015022660634489551, + 0.036845746189506465, + 0.015546031988487797, + -0.9992000359673487 + ], + [ + 0.9993877290222926, + -0.006010928258825765, + 0.03446789551353738, + -0.005385602576362005, + -0.9998197431384964, + -0.018206496515274798, + 0.034571120383267345, + 0.01800971881897328, + -0.9992399549975508 + ], + [ + 0.9970971669896908, + -0.0255539533833526, + 0.07172332289858516, + -0.02364926883133688, + -0.9993480208971308, + -0.027280857991117423, + 0.07237369456422979, + 0.025505462071285824, + -0.9970514127865495 + ], + [ + 0.9865778532595617, + -0.04385013881475685, + 0.15729368958633264, + -0.03978983657098633, + -0.9987908640321526, + -0.02887176530038582, + 0.15836953104498733, + 0.022225554027580918, + -0.9871297363491579 + ], + [ + 0.9686420592394469, + 0.026966555340097672, + 0.2469926435452148, + 0.028617030449038985, + -0.9995856594991153, + -0.0030943322378111523, + 0.2468068610080418, + 0.010065496351826443, + -0.9690124143387168 + ], + [ + 0.9653212231214454, + 0.10900266531192117, + 0.23722005637427462, + 0.11051417437902013, + -0.993850189774721, + 0.006958271773557542, + 0.2365196682152253, + 0.01949921125708557, + -0.9714310203548738 + ], + [ + 0.9718722103675064, + 0.08553450343547306, + 0.21942710734415893, + 0.08731591465782515, + -0.9961794109007457, + 0.0015850378263920686, + 0.21872434195316576, + 0.017619024362624247, + -0.975627609396979 + ], + [ + 0.9855683375077087, + 0.021501905401127216, + 0.16790687944933108, + 0.0251609429716741, + -0.9994893893632667, + -0.019694859710603238, + 0.1673976674003177, + 0.023635325560803166, + -0.9856061040469298 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.002803236246109009, + -0.00011533685028553009, + -0.011611782014369965, + -0.004392426460981369, + 0.034975990653038025, + 0.0021505728363990784, + 1.0 + ], + [ + -0.02537176012992859, + 0.0004735272377729416, + -0.004987575113773346, + 0.004283033311367035, + 0.023729369044303894, + -0.004117973148822784, + 1.0 + ], + [ + -0.019989013671875, + 0.011942705139517784, + 0.010932482779026031, + -0.0013440363109111786, + -0.05477839708328247, + 0.009388536214828491, + 1.0 + ], + [ + -0.01839032769203186, + 0.013390306383371353, + -0.0002262890338897705, + 0.01573662832379341, + 0.009366586804389954, + 0.020683400332927704, + 1.0 + ], + [ + -0.010032594203948975, + 0.018998369574546814, + -0.00970497727394104, + 0.004710540175437927, + 0.014521896839141846, + 0.03734491765499115, + 1.0 + ], + [ + -0.0035716593265533447, + 0.01918885111808777, + -0.022190280258655548, + -0.011241570115089417, + 0.04439150542020798, + 0.032593466341495514, + 1.0 + ], + [ + -0.004588663578033447, + 0.00788278877735138, + -0.020946599543094635, + -0.0038454867899417877, + 0.04282040894031525, + -0.0034386254847049713, + 1.0 + ], + [ + -0.004661977291107178, + 0.0029238909482955933, + -0.00622156634926796, + 0.003670942038297653, + -0.0025724247097969055, + -0.019054599106311798, + 1.0 + ], + [ + -0.0017423629760742188, + 0.00014443695545196533, + -0.004107136279344559, + 0.0012288764119148254, + 0.012020006775856018, + -0.010149527341127396, + 1.0 + ], + [ + -0.00260239839553833, + -0.0003172159194946289, + -0.006038989871740341, + 0.0039927661418914795, + 0.013916276395320892, + 0.0007289117202162743, + 1.0 + ], + [ + 0.0013821423053741455, + -0.002086229622364044, + -0.008106032386422157, + -0.0037250928580760956, + 0.011590234935283661, + -0.007880630902945995, + 1.0 + ], + [ + -0.001164764165878296, + -0.0009962618350982666, + -0.009037772193551064, + -0.011600147932767868, + 0.0222373828291893, + -0.003297010436654091, + 1.0 + ], + [ + -0.0006435811519622803, + -0.001209452748298645, + -0.005474301055073738, + -0.008862484246492386, + 0.014901082962751389, + -0.0015926025807857513, + 1.0 + ], + [ + 0.001863926649093628, + -0.0013137832283973694, + -0.0004167407751083374, + -0.0005573444068431854, + -0.001878439448773861, + -0.003592168912291527, + 0.0 + ], + [ + 0.0011273026466369629, + -0.0018189549446105957, + -3.110617399215698e-07, + 0.0009074285626411438, + -0.002928563393652439, + -0.007770409807562828, + 0.0 + ], + [ + 0.0010061264038085938, + -0.002285085618495941, + 4.041939973831177e-07, + 0.00045382604002952576, + -0.0014642756432294846, + -0.009255137294530869, + 0.0 + ], + [ + 0.0013006329536437988, + -0.00325794517993927, + -0.0005459515377879143, + -0.001040589064359665, + 0.0072646671906113625, + -0.002348184585571289, + 0.0 + ], + [ + -0.002262115478515625, + -0.007635653018951416, + 0.0008481824770569801, + 0.0032516010105609894, + 0.029527096077799797, + 0.004029318690299988, + 0.0 + ], + [ + 0.005859076976776123, + -0.020641956478357315, + 0.04071721062064171, + 0.07742294669151306, + -0.07243254035711288, + 0.004582341760396957, + 0.0 + ], + [ + 0.0014312267303466797, + -0.03046923317015171, + 0.02790515497326851, + 0.018865033984184265, + -0.04474251717329025, + -0.005094323307275772, + 0.0 + ], + [ + -0.0033741295337677, + -0.047448113560676575, + 0.003709055483341217, + -0.05709994584321976, + 0.003697499632835388, + -0.0642315000295639, + 0.0 + ], + [ + -0.0115366131067276, + -0.04071847349405289, + -0.011118955910205841, + -0.04700736701488495, + 0.01347460225224495, + 0.010969355702400208, + 0.0 + ], + [ + -0.01210033893585205, + -0.006747506558895111, + -0.023047637194395065, + -0.004997940734028816, + 0.04267466068267822, + 0.05334603041410446, + 0.0 + ], + [ + -0.003836721181869507, + -0.001814819872379303, + -0.01528872549533844, + 0.01542162336409092, + 0.015512947924435139, + 0.0358661450445652, + 0.0 + ], + [ + 0.0017320364713668823, + -0.0013102665543556213, + -0.01717071235179901, + -0.010344482958316803, + -0.016949597746133804, + 0.03154708072543144, + 0.0 + ], + [ + 0.005575984716415405, + -0.0003960132598876953, + -0.010593642480671406, + -0.012843957170844078, + -0.006045212037861347, + 0.0014667920768260956, + 0.0 + ], + [ + 0.01118786633014679, + -0.002598784863948822, + -0.0012813154608011246, + -0.03239847347140312, + -0.017212258651852608, + -0.011104400269687176, + 1.0 + ], + [ + 0.0002504885196685791, + -0.00030375272035598755, + -0.004195256158709526, + -0.002464243210852146, + 0.0022760778665542603, + -0.019838111475110054, + 1.0 + ], + [ + 0.0010047107934951782, + -0.0006873086094856262, + 0.013834896497428417, + -0.007553845643997192, + -0.03785901516675949, + -0.018324822187423706, + 1.0 + ], + [ + 0.0026034116744995117, + 0.008655987679958344, + 0.03989756107330322, + 0.003063783049583435, + -0.0866020992398262, + -0.01659564860165119, + 1.0 + ], + [ + 0.007816016674041748, + 0.03125503286719322, + 0.04772905632853508, + 0.01212452631443739, + -0.09034466743469238, + 0.06984418630599976, + 1.0 + ], + [ + 0.006346702575683594, + 0.038353949785232544, + 0.014072909951210022, + -0.009682969190180302, + 0.010601475834846497, + 0.08445321768522263, + 1.0 + ], + [ + 0.01245376467704773, + 0.018070602789521217, + 0.0012319162487983704, + 0.002012765035033226, + 0.018275350332260132, + -0.024385645985603333, + 1.0 + ], + [ + 0.018852174282073975, + 0.008751921355724335, + -0.0013711228966712952, + -0.0059186965227127075, + 0.05231747031211853, + -0.06407859921455383, + 1.0 + ], + [ + 0.01101994514465332, + 0.0019311774522066116, + -0.005484163761138916, + 0.00754205696284771, + 0.026734933257102966, + -0.049928419291973114, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9461179971694946 + ], + [ + 0.651088297367096 + ], + [ + 0.4085940718650818 + ], + [ + 0.4059307873249054 + ], + [ + 0.4050447642803192 + ], + [ + 0.4050447642803192 + ], + [ + 0.4050447642803192 + ], + [ + 0.4050447642803192 + ], + [ + 0.4050447642803192 + ], + [ + 0.4050447642803192 + ], + [ + 0.4050447642803192 + ], + [ + 0.4050447642803192 + ], + [ + 0.4050447642803192 + ], + [ + 0.4918208718299866 + ], + [ + 0.7874543070793152 + ], + [ + 1.0067112445831299 + ], + [ + 1.0067112445831299 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.34296292066574097, + 0.01771676540374756, + 0.10221085697412491 + ], + [ + 0.3175911605358124, + 0.0181902926415205, + 0.09722328186035156 + ], + [ + 0.2976021468639374, + 0.030132997781038284, + 0.1081557646393776 + ], + [ + 0.2792118191719055, + 0.04352330416440964, + 0.10792947560548782 + ], + [ + 0.26917922496795654, + 0.06252167373895645, + 0.09822449833154678 + ], + [ + 0.2656075656414032, + 0.08171052485704422, + 0.07603421807289124 + ], + [ + 0.26101890206336975, + 0.0895933136343956, + 0.0550876185297966 + ], + [ + 0.2563569247722626, + 0.09251720458269119, + 0.04886605218052864 + ], + [ + 0.25461456179618835, + 0.09266164153814316, + 0.04475891590118408 + ], + [ + 0.25201216340065, + 0.09234442561864853, + 0.03871992602944374 + ], + [ + 0.25339430570602417, + 0.09025819599628448, + 0.030613893643021584 + ], + [ + 0.2522295415401459, + 0.08926193416118622, + 0.02157612144947052 + ], + [ + 0.2515859603881836, + 0.08805248141288757, + 0.016101820394396782 + ], + [ + 0.2534498870372772, + 0.0867386981844902, + 0.015685079619288445 + ], + [ + 0.2545771896839142, + 0.08491974323987961, + 0.015684768557548523 + ], + [ + 0.2555833160877228, + 0.08263465762138367, + 0.015685172751545906 + ], + [ + 0.2568839490413666, + 0.0793767124414444, + 0.015139221213757992 + ], + [ + 0.25462183356285095, + 0.07174105942249298, + 0.015987403690814972 + ], + [ + 0.2604809105396271, + 0.051099102944135666, + 0.05670461431145668 + ], + [ + 0.26191213726997375, + 0.020629869773983955, + 0.08460976928472519 + ], + [ + 0.25853800773620605, + -0.02681824378669262, + 0.0883188247680664 + ], + [ + 0.24700139462947845, + -0.06753671914339066, + 0.07719986885786057 + ], + [ + 0.2349010556936264, + -0.07428422570228577, + 0.0541522316634655 + ], + [ + 0.2310643345117569, + -0.07609904557466507, + 0.03886350616812706 + ], + [ + 0.23279637098312378, + -0.07740931212902069, + 0.02169279381632805 + ], + [ + 0.23837235569953918, + -0.07780532538890839, + 0.011099151335656643 + ], + [ + 0.24956022202968597, + -0.08040411025285721, + 0.009817835874855518 + ], + [ + 0.24981071054935455, + -0.0807078629732132, + 0.005622579716145992 + ], + [ + 0.25081542134284973, + -0.08139517158269882, + 0.01945747621357441 + ], + [ + 0.25341883301734924, + -0.07273918390274048, + 0.05935503914952278 + ], + [ + 0.261234849691391, + -0.041484151035547256, + 0.10708409547805786 + ], + [ + 0.2675815522670746, + -0.003130201483145356, + 0.12115700542926788 + ], + [ + 0.2800353169441223, + 0.014940401539206505, + 0.12238892167806625 + ], + [ + 0.2988874912261963, + 0.02369232289493084, + 0.12101779878139496 + ], + [ + 0.3099074363708496, + 0.02562350034713745, + 0.11553363502025604 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9877650178466926, + -0.0693771361634193, + 0.13966775753940233, + -0.07439040060599582, + -0.9967474552430714, + 0.030993205128553886, + 0.13706326209456113, + -0.04100394425202947, + -0.9897132608689114 + ], + [ + 0.9904142132840089, + -0.07395356055277381, + 0.1166642919088107, + -0.0786928438960658, + -0.9962287278241174, + 0.03654802563051969, + 0.11352146248426503, + -0.04537832896336007, + -0.9924987077149904 + ], + [ + 0.9834225014522847, + -0.06235553102978156, + 0.17027028920902576, + -0.06885278900847869, + -0.9970967148493041, + 0.03251822077666352, + 0.16774825508208796, + -0.04370273431628579, + -0.9848606977284631 + ], + [ + 0.9861622725449206, + -0.03960115183837837, + 0.16098360469970766, + -0.048574160515843026, + -0.9974551729168908, + 0.052189356688091486, + 0.15850717062397887, + -0.05928681804928836, + -0.9855762527914173 + ], + [ + 0.9894857379195305, + -0.00251303200024822, + 0.14460864124943745, + -0.011746791186277514, + -0.9979421765340902, + 0.0630351107814477, + 0.144152652943568, + -0.06407103061890858, + -0.9874790710110077 + ], + [ + 0.9947640390332197, + 0.026047820818019506, + 0.09882316366595016, + 0.0206168591516842, + -0.9982410744713348, + 0.0555850911399316, + 0.10009721157472089, + -0.05325662652616327, + -0.9935513474229796 + ], + [ + 0.9982013915769797, + 0.02011372833316712, + 0.05647494830737252, + 0.017254415632487776, + -0.9985664560087452, + 0.050668709035417224, + 0.05741312563310074, + -0.0496031336376439, + -0.997117476598602 + ], + [ + 0.9981979470138428, + 0.0014317651350216104, + 0.059990071061362074, + -0.00176762516129327, + -0.998579914079798, + 0.053245006316763, + 0.05998111434975427, + -0.05325509595316777, + -0.9967778893396363 + ], + [ + 0.9987773941586955, + -0.009283885795102748, + 0.04855436522197399, + -0.011906332288844986, + -0.9984697703201628, + 0.05400330553057256, + 0.04797870537012181, + -0.054515385180187906, + -0.9973595723758119 + ], + [ + 0.9993567168130448, + -0.009176567888915067, + 0.034669051940188225, + -0.011184698200587609, + -0.998243436931331, + 0.05818026426276686, + 0.034074258419122025, + -0.058530600759805526, + -0.9977039208542196 + ], + [ + 0.999565276397251, + -0.017809019368957887, + 0.02349674551939233, + -0.01906608210671261, + -0.9983367818137717, + 0.05440730273429749, + 0.022488724596719443, + -0.054831641474950246, + -0.9982423294767535 + ], + [ + 0.9997497906877921, + -0.022335315681522788, + 0.0012205298531316716, + -0.022367205681925188, + -0.9988141762317125, + 0.043242912350439804, + 0.00025323842148643015, + -0.04325939241334866, + -0.9990638422234736 + ], + [ + 0.9996056858586061, + -0.024448974268184556, + -0.013810157724631157, + -0.02395681119940421, + -0.9991090492625119, + 0.03474447983371764, + -0.014647320447837592, + -0.03439993225274084, + -0.9993008058961551 + ], + [ + 0.9995389200799938, + -0.02796659683767111, + -0.011824411471145492, + -0.027548110803052618, + -0.999035766977293, + 0.034185346148234874, + -0.012769057776614854, + -0.033843843774179455, + -0.9993455585542403 + ], + [ + 0.9993277729603665, + -0.03563735768199032, + -0.008601216630247384, + -0.035315197247199545, + -0.9987603767126901, + 0.03507914982032854, + -0.009840682571140506, + -0.03475181500542888, + -0.9993475232972576 + ], + [ + 0.998971455156847, + -0.04483161570222634, + -0.006793969041672226, + -0.044563062831926736, + -0.9983740166448042, + 0.03554513074329269, + -0.008376467802663441, + -0.035205810913085285, + -0.9993449783058415 + ], + [ + 0.9987769164792796, + -0.04741676883727613, + -0.014011464633443061, + -0.046904614806288124, + -0.9982908123537567, + 0.03486274630533252, + -0.01564059519377836, + -0.034162903903335845, + -0.9992938845899516 + ], + [ + 0.9980610336557509, + -0.0445429864630206, + -0.04347522806115147, + -0.0428413610344443, + -0.9983079558705509, + 0.03931721035728013, + -0.045152972025442197, + -0.037378437668225004, + -0.9982805525075364 + ], + [ + 0.9988946622837047, + -0.03493249426433975, + 0.0314511447422092, + -0.038292303475838646, + -0.9928027208872197, + 0.11347447683707367, + 0.027260835563823037, + -0.11455338599711996, + -0.9930429842665205 + ], + [ + 0.996469000068867, + -0.03342696870146831, + 0.07702057949135273, + -0.04328414866794552, + -0.9905562483157027, + 0.13009535501627792, + 0.07194452290372018, + -0.13296975853986973, + -0.9885054521539095 + ], + [ + 0.9918935489464891, + -0.1019248679385944, + 0.07588483942157755, + -0.10718343828657428, + -0.9918570863691613, + 0.06878394272172905, + 0.0682561214500695, + -0.07635994705981713, + -0.9947413032389953 + ], + [ + 0.9938348391422873, + -0.09486477294835484, + 0.05738455681175045, + -0.09637680376235962, + -0.9950512787759722, + 0.024175696532967948, + 0.05480715467505637, + -0.029557189645831, + -0.99805939118705 + ], + [ + 0.9989876981566022, + -0.04300077314578546, + 0.013210315690332982, + -0.04330959943078945, + -0.998772040218809, + 0.024055982089744167, + 0.01215966812532825, + -0.02460376365563257, + -0.9996233277015195 + ], + [ + 0.9999665516792563, + -0.007588344487409358, + -0.003051647200785553, + -0.007460099803648184, + -0.9991701129761239, + 0.04004288009371711, + -0.0033529738467913245, + -0.04001877513393685, + -0.999193302220928 + ], + [ + 0.9996175195967112, + 0.02447735983881796, + 0.01287141680779343, + 0.024082315015036732, + -0.9992597605337264, + 0.02999955135658688, + 0.01359619869064372, + -0.029678103601830406, + -0.999467034747902 + ], + [ + 0.9994806913781105, + 0.025877906056408325, + 0.019201081752590995, + 0.025545952749138328, + -0.9995233076349396, + 0.017336718047213574, + 0.019640566704470865, + -0.016837205012872357, + -0.999665322328869 + ], + [ + 0.9992166470623808, + 0.013873876282557906, + 0.03706221512955714, + 0.01443894806250672, + -0.9997828946557892, + -0.015022660634489551, + 0.036845746189506465, + 0.015546031988487797, + -0.9992000359673487 + ], + [ + 0.9993877290222926, + -0.006010928258825765, + 0.03446789551353738, + -0.005385602576362005, + -0.9998197431384964, + -0.018206496515274798, + 0.034571120383267345, + 0.01800971881897328, + -0.9992399549975508 + ], + [ + 0.9970971669896908, + -0.0255539533833526, + 0.07172332289858516, + -0.02364926883133688, + -0.9993480208971308, + -0.027280857991117423, + 0.07237369456422979, + 0.025505462071285824, + -0.9970514127865495 + ], + [ + 0.9865778532595617, + -0.04385013881475685, + 0.15729368958633264, + -0.03978983657098633, + -0.9987908640321526, + -0.02887176530038582, + 0.15836953104498733, + 0.022225554027580918, + -0.9871297363491579 + ], + [ + 0.9686420592394469, + 0.026966555340097672, + 0.2469926435452148, + 0.028617030449038985, + -0.9995856594991153, + -0.0030943322378111523, + 0.2468068610080418, + 0.010065496351826443, + -0.9690124143387168 + ], + [ + 0.9653212231214454, + 0.10900266531192117, + 0.23722005637427462, + 0.11051417437902013, + -0.993850189774721, + 0.006958271773557542, + 0.2365196682152253, + 0.01949921125708557, + -0.9714310203548738 + ], + [ + 0.9718722103675064, + 0.08553450343547306, + 0.21942710734415893, + 0.08731591465782515, + -0.9961794109007457, + 0.0015850378263920686, + 0.21872434195316576, + 0.017619024362624247, + -0.975627609396979 + ], + [ + 0.9855683375077087, + 0.021501905401127216, + 0.16790687944933108, + 0.0251609429716741, + -0.9994893893632667, + -0.019694859710603238, + 0.1673976674003177, + 0.023635325560803166, + -0.9856061040469298 + ], + [ + 0.9897171716173718, + -0.026714973367619826, + 0.14052128096369265, + -0.024158435357263856, + -0.9995106956612062, + -0.01986804620340278, + 0.14098329761641482, + 0.016268972211513785, + -0.9898782906682934 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006791.json b/json/chunk-0006/episode_0006791.json new file mode 100644 index 0000000000000000000000000000000000000000..a7bbc5f4fac308127f502f38ba78e91e8f44e8ae --- /dev/null +++ b/json/chunk-0006/episode_0006791.json @@ -0,0 +1,2182 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 35, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nTake carrot out of pot cardboard fence." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006791.mp4", + "start": 0, + "end": 35, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.28069621324539185, + 0.128681942820549, + 0.06022893637418747, + 0.024471895769238472, + -0.2508326470851898, + 1.1809401512145996, + 0.0, + 0.9907060265541077 + ], + [ + 0.2763689160346985, + 0.12610934674739838, + 0.05312808230519295, + 0.03716307878494263, + -0.2284492552280426, + 1.1936028003692627, + 0.0, + 0.9907060265541077 + ], + [ + 0.2738562524318695, + 0.1070898026227951, + 0.062096089124679565, + -0.022959964349865913, + -0.20894747972488403, + 1.304417371749878, + 0.0, + 0.9907060265541077 + ], + [ + 0.2750614583492279, + 0.08239933103322983, + 0.07437179237604141, + -0.07021751999855042, + -0.1673424392938614, + 1.4638322591781616, + 0.0, + 0.9907060265541077 + ], + [ + 0.27889952063560486, + 0.0555853396654129, + 0.08528291434049606, + -0.11455384641885757, + -0.12188178300857544, + 1.641588807106018, + 0.0, + 0.9907060265541077 + ], + [ + 0.2889609634876251, + 0.025000179186463356, + 0.09672821313142776, + -0.15280672907829285, + -0.0784575566649437, + 1.8882161378860474, + 0.0, + 0.9907060265541077 + ], + [ + 0.2992902100086212, + -0.0031910722609609365, + 0.09900207072496414, + -0.17463436722755432, + -0.01397002674639225, + 2.0485029220581055, + 0.0, + 0.9907060265541077 + ], + [ + 0.3095119297504425, + -0.017492715269327164, + 0.08716898411512375, + -0.14659948647022247, + 0.0016310594510287046, + 2.197688102722168, + 0.0, + 0.9907060265541077 + ], + [ + 0.31723323464393616, + -0.026273494586348534, + 0.07116224616765976, + -0.12799231708049774, + -0.013470232486724854, + 2.2904226779937744, + 0.0, + 0.9907060265541077 + ], + [ + 0.32026854157447815, + -0.03287345543503761, + 0.05993950739502907, + -0.1110718846321106, + -0.023860197514295578, + 2.300438404083252, + 0.0, + 0.9907060265541077 + ], + [ + 0.31921035051345825, + -0.03921610489487648, + 0.048614922910928726, + -0.09407322108745575, + -0.037908367812633514, + 2.3125429153442383, + 0.0, + 0.9907060265541077 + ], + [ + 0.321450799703598, + -0.042435020208358765, + 0.04470449686050415, + -0.1047123521566391, + -0.03554602339863777, + 2.315762996673584, + 0.0, + 0.9907060265541077 + ], + [ + 0.32137781381607056, + -0.043463677167892456, + 0.03473525866866112, + -0.10549946874380112, + -0.0550205372273922, + 2.3120718002319336, + 0.0, + 0.9907060265541077 + ], + [ + 0.3269210755825043, + -0.0458872988820076, + 0.028214046731591225, + -0.10110430419445038, + -0.0629996731877327, + 2.3078391551971436, + 0.0, + 0.9907060265541077 + ], + [ + 0.3326888382434845, + -0.047399118542671204, + 0.026035578921437263, + -0.1091381162405014, + -0.06462623924016953, + 2.313770055770874, + 0.0, + 0.9907060265541077 + ], + [ + 0.33442774415016174, + -0.04630253463983536, + 0.020738594233989716, + -0.11277445405721664, + -0.08064180612564087, + 2.314100503921509, + 0.0, + 0.9907060265541077 + ], + [ + 0.33451104164123535, + -0.04383900389075279, + 0.01592806726694107, + -0.11993567645549774, + -0.09720528870820999, + 2.3127171993255615, + 0.0, + 0.9907060265541077 + ], + [ + 0.33574679493904114, + -0.04306408390402794, + 0.015046780928969383, + -0.12806352972984314, + -0.09697908908128738, + 2.3097517490386963, + 0.0, + 0.9907060265541077 + ], + [ + 0.33634069561958313, + -0.041354842483997345, + 0.011542114429175854, + -0.13542434573173523, + -0.10077034682035446, + 2.311565399169922, + 0.0, + 0.9375205039978027 + ], + [ + 0.33739420771598816, + -0.04049498215317726, + 0.00883225817233324, + -0.14301039278507233, + -0.10186944156885147, + 2.3081002235412598, + 0.0, + 0.6611326336860657 + ], + [ + 0.3369120657444, + -0.04046513885259628, + 0.008223066106438637, + -0.14277313649654388, + -0.10146035254001617, + 2.309055805206299, + 0.0, + 0.5789291858673096 + ], + [ + 0.3359442949295044, + -0.037126556038856506, + 0.005765363574028015, + -0.15409943461418152, + -0.10289712995290756, + 2.300285577774048, + 0.0, + 0.608914315700531 + ], + [ + 0.32681769132614136, + -0.030898159369826317, + 0.012817447073757648, + -0.16426101326942444, + -0.09832311421632767, + 2.3086633682250977, + 0.0, + 0.608914315700531 + ], + [ + 0.32652541995048523, + -0.02290099672973156, + 0.053385451436042786, + -0.24228842556476593, + 0.004775633104145527, + 2.3270657062530518, + 0.0, + 0.608914315700531 + ], + [ + 0.3189685642719269, + -0.008237049914896488, + 0.08132747560739517, + -0.26188716292381287, + 0.08016456663608551, + 2.331395387649536, + 0.0, + 0.608914315700531 + ], + [ + 0.30420511960983276, + 0.011095029301941395, + 0.09210187196731567, + -0.2797444462776184, + 0.10573722422122955, + 2.3263022899627686, + 0.0, + 0.608914315700531 + ], + [ + 0.2821647822856903, + 0.033179666846990585, + 0.07789991796016693, + -0.25742852687835693, + 0.050790805369615555, + 2.288442850112915, + 0.0, + 0.608914315700531 + ], + [ + 0.2750855088233948, + 0.05673425644636154, + 0.06753615289926529, + -0.27126333117485046, + 0.01565246656537056, + 2.3001811504364014, + 0.0, + 0.608914315700531 + ], + [ + 0.27368009090423584, + 0.06650572270154953, + 0.048805855214595795, + -0.2781941592693329, + -0.03754438832402229, + 2.298351764678955, + 0.0, + 0.608914315700531 + ], + [ + 0.27635911107063293, + 0.0693255290389061, + 0.027963727712631226, + -0.26101696491241455, + -0.09021392464637756, + 2.2967042922973633, + 0.0, + 0.608914315700531 + ], + [ + 0.2817992866039276, + 0.07130514830350876, + 0.01355619914829731, + -0.25130847096443176, + -0.1302681714296341, + 2.293504476547241, + 0.0, + 0.608914315700531 + ], + [ + 0.2834208905696869, + 0.07060962170362473, + 0.010241847485303879, + -0.2478613406419754, + -0.13923461735248566, + 2.2909348011016846, + 0.0, + 0.573952317237854 + ], + [ + 0.2875397503376007, + 0.0697757750749588, + 0.007528983522206545, + -0.21198980510234833, + -0.14897550642490387, + 2.299288511276245, + 0.0, + 0.639030933380127 + ], + [ + 0.2911924719810486, + 0.07342861592769623, + 0.012503696605563164, + -0.19081072509288788, + -0.14388206601142883, + 2.2992730140686035, + 0.0, + 0.9247323274612427 + ], + [ + 0.29235461354255676, + 0.07624615728855133, + 0.014156125485897064, + -0.16262173652648926, + -0.14157848060131073, + 2.296339511871338, + 0.0, + 1.0008161067962646 + ] + ], + "left_gripper_pos": [ + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9375205039978027 + ], + [ + 0.6611326336860657 + ], + [ + 0.5789291858673096 + ], + [ + 0.608914315700531 + ], + [ + 0.608914315700531 + ], + [ + 0.608914315700531 + ], + [ + 0.608914315700531 + ], + [ + 0.608914315700531 + ], + [ + 0.608914315700531 + ], + [ + 0.608914315700531 + ], + [ + 0.608914315700531 + ], + [ + 0.608914315700531 + ], + [ + 0.608914315700531 + ], + [ + 0.573952317237854 + ], + [ + 0.639030933380127 + ], + [ + 0.9247323274612427 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.28069621324539185, + 0.128681942820549, + 0.06022893637418747 + ], + [ + 0.2763689160346985, + 0.12610934674739838, + 0.05312808230519295 + ], + [ + 0.2738562524318695, + 0.1070898026227951, + 0.062096089124679565 + ], + [ + 0.2750614583492279, + 0.08239933103322983, + 0.07437179237604141 + ], + [ + 0.27889952063560486, + 0.0555853396654129, + 0.08528291434049606 + ], + [ + 0.2889609634876251, + 0.025000179186463356, + 0.09672821313142776 + ], + [ + 0.2992902100086212, + -0.0031910722609609365, + 0.09900207072496414 + ], + [ + 0.3095119297504425, + -0.017492715269327164, + 0.08716898411512375 + ], + [ + 0.31723323464393616, + -0.026273494586348534, + 0.07116224616765976 + ], + [ + 0.32026854157447815, + -0.03287345543503761, + 0.05993950739502907 + ], + [ + 0.31921035051345825, + -0.03921610489487648, + 0.048614922910928726 + ], + [ + 0.321450799703598, + -0.042435020208358765, + 0.04470449686050415 + ], + [ + 0.32137781381607056, + -0.043463677167892456, + 0.03473525866866112 + ], + [ + 0.3269210755825043, + -0.0458872988820076, + 0.028214046731591225 + ], + [ + 0.3326888382434845, + -0.047399118542671204, + 0.026035578921437263 + ], + [ + 0.33442774415016174, + -0.04630253463983536, + 0.020738594233989716 + ], + [ + 0.33451104164123535, + -0.04383900389075279, + 0.01592806726694107 + ], + [ + 0.33574679493904114, + -0.04306408390402794, + 0.015046780928969383 + ], + [ + 0.33634069561958313, + -0.041354842483997345, + 0.011542114429175854 + ], + [ + 0.33739420771598816, + -0.04049498215317726, + 0.00883225817233324 + ], + [ + 0.3369120657444, + -0.04046513885259628, + 0.008223066106438637 + ], + [ + 0.3359442949295044, + -0.037126556038856506, + 0.005765363574028015 + ], + [ + 0.32681769132614136, + -0.030898159369826317, + 0.012817447073757648 + ], + [ + 0.32652541995048523, + -0.02290099672973156, + 0.053385451436042786 + ], + [ + 0.3189685642719269, + -0.008237049914896488, + 0.08132747560739517 + ], + [ + 0.30420511960983276, + 0.011095029301941395, + 0.09210187196731567 + ], + [ + 0.2821647822856903, + 0.033179666846990585, + 0.07789991796016693 + ], + [ + 0.2750855088233948, + 0.05673425644636154, + 0.06753615289926529 + ], + [ + 0.27368009090423584, + 0.06650572270154953, + 0.048805855214595795 + ], + [ + 0.27635911107063293, + 0.0693255290389061, + 0.027963727712631226 + ], + [ + 0.2817992866039276, + 0.07130514830350876, + 0.01355619914829731 + ], + [ + 0.2834208905696869, + 0.07060962170362473, + 0.010241847485303879 + ], + [ + 0.2875397503376007, + 0.0697757750749588, + 0.007528983522206545 + ], + [ + 0.2911924719810486, + 0.07342861592769623, + 0.012503696605563164 + ], + [ + 0.29235461354255676, + 0.07624615728855133, + 0.014156125485897064 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.36816196597297224, + 0.9269950725144095, + 0.07167218668996352, + 0.8960179949278085, + -0.3743237499118982, + 0.2388168398950222, + 0.24821063550232098, + -0.023703708273171226, + -0.9684160338602592 + ], + [ + 0.35874351732050114, + 0.9321591152064226, + 0.04881057998113415, + 0.9055471449967434, + -0.3602356526233217, + 0.22408623957596396, + 0.22646734194749174, + -0.03618920442105454, + -0.973346230544203 + ], + [ + 0.25751431382371265, + 0.9632225554603763, + 0.0767377796674139, + 0.9437473245740909, + -0.2677646721179506, + 0.19401821493048482, + 0.20743038720290674, + 0.022458606767752534, + -0.9779919454918344 + ], + [ + 0.10526887174881777, + 0.9905870430518977, + 0.0874972844060254, + 0.9803955309534087, + -0.11811634311330371, + 0.15771218207901444, + 0.16656250336529782, + 0.06917976313372472, + -0.983601084203066 + ], + [ + -0.07020863683337136, + 0.991940539825773, + 0.10547375391135513, + 0.9900954456134787, + 0.056407534474828214, + 0.12856593106230457, + 0.12158024465120126, + 0.11345552214248719, + -0.9860761069034829 + ], + [ + -0.3111561724761783, + 0.9426972962760182, + 0.12043107540772152, + 0.9471213587457324, + 0.2971454361349076, + 0.12110211225174145, + 0.07837708936680815, + 0.1517445135024033, + -0.985307380711373 + ], + [ + -0.4596988631149674, + 0.8756603719076507, + 0.14797252556255608, + 0.8879649803337989, + 0.45059561672345744, + 0.09209660086237192, + 0.013969572348587561, + 0.173731123464283, + -0.9846940376524251 + ], + [ + -0.5866296052329452, + 0.8010281414140958, + 0.11924606042514846, + 0.8098537188354853, + 0.5805308637122018, + 0.08438524969388803, + -0.0016310587278292946, + 0.1460747512071965, + -0.989272210621112 + ], + [ + -0.6590439192936597, + 0.7470336063258745, + 0.08718889528954414, + 0.7519838271218993, + 0.6524193250669954, + 0.09417721606751883, + 0.013469825134508354, + 0.12763156074766532, + -0.9917301792886819 + ], + [ + -0.6664131349356152, + 0.7425825323718797, + 0.06681853187141748, + 0.7452008672762348, + 0.6605239303910718, + 0.09156311916638707, + 0.02385793360777412, + 0.11081209318886037, + -0.9935549702996157 + ], + [ + -0.6750913245193925, + 0.7364348000798897, + 0.04376629742102021, + 0.7367600338251534, + 0.6699647480562704, + 0.09127918119624481, + 0.037899289130682974, + 0.0938670421031311, + -0.9948631173634883 + ], + [ + -0.6775190546879, + 0.7336023091390682, + 0.052873268866611686, + 0.7346461344255868, + 0.6715033798974073, + 0.0968414578571628, + 0.0355385383542543, + 0.10445507556928407, + -0.9938944357825221 + ], + [ + -0.6742074706327442, + 0.7374171097177525, + 0.04074669113576102, + 0.7364917382837303, + 0.6672035938283766, + 0.11144184053715182, + 0.05499278118813857, + 0.10514452281509766, + -0.9929352563682985 + ], + [ + -0.6707678583990252, + 0.7409488754106841, + 0.03263807847328129, + 0.738990371667398, + 0.6639637385224925, + 0.11421639335102615, + 0.06295800760559682, + 0.10073191130360831, + -0.9929196197696245 + ], + [ + -0.6750687454785922, + 0.736837028612175, + 0.03678834250058542, + 0.7349227506127203, + 0.6672756272731548, + 0.12096192739474318, + 0.06458126283832642, + 0.10869420643805491, + -0.9919752164126927 + ], + [ + -0.6745250464471658, + 0.7376944343787035, + 0.02868594084449044, + 0.733843951652283, + 0.6657513407360752, + 0.1350859242537133, + 0.08055443090737217, + 0.11216984351777877, + -0.9904185528686276 + ], + [ + -0.6725153590766862, + 0.7397227651968624, + 0.02309377525359274, + 0.7336919970632222, + 0.6622909827570894, + 0.15187727810317647, + 0.09705228102078128, + 0.11908352030468512, + -0.9881295309525503 + ], + [ + -0.6703514467882197, + 0.7414482763918444, + 0.029721898063610155, + 0.7356992873747619, + 0.6588600520138153, + 0.15700315416137398, + 0.09682714673689428, + 0.12711367076721428, + -0.9871507576651481 + ], + [ + -0.6714320807271595, + 0.7403591276653458, + 0.03236237094226608, + 0.7342061182388442, + 0.6586538719194376, + 0.16467074101424634, + 0.10059988524369687, + 0.1343258690206054, + -0.9858175409277388 + ], + [ + -0.66880916279323, + 0.7424706063125177, + 0.03783784515193186, + 0.7364460385527791, + 0.654701872021382, + 0.17033112185275168, + 0.10169334326167889, + 0.14178454617348418, + -0.9846601476665144 + ], + [ + -0.6695405336004054, + 0.7418145918113631, + 0.03777016338096584, + 0.7358373093421492, + 0.6554942977757987, + 0.16991374212675797, + 0.1012863665366188, + 0.1415568329652545, + -0.9847348551740497 + ], + [ + -0.6629637306496314, + 0.7471884419632218, + 0.04678166349859227, + 0.741571700569065, + 0.6468374849907945, + 0.17796820200779723, + 0.10271565001608687, + 0.15267842089619738, + -0.982923595725739 + ], + [ + -0.6694621788272587, + 0.7407441044845066, + 0.055844093611645246, + 0.7363314941660276, + 0.6517790763094399, + 0.18165892872203931, + 0.0981647687262858, + 0.16273354711509236, + -0.9817746537898884 + ], + [ + -0.6862047441375613, + 0.7053684928514091, + 0.17770294993509678, + 0.7273927705338702, + 0.6670027547502674, + 0.1612671154656619, + -0.004775614951450277, + 0.23992210079124873, + -0.9707803969249427 + ], + [ + -0.6871417056393374, + 0.6854303985157298, + 0.24087641055452047, + 0.7220967198802074, + 0.6808699001333942, + 0.12244389013171264, + -0.08007873318995079, + 0.2580723694681581, + -0.9628011469705378 + ], + [ + -0.6818276827336089, + 0.679646843572695, + 0.27053868314862006, + 0.7238592786096516, + 0.6802151111079908, + 0.11547790867113175, + -0.10554030428623754, + 0.2745679708961264, + -0.9557581668650036 + ], + [ + -0.6567654478637386, + 0.720030826028284, + 0.22408649236705463, + 0.7523839831585847, + 0.6456812201480664, + 0.13043812262727067, + -0.05076897062936786, + 0.25426633972496504, + -0.9658007766118761 + ], + [ + -0.6663294615759294, + 0.7155259788314333, + 0.20982760126649513, + 0.7454931716212995, + 0.6451694434445743, + 0.1673210097729332, + -0.015651827431572868, + 0.26791596231418824, + -0.9633151392121452 + ], + [ + -0.6645773560450979, + 0.7249453099979277, + 0.18108350378793603, + 0.746276100997014, + 0.631778901710688, + 0.20958864576577485, + 0.03753556863565008, + 0.27442615922183017, + -0.96087531148529 + ], + [ + -0.661115366778297, + 0.7379975171117232, + 0.13522624207797118, + 0.7448556734980682, + 0.6239419676683533, + 0.23640314431048304, + 0.09009160597601443, + 0.25701378507596767, + -0.9621992604515902 + ], + [ + -0.6558141192277702, + 0.7478230499488308, + 0.10328856174200712, + 0.7436624361456716, + 0.6164143076373798, + 0.2588427754560946, + 0.1299000465257369, + 0.24656457025525383, + -0.9603811173734378 + ], + [ + -0.6531065754630336, + 0.7511960054995004, + 0.09568888341151684, + 0.7444397054035543, + 0.6137397187853741, + 0.262931707110266, + 0.13878517970452559, + 0.2429570309886999, + -0.960057578995936 + ], + [ + -0.6583712689084587, + 0.7502661109130156, + 0.06039896597893144, + 0.7379141362457872, + 0.6275392699485827, + 0.2483489323533188, + 0.14842506461005622, + 0.20807505253599742, + -0.9667857946348002 + ], + [ + -0.6588545819561324, + 0.7507505397410306, + 0.04779400500022549, + 0.738478879485986, + 0.6333593986934019, + 0.2313110819650786, + 0.14338613736527223, + 0.18769522946863665, + -0.9717051592155841 + ], + [ + -0.6569028476036652, + 0.7534275153833041, + 0.028733741029266152, + 0.7406535979087276, + 0.6376953750979438, + 0.21160542640383634, + 0.14110597689344195, + 0.1602859558477715, + -0.9769327078376041 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.004327297210693359, + -0.0025725960731506348, + -0.007100854068994522, + 0.012691183015704155, + 0.022383391857147217, + 0.012662649154663086, + 1.0 + ], + [ + -0.0025126636028289795, + -0.01901954412460327, + 0.008968006819486618, + -0.06012304127216339, + 0.01950177550315857, + 0.11081457138061523, + 1.0 + ], + [ + 0.0012052059173583984, + -0.024690471589565277, + 0.012275703251361847, + -0.04725755751132965, + 0.041605040431022644, + 0.1594148874282837, + 1.0 + ], + [ + 0.003838062286376953, + -0.026813991367816925, + 0.010911121964454651, + -0.04433632642030716, + 0.04546065628528595, + 0.17775654792785645, + 1.0 + ], + [ + 0.010061442852020264, + -0.030585160478949547, + 0.011445298790931702, + -0.03825288265943527, + 0.043424226343631744, + 0.2466273307800293, + 1.0 + ], + [ + 0.010329246520996094, + -0.028191251680254936, + 0.002273857593536377, + -0.021827638149261475, + 0.0644875317811966, + 0.1602867841720581, + 1.0 + ], + [ + 0.010221719741821289, + -0.014301642775535583, + -0.011833086609840393, + 0.028034880757331848, + 0.015601086430251598, + 0.1491851806640625, + 1.0 + ], + [ + 0.007721304893493652, + -0.00878077931702137, + -0.01600673794746399, + 0.01860716938972473, + -0.015101292170584202, + 0.09273457527160645, + 1.0 + ], + [ + 0.003035306930541992, + -0.006599960848689079, + -0.011222738772630692, + 0.016920432448387146, + -0.010389965027570724, + 0.010015726089477539, + 1.0 + ], + [ + -0.0010581910610198975, + -0.006342649459838867, + -0.011324584484100342, + 0.016998663544654846, + -0.014048170298337936, + 0.012104511260986328, + 1.0 + ], + [ + 0.0022404491901397705, + -0.0032189153134822845, + -0.003910426050424576, + -0.01063913106918335, + 0.002362344413995743, + 0.003220081329345703, + 1.0 + ], + [ + -7.298588752746582e-05, + -0.0010286569595336914, + -0.009969238191843033, + -0.0007871165871620178, + -0.019474513828754425, + -0.0036911964416503906, + 1.0 + ], + [ + 0.005543261766433716, + -0.002423621714115143, + -0.006521211937069893, + 0.0043951645493507385, + -0.0079791359603405, + -0.004232645034790039, + 1.0 + ], + [ + 0.005767762660980225, + -0.0015118196606636047, + -0.002178467810153961, + -0.008033812046051025, + -0.0016265660524368286, + 0.005930900573730469, + 1.0 + ], + [ + 0.001738905906677246, + 0.001096583902835846, + -0.005296984687447548, + -0.0036363378167152405, + -0.016015566885471344, + 0.0003304481506347656, + 1.0 + ], + [ + 8.32974910736084e-05, + 0.0024635307490825653, + -0.004810526967048645, + -0.007161222398281097, + -0.016563482582569122, + -0.0013833045959472656, + 1.0 + ], + [ + 0.0012357532978057861, + 0.0007749199867248535, + -0.0008812863379716873, + -0.008127853274345398, + 0.00022619962692260742, + -0.0029654502868652344, + 1.0 + ], + [ + 0.0005939006805419922, + 0.0017092414200305939, + -0.0035046664997935295, + -0.00736081600189209, + -0.0037912577390670776, + 0.001813650131225586, + 0.0 + ], + [ + 0.0010535120964050293, + 0.0008598603308200836, + -0.0027098562568426132, + -0.007586047053337097, + -0.0010990947484970093, + -0.0034651756286621094, + 0.0 + ], + [ + -0.00048214197158813477, + 2.9843300580978394e-05, + -0.0006091920658946037, + 0.00023725628852844238, + 0.00040908902883529663, + 0.0009555816650390625, + 0.0 + ], + [ + -0.0009677708148956299, + 0.0033385828137397766, + -0.0024577025324106216, + -0.011326298117637634, + -0.001436777412891388, + -0.008770227432250977, + 0.0 + ], + [ + -0.009126603603363037, + 0.0062283966690301895, + 0.007052083499729633, + -0.01016157865524292, + 0.004574015736579895, + 0.008377790451049805, + 0.0 + ], + [ + -0.00029227137565612793, + 0.007997162640094757, + 0.04056800529360771, + -0.07802741229534149, + 0.10309875011444092, + 0.0184023380279541, + 0.0 + ], + [ + -0.00755685567855835, + 0.014663946814835072, + 0.027942024171352386, + -0.019598737359046936, + 0.07538893073797226, + 0.004329681396484375, + 0.0 + ], + [ + -0.014763444662094116, + 0.019332079216837883, + 0.010774396359920502, + -0.017857283353805542, + 0.025572657585144043, + -0.005093097686767578, + 0.0 + ], + [ + -0.022040337324142456, + 0.022084638476371765, + -0.014201954007148743, + 0.022315919399261475, + -0.054946418851614, + -0.037859439849853516, + 0.0 + ], + [ + -0.007079273462295532, + 0.023554589599370956, + -0.010363765060901642, + -0.01383480429649353, + -0.035138338804244995, + 0.011738300323486328, + 0.0 + ], + [ + -0.0014054179191589355, + 0.009771466255187988, + -0.018730297684669495, + -0.006930828094482422, + -0.05319685488939285, + -0.001829385757446289, + 0.0 + ], + [ + 0.0026790201663970947, + 0.0028198063373565674, + -0.02084212750196457, + 0.017177194356918335, + -0.05266953632235527, + -0.0016474723815917969, + 0.0 + ], + [ + 0.005440175533294678, + 0.001979619264602661, + -0.014407528564333916, + 0.009708493947982788, + -0.04005424678325653, + -0.0031998157501220703, + 0.0 + ], + [ + 0.0016216039657592773, + -0.0006955265998840332, + -0.003314351662993431, + 0.00344713032245636, + -0.008966445922851562, + -0.0025696754455566406, + 0.0 + ], + [ + 0.004118859767913818, + -0.0008338466286659241, + -0.002712863963097334, + 0.035871535539627075, + -0.009740889072418213, + 0.008353710174560547, + 1.0 + ], + [ + 0.003652721643447876, + 0.0036528408527374268, + 0.004974713083356619, + 0.02117908000946045, + 0.005093440413475037, + -1.5497207641601562e-05, + 1.0 + ], + [ + 0.0011621415615081787, + 0.0028175413608551025, + 0.0016524288803339005, + 0.02818898856639862, + 0.002303585410118103, + -0.002933502197265625, + 1.0 + ], + [ + 0.00018993020057678223, + 0.0032451897859573364, + 0.0024227090179920197, + 0.02428579330444336, + 0.0018508732318878174, + 0.0015959739685058594, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9907060265541077 + ], + [ + 0.9375205039978027 + ], + [ + 0.6611326336860657 + ], + [ + 0.5789291858673096 + ], + [ + 0.608914315700531 + ], + [ + 0.608914315700531 + ], + [ + 0.608914315700531 + ], + [ + 0.608914315700531 + ], + [ + 0.608914315700531 + ], + [ + 0.608914315700531 + ], + [ + 0.608914315700531 + ], + [ + 0.608914315700531 + ], + [ + 0.608914315700531 + ], + [ + 0.608914315700531 + ], + [ + 0.573952317237854 + ], + [ + 0.639030933380127 + ], + [ + 0.9247323274612427 + ], + [ + 1.0008161067962646 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2763689160346985, + 0.12610934674739838, + 0.05312808230519295 + ], + [ + 0.2738562524318695, + 0.1070898026227951, + 0.062096089124679565 + ], + [ + 0.2750614583492279, + 0.08239933103322983, + 0.07437179237604141 + ], + [ + 0.27889952063560486, + 0.0555853396654129, + 0.08528291434049606 + ], + [ + 0.2889609634876251, + 0.025000179186463356, + 0.09672821313142776 + ], + [ + 0.2992902100086212, + -0.0031910722609609365, + 0.09900207072496414 + ], + [ + 0.3095119297504425, + -0.017492715269327164, + 0.08716898411512375 + ], + [ + 0.31723323464393616, + -0.026273494586348534, + 0.07116224616765976 + ], + [ + 0.32026854157447815, + -0.03287345543503761, + 0.05993950739502907 + ], + [ + 0.31921035051345825, + -0.03921610489487648, + 0.048614922910928726 + ], + [ + 0.321450799703598, + -0.042435020208358765, + 0.04470449686050415 + ], + [ + 0.32137781381607056, + -0.043463677167892456, + 0.03473525866866112 + ], + [ + 0.3269210755825043, + -0.0458872988820076, + 0.028214046731591225 + ], + [ + 0.3326888382434845, + -0.047399118542671204, + 0.026035578921437263 + ], + [ + 0.33442774415016174, + -0.04630253463983536, + 0.020738594233989716 + ], + [ + 0.33451104164123535, + -0.04383900389075279, + 0.01592806726694107 + ], + [ + 0.33574679493904114, + -0.04306408390402794, + 0.015046780928969383 + ], + [ + 0.33634069561958313, + -0.041354842483997345, + 0.011542114429175854 + ], + [ + 0.33739420771598816, + -0.04049498215317726, + 0.00883225817233324 + ], + [ + 0.3369120657444, + -0.04046513885259628, + 0.008223066106438637 + ], + [ + 0.3359442949295044, + -0.037126556038856506, + 0.005765363574028015 + ], + [ + 0.32681769132614136, + -0.030898159369826317, + 0.012817447073757648 + ], + [ + 0.32652541995048523, + -0.02290099672973156, + 0.053385451436042786 + ], + [ + 0.3189685642719269, + -0.008237049914896488, + 0.08132747560739517 + ], + [ + 0.30420511960983276, + 0.011095029301941395, + 0.09210187196731567 + ], + [ + 0.2821647822856903, + 0.033179666846990585, + 0.07789991796016693 + ], + [ + 0.2750855088233948, + 0.05673425644636154, + 0.06753615289926529 + ], + [ + 0.27368009090423584, + 0.06650572270154953, + 0.048805855214595795 + ], + [ + 0.27635911107063293, + 0.0693255290389061, + 0.027963727712631226 + ], + [ + 0.2817992866039276, + 0.07130514830350876, + 0.01355619914829731 + ], + [ + 0.2834208905696869, + 0.07060962170362473, + 0.010241847485303879 + ], + [ + 0.2875397503376007, + 0.0697757750749588, + 0.007528983522206545 + ], + [ + 0.2911924719810486, + 0.07342861592769623, + 0.012503696605563164 + ], + [ + 0.29235461354255676, + 0.07624615728855133, + 0.014156125485897064 + ], + [ + 0.29254454374313354, + 0.07949134707450867, + 0.016578834503889084 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.35874351732050114, + 0.9321591152064226, + 0.04881057998113415, + 0.9055471449967434, + -0.3602356526233217, + 0.22408623957596396, + 0.22646734194749174, + -0.03618920442105454, + -0.973346230544203 + ], + [ + 0.25751431382371265, + 0.9632225554603763, + 0.0767377796674139, + 0.9437473245740909, + -0.2677646721179506, + 0.19401821493048482, + 0.20743038720290674, + 0.022458606767752534, + -0.9779919454918344 + ], + [ + 0.10526887174881777, + 0.9905870430518977, + 0.0874972844060254, + 0.9803955309534087, + -0.11811634311330371, + 0.15771218207901444, + 0.16656250336529782, + 0.06917976313372472, + -0.983601084203066 + ], + [ + -0.07020863683337136, + 0.991940539825773, + 0.10547375391135513, + 0.9900954456134787, + 0.056407534474828214, + 0.12856593106230457, + 0.12158024465120126, + 0.11345552214248719, + -0.9860761069034829 + ], + [ + -0.3111561724761783, + 0.9426972962760182, + 0.12043107540772152, + 0.9471213587457324, + 0.2971454361349076, + 0.12110211225174145, + 0.07837708936680815, + 0.1517445135024033, + -0.985307380711373 + ], + [ + -0.4596988631149674, + 0.8756603719076507, + 0.14797252556255608, + 0.8879649803337989, + 0.45059561672345744, + 0.09209660086237192, + 0.013969572348587561, + 0.173731123464283, + -0.9846940376524251 + ], + [ + -0.5866296052329452, + 0.8010281414140958, + 0.11924606042514846, + 0.8098537188354853, + 0.5805308637122018, + 0.08438524969388803, + -0.0016310587278292946, + 0.1460747512071965, + -0.989272210621112 + ], + [ + -0.6590439192936597, + 0.7470336063258745, + 0.08718889528954414, + 0.7519838271218993, + 0.6524193250669954, + 0.09417721606751883, + 0.013469825134508354, + 0.12763156074766532, + -0.9917301792886819 + ], + [ + -0.6664131349356152, + 0.7425825323718797, + 0.06681853187141748, + 0.7452008672762348, + 0.6605239303910718, + 0.09156311916638707, + 0.02385793360777412, + 0.11081209318886037, + -0.9935549702996157 + ], + [ + -0.6750913245193925, + 0.7364348000798897, + 0.04376629742102021, + 0.7367600338251534, + 0.6699647480562704, + 0.09127918119624481, + 0.037899289130682974, + 0.0938670421031311, + -0.9948631173634883 + ], + [ + -0.6775190546879, + 0.7336023091390682, + 0.052873268866611686, + 0.7346461344255868, + 0.6715033798974073, + 0.0968414578571628, + 0.0355385383542543, + 0.10445507556928407, + -0.9938944357825221 + ], + [ + -0.6742074706327442, + 0.7374171097177525, + 0.04074669113576102, + 0.7364917382837303, + 0.6672035938283766, + 0.11144184053715182, + 0.05499278118813857, + 0.10514452281509766, + -0.9929352563682985 + ], + [ + -0.6707678583990252, + 0.7409488754106841, + 0.03263807847328129, + 0.738990371667398, + 0.6639637385224925, + 0.11421639335102615, + 0.06295800760559682, + 0.10073191130360831, + -0.9929196197696245 + ], + [ + -0.6750687454785922, + 0.736837028612175, + 0.03678834250058542, + 0.7349227506127203, + 0.6672756272731548, + 0.12096192739474318, + 0.06458126283832642, + 0.10869420643805491, + -0.9919752164126927 + ], + [ + -0.6745250464471658, + 0.7376944343787035, + 0.02868594084449044, + 0.733843951652283, + 0.6657513407360752, + 0.1350859242537133, + 0.08055443090737217, + 0.11216984351777877, + -0.9904185528686276 + ], + [ + -0.6725153590766862, + 0.7397227651968624, + 0.02309377525359274, + 0.7336919970632222, + 0.6622909827570894, + 0.15187727810317647, + 0.09705228102078128, + 0.11908352030468512, + -0.9881295309525503 + ], + [ + -0.6703514467882197, + 0.7414482763918444, + 0.029721898063610155, + 0.7356992873747619, + 0.6588600520138153, + 0.15700315416137398, + 0.09682714673689428, + 0.12711367076721428, + -0.9871507576651481 + ], + [ + -0.6714320807271595, + 0.7403591276653458, + 0.03236237094226608, + 0.7342061182388442, + 0.6586538719194376, + 0.16467074101424634, + 0.10059988524369687, + 0.1343258690206054, + -0.9858175409277388 + ], + [ + -0.66880916279323, + 0.7424706063125177, + 0.03783784515193186, + 0.7364460385527791, + 0.654701872021382, + 0.17033112185275168, + 0.10169334326167889, + 0.14178454617348418, + -0.9846601476665144 + ], + [ + -0.6695405336004054, + 0.7418145918113631, + 0.03777016338096584, + 0.7358373093421492, + 0.6554942977757987, + 0.16991374212675797, + 0.1012863665366188, + 0.1415568329652545, + -0.9847348551740497 + ], + [ + -0.6629637306496314, + 0.7471884419632218, + 0.04678166349859227, + 0.741571700569065, + 0.6468374849907945, + 0.17796820200779723, + 0.10271565001608687, + 0.15267842089619738, + -0.982923595725739 + ], + [ + -0.6694621788272587, + 0.7407441044845066, + 0.055844093611645246, + 0.7363314941660276, + 0.6517790763094399, + 0.18165892872203931, + 0.0981647687262858, + 0.16273354711509236, + -0.9817746537898884 + ], + [ + -0.6862047441375613, + 0.7053684928514091, + 0.17770294993509678, + 0.7273927705338702, + 0.6670027547502674, + 0.1612671154656619, + -0.004775614951450277, + 0.23992210079124873, + -0.9707803969249427 + ], + [ + -0.6871417056393374, + 0.6854303985157298, + 0.24087641055452047, + 0.7220967198802074, + 0.6808699001333942, + 0.12244389013171264, + -0.08007873318995079, + 0.2580723694681581, + -0.9628011469705378 + ], + [ + -0.6818276827336089, + 0.679646843572695, + 0.27053868314862006, + 0.7238592786096516, + 0.6802151111079908, + 0.11547790867113175, + -0.10554030428623754, + 0.2745679708961264, + -0.9557581668650036 + ], + [ + -0.6567654478637386, + 0.720030826028284, + 0.22408649236705463, + 0.7523839831585847, + 0.6456812201480664, + 0.13043812262727067, + -0.05076897062936786, + 0.25426633972496504, + -0.9658007766118761 + ], + [ + -0.6663294615759294, + 0.7155259788314333, + 0.20982760126649513, + 0.7454931716212995, + 0.6451694434445743, + 0.1673210097729332, + -0.015651827431572868, + 0.26791596231418824, + -0.9633151392121452 + ], + [ + -0.6645773560450979, + 0.7249453099979277, + 0.18108350378793603, + 0.746276100997014, + 0.631778901710688, + 0.20958864576577485, + 0.03753556863565008, + 0.27442615922183017, + -0.96087531148529 + ], + [ + -0.661115366778297, + 0.7379975171117232, + 0.13522624207797118, + 0.7448556734980682, + 0.6239419676683533, + 0.23640314431048304, + 0.09009160597601443, + 0.25701378507596767, + -0.9621992604515902 + ], + [ + -0.6558141192277702, + 0.7478230499488308, + 0.10328856174200712, + 0.7436624361456716, + 0.6164143076373798, + 0.2588427754560946, + 0.1299000465257369, + 0.24656457025525383, + -0.9603811173734378 + ], + [ + -0.6531065754630336, + 0.7511960054995004, + 0.09568888341151684, + 0.7444397054035543, + 0.6137397187853741, + 0.262931707110266, + 0.13878517970452559, + 0.2429570309886999, + -0.960057578995936 + ], + [ + -0.6583712689084587, + 0.7502661109130156, + 0.06039896597893144, + 0.7379141362457872, + 0.6275392699485827, + 0.2483489323533188, + 0.14842506461005622, + 0.20807505253599742, + -0.9667857946348002 + ], + [ + -0.6588545819561324, + 0.7507505397410306, + 0.04779400500022549, + 0.738478879485986, + 0.6333593986934019, + 0.2313110819650786, + 0.14338613736527223, + 0.18769522946863665, + -0.9717051592155841 + ], + [ + -0.6569028476036652, + 0.7534275153833041, + 0.028733741029266152, + 0.7406535979087276, + 0.6376953750979438, + 0.21160542640383634, + 0.14110597689344195, + 0.1602859558477715, + -0.9769327078376041 + ], + [ + -0.6582565554261486, + 0.7527085054878206, + 0.011323118156820439, + 0.7397981024063971, + 0.6440370106495961, + 0.19471799246455343, + 0.13927338193063193, + 0.1365512163249509, + -0.9807939082222017 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006792.json b/json/chunk-0006/episode_0006792.json new file mode 100644 index 0000000000000000000000000000000000000000..307e57621a7d605212fb69137ae67418df14881c --- /dev/null +++ b/json/chunk-0006/episode_0006792.json @@ -0,0 +1,2662 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 43, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove yellow knife onto towel." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006792.mp4", + "start": 0, + "end": 43, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.28156042098999023, + 0.02834456041455269, + 0.24714401364326477, + -0.00471852021291852, + -0.1037936806678772, + 0.006233653984963894, + 0.0, + 0.9994885921478271 + ], + [ + 0.28297939896583557, + 0.028499292209744453, + 0.23875661194324493, + -0.0074454788118600845, + -0.07633886486291885, + 0.00499764084815979, + 0.0, + 0.9994885921478271 + ], + [ + 0.2828538417816162, + 0.04809226468205452, + 0.2266351580619812, + 0.005220226477831602, + -0.08289755135774612, + 0.034820202738046646, + 0.0, + 0.9994885921478271 + ], + [ + 0.2711225748062134, + 0.09053972363471985, + 0.21506048738956451, + 0.028864197432994843, + -0.09710279107093811, + 0.0614340715110302, + 0.0, + 0.9994885921478271 + ], + [ + 0.25276559591293335, + 0.13311845064163208, + 0.20462636649608612, + 0.04527571424841881, + -0.11574946343898773, + 0.11089087277650833, + 0.0, + 0.9994885921478271 + ], + [ + 0.24206744134426117, + 0.15591560304164886, + 0.17797933518886566, + 0.028517814353108406, + -0.11006899178028107, + 0.15679076313972473, + 0.0, + 0.9994885921478271 + ], + [ + 0.2427000105381012, + 0.17086604237556458, + 0.14828921854496002, + 0.020353564992547035, + -0.08752075582742691, + 0.16592617332935333, + 0.0, + 0.9994885921478271 + ], + [ + 0.24722911417484283, + 0.18017004430294037, + 0.12423015385866165, + 0.01986343413591385, + -0.046767037361860275, + 0.14523716270923615, + 0.0, + 0.9994885921478271 + ], + [ + 0.24996618926525116, + 0.19333893060684204, + 0.1019194945693016, + -0.01518832053989172, + -0.02552231028676033, + 0.0693497359752655, + 0.0, + 0.9994885921478271 + ], + [ + 0.2505749464035034, + 0.2010738104581833, + 0.08908134698867798, + -0.0394800640642643, + 0.002453995170071721, + -0.014340178109705448, + 0.0, + 0.9994885921478271 + ], + [ + 0.2461969256401062, + 0.2075638324022293, + 0.07564421743154526, + -0.05296596512198448, + 0.028297197073698044, + -0.033385198563337326, + 0.0, + 0.9994885921478271 + ], + [ + 0.2440088987350464, + 0.21019083261489868, + 0.06247527524828911, + -0.04708990827202797, + 0.05051080882549286, + -0.018916942179203033, + 0.0, + 0.9994885921478271 + ], + [ + 0.2404211312532425, + 0.21395622193813324, + 0.04687909781932831, + -0.023635875433683395, + 0.07621513307094574, + 0.006333413999527693, + 0.0, + 0.9994885921478271 + ], + [ + 0.24115610122680664, + 0.2215239554643631, + 0.03910607472062111, + 0.029496029019355774, + 0.06832455843687057, + 0.07012608647346497, + 0.0, + 0.9994885921478271 + ], + [ + 0.2411716729402542, + 0.22922390699386597, + 0.03192416578531265, + 0.08005428314208984, + 0.0744115561246872, + 0.12306872010231018, + 0.0, + 0.9994885921478271 + ], + [ + 0.2434854805469513, + 0.22818537056446075, + 0.02519132010638714, + 0.09887614101171494, + 0.0908997654914856, + 0.12202354520559311, + 0.0, + 1.0001531839370728 + ], + [ + 0.2434544563293457, + 0.2282504439353943, + 0.017178529873490334, + 0.1020987257361412, + 0.10518233478069305, + 0.12311505526304245, + 0.0, + 1.0001531839370728 + ], + [ + 0.24885055422782898, + 0.2227858603000641, + 0.008353120647370815, + 0.10961515456438065, + 0.1311156004667282, + 0.0990510955452919, + 0.0, + 0.9445669651031494 + ], + [ + 0.2524828016757965, + 0.21933306753635406, + 0.007631656248122454, + 0.11147388070821762, + 0.13082562386989594, + 0.09032085537910461, + 0.0, + 0.6581199765205383 + ], + [ + 0.25289011001586914, + 0.2172851860523224, + 0.007471811957657337, + 0.11854657530784607, + 0.13504913449287415, + 0.09443920850753784, + 0.0, + 0.438394159078598 + ], + [ + 0.25251370668411255, + 0.2144942432641983, + 0.00938889104872942, + 0.11183910071849823, + 0.12246035039424896, + 0.11150394380092621, + 0.0, + 0.43747803568840027 + ], + [ + 0.2599928677082062, + 0.20355863869190216, + 0.057707298547029495, + 0.09829128533601761, + -0.007391768507659435, + 0.13397252559661865, + 0.0, + 0.43747803568840027 + ], + [ + 0.2772160768508911, + 0.17302094399929047, + 0.10799552500247955, + 0.05758422985672951, + -0.14727219939231873, + 0.1603744775056839, + 0.0, + 0.43747803568840027 + ], + [ + 0.2914770841598511, + 0.12379446625709534, + 0.15577271580696106, + -0.0010707367910072207, + -0.17486973106861115, + 0.09279391169548035, + 0.0, + 0.43747803568840027 + ], + [ + 0.295076847076416, + 0.07756303250789642, + 0.14876893162727356, + -0.03134634345769882, + -0.1366988867521286, + 0.0016044714720919728, + 0.0, + 0.43747803568840027 + ], + [ + 0.28911635279655457, + 0.024662278592586517, + 0.13474585115909576, + -0.02049263007938862, + -0.12170736491680145, + 0.026113426312804222, + 0.0, + 0.43747803568840027 + ], + [ + 0.2814244031906128, + -0.022964714094996452, + 0.11982285976409912, + 0.007405770011246204, + -0.13376495242118835, + 0.07158227264881134, + 0.0, + 0.43747803568840027 + ], + [ + 0.2742409110069275, + -0.044772930443286896, + 0.10411020368337631, + 0.027043411508202553, + -0.13088390231132507, + 0.11311035603284836, + 0.0, + 0.43747803568840027 + ], + [ + 0.26844528317451477, + -0.0494241863489151, + 0.08813994377851486, + 0.0057723443023860455, + -0.08638790249824524, + 0.024983366951346397, + 0.0, + 0.43747803568840027 + ], + [ + 0.26506686210632324, + -0.02923678047955036, + 0.07638967037200928, + -0.04093607887625694, + -0.02875332161784172, + -0.06371025741100311, + 0.0, + 0.43747803568840027 + ], + [ + 0.2628896236419678, + -0.020343512296676636, + 0.07432115077972412, + -0.08903815597295761, + -0.01785035990178585, + -0.10840114206075668, + 0.0, + 0.43747803568840027 + ], + [ + 0.2600480914115906, + -0.020227443426847458, + 0.06758330017328262, + -0.07695481926202774, + -0.008592667989432812, + -0.07712917029857635, + 0.0, + 0.43747803568840027 + ], + [ + 0.2560478448867798, + -0.03357582911849022, + 0.05205120891332626, + -0.06866858154535294, + 0.04054325073957443, + -0.0541321262717247, + 0.0, + 0.43747803568840027 + ], + [ + 0.25483712553977966, + -0.038285352289676666, + 0.03955213353037834, + -0.055285390466451645, + 0.07341332733631134, + -0.04060138389468193, + 0.0, + 0.43747803568840027 + ], + [ + 0.2529244124889374, + -0.03822128102183342, + 0.030155610293149948, + -0.05756329372525215, + 0.10203488916158676, + -0.04806991666555405, + 0.0, + 0.43747803568840027 + ], + [ + 0.25009945034980774, + -0.020926225930452347, + 0.03132851794362068, + -0.0383552648127079, + 0.12871834635734558, + -0.005206220783293247, + 0.0, + 0.5422952175140381 + ], + [ + 0.2508040964603424, + -0.017341982573270798, + 0.037346068769693375, + -0.03491676226258278, + 0.13193431496620178, + -0.034006789326667786, + 0.0, + 0.8490449786186218 + ], + [ + 0.2603161334991455, + -0.01786421611905098, + 0.064124695956707, + -0.031026234850287437, + 0.05699201673269272, + -0.032352015376091, + 0.0, + 1.0099300146102905 + ], + [ + 0.2721550166606903, + -0.018195008859038353, + 0.10264285653829575, + -0.033540382981300354, + -0.03817908093333244, + -0.03436371684074402, + 0.0, + 1.0060625076293945 + ], + [ + 0.27601248025894165, + -0.0055441344156861305, + 0.1562221199274063, + 0.019124289974570274, + -0.214155375957489, + -0.0007050017593428493, + 0.0, + 1.0008161067962646 + ], + [ + 0.2696676552295685, + 0.01138329692184925, + 0.2055302858352661, + 0.00600481079891324, + -0.2671199440956116, + 0.05707019940018654, + 0.0, + 1.0008161067962646 + ], + [ + 0.2674807012081146, + 0.0246396716684103, + 0.25641295313835144, + -0.0014082787092775106, + -0.26405763626098633, + 0.06256532669067383, + 0.0, + 1.0008161067962646 + ], + [ + 0.2753292918205261, + 0.028148269280791283, + 0.23947741091251373, + -0.029010679572820663, + -0.1811152547597885, + 0.04114780202507973, + 0.0, + 1.0008161067962646 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9445669651031494 + ], + [ + 0.6581199765205383 + ], + [ + 0.438394159078598 + ], + [ + 0.43747803568840027 + ], + [ + 0.43747803568840027 + ], + [ + 0.43747803568840027 + ], + [ + 0.43747803568840027 + ], + [ + 0.43747803568840027 + ], + [ + 0.43747803568840027 + ], + [ + 0.43747803568840027 + ], + [ + 0.43747803568840027 + ], + [ + 0.43747803568840027 + ], + [ + 0.43747803568840027 + ], + [ + 0.43747803568840027 + ], + [ + 0.43747803568840027 + ], + [ + 0.43747803568840027 + ], + [ + 0.43747803568840027 + ], + [ + 0.43747803568840027 + ], + [ + 0.5422952175140381 + ], + [ + 0.8490449786186218 + ], + [ + 1.0099300146102905 + ], + [ + 1.0060625076293945 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.28156042098999023, + 0.02834456041455269, + 0.24714401364326477 + ], + [ + 0.28297939896583557, + 0.028499292209744453, + 0.23875661194324493 + ], + [ + 0.2828538417816162, + 0.04809226468205452, + 0.2266351580619812 + ], + [ + 0.2711225748062134, + 0.09053972363471985, + 0.21506048738956451 + ], + [ + 0.25276559591293335, + 0.13311845064163208, + 0.20462636649608612 + ], + [ + 0.24206744134426117, + 0.15591560304164886, + 0.17797933518886566 + ], + [ + 0.2427000105381012, + 0.17086604237556458, + 0.14828921854496002 + ], + [ + 0.24722911417484283, + 0.18017004430294037, + 0.12423015385866165 + ], + [ + 0.24996618926525116, + 0.19333893060684204, + 0.1019194945693016 + ], + [ + 0.2505749464035034, + 0.2010738104581833, + 0.08908134698867798 + ], + [ + 0.2461969256401062, + 0.2075638324022293, + 0.07564421743154526 + ], + [ + 0.2440088987350464, + 0.21019083261489868, + 0.06247527524828911 + ], + [ + 0.2404211312532425, + 0.21395622193813324, + 0.04687909781932831 + ], + [ + 0.24115610122680664, + 0.2215239554643631, + 0.03910607472062111 + ], + [ + 0.2411716729402542, + 0.22922390699386597, + 0.03192416578531265 + ], + [ + 0.2434854805469513, + 0.22818537056446075, + 0.02519132010638714 + ], + [ + 0.2434544563293457, + 0.2282504439353943, + 0.017178529873490334 + ], + [ + 0.24885055422782898, + 0.2227858603000641, + 0.008353120647370815 + ], + [ + 0.2524828016757965, + 0.21933306753635406, + 0.007631656248122454 + ], + [ + 0.25289011001586914, + 0.2172851860523224, + 0.007471811957657337 + ], + [ + 0.25251370668411255, + 0.2144942432641983, + 0.00938889104872942 + ], + [ + 0.2599928677082062, + 0.20355863869190216, + 0.057707298547029495 + ], + [ + 0.2772160768508911, + 0.17302094399929047, + 0.10799552500247955 + ], + [ + 0.2914770841598511, + 0.12379446625709534, + 0.15577271580696106 + ], + [ + 0.295076847076416, + 0.07756303250789642, + 0.14876893162727356 + ], + [ + 0.28911635279655457, + 0.024662278592586517, + 0.13474585115909576 + ], + [ + 0.2814244031906128, + -0.022964714094996452, + 0.11982285976409912 + ], + [ + 0.2742409110069275, + -0.044772930443286896, + 0.10411020368337631 + ], + [ + 0.26844528317451477, + -0.0494241863489151, + 0.08813994377851486 + ], + [ + 0.26506686210632324, + -0.02923678047955036, + 0.07638967037200928 + ], + [ + 0.2628896236419678, + -0.020343512296676636, + 0.07432115077972412 + ], + [ + 0.2600480914115906, + -0.020227443426847458, + 0.06758330017328262 + ], + [ + 0.2560478448867798, + -0.03357582911849022, + 0.05205120891332626 + ], + [ + 0.25483712553977966, + -0.038285352289676666, + 0.03955213353037834 + ], + [ + 0.2529244124889374, + -0.03822128102183342, + 0.030155610293149948 + ], + [ + 0.25009945034980774, + -0.020926225930452347, + 0.03132851794362068 + ], + [ + 0.2508040964603424, + -0.017341982573270798, + 0.037346068769693375 + ], + [ + 0.2603161334991455, + -0.01786421611905098, + 0.064124695956707 + ], + [ + 0.2721550166606903, + -0.018195008859038353, + 0.10264285653829575 + ], + [ + 0.27601248025894165, + -0.0055441344156861305, + 0.1562221199274063 + ], + [ + 0.2696676552295685, + 0.01138329692184925, + 0.2055302858352661 + ], + [ + 0.2674807012081146, + 0.0246396716684103, + 0.25641295313835144 + ], + [ + 0.2753292918205261, + 0.028148269280791283, + 0.23947741091251373 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9945989454402835, + 0.005744681839465156, + 0.10363366421987974, + 0.006200065988194296, + -0.9999724863007537, + -0.004072569610256966, + 0.10360741725773062, + 0.00469310899635535, + -0.9946071977505142 + ], + [ + 0.9970751518196028, + 0.004429666348752466, + 0.07629888387096317, + 0.004983064993852686, + -0.9999626324757194, + -0.0070641854092719355, + 0.07626474078617873, + 0.0074237260367190664, + -0.9970599669049744 + ], + [ + 0.9959618847944349, + 0.03524467710247719, + 0.08256958745602587, + 0.03469361726654433, + -0.9993651730253996, + 0.00809962127972825, + 0.08280263859128355, + -0.005202276410823442, + -0.9965523866623701 + ], + [ + 0.9934116348356083, + 0.06416258621239088, + 0.09495518049996572, + 0.06110621533898677, + -0.9975259800164407, + 0.03475556990159373, + 0.09695026673603814, + -0.028724235808402235, + -0.9948746474089256 + ], + [ + 0.9872075117092919, + 0.11574539388031331, + 0.10965551796530282, + 0.10992323989374468, + -0.9922609722172628, + 0.05774984281982233, + 0.11549116916894545, + -0.044957388824786726, + -0.9922905940469487 + ], + [ + 0.9817562408548638, + 0.1591794018034209, + 0.10400289219070695, + 0.15520421228990536, + -0.9868427854662964, + 0.0453097038236985, + 0.10984687537657468, + -0.028341397541870865, + -0.9935443770438123 + ], + [ + 0.982490876522759, + 0.16688617516928247, + 0.08282923449428196, + 0.1645336829324833, + -0.9857677002430505, + 0.03450664194326876, + 0.08740906549216872, + -0.020274261882876624, + -0.9959661688907363 + ], + [ + 0.9883897427574815, + 0.14561732714061404, + 0.04337407576217372, + 0.14456885803451253, + -0.989142028286441, + 0.026417667648419216, + 0.04674999142669815, + -0.01984041113003383, + -0.9987095655834056 + ], + [ + 0.9972713770196048, + 0.06889951625898352, + 0.026507682597679185, + 0.0692715935889047, + -0.9975080648986439, + -0.013383078263852488, + 0.02551953955452287, + 0.015182790304843426, + -0.9995590207583963 + ], + [ + 0.9998941706728381, + -0.014231663956064136, + -0.003017813035770222, + -0.014339643449925336, + -0.9991194139435468, + -0.03943058846673126, + -0.0024539927070415628, + 0.03946968991701571, + -0.9992177547950439 + ], + [ + 0.9990426501338492, + -0.03183513446900559, + -0.03000512334378346, + -0.033365634297318404, + -0.9980911766213928, + -0.051968621286899046, + -0.028293420816029598, + 0.05292000910680061, + -0.9981978536215469 + ], + [ + 0.9985459084750199, + -0.016518611058057325, + -0.05131475573857391, + -0.018891688735685523, + -0.9987577099054463, + -0.04611009652063168, + -0.05048933317554164, + 0.047012470613025895, + -0.9976174892424191 + ], + [ + 0.9970770345931474, + 0.008131066913179217, + -0.0759688938828851, + 0.006314986085579279, + -0.9996892383979848, + -0.02411529767587601, + -0.0761413687667525, + 0.023565066987186203, + -0.9968185289109623 + ], + [ + 0.9952146933513715, + 0.0680296514192019, + -0.07014043530886897, + 0.06990513931994387, + -0.9972493454671522, + 0.024637663484912736, + -0.06827141154388851, + -0.029422941612259706, + -0.9972328238042942 + ], + [ + 0.9896902658250025, + 0.11646499303339342, + -0.08336116079426364, + 0.12241858623097479, + -0.9899880000554484, + 0.07026698720894763, + -0.0743429046812461, + -0.07974750870055215, + -0.9940389667309879 + ], + [ + 0.9884665189017725, + 0.11223223795339739, + -0.10167529579098332, + 0.12121842418194632, + -0.9888071340610819, + 0.08698589120515747, + -0.09077463659556943, + -0.09830756020714658, + -0.9910073606977199 + ], + [ + 0.9869461767125935, + 0.11154518116525045, + -0.11616762385107832, + 0.12212558957729006, + -0.9885768537660203, + 0.08832408826857918, + -0.10498849766899926, + -0.10135816078090565, + -0.9892946672252503 + ], + [ + 0.9865571781691092, + 0.08406337532141674, + -0.14013665877483578, + 0.09804040794732259, + -0.9905404955101874, + 0.09600835986493392, + -0.13074024863264833, + -0.10845679178365322, + -0.9854664437227024 + ], + [ + 0.9874132031482029, + 0.07518543857112811, + -0.13914853960955692, + 0.08942731589394667, + -0.9910513145181188, + 0.09909615110544244, + -0.13045275551175445, + -0.11029252839052846, + -0.9853007849182982 + ], + [ + 0.9864792220594281, + 0.07778438416438369, + -0.14425094115877934, + 0.0934402728344848, + -0.9900583667752276, + 0.10513489330848409, + -0.1346389982792619, + -0.11719223506076189, + -0.9839402015284365 + ], + [ + 0.9863474778487404, + 0.09702933120088839, + -0.13305623558532204, + 0.11043971733593821, + -0.989098201003763, + 0.09740542903697773, + -0.12215449961498136, + -0.11077029230722442, + -0.9863104078159094 + ], + [ + 0.9910120220371413, + 0.1336462723212766, + -0.00581773774625697, + 0.13356846533254566, + -0.9861587580163625, + 0.09823629195126606, + 0.007391701195637645, + -0.09813041262652987, + -0.9951461123227995 + ], + [ + 0.9764815000347856, + 0.16776009590556978, + 0.13542684487046566, + 0.1579592742168741, + -0.9841827029182775, + 0.08020769891570267, + 0.1467404094947725, + -0.05692940802632384, + -0.9875354650457263 + ], + [ + 0.9805125578247538, + 0.09247526051344783, + 0.1733304651263859, + 0.0912476485228335, + -0.9957144241291424, + 0.01505497327212376, + 0.17397985684271833, + 0.0010544070091183426, + -0.9847486469342553 + ], + [ + 0.9906699724843704, + -0.002667289755540608, + 0.13625671059869665, + 0.0015895030730773418, + -0.9995143097307249, + -0.031122630407686654, + 0.13627354511348733, + 0.031048835869848204, + -0.9901845740534083 + ], + [ + 0.9922643822967684, + 0.02361804738465093, + 0.12187527830921557, + 0.02591731419859748, + -0.9995141258465942, + -0.017314879666044735, + 0.12140711861313383, + 0.02033961825735221, + -0.9923943830348907 + ], + [ + 0.9885287609680858, + 0.0725043379927895, + 0.13249154581002073, + 0.07088224405271383, + -0.9973410911223446, + 0.01692499444440529, + 0.13336639838037537, + -0.007339545702492493, + -0.9910396232502152 + ], + [ + 0.985111418980366, + 0.11633452036174381, + 0.12657713682451857, + 0.1119039421197383, + -0.9928482087003692, + 0.04159257407916061, + 0.13051053571475427, + -0.026808839077274774, + -0.9910843991380234 + ], + [ + 0.9959599808328026, + 0.02547823440289735, + 0.08610793314924298, + 0.02488761190764012, + -0.9996588358159144, + 0.007925827950776477, + 0.08628049230885373, + -0.005750786631552051, + -0.9962542873684711 + ], + [ + 0.9975586782679696, + -0.06478799850073891, + 0.02606144014688863, + -0.0636408494878917, + -0.997060215250173, + -0.04267047505873772, + 0.028749359796717597, + 0.04090773051083492, + -0.9987492337397471 + ], + [ + 0.9939719690124127, + -0.10933826341951373, + 0.008054127512791151, + -0.10817173064324469, + -0.9900206047899257, + -0.09032208357337183, + 0.01784941195761334, + 0.0889063903428481, + -0.9958800390855179 + ], + [ + 0.9969902128236787, + -0.07748330111385256, + 0.0026179347386090274, + -0.0770498761047118, + -0.99402535741867, + -0.07731044820031481, + 0.008592562251396487, + 0.07687604865746582, + -0.9970036313959797 + ], + [ + 0.997714652885737, + -0.051201154561718754, + -0.04408983089830229, + -0.05406123086733429, + -0.9963323788336402, + -0.06632627084955743, + -0.040532144456007835, + 0.0685582428249664, + -0.9968234109442609 + ], + [ + 0.9964845486035747, + -0.036478579866059284, + -0.0754178865076773, + -0.040480898028611774, + -0.9978137993414278, + -0.0522390537684341, + -0.07334740137950693, + 0.055108393687166635, + -0.9957827190989473 + ], + [ + 0.9936498273658063, + -0.04211854675943649, + -0.10433622858229417, + -0.047801488638310644, + -0.9974720515013312, + -0.05257874245060657, + -0.10185793174743456, + 0.057232285404297124, + -0.9931512610108977 + ], + [ + 0.9917137851314702, + -0.00028023758821845053, + -0.12846668769414846, + -0.005163127567715398, + -0.9992766105627094, + -0.037677548965162184, + -0.12836319758377487, + 0.03802863459548405, + -0.9909978367569081 + ], + [ + 0.9907361352260796, + -0.02938973340669191, + -0.13258263056514868, + -0.03370474878135466, + -0.9989687928604429, + -0.03041941486181482, + -0.13155189191675237, + 0.034606277772002675, + -0.9907050546312409 + ], + [ + 0.9978539633494201, + -0.030564722169921184, + -0.05790738801335567, + -0.032293854370379814, + -0.999052852289523, + -0.029163424045761097, + -0.05696116920989684, + 0.030970891024374884, + -0.99789590093927 + ], + [ + 0.9986813232222695, + -0.035616865076854125, + 0.03697368752388158, + -0.03433191705614649, + -0.998803555152572, + -0.034824957800872185, + 0.03816980636925403, + 0.033509657364404956, + -0.9987092513564964 + ], + [ + 0.9771560012335816, + 0.003359214157552322, + 0.21249674099486995, + -0.0006888968141556511, + -0.9998197530605737, + 0.018973318399089098, + 0.2125221745474495, + -0.01868628026487526, + -0.9769775577030858 + ], + [ + 0.9629647768283986, + 0.05862060398558119, + 0.26317762704340536, + 0.055016334343067644, + -0.9982635321677693, + 0.021050494041242707, + 0.2639546202347743, + -0.005791815975517666, + -0.9645177102181284 + ], + [ + 0.9634501313812439, + 0.06215761383072634, + 0.26057681282941225, + 0.060357347451056594, + -0.9980654201482696, + 0.014913340099749978, + 0.26099968381233085, + 0.0013594657511964894, + -0.9653379288636363 + ], + [ + 0.9828108110828433, + 0.035898439834532156, + 0.18109172161126003, + 0.040463343984494554, + -0.9989480555981628, + -0.021575449247751306, + 0.18012669822176858, + 0.028532161398959924, + -0.983229519671591 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + 0.001418977975845337, + 0.00015473179519176483, + -0.008387401700019836, + -0.0027269585989415646, + 0.027454815804958344, + -0.0012360131368041039, + 1.0 + ], + [ + -0.00012555718421936035, + 0.019592972472310066, + -0.012121453881263733, + 0.012665705755352974, + -0.0065586864948272705, + 0.029822561889886856, + 1.0 + ], + [ + -0.011731266975402832, + 0.04244745895266533, + -0.011574670672416687, + 0.023643970489501953, + -0.014205239713191986, + 0.02661386877298355, + 1.0 + ], + [ + -0.01835697889328003, + 0.04257872700691223, + -0.010434120893478394, + 0.016411516815423965, + -0.01864667236804962, + 0.049456801265478134, + 1.0 + ], + [ + -0.01069815456867218, + 0.022797152400016785, + -0.02664703130722046, + -0.016757899895310402, + 0.005680471658706665, + 0.0458998903632164, + 1.0 + ], + [ + 0.0006325691938400269, + 0.01495043933391571, + -0.02969011664390564, + -0.00816424936056137, + 0.022548235952854156, + 0.009135410189628601, + 1.0 + ], + [ + 0.004529103636741638, + 0.009304001927375793, + -0.02405906468629837, + -0.0004901308566331863, + 0.040753718465566635, + -0.020689010620117188, + 1.0 + ], + [ + 0.002737075090408325, + 0.013168886303901672, + -0.022310659289360046, + -0.03505175560712814, + 0.021244727075099945, + -0.07588742673397064, + 1.0 + ], + [ + 0.0006087571382522583, + 0.0077348798513412476, + -0.012838147580623627, + -0.024291742593050003, + 0.027976306155323982, + -0.08368991315364838, + 1.0 + ], + [ + -0.004378020763397217, + 0.0064900219440460205, + -0.013437129557132721, + -0.013485901057720184, + 0.025843201205134392, + -0.019045021384954453, + 1.0 + ], + [ + -0.0021880269050598145, + 0.0026270002126693726, + -0.01316894218325615, + 0.0058760568499565125, + 0.022213611751794815, + 0.014468256384134293, + 1.0 + ], + [ + -0.003587767481803894, + 0.003765389323234558, + -0.0155961774289608, + 0.023454032838344574, + 0.02570432424545288, + 0.025250356644392014, + 1.0 + ], + [ + 0.000734969973564148, + 0.007567733526229858, + -0.007773023098707199, + 0.05313190445303917, + -0.007890574634075165, + 0.06379267573356628, + 1.0 + ], + [ + 1.55717134475708e-05, + 0.007699951529502869, + -0.007181908935308456, + 0.05055825412273407, + 0.00608699768781662, + 0.052942633628845215, + 1.0 + ], + [ + 0.0023138076066970825, + -0.0010385364294052124, + -0.006732845678925514, + 0.01882185786962509, + 0.0164882093667984, + -0.0010451748967170715, + 1.0 + ], + [ + -3.102421760559082e-05, + 6.507337093353271e-05, + -0.008012790232896805, + 0.0032225847244262695, + 0.014282569289207458, + 0.0010915100574493408, + 1.0 + ], + [ + 0.005396097898483276, + -0.0054645836353302, + -0.008825409226119518, + 0.007516428828239441, + 0.025933265686035156, + -0.02406395971775055, + 0.0 + ], + [ + 0.0036322474479675293, + -0.003452792763710022, + -0.0007214643992483616, + 0.001858726143836975, + -0.0002899765968322754, + -0.008730240166187286, + 0.0 + ], + [ + 0.00040730834007263184, + -0.0020478814840316772, + -0.0001598442904651165, + 0.0070726945996284485, + 0.0042235106229782104, + 0.0041183531284332275, + 0.0 + ], + [ + -0.0003764033317565918, + -0.0027909427881240845, + 0.0019170790910720825, + -0.006707474589347839, + -0.012588784098625183, + 0.017064735293388367, + 0.0 + ], + [ + 0.007479161024093628, + -0.010935604572296143, + 0.04831840842962265, + -0.013547815382480621, + -0.12985211610794067, + 0.022468581795692444, + 0.0 + ], + [ + 0.017223209142684937, + -0.030537694692611694, + 0.05028822645545006, + -0.0407070554792881, + -0.13988043367862701, + 0.026401951909065247, + 0.0 + ], + [ + 0.014261007308959961, + -0.04922647774219513, + 0.047777190804481506, + -0.058654967695474625, + -0.02759753167629242, + -0.06758056581020355, + 0.0 + ], + [ + 0.0035997629165649414, + -0.046231433749198914, + -0.0070037841796875, + -0.030275607481598854, + 0.038170844316482544, + -0.0911894366145134, + 0.0 + ], + [ + -0.00596049427986145, + -0.052900753915309906, + -0.014023080468177795, + 0.010853713378310204, + 0.014991521835327148, + 0.02450895495712757, + 0.0 + ], + [ + -0.0076919496059417725, + -0.04762699455022812, + -0.014922991394996643, + 0.027898401021957397, + -0.012057587504386902, + 0.04546884447336197, + 0.0 + ], + [ + -0.007183492183685303, + -0.021808216348290443, + -0.01571265608072281, + 0.019637640565633774, + 0.0028810501098632812, + 0.04152808338403702, + 0.0 + ], + [ + -0.00579562783241272, + -0.004651255905628204, + -0.01597025990486145, + -0.02127106674015522, + 0.044495999813079834, + -0.08812698721885681, + 0.0 + ], + [ + -0.0033784210681915283, + 0.02018740586936474, + -0.011750273406505585, + -0.046708423644304276, + 0.05763458088040352, + -0.08869362622499466, + 0.0 + ], + [ + -0.0021772384643554688, + 0.008893268182873726, + -0.0020685195922851562, + -0.04810207709670067, + 0.01090296171605587, + -0.04469088464975357, + 0.0 + ], + [ + -0.0028415322303771973, + 0.00011606886982917786, + -0.006737850606441498, + 0.01208333671092987, + 0.009257691912353039, + 0.03127197176218033, + 0.0 + ], + [ + -0.004000246524810791, + -0.013348385691642761, + -0.01553209125995636, + 0.008286237716674805, + 0.04913591966032982, + 0.022997044026851654, + 0.0 + ], + [ + -0.001210719347000122, + -0.004709523171186447, + -0.012499075382947922, + 0.013383191078901291, + 0.03287007659673691, + 0.01353074237704277, + 0.0 + ], + [ + -0.0019127130508422852, + 6.407126784324646e-05, + -0.009396523237228394, + -0.0022779032588005066, + 0.02862156182527542, + -0.007468532770872116, + 0.0 + ], + [ + -0.0028249621391296387, + 0.017295055091381073, + 0.0011729076504707336, + 0.01920802891254425, + 0.02668345719575882, + 0.042863696813583374, + 1.0 + ], + [ + 0.000704646110534668, + 0.003584243357181549, + 0.006017550826072693, + 0.003438502550125122, + 0.003215968608856201, + -0.028800569474697113, + 1.0 + ], + [ + 0.0095120370388031, + -0.0005222335457801819, + 0.026778627187013626, + 0.0038905274122953415, + -0.07494229823350906, + 0.0016547739505767822, + 1.0 + ], + [ + 0.0118388831615448, + -0.00033079273998737335, + 0.038518160581588745, + -0.0025141481310129166, + -0.09517109394073486, + -0.002011701464653015, + 1.0 + ], + [ + 0.0038574635982513428, + 0.012650874443352222, + 0.053579263389110565, + 0.05266467481851578, + -0.17597629129886627, + 0.033658716827631, + 1.0 + ], + [ + -0.006344825029373169, + 0.016927432268857956, + 0.0493081659078598, + -0.013119479641318321, + -0.05296456813812256, + 0.05777519941329956, + 1.0 + ], + [ + -0.0021869540214538574, + 0.01325637474656105, + 0.05088266730308533, + -0.007413089275360107, + 0.003062307834625244, + 0.005495127290487289, + 1.0 + ], + [ + 0.007848590612411499, + 0.0035085976123809814, + -0.016935542225837708, + -0.02760240063071251, + 0.08294238150119781, + -0.0214175246655941, + 1.0 + ], + [ + 0.0017361938953399658, + 0.0045999158173799515, + -0.011878356337547302, + -0.005963802337646484, + 0.056814782321453094, + -0.035371143370866776, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 0.9445669651031494 + ], + [ + 0.6581199765205383 + ], + [ + 0.438394159078598 + ], + [ + 0.43747803568840027 + ], + [ + 0.43747803568840027 + ], + [ + 0.43747803568840027 + ], + [ + 0.43747803568840027 + ], + [ + 0.43747803568840027 + ], + [ + 0.43747803568840027 + ], + [ + 0.43747803568840027 + ], + [ + 0.43747803568840027 + ], + [ + 0.43747803568840027 + ], + [ + 0.43747803568840027 + ], + [ + 0.43747803568840027 + ], + [ + 0.43747803568840027 + ], + [ + 0.43747803568840027 + ], + [ + 0.43747803568840027 + ], + [ + 0.43747803568840027 + ], + [ + 0.5422952175140381 + ], + [ + 0.8490449786186218 + ], + [ + 1.0099300146102905 + ], + [ + 1.0060625076293945 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.28297939896583557, + 0.028499292209744453, + 0.23875661194324493 + ], + [ + 0.2828538417816162, + 0.04809226468205452, + 0.2266351580619812 + ], + [ + 0.2711225748062134, + 0.09053972363471985, + 0.21506048738956451 + ], + [ + 0.25276559591293335, + 0.13311845064163208, + 0.20462636649608612 + ], + [ + 0.24206744134426117, + 0.15591560304164886, + 0.17797933518886566 + ], + [ + 0.2427000105381012, + 0.17086604237556458, + 0.14828921854496002 + ], + [ + 0.24722911417484283, + 0.18017004430294037, + 0.12423015385866165 + ], + [ + 0.24996618926525116, + 0.19333893060684204, + 0.1019194945693016 + ], + [ + 0.2505749464035034, + 0.2010738104581833, + 0.08908134698867798 + ], + [ + 0.2461969256401062, + 0.2075638324022293, + 0.07564421743154526 + ], + [ + 0.2440088987350464, + 0.21019083261489868, + 0.06247527524828911 + ], + [ + 0.2404211312532425, + 0.21395622193813324, + 0.04687909781932831 + ], + [ + 0.24115610122680664, + 0.2215239554643631, + 0.03910607472062111 + ], + [ + 0.2411716729402542, + 0.22922390699386597, + 0.03192416578531265 + ], + [ + 0.2434854805469513, + 0.22818537056446075, + 0.02519132010638714 + ], + [ + 0.2434544563293457, + 0.2282504439353943, + 0.017178529873490334 + ], + [ + 0.24885055422782898, + 0.2227858603000641, + 0.008353120647370815 + ], + [ + 0.2524828016757965, + 0.21933306753635406, + 0.007631656248122454 + ], + [ + 0.25289011001586914, + 0.2172851860523224, + 0.007471811957657337 + ], + [ + 0.25251370668411255, + 0.2144942432641983, + 0.00938889104872942 + ], + [ + 0.2599928677082062, + 0.20355863869190216, + 0.057707298547029495 + ], + [ + 0.2772160768508911, + 0.17302094399929047, + 0.10799552500247955 + ], + [ + 0.2914770841598511, + 0.12379446625709534, + 0.15577271580696106 + ], + [ + 0.295076847076416, + 0.07756303250789642, + 0.14876893162727356 + ], + [ + 0.28911635279655457, + 0.024662278592586517, + 0.13474585115909576 + ], + [ + 0.2814244031906128, + -0.022964714094996452, + 0.11982285976409912 + ], + [ + 0.2742409110069275, + -0.044772930443286896, + 0.10411020368337631 + ], + [ + 0.26844528317451477, + -0.0494241863489151, + 0.08813994377851486 + ], + [ + 0.26506686210632324, + -0.02923678047955036, + 0.07638967037200928 + ], + [ + 0.2628896236419678, + -0.020343512296676636, + 0.07432115077972412 + ], + [ + 0.2600480914115906, + -0.020227443426847458, + 0.06758330017328262 + ], + [ + 0.2560478448867798, + -0.03357582911849022, + 0.05205120891332626 + ], + [ + 0.25483712553977966, + -0.038285352289676666, + 0.03955213353037834 + ], + [ + 0.2529244124889374, + -0.03822128102183342, + 0.030155610293149948 + ], + [ + 0.25009945034980774, + -0.020926225930452347, + 0.03132851794362068 + ], + [ + 0.2508040964603424, + -0.017341982573270798, + 0.037346068769693375 + ], + [ + 0.2603161334991455, + -0.01786421611905098, + 0.064124695956707 + ], + [ + 0.2721550166606903, + -0.018195008859038353, + 0.10264285653829575 + ], + [ + 0.27601248025894165, + -0.0055441344156861305, + 0.1562221199274063 + ], + [ + 0.2696676552295685, + 0.01138329692184925, + 0.2055302858352661 + ], + [ + 0.2674807012081146, + 0.0246396716684103, + 0.25641295313835144 + ], + [ + 0.2753292918205261, + 0.028148269280791283, + 0.23947741091251373 + ], + [ + 0.2770654857158661, + 0.032748185098171234, + 0.22759905457496643 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9970751518196028, + 0.004429666348752466, + 0.07629888387096317, + 0.004983064993852686, + -0.9999626324757194, + -0.0070641854092719355, + 0.07626474078617873, + 0.0074237260367190664, + -0.9970599669049744 + ], + [ + 0.9959618847944349, + 0.03524467710247719, + 0.08256958745602587, + 0.03469361726654433, + -0.9993651730253996, + 0.00809962127972825, + 0.08280263859128355, + -0.005202276410823442, + -0.9965523866623701 + ], + [ + 0.9934116348356083, + 0.06416258621239088, + 0.09495518049996572, + 0.06110621533898677, + -0.9975259800164407, + 0.03475556990159373, + 0.09695026673603814, + -0.028724235808402235, + -0.9948746474089256 + ], + [ + 0.9872075117092919, + 0.11574539388031331, + 0.10965551796530282, + 0.10992323989374468, + -0.9922609722172628, + 0.05774984281982233, + 0.11549116916894545, + -0.044957388824786726, + -0.9922905940469487 + ], + [ + 0.9817562408548638, + 0.1591794018034209, + 0.10400289219070695, + 0.15520421228990536, + -0.9868427854662964, + 0.0453097038236985, + 0.10984687537657468, + -0.028341397541870865, + -0.9935443770438123 + ], + [ + 0.982490876522759, + 0.16688617516928247, + 0.08282923449428196, + 0.1645336829324833, + -0.9857677002430505, + 0.03450664194326876, + 0.08740906549216872, + -0.020274261882876624, + -0.9959661688907363 + ], + [ + 0.9883897427574815, + 0.14561732714061404, + 0.04337407576217372, + 0.14456885803451253, + -0.989142028286441, + 0.026417667648419216, + 0.04674999142669815, + -0.01984041113003383, + -0.9987095655834056 + ], + [ + 0.9972713770196048, + 0.06889951625898352, + 0.026507682597679185, + 0.0692715935889047, + -0.9975080648986439, + -0.013383078263852488, + 0.02551953955452287, + 0.015182790304843426, + -0.9995590207583963 + ], + [ + 0.9998941706728381, + -0.014231663956064136, + -0.003017813035770222, + -0.014339643449925336, + -0.9991194139435468, + -0.03943058846673126, + -0.0024539927070415628, + 0.03946968991701571, + -0.9992177547950439 + ], + [ + 0.9990426501338492, + -0.03183513446900559, + -0.03000512334378346, + -0.033365634297318404, + -0.9980911766213928, + -0.051968621286899046, + -0.028293420816029598, + 0.05292000910680061, + -0.9981978536215469 + ], + [ + 0.9985459084750199, + -0.016518611058057325, + -0.05131475573857391, + -0.018891688735685523, + -0.9987577099054463, + -0.04611009652063168, + -0.05048933317554164, + 0.047012470613025895, + -0.9976174892424191 + ], + [ + 0.9970770345931474, + 0.008131066913179217, + -0.0759688938828851, + 0.006314986085579279, + -0.9996892383979848, + -0.02411529767587601, + -0.0761413687667525, + 0.023565066987186203, + -0.9968185289109623 + ], + [ + 0.9952146933513715, + 0.0680296514192019, + -0.07014043530886897, + 0.06990513931994387, + -0.9972493454671522, + 0.024637663484912736, + -0.06827141154388851, + -0.029422941612259706, + -0.9972328238042942 + ], + [ + 0.9896902658250025, + 0.11646499303339342, + -0.08336116079426364, + 0.12241858623097479, + -0.9899880000554484, + 0.07026698720894763, + -0.0743429046812461, + -0.07974750870055215, + -0.9940389667309879 + ], + [ + 0.9884665189017725, + 0.11223223795339739, + -0.10167529579098332, + 0.12121842418194632, + -0.9888071340610819, + 0.08698589120515747, + -0.09077463659556943, + -0.09830756020714658, + -0.9910073606977199 + ], + [ + 0.9869461767125935, + 0.11154518116525045, + -0.11616762385107832, + 0.12212558957729006, + -0.9885768537660203, + 0.08832408826857918, + -0.10498849766899926, + -0.10135816078090565, + -0.9892946672252503 + ], + [ + 0.9865571781691092, + 0.08406337532141674, + -0.14013665877483578, + 0.09804040794732259, + -0.9905404955101874, + 0.09600835986493392, + -0.13074024863264833, + -0.10845679178365322, + -0.9854664437227024 + ], + [ + 0.9874132031482029, + 0.07518543857112811, + -0.13914853960955692, + 0.08942731589394667, + -0.9910513145181188, + 0.09909615110544244, + -0.13045275551175445, + -0.11029252839052846, + -0.9853007849182982 + ], + [ + 0.9864792220594281, + 0.07778438416438369, + -0.14425094115877934, + 0.0934402728344848, + -0.9900583667752276, + 0.10513489330848409, + -0.1346389982792619, + -0.11719223506076189, + -0.9839402015284365 + ], + [ + 0.9863474778487404, + 0.09702933120088839, + -0.13305623558532204, + 0.11043971733593821, + -0.989098201003763, + 0.09740542903697773, + -0.12215449961498136, + -0.11077029230722442, + -0.9863104078159094 + ], + [ + 0.9910120220371413, + 0.1336462723212766, + -0.00581773774625697, + 0.13356846533254566, + -0.9861587580163625, + 0.09823629195126606, + 0.007391701195637645, + -0.09813041262652987, + -0.9951461123227995 + ], + [ + 0.9764815000347856, + 0.16776009590556978, + 0.13542684487046566, + 0.1579592742168741, + -0.9841827029182775, + 0.08020769891570267, + 0.1467404094947725, + -0.05692940802632384, + -0.9875354650457263 + ], + [ + 0.9805125578247538, + 0.09247526051344783, + 0.1733304651263859, + 0.0912476485228335, + -0.9957144241291424, + 0.01505497327212376, + 0.17397985684271833, + 0.0010544070091183426, + -0.9847486469342553 + ], + [ + 0.9906699724843704, + -0.002667289755540608, + 0.13625671059869665, + 0.0015895030730773418, + -0.9995143097307249, + -0.031122630407686654, + 0.13627354511348733, + 0.031048835869848204, + -0.9901845740534083 + ], + [ + 0.9922643822967684, + 0.02361804738465093, + 0.12187527830921557, + 0.02591731419859748, + -0.9995141258465942, + -0.017314879666044735, + 0.12140711861313383, + 0.02033961825735221, + -0.9923943830348907 + ], + [ + 0.9885287609680858, + 0.0725043379927895, + 0.13249154581002073, + 0.07088224405271383, + -0.9973410911223446, + 0.01692499444440529, + 0.13336639838037537, + -0.007339545702492493, + -0.9910396232502152 + ], + [ + 0.985111418980366, + 0.11633452036174381, + 0.12657713682451857, + 0.1119039421197383, + -0.9928482087003692, + 0.04159257407916061, + 0.13051053571475427, + -0.026808839077274774, + -0.9910843991380234 + ], + [ + 0.9959599808328026, + 0.02547823440289735, + 0.08610793314924298, + 0.02488761190764012, + -0.9996588358159144, + 0.007925827950776477, + 0.08628049230885373, + -0.005750786631552051, + -0.9962542873684711 + ], + [ + 0.9975586782679696, + -0.06478799850073891, + 0.02606144014688863, + -0.0636408494878917, + -0.997060215250173, + -0.04267047505873772, + 0.028749359796717597, + 0.04090773051083492, + -0.9987492337397471 + ], + [ + 0.9939719690124127, + -0.10933826341951373, + 0.008054127512791151, + -0.10817173064324469, + -0.9900206047899257, + -0.09032208357337183, + 0.01784941195761334, + 0.0889063903428481, + -0.9958800390855179 + ], + [ + 0.9969902128236787, + -0.07748330111385256, + 0.0026179347386090274, + -0.0770498761047118, + -0.99402535741867, + -0.07731044820031481, + 0.008592562251396487, + 0.07687604865746582, + -0.9970036313959797 + ], + [ + 0.997714652885737, + -0.051201154561718754, + -0.04408983089830229, + -0.05406123086733429, + -0.9963323788336402, + -0.06632627084955743, + -0.040532144456007835, + 0.0685582428249664, + -0.9968234109442609 + ], + [ + 0.9964845486035747, + -0.036478579866059284, + -0.0754178865076773, + -0.040480898028611774, + -0.9978137993414278, + -0.0522390537684341, + -0.07334740137950693, + 0.055108393687166635, + -0.9957827190989473 + ], + [ + 0.9936498273658063, + -0.04211854675943649, + -0.10433622858229417, + -0.047801488638310644, + -0.9974720515013312, + -0.05257874245060657, + -0.10185793174743456, + 0.057232285404297124, + -0.9931512610108977 + ], + [ + 0.9917137851314702, + -0.00028023758821845053, + -0.12846668769414846, + -0.005163127567715398, + -0.9992766105627094, + -0.037677548965162184, + -0.12836319758377487, + 0.03802863459548405, + -0.9909978367569081 + ], + [ + 0.9907361352260796, + -0.02938973340669191, + -0.13258263056514868, + -0.03370474878135466, + -0.9989687928604429, + -0.03041941486181482, + -0.13155189191675237, + 0.034606277772002675, + -0.9907050546312409 + ], + [ + 0.9978539633494201, + -0.030564722169921184, + -0.05790738801335567, + -0.032293854370379814, + -0.999052852289523, + -0.029163424045761097, + -0.05696116920989684, + 0.030970891024374884, + -0.99789590093927 + ], + [ + 0.9986813232222695, + -0.035616865076854125, + 0.03697368752388158, + -0.03433191705614649, + -0.998803555152572, + -0.034824957800872185, + 0.03816980636925403, + 0.033509657364404956, + -0.9987092513564964 + ], + [ + 0.9771560012335816, + 0.003359214157552322, + 0.21249674099486995, + -0.0006888968141556511, + -0.9998197530605737, + 0.018973318399089098, + 0.2125221745474495, + -0.01868628026487526, + -0.9769775577030858 + ], + [ + 0.9629647768283986, + 0.05862060398558119, + 0.26317762704340536, + 0.055016334343067644, + -0.9982635321677693, + 0.021050494041242707, + 0.2639546202347743, + -0.005791815975517666, + -0.9645177102181284 + ], + [ + 0.9634501313812439, + 0.06215761383072634, + 0.26057681282941225, + 0.060357347451056594, + -0.9980654201482696, + 0.014913340099749978, + 0.26099968381233085, + 0.0013594657511964894, + -0.9653379288636363 + ], + [ + 0.9828108110828433, + 0.035898439834532156, + 0.18109172161126003, + 0.040463343984494554, + -0.9989480555981628, + -0.021575449247751306, + 0.18012669822176858, + 0.028532161398959924, + -0.983229519671591 + ], + [ + 0.9922680817654914, + 0.00143789033475448, + 0.12410473955823295, + 0.005732056374921761, + -0.9993968237696951, + -0.03425101704708034, + 0.12398063332289574, + 0.034697566347366336, + -0.9916778113129402 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006793.json b/json/chunk-0006/episode_0006793.json new file mode 100644 index 0000000000000000000000000000000000000000..bfb701f80c4b6f1637afe7d0c1aba34def323d71 --- /dev/null +++ b/json/chunk-0006/episode_0006793.json @@ -0,0 +1,2182 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 35, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut the orange brush in the drawer." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006793.mp4", + "start": 0, + "end": 35, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2936272621154785, + 0.11537092179059982, + 0.11008099466562271, + 0.08650717884302139, + -0.2585909962654114, + 0.2664869427680969, + 0.0, + 1.0008161067962646 + ], + [ + 0.2934073507785797, + 0.11449863761663437, + 0.09836526960134506, + 0.07764914631843567, + -0.22086139023303986, + 0.272721529006958, + 0.0, + 1.0008161067962646 + ], + [ + 0.30566859245300293, + 0.13750439882278442, + 0.08731751143932343, + 0.06292730569839478, + -0.19164040684700012, + 0.3495319187641144, + 0.0, + 0.9994885921478271 + ], + [ + 0.31898432970046997, + 0.1565454602241516, + 0.08492697775363922, + 0.03987053036689758, + -0.19758956134319305, + 0.4195980131626129, + 0.0, + 0.9994885921478271 + ], + [ + 0.33121445775032043, + 0.18856674432754517, + 0.08377880603075027, + 0.01197738479822874, + -0.21818777918815613, + 0.5303220748901367, + 0.0, + 0.9994885921478271 + ], + [ + 0.34132620692253113, + 0.2155086100101471, + 0.07666799426078796, + -0.021994397044181824, + -0.255371630191803, + 0.6241753697395325, + 0.0, + 0.9994885921478271 + ], + [ + 0.34976744651794434, + 0.23537622392177582, + 0.06888824701309204, + -0.03681878745555878, + -0.29772791266441345, + 0.6576482057571411, + 0.0, + 0.9994885921478271 + ], + [ + 0.3617526590824127, + 0.2407490462064743, + 0.0653158500790596, + -0.06635409593582153, + -0.31130579113960266, + 0.6788915991783142, + 0.0, + 0.9994885921478271 + ], + [ + 0.37145742774009705, + 0.24493704736232758, + 0.07483617216348648, + -0.08821356296539307, + -0.3375073969364166, + 0.7107791900634766, + 0.0, + 0.9994885921478271 + ], + [ + 0.38050973415374756, + 0.2465449720621109, + 0.08075106143951416, + -0.11232961714267731, + -0.3710624575614929, + 0.7324147820472717, + 0.0, + 0.9994885921478271 + ], + [ + 0.3894316554069519, + 0.24769403040409088, + 0.07690926641225815, + -0.10694338381290436, + -0.38726332783699036, + 0.737189769744873, + 0.0, + 0.9994885921478271 + ], + [ + 0.39589956402778625, + 0.25099819898605347, + 0.06233290582895279, + -0.08951648324728012, + -0.38715752959251404, + 0.7407692670822144, + 0.0, + 0.9994885921478271 + ], + [ + 0.4010885953903198, + 0.25741294026374817, + 0.056218042969703674, + -0.06737116724252701, + -0.3981092870235443, + 0.7526955604553223, + 0.0, + 0.9994885921478271 + ], + [ + 0.40534597635269165, + 0.25722435116767883, + 0.04554402828216553, + -0.047380231320858, + -0.3988571763038635, + 0.7451746463775635, + 0.0, + 0.9994885921478271 + ], + [ + 0.40576356649398804, + 0.2608605623245239, + 0.03243500739336014, + -0.022798195481300354, + -0.3854641616344452, + 0.74595046043396, + 0.0, + 0.9994885921478271 + ], + [ + 0.4053928554058075, + 0.261703759431839, + 0.0260731540620327, + -0.024561995640397072, + -0.37488284707069397, + 0.7603480219841003, + 0.0, + 0.9530308246612549 + ], + [ + 0.40547966957092285, + 0.2644531726837158, + 0.024373957887291908, + -0.024594856426119804, + -0.3767697811126709, + 0.7877405285835266, + 0.0, + 0.6701657772064209 + ], + [ + 0.4050523042678833, + 0.2636432647705078, + 0.02472810260951519, + -0.028861237689852715, + -0.3713037967681885, + 0.7944574356079102, + 0.0, + 0.5689827799797058 + ], + [ + 0.40278154611587524, + 0.2618997395038605, + 0.024941112846136093, + -0.05558595433831215, + -0.3402163088321686, + 0.8010169267654419, + 0.0, + 0.5689827799797058 + ], + [ + 0.4014788866043091, + 0.26231375336647034, + 0.04302376136183739, + -0.09982988983392715, + -0.3459196388721466, + 0.8226072788238525, + 0.0, + 0.5689827799797058 + ], + [ + 0.401434987783432, + 0.2595311105251312, + 0.08881695568561554, + -0.17014575004577637, + -0.4084849953651428, + 0.8336454033851624, + 0.0, + 0.5689827799797058 + ], + [ + 0.390848308801651, + 0.24513225257396698, + 0.10960008203983307, + -0.23296712338924408, + -0.411470502614975, + 0.8252248167991638, + 0.0, + 0.5689827799797058 + ], + [ + 0.3733026087284088, + 0.21761390566825867, + 0.14089861512184143, + -0.2910410761833191, + -0.43355903029441833, + 0.7882459163665771, + 0.0, + 0.5689827799797058 + ], + [ + 0.35850411653518677, + 0.1755443811416626, + 0.16302262246608734, + -0.3360133469104767, + -0.44098740816116333, + 0.7097193002700806, + 0.0, + 0.5689827799797058 + ], + [ + 0.3462352454662323, + 0.13622641563415527, + 0.18263602256774902, + -0.3597029745578766, + -0.4322274625301361, + 0.6285172700881958, + 0.0, + 0.5689827799797058 + ], + [ + 0.34062114357948303, + 0.10736043006181717, + 0.1845843344926834, + -0.34998399019241333, + -0.42245474457740784, + 0.5725095868110657, + 0.0, + 0.5689827799797058 + ], + [ + 0.34103718400001526, + 0.07881616801023483, + 0.17879484593868256, + -0.3155317008495331, + -0.40470439195632935, + 0.512551486492157, + 0.0, + 0.5689827799797058 + ], + [ + 0.3388027846813202, + 0.059025246649980545, + 0.1713256984949112, + -0.28820136189460754, + -0.40269336104393005, + 0.4718349277973175, + 0.0, + 0.5689827799797058 + ], + [ + 0.3388696312904358, + 0.04196338355541229, + 0.15971273183822632, + -0.25235262513160706, + -0.4156213700771332, + 0.44844746589660645, + 0.0, + 0.5689827799797058 + ], + [ + 0.3405574858188629, + 0.030035579577088356, + 0.15356174111366272, + -0.2291879802942276, + -0.4310177266597748, + 0.4307441711425781, + 0.0, + 0.5689827799797058 + ], + [ + 0.33962690830230713, + 0.01422368548810482, + 0.14232787489891052, + -0.19707512855529785, + -0.44793593883514404, + 0.3927682638168335, + 0.0, + 0.5689827799797058 + ], + [ + 0.33955833315849304, + 0.00949038751423359, + 0.12679661810398102, + -0.15669624507427216, + -0.44761449098587036, + 0.38485512137413025, + 0.0, + 0.5689827799797058 + ], + [ + 0.3383084237575531, + 0.008622193709015846, + 0.11467979103326797, + -0.13537274301052094, + -0.44226545095443726, + 0.3779318034648895, + 0.0, + 0.6430501937866211 + ], + [ + 0.3374745547771454, + 0.009926164522767067, + 0.10575049370527267, + -0.11719337850809097, + -0.4257076382637024, + 0.36947908997535706, + 0.0, + 0.9375205039978027 + ], + [ + 0.335121750831604, + 0.01629587635397911, + 0.10550341755151749, + -0.12145237624645233, + -0.4088120758533478, + 0.3824184536933899, + 0.0, + 1.00800359249115 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9530308246612549 + ], + [ + 0.6701657772064209 + ], + [ + 0.5689827799797058 + ], + [ + 0.5689827799797058 + ], + [ + 0.5689827799797058 + ], + [ + 0.5689827799797058 + ], + [ + 0.5689827799797058 + ], + [ + 0.5689827799797058 + ], + [ + 0.5689827799797058 + ], + [ + 0.5689827799797058 + ], + [ + 0.5689827799797058 + ], + [ + 0.5689827799797058 + ], + [ + 0.5689827799797058 + ], + [ + 0.5689827799797058 + ], + [ + 0.5689827799797058 + ], + [ + 0.5689827799797058 + ], + [ + 0.5689827799797058 + ], + [ + 0.6430501937866211 + ], + [ + 0.9375205039978027 + ], + [ + 1.00800359249115 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2936272621154785, + 0.11537092179059982, + 0.11008099466562271 + ], + [ + 0.2934073507785797, + 0.11449863761663437, + 0.09836526960134506 + ], + [ + 0.30566859245300293, + 0.13750439882278442, + 0.08731751143932343 + ], + [ + 0.31898432970046997, + 0.1565454602241516, + 0.08492697775363922 + ], + [ + 0.33121445775032043, + 0.18856674432754517, + 0.08377880603075027 + ], + [ + 0.34132620692253113, + 0.2155086100101471, + 0.07666799426078796 + ], + [ + 0.34976744651794434, + 0.23537622392177582, + 0.06888824701309204 + ], + [ + 0.3617526590824127, + 0.2407490462064743, + 0.0653158500790596 + ], + [ + 0.37145742774009705, + 0.24493704736232758, + 0.07483617216348648 + ], + [ + 0.38050973415374756, + 0.2465449720621109, + 0.08075106143951416 + ], + [ + 0.3894316554069519, + 0.24769403040409088, + 0.07690926641225815 + ], + [ + 0.39589956402778625, + 0.25099819898605347, + 0.06233290582895279 + ], + [ + 0.4010885953903198, + 0.25741294026374817, + 0.056218042969703674 + ], + [ + 0.40534597635269165, + 0.25722435116767883, + 0.04554402828216553 + ], + [ + 0.40576356649398804, + 0.2608605623245239, + 0.03243500739336014 + ], + [ + 0.4053928554058075, + 0.261703759431839, + 0.0260731540620327 + ], + [ + 0.40547966957092285, + 0.2644531726837158, + 0.024373957887291908 + ], + [ + 0.4050523042678833, + 0.2636432647705078, + 0.02472810260951519 + ], + [ + 0.40278154611587524, + 0.2618997395038605, + 0.024941112846136093 + ], + [ + 0.4014788866043091, + 0.26231375336647034, + 0.04302376136183739 + ], + [ + 0.401434987783432, + 0.2595311105251312, + 0.08881695568561554 + ], + [ + 0.390848308801651, + 0.24513225257396698, + 0.10960008203983307 + ], + [ + 0.3733026087284088, + 0.21761390566825867, + 0.14089861512184143 + ], + [ + 0.35850411653518677, + 0.1755443811416626, + 0.16302262246608734 + ], + [ + 0.3462352454662323, + 0.13622641563415527, + 0.18263602256774902 + ], + [ + 0.34062114357948303, + 0.10736043006181717, + 0.1845843344926834 + ], + [ + 0.34103718400001526, + 0.07881616801023483, + 0.17879484593868256 + ], + [ + 0.3388027846813202, + 0.059025246649980545, + 0.1713256984949112 + ], + [ + 0.3388696312904358, + 0.04196338355541229, + 0.15971273183822632 + ], + [ + 0.3405574858188629, + 0.030035579577088356, + 0.15356174111366272 + ], + [ + 0.33962690830230713, + 0.01422368548810482, + 0.14232787489891052 + ], + [ + 0.33955833315849304, + 0.00949038751423359, + 0.12679661810398102 + ], + [ + 0.3383084237575531, + 0.008622193709015846, + 0.11467979103326797 + ], + [ + 0.3374745547771454, + 0.009926164522767067, + 0.10575049370527267 + ], + [ + 0.335121750831604, + 0.01629587635397911, + 0.10550341755151749 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9326268510569924, + 0.2836733102828252, + 0.22301706150136227, + 0.25458815505965143, + -0.9552762695692948, + 0.15043975572000504, + 0.2557186500645608, + -0.08352665341647483, + -0.9631361638824505 + ], + [ + 0.9396482743232175, + 0.2849072320589105, + 0.18944389586874782, + 0.26281054190888614, + -0.9555623303210781, + 0.13353371084826504, + 0.2190701705457785, + -0.07568686802795158, + -0.9727691187456367 + ], + [ + 0.9223331832575339, + 0.3530338139248982, + 0.1570624884804295, + 0.33618872451427206, + -0.933571621654697, + 0.12418199849610435, + 0.1904695266216924, + -0.06173454030492108, + -0.9797500732134949 + ], + [ + 0.8954832657215207, + 0.4142155937406315, + 0.162896171578145, + 0.39946655886648424, + -0.9093392391315184, + 0.11631258110402744, + 0.19630636556181774, + -0.03908439685868774, + -0.9797633493666226 + ], + [ + 0.8421920566733556, + 0.5080113893331433, + 0.18065704521029058, + 0.4938190909915425, + -0.8612709787561426, + 0.11981238051521667, + 0.2164607240323061, + -0.011693137314077333, + -0.976221299445553 + ], + [ + 0.7851297441109052, + 0.5797790340314086, + 0.21777868722616348, + 0.5654750187357227, + -0.8144958312885436, + 0.12974800190915592, + 0.25260500410359754, + 0.02127939170161907, + -0.9673354637304634 + ], + [ + 0.7566132928865729, + 0.6022968620408882, + 0.2545089684137599, + 0.5843652833548505, + -0.7974961334016497, + 0.15005709852927027, + 0.29334883779715604, + 0.03519101000422146, + -0.9553575520075928 + ], + [ + 0.7408612316677747, + 0.610742695469077, + 0.2794959665950014, + 0.5977489157709598, + -0.7893094619116399, + 0.14030968260030974, + 0.306301924751298, + 0.06311840672833846, + -0.9498395641505603 + ], + [ + 0.7150978988710184, + 0.6277789249628407, + 0.3074550640382342, + 0.6156166406360726, + -0.7739400534484817, + 0.14843498725070803, + 0.33113614541787983, + 0.08312890616783859, + -0.9399140589208821 + ], + [ + 0.6929570114290715, + 0.6342303128662642, + 0.34287386974345324, + 0.6231593891854738, + -0.7660541933996206, + 0.15758600332784675, + 0.362605785918092, + 0.10446474532787361, + -0.9260691988195621 + ], + [ + 0.6855339189173209, + 0.6385250892443829, + 0.3497555666738025, + 0.6224301778796658, + -0.7632282241164814, + 0.1733878645600354, + 0.3776558217193895, + 0.09883515729463144, + -0.9206561203858897 + ], + [ + 0.6833310259021514, + 0.6472460508481283, + 0.3378331817643368, + 0.624907012527962, + -0.7577730288314121, + 0.18780644948735215, + 0.3775578561398116, + 0.08278035054993478, + -0.9222784171983747 + ], + [ + 0.6727714444191768, + 0.6630098546127723, + 0.32832379788934735, + 0.6301474104557403, + -0.7460342151990992, + 0.2152839772212248, + 0.38767618532747056, + 0.06205547871553749, + -0.9197044595365003 + ], + [ + 0.6772783713175412, + 0.6638201929941349, + 0.31723297293737945, + 0.6248729977474355, + -0.7466176278647959, + 0.22824516303238168, + 0.3883654779091366, + 0.04364480650403324, + -0.9204712849587613 + ], + [ + 0.6805526912465181, + 0.6721988003090064, + 0.2915421192559564, + 0.628872081863919, + -0.7400693004963432, + 0.23836387124519054, + 0.37598928055100467, + 0.021123525415659303, + -0.9263832131384679 + ], + [ + 0.674273381184645, + 0.6824496358570625, + 0.28216644368951593, + 0.6413109135179139, + -0.730575249165924, + 0.23447839454620636, + 0.366163514879138, + 0.02285387986120671, + -0.9302698428663827 + ], + [ + 0.6559669286884776, + 0.7021638897136259, + 0.2768993688133595, + 0.6590471775836545, + -0.7116480543233749, + 0.2433389909093363, + 0.36791874943528613, + 0.022867416994189302, + -0.9295767182185606 + ], + [ + 0.6529247441017034, + 0.7058501771960627, + 0.2747085835790559, + 0.664863271048365, + -0.7078505594536509, + 0.238546465687549, + 0.36283068964820586, + 0.02689075739802553, + -0.9314670030741653 + ], + [ + 0.6560852025420308, + 0.7040524654347402, + 0.2717762552553966, + 0.6769065788704829, + -0.7082140936577758, + 0.20057487635881538, + 0.33369101049809713, + 0.0523729267824455, + -0.9412265328033415 + ], + [ + 0.6400136174327968, + 0.7062836174802128, + 0.30256573034573864, + 0.6895067372569935, + -0.7016925460709067, + 0.17946595795789252, + 0.3390619836811568, + 0.0937604525777965, + -0.9360800974033183 + ], + [ + 0.6168766167629711, + 0.6844849223633139, + 0.38851464676168707, + 0.6794703563078938, + -0.7122730856460813, + 0.17603149253197276, + 0.3972194287668898, + 0.15539447390913946, + -0.9044718253702586 + ], + [ + 0.6217689387853984, + 0.6522126252676292, + 0.4336151268154589, + 0.6733775797291155, + -0.7279050902569478, + 0.12929352147800505, + 0.39995752509465077, + 0.2115960089877209, + -0.8917741345770409 + ], + [ + 0.6398527207287051, + 0.5942985496872192, + 0.4872347787419748, + 0.6435074232687509, + -0.7609211868650542, + 0.08304904320875528, + 0.4201031920541501, + 0.26040004074413037, + -0.8693130200372987 + ], + [ + 0.6859753232774337, + 0.5084241202885968, + 0.5205216323681341, + 0.5892807254467625, + -0.8078321617983328, + 0.01246695556940794, + 0.4268326164568001, + 0.298181341255617, + -0.8537574627818157 + ], + [ + 0.734509603403931, + 0.4310465735833442, + 0.5241130545115799, + 0.5338755277581714, + -0.843823909800426, + -0.05420452112191507, + 0.41889445373307765, + 0.3196248748942748, + -0.8499219822904248 + ], + [ + 0.7666478437231358, + 0.3907362345222847, + 0.5094862890657725, + 0.49411595131859143, + -0.8657481982214147, + -0.07955805382798672, + 0.41000062239853874, + 0.31273831282354836, + -0.8567929956092607 + ], + [ + 0.801095618533468, + 0.35970534825463224, + 0.47839092006798584, + 0.45078716851008876, + -0.8883931193097234, + -0.08688264654001034, + 0.39374704909768793, + 0.2852537957681778, + -0.873838390851941 + ], + [ + 0.8194847598150709, + 0.33655787929593056, + 0.46386800096003783, + 0.41816377110555686, + -0.9046272598349548, + -0.08239284737330464, + 0.3918976766524845, + 0.2614924753168378, + -0.8820645647496888 + ], + [ + 0.8244049055010325, + 0.3289915472116077, + 0.460566079568552, + 0.396655572123332, + -0.9162892807276916, + -0.05548252992646993, + 0.40375847841171764, + 0.22842617163285375, + -0.8858897082728823 + ], + [ + 0.8255505888085918, + 0.3203813182642063, + 0.46456650355474033, + 0.3793586793245816, + -0.9245276234214604, + -0.03654676390291302, + 0.41779566505517557, + 0.20640853770606327, + -0.8847837576623725 + ], + [ + 0.8327084652255745, + 0.29699318356488064, + 0.46732393567809644, + 0.34498663433100857, + -0.9384285831803378, + -0.018330750205789573, + 0.43310603098390527, + 0.17648468258220362, + -0.883896104041209 + ], + [ + 0.8355412882709284, + 0.30822237600455477, + 0.4548293334039307, + 0.33843881084264066, + -0.940854760720037, + 0.015858453451110005, + 0.432816273850668, + 0.14068150610705224, + -0.8904374132579307 + ], + [ + 0.8400041384071536, + 0.3119381763824356, + 0.44394551644774605, + 0.33349555376146733, + -0.942240315857165, + 0.03104678396746128, + 0.42798804081444575, + 0.12197442883076134, + -0.8955157595660848 + ], + [ + 0.849285523487678, + 0.3136250908364404, + 0.42468035272672455, + 0.3288977158099696, + -0.9435567411205215, + 0.0390764484185268, + 0.4129653643215677, + 0.10648933601002414, + -0.904499656819669 + ], + [ + 0.8513111904372861, + 0.32573430651108676, + 0.4112984544074919, + 0.34241413949106064, + -0.9389027413110524, + 0.03484536461549881, + 0.3975195770183486, + 0.11117015750790302, + -0.9108344426770547 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0002199113368988037, + -0.0008722841739654541, + -0.011715725064277649, + -0.008858032524585724, + 0.03772960603237152, + 0.006234586238861084, + 1.0 + ], + [ + 0.012261241674423218, + 0.023005761206150055, + -0.011047758162021637, + -0.014721840620040894, + 0.029220983386039734, + 0.07681038975715637, + 1.0 + ], + [ + 0.013315737247467041, + 0.019041061401367188, + -0.002390533685684204, + -0.023056775331497192, + -0.005949154496192932, + 0.07006609439849854, + 1.0 + ], + [ + 0.012230128049850464, + 0.032021284103393555, + -0.0011481717228889465, + -0.027893144637346268, + -0.020598217844963074, + 0.1107240617275238, + 1.0 + ], + [ + 0.010111749172210693, + 0.02694186568260193, + -0.007110811769962311, + -0.03397178277373314, + -0.03718385100364685, + 0.09385329484939575, + 1.0 + ], + [ + 0.008441239595413208, + 0.019867613911628723, + -0.007779747247695923, + -0.014824390411376953, + -0.042356282472610474, + 0.03347283601760864, + 1.0 + ], + [ + 0.011985212564468384, + 0.005372822284698486, + -0.00357239693403244, + -0.029535308480262756, + -0.013577878475189209, + 0.021243393421173096, + 1.0 + ], + [ + 0.009704768657684326, + 0.0041880011558532715, + 0.00952032208442688, + -0.021859467029571533, + -0.026201605796813965, + 0.031887590885162354, + 1.0 + ], + [ + 0.009052306413650513, + 0.0016079246997833252, + 0.0059148892760276794, + -0.02411605417728424, + -0.033555060625076294, + 0.021635591983795166, + 1.0 + ], + [ + 0.008921921253204346, + 0.0011490583419799805, + -0.003841795027256012, + 0.005386233329772949, + -0.016200870275497437, + 0.004774987697601318, + 1.0 + ], + [ + 0.006467908620834351, + 0.0033041685819625854, + -0.014576360583305359, + 0.017426900565624237, + 0.00010579824447631836, + 0.0035794973373413086, + 1.0 + ], + [ + 0.005189031362533569, + 0.006414741277694702, + -0.006114862859249115, + 0.022145316004753113, + -0.010951757431030273, + 0.01192629337310791, + 1.0 + ], + [ + 0.004257380962371826, + -0.00018858909606933594, + -0.010674014687538147, + 0.019990935921669006, + -0.0007478892803192139, + -0.007520914077758789, + 1.0 + ], + [ + 0.0004175901412963867, + 0.0036362111568450928, + -0.01310902088880539, + 0.024582035839557648, + 0.013393014669418335, + 0.0007758140563964844, + 1.0 + ], + [ + -0.000370711088180542, + 0.0008431971073150635, + -0.006361853331327438, + -0.0017638001590967178, + 0.01058131456375122, + 0.01439756155014038, + 0.0 + ], + [ + 8.681416511535645e-05, + 0.002749413251876831, + -0.0016991961747407913, + -3.2860785722732544e-05, + -0.0018869340419769287, + 0.02739250659942627, + 0.0 + ], + [ + -0.0004273653030395508, + -0.0008099079132080078, + 0.00035414472222328186, + -0.00426638126373291, + 0.005465984344482422, + 0.006716907024383545, + 0.0 + ], + [ + -0.0022707581520080566, + -0.0017435252666473389, + 0.00021301023662090302, + -0.026724716648459435, + 0.031087487936019897, + 0.006559491157531738, + 0.0 + ], + [ + -0.0013026595115661621, + 0.0004140138626098633, + 0.018082648515701294, + -0.044243935495615005, + -0.005703330039978027, + 0.021590352058410645, + 0.0 + ], + [ + -4.3898820877075195e-05, + -0.0027826428413391113, + 0.04579319432377815, + -0.07031586021184921, + -0.06256535649299622, + 0.011038124561309814, + 0.0 + ], + [ + -0.010586678981781006, + -0.014398857951164246, + 0.02078312635421753, + -0.06282137334346771, + -0.0029855072498321533, + -0.008420586585998535, + 0.0 + ], + [ + -0.017545700073242188, + -0.027518346905708313, + 0.03129853308200836, + -0.05807395279407501, + -0.02208852767944336, + -0.03697890043258667, + 0.0 + ], + [ + -0.014798492193222046, + -0.04206952452659607, + 0.02212400734424591, + -0.04497227072715759, + -0.007428377866744995, + -0.07852661609649658, + 0.0 + ], + [ + -0.012268871068954468, + -0.039317965507507324, + 0.019613400101661682, + -0.023689627647399902, + 0.008759945631027222, + -0.08120203018188477, + 0.0 + ], + [ + -0.005614101886749268, + -0.028865985572338104, + 0.0019483119249343872, + 0.009718984365463257, + 0.009772717952728271, + -0.05600768327713013, + 0.0 + ], + [ + 0.00041604042053222656, + -0.028544262051582336, + -0.0057894885540008545, + 0.03445228934288025, + 0.01775035262107849, + -0.05995810031890869, + 0.0 + ], + [ + -0.0022343993186950684, + -0.019790921360254288, + -0.007469147443771362, + 0.027330338954925537, + 0.002011030912399292, + -0.04071655869483948, + 0.0 + ], + [ + 6.684660911560059e-05, + -0.017061863094568253, + -0.011612966656684875, + 0.03584873676300049, + -0.012928009033203125, + -0.02338746190071106, + 0.0 + ], + [ + 0.001687854528427124, + -0.011927803978323936, + -0.006150990724563599, + 0.023164644837379456, + -0.015396356582641602, + -0.01770329475402832, + 0.0 + ], + [ + -0.0009305775165557861, + -0.015811894088983536, + -0.011233866214752197, + 0.03211285173892975, + -0.016918212175369263, + -0.03797590732574463, + 0.0 + ], + [ + -6.857514381408691e-05, + -0.004733297973871231, + -0.015531256794929504, + 0.040378883481025696, + 0.00032144784927368164, + -0.007913142442703247, + 0.0 + ], + [ + -0.0012499094009399414, + -0.0008681938052177429, + -0.012116827070713043, + 0.02132350206375122, + 0.0053490400314331055, + -0.006923317909240723, + 1.0 + ], + [ + -0.0008338689804077148, + 0.0013039708137512207, + -0.0089292973279953, + 0.018179364502429962, + 0.016557812690734863, + -0.00845271348953247, + 1.0 + ], + [ + -0.002352803945541382, + 0.006369711831212044, + -0.000247076153755188, + -0.004258997738361359, + 0.016895562410354614, + 0.012939363718032837, + 1.0 + ], + [ + -0.006839573383331299, + 0.01536649465560913, + 0.008883729577064514, + 0.02043783664703369, + 0.03444325923919678, + 0.023431450128555298, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9994885921478271 + ], + [ + 0.9530308246612549 + ], + [ + 0.6701657772064209 + ], + [ + 0.5689827799797058 + ], + [ + 0.5689827799797058 + ], + [ + 0.5689827799797058 + ], + [ + 0.5689827799797058 + ], + [ + 0.5689827799797058 + ], + [ + 0.5689827799797058 + ], + [ + 0.5689827799797058 + ], + [ + 0.5689827799797058 + ], + [ + 0.5689827799797058 + ], + [ + 0.5689827799797058 + ], + [ + 0.5689827799797058 + ], + [ + 0.5689827799797058 + ], + [ + 0.5689827799797058 + ], + [ + 0.5689827799797058 + ], + [ + 0.5689827799797058 + ], + [ + 0.6430501937866211 + ], + [ + 0.9375205039978027 + ], + [ + 1.00800359249115 + ], + [ + 1.0014774799346924 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2934073507785797, + 0.11449863761663437, + 0.09836526960134506 + ], + [ + 0.30566859245300293, + 0.13750439882278442, + 0.08731751143932343 + ], + [ + 0.31898432970046997, + 0.1565454602241516, + 0.08492697775363922 + ], + [ + 0.33121445775032043, + 0.18856674432754517, + 0.08377880603075027 + ], + [ + 0.34132620692253113, + 0.2155086100101471, + 0.07666799426078796 + ], + [ + 0.34976744651794434, + 0.23537622392177582, + 0.06888824701309204 + ], + [ + 0.3617526590824127, + 0.2407490462064743, + 0.0653158500790596 + ], + [ + 0.37145742774009705, + 0.24493704736232758, + 0.07483617216348648 + ], + [ + 0.38050973415374756, + 0.2465449720621109, + 0.08075106143951416 + ], + [ + 0.3894316554069519, + 0.24769403040409088, + 0.07690926641225815 + ], + [ + 0.39589956402778625, + 0.25099819898605347, + 0.06233290582895279 + ], + [ + 0.4010885953903198, + 0.25741294026374817, + 0.056218042969703674 + ], + [ + 0.40534597635269165, + 0.25722435116767883, + 0.04554402828216553 + ], + [ + 0.40576356649398804, + 0.2608605623245239, + 0.03243500739336014 + ], + [ + 0.4053928554058075, + 0.261703759431839, + 0.0260731540620327 + ], + [ + 0.40547966957092285, + 0.2644531726837158, + 0.024373957887291908 + ], + [ + 0.4050523042678833, + 0.2636432647705078, + 0.02472810260951519 + ], + [ + 0.40278154611587524, + 0.2618997395038605, + 0.024941112846136093 + ], + [ + 0.4014788866043091, + 0.26231375336647034, + 0.04302376136183739 + ], + [ + 0.401434987783432, + 0.2595311105251312, + 0.08881695568561554 + ], + [ + 0.390848308801651, + 0.24513225257396698, + 0.10960008203983307 + ], + [ + 0.3733026087284088, + 0.21761390566825867, + 0.14089861512184143 + ], + [ + 0.35850411653518677, + 0.1755443811416626, + 0.16302262246608734 + ], + [ + 0.3462352454662323, + 0.13622641563415527, + 0.18263602256774902 + ], + [ + 0.34062114357948303, + 0.10736043006181717, + 0.1845843344926834 + ], + [ + 0.34103718400001526, + 0.07881616801023483, + 0.17879484593868256 + ], + [ + 0.3388027846813202, + 0.059025246649980545, + 0.1713256984949112 + ], + [ + 0.3388696312904358, + 0.04196338355541229, + 0.15971273183822632 + ], + [ + 0.3405574858188629, + 0.030035579577088356, + 0.15356174111366272 + ], + [ + 0.33962690830230713, + 0.01422368548810482, + 0.14232787489891052 + ], + [ + 0.33955833315849304, + 0.00949038751423359, + 0.12679661810398102 + ], + [ + 0.3383084237575531, + 0.008622193709015846, + 0.11467979103326797 + ], + [ + 0.3374745547771454, + 0.009926164522767067, + 0.10575049370527267 + ], + [ + 0.335121750831604, + 0.01629587635397911, + 0.10550341755151749 + ], + [ + 0.3282821774482727, + 0.03166237100958824, + 0.114387147128582 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9396482743232175, + 0.2849072320589105, + 0.18944389586874782, + 0.26281054190888614, + -0.9555623303210781, + 0.13353371084826504, + 0.2190701705457785, + -0.07568686802795158, + -0.9727691187456367 + ], + [ + 0.9223331832575339, + 0.3530338139248982, + 0.1570624884804295, + 0.33618872451427206, + -0.933571621654697, + 0.12418199849610435, + 0.1904695266216924, + -0.06173454030492108, + -0.9797500732134949 + ], + [ + 0.8954832657215207, + 0.4142155937406315, + 0.162896171578145, + 0.39946655886648424, + -0.9093392391315184, + 0.11631258110402744, + 0.19630636556181774, + -0.03908439685868774, + -0.9797633493666226 + ], + [ + 0.8421920566733556, + 0.5080113893331433, + 0.18065704521029058, + 0.4938190909915425, + -0.8612709787561426, + 0.11981238051521667, + 0.2164607240323061, + -0.011693137314077333, + -0.976221299445553 + ], + [ + 0.7851297441109052, + 0.5797790340314086, + 0.21777868722616348, + 0.5654750187357227, + -0.8144958312885436, + 0.12974800190915592, + 0.25260500410359754, + 0.02127939170161907, + -0.9673354637304634 + ], + [ + 0.7566132928865729, + 0.6022968620408882, + 0.2545089684137599, + 0.5843652833548505, + -0.7974961334016497, + 0.15005709852927027, + 0.29334883779715604, + 0.03519101000422146, + -0.9553575520075928 + ], + [ + 0.7408612316677747, + 0.610742695469077, + 0.2794959665950014, + 0.5977489157709598, + -0.7893094619116399, + 0.14030968260030974, + 0.306301924751298, + 0.06311840672833846, + -0.9498395641505603 + ], + [ + 0.7150978988710184, + 0.6277789249628407, + 0.3074550640382342, + 0.6156166406360726, + -0.7739400534484817, + 0.14843498725070803, + 0.33113614541787983, + 0.08312890616783859, + -0.9399140589208821 + ], + [ + 0.6929570114290715, + 0.6342303128662642, + 0.34287386974345324, + 0.6231593891854738, + -0.7660541933996206, + 0.15758600332784675, + 0.362605785918092, + 0.10446474532787361, + -0.9260691988195621 + ], + [ + 0.6855339189173209, + 0.6385250892443829, + 0.3497555666738025, + 0.6224301778796658, + -0.7632282241164814, + 0.1733878645600354, + 0.3776558217193895, + 0.09883515729463144, + -0.9206561203858897 + ], + [ + 0.6833310259021514, + 0.6472460508481283, + 0.3378331817643368, + 0.624907012527962, + -0.7577730288314121, + 0.18780644948735215, + 0.3775578561398116, + 0.08278035054993478, + -0.9222784171983747 + ], + [ + 0.6727714444191768, + 0.6630098546127723, + 0.32832379788934735, + 0.6301474104557403, + -0.7460342151990992, + 0.2152839772212248, + 0.38767618532747056, + 0.06205547871553749, + -0.9197044595365003 + ], + [ + 0.6772783713175412, + 0.6638201929941349, + 0.31723297293737945, + 0.6248729977474355, + -0.7466176278647959, + 0.22824516303238168, + 0.3883654779091366, + 0.04364480650403324, + -0.9204712849587613 + ], + [ + 0.6805526912465181, + 0.6721988003090064, + 0.2915421192559564, + 0.628872081863919, + -0.7400693004963432, + 0.23836387124519054, + 0.37598928055100467, + 0.021123525415659303, + -0.9263832131384679 + ], + [ + 0.674273381184645, + 0.6824496358570625, + 0.28216644368951593, + 0.6413109135179139, + -0.730575249165924, + 0.23447839454620636, + 0.366163514879138, + 0.02285387986120671, + -0.9302698428663827 + ], + [ + 0.6559669286884776, + 0.7021638897136259, + 0.2768993688133595, + 0.6590471775836545, + -0.7116480543233749, + 0.2433389909093363, + 0.36791874943528613, + 0.022867416994189302, + -0.9295767182185606 + ], + [ + 0.6529247441017034, + 0.7058501771960627, + 0.2747085835790559, + 0.664863271048365, + -0.7078505594536509, + 0.238546465687549, + 0.36283068964820586, + 0.02689075739802553, + -0.9314670030741653 + ], + [ + 0.6560852025420308, + 0.7040524654347402, + 0.2717762552553966, + 0.6769065788704829, + -0.7082140936577758, + 0.20057487635881538, + 0.33369101049809713, + 0.0523729267824455, + -0.9412265328033415 + ], + [ + 0.6400136174327968, + 0.7062836174802128, + 0.30256573034573864, + 0.6895067372569935, + -0.7016925460709067, + 0.17946595795789252, + 0.3390619836811568, + 0.0937604525777965, + -0.9360800974033183 + ], + [ + 0.6168766167629711, + 0.6844849223633139, + 0.38851464676168707, + 0.6794703563078938, + -0.7122730856460813, + 0.17603149253197276, + 0.3972194287668898, + 0.15539447390913946, + -0.9044718253702586 + ], + [ + 0.6217689387853984, + 0.6522126252676292, + 0.4336151268154589, + 0.6733775797291155, + -0.7279050902569478, + 0.12929352147800505, + 0.39995752509465077, + 0.2115960089877209, + -0.8917741345770409 + ], + [ + 0.6398527207287051, + 0.5942985496872192, + 0.4872347787419748, + 0.6435074232687509, + -0.7609211868650542, + 0.08304904320875528, + 0.4201031920541501, + 0.26040004074413037, + -0.8693130200372987 + ], + [ + 0.6859753232774337, + 0.5084241202885968, + 0.5205216323681341, + 0.5892807254467625, + -0.8078321617983328, + 0.01246695556940794, + 0.4268326164568001, + 0.298181341255617, + -0.8537574627818157 + ], + [ + 0.734509603403931, + 0.4310465735833442, + 0.5241130545115799, + 0.5338755277581714, + -0.843823909800426, + -0.05420452112191507, + 0.41889445373307765, + 0.3196248748942748, + -0.8499219822904248 + ], + [ + 0.7666478437231358, + 0.3907362345222847, + 0.5094862890657725, + 0.49411595131859143, + -0.8657481982214147, + -0.07955805382798672, + 0.41000062239853874, + 0.31273831282354836, + -0.8567929956092607 + ], + [ + 0.801095618533468, + 0.35970534825463224, + 0.47839092006798584, + 0.45078716851008876, + -0.8883931193097234, + -0.08688264654001034, + 0.39374704909768793, + 0.2852537957681778, + -0.873838390851941 + ], + [ + 0.8194847598150709, + 0.33655787929593056, + 0.46386800096003783, + 0.41816377110555686, + -0.9046272598349548, + -0.08239284737330464, + 0.3918976766524845, + 0.2614924753168378, + -0.8820645647496888 + ], + [ + 0.8244049055010325, + 0.3289915472116077, + 0.460566079568552, + 0.396655572123332, + -0.9162892807276916, + -0.05548252992646993, + 0.40375847841171764, + 0.22842617163285375, + -0.8858897082728823 + ], + [ + 0.8255505888085918, + 0.3203813182642063, + 0.46456650355474033, + 0.3793586793245816, + -0.9245276234214604, + -0.03654676390291302, + 0.41779566505517557, + 0.20640853770606327, + -0.8847837576623725 + ], + [ + 0.8327084652255745, + 0.29699318356488064, + 0.46732393567809644, + 0.34498663433100857, + -0.9384285831803378, + -0.018330750205789573, + 0.43310603098390527, + 0.17648468258220362, + -0.883896104041209 + ], + [ + 0.8355412882709284, + 0.30822237600455477, + 0.4548293334039307, + 0.33843881084264066, + -0.940854760720037, + 0.015858453451110005, + 0.432816273850668, + 0.14068150610705224, + -0.8904374132579307 + ], + [ + 0.8400041384071536, + 0.3119381763824356, + 0.44394551644774605, + 0.33349555376146733, + -0.942240315857165, + 0.03104678396746128, + 0.42798804081444575, + 0.12197442883076134, + -0.8955157595660848 + ], + [ + 0.849285523487678, + 0.3136250908364404, + 0.42468035272672455, + 0.3288977158099696, + -0.9435567411205215, + 0.0390764484185268, + 0.4129653643215677, + 0.10648933601002414, + -0.904499656819669 + ], + [ + 0.8513111904372861, + 0.32573430651108676, + 0.4112984544074919, + 0.34241413949106064, + -0.9389027413110524, + 0.03484536461549881, + 0.3975195770183486, + 0.11117015750790302, + -0.9108344426770547 + ], + [ + 0.8551321054626659, + 0.35890609678783775, + 0.37407953151102374, + 0.36745539061335303, + -0.9286425733329098, + 0.05098535969098601, + 0.3656851352135822, + 0.09385832239151916, + -0.9259940589451281 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006794.json b/json/chunk-0006/episode_0006794.json new file mode 100644 index 0000000000000000000000000000000000000000..a538f1e7bbbc7254c924a74b748d0847a60e3eaa --- /dev/null +++ b/json/chunk-0006/episode_0006794.json @@ -0,0 +1,4582 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 75, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut redpepper on plate and brush in pot or pan on stove." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006794.mp4", + "start": 0, + "end": 75, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.28064748644828796, + -0.12739478051662445, + 0.08467349410057068, + 0.12349771708250046, + -0.08561313897371292, + 0.08359820395708084, + 0.0, + 1.0001531839370728 + ], + [ + 0.27681490778923035, + -0.1255919635295868, + 0.07376118749380112, + 0.1415814459323883, + -0.05543558672070503, + 0.08386781811714172, + 0.0, + 1.0001531839370728 + ], + [ + 0.28025153279304504, + -0.12967641651630402, + 0.06284233182668686, + 0.10706554353237152, + -0.08512929081916809, + 0.08007455617189407, + 0.0, + 1.0001531839370728 + ], + [ + 0.28161224722862244, + -0.1318623572587967, + 0.05020112916827202, + 0.09243563562631607, + -0.09298038482666016, + 0.0746508240699768, + 0.0, + 1.0001531839370728 + ], + [ + 0.28416985273361206, + -0.13428045809268951, + 0.04379122704267502, + 0.07641114294528961, + -0.10825606435537338, + 0.06343497335910797, + 0.0, + 1.0001531839370728 + ], + [ + 0.2850883901119232, + -0.13359615206718445, + 0.03704342618584633, + 0.06866712868213654, + -0.11092164367437363, + 0.06042766198515892, + 0.0, + 1.0001531839370728 + ], + [ + 0.28576868772506714, + -0.13446716964244843, + 0.027458876371383667, + 0.05794046074151993, + -0.11690651625394821, + 0.06301068514585495, + 0.0, + 1.0001531839370728 + ], + [ + 0.2866819500923157, + -0.1352946013212204, + 0.021104423329234123, + 0.04313027858734131, + -0.13119158148765564, + 0.06544015556573868, + 0.0, + 1.0001531839370728 + ], + [ + 0.28759074211120605, + -0.13625776767730713, + 0.01658632792532444, + 0.03565261512994766, + -0.13658151030540466, + 0.07428676635026932, + 0.0, + 1.0008161067962646 + ], + [ + 0.28859806060791016, + -0.13716289401054382, + 0.0142681198194623, + 0.02810693345963955, + -0.14340491592884064, + 0.08086555451154709, + 0.0, + 0.9568231701850891 + ], + [ + 0.2889302670955658, + -0.13843177258968353, + 0.011635498143732548, + 0.019709201529622078, + -0.13901346921920776, + 0.08473117649555206, + 0.0, + 0.7081608176231384 + ], + [ + 0.287278950214386, + -0.14078772068023682, + 0.012894483283162117, + 0.011387038044631481, + -0.13362863659858704, + 0.09095502644777298, + 0.0, + 0.48038846254348755 + ], + [ + 0.2847544252872467, + -0.1414259821176529, + 0.013583207502961159, + 0.01236262358725071, + -0.12160538136959076, + 0.0966511219739914, + 0.0, + 0.4662301242351532 + ], + [ + 0.28351104259490967, + -0.14070691168308258, + 0.013988025486469269, + 0.018583200871944427, + -0.11166787147521973, + 0.1043473556637764, + 0.0, + 0.4937349259853363 + ], + [ + 0.27502334117889404, + -0.14022476971149445, + 0.014359071850776672, + 0.04737800359725952, + -0.0660630539059639, + 0.09578452259302139, + 0.0, + 0.4937349259853363 + ], + [ + 0.2668382227420807, + -0.13789744675159454, + 0.01978081464767456, + 0.08187071979045868, + -0.025578612461686134, + 0.09539919346570969, + 0.0, + 0.4937349259853363 + ], + [ + 0.264937162399292, + -0.13660019636154175, + 0.03189126029610634, + 0.090837761759758, + -0.015235505998134613, + 0.1002679169178009, + 0.0, + 0.4937349259853363 + ], + [ + 0.2640407979488373, + -0.13538941740989685, + 0.0439300537109375, + 0.1065082773566246, + 0.0011422729585319757, + 0.09051705151796341, + 0.0, + 0.4937349259853363 + ], + [ + 0.26670289039611816, + -0.1322869211435318, + 0.058551233261823654, + 0.12104468047618866, + 0.016324495896697044, + 0.07672804594039917, + 0.0, + 0.4937349259853363 + ], + [ + 0.2750915586948395, + -0.12865658104419708, + 0.07380630075931549, + 0.12606878578662872, + 0.026635698974132538, + 0.06312321871519089, + 0.0, + 0.4937349259853363 + ], + [ + 0.2945038974285126, + -0.12350429594516754, + 0.09743189066648483, + 0.1137833520770073, + 0.009274056181311607, + 0.03993573784828186, + 0.0, + 0.4937349259853363 + ], + [ + 0.31871193647384644, + -0.11410365253686905, + 0.10326893627643585, + 0.11597847193479538, + 0.02286381460726261, + 0.009309717454016209, + 0.0, + 0.4937349259853363 + ], + [ + 0.34763652086257935, + -0.09869920462369919, + 0.1013522818684578, + 0.10619794577360153, + 0.01970256306231022, + -0.04353971406817436, + 0.0, + 0.4937349259853363 + ], + [ + 0.3620293140411377, + -0.08331061899662018, + 0.08566990494728088, + 0.10079261660575867, + 0.0148738669231534, + -0.05868172273039818, + 0.0, + 0.4937349259853363 + ], + [ + 0.37246614694595337, + -0.07457058131694794, + 0.08065488189458847, + 0.08469180762767792, + -0.032915592193603516, + -0.0679602175951004, + 0.0, + 0.4937349259853363 + ], + [ + 0.37279313802719116, + -0.07019016891717911, + 0.06722916662693024, + 0.0822143629193306, + -0.0376596674323082, + -0.06965934485197067, + 0.0, + 0.561048150062561 + ], + [ + 0.367824524641037, + -0.0693468526005745, + 0.05762958899140358, + 0.09847816079854965, + -0.03716962784528732, + -0.05590886250138283, + 0.0, + 0.8660832643508911 + ], + [ + 0.36186957359313965, + -0.0723765566945076, + 0.05312385782599449, + 0.10282686352729797, + -0.020292697474360466, + -0.04455624893307686, + 0.0, + 1.0099300146102905 + ], + [ + 0.35252633690834045, + -0.0779968723654747, + 0.05383402481675148, + 0.11039520800113678, + 0.025047294795513153, + -0.02916950359940529, + 0.0, + 1.0060625076293945 + ], + [ + 0.3460496962070465, + -0.08161136507987976, + 0.07391230016946793, + 0.10487892478704453, + 0.020128540694713593, + -0.021292876452207565, + 0.0, + 1.0060625076293945 + ], + [ + 0.338581919670105, + -0.08110769093036652, + 0.08543895930051804, + 0.10511448234319687, + 0.03312860429286957, + -0.024878565222024918, + 0.0, + 1.0060625076293945 + ], + [ + 0.33163031935691833, + -0.07687052339315414, + 0.09556698799133301, + 0.13356070220470428, + 0.054258573800325394, + -0.04613828659057617, + 0.0, + 1.0060625076293945 + ], + [ + 0.33144262433052063, + -0.07680831849575043, + 0.09663064777851105, + 0.13341906666755676, + 0.05233385041356087, + -0.042934808880090714, + 0.0, + 1.0067112445831299 + ], + [ + 0.3311910629272461, + -0.07672762870788574, + 0.09613102674484253, + 0.13420537114143372, + 0.05528862774372101, + -0.042717769742012024, + 0.0, + 1.0060625076293945 + ], + [ + 0.33111685514450073, + -0.07694943994283676, + 0.09610439091920853, + 0.1327994465827942, + 0.05563178285956383, + -0.0422811396420002, + 0.0, + 1.0060625076293945 + ], + [ + 0.33066290616989136, + -0.0753260999917984, + 0.09687844663858414, + 0.14256730675697327, + 0.057942986488342285, + -0.044090915471315384, + 0.0, + 1.0060625076293945 + ], + [ + 0.3238317668437958, + -0.0543178953230381, + 0.11579585075378418, + 0.22232112288475037, + 0.03610203042626381, + -0.05571599304676056, + 0.0, + 1.0060625076293945 + ], + [ + 0.3213805854320526, + -0.02712755836546421, + 0.12600219249725342, + 0.2814125716686249, + 0.02588992565870285, + -0.0689249038696289, + 0.0, + 1.0060625076293945 + ], + [ + 0.31578198075294495, + -0.007084575016051531, + 0.13259904086589813, + 0.3083619177341461, + 0.02004348114132881, + -0.0611317977309227, + 0.0, + 1.0060625076293945 + ], + [ + 0.3084551990032196, + 0.006010478362441063, + 0.13110053539276123, + 0.3026467263698578, + 0.03224446624517441, + -0.031176505610346794, + 0.0, + 1.0060625076293945 + ], + [ + 0.30104124546051025, + 0.012076816521584988, + 0.12220413237810135, + 0.2781796157360077, + 0.03228951245546341, + -0.009597633965313435, + 0.0, + 1.0060625076293945 + ], + [ + 0.2951233983039856, + 0.014118054881691933, + 0.10838509351015091, + 0.25880831480026245, + 0.015122669748961926, + -0.011905629187822342, + 0.0, + 1.0060625076293945 + ], + [ + 0.2893153727054596, + 0.01773456484079361, + 0.09364636242389679, + 0.2465037852525711, + 0.012355881743133068, + -0.016482362523674965, + 0.0, + 1.0060625076293945 + ], + [ + 0.28741851449012756, + 0.01990504004061222, + 0.08698182553052902, + 0.23283150792121887, + -0.009790073148906231, + -0.031815361231565475, + 0.0, + 1.0060625076293945 + ], + [ + 0.28952574729919434, + 0.02553022839128971, + 0.08295726031064987, + 0.2192365825176239, + -0.033546242862939835, + -0.04681512340903282, + 0.0, + 1.0060625076293945 + ], + [ + 0.29183584451675415, + 0.03086995705962181, + 0.07808547466993332, + 0.21078848838806152, + -0.0603458471596241, + -0.05703457072377205, + 0.0, + 1.0060625076293945 + ], + [ + 0.2948116660118103, + 0.03172910585999489, + 0.07376442849636078, + 0.20636208355426788, + -0.07583484053611755, + -0.05995665118098259, + 0.0, + 1.0060625076293945 + ], + [ + 0.2946447730064392, + 0.03091592527925968, + 0.06918419152498245, + 0.19458721578121185, + -0.07719222456216812, + -0.04785783588886261, + 0.0, + 1.0060625076293945 + ], + [ + 0.29192647337913513, + 0.030234673991799355, + 0.06490397453308105, + 0.18870195746421814, + -0.06734012812376022, + -0.033859509974718094, + 0.0, + 1.0060625076293945 + ], + [ + 0.28801050782203674, + 0.029163094237446785, + 0.06039435788989067, + 0.188493549823761, + -0.06528614461421967, + -0.012079501524567604, + 0.0, + 1.0060625076293945 + ], + [ + 0.28448688983917236, + 0.02796263061463833, + 0.05342812463641167, + 0.1824711263179779, + -0.07633741199970245, + 0.0020286713261157274, + 0.0, + 1.0060625076293945 + ], + [ + 0.2854043245315552, + 0.02621818147599697, + 0.049300361424684525, + 0.17202481627464294, + -0.09088987857103348, + -0.006639967206865549, + 0.0, + 1.0060625076293945 + ], + [ + 0.28732940554618835, + 0.02496824599802494, + 0.042493488639593124, + 0.16218799352645874, + -0.09625747799873352, + -0.01451412308961153, + 0.0, + 1.0067112445831299 + ], + [ + 0.29123392701148987, + 0.023840587586164474, + 0.03841087222099304, + 0.1555631011724472, + -0.11244538426399231, + -0.017386268824338913, + 0.0, + 1.0060625076293945 + ], + [ + 0.29125818610191345, + 0.023195568472146988, + 0.03260882943868637, + 0.14803460240364075, + -0.10309601575136185, + -0.011878415942192078, + 0.0, + 1.0060625076293945 + ], + [ + 0.29353177547454834, + 0.02238636650145054, + 0.03070857562124729, + 0.13719724118709564, + -0.11274033039808273, + -0.008291712962090969, + 0.0, + 1.0060625076293945 + ], + [ + 0.29473018646240234, + 0.021507514640688896, + 0.02955739013850689, + 0.1328786164522171, + -0.11584947258234024, + 0.004075393546372652, + 0.0, + 0.9522681832313538 + ], + [ + 0.2941330373287201, + 0.017546333372592926, + 0.029626308009028435, + 0.1340252012014389, + -0.09928462654352188, + 0.013393837958574295, + 0.0, + 0.6651484370231628 + ], + [ + 0.28595876693725586, + 0.016595419496297836, + 0.030003340914845467, + 0.13442865014076233, + -0.03833544999361038, + 0.012026012875139713, + 0.0, + 0.3754602372646332 + ], + [ + 0.2815786600112915, + 0.015601960010826588, + 0.030940191820263863, + 0.14222778379917145, + -0.007418247405439615, + 0.021220022812485695, + 0.0, + 0.15769577026367188 + ], + [ + 0.27854812145233154, + 0.013835460878908634, + 0.03160849213600159, + 0.14528949558734894, + 0.01436303835362196, + 0.022770602256059647, + 0.0, + 0.07462053745985031 + ], + [ + 0.2778681516647339, + 0.01308874785900116, + 0.031638383865356445, + 0.14619196951389313, + 0.01795690506696701, + 0.026432691141963005, + 0.0, + 0.07494325935840607 + ], + [ + 0.2745424211025238, + 0.012796960771083832, + 0.033532749861478806, + 0.15020576119422913, + 0.035731278359889984, + 0.026923295110464096, + 0.0, + 0.08259850740432739 + ], + [ + 0.27381059527397156, + 0.013495618477463722, + 0.05360132083296776, + 0.15620695054531097, + 0.026501987129449844, + 0.015461543574929237, + 0.0, + 0.08571679890155792 + ], + [ + 0.2742566466331482, + 0.015857456251978874, + 0.075812928378582, + 0.17141050100326538, + 0.044769540429115295, + -0.004005111288279295, + 0.0, + 0.08712529391050339 + ], + [ + 0.2772490084171295, + 0.02215372771024704, + 0.0963822677731514, + 0.1968468427658081, + 0.07775018364191055, + -0.0014758172910660505, + 0.0, + 0.08712529391050339 + ], + [ + 0.27853718400001526, + 0.019372468814253807, + 0.11804526299238205, + 0.22055880725383759, + 0.08182171732187271, + 0.008166293613612652, + 0.0, + 0.08747956901788712 + ], + [ + 0.2880135774612427, + 0.0062869396060705185, + 0.14111264050006866, + 0.2475118786096573, + 0.061727188527584076, + 0.03452640399336815, + 0.0, + 0.08712529391050339 + ], + [ + 0.306644469499588, + 0.0016167244175449014, + 0.15021947026252747, + 0.24969352781772614, + 0.10488387942314148, + 0.013127373531460762, + 0.0, + 0.08747956901788712 + ], + [ + 0.32975414395332336, + 0.027889663353562355, + 0.16269142925739288, + 0.2507520914077759, + 0.1262660175561905, + -0.01609746366739273, + 0.0, + 0.08747956901788712 + ], + [ + 0.3503396809101105, + 0.05430792644619942, + 0.17096085846424103, + 0.2608241140842438, + 0.13501645624637604, + -0.048920951783657074, + 0.0, + 0.08747956901788712 + ], + [ + 0.37067630887031555, + 0.07359836995601654, + 0.1709536910057068, + 0.26268643140792847, + 0.12720917165279388, + -0.08669572323560715, + 0.0, + 0.08747956901788712 + ], + [ + 0.3849746584892273, + 0.08059322834014893, + 0.1490926295518875, + 0.235910102725029, + 0.0999406948685646, + -0.1061769425868988, + 0.0, + 0.08747956901788712 + ], + [ + 0.38612234592437744, + 0.07877851277589798, + 0.12539473176002502, + 0.22984576225280762, + 0.0715537890791893, + -0.07989830523729324, + 0.0, + 0.08747956901788712 + ], + [ + 0.3780921399593353, + 0.06996846944093704, + 0.11240177601575851, + 0.2324969470500946, + 0.10734330862760544, + -0.053522881120443344, + 0.0, + 0.08747956901788712 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 0.9568231701850891 + ], + [ + 0.7081608176231384 + ], + [ + 0.48038846254348755 + ], + [ + 0.4662301242351532 + ], + [ + 0.4937349259853363 + ], + [ + 0.4937349259853363 + ], + [ + 0.4937349259853363 + ], + [ + 0.4937349259853363 + ], + [ + 0.4937349259853363 + ], + [ + 0.4937349259853363 + ], + [ + 0.4937349259853363 + ], + [ + 0.4937349259853363 + ], + [ + 0.4937349259853363 + ], + [ + 0.4937349259853363 + ], + [ + 0.4937349259853363 + ], + [ + 0.4937349259853363 + ], + [ + 0.561048150062561 + ], + [ + 0.8660832643508911 + ], + [ + 1.0099300146102905 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0067112445831299 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0067112445831299 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 0.9522681832313538 + ], + [ + 0.6651484370231628 + ], + [ + 0.3754602372646332 + ], + [ + 0.15769577026367188 + ], + [ + 0.07462053745985031 + ], + [ + 0.07494325935840607 + ], + [ + 0.08259850740432739 + ], + [ + 0.08571679890155792 + ], + [ + 0.08712529391050339 + ], + [ + 0.08712529391050339 + ], + [ + 0.08747956901788712 + ], + [ + 0.08712529391050339 + ], + [ + 0.08747956901788712 + ], + [ + 0.08747956901788712 + ], + [ + 0.08747956901788712 + ], + [ + 0.08747956901788712 + ], + [ + 0.08747956901788712 + ], + [ + 0.08747956901788712 + ], + [ + 0.08747956901788712 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.28064748644828796, + -0.12739478051662445, + 0.08467349410057068 + ], + [ + 0.27681490778923035, + -0.1255919635295868, + 0.07376118749380112 + ], + [ + 0.28025153279304504, + -0.12967641651630402, + 0.06284233182668686 + ], + [ + 0.28161224722862244, + -0.1318623572587967, + 0.05020112916827202 + ], + [ + 0.28416985273361206, + -0.13428045809268951, + 0.04379122704267502 + ], + [ + 0.2850883901119232, + -0.13359615206718445, + 0.03704342618584633 + ], + [ + 0.28576868772506714, + -0.13446716964244843, + 0.027458876371383667 + ], + [ + 0.2866819500923157, + -0.1352946013212204, + 0.021104423329234123 + ], + [ + 0.28759074211120605, + -0.13625776767730713, + 0.01658632792532444 + ], + [ + 0.28859806060791016, + -0.13716289401054382, + 0.0142681198194623 + ], + [ + 0.2889302670955658, + -0.13843177258968353, + 0.011635498143732548 + ], + [ + 0.287278950214386, + -0.14078772068023682, + 0.012894483283162117 + ], + [ + 0.2847544252872467, + -0.1414259821176529, + 0.013583207502961159 + ], + [ + 0.28351104259490967, + -0.14070691168308258, + 0.013988025486469269 + ], + [ + 0.27502334117889404, + -0.14022476971149445, + 0.014359071850776672 + ], + [ + 0.2668382227420807, + -0.13789744675159454, + 0.01978081464767456 + ], + [ + 0.264937162399292, + -0.13660019636154175, + 0.03189126029610634 + ], + [ + 0.2640407979488373, + -0.13538941740989685, + 0.0439300537109375 + ], + [ + 0.26670289039611816, + -0.1322869211435318, + 0.058551233261823654 + ], + [ + 0.2750915586948395, + -0.12865658104419708, + 0.07380630075931549 + ], + [ + 0.2945038974285126, + -0.12350429594516754, + 0.09743189066648483 + ], + [ + 0.31871193647384644, + -0.11410365253686905, + 0.10326893627643585 + ], + [ + 0.34763652086257935, + -0.09869920462369919, + 0.1013522818684578 + ], + [ + 0.3620293140411377, + -0.08331061899662018, + 0.08566990494728088 + ], + [ + 0.37246614694595337, + -0.07457058131694794, + 0.08065488189458847 + ], + [ + 0.37279313802719116, + -0.07019016891717911, + 0.06722916662693024 + ], + [ + 0.367824524641037, + -0.0693468526005745, + 0.05762958899140358 + ], + [ + 0.36186957359313965, + -0.0723765566945076, + 0.05312385782599449 + ], + [ + 0.35252633690834045, + -0.0779968723654747, + 0.05383402481675148 + ], + [ + 0.3460496962070465, + -0.08161136507987976, + 0.07391230016946793 + ], + [ + 0.338581919670105, + -0.08110769093036652, + 0.08543895930051804 + ], + [ + 0.33163031935691833, + -0.07687052339315414, + 0.09556698799133301 + ], + [ + 0.33144262433052063, + -0.07680831849575043, + 0.09663064777851105 + ], + [ + 0.3311910629272461, + -0.07672762870788574, + 0.09613102674484253 + ], + [ + 0.33111685514450073, + -0.07694943994283676, + 0.09610439091920853 + ], + [ + 0.33066290616989136, + -0.0753260999917984, + 0.09687844663858414 + ], + [ + 0.3238317668437958, + -0.0543178953230381, + 0.11579585075378418 + ], + [ + 0.3213805854320526, + -0.02712755836546421, + 0.12600219249725342 + ], + [ + 0.31578198075294495, + -0.007084575016051531, + 0.13259904086589813 + ], + [ + 0.3084551990032196, + 0.006010478362441063, + 0.13110053539276123 + ], + [ + 0.30104124546051025, + 0.012076816521584988, + 0.12220413237810135 + ], + [ + 0.2951233983039856, + 0.014118054881691933, + 0.10838509351015091 + ], + [ + 0.2893153727054596, + 0.01773456484079361, + 0.09364636242389679 + ], + [ + 0.28741851449012756, + 0.01990504004061222, + 0.08698182553052902 + ], + [ + 0.28952574729919434, + 0.02553022839128971, + 0.08295726031064987 + ], + [ + 0.29183584451675415, + 0.03086995705962181, + 0.07808547466993332 + ], + [ + 0.2948116660118103, + 0.03172910585999489, + 0.07376442849636078 + ], + [ + 0.2946447730064392, + 0.03091592527925968, + 0.06918419152498245 + ], + [ + 0.29192647337913513, + 0.030234673991799355, + 0.06490397453308105 + ], + [ + 0.28801050782203674, + 0.029163094237446785, + 0.06039435788989067 + ], + [ + 0.28448688983917236, + 0.02796263061463833, + 0.05342812463641167 + ], + [ + 0.2854043245315552, + 0.02621818147599697, + 0.049300361424684525 + ], + [ + 0.28732940554618835, + 0.02496824599802494, + 0.042493488639593124 + ], + [ + 0.29123392701148987, + 0.023840587586164474, + 0.03841087222099304 + ], + [ + 0.29125818610191345, + 0.023195568472146988, + 0.03260882943868637 + ], + [ + 0.29353177547454834, + 0.02238636650145054, + 0.03070857562124729 + ], + [ + 0.29473018646240234, + 0.021507514640688896, + 0.02955739013850689 + ], + [ + 0.2941330373287201, + 0.017546333372592926, + 0.029626308009028435 + ], + [ + 0.28595876693725586, + 0.016595419496297836, + 0.030003340914845467 + ], + [ + 0.2815786600112915, + 0.015601960010826588, + 0.030940191820263863 + ], + [ + 0.27854812145233154, + 0.013835460878908634, + 0.03160849213600159 + ], + [ + 0.2778681516647339, + 0.01308874785900116, + 0.031638383865356445 + ], + [ + 0.2745424211025238, + 0.012796960771083832, + 0.033532749861478806 + ], + [ + 0.27381059527397156, + 0.013495618477463722, + 0.05360132083296776 + ], + [ + 0.2742566466331482, + 0.015857456251978874, + 0.075812928378582 + ], + [ + 0.2772490084171295, + 0.02215372771024704, + 0.0963822677731514 + ], + [ + 0.27853718400001526, + 0.019372468814253807, + 0.11804526299238205 + ], + [ + 0.2880135774612427, + 0.0062869396060705185, + 0.14111264050006866 + ], + [ + 0.306644469499588, + 0.0016167244175449014, + 0.15021947026252747 + ], + [ + 0.32975414395332336, + 0.027889663353562355, + 0.16269142925739288 + ], + [ + 0.3503396809101105, + 0.05430792644619942, + 0.17096085846424103 + ], + [ + 0.37067630887031555, + 0.07359836995601654, + 0.1709536910057068 + ], + [ + 0.3849746584892273, + 0.08059322834014893, + 0.1490926295518875 + ], + [ + 0.38612234592437744, + 0.07877851277589798, + 0.12539473176002502 + ], + [ + 0.3780921399593353, + 0.06996846944093704, + 0.11240177601575851 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9928579286317272, + 0.09336141690528037, + 0.0742750253218017, + 0.08319503724331402, + -0.9880386077694848, + 0.12983949836248376, + 0.0855085921483885, + -0.1227328619008628, + -0.9887491720747098 + ], + [ + 0.9949543961759982, + 0.09072231168445909, + 0.04283937082501209, + 0.08364085099609496, + -0.9858594550502571, + 0.145207929992337, + 0.05540719786006221, + -0.14089214687355095, + -0.9884732901675483 + ], + [ + 0.9931860386822705, + 0.08858790400478012, + 0.07572103955083559, + 0.07969934643392435, + -0.9903612684293355, + 0.1132809435564641, + 0.08502650612970439, + -0.10647413422553555, + -0.9906733831068127 + ], + [ + 0.9929073886706641, + 0.0828093474149267, + 0.08530843747201834, + 0.07425934888295303, + -0.992318507103601, + 0.09894205154109609, + 0.09284646803558631, + -0.09190534500449377, + -0.9914297458382627 + ], + [ + 0.9921464835840432, + 0.0714386662964162, + 0.10267361915120812, + 0.06302134097850227, + -0.9945537867433066, + 0.0830125042136481, + 0.10804473931242276, + -0.07588993498705136, + -0.9912452028002818 + ], + [ + 0.9920405204162012, + 0.06782979966158657, + 0.10608828460400985, + 0.06001976113255948, + -0.99536377038878, + 0.07515712122628329, + 0.1106943274334456, + -0.06819151615340996, + -0.9915123211532755 + ], + [ + 0.9912032420211957, + 0.0696043444568266, + 0.11256717212138853, + 0.06253918472438501, + -0.9959154157972048, + 0.06512553225494545, + 0.11664040200839557, + -0.057512779538256724, + -0.9915075878726818 + ], + [ + 0.9892846706281091, + 0.07096093518948358, + 0.12759461641177383, + 0.06483151430389857, + -0.9965627384318438, + 0.05157114621848045, + 0.13081557710493497, + -0.04274639220166312, + -0.990484745334548 + ], + [ + 0.9879549275200072, + 0.0790112434593984, + 0.13304993271676907, + 0.0735272806641465, + -0.9962480653808686, + 0.04564571418010902, + 0.1361572627040986, + -0.035313108499196895, + -0.990057667098766 + ], + [ + 0.9865008308905377, + 0.08474876305559476, + 0.14012051174908324, + 0.07994827967527857, + -0.9960140493344487, + 0.03955105694362076, + 0.14291390145553284, + -0.027814756675922, + -0.9893442050579854 + ], + [ + 0.9868002472504048, + 0.08733444465760859, + 0.13637436270387138, + 0.08381341789135416, + -0.9959878262300433, + 0.03136177582539415, + 0.13856616833812357, + -0.019517806687744037, + -0.9901608314885975 + ], + [ + 0.9869882648348403, + 0.09233458679174882, + 0.1316377193676191, + 0.09001992018604614, + -0.9956640831995793, + 0.023440294282256392, + 0.1332312990554731, + -0.011285278389916055, + -0.9910207179689298 + ], + [ + 0.9879825535626265, + 0.09798596323724931, + 0.11953754583535901, + 0.09578807437029899, + -0.9951121410148439, + 0.024009823266400207, + 0.12130588882779848, + -0.012271015170805042, + -0.9925393208948328 + ], + [ + 0.9883662499053198, + 0.1061995664942121, + 0.10887519517565324, + 0.10350936035278911, + -0.9941733472297601, + 0.030086009661163413, + 0.11143593840162881, + -0.01846639473250237, + -0.9936000321548567 + ], + [ + 0.993244797831167, + 0.09864296443242601, + 0.06110922311163619, + 0.09542950232220773, + -0.9940001731887019, + 0.05344965656921204, + 0.06601501092827555, + -0.04725697058439211, + -0.9966989500663307 + ], + [ + 0.9951273196124036, + 0.0970175581605267, + 0.017584401314855207, + 0.09522339534413654, + -0.991919409960637, + 0.0838354884429989, + 0.025575823352677034, + -0.08175253850438371, + -0.9963244450016882 + ], + [ + 0.9948619073454243, + 0.10106234994309062, + 0.006015541289412138, + 0.10008837409732925, + -0.9907368385123532, + 0.09177600004958025, + 0.015234916592400486, + -0.09070236071088655, + -0.9957615071280346 + ], + [ + 0.9959054783207706, + 0.08976033354923019, + -0.010740613195160906, + 0.09039343706117617, + -0.9902736565402354, + 0.10576914341479333, + -0.0011422727101280759, + -0.10630695030694316, + -0.9943327046464341 + ], + [ + 0.9969249977195146, + 0.07412663192638952, + -0.02541242533083326, + 0.07664256928745153, + -0.9899134971546465, + 0.11915193965721167, + -0.016323770856140972, + -0.12073322074022207, + -0.9925507664168765 + ], + [ + 0.9976543882491667, + 0.05923870751493706, + -0.03430010406894489, + 0.0630589320359774, + -0.9902992837499927, + 0.12381801038109735, + -0.026632549589979064, + -0.12569050933229323, + -0.9917119557442705 + ], + [ + 0.9991597049356645, + 0.03861485066308757, + -0.013739626674071647, + 0.039923406425201306, + -0.9927835244172314, + 0.11307959703283464, + -0.009273923241196826, + -0.11353310950541042, + -0.9934909296987812 + ], + [ + 0.9996953105966899, + 0.0066016170681063, + -0.02378454588748097, + 0.00930714976947378, + -0.9932636172590628, + 0.1155022233232355, + -0.02286182263416862, + -0.11568839735050386, + -0.9930224225989641 + ], + [ + 0.9988583910998354, + -0.04536707334365729, + -0.01495804752229148, + -0.04351751103144967, + -0.9933330358326284, + 0.10675067286514622, + -0.01970128836080438, + -0.10597786834884457, + -0.9941733001127918 + ], + [ + 0.9981682982133013, + -0.05984440222511484, + -0.00887107458428208, + -0.05864156238328513, + -0.9931244090963612, + 0.10131670749807185, + -0.014873318500203816, + -0.1006109118302843, + -0.9948146705881802 + ], + [ + 0.9971511742792522, + -0.06488709950667172, + 0.03846036857752799, + -0.0678711326378169, + -0.9943047041369638, + 0.08216851395494766, + 0.03290964885816752, + -0.08454477895598193, + -0.9958760642586586 + ], + [ + 0.9968674468827448, + -0.06628347530315615, + 0.04314851384710648, + -0.06955367097285331, + -0.9944204718274972, + 0.0793108571670877, + 0.037650766256188115, + -0.082063549229326, + -0.9959156559107845 + ], + [ + 0.9977478747568355, + -0.05196106704729542, + 0.042417283382186054, + -0.05584114363474574, + -0.9938041849433417, + 0.09609895247433284, + 0.0371610696264505, + -0.09825115521156408, + -0.9944675788600709 + ], + [ + 0.9988018491671049, + -0.04222548922804107, + 0.024736090229139314, + -0.04453233713977397, + -0.993823523149409, + 0.10164485124080451, + 0.02029130476931048, + -0.10262462128723475, + -0.994513172389592 + ], + [ + 0.9992610665389808, + -0.031745853036977835, + -0.021668449744573534, + -0.029156219032520515, + -0.9934093517552433, + 0.11085023561975471, + -0.025044675903396957, + -0.11013655460464547, + -0.9936008773892623 + ], + [ + 0.9995707889554452, + -0.023280848984240668, + -0.017783136325233383, + -0.021286954484924826, + -0.9942349441048841, + 0.10508920729320703, + -0.020127181515194662, + -0.10466555303121883, + -0.9943037858586898 + ], + [ + 0.9991420122320339, + -0.028212873009450336, + -0.030319518292261594, + -0.024862349388149865, + -0.994086359796562, + 0.10570796019847181, + -0.03312254482710712, + -0.10486344960458227, + -0.9939348841655591 + ], + [ + 0.9974657488218118, + -0.05292521521388492, + -0.04754998971509697, + -0.04605404427365013, + -0.9897062353316048, + 0.13550126476082186, + -0.05423195491020526, + -0.1329680011894051, + -0.9896354913433084 + ], + [ + 0.9977106009518769, + -0.049492216067080375, + -0.04608771308075285, + -0.04286285497118854, + -0.9899008354417911, + 0.13512628040230593, + -0.05230996474825063, + -0.13284147146284245, + -0.9897559350908806 + ], + [ + 0.9975611019023477, + -0.049708039599794834, + -0.048999579289203295, + -0.042639524923744926, + -0.9897881461179773, + 0.13601947183625898, + -0.05526046403760131, + -0.13359841542279885, + -0.9894936808847573 + ], + [ + 0.9975606198129973, + -0.04925216827353567, + -0.04946750164162344, + -0.04220315164989331, + -0.9899980629067003, + 0.1346206872356437, + -0.055603091542870166, + -0.1322046117249176, + -0.9896616779736087 + ], + [ + 0.9973515587949995, + -0.05184966852776733, + -0.05100470608429687, + -0.04400266082379725, + -0.9885298243166213, + 0.14447336182485593, + -0.057910569066541864, + -0.14184638983812925, + -0.9881932845755829 + ], + [ + 0.9977976691379492, + -0.062262824439912226, + -0.022872519660942475, + -0.05565088507585568, + -0.9734315498502513, + 0.22211257674074086, + -0.03609418863403686, + -0.22035053539508875, + -0.974752712793326 + ], + [ + 0.9972912893327673, + -0.07333336160934391, + -0.005683510892036581, + -0.06884726370091, + -0.9578880046789249, + 0.2787662547245011, + -0.025887033470138175, + -0.2776198634235333, + -0.9603421645074295 + ], + [ + 0.9979315448563044, + -0.0642834514317498, + -0.0005192809756183279, + -0.061081457417224067, + -0.9506805267261647, + 0.30409799680933447, + -0.020042139119804965, + -0.3034372653048468, + -0.9526406136019072 + ], + [ + 0.9989944969489842, + -0.03935879725075924, + -0.02146811926133366, + -0.031155252229896922, + -0.9537876028529366, + 0.29886210683614534, + -0.03223887907692699, + -0.2978927554054004, + -0.9540547997640602 + ], + [ + 0.9994327060568611, + -0.018093464864005367, + -0.028405854908358306, + -0.009592483823370801, + -0.9614275477545224, + 0.2748909868890278, + -0.03228390183912208, + -0.2744625601934447, + -0.9610556969989312 + ], + [ + 0.9998147915467915, + -0.015378752033874983, + -0.011570505180259873, + -0.011903986609555448, + -0.9665810642925211, + 0.25608463689557137, + -0.015122093342039624, + -0.2558994727173499, + -0.9665851137669859 + ], + [ + 0.9997878463706412, + -0.01899793466313705, + -0.007958688842408124, + -0.016480358154495212, + -0.9695900593453795, + 0.2441792673707643, + -0.012355567354624356, + -0.24399630181041435, + -0.9696974500627433 + ], + [ + 0.9994460359529174, + -0.028693945099163624, + 0.016860567388031468, + -0.031808469749771334, + -0.9725964162220988, + 0.23031376946267934, + 0.009789916760527052, + -0.23072249276257506, + -0.9729703432598785 + ], + [ + 0.9983423662201801, + -0.03839142733667643, + 0.04287911049619014, + -0.046771695224630594, + -0.9753357271766464, + 0.2157142272049222, + 0.0335399513372643, + -0.21736218070275062, + -0.9755146098672427 + ], + [ + 0.9965566713763968, + -0.04314390708193479, + 0.07080539539400707, + -0.05689989269300487, + -0.9769955064212471, + 0.20552903114697832, + 0.060309227707879255, + -0.2088501465510533, + -0.9760862735121741 + ], + [ + 0.9953342189597798, + -0.043153569371359946, + 0.08629925850339719, + -0.059748518396834885, + -0.9779542557736083, + 0.2000889506286414, + 0.07576217471210835, + -0.2043116322307642, + -0.975969697182291 + ], + [ + 0.9958806011926805, + -0.03204260310097397, + 0.08482393385488644, + -0.0476971106543691, + -0.9807175552973434, + 0.18952061198409698, + 0.07711558729160771, + -0.19278575756034266, + -0.9782059281554957 + ], + [ + 0.9971616309117679, + -0.020636945694168702, + 0.0724071702927196, + -0.03377631297775377, + -0.9821128571908058, + 0.18523902510578236, + 0.0672892451957353, + -0.18715889562862828, + -0.9800222983524712 + ], + [ + 0.9977968156464839, + 0.00035843812236725954, + 0.06634294391907397, + -0.012053474419836906, + -0.9823636265047171, + 0.1865915836122071, + 0.06523977651822005, + -0.1869801509321601, + -0.9801949779085994 + ], + [ + 0.9970856626710802, + 0.01583371631546556, + 0.07462891345459836, + 0.0020227618684397902, + -0.983368186790204, + 0.18161199752045487, + 0.07626329215419538, + -0.18093176237628228, + -0.9805343480129679 + ], + [ + 0.9958504041787525, + 0.008994644687920234, + 0.09055975300294142, + -0.006612511207007833, + -0.9853216282112292, + 0.17058007994695593, + 0.09076479048922487, + -0.17047106894165573, + -0.981173464511417 + ], + [ + 0.9952659844701984, + 0.001194684383293401, + 0.09718123731354456, + -0.014446427446773966, + -0.9869976310745637, + 0.1600842808873651, + 0.09610890120375035, + -0.16073036110960498, + -0.9823079100399141 + ], + [ + 0.9935344933320268, + 0.00020711330619473112, + 0.11353047019876122, + -0.01727559852520718, + -0.9880773786803482, + 0.15298577527263205, + 0.11220857478405682, + -0.15395795154603356, + -0.9816853797936895 + ], + [ + 0.9946201382641304, + 0.0034298794949721156, + 0.1035326831782696, + -0.011815067401273095, + -0.98917339772759, + 0.14627506079423855, + 0.102913481826947, + -0.14671136682174554, + -0.983811257357604 + ], + [ + 0.9936173796885587, + 0.007172307599272718, + 0.11257468980434261, + -0.00823897892419799, + -0.9906967383778761, + 0.1358384768529321, + 0.11250165335286928, + -0.13589897192819145, + -0.9843144047618786 + ], + [ + 0.9932887030016362, + 0.01935367600698965, + 0.11403064375133248, + 0.004048064781132589, + -0.991113975985522, + 0.1329537505213651, + 0.11559050852407643, + -0.13159985498163024, + -0.9845406606676835 + ], + [ + 0.9949860744641542, + 0.026517192963470302, + 0.09643417495758559, + 0.013327479222522098, + -0.9907657703295285, + 0.13492800539883767, + 0.09912159159328197, + -0.13296626196397945, + -0.9861515518718919 + ], + [ + 0.9991930281288073, + 0.017053473583146656, + 0.03636580230840823, + 0.012016887540675305, + -0.9908446368530434, + 0.1344711866289434, + 0.03832606101101538, + -0.13392566840718131, + -0.990249982776607 + ], + [ + 0.9997473548876833, + 0.02205546171923062, + 0.0043339362515942, + 0.021217846496610352, + -0.9896574928344704, + 0.14187265369561958, + 0.007418179367446537, + -0.14174485346897953, + -0.9898754301072084 + ], + [ + 0.9996376411155433, + 0.020449890930654066, + -0.01750395457822336, + 0.02276628603763243, + -0.989254871801047, + 0.1444177788153061, + -0.014362544517071368, + -0.1447639477867964, + -0.9893619745756236 + ], + [ + 0.9994895121898054, + 0.023532927635459427, + -0.021608247024892464, + 0.026425352213466768, + -0.9890565066502944, + 0.1451513948024958, + -0.017955940047203623, + -0.1456483023231648, + -0.989173471261437 + ], + [ + 0.9989995270948943, + 0.02127312131049391, + -0.0393369949778397, + 0.026902859700547514, + -0.9885258867883915, + 0.14863649379999833, + -0.035723675680285644, + -0.14954606467217146, + -0.988109201220673 + ], + [ + 0.9995293575821053, + 0.01115067857593217, + -0.0285784131609797, + 0.015455498329995876, + -0.9877701476908043, + 0.15514916339528745, + -0.026498884936444117, + -0.15551783723477625, + -0.9874776004542798 + ], + [ + 0.9989899990886681, + -0.011580240167341913, + -0.043415201928464826, + -0.004001087515954519, + -0.9853066772727159, + 0.17074760033596237, + -0.04475458657514745, + -0.17040143708157668, + -0.9843578501850945 + ], + [ + 0.9969778910670967, + -0.01663821242822628, + -0.07588316421050106, + -0.0014713582786716395, + -0.9806646533465206, + 0.19569024702719467, + -0.07767187282549867, + -0.19498719846169876, + -0.977725458709058 + ], + [ + 0.9966212379442594, + -0.009911597920172802, + -0.08153446084399565, + 0.008138882574306302, + -0.9758888288178896, + 0.21811637347730156, + -0.08173045129505824, + -0.2180430095534293, + -0.9725108633408623 + ], + [ + 0.9975006399072396, + 0.018363476571577542, + -0.06822943728958203, + 0.03445380164252823, + -0.9694688753910833, + 0.2427818675278818, + -0.06168799670134542, + -0.24452583171549333, + -0.9676785151520216 + ], + [ + 0.9944190370697435, + -0.013147915299471836, + -0.10468004125219778, + 0.013054860060721128, + -0.9692443040120224, + 0.24575404324048306, + -0.10469168707246483, + -0.24574908232489523, + -0.9636633432866443 + ], + [ + 0.9919105017863726, + -0.04683684095843253, + -0.11798248503460702, + -0.01596862259517641, + -0.9680975835731201, + 0.2500641353179199, + -0.1259307728012482, + -0.24615722416561456, + -0.9610140797370037 + ], + [ + 0.9897136133087117, + -0.08191789122995005, + -0.11728777740179101, + -0.048456394367769044, + -0.9633243961462398, + 0.263928182720902, + -0.13460661750556413, + -0.2555299725784055, + -0.9573847145415422 + ], + [ + 0.9881944443449137, + -0.11643725350528342, + -0.09956960460900478, + -0.08588752106814779, + -0.9592164405809376, + 0.2693086590587185, + -0.12686636232908882, + -0.2575775341822011, + -0.9578928645699378 + ], + [ + 0.9894067067377015, + -0.1262309371531483, + -0.07169462440025925, + -0.10544873753077223, + -0.9643551259776639, + 0.24269271672996398, + -0.0997744076185002, + -0.23256169397826923, + -0.9674503222793073 + ], + [ + 0.9942591110131467, + -0.09395039801445683, + -0.05120686360510895, + -0.07960909129982967, + -0.9692952711842082, + 0.23265654910693476, + -0.07149274613387338, + -0.22724436180653043, + -0.9712099604500462 + ], + [ + 0.9928204718036903, + -0.0767078748858806, + -0.09177915176111473, + -0.0531894123375397, + -0.9703800374827377, + 0.23565540365157644, + -0.1071372819455712, + -0.22908182988943565, + -0.9674932134293359 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.003832578659057617, + 0.0018028169870376587, + -0.010912306606769562, + 0.018083728849887848, + 0.03017755225300789, + 0.00026961416006088257, + 1.0 + ], + [ + 0.0034366250038146973, + -0.004084452986717224, + -0.010918855667114258, + -0.034515902400016785, + -0.02969370409846306, + -0.00379326194524765, + 1.0 + ], + [ + 0.0013607144355773926, + -0.0021859407424926758, + -0.01264120265841484, + -0.01462990790605545, + -0.007851094007492065, + -0.005423732101917267, + 1.0 + ], + [ + 0.002557605504989624, + -0.0024181008338928223, + -0.006409902125597, + -0.01602449268102646, + -0.015275679528713226, + -0.011215850710868835, + 1.0 + ], + [ + 0.0009185373783111572, + 0.0006843060255050659, + -0.00674780085682869, + -0.007744014263153076, + -0.002665579319000244, + -0.003007311373949051, + 1.0 + ], + [ + 0.0006802976131439209, + -0.000871017575263977, + -0.009584549814462662, + -0.010726667940616608, + -0.005984872579574585, + 0.0025830231606960297, + 1.0 + ], + [ + 0.0009132623672485352, + -0.0008274316787719727, + -0.006354453042149544, + -0.01481018215417862, + -0.014285065233707428, + 0.002429470419883728, + 1.0 + ], + [ + 0.0009087920188903809, + -0.000963166356086731, + -0.004518095403909683, + -0.007477663457393646, + -0.0053899288177490234, + 0.00884661078453064, + 1.0 + ], + [ + 0.0010073184967041016, + -0.0009051263332366943, + -0.0023182081058621407, + -0.007545681670308113, + -0.006823405623435974, + 0.006578788161277771, + 0.0 + ], + [ + 0.00033220648765563965, + -0.0012688785791397095, + -0.0026326216757297516, + -0.008397731930017471, + 0.0043914467096328735, + 0.0038656219840049744, + 0.0 + ], + [ + -0.0016513168811798096, + -0.0023559480905532837, + 0.0012589851394295692, + -0.008322163484990597, + 0.0053848326206207275, + 0.006223849952220917, + 0.0 + ], + [ + -0.0025245249271392822, + -0.0006382614374160767, + 0.0006887242197990417, + 0.0009755855426192284, + 0.012023255228996277, + 0.005696095526218414, + 0.0 + ], + [ + -0.0012433826923370361, + 0.0007190704345703125, + 0.00040481798350811005, + 0.006220577284693718, + 0.009937509894371033, + 0.007696233689785004, + 0.0 + ], + [ + -0.008487701416015625, + 0.00048214197158813477, + 0.00037104636430740356, + 0.028794802725315094, + 0.04560481756925583, + -0.008562833070755005, + 0.0 + ], + [ + -0.008185118436813354, + 0.0023273229598999023, + 0.005421742796897888, + 0.03449271619319916, + 0.04048444330692291, + -0.00038532912731170654, + 0.0 + ], + [ + -0.0019010603427886963, + 0.0012972503900527954, + 0.012110445648431778, + 0.008967041969299316, + 0.010343106463551521, + 0.004868723452091217, + 0.0 + ], + [ + -0.0008963644504547119, + 0.0012107789516448975, + 0.012038793414831161, + 0.015670515596866608, + 0.016377778723835945, + -0.009750865399837494, + 0.0 + ], + [ + 0.002662092447280884, + 0.0031024962663650513, + 0.014621179550886154, + 0.014536403119564056, + 0.015182223170995712, + -0.01378900557756424, + 0.0 + ], + [ + 0.008388668298721313, + 0.003630340099334717, + 0.015255067497491837, + 0.0050241053104400635, + 0.010311203077435493, + -0.013604827225208282, + 0.0 + ], + [ + 0.019412338733673096, + 0.005152285099029541, + 0.023625589907169342, + -0.01228543370962143, + -0.01736164279282093, + -0.023187480866909027, + 0.0 + ], + [ + 0.024208039045333862, + 0.009400643408298492, + 0.005837045609951019, + 0.002195119857788086, + 0.013589758425951004, + -0.030626021325588226, + 0.0 + ], + [ + 0.02892458438873291, + 0.01540444791316986, + -0.0019166544079780579, + -0.009780526161193848, + -0.0031612515449523926, + -0.052849430590867996, + 0.0 + ], + [ + 0.01439279317855835, + 0.01538858562707901, + -0.01568237692117691, + -0.005405329167842865, + -0.004828696139156818, + -0.015142008662223816, + 0.0 + ], + [ + 0.010436832904815674, + 0.008740037679672241, + -0.005015023052692413, + -0.01610080897808075, + -0.04778945818543434, + -0.009278494864702225, + 0.0 + ], + [ + 0.00032699108123779297, + 0.004380412399768829, + -0.013425715267658234, + -0.0024774447083473206, + -0.004744075238704681, + -0.0016991272568702698, + 1.0 + ], + [ + -0.004968613386154175, + 0.0008433163166046143, + -0.009599577635526657, + 0.016263797879219055, + 0.000490039587020874, + 0.013750482350587845, + 1.0 + ], + [ + -0.005954951047897339, + -0.0030297040939331055, + -0.004505731165409088, + 0.0043487027287483215, + 0.016876930370926857, + 0.01135261356830597, + 1.0 + ], + [ + -0.009343236684799194, + -0.005620315670967102, + 0.0007101669907569885, + 0.007568344473838806, + 0.04533999413251877, + 0.01538674533367157, + 1.0 + ], + [ + -0.006476640701293945, + -0.00361449271440506, + 0.020078275352716446, + -0.005516283214092255, + -0.0049187541007995605, + 0.007876627147197723, + 1.0 + ], + [ + -0.007467776536941528, + 0.0005036741495132446, + 0.01152665913105011, + 0.00023555755615234375, + 0.013000063598155975, + -0.0035856887698173523, + 1.0 + ], + [ + -0.0069516003131866455, + 0.004237167537212372, + 0.010128028690814972, + 0.028446219861507416, + 0.021129969507455826, + -0.021259721368551254, + 1.0 + ], + [ + -0.00018769502639770508, + 6.220489740371704e-05, + 0.0010636597871780396, + -0.00014163553714752197, + -0.0019247233867645264, + 0.0032034777104854584, + 1.0 + ], + [ + -0.00025156140327453613, + 8.068978786468506e-05, + -0.0004996210336685181, + 0.0007863044738769531, + 0.002954777330160141, + 0.00021703913807868958, + 1.0 + ], + [ + -7.420778274536133e-05, + -0.0002218112349510193, + -2.6635825634002686e-05, + -0.0014059245586395264, + 0.0003431551158428192, + 0.00043663010001182556, + 1.0 + ], + [ + -0.000453948974609375, + 0.0016233399510383606, + 0.0007740557193756104, + 0.009767860174179077, + 0.0023112036287784576, + -0.0018097758293151855, + 1.0 + ], + [ + -0.006831139326095581, + 0.0210082046687603, + 0.018917404115200043, + 0.0797538161277771, + -0.021840956062078476, + -0.011625077575445175, + 1.0 + ], + [ + -0.002451181411743164, + 0.02719033695757389, + 0.010206341743469238, + 0.05909144878387451, + -0.010212104767560959, + -0.013208910822868347, + 1.0 + ], + [ + -0.005598604679107666, + 0.020042983815073967, + 0.006596848368644714, + 0.02694934606552124, + -0.005846444517374039, + 0.007793106138706207, + 1.0 + ], + [ + -0.007326781749725342, + 0.013095052912831306, + -0.0014985054731369019, + -0.00571519136428833, + 0.012200985103845596, + 0.029955292120575905, + 1.0 + ], + [ + -0.007413953542709351, + 0.006066338159143925, + -0.008896403014659882, + -0.024467110633850098, + 4.5046210289001465e-05, + 0.021578870713710785, + 1.0 + ], + [ + -0.005917847156524658, + 0.002041238360106945, + -0.01381903886795044, + -0.01937130093574524, + -0.01716684177517891, + -0.0023079952225089073, + 1.0 + ], + [ + -0.005808025598526001, + 0.003616509959101677, + -0.01473873108625412, + -0.012304529547691345, + -0.0027667880058288574, + -0.004576733335852623, + 1.0 + ], + [ + -0.0018968582153320312, + 0.002170475199818611, + -0.006664536893367767, + -0.013672277331352234, + -0.0221459548920393, + -0.01533299870789051, + 1.0 + ], + [ + 0.0021072328090667725, + 0.00562518835067749, + -0.00402456521987915, + -0.01359492540359497, + -0.02375616878271103, + -0.014999762177467346, + 1.0 + ], + [ + 0.0023100972175598145, + 0.0053397286683321, + -0.004871785640716553, + -0.008448094129562378, + -0.026799604296684265, + -0.010219447314739227, + 1.0 + ], + [ + 0.0029758214950561523, + 0.0008591488003730774, + -0.00432104617357254, + -0.00442640483379364, + -0.015488993376493454, + -0.0029220804572105408, + 1.0 + ], + [ + -0.00016689300537109375, + -0.0008131805807352066, + -0.004580236971378326, + -0.01177486777305603, + -0.0013573840260505676, + 0.01209881529211998, + 1.0 + ], + [ + -0.002718299627304077, + -0.0006812512874603271, + -0.004280216991901398, + -0.005885258316993713, + 0.009852096438407898, + 0.013998325914144516, + 1.0 + ], + [ + -0.003915965557098389, + -0.0010715797543525696, + -0.004509616643190384, + -0.00020840764045715332, + 0.002053983509540558, + 0.02178000845015049, + 1.0 + ], + [ + -0.00352361798286438, + -0.0012004636228084564, + -0.006966233253479004, + -0.006022423505783081, + -0.011051267385482788, + 0.014108172617852688, + 1.0 + ], + [ + 0.0009174346923828125, + -0.0017444491386413574, + -0.004127763211727142, + -0.010446310043334961, + -0.014552466571331024, + -0.00866863876581192, + 1.0 + ], + [ + 0.0019250810146331787, + -0.0012499354779720306, + -0.0068068727850914, + -0.009836822748184204, + -0.005367599427700043, + -0.007874155417084694, + 1.0 + ], + [ + 0.0039045214653015137, + -0.001127658411860466, + -0.004082616418600082, + -0.006624892354011536, + -0.01618790626525879, + -0.0028721457347273827, + 1.0 + ], + [ + 2.4259090423583984e-05, + -0.0006450191140174866, + -0.005802042782306671, + -0.0075284987688064575, + 0.009349368512630463, + 0.005507852882146835, + 1.0 + ], + [ + 0.0022735893726348877, + -0.0008092019706964493, + -0.0019002538174390793, + -0.010837361216545105, + -0.009644314646720886, + 0.0035867029801011086, + 1.0 + ], + [ + 0.001198410987854004, + -0.0008788518607616425, + -0.0011511854827404022, + -0.00431862473487854, + -0.0031091421842575073, + 0.012367106974124908, + 0.0 + ], + [ + -0.000597149133682251, + -0.00396118126809597, + 6.891787052154541e-05, + 0.0011465847492218018, + 0.01656484603881836, + 0.00931844487786293, + 0.0 + ], + [ + -0.008174270391464233, + -0.0009509138762950897, + 0.00037703290581703186, + 0.0004034489393234253, + 0.0609491765499115, + -0.0013678250834345818, + 0.0 + ], + [ + -0.0043801069259643555, + -0.0009934594854712486, + 0.000936850905418396, + 0.007799133658409119, + 0.030917203053832054, + 0.009194009937345982, + 0.0 + ], + [ + -0.003030538558959961, + -0.0017664991319179535, + 0.0006683003157377243, + 0.0030617117881774902, + 0.021781286224722862, + 0.0015505794435739517, + 0.0 + ], + [ + -0.0006799697875976562, + -0.0007467130199074745, + 2.98917293548584e-05, + 0.0009024739265441895, + 0.003593866713345051, + 0.0036620888859033585, + 0.0 + ], + [ + -0.003325730562210083, + -0.0002917870879173279, + 0.0018943659961223602, + 0.0040137916803359985, + 0.017774373292922974, + 0.000490603968501091, + 0.0 + ], + [ + -0.0007318258285522461, + 0.0006986577063798904, + 0.020068570971488953, + 0.006001189351081848, + -0.00922929123044014, + -0.011461751535534859, + 0.0 + ], + [ + 0.00044605135917663574, + 0.002361837774515152, + 0.022211607545614243, + 0.015203550457954407, + 0.01826755329966545, + -0.01946665532886982, + 0.0 + ], + [ + 0.0029923617839813232, + 0.006296271458268166, + 0.020569339394569397, + 0.025436341762542725, + 0.03298064321279526, + 0.0025292939972132444, + 0.0 + ], + [ + 0.0012881755828857422, + -0.0027812588959932327, + 0.021662995219230652, + 0.02371196448802948, + 0.004071533679962158, + 0.009642111137509346, + 0.0 + ], + [ + 0.009476393461227417, + -0.013085529208183289, + 0.023067377507686615, + 0.026953071355819702, + -0.020094528794288635, + 0.026360109448432922, + 0.0 + ], + [ + 0.018630892038345337, + -0.004670215304940939, + 0.009106829762458801, + 0.0021816492080688477, + 0.043156690895557404, + -0.021399030461907387, + 0.0 + ], + [ + 0.02310967445373535, + 0.026272939518094063, + 0.012471958994865417, + 0.0010585635900497437, + 0.02138213813304901, + -0.029224837198853493, + 0.0 + ], + [ + 0.02058553695678711, + 0.026418263092637062, + 0.008269429206848145, + 0.010072022676467896, + 0.008750438690185547, + -0.03282348811626434, + 0.0 + ], + [ + 0.020336627960205078, + 0.019290443509817123, + -7.167458534240723e-06, + 0.0018623173236846924, + -0.007807284593582153, + -0.03777477145195007, + 0.0 + ], + [ + 0.014298349618911743, + 0.006994858384132385, + -0.021861061453819275, + -0.026776328682899475, + -0.02726847678422928, + -0.019481219351291656, + 0.0 + ], + [ + 0.0011476874351501465, + -0.001814715564250946, + -0.023697897791862488, + -0.0060643404722213745, + -0.028386905789375305, + 0.02627863734960556, + 0.0 + ], + [ + -0.008030205965042114, + -0.008810043334960938, + -0.01299295574426651, + 0.0026511847972869873, + 0.03578951954841614, + 0.0263754241168499, + 0.0 + ], + [ + -0.014963895082473755, + -0.012963075190782547, + -0.012351348996162415, + 0.015657708048820496, + 0.013400912284851074, + 0.023664195090532303, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0008161067962646 + ], + [ + 0.9568231701850891 + ], + [ + 0.7081608176231384 + ], + [ + 0.48038846254348755 + ], + [ + 0.4662301242351532 + ], + [ + 0.4937349259853363 + ], + [ + 0.4937349259853363 + ], + [ + 0.4937349259853363 + ], + [ + 0.4937349259853363 + ], + [ + 0.4937349259853363 + ], + [ + 0.4937349259853363 + ], + [ + 0.4937349259853363 + ], + [ + 0.4937349259853363 + ], + [ + 0.4937349259853363 + ], + [ + 0.4937349259853363 + ], + [ + 0.4937349259853363 + ], + [ + 0.4937349259853363 + ], + [ + 0.561048150062561 + ], + [ + 0.8660832643508911 + ], + [ + 1.0099300146102905 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0067112445831299 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0067112445831299 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 1.0060625076293945 + ], + [ + 0.9522681832313538 + ], + [ + 0.6651484370231628 + ], + [ + 0.3754602372646332 + ], + [ + 0.15769577026367188 + ], + [ + 0.07462053745985031 + ], + [ + 0.07494325935840607 + ], + [ + 0.08259850740432739 + ], + [ + 0.08571679890155792 + ], + [ + 0.08712529391050339 + ], + [ + 0.08712529391050339 + ], + [ + 0.08747956901788712 + ], + [ + 0.08712529391050339 + ], + [ + 0.08747956901788712 + ], + [ + 0.08747956901788712 + ], + [ + 0.08747956901788712 + ], + [ + 0.08747956901788712 + ], + [ + 0.08747956901788712 + ], + [ + 0.08747956901788712 + ], + [ + 0.08747956901788712 + ], + [ + 0.11704280227422714 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.27681490778923035, + -0.1255919635295868, + 0.07376118749380112 + ], + [ + 0.28025153279304504, + -0.12967641651630402, + 0.06284233182668686 + ], + [ + 0.28161224722862244, + -0.1318623572587967, + 0.05020112916827202 + ], + [ + 0.28416985273361206, + -0.13428045809268951, + 0.04379122704267502 + ], + [ + 0.2850883901119232, + -0.13359615206718445, + 0.03704342618584633 + ], + [ + 0.28576868772506714, + -0.13446716964244843, + 0.027458876371383667 + ], + [ + 0.2866819500923157, + -0.1352946013212204, + 0.021104423329234123 + ], + [ + 0.28759074211120605, + -0.13625776767730713, + 0.01658632792532444 + ], + [ + 0.28859806060791016, + -0.13716289401054382, + 0.0142681198194623 + ], + [ + 0.2889302670955658, + -0.13843177258968353, + 0.011635498143732548 + ], + [ + 0.287278950214386, + -0.14078772068023682, + 0.012894483283162117 + ], + [ + 0.2847544252872467, + -0.1414259821176529, + 0.013583207502961159 + ], + [ + 0.28351104259490967, + -0.14070691168308258, + 0.013988025486469269 + ], + [ + 0.27502334117889404, + -0.14022476971149445, + 0.014359071850776672 + ], + [ + 0.2668382227420807, + -0.13789744675159454, + 0.01978081464767456 + ], + [ + 0.264937162399292, + -0.13660019636154175, + 0.03189126029610634 + ], + [ + 0.2640407979488373, + -0.13538941740989685, + 0.0439300537109375 + ], + [ + 0.26670289039611816, + -0.1322869211435318, + 0.058551233261823654 + ], + [ + 0.2750915586948395, + -0.12865658104419708, + 0.07380630075931549 + ], + [ + 0.2945038974285126, + -0.12350429594516754, + 0.09743189066648483 + ], + [ + 0.31871193647384644, + -0.11410365253686905, + 0.10326893627643585 + ], + [ + 0.34763652086257935, + -0.09869920462369919, + 0.1013522818684578 + ], + [ + 0.3620293140411377, + -0.08331061899662018, + 0.08566990494728088 + ], + [ + 0.37246614694595337, + -0.07457058131694794, + 0.08065488189458847 + ], + [ + 0.37279313802719116, + -0.07019016891717911, + 0.06722916662693024 + ], + [ + 0.367824524641037, + -0.0693468526005745, + 0.05762958899140358 + ], + [ + 0.36186957359313965, + -0.0723765566945076, + 0.05312385782599449 + ], + [ + 0.35252633690834045, + -0.0779968723654747, + 0.05383402481675148 + ], + [ + 0.3460496962070465, + -0.08161136507987976, + 0.07391230016946793 + ], + [ + 0.338581919670105, + -0.08110769093036652, + 0.08543895930051804 + ], + [ + 0.33163031935691833, + -0.07687052339315414, + 0.09556698799133301 + ], + [ + 0.33144262433052063, + -0.07680831849575043, + 0.09663064777851105 + ], + [ + 0.3311910629272461, + -0.07672762870788574, + 0.09613102674484253 + ], + [ + 0.33111685514450073, + -0.07694943994283676, + 0.09610439091920853 + ], + [ + 0.33066290616989136, + -0.0753260999917984, + 0.09687844663858414 + ], + [ + 0.3238317668437958, + -0.0543178953230381, + 0.11579585075378418 + ], + [ + 0.3213805854320526, + -0.02712755836546421, + 0.12600219249725342 + ], + [ + 0.31578198075294495, + -0.007084575016051531, + 0.13259904086589813 + ], + [ + 0.3084551990032196, + 0.006010478362441063, + 0.13110053539276123 + ], + [ + 0.30104124546051025, + 0.012076816521584988, + 0.12220413237810135 + ], + [ + 0.2951233983039856, + 0.014118054881691933, + 0.10838509351015091 + ], + [ + 0.2893153727054596, + 0.01773456484079361, + 0.09364636242389679 + ], + [ + 0.28741851449012756, + 0.01990504004061222, + 0.08698182553052902 + ], + [ + 0.28952574729919434, + 0.02553022839128971, + 0.08295726031064987 + ], + [ + 0.29183584451675415, + 0.03086995705962181, + 0.07808547466993332 + ], + [ + 0.2948116660118103, + 0.03172910585999489, + 0.07376442849636078 + ], + [ + 0.2946447730064392, + 0.03091592527925968, + 0.06918419152498245 + ], + [ + 0.29192647337913513, + 0.030234673991799355, + 0.06490397453308105 + ], + [ + 0.28801050782203674, + 0.029163094237446785, + 0.06039435788989067 + ], + [ + 0.28448688983917236, + 0.02796263061463833, + 0.05342812463641167 + ], + [ + 0.2854043245315552, + 0.02621818147599697, + 0.049300361424684525 + ], + [ + 0.28732940554618835, + 0.02496824599802494, + 0.042493488639593124 + ], + [ + 0.29123392701148987, + 0.023840587586164474, + 0.03841087222099304 + ], + [ + 0.29125818610191345, + 0.023195568472146988, + 0.03260882943868637 + ], + [ + 0.29353177547454834, + 0.02238636650145054, + 0.03070857562124729 + ], + [ + 0.29473018646240234, + 0.021507514640688896, + 0.02955739013850689 + ], + [ + 0.2941330373287201, + 0.017546333372592926, + 0.029626308009028435 + ], + [ + 0.28595876693725586, + 0.016595419496297836, + 0.030003340914845467 + ], + [ + 0.2815786600112915, + 0.015601960010826588, + 0.030940191820263863 + ], + [ + 0.27854812145233154, + 0.013835460878908634, + 0.03160849213600159 + ], + [ + 0.2778681516647339, + 0.01308874785900116, + 0.031638383865356445 + ], + [ + 0.2745424211025238, + 0.012796960771083832, + 0.033532749861478806 + ], + [ + 0.27381059527397156, + 0.013495618477463722, + 0.05360132083296776 + ], + [ + 0.2742566466331482, + 0.015857456251978874, + 0.075812928378582 + ], + [ + 0.2772490084171295, + 0.02215372771024704, + 0.0963822677731514 + ], + [ + 0.27853718400001526, + 0.019372468814253807, + 0.11804526299238205 + ], + [ + 0.2880135774612427, + 0.0062869396060705185, + 0.14111264050006866 + ], + [ + 0.306644469499588, + 0.0016167244175449014, + 0.15021947026252747 + ], + [ + 0.32975414395332336, + 0.027889663353562355, + 0.16269142925739288 + ], + [ + 0.3503396809101105, + 0.05430792644619942, + 0.17096085846424103 + ], + [ + 0.37067630887031555, + 0.07359836995601654, + 0.1709536910057068 + ], + [ + 0.3849746584892273, + 0.08059322834014893, + 0.1490926295518875 + ], + [ + 0.38612234592437744, + 0.07877851277589798, + 0.12539473176002502 + ], + [ + 0.3780921399593353, + 0.06996846944093704, + 0.11240177601575851 + ], + [ + 0.3631282448768616, + 0.057005394250154495, + 0.1000504270195961 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9949543961759982, + 0.09072231168445909, + 0.04283937082501209, + 0.08364085099609496, + -0.9858594550502571, + 0.145207929992337, + 0.05540719786006221, + -0.14089214687355095, + -0.9884732901675483 + ], + [ + 0.9931860386822705, + 0.08858790400478012, + 0.07572103955083559, + 0.07969934643392435, + -0.9903612684293355, + 0.1132809435564641, + 0.08502650612970439, + -0.10647413422553555, + -0.9906733831068127 + ], + [ + 0.9929073886706641, + 0.0828093474149267, + 0.08530843747201834, + 0.07425934888295303, + -0.992318507103601, + 0.09894205154109609, + 0.09284646803558631, + -0.09190534500449377, + -0.9914297458382627 + ], + [ + 0.9921464835840432, + 0.0714386662964162, + 0.10267361915120812, + 0.06302134097850227, + -0.9945537867433066, + 0.0830125042136481, + 0.10804473931242276, + -0.07588993498705136, + -0.9912452028002818 + ], + [ + 0.9920405204162012, + 0.06782979966158657, + 0.10608828460400985, + 0.06001976113255948, + -0.99536377038878, + 0.07515712122628329, + 0.1106943274334456, + -0.06819151615340996, + -0.9915123211532755 + ], + [ + 0.9912032420211957, + 0.0696043444568266, + 0.11256717212138853, + 0.06253918472438501, + -0.9959154157972048, + 0.06512553225494545, + 0.11664040200839557, + -0.057512779538256724, + -0.9915075878726818 + ], + [ + 0.9892846706281091, + 0.07096093518948358, + 0.12759461641177383, + 0.06483151430389857, + -0.9965627384318438, + 0.05157114621848045, + 0.13081557710493497, + -0.04274639220166312, + -0.990484745334548 + ], + [ + 0.9879549275200072, + 0.0790112434593984, + 0.13304993271676907, + 0.0735272806641465, + -0.9962480653808686, + 0.04564571418010902, + 0.1361572627040986, + -0.035313108499196895, + -0.990057667098766 + ], + [ + 0.9865008308905377, + 0.08474876305559476, + 0.14012051174908324, + 0.07994827967527857, + -0.9960140493344487, + 0.03955105694362076, + 0.14291390145553284, + -0.027814756675922, + -0.9893442050579854 + ], + [ + 0.9868002472504048, + 0.08733444465760859, + 0.13637436270387138, + 0.08381341789135416, + -0.9959878262300433, + 0.03136177582539415, + 0.13856616833812357, + -0.019517806687744037, + -0.9901608314885975 + ], + [ + 0.9869882648348403, + 0.09233458679174882, + 0.1316377193676191, + 0.09001992018604614, + -0.9956640831995793, + 0.023440294282256392, + 0.1332312990554731, + -0.011285278389916055, + -0.9910207179689298 + ], + [ + 0.9879825535626265, + 0.09798596323724931, + 0.11953754583535901, + 0.09578807437029899, + -0.9951121410148439, + 0.024009823266400207, + 0.12130588882779848, + -0.012271015170805042, + -0.9925393208948328 + ], + [ + 0.9883662499053198, + 0.1061995664942121, + 0.10887519517565324, + 0.10350936035278911, + -0.9941733472297601, + 0.030086009661163413, + 0.11143593840162881, + -0.01846639473250237, + -0.9936000321548567 + ], + [ + 0.993244797831167, + 0.09864296443242601, + 0.06110922311163619, + 0.09542950232220773, + -0.9940001731887019, + 0.05344965656921204, + 0.06601501092827555, + -0.04725697058439211, + -0.9966989500663307 + ], + [ + 0.9951273196124036, + 0.0970175581605267, + 0.017584401314855207, + 0.09522339534413654, + -0.991919409960637, + 0.0838354884429989, + 0.025575823352677034, + -0.08175253850438371, + -0.9963244450016882 + ], + [ + 0.9948619073454243, + 0.10106234994309062, + 0.006015541289412138, + 0.10008837409732925, + -0.9907368385123532, + 0.09177600004958025, + 0.015234916592400486, + -0.09070236071088655, + -0.9957615071280346 + ], + [ + 0.9959054783207706, + 0.08976033354923019, + -0.010740613195160906, + 0.09039343706117617, + -0.9902736565402354, + 0.10576914341479333, + -0.0011422727101280759, + -0.10630695030694316, + -0.9943327046464341 + ], + [ + 0.9969249977195146, + 0.07412663192638952, + -0.02541242533083326, + 0.07664256928745153, + -0.9899134971546465, + 0.11915193965721167, + -0.016323770856140972, + -0.12073322074022207, + -0.9925507664168765 + ], + [ + 0.9976543882491667, + 0.05923870751493706, + -0.03430010406894489, + 0.0630589320359774, + -0.9902992837499927, + 0.12381801038109735, + -0.026632549589979064, + -0.12569050933229323, + -0.9917119557442705 + ], + [ + 0.9991597049356645, + 0.03861485066308757, + -0.013739626674071647, + 0.039923406425201306, + -0.9927835244172314, + 0.11307959703283464, + -0.009273923241196826, + -0.11353310950541042, + -0.9934909296987812 + ], + [ + 0.9996953105966899, + 0.0066016170681063, + -0.02378454588748097, + 0.00930714976947378, + -0.9932636172590628, + 0.1155022233232355, + -0.02286182263416862, + -0.11568839735050386, + -0.9930224225989641 + ], + [ + 0.9988583910998354, + -0.04536707334365729, + -0.01495804752229148, + -0.04351751103144967, + -0.9933330358326284, + 0.10675067286514622, + -0.01970128836080438, + -0.10597786834884457, + -0.9941733001127918 + ], + [ + 0.9981682982133013, + -0.05984440222511484, + -0.00887107458428208, + -0.05864156238328513, + -0.9931244090963612, + 0.10131670749807185, + -0.014873318500203816, + -0.1006109118302843, + -0.9948146705881802 + ], + [ + 0.9971511742792522, + -0.06488709950667172, + 0.03846036857752799, + -0.0678711326378169, + -0.9943047041369638, + 0.08216851395494766, + 0.03290964885816752, + -0.08454477895598193, + -0.9958760642586586 + ], + [ + 0.9968674468827448, + -0.06628347530315615, + 0.04314851384710648, + -0.06955367097285331, + -0.9944204718274972, + 0.0793108571670877, + 0.037650766256188115, + -0.082063549229326, + -0.9959156559107845 + ], + [ + 0.9977478747568355, + -0.05196106704729542, + 0.042417283382186054, + -0.05584114363474574, + -0.9938041849433417, + 0.09609895247433284, + 0.0371610696264505, + -0.09825115521156408, + -0.9944675788600709 + ], + [ + 0.9988018491671049, + -0.04222548922804107, + 0.024736090229139314, + -0.04453233713977397, + -0.993823523149409, + 0.10164485124080451, + 0.02029130476931048, + -0.10262462128723475, + -0.994513172389592 + ], + [ + 0.9992610665389808, + -0.031745853036977835, + -0.021668449744573534, + -0.029156219032520515, + -0.9934093517552433, + 0.11085023561975471, + -0.025044675903396957, + -0.11013655460464547, + -0.9936008773892623 + ], + [ + 0.9995707889554452, + -0.023280848984240668, + -0.017783136325233383, + -0.021286954484924826, + -0.9942349441048841, + 0.10508920729320703, + -0.020127181515194662, + -0.10466555303121883, + -0.9943037858586898 + ], + [ + 0.9991420122320339, + -0.028212873009450336, + -0.030319518292261594, + -0.024862349388149865, + -0.994086359796562, + 0.10570796019847181, + -0.03312254482710712, + -0.10486344960458227, + -0.9939348841655591 + ], + [ + 0.9974657488218118, + -0.05292521521388492, + -0.04754998971509697, + -0.04605404427365013, + -0.9897062353316048, + 0.13550126476082186, + -0.05423195491020526, + -0.1329680011894051, + -0.9896354913433084 + ], + [ + 0.9977106009518769, + -0.049492216067080375, + -0.04608771308075285, + -0.04286285497118854, + -0.9899008354417911, + 0.13512628040230593, + -0.05230996474825063, + -0.13284147146284245, + -0.9897559350908806 + ], + [ + 0.9975611019023477, + -0.049708039599794834, + -0.048999579289203295, + -0.042639524923744926, + -0.9897881461179773, + 0.13601947183625898, + -0.05526046403760131, + -0.13359841542279885, + -0.9894936808847573 + ], + [ + 0.9975606198129973, + -0.04925216827353567, + -0.04946750164162344, + -0.04220315164989331, + -0.9899980629067003, + 0.1346206872356437, + -0.055603091542870166, + -0.1322046117249176, + -0.9896616779736087 + ], + [ + 0.9973515587949995, + -0.05184966852776733, + -0.05100470608429687, + -0.04400266082379725, + -0.9885298243166213, + 0.14447336182485593, + -0.057910569066541864, + -0.14184638983812925, + -0.9881932845755829 + ], + [ + 0.9977976691379492, + -0.062262824439912226, + -0.022872519660942475, + -0.05565088507585568, + -0.9734315498502513, + 0.22211257674074086, + -0.03609418863403686, + -0.22035053539508875, + -0.974752712793326 + ], + [ + 0.9972912893327673, + -0.07333336160934391, + -0.005683510892036581, + -0.06884726370091, + -0.9578880046789249, + 0.2787662547245011, + -0.025887033470138175, + -0.2776198634235333, + -0.9603421645074295 + ], + [ + 0.9979315448563044, + -0.0642834514317498, + -0.0005192809756183279, + -0.061081457417224067, + -0.9506805267261647, + 0.30409799680933447, + -0.020042139119804965, + -0.3034372653048468, + -0.9526406136019072 + ], + [ + 0.9989944969489842, + -0.03935879725075924, + -0.02146811926133366, + -0.031155252229896922, + -0.9537876028529366, + 0.29886210683614534, + -0.03223887907692699, + -0.2978927554054004, + -0.9540547997640602 + ], + [ + 0.9994327060568611, + -0.018093464864005367, + -0.028405854908358306, + -0.009592483823370801, + -0.9614275477545224, + 0.2748909868890278, + -0.03228390183912208, + -0.2744625601934447, + -0.9610556969989312 + ], + [ + 0.9998147915467915, + -0.015378752033874983, + -0.011570505180259873, + -0.011903986609555448, + -0.9665810642925211, + 0.25608463689557137, + -0.015122093342039624, + -0.2558994727173499, + -0.9665851137669859 + ], + [ + 0.9997878463706412, + -0.01899793466313705, + -0.007958688842408124, + -0.016480358154495212, + -0.9695900593453795, + 0.2441792673707643, + -0.012355567354624356, + -0.24399630181041435, + -0.9696974500627433 + ], + [ + 0.9994460359529174, + -0.028693945099163624, + 0.016860567388031468, + -0.031808469749771334, + -0.9725964162220988, + 0.23031376946267934, + 0.009789916760527052, + -0.23072249276257506, + -0.9729703432598785 + ], + [ + 0.9983423662201801, + -0.03839142733667643, + 0.04287911049619014, + -0.046771695224630594, + -0.9753357271766464, + 0.2157142272049222, + 0.0335399513372643, + -0.21736218070275062, + -0.9755146098672427 + ], + [ + 0.9965566713763968, + -0.04314390708193479, + 0.07080539539400707, + -0.05689989269300487, + -0.9769955064212471, + 0.20552903114697832, + 0.060309227707879255, + -0.2088501465510533, + -0.9760862735121741 + ], + [ + 0.9953342189597798, + -0.043153569371359946, + 0.08629925850339719, + -0.059748518396834885, + -0.9779542557736083, + 0.2000889506286414, + 0.07576217471210835, + -0.2043116322307642, + -0.975969697182291 + ], + [ + 0.9958806011926805, + -0.03204260310097397, + 0.08482393385488644, + -0.0476971106543691, + -0.9807175552973434, + 0.18952061198409698, + 0.07711558729160771, + -0.19278575756034266, + -0.9782059281554957 + ], + [ + 0.9971616309117679, + -0.020636945694168702, + 0.0724071702927196, + -0.03377631297775377, + -0.9821128571908058, + 0.18523902510578236, + 0.0672892451957353, + -0.18715889562862828, + -0.9800222983524712 + ], + [ + 0.9977968156464839, + 0.00035843812236725954, + 0.06634294391907397, + -0.012053474419836906, + -0.9823636265047171, + 0.1865915836122071, + 0.06523977651822005, + -0.1869801509321601, + -0.9801949779085994 + ], + [ + 0.9970856626710802, + 0.01583371631546556, + 0.07462891345459836, + 0.0020227618684397902, + -0.983368186790204, + 0.18161199752045487, + 0.07626329215419538, + -0.18093176237628228, + -0.9805343480129679 + ], + [ + 0.9958504041787525, + 0.008994644687920234, + 0.09055975300294142, + -0.006612511207007833, + -0.9853216282112292, + 0.17058007994695593, + 0.09076479048922487, + -0.17047106894165573, + -0.981173464511417 + ], + [ + 0.9952659844701984, + 0.001194684383293401, + 0.09718123731354456, + -0.014446427446773966, + -0.9869976310745637, + 0.1600842808873651, + 0.09610890120375035, + -0.16073036110960498, + -0.9823079100399141 + ], + [ + 0.9935344933320268, + 0.00020711330619473112, + 0.11353047019876122, + -0.01727559852520718, + -0.9880773786803482, + 0.15298577527263205, + 0.11220857478405682, + -0.15395795154603356, + -0.9816853797936895 + ], + [ + 0.9946201382641304, + 0.0034298794949721156, + 0.1035326831782696, + -0.011815067401273095, + -0.98917339772759, + 0.14627506079423855, + 0.102913481826947, + -0.14671136682174554, + -0.983811257357604 + ], + [ + 0.9936173796885587, + 0.007172307599272718, + 0.11257468980434261, + -0.00823897892419799, + -0.9906967383778761, + 0.1358384768529321, + 0.11250165335286928, + -0.13589897192819145, + -0.9843144047618786 + ], + [ + 0.9932887030016362, + 0.01935367600698965, + 0.11403064375133248, + 0.004048064781132589, + -0.991113975985522, + 0.1329537505213651, + 0.11559050852407643, + -0.13159985498163024, + -0.9845406606676835 + ], + [ + 0.9949860744641542, + 0.026517192963470302, + 0.09643417495758559, + 0.013327479222522098, + -0.9907657703295285, + 0.13492800539883767, + 0.09912159159328197, + -0.13296626196397945, + -0.9861515518718919 + ], + [ + 0.9991930281288073, + 0.017053473583146656, + 0.03636580230840823, + 0.012016887540675305, + -0.9908446368530434, + 0.1344711866289434, + 0.03832606101101538, + -0.13392566840718131, + -0.990249982776607 + ], + [ + 0.9997473548876833, + 0.02205546171923062, + 0.0043339362515942, + 0.021217846496610352, + -0.9896574928344704, + 0.14187265369561958, + 0.007418179367446537, + -0.14174485346897953, + -0.9898754301072084 + ], + [ + 0.9996376411155433, + 0.020449890930654066, + -0.01750395457822336, + 0.02276628603763243, + -0.989254871801047, + 0.1444177788153061, + -0.014362544517071368, + -0.1447639477867964, + -0.9893619745756236 + ], + [ + 0.9994895121898054, + 0.023532927635459427, + -0.021608247024892464, + 0.026425352213466768, + -0.9890565066502944, + 0.1451513948024958, + -0.017955940047203623, + -0.1456483023231648, + -0.989173471261437 + ], + [ + 0.9989995270948943, + 0.02127312131049391, + -0.0393369949778397, + 0.026902859700547514, + -0.9885258867883915, + 0.14863649379999833, + -0.035723675680285644, + -0.14954606467217146, + -0.988109201220673 + ], + [ + 0.9995293575821053, + 0.01115067857593217, + -0.0285784131609797, + 0.015455498329995876, + -0.9877701476908043, + 0.15514916339528745, + -0.026498884936444117, + -0.15551783723477625, + -0.9874776004542798 + ], + [ + 0.9989899990886681, + -0.011580240167341913, + -0.043415201928464826, + -0.004001087515954519, + -0.9853066772727159, + 0.17074760033596237, + -0.04475458657514745, + -0.17040143708157668, + -0.9843578501850945 + ], + [ + 0.9969778910670967, + -0.01663821242822628, + -0.07588316421050106, + -0.0014713582786716395, + -0.9806646533465206, + 0.19569024702719467, + -0.07767187282549867, + -0.19498719846169876, + -0.977725458709058 + ], + [ + 0.9966212379442594, + -0.009911597920172802, + -0.08153446084399565, + 0.008138882574306302, + -0.9758888288178896, + 0.21811637347730156, + -0.08173045129505824, + -0.2180430095534293, + -0.9725108633408623 + ], + [ + 0.9975006399072396, + 0.018363476571577542, + -0.06822943728958203, + 0.03445380164252823, + -0.9694688753910833, + 0.2427818675278818, + -0.06168799670134542, + -0.24452583171549333, + -0.9676785151520216 + ], + [ + 0.9944190370697435, + -0.013147915299471836, + -0.10468004125219778, + 0.013054860060721128, + -0.9692443040120224, + 0.24575404324048306, + -0.10469168707246483, + -0.24574908232489523, + -0.9636633432866443 + ], + [ + 0.9919105017863726, + -0.04683684095843253, + -0.11798248503460702, + -0.01596862259517641, + -0.9680975835731201, + 0.2500641353179199, + -0.1259307728012482, + -0.24615722416561456, + -0.9610140797370037 + ], + [ + 0.9897136133087117, + -0.08191789122995005, + -0.11728777740179101, + -0.048456394367769044, + -0.9633243961462398, + 0.263928182720902, + -0.13460661750556413, + -0.2555299725784055, + -0.9573847145415422 + ], + [ + 0.9881944443449137, + -0.11643725350528342, + -0.09956960460900478, + -0.08588752106814779, + -0.9592164405809376, + 0.2693086590587185, + -0.12686636232908882, + -0.2575775341822011, + -0.9578928645699378 + ], + [ + 0.9894067067377015, + -0.1262309371531483, + -0.07169462440025925, + -0.10544873753077223, + -0.9643551259776639, + 0.24269271672996398, + -0.0997744076185002, + -0.23256169397826923, + -0.9674503222793073 + ], + [ + 0.9942591110131467, + -0.09395039801445683, + -0.05120686360510895, + -0.07960909129982967, + -0.9692952711842082, + 0.23265654910693476, + -0.07149274613387338, + -0.22724436180653043, + -0.9712099604500462 + ], + [ + 0.9928204718036903, + -0.0767078748858806, + -0.09177915176111473, + -0.0531894123375397, + -0.9703800374827377, + 0.23565540365157644, + -0.1071372819455712, + -0.22908182988943565, + -0.9674932134293359 + ], + [ + 0.9922767764396042, + -0.05851119733811053, + -0.1093765913012855, + -0.02963688874778561, + -0.968052006515054, + 0.24899190249389505, + -0.1204510430173983, + -0.2438273004981982, + -0.9623096142966577 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006795.json b/json/chunk-0006/episode_0006795.json new file mode 100644 index 0000000000000000000000000000000000000000..ddb6b155511b0ce10e0c3545133a24f5925396ae --- /dev/null +++ b/json/chunk-0006/episode_0006795.json @@ -0,0 +1,1762 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 28, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPick up the pot cover and put it on the silver pot." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006795.mp4", + "start": 0, + "end": 28, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.29895833134651184, + -0.062182169407606125, + 0.06947431713342667, + -0.11605346202850342, + -0.12249796092510223, + 0.8400335311889648, + 0.0, + 1.0008161067962646 + ], + [ + 0.2957756221294403, + -0.06160982325673103, + 0.06007768586277962, + -0.08685137331485748, + -0.10522164404392242, + 0.8376254439353943, + 0.0, + 1.0008161067962646 + ], + [ + 0.28867971897125244, + -0.060635410249233246, + 0.051912158727645874, + -0.0741255134344101, + -0.09313491731882095, + 0.8379226922988892, + 0.0, + 1.0008161067962646 + ], + [ + 0.2899053394794464, + -0.05715017765760422, + 0.039790552109479904, + -0.06012214347720146, + -0.08969702571630478, + 0.8421264886856079, + 0.0, + 1.0008161067962646 + ], + [ + 0.29087767004966736, + -0.05243576318025589, + 0.027996808290481567, + -0.04454721137881279, + -0.07977496087551117, + 0.8580065965652466, + 0.0, + 1.0008161067962646 + ], + [ + 0.2927229404449463, + -0.04985819756984711, + 0.01713128760457039, + -0.0005227068322710693, + -0.09282182902097702, + 0.8452718257904053, + 0.0, + 1.0008161067962646 + ], + [ + 0.29251721501350403, + -0.05406033247709274, + 0.010313071310520172, + -0.0005414159968495369, + -0.08248469978570938, + 0.8373445868492126, + 0.0, + 0.9484345316886902 + ], + [ + 0.29396194219589233, + -0.056530144065618515, + 0.008791746571660042, + -0.0012986932415515184, + -0.10067533701658249, + 0.8283930420875549, + 0.0, + 0.6611326336860657 + ], + [ + 0.2910672724246979, + -0.05772748216986656, + 0.0073271156288683414, + 0.0012435474200174212, + -0.10784521698951721, + 0.8373876214027405, + 0.0, + 0.3577343225479126 + ], + [ + 0.290571391582489, + -0.05775131285190582, + 0.006930615287274122, + -0.004809780046343803, + -0.11254765093326569, + 0.8474385738372803, + 0.0, + 0.2810206115245819 + ], + [ + 0.28867608308792114, + -0.05809123069047928, + 0.009571046568453312, + -0.003238803707063198, + -0.10300339758396149, + 0.8461259007453918, + 0.0, + 0.2802911400794983 + ], + [ + 0.2889915108680725, + -0.06076764315366745, + 0.03410141542553902, + -0.07137912511825562, + -0.09325863420963287, + 0.8462564945220947, + 0.0, + 0.2802911400794983 + ], + [ + 0.2925805449485779, + -0.048062484711408615, + 0.06940082460641861, + -0.14135228097438812, + -0.1462092250585556, + 0.9069035053253174, + 0.0, + 0.2802911400794983 + ], + [ + 0.2930171489715576, + -0.02301234006881714, + 0.09924589842557907, + -0.20128943026065826, + -0.1906396448612213, + 1.0338870286941528, + 0.0, + 0.2802911400794983 + ], + [ + 0.28796449303627014, + 0.02281532809138298, + 0.10221945494413376, + -0.1929401457309723, + -0.20877356827259064, + 1.1991398334503174, + 0.0, + 0.2802911400794983 + ], + [ + 0.2796437740325928, + 0.05473177134990692, + 0.10070643573999405, + -0.17073577642440796, + -0.1924067884683609, + 1.3148438930511475, + 0.0, + 0.2802911400794983 + ], + [ + 0.26889026165008545, + 0.09538872539997101, + 0.08132889121770859, + -0.09849131852388382, + -0.15792740881443024, + 1.450382113456726, + 0.0, + 0.2802911400794983 + ], + [ + 0.2761772572994232, + 0.10429175943136215, + 0.06737668067216873, + -0.06990447640419006, + -0.12384562194347382, + 1.465410590171814, + 0.0, + 0.2802911400794983 + ], + [ + 0.28795117139816284, + 0.11304312199354172, + 0.06077971309423447, + -0.057255055755376816, + -0.12858442962169647, + 1.4659266471862793, + 0.0, + 0.2802911400794983 + ], + [ + 0.29466354846954346, + 0.1190008595585823, + 0.04962784796953201, + -0.040718924254179, + -0.1223422959446907, + 1.466760277748108, + 0.0, + 0.2802911400794983 + ], + [ + 0.29848599433898926, + 0.12737129628658295, + 0.04234514757990837, + -0.022833701223134995, + -0.12290684133768082, + 1.4719995260238647, + 0.0, + 0.2802911400794983 + ], + [ + 0.3013420104980469, + 0.12863457202911377, + 0.039007823914289474, + -0.005196865182369947, + -0.11668795347213745, + 1.4547592401504517, + 0.0, + 0.3380139172077179 + ], + [ + 0.30373820662498474, + 0.12586070597171783, + 0.03848906606435776, + -0.014200367964804173, + -0.09746802598237991, + 1.4455363750457764, + 0.0, + 0.6319981217384338 + ], + [ + 0.30411505699157715, + 0.12524300813674927, + 0.037981994450092316, + -0.01466977410018444, + -0.0962909460067749, + 1.4432692527770996, + 0.0, + 0.9295665621757507 + ], + [ + 0.3043334186077118, + 0.12298689037561417, + 0.03744940459728241, + -0.018927335739135742, + -0.09020809829235077, + 1.4378687143325806, + 0.0, + 1.0047606229782104 + ], + [ + 0.3048314154148102, + 0.11784856021404266, + 0.04464736580848694, + -0.034668318927288055, + -0.09783829003572464, + 1.4317547082901, + 0.0, + 1.0001531839370728 + ], + [ + 0.30141884088516235, + 0.11735763400793076, + 0.06210701912641525, + -0.02734997868537903, + -0.10737328976392746, + 1.4510525465011597, + 0.0, + 1.0001531839370728 + ], + [ + 0.30505305528640747, + 0.11482984572649002, + 0.08900397270917892, + -0.09868956357240677, + -0.11828969419002533, + 1.465984582901001, + 0.0, + 1.0001531839370728 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9484345316886902 + ], + [ + 0.6611326336860657 + ], + [ + 0.3577343225479126 + ], + [ + 0.2810206115245819 + ], + [ + 0.2802911400794983 + ], + [ + 0.2802911400794983 + ], + [ + 0.2802911400794983 + ], + [ + 0.2802911400794983 + ], + [ + 0.2802911400794983 + ], + [ + 0.2802911400794983 + ], + [ + 0.2802911400794983 + ], + [ + 0.2802911400794983 + ], + [ + 0.2802911400794983 + ], + [ + 0.2802911400794983 + ], + [ + 0.2802911400794983 + ], + [ + 0.3380139172077179 + ], + [ + 0.6319981217384338 + ], + [ + 0.9295665621757507 + ], + [ + 1.0047606229782104 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.29895833134651184, + -0.062182169407606125, + 0.06947431713342667 + ], + [ + 0.2957756221294403, + -0.06160982325673103, + 0.06007768586277962 + ], + [ + 0.28867971897125244, + -0.060635410249233246, + 0.051912158727645874 + ], + [ + 0.2899053394794464, + -0.05715017765760422, + 0.039790552109479904 + ], + [ + 0.29087767004966736, + -0.05243576318025589, + 0.027996808290481567 + ], + [ + 0.2927229404449463, + -0.04985819756984711, + 0.01713128760457039 + ], + [ + 0.29251721501350403, + -0.05406033247709274, + 0.010313071310520172 + ], + [ + 0.29396194219589233, + -0.056530144065618515, + 0.008791746571660042 + ], + [ + 0.2910672724246979, + -0.05772748216986656, + 0.0073271156288683414 + ], + [ + 0.290571391582489, + -0.05775131285190582, + 0.006930615287274122 + ], + [ + 0.28867608308792114, + -0.05809123069047928, + 0.009571046568453312 + ], + [ + 0.2889915108680725, + -0.06076764315366745, + 0.03410141542553902 + ], + [ + 0.2925805449485779, + -0.048062484711408615, + 0.06940082460641861 + ], + [ + 0.2930171489715576, + -0.02301234006881714, + 0.09924589842557907 + ], + [ + 0.28796449303627014, + 0.02281532809138298, + 0.10221945494413376 + ], + [ + 0.2796437740325928, + 0.05473177134990692, + 0.10070643573999405 + ], + [ + 0.26889026165008545, + 0.09538872539997101, + 0.08132889121770859 + ], + [ + 0.2761772572994232, + 0.10429175943136215, + 0.06737668067216873 + ], + [ + 0.28795117139816284, + 0.11304312199354172, + 0.06077971309423447 + ], + [ + 0.29466354846954346, + 0.1190008595585823, + 0.04962784796953201 + ], + [ + 0.29848599433898926, + 0.12737129628658295, + 0.04234514757990837 + ], + [ + 0.3013420104980469, + 0.12863457202911377, + 0.039007823914289474 + ], + [ + 0.30373820662498474, + 0.12586070597171783, + 0.03848906606435776 + ], + [ + 0.30411505699157715, + 0.12524300813674927, + 0.037981994450092316 + ], + [ + 0.3043334186077118, + 0.12298689037561417, + 0.03744940459728241 + ], + [ + 0.3048314154148102, + 0.11784856021404266, + 0.04464736580848694 + ], + [ + 0.30141884088516235, + 0.11735763400793076, + 0.06210701912641525 + ], + [ + 0.30505305528640747, + 0.11482984572649002, + 0.08900397270917892 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.662436412641104, + 0.7302128366343088, + 0.16723400498002994, + 0.7390853511469306, + -0.6734844899030015, + 0.013095250288238054, + 0.12219182839782207, + 0.11492543267079519, + -0.9858302602366329 + ], + [ + 0.6655278393121427, + 0.7341584633189717, + 0.13447693422158613, + 0.7389464801472934, + -0.6734761577865052, + 0.01969681118994083, + 0.1050275896059533, + 0.08626248101145961, + -0.9907209444597964 + ], + [ + 0.6661088077716877, + 0.7366062640718294, + 0.1170908533538083, + 0.7400337792792973, + -0.6722901994066633, + 0.019387968107798036, + 0.09300033190575706, + 0.07373669040505589, + -0.9929319406452428 + ], + [ + 0.6632009593441827, + 0.7411288532436765, + 0.1043671903170178, + 0.7430615620270603, + -0.6686902669758965, + 0.026699099041152207, + 0.08957679701161933, + 0.05984437936362125, + -0.9941803899171024 + ], + [ + 0.651867086770121, + 0.7534692181274085, + 0.08575219251020424, + 0.7541344347703578, + -0.6559829187432547, + 0.031107307994639132, + 0.07969037256424649, + 0.04439085098927549, + -0.9958307571415032 + ], + [ + 0.6606715493593845, + 0.748119254375111, + 0.06189252863066724, + 0.74493082098066, + -0.6635640966463766, + 0.06899827240560294, + 0.0926885959552192, + 0.0005204566320813897, + -0.9956950101837128 + ], + [ + 0.6671617607432014, + 0.7428381360685686, + 0.05555797516294247, + 0.7403424042564019, + -0.6694708451163408, + 0.06084333980858552, + 0.08239119772088396, + 0.0005395751915574579, + -0.9965999194244053 + ], + [ + 0.6726374910419086, + 0.7367570572413986, + 0.06890460253017375, + 0.7331149151833807, + -0.6761563199724878, + 0.07317890472620983, + 0.10050535697420027, + 0.0012921169674202232, + -0.9949356781487091 + ], + [ + 0.6655168146290116, + 0.7429859415290334, + 0.07112847626844099, + 0.7385809359626645, + -0.6693058808921841, + 0.08079504214772308, + 0.10763628792637164, + -0.0012363225120260724, + -0.9941895699654457 + ], + [ + 0.6577175826292525, + 0.7492212224021847, + 0.0779431934328344, + 0.74484495137919, + -0.6623025878679485, + 0.081001731514518, + 0.11231019501925907, + 0.0047793310823058335, + -0.9936617020340179 + ], + [ + 0.6593753035472341, + 0.748493252900201, + 0.07058370516534983, + 0.7447496076062202, + -0.6631345801953223, + 0.07483682595858109, + 0.1028213549919192, + 0.003221631892336485, + -0.9946946215022862 + ], + [ + 0.659910821826319, + 0.7424958534354646, + 0.11496788624504127, + 0.7455506144903683, + -0.6660763348201229, + 0.02228446601615995, + 0.09312351190513622, + 0.07100861795396451, + -0.9931192212955711 + ], + [ + 0.6096130593192507, + 0.767097073188382, + 0.19983492741070522, + 0.7791961718572534, + -0.6262073181297474, + 0.026790305779346865, + 0.14568885911566923, + 0.13937889017554778, + -0.9794632618444692 + ], + [ + 0.50221620626712, + 0.8225667788610094, + 0.26676352163833145, + 0.8437259997679933, + -0.5337096418774525, + 0.05727526065013849, + 0.18948699026097107, + 0.19631075487925892, + -0.9620586094623206 + ], + [ + 0.355273629736676, + 0.9000062147493182, + 0.2525261598851333, + 0.9114953837607092, + -0.39344874000572827, + 0.11989267855387441, + 0.20726025522671998, + 0.1875817219254302, + -0.9601334720771095 + ], + [ + 0.24849520142181925, + 0.9451309064106058, + 0.21207947712543102, + 0.9495706132756482, + -0.2809174637944065, + 0.13928757639727882, + 0.19122182216901656, + 0.1667721448047755, + -0.9672751761745859 + ], + [ + 0.11862853923762179, + 0.9860900132478896, + 0.11642059719450669, + 0.9804044406116248, + -0.13489416017850536, + 0.14356426567479558, + 0.1572717473272157, + 0.09710845134442878, + -0.9827693250046684 + ], + [ + 0.10438510950625018, + 0.9911156785862065, + 0.08242245188036784, + 0.9868354807441109, + -0.1135142129631243, + 0.1151966032481079, + 0.1235292793547654, + 0.06931258988066935, + -0.9899173107013164 + ], + [ + 0.10381338984551347, + 0.9921084861610134, + 0.07031025370517363, + 0.9862959737294235, + -0.11180355313456947, + 0.12132690431892805, + 0.12823038756048524, + 0.056751362924496826, + -0.9901193112510734 + ], + [ + 0.10307226394737523, + 0.9932528063125617, + 0.05315045773069897, + 0.9871590544986347, + -0.10870339324253742, + 0.11704944860578909, + 0.12203732841275904, + 0.04040340393801584, + -0.9917028059978944 + ], + [ + 0.09789209038670049, + 0.994588064162294, + 0.034809786922977794, + 0.9876168075829261, + -0.10139590899908707, + 0.11971595974622098, + 0.12259763464044487, + 0.02265948508130556, + -0.9921977462766273 + ], + [ + 0.11498954349700247, + 0.9931917860964508, + 0.018640840026486603, + 0.9865206604590864, + -0.11637626446844568, + 0.11503717466861985, + 0.1164233283054523, + 0.005161501614112211, + -0.9931862703075232 + ], + [ + 0.1243396912353385, + 0.9918925531326029, + 0.026245079988202663, + 0.9874561612800469, + -0.1262910750575641, + 0.09476757837403398, + 0.09731377463429648, + 0.014132494503490245, + -0.9951534061970215 + ], + [ + 0.12659253410160126, + 0.9915933430501047, + 0.026776338966569516, + 0.9872846625735354, + -0.1285668861931189, + 0.09348556477695444, + 0.09614221422869067, + 0.01460129423453014, + -0.9952605070281256 + ], + [ + 0.13199759955660073, + 0.9907746175138051, + 0.030696758813730452, + 0.9871480039754271, + -0.1342026936945263, + 0.08676667132294058, + 0.09008580331342632, + 0.018849251855344418, + -0.9957556194899773 + ], + [ + 0.13793124094524795, + 0.9892849379911685, + 0.04785691418295057, + 0.985613081280795, + -0.14186389328918342, + 0.09187758044818546, + 0.09768227464326143, + 0.03449561196218341, + -0.9946196388448567 + ], + [ + 0.11876987152595364, + 0.9921178772121403, + 0.03994790775228388, + 0.9871215387874114, + -0.12232281715987103, + 0.10309314266257331, + 0.1071670904694226, + 0.02718908086253137, + -0.9938691908909185 + ], + [ + 0.10388885596752379, + 0.9884566087865924, + 0.11027528350391429, + 0.9875625525096688, + -0.11567492694287879, + 0.10648716428446897, + 0.11801402665084747, + 0.09784091078311372, + -0.9881800674425607 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.003182709217071533, + 0.0005723461508750916, + -0.009396631270647049, + 0.029202088713645935, + 0.01727631688117981, + -0.0024080872535705566, + 1.0 + ], + [ + -0.007095903158187866, + 0.0009744130074977875, + -0.008165527135133743, + 0.012725859880447388, + 0.012086726725101471, + 0.00029724836349487305, + 1.0 + ], + [ + 0.0012256205081939697, + 0.0034852325916290283, + -0.01212160661816597, + 0.014003369957208633, + 0.0034378916025161743, + 0.00420379638671875, + 1.0 + ], + [ + 0.0009723305702209473, + 0.004714414477348328, + -0.011793743818998337, + 0.015574932098388672, + 0.00992206484079361, + 0.015880107879638672, + 1.0 + ], + [ + 0.0018452703952789307, + 0.002577565610408783, + -0.010865520685911179, + 0.0440245047211647, + -0.01304686814546585, + -0.012734770774841309, + 1.0 + ], + [ + -0.00020572543144226074, + -0.004202134907245636, + -0.006818216294050217, + -1.8709164578467607e-05, + 0.01033712923526764, + -0.007927238941192627, + 0.0 + ], + [ + 0.0014447271823883057, + -0.002469811588525772, + -0.0015213247388601303, + -0.0007572772447019815, + -0.018190637230873108, + -0.008951544761657715, + 0.0 + ], + [ + -0.002894669771194458, + -0.0011973381042480469, + -0.0014646309427917004, + 0.002542240545153618, + -0.007169879972934723, + 0.008994579315185547, + 0.0 + ], + [ + -0.0004958808422088623, + -2.3830682039260864e-05, + -0.0003965003415942192, + -0.0060533275827765465, + -0.004702433943748474, + 0.010050952434539795, + 0.0 + ], + [ + -0.001895308494567871, + -0.0003399178385734558, + 0.0026404312811791897, + 0.0015709763392806053, + 0.0095442533493042, + -0.0013126730918884277, + 0.0 + ], + [ + 0.0003154277801513672, + -0.0026764124631881714, + 0.02453036978840828, + -0.06814032047986984, + 0.009744763374328613, + 0.00013059377670288086, + 0.0 + ], + [ + 0.003589034080505371, + 0.012705158442258835, + 0.03529940918087959, + -0.06997315585613251, + -0.05295059084892273, + 0.060647010803222656, + 0.0 + ], + [ + 0.00043660402297973633, + 0.025050144642591476, + 0.02984507381916046, + -0.05993714928627014, + -0.04443041980266571, + 0.12698352336883545, + 0.0 + ], + [ + -0.005052655935287476, + 0.04582766816020012, + 0.0029735565185546875, + 0.008349284529685974, + -0.018133923411369324, + 0.16525280475616455, + 0.0 + ], + [ + -0.008320719003677368, + 0.03191644325852394, + -0.0015130192041397095, + 0.02220436930656433, + 0.016366779804229736, + 0.11570405960083008, + 0.0 + ], + [ + -0.010753512382507324, + 0.04065695405006409, + -0.01937754452228546, + 0.07224445790052414, + 0.034479379653930664, + 0.1355382204055786, + 0.0 + ], + [ + 0.0072869956493377686, + 0.008903034031391144, + -0.013952210545539856, + 0.028586842119693756, + 0.03408178687095642, + 0.01502847671508789, + 0.0 + ], + [ + 0.011773914098739624, + 0.008751362562179565, + -0.006596967577934265, + 0.012649420648813248, + -0.004738807678222656, + 0.000516057014465332, + 0.0 + ], + [ + 0.006712377071380615, + 0.005957737565040588, + -0.011151865124702454, + 0.016536131501197815, + 0.006242133677005768, + 0.0008336305618286133, + 0.0 + ], + [ + 0.0038224458694458008, + 0.008370436728000641, + -0.007282700389623642, + 0.017885223031044006, + -0.0005645453929901123, + 0.005239248275756836, + 0.0 + ], + [ + 0.002856016159057617, + 0.0012632757425308228, + -0.0033373236656188965, + 0.01763683557510376, + 0.0062188878655433655, + -0.017240285873413086, + 1.0 + ], + [ + 0.002396196126937866, + -0.002773866057395935, + -0.0005187578499317169, + -0.009003503248095512, + 0.019219927489757538, + -0.009222865104675293, + 1.0 + ], + [ + 0.0003768503665924072, + -0.0006176978349685669, + -0.0005070716142654419, + -0.0004694061353802681, + 0.001177079975605011, + -0.002267122268676758, + 1.0 + ], + [ + 0.00021836161613464355, + -0.0022561177611351013, + -0.000532589852809906, + -0.004257561638951302, + 0.006082847714424133, + -0.005400538444519043, + 1.0 + ], + [ + 0.0004979968070983887, + -0.005138330161571503, + 0.007197961211204529, + -0.015740983188152313, + -0.007630191743373871, + -0.006114006042480469, + 1.0 + ], + [ + -0.003412574529647827, + -0.000490926206111908, + 0.017459653317928314, + 0.007318340241909027, + -0.00953499972820282, + 0.01929783821105957, + 1.0 + ], + [ + 0.003634214401245117, + -0.002527788281440735, + 0.026896953582763672, + -0.07133958488702774, + -0.01091640442609787, + 0.014932036399841309, + 1.0 + ], + [ + 0.004325538873672485, + -0.008904077112674713, + 0.01623491942882538, + -0.04355282336473465, + -0.031778618693351746, + -0.013841032981872559, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9484345316886902 + ], + [ + 0.6611326336860657 + ], + [ + 0.3577343225479126 + ], + [ + 0.2810206115245819 + ], + [ + 0.2802911400794983 + ], + [ + 0.2802911400794983 + ], + [ + 0.2802911400794983 + ], + [ + 0.2802911400794983 + ], + [ + 0.2802911400794983 + ], + [ + 0.2802911400794983 + ], + [ + 0.2802911400794983 + ], + [ + 0.2802911400794983 + ], + [ + 0.2802911400794983 + ], + [ + 0.2802911400794983 + ], + [ + 0.2802911400794983 + ], + [ + 0.3380139172077179 + ], + [ + 0.6319981217384338 + ], + [ + 0.9295665621757507 + ], + [ + 1.0047606229782104 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2957756221294403, + -0.06160982325673103, + 0.06007768586277962 + ], + [ + 0.28867971897125244, + -0.060635410249233246, + 0.051912158727645874 + ], + [ + 0.2899053394794464, + -0.05715017765760422, + 0.039790552109479904 + ], + [ + 0.29087767004966736, + -0.05243576318025589, + 0.027996808290481567 + ], + [ + 0.2927229404449463, + -0.04985819756984711, + 0.01713128760457039 + ], + [ + 0.29251721501350403, + -0.05406033247709274, + 0.010313071310520172 + ], + [ + 0.29396194219589233, + -0.056530144065618515, + 0.008791746571660042 + ], + [ + 0.2910672724246979, + -0.05772748216986656, + 0.0073271156288683414 + ], + [ + 0.290571391582489, + -0.05775131285190582, + 0.006930615287274122 + ], + [ + 0.28867608308792114, + -0.05809123069047928, + 0.009571046568453312 + ], + [ + 0.2889915108680725, + -0.06076764315366745, + 0.03410141542553902 + ], + [ + 0.2925805449485779, + -0.048062484711408615, + 0.06940082460641861 + ], + [ + 0.2930171489715576, + -0.02301234006881714, + 0.09924589842557907 + ], + [ + 0.28796449303627014, + 0.02281532809138298, + 0.10221945494413376 + ], + [ + 0.2796437740325928, + 0.05473177134990692, + 0.10070643573999405 + ], + [ + 0.26889026165008545, + 0.09538872539997101, + 0.08132889121770859 + ], + [ + 0.2761772572994232, + 0.10429175943136215, + 0.06737668067216873 + ], + [ + 0.28795117139816284, + 0.11304312199354172, + 0.06077971309423447 + ], + [ + 0.29466354846954346, + 0.1190008595585823, + 0.04962784796953201 + ], + [ + 0.29848599433898926, + 0.12737129628658295, + 0.04234514757990837 + ], + [ + 0.3013420104980469, + 0.12863457202911377, + 0.039007823914289474 + ], + [ + 0.30373820662498474, + 0.12586070597171783, + 0.03848906606435776 + ], + [ + 0.30411505699157715, + 0.12524300813674927, + 0.037981994450092316 + ], + [ + 0.3043334186077118, + 0.12298689037561417, + 0.03744940459728241 + ], + [ + 0.3048314154148102, + 0.11784856021404266, + 0.04464736580848694 + ], + [ + 0.30141884088516235, + 0.11735763400793076, + 0.06210701912641525 + ], + [ + 0.30505305528640747, + 0.11482984572649002, + 0.08900397270917892 + ], + [ + 0.30937859416007996, + 0.10592576861381531, + 0.1052388921380043 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.6655278393121427, + 0.7341584633189717, + 0.13447693422158613, + 0.7389464801472934, + -0.6734761577865052, + 0.01969681118994083, + 0.1050275896059533, + 0.08626248101145961, + -0.9907209444597964 + ], + [ + 0.6661088077716877, + 0.7366062640718294, + 0.1170908533538083, + 0.7400337792792973, + -0.6722901994066633, + 0.019387968107798036, + 0.09300033190575706, + 0.07373669040505589, + -0.9929319406452428 + ], + [ + 0.6632009593441827, + 0.7411288532436765, + 0.1043671903170178, + 0.7430615620270603, + -0.6686902669758965, + 0.026699099041152207, + 0.08957679701161933, + 0.05984437936362125, + -0.9941803899171024 + ], + [ + 0.651867086770121, + 0.7534692181274085, + 0.08575219251020424, + 0.7541344347703578, + -0.6559829187432547, + 0.031107307994639132, + 0.07969037256424649, + 0.04439085098927549, + -0.9958307571415032 + ], + [ + 0.6606715493593845, + 0.748119254375111, + 0.06189252863066724, + 0.74493082098066, + -0.6635640966463766, + 0.06899827240560294, + 0.0926885959552192, + 0.0005204566320813897, + -0.9956950101837128 + ], + [ + 0.6671617607432014, + 0.7428381360685686, + 0.05555797516294247, + 0.7403424042564019, + -0.6694708451163408, + 0.06084333980858552, + 0.08239119772088396, + 0.0005395751915574579, + -0.9965999194244053 + ], + [ + 0.6726374910419086, + 0.7367570572413986, + 0.06890460253017375, + 0.7331149151833807, + -0.6761563199724878, + 0.07317890472620983, + 0.10050535697420027, + 0.0012921169674202232, + -0.9949356781487091 + ], + [ + 0.6655168146290116, + 0.7429859415290334, + 0.07112847626844099, + 0.7385809359626645, + -0.6693058808921841, + 0.08079504214772308, + 0.10763628792637164, + -0.0012363225120260724, + -0.9941895699654457 + ], + [ + 0.6577175826292525, + 0.7492212224021847, + 0.0779431934328344, + 0.74484495137919, + -0.6623025878679485, + 0.081001731514518, + 0.11231019501925907, + 0.0047793310823058335, + -0.9936617020340179 + ], + [ + 0.6593753035472341, + 0.748493252900201, + 0.07058370516534983, + 0.7447496076062202, + -0.6631345801953223, + 0.07483682595858109, + 0.1028213549919192, + 0.003221631892336485, + -0.9946946215022862 + ], + [ + 0.659910821826319, + 0.7424958534354646, + 0.11496788624504127, + 0.7455506144903683, + -0.6660763348201229, + 0.02228446601615995, + 0.09312351190513622, + 0.07100861795396451, + -0.9931192212955711 + ], + [ + 0.6096130593192507, + 0.767097073188382, + 0.19983492741070522, + 0.7791961718572534, + -0.6262073181297474, + 0.026790305779346865, + 0.14568885911566923, + 0.13937889017554778, + -0.9794632618444692 + ], + [ + 0.50221620626712, + 0.8225667788610094, + 0.26676352163833145, + 0.8437259997679933, + -0.5337096418774525, + 0.05727526065013849, + 0.18948699026097107, + 0.19631075487925892, + -0.9620586094623206 + ], + [ + 0.355273629736676, + 0.9000062147493182, + 0.2525261598851333, + 0.9114953837607092, + -0.39344874000572827, + 0.11989267855387441, + 0.20726025522671998, + 0.1875817219254302, + -0.9601334720771095 + ], + [ + 0.24849520142181925, + 0.9451309064106058, + 0.21207947712543102, + 0.9495706132756482, + -0.2809174637944065, + 0.13928757639727882, + 0.19122182216901656, + 0.1667721448047755, + -0.9672751761745859 + ], + [ + 0.11862853923762179, + 0.9860900132478896, + 0.11642059719450669, + 0.9804044406116248, + -0.13489416017850536, + 0.14356426567479558, + 0.1572717473272157, + 0.09710845134442878, + -0.9827693250046684 + ], + [ + 0.10438510950625018, + 0.9911156785862065, + 0.08242245188036784, + 0.9868354807441109, + -0.1135142129631243, + 0.1151966032481079, + 0.1235292793547654, + 0.06931258988066935, + -0.9899173107013164 + ], + [ + 0.10381338984551347, + 0.9921084861610134, + 0.07031025370517363, + 0.9862959737294235, + -0.11180355313456947, + 0.12132690431892805, + 0.12823038756048524, + 0.056751362924496826, + -0.9901193112510734 + ], + [ + 0.10307226394737523, + 0.9932528063125617, + 0.05315045773069897, + 0.9871590544986347, + -0.10870339324253742, + 0.11704944860578909, + 0.12203732841275904, + 0.04040340393801584, + -0.9917028059978944 + ], + [ + 0.09789209038670049, + 0.994588064162294, + 0.034809786922977794, + 0.9876168075829261, + -0.10139590899908707, + 0.11971595974622098, + 0.12259763464044487, + 0.02265948508130556, + -0.9921977462766273 + ], + [ + 0.11498954349700247, + 0.9931917860964508, + 0.018640840026486603, + 0.9865206604590864, + -0.11637626446844568, + 0.11503717466861985, + 0.1164233283054523, + 0.005161501614112211, + -0.9931862703075232 + ], + [ + 0.1243396912353385, + 0.9918925531326029, + 0.026245079988202663, + 0.9874561612800469, + -0.1262910750575641, + 0.09476757837403398, + 0.09731377463429648, + 0.014132494503490245, + -0.9951534061970215 + ], + [ + 0.12659253410160126, + 0.9915933430501047, + 0.026776338966569516, + 0.9872846625735354, + -0.1285668861931189, + 0.09348556477695444, + 0.09614221422869067, + 0.01460129423453014, + -0.9952605070281256 + ], + [ + 0.13199759955660073, + 0.9907746175138051, + 0.030696758813730452, + 0.9871480039754271, + -0.1342026936945263, + 0.08676667132294058, + 0.09008580331342632, + 0.018849251855344418, + -0.9957556194899773 + ], + [ + 0.13793124094524795, + 0.9892849379911685, + 0.04785691418295057, + 0.985613081280795, + -0.14186389328918342, + 0.09187758044818546, + 0.09768227464326143, + 0.03449561196218341, + -0.9946196388448567 + ], + [ + 0.11876987152595364, + 0.9921178772121403, + 0.03994790775228388, + 0.9871215387874114, + -0.12232281715987103, + 0.10309314266257331, + 0.1071670904694226, + 0.02718908086253137, + -0.9938691908909185 + ], + [ + 0.10388885596752379, + 0.9884566087865924, + 0.11027528350391429, + 0.9875625525096688, + -0.11567492694287879, + 0.10648716428446897, + 0.11801402665084747, + 0.09784091078311372, + -0.9881800674425607 + ], + [ + 0.11704413683931741, + 0.9804317414834608, + 0.15828540780264008, + 0.9818089031470286, + -0.13822443905990373, + 0.13017404559974421, + 0.14950567792819267, + 0.14016991381278615, + -0.9787749728762727 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006796.json b/json/chunk-0006/episode_0006796.json new file mode 100644 index 0000000000000000000000000000000000000000..2ca00092064d6c7583295a2f60ed8e4714d3f446 --- /dev/null +++ b/json/chunk-0006/episode_0006796.json @@ -0,0 +1,1282 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 20, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut potato in pot or pan." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006796.mp4", + "start": 0, + "end": 20, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.2703016698360443, + 0.09985166043043137, + 0.10579974204301834, + 0.10573658347129822, + -0.1801832765340805, + -0.004474404733628035, + 0.0, + 1.0118417739868164 + ], + [ + 0.2686527371406555, + 0.09755013138055801, + 0.09437648206949234, + 0.041564375162124634, + -0.15790222585201263, + 0.01317373476922512, + 0.0, + 1.0118417739868164 + ], + [ + 0.2673375606536865, + 0.09956595301628113, + 0.08374490588903427, + -0.02358168549835682, + -0.1550104171037674, + 0.04132417216897011, + 0.0, + 1.0118417739868164 + ], + [ + 0.2647181749343872, + 0.09731163084506989, + 0.07492677122354507, + -0.04804844409227371, + -0.15860238671302795, + 0.05862170830368996, + 0.0, + 1.0118417739868164 + ], + [ + 0.26428908109664917, + 0.09498389810323715, + 0.06473448872566223, + -0.07555847615003586, + -0.16720302402973175, + 0.06736157089471817, + 0.0, + 1.0118417739868164 + ], + [ + 0.264573335647583, + 0.09432478994131088, + 0.053580183535814285, + -0.10184469819068909, + -0.16210049390792847, + 0.07170390337705612, + 0.0, + 1.0118417739868164 + ], + [ + 0.26592347025871277, + 0.09344470500946045, + 0.04460332915186882, + -0.121471107006073, + -0.16024167835712433, + 0.08372914791107178, + 0.0, + 1.0118417739868164 + ], + [ + 0.26538702845573425, + 0.09165573865175247, + 0.037020690739154816, + -0.13024768233299255, + -0.17144107818603516, + 0.08822175115346909, + 0.0, + 1.0118417739868164 + ], + [ + 0.265203058719635, + 0.08939427882432938, + 0.02758697420358658, + -0.15041877329349518, + -0.18500491976737976, + 0.09343875199556351, + 0.0, + 1.0118417739868164 + ], + [ + 0.2660706341266632, + 0.08685774356126785, + 0.021609025076031685, + -0.1660555750131607, + -0.20591142773628235, + 0.10797713696956635, + 0.0, + 1.0118417739868164 + ], + [ + 0.26625579595565796, + 0.08431757241487503, + 0.01512030977755785, + -0.17990562319755554, + -0.2168511599302292, + 0.1163949966430664, + 0.0, + 0.9537920951843262 + ], + [ + 0.267898291349411, + 0.08129478245973587, + 0.012494838796555996, + -0.20794279873371124, + -0.22193382680416107, + 0.13858234882354736, + 0.0, + 0.728995144367218 + ], + [ + 0.2682950496673584, + 0.08360417932271957, + 0.01243951078504324, + -0.21124152839183807, + -0.22506673634052277, + 0.146916463971138, + 0.0, + 0.6380261182785034 + ], + [ + 0.2611311972141266, + 0.08728179335594177, + 0.015785159543156624, + -0.17865806818008423, + -0.17022497951984406, + 0.1187865361571312, + 0.0, + 0.6380261182785034 + ], + [ + 0.2647021412849426, + 0.10002519935369492, + 0.04331064224243164, + -0.09632425010204315, + -0.15800955891609192, + 0.09672887623310089, + 0.0, + 0.6380261182785034 + ], + [ + 0.267586886882782, + 0.10352357476949692, + 0.07123128324747086, + -0.024202749133110046, + -0.15352857112884521, + 0.07448495924472809, + 0.0, + 0.6380261182785034 + ], + [ + 0.2762259542942047, + 0.086619533598423, + 0.09803367406129837, + 0.02500157803297043, + -0.22255051136016846, + 0.02481910213828087, + 0.0, + 0.6380261182785034 + ], + [ + 0.2892433702945709, + 0.06089133769273758, + 0.10378362983465195, + 0.04487449675798416, + -0.2627701461315155, + -0.0359337218105793, + 0.0, + 0.6380261182785034 + ], + [ + 0.31075435876846313, + 0.037638645619153976, + 0.11415398865938187, + 0.04436106234788895, + -0.3199147582054138, + -0.07118777930736542, + 0.0, + 0.6380261182785034 + ], + [ + 0.32748597860336304, + 0.01928473450243473, + 0.10712035745382309, + -0.002974440110847354, + -0.3187364339828491, + -0.05815673619508743, + 0.0, + 0.6380261182785034 + ] + ], + "left_gripper_pos": [ + [ + 1.0118417739868164 + ], + [ + 1.0118417739868164 + ], + [ + 1.0118417739868164 + ], + [ + 1.0118417739868164 + ], + [ + 1.0118417739868164 + ], + [ + 1.0118417739868164 + ], + [ + 1.0118417739868164 + ], + [ + 1.0118417739868164 + ], + [ + 1.0118417739868164 + ], + [ + 1.0118417739868164 + ], + [ + 0.9537920951843262 + ], + [ + 0.728995144367218 + ], + [ + 0.6380261182785034 + ], + [ + 0.6380261182785034 + ], + [ + 0.6380261182785034 + ], + [ + 0.6380261182785034 + ], + [ + 0.6380261182785034 + ], + [ + 0.6380261182785034 + ], + [ + 0.6380261182785034 + ], + [ + 0.6380261182785034 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.2703016698360443, + 0.09985166043043137, + 0.10579974204301834 + ], + [ + 0.2686527371406555, + 0.09755013138055801, + 0.09437648206949234 + ], + [ + 0.2673375606536865, + 0.09956595301628113, + 0.08374490588903427 + ], + [ + 0.2647181749343872, + 0.09731163084506989, + 0.07492677122354507 + ], + [ + 0.26428908109664917, + 0.09498389810323715, + 0.06473448872566223 + ], + [ + 0.264573335647583, + 0.09432478994131088, + 0.053580183535814285 + ], + [ + 0.26592347025871277, + 0.09344470500946045, + 0.04460332915186882 + ], + [ + 0.26538702845573425, + 0.09165573865175247, + 0.037020690739154816 + ], + [ + 0.265203058719635, + 0.08939427882432938, + 0.02758697420358658 + ], + [ + 0.2660706341266632, + 0.08685774356126785, + 0.021609025076031685 + ], + [ + 0.26625579595565796, + 0.08431757241487503, + 0.01512030977755785 + ], + [ + 0.267898291349411, + 0.08129478245973587, + 0.012494838796555996 + ], + [ + 0.2682950496673584, + 0.08360417932271957, + 0.01243951078504324 + ], + [ + 0.2611311972141266, + 0.08728179335594177, + 0.015785159543156624 + ], + [ + 0.2647021412849426, + 0.10002519935369492, + 0.04331064224243164 + ], + [ + 0.267586886882782, + 0.10352357476949692, + 0.07123128324747086 + ], + [ + 0.2762259542942047, + 0.086619533598423, + 0.09803367406129837 + ], + [ + 0.2892433702945709, + 0.06089133769273758, + 0.10378362983465195 + ], + [ + 0.31075435876846313, + 0.037638645619153976, + 0.11415398865938187 + ], + [ + 0.32748597860336304, + 0.01928473450243473, + 0.10712035745382309 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.983801016268021, + 0.014464161614105377, + 0.17867945718187614, + -0.004401953300315452, + -0.994489767014943, + 0.1047412340470842, + 0.17920988588007838, + -0.10383107112692842, + -0.9783163728934949 + ], + [ + 0.9874736316406001, + 0.01969539576096252, + 0.15655005014481432, + 0.013009468309524349, + -0.9989635537484002, + 0.043618482512247064, + 0.15724687770772527, + -0.04103546841680719, + -0.9867063949235281 + ], + [ + 0.9871664366197639, + 0.03766358511729726, + 0.15518982172665363, + 0.04081707269612687, + -0.9990188758986028, + -0.017182903561733843, + 0.15439039150140638, + 0.02329677991493363, + -0.9877352211284349 + ], + [ + 0.9857527836622983, + 0.05094778267874446, + 0.1602990110454509, + 0.05785279780117511, + -0.9975745538245544, + -0.038704823321102186, + 0.15793828949500027, + 0.04742713360367473, + -0.9863093651129613 + ], + [ + 0.9838178056055541, + 0.05458422118697719, + 0.17065488030198145, + 0.0663719325864779, + -0.995730968291359, + -0.06414518961145022, + 0.16642503398890596, + 0.0744338738946457, + -0.9832407164468057 + ], + [ + 0.9843545217958407, + 0.054904939570089656, + 0.16742647052030468, + 0.07070327551974048, + -0.9934375447069083, + -0.08990490307813773, + 0.16139151852207512, + 0.10033589775107649, + -0.9817766983238215 + ], + [ + 0.9837303938880355, + 0.0637489280695511, + 0.16796007356176493, + 0.08255992861035727, + -0.9907709493828497, + -0.10750248391018259, + 0.15955679342711485, + 0.11962023252355582, + -0.9799146032396227 + ], + [ + 0.9815079364890319, + 0.06528943349061328, + 0.17994293674250508, + 0.08681569697654412, + -0.9896259463163389, + -0.11447061254298996, + 0.1706024776124874, + 0.12797568617501234, + -0.9769938681386467 + ], + [ + 0.9786475605142485, + 0.06480403944253692, + 0.19506252528725274, + 0.09171066468058599, + -0.9869673830430941, + -0.1322291147702023, + 0.18395136934351727, + 0.14729501444718465, + -0.971836443253518 + ], + [ + 0.9731742007872651, + 0.07268605146313512, + 0.2182858512244132, + 0.10549085781038292, + -0.984142754260914, + -0.14259985327542282, + 0.2044594185663692, + 0.1618016599372238, + -0.9654100522581385 + ], + [ + 0.9699719939574706, + 0.07601930819961636, + 0.23103115746370756, + 0.1134125133265255, + -0.9816745418435429, + -0.15314272988696156, + 0.21515560127296102, + 0.17474598329324179, + -0.9608183535735298 + ], + [ + 0.9661215699328279, + 0.09015654491673852, + 0.24182826451679248, + 0.13475113779324294, + -0.9753544304203143, + -0.1747165301935986, + 0.22011643049521337, + 0.20138404223805892, + -0.9544596505656515 + ], + [ + 0.9642780890701907, + 0.09684535062665826, + 0.24655373653859192, + 0.14269648242759803, + -0.9740879850383674, + -0.1754716823498424, + 0.22317141582633737, + 0.20438584947567529, + -0.9531111916729208 + ], + [ + 0.9786017007783041, + 0.08672859141651755, + 0.1865927722735184, + 0.11679455687824288, + -0.9807160117725695, + -0.15670078409669866, + 0.16940408117110173, + 0.1751406739846916, + -0.9698597845043182 + ], + [ + 0.9829260838059107, + 0.08106768239853973, + 0.16517973436382882, + 0.09537497910107312, + -0.992173045463942, + -0.08059938719541232, + 0.1573528745700104, + 0.0949772537260139, + -0.9829645945501896 + ], + [ + 0.9854975119692951, + 0.07070369979137647, + 0.1542583571095592, + 0.07354079401008598, + -0.9972106219800189, + -0.01275645039147874, + 0.1529261439999567, + 0.023915732186890415, + -0.9879481930927703 + ], + [ + 0.9750372959929948, + 0.030324821212506698, + 0.21996062520619086, + 0.02420452033864923, + -0.9992426641222367, + 0.03046702140135171, + 0.22071794810990059, + -0.02438244073762943, + -0.9750328630183862 + ], + [ + 0.9650507326975941, + -0.024244809934756653, + 0.26093921229103323, + -0.034692798001917456, + -0.9987670407226242, + 0.03550786015758612, + 0.25975660354769714, + -0.04331959784439445, + -0.9647019847372375 + ], + [ + 0.9468579563916131, + -0.05714667436866226, + 0.31653478170100113, + -0.06751880880746926, + -0.9974778918635021, + 0.021887569549047164, + 0.3144856449428476, + -0.042096470780174006, + -0.9483283536163702 + ], + [ + 0.9480266626615464, + -0.05905421546075564, + 0.31266283200777956, + -0.055196379069655986, + -0.9982507806957032, + -0.021183450569203517, + 0.3133668882004115, + 0.002824619750284276, + -0.9496279349844639 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.001648932695388794, + -0.002301529049873352, + -0.011423259973526001, + -0.06417220830917358, + 0.02228105068206787, + 0.017648139968514442, + 1.0 + ], + [ + -0.0013151764869689941, + 0.002015821635723114, + -0.010631576180458069, + -0.0651460587978363, + 0.0028918087482452393, + 0.028150437399744987, + 1.0 + ], + [ + -0.0026193857192993164, + -0.0022543221712112427, + -0.008818134665489197, + -0.024466758593916893, + -0.003591969609260559, + 0.01729753613471985, + 1.0 + ], + [ + -0.0004290938377380371, + -0.002327732741832733, + -0.010192282497882843, + -0.027510032057762146, + -0.008600637316703796, + 0.008739862591028214, + 1.0 + ], + [ + 0.0002842545509338379, + -0.0006591081619262695, + -0.011154305189847946, + -0.02628622204065323, + 0.005102530121803284, + 0.004342332482337952, + 1.0 + ], + [ + 0.0013501346111297607, + -0.0008800849318504333, + -0.008976854383945465, + -0.01962640881538391, + 0.0018588155508041382, + 0.012025244534015656, + 1.0 + ], + [ + -0.0005364418029785156, + -0.0017889663577079773, + -0.0075826384127140045, + -0.008776575326919556, + -0.011199399828910828, + 0.004492603242397308, + 1.0 + ], + [ + -0.00018396973609924316, + -0.0022614598274230957, + -0.009433716535568237, + -0.020171090960502625, + -0.013563841581344604, + 0.005217000842094421, + 1.0 + ], + [ + 0.0008675754070281982, + -0.0025365352630615234, + -0.0059779491275548935, + -0.015636801719665527, + -0.020906507968902588, + 0.014538384974002838, + 1.0 + ], + [ + 0.00018516182899475098, + -0.0025401711463928223, + -0.006488715298473835, + -0.013850048184394836, + -0.010939732193946838, + 0.008417859673500061, + 0.0 + ], + [ + 0.0016424953937530518, + -0.00302278995513916, + -0.002625470981001854, + -0.0280371755361557, + -0.005082666873931885, + 0.022187352180480957, + 0.0 + ], + [ + 0.0003967583179473877, + 0.0023093968629837036, + -5.532801151275635e-05, + -0.003298729658126831, + -0.0031329095363616943, + 0.008334115147590637, + 0.0 + ], + [ + -0.0071638524532318115, + 0.0036776140332221985, + 0.0033456487581133842, + 0.032583460211753845, + 0.05484175682067871, + -0.028129927814006805, + 0.0 + ], + [ + 0.00357094407081604, + 0.012743405997753143, + 0.027525482699275017, + 0.08233381807804108, + 0.012215420603752136, + -0.022057659924030304, + 0.0 + ], + [ + 0.0028847455978393555, + 0.003498375415802002, + 0.027920641005039215, + 0.0721215009689331, + 0.004480987787246704, + -0.022243916988372803, + 0.0 + ], + [ + 0.00863906741142273, + -0.016904041171073914, + 0.026802390813827515, + 0.049204327166080475, + -0.06902194023132324, + -0.04966585710644722, + 0.0 + ], + [ + 0.013017416000366211, + -0.025728195905685425, + 0.005749955773353577, + 0.019872918725013733, + -0.040219634771347046, + -0.06075282394886017, + 0.0 + ], + [ + 0.021510988473892212, + -0.023252692073583603, + 0.01037035882472992, + -0.0005134344100952148, + -0.057144612073898315, + -0.03525405749678612, + 0.0 + ], + [ + 0.016731619834899902, + -0.018353911116719246, + -0.007033631205558777, + -0.04733550176024437, + 0.0011783242225646973, + 0.013031043112277985, + 0.0 + ], + [ + 0.007650554180145264, + -0.00728677399456501, + -0.007774367928504944, + -0.03606775030493736, + 0.005190163850784302, + 0.03408908098936081, + 0.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0118417739868164 + ], + [ + 1.0118417739868164 + ], + [ + 1.0118417739868164 + ], + [ + 1.0118417739868164 + ], + [ + 1.0118417739868164 + ], + [ + 1.0118417739868164 + ], + [ + 1.0118417739868164 + ], + [ + 1.0118417739868164 + ], + [ + 1.0118417739868164 + ], + [ + 0.9537920951843262 + ], + [ + 0.728995144367218 + ], + [ + 0.6380261182785034 + ], + [ + 0.6380261182785034 + ], + [ + 0.6380261182785034 + ], + [ + 0.6380261182785034 + ], + [ + 0.6380261182785034 + ], + [ + 0.6380261182785034 + ], + [ + 0.6380261182785034 + ], + [ + 0.6380261182785034 + ], + [ + 0.6380261182785034 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.2686527371406555, + 0.09755013138055801, + 0.09437648206949234 + ], + [ + 0.2673375606536865, + 0.09956595301628113, + 0.08374490588903427 + ], + [ + 0.2647181749343872, + 0.09731163084506989, + 0.07492677122354507 + ], + [ + 0.26428908109664917, + 0.09498389810323715, + 0.06473448872566223 + ], + [ + 0.264573335647583, + 0.09432478994131088, + 0.053580183535814285 + ], + [ + 0.26592347025871277, + 0.09344470500946045, + 0.04460332915186882 + ], + [ + 0.26538702845573425, + 0.09165573865175247, + 0.037020690739154816 + ], + [ + 0.265203058719635, + 0.08939427882432938, + 0.02758697420358658 + ], + [ + 0.2660706341266632, + 0.08685774356126785, + 0.021609025076031685 + ], + [ + 0.26625579595565796, + 0.08431757241487503, + 0.01512030977755785 + ], + [ + 0.267898291349411, + 0.08129478245973587, + 0.012494838796555996 + ], + [ + 0.2682950496673584, + 0.08360417932271957, + 0.01243951078504324 + ], + [ + 0.2611311972141266, + 0.08728179335594177, + 0.015785159543156624 + ], + [ + 0.2647021412849426, + 0.10002519935369492, + 0.04331064224243164 + ], + [ + 0.267586886882782, + 0.10352357476949692, + 0.07123128324747086 + ], + [ + 0.2762259542942047, + 0.086619533598423, + 0.09803367406129837 + ], + [ + 0.2892433702945709, + 0.06089133769273758, + 0.10378362983465195 + ], + [ + 0.31075435876846313, + 0.037638645619153976, + 0.11415398865938187 + ], + [ + 0.32748597860336304, + 0.01928473450243473, + 0.10712035745382309 + ], + [ + 0.3351365327835083, + 0.01199796050786972, + 0.09934598952531815 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9874736316406001, + 0.01969539576096252, + 0.15655005014481432, + 0.013009468309524349, + -0.9989635537484002, + 0.043618482512247064, + 0.15724687770772527, + -0.04103546841680719, + -0.9867063949235281 + ], + [ + 0.9871664366197639, + 0.03766358511729726, + 0.15518982172665363, + 0.04081707269612687, + -0.9990188758986028, + -0.017182903561733843, + 0.15439039150140638, + 0.02329677991493363, + -0.9877352211284349 + ], + [ + 0.9857527836622983, + 0.05094778267874446, + 0.1602990110454509, + 0.05785279780117511, + -0.9975745538245544, + -0.038704823321102186, + 0.15793828949500027, + 0.04742713360367473, + -0.9863093651129613 + ], + [ + 0.9838178056055541, + 0.05458422118697719, + 0.17065488030198145, + 0.0663719325864779, + -0.995730968291359, + -0.06414518961145022, + 0.16642503398890596, + 0.0744338738946457, + -0.9832407164468057 + ], + [ + 0.9843545217958407, + 0.054904939570089656, + 0.16742647052030468, + 0.07070327551974048, + -0.9934375447069083, + -0.08990490307813773, + 0.16139151852207512, + 0.10033589775107649, + -0.9817766983238215 + ], + [ + 0.9837303938880355, + 0.0637489280695511, + 0.16796007356176493, + 0.08255992861035727, + -0.9907709493828497, + -0.10750248391018259, + 0.15955679342711485, + 0.11962023252355582, + -0.9799146032396227 + ], + [ + 0.9815079364890319, + 0.06528943349061328, + 0.17994293674250508, + 0.08681569697654412, + -0.9896259463163389, + -0.11447061254298996, + 0.1706024776124874, + 0.12797568617501234, + -0.9769938681386467 + ], + [ + 0.9786475605142485, + 0.06480403944253692, + 0.19506252528725274, + 0.09171066468058599, + -0.9869673830430941, + -0.1322291147702023, + 0.18395136934351727, + 0.14729501444718465, + -0.971836443253518 + ], + [ + 0.9731742007872651, + 0.07268605146313512, + 0.2182858512244132, + 0.10549085781038292, + -0.984142754260914, + -0.14259985327542282, + 0.2044594185663692, + 0.1618016599372238, + -0.9654100522581385 + ], + [ + 0.9699719939574706, + 0.07601930819961636, + 0.23103115746370756, + 0.1134125133265255, + -0.9816745418435429, + -0.15314272988696156, + 0.21515560127296102, + 0.17474598329324179, + -0.9608183535735298 + ], + [ + 0.9661215699328279, + 0.09015654491673852, + 0.24182826451679248, + 0.13475113779324294, + -0.9753544304203143, + -0.1747165301935986, + 0.22011643049521337, + 0.20138404223805892, + -0.9544596505656515 + ], + [ + 0.9642780890701907, + 0.09684535062665826, + 0.24655373653859192, + 0.14269648242759803, + -0.9740879850383674, + -0.1754716823498424, + 0.22317141582633737, + 0.20438584947567529, + -0.9531111916729208 + ], + [ + 0.9786017007783041, + 0.08672859141651755, + 0.1865927722735184, + 0.11679455687824288, + -0.9807160117725695, + -0.15670078409669866, + 0.16940408117110173, + 0.1751406739846916, + -0.9698597845043182 + ], + [ + 0.9829260838059107, + 0.08106768239853973, + 0.16517973436382882, + 0.09537497910107312, + -0.992173045463942, + -0.08059938719541232, + 0.1573528745700104, + 0.0949772537260139, + -0.9829645945501896 + ], + [ + 0.9854975119692951, + 0.07070369979137647, + 0.1542583571095592, + 0.07354079401008598, + -0.9972106219800189, + -0.01275645039147874, + 0.1529261439999567, + 0.023915732186890415, + -0.9879481930927703 + ], + [ + 0.9750372959929948, + 0.030324821212506698, + 0.21996062520619086, + 0.02420452033864923, + -0.9992426641222367, + 0.03046702140135171, + 0.22071794810990059, + -0.02438244073762943, + -0.9750328630183862 + ], + [ + 0.9650507326975941, + -0.024244809934756653, + 0.26093921229103323, + -0.034692798001917456, + -0.9987670407226242, + 0.03550786015758612, + 0.25975660354769714, + -0.04331959784439445, + -0.9647019847372375 + ], + [ + 0.9468579563916131, + -0.05714667436866226, + 0.31653478170100113, + -0.06751880880746926, + -0.9974778918635021, + 0.021887569549047164, + 0.3144856449428476, + -0.042096470780174006, + -0.9483283536163702 + ], + [ + 0.9480266626615464, + -0.05905421546075564, + 0.31266283200777956, + -0.055196379069655986, + -0.9982507806957032, + -0.021183450569203517, + 0.3133668882004115, + 0.002824619750284276, + -0.9496279349844639 + ], + [ + 0.9509702713201575, + -0.0360823836775542, + 0.3071703186400209, + -0.02289204485952538, + -0.9986588396014445, + -0.04643787643773283, + 0.3084339432478463, + 0.03712928324170068, + -0.9505208671978445 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006797.json b/json/chunk-0006/episode_0006797.json new file mode 100644 index 0000000000000000000000000000000000000000..de17783f322170e4b556639efee48786f0f31385 --- /dev/null +++ b/json/chunk-0006/episode_0006797.json @@ -0,0 +1,1822 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 29, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nMove the orange object to the bottom center of the table." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006797.mp4", + "start": 0, + "end": 29, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.29029330611228943, + 0.09889328479766846, + 0.09762205183506012, + 0.07381760329008102, + -0.21041010320186615, + 0.036129217594861984, + 0.0, + 1.0014774799346924 + ], + [ + 0.28971123695373535, + 0.09879312664270401, + 0.08774692565202713, + 0.0605342723429203, + -0.18072541058063507, + 0.04913419112563133, + 0.0, + 1.0014774799346924 + ], + [ + 0.30239540338516235, + 0.10838283598423004, + 0.08849666267633438, + 0.052218783646821976, + -0.18155908584594727, + 0.09772005677223206, + 0.0, + 1.0014774799346924 + ], + [ + 0.3316349387168884, + 0.13001307845115662, + 0.08654441684484482, + 0.04161419719457626, + -0.17645896971225739, + 0.18583381175994873, + 0.0, + 1.0014774799346924 + ], + [ + 0.36694711446762085, + 0.14770281314849854, + 0.08460625261068344, + 0.048525698482990265, + -0.18896913528442383, + 0.24777352809906006, + 0.0, + 1.0014774799346924 + ], + [ + 0.3946950435638428, + 0.16355064511299133, + 0.07271141558885574, + 0.05944589152932167, + -0.17292234301567078, + 0.2976984977722168, + 0.0, + 1.0014774799346924 + ], + [ + 0.4053938388824463, + 0.1721648871898651, + 0.05227180942893028, + 0.07427694648504257, + -0.13091735541820526, + 0.32529348134994507, + 0.0, + 1.0014774799346924 + ], + [ + 0.4067859351634979, + 0.1744074672460556, + 0.032053910195827484, + 0.08556382358074188, + -0.08844954520463943, + 0.332038938999176, + 0.0, + 1.0014774799346924 + ], + [ + 0.404405415058136, + 0.17419591546058655, + 0.024650106206536293, + 0.09294082969427109, + -0.06566189229488373, + 0.33329564332962036, + 0.0, + 1.0014774799346924 + ], + [ + 0.40279772877693176, + 0.17465569078922272, + 0.02188178151845932, + 0.09949755668640137, + -0.06393468379974365, + 0.3305266201496124, + 0.0, + 0.9453431367874146 + ], + [ + 0.3983857035636902, + 0.1724659651517868, + 0.01395005639642477, + 0.09692434966564178, + -0.05563776567578316, + 0.3224828541278839, + 0.0, + 0.6831957101821899 + ], + [ + 0.39458009600639343, + 0.1706003099679947, + 0.010496756061911583, + 0.09493314474821091, + -0.05033492296934128, + 0.31399738788604736, + 0.0, + 0.6470694541931152 + ], + [ + 0.39189934730529785, + 0.16800618171691895, + 0.00928637757897377, + 0.0867394432425499, + -0.054175425320863724, + 0.3027753233909607, + 0.0, + 0.6470694541931152 + ], + [ + 0.39879676699638367, + 0.16315707564353943, + 0.01687510311603546, + 0.03463517874479294, + -0.06064137443900108, + 0.30016201734542847, + 0.0, + 0.6470694541931152 + ], + [ + 0.4228288233280182, + 0.16408434510231018, + 0.04287687689065933, + -0.011024662293493748, + -0.14990189671516418, + 0.31336989998817444, + 0.0, + 0.6470694541931152 + ], + [ + 0.4350375235080719, + 0.15367832779884338, + 0.0611843466758728, + -0.08324473351240158, + -0.1796691119670868, + 0.3204348087310791, + 0.0, + 0.6470694541931152 + ], + [ + 0.4172370433807373, + 0.1216774731874466, + 0.09792239218950272, + -0.13420836627483368, + -0.23611204326152802, + 0.26148805022239685, + 0.0, + 0.6470694541931152 + ], + [ + 0.3790738880634308, + 0.08443530648946762, + 0.11787449568510056, + -0.13573023676872253, + -0.2667897939682007, + 0.16667433083057404, + 0.0, + 0.6470694541931152 + ], + [ + 0.3444158434867859, + 0.06713686883449554, + 0.11343009024858475, + -0.15456543862819672, + -0.23571719229221344, + 0.12053374946117401, + 0.0, + 0.6470694541931152 + ], + [ + 0.31430506706237793, + 0.04263177141547203, + 0.09380136430263519, + -0.14647316932678223, + -0.184906005859375, + 0.031309548765420914, + 0.0, + 0.6470694541931152 + ], + [ + 0.2921811044216156, + 0.02177070826292038, + 0.06660305708646774, + -0.11569888889789581, + -0.12671229243278503, + -0.0712505578994751, + 0.0, + 0.6470694541931152 + ], + [ + 0.27992796897888184, + 0.012118400074541569, + 0.04795478284358978, + -0.07936986535787582, + -0.10002890229225159, + -0.1275966912508011, + 0.0, + 0.6470694541931152 + ], + [ + 0.2724718749523163, + 0.001308040227741003, + 0.03400397300720215, + -0.05252964049577713, + -0.07582583278417587, + -0.18231724202632904, + 0.0, + 0.6470694541931152 + ], + [ + 0.2694178819656372, + 0.0016592182219028473, + 0.023823734372854233, + -0.025377240031957626, + -0.06476455181837082, + -0.19381442666053772, + 0.0, + 0.7190925478935242 + ], + [ + 0.2693374752998352, + 0.004227214027196169, + 0.016841812059283257, + -0.011851558461785316, + -0.050254303961992264, + -0.19782346487045288, + 0.0, + 0.9858682155609131 + ], + [ + 0.26717108488082886, + 0.0037757153622806072, + 0.016765223816037178, + -0.017118467018008232, + -0.037505120038986206, + -0.20344091951847076, + 0.0, + 1.003452181816101 + ], + [ + 0.26752039790153503, + 0.0177892055362463, + 0.04917570948600769, + -0.02340034767985344, + -0.087082140147686, + -0.14733640849590302, + 0.0, + 1.0001531839370728 + ], + [ + 0.2704111635684967, + 0.036726005375385284, + 0.09629346430301666, + -0.028310501947999, + -0.16678640246391296, + -0.10753503441810608, + 0.0, + 1.0001531839370728 + ], + [ + 0.2694679796695709, + 0.05597938969731331, + 0.11850326508283615, + -0.025885457172989845, + -0.1925956755876541, + -0.06115178018808365, + 0.0, + 1.0001531839370728 + ] + ], + "left_gripper_pos": [ + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 0.9453431367874146 + ], + [ + 0.6831957101821899 + ], + [ + 0.6470694541931152 + ], + [ + 0.6470694541931152 + ], + [ + 0.6470694541931152 + ], + [ + 0.6470694541931152 + ], + [ + 0.6470694541931152 + ], + [ + 0.6470694541931152 + ], + [ + 0.6470694541931152 + ], + [ + 0.6470694541931152 + ], + [ + 0.6470694541931152 + ], + [ + 0.6470694541931152 + ], + [ + 0.6470694541931152 + ], + [ + 0.6470694541931152 + ], + [ + 0.7190925478935242 + ], + [ + 0.9858682155609131 + ], + [ + 1.003452181816101 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.29029330611228943, + 0.09889328479766846, + 0.09762205183506012 + ], + [ + 0.28971123695373535, + 0.09879312664270401, + 0.08774692565202713 + ], + [ + 0.30239540338516235, + 0.10838283598423004, + 0.08849666267633438 + ], + [ + 0.3316349387168884, + 0.13001307845115662, + 0.08654441684484482 + ], + [ + 0.36694711446762085, + 0.14770281314849854, + 0.08460625261068344 + ], + [ + 0.3946950435638428, + 0.16355064511299133, + 0.07271141558885574 + ], + [ + 0.4053938388824463, + 0.1721648871898651, + 0.05227180942893028 + ], + [ + 0.4067859351634979, + 0.1744074672460556, + 0.032053910195827484 + ], + [ + 0.404405415058136, + 0.17419591546058655, + 0.024650106206536293 + ], + [ + 0.40279772877693176, + 0.17465569078922272, + 0.02188178151845932 + ], + [ + 0.3983857035636902, + 0.1724659651517868, + 0.01395005639642477 + ], + [ + 0.39458009600639343, + 0.1706003099679947, + 0.010496756061911583 + ], + [ + 0.39189934730529785, + 0.16800618171691895, + 0.00928637757897377 + ], + [ + 0.39879676699638367, + 0.16315707564353943, + 0.01687510311603546 + ], + [ + 0.4228288233280182, + 0.16408434510231018, + 0.04287687689065933 + ], + [ + 0.4350375235080719, + 0.15367832779884338, + 0.0611843466758728 + ], + [ + 0.4172370433807373, + 0.1216774731874466, + 0.09792239218950272 + ], + [ + 0.3790738880634308, + 0.08443530648946762, + 0.11787449568510056 + ], + [ + 0.3444158434867859, + 0.06713686883449554, + 0.11343009024858475 + ], + [ + 0.31430506706237793, + 0.04263177141547203, + 0.09380136430263519 + ], + [ + 0.2921811044216156, + 0.02177070826292038, + 0.06660305708646774 + ], + [ + 0.27992796897888184, + 0.012118400074541569, + 0.04795478284358978 + ], + [ + 0.2724718749523163, + 0.001308040227741003, + 0.03400397300720215 + ], + [ + 0.2694178819656372, + 0.0016592182219028473, + 0.023823734372854233 + ], + [ + 0.2693374752998352, + 0.004227214027196169, + 0.016841812059283257 + ], + [ + 0.26717108488082886, + 0.0037757153622806072, + 0.016765223816037178 + ], + [ + 0.26752039790153503, + 0.0177892055362463, + 0.04917570948600769 + ], + [ + 0.2704111635684967, + 0.036726005375385284, + 0.09629346430301666 + ], + [ + 0.2694679796695709, + 0.05597938969731331, + 0.11850326508283615 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.977307145849545, + 0.051416555795147596, + 0.20549228808298484, + 0.03532471388989613, + -0.9960695060353103, + 0.08122625028382048, + 0.20886097591463307, + -0.07212403854982984, + -0.9752821211338027 + ], + [ + 0.9825263775947467, + 0.05988532161282818, + 0.17622617735703644, + 0.04831452488683172, + -0.99642966000591, + 0.0692361130152937, + 0.17974321688315598, + -0.059512023288029244, + -0.9819117552349906 + ], + [ + 0.9788709841658114, + 0.10681116309510669, + 0.174364479744373, + 0.09596097325543462, + -0.9929531071615041, + 0.06953861222503523, + 0.18056325199255, + -0.051337144608797416, + -0.9822226884028336 + ], + [ + 0.9675213665542283, + 0.1917833939213493, + 0.16468617148093298, + 0.1818969085464871, + -0.9805823383207551, + 0.07329251281427707, + 0.17554463797641215, + -0.04095616668352429, + -0.9836191704558842 + ], + [ + 0.952202904516407, + 0.2537909404237495, + 0.16999937408516388, + 0.2408803190324721, + -0.9660850313627138, + 0.09303969088361683, + 0.18784648129079531, + -0.047643160429733766, + -0.981042215570224 + ], + [ + 0.9417562481639626, + 0.3025753062390947, + 0.14677654137652413, + 0.2889461757781052, + -0.9513269821946899, + 0.10717779831453977, + 0.17206183931175656, + -0.05852484090249138, + -0.9833461071514917 + ], + [ + 0.9394483086180955, + 0.32788513805635877, + 0.09964041186367165, + 0.3168520429797591, + -0.9418483196133761, + 0.11192196254986066, + 0.13054370262158352, + -0.07357363035233543, + -0.9887088866914393 + ], + [ + 0.9416840789813098, + 0.3319154280725189, + 0.05534658074857665, + 0.32469701805390466, + -0.9394603861485692, + 0.10948072581273571, + 0.08833426209588505, + -0.08512538672462885, + -0.9924468382109732 + ], + [ + 0.9429328994140821, + 0.3315014988011001, + 0.03137361144619355, + 0.3264540639052497, + -0.9388986546215752, + 0.10907364718181468, + 0.06561471909792513, + -0.092607087430823, + -0.9935384421326032 + ], + [ + 0.9439390301779708, + 0.3289390733114137, + 0.027896117215485548, + 0.3238781099272252, + -0.9391337636533171, + 0.11458945796330228, + 0.0638911356655989, + -0.09913052010043913, + -0.9930211794156135 + ], + [ + 0.9469838541649325, + 0.3205389621839115, + 0.021825528011742094, + 0.31643200190462545, + -0.9422944258660861, + 0.10932521736696767, + 0.05560906510238704, + -0.09662292017820899, + -0.9937663926570844 + ], + [ + 0.9499019172161424, + 0.3120083750929574, + 0.018360869830946543, + 0.30847184992033816, + -0.945350865619369, + 0.10562603220529351, + 0.0503136708640999, + -0.09467055901684374, + -0.994236400349342 + ], + [ + 0.9531122532045705, + 0.30152703999726205, + 0.02566080555626149, + 0.29773297822370115, + -0.9495254436671351, + 0.09877502471159093, + 0.0541489286076077, + -0.08650361830131652, + -0.9947788787220144 + ], + [ + 0.9535326575704414, + 0.2975024423821557, + 0.047621084860633996, + 0.2951314963571026, + -0.9540951655720542, + 0.050988379951240934, + 0.06060421441343095, + -0.0345646034070507, + -0.9975632397931693 + ], + [ + 0.9406320139576869, + 0.3066812108340615, + 0.14545806694460028, + 0.3048091881638909, + -0.951749865934823, + 0.03554646964068511, + 0.14934113006394334, + 0.010900807970069095, + -0.9887256440776805 + ], + [ + 0.933820796574592, + 0.29978589401704364, + 0.19521049570449875, + 0.3099090069277091, + -0.9504922481752965, + -0.02282309321173662, + 0.1787040215268683, + 0.08181016994892709, + -0.9804957770347877 + ], + [ + 0.9392043282164159, + 0.22595717132559523, + 0.2585315968814785, + 0.2513456637417515, + -0.9654113485764987, + -0.06932737812671995, + 0.23392431933805022, + 0.13009336941690156, + -0.9635118722963346 + ], + [ + 0.9512544188912211, + 0.12919857612116845, + 0.2800406371728721, + 0.16003438169325537, + -0.9829905864056174, + -0.09010273976965372, + 0.26363616446910887, + 0.1305267595790347, + -0.9557503532920163 + ], + [ + 0.9652923290669192, + 0.08311578014886153, + 0.2475933895216276, + 0.1169170582474248, + -0.9852327687464969, + -0.12508714114120573, + 0.233540405359181, + 0.1496935485528944, + -0.9607552865253001 + ], + [ + 0.9824717868395054, + 0.004148867216599706, + 0.18636516564317526, + 0.030770803726146108, + -0.9896471223666993, + -0.14018463121668556, + 0.18385414246743562, + 0.14346205105229104, + -0.9724280406309936 + ], + [ + 0.9894658276490194, + -0.08526599163494225, + 0.1169918227285606, + -0.07061953607471994, + -0.989755490539379, + -0.12408444734028742, + 0.12637348234274595, + 0.11451541214030184, + -0.9853506803889184 + ], + [ + 0.9869124968508831, + -0.1347035003483974, + 0.08864925579747122, + -0.12661465026776664, + -0.9877405018514531, + -0.09130953586461373, + 0.09986217450630304, + 0.07889022750714657, + -0.991868881509418 + ], + [ + 0.9806004187374533, + -0.18497034023451808, + 0.06487520331726955, + -0.18078792145922806, + -0.9813485453044989, + -0.0653510526556007, + 0.07575319284612649, + 0.05235461643704146, + -0.9957511977955874 + ], + [ + 0.979219467044117, + -0.19415275254411124, + 0.05859986383414466, + -0.19219950409193676, + -0.9806444511093942, + -0.037360555873382065, + 0.06471928606411523, + 0.025321318842027523, + -0.9975821995321745 + ], + [ + 0.9792588076438147, + -0.19710562643562626, + 0.04692078089112984, + -0.19628758980462432, + -0.9803108045819493, + -0.0214920568718398, + 0.050233153800110945, + 0.01183631899326015, + -0.9986673779652482 + ], + [ + 0.9786884401691479, + -0.20263948737997164, + 0.033259212763719306, + -0.20189839639338444, + -0.9791039969451583, + -0.02433928305836187, + 0.037496327994349474, + 0.017105593248922236, + -0.999150351081629 + ], + [ + 0.9854174122583256, + -0.14877667612292586, + 0.08257132831630339, + -0.14624764587086217, + -0.988596057802428, + -0.03590905978620064, + 0.0869721202186979, + 0.02330955038845791, + -0.9959380076919205 + ], + [ + 0.9804271944793601, + -0.1119570672764239, + 0.16195101547132496, + -0.10583855166087267, + -0.9933209090000635, + -0.0459540283937781, + 0.16601420814996476, + 0.027913918215644106, + -0.9857282058773557 + ], + [ + 0.9796760835425671, + -0.06603805032489656, + 0.18940366217152008, + -0.059983725681697145, + -0.9974936650768961, + -0.03752786677662036, + 0.1914072203132363, + 0.025404016232621365, + -0.9811818954562975 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0005820691585540771, + -0.00010015815496444702, + -0.00987512618303299, + -0.01328333094716072, + 0.02968469262123108, + 0.013004973530769348, + 1.0 + ], + [ + 0.012684166431427002, + 0.009589709341526031, + 0.000749737024307251, + -0.008315488696098328, + -0.0008336752653121948, + 0.04858586564660072, + 1.0 + ], + [ + 0.029239535331726074, + 0.021630242466926575, + -0.001952245831489563, + -0.010604586452245712, + 0.00510011613368988, + 0.08811375498771667, + 1.0 + ], + [ + 0.03531217575073242, + 0.01768973469734192, + -0.001938164234161377, + 0.0069115012884140015, + -0.012510165572166443, + 0.06193971633911133, + 1.0 + ], + [ + 0.027747929096221924, + 0.015847831964492798, + -0.011894837021827698, + 0.010920193046331406, + 0.016046792268753052, + 0.04992496967315674, + 1.0 + ], + [ + 0.010698795318603516, + 0.00861424207687378, + -0.02043960615992546, + 0.014831054955720901, + 0.042004987597465515, + 0.02759498357772827, + 1.0 + ], + [ + 0.0013920962810516357, + 0.0022425800561904907, + -0.0202178992331028, + 0.01128687709569931, + 0.042467810213565826, + 0.006745457649230957, + 1.0 + ], + [ + -0.0023805201053619385, + -0.00021155178546905518, + -0.007403803989291191, + 0.007377006113529205, + 0.022787652909755707, + 0.001256704330444336, + 1.0 + ], + [ + -0.0016076862812042236, + 0.00045977532863616943, + -0.002768324688076973, + 0.0065567269921302795, + 0.0017272084951400757, + -0.0027690231800079346, + 0.0 + ], + [ + -0.004412025213241577, + -0.002189725637435913, + -0.00793172512203455, + -0.0025732070207595825, + 0.008296918123960495, + -0.008043766021728516, + 0.0 + ], + [ + -0.003805607557296753, + -0.0018656551837921143, + -0.0034533003345131874, + -0.0019912049174308777, + 0.005302842706441879, + -0.008485466241836548, + 0.0 + ], + [ + -0.002680748701095581, + -0.0025941282510757446, + -0.0012103784829378128, + -0.00819370150566101, + -0.0038405023515224457, + -0.01122206449508667, + 0.0 + ], + [ + 0.006897419691085815, + -0.004849106073379517, + 0.007588725537061691, + -0.05210426449775696, + -0.00646594911813736, + -0.0026133060455322266, + 0.0 + ], + [ + 0.02403205633163452, + 0.000927269458770752, + 0.02600177377462387, + -0.04565984010696411, + -0.0892605185508728, + 0.013207882642745972, + 0.0 + ], + [ + 0.012208700180053711, + -0.010406017303466797, + 0.01830746978521347, + -0.07222007215023041, + -0.029767215251922607, + 0.007064908742904663, + 0.0 + ], + [ + -0.017800480127334595, + -0.03200085461139679, + 0.03673804551362991, + -0.0509636327624321, + -0.05644293129444122, + -0.05894675850868225, + 0.0 + ], + [ + -0.03816315531730652, + -0.03724216669797897, + 0.01995210349559784, + -0.001521870493888855, + -0.03067775070667267, + -0.09481371939182281, + 0.0 + ], + [ + -0.0346580445766449, + -0.017298437654972076, + -0.004444405436515808, + -0.018835201859474182, + 0.031072601675987244, + -0.046140581369400024, + 0.0 + ], + [ + -0.03011077642440796, + -0.024505097419023514, + -0.019628725945949554, + 0.00809226930141449, + 0.05081118643283844, + -0.0892242044210434, + 0.0 + ], + [ + -0.02212396264076233, + -0.02086106315255165, + -0.02719830721616745, + 0.030774280428886414, + 0.058193713426589966, + -0.10256010293960571, + 0.0 + ], + [ + -0.012253135442733765, + -0.009652308188378811, + -0.01864827424287796, + 0.03632902354001999, + 0.026683390140533447, + -0.05634613335132599, + 0.0 + ], + [ + -0.007456094026565552, + -0.010810360312461853, + -0.013950809836387634, + 0.026840224862098694, + 0.024203069508075714, + -0.054720550775527954, + 0.0 + ], + [ + -0.003053992986679077, + 0.00035117799416184425, + -0.010180238634347916, + 0.027152400463819504, + 0.011061280965805054, + -0.01149718463420868, + 1.0 + ], + [ + -8.040666580200195e-05, + 0.0025679958052933216, + -0.006981922313570976, + 0.01352568157017231, + 0.014510247856378555, + -0.004009038209915161, + 1.0 + ], + [ + -0.0021663904190063477, + -0.0004514986649155617, + -7.658824324607849e-05, + -0.005266908556222916, + 0.012749183923006058, + -0.005617454648017883, + 1.0 + ], + [ + 0.00034931302070617676, + 0.014013489708304405, + 0.03241048753261566, + -0.006281880661845207, + -0.0495770201086998, + 0.05610451102256775, + 1.0 + ], + [ + 0.00289076566696167, + 0.018936799839138985, + 0.04711775481700897, + -0.004910154268145561, + -0.07970426231622696, + 0.039801374077796936, + 1.0 + ], + [ + -0.0009431838989257812, + 0.019253384321928024, + 0.02220980077981949, + 0.0024250447750091553, + -0.02580927312374115, + 0.04638325423002243, + 1.0 + ], + [ + 0.0035403966903686523, + 0.009848382323980331, + -0.00298251211643219, + -0.015601096674799919, + 0.027722999453544617, + 0.04195587337017059, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 0.9453431367874146 + ], + [ + 0.6831957101821899 + ], + [ + 0.6470694541931152 + ], + [ + 0.6470694541931152 + ], + [ + 0.6470694541931152 + ], + [ + 0.6470694541931152 + ], + [ + 0.6470694541931152 + ], + [ + 0.6470694541931152 + ], + [ + 0.6470694541931152 + ], + [ + 0.6470694541931152 + ], + [ + 0.6470694541931152 + ], + [ + 0.6470694541931152 + ], + [ + 0.6470694541931152 + ], + [ + 0.6470694541931152 + ], + [ + 0.7190925478935242 + ], + [ + 0.9858682155609131 + ], + [ + 1.003452181816101 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.28971123695373535, + 0.09879312664270401, + 0.08774692565202713 + ], + [ + 0.30239540338516235, + 0.10838283598423004, + 0.08849666267633438 + ], + [ + 0.3316349387168884, + 0.13001307845115662, + 0.08654441684484482 + ], + [ + 0.36694711446762085, + 0.14770281314849854, + 0.08460625261068344 + ], + [ + 0.3946950435638428, + 0.16355064511299133, + 0.07271141558885574 + ], + [ + 0.4053938388824463, + 0.1721648871898651, + 0.05227180942893028 + ], + [ + 0.4067859351634979, + 0.1744074672460556, + 0.032053910195827484 + ], + [ + 0.404405415058136, + 0.17419591546058655, + 0.024650106206536293 + ], + [ + 0.40279772877693176, + 0.17465569078922272, + 0.02188178151845932 + ], + [ + 0.3983857035636902, + 0.1724659651517868, + 0.01395005639642477 + ], + [ + 0.39458009600639343, + 0.1706003099679947, + 0.010496756061911583 + ], + [ + 0.39189934730529785, + 0.16800618171691895, + 0.00928637757897377 + ], + [ + 0.39879676699638367, + 0.16315707564353943, + 0.01687510311603546 + ], + [ + 0.4228288233280182, + 0.16408434510231018, + 0.04287687689065933 + ], + [ + 0.4350375235080719, + 0.15367832779884338, + 0.0611843466758728 + ], + [ + 0.4172370433807373, + 0.1216774731874466, + 0.09792239218950272 + ], + [ + 0.3790738880634308, + 0.08443530648946762, + 0.11787449568510056 + ], + [ + 0.3444158434867859, + 0.06713686883449554, + 0.11343009024858475 + ], + [ + 0.31430506706237793, + 0.04263177141547203, + 0.09380136430263519 + ], + [ + 0.2921811044216156, + 0.02177070826292038, + 0.06660305708646774 + ], + [ + 0.27992796897888184, + 0.012118400074541569, + 0.04795478284358978 + ], + [ + 0.2724718749523163, + 0.001308040227741003, + 0.03400397300720215 + ], + [ + 0.2694178819656372, + 0.0016592182219028473, + 0.023823734372854233 + ], + [ + 0.2693374752998352, + 0.004227214027196169, + 0.016841812059283257 + ], + [ + 0.26717108488082886, + 0.0037757153622806072, + 0.016765223816037178 + ], + [ + 0.26752039790153503, + 0.0177892055362463, + 0.04917570948600769 + ], + [ + 0.2704111635684967, + 0.036726005375385284, + 0.09629346430301666 + ], + [ + 0.2694679796695709, + 0.05597938969731331, + 0.11850326508283615 + ], + [ + 0.2730083763599396, + 0.06582777202129364, + 0.11552075296640396 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9825263775947467, + 0.05988532161282818, + 0.17622617735703644, + 0.04831452488683172, + -0.99642966000591, + 0.0692361130152937, + 0.17974321688315598, + -0.059512023288029244, + -0.9819117552349906 + ], + [ + 0.9788709841658114, + 0.10681116309510669, + 0.174364479744373, + 0.09596097325543462, + -0.9929531071615041, + 0.06953861222503523, + 0.18056325199255, + -0.051337144608797416, + -0.9822226884028336 + ], + [ + 0.9675213665542283, + 0.1917833939213493, + 0.16468617148093298, + 0.1818969085464871, + -0.9805823383207551, + 0.07329251281427707, + 0.17554463797641215, + -0.04095616668352429, + -0.9836191704558842 + ], + [ + 0.952202904516407, + 0.2537909404237495, + 0.16999937408516388, + 0.2408803190324721, + -0.9660850313627138, + 0.09303969088361683, + 0.18784648129079531, + -0.047643160429733766, + -0.981042215570224 + ], + [ + 0.9417562481639626, + 0.3025753062390947, + 0.14677654137652413, + 0.2889461757781052, + -0.9513269821946899, + 0.10717779831453977, + 0.17206183931175656, + -0.05852484090249138, + -0.9833461071514917 + ], + [ + 0.9394483086180955, + 0.32788513805635877, + 0.09964041186367165, + 0.3168520429797591, + -0.9418483196133761, + 0.11192196254986066, + 0.13054370262158352, + -0.07357363035233543, + -0.9887088866914393 + ], + [ + 0.9416840789813098, + 0.3319154280725189, + 0.05534658074857665, + 0.32469701805390466, + -0.9394603861485692, + 0.10948072581273571, + 0.08833426209588505, + -0.08512538672462885, + -0.9924468382109732 + ], + [ + 0.9429328994140821, + 0.3315014988011001, + 0.03137361144619355, + 0.3264540639052497, + -0.9388986546215752, + 0.10907364718181468, + 0.06561471909792513, + -0.092607087430823, + -0.9935384421326032 + ], + [ + 0.9439390301779708, + 0.3289390733114137, + 0.027896117215485548, + 0.3238781099272252, + -0.9391337636533171, + 0.11458945796330228, + 0.0638911356655989, + -0.09913052010043913, + -0.9930211794156135 + ], + [ + 0.9469838541649325, + 0.3205389621839115, + 0.021825528011742094, + 0.31643200190462545, + -0.9422944258660861, + 0.10932521736696767, + 0.05560906510238704, + -0.09662292017820899, + -0.9937663926570844 + ], + [ + 0.9499019172161424, + 0.3120083750929574, + 0.018360869830946543, + 0.30847184992033816, + -0.945350865619369, + 0.10562603220529351, + 0.0503136708640999, + -0.09467055901684374, + -0.994236400349342 + ], + [ + 0.9531122532045705, + 0.30152703999726205, + 0.02566080555626149, + 0.29773297822370115, + -0.9495254436671351, + 0.09877502471159093, + 0.0541489286076077, + -0.08650361830131652, + -0.9947788787220144 + ], + [ + 0.9535326575704414, + 0.2975024423821557, + 0.047621084860633996, + 0.2951314963571026, + -0.9540951655720542, + 0.050988379951240934, + 0.06060421441343095, + -0.0345646034070507, + -0.9975632397931693 + ], + [ + 0.9406320139576869, + 0.3066812108340615, + 0.14545806694460028, + 0.3048091881638909, + -0.951749865934823, + 0.03554646964068511, + 0.14934113006394334, + 0.010900807970069095, + -0.9887256440776805 + ], + [ + 0.933820796574592, + 0.29978589401704364, + 0.19521049570449875, + 0.3099090069277091, + -0.9504922481752965, + -0.02282309321173662, + 0.1787040215268683, + 0.08181016994892709, + -0.9804957770347877 + ], + [ + 0.9392043282164159, + 0.22595717132559523, + 0.2585315968814785, + 0.2513456637417515, + -0.9654113485764987, + -0.06932737812671995, + 0.23392431933805022, + 0.13009336941690156, + -0.9635118722963346 + ], + [ + 0.9512544188912211, + 0.12919857612116845, + 0.2800406371728721, + 0.16003438169325537, + -0.9829905864056174, + -0.09010273976965372, + 0.26363616446910887, + 0.1305267595790347, + -0.9557503532920163 + ], + [ + 0.9652923290669192, + 0.08311578014886153, + 0.2475933895216276, + 0.1169170582474248, + -0.9852327687464969, + -0.12508714114120573, + 0.233540405359181, + 0.1496935485528944, + -0.9607552865253001 + ], + [ + 0.9824717868395054, + 0.004148867216599706, + 0.18636516564317526, + 0.030770803726146108, + -0.9896471223666993, + -0.14018463121668556, + 0.18385414246743562, + 0.14346205105229104, + -0.9724280406309936 + ], + [ + 0.9894658276490194, + -0.08526599163494225, + 0.1169918227285606, + -0.07061953607471994, + -0.989755490539379, + -0.12408444734028742, + 0.12637348234274595, + 0.11451541214030184, + -0.9853506803889184 + ], + [ + 0.9869124968508831, + -0.1347035003483974, + 0.08864925579747122, + -0.12661465026776664, + -0.9877405018514531, + -0.09130953586461373, + 0.09986217450630304, + 0.07889022750714657, + -0.991868881509418 + ], + [ + 0.9806004187374533, + -0.18497034023451808, + 0.06487520331726955, + -0.18078792145922806, + -0.9813485453044989, + -0.0653510526556007, + 0.07575319284612649, + 0.05235461643704146, + -0.9957511977955874 + ], + [ + 0.979219467044117, + -0.19415275254411124, + 0.05859986383414466, + -0.19219950409193676, + -0.9806444511093942, + -0.037360555873382065, + 0.06471928606411523, + 0.025321318842027523, + -0.9975821995321745 + ], + [ + 0.9792588076438147, + -0.19710562643562626, + 0.04692078089112984, + -0.19628758980462432, + -0.9803108045819493, + -0.0214920568718398, + 0.050233153800110945, + 0.01183631899326015, + -0.9986673779652482 + ], + [ + 0.9786884401691479, + -0.20263948737997164, + 0.033259212763719306, + -0.20189839639338444, + -0.9791039969451583, + -0.02433928305836187, + 0.037496327994349474, + 0.017105593248922236, + -0.999150351081629 + ], + [ + 0.9854174122583256, + -0.14877667612292586, + 0.08257132831630339, + -0.14624764587086217, + -0.988596057802428, + -0.03590905978620064, + 0.0869721202186979, + 0.02330955038845791, + -0.9959380076919205 + ], + [ + 0.9804271944793601, + -0.1119570672764239, + 0.16195101547132496, + -0.10583855166087267, + -0.9933209090000635, + -0.0459540283937781, + 0.16601420814996476, + 0.027913918215644106, + -0.9857282058773557 + ], + [ + 0.9796760835425671, + -0.06603805032489656, + 0.18940366217152008, + -0.059983725681697145, + -0.9974936650768961, + -0.03752786677662036, + 0.1914072203132363, + 0.025404016232621365, + -0.9811818954562975 + ], + [ + 0.9862575231684806, + -0.025984059297925983, + 0.1631592064701709, + -0.018934435079301894, + -0.9988248186367176, + -0.04461467072114481, + 0.16412673506105485, + 0.040912227239913744, + -0.9855904851917292 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006798.json b/json/chunk-0006/episode_0006798.json new file mode 100644 index 0000000000000000000000000000000000000000..e5b7be0668f59da97babdda483c3165db3874d7f --- /dev/null +++ b/json/chunk-0006/episode_0006798.json @@ -0,0 +1,1342 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 21, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nClose the drawer." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006798.mp4", + "start": 0, + "end": 21, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3050450086593628, + 0.0960342288017273, + 0.11089300364255905, + 0.18515300750732422, + -0.16292157769203186, + 0.2933126389980316, + 0.0, + 1.0014774799346924 + ], + [ + 0.30354833602905273, + 0.09566410630941391, + 0.10171306133270264, + 0.18666352331638336, + -0.1361643224954605, + 0.29691872000694275, + 0.0, + 1.0014774799346924 + ], + [ + 0.29947328567504883, + 0.10713011771440506, + 0.06056306138634682, + 0.188089057803154, + -0.0826416090130806, + 0.33514919877052307, + 0.0, + 1.0014774799346924 + ], + [ + 0.301400363445282, + 0.11797735840082169, + 0.0383879616856575, + 0.1765691190958023, + -0.08191920816898346, + 0.37174364924430847, + 0.0, + 1.0014774799346924 + ], + [ + 0.30051863193511963, + 0.12031538039445877, + 0.00920711550861597, + 0.16607403755187988, + -0.0473705418407917, + 0.4168318510055542, + 0.0, + 1.0014774799346924 + ], + [ + 0.30278435349464417, + 0.12480667978525162, + -0.011481238529086113, + 0.16964100301265717, + -0.024134663864970207, + 0.4556533396244049, + 0.0, + 1.0008161067962646 + ], + [ + 0.30165791511535645, + 0.12320392578840256, + -0.012553890235722065, + 0.16203606128692627, + -0.02383071929216385, + 0.46730533242225647, + 0.0, + 0.9445669651031494 + ], + [ + 0.2964016795158386, + 0.10824504494667053, + -0.01287230383604765, + 0.14571836590766907, + -0.0067643639631569386, + 0.4533250033855438, + 0.0, + 0.6561112403869629 + ], + [ + 0.294342964887619, + 0.09757660329341888, + -0.0050380658358335495, + 0.12126485258340836, + -0.003847455373033881, + 0.4766431450843811, + 0.0, + 0.3875128924846649 + ], + [ + 0.29440516233444214, + 0.09041721373796463, + 0.0005496341036632657, + 0.1122414767742157, + 0.000972677837125957, + 0.5041875243186951, + 0.0, + 0.3577343225479126 + ], + [ + 0.2959371507167816, + 0.0800706148147583, + 0.00183713564183563, + 0.11005734652280807, + 0.009536921977996826, + 0.5253856778144836, + 0.0, + 0.3577343225479126 + ], + [ + 0.3026781380176544, + 0.06645462661981583, + 0.004928200040012598, + 0.10935735702514648, + 0.0004492298176046461, + 0.535102367401123, + 0.0, + 0.3577343225479126 + ], + [ + 0.31309786438941956, + 0.05358000472187996, + 0.0047509861178696156, + 0.10613194108009338, + -0.014598204754292965, + 0.5309395790100098, + 0.0, + 0.3577343225479126 + ], + [ + 0.32136425375938416, + 0.042259130626916885, + -0.002570927608758211, + 0.11078131198883057, + -0.00957916583865881, + 0.5175933241844177, + 0.0, + 0.35690104961395264 + ], + [ + 0.33747902512550354, + 0.025073550641536713, + -0.00623190077021718, + 0.10492599755525589, + -0.020405447110533714, + 0.4959080219268799, + 0.0, + 0.3486233055591583 + ], + [ + 0.34948307275772095, + 0.013555704616010189, + -0.009330248460173607, + 0.09662801027297974, + -0.014749002642929554, + 0.4803541898727417, + 0.0, + 0.3486233055591583 + ], + [ + 0.3578267991542816, + 0.004107100889086723, + -0.009870696812868118, + 0.09442674368619919, + -0.025850271806120872, + 0.4682064950466156, + 0.0, + 0.41932523250579834 + ], + [ + 0.35114505887031555, + 0.0011317055905237794, + -0.01366478018462658, + 0.1258024126291275, + -0.007759408559650183, + 0.47817641496658325, + 0.0, + 0.7349185347557068 + ], + [ + 0.3342691659927368, + 0.009776121936738491, + 0.002402071375399828, + 0.10687004029750824, + -0.011327347718179226, + 0.5246915817260742, + 0.0, + 0.9851709604263306 + ], + [ + 0.33198681473731995, + 0.00899212434887886, + 0.045009925961494446, + 0.028374753892421722, + -0.07997343689203262, + 0.49596983194351196, + 0.0, + 1.0041072368621826 + ], + [ + 0.3267459571361542, + 0.008847772143781185, + 0.07522768527269363, + 0.0085713816806674, + -0.12619370222091675, + 0.44380059838294983, + 0.0, + 1.0001531839370728 + ] + ], + "left_gripper_pos": [ + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 0.9445669651031494 + ], + [ + 0.6561112403869629 + ], + [ + 0.3875128924846649 + ], + [ + 0.3577343225479126 + ], + [ + 0.3577343225479126 + ], + [ + 0.3577343225479126 + ], + [ + 0.3577343225479126 + ], + [ + 0.35690104961395264 + ], + [ + 0.3486233055591583 + ], + [ + 0.3486233055591583 + ], + [ + 0.41932523250579834 + ], + [ + 0.7349185347557068 + ], + [ + 0.9851709604263306 + ], + [ + 1.0041072368621826 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3050450086593628, + 0.0960342288017273, + 0.11089300364255905 + ], + [ + 0.30354833602905273, + 0.09566410630941391, + 0.10171306133270264 + ], + [ + 0.29947328567504883, + 0.10713011771440506, + 0.06056306138634682 + ], + [ + 0.301400363445282, + 0.11797735840082169, + 0.0383879616856575 + ], + [ + 0.30051863193511963, + 0.12031538039445877, + 0.00920711550861597 + ], + [ + 0.30278435349464417, + 0.12480667978525162, + -0.011481238529086113 + ], + [ + 0.30165791511535645, + 0.12320392578840256, + -0.012553890235722065 + ], + [ + 0.2964016795158386, + 0.10824504494667053, + -0.01287230383604765 + ], + [ + 0.294342964887619, + 0.09757660329341888, + -0.0050380658358335495 + ], + [ + 0.29440516233444214, + 0.09041721373796463, + 0.0005496341036632657 + ], + [ + 0.2959371507167816, + 0.0800706148147583, + 0.00183713564183563 + ], + [ + 0.3026781380176544, + 0.06645462661981583, + 0.004928200040012598 + ], + [ + 0.31309786438941956, + 0.05358000472187996, + 0.0047509861178696156 + ], + [ + 0.32136425375938416, + 0.042259130626916885, + -0.002570927608758211 + ], + [ + 0.33747902512550354, + 0.025073550641536713, + -0.00623190077021718 + ], + [ + 0.34948307275772095, + 0.013555704616010189, + -0.009330248460173607 + ], + [ + 0.3578267991542816, + 0.004107100889086723, + -0.009870696812868118 + ], + [ + 0.35114505887031555, + 0.0011317055905237794, + -0.01366478018462658 + ], + [ + 0.3342691659927368, + 0.009776121936738491, + 0.002402071375399828 + ], + [ + 0.33198681473731995, + 0.00899212434887886, + 0.045009925961494446 + ], + [ + 0.3267459571361542, + 0.008847772143781185, + 0.07522768527269363 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9446145377186549, + 0.31276880350782627, + 0.09939341367945086, + 0.2852962608747622, + -0.9322959117268552, + 0.2223294323931745, + 0.16220178378011546, + -0.1816590447230037, + -0.9698920418319114 + ], + [ + 0.9473915072946414, + 0.3115820300168985, + 0.07325278476983577, + 0.28986705991749323, + -0.9322611174672025, + 0.21648624998736307, + 0.13574394822891991, + -0.18386366533209123, + -0.9735336322335624 + ], + [ + 0.941138260542452, + 0.3376853269681572, + 0.015079605218189782, + 0.3277875422058723, + -0.9226291718976926, + 0.20325043256537387, + 0.08254757245226023, + -0.18634385182717164, + -0.9790106573313959 + ], + [ + 0.9285709554830909, + 0.3709844285588974, + 0.01124875104394052, + 0.3620224053276832, + -0.9119885644427573, + 0.19291613816992562, + 0.08182761559509641, + -0.17506402283869613, + -0.9811507678402713 + ], + [ + 0.9133504778646738, + 0.40645292966054836, + -0.024226443295071523, + 0.4044114418663889, + -0.8986263625739568, + 0.17006482932884165, + 0.04735282749657449, + -0.16512624399972592, + -0.9851350330135573 + ], + [ + 0.8977122042740535, + 0.4373909241674004, + -0.05293371093553986, + 0.43992093537800075, + -0.8832908416092792, + 0.16207053941205987, + 0.02413232093199466, + -0.16877934881127657, + -0.9853583929217209 + ], + [ + 0.8925319319217704, + 0.4480132758200549, + -0.05168031722982997, + 0.4503542547978705, + -0.8793589605271523, + 0.15462491301876605, + 0.023828463765991674, + -0.16128212309363257, + -0.9866206368635126 + ], + [ + 0.8989752982081562, + 0.43419857327572353, + -0.057576142427943997, + 0.4379470941673387, + -0.8890380130669672, + 0.13346817610323264, + 0.006764312377536583, + -0.14519989768338515, + -0.9893792163729709 + ], + [ + 0.8885334715457105, + 0.45584338195377205, + -0.05210643983113518, + 0.4587956703186318, + -0.8818014531126454, + 0.10923703669225271, + 0.0038474458807831423, + -0.12096697242377658, + -0.9926490763320237 + ], + [ + 0.8755668531159956, + 0.4799609677370111, + -0.05495593847351099, + 0.4830959942109601, + -0.8701104228066737, + 0.09760180582609765, + -0.0009726776837505266, + -0.1120058997202519, + -0.9937070656516337 + ], + [ + 0.8650912277735288, + 0.49760604374645073, + -0.06328817311547302, + 0.501523895249186, + -0.8604217158907622, + 0.09026767592931663, + -0.00953677741023293, + -0.10983030570203235, + -0.9939045999622026 + ], + [ + 0.8602163468662085, + 0.5068408333193013, + -0.056037543346853756, + 0.5099290487673152, + -0.8551028811839274, + 0.09365590111790464, + -0.00044922980249499644, + -0.10913950829622515, + -0.9940263406577525 + ], + [ + 0.8622398181414995, + 0.5048282309657464, + -0.04112120172500908, + 0.5062898414615051, + -0.8566966140883219, + 0.098699077211942, + 0.014597686261798155, + -0.1059215210880201, + -0.9942673377548928 + ], + [ + 0.8689726245226512, + 0.49267737990818755, + -0.046428193557565556, + 0.494767440540174, + -0.8631614822278587, + 0.10078410281156107, + 0.009579019341287104, + -0.11054978482570345, + -0.9938244248676171 + ], + [ + 0.8793539025162792, + 0.47509312813741383, + -0.031988024727965816, + 0.4757314259598578, + -0.873682988765729, + 0.10177251837103764, + 0.02040403106227747, + -0.10471176981595605, + -0.9942932770457718 + ], + [ + 0.886734853814216, + 0.4611995838446281, + -0.031563315615175454, + 0.46204305180925453, + -0.8820368584494518, + 0.09234283194386311, + 0.014748467916086208, + -0.09646721825658652, + -0.995226887948655 + ], + [ + 0.8920809640542833, + 0.4514508735549926, + -0.019587300437134605, + 0.45113575102508274, + -0.8873038416498132, + 0.09575190202036504, + 0.02584739288622726, + -0.09425498055761919, + -0.9952124953601957 + ], + [ + 0.8878088136181053, + 0.4573887576124414, + -0.0509022089084529, + 0.4601470452465804, + -0.8803712508239576, + 0.11493979934514358, + 0.0077593306962614565, + -0.12546706791986376, + -0.9920674410818745 + ], + [ + 0.865422960052773, + 0.4991338095970066, + -0.04368684390838107, + 0.5009139615690406, + -0.8599355263992177, + 0.0979596526214224, + 0.011327105486655824, + -0.10665988258796824, + -0.9942310426292345 + ], + [ + 0.8766965382966624, + 0.4776866963068638, + 0.056732705823738704, + 0.4743638400179734, + -0.8780749663939981, + 0.0629547510167562, + 0.07988821578963538, + -0.028280268096559705, + -0.9964025789881996 + ], + [ + 0.8959447702120699, + 0.43033347347336226, + 0.10998213644948238, + 0.4259606467539161, + -0.9026299344548402, + 0.0617796798554069, + 0.12585903283684913, + -0.00850311909842881, + -0.99201169389225 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0014966726303100586, + -0.000370122492313385, + -0.009179942309856415, + 0.001510515809059143, + 0.02675725519657135, + 0.003606081008911133, + 1.0 + ], + [ + -0.004075050354003906, + 0.01146601140499115, + -0.04114999994635582, + 0.0014255344867706299, + 0.05352271348237991, + 0.03823047876358032, + 1.0 + ], + [ + 0.0019270777702331543, + 0.010847240686416626, + -0.022175099700689316, + -0.011519938707351685, + 0.0007224008440971375, + 0.0365944504737854, + 1.0 + ], + [ + -0.0008817315101623535, + 0.002338021993637085, + -0.029180847108364105, + -0.010495081543922424, + 0.03454866632819176, + 0.04508820176124573, + 1.0 + ], + [ + 0.002265721559524536, + 0.004491299390792847, + -0.020688354969024658, + 0.0035669654607772827, + 0.023235877975821495, + 0.03882148861885071, + 1.0 + ], + [ + -0.0011264383792877197, + -0.00160275399684906, + -0.001072651706635952, + -0.007604941725730896, + 0.00030394457280635834, + 0.011651992797851562, + 0.0 + ], + [ + -0.005256235599517822, + -0.014958880841732025, + -0.0003184136003255844, + -0.016317695379257202, + 0.017066355794668198, + -0.013980329036712646, + 0.0 + ], + [ + -0.0020587146282196045, + -0.010668441653251648, + 0.0078342380002141, + -0.02445351332426071, + 0.0029169085901230574, + 0.02331814169883728, + 0.0 + ], + [ + 6.219744682312012e-05, + -0.007159389555454254, + 0.005587699823081493, + -0.009023375809192657, + 0.004820133093744516, + 0.027544379234313965, + 0.0 + ], + [ + 0.0015319883823394775, + -0.01034659892320633, + 0.0012875015381723642, + -0.0021841302514076233, + 0.008564244024455547, + 0.021198153495788574, + 0.0 + ], + [ + 0.006740987300872803, + -0.013615988194942474, + 0.0030910642817616463, + -0.0006999894976615906, + -0.009087692014873028, + 0.009716689586639404, + 0.0 + ], + [ + 0.010419726371765137, + -0.012874621897935867, + -0.00017721392214298248, + -0.0032254159450531006, + -0.015047434717416763, + -0.004162788391113281, + 0.0 + ], + [ + 0.0082663893699646, + -0.011320874094963074, + -0.007321913726627827, + 0.004649370908737183, + 0.005019038915634155, + -0.013346254825592041, + 0.0 + ], + [ + 0.016114771366119385, + -0.017185579985380173, + -0.003660973161458969, + -0.0058553144335746765, + -0.010826281271874905, + -0.021685302257537842, + 0.0 + ], + [ + 0.012004047632217407, + -0.011517846025526524, + -0.0030983476899564266, + -0.008297987282276154, + 0.00565644446760416, + -0.015553832054138184, + 0.0 + ], + [ + 0.008343726396560669, + -0.009448603726923466, + -0.0005404483526945114, + -0.002201266586780548, + -0.011101269163191319, + -0.012147694826126099, + 1.0 + ], + [ + -0.0066817402839660645, + -0.0029753954149782658, + -0.003794083371758461, + 0.031375668942928314, + 0.018090862780809402, + 0.009969919919967651, + 1.0 + ], + [ + -0.016875892877578735, + 0.008644415996968746, + 0.01606685109436512, + -0.018932372331619263, + -0.003567939158529043, + 0.04651516675949097, + 1.0 + ], + [ + -0.00228235125541687, + -0.0007839975878596306, + 0.042607855051755905, + -0.07849528640508652, + -0.06864608824253082, + -0.028721749782562256, + 1.0 + ], + [ + -0.0052408576011657715, + -0.00014435220509767532, + 0.030217759311199188, + -0.019803371280431747, + -0.046220265328884125, + -0.052169233560562134, + 1.0 + ], + [ + -0.009822636842727661, + 0.0007289955392479897, + 0.017959855496883392, + -2.2337771952152252e-05, + -0.03223828971385956, + -0.06640234589576721, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0014774799346924 + ], + [ + 1.0008161067962646 + ], + [ + 0.9445669651031494 + ], + [ + 0.6561112403869629 + ], + [ + 0.3875128924846649 + ], + [ + 0.3577343225479126 + ], + [ + 0.3577343225479126 + ], + [ + 0.3577343225479126 + ], + [ + 0.3577343225479126 + ], + [ + 0.35690104961395264 + ], + [ + 0.3486233055591583 + ], + [ + 0.3486233055591583 + ], + [ + 0.41932523250579834 + ], + [ + 0.7349185347557068 + ], + [ + 0.9851709604263306 + ], + [ + 1.0041072368621826 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.30354833602905273, + 0.09566410630941391, + 0.10171306133270264 + ], + [ + 0.29947328567504883, + 0.10713011771440506, + 0.06056306138634682 + ], + [ + 0.301400363445282, + 0.11797735840082169, + 0.0383879616856575 + ], + [ + 0.30051863193511963, + 0.12031538039445877, + 0.00920711550861597 + ], + [ + 0.30278435349464417, + 0.12480667978525162, + -0.011481238529086113 + ], + [ + 0.30165791511535645, + 0.12320392578840256, + -0.012553890235722065 + ], + [ + 0.2964016795158386, + 0.10824504494667053, + -0.01287230383604765 + ], + [ + 0.294342964887619, + 0.09757660329341888, + -0.0050380658358335495 + ], + [ + 0.29440516233444214, + 0.09041721373796463, + 0.0005496341036632657 + ], + [ + 0.2959371507167816, + 0.0800706148147583, + 0.00183713564183563 + ], + [ + 0.3026781380176544, + 0.06645462661981583, + 0.004928200040012598 + ], + [ + 0.31309786438941956, + 0.05358000472187996, + 0.0047509861178696156 + ], + [ + 0.32136425375938416, + 0.042259130626916885, + -0.002570927608758211 + ], + [ + 0.33747902512550354, + 0.025073550641536713, + -0.00623190077021718 + ], + [ + 0.34948307275772095, + 0.013555704616010189, + -0.009330248460173607 + ], + [ + 0.3578267991542816, + 0.004107100889086723, + -0.009870696812868118 + ], + [ + 0.35114505887031555, + 0.0011317055905237794, + -0.01366478018462658 + ], + [ + 0.3342691659927368, + 0.009776121936738491, + 0.002402071375399828 + ], + [ + 0.33198681473731995, + 0.00899212434887886, + 0.045009925961494446 + ], + [ + 0.3267459571361542, + 0.008847772143781185, + 0.07522768527269363 + ], + [ + 0.3169233202934265, + 0.009576767683029175, + 0.09318754076957703 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9473915072946414, + 0.3115820300168985, + 0.07325278476983577, + 0.28986705991749323, + -0.9322611174672025, + 0.21648624998736307, + 0.13574394822891991, + -0.18386366533209123, + -0.9735336322335624 + ], + [ + 0.941138260542452, + 0.3376853269681572, + 0.015079605218189782, + 0.3277875422058723, + -0.9226291718976926, + 0.20325043256537387, + 0.08254757245226023, + -0.18634385182717164, + -0.9790106573313959 + ], + [ + 0.9285709554830909, + 0.3709844285588974, + 0.01124875104394052, + 0.3620224053276832, + -0.9119885644427573, + 0.19291613816992562, + 0.08182761559509641, + -0.17506402283869613, + -0.9811507678402713 + ], + [ + 0.9133504778646738, + 0.40645292966054836, + -0.024226443295071523, + 0.4044114418663889, + -0.8986263625739568, + 0.17006482932884165, + 0.04735282749657449, + -0.16512624399972592, + -0.9851350330135573 + ], + [ + 0.8977122042740535, + 0.4373909241674004, + -0.05293371093553986, + 0.43992093537800075, + -0.8832908416092792, + 0.16207053941205987, + 0.02413232093199466, + -0.16877934881127657, + -0.9853583929217209 + ], + [ + 0.8925319319217704, + 0.4480132758200549, + -0.05168031722982997, + 0.4503542547978705, + -0.8793589605271523, + 0.15462491301876605, + 0.023828463765991674, + -0.16128212309363257, + -0.9866206368635126 + ], + [ + 0.8989752982081562, + 0.43419857327572353, + -0.057576142427943997, + 0.4379470941673387, + -0.8890380130669672, + 0.13346817610323264, + 0.006764312377536583, + -0.14519989768338515, + -0.9893792163729709 + ], + [ + 0.8885334715457105, + 0.45584338195377205, + -0.05210643983113518, + 0.4587956703186318, + -0.8818014531126454, + 0.10923703669225271, + 0.0038474458807831423, + -0.12096697242377658, + -0.9926490763320237 + ], + [ + 0.8755668531159956, + 0.4799609677370111, + -0.05495593847351099, + 0.4830959942109601, + -0.8701104228066737, + 0.09760180582609765, + -0.0009726776837505266, + -0.1120058997202519, + -0.9937070656516337 + ], + [ + 0.8650912277735288, + 0.49760604374645073, + -0.06328817311547302, + 0.501523895249186, + -0.8604217158907622, + 0.09026767592931663, + -0.00953677741023293, + -0.10983030570203235, + -0.9939045999622026 + ], + [ + 0.8602163468662085, + 0.5068408333193013, + -0.056037543346853756, + 0.5099290487673152, + -0.8551028811839274, + 0.09365590111790464, + -0.00044922980249499644, + -0.10913950829622515, + -0.9940263406577525 + ], + [ + 0.8622398181414995, + 0.5048282309657464, + -0.04112120172500908, + 0.5062898414615051, + -0.8566966140883219, + 0.098699077211942, + 0.014597686261798155, + -0.1059215210880201, + -0.9942673377548928 + ], + [ + 0.8689726245226512, + 0.49267737990818755, + -0.046428193557565556, + 0.494767440540174, + -0.8631614822278587, + 0.10078410281156107, + 0.009579019341287104, + -0.11054978482570345, + -0.9938244248676171 + ], + [ + 0.8793539025162792, + 0.47509312813741383, + -0.031988024727965816, + 0.4757314259598578, + -0.873682988765729, + 0.10177251837103764, + 0.02040403106227747, + -0.10471176981595605, + -0.9942932770457718 + ], + [ + 0.886734853814216, + 0.4611995838446281, + -0.031563315615175454, + 0.46204305180925453, + -0.8820368584494518, + 0.09234283194386311, + 0.014748467916086208, + -0.09646721825658652, + -0.995226887948655 + ], + [ + 0.8920809640542833, + 0.4514508735549926, + -0.019587300437134605, + 0.45113575102508274, + -0.8873038416498132, + 0.09575190202036504, + 0.02584739288622726, + -0.09425498055761919, + -0.9952124953601957 + ], + [ + 0.8878088136181053, + 0.4573887576124414, + -0.0509022089084529, + 0.4601470452465804, + -0.8803712508239576, + 0.11493979934514358, + 0.0077593306962614565, + -0.12546706791986376, + -0.9920674410818745 + ], + [ + 0.865422960052773, + 0.4991338095970066, + -0.04368684390838107, + 0.5009139615690406, + -0.8599355263992177, + 0.0979596526214224, + 0.011327105486655824, + -0.10665988258796824, + -0.9942310426292345 + ], + [ + 0.8766965382966624, + 0.4776866963068638, + 0.056732705823738704, + 0.4743638400179734, + -0.8780749663939981, + 0.0629547510167562, + 0.07988821578963538, + -0.028280268096559705, + -0.9964025789881996 + ], + [ + 0.8959447702120699, + 0.43033347347336226, + 0.10998213644948238, + 0.4259606467539161, + -0.9026299344548402, + 0.0617796798554069, + 0.12585903283684913, + -0.00850311909842881, + -0.99201169389225 + ], + [ + 0.917983780290158, + 0.36974344880201965, + 0.14351153679122403, + 0.36388788991385307, + -0.9290955369970302, + 0.06608393682464288, + 0.1577700310522696, + -0.008441871841488854, + -0.987439796697286 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +} diff --git a/json/chunk-0006/episode_0006800.json b/json/chunk-0006/episode_0006800.json new file mode 100644 index 0000000000000000000000000000000000000000..31709ca4c39ded9f1aef055e7299d3f7b01ea957 --- /dev/null +++ b/json/chunk-0006/episode_0006800.json @@ -0,0 +1,2422 @@ +{ + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "num_frames": 39, + "time": "2025-11-17", + "instruction": { + "general": null, + "subtask": [ + { + "images": [ + "observations.base" + ], + "conversations": [ + { + "from": "human", + "value": "The following observations are captured from multiple views.\n# Base View\n\nGenerate robot actions for the task:\nPut the block with hole on the white rectangle." + }, + { + "from": "gpt", + "value": "" + } + ] + } + ], + "general_cot": null, + "subtask_cot": null + }, + "observations": { + "ego": null, + "base": [ + { + "path": "videos/chunk-0006/image_0/episode_0006800.mp4", + "start": 0, + "end": 39, + "fps": 5.0, + "crop_bbox": null + } + ], + "wrist_left": null, + "wrist_right": null + }, + "proprios": { + "direct": [ + [ + 0.3146217167377472, + 0.030652867630124092, + 0.07694567739963531, + 0.11453546583652496, + 0.08053036779165268, + 0.3148932456970215, + 0.0, + 1.0008161067962646 + ], + [ + 0.31214064359664917, + 0.028920933604240417, + 0.06574749946594238, + 0.11582592874765396, + 0.1176915317773819, + 0.3274180293083191, + 0.0, + 1.0008161067962646 + ], + [ + 0.3100395202636719, + 0.05952015146613121, + 0.06539809703826904, + 0.0351533479988575, + 0.12259672582149506, + 0.5298991203308105, + 0.0, + 1.0008161067962646 + ], + [ + 0.3077147305011749, + 0.08614324778318405, + 0.06841391324996948, + -0.0014837225899100304, + 0.0825500562787056, + 0.6569767594337463, + 0.0, + 1.0008161067962646 + ], + [ + 0.3109477758407593, + 0.09622318297624588, + 0.07782416045665741, + 0.019498949870467186, + 0.05994771420955658, + 0.6850104331970215, + 0.0, + 1.0008161067962646 + ], + [ + 0.3136569857597351, + 0.11788135021924973, + 0.07096687704324722, + 0.09914091974496841, + -0.03304078429937363, + 0.8600108027458191, + 0.0, + 1.0008161067962646 + ], + [ + 0.3187084197998047, + 0.1329876035451889, + 0.06968138366937637, + 0.14019277691841125, + -0.12426838278770447, + 0.992499053478241, + 0.0, + 1.0008161067962646 + ], + [ + 0.3262619972229004, + 0.14405457675457, + 0.06680691242218018, + 0.17286312580108643, + -0.16311852633953094, + 1.1285496950149536, + 0.0, + 1.0008161067962646 + ], + [ + 0.3230535387992859, + 0.15052427351474762, + 0.05860458314418793, + 0.14766187965869904, + -0.14040444791316986, + 1.3235172033309937, + 0.0, + 1.0008161067962646 + ], + [ + 0.30866512656211853, + 0.17196886241436005, + 0.05269332602620125, + 0.12205487489700317, + -0.10302457213401794, + 1.4435546398162842, + 0.0, + 1.0008161067962646 + ], + [ + 0.2844415307044983, + 0.17696955800056458, + 0.04731005057692528, + 0.13181650638580322, + -0.0812806487083435, + 1.439786434173584, + 0.0, + 1.0008161067962646 + ], + [ + 0.2752562165260315, + 0.18917274475097656, + 0.045544855296611786, + 0.07698216289281845, + -0.06945133209228516, + 1.4645452499389648, + 0.0, + 1.0008161067962646 + ], + [ + 0.2802583873271942, + 0.1980825960636139, + 0.04477463662624359, + 0.06568446755409241, + -0.07130786776542664, + 1.462489366531372, + 0.0, + 1.0008161067962646 + ], + [ + 0.28562453389167786, + 0.20880655944347382, + 0.038260918110609055, + 0.06583378463983536, + -0.06825906038284302, + 1.493578553199768, + 0.0, + 1.0008161067962646 + ], + [ + 0.28867125511169434, + 0.21966664493083954, + 0.03318404778838158, + 0.061493150889873505, + -0.06401384621858597, + 1.5472949743270874, + 0.0, + 1.0008161067962646 + ], + [ + 0.29118552803993225, + 0.2266004979610443, + 0.025829166173934937, + 0.0751318633556366, + -0.051823221147060394, + 1.5633082389831543, + 0.0, + 1.0008161067962646 + ], + [ + 0.2911229133605957, + 0.2315717339515686, + 0.02138667181134224, + 0.08539099991321564, + -0.044908687472343445, + 1.5729292631149292, + 0.0, + 1.0008161067962646 + ], + [ + 0.290531188249588, + 0.23116345703601837, + 0.016096629202365875, + 0.0979573130607605, + -0.035666897892951965, + 1.5696284770965576, + 0.0, + 0.9701826572418213 + ], + [ + 0.2918606996536255, + 0.2318452149629593, + 0.015577344223856926, + 0.10359928756952286, + -0.038651756942272186, + 1.5667529106140137, + 0.0, + 0.8598465323448181 + ], + [ + 0.2944832742214203, + 0.227597177028656, + 0.015400854870676994, + 0.11139003932476044, + -0.041691843420267105, + 1.5312317609786987, + 0.0, + 0.5759422183036804 + ], + [ + 0.296625554561615, + 0.19635365903377533, + 0.018136054277420044, + 0.119334377348423, + -0.007459443062543869, + 1.3658450841903687, + 0.0, + 0.5422952175140381 + ], + [ + 0.3070897161960602, + 0.14836715161800385, + 0.05132875218987465, + 0.11547049134969711, + -0.05069107189774513, + 1.1084672212600708, + 0.0, + 0.5422952175140381 + ], + [ + 0.3063109517097473, + 0.09824205935001373, + 0.07253078371286392, + 0.12812505662441254, + -0.0805337056517601, + 0.86754310131073, + 0.0, + 0.5422952175140381 + ], + [ + 0.30953699350357056, + 0.05537150427699089, + 0.0730460062623024, + 0.16451378166675568, + -0.0680609717965126, + 0.6501376628875732, + 0.0, + 0.5422952175140381 + ], + [ + 0.312215656042099, + 0.04491310566663742, + 0.05266294255852699, + 0.18961043655872345, + -0.015693334862589836, + 0.5375282168388367, + 0.0, + 0.5422952175140381 + ], + [ + 0.3136380910873413, + 0.04469940438866615, + 0.036779388785362244, + 0.20342899858951569, + 0.010049265809357166, + 0.49430179595947266, + 0.0, + 0.5422952175140381 + ], + [ + 0.3159724771976471, + 0.045656923204660416, + 0.03294834867119789, + 0.21529506146907806, + 0.007758439518511295, + 0.4917040467262268, + 0.0, + 0.5422952175140381 + ], + [ + 0.31638532876968384, + 0.04641394317150116, + 0.033151209354400635, + 0.22133271396160126, + -0.001442043692804873, + 0.5056125521659851, + 0.0, + 0.5422952175140381 + ], + [ + 0.31561967730522156, + 0.04769069328904152, + 0.03294095769524574, + 0.23520943522453308, + -0.003952234052121639, + 0.5223737359046936, + 0.0, + 0.6189444065093994 + ], + [ + 0.314269095659256, + 0.04827749729156494, + 0.031004594638943672, + 0.2479110211133957, + 0.013139444403350353, + 0.5424065589904785, + 0.0, + 0.8930966854095459 + ], + [ + 0.3151612877845764, + 0.04810900613665581, + 0.03152922913432121, + 0.24549515545368195, + 0.00693701533600688, + 0.5596257448196411, + 0.0, + 1.0092895030975342 + ], + [ + 0.31576409935951233, + 0.04705670475959778, + 0.03157300129532814, + 0.2383320927619934, + 0.008217318914830685, + 0.5606955885887146, + 0.0, + 1.0041072368621826 + ], + [ + 0.31615132093429565, + 0.045977458357810974, + 0.035587187856435776, + 0.22989805042743683, + 0.0006055173580534756, + 0.5620172023773193, + 0.0, + 1.0001531839370728 + ], + [ + 0.3124285340309143, + 0.048283644020557404, + 0.05403237044811249, + 0.22571496665477753, + -0.0313471294939518, + 0.554522693157196, + 0.0, + 1.0001531839370728 + ], + [ + 0.31110095977783203, + 0.05441218242049217, + 0.07865025848150253, + 0.1989523470401764, + -0.08399248868227005, + 0.5567690134048462, + 0.0, + 1.0001531839370728 + ], + [ + 0.3041244447231293, + 0.06628234684467316, + 0.0964021235704422, + 0.183027446269989, + -0.0650825947523117, + 0.5482624769210815, + 0.0, + 1.0001531839370728 + ], + [ + 0.3152449429035187, + 0.0713287740945816, + 0.09253864735364914, + 0.2207067906856537, + 0.07296784967184067, + 0.4096743166446686, + 0.0, + 1.0001531839370728 + ], + [ + 0.31440427899360657, + 0.0725683942437172, + 0.09209892898797989, + 0.22292457520961761, + 0.08636952191591263, + 0.40979713201522827, + 0.0, + 1.0001531839370728 + ], + [ + 0.31451523303985596, + 0.07208601385354996, + 0.09209892898797989, + 0.22305385768413544, + 0.08603028953075409, + 0.40976473689079285, + 0.0, + 1.0001531839370728 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9701826572418213 + ], + [ + 0.8598465323448181 + ], + [ + 0.5759422183036804 + ], + [ + 0.5422952175140381 + ], + [ + 0.5422952175140381 + ], + [ + 0.5422952175140381 + ], + [ + 0.5422952175140381 + ], + [ + 0.5422952175140381 + ], + [ + 0.5422952175140381 + ], + [ + 0.5422952175140381 + ], + [ + 0.5422952175140381 + ], + [ + 0.6189444065093994 + ], + [ + 0.8930966854095459 + ], + [ + 1.0092895030975342 + ], + [ + 1.0041072368621826 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_ee_pos": [ + [ + 0.3146217167377472, + 0.030652867630124092, + 0.07694567739963531 + ], + [ + 0.31214064359664917, + 0.028920933604240417, + 0.06574749946594238 + ], + [ + 0.3100395202636719, + 0.05952015146613121, + 0.06539809703826904 + ], + [ + 0.3077147305011749, + 0.08614324778318405, + 0.06841391324996948 + ], + [ + 0.3109477758407593, + 0.09622318297624588, + 0.07782416045665741 + ], + [ + 0.3136569857597351, + 0.11788135021924973, + 0.07096687704324722 + ], + [ + 0.3187084197998047, + 0.1329876035451889, + 0.06968138366937637 + ], + [ + 0.3262619972229004, + 0.14405457675457, + 0.06680691242218018 + ], + [ + 0.3230535387992859, + 0.15052427351474762, + 0.05860458314418793 + ], + [ + 0.30866512656211853, + 0.17196886241436005, + 0.05269332602620125 + ], + [ + 0.2844415307044983, + 0.17696955800056458, + 0.04731005057692528 + ], + [ + 0.2752562165260315, + 0.18917274475097656, + 0.045544855296611786 + ], + [ + 0.2802583873271942, + 0.1980825960636139, + 0.04477463662624359 + ], + [ + 0.28562453389167786, + 0.20880655944347382, + 0.038260918110609055 + ], + [ + 0.28867125511169434, + 0.21966664493083954, + 0.03318404778838158 + ], + [ + 0.29118552803993225, + 0.2266004979610443, + 0.025829166173934937 + ], + [ + 0.2911229133605957, + 0.2315717339515686, + 0.02138667181134224 + ], + [ + 0.290531188249588, + 0.23116345703601837, + 0.016096629202365875 + ], + [ + 0.2918606996536255, + 0.2318452149629593, + 0.015577344223856926 + ], + [ + 0.2944832742214203, + 0.227597177028656, + 0.015400854870676994 + ], + [ + 0.296625554561615, + 0.19635365903377533, + 0.018136054277420044 + ], + [ + 0.3070897161960602, + 0.14836715161800385, + 0.05132875218987465 + ], + [ + 0.3063109517097473, + 0.09824205935001373, + 0.07253078371286392 + ], + [ + 0.30953699350357056, + 0.05537150427699089, + 0.0730460062623024 + ], + [ + 0.312215656042099, + 0.04491310566663742, + 0.05266294255852699 + ], + [ + 0.3136380910873413, + 0.04469940438866615, + 0.036779388785362244 + ], + [ + 0.3159724771976471, + 0.045656923204660416, + 0.03294834867119789 + ], + [ + 0.31638532876968384, + 0.04641394317150116, + 0.033151209354400635 + ], + [ + 0.31561967730522156, + 0.04769069328904152, + 0.03294095769524574 + ], + [ + 0.314269095659256, + 0.04827749729156494, + 0.031004594638943672 + ], + [ + 0.3151612877845764, + 0.04810900613665581, + 0.03152922913432121 + ], + [ + 0.31576409935951233, + 0.04705670475959778, + 0.03157300129532814 + ], + [ + 0.31615132093429565, + 0.045977458357810974, + 0.035587187856435776 + ], + [ + 0.3124285340309143, + 0.048283644020557404, + 0.05403237044811249 + ], + [ + 0.31110095977783203, + 0.05441218242049217, + 0.07865025848150253 + ], + [ + 0.3041244447231293, + 0.06628234684467316, + 0.0964021235704422 + ], + [ + 0.3152449429035187, + 0.0713287740945816, + 0.09253864735364914 + ], + [ + 0.31440427899360657, + 0.0725683942437172, + 0.09209892898797989 + ], + [ + 0.31451523303985596, + 0.07208601385354996, + 0.09209892898797989 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9477479824815366, + 0.29894427258697776, + -0.1113826000307943, + 0.3087112379931982, + -0.9474469551336615, + 0.08391447279617793, + -0.08044335422447339, + -0.11391483263998715, + -0.9902283967175046 + ], + [ + 0.9403256954934194, + 0.30659547167107626, + -0.14760353364878384, + 0.3193745834521552, + -0.9448955492448246, + 0.07191854046130268, + -0.11742002316291604, + -0.11476766865329256, + -0.986428365565543 + ], + [ + 0.8563818218511028, + 0.5014254518186005, + -0.1232180647125195, + 0.5016526359476083, + -0.864497391697756, + -0.0314466626940499, + -0.1222898526035695, + -0.03488231667033083, + -0.991881250923672 + ], + [ + 0.7891457408774225, + 0.610821920658131, + -0.06438618561877733, + 0.608645999737247, + -0.7917666289886409, + -0.05153302071304248, + -0.0824563318300721, + 0.0014786694950367843, + -0.9965935815956539 + ], + [ + 0.7730213489088734, + 0.6316561945993875, + -0.0587234702255153, + 0.6315445895511003, + -0.7750042938727124, + -0.022798593982767124, + -0.05991181469325191, + -0.019462690026804945, + -0.9980139168153329 + ], + [ + 0.6520731873635758, + 0.7562615092571389, + -0.05356386783663826, + 0.7574359788796766, + -0.6467476008564201, + 0.08948898638966822, + 0.033034772893005895, + -0.09892456925647237, + -0.9945464460633944 + ], + [ + 0.5423838418672979, + 0.8386459747214606, + -0.04992691823817018, + 0.8309371006540648, + -0.5267326789846016, + 0.1791541784227238, + 0.12394879119171114, + -0.13865646026491402, + -0.982553348774975 + ], + [ + 0.42228999313566373, + 0.9022770213019803, + -0.08699045078574492, + 0.8917951903399647, + -0.39634733121062027, + 0.21819745995021436, + 0.16239612120979874, + -0.169720269480828, + -0.9720198197276473 + ], + [ + 0.24235812283324604, + 0.9640703662100203, + -0.10876979954207394, + 0.960040796420307, + -0.22214011430403485, + 0.17022173429281323, + 0.1399435940134739, + -0.1456780649674756, + -0.9793843432901734 + ], + [ + 0.1262257554094528, + 0.9861253144153443, + -0.10781429840494659, + 0.9866562197022739, + -0.1135345091304889, + 0.11670226801273771, + 0.1028424172903911, + -0.12110648003198175, + -0.9872976540537975 + ], + [ + 0.1302041604990763, + 0.9842236501671543, + -0.11979433642862239, + 0.9881573097092976, + -0.11892223283462727, + 0.09696717901284946, + 0.08119118090540428, + -0.13100117934304972, + -0.9880519637923484 + ], + [ + 0.10579560740605987, + 0.9919816903137969, + -0.06913476358363754, + 0.991963483341087, + -0.10043034006161555, + 0.07695579583712636, + 0.06939551261717194, + -0.07672074606839313, + -0.9946347017630691 + ], + [ + 0.10782063133551584, + 0.9925022252463239, + -0.057567736967037694, + 0.9916140943178983, + -0.10321315025322625, + 0.07777231875737767, + 0.07124745194394667, + -0.06547043986334752, + -0.9953077022185626 + ], + [ + 0.07696141834026221, + 0.9952065163217715, + -0.06034011897352771, + 0.9946983827399242, + -0.07250030237850774, + 0.07293033339842127, + 0.06820606616449225, + -0.06563304065567331, + -0.9955100383786475 + ], + [ + 0.023451058448334117, + 0.997926650889617, + -0.059937027803235295, + 0.997676234827308, + -0.019524612224523785, + 0.0652757227327926, + 0.06397013614538626, + -0.06132853301453544, + -0.9960655765158368 + ], + [ + 0.007477965000593834, + 0.9971800871547843, + -0.07467230960287091, + 0.9986294794169471, + -0.003578830402130806, + 0.052214507681201644, + 0.051800027788480724, + -0.07496042792653934, + -0.9958401936888183 + ], + [ + -0.002130784223307758, + 0.9963459702414507, + -0.08538247678661164, + 0.9989895019457528, + 0.005954006248506616, + 0.04454800569913116, + 0.04489359376092296, + -0.0852012757722284, + -0.9953518512797442 + ], + [ + 0.001167106684865693, + 0.9952094119092417, + -0.09775921598114222, + 0.9993633221213422, + 0.002325255873649623, + 0.035602578329619564, + 0.03565933623303692, + -0.09773852685805905, + -0.9945730702703728 + ], + [ + 0.004040385199733709, + 0.994646419056995, + -0.10325781493201872, + 0.9992449453437415, + -2.5618425108842047e-05, + 0.03885278044979454, + 0.03864213364219702, + -0.10333682983715703, + -0.9938955101552606 + ], + [ + 0.03951987271776647, + 0.9932080756178282, + -0.10943444698951738, + 0.9983491256788143, + -0.034679618669567036, + 0.04578588543732844, + 0.041679766274755926, + -0.11106323683588268, + -0.9929389480259186 + ], + [ + 0.20351376098024604, + 0.9722885885719404, + -0.11505237774361496, + 0.9790436695229295, + -0.20120255077916188, + 0.03148057698067013, + 0.007459373884743069, + -0.11904803271261133, + -0.9928604754186284 + ], + [ + 0.44546096350051034, + 0.8916597410571172, + -0.08066868150126325, + 0.8938664024310885, + -0.4378386767881509, + 0.09643727346469906, + 0.05066936551903007, + -0.11506606487734046, + -0.9920647237511993 + ], + [ + 0.6446064591901718, + 0.763137809638686, + -0.04586061785647769, + 0.7602702442181186, + -0.6335613188119339, + 0.14348941097448725, + 0.08044668126673532, + -0.1273606642772857, + -0.9885886873053003 + ], + [ + 0.7941575360131048, + 0.6059891398221331, + -0.04572712992551686, + 0.6038945772376823, + -0.7785112199219298, + 0.17097257101239724, + 0.06800843753913845, + -0.16339352151569356, + -0.9842141075752701 + ], + [ + 0.8588711200115525, + 0.5053784920108111, + -0.08326451238660737, + 0.5119513049777278, + -0.842067694250713, + 0.16978768986852003, + 0.015692690709451527, + -0.1884531191362078, + -0.9819568021792666 + ], + [ + 0.8802557149506373, + 0.4628472658943093, + -0.10450973519679907, + 0.47439318286933435, + -0.863111170646612, + 0.17317683203054998, + -0.010049096668098563, + -0.20201860201277902, + -0.9793301282493854 + ], + [ + 0.8815030784544252, + 0.45976779104326004, + -0.10754487897883563, + 0.4721145311249665, + -0.8619606247967786, + 0.18474780323619477, + -0.00775836168429099, + -0.21362925740438238, + -0.9768839993596106 + ], + [ + 0.8748770433078733, + 0.4728052038805965, + -0.10509708976133057, + 0.4843429359496256, + -0.8533826276992642, + 0.1927433815641821, + 0.0014420431930190214, + -0.2195297927947971, + -0.9756047307116253 + ], + [ + 0.8666305051512933, + 0.4859989273389979, + -0.11294516442308578, + 0.4989348128448658, + -0.8423153480827381, + 0.20388454310151743, + 0.003952223763045583, + -0.23304483905377354, + -0.9724579594603191 + ], + [ + 0.8563949687725061, + 0.4976556495941271, + -0.1375736598633091, + 0.5161540684690111, + -0.8319484402326421, + 0.20358479903313279, + -0.013139066330052532, + -0.24535820186315557, + -0.9693434467279661 + ], + [ + 0.8474334602765106, + 0.5135233258456112, + -0.13472313912703388, + 0.5308562978753456, + -0.8229397403392857, + 0.2023901548405734, + -0.006936959698755268, + -0.2430308161175682, + -0.96999376338581 + ], + [ + 0.8468568264916067, + 0.5151008548071507, + -0.1323050445051408, + 0.5317574565666645, + -0.8239781975247398, + 0.1956883680488767, + -0.008217226436983673, + -0.23607422430418626, + -0.9717002818816407 + ], + [ + 0.8461817227674239, + 0.5187567988518323, + -0.12193389889343331, + 0.5328941033668212, + -0.8239920524213371, + 0.1925122649166644, + -0.0006055173210512063, + -0.22787821570187855, + -0.9736894536541421 + ], + [ + 0.8497341936083359, + 0.51914494568908, + -0.09187124456691348, + 0.5262788989739433, + -0.8248938312796352, + 0.20635088468814217, + 0.031341995909089544, + -0.22369330003888627, + -0.974155524960028 + ], + [ + 0.8459740815234194, + 0.5320986235057343, + -0.03462525456816219, + 0.5265830318338867, + -0.8234582226590812, + 0.21125071862547382, + 0.08389376600939473, + -0.19694570418887045, + -0.9768184199872109 + ], + [ + 0.8516245951913084, + 0.5226017568892002, + -0.040285885388824466, + 0.5201017033796879, + -0.8330071253486073, + 0.18866199209166856, + 0.06503665894545425, + -0.18162195025593952, + -0.9812154198637737 + ], + [ + 0.9148098159212278, + 0.3740095518639615, + -0.15244623907688865, + 0.3972507222373422, + -0.9013578108856766, + 0.1724701726017886, + -0.07290311636740379, + -0.2183367854254052, + -0.9731465376571101 + ], + [ + 0.9137827730958904, + 0.3710722725611888, + -0.1652465192657904, + 0.39693813101136466, + -0.9021039202700906, + 0.16925908301340495, + -0.08626218025524948, + -0.220258678761153, + -0.9716197562256554 + ], + [ + 0.913822419278349, + 0.3710902560596196, + -0.16498669001428956, + 0.39692016401908453, + -0.9020642653333187, + 0.1695123730107122, + -0.08592420741169716, + -0.22039075086370058, + -0.9716197545925082 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "actions": { + "direct": [ + [ + -0.0024810731410980225, + -0.0017319340258836746, + -0.011198177933692932, + 0.0012904629111289978, + 0.03716116398572922, + 0.012524783611297607, + 1.0 + ], + [ + -0.002101123332977295, + 0.030599217861890793, + -0.00034940242767333984, + -0.08067257702350616, + 0.004905194044113159, + 0.20248109102249146, + 1.0 + ], + [ + -0.0023247897624969482, + 0.02662309631705284, + 0.0030158162117004395, + -0.0366370715200901, + -0.04004666954278946, + 0.1270776391029358, + 1.0 + ], + [ + 0.0032330453395843506, + 0.010079935193061829, + 0.009410247206687927, + 0.02098267152905464, + -0.022602342069149017, + 0.028033673763275146, + 1.0 + ], + [ + 0.00270920991897583, + 0.021658167243003845, + -0.006857283413410187, + 0.07964196801185608, + -0.0929884985089302, + 0.1750003695487976, + 1.0 + ], + [ + 0.00505143404006958, + 0.015106253325939178, + -0.0012854933738708496, + 0.04105185717344284, + -0.09122759848833084, + 0.13248825073242188, + 1.0 + ], + [ + 0.007553577423095703, + 0.011066973209381104, + -0.0028744712471961975, + 0.03267034888267517, + -0.03885014355182648, + 0.13605064153671265, + 1.0 + ], + [ + -0.003208458423614502, + 0.006469696760177612, + -0.008202329277992249, + -0.02520124614238739, + 0.022714078426361084, + 0.19496750831604004, + 1.0 + ], + [ + -0.014388412237167358, + 0.021444588899612427, + -0.005911257117986679, + -0.025607004761695862, + 0.037379875779151917, + 0.12003743648529053, + 1.0 + ], + [ + -0.02422359585762024, + 0.005000695586204529, + -0.0053832754492759705, + 0.009761631488800049, + 0.02174392342567444, + -0.0037682056427001953, + 1.0 + ], + [ + -0.009185314178466797, + 0.012203186750411987, + -0.0017651952803134918, + -0.05483434349298477, + 0.01182931661605835, + 0.02475881576538086, + 1.0 + ], + [ + 0.00500217080116272, + 0.008909851312637329, + -0.0007702186703681946, + -0.011297695338726044, + -0.0018565356731414795, + -0.0020558834075927734, + 1.0 + ], + [ + 0.005366146564483643, + 0.010723963379859924, + -0.006513718515634537, + 0.00014931708574295044, + 0.003048807382583618, + 0.031089186668395996, + 1.0 + ], + [ + 0.0030467212200164795, + 0.010860085487365723, + -0.005076870322227478, + -0.004340633749961853, + 0.0042452141642570496, + 0.053716421127319336, + 1.0 + ], + [ + 0.002514272928237915, + 0.006933853030204773, + -0.00735488161444664, + 0.013638712465763092, + 0.012190625071525574, + 0.016013264656066895, + 1.0 + ], + [ + -6.261467933654785e-05, + 0.004971235990524292, + -0.004442494362592697, + 0.01025913655757904, + 0.0069145336747169495, + 0.009621024131774902, + 1.0 + ], + [ + -0.0005917251110076904, + -0.00040827691555023193, + -0.005290042608976364, + 0.01256631314754486, + 0.00924178957939148, + -0.003300786018371582, + 0.0 + ], + [ + 0.0013295114040374756, + 0.000681757926940918, + -0.0005192849785089493, + 0.00564197450876236, + -0.002984859049320221, + -0.0028755664825439453, + 0.0 + ], + [ + 0.0026225745677948, + -0.004248037934303284, + -0.00017648935317993164, + 0.007790751755237579, + -0.003040086477994919, + -0.03552114963531494, + 0.0 + ], + [ + 0.002142280340194702, + -0.031243517994880676, + 0.0027351994067430496, + 0.007944338023662567, + 0.034232400357723236, + -0.16538667678833008, + 0.0 + ], + [ + 0.01046416163444519, + -0.047986507415771484, + 0.033192697912454605, + -0.003863885998725891, + -0.04323162883520126, + -0.25737786293029785, + 0.0 + ], + [ + -0.0007787644863128662, + -0.05012509226799011, + 0.021202031522989273, + 0.012654565274715424, + -0.02984263375401497, + -0.24092411994934082, + 0.0 + ], + [ + 0.003226041793823242, + -0.04287055507302284, + 0.0005152225494384766, + 0.03638872504234314, + 0.012472733855247498, + -0.21740543842315674, + 0.0 + ], + [ + 0.0026786625385284424, + -0.01045839861035347, + -0.020383063703775406, + 0.025096654891967773, + 0.05236763507127762, + -0.11260944604873657, + 0.0 + ], + [ + 0.0014224350452423096, + -0.0002137012779712677, + -0.01588355377316475, + 0.013818562030792236, + 0.025742601603269577, + -0.043226420879364014, + 0.0 + ], + [ + 0.002334386110305786, + 0.0009575188159942627, + -0.0038310401141643524, + 0.011866062879562378, + -0.002290826290845871, + -0.0025977492332458496, + 0.0 + ], + [ + 0.00041285157203674316, + 0.000757019966840744, + 0.00020286068320274353, + 0.006037652492523193, + -0.009200483560562134, + 0.0139085054397583, + 0.0 + ], + [ + -0.0007656514644622803, + 0.0012767501175403595, + -0.00021025165915489197, + 0.013876721262931824, + -0.002510190475732088, + 0.016761183738708496, + 1.0 + ], + [ + -0.0013505816459655762, + 0.0005868040025234222, + -0.0019363630563020706, + 0.01270158588886261, + 0.017091678455471992, + 0.020032823085784912, + 1.0 + ], + [ + 0.0008921921253204346, + -0.0001684911549091339, + 0.0005246344953775406, + -0.002415865659713745, + -0.0062024290673434734, + 0.017219185829162598, + 1.0 + ], + [ + 0.0006028115749359131, + -0.0010523013770580292, + 4.377216100692749e-05, + -0.007163062691688538, + 0.0012803035788238049, + 0.0010698437690734863, + 1.0 + ], + [ + 0.0003872215747833252, + -0.0010792464017868042, + 0.0040141865611076355, + -0.00843404233455658, + -0.007611801382154226, + 0.0013216137886047363, + 1.0 + ], + [ + -0.0037227869033813477, + 0.0023061856627464294, + 0.018445182591676712, + -0.004183083772659302, + -0.031952645629644394, + -0.007494509220123291, + 1.0 + ], + [ + -0.0013275742530822754, + 0.006128538399934769, + 0.024617888033390045, + -0.026762619614601135, + -0.05264535918831825, + 0.0022463202476501465, + 1.0 + ], + [ + -0.006976515054702759, + 0.011870164424180984, + 0.017751865088939667, + -0.015924900770187378, + 0.018909893929958344, + -0.008506536483764648, + 1.0 + ], + [ + 0.011120498180389404, + 0.005046427249908447, + -0.0038634762167930603, + 0.03767934441566467, + 0.13805043697357178, + -0.13858816027641296, + 1.0 + ], + [ + -0.0008406639099121094, + 0.0012396201491355896, + -0.0004397183656692505, + 0.0022177845239639282, + 0.01340167224407196, + 0.00012281537055969238, + 1.0 + ], + [ + 0.00011095404624938965, + -0.00048238039016723633, + 0.0, + 0.00012928247451782227, + -0.0003392323851585388, + -3.2395124435424805e-05, + 1.0 + ], + [ + -0.00011095404624938965, + 0.00048238039016723633, + 0.0, + 0.0, + 0.0, + 0.0015339851379394531, + 1.0 + ] + ], + "left_gripper_pos": [ + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 1.0008161067962646 + ], + [ + 0.9701826572418213 + ], + [ + 0.8598465323448181 + ], + [ + 0.5759422183036804 + ], + [ + 0.5422952175140381 + ], + [ + 0.5422952175140381 + ], + [ + 0.5422952175140381 + ], + [ + 0.5422952175140381 + ], + [ + 0.5422952175140381 + ], + [ + 0.5422952175140381 + ], + [ + 0.5422952175140381 + ], + [ + 0.5422952175140381 + ], + [ + 0.6189444065093994 + ], + [ + 0.8930966854095459 + ], + [ + 1.0092895030975342 + ], + [ + 1.0041072368621826 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ], + [ + 1.0001531839370728 + ] + ], + "right_gripper_pos": null, + "left_gripper_pos_direct": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 0.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ] + ], + "right_gripper_pos_direct": null, + "left_ee_pos": [ + [ + 0.31214064359664917, + 0.028920933604240417, + 0.06574749946594238 + ], + [ + 0.3100395202636719, + 0.05952015146613121, + 0.06539809703826904 + ], + [ + 0.3077147305011749, + 0.08614324778318405, + 0.06841391324996948 + ], + [ + 0.3109477758407593, + 0.09622318297624588, + 0.07782416045665741 + ], + [ + 0.3136569857597351, + 0.11788135021924973, + 0.07096687704324722 + ], + [ + 0.3187084197998047, + 0.1329876035451889, + 0.06968138366937637 + ], + [ + 0.3262619972229004, + 0.14405457675457, + 0.06680691242218018 + ], + [ + 0.3230535387992859, + 0.15052427351474762, + 0.05860458314418793 + ], + [ + 0.30866512656211853, + 0.17196886241436005, + 0.05269332602620125 + ], + [ + 0.2844415307044983, + 0.17696955800056458, + 0.04731005057692528 + ], + [ + 0.2752562165260315, + 0.18917274475097656, + 0.045544855296611786 + ], + [ + 0.2802583873271942, + 0.1980825960636139, + 0.04477463662624359 + ], + [ + 0.28562453389167786, + 0.20880655944347382, + 0.038260918110609055 + ], + [ + 0.28867125511169434, + 0.21966664493083954, + 0.03318404778838158 + ], + [ + 0.29118552803993225, + 0.2266004979610443, + 0.025829166173934937 + ], + [ + 0.2911229133605957, + 0.2315717339515686, + 0.02138667181134224 + ], + [ + 0.290531188249588, + 0.23116345703601837, + 0.016096629202365875 + ], + [ + 0.2918606996536255, + 0.2318452149629593, + 0.015577344223856926 + ], + [ + 0.2944832742214203, + 0.227597177028656, + 0.015400854870676994 + ], + [ + 0.296625554561615, + 0.19635365903377533, + 0.018136054277420044 + ], + [ + 0.3070897161960602, + 0.14836715161800385, + 0.05132875218987465 + ], + [ + 0.3063109517097473, + 0.09824205935001373, + 0.07253078371286392 + ], + [ + 0.30953699350357056, + 0.05537150427699089, + 0.0730460062623024 + ], + [ + 0.312215656042099, + 0.04491310566663742, + 0.05266294255852699 + ], + [ + 0.3136380910873413, + 0.04469940438866615, + 0.036779388785362244 + ], + [ + 0.3159724771976471, + 0.045656923204660416, + 0.03294834867119789 + ], + [ + 0.31638532876968384, + 0.04641394317150116, + 0.033151209354400635 + ], + [ + 0.31561967730522156, + 0.04769069328904152, + 0.03294095769524574 + ], + [ + 0.314269095659256, + 0.04827749729156494, + 0.031004594638943672 + ], + [ + 0.3151612877845764, + 0.04810900613665581, + 0.03152922913432121 + ], + [ + 0.31576409935951233, + 0.04705670475959778, + 0.03157300129532814 + ], + [ + 0.31615132093429565, + 0.045977458357810974, + 0.035587187856435776 + ], + [ + 0.3124285340309143, + 0.048283644020557404, + 0.05403237044811249 + ], + [ + 0.31110095977783203, + 0.05441218242049217, + 0.07865025848150253 + ], + [ + 0.3041244447231293, + 0.06628234684467316, + 0.0964021235704422 + ], + [ + 0.3152449429035187, + 0.0713287740945816, + 0.09253864735364914 + ], + [ + 0.31440427899360657, + 0.0725683942437172, + 0.09209892898797989 + ], + [ + 0.31451523303985596, + 0.07208601385354996, + 0.09209892898797989 + ], + [ + 0.31440427899360657, + 0.0725683942437172, + 0.09209892898797989 + ] + ], + "right_ee_pos": null, + "left_ee_rotm": [ + [ + 0.9403256954934194, + 0.30659547167107626, + -0.14760353364878384, + 0.3193745834521552, + -0.9448955492448246, + 0.07191854046130268, + -0.11742002316291604, + -0.11476766865329256, + -0.986428365565543 + ], + [ + 0.8563818218511028, + 0.5014254518186005, + -0.1232180647125195, + 0.5016526359476083, + -0.864497391697756, + -0.0314466626940499, + -0.1222898526035695, + -0.03488231667033083, + -0.991881250923672 + ], + [ + 0.7891457408774225, + 0.610821920658131, + -0.06438618561877733, + 0.608645999737247, + -0.7917666289886409, + -0.05153302071304248, + -0.0824563318300721, + 0.0014786694950367843, + -0.9965935815956539 + ], + [ + 0.7730213489088734, + 0.6316561945993875, + -0.0587234702255153, + 0.6315445895511003, + -0.7750042938727124, + -0.022798593982767124, + -0.05991181469325191, + -0.019462690026804945, + -0.9980139168153329 + ], + [ + 0.6520731873635758, + 0.7562615092571389, + -0.05356386783663826, + 0.7574359788796766, + -0.6467476008564201, + 0.08948898638966822, + 0.033034772893005895, + -0.09892456925647237, + -0.9945464460633944 + ], + [ + 0.5423838418672979, + 0.8386459747214606, + -0.04992691823817018, + 0.8309371006540648, + -0.5267326789846016, + 0.1791541784227238, + 0.12394879119171114, + -0.13865646026491402, + -0.982553348774975 + ], + [ + 0.42228999313566373, + 0.9022770213019803, + -0.08699045078574492, + 0.8917951903399647, + -0.39634733121062027, + 0.21819745995021436, + 0.16239612120979874, + -0.169720269480828, + -0.9720198197276473 + ], + [ + 0.24235812283324604, + 0.9640703662100203, + -0.10876979954207394, + 0.960040796420307, + -0.22214011430403485, + 0.17022173429281323, + 0.1399435940134739, + -0.1456780649674756, + -0.9793843432901734 + ], + [ + 0.1262257554094528, + 0.9861253144153443, + -0.10781429840494659, + 0.9866562197022739, + -0.1135345091304889, + 0.11670226801273771, + 0.1028424172903911, + -0.12110648003198175, + -0.9872976540537975 + ], + [ + 0.1302041604990763, + 0.9842236501671543, + -0.11979433642862239, + 0.9881573097092976, + -0.11892223283462727, + 0.09696717901284946, + 0.08119118090540428, + -0.13100117934304972, + -0.9880519637923484 + ], + [ + 0.10579560740605987, + 0.9919816903137969, + -0.06913476358363754, + 0.991963483341087, + -0.10043034006161555, + 0.07695579583712636, + 0.06939551261717194, + -0.07672074606839313, + -0.9946347017630691 + ], + [ + 0.10782063133551584, + 0.9925022252463239, + -0.057567736967037694, + 0.9916140943178983, + -0.10321315025322625, + 0.07777231875737767, + 0.07124745194394667, + -0.06547043986334752, + -0.9953077022185626 + ], + [ + 0.07696141834026221, + 0.9952065163217715, + -0.06034011897352771, + 0.9946983827399242, + -0.07250030237850774, + 0.07293033339842127, + 0.06820606616449225, + -0.06563304065567331, + -0.9955100383786475 + ], + [ + 0.023451058448334117, + 0.997926650889617, + -0.059937027803235295, + 0.997676234827308, + -0.019524612224523785, + 0.0652757227327926, + 0.06397013614538626, + -0.06132853301453544, + -0.9960655765158368 + ], + [ + 0.007477965000593834, + 0.9971800871547843, + -0.07467230960287091, + 0.9986294794169471, + -0.003578830402130806, + 0.052214507681201644, + 0.051800027788480724, + -0.07496042792653934, + -0.9958401936888183 + ], + [ + -0.002130784223307758, + 0.9963459702414507, + -0.08538247678661164, + 0.9989895019457528, + 0.005954006248506616, + 0.04454800569913116, + 0.04489359376092296, + -0.0852012757722284, + -0.9953518512797442 + ], + [ + 0.001167106684865693, + 0.9952094119092417, + -0.09775921598114222, + 0.9993633221213422, + 0.002325255873649623, + 0.035602578329619564, + 0.03565933623303692, + -0.09773852685805905, + -0.9945730702703728 + ], + [ + 0.004040385199733709, + 0.994646419056995, + -0.10325781493201872, + 0.9992449453437415, + -2.5618425108842047e-05, + 0.03885278044979454, + 0.03864213364219702, + -0.10333682983715703, + -0.9938955101552606 + ], + [ + 0.03951987271776647, + 0.9932080756178282, + -0.10943444698951738, + 0.9983491256788143, + -0.034679618669567036, + 0.04578588543732844, + 0.041679766274755926, + -0.11106323683588268, + -0.9929389480259186 + ], + [ + 0.20351376098024604, + 0.9722885885719404, + -0.11505237774361496, + 0.9790436695229295, + -0.20120255077916188, + 0.03148057698067013, + 0.007459373884743069, + -0.11904803271261133, + -0.9928604754186284 + ], + [ + 0.44546096350051034, + 0.8916597410571172, + -0.08066868150126325, + 0.8938664024310885, + -0.4378386767881509, + 0.09643727346469906, + 0.05066936551903007, + -0.11506606487734046, + -0.9920647237511993 + ], + [ + 0.6446064591901718, + 0.763137809638686, + -0.04586061785647769, + 0.7602702442181186, + -0.6335613188119339, + 0.14348941097448725, + 0.08044668126673532, + -0.1273606642772857, + -0.9885886873053003 + ], + [ + 0.7941575360131048, + 0.6059891398221331, + -0.04572712992551686, + 0.6038945772376823, + -0.7785112199219298, + 0.17097257101239724, + 0.06800843753913845, + -0.16339352151569356, + -0.9842141075752701 + ], + [ + 0.8588711200115525, + 0.5053784920108111, + -0.08326451238660737, + 0.5119513049777278, + -0.842067694250713, + 0.16978768986852003, + 0.015692690709451527, + -0.1884531191362078, + -0.9819568021792666 + ], + [ + 0.8802557149506373, + 0.4628472658943093, + -0.10450973519679907, + 0.47439318286933435, + -0.863111170646612, + 0.17317683203054998, + -0.010049096668098563, + -0.20201860201277902, + -0.9793301282493854 + ], + [ + 0.8815030784544252, + 0.45976779104326004, + -0.10754487897883563, + 0.4721145311249665, + -0.8619606247967786, + 0.18474780323619477, + -0.00775836168429099, + -0.21362925740438238, + -0.9768839993596106 + ], + [ + 0.8748770433078733, + 0.4728052038805965, + -0.10509708976133057, + 0.4843429359496256, + -0.8533826276992642, + 0.1927433815641821, + 0.0014420431930190214, + -0.2195297927947971, + -0.9756047307116253 + ], + [ + 0.8666305051512933, + 0.4859989273389979, + -0.11294516442308578, + 0.4989348128448658, + -0.8423153480827381, + 0.20388454310151743, + 0.003952223763045583, + -0.23304483905377354, + -0.9724579594603191 + ], + [ + 0.8563949687725061, + 0.4976556495941271, + -0.1375736598633091, + 0.5161540684690111, + -0.8319484402326421, + 0.20358479903313279, + -0.013139066330052532, + -0.24535820186315557, + -0.9693434467279661 + ], + [ + 0.8474334602765106, + 0.5135233258456112, + -0.13472313912703388, + 0.5308562978753456, + -0.8229397403392857, + 0.2023901548405734, + -0.006936959698755268, + -0.2430308161175682, + -0.96999376338581 + ], + [ + 0.8468568264916067, + 0.5151008548071507, + -0.1323050445051408, + 0.5317574565666645, + -0.8239781975247398, + 0.1956883680488767, + -0.008217226436983673, + -0.23607422430418626, + -0.9717002818816407 + ], + [ + 0.8461817227674239, + 0.5187567988518323, + -0.12193389889343331, + 0.5328941033668212, + -0.8239920524213371, + 0.1925122649166644, + -0.0006055173210512063, + -0.22787821570187855, + -0.9736894536541421 + ], + [ + 0.8497341936083359, + 0.51914494568908, + -0.09187124456691348, + 0.5262788989739433, + -0.8248938312796352, + 0.20635088468814217, + 0.031341995909089544, + -0.22369330003888627, + -0.974155524960028 + ], + [ + 0.8459740815234194, + 0.5320986235057343, + -0.03462525456816219, + 0.5265830318338867, + -0.8234582226590812, + 0.21125071862547382, + 0.08389376600939473, + -0.19694570418887045, + -0.9768184199872109 + ], + [ + 0.8516245951913084, + 0.5226017568892002, + -0.040285885388824466, + 0.5201017033796879, + -0.8330071253486073, + 0.18866199209166856, + 0.06503665894545425, + -0.18162195025593952, + -0.9812154198637737 + ], + [ + 0.9148098159212278, + 0.3740095518639615, + -0.15244623907688865, + 0.3972507222373422, + -0.9013578108856766, + 0.1724701726017886, + -0.07290311636740379, + -0.2183367854254052, + -0.9731465376571101 + ], + [ + 0.9137827730958904, + 0.3710722725611888, + -0.1652465192657904, + 0.39693813101136466, + -0.9021039202700906, + 0.16925908301340495, + -0.08626218025524948, + -0.220258678761153, + -0.9716197562256554 + ], + [ + 0.913822419278349, + 0.3710902560596196, + -0.16498669001428956, + 0.39692016401908453, + -0.9020642653333187, + 0.1695123730107122, + -0.08592420741169716, + -0.22039075086370058, + -0.9716197545925082 + ], + [ + 0.9132124747222746, + 0.3724735720853344, + -0.16524652525729489, + 0.3983214864808202, + -0.9014939572907436, + 0.16925908653890429, + -0.08592420741169716, + -0.22039075086370055, + -0.971619754592508 + ] + ], + "right_ee_rotm": null, + "left_arm_joint": null, + "right_arm_joint": null, + "head_joint": null, + "waist_pos": null, + "base_vel": null + }, + "extra_info": null +}